commit 167ef31602ef62abf567664338ad8ad3e13a30f4 Author: Jason Wen Date: Sat Nov 16 19:13:49 2024 +0000 sunnypilot v2024.11.16-3490 version: sunnypilot v0.9.8.0 release date: 2024-11-16T19:13:50 master commit: fa9234afa0b4151fd2b1e8a5b53c7c51ca67ff28 diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000000..1dfb3f3514 --- /dev/null +++ b/.gitignore @@ -0,0 +1,108 @@ +venv/ +.venv/ +.ci_cache +.env +.clang-format +.DS_Store +.tags +.ipynb_checkpoints +.idea +.overlay_init +.overlay_consistent +.sconsign.dblite +model2.png +a.out +.hypothesis + +/docs_site/ + +*.dylib +*.DSYM +*.d +*.pyc +*.pyo +.*.swp +.*.swo +.*.un~ +*.tmp +*.o +*.o-* +*.os +*.os-* +*.so +*.a +*.clb +*.class +*.pyxbldc +*.vcd +*.qm +config.json +clcache +compile_commands.json +compare_runtime*.html + +persist +selfdrive/pandad/pandad +cereal/services.h +cereal/gen +cereal/messaging/bridge +selfdrive/logcatd/logcatd +selfdrive/mapd/default_speeds_by_region.json +system/proclogd/proclogd +selfdrive/ui/translations/alerts_generated.h +selfdrive/ui/translations/tmp +selfdrive/test/longitudinal_maneuvers/out +selfdrive/car/tests/cars_dump +system/camerad/camerad +system/camerad/test/ae_gray_test +selfdrive/modeld/_modeld +selfdrive/modeld/_navmodeld +selfdrive/modeld/_dmonitoringmodeld +/src/ + +notebooks +hyperthneed +provisioning + +.coverage* +coverage.xml +htmlcov +pandaextra + +.mypy_cache/ +flycheck_* + +cppcheck_report.txt +comma*.sh + +selfdrive/modeld/thneed/compile +selfdrive/modeld/models/*.thneed +selfdrive/modeld/models/*.pkl + +*.bz2 + +build/ + +!**/.gitkeep + +poetry.toml +Pipfile + +### VisualStudioCode ### +.vscode/* +!.vscode/settings.json +!.vscode/tasks.json +!.vscode/launch.json +!.vscode/extensions.json +!.vscode/*.code-snippets + +# Local History for Visual Studio Code +.history/ + +# Built Visual Studio Code Extensions +*.vsix + +### VisualStudioCode Patch ### +# Ignore all local history of files +.history +.ionide diff --git a/.importlinter b/.importlinter new file mode 100644 index 0000000000..f77ea24b39 --- /dev/null +++ b/.importlinter @@ -0,0 +1,41 @@ +[importlinter] +root_packages = + openpilot + +[importlinter:contract:1] +name = Forbid imports from openpilot.selfdrive.car to openpilot.system +type = forbidden +source_modules = + openpilot.selfdrive.car +forbidden_modules = + openpilot.system + openpilot.body + openpilot.docs + openpilot.msgq + openpilot.panda + openpilot.rednose + openpilot.release + openpilot.teleoprtc + openpilot.tinygrad +ignore_imports = + openpilot.selfdrive.car.card -> openpilot.common.realtime + openpilot.selfdrive.car.card -> openpilot.selfdrive.controls.lib.events + openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.events + openpilot.selfdrive.car.tests.test_models -> openpilot.tools.lib.logreader + openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.car.card + openpilot.selfdrive.car.tests.test_models -> openpilot.tools.lib.route + openpilot.selfdrive.car.tests.test_models -> openpilot.system.hardware.hw + openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.test.helpers + openpilot.selfdrive.car.isotp_parallel_query -> openpilot.common.swaglog + openpilot.selfdrive.car.fw_versions -> openpilot.common.swaglog + openpilot.selfdrive.car.disable_ecu -> openpilot.common.swaglog + openpilot.selfdrive.car.vin -> openpilot.common.swaglog + openpilot.selfdrive.car.ecu_addrs -> openpilot.common.swaglog + openpilot.selfdrive.car.car_helpers -> openpilot.common.swaglog + openpilot.selfdrive.car.car_helpers -> openpilot.system.version + openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.drive_helpers + openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_angle + openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.longcontrol + openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_torque + openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_pid +unmatched_ignore_imports_alerting = warn diff --git a/CHANGELOGS.md b/CHANGELOGS.md new file mode 100644 index 0000000000..2de5b36920 --- /dev/null +++ b/CHANGELOGS.md @@ -0,0 +1,989 @@ +sunnypilot - 0.9.8.0 (2024-xx-xx) +======================== +* Always on driver monitoring toggle +************************ +* UPDATED: Synced with commaai's openpilot + * master commit 4ef757c (July 06, 2024) +* NEW❗: Default Driving Model: Notre Dame (July 01, 2024) +* NEW❗: Longitudinal: Acceleration Personality thanks to kegman, rav4kumar, and arne1282! (CTV 2.0: GlideTech) + * Select from three distinct acceleration personalities: Eco, Normal, and Sport + * Acceleration personalities are integrated directly into the model's acceleration matrix and can be activated in real-time! +* NEW❗: Toyota - Drive Mode Selector + * When enabled you can control acceleration personality just with press of button! +* UPDATED: Dynamic Experimental Control + * Switched to weighted moving averages to enhance responsiveness to recent data. + * Goal is to improve real-time detection accuracy in dynamic conditions. + * Capable of handling the increased complexity that comes with this approach. + * Particularly beneficial in environments where recent changes are critical to performance. +* NEW❗: Longitudinal: Dynamic Personality thanks to rav4kumar! + * Dynamically adjusts following distance and reaction based on your "Driving Personality" setting + * Personalities adapt in real-time to your speed and the distance to the lead car + * Provides a more responsive and tailored driving experience compared to predefined settings +* UPDATED: Driving Personality: Updated mode names + * Aggressive, Moderate, Standard, Relaxed +* NEW❗: Hyundai CAN: Enable Cruise Main by Default + * Set CRUISE MAIN to ON by default when the car starts, without engaging MADS + * This feature only applies when "openpilot Longitudinal Control (Alpha)" is enabled under the "Toggles" menu +* NEW❗: Toyota - Enhanced Blind Spot Monitor (BSM) thanks to arne182, rav4kumar, and eFiniLan! + * Enables Blind Spot Monitor (BSM) signals parsing in sunnypilot using the factory Blind Spot Monitor (BSM) + * sunnypilot will use debugging CAN messages to receive unfiltered BSM signals, allowing detection of more objects + * Supported platforms + * RAV4 TSS1, equipped with factory Blind Spot Monitoring (BSM) + * Lexus LSS1, equipped with factory Blind Spot Monitoring (BSM) + * Toyota TSS1/1.5, equipped with factory Blind Spot Monitoring (BSM) + * Prius TSS2, equipped with factory Blind Spot Monitoring (BSM) + * NOTE: Only enable this feature if your Toyota/Lexus vehicle has factory Blind Spot Monitor equipped, and mentioned in the supported platforms list +* UPDATED: Toyota: TSS2 longitudinal: Custom Tuning (CTV 2.0: GlideTech) + * Re-tuned and tested by the community (September 29, 2024) +* UPDATED: Driving Model Selector v5 + * NEW❗: Driving Model additions + * Notre Dame (July 01, 2024) - NDv3 +* UPDATED: Neural Network Lateral Control (NNLC) + * NEW❗: Remove Lateral Jerk Response (Alpha) + * FIXED: Hotfix for "lazy" steering performance in tighter curves thanks to twilsonco! +* UPDATED: Toyota: Continued support for Smart DSU (SDSU) and Radar CAN Filter + * In response to the official deprecation of support for Smart DSU (SDSU) and Radar CAN Filter in the upstream ([commaai/openpilot#32777](https://github.com/commaai/openpilot/pull/32777)), sunnypilot will continue maintaining software support for Smart DSU (SDSU) and Radar CAN Filter +* UPDATED: Continued support for Mapbox navigation + * In response to the official temporary deprecation of support for Mapbox navigation in the upstream ([commaai/openpilot#32773](https://github.com/commaai/openpilot/pull/32773)), sunnypilot will continue maintaining software support for Mapbox navigation +* NEW❗: Toyota - Automatic Door Locking and Unlocking thanks to AlexandreSato, cydia2020, and dragonpilot-community! + * Auto Lock by Speed: All doors are automatically locked when vehicle speed is approximately 6 mph (10 km/h) or higher + * Auto Unlock by Shift to P: All doors are automatically unlocked when shifting the shift lever to P +* FIXED: Driving Personality: + * Maniac mode now correctly enforced when selected +* FIXED: Experimental Model Distance Button Hold + * Experimental Model toggle with distance button hold no longer changes Personality + * Personality setting remains consistent when switching between Chill and Experimental Mode +* UI Updates + * Display Metrics Below Chevron + * NEW❗: Time to Lead Car + * Displays the time to reach the position previously occupied by the lead car + * NEW❗: Display Distance, Speed, and Time to Lead Car simultaneously +* Ford F-150 2022-23 support +* Ford F-150 Lightning 2021-23 support +* Ford Mustang Mach-E 2021-23 support +* Hyundai Kona Electric Non-SCC 2019 support thanks to NikitaNekrasov! +* Kia Ceed Plug-in Hybrid Non-SCC 2022 support thanks to TerminatorNL! + +sunnypilot - 0.9.7.1 (2024-06-13) +======================== +* New driving model + * Inputs the past curvature for smoother and more accurate lateral control + * Simplified neural network architecture in the model's last layers + * Minor fixes to desire augmentation and weight decay +* New driver monitoring model + * Improved end-to-end bit for phone detection +* Adjust driving personality with the follow distance button +* Support for hybrid variants of supported Ford models +* Fingerprinting without the OBD-II port on all cars +* Improved fuzzy fingerprinting for Ford and Volkswagen +************************ +* UPDATED: Synced with commaai's openpilot + * master commit f8cb04e (June 10, 2024) +* NEW❗: sunnylink (Alpha early access) + * NEW❗: Config/Settings Backup + * Remotely back up and restore sunnypilot settings easily + * Device registration with sunnylink ensures a secure, integrated experience across services + * AES encryption derived from the device's RSA private key is used for utmost security + * Settings are encrypted on-device, transmitted securely via HTTPS, and stored encrypted on sunnylink + * Prevents loss of settings after device resets, offering peace of mind through end-to-end encryption + * Early alpha access to all current and previous GitHub Sponsors and Patreon supporters + * GitHub account pairing from device settings scanning QR code + * Pairing your account will allow you to access features via our API (still WIP but accessible if you dig a little on our code 😉) + * Allow inheritance of your sponsorship status, allowing you to get extra features and early access whenever applicable +* NEW❗: iOS Siri Shortcuts Navigation support thanks to twilsonco and mike86437! + * iOS and macOS Shortcuts to quickly set navigation destinations from your iOS device + * comma Prime support + * Personal Mapbox/Amap/Google Maps token support + * Instructions on how to set up your iOS Siri Shortcuts: https://routinehub.co/shortcut/17677/ +* NEW❗: Forced Offroad mode + * Force sunnypilot in the offroad state even when the car is on + * When Forced Offroad mode is on, allows changing offroad-only settings even when the car is turned on + * To engage/disengage Force Offroad, go to Settings -> Device panel +* NEW❗: Ford CAN-FD longitudinal + * NEW❗: Parse speed limit sign recognition from camera for certain supported platforms +* UPDATED: Auto Lane Change Timer -> Auto Lane Change by Blinker + * NEW❗: New "Off" option to disable lane change by blinker +* UPDATED: Pause Lateral Below Speed with Blinker + * NEW❗: Customizable Pause Lateral Speed + * Pause lateral actuation with blinker when traveling below the desired speed selected. Default is 20 MPH or 32 km/h. +* UPDATED: Hyundai CAN Longitudinal + * Auto-enable radar tracks on platforms with applicable Mando radar +* UPDATED: Hyundai CAN-FD Radar-based SCC + * Longitudinal support for CAN-FD Radar-based SCC cars +* UPDATED: Hyundai CAN-FD Camera-based SCC + * NEW❗: Parse lead info for camera-based SCC platforms with longitudinal support + * Improve lead tracking when using openpilot longitudinal +* RE-ENABLED: Map-based Turn Speed Control (M-TSC) for supported platforms + * openpilot Longitudinal Control available cars + * Custom Stock Longitudinal Control available cars +* UPDATED: Continued support for comma Pedal + * In response to the official deprecation of support for comma Pedal in the upstream, sunnypilot will continue maintaining software support for comma Pedal +* UPDATED: Driving Model Selector v4 + * NEW❗: Driving Model additions + * North Dakota (April 29, 2024) - NDv2 + * WD40 (April 09, 2024) - WD40 + * Duck Amigo (March 18, 2024) - DA + * Recertified Herbalist (March 01, 2024) - CHLR + * Legacy Driving Models with Navigate on openpilot (NoO) support + * Includes Duck Amigo and all preceding models +* UPDATED: Bumping mapd by [@pfeiferj](https://github.com/pfeiferj) to version [v1.9.0](https://github.com/pfeiferj/mapd/releases/tag/v1.9.0) thanks to pfeiferj! +* UPDATED: Reset Mapbox Access Token -> Reset Access Tokens for Map Services + * Reset self-service access tokens for Mapbox, Amap, and Google Maps +* UPDATED: Upstream native support for Gap Adjust Cruise +* UPDATED: Neural Network Lateral Control (NNLC) + * Due to upstream changes with platform simplifications, most platforms will match and fallback to combined platform model + * This will be updated when the new mapping of platforms are restructured (thanks @twilsonco 😉) +* UI Updates + * Display Metrics Below Chevron + * NEW❗: Metrics is now being displayed below the chevron instead of above + * NEW❗: Display both Distance and Speed simultaneously + * NEW❗: View sunnylink connectivity status on the left sidebar! + +sunnypilot - 0.9.6.2 (2024-05-29) +======================== +* REMOVED: Screen Recorder + * Screen Recorder is removed due to unnecessary resource usage + * An improved version will be available in the near future. Stay tuned! + +sunnypilot - 0.9.6.1 (2024-02-27) +======================== +* New driving model + * Vision model trained on more data + * Improved driving performance + * Directly outputs curvature for lateral control +* New driver monitoring model + * Trained on larger dataset +* AGNOS 9 +* comma body streaming and controls over WebRTC +* Improved fuzzy fingerprinting for many makes and models +* Alpha longitudinal support for new Toyota models +* Chevrolet Equinox 2019-22 support thanks to JasonJShuler and nworb-cire! +* Dodge Durango 2020-21 support +* Hyundai Staria 2023 support thanks to sunnyhaibin! +* Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin! +* Lexus LC 2024 support thanks to nelsonjchen! +* Toyota RAV4 2023-24 support +* Toyota RAV4 Hybrid 2023-24 support +************************ +* UPDATED: Synced with commaai's openpilot + * master commit db57a21 (February 22, 2024) + * v0.9.6 release (February 27, 2024) +* UPDATED: Dynamic Experimental Control (DEC) + * Synced with dragonpilot-community/dragonpilot:beta3 commit f4ee52f +* NEW❗: Default Driving Model: Certified Herbalist v2 (February 13, 2024) +* UPDATED: Driving Model Selector v3 + * NEW❗: Driving Model additions + * Certified Herbalist v2 (February 13, 2024) - CHv2 + * Certified Herbalist (February 5, 2024) - CH + * Los Angeles v2 (January 24, 2024) - LAv2 + * Los Angeles (January 22, 2024) - LAv1 + * NEW❗: Model Caching thanks to DevTekVE! + * Model caching allows the selection of previously downloaded Driving Model + * Users can now access cached versions of selected models, eliminating redundant downloads for previously fetched models + * Legacy Driving Models support + * New Delhi (December 21, 2023) - ND + * Blue Diamond v2 (December 11, 2023) - BDv2 + * Blue Diamond (November 18, 2023) - BDv1 + * Farmville (November 7, 2023) - FV + * Night Strike (October 3, 2023) - NS + * Certain features are deprecated with newer Driving Models + * Dynamic Lane Profile (DLP) + * Custom Offsets +* UPDATED: Dynamic Lane Profile (DLP) + * Continued support for Legacy Driving Models (e.g., ND, BDv2, BDv1, FV, NS) + * Deprecated support for newer Driving Models (e.g., CHv2, CH, LAv2, LAv1) +* UPDATED: Custom Offsets + * Continued support for Legacy Driving Models (e.g., ND, BDv2, BDv1, FV, NS) + * Deprecated support for newer Driving Models (e.g., CHv2, CH, LAv2, LAv1) +* UPDATED: Hyundai/Kia/Genesis - ESCC Radar Interceptor + * Message parsing improvements with the latest firmware update: https://github.com/sunnypilot/panda/tree/test-escc-smdps +* UI Updates + * NEW❗: Visuals: Display Feature Status toggle + * Display the statuses of certain features on the driving screen + * NEW❗: Visuals: Enable Onroad Settings toggle + * Display the Onroad Settings button on the driving screen to adjust feature options on the driving screen, without navigating into the settings menu + * REMOVED: "Device ambient" temperature option on the sidebar +* FIXED: New comma 3X support +* FIXED: New comma eSIM support +* Bug fixes and performance improvements + +sunnypilot - 0.9.5.3 (2023-12-24) +======================== +* UPDATED: Dynamic Experimental Control (DEC) + * Synced with dragonpilot-community/dragonpilot:lp-dp-beta2 commit 578d38b +* UPDATED: Driving Model Selector v2 + * Driving models sort in descending order based on availability date + * Experimental/unmerged driving models are only available in "dev-c3" branch + * To select and use experimental driving models, navigate to "Software" panel, select the "dev-c3" branch, and check for update +* UPDATED: Vision-based Turn Speed Control (V-TSC) implementation + * Refactored implementation thanks to pfeiferj! + * More accurate and consistent velocity calculation to achieve smoother longitudinal control in curves +* NEW❗: Speed Limit Warning + * Display alert and/or chime to warn the driver when the cruising speed is faster than the speed limit plus the Warning Offset + * Customizable Warning Offset, independent of Speed Limit Control (SLC)'s Limit Offset +* UPDATED: Speed Limit Source Policy + * Selectable speed limit source for Speed Limit Control and Speed Limit Warning + * Applicable to: Speed Limit Control, Speed Limit Warning +* UPDATED: Speed Limit Control (SLC) + * Engage Mode: Removed "Warning Only" mode - this has been replaced by the new Speed Limit Warning sub-menu +* UPDATED: OpenStreetMap (OSM) implementation + * Refactored implementation thanks to pfeiferj! + * Less resource impact + * Significantly smaller sizes with databases + * All regions are available to download + * Weekly map updates thanks to pfeiferj! + * Increased the font size of the road name + * C3X-specific changes + * Altitude (ALT.) display on Developer UI + * Current street name on top of driving screen when "OSM Debug UI" is enabled +* UPDATED: Map-based Turn Speed Control (M-TSC) implementation + * Only available in "staging-c3" and "dev-c3" branches. If you are using "release-c3" branch, navigate to "Software" panel, select the desired target branch, and check for update + * Refactored implementation thanks to pfeiferj! + * Based on the new OpenStreetMap implementation + * Improved predicted curvature calculations from OpenStreetMap data +* UI updates + * RE-ENABLED: Navigation: Full screen support + * Display the map view in full screen + * To switch back to driving view, tap on the border edge +* Hyundai Bayon Non-SCC 2019 support thanks to polein78! + +sunnypilot - 0.9.5.2 (2023-12-07) +======================== +* NEW❗: MADS: Allow Navigate on openpilot in Chill Mode + * Allow navigation to feed map view into the driving model while using Chill Mode + * Support all platforms, including platforms that do not support openpilot longitudinal control & Experimental Mode +* NEW❗: Neural Network Lateral Controller + * Formerly known as "NNFF", this replaces the lateral "torque" controller with one using a neural network trained on each car's (actually, each separate EPS firmware) driving data for increased controls accuracy + * Contact @twilsonco in the sunnypilot Discord server with feedback, or to provide log data for your car if your car is currently unsupported +* NEW❗: Driving Model Selector + * Easily switch between driving models without reinstalling branches. Offering immediate access to the latest models upon release + * An internet connection is required for downloading models. Each model switch currently involves downloading the model again. Future updates may allow for offline switching + * Warning is displayed for metered connections to avoid unexpected data usage if on cellular data + * Change driving models via **Settings -> Software -> Current Driving Model**. +* NEW❗: Hyundai CAN longitudinal: + * NEW❗: Enable radar tracks for certain Santa Fe platforms + * Internal Combustion Engine (ICE) 2021-23 + * Hybrid 2022-23 + * Plug-in Hybrid 2022-23 +* NEW❗: Lane Change: When manually braking with steering engaged, turning on the turn signal will default to Nudge mode +* Volkswagen MQB CC only platforms (radar or no radar) support thanks to jyoung8607! + +sunnypilot - 0.9.5.1 (2023-11-17) +======================== +* UPDATED: Synced with commaai's master commit e94c3c5 +* NEW❗: Farmville driving model +* NEW❗: Onroad Settings Panel + * Onroad buttons (i.e., DLP, GAC) moved to its dedicated panel + * Driving Personality + * Dynamic Lane Profile (DLP) + * Dynamic Experimental Control (DEC) + * Speed Limit Control (SLC) +* NEW❗: Display main feature status on onroad view in real-time + * GAP - Driving Personality + * DLP - Dynamic Lane Profile + * DEC - Dynamic Experimental Control + * SLC - Speed Limit Control +* NEW❗: Dynamic Experimental Control (DEC) thanks to dragonpilot-community! + * Automatically determines and selects between openpilot ACC and openpilot End to End longitudinal based on conditions for a more natural drive + * Dynamic Experimental Control is only active while in Experimental Mode + * When Dynamic Experimental Control is ON, initially setting cruise speed will set to the vehicle's current speed +* NEW❗: Hyundai CAN longitudinal: + * NEW❗: Parse lead info for camera-based SCC platforms + * Improve lead tracking when using openpilot longitudinal + * NEW❗: Parse lead distance to display on car cluster + * Introduced better lead distance calculation to display on the car's cluster, replacing the binary "lead visible" indication on the SCC cluster + * Lead distance is now categorized into different ranges for more detailed and comprehensive information to the driver similar to how stock ACC does it + * NEW❗: Parse speed limit sign recognition from camera for certain supported platforms +* NEW❗: Subaru - Stop and Go auto-resume support thanks to martinl! + * Global (excluding Gen 2 and Hybrid) and Pre-Global support +* NEW❗: Toyota - Stop and Go hack + * Allow some Toyota/Lexus cars to auto resume during stop and go traffic + * Only applicable to certain models and model years +* NEW❗: Toyota: ZSS support thanks to dragonpilot-community and ErichMoraga! +* NEW❗: MSPA (Cereal structs refactor) + * Make sunnypilot Parsable Again - @sshane + * sunnypilot is now parsable with stock openpilot tools +* NEW❗: Display 3D buildings on map thanks to jakethesnake420! +* openpilot Longitudianl Control capable cars only + * UPDATED: Gap Adjust Cruise is now a part of Driving Personality + * [DISTANCE/FOLLOW DISTANCE/GAP DISTANCE] physical button on the steering wheel to select Driving Personality on by default + * Status now viewable in onroad view or Onroad Settings Panel + * REMOVED: Gap Adjust Cruise toggle +* UPDATED: Speed Limit Control (SLC) + * NEW❗: Speed Limit Engage Mode + * Select the desired mode to set the cruising speed to the speed limit + * Warning Only: Warn the driver when the vehicle is driven faster than the speed limit + * Auto: Automatic speed adjustment on motorways based on speed limit data + * User Confirm: Inform the driver to change set speed of Adaptive Cruise Control to help the driver stay within the speed limit + * Supported platforms + * openpilot Longitudinal Control available cars (Excluding certain Toyota/Lexus, Ford, explained below) + * Custom Stock Longitudinal Control available cars + * Unsupported platforms + * Toyota/Lexus and Ford - most platforms do not allow us to control the PCM's set speed, requires testers to verify + * NEW❗: Speed limit source selector + * Select the desired precedence order of sources used to adapt cruise speed to road limits +* UPDATED: Custom Stock Longitudinal Control + * RE-ENABLED: Hyundai/Kia/Genesis CAN-FD platforms +* UPDATED: Custom Offsets reimplementation + * Camera Offset only works in Laneful (Laneful Only or Laneful in Auto mode when using Dynamic Lane Profile) + * Path Offset can be applied to both Laneless and Laneful +* UPDATED: Refactored Torque Lateral Control custom tuning menu + * NEW❗: Less Restrict Settings for Self-Tune (Beta) + * NEW❗: Custom Tuning for setting offline and live values in real-time +* UPDATED: Auto-detect custom Mapbox token if a personal Mapbox token is provided + * REMOVED: "Enable Mapbox Navigation" toggle +* UI updates + * New Settings menu redesign and improved interactions +* FIXED: Retain hotspot/tethering state was not consistently saved +* FIXED: Map stuck in "Map Loading" if comma Prime is active +* FIXED: OpenStreetMap implementation on C3X devices + * M-TSC + * Altitude (ALT.) display on Developer UI + * Current street name on top of driving screen when "OSM Debug UI" is enabled +* Hyundai Kona Non-SCC 2019 support thanks to Quex! +* Kia Seltos Non-SCC 2023-24 support thanks to Moodkiller and jeroid_! + +sunnypilot - 0.9.4.1 (2023-08-11) +======================== +* UPDATED: Synced with commaai's 0.9.4 release +* NEW❗: Moonrise driving model +* NEW❗: Ford upstream models support +* UPDATED: Dynamic Lane Profile selector in the "SP - Controls" menu +* REMOVED: Dynamic Lane Profile driving screen UI button +* FIXED: Disallow torque lateral control for angle control platforms (e.g. Ford, Nissan, Tesla) + * Torque lateral control cannot be used by angle control platforms, and would cause a "Controls Unresponsive" error if Torque lateral control is enforced in settings +* REMOVED: Speed Limit Style override +* Honda Accord 2016-17 support thanks to mlocoteta! + * Serial Steering hardware required. For more information, see https://github.com/mlocoteta/serialSteeringHardware +* mapd: utilize advisory speed limit in curves (#142) thanks to pfeiferj! + +sunnypilot - 0.9.3.1 (2023-07-09) +======================== +* UPDATED: Synced with commaai's 0.9.3 release +* NEW❗: Display Temperature on Sidebar toggle + * Display Ambient temperature, memory temperature, CPU core with the highest temperature, GPU temperature, or max of Memory/CPU/GPU on the sidebar + * Replace "Display CPU Temperature on Sidebar" toggle +* NEW❗: Hot Coffee driving model +* NEW❗: HKG CAN: Smoother Stopping Performance (Beta) toggle + * Smoother stopping behind a stopped car or desired stopping event. + * This is only applicable to HKG CAN platforms using openpilot longitudinal control +* NEW❗: Toyota: TSS2 longitudinal: Custom Tuning + * Smoother longitudinal performance for Toyota/Lexus TSS2/LSS2 cars thanks to dragonpilot-community! +* NEW❗: Enable Screen Recorder toggle + * Enable this will display a button on the onroad screen to toggle on or off real-time screen recording with UI elements. +* IMPROVED: Dynamic Lane Profile: when using Laneline planner via Laneline Mode or Auto Mode, enforce Laneless planner while traveling below 10 MPH or 16 km/h +* REMOVED: Display CPU Temperature on Sidebar + +sunnypilot - 0.9.2.3 (2023-06-18) +======================== +* NEW❗: Auto Lane Change: Delay with Blind Spot + * Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects an obstructing vehicle, ensuring safe maneuvering +* NEW❗: Driving Screen Off: Wake with Non-Critical Events + * When Driving Screen Off Timer is not set to "Always On": + * Enabled: Wake the brightness of the screen to display all events + * Disabled: Wake the brightness of the screen to display critical events + * Currently, all non-nudge modes are default to continue lane change after 1 seconds of blind spot detection +* NEW❗: Fleet Manager PIN Requirement toggle + * User can now enable or disable PIN requirement on the comma device before accessing Fleet Manager +* NEW❗: Reset all sunnypilot settings toggle +* NEW❗: Turn signals display on screen when blinker is used + * Green: Blinker is on + * Red: Blinker is on, car detected in the adjacent blind spot or road edge detected +* IMPROVED: mapd: better exceptions handling when loading dependencies +* UPDATED: Green Traffic Light Chime no longer displays an orange border when executed +* FIXED: mapd: Road name flashing caused by desync with last GPS timestamp +* FIXED: Ram HD (2500/3500): Ignore paramsd sanity check + * Live parameters have trouble with self-tuning on this platform with upstream openpilot 0.9.2 +* Hyundai: Longitudinal support for CAN-based Camera SCC cars thanks to Zack1010OP's Patreon sponsor! + +sunnypilot - 0.9.2.2 (2023-06-13) +======================== +* NEW❗: Toyota: Allow M.A.D.S. toggling with LKAS Button (Beta) +* IMPROVED: Ram: cruise button handling + +sunnypilot - 0.9.2.1 (2023-06-10) +======================== +* UPDATED: Synced with commaai's 0.9.2 release +* UPDATED: feature revamp with better stability +* UPDATED: + * M.A.D.S. + * Path color becomes LIGHT ORANGE during Driver Steering Override + * Gap Adjust Cruise (now known as Driving Personality in upstream openpilot 0.9.3): + * Updated profiles and jerk changes + * Experimental Mode support + * Three settings: Stock, Aggressive, and Maniac + * Stock is recommended and the default + * In Aggressive/Maniac mode, lead follow distance is shorter and quicker gas/brake response + * Dynamic Lane Profile + * Display blue borders on both sides of the driving path when Laneline mode is being used in the planner + * Auto Mode optimization + * Permanent: Laneless during Auto Lane Change execution + * Mapd + * OpenStreetMap Database: new regions added + * Developer UI (Dev UI) + * REMOVED: 2-column design + * NEW❗: 1-column + 1-row design + * Custom Stock Longitudinal Control + * NEW❗: Chrysler/Jeep/Ram support + * NEW❗: Mazda support + * NEW❗: Volkswagen PQ support + * DISABLED: Hyundai/Kia/Genesis CAN-FD platforms +* NEW❗: Switch between Chill (openpilot ACC) and Experimental (E2E longitudinal) with DISTANCE button on the steering wheel + * To switch between Chill and Experimental Mode: press and hold the DISTANCE button on the steering wheel for over 0.5 second + * All openpilot longitudinal capable cars support +* NEW❗: Nicki Minaj driving model +* NEW❗: Nissan and Mazda upstream models support +* NEW❗: Pre-Global Subaru upstream models support +* NEW❗: Display End-to-end Longitudinal Status (Beta) + * Display an icon that appears when the End-to-end model decides to start or stop +* NEW❗: Green Traffic Light Chime (Beta) + * A chime will play when the traffic light you are waiting for turns green, and you have no vehicle in front of you. +* NEW❗: Lead Vehicle Departure Alert + * Notify when the leading vehicle drives away +* NEW❗: Speedometer: Display True Speed + * Display the true vehicle current speed from wheel speed sensors. +* NEW❗: Speedometer: Hide from Onroad Screen +* NEW❗: Auto-Hide UI Buttons + * Hide UI buttons on driving screen after a 30-second timeout. Tap on the screen at anytime to reveal the UI buttons + * Applicable to Dynamic Lane Profile (DLP) and Gap Adjust Cruise (GAC) +* NEW❗: Display DM Camera in Reverse Gear + * Show Driver Monitoring camera while the car is in reverse gear +* NEW❗: Block Lane Change: Road Edge Detection (Beta) + * Block lane change when road edge is detected on the stalk actuated side +* NEW❗: Display CPU Temperature on Sidebar + * Display the CPU core with the highest temperature on the sidebar +* NEW❗: Display current driving model in Software settings +* NEW❗: HKG: smartMDPS automatic detection (installed with applicable firmware) +* FIXED: Unintended siren/alarm from the comma device if the vehicle is turned off too quickly in PARK gear +* FIXED: mapd: Exception handling for loading dependencies +* Fleet Manager via Browser support thanks to actuallylemoncurd, AlexandreSato, ntegan1, and royjr! + * Access your dashcam footage, screen recordings, and error logs when the car is turned off + * Connect to the device via Wi-Fi, mobile hotspot, or tethering on the comma device, then navigate to http://ipAddress:5050 to access. +* Honda Clarity 2018-22 support thanks to mcallbosco, vanillagorillaa and wirelessnet2! +* Ram: Steer to 0/7 MPH support thanks to vincentw56! +* Retain hotspot/tethering state across reboots thanks to rogerioaguas! + +sunnypilot - Version Latest (2023-02-22) +======================== +* UPDATED: Synced with commaai's master branch - 2023.02.19-04:52:00:GMT - 0.9.2 +* Refactor sunnypilot features to be more stable + +sunnypilot - Version Latest (2022-12-16) +======================== +* UPDATED: Synced with commaai's master branch - 2022.12.16-06:31:00:GMT - 0.9.1 +* NEW❗: GM: + * NEW❗: Gap Adjust Cruise support - Chill, Normal, Aggressive + * NEW❗: Experimental Mode: Hold DISTANCE button on the steering wheel for 0.5 second to switch between Experimental Mode and Chill Mode +* REMOVED❌: Toytoa: SnG Hack + * This method is not recommended and may cause some cars to not behave as expected + * SDSU is strongly recommended to enable SnG for Toyota vehicles without SnG from factory +* commaai: radard: add missing accel data for vision-only leads (commaai/openpilot#26619) - pending PR + * VOACC performance is drastically improved when using Chill Mode +* IMPROVED: M.A.D.S. events handling +* IMPROVED: UI: screen recorder button change +* IMPROVED: OpenStreetMap Offline Database optimization +* FIXED: Toyota: vehicles' LKAS button no longer has a delay with toggling M.A.D.S. +* FIXED: Toyota: brake pedal press at standstill causing Cruise Fault +* FIXED: Volkswagen MQB: reduce Camera Malfunction occurrences (requires testing) +* Bug fixes and performance improvements + +sunnypilot - Version Latest (2022-12-10) +======================== +* IMPROVED: NEW❗ Developer UI design + * Second column metrics is now moved to the bottom of the screen + * ACC. = Acceleration + * L.S. = Lead Speed + * E.T. = EPS Torque + * B.D. = Bearing Degree + * FRI. = Friction + * L.A. = Lateral Acceleration + * ALT. = Altitude +* Bug fixes and performance improvements + +sunnypilot - Version Latest (2022-12-07) +======================== +* NEW❗: Screen Recorder support thanks to neokii and Kumar! +* NEW❗: End-to-end longitudinal start/stop status icon + * Only appears when Experimental Mode is enabled +* NEW❗: End-to-end longitudinal car chime when starting + * Hyundai/Kia/Genesis CAN platform, Honda/Acura Bosch/Nidec, Toyota/Lexus + * i.e. Traffic light turns green, stop sign ready to go, etc. + * Only appears when Experimental Mode is enabled AND longitudinal control is disengaged +* Bug fixes and performance improvements + +sunnypilot - Version Latest (2022-12-05) +======================== +* UPDATED: Synced with commaai's master branch - 2022.12.04-22:46:00:GMT - 0.9.1 +* Bug fixes and performance improvements + +sunnypilot - Version Latest (2022-11-12) +======================== +* UPDATED: Synced with commaai's master branch - 2022.11.12-10:02:00:GMT - 0.8.17 +* FIXED: CAN Error for CAN HKG cars that do not have navigation from the factory +* Bug fixes and performance improvements + +sunnypilot - Version Latest (2022-11-11) +======================== +* UPDATED: Synced with commaai's master branch - 2022.11.11-21:22:00:GMT - 0.8.17 +* commaai: AGNOS 6.2 (commaai/openpilot#26441) +* NEW❗: Speed Limit Control - HKG - add speed limit from car's navigation head unit + * Compatible with certain models, trims, and model years +* DISABLED: FCA: RAM HD - steer down to 0 +* FIXED: UI: End-to-end longitudinal button on driving screen synchronization +* FIXED: Honda: Longitudinal status with set cruise speed now displays properly in the car's dashboard +* Bug fixes and performance improvements + +sunnypilot - Version Latest (2022-11-08) +======================== +* ADDED: New Zealand offline OpenStreetMap database + +sunnypilot - Version Latest (2022-11-04) +======================== +* UPDATED: Synced with commaai's master branch - 2022.11.05-01:44:00:GMT - 0.8.17 +* RE-ENABLED: Dynamic Lane Profile - preserves lanelines + * Can be found in "SP - Controls" menu +* NEW❗: DLP: switch to laneless for current/future curves thanks to @twilsonco! + * Can be found in "SP - Controls" menu +* NEW❗: UI: Road Camera Selector + * Enable this will display a button on the driving screen to select the driving camera + * Can be found in "SP - Visuals" menu +* NEW❗: Controls: Camera & Path Custom Offsets + * Only applicable to laneline mode when using Dynamic Lane Profile +* NEW❗: Buttons on driving screen are now sorted based on priority and availability +* Bug fixes and performance improvements + +sunnypilot - Version Latest (2022-10-28) +======================== +* UPDATED: Synced with commaai's master branch - 2022.10.28-03:53:00:GMT - 0.8.17 +* Bug fixes and performance improvements + +sunnypilot - Version Latest (2022-10-26) +======================== +* UPDATED: Synced with commaai's master branch - 2022.10.26-06:20:00:GMT - 0.8.17 +* Bug fixes and performance improvements + +sunnypilot - Version Latest (2022-10-25) +======================== +* UPDATED: Synced with commaai's master branch - 2022.10.25-23:53:00:GMT - 0.8.17 +* Pre-Global Subaru support thanks to @martinl! +* NEW❗: Speed Limit values turn red when current speed is higher than posted speed limit +* Bug fixes and performance improvements + +sunnypilot - Version Latest (2022-10-23) +======================== +* UPDATED: Synced with commaai's master branch - 2022.10.22-23:15:00:GMT - 0.8.17 +* IMPROVED: Custom Stock Longitudinal Control - HKG - only allow engagement on user button press +* IMPROVED: Custom Stock Longitudinal Control - Volkswagen MQB & PQ - more consistent set speed change +* Bug fixes and performance improvements + +sunnypilot - Version Latest (2022-10-21) +======================== +* UPDATED: Synced with commaai's master branch - 2022.10.21-17:33:00:GMT - 0.8.17 +* IMPROVED: Custom Stock Longitudinal Control - Volkswagen MQB & PQ - more predictable button send logic +* Bug fixes and performance improvements + +sunnypilot - Version Latest (2022-10-20) +======================== +* UPDATED: Synced with commaai's master branch - 2022.10.20-20:25:00:GMT - 0.8.17 +* Bug fixes and performance improvements + +sunnypilot - Version Latest (2022-10-19) +======================== +* UPDATED: Synced with commaai's master branch - 2022.10.19-08:31:00:GMT - 0.8.17 +* IMPROVED: Controls: Speed Limit Control - accelerator press only disengage if "Disengage on Accelerator Pedal" is enabled +* Bug fixes and performance improvements + +sunnypilot - Version Latest (2022-10-18) +======================== +* UPDATED: Synced with commaai's master branch - 2022.10.18-04:44:00:GMT - 0.8.17 +* RE-ENABLED: Volkswagen MQB & PQ with Custom Stock Longitudinal Control +* NEW❗: Steering Rate Cost Live Tune + * Enables live tune for Steering Rate Cost. Lower value allows steering wheel to move more freely at low speed + * Can be found in "SP - Controls" menu +* FIXED: MADS: GM - include Regen Paddle logic thanks to @twilsonco! +* Bug fixes and performance improvements + +sunnypilot - Version Latest (2022-10-17) +======================== +* UPDATED: Synced with commaai's master branch - 2022.10.17-23:54:00:GMT+1 - 0.8.17 +* ENABLED: "Custom Stock Longitudinal Control" toggle for CAN-FD cars +* FIXED: HKG CAN-FD: Could not engage when openpilot longitudinal is enabled +* Bug fixes and performance improvements + +sunnypilot - Version Latest (2022-10-13) +======================== +* UPDATED: Synced with commaai's master branch - 2022.10.13-19:43:00:GMT+1 - 0.8.17 +* ADDED: Live Tmux toggle + * Can be found in "SP - General" menu +* IMPROVED: OpenStreetMap Database Update - only check for database update with explicit user decision +* Bug fixes and performance improvements + +sunnypilot - Version Latest (2022-10-11) +======================== +* ADDED: Hyundai openpilot longitudinal improvements - huge thanks to @aragon7777! +* ADDED: Check for OpenStreetMap Database Update button +* UPDATED: commaai: Low speed lateral control improvements (commaai:openpilot#26022, bbcd448) - pending PR +* FIXED: MUTCD speed limit spacing adjusts dynamically when no subtext is shown (i.e., speed limit offset, distance to next speed limit) +* FIXED: MADS: Intermittent CAN Error when engaging for Toyota Prius TSS-P +* Bug fixes and performance improvements + +sunnypilot - Version Latest (2022-10-09) +======================== +* ADDED: commaai: Low speed lateral control improvements (commaai:openpilot#26022, bca288bb) - pending PR +* FIXED: MADS: Intermittent CAN Error when engaging for Toyota Prius TSS-P +* IMPROVED: mapd: stop signs and other supported traffic_calming tags are now slowing/stopping as expected +* Bug fixes and performance improvements + +sunnypilot - Version Latest (2022-10-08) +======================== +* UPDATED: Synced with commaai's master branch - 2022.10.08-12:07:00:GMT+1 - 0.8.17 +* FIXED: MADS: Intermittent CAN Error when engaging for Toyota Prius TSS-P +* IMPROVED: mapd: Speed Humps are now set at 20 MPH or 32 km/h +* IMPROVED: OpenStreetMap Offline Database download experience +* Bug fixes and performance improvements + +sunnypilot - Version Latest (2022-10-07) +======================== +* UPDATED: Synced with commaai's master branch - 2022.10.07-08:16:00:GMT - 0.8.17 +* NEW❗: OpenStreetMap database can now be downloaded locally for offline use + * Now offering US South, US West, US Northeast, US Florida, Taiwan, and South Africa + * Databases updated - 2022.10.05-03:30:00:GMT +* NEW❗: mapd: Stop Sign, Yield, Speed Bump, Speed Hump, Sharp Curve support - huge thanks to @move-fast and @dragonpilot-community! + * Go to https://openstreetmap.org and start mapping out your area! +* Bug fixes and performance improvements + +sunnypilot - Version Latest (2022-09-30) +======================== +* UPDATED: Synced with commaai's master branch - 2022.09.30-22:43:00:GMT - 0.8.17 +* RE-ADDED: Torque Lateral Controller Live Tune Menu +* Bug fixes and performance improvements + +sunnypilot - Version Latest (2022-09-23) +======================== +* ADDED: Developer UI: latAccelFactorFiltered & frictionCoefficientFiltered values displays in green if Torque is using live params +* Bug fixes and performance improvements + +sunnypilot - Version Latest (2022-09-22) +======================== +* UPDATED: Synced with commaai's master branch - 2022.09.19-22:19:00:GMT - 0.8.17 +* NEW❗: Toggle to explicitly enable Custom Stock Longitudinal Control + * Applicable cars only: Honda, Hyundai/Kia/Genesis + * Settings -> Toggles menu + +sunnypilot - Version Latest (2022-09-21) +======================== +* UPDATED: Synced with commaai's master branch - 2022.09.19-22:19:00:GMT - 0.8.17 +* ADDED: Toggle to enable Live Torque (self/auto tune) with Torque lateral controller + * To enable, first enable "Enforce Torque Lateral Controller" toggle +* UPDATED: New metrics in Developer UI (when Live Torque is enabled) + * REMOVED: latAccelFactorRaw & frictionCoefficientRaw from torqued + * ADDED: latAccelFactorFiltered & frictionCoefficientFiltered from torqued +* REMOVED: Temporary remove Torque Lateral Controller Live Tune Menu + +sunnypilot - Version Latest (2022-09-20) +======================== +* UPDATED: Synced with commaai's master branch - 2022.09.19-22:19:00:GMT - 0.8.17 +* ADDED: Toggle to enable Live Torque (self/auto tune) with Torque lateral controller + * To enable, first enable "Enforce Torque Lateral Controller" toggle +* REMOVED: Temporary remove Torque Lateral Controller Live Tune Menu + +sunnypilot - Version Latest (2022-09-18) +======================== +* UPDATED: Synced with commaai's master branch - 2022.09.17-11:23:00:GMT - 0.8.17 +* ADDED: Kia Forte Non-SCC 2019 support for @askalice +* FIXED: Torque Lateral Control Live Tune now syncs with commaai:openpilot#25822 +* FIXED: mapd dependencies no longer need to be re-downloaded after unknown reboots + +sunnypilot - Version Latest (2022-09-17) +======================== +* UPDATED: Synced with commaai's master branch - 2022.09.17-11:23:00:GMT - 0.8.17 +* NEW❗: Non SCC HKG support + * Custom Stock Longitudinal Control + * ❗No❗ openpilot longitudinal control +* FIXED: Honda Bosch random low-value set speed changes + +sunnypilot - Version Latest (2022-09-16) +======================== +* UPDATED: Synced with commaai's master branch - 2022.09.16-20:23:00:GMT - 0.8.17 + +sunnypilot - Version Latest (2022-09-15) +======================== +* UPDATED: Synced with commaai's master branch - 2022.09.16-02:00:00:GMT - 0.8.17 +* FIXED: Block additional auto lane change actions if blinker stays on after the first lane change +* REVERTED: Some Toyota with LKAS button no longer requires double press to engage/disengage M.A.D.S. + +sunnypilot - Version Latest (2022-09-14)u +======================== +* UPDATED: Synced with commaai's master branch - 2022.09.11-02:47:00:GMT - 0.8.17 +* NEW❗: GM models supported in Force Car Recognition (FCR) + * Under "SP - Vehicles" +* NEW❗: Prompt to select car in "SP - Vehicles" if car unrecognized on startup +* FIXED: Some Toyota with LKAS button no longer requires double press to engage/disengage M.A.D.S. +* UPDATED: ESCC: Use radar tracks from radar if available + +sunnypilot - Version Latest (2022-09-13) +======================== +* UPDATED: Synced with commaai's master branch - 2022.09.11-02:47:00:GMT - 0.8.17 +* NEW❗: New metric in Developer UI + * Actual Lateral Acceleration (Roll Compensated) + +sunnypilot - Version Latest (2022-09-12) +======================== +* UPDATED: Synced with commaai's master branch - 2022.09.11-02:47:00:GMT - 0.8.17 +* FIXED: Honda Nidec models not gaining speed when longitudinal engaged + +sunnypilot - Version Latest (2022-09-11) +======================== +* UPDATED: Synced with commaai's master branch - 2022.09.11-02:47:00:GMT - 0.8.17 +* NEW❗: Hyundai Enhanced SCC now forwards FCW and AEB signals and commands from radar to car +* RE-ENABLED: MADS Status Icon toggle + +sunnypilot - Version Latest (2022-09-10) +======================== +* UPDATED: Synced with commaai's master branch - 2022.09.11-02:47:00:GMT - 0.8.17 +* NEW❗: RAM improvement implementation thanks to realfast! +* DISABLED: Chrysler/Jeep/Ram with Custom Stock Longitudinal Control +* DISABLED: Volkswagen MQB & PQ with Custom Stock Longitudinal Control + +sunnypilot - Version Latest (2022-09-09) +======================== +* UPDATED: Synced with commaai's master branch - 2022.09.09-07:35:00:GMT - 0.8.17 +* NEW❗: MADS now supporting General Motors (GM) +* ADDED: Custom Stock Longitudinal Control - Volkswagen + * MQB & PQ +* ADDED: Reverse ACC Change + * ACC +/-: Short=5, Long=1 +* ADDED: Custom Stock Longitudinal Control + * Hyundai/Kia/Genesis + * Honda Bosch +* ADDED: Hyundai: 2015-16 Genesis resume from standstill fix (commaai:openpilot#25579) - pending PR +* Vision Turn Speed Control re-enabled +* Disable Onroad Uploads toggle re-enabled + +sunnypilot - Version Latest (2022-09-08) +======================== +* UPDATED: Synced with commaai's master branch - 2022.09.08-04:05:00:GMT - 0.8.17 +* NEW❗: Block lane change initiation while brake is pressed + +sunnypilot - Version Latest (2022-09-07) +======================== +* UPDATED: Synced with commaai's master branch - 2022.09.08-04:05:00:GMT - 0.8.17 +* NEW❗: Display End-to-end longitudinal 🌮 on screen + * NEW❗: Hold DISTANCE button on the steering wheel for 1 second to switch between E2E Long and ACC mode + * Enable toggle on the driving screen to switch between modes with End-to-end longitudinal + * Only applicable to cars with openpilot longitudinal control +* NEW❗: Block lane change initiation while brake is pressed +* REMOVED: Dynamic Lane Profile - upstream laneless model is now on by default +* REMOVED: hyundai: consistent start from stop (commaai:openpilot#25672) - pending PR + +sunnypilot - Version Latest (2022-09-06) +======================== +* UPDATED: Synced with commaai's master branch - 2022.09.06 - 0.8.17 +* NEW❗: Display useful metrics above the chevron that tracks the lead car + * Under "SP - Visuals" menu + * Only applicable to cars with openpilot longitudinal control +* ADDED: hyundai: consistent start from stop (commaai:openpilot#25672) - pending PR +* FIXED: Vienna speed limit interface now scales properly with the outer box +* REMOVED: Hyundai long improvements (commaai:openpilot#25604) - closed PR + +sunnypilot - Version Latest (2022-09-05) +======================== +* UPDATED: Synced with commaai's master branch - 2022.09.03 - 0.8.17 +* NEW❗: Speed Limit Control (SLC) interface integrated with upstream +* NEW❗: Speed limit from active navigation is now prioritized for Speed Limit Control +* NEW❗: MUTCD (U.S.) or Vienna (E.U.) speed limit interfaces can now be selected under "SP - Controls" + +sunnypilot - Version Latest (2022-09-04) +======================== +* UPDATED: Synced with commaai's master branch - 2022.09.03 - 0.8.17 +* FIXED: Gap Adjust Cruise status now displays properly on screen +* FIXED: mapd - missing index in list caused mapd to crash +* REMOVED: Temporary removed Vision Turn Speed Control + +sunnypilot - Version Latest (2022-09-03) +======================== +* UPDATED: Synced with commaai's master branch - 2022.09.03 - 0.8.17 +* ADDED: New border colors for different operation engagements +* ADDED: UI: Show barrier when car detected in blind spot + * Only applicable to cars that have BSM detection with openpilot +* FIXED: Cruise Cancel button no longer display prompt if cruise not engaged +* TWEAKED: Update changelogs on startup in Settings -> Software -> Version +* REMOVED: Upload Raw Logs and Full Resolution Videos toggles + +sunnypilot - Version Latest (2022-08-31) +======================== +* UPDATED: Synced with commaai's master branch - 2022.08.31 - 0.8.17 +* ADDED: New border colors for different operation engagements +* ADDED: UI: Show barrier when car detected in blind spot + * Only applicable to cars that have BSM detection with openpilot +* FIXED: Cruise Cancel button no longer display prompt if cruise not engaged +* REMOVED: Upload Raw Logs and Full Resolution Videos toggles + +sunnypilot - Version 0.8.16 (2022-07-16) +======================== +* Sync with commaai's master branches +* NEW❗: Add toggle to pause lateral actuation below 30 MPH / 50 KM/H +* IMPROVED: Better controls mismatch handling +* IMPROVED: Less frequent Low Memory alert +* IMPROVED: Only allow lateral control when in forward gears +* IMPROVED: Better alerts handling on gear changes + +sunnypilot - Version 0.8.14-1.3 (2022-06-29) +======================== +* Hyundai/Kia/Genesis + * NEW❗: MADS: Add GAP/Distance button on the steering wheel to engage/disengage + * To engage/disengage MADS: Hold the button for 0.5 second +* NEW❗: Dynamic Lane Profile: Add toggle to enable "Laneless for Curves in Auto Lane" +* HOTFIX🛠: Improve Torque lateral control and reduce ping pong for some Toyota cars + * Torque control: higher low speed gains and better steering angle deadzone logic +* Developer UI: Remove Distance Traveled, replace with Memory Usage % + * This may have a potential to fix the Low Memory alert that may appear + +sunnypilot - Version 0.8.14-1 (2022-06-27) +======================== +* HOTFIX🛠: Honda, Toyota, Volkswagen now initialized correctly with Torque Lateral Live Tune + +sunnypilot - Version 0.8.14-1 (2022-06-27) +======================== +* NEW❗: Added toggle to enable updates for sunnypilot +* HOTFIX🛠: Volkswagen car list now displays properly in Force Car Recognition menu +* REVERTED: Honda - temporary removes CRUISE (MAIN) for MADS engagement + * LKAS button continues to be used for MADS engagement/disengagement + +sunnypilot - Version 0.8.14-1 (2022-06-26) +======================== +Visit https://bit.ly/sunnyreadme for more details +* sunnypilot 0.8.14 release - based on openpilot 0.8.14 devel +* "0.8.14-prod-c3" branch only supports comma three + * If you have a comma two, EON, or other devices than a comma three, visit sunnyhaibin's discord server for more details: https://discord.gg/wRW3meAgtx +* Mono-branch support + * Honda/Acura + * Hyundai/Kia/Genesis + * Toyota/Lexus + * Volkswagen MQB +* Modified Assistive Driving Safety (MADS) Mode + * NEW❗: CRUISE (MAIN) now engages MADS for all supported car makes + * NEW❗: Added toggle to disable disengaging Automatic Lane Centering (ALC) on the brake pedal +* Dynamic Lane Profile (DLP) +* NEW❗: Gap Adjust Cruise (GAC) + * openpilot longitudinal cars can now adjust between the lead car's following distance gap via 3 modes: + * Steering Wheel (SW) | User Interface (UI) | Steering Wheel + User Interface (SW+UI) +* NEW❗: Custom Camera & Path Offsets +* NEW❗: Torque Lateral Control from openpilot 0.8.15 master (as of 2022-06-15) +* NEW❗: Torque Lateral Control Live Tune Menu +* NEW❗: Speed Limit Sign from openpilot 0.8.15 master (as of 2022-06-22) +* NEW❗: Mapbox Speed Limit data will now be utilized in Speed Limit Control (SLC) + * Speed limit data will be utilized in the following availability: + * Mapbox (active navigation) -> OpenStreetMap -> Car Interface (Toyota's TSR) +* Custom Stock Longitudinal Control + * NEW❗: Volkswagen MQB + * Honda + * Hyundai/Kia/Genesis +* NEW❗: Mapbox navigation support for non-Prime users + * Visit sunnyhaibin's discord server for more details: https://discord.gg/wRW3meAgtx +* Hyundai/Kia/Genesis + * NEW❗: Enhanced SCC (ESCC) Support + * Requires hardware modification. Visit sunnyhaibin's discord server for more details: https://discord.gg/wRW3meAgtx + * NEW❗: Smart MDPS (SMDPS) Support - Auto-detection + * Requires hardware modification and custom firmware for the SMDPS. Visit sunnyhaibin's discord server for more details: https://discord.gg/wRW3meAgtx +* Toyota/Lexus + * NEW❗: Added toggle to enforce stock longitudinal control + +sunnypilot - Version 0.8.12-4 +======================== +* NEW❗: Custom Stock Longitudinal Control by setting the target speed via openpilot's "MAX" speed thanks to multikyd! + * Speed Limit Control + * Vision-based Turn Control + * Map-based Turn Control +* NEW❗: HDA status integration with Custom Stock Longitudinal Control on applicable HKG cars only +* NEW❗: Roll Compensation and SteerRatio fix from comma's 0.8.13 +* NEW❗: Dev UI to display different metrics on screen + * Click on the "MAX" box on the top left of the openpilot display to toggle different metrics display + * Lead car relative distance; Lead car relative speed; Actual steering degree; Desired steering degree; Engine RPM; Longitudinal acceleration; Lead car actual speed; EPS torque; Current altitude; Compass direction +* NEW❗: Stand Still Timer to display time spent at a stop with M.A.D.S engaged (i.e., stop lights, stop signs, traffic congestions) +* NEW❗: Current car speed text turns red when the car is braking +* NEW❗: Export GPS tracks into GPX files and upload to OSM thanks to eFini! +* NEW❗: Enable ACC and M.A.D.S with a single press of the RES+/SET- button +* NEW❗: ACC +/-: Short=5, Long=1 + * Change the ACC +/- buttons behavior with cruise speed change in openpilot + * Disabled (Stock): Short=1, Long=5 + * Enabled: Short=5, Long=1 +* NEW❗: Speed Limit Value Offset (not %)* + * Set speed limit higher or lower than actual speed limit for a more personalized drive. + * *To use this feature, turn off "Enable Speed Limit % Offset"* +* NEW❗: Dedicated icon to show the status of M.A.D.S. +* NEW❗: No Offroad Fix for non-official devices that cannot shut down after the car is turned off +* NEW❗: Stop N' Go Resume Alternative + * Offer alternative behavior to auto resume when stopped behind a lead car using stock SCC/ACC. This feature removes the repeating prompt chime when stopped and/or allows some cars to use auto resume (i.e., Genesis) +* IMPROVED: Show the lead car icon in the car's dashboard when a lead car is detected by openpilot's camera vision +* FIXED: MADS button unintentionally set MAX when using stock longitudinal control thanks to Spektor56! + +sunnypilot - Version 0.8.12-3 +======================== +* NEW❗: Bypass "System Malfunction" alert toggle + * Prevent openpilot from returning the "System Malfunction" alert that hinders the ability use openpilot +* FIXED: Hyundai/Kia/Genesis Brake Hold Active now outputs the correct events on screen with M.A.D.S. engaged + +sunnypilot - Version 0.8.12-2 +======================== +* NEW❗: Disable M.A.D.S. toggle to disable the beloved M.A.D.S. feature + * Enable Stock openpilot engagement/disengagement +* ADJUST: Initialize Driving Screen Off Brightness at 50% + +sunnypilot - Version 0.8.12-1 +======================== +* sunnypilot 0.8.12 release - based on openpilot 0.8.12 devel +* Dedicated Hyundai/Kia/Genesis branch support +* NEW❗: OpenStreetMap integration thanks to the Move Fast team! + * NEW❗: Vision-based Turn Control + * NEW❗: Map-Data-based Turn Control + * NEW❗: Speed Limit Control w/ optional Speed Limit Offset + * NEW❗: OpenStreetMap integration debug UI + * Only available to openpilot longitudinal enabled cars +* NEW❗: Hands on Wheel Monitoring according to EU r079r4e regulation +* NEW❗: Disable Onroad Uploads for data-limited Wi-Fi hotspots when using OpenStreetMap related features +* NEW❗: Fast Boot (Prebuilt) +* NEW❗: Auto Lane Change Timer +* NEW❗: Screen Brightness Control (Global) +* NEW❗: Driving Screen Off Timer +* NEW❗: Driving Screen Off Brightness (%) +* NEW❗: Max Time Offroad +* Improved user feedback with M.A.D.S. operations thanks to Spektor56! + * Lane Path + * Green🟢 (Laneful), Red🔴 (Laneless): M.A.D.S. engaged + * White⚪: M.A.D.S. suspended or disengaged + * Black⚫: M.A.D.S. engaged, steering is being manually override by user + * Screen border now only illuminates Green when SCC/ACC is engaged + +sunnypilot - Version 0.8.10-1 (Unreleased) +======================== +* sunnypilot 0.8.10 release - based on openpilot 0.8.10 `devel` +* Add Toyota cars to Force Car Recognition + +sunnypilot - Version 0.8.9-4 +======================== +* Hyundai: Fix Ioniq Hybrid signals + +sunnypilot - Version 0.8.9-3 +======================== +* Update home screen brand and version structure + +sunnypilot - Version 0.8.9-2 +======================== +* Added additional Sonata Hybrid Firmware Versions +* Features + * Modified Assistive Driving Safety (MADS) Mode + * Dynamic Lane Profile (DLP) + * Quiet Drive 🤫 + * Force Car Recognition (FCR) + * PID Controller: add kd into the stock PID controller + +sunnypilot - Version 0.8.9-1 +======================== +* First changelog! +* Features + * Modified Assistive Driving Safety (MADS) Mode + * Dynamic Lane Profile (DLP) + * Quiet Drive 🤫 + * Force Car Recognition (FCR) + * PID Controller: add kd into the stock PID controller diff --git a/HOW-TOS.md b/HOW-TOS.md new file mode 100644 index 0000000000..a66786c200 --- /dev/null +++ b/HOW-TOS.md @@ -0,0 +1,77 @@ +# How Tos +This page is a repository of useful how-tos as a supplement for additional information. + +Table of Contents +======================= + +* [Radar Tracks](#Radar-Tracks) + * [Enable Radar Tracks](#-Enable-Radar-Tracks) +* [Enable Mapbox Navigation](#-Enable-Mapbox-Navigation) + +--- + +

📡 Radar Tracks

 + +Radar tracks can now be enabled manually on applicable cars through SSH thanks to [@greghogan](https://github.com/greghogan) and [@pd0wm](https://github.com/pd0wm). + +Some Hyundai radars can be reconfigured to output (debug) radar points on bus 1. +Reconfiguration is done over UDS by reading/writing to 0x0142 using the Read/Write Data By Identifier +endpoints (0x22 & 0x2E). This script checks your radar firmware version against a list of known +firmware versions. If you want to try on a new radar, make sure to note the default config value +in case it is different from the other radars and you need to revert the changes. +After changing the config the car should not show any faults when openpilot is not running. +These config changes are persistent across car reboots. You need to run this script again +to go back to the default values. + +**USE AT YOUR OWN RISK!** Stock system safety features, like AEB and FCW, might be affected by these changes. + +**How radar points can be used along with vision:** +* Current OP long policy is identify with vision first, if vision sees a vehicle match it to a radar point. If vision sees nothing you get a false negative and no lead car detection. (Source: [Hubblesphere#7894 from comma.ai community Discord](https://discord.com/channels/469524606043160576/872899198738104330/872913890793635872)) + +### 🚨 Enable Radar Tracks + +***(EXPERIMENTAL, as of January 1st, 2022)*** + +***(Only applicable to some Hyundai, Kia, and Genesis cars, as of January 1st, 2022)*** + +*(Base on version 0.8.12 [`devel`](https://github.com/commaai/openpilot/tree/devel))* + +**USE AT YOUR OWN RISK!** Stock system safety features, like AEB and FCW, might be affected by these changes. + +1. Ensure the car is at the `OFF` ignition position. +2. Connect your compatible comma device (EON, C2, C3) to the car. comma device power should be ON. +3. Use a laptop or applicable device to connect to your comma device via SSH. (Tips: Instructions to SSH in [HERE](https://github.com/commaai/openpilot/wiki/SSH)) +4. In the SSH terminal after successfully connected to your comma device, execute the following commands: + 1. `pkill -f openpilot` + 2. `python /data/openpilot/selfdrive/debug/hyundai_enable_radar_points.py` + 3. Follow the instructions in the script: + * `Power on the vehicle keeping the engine off (press start button twice) then type OK to continue`. + * If successful, the following message should appear: `[DONE]. Restart your vehicle and ensure there are no faults`. + * If the script did not run successfully, reach out to the community in [Sunnyhaibin's Openpilot Discord Server](https://discord.gg/wRW3meAgtx) or `#hyundai-kia-genesis channel` on [commaai community Discord Server](https://discord.comma.ai) for assistance. + 4. Reboot your comma device: + 1. C3: `sudo reboot` + 2. C2 or EON: `reboot` +5. Once your comma device is rebooted, start your car with engine on (with or without comma device connected). Ensure that there are no faults from the car. If there are faults, reach out to the community in [Sunnyhaibin's Openpilot Discord Server](https://discord.gg/wRW3meAgtx) or `#hyundai-kia-genesis channel` on [commaai community Discord Server](https://discord.comma.ai) for assistance. +6. Go for a quick drive and drive behind a lead car with varied follow distance. Then, come back and allow the drive to upload its `rlogs` in [comma Connect](https://connect.comma.ai). +7. With all `rlogs` uploaded, open the drive in Cabana from [comma Connect](https://connect.comma.ai). Load DBC -> `hyundai_kia_mando_front_radar.dbc`, then search `RADAR_TRACK_50x` (`x` could be anything), open any of them, and look at `LONG_DIST`. +8. If the radar tracks data is relevant with the lead car you drove behind, you are done! Your car now have radar tracks enabled. +
+ +

🗺 Enable Mapbox Navigation

 + +1) Create a free mapbox account. Account will ask for a credit card for verification. You will not be charged for the free tier. +2) On the Dashboard, you will see a section called Access Tokens. Click `Create a Token`. Name it whatever you like. Set the scopes to allow everything for both Public and Secret. Copy both of these keys. **YOU WON'T BE ABLE TO ACCESS THE SECRET KEY AFTER THIS WINDOW.** +3) Once rebooted, connect your C3 to a network with internet access and find the C3’s IP address. +4) In a browser, navigate to that IP with **port 8082** (i.e 192.168.1.69:8082). You should be greeted with the Comma logo and a public key input field. +5) Paste your Public token (pk.xx), click enter, paste your Secret key (sk.xx), click enter. You can now search for places. This page will be available at your devices’s IP address/port 8082 to search for destinations. +6) To set Home and Work addresses, search for a place, select Home/Work from the dropdown and click Navigate. For non-Home/Work destinations, select Recent Places.
*At this time, it is not possible to search directly on the C3.* + +**TIPS:** +- If your C3 is showing a black screen that says “Map Loading”, performing a reboot via the UI should fix it. +- If your phone can create a Hotspot, you are able to connect the C3 to your phone hotspot and use your phone browser to search for places. +- In the Navigation panel on the C3, you can select Home, Work, and from a list of Recent Places you have navigated to without needing a browser (assuming the C3 is connected to the internet.) + +**IMPORTANT NOTE:** Your C3 will require an active internet connection to download map data, generate driving directions, and ETA. Once map data and directions are downloaded, it *is* possible to use it offline, however nothing will update (such as new driving direction after a missed turn, updated ETA, map data further into your drive etc.) + +***NAVIGATION NOTE:** At this time, mapbox does not support alphanumeric addresses (i.e W123N1234 Main St). There is currently no known workaround for this.* +
diff --git a/README.md b/README.md new file mode 100644 index 0000000000..f8941ed699 --- /dev/null +++ b/README.md @@ -0,0 +1,460 @@ +![](https://user-images.githubusercontent.com/47793918/233812617-beab2e71-57b9-479e-8bff-c3931347ca40.png) + +Table of Contents +======================= + +* [Join our Discord](#-join-our-discord) +* [What is sunnypilot?](#-what-is-sunnypilot) +* [Running in a car](#-running-on-a-dedicated-device-in-a-car) +* [Read Before Installing](#-read-before-installing) +* [Prohibited Safety Modifications](#-prohibited-safety-modifications) +* [Installation](#-installation) +* [Highlight Features](#-highlight-features) +* [Driving Enhancements](#-driving-enhancements) +* [Branch Definitions](#-branch-definitions) +* [Recommended Branches](#-recommended-branches) +* [How-To's](#-How-Tos) +* [Pull Requests](#-Pull-Requests) +* [Special Thanks](#-special-thanks) +* [User Data](#-user-data) +* [Licensing](#licensing) +* [Donate](#-support-sunnypilot) + +--- + +

💭 Join our Discord

 + +--- + +Join the official sunnypilot Discord server to stay up to date with all the latest features and be a part of shaping the future of sunnypilot! +* https://discord.gg/sunnypilot + + ![](https://dcbadge.vercel.app/api/server/wRW3meAgtx?style=flat) ![Discord Shield](https://discordapp.com/api/guilds/880416502577266699/widget.png?style=shield) + +
+ +

🌞 What is sunnypilot?

 + +--- + +[sunnypilot](https://github.com/sunnyhaibin/sunnypilot) is a fork of comma.ai's openpilot, an open source driver assistance system. sunnypilot offers the user a unique driving experience for over 250+ supported car makes and models with modified behaviors of driving assist engagements. sunnypilot complies with comma.ai's safety rules as accurately as possible. + +
+ +

🚘 Running on a dedicated device in a car

 + +--- + +To use sunnypilot in a car, you need the following: +* A supported device to run this software + * a [comma three](https://comma.ai/shop/products/three), or + * a comma two (only with older versions below 0.8.13) +* This software +* One of [the 250+ supported cars](https://github.com/commaai/openpilot/blob/master/docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run sunnypilot. +* A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car + +Detailed instructions for [how to mount the device in a car](https://comma.ai/setup). + +
+ +

🚨 Read Before Installing

 + +--- + +It is recommended to read this **entire page** before proceeding. This will ensure that you fully understand each added feature on sunnypilot, and you are selecting the right branch for your car to have the best driving experience. + +This is a fork of [comma.ai's openpilot](https://github.com/commaai/openpilot). By installing this software, you accept all responsibility for anything that might occur while you use it. All contributors to sunnypilot are not liable. ❗**Use at your own risk.**❗ + +
+ +

⛔ Prohibited Safety Modifications

 + +--- + +All [official sunnypilot branches](https://github.com/sunnyhaibin/sunnypilot/branches) strictly adhere to [comma.ai's safety policy](https://github.com/commaai/openpilot/blob/master/docs/SAFETY.md). Any changes that go against this policy will result in your fork and your device being banned from both comma.ai and sunnypilot channels. + +The following changes are a **VIOLATION** of this policy and **ARE NOT** included in any sunnypilot branches: +* Driver Monitoring: + * ❌ "Nerfing" or reducing monitoring parameters. +* Panda safety: + * ❌ No preventing disengaging of **LONGITUDINAL CONTROL** (acceleration/brake) on brake pedal press. + * ❌ No auto re-engaging of **LONGITUDINAL CONTROL** (acceleration/brake) on brake pedal release. + * ❌ No disengaging on ACC MAIN in OFF state. + +
+ + +

⚒ Installation

 + +--- + +
URL (Easy) + +comma three +------ + +Please refer to [Recommended Branches](#-recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `release-c3` branch. + +* sunnypilot not installed or you installed a version before 0.8.17? + 1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed. + 2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option. + 3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```release-c3.sunnypilot.ai``` [^4] (note: `https://` is not requirement on the comma three) + 4. Complete the rest of the installation following the onscreen instructions. + +* sunnypilot already installed and you installed a version after 0.8.17? + 1. On the comma three, go to `Settings` ▶️ `Software`. + 2. At the `Download` option, press `CHECK`. This will fetch the list of latest branches from sunnypilot. + 3. At the `Target Branch` option, press `SELECT` to open the Target Branch selector. + 4. Scroll to select the desired branch per [Recommended Branches](#-recommended-branches). Example: `release-c3` + +| Branch | Installation URL | +|:------------:|:--------------------------------:| +| `release-c3` | https://release-c3.sunnypilot.ai | +| `staging-c3` | https://staging-c3.sunnypilot.ai | +| `dev-c3` | https://dev-c3.sunnypilot.ai | + +Requires further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel. + +comma two +------ + +1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed. +2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option. +3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```https://smiskol.com/fork/sunnyhaibin/0.8.12-4-prod``` +4. Complete the rest of the installation following the onscreen instructions. + +Requires further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel. + +
+ +
+ SSH (More Versatile) +
+ +Prerequisites: [How to SSH](https://github.com/commaai/openpilot/wiki/SSH) + +If you are looking to install sunnypilot via SSH, run the following command in an SSH terminal after connecting to your device: + +comma three: +------ +* [`release-c3`](https://github.com/sunnyhaibin/openpilot/tree/release-c3): + + ``` + cd /data; rm -rf ./openpilot; git clone -b release-c3 --recurse-submodules https://github.com/sunnyhaibin/sunnypilot.git openpilot; cd openpilot; sudo reboot + ``` + +comma two: +------ +* [`0.8.12-prod-personal-hkg`](https://github.com/sunnyhaibin/openpilot/tree/0.8.12-prod-personal-hkg): + + ``` + cd /data; rm -rf ./openpilot; git clone -b 0.8.12-prod-personal-hkg --recurse-submodules https://github.com/sunnyhaibin/sunnypilot.git openpilot; cd openpilot; sudo reboot + ``` + +After running the command to install the desired branch, your comma device should reboot. +
+ +
+ + +

🚗 Highlight Features

 + +--- + +### Quality of Life Enhancements +- [**Modified Assistive Driving Safety (MADS)**](#modified-assistive-driving-safety-mads) - Automatic Lane Centering (ALC) / Lane Keep Assist System (LKAS) and Adaptive Cruise Control (ACC) / Smart Cruise Control (SCC) can be engaged independently of each other +- [**Dynamic Lane Profile (DLP)**](#dynamic-lane-profile-dlp) - Dynamically switch lane profile (between Laneful and Laneless) based on lane recognition confidence +- [**Enhanced Speed Control**](#enhanced-speed-control) - Automatically adjust cruise control speed using vision model, OpenStreetMap (OSM) data, and/or Speed Limit control (SLC) without user interaction + * Vision-based Turn Speed Control (V-TSC) - lower speed when going around corners using vision model + * Map-Data-based Turn Speed Control (M-TSC) - lower speed when going around corners using OSM data[^1] + * Speed Limit Control (SLC) - Set speed limit based on map data or car interface (if applicable) + * HKG only: Highway Driving Assist (HDA) status integration - Use cars native speed sign detection to set desired speed (on applicable HKG cars only) +- [**Gap Adjust Cruise (GAC)**](#gap-adjust-cruise) - Allow `GAP`/`INTERVAL`/`DISTANCE` button on the steering wheel or on-screen button to adjust the follow distance from the lead car. See table below for options +- [**Quiet Drive 🤫**](#-quiet-drive) - Toggle to mute all notification sounds (excluding driver safety warnings) +- [**Auto Lane Change Timer**](#Auto-Lane-Change-Timer) - Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set +- [**Force Car Recognition (FCR)**](#Force-Car-Recognition-) - Use a selector to force your car to be recognized by sunnypilot +- [**Fix sunnypilot No Offroad**](#Fix-sunnypilot-No-Offroad) - Enforce sunnypilot to go offroad and turns off after shutting down the car. This feature fixes non-official devices running sunnypilot without comma power +- [**Enable ACC+MADS with RES+/SET-**](#Enable-ACC+MADS-with-RES+/SET-) - Engage both ACC and MADS with a single press of RES+ or SET- button +- [**Offline OSM Maps**](#Offline-OSM-Maps) - OSM database can now be downloaded locally for offline use[^2]. This enables offline SLC, V-TSC and M-TSC. Currently available for US South, US West, US Northeast, Florida, Taiwan, South Africa and New Zealand +- [**Various Live Tuning**](#Various-Live-Tuning) - Ability to tailor your driving experience on the fly: + * Enforce Torque Lateral Control - Use the newest [torque controller](https://blog.comma.ai/0815release/#torque-controller) for all vehicles. + * Torque Lateral Control Live Tune - Ability to adjust the torque controller’s `FRICTION` and `LAT_ACCEL_FACTOR` values to suit your vehicle. + * Torque Lateral Controller Self-Tune - Enable automatic turning for the Torque controller. + +### Visual Enhancements +* **M.A.D.S Status Icon** - Dedicated icon to display M.A.D.S. engagement status + * Green🟢: M.A.D.S. engaged + * White⚪: M.A.D.S. suspended or disengaged +* **Lane Path Color** - Various lane path colors to display real-time Lane Model and M.A.D.S. engagement status + * 0.8.14 and later: + * Blue🔵: Laneful mode & M.A.D.S. engaged + * Green🟢: Laneless mode & M.A.D.S. engaged + * Yellow🟡: Experimental e2e & M.A.D.S. engaged + * Pre 0.8.14: + * Green🟢: Laneful mode & M.A.D.S. engaged + * Red🔴: Laneless mode & M.A.D.S. engaged + * White⚪: M.A.D.S. suspended or disengaged + * Black⚫: M.A.D.S. engaged, steering is being manually overridden by user +* **Developer (Dev) UI** - Display various real-time metrics on screen while driving +* **Stand Still Timer** - Display time spent at a stop with M.A.D.S engaged (i.e., at traffic lights, stop signs, traffic congestions) +* **Braking Status** - Current car speed text turns red when the car is braking by the driver or ACC/SCC + +### Operational Enhancements +* **Fast Boot** - sunnypilot will fast boot by creating a Prebuilt file +* **Disable Onroad Uploads** - Disable uploads completely when onroad. Necessary to avoid high data usage when connected to Wi-Fi hotspot +* **Brightness Control (Global)** - Manually adjusts the global brightness of the screen +* **Driving Screen Off Timer** - Turns off the device screen or reduces brightness to protect the screen after car starts +* **Driving Screen Off Brightness (%)** - When using the Driving Screen Off feature, the brightness is reduced according to the automatic brightness ratio +* **Max Time Offroad** - Device is automatically turned off after a set time when the engine is turned off (off-road) after driving (on-road) + +
+ +

🚗 Driving Enhancements

 + +--- + +### Modified Assistive Driving Safety (MADS) +The goal of Modified Assistive Driving Safety (MADS) is to enhance the user driving experience with modified behaviors of driving assist engagements. This feature complies with comma.ai's safety rules as accurately as possible with the following changes: +* sunnypilot Automatic Lane Centering (ALC) and ACC/SCC can be engaged independently of each other +* Dedicated button to toggle sunnypilot ALC: + * `CRUISE (MAIN)` button: All supported cars on sunnypilot + * `LFA` button: Newer HKG cars with `LFA` button + * `LKAS` button: Honda, Toyota, Global Subaru +* `SET-` button enables ACC/SCC +* `CANCEL` button only disables ACC/SCC +* `CRUISE (MAIN)` must be `ON` to use ACC/SCC +* `CRUISE (MAIN)` button disables ACC/SCC completely when `OFF` **(strictly enforced in panda safety code)** + +### Disengage Lateral ALC on Brake Press Mode toggle +Dedicated toggle to handle Lateral state on brake pedal press and release: +1. `ON`: `BRAKE pedal` press will pause Automatic Lane Centering; `BRAKE pedal` release will resume Automatic Lane Centering. Note: `BRAKE pedal` release will NOT resume ACC/SCC/Long control without explicit user engagement **(strictly enforced in panda safety code)** +2. `OFF`: `BRAKE pedal` press will NOT pause Automatic Lane Centering; `BRAKE pedal` release will NOT resume ACC/SCC/Long control without explicit user engagement **(strictly enforced in panda safety code)** + +### Miscellaneous +* `TURN SIGNALS` (`Left` or `Right`) will pause Automatic Lane Centering if the vehicle speed is below the [threshold](https://github.com/commaai/openpilot/blob/master/selfdrive/controls/lib/desire_helper.py#L8) for Automatic Lane Change +* Event audible alerts are more relaxed to match manufacturer's stock behavior +* Critical events trigger disengagement of Automatic Lane Centering completely. The disengagement is enforced in sunnypilot and panda safety + +### Dynamic Lane Profile (DLP) + +Dynamic Lane Profile (DLP) aims to provide the best driving experience at staying within a lane confidently. Dynamic Lane Profile allows sunnypilot to dynamically switch between lane profiles based on lane recognition confidence level on road. + +There are 3 modes to select on the onroad camera screen: +* **Auto Lane**: sunnypilot dynamically chooses between `Laneline` or `Laneless` model +* **Laneline**: sunnypilot uses Laneline model only. +* **Laneless**: sunnypilot uses Laneless model only. + +To use Dynamic Lane Profile, do the following: +``` +1. sunnypilot Settings -> `SP - Controls` -> Enable Dynamic Lane Profile -> ON toggle +2. Reboot. +3. Before driving, on the onroad camera screen, toggle between the 3 modes by pressing on the button. +4. Drive. +``` + +### Enhanced Speed Control +This fork now allows supported cars to dynamically adjust the longitudinal plan based on the fetched map data. Big thanks to the Move Fast team for the amazing implementation! + +**Supported cars:** +* sunnypilot Longitudinal Control capable +* Stock Longitudinal Control + * Hyundai/Kia/Genesis (non CAN-FD) + * Honda Bosch + * Volkswagen MQB + +Certain features are only available with an active data connection, via: +* [comma Prime](https://comma.ai/prime) - Intuitive service provided directly by comma, or +* Personal Hotspot - From your mobile device, or a dedicated hotspot from a cellular carrier. + +**Features:** +* Vision-based Turn Speed Control (VTSC) - Use vision path predictions to estimate the appropriate speed to drive through turns ahead - i.e. slowing down for curves +* Map-Data-based Turn Speed Control (MTSC) - Use curvature information from map data to define speed limits to take turns ahead - i.e. slowing down for curves[^1] +* Speed Limit Control (SLC) - Use speed limit signs information from map data and car interface to automatically adapt cruise speed to road limits + * HKG only: Highway Driving Assist (HDA) status integration - on applicable HKG cars only[^1] + * Speed Limit Offset - When Speed Limit Control is enabled, set speed limit slightly higher than the actual speed limit for a more natural drive[^1] +* Toggle Hands on Wheel Monitoring - Monitors and alerts the driver when their hands have not been on the steering wheel for an extended time + +### Custom Stock Longitudinal Control +While using stock Adaptive/Smart Cruise Control, Custom Stock Longitudinal Control in sunnypilot allows sunnypilot to manipulate and take over the set speed on the car's dashboard. + +**Supported Cars:** +* Hyundai/Kia/Genesis + * CAN platform + * CAN-FD platform with 0x1CF broadcasted in CAN traffic +* Honda Bosch +* Volkswagen MQB + +**Instruction** + +**📗 How to use Custom Longitudinal Control on sunnypilot ** + +When using Speed Limit, Vision, or Map based Turn control, you will be setting the "MAX" ACC speed on the sunnypilot display instead of the one in the dashboard. The car will then set the ACC setting in the dashboard to the targeted speed, but will never exceed the max speed set on the sunnypilot display. A quick press of the RES+ or SET- buttons will change this speed by 5 MPH or KM/H on the sunnypilot display, while a long deliberate press (about a 1/2 second press) changes it by 1 MPH or KM/H. DO NOT hold the RES+ or SET- buttons for longer that a 1 second. Either make quick or long deliberate presses only. + +**‼ Where to look when setting ACC speed ‼** + +Do not look at the dashboard when setting your ACC max speed. Instead, only look at the one on the sunnypilot display, "MAX". The reason you need to look at the sunnypilot display is because sunnypilot will be changing the one in the dashboard. It will be adjusting it as needed, never raising it above the one set on the sunnypilot display. ONLY look at the MAX speed on the sunnypilot display when setting the ACC speed instead of the dashboard! + +(Courtesy instructions from John, author of jvePilot) + +### Gap Adjust Cruise +This fork now allows supported openpilot longitudinal cars to adjust the cruise gap between the car and the lead car. + +**Supported cars:** +* sunnypilot Longitudinal Control capable + +🚨**PROCEED WITH EXTREME CAUTION AND BE READY TO MANUALLY TAKE OVER AT ALL TIMES** + +There are 4 modes to select on the steering wheel and/or the onroad camera screen: +* **Stock Gap**: Stock sunnypilot distance - 1.45 second profile +* **Mild Gap**: Semi-aggressive distance - 1.25 second profile +* 🚨**Aggro Gap**🚨: Aggressive distance - 1.0 second profile + +**Availability** + +| Car Make | Stock Gap | Mild Gap | Aggro Gap | +|:-------------------:|:---------:|:--------:|:---------:| +| Honda/Acura | ✅ | ✅ | ✅ | +| Hyundai/Kia/Genesis | ✅ | ✅ | ✅ | +| Toyota/Lexus | ✅ | ✅ | ✅ | +| Volkswagen MQB/PQ | ✅ | ✅ | ✅ | + +
+ + +

⚒ Branch Definitions

 + +--- + +| Tag | Definition | Description | +|:---------:|----------------------|---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------| +| `release` | Release branches | Include features that are **verified** by trusted testers and the community. Ready to use. ✅ | +| `staging` | Staging branches | Include new features that are **tested** by trusted testers and the community. Stability may vary. ⚠ | +| `dev` | Development branches | All features are gathered in respective versions. Reviewed and merged features will be committed to `dev`. Stability may vary. ⚠ | +| `master` | Main branch | Syncs with [commaai's openpilot `master`](https://github.com/commaai/openpilot) upstream branch. Accepts all pull requests. Does not include all sunnypilot features. Stability may vary. ⚠ | + +Example: +* [`release-c3`](https://github.com/sunnyhaibin/sunnypilot/tree/release-c3): Latest release branch for comma three that are verified by trusted testers and the community. Ready to use. +* [`staging-c3`](https://github.com/sunnyhaibin/sunnypilot/tree/staging-c3): Latest staging branch for comma three that are tested by trusted testers and the community. Verification required. +* [`dev-c3`](https://github.com/sunnyhaibin/sunnypilot/tree/dev-c3): Latest development branch for comma three that include all sunnypilot features. Testing required. + +
+ +

✅ Recommended Branches

 + +--- + +| Branch | Definition | Compatible Device | Changelogs | +|:------------------------------------------------------------------------------------|---------------------------------------------------------|-------------------|--------------------------------------------------------------------------------------------| +| [`release-c3`](https://github.com/sunnyhaibin/sunnypilot/tree/release-c3) | • Latest release/stable branch | comma three | [`CHANGELOGS.md`](https://github.com/sunnyhaibin/sunnypilot/blob/release-c3/CHANGELOGS.md) | +| [`staging-c3`](https://github.com/sunnyhaibin/sunnypilot/tree/staging-c3) | • Latest staging branch | comma three | [`CHANGELOGS.md`](https://github.com/sunnyhaibin/sunnypilot/blob/staging-c3/CHANGELOGS.md) | +| [`dev-c3`](https://github.com/sunnyhaibin/sunnypilot/tree/dev-c3) | • Latest development branch with experimental features | comma three | [`CHANGELOGS.md`](https://github.com/sunnyhaibin/sunnypilot/blob/dev-c3/CHANGELOGS.md) | + +
+ +

📗 How To's

 + +--- + +How-To instructions can be found in [HOW-TOS.md](https://github.com/sunnyhaibin/openpilot/blob/(!)README/HOW-TOS.md). + +
+ + +

🎆 Pull Requests

 + +--- + +We welcome both pull requests and issues on GitHub. Bug fixes are encouraged. + +Pull requests should be against the most current `master` branch. + +
+ +

🏆 Special Thanks

 + +--- + +* [spektor56](https://github.com/spektor56/openpilot) +* [rav4kumar](https://github.com/rav4kumar/openpilot) +* [mob9221](https://github.com/mob9221/opendbc) +* [briantran33](https://github.com/briantran33/openpilot) +* [Aragon7777](https://github.com/aragon7777/openpilot) +* [sshane](https://github.com/sshane/openpilot-installer-generator) +* [jung](https://github.com/chanhojung/openpilot) +* [dri94](https://github.com/dri94/openpilot) +* [FrogAi](https://github.com/frogAi/FrogPilot/) +* [twilsonco](https://github.com/twilsonco/openpilot) +* [martinl](https://github.com/martinl/openpilot) +* [multikyd](https://github.com/openpilotkr) +* [Move Fast GmbH](https://github.com/move-fast/openpilot) +* [dragonpilot](https://github.com/dragonpilot-community/dragonpilot) +* [neokii](https://github.com/neokii/openpilot) +* [AlexandreSato](https://github.com/AlexandreSato/openpilot) +* [Moodkiller](https://github.com/moodkiller) + +
+ +

📊 User Data

 + +--- + +By default, sunnypilot uploads the driving data to comma servers. You can also access your data through [comma connect](https://connect.comma.ai/). + +sunnypilot is open source software. The user is free to disable data collection if they wish to do so. + +sunnypilot logs the road-facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs. +The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded. + +By using this software, you understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data. + +
+ +

Licensing

 + +openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified. + +Any user of this software shall indemnify and hold harmless comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user. + +**THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT. +YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS. +NO WARRANTY EXPRESSED OR IMPLIED.** + +
+ +

💰 Support sunnypilot

+ +--- + +If you find any of the features useful, consider becoming a [patron on Patreon](https://www.patreon.com/sunnyhaibin) or a [sponsor on GitHub](https://github.com/sponsors/sunnyhaibin) to support future feature development and improvements. + + +By becoming a patron/sponsor, you will gain access to exclusive content, early access to new features, and the opportunity to directly influence the project's development. + +

Patreon

+ + + Become a Patron + +
+ +

GitHub Sponsor

+ + + Become a Sponsor + +
+ +

PayPal

+ + +PayPal this + +

+ +Your continuous love and support are greatly appreciated! Enjoy 🥰 + +- Jason, Founder of sunnypilot + +[^1]:Requires data connection if not using Offline Maps data +[^2]:At least 50 GB of storage space is required. If you have the 32 GB version of comma three, upgrading with a compatible 250 GB or 1 TB SSD is strongly recommended +[^4]:Shortened URL for convenience. Full URL is ```smiskol.com/fork/sunnyhaibin/release-c3``` diff --git a/RELEASES.md b/RELEASES.md new file mode 100644 index 0000000000..57f6979117 --- /dev/null +++ b/RELEASES.md @@ -0,0 +1,1034 @@ +Version 0.9.8 (2024-XX-XX) +======================== +* Added toggle to enable driver monitoring even when openpilot is not engaged + +Version 0.9.7 (2024-06-13) +======================== +* New driving model + * Inputs the past curvature for smoother and more accurate lateral control + * Simplified neural network architecture in the model's last layers + * Minor fixes to desire augmentation and weight decay +* New driver monitoring model + * Improved end-to-end bit for phone detection +* Adjust driving personality with the follow distance button +* Support for hybrid variants of supported Ford models +* Fingerprinting without the OBD-II port on all cars +* Improved fuzzy fingerprinting for Ford and Volkswagen + +Version 0.9.6 (2024-02-27) +======================== +* New driving model + * Vision model trained on more data + * Improved driving performance + * Directly outputs curvature for lateral control +* New driver monitoring model + * Trained on larger dataset +* Model path UI + * Shows where driving model wants to be + * Shows what model is seeing more clearly, but more jittery +* AGNOS 9 +* comma body streaming and controls over WebRTC +* Improved fuzzy fingerprinting for many makes and models +* Alpha longitudinal support for new Toyota models +* Chevrolet Equinox 2019-22 support thanks to JasonJShuler and nworb-cire! +* Dodge Durango 2020-21 support +* Hyundai Staria 2023 support thanks to sunnyhaibin! +* Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin! +* Lexus LC 2024 support thanks to nelsonjchen! +* Toyota RAV4 2023-24 support +* Toyota RAV4 Hybrid 2023-24 support + +Version 0.9.5 (2023-11-17) +======================== +* New driving model + * Improved navigate on openpilot performance using navigation instructions as an additional model input + * Do lateral planning inside the model + * New vision transformer architecture +* Cadillac Escalade ESV 2019 support thanks to twilsonco! +* Hyundai Azera 2022 support thanks to sunnyhaibin! +* Hyundai Azera Hybrid 2020 support thanks to chanhojung and haram-KONA! +* Hyundai Custin 2023 support thanks to sunnyhaibin and Saber422! +* Hyundai Ioniq 6 2023 support thanks to sunnyhaibin and alamo3! +* Hyundai Kona Electric 2023 (Korean version) support thanks to sunnyhaibin and haram-KONA! +* Kia K8 Hybrid (with HDA II) 2023 support thanks to sunnyhaibin! +* Kia Optima Hybrid 2019 support +* Kia Sorento Hybrid 2023 support thanks to sunnyhaibin! +* Lexus GS F 2016 support thanks to snyperifle! +* Lexus IS 2023 support thanks to L3R5! + +Version 0.9.4 (2023-07-27) +======================== +* comma 3X support +* Navigate on openpilot in Experimental mode + * When navigation has a destination, openpilot will input the map information into the model, which provides useful context to help the model understand the scene + * When navigating on openpilot, openpilot will keep left or right appropriately at forks and exits + * When navigating on openpilot, lane change behavior is unchanged and still activated by the driver + * When navigate on openpilot is active, the path on the map is green +* UI updates + * Navigation settings moved to home screen and map + * Border color always shows engagement status. Blue means disengaged, green means engaged, and grey means engaged with human overriding + * Alerts are shown inside the border. Black means info, orange means warning, and red means critical alert +* Bookmarked segments are preserved on the device's storage +* Ford Focus 2018 support +* Kia Carnival 2023 support thanks to sunnyhaibin! + +Version 0.9.3 (2023-06-29) +======================== +* New driving model + * Improved height estimation and added height tracking in liveCalibration + * Model inputs refactor +* New driving personality setting + * Three settings: aggressive, standard, and relaxed + * Standard is recommended and the default + * In aggressive mode, lead follow distance is shorter and acceleration response is quicker + * In relaxed mode, lead follow distance is longer +* Improved fuzzy fingerprinting for Hyundai, Kia, and Genesis +* Improved thermal management logic + +Version 0.9.2 (2023-05-22) +======================== +* New driving model + * Reduced turn diving + * Trained on a new dataset +* UI updates + * New experimental mode visualization + * Draw MPC path instead of model-predicted path +* AGNOS 7 + * Faster boot time + * Fixes rare no sounds bug + * Fixes bootsplash bug at extreme temperatures +* Buick LaCrosse 2017-19 support thanks to koch-cf! +* Chevrolet Trailblazer 2021-22 support thanks to TurboCE! +* Ford Bronco Sport 2021-22 support +* Ford Escape 2020-22 support +* Ford Explorer 2020-22 support +* Ford Kuga 2020-22 support +* Ford Maverick 2022-23 support +* Genesis GV80 2023 support thanks to JWingate80! +* Honda HR-V 2023 support thanks to AlexandreSato and galegozi! +* Kia Niro EV 2023 support thanks to JosselinLecocq! +* Lexus ES 2017-18 support +* Lincoln Aviator 2021 support +* Škoda Fabia 2022-23 support thanks to jyoung8607! + + +Version 0.9.1 (2023-02-28) +======================== +* New driving model + * 30% improved height estimation resulting in better driving performance for tall cars +* Driver monitoring: removed timer resetting on user interaction if distracted +* UI updates + * Adjust alert volume using ambient noise level + * Driver monitoring icon shows driver's head pose + * German translation thanks to Vrabetz and CzokNorris! +* Cadillac Escalade 2017 support thanks to rickygilleland! +* Chevrolet Bolt EV 2022-23 support thanks to JasonJShuler! +* Genesis GV60 2023 support thanks to sunnyhaibin! +* Hyundai Tucson 2022-23 support +* Kia K5 Hybrid 2020 support thanks to sunnyhaibin! +* Kia Niro Hybrid 2023 support thanks to sunnyhaibin! +* Kia Sorento 2022-23 support thanks to sunnyhaibin! +* Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin! +* Toyota C-HR 2021 support thanks to eFiniLan! +* Toyota C-HR Hybrid 2022 support thanks to Korben00! +* Volkswagen Crafter and MAN TGE 2017-23 support thanks to jyoung8607! + +Version 0.9.0 (2022-11-21) +======================== +* New driving model + * Internal feature space information content increased tenfold during training to ~700 bits, which makes the model dramatically more accurate + * Less reliance on previous frames makes model more reactive and snappy + * Trained in new reprojective simulator + * Trained in 36 hours from scratch, compared to one week for previous releases + * Training now simulates both lateral and longitudinal behavior, which allows openpilot to slow down for turns, stop at traffic lights, and more in experimental mode +* Experimental driving mode + * End-to-end longitudinal control + * Stops for traffic lights and stop signs + * Slows down for turns + * openpilot defaults to chill mode, enable experimental mode in settings +* Driver monitoring updates + * New bigger model with added end-to-end distracted trigger + * Reduced false positives during driver calibration +* Self-tuning torque controller: learns parameters live for each car +* Torque controller used on all Toyota, Lexus, Hyundai, Kia, and Genesis models +* UI updates + * Matched speeds shown on car's dash + * Multi-language in navigation + * Improved update experience + * Border turns grey while overriding steering + * Bookmark events while driving; view them in comma connect + * New onroad visualization for experimental mode +* tools: new and improved cabana thanks to deanlee! +* Experimental longitudinal support for Volkswagen, CAN-FD Hyundai, and new GM models +* Genesis GV70 2022-23 support thanks to zunichky and sunnyhaibin! +* Hyundai Santa Cruz 2021-22 support thanks to sunnyhaibin! +* Kia Sportage 2023 support thanks to sunnyhaibin! +* Kia Sportage Hybrid 2023 support thanks to sunnyhaibin! +* Kia Stinger 2022 support thanks to sunnyhaibin! + +Version 0.8.16 (2022-08-26) +======================== +* New driving model + * Reduced turn cutting +* Auto-detect right hand drive setting with driver monitoring model +* Improved fan controller for comma three +* New translations + * Japanese thanks to cydia2020! + * Brazilian Portuguese thanks to AlexandreSato! +* Chevrolet Bolt EUV 2022-23 support thanks to JasonJShuler! +* Chevrolet Silverado 1500 2020-21 support thanks to JasonJShuler! +* GMC Sierra 1500 2020-21 support thanks to JasonJShuler! +* Hyundai Ioniq 5 2022 support thanks to sunnyhaibin! +* Hyundai Kona Electric 2022 support thanks to sunnyhaibin! +* Hyundai Tucson Hybrid 2022 support thanks to sunnyhaibin! +* Subaru Legacy 2020-22 support thanks to martinl! +* Subaru Outback 2020-22 support + +Version 0.8.15 (2022-07-20) +======================== +* New driving model + * Path planning uses end-to-end output instead of lane lines at all times + * Reduced ping pong + * Improved lane centering +* New lateral controller based on physical wheel torque model + * Much smoother control that's consistent across the speed range + * Effective feedforward that uses road roll + * Simplified tuning, all car-specific parameters can be derived from data + * Used on select Toyota and Hyundai models at first + * Significantly improved control on TSS-P Prius +* New driver monitoring model + * Bigger model, covering full interior view from driver camera + * Works with a wider variety of mounting angles + * 3x more unique comma three training data than previous +* Navigation improvements + * Speed limits shown while navigating + * Faster position fix by using raw GPS measurements +* UI updates + * Multilanguage support for settings and home screen + * New font + * Refreshed max speed design + * More consistent camera view perspective across cars +* Reduced power usage: device runs cooler and fan spins less +* AGNOS 5 + * Support VSCode remote SSH target + * Support for delta updates to reduce data usage on future OS updates +* Chrysler ECU firmware fingerprinting thanks to realfast! +* Honda Civic 2022 support +* Hyundai Tucson 2021 support thanks to bluesforte! +* Kia EV6 2022 support +* Lexus NX Hybrid 2020 support thanks to AlexandreSato! +* Ram 1500 2019-21 support thanks to realfast! + +Version 0.8.14 (2022-06-01) +======================== + * New driving model + * Bigger model, using both of comma three's road-facing cameras + * Better at cut-in detection and tight turns + * New driver monitoring model + * Tweaked network structure to improve output resolution for DSP + * Fixed bug in quantization aware training to reduce quantizing errors + * Resulted in 7x less MSE and no more random biases at runtime + * Added toggle to disable disengaging on the accelerator pedal + * comma body support + * Audi RS3 support thanks to jyoung8607! + * Hyundai Ioniq Plug-in Hybrid 2019 support thanks to sunnyhaibin! + * Hyundai Tucson Diesel 2019 support thanks to sunnyhaibin! + * Toyota Alphard Hybrid 2021 support + * Toyota Avalon Hybrid 2022 support + * Toyota RAV4 2022 support + * Toyota RAV4 Hybrid 2022 support + +Version 0.8.13 (2022-02-18) +======================== + * Improved driver monitoring + * Re-tuned driver pose learner for relaxed driving positions + * Added reliance on driving model to be more scene adaptive + * Matched strictness between comma two and comma three + * Improved performance in turns by compensating for the road bank angle + * Improved camera focus on the comma two + * AGNOS 4 + * ADB support + * improved cell auto configuration + * NEOS 19 + * package updates + * stability improvements + * Subaru ECU firmware fingerprinting thanks to martinl! + * Hyundai Santa Fe Plug-in Hybrid 2022 support thanks to sunnyhaibin! + * Mazda CX-5 2022 support thanks to Jafaral! + * Subaru Impreza 2020 support thanks to martinl! + * Toyota Avalon 2022 support thanks to sshane! + * Toyota Prius v 2017 support thanks to CT921! + * Volkswagen Caravelle 2020 support thanks to jyoung8607! + +Version 0.8.12 (2021-12-15) +======================== + * New driving model + * Improved behavior around exits + * Better pose accuracy at high speeds, allowing max speed of 90mph + * Fully incorporated comma three data into all parts of training stack + * Improved follow distance + * Better longitudinal policy, especially in low speed traffic + * New alert sounds + * AGNOS 3 + * Display burn in mitigation + * Improved audio amplifier configuration + * System reliability improvements + * Update Python to 3.8.10 + * Raw logs upload moved to connect.comma.ai + * Fixed HUD alerts on newer Honda Bosch thanks to csouers! + * Audi Q3 2020-21 support thanks to jyoung8607! + * Lexus RC 2020 support thanks to ErichMoraga! + +Version 0.8.11 (2021-11-29) +======================== + * Support for CAN FD on the red panda + * Support for an external panda on the comma three + * Navigation: Show more detailed instructions when approaching maneuver + * Fixed occasional steering faults on GM cars thanks to jyoung8607! + * Nissan ECU firmware fingerprinting thanks to robin-reckmann, martinl, and razem-io! + * Cadillac Escalade ESV 2016 support thanks to Gibby! + * Genesis G70 2020 support thanks to tecandrew! + * Hyundai Santa Fe Hybrid 2022 support thanks to sunnyhaibin! + * Mazda CX-9 2021 support thanks to Jacar! + * Volkswagen Polo 2020 support thanks to jyoung8607! + * Volkswagen T-Roc 2021 support thanks to jyoung8607! + +Version 0.8.10 (2021-11-01) +======================== + * New driving model + * Trained on one million minutes!!! + * Fixed lead training making lead predictions significantly more accurate + * Fixed several localizer dataset bugs and loss function bugs, overall improved accuracy + * New driver monitoring model + * Trained on latest data from both comma two and comma three + * Increased model field of view by 40% on comma three + * Improved model stability on masked users + * Improved pose prediction with reworked ground-truth stack + * Lateral and longitudinal planning MPCs now in ACADOS + * Combined longitudinal MPCs + * All longitudinal planning now happens in a single MPC system + * Fixed instability in MPC problem to prevent sporadic CPU usage + * AGNOS 2: minor stability improvements and builder repo open sourced + * tools: new and improved replay thanks to deanlee! + * Moved community-supported cars outside of the Community Features toggle + * Improved FW fingerprinting reliability for Hyundai/Kia/Genesis + * Added prerequisites for longitudinal control on Hyundai/Kia/Genesis and Honda Bosch + * Audi S3 2015 support thanks to jyoung8607! + * Honda Freed 2020 support thanks to belm0! + * Hyundai Ioniq Hybrid 2020-2022 support thanks to sunnyhaibin! + * Hyundai Santa Fe 2022 support thanks to sunnyhaibin! + * Kia K5 2021 support thanks to sunnyhaibin! + * Škoda Kamiq 2021 support thanks to jyoung8607! + * Škoda Karoq 2019 support thanks to jyoung8607! + * Volkswagen Arteon 2021 support thanks to jyoung8607! + * Volkswagen California 2021 support thanks to jyoung8607! + * Volkswagen Taos 2022 support thanks to jyoung8607! + +Version 0.8.9 (2021-09-14) +======================== + * Improved fan control on comma three + * AGNOS 1.5: improved stability + * Honda e 2020 support + +Version 0.8.8 (2021-08-27) +======================== + * New driving model with improved laneless performance + * Trained on 5000+ hours of diverse driving data from 3000+ users in 40+ countries + * Better anti-cheating methods during simulator training ensure the model hugs less when in laneless mode + * All new desire ground-truthing stack makes the model better at lane changes + * New driver monitoring model: improved performance on comma three + * NEOS 18 for comma two: update packages + * AGNOS 1.3 for comma three: fix display init at high temperatures + * Improved auto-exposure on comma three + * Improved longitudinal control on Honda Nidec cars + * Hyundai Kona Hybrid 2020 support thanks to haram-KONA! + * Hyundai Sonata Hybrid 2021 support thanks to Matt-Wash-Burn! + * Kia Niro Hybrid 2021 support thanks to tetious! + +Version 0.8.7 (2021-07-31) +======================== + * comma three support! + * Navigation alpha for the comma three! + * Volkswagen T-Cross 2021 support thanks to jyoung8607! + +Version 0.8.6 (2021-07-21) +======================== + * Revamp lateral and longitudinal planners + * Refactor planner output API to be more readable and verbose + * Planners now output desired trajectories for speed, acceleration, curvature, and curvature rate + * Use MPC for longitudinal planning when no lead car is present, makes accel and decel smoother + * Remove "CHECK DRIVER FACE VISIBILITY" warning + * Fixed cruise fault on some TSS2.5 Camrys and international Toyotas + * Hyundai Elantra Hybrid 2021 support thanks to tecandrew! + * Hyundai Ioniq PHEV 2020 support thanks to YawWashout! + * Kia Niro Hybrid 2019 support thanks to jyoung8607! + * Škoda Octavia RS 2016 support thanks to jyoung8607! + * Toyota Alphard 2020 support thanks to belm0! + * Volkswagen Golf SportWagen 2015 support thanks to jona96! + * Volkswagen Touran 2017 support thanks to jyoung8607! + +Version 0.8.5 (2021-06-11) +======================== + * NEOS update: improved reliability and stability with better voltage regulator configuration + * Smart model-based Forward Collision Warning + * CAN-based fingerprinting moved behind community features toggle + * Improved longitudinal control on Toyotas with a comma pedal + * Improved auto-brightness using road-facing camera + * Added "Software" settings page with updater controls + * Audi Q2 2018 support thanks to jyoung8607! + * Hyundai Elantra 2021 support thanks to CruiseBrantley! + * Lexus UX Hybrid 2019-2020 support thanks to brianhaugen2! + * Toyota Avalon Hybrid 2019 support thanks to jbates9011! + * SEAT Leon 2017 & 2020 support thanks to jyoung8607! + * Škoda Octavia 2015 & 2019 support thanks to jyoung8607! + +Version 0.8.4 (2021-05-17) +======================== + * Delay controls start until system is ready + * Fuzzy car identification, enabled with Community Features toggle + * Localizer optimized for increased precision and less CPU usage + * Re-tuned lateral control to be more aggressive when model is confident + * Toyota Mirai 2021 support + * Lexus NX 300 2020 support thanks to goesreallyfast! + * Volkswagen Atlas 2018-19 support thanks to jyoung8607! + +Version 0.8.3 (2021-04-01) +======================== + * New model + * Trained on new diverse dataset from 2000+ users from 30+ countries + * Trained with improved segnet from the comma-pencil community project + * 🥬 Dramatically improved end-to-end lateral performance 🥬 + * Toggle added to disable the use of lanelines + * NEOS update: update packages and support for new UI + * New offroad UI based on Qt + * Default SSH key only used for setup + * Kia Ceed 2019 support thanks to ZanZaD13! + * Kia Seltos 2021 support thanks to speedking456! + * Added support for many Volkswagen and Škoda models thanks to jyoung8607! + +Version 0.8.2 (2021-02-26) +======================== + * Use model points directly in MPC (no more polyfits), making lateral planning more accurate + * Use model heading prediction for smoother lateral control + * Smarter actuator delay compensation + * Improve qcamera resolution for improved video in explorer and connect + * Adjust maximum engagement speed to better fit the model's training distribution + * New driver monitoring model trained with 3x more diverse data + * Improved face detection with masks + * More predictable DM alerts when visibility is bad + * Rewritten video streaming between openpilot processes + * Improved longitudinal tuning on TSS2 Corolla and Rav4 thanks to briskspirit! + * Audi A3 2015 and 2017 support thanks to keeleysam! + * Nissan Altima 2020 support thanks to avolmensky! + * Lexus ES Hybrid 2018 support thanks to TheInventorMan! + * Toyota Camry Hybrid 2021 support thanks to alancyau! + +Version 0.8.1 (2020-12-21) +======================== + * Original EON is deprecated, upgrade to comma two + * Better model performance in heavy rain + * Better lane positioning in turns + * Fixed bug where model would cut turns on empty roads at night + * Fixed issue where some Toyotas would not completely stop thanks to briskspirit! + * Toyota Camry 2021 with TSS2.5 support + * Hyundai Ioniq Electric 2020 support thanks to baldwalker! + +Version 0.8.0 (2020-11-30) +======================== + * New driving model: fully 3D and improved cut-in detection + * UI draws 2 road edges, 4 lanelines and paths in 3D + * Major fixes to cut-in detection for openpilot longitudinal + * Grey panda is no longer supported, upgrade to comma two or black panda + * Lexus NX 2018 support thanks to matt12eagles! + * Kia Niro EV 2020 support thanks to nickn17! + * Toyota Prius 2021 support thanks to rav4kumar! + * Improved lane positioning with uncertain lanelines, wide lanes and exits + * Improved lateral control for Prius and Subaru + +Version 0.7.10 (2020-10-29) +======================== + * Grey panda is deprecated, upgrade to comma two or black panda + * NEOS update: update to Python 3.8.2 and lower CPU frequency + * Improved thermals due to reduced CPU frequency + * Update SNPE to 1.41.0 + * Reduced offroad power consumption + * Various system stability improvements + * Acura RDX 2020 support thanks to csouers! + +Version 0.7.9 (2020-10-09) +======================== + * Improved car battery power management + * Improved updater robustness + * Improved realtime performance + * Reduced UI and modeld lags + * Increased torque on 2020 Hyundai Sonata and Palisade + +Version 0.7.8 (2020-08-19) +======================== + * New driver monitoring model: improved face detection and better compatibility with sunglasses + * Download NEOS operating system updates in the background + * Improved updater reliability and responsiveness + * Hyundai Kona 2020, Veloster 2019, and Genesis G70 2018 support thanks to xps-genesis! + +Version 0.7.7 (2020-07-20) +======================== + * White panda is no longer supported, upgrade to comma two or black panda + * Improved vehicle model estimation using high precision localizer + * Improved thermal management on comma two + * Improved autofocus for road-facing camera + * Improved noise performance for driver-facing camera + * Block lane change start using blindspot monitor on select Toyota, Hyundai, and Subaru + * Fix GM ignition detection + * Code cleanup and smaller release sizes + * Hyundai Sonata 2020 promoted to officially supported car + * Hyundai Ioniq Electric Limited 2019 and Ioniq SE 2020 support thanks to baldwalker! + * Subaru Forester 2019 and Ascent 2019 support thanks to martinl! + +Version 0.7.6.1 (2020-06-16) +======================== + * Hotfix: update kernel on some comma twos (orders #8570-#8680) + +Version 0.7.6 (2020-06-05) +======================== + * White panda is deprecated, upgrade to comma two or black panda + * 2017 Nissan X-Trail, 2018-19 Leaf and 2019 Rogue support thanks to avolmensky! + * 2017 Mazda CX-5 support in dashcam mode thanks to Jafaral! + * Huge CPU savings in modeld by using thneed! + * Lots of code cleanup and refactors + +Version 0.7.5 (2020-05-13) +======================== + * Right-Hand Drive support for both driving and driver monitoring! + * New driving model: improved at sharp turns and lead speed estimation + * New driver monitoring model: overall improvement on comma two + * Driver camera preview in settings to improve mounting position + * Added support for many Hyundai, Kia, Genesis models thanks to xx979xx! + * Improved lateral tuning for 2020 Toyota Rav 4 (hybrid) + +Version 0.7.4 (2020-03-20) +======================== + * New driving model: improved lane changes and lead car detection + * Improved driver monitoring model: improve eye detection + * Improved calibration stability + * Improved lateral control on some 2019 and 2020 Toyota Prius + * Improved lateral control on VW Golf: 20% more steering torque + * Fixed bug where some 2017 and 2018 Toyota C-HR would use the wrong steering angle sensor + * Support for Honda Insight thanks to theantihero! + * Code cleanup in car abstraction layers and ui + +Version 0.7.3 (2020-02-21) +======================== + * Support for 2020 Highlander thanks to che220! + * Support for 2018 Lexus NX 300h thanks to kengggg! + * Speed up ECU firmware query + * Fix bug where manager would sometimes hang after shutting down the car + +Version 0.7.2 (2020-02-07) +======================== + * ECU firmware version based fingerprinting for Honda & Toyota + * New driving model: improved path prediction during turns and lane changes and better lead speed tracking + * Improve driver monitoring under extreme lighting and add low accuracy alert + * Support for 2019 Rav4 Hybrid thanks to illumiN8i! + * Support for 2016, 2017 and 2020 Lexus RX thanks to illumiN8i! + * Support for 2020 Chrysler Pacifica Hybrid thanks to adhintz! + +Version 0.7.1 (2020-01-20) +======================== + * comma two support! + * Lane Change Assist above 45 mph! + * Replace zmq with custom messaging library, msgq! + * Supercombo model: calibration and driving models are combined for better lead estimate + * More robust updater thanks to jyoung8607! Requires NEOS update + * Improve low speed ACC tuning + +Version 0.7 (2019-12-13) +======================== + * Move to SCons build system! + * Add Lane Departure Warning (LDW) for all supported vehicles! + * NEOS update: increase wifi speed thanks to jyoung8607! + * Adaptive driver monitoring based on scene + * New driving model trained end-to-end: improve lane lines and lead detection + * Smarter torque limit alerts for all cars + * Improve GM longitudinal control: proper computations for 15Hz radar + * Move GM port, Toyota with DSU removed, comma pedal in community features; toggle switch required + * Remove upload over cellular toggle: only upload qlog and qcamera files if not on wifi + * Refactor Panda code towards ISO26262 and SIL2 compliance + * Forward stock FCW for Honda Nidec + * Volkswagen port now standard: comma Harness intercepts stock camera + +Version 0.6.6 (2019-11-05) +======================== + * Volkswagen support thanks to jyoung8607! + * Toyota Corolla Hybrid with TSS 2.0 support thanks to u8511049! + * Lexus ES with TSS 2.0 support thanks to energee! + * Fix GM ignition detection and lock safety mode not required anymore + * Log panda firmware and dongle ID thanks to martinl! + * New driving model: improve path prediction and lead detection + * New driver monitoring model, 4x smaller and running on DSP + * Display an alert and don't start openpilot if panda has wrong firmware + * Fix bug preventing EON from terminating processes after a drive + * Remove support for Toyota giraffe without the 120Ohm resistor + +Version 0.6.5 (2019-10-07) +======================== + * NEOS update: upgrade to Python3 and new installer! + * comma Harness support! + * New driving model: improve path prediction + * New driver monitoring model: more accurate face and eye detection + * Redesign offroad screen to display updates and alerts + * Increase maximum allowed acceleration + * Prevent car 12V battery drain by cutting off EON charge after 3 days of no drive + * Lexus CT Hybrid support thanks to thomaspich! + * Louder chime for critical alerts + * Add toggle to switch to dashcam mode + * Fix "invalid vehicle params" error on DSU-less Toyota + +Version 0.6.4 (2019-09-08) +======================== + * Forward stock AEB for Honda Nidec + * Improve lane centering on banked roads + * Always-on forward collision warning + * Always-on driver monitoring, except for right hand drive countries + * Driver monitoring learns the user's normal driving position + * Honda Fit support thanks to energee! + * Lexus IS support + +Version 0.6.3 (2019-08-12) +======================== + * Alert sounds from EON: requires NEOS update + * Improve driver monitoring: eye tracking and improved awareness logic + * Improve path prediction with new driving model + * Improve lane positioning with wide lanes and exits + * Improve lateral control on RAV4 + * Slow down for turns using model + * Open sourced regression test to verify outputs against reference logs + * Open sourced regression test to sanity check all car models + +Version 0.6.2 (2019-07-29) +======================== + * New driving model! + * Improve lane tracking with double lines + * Strongly improve stationary vehicle detection + * Strongly reduce cases of braking due to false leads + * Better lead tracking around turns + * Improve cut-in prediction by using neural network + * Improve lateral control on Toyota Camry and C-HR thanks to zorrobyte! + * Fix unintended openpilot disengagements on Jeep thanks to adhintz! + * Fix delayed transition to offroad when car is turned off + +Version 0.6.1 (2019-07-21) +======================== + * Remote SSH with comma prime and [ssh.comma.ai](https://ssh.comma.ai) + * Panda code Misra-c2012 compliance, tested against cppcheck coverage + * Lockout openpilot after 3 terminal alerts for driver distracted or unresponsive + * Toyota Sienna support thanks to wocsor! + +Version 0.6 (2019-07-01) +======================== + * New model, with double the pixels and ten times the temporal context! + * Car should not take exits when in the right lane + * openpilot uses only ~65% of the CPU (down from 75%) + * Routes visible in connect/explorer after only 0.2% is uploaded (qlogs) + * loggerd and sensord are open source, every line of openpilot is now open + * Panda safety code is MISRA compliant and ships with a signed version on release2 + * New NEOS is 500MB smaller and has a reproducible usr/pipenv + * Lexus ES Hybrid support thanks to wocsor! + * Improve tuning for supported Toyota with TSS 2.0 + * Various other stability improvements + +Version 0.5.13 (2019-05-31) +========================== + * Reduce panda power consumption by 70%, down to 80mW, when car is off (not for GM) + * Reduce EON power consumption by 40%, down to 1100mW, when car is off + * Reduce CPU utilization by 20% and improve stability + * Temporarily remove mapd functionalities to improve stability + * Add openpilot record-only mode for unsupported cars + * Synchronize controlsd to pandad to reduce latency + * Remove panda support for Subaru giraffe + +Version 0.5.12 (2019-05-16) +========================== + * Improve lateral control for the Prius and Prius Prime + * Compress logs before writing to disk + * Remove old driving data when storage reaches 90% full + * Fix small offset in following distance + * Various small CPU optimizations + * Improve offroad power consumption: require NEOS Update + * Add default speed limits for Estonia thanks to martinl! + * Subaru Crosstrek support thanks to martinl! + * Toyota Avalon support thanks to njbrown09! + * Toyota Rav4 with TSS 2.0 support thanks to wocsor! + * Toyota Corolla with TSS 2.0 support thanks to wocsor! + +Version 0.5.11 (2019-04-17) +======================== + * Add support for Subaru + * Reduce panda power consumption by 60% when car is off + * Fix controlsd lag every 6 minutes. This would sometimes cause disengagements + * Fix bug in controls with new angle-offset learner in MPC + * Reduce cpu consumption of ubloxd by rewriting it in C++ + * Improve driver monitoring model and face detection + * Improve performance of visiond and ui + * Honda Passport 2019 support + * Lexus RX Hybrid 2019 support thanks to schomems! + * Improve road selection heuristic in mapd + * Add Lane Departure Warning to dashboard for Toyota thanks to arne182 + +Version 0.5.10 (2019-03-19) +======================== + * Self-tuning vehicle parameters: steering offset, tire stiffness and steering ratio + * Improve longitudinal control at low speed when lead vehicle harshly decelerates + * Fix panda bug going unexpectedly in DCP mode when EON is connected + * Reduce white panda power consumption by 500mW when EON is disconnected by turning off WIFI + * New Driver Monitoring Model + * Support QR codes for login using comma connect + * Refactor comma pedal FW and use CRC-8 checksum algorithm for safety. Reflashing pedal is required. + Please see `#hw-pedal` on [discord](discord.comma.ai) for assistance updating comma pedal. + * Additional speed limit rules for Germany thanks to arne182 + * Allow negative speed limit offsets + +Version 0.5.9 (2019-02-10) +======================== + * Improve calibration using a dedicated neural network + * Abstract planner in its own process to remove lags in controls process + * Improve speed limits with country/region defaults by road type + * Reduce mapd data usage with gzip thanks to eFiniLan + * Zip log files in the background to reduce disk usage + * Kia Optima support thanks to emmertex! + * Buick Regal 2018 support thanks to HOYS! + * Comma pedal support for Toyota thanks to wocsor! Note: tuning needed and not maintained by comma + * Chrysler Pacifica and Jeep Grand Cherokee support thanks to adhintz! + +Version 0.5.8 (2019-01-17) +======================== + * Open sourced visiond + * Auto-slowdown for upcoming turns + * Chrysler/Jeep/Fiat support thanks to adhintz! + * Honda Civic 2019 support thanks to csouers! + * Improve use of car display in Toyota thanks to arne182! + * No data upload when connected to Android or iOS hotspots and "Enable Upload Over Cellular" setting is off + * EON stops charging when 12V battery drops below 11.8V + +Version 0.5.7 (2018-12-06) +======================== + * Speed limit from OpenStreetMap added to UI + * Highlight speed limit when speed exceeds road speed limit plus a delta + * Option to limit openpilot max speed to road speed limit plus a delta + * Cadillac ATS support thanks to vntarasov! + * GMC Acadia support thanks to CryptoKylan! + * Decrease GPU power consumption + * NEOSv8 autoupdate + +Version 0.5.6 (2018-11-16) +======================== + * Refresh settings layout and add feature descriptions + * In Honda, keep stock camera on for logging and extra stock features; new openpilot giraffe setting is 0111! + * In Toyota, option to keep stock camera on for logging and extra stock features (e.g. AHB); 120Ohm resistor required on giraffe. + * Improve camera calibration stability + * More tuning to Honda positive accelerations + * Reduce brake pump use on Hondas + * Chevrolet Malibu support thanks to tylergets! + * Holden Astra support thanks to AlexHill! + +Version 0.5.5 (2018-10-20) +======================== + * Increase allowed Honda positive accelerations + * Fix sporadic unexpected braking when passing semi-trucks in Toyota + * Fix gear reading bug in Hyundai Elantra thanks to emmertex! + +Version 0.5.4 (2018-09-25) +======================== + * New Driving Model + * New Driver Monitoring Model + * Improve longitudinal mpc in mid-low speed braking + * Honda Accord hybrid support thanks to energee! + * Ship mpc binaries and sensibly reduce build time + * Calibration more stable + * More Hyundai and Kia cars supported thanks to emmertex! + * Various GM Volt improvements thanks to vntarasov! + +Version 0.5.3 (2018-09-03) +======================== + * Hyundai Santa Fe support! + * Honda Pilot 2019 support thanks to energee! + * Toyota Highlander support thanks to daehahn! + * Improve steering tuning for Honda Odyssey + +Version 0.5.2 (2018-08-16) +======================== + * New calibration: more accurate, a lot faster, open source! + * Enable orbd + * Add little endian support to CAN packer + * Fix fingerprint for Honda Accord 1.5T + * Improve driver monitoring model + +Version 0.5.1 (2018-08-01) +======================== + * Fix radar error on Civic sedan 2018 + * Improve thermal management logic + * Alpha Toyota C-HR and Camry support! + * Auto-switch Driver Monitoring to 3 min counter when inaccurate + +Version 0.5 (2018-07-11) +======================== + * Driver Monitoring (beta) option in settings! + * Make visiond, loggerd and UI use less resources + * 60 FPS UI + * Better car parameters for most cars + * New sidebar with stats + * Remove Waze and Spotify to free up system resources + * Remove rear view mirror option + * Calibration 3x faster + +Version 0.4.7.2 (2018-06-25) +========================== + * Fix loggerd lag issue + * No longer prompt for updates + * Mitigate right lane hugging for properly mounted EON (procedure on wiki) + +Version 0.4.7.1 (2018-06-18) +========================== + * Fix Acura ILX steer faults + * Fix bug in mock car + +Version 0.4.7 (2018-06-15) +========================== + * New model! + * GM Volt (and CT6 lateral) support! + * Honda Bosch lateral support! + * Improve actuator modeling to reduce lateral wobble + * Minor refactor of car abstraction layer + * Hack around orbd startup issue + +Version 0.4.6 (2018-05-18) +========================== + * NEOSv6 required! Will autoupdate + * Stability improvements + * Fix all memory leaks + * Update C++ compiler to clang6 + * Improve front camera exposure + +Version 0.4.5 (2018-04-27) +========================== + * Release notes added to the update popup + * Improve auto shut-off logic to disallow empty battery + * Added onboarding instructions + * Include orbd, the first piece of new calibration algorithm + * Show remaining upload data instead of file numbers + * Fix UI bugs + * Fix memory leaks + +Version 0.4.4 (2018-04-13) +========================== + * EON are flipped! Flip your EON's mount! + * Alpha Honda Ridgeline support thanks to energee! + * Support optional front camera recording + * Upload over cellular toggle now applies to all files, not just video + * Increase acceleration when closing lead gap + * User now prompted for future updates + * NEO no longer supported :( + +Version 0.4.3.2 (2018-03-29) +============================ + * Improve autofocus + * Improve driving when only one lane line is detected + * Added fingerprint for Toyota Corolla LE + * Fixed Toyota Corolla steer error + * Full-screen driving UI + * Improved path drawing + +Version 0.4.3.1 (2018-03-19) +============================ + * Improve autofocus + * Add check for MPC solution error + * Make first distracted warning visual only + +Version 0.4.3 (2018-03-13) +========================== + * Add HDR and autofocus + * Update UI aesthetic + * Grey panda works in Waze + * Add alpha support for 2017 Honda Pilot + * Slight increase in acceleration response from stop + * Switch CAN sending to use CANPacker + * Fix pulsing acceleration regression on Honda + * Fix openpilot bugs when stock system is in use + * Change starting logic for chffrplus to use battery voltage + +Version 0.4.2 (2018-02-05) +========================== + * Add alpha support for 2017 Lexus RX Hybrid + * Add alpha support for 2018 ACURA RDX + * Updated fingerprint to include Toyota Rav4 SE and Prius Prime + * Bugfixes for Acura ILX and Honda Odyssey + +Version 0.4.1 (2018-01-30) +========================== + * Add alpha support for 2017 Toyota Corolla + * Add alpha support for 2018 Honda Odyssey with Honda Sensing + * Add alpha support for Grey Panda + * Refactored car abstraction layer to make car ports easier + * Increased steering torque limit on Honda CR-V by 30% + +Version 0.4.0.2 (2018-01-18) +========================== + * Add focus adjustment slider + * Minor bugfixes + +Version 0.4.0.1 (2017-12-21) +========================== + * New UI to match chffrplus + * Improved lateral control tuning to fix oscillations on Civic + * Add alpha support for 2017 Toyota Rav4 Hybrid + * Reduced CPU usage + * Removed unnecessary utilization of fan at max speed + * Minor bug fixes + +Version 0.3.9 (2017-11-21) +========================== + * Add alpha support for 2017 Toyota Prius + * Improved longitudinal control using model predictive control + * Enable Forward Collision Warning + * Acura ILX now maintains openpilot engaged at standstill when brakes are applied + +Version 0.3.8.2 (2017-10-30) +========================== + * Add alpha support for 2017 Toyota RAV4 + * Smoother lateral control + * Stay silent if stock system is connected through giraffe + * Minor bug fixes + +Version 0.3.7 (2017-09-30) +========================== + * Improved lateral control using model predictive control + * Improved lane centering + * Improved GPS + * Reduced tendency of path deviation near right side exits + * Enable engagement while the accelerator pedal is pressed + * Enable engagement while the brake pedal is pressed, when stationary and with lead vehicle within 5m + * Disable engagement when park brake or brake hold are active + * Fixed sporadic longitudinal pulsing in Civic + * Cleanups to vehicle interface + +Version 0.3.6.1 (2017-08-15) +============================ + * Mitigate low speed steering oscillations on some vehicles + * Include board steering check for CR-V + +Version 0.3.6 (2017-08-08) +========================== + * Fix alpha CR-V support + * Improved GPS + * Fix display of target speed not always matching HUD + * Increased acceleration after stop + * Mitigated some vehicles driving too close to the right line + +Version 0.3.5 (2017-07-30) +========================== + * Fix bug where new devices would not begin calibration + * Minor robustness improvements + +Version 0.3.4 (2017-07-28) +========================== + * Improved model trained on more data + * Much improved controls tuning + * Performance improvements + * Bugfixes and improvements to calibration + * Driving log can play back video + * Acura only: system now stays engaged below 25mph as long as brakes are applied + +Version 0.3.3 (2017-06-28) +=========================== + * Improved model trained on more data + * Alpha CR-V support thanks to energee and johnnwvs! + * Using the opendbc project for DBC files + * Minor performance improvements + * UI update thanks to pjlao307 + * Power off button + * 6% more torque on the Civic + +Version 0.3.2 (2017-05-22) +=========================== + * Minor stability bugfixes + * Added metrics and rear view mirror disable to settings + * Update model with more crowdsourced data + +Version 0.3.1 (2017-05-17) +=========================== + * visiond stability bugfix + * Add logging for angle and flashing + +Version 0.3.0 (2017-05-12) +=========================== + * Add CarParams struct to improve the abstraction layer + * Refactor visiond IPC to support multiple clients + * Add raw GPS and beginning support for navigation + * Improve model in visiond using crowdsourced data + * Add improved system logging to diagnose instability + * Rewrite baseui in React Native + * Moved calibration to the cloud + +Version 0.2.9 (2017-03-01) +=========================== + * Retain compatibility with NEOS v1 + +Version 0.2.8 (2017-02-27) +=========================== + * Fix bug where frames were being dropped in minute 71 + +Version 0.2.7 (2017-02-08) +=========================== + * Better performance and pictures at night + * Fix ptr alignment issue in pandad + * Fix brake error light, fix crash if too cold + +Version 0.2.6 (2017-01-31) +=========================== + * Fix bug in visiond model execution + +Version 0.2.5 (2017-01-30) +=========================== + * Fix race condition in manager + +Version 0.2.4 (2017-01-27) +=========================== + * OnePlus 3T support + * Enable installation as NEOS app + * Various minor bugfixes + +Version 0.2.3 (2017-01-11) +=========================== + * Reduce space usage by 80% + * Add better logging + * Add Travis CI + +Version 0.2.2 (2017-01-10) +=========================== + * Board triggers started signal on CAN messages + * Improved autoexposure + * Handle out of space, improve upload status + +Version 0.2.1 (2016-12-14) +=========================== + * Performance improvements, removal of more numpy + * Fix pandad process priority + * Make counter timer reset on use of steering wheel + +Version 0.2 (2016-12-12) +========================= + * Car/Radar abstraction layers have shipped, see cereal/car.capnp + * controlsd has been refactored + * Shipped plant model and testing maneuvers + * visiond exits more gracefully now + * Hardware encoder in visiond should always init + * ui now turns off the screen after 30 seconds + * Switch to openpilot release branch for future releases + * Added preliminary Docker container to run tests on PC + +Version 0.1 (2016-11-29) +========================= + * Initial release of openpilot + * Adaptive cruise control is working + * Lane keep assist is working + * Support for Acura ILX 2016 with AcuraWatch Plus + * Support for Honda Civic 2016 Touring Edition diff --git a/cereal/__init__.py b/cereal/__init__.py new file mode 100644 index 0000000000..89c5cf38e3 --- /dev/null +++ b/cereal/__init__.py @@ -0,0 +1,9 @@ +import os +import capnp + +CEREAL_PATH = os.path.dirname(os.path.abspath(__file__)) +capnp.remove_import_hook() + +log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp")) +car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp")) +custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp")) diff --git a/cereal/car.capnp b/cereal/car.capnp new file mode 100644 index 0000000000..2448ef3c9a --- /dev/null +++ b/cereal/car.capnp @@ -0,0 +1,760 @@ +using Cxx = import "./include/c++.capnp"; +$Cxx.namespace("cereal"); + +@0x8e2af1e708af8b8d; + +# ******* events causing controls state machine transition ******* + +struct CarEvent @0x9b1657f34caf3ad3 { + name @0 :EventName; + + # event types + enable @1 :Bool; + noEntry @2 :Bool; + warning @3 :Bool; # alerts presented only when enabled or soft disabling + userDisable @4 :Bool; + softDisable @5 :Bool; + immediateDisable @6 :Bool; + preEnable @7 :Bool; + permanent @8 :Bool; # alerts presented regardless of openpilot state + overrideLateral @10 :Bool; + overrideLongitudinal @9 :Bool; + + enum EventName @0xbaa8c5d505f727de { + canError @0; + steerUnavailable @1; + wrongGear @4; + doorOpen @5; + seatbeltNotLatched @6; + espDisabled @7; + wrongCarMode @8; + steerTempUnavailable @9; + reverseGear @10; + buttonCancel @11; + buttonEnable @12; + pedalPressed @13; # exits active state + preEnableStandstill @73; # added during pre-enable state with brake + gasPressedOverride @108; # added when user is pressing gas with no disengage on gas + steerOverride @114; + cruiseDisabled @14; + speedTooLow @17; + outOfSpace @18; + overheat @19; + calibrationIncomplete @20; + calibrationInvalid @21; + calibrationRecalibrating @117; + controlsMismatch @22; + pcmEnable @23; + pcmDisable @24; + radarFault @26; + brakeHold @28; + parkBrake @29; + manualRestart @30; + lowSpeedLockout @31; + joystickDebug @34; + steerTempUnavailableSilent @35; + resumeRequired @36; + preDriverDistracted @37; + promptDriverDistracted @38; + driverDistracted @39; + preDriverUnresponsive @43; + promptDriverUnresponsive @44; + driverUnresponsive @45; + belowSteerSpeed @46; + lowBattery @48; + accFaulted @51; + sensorDataInvalid @52; + commIssue @53; + commIssueAvgFreq @109; + tooDistracted @54; + posenetInvalid @55; + soundsUnavailable @56; + preLaneChangeLeft @57; + preLaneChangeRight @58; + laneChange @59; + lowMemory @63; + stockAeb @64; + ldw @65; + carUnrecognized @66; + invalidLkasSetting @69; + speedTooHigh @70; + laneChangeBlocked @71; + relayMalfunction @72; + stockFcw @74; + startup @75; + startupNoCar @76; + startupNoControl @77; + startupMaster @78; + startupNoFw @104; + fcw @79; + steerSaturated @80; + belowEngageSpeed @84; + noGps @85; + wrongCruiseMode @87; + modeldLagging @89; + deviceFalling @90; + fanMalfunction @91; + cameraMalfunction @92; + cameraFrameRate @110; + processNotRunning @95; + dashcamMode @96; + controlsInitializing @98; + usbError @99; + roadCameraError @100; + driverCameraError @101; + wideRoadCameraError @102; + highCpuUsage @105; + cruiseMismatch @106; + lkasDisabled @107; + canBusMissing @111; + controlsdLagging @112; + resumeBlocked @113; + steerTimeLimit @115; + vehicleSensorsInvalid @116; + locationdTemporaryError @103; + locationdPermanentError @118; + paramsdTemporaryError @50; + paramsdPermanentError @119; + actuatorsApiUnavailable @120; + espActive @121; + manualSteeringRequired @122; + manualLongitudinalRequired @123; + silentPedalPressed @124; + silentButtonEnable @125; + silentBrakeHold @126; + silentWrongGear @127; + spReverseGear @128; + preKeepHandsOnWheel @129; + promptKeepHandsOnWheel @130; + keepHandsOnWheel @131; + speedLimitActive @132; + speedLimitValueChange @133; + e2eLongStop @134; + e2eLongStart @135; + controlsMismatchLong @136; + cruiseEngageBlocked @137; + laneChangeRoadEdge @138; + speedLimitPreActive @139; + speedLimitConfirmed @140; + torqueNNLoad @141; + hyundaiRadarTracksAvailable @142; + + radarCanErrorDEPRECATED @15; + communityFeatureDisallowedDEPRECATED @62; + radarCommIssueDEPRECATED @67; + driverMonitorLowAccDEPRECATED @68; + gasUnavailableDEPRECATED @3; + dataNeededDEPRECATED @16; + modelCommIssueDEPRECATED @27; + ipasOverrideDEPRECATED @33; + geofenceDEPRECATED @40; + driverMonitorOnDEPRECATED @41; + driverMonitorOffDEPRECATED @42; + calibrationProgressDEPRECATED @47; + invalidGiraffeHondaDEPRECATED @49; + invalidGiraffeToyotaDEPRECATED @60; + internetConnectivityNeededDEPRECATED @61; + whitePandaUnsupportedDEPRECATED @81; + commIssueWarningDEPRECATED @83; + focusRecoverActiveDEPRECATED @86; + neosUpdateRequiredDEPRECATED @88; + modelLagWarningDEPRECATED @93; + startupOneplusDEPRECATED @82; + startupFuzzyFingerprintDEPRECATED @97; + noTargetDEPRECATED @25; + brakeUnavailableDEPRECATED @2; + plannerErrorDEPRECATED @32; + gpsMalfunctionDEPRECATED @94; + } +} + +# ******* main car state @ 100hz ******* +# all speeds in m/s + +struct CarState { + events @13 :List(CarEvent); + + # CAN health + canValid @26 :Bool; # invalid counter/checksums + canTimeout @40 :Bool; # CAN bus dropped out + canErrorCounter @48 :UInt32; + + # car speed + vEgo @1 :Float32; # best estimate of speed + aEgo @16 :Float32; # best estimate of acceleration + vEgoRaw @17 :Float32; # unfiltered speed from CAN sensors + vEgoCluster @44 :Float32; # best estimate of speed shown on car's instrument cluster, used for UI + + yawRate @22 :Float32; # best estimate of yaw rate + standstill @18 :Bool; + wheelSpeeds @2 :WheelSpeeds; + + # gas pedal, 0.0-1.0 + gas @3 :Float32; # this is user pedal only + gasPressed @4 :Bool; # this is user pedal only + + engineRpm @46 :Float32; + + # brake pedal, 0.0-1.0 + brake @5 :Float32; # this is user pedal only + brakePressed @6 :Bool; # this is user pedal only + regenBraking @45 :Bool; # this is user pedal only + parkingBrake @39 :Bool; + brakeHoldActive @38 :Bool; + + # steering wheel + steeringAngleDeg @7 :Float32; + steeringAngleOffsetDeg @37 :Float32; # Offset betweens sensors in case there multiple + steeringRateDeg @15 :Float32; + steeringTorque @8 :Float32; # TODO: standardize units + steeringTorqueEps @27 :Float32; # TODO: standardize units + steeringPressed @9 :Bool; # if the user is using the steering wheel + steerFaultTemporary @35 :Bool; # temporary EPS fault + steerFaultPermanent @36 :Bool; # permanent EPS fault + stockAeb @30 :Bool; + stockFcw @31 :Bool; + espDisabled @32 :Bool; + accFaulted @42 :Bool; + carFaultedNonCritical @47 :Bool; # some ECU is faulted, but car remains controllable + espActive @51 :Bool; + + # cruise state + cruiseState @10 :CruiseState; + + # gear + gearShifter @14 :GearShifter; + + # button presses + buttonEvents @11 :List(ButtonEvent); + leftBlinker @20 :Bool; + rightBlinker @21 :Bool; + genericToggle @23 :Bool; + + # lock info + doorOpen @24 :Bool; + seatbeltUnlatched @25 :Bool; + + # clutch (manual transmission only) + clutchPressed @28 :Bool; + + madsEnabled @52 :Bool; + leftBlinkerOn @53 :Bool; + rightBlinkerOn @54 :Bool; + disengageByBrake @55 :Bool; + belowLaneChangeSpeed @56 :Bool; + accEnabled @57 :Bool; + latActive @58 :Bool; + gapAdjustCruiseTr @59 :Int32; + endToEndLong @60 :Bool; + customStockLong @61 :CustomStockLong; + + struct CustomStockLong { + cruiseButton @0 :Int16; + finalSpeedKph @1 :Float32; + vCruiseKphPrevDEPRECATED @2 :Float32; + targetSpeed @3 :Float32; + vSetDis @4 :Float32; + speedDiff @5 :Float32; + buttonType @6 :Int16; + } + + # blindspot sensors + leftBlindspot @33 :Bool; # Is there something blocking the left lane change + rightBlindspot @34 :Bool; # Is there something blocking the right lane change + + fuelGauge @41 :Float32; # battery or fuel tank level from 0.0 to 1.0 + charging @43 :Bool; + + # process meta + cumLagMs @50 :Float32; + + struct WheelSpeeds { + # optional wheel speeds + fl @0 :Float32; + fr @1 :Float32; + rl @2 :Float32; + rr @3 :Float32; + } + + struct CruiseState { + enabled @0 :Bool; + speed @1 :Float32; + speedCluster @6 :Float32; # Set speed as shown on instrument cluster + available @2 :Bool; + speedOffset @3 :Float32; + standstill @4 :Bool; + nonAdaptive @5 :Bool; + speedLimit @7 :Float32; + } + + enum GearShifter { + unknown @0; + park @1; + drive @2; + neutral @3; + reverse @4; + sport @5; + low @6; + brake @7; + eco @8; + manumatic @9; + } + + # send on change + struct ButtonEvent { + pressed @0 :Bool; + type @1 :Type; + + enum Type { + unknown @0; + leftBlinker @1; + rightBlinker @2; + accelCruise @3; + decelCruise @4; + cancel @5; + altButton1 @6; + altButton2 @7; + altButton3 @8; + setCruise @9; + resumeCruise @10; + gapAdjustCruise @11; + } + } + + # deprecated + errorsDEPRECATED @0 :List(CarEvent.EventName); + brakeLightsDEPRECATED @19 :Bool; + steeringRateLimitedDEPRECATED @29 :Bool; + canMonoTimesDEPRECATED @12: List(UInt64); + canRcvTimeoutDEPRECATED @49 :Bool; +} + +# ******* radar state @ 20hz ******* + +struct RadarData @0x888ad6581cf0aacb { + errors @0 :List(Error); + points @1 :List(RadarPoint); + + enum Error { + canError @0; + fault @1; + wrongConfig @2; + } + + # similar to LiveTracks + # is one timestamp valid for all? I think so + struct RadarPoint { + trackId @0 :UInt64; # no trackId reuse + + # these 3 are the minimum required + dRel @1 :Float32; # m from the front bumper of the car + yRel @2 :Float32; # m + vRel @3 :Float32; # m/s + + # these are optional and valid if they are not NaN + aRel @4 :Float32; # m/s^2 + yvRel @5 :Float32; # m/s + + # some radars flag measurements VS estimates + measured @6 :Bool; + } + + # deprecated + canMonoTimesDEPRECATED @2 :List(UInt64); +} + +# ******* car controls @ 100hz ******* + +struct CarControl { + # must be true for any actuator commands to work + enabled @0 :Bool; + latActive @11: Bool; + longActive @12: Bool; + vCruise @17 :Float32; # actual set speed + + # Actuator commands as computed by controlsd + actuators @6 :Actuators; + + # moved to CarOutput + actuatorsOutputDEPRECATED @10 :Actuators; + + leftBlinker @15: Bool; + rightBlinker @16: Bool; + + orientationNED @13 :List(Float32); + angularVelocity @14 :List(Float32); + + cruiseControl @4 :CruiseControl; + hudControl @5 :HUDControl; + + struct Actuators { + # range from 0.0 - 1.0 + gas @0: Float32; + brake @1: Float32; + # range from -1.0 - 1.0 + steer @2: Float32; + # value sent over can to the car + steerOutputCan @8: Float32; + steeringAngleDeg @3: Float32; + + curvature @7: Float32; + + speed @6: Float32; # m/s + accel @4: Float32; # m/s^2 + longControlState @5: LongControlState; + + enum LongControlState @0xe40f3a917d908282{ + off @0; + pid @1; + stopping @2; + starting @3; + } + } + + struct CruiseControl { + cancel @0: Bool; + resume @1: Bool; + override @4: Bool; + speedOverrideDEPRECATED @2: Float32; + accelOverrideDEPRECATED @3: Float32; + } + + struct HUDControl { + speedVisible @0: Bool; + setSpeed @1: Float32; + lanesVisible @2: Bool; + leadVisible @3: Bool; + visualAlert @4: VisualAlert; + audibleAlert @5: AudibleAlert; + rightLaneVisible @6: Bool; + leftLaneVisible @7: Bool; + rightLaneDepart @8: Bool; + leftLaneDepart @9: Bool; + leadDistanceBars @10: Int8; # 1-3: 1 is closest, 3 is farthest. some ports may utilize 2-4 bars instead + + enum VisualAlert { + # these are the choices from the Honda + # map as good as you can for your car + none @0; + fcw @1; + steerRequired @2; + brakePressed @3; + wrongGear @4; + seatbeltUnbuckled @5; + speedTooHigh @6; + ldw @7; + } + + enum AudibleAlert { + none @0; + + engage @1; + disengage @2; + refuse @3; + + warningSoft @4; + warningImmediate @5; + + prompt @6; + promptRepeat @7; + promptDistracted @8; + promptStarting @9; + promptSingleLow @10; + promptSingleHigh @11; + } + } + + gasDEPRECATED @1 :Float32; + brakeDEPRECATED @2 :Float32; + steeringTorqueDEPRECATED @3 :Float32; + activeDEPRECATED @7 :Bool; + rollDEPRECATED @8 :Float32; + pitchDEPRECATED @9 :Float32; +} + +struct CarOutput { + # Any car specific rate limits or quirks applied by + # the CarController are reflected in actuatorsOutput + # and matches what is sent to the car + actuatorsOutput @0 :CarControl.Actuators; +} + +# ****** car param ****** + +struct CarParams { + carName @0 :Text; + carFingerprint @1 :Text; + fuzzyFingerprint @55 :Bool; + + notCar @66 :Bool; # flag for non-car robotics platforms + + pcmCruise @3 :Bool; # is openpilot's state tied to the PCM's cruise state? + enableDsu @5 :Bool; # driving support unit + enableBsm @56 :Bool; # blind spot monitoring + flags @64 :UInt32; # flags for car specific quirks + experimentalLongitudinalAvailable @71 :Bool; + pcmCruiseSpeed @74 :Bool; # is openpilot's state tied to the PCM's cruise speed? + customStockLongAvailable @75 :Bool; + spFlags @76 :UInt32; # flags for car specific quirks in sunnypilot + + minEnableSpeed @7 :Float32; + minSteerSpeed @8 :Float32; + safetyConfigs @62 :List(SafetyConfig); + alternativeExperience @65 :Int16; # panda flag for features like no disengage on gas + + # Car docs fields + maxLateralAccel @68 :Float32; + autoResumeSng @69 :Bool; # describes whether car can resume from a stop automatically + + # things about the car in the manual + mass @17 :Float32; # [kg] curb weight: all fluids no cargo + wheelbase @18 :Float32; # [m] distance from rear axle to front axle + centerToFront @19 :Float32; # [m] distance from center of mass to front axle + steerRatio @20 :Float32; # [] ratio of steering wheel angle to front wheel angle + steerRatioRear @21 :Float32; # [] ratio of steering wheel angle to rear wheel angle (usually 0) + + # things we can derive + rotationalInertia @22 :Float32; # [kg*m2] body rotational inertia + tireStiffnessFactor @72 :Float32; # scaling factor used in calculating tireStiffness[Front,Rear] + tireStiffnessFront @23 :Float32; # [N/rad] front tire coeff of stiff + tireStiffnessRear @24 :Float32; # [N/rad] rear tire coeff of stiff + + longitudinalTuning @25 :LongitudinalPIDTuning; + lateralParams @48 :LateralParams; + lateralTuning :union { + pid @26 :LateralPIDTuning; + indiDEPRECATED @27 :LateralINDITuning; + lqrDEPRECATED @40 :LateralLQRTuning; + torque @67 :LateralTorqueTuning; + } + + steerLimitAlert @28 :Bool; + steerLimitTimer @47 :Float32; # time before steerLimitAlert is issued + + vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state + vEgoStarting @59 :Float32; # Speed at which the car goes into starting state + stoppingControl @31 :Bool; # Does the car allow full control even at lows speeds when stopping + steerControlType @34 :SteerControlType; + radarUnavailable @35 :Bool; # True when radar objects aren't visible on CAN or aren't parsed out + stopAccel @60 :Float32; # Required acceleration to keep vehicle stationary + stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop + startAccel @32 :Float32; # Required acceleration to get car moving + startingState @70 :Bool; # Does this car make use of special starting state + + steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds + longitudinalActuatorDelay @58 :Float32; # Gas/Brake actuator delay in seconds + openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control? + carVin @38 :Text; # VIN number queried during fingerprinting + dashcamOnly @41: Bool; + passive @73: Bool; # is openpilot in control? + transmissionType @43 :TransmissionType; + carFw @44 :List(CarFw); + + radarTimeStep @45: Float32 = 0.05; # time delta between radar updates, 20Hz is very standard + fingerprintSource @49: FingerprintSource; + networkLocation @50 :NetworkLocation; # Where Panda/C2 is integrated into the car's CAN network + + wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds + + struct SafetyConfig { + safetyModel @0 :SafetyModel; + safetyParam @3 :UInt16; + safetyParamDEPRECATED @1 :Int16; + safetyParam2DEPRECATED @2 :UInt32; + } + + struct LateralParams { + torqueBP @0 :List(Int32); + torqueV @1 :List(Int32); + } + + struct LateralPIDTuning { + kpBP @0 :List(Float32); + kpV @1 :List(Float32); + kiBP @2 :List(Float32); + kiV @3 :List(Float32); + kf @4 :Float32; + } + + struct LateralTorqueTuning { + useSteeringAngle @0 :Bool; + kp @1 :Float32; + ki @2 :Float32; + friction @3 :Float32; + kf @4 :Float32; + steeringAngleDeadzoneDeg @5 :Float32; + latAccelFactor @6 :Float32; + latAccelOffset @7 :Float32; + nnModelName @8 :Text; + nnModelFuzzyMatch @9 :Bool; + } + + struct LongitudinalPIDTuning { + kpBP @0 :List(Float32); + kpV @1 :List(Float32); + kiBP @2 :List(Float32); + kiV @3 :List(Float32); + kf @6 :Float32; + deadzoneBPDEPRECATED @4 :List(Float32); + deadzoneVDEPRECATED @5 :List(Float32); + } + + struct LateralINDITuning { + outerLoopGainBP @4 :List(Float32); + outerLoopGainV @5 :List(Float32); + innerLoopGainBP @6 :List(Float32); + innerLoopGainV @7 :List(Float32); + timeConstantBP @8 :List(Float32); + timeConstantV @9 :List(Float32); + actuatorEffectivenessBP @10 :List(Float32); + actuatorEffectivenessV @11 :List(Float32); + + outerLoopGainDEPRECATED @0 :Float32; + innerLoopGainDEPRECATED @1 :Float32; + timeConstantDEPRECATED @2 :Float32; + actuatorEffectivenessDEPRECATED @3 :Float32; + } + + struct LateralLQRTuning { + scale @0 :Float32; + ki @1 :Float32; + dcGain @2 :Float32; + + # State space system + a @3 :List(Float32); + b @4 :List(Float32); + c @5 :List(Float32); + + k @6 :List(Float32); # LQR gain + l @7 :List(Float32); # Kalman gain + } + + enum SafetyModel { + silent @0; + hondaNidec @1; + toyota @2; + elm327 @3; + gm @4; + hondaBoschGiraffe @5; + ford @6; + cadillac @7; + hyundai @8; + chrysler @9; + tesla @10; + subaru @11; + gmPassive @12; + mazda @13; + nissan @14; + volkswagen @15; + toyotaIpas @16; + allOutput @17; + gmAscm @18; + noOutput @19; # like silent but without silent CAN TXs + hondaBosch @20; + volkswagenPq @21; + subaruPreglobal @22; # pre-Global platform + hyundaiLegacy @23; + hyundaiCommunity @24; + volkswagenMlb @25; + hongqi @26; + body @27; + hyundaiCanfd @28; + volkswagenMqbEvo @29; + chryslerCusw @30; + psa @31; + } + + enum SteerControlType { + torque @0; + angle @1; + + curvatureDEPRECATED @2; + } + + enum TransmissionType { + unknown @0; + automatic @1; # Traditional auto, including DSG + manual @2; # True "stick shift" only + direct @3; # Electric vehicle or other direct drive + cvt @4; + } + + struct CarFw { + ecu @0 :Ecu; + fwVersion @1 :Data; + address @2 :UInt32; + subAddress @3 :UInt8; + responseAddress @4 :UInt32; + request @5 :List(Data); + brand @6 :Text; + bus @7 :UInt8; + logging @8 :Bool; + obdMultiplexing @9 :Bool; + } + + enum Ecu { + eps @0; + abs @1; + fwdRadar @2; + fwdCamera @3; + engine @4; + unknown @5; + transmission @8; # Transmission Control Module + hybrid @18; # hybrid control unit, e.g. Chrysler's HCP, Honda's IMA Control Unit, Toyota's hybrid control computer + srs @9; # airbag + gateway @10; # can gateway + hud @11; # heads up display + combinationMeter @12; # instrument cluster + electricBrakeBooster @15; + shiftByWire @16; + adas @19; + cornerRadar @21; + hvac @20; + parkingAdas @7; # parking assist system ECU, e.g. Toyota's IPAS, Hyundai's RSPA, etc. + epb @22; # electronic parking brake + telematics @23; + body @24; # body control module + + # Toyota only + dsu @6; + + # Honda only + vsa @13; # Vehicle Stability Assist + programmedFuelInjection @14; + + debug @17; + } + + enum FingerprintSource { + can @0; + fw @1; + fixed @2; + } + + enum NetworkLocation { + fwdCamera @0; # Standard/default integration at LKAS camera + gateway @1; # Integration at vehicle's CAN gateway + } + + enableGasInterceptorDEPRECATED @2 :Bool; + enableCameraDEPRECATED @4 :Bool; + enableApgsDEPRECATED @6 :Bool; + steerRateCostDEPRECATED @33 :Float32; + isPandaBlackDEPRECATED @39 :Bool; + hasStockCameraDEPRECATED @57 :Bool; + safetyParamDEPRECATED @10 :Int16; + safetyModelDEPRECATED @9 :SafetyModel; + safetyModelPassiveDEPRECATED @42 :SafetyModel = silent; + minSpeedCanDEPRECATED @51 :Float32; + communityFeatureDEPRECATED @46: Bool; + startingAccelRateDEPRECATED @53 :Float32; + steerMaxBPDEPRECATED @11 :List(Float32); + steerMaxVDEPRECATED @12 :List(Float32); + gasMaxBPDEPRECATED @13 :List(Float32); + gasMaxVDEPRECATED @14 :List(Float32); + brakeMaxBPDEPRECATED @15 :List(Float32); + brakeMaxVDEPRECATED @16 :List(Float32); + directAccelControlDEPRECATED @30 :Bool; + maxSteeringAngleDegDEPRECATED @54 :Float32; + longitudinalActuatorDelayLowerBoundDEPRECATEDDEPRECATED @61 :Float32; +} diff --git a/cereal/custom.capnp b/cereal/custom.capnp new file mode 100644 index 0000000000..423009f502 --- /dev/null +++ b/cereal/custom.capnp @@ -0,0 +1,222 @@ +using Cxx = import "./include/c++.capnp"; +$Cxx.namespace("cereal"); + +using Car = import "car.capnp"; + +@0xb526ba661d550a59; + +# custom.capnp: a home for empty structs reserved for custom forks +# These structs are guaranteed to remain reserved and empty in mainline +# cereal, so use these if you want custom events in your fork. + +# you can rename the struct, but don't change the identifier + +enum LongitudinalPersonalitySP { + aggressive @0; + moderate @1; + standard @2; + relaxed @3; + overtake @4; +} + +enum AccelerationPersonality { + sport @0; + normal @1; + eco @2; + stock @3; +} + +enum ModelGeneration { + default @0; + one @1; + two @2; + three @3; + four @4; + five @5; +} + +enum MpcSource { + acc @0; + blended @1; +} + +struct ControlsStateSP @0x81c2f05a394cf4af { + lateralState @0 :Text; + personality @8 :LongitudinalPersonalitySP; + dynamicPersonality @9 :Bool; + accelPersonality @10 :AccelerationPersonality; + overtakingAccelerationAssist @11 :Bool; + + lateralControlState :union { + indiState @1 :LateralINDIState; + pidState @2 :LateralPIDState; + angleState @3 :LateralAngleState; + debugState @4 :LateralDebugState; + torqueState @5 :LateralTorqueState; + curvatureState @6 :LateralCurvatureState; + + lqrStateDEPRECATED @7 :LateralLQRState; + } + + struct LateralINDIState { + } + + struct LateralPIDState { + } + + struct LateralAngleState { + } + + struct LateralDebugState { + } + + struct LateralTorqueState { + nnLog @0 :List(Float32); + } + + struct LateralCurvatureState { + } + + struct LateralLQRState { + } +} + +struct LongitudinalPlanSP @0xaedffd8f31e7b55d { + visionTurnControllerState @0 :VisionTurnControllerState; + visionTurnSpeed @1 :Float32; + visionCurrentLatAcc @16 :Float32; + visionMaxPredLatAcc @17 :Float32; + + speedLimitControlState @2 :SpeedLimitControlState; + speedLimit @3 :Float32; + speedLimitOffset @4 :Float32; + distToSpeedLimit @5 :Float32; + isMapSpeedLimit @6 :Bool; + speedLimitPercOffset @11 :Bool; + speedLimitValueOffset @12 :Float32; + desiredTF @13 :Float32; + notSpeedLimit @14 :Int16; + e2eX @15 :List(Float32); + e2eBlendedDEPRECATED @18 :Text; + e2eStatus @22 :Bool; + mpcSource @23 :MpcSource; + dynamicExperimentalControl @24 :Bool; + + distToTurn @7 :Float32; + turnSpeed @8 :Float32; + turnSpeedControlState @9 :SpeedLimitControlState; + turnSign @10 :Int16; + + events @19 :List(Car.CarEvent); + longitudinalPlanSource @20 :LongitudinalPlanSource; + + personalityDEPRECATED @21 :LongitudinalPersonalitySP; + + enum SpeedLimitControlState { + inactive @0; # No speed limit set or not enabled by parameter. + tempInactive @1; # User wants to ignore speed limit until it changes. + adapting @2; # Reducing speed to match new speed limit. + active @3; # Cruising at speed limit. + preActive @4; + } + + enum VisionTurnControllerState { + disabled @0; # No predicted substantial turn on vision range or feature disabled. + entering @1; # A substantial turn is predicted ahead, adapting speed to turn comfort levels. + turning @2; # Actively turning. Managing acceleration to provide a roll on turn feeling. + leaving @3; # Road ahead straightens. Start to allow positive acceleration. + } + + enum LongitudinalPlanSource { + cruise @0; + lead0 @1; + lead1 @2; + lead2 @3; + e2e @4; + turn @5; + limit @6; + turnlimit @7; + } +} + +struct LateralPlanSP @0xf35cc4560bbf6ec2 { + laneWidth @0 :Float32; + lProb @1 :Float32; + rProb @2 :Float32; + + dProb @3 :Float32; + + dynamicLaneProfile @4 :Int8; + standstillElapsed @5 :Float32; + dynamicLaneProfileStatus @9 :Bool; + + dPathWLinesXDEPRECATED @6 :List(Float32); + dPathWLinesYDEPRECATED @7 :List(Float32); + laneChangePrevDEPRECATED @8 :Bool; + laneChangeEdgeBlockDEPRECATED @10 :Bool; +} + +struct DriverMonitoringStateSP @0xda96579883444c35 { + handsOnWheelState @0 :HandsOnWheelState; + notModified @1 :Float32; + + enum HandsOnWheelState { + none @0; # hand on wheel monitoring inactive + ok @1; # driver has hands on steering wheel + minor @2; # hands off steering wheel for acceptable period + warning @3; # hands off steering wheel for warning period + critical @4; # # hands off steering wheel for critical period + terminal @5; # # hands off steering wheel for terminal period + } +} + +struct LiveMapDataSP @0x80ae746ee2596b11 { + speedLimitValid @0 :Bool; + speedLimit @1 :Float32; + speedLimitAheadValid @2 :Bool; + speedLimitAhead @3 :Float32; + speedLimitAheadDistance @4 :Float32; + turnSpeedLimitValid @5 :Bool; + turnSpeedLimit @6 :Float32; + turnSpeedLimitEndDistance @7 :Float32; + turnSpeedLimitSign @8 :Int16; + turnSpeedLimitsAhead @9 :List(Float32); + turnSpeedLimitsAheadDistances @10 :List(Float32); + turnSpeedLimitsAheadSigns @11 :List(Int16); + lastGpsTimestamp @12 :Int64; # Milliseconds since January 1, 1970. + currentRoadName @13 :Text; + lastGpsLatitude @14 :Float64; + lastGpsLongitude @15 :Float64; + lastGpsSpeed @16 :Float32; + lastGpsBearingDeg @17 :Float32; + lastGpsAccuracy @18 :Float32; + lastGpsBearingAccuracyDeg @19 :Float32; + dataType @20 :DataType; + + enum DataType { + default @0; + offline @1; + online @2; + } +} + +struct E2eLongStateSP @0xa5cd762cd951a455 { + status @0 :UInt16; +} + +struct ModelDataV2SP @0xf98d843bfd7004a3 { + laneChangePrev @0 :Bool; + laneChangeEdgeBlock @1 :Bool; + customModel @2 :Bool; + modelGeneration @3 :ModelGeneration; + modelCapabilities @4 :UInt32; +} + +struct CustomReserved7 @0xb86e6369214c01c8 { +} + +struct CustomReserved8 @0xf416ec09499d9d19 { +} + +struct CustomReserved9 @0xa1680744031fdb2d { +} diff --git a/cereal/gen/c/include/c++.capnp.h b/cereal/gen/c/include/c++.capnp.h new file mode 100644 index 0000000000..e69de29bb2 diff --git a/cereal/gen/cpp/car.capnp.c++ b/cereal/gen/cpp/car.capnp.c++ new file mode 100644 index 0000000000..7ae81ddd8c --- /dev/null +++ b/cereal/gen/cpp/car.capnp.c++ @@ -0,0 +1,7631 @@ +// Generated by Cap'n Proto compiler, DO NOT EDIT +// source: car.capnp + +#include "car.capnp.h" + +namespace capnp { +namespace schemas { +static const ::capnp::_::AlignedData<195> b_9b1657f34caf3ad3 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 211, 58, 175, 76, 243, 87, 22, 155, + 10, 0, 0, 0, 1, 0, 1, 0, + 141, 139, 175, 8, 231, 241, 42, 142, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 154, 0, 0, 0, + 29, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 111, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 69, 118, 101, + 110, 116, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 222, 39, 247, 5, 213, 197, 168, 186, + 1, 0, 0, 0, 82, 0, 0, 0, + 69, 118, 101, 110, 116, 78, 97, 109, + 101, 0, 0, 0, 0, 0, 0, 0, + 44, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 1, 0, 0, 3, 0, 1, 0, + 44, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 16, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 1, 0, 0, 3, 0, 1, 0, + 48, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 17, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 1, 0, 0, 3, 0, 1, 0, + 52, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 44, 1, 0, 0, 3, 0, 1, 0, + 56, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 19, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 1, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 52, 1, 0, 0, 3, 0, 1, 0, + 64, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 20, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 61, 1, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 60, 1, 0, 0, 3, 0, 1, 0, + 72, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 21, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 1, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 1, 0, 0, 3, 0, 1, 0, + 84, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 22, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 81, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 80, 1, 0, 0, 3, 0, 1, 0, + 92, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 88, 1, 0, 0, 3, 0, 1, 0, + 100, 1, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 24, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 1, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 1, 0, 0, 3, 0, 1, 0, + 112, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 25, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 1, 0, 0, 3, 0, 1, 0, + 120, 1, 0, 0, 2, 0, 1, 0, + 110, 97, 109, 101, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 222, 39, 247, 5, 213, 197, 168, 186, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 110, 97, 98, 108, 101, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 69, 110, 116, 114, 121, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 119, 97, 114, 110, 105, 110, 103, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 115, 101, 114, 68, 105, 115, 97, + 98, 108, 101, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 111, 102, 116, 68, 105, 115, 97, + 98, 108, 101, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 109, 109, 101, 100, 105, 97, 116, + 101, 68, 105, 115, 97, 98, 108, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 114, 101, 69, 110, 97, 98, 108, + 101, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 101, 114, 109, 97, 110, 101, 110, + 116, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 118, 101, 114, 114, 105, 100, 101, + 76, 111, 110, 103, 105, 116, 117, 100, + 105, 110, 97, 108, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 118, 101, 114, 114, 105, 100, 101, + 76, 97, 116, 101, 114, 97, 108, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_9b1657f34caf3ad3 = b_9b1657f34caf3ad3.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_9b1657f34caf3ad3[] = { + &s_baa8c5d505f727de, +}; +static const uint16_t m_9b1657f34caf3ad3[] = {1, 6, 0, 2, 10, 9, 8, 7, 5, 4, 3}; +static const uint16_t i_9b1657f34caf3ad3[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10}; +const ::capnp::_::RawSchema s_9b1657f34caf3ad3 = { + 0x9b1657f34caf3ad3, b_9b1657f34caf3ad3.words, 195, d_9b1657f34caf3ad3, m_9b1657f34caf3ad3, + 1, 11, i_9b1657f34caf3ad3, nullptr, nullptr, { &s_9b1657f34caf3ad3, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<836> b_baa8c5d505f727de = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 222, 39, 247, 5, 213, 197, 168, 186, + 19, 0, 0, 0, 2, 0, 0, 0, + 211, 58, 175, 76, 243, 87, 22, 155, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 234, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 111, 13, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 69, 118, 101, + 110, 116, 46, 69, 118, 101, 110, 116, + 78, 97, 109, 101, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 60, 2, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 173, 6, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 169, 6, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 140, 0, 0, 0, 0, 0, 0, 0, + 169, 6, 0, 0, 218, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 0, 0, 0, 0, 0, 0, 0, + 173, 6, 0, 0, 202, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 177, 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66, 108, 111, 99, + 107, 101, 100, 0, 0, 0, 0, 0, + 108, 97, 110, 101, 67, 104, 97, 110, + 103, 101, 82, 111, 97, 100, 69, 100, + 103, 101, 0, 0, 0, 0, 0, 0, + 115, 112, 101, 101, 100, 76, 105, 109, + 105, 116, 80, 114, 101, 65, 99, 116, + 105, 118, 101, 0, 0, 0, 0, 0, + 115, 112, 101, 101, 100, 76, 105, 109, + 105, 116, 67, 111, 110, 102, 105, 114, + 109, 101, 100, 0, 0, 0, 0, 0, + 116, 111, 114, 113, 117, 101, 78, 78, + 76, 111, 97, 100, 0, 0, 0, 0, + 104, 121, 117, 110, 100, 97, 105, 82, + 97, 100, 97, 114, 84, 114, 97, 99, + 107, 115, 65, 118, 97, 105, 108, 97, + 98, 108, 101, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_baa8c5d505f727de = b_baa8c5d505f727de.words; +#if !CAPNP_LITE +static const uint16_t m_baa8c5d505f727de[] = {51, 120, 84, 46, 28, 2, 11, 12, 20, 21, 47, 117, 110, 92, 111, 0, 66, 53, 109, 83, 62, 98, 22, 136, 112, 14, 137, 106, 96, 16, 90, 5, 101, 39, 68, 42, 41, 45, 135, 134, 121, 7, 91, 79, 86, 108, 3, 40, 94, 105, 142, 61, 49, 60, 69, 33, 34, 131, 59, 71, 138, 65, 107, 118, 103, 48, 63, 31, 123, 30, 122, 27, 93, 89, 88, 85, 25, 18, 19, 119, 50, 29, 24, 23, 13, 32, 55, 37, 43, 73, 129, 57, 58, 95, 38, 44, 130, 15, 67, 26, 72, 113, 36, 10, 100, 6, 52, 126, 125, 124, 127, 56, 128, 132, 140, 139, 133, 70, 17, 75, 97, 78, 76, 77, 104, 82, 114, 80, 9, 35, 115, 1, 64, 74, 54, 141, 99, 116, 81, 102, 8, 87, 4}; +const ::capnp::_::RawSchema s_baa8c5d505f727de = { + 0xbaa8c5d505f727de, b_baa8c5d505f727de.words, 836, nullptr, m_baa8c5d505f727de, + 0, 143, nullptr, nullptr, nullptr, { &s_baa8c5d505f727de, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(EventName_baa8c5d505f727de, baa8c5d505f727de); +static const ::capnp::_::AlignedData<1054> b_9da4fa09e052903c = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 60, 144, 82, 224, 9, 250, 164, 157, + 10, 0, 0, 0, 1, 0, 10, 0, + 141, 139, 175, 8, 231, 241, 42, 142, + 7, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 154, 0, 0, 0, + 29, 0, 0, 0, 87, 0, 0, 0, + 0, 0, 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1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 115, 116, 111, 109, 83, 116, + 111, 99, 107, 76, 111, 110, 103, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 221, 96, 195, 136, 250, 34, 163, 233, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_9da4fa09e052903c = b_9da4fa09e052903c.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_9da4fa09e052903c[] = { + &s_991a37a6155935a3, + &s_9b1657f34caf3ad3, + &s_baa8c5d505f727de, + &s_e004ca45136f6a89, + &s_e64e81478e6e60af, + &s_e9a322fa88c360dd, + &s_ff5ca6835b4acef6, +}; +static const uint16_t m_9da4fa09e052903c[] = {16, 57, 42, 56, 5, 38, 19, 6, 11, 48, 12, 49, 40, 26, 47, 43, 28, 10, 50, 61, 55, 24, 60, 46, 0, 51, 32, 13, 41, 59, 3, 4, 14, 23, 58, 33, 20, 53, 52, 39, 45, 34, 21, 54, 25, 18, 36, 35, 7, 37, 9, 15, 29, 8, 27, 30, 31, 1, 44, 17, 2, 22}; +static const uint16_t i_9da4fa09e052903c[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61}; +const ::capnp::_::RawSchema s_9da4fa09e052903c = { + 0x9da4fa09e052903c, b_9da4fa09e052903c.words, 1054, d_9da4fa09e052903c, m_9da4fa09e052903c, + 7, 62, i_9da4fa09e052903c, nullptr, nullptr, { &s_9da4fa09e052903c, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<132> b_e9a322fa88c360dd = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 221, 96, 195, 136, 250, 34, 163, 233, + 19, 0, 0, 0, 1, 0, 3, 0, + 60, 144, 82, 224, 9, 250, 164, 157, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 26, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 143, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 83, 116, 97, + 116, 101, 46, 67, 117, 115, 116, 111, + 109, 83, 116, 111, 99, 107, 76, 111, + 110, 103, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 28, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 0, 0, 0, 3, 0, 1, 0, + 192, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 0, 0, 0, 3, 0, 1, 0, + 200, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 0, 0, 0, 202, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 0, 0, 0, 3, 0, 1, 0, + 216, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 213, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 212, 0, 0, 0, 3, 0, 1, 0, + 224, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 0, 0, 0, 3, 0, 1, 0, + 228, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 0, 0, 0, 3, 0, 1, 0, + 236, 0, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 0, 0, 0, 3, 0, 1, 0, + 244, 0, 0, 0, 2, 0, 1, 0, + 99, 114, 117, 105, 115, 101, 66, 117, + 116, 116, 111, 110, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 105, 110, 97, 108, 83, 112, 101, + 101, 100, 75, 112, 104, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 67, 114, 117, 105, 115, 101, 75, + 112, 104, 80, 114, 101, 118, 68, 69, + 80, 82, 69, 67, 65, 84, 69, 68, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 97, 114, 103, 101, 116, 83, 112, + 101, 101, 100, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 83, 101, 116, 68, 105, 115, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 101, 101, 100, 68, 105, 102, + 102, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 117, 116, 116, 111, 110, 84, 121, + 112, 101, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e9a322fa88c360dd = b_e9a322fa88c360dd.words; +#if !CAPNP_LITE +static const uint16_t m_e9a322fa88c360dd[] = {6, 0, 1, 5, 3, 2, 4}; +static const uint16_t i_e9a322fa88c360dd[] = {0, 1, 2, 3, 4, 5, 6}; +const ::capnp::_::RawSchema s_e9a322fa88c360dd = { + 0xe9a322fa88c360dd, b_e9a322fa88c360dd.words, 132, nullptr, m_e9a322fa88c360dd, + 0, 7, i_e9a322fa88c360dd, nullptr, nullptr, { &s_e9a322fa88c360dd, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<78> b_991a37a6155935a3 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 163, 53, 89, 21, 166, 55, 26, 153, + 19, 0, 0, 0, 1, 0, 2, 0, + 60, 144, 82, 224, 9, 250, 164, 157, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 250, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 231, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 83, 116, 97, + 116, 101, 46, 87, 104, 101, 101, 108, + 83, 112, 101, 101, 100, 115, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 0, 0, 0, 3, 0, 1, 0, + 104, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 0, 0, 0, 3, 0, 1, 0, + 108, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 0, 0, 0, 3, 0, 1, 0, + 112, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 0, 0, 0, 3, 0, 1, 0, + 116, 0, 0, 0, 2, 0, 1, 0, + 102, 108, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 114, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 108, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 114, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_991a37a6155935a3 = b_991a37a6155935a3.words; +#if !CAPNP_LITE +static const uint16_t m_991a37a6155935a3[] = {0, 1, 2, 3}; +static const uint16_t i_991a37a6155935a3[] = {0, 1, 2, 3}; +const ::capnp::_::RawSchema s_991a37a6155935a3 = { + 0x991a37a6155935a3, b_991a37a6155935a3.words, 78, nullptr, m_991a37a6155935a3, + 0, 4, i_991a37a6155935a3, nullptr, nullptr, { &s_991a37a6155935a3, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<144> b_e64e81478e6e60af = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 175, 96, 110, 142, 71, 129, 78, 230, + 19, 0, 0, 0, 1, 0, 3, 0, + 60, 144, 82, 224, 9, 250, 164, 157, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 250, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 199, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 83, 116, 97, + 116, 101, 46, 67, 114, 117, 105, 115, + 101, 83, 116, 97, 116, 101, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 32, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 0, 0, 0, 3, 0, 1, 0, + 216, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 213, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 0, 0, 0, 3, 0, 1, 0, + 220, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 217, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 0, 0, 0, 3, 0, 1, 0, + 228, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 0, 0, 0, 3, 0, 1, 0, + 236, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 0, 0, 0, 3, 0, 1, 0, + 244, 0, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 0, 0, 0, 3, 0, 1, 0, + 252, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 249, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 248, 0, 0, 0, 3, 0, 1, 0, + 4, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 1, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 1, 0, 0, 3, 0, 1, 0, + 12, 1, 0, 0, 2, 0, 1, 0, + 101, 110, 97, 98, 108, 101, 100, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 101, 101, 100, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 118, 97, 105, 108, 97, 98, 108, + 101, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 101, 101, 100, 79, 102, 102, + 115, 101, 116, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 97, 110, 100, 115, 116, 105, + 108, 108, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 110, 65, 100, 97, 112, 116, + 105, 118, 101, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 101, 101, 100, 67, 108, 117, + 115, 116, 101, 114, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 101, 101, 100, 76, 105, 109, + 105, 116, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e64e81478e6e60af = b_e64e81478e6e60af.words; +#if !CAPNP_LITE +static const uint16_t m_e64e81478e6e60af[] = {2, 0, 5, 1, 6, 7, 3, 4}; +static const uint16_t i_e64e81478e6e60af[] = {0, 1, 2, 3, 4, 5, 6, 7}; +const ::capnp::_::RawSchema s_e64e81478e6e60af = { + 0xe64e81478e6e60af, b_e64e81478e6e60af.words, 144, nullptr, m_e64e81478e6e60af, + 0, 8, i_e64e81478e6e60af, nullptr, nullptr, { &s_e64e81478e6e60af, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<59> b_e004ca45136f6a89 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 137, 106, 111, 19, 69, 202, 4, 224, + 19, 0, 0, 0, 2, 0, 0, 0, + 60, 144, 82, 224, 9, 250, 164, 157, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 250, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 247, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 83, 116, 97, + 116, 101, 46, 71, 101, 97, 114, 83, + 104, 105, 102, 116, 101, 114, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 40, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 105, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 89, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 81, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 73, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 65, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 57, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 107, 110, 111, 119, 110, 0, + 112, 97, 114, 107, 0, 0, 0, 0, + 100, 114, 105, 118, 101, 0, 0, 0, + 110, 101, 117, 116, 114, 97, 108, 0, + 114, 101, 118, 101, 114, 115, 101, 0, + 115, 112, 111, 114, 116, 0, 0, 0, + 108, 111, 119, 0, 0, 0, 0, 0, + 98, 114, 97, 107, 101, 0, 0, 0, + 101, 99, 111, 0, 0, 0, 0, 0, + 109, 97, 110, 117, 109, 97, 116, 105, + 99, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e004ca45136f6a89 = b_e004ca45136f6a89.words; +#if !CAPNP_LITE +static const uint16_t m_e004ca45136f6a89[] = {7, 2, 8, 6, 9, 3, 1, 4, 5, 0}; +const ::capnp::_::RawSchema s_e004ca45136f6a89 = { + 0xe004ca45136f6a89, b_e004ca45136f6a89.words, 59, nullptr, m_e004ca45136f6a89, + 0, 10, nullptr, nullptr, nullptr, { &s_e004ca45136f6a89, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(GearShifter_e004ca45136f6a89, e004ca45136f6a89); +static const ::capnp::_::AlignedData<51> b_ff5ca6835b4acef6 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 246, 206, 74, 91, 131, 166, 92, 255, + 19, 0, 0, 0, 1, 0, 1, 0, + 60, 144, 82, 224, 9, 250, 164, 157, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 250, 0, 0, 0, + 33, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 83, 116, 97, + 116, 101, 46, 66, 117, 116, 116, 111, + 110, 69, 118, 101, 110, 116, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 124, 113, 20, 84, 32, 0, 97, 225, + 1, 0, 0, 0, 42, 0, 0, 0, + 84, 121, 112, 101, 0, 0, 0, 0, + 8, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 0, 0, 0, 3, 0, 1, 0, + 48, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 0, 0, 0, 3, 0, 1, 0, + 52, 0, 0, 0, 2, 0, 1, 0, + 112, 114, 101, 115, 115, 101, 100, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 121, 112, 101, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 124, 113, 20, 84, 32, 0, 97, 225, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_ff5ca6835b4acef6 = b_ff5ca6835b4acef6.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_ff5ca6835b4acef6[] = { + &s_e16100205414717c, +}; +static const uint16_t m_ff5ca6835b4acef6[] = {0, 1}; +static const uint16_t i_ff5ca6835b4acef6[] = {0, 1}; +const ::capnp::_::RawSchema s_ff5ca6835b4acef6 = { + 0xff5ca6835b4acef6, b_ff5ca6835b4acef6.words, 51, d_ff5ca6835b4acef6, m_ff5ca6835b4acef6, + 1, 2, i_ff5ca6835b4acef6, nullptr, nullptr, { &s_ff5ca6835b4acef6, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<77> b_e16100205414717c = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 124, 113, 20, 84, 32, 0, 97, 225, + 31, 0, 0, 0, 2, 0, 0, 0, + 246, 206, 74, 91, 131, 166, 92, 255, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 34, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 39, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 83, 116, 97, + 116, 101, 46, 66, 117, 116, 116, 111, + 110, 69, 118, 101, 110, 116, 46, 84, + 121, 112, 101, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 48, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 137, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 129, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 125, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 121, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 117, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 113, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 105, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 101, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 93, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 89, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 85, 0, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 107, 110, 111, 119, 110, 0, + 108, 101, 102, 116, 66, 108, 105, 110, + 107, 101, 114, 0, 0, 0, 0, 0, + 114, 105, 103, 104, 116, 66, 108, 105, + 110, 107, 101, 114, 0, 0, 0, 0, + 97, 99, 99, 101, 108, 67, 114, 117, + 105, 115, 101, 0, 0, 0, 0, 0, + 100, 101, 99, 101, 108, 67, 114, 117, + 105, 115, 101, 0, 0, 0, 0, 0, + 99, 97, 110, 99, 101, 108, 0, 0, + 97, 108, 116, 66, 117, 116, 116, 111, + 110, 49, 0, 0, 0, 0, 0, 0, + 97, 108, 116, 66, 117, 116, 116, 111, + 110, 50, 0, 0, 0, 0, 0, 0, + 97, 108, 116, 66, 117, 116, 116, 111, + 110, 51, 0, 0, 0, 0, 0, 0, + 115, 101, 116, 67, 114, 117, 105, 115, + 101, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 115, 117, 109, 101, 67, 114, + 117, 105, 115, 101, 0, 0, 0, 0, + 103, 97, 112, 65, 100, 106, 117, 115, + 116, 67, 114, 117, 105, 115, 101, 0, } +}; +::capnp::word const* const bp_e16100205414717c = b_e16100205414717c.words; +#if !CAPNP_LITE +static const uint16_t m_e16100205414717c[] = {3, 6, 7, 8, 5, 4, 11, 1, 10, 2, 9, 0}; +const ::capnp::_::RawSchema s_e16100205414717c = { + 0xe16100205414717c, b_e16100205414717c.words, 77, nullptr, m_e16100205414717c, + 0, 12, nullptr, nullptr, nullptr, { &s_e16100205414717c, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(Type_e16100205414717c, e16100205414717c); +static const ::capnp::_::AlignedData<83> b_888ad6581cf0aacb = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 203, 170, 240, 28, 88, 214, 138, 136, + 10, 0, 0, 0, 1, 0, 0, 0, + 141, 139, 175, 8, 231, 241, 42, 142, + 3, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 162, 0, 0, 0, + 29, 0, 0, 0, 39, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 175, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 82, 97, 100, 97, 114, 68, + 97, 116, 97, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 1, 0, 1, 0, + 173, 118, 186, 235, 121, 102, 168, 232, + 9, 0, 0, 0, 50, 0, 0, 0, + 54, 223, 31, 172, 235, 51, 243, 143, + 5, 0, 0, 0, 90, 0, 0, 0, + 69, 114, 114, 111, 114, 0, 0, 0, + 82, 97, 100, 97, 114, 80, 111, 105, + 110, 116, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 64, 0, 0, 0, 3, 0, 1, 0, + 92, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 84, 0, 0, 0, 3, 0, 1, 0, + 112, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 0, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 0, 0, 0, 3, 0, 1, 0, + 140, 0, 0, 0, 2, 0, 1, 0, + 101, 114, 114, 111, 114, 115, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 173, 118, 186, 235, 121, 102, 168, 232, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 105, 110, 116, 115, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 54, 223, 31, 172, 235, 51, 243, 143, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 110, 77, 111, 110, 111, 84, + 105, 109, 101, 115, 68, 69, 80, 82, + 69, 67, 65, 84, 69, 68, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_888ad6581cf0aacb = b_888ad6581cf0aacb.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_888ad6581cf0aacb[] = { + &s_8ff333ebac1fdf36, + &s_e8a86679ebba76ad, +}; +static const uint16_t m_888ad6581cf0aacb[] = {2, 0, 1}; +static const uint16_t i_888ad6581cf0aacb[] = {0, 1, 2}; +const ::capnp::_::RawSchema s_888ad6581cf0aacb = { + 0x888ad6581cf0aacb, b_888ad6581cf0aacb.words, 83, d_888ad6581cf0aacb, m_888ad6581cf0aacb, + 2, 3, i_888ad6581cf0aacb, nullptr, nullptr, { &s_888ad6581cf0aacb, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<32> b_e8a86679ebba76ad = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 173, 118, 186, 235, 121, 102, 168, 232, + 20, 0, 0, 0, 2, 0, 0, 0, + 203, 170, 240, 28, 88, 214, 138, 136, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 210, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 79, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 82, 97, 100, 97, 114, 68, + 97, 116, 97, 46, 69, 114, 114, 111, + 114, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 17, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 110, 69, 114, 114, 111, 114, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 97, 117, 108, 116, 0, 0, 0, + 119, 114, 111, 110, 103, 67, 111, 110, + 102, 105, 103, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e8a86679ebba76ad = b_e8a86679ebba76ad.words; +#if !CAPNP_LITE +static const uint16_t m_e8a86679ebba76ad[] = {0, 1, 2}; +const ::capnp::_::RawSchema s_e8a86679ebba76ad = { + 0xe8a86679ebba76ad, b_e8a86679ebba76ad.words, 32, nullptr, m_e8a86679ebba76ad, + 0, 3, nullptr, nullptr, nullptr, { &s_e8a86679ebba76ad, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(Error_e8a86679ebba76ad, e8a86679ebba76ad); +static const ::capnp::_::AlignedData<124> b_8ff333ebac1fdf36 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 54, 223, 31, 172, 235, 51, 243, 143, + 20, 0, 0, 0, 1, 0, 4, 0, + 203, 170, 240, 28, 88, 214, 138, 136, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 250, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 143, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 82, 97, 100, 97, 114, 68, + 97, 116, 97, 46, 82, 97, 100, 97, + 114, 80, 111, 105, 110, 116, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 28, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 0, 0, 0, 3, 0, 1, 0, + 188, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 0, 0, 0, 3, 0, 1, 0, + 192, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 0, 0, 0, 3, 0, 1, 0, + 196, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 193, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 0, 0, 0, 3, 0, 1, 0, + 200, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 192, 0, 0, 0, 3, 0, 1, 0, + 204, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 201, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 0, 0, 0, 3, 0, 1, 0, + 208, 0, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 224, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 0, 0, 0, 3, 0, 1, 0, + 216, 0, 0, 0, 2, 0, 1, 0, + 116, 114, 97, 99, 107, 73, 100, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 82, 101, 108, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 82, 101, 108, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 82, 101, 108, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 82, 101, 108, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 118, 82, 101, 108, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 101, 97, 115, 117, 114, 101, 100, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_8ff333ebac1fdf36 = b_8ff333ebac1fdf36.words; +#if !CAPNP_LITE +static const uint16_t m_8ff333ebac1fdf36[] = {4, 1, 6, 0, 3, 2, 5}; +static const uint16_t i_8ff333ebac1fdf36[] = {0, 1, 2, 3, 4, 5, 6}; +const ::capnp::_::RawSchema s_8ff333ebac1fdf36 = { + 0x8ff333ebac1fdf36, b_8ff333ebac1fdf36.words, 124, nullptr, m_8ff333ebac1fdf36, + 0, 7, i_8ff333ebac1fdf36, nullptr, nullptr, { &s_8ff333ebac1fdf36, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<328> b_f78829049ab814af = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 175, 20, 184, 154, 4, 41, 136, 247, + 10, 0, 0, 0, 1, 0, 4, 0, + 141, 139, 175, 8, 231, 241, 42, 142, + 6, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 170, 0, 0, 0, + 29, 0, 0, 0, 55, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 73, 0, 0, 0, 247, 3, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 67, 111, 110, + 116, 114, 111, 108, 0, 0, 0, 0, + 12, 0, 0, 0, 1, 0, 1, 0, + 40, 40, 67, 25, 169, 117, 114, 233, + 17, 0, 0, 0, 82, 0, 0, 0, + 211, 168, 11, 14, 110, 56, 14, 178, + 17, 0, 0, 0, 114, 0, 0, 0, + 56, 58, 176, 78, 124, 200, 149, 216, + 17, 0, 0, 0, 90, 0, 0, 0, + 65, 99, 116, 117, 97, 116, 111, 114, + 115, 0, 0, 0, 0, 0, 0, 0, + 67, 114, 117, 105, 115, 101, 67, 111, + 110, 116, 114, 111, 108, 0, 0, 0, + 72, 85, 68, 67, 111, 110, 116, 114, + 111, 108, 0, 0, 0, 0, 0, 0, + 72, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 1, 0, 0, 3, 0, 1, 0, + 240, 1, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 1, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 1, 0, 0, 3, 0, 1, 0, + 248, 1, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 245, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 244, 1, 0, 0, 3, 0, 1, 0, + 0, 2, 0, 0, 2, 0, 1, 0, + 14, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 253, 1, 0, 0, 202, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 2, 0, 0, 3, 0, 1, 0, + 16, 2, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 2, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 2, 0, 0, 3, 0, 1, 0, + 24, 2, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 2, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 2, 0, 0, 3, 0, 1, 0, + 32, 2, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 2, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 28, 2, 0, 0, 3, 0, 1, 0, + 40, 2, 0, 0, 2, 0, 1, 0, + 15, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 2, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 2, 0, 0, 3, 0, 1, 0, + 52, 2, 0, 0, 2, 0, 1, 0, + 16, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 2, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 48, 2, 0, 0, 3, 0, 1, 0, + 60, 2, 0, 0, 2, 0, 1, 0, + 17, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 57, 2, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 56, 2, 0, 0, 3, 0, 1, 0, + 68, 2, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 2, 0, 0, 210, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 2, 0, 0, 3, 0, 1, 0, + 84, 2, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 81, 2, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 80, 2, 0, 0, 3, 0, 1, 0, + 92, 2, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 2, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 88, 2, 0, 0, 3, 0, 1, 0, + 100, 2, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 2, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 2, 0, 0, 3, 0, 1, 0, + 124, 2, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 2, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 2, 0, 0, 3, 0, 1, 0, + 148, 2, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 145, 2, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 144, 2, 0, 0, 3, 0, 1, 0, + 156, 2, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 16, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 2, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 2, 0, 0, 3, 0, 1, 0, + 164, 2, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 17, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 2, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 156, 2, 0, 0, 3, 0, 1, 0, + 168, 2, 0, 0, 2, 0, 1, 0, + 101, 110, 97, 98, 108, 101, 100, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 97, 115, 68, 69, 80, 82, 69, + 67, 65, 84, 69, 68, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 114, 97, 107, 101, 68, 69, 80, + 82, 69, 67, 65, 84, 69, 68, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 105, 110, 103, + 84, 111, 114, 113, 117, 101, 68, 69, + 80, 82, 69, 67, 65, 84, 69, 68, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 114, 117, 105, 115, 101, 67, 111, + 110, 116, 114, 111, 108, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 211, 168, 11, 14, 110, 56, 14, 178, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 117, 100, 67, 111, 110, 116, 114, + 111, 108, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 56, 58, 176, 78, 124, 200, 149, 216, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 116, 117, 97, 116, 111, 114, + 115, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 40, 40, 67, 25, 169, 117, 114, 233, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 116, 105, 118, 101, 68, 69, + 80, 82, 69, 67, 65, 84, 69, 68, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 111, 108, 108, 68, 69, 80, 82, + 69, 67, 65, 84, 69, 68, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 105, 116, 99, 104, 68, 69, 80, + 82, 69, 67, 65, 84, 69, 68, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 116, 117, 97, 116, 111, 114, + 115, 79, 117, 116, 112, 117, 116, 68, + 69, 80, 82, 69, 67, 65, 84, 69, + 68, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 40, 40, 67, 25, 169, 117, 114, 233, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 116, 65, 99, 116, 105, 118, + 101, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 110, 103, 65, 99, 116, 105, + 118, 101, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 114, 105, 101, 110, 116, 97, 116, + 105, 111, 110, 78, 69, 68, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 110, 103, 117, 108, 97, 114, 86, + 101, 108, 111, 99, 105, 116, 121, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 102, 116, 66, 108, 105, 110, + 107, 101, 114, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 105, 103, 104, 116, 66, 108, 105, + 110, 107, 101, 114, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 67, 114, 117, 105, 115, 101, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_f78829049ab814af = b_f78829049ab814af.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_f78829049ab814af[] = { + &s_b20e386e0e0ba8d3, + &s_d895c87c4eb03a38, + &s_e97275a919432828, +}; +static const uint16_t m_f78829049ab814af[] = {7, 6, 10, 14, 2, 4, 0, 1, 5, 11, 15, 12, 13, 9, 16, 8, 3, 17}; +static const uint16_t i_f78829049ab814af[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17}; +const ::capnp::_::RawSchema s_f78829049ab814af = { + 0xf78829049ab814af, b_f78829049ab814af.words, 328, d_f78829049ab814af, m_f78829049ab814af, + 3, 18, i_f78829049ab814af, nullptr, nullptr, { &s_f78829049ab814af, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<164> b_e97275a919432828 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 40, 40, 67, 25, 169, 117, 114, 233, + 21, 0, 0, 0, 1, 0, 5, 0, + 175, 20, 184, 154, 4, 41, 136, 247, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 250, 0, 0, 0, + 33, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 255, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 67, 111, 110, + 116, 114, 111, 108, 46, 65, 99, 116, + 117, 97, 116, 111, 114, 115, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 130, 130, 144, 125, 145, 58, 15, 228, + 1, 0, 0, 0, 138, 0, 0, 0, + 76, 111, 110, 103, 67, 111, 110, 116, + 114, 111, 108, 83, 116, 97, 116, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 0, 0, 0, 3, 0, 1, 0, + 244, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 0, 0, 0, 3, 0, 1, 0, + 248, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 245, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 0, 0, 0, 3, 0, 1, 0, + 252, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 249, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 252, 0, 0, 0, 3, 0, 1, 0, + 8, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 1, 0, 0, 3, 0, 1, 0, + 12, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 1, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 1, 0, 0, 3, 0, 1, 0, + 24, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 1, 0, 0, 3, 0, 1, 0, + 28, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 1, 0, 0, 3, 0, 1, 0, + 36, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 1, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 1, 0, 0, 3, 0, 1, 0, + 44, 1, 0, 0, 2, 0, 1, 0, + 103, 97, 115, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 114, 97, 107, 101, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 105, 110, 103, + 65, 110, 103, 108, 101, 68, 101, 103, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 99, 101, 108, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 110, 103, 67, 111, 110, 116, + 114, 111, 108, 83, 116, 97, 116, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 130, 130, 144, 125, 145, 58, 15, 228, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 101, 101, 100, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 114, 118, 97, 116, 117, 114, + 101, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 79, 117, 116, + 112, 117, 116, 67, 97, 110, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e97275a919432828 = b_e97275a919432828.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_e97275a919432828[] = { + &s_e40f3a917d908282, +}; +static const uint16_t m_e97275a919432828[] = {4, 1, 7, 0, 5, 6, 2, 8, 3}; +static const uint16_t i_e97275a919432828[] = {0, 1, 2, 3, 4, 5, 6, 7, 8}; +const ::capnp::_::RawSchema s_e97275a919432828 = { + 0xe97275a919432828, b_e97275a919432828.words, 164, d_e97275a919432828, m_e97275a919432828, + 1, 9, i_e97275a919432828, nullptr, nullptr, { &s_e97275a919432828, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<38> b_e40f3a917d908282 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 130, 130, 144, 125, 145, 58, 15, 228, + 31, 0, 0, 0, 2, 0, 0, 0, + 40, 40, 67, 25, 169, 117, 114, 233, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 130, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 103, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 67, 111, 110, + 116, 114, 111, 108, 46, 65, 99, 116, + 117, 97, 116, 111, 114, 115, 46, 76, + 111, 110, 103, 67, 111, 110, 116, 114, + 111, 108, 83, 116, 97, 116, 101, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 102, 102, 0, 0, 0, 0, 0, + 112, 105, 100, 0, 0, 0, 0, 0, + 115, 116, 111, 112, 112, 105, 110, 103, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 97, 114, 116, 105, 110, 103, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e40f3a917d908282 = b_e40f3a917d908282.words; +#if !CAPNP_LITE +static const uint16_t m_e40f3a917d908282[] = {0, 1, 3, 2}; +const ::capnp::_::RawSchema s_e40f3a917d908282 = { + 0xe40f3a917d908282, b_e40f3a917d908282.words, 38, nullptr, m_e40f3a917d908282, + 0, 4, nullptr, nullptr, nullptr, { &s_e40f3a917d908282, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(LongControlState_e40f3a917d908282, e40f3a917d908282); +static const ::capnp::_::AlignedData<99> b_b20e386e0e0ba8d3 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 211, 168, 11, 14, 110, 56, 14, 178, + 21, 0, 0, 0, 1, 0, 2, 0, + 175, 20, 184, 154, 4, 41, 136, 247, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 26, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 31, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 67, 111, 110, + 116, 114, 111, 108, 46, 67, 114, 117, + 105, 115, 101, 67, 111, 110, 116, 114, + 111, 108, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 20, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 0, 0, 0, 3, 0, 1, 0, + 132, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 129, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 0, 0, 0, 3, 0, 1, 0, + 136, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 133, 0, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 136, 0, 0, 0, 3, 0, 1, 0, + 148, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 145, 0, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 148, 0, 0, 0, 3, 0, 1, 0, + 160, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 157, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 156, 0, 0, 0, 3, 0, 1, 0, + 168, 0, 0, 0, 2, 0, 1, 0, + 99, 97, 110, 99, 101, 108, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 115, 117, 109, 101, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 101, 101, 100, 79, 118, 101, + 114, 114, 105, 100, 101, 68, 69, 80, + 82, 69, 67, 65, 84, 69, 68, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 99, 101, 108, 79, 118, 101, + 114, 114, 105, 100, 101, 68, 69, 80, + 82, 69, 67, 65, 84, 69, 68, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 118, 101, 114, 114, 105, 100, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_b20e386e0e0ba8d3 = b_b20e386e0e0ba8d3.words; +#if !CAPNP_LITE +static const uint16_t m_b20e386e0e0ba8d3[] = {3, 0, 4, 1, 2}; +static const uint16_t i_b20e386e0e0ba8d3[] = {0, 1, 2, 3, 4}; +const ::capnp::_::RawSchema s_b20e386e0e0ba8d3 = { + 0xb20e386e0e0ba8d3, b_b20e386e0e0ba8d3.words, 99, nullptr, m_b20e386e0e0ba8d3, + 0, 5, i_b20e386e0e0ba8d3, nullptr, nullptr, { &s_b20e386e0e0ba8d3, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<204> b_d895c87c4eb03a38 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 56, 58, 176, 78, 124, 200, 149, 216, + 21, 0, 0, 0, 1, 0, 2, 0, + 175, 20, 184, 154, 4, 41, 136, 247, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 2, 1, 0, 0, + 33, 0, 0, 0, 39, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 61, 0, 0, 0, 111, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 67, 111, 110, + 116, 114, 111, 108, 46, 72, 85, 68, + 67, 111, 110, 116, 114, 111, 108, 0, + 8, 0, 0, 0, 1, 0, 1, 0, + 212, 23, 110, 97, 132, 142, 215, 144, + 9, 0, 0, 0, 98, 0, 0, 0, + 158, 51, 78, 149, 108, 226, 165, 245, + 9, 0, 0, 0, 106, 0, 0, 0, + 86, 105, 115, 117, 97, 108, 65, 108, + 101, 114, 116, 0, 0, 0, 0, 0, + 65, 117, 100, 105, 98, 108, 101, 65, + 108, 101, 114, 116, 0, 0, 0, 0, + 44, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 1, 0, 0, 3, 0, 1, 0, + 48, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 44, 1, 0, 0, 3, 0, 1, 0, + 56, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 52, 1, 0, 0, 3, 0, 1, 0, + 64, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 61, 1, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 60, 1, 0, 0, 3, 0, 1, 0, + 72, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 1, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 1, 0, 0, 3, 0, 1, 0, + 80, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 76, 1, 0, 0, 3, 0, 1, 0, + 88, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 85, 1, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 88, 1, 0, 0, 3, 0, 1, 0, + 100, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 1, 0, 0, 3, 0, 1, 0, + 108, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 1, 0, 0, 3, 0, 1, 0, + 116, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 1, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 1, 0, 0, 3, 0, 1, 0, + 124, 1, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 1, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 1, 0, 0, 3, 0, 1, 0, + 136, 1, 0, 0, 2, 0, 1, 0, + 115, 112, 101, 101, 100, 86, 105, 115, + 105, 98, 108, 101, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 101, 116, 83, 112, 101, 101, 100, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 110, 101, 115, 86, 105, 115, + 105, 98, 108, 101, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 97, 100, 86, 105, 115, 105, + 98, 108, 101, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 105, 115, 117, 97, 108, 65, 108, + 101, 114, 116, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 212, 23, 110, 97, 132, 142, 215, 144, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 117, 100, 105, 98, 108, 101, 65, + 108, 101, 114, 116, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 158, 51, 78, 149, 108, 226, 165, 245, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 105, 103, 104, 116, 76, 97, 110, + 101, 86, 105, 115, 105, 98, 108, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 102, 116, 76, 97, 110, 101, + 86, 105, 115, 105, 98, 108, 101, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 105, 103, 104, 116, 76, 97, 110, + 101, 68, 101, 112, 97, 114, 116, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 102, 116, 76, 97, 110, 101, + 68, 101, 112, 97, 114, 116, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 97, 100, 68, 105, 115, 116, + 97, 110, 99, 101, 66, 97, 114, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_d895c87c4eb03a38 = b_d895c87c4eb03a38.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_d895c87c4eb03a38[] = { + &s_90d78e84616e17d4, + &s_f5a5e26c954e339e, +}; +static const uint16_t m_d895c87c4eb03a38[] = {5, 2, 10, 3, 9, 7, 8, 6, 1, 0, 4}; +static const uint16_t i_d895c87c4eb03a38[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10}; +const ::capnp::_::RawSchema s_d895c87c4eb03a38 = { + 0xd895c87c4eb03a38, b_d895c87c4eb03a38.words, 204, d_d895c87c4eb03a38, m_d895c87c4eb03a38, + 2, 11, i_d895c87c4eb03a38, nullptr, nullptr, { &s_d895c87c4eb03a38, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<58> b_90d78e84616e17d4 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 212, 23, 110, 97, 132, 142, 215, 144, + 32, 0, 0, 0, 2, 0, 0, 0, + 56, 58, 176, 78, 124, 200, 149, 216, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 98, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 199, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 67, 111, 110, + 116, 114, 111, 108, 46, 72, 85, 68, + 67, 111, 110, 116, 114, 111, 108, 46, + 86, 105, 115, 117, 97, 108, 65, 108, + 101, 114, 116, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 32, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 81, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 73, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 65, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 61, 0, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 61, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 57, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 110, 101, 0, 0, 0, 0, + 102, 99, 119, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 82, 101, 113, + 117, 105, 114, 101, 100, 0, 0, 0, + 98, 114, 97, 107, 101, 80, 114, 101, + 115, 115, 101, 100, 0, 0, 0, 0, + 119, 114, 111, 110, 103, 71, 101, 97, + 114, 0, 0, 0, 0, 0, 0, 0, + 115, 101, 97, 116, 98, 101, 108, 116, + 85, 110, 98, 117, 99, 107, 108, 101, + 100, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 101, 101, 100, 84, 111, 111, + 72, 105, 103, 104, 0, 0, 0, 0, + 108, 100, 119, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_90d78e84616e17d4 = b_90d78e84616e17d4.words; +#if !CAPNP_LITE +static const uint16_t m_90d78e84616e17d4[] = {3, 1, 7, 0, 5, 6, 2, 4}; +const ::capnp::_::RawSchema s_90d78e84616e17d4 = { + 0x90d78e84616e17d4, b_90d78e84616e17d4.words, 58, nullptr, m_90d78e84616e17d4, + 0, 8, nullptr, nullptr, nullptr, { &s_90d78e84616e17d4, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(VisualAlert_90d78e84616e17d4, 90d78e84616e17d4); +static const ::capnp::_::AlignedData<79> b_f5a5e26c954e339e = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 158, 51, 78, 149, 108, 226, 165, 245, + 32, 0, 0, 0, 2, 0, 0, 0, + 56, 58, 176, 78, 124, 200, 149, 216, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 106, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 39, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 67, 111, 110, + 116, 114, 111, 108, 46, 72, 85, 68, + 67, 111, 110, 116, 114, 111, 108, 46, + 65, 117, 100, 105, 98, 108, 101, 65, + 108, 101, 114, 116, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 48, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 137, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 129, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 121, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 117, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 109, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 105, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 105, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 93, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 93, 0, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 89, 0, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 85, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 110, 101, 0, 0, 0, 0, + 101, 110, 103, 97, 103, 101, 0, 0, + 100, 105, 115, 101, 110, 103, 97, 103, + 101, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 102, 117, 115, 101, 0, 0, + 119, 97, 114, 110, 105, 110, 103, 83, + 111, 102, 116, 0, 0, 0, 0, 0, + 119, 97, 114, 110, 105, 110, 103, 73, + 109, 109, 101, 100, 105, 97, 116, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 114, 111, 109, 112, 116, 0, 0, + 112, 114, 111, 109, 112, 116, 82, 101, + 112, 101, 97, 116, 0, 0, 0, 0, + 112, 114, 111, 109, 112, 116, 68, 105, + 115, 116, 114, 97, 99, 116, 101, 100, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 114, 111, 109, 112, 116, 83, 116, + 97, 114, 116, 105, 110, 103, 0, 0, + 112, 114, 111, 109, 112, 116, 83, 105, + 110, 103, 108, 101, 76, 111, 119, 0, + 112, 114, 111, 109, 112, 116, 83, 105, + 110, 103, 108, 101, 72, 105, 103, 104, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_f5a5e26c954e339e = b_f5a5e26c954e339e.words; +#if !CAPNP_LITE +static const uint16_t m_f5a5e26c954e339e[] = {2, 1, 0, 6, 8, 7, 11, 10, 9, 3, 5, 4}; +const ::capnp::_::RawSchema s_f5a5e26c954e339e = { + 0xf5a5e26c954e339e, b_f5a5e26c954e339e.words, 79, nullptr, m_f5a5e26c954e339e, + 0, 12, nullptr, nullptr, nullptr, { &s_f5a5e26c954e339e, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(AudibleAlert_f5a5e26c954e339e, f5a5e26c954e339e); +static const ::capnp::_::AlignedData<33> b_d817d6655115ca85 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 133, 202, 21, 81, 101, 214, 23, 216, + 10, 0, 0, 0, 1, 0, 0, 0, + 141, 139, 175, 8, 231, 241, 42, 142, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 162, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 63, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 79, 117, 116, + 112, 117, 116, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 4, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 3, 0, 1, 0, + 24, 0, 0, 0, 2, 0, 1, 0, + 97, 99, 116, 117, 97, 116, 111, 114, + 115, 79, 117, 116, 112, 117, 116, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 40, 40, 67, 25, 169, 117, 114, 233, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_d817d6655115ca85 = b_d817d6655115ca85.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_d817d6655115ca85[] = { + &s_e97275a919432828, +}; +static const uint16_t m_d817d6655115ca85[] = {0}; +static const uint16_t i_d817d6655115ca85[] = {0}; +const ::capnp::_::RawSchema s_d817d6655115ca85 = { + 0xd817d6655115ca85, b_d817d6655115ca85.words, 33, d_d817d6655115ca85, m_d817d6655115ca85, + 1, 1, i_d817d6655115ca85, nullptr, nullptr, { &s_d817d6655115ca85, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<1335> b_8c69372490aaa9da = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 218, 169, 170, 144, 36, 55, 105, 140, + 10, 0, 0, 0, 1, 0, 18, 0, + 141, 139, 175, 8, 231, 241, 42, 142, + 14, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 162, 0, 0, 0, + 29, 0, 0, 0, 231, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 1, 0, 0, 55, 16, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 80, 97, 114, + 97, 109, 115, 0, 0, 0, 0, 0, + 56, 0, 0, 0, 1, 0, 1, 0, + 201, 176, 86, 96, 156, 52, 54, 232, + 105, 0, 0, 0, 106, 0, 0, 0, + 163, 221, 137, 28, 59, 178, 129, 181, + 105, 0, 0, 0, 114, 0, 0, 0, + 46, 76, 209, 203, 63, 114, 34, 150, + 105, 0, 0, 0, 138, 0, 0, 0, + 29, 204, 78, 128, 14, 110, 54, 128, + 109, 0, 0, 0, 162, 0, 0, 0, + 142, 155, 62, 48, 252, 206, 66, 195, + 113, 0, 0, 0, 178, 0, 0, 0, + 179, 51, 85, 4, 46, 71, 52, 163, + 117, 0, 0, 0, 146, 0, 0, 0, + 18, 106, 97, 40, 63, 30, 21, 157, + 121, 0, 0, 0, 138, 0, 0, 0, + 81, 244, 218, 30, 91, 30, 85, 149, + 125, 0, 0, 0, 98, 0, 0, 0, + 127, 247, 222, 226, 43, 81, 97, 214, + 125, 0, 0, 0, 138, 0, 0, 0, + 236, 192, 191, 20, 235, 46, 22, 143, + 129, 0, 0, 0, 138, 0, 0, 0, + 206, 89, 147, 12, 24, 86, 43, 150, + 133, 0, 0, 0, 50, 0, 0, 0, + 145, 214, 209, 89, 183, 155, 17, 247, + 129, 0, 0, 0, 34, 0, 0, 0, + 206, 64, 220, 216, 35, 85, 217, 159, + 125, 0, 0, 0, 146, 0, 0, 0, + 81, 60, 131, 42, 104, 227, 153, 255, + 129, 0, 0, 0, 130, 0, 0, 0, + 83, 97, 102, 101, 116, 121, 67, 111, + 110, 102, 105, 103, 0, 0, 0, 0, + 76, 97, 116, 101, 114, 97, 108, 80, + 97, 114, 97, 109, 115, 0, 0, 0, + 76, 97, 116, 101, 114, 97, 108, 80, + 73, 68, 84, 117, 110, 105, 110, 103, + 0, 0, 0, 0, 0, 0, 0, 0, + 76, 97, 116, 101, 114, 97, 108, 84, + 111, 114, 113, 117, 101, 84, 117, 110, + 105, 110, 103, 0, 0, 0, 0, 0, + 76, 111, 110, 103, 105, 116, 117, 100, + 105, 110, 97, 108, 80, 73, 68, 84, + 117, 110, 105, 110, 103, 0, 0, 0, + 76, 97, 116, 101, 114, 97, 108, 73, + 78, 68, 73, 84, 117, 110, 105, 110, + 103, 0, 0, 0, 0, 0, 0, 0, + 76, 97, 116, 101, 114, 97, 108, 76, + 81, 82, 84, 117, 110, 105, 110, 103, + 0, 0, 0, 0, 0, 0, 0, 0, + 83, 97, 102, 101, 116, 121, 77, 111, + 100, 101, 108, 0, 0, 0, 0, 0, + 83, 116, 101, 101, 114, 67, 111, 110, + 116, 114, 111, 108, 84, 121, 112, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 84, 114, 97, 110, 115, 109, 105, 115, + 115, 105, 111, 110, 84, 121, 112, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 67, 97, 114, 70, 119, 0, 0, 0, + 69, 99, 117, 0, 0, 0, 0, 0, + 70, 105, 110, 103, 101, 114, 112, 114, + 105, 110, 116, 83, 111, 117, 114, 99, + 101, 0, 0, 0, 0, 0, 0, 0, + 78, 101, 116, 119, 111, 114, 107, 76, + 111, 99, 97, 116, 105, 111, 110, 0, + 40, 1, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 8, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 8, 0, 0, 3, 0, 1, 0, + 16, 8, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 8, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 8, 0, 0, 3, 0, 1, 0, + 24, 8, 0, 0, 2, 0, 1, 0, + 53, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 8, 0, 0, 250, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 28, 8, 0, 0, 3, 0, 1, 0, + 40, 8, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 8, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 8, 0, 0, 3, 0, 1, 0, + 48, 8, 0, 0, 2, 0, 1, 0, + 54, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 8, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 48, 8, 0, 0, 3, 0, 1, 0, + 60, 8, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 57, 8, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 56, 8, 0, 0, 3, 0, 1, 0, + 68, 8, 0, 0, 2, 0, 1, 0, + 55, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 8, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 8, 0, 0, 3, 0, 1, 0, + 80, 8, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 8, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 76, 8, 0, 0, 3, 0, 1, 0, + 88, 8, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 85, 8, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 84, 8, 0, 0, 3, 0, 1, 0, + 96, 8, 0, 0, 2, 0, 1, 0, + 60, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 93, 8, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 8, 0, 0, 3, 0, 1, 0, + 108, 8, 0, 0, 2, 0, 1, 0, + 59, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 8, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 8, 0, 0, 3, 0, 1, 0, + 120, 8, 0, 0, 2, 0, 1, 0, + 65, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 8, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 8, 0, 0, 3, 0, 1, 0, + 148, 8, 0, 0, 2, 0, 1, 0, + 66, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 145, 8, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 148, 8, 0, 0, 3, 0, 1, 0, + 176, 8, 0, 0, 2, 0, 1, 0, + 67, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 173, 8, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 8, 0, 0, 3, 0, 1, 0, + 204, 8, 0, 0, 2, 0, 1, 0, + 68, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 201, 8, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 8, 0, 0, 3, 0, 1, 0, + 232, 8, 0, 0, 2, 0, 1, 0, + 69, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 229, 8, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 8, 0, 0, 3, 0, 1, 0, + 4, 9, 0, 0, 2, 0, 1, 0, + 70, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 16, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 9, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 9, 0, 0, 3, 0, 1, 0, + 32, 9, 0, 0, 2, 0, 1, 0, + 18, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 17, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 9, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 9, 0, 0, 3, 0, 1, 0, + 36, 9, 0, 0, 2, 0, 1, 0, + 19, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 9, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 9, 0, 0, 3, 0, 1, 0, + 44, 9, 0, 0, 2, 0, 1, 0, + 20, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 19, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 9, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 9, 0, 0, 3, 0, 1, 0, + 52, 9, 0, 0, 2, 0, 1, 0, + 21, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 20, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 9, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 48, 9, 0, 0, 3, 0, 1, 0, + 60, 9, 0, 0, 2, 0, 1, 0, + 22, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 21, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 57, 9, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 56, 9, 0, 0, 3, 0, 1, 0, + 68, 9, 0, 0, 2, 0, 1, 0, + 23, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 22, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 9, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 9, 0, 0, 3, 0, 1, 0, + 80, 9, 0, 0, 2, 0, 1, 0, + 25, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 9, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 80, 9, 0, 0, 3, 0, 1, 0, + 92, 9, 0, 0, 2, 0, 1, 0, + 26, 0, 0, 0, 11, 0, 0, 0, + 0, 0, 1, 0, 24, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 9, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 9, 0, 0, 3, 0, 1, 0, + 104, 9, 0, 0, 2, 0, 1, 0, + 27, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 25, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 9, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 9, 0, 0, 3, 0, 1, 0, + 116, 9, 0, 0, 2, 0, 1, 0, + 29, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 104, 149, 51, 53, 10, 88, 252, 147, + 113, 9, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 30, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 28, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 93, 9, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 9, 0, 0, 3, 0, 1, 0, + 104, 9, 0, 0, 2, 0, 1, 0, + 32, 0, 0, 0, 12, 0, 0, 0, + 0, 0, 1, 0, 29, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 9, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 9, 0, 0, 3, 0, 1, 0, + 112, 9, 0, 0, 2, 0, 1, 0, + 71, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 30, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 9, 0, 0, 234, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 9, 0, 0, 3, 0, 1, 0, + 128, 9, 0, 0, 2, 0, 1, 0, + 34, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 31, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 9, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 9, 0, 0, 3, 0, 1, 0, + 136, 9, 0, 0, 2, 0, 1, 0, + 39, 0, 0, 0, 13, 0, 0, 0, + 0, 0, 1, 0, 32, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 133, 9, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 132, 9, 0, 0, 3, 0, 1, 0, + 144, 9, 0, 0, 2, 0, 1, 0, + 56, 0, 0, 0, 14, 0, 0, 0, + 0, 0, 1, 0, 33, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 141, 9, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 144, 9, 0, 0, 3, 0, 1, 0, + 156, 9, 0, 0, 2, 0, 1, 0, + 35, 0, 0, 0, 30, 0, 0, 0, + 0, 0, 1, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 9, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 156, 9, 0, 0, 3, 0, 1, 0, + 168, 9, 0, 0, 2, 0, 1, 0, + 36, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 35, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 165, 9, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 9, 0, 0, 3, 0, 1, 0, + 180, 9, 0, 0, 2, 0, 1, 0, + 41, 0, 0, 0, 16, 0, 0, 0, + 0, 0, 1, 0, 36, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 9, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 9, 0, 0, 3, 0, 1, 0, + 192, 9, 0, 0, 2, 0, 1, 0, + 43, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 37, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 9, 0, 0, 234, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 9, 0, 0, 3, 0, 1, 0, + 208, 9, 0, 0, 2, 0, 1, 0, + 44, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 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0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 119, 104, 101, 101, 108, 83, 112, 101, + 101, 100, 70, 97, 99, 116, 111, 114, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 108, 97, 103, 115, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 108, 116, 101, 114, 110, 97, 116, + 105, 118, 101, 69, 120, 112, 101, 114, + 105, 101, 110, 99, 101, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 116, 67, 97, 114, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 97, 120, 76, 97, 116, 101, 114, + 97, 108, 65, 99, 99, 101, 108, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 117, 116, 111, 82, 101, 115, 117, + 109, 101, 83, 110, 103, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 97, 114, 116, 105, 110, 103, + 83, 116, 97, 116, 101, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 120, 112, 101, 114, 105, 109, 101, + 110, 116, 97, 108, 76, 111, 110, 103, + 105, 116, 117, 100, 105, 110, 97, 108, + 65, 118, 97, 105, 108, 97, 98, 108, + 101, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 114, 101, 83, 116, 105, 102, + 102, 110, 101, 115, 115, 70, 97, 99, + 116, 111, 114, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 97, 115, 115, 105, 118, 101, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 99, 109, 67, 114, 117, 105, 115, + 101, 83, 112, 101, 101, 100, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 115, 116, 111, 109, 83, 116, + 111, 99, 107, 76, 111, 110, 103, 65, + 118, 97, 105, 108, 97, 98, 108, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 70, 108, 97, 103, 115, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_8c69372490aaa9da = b_8c69372490aaa9da.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_8c69372490aaa9da[] = { + &s_8f162eeb14bfc0ec, + &s_93fc580a35339568, + &s_95551e5b1edaf451, + &s_962b56180c9359ce, + &s_9fd95523d8dc40ce, + &s_b581b23b1c89dda3, + &s_c342cefc303e9b8e, + &s_d661512be2def77f, + &s_e836349c6056b0c9, + &s_ff99e3682a833c51, +}; +static const uint16_t m_8c69372490aaa9da[] = {63, 66, 15, 16, 1, 42, 0, 37, 19, 44, 72, 39, 29, 6, 54, 4, 5, 2, 68, 47, 62, 53, 13, 14, 55, 38, 46, 26, 56, 59, 25, 17, 65, 52, 7, 49, 8, 48, 64, 36, 70, 3, 71, 43, 34, 22, 60, 9, 40, 10, 73, 31, 51, 67, 35, 33, 27, 45, 11, 12, 32, 20, 21, 58, 30, 50, 69, 23, 24, 41, 57, 28, 61, 18}; +static const uint16_t i_8c69372490aaa9da[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73}; +const ::capnp::_::RawSchema s_8c69372490aaa9da = { + 0x8c69372490aaa9da, b_8c69372490aaa9da.words, 1335, d_8c69372490aaa9da, m_8c69372490aaa9da, + 10, 74, i_8c69372490aaa9da, nullptr, nullptr, { &s_8c69372490aaa9da, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<85> b_e836349c6056b0c9 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 201, 176, 86, 96, 156, 52, 54, 232, + 20, 0, 0, 0, 1, 0, 2, 0, + 218, 169, 170, 144, 36, 55, 105, 140, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 10, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 231, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 80, 97, 114, + 97, 109, 115, 46, 83, 97, 102, 101, + 116, 121, 67, 111, 110, 102, 105, 103, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 0, 0, 0, 3, 0, 1, 0, + 108, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 0, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 0, 0, 0, 3, 0, 1, 0, + 120, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 0, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 0, 0, 0, 3, 0, 1, 0, + 132, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 129, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 128, 0, 0, 0, 3, 0, 1, 0, + 140, 0, 0, 0, 2, 0, 1, 0, + 115, 97, 102, 101, 116, 121, 77, 111, + 100, 101, 108, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 81, 244, 218, 30, 91, 30, 85, 149, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 97, 102, 101, 116, 121, 80, 97, + 114, 97, 109, 68, 69, 80, 82, 69, + 67, 65, 84, 69, 68, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 97, 102, 101, 116, 121, 80, 97, + 114, 97, 109, 50, 68, 69, 80, 82, + 69, 67, 65, 84, 69, 68, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 97, 102, 101, 116, 121, 80, 97, + 114, 97, 109, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e836349c6056b0c9 = b_e836349c6056b0c9.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_e836349c6056b0c9[] = { + &s_95551e5b1edaf451, +}; +static const uint16_t m_e836349c6056b0c9[] = {0, 3, 2, 1}; +static const uint16_t i_e836349c6056b0c9[] = {0, 1, 2, 3}; +const ::capnp::_::RawSchema s_e836349c6056b0c9 = { + 0xe836349c6056b0c9, b_e836349c6056b0c9.words, 85, d_e836349c6056b0c9, m_e836349c6056b0c9, + 1, 4, i_e836349c6056b0c9, nullptr, nullptr, { &s_e836349c6056b0c9, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<58> b_b581b23b1c89dda3 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 163, 221, 137, 28, 59, 178, 129, 181, + 20, 0, 0, 0, 1, 0, 0, 0, + 218, 169, 170, 144, 36, 55, 105, 140, + 2, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 18, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 80, 97, 114, + 97, 109, 115, 46, 76, 97, 116, 101, + 114, 97, 108, 80, 97, 114, 97, 109, + 115, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 8, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 0, 0, 0, 3, 0, 1, 0, + 68, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 60, 0, 0, 0, 3, 0, 1, 0, + 88, 0, 0, 0, 2, 0, 1, 0, + 116, 111, 114, 113, 117, 101, 66, 80, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 111, 114, 113, 117, 101, 86, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_b581b23b1c89dda3 = b_b581b23b1c89dda3.words; +#if !CAPNP_LITE +static const uint16_t m_b581b23b1c89dda3[] = {0, 1}; +static const uint16_t i_b581b23b1c89dda3[] = {0, 1}; +const ::capnp::_::RawSchema s_b581b23b1c89dda3 = { + 0xb581b23b1c89dda3, b_b581b23b1c89dda3.words, 58, nullptr, m_b581b23b1c89dda3, + 0, 2, i_b581b23b1c89dda3, nullptr, nullptr, { &s_b581b23b1c89dda3, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<110> b_9622723fcbd14c2e = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 46, 76, 209, 203, 63, 114, 34, 150, + 20, 0, 0, 0, 1, 0, 1, 0, + 218, 169, 170, 144, 36, 55, 105, 140, + 4, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 42, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 31, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 80, 97, 114, + 97, 109, 115, 46, 76, 97, 116, 101, + 114, 97, 108, 80, 73, 68, 84, 117, + 110, 105, 110, 103, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 20, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 0, 0, 0, 3, 0, 1, 0, + 148, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 145, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 140, 0, 0, 0, 3, 0, 1, 0, + 168, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 165, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 0, 0, 0, 3, 0, 1, 0, + 188, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 0, 0, 0, 3, 0, 1, 0, + 208, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 0, 0, 0, 3, 0, 1, 0, + 212, 0, 0, 0, 2, 0, 1, 0, + 107, 112, 66, 80, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 107, 112, 86, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 107, 105, 66, 80, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 107, 105, 86, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 107, 102, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_9622723fcbd14c2e = b_9622723fcbd14c2e.words; +#if !CAPNP_LITE +static const uint16_t m_9622723fcbd14c2e[] = {4, 2, 3, 0, 1}; +static const uint16_t i_9622723fcbd14c2e[] = {0, 1, 2, 3, 4}; +const ::capnp::_::RawSchema s_9622723fcbd14c2e = { + 0x9622723fcbd14c2e, b_9622723fcbd14c2e.words, 110, nullptr, m_9622723fcbd14c2e, + 0, 5, i_9622723fcbd14c2e, nullptr, nullptr, { &s_9622723fcbd14c2e, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<180> b_80366e0e804ecc1d = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 29, 204, 78, 128, 14, 110, 54, 128, + 20, 0, 0, 0, 1, 0, 4, 0, + 218, 169, 170, 144, 36, 55, 105, 140, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 66, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 55, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 80, 97, 114, + 97, 109, 115, 46, 76, 97, 116, 101, + 114, 97, 108, 84, 111, 114, 113, 117, + 101, 84, 117, 110, 105, 110, 103, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 40, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 1, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 1, 0, 0, 3, 0, 1, 0, + 24, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 1, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 1, 0, 0, 3, 0, 1, 0, + 28, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 1, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 1, 0, 0, 3, 0, 1, 0, + 32, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 28, 1, 0, 0, 3, 0, 1, 0, + 40, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 1, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 1, 0, 0, 3, 0, 1, 0, + 44, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 1, 0, 0, 202, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 48, 1, 0, 0, 3, 0, 1, 0, + 60, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 57, 1, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 56, 1, 0, 0, 3, 0, 1, 0, + 68, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 1, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 64, 1, 0, 0, 3, 0, 1, 0, + 76, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 73, 1, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 1, 0, 0, 3, 0, 1, 0, + 84, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 81, 1, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 84, 1, 0, 0, 3, 0, 1, 0, + 96, 1, 0, 0, 2, 0, 1, 0, + 117, 115, 101, 83, 116, 101, 101, 114, + 105, 110, 103, 65, 110, 103, 108, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 107, 112, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 107, 105, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 114, 105, 99, 116, 105, 111, 110, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 107, 102, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 105, 110, 103, + 65, 110, 103, 108, 101, 68, 101, 97, + 100, 122, 111, 110, 101, 68, 101, 103, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 116, 65, 99, 99, 101, 108, + 70, 97, 99, 116, 111, 114, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 116, 65, 99, 99, 101, 108, + 79, 102, 102, 115, 101, 116, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 110, 77, 111, 100, 101, 108, 78, + 97, 109, 101, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 110, 77, 111, 100, 101, 108, 70, + 117, 122, 122, 121, 77, 97, 116, 99, + 104, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_80366e0e804ecc1d = b_80366e0e804ecc1d.words; +#if !CAPNP_LITE +static const uint16_t m_80366e0e804ecc1d[] = {3, 4, 2, 1, 6, 7, 9, 8, 5, 0}; +static const uint16_t i_80366e0e804ecc1d[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9}; +const ::capnp::_::RawSchema s_80366e0e804ecc1d = { + 0x80366e0e804ecc1d, b_80366e0e804ecc1d.words, 180, nullptr, m_80366e0e804ecc1d, + 0, 10, i_80366e0e804ecc1d, nullptr, nullptr, { &s_80366e0e804ecc1d, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<153> b_c342cefc303e9b8e = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 142, 155, 62, 48, 252, 206, 66, 195, + 20, 0, 0, 0, 1, 0, 1, 0, + 218, 169, 170, 144, 36, 55, 105, 140, + 6, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 82, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 143, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 80, 97, 114, + 97, 109, 115, 46, 76, 111, 110, 103, + 105, 116, 117, 100, 105, 110, 97, 108, + 80, 73, 68, 84, 117, 110, 105, 110, + 103, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 28, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 0, 0, 0, 3, 0, 1, 0, + 204, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 201, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 0, 0, 0, 3, 0, 1, 0, + 224, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 0, 0, 0, 3, 0, 1, 0, + 244, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 0, 0, 0, 3, 0, 1, 0, + 8, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 1, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 1, 0, 0, 3, 0, 1, 0, + 36, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 1, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 1, 0, 0, 3, 0, 1, 0, + 64, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 61, 1, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 56, 1, 0, 0, 3, 0, 1, 0, + 68, 1, 0, 0, 2, 0, 1, 0, + 107, 112, 66, 80, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 107, 112, 86, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 107, 105, 66, 80, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 107, 105, 86, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 97, 100, 122, 111, 110, 101, + 66, 80, 68, 69, 80, 82, 69, 67, + 65, 84, 69, 68, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 97, 100, 122, 111, 110, 101, + 86, 68, 69, 80, 82, 69, 67, 65, + 84, 69, 68, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 107, 102, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_c342cefc303e9b8e = b_c342cefc303e9b8e.words; +#if !CAPNP_LITE +static const uint16_t m_c342cefc303e9b8e[] = {4, 5, 6, 2, 3, 0, 1}; +static const uint16_t i_c342cefc303e9b8e[] = {0, 1, 2, 3, 4, 5, 6}; +const ::capnp::_::RawSchema s_c342cefc303e9b8e = { + 0xc342cefc303e9b8e, b_c342cefc303e9b8e.words, 153, nullptr, m_c342cefc303e9b8e, + 0, 7, i_c342cefc303e9b8e, nullptr, nullptr, { &s_c342cefc303e9b8e, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<250> b_a334472e045533b3 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 179, 51, 85, 4, 46, 71, 52, 163, + 20, 0, 0, 0, 1, 0, 2, 0, + 218, 169, 170, 144, 36, 55, 105, 140, + 8, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 50, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 167, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 80, 97, 114, + 97, 109, 115, 46, 76, 97, 116, 101, + 114, 97, 108, 73, 78, 68, 73, 84, + 117, 110, 105, 110, 103, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 48, 0, 0, 0, 3, 0, 4, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 1, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 1, 0, 0, 3, 0, 1, 0, + 80, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 1, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 80, 1, 0, 0, 3, 0, 1, 0, + 92, 1, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 1, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 1, 0, 0, 3, 0, 1, 0, + 104, 1, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 1, 0, 0, 2, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 1, 0, 0, 3, 0, 1, 0, + 120, 1, 0, 0, 2, 0, 1, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 1, 0, 0, 3, 0, 1, 0, + 144, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 141, 1, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 140, 1, 0, 0, 3, 0, 1, 0, + 168, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 165, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 164, 1, 0, 0, 3, 0, 1, 0, + 192, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 1, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 1, 0, 0, 3, 0, 1, 0, + 216, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 213, 1, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 212, 1, 0, 0, 3, 0, 1, 0, + 240, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 1, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 1, 0, 0, 3, 0, 1, 0, + 8, 2, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 2, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 2, 0, 0, 3, 0, 1, 0, + 36, 2, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 2, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 2, 0, 0, 3, 0, 1, 0, + 64, 2, 0, 0, 2, 0, 1, 0, + 111, 117, 116, 101, 114, 76, 111, 111, + 112, 71, 97, 105, 110, 68, 69, 80, + 82, 69, 67, 65, 84, 69, 68, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 110, 110, 101, 114, 76, 111, 111, + 112, 71, 97, 105, 110, 68, 69, 80, + 82, 69, 67, 65, 84, 69, 68, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 109, 101, 67, 111, 110, 115, + 116, 97, 110, 116, 68, 69, 80, 82, + 69, 67, 65, 84, 69, 68, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 116, 117, 97, 116, 111, 114, + 69, 102, 102, 101, 99, 116, 105, 118, + 101, 110, 101, 115, 115, 68, 69, 80, + 82, 69, 67, 65, 84, 69, 68, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 117, 116, 101, 114, 76, 111, 111, + 112, 71, 97, 105, 110, 66, 80, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 117, 116, 101, 114, 76, 111, 111, + 112, 71, 97, 105, 110, 86, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 110, 110, 101, 114, 76, 111, 111, + 112, 71, 97, 105, 110, 66, 80, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 110, 110, 101, 114, 76, 111, 111, + 112, 71, 97, 105, 110, 86, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 109, 101, 67, 111, 110, 115, + 116, 97, 110, 116, 66, 80, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 109, 101, 67, 111, 110, 115, + 116, 97, 110, 116, 86, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 116, 117, 97, 116, 111, 114, + 69, 102, 102, 101, 99, 116, 105, 118, + 101, 110, 101, 115, 115, 66, 80, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 116, 117, 97, 116, 111, 114, + 69, 102, 102, 101, 99, 116, 105, 118, + 101, 110, 101, 115, 115, 86, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a334472e045533b3 = b_a334472e045533b3.words; +#if !CAPNP_LITE +static const uint16_t m_a334472e045533b3[] = {10, 3, 11, 6, 1, 7, 4, 0, 5, 8, 2, 9}; +static const uint16_t i_a334472e045533b3[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11}; +const ::capnp::_::RawSchema s_a334472e045533b3 = { + 0xa334472e045533b3, b_a334472e045533b3.words, 250, nullptr, m_a334472e045533b3, + 0, 12, i_a334472e045533b3, nullptr, nullptr, { &s_a334472e045533b3, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<159> b_9d151e3f28616a12 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 18, 106, 97, 40, 63, 30, 21, 157, + 20, 0, 0, 0, 1, 0, 2, 0, + 218, 169, 170, 144, 36, 55, 105, 140, + 5, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 42, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 199, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 80, 97, 114, + 97, 109, 115, 46, 76, 97, 116, 101, + 114, 97, 108, 76, 81, 82, 84, 117, + 110, 105, 110, 103, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 32, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 0, 0, 0, 3, 0, 1, 0, + 216, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 213, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 0, 0, 0, 3, 0, 1, 0, + 220, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 217, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 212, 0, 0, 0, 3, 0, 1, 0, + 224, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 0, 0, 0, 3, 0, 1, 0, + 244, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 0, 0, 0, 3, 0, 1, 0, + 8, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 1, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 1, 0, 0, 3, 0, 1, 0, + 28, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 1, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 1, 0, 0, 3, 0, 1, 0, + 48, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 1, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 1, 0, 0, 3, 0, 1, 0, + 68, 1, 0, 0, 2, 0, 1, 0, + 115, 99, 97, 108, 101, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 107, 105, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 99, 71, 97, 105, 110, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 107, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_9d151e3f28616a12 = b_9d151e3f28616a12.words; +#if !CAPNP_LITE +static const uint16_t m_9d151e3f28616a12[] = {3, 4, 5, 2, 6, 1, 7, 0}; +static const uint16_t i_9d151e3f28616a12[] = {0, 1, 2, 3, 4, 5, 6, 7}; +const ::capnp::_::RawSchema s_9d151e3f28616a12 = { + 0x9d151e3f28616a12, b_9d151e3f28616a12.words, 159, nullptr, m_9d151e3f28616a12, + 0, 8, i_9d151e3f28616a12, nullptr, nullptr, { &s_9d151e3f28616a12, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<167> b_95551e5b1edaf451 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 81, 244, 218, 30, 91, 30, 85, 149, + 20, 0, 0, 0, 2, 0, 0, 0, + 218, 169, 170, 144, 36, 55, 105, 140, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 2, 1, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 7, 3, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 80, 97, 114, + 97, 109, 115, 46, 83, 97, 102, 101, + 116, 121, 77, 111, 100, 101, 108, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 128, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 113, 1, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 109, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 101, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 93, 1, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 85, 1, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 85, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 77, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 73, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 65, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 61, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 53, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 45, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 41, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 33, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 25, 1, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 21, 1, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 0, 0, 0, 0, 0, 0, 0, + 17, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 18, 0, 0, 0, 0, 0, 0, 0, + 13, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 19, 0, 0, 0, 0, 0, 0, 0, + 5, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 0, 0, 0, 0, 0, 0, 0, + 1, 1, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 0, 0, 0, 0, + 253, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 22, 0, 0, 0, 0, 0, 0, 0, + 249, 0, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 23, 0, 0, 0, 0, 0, 0, 0, + 245, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 0, 0, 0, 0, 0, 0, 0, + 241, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 0, 0, 0, 0, + 241, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 26, 0, 0, 0, 0, 0, 0, 0, + 237, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 27, 0, 0, 0, 0, 0, 0, 0, + 229, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 28, 0, 0, 0, 0, 0, 0, 0, + 221, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 0, 0, 0, 0, + 217, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 30, 0, 0, 0, 0, 0, 0, 0, + 217, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 31, 0, 0, 0, 0, 0, 0, 0, + 213, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 105, 108, 101, 110, 116, 0, 0, + 104, 111, 110, 100, 97, 78, 105, 100, + 101, 99, 0, 0, 0, 0, 0, 0, + 116, 111, 121, 111, 116, 97, 0, 0, + 101, 108, 109, 51, 50, 55, 0, 0, + 103, 109, 0, 0, 0, 0, 0, 0, + 104, 111, 110, 100, 97, 66, 111, 115, + 99, 104, 71, 105, 114, 97, 102, 102, + 101, 0, 0, 0, 0, 0, 0, 0, + 102, 111, 114, 100, 0, 0, 0, 0, + 99, 97, 100, 105, 108, 108, 97, 99, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 121, 117, 110, 100, 97, 105, 0, + 99, 104, 114, 121, 115, 108, 101, 114, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 101, 115, 108, 97, 0, 0, 0, + 115, 117, 98, 97, 114, 117, 0, 0, + 103, 109, 80, 97, 115, 115, 105, 118, + 101, 0, 0, 0, 0, 0, 0, 0, + 109, 97, 122, 100, 97, 0, 0, 0, + 110, 105, 115, 115, 97, 110, 0, 0, + 118, 111, 108, 107, 115, 119, 97, 103, + 101, 110, 0, 0, 0, 0, 0, 0, + 116, 111, 121, 111, 116, 97, 73, 112, + 97, 115, 0, 0, 0, 0, 0, 0, + 97, 108, 108, 79, 117, 116, 112, 117, + 116, 0, 0, 0, 0, 0, 0, 0, + 103, 109, 65, 115, 99, 109, 0, 0, + 110, 111, 79, 117, 116, 112, 117, 116, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 111, 110, 100, 97, 66, 111, 115, + 99, 104, 0, 0, 0, 0, 0, 0, + 118, 111, 108, 107, 115, 119, 97, 103, + 101, 110, 80, 113, 0, 0, 0, 0, + 115, 117, 98, 97, 114, 117, 80, 114, + 101, 103, 108, 111, 98, 97, 108, 0, + 104, 121, 117, 110, 100, 97, 105, 76, + 101, 103, 97, 99, 121, 0, 0, 0, + 104, 121, 117, 110, 100, 97, 105, 67, + 111, 109, 109, 117, 110, 105, 116, 121, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 111, 108, 107, 115, 119, 97, 103, + 101, 110, 77, 108, 98, 0, 0, 0, + 104, 111, 110, 103, 113, 105, 0, 0, + 98, 111, 100, 121, 0, 0, 0, 0, + 104, 121, 117, 110, 100, 97, 105, 67, + 97, 110, 102, 100, 0, 0, 0, 0, + 118, 111, 108, 107, 115, 119, 97, 103, + 101, 110, 77, 113, 98, 69, 118, 111, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 104, 114, 121, 115, 108, 101, 114, + 67, 117, 115, 119, 0, 0, 0, 0, + 112, 115, 97, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_95551e5b1edaf451 = b_95551e5b1edaf451.words; +#if !CAPNP_LITE +static const uint16_t m_95551e5b1edaf451[] = {17, 27, 7, 9, 30, 3, 6, 4, 18, 12, 20, 5, 1, 26, 8, 28, 24, 23, 13, 14, 19, 31, 0, 11, 22, 10, 2, 16, 15, 25, 29, 21}; +const ::capnp::_::RawSchema s_95551e5b1edaf451 = { + 0x95551e5b1edaf451, b_95551e5b1edaf451.words, 167, nullptr, m_95551e5b1edaf451, + 0, 32, nullptr, nullptr, nullptr, { &s_95551e5b1edaf451, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(SafetyModel_95551e5b1edaf451, 95551e5b1edaf451); +static const ::capnp::_::AlignedData<33> b_d661512be2def77f = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 127, 247, 222, 226, 43, 81, 97, 214, + 20, 0, 0, 0, 2, 0, 0, 0, + 218, 169, 170, 144, 36, 55, 105, 140, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 42, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 79, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 80, 97, 114, + 97, 109, 115, 46, 83, 116, 101, 101, + 114, 67, 111, 110, 116, 114, 111, 108, + 84, 121, 112, 101, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 111, 114, 113, 117, 101, 0, 0, + 97, 110, 103, 108, 101, 0, 0, 0, + 99, 117, 114, 118, 97, 116, 117, 114, + 101, 68, 69, 80, 82, 69, 67, 65, + 84, 69, 68, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_d661512be2def77f = b_d661512be2def77f.words; +#if !CAPNP_LITE +static const uint16_t m_d661512be2def77f[] = {1, 2, 0}; +const ::capnp::_::RawSchema s_d661512be2def77f = { + 0xd661512be2def77f, b_d661512be2def77f.words, 33, nullptr, m_d661512be2def77f, + 0, 3, nullptr, nullptr, nullptr, { &s_d661512be2def77f, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(SteerControlType_d661512be2def77f, d661512be2def77f); +static const ::capnp::_::AlignedData<40> b_8f162eeb14bfc0ec = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 236, 192, 191, 20, 235, 46, 22, 143, + 20, 0, 0, 0, 2, 0, 0, 0, + 218, 169, 170, 144, 36, 55, 105, 140, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 42, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 127, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 80, 97, 114, + 97, 109, 115, 46, 84, 114, 97, 110, + 115, 109, 105, 115, 115, 105, 111, 110, + 84, 121, 112, 101, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 20, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 107, 110, 111, 119, 110, 0, + 97, 117, 116, 111, 109, 97, 116, 105, + 99, 0, 0, 0, 0, 0, 0, 0, + 109, 97, 110, 117, 97, 108, 0, 0, + 100, 105, 114, 101, 99, 116, 0, 0, + 99, 118, 116, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_8f162eeb14bfc0ec = b_8f162eeb14bfc0ec.words; +#if !CAPNP_LITE +static const uint16_t m_8f162eeb14bfc0ec[] = {1, 4, 3, 2, 0}; +const ::capnp::_::RawSchema s_8f162eeb14bfc0ec = { + 0x8f162eeb14bfc0ec, b_8f162eeb14bfc0ec.words, 40, nullptr, m_8f162eeb14bfc0ec, + 0, 5, nullptr, nullptr, nullptr, { &s_8f162eeb14bfc0ec, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(TransmissionType_8f162eeb14bfc0ec, 8f162eeb14bfc0ec); +static const ::capnp::_::AlignedData<176> b_962b56180c9359ce = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 206, 89, 147, 12, 24, 86, 43, 150, + 20, 0, 0, 0, 1, 0, 2, 0, + 218, 169, 170, 144, 36, 55, 105, 140, + 3, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 210, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 55, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 80, 97, 114, + 97, 109, 115, 46, 67, 97, 114, 70, + 119, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 40, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 1, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 1, 0, 0, 3, 0, 1, 0, + 16, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 1, 0, 0, 3, 0, 1, 0, + 24, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 1, 0, 0, 3, 0, 1, 0, + 28, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 1, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 1, 0, 0, 3, 0, 1, 0, + 36, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 1, 0, 0, 3, 0, 1, 0, + 44, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 1, 0, 0, 3, 0, 1, 0, + 64, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 61, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 56, 1, 0, 0, 3, 0, 1, 0, + 68, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 1, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 60, 1, 0, 0, 3, 0, 1, 0, + 72, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 96, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 64, 1, 0, 0, 3, 0, 1, 0, + 76, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 97, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 73, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 1, 0, 0, 3, 0, 1, 0, + 84, 1, 0, 0, 2, 0, 1, 0, + 101, 99, 117, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 145, 214, 209, 89, 183, 155, 17, 247, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 119, 86, 101, 114, 115, 105, 111, + 110, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 100, 100, 114, 101, 115, 115, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 117, 98, 65, 100, 100, 114, 101, + 115, 115, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 115, 112, 111, 110, 115, 101, + 65, 100, 100, 114, 101, 115, 115, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 113, 117, 101, 115, 116, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 114, 97, 110, 100, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 117, 115, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 103, 105, 110, 103, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 98, 100, 77, 117, 108, 116, 105, + 112, 108, 101, 120, 105, 110, 103, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_962b56180c9359ce = b_962b56180c9359ce.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_962b56180c9359ce[] = { + &s_f7119bb759d1d691, +}; +static const uint16_t m_962b56180c9359ce[] = {2, 6, 7, 0, 1, 8, 9, 5, 4, 3}; +static const uint16_t i_962b56180c9359ce[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9}; +const ::capnp::_::RawSchema s_962b56180c9359ce = { + 0x962b56180c9359ce, b_962b56180c9359ce.words, 176, d_962b56180c9359ce, m_962b56180c9359ce, + 1, 10, i_962b56180c9359ce, nullptr, nullptr, { &s_962b56180c9359ce, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<130> b_f7119bb759d1d691 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 145, 214, 209, 89, 183, 155, 17, 247, + 20, 0, 0, 0, 2, 0, 0, 0, + 218, 169, 170, 144, 36, 55, 105, 140, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 194, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 95, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 80, 97, 114, + 97, 109, 115, 46, 69, 99, 117, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 100, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 1, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 29, 1, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 21, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 17, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 13, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 5, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 0, 0, 0, 0, + 253, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 0, 0, 0, 0, 0, 0, 0, + 245, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 241, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 237, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 229, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 221, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 213, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 22, 0, 0, 0, 0, 0, 0, 0, + 213, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 23, 0, 0, 0, 0, 0, 0, 0, + 205, 0, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 205, 0, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 205, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 0, 0, 0, 0, 0, 0, 0, + 201, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 193, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 185, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 177, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 169, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 18, 0, 0, 0, 0, 0, 0, 0, + 165, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 19, 0, 0, 0, 0, 0, 0, 0, + 157, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 0, 0, 0, 0, 0, 0, 0, + 153, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 112, 115, 0, 0, 0, 0, 0, + 97, 98, 115, 0, 0, 0, 0, 0, + 102, 119, 100, 82, 97, 100, 97, 114, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 119, 100, 67, 97, 109, 101, 114, + 97, 0, 0, 0, 0, 0, 0, 0, + 101, 110, 103, 105, 110, 101, 0, 0, + 117, 110, 107, 110, 111, 119, 110, 0, + 100, 115, 117, 0, 0, 0, 0, 0, + 112, 97, 114, 107, 105, 110, 103, 65, + 100, 97, 115, 0, 0, 0, 0, 0, + 116, 114, 97, 110, 115, 109, 105, 115, + 115, 105, 111, 110, 0, 0, 0, 0, + 115, 114, 115, 0, 0, 0, 0, 0, + 103, 97, 116, 101, 119, 97, 121, 0, + 104, 117, 100, 0, 0, 0, 0, 0, + 99, 111, 109, 98, 105, 110, 97, 116, + 105, 111, 110, 77, 101, 116, 101, 114, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 115, 97, 0, 0, 0, 0, 0, + 112, 114, 111, 103, 114, 97, 109, 109, + 101, 100, 70, 117, 101, 108, 73, 110, + 106, 101, 99, 116, 105, 111, 110, 0, + 101, 108, 101, 99, 116, 114, 105, 99, + 66, 114, 97, 107, 101, 66, 111, 111, + 115, 116, 101, 114, 0, 0, 0, 0, + 115, 104, 105, 102, 116, 66, 121, 87, + 105, 114, 101, 0, 0, 0, 0, 0, + 100, 101, 98, 117, 103, 0, 0, 0, + 104, 121, 98, 114, 105, 100, 0, 0, + 97, 100, 97, 115, 0, 0, 0, 0, + 104, 118, 97, 99, 0, 0, 0, 0, + 99, 111, 114, 110, 101, 114, 82, 97, + 100, 97, 114, 0, 0, 0, 0, 0, + 101, 112, 98, 0, 0, 0, 0, 0, + 116, 101, 108, 101, 109, 97, 116, 105, + 99, 115, 0, 0, 0, 0, 0, 0, + 98, 111, 100, 121, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_f7119bb759d1d691 = b_f7119bb759d1d691.words; +#if !CAPNP_LITE +static const uint16_t m_f7119bb759d1d691[] = {1, 19, 24, 12, 21, 17, 6, 15, 4, 22, 0, 3, 2, 10, 11, 20, 18, 7, 14, 16, 9, 23, 8, 5, 13}; +const ::capnp::_::RawSchema s_f7119bb759d1d691 = { + 0xf7119bb759d1d691, b_f7119bb759d1d691.words, 130, nullptr, m_f7119bb759d1d691, + 0, 25, nullptr, nullptr, nullptr, { &s_f7119bb759d1d691, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(Ecu_f7119bb759d1d691, f7119bb759d1d691); +static const ::capnp::_::AlignedData<31> b_9fd95523d8dc40ce = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 206, 64, 220, 216, 35, 85, 217, 159, + 20, 0, 0, 0, 2, 0, 0, 0, + 218, 169, 170, 144, 36, 55, 105, 140, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 50, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 79, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 80, 97, 114, + 97, 109, 115, 46, 70, 105, 110, 103, + 101, 114, 112, 114, 105, 110, 116, 83, + 111, 117, 114, 99, 101, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 110, 0, 0, 0, 0, 0, + 102, 119, 0, 0, 0, 0, 0, 0, + 102, 105, 120, 101, 100, 0, 0, 0, } +}; +::capnp::word const* const bp_9fd95523d8dc40ce = b_9fd95523d8dc40ce.words; +#if !CAPNP_LITE +static const uint16_t m_9fd95523d8dc40ce[] = {0, 2, 1}; +const ::capnp::_::RawSchema s_9fd95523d8dc40ce = { + 0x9fd95523d8dc40ce, b_9fd95523d8dc40ce.words, 31, nullptr, m_9fd95523d8dc40ce, + 0, 3, nullptr, nullptr, nullptr, { &s_9fd95523d8dc40ce, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(FingerprintSource_9fd95523d8dc40ce, 9fd95523d8dc40ce); +static const ::capnp::_::AlignedData<28> b_ff99e3682a833c51 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 81, 60, 131, 42, 104, 227, 153, 255, + 20, 0, 0, 0, 2, 0, 0, 0, + 218, 169, 170, 144, 36, 55, 105, 140, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 34, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 55, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 80, 97, 114, + 97, 109, 115, 46, 78, 101, 116, 119, + 111, 114, 107, 76, 111, 99, 97, 116, + 105, 111, 110, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 8, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 119, 100, 67, 97, 109, 101, 114, + 97, 0, 0, 0, 0, 0, 0, 0, + 103, 97, 116, 101, 119, 97, 121, 0, } +}; +::capnp::word const* const bp_ff99e3682a833c51 = b_ff99e3682a833c51.words; +#if !CAPNP_LITE +static const uint16_t m_ff99e3682a833c51[] = {0, 1}; +const ::capnp::_::RawSchema s_ff99e3682a833c51 = { + 0xff99e3682a833c51, b_ff99e3682a833c51.words, 28, nullptr, m_ff99e3682a833c51, + 0, 2, nullptr, nullptr, nullptr, { &s_ff99e3682a833c51, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(NetworkLocation_ff99e3682a833c51, ff99e3682a833c51); +static const ::capnp::_::AlignedData<80> b_93fc580a35339568 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 104, 149, 51, 53, 10, 88, 252, 147, + 20, 0, 0, 0, 1, 0, 18, 0, + 218, 169, 170, 144, 36, 55, 105, 140, + 14, 0, 7, 0, 1, 0, 4, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 18, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 231, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 80, 97, 114, + 97, 109, 115, 46, 108, 97, 116, 101, + 114, 97, 108, 84, 117, 110, 105, 110, + 103, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 255, 255, 9, 0, 0, 0, + 0, 0, 1, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 0, 0, 0, 3, 0, 1, 0, + 104, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 254, 255, 9, 0, 0, 0, + 0, 0, 1, 0, 27, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 0, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 0, 0, 0, 3, 0, 1, 0, + 112, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 253, 255, 9, 0, 0, 0, + 0, 0, 1, 0, 40, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 0, 0, 0, 3, 0, 1, 0, + 120, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 252, 255, 9, 0, 0, 0, + 0, 0, 1, 0, 67, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 0, 0, 0, 3, 0, 1, 0, + 124, 0, 0, 0, 2, 0, 1, 0, + 112, 105, 100, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 46, 76, 209, 203, 63, 114, 34, 150, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 110, 100, 105, 68, 69, 80, 82, + 69, 67, 65, 84, 69, 68, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 179, 51, 85, 4, 46, 71, 52, 163, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 113, 114, 68, 69, 80, 82, 69, + 67, 65, 84, 69, 68, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 18, 106, 97, 40, 63, 30, 21, 157, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 111, 114, 113, 117, 101, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 29, 204, 78, 128, 14, 110, 54, 128, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_93fc580a35339568 = b_93fc580a35339568.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_93fc580a35339568[] = { + &s_80366e0e804ecc1d, + &s_8c69372490aaa9da, + &s_9622723fcbd14c2e, + &s_9d151e3f28616a12, + &s_a334472e045533b3, +}; +static const uint16_t m_93fc580a35339568[] = {1, 2, 0, 3}; +static const uint16_t i_93fc580a35339568[] = {0, 1, 2, 3}; +const ::capnp::_::RawSchema s_93fc580a35339568 = { + 0x93fc580a35339568, b_93fc580a35339568.words, 80, d_93fc580a35339568, m_93fc580a35339568, + 5, 4, i_93fc580a35339568, nullptr, nullptr, { &s_93fc580a35339568, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +} // namespace schemas +} // namespace capnp + +// ======================================================================================= + +namespace cereal { + +// CarEvent +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CarEvent::_capnpPrivate::dataWordSize; +constexpr uint16_t CarEvent::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CarEvent::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CarEvent::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CarState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CarState::_capnpPrivate::dataWordSize; +constexpr uint16_t CarState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CarState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CarState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CarState::CustomStockLong +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CarState::CustomStockLong::_capnpPrivate::dataWordSize; +constexpr uint16_t CarState::CustomStockLong::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CarState::CustomStockLong::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CarState::CustomStockLong::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CarState::WheelSpeeds +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CarState::WheelSpeeds::_capnpPrivate::dataWordSize; +constexpr uint16_t CarState::WheelSpeeds::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CarState::WheelSpeeds::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CarState::WheelSpeeds::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CarState::CruiseState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CarState::CruiseState::_capnpPrivate::dataWordSize; +constexpr uint16_t CarState::CruiseState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CarState::CruiseState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CarState::CruiseState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CarState::ButtonEvent +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CarState::ButtonEvent::_capnpPrivate::dataWordSize; +constexpr uint16_t CarState::ButtonEvent::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CarState::ButtonEvent::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CarState::ButtonEvent::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// RadarData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t RadarData::_capnpPrivate::dataWordSize; +constexpr uint16_t RadarData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind RadarData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* RadarData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// RadarData::RadarPoint +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t RadarData::RadarPoint::_capnpPrivate::dataWordSize; +constexpr uint16_t RadarData::RadarPoint::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind RadarData::RadarPoint::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* RadarData::RadarPoint::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CarControl +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CarControl::_capnpPrivate::dataWordSize; +constexpr uint16_t CarControl::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CarControl::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CarControl::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CarControl::Actuators +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CarControl::Actuators::_capnpPrivate::dataWordSize; +constexpr uint16_t CarControl::Actuators::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CarControl::Actuators::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CarControl::Actuators::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CarControl::CruiseControl +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CarControl::CruiseControl::_capnpPrivate::dataWordSize; +constexpr uint16_t CarControl::CruiseControl::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CarControl::CruiseControl::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CarControl::CruiseControl::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CarControl::HUDControl +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CarControl::HUDControl::_capnpPrivate::dataWordSize; +constexpr uint16_t CarControl::HUDControl::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CarControl::HUDControl::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CarControl::HUDControl::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CarOutput +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CarOutput::_capnpPrivate::dataWordSize; +constexpr uint16_t CarOutput::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CarOutput::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CarOutput::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CarParams +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CarParams::_capnpPrivate::dataWordSize; +constexpr uint16_t CarParams::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CarParams::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CarParams::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CarParams::SafetyConfig +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CarParams::SafetyConfig::_capnpPrivate::dataWordSize; +constexpr uint16_t CarParams::SafetyConfig::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CarParams::SafetyConfig::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CarParams::SafetyConfig::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CarParams::LateralParams +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CarParams::LateralParams::_capnpPrivate::dataWordSize; +constexpr uint16_t CarParams::LateralParams::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CarParams::LateralParams::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CarParams::LateralParams::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CarParams::LateralPIDTuning +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CarParams::LateralPIDTuning::_capnpPrivate::dataWordSize; +constexpr uint16_t CarParams::LateralPIDTuning::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CarParams::LateralPIDTuning::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CarParams::LateralPIDTuning::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CarParams::LateralTorqueTuning +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CarParams::LateralTorqueTuning::_capnpPrivate::dataWordSize; +constexpr uint16_t CarParams::LateralTorqueTuning::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CarParams::LateralTorqueTuning::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CarParams::LateralTorqueTuning::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CarParams::LongitudinalPIDTuning +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CarParams::LongitudinalPIDTuning::_capnpPrivate::dataWordSize; +constexpr uint16_t CarParams::LongitudinalPIDTuning::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CarParams::LongitudinalPIDTuning::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CarParams::LongitudinalPIDTuning::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CarParams::LateralINDITuning +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CarParams::LateralINDITuning::_capnpPrivate::dataWordSize; +constexpr uint16_t CarParams::LateralINDITuning::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CarParams::LateralINDITuning::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CarParams::LateralINDITuning::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CarParams::LateralLQRTuning +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CarParams::LateralLQRTuning::_capnpPrivate::dataWordSize; +constexpr uint16_t CarParams::LateralLQRTuning::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CarParams::LateralLQRTuning::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CarParams::LateralLQRTuning::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CarParams::CarFw +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CarParams::CarFw::_capnpPrivate::dataWordSize; +constexpr uint16_t CarParams::CarFw::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CarParams::CarFw::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CarParams::CarFw::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CarParams::LateralTuning +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CarParams::LateralTuning::_capnpPrivate::dataWordSize; +constexpr uint16_t CarParams::LateralTuning::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CarParams::LateralTuning::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CarParams::LateralTuning::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + + +} // namespace + diff --git a/cereal/gen/cpp/car.capnp.h b/cereal/gen/cpp/car.capnp.h new file mode 100644 index 0000000000..bf848e377e --- /dev/null +++ b/cereal/gen/cpp/car.capnp.h @@ -0,0 +1,9721 @@ +// Generated by Cap'n Proto compiler, DO NOT EDIT +// source: car.capnp + +#pragma once + +#include +#include + +#ifndef CAPNP_VERSION +#error "CAPNP_VERSION is not defined, is capnp/generated-header-support.h missing?" +#elif CAPNP_VERSION != 1000002 +#error "Version mismatch between generated code and library headers. You must use the same version of the Cap'n Proto compiler and library." +#endif + + +CAPNP_BEGIN_HEADER + +namespace capnp { +namespace schemas { + +CAPNP_DECLARE_SCHEMA(9b1657f34caf3ad3); +CAPNP_DECLARE_SCHEMA(baa8c5d505f727de); +enum class EventName_baa8c5d505f727de: uint16_t { + CAN_ERROR, + STEER_UNAVAILABLE, + BRAKE_UNAVAILABLE_D_E_P_R_E_C_A_T_E_D, + GAS_UNAVAILABLE_D_E_P_R_E_C_A_T_E_D, + WRONG_GEAR, + DOOR_OPEN, + SEATBELT_NOT_LATCHED, + ESP_DISABLED, + WRONG_CAR_MODE, + STEER_TEMP_UNAVAILABLE, + REVERSE_GEAR, + BUTTON_CANCEL, + BUTTON_ENABLE, + PEDAL_PRESSED, + CRUISE_DISABLED, + RADAR_CAN_ERROR_D_E_P_R_E_C_A_T_E_D, + DATA_NEEDED_D_E_P_R_E_C_A_T_E_D, + SPEED_TOO_LOW, + OUT_OF_SPACE, + OVERHEAT, + CALIBRATION_INCOMPLETE, + CALIBRATION_INVALID, + CONTROLS_MISMATCH, + PCM_ENABLE, + PCM_DISABLE, + NO_TARGET_D_E_P_R_E_C_A_T_E_D, + RADAR_FAULT, + MODEL_COMM_ISSUE_D_E_P_R_E_C_A_T_E_D, + BRAKE_HOLD, + PARK_BRAKE, + MANUAL_RESTART, + LOW_SPEED_LOCKOUT, + PLANNER_ERROR_D_E_P_R_E_C_A_T_E_D, + IPAS_OVERRIDE_D_E_P_R_E_C_A_T_E_D, + JOYSTICK_DEBUG, + STEER_TEMP_UNAVAILABLE_SILENT, + RESUME_REQUIRED, + PRE_DRIVER_DISTRACTED, + PROMPT_DRIVER_DISTRACTED, + DRIVER_DISTRACTED, + GEOFENCE_D_E_P_R_E_C_A_T_E_D, + DRIVER_MONITOR_ON_D_E_P_R_E_C_A_T_E_D, + DRIVER_MONITOR_OFF_D_E_P_R_E_C_A_T_E_D, + PRE_DRIVER_UNRESPONSIVE, + PROMPT_DRIVER_UNRESPONSIVE, + DRIVER_UNRESPONSIVE, + BELOW_STEER_SPEED, + CALIBRATION_PROGRESS_D_E_P_R_E_C_A_T_E_D, + LOW_BATTERY, + INVALID_GIRAFFE_HONDA_D_E_P_R_E_C_A_T_E_D, + PARAMSD_TEMPORARY_ERROR, + ACC_FAULTED, + SENSOR_DATA_INVALID, + COMM_ISSUE, + TOO_DISTRACTED, + POSENET_INVALID, + SOUNDS_UNAVAILABLE, + PRE_LANE_CHANGE_LEFT, + PRE_LANE_CHANGE_RIGHT, + LANE_CHANGE, + INVALID_GIRAFFE_TOYOTA_D_E_P_R_E_C_A_T_E_D, + INTERNET_CONNECTIVITY_NEEDED_D_E_P_R_E_C_A_T_E_D, + COMMUNITY_FEATURE_DISALLOWED_D_E_P_R_E_C_A_T_E_D, + LOW_MEMORY, + STOCK_AEB, + LDW, + CAR_UNRECOGNIZED, + RADAR_COMM_ISSUE_D_E_P_R_E_C_A_T_E_D, + DRIVER_MONITOR_LOW_ACC_D_E_P_R_E_C_A_T_E_D, + INVALID_LKAS_SETTING, + SPEED_TOO_HIGH, + LANE_CHANGE_BLOCKED, + RELAY_MALFUNCTION, + PRE_ENABLE_STANDSTILL, + STOCK_FCW, + STARTUP, + STARTUP_NO_CAR, + STARTUP_NO_CONTROL, + STARTUP_MASTER, + FCW, + STEER_SATURATED, + WHITE_PANDA_UNSUPPORTED_D_E_P_R_E_C_A_T_E_D, + STARTUP_ONEPLUS_D_E_P_R_E_C_A_T_E_D, + COMM_ISSUE_WARNING_D_E_P_R_E_C_A_T_E_D, + BELOW_ENGAGE_SPEED, + NO_GPS, + FOCUS_RECOVER_ACTIVE_D_E_P_R_E_C_A_T_E_D, + WRONG_CRUISE_MODE, + NEOS_UPDATE_REQUIRED_D_E_P_R_E_C_A_T_E_D, + MODELD_LAGGING, + DEVICE_FALLING, + FAN_MALFUNCTION, + CAMERA_MALFUNCTION, + MODEL_LAG_WARNING_D_E_P_R_E_C_A_T_E_D, + GPS_MALFUNCTION_D_E_P_R_E_C_A_T_E_D, + PROCESS_NOT_RUNNING, + DASHCAM_MODE, + STARTUP_FUZZY_FINGERPRINT_D_E_P_R_E_C_A_T_E_D, + CONTROLS_INITIALIZING, + USB_ERROR, + ROAD_CAMERA_ERROR, + DRIVER_CAMERA_ERROR, + WIDE_ROAD_CAMERA_ERROR, + LOCATIOND_TEMPORARY_ERROR, + STARTUP_NO_FW, + HIGH_CPU_USAGE, + CRUISE_MISMATCH, + LKAS_DISABLED, + GAS_PRESSED_OVERRIDE, + COMM_ISSUE_AVG_FREQ, + CAMERA_FRAME_RATE, + CAN_BUS_MISSING, + CONTROLSD_LAGGING, + RESUME_BLOCKED, + STEER_OVERRIDE, + STEER_TIME_LIMIT, + VEHICLE_SENSORS_INVALID, + CALIBRATION_RECALIBRATING, + LOCATIOND_PERMANENT_ERROR, + PARAMSD_PERMANENT_ERROR, + ACTUATORS_API_UNAVAILABLE, + ESP_ACTIVE, + MANUAL_STEERING_REQUIRED, + MANUAL_LONGITUDINAL_REQUIRED, + SILENT_PEDAL_PRESSED, + SILENT_BUTTON_ENABLE, + SILENT_BRAKE_HOLD, + SILENT_WRONG_GEAR, + SP_REVERSE_GEAR, + PRE_KEEP_HANDS_ON_WHEEL, + PROMPT_KEEP_HANDS_ON_WHEEL, + KEEP_HANDS_ON_WHEEL, + SPEED_LIMIT_ACTIVE, + SPEED_LIMIT_VALUE_CHANGE, + E2E_LONG_STOP, + E2E_LONG_START, + CONTROLS_MISMATCH_LONG, + CRUISE_ENGAGE_BLOCKED, + LANE_CHANGE_ROAD_EDGE, + SPEED_LIMIT_PRE_ACTIVE, + SPEED_LIMIT_CONFIRMED, + TORQUE_N_N_LOAD, + HYUNDAI_RADAR_TRACKS_AVAILABLE, +}; +CAPNP_DECLARE_ENUM(EventName, baa8c5d505f727de); +CAPNP_DECLARE_SCHEMA(9da4fa09e052903c); +CAPNP_DECLARE_SCHEMA(e9a322fa88c360dd); +CAPNP_DECLARE_SCHEMA(991a37a6155935a3); +CAPNP_DECLARE_SCHEMA(e64e81478e6e60af); +CAPNP_DECLARE_SCHEMA(e004ca45136f6a89); +enum class GearShifter_e004ca45136f6a89: uint16_t { + UNKNOWN, + PARK, + DRIVE, + NEUTRAL, + REVERSE, + SPORT, + LOW, + BRAKE, + ECO, + MANUMATIC, +}; +CAPNP_DECLARE_ENUM(GearShifter, e004ca45136f6a89); +CAPNP_DECLARE_SCHEMA(ff5ca6835b4acef6); +CAPNP_DECLARE_SCHEMA(e16100205414717c); +enum class Type_e16100205414717c: uint16_t { + UNKNOWN, + LEFT_BLINKER, + RIGHT_BLINKER, + ACCEL_CRUISE, + DECEL_CRUISE, + CANCEL, + ALT_BUTTON1, + ALT_BUTTON2, + ALT_BUTTON3, + SET_CRUISE, + RESUME_CRUISE, + GAP_ADJUST_CRUISE, +}; +CAPNP_DECLARE_ENUM(Type, e16100205414717c); +CAPNP_DECLARE_SCHEMA(888ad6581cf0aacb); +CAPNP_DECLARE_SCHEMA(e8a86679ebba76ad); +enum class Error_e8a86679ebba76ad: uint16_t { + CAN_ERROR, + FAULT, + WRONG_CONFIG, +}; +CAPNP_DECLARE_ENUM(Error, e8a86679ebba76ad); +CAPNP_DECLARE_SCHEMA(8ff333ebac1fdf36); +CAPNP_DECLARE_SCHEMA(f78829049ab814af); +CAPNP_DECLARE_SCHEMA(e97275a919432828); +CAPNP_DECLARE_SCHEMA(e40f3a917d908282); +enum class LongControlState_e40f3a917d908282: uint16_t { + OFF, + PID, + STOPPING, + STARTING, +}; +CAPNP_DECLARE_ENUM(LongControlState, e40f3a917d908282); +CAPNP_DECLARE_SCHEMA(b20e386e0e0ba8d3); +CAPNP_DECLARE_SCHEMA(d895c87c4eb03a38); +CAPNP_DECLARE_SCHEMA(90d78e84616e17d4); +enum class VisualAlert_90d78e84616e17d4: uint16_t { + NONE, + FCW, + STEER_REQUIRED, + BRAKE_PRESSED, + WRONG_GEAR, + SEATBELT_UNBUCKLED, + SPEED_TOO_HIGH, + LDW, +}; +CAPNP_DECLARE_ENUM(VisualAlert, 90d78e84616e17d4); +CAPNP_DECLARE_SCHEMA(f5a5e26c954e339e); +enum class AudibleAlert_f5a5e26c954e339e: uint16_t { + NONE, + ENGAGE, + DISENGAGE, + REFUSE, + WARNING_SOFT, + WARNING_IMMEDIATE, + PROMPT, + PROMPT_REPEAT, + PROMPT_DISTRACTED, + PROMPT_STARTING, + PROMPT_SINGLE_LOW, + PROMPT_SINGLE_HIGH, +}; +CAPNP_DECLARE_ENUM(AudibleAlert, f5a5e26c954e339e); +CAPNP_DECLARE_SCHEMA(d817d6655115ca85); +CAPNP_DECLARE_SCHEMA(8c69372490aaa9da); +CAPNP_DECLARE_SCHEMA(e836349c6056b0c9); +CAPNP_DECLARE_SCHEMA(b581b23b1c89dda3); +CAPNP_DECLARE_SCHEMA(9622723fcbd14c2e); +CAPNP_DECLARE_SCHEMA(80366e0e804ecc1d); +CAPNP_DECLARE_SCHEMA(c342cefc303e9b8e); +CAPNP_DECLARE_SCHEMA(a334472e045533b3); +CAPNP_DECLARE_SCHEMA(9d151e3f28616a12); +CAPNP_DECLARE_SCHEMA(95551e5b1edaf451); +enum class SafetyModel_95551e5b1edaf451: uint16_t { + SILENT, + HONDA_NIDEC, + TOYOTA, + ELM327, + GM, + HONDA_BOSCH_GIRAFFE, + FORD, + CADILLAC, + HYUNDAI, + CHRYSLER, + TESLA, + SUBARU, + GM_PASSIVE, + MAZDA, + NISSAN, + VOLKSWAGEN, + TOYOTA_IPAS, + ALL_OUTPUT, + GM_ASCM, + NO_OUTPUT, + HONDA_BOSCH, + VOLKSWAGEN_PQ, + SUBARU_PREGLOBAL, + HYUNDAI_LEGACY, + HYUNDAI_COMMUNITY, + VOLKSWAGEN_MLB, + HONGQI, + BODY, + HYUNDAI_CANFD, + VOLKSWAGEN_MQB_EVO, + CHRYSLER_CUSW, + PSA, +}; +CAPNP_DECLARE_ENUM(SafetyModel, 95551e5b1edaf451); +CAPNP_DECLARE_SCHEMA(d661512be2def77f); +enum class SteerControlType_d661512be2def77f: uint16_t { + TORQUE, + ANGLE, + CURVATURE_D_E_P_R_E_C_A_T_E_D, +}; +CAPNP_DECLARE_ENUM(SteerControlType, d661512be2def77f); +CAPNP_DECLARE_SCHEMA(8f162eeb14bfc0ec); +enum class TransmissionType_8f162eeb14bfc0ec: uint16_t { + UNKNOWN, + AUTOMATIC, + MANUAL, + DIRECT, + CVT, +}; +CAPNP_DECLARE_ENUM(TransmissionType, 8f162eeb14bfc0ec); +CAPNP_DECLARE_SCHEMA(962b56180c9359ce); +CAPNP_DECLARE_SCHEMA(f7119bb759d1d691); +enum class Ecu_f7119bb759d1d691: uint16_t { + EPS, + ABS, + FWD_RADAR, + FWD_CAMERA, + ENGINE, + UNKNOWN, + DSU, + PARKING_ADAS, + TRANSMISSION, + SRS, + GATEWAY, + HUD, + COMBINATION_METER, + VSA, + PROGRAMMED_FUEL_INJECTION, + ELECTRIC_BRAKE_BOOSTER, + SHIFT_BY_WIRE, + DEBUG, + HYBRID, + ADAS, + HVAC, + CORNER_RADAR, + EPB, + TELEMATICS, + BODY, +}; +CAPNP_DECLARE_ENUM(Ecu, f7119bb759d1d691); +CAPNP_DECLARE_SCHEMA(9fd95523d8dc40ce); +enum class FingerprintSource_9fd95523d8dc40ce: uint16_t { + CAN, + FW, + FIXED, +}; +CAPNP_DECLARE_ENUM(FingerprintSource, 9fd95523d8dc40ce); +CAPNP_DECLARE_SCHEMA(ff99e3682a833c51); +enum class NetworkLocation_ff99e3682a833c51: uint16_t { + FWD_CAMERA, + GATEWAY, +}; +CAPNP_DECLARE_ENUM(NetworkLocation, ff99e3682a833c51); +CAPNP_DECLARE_SCHEMA(93fc580a35339568); + +} // namespace schemas +} // namespace capnp + +namespace cereal { + +struct CarEvent { + CarEvent() = delete; + + class Reader; + class Builder; + class Pipeline; + typedef ::capnp::schemas::EventName_baa8c5d505f727de EventName; + + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(9b1657f34caf3ad3, 1, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct CarState { + CarState() = delete; + + class Reader; + class Builder; + class Pipeline; + struct CustomStockLong; + struct WheelSpeeds; + struct CruiseState; + typedef ::capnp::schemas::GearShifter_e004ca45136f6a89 GearShifter; + + struct ButtonEvent; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(9da4fa09e052903c, 10, 7) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct CarState::CustomStockLong { + CustomStockLong() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(e9a322fa88c360dd, 3, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct CarState::WheelSpeeds { + WheelSpeeds() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(991a37a6155935a3, 2, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct CarState::CruiseState { + CruiseState() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(e64e81478e6e60af, 3, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct CarState::ButtonEvent { + ButtonEvent() = delete; + + class Reader; + class Builder; + class Pipeline; + typedef ::capnp::schemas::Type_e16100205414717c Type; + + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(ff5ca6835b4acef6, 1, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct RadarData { + RadarData() = delete; + + class Reader; + class Builder; + class Pipeline; + typedef ::capnp::schemas::Error_e8a86679ebba76ad Error; + + struct RadarPoint; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(888ad6581cf0aacb, 0, 3) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct RadarData::RadarPoint { + RadarPoint() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(8ff333ebac1fdf36, 4, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct CarControl { + CarControl() = delete; + + class Reader; + class Builder; + class Pipeline; + struct Actuators; + struct CruiseControl; + struct HUDControl; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(f78829049ab814af, 4, 6) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct CarControl::Actuators { + Actuators() = delete; + + class Reader; + class Builder; + class Pipeline; + typedef ::capnp::schemas::LongControlState_e40f3a917d908282 LongControlState; + + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(e97275a919432828, 5, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct CarControl::CruiseControl { + CruiseControl() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(b20e386e0e0ba8d3, 2, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct CarControl::HUDControl { + HUDControl() = delete; + + class Reader; + class Builder; + class Pipeline; + typedef ::capnp::schemas::VisualAlert_90d78e84616e17d4 VisualAlert; + + typedef ::capnp::schemas::AudibleAlert_f5a5e26c954e339e AudibleAlert; + + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(d895c87c4eb03a38, 2, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct CarOutput { + CarOutput() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(d817d6655115ca85, 0, 1) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct CarParams { + CarParams() = delete; + + class Reader; + class Builder; + class Pipeline; + struct SafetyConfig; + struct LateralParams; + struct LateralPIDTuning; + struct LateralTorqueTuning; + struct LongitudinalPIDTuning; + struct LateralINDITuning; + struct LateralLQRTuning; + typedef ::capnp::schemas::SafetyModel_95551e5b1edaf451 SafetyModel; + + typedef ::capnp::schemas::SteerControlType_d661512be2def77f SteerControlType; + + typedef ::capnp::schemas::TransmissionType_8f162eeb14bfc0ec TransmissionType; + + struct CarFw; + typedef ::capnp::schemas::Ecu_f7119bb759d1d691 Ecu; + + typedef ::capnp::schemas::FingerprintSource_9fd95523d8dc40ce FingerprintSource; + + typedef ::capnp::schemas::NetworkLocation_ff99e3682a833c51 NetworkLocation; + + struct LateralTuning; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(8c69372490aaa9da, 18, 14) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct CarParams::SafetyConfig { + SafetyConfig() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(e836349c6056b0c9, 2, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct CarParams::LateralParams { + LateralParams() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(b581b23b1c89dda3, 0, 2) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct CarParams::LateralPIDTuning { + LateralPIDTuning() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(9622723fcbd14c2e, 1, 4) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct CarParams::LateralTorqueTuning { + LateralTorqueTuning() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(80366e0e804ecc1d, 4, 1) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct CarParams::LongitudinalPIDTuning { + LongitudinalPIDTuning() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(c342cefc303e9b8e, 1, 6) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct CarParams::LateralINDITuning { + LateralINDITuning() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(a334472e045533b3, 2, 8) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct CarParams::LateralLQRTuning { + LateralLQRTuning() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(9d151e3f28616a12, 2, 5) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct CarParams::CarFw { + CarFw() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(962b56180c9359ce, 2, 3) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct CarParams::LateralTuning { + LateralTuning() = delete; + + class Reader; + class Builder; + class Pipeline; + enum Which: uint16_t { + PID, + INDI_D_E_P_R_E_C_A_T_E_D, + LQR_D_E_P_R_E_C_A_T_E_D, + TORQUE, + }; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(93fc580a35339568, 18, 14) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +// ======================================================================================= + +class CarEvent::Reader { +public: + typedef CarEvent Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::cereal::CarEvent::EventName getName() const; + + inline bool getEnable() const; + + inline bool getNoEntry() const; + + inline bool getWarning() const; + + inline bool getUserDisable() const; + + inline bool getSoftDisable() const; + + inline bool getImmediateDisable() const; + + inline bool getPreEnable() const; + + inline bool getPermanent() const; + + inline bool getOverrideLongitudinal() const; + + inline bool getOverrideLateral() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class CarEvent::Builder { +public: + typedef CarEvent Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::cereal::CarEvent::EventName getName(); + inline void setName( ::cereal::CarEvent::EventName value); + + inline bool getEnable(); + inline void setEnable(bool value); + + inline bool getNoEntry(); + inline void setNoEntry(bool value); + + inline bool getWarning(); + inline void setWarning(bool value); + + inline bool getUserDisable(); + inline void setUserDisable(bool value); + + inline bool getSoftDisable(); + inline void setSoftDisable(bool value); + + inline bool getImmediateDisable(); + inline void setImmediateDisable(bool value); + + inline bool getPreEnable(); + inline void setPreEnable(bool value); + + inline bool getPermanent(); + inline void setPermanent(bool value); + + inline bool getOverrideLongitudinal(); + inline void setOverrideLongitudinal(bool value); + + inline bool getOverrideLateral(); + inline void setOverrideLateral(bool value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class CarEvent::Pipeline { +public: + typedef CarEvent Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class CarState::Reader { +public: + typedef CarState Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasErrorsDEPRECATED() const; + inline ::capnp::List< ::cereal::CarEvent::EventName, ::capnp::Kind::ENUM>::Reader getErrorsDEPRECATED() const; + + inline float getVEgo() const; + + inline bool hasWheelSpeeds() const; + inline ::cereal::CarState::WheelSpeeds::Reader getWheelSpeeds() const; + + inline float getGas() const; + + inline bool getGasPressed() const; + + inline float getBrake() const; + + inline bool getBrakePressed() const; + + inline float getSteeringAngleDeg() const; + + inline float getSteeringTorque() const; + + inline bool getSteeringPressed() const; + + inline bool hasCruiseState() const; + inline ::cereal::CarState::CruiseState::Reader getCruiseState() const; + + inline bool hasButtonEvents() const; + inline ::capnp::List< ::cereal::CarState::ButtonEvent, ::capnp::Kind::STRUCT>::Reader getButtonEvents() const; + + inline bool hasCanMonoTimesDEPRECATED() const; + inline ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>::Reader getCanMonoTimesDEPRECATED() const; + + inline bool hasEvents() const; + inline ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>::Reader getEvents() const; + + inline ::cereal::CarState::GearShifter getGearShifter() const; + + inline float getSteeringRateDeg() const; + + inline float getAEgo() const; + + inline float getVEgoRaw() const; + + inline bool getStandstill() const; + + inline bool getBrakeLightsDEPRECATED() const; + + inline bool getLeftBlinker() const; + + inline bool getRightBlinker() const; + + inline float getYawRate() const; + + inline bool getGenericToggle() const; + + inline bool getDoorOpen() const; + + inline bool getSeatbeltUnlatched() const; + + inline bool getCanValid() const; + + inline float getSteeringTorqueEps() const; + + inline bool getClutchPressed() const; + + inline bool getSteeringRateLimitedDEPRECATED() const; + + inline bool getStockAeb() const; + + inline bool getStockFcw() const; + + inline bool getEspDisabled() const; + + inline bool getLeftBlindspot() const; + + inline bool getRightBlindspot() const; + + inline bool getSteerFaultTemporary() const; + + inline bool getSteerFaultPermanent() const; + + inline float getSteeringAngleOffsetDeg() const; + + inline bool getBrakeHoldActive() const; + + inline bool getParkingBrake() const; + + inline bool getCanTimeout() const; + + inline float getFuelGauge() const; + + inline bool getAccFaulted() const; + + inline bool getCharging() const; + + inline float getVEgoCluster() const; + + inline bool getRegenBraking() const; + + inline float getEngineRpm() const; + + inline bool getCarFaultedNonCritical() const; + + inline ::uint32_t getCanErrorCounter() const; + + inline bool getCanRcvTimeoutDEPRECATED() const; + + inline float getCumLagMs() const; + + inline bool getEspActive() const; + + inline bool getMadsEnabled() const; + + inline bool getLeftBlinkerOn() const; + + inline bool getRightBlinkerOn() const; + + inline bool getDisengageByBrake() const; + + inline bool getBelowLaneChangeSpeed() const; + + inline bool getAccEnabled() const; + + inline bool getLatActive() const; + + inline ::int32_t getGapAdjustCruiseTr() const; + + inline bool getEndToEndLong() const; + + inline bool hasCustomStockLong() const; + inline ::cereal::CarState::CustomStockLong::Reader getCustomStockLong() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class CarState::Builder { +public: + typedef CarState Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasErrorsDEPRECATED(); + inline ::capnp::List< ::cereal::CarEvent::EventName, ::capnp::Kind::ENUM>::Builder getErrorsDEPRECATED(); + inline void setErrorsDEPRECATED( ::capnp::List< ::cereal::CarEvent::EventName, ::capnp::Kind::ENUM>::Reader value); + inline void setErrorsDEPRECATED(::kj::ArrayPtr value); + inline ::capnp::List< ::cereal::CarEvent::EventName, ::capnp::Kind::ENUM>::Builder initErrorsDEPRECATED(unsigned int size); + inline void adoptErrorsDEPRECATED(::capnp::Orphan< ::capnp::List< ::cereal::CarEvent::EventName, ::capnp::Kind::ENUM>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::CarEvent::EventName, ::capnp::Kind::ENUM>> disownErrorsDEPRECATED(); + + inline float getVEgo(); + inline void setVEgo(float value); + + inline bool hasWheelSpeeds(); + inline ::cereal::CarState::WheelSpeeds::Builder getWheelSpeeds(); + inline void setWheelSpeeds( ::cereal::CarState::WheelSpeeds::Reader value); + inline ::cereal::CarState::WheelSpeeds::Builder initWheelSpeeds(); + inline void adoptWheelSpeeds(::capnp::Orphan< ::cereal::CarState::WheelSpeeds>&& value); + inline ::capnp::Orphan< ::cereal::CarState::WheelSpeeds> disownWheelSpeeds(); + + inline float getGas(); + inline void setGas(float value); + + inline bool getGasPressed(); + inline void setGasPressed(bool value); + + inline float getBrake(); + inline void setBrake(float value); + + inline bool getBrakePressed(); + inline void setBrakePressed(bool value); + + inline float getSteeringAngleDeg(); + inline void setSteeringAngleDeg(float value); + + inline float getSteeringTorque(); + inline void setSteeringTorque(float value); + + inline bool getSteeringPressed(); + inline void setSteeringPressed(bool value); + + inline bool hasCruiseState(); + inline ::cereal::CarState::CruiseState::Builder getCruiseState(); + inline void setCruiseState( ::cereal::CarState::CruiseState::Reader value); + inline ::cereal::CarState::CruiseState::Builder initCruiseState(); + inline void adoptCruiseState(::capnp::Orphan< ::cereal::CarState::CruiseState>&& value); + inline ::capnp::Orphan< ::cereal::CarState::CruiseState> disownCruiseState(); + + inline bool hasButtonEvents(); + inline ::capnp::List< ::cereal::CarState::ButtonEvent, ::capnp::Kind::STRUCT>::Builder getButtonEvents(); + inline void setButtonEvents( ::capnp::List< ::cereal::CarState::ButtonEvent, ::capnp::Kind::STRUCT>::Reader value); + inline ::capnp::List< ::cereal::CarState::ButtonEvent, ::capnp::Kind::STRUCT>::Builder initButtonEvents(unsigned int size); + inline void adoptButtonEvents(::capnp::Orphan< ::capnp::List< ::cereal::CarState::ButtonEvent, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::CarState::ButtonEvent, ::capnp::Kind::STRUCT>> disownButtonEvents(); + + inline bool hasCanMonoTimesDEPRECATED(); + inline ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>::Builder getCanMonoTimesDEPRECATED(); + inline void setCanMonoTimesDEPRECATED( ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>::Reader value); + inline void setCanMonoTimesDEPRECATED(::kj::ArrayPtr value); + inline ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>::Builder initCanMonoTimesDEPRECATED(unsigned int size); + inline void adoptCanMonoTimesDEPRECATED(::capnp::Orphan< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>> disownCanMonoTimesDEPRECATED(); + + inline bool hasEvents(); + inline ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>::Builder getEvents(); + inline void setEvents( ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>::Reader value); + inline ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>::Builder initEvents(unsigned int size); + inline void adoptEvents(::capnp::Orphan< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>> disownEvents(); + + inline ::cereal::CarState::GearShifter getGearShifter(); + inline void setGearShifter( ::cereal::CarState::GearShifter value); + + inline float getSteeringRateDeg(); + inline void setSteeringRateDeg(float value); + + inline float getAEgo(); + inline void setAEgo(float value); + + inline float getVEgoRaw(); + inline void setVEgoRaw(float value); + + inline bool getStandstill(); + inline void setStandstill(bool value); + + inline bool getBrakeLightsDEPRECATED(); + inline void setBrakeLightsDEPRECATED(bool value); + + inline bool getLeftBlinker(); + inline void setLeftBlinker(bool value); + + inline bool getRightBlinker(); + inline void setRightBlinker(bool value); + + inline float getYawRate(); + inline void setYawRate(float value); + + inline bool getGenericToggle(); + inline void setGenericToggle(bool value); + + inline bool getDoorOpen(); + inline void setDoorOpen(bool value); + + inline bool getSeatbeltUnlatched(); + inline void setSeatbeltUnlatched(bool value); + + inline bool getCanValid(); + inline void setCanValid(bool value); + + inline float getSteeringTorqueEps(); + inline void setSteeringTorqueEps(float value); + + inline bool getClutchPressed(); + inline void setClutchPressed(bool value); + + inline bool getSteeringRateLimitedDEPRECATED(); + inline void setSteeringRateLimitedDEPRECATED(bool value); + + inline bool getStockAeb(); + inline void setStockAeb(bool value); + + inline bool getStockFcw(); + inline void setStockFcw(bool value); + + inline bool getEspDisabled(); + inline void setEspDisabled(bool value); + + inline bool getLeftBlindspot(); + inline void setLeftBlindspot(bool value); + + inline bool getRightBlindspot(); + inline void setRightBlindspot(bool value); + + inline bool getSteerFaultTemporary(); + inline void setSteerFaultTemporary(bool value); + + inline bool getSteerFaultPermanent(); + inline void setSteerFaultPermanent(bool value); + + inline float getSteeringAngleOffsetDeg(); + inline void setSteeringAngleOffsetDeg(float value); + + inline bool getBrakeHoldActive(); + inline void setBrakeHoldActive(bool value); + + inline bool getParkingBrake(); + inline void setParkingBrake(bool value); + + inline bool getCanTimeout(); + inline void setCanTimeout(bool value); + + inline float getFuelGauge(); + inline void setFuelGauge(float value); + + inline bool getAccFaulted(); + inline void setAccFaulted(bool value); + + inline bool getCharging(); + inline void setCharging(bool value); + + inline float getVEgoCluster(); + inline void setVEgoCluster(float value); + + inline bool getRegenBraking(); + inline void setRegenBraking(bool value); + + inline float getEngineRpm(); + inline void setEngineRpm(float value); + + inline bool getCarFaultedNonCritical(); + inline void setCarFaultedNonCritical(bool value); + + inline ::uint32_t getCanErrorCounter(); + inline void setCanErrorCounter( ::uint32_t value); + + inline bool getCanRcvTimeoutDEPRECATED(); + inline void setCanRcvTimeoutDEPRECATED(bool value); + + inline float getCumLagMs(); + inline void setCumLagMs(float value); + + inline bool getEspActive(); + inline void setEspActive(bool value); + + inline bool getMadsEnabled(); + inline void setMadsEnabled(bool value); + + inline bool getLeftBlinkerOn(); + inline void setLeftBlinkerOn(bool value); + + inline bool getRightBlinkerOn(); + inline void setRightBlinkerOn(bool value); + + inline bool getDisengageByBrake(); + inline void setDisengageByBrake(bool value); + + inline bool getBelowLaneChangeSpeed(); + inline void setBelowLaneChangeSpeed(bool value); + + inline bool getAccEnabled(); + inline void setAccEnabled(bool value); + + inline bool getLatActive(); + inline void setLatActive(bool value); + + inline ::int32_t getGapAdjustCruiseTr(); + inline void setGapAdjustCruiseTr( ::int32_t value); + + inline bool getEndToEndLong(); + inline void setEndToEndLong(bool value); + + inline bool hasCustomStockLong(); + inline ::cereal::CarState::CustomStockLong::Builder getCustomStockLong(); + inline void setCustomStockLong( ::cereal::CarState::CustomStockLong::Reader value); + inline ::cereal::CarState::CustomStockLong::Builder initCustomStockLong(); + inline void adoptCustomStockLong(::capnp::Orphan< ::cereal::CarState::CustomStockLong>&& value); + inline ::capnp::Orphan< ::cereal::CarState::CustomStockLong> disownCustomStockLong(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class CarState::Pipeline { +public: + typedef CarState Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + + inline ::cereal::CarState::WheelSpeeds::Pipeline getWheelSpeeds(); + inline ::cereal::CarState::CruiseState::Pipeline getCruiseState(); + inline ::cereal::CarState::CustomStockLong::Pipeline getCustomStockLong(); +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class CarState::CustomStockLong::Reader { +public: + typedef CustomStockLong Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::int16_t getCruiseButton() const; + + inline float getFinalSpeedKph() const; + + inline float getVCruiseKphPrevDEPRECATED() const; + + inline float getTargetSpeed() const; + + inline float getVSetDis() const; + + inline float getSpeedDiff() const; + + inline ::int16_t getButtonType() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class CarState::CustomStockLong::Builder { +public: + typedef CustomStockLong Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::int16_t getCruiseButton(); + inline void setCruiseButton( ::int16_t value); + + inline float getFinalSpeedKph(); + inline void setFinalSpeedKph(float value); + + inline float getVCruiseKphPrevDEPRECATED(); + inline void setVCruiseKphPrevDEPRECATED(float value); + + inline float getTargetSpeed(); + inline void setTargetSpeed(float value); + + inline float getVSetDis(); + inline void setVSetDis(float value); + + inline float getSpeedDiff(); + inline void setSpeedDiff(float value); + + inline ::int16_t getButtonType(); + inline void setButtonType( ::int16_t value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class CarState::CustomStockLong::Pipeline { +public: + typedef CustomStockLong Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class CarState::WheelSpeeds::Reader { +public: + typedef WheelSpeeds Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline float getFl() const; + + inline float getFr() const; + + inline float getRl() const; + + inline float getRr() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class CarState::WheelSpeeds::Builder { +public: + typedef WheelSpeeds Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline float getFl(); + inline void setFl(float value); + + inline float getFr(); + inline void setFr(float value); + + inline float getRl(); + inline void setRl(float value); + + inline float getRr(); + inline void setRr(float value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class CarState::WheelSpeeds::Pipeline { +public: + typedef WheelSpeeds Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class CarState::CruiseState::Reader { +public: + typedef CruiseState Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool getEnabled() const; + + inline float getSpeed() const; + + inline bool getAvailable() const; + + inline float getSpeedOffset() const; + + inline bool getStandstill() const; + + inline bool getNonAdaptive() const; + + inline float getSpeedCluster() const; + + inline float getSpeedLimit() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class CarState::CruiseState::Builder { +public: + typedef CruiseState Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool getEnabled(); + inline void setEnabled(bool value); + + inline float getSpeed(); + inline void setSpeed(float value); + + inline bool getAvailable(); + inline void setAvailable(bool value); + + inline float getSpeedOffset(); + inline void setSpeedOffset(float value); + + inline bool getStandstill(); + inline void setStandstill(bool value); + + inline bool getNonAdaptive(); + inline void setNonAdaptive(bool value); + + inline float getSpeedCluster(); + inline void setSpeedCluster(float value); + + inline float getSpeedLimit(); + inline void setSpeedLimit(float value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class CarState::CruiseState::Pipeline { +public: + typedef CruiseState Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class CarState::ButtonEvent::Reader { +public: + typedef ButtonEvent Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool getPressed() const; + + inline ::cereal::CarState::ButtonEvent::Type getType() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class CarState::ButtonEvent::Builder { +public: + typedef ButtonEvent Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool getPressed(); + inline void setPressed(bool value); + + inline ::cereal::CarState::ButtonEvent::Type getType(); + inline void setType( ::cereal::CarState::ButtonEvent::Type value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class CarState::ButtonEvent::Pipeline { +public: + typedef ButtonEvent Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class RadarData::Reader { +public: + typedef RadarData Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasErrors() const; + inline ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>::Reader getErrors() const; + + inline bool hasPoints() const; + inline ::capnp::List< ::cereal::RadarData::RadarPoint, ::capnp::Kind::STRUCT>::Reader getPoints() const; + + inline bool hasCanMonoTimesDEPRECATED() const; + inline ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>::Reader getCanMonoTimesDEPRECATED() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class RadarData::Builder { +public: + typedef RadarData Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasErrors(); + inline ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>::Builder getErrors(); + inline void setErrors( ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>::Reader value); + inline void setErrors(::kj::ArrayPtr value); + inline ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>::Builder initErrors(unsigned int size); + inline void adoptErrors(::capnp::Orphan< ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>> disownErrors(); + + inline bool hasPoints(); + inline ::capnp::List< ::cereal::RadarData::RadarPoint, ::capnp::Kind::STRUCT>::Builder getPoints(); + inline void setPoints( ::capnp::List< ::cereal::RadarData::RadarPoint, ::capnp::Kind::STRUCT>::Reader value); + inline ::capnp::List< ::cereal::RadarData::RadarPoint, ::capnp::Kind::STRUCT>::Builder initPoints(unsigned int size); + inline void adoptPoints(::capnp::Orphan< ::capnp::List< ::cereal::RadarData::RadarPoint, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::RadarData::RadarPoint, ::capnp::Kind::STRUCT>> disownPoints(); + + inline bool hasCanMonoTimesDEPRECATED(); + inline ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>::Builder getCanMonoTimesDEPRECATED(); + inline void setCanMonoTimesDEPRECATED( ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>::Reader value); + inline void setCanMonoTimesDEPRECATED(::kj::ArrayPtr value); + inline ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>::Builder initCanMonoTimesDEPRECATED(unsigned int size); + inline void adoptCanMonoTimesDEPRECATED(::capnp::Orphan< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>> disownCanMonoTimesDEPRECATED(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class RadarData::Pipeline { +public: + typedef RadarData Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class RadarData::RadarPoint::Reader { +public: + typedef RadarPoint Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::uint64_t getTrackId() const; + + inline float getDRel() const; + + inline float getYRel() const; + + inline float getVRel() const; + + inline float getARel() const; + + inline float getYvRel() const; + + inline bool getMeasured() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class RadarData::RadarPoint::Builder { +public: + typedef RadarPoint Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::uint64_t getTrackId(); + inline void setTrackId( ::uint64_t value); + + inline float getDRel(); + inline void setDRel(float value); + + inline float getYRel(); + inline void setYRel(float value); + + inline float getVRel(); + inline void setVRel(float value); + + inline float getARel(); + inline void setARel(float value); + + inline float getYvRel(); + inline void setYvRel(float value); + + inline bool getMeasured(); + inline void setMeasured(bool value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class RadarData::RadarPoint::Pipeline { +public: + typedef RadarPoint Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class CarControl::Reader { +public: + typedef CarControl Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool getEnabled() const; + + inline float getGasDEPRECATED() const; + + inline float getBrakeDEPRECATED() const; + + inline float getSteeringTorqueDEPRECATED() const; + + inline bool hasCruiseControl() const; + inline ::cereal::CarControl::CruiseControl::Reader getCruiseControl() const; + + inline bool hasHudControl() const; + inline ::cereal::CarControl::HUDControl::Reader getHudControl() const; + + inline bool hasActuators() const; + inline ::cereal::CarControl::Actuators::Reader getActuators() const; + + inline bool getActiveDEPRECATED() const; + + inline float getRollDEPRECATED() const; + + inline float getPitchDEPRECATED() const; + + inline bool hasActuatorsOutputDEPRECATED() const; + inline ::cereal::CarControl::Actuators::Reader getActuatorsOutputDEPRECATED() const; + + inline bool getLatActive() const; + + inline bool getLongActive() const; + + inline bool hasOrientationNED() const; + inline ::capnp::List::Reader getOrientationNED() const; + + inline bool hasAngularVelocity() const; + inline ::capnp::List::Reader getAngularVelocity() const; + + inline bool getLeftBlinker() const; + + inline bool getRightBlinker() const; + + inline float getVCruise() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class CarControl::Builder { +public: + typedef CarControl Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool getEnabled(); + inline void setEnabled(bool value); + + inline float getGasDEPRECATED(); + inline void setGasDEPRECATED(float value); + + inline float getBrakeDEPRECATED(); + inline void setBrakeDEPRECATED(float value); + + inline float getSteeringTorqueDEPRECATED(); + inline void setSteeringTorqueDEPRECATED(float value); + + inline bool hasCruiseControl(); + inline ::cereal::CarControl::CruiseControl::Builder getCruiseControl(); + inline void setCruiseControl( ::cereal::CarControl::CruiseControl::Reader value); + inline ::cereal::CarControl::CruiseControl::Builder initCruiseControl(); + inline void adoptCruiseControl(::capnp::Orphan< ::cereal::CarControl::CruiseControl>&& value); + inline ::capnp::Orphan< ::cereal::CarControl::CruiseControl> disownCruiseControl(); + + inline bool hasHudControl(); + inline ::cereal::CarControl::HUDControl::Builder getHudControl(); + inline void setHudControl( ::cereal::CarControl::HUDControl::Reader value); + inline ::cereal::CarControl::HUDControl::Builder initHudControl(); + inline void adoptHudControl(::capnp::Orphan< ::cereal::CarControl::HUDControl>&& value); + inline ::capnp::Orphan< ::cereal::CarControl::HUDControl> disownHudControl(); + + inline bool hasActuators(); + inline ::cereal::CarControl::Actuators::Builder getActuators(); + inline void setActuators( ::cereal::CarControl::Actuators::Reader value); + inline ::cereal::CarControl::Actuators::Builder initActuators(); + inline void adoptActuators(::capnp::Orphan< ::cereal::CarControl::Actuators>&& value); + inline ::capnp::Orphan< ::cereal::CarControl::Actuators> disownActuators(); + + inline bool getActiveDEPRECATED(); + inline void setActiveDEPRECATED(bool value); + + inline float getRollDEPRECATED(); + inline void setRollDEPRECATED(float value); + + inline float getPitchDEPRECATED(); + inline void setPitchDEPRECATED(float value); + + inline bool hasActuatorsOutputDEPRECATED(); + inline ::cereal::CarControl::Actuators::Builder getActuatorsOutputDEPRECATED(); + inline void setActuatorsOutputDEPRECATED( ::cereal::CarControl::Actuators::Reader value); + inline ::cereal::CarControl::Actuators::Builder initActuatorsOutputDEPRECATED(); + inline void adoptActuatorsOutputDEPRECATED(::capnp::Orphan< ::cereal::CarControl::Actuators>&& value); + inline ::capnp::Orphan< ::cereal::CarControl::Actuators> disownActuatorsOutputDEPRECATED(); + + inline bool getLatActive(); + inline void setLatActive(bool value); + + inline bool getLongActive(); + inline void setLongActive(bool value); + + inline bool hasOrientationNED(); + inline ::capnp::List::Builder getOrientationNED(); + inline void setOrientationNED( ::capnp::List::Reader value); + inline void setOrientationNED(::kj::ArrayPtr value); + inline ::capnp::List::Builder initOrientationNED(unsigned int size); + inline void adoptOrientationNED(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownOrientationNED(); + + inline bool hasAngularVelocity(); + inline ::capnp::List::Builder getAngularVelocity(); + inline void setAngularVelocity( ::capnp::List::Reader value); + inline void setAngularVelocity(::kj::ArrayPtr value); + inline ::capnp::List::Builder initAngularVelocity(unsigned int size); + inline void adoptAngularVelocity(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownAngularVelocity(); + + inline bool getLeftBlinker(); + inline void setLeftBlinker(bool value); + + inline bool getRightBlinker(); + inline void setRightBlinker(bool value); + + inline float getVCruise(); + inline void setVCruise(float value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class CarControl::Pipeline { +public: + typedef CarControl Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + + inline ::cereal::CarControl::CruiseControl::Pipeline getCruiseControl(); + inline ::cereal::CarControl::HUDControl::Pipeline getHudControl(); + inline ::cereal::CarControl::Actuators::Pipeline getActuators(); + inline ::cereal::CarControl::Actuators::Pipeline getActuatorsOutputDEPRECATED(); +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class CarControl::Actuators::Reader { +public: + typedef Actuators Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline float getGas() const; + + inline float getBrake() const; + + inline float getSteer() const; + + inline float getSteeringAngleDeg() const; + + inline float getAccel() const; + + inline ::cereal::CarControl::Actuators::LongControlState getLongControlState() const; + + inline float getSpeed() const; + + inline float getCurvature() const; + + inline float getSteerOutputCan() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class CarControl::Actuators::Builder { +public: + typedef Actuators Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline float getGas(); + inline void setGas(float value); + + inline float getBrake(); + inline void setBrake(float value); + + inline float getSteer(); + inline void setSteer(float value); + + inline float getSteeringAngleDeg(); + inline void setSteeringAngleDeg(float value); + + inline float getAccel(); + inline void setAccel(float value); + + inline ::cereal::CarControl::Actuators::LongControlState getLongControlState(); + inline void setLongControlState( ::cereal::CarControl::Actuators::LongControlState value); + + inline float getSpeed(); + inline void setSpeed(float value); + + inline float getCurvature(); + inline void setCurvature(float value); + + inline float getSteerOutputCan(); + inline void setSteerOutputCan(float value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class CarControl::Actuators::Pipeline { +public: + typedef Actuators Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class CarControl::CruiseControl::Reader { +public: + typedef CruiseControl Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool getCancel() const; + + inline bool getResume() const; + + inline float getSpeedOverrideDEPRECATED() const; + + inline float getAccelOverrideDEPRECATED() const; + + inline bool getOverride() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class CarControl::CruiseControl::Builder { +public: + typedef CruiseControl Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool getCancel(); + inline void setCancel(bool value); + + inline bool getResume(); + inline void setResume(bool value); + + inline float getSpeedOverrideDEPRECATED(); + inline void setSpeedOverrideDEPRECATED(float value); + + inline float getAccelOverrideDEPRECATED(); + inline void setAccelOverrideDEPRECATED(float value); + + inline bool getOverride(); + inline void setOverride(bool value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class CarControl::CruiseControl::Pipeline { +public: + typedef CruiseControl Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class CarControl::HUDControl::Reader { +public: + typedef HUDControl Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool getSpeedVisible() const; + + inline float getSetSpeed() const; + + inline bool getLanesVisible() const; + + inline bool getLeadVisible() const; + + inline ::cereal::CarControl::HUDControl::VisualAlert getVisualAlert() const; + + inline ::cereal::CarControl::HUDControl::AudibleAlert getAudibleAlert() const; + + inline bool getRightLaneVisible() const; + + inline bool getLeftLaneVisible() const; + + inline bool getRightLaneDepart() const; + + inline bool getLeftLaneDepart() const; + + inline ::int8_t getLeadDistanceBars() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class CarControl::HUDControl::Builder { +public: + typedef HUDControl Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool getSpeedVisible(); + inline void setSpeedVisible(bool value); + + inline float getSetSpeed(); + inline void setSetSpeed(float value); + + inline bool getLanesVisible(); + inline void setLanesVisible(bool value); + + inline bool getLeadVisible(); + inline void setLeadVisible(bool value); + + inline ::cereal::CarControl::HUDControl::VisualAlert getVisualAlert(); + inline void setVisualAlert( ::cereal::CarControl::HUDControl::VisualAlert value); + + inline ::cereal::CarControl::HUDControl::AudibleAlert getAudibleAlert(); + inline void setAudibleAlert( ::cereal::CarControl::HUDControl::AudibleAlert value); + + inline bool getRightLaneVisible(); + inline void setRightLaneVisible(bool value); + + inline bool getLeftLaneVisible(); + inline void setLeftLaneVisible(bool value); + + inline bool getRightLaneDepart(); + inline void setRightLaneDepart(bool value); + + inline bool getLeftLaneDepart(); + inline void setLeftLaneDepart(bool value); + + inline ::int8_t getLeadDistanceBars(); + inline void setLeadDistanceBars( ::int8_t value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class CarControl::HUDControl::Pipeline { +public: + typedef HUDControl Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class CarOutput::Reader { +public: + typedef CarOutput Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasActuatorsOutput() const; + inline ::cereal::CarControl::Actuators::Reader getActuatorsOutput() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class CarOutput::Builder { +public: + typedef CarOutput Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasActuatorsOutput(); + inline ::cereal::CarControl::Actuators::Builder getActuatorsOutput(); + inline void setActuatorsOutput( ::cereal::CarControl::Actuators::Reader value); + inline ::cereal::CarControl::Actuators::Builder initActuatorsOutput(); + inline void adoptActuatorsOutput(::capnp::Orphan< ::cereal::CarControl::Actuators>&& value); + inline ::capnp::Orphan< ::cereal::CarControl::Actuators> disownActuatorsOutput(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class CarOutput::Pipeline { +public: + typedef CarOutput Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + + inline ::cereal::CarControl::Actuators::Pipeline getActuatorsOutput(); +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class CarParams::Reader { +public: + typedef CarParams Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasCarName() const; + inline ::capnp::Text::Reader getCarName() const; + + inline bool hasCarFingerprint() const; + inline ::capnp::Text::Reader getCarFingerprint() const; + + inline bool getEnableGasInterceptorDEPRECATED() const; + + inline bool getPcmCruise() const; + + inline bool getEnableCameraDEPRECATED() const; + + inline bool getEnableDsu() const; + + inline bool getEnableApgsDEPRECATED() const; + + inline float getMinEnableSpeed() const; + + inline float getMinSteerSpeed() const; + + inline ::cereal::CarParams::SafetyModel getSafetyModelDEPRECATED() const; + + inline ::int16_t getSafetyParamDEPRECATED() const; + + inline bool hasSteerMaxBPDEPRECATED() const; + inline ::capnp::List::Reader getSteerMaxBPDEPRECATED() const; + + inline bool hasSteerMaxVDEPRECATED() const; + inline ::capnp::List::Reader getSteerMaxVDEPRECATED() const; + + inline bool hasGasMaxBPDEPRECATED() const; + inline ::capnp::List::Reader getGasMaxBPDEPRECATED() const; + + inline bool hasGasMaxVDEPRECATED() const; + inline ::capnp::List::Reader getGasMaxVDEPRECATED() const; + + inline bool hasBrakeMaxBPDEPRECATED() const; + inline ::capnp::List::Reader getBrakeMaxBPDEPRECATED() const; + + inline bool hasBrakeMaxVDEPRECATED() const; + inline ::capnp::List::Reader getBrakeMaxVDEPRECATED() const; + + inline float getMass() const; + + inline float getWheelbase() const; + + inline float getCenterToFront() const; + + inline float getSteerRatio() const; + + inline float getSteerRatioRear() const; + + inline float getRotationalInertia() const; + + inline float getTireStiffnessFront() const; + + inline float getTireStiffnessRear() const; + + inline bool hasLongitudinalTuning() const; + inline ::cereal::CarParams::LongitudinalPIDTuning::Reader getLongitudinalTuning() const; + + inline typename LateralTuning::Reader getLateralTuning() const; + + inline bool getSteerLimitAlert() const; + + inline float getVEgoStopping() const; + + inline bool getDirectAccelControlDEPRECATED() const; + + inline bool getStoppingControl() const; + + inline float getStartAccel() const; + + inline float getSteerRateCostDEPRECATED() const; + + inline ::cereal::CarParams::SteerControlType getSteerControlType() const; + + inline bool getRadarUnavailable() const; + + inline float getSteerActuatorDelay() const; + + inline bool getOpenpilotLongitudinalControl() const; + + inline bool hasCarVin() const; + inline ::capnp::Text::Reader getCarVin() const; + + inline bool getIsPandaBlackDEPRECATED() const; + + inline bool getDashcamOnly() const; + + inline ::cereal::CarParams::SafetyModel getSafetyModelPassiveDEPRECATED() const; + + inline ::cereal::CarParams::TransmissionType getTransmissionType() const; + + inline bool hasCarFw() const; + inline ::capnp::List< ::cereal::CarParams::CarFw, ::capnp::Kind::STRUCT>::Reader getCarFw() const; + + inline float getRadarTimeStep() const; + + inline bool getCommunityFeatureDEPRECATED() const; + + inline float getSteerLimitTimer() const; + + inline bool hasLateralParams() const; + inline ::cereal::CarParams::LateralParams::Reader getLateralParams() const; + + inline ::cereal::CarParams::FingerprintSource getFingerprintSource() const; + + inline ::cereal::CarParams::NetworkLocation getNetworkLocation() const; + + inline float getMinSpeedCanDEPRECATED() const; + + inline float getStoppingDecelRate() const; + + inline float getStartingAccelRateDEPRECATED() const; + + inline float getMaxSteeringAngleDegDEPRECATED() const; + + inline bool getFuzzyFingerprint() const; + + inline bool getEnableBsm() const; + + inline bool getHasStockCameraDEPRECATED() const; + + inline float getLongitudinalActuatorDelay() const; + + inline float getVEgoStarting() const; + + inline float getStopAccel() const; + + inline float getLongitudinalActuatorDelayLowerBoundDEPRECATEDDEPRECATED() const; + + inline bool hasSafetyConfigs() const; + inline ::capnp::List< ::cereal::CarParams::SafetyConfig, ::capnp::Kind::STRUCT>::Reader getSafetyConfigs() const; + + inline float getWheelSpeedFactor() const; + + inline ::uint32_t getFlags() const; + + inline ::int16_t getAlternativeExperience() const; + + inline bool getNotCar() const; + + inline float getMaxLateralAccel() const; + + inline bool getAutoResumeSng() const; + + inline bool getStartingState() const; + + inline bool getExperimentalLongitudinalAvailable() const; + + inline float getTireStiffnessFactor() const; + + inline bool getPassive() const; + + inline bool getPcmCruiseSpeed() const; + + inline bool getCustomStockLongAvailable() const; + + inline ::uint32_t getSpFlags() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class CarParams::Builder { +public: + typedef CarParams Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasCarName(); + inline ::capnp::Text::Builder getCarName(); + inline void setCarName( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initCarName(unsigned int size); + inline void adoptCarName(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownCarName(); + + inline bool hasCarFingerprint(); + inline ::capnp::Text::Builder getCarFingerprint(); + inline void setCarFingerprint( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initCarFingerprint(unsigned int size); + inline void adoptCarFingerprint(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownCarFingerprint(); + + inline bool getEnableGasInterceptorDEPRECATED(); + inline void setEnableGasInterceptorDEPRECATED(bool value); + + inline bool getPcmCruise(); + inline void setPcmCruise(bool value); + + inline bool getEnableCameraDEPRECATED(); + inline void setEnableCameraDEPRECATED(bool value); + + inline bool getEnableDsu(); + inline void setEnableDsu(bool value); + + inline bool getEnableApgsDEPRECATED(); + inline void setEnableApgsDEPRECATED(bool value); + + inline float getMinEnableSpeed(); + inline void setMinEnableSpeed(float value); + + inline float getMinSteerSpeed(); + inline void setMinSteerSpeed(float value); + + inline ::cereal::CarParams::SafetyModel getSafetyModelDEPRECATED(); + inline void setSafetyModelDEPRECATED( ::cereal::CarParams::SafetyModel value); + + inline ::int16_t getSafetyParamDEPRECATED(); + inline void setSafetyParamDEPRECATED( ::int16_t value); + + inline bool hasSteerMaxBPDEPRECATED(); + inline ::capnp::List::Builder getSteerMaxBPDEPRECATED(); + inline void setSteerMaxBPDEPRECATED( ::capnp::List::Reader value); + inline void setSteerMaxBPDEPRECATED(::kj::ArrayPtr value); + inline ::capnp::List::Builder initSteerMaxBPDEPRECATED(unsigned int size); + inline void adoptSteerMaxBPDEPRECATED(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownSteerMaxBPDEPRECATED(); + + inline bool hasSteerMaxVDEPRECATED(); + inline ::capnp::List::Builder getSteerMaxVDEPRECATED(); + inline void setSteerMaxVDEPRECATED( ::capnp::List::Reader value); + inline void setSteerMaxVDEPRECATED(::kj::ArrayPtr value); + inline ::capnp::List::Builder initSteerMaxVDEPRECATED(unsigned int size); + inline void adoptSteerMaxVDEPRECATED(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownSteerMaxVDEPRECATED(); + + inline bool hasGasMaxBPDEPRECATED(); + inline ::capnp::List::Builder getGasMaxBPDEPRECATED(); + inline void setGasMaxBPDEPRECATED( ::capnp::List::Reader value); + inline void setGasMaxBPDEPRECATED(::kj::ArrayPtr value); + inline ::capnp::List::Builder initGasMaxBPDEPRECATED(unsigned int size); + inline void adoptGasMaxBPDEPRECATED(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownGasMaxBPDEPRECATED(); + + inline bool hasGasMaxVDEPRECATED(); + inline ::capnp::List::Builder getGasMaxVDEPRECATED(); + inline void setGasMaxVDEPRECATED( ::capnp::List::Reader value); + inline void setGasMaxVDEPRECATED(::kj::ArrayPtr value); + inline ::capnp::List::Builder initGasMaxVDEPRECATED(unsigned int size); + inline void adoptGasMaxVDEPRECATED(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownGasMaxVDEPRECATED(); + + inline bool hasBrakeMaxBPDEPRECATED(); + inline ::capnp::List::Builder getBrakeMaxBPDEPRECATED(); + inline void setBrakeMaxBPDEPRECATED( ::capnp::List::Reader value); + inline void setBrakeMaxBPDEPRECATED(::kj::ArrayPtr value); + inline ::capnp::List::Builder initBrakeMaxBPDEPRECATED(unsigned int size); + inline void adoptBrakeMaxBPDEPRECATED(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownBrakeMaxBPDEPRECATED(); + + inline bool hasBrakeMaxVDEPRECATED(); + inline ::capnp::List::Builder getBrakeMaxVDEPRECATED(); + inline void setBrakeMaxVDEPRECATED( ::capnp::List::Reader value); + inline void setBrakeMaxVDEPRECATED(::kj::ArrayPtr value); + inline ::capnp::List::Builder initBrakeMaxVDEPRECATED(unsigned int size); + inline void adoptBrakeMaxVDEPRECATED(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownBrakeMaxVDEPRECATED(); + + inline float getMass(); + inline void setMass(float value); + + inline float getWheelbase(); + inline void setWheelbase(float value); + + inline float getCenterToFront(); + inline void setCenterToFront(float value); + + inline float getSteerRatio(); + inline void setSteerRatio(float value); + + inline float getSteerRatioRear(); + inline void setSteerRatioRear(float value); + + inline float getRotationalInertia(); + inline void setRotationalInertia(float value); + + inline float getTireStiffnessFront(); + inline void setTireStiffnessFront(float value); + + inline float getTireStiffnessRear(); + inline void setTireStiffnessRear(float value); + + inline bool hasLongitudinalTuning(); + inline ::cereal::CarParams::LongitudinalPIDTuning::Builder getLongitudinalTuning(); + inline void setLongitudinalTuning( ::cereal::CarParams::LongitudinalPIDTuning::Reader value); + inline ::cereal::CarParams::LongitudinalPIDTuning::Builder initLongitudinalTuning(); + inline void adoptLongitudinalTuning(::capnp::Orphan< ::cereal::CarParams::LongitudinalPIDTuning>&& value); + inline ::capnp::Orphan< ::cereal::CarParams::LongitudinalPIDTuning> disownLongitudinalTuning(); + + inline typename LateralTuning::Builder getLateralTuning(); + inline typename LateralTuning::Builder initLateralTuning(); + + inline bool getSteerLimitAlert(); + inline void setSteerLimitAlert(bool value); + + inline float getVEgoStopping(); + inline void setVEgoStopping(float value); + + inline bool getDirectAccelControlDEPRECATED(); + inline void setDirectAccelControlDEPRECATED(bool value); + + inline bool getStoppingControl(); + inline void setStoppingControl(bool value); + + inline float getStartAccel(); + inline void setStartAccel(float value); + + inline float getSteerRateCostDEPRECATED(); + inline void setSteerRateCostDEPRECATED(float value); + + inline ::cereal::CarParams::SteerControlType getSteerControlType(); + inline void setSteerControlType( ::cereal::CarParams::SteerControlType value); + + inline bool getRadarUnavailable(); + inline void setRadarUnavailable(bool value); + + inline float getSteerActuatorDelay(); + inline void setSteerActuatorDelay(float value); + + inline bool getOpenpilotLongitudinalControl(); + inline void setOpenpilotLongitudinalControl(bool value); + + inline bool hasCarVin(); + inline ::capnp::Text::Builder getCarVin(); + inline void setCarVin( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initCarVin(unsigned int size); + inline void adoptCarVin(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownCarVin(); + + inline bool getIsPandaBlackDEPRECATED(); + inline void setIsPandaBlackDEPRECATED(bool value); + + inline bool getDashcamOnly(); + inline void setDashcamOnly(bool value); + + inline ::cereal::CarParams::SafetyModel getSafetyModelPassiveDEPRECATED(); + inline void setSafetyModelPassiveDEPRECATED( ::cereal::CarParams::SafetyModel value); + + inline ::cereal::CarParams::TransmissionType getTransmissionType(); + inline void setTransmissionType( ::cereal::CarParams::TransmissionType value); + + inline bool hasCarFw(); + inline ::capnp::List< ::cereal::CarParams::CarFw, ::capnp::Kind::STRUCT>::Builder getCarFw(); + inline void setCarFw( ::capnp::List< ::cereal::CarParams::CarFw, ::capnp::Kind::STRUCT>::Reader value); + inline ::capnp::List< ::cereal::CarParams::CarFw, ::capnp::Kind::STRUCT>::Builder initCarFw(unsigned int size); + inline void adoptCarFw(::capnp::Orphan< ::capnp::List< ::cereal::CarParams::CarFw, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::CarParams::CarFw, ::capnp::Kind::STRUCT>> disownCarFw(); + + inline float getRadarTimeStep(); + inline void setRadarTimeStep(float value); + + inline bool getCommunityFeatureDEPRECATED(); + inline void setCommunityFeatureDEPRECATED(bool value); + + inline float getSteerLimitTimer(); + inline void setSteerLimitTimer(float value); + + inline bool hasLateralParams(); + inline ::cereal::CarParams::LateralParams::Builder getLateralParams(); + inline void setLateralParams( ::cereal::CarParams::LateralParams::Reader value); + inline ::cereal::CarParams::LateralParams::Builder initLateralParams(); + inline void adoptLateralParams(::capnp::Orphan< ::cereal::CarParams::LateralParams>&& value); + inline ::capnp::Orphan< ::cereal::CarParams::LateralParams> disownLateralParams(); + + inline ::cereal::CarParams::FingerprintSource getFingerprintSource(); + inline void setFingerprintSource( ::cereal::CarParams::FingerprintSource value); + + inline ::cereal::CarParams::NetworkLocation getNetworkLocation(); + inline void setNetworkLocation( ::cereal::CarParams::NetworkLocation value); + + inline float getMinSpeedCanDEPRECATED(); + inline void setMinSpeedCanDEPRECATED(float value); + + inline float getStoppingDecelRate(); + inline void setStoppingDecelRate(float value); + + inline float getStartingAccelRateDEPRECATED(); + inline void setStartingAccelRateDEPRECATED(float value); + + inline float getMaxSteeringAngleDegDEPRECATED(); + inline void setMaxSteeringAngleDegDEPRECATED(float value); + + inline bool getFuzzyFingerprint(); + inline void setFuzzyFingerprint(bool value); + + inline bool getEnableBsm(); + inline void setEnableBsm(bool value); + + inline bool getHasStockCameraDEPRECATED(); + inline void setHasStockCameraDEPRECATED(bool value); + + inline float getLongitudinalActuatorDelay(); + inline void setLongitudinalActuatorDelay(float value); + + inline float getVEgoStarting(); + inline void setVEgoStarting(float value); + + inline float getStopAccel(); + inline void setStopAccel(float value); + + inline float getLongitudinalActuatorDelayLowerBoundDEPRECATEDDEPRECATED(); + inline void setLongitudinalActuatorDelayLowerBoundDEPRECATEDDEPRECATED(float value); + + inline bool hasSafetyConfigs(); + inline ::capnp::List< ::cereal::CarParams::SafetyConfig, ::capnp::Kind::STRUCT>::Builder getSafetyConfigs(); + inline void setSafetyConfigs( ::capnp::List< ::cereal::CarParams::SafetyConfig, ::capnp::Kind::STRUCT>::Reader value); + inline ::capnp::List< ::cereal::CarParams::SafetyConfig, ::capnp::Kind::STRUCT>::Builder initSafetyConfigs(unsigned int size); + inline void adoptSafetyConfigs(::capnp::Orphan< ::capnp::List< ::cereal::CarParams::SafetyConfig, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::CarParams::SafetyConfig, ::capnp::Kind::STRUCT>> disownSafetyConfigs(); + + inline float getWheelSpeedFactor(); + inline void setWheelSpeedFactor(float value); + + inline ::uint32_t getFlags(); + inline void setFlags( ::uint32_t value); + + inline ::int16_t getAlternativeExperience(); + inline void setAlternativeExperience( ::int16_t value); + + inline bool getNotCar(); + inline void setNotCar(bool value); + + inline float getMaxLateralAccel(); + inline void setMaxLateralAccel(float value); + + inline bool getAutoResumeSng(); + inline void setAutoResumeSng(bool value); + + inline bool getStartingState(); + inline void setStartingState(bool value); + + inline bool getExperimentalLongitudinalAvailable(); + inline void setExperimentalLongitudinalAvailable(bool value); + + inline float getTireStiffnessFactor(); + inline void setTireStiffnessFactor(float value); + + inline bool getPassive(); + inline void setPassive(bool value); + + inline bool getPcmCruiseSpeed(); + inline void setPcmCruiseSpeed(bool value); + + inline bool getCustomStockLongAvailable(); + inline void setCustomStockLongAvailable(bool value); + + inline ::uint32_t getSpFlags(); + inline void setSpFlags( ::uint32_t value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class CarParams::Pipeline { +public: + typedef CarParams Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + + inline ::cereal::CarParams::LongitudinalPIDTuning::Pipeline getLongitudinalTuning(); + inline typename LateralTuning::Pipeline getLateralTuning(); + inline ::cereal::CarParams::LateralParams::Pipeline getLateralParams(); +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class CarParams::SafetyConfig::Reader { +public: + typedef SafetyConfig Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::cereal::CarParams::SafetyModel getSafetyModel() const; + + inline ::int16_t getSafetyParamDEPRECATED() const; + + inline ::uint32_t getSafetyParam2DEPRECATED() const; + + inline ::uint16_t getSafetyParam() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class CarParams::SafetyConfig::Builder { +public: + typedef SafetyConfig Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::cereal::CarParams::SafetyModel getSafetyModel(); + inline void setSafetyModel( ::cereal::CarParams::SafetyModel value); + + inline ::int16_t getSafetyParamDEPRECATED(); + inline void setSafetyParamDEPRECATED( ::int16_t value); + + inline ::uint32_t getSafetyParam2DEPRECATED(); + inline void setSafetyParam2DEPRECATED( ::uint32_t value); + + inline ::uint16_t getSafetyParam(); + inline void setSafetyParam( ::uint16_t value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class CarParams::SafetyConfig::Pipeline { +public: + typedef SafetyConfig Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class CarParams::LateralParams::Reader { +public: + typedef LateralParams Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasTorqueBP() const; + inline ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>::Reader getTorqueBP() const; + + inline bool hasTorqueV() const; + inline ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>::Reader getTorqueV() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class CarParams::LateralParams::Builder { +public: + typedef LateralParams Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasTorqueBP(); + inline ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>::Builder getTorqueBP(); + inline void setTorqueBP( ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>::Reader value); + inline void setTorqueBP(::kj::ArrayPtr value); + inline ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>::Builder initTorqueBP(unsigned int size); + inline void adoptTorqueBP(::capnp::Orphan< ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>> disownTorqueBP(); + + inline bool hasTorqueV(); + inline ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>::Builder getTorqueV(); + inline void setTorqueV( ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>::Reader value); + inline void setTorqueV(::kj::ArrayPtr value); + inline ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>::Builder initTorqueV(unsigned int size); + inline void adoptTorqueV(::capnp::Orphan< ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>> disownTorqueV(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class CarParams::LateralParams::Pipeline { +public: + typedef LateralParams Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class CarParams::LateralPIDTuning::Reader { +public: + typedef LateralPIDTuning Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasKpBP() const; + inline ::capnp::List::Reader getKpBP() const; + + inline bool hasKpV() const; + inline ::capnp::List::Reader getKpV() const; + + inline bool hasKiBP() const; + inline ::capnp::List::Reader getKiBP() const; + + inline bool hasKiV() const; + inline ::capnp::List::Reader getKiV() const; + + inline float getKf() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class CarParams::LateralPIDTuning::Builder { +public: + typedef LateralPIDTuning Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasKpBP(); + inline ::capnp::List::Builder getKpBP(); + inline void setKpBP( ::capnp::List::Reader value); + inline void setKpBP(::kj::ArrayPtr value); + inline ::capnp::List::Builder initKpBP(unsigned int size); + inline void adoptKpBP(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownKpBP(); + + inline bool hasKpV(); + inline ::capnp::List::Builder getKpV(); + inline void setKpV( ::capnp::List::Reader value); + inline void setKpV(::kj::ArrayPtr value); + inline ::capnp::List::Builder initKpV(unsigned int size); + inline void adoptKpV(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownKpV(); + + inline bool hasKiBP(); + inline ::capnp::List::Builder getKiBP(); + inline void setKiBP( ::capnp::List::Reader value); + inline void setKiBP(::kj::ArrayPtr value); + inline ::capnp::List::Builder initKiBP(unsigned int size); + inline void adoptKiBP(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownKiBP(); + + inline bool hasKiV(); + inline ::capnp::List::Builder getKiV(); + inline void setKiV( ::capnp::List::Reader value); + inline void setKiV(::kj::ArrayPtr value); + inline ::capnp::List::Builder initKiV(unsigned int size); + inline void adoptKiV(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownKiV(); + + inline float getKf(); + inline void setKf(float value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class CarParams::LateralPIDTuning::Pipeline { +public: + typedef LateralPIDTuning Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class CarParams::LateralTorqueTuning::Reader { +public: + typedef LateralTorqueTuning Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool getUseSteeringAngle() const; + + inline float getKp() const; + + inline float getKi() const; + + inline float getFriction() const; + + inline float getKf() const; + + inline float getSteeringAngleDeadzoneDeg() const; + + inline float getLatAccelFactor() const; + + inline float getLatAccelOffset() const; + + inline bool hasNnModelName() const; + inline ::capnp::Text::Reader getNnModelName() const; + + inline bool getNnModelFuzzyMatch() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class CarParams::LateralTorqueTuning::Builder { +public: + typedef LateralTorqueTuning Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool getUseSteeringAngle(); + inline void setUseSteeringAngle(bool value); + + inline float getKp(); + inline void setKp(float value); + + inline float getKi(); + inline void setKi(float value); + + inline float getFriction(); + inline void setFriction(float value); + + inline float getKf(); + inline void setKf(float value); + + inline float getSteeringAngleDeadzoneDeg(); + inline void setSteeringAngleDeadzoneDeg(float value); + + inline float getLatAccelFactor(); + inline void setLatAccelFactor(float value); + + inline float getLatAccelOffset(); + inline void setLatAccelOffset(float value); + + inline bool hasNnModelName(); + inline ::capnp::Text::Builder getNnModelName(); + inline void setNnModelName( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initNnModelName(unsigned int size); + inline void adoptNnModelName(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownNnModelName(); + + inline bool getNnModelFuzzyMatch(); + inline void setNnModelFuzzyMatch(bool value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class CarParams::LateralTorqueTuning::Pipeline { +public: + typedef LateralTorqueTuning Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class CarParams::LongitudinalPIDTuning::Reader { +public: + typedef LongitudinalPIDTuning Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasKpBP() const; + inline ::capnp::List::Reader getKpBP() const; + + inline bool hasKpV() const; + inline ::capnp::List::Reader getKpV() const; + + inline bool hasKiBP() const; + inline ::capnp::List::Reader getKiBP() const; + + inline bool hasKiV() const; + inline ::capnp::List::Reader getKiV() const; + + inline bool hasDeadzoneBPDEPRECATED() const; + inline ::capnp::List::Reader getDeadzoneBPDEPRECATED() const; + + inline bool hasDeadzoneVDEPRECATED() const; + inline ::capnp::List::Reader getDeadzoneVDEPRECATED() const; + + inline float getKf() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class CarParams::LongitudinalPIDTuning::Builder { +public: + typedef LongitudinalPIDTuning Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasKpBP(); + inline ::capnp::List::Builder getKpBP(); + inline void setKpBP( ::capnp::List::Reader value); + inline void setKpBP(::kj::ArrayPtr value); + inline ::capnp::List::Builder initKpBP(unsigned int size); + inline void adoptKpBP(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownKpBP(); + + inline bool hasKpV(); + inline ::capnp::List::Builder getKpV(); + inline void setKpV( ::capnp::List::Reader value); + inline void setKpV(::kj::ArrayPtr value); + inline ::capnp::List::Builder initKpV(unsigned int size); + inline void adoptKpV(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownKpV(); + + inline bool hasKiBP(); + inline ::capnp::List::Builder getKiBP(); + inline void setKiBP( ::capnp::List::Reader value); + inline void setKiBP(::kj::ArrayPtr value); + inline ::capnp::List::Builder initKiBP(unsigned int size); + inline void adoptKiBP(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownKiBP(); + + inline bool hasKiV(); + inline ::capnp::List::Builder getKiV(); + inline void setKiV( ::capnp::List::Reader value); + inline void setKiV(::kj::ArrayPtr value); + inline ::capnp::List::Builder initKiV(unsigned int size); + inline void adoptKiV(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownKiV(); + + inline bool hasDeadzoneBPDEPRECATED(); + inline ::capnp::List::Builder getDeadzoneBPDEPRECATED(); + inline void setDeadzoneBPDEPRECATED( ::capnp::List::Reader value); + inline void setDeadzoneBPDEPRECATED(::kj::ArrayPtr value); + inline ::capnp::List::Builder initDeadzoneBPDEPRECATED(unsigned int size); + inline void adoptDeadzoneBPDEPRECATED(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownDeadzoneBPDEPRECATED(); + + inline bool hasDeadzoneVDEPRECATED(); + inline ::capnp::List::Builder getDeadzoneVDEPRECATED(); + inline void setDeadzoneVDEPRECATED( ::capnp::List::Reader value); + inline void setDeadzoneVDEPRECATED(::kj::ArrayPtr value); + inline ::capnp::List::Builder initDeadzoneVDEPRECATED(unsigned int size); + inline void adoptDeadzoneVDEPRECATED(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownDeadzoneVDEPRECATED(); + + inline float getKf(); + inline void setKf(float value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class CarParams::LongitudinalPIDTuning::Pipeline { +public: + typedef LongitudinalPIDTuning Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class CarParams::LateralINDITuning::Reader { +public: + typedef LateralINDITuning Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline float getOuterLoopGainDEPRECATED() const; + + inline float getInnerLoopGainDEPRECATED() const; + + inline float getTimeConstantDEPRECATED() const; + + inline float getActuatorEffectivenessDEPRECATED() const; + + inline bool hasOuterLoopGainBP() const; + inline ::capnp::List::Reader getOuterLoopGainBP() const; + + inline bool hasOuterLoopGainV() const; + inline ::capnp::List::Reader getOuterLoopGainV() const; + + inline bool hasInnerLoopGainBP() const; + inline ::capnp::List::Reader getInnerLoopGainBP() const; + + inline bool hasInnerLoopGainV() const; + inline ::capnp::List::Reader getInnerLoopGainV() const; + + inline bool hasTimeConstantBP() const; + inline ::capnp::List::Reader getTimeConstantBP() const; + + inline bool hasTimeConstantV() const; + inline ::capnp::List::Reader getTimeConstantV() const; + + inline bool hasActuatorEffectivenessBP() const; + inline ::capnp::List::Reader getActuatorEffectivenessBP() const; + + inline bool hasActuatorEffectivenessV() const; + inline ::capnp::List::Reader getActuatorEffectivenessV() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class CarParams::LateralINDITuning::Builder { +public: + typedef LateralINDITuning Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline float getOuterLoopGainDEPRECATED(); + inline void setOuterLoopGainDEPRECATED(float value); + + inline float getInnerLoopGainDEPRECATED(); + inline void setInnerLoopGainDEPRECATED(float value); + + inline float getTimeConstantDEPRECATED(); + inline void setTimeConstantDEPRECATED(float value); + + inline float getActuatorEffectivenessDEPRECATED(); + inline void setActuatorEffectivenessDEPRECATED(float value); + + inline bool hasOuterLoopGainBP(); + inline ::capnp::List::Builder getOuterLoopGainBP(); + inline void setOuterLoopGainBP( ::capnp::List::Reader value); + inline void setOuterLoopGainBP(::kj::ArrayPtr value); + inline ::capnp::List::Builder initOuterLoopGainBP(unsigned int size); + inline void adoptOuterLoopGainBP(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownOuterLoopGainBP(); + + inline bool hasOuterLoopGainV(); + inline ::capnp::List::Builder getOuterLoopGainV(); + inline void setOuterLoopGainV( ::capnp::List::Reader value); + inline void setOuterLoopGainV(::kj::ArrayPtr value); + inline ::capnp::List::Builder initOuterLoopGainV(unsigned int size); + inline void adoptOuterLoopGainV(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownOuterLoopGainV(); + + inline bool hasInnerLoopGainBP(); + inline ::capnp::List::Builder getInnerLoopGainBP(); + inline void setInnerLoopGainBP( ::capnp::List::Reader value); + inline void setInnerLoopGainBP(::kj::ArrayPtr value); + inline ::capnp::List::Builder initInnerLoopGainBP(unsigned int size); + inline void adoptInnerLoopGainBP(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownInnerLoopGainBP(); + + inline bool hasInnerLoopGainV(); + inline ::capnp::List::Builder getInnerLoopGainV(); + inline void setInnerLoopGainV( ::capnp::List::Reader value); + inline void setInnerLoopGainV(::kj::ArrayPtr value); + inline ::capnp::List::Builder initInnerLoopGainV(unsigned int size); + inline void adoptInnerLoopGainV(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownInnerLoopGainV(); + + inline bool hasTimeConstantBP(); + inline ::capnp::List::Builder getTimeConstantBP(); + inline void setTimeConstantBP( ::capnp::List::Reader value); + inline void setTimeConstantBP(::kj::ArrayPtr value); + inline ::capnp::List::Builder initTimeConstantBP(unsigned int size); + inline void adoptTimeConstantBP(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownTimeConstantBP(); + + inline bool hasTimeConstantV(); + inline ::capnp::List::Builder getTimeConstantV(); + inline void setTimeConstantV( ::capnp::List::Reader value); + inline void setTimeConstantV(::kj::ArrayPtr value); + inline ::capnp::List::Builder initTimeConstantV(unsigned int size); + inline void adoptTimeConstantV(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownTimeConstantV(); + + inline bool hasActuatorEffectivenessBP(); + inline ::capnp::List::Builder getActuatorEffectivenessBP(); + inline void setActuatorEffectivenessBP( ::capnp::List::Reader value); + inline void setActuatorEffectivenessBP(::kj::ArrayPtr value); + inline ::capnp::List::Builder initActuatorEffectivenessBP(unsigned int size); + inline void adoptActuatorEffectivenessBP(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownActuatorEffectivenessBP(); + + inline bool hasActuatorEffectivenessV(); + inline ::capnp::List::Builder getActuatorEffectivenessV(); + inline void setActuatorEffectivenessV( ::capnp::List::Reader value); + inline void setActuatorEffectivenessV(::kj::ArrayPtr value); + inline ::capnp::List::Builder initActuatorEffectivenessV(unsigned int size); + inline void adoptActuatorEffectivenessV(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownActuatorEffectivenessV(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class CarParams::LateralINDITuning::Pipeline { +public: + typedef LateralINDITuning Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class CarParams::LateralLQRTuning::Reader { +public: + typedef LateralLQRTuning Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline float getScale() const; + + inline float getKi() const; + + inline float getDcGain() const; + + inline bool hasA() const; + inline ::capnp::List::Reader getA() const; + + inline bool hasB() const; + inline ::capnp::List::Reader getB() const; + + inline bool hasC() const; + inline ::capnp::List::Reader getC() const; + + inline bool hasK() const; + inline ::capnp::List::Reader getK() const; + + inline bool hasL() const; + inline ::capnp::List::Reader getL() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class CarParams::LateralLQRTuning::Builder { +public: + typedef LateralLQRTuning Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline float getScale(); + inline void setScale(float value); + + inline float getKi(); + inline void setKi(float value); + + inline float getDcGain(); + inline void setDcGain(float value); + + inline bool hasA(); + inline ::capnp::List::Builder getA(); + inline void setA( ::capnp::List::Reader value); + inline void setA(::kj::ArrayPtr value); + inline ::capnp::List::Builder initA(unsigned int size); + inline void adoptA(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownA(); + + inline bool hasB(); + inline ::capnp::List::Builder getB(); + inline void setB( ::capnp::List::Reader value); + inline void setB(::kj::ArrayPtr value); + inline ::capnp::List::Builder initB(unsigned int size); + inline void adoptB(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownB(); + + inline bool hasC(); + inline ::capnp::List::Builder getC(); + inline void setC( ::capnp::List::Reader value); + inline void setC(::kj::ArrayPtr value); + inline ::capnp::List::Builder initC(unsigned int size); + inline void adoptC(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownC(); + + inline bool hasK(); + inline ::capnp::List::Builder getK(); + inline void setK( ::capnp::List::Reader value); + inline void setK(::kj::ArrayPtr value); + inline ::capnp::List::Builder initK(unsigned int size); + inline void adoptK(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownK(); + + inline bool hasL(); + inline ::capnp::List::Builder getL(); + inline void setL( ::capnp::List::Reader value); + inline void setL(::kj::ArrayPtr value); + inline ::capnp::List::Builder initL(unsigned int size); + inline void adoptL(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownL(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class CarParams::LateralLQRTuning::Pipeline { +public: + typedef LateralLQRTuning Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class CarParams::CarFw::Reader { +public: + typedef CarFw Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::cereal::CarParams::Ecu getEcu() const; + + inline bool hasFwVersion() const; + inline ::capnp::Data::Reader getFwVersion() const; + + inline ::uint32_t getAddress() const; + + inline ::uint8_t getSubAddress() const; + + inline ::uint32_t getResponseAddress() const; + + inline bool hasRequest() const; + inline ::capnp::List< ::capnp::Data, ::capnp::Kind::BLOB>::Reader getRequest() const; + + inline bool hasBrand() const; + inline ::capnp::Text::Reader getBrand() const; + + inline ::uint8_t getBus() const; + + inline bool getLogging() const; + + inline bool getObdMultiplexing() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class CarParams::CarFw::Builder { +public: + typedef CarFw Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::cereal::CarParams::Ecu getEcu(); + inline void setEcu( ::cereal::CarParams::Ecu value); + + inline bool hasFwVersion(); + inline ::capnp::Data::Builder getFwVersion(); + inline void setFwVersion( ::capnp::Data::Reader value); + inline ::capnp::Data::Builder initFwVersion(unsigned int size); + inline void adoptFwVersion(::capnp::Orphan< ::capnp::Data>&& value); + inline ::capnp::Orphan< ::capnp::Data> disownFwVersion(); + + inline ::uint32_t getAddress(); + inline void setAddress( ::uint32_t value); + + inline ::uint8_t getSubAddress(); + inline void setSubAddress( ::uint8_t value); + + inline ::uint32_t getResponseAddress(); + inline void setResponseAddress( ::uint32_t value); + + inline bool hasRequest(); + inline ::capnp::List< ::capnp::Data, ::capnp::Kind::BLOB>::Builder getRequest(); + inline void setRequest( ::capnp::List< ::capnp::Data, ::capnp::Kind::BLOB>::Reader value); + inline void setRequest(::kj::ArrayPtr value); + inline ::capnp::List< ::capnp::Data, ::capnp::Kind::BLOB>::Builder initRequest(unsigned int size); + inline void adoptRequest(::capnp::Orphan< ::capnp::List< ::capnp::Data, ::capnp::Kind::BLOB>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::capnp::Data, ::capnp::Kind::BLOB>> disownRequest(); + + inline bool hasBrand(); + inline ::capnp::Text::Builder getBrand(); + inline void setBrand( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initBrand(unsigned int size); + inline void adoptBrand(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownBrand(); + + inline ::uint8_t getBus(); + inline void setBus( ::uint8_t value); + + inline bool getLogging(); + inline void setLogging(bool value); + + inline bool getObdMultiplexing(); + inline void setObdMultiplexing(bool value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class CarParams::CarFw::Pipeline { +public: + typedef CarFw Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class CarParams::LateralTuning::Reader { +public: + typedef LateralTuning Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline Which which() const; + inline bool isPid() const; + inline bool hasPid() const; + inline ::cereal::CarParams::LateralPIDTuning::Reader getPid() const; + + inline bool isIndiDEPRECATED() const; + inline bool hasIndiDEPRECATED() const; + inline ::cereal::CarParams::LateralINDITuning::Reader getIndiDEPRECATED() const; + + inline bool isLqrDEPRECATED() const; + inline bool hasLqrDEPRECATED() const; + inline ::cereal::CarParams::LateralLQRTuning::Reader getLqrDEPRECATED() const; + + inline bool isTorque() const; + inline bool hasTorque() const; + inline ::cereal::CarParams::LateralTorqueTuning::Reader getTorque() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class CarParams::LateralTuning::Builder { +public: + typedef LateralTuning Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline Which which(); + inline bool isPid(); + inline bool hasPid(); + inline ::cereal::CarParams::LateralPIDTuning::Builder getPid(); + inline void setPid( ::cereal::CarParams::LateralPIDTuning::Reader value); + inline ::cereal::CarParams::LateralPIDTuning::Builder initPid(); + inline void adoptPid(::capnp::Orphan< ::cereal::CarParams::LateralPIDTuning>&& value); + inline ::capnp::Orphan< ::cereal::CarParams::LateralPIDTuning> disownPid(); + + inline bool isIndiDEPRECATED(); + inline bool hasIndiDEPRECATED(); + inline ::cereal::CarParams::LateralINDITuning::Builder getIndiDEPRECATED(); + inline void setIndiDEPRECATED( ::cereal::CarParams::LateralINDITuning::Reader value); + inline ::cereal::CarParams::LateralINDITuning::Builder initIndiDEPRECATED(); + inline void adoptIndiDEPRECATED(::capnp::Orphan< ::cereal::CarParams::LateralINDITuning>&& value); + inline ::capnp::Orphan< ::cereal::CarParams::LateralINDITuning> disownIndiDEPRECATED(); + + inline bool isLqrDEPRECATED(); + inline bool hasLqrDEPRECATED(); + inline ::cereal::CarParams::LateralLQRTuning::Builder getLqrDEPRECATED(); + inline void setLqrDEPRECATED( ::cereal::CarParams::LateralLQRTuning::Reader value); + inline ::cereal::CarParams::LateralLQRTuning::Builder initLqrDEPRECATED(); + inline void adoptLqrDEPRECATED(::capnp::Orphan< ::cereal::CarParams::LateralLQRTuning>&& value); + inline ::capnp::Orphan< ::cereal::CarParams::LateralLQRTuning> disownLqrDEPRECATED(); + + inline bool isTorque(); + inline bool hasTorque(); + inline ::cereal::CarParams::LateralTorqueTuning::Builder getTorque(); + inline void setTorque( ::cereal::CarParams::LateralTorqueTuning::Reader value); + inline ::cereal::CarParams::LateralTorqueTuning::Builder initTorque(); + inline void adoptTorque(::capnp::Orphan< ::cereal::CarParams::LateralTorqueTuning>&& value); + inline ::capnp::Orphan< ::cereal::CarParams::LateralTorqueTuning> disownTorque(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class CarParams::LateralTuning::Pipeline { +public: + typedef LateralTuning Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +// ======================================================================================= + +inline ::cereal::CarEvent::EventName CarEvent::Reader::getName() const { + return _reader.getDataField< ::cereal::CarEvent::EventName>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::cereal::CarEvent::EventName CarEvent::Builder::getName() { + return _builder.getDataField< ::cereal::CarEvent::EventName>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void CarEvent::Builder::setName( ::cereal::CarEvent::EventName value) { + _builder.setDataField< ::cereal::CarEvent::EventName>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool CarEvent::Reader::getEnable() const { + return _reader.getDataField( + ::capnp::bounded<16>() * ::capnp::ELEMENTS); +} + +inline bool CarEvent::Builder::getEnable() { + return _builder.getDataField( + ::capnp::bounded<16>() * ::capnp::ELEMENTS); +} +inline void CarEvent::Builder::setEnable(bool value) { + _builder.setDataField( + ::capnp::bounded<16>() * ::capnp::ELEMENTS, value); +} + +inline bool CarEvent::Reader::getNoEntry() const { + return _reader.getDataField( + ::capnp::bounded<17>() * ::capnp::ELEMENTS); +} + +inline bool CarEvent::Builder::getNoEntry() { + return _builder.getDataField( + ::capnp::bounded<17>() * ::capnp::ELEMENTS); +} +inline void CarEvent::Builder::setNoEntry(bool value) { + _builder.setDataField( + ::capnp::bounded<17>() * ::capnp::ELEMENTS, value); +} + +inline bool CarEvent::Reader::getWarning() const { + return _reader.getDataField( + ::capnp::bounded<18>() * ::capnp::ELEMENTS); +} + +inline bool CarEvent::Builder::getWarning() { + return _builder.getDataField( + ::capnp::bounded<18>() * ::capnp::ELEMENTS); +} +inline void CarEvent::Builder::setWarning(bool value) { + _builder.setDataField( + ::capnp::bounded<18>() * ::capnp::ELEMENTS, value); +} + +inline bool CarEvent::Reader::getUserDisable() const { + return _reader.getDataField( + ::capnp::bounded<19>() * ::capnp::ELEMENTS); +} + +inline bool CarEvent::Builder::getUserDisable() { + return _builder.getDataField( + ::capnp::bounded<19>() * ::capnp::ELEMENTS); +} +inline void CarEvent::Builder::setUserDisable(bool value) { + _builder.setDataField( + ::capnp::bounded<19>() * ::capnp::ELEMENTS, value); +} + +inline bool CarEvent::Reader::getSoftDisable() const { + return _reader.getDataField( + ::capnp::bounded<20>() * ::capnp::ELEMENTS); +} + +inline bool CarEvent::Builder::getSoftDisable() { + return _builder.getDataField( + ::capnp::bounded<20>() * ::capnp::ELEMENTS); +} +inline void CarEvent::Builder::setSoftDisable(bool value) { + _builder.setDataField( + ::capnp::bounded<20>() * ::capnp::ELEMENTS, value); +} + +inline bool CarEvent::Reader::getImmediateDisable() const { + return _reader.getDataField( + ::capnp::bounded<21>() * ::capnp::ELEMENTS); +} + +inline bool CarEvent::Builder::getImmediateDisable() { + return _builder.getDataField( + ::capnp::bounded<21>() * ::capnp::ELEMENTS); +} +inline void CarEvent::Builder::setImmediateDisable(bool value) { + _builder.setDataField( + ::capnp::bounded<21>() * ::capnp::ELEMENTS, value); +} + +inline bool CarEvent::Reader::getPreEnable() const { + return _reader.getDataField( + ::capnp::bounded<22>() * ::capnp::ELEMENTS); +} + +inline bool CarEvent::Builder::getPreEnable() { + return _builder.getDataField( + ::capnp::bounded<22>() * ::capnp::ELEMENTS); +} +inline void CarEvent::Builder::setPreEnable(bool value) { + _builder.setDataField( + ::capnp::bounded<22>() * ::capnp::ELEMENTS, value); +} + +inline bool CarEvent::Reader::getPermanent() const { + return _reader.getDataField( + ::capnp::bounded<23>() * ::capnp::ELEMENTS); +} + +inline bool CarEvent::Builder::getPermanent() { + return _builder.getDataField( + ::capnp::bounded<23>() * ::capnp::ELEMENTS); +} +inline void CarEvent::Builder::setPermanent(bool value) { + _builder.setDataField( + ::capnp::bounded<23>() * ::capnp::ELEMENTS, value); +} + +inline bool CarEvent::Reader::getOverrideLongitudinal() const { + return _reader.getDataField( + ::capnp::bounded<24>() * ::capnp::ELEMENTS); +} + +inline bool CarEvent::Builder::getOverrideLongitudinal() { + return _builder.getDataField( + ::capnp::bounded<24>() * ::capnp::ELEMENTS); +} +inline void CarEvent::Builder::setOverrideLongitudinal(bool value) { + _builder.setDataField( + ::capnp::bounded<24>() * ::capnp::ELEMENTS, value); +} + +inline bool CarEvent::Reader::getOverrideLateral() const { + return _reader.getDataField( + ::capnp::bounded<25>() * ::capnp::ELEMENTS); +} + +inline bool CarEvent::Builder::getOverrideLateral() { + return _builder.getDataField( + ::capnp::bounded<25>() * ::capnp::ELEMENTS); +} +inline void CarEvent::Builder::setOverrideLateral(bool value) { + _builder.setDataField( + ::capnp::bounded<25>() * ::capnp::ELEMENTS, value); +} + +inline bool CarState::Reader::hasErrorsDEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool CarState::Builder::hasErrorsDEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::CarEvent::EventName, ::capnp::Kind::ENUM>::Reader CarState::Reader::getErrorsDEPRECATED() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarEvent::EventName, ::capnp::Kind::ENUM>>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::CarEvent::EventName, ::capnp::Kind::ENUM>::Builder CarState::Builder::getErrorsDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarEvent::EventName, ::capnp::Kind::ENUM>>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void CarState::Builder::setErrorsDEPRECATED( ::capnp::List< ::cereal::CarEvent::EventName, ::capnp::Kind::ENUM>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarEvent::EventName, ::capnp::Kind::ENUM>>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void CarState::Builder::setErrorsDEPRECATED(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarEvent::EventName, ::capnp::Kind::ENUM>>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::CarEvent::EventName, ::capnp::Kind::ENUM>::Builder CarState::Builder::initErrorsDEPRECATED(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarEvent::EventName, ::capnp::Kind::ENUM>>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void CarState::Builder::adoptErrorsDEPRECATED( + ::capnp::Orphan< ::capnp::List< ::cereal::CarEvent::EventName, ::capnp::Kind::ENUM>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarEvent::EventName, ::capnp::Kind::ENUM>>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::CarEvent::EventName, ::capnp::Kind::ENUM>> CarState::Builder::disownErrorsDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarEvent::EventName, ::capnp::Kind::ENUM>>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline float CarState::Reader::getVEgo() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline float CarState::Builder::getVEgo() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setVEgo(float value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool CarState::Reader::hasWheelSpeeds() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool CarState::Builder::hasWheelSpeeds() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::CarState::WheelSpeeds::Reader CarState::Reader::getWheelSpeeds() const { + return ::capnp::_::PointerHelpers< ::cereal::CarState::WheelSpeeds>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::cereal::CarState::WheelSpeeds::Builder CarState::Builder::getWheelSpeeds() { + return ::capnp::_::PointerHelpers< ::cereal::CarState::WheelSpeeds>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::CarState::WheelSpeeds::Pipeline CarState::Pipeline::getWheelSpeeds() { + return ::cereal::CarState::WheelSpeeds::Pipeline(_typeless.getPointerField(1)); +} +#endif // !CAPNP_LITE +inline void CarState::Builder::setWheelSpeeds( ::cereal::CarState::WheelSpeeds::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::CarState::WheelSpeeds>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::cereal::CarState::WheelSpeeds::Builder CarState::Builder::initWheelSpeeds() { + return ::capnp::_::PointerHelpers< ::cereal::CarState::WheelSpeeds>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void CarState::Builder::adoptWheelSpeeds( + ::capnp::Orphan< ::cereal::CarState::WheelSpeeds>&& value) { + ::capnp::_::PointerHelpers< ::cereal::CarState::WheelSpeeds>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::CarState::WheelSpeeds> CarState::Builder::disownWheelSpeeds() { + return ::capnp::_::PointerHelpers< ::cereal::CarState::WheelSpeeds>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline float CarState::Reader::getGas() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float CarState::Builder::getGas() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setGas(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool CarState::Reader::getGasPressed() const { + return _reader.getDataField( + ::capnp::bounded<64>() * ::capnp::ELEMENTS); +} + +inline bool CarState::Builder::getGasPressed() { + return _builder.getDataField( + ::capnp::bounded<64>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setGasPressed(bool value) { + _builder.setDataField( + ::capnp::bounded<64>() * ::capnp::ELEMENTS, value); +} + +inline float CarState::Reader::getBrake() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline float CarState::Builder::getBrake() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setBrake(float value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline bool CarState::Reader::getBrakePressed() const { + return _reader.getDataField( + ::capnp::bounded<65>() * ::capnp::ELEMENTS); +} + +inline bool CarState::Builder::getBrakePressed() { + return _builder.getDataField( + ::capnp::bounded<65>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setBrakePressed(bool value) { + _builder.setDataField( + ::capnp::bounded<65>() * ::capnp::ELEMENTS, value); +} + +inline float CarState::Reader::getSteeringAngleDeg() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline float CarState::Builder::getSteeringAngleDeg() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setSteeringAngleDeg(float value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline float CarState::Reader::getSteeringTorque() const { + return _reader.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline float CarState::Builder::getSteeringTorque() { + return _builder.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setSteeringTorque(float value) { + _builder.setDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline bool CarState::Reader::getSteeringPressed() const { + return _reader.getDataField( + ::capnp::bounded<66>() * ::capnp::ELEMENTS); +} + +inline bool CarState::Builder::getSteeringPressed() { + return _builder.getDataField( + ::capnp::bounded<66>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setSteeringPressed(bool value) { + _builder.setDataField( + ::capnp::bounded<66>() * ::capnp::ELEMENTS, value); +} + +inline bool CarState::Reader::hasCruiseState() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool CarState::Builder::hasCruiseState() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::CarState::CruiseState::Reader CarState::Reader::getCruiseState() const { + return ::capnp::_::PointerHelpers< ::cereal::CarState::CruiseState>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::cereal::CarState::CruiseState::Builder CarState::Builder::getCruiseState() { + return ::capnp::_::PointerHelpers< ::cereal::CarState::CruiseState>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::CarState::CruiseState::Pipeline CarState::Pipeline::getCruiseState() { + return ::cereal::CarState::CruiseState::Pipeline(_typeless.getPointerField(2)); +} +#endif // !CAPNP_LITE +inline void CarState::Builder::setCruiseState( ::cereal::CarState::CruiseState::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::CarState::CruiseState>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::cereal::CarState::CruiseState::Builder CarState::Builder::initCruiseState() { + return ::capnp::_::PointerHelpers< ::cereal::CarState::CruiseState>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void CarState::Builder::adoptCruiseState( + ::capnp::Orphan< ::cereal::CarState::CruiseState>&& value) { + ::capnp::_::PointerHelpers< ::cereal::CarState::CruiseState>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::CarState::CruiseState> CarState::Builder::disownCruiseState() { + return ::capnp::_::PointerHelpers< ::cereal::CarState::CruiseState>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline bool CarState::Reader::hasButtonEvents() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool CarState::Builder::hasButtonEvents() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::CarState::ButtonEvent, ::capnp::Kind::STRUCT>::Reader CarState::Reader::getButtonEvents() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarState::ButtonEvent, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::CarState::ButtonEvent, ::capnp::Kind::STRUCT>::Builder CarState::Builder::getButtonEvents() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarState::ButtonEvent, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void CarState::Builder::setButtonEvents( ::capnp::List< ::cereal::CarState::ButtonEvent, ::capnp::Kind::STRUCT>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarState::ButtonEvent, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::CarState::ButtonEvent, ::capnp::Kind::STRUCT>::Builder CarState::Builder::initButtonEvents(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarState::ButtonEvent, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), size); +} +inline void CarState::Builder::adoptButtonEvents( + ::capnp::Orphan< ::capnp::List< ::cereal::CarState::ButtonEvent, ::capnp::Kind::STRUCT>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarState::ButtonEvent, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::CarState::ButtonEvent, ::capnp::Kind::STRUCT>> CarState::Builder::disownButtonEvents() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarState::ButtonEvent, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline bool CarState::Reader::hasCanMonoTimesDEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline bool CarState::Builder::hasCanMonoTimesDEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>::Reader CarState::Reader::getCanMonoTimesDEPRECATED() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>>::get(_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>::Builder CarState::Builder::getCanMonoTimesDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>>::get(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline void CarState::Builder::setCanMonoTimesDEPRECATED( ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline void CarState::Builder::setCanMonoTimesDEPRECATED(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>::Builder CarState::Builder::initCanMonoTimesDEPRECATED(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>>::init(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), size); +} +inline void CarState::Builder::adoptCanMonoTimesDEPRECATED( + ::capnp::Orphan< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>>::adopt(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>> CarState::Builder::disownCanMonoTimesDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>>::disown(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} + +inline bool CarState::Reader::hasEvents() const { + return !_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline bool CarState::Builder::hasEvents() { + return !_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>::Reader CarState::Reader::getEvents() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>::Builder CarState::Builder::getEvents() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline void CarState::Builder::setEvents( ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>::Builder CarState::Builder::initEvents(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), size); +} +inline void CarState::Builder::adoptEvents( + ::capnp::Orphan< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>> CarState::Builder::disownEvents() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} + +inline ::cereal::CarState::GearShifter CarState::Reader::getGearShifter() const { + return _reader.getDataField< ::cereal::CarState::GearShifter>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline ::cereal::CarState::GearShifter CarState::Builder::getGearShifter() { + return _builder.getDataField< ::cereal::CarState::GearShifter>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setGearShifter( ::cereal::CarState::GearShifter value) { + _builder.setDataField< ::cereal::CarState::GearShifter>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline float CarState::Reader::getSteeringRateDeg() const { + return _reader.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline float CarState::Builder::getSteeringRateDeg() { + return _builder.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setSteeringRateDeg(float value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline float CarState::Reader::getAEgo() const { + return _reader.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline float CarState::Builder::getAEgo() { + return _builder.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setAEgo(float value) { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline float CarState::Reader::getVEgoRaw() const { + return _reader.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline float CarState::Builder::getVEgoRaw() { + return _builder.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setVEgoRaw(float value) { + _builder.setDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline bool CarState::Reader::getStandstill() const { + return _reader.getDataField( + ::capnp::bounded<67>() * ::capnp::ELEMENTS); +} + +inline bool CarState::Builder::getStandstill() { + return _builder.getDataField( + ::capnp::bounded<67>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setStandstill(bool value) { + _builder.setDataField( + ::capnp::bounded<67>() * ::capnp::ELEMENTS, value); +} + +inline bool CarState::Reader::getBrakeLightsDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<68>() * ::capnp::ELEMENTS); +} + +inline bool CarState::Builder::getBrakeLightsDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<68>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setBrakeLightsDEPRECATED(bool value) { + _builder.setDataField( + ::capnp::bounded<68>() * ::capnp::ELEMENTS, value); +} + +inline bool CarState::Reader::getLeftBlinker() const { + return _reader.getDataField( + ::capnp::bounded<69>() * ::capnp::ELEMENTS); +} + +inline bool CarState::Builder::getLeftBlinker() { + return _builder.getDataField( + ::capnp::bounded<69>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setLeftBlinker(bool value) { + _builder.setDataField( + ::capnp::bounded<69>() * ::capnp::ELEMENTS, value); +} + +inline bool CarState::Reader::getRightBlinker() const { + return _reader.getDataField( + ::capnp::bounded<70>() * ::capnp::ELEMENTS); +} + +inline bool CarState::Builder::getRightBlinker() { + return _builder.getDataField( + ::capnp::bounded<70>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setRightBlinker(bool value) { + _builder.setDataField( + ::capnp::bounded<70>() * ::capnp::ELEMENTS, value); +} + +inline float CarState::Reader::getYawRate() const { + return _reader.getDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} + +inline float CarState::Builder::getYawRate() { + return _builder.getDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setYawRate(float value) { + _builder.setDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS, value); +} + +inline bool CarState::Reader::getGenericToggle() const { + return _reader.getDataField( + ::capnp::bounded<71>() * ::capnp::ELEMENTS); +} + +inline bool CarState::Builder::getGenericToggle() { + return _builder.getDataField( + ::capnp::bounded<71>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setGenericToggle(bool value) { + _builder.setDataField( + ::capnp::bounded<71>() * ::capnp::ELEMENTS, value); +} + +inline bool CarState::Reader::getDoorOpen() const { + return _reader.getDataField( + ::capnp::bounded<72>() * ::capnp::ELEMENTS); +} + +inline bool CarState::Builder::getDoorOpen() { + return _builder.getDataField( + ::capnp::bounded<72>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setDoorOpen(bool value) { + _builder.setDataField( + ::capnp::bounded<72>() * ::capnp::ELEMENTS, value); +} + +inline bool CarState::Reader::getSeatbeltUnlatched() const { + return _reader.getDataField( + ::capnp::bounded<73>() * ::capnp::ELEMENTS); +} + +inline bool CarState::Builder::getSeatbeltUnlatched() { + return _builder.getDataField( + ::capnp::bounded<73>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setSeatbeltUnlatched(bool value) { + _builder.setDataField( + ::capnp::bounded<73>() * ::capnp::ELEMENTS, value); +} + +inline bool CarState::Reader::getCanValid() const { + return _reader.getDataField( + ::capnp::bounded<74>() * ::capnp::ELEMENTS); +} + +inline bool CarState::Builder::getCanValid() { + return _builder.getDataField( + ::capnp::bounded<74>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setCanValid(bool value) { + _builder.setDataField( + ::capnp::bounded<74>() * ::capnp::ELEMENTS, value); +} + +inline float CarState::Reader::getSteeringTorqueEps() const { + return _reader.getDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} + +inline float CarState::Builder::getSteeringTorqueEps() { + return _builder.getDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setSteeringTorqueEps(float value) { + _builder.setDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS, value); +} + +inline bool CarState::Reader::getClutchPressed() const { + return _reader.getDataField( + ::capnp::bounded<75>() * ::capnp::ELEMENTS); +} + +inline bool CarState::Builder::getClutchPressed() { + return _builder.getDataField( + ::capnp::bounded<75>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setClutchPressed(bool value) { + _builder.setDataField( + ::capnp::bounded<75>() * ::capnp::ELEMENTS, value); +} + +inline bool CarState::Reader::getSteeringRateLimitedDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<76>() * ::capnp::ELEMENTS); +} + +inline bool CarState::Builder::getSteeringRateLimitedDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<76>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setSteeringRateLimitedDEPRECATED(bool value) { + _builder.setDataField( + ::capnp::bounded<76>() * ::capnp::ELEMENTS, value); +} + +inline bool CarState::Reader::getStockAeb() const { + return _reader.getDataField( + ::capnp::bounded<77>() * ::capnp::ELEMENTS); +} + +inline bool CarState::Builder::getStockAeb() { + return _builder.getDataField( + ::capnp::bounded<77>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setStockAeb(bool value) { + _builder.setDataField( + ::capnp::bounded<77>() * ::capnp::ELEMENTS, value); +} + +inline bool CarState::Reader::getStockFcw() const { + return _reader.getDataField( + ::capnp::bounded<78>() * ::capnp::ELEMENTS); +} + +inline bool CarState::Builder::getStockFcw() { + return _builder.getDataField( + ::capnp::bounded<78>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setStockFcw(bool value) { + _builder.setDataField( + ::capnp::bounded<78>() * ::capnp::ELEMENTS, value); +} + +inline bool CarState::Reader::getEspDisabled() const { + return _reader.getDataField( + ::capnp::bounded<79>() * ::capnp::ELEMENTS); +} + +inline bool CarState::Builder::getEspDisabled() { + return _builder.getDataField( + ::capnp::bounded<79>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setEspDisabled(bool value) { + _builder.setDataField( + ::capnp::bounded<79>() * ::capnp::ELEMENTS, value); +} + +inline bool CarState::Reader::getLeftBlindspot() const { + return _reader.getDataField( + ::capnp::bounded<352>() * ::capnp::ELEMENTS); +} + +inline bool CarState::Builder::getLeftBlindspot() { + return _builder.getDataField( + ::capnp::bounded<352>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setLeftBlindspot(bool value) { + _builder.setDataField( + ::capnp::bounded<352>() * ::capnp::ELEMENTS, value); +} + +inline bool CarState::Reader::getRightBlindspot() const { + return _reader.getDataField( + ::capnp::bounded<353>() * ::capnp::ELEMENTS); +} + +inline bool CarState::Builder::getRightBlindspot() { + return _builder.getDataField( + ::capnp::bounded<353>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setRightBlindspot(bool value) { + _builder.setDataField( + ::capnp::bounded<353>() * ::capnp::ELEMENTS, value); +} + +inline bool CarState::Reader::getSteerFaultTemporary() const { + return _reader.getDataField( + ::capnp::bounded<354>() * ::capnp::ELEMENTS); +} + +inline bool CarState::Builder::getSteerFaultTemporary() { + return _builder.getDataField( + ::capnp::bounded<354>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setSteerFaultTemporary(bool value) { + _builder.setDataField( + ::capnp::bounded<354>() * ::capnp::ELEMENTS, value); +} + +inline bool CarState::Reader::getSteerFaultPermanent() const { + return _reader.getDataField( + ::capnp::bounded<355>() * ::capnp::ELEMENTS); +} + +inline bool CarState::Builder::getSteerFaultPermanent() { + return _builder.getDataField( + ::capnp::bounded<355>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setSteerFaultPermanent(bool value) { + _builder.setDataField( + ::capnp::bounded<355>() * ::capnp::ELEMENTS, value); +} + +inline float CarState::Reader::getSteeringAngleOffsetDeg() const { + return _reader.getDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} + +inline float CarState::Builder::getSteeringAngleOffsetDeg() { + return _builder.getDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setSteeringAngleOffsetDeg(float value) { + _builder.setDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS, value); +} + +inline bool CarState::Reader::getBrakeHoldActive() const { + return _reader.getDataField( + ::capnp::bounded<356>() * ::capnp::ELEMENTS); +} + +inline bool CarState::Builder::getBrakeHoldActive() { + return _builder.getDataField( + ::capnp::bounded<356>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setBrakeHoldActive(bool value) { + _builder.setDataField( + ::capnp::bounded<356>() * ::capnp::ELEMENTS, value); +} + +inline bool CarState::Reader::getParkingBrake() const { + return _reader.getDataField( + ::capnp::bounded<357>() * ::capnp::ELEMENTS); +} + +inline bool CarState::Builder::getParkingBrake() { + return _builder.getDataField( + ::capnp::bounded<357>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setParkingBrake(bool value) { + _builder.setDataField( + ::capnp::bounded<357>() * ::capnp::ELEMENTS, value); +} + +inline bool CarState::Reader::getCanTimeout() const { + return _reader.getDataField( + ::capnp::bounded<358>() * ::capnp::ELEMENTS); +} + +inline bool CarState::Builder::getCanTimeout() { + return _builder.getDataField( + ::capnp::bounded<358>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setCanTimeout(bool value) { + _builder.setDataField( + ::capnp::bounded<358>() * ::capnp::ELEMENTS, value); +} + +inline float CarState::Reader::getFuelGauge() const { + return _reader.getDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} + +inline float CarState::Builder::getFuelGauge() { + return _builder.getDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setFuelGauge(float value) { + _builder.setDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS, value); +} + +inline bool CarState::Reader::getAccFaulted() const { + return _reader.getDataField( + ::capnp::bounded<359>() * ::capnp::ELEMENTS); +} + +inline bool CarState::Builder::getAccFaulted() { + return _builder.getDataField( + ::capnp::bounded<359>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setAccFaulted(bool value) { + _builder.setDataField( + ::capnp::bounded<359>() * ::capnp::ELEMENTS, value); +} + +inline bool CarState::Reader::getCharging() const { + return _reader.getDataField( + ::capnp::bounded<360>() * ::capnp::ELEMENTS); +} + +inline bool CarState::Builder::getCharging() { + return _builder.getDataField( + ::capnp::bounded<360>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setCharging(bool value) { + _builder.setDataField( + ::capnp::bounded<360>() * ::capnp::ELEMENTS, value); +} + +inline float CarState::Reader::getVEgoCluster() const { + return _reader.getDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} + +inline float CarState::Builder::getVEgoCluster() { + return _builder.getDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setVEgoCluster(float value) { + _builder.setDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS, value); +} + +inline bool CarState::Reader::getRegenBraking() const { + return _reader.getDataField( + ::capnp::bounded<361>() * ::capnp::ELEMENTS); +} + +inline bool CarState::Builder::getRegenBraking() { + return _builder.getDataField( + ::capnp::bounded<361>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setRegenBraking(bool value) { + _builder.setDataField( + ::capnp::bounded<361>() * ::capnp::ELEMENTS, value); +} + +inline float CarState::Reader::getEngineRpm() const { + return _reader.getDataField( + ::capnp::bounded<15>() * ::capnp::ELEMENTS); +} + +inline float CarState::Builder::getEngineRpm() { + return _builder.getDataField( + ::capnp::bounded<15>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setEngineRpm(float value) { + _builder.setDataField( + ::capnp::bounded<15>() * ::capnp::ELEMENTS, value); +} + +inline bool CarState::Reader::getCarFaultedNonCritical() const { + return _reader.getDataField( + ::capnp::bounded<362>() * ::capnp::ELEMENTS); +} + +inline bool CarState::Builder::getCarFaultedNonCritical() { + return _builder.getDataField( + ::capnp::bounded<362>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setCarFaultedNonCritical(bool value) { + _builder.setDataField( + ::capnp::bounded<362>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t CarState::Reader::getCanErrorCounter() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<16>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t CarState::Builder::getCanErrorCounter() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<16>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setCanErrorCounter( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<16>() * ::capnp::ELEMENTS, value); +} + +inline bool CarState::Reader::getCanRcvTimeoutDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<363>() * ::capnp::ELEMENTS); +} + +inline bool CarState::Builder::getCanRcvTimeoutDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<363>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setCanRcvTimeoutDEPRECATED(bool value) { + _builder.setDataField( + ::capnp::bounded<363>() * ::capnp::ELEMENTS, value); +} + +inline float CarState::Reader::getCumLagMs() const { + return _reader.getDataField( + ::capnp::bounded<17>() * ::capnp::ELEMENTS); +} + +inline float CarState::Builder::getCumLagMs() { + return _builder.getDataField( + ::capnp::bounded<17>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setCumLagMs(float value) { + _builder.setDataField( + ::capnp::bounded<17>() * ::capnp::ELEMENTS, value); +} + +inline bool CarState::Reader::getEspActive() const { + return _reader.getDataField( + ::capnp::bounded<364>() * ::capnp::ELEMENTS); +} + +inline bool CarState::Builder::getEspActive() { + return _builder.getDataField( + ::capnp::bounded<364>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setEspActive(bool value) { + _builder.setDataField( + ::capnp::bounded<364>() * ::capnp::ELEMENTS, value); +} + +inline bool CarState::Reader::getMadsEnabled() const { + return _reader.getDataField( + ::capnp::bounded<365>() * ::capnp::ELEMENTS); +} + +inline bool CarState::Builder::getMadsEnabled() { + return _builder.getDataField( + ::capnp::bounded<365>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setMadsEnabled(bool value) { + _builder.setDataField( + ::capnp::bounded<365>() * ::capnp::ELEMENTS, value); +} + +inline bool CarState::Reader::getLeftBlinkerOn() const { + return _reader.getDataField( + ::capnp::bounded<366>() * ::capnp::ELEMENTS); +} + +inline bool CarState::Builder::getLeftBlinkerOn() { + return _builder.getDataField( + ::capnp::bounded<366>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setLeftBlinkerOn(bool value) { + _builder.setDataField( + ::capnp::bounded<366>() * ::capnp::ELEMENTS, value); +} + +inline bool CarState::Reader::getRightBlinkerOn() const { + return _reader.getDataField( + ::capnp::bounded<367>() * ::capnp::ELEMENTS); +} + +inline bool CarState::Builder::getRightBlinkerOn() { + return _builder.getDataField( + ::capnp::bounded<367>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setRightBlinkerOn(bool value) { + _builder.setDataField( + ::capnp::bounded<367>() * ::capnp::ELEMENTS, value); +} + +inline bool CarState::Reader::getDisengageByBrake() const { + return _reader.getDataField( + ::capnp::bounded<368>() * ::capnp::ELEMENTS); +} + +inline bool CarState::Builder::getDisengageByBrake() { + return _builder.getDataField( + ::capnp::bounded<368>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setDisengageByBrake(bool value) { + _builder.setDataField( + ::capnp::bounded<368>() * ::capnp::ELEMENTS, value); +} + +inline bool CarState::Reader::getBelowLaneChangeSpeed() const { + return _reader.getDataField( + ::capnp::bounded<369>() * ::capnp::ELEMENTS); +} + +inline bool CarState::Builder::getBelowLaneChangeSpeed() { + return _builder.getDataField( + ::capnp::bounded<369>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setBelowLaneChangeSpeed(bool value) { + _builder.setDataField( + ::capnp::bounded<369>() * ::capnp::ELEMENTS, value); +} + +inline bool CarState::Reader::getAccEnabled() const { + return _reader.getDataField( + ::capnp::bounded<370>() * ::capnp::ELEMENTS); +} + +inline bool CarState::Builder::getAccEnabled() { + return _builder.getDataField( + ::capnp::bounded<370>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setAccEnabled(bool value) { + _builder.setDataField( + ::capnp::bounded<370>() * ::capnp::ELEMENTS, value); +} + +inline bool CarState::Reader::getLatActive() const { + return _reader.getDataField( + ::capnp::bounded<371>() * ::capnp::ELEMENTS); +} + +inline bool CarState::Builder::getLatActive() { + return _builder.getDataField( + ::capnp::bounded<371>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setLatActive(bool value) { + _builder.setDataField( + ::capnp::bounded<371>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t CarState::Reader::getGapAdjustCruiseTr() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<18>() * ::capnp::ELEMENTS); +} + +inline ::int32_t CarState::Builder::getGapAdjustCruiseTr() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<18>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setGapAdjustCruiseTr( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<18>() * ::capnp::ELEMENTS, value); +} + +inline bool CarState::Reader::getEndToEndLong() const { + return _reader.getDataField( + ::capnp::bounded<372>() * ::capnp::ELEMENTS); +} + +inline bool CarState::Builder::getEndToEndLong() { + return _builder.getDataField( + ::capnp::bounded<372>() * ::capnp::ELEMENTS); +} +inline void CarState::Builder::setEndToEndLong(bool value) { + _builder.setDataField( + ::capnp::bounded<372>() * ::capnp::ELEMENTS, value); +} + +inline bool CarState::Reader::hasCustomStockLong() const { + return !_reader.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS).isNull(); +} +inline bool CarState::Builder::hasCustomStockLong() { + return !_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::CarState::CustomStockLong::Reader CarState::Reader::getCustomStockLong() const { + return ::capnp::_::PointerHelpers< ::cereal::CarState::CustomStockLong>::get(_reader.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} +inline ::cereal::CarState::CustomStockLong::Builder CarState::Builder::getCustomStockLong() { + return ::capnp::_::PointerHelpers< ::cereal::CarState::CustomStockLong>::get(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::CarState::CustomStockLong::Pipeline CarState::Pipeline::getCustomStockLong() { + return ::cereal::CarState::CustomStockLong::Pipeline(_typeless.getPointerField(6)); +} +#endif // !CAPNP_LITE +inline void CarState::Builder::setCustomStockLong( ::cereal::CarState::CustomStockLong::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::CarState::CustomStockLong>::set(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), value); +} +inline ::cereal::CarState::CustomStockLong::Builder CarState::Builder::initCustomStockLong() { + return ::capnp::_::PointerHelpers< ::cereal::CarState::CustomStockLong>::init(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} +inline void CarState::Builder::adoptCustomStockLong( + ::capnp::Orphan< ::cereal::CarState::CustomStockLong>&& value) { + ::capnp::_::PointerHelpers< ::cereal::CarState::CustomStockLong>::adopt(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::CarState::CustomStockLong> CarState::Builder::disownCustomStockLong() { + return ::capnp::_::PointerHelpers< ::cereal::CarState::CustomStockLong>::disown(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} + +inline ::int16_t CarState::CustomStockLong::Reader::getCruiseButton() const { + return _reader.getDataField< ::int16_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::int16_t CarState::CustomStockLong::Builder::getCruiseButton() { + return _builder.getDataField< ::int16_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void CarState::CustomStockLong::Builder::setCruiseButton( ::int16_t value) { + _builder.setDataField< ::int16_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline float CarState::CustomStockLong::Reader::getFinalSpeedKph() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float CarState::CustomStockLong::Builder::getFinalSpeedKph() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void CarState::CustomStockLong::Builder::setFinalSpeedKph(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float CarState::CustomStockLong::Reader::getVCruiseKphPrevDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float CarState::CustomStockLong::Builder::getVCruiseKphPrevDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void CarState::CustomStockLong::Builder::setVCruiseKphPrevDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline float CarState::CustomStockLong::Reader::getTargetSpeed() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline float CarState::CustomStockLong::Builder::getTargetSpeed() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void CarState::CustomStockLong::Builder::setTargetSpeed(float value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline float CarState::CustomStockLong::Reader::getVSetDis() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline float CarState::CustomStockLong::Builder::getVSetDis() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void CarState::CustomStockLong::Builder::setVSetDis(float value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline float CarState::CustomStockLong::Reader::getSpeedDiff() const { + return _reader.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline float CarState::CustomStockLong::Builder::getSpeedDiff() { + return _builder.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void CarState::CustomStockLong::Builder::setSpeedDiff(float value) { + _builder.setDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline ::int16_t CarState::CustomStockLong::Reader::getButtonType() const { + return _reader.getDataField< ::int16_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::int16_t CarState::CustomStockLong::Builder::getButtonType() { + return _builder.getDataField< ::int16_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void CarState::CustomStockLong::Builder::setButtonType( ::int16_t value) { + _builder.setDataField< ::int16_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float CarState::WheelSpeeds::Reader::getFl() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline float CarState::WheelSpeeds::Builder::getFl() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void CarState::WheelSpeeds::Builder::setFl(float value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline float CarState::WheelSpeeds::Reader::getFr() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float CarState::WheelSpeeds::Builder::getFr() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void CarState::WheelSpeeds::Builder::setFr(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float CarState::WheelSpeeds::Reader::getRl() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float CarState::WheelSpeeds::Builder::getRl() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void CarState::WheelSpeeds::Builder::setRl(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline float CarState::WheelSpeeds::Reader::getRr() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline float CarState::WheelSpeeds::Builder::getRr() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void CarState::WheelSpeeds::Builder::setRr(float value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline bool CarState::CruiseState::Reader::getEnabled() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline bool CarState::CruiseState::Builder::getEnabled() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void CarState::CruiseState::Builder::setEnabled(bool value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline float CarState::CruiseState::Reader::getSpeed() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float CarState::CruiseState::Builder::getSpeed() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void CarState::CruiseState::Builder::setSpeed(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool CarState::CruiseState::Reader::getAvailable() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline bool CarState::CruiseState::Builder::getAvailable() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void CarState::CruiseState::Builder::setAvailable(bool value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float CarState::CruiseState::Reader::getSpeedOffset() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float CarState::CruiseState::Builder::getSpeedOffset() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void CarState::CruiseState::Builder::setSpeedOffset(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline bool CarState::CruiseState::Reader::getStandstill() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline bool CarState::CruiseState::Builder::getStandstill() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void CarState::CruiseState::Builder::setStandstill(bool value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline bool CarState::CruiseState::Reader::getNonAdaptive() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline bool CarState::CruiseState::Builder::getNonAdaptive() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void CarState::CruiseState::Builder::setNonAdaptive(bool value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline float CarState::CruiseState::Reader::getSpeedCluster() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline float CarState::CruiseState::Builder::getSpeedCluster() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void CarState::CruiseState::Builder::setSpeedCluster(float value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline float CarState::CruiseState::Reader::getSpeedLimit() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline float CarState::CruiseState::Builder::getSpeedLimit() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void CarState::CruiseState::Builder::setSpeedLimit(float value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline bool CarState::ButtonEvent::Reader::getPressed() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline bool CarState::ButtonEvent::Builder::getPressed() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void CarState::ButtonEvent::Builder::setPressed(bool value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::CarState::ButtonEvent::Type CarState::ButtonEvent::Reader::getType() const { + return _reader.getDataField< ::cereal::CarState::ButtonEvent::Type>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::cereal::CarState::ButtonEvent::Type CarState::ButtonEvent::Builder::getType() { + return _builder.getDataField< ::cereal::CarState::ButtonEvent::Type>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void CarState::ButtonEvent::Builder::setType( ::cereal::CarState::ButtonEvent::Type value) { + _builder.setDataField< ::cereal::CarState::ButtonEvent::Type>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool RadarData::Reader::hasErrors() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool RadarData::Builder::hasErrors() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>::Reader RadarData::Reader::getErrors() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>::Builder RadarData::Builder::getErrors() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void RadarData::Builder::setErrors( ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void RadarData::Builder::setErrors(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>::Builder RadarData::Builder::initErrors(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void RadarData::Builder::adoptErrors( + ::capnp::Orphan< ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>> RadarData::Builder::disownErrors() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool RadarData::Reader::hasPoints() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool RadarData::Builder::hasPoints() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::RadarData::RadarPoint, ::capnp::Kind::STRUCT>::Reader RadarData::Reader::getPoints() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarData::RadarPoint, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::RadarData::RadarPoint, ::capnp::Kind::STRUCT>::Builder RadarData::Builder::getPoints() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarData::RadarPoint, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void RadarData::Builder::setPoints( ::capnp::List< ::cereal::RadarData::RadarPoint, ::capnp::Kind::STRUCT>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarData::RadarPoint, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::RadarData::RadarPoint, ::capnp::Kind::STRUCT>::Builder RadarData::Builder::initPoints(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarData::RadarPoint, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void RadarData::Builder::adoptPoints( + ::capnp::Orphan< ::capnp::List< ::cereal::RadarData::RadarPoint, ::capnp::Kind::STRUCT>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarData::RadarPoint, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::RadarData::RadarPoint, ::capnp::Kind::STRUCT>> RadarData::Builder::disownPoints() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarData::RadarPoint, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool RadarData::Reader::hasCanMonoTimesDEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool RadarData::Builder::hasCanMonoTimesDEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>::Reader RadarData::Reader::getCanMonoTimesDEPRECATED() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>::Builder RadarData::Builder::getCanMonoTimesDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void RadarData::Builder::setCanMonoTimesDEPRECATED( ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline void RadarData::Builder::setCanMonoTimesDEPRECATED(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>::Builder RadarData::Builder::initCanMonoTimesDEPRECATED(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void RadarData::Builder::adoptCanMonoTimesDEPRECATED( + ::capnp::Orphan< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>> RadarData::Builder::disownCanMonoTimesDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline ::uint64_t RadarData::RadarPoint::Reader::getTrackId() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t RadarData::RadarPoint::Builder::getTrackId() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void RadarData::RadarPoint::Builder::setTrackId( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline float RadarData::RadarPoint::Reader::getDRel() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float RadarData::RadarPoint::Builder::getDRel() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void RadarData::RadarPoint::Builder::setDRel(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline float RadarData::RadarPoint::Reader::getYRel() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline float RadarData::RadarPoint::Builder::getYRel() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void RadarData::RadarPoint::Builder::setYRel(float value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline float RadarData::RadarPoint::Reader::getVRel() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline float RadarData::RadarPoint::Builder::getVRel() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void RadarData::RadarPoint::Builder::setVRel(float value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline float RadarData::RadarPoint::Reader::getARel() const { + return _reader.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline float RadarData::RadarPoint::Builder::getARel() { + return _builder.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void RadarData::RadarPoint::Builder::setARel(float value) { + _builder.setDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline float RadarData::RadarPoint::Reader::getYvRel() const { + return _reader.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline float RadarData::RadarPoint::Builder::getYvRel() { + return _builder.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void RadarData::RadarPoint::Builder::setYvRel(float value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline bool RadarData::RadarPoint::Reader::getMeasured() const { + return _reader.getDataField( + ::capnp::bounded<224>() * ::capnp::ELEMENTS); +} + +inline bool RadarData::RadarPoint::Builder::getMeasured() { + return _builder.getDataField( + ::capnp::bounded<224>() * ::capnp::ELEMENTS); +} +inline void RadarData::RadarPoint::Builder::setMeasured(bool value) { + _builder.setDataField( + ::capnp::bounded<224>() * ::capnp::ELEMENTS, value); +} + +inline bool CarControl::Reader::getEnabled() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline bool CarControl::Builder::getEnabled() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void CarControl::Builder::setEnabled(bool value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline float CarControl::Reader::getGasDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float CarControl::Builder::getGasDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void CarControl::Builder::setGasDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float CarControl::Reader::getBrakeDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float CarControl::Builder::getBrakeDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void CarControl::Builder::setBrakeDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline float CarControl::Reader::getSteeringTorqueDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline float CarControl::Builder::getSteeringTorqueDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void CarControl::Builder::setSteeringTorqueDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline bool CarControl::Reader::hasCruiseControl() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool CarControl::Builder::hasCruiseControl() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::CarControl::CruiseControl::Reader CarControl::Reader::getCruiseControl() const { + return ::capnp::_::PointerHelpers< ::cereal::CarControl::CruiseControl>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::CarControl::CruiseControl::Builder CarControl::Builder::getCruiseControl() { + return ::capnp::_::PointerHelpers< ::cereal::CarControl::CruiseControl>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::CarControl::CruiseControl::Pipeline CarControl::Pipeline::getCruiseControl() { + return ::cereal::CarControl::CruiseControl::Pipeline(_typeless.getPointerField(0)); +} +#endif // !CAPNP_LITE +inline void CarControl::Builder::setCruiseControl( ::cereal::CarControl::CruiseControl::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::CarControl::CruiseControl>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::CarControl::CruiseControl::Builder CarControl::Builder::initCruiseControl() { + return ::capnp::_::PointerHelpers< ::cereal::CarControl::CruiseControl>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void CarControl::Builder::adoptCruiseControl( + ::capnp::Orphan< ::cereal::CarControl::CruiseControl>&& value) { + ::capnp::_::PointerHelpers< ::cereal::CarControl::CruiseControl>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::CarControl::CruiseControl> CarControl::Builder::disownCruiseControl() { + return ::capnp::_::PointerHelpers< ::cereal::CarControl::CruiseControl>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool CarControl::Reader::hasHudControl() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool CarControl::Builder::hasHudControl() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::CarControl::HUDControl::Reader CarControl::Reader::getHudControl() const { + return ::capnp::_::PointerHelpers< ::cereal::CarControl::HUDControl>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::cereal::CarControl::HUDControl::Builder CarControl::Builder::getHudControl() { + return ::capnp::_::PointerHelpers< ::cereal::CarControl::HUDControl>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::CarControl::HUDControl::Pipeline CarControl::Pipeline::getHudControl() { + return ::cereal::CarControl::HUDControl::Pipeline(_typeless.getPointerField(1)); +} +#endif // !CAPNP_LITE +inline void CarControl::Builder::setHudControl( ::cereal::CarControl::HUDControl::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::CarControl::HUDControl>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::cereal::CarControl::HUDControl::Builder CarControl::Builder::initHudControl() { + return ::capnp::_::PointerHelpers< ::cereal::CarControl::HUDControl>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void CarControl::Builder::adoptHudControl( + ::capnp::Orphan< ::cereal::CarControl::HUDControl>&& value) { + ::capnp::_::PointerHelpers< ::cereal::CarControl::HUDControl>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::CarControl::HUDControl> CarControl::Builder::disownHudControl() { + return ::capnp::_::PointerHelpers< ::cereal::CarControl::HUDControl>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool CarControl::Reader::hasActuators() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool CarControl::Builder::hasActuators() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::CarControl::Actuators::Reader CarControl::Reader::getActuators() const { + return ::capnp::_::PointerHelpers< ::cereal::CarControl::Actuators>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::cereal::CarControl::Actuators::Builder CarControl::Builder::getActuators() { + return ::capnp::_::PointerHelpers< ::cereal::CarControl::Actuators>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::CarControl::Actuators::Pipeline CarControl::Pipeline::getActuators() { + return ::cereal::CarControl::Actuators::Pipeline(_typeless.getPointerField(2)); +} +#endif // !CAPNP_LITE +inline void CarControl::Builder::setActuators( ::cereal::CarControl::Actuators::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::CarControl::Actuators>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::cereal::CarControl::Actuators::Builder CarControl::Builder::initActuators() { + return ::capnp::_::PointerHelpers< ::cereal::CarControl::Actuators>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void CarControl::Builder::adoptActuators( + ::capnp::Orphan< ::cereal::CarControl::Actuators>&& value) { + ::capnp::_::PointerHelpers< ::cereal::CarControl::Actuators>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::CarControl::Actuators> CarControl::Builder::disownActuators() { + return ::capnp::_::PointerHelpers< ::cereal::CarControl::Actuators>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline bool CarControl::Reader::getActiveDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline bool CarControl::Builder::getActiveDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void CarControl::Builder::setActiveDEPRECATED(bool value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float CarControl::Reader::getRollDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline float CarControl::Builder::getRollDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void CarControl::Builder::setRollDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline float CarControl::Reader::getPitchDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline float CarControl::Builder::getPitchDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void CarControl::Builder::setPitchDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline bool CarControl::Reader::hasActuatorsOutputDEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool CarControl::Builder::hasActuatorsOutputDEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::CarControl::Actuators::Reader CarControl::Reader::getActuatorsOutputDEPRECATED() const { + return ::capnp::_::PointerHelpers< ::cereal::CarControl::Actuators>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::cereal::CarControl::Actuators::Builder CarControl::Builder::getActuatorsOutputDEPRECATED() { + return ::capnp::_::PointerHelpers< ::cereal::CarControl::Actuators>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::CarControl::Actuators::Pipeline CarControl::Pipeline::getActuatorsOutputDEPRECATED() { + return ::cereal::CarControl::Actuators::Pipeline(_typeless.getPointerField(3)); +} +#endif // !CAPNP_LITE +inline void CarControl::Builder::setActuatorsOutputDEPRECATED( ::cereal::CarControl::Actuators::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::CarControl::Actuators>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::cereal::CarControl::Actuators::Builder CarControl::Builder::initActuatorsOutputDEPRECATED() { + return ::capnp::_::PointerHelpers< ::cereal::CarControl::Actuators>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void CarControl::Builder::adoptActuatorsOutputDEPRECATED( + ::capnp::Orphan< ::cereal::CarControl::Actuators>&& value) { + ::capnp::_::PointerHelpers< ::cereal::CarControl::Actuators>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::CarControl::Actuators> CarControl::Builder::disownActuatorsOutputDEPRECATED() { + return ::capnp::_::PointerHelpers< ::cereal::CarControl::Actuators>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline bool CarControl::Reader::getLatActive() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline bool CarControl::Builder::getLatActive() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void CarControl::Builder::setLatActive(bool value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline bool CarControl::Reader::getLongActive() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline bool CarControl::Builder::getLongActive() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void CarControl::Builder::setLongActive(bool value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline bool CarControl::Reader::hasOrientationNED() const { + return !_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline bool CarControl::Builder::hasOrientationNED() { + return !_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader CarControl::Reader::getOrientationNED() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder CarControl::Builder::getOrientationNED() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline void CarControl::Builder::setOrientationNED( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline void CarControl::Builder::setOrientationNED(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder CarControl::Builder::initOrientationNED(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), size); +} +inline void CarControl::Builder::adoptOrientationNED( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> CarControl::Builder::disownOrientationNED() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} + +inline bool CarControl::Reader::hasAngularVelocity() const { + return !_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline bool CarControl::Builder::hasAngularVelocity() { + return !_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader CarControl::Reader::getAngularVelocity() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder CarControl::Builder::getAngularVelocity() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline void CarControl::Builder::setAngularVelocity( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline void CarControl::Builder::setAngularVelocity(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder CarControl::Builder::initAngularVelocity(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), size); +} +inline void CarControl::Builder::adoptAngularVelocity( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> CarControl::Builder::disownAngularVelocity() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} + +inline bool CarControl::Reader::getLeftBlinker() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline bool CarControl::Builder::getLeftBlinker() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void CarControl::Builder::setLeftBlinker(bool value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline bool CarControl::Reader::getRightBlinker() const { + return _reader.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline bool CarControl::Builder::getRightBlinker() { + return _builder.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void CarControl::Builder::setRightBlinker(bool value) { + _builder.setDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline float CarControl::Reader::getVCruise() const { + return _reader.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline float CarControl::Builder::getVCruise() { + return _builder.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void CarControl::Builder::setVCruise(float value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline float CarControl::Actuators::Reader::getGas() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline float CarControl::Actuators::Builder::getGas() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void CarControl::Actuators::Builder::setGas(float value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline float CarControl::Actuators::Reader::getBrake() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float CarControl::Actuators::Builder::getBrake() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void CarControl::Actuators::Builder::setBrake(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float CarControl::Actuators::Reader::getSteer() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float CarControl::Actuators::Builder::getSteer() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void CarControl::Actuators::Builder::setSteer(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline float CarControl::Actuators::Reader::getSteeringAngleDeg() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline float CarControl::Actuators::Builder::getSteeringAngleDeg() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void CarControl::Actuators::Builder::setSteeringAngleDeg(float value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline float CarControl::Actuators::Reader::getAccel() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline float CarControl::Actuators::Builder::getAccel() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void CarControl::Actuators::Builder::setAccel(float value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::CarControl::Actuators::LongControlState CarControl::Actuators::Reader::getLongControlState() const { + return _reader.getDataField< ::cereal::CarControl::Actuators::LongControlState>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} + +inline ::cereal::CarControl::Actuators::LongControlState CarControl::Actuators::Builder::getLongControlState() { + return _builder.getDataField< ::cereal::CarControl::Actuators::LongControlState>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} +inline void CarControl::Actuators::Builder::setLongControlState( ::cereal::CarControl::Actuators::LongControlState value) { + _builder.setDataField< ::cereal::CarControl::Actuators::LongControlState>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS, value); +} + +inline float CarControl::Actuators::Reader::getSpeed() const { + return _reader.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline float CarControl::Actuators::Builder::getSpeed() { + return _builder.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void CarControl::Actuators::Builder::setSpeed(float value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline float CarControl::Actuators::Reader::getCurvature() const { + return _reader.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline float CarControl::Actuators::Builder::getCurvature() { + return _builder.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void CarControl::Actuators::Builder::setCurvature(float value) { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline float CarControl::Actuators::Reader::getSteerOutputCan() const { + return _reader.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline float CarControl::Actuators::Builder::getSteerOutputCan() { + return _builder.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void CarControl::Actuators::Builder::setSteerOutputCan(float value) { + _builder.setDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline bool CarControl::CruiseControl::Reader::getCancel() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline bool CarControl::CruiseControl::Builder::getCancel() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void CarControl::CruiseControl::Builder::setCancel(bool value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool CarControl::CruiseControl::Reader::getResume() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline bool CarControl::CruiseControl::Builder::getResume() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void CarControl::CruiseControl::Builder::setResume(bool value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float CarControl::CruiseControl::Reader::getSpeedOverrideDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float CarControl::CruiseControl::Builder::getSpeedOverrideDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void CarControl::CruiseControl::Builder::setSpeedOverrideDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float CarControl::CruiseControl::Reader::getAccelOverrideDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float CarControl::CruiseControl::Builder::getAccelOverrideDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void CarControl::CruiseControl::Builder::setAccelOverrideDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline bool CarControl::CruiseControl::Reader::getOverride() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline bool CarControl::CruiseControl::Builder::getOverride() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void CarControl::CruiseControl::Builder::setOverride(bool value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline bool CarControl::HUDControl::Reader::getSpeedVisible() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline bool CarControl::HUDControl::Builder::getSpeedVisible() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void CarControl::HUDControl::Builder::setSpeedVisible(bool value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline float CarControl::HUDControl::Reader::getSetSpeed() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float CarControl::HUDControl::Builder::getSetSpeed() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void CarControl::HUDControl::Builder::setSetSpeed(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool CarControl::HUDControl::Reader::getLanesVisible() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline bool CarControl::HUDControl::Builder::getLanesVisible() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void CarControl::HUDControl::Builder::setLanesVisible(bool value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool CarControl::HUDControl::Reader::getLeadVisible() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline bool CarControl::HUDControl::Builder::getLeadVisible() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void CarControl::HUDControl::Builder::setLeadVisible(bool value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::CarControl::HUDControl::VisualAlert CarControl::HUDControl::Reader::getVisualAlert() const { + return _reader.getDataField< ::cereal::CarControl::HUDControl::VisualAlert>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::cereal::CarControl::HUDControl::VisualAlert CarControl::HUDControl::Builder::getVisualAlert() { + return _builder.getDataField< ::cereal::CarControl::HUDControl::VisualAlert>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void CarControl::HUDControl::Builder::setVisualAlert( ::cereal::CarControl::HUDControl::VisualAlert value) { + _builder.setDataField< ::cereal::CarControl::HUDControl::VisualAlert>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::CarControl::HUDControl::AudibleAlert CarControl::HUDControl::Reader::getAudibleAlert() const { + return _reader.getDataField< ::cereal::CarControl::HUDControl::AudibleAlert>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline ::cereal::CarControl::HUDControl::AudibleAlert CarControl::HUDControl::Builder::getAudibleAlert() { + return _builder.getDataField< ::cereal::CarControl::HUDControl::AudibleAlert>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void CarControl::HUDControl::Builder::setAudibleAlert( ::cereal::CarControl::HUDControl::AudibleAlert value) { + _builder.setDataField< ::cereal::CarControl::HUDControl::AudibleAlert>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline bool CarControl::HUDControl::Reader::getRightLaneVisible() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline bool CarControl::HUDControl::Builder::getRightLaneVisible() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void CarControl::HUDControl::Builder::setRightLaneVisible(bool value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline bool CarControl::HUDControl::Reader::getLeftLaneVisible() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline bool CarControl::HUDControl::Builder::getLeftLaneVisible() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void CarControl::HUDControl::Builder::setLeftLaneVisible(bool value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline bool CarControl::HUDControl::Reader::getRightLaneDepart() const { + return _reader.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline bool CarControl::HUDControl::Builder::getRightLaneDepart() { + return _builder.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void CarControl::HUDControl::Builder::setRightLaneDepart(bool value) { + _builder.setDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline bool CarControl::HUDControl::Reader::getLeftLaneDepart() const { + return _reader.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline bool CarControl::HUDControl::Builder::getLeftLaneDepart() { + return _builder.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void CarControl::HUDControl::Builder::setLeftLaneDepart(bool value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline ::int8_t CarControl::HUDControl::Reader::getLeadDistanceBars() const { + return _reader.getDataField< ::int8_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::int8_t CarControl::HUDControl::Builder::getLeadDistanceBars() { + return _builder.getDataField< ::int8_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void CarControl::HUDControl::Builder::setLeadDistanceBars( ::int8_t value) { + _builder.setDataField< ::int8_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool CarOutput::Reader::hasActuatorsOutput() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool CarOutput::Builder::hasActuatorsOutput() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::CarControl::Actuators::Reader CarOutput::Reader::getActuatorsOutput() const { + return ::capnp::_::PointerHelpers< ::cereal::CarControl::Actuators>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::CarControl::Actuators::Builder CarOutput::Builder::getActuatorsOutput() { + return ::capnp::_::PointerHelpers< ::cereal::CarControl::Actuators>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::CarControl::Actuators::Pipeline CarOutput::Pipeline::getActuatorsOutput() { + return ::cereal::CarControl::Actuators::Pipeline(_typeless.getPointerField(0)); +} +#endif // !CAPNP_LITE +inline void CarOutput::Builder::setActuatorsOutput( ::cereal::CarControl::Actuators::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::CarControl::Actuators>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::CarControl::Actuators::Builder CarOutput::Builder::initActuatorsOutput() { + return ::capnp::_::PointerHelpers< ::cereal::CarControl::Actuators>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void CarOutput::Builder::adoptActuatorsOutput( + ::capnp::Orphan< ::cereal::CarControl::Actuators>&& value) { + ::capnp::_::PointerHelpers< ::cereal::CarControl::Actuators>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::CarControl::Actuators> CarOutput::Builder::disownActuatorsOutput() { + return ::capnp::_::PointerHelpers< ::cereal::CarControl::Actuators>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool CarParams::Reader::hasCarName() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool CarParams::Builder::hasCarName() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader CarParams::Reader::getCarName() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder CarParams::Builder::getCarName() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void CarParams::Builder::setCarName( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder CarParams::Builder::initCarName(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void CarParams::Builder::adoptCarName( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> CarParams::Builder::disownCarName() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool CarParams::Reader::hasCarFingerprint() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool CarParams::Builder::hasCarFingerprint() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader CarParams::Reader::getCarFingerprint() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder CarParams::Builder::getCarFingerprint() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void CarParams::Builder::setCarFingerprint( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder CarParams::Builder::initCarFingerprint(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void CarParams::Builder::adoptCarFingerprint( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> CarParams::Builder::disownCarFingerprint() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool CarParams::Reader::getEnableGasInterceptorDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline bool CarParams::Builder::getEnableGasInterceptorDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setEnableGasInterceptorDEPRECATED(bool value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool CarParams::Reader::getPcmCruise() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline bool CarParams::Builder::getPcmCruise() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setPcmCruise(bool value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool CarParams::Reader::getEnableCameraDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline bool CarParams::Builder::getEnableCameraDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setEnableCameraDEPRECATED(bool value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline bool CarParams::Reader::getEnableDsu() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline bool CarParams::Builder::getEnableDsu() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setEnableDsu(bool value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline bool CarParams::Reader::getEnableApgsDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline bool CarParams::Builder::getEnableApgsDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setEnableApgsDEPRECATED(bool value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline float CarParams::Reader::getMinEnableSpeed() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float CarParams::Builder::getMinEnableSpeed() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setMinEnableSpeed(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float CarParams::Reader::getMinSteerSpeed() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float CarParams::Builder::getMinSteerSpeed() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setMinSteerSpeed(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::CarParams::SafetyModel CarParams::Reader::getSafetyModelDEPRECATED() const { + return _reader.getDataField< ::cereal::CarParams::SafetyModel>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::cereal::CarParams::SafetyModel CarParams::Builder::getSafetyModelDEPRECATED() { + return _builder.getDataField< ::cereal::CarParams::SafetyModel>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setSafetyModelDEPRECATED( ::cereal::CarParams::SafetyModel value) { + _builder.setDataField< ::cereal::CarParams::SafetyModel>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::int16_t CarParams::Reader::getSafetyParamDEPRECATED() const { + return _reader.getDataField< ::int16_t>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline ::int16_t CarParams::Builder::getSafetyParamDEPRECATED() { + return _builder.getDataField< ::int16_t>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setSafetyParamDEPRECATED( ::int16_t value) { + _builder.setDataField< ::int16_t>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline bool CarParams::Reader::hasSteerMaxBPDEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool CarParams::Builder::hasSteerMaxBPDEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader CarParams::Reader::getSteerMaxBPDEPRECATED() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder CarParams::Builder::getSteerMaxBPDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void CarParams::Builder::setSteerMaxBPDEPRECATED( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline void CarParams::Builder::setSteerMaxBPDEPRECATED(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder CarParams::Builder::initSteerMaxBPDEPRECATED(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void CarParams::Builder::adoptSteerMaxBPDEPRECATED( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> CarParams::Builder::disownSteerMaxBPDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline bool CarParams::Reader::hasSteerMaxVDEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool CarParams::Builder::hasSteerMaxVDEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader CarParams::Reader::getSteerMaxVDEPRECATED() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder CarParams::Builder::getSteerMaxVDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void CarParams::Builder::setSteerMaxVDEPRECATED( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline void CarParams::Builder::setSteerMaxVDEPRECATED(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder CarParams::Builder::initSteerMaxVDEPRECATED(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), size); +} +inline void CarParams::Builder::adoptSteerMaxVDEPRECATED( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> CarParams::Builder::disownSteerMaxVDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline bool CarParams::Reader::hasGasMaxBPDEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline bool CarParams::Builder::hasGasMaxBPDEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader CarParams::Reader::getGasMaxBPDEPRECATED() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder CarParams::Builder::getGasMaxBPDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline void CarParams::Builder::setGasMaxBPDEPRECATED( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline void CarParams::Builder::setGasMaxBPDEPRECATED(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder CarParams::Builder::initGasMaxBPDEPRECATED(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), size); +} +inline void CarParams::Builder::adoptGasMaxBPDEPRECATED( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> CarParams::Builder::disownGasMaxBPDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} + +inline bool CarParams::Reader::hasGasMaxVDEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline bool CarParams::Builder::hasGasMaxVDEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader CarParams::Reader::getGasMaxVDEPRECATED() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder CarParams::Builder::getGasMaxVDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline void CarParams::Builder::setGasMaxVDEPRECATED( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline void CarParams::Builder::setGasMaxVDEPRECATED(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder CarParams::Builder::initGasMaxVDEPRECATED(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), size); +} +inline void CarParams::Builder::adoptGasMaxVDEPRECATED( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> CarParams::Builder::disownGasMaxVDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} + +inline bool CarParams::Reader::hasBrakeMaxBPDEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS).isNull(); +} +inline bool CarParams::Builder::hasBrakeMaxBPDEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader CarParams::Reader::getBrakeMaxBPDEPRECATED() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder CarParams::Builder::getBrakeMaxBPDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} +inline void CarParams::Builder::setBrakeMaxBPDEPRECATED( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), value); +} +inline void CarParams::Builder::setBrakeMaxBPDEPRECATED(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder CarParams::Builder::initBrakeMaxBPDEPRECATED(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), size); +} +inline void CarParams::Builder::adoptBrakeMaxBPDEPRECATED( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> CarParams::Builder::disownBrakeMaxBPDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} + +inline bool CarParams::Reader::hasBrakeMaxVDEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS).isNull(); +} +inline bool CarParams::Builder::hasBrakeMaxVDEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader CarParams::Reader::getBrakeMaxVDEPRECATED() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder CarParams::Builder::getBrakeMaxVDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS)); +} +inline void CarParams::Builder::setBrakeMaxVDEPRECATED( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), value); +} +inline void CarParams::Builder::setBrakeMaxVDEPRECATED(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder CarParams::Builder::initBrakeMaxVDEPRECATED(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), size); +} +inline void CarParams::Builder::adoptBrakeMaxVDEPRECATED( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> CarParams::Builder::disownBrakeMaxVDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS)); +} + +inline float CarParams::Reader::getMass() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline float CarParams::Builder::getMass() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setMass(float value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline float CarParams::Reader::getWheelbase() const { + return _reader.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline float CarParams::Builder::getWheelbase() { + return _builder.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setWheelbase(float value) { + _builder.setDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline float CarParams::Reader::getCenterToFront() const { + return _reader.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline float CarParams::Builder::getCenterToFront() { + return _builder.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setCenterToFront(float value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline float CarParams::Reader::getSteerRatio() const { + return _reader.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline float CarParams::Builder::getSteerRatio() { + return _builder.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setSteerRatio(float value) { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline float CarParams::Reader::getSteerRatioRear() const { + return _reader.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline float CarParams::Builder::getSteerRatioRear() { + return _builder.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setSteerRatioRear(float value) { + _builder.setDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline float CarParams::Reader::getRotationalInertia() const { + return _reader.getDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} + +inline float CarParams::Builder::getRotationalInertia() { + return _builder.getDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setRotationalInertia(float value) { + _builder.setDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS, value); +} + +inline float CarParams::Reader::getTireStiffnessFront() const { + return _reader.getDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} + +inline float CarParams::Builder::getTireStiffnessFront() { + return _builder.getDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setTireStiffnessFront(float value) { + _builder.setDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS, value); +} + +inline float CarParams::Reader::getTireStiffnessRear() const { + return _reader.getDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} + +inline float CarParams::Builder::getTireStiffnessRear() { + return _builder.getDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setTireStiffnessRear(float value) { + _builder.setDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS, value); +} + +inline bool CarParams::Reader::hasLongitudinalTuning() const { + return !_reader.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS).isNull(); +} +inline bool CarParams::Builder::hasLongitudinalTuning() { + return !_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::CarParams::LongitudinalPIDTuning::Reader CarParams::Reader::getLongitudinalTuning() const { + return ::capnp::_::PointerHelpers< ::cereal::CarParams::LongitudinalPIDTuning>::get(_reader.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS)); +} +inline ::cereal::CarParams::LongitudinalPIDTuning::Builder CarParams::Builder::getLongitudinalTuning() { + return ::capnp::_::PointerHelpers< ::cereal::CarParams::LongitudinalPIDTuning>::get(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::CarParams::LongitudinalPIDTuning::Pipeline CarParams::Pipeline::getLongitudinalTuning() { + return ::cereal::CarParams::LongitudinalPIDTuning::Pipeline(_typeless.getPointerField(8)); +} +#endif // !CAPNP_LITE +inline void CarParams::Builder::setLongitudinalTuning( ::cereal::CarParams::LongitudinalPIDTuning::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::CarParams::LongitudinalPIDTuning>::set(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS), value); +} +inline ::cereal::CarParams::LongitudinalPIDTuning::Builder CarParams::Builder::initLongitudinalTuning() { + return ::capnp::_::PointerHelpers< ::cereal::CarParams::LongitudinalPIDTuning>::init(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS)); +} +inline void CarParams::Builder::adoptLongitudinalTuning( + ::capnp::Orphan< ::cereal::CarParams::LongitudinalPIDTuning>&& value) { + ::capnp::_::PointerHelpers< ::cereal::CarParams::LongitudinalPIDTuning>::adopt(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::CarParams::LongitudinalPIDTuning> CarParams::Builder::disownLongitudinalTuning() { + return ::capnp::_::PointerHelpers< ::cereal::CarParams::LongitudinalPIDTuning>::disown(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS)); +} + +inline typename CarParams::LateralTuning::Reader CarParams::Reader::getLateralTuning() const { + return typename CarParams::LateralTuning::Reader(_reader); +} +inline typename CarParams::LateralTuning::Builder CarParams::Builder::getLateralTuning() { + return typename CarParams::LateralTuning::Builder(_builder); +} +#if !CAPNP_LITE +inline typename CarParams::LateralTuning::Pipeline CarParams::Pipeline::getLateralTuning() { + return typename CarParams::LateralTuning::Pipeline(_typeless.noop()); +} +#endif // !CAPNP_LITE +inline typename CarParams::LateralTuning::Builder CarParams::Builder::initLateralTuning() { + _builder.setDataField< ::uint16_t>(::capnp::bounded<7>() * ::capnp::ELEMENTS, 0); + _builder.getPointerField(::capnp::bounded<9>() * ::capnp::POINTERS).clear(); + return typename CarParams::LateralTuning::Builder(_builder); +} +inline bool CarParams::Reader::getSteerLimitAlert() const { + return _reader.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline bool CarParams::Builder::getSteerLimitAlert() { + return _builder.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setSteerLimitAlert(bool value) { + _builder.setDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline float CarParams::Reader::getVEgoStopping() const { + return _reader.getDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} + +inline float CarParams::Builder::getVEgoStopping() { + return _builder.getDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setVEgoStopping(float value) { + _builder.setDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS, value); +} + +inline bool CarParams::Reader::getDirectAccelControlDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline bool CarParams::Builder::getDirectAccelControlDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setDirectAccelControlDEPRECATED(bool value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline bool CarParams::Reader::getStoppingControl() const { + return _reader.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline bool CarParams::Builder::getStoppingControl() { + return _builder.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setStoppingControl(bool value) { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline float CarParams::Reader::getStartAccel() const { + return _reader.getDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} + +inline float CarParams::Builder::getStartAccel() { + return _builder.getDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setStartAccel(float value) { + _builder.setDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS, value); +} + +inline float CarParams::Reader::getSteerRateCostDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} + +inline float CarParams::Builder::getSteerRateCostDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setSteerRateCostDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::CarParams::SteerControlType CarParams::Reader::getSteerControlType() const { + return _reader.getDataField< ::cereal::CarParams::SteerControlType>( + ::capnp::bounded<30>() * ::capnp::ELEMENTS); +} + +inline ::cereal::CarParams::SteerControlType CarParams::Builder::getSteerControlType() { + return _builder.getDataField< ::cereal::CarParams::SteerControlType>( + ::capnp::bounded<30>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setSteerControlType( ::cereal::CarParams::SteerControlType value) { + _builder.setDataField< ::cereal::CarParams::SteerControlType>( + ::capnp::bounded<30>() * ::capnp::ELEMENTS, value); +} + +inline bool CarParams::Reader::getRadarUnavailable() const { + return _reader.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline bool CarParams::Builder::getRadarUnavailable() { + return _builder.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setRadarUnavailable(bool value) { + _builder.setDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline float CarParams::Reader::getSteerActuatorDelay() const { + return _reader.getDataField( + ::capnp::bounded<16>() * ::capnp::ELEMENTS); +} + +inline float CarParams::Builder::getSteerActuatorDelay() { + return _builder.getDataField( + ::capnp::bounded<16>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setSteerActuatorDelay(float value) { + _builder.setDataField( + ::capnp::bounded<16>() * ::capnp::ELEMENTS, value); +} + +inline bool CarParams::Reader::getOpenpilotLongitudinalControl() const { + return _reader.getDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} + +inline bool CarParams::Builder::getOpenpilotLongitudinalControl() { + return _builder.getDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setOpenpilotLongitudinalControl(bool value) { + _builder.setDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS, value); +} + +inline bool CarParams::Reader::hasCarVin() const { + return !_reader.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS).isNull(); +} +inline bool CarParams::Builder::hasCarVin() { + return !_builder.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader CarParams::Reader::getCarVin() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder CarParams::Builder::getCarVin() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS)); +} +inline void CarParams::Builder::setCarVin( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder CarParams::Builder::initCarVin(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS), size); +} +inline void CarParams::Builder::adoptCarVin( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> CarParams::Builder::disownCarVin() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS)); +} + +inline bool CarParams::Reader::getIsPandaBlackDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} + +inline bool CarParams::Builder::getIsPandaBlackDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setIsPandaBlackDEPRECATED(bool value) { + _builder.setDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS, value); +} + +inline bool CarParams::Reader::getDashcamOnly() const { + return _reader.getDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} + +inline bool CarParams::Builder::getDashcamOnly() { + return _builder.getDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setDashcamOnly(bool value) { + _builder.setDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::CarParams::SafetyModel CarParams::Reader::getSafetyModelPassiveDEPRECATED() const { + return _reader.getDataField< ::cereal::CarParams::SafetyModel>( + ::capnp::bounded<31>() * ::capnp::ELEMENTS); +} + +inline ::cereal::CarParams::SafetyModel CarParams::Builder::getSafetyModelPassiveDEPRECATED() { + return _builder.getDataField< ::cereal::CarParams::SafetyModel>( + ::capnp::bounded<31>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setSafetyModelPassiveDEPRECATED( ::cereal::CarParams::SafetyModel value) { + _builder.setDataField< ::cereal::CarParams::SafetyModel>( + ::capnp::bounded<31>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::CarParams::TransmissionType CarParams::Reader::getTransmissionType() const { + return _reader.getDataField< ::cereal::CarParams::TransmissionType>( + ::capnp::bounded<34>() * ::capnp::ELEMENTS); +} + +inline ::cereal::CarParams::TransmissionType CarParams::Builder::getTransmissionType() { + return _builder.getDataField< ::cereal::CarParams::TransmissionType>( + ::capnp::bounded<34>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setTransmissionType( ::cereal::CarParams::TransmissionType value) { + _builder.setDataField< ::cereal::CarParams::TransmissionType>( + ::capnp::bounded<34>() * ::capnp::ELEMENTS, value); +} + +inline bool CarParams::Reader::hasCarFw() const { + return !_reader.getPointerField( + ::capnp::bounded<11>() * ::capnp::POINTERS).isNull(); +} +inline bool CarParams::Builder::hasCarFw() { + return !_builder.getPointerField( + ::capnp::bounded<11>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::CarParams::CarFw, ::capnp::Kind::STRUCT>::Reader CarParams::Reader::getCarFw() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarParams::CarFw, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<11>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::CarParams::CarFw, ::capnp::Kind::STRUCT>::Builder CarParams::Builder::getCarFw() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarParams::CarFw, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<11>() * ::capnp::POINTERS)); +} +inline void CarParams::Builder::setCarFw( ::capnp::List< ::cereal::CarParams::CarFw, ::capnp::Kind::STRUCT>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarParams::CarFw, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<11>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::CarParams::CarFw, ::capnp::Kind::STRUCT>::Builder CarParams::Builder::initCarFw(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarParams::CarFw, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<11>() * ::capnp::POINTERS), size); +} +inline void CarParams::Builder::adoptCarFw( + ::capnp::Orphan< ::capnp::List< ::cereal::CarParams::CarFw, ::capnp::Kind::STRUCT>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarParams::CarFw, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<11>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::CarParams::CarFw, ::capnp::Kind::STRUCT>> CarParams::Builder::disownCarFw() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarParams::CarFw, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<11>() * ::capnp::POINTERS)); +} + +inline float CarParams::Reader::getRadarTimeStep() const { + return _reader.getDataField( + ::capnp::bounded<18>() * ::capnp::ELEMENTS, 1028443341u); +} + +inline float CarParams::Builder::getRadarTimeStep() { + return _builder.getDataField( + ::capnp::bounded<18>() * ::capnp::ELEMENTS, 1028443341u); +} +inline void CarParams::Builder::setRadarTimeStep(float value) { + _builder.setDataField( + ::capnp::bounded<18>() * ::capnp::ELEMENTS, value, 1028443341u); +} + +inline bool CarParams::Reader::getCommunityFeatureDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} + +inline bool CarParams::Builder::getCommunityFeatureDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setCommunityFeatureDEPRECATED(bool value) { + _builder.setDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS, value); +} + +inline float CarParams::Reader::getSteerLimitTimer() const { + return _reader.getDataField( + ::capnp::bounded<19>() * ::capnp::ELEMENTS); +} + +inline float CarParams::Builder::getSteerLimitTimer() { + return _builder.getDataField( + ::capnp::bounded<19>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setSteerLimitTimer(float value) { + _builder.setDataField( + ::capnp::bounded<19>() * ::capnp::ELEMENTS, value); +} + +inline bool CarParams::Reader::hasLateralParams() const { + return !_reader.getPointerField( + ::capnp::bounded<12>() * ::capnp::POINTERS).isNull(); +} +inline bool CarParams::Builder::hasLateralParams() { + return !_builder.getPointerField( + ::capnp::bounded<12>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::CarParams::LateralParams::Reader CarParams::Reader::getLateralParams() const { + return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralParams>::get(_reader.getPointerField( + ::capnp::bounded<12>() * ::capnp::POINTERS)); +} +inline ::cereal::CarParams::LateralParams::Builder CarParams::Builder::getLateralParams() { + return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralParams>::get(_builder.getPointerField( + ::capnp::bounded<12>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::CarParams::LateralParams::Pipeline CarParams::Pipeline::getLateralParams() { + return ::cereal::CarParams::LateralParams::Pipeline(_typeless.getPointerField(12)); +} +#endif // !CAPNP_LITE +inline void CarParams::Builder::setLateralParams( ::cereal::CarParams::LateralParams::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralParams>::set(_builder.getPointerField( + ::capnp::bounded<12>() * ::capnp::POINTERS), value); +} +inline ::cereal::CarParams::LateralParams::Builder CarParams::Builder::initLateralParams() { + return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralParams>::init(_builder.getPointerField( + ::capnp::bounded<12>() * ::capnp::POINTERS)); +} +inline void CarParams::Builder::adoptLateralParams( + ::capnp::Orphan< ::cereal::CarParams::LateralParams>&& value) { + ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralParams>::adopt(_builder.getPointerField( + ::capnp::bounded<12>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::CarParams::LateralParams> CarParams::Builder::disownLateralParams() { + return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralParams>::disown(_builder.getPointerField( + ::capnp::bounded<12>() * ::capnp::POINTERS)); +} + +inline ::cereal::CarParams::FingerprintSource CarParams::Reader::getFingerprintSource() const { + return _reader.getDataField< ::cereal::CarParams::FingerprintSource>( + ::capnp::bounded<35>() * ::capnp::ELEMENTS); +} + +inline ::cereal::CarParams::FingerprintSource CarParams::Builder::getFingerprintSource() { + return _builder.getDataField< ::cereal::CarParams::FingerprintSource>( + ::capnp::bounded<35>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setFingerprintSource( ::cereal::CarParams::FingerprintSource value) { + _builder.setDataField< ::cereal::CarParams::FingerprintSource>( + ::capnp::bounded<35>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::CarParams::NetworkLocation CarParams::Reader::getNetworkLocation() const { + return _reader.getDataField< ::cereal::CarParams::NetworkLocation>( + ::capnp::bounded<40>() * ::capnp::ELEMENTS); +} + +inline ::cereal::CarParams::NetworkLocation CarParams::Builder::getNetworkLocation() { + return _builder.getDataField< ::cereal::CarParams::NetworkLocation>( + ::capnp::bounded<40>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setNetworkLocation( ::cereal::CarParams::NetworkLocation value) { + _builder.setDataField< ::cereal::CarParams::NetworkLocation>( + ::capnp::bounded<40>() * ::capnp::ELEMENTS, value); +} + +inline float CarParams::Reader::getMinSpeedCanDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<21>() * ::capnp::ELEMENTS); +} + +inline float CarParams::Builder::getMinSpeedCanDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<21>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setMinSpeedCanDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<21>() * ::capnp::ELEMENTS, value); +} + +inline float CarParams::Reader::getStoppingDecelRate() const { + return _reader.getDataField( + ::capnp::bounded<22>() * ::capnp::ELEMENTS); +} + +inline float CarParams::Builder::getStoppingDecelRate() { + return _builder.getDataField( + ::capnp::bounded<22>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setStoppingDecelRate(float value) { + _builder.setDataField( + ::capnp::bounded<22>() * ::capnp::ELEMENTS, value); +} + +inline float CarParams::Reader::getStartingAccelRateDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<23>() * ::capnp::ELEMENTS); +} + +inline float CarParams::Builder::getStartingAccelRateDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<23>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setStartingAccelRateDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<23>() * ::capnp::ELEMENTS, value); +} + +inline float CarParams::Reader::getMaxSteeringAngleDegDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<24>() * ::capnp::ELEMENTS); +} + +inline float CarParams::Builder::getMaxSteeringAngleDegDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<24>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setMaxSteeringAngleDegDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<24>() * ::capnp::ELEMENTS, value); +} + +inline bool CarParams::Reader::getFuzzyFingerprint() const { + return _reader.getDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} + +inline bool CarParams::Builder::getFuzzyFingerprint() { + return _builder.getDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setFuzzyFingerprint(bool value) { + _builder.setDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS, value); +} + +inline bool CarParams::Reader::getEnableBsm() const { + return _reader.getDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} + +inline bool CarParams::Builder::getEnableBsm() { + return _builder.getDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setEnableBsm(bool value) { + _builder.setDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS, value); +} + +inline bool CarParams::Reader::getHasStockCameraDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<15>() * ::capnp::ELEMENTS); +} + +inline bool CarParams::Builder::getHasStockCameraDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<15>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setHasStockCameraDEPRECATED(bool value) { + _builder.setDataField( + ::capnp::bounded<15>() * ::capnp::ELEMENTS, value); +} + +inline float CarParams::Reader::getLongitudinalActuatorDelay() const { + return _reader.getDataField( + ::capnp::bounded<25>() * ::capnp::ELEMENTS); +} + +inline float CarParams::Builder::getLongitudinalActuatorDelay() { + return _builder.getDataField( + ::capnp::bounded<25>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setLongitudinalActuatorDelay(float value) { + _builder.setDataField( + ::capnp::bounded<25>() * ::capnp::ELEMENTS, value); +} + +inline float CarParams::Reader::getVEgoStarting() const { + return _reader.getDataField( + ::capnp::bounded<26>() * ::capnp::ELEMENTS); +} + +inline float CarParams::Builder::getVEgoStarting() { + return _builder.getDataField( + ::capnp::bounded<26>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setVEgoStarting(float value) { + _builder.setDataField( + ::capnp::bounded<26>() * ::capnp::ELEMENTS, value); +} + +inline float CarParams::Reader::getStopAccel() const { + return _reader.getDataField( + ::capnp::bounded<27>() * ::capnp::ELEMENTS); +} + +inline float CarParams::Builder::getStopAccel() { + return _builder.getDataField( + ::capnp::bounded<27>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setStopAccel(float value) { + _builder.setDataField( + ::capnp::bounded<27>() * ::capnp::ELEMENTS, value); +} + +inline float CarParams::Reader::getLongitudinalActuatorDelayLowerBoundDEPRECATEDDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<28>() * ::capnp::ELEMENTS); +} + +inline float CarParams::Builder::getLongitudinalActuatorDelayLowerBoundDEPRECATEDDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<28>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setLongitudinalActuatorDelayLowerBoundDEPRECATEDDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<28>() * ::capnp::ELEMENTS, value); +} + +inline bool CarParams::Reader::hasSafetyConfigs() const { + return !_reader.getPointerField( + ::capnp::bounded<13>() * ::capnp::POINTERS).isNull(); +} +inline bool CarParams::Builder::hasSafetyConfigs() { + return !_builder.getPointerField( + ::capnp::bounded<13>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::CarParams::SafetyConfig, ::capnp::Kind::STRUCT>::Reader CarParams::Reader::getSafetyConfigs() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarParams::SafetyConfig, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<13>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::CarParams::SafetyConfig, ::capnp::Kind::STRUCT>::Builder CarParams::Builder::getSafetyConfigs() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarParams::SafetyConfig, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<13>() * ::capnp::POINTERS)); +} +inline void CarParams::Builder::setSafetyConfigs( ::capnp::List< ::cereal::CarParams::SafetyConfig, ::capnp::Kind::STRUCT>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarParams::SafetyConfig, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<13>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::CarParams::SafetyConfig, ::capnp::Kind::STRUCT>::Builder CarParams::Builder::initSafetyConfigs(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarParams::SafetyConfig, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<13>() * ::capnp::POINTERS), size); +} +inline void CarParams::Builder::adoptSafetyConfigs( + ::capnp::Orphan< ::capnp::List< ::cereal::CarParams::SafetyConfig, ::capnp::Kind::STRUCT>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarParams::SafetyConfig, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<13>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::CarParams::SafetyConfig, ::capnp::Kind::STRUCT>> CarParams::Builder::disownSafetyConfigs() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarParams::SafetyConfig, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<13>() * ::capnp::POINTERS)); +} + +inline float CarParams::Reader::getWheelSpeedFactor() const { + return _reader.getDataField( + ::capnp::bounded<29>() * ::capnp::ELEMENTS); +} + +inline float CarParams::Builder::getWheelSpeedFactor() { + return _builder.getDataField( + ::capnp::bounded<29>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setWheelSpeedFactor(float value) { + _builder.setDataField( + ::capnp::bounded<29>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t CarParams::Reader::getFlags() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<30>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t CarParams::Builder::getFlags() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<30>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setFlags( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<30>() * ::capnp::ELEMENTS, value); +} + +inline ::int16_t CarParams::Reader::getAlternativeExperience() const { + return _reader.getDataField< ::int16_t>( + ::capnp::bounded<41>() * ::capnp::ELEMENTS); +} + +inline ::int16_t CarParams::Builder::getAlternativeExperience() { + return _builder.getDataField< ::int16_t>( + ::capnp::bounded<41>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setAlternativeExperience( ::int16_t value) { + _builder.setDataField< ::int16_t>( + ::capnp::bounded<41>() * ::capnp::ELEMENTS, value); +} + +inline bool CarParams::Reader::getNotCar() const { + return _reader.getDataField( + ::capnp::bounded<992>() * ::capnp::ELEMENTS); +} + +inline bool CarParams::Builder::getNotCar() { + return _builder.getDataField( + ::capnp::bounded<992>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setNotCar(bool value) { + _builder.setDataField( + ::capnp::bounded<992>() * ::capnp::ELEMENTS, value); +} + +inline float CarParams::Reader::getMaxLateralAccel() const { + return _reader.getDataField( + ::capnp::bounded<32>() * ::capnp::ELEMENTS); +} + +inline float CarParams::Builder::getMaxLateralAccel() { + return _builder.getDataField( + ::capnp::bounded<32>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setMaxLateralAccel(float value) { + _builder.setDataField( + ::capnp::bounded<32>() * ::capnp::ELEMENTS, value); +} + +inline bool CarParams::Reader::getAutoResumeSng() const { + return _reader.getDataField( + ::capnp::bounded<993>() * ::capnp::ELEMENTS); +} + +inline bool CarParams::Builder::getAutoResumeSng() { + return _builder.getDataField( + ::capnp::bounded<993>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setAutoResumeSng(bool value) { + _builder.setDataField( + ::capnp::bounded<993>() * ::capnp::ELEMENTS, value); +} + +inline bool CarParams::Reader::getStartingState() const { + return _reader.getDataField( + ::capnp::bounded<994>() * ::capnp::ELEMENTS); +} + +inline bool CarParams::Builder::getStartingState() { + return _builder.getDataField( + ::capnp::bounded<994>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setStartingState(bool value) { + _builder.setDataField( + ::capnp::bounded<994>() * ::capnp::ELEMENTS, value); +} + +inline bool CarParams::Reader::getExperimentalLongitudinalAvailable() const { + return _reader.getDataField( + ::capnp::bounded<995>() * ::capnp::ELEMENTS); +} + +inline bool CarParams::Builder::getExperimentalLongitudinalAvailable() { + return _builder.getDataField( + ::capnp::bounded<995>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setExperimentalLongitudinalAvailable(bool value) { + _builder.setDataField( + ::capnp::bounded<995>() * ::capnp::ELEMENTS, value); +} + +inline float CarParams::Reader::getTireStiffnessFactor() const { + return _reader.getDataField( + ::capnp::bounded<33>() * ::capnp::ELEMENTS); +} + +inline float CarParams::Builder::getTireStiffnessFactor() { + return _builder.getDataField( + ::capnp::bounded<33>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setTireStiffnessFactor(float value) { + _builder.setDataField( + ::capnp::bounded<33>() * ::capnp::ELEMENTS, value); +} + +inline bool CarParams::Reader::getPassive() const { + return _reader.getDataField( + ::capnp::bounded<996>() * ::capnp::ELEMENTS); +} + +inline bool CarParams::Builder::getPassive() { + return _builder.getDataField( + ::capnp::bounded<996>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setPassive(bool value) { + _builder.setDataField( + ::capnp::bounded<996>() * ::capnp::ELEMENTS, value); +} + +inline bool CarParams::Reader::getPcmCruiseSpeed() const { + return _reader.getDataField( + ::capnp::bounded<997>() * ::capnp::ELEMENTS); +} + +inline bool CarParams::Builder::getPcmCruiseSpeed() { + return _builder.getDataField( + ::capnp::bounded<997>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setPcmCruiseSpeed(bool value) { + _builder.setDataField( + ::capnp::bounded<997>() * ::capnp::ELEMENTS, value); +} + +inline bool CarParams::Reader::getCustomStockLongAvailable() const { + return _reader.getDataField( + ::capnp::bounded<998>() * ::capnp::ELEMENTS); +} + +inline bool CarParams::Builder::getCustomStockLongAvailable() { + return _builder.getDataField( + ::capnp::bounded<998>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setCustomStockLongAvailable(bool value) { + _builder.setDataField( + ::capnp::bounded<998>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t CarParams::Reader::getSpFlags() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<34>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t CarParams::Builder::getSpFlags() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<34>() * ::capnp::ELEMENTS); +} +inline void CarParams::Builder::setSpFlags( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<34>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::CarParams::SafetyModel CarParams::SafetyConfig::Reader::getSafetyModel() const { + return _reader.getDataField< ::cereal::CarParams::SafetyModel>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::cereal::CarParams::SafetyModel CarParams::SafetyConfig::Builder::getSafetyModel() { + return _builder.getDataField< ::cereal::CarParams::SafetyModel>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void CarParams::SafetyConfig::Builder::setSafetyModel( ::cereal::CarParams::SafetyModel value) { + _builder.setDataField< ::cereal::CarParams::SafetyModel>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::int16_t CarParams::SafetyConfig::Reader::getSafetyParamDEPRECATED() const { + return _reader.getDataField< ::int16_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::int16_t CarParams::SafetyConfig::Builder::getSafetyParamDEPRECATED() { + return _builder.getDataField< ::int16_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void CarParams::SafetyConfig::Builder::setSafetyParamDEPRECATED( ::int16_t value) { + _builder.setDataField< ::int16_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t CarParams::SafetyConfig::Reader::getSafetyParam2DEPRECATED() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t CarParams::SafetyConfig::Builder::getSafetyParam2DEPRECATED() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void CarParams::SafetyConfig::Builder::setSafetyParam2DEPRECATED( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t CarParams::SafetyConfig::Reader::getSafetyParam() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t CarParams::SafetyConfig::Builder::getSafetyParam() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void CarParams::SafetyConfig::Builder::setSafetyParam( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline bool CarParams::LateralParams::Reader::hasTorqueBP() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool CarParams::LateralParams::Builder::hasTorqueBP() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>::Reader CarParams::LateralParams::Reader::getTorqueBP() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>::Builder CarParams::LateralParams::Builder::getTorqueBP() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void CarParams::LateralParams::Builder::setTorqueBP( ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void CarParams::LateralParams::Builder::setTorqueBP(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>::Builder CarParams::LateralParams::Builder::initTorqueBP(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void CarParams::LateralParams::Builder::adoptTorqueBP( + ::capnp::Orphan< ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>> CarParams::LateralParams::Builder::disownTorqueBP() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool CarParams::LateralParams::Reader::hasTorqueV() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool CarParams::LateralParams::Builder::hasTorqueV() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>::Reader CarParams::LateralParams::Reader::getTorqueV() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>::Builder CarParams::LateralParams::Builder::getTorqueV() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void CarParams::LateralParams::Builder::setTorqueV( ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void CarParams::LateralParams::Builder::setTorqueV(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>::Builder CarParams::LateralParams::Builder::initTorqueV(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void CarParams::LateralParams::Builder::adoptTorqueV( + ::capnp::Orphan< ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>> CarParams::LateralParams::Builder::disownTorqueV() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool CarParams::LateralPIDTuning::Reader::hasKpBP() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool CarParams::LateralPIDTuning::Builder::hasKpBP() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader CarParams::LateralPIDTuning::Reader::getKpBP() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder CarParams::LateralPIDTuning::Builder::getKpBP() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void CarParams::LateralPIDTuning::Builder::setKpBP( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void CarParams::LateralPIDTuning::Builder::setKpBP(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder CarParams::LateralPIDTuning::Builder::initKpBP(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void CarParams::LateralPIDTuning::Builder::adoptKpBP( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> CarParams::LateralPIDTuning::Builder::disownKpBP() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool CarParams::LateralPIDTuning::Reader::hasKpV() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool CarParams::LateralPIDTuning::Builder::hasKpV() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader CarParams::LateralPIDTuning::Reader::getKpV() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder CarParams::LateralPIDTuning::Builder::getKpV() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void CarParams::LateralPIDTuning::Builder::setKpV( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void CarParams::LateralPIDTuning::Builder::setKpV(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder CarParams::LateralPIDTuning::Builder::initKpV(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void CarParams::LateralPIDTuning::Builder::adoptKpV( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> CarParams::LateralPIDTuning::Builder::disownKpV() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool CarParams::LateralPIDTuning::Reader::hasKiBP() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool CarParams::LateralPIDTuning::Builder::hasKiBP() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader CarParams::LateralPIDTuning::Reader::getKiBP() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder CarParams::LateralPIDTuning::Builder::getKiBP() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void CarParams::LateralPIDTuning::Builder::setKiBP( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline void CarParams::LateralPIDTuning::Builder::setKiBP(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder CarParams::LateralPIDTuning::Builder::initKiBP(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void CarParams::LateralPIDTuning::Builder::adoptKiBP( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> CarParams::LateralPIDTuning::Builder::disownKiBP() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline bool CarParams::LateralPIDTuning::Reader::hasKiV() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool CarParams::LateralPIDTuning::Builder::hasKiV() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader CarParams::LateralPIDTuning::Reader::getKiV() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder CarParams::LateralPIDTuning::Builder::getKiV() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void CarParams::LateralPIDTuning::Builder::setKiV( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline void CarParams::LateralPIDTuning::Builder::setKiV(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder CarParams::LateralPIDTuning::Builder::initKiV(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), size); +} +inline void CarParams::LateralPIDTuning::Builder::adoptKiV( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> CarParams::LateralPIDTuning::Builder::disownKiV() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline float CarParams::LateralPIDTuning::Reader::getKf() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline float CarParams::LateralPIDTuning::Builder::getKf() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void CarParams::LateralPIDTuning::Builder::setKf(float value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool CarParams::LateralTorqueTuning::Reader::getUseSteeringAngle() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline bool CarParams::LateralTorqueTuning::Builder::getUseSteeringAngle() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void CarParams::LateralTorqueTuning::Builder::setUseSteeringAngle(bool value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline float CarParams::LateralTorqueTuning::Reader::getKp() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float CarParams::LateralTorqueTuning::Builder::getKp() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void CarParams::LateralTorqueTuning::Builder::setKp(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float CarParams::LateralTorqueTuning::Reader::getKi() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float CarParams::LateralTorqueTuning::Builder::getKi() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void CarParams::LateralTorqueTuning::Builder::setKi(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline float CarParams::LateralTorqueTuning::Reader::getFriction() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline float CarParams::LateralTorqueTuning::Builder::getFriction() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void CarParams::LateralTorqueTuning::Builder::setFriction(float value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline float CarParams::LateralTorqueTuning::Reader::getKf() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline float CarParams::LateralTorqueTuning::Builder::getKf() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void CarParams::LateralTorqueTuning::Builder::setKf(float value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline float CarParams::LateralTorqueTuning::Reader::getSteeringAngleDeadzoneDeg() const { + return _reader.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline float CarParams::LateralTorqueTuning::Builder::getSteeringAngleDeadzoneDeg() { + return _builder.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void CarParams::LateralTorqueTuning::Builder::setSteeringAngleDeadzoneDeg(float value) { + _builder.setDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline float CarParams::LateralTorqueTuning::Reader::getLatAccelFactor() const { + return _reader.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline float CarParams::LateralTorqueTuning::Builder::getLatAccelFactor() { + return _builder.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void CarParams::LateralTorqueTuning::Builder::setLatAccelFactor(float value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline float CarParams::LateralTorqueTuning::Reader::getLatAccelOffset() const { + return _reader.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline float CarParams::LateralTorqueTuning::Builder::getLatAccelOffset() { + return _builder.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void CarParams::LateralTorqueTuning::Builder::setLatAccelOffset(float value) { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline bool CarParams::LateralTorqueTuning::Reader::hasNnModelName() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool CarParams::LateralTorqueTuning::Builder::hasNnModelName() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader CarParams::LateralTorqueTuning::Reader::getNnModelName() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder CarParams::LateralTorqueTuning::Builder::getNnModelName() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void CarParams::LateralTorqueTuning::Builder::setNnModelName( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder CarParams::LateralTorqueTuning::Builder::initNnModelName(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void CarParams::LateralTorqueTuning::Builder::adoptNnModelName( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> CarParams::LateralTorqueTuning::Builder::disownNnModelName() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool CarParams::LateralTorqueTuning::Reader::getNnModelFuzzyMatch() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline bool CarParams::LateralTorqueTuning::Builder::getNnModelFuzzyMatch() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void CarParams::LateralTorqueTuning::Builder::setNnModelFuzzyMatch(bool value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool CarParams::LongitudinalPIDTuning::Reader::hasKpBP() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool CarParams::LongitudinalPIDTuning::Builder::hasKpBP() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader CarParams::LongitudinalPIDTuning::Reader::getKpBP() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder CarParams::LongitudinalPIDTuning::Builder::getKpBP() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void CarParams::LongitudinalPIDTuning::Builder::setKpBP( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void CarParams::LongitudinalPIDTuning::Builder::setKpBP(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder CarParams::LongitudinalPIDTuning::Builder::initKpBP(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void CarParams::LongitudinalPIDTuning::Builder::adoptKpBP( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> CarParams::LongitudinalPIDTuning::Builder::disownKpBP() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool CarParams::LongitudinalPIDTuning::Reader::hasKpV() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool CarParams::LongitudinalPIDTuning::Builder::hasKpV() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader CarParams::LongitudinalPIDTuning::Reader::getKpV() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder CarParams::LongitudinalPIDTuning::Builder::getKpV() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void CarParams::LongitudinalPIDTuning::Builder::setKpV( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void CarParams::LongitudinalPIDTuning::Builder::setKpV(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder CarParams::LongitudinalPIDTuning::Builder::initKpV(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void CarParams::LongitudinalPIDTuning::Builder::adoptKpV( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> CarParams::LongitudinalPIDTuning::Builder::disownKpV() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool CarParams::LongitudinalPIDTuning::Reader::hasKiBP() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool CarParams::LongitudinalPIDTuning::Builder::hasKiBP() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader CarParams::LongitudinalPIDTuning::Reader::getKiBP() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder CarParams::LongitudinalPIDTuning::Builder::getKiBP() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void CarParams::LongitudinalPIDTuning::Builder::setKiBP( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline void CarParams::LongitudinalPIDTuning::Builder::setKiBP(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder CarParams::LongitudinalPIDTuning::Builder::initKiBP(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void CarParams::LongitudinalPIDTuning::Builder::adoptKiBP( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> CarParams::LongitudinalPIDTuning::Builder::disownKiBP() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline bool CarParams::LongitudinalPIDTuning::Reader::hasKiV() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool CarParams::LongitudinalPIDTuning::Builder::hasKiV() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader CarParams::LongitudinalPIDTuning::Reader::getKiV() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder CarParams::LongitudinalPIDTuning::Builder::getKiV() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void CarParams::LongitudinalPIDTuning::Builder::setKiV( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline void CarParams::LongitudinalPIDTuning::Builder::setKiV(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder CarParams::LongitudinalPIDTuning::Builder::initKiV(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), size); +} +inline void CarParams::LongitudinalPIDTuning::Builder::adoptKiV( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> CarParams::LongitudinalPIDTuning::Builder::disownKiV() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline bool CarParams::LongitudinalPIDTuning::Reader::hasDeadzoneBPDEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline bool CarParams::LongitudinalPIDTuning::Builder::hasDeadzoneBPDEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader CarParams::LongitudinalPIDTuning::Reader::getDeadzoneBPDEPRECATED() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder CarParams::LongitudinalPIDTuning::Builder::getDeadzoneBPDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline void CarParams::LongitudinalPIDTuning::Builder::setDeadzoneBPDEPRECATED( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline void CarParams::LongitudinalPIDTuning::Builder::setDeadzoneBPDEPRECATED(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder CarParams::LongitudinalPIDTuning::Builder::initDeadzoneBPDEPRECATED(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), size); +} +inline void CarParams::LongitudinalPIDTuning::Builder::adoptDeadzoneBPDEPRECATED( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> CarParams::LongitudinalPIDTuning::Builder::disownDeadzoneBPDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} + +inline bool CarParams::LongitudinalPIDTuning::Reader::hasDeadzoneVDEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline bool CarParams::LongitudinalPIDTuning::Builder::hasDeadzoneVDEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader CarParams::LongitudinalPIDTuning::Reader::getDeadzoneVDEPRECATED() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder CarParams::LongitudinalPIDTuning::Builder::getDeadzoneVDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline void CarParams::LongitudinalPIDTuning::Builder::setDeadzoneVDEPRECATED( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline void CarParams::LongitudinalPIDTuning::Builder::setDeadzoneVDEPRECATED(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder CarParams::LongitudinalPIDTuning::Builder::initDeadzoneVDEPRECATED(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), size); +} +inline void CarParams::LongitudinalPIDTuning::Builder::adoptDeadzoneVDEPRECATED( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> CarParams::LongitudinalPIDTuning::Builder::disownDeadzoneVDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} + +inline float CarParams::LongitudinalPIDTuning::Reader::getKf() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline float CarParams::LongitudinalPIDTuning::Builder::getKf() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void CarParams::LongitudinalPIDTuning::Builder::setKf(float value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline float CarParams::LateralINDITuning::Reader::getOuterLoopGainDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline float CarParams::LateralINDITuning::Builder::getOuterLoopGainDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void CarParams::LateralINDITuning::Builder::setOuterLoopGainDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline float CarParams::LateralINDITuning::Reader::getInnerLoopGainDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float CarParams::LateralINDITuning::Builder::getInnerLoopGainDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void CarParams::LateralINDITuning::Builder::setInnerLoopGainDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float CarParams::LateralINDITuning::Reader::getTimeConstantDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float CarParams::LateralINDITuning::Builder::getTimeConstantDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void CarParams::LateralINDITuning::Builder::setTimeConstantDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline float CarParams::LateralINDITuning::Reader::getActuatorEffectivenessDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline float CarParams::LateralINDITuning::Builder::getActuatorEffectivenessDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void CarParams::LateralINDITuning::Builder::setActuatorEffectivenessDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline bool CarParams::LateralINDITuning::Reader::hasOuterLoopGainBP() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool CarParams::LateralINDITuning::Builder::hasOuterLoopGainBP() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader CarParams::LateralINDITuning::Reader::getOuterLoopGainBP() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder CarParams::LateralINDITuning::Builder::getOuterLoopGainBP() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void CarParams::LateralINDITuning::Builder::setOuterLoopGainBP( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void CarParams::LateralINDITuning::Builder::setOuterLoopGainBP(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder CarParams::LateralINDITuning::Builder::initOuterLoopGainBP(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void CarParams::LateralINDITuning::Builder::adoptOuterLoopGainBP( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> CarParams::LateralINDITuning::Builder::disownOuterLoopGainBP() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool CarParams::LateralINDITuning::Reader::hasOuterLoopGainV() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool CarParams::LateralINDITuning::Builder::hasOuterLoopGainV() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader CarParams::LateralINDITuning::Reader::getOuterLoopGainV() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder CarParams::LateralINDITuning::Builder::getOuterLoopGainV() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void CarParams::LateralINDITuning::Builder::setOuterLoopGainV( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void CarParams::LateralINDITuning::Builder::setOuterLoopGainV(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder CarParams::LateralINDITuning::Builder::initOuterLoopGainV(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void CarParams::LateralINDITuning::Builder::adoptOuterLoopGainV( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> CarParams::LateralINDITuning::Builder::disownOuterLoopGainV() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool CarParams::LateralINDITuning::Reader::hasInnerLoopGainBP() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool CarParams::LateralINDITuning::Builder::hasInnerLoopGainBP() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader CarParams::LateralINDITuning::Reader::getInnerLoopGainBP() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder CarParams::LateralINDITuning::Builder::getInnerLoopGainBP() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void CarParams::LateralINDITuning::Builder::setInnerLoopGainBP( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline void CarParams::LateralINDITuning::Builder::setInnerLoopGainBP(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder CarParams::LateralINDITuning::Builder::initInnerLoopGainBP(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void CarParams::LateralINDITuning::Builder::adoptInnerLoopGainBP( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> CarParams::LateralINDITuning::Builder::disownInnerLoopGainBP() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline bool CarParams::LateralINDITuning::Reader::hasInnerLoopGainV() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool CarParams::LateralINDITuning::Builder::hasInnerLoopGainV() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader CarParams::LateralINDITuning::Reader::getInnerLoopGainV() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder CarParams::LateralINDITuning::Builder::getInnerLoopGainV() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void CarParams::LateralINDITuning::Builder::setInnerLoopGainV( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline void CarParams::LateralINDITuning::Builder::setInnerLoopGainV(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder CarParams::LateralINDITuning::Builder::initInnerLoopGainV(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), size); +} +inline void CarParams::LateralINDITuning::Builder::adoptInnerLoopGainV( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> CarParams::LateralINDITuning::Builder::disownInnerLoopGainV() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline bool CarParams::LateralINDITuning::Reader::hasTimeConstantBP() const { + return !_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline bool CarParams::LateralINDITuning::Builder::hasTimeConstantBP() { + return !_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader CarParams::LateralINDITuning::Reader::getTimeConstantBP() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder CarParams::LateralINDITuning::Builder::getTimeConstantBP() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline void CarParams::LateralINDITuning::Builder::setTimeConstantBP( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline void CarParams::LateralINDITuning::Builder::setTimeConstantBP(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder CarParams::LateralINDITuning::Builder::initTimeConstantBP(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), size); +} +inline void CarParams::LateralINDITuning::Builder::adoptTimeConstantBP( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> CarParams::LateralINDITuning::Builder::disownTimeConstantBP() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} + +inline bool CarParams::LateralINDITuning::Reader::hasTimeConstantV() const { + return !_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline bool CarParams::LateralINDITuning::Builder::hasTimeConstantV() { + return !_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader CarParams::LateralINDITuning::Reader::getTimeConstantV() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder CarParams::LateralINDITuning::Builder::getTimeConstantV() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline void CarParams::LateralINDITuning::Builder::setTimeConstantV( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline void CarParams::LateralINDITuning::Builder::setTimeConstantV(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder CarParams::LateralINDITuning::Builder::initTimeConstantV(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), size); +} +inline void CarParams::LateralINDITuning::Builder::adoptTimeConstantV( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> CarParams::LateralINDITuning::Builder::disownTimeConstantV() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} + +inline bool CarParams::LateralINDITuning::Reader::hasActuatorEffectivenessBP() const { + return !_reader.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS).isNull(); +} +inline bool CarParams::LateralINDITuning::Builder::hasActuatorEffectivenessBP() { + return !_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader CarParams::LateralINDITuning::Reader::getActuatorEffectivenessBP() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder CarParams::LateralINDITuning::Builder::getActuatorEffectivenessBP() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} +inline void CarParams::LateralINDITuning::Builder::setActuatorEffectivenessBP( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), value); +} +inline void CarParams::LateralINDITuning::Builder::setActuatorEffectivenessBP(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder CarParams::LateralINDITuning::Builder::initActuatorEffectivenessBP(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), size); +} +inline void CarParams::LateralINDITuning::Builder::adoptActuatorEffectivenessBP( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> CarParams::LateralINDITuning::Builder::disownActuatorEffectivenessBP() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} + +inline bool CarParams::LateralINDITuning::Reader::hasActuatorEffectivenessV() const { + return !_reader.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS).isNull(); +} +inline bool CarParams::LateralINDITuning::Builder::hasActuatorEffectivenessV() { + return !_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader CarParams::LateralINDITuning::Reader::getActuatorEffectivenessV() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder CarParams::LateralINDITuning::Builder::getActuatorEffectivenessV() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS)); +} +inline void CarParams::LateralINDITuning::Builder::setActuatorEffectivenessV( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), value); +} +inline void CarParams::LateralINDITuning::Builder::setActuatorEffectivenessV(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder CarParams::LateralINDITuning::Builder::initActuatorEffectivenessV(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), size); +} +inline void CarParams::LateralINDITuning::Builder::adoptActuatorEffectivenessV( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> CarParams::LateralINDITuning::Builder::disownActuatorEffectivenessV() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS)); +} + +inline float CarParams::LateralLQRTuning::Reader::getScale() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline float CarParams::LateralLQRTuning::Builder::getScale() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void CarParams::LateralLQRTuning::Builder::setScale(float value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline float CarParams::LateralLQRTuning::Reader::getKi() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float CarParams::LateralLQRTuning::Builder::getKi() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void CarParams::LateralLQRTuning::Builder::setKi(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float CarParams::LateralLQRTuning::Reader::getDcGain() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float CarParams::LateralLQRTuning::Builder::getDcGain() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void CarParams::LateralLQRTuning::Builder::setDcGain(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline bool CarParams::LateralLQRTuning::Reader::hasA() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool CarParams::LateralLQRTuning::Builder::hasA() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader CarParams::LateralLQRTuning::Reader::getA() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder CarParams::LateralLQRTuning::Builder::getA() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void CarParams::LateralLQRTuning::Builder::setA( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void CarParams::LateralLQRTuning::Builder::setA(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder CarParams::LateralLQRTuning::Builder::initA(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void CarParams::LateralLQRTuning::Builder::adoptA( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> CarParams::LateralLQRTuning::Builder::disownA() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool CarParams::LateralLQRTuning::Reader::hasB() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool CarParams::LateralLQRTuning::Builder::hasB() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader CarParams::LateralLQRTuning::Reader::getB() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder CarParams::LateralLQRTuning::Builder::getB() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void CarParams::LateralLQRTuning::Builder::setB( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void CarParams::LateralLQRTuning::Builder::setB(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder CarParams::LateralLQRTuning::Builder::initB(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void CarParams::LateralLQRTuning::Builder::adoptB( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> CarParams::LateralLQRTuning::Builder::disownB() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool CarParams::LateralLQRTuning::Reader::hasC() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool CarParams::LateralLQRTuning::Builder::hasC() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader CarParams::LateralLQRTuning::Reader::getC() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder CarParams::LateralLQRTuning::Builder::getC() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void CarParams::LateralLQRTuning::Builder::setC( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline void CarParams::LateralLQRTuning::Builder::setC(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder CarParams::LateralLQRTuning::Builder::initC(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void CarParams::LateralLQRTuning::Builder::adoptC( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> CarParams::LateralLQRTuning::Builder::disownC() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline bool CarParams::LateralLQRTuning::Reader::hasK() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool CarParams::LateralLQRTuning::Builder::hasK() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader CarParams::LateralLQRTuning::Reader::getK() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder CarParams::LateralLQRTuning::Builder::getK() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void CarParams::LateralLQRTuning::Builder::setK( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline void CarParams::LateralLQRTuning::Builder::setK(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder CarParams::LateralLQRTuning::Builder::initK(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), size); +} +inline void CarParams::LateralLQRTuning::Builder::adoptK( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> CarParams::LateralLQRTuning::Builder::disownK() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline bool CarParams::LateralLQRTuning::Reader::hasL() const { + return !_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline bool CarParams::LateralLQRTuning::Builder::hasL() { + return !_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader CarParams::LateralLQRTuning::Reader::getL() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder CarParams::LateralLQRTuning::Builder::getL() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline void CarParams::LateralLQRTuning::Builder::setL( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline void CarParams::LateralLQRTuning::Builder::setL(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder CarParams::LateralLQRTuning::Builder::initL(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), size); +} +inline void CarParams::LateralLQRTuning::Builder::adoptL( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> CarParams::LateralLQRTuning::Builder::disownL() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} + +inline ::cereal::CarParams::Ecu CarParams::CarFw::Reader::getEcu() const { + return _reader.getDataField< ::cereal::CarParams::Ecu>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::cereal::CarParams::Ecu CarParams::CarFw::Builder::getEcu() { + return _builder.getDataField< ::cereal::CarParams::Ecu>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void CarParams::CarFw::Builder::setEcu( ::cereal::CarParams::Ecu value) { + _builder.setDataField< ::cereal::CarParams::Ecu>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool CarParams::CarFw::Reader::hasFwVersion() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool CarParams::CarFw::Builder::hasFwVersion() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Data::Reader CarParams::CarFw::Reader::getFwVersion() const { + return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::Data::Builder CarParams::CarFw::Builder::getFwVersion() { + return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void CarParams::CarFw::Builder::setFwVersion( ::capnp::Data::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Data>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::Data::Builder CarParams::CarFw::Builder::initFwVersion(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Data>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void CarParams::CarFw::Builder::adoptFwVersion( + ::capnp::Orphan< ::capnp::Data>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Data>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Data> CarParams::CarFw::Builder::disownFwVersion() { + return ::capnp::_::PointerHelpers< ::capnp::Data>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline ::uint32_t CarParams::CarFw::Reader::getAddress() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t CarParams::CarFw::Builder::getAddress() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void CarParams::CarFw::Builder::setAddress( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t CarParams::CarFw::Reader::getSubAddress() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t CarParams::CarFw::Builder::getSubAddress() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void CarParams::CarFw::Builder::setSubAddress( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t CarParams::CarFw::Reader::getResponseAddress() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t CarParams::CarFw::Builder::getResponseAddress() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void CarParams::CarFw::Builder::setResponseAddress( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline bool CarParams::CarFw::Reader::hasRequest() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool CarParams::CarFw::Builder::hasRequest() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::capnp::Data, ::capnp::Kind::BLOB>::Reader CarParams::CarFw::Reader::getRequest() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::capnp::Data, ::capnp::Kind::BLOB>>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::capnp::Data, ::capnp::Kind::BLOB>::Builder CarParams::CarFw::Builder::getRequest() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::capnp::Data, ::capnp::Kind::BLOB>>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void CarParams::CarFw::Builder::setRequest( ::capnp::List< ::capnp::Data, ::capnp::Kind::BLOB>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::capnp::Data, ::capnp::Kind::BLOB>>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void CarParams::CarFw::Builder::setRequest(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::capnp::Data, ::capnp::Kind::BLOB>>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::capnp::Data, ::capnp::Kind::BLOB>::Builder CarParams::CarFw::Builder::initRequest(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::capnp::Data, ::capnp::Kind::BLOB>>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void CarParams::CarFw::Builder::adoptRequest( + ::capnp::Orphan< ::capnp::List< ::capnp::Data, ::capnp::Kind::BLOB>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::capnp::Data, ::capnp::Kind::BLOB>>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::capnp::Data, ::capnp::Kind::BLOB>> CarParams::CarFw::Builder::disownRequest() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::capnp::Data, ::capnp::Kind::BLOB>>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool CarParams::CarFw::Reader::hasBrand() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool CarParams::CarFw::Builder::hasBrand() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader CarParams::CarFw::Reader::getBrand() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder CarParams::CarFw::Builder::getBrand() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void CarParams::CarFw::Builder::setBrand( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder CarParams::CarFw::Builder::initBrand(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void CarParams::CarFw::Builder::adoptBrand( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> CarParams::CarFw::Builder::disownBrand() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline ::uint8_t CarParams::CarFw::Reader::getBus() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t CarParams::CarFw::Builder::getBus() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void CarParams::CarFw::Builder::setBus( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline bool CarParams::CarFw::Reader::getLogging() const { + return _reader.getDataField( + ::capnp::bounded<96>() * ::capnp::ELEMENTS); +} + +inline bool CarParams::CarFw::Builder::getLogging() { + return _builder.getDataField( + ::capnp::bounded<96>() * ::capnp::ELEMENTS); +} +inline void CarParams::CarFw::Builder::setLogging(bool value) { + _builder.setDataField( + ::capnp::bounded<96>() * ::capnp::ELEMENTS, value); +} + +inline bool CarParams::CarFw::Reader::getObdMultiplexing() const { + return _reader.getDataField( + ::capnp::bounded<97>() * ::capnp::ELEMENTS); +} + +inline bool CarParams::CarFw::Builder::getObdMultiplexing() { + return _builder.getDataField( + ::capnp::bounded<97>() * ::capnp::ELEMENTS); +} +inline void CarParams::CarFw::Builder::setObdMultiplexing(bool value) { + _builder.setDataField( + ::capnp::bounded<97>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::CarParams::LateralTuning::Which CarParams::LateralTuning::Reader::which() const { + return _reader.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline ::cereal::CarParams::LateralTuning::Which CarParams::LateralTuning::Builder::which() { + return _builder.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline bool CarParams::LateralTuning::Reader::isPid() const { + return which() == CarParams::LateralTuning::PID; +} +inline bool CarParams::LateralTuning::Builder::isPid() { + return which() == CarParams::LateralTuning::PID; +} +inline bool CarParams::LateralTuning::Reader::hasPid() const { + if (which() != CarParams::LateralTuning::PID) return false; + return !_reader.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS).isNull(); +} +inline bool CarParams::LateralTuning::Builder::hasPid() { + if (which() != CarParams::LateralTuning::PID) return false; + return !_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::CarParams::LateralPIDTuning::Reader CarParams::LateralTuning::Reader::getPid() const { + KJ_IREQUIRE((which() == CarParams::LateralTuning::PID), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralPIDTuning>::get(_reader.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS)); +} +inline ::cereal::CarParams::LateralPIDTuning::Builder CarParams::LateralTuning::Builder::getPid() { + KJ_IREQUIRE((which() == CarParams::LateralTuning::PID), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralPIDTuning>::get(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS)); +} +inline void CarParams::LateralTuning::Builder::setPid( ::cereal::CarParams::LateralPIDTuning::Reader value) { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, CarParams::LateralTuning::PID); + ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralPIDTuning>::set(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS), value); +} +inline ::cereal::CarParams::LateralPIDTuning::Builder CarParams::LateralTuning::Builder::initPid() { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, CarParams::LateralTuning::PID); + return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralPIDTuning>::init(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS)); +} +inline void CarParams::LateralTuning::Builder::adoptPid( + ::capnp::Orphan< ::cereal::CarParams::LateralPIDTuning>&& value) { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, CarParams::LateralTuning::PID); + ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralPIDTuning>::adopt(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::CarParams::LateralPIDTuning> CarParams::LateralTuning::Builder::disownPid() { + KJ_IREQUIRE((which() == CarParams::LateralTuning::PID), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralPIDTuning>::disown(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS)); +} + +inline bool CarParams::LateralTuning::Reader::isIndiDEPRECATED() const { + return which() == CarParams::LateralTuning::INDI_D_E_P_R_E_C_A_T_E_D; +} +inline bool CarParams::LateralTuning::Builder::isIndiDEPRECATED() { + return which() == CarParams::LateralTuning::INDI_D_E_P_R_E_C_A_T_E_D; +} +inline bool CarParams::LateralTuning::Reader::hasIndiDEPRECATED() const { + if (which() != CarParams::LateralTuning::INDI_D_E_P_R_E_C_A_T_E_D) return false; + return !_reader.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS).isNull(); +} +inline bool CarParams::LateralTuning::Builder::hasIndiDEPRECATED() { + if (which() != CarParams::LateralTuning::INDI_D_E_P_R_E_C_A_T_E_D) return false; + return !_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::CarParams::LateralINDITuning::Reader CarParams::LateralTuning::Reader::getIndiDEPRECATED() const { + KJ_IREQUIRE((which() == CarParams::LateralTuning::INDI_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralINDITuning>::get(_reader.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS)); +} +inline ::cereal::CarParams::LateralINDITuning::Builder CarParams::LateralTuning::Builder::getIndiDEPRECATED() { + KJ_IREQUIRE((which() == CarParams::LateralTuning::INDI_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralINDITuning>::get(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS)); +} +inline void CarParams::LateralTuning::Builder::setIndiDEPRECATED( ::cereal::CarParams::LateralINDITuning::Reader value) { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, CarParams::LateralTuning::INDI_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralINDITuning>::set(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS), value); +} +inline ::cereal::CarParams::LateralINDITuning::Builder CarParams::LateralTuning::Builder::initIndiDEPRECATED() { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, CarParams::LateralTuning::INDI_D_E_P_R_E_C_A_T_E_D); + return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralINDITuning>::init(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS)); +} +inline void CarParams::LateralTuning::Builder::adoptIndiDEPRECATED( + ::capnp::Orphan< ::cereal::CarParams::LateralINDITuning>&& value) { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, CarParams::LateralTuning::INDI_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralINDITuning>::adopt(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::CarParams::LateralINDITuning> CarParams::LateralTuning::Builder::disownIndiDEPRECATED() { + KJ_IREQUIRE((which() == CarParams::LateralTuning::INDI_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralINDITuning>::disown(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS)); +} + +inline bool CarParams::LateralTuning::Reader::isLqrDEPRECATED() const { + return which() == CarParams::LateralTuning::LQR_D_E_P_R_E_C_A_T_E_D; +} +inline bool CarParams::LateralTuning::Builder::isLqrDEPRECATED() { + return which() == CarParams::LateralTuning::LQR_D_E_P_R_E_C_A_T_E_D; +} +inline bool CarParams::LateralTuning::Reader::hasLqrDEPRECATED() const { + if (which() != CarParams::LateralTuning::LQR_D_E_P_R_E_C_A_T_E_D) return false; + return !_reader.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS).isNull(); +} +inline bool CarParams::LateralTuning::Builder::hasLqrDEPRECATED() { + if (which() != CarParams::LateralTuning::LQR_D_E_P_R_E_C_A_T_E_D) return false; + return !_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::CarParams::LateralLQRTuning::Reader CarParams::LateralTuning::Reader::getLqrDEPRECATED() const { + KJ_IREQUIRE((which() == CarParams::LateralTuning::LQR_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralLQRTuning>::get(_reader.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS)); +} +inline ::cereal::CarParams::LateralLQRTuning::Builder CarParams::LateralTuning::Builder::getLqrDEPRECATED() { + KJ_IREQUIRE((which() == CarParams::LateralTuning::LQR_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralLQRTuning>::get(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS)); +} +inline void CarParams::LateralTuning::Builder::setLqrDEPRECATED( ::cereal::CarParams::LateralLQRTuning::Reader value) { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, CarParams::LateralTuning::LQR_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralLQRTuning>::set(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS), value); +} +inline ::cereal::CarParams::LateralLQRTuning::Builder CarParams::LateralTuning::Builder::initLqrDEPRECATED() { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, CarParams::LateralTuning::LQR_D_E_P_R_E_C_A_T_E_D); + return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralLQRTuning>::init(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS)); +} +inline void CarParams::LateralTuning::Builder::adoptLqrDEPRECATED( + ::capnp::Orphan< ::cereal::CarParams::LateralLQRTuning>&& value) { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, CarParams::LateralTuning::LQR_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralLQRTuning>::adopt(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::CarParams::LateralLQRTuning> CarParams::LateralTuning::Builder::disownLqrDEPRECATED() { + KJ_IREQUIRE((which() == CarParams::LateralTuning::LQR_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralLQRTuning>::disown(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS)); +} + +inline bool CarParams::LateralTuning::Reader::isTorque() const { + return which() == CarParams::LateralTuning::TORQUE; +} +inline bool CarParams::LateralTuning::Builder::isTorque() { + return which() == CarParams::LateralTuning::TORQUE; +} +inline bool CarParams::LateralTuning::Reader::hasTorque() const { + if (which() != CarParams::LateralTuning::TORQUE) return false; + return !_reader.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS).isNull(); +} +inline bool CarParams::LateralTuning::Builder::hasTorque() { + if (which() != CarParams::LateralTuning::TORQUE) return false; + return !_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::CarParams::LateralTorqueTuning::Reader CarParams::LateralTuning::Reader::getTorque() const { + KJ_IREQUIRE((which() == CarParams::LateralTuning::TORQUE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralTorqueTuning>::get(_reader.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS)); +} +inline ::cereal::CarParams::LateralTorqueTuning::Builder CarParams::LateralTuning::Builder::getTorque() { + KJ_IREQUIRE((which() == CarParams::LateralTuning::TORQUE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralTorqueTuning>::get(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS)); +} +inline void CarParams::LateralTuning::Builder::setTorque( ::cereal::CarParams::LateralTorqueTuning::Reader value) { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, CarParams::LateralTuning::TORQUE); + ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralTorqueTuning>::set(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS), value); +} +inline ::cereal::CarParams::LateralTorqueTuning::Builder CarParams::LateralTuning::Builder::initTorque() { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, CarParams::LateralTuning::TORQUE); + return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralTorqueTuning>::init(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS)); +} +inline void CarParams::LateralTuning::Builder::adoptTorque( + ::capnp::Orphan< ::cereal::CarParams::LateralTorqueTuning>&& value) { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, CarParams::LateralTuning::TORQUE); + ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralTorqueTuning>::adopt(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::CarParams::LateralTorqueTuning> CarParams::LateralTuning::Builder::disownTorque() { + KJ_IREQUIRE((which() == CarParams::LateralTuning::TORQUE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralTorqueTuning>::disown(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS)); +} + +} // namespace + +CAPNP_END_HEADER + diff --git a/cereal/gen/cpp/custom.capnp.c++ b/cereal/gen/cpp/custom.capnp.c++ new file mode 100644 index 0000000000..c9f11db09a --- /dev/null +++ b/cereal/gen/cpp/custom.capnp.c++ @@ -0,0 +1,2629 @@ +// Generated by Cap'n Proto compiler, DO NOT EDIT +// source: custom.capnp + +#include "custom.capnp.h" + +namespace capnp { +namespace schemas { +static const ::capnp::_::AlignedData<43> b_d92113aa7c18cdf6 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 246, 205, 24, 124, 170, 19, 33, 217, + 13, 0, 0, 0, 2, 0, 0, 0, + 89, 10, 85, 29, 102, 186, 38, 181, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 58, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 127, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 115, 116, 111, 109, 46, 99, + 97, 112, 110, 112, 58, 76, 111, 110, + 103, 105, 116, 117, 100, 105, 110, 97, + 108, 80, 101, 114, 115, 111, 110, 97, + 108, 105, 116, 121, 83, 80, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 20, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 103, 103, 114, 101, 115, 115, 105, + 118, 101, 0, 0, 0, 0, 0, 0, + 109, 111, 100, 101, 114, 97, 116, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 97, 110, 100, 97, 114, 100, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 108, 97, 120, 101, 100, 0, + 111, 118, 101, 114, 116, 97, 107, 101, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_d92113aa7c18cdf6 = b_d92113aa7c18cdf6.words; +#if !CAPNP_LITE +static const uint16_t m_d92113aa7c18cdf6[] = {0, 1, 4, 3, 2}; +const ::capnp::_::RawSchema s_d92113aa7c18cdf6 = { + 0xd92113aa7c18cdf6, b_d92113aa7c18cdf6.words, 43, nullptr, m_d92113aa7c18cdf6, + 0, 5, nullptr, nullptr, nullptr, { &s_d92113aa7c18cdf6, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(LongitudinalPersonalitySP_d92113aa7c18cdf6, d92113aa7c18cdf6); +static const ::capnp::_::AlignedData<35> b_f40bf11ea3a7a163 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 99, 161, 167, 163, 30, 241, 11, 244, + 13, 0, 0, 0, 2, 0, 0, 0, + 89, 10, 85, 29, 102, 186, 38, 181, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 42, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 103, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 115, 116, 111, 109, 46, 99, + 97, 112, 110, 112, 58, 65, 99, 99, + 101, 108, 101, 114, 97, 116, 105, 111, + 110, 80, 101, 114, 115, 111, 110, 97, + 108, 105, 116, 121, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 17, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 111, 114, 116, 0, 0, 0, + 110, 111, 114, 109, 97, 108, 0, 0, + 101, 99, 111, 0, 0, 0, 0, 0, + 115, 116, 111, 99, 107, 0, 0, 0, } +}; +::capnp::word const* const bp_f40bf11ea3a7a163 = b_f40bf11ea3a7a163.words; +#if !CAPNP_LITE +static const uint16_t m_f40bf11ea3a7a163[] = {2, 1, 0, 3}; +const ::capnp::_::RawSchema s_f40bf11ea3a7a163 = { + 0xf40bf11ea3a7a163, b_f40bf11ea3a7a163.words, 35, nullptr, m_f40bf11ea3a7a163, + 0, 4, nullptr, nullptr, nullptr, { &s_f40bf11ea3a7a163, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(AccelerationPersonality_f40bf11ea3a7a163, f40bf11ea3a7a163); +static const ::capnp::_::AlignedData<42> b_91cbf59645e9e0b9 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 185, 224, 233, 69, 150, 245, 203, 145, + 13, 0, 0, 0, 2, 0, 0, 0, + 89, 10, 85, 29, 102, 186, 38, 181, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 234, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 151, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 115, 116, 111, 109, 46, 99, + 97, 112, 110, 112, 58, 77, 111, 100, + 101, 108, 71, 101, 110, 101, 114, 97, + 116, 105, 111, 110, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 24, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 57, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 102, 97, 117, 108, 116, 0, + 111, 110, 101, 0, 0, 0, 0, 0, + 116, 119, 111, 0, 0, 0, 0, 0, + 116, 104, 114, 101, 101, 0, 0, 0, + 102, 111, 117, 114, 0, 0, 0, 0, + 102, 105, 118, 101, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_91cbf59645e9e0b9 = b_91cbf59645e9e0b9.words; +#if !CAPNP_LITE +static const uint16_t m_91cbf59645e9e0b9[] = {0, 5, 4, 1, 3, 2}; +const ::capnp::_::RawSchema s_91cbf59645e9e0b9 = { + 0x91cbf59645e9e0b9, b_91cbf59645e9e0b9.words, 42, nullptr, m_91cbf59645e9e0b9, + 0, 6, nullptr, nullptr, nullptr, { &s_91cbf59645e9e0b9, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(ModelGeneration_91cbf59645e9e0b9, 91cbf59645e9e0b9); +static const ::capnp::_::AlignedData<25> b_ddeb7e9fc0e0e044 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 68, 224, 224, 192, 159, 126, 235, 221, + 13, 0, 0, 0, 2, 0, 0, 0, + 89, 10, 85, 29, 102, 186, 38, 181, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 186, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 55, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 115, 116, 111, 109, 46, 99, + 97, 112, 110, 112, 58, 77, 112, 99, + 83, 111, 117, 114, 99, 101, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 8, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 99, 0, 0, 0, 0, 0, + 98, 108, 101, 110, 100, 101, 100, 0, } +}; +::capnp::word const* const bp_ddeb7e9fc0e0e044 = b_ddeb7e9fc0e0e044.words; +#if !CAPNP_LITE +static const uint16_t m_ddeb7e9fc0e0e044[] = {0, 1}; +const ::capnp::_::RawSchema s_ddeb7e9fc0e0e044 = { + 0xddeb7e9fc0e0e044, b_ddeb7e9fc0e0e044.words, 25, nullptr, m_ddeb7e9fc0e0e044, + 0, 2, nullptr, nullptr, nullptr, { &s_ddeb7e9fc0e0e044, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(MpcSource_ddeb7e9fc0e0e044, ddeb7e9fc0e0e044); +static const ::capnp::_::AlignedData<145> b_81c2f05a394cf4af = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 175, 244, 76, 57, 90, 240, 194, 129, + 13, 0, 0, 0, 1, 0, 1, 0, + 89, 10, 85, 29, 102, 186, 38, 181, + 2, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 234, 0, 0, 0, + 33, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 0, 0, 0, 87, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 115, 116, 111, 109, 46, 99, + 97, 112, 110, 112, 58, 67, 111, 110, + 116, 114, 111, 108, 115, 83, 116, 97, + 116, 101, 83, 80, 0, 0, 0, 0, + 28, 0, 0, 0, 1, 0, 1, 0, + 39, 191, 7, 194, 43, 4, 169, 182, + 49, 0, 0, 0, 138, 0, 0, 0, + 7, 63, 229, 250, 38, 132, 218, 136, + 53, 0, 0, 0, 130, 0, 0, 0, + 52, 95, 225, 61, 210, 53, 210, 169, + 53, 0, 0, 0, 146, 0, 0, 0, + 221, 231, 157, 168, 162, 234, 140, 190, + 57, 0, 0, 0, 146, 0, 0, 0, + 245, 255, 10, 180, 68, 98, 213, 140, + 61, 0, 0, 0, 154, 0, 0, 0, + 219, 110, 165, 100, 133, 95, 218, 244, + 65, 0, 0, 0, 178, 0, 0, 0, + 49, 205, 103, 133, 3, 78, 4, 181, + 69, 0, 0, 0, 130, 0, 0, 0, + 76, 97, 116, 101, 114, 97, 108, 73, + 78, 68, 73, 83, 116, 97, 116, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 76, 97, 116, 101, 114, 97, 108, 80, + 73, 68, 83, 116, 97, 116, 101, 0, + 76, 97, 116, 101, 114, 97, 108, 65, + 110, 103, 108, 101, 83, 116, 97, 116, + 101, 0, 0, 0, 0, 0, 0, 0, + 76, 97, 116, 101, 114, 97, 108, 68, + 101, 98, 117, 103, 83, 116, 97, 116, + 101, 0, 0, 0, 0, 0, 0, 0, + 76, 97, 116, 101, 114, 97, 108, 84, + 111, 114, 113, 117, 101, 83, 116, 97, + 116, 101, 0, 0, 0, 0, 0, 0, + 76, 97, 116, 101, 114, 97, 108, 67, + 117, 114, 118, 97, 116, 117, 114, 101, + 83, 116, 97, 116, 101, 0, 0, 0, + 76, 97, 116, 101, 114, 97, 108, 76, + 81, 82, 83, 116, 97, 116, 101, 0, + 24, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 0, 0, 0, 3, 0, 1, 0, + 164, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 45, 92, 210, 165, 131, 44, 76, 142, + 161, 0, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 145, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 144, 0, 0, 0, 3, 0, 1, 0, + 156, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 32, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 0, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 156, 0, 0, 0, 3, 0, 1, 0, + 168, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 165, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 0, 0, 0, 3, 0, 1, 0, + 180, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 33, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 0, 0, 0, 234, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 0, 0, 0, 3, 0, 1, 0, + 196, 0, 0, 0, 2, 0, 1, 0, + 108, 97, 116, 101, 114, 97, 108, 83, + 116, 97, 116, 101, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 116, 101, 114, 97, 108, 67, + 111, 110, 116, 114, 111, 108, 83, 116, + 97, 116, 101, 0, 0, 0, 0, 0, + 112, 101, 114, 115, 111, 110, 97, 108, + 105, 116, 121, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 246, 205, 24, 124, 170, 19, 33, 217, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 121, 110, 97, 109, 105, 99, 80, + 101, 114, 115, 111, 110, 97, 108, 105, + 116, 121, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 99, 101, 108, 80, 101, 114, + 115, 111, 110, 97, 108, 105, 116, 121, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 99, 161, 167, 163, 30, 241, 11, 244, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 118, 101, 114, 116, 97, 107, 105, + 110, 103, 65, 99, 99, 101, 108, 101, + 114, 97, 116, 105, 111, 110, 65, 115, + 115, 105, 115, 116, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_81c2f05a394cf4af = b_81c2f05a394cf4af.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_81c2f05a394cf4af[] = { + &s_8e4c2c83a5d25c2d, + &s_d92113aa7c18cdf6, + &s_f40bf11ea3a7a163, +}; +static const uint16_t m_81c2f05a394cf4af[] = {4, 3, 1, 0, 5, 2}; +static const uint16_t i_81c2f05a394cf4af[] = {0, 1, 2, 3, 4, 5}; +const ::capnp::_::RawSchema s_81c2f05a394cf4af = { + 0x81c2f05a394cf4af, b_81c2f05a394cf4af.words, 145, d_81c2f05a394cf4af, m_81c2f05a394cf4af, + 3, 6, i_81c2f05a394cf4af, nullptr, nullptr, { &s_81c2f05a394cf4af, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<19> b_b6a9042bc207bf27 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 39, 191, 7, 194, 43, 4, 169, 182, + 29, 0, 0, 0, 1, 0, 0, 0, + 175, 244, 76, 57, 90, 240, 194, 129, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 114, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 115, 116, 111, 109, 46, 99, + 97, 112, 110, 112, 58, 67, 111, 110, + 116, 114, 111, 108, 115, 83, 116, 97, + 116, 101, 83, 80, 46, 76, 97, 116, + 101, 114, 97, 108, 73, 78, 68, 73, + 83, 116, 97, 116, 101, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, } +}; +::capnp::word const* const bp_b6a9042bc207bf27 = b_b6a9042bc207bf27.words; +#if !CAPNP_LITE +const ::capnp::_::RawSchema s_b6a9042bc207bf27 = { + 0xb6a9042bc207bf27, b_b6a9042bc207bf27.words, 19, nullptr, nullptr, + 0, 0, nullptr, nullptr, nullptr, { &s_b6a9042bc207bf27, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<19> b_88da8426fae53f07 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 7, 63, 229, 250, 38, 132, 218, 136, + 29, 0, 0, 0, 1, 0, 0, 0, + 175, 244, 76, 57, 90, 240, 194, 129, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 106, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 115, 116, 111, 109, 46, 99, + 97, 112, 110, 112, 58, 67, 111, 110, + 116, 114, 111, 108, 115, 83, 116, 97, + 116, 101, 83, 80, 46, 76, 97, 116, + 101, 114, 97, 108, 80, 73, 68, 83, + 116, 97, 116, 101, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, } +}; +::capnp::word const* const bp_88da8426fae53f07 = b_88da8426fae53f07.words; +#if !CAPNP_LITE +const ::capnp::_::RawSchema s_88da8426fae53f07 = { + 0x88da8426fae53f07, b_88da8426fae53f07.words, 19, nullptr, nullptr, + 0, 0, nullptr, nullptr, nullptr, { &s_88da8426fae53f07, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<19> b_a9d235d23de15f34 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 52, 95, 225, 61, 210, 53, 210, 169, + 29, 0, 0, 0, 1, 0, 0, 0, + 175, 244, 76, 57, 90, 240, 194, 129, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 122, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 115, 116, 111, 109, 46, 99, + 97, 112, 110, 112, 58, 67, 111, 110, + 116, 114, 111, 108, 115, 83, 116, 97, + 116, 101, 83, 80, 46, 76, 97, 116, + 101, 114, 97, 108, 65, 110, 103, 108, + 101, 83, 116, 97, 116, 101, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, } +}; +::capnp::word const* const bp_a9d235d23de15f34 = b_a9d235d23de15f34.words; +#if !CAPNP_LITE +const ::capnp::_::RawSchema s_a9d235d23de15f34 = { + 0xa9d235d23de15f34, b_a9d235d23de15f34.words, 19, nullptr, nullptr, + 0, 0, nullptr, nullptr, nullptr, { &s_a9d235d23de15f34, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<19> b_be8ceaa2a89de7dd = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 221, 231, 157, 168, 162, 234, 140, 190, + 29, 0, 0, 0, 1, 0, 0, 0, + 175, 244, 76, 57, 90, 240, 194, 129, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 122, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 115, 116, 111, 109, 46, 99, + 97, 112, 110, 112, 58, 67, 111, 110, + 116, 114, 111, 108, 115, 83, 116, 97, + 116, 101, 83, 80, 46, 76, 97, 116, + 101, 114, 97, 108, 68, 101, 98, 117, + 103, 83, 116, 97, 116, 101, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, } +}; +::capnp::word const* const bp_be8ceaa2a89de7dd = b_be8ceaa2a89de7dd.words; +#if !CAPNP_LITE +const ::capnp::_::RawSchema s_be8ceaa2a89de7dd = { + 0xbe8ceaa2a89de7dd, b_be8ceaa2a89de7dd.words, 19, nullptr, nullptr, + 0, 0, nullptr, nullptr, nullptr, { &s_be8ceaa2a89de7dd, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<39> b_8cd56244b40afff5 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 245, 255, 10, 180, 68, 98, 213, 140, + 29, 0, 0, 0, 1, 0, 0, 0, + 175, 244, 76, 57, 90, 240, 194, 129, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 130, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 63, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 115, 116, 111, 109, 46, 99, + 97, 112, 110, 112, 58, 67, 111, 110, + 116, 114, 111, 108, 115, 83, 116, 97, + 116, 101, 83, 80, 46, 76, 97, 116, + 101, 114, 97, 108, 84, 111, 114, 113, + 117, 101, 83, 116, 97, 116, 101, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 4, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 3, 0, 1, 0, + 36, 0, 0, 0, 2, 0, 1, 0, + 110, 110, 76, 111, 103, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_8cd56244b40afff5 = b_8cd56244b40afff5.words; +#if !CAPNP_LITE +static const uint16_t m_8cd56244b40afff5[] = {0}; +static const uint16_t i_8cd56244b40afff5[] = {0}; +const ::capnp::_::RawSchema s_8cd56244b40afff5 = { + 0x8cd56244b40afff5, b_8cd56244b40afff5.words, 39, nullptr, m_8cd56244b40afff5, + 0, 1, i_8cd56244b40afff5, nullptr, nullptr, { &s_8cd56244b40afff5, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<20> b_f4da5f8564a56edb = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 219, 110, 165, 100, 133, 95, 218, 244, + 29, 0, 0, 0, 1, 0, 0, 0, + 175, 244, 76, 57, 90, 240, 194, 129, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 154, 1, 0, 0, + 45, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 115, 116, 111, 109, 46, 99, + 97, 112, 110, 112, 58, 67, 111, 110, + 116, 114, 111, 108, 115, 83, 116, 97, + 116, 101, 83, 80, 46, 76, 97, 116, + 101, 114, 97, 108, 67, 117, 114, 118, + 97, 116, 117, 114, 101, 83, 116, 97, + 116, 101, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, } +}; +::capnp::word const* const bp_f4da5f8564a56edb = b_f4da5f8564a56edb.words; +#if !CAPNP_LITE +const ::capnp::_::RawSchema s_f4da5f8564a56edb = { + 0xf4da5f8564a56edb, b_f4da5f8564a56edb.words, 20, nullptr, nullptr, + 0, 0, nullptr, nullptr, nullptr, { &s_f4da5f8564a56edb, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<19> b_b5044e038567cd31 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 49, 205, 103, 133, 3, 78, 4, 181, + 29, 0, 0, 0, 1, 0, 0, 0, + 175, 244, 76, 57, 90, 240, 194, 129, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 106, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 115, 116, 111, 109, 46, 99, + 97, 112, 110, 112, 58, 67, 111, 110, + 116, 114, 111, 108, 115, 83, 116, 97, + 116, 101, 83, 80, 46, 76, 97, 116, + 101, 114, 97, 108, 76, 81, 82, 83, + 116, 97, 116, 101, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, } +}; +::capnp::word const* const bp_b5044e038567cd31 = b_b5044e038567cd31.words; +#if !CAPNP_LITE +const ::capnp::_::RawSchema s_b5044e038567cd31 = { + 0xb5044e038567cd31, b_b5044e038567cd31.words, 19, nullptr, nullptr, + 0, 0, nullptr, nullptr, nullptr, { &s_b5044e038567cd31, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<133> b_8e4c2c83a5d25c2d = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 45, 92, 210, 165, 131, 44, 76, 142, + 29, 0, 0, 0, 1, 0, 1, 0, + 175, 244, 76, 57, 90, 240, 194, 129, + 2, 0, 7, 0, 1, 0, 7, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 138, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 143, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 115, 116, 111, 109, 46, 99, + 97, 112, 110, 112, 58, 67, 111, 110, + 116, 114, 111, 108, 115, 83, 116, 97, + 116, 101, 83, 80, 46, 108, 97, 116, + 101, 114, 97, 108, 67, 111, 110, 116, + 114, 111, 108, 83, 116, 97, 116, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 28, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 255, 255, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 0, 0, 0, 3, 0, 1, 0, + 192, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 254, 255, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 0, 0, 0, 3, 0, 1, 0, + 200, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 253, 255, 1, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 0, 0, 0, 3, 0, 1, 0, + 208, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 252, 255, 1, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 0, 0, 0, 3, 0, 1, 0, + 216, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 251, 255, 1, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 213, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 212, 0, 0, 0, 3, 0, 1, 0, + 224, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 250, 255, 1, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 0, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 220, 0, 0, 0, 3, 0, 1, 0, + 232, 0, 0, 0, 2, 0, 1, 0, + 6, 0, 249, 255, 1, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 229, 0, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 0, 0, 0, 3, 0, 1, 0, + 244, 0, 0, 0, 2, 0, 1, 0, + 105, 110, 100, 105, 83, 116, 97, 116, + 101, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 39, 191, 7, 194, 43, 4, 169, 182, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 105, 100, 83, 116, 97, 116, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 7, 63, 229, 250, 38, 132, 218, 136, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 110, 103, 108, 101, 83, 116, 97, + 116, 101, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 52, 95, 225, 61, 210, 53, 210, 169, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 98, 117, 103, 83, 116, 97, + 116, 101, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 221, 231, 157, 168, 162, 234, 140, 190, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 111, 114, 113, 117, 101, 83, 116, + 97, 116, 101, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 245, 255, 10, 180, 68, 98, 213, 140, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 114, 118, 97, 116, 117, 114, + 101, 83, 116, 97, 116, 101, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 219, 110, 165, 100, 133, 95, 218, 244, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 113, 114, 83, 116, 97, 116, 101, + 68, 69, 80, 82, 69, 67, 65, 84, + 69, 68, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 49, 205, 103, 133, 3, 78, 4, 181, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_8e4c2c83a5d25c2d = b_8e4c2c83a5d25c2d.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_8e4c2c83a5d25c2d[] = { + &s_81c2f05a394cf4af, + &s_88da8426fae53f07, + &s_8cd56244b40afff5, + &s_a9d235d23de15f34, + &s_b5044e038567cd31, + &s_b6a9042bc207bf27, + &s_be8ceaa2a89de7dd, + &s_f4da5f8564a56edb, +}; +static const uint16_t m_8e4c2c83a5d25c2d[] = {2, 5, 3, 0, 6, 1, 4}; +static const uint16_t i_8e4c2c83a5d25c2d[] = {0, 1, 2, 3, 4, 5, 6}; +const ::capnp::_::RawSchema s_8e4c2c83a5d25c2d = { + 0x8e4c2c83a5d25c2d, b_8e4c2c83a5d25c2d.words, 133, d_8e4c2c83a5d25c2d, m_8e4c2c83a5d25c2d, + 8, 7, i_8e4c2c83a5d25c2d, nullptr, nullptr, { &s_8e4c2c83a5d25c2d, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<455> b_aedffd8f31e7b55d = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 93, 181, 231, 49, 143, 253, 223, 174, + 13, 0, 0, 0, 1, 0, 8, 0, + 89, 10, 85, 29, 102, 186, 38, 181, + 3, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 2, 1, 0, 0, + 33, 0, 0, 0, 55, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 93, 0, 0, 0, 127, 5, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 115, 116, 111, 109, 46, 99, + 97, 112, 110, 112, 58, 76, 111, 110, + 103, 105, 116, 117, 100, 105, 110, 97, + 108, 80, 108, 97, 110, 83, 80, 0, + 12, 0, 0, 0, 1, 0, 1, 0, + 2, 8, 153, 155, 54, 132, 119, 158, + 17, 0, 0, 0, 186, 0, 0, 0, + 218, 174, 84, 82, 132, 78, 18, 209, + 21, 0, 0, 0, 210, 0, 0, 0, + 70, 196, 182, 150, 184, 68, 60, 181, + 29, 0, 0, 0, 186, 0, 0, 0, + 83, 112, 101, 101, 100, 76, 105, 109, + 105, 116, 67, 111, 110, 116, 114, 111, + 108, 83, 116, 97, 116, 101, 0, 0, + 86, 105, 115, 105, 111, 110, 84, 117, + 114, 110, 67, 111, 110, 116, 114, 111, + 108, 108, 101, 114, 83, 116, 97, 116, + 101, 0, 0, 0, 0, 0, 0, 0, + 76, 111, 110, 103, 105, 116, 117, 100, + 105, 110, 97, 108, 80, 108, 97, 110, + 83, 111, 117, 114, 99, 101, 0, 0, + 100, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 173, 2, 0, 0, 210, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 2, 0, 0, 3, 0, 1, 0, + 192, 2, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 2, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 2, 0, 0, 3, 0, 1, 0, + 200, 2, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 2, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 2, 0, 0, 3, 0, 1, 0, + 212, 2, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 2, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 2, 0, 0, 3, 0, 1, 0, + 220, 2, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 217, 2, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 220, 2, 0, 0, 3, 0, 1, 0, + 232, 2, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 229, 2, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 2, 0, 0, 3, 0, 1, 0, + 244, 2, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 160, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 2, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 2, 0, 0, 3, 0, 1, 0, + 252, 2, 0, 0, 2, 0, 1, 0, + 18, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 249, 2, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 248, 2, 0, 0, 3, 0, 1, 0, + 4, 3, 0, 0, 2, 0, 1, 0, + 19, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 3, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 3, 0, 0, 3, 0, 1, 0, + 12, 3, 0, 0, 2, 0, 1, 0, + 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0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 101, 114, 115, 111, 110, 97, 108, + 105, 116, 121, 68, 69, 80, 82, 69, + 67, 65, 84, 69, 68, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 246, 205, 24, 124, 170, 19, 33, 217, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 50, 101, 83, 116, 97, 116, 117, + 115, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 112, 99, 83, 111, 117, 114, 99, + 101, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 68, 224, 224, 192, 159, 126, 235, 221, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 121, 110, 97, 109, 105, 99, 69, + 120, 112, 101, 114, 105, 109, 101, 110, + 116, 97, 108, 67, 111, 110, 116, 114, + 111, 108, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_aedffd8f31e7b55d = b_aedffd8f31e7b55d.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_aedffd8f31e7b55d[] = { + &s_9b1657f34caf3ad3, + &s_9e7784369b990802, + &s_b53c44b896b6c446, + &s_d1124e845254aeda, + &s_d92113aa7c18cdf6, + &s_ddeb7e9fc0e0e044, +}; +static const uint16_t m_aedffd8f31e7b55d[] = {13, 5, 7, 24, 18, 22, 15, 19, 6, 20, 23, 14, 21, 3, 2, 4, 11, 12, 10, 8, 9, 16, 17, 0, 1}; +static const uint16_t i_aedffd8f31e7b55d[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24}; +const ::capnp::_::RawSchema s_aedffd8f31e7b55d = { + 0xaedffd8f31e7b55d, b_aedffd8f31e7b55d.words, 455, d_aedffd8f31e7b55d, m_aedffd8f31e7b55d, + 6, 25, i_aedffd8f31e7b55d, nullptr, nullptr, { &s_aedffd8f31e7b55d, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<45> b_9e7784369b990802 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 2, 8, 153, 155, 54, 132, 119, 158, + 32, 0, 0, 0, 2, 0, 0, 0, + 93, 181, 231, 49, 143, 253, 223, 174, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 186, 1, 0, 0, + 45, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 127, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 115, 116, 111, 109, 46, 99, + 97, 112, 110, 112, 58, 76, 111, 110, + 103, 105, 116, 117, 100, 105, 110, 97, + 108, 80, 108, 97, 110, 83, 80, 46, + 83, 112, 101, 101, 100, 76, 105, 109, + 105, 116, 67, 111, 110, 116, 114, 111, + 108, 83, 116, 97, 116, 101, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 20, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 110, 97, 99, 116, 105, 118, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 101, 109, 112, 73, 110, 97, 99, + 116, 105, 118, 101, 0, 0, 0, 0, + 97, 100, 97, 112, 116, 105, 110, 103, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 116, 105, 118, 101, 0, 0, + 112, 114, 101, 65, 99, 116, 105, 118, + 101, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_9e7784369b990802 = b_9e7784369b990802.words; +#if !CAPNP_LITE +static const uint16_t m_9e7784369b990802[] = {3, 2, 0, 4, 1}; +const ::capnp::_::RawSchema s_9e7784369b990802 = { + 0x9e7784369b990802, b_9e7784369b990802.words, 45, nullptr, m_9e7784369b990802, + 0, 5, nullptr, nullptr, nullptr, { &s_9e7784369b990802, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(SpeedLimitControlState_9e7784369b990802, 9e7784369b990802); +static const ::capnp::_::AlignedData<40> b_d1124e845254aeda = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 218, 174, 84, 82, 132, 78, 18, 209, + 32, 0, 0, 0, 2, 0, 0, 0, + 93, 181, 231, 49, 143, 253, 223, 174, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 210, 1, 0, 0, + 49, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 103, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 115, 116, 111, 109, 46, 99, + 97, 112, 110, 112, 58, 76, 111, 110, + 103, 105, 116, 117, 100, 105, 110, 97, + 108, 80, 108, 97, 110, 83, 80, 46, + 86, 105, 115, 105, 111, 110, 84, 117, + 114, 110, 67, 111, 110, 116, 114, 111, + 108, 108, 101, 114, 83, 116, 97, 116, + 101, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 105, 115, 97, 98, 108, 101, 100, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 110, 116, 101, 114, 105, 110, 103, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 117, 114, 110, 105, 110, 103, 0, + 108, 101, 97, 118, 105, 110, 103, 0, } +}; +::capnp::word const* const bp_d1124e845254aeda = b_d1124e845254aeda.words; +#if !CAPNP_LITE +static const uint16_t m_d1124e845254aeda[] = {0, 1, 3, 2}; +const ::capnp::_::RawSchema s_d1124e845254aeda = { + 0xd1124e845254aeda, b_d1124e845254aeda.words, 40, nullptr, m_d1124e845254aeda, + 0, 4, nullptr, nullptr, nullptr, { &s_d1124e845254aeda, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(VisionTurnControllerState_d1124e845254aeda, d1124e845254aeda); +static const ::capnp::_::AlignedData<54> b_b53c44b896b6c446 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 70, 196, 182, 150, 184, 68, 60, 181, + 32, 0, 0, 0, 2, 0, 0, 0, + 93, 181, 231, 49, 143, 253, 223, 174, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 186, 1, 0, 0, + 45, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 199, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 115, 116, 111, 109, 46, 99, + 97, 112, 110, 112, 58, 76, 111, 110, + 103, 105, 116, 117, 100, 105, 110, 97, + 108, 80, 108, 97, 110, 83, 80, 46, + 76, 111, 110, 103, 105, 116, 117, 100, + 105, 110, 97, 108, 80, 108, 97, 110, + 83, 111, 117, 114, 99, 101, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 32, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 81, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 73, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 65, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 57, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 114, 117, 105, 115, 101, 0, 0, + 108, 101, 97, 100, 48, 0, 0, 0, + 108, 101, 97, 100, 49, 0, 0, 0, + 108, 101, 97, 100, 50, 0, 0, 0, + 101, 50, 101, 0, 0, 0, 0, 0, + 116, 117, 114, 110, 0, 0, 0, 0, + 108, 105, 109, 105, 116, 0, 0, 0, + 116, 117, 114, 110, 108, 105, 109, 105, + 116, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_b53c44b896b6c446 = b_b53c44b896b6c446.words; +#if !CAPNP_LITE +static const uint16_t m_b53c44b896b6c446[] = {0, 4, 1, 2, 3, 6, 5, 7}; +const ::capnp::_::RawSchema s_b53c44b896b6c446 = { + 0xb53c44b896b6c446, b_b53c44b896b6c446.words, 54, nullptr, m_b53c44b896b6c446, + 0, 8, nullptr, nullptr, nullptr, { &s_b53c44b896b6c446, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(LongitudinalPlanSource_b53c44b896b6c446, b53c44b896b6c446); +static const ::capnp::_::AlignedData<209> b_f35cc4560bbf6ec2 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 194, 110, 191, 11, 86, 196, 92, 243, + 13, 0, 0, 0, 1, 0, 3, 0, + 89, 10, 85, 29, 102, 186, 38, 181, + 2, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 218, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 111, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 115, 116, 111, 109, 46, 99, + 97, 112, 110, 112, 58, 76, 97, 116, + 101, 114, 97, 108, 80, 108, 97, 110, + 83, 80, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 44, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 1, 0, 0, 3, 0, 1, 0, + 48, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 1, 0, 0, 3, 0, 1, 0, + 52, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 44, 1, 0, 0, 3, 0, 1, 0, + 56, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 48, 1, 0, 0, 3, 0, 1, 0, + 60, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 16, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 57, 1, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 60, 1, 0, 0, 3, 0, 1, 0, + 72, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 1, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 1, 0, 0, 3, 0, 1, 0, + 84, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 81, 1, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 84, 1, 0, 0, 3, 0, 1, 0, + 112, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 1, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 1, 0, 0, 3, 0, 1, 0, + 140, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 136, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 137, 1, 0, 0, 202, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 144, 1, 0, 0, 3, 0, 1, 0, + 156, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 137, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 1, 0, 0, 202, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 1, 0, 0, 3, 0, 1, 0, + 172, 1, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 1, 0, 0, 242, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 1, 0, 0, 3, 0, 1, 0, + 188, 1, 0, 0, 2, 0, 1, 0, + 108, 97, 110, 101, 87, 105, 100, 116, + 104, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 80, 114, 111, 98, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 80, 114, 111, 98, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 80, 114, 111, 98, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 121, 110, 97, 109, 105, 99, 76, + 97, 110, 101, 80, 114, 111, 102, 105, + 108, 101, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 97, 110, 100, 115, 116, 105, + 108, 108, 69, 108, 97, 112, 115, 101, + 100, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 80, 97, 116, 104, 87, 76, 105, + 110, 101, 115, 88, 68, 69, 80, 82, + 69, 67, 65, 84, 69, 68, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 80, 97, 116, 104, 87, 76, 105, + 110, 101, 115, 89, 68, 69, 80, 82, + 69, 67, 65, 84, 69, 68, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 110, 101, 67, 104, 97, 110, + 103, 101, 80, 114, 101, 118, 68, 69, + 80, 82, 69, 67, 65, 84, 69, 68, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 121, 110, 97, 109, 105, 99, 76, + 97, 110, 101, 80, 114, 111, 102, 105, + 108, 101, 83, 116, 97, 116, 117, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 110, 101, 67, 104, 97, 110, + 103, 101, 69, 100, 103, 101, 66, 108, + 111, 99, 107, 68, 69, 80, 82, 69, + 67, 65, 84, 69, 68, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_f35cc4560bbf6ec2 = b_f35cc4560bbf6ec2.words; +#if !CAPNP_LITE +static const uint16_t m_f35cc4560bbf6ec2[] = {6, 7, 3, 4, 9, 1, 10, 8, 0, 2, 5}; +static const uint16_t i_f35cc4560bbf6ec2[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10}; +const ::capnp::_::RawSchema s_f35cc4560bbf6ec2 = { + 0xf35cc4560bbf6ec2, b_f35cc4560bbf6ec2.words, 209, nullptr, m_f35cc4560bbf6ec2, + 0, 11, i_f35cc4560bbf6ec2, nullptr, nullptr, { &s_f35cc4560bbf6ec2, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<57> b_da96579883444c35 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 53, 76, 68, 131, 152, 87, 150, 218, + 13, 0, 0, 0, 1, 0, 1, 0, + 89, 10, 85, 29, 102, 186, 38, 181, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 42, 1, 0, 0, + 37, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 115, 116, 111, 109, 46, 99, + 97, 112, 110, 112, 58, 68, 114, 105, + 118, 101, 114, 77, 111, 110, 105, 116, + 111, 114, 105, 110, 103, 83, 116, 97, + 116, 101, 83, 80, 0, 0, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 171, 201, 237, 190, 18, 250, 164, 181, + 1, 0, 0, 0, 146, 0, 0, 0, + 72, 97, 110, 100, 115, 79, 110, 87, + 104, 101, 101, 108, 83, 116, 97, 116, + 101, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 44, 0, 0, 0, 3, 0, 1, 0, + 56, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 52, 0, 0, 0, 3, 0, 1, 0, + 64, 0, 0, 0, 2, 0, 1, 0, + 104, 97, 110, 100, 115, 79, 110, 87, + 104, 101, 101, 108, 83, 116, 97, 116, + 101, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 171, 201, 237, 190, 18, 250, 164, 181, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 116, 77, 111, 100, 105, 102, + 105, 101, 100, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_da96579883444c35 = b_da96579883444c35.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_da96579883444c35[] = { + &s_b5a4fa12beedc9ab, +}; +static const uint16_t m_da96579883444c35[] = {0, 1}; +static const uint16_t i_da96579883444c35[] = {0, 1}; +const ::capnp::_::RawSchema s_da96579883444c35 = { + 0xda96579883444c35, b_da96579883444c35.words, 57, d_da96579883444c35, m_da96579883444c35, + 1, 2, i_da96579883444c35, nullptr, nullptr, { &s_da96579883444c35, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<47> b_b5a4fa12beedc9ab = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 171, 201, 237, 190, 18, 250, 164, 181, + 37, 0, 0, 0, 2, 0, 0, 0, + 53, 76, 68, 131, 152, 87, 150, 218, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 186, 1, 0, 0, + 45, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 151, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 115, 116, 111, 109, 46, 99, + 97, 112, 110, 112, 58, 68, 114, 105, + 118, 101, 114, 77, 111, 110, 105, 116, + 111, 114, 105, 110, 103, 83, 116, 97, + 116, 101, 83, 80, 46, 72, 97, 110, + 100, 115, 79, 110, 87, 104, 101, 101, + 108, 83, 116, 97, 116, 101, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 24, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 57, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 110, 101, 0, 0, 0, 0, + 111, 107, 0, 0, 0, 0, 0, 0, + 109, 105, 110, 111, 114, 0, 0, 0, + 119, 97, 114, 110, 105, 110, 103, 0, + 99, 114, 105, 116, 105, 99, 97, 108, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 101, 114, 109, 105, 110, 97, 108, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_b5a4fa12beedc9ab = b_b5a4fa12beedc9ab.words; +#if !CAPNP_LITE +static const uint16_t m_b5a4fa12beedc9ab[] = {4, 2, 0, 1, 5, 3}; +const ::capnp::_::RawSchema s_b5a4fa12beedc9ab = { + 0xb5a4fa12beedc9ab, b_b5a4fa12beedc9ab.words, 47, nullptr, m_b5a4fa12beedc9ab, + 0, 6, nullptr, nullptr, nullptr, { &s_b5a4fa12beedc9ab, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(HandsOnWheelState_b5a4fa12beedc9ab, b5a4fa12beedc9ab); +static const ::capnp::_::AlignedData<386> b_80ae746ee2596b11 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 17, 107, 89, 226, 110, 116, 174, 128, + 13, 0, 0, 0, 1, 0, 9, 0, + 89, 10, 85, 29, 102, 186, 38, 181, + 4, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 218, 0, 0, 0, + 33, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 159, 4, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 115, 116, 111, 109, 46, 99, + 97, 112, 110, 112, 58, 76, 105, 118, + 101, 77, 97, 112, 68, 97, 116, 97, + 83, 80, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 109, 211, 71, 30, 165, 69, 255, 227, + 1, 0, 0, 0, 74, 0, 0, 0, + 68, 97, 116, 97, 84, 121, 112, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 84, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 61, 2, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 60, 2, 0, 0, 3, 0, 1, 0, + 72, 2, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 2, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 2, 0, 0, 3, 0, 1, 0, + 80, 2, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 2, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 80, 2, 0, 0, 3, 0, 1, 0, + 92, 2, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 2, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 88, 2, 0, 0, 3, 0, 1, 0, + 100, 2, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 2, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 2, 0, 0, 3, 0, 1, 0, + 112, 2, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 2, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 2, 0, 0, 3, 0, 1, 0, + 124, 2, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 2, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 2, 0, 0, 3, 0, 1, 0, + 132, 2, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 129, 2, 0, 0, 210, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 136, 2, 0, 0, 3, 0, 1, 0, + 148, 2, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 145, 2, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 148, 2, 0, 0, 3, 0, 1, 0, + 160, 2, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 157, 2, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 2, 0, 0, 3, 0, 1, 0, + 188, 2, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 2, 0, 0, 242, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 192, 2, 0, 0, 3, 0, 1, 0, + 220, 2, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 217, 2, 0, 0, 210, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 2, 0, 0, 3, 0, 1, 0, + 252, 2, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 249, 2, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 252, 2, 0, 0, 3, 0, 1, 0, + 8, 3, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 3, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 3, 0, 0, 3, 0, 1, 0, + 16, 3, 0, 0, 2, 0, 1, 0, + 14, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 3, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 3, 0, 0, 3, 0, 1, 0, + 24, 3, 0, 0, 2, 0, 1, 0, + 15, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 3, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 3, 0, 0, 3, 0, 1, 0, + 36, 3, 0, 0, 2, 0, 1, 0, + 16, 0, 0, 0, 12, 0, 0, 0, + 0, 0, 1, 0, 16, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 3, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 3, 0, 0, 3, 0, 1, 0, + 44, 3, 0, 0, 2, 0, 1, 0, + 17, 0, 0, 0, 13, 0, 0, 0, + 0, 0, 1, 0, 17, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 3, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 44, 3, 0, 0, 3, 0, 1, 0, + 56, 3, 0, 0, 2, 0, 1, 0, + 18, 0, 0, 0, 14, 0, 0, 0, + 0, 0, 1, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 3, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 52, 3, 0, 0, 3, 0, 1, 0, + 64, 3, 0, 0, 2, 0, 1, 0, + 19, 0, 0, 0, 15, 0, 0, 0, + 0, 0, 1, 0, 19, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 61, 3, 0, 0, 210, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 3, 0, 0, 3, 0, 1, 0, + 80, 3, 0, 0, 2, 0, 1, 0, + 20, 0, 0, 0, 32, 0, 0, 0, + 0, 0, 1, 0, 20, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 3, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 76, 3, 0, 0, 3, 0, 1, 0, + 88, 3, 0, 0, 2, 0, 1, 0, + 115, 112, 101, 101, 100, 76, 105, 109, + 105, 116, 86, 97, 108, 105, 100, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 101, 101, 100, 76, 105, 109, + 105, 116, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 101, 101, 100, 76, 105, 109, + 105, 116, 65, 104, 101, 97, 100, 86, + 97, 108, 105, 100, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 101, 101, 100, 76, 105, 109, + 105, 116, 65, 104, 101, 97, 100, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 101, 101, 100, 76, 105, 109, + 105, 116, 65, 104, 101, 97, 100, 68, + 105, 115, 116, 97, 110, 99, 101, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 117, 114, 110, 83, 112, 101, 101, + 100, 76, 105, 109, 105, 116, 86, 97, + 108, 105, 100, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 117, 114, 110, 83, 112, 101, 101, + 100, 76, 105, 109, 105, 116, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 117, 114, 110, 83, 112, 101, 101, + 100, 76, 105, 109, 105, 116, 69, 110, + 100, 68, 105, 115, 116, 97, 110, 99, + 101, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 117, 114, 110, 83, 112, 101, 101, + 100, 76, 105, 109, 105, 116, 83, 105, + 103, 110, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 117, 114, 110, 83, 112, 101, 101, + 100, 76, 105, 109, 105, 116, 115, 65, + 104, 101, 97, 100, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 117, 114, 110, 83, 112, 101, 101, + 100, 76, 105, 109, 105, 116, 115, 65, + 104, 101, 97, 100, 68, 105, 115, 116, + 97, 110, 99, 101, 115, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 117, 114, 110, 83, 112, 101, 101, + 100, 76, 105, 109, 105, 116, 115, 65, + 104, 101, 97, 100, 83, 105, 103, 110, + 115, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 115, 116, 71, 112, 115, 84, + 105, 109, 101, 115, 116, 97, 109, 112, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 114, 114, 101, 110, 116, 82, + 111, 97, 100, 78, 97, 109, 101, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 115, 116, 71, 112, 115, 76, + 97, 116, 105, 116, 117, 100, 101, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 115, 116, 71, 112, 115, 76, + 111, 110, 103, 105, 116, 117, 100, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 115, 116, 71, 112, 115, 83, + 112, 101, 101, 100, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 115, 116, 71, 112, 115, 66, + 101, 97, 114, 105, 110, 103, 68, 101, + 103, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 115, 116, 71, 112, 115, 65, + 99, 99, 117, 114, 97, 99, 121, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 115, 116, 71, 112, 115, 66, + 101, 97, 114, 105, 110, 103, 65, 99, + 99, 117, 114, 97, 99, 121, 68, 101, + 103, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 97, 116, 97, 84, 121, 112, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 109, 211, 71, 30, 165, 69, 255, 227, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_80ae746ee2596b11 = b_80ae746ee2596b11.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_80ae746ee2596b11[] = { + &s_e3ff45a51e47d36d, +}; +static const uint16_t m_80ae746ee2596b11[] = {13, 20, 18, 19, 17, 14, 15, 16, 12, 1, 3, 4, 2, 0, 6, 7, 8, 5, 9, 10, 11}; +static const uint16_t i_80ae746ee2596b11[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20}; +const ::capnp::_::RawSchema s_80ae746ee2596b11 = { + 0x80ae746ee2596b11, b_80ae746ee2596b11.words, 386, d_80ae746ee2596b11, m_80ae746ee2596b11, + 1, 21, i_80ae746ee2596b11, nullptr, nullptr, { &s_80ae746ee2596b11, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<31> b_e3ff45a51e47d36d = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 109, 211, 71, 30, 165, 69, 255, 227, + 27, 0, 0, 0, 2, 0, 0, 0, + 17, 107, 89, 226, 110, 116, 174, 128, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 34, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 79, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 115, 116, 111, 109, 46, 99, + 97, 112, 110, 112, 58, 76, 105, 118, + 101, 77, 97, 112, 68, 97, 116, 97, + 83, 80, 46, 68, 97, 116, 97, 84, + 121, 112, 101, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 102, 97, 117, 108, 116, 0, + 111, 102, 102, 108, 105, 110, 101, 0, + 111, 110, 108, 105, 110, 101, 0, 0, } +}; +::capnp::word const* const bp_e3ff45a51e47d36d = b_e3ff45a51e47d36d.words; +#if !CAPNP_LITE +static const uint16_t m_e3ff45a51e47d36d[] = {0, 1, 2}; +const ::capnp::_::RawSchema s_e3ff45a51e47d36d = { + 0xe3ff45a51e47d36d, b_e3ff45a51e47d36d.words, 31, nullptr, m_e3ff45a51e47d36d, + 0, 3, nullptr, nullptr, nullptr, { &s_e3ff45a51e47d36d, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(DataType_e3ff45a51e47d36d, e3ff45a51e47d36d); +static const ::capnp::_::AlignedData<33> b_a5cd762cd951a455 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 85, 164, 81, 217, 44, 118, 205, 165, + 13, 0, 0, 0, 1, 0, 1, 0, + 89, 10, 85, 29, 102, 186, 38, 181, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 226, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 63, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 115, 116, 111, 109, 46, 99, + 97, 112, 110, 112, 58, 69, 50, 101, + 76, 111, 110, 103, 83, 116, 97, 116, + 101, 83, 80, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 4, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 3, 0, 1, 0, + 20, 0, 0, 0, 2, 0, 1, 0, + 115, 116, 97, 116, 117, 115, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a5cd762cd951a455 = b_a5cd762cd951a455.words; +#if !CAPNP_LITE +static const uint16_t m_a5cd762cd951a455[] = {0}; +static const uint16_t i_a5cd762cd951a455[] = {0}; +const ::capnp::_::RawSchema s_a5cd762cd951a455 = { + 0xa5cd762cd951a455, b_a5cd762cd951a455.words, 33, nullptr, m_a5cd762cd951a455, + 0, 1, i_a5cd762cd951a455, nullptr, nullptr, { &s_a5cd762cd951a455, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<100> b_f98d843bfd7004a3 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 163, 4, 112, 253, 59, 132, 141, 249, + 13, 0, 0, 0, 1, 0, 1, 0, + 89, 10, 85, 29, 102, 186, 38, 181, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 218, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 31, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 115, 116, 111, 109, 46, 99, + 97, 112, 110, 112, 58, 77, 111, 100, + 101, 108, 68, 97, 116, 97, 86, 50, + 83, 80, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 20, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 0, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 0, 0, 0, 3, 0, 1, 0, + 136, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 133, 0, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 136, 0, 0, 0, 3, 0, 1, 0, + 148, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 145, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 144, 0, 0, 0, 3, 0, 1, 0, + 156, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 0, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 0, 0, 0, 3, 0, 1, 0, + 164, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 0, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 164, 0, 0, 0, 3, 0, 1, 0, + 176, 0, 0, 0, 2, 0, 1, 0, + 108, 97, 110, 101, 67, 104, 97, 110, + 103, 101, 80, 114, 101, 118, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 110, 101, 67, 104, 97, 110, + 103, 101, 69, 100, 103, 101, 66, 108, + 111, 99, 107, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 115, 116, 111, 109, 77, 111, + 100, 101, 108, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 111, 100, 101, 108, 71, 101, 110, + 101, 114, 97, 116, 105, 111, 110, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 185, 224, 233, 69, 150, 245, 203, 145, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 111, 100, 101, 108, 67, 97, 112, + 97, 98, 105, 108, 105, 116, 105, 101, + 115, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_f98d843bfd7004a3 = b_f98d843bfd7004a3.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_f98d843bfd7004a3[] = { + &s_91cbf59645e9e0b9, +}; +static const uint16_t m_f98d843bfd7004a3[] = {2, 1, 0, 4, 3}; +static const uint16_t i_f98d843bfd7004a3[] = {0, 1, 2, 3, 4}; +const ::capnp::_::RawSchema s_f98d843bfd7004a3 = { + 0xf98d843bfd7004a3, b_f98d843bfd7004a3.words, 100, d_f98d843bfd7004a3, m_f98d843bfd7004a3, + 1, 5, i_f98d843bfd7004a3, nullptr, nullptr, { &s_f98d843bfd7004a3, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<17> b_b86e6369214c01c8 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 200, 1, 76, 33, 105, 99, 110, 184, + 13, 0, 0, 0, 1, 0, 0, 0, + 89, 10, 85, 29, 102, 186, 38, 181, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 234, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 115, 116, 111, 109, 46, 99, + 97, 112, 110, 112, 58, 67, 117, 115, + 116, 111, 109, 82, 101, 115, 101, 114, + 118, 101, 100, 55, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, } +}; +::capnp::word const* const bp_b86e6369214c01c8 = b_b86e6369214c01c8.words; +#if !CAPNP_LITE +const ::capnp::_::RawSchema s_b86e6369214c01c8 = { + 0xb86e6369214c01c8, b_b86e6369214c01c8.words, 17, nullptr, nullptr, + 0, 0, nullptr, nullptr, nullptr, { &s_b86e6369214c01c8, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<17> b_f416ec09499d9d19 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 25, 157, 157, 73, 9, 236, 22, 244, + 13, 0, 0, 0, 1, 0, 0, 0, + 89, 10, 85, 29, 102, 186, 38, 181, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 234, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 115, 116, 111, 109, 46, 99, + 97, 112, 110, 112, 58, 67, 117, 115, + 116, 111, 109, 82, 101, 115, 101, 114, + 118, 101, 100, 56, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, } +}; +::capnp::word const* const bp_f416ec09499d9d19 = b_f416ec09499d9d19.words; +#if !CAPNP_LITE +const ::capnp::_::RawSchema s_f416ec09499d9d19 = { + 0xf416ec09499d9d19, b_f416ec09499d9d19.words, 17, nullptr, nullptr, + 0, 0, nullptr, nullptr, nullptr, { &s_f416ec09499d9d19, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<17> b_a1680744031fdb2d = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 45, 219, 31, 3, 68, 7, 104, 161, + 13, 0, 0, 0, 1, 0, 0, 0, + 89, 10, 85, 29, 102, 186, 38, 181, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 234, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 115, 116, 111, 109, 46, 99, + 97, 112, 110, 112, 58, 67, 117, 115, + 116, 111, 109, 82, 101, 115, 101, 114, + 118, 101, 100, 57, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, } +}; +::capnp::word const* const bp_a1680744031fdb2d = b_a1680744031fdb2d.words; +#if !CAPNP_LITE +const ::capnp::_::RawSchema s_a1680744031fdb2d = { + 0xa1680744031fdb2d, b_a1680744031fdb2d.words, 17, nullptr, nullptr, + 0, 0, nullptr, nullptr, nullptr, { &s_a1680744031fdb2d, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +} // namespace schemas +} // namespace capnp + +// ======================================================================================= + +namespace cereal { + +// ControlsStateSP +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ControlsStateSP::_capnpPrivate::dataWordSize; +constexpr uint16_t ControlsStateSP::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ControlsStateSP::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ControlsStateSP::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ControlsStateSP::LateralINDIState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ControlsStateSP::LateralINDIState::_capnpPrivate::dataWordSize; +constexpr uint16_t ControlsStateSP::LateralINDIState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ControlsStateSP::LateralINDIState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ControlsStateSP::LateralINDIState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ControlsStateSP::LateralPIDState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ControlsStateSP::LateralPIDState::_capnpPrivate::dataWordSize; +constexpr uint16_t ControlsStateSP::LateralPIDState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ControlsStateSP::LateralPIDState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ControlsStateSP::LateralPIDState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ControlsStateSP::LateralAngleState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ControlsStateSP::LateralAngleState::_capnpPrivate::dataWordSize; +constexpr uint16_t ControlsStateSP::LateralAngleState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ControlsStateSP::LateralAngleState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ControlsStateSP::LateralAngleState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ControlsStateSP::LateralDebugState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ControlsStateSP::LateralDebugState::_capnpPrivate::dataWordSize; +constexpr uint16_t ControlsStateSP::LateralDebugState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ControlsStateSP::LateralDebugState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ControlsStateSP::LateralDebugState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ControlsStateSP::LateralTorqueState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ControlsStateSP::LateralTorqueState::_capnpPrivate::dataWordSize; +constexpr uint16_t ControlsStateSP::LateralTorqueState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ControlsStateSP::LateralTorqueState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ControlsStateSP::LateralTorqueState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ControlsStateSP::LateralCurvatureState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ControlsStateSP::LateralCurvatureState::_capnpPrivate::dataWordSize; +constexpr uint16_t ControlsStateSP::LateralCurvatureState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ControlsStateSP::LateralCurvatureState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ControlsStateSP::LateralCurvatureState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ControlsStateSP::LateralLQRState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ControlsStateSP::LateralLQRState::_capnpPrivate::dataWordSize; +constexpr uint16_t ControlsStateSP::LateralLQRState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ControlsStateSP::LateralLQRState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ControlsStateSP::LateralLQRState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ControlsStateSP::LateralControlState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ControlsStateSP::LateralControlState::_capnpPrivate::dataWordSize; +constexpr uint16_t ControlsStateSP::LateralControlState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ControlsStateSP::LateralControlState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ControlsStateSP::LateralControlState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// LongitudinalPlanSP +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t LongitudinalPlanSP::_capnpPrivate::dataWordSize; +constexpr uint16_t LongitudinalPlanSP::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind LongitudinalPlanSP::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* LongitudinalPlanSP::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// LateralPlanSP +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t LateralPlanSP::_capnpPrivate::dataWordSize; +constexpr uint16_t LateralPlanSP::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind LateralPlanSP::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* LateralPlanSP::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// DriverMonitoringStateSP +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t DriverMonitoringStateSP::_capnpPrivate::dataWordSize; +constexpr uint16_t DriverMonitoringStateSP::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind DriverMonitoringStateSP::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* DriverMonitoringStateSP::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// LiveMapDataSP +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t LiveMapDataSP::_capnpPrivate::dataWordSize; +constexpr uint16_t LiveMapDataSP::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind LiveMapDataSP::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* LiveMapDataSP::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// E2eLongStateSP +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t E2eLongStateSP::_capnpPrivate::dataWordSize; +constexpr uint16_t E2eLongStateSP::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind E2eLongStateSP::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* E2eLongStateSP::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ModelDataV2SP +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ModelDataV2SP::_capnpPrivate::dataWordSize; +constexpr uint16_t ModelDataV2SP::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ModelDataV2SP::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ModelDataV2SP::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CustomReserved7 +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CustomReserved7::_capnpPrivate::dataWordSize; +constexpr uint16_t CustomReserved7::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CustomReserved7::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CustomReserved7::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CustomReserved8 +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CustomReserved8::_capnpPrivate::dataWordSize; +constexpr uint16_t CustomReserved8::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CustomReserved8::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CustomReserved8::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CustomReserved9 +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CustomReserved9::_capnpPrivate::dataWordSize; +constexpr uint16_t CustomReserved9::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CustomReserved9::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CustomReserved9::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + + +} // namespace + diff --git a/cereal/gen/cpp/custom.capnp.h b/cereal/gen/cpp/custom.capnp.h new file mode 100644 index 0000000000..50115d0e10 --- /dev/null +++ b/cereal/gen/cpp/custom.capnp.h @@ -0,0 +1,3869 @@ +// Generated by Cap'n Proto compiler, DO NOT EDIT +// source: custom.capnp + +#pragma once + +#include +#include + +#ifndef CAPNP_VERSION +#error "CAPNP_VERSION is not defined, is capnp/generated-header-support.h missing?" +#elif CAPNP_VERSION != 1000002 +#error "Version mismatch between generated code and library headers. You must use the same version of the Cap'n Proto compiler and library." +#endif + +#include "car.capnp.h" + +CAPNP_BEGIN_HEADER + +namespace capnp { +namespace schemas { + +CAPNP_DECLARE_SCHEMA(d92113aa7c18cdf6); +enum class LongitudinalPersonalitySP_d92113aa7c18cdf6: uint16_t { + AGGRESSIVE, + MODERATE, + STANDARD, + RELAXED, + OVERTAKE, +}; +CAPNP_DECLARE_ENUM(LongitudinalPersonalitySP, d92113aa7c18cdf6); +CAPNP_DECLARE_SCHEMA(f40bf11ea3a7a163); +enum class AccelerationPersonality_f40bf11ea3a7a163: uint16_t { + SPORT, + NORMAL, + ECO, + STOCK, +}; +CAPNP_DECLARE_ENUM(AccelerationPersonality, f40bf11ea3a7a163); +CAPNP_DECLARE_SCHEMA(91cbf59645e9e0b9); +enum class ModelGeneration_91cbf59645e9e0b9: uint16_t { + DEFAULT, + ONE, + TWO, + THREE, + FOUR, + FIVE, +}; +CAPNP_DECLARE_ENUM(ModelGeneration, 91cbf59645e9e0b9); +CAPNP_DECLARE_SCHEMA(ddeb7e9fc0e0e044); +enum class MpcSource_ddeb7e9fc0e0e044: uint16_t { + ACC, + BLENDED, +}; +CAPNP_DECLARE_ENUM(MpcSource, ddeb7e9fc0e0e044); +CAPNP_DECLARE_SCHEMA(81c2f05a394cf4af); +CAPNP_DECLARE_SCHEMA(b6a9042bc207bf27); +CAPNP_DECLARE_SCHEMA(88da8426fae53f07); +CAPNP_DECLARE_SCHEMA(a9d235d23de15f34); +CAPNP_DECLARE_SCHEMA(be8ceaa2a89de7dd); +CAPNP_DECLARE_SCHEMA(8cd56244b40afff5); +CAPNP_DECLARE_SCHEMA(f4da5f8564a56edb); +CAPNP_DECLARE_SCHEMA(b5044e038567cd31); +CAPNP_DECLARE_SCHEMA(8e4c2c83a5d25c2d); +CAPNP_DECLARE_SCHEMA(aedffd8f31e7b55d); +CAPNP_DECLARE_SCHEMA(9e7784369b990802); +enum class SpeedLimitControlState_9e7784369b990802: uint16_t { + INACTIVE, + TEMP_INACTIVE, + ADAPTING, + ACTIVE, + PRE_ACTIVE, +}; +CAPNP_DECLARE_ENUM(SpeedLimitControlState, 9e7784369b990802); +CAPNP_DECLARE_SCHEMA(d1124e845254aeda); +enum class VisionTurnControllerState_d1124e845254aeda: uint16_t { + DISABLED, + ENTERING, + TURNING, + LEAVING, +}; +CAPNP_DECLARE_ENUM(VisionTurnControllerState, d1124e845254aeda); +CAPNP_DECLARE_SCHEMA(b53c44b896b6c446); +enum class LongitudinalPlanSource_b53c44b896b6c446: uint16_t { + CRUISE, + LEAD0, + LEAD1, + LEAD2, + E2E, + TURN, + LIMIT, + TURNLIMIT, +}; +CAPNP_DECLARE_ENUM(LongitudinalPlanSource, b53c44b896b6c446); +CAPNP_DECLARE_SCHEMA(f35cc4560bbf6ec2); +CAPNP_DECLARE_SCHEMA(da96579883444c35); +CAPNP_DECLARE_SCHEMA(b5a4fa12beedc9ab); +enum class HandsOnWheelState_b5a4fa12beedc9ab: uint16_t { + NONE, + OK, + MINOR, + WARNING, + CRITICAL, + TERMINAL, +}; +CAPNP_DECLARE_ENUM(HandsOnWheelState, b5a4fa12beedc9ab); +CAPNP_DECLARE_SCHEMA(80ae746ee2596b11); +CAPNP_DECLARE_SCHEMA(e3ff45a51e47d36d); +enum class DataType_e3ff45a51e47d36d: uint16_t { + DEFAULT, + OFFLINE, + ONLINE, +}; +CAPNP_DECLARE_ENUM(DataType, e3ff45a51e47d36d); +CAPNP_DECLARE_SCHEMA(a5cd762cd951a455); +CAPNP_DECLARE_SCHEMA(f98d843bfd7004a3); +CAPNP_DECLARE_SCHEMA(b86e6369214c01c8); +CAPNP_DECLARE_SCHEMA(f416ec09499d9d19); +CAPNP_DECLARE_SCHEMA(a1680744031fdb2d); + +} // namespace schemas +} // namespace capnp + +namespace cereal { + +typedef ::capnp::schemas::LongitudinalPersonalitySP_d92113aa7c18cdf6 LongitudinalPersonalitySP; + +typedef ::capnp::schemas::AccelerationPersonality_f40bf11ea3a7a163 AccelerationPersonality; + +typedef ::capnp::schemas::ModelGeneration_91cbf59645e9e0b9 ModelGeneration; + +typedef ::capnp::schemas::MpcSource_ddeb7e9fc0e0e044 MpcSource; + +struct ControlsStateSP { + ControlsStateSP() = delete; + + class Reader; + class Builder; + class Pipeline; + struct LateralINDIState; + struct LateralPIDState; + struct LateralAngleState; + struct LateralDebugState; + struct LateralTorqueState; + struct LateralCurvatureState; + struct LateralLQRState; + struct LateralControlState; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(81c2f05a394cf4af, 1, 2) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct ControlsStateSP::LateralINDIState { + LateralINDIState() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(b6a9042bc207bf27, 0, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct ControlsStateSP::LateralPIDState { + LateralPIDState() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(88da8426fae53f07, 0, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct ControlsStateSP::LateralAngleState { + LateralAngleState() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(a9d235d23de15f34, 0, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct ControlsStateSP::LateralDebugState { + LateralDebugState() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(be8ceaa2a89de7dd, 0, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct ControlsStateSP::LateralTorqueState { + LateralTorqueState() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(8cd56244b40afff5, 0, 1) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct ControlsStateSP::LateralCurvatureState { + LateralCurvatureState() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(f4da5f8564a56edb, 0, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct ControlsStateSP::LateralLQRState { + LateralLQRState() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(b5044e038567cd31, 0, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct ControlsStateSP::LateralControlState { + LateralControlState() = delete; + + class Reader; + class Builder; + class Pipeline; + enum Which: uint16_t { + INDI_STATE, + PID_STATE, + ANGLE_STATE, + DEBUG_STATE, + TORQUE_STATE, + CURVATURE_STATE, + LQR_STATE_D_E_P_R_E_C_A_T_E_D, + }; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(8e4c2c83a5d25c2d, 1, 2) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct LongitudinalPlanSP { + LongitudinalPlanSP() = delete; + + class Reader; + class Builder; + class Pipeline; + typedef ::capnp::schemas::SpeedLimitControlState_9e7784369b990802 SpeedLimitControlState; + + typedef ::capnp::schemas::VisionTurnControllerState_d1124e845254aeda VisionTurnControllerState; + + typedef ::capnp::schemas::LongitudinalPlanSource_b53c44b896b6c446 LongitudinalPlanSource; + + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(aedffd8f31e7b55d, 8, 3) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct LateralPlanSP { + LateralPlanSP() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(f35cc4560bbf6ec2, 3, 2) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct DriverMonitoringStateSP { + DriverMonitoringStateSP() = delete; + + class Reader; + class Builder; + class Pipeline; + typedef ::capnp::schemas::HandsOnWheelState_b5a4fa12beedc9ab HandsOnWheelState; + + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(da96579883444c35, 1, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct LiveMapDataSP { + LiveMapDataSP() = delete; + + class Reader; + class Builder; + class Pipeline; + typedef ::capnp::schemas::DataType_e3ff45a51e47d36d DataType; + + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(80ae746ee2596b11, 9, 4) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct E2eLongStateSP { + E2eLongStateSP() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(a5cd762cd951a455, 1, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct ModelDataV2SP { + ModelDataV2SP() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(f98d843bfd7004a3, 1, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct CustomReserved7 { + CustomReserved7() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(b86e6369214c01c8, 0, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct CustomReserved8 { + CustomReserved8() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(f416ec09499d9d19, 0, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct CustomReserved9 { + CustomReserved9() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(a1680744031fdb2d, 0, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +// ======================================================================================= + +class ControlsStateSP::Reader { +public: + typedef ControlsStateSP Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasLateralState() const; + inline ::capnp::Text::Reader getLateralState() const; + + inline typename LateralControlState::Reader getLateralControlState() const; + + inline ::cereal::LongitudinalPersonalitySP getPersonality() const; + + inline bool getDynamicPersonality() const; + + inline ::cereal::AccelerationPersonality getAccelPersonality() const; + + inline bool getOvertakingAccelerationAssist() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class ControlsStateSP::Builder { +public: + typedef ControlsStateSP Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasLateralState(); + inline ::capnp::Text::Builder getLateralState(); + inline void setLateralState( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initLateralState(unsigned int size); + inline void adoptLateralState(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownLateralState(); + + inline typename LateralControlState::Builder getLateralControlState(); + inline typename LateralControlState::Builder initLateralControlState(); + + inline ::cereal::LongitudinalPersonalitySP getPersonality(); + inline void setPersonality( ::cereal::LongitudinalPersonalitySP value); + + inline bool getDynamicPersonality(); + inline void setDynamicPersonality(bool value); + + inline ::cereal::AccelerationPersonality getAccelPersonality(); + inline void setAccelPersonality( ::cereal::AccelerationPersonality value); + + inline bool getOvertakingAccelerationAssist(); + inline void setOvertakingAccelerationAssist(bool value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class ControlsStateSP::Pipeline { +public: + typedef ControlsStateSP Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + + inline typename LateralControlState::Pipeline getLateralControlState(); +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class ControlsStateSP::LateralINDIState::Reader { +public: + typedef LateralINDIState Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class ControlsStateSP::LateralINDIState::Builder { +public: + typedef LateralINDIState Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class ControlsStateSP::LateralINDIState::Pipeline { +public: + typedef LateralINDIState Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class ControlsStateSP::LateralPIDState::Reader { +public: + typedef LateralPIDState Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class ControlsStateSP::LateralPIDState::Builder { +public: + typedef LateralPIDState Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class ControlsStateSP::LateralPIDState::Pipeline { +public: + typedef LateralPIDState Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class ControlsStateSP::LateralAngleState::Reader { +public: + typedef LateralAngleState Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class ControlsStateSP::LateralAngleState::Builder { +public: + typedef LateralAngleState Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class ControlsStateSP::LateralAngleState::Pipeline { +public: + typedef LateralAngleState Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class ControlsStateSP::LateralDebugState::Reader { +public: + typedef LateralDebugState Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class ControlsStateSP::LateralDebugState::Builder { +public: + typedef LateralDebugState Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class ControlsStateSP::LateralDebugState::Pipeline { +public: + typedef LateralDebugState Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class ControlsStateSP::LateralTorqueState::Reader { +public: + typedef LateralTorqueState Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasNnLog() const; + inline ::capnp::List::Reader getNnLog() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class ControlsStateSP::LateralTorqueState::Builder { +public: + typedef LateralTorqueState Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasNnLog(); + inline ::capnp::List::Builder getNnLog(); + inline void setNnLog( ::capnp::List::Reader value); + inline void setNnLog(::kj::ArrayPtr value); + inline ::capnp::List::Builder initNnLog(unsigned int size); + inline void adoptNnLog(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownNnLog(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class ControlsStateSP::LateralTorqueState::Pipeline { +public: + typedef LateralTorqueState Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class ControlsStateSP::LateralCurvatureState::Reader { +public: + typedef LateralCurvatureState Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class ControlsStateSP::LateralCurvatureState::Builder { +public: + typedef LateralCurvatureState Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class ControlsStateSP::LateralCurvatureState::Pipeline { +public: + typedef LateralCurvatureState Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class ControlsStateSP::LateralLQRState::Reader { +public: + typedef LateralLQRState Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class ControlsStateSP::LateralLQRState::Builder { +public: + typedef LateralLQRState Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class ControlsStateSP::LateralLQRState::Pipeline { +public: + typedef LateralLQRState Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class ControlsStateSP::LateralControlState::Reader { +public: + typedef LateralControlState Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline Which which() const; + inline bool isIndiState() const; + inline bool hasIndiState() const; + inline ::cereal::ControlsStateSP::LateralINDIState::Reader getIndiState() const; + + inline bool isPidState() const; + inline bool hasPidState() const; + inline ::cereal::ControlsStateSP::LateralPIDState::Reader getPidState() const; + + inline bool isAngleState() const; + inline bool hasAngleState() const; + inline ::cereal::ControlsStateSP::LateralAngleState::Reader getAngleState() const; + + inline bool isDebugState() const; + inline bool hasDebugState() const; + inline ::cereal::ControlsStateSP::LateralDebugState::Reader getDebugState() const; + + inline bool isTorqueState() const; + inline bool hasTorqueState() const; + inline ::cereal::ControlsStateSP::LateralTorqueState::Reader getTorqueState() const; + + inline bool isCurvatureState() const; + inline bool hasCurvatureState() const; + inline ::cereal::ControlsStateSP::LateralCurvatureState::Reader getCurvatureState() const; + + inline bool isLqrStateDEPRECATED() const; + inline bool hasLqrStateDEPRECATED() const; + inline ::cereal::ControlsStateSP::LateralLQRState::Reader getLqrStateDEPRECATED() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class ControlsStateSP::LateralControlState::Builder { +public: + typedef LateralControlState Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline Which which(); + inline bool isIndiState(); + inline bool hasIndiState(); + inline ::cereal::ControlsStateSP::LateralINDIState::Builder getIndiState(); + inline void setIndiState( ::cereal::ControlsStateSP::LateralINDIState::Reader value); + inline ::cereal::ControlsStateSP::LateralINDIState::Builder initIndiState(); + inline void adoptIndiState(::capnp::Orphan< ::cereal::ControlsStateSP::LateralINDIState>&& value); + inline ::capnp::Orphan< ::cereal::ControlsStateSP::LateralINDIState> disownIndiState(); + + inline bool isPidState(); + inline bool hasPidState(); + inline ::cereal::ControlsStateSP::LateralPIDState::Builder getPidState(); + inline void setPidState( ::cereal::ControlsStateSP::LateralPIDState::Reader value); + inline ::cereal::ControlsStateSP::LateralPIDState::Builder initPidState(); + inline void adoptPidState(::capnp::Orphan< ::cereal::ControlsStateSP::LateralPIDState>&& value); + inline ::capnp::Orphan< ::cereal::ControlsStateSP::LateralPIDState> disownPidState(); + + inline bool isAngleState(); + inline bool hasAngleState(); + inline ::cereal::ControlsStateSP::LateralAngleState::Builder getAngleState(); + inline void setAngleState( ::cereal::ControlsStateSP::LateralAngleState::Reader value); + inline ::cereal::ControlsStateSP::LateralAngleState::Builder initAngleState(); + inline void adoptAngleState(::capnp::Orphan< ::cereal::ControlsStateSP::LateralAngleState>&& value); + inline ::capnp::Orphan< ::cereal::ControlsStateSP::LateralAngleState> disownAngleState(); + + inline bool isDebugState(); + inline bool hasDebugState(); + inline ::cereal::ControlsStateSP::LateralDebugState::Builder getDebugState(); + inline void setDebugState( ::cereal::ControlsStateSP::LateralDebugState::Reader value); + inline ::cereal::ControlsStateSP::LateralDebugState::Builder initDebugState(); + inline void adoptDebugState(::capnp::Orphan< ::cereal::ControlsStateSP::LateralDebugState>&& value); + inline ::capnp::Orphan< ::cereal::ControlsStateSP::LateralDebugState> disownDebugState(); + + inline bool isTorqueState(); + inline bool hasTorqueState(); + inline ::cereal::ControlsStateSP::LateralTorqueState::Builder getTorqueState(); + inline void setTorqueState( ::cereal::ControlsStateSP::LateralTorqueState::Reader value); + inline ::cereal::ControlsStateSP::LateralTorqueState::Builder initTorqueState(); + inline void adoptTorqueState(::capnp::Orphan< ::cereal::ControlsStateSP::LateralTorqueState>&& value); + inline ::capnp::Orphan< ::cereal::ControlsStateSP::LateralTorqueState> disownTorqueState(); + + inline bool isCurvatureState(); + inline bool hasCurvatureState(); + inline ::cereal::ControlsStateSP::LateralCurvatureState::Builder getCurvatureState(); + inline void setCurvatureState( ::cereal::ControlsStateSP::LateralCurvatureState::Reader value); + inline ::cereal::ControlsStateSP::LateralCurvatureState::Builder initCurvatureState(); + inline void adoptCurvatureState(::capnp::Orphan< ::cereal::ControlsStateSP::LateralCurvatureState>&& value); + inline ::capnp::Orphan< ::cereal::ControlsStateSP::LateralCurvatureState> disownCurvatureState(); + + inline bool isLqrStateDEPRECATED(); + inline bool hasLqrStateDEPRECATED(); + inline ::cereal::ControlsStateSP::LateralLQRState::Builder getLqrStateDEPRECATED(); + inline void setLqrStateDEPRECATED( ::cereal::ControlsStateSP::LateralLQRState::Reader value); + inline ::cereal::ControlsStateSP::LateralLQRState::Builder initLqrStateDEPRECATED(); + inline void adoptLqrStateDEPRECATED(::capnp::Orphan< ::cereal::ControlsStateSP::LateralLQRState>&& value); + inline ::capnp::Orphan< ::cereal::ControlsStateSP::LateralLQRState> disownLqrStateDEPRECATED(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class ControlsStateSP::LateralControlState::Pipeline { +public: + typedef LateralControlState Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class LongitudinalPlanSP::Reader { +public: + typedef LongitudinalPlanSP Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::cereal::LongitudinalPlanSP::VisionTurnControllerState getVisionTurnControllerState() const; + + inline float getVisionTurnSpeed() const; + + inline ::cereal::LongitudinalPlanSP::SpeedLimitControlState getSpeedLimitControlState() const; + + inline float getSpeedLimit() const; + + inline float getSpeedLimitOffset() const; + + inline float getDistToSpeedLimit() const; + + inline bool getIsMapSpeedLimit() const; + + inline float getDistToTurn() const; + + inline float getTurnSpeed() const; + + inline ::cereal::LongitudinalPlanSP::SpeedLimitControlState getTurnSpeedControlState() const; + + inline ::int16_t getTurnSign() const; + + inline bool getSpeedLimitPercOffset() const; + + inline float getSpeedLimitValueOffset() const; + + inline float getDesiredTF() const; + + inline ::int16_t getNotSpeedLimit() const; + + inline bool hasE2eX() const; + inline ::capnp::List::Reader getE2eX() const; + + inline float getVisionCurrentLatAcc() const; + + inline float getVisionMaxPredLatAcc() const; + + inline bool hasE2eBlendedDEPRECATED() const; + inline ::capnp::Text::Reader getE2eBlendedDEPRECATED() const; + + inline bool hasEvents() const; + inline ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>::Reader getEvents() const; + + inline ::cereal::LongitudinalPlanSP::LongitudinalPlanSource getLongitudinalPlanSource() const; + + inline ::cereal::LongitudinalPersonalitySP getPersonalityDEPRECATED() const; + + inline bool getE2eStatus() const; + + inline ::cereal::MpcSource getMpcSource() const; + + inline bool getDynamicExperimentalControl() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class LongitudinalPlanSP::Builder { +public: + typedef LongitudinalPlanSP Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::cereal::LongitudinalPlanSP::VisionTurnControllerState getVisionTurnControllerState(); + inline void setVisionTurnControllerState( ::cereal::LongitudinalPlanSP::VisionTurnControllerState value); + + inline float getVisionTurnSpeed(); + inline void setVisionTurnSpeed(float value); + + inline ::cereal::LongitudinalPlanSP::SpeedLimitControlState getSpeedLimitControlState(); + inline void setSpeedLimitControlState( ::cereal::LongitudinalPlanSP::SpeedLimitControlState value); + + inline float getSpeedLimit(); + inline void setSpeedLimit(float value); + + inline float getSpeedLimitOffset(); + inline void setSpeedLimitOffset(float value); + + inline float getDistToSpeedLimit(); + inline void setDistToSpeedLimit(float value); + + inline bool getIsMapSpeedLimit(); + inline void setIsMapSpeedLimit(bool value); + + inline float getDistToTurn(); + inline void setDistToTurn(float value); + + inline float getTurnSpeed(); + inline void setTurnSpeed(float value); + + inline ::cereal::LongitudinalPlanSP::SpeedLimitControlState getTurnSpeedControlState(); + inline void setTurnSpeedControlState( ::cereal::LongitudinalPlanSP::SpeedLimitControlState value); + + inline ::int16_t getTurnSign(); + inline void setTurnSign( ::int16_t value); + + inline bool getSpeedLimitPercOffset(); + inline void setSpeedLimitPercOffset(bool value); + + inline float getSpeedLimitValueOffset(); + inline void setSpeedLimitValueOffset(float value); + + inline float getDesiredTF(); + inline void setDesiredTF(float value); + + inline ::int16_t getNotSpeedLimit(); + inline void setNotSpeedLimit( ::int16_t value); + + inline bool hasE2eX(); + inline ::capnp::List::Builder getE2eX(); + inline void setE2eX( ::capnp::List::Reader value); + inline void setE2eX(::kj::ArrayPtr value); + inline ::capnp::List::Builder initE2eX(unsigned int size); + inline void adoptE2eX(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownE2eX(); + + inline float getVisionCurrentLatAcc(); + inline void setVisionCurrentLatAcc(float value); + + inline float getVisionMaxPredLatAcc(); + inline void setVisionMaxPredLatAcc(float value); + + inline bool hasE2eBlendedDEPRECATED(); + inline ::capnp::Text::Builder getE2eBlendedDEPRECATED(); + inline void setE2eBlendedDEPRECATED( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initE2eBlendedDEPRECATED(unsigned int size); + inline void adoptE2eBlendedDEPRECATED(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownE2eBlendedDEPRECATED(); + + inline bool hasEvents(); + inline ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>::Builder getEvents(); + inline void setEvents( ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>::Reader value); + inline ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>::Builder initEvents(unsigned int size); + inline void adoptEvents(::capnp::Orphan< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>> disownEvents(); + + inline ::cereal::LongitudinalPlanSP::LongitudinalPlanSource getLongitudinalPlanSource(); + inline void setLongitudinalPlanSource( ::cereal::LongitudinalPlanSP::LongitudinalPlanSource value); + + inline ::cereal::LongitudinalPersonalitySP getPersonalityDEPRECATED(); + inline void setPersonalityDEPRECATED( ::cereal::LongitudinalPersonalitySP value); + + inline bool getE2eStatus(); + inline void setE2eStatus(bool value); + + inline ::cereal::MpcSource getMpcSource(); + inline void setMpcSource( ::cereal::MpcSource value); + + inline bool getDynamicExperimentalControl(); + inline void setDynamicExperimentalControl(bool value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class LongitudinalPlanSP::Pipeline { +public: + typedef LongitudinalPlanSP Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class LateralPlanSP::Reader { +public: + typedef LateralPlanSP Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline float getLaneWidth() const; + + inline float getLProb() const; + + inline float getRProb() const; + + inline float getDProb() const; + + inline ::int8_t getDynamicLaneProfile() const; + + inline float getStandstillElapsed() const; + + inline bool hasDPathWLinesXDEPRECATED() const; + inline ::capnp::List::Reader getDPathWLinesXDEPRECATED() const; + + inline bool hasDPathWLinesYDEPRECATED() const; + inline ::capnp::List::Reader getDPathWLinesYDEPRECATED() const; + + inline bool getLaneChangePrevDEPRECATED() const; + + inline bool getDynamicLaneProfileStatus() const; + + inline bool getLaneChangeEdgeBlockDEPRECATED() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class LateralPlanSP::Builder { +public: + typedef LateralPlanSP Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline float getLaneWidth(); + inline void setLaneWidth(float value); + + inline float getLProb(); + inline void setLProb(float value); + + inline float getRProb(); + inline void setRProb(float value); + + inline float getDProb(); + inline void setDProb(float value); + + inline ::int8_t getDynamicLaneProfile(); + inline void setDynamicLaneProfile( ::int8_t value); + + inline float getStandstillElapsed(); + inline void setStandstillElapsed(float value); + + inline bool hasDPathWLinesXDEPRECATED(); + inline ::capnp::List::Builder getDPathWLinesXDEPRECATED(); + inline void setDPathWLinesXDEPRECATED( ::capnp::List::Reader value); + inline void setDPathWLinesXDEPRECATED(::kj::ArrayPtr value); + inline ::capnp::List::Builder initDPathWLinesXDEPRECATED(unsigned int size); + inline void adoptDPathWLinesXDEPRECATED(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownDPathWLinesXDEPRECATED(); + + inline bool hasDPathWLinesYDEPRECATED(); + inline ::capnp::List::Builder getDPathWLinesYDEPRECATED(); + inline void setDPathWLinesYDEPRECATED( ::capnp::List::Reader value); + inline void setDPathWLinesYDEPRECATED(::kj::ArrayPtr value); + inline ::capnp::List::Builder initDPathWLinesYDEPRECATED(unsigned int size); + inline void adoptDPathWLinesYDEPRECATED(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownDPathWLinesYDEPRECATED(); + + inline bool getLaneChangePrevDEPRECATED(); + inline void setLaneChangePrevDEPRECATED(bool value); + + inline bool getDynamicLaneProfileStatus(); + inline void setDynamicLaneProfileStatus(bool value); + + inline bool getLaneChangeEdgeBlockDEPRECATED(); + inline void setLaneChangeEdgeBlockDEPRECATED(bool value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class LateralPlanSP::Pipeline { +public: + typedef LateralPlanSP Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class DriverMonitoringStateSP::Reader { +public: + typedef DriverMonitoringStateSP Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::cereal::DriverMonitoringStateSP::HandsOnWheelState getHandsOnWheelState() const; + + inline float getNotModified() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class DriverMonitoringStateSP::Builder { +public: + typedef DriverMonitoringStateSP Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::cereal::DriverMonitoringStateSP::HandsOnWheelState getHandsOnWheelState(); + inline void setHandsOnWheelState( ::cereal::DriverMonitoringStateSP::HandsOnWheelState value); + + inline float getNotModified(); + inline void setNotModified(float value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class DriverMonitoringStateSP::Pipeline { +public: + typedef DriverMonitoringStateSP Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class LiveMapDataSP::Reader { +public: + typedef LiveMapDataSP Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool getSpeedLimitValid() const; + + inline float getSpeedLimit() const; + + inline bool getSpeedLimitAheadValid() const; + + inline float getSpeedLimitAhead() const; + + inline float getSpeedLimitAheadDistance() const; + + inline bool getTurnSpeedLimitValid() const; + + inline float getTurnSpeedLimit() const; + + inline float getTurnSpeedLimitEndDistance() const; + + inline ::int16_t getTurnSpeedLimitSign() const; + + inline bool hasTurnSpeedLimitsAhead() const; + inline ::capnp::List::Reader getTurnSpeedLimitsAhead() const; + + inline bool hasTurnSpeedLimitsAheadDistances() const; + inline ::capnp::List::Reader getTurnSpeedLimitsAheadDistances() const; + + inline bool hasTurnSpeedLimitsAheadSigns() const; + inline ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>::Reader getTurnSpeedLimitsAheadSigns() const; + + inline ::int64_t getLastGpsTimestamp() const; + + inline bool hasCurrentRoadName() const; + inline ::capnp::Text::Reader getCurrentRoadName() const; + + inline double getLastGpsLatitude() const; + + inline double getLastGpsLongitude() const; + + inline float getLastGpsSpeed() const; + + inline float getLastGpsBearingDeg() const; + + inline float getLastGpsAccuracy() const; + + inline float getLastGpsBearingAccuracyDeg() const; + + inline ::cereal::LiveMapDataSP::DataType getDataType() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class LiveMapDataSP::Builder { +public: + typedef LiveMapDataSP Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool getSpeedLimitValid(); + inline void setSpeedLimitValid(bool value); + + inline float getSpeedLimit(); + inline void setSpeedLimit(float value); + + inline bool getSpeedLimitAheadValid(); + inline void setSpeedLimitAheadValid(bool value); + + inline float getSpeedLimitAhead(); + inline void setSpeedLimitAhead(float value); + + inline float getSpeedLimitAheadDistance(); + inline void setSpeedLimitAheadDistance(float value); + + inline bool getTurnSpeedLimitValid(); + inline void setTurnSpeedLimitValid(bool value); + + inline float getTurnSpeedLimit(); + inline void setTurnSpeedLimit(float value); + + inline float getTurnSpeedLimitEndDistance(); + inline void setTurnSpeedLimitEndDistance(float value); + + inline ::int16_t getTurnSpeedLimitSign(); + inline void setTurnSpeedLimitSign( ::int16_t value); + + inline bool hasTurnSpeedLimitsAhead(); + inline ::capnp::List::Builder getTurnSpeedLimitsAhead(); + inline void setTurnSpeedLimitsAhead( ::capnp::List::Reader value); + inline void setTurnSpeedLimitsAhead(::kj::ArrayPtr value); + inline ::capnp::List::Builder initTurnSpeedLimitsAhead(unsigned int size); + inline void adoptTurnSpeedLimitsAhead(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownTurnSpeedLimitsAhead(); + + inline bool hasTurnSpeedLimitsAheadDistances(); + inline ::capnp::List::Builder getTurnSpeedLimitsAheadDistances(); + inline void setTurnSpeedLimitsAheadDistances( ::capnp::List::Reader value); + inline void setTurnSpeedLimitsAheadDistances(::kj::ArrayPtr value); + inline ::capnp::List::Builder initTurnSpeedLimitsAheadDistances(unsigned int size); + inline void adoptTurnSpeedLimitsAheadDistances(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownTurnSpeedLimitsAheadDistances(); + + inline bool hasTurnSpeedLimitsAheadSigns(); + inline ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>::Builder getTurnSpeedLimitsAheadSigns(); + inline void setTurnSpeedLimitsAheadSigns( ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>::Reader value); + inline void setTurnSpeedLimitsAheadSigns(::kj::ArrayPtr value); + inline ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>::Builder initTurnSpeedLimitsAheadSigns(unsigned int size); + inline void adoptTurnSpeedLimitsAheadSigns(::capnp::Orphan< ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>> disownTurnSpeedLimitsAheadSigns(); + + inline ::int64_t getLastGpsTimestamp(); + inline void setLastGpsTimestamp( ::int64_t value); + + inline bool hasCurrentRoadName(); + inline ::capnp::Text::Builder getCurrentRoadName(); + inline void setCurrentRoadName( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initCurrentRoadName(unsigned int size); + inline void adoptCurrentRoadName(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownCurrentRoadName(); + + inline double getLastGpsLatitude(); + inline void setLastGpsLatitude(double value); + + inline double getLastGpsLongitude(); + inline void setLastGpsLongitude(double value); + + inline float getLastGpsSpeed(); + inline void setLastGpsSpeed(float value); + + inline float getLastGpsBearingDeg(); + inline void setLastGpsBearingDeg(float value); + + inline float getLastGpsAccuracy(); + inline void setLastGpsAccuracy(float value); + + inline float getLastGpsBearingAccuracyDeg(); + inline void setLastGpsBearingAccuracyDeg(float value); + + inline ::cereal::LiveMapDataSP::DataType getDataType(); + inline void setDataType( ::cereal::LiveMapDataSP::DataType value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class LiveMapDataSP::Pipeline { +public: + typedef LiveMapDataSP Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class E2eLongStateSP::Reader { +public: + typedef E2eLongStateSP Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::uint16_t getStatus() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class E2eLongStateSP::Builder { +public: + typedef E2eLongStateSP Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::uint16_t getStatus(); + inline void setStatus( ::uint16_t value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class E2eLongStateSP::Pipeline { +public: + typedef E2eLongStateSP Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class ModelDataV2SP::Reader { +public: + typedef ModelDataV2SP Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool getLaneChangePrev() const; + + inline bool getLaneChangeEdgeBlock() const; + + inline bool getCustomModel() const; + + inline ::cereal::ModelGeneration getModelGeneration() const; + + inline ::uint32_t getModelCapabilities() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class ModelDataV2SP::Builder { +public: + typedef ModelDataV2SP Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool getLaneChangePrev(); + inline void setLaneChangePrev(bool value); + + inline bool getLaneChangeEdgeBlock(); + inline void setLaneChangeEdgeBlock(bool value); + + inline bool getCustomModel(); + inline void setCustomModel(bool value); + + inline ::cereal::ModelGeneration getModelGeneration(); + inline void setModelGeneration( ::cereal::ModelGeneration value); + + inline ::uint32_t getModelCapabilities(); + inline void setModelCapabilities( ::uint32_t value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class ModelDataV2SP::Pipeline { +public: + typedef ModelDataV2SP Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class CustomReserved7::Reader { +public: + typedef CustomReserved7 Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class CustomReserved7::Builder { +public: + typedef CustomReserved7 Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class CustomReserved7::Pipeline { +public: + typedef CustomReserved7 Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class CustomReserved8::Reader { +public: + typedef CustomReserved8 Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class CustomReserved8::Builder { +public: + typedef CustomReserved8 Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class CustomReserved8::Pipeline { +public: + typedef CustomReserved8 Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class CustomReserved9::Reader { +public: + typedef CustomReserved9 Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class CustomReserved9::Builder { +public: + typedef CustomReserved9 Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class CustomReserved9::Pipeline { +public: + typedef CustomReserved9 Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +// ======================================================================================= + +inline bool ControlsStateSP::Reader::hasLateralState() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool ControlsStateSP::Builder::hasLateralState() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader ControlsStateSP::Reader::getLateralState() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder ControlsStateSP::Builder::getLateralState() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void ControlsStateSP::Builder::setLateralState( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder ControlsStateSP::Builder::initLateralState(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void ControlsStateSP::Builder::adoptLateralState( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> ControlsStateSP::Builder::disownLateralState() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline typename ControlsStateSP::LateralControlState::Reader ControlsStateSP::Reader::getLateralControlState() const { + return typename ControlsStateSP::LateralControlState::Reader(_reader); +} +inline typename ControlsStateSP::LateralControlState::Builder ControlsStateSP::Builder::getLateralControlState() { + return typename ControlsStateSP::LateralControlState::Builder(_builder); +} +#if !CAPNP_LITE +inline typename ControlsStateSP::LateralControlState::Pipeline ControlsStateSP::Pipeline::getLateralControlState() { + return typename ControlsStateSP::LateralControlState::Pipeline(_typeless.noop()); +} +#endif // !CAPNP_LITE +inline typename ControlsStateSP::LateralControlState::Builder ControlsStateSP::Builder::initLateralControlState() { + _builder.setDataField< ::uint16_t>(::capnp::bounded<0>() * ::capnp::ELEMENTS, 0); + _builder.getPointerField(::capnp::bounded<1>() * ::capnp::POINTERS).clear(); + return typename ControlsStateSP::LateralControlState::Builder(_builder); +} +inline ::cereal::LongitudinalPersonalitySP ControlsStateSP::Reader::getPersonality() const { + return _reader.getDataField< ::cereal::LongitudinalPersonalitySP>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::cereal::LongitudinalPersonalitySP ControlsStateSP::Builder::getPersonality() { + return _builder.getDataField< ::cereal::LongitudinalPersonalitySP>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void ControlsStateSP::Builder::setPersonality( ::cereal::LongitudinalPersonalitySP value) { + _builder.setDataField< ::cereal::LongitudinalPersonalitySP>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool ControlsStateSP::Reader::getDynamicPersonality() const { + return _reader.getDataField( + ::capnp::bounded<32>() * ::capnp::ELEMENTS); +} + +inline bool ControlsStateSP::Builder::getDynamicPersonality() { + return _builder.getDataField( + ::capnp::bounded<32>() * ::capnp::ELEMENTS); +} +inline void ControlsStateSP::Builder::setDynamicPersonality(bool value) { + _builder.setDataField( + ::capnp::bounded<32>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::AccelerationPersonality ControlsStateSP::Reader::getAccelPersonality() const { + return _reader.getDataField< ::cereal::AccelerationPersonality>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline ::cereal::AccelerationPersonality ControlsStateSP::Builder::getAccelPersonality() { + return _builder.getDataField< ::cereal::AccelerationPersonality>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void ControlsStateSP::Builder::setAccelPersonality( ::cereal::AccelerationPersonality value) { + _builder.setDataField< ::cereal::AccelerationPersonality>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline bool ControlsStateSP::Reader::getOvertakingAccelerationAssist() const { + return _reader.getDataField( + ::capnp::bounded<33>() * ::capnp::ELEMENTS); +} + +inline bool ControlsStateSP::Builder::getOvertakingAccelerationAssist() { + return _builder.getDataField( + ::capnp::bounded<33>() * ::capnp::ELEMENTS); +} +inline void ControlsStateSP::Builder::setOvertakingAccelerationAssist(bool value) { + _builder.setDataField( + ::capnp::bounded<33>() * ::capnp::ELEMENTS, value); +} + +inline bool ControlsStateSP::LateralTorqueState::Reader::hasNnLog() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool ControlsStateSP::LateralTorqueState::Builder::hasNnLog() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ControlsStateSP::LateralTorqueState::Reader::getNnLog() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ControlsStateSP::LateralTorqueState::Builder::getNnLog() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void ControlsStateSP::LateralTorqueState::Builder::setNnLog( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void ControlsStateSP::LateralTorqueState::Builder::setNnLog(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ControlsStateSP::LateralTorqueState::Builder::initNnLog(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void ControlsStateSP::LateralTorqueState::Builder::adoptNnLog( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ControlsStateSP::LateralTorqueState::Builder::disownNnLog() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline ::cereal::ControlsStateSP::LateralControlState::Which ControlsStateSP::LateralControlState::Reader::which() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline ::cereal::ControlsStateSP::LateralControlState::Which ControlsStateSP::LateralControlState::Builder::which() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline bool ControlsStateSP::LateralControlState::Reader::isIndiState() const { + return which() == ControlsStateSP::LateralControlState::INDI_STATE; +} +inline bool ControlsStateSP::LateralControlState::Builder::isIndiState() { + return which() == ControlsStateSP::LateralControlState::INDI_STATE; +} +inline bool ControlsStateSP::LateralControlState::Reader::hasIndiState() const { + if (which() != ControlsStateSP::LateralControlState::INDI_STATE) return false; + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool ControlsStateSP::LateralControlState::Builder::hasIndiState() { + if (which() != ControlsStateSP::LateralControlState::INDI_STATE) return false; + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::ControlsStateSP::LateralINDIState::Reader ControlsStateSP::LateralControlState::Reader::getIndiState() const { + KJ_IREQUIRE((which() == ControlsStateSP::LateralControlState::INDI_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP::LateralINDIState>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::cereal::ControlsStateSP::LateralINDIState::Builder ControlsStateSP::LateralControlState::Builder::getIndiState() { + KJ_IREQUIRE((which() == ControlsStateSP::LateralControlState::INDI_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP::LateralINDIState>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void ControlsStateSP::LateralControlState::Builder::setIndiState( ::cereal::ControlsStateSP::LateralINDIState::Reader value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, ControlsStateSP::LateralControlState::INDI_STATE); + ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP::LateralINDIState>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::cereal::ControlsStateSP::LateralINDIState::Builder ControlsStateSP::LateralControlState::Builder::initIndiState() { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, ControlsStateSP::LateralControlState::INDI_STATE); + return ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP::LateralINDIState>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void ControlsStateSP::LateralControlState::Builder::adoptIndiState( + ::capnp::Orphan< ::cereal::ControlsStateSP::LateralINDIState>&& value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, ControlsStateSP::LateralControlState::INDI_STATE); + ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP::LateralINDIState>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::ControlsStateSP::LateralINDIState> ControlsStateSP::LateralControlState::Builder::disownIndiState() { + KJ_IREQUIRE((which() == ControlsStateSP::LateralControlState::INDI_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP::LateralINDIState>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool ControlsStateSP::LateralControlState::Reader::isPidState() const { + return which() == ControlsStateSP::LateralControlState::PID_STATE; +} +inline bool ControlsStateSP::LateralControlState::Builder::isPidState() { + return which() == ControlsStateSP::LateralControlState::PID_STATE; +} +inline bool ControlsStateSP::LateralControlState::Reader::hasPidState() const { + if (which() != ControlsStateSP::LateralControlState::PID_STATE) return false; + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool ControlsStateSP::LateralControlState::Builder::hasPidState() { + if (which() != ControlsStateSP::LateralControlState::PID_STATE) return false; + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::ControlsStateSP::LateralPIDState::Reader ControlsStateSP::LateralControlState::Reader::getPidState() const { + KJ_IREQUIRE((which() == ControlsStateSP::LateralControlState::PID_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP::LateralPIDState>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::cereal::ControlsStateSP::LateralPIDState::Builder ControlsStateSP::LateralControlState::Builder::getPidState() { + KJ_IREQUIRE((which() == ControlsStateSP::LateralControlState::PID_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP::LateralPIDState>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void ControlsStateSP::LateralControlState::Builder::setPidState( ::cereal::ControlsStateSP::LateralPIDState::Reader value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, ControlsStateSP::LateralControlState::PID_STATE); + ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP::LateralPIDState>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::cereal::ControlsStateSP::LateralPIDState::Builder ControlsStateSP::LateralControlState::Builder::initPidState() { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, ControlsStateSP::LateralControlState::PID_STATE); + return ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP::LateralPIDState>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void ControlsStateSP::LateralControlState::Builder::adoptPidState( + ::capnp::Orphan< ::cereal::ControlsStateSP::LateralPIDState>&& value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, ControlsStateSP::LateralControlState::PID_STATE); + ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP::LateralPIDState>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::ControlsStateSP::LateralPIDState> ControlsStateSP::LateralControlState::Builder::disownPidState() { + KJ_IREQUIRE((which() == ControlsStateSP::LateralControlState::PID_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP::LateralPIDState>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool ControlsStateSP::LateralControlState::Reader::isAngleState() const { + return which() == ControlsStateSP::LateralControlState::ANGLE_STATE; +} +inline bool ControlsStateSP::LateralControlState::Builder::isAngleState() { + return which() == ControlsStateSP::LateralControlState::ANGLE_STATE; +} +inline bool ControlsStateSP::LateralControlState::Reader::hasAngleState() const { + if (which() != ControlsStateSP::LateralControlState::ANGLE_STATE) return false; + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool ControlsStateSP::LateralControlState::Builder::hasAngleState() { + if (which() != ControlsStateSP::LateralControlState::ANGLE_STATE) return false; + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::ControlsStateSP::LateralAngleState::Reader ControlsStateSP::LateralControlState::Reader::getAngleState() const { + KJ_IREQUIRE((which() == ControlsStateSP::LateralControlState::ANGLE_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP::LateralAngleState>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::cereal::ControlsStateSP::LateralAngleState::Builder ControlsStateSP::LateralControlState::Builder::getAngleState() { + KJ_IREQUIRE((which() == ControlsStateSP::LateralControlState::ANGLE_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP::LateralAngleState>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void ControlsStateSP::LateralControlState::Builder::setAngleState( ::cereal::ControlsStateSP::LateralAngleState::Reader value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, ControlsStateSP::LateralControlState::ANGLE_STATE); + ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP::LateralAngleState>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::cereal::ControlsStateSP::LateralAngleState::Builder ControlsStateSP::LateralControlState::Builder::initAngleState() { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, ControlsStateSP::LateralControlState::ANGLE_STATE); + return ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP::LateralAngleState>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void ControlsStateSP::LateralControlState::Builder::adoptAngleState( + ::capnp::Orphan< ::cereal::ControlsStateSP::LateralAngleState>&& value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, ControlsStateSP::LateralControlState::ANGLE_STATE); + ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP::LateralAngleState>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::ControlsStateSP::LateralAngleState> ControlsStateSP::LateralControlState::Builder::disownAngleState() { + KJ_IREQUIRE((which() == ControlsStateSP::LateralControlState::ANGLE_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP::LateralAngleState>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool ControlsStateSP::LateralControlState::Reader::isDebugState() const { + return which() == ControlsStateSP::LateralControlState::DEBUG_STATE; +} +inline bool ControlsStateSP::LateralControlState::Builder::isDebugState() { + return which() == ControlsStateSP::LateralControlState::DEBUG_STATE; +} +inline bool ControlsStateSP::LateralControlState::Reader::hasDebugState() const { + if (which() != ControlsStateSP::LateralControlState::DEBUG_STATE) return false; + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool ControlsStateSP::LateralControlState::Builder::hasDebugState() { + if (which() != ControlsStateSP::LateralControlState::DEBUG_STATE) return false; + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::ControlsStateSP::LateralDebugState::Reader ControlsStateSP::LateralControlState::Reader::getDebugState() const { + KJ_IREQUIRE((which() == ControlsStateSP::LateralControlState::DEBUG_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP::LateralDebugState>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::cereal::ControlsStateSP::LateralDebugState::Builder ControlsStateSP::LateralControlState::Builder::getDebugState() { + KJ_IREQUIRE((which() == ControlsStateSP::LateralControlState::DEBUG_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP::LateralDebugState>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void ControlsStateSP::LateralControlState::Builder::setDebugState( ::cereal::ControlsStateSP::LateralDebugState::Reader value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, ControlsStateSP::LateralControlState::DEBUG_STATE); + ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP::LateralDebugState>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::cereal::ControlsStateSP::LateralDebugState::Builder ControlsStateSP::LateralControlState::Builder::initDebugState() { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, ControlsStateSP::LateralControlState::DEBUG_STATE); + return ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP::LateralDebugState>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void ControlsStateSP::LateralControlState::Builder::adoptDebugState( + ::capnp::Orphan< ::cereal::ControlsStateSP::LateralDebugState>&& value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, ControlsStateSP::LateralControlState::DEBUG_STATE); + ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP::LateralDebugState>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::ControlsStateSP::LateralDebugState> ControlsStateSP::LateralControlState::Builder::disownDebugState() { + KJ_IREQUIRE((which() == ControlsStateSP::LateralControlState::DEBUG_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP::LateralDebugState>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool ControlsStateSP::LateralControlState::Reader::isTorqueState() const { + return which() == ControlsStateSP::LateralControlState::TORQUE_STATE; +} +inline bool ControlsStateSP::LateralControlState::Builder::isTorqueState() { + return which() == ControlsStateSP::LateralControlState::TORQUE_STATE; +} +inline bool ControlsStateSP::LateralControlState::Reader::hasTorqueState() const { + if (which() != ControlsStateSP::LateralControlState::TORQUE_STATE) return false; + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool ControlsStateSP::LateralControlState::Builder::hasTorqueState() { + if (which() != ControlsStateSP::LateralControlState::TORQUE_STATE) return false; + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::ControlsStateSP::LateralTorqueState::Reader ControlsStateSP::LateralControlState::Reader::getTorqueState() const { + KJ_IREQUIRE((which() == ControlsStateSP::LateralControlState::TORQUE_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP::LateralTorqueState>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::cereal::ControlsStateSP::LateralTorqueState::Builder ControlsStateSP::LateralControlState::Builder::getTorqueState() { + KJ_IREQUIRE((which() == ControlsStateSP::LateralControlState::TORQUE_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP::LateralTorqueState>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void ControlsStateSP::LateralControlState::Builder::setTorqueState( ::cereal::ControlsStateSP::LateralTorqueState::Reader value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, ControlsStateSP::LateralControlState::TORQUE_STATE); + ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP::LateralTorqueState>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::cereal::ControlsStateSP::LateralTorqueState::Builder ControlsStateSP::LateralControlState::Builder::initTorqueState() { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, ControlsStateSP::LateralControlState::TORQUE_STATE); + return ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP::LateralTorqueState>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void ControlsStateSP::LateralControlState::Builder::adoptTorqueState( + ::capnp::Orphan< ::cereal::ControlsStateSP::LateralTorqueState>&& value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, ControlsStateSP::LateralControlState::TORQUE_STATE); + ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP::LateralTorqueState>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::ControlsStateSP::LateralTorqueState> ControlsStateSP::LateralControlState::Builder::disownTorqueState() { + KJ_IREQUIRE((which() == ControlsStateSP::LateralControlState::TORQUE_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP::LateralTorqueState>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool ControlsStateSP::LateralControlState::Reader::isCurvatureState() const { + return which() == ControlsStateSP::LateralControlState::CURVATURE_STATE; +} +inline bool ControlsStateSP::LateralControlState::Builder::isCurvatureState() { + return which() == ControlsStateSP::LateralControlState::CURVATURE_STATE; +} +inline bool ControlsStateSP::LateralControlState::Reader::hasCurvatureState() const { + if (which() != ControlsStateSP::LateralControlState::CURVATURE_STATE) return false; + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool ControlsStateSP::LateralControlState::Builder::hasCurvatureState() { + if (which() != ControlsStateSP::LateralControlState::CURVATURE_STATE) return false; + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::ControlsStateSP::LateralCurvatureState::Reader ControlsStateSP::LateralControlState::Reader::getCurvatureState() const { + KJ_IREQUIRE((which() == ControlsStateSP::LateralControlState::CURVATURE_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP::LateralCurvatureState>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::cereal::ControlsStateSP::LateralCurvatureState::Builder ControlsStateSP::LateralControlState::Builder::getCurvatureState() { + KJ_IREQUIRE((which() == ControlsStateSP::LateralControlState::CURVATURE_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP::LateralCurvatureState>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void ControlsStateSP::LateralControlState::Builder::setCurvatureState( ::cereal::ControlsStateSP::LateralCurvatureState::Reader value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, ControlsStateSP::LateralControlState::CURVATURE_STATE); + ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP::LateralCurvatureState>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::cereal::ControlsStateSP::LateralCurvatureState::Builder ControlsStateSP::LateralControlState::Builder::initCurvatureState() { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, ControlsStateSP::LateralControlState::CURVATURE_STATE); + return ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP::LateralCurvatureState>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void ControlsStateSP::LateralControlState::Builder::adoptCurvatureState( + ::capnp::Orphan< ::cereal::ControlsStateSP::LateralCurvatureState>&& value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, ControlsStateSP::LateralControlState::CURVATURE_STATE); + ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP::LateralCurvatureState>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::ControlsStateSP::LateralCurvatureState> ControlsStateSP::LateralControlState::Builder::disownCurvatureState() { + KJ_IREQUIRE((which() == ControlsStateSP::LateralControlState::CURVATURE_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP::LateralCurvatureState>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool ControlsStateSP::LateralControlState::Reader::isLqrStateDEPRECATED() const { + return which() == ControlsStateSP::LateralControlState::LQR_STATE_D_E_P_R_E_C_A_T_E_D; +} +inline bool ControlsStateSP::LateralControlState::Builder::isLqrStateDEPRECATED() { + return which() == ControlsStateSP::LateralControlState::LQR_STATE_D_E_P_R_E_C_A_T_E_D; +} +inline bool ControlsStateSP::LateralControlState::Reader::hasLqrStateDEPRECATED() const { + if (which() != ControlsStateSP::LateralControlState::LQR_STATE_D_E_P_R_E_C_A_T_E_D) return false; + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool ControlsStateSP::LateralControlState::Builder::hasLqrStateDEPRECATED() { + if (which() != ControlsStateSP::LateralControlState::LQR_STATE_D_E_P_R_E_C_A_T_E_D) return false; + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::ControlsStateSP::LateralLQRState::Reader ControlsStateSP::LateralControlState::Reader::getLqrStateDEPRECATED() const { + KJ_IREQUIRE((which() == ControlsStateSP::LateralControlState::LQR_STATE_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP::LateralLQRState>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::cereal::ControlsStateSP::LateralLQRState::Builder ControlsStateSP::LateralControlState::Builder::getLqrStateDEPRECATED() { + KJ_IREQUIRE((which() == ControlsStateSP::LateralControlState::LQR_STATE_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP::LateralLQRState>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void ControlsStateSP::LateralControlState::Builder::setLqrStateDEPRECATED( ::cereal::ControlsStateSP::LateralLQRState::Reader value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, ControlsStateSP::LateralControlState::LQR_STATE_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP::LateralLQRState>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::cereal::ControlsStateSP::LateralLQRState::Builder ControlsStateSP::LateralControlState::Builder::initLqrStateDEPRECATED() { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, ControlsStateSP::LateralControlState::LQR_STATE_D_E_P_R_E_C_A_T_E_D); + return ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP::LateralLQRState>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void ControlsStateSP::LateralControlState::Builder::adoptLqrStateDEPRECATED( + ::capnp::Orphan< ::cereal::ControlsStateSP::LateralLQRState>&& value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, ControlsStateSP::LateralControlState::LQR_STATE_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP::LateralLQRState>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::ControlsStateSP::LateralLQRState> ControlsStateSP::LateralControlState::Builder::disownLqrStateDEPRECATED() { + KJ_IREQUIRE((which() == ControlsStateSP::LateralControlState::LQR_STATE_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP::LateralLQRState>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline ::cereal::LongitudinalPlanSP::VisionTurnControllerState LongitudinalPlanSP::Reader::getVisionTurnControllerState() const { + return _reader.getDataField< ::cereal::LongitudinalPlanSP::VisionTurnControllerState>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::cereal::LongitudinalPlanSP::VisionTurnControllerState LongitudinalPlanSP::Builder::getVisionTurnControllerState() { + return _builder.getDataField< ::cereal::LongitudinalPlanSP::VisionTurnControllerState>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlanSP::Builder::setVisionTurnControllerState( ::cereal::LongitudinalPlanSP::VisionTurnControllerState value) { + _builder.setDataField< ::cereal::LongitudinalPlanSP::VisionTurnControllerState>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline float LongitudinalPlanSP::Reader::getVisionTurnSpeed() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float LongitudinalPlanSP::Builder::getVisionTurnSpeed() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlanSP::Builder::setVisionTurnSpeed(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::LongitudinalPlanSP::SpeedLimitControlState LongitudinalPlanSP::Reader::getSpeedLimitControlState() const { + return _reader.getDataField< ::cereal::LongitudinalPlanSP::SpeedLimitControlState>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::cereal::LongitudinalPlanSP::SpeedLimitControlState LongitudinalPlanSP::Builder::getSpeedLimitControlState() { + return _builder.getDataField< ::cereal::LongitudinalPlanSP::SpeedLimitControlState>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlanSP::Builder::setSpeedLimitControlState( ::cereal::LongitudinalPlanSP::SpeedLimitControlState value) { + _builder.setDataField< ::cereal::LongitudinalPlanSP::SpeedLimitControlState>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float LongitudinalPlanSP::Reader::getSpeedLimit() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float LongitudinalPlanSP::Builder::getSpeedLimit() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlanSP::Builder::setSpeedLimit(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline float LongitudinalPlanSP::Reader::getSpeedLimitOffset() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline float LongitudinalPlanSP::Builder::getSpeedLimitOffset() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlanSP::Builder::setSpeedLimitOffset(float value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline float LongitudinalPlanSP::Reader::getDistToSpeedLimit() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline float LongitudinalPlanSP::Builder::getDistToSpeedLimit() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlanSP::Builder::setDistToSpeedLimit(float value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline bool LongitudinalPlanSP::Reader::getIsMapSpeedLimit() const { + return _reader.getDataField( + ::capnp::bounded<160>() * ::capnp::ELEMENTS); +} + +inline bool LongitudinalPlanSP::Builder::getIsMapSpeedLimit() { + return _builder.getDataField( + ::capnp::bounded<160>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlanSP::Builder::setIsMapSpeedLimit(bool value) { + _builder.setDataField( + ::capnp::bounded<160>() * ::capnp::ELEMENTS, value); +} + +inline float LongitudinalPlanSP::Reader::getDistToTurn() const { + return _reader.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline float LongitudinalPlanSP::Builder::getDistToTurn() { + return _builder.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlanSP::Builder::setDistToTurn(float value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline float LongitudinalPlanSP::Reader::getTurnSpeed() const { + return _reader.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline float LongitudinalPlanSP::Builder::getTurnSpeed() { + return _builder.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlanSP::Builder::setTurnSpeed(float value) { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::LongitudinalPlanSP::SpeedLimitControlState LongitudinalPlanSP::Reader::getTurnSpeedControlState() const { + return _reader.getDataField< ::cereal::LongitudinalPlanSP::SpeedLimitControlState>( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} + +inline ::cereal::LongitudinalPlanSP::SpeedLimitControlState LongitudinalPlanSP::Builder::getTurnSpeedControlState() { + return _builder.getDataField< ::cereal::LongitudinalPlanSP::SpeedLimitControlState>( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlanSP::Builder::setTurnSpeedControlState( ::cereal::LongitudinalPlanSP::SpeedLimitControlState value) { + _builder.setDataField< ::cereal::LongitudinalPlanSP::SpeedLimitControlState>( + ::capnp::bounded<11>() * ::capnp::ELEMENTS, value); +} + +inline ::int16_t LongitudinalPlanSP::Reader::getTurnSign() const { + return _reader.getDataField< ::int16_t>( + ::capnp::bounded<16>() * ::capnp::ELEMENTS); +} + +inline ::int16_t LongitudinalPlanSP::Builder::getTurnSign() { + return _builder.getDataField< ::int16_t>( + ::capnp::bounded<16>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlanSP::Builder::setTurnSign( ::int16_t value) { + _builder.setDataField< ::int16_t>( + ::capnp::bounded<16>() * ::capnp::ELEMENTS, value); +} + +inline bool LongitudinalPlanSP::Reader::getSpeedLimitPercOffset() const { + return _reader.getDataField( + ::capnp::bounded<161>() * ::capnp::ELEMENTS); +} + +inline bool LongitudinalPlanSP::Builder::getSpeedLimitPercOffset() { + return _builder.getDataField( + ::capnp::bounded<161>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlanSP::Builder::setSpeedLimitPercOffset(bool value) { + _builder.setDataField( + ::capnp::bounded<161>() * ::capnp::ELEMENTS, value); +} + +inline float LongitudinalPlanSP::Reader::getSpeedLimitValueOffset() const { + return _reader.getDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} + +inline float LongitudinalPlanSP::Builder::getSpeedLimitValueOffset() { + return _builder.getDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlanSP::Builder::setSpeedLimitValueOffset(float value) { + _builder.setDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS, value); +} + +inline float LongitudinalPlanSP::Reader::getDesiredTF() const { + return _reader.getDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} + +inline float LongitudinalPlanSP::Builder::getDesiredTF() { + return _builder.getDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlanSP::Builder::setDesiredTF(float value) { + _builder.setDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS, value); +} + +inline ::int16_t LongitudinalPlanSP::Reader::getNotSpeedLimit() const { + return _reader.getDataField< ::int16_t>( + ::capnp::bounded<17>() * ::capnp::ELEMENTS); +} + +inline ::int16_t LongitudinalPlanSP::Builder::getNotSpeedLimit() { + return _builder.getDataField< ::int16_t>( + ::capnp::bounded<17>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlanSP::Builder::setNotSpeedLimit( ::int16_t value) { + _builder.setDataField< ::int16_t>( + ::capnp::bounded<17>() * ::capnp::ELEMENTS, value); +} + +inline bool LongitudinalPlanSP::Reader::hasE2eX() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool LongitudinalPlanSP::Builder::hasE2eX() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LongitudinalPlanSP::Reader::getE2eX() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LongitudinalPlanSP::Builder::getE2eX() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void LongitudinalPlanSP::Builder::setE2eX( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void LongitudinalPlanSP::Builder::setE2eX(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LongitudinalPlanSP::Builder::initE2eX(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void LongitudinalPlanSP::Builder::adoptE2eX( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LongitudinalPlanSP::Builder::disownE2eX() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline float LongitudinalPlanSP::Reader::getVisionCurrentLatAcc() const { + return _reader.getDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} + +inline float LongitudinalPlanSP::Builder::getVisionCurrentLatAcc() { + return _builder.getDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlanSP::Builder::setVisionCurrentLatAcc(float value) { + _builder.setDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS, value); +} + +inline float LongitudinalPlanSP::Reader::getVisionMaxPredLatAcc() const { + return _reader.getDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} + +inline float LongitudinalPlanSP::Builder::getVisionMaxPredLatAcc() { + return _builder.getDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlanSP::Builder::setVisionMaxPredLatAcc(float value) { + _builder.setDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS, value); +} + +inline bool LongitudinalPlanSP::Reader::hasE2eBlendedDEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool LongitudinalPlanSP::Builder::hasE2eBlendedDEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader LongitudinalPlanSP::Reader::getE2eBlendedDEPRECATED() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder LongitudinalPlanSP::Builder::getE2eBlendedDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void LongitudinalPlanSP::Builder::setE2eBlendedDEPRECATED( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder LongitudinalPlanSP::Builder::initE2eBlendedDEPRECATED(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void LongitudinalPlanSP::Builder::adoptE2eBlendedDEPRECATED( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> LongitudinalPlanSP::Builder::disownE2eBlendedDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool LongitudinalPlanSP::Reader::hasEvents() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool LongitudinalPlanSP::Builder::hasEvents() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>::Reader LongitudinalPlanSP::Reader::getEvents() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>::Builder LongitudinalPlanSP::Builder::getEvents() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void LongitudinalPlanSP::Builder::setEvents( ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>::Builder LongitudinalPlanSP::Builder::initEvents(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void LongitudinalPlanSP::Builder::adoptEvents( + ::capnp::Orphan< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>> LongitudinalPlanSP::Builder::disownEvents() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline ::cereal::LongitudinalPlanSP::LongitudinalPlanSource LongitudinalPlanSP::Reader::getLongitudinalPlanSource() const { + return _reader.getDataField< ::cereal::LongitudinalPlanSP::LongitudinalPlanSource>( + ::capnp::bounded<26>() * ::capnp::ELEMENTS); +} + +inline ::cereal::LongitudinalPlanSP::LongitudinalPlanSource LongitudinalPlanSP::Builder::getLongitudinalPlanSource() { + return _builder.getDataField< ::cereal::LongitudinalPlanSP::LongitudinalPlanSource>( + ::capnp::bounded<26>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlanSP::Builder::setLongitudinalPlanSource( ::cereal::LongitudinalPlanSP::LongitudinalPlanSource value) { + _builder.setDataField< ::cereal::LongitudinalPlanSP::LongitudinalPlanSource>( + ::capnp::bounded<26>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::LongitudinalPersonalitySP LongitudinalPlanSP::Reader::getPersonalityDEPRECATED() const { + return _reader.getDataField< ::cereal::LongitudinalPersonalitySP>( + ::capnp::bounded<27>() * ::capnp::ELEMENTS); +} + +inline ::cereal::LongitudinalPersonalitySP LongitudinalPlanSP::Builder::getPersonalityDEPRECATED() { + return _builder.getDataField< ::cereal::LongitudinalPersonalitySP>( + ::capnp::bounded<27>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlanSP::Builder::setPersonalityDEPRECATED( ::cereal::LongitudinalPersonalitySP value) { + _builder.setDataField< ::cereal::LongitudinalPersonalitySP>( + ::capnp::bounded<27>() * ::capnp::ELEMENTS, value); +} + +inline bool LongitudinalPlanSP::Reader::getE2eStatus() const { + return _reader.getDataField( + ::capnp::bounded<162>() * ::capnp::ELEMENTS); +} + +inline bool LongitudinalPlanSP::Builder::getE2eStatus() { + return _builder.getDataField( + ::capnp::bounded<162>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlanSP::Builder::setE2eStatus(bool value) { + _builder.setDataField( + ::capnp::bounded<162>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::MpcSource LongitudinalPlanSP::Reader::getMpcSource() const { + return _reader.getDataField< ::cereal::MpcSource>( + ::capnp::bounded<28>() * ::capnp::ELEMENTS); +} + +inline ::cereal::MpcSource LongitudinalPlanSP::Builder::getMpcSource() { + return _builder.getDataField< ::cereal::MpcSource>( + ::capnp::bounded<28>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlanSP::Builder::setMpcSource( ::cereal::MpcSource value) { + _builder.setDataField< ::cereal::MpcSource>( + ::capnp::bounded<28>() * ::capnp::ELEMENTS, value); +} + +inline bool LongitudinalPlanSP::Reader::getDynamicExperimentalControl() const { + return _reader.getDataField( + ::capnp::bounded<163>() * ::capnp::ELEMENTS); +} + +inline bool LongitudinalPlanSP::Builder::getDynamicExperimentalControl() { + return _builder.getDataField( + ::capnp::bounded<163>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlanSP::Builder::setDynamicExperimentalControl(bool value) { + _builder.setDataField( + ::capnp::bounded<163>() * ::capnp::ELEMENTS, value); +} + +inline float LateralPlanSP::Reader::getLaneWidth() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline float LateralPlanSP::Builder::getLaneWidth() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void LateralPlanSP::Builder::setLaneWidth(float value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline float LateralPlanSP::Reader::getLProb() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float LateralPlanSP::Builder::getLProb() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void LateralPlanSP::Builder::setLProb(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float LateralPlanSP::Reader::getRProb() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float LateralPlanSP::Builder::getRProb() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void LateralPlanSP::Builder::setRProb(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline float LateralPlanSP::Reader::getDProb() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline float LateralPlanSP::Builder::getDProb() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void LateralPlanSP::Builder::setDProb(float value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline ::int8_t LateralPlanSP::Reader::getDynamicLaneProfile() const { + return _reader.getDataField< ::int8_t>( + ::capnp::bounded<16>() * ::capnp::ELEMENTS); +} + +inline ::int8_t LateralPlanSP::Builder::getDynamicLaneProfile() { + return _builder.getDataField< ::int8_t>( + ::capnp::bounded<16>() * ::capnp::ELEMENTS); +} +inline void LateralPlanSP::Builder::setDynamicLaneProfile( ::int8_t value) { + _builder.setDataField< ::int8_t>( + ::capnp::bounded<16>() * ::capnp::ELEMENTS, value); +} + +inline float LateralPlanSP::Reader::getStandstillElapsed() const { + return _reader.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline float LateralPlanSP::Builder::getStandstillElapsed() { + return _builder.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void LateralPlanSP::Builder::setStandstillElapsed(float value) { + _builder.setDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline bool LateralPlanSP::Reader::hasDPathWLinesXDEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool LateralPlanSP::Builder::hasDPathWLinesXDEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LateralPlanSP::Reader::getDPathWLinesXDEPRECATED() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LateralPlanSP::Builder::getDPathWLinesXDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void LateralPlanSP::Builder::setDPathWLinesXDEPRECATED( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void LateralPlanSP::Builder::setDPathWLinesXDEPRECATED(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LateralPlanSP::Builder::initDPathWLinesXDEPRECATED(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void LateralPlanSP::Builder::adoptDPathWLinesXDEPRECATED( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LateralPlanSP::Builder::disownDPathWLinesXDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool LateralPlanSP::Reader::hasDPathWLinesYDEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool LateralPlanSP::Builder::hasDPathWLinesYDEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LateralPlanSP::Reader::getDPathWLinesYDEPRECATED() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LateralPlanSP::Builder::getDPathWLinesYDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void LateralPlanSP::Builder::setDPathWLinesYDEPRECATED( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void LateralPlanSP::Builder::setDPathWLinesYDEPRECATED(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LateralPlanSP::Builder::initDPathWLinesYDEPRECATED(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void LateralPlanSP::Builder::adoptDPathWLinesYDEPRECATED( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LateralPlanSP::Builder::disownDPathWLinesYDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool LateralPlanSP::Reader::getLaneChangePrevDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<136>() * ::capnp::ELEMENTS); +} + +inline bool LateralPlanSP::Builder::getLaneChangePrevDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<136>() * ::capnp::ELEMENTS); +} +inline void LateralPlanSP::Builder::setLaneChangePrevDEPRECATED(bool value) { + _builder.setDataField( + ::capnp::bounded<136>() * ::capnp::ELEMENTS, value); +} + +inline bool LateralPlanSP::Reader::getDynamicLaneProfileStatus() const { + return _reader.getDataField( + ::capnp::bounded<137>() * ::capnp::ELEMENTS); +} + +inline bool LateralPlanSP::Builder::getDynamicLaneProfileStatus() { + return _builder.getDataField( + ::capnp::bounded<137>() * ::capnp::ELEMENTS); +} +inline void LateralPlanSP::Builder::setDynamicLaneProfileStatus(bool value) { + _builder.setDataField( + ::capnp::bounded<137>() * ::capnp::ELEMENTS, value); +} + +inline bool LateralPlanSP::Reader::getLaneChangeEdgeBlockDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<138>() * ::capnp::ELEMENTS); +} + +inline bool LateralPlanSP::Builder::getLaneChangeEdgeBlockDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<138>() * ::capnp::ELEMENTS); +} +inline void LateralPlanSP::Builder::setLaneChangeEdgeBlockDEPRECATED(bool value) { + _builder.setDataField( + ::capnp::bounded<138>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::DriverMonitoringStateSP::HandsOnWheelState DriverMonitoringStateSP::Reader::getHandsOnWheelState() const { + return _reader.getDataField< ::cereal::DriverMonitoringStateSP::HandsOnWheelState>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::cereal::DriverMonitoringStateSP::HandsOnWheelState DriverMonitoringStateSP::Builder::getHandsOnWheelState() { + return _builder.getDataField< ::cereal::DriverMonitoringStateSP::HandsOnWheelState>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void DriverMonitoringStateSP::Builder::setHandsOnWheelState( ::cereal::DriverMonitoringStateSP::HandsOnWheelState value) { + _builder.setDataField< ::cereal::DriverMonitoringStateSP::HandsOnWheelState>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline float DriverMonitoringStateSP::Reader::getNotModified() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float DriverMonitoringStateSP::Builder::getNotModified() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void DriverMonitoringStateSP::Builder::setNotModified(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool LiveMapDataSP::Reader::getSpeedLimitValid() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline bool LiveMapDataSP::Builder::getSpeedLimitValid() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void LiveMapDataSP::Builder::setSpeedLimitValid(bool value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline float LiveMapDataSP::Reader::getSpeedLimit() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float LiveMapDataSP::Builder::getSpeedLimit() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void LiveMapDataSP::Builder::setSpeedLimit(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool LiveMapDataSP::Reader::getSpeedLimitAheadValid() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline bool LiveMapDataSP::Builder::getSpeedLimitAheadValid() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void LiveMapDataSP::Builder::setSpeedLimitAheadValid(bool value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float LiveMapDataSP::Reader::getSpeedLimitAhead() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float LiveMapDataSP::Builder::getSpeedLimitAhead() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void LiveMapDataSP::Builder::setSpeedLimitAhead(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline float LiveMapDataSP::Reader::getSpeedLimitAheadDistance() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline float LiveMapDataSP::Builder::getSpeedLimitAheadDistance() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void LiveMapDataSP::Builder::setSpeedLimitAheadDistance(float value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline bool LiveMapDataSP::Reader::getTurnSpeedLimitValid() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline bool LiveMapDataSP::Builder::getTurnSpeedLimitValid() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void LiveMapDataSP::Builder::setTurnSpeedLimitValid(bool value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline float LiveMapDataSP::Reader::getTurnSpeedLimit() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline float LiveMapDataSP::Builder::getTurnSpeedLimit() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void LiveMapDataSP::Builder::setTurnSpeedLimit(float value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline float LiveMapDataSP::Reader::getTurnSpeedLimitEndDistance() const { + return _reader.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline float LiveMapDataSP::Builder::getTurnSpeedLimitEndDistance() { + return _builder.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void LiveMapDataSP::Builder::setTurnSpeedLimitEndDistance(float value) { + _builder.setDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline ::int16_t LiveMapDataSP::Reader::getTurnSpeedLimitSign() const { + return _reader.getDataField< ::int16_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::int16_t LiveMapDataSP::Builder::getTurnSpeedLimitSign() { + return _builder.getDataField< ::int16_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void LiveMapDataSP::Builder::setTurnSpeedLimitSign( ::int16_t value) { + _builder.setDataField< ::int16_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool LiveMapDataSP::Reader::hasTurnSpeedLimitsAhead() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveMapDataSP::Builder::hasTurnSpeedLimitsAhead() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LiveMapDataSP::Reader::getTurnSpeedLimitsAhead() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LiveMapDataSP::Builder::getTurnSpeedLimitsAhead() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void LiveMapDataSP::Builder::setTurnSpeedLimitsAhead( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void LiveMapDataSP::Builder::setTurnSpeedLimitsAhead(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LiveMapDataSP::Builder::initTurnSpeedLimitsAhead(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void LiveMapDataSP::Builder::adoptTurnSpeedLimitsAhead( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LiveMapDataSP::Builder::disownTurnSpeedLimitsAhead() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool LiveMapDataSP::Reader::hasTurnSpeedLimitsAheadDistances() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveMapDataSP::Builder::hasTurnSpeedLimitsAheadDistances() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LiveMapDataSP::Reader::getTurnSpeedLimitsAheadDistances() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LiveMapDataSP::Builder::getTurnSpeedLimitsAheadDistances() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void LiveMapDataSP::Builder::setTurnSpeedLimitsAheadDistances( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void LiveMapDataSP::Builder::setTurnSpeedLimitsAheadDistances(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LiveMapDataSP::Builder::initTurnSpeedLimitsAheadDistances(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void LiveMapDataSP::Builder::adoptTurnSpeedLimitsAheadDistances( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LiveMapDataSP::Builder::disownTurnSpeedLimitsAheadDistances() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool LiveMapDataSP::Reader::hasTurnSpeedLimitsAheadSigns() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveMapDataSP::Builder::hasTurnSpeedLimitsAheadSigns() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>::Reader LiveMapDataSP::Reader::getTurnSpeedLimitsAheadSigns() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>::Builder LiveMapDataSP::Builder::getTurnSpeedLimitsAheadSigns() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void LiveMapDataSP::Builder::setTurnSpeedLimitsAheadSigns( ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline void LiveMapDataSP::Builder::setTurnSpeedLimitsAheadSigns(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>::Builder LiveMapDataSP::Builder::initTurnSpeedLimitsAheadSigns(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void LiveMapDataSP::Builder::adoptTurnSpeedLimitsAheadSigns( + ::capnp::Orphan< ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>> LiveMapDataSP::Builder::disownTurnSpeedLimitsAheadSigns() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline ::int64_t LiveMapDataSP::Reader::getLastGpsTimestamp() const { + return _reader.getDataField< ::int64_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline ::int64_t LiveMapDataSP::Builder::getLastGpsTimestamp() { + return _builder.getDataField< ::int64_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void LiveMapDataSP::Builder::setLastGpsTimestamp( ::int64_t value) { + _builder.setDataField< ::int64_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline bool LiveMapDataSP::Reader::hasCurrentRoadName() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveMapDataSP::Builder::hasCurrentRoadName() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader LiveMapDataSP::Reader::getCurrentRoadName() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder LiveMapDataSP::Builder::getCurrentRoadName() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void LiveMapDataSP::Builder::setCurrentRoadName( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder LiveMapDataSP::Builder::initCurrentRoadName(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), size); +} +inline void LiveMapDataSP::Builder::adoptCurrentRoadName( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> LiveMapDataSP::Builder::disownCurrentRoadName() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline double LiveMapDataSP::Reader::getLastGpsLatitude() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline double LiveMapDataSP::Builder::getLastGpsLatitude() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void LiveMapDataSP::Builder::setLastGpsLatitude(double value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline double LiveMapDataSP::Reader::getLastGpsLongitude() const { + return _reader.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline double LiveMapDataSP::Builder::getLastGpsLongitude() { + return _builder.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void LiveMapDataSP::Builder::setLastGpsLongitude(double value) { + _builder.setDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline float LiveMapDataSP::Reader::getLastGpsSpeed() const { + return _reader.getDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} + +inline float LiveMapDataSP::Builder::getLastGpsSpeed() { + return _builder.getDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} +inline void LiveMapDataSP::Builder::setLastGpsSpeed(float value) { + _builder.setDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS, value); +} + +inline float LiveMapDataSP::Reader::getLastGpsBearingDeg() const { + return _reader.getDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} + +inline float LiveMapDataSP::Builder::getLastGpsBearingDeg() { + return _builder.getDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} +inline void LiveMapDataSP::Builder::setLastGpsBearingDeg(float value) { + _builder.setDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS, value); +} + +inline float LiveMapDataSP::Reader::getLastGpsAccuracy() const { + return _reader.getDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} + +inline float LiveMapDataSP::Builder::getLastGpsAccuracy() { + return _builder.getDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} +inline void LiveMapDataSP::Builder::setLastGpsAccuracy(float value) { + _builder.setDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS, value); +} + +inline float LiveMapDataSP::Reader::getLastGpsBearingAccuracyDeg() const { + return _reader.getDataField( + ::capnp::bounded<15>() * ::capnp::ELEMENTS); +} + +inline float LiveMapDataSP::Builder::getLastGpsBearingAccuracyDeg() { + return _builder.getDataField( + ::capnp::bounded<15>() * ::capnp::ELEMENTS); +} +inline void LiveMapDataSP::Builder::setLastGpsBearingAccuracyDeg(float value) { + _builder.setDataField( + ::capnp::bounded<15>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::LiveMapDataSP::DataType LiveMapDataSP::Reader::getDataType() const { + return _reader.getDataField< ::cereal::LiveMapDataSP::DataType>( + ::capnp::bounded<32>() * ::capnp::ELEMENTS); +} + +inline ::cereal::LiveMapDataSP::DataType LiveMapDataSP::Builder::getDataType() { + return _builder.getDataField< ::cereal::LiveMapDataSP::DataType>( + ::capnp::bounded<32>() * ::capnp::ELEMENTS); +} +inline void LiveMapDataSP::Builder::setDataType( ::cereal::LiveMapDataSP::DataType value) { + _builder.setDataField< ::cereal::LiveMapDataSP::DataType>( + ::capnp::bounded<32>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t E2eLongStateSP::Reader::getStatus() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t E2eLongStateSP::Builder::getStatus() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void E2eLongStateSP::Builder::setStatus( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool ModelDataV2SP::Reader::getLaneChangePrev() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline bool ModelDataV2SP::Builder::getLaneChangePrev() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void ModelDataV2SP::Builder::setLaneChangePrev(bool value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool ModelDataV2SP::Reader::getLaneChangeEdgeBlock() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline bool ModelDataV2SP::Builder::getLaneChangeEdgeBlock() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void ModelDataV2SP::Builder::setLaneChangeEdgeBlock(bool value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool ModelDataV2SP::Reader::getCustomModel() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline bool ModelDataV2SP::Builder::getCustomModel() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void ModelDataV2SP::Builder::setCustomModel(bool value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::ModelGeneration ModelDataV2SP::Reader::getModelGeneration() const { + return _reader.getDataField< ::cereal::ModelGeneration>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::cereal::ModelGeneration ModelDataV2SP::Builder::getModelGeneration() { + return _builder.getDataField< ::cereal::ModelGeneration>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void ModelDataV2SP::Builder::setModelGeneration( ::cereal::ModelGeneration value) { + _builder.setDataField< ::cereal::ModelGeneration>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t ModelDataV2SP::Reader::getModelCapabilities() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t ModelDataV2SP::Builder::getModelCapabilities() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void ModelDataV2SP::Builder::setModelCapabilities( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +} // namespace + +CAPNP_END_HEADER + diff --git a/cereal/gen/cpp/legacy.capnp.c++ b/cereal/gen/cpp/legacy.capnp.c++ new file mode 100644 index 0000000000..101795932b --- /dev/null +++ b/cereal/gen/cpp/legacy.capnp.c++ @@ -0,0 +1,6878 @@ +// Generated by Cap'n Proto compiler, DO NOT EDIT +// source: legacy.capnp + +#include "legacy.capnp.h" + +namespace capnp { +namespace schemas { +static const ::capnp::_::AlignedData<48> b_9811e1f38f62f2d1 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 209, 242, 98, 143, 243, 225, 17, 152, + 13, 0, 0, 0, 1, 0, 1, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 186, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 76, 111, 103, + 82, 111, 116, 97, 116, 101, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 8, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 0, 0, 0, 3, 0, 1, 0, + 52, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 44, 0, 0, 0, 3, 0, 1, 0, + 56, 0, 0, 0, 2, 0, 1, 0, + 115, 101, 103, 109, 101, 110, 116, 78, + 117, 109, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 97, 116, 104, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_9811e1f38f62f2d1 = b_9811e1f38f62f2d1.words; +#if !CAPNP_LITE +static const uint16_t m_9811e1f38f62f2d1[] = {1, 0}; +static const uint16_t i_9811e1f38f62f2d1[] = {0, 1}; +const ::capnp::_::RawSchema s_9811e1f38f62f2d1 = { + 0x9811e1f38f62f2d1, b_9811e1f38f62f2d1.words, 48, nullptr, m_9811e1f38f62f2d1, + 0, 2, i_9811e1f38f62f2d1, nullptr, nullptr, { &s_9811e1f38f62f2d1, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<81> b_c08240f996aefced = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 237, 252, 174, 150, 249, 64, 130, 192, + 13, 0, 0, 0, 1, 0, 1, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 2, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 162, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 231, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 76, 105, 118, + 101, 85, 73, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 0, 0, 0, 3, 0, 1, 0, + 108, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 0, 0, 0, 3, 0, 1, 0, + 116, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 0, 0, 0, 3, 0, 1, 0, + 124, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 0, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 0, 0, 0, 3, 0, 1, 0, + 132, 0, 0, 0, 2, 0, 1, 0, + 114, 101, 97, 114, 86, 105, 101, 119, + 67, 97, 109, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 108, 101, 114, 116, 84, 101, 120, + 116, 49, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 108, 101, 114, 116, 84, 101, 120, + 116, 50, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 119, 97, 114, 101, 110, 101, 115, + 115, 83, 116, 97, 116, 117, 115, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_c08240f996aefced = b_c08240f996aefced.words; +#if !CAPNP_LITE +static const uint16_t m_c08240f996aefced[] = {1, 2, 3, 0}; +static const uint16_t i_c08240f996aefced[] = {0, 1, 2, 3}; +const ::capnp::_::RawSchema s_c08240f996aefced = { + 0xc08240f996aefced, b_c08240f996aefced.words, 81, nullptr, m_c08240f996aefced, + 0, 4, i_c08240f996aefced, nullptr, nullptr, { &s_c08240f996aefced, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<86> b_88dcce08ad29dda0 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 160, 221, 41, 173, 8, 206, 220, 136, + 13, 0, 0, 0, 1, 0, 1, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 218, 0, 0, 0, + 33, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 231, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 85, 105, 76, + 97, 121, 111, 117, 116, 83, 116, 97, + 116, 101, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 133, 210, 148, 207, 10, 71, 23, 153, + 1, 0, 0, 0, 34, 0, 0, 0, + 65, 112, 112, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 0, 0, 0, 3, 0, 1, 0, + 108, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 16, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 0, 0, 0, 3, 0, 1, 0, + 120, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 17, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 0, 0, 0, 3, 0, 1, 0, + 128, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 0, 0, 0, 3, 0, 1, 0, + 136, 0, 0, 0, 2, 0, 1, 0, + 97, 99, 116, 105, 118, 101, 65, 112, + 112, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 133, 210, 148, 207, 10, 71, 23, 153, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 105, 100, 101, 98, 97, 114, 67, + 111, 108, 108, 97, 112, 115, 101, 100, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 97, 112, 69, 110, 97, 98, 108, + 101, 100, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 111, 99, 107, 69, 110, 103, 97, + 103, 101, 100, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_88dcce08ad29dda0 = b_88dcce08ad29dda0.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_88dcce08ad29dda0[] = { + &s_9917470acf94d285, +}; +static const uint16_t m_88dcce08ad29dda0[] = {0, 2, 3, 1}; +static const uint16_t i_88dcce08ad29dda0[] = {0, 1, 2, 3}; +const ::capnp::_::RawSchema s_88dcce08ad29dda0 = { + 0x88dcce08ad29dda0, b_88dcce08ad29dda0.words, 86, d_88dcce08ad29dda0, m_88dcce08ad29dda0, + 1, 4, i_88dcce08ad29dda0, nullptr, nullptr, { &s_88dcce08ad29dda0, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<39> b_9917470acf94d285 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 133, 210, 148, 207, 10, 71, 23, 153, + 27, 0, 0, 0, 2, 0, 0, 0, + 160, 221, 41, 173, 8, 206, 220, 136, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 250, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 127, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 85, 105, 76, + 97, 121, 111, 117, 116, 83, 116, 97, + 116, 101, 46, 65, 112, 112, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 20, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 111, 109, 101, 0, 0, 0, 0, + 109, 117, 115, 105, 99, 0, 0, 0, + 110, 97, 118, 0, 0, 0, 0, 0, + 115, 101, 116, 116, 105, 110, 103, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 110, 101, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_9917470acf94d285 = b_9917470acf94d285.words; +#if !CAPNP_LITE +static const uint16_t m_9917470acf94d285[] = {0, 1, 2, 4, 3}; +const ::capnp::_::RawSchema s_9917470acf94d285 = { + 0x9917470acf94d285, b_9917470acf94d285.words, 39, nullptr, m_9917470acf94d285, + 0, 5, nullptr, nullptr, nullptr, { &s_9917470acf94d285, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(App_9917470acf94d285, 9917470acf94d285); +static const ::capnp::_::AlignedData<133> b_8afd33dc9b35e1aa = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 170, 225, 53, 155, 220, 51, 253, 138, + 13, 0, 0, 0, 1, 0, 2, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 4, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 250, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 87, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 79, 114, 98, + 115, 108, 97, 109, 67, 111, 114, 114, + 101, 99, 116, 105, 111, 110, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 24, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 0, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 156, 0, 0, 0, 3, 0, 1, 0, + 168, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 165, 0, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 164, 0, 0, 0, 3, 0, 1, 0, + 192, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 192, 0, 0, 0, 3, 0, 1, 0, + 220, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 217, 0, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 0, 0, 0, 3, 0, 1, 0, + 244, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 244, 0, 0, 0, 3, 0, 1, 0, + 16, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 1, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 1, 0, 0, 3, 0, 1, 0, + 24, 1, 0, 0, 2, 0, 1, 0, + 99, 111, 114, 114, 101, 99, 116, 105, + 111, 110, 77, 111, 110, 111, 84, 105, + 109, 101, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 114, 101, 80, 111, 115, 105, 116, + 105, 111, 110, 69, 67, 69, 70, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 115, 116, 80, 111, 115, 105, + 116, 105, 111, 110, 69, 67, 69, 70, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 114, 101, 80, 111, 115, 101, 81, + 117, 97, 116, 69, 67, 69, 70, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 115, 116, 80, 111, 115, 101, + 81, 117, 97, 116, 69, 67, 69, 70, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 117, 109, 73, 110, 108, 105, 101, + 114, 115, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_8afd33dc9b35e1aa = b_8afd33dc9b35e1aa.words; +#if !CAPNP_LITE +static const uint16_t m_8afd33dc9b35e1aa[] = {0, 5, 4, 2, 3, 1}; +static const uint16_t i_8afd33dc9b35e1aa[] = {0, 1, 2, 3, 4, 5}; +const ::capnp::_::RawSchema s_8afd33dc9b35e1aa = { + 0x8afd33dc9b35e1aa, b_8afd33dc9b35e1aa.words, 133, nullptr, m_8afd33dc9b35e1aa, + 0, 6, i_8afd33dc9b35e1aa, nullptr, nullptr, { &s_8afd33dc9b35e1aa, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<48> b_a99a9d5b33cf5859 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 89, 88, 207, 51, 91, 157, 154, 169, + 13, 0, 0, 0, 1, 0, 1, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 226, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 69, 116, 104, + 101, 114, 110, 101, 116, 80, 97, 99, + 107, 101, 116, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 8, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 0, 0, 0, 3, 0, 1, 0, + 48, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 0, 0, 0, 3, 0, 1, 0, + 52, 0, 0, 0, 2, 0, 1, 0, + 112, 107, 116, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 115, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a99a9d5b33cf5859 = b_a99a9d5b33cf5859.words; +#if !CAPNP_LITE +static const uint16_t m_a99a9d5b33cf5859[] = {0, 1}; +static const uint16_t i_a99a9d5b33cf5859[] = {0, 1}; +const ::capnp::_::RawSchema s_a99a9d5b33cf5859 = { + 0xa99a9d5b33cf5859, b_a99a9d5b33cf5859.words, 48, nullptr, m_a99a9d5b33cf5859, + 0, 2, i_a99a9d5b33cf5859, nullptr, nullptr, { &s_a99a9d5b33cf5859, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<48> b_cff7566681c277ce = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 206, 119, 194, 129, 102, 86, 247, 207, + 13, 0, 0, 0, 1, 0, 1, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 178, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 67, 101, 108, + 108, 73, 110, 102, 111, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 8, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 0, 0, 0, 3, 0, 1, 0, + 52, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 44, 0, 0, 0, 3, 0, 1, 0, + 56, 0, 0, 0, 2, 0, 1, 0, + 116, 105, 109, 101, 115, 116, 97, 109, + 112, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 112, 114, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_cff7566681c277ce = b_cff7566681c277ce.words; +#if !CAPNP_LITE +static const uint16_t m_cff7566681c277ce[] = {1, 0}; +static const uint16_t i_cff7566681c277ce[] = {0, 1}; +const ::capnp::_::RawSchema s_cff7566681c277ce = { + 0xcff7566681c277ce, b_cff7566681c277ce.words, 48, nullptr, m_cff7566681c277ce, + 0, 2, i_cff7566681c277ce, nullptr, nullptr, { &s_cff7566681c277ce, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<260> b_d4df5a192382ba0b = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 11, 186, 130, 35, 25, 90, 223, 212, + 13, 0, 0, 0, 1, 0, 5, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 5, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 178, 0, 0, 0, + 29, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 79, 3, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 87, 105, 102, + 105, 83, 99, 97, 110, 0, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 81, 107, 95, 1, 159, 39, 106, 203, + 1, 0, 0, 0, 106, 0, 0, 0, + 67, 104, 97, 110, 110, 101, 108, 87, + 105, 100, 116, 104, 0, 0, 0, 0, + 60, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 149, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 144, 1, 0, 0, 3, 0, 1, 0, + 156, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 148, 1, 0, 0, 3, 0, 1, 0, + 160, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 157, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 156, 1, 0, 0, 3, 0, 1, 0, + 168, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 165, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 164, 1, 0, 0, 3, 0, 1, 0, + 176, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 173, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 1, 0, 0, 3, 0, 1, 0, + 180, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 1, 0, 0, 3, 0, 1, 0, + 188, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 1, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 1, 0, 0, 3, 0, 1, 0, + 196, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 193, 1, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 192, 1, 0, 0, 3, 0, 1, 0, + 204, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 12, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 201, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 1, 0, 0, 3, 0, 1, 0, + 212, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 1, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 212, 1, 0, 0, 3, 0, 1, 0, + 224, 1, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 220, 1, 0, 0, 3, 0, 1, 0, + 232, 1, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 208, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 229, 1, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 1, 0, 0, 3, 0, 1, 0, + 244, 1, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 209, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 1, 0, 0, 3, 0, 1, 0, + 252, 1, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 249, 1, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 248, 1, 0, 0, 3, 0, 1, 0, + 4, 2, 0, 0, 2, 0, 1, 0, + 14, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 2, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 2, 0, 0, 3, 0, 1, 0, + 12, 2, 0, 0, 2, 0, 1, 0, + 98, 115, 115, 105, 100, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 115, 105, 100, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 112, 97, 98, 105, 108, 105, + 116, 105, 101, 115, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 114, 101, 113, 117, 101, 110, 99, + 121, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 118, 101, 108, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 109, 101, 115, 116, 97, 109, + 112, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 101, 110, 116, 101, 114, 70, 114, + 101, 113, 48, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 101, 110, 116, 101, 114, 70, 114, + 101, 113, 49, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 104, 97, 110, 110, 101, 108, 87, + 105, 100, 116, 104, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 81, 107, 95, 1, 159, 39, 106, 203, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 112, 101, 114, 97, 116, 111, 114, + 70, 114, 105, 101, 110, 100, 108, 121, + 78, 97, 109, 101, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 101, 110, 117, 101, 78, 97, 109, + 101, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 115, 56, 48, 50, 49, 49, 109, + 99, 82, 101, 115, 112, 111, 110, 100, + 101, 114, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 97, 115, 115, 112, 111, 105, 110, + 116, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 105, 115, 116, 97, 110, 99, 101, + 67, 109, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 105, 115, 116, 97, 110, 99, 101, + 83, 100, 67, 109, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_d4df5a192382ba0b = b_d4df5a192382ba0b.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_d4df5a192382ba0b[] = { + &s_cb6a279f015f6b51, +}; +static const uint16_t m_d4df5a192382ba0b[] = {0, 2, 6, 7, 8, 13, 14, 3, 11, 4, 9, 12, 1, 5, 10}; +static const uint16_t i_d4df5a192382ba0b[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14}; +const ::capnp::_::RawSchema s_d4df5a192382ba0b = { + 0xd4df5a192382ba0b, b_d4df5a192382ba0b.words, 260, d_d4df5a192382ba0b, m_d4df5a192382ba0b, + 1, 15, i_d4df5a192382ba0b, nullptr, nullptr, { &s_d4df5a192382ba0b, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<40> b_cb6a279f015f6b51 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 81, 107, 95, 1, 159, 39, 106, 203, + 22, 0, 0, 0, 2, 0, 0, 0, + 11, 186, 130, 35, 25, 90, 223, 212, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 26, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 127, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 87, 105, 102, + 105, 83, 99, 97, 110, 46, 67, 104, + 97, 110, 110, 101, 108, 87, 105, 100, + 116, 104, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 20, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 119, 50, 48, 77, 104, 122, 0, 0, + 119, 52, 48, 77, 104, 122, 0, 0, + 119, 56, 48, 77, 104, 122, 0, 0, + 119, 49, 54, 48, 77, 104, 122, 0, + 119, 56, 48, 80, 108, 117, 115, 56, + 48, 77, 104, 122, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_cb6a279f015f6b51 = b_cb6a279f015f6b51.words; +#if !CAPNP_LITE +static const uint16_t m_cb6a279f015f6b51[] = {3, 0, 1, 2, 4}; +const ::capnp::_::RawSchema s_cb6a279f015f6b51 = { + 0xcb6a279f015f6b51, b_cb6a279f015f6b51.words, 40, nullptr, m_cb6a279f015f6b51, + 0, 5, nullptr, nullptr, nullptr, { &s_cb6a279f015f6b51, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(ChannelWidth_cb6a279f015f6b51, cb6a279f015f6b51); +static const ::capnp::_::AlignedData<48> b_94b7baa90c5c321e = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 30, 50, 92, 12, 169, 186, 183, 148, + 13, 0, 0, 0, 1, 0, 1, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 218, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 76, 105, 118, + 101, 69, 118, 101, 110, 116, 68, 97, + 116, 97, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 8, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 0, 0, 0, 3, 0, 1, 0, + 48, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 0, 0, 0, 3, 0, 1, 0, + 52, 0, 0, 0, 2, 0, 1, 0, + 110, 97, 109, 101, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 97, 108, 117, 101, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_94b7baa90c5c321e = b_94b7baa90c5c321e.words; +#if !CAPNP_LITE +static const uint16_t m_94b7baa90c5c321e[] = {0, 1}; +static const uint16_t i_94b7baa90c5c321e[] = {0, 1}; +const ::capnp::_::RawSchema s_94b7baa90c5c321e = { + 0x94b7baa90c5c321e, b_94b7baa90c5c321e.words, 48, nullptr, m_94b7baa90c5c321e, + 0, 2, i_94b7baa90c5c321e, nullptr, nullptr, { &s_94b7baa90c5c321e, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<314> b_b8aad62cffef28a9 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 169, 40, 239, 255, 44, 214, 170, 184, + 13, 0, 0, 0, 1, 0, 4, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 11, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 186, 0, 0, 0, + 29, 0, 0, 0, 87, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 0, 0, 0, 191, 3, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 77, 111, 100, + 101, 108, 68, 97, 116, 97, 0, 0, + 20, 0, 0, 0, 1, 0, 1, 0, + 8, 159, 158, 56, 234, 238, 23, 136, + 33, 0, 0, 0, 74, 0, 0, 0, + 145, 250, 38, 109, 249, 190, 201, 209, + 33, 0, 0, 0, 74, 0, 0, 0, + 20, 233, 211, 239, 16, 55, 110, 162, + 33, 0, 0, 0, 114, 0, 0, 0, + 248, 43, 15, 182, 95, 242, 68, 151, + 33, 0, 0, 0, 74, 0, 0, 0, + 34, 17, 7, 106, 156, 153, 143, 249, + 33, 0, 0, 0, 138, 0, 0, 0, + 80, 97, 116, 104, 68, 97, 116, 97, + 0, 0, 0, 0, 0, 0, 0, 0, + 76, 101, 97, 100, 68, 97, 116, 97, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 111, 100, 101, 108, 83, 101, 116, + 116, 105, 110, 103, 115, 0, 0, 0, + 77, 101, 116, 97, 68, 97, 116, 97, + 0, 0, 0, 0, 0, 0, 0, 0, + 76, 111, 110, 103, 105, 116, 117, 100, + 105, 110, 97, 108, 68, 97, 116, 97, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 1, 0, 0, 3, 0, 1, 0, + 212, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 1, 0, 0, 3, 0, 1, 0, + 216, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 213, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 212, 1, 0, 0, 3, 0, 1, 0, + 224, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 220, 1, 0, 0, 3, 0, 1, 0, + 232, 1, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 229, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 1, 0, 0, 3, 0, 1, 0, + 236, 1, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 1, 0, 0, 3, 0, 1, 0, + 244, 1, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 1, 0, 0, 3, 0, 1, 0, + 12, 2, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 2, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 2, 0, 0, 3, 0, 1, 0, + 20, 2, 0, 0, 2, 0, 1, 0, + 14, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 2, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 2, 0, 0, 3, 0, 1, 0, + 40, 2, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 2, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 2, 0, 0, 3, 0, 1, 0, + 48, 2, 0, 0, 2, 0, 1, 0, + 15, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 2, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 2, 0, 0, 3, 0, 1, 0, + 52, 2, 0, 0, 2, 0, 1, 0, + 16, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 2, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 48, 2, 0, 0, 3, 0, 1, 0, + 60, 2, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 57, 2, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 56, 2, 0, 0, 3, 0, 1, 0, + 68, 2, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 2, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 64, 2, 0, 0, 3, 0, 1, 0, + 76, 2, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 73, 2, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 76, 2, 0, 0, 3, 0, 1, 0, + 88, 2, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 85, 2, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 80, 2, 0, 0, 3, 0, 1, 0, + 92, 2, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 16, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 2, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 2, 0, 0, 3, 0, 1, 0, + 104, 2, 0, 0, 2, 0, 1, 0, + 102, 114, 97, 109, 101, 73, 100, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 97, 116, 104, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 8, 159, 158, 56, 234, 238, 23, 136, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 102, 116, 76, 97, 110, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 8, 159, 158, 56, 234, 238, 23, 136, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 105, 103, 104, 116, 76, 97, 110, + 101, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 8, 159, 158, 56, 234, 238, 23, 136, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 97, 100, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 145, 250, 38, 109, 249, 190, 201, 209, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 101, 116, 116, 105, 110, 103, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 20, 233, 211, 239, 16, 55, 110, 162, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 114, 101, 101, 80, 97, 116, 104, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 97, 100, 70, 117, 116, 117, + 114, 101, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 145, 250, 38, 109, 249, 190, 201, 209, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 101, 101, 100, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 109, 101, 115, 116, 97, 109, + 112, 69, 111, 102, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 101, 116, 97, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 248, 43, 15, 182, 95, 242, 68, 151, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 110, 103, 105, 116, 117, 100, + 105, 110, 97, 108, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 34, 17, 7, 106, 156, 153, 143, 249, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 114, 97, 109, 101, 65, 103, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 114, 97, 109, 101, 68, 114, 111, + 112, 80, 101, 114, 99, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 111, 100, 101, 108, 69, 120, 101, + 99, 117, 116, 105, 111, 110, 84, 105, + 109, 101, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 97, 119, 80, 114, 101, 100, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 112, 117, 69, 120, 101, 99, 117, + 116, 105, 111, 110, 84, 105, 109, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_b8aad62cffef28a9 = b_b8aad62cffef28a9.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_b8aad62cffef28a9[] = { + &s_8817eeea389e9f08, + &s_9744f25fb60f2bf8, + &s_a26e3710efd3e914, + &s_d1c9bef96d26fa91, + &s_f98f999c6a071122, +}; +static const uint16_t m_b8aad62cffef28a9[] = {12, 13, 0, 6, 16, 4, 7, 2, 11, 10, 14, 1, 15, 3, 5, 8, 9}; +static const uint16_t i_b8aad62cffef28a9[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16}; +const ::capnp::_::RawSchema s_b8aad62cffef28a9 = { + 0xb8aad62cffef28a9, b_b8aad62cffef28a9.words, 314, d_b8aad62cffef28a9, m_b8aad62cffef28a9, + 5, 17, i_b8aad62cffef28a9, nullptr, nullptr, { &s_b8aad62cffef28a9, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<121> b_8817eeea389e9f08 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 8, 159, 158, 56, 234, 238, 23, 136, + 23, 0, 0, 0, 1, 0, 2, 0, + 169, 40, 239, 255, 44, 214, 170, 184, + 3, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 2, 1, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 87, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 77, 111, 100, + 101, 108, 68, 97, 116, 97, 46, 80, + 97, 116, 104, 68, 97, 116, 97, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 24, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 148, 0, 0, 0, 3, 0, 1, 0, + 176, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 173, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 0, 0, 0, 3, 0, 1, 0, + 180, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 172, 0, 0, 0, 3, 0, 1, 0, + 184, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 0, 0, 0, 3, 0, 1, 0, + 204, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 201, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 0, 0, 0, 3, 0, 1, 0, + 224, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 220, 0, 0, 0, 3, 0, 1, 0, + 232, 0, 0, 0, 2, 0, 1, 0, + 112, 111, 105, 110, 116, 115, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 114, 111, 98, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 100, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 100, 115, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 108, 121, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 97, 108, 105, 100, 76, 101, 110, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_8817eeea389e9f08 = b_8817eeea389e9f08.words; +#if !CAPNP_LITE +static const uint16_t m_8817eeea389e9f08[] = {0, 4, 1, 2, 3, 5}; +static const uint16_t i_8817eeea389e9f08[] = {0, 1, 2, 3, 4, 5}; +const ::capnp::_::RawSchema s_8817eeea389e9f08 = { + 0x8817eeea389e9f08, b_8817eeea389e9f08.words, 121, nullptr, m_8817eeea389e9f08, + 0, 6, i_8817eeea389e9f08, nullptr, nullptr, { &s_8817eeea389e9f08, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<154> b_d1c9bef96d26fa91 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 145, 250, 38, 109, 249, 190, 201, 209, + 23, 0, 0, 0, 1, 0, 5, 0, + 169, 40, 239, 255, 44, 214, 170, 184, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 2, 1, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 255, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 77, 111, 100, + 101, 108, 68, 97, 116, 97, 46, 76, + 101, 97, 100, 68, 97, 116, 97, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 36, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 0, 0, 0, 3, 0, 1, 0, + 244, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 0, 0, 0, 3, 0, 1, 0, + 248, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 245, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 0, 0, 0, 3, 0, 1, 0, + 252, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 249, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 244, 0, 0, 0, 3, 0, 1, 0, + 0, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 253, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 252, 0, 0, 0, 3, 0, 1, 0, + 8, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 1, 0, 0, 3, 0, 1, 0, + 12, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 1, 0, 0, 3, 0, 1, 0, + 16, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 1, 0, 0, 3, 0, 1, 0, + 20, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 1, 0, 0, 3, 0, 1, 0, + 24, 1, 0, 0, 2, 0, 1, 0, + 100, 105, 115, 116, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 114, 111, 98, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 100, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 108, 86, 101, 108, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 108, 86, 101, 108, 83, 116, + 100, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 108, 89, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 108, 89, 83, 116, 100, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 108, 65, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 108, 65, 83, 116, 100, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_d1c9bef96d26fa91 = b_d1c9bef96d26fa91.words; +#if !CAPNP_LITE +static const uint16_t m_d1c9bef96d26fa91[] = {0, 1, 7, 8, 3, 4, 5, 6, 2}; +static const uint16_t i_d1c9bef96d26fa91[] = {0, 1, 2, 3, 4, 5, 6, 7, 8}; +const ::capnp::_::RawSchema s_d1c9bef96d26fa91 = { + 0xd1c9bef96d26fa91, b_d1c9bef96d26fa91.words, 154, nullptr, m_d1c9bef96d26fa91, + 0, 9, i_d1c9bef96d26fa91, nullptr, nullptr, { &s_d1c9bef96d26fa91, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<141> b_a26e3710efd3e914 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 20, 233, 211, 239, 16, 55, 110, 162, + 23, 0, 0, 0, 1, 0, 1, 0, + 169, 40, 239, 255, 44, 214, 170, 184, + 3, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 42, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 143, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 77, 111, 100, + 101, 108, 68, 97, 116, 97, 46, 77, + 111, 100, 101, 108, 83, 101, 116, 116, + 105, 110, 103, 115, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 28, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 0, 0, 0, 3, 0, 1, 0, + 188, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 0, 0, 0, 3, 0, 1, 0, + 192, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 0, 0, 0, 3, 0, 1, 0, + 200, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 0, 0, 0, 3, 0, 1, 0, + 208, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 0, 0, 0, 3, 0, 1, 0, + 232, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 229, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 0, 0, 0, 3, 0, 1, 0, + 0, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 253, 0, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 252, 0, 0, 0, 3, 0, 1, 0, + 24, 1, 0, 0, 2, 0, 1, 0, + 98, 105, 103, 66, 111, 120, 88, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 105, 103, 66, 111, 120, 89, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 105, 103, 66, 111, 120, 87, 105, + 100, 116, 104, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 105, 103, 66, 111, 120, 72, 101, + 105, 103, 104, 116, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 111, 120, 80, 114, 111, 106, 101, + 99, 116, 105, 111, 110, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 117, 118, 67, 111, 114, 114, 101, + 99, 116, 105, 111, 110, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 110, 112, 117, 116, 84, 114, 97, + 110, 115, 102, 111, 114, 109, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a26e3710efd3e914 = b_a26e3710efd3e914.words; +#if !CAPNP_LITE +static const uint16_t m_a26e3710efd3e914[] = {3, 2, 0, 1, 4, 6, 5}; +static const uint16_t i_a26e3710efd3e914[] = {0, 1, 2, 3, 4, 5, 6}; +const ::capnp::_::RawSchema s_a26e3710efd3e914 = { + 0xa26e3710efd3e914, b_a26e3710efd3e914.words, 141, nullptr, m_a26e3710efd3e914, + 0, 7, i_a26e3710efd3e914, nullptr, nullptr, { &s_a26e3710efd3e914, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<126> b_9744f25fb60f2bf8 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 248, 43, 15, 182, 95, 242, 68, 151, + 23, 0, 0, 0, 1, 0, 2, 0, + 169, 40, 239, 255, 44, 214, 170, 184, + 2, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 2, 1, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 87, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 77, 111, 100, + 101, 108, 68, 97, 116, 97, 46, 77, + 101, 116, 97, 68, 97, 116, 97, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 24, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 0, 0, 0, 3, 0, 1, 0, + 164, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 164, 0, 0, 0, 3, 0, 1, 0, + 192, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 0, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 192, 0, 0, 0, 3, 0, 1, 0, + 204, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 201, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 0, 0, 0, 3, 0, 1, 0, + 216, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 213, 0, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 0, 0, 0, 3, 0, 1, 0, + 228, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 0, 0, 0, 3, 0, 1, 0, + 252, 0, 0, 0, 2, 0, 1, 0, + 101, 110, 103, 97, 103, 101, 100, 80, + 114, 111, 98, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 115, 105, 114, 101, 80, 114, + 101, 100, 105, 99, 116, 105, 111, 110, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 114, 97, 107, 101, 68, 105, 115, + 101, 110, 103, 97, 103, 101, 80, 114, + 111, 98, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 97, 115, 68, 105, 115, 101, 110, + 103, 97, 103, 101, 80, 114, 111, 98, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 79, 118, 101, + 114, 114, 105, 100, 101, 80, 114, 111, + 98, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 115, 105, 114, 101, 83, 116, + 97, 116, 101, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_9744f25fb60f2bf8 = b_9744f25fb60f2bf8.words; +#if !CAPNP_LITE +static const uint16_t m_9744f25fb60f2bf8[] = {2, 1, 5, 0, 3, 4}; +static const uint16_t i_9744f25fb60f2bf8[] = {0, 1, 2, 3, 4, 5}; +const ::capnp::_::RawSchema s_9744f25fb60f2bf8 = { + 0x9744f25fb60f2bf8, b_9744f25fb60f2bf8.words, 126, nullptr, m_9744f25fb60f2bf8, + 0, 6, i_9744f25fb60f2bf8, nullptr, nullptr, { &s_9744f25fb60f2bf8, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<78> b_f98f999c6a071122 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 34, 17, 7, 106, 156, 153, 143, 249, + 23, 0, 0, 0, 1, 0, 0, 0, + 169, 40, 239, 255, 44, 214, 170, 184, + 3, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 66, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 175, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 77, 111, 100, + 101, 108, 68, 97, 116, 97, 46, 76, + 111, 110, 103, 105, 116, 117, 100, 105, + 110, 97, 108, 68, 97, 116, 97, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 3, 0, 4, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 64, 0, 0, 0, 3, 0, 1, 0, + 92, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 88, 0, 0, 0, 3, 0, 1, 0, + 116, 0, 0, 0, 2, 0, 1, 0, + 0, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 0, 0, 0, 3, 0, 1, 0, + 140, 0, 0, 0, 2, 0, 1, 0, + 115, 112, 101, 101, 100, 115, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 99, 101, 108, 101, 114, 97, + 116, 105, 111, 110, 115, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 105, 115, 116, 97, 110, 99, 101, + 115, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_f98f999c6a071122 = b_f98f999c6a071122.words; +#if !CAPNP_LITE +static const uint16_t m_f98f999c6a071122[] = {1, 2, 0}; +static const uint16_t i_f98f999c6a071122[] = {0, 1, 2}; +const ::capnp::_::RawSchema s_f98f999c6a071122 = { + 0xf98f999c6a071122, b_f98f999c6a071122.words, 78, nullptr, m_f98f999c6a071122, + 0, 3, i_f98f999c6a071122, nullptr, nullptr, { &s_f98f999c6a071122, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<62> b_c25bbbd524983447 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 71, 52, 152, 36, 213, 187, 91, 194, + 13, 0, 0, 0, 1, 0, 3, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 186, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 175, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 69, 67, 69, + 70, 80, 111, 105, 110, 116, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 64, 0, 0, 0, 3, 0, 1, 0, + 76, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 73, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 0, 0, 0, 3, 0, 1, 0, + 80, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 0, 0, 0, 3, 0, 1, 0, + 84, 0, 0, 0, 2, 0, 1, 0, + 120, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 122, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_c25bbbd524983447 = b_c25bbbd524983447.words; +#if !CAPNP_LITE +static const uint16_t m_c25bbbd524983447[] = {0, 1, 2}; +static const uint16_t i_c25bbbd524983447[] = {0, 1, 2}; +const ::capnp::_::RawSchema s_c25bbbd524983447 = { + 0xc25bbbd524983447, b_c25bbbd524983447.words, 62, nullptr, m_c25bbbd524983447, + 0, 3, i_c25bbbd524983447, nullptr, nullptr, { &s_c25bbbd524983447, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<64> b_e10e21168db0c7f7 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 247, 199, 176, 141, 22, 33, 14, 225, + 13, 0, 0, 0, 1, 0, 2, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 10, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 175, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 69, 67, 69, + 70, 80, 111, 105, 110, 116, 68, 69, + 80, 82, 69, 67, 65, 84, 69, 68, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 64, 0, 0, 0, 3, 0, 1, 0, + 76, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 73, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 0, 0, 0, 3, 0, 1, 0, + 80, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 0, 0, 0, 3, 0, 1, 0, + 84, 0, 0, 0, 2, 0, 1, 0, + 120, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 122, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e10e21168db0c7f7 = b_e10e21168db0c7f7.words; +#if !CAPNP_LITE +static const uint16_t m_e10e21168db0c7f7[] = {0, 1, 2}; +static const uint16_t i_e10e21168db0c7f7[] = {0, 1, 2}; +const ::capnp::_::RawSchema s_e10e21168db0c7f7 = { + 0xe10e21168db0c7f7, b_e10e21168db0c7f7.words, 64, nullptr, m_e10e21168db0c7f7, + 0, 3, i_e10e21168db0c7f7, nullptr, nullptr, { &s_e10e21168db0c7f7, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<153> b_ab54c59699f8f9f3 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 243, 249, 248, 153, 150, 197, 84, 171, + 13, 0, 0, 0, 1, 0, 2, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 5, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 242, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 199, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 71, 80, 83, + 80, 108, 97, 110, 110, 101, 114, 80, + 111, 105, 110, 116, 115, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 32, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 212, 0, 0, 0, 3, 0, 1, 0, + 224, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 0, 0, 0, 3, 0, 1, 0, + 252, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 249, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 244, 0, 0, 0, 3, 0, 1, 0, + 0, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 253, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 252, 0, 0, 0, 3, 0, 1, 0, + 8, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 1, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 1, 0, 0, 3, 0, 1, 0, + 16, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 1, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 1, 0, 0, 3, 0, 1, 0, + 24, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 1, 0, 0, 3, 0, 1, 0, + 28, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 1, 0, 0, 3, 0, 1, 0, + 48, 1, 0, 0, 2, 0, 1, 0, + 99, 117, 114, 80, 111, 115, 68, 69, + 80, 82, 69, 67, 65, 84, 69, 68, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 247, 199, 176, 141, 22, 33, 14, 225, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 105, 110, 116, 115, 68, 69, + 80, 82, 69, 67, 65, 84, 69, 68, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 247, 199, 176, 141, 22, 33, 14, 225, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 97, 108, 105, 100, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 114, 97, 99, 107, 78, 97, 109, + 101, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 101, 101, 100, 76, 105, 109, + 105, 116, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 99, 101, 108, 84, 97, 114, + 103, 101, 116, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 114, 80, 111, 115, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 71, 52, 152, 36, 213, 187, 91, 194, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 105, 110, 116, 115, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 71, 52, 152, 36, 213, 187, 91, 194, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_ab54c59699f8f9f3 = b_ab54c59699f8f9f3.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_ab54c59699f8f9f3[] = { + &s_c25bbbd524983447, + &s_e10e21168db0c7f7, +}; +static const uint16_t m_ab54c59699f8f9f3[] = {5, 6, 0, 7, 1, 4, 3, 2}; +static const uint16_t i_ab54c59699f8f9f3[] = {0, 1, 2, 3, 4, 5, 6, 7}; +const ::capnp::_::RawSchema s_ab54c59699f8f9f3 = { + 0xab54c59699f8f9f3, b_ab54c59699f8f9f3.words, 153, d_ab54c59699f8f9f3, m_ab54c59699f8f9f3, + 2, 8, i_ab54c59699f8f9f3, nullptr, nullptr, { &s_ab54c59699f8f9f3, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<155> b_f5ad1d90cdc1dd6b = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 107, 221, 193, 205, 144, 29, 173, 245, + 13, 0, 0, 0, 1, 0, 2, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 4, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 226, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 199, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 71, 80, 83, + 80, 108, 97, 110, 110, 101, 114, 80, + 108, 97, 110, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 32, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 0, 0, 0, 3, 0, 1, 0, + 216, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 213, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 0, 0, 0, 3, 0, 1, 0, + 236, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 0, 0, 0, 3, 0, 1, 0, + 244, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 0, 0, 0, 3, 0, 1, 0, + 248, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 245, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 244, 0, 0, 0, 3, 0, 1, 0, + 0, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 253, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 1, 0, 0, 3, 0, 1, 0, + 28, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 1, 0, 0, 3, 0, 1, 0, + 48, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 1, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 44, 1, 0, 0, 3, 0, 1, 0, + 56, 1, 0, 0, 2, 0, 1, 0, + 118, 97, 108, 105, 100, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 108, 121, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 114, 97, 99, 107, 78, 97, 109, + 101, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 101, 101, 100, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 99, 101, 108, 101, 114, 97, + 116, 105, 111, 110, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 105, 110, 116, 115, 68, 69, + 80, 82, 69, 67, 65, 84, 69, 68, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 247, 199, 176, 141, 22, 33, 14, 225, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 105, 110, 116, 115, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 71, 52, 152, 36, 213, 187, 91, 194, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 76, 111, 111, 107, 97, 104, 101, + 97, 100, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_f5ad1d90cdc1dd6b = b_f5ad1d90cdc1dd6b.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_f5ad1d90cdc1dd6b[] = { + &s_c25bbbd524983447, + &s_e10e21168db0c7f7, +}; +static const uint16_t m_f5ad1d90cdc1dd6b[] = {4, 6, 5, 1, 3, 2, 0, 7}; +static const uint16_t i_f5ad1d90cdc1dd6b[] = {0, 1, 2, 3, 4, 5, 6, 7}; +const ::capnp::_::RawSchema s_f5ad1d90cdc1dd6b = { + 0xf5ad1d90cdc1dd6b, b_f5ad1d90cdc1dd6b.words, 155, d_f5ad1d90cdc1dd6b, m_f5ad1d90cdc1dd6b, + 2, 8, i_f5ad1d90cdc1dd6b, nullptr, nullptr, { &s_f5ad1d90cdc1dd6b, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<103> b_90c8426c3eaddd3b = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 59, 221, 173, 62, 108, 66, 200, 144, + 13, 0, 0, 0, 1, 0, 1, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 2, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 250, 0, 0, 0, + 33, 0, 0, 0, 39, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 31, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 85, 105, 78, + 97, 118, 105, 103, 97, 116, 105, 111, + 110, 69, 118, 101, 110, 116, 0, 0, + 8, 0, 0, 0, 1, 0, 1, 0, + 5, 234, 252, 248, 220, 7, 219, 232, + 9, 0, 0, 0, 42, 0, 0, 0, + 31, 154, 249, 94, 199, 136, 170, 185, + 5, 0, 0, 0, 58, 0, 0, 0, + 84, 121, 112, 101, 0, 0, 0, 0, + 83, 116, 97, 116, 117, 115, 0, 0, + 20, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 0, 0, 0, 3, 0, 1, 0, + 132, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 129, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 0, 0, 0, 3, 0, 1, 0, + 136, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 133, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 132, 0, 0, 0, 3, 0, 1, 0, + 144, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 141, 0, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 144, 0, 0, 0, 3, 0, 1, 0, + 156, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 0, 0, 0, 3, 0, 1, 0, + 164, 0, 0, 0, 2, 0, 1, 0, + 116, 121, 112, 101, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 5, 234, 252, 248, 220, 7, 219, 232, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 97, 116, 117, 115, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 31, 154, 249, 94, 199, 136, 170, 185, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 105, 115, 116, 97, 110, 99, 101, + 84, 111, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 110, 100, 82, 111, 97, 100, 80, + 111, 105, 110, 116, 68, 69, 80, 82, + 69, 67, 65, 84, 69, 68, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 247, 199, 176, 141, 22, 33, 14, 225, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 110, 100, 82, 111, 97, 100, 80, + 111, 105, 110, 116, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 71, 52, 152, 36, 213, 187, 91, 194, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_90c8426c3eaddd3b = b_90c8426c3eaddd3b.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_90c8426c3eaddd3b[] = { + &s_b9aa88c75ef99a1f, + &s_c25bbbd524983447, + &s_e10e21168db0c7f7, + &s_e8db07dcf8fcea05, +}; +static const uint16_t m_90c8426c3eaddd3b[] = {2, 4, 3, 1, 0}; +static const uint16_t i_90c8426c3eaddd3b[] = {0, 1, 2, 3, 4}; +const ::capnp::_::RawSchema s_90c8426c3eaddd3b = { + 0x90c8426c3eaddd3b, b_90c8426c3eaddd3b.words, 103, d_90c8426c3eaddd3b, m_90c8426c3eaddd3b, + 4, 5, i_90c8426c3eaddd3b, nullptr, nullptr, { &s_90c8426c3eaddd3b, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<53> b_e8db07dcf8fcea05 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 5, 234, 252, 248, 220, 7, 219, 232, + 31, 0, 0, 0, 2, 0, 0, 0, + 59, 221, 173, 62, 108, 66, 200, 144, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 34, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 175, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 85, 105, 78, + 97, 118, 105, 103, 97, 116, 105, 111, + 110, 69, 118, 101, 110, 116, 46, 84, + 121, 112, 101, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 28, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 65, 0, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 61, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 57, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 110, 101, 0, 0, 0, 0, + 108, 97, 110, 101, 67, 104, 97, 110, + 103, 101, 76, 101, 102, 116, 0, 0, + 108, 97, 110, 101, 67, 104, 97, 110, + 103, 101, 82, 105, 103, 104, 116, 0, + 109, 101, 114, 103, 101, 76, 101, 102, + 116, 0, 0, 0, 0, 0, 0, 0, + 109, 101, 114, 103, 101, 82, 105, 103, + 104, 116, 0, 0, 0, 0, 0, 0, + 116, 117, 114, 110, 76, 101, 102, 116, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 117, 114, 110, 82, 105, 103, 104, + 116, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e8db07dcf8fcea05 = b_e8db07dcf8fcea05.words; +#if !CAPNP_LITE +static const uint16_t m_e8db07dcf8fcea05[] = {1, 2, 3, 4, 0, 5, 6}; +const ::capnp::_::RawSchema s_e8db07dcf8fcea05 = { + 0xe8db07dcf8fcea05, b_e8db07dcf8fcea05.words, 53, nullptr, m_e8db07dcf8fcea05, + 0, 7, nullptr, nullptr, nullptr, { &s_e8db07dcf8fcea05, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(Type_e8db07dcf8fcea05, e8db07dcf8fcea05); +static const ::capnp::_::AlignedData<36> b_b9aa88c75ef99a1f = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 31, 154, 249, 94, 199, 136, 170, 185, + 31, 0, 0, 0, 2, 0, 0, 0, + 59, 221, 173, 62, 108, 66, 200, 144, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 50, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 103, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 85, 105, 78, + 97, 118, 105, 103, 97, 116, 105, 111, + 110, 69, 118, 101, 110, 116, 46, 83, + 116, 97, 116, 117, 115, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 110, 101, 0, 0, 0, 0, + 112, 97, 115, 115, 105, 118, 101, 0, + 97, 112, 112, 114, 111, 97, 99, 104, + 105, 110, 103, 0, 0, 0, 0, 0, + 97, 99, 116, 105, 118, 101, 0, 0, } +}; +::capnp::word const* const bp_b9aa88c75ef99a1f = b_b9aa88c75ef99a1f.words; +#if !CAPNP_LITE +static const uint16_t m_b9aa88c75ef99a1f[] = {3, 2, 0, 1}; +const ::capnp::_::RawSchema s_b9aa88c75ef99a1f = { + 0xb9aa88c75ef99a1f, b_b9aa88c75ef99a1f.words, 36, nullptr, m_b9aa88c75ef99a1f, + 0, 4, nullptr, nullptr, nullptr, { &s_b9aa88c75ef99a1f, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(Status_b9aa88c75ef99a1f, b9aa88c75ef99a1f); +static const ::capnp::_::AlignedData<406> b_b99b2bc7a57e8128 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 40, 129, 126, 165, 199, 43, 155, 185, + 13, 0, 0, 0, 1, 0, 10, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 7, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 242, 0, 0, 0, + 33, 0, 0, 0, 39, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 61, 0, 0, 0, 15, 5, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 76, 105, 118, + 101, 76, 111, 99, 97, 116, 105, 111, + 110, 68, 97, 116, 97, 0, 0, 0, + 8, 0, 0, 0, 1, 0, 1, 0, + 63, 176, 115, 84, 98, 196, 61, 148, + 9, 0, 0, 0, 74, 0, 0, 0, + 87, 246, 42, 37, 204, 211, 113, 200, + 9, 0, 0, 0, 106, 0, 0, 0, + 65, 99, 99, 117, 114, 97, 99, 121, + 0, 0, 0, 0, 0, 0, 0, 0, + 83, 101, 110, 115, 111, 114, 83, 111, + 117, 114, 99, 101, 0, 0, 0, 0, + 92, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 2, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 2, 0, 0, 3, 0, 1, 0, + 124, 2, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 2, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 2, 0, 0, 3, 0, 1, 0, + 128, 2, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 2, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 2, 0, 0, 3, 0, 1, 0, + 132, 2, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 129, 2, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 2, 0, 0, 3, 0, 1, 0, + 136, 2, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 133, 2, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 128, 2, 0, 0, 3, 0, 1, 0, + 140, 2, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 137, 2, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 132, 2, 0, 0, 3, 0, 1, 0, + 160, 2, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 157, 2, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 2, 0, 0, 3, 0, 1, 0, + 164, 2, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 2, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 156, 2, 0, 0, 3, 0, 1, 0, + 168, 2, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 165, 2, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 2, 0, 0, 3, 0, 1, 0, + 172, 2, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 2, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 2, 0, 0, 3, 0, 1, 0, + 180, 2, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 11, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 2, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 2, 0, 0, 3, 0, 1, 0, + 188, 2, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 2, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 2, 0, 0, 3, 0, 1, 0, + 208, 2, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 2, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 2, 0, 0, 3, 0, 1, 0, + 228, 2, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 2, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 2, 0, 0, 3, 0, 1, 0, + 236, 2, 0, 0, 2, 0, 1, 0, + 14, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 2, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 2, 0, 0, 3, 0, 1, 0, + 240, 2, 0, 0, 2, 0, 1, 0, + 15, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 2, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 2, 0, 0, 3, 0, 1, 0, + 248, 2, 0, 0, 2, 0, 1, 0, + 16, 0, 0, 0, 14, 0, 0, 0, + 0, 0, 1, 0, 16, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 245, 2, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 2, 0, 0, 3, 0, 1, 0, + 252, 2, 0, 0, 2, 0, 1, 0, + 17, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 17, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 249, 2, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 248, 2, 0, 0, 3, 0, 1, 0, + 4, 3, 0, 0, 2, 0, 1, 0, + 18, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 3, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 3, 0, 0, 3, 0, 1, 0, + 28, 3, 0, 0, 2, 0, 1, 0, + 19, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 19, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 3, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 3, 0, 0, 3, 0, 1, 0, + 52, 3, 0, 0, 2, 0, 1, 0, + 20, 0, 0, 0, 15, 0, 0, 0, + 0, 0, 1, 0, 20, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 3, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 52, 3, 0, 0, 3, 0, 1, 0, + 64, 3, 0, 0, 2, 0, 1, 0, + 21, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 1, 0, 21, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 61, 3, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 60, 3, 0, 0, 3, 0, 1, 0, + 72, 3, 0, 0, 2, 0, 1, 0, + 22, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 22, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 3, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 3, 0, 0, 3, 0, 1, 0, + 96, 3, 0, 0, 2, 0, 1, 0, + 115, 116, 97, 116, 117, 115, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 116, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 110, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 108, 116, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 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+ 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 112, 115, 87, 101, 101, 107, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 109, 101, 79, 102, 87, 101, + 101, 107, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 115, 105, 116, 105, 111, 110, + 69, 67, 69, 70, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 115, 101, 81, 117, 97, 116, + 69, 67, 69, 70, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 105, 116, 99, 104, 67, 97, 108, + 105, 98, 114, 97, 116, 105, 111, 110, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 97, 119, 67, 97, 108, 105, 98, + 114, 97, 116, 105, 111, 110, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 109, 117, 70, 114, 97, 109, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_b99b2bc7a57e8128 = b_b99b2bc7a57e8128.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_b99b2bc7a57e8128[] = { + &s_943dc4625473b03f, + &s_c871d3cc252af657, +}; +static const uint16_t m_b99b2bc7a57e8128[] = {12, 13, 3, 15, 16, 11, 8, 22, 1, 2, 7, 20, 19, 18, 6, 14, 4, 0, 17, 10, 5, 9, 21}; +static const uint16_t i_b99b2bc7a57e8128[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22}; +const ::capnp::_::RawSchema s_b99b2bc7a57e8128 = { + 0xb99b2bc7a57e8128, b_b99b2bc7a57e8128.words, 406, d_b99b2bc7a57e8128, m_b99b2bc7a57e8128, + 2, 23, i_b99b2bc7a57e8128, nullptr, nullptr, { &s_b99b2bc7a57e8128, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<159> b_943dc4625473b03f = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 63, 176, 115, 84, 98, 196, 61, 148, + 30, 0, 0, 0, 1, 0, 3, 0, + 40, 129, 126, 165, 199, 43, 155, 185, + 2, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 58, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 199, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 76, 105, 118, + 101, 76, 111, 99, 97, 116, 105, 111, + 110, 68, 97, 116, 97, 46, 65, 99, + 99, 117, 114, 97, 99, 121, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 32, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 0, 0, 0, 3, 0, 1, 0, + 236, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 0, 0, 0, 3, 0, 1, 0, + 4, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 1, 0, 0, 3, 0, 1, 0, + 12, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 1, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 1, 0, 0, 3, 0, 1, 0, + 20, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 1, 0, 0, 3, 0, 1, 0, + 28, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 1, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 28, 1, 0, 0, 3, 0, 1, 0, + 40, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 1, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 1, 0, 0, 3, 0, 1, 0, + 52, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 1, 0, 0, 210, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 56, 1, 0, 0, 3, 0, 1, 0, + 68, 1, 0, 0, 2, 0, 1, 0, + 112, 78, 69, 68, 69, 114, 114, 111, + 114, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 78, 69, 68, 69, 114, 114, 111, + 114, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 111, 108, 108, 69, 114, 114, 111, + 114, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 105, 116, 99, 104, 69, 114, 114, + 111, 114, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 101, 97, 100, 105, 110, 103, 69, + 114, 114, 111, 114, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 108, 108, 105, 112, 115, 111, 105, + 100, 83, 101, 109, 105, 77, 97, 106, + 111, 114, 69, 114, 114, 111, 114, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 108, 108, 105, 112, 115, 111, 105, + 100, 83, 101, 109, 105, 77, 105, 110, + 111, 114, 69, 114, 114, 111, 114, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 108, 108, 105, 112, 115, 111, 105, + 100, 79, 114, 105, 101, 110, 116, 97, + 116, 105, 111, 110, 69, 114, 114, 111, + 114, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_943dc4625473b03f = b_943dc4625473b03f.words; +#if !CAPNP_LITE +static const uint16_t m_943dc4625473b03f[] = {7, 5, 6, 4, 0, 3, 2, 1}; +static const uint16_t i_943dc4625473b03f[] = {0, 1, 2, 3, 4, 5, 6, 7}; +const ::capnp::_::RawSchema s_943dc4625473b03f = { + 0x943dc4625473b03f, b_943dc4625473b03f.words, 159, nullptr, m_943dc4625473b03f, + 0, 8, i_943dc4625473b03f, nullptr, nullptr, { &s_943dc4625473b03f, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<41> b_c871d3cc252af657 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 87, 246, 42, 37, 204, 211, 113, 200, + 30, 0, 0, 0, 2, 0, 0, 0, + 40, 129, 126, 165, 199, 43, 155, 185, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 90, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 127, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 76, 105, 118, + 101, 76, 111, 99, 97, 116, 105, 111, + 110, 68, 97, 116, 97, 46, 83, 101, + 110, 115, 111, 114, 83, 111, 117, 114, + 99, 101, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 20, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 112, 112, 108, 97, 110, 105, 120, + 0, 0, 0, 0, 0, 0, 0, 0, + 107, 97, 108, 109, 97, 110, 0, 0, + 111, 114, 98, 115, 108, 97, 109, 0, + 116, 105, 109, 105, 110, 103, 0, 0, + 100, 117, 109, 109, 121, 0, 0, 0, } +}; +::capnp::word const* const bp_c871d3cc252af657 = b_c871d3cc252af657.words; +#if !CAPNP_LITE +static const uint16_t m_c871d3cc252af657[] = {0, 4, 1, 2, 3}; +const ::capnp::_::RawSchema s_c871d3cc252af657 = { + 0xc871d3cc252af657, b_c871d3cc252af657.words, 41, nullptr, m_c871d3cc252af657, + 0, 5, nullptr, nullptr, nullptr, { &s_c871d3cc252af657, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(SensorSource_c871d3cc252af657, c871d3cc252af657); +static const ::capnp::_::AlignedData<118> b_d7700859ed1f5b76 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 118, 91, 31, 237, 89, 8, 112, 215, + 13, 0, 0, 0, 1, 0, 4, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 2, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 202, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 87, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 79, 114, 98, + 79, 100, 111, 109, 101, 116, 114, 121, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 24, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 0, 0, 0, 3, 0, 1, 0, + 164, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 0, 0, 0, 3, 0, 1, 0, + 172, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 164, 0, 0, 0, 3, 0, 1, 0, + 192, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 0, 0, 0, 3, 0, 1, 0, + 196, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 193, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 0, 0, 0, 3, 0, 1, 0, + 200, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 192, 0, 0, 0, 3, 0, 1, 0, + 220, 0, 0, 0, 2, 0, 1, 0, + 115, 116, 97, 114, 116, 77, 111, 110, + 111, 84, 105, 109, 101, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 110, 100, 77, 111, 110, 111, 84, + 105, 109, 101, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 114, 114, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 110, 108, 105, 101, 114, 115, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 97, 116, 99, 104, 101, 115, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_d7700859ed1f5b76 = b_d7700859ed1f5b76.words; +#if !CAPNP_LITE +static const uint16_t m_d7700859ed1f5b76[] = {1, 3, 2, 4, 5, 0}; +static const uint16_t i_d7700859ed1f5b76[] = {0, 1, 2, 3, 4, 5}; +const ::capnp::_::RawSchema s_d7700859ed1f5b76 = { + 0xd7700859ed1f5b76, b_d7700859ed1f5b76.words, 118, nullptr, m_d7700859ed1f5b76, + 0, 6, i_d7700859ed1f5b76, nullptr, nullptr, { &s_d7700859ed1f5b76, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<143> b_cd60164a8a0159ef = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 239, 89, 1, 138, 74, 22, 96, 205, + 13, 0, 0, 0, 1, 0, 2, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 5, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 202, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 143, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 79, 114, 98, + 70, 101, 97, 116, 117, 114, 101, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 28, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 0, 0, 0, 3, 0, 1, 0, + 192, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 0, 0, 0, 3, 0, 1, 0, + 212, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 0, 0, 0, 3, 0, 1, 0, + 232, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 229, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 0, 0, 0, 3, 0, 1, 0, + 240, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 0, 0, 0, 3, 0, 1, 0, + 4, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 1, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 1, 0, 0, 3, 0, 1, 0, + 16, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 1, 0, 0, 3, 0, 1, 0, + 36, 1, 0, 0, 2, 0, 1, 0, + 116, 105, 109, 101, 115, 116, 97, 109, + 112, 69, 111, 102, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 115, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 115, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 115, 99, 114, 105, 112, 116, + 111, 114, 115, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 99, 116, 97, 118, 101, 115, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 109, 101, 115, 116, 97, 109, + 112, 76, 97, 115, 116, 69, 111, 102, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 97, 116, 99, 104, 101, 115, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_cd60164a8a0159ef = b_cd60164a8a0159ef.words; +#if !CAPNP_LITE +static const uint16_t m_cd60164a8a0159ef[] = {3, 6, 4, 0, 5, 1, 2}; +static const uint16_t i_cd60164a8a0159ef[] = {0, 1, 2, 3, 4, 5, 6}; +const ::capnp::_::RawSchema s_cd60164a8a0159ef = { + 0xcd60164a8a0159ef, b_cd60164a8a0159ef.words, 143, nullptr, m_cd60164a8a0159ef, + 0, 7, i_cd60164a8a0159ef, nullptr, nullptr, { &s_cd60164a8a0159ef, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<99> b_d500d30c5803fa4f = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 79, 250, 3, 88, 12, 211, 0, 213, + 13, 0, 0, 0, 1, 0, 4, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 2, 1, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 31, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 79, 114, 98, + 70, 101, 97, 116, 117, 114, 101, 115, + 83, 117, 109, 109, 97, 114, 121, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 20, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 0, 0, 0, 3, 0, 1, 0, + 136, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 133, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 136, 0, 0, 0, 3, 0, 1, 0, + 148, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 145, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 144, 0, 0, 0, 3, 0, 1, 0, + 156, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 0, 0, 0, 3, 0, 1, 0, + 164, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 0, 0, 0, 3, 0, 1, 0, + 172, 0, 0, 0, 2, 0, 1, 0, + 116, 105, 109, 101, 115, 116, 97, 109, + 112, 69, 111, 102, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 109, 101, 115, 116, 97, 109, + 112, 76, 97, 115, 116, 69, 111, 102, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 101, 97, 116, 117, 114, 101, 67, + 111, 117, 110, 116, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 97, 116, 99, 104, 67, 111, 117, + 110, 116, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 111, 109, 112, 117, 116, 101, 78, + 115, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_d500d30c5803fa4f = b_d500d30c5803fa4f.words; +#if !CAPNP_LITE +static const uint16_t m_d500d30c5803fa4f[] = {4, 2, 3, 0, 1}; +static const uint16_t i_d500d30c5803fa4f[] = {0, 1, 2, 3, 4}; +const ::capnp::_::RawSchema s_d500d30c5803fa4f = { + 0xd500d30c5803fa4f, b_d500d30c5803fa4f.words, 99, nullptr, m_d500d30c5803fa4f, + 0, 5, i_d500d30c5803fa4f, nullptr, nullptr, { &s_d500d30c5803fa4f, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<83> b_c8233c0345e27e24 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 36, 126, 226, 69, 3, 60, 35, 200, + 13, 0, 0, 0, 1, 0, 1, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 3, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 202, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 231, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 79, 114, 98, + 75, 101, 121, 70, 114, 97, 109, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 0, 0, 0, 3, 0, 1, 0, + 104, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 0, 0, 0, 3, 0, 1, 0, + 108, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 0, 0, 0, 3, 0, 1, 0, + 128, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 0, 0, 0, 3, 0, 1, 0, + 136, 0, 0, 0, 2, 0, 1, 0, + 105, 100, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 115, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 71, 52, 152, 36, 213, 187, 91, 194, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 112, 111, 115, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 71, 52, 152, 36, 213, 187, 91, 194, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 115, 99, 114, 105, 112, 116, + 111, 114, 115, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_c8233c0345e27e24 = b_c8233c0345e27e24.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_c8233c0345e27e24[] = { + &s_c25bbbd524983447, +}; +static const uint16_t m_c8233c0345e27e24[] = {3, 2, 0, 1}; +static const uint16_t i_c8233c0345e27e24[] = {0, 1, 2, 3}; +const ::capnp::_::RawSchema s_c8233c0345e27e24 = { + 0xc8233c0345e27e24, b_c8233c0345e27e24.words, 83, d_c8233c0345e27e24, m_c8233c0345e27e24, + 1, 4, i_c8233c0345e27e24, nullptr, nullptr, { &s_c8233c0345e27e24, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<95> b_92e21bb7ea38793a = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 58, 121, 56, 234, 183, 27, 226, 146, + 13, 0, 0, 0, 1, 0, 0, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 4, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 226, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 231, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 75, 97, 108, + 109, 97, 110, 79, 100, 111, 109, 101, + 116, 114, 121, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 0, 0, 0, 3, 0, 1, 0, + 120, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 0, 0, 0, 3, 0, 1, 0, + 140, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 137, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 136, 0, 0, 0, 3, 0, 1, 0, + 164, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 156, 0, 0, 0, 3, 0, 1, 0, + 184, 0, 0, 0, 2, 0, 1, 0, + 116, 114, 97, 110, 115, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 111, 116, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 114, 97, 110, 115, 83, 116, 100, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 111, 116, 83, 116, 100, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_92e21bb7ea38793a = b_92e21bb7ea38793a.words; +#if !CAPNP_LITE +static const uint16_t m_92e21bb7ea38793a[] = {1, 3, 0, 2}; +static const uint16_t i_92e21bb7ea38793a[] = {0, 1, 2, 3}; +const ::capnp::_::RawSchema s_92e21bb7ea38793a = { + 0x92e21bb7ea38793a, b_92e21bb7ea38793a.words, 95, nullptr, m_92e21bb7ea38793a, + 0, 4, i_92e21bb7ea38793a, nullptr, nullptr, { &s_92e21bb7ea38793a, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<92> b_9b326d4e436afec7 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 199, 254, 106, 67, 78, 109, 50, 155, + 13, 0, 0, 0, 1, 0, 2, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 2, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 226, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 231, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 79, 114, 98, + 79, 98, 115, 101, 114, 118, 97, 116, + 105, 111, 110, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 0, 0, 0, 3, 0, 1, 0, + 112, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 0, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 0, 0, 0, 3, 0, 1, 0, + 140, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 137, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 136, 0, 0, 0, 3, 0, 1, 0, + 164, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 0, 0, 0, 3, 0, 1, 0, + 172, 0, 0, 0, 2, 0, 1, 0, + 111, 98, 115, 101, 114, 118, 97, 116, + 105, 111, 110, 77, 111, 110, 111, 84, + 105, 109, 101, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 114, 109, 97, 108, 105, 122, + 101, 100, 67, 111, 111, 114, 100, 105, + 110, 97, 116, 101, 115, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 99, 97, 116, 105, 111, 110, + 69, 67, 69, 70, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 97, 116, 99, 104, 68, 105, 115, + 116, 97, 110, 99, 101, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_9b326d4e436afec7 = b_9b326d4e436afec7.words; +#if !CAPNP_LITE +static const uint16_t m_9b326d4e436afec7[] = {2, 3, 1, 0}; +static const uint16_t i_9b326d4e436afec7[] = {0, 1, 2, 3}; +const ::capnp::_::RawSchema s_9b326d4e436afec7 = { + 0x9b326d4e436afec7, b_9b326d4e436afec7.words, 92, nullptr, m_9b326d4e436afec7, + 0, 4, i_9b326d4e436afec7, nullptr, nullptr, { &s_9b326d4e436afec7, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<91> b_8fdfadb254ea867a = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 122, 134, 234, 84, 178, 173, 223, 143, + 13, 0, 0, 0, 1, 0, 1, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 3, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 10, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 231, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 67, 97, 108, + 105, 98, 114, 97, 116, 105, 111, 110, + 70, 101, 97, 116, 117, 114, 101, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 0, 0, 0, 3, 0, 1, 0, + 104, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 0, 0, 0, 3, 0, 1, 0, + 124, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 0, 0, 0, 3, 0, 1, 0, + 144, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 141, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 136, 0, 0, 0, 3, 0, 1, 0, + 164, 0, 0, 0, 2, 0, 1, 0, + 102, 114, 97, 109, 101, 73, 100, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 48, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 49, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 97, 116, 117, 115, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_8fdfadb254ea867a = b_8fdfadb254ea867a.words; +#if !CAPNP_LITE +static const uint16_t m_8fdfadb254ea867a[] = {0, 1, 2, 3}; +static const uint16_t i_8fdfadb254ea867a[] = {0, 1, 2, 3}; +const ::capnp::_::RawSchema s_8fdfadb254ea867a = { + 0x8fdfadb254ea867a, b_8fdfadb254ea867a.words, 91, nullptr, m_8fdfadb254ea867a, + 0, 4, i_8fdfadb254ea867a, nullptr, nullptr, { &s_8fdfadb254ea867a, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<52> b_bd8822120928120c = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 12, 18, 40, 9, 18, 34, 136, 189, + 13, 0, 0, 0, 1, 0, 1, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 186, 0, 0, 0, + 29, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 78, 97, 118, + 83, 116, 97, 116, 117, 115, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 20, 120, 204, 202, 114, 214, 124, 206, + 1, 0, 0, 0, 66, 0, 0, 0, + 65, 100, 100, 114, 101, 115, 115, 0, + 8, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 0, 0, 0, 3, 0, 1, 0, + 52, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 48, 0, 0, 0, 3, 0, 1, 0, + 60, 0, 0, 0, 2, 0, 1, 0, + 105, 115, 78, 97, 118, 105, 103, 97, + 116, 105, 110, 103, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 114, 114, 101, 110, 116, 65, + 100, 100, 114, 101, 115, 115, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 20, 120, 204, 202, 114, 214, 124, 206, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_bd8822120928120c = b_bd8822120928120c.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_bd8822120928120c[] = { + &s_ce7cd672cacc7814, +}; +static const uint16_t m_bd8822120928120c[] = {1, 0}; +static const uint16_t i_bd8822120928120c[] = {0, 1}; +const ::capnp::_::RawSchema s_bd8822120928120c = { + 0xbd8822120928120c, b_bd8822120928120c.words, 52, d_bd8822120928120c, m_bd8822120928120c, + 1, 2, i_bd8822120928120c, nullptr, nullptr, { &s_bd8822120928120c, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<153> b_ce7cd672cacc7814 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 20, 120, 204, 202, 114, 214, 124, 206, + 23, 0, 0, 0, 1, 0, 2, 0, + 12, 18, 40, 9, 18, 34, 136, 189, + 7, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 250, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 255, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 78, 97, 118, + 83, 116, 97, 116, 117, 115, 46, 65, + 100, 100, 114, 101, 115, 115, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 36, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 0, 0, 0, 3, 0, 1, 0, + 244, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 0, 0, 0, 3, 0, 1, 0, + 248, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 245, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 0, 0, 0, 3, 0, 1, 0, + 252, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 249, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 244, 0, 0, 0, 3, 0, 1, 0, + 0, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 253, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 248, 0, 0, 0, 3, 0, 1, 0, + 4, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 252, 0, 0, 0, 3, 0, 1, 0, + 8, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 1, 0, 0, 3, 0, 1, 0, + 12, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 1, 0, 0, 3, 0, 1, 0, + 16, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 1, 0, 0, 3, 0, 1, 0, + 20, 1, 0, 0, 2, 0, 1, 0, + 116, 105, 116, 108, 101, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 116, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 110, 103, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 111, 117, 115, 101, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 100, 100, 114, 101, 115, 115, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 114, 101, 101, 116, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 105, 116, 121, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 97, 116, 101, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 111, 117, 110, 116, 114, 121, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_ce7cd672cacc7814 = b_ce7cd672cacc7814.words; +#if !CAPNP_LITE +static const uint16_t m_ce7cd672cacc7814[] = {4, 6, 8, 3, 1, 2, 7, 5, 0}; +static const uint16_t i_ce7cd672cacc7814[] = {0, 1, 2, 3, 4, 5, 6, 7, 8}; +const ::capnp::_::RawSchema s_ce7cd672cacc7814 = { + 0xce7cd672cacc7814, b_ce7cd672cacc7814.words, 153, nullptr, m_ce7cd672cacc7814, + 0, 9, i_ce7cd672cacc7814, nullptr, nullptr, { &s_ce7cd672cacc7814, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<75> b_db98be6565516acb = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 203, 106, 81, 101, 101, 190, 152, 219, + 13, 0, 0, 0, 1, 0, 1, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 186, 0, 0, 0, + 29, 0, 0, 0, 39, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 175, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 78, 97, 118, + 85, 112, 100, 97, 116, 101, 0, 0, + 8, 0, 0, 0, 1, 0, 1, 0, + 155, 187, 173, 124, 24, 249, 174, 158, + 9, 0, 0, 0, 58, 0, 0, 0, + 63, 218, 215, 196, 79, 155, 179, 165, + 5, 0, 0, 0, 66, 0, 0, 0, + 76, 97, 116, 76, 110, 103, 0, 0, + 83, 101, 103, 109, 101, 110, 116, 0, + 12, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 0, 0, 0, 3, 0, 1, 0, + 80, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 76, 0, 0, 0, 3, 0, 1, 0, + 88, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 85, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 84, 0, 0, 0, 3, 0, 1, 0, + 112, 0, 0, 0, 2, 0, 1, 0, + 105, 115, 78, 97, 118, 105, 103, 97, + 116, 105, 110, 103, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 114, 83, 101, 103, 109, 101, + 110, 116, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 101, 103, 109, 101, 110, 116, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 63, 218, 215, 196, 79, 155, 179, 165, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_db98be6565516acb = b_db98be6565516acb.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_db98be6565516acb[] = { + &s_a5b39b4fc4d7da3f, +}; +static const uint16_t m_db98be6565516acb[] = {1, 0, 2}; +static const uint16_t i_db98be6565516acb[] = {0, 1, 2}; +const ::capnp::_::RawSchema s_db98be6565516acb = { + 0xdb98be6565516acb, b_db98be6565516acb.words, 75, d_db98be6565516acb, m_db98be6565516acb, + 1, 3, i_db98be6565516acb, nullptr, nullptr, { &s_db98be6565516acb, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<48> b_9eaef9187cadbb9b = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 155, 187, 173, 124, 24, 249, 174, 158, + 23, 0, 0, 0, 1, 0, 2, 0, + 203, 106, 81, 101, 101, 190, 152, 219, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 242, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 78, 97, 118, + 85, 112, 100, 97, 116, 101, 46, 76, + 97, 116, 76, 110, 103, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 8, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 0, 0, 0, 3, 0, 1, 0, + 48, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 0, 0, 0, 3, 0, 1, 0, + 52, 0, 0, 0, 2, 0, 1, 0, + 108, 97, 116, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 110, 103, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_9eaef9187cadbb9b = b_9eaef9187cadbb9b.words; +#if !CAPNP_LITE +static const uint16_t m_9eaef9187cadbb9b[] = {0, 1}; +static const uint16_t i_9eaef9187cadbb9b[] = {0, 1}; +const ::capnp::_::RawSchema s_9eaef9187cadbb9b = { + 0x9eaef9187cadbb9b, b_9eaef9187cadbb9b.words, 48, nullptr, m_9eaef9187cadbb9b, + 0, 2, i_9eaef9187cadbb9b, nullptr, nullptr, { &s_9eaef9187cadbb9b, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<150> b_a5b39b4fc4d7da3f = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 63, 218, 215, 196, 79, 155, 179, 165, + 23, 0, 0, 0, 1, 0, 3, 0, + 203, 106, 81, 101, 101, 190, 152, 219, + 3, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 250, 0, 0, 0, + 33, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 199, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 78, 97, 118, + 85, 112, 100, 97, 116, 101, 46, 83, + 101, 103, 109, 101, 110, 116, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 111, 36, 81, 116, 99, 122, 65, 197, + 1, 0, 0, 0, 98, 0, 0, 0, + 73, 110, 115, 116, 114, 117, 99, 116, + 105, 111, 110, 0, 0, 0, 0, 0, + 32, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 0, 0, 0, 3, 0, 1, 0, + 216, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 213, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 0, 0, 0, 3, 0, 1, 0, + 220, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 217, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 0, 0, 0, 3, 0, 1, 0, + 228, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 0, 0, 0, 3, 0, 1, 0, + 236, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 0, 0, 0, 3, 0, 1, 0, + 244, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 0, 0, 0, 3, 0, 1, 0, + 248, 0, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 245, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 244, 0, 0, 0, 3, 0, 1, 0, + 0, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 253, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 248, 0, 0, 0, 3, 0, 1, 0, + 20, 1, 0, 0, 2, 0, 1, 0, + 102, 114, 111, 109, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 155, 187, 173, 124, 24, 249, 174, 158, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 111, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 155, 187, 173, 124, 24, 249, 174, 158, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 112, 100, 97, 116, 101, 84, 105, + 109, 101, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 105, 115, 116, 97, 110, 99, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 114, 111, 115, 115, 84, 105, 109, + 101, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 120, 105, 116, 78, 111, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 110, 115, 116, 114, 117, 99, 116, + 105, 111, 110, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 111, 36, 81, 116, 99, 122, 65, 197, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 97, 114, 116, 115, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 155, 187, 173, 124, 24, 249, 174, 158, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a5b39b4fc4d7da3f = b_a5b39b4fc4d7da3f.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_a5b39b4fc4d7da3f[] = { + &s_9eaef9187cadbb9b, + &s_c5417a637451246f, +}; +static const uint16_t m_a5b39b4fc4d7da3f[] = {4, 3, 5, 0, 6, 7, 1, 2}; +static const uint16_t i_a5b39b4fc4d7da3f[] = {0, 1, 2, 3, 4, 5, 6, 7}; +const ::capnp::_::RawSchema s_a5b39b4fc4d7da3f = { + 0xa5b39b4fc4d7da3f, b_a5b39b4fc4d7da3f.words, 150, d_a5b39b4fc4d7da3f, m_a5b39b4fc4d7da3f, + 2, 8, i_a5b39b4fc4d7da3f, nullptr, nullptr, { &s_a5b39b4fc4d7da3f, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<117> b_c5417a637451246f = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 111, 36, 81, 116, 99, 122, 65, 197, + 31, 0, 0, 0, 2, 0, 0, 0, + 63, 218, 215, 196, 79, 155, 179, 165, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 90, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 231, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 78, 97, 118, + 85, 112, 100, 97, 116, 101, 46, 83, + 101, 103, 109, 101, 110, 116, 46, 73, + 110, 115, 116, 114, 117, 99, 116, 105, + 111, 110, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 80, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 229, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 225, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 221, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 217, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 213, 0, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 213, 0, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 209, 0, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 209, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 201, 0, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 201, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 193, 0, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 193, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 185, 0, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 173, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 165, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 0, 0, 0, 0, 0, 0, 0, + 161, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 18, 0, 0, 0, 0, 0, 0, 0, + 157, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 19, 0, 0, 0, 0, 0, 0, 0, + 149, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 117, 114, 110, 76, 101, 102, 116, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 117, 114, 110, 82, 105, 103, 104, + 116, 0, 0, 0, 0, 0, 0, 0, + 107, 101, 101, 112, 76, 101, 102, 116, + 0, 0, 0, 0, 0, 0, 0, 0, + 107, 101, 101, 112, 82, 105, 103, 104, + 116, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 114, 97, 105, 103, 104, 116, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 111, 117, 110, 100, 97, 98, 111, + 117, 116, 69, 120, 105, 116, 78, 117, + 109, 98, 101, 114, 0, 0, 0, 0, + 114, 111, 117, 110, 100, 97, 98, 111, + 117, 116, 69, 120, 105, 116, 0, 0, + 114, 111, 117, 110, 100, 97, 98, 111, + 117, 116, 84, 117, 114, 110, 76, 101, + 102, 116, 0, 0, 0, 0, 0, 0, + 117, 110, 107, 110, 56, 0, 0, 0, + 114, 111, 117, 110, 100, 97, 98, 111, + 117, 116, 83, 116, 114, 97, 105, 103, + 104, 116, 0, 0, 0, 0, 0, 0, + 117, 110, 107, 110, 49, 48, 0, 0, + 114, 111, 117, 110, 100, 97, 98, 111, + 117, 116, 84, 117, 114, 110, 82, 105, + 103, 104, 116, 0, 0, 0, 0, 0, + 117, 110, 107, 110, 49, 50, 0, 0, + 114, 111, 117, 110, 100, 97, 98, 111, + 117, 116, 85, 116, 117, 114, 110, 0, + 117, 110, 107, 110, 49, 52, 0, 0, + 97, 114, 114, 105, 118, 101, 0, 0, + 101, 120, 105, 116, 76, 101, 102, 116, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 120, 105, 116, 82, 105, 103, 104, + 116, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 107, 110, 49, 56, 0, 0, + 117, 116, 117, 114, 110, 0, 0, 0, } +}; +::capnp::word const* const bp_c5417a637451246f = b_c5417a637451246f.words; +#if !CAPNP_LITE +static const uint16_t m_c5417a637451246f[] = {15, 16, 17, 2, 3, 6, 5, 9, 7, 11, 13, 4, 0, 1, 10, 12, 14, 18, 8, 19}; +const ::capnp::_::RawSchema s_c5417a637451246f = { + 0xc5417a637451246f, b_c5417a637451246f.words, 117, nullptr, m_c5417a637451246f, + 0, 20, nullptr, nullptr, nullptr, { &s_c5417a637451246f, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(Instruction_c5417a637451246f, c5417a637451246f); +static const ::capnp::_::AlignedData<86> b_acfa74a094e62626 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 38, 38, 230, 148, 160, 116, 250, 172, + 13, 0, 0, 0, 1, 0, 2, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 210, 0, 0, 0, + 33, 0, 0, 0, 39, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 231, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 84, 114, 97, + 102, 102, 105, 99, 69, 118, 101, 110, + 116, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 1, 0, 1, 0, + 75, 191, 53, 52, 37, 117, 93, 216, + 9, 0, 0, 0, 42, 0, 0, 0, + 73, 203, 92, 22, 114, 206, 246, 166, + 5, 0, 0, 0, 58, 0, 0, 0, + 84, 121, 112, 101, 0, 0, 0, 0, + 65, 99, 116, 105, 111, 110, 0, 0, + 16, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 0, 0, 0, 3, 0, 1, 0, + 104, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 0, 0, 0, 3, 0, 1, 0, + 112, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 0, 0, 0, 3, 0, 1, 0, + 116, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 64, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 0, 0, 0, 3, 0, 1, 0, + 124, 0, 0, 0, 2, 0, 1, 0, + 116, 121, 112, 101, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 75, 191, 53, 52, 37, 117, 93, 216, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 105, 115, 116, 97, 110, 99, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 116, 105, 111, 110, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 73, 203, 92, 22, 114, 206, 246, 166, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 115, 117, 109, 105, 110, 103, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_acfa74a094e62626 = b_acfa74a094e62626.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_acfa74a094e62626[] = { + &s_a6f6ce72165ccb49, + &s_d85d75253435bf4b, +}; +static const uint16_t m_acfa74a094e62626[] = {2, 1, 3, 0}; +static const uint16_t i_acfa74a094e62626[] = {0, 1, 2, 3}; +const ::capnp::_::RawSchema s_acfa74a094e62626 = { + 0xacfa74a094e62626, b_acfa74a094e62626.words, 86, d_acfa74a094e62626, m_acfa74a094e62626, + 2, 4, i_acfa74a094e62626, nullptr, nullptr, { &s_acfa74a094e62626, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<43> b_d85d75253435bf4b = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 75, 191, 53, 52, 37, 117, 93, 216, + 26, 0, 0, 0, 2, 0, 0, 0, + 38, 38, 230, 148, 160, 116, 250, 172, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 250, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 127, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 84, 114, 97, + 102, 102, 105, 99, 69, 118, 101, 110, + 116, 46, 84, 121, 112, 101, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 20, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 111, 112, 83, 105, 103, 110, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 105, 103, 104, 116, 82, 101, 100, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 105, 103, 104, 116, 89, 101, 108, + 108, 111, 119, 0, 0, 0, 0, 0, + 108, 105, 103, 104, 116, 71, 114, 101, + 101, 110, 0, 0, 0, 0, 0, 0, + 115, 116, 111, 112, 76, 105, 103, 104, + 116, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_d85d75253435bf4b = b_d85d75253435bf4b.words; +#if !CAPNP_LITE +static const uint16_t m_d85d75253435bf4b[] = {3, 1, 2, 4, 0}; +const ::capnp::_::RawSchema s_d85d75253435bf4b = { + 0xd85d75253435bf4b, b_d85d75253435bf4b.words, 43, nullptr, m_d85d75253435bf4b, + 0, 5, nullptr, nullptr, nullptr, { &s_d85d75253435bf4b, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(Type_d85d75253435bf4b, d85d75253435bf4b); +static const ::capnp::_::AlignedData<36> b_a6f6ce72165ccb49 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 73, 203, 92, 22, 114, 206, 246, 166, + 26, 0, 0, 0, 2, 0, 0, 0, + 38, 38, 230, 148, 160, 116, 250, 172, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 10, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 103, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 84, 114, 97, + 102, 102, 105, 99, 69, 118, 101, 110, + 116, 46, 65, 99, 116, 105, 111, 110, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 17, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 110, 101, 0, 0, 0, 0, + 121, 105, 101, 108, 100, 0, 0, 0, + 115, 116, 111, 112, 0, 0, 0, 0, + 114, 101, 115, 117, 109, 101, 82, 101, + 97, 100, 121, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a6f6ce72165ccb49 = b_a6f6ce72165ccb49.words; +#if !CAPNP_LITE +static const uint16_t m_a6f6ce72165ccb49[] = {0, 3, 2, 1}; +const ::capnp::_::RawSchema s_a6f6ce72165ccb49 = { + 0xa6f6ce72165ccb49, b_a6f6ce72165ccb49.words, 36, nullptr, m_a6f6ce72165ccb49, + 0, 4, nullptr, nullptr, nullptr, { &s_a6f6ce72165ccb49, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(Action_a6f6ce72165ccb49, a6f6ce72165ccb49); +static const ::capnp::_::AlignedData<60> b_dfdf30d03fc485bd = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 189, 133, 196, 63, 208, 48, 223, 223, + 13, 0, 0, 0, 1, 0, 1, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 1, 0, 7, 0, 0, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 202, 0, 0, 0, + 33, 0, 0, 0, 39, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 65, 110, 100, + 114, 111, 105, 100, 71, 110, 115, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 1, 0, 1, 0, + 205, 214, 40, 244, 212, 16, 7, 162, + 9, 0, 0, 0, 106, 0, 0, 0, + 78, 253, 149, 48, 8, 123, 81, 226, + 9, 0, 0, 0, 146, 0, 0, 0, + 77, 101, 97, 115, 117, 114, 101, 109, + 101, 110, 116, 115, 0, 0, 0, 0, + 78, 97, 118, 105, 103, 97, 116, 105, + 111, 110, 77, 101, 115, 115, 97, 103, + 101, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 255, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 0, 0, 0, 3, 0, 1, 0, + 52, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 254, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 52, 0, 0, 0, 3, 0, 1, 0, + 64, 0, 0, 0, 2, 0, 1, 0, + 109, 101, 97, 115, 117, 114, 101, 109, + 101, 110, 116, 115, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 205, 214, 40, 244, 212, 16, 7, 162, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 97, 118, 105, 103, 97, 116, 105, + 111, 110, 77, 101, 115, 115, 97, 103, + 101, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 78, 253, 149, 48, 8, 123, 81, 226, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_dfdf30d03fc485bd = b_dfdf30d03fc485bd.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_dfdf30d03fc485bd[] = { + &s_a20710d4f428d6cd, + &s_e2517b083095fd4e, +}; +static const uint16_t m_dfdf30d03fc485bd[] = {0, 1}; +static const uint16_t i_dfdf30d03fc485bd[] = {0, 1}; +const ::capnp::_::RawSchema s_dfdf30d03fc485bd = { + 0xdfdf30d03fc485bd, b_dfdf30d03fc485bd.words, 60, d_dfdf30d03fc485bd, m_dfdf30d03fc485bd, + 2, 2, i_dfdf30d03fc485bd, nullptr, nullptr, { &s_dfdf30d03fc485bd, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<61> b_a20710d4f428d6cd = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 205, 214, 40, 244, 212, 16, 7, 162, + 25, 0, 0, 0, 1, 0, 0, 0, + 189, 133, 196, 63, 208, 48, 223, 223, + 2, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 50, 1, 0, 0, + 37, 0, 0, 0, 39, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 61, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 65, 110, 100, + 114, 111, 105, 100, 71, 110, 115, 115, + 46, 77, 101, 97, 115, 117, 114, 101, + 109, 101, 110, 116, 115, 0, 0, 0, + 8, 0, 0, 0, 1, 0, 1, 0, + 80, 244, 56, 58, 69, 123, 226, 160, + 9, 0, 0, 0, 50, 0, 0, 0, + 77, 97, 119, 125, 113, 191, 73, 217, + 5, 0, 0, 0, 98, 0, 0, 0, + 67, 108, 111, 99, 107, 0, 0, 0, + 77, 101, 97, 115, 117, 114, 101, 109, + 101, 110, 116, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 0, 0, 0, 3, 0, 1, 0, + 48, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 44, 0, 0, 0, 3, 0, 1, 0, + 72, 0, 0, 0, 2, 0, 1, 0, + 99, 108, 111, 99, 107, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 80, 244, 56, 58, 69, 123, 226, 160, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 101, 97, 115, 117, 114, 101, 109, + 101, 110, 116, 115, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 77, 97, 119, 125, 113, 191, 73, 217, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a20710d4f428d6cd = b_a20710d4f428d6cd.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_a20710d4f428d6cd[] = { + &s_a0e27b453a38f450, + &s_d949bf717d77614d, +}; +static const uint16_t m_a20710d4f428d6cd[] = {0, 1}; +static const uint16_t i_a20710d4f428d6cd[] = {0, 1}; +const ::capnp::_::RawSchema s_a20710d4f428d6cd = { + 0xa20710d4f428d6cd, b_a20710d4f428d6cd.words, 61, d_a20710d4f428d6cd, m_a20710d4f428d6cd, + 2, 2, i_a20710d4f428d6cd, nullptr, nullptr, { &s_a20710d4f428d6cd, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<290> b_a0e27b453a38f450 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 80, 244, 56, 58, 69, 123, 226, 160, + 38, 0, 0, 0, 1, 0, 9, 0, + 205, 214, 40, 244, 212, 16, 7, 162, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 98, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 135, 3, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 65, 110, 100, + 114, 111, 105, 100, 71, 110, 115, 115, + 46, 77, 101, 97, 115, 117, 114, 101, + 109, 101, 110, 116, 115, 46, 67, 108, + 111, 99, 107, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 64, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 1, 0, 0, 3, 0, 1, 0, + 188, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 1, 0, 0, 2, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 192, 1, 0, 0, 3, 0, 1, 0, + 204, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 96, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 201, 1, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 1, 0, 0, 3, 0, 1, 0, + 216, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 213, 1, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 1, 0, 0, 3, 0, 1, 0, + 228, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 97, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 1, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 1, 0, 0, 3, 0, 1, 0, + 236, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 1, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 1, 0, 0, 3, 0, 1, 0, + 244, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 1, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 244, 1, 0, 0, 3, 0, 1, 0, + 0, 2, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 253, 1, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 252, 1, 0, 0, 3, 0, 1, 0, + 8, 2, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 99, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 2, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 2, 0, 0, 3, 0, 1, 0, + 16, 2, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 2, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 2, 0, 0, 3, 0, 1, 0, + 24, 2, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 100, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 2, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 2, 0, 0, 3, 0, 1, 0, + 36, 2, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 2, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 2, 0, 0, 3, 0, 1, 0, + 48, 2, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 101, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 2, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 48, 2, 0, 0, 3, 0, 1, 0, + 60, 2, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 57, 2, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 60, 2, 0, 0, 3, 0, 1, 0, + 72, 2, 0, 0, 2, 0, 1, 0, + 14, 0, 0, 0, 102, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 2, 0, 0, 18, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 80, 2, 0, 0, 3, 0, 1, 0, + 92, 2, 0, 0, 2, 0, 1, 0, + 15, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 2, 0, 0, 250, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 2, 0, 0, 3, 0, 1, 0, + 108, 2, 0, 0, 2, 0, 1, 0, + 116, 105, 109, 101, 78, 97, 110, 111, + 115, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 97, 114, 100, 119, 97, 114, 101, + 67, 108, 111, 99, 107, 68, 105, 115, + 99, 111, 110, 116, 105, 110, 117, 105, + 116, 121, 67, 111, 117, 110, 116, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 97, 115, 84, 105, 109, 101, 85, + 110, 99, 101, 114, 116, 97, 105, 110, + 116, 121, 78, 97, 110, 111, 115, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 109, 101, 85, 110, 99, 101, + 114, 116, 97, 105, 110, 116, 121, 78, + 97, 110, 111, 115, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 97, 115, 76, 101, 97, 112, 83, + 101, 99, 111, 110, 100, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 97, 112, 83, 101, 99, 111, + 110, 100, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 97, 115, 70, 117, 108, 108, 66, + 105, 97, 115, 78, 97, 110, 111, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 117, 108, 108, 66, 105, 97, 115, + 78, 97, 110, 111, 115, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 97, 115, 66, 105, 97, 115, 78, + 97, 110, 111, 115, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 105, 97, 115, 78, 97, 110, 111, + 115, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 97, 115, 66, 105, 97, 115, 85, + 110, 99, 101, 114, 116, 97, 105, 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6, 4, 2, 5, 0, 3}; +static const uint16_t i_a0e27b453a38f450[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15}; +const ::capnp::_::RawSchema s_a0e27b453a38f450 = { + 0xa0e27b453a38f450, b_a0e27b453a38f450.words, 290, nullptr, m_a0e27b453a38f450, + 0, 16, i_a0e27b453a38f450, nullptr, nullptr, { &s_a0e27b453a38f450, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<420> b_d949bf717d77614d = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 77, 97, 119, 125, 113, 191, 73, 217, + 38, 0, 0, 0, 1, 0, 15, 0, + 205, 214, 40, 244, 212, 16, 7, 162, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 146, 1, 0, 0, + 45, 0, 0, 0, 55, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 0, 0, 0, 15, 5, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 65, 110, 100, + 114, 111, 105, 100, 71, 110, 115, 115, + 46, 77, 101, 97, 115, 117, 114, 101, + 109, 101, 110, 116, 115, 46, 77, 101, + 97, 115, 117, 114, 101, 109, 101, 110, + 116, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 1, 0, 1, 0, + 251, 95, 235, 13, 255, 243, 241, 158, + 17, 0, 0, 0, 114, 0, 0, 0, + 114, 45, 225, 220, 10, 73, 185, 203, + 17, 0, 0, 0, 50, 0, 0, 0, + 168, 202, 212, 49, 98, 123, 78, 192, + 13, 0, 0, 0, 154, 0, 0, 0, + 67, 111, 110, 115, 116, 101, 108, 108, + 97, 116, 105, 111, 110, 0, 0, 0, + 83, 116, 97, 116, 101, 0, 0, 0, + 77, 117, 108, 116, 105, 112, 97, 116, + 104, 73, 110, 100, 105, 99, 97, 116, + 111, 114, 0, 0, 0, 0, 0, 0, + 92, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 2, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 2, 0, 0, 3, 0, 1, 0, + 124, 2, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 2, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 2, 0, 0, 3, 0, 1, 0, + 132, 2, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 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0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 97, 115, 67, 97, 114, 114, 105, + 101, 114, 67, 121, 99, 108, 101, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 114, 105, 101, 114, 67, + 121, 99, 108, 101, 115, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 97, 115, 67, 97, 114, 114, 105, + 101, 114, 80, 104, 97, 115, 101, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 114, 105, 101, 114, 80, + 104, 97, 115, 101, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 97, 115, 67, 97, 114, 114, 105, + 101, 114, 80, 104, 97, 115, 101, 85, + 110, 99, 101, 114, 116, 97, 105, 110, + 116, 121, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 114, 105, 101, 114, 80, + 104, 97, 115, 101, 85, 110, 99, 101, + 114, 116, 97, 105, 110, 116, 121, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 97, 115, 83, 110, 114, 73, 110, + 68, 98, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 110, 114, 73, 110, 68, 98, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 117, 108, 116, 105, 112, 97, 116, + 104, 73, 110, 100, 105, 99, 97, 116, + 111, 114, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 168, 202, 212, 49, 98, 123, 78, 192, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_d949bf717d77614d = b_d949bf717d77614d.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_d949bf717d77614d[] = { + &s_9ef1f3ff0deb5ffb, + &s_c04e7b6231d4caa8, +}; +static const uint16_t m_d949bf717d77614d[] = {10, 9, 11, 15, 13, 17, 19, 6, 1, 14, 12, 16, 18, 20, 22, 7, 8, 4, 5, 21, 3, 0, 2}; +static const uint16_t i_d949bf717d77614d[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22}; +const ::capnp::_::RawSchema s_d949bf717d77614d = { + 0xd949bf717d77614d, b_d949bf717d77614d.words, 420, d_d949bf717d77614d, m_d949bf717d77614d, + 2, 23, i_d949bf717d77614d, nullptr, nullptr, { &s_d949bf717d77614d, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<50> b_9ef1f3ff0deb5ffb = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 251, 95, 235, 13, 255, 243, 241, 158, + 50, 0, 0, 0, 2, 0, 0, 0, + 77, 97, 119, 125, 113, 191, 73, 217, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 2, 2, 0, 0, + 49, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 175, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 65, 110, 100, + 114, 111, 105, 100, 71, 110, 115, 115, + 46, 77, 101, 97, 115, 117, 114, 101, + 109, 101, 110, 116, 115, 46, 77, 101, + 97, 115, 117, 114, 101, 109, 101, 110, + 116, 46, 67, 111, 110, 115, 116, 101, + 108, 108, 97, 116, 105, 111, 110, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 28, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 61, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 107, 110, 111, 119, 110, 0, + 103, 112, 115, 0, 0, 0, 0, 0, + 115, 98, 97, 115, 0, 0, 0, 0, + 103, 108, 111, 110, 97, 115, 115, 0, + 113, 122, 115, 115, 0, 0, 0, 0, + 98, 101, 105, 100, 111, 117, 0, 0, + 103, 97, 108, 105, 108, 101, 111, 0, } +}; +::capnp::word const* const bp_9ef1f3ff0deb5ffb = b_9ef1f3ff0deb5ffb.words; +#if !CAPNP_LITE +static const uint16_t m_9ef1f3ff0deb5ffb[] = {5, 6, 3, 1, 4, 2, 0}; +const ::capnp::_::RawSchema s_9ef1f3ff0deb5ffb = { + 0x9ef1f3ff0deb5ffb, b_9ef1f3ff0deb5ffb.words, 50, nullptr, m_9ef1f3ff0deb5ffb, + 0, 7, nullptr, nullptr, nullptr, { &s_9ef1f3ff0deb5ffb, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(Constellation_9ef1f3ff0deb5ffb, 9ef1f3ff0deb5ffb); +static const ::capnp::_::AlignedData<96> b_cbb9490adce12d72 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 114, 45, 225, 220, 10, 73, 185, 203, + 50, 0, 0, 0, 2, 0, 0, 0, + 77, 97, 119, 125, 113, 191, 73, 217, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 194, 1, 0, 0, + 45, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 111, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 65, 110, 100, + 114, 111, 105, 100, 71, 110, 115, 115, + 46, 77, 101, 97, 115, 117, 114, 101, + 109, 101, 110, 116, 115, 46, 77, 101, + 97, 115, 117, 114, 101, 109, 101, 110, + 116, 46, 83, 116, 97, 116, 101, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 60, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 173, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 165, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 161, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 153, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 149, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 145, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 141, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 137, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 133, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 129, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 125, 0, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 125, 0, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 121, 0, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 121, 0, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 117, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 107, 110, 111, 119, 110, 0, + 99, 111, 100, 101, 76, 111, 99, 107, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 105, 116, 83, 121, 110, 99, 0, + 115, 117, 98, 102, 114, 97, 109, 101, + 83, 121, 110, 99, 0, 0, 0, 0, + 116, 111, 119, 68, 101, 99, 111, 100, + 101, 100, 0, 0, 0, 0, 0, 0, + 109, 115, 101, 99, 65, 109, 98, 105, + 103, 117, 111, 117, 115, 0, 0, 0, + 115, 121, 109, 98, 111, 108, 83, 121, + 110, 99, 0, 0, 0, 0, 0, 0, + 103, 108, 111, 83, 116, 114, 105, 110, + 103, 83, 121, 110, 99, 0, 0, 0, + 103, 108, 111, 84, 111, 100, 68, 101, + 99, 111, 100, 101, 100, 0, 0, 0, + 98, 100, 115, 68, 50, 66, 105, 116, + 83, 121, 110, 99, 0, 0, 0, 0, + 98, 100, 115, 68, 50, 83, 117, 98, + 102, 114, 97, 109, 101, 83, 121, 110, + 99, 0, 0, 0, 0, 0, 0, 0, + 103, 97, 108, 69, 49, 98, 99, 67, + 111, 100, 101, 76, 111, 99, 107, 0, + 103, 97, 108, 69, 49, 99, 50, 110, + 100, 67, 111, 100, 101, 76, 111, 99, + 107, 0, 0, 0, 0, 0, 0, 0, + 103, 97, 108, 69, 49, 98, 80, 97, + 103, 101, 83, 121, 110, 99, 0, 0, + 115, 98, 97, 115, 83, 121, 110, 99, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_cbb9490adce12d72 = b_cbb9490adce12d72.words; +#if !CAPNP_LITE +static const uint16_t m_cbb9490adce12d72[] = {9, 10, 2, 1, 13, 11, 12, 7, 8, 5, 14, 3, 6, 4, 0}; +const ::capnp::_::RawSchema s_cbb9490adce12d72 = { + 0xcbb9490adce12d72, b_cbb9490adce12d72.words, 96, nullptr, m_cbb9490adce12d72, + 0, 15, nullptr, nullptr, nullptr, { &s_cbb9490adce12d72, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(State_cbb9490adce12d72, cbb9490adce12d72); +static const ::capnp::_::AlignedData<37> b_c04e7b6231d4caa8 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 168, 202, 212, 49, 98, 123, 78, 192, + 50, 0, 0, 0, 2, 0, 0, 0, + 77, 97, 119, 125, 113, 191, 73, 217, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 42, 2, 0, 0, + 53, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 79, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 65, 110, 100, + 114, 111, 105, 100, 71, 110, 115, 115, + 46, 77, 101, 97, 115, 117, 114, 101, + 109, 101, 110, 116, 115, 46, 77, 101, + 97, 115, 117, 114, 101, 109, 101, 110, + 116, 46, 77, 117, 108, 116, 105, 112, + 97, 116, 104, 73, 110, 100, 105, 99, + 97, 116, 111, 114, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 17, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 107, 110, 111, 119, 110, 0, + 100, 101, 116, 101, 99, 116, 101, 100, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 116, 68, 101, 116, 101, 99, + 116, 101, 100, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_c04e7b6231d4caa8 = b_c04e7b6231d4caa8.words; +#if !CAPNP_LITE +static const uint16_t m_c04e7b6231d4caa8[] = {1, 2, 0}; +const ::capnp::_::RawSchema s_c04e7b6231d4caa8 = { + 0xc04e7b6231d4caa8, b_c04e7b6231d4caa8.words, 37, nullptr, m_c04e7b6231d4caa8, + 0, 3, nullptr, nullptr, nullptr, { &s_c04e7b6231d4caa8, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(MultipathIndicator_c04e7b6231d4caa8, c04e7b6231d4caa8); +static const ::capnp::_::AlignedData<115> b_e2517b083095fd4e = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 78, 253, 149, 48, 8, 123, 81, 226, + 25, 0, 0, 0, 1, 0, 3, 0, + 189, 133, 196, 63, 208, 48, 223, 223, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 90, 1, 0, 0, + 41, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 87, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 65, 110, 100, + 114, 111, 105, 100, 71, 110, 115, 115, + 46, 78, 97, 118, 105, 103, 97, 116, + 105, 111, 110, 77, 101, 115, 115, 97, + 103, 101, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 111, 54, 53, 107, 153, 247, 31, 236, + 1, 0, 0, 0, 58, 0, 0, 0, + 83, 116, 97, 116, 117, 115, 0, 0, + 24, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 148, 0, 0, 0, 3, 0, 1, 0, + 160, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 157, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 0, 0, 0, 3, 0, 1, 0, + 164, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 0, 0, 0, 3, 0, 1, 0, + 172, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 0, 0, 0, 3, 0, 1, 0, + 180, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 172, 0, 0, 0, 3, 0, 1, 0, + 184, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 0, 0, 0, 3, 0, 1, 0, + 188, 0, 0, 0, 2, 0, 1, 0, + 116, 121, 112, 101, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 118, 73, 100, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 101, 115, 115, 97, 103, 101, 73, + 100, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 117, 98, 109, 101, 115, 115, 97, + 103, 101, 73, 100, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 97, 116, 97, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 97, 116, 117, 115, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 111, 54, 53, 107, 153, 247, 31, 236, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e2517b083095fd4e = b_e2517b083095fd4e.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_e2517b083095fd4e[] = { + &s_ec1ff7996b35366f, +}; +static const uint16_t m_e2517b083095fd4e[] = {4, 2, 5, 3, 1, 0}; +static const uint16_t i_e2517b083095fd4e[] = {0, 1, 2, 3, 4, 5}; +const ::capnp::_::RawSchema s_e2517b083095fd4e = { + 0xe2517b083095fd4e, b_e2517b083095fd4e.words, 115, d_e2517b083095fd4e, m_e2517b083095fd4e, + 1, 6, i_e2517b083095fd4e, nullptr, nullptr, { &s_e2517b083095fd4e, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<35> b_ec1ff7996b35366f = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 111, 54, 53, 107, 153, 247, 31, 236, + 43, 0, 0, 0, 2, 0, 0, 0, + 78, 253, 149, 48, 8, 123, 81, 226, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 146, 1, 0, 0, + 45, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 79, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 65, 110, 100, + 114, 111, 105, 100, 71, 110, 115, 115, + 46, 78, 97, 118, 105, 103, 97, 116, + 105, 111, 110, 77, 101, 115, 115, 97, + 103, 101, 46, 83, 116, 97, 116, 117, + 115, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 17, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 107, 110, 111, 119, 110, 0, + 112, 97, 114, 105, 116, 121, 80, 97, + 115, 115, 101, 100, 0, 0, 0, 0, + 112, 97, 114, 105, 116, 121, 82, 101, + 98, 117, 105, 108, 116, 0, 0, 0, } +}; +::capnp::word const* const bp_ec1ff7996b35366f = b_ec1ff7996b35366f.words; +#if !CAPNP_LITE +static const uint16_t m_ec1ff7996b35366f[] = {1, 2, 0}; +const ::capnp::_::RawSchema s_ec1ff7996b35366f = { + 0xec1ff7996b35366f, b_ec1ff7996b35366f.words, 35, nullptr, m_ec1ff7996b35366f, + 0, 3, nullptr, nullptr, nullptr, { &s_ec1ff7996b35366f, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(Status_ec1ff7996b35366f, ec1ff7996b35366f); +static const ::capnp::_::AlignedData<104> b_e3d6685d4e9d8f7a = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 122, 143, 157, 78, 93, 104, 214, 227, + 13, 0, 0, 0, 1, 0, 1, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 4, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 178, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 31, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 76, 105, 100, + 97, 114, 80, 116, 115, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 20, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 0, 0, 0, 3, 0, 1, 0, + 148, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 145, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 140, 0, 0, 0, 3, 0, 1, 0, + 168, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 165, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 0, 0, 0, 3, 0, 1, 0, + 188, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 0, 0, 0, 3, 0, 1, 0, + 192, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 0, 0, 0, 3, 0, 1, 0, + 196, 0, 0, 0, 2, 0, 1, 0, + 114, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 104, 101, 116, 97, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 102, 108, 101, 99, 116, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 100, 120, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 107, 116, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e3d6685d4e9d8f7a = b_e3d6685d4e9d8f7a.words; +#if !CAPNP_LITE +static const uint16_t m_e3d6685d4e9d8f7a[] = {3, 4, 0, 2, 1}; +static const uint16_t i_e3d6685d4e9d8f7a[] = {0, 1, 2, 3, 4}; +const ::capnp::_::RawSchema s_e3d6685d4e9d8f7a = { + 0xe3d6685d4e9d8f7a, b_e3d6685d4e9d8f7a.words, 104, nullptr, m_e3d6685d4e9d8f7a, + 0, 5, i_e3d6685d4e9d8f7a, nullptr, nullptr, { &s_e3d6685d4e9d8f7a, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +} // namespace schemas +} // namespace capnp + +// ======================================================================================= + +namespace cereal { + +// LogRotate +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t LogRotate::_capnpPrivate::dataWordSize; +constexpr uint16_t LogRotate::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind LogRotate::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* LogRotate::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// LiveUI +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t LiveUI::_capnpPrivate::dataWordSize; +constexpr uint16_t LiveUI::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind LiveUI::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* LiveUI::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// UiLayoutState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t UiLayoutState::_capnpPrivate::dataWordSize; +constexpr uint16_t UiLayoutState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind UiLayoutState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* UiLayoutState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// OrbslamCorrection +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t OrbslamCorrection::_capnpPrivate::dataWordSize; +constexpr uint16_t OrbslamCorrection::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind OrbslamCorrection::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* OrbslamCorrection::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// EthernetPacket +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t EthernetPacket::_capnpPrivate::dataWordSize; +constexpr uint16_t EthernetPacket::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind EthernetPacket::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* EthernetPacket::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CellInfo +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CellInfo::_capnpPrivate::dataWordSize; +constexpr uint16_t CellInfo::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CellInfo::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CellInfo::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// WifiScan +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t WifiScan::_capnpPrivate::dataWordSize; +constexpr uint16_t WifiScan::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind WifiScan::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* WifiScan::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// LiveEventData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t LiveEventData::_capnpPrivate::dataWordSize; +constexpr uint16_t LiveEventData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind LiveEventData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* LiveEventData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ModelData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ModelData::_capnpPrivate::dataWordSize; +constexpr uint16_t ModelData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ModelData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ModelData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ModelData::PathData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ModelData::PathData::_capnpPrivate::dataWordSize; +constexpr uint16_t ModelData::PathData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ModelData::PathData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ModelData::PathData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ModelData::LeadData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ModelData::LeadData::_capnpPrivate::dataWordSize; +constexpr uint16_t ModelData::LeadData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ModelData::LeadData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ModelData::LeadData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ModelData::ModelSettings +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ModelData::ModelSettings::_capnpPrivate::dataWordSize; +constexpr uint16_t ModelData::ModelSettings::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ModelData::ModelSettings::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ModelData::ModelSettings::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ModelData::MetaData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ModelData::MetaData::_capnpPrivate::dataWordSize; +constexpr uint16_t ModelData::MetaData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ModelData::MetaData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ModelData::MetaData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ModelData::LongitudinalData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ModelData::LongitudinalData::_capnpPrivate::dataWordSize; +constexpr uint16_t ModelData::LongitudinalData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ModelData::LongitudinalData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ModelData::LongitudinalData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ECEFPoint +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ECEFPoint::_capnpPrivate::dataWordSize; +constexpr uint16_t ECEFPoint::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ECEFPoint::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ECEFPoint::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ECEFPointDEPRECATED +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ECEFPointDEPRECATED::_capnpPrivate::dataWordSize; +constexpr uint16_t ECEFPointDEPRECATED::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ECEFPointDEPRECATED::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ECEFPointDEPRECATED::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// GPSPlannerPoints +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t GPSPlannerPoints::_capnpPrivate::dataWordSize; +constexpr uint16_t GPSPlannerPoints::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind GPSPlannerPoints::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* GPSPlannerPoints::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// GPSPlannerPlan +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t GPSPlannerPlan::_capnpPrivate::dataWordSize; +constexpr uint16_t GPSPlannerPlan::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind GPSPlannerPlan::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* GPSPlannerPlan::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// UiNavigationEvent +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t UiNavigationEvent::_capnpPrivate::dataWordSize; +constexpr uint16_t UiNavigationEvent::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind UiNavigationEvent::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* UiNavigationEvent::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// LiveLocationData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t LiveLocationData::_capnpPrivate::dataWordSize; +constexpr uint16_t LiveLocationData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind LiveLocationData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* LiveLocationData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// LiveLocationData::Accuracy +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t LiveLocationData::Accuracy::_capnpPrivate::dataWordSize; +constexpr uint16_t LiveLocationData::Accuracy::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind LiveLocationData::Accuracy::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* LiveLocationData::Accuracy::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// OrbOdometry +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t OrbOdometry::_capnpPrivate::dataWordSize; +constexpr uint16_t OrbOdometry::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind OrbOdometry::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* OrbOdometry::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// OrbFeatures +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t OrbFeatures::_capnpPrivate::dataWordSize; +constexpr uint16_t OrbFeatures::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind OrbFeatures::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* OrbFeatures::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// OrbFeaturesSummary +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t OrbFeaturesSummary::_capnpPrivate::dataWordSize; +constexpr uint16_t OrbFeaturesSummary::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind OrbFeaturesSummary::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* OrbFeaturesSummary::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// OrbKeyFrame +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t OrbKeyFrame::_capnpPrivate::dataWordSize; +constexpr uint16_t OrbKeyFrame::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind OrbKeyFrame::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* OrbKeyFrame::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// KalmanOdometry +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t KalmanOdometry::_capnpPrivate::dataWordSize; +constexpr uint16_t KalmanOdometry::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind KalmanOdometry::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* KalmanOdometry::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// OrbObservation +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t OrbObservation::_capnpPrivate::dataWordSize; +constexpr uint16_t OrbObservation::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind OrbObservation::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* OrbObservation::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CalibrationFeatures +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CalibrationFeatures::_capnpPrivate::dataWordSize; +constexpr uint16_t CalibrationFeatures::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CalibrationFeatures::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CalibrationFeatures::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// NavStatus +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t NavStatus::_capnpPrivate::dataWordSize; +constexpr uint16_t NavStatus::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind NavStatus::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* NavStatus::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// NavStatus::Address +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t NavStatus::Address::_capnpPrivate::dataWordSize; +constexpr uint16_t NavStatus::Address::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind NavStatus::Address::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* NavStatus::Address::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// NavUpdate +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t NavUpdate::_capnpPrivate::dataWordSize; +constexpr uint16_t NavUpdate::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind NavUpdate::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* NavUpdate::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// NavUpdate::LatLng +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t NavUpdate::LatLng::_capnpPrivate::dataWordSize; +constexpr uint16_t NavUpdate::LatLng::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind NavUpdate::LatLng::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* NavUpdate::LatLng::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// NavUpdate::Segment +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t NavUpdate::Segment::_capnpPrivate::dataWordSize; +constexpr uint16_t NavUpdate::Segment::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind NavUpdate::Segment::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* NavUpdate::Segment::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// TrafficEvent +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t TrafficEvent::_capnpPrivate::dataWordSize; +constexpr uint16_t TrafficEvent::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind TrafficEvent::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* TrafficEvent::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// AndroidGnss +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t AndroidGnss::_capnpPrivate::dataWordSize; +constexpr uint16_t AndroidGnss::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind AndroidGnss::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* AndroidGnss::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// AndroidGnss::Measurements +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t AndroidGnss::Measurements::_capnpPrivate::dataWordSize; +constexpr uint16_t AndroidGnss::Measurements::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind AndroidGnss::Measurements::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* AndroidGnss::Measurements::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// AndroidGnss::Measurements::Clock +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t AndroidGnss::Measurements::Clock::_capnpPrivate::dataWordSize; +constexpr uint16_t AndroidGnss::Measurements::Clock::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind AndroidGnss::Measurements::Clock::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* AndroidGnss::Measurements::Clock::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// AndroidGnss::Measurements::Measurement +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t AndroidGnss::Measurements::Measurement::_capnpPrivate::dataWordSize; +constexpr uint16_t AndroidGnss::Measurements::Measurement::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind AndroidGnss::Measurements::Measurement::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* AndroidGnss::Measurements::Measurement::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// AndroidGnss::NavigationMessage +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t AndroidGnss::NavigationMessage::_capnpPrivate::dataWordSize; +constexpr uint16_t AndroidGnss::NavigationMessage::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind AndroidGnss::NavigationMessage::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* AndroidGnss::NavigationMessage::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// LidarPts +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t LidarPts::_capnpPrivate::dataWordSize; +constexpr uint16_t LidarPts::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind LidarPts::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* LidarPts::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + + +} // namespace + diff --git a/cereal/gen/cpp/legacy.capnp.h b/cereal/gen/cpp/legacy.capnp.h new file mode 100644 index 0000000000..0038e679af --- /dev/null +++ b/cereal/gen/cpp/legacy.capnp.h @@ -0,0 +1,11415 @@ +// Generated by Cap'n Proto compiler, DO NOT EDIT +// source: legacy.capnp + +#pragma once + +#include +#include + +#ifndef CAPNP_VERSION +#error "CAPNP_VERSION is not defined, is capnp/generated-header-support.h missing?" +#elif CAPNP_VERSION != 1000002 +#error "Version mismatch between generated code and library headers. You must use the same version of the Cap'n Proto compiler and library." +#endif + + +CAPNP_BEGIN_HEADER + +namespace capnp { +namespace schemas { + +CAPNP_DECLARE_SCHEMA(9811e1f38f62f2d1); +CAPNP_DECLARE_SCHEMA(c08240f996aefced); +CAPNP_DECLARE_SCHEMA(88dcce08ad29dda0); +CAPNP_DECLARE_SCHEMA(9917470acf94d285); +enum class App_9917470acf94d285: uint16_t { + HOME, + MUSIC, + NAV, + SETTINGS, + NONE, +}; +CAPNP_DECLARE_ENUM(App, 9917470acf94d285); +CAPNP_DECLARE_SCHEMA(8afd33dc9b35e1aa); +CAPNP_DECLARE_SCHEMA(a99a9d5b33cf5859); +CAPNP_DECLARE_SCHEMA(cff7566681c277ce); +CAPNP_DECLARE_SCHEMA(d4df5a192382ba0b); +CAPNP_DECLARE_SCHEMA(cb6a279f015f6b51); +enum class ChannelWidth_cb6a279f015f6b51: uint16_t { + W20_MHZ, + W40_MHZ, + W80_MHZ, + W160_MHZ, + W80_PLUS80_MHZ, +}; +CAPNP_DECLARE_ENUM(ChannelWidth, cb6a279f015f6b51); +CAPNP_DECLARE_SCHEMA(94b7baa90c5c321e); +CAPNP_DECLARE_SCHEMA(b8aad62cffef28a9); +CAPNP_DECLARE_SCHEMA(8817eeea389e9f08); +CAPNP_DECLARE_SCHEMA(d1c9bef96d26fa91); +CAPNP_DECLARE_SCHEMA(a26e3710efd3e914); +CAPNP_DECLARE_SCHEMA(9744f25fb60f2bf8); +CAPNP_DECLARE_SCHEMA(f98f999c6a071122); +CAPNP_DECLARE_SCHEMA(c25bbbd524983447); +CAPNP_DECLARE_SCHEMA(e10e21168db0c7f7); +CAPNP_DECLARE_SCHEMA(ab54c59699f8f9f3); +CAPNP_DECLARE_SCHEMA(f5ad1d90cdc1dd6b); +CAPNP_DECLARE_SCHEMA(90c8426c3eaddd3b); +CAPNP_DECLARE_SCHEMA(e8db07dcf8fcea05); +enum class Type_e8db07dcf8fcea05: uint16_t { + NONE, + LANE_CHANGE_LEFT, + LANE_CHANGE_RIGHT, + MERGE_LEFT, + MERGE_RIGHT, + TURN_LEFT, + TURN_RIGHT, +}; +CAPNP_DECLARE_ENUM(Type, e8db07dcf8fcea05); +CAPNP_DECLARE_SCHEMA(b9aa88c75ef99a1f); +enum class Status_b9aa88c75ef99a1f: uint16_t { + NONE, + PASSIVE, + APPROACHING, + ACTIVE, +}; +CAPNP_DECLARE_ENUM(Status, b9aa88c75ef99a1f); +CAPNP_DECLARE_SCHEMA(b99b2bc7a57e8128); +CAPNP_DECLARE_SCHEMA(943dc4625473b03f); +CAPNP_DECLARE_SCHEMA(c871d3cc252af657); +enum class SensorSource_c871d3cc252af657: uint16_t { + APPLANIX, + KALMAN, + ORBSLAM, + TIMING, + DUMMY, +}; +CAPNP_DECLARE_ENUM(SensorSource, c871d3cc252af657); +CAPNP_DECLARE_SCHEMA(d7700859ed1f5b76); +CAPNP_DECLARE_SCHEMA(cd60164a8a0159ef); +CAPNP_DECLARE_SCHEMA(d500d30c5803fa4f); +CAPNP_DECLARE_SCHEMA(c8233c0345e27e24); +CAPNP_DECLARE_SCHEMA(92e21bb7ea38793a); +CAPNP_DECLARE_SCHEMA(9b326d4e436afec7); +CAPNP_DECLARE_SCHEMA(8fdfadb254ea867a); +CAPNP_DECLARE_SCHEMA(bd8822120928120c); +CAPNP_DECLARE_SCHEMA(ce7cd672cacc7814); +CAPNP_DECLARE_SCHEMA(db98be6565516acb); +CAPNP_DECLARE_SCHEMA(9eaef9187cadbb9b); +CAPNP_DECLARE_SCHEMA(a5b39b4fc4d7da3f); +CAPNP_DECLARE_SCHEMA(c5417a637451246f); +enum class Instruction_c5417a637451246f: uint16_t { + TURN_LEFT, + TURN_RIGHT, + KEEP_LEFT, + KEEP_RIGHT, + STRAIGHT, + ROUNDABOUT_EXIT_NUMBER, + ROUNDABOUT_EXIT, + ROUNDABOUT_TURN_LEFT, + UNKN8, + ROUNDABOUT_STRAIGHT, + UNKN10, + ROUNDABOUT_TURN_RIGHT, + UNKN12, + ROUNDABOUT_UTURN, + UNKN14, + ARRIVE, + EXIT_LEFT, + EXIT_RIGHT, + UNKN18, + UTURN, +}; +CAPNP_DECLARE_ENUM(Instruction, c5417a637451246f); +CAPNP_DECLARE_SCHEMA(acfa74a094e62626); +CAPNP_DECLARE_SCHEMA(d85d75253435bf4b); +enum class Type_d85d75253435bf4b: uint16_t { + STOP_SIGN, + LIGHT_RED, + LIGHT_YELLOW, + LIGHT_GREEN, + STOP_LIGHT, +}; +CAPNP_DECLARE_ENUM(Type, d85d75253435bf4b); +CAPNP_DECLARE_SCHEMA(a6f6ce72165ccb49); +enum class Action_a6f6ce72165ccb49: uint16_t { + NONE, + YIELD, + STOP, + RESUME_READY, +}; +CAPNP_DECLARE_ENUM(Action, a6f6ce72165ccb49); +CAPNP_DECLARE_SCHEMA(dfdf30d03fc485bd); +CAPNP_DECLARE_SCHEMA(a20710d4f428d6cd); +CAPNP_DECLARE_SCHEMA(a0e27b453a38f450); +CAPNP_DECLARE_SCHEMA(d949bf717d77614d); +CAPNP_DECLARE_SCHEMA(9ef1f3ff0deb5ffb); +enum class Constellation_9ef1f3ff0deb5ffb: uint16_t { + UNKNOWN, + GPS, + SBAS, + GLONASS, + QZSS, + BEIDOU, + GALILEO, +}; +CAPNP_DECLARE_ENUM(Constellation, 9ef1f3ff0deb5ffb); +CAPNP_DECLARE_SCHEMA(cbb9490adce12d72); +enum class State_cbb9490adce12d72: uint16_t { + UNKNOWN, + CODE_LOCK, + BIT_SYNC, + SUBFRAME_SYNC, + TOW_DECODED, + MSEC_AMBIGUOUS, + SYMBOL_SYNC, + GLO_STRING_SYNC, + GLO_TOD_DECODED, + BDS_D2_BIT_SYNC, + BDS_D2_SUBFRAME_SYNC, + GAL_E1BC_CODE_LOCK, + GAL_E1C2ND_CODE_LOCK, + GAL_E1B_PAGE_SYNC, + SBAS_SYNC, +}; +CAPNP_DECLARE_ENUM(State, cbb9490adce12d72); +CAPNP_DECLARE_SCHEMA(c04e7b6231d4caa8); +enum class MultipathIndicator_c04e7b6231d4caa8: uint16_t { + UNKNOWN, + DETECTED, + NOT_DETECTED, +}; +CAPNP_DECLARE_ENUM(MultipathIndicator, c04e7b6231d4caa8); +CAPNP_DECLARE_SCHEMA(e2517b083095fd4e); +CAPNP_DECLARE_SCHEMA(ec1ff7996b35366f); +enum class Status_ec1ff7996b35366f: uint16_t { + UNKNOWN, + PARITY_PASSED, + PARITY_REBUILT, +}; +CAPNP_DECLARE_ENUM(Status, ec1ff7996b35366f); +CAPNP_DECLARE_SCHEMA(e3d6685d4e9d8f7a); + +} // namespace schemas +} // namespace capnp + +namespace cereal { + +struct LogRotate { + LogRotate() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(9811e1f38f62f2d1, 1, 1) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct LiveUI { + LiveUI() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(c08240f996aefced, 1, 2) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct UiLayoutState { + UiLayoutState() = delete; + + class Reader; + class Builder; + class Pipeline; + typedef ::capnp::schemas::App_9917470acf94d285 App; + + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(88dcce08ad29dda0, 1, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct OrbslamCorrection { + OrbslamCorrection() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(8afd33dc9b35e1aa, 2, 4) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct EthernetPacket { + EthernetPacket() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(a99a9d5b33cf5859, 1, 1) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct CellInfo { + CellInfo() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(cff7566681c277ce, 1, 1) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct WifiScan { + WifiScan() = delete; + + class Reader; + class Builder; + class Pipeline; + typedef ::capnp::schemas::ChannelWidth_cb6a279f015f6b51 ChannelWidth; + + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(d4df5a192382ba0b, 5, 5) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct LiveEventData { + LiveEventData() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(94b7baa90c5c321e, 1, 1) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct ModelData { + ModelData() = delete; + + class Reader; + class Builder; + class Pipeline; + struct PathData; + struct LeadData; + struct ModelSettings; + struct MetaData; + struct LongitudinalData; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(b8aad62cffef28a9, 4, 11) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct ModelData::PathData { + PathData() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(8817eeea389e9f08, 2, 3) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct ModelData::LeadData { + LeadData() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(d1c9bef96d26fa91, 5, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct ModelData::ModelSettings { + ModelSettings() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(a26e3710efd3e914, 1, 3) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct ModelData::MetaData { + MetaData() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(9744f25fb60f2bf8, 2, 2) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct ModelData::LongitudinalData { + LongitudinalData() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(f98f999c6a071122, 0, 3) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct ECEFPoint { + ECEFPoint() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(c25bbbd524983447, 3, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct ECEFPointDEPRECATED { + ECEFPointDEPRECATED() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(e10e21168db0c7f7, 2, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct GPSPlannerPoints { + GPSPlannerPoints() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(ab54c59699f8f9f3, 2, 5) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct GPSPlannerPlan { + GPSPlannerPlan() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(f5ad1d90cdc1dd6b, 2, 4) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct UiNavigationEvent { + UiNavigationEvent() = delete; + + class Reader; + class Builder; + class Pipeline; + typedef ::capnp::schemas::Type_e8db07dcf8fcea05 Type; + + typedef ::capnp::schemas::Status_b9aa88c75ef99a1f Status; + + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(90c8426c3eaddd3b, 1, 2) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct LiveLocationData { + LiveLocationData() = delete; + + class Reader; + class Builder; + class Pipeline; + struct Accuracy; + typedef ::capnp::schemas::SensorSource_c871d3cc252af657 SensorSource; + + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(b99b2bc7a57e8128, 10, 7) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct LiveLocationData::Accuracy { + Accuracy() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(943dc4625473b03f, 3, 2) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct OrbOdometry { + OrbOdometry() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(d7700859ed1f5b76, 4, 2) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct OrbFeatures { + OrbFeatures() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(cd60164a8a0159ef, 2, 5) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct OrbFeaturesSummary { + OrbFeaturesSummary() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(d500d30c5803fa4f, 4, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct OrbKeyFrame { + OrbKeyFrame() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(c8233c0345e27e24, 1, 3) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct KalmanOdometry { + KalmanOdometry() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(92e21bb7ea38793a, 0, 4) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct OrbObservation { + OrbObservation() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(9b326d4e436afec7, 2, 2) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct CalibrationFeatures { + CalibrationFeatures() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(8fdfadb254ea867a, 1, 3) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct NavStatus { + NavStatus() = delete; + + class Reader; + class Builder; + class Pipeline; + struct Address; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(bd8822120928120c, 1, 1) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct NavStatus::Address { + Address() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(ce7cd672cacc7814, 2, 7) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct NavUpdate { + NavUpdate() = delete; + + class Reader; + class Builder; + class Pipeline; + struct LatLng; + struct Segment; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(db98be6565516acb, 1, 1) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct NavUpdate::LatLng { + LatLng() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(9eaef9187cadbb9b, 2, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct NavUpdate::Segment { + Segment() = delete; + + class Reader; + class Builder; + class Pipeline; + typedef ::capnp::schemas::Instruction_c5417a637451246f Instruction; + + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(a5b39b4fc4d7da3f, 3, 3) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct TrafficEvent { + TrafficEvent() = delete; + + class Reader; + class Builder; + class Pipeline; + typedef ::capnp::schemas::Type_d85d75253435bf4b Type; + + typedef ::capnp::schemas::Action_a6f6ce72165ccb49 Action; + + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(acfa74a094e62626, 2, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct AndroidGnss { + AndroidGnss() = delete; + + class Reader; + class Builder; + class Pipeline; + enum Which: uint16_t { + MEASUREMENTS, + NAVIGATION_MESSAGE, + }; + struct Measurements; + struct NavigationMessage; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(dfdf30d03fc485bd, 1, 1) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct AndroidGnss::Measurements { + Measurements() = delete; + + class Reader; + class Builder; + class Pipeline; + struct Clock; + struct Measurement; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(a20710d4f428d6cd, 0, 2) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct AndroidGnss::Measurements::Clock { + Clock() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(a0e27b453a38f450, 9, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct AndroidGnss::Measurements::Measurement { + Measurement() = delete; + + class Reader; + class Builder; + class Pipeline; + typedef ::capnp::schemas::Constellation_9ef1f3ff0deb5ffb Constellation; + + typedef ::capnp::schemas::State_cbb9490adce12d72 State; + + typedef ::capnp::schemas::MultipathIndicator_c04e7b6231d4caa8 MultipathIndicator; + + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(d949bf717d77614d, 15, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct AndroidGnss::NavigationMessage { + NavigationMessage() = delete; + + class Reader; + class Builder; + class Pipeline; + typedef ::capnp::schemas::Status_ec1ff7996b35366f Status; + + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(e2517b083095fd4e, 3, 1) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct LidarPts { + LidarPts() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(e3d6685d4e9d8f7a, 1, 4) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +// ======================================================================================= + +class LogRotate::Reader { +public: + typedef LogRotate Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::int32_t getSegmentNum() const; + + inline bool hasPath() const; + inline ::capnp::Text::Reader getPath() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class LogRotate::Builder { +public: + typedef LogRotate Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::int32_t getSegmentNum(); + inline void setSegmentNum( ::int32_t value); + + inline bool hasPath(); + inline ::capnp::Text::Builder getPath(); + inline void setPath( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initPath(unsigned int size); + inline void adoptPath(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownPath(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class LogRotate::Pipeline { +public: + typedef LogRotate Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class LiveUI::Reader { +public: + typedef LiveUI Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool getRearViewCam() const; + + inline bool hasAlertText1() const; + inline ::capnp::Text::Reader getAlertText1() const; + + inline bool hasAlertText2() const; + inline ::capnp::Text::Reader getAlertText2() const; + + inline float getAwarenessStatus() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class LiveUI::Builder { +public: + typedef LiveUI Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool getRearViewCam(); + inline void setRearViewCam(bool value); + + inline bool hasAlertText1(); + inline ::capnp::Text::Builder getAlertText1(); + inline void setAlertText1( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initAlertText1(unsigned int size); + inline void adoptAlertText1(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownAlertText1(); + + inline bool hasAlertText2(); + inline ::capnp::Text::Builder getAlertText2(); + inline void setAlertText2( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initAlertText2(unsigned int size); + inline void adoptAlertText2(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownAlertText2(); + + inline float getAwarenessStatus(); + inline void setAwarenessStatus(float value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class LiveUI::Pipeline { +public: + typedef LiveUI Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class UiLayoutState::Reader { +public: + typedef UiLayoutState Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::cereal::UiLayoutState::App getActiveApp() const; + + inline bool getSidebarCollapsed() const; + + inline bool getMapEnabled() const; + + inline bool getMockEngaged() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class UiLayoutState::Builder { +public: + typedef UiLayoutState Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::cereal::UiLayoutState::App getActiveApp(); + inline void setActiveApp( ::cereal::UiLayoutState::App value); + + inline bool getSidebarCollapsed(); + inline void setSidebarCollapsed(bool value); + + inline bool getMapEnabled(); + inline void setMapEnabled(bool value); + + inline bool getMockEngaged(); + inline void setMockEngaged(bool value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class UiLayoutState::Pipeline { +public: + typedef UiLayoutState Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class OrbslamCorrection::Reader { +public: + typedef OrbslamCorrection Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::uint64_t getCorrectionMonoTime() const; + + inline bool hasPrePositionECEF() const; + inline ::capnp::List::Reader getPrePositionECEF() const; + + inline bool hasPostPositionECEF() const; + inline ::capnp::List::Reader getPostPositionECEF() const; + + inline bool hasPrePoseQuatECEF() const; + inline ::capnp::List::Reader getPrePoseQuatECEF() const; + + inline bool hasPostPoseQuatECEF() const; + inline ::capnp::List::Reader getPostPoseQuatECEF() const; + + inline ::uint32_t getNumInliers() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class OrbslamCorrection::Builder { +public: + typedef OrbslamCorrection Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::uint64_t getCorrectionMonoTime(); + inline void setCorrectionMonoTime( ::uint64_t value); + + inline bool hasPrePositionECEF(); + inline ::capnp::List::Builder getPrePositionECEF(); + inline void setPrePositionECEF( ::capnp::List::Reader value); + inline void setPrePositionECEF(::kj::ArrayPtr value); + inline ::capnp::List::Builder initPrePositionECEF(unsigned int size); + inline void adoptPrePositionECEF(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownPrePositionECEF(); + + inline bool hasPostPositionECEF(); + inline ::capnp::List::Builder getPostPositionECEF(); + inline void setPostPositionECEF( ::capnp::List::Reader value); + inline void setPostPositionECEF(::kj::ArrayPtr value); + inline ::capnp::List::Builder initPostPositionECEF(unsigned int size); + inline void adoptPostPositionECEF(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownPostPositionECEF(); + + inline bool hasPrePoseQuatECEF(); + inline ::capnp::List::Builder getPrePoseQuatECEF(); + inline void setPrePoseQuatECEF( ::capnp::List::Reader value); + inline void setPrePoseQuatECEF(::kj::ArrayPtr value); + inline ::capnp::List::Builder initPrePoseQuatECEF(unsigned int size); + inline void adoptPrePoseQuatECEF(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownPrePoseQuatECEF(); + + inline bool hasPostPoseQuatECEF(); + inline ::capnp::List::Builder getPostPoseQuatECEF(); + inline void setPostPoseQuatECEF( ::capnp::List::Reader value); + inline void setPostPoseQuatECEF(::kj::ArrayPtr value); + inline ::capnp::List::Builder initPostPoseQuatECEF(unsigned int size); + inline void adoptPostPoseQuatECEF(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownPostPoseQuatECEF(); + + inline ::uint32_t getNumInliers(); + inline void setNumInliers( ::uint32_t value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class OrbslamCorrection::Pipeline { +public: + typedef OrbslamCorrection Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class EthernetPacket::Reader { +public: + typedef EthernetPacket Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasPkt() const; + inline ::capnp::Data::Reader getPkt() const; + + inline float getTs() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class EthernetPacket::Builder { +public: + typedef EthernetPacket Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasPkt(); + inline ::capnp::Data::Builder getPkt(); + inline void setPkt( ::capnp::Data::Reader value); + inline ::capnp::Data::Builder initPkt(unsigned int size); + inline void adoptPkt(::capnp::Orphan< ::capnp::Data>&& value); + inline ::capnp::Orphan< ::capnp::Data> disownPkt(); + + inline float getTs(); + inline void setTs(float value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class EthernetPacket::Pipeline { +public: + typedef EthernetPacket Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class CellInfo::Reader { +public: + typedef CellInfo Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::uint64_t getTimestamp() const; + + inline bool hasRepr() const; + inline ::capnp::Text::Reader getRepr() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class CellInfo::Builder { +public: + typedef CellInfo Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::uint64_t getTimestamp(); + inline void setTimestamp( ::uint64_t value); + + inline bool hasRepr(); + inline ::capnp::Text::Builder getRepr(); + inline void setRepr( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initRepr(unsigned int size); + inline void adoptRepr(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownRepr(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class CellInfo::Pipeline { +public: + typedef CellInfo Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class WifiScan::Reader { +public: + typedef WifiScan Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasBssid() const; + inline ::capnp::Text::Reader getBssid() const; + + inline bool hasSsid() const; + inline ::capnp::Text::Reader getSsid() const; + + inline bool hasCapabilities() const; + inline ::capnp::Text::Reader getCapabilities() const; + + inline ::int32_t getFrequency() const; + + inline ::int32_t getLevel() const; + + inline ::int64_t getTimestamp() const; + + inline ::int32_t getCenterFreq0() const; + + inline ::int32_t getCenterFreq1() const; + + inline ::cereal::WifiScan::ChannelWidth getChannelWidth() const; + + inline bool hasOperatorFriendlyName() const; + inline ::capnp::Text::Reader getOperatorFriendlyName() const; + + inline bool hasVenueName() const; + inline ::capnp::Text::Reader getVenueName() const; + + inline bool getIs80211mcResponder() const; + + inline bool getPasspoint() const; + + inline ::int32_t getDistanceCm() const; + + inline ::int32_t getDistanceSdCm() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class WifiScan::Builder { +public: + typedef WifiScan Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasBssid(); + inline ::capnp::Text::Builder getBssid(); + inline void setBssid( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initBssid(unsigned int size); + inline void adoptBssid(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownBssid(); + + inline bool hasSsid(); + inline ::capnp::Text::Builder getSsid(); + inline void setSsid( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initSsid(unsigned int size); + inline void adoptSsid(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownSsid(); + + inline bool hasCapabilities(); + inline ::capnp::Text::Builder getCapabilities(); + inline void setCapabilities( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initCapabilities(unsigned int size); + inline void adoptCapabilities(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownCapabilities(); + + inline ::int32_t getFrequency(); + inline void setFrequency( ::int32_t value); + + inline ::int32_t getLevel(); + inline void setLevel( ::int32_t value); + + inline ::int64_t getTimestamp(); + inline void setTimestamp( ::int64_t value); + + inline ::int32_t getCenterFreq0(); + inline void setCenterFreq0( ::int32_t value); + + inline ::int32_t getCenterFreq1(); + inline void setCenterFreq1( ::int32_t value); + + inline ::cereal::WifiScan::ChannelWidth getChannelWidth(); + inline void setChannelWidth( ::cereal::WifiScan::ChannelWidth value); + + inline bool hasOperatorFriendlyName(); + inline ::capnp::Text::Builder getOperatorFriendlyName(); + inline void setOperatorFriendlyName( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initOperatorFriendlyName(unsigned int size); + inline void adoptOperatorFriendlyName(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownOperatorFriendlyName(); + + inline bool hasVenueName(); + inline ::capnp::Text::Builder getVenueName(); + inline void setVenueName( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initVenueName(unsigned int size); + inline void adoptVenueName(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownVenueName(); + + inline bool getIs80211mcResponder(); + inline void setIs80211mcResponder(bool value); + + inline bool getPasspoint(); + inline void setPasspoint(bool value); + + inline ::int32_t getDistanceCm(); + inline void setDistanceCm( ::int32_t value); + + inline ::int32_t getDistanceSdCm(); + inline void setDistanceSdCm( ::int32_t value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class WifiScan::Pipeline { +public: + typedef WifiScan Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class LiveEventData::Reader { +public: + typedef LiveEventData Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasName() const; + inline ::capnp::Text::Reader getName() const; + + inline ::int32_t getValue() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class LiveEventData::Builder { +public: + typedef LiveEventData Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasName(); + inline ::capnp::Text::Builder getName(); + inline void setName( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initName(unsigned int size); + inline void adoptName(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownName(); + + inline ::int32_t getValue(); + inline void setValue( ::int32_t value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class LiveEventData::Pipeline { +public: + typedef LiveEventData Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class ModelData::Reader { +public: + typedef ModelData Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::uint32_t getFrameId() const; + + inline bool hasPath() const; + inline ::cereal::ModelData::PathData::Reader getPath() const; + + inline bool hasLeftLane() const; + inline ::cereal::ModelData::PathData::Reader getLeftLane() const; + + inline bool hasRightLane() const; + inline ::cereal::ModelData::PathData::Reader getRightLane() const; + + inline bool hasLead() const; + inline ::cereal::ModelData::LeadData::Reader getLead() const; + + inline bool hasSettings() const; + inline ::cereal::ModelData::ModelSettings::Reader getSettings() const; + + inline bool hasFreePath() const; + inline ::capnp::List::Reader getFreePath() const; + + inline bool hasLeadFuture() const; + inline ::cereal::ModelData::LeadData::Reader getLeadFuture() const; + + inline bool hasSpeed() const; + inline ::capnp::List::Reader getSpeed() const; + + inline ::uint64_t getTimestampEof() const; + + inline bool hasMeta() const; + inline ::cereal::ModelData::MetaData::Reader getMeta() const; + + inline bool hasLongitudinal() const; + inline ::cereal::ModelData::LongitudinalData::Reader getLongitudinal() const; + + inline ::uint32_t getFrameAge() const; + + inline float getFrameDropPerc() const; + + inline float getModelExecutionTime() const; + + inline bool hasRawPred() const; + inline ::capnp::Data::Reader getRawPred() const; + + inline float getGpuExecutionTime() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class ModelData::Builder { +public: + typedef ModelData Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::uint32_t getFrameId(); + inline void setFrameId( ::uint32_t value); + + inline bool hasPath(); + inline ::cereal::ModelData::PathData::Builder getPath(); + inline void setPath( ::cereal::ModelData::PathData::Reader value); + inline ::cereal::ModelData::PathData::Builder initPath(); + inline void adoptPath(::capnp::Orphan< ::cereal::ModelData::PathData>&& value); + inline ::capnp::Orphan< ::cereal::ModelData::PathData> disownPath(); + + inline bool hasLeftLane(); + inline ::cereal::ModelData::PathData::Builder getLeftLane(); + inline void setLeftLane( ::cereal::ModelData::PathData::Reader value); + inline ::cereal::ModelData::PathData::Builder initLeftLane(); + inline void adoptLeftLane(::capnp::Orphan< ::cereal::ModelData::PathData>&& value); + inline ::capnp::Orphan< ::cereal::ModelData::PathData> disownLeftLane(); + + inline bool hasRightLane(); + inline ::cereal::ModelData::PathData::Builder getRightLane(); + inline void setRightLane( ::cereal::ModelData::PathData::Reader value); + inline ::cereal::ModelData::PathData::Builder initRightLane(); + inline void adoptRightLane(::capnp::Orphan< ::cereal::ModelData::PathData>&& value); + inline ::capnp::Orphan< ::cereal::ModelData::PathData> disownRightLane(); + + inline bool hasLead(); + inline ::cereal::ModelData::LeadData::Builder getLead(); + inline void setLead( ::cereal::ModelData::LeadData::Reader value); + inline ::cereal::ModelData::LeadData::Builder initLead(); + inline void adoptLead(::capnp::Orphan< ::cereal::ModelData::LeadData>&& value); + inline ::capnp::Orphan< ::cereal::ModelData::LeadData> disownLead(); + + inline bool hasSettings(); + inline ::cereal::ModelData::ModelSettings::Builder getSettings(); + inline void setSettings( ::cereal::ModelData::ModelSettings::Reader value); + inline ::cereal::ModelData::ModelSettings::Builder initSettings(); + inline void adoptSettings(::capnp::Orphan< ::cereal::ModelData::ModelSettings>&& value); + inline ::capnp::Orphan< ::cereal::ModelData::ModelSettings> disownSettings(); + + inline bool hasFreePath(); + inline ::capnp::List::Builder getFreePath(); + inline void setFreePath( ::capnp::List::Reader value); + inline void setFreePath(::kj::ArrayPtr value); + inline ::capnp::List::Builder initFreePath(unsigned int size); + inline void adoptFreePath(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownFreePath(); + + inline bool hasLeadFuture(); + inline ::cereal::ModelData::LeadData::Builder getLeadFuture(); + inline void setLeadFuture( ::cereal::ModelData::LeadData::Reader value); + inline ::cereal::ModelData::LeadData::Builder initLeadFuture(); + inline void adoptLeadFuture(::capnp::Orphan< ::cereal::ModelData::LeadData>&& value); + inline ::capnp::Orphan< ::cereal::ModelData::LeadData> disownLeadFuture(); + + inline bool hasSpeed(); + inline ::capnp::List::Builder getSpeed(); + inline void setSpeed( ::capnp::List::Reader value); + inline void setSpeed(::kj::ArrayPtr value); + inline ::capnp::List::Builder initSpeed(unsigned int size); + inline void adoptSpeed(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownSpeed(); + + inline ::uint64_t getTimestampEof(); + inline void setTimestampEof( ::uint64_t value); + + inline bool hasMeta(); + inline ::cereal::ModelData::MetaData::Builder getMeta(); + inline void setMeta( ::cereal::ModelData::MetaData::Reader value); + inline ::cereal::ModelData::MetaData::Builder initMeta(); + inline void adoptMeta(::capnp::Orphan< ::cereal::ModelData::MetaData>&& value); + inline ::capnp::Orphan< ::cereal::ModelData::MetaData> disownMeta(); + + inline bool hasLongitudinal(); + inline ::cereal::ModelData::LongitudinalData::Builder getLongitudinal(); + inline void setLongitudinal( ::cereal::ModelData::LongitudinalData::Reader value); + inline ::cereal::ModelData::LongitudinalData::Builder initLongitudinal(); + inline void adoptLongitudinal(::capnp::Orphan< ::cereal::ModelData::LongitudinalData>&& value); + inline ::capnp::Orphan< ::cereal::ModelData::LongitudinalData> disownLongitudinal(); + + inline ::uint32_t getFrameAge(); + inline void setFrameAge( ::uint32_t value); + + inline float getFrameDropPerc(); + inline void setFrameDropPerc(float value); + + inline float getModelExecutionTime(); + inline void setModelExecutionTime(float value); + + inline bool hasRawPred(); + inline ::capnp::Data::Builder getRawPred(); + inline void setRawPred( ::capnp::Data::Reader value); + inline ::capnp::Data::Builder initRawPred(unsigned int size); + inline void adoptRawPred(::capnp::Orphan< ::capnp::Data>&& value); + inline ::capnp::Orphan< ::capnp::Data> disownRawPred(); + + inline float getGpuExecutionTime(); + inline void setGpuExecutionTime(float value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class ModelData::Pipeline { +public: + typedef ModelData Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + + inline ::cereal::ModelData::PathData::Pipeline getPath(); + inline ::cereal::ModelData::PathData::Pipeline getLeftLane(); + inline ::cereal::ModelData::PathData::Pipeline getRightLane(); + inline ::cereal::ModelData::LeadData::Pipeline getLead(); + inline ::cereal::ModelData::ModelSettings::Pipeline getSettings(); + inline ::cereal::ModelData::LeadData::Pipeline getLeadFuture(); + inline ::cereal::ModelData::MetaData::Pipeline getMeta(); + inline ::cereal::ModelData::LongitudinalData::Pipeline getLongitudinal(); +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class ModelData::PathData::Reader { +public: + typedef PathData Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasPoints() const; + inline ::capnp::List::Reader getPoints() const; + + inline float getProb() const; + + inline float getStd() const; + + inline bool hasStds() const; + inline ::capnp::List::Reader getStds() const; + + inline bool hasPoly() const; + inline ::capnp::List::Reader getPoly() const; + + inline float getValidLen() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class ModelData::PathData::Builder { +public: + typedef PathData Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasPoints(); + inline ::capnp::List::Builder getPoints(); + inline void setPoints( ::capnp::List::Reader value); + inline void setPoints(::kj::ArrayPtr value); + inline ::capnp::List::Builder initPoints(unsigned int size); + inline void adoptPoints(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownPoints(); + + inline float getProb(); + inline void setProb(float value); + + inline float getStd(); + inline void setStd(float value); + + inline bool hasStds(); + inline ::capnp::List::Builder getStds(); + inline void setStds( ::capnp::List::Reader value); + inline void setStds(::kj::ArrayPtr value); + inline ::capnp::List::Builder initStds(unsigned int size); + inline void adoptStds(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownStds(); + + inline bool hasPoly(); + inline ::capnp::List::Builder getPoly(); + inline void setPoly( ::capnp::List::Reader value); + inline void setPoly(::kj::ArrayPtr value); + inline ::capnp::List::Builder initPoly(unsigned int size); + inline void adoptPoly(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownPoly(); + + inline float getValidLen(); + inline void setValidLen(float value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class ModelData::PathData::Pipeline { +public: + typedef PathData Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class ModelData::LeadData::Reader { +public: + typedef LeadData Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline float getDist() const; + + inline float getProb() const; + + inline float getStd() const; + + inline float getRelVel() const; + + inline float getRelVelStd() const; + + inline float getRelY() const; + + inline float getRelYStd() const; + + inline float getRelA() const; + + inline float getRelAStd() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class ModelData::LeadData::Builder { +public: + typedef LeadData Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline float getDist(); + inline void setDist(float value); + + inline float getProb(); + inline void setProb(float value); + + inline float getStd(); + inline void setStd(float value); + + inline float getRelVel(); + inline void setRelVel(float value); + + inline float getRelVelStd(); + inline void setRelVelStd(float value); + + inline float getRelY(); + inline void setRelY(float value); + + inline float getRelYStd(); + inline void setRelYStd(float value); + + inline float getRelA(); + inline void setRelA(float value); + + inline float getRelAStd(); + inline void setRelAStd(float value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class ModelData::LeadData::Pipeline { +public: + typedef LeadData Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class ModelData::ModelSettings::Reader { +public: + typedef ModelSettings Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::uint16_t getBigBoxX() const; + + inline ::uint16_t getBigBoxY() const; + + inline ::uint16_t getBigBoxWidth() const; + + inline ::uint16_t getBigBoxHeight() const; + + inline bool hasBoxProjection() const; + inline ::capnp::List::Reader getBoxProjection() const; + + inline bool hasYuvCorrection() const; + inline ::capnp::List::Reader getYuvCorrection() const; + + inline bool hasInputTransform() const; + inline ::capnp::List::Reader getInputTransform() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class ModelData::ModelSettings::Builder { +public: + typedef ModelSettings Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::uint16_t getBigBoxX(); + inline void setBigBoxX( ::uint16_t value); + + inline ::uint16_t getBigBoxY(); + inline void setBigBoxY( ::uint16_t value); + + inline ::uint16_t getBigBoxWidth(); + inline void setBigBoxWidth( ::uint16_t value); + + inline ::uint16_t getBigBoxHeight(); + inline void setBigBoxHeight( ::uint16_t value); + + inline bool hasBoxProjection(); + inline ::capnp::List::Builder getBoxProjection(); + inline void setBoxProjection( ::capnp::List::Reader value); + inline void setBoxProjection(::kj::ArrayPtr value); + inline ::capnp::List::Builder initBoxProjection(unsigned int size); + inline void adoptBoxProjection(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownBoxProjection(); + + inline bool hasYuvCorrection(); + inline ::capnp::List::Builder getYuvCorrection(); + inline void setYuvCorrection( ::capnp::List::Reader value); + inline void setYuvCorrection(::kj::ArrayPtr value); + inline ::capnp::List::Builder initYuvCorrection(unsigned int size); + inline void adoptYuvCorrection(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownYuvCorrection(); + + inline bool hasInputTransform(); + inline ::capnp::List::Builder getInputTransform(); + inline void setInputTransform( ::capnp::List::Reader value); + inline void setInputTransform(::kj::ArrayPtr value); + inline ::capnp::List::Builder initInputTransform(unsigned int size); + inline void adoptInputTransform(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownInputTransform(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class ModelData::ModelSettings::Pipeline { +public: + typedef ModelSettings Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class ModelData::MetaData::Reader { +public: + typedef MetaData Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline float getEngagedProb() const; + + inline bool hasDesirePrediction() const; + inline ::capnp::List::Reader getDesirePrediction() const; + + inline float getBrakeDisengageProb() const; + + inline float getGasDisengageProb() const; + + inline float getSteerOverrideProb() const; + + inline bool hasDesireState() const; + inline ::capnp::List::Reader getDesireState() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class ModelData::MetaData::Builder { +public: + typedef MetaData Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline float getEngagedProb(); + inline void setEngagedProb(float value); + + inline bool hasDesirePrediction(); + inline ::capnp::List::Builder getDesirePrediction(); + inline void setDesirePrediction( ::capnp::List::Reader value); + inline void setDesirePrediction(::kj::ArrayPtr value); + inline ::capnp::List::Builder initDesirePrediction(unsigned int size); + inline void adoptDesirePrediction(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownDesirePrediction(); + + inline float getBrakeDisengageProb(); + inline void setBrakeDisengageProb(float value); + + inline float getGasDisengageProb(); + inline void setGasDisengageProb(float value); + + inline float getSteerOverrideProb(); + inline void setSteerOverrideProb(float value); + + inline bool hasDesireState(); + inline ::capnp::List::Builder getDesireState(); + inline void setDesireState( ::capnp::List::Reader value); + inline void setDesireState(::kj::ArrayPtr value); + inline ::capnp::List::Builder initDesireState(unsigned int size); + inline void adoptDesireState(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownDesireState(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class ModelData::MetaData::Pipeline { +public: + typedef MetaData Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class ModelData::LongitudinalData::Reader { +public: + typedef LongitudinalData Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasSpeeds() const; + inline ::capnp::List::Reader getSpeeds() const; + + inline bool hasAccelerations() const; + inline ::capnp::List::Reader getAccelerations() const; + + inline bool hasDistances() const; + inline ::capnp::List::Reader getDistances() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class ModelData::LongitudinalData::Builder { +public: + typedef LongitudinalData Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasSpeeds(); + inline ::capnp::List::Builder getSpeeds(); + inline void setSpeeds( ::capnp::List::Reader value); + inline void setSpeeds(::kj::ArrayPtr value); + inline ::capnp::List::Builder initSpeeds(unsigned int size); + inline void adoptSpeeds(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownSpeeds(); + + inline bool hasAccelerations(); + inline ::capnp::List::Builder getAccelerations(); + inline void setAccelerations( ::capnp::List::Reader value); + inline void setAccelerations(::kj::ArrayPtr value); + inline ::capnp::List::Builder initAccelerations(unsigned int size); + inline void adoptAccelerations(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownAccelerations(); + + inline bool hasDistances(); + inline ::capnp::List::Builder getDistances(); + inline void setDistances( ::capnp::List::Reader value); + inline void setDistances(::kj::ArrayPtr value); + inline ::capnp::List::Builder initDistances(unsigned int size); + inline void adoptDistances(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownDistances(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class ModelData::LongitudinalData::Pipeline { +public: + typedef LongitudinalData Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class ECEFPoint::Reader { +public: + typedef ECEFPoint Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline double getX() const; + + inline double getY() const; + + inline double getZ() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class ECEFPoint::Builder { +public: + typedef ECEFPoint Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline double getX(); + inline void setX(double value); + + inline double getY(); + inline void setY(double value); + + inline double getZ(); + inline void setZ(double value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class ECEFPoint::Pipeline { +public: + typedef ECEFPoint Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class ECEFPointDEPRECATED::Reader { +public: + typedef ECEFPointDEPRECATED Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline float getX() const; + + inline float getY() const; + + inline float getZ() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class ECEFPointDEPRECATED::Builder { +public: + typedef ECEFPointDEPRECATED Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline float getX(); + inline void setX(float value); + + inline float getY(); + inline void setY(float value); + + inline float getZ(); + inline void setZ(float value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class ECEFPointDEPRECATED::Pipeline { +public: + typedef ECEFPointDEPRECATED Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class GPSPlannerPoints::Reader { +public: + typedef GPSPlannerPoints Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasCurPosDEPRECATED() const; + inline ::cereal::ECEFPointDEPRECATED::Reader getCurPosDEPRECATED() const; + + inline bool hasPointsDEPRECATED() const; + inline ::capnp::List< ::cereal::ECEFPointDEPRECATED, ::capnp::Kind::STRUCT>::Reader getPointsDEPRECATED() const; + + inline bool getValid() const; + + inline bool hasTrackName() const; + inline ::capnp::Text::Reader getTrackName() const; + + inline float getSpeedLimit() const; + + inline float getAccelTarget() const; + + inline bool hasCurPos() const; + inline ::cereal::ECEFPoint::Reader getCurPos() const; + + inline bool hasPoints() const; + inline ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>::Reader getPoints() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class GPSPlannerPoints::Builder { +public: + typedef GPSPlannerPoints Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasCurPosDEPRECATED(); + inline ::cereal::ECEFPointDEPRECATED::Builder getCurPosDEPRECATED(); + inline void setCurPosDEPRECATED( ::cereal::ECEFPointDEPRECATED::Reader value); + inline ::cereal::ECEFPointDEPRECATED::Builder initCurPosDEPRECATED(); + inline void adoptCurPosDEPRECATED(::capnp::Orphan< ::cereal::ECEFPointDEPRECATED>&& value); + inline ::capnp::Orphan< ::cereal::ECEFPointDEPRECATED> disownCurPosDEPRECATED(); + + inline bool hasPointsDEPRECATED(); + inline ::capnp::List< ::cereal::ECEFPointDEPRECATED, ::capnp::Kind::STRUCT>::Builder getPointsDEPRECATED(); + inline void setPointsDEPRECATED( ::capnp::List< ::cereal::ECEFPointDEPRECATED, ::capnp::Kind::STRUCT>::Reader value); + inline ::capnp::List< ::cereal::ECEFPointDEPRECATED, ::capnp::Kind::STRUCT>::Builder initPointsDEPRECATED(unsigned int size); + inline void adoptPointsDEPRECATED(::capnp::Orphan< ::capnp::List< ::cereal::ECEFPointDEPRECATED, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::ECEFPointDEPRECATED, ::capnp::Kind::STRUCT>> disownPointsDEPRECATED(); + + inline bool getValid(); + inline void setValid(bool value); + + inline bool hasTrackName(); + inline ::capnp::Text::Builder getTrackName(); + inline void setTrackName( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initTrackName(unsigned int size); + inline void adoptTrackName(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownTrackName(); + + inline float getSpeedLimit(); + inline void setSpeedLimit(float value); + + inline float getAccelTarget(); + inline void setAccelTarget(float value); + + inline bool hasCurPos(); + inline ::cereal::ECEFPoint::Builder getCurPos(); + inline void setCurPos( ::cereal::ECEFPoint::Reader value); + inline ::cereal::ECEFPoint::Builder initCurPos(); + inline void adoptCurPos(::capnp::Orphan< ::cereal::ECEFPoint>&& value); + inline ::capnp::Orphan< ::cereal::ECEFPoint> disownCurPos(); + + inline bool hasPoints(); + inline ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>::Builder getPoints(); + inline void setPoints( ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>::Reader value); + inline ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>::Builder initPoints(unsigned int size); + inline void adoptPoints(::capnp::Orphan< ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>> disownPoints(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class GPSPlannerPoints::Pipeline { +public: + typedef GPSPlannerPoints Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + + inline ::cereal::ECEFPointDEPRECATED::Pipeline getCurPosDEPRECATED(); + inline ::cereal::ECEFPoint::Pipeline getCurPos(); +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class GPSPlannerPlan::Reader { +public: + typedef GPSPlannerPlan Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool getValid() const; + + inline bool hasPoly() const; + inline ::capnp::List::Reader getPoly() const; + + inline bool hasTrackName() const; + inline ::capnp::Text::Reader getTrackName() const; + + inline float getSpeed() const; + + inline float getAcceleration() const; + + inline bool hasPointsDEPRECATED() const; + inline ::capnp::List< ::cereal::ECEFPointDEPRECATED, ::capnp::Kind::STRUCT>::Reader getPointsDEPRECATED() const; + + inline bool hasPoints() const; + inline ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>::Reader getPoints() const; + + inline float getXLookahead() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class GPSPlannerPlan::Builder { +public: + typedef GPSPlannerPlan Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool getValid(); + inline void setValid(bool value); + + inline bool hasPoly(); + inline ::capnp::List::Builder getPoly(); + inline void setPoly( ::capnp::List::Reader value); + inline void setPoly(::kj::ArrayPtr value); + inline ::capnp::List::Builder initPoly(unsigned int size); + inline void adoptPoly(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownPoly(); + + inline bool hasTrackName(); + inline ::capnp::Text::Builder getTrackName(); + inline void setTrackName( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initTrackName(unsigned int size); + inline void adoptTrackName(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownTrackName(); + + inline float getSpeed(); + inline void setSpeed(float value); + + inline float getAcceleration(); + inline void setAcceleration(float value); + + inline bool hasPointsDEPRECATED(); + inline ::capnp::List< ::cereal::ECEFPointDEPRECATED, ::capnp::Kind::STRUCT>::Builder getPointsDEPRECATED(); + inline void setPointsDEPRECATED( ::capnp::List< ::cereal::ECEFPointDEPRECATED, ::capnp::Kind::STRUCT>::Reader value); + inline ::capnp::List< ::cereal::ECEFPointDEPRECATED, ::capnp::Kind::STRUCT>::Builder initPointsDEPRECATED(unsigned int size); + inline void adoptPointsDEPRECATED(::capnp::Orphan< ::capnp::List< ::cereal::ECEFPointDEPRECATED, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::ECEFPointDEPRECATED, ::capnp::Kind::STRUCT>> disownPointsDEPRECATED(); + + inline bool hasPoints(); + inline ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>::Builder getPoints(); + inline void setPoints( ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>::Reader value); + inline ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>::Builder initPoints(unsigned int size); + inline void adoptPoints(::capnp::Orphan< ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>> disownPoints(); + + inline float getXLookahead(); + inline void setXLookahead(float value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class GPSPlannerPlan::Pipeline { +public: + typedef GPSPlannerPlan Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class UiNavigationEvent::Reader { +public: + typedef UiNavigationEvent Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::cereal::UiNavigationEvent::Type getType() const; + + inline ::cereal::UiNavigationEvent::Status getStatus() const; + + inline float getDistanceTo() const; + + inline bool hasEndRoadPointDEPRECATED() const; + inline ::cereal::ECEFPointDEPRECATED::Reader getEndRoadPointDEPRECATED() const; + + inline bool hasEndRoadPoint() const; + inline ::cereal::ECEFPoint::Reader getEndRoadPoint() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class UiNavigationEvent::Builder { +public: + typedef UiNavigationEvent Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::cereal::UiNavigationEvent::Type getType(); + inline void setType( ::cereal::UiNavigationEvent::Type value); + + inline ::cereal::UiNavigationEvent::Status getStatus(); + inline void setStatus( ::cereal::UiNavigationEvent::Status value); + + inline float getDistanceTo(); + inline void setDistanceTo(float value); + + inline bool hasEndRoadPointDEPRECATED(); + inline ::cereal::ECEFPointDEPRECATED::Builder getEndRoadPointDEPRECATED(); + inline void setEndRoadPointDEPRECATED( ::cereal::ECEFPointDEPRECATED::Reader value); + inline ::cereal::ECEFPointDEPRECATED::Builder initEndRoadPointDEPRECATED(); + inline void adoptEndRoadPointDEPRECATED(::capnp::Orphan< ::cereal::ECEFPointDEPRECATED>&& value); + inline ::capnp::Orphan< ::cereal::ECEFPointDEPRECATED> disownEndRoadPointDEPRECATED(); + + inline bool hasEndRoadPoint(); + inline ::cereal::ECEFPoint::Builder getEndRoadPoint(); + inline void setEndRoadPoint( ::cereal::ECEFPoint::Reader value); + inline ::cereal::ECEFPoint::Builder initEndRoadPoint(); + inline void adoptEndRoadPoint(::capnp::Orphan< ::cereal::ECEFPoint>&& value); + inline ::capnp::Orphan< ::cereal::ECEFPoint> disownEndRoadPoint(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class UiNavigationEvent::Pipeline { +public: + typedef UiNavigationEvent Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + + inline ::cereal::ECEFPointDEPRECATED::Pipeline getEndRoadPointDEPRECATED(); + inline ::cereal::ECEFPoint::Pipeline getEndRoadPoint(); +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class LiveLocationData::Reader { +public: + typedef LiveLocationData Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::uint8_t getStatus() const; + + inline double getLat() const; + + inline double getLon() const; + + inline float getAlt() const; + + inline float getSpeed() const; + + inline bool hasVNED() const; + inline ::capnp::List::Reader getVNED() const; + + inline float getRoll() const; + + inline float getPitch() const; + + inline float getHeading() const; + + inline float getWanderAngle() const; + + inline float getTrackAngle() const; + + inline bool hasGyro() const; + inline ::capnp::List::Reader getGyro() const; + + inline bool hasAccel() const; + inline ::capnp::List::Reader getAccel() const; + + inline bool hasAccuracy() const; + inline ::cereal::LiveLocationData::Accuracy::Reader getAccuracy() const; + + inline ::cereal::LiveLocationData::SensorSource getSource() const; + + inline ::uint64_t getFixMonoTime() const; + + inline ::int32_t getGpsWeek() const; + + inline double getTimeOfWeek() const; + + inline bool hasPositionECEF() const; + inline ::capnp::List::Reader getPositionECEF() const; + + inline bool hasPoseQuatECEF() const; + inline ::capnp::List::Reader getPoseQuatECEF() const; + + inline float getPitchCalibration() const; + + inline float getYawCalibration() const; + + inline bool hasImuFrame() const; + inline ::capnp::List::Reader getImuFrame() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class LiveLocationData::Builder { +public: + typedef LiveLocationData Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::uint8_t getStatus(); + inline void setStatus( ::uint8_t value); + + inline double getLat(); + inline void setLat(double value); + + inline double getLon(); + inline void setLon(double value); + + inline float getAlt(); + inline void setAlt(float value); + + inline float getSpeed(); + inline void setSpeed(float value); + + inline bool hasVNED(); + inline ::capnp::List::Builder getVNED(); + inline void setVNED( ::capnp::List::Reader value); + inline void setVNED(::kj::ArrayPtr value); + inline ::capnp::List::Builder initVNED(unsigned int size); + inline void adoptVNED(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownVNED(); + + inline float getRoll(); + inline void setRoll(float value); + + inline float getPitch(); + inline void setPitch(float value); + + inline float getHeading(); + inline void setHeading(float value); + + inline float getWanderAngle(); + inline void setWanderAngle(float value); + + inline float getTrackAngle(); + inline void setTrackAngle(float value); + + inline bool hasGyro(); + inline ::capnp::List::Builder getGyro(); + inline void setGyro( ::capnp::List::Reader value); + inline void setGyro(::kj::ArrayPtr value); + inline ::capnp::List::Builder initGyro(unsigned int size); + inline void adoptGyro(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownGyro(); + + inline bool hasAccel(); + inline ::capnp::List::Builder getAccel(); + inline void setAccel( ::capnp::List::Reader value); + inline void setAccel(::kj::ArrayPtr value); + inline ::capnp::List::Builder initAccel(unsigned int size); + inline void adoptAccel(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownAccel(); + + inline bool hasAccuracy(); + inline ::cereal::LiveLocationData::Accuracy::Builder getAccuracy(); + inline void setAccuracy( ::cereal::LiveLocationData::Accuracy::Reader value); + inline ::cereal::LiveLocationData::Accuracy::Builder initAccuracy(); + inline void adoptAccuracy(::capnp::Orphan< ::cereal::LiveLocationData::Accuracy>&& value); + inline ::capnp::Orphan< ::cereal::LiveLocationData::Accuracy> disownAccuracy(); + + inline ::cereal::LiveLocationData::SensorSource getSource(); + inline void setSource( ::cereal::LiveLocationData::SensorSource value); + + inline ::uint64_t getFixMonoTime(); + inline void setFixMonoTime( ::uint64_t value); + + inline ::int32_t getGpsWeek(); + inline void setGpsWeek( ::int32_t value); + + inline double getTimeOfWeek(); + inline void setTimeOfWeek(double value); + + inline bool hasPositionECEF(); + inline ::capnp::List::Builder getPositionECEF(); + inline void setPositionECEF( ::capnp::List::Reader value); + inline void setPositionECEF(::kj::ArrayPtr value); + inline ::capnp::List::Builder initPositionECEF(unsigned int size); + inline void adoptPositionECEF(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownPositionECEF(); + + inline bool hasPoseQuatECEF(); + inline ::capnp::List::Builder getPoseQuatECEF(); + inline void setPoseQuatECEF( ::capnp::List::Reader value); + inline void setPoseQuatECEF(::kj::ArrayPtr value); + inline ::capnp::List::Builder initPoseQuatECEF(unsigned int size); + inline void adoptPoseQuatECEF(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownPoseQuatECEF(); + + inline float getPitchCalibration(); + inline void setPitchCalibration(float value); + + inline float getYawCalibration(); + inline void setYawCalibration(float value); + + inline bool hasImuFrame(); + inline ::capnp::List::Builder getImuFrame(); + inline void setImuFrame( ::capnp::List::Reader value); + inline void setImuFrame(::kj::ArrayPtr value); + inline ::capnp::List::Builder initImuFrame(unsigned int size); + inline void adoptImuFrame(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownImuFrame(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class LiveLocationData::Pipeline { +public: + typedef LiveLocationData Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + + inline ::cereal::LiveLocationData::Accuracy::Pipeline getAccuracy(); +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class LiveLocationData::Accuracy::Reader { +public: + typedef Accuracy Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasPNEDError() const; + inline ::capnp::List::Reader getPNEDError() const; + + inline bool hasVNEDError() const; + inline ::capnp::List::Reader getVNEDError() const; + + inline float getRollError() const; + + inline float getPitchError() const; + + inline float getHeadingError() const; + + inline float getEllipsoidSemiMajorError() const; + + inline float getEllipsoidSemiMinorError() const; + + inline float getEllipsoidOrientationError() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class LiveLocationData::Accuracy::Builder { +public: + typedef Accuracy Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasPNEDError(); + inline ::capnp::List::Builder getPNEDError(); + inline void setPNEDError( ::capnp::List::Reader value); + inline void setPNEDError(::kj::ArrayPtr value); + inline ::capnp::List::Builder initPNEDError(unsigned int size); + inline void adoptPNEDError(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownPNEDError(); + + inline bool hasVNEDError(); + inline ::capnp::List::Builder getVNEDError(); + inline void setVNEDError( ::capnp::List::Reader value); + inline void setVNEDError(::kj::ArrayPtr value); + inline ::capnp::List::Builder initVNEDError(unsigned int size); + inline void adoptVNEDError(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownVNEDError(); + + inline float getRollError(); + inline void setRollError(float value); + + inline float getPitchError(); + inline void setPitchError(float value); + + inline float getHeadingError(); + inline void setHeadingError(float value); + + inline float getEllipsoidSemiMajorError(); + inline void setEllipsoidSemiMajorError(float value); + + inline float getEllipsoidSemiMinorError(); + inline void setEllipsoidSemiMinorError(float value); + + inline float getEllipsoidOrientationError(); + inline void setEllipsoidOrientationError(float value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class LiveLocationData::Accuracy::Pipeline { +public: + typedef Accuracy Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class OrbOdometry::Reader { +public: + typedef OrbOdometry Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::uint64_t getStartMonoTime() const; + + inline ::uint64_t getEndMonoTime() const; + + inline bool hasF() const; + inline ::capnp::List::Reader getF() const; + + inline double getErr() const; + + inline ::int32_t getInliers() const; + + inline bool hasMatches() const; + inline ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>::Reader getMatches() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class OrbOdometry::Builder { +public: + typedef OrbOdometry Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::uint64_t getStartMonoTime(); + inline void setStartMonoTime( ::uint64_t value); + + inline ::uint64_t getEndMonoTime(); + inline void setEndMonoTime( ::uint64_t value); + + inline bool hasF(); + inline ::capnp::List::Builder getF(); + inline void setF( ::capnp::List::Reader value); + inline void setF(::kj::ArrayPtr value); + inline ::capnp::List::Builder initF(unsigned int size); + inline void adoptF(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownF(); + + inline double getErr(); + inline void setErr(double value); + + inline ::int32_t getInliers(); + inline void setInliers( ::int32_t value); + + inline bool hasMatches(); + inline ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>::Builder getMatches(); + inline void setMatches( ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>::Reader value); + inline void setMatches(::kj::ArrayPtr value); + inline ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>::Builder initMatches(unsigned int size); + inline void adoptMatches(::capnp::Orphan< ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>> disownMatches(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class OrbOdometry::Pipeline { +public: + typedef OrbOdometry Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class OrbFeatures::Reader { +public: + typedef OrbFeatures Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::uint64_t getTimestampEof() const; + + inline bool hasXs() const; + inline ::capnp::List::Reader getXs() const; + + inline bool hasYs() const; + inline ::capnp::List::Reader getYs() const; + + inline bool hasDescriptors() const; + inline ::capnp::Data::Reader getDescriptors() const; + + inline bool hasOctaves() const; + inline ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>::Reader getOctaves() const; + + inline ::uint64_t getTimestampLastEof() const; + + inline bool hasMatches() const; + inline ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>::Reader getMatches() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class OrbFeatures::Builder { +public: + typedef OrbFeatures Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::uint64_t getTimestampEof(); + inline void setTimestampEof( ::uint64_t value); + + inline bool hasXs(); + inline ::capnp::List::Builder getXs(); + inline void setXs( ::capnp::List::Reader value); + inline void setXs(::kj::ArrayPtr value); + inline ::capnp::List::Builder initXs(unsigned int size); + inline void adoptXs(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownXs(); + + inline bool hasYs(); + inline ::capnp::List::Builder getYs(); + inline void setYs( ::capnp::List::Reader value); + inline void setYs(::kj::ArrayPtr value); + inline ::capnp::List::Builder initYs(unsigned int size); + inline void adoptYs(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownYs(); + + inline bool hasDescriptors(); + inline ::capnp::Data::Builder getDescriptors(); + inline void setDescriptors( ::capnp::Data::Reader value); + inline ::capnp::Data::Builder initDescriptors(unsigned int size); + inline void adoptDescriptors(::capnp::Orphan< ::capnp::Data>&& value); + inline ::capnp::Orphan< ::capnp::Data> disownDescriptors(); + + inline bool hasOctaves(); + inline ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>::Builder getOctaves(); + inline void setOctaves( ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>::Reader value); + inline void setOctaves(::kj::ArrayPtr value); + inline ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>::Builder initOctaves(unsigned int size); + inline void adoptOctaves(::capnp::Orphan< ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>> disownOctaves(); + + inline ::uint64_t getTimestampLastEof(); + inline void setTimestampLastEof( ::uint64_t value); + + inline bool hasMatches(); + inline ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>::Builder getMatches(); + inline void setMatches( ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>::Reader value); + inline void setMatches(::kj::ArrayPtr value); + inline ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>::Builder initMatches(unsigned int size); + inline void adoptMatches(::capnp::Orphan< ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>> disownMatches(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class OrbFeatures::Pipeline { +public: + typedef OrbFeatures Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class OrbFeaturesSummary::Reader { +public: + typedef OrbFeaturesSummary Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::uint64_t getTimestampEof() const; + + inline ::uint64_t getTimestampLastEof() const; + + inline ::uint16_t getFeatureCount() const; + + inline ::uint16_t getMatchCount() const; + + inline ::uint64_t getComputeNs() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class OrbFeaturesSummary::Builder { +public: + typedef OrbFeaturesSummary Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::uint64_t getTimestampEof(); + inline void setTimestampEof( ::uint64_t value); + + inline ::uint64_t getTimestampLastEof(); + inline void setTimestampLastEof( ::uint64_t value); + + inline ::uint16_t getFeatureCount(); + inline void setFeatureCount( ::uint16_t value); + + inline ::uint16_t getMatchCount(); + inline void setMatchCount( ::uint16_t value); + + inline ::uint64_t getComputeNs(); + inline void setComputeNs( ::uint64_t value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class OrbFeaturesSummary::Pipeline { +public: + typedef OrbFeaturesSummary Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class OrbKeyFrame::Reader { +public: + typedef OrbKeyFrame Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::uint64_t getId() const; + + inline bool hasPos() const; + inline ::cereal::ECEFPoint::Reader getPos() const; + + inline bool hasDpos() const; + inline ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>::Reader getDpos() const; + + inline bool hasDescriptors() const; + inline ::capnp::Data::Reader getDescriptors() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class OrbKeyFrame::Builder { +public: + typedef OrbKeyFrame Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::uint64_t getId(); + inline void setId( ::uint64_t value); + + inline bool hasPos(); + inline ::cereal::ECEFPoint::Builder getPos(); + inline void setPos( ::cereal::ECEFPoint::Reader value); + inline ::cereal::ECEFPoint::Builder initPos(); + inline void adoptPos(::capnp::Orphan< ::cereal::ECEFPoint>&& value); + inline ::capnp::Orphan< ::cereal::ECEFPoint> disownPos(); + + inline bool hasDpos(); + inline ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>::Builder getDpos(); + inline void setDpos( ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>::Reader value); + inline ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>::Builder initDpos(unsigned int size); + inline void adoptDpos(::capnp::Orphan< ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>> disownDpos(); + + inline bool hasDescriptors(); + inline ::capnp::Data::Builder getDescriptors(); + inline void setDescriptors( ::capnp::Data::Reader value); + inline ::capnp::Data::Builder initDescriptors(unsigned int size); + inline void adoptDescriptors(::capnp::Orphan< ::capnp::Data>&& value); + inline ::capnp::Orphan< ::capnp::Data> disownDescriptors(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class OrbKeyFrame::Pipeline { +public: + typedef OrbKeyFrame Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + + inline ::cereal::ECEFPoint::Pipeline getPos(); +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class KalmanOdometry::Reader { +public: + typedef KalmanOdometry Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasTrans() const; + inline ::capnp::List::Reader getTrans() const; + + inline bool hasRot() const; + inline ::capnp::List::Reader getRot() const; + + inline bool hasTransStd() const; + inline ::capnp::List::Reader getTransStd() const; + + inline bool hasRotStd() const; + inline ::capnp::List::Reader getRotStd() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class KalmanOdometry::Builder { +public: + typedef KalmanOdometry Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasTrans(); + inline ::capnp::List::Builder getTrans(); + inline void setTrans( ::capnp::List::Reader value); + inline void setTrans(::kj::ArrayPtr value); + inline ::capnp::List::Builder initTrans(unsigned int size); + inline void adoptTrans(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownTrans(); + + inline bool hasRot(); + inline ::capnp::List::Builder getRot(); + inline void setRot( ::capnp::List::Reader value); + inline void setRot(::kj::ArrayPtr value); + inline ::capnp::List::Builder initRot(unsigned int size); + inline void adoptRot(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownRot(); + + inline bool hasTransStd(); + inline ::capnp::List::Builder getTransStd(); + inline void setTransStd( ::capnp::List::Reader value); + inline void setTransStd(::kj::ArrayPtr value); + inline ::capnp::List::Builder initTransStd(unsigned int size); + inline void adoptTransStd(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownTransStd(); + + inline bool hasRotStd(); + inline ::capnp::List::Builder getRotStd(); + inline void setRotStd( ::capnp::List::Reader value); + inline void setRotStd(::kj::ArrayPtr value); + inline ::capnp::List::Builder initRotStd(unsigned int size); + inline void adoptRotStd(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownRotStd(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class KalmanOdometry::Pipeline { +public: + typedef KalmanOdometry Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class OrbObservation::Reader { +public: + typedef OrbObservation Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::uint64_t getObservationMonoTime() const; + + inline bool hasNormalizedCoordinates() const; + inline ::capnp::List::Reader getNormalizedCoordinates() const; + + inline bool hasLocationECEF() const; + inline ::capnp::List::Reader getLocationECEF() const; + + inline ::uint32_t getMatchDistance() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class OrbObservation::Builder { +public: + typedef OrbObservation Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::uint64_t getObservationMonoTime(); + inline void setObservationMonoTime( ::uint64_t value); + + inline bool hasNormalizedCoordinates(); + inline ::capnp::List::Builder getNormalizedCoordinates(); + inline void setNormalizedCoordinates( ::capnp::List::Reader value); + inline void setNormalizedCoordinates(::kj::ArrayPtr value); + inline ::capnp::List::Builder initNormalizedCoordinates(unsigned int size); + inline void adoptNormalizedCoordinates(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownNormalizedCoordinates(); + + inline bool hasLocationECEF(); + inline ::capnp::List::Builder getLocationECEF(); + inline void setLocationECEF( ::capnp::List::Reader value); + inline void setLocationECEF(::kj::ArrayPtr value); + inline ::capnp::List::Builder initLocationECEF(unsigned int size); + inline void adoptLocationECEF(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownLocationECEF(); + + inline ::uint32_t getMatchDistance(); + inline void setMatchDistance( ::uint32_t value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class OrbObservation::Pipeline { +public: + typedef OrbObservation Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class CalibrationFeatures::Reader { +public: + typedef CalibrationFeatures Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::uint32_t getFrameId() const; + + inline bool hasP0() const; + inline ::capnp::List::Reader getP0() const; + + inline bool hasP1() const; + inline ::capnp::List::Reader getP1() const; + + inline bool hasStatus() const; + inline ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>::Reader getStatus() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class CalibrationFeatures::Builder { +public: + typedef CalibrationFeatures Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::uint32_t getFrameId(); + inline void setFrameId( ::uint32_t value); + + inline bool hasP0(); + inline ::capnp::List::Builder getP0(); + inline void setP0( ::capnp::List::Reader value); + inline void setP0(::kj::ArrayPtr value); + inline ::capnp::List::Builder initP0(unsigned int size); + inline void adoptP0(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownP0(); + + inline bool hasP1(); + inline ::capnp::List::Builder getP1(); + inline void setP1( ::capnp::List::Reader value); + inline void setP1(::kj::ArrayPtr value); + inline ::capnp::List::Builder initP1(unsigned int size); + inline void adoptP1(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownP1(); + + inline bool hasStatus(); + inline ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>::Builder getStatus(); + inline void setStatus( ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>::Reader value); + inline void setStatus(::kj::ArrayPtr value); + inline ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>::Builder initStatus(unsigned int size); + inline void adoptStatus(::capnp::Orphan< ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>> disownStatus(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class CalibrationFeatures::Pipeline { +public: + typedef CalibrationFeatures Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class NavStatus::Reader { +public: + typedef NavStatus Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool getIsNavigating() const; + + inline bool hasCurrentAddress() const; + inline ::cereal::NavStatus::Address::Reader getCurrentAddress() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class NavStatus::Builder { +public: + typedef NavStatus Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool getIsNavigating(); + inline void setIsNavigating(bool value); + + inline bool hasCurrentAddress(); + inline ::cereal::NavStatus::Address::Builder getCurrentAddress(); + inline void setCurrentAddress( ::cereal::NavStatus::Address::Reader value); + inline ::cereal::NavStatus::Address::Builder initCurrentAddress(); + inline void adoptCurrentAddress(::capnp::Orphan< ::cereal::NavStatus::Address>&& value); + inline ::capnp::Orphan< ::cereal::NavStatus::Address> disownCurrentAddress(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class NavStatus::Pipeline { +public: + typedef NavStatus Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + + inline ::cereal::NavStatus::Address::Pipeline getCurrentAddress(); +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class NavStatus::Address::Reader { +public: + typedef Address Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasTitle() const; + inline ::capnp::Text::Reader getTitle() const; + + inline double getLat() const; + + inline double getLng() const; + + inline bool hasHouse() const; + inline ::capnp::Text::Reader getHouse() const; + + inline bool hasAddress() const; + inline ::capnp::Text::Reader getAddress() const; + + inline bool hasStreet() const; + inline ::capnp::Text::Reader getStreet() const; + + inline bool hasCity() const; + inline ::capnp::Text::Reader getCity() const; + + inline bool hasState() const; + inline ::capnp::Text::Reader getState() const; + + inline bool hasCountry() const; + inline ::capnp::Text::Reader getCountry() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class NavStatus::Address::Builder { +public: + typedef Address Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasTitle(); + inline ::capnp::Text::Builder getTitle(); + inline void setTitle( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initTitle(unsigned int size); + inline void adoptTitle(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownTitle(); + + inline double getLat(); + inline void setLat(double value); + + inline double getLng(); + inline void setLng(double value); + + inline bool hasHouse(); + inline ::capnp::Text::Builder getHouse(); + inline void setHouse( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initHouse(unsigned int size); + inline void adoptHouse(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownHouse(); + + inline bool hasAddress(); + inline ::capnp::Text::Builder getAddress(); + inline void setAddress( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initAddress(unsigned int size); + inline void adoptAddress(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownAddress(); + + inline bool hasStreet(); + inline ::capnp::Text::Builder getStreet(); + inline void setStreet( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initStreet(unsigned int size); + inline void adoptStreet(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownStreet(); + + inline bool hasCity(); + inline ::capnp::Text::Builder getCity(); + inline void setCity( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initCity(unsigned int size); + inline void adoptCity(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownCity(); + + inline bool hasState(); + inline ::capnp::Text::Builder getState(); + inline void setState( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initState(unsigned int size); + inline void adoptState(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownState(); + + inline bool hasCountry(); + inline ::capnp::Text::Builder getCountry(); + inline void setCountry( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initCountry(unsigned int size); + inline void adoptCountry(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownCountry(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class NavStatus::Address::Pipeline { +public: + typedef Address Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class NavUpdate::Reader { +public: + typedef NavUpdate Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool getIsNavigating() const; + + inline ::int32_t getCurSegment() const; + + inline bool hasSegments() const; + inline ::capnp::List< ::cereal::NavUpdate::Segment, ::capnp::Kind::STRUCT>::Reader getSegments() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class NavUpdate::Builder { +public: + typedef NavUpdate Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool getIsNavigating(); + inline void setIsNavigating(bool value); + + inline ::int32_t getCurSegment(); + inline void setCurSegment( ::int32_t value); + + inline bool hasSegments(); + inline ::capnp::List< ::cereal::NavUpdate::Segment, ::capnp::Kind::STRUCT>::Builder getSegments(); + inline void setSegments( ::capnp::List< ::cereal::NavUpdate::Segment, ::capnp::Kind::STRUCT>::Reader value); + inline ::capnp::List< ::cereal::NavUpdate::Segment, ::capnp::Kind::STRUCT>::Builder initSegments(unsigned int size); + inline void adoptSegments(::capnp::Orphan< ::capnp::List< ::cereal::NavUpdate::Segment, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::NavUpdate::Segment, ::capnp::Kind::STRUCT>> disownSegments(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class NavUpdate::Pipeline { +public: + typedef NavUpdate Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class NavUpdate::LatLng::Reader { +public: + typedef LatLng Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline double getLat() const; + + inline double getLng() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class NavUpdate::LatLng::Builder { +public: + typedef LatLng Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline double getLat(); + inline void setLat(double value); + + inline double getLng(); + inline void setLng(double value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class NavUpdate::LatLng::Pipeline { +public: + typedef LatLng Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class NavUpdate::Segment::Reader { +public: + typedef Segment Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasFrom() const; + inline ::cereal::NavUpdate::LatLng::Reader getFrom() const; + + inline bool hasTo() const; + inline ::cereal::NavUpdate::LatLng::Reader getTo() const; + + inline ::int32_t getUpdateTime() const; + + inline ::int32_t getDistance() const; + + inline ::int32_t getCrossTime() const; + + inline ::int32_t getExitNo() const; + + inline ::cereal::NavUpdate::Segment::Instruction getInstruction() const; + + inline bool hasParts() const; + inline ::capnp::List< ::cereal::NavUpdate::LatLng, ::capnp::Kind::STRUCT>::Reader getParts() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class NavUpdate::Segment::Builder { +public: + typedef Segment Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasFrom(); + inline ::cereal::NavUpdate::LatLng::Builder getFrom(); + inline void setFrom( ::cereal::NavUpdate::LatLng::Reader value); + inline ::cereal::NavUpdate::LatLng::Builder initFrom(); + inline void adoptFrom(::capnp::Orphan< ::cereal::NavUpdate::LatLng>&& value); + inline ::capnp::Orphan< ::cereal::NavUpdate::LatLng> disownFrom(); + + inline bool hasTo(); + inline ::cereal::NavUpdate::LatLng::Builder getTo(); + inline void setTo( ::cereal::NavUpdate::LatLng::Reader value); + inline ::cereal::NavUpdate::LatLng::Builder initTo(); + inline void adoptTo(::capnp::Orphan< ::cereal::NavUpdate::LatLng>&& value); + inline ::capnp::Orphan< ::cereal::NavUpdate::LatLng> disownTo(); + + inline ::int32_t getUpdateTime(); + inline void setUpdateTime( ::int32_t value); + + inline ::int32_t getDistance(); + inline void setDistance( ::int32_t value); + + inline ::int32_t getCrossTime(); + inline void setCrossTime( ::int32_t value); + + inline ::int32_t getExitNo(); + inline void setExitNo( ::int32_t value); + + inline ::cereal::NavUpdate::Segment::Instruction getInstruction(); + inline void setInstruction( ::cereal::NavUpdate::Segment::Instruction value); + + inline bool hasParts(); + inline ::capnp::List< ::cereal::NavUpdate::LatLng, ::capnp::Kind::STRUCT>::Builder getParts(); + inline void setParts( ::capnp::List< ::cereal::NavUpdate::LatLng, ::capnp::Kind::STRUCT>::Reader value); + inline ::capnp::List< ::cereal::NavUpdate::LatLng, ::capnp::Kind::STRUCT>::Builder initParts(unsigned int size); + inline void adoptParts(::capnp::Orphan< ::capnp::List< ::cereal::NavUpdate::LatLng, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::NavUpdate::LatLng, ::capnp::Kind::STRUCT>> disownParts(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class NavUpdate::Segment::Pipeline { +public: + typedef Segment Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + + inline ::cereal::NavUpdate::LatLng::Pipeline getFrom(); + inline ::cereal::NavUpdate::LatLng::Pipeline getTo(); +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class TrafficEvent::Reader { +public: + typedef TrafficEvent Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::cereal::TrafficEvent::Type getType() const; + + inline float getDistance() const; + + inline ::cereal::TrafficEvent::Action getAction() const; + + inline bool getResuming() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class TrafficEvent::Builder { +public: + typedef TrafficEvent Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::cereal::TrafficEvent::Type getType(); + inline void setType( ::cereal::TrafficEvent::Type value); + + inline float getDistance(); + inline void setDistance(float value); + + inline ::cereal::TrafficEvent::Action getAction(); + inline void setAction( ::cereal::TrafficEvent::Action value); + + inline bool getResuming(); + inline void setResuming(bool value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class TrafficEvent::Pipeline { +public: + typedef TrafficEvent Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class AndroidGnss::Reader { +public: + typedef AndroidGnss Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline Which which() const; + inline bool isMeasurements() const; + inline bool hasMeasurements() const; + inline ::cereal::AndroidGnss::Measurements::Reader getMeasurements() const; + + inline bool isNavigationMessage() const; + inline bool hasNavigationMessage() const; + inline ::cereal::AndroidGnss::NavigationMessage::Reader getNavigationMessage() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class AndroidGnss::Builder { +public: + typedef AndroidGnss Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline Which which(); + inline bool isMeasurements(); + inline bool hasMeasurements(); + inline ::cereal::AndroidGnss::Measurements::Builder getMeasurements(); + inline void setMeasurements( ::cereal::AndroidGnss::Measurements::Reader value); + inline ::cereal::AndroidGnss::Measurements::Builder initMeasurements(); + inline void adoptMeasurements(::capnp::Orphan< ::cereal::AndroidGnss::Measurements>&& value); + inline ::capnp::Orphan< ::cereal::AndroidGnss::Measurements> disownMeasurements(); + + inline bool isNavigationMessage(); + inline bool hasNavigationMessage(); + inline ::cereal::AndroidGnss::NavigationMessage::Builder getNavigationMessage(); + inline void setNavigationMessage( ::cereal::AndroidGnss::NavigationMessage::Reader value); + inline ::cereal::AndroidGnss::NavigationMessage::Builder initNavigationMessage(); + inline void adoptNavigationMessage(::capnp::Orphan< ::cereal::AndroidGnss::NavigationMessage>&& value); + inline ::capnp::Orphan< ::cereal::AndroidGnss::NavigationMessage> disownNavigationMessage(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class AndroidGnss::Pipeline { +public: + typedef AndroidGnss Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class AndroidGnss::Measurements::Reader { +public: + typedef Measurements Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasClock() const; + inline ::cereal::AndroidGnss::Measurements::Clock::Reader getClock() const; + + inline bool hasMeasurements() const; + inline ::capnp::List< ::cereal::AndroidGnss::Measurements::Measurement, ::capnp::Kind::STRUCT>::Reader getMeasurements() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class AndroidGnss::Measurements::Builder { +public: + typedef Measurements Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasClock(); + inline ::cereal::AndroidGnss::Measurements::Clock::Builder getClock(); + inline void setClock( ::cereal::AndroidGnss::Measurements::Clock::Reader value); + inline ::cereal::AndroidGnss::Measurements::Clock::Builder initClock(); + inline void adoptClock(::capnp::Orphan< ::cereal::AndroidGnss::Measurements::Clock>&& value); + inline ::capnp::Orphan< ::cereal::AndroidGnss::Measurements::Clock> disownClock(); + + inline bool hasMeasurements(); + inline ::capnp::List< ::cereal::AndroidGnss::Measurements::Measurement, ::capnp::Kind::STRUCT>::Builder getMeasurements(); + inline void setMeasurements( ::capnp::List< ::cereal::AndroidGnss::Measurements::Measurement, ::capnp::Kind::STRUCT>::Reader value); + inline ::capnp::List< ::cereal::AndroidGnss::Measurements::Measurement, ::capnp::Kind::STRUCT>::Builder initMeasurements(unsigned int size); + inline void adoptMeasurements(::capnp::Orphan< ::capnp::List< ::cereal::AndroidGnss::Measurements::Measurement, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::AndroidGnss::Measurements::Measurement, ::capnp::Kind::STRUCT>> disownMeasurements(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class AndroidGnss::Measurements::Pipeline { +public: + typedef Measurements Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + + inline ::cereal::AndroidGnss::Measurements::Clock::Pipeline getClock(); +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class AndroidGnss::Measurements::Clock::Reader { +public: + typedef Clock Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::int64_t getTimeNanos() const; + + inline ::int32_t getHardwareClockDiscontinuityCount() const; + + inline bool getHasTimeUncertaintyNanos() const; + + inline double getTimeUncertaintyNanos() const; + + inline bool getHasLeapSecond() const; + + inline ::int32_t getLeapSecond() const; + + inline bool getHasFullBiasNanos() const; + + inline ::int64_t getFullBiasNanos() const; + + inline bool getHasBiasNanos() const; + + inline double getBiasNanos() const; + + inline bool getHasBiasUncertaintyNanos() const; + + inline double getBiasUncertaintyNanos() const; + + inline bool getHasDriftNanosPerSecond() const; + + inline double getDriftNanosPerSecond() const; + + inline bool getHasDriftUncertaintyNanosPerSecond() const; + + inline double getDriftUncertaintyNanosPerSecond() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class AndroidGnss::Measurements::Clock::Builder { +public: + typedef Clock Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::int64_t getTimeNanos(); + inline void setTimeNanos( ::int64_t value); + + inline ::int32_t getHardwareClockDiscontinuityCount(); + inline void setHardwareClockDiscontinuityCount( ::int32_t value); + + inline bool getHasTimeUncertaintyNanos(); + inline void setHasTimeUncertaintyNanos(bool value); + + inline double getTimeUncertaintyNanos(); + inline void setTimeUncertaintyNanos(double value); + + inline bool getHasLeapSecond(); + inline void setHasLeapSecond(bool value); + + inline ::int32_t getLeapSecond(); + inline void setLeapSecond( ::int32_t value); + + inline bool getHasFullBiasNanos(); + inline void setHasFullBiasNanos(bool value); + + inline ::int64_t getFullBiasNanos(); + inline void setFullBiasNanos( ::int64_t value); + + inline bool getHasBiasNanos(); + inline void setHasBiasNanos(bool value); + + inline double getBiasNanos(); + inline void setBiasNanos(double value); + + inline bool getHasBiasUncertaintyNanos(); + inline void setHasBiasUncertaintyNanos(bool value); + + inline double getBiasUncertaintyNanos(); + inline void setBiasUncertaintyNanos(double value); + + inline bool getHasDriftNanosPerSecond(); + inline void setHasDriftNanosPerSecond(bool value); + + inline double getDriftNanosPerSecond(); + inline void setDriftNanosPerSecond(double value); + + inline bool getHasDriftUncertaintyNanosPerSecond(); + inline void setHasDriftUncertaintyNanosPerSecond(bool value); + + inline double getDriftUncertaintyNanosPerSecond(); + inline void setDriftUncertaintyNanosPerSecond(double value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class AndroidGnss::Measurements::Clock::Pipeline { +public: + typedef Clock Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class AndroidGnss::Measurements::Measurement::Reader { +public: + typedef Measurement Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::int32_t getSvId() const; + + inline ::cereal::AndroidGnss::Measurements::Measurement::Constellation getConstellation() const; + + inline double getTimeOffsetNanos() const; + + inline ::int32_t getState() const; + + inline ::int64_t getReceivedSvTimeNanos() const; + + inline ::int64_t getReceivedSvTimeUncertaintyNanos() const; + + inline double getCn0DbHz() const; + + inline double getPseudorangeRateMetersPerSecond() const; + + inline double getPseudorangeRateUncertaintyMetersPerSecond() const; + + inline ::int32_t getAccumulatedDeltaRangeState() const; + + inline double getAccumulatedDeltaRangeMeters() const; + + inline double getAccumulatedDeltaRangeUncertaintyMeters() const; + + inline bool getHasCarrierFrequencyHz() const; + + inline float getCarrierFrequencyHz() const; + + inline bool getHasCarrierCycles() const; + + inline ::int64_t getCarrierCycles() const; + + inline bool getHasCarrierPhase() const; + + inline double getCarrierPhase() const; + + inline bool getHasCarrierPhaseUncertainty() const; + + inline double getCarrierPhaseUncertainty() const; + + inline bool getHasSnrInDb() const; + + inline double getSnrInDb() const; + + inline ::cereal::AndroidGnss::Measurements::Measurement::MultipathIndicator getMultipathIndicator() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class AndroidGnss::Measurements::Measurement::Builder { +public: + typedef Measurement Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::int32_t getSvId(); + inline void setSvId( ::int32_t value); + + inline ::cereal::AndroidGnss::Measurements::Measurement::Constellation getConstellation(); + inline void setConstellation( ::cereal::AndroidGnss::Measurements::Measurement::Constellation value); + + inline double getTimeOffsetNanos(); + inline void setTimeOffsetNanos(double value); + + inline ::int32_t getState(); + inline void setState( ::int32_t value); + + inline ::int64_t getReceivedSvTimeNanos(); + inline void setReceivedSvTimeNanos( ::int64_t value); + + inline ::int64_t getReceivedSvTimeUncertaintyNanos(); + inline void setReceivedSvTimeUncertaintyNanos( ::int64_t value); + + inline double getCn0DbHz(); + inline void setCn0DbHz(double value); + + inline double getPseudorangeRateMetersPerSecond(); + inline void setPseudorangeRateMetersPerSecond(double value); + + inline double getPseudorangeRateUncertaintyMetersPerSecond(); + inline void setPseudorangeRateUncertaintyMetersPerSecond(double value); + + inline ::int32_t getAccumulatedDeltaRangeState(); + inline void setAccumulatedDeltaRangeState( ::int32_t value); + + inline double getAccumulatedDeltaRangeMeters(); + inline void setAccumulatedDeltaRangeMeters(double value); + + inline double getAccumulatedDeltaRangeUncertaintyMeters(); + inline void setAccumulatedDeltaRangeUncertaintyMeters(double value); + + inline bool getHasCarrierFrequencyHz(); + inline void setHasCarrierFrequencyHz(bool value); + + inline float getCarrierFrequencyHz(); + inline void setCarrierFrequencyHz(float value); + + inline bool getHasCarrierCycles(); + inline void setHasCarrierCycles(bool value); + + inline ::int64_t getCarrierCycles(); + inline void setCarrierCycles( ::int64_t value); + + inline bool getHasCarrierPhase(); + inline void setHasCarrierPhase(bool value); + + inline double getCarrierPhase(); + inline void setCarrierPhase(double value); + + inline bool getHasCarrierPhaseUncertainty(); + inline void setHasCarrierPhaseUncertainty(bool value); + + inline double getCarrierPhaseUncertainty(); + inline void setCarrierPhaseUncertainty(double value); + + inline bool getHasSnrInDb(); + inline void setHasSnrInDb(bool value); + + inline double getSnrInDb(); + inline void setSnrInDb(double value); + + inline ::cereal::AndroidGnss::Measurements::Measurement::MultipathIndicator getMultipathIndicator(); + inline void setMultipathIndicator( ::cereal::AndroidGnss::Measurements::Measurement::MultipathIndicator value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class AndroidGnss::Measurements::Measurement::Pipeline { +public: + typedef Measurement Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class AndroidGnss::NavigationMessage::Reader { +public: + typedef NavigationMessage Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::int32_t getType() const; + + inline ::int32_t getSvId() const; + + inline ::int32_t getMessageId() const; + + inline ::int32_t getSubmessageId() const; + + inline bool hasData() const; + inline ::capnp::Data::Reader getData() const; + + inline ::cereal::AndroidGnss::NavigationMessage::Status getStatus() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class AndroidGnss::NavigationMessage::Builder { +public: + typedef NavigationMessage Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::int32_t getType(); + inline void setType( ::int32_t value); + + inline ::int32_t getSvId(); + inline void setSvId( ::int32_t value); + + inline ::int32_t getMessageId(); + inline void setMessageId( ::int32_t value); + + inline ::int32_t getSubmessageId(); + inline void setSubmessageId( ::int32_t value); + + inline bool hasData(); + inline ::capnp::Data::Builder getData(); + inline void setData( ::capnp::Data::Reader value); + inline ::capnp::Data::Builder initData(unsigned int size); + inline void adoptData(::capnp::Orphan< ::capnp::Data>&& value); + inline ::capnp::Orphan< ::capnp::Data> disownData(); + + inline ::cereal::AndroidGnss::NavigationMessage::Status getStatus(); + inline void setStatus( ::cereal::AndroidGnss::NavigationMessage::Status value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class AndroidGnss::NavigationMessage::Pipeline { +public: + typedef NavigationMessage Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class LidarPts::Reader { +public: + typedef LidarPts Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasR() const; + inline ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>::Reader getR() const; + + inline bool hasTheta() const; + inline ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>::Reader getTheta() const; + + inline bool hasReflect() const; + inline ::capnp::List< ::uint8_t, ::capnp::Kind::PRIMITIVE>::Reader getReflect() const; + + inline ::uint64_t getIdx() const; + + inline bool hasPkt() const; + inline ::capnp::Data::Reader getPkt() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class LidarPts::Builder { +public: + typedef LidarPts Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasR(); + inline ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>::Builder getR(); + inline void setR( ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>::Reader value); + inline void setR(::kj::ArrayPtr value); + inline ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>::Builder initR(unsigned int size); + inline void adoptR(::capnp::Orphan< ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>> disownR(); + + inline bool hasTheta(); + inline ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>::Builder getTheta(); + inline void setTheta( ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>::Reader value); + inline void setTheta(::kj::ArrayPtr value); + inline ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>::Builder initTheta(unsigned int size); + inline void adoptTheta(::capnp::Orphan< ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>> disownTheta(); + + inline bool hasReflect(); + inline ::capnp::List< ::uint8_t, ::capnp::Kind::PRIMITIVE>::Builder getReflect(); + inline void setReflect( ::capnp::List< ::uint8_t, ::capnp::Kind::PRIMITIVE>::Reader value); + inline void setReflect(::kj::ArrayPtr value); + inline ::capnp::List< ::uint8_t, ::capnp::Kind::PRIMITIVE>::Builder initReflect(unsigned int size); + inline void adoptReflect(::capnp::Orphan< ::capnp::List< ::uint8_t, ::capnp::Kind::PRIMITIVE>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::uint8_t, ::capnp::Kind::PRIMITIVE>> disownReflect(); + + inline ::uint64_t getIdx(); + inline void setIdx( ::uint64_t value); + + inline bool hasPkt(); + inline ::capnp::Data::Builder getPkt(); + inline void setPkt( ::capnp::Data::Reader value); + inline ::capnp::Data::Builder initPkt(unsigned int size); + inline void adoptPkt(::capnp::Orphan< ::capnp::Data>&& value); + inline ::capnp::Orphan< ::capnp::Data> disownPkt(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class LidarPts::Pipeline { +public: + typedef LidarPts Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +// ======================================================================================= + +inline ::int32_t LogRotate::Reader::getSegmentNum() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::int32_t LogRotate::Builder::getSegmentNum() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void LogRotate::Builder::setSegmentNum( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool LogRotate::Reader::hasPath() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool LogRotate::Builder::hasPath() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader LogRotate::Reader::getPath() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder LogRotate::Builder::getPath() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void LogRotate::Builder::setPath( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder LogRotate::Builder::initPath(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void LogRotate::Builder::adoptPath( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> LogRotate::Builder::disownPath() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool LiveUI::Reader::getRearViewCam() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline bool LiveUI::Builder::getRearViewCam() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void LiveUI::Builder::setRearViewCam(bool value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool LiveUI::Reader::hasAlertText1() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveUI::Builder::hasAlertText1() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader LiveUI::Reader::getAlertText1() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder LiveUI::Builder::getAlertText1() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void LiveUI::Builder::setAlertText1( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder LiveUI::Builder::initAlertText1(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void LiveUI::Builder::adoptAlertText1( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> LiveUI::Builder::disownAlertText1() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool LiveUI::Reader::hasAlertText2() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveUI::Builder::hasAlertText2() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader LiveUI::Reader::getAlertText2() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder LiveUI::Builder::getAlertText2() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void LiveUI::Builder::setAlertText2( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder LiveUI::Builder::initAlertText2(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void LiveUI::Builder::adoptAlertText2( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> LiveUI::Builder::disownAlertText2() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline float LiveUI::Reader::getAwarenessStatus() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float LiveUI::Builder::getAwarenessStatus() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void LiveUI::Builder::setAwarenessStatus(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::UiLayoutState::App UiLayoutState::Reader::getActiveApp() const { + return _reader.getDataField< ::cereal::UiLayoutState::App>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::cereal::UiLayoutState::App UiLayoutState::Builder::getActiveApp() { + return _builder.getDataField< ::cereal::UiLayoutState::App>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void UiLayoutState::Builder::setActiveApp( ::cereal::UiLayoutState::App value) { + _builder.setDataField< ::cereal::UiLayoutState::App>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool UiLayoutState::Reader::getSidebarCollapsed() const { + return _reader.getDataField( + ::capnp::bounded<16>() * ::capnp::ELEMENTS); +} + +inline bool UiLayoutState::Builder::getSidebarCollapsed() { + return _builder.getDataField( + ::capnp::bounded<16>() * ::capnp::ELEMENTS); +} +inline void UiLayoutState::Builder::setSidebarCollapsed(bool value) { + _builder.setDataField( + ::capnp::bounded<16>() * ::capnp::ELEMENTS, value); +} + +inline bool UiLayoutState::Reader::getMapEnabled() const { + return _reader.getDataField( + ::capnp::bounded<17>() * ::capnp::ELEMENTS); +} + +inline bool UiLayoutState::Builder::getMapEnabled() { + return _builder.getDataField( + ::capnp::bounded<17>() * ::capnp::ELEMENTS); +} +inline void UiLayoutState::Builder::setMapEnabled(bool value) { + _builder.setDataField( + ::capnp::bounded<17>() * ::capnp::ELEMENTS, value); +} + +inline bool UiLayoutState::Reader::getMockEngaged() const { + return _reader.getDataField( + ::capnp::bounded<18>() * ::capnp::ELEMENTS); +} + +inline bool UiLayoutState::Builder::getMockEngaged() { + return _builder.getDataField( + ::capnp::bounded<18>() * ::capnp::ELEMENTS); +} +inline void UiLayoutState::Builder::setMockEngaged(bool value) { + _builder.setDataField( + ::capnp::bounded<18>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t OrbslamCorrection::Reader::getCorrectionMonoTime() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t OrbslamCorrection::Builder::getCorrectionMonoTime() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void OrbslamCorrection::Builder::setCorrectionMonoTime( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool OrbslamCorrection::Reader::hasPrePositionECEF() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool OrbslamCorrection::Builder::hasPrePositionECEF() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader OrbslamCorrection::Reader::getPrePositionECEF() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder OrbslamCorrection::Builder::getPrePositionECEF() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void OrbslamCorrection::Builder::setPrePositionECEF( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void OrbslamCorrection::Builder::setPrePositionECEF(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder OrbslamCorrection::Builder::initPrePositionECEF(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void OrbslamCorrection::Builder::adoptPrePositionECEF( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> OrbslamCorrection::Builder::disownPrePositionECEF() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool OrbslamCorrection::Reader::hasPostPositionECEF() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool OrbslamCorrection::Builder::hasPostPositionECEF() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader OrbslamCorrection::Reader::getPostPositionECEF() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder OrbslamCorrection::Builder::getPostPositionECEF() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void OrbslamCorrection::Builder::setPostPositionECEF( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void OrbslamCorrection::Builder::setPostPositionECEF(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder OrbslamCorrection::Builder::initPostPositionECEF(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void OrbslamCorrection::Builder::adoptPostPositionECEF( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> OrbslamCorrection::Builder::disownPostPositionECEF() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool OrbslamCorrection::Reader::hasPrePoseQuatECEF() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool OrbslamCorrection::Builder::hasPrePoseQuatECEF() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader OrbslamCorrection::Reader::getPrePoseQuatECEF() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder OrbslamCorrection::Builder::getPrePoseQuatECEF() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void OrbslamCorrection::Builder::setPrePoseQuatECEF( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline void OrbslamCorrection::Builder::setPrePoseQuatECEF(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder OrbslamCorrection::Builder::initPrePoseQuatECEF(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void OrbslamCorrection::Builder::adoptPrePoseQuatECEF( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> OrbslamCorrection::Builder::disownPrePoseQuatECEF() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline bool OrbslamCorrection::Reader::hasPostPoseQuatECEF() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool OrbslamCorrection::Builder::hasPostPoseQuatECEF() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader OrbslamCorrection::Reader::getPostPoseQuatECEF() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder OrbslamCorrection::Builder::getPostPoseQuatECEF() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void OrbslamCorrection::Builder::setPostPoseQuatECEF( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline void OrbslamCorrection::Builder::setPostPoseQuatECEF(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder OrbslamCorrection::Builder::initPostPoseQuatECEF(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), size); +} +inline void OrbslamCorrection::Builder::adoptPostPoseQuatECEF( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> OrbslamCorrection::Builder::disownPostPoseQuatECEF() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline ::uint32_t OrbslamCorrection::Reader::getNumInliers() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t OrbslamCorrection::Builder::getNumInliers() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void OrbslamCorrection::Builder::setNumInliers( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline bool EthernetPacket::Reader::hasPkt() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool EthernetPacket::Builder::hasPkt() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Data::Reader EthernetPacket::Reader::getPkt() const { + return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::Data::Builder EthernetPacket::Builder::getPkt() { + return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void EthernetPacket::Builder::setPkt( ::capnp::Data::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Data>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::Data::Builder EthernetPacket::Builder::initPkt(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Data>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void EthernetPacket::Builder::adoptPkt( + ::capnp::Orphan< ::capnp::Data>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Data>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Data> EthernetPacket::Builder::disownPkt() { + return ::capnp::_::PointerHelpers< ::capnp::Data>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline float EthernetPacket::Reader::getTs() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline float EthernetPacket::Builder::getTs() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void EthernetPacket::Builder::setTs(float value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t CellInfo::Reader::getTimestamp() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t CellInfo::Builder::getTimestamp() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void CellInfo::Builder::setTimestamp( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool CellInfo::Reader::hasRepr() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool CellInfo::Builder::hasRepr() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader CellInfo::Reader::getRepr() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder CellInfo::Builder::getRepr() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void CellInfo::Builder::setRepr( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder CellInfo::Builder::initRepr(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void CellInfo::Builder::adoptRepr( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> CellInfo::Builder::disownRepr() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool WifiScan::Reader::hasBssid() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool WifiScan::Builder::hasBssid() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader WifiScan::Reader::getBssid() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder WifiScan::Builder::getBssid() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void WifiScan::Builder::setBssid( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder WifiScan::Builder::initBssid(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void WifiScan::Builder::adoptBssid( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> WifiScan::Builder::disownBssid() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool WifiScan::Reader::hasSsid() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool WifiScan::Builder::hasSsid() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader WifiScan::Reader::getSsid() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder WifiScan::Builder::getSsid() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void WifiScan::Builder::setSsid( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder WifiScan::Builder::initSsid(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void WifiScan::Builder::adoptSsid( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> WifiScan::Builder::disownSsid() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool WifiScan::Reader::hasCapabilities() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool WifiScan::Builder::hasCapabilities() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader WifiScan::Reader::getCapabilities() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder WifiScan::Builder::getCapabilities() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void WifiScan::Builder::setCapabilities( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder WifiScan::Builder::initCapabilities(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void WifiScan::Builder::adoptCapabilities( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> WifiScan::Builder::disownCapabilities() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline ::int32_t WifiScan::Reader::getFrequency() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::int32_t WifiScan::Builder::getFrequency() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void WifiScan::Builder::setFrequency( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t WifiScan::Reader::getLevel() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::int32_t WifiScan::Builder::getLevel() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void WifiScan::Builder::setLevel( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::int64_t WifiScan::Reader::getTimestamp() const { + return _reader.getDataField< ::int64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::int64_t WifiScan::Builder::getTimestamp() { + return _builder.getDataField< ::int64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void WifiScan::Builder::setTimestamp( ::int64_t value) { + _builder.setDataField< ::int64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t WifiScan::Reader::getCenterFreq0() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline ::int32_t WifiScan::Builder::getCenterFreq0() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void WifiScan::Builder::setCenterFreq0( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t WifiScan::Reader::getCenterFreq1() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline ::int32_t WifiScan::Builder::getCenterFreq1() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void WifiScan::Builder::setCenterFreq1( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::WifiScan::ChannelWidth WifiScan::Reader::getChannelWidth() const { + return _reader.getDataField< ::cereal::WifiScan::ChannelWidth>( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} + +inline ::cereal::WifiScan::ChannelWidth WifiScan::Builder::getChannelWidth() { + return _builder.getDataField< ::cereal::WifiScan::ChannelWidth>( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} +inline void WifiScan::Builder::setChannelWidth( ::cereal::WifiScan::ChannelWidth value) { + _builder.setDataField< ::cereal::WifiScan::ChannelWidth>( + ::capnp::bounded<12>() * ::capnp::ELEMENTS, value); +} + +inline bool WifiScan::Reader::hasOperatorFriendlyName() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool WifiScan::Builder::hasOperatorFriendlyName() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader WifiScan::Reader::getOperatorFriendlyName() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder WifiScan::Builder::getOperatorFriendlyName() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void WifiScan::Builder::setOperatorFriendlyName( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder WifiScan::Builder::initOperatorFriendlyName(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), size); +} +inline void WifiScan::Builder::adoptOperatorFriendlyName( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> WifiScan::Builder::disownOperatorFriendlyName() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline bool WifiScan::Reader::hasVenueName() const { + return !_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline bool WifiScan::Builder::hasVenueName() { + return !_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader WifiScan::Reader::getVenueName() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder WifiScan::Builder::getVenueName() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline void WifiScan::Builder::setVenueName( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder WifiScan::Builder::initVenueName(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), size); +} +inline void WifiScan::Builder::adoptVenueName( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> WifiScan::Builder::disownVenueName() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} + +inline bool WifiScan::Reader::getIs80211mcResponder() const { + return _reader.getDataField( + ::capnp::bounded<208>() * ::capnp::ELEMENTS); +} + +inline bool WifiScan::Builder::getIs80211mcResponder() { + return _builder.getDataField( + ::capnp::bounded<208>() * ::capnp::ELEMENTS); +} +inline void WifiScan::Builder::setIs80211mcResponder(bool value) { + _builder.setDataField( + ::capnp::bounded<208>() * ::capnp::ELEMENTS, value); +} + +inline bool WifiScan::Reader::getPasspoint() const { + return _reader.getDataField( + ::capnp::bounded<209>() * ::capnp::ELEMENTS); +} + +inline bool WifiScan::Builder::getPasspoint() { + return _builder.getDataField( + ::capnp::bounded<209>() * ::capnp::ELEMENTS); +} +inline void WifiScan::Builder::setPasspoint(bool value) { + _builder.setDataField( + ::capnp::bounded<209>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t WifiScan::Reader::getDistanceCm() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline ::int32_t WifiScan::Builder::getDistanceCm() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void WifiScan::Builder::setDistanceCm( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t WifiScan::Reader::getDistanceSdCm() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline ::int32_t WifiScan::Builder::getDistanceSdCm() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void WifiScan::Builder::setDistanceSdCm( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline bool LiveEventData::Reader::hasName() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveEventData::Builder::hasName() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader LiveEventData::Reader::getName() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder LiveEventData::Builder::getName() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void LiveEventData::Builder::setName( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder LiveEventData::Builder::initName(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void LiveEventData::Builder::adoptName( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> LiveEventData::Builder::disownName() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline ::int32_t LiveEventData::Reader::getValue() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::int32_t LiveEventData::Builder::getValue() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void LiveEventData::Builder::setValue( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t ModelData::Reader::getFrameId() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t ModelData::Builder::getFrameId() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void ModelData::Builder::setFrameId( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool ModelData::Reader::hasPath() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelData::Builder::hasPath() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::ModelData::PathData::Reader ModelData::Reader::getPath() const { + return ::capnp::_::PointerHelpers< ::cereal::ModelData::PathData>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::ModelData::PathData::Builder ModelData::Builder::getPath() { + return ::capnp::_::PointerHelpers< ::cereal::ModelData::PathData>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::ModelData::PathData::Pipeline ModelData::Pipeline::getPath() { + return ::cereal::ModelData::PathData::Pipeline(_typeless.getPointerField(0)); +} +#endif // !CAPNP_LITE +inline void ModelData::Builder::setPath( ::cereal::ModelData::PathData::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::ModelData::PathData>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::ModelData::PathData::Builder ModelData::Builder::initPath() { + return ::capnp::_::PointerHelpers< ::cereal::ModelData::PathData>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void ModelData::Builder::adoptPath( + ::capnp::Orphan< ::cereal::ModelData::PathData>&& value) { + ::capnp::_::PointerHelpers< ::cereal::ModelData::PathData>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::ModelData::PathData> ModelData::Builder::disownPath() { + return ::capnp::_::PointerHelpers< ::cereal::ModelData::PathData>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool ModelData::Reader::hasLeftLane() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelData::Builder::hasLeftLane() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::ModelData::PathData::Reader ModelData::Reader::getLeftLane() const { + return ::capnp::_::PointerHelpers< ::cereal::ModelData::PathData>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::cereal::ModelData::PathData::Builder ModelData::Builder::getLeftLane() { + return ::capnp::_::PointerHelpers< ::cereal::ModelData::PathData>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::ModelData::PathData::Pipeline ModelData::Pipeline::getLeftLane() { + return ::cereal::ModelData::PathData::Pipeline(_typeless.getPointerField(1)); +} +#endif // !CAPNP_LITE +inline void ModelData::Builder::setLeftLane( ::cereal::ModelData::PathData::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::ModelData::PathData>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::cereal::ModelData::PathData::Builder ModelData::Builder::initLeftLane() { + return ::capnp::_::PointerHelpers< ::cereal::ModelData::PathData>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void ModelData::Builder::adoptLeftLane( + ::capnp::Orphan< ::cereal::ModelData::PathData>&& value) { + ::capnp::_::PointerHelpers< ::cereal::ModelData::PathData>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::ModelData::PathData> ModelData::Builder::disownLeftLane() { + return ::capnp::_::PointerHelpers< ::cereal::ModelData::PathData>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool ModelData::Reader::hasRightLane() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelData::Builder::hasRightLane() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::ModelData::PathData::Reader ModelData::Reader::getRightLane() const { + return ::capnp::_::PointerHelpers< ::cereal::ModelData::PathData>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::cereal::ModelData::PathData::Builder ModelData::Builder::getRightLane() { + return ::capnp::_::PointerHelpers< ::cereal::ModelData::PathData>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::ModelData::PathData::Pipeline ModelData::Pipeline::getRightLane() { + return ::cereal::ModelData::PathData::Pipeline(_typeless.getPointerField(2)); +} +#endif // !CAPNP_LITE +inline void ModelData::Builder::setRightLane( ::cereal::ModelData::PathData::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::ModelData::PathData>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::cereal::ModelData::PathData::Builder ModelData::Builder::initRightLane() { + return ::capnp::_::PointerHelpers< ::cereal::ModelData::PathData>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void ModelData::Builder::adoptRightLane( + ::capnp::Orphan< ::cereal::ModelData::PathData>&& value) { + ::capnp::_::PointerHelpers< ::cereal::ModelData::PathData>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::ModelData::PathData> ModelData::Builder::disownRightLane() { + return ::capnp::_::PointerHelpers< ::cereal::ModelData::PathData>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline bool ModelData::Reader::hasLead() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelData::Builder::hasLead() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::ModelData::LeadData::Reader ModelData::Reader::getLead() const { + return ::capnp::_::PointerHelpers< ::cereal::ModelData::LeadData>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::cereal::ModelData::LeadData::Builder ModelData::Builder::getLead() { + return ::capnp::_::PointerHelpers< ::cereal::ModelData::LeadData>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::ModelData::LeadData::Pipeline ModelData::Pipeline::getLead() { + return ::cereal::ModelData::LeadData::Pipeline(_typeless.getPointerField(3)); +} +#endif // !CAPNP_LITE +inline void ModelData::Builder::setLead( ::cereal::ModelData::LeadData::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::ModelData::LeadData>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::cereal::ModelData::LeadData::Builder ModelData::Builder::initLead() { + return ::capnp::_::PointerHelpers< ::cereal::ModelData::LeadData>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void ModelData::Builder::adoptLead( + ::capnp::Orphan< ::cereal::ModelData::LeadData>&& value) { + ::capnp::_::PointerHelpers< ::cereal::ModelData::LeadData>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::ModelData::LeadData> ModelData::Builder::disownLead() { + return ::capnp::_::PointerHelpers< ::cereal::ModelData::LeadData>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline bool ModelData::Reader::hasSettings() const { + return !_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelData::Builder::hasSettings() { + return !_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::ModelData::ModelSettings::Reader ModelData::Reader::getSettings() const { + return ::capnp::_::PointerHelpers< ::cereal::ModelData::ModelSettings>::get(_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline ::cereal::ModelData::ModelSettings::Builder ModelData::Builder::getSettings() { + return ::capnp::_::PointerHelpers< ::cereal::ModelData::ModelSettings>::get(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::ModelData::ModelSettings::Pipeline ModelData::Pipeline::getSettings() { + return ::cereal::ModelData::ModelSettings::Pipeline(_typeless.getPointerField(4)); +} +#endif // !CAPNP_LITE +inline void ModelData::Builder::setSettings( ::cereal::ModelData::ModelSettings::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::ModelData::ModelSettings>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline ::cereal::ModelData::ModelSettings::Builder ModelData::Builder::initSettings() { + return ::capnp::_::PointerHelpers< ::cereal::ModelData::ModelSettings>::init(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline void ModelData::Builder::adoptSettings( + ::capnp::Orphan< ::cereal::ModelData::ModelSettings>&& value) { + ::capnp::_::PointerHelpers< ::cereal::ModelData::ModelSettings>::adopt(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::ModelData::ModelSettings> ModelData::Builder::disownSettings() { + return ::capnp::_::PointerHelpers< ::cereal::ModelData::ModelSettings>::disown(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} + +inline bool ModelData::Reader::hasFreePath() const { + return !_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelData::Builder::hasFreePath() { + return !_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelData::Reader::getFreePath() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelData::Builder::getFreePath() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline void ModelData::Builder::setFreePath( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline void ModelData::Builder::setFreePath(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelData::Builder::initFreePath(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), size); +} +inline void ModelData::Builder::adoptFreePath( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelData::Builder::disownFreePath() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} + +inline bool ModelData::Reader::hasLeadFuture() const { + return !_reader.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelData::Builder::hasLeadFuture() { + return !_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::ModelData::LeadData::Reader ModelData::Reader::getLeadFuture() const { + return ::capnp::_::PointerHelpers< ::cereal::ModelData::LeadData>::get(_reader.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} +inline ::cereal::ModelData::LeadData::Builder ModelData::Builder::getLeadFuture() { + return ::capnp::_::PointerHelpers< ::cereal::ModelData::LeadData>::get(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::ModelData::LeadData::Pipeline ModelData::Pipeline::getLeadFuture() { + return ::cereal::ModelData::LeadData::Pipeline(_typeless.getPointerField(6)); +} +#endif // !CAPNP_LITE +inline void ModelData::Builder::setLeadFuture( ::cereal::ModelData::LeadData::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::ModelData::LeadData>::set(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), value); +} +inline ::cereal::ModelData::LeadData::Builder ModelData::Builder::initLeadFuture() { + return ::capnp::_::PointerHelpers< ::cereal::ModelData::LeadData>::init(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} +inline void ModelData::Builder::adoptLeadFuture( + ::capnp::Orphan< ::cereal::ModelData::LeadData>&& value) { + ::capnp::_::PointerHelpers< ::cereal::ModelData::LeadData>::adopt(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::ModelData::LeadData> ModelData::Builder::disownLeadFuture() { + return ::capnp::_::PointerHelpers< ::cereal::ModelData::LeadData>::disown(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} + +inline bool ModelData::Reader::hasSpeed() const { + return !_reader.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelData::Builder::hasSpeed() { + return !_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelData::Reader::getSpeed() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelData::Builder::getSpeed() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS)); +} +inline void ModelData::Builder::setSpeed( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), value); +} +inline void ModelData::Builder::setSpeed(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelData::Builder::initSpeed(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), size); +} +inline void ModelData::Builder::adoptSpeed( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelData::Builder::disownSpeed() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS)); +} + +inline ::uint64_t ModelData::Reader::getTimestampEof() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t ModelData::Builder::getTimestampEof() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void ModelData::Builder::setTimestampEof( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool ModelData::Reader::hasMeta() const { + return !_reader.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelData::Builder::hasMeta() { + return !_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::ModelData::MetaData::Reader ModelData::Reader::getMeta() const { + return ::capnp::_::PointerHelpers< ::cereal::ModelData::MetaData>::get(_reader.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS)); +} +inline ::cereal::ModelData::MetaData::Builder ModelData::Builder::getMeta() { + return ::capnp::_::PointerHelpers< ::cereal::ModelData::MetaData>::get(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::ModelData::MetaData::Pipeline ModelData::Pipeline::getMeta() { + return ::cereal::ModelData::MetaData::Pipeline(_typeless.getPointerField(8)); +} +#endif // !CAPNP_LITE +inline void ModelData::Builder::setMeta( ::cereal::ModelData::MetaData::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::ModelData::MetaData>::set(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS), value); +} +inline ::cereal::ModelData::MetaData::Builder ModelData::Builder::initMeta() { + return ::capnp::_::PointerHelpers< ::cereal::ModelData::MetaData>::init(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS)); +} +inline void ModelData::Builder::adoptMeta( + ::capnp::Orphan< ::cereal::ModelData::MetaData>&& value) { + ::capnp::_::PointerHelpers< ::cereal::ModelData::MetaData>::adopt(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::ModelData::MetaData> ModelData::Builder::disownMeta() { + return ::capnp::_::PointerHelpers< ::cereal::ModelData::MetaData>::disown(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS)); +} + +inline bool ModelData::Reader::hasLongitudinal() const { + return !_reader.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelData::Builder::hasLongitudinal() { + return !_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::ModelData::LongitudinalData::Reader ModelData::Reader::getLongitudinal() const { + return ::capnp::_::PointerHelpers< ::cereal::ModelData::LongitudinalData>::get(_reader.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS)); +} +inline ::cereal::ModelData::LongitudinalData::Builder ModelData::Builder::getLongitudinal() { + return ::capnp::_::PointerHelpers< ::cereal::ModelData::LongitudinalData>::get(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::ModelData::LongitudinalData::Pipeline ModelData::Pipeline::getLongitudinal() { + return ::cereal::ModelData::LongitudinalData::Pipeline(_typeless.getPointerField(9)); +} +#endif // !CAPNP_LITE +inline void ModelData::Builder::setLongitudinal( ::cereal::ModelData::LongitudinalData::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::ModelData::LongitudinalData>::set(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS), value); +} +inline ::cereal::ModelData::LongitudinalData::Builder ModelData::Builder::initLongitudinal() { + return ::capnp::_::PointerHelpers< ::cereal::ModelData::LongitudinalData>::init(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS)); +} +inline void ModelData::Builder::adoptLongitudinal( + ::capnp::Orphan< ::cereal::ModelData::LongitudinalData>&& value) { + ::capnp::_::PointerHelpers< ::cereal::ModelData::LongitudinalData>::adopt(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::ModelData::LongitudinalData> ModelData::Builder::disownLongitudinal() { + return ::capnp::_::PointerHelpers< ::cereal::ModelData::LongitudinalData>::disown(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS)); +} + +inline ::uint32_t ModelData::Reader::getFrameAge() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t ModelData::Builder::getFrameAge() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void ModelData::Builder::setFrameAge( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float ModelData::Reader::getFrameDropPerc() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline float ModelData::Builder::getFrameDropPerc() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void ModelData::Builder::setFrameDropPerc(float value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline float ModelData::Reader::getModelExecutionTime() const { + return _reader.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline float ModelData::Builder::getModelExecutionTime() { + return _builder.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void ModelData::Builder::setModelExecutionTime(float value) { + _builder.setDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline bool ModelData::Reader::hasRawPred() const { + return !_reader.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelData::Builder::hasRawPred() { + return !_builder.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Data::Reader ModelData::Reader::getRawPred() const { + return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_reader.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS)); +} +inline ::capnp::Data::Builder ModelData::Builder::getRawPred() { + return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_builder.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS)); +} +inline void ModelData::Builder::setRawPred( ::capnp::Data::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Data>::set(_builder.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS), value); +} +inline ::capnp::Data::Builder ModelData::Builder::initRawPred(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Data>::init(_builder.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS), size); +} +inline void ModelData::Builder::adoptRawPred( + ::capnp::Orphan< ::capnp::Data>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Data>::adopt(_builder.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Data> ModelData::Builder::disownRawPred() { + return ::capnp::_::PointerHelpers< ::capnp::Data>::disown(_builder.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS)); +} + +inline float ModelData::Reader::getGpuExecutionTime() const { + return _reader.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline float ModelData::Builder::getGpuExecutionTime() { + return _builder.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void ModelData::Builder::setGpuExecutionTime(float value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline bool ModelData::PathData::Reader::hasPoints() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelData::PathData::Builder::hasPoints() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelData::PathData::Reader::getPoints() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelData::PathData::Builder::getPoints() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void ModelData::PathData::Builder::setPoints( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void ModelData::PathData::Builder::setPoints(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelData::PathData::Builder::initPoints(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void ModelData::PathData::Builder::adoptPoints( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelData::PathData::Builder::disownPoints() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline float ModelData::PathData::Reader::getProb() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline float ModelData::PathData::Builder::getProb() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void ModelData::PathData::Builder::setProb(float value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline float ModelData::PathData::Reader::getStd() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float ModelData::PathData::Builder::getStd() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void ModelData::PathData::Builder::setStd(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool ModelData::PathData::Reader::hasStds() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelData::PathData::Builder::hasStds() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelData::PathData::Reader::getStds() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelData::PathData::Builder::getStds() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void ModelData::PathData::Builder::setStds( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void ModelData::PathData::Builder::setStds(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelData::PathData::Builder::initStds(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void ModelData::PathData::Builder::adoptStds( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelData::PathData::Builder::disownStds() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool ModelData::PathData::Reader::hasPoly() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelData::PathData::Builder::hasPoly() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelData::PathData::Reader::getPoly() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelData::PathData::Builder::getPoly() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void ModelData::PathData::Builder::setPoly( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline void ModelData::PathData::Builder::setPoly(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelData::PathData::Builder::initPoly(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void ModelData::PathData::Builder::adoptPoly( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelData::PathData::Builder::disownPoly() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline float ModelData::PathData::Reader::getValidLen() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float ModelData::PathData::Builder::getValidLen() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void ModelData::PathData::Builder::setValidLen(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline float ModelData::LeadData::Reader::getDist() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline float ModelData::LeadData::Builder::getDist() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void ModelData::LeadData::Builder::setDist(float value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline float ModelData::LeadData::Reader::getProb() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float ModelData::LeadData::Builder::getProb() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void ModelData::LeadData::Builder::setProb(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float ModelData::LeadData::Reader::getStd() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float ModelData::LeadData::Builder::getStd() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void ModelData::LeadData::Builder::setStd(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline float ModelData::LeadData::Reader::getRelVel() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline float ModelData::LeadData::Builder::getRelVel() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void ModelData::LeadData::Builder::setRelVel(float value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline float ModelData::LeadData::Reader::getRelVelStd() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline float ModelData::LeadData::Builder::getRelVelStd() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void ModelData::LeadData::Builder::setRelVelStd(float value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline float ModelData::LeadData::Reader::getRelY() const { + return _reader.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline float ModelData::LeadData::Builder::getRelY() { + return _builder.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void ModelData::LeadData::Builder::setRelY(float value) { + _builder.setDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline float ModelData::LeadData::Reader::getRelYStd() const { + return _reader.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline float ModelData::LeadData::Builder::getRelYStd() { + return _builder.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void ModelData::LeadData::Builder::setRelYStd(float value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline float ModelData::LeadData::Reader::getRelA() const { + return _reader.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline float ModelData::LeadData::Builder::getRelA() { + return _builder.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void ModelData::LeadData::Builder::setRelA(float value) { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline float ModelData::LeadData::Reader::getRelAStd() const { + return _reader.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline float ModelData::LeadData::Builder::getRelAStd() { + return _builder.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void ModelData::LeadData::Builder::setRelAStd(float value) { + _builder.setDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t ModelData::ModelSettings::Reader::getBigBoxX() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t ModelData::ModelSettings::Builder::getBigBoxX() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void ModelData::ModelSettings::Builder::setBigBoxX( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t ModelData::ModelSettings::Reader::getBigBoxY() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t ModelData::ModelSettings::Builder::getBigBoxY() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void ModelData::ModelSettings::Builder::setBigBoxY( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t ModelData::ModelSettings::Reader::getBigBoxWidth() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t ModelData::ModelSettings::Builder::getBigBoxWidth() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void ModelData::ModelSettings::Builder::setBigBoxWidth( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t ModelData::ModelSettings::Reader::getBigBoxHeight() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t ModelData::ModelSettings::Builder::getBigBoxHeight() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void ModelData::ModelSettings::Builder::setBigBoxHeight( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline bool ModelData::ModelSettings::Reader::hasBoxProjection() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelData::ModelSettings::Builder::hasBoxProjection() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelData::ModelSettings::Reader::getBoxProjection() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelData::ModelSettings::Builder::getBoxProjection() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void ModelData::ModelSettings::Builder::setBoxProjection( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void ModelData::ModelSettings::Builder::setBoxProjection(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelData::ModelSettings::Builder::initBoxProjection(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void ModelData::ModelSettings::Builder::adoptBoxProjection( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelData::ModelSettings::Builder::disownBoxProjection() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool ModelData::ModelSettings::Reader::hasYuvCorrection() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelData::ModelSettings::Builder::hasYuvCorrection() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelData::ModelSettings::Reader::getYuvCorrection() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelData::ModelSettings::Builder::getYuvCorrection() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void ModelData::ModelSettings::Builder::setYuvCorrection( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void ModelData::ModelSettings::Builder::setYuvCorrection(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelData::ModelSettings::Builder::initYuvCorrection(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void ModelData::ModelSettings::Builder::adoptYuvCorrection( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelData::ModelSettings::Builder::disownYuvCorrection() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool ModelData::ModelSettings::Reader::hasInputTransform() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelData::ModelSettings::Builder::hasInputTransform() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelData::ModelSettings::Reader::getInputTransform() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelData::ModelSettings::Builder::getInputTransform() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void ModelData::ModelSettings::Builder::setInputTransform( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline void ModelData::ModelSettings::Builder::setInputTransform(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelData::ModelSettings::Builder::initInputTransform(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void ModelData::ModelSettings::Builder::adoptInputTransform( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelData::ModelSettings::Builder::disownInputTransform() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline float ModelData::MetaData::Reader::getEngagedProb() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline float ModelData::MetaData::Builder::getEngagedProb() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void ModelData::MetaData::Builder::setEngagedProb(float value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool ModelData::MetaData::Reader::hasDesirePrediction() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelData::MetaData::Builder::hasDesirePrediction() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelData::MetaData::Reader::getDesirePrediction() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelData::MetaData::Builder::getDesirePrediction() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void ModelData::MetaData::Builder::setDesirePrediction( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void ModelData::MetaData::Builder::setDesirePrediction(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelData::MetaData::Builder::initDesirePrediction(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void ModelData::MetaData::Builder::adoptDesirePrediction( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelData::MetaData::Builder::disownDesirePrediction() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline float ModelData::MetaData::Reader::getBrakeDisengageProb() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float ModelData::MetaData::Builder::getBrakeDisengageProb() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void ModelData::MetaData::Builder::setBrakeDisengageProb(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float ModelData::MetaData::Reader::getGasDisengageProb() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float ModelData::MetaData::Builder::getGasDisengageProb() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void ModelData::MetaData::Builder::setGasDisengageProb(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline float ModelData::MetaData::Reader::getSteerOverrideProb() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline float ModelData::MetaData::Builder::getSteerOverrideProb() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void ModelData::MetaData::Builder::setSteerOverrideProb(float value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline bool ModelData::MetaData::Reader::hasDesireState() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelData::MetaData::Builder::hasDesireState() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelData::MetaData::Reader::getDesireState() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelData::MetaData::Builder::getDesireState() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void ModelData::MetaData::Builder::setDesireState( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void ModelData::MetaData::Builder::setDesireState(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelData::MetaData::Builder::initDesireState(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void ModelData::MetaData::Builder::adoptDesireState( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelData::MetaData::Builder::disownDesireState() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool ModelData::LongitudinalData::Reader::hasSpeeds() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelData::LongitudinalData::Builder::hasSpeeds() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelData::LongitudinalData::Reader::getSpeeds() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelData::LongitudinalData::Builder::getSpeeds() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void ModelData::LongitudinalData::Builder::setSpeeds( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void ModelData::LongitudinalData::Builder::setSpeeds(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelData::LongitudinalData::Builder::initSpeeds(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void ModelData::LongitudinalData::Builder::adoptSpeeds( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelData::LongitudinalData::Builder::disownSpeeds() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool ModelData::LongitudinalData::Reader::hasAccelerations() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelData::LongitudinalData::Builder::hasAccelerations() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelData::LongitudinalData::Reader::getAccelerations() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelData::LongitudinalData::Builder::getAccelerations() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void ModelData::LongitudinalData::Builder::setAccelerations( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void ModelData::LongitudinalData::Builder::setAccelerations(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelData::LongitudinalData::Builder::initAccelerations(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void ModelData::LongitudinalData::Builder::adoptAccelerations( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelData::LongitudinalData::Builder::disownAccelerations() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool ModelData::LongitudinalData::Reader::hasDistances() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelData::LongitudinalData::Builder::hasDistances() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelData::LongitudinalData::Reader::getDistances() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelData::LongitudinalData::Builder::getDistances() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void ModelData::LongitudinalData::Builder::setDistances( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline void ModelData::LongitudinalData::Builder::setDistances(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelData::LongitudinalData::Builder::initDistances(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void ModelData::LongitudinalData::Builder::adoptDistances( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelData::LongitudinalData::Builder::disownDistances() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline double ECEFPoint::Reader::getX() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline double ECEFPoint::Builder::getX() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void ECEFPoint::Builder::setX(double value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline double ECEFPoint::Reader::getY() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline double ECEFPoint::Builder::getY() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void ECEFPoint::Builder::setY(double value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline double ECEFPoint::Reader::getZ() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline double ECEFPoint::Builder::getZ() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void ECEFPoint::Builder::setZ(double value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline float ECEFPointDEPRECATED::Reader::getX() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline float ECEFPointDEPRECATED::Builder::getX() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void ECEFPointDEPRECATED::Builder::setX(float value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline float ECEFPointDEPRECATED::Reader::getY() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float ECEFPointDEPRECATED::Builder::getY() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void ECEFPointDEPRECATED::Builder::setY(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float ECEFPointDEPRECATED::Reader::getZ() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float ECEFPointDEPRECATED::Builder::getZ() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void ECEFPointDEPRECATED::Builder::setZ(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline bool GPSPlannerPoints::Reader::hasCurPosDEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool GPSPlannerPoints::Builder::hasCurPosDEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::ECEFPointDEPRECATED::Reader GPSPlannerPoints::Reader::getCurPosDEPRECATED() const { + return ::capnp::_::PointerHelpers< ::cereal::ECEFPointDEPRECATED>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::ECEFPointDEPRECATED::Builder GPSPlannerPoints::Builder::getCurPosDEPRECATED() { + return ::capnp::_::PointerHelpers< ::cereal::ECEFPointDEPRECATED>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::ECEFPointDEPRECATED::Pipeline GPSPlannerPoints::Pipeline::getCurPosDEPRECATED() { + return ::cereal::ECEFPointDEPRECATED::Pipeline(_typeless.getPointerField(0)); +} +#endif // !CAPNP_LITE +inline void GPSPlannerPoints::Builder::setCurPosDEPRECATED( ::cereal::ECEFPointDEPRECATED::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::ECEFPointDEPRECATED>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::ECEFPointDEPRECATED::Builder GPSPlannerPoints::Builder::initCurPosDEPRECATED() { + return ::capnp::_::PointerHelpers< ::cereal::ECEFPointDEPRECATED>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void GPSPlannerPoints::Builder::adoptCurPosDEPRECATED( + ::capnp::Orphan< ::cereal::ECEFPointDEPRECATED>&& value) { + ::capnp::_::PointerHelpers< ::cereal::ECEFPointDEPRECATED>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::ECEFPointDEPRECATED> GPSPlannerPoints::Builder::disownCurPosDEPRECATED() { + return ::capnp::_::PointerHelpers< ::cereal::ECEFPointDEPRECATED>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool GPSPlannerPoints::Reader::hasPointsDEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool GPSPlannerPoints::Builder::hasPointsDEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::ECEFPointDEPRECATED, ::capnp::Kind::STRUCT>::Reader GPSPlannerPoints::Reader::getPointsDEPRECATED() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ECEFPointDEPRECATED, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::ECEFPointDEPRECATED, ::capnp::Kind::STRUCT>::Builder GPSPlannerPoints::Builder::getPointsDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ECEFPointDEPRECATED, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void GPSPlannerPoints::Builder::setPointsDEPRECATED( ::capnp::List< ::cereal::ECEFPointDEPRECATED, ::capnp::Kind::STRUCT>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ECEFPointDEPRECATED, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::ECEFPointDEPRECATED, ::capnp::Kind::STRUCT>::Builder GPSPlannerPoints::Builder::initPointsDEPRECATED(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ECEFPointDEPRECATED, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void GPSPlannerPoints::Builder::adoptPointsDEPRECATED( + ::capnp::Orphan< ::capnp::List< ::cereal::ECEFPointDEPRECATED, ::capnp::Kind::STRUCT>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ECEFPointDEPRECATED, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::ECEFPointDEPRECATED, ::capnp::Kind::STRUCT>> GPSPlannerPoints::Builder::disownPointsDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ECEFPointDEPRECATED, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool GPSPlannerPoints::Reader::getValid() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline bool GPSPlannerPoints::Builder::getValid() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void GPSPlannerPoints::Builder::setValid(bool value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool GPSPlannerPoints::Reader::hasTrackName() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool GPSPlannerPoints::Builder::hasTrackName() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader GPSPlannerPoints::Reader::getTrackName() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder GPSPlannerPoints::Builder::getTrackName() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void GPSPlannerPoints::Builder::setTrackName( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder GPSPlannerPoints::Builder::initTrackName(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void GPSPlannerPoints::Builder::adoptTrackName( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> GPSPlannerPoints::Builder::disownTrackName() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline float GPSPlannerPoints::Reader::getSpeedLimit() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float GPSPlannerPoints::Builder::getSpeedLimit() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void GPSPlannerPoints::Builder::setSpeedLimit(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float GPSPlannerPoints::Reader::getAccelTarget() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float GPSPlannerPoints::Builder::getAccelTarget() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void GPSPlannerPoints::Builder::setAccelTarget(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline bool GPSPlannerPoints::Reader::hasCurPos() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool GPSPlannerPoints::Builder::hasCurPos() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::ECEFPoint::Reader GPSPlannerPoints::Reader::getCurPos() const { + return ::capnp::_::PointerHelpers< ::cereal::ECEFPoint>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::cereal::ECEFPoint::Builder GPSPlannerPoints::Builder::getCurPos() { + return ::capnp::_::PointerHelpers< ::cereal::ECEFPoint>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::ECEFPoint::Pipeline GPSPlannerPoints::Pipeline::getCurPos() { + return ::cereal::ECEFPoint::Pipeline(_typeless.getPointerField(3)); +} +#endif // !CAPNP_LITE +inline void GPSPlannerPoints::Builder::setCurPos( ::cereal::ECEFPoint::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::ECEFPoint>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::cereal::ECEFPoint::Builder GPSPlannerPoints::Builder::initCurPos() { + return ::capnp::_::PointerHelpers< ::cereal::ECEFPoint>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void GPSPlannerPoints::Builder::adoptCurPos( + ::capnp::Orphan< ::cereal::ECEFPoint>&& value) { + ::capnp::_::PointerHelpers< ::cereal::ECEFPoint>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::ECEFPoint> GPSPlannerPoints::Builder::disownCurPos() { + return ::capnp::_::PointerHelpers< ::cereal::ECEFPoint>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline bool GPSPlannerPoints::Reader::hasPoints() const { + return !_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline bool GPSPlannerPoints::Builder::hasPoints() { + return !_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>::Reader GPSPlannerPoints::Reader::getPoints() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>::Builder GPSPlannerPoints::Builder::getPoints() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline void GPSPlannerPoints::Builder::setPoints( ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>::Builder GPSPlannerPoints::Builder::initPoints(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), size); +} +inline void GPSPlannerPoints::Builder::adoptPoints( + ::capnp::Orphan< ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>> GPSPlannerPoints::Builder::disownPoints() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} + +inline bool GPSPlannerPlan::Reader::getValid() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline bool GPSPlannerPlan::Builder::getValid() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void GPSPlannerPlan::Builder::setValid(bool value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool GPSPlannerPlan::Reader::hasPoly() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool GPSPlannerPlan::Builder::hasPoly() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader GPSPlannerPlan::Reader::getPoly() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder GPSPlannerPlan::Builder::getPoly() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void GPSPlannerPlan::Builder::setPoly( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void GPSPlannerPlan::Builder::setPoly(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder GPSPlannerPlan::Builder::initPoly(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void GPSPlannerPlan::Builder::adoptPoly( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> GPSPlannerPlan::Builder::disownPoly() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool GPSPlannerPlan::Reader::hasTrackName() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool GPSPlannerPlan::Builder::hasTrackName() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader GPSPlannerPlan::Reader::getTrackName() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder GPSPlannerPlan::Builder::getTrackName() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void GPSPlannerPlan::Builder::setTrackName( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder GPSPlannerPlan::Builder::initTrackName(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void GPSPlannerPlan::Builder::adoptTrackName( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> GPSPlannerPlan::Builder::disownTrackName() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline float GPSPlannerPlan::Reader::getSpeed() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float GPSPlannerPlan::Builder::getSpeed() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void GPSPlannerPlan::Builder::setSpeed(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float GPSPlannerPlan::Reader::getAcceleration() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float GPSPlannerPlan::Builder::getAcceleration() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void GPSPlannerPlan::Builder::setAcceleration(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline bool GPSPlannerPlan::Reader::hasPointsDEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool GPSPlannerPlan::Builder::hasPointsDEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::ECEFPointDEPRECATED, ::capnp::Kind::STRUCT>::Reader GPSPlannerPlan::Reader::getPointsDEPRECATED() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ECEFPointDEPRECATED, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::ECEFPointDEPRECATED, ::capnp::Kind::STRUCT>::Builder GPSPlannerPlan::Builder::getPointsDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ECEFPointDEPRECATED, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void GPSPlannerPlan::Builder::setPointsDEPRECATED( ::capnp::List< ::cereal::ECEFPointDEPRECATED, ::capnp::Kind::STRUCT>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ECEFPointDEPRECATED, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::ECEFPointDEPRECATED, ::capnp::Kind::STRUCT>::Builder GPSPlannerPlan::Builder::initPointsDEPRECATED(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ECEFPointDEPRECATED, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void GPSPlannerPlan::Builder::adoptPointsDEPRECATED( + ::capnp::Orphan< ::capnp::List< ::cereal::ECEFPointDEPRECATED, ::capnp::Kind::STRUCT>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ECEFPointDEPRECATED, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::ECEFPointDEPRECATED, ::capnp::Kind::STRUCT>> GPSPlannerPlan::Builder::disownPointsDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ECEFPointDEPRECATED, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline bool GPSPlannerPlan::Reader::hasPoints() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool GPSPlannerPlan::Builder::hasPoints() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>::Reader GPSPlannerPlan::Reader::getPoints() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>::Builder GPSPlannerPlan::Builder::getPoints() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void GPSPlannerPlan::Builder::setPoints( ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>::Builder GPSPlannerPlan::Builder::initPoints(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), size); +} +inline void GPSPlannerPlan::Builder::adoptPoints( + ::capnp::Orphan< ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>> GPSPlannerPlan::Builder::disownPoints() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline float GPSPlannerPlan::Reader::getXLookahead() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline float GPSPlannerPlan::Builder::getXLookahead() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void GPSPlannerPlan::Builder::setXLookahead(float value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::UiNavigationEvent::Type UiNavigationEvent::Reader::getType() const { + return _reader.getDataField< ::cereal::UiNavigationEvent::Type>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::cereal::UiNavigationEvent::Type UiNavigationEvent::Builder::getType() { + return _builder.getDataField< ::cereal::UiNavigationEvent::Type>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void UiNavigationEvent::Builder::setType( ::cereal::UiNavigationEvent::Type value) { + _builder.setDataField< ::cereal::UiNavigationEvent::Type>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::UiNavigationEvent::Status UiNavigationEvent::Reader::getStatus() const { + return _reader.getDataField< ::cereal::UiNavigationEvent::Status>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::cereal::UiNavigationEvent::Status UiNavigationEvent::Builder::getStatus() { + return _builder.getDataField< ::cereal::UiNavigationEvent::Status>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void UiNavigationEvent::Builder::setStatus( ::cereal::UiNavigationEvent::Status value) { + _builder.setDataField< ::cereal::UiNavigationEvent::Status>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float UiNavigationEvent::Reader::getDistanceTo() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float UiNavigationEvent::Builder::getDistanceTo() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void UiNavigationEvent::Builder::setDistanceTo(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool UiNavigationEvent::Reader::hasEndRoadPointDEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool UiNavigationEvent::Builder::hasEndRoadPointDEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::ECEFPointDEPRECATED::Reader UiNavigationEvent::Reader::getEndRoadPointDEPRECATED() const { + return ::capnp::_::PointerHelpers< ::cereal::ECEFPointDEPRECATED>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::ECEFPointDEPRECATED::Builder UiNavigationEvent::Builder::getEndRoadPointDEPRECATED() { + return ::capnp::_::PointerHelpers< ::cereal::ECEFPointDEPRECATED>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::ECEFPointDEPRECATED::Pipeline UiNavigationEvent::Pipeline::getEndRoadPointDEPRECATED() { + return ::cereal::ECEFPointDEPRECATED::Pipeline(_typeless.getPointerField(0)); +} +#endif // !CAPNP_LITE +inline void UiNavigationEvent::Builder::setEndRoadPointDEPRECATED( ::cereal::ECEFPointDEPRECATED::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::ECEFPointDEPRECATED>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::ECEFPointDEPRECATED::Builder UiNavigationEvent::Builder::initEndRoadPointDEPRECATED() { + return ::capnp::_::PointerHelpers< ::cereal::ECEFPointDEPRECATED>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void UiNavigationEvent::Builder::adoptEndRoadPointDEPRECATED( + ::capnp::Orphan< ::cereal::ECEFPointDEPRECATED>&& value) { + ::capnp::_::PointerHelpers< ::cereal::ECEFPointDEPRECATED>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::ECEFPointDEPRECATED> UiNavigationEvent::Builder::disownEndRoadPointDEPRECATED() { + return ::capnp::_::PointerHelpers< ::cereal::ECEFPointDEPRECATED>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool UiNavigationEvent::Reader::hasEndRoadPoint() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool UiNavigationEvent::Builder::hasEndRoadPoint() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::ECEFPoint::Reader UiNavigationEvent::Reader::getEndRoadPoint() const { + return ::capnp::_::PointerHelpers< ::cereal::ECEFPoint>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::cereal::ECEFPoint::Builder UiNavigationEvent::Builder::getEndRoadPoint() { + return ::capnp::_::PointerHelpers< ::cereal::ECEFPoint>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::ECEFPoint::Pipeline UiNavigationEvent::Pipeline::getEndRoadPoint() { + return ::cereal::ECEFPoint::Pipeline(_typeless.getPointerField(1)); +} +#endif // !CAPNP_LITE +inline void UiNavigationEvent::Builder::setEndRoadPoint( ::cereal::ECEFPoint::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::ECEFPoint>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::cereal::ECEFPoint::Builder UiNavigationEvent::Builder::initEndRoadPoint() { + return ::capnp::_::PointerHelpers< ::cereal::ECEFPoint>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void UiNavigationEvent::Builder::adoptEndRoadPoint( + ::capnp::Orphan< ::cereal::ECEFPoint>&& value) { + ::capnp::_::PointerHelpers< ::cereal::ECEFPoint>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::ECEFPoint> UiNavigationEvent::Builder::disownEndRoadPoint() { + return ::capnp::_::PointerHelpers< ::cereal::ECEFPoint>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline ::uint8_t LiveLocationData::Reader::getStatus() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t LiveLocationData::Builder::getStatus() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void LiveLocationData::Builder::setStatus( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline double LiveLocationData::Reader::getLat() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline double LiveLocationData::Builder::getLat() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void LiveLocationData::Builder::setLat(double value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline double LiveLocationData::Reader::getLon() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline double LiveLocationData::Builder::getLon() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void LiveLocationData::Builder::setLon(double value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline float LiveLocationData::Reader::getAlt() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float LiveLocationData::Builder::getAlt() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void LiveLocationData::Builder::setAlt(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float LiveLocationData::Reader::getSpeed() const { + return _reader.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline float LiveLocationData::Builder::getSpeed() { + return _builder.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void LiveLocationData::Builder::setSpeed(float value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline bool LiveLocationData::Reader::hasVNED() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveLocationData::Builder::hasVNED() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LiveLocationData::Reader::getVNED() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LiveLocationData::Builder::getVNED() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void LiveLocationData::Builder::setVNED( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void LiveLocationData::Builder::setVNED(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LiveLocationData::Builder::initVNED(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void LiveLocationData::Builder::adoptVNED( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LiveLocationData::Builder::disownVNED() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline float LiveLocationData::Reader::getRoll() const { + return _reader.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline float LiveLocationData::Builder::getRoll() { + return _builder.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void LiveLocationData::Builder::setRoll(float value) { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline float LiveLocationData::Reader::getPitch() const { + return _reader.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline float LiveLocationData::Builder::getPitch() { + return _builder.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void LiveLocationData::Builder::setPitch(float value) { + _builder.setDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline float LiveLocationData::Reader::getHeading() const { + return _reader.getDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} + +inline float LiveLocationData::Builder::getHeading() { + return _builder.getDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} +inline void LiveLocationData::Builder::setHeading(float value) { + _builder.setDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS, value); +} + +inline float LiveLocationData::Reader::getWanderAngle() const { + return _reader.getDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} + +inline float LiveLocationData::Builder::getWanderAngle() { + return _builder.getDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} +inline void LiveLocationData::Builder::setWanderAngle(float value) { + _builder.setDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS, value); +} + +inline float LiveLocationData::Reader::getTrackAngle() const { + return _reader.getDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} + +inline float LiveLocationData::Builder::getTrackAngle() { + return _builder.getDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} +inline void LiveLocationData::Builder::setTrackAngle(float value) { + _builder.setDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS, value); +} + +inline bool LiveLocationData::Reader::hasGyro() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveLocationData::Builder::hasGyro() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LiveLocationData::Reader::getGyro() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LiveLocationData::Builder::getGyro() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void LiveLocationData::Builder::setGyro( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void LiveLocationData::Builder::setGyro(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LiveLocationData::Builder::initGyro(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void LiveLocationData::Builder::adoptGyro( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LiveLocationData::Builder::disownGyro() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool LiveLocationData::Reader::hasAccel() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveLocationData::Builder::hasAccel() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LiveLocationData::Reader::getAccel() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LiveLocationData::Builder::getAccel() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void LiveLocationData::Builder::setAccel( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline void LiveLocationData::Builder::setAccel(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LiveLocationData::Builder::initAccel(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void LiveLocationData::Builder::adoptAccel( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LiveLocationData::Builder::disownAccel() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline bool LiveLocationData::Reader::hasAccuracy() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveLocationData::Builder::hasAccuracy() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LiveLocationData::Accuracy::Reader LiveLocationData::Reader::getAccuracy() const { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationData::Accuracy>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::cereal::LiveLocationData::Accuracy::Builder LiveLocationData::Builder::getAccuracy() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationData::Accuracy>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::LiveLocationData::Accuracy::Pipeline LiveLocationData::Pipeline::getAccuracy() { + return ::cereal::LiveLocationData::Accuracy::Pipeline(_typeless.getPointerField(3)); +} +#endif // !CAPNP_LITE +inline void LiveLocationData::Builder::setAccuracy( ::cereal::LiveLocationData::Accuracy::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::LiveLocationData::Accuracy>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::cereal::LiveLocationData::Accuracy::Builder LiveLocationData::Builder::initAccuracy() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationData::Accuracy>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void LiveLocationData::Builder::adoptAccuracy( + ::capnp::Orphan< ::cereal::LiveLocationData::Accuracy>&& value) { + ::capnp::_::PointerHelpers< ::cereal::LiveLocationData::Accuracy>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LiveLocationData::Accuracy> LiveLocationData::Builder::disownAccuracy() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationData::Accuracy>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline ::cereal::LiveLocationData::SensorSource LiveLocationData::Reader::getSource() const { + return _reader.getDataField< ::cereal::LiveLocationData::SensorSource>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::cereal::LiveLocationData::SensorSource LiveLocationData::Builder::getSource() { + return _builder.getDataField< ::cereal::LiveLocationData::SensorSource>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void LiveLocationData::Builder::setSource( ::cereal::LiveLocationData::SensorSource value) { + _builder.setDataField< ::cereal::LiveLocationData::SensorSource>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t LiveLocationData::Reader::getFixMonoTime() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t LiveLocationData::Builder::getFixMonoTime() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void LiveLocationData::Builder::setFixMonoTime( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t LiveLocationData::Reader::getGpsWeek() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} + +inline ::int32_t LiveLocationData::Builder::getGpsWeek() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} +inline void LiveLocationData::Builder::setGpsWeek( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<14>() * ::capnp::ELEMENTS, value); +} + +inline double LiveLocationData::Reader::getTimeOfWeek() const { + return _reader.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline double LiveLocationData::Builder::getTimeOfWeek() { + return _builder.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void LiveLocationData::Builder::setTimeOfWeek(double value) { + _builder.setDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline bool LiveLocationData::Reader::hasPositionECEF() const { + return !_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveLocationData::Builder::hasPositionECEF() { + return !_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LiveLocationData::Reader::getPositionECEF() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LiveLocationData::Builder::getPositionECEF() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline void LiveLocationData::Builder::setPositionECEF( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline void LiveLocationData::Builder::setPositionECEF(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LiveLocationData::Builder::initPositionECEF(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), size); +} +inline void LiveLocationData::Builder::adoptPositionECEF( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LiveLocationData::Builder::disownPositionECEF() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} + +inline bool LiveLocationData::Reader::hasPoseQuatECEF() const { + return !_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveLocationData::Builder::hasPoseQuatECEF() { + return !_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LiveLocationData::Reader::getPoseQuatECEF() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LiveLocationData::Builder::getPoseQuatECEF() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline void LiveLocationData::Builder::setPoseQuatECEF( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline void LiveLocationData::Builder::setPoseQuatECEF(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LiveLocationData::Builder::initPoseQuatECEF(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), size); +} +inline void LiveLocationData::Builder::adoptPoseQuatECEF( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LiveLocationData::Builder::disownPoseQuatECEF() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} + +inline float LiveLocationData::Reader::getPitchCalibration() const { + return _reader.getDataField( + ::capnp::bounded<15>() * ::capnp::ELEMENTS); +} + +inline float LiveLocationData::Builder::getPitchCalibration() { + return _builder.getDataField( + ::capnp::bounded<15>() * ::capnp::ELEMENTS); +} +inline void LiveLocationData::Builder::setPitchCalibration(float value) { + _builder.setDataField( + ::capnp::bounded<15>() * ::capnp::ELEMENTS, value); +} + +inline float LiveLocationData::Reader::getYawCalibration() const { + return _reader.getDataField( + ::capnp::bounded<18>() * ::capnp::ELEMENTS); +} + +inline float LiveLocationData::Builder::getYawCalibration() { + return _builder.getDataField( + ::capnp::bounded<18>() * ::capnp::ELEMENTS); +} +inline void LiveLocationData::Builder::setYawCalibration(float value) { + _builder.setDataField( + ::capnp::bounded<18>() * ::capnp::ELEMENTS, value); +} + +inline bool LiveLocationData::Reader::hasImuFrame() const { + return !_reader.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveLocationData::Builder::hasImuFrame() { + return !_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LiveLocationData::Reader::getImuFrame() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LiveLocationData::Builder::getImuFrame() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} +inline void LiveLocationData::Builder::setImuFrame( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), value); +} +inline void LiveLocationData::Builder::setImuFrame(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LiveLocationData::Builder::initImuFrame(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), size); +} +inline void LiveLocationData::Builder::adoptImuFrame( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LiveLocationData::Builder::disownImuFrame() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} + +inline bool LiveLocationData::Accuracy::Reader::hasPNEDError() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveLocationData::Accuracy::Builder::hasPNEDError() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LiveLocationData::Accuracy::Reader::getPNEDError() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LiveLocationData::Accuracy::Builder::getPNEDError() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void LiveLocationData::Accuracy::Builder::setPNEDError( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void LiveLocationData::Accuracy::Builder::setPNEDError(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LiveLocationData::Accuracy::Builder::initPNEDError(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void LiveLocationData::Accuracy::Builder::adoptPNEDError( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LiveLocationData::Accuracy::Builder::disownPNEDError() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool LiveLocationData::Accuracy::Reader::hasVNEDError() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveLocationData::Accuracy::Builder::hasVNEDError() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LiveLocationData::Accuracy::Reader::getVNEDError() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LiveLocationData::Accuracy::Builder::getVNEDError() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void LiveLocationData::Accuracy::Builder::setVNEDError( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void LiveLocationData::Accuracy::Builder::setVNEDError(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LiveLocationData::Accuracy::Builder::initVNEDError(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void LiveLocationData::Accuracy::Builder::adoptVNEDError( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LiveLocationData::Accuracy::Builder::disownVNEDError() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline float LiveLocationData::Accuracy::Reader::getRollError() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline float LiveLocationData::Accuracy::Builder::getRollError() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void LiveLocationData::Accuracy::Builder::setRollError(float value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline float LiveLocationData::Accuracy::Reader::getPitchError() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float LiveLocationData::Accuracy::Builder::getPitchError() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void LiveLocationData::Accuracy::Builder::setPitchError(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float LiveLocationData::Accuracy::Reader::getHeadingError() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float LiveLocationData::Accuracy::Builder::getHeadingError() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void LiveLocationData::Accuracy::Builder::setHeadingError(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline float LiveLocationData::Accuracy::Reader::getEllipsoidSemiMajorError() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline float LiveLocationData::Accuracy::Builder::getEllipsoidSemiMajorError() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void LiveLocationData::Accuracy::Builder::setEllipsoidSemiMajorError(float value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline float LiveLocationData::Accuracy::Reader::getEllipsoidSemiMinorError() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline float LiveLocationData::Accuracy::Builder::getEllipsoidSemiMinorError() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void LiveLocationData::Accuracy::Builder::setEllipsoidSemiMinorError(float value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline float LiveLocationData::Accuracy::Reader::getEllipsoidOrientationError() const { + return _reader.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline float LiveLocationData::Accuracy::Builder::getEllipsoidOrientationError() { + return _builder.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void LiveLocationData::Accuracy::Builder::setEllipsoidOrientationError(float value) { + _builder.setDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t OrbOdometry::Reader::getStartMonoTime() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t OrbOdometry::Builder::getStartMonoTime() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void OrbOdometry::Builder::setStartMonoTime( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t OrbOdometry::Reader::getEndMonoTime() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t OrbOdometry::Builder::getEndMonoTime() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void OrbOdometry::Builder::setEndMonoTime( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool OrbOdometry::Reader::hasF() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool OrbOdometry::Builder::hasF() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader OrbOdometry::Reader::getF() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder OrbOdometry::Builder::getF() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void OrbOdometry::Builder::setF( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void OrbOdometry::Builder::setF(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder OrbOdometry::Builder::initF(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void OrbOdometry::Builder::adoptF( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> OrbOdometry::Builder::disownF() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline double OrbOdometry::Reader::getErr() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline double OrbOdometry::Builder::getErr() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void OrbOdometry::Builder::setErr(double value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t OrbOdometry::Reader::getInliers() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline ::int32_t OrbOdometry::Builder::getInliers() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void OrbOdometry::Builder::setInliers( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline bool OrbOdometry::Reader::hasMatches() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool OrbOdometry::Builder::hasMatches() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>::Reader OrbOdometry::Reader::getMatches() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>::Builder OrbOdometry::Builder::getMatches() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void OrbOdometry::Builder::setMatches( ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void OrbOdometry::Builder::setMatches(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>::Builder OrbOdometry::Builder::initMatches(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void OrbOdometry::Builder::adoptMatches( + ::capnp::Orphan< ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>> OrbOdometry::Builder::disownMatches() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline ::uint64_t OrbFeatures::Reader::getTimestampEof() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t OrbFeatures::Builder::getTimestampEof() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void OrbFeatures::Builder::setTimestampEof( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool OrbFeatures::Reader::hasXs() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool OrbFeatures::Builder::hasXs() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader OrbFeatures::Reader::getXs() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder OrbFeatures::Builder::getXs() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void OrbFeatures::Builder::setXs( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void OrbFeatures::Builder::setXs(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder OrbFeatures::Builder::initXs(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void OrbFeatures::Builder::adoptXs( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> OrbFeatures::Builder::disownXs() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool OrbFeatures::Reader::hasYs() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool OrbFeatures::Builder::hasYs() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader OrbFeatures::Reader::getYs() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder OrbFeatures::Builder::getYs() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void OrbFeatures::Builder::setYs( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void OrbFeatures::Builder::setYs(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder OrbFeatures::Builder::initYs(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void OrbFeatures::Builder::adoptYs( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> OrbFeatures::Builder::disownYs() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool OrbFeatures::Reader::hasDescriptors() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool OrbFeatures::Builder::hasDescriptors() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Data::Reader OrbFeatures::Reader::getDescriptors() const { + return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::Data::Builder OrbFeatures::Builder::getDescriptors() { + return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void OrbFeatures::Builder::setDescriptors( ::capnp::Data::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Data>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::Data::Builder OrbFeatures::Builder::initDescriptors(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Data>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void OrbFeatures::Builder::adoptDescriptors( + ::capnp::Orphan< ::capnp::Data>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Data>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Data> OrbFeatures::Builder::disownDescriptors() { + return ::capnp::_::PointerHelpers< ::capnp::Data>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline bool OrbFeatures::Reader::hasOctaves() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool OrbFeatures::Builder::hasOctaves() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>::Reader OrbFeatures::Reader::getOctaves() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>::Builder OrbFeatures::Builder::getOctaves() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void OrbFeatures::Builder::setOctaves( ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline void OrbFeatures::Builder::setOctaves(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>::Builder OrbFeatures::Builder::initOctaves(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), size); +} +inline void OrbFeatures::Builder::adoptOctaves( + ::capnp::Orphan< ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>> OrbFeatures::Builder::disownOctaves() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline ::uint64_t OrbFeatures::Reader::getTimestampLastEof() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t OrbFeatures::Builder::getTimestampLastEof() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void OrbFeatures::Builder::setTimestampLastEof( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool OrbFeatures::Reader::hasMatches() const { + return !_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline bool OrbFeatures::Builder::hasMatches() { + return !_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>::Reader OrbFeatures::Reader::getMatches() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>>::get(_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>::Builder OrbFeatures::Builder::getMatches() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>>::get(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline void OrbFeatures::Builder::setMatches( ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline void OrbFeatures::Builder::setMatches(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>::Builder OrbFeatures::Builder::initMatches(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>>::init(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), size); +} +inline void OrbFeatures::Builder::adoptMatches( + ::capnp::Orphan< ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>>::adopt(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>> OrbFeatures::Builder::disownMatches() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>>::disown(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} + +inline ::uint64_t OrbFeaturesSummary::Reader::getTimestampEof() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t OrbFeaturesSummary::Builder::getTimestampEof() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void OrbFeaturesSummary::Builder::setTimestampEof( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t OrbFeaturesSummary::Reader::getTimestampLastEof() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t OrbFeaturesSummary::Builder::getTimestampLastEof() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void OrbFeaturesSummary::Builder::setTimestampLastEof( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t OrbFeaturesSummary::Reader::getFeatureCount() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t OrbFeaturesSummary::Builder::getFeatureCount() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void OrbFeaturesSummary::Builder::setFeatureCount( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t OrbFeaturesSummary::Reader::getMatchCount() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t OrbFeaturesSummary::Builder::getMatchCount() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} +inline void OrbFeaturesSummary::Builder::setMatchCount( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t OrbFeaturesSummary::Reader::getComputeNs() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t OrbFeaturesSummary::Builder::getComputeNs() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void OrbFeaturesSummary::Builder::setComputeNs( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t OrbKeyFrame::Reader::getId() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t OrbKeyFrame::Builder::getId() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void OrbKeyFrame::Builder::setId( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool OrbKeyFrame::Reader::hasPos() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool OrbKeyFrame::Builder::hasPos() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::ECEFPoint::Reader OrbKeyFrame::Reader::getPos() const { + return ::capnp::_::PointerHelpers< ::cereal::ECEFPoint>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::ECEFPoint::Builder OrbKeyFrame::Builder::getPos() { + return ::capnp::_::PointerHelpers< ::cereal::ECEFPoint>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::ECEFPoint::Pipeline OrbKeyFrame::Pipeline::getPos() { + return ::cereal::ECEFPoint::Pipeline(_typeless.getPointerField(0)); +} +#endif // !CAPNP_LITE +inline void OrbKeyFrame::Builder::setPos( ::cereal::ECEFPoint::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::ECEFPoint>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::ECEFPoint::Builder OrbKeyFrame::Builder::initPos() { + return ::capnp::_::PointerHelpers< ::cereal::ECEFPoint>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void OrbKeyFrame::Builder::adoptPos( + ::capnp::Orphan< ::cereal::ECEFPoint>&& value) { + ::capnp::_::PointerHelpers< ::cereal::ECEFPoint>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::ECEFPoint> OrbKeyFrame::Builder::disownPos() { + return ::capnp::_::PointerHelpers< ::cereal::ECEFPoint>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool OrbKeyFrame::Reader::hasDpos() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool OrbKeyFrame::Builder::hasDpos() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>::Reader OrbKeyFrame::Reader::getDpos() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>::Builder OrbKeyFrame::Builder::getDpos() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void OrbKeyFrame::Builder::setDpos( ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>::Builder OrbKeyFrame::Builder::initDpos(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void OrbKeyFrame::Builder::adoptDpos( + ::capnp::Orphan< ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>> OrbKeyFrame::Builder::disownDpos() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ECEFPoint, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool OrbKeyFrame::Reader::hasDescriptors() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool OrbKeyFrame::Builder::hasDescriptors() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Data::Reader OrbKeyFrame::Reader::getDescriptors() const { + return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::Data::Builder OrbKeyFrame::Builder::getDescriptors() { + return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void OrbKeyFrame::Builder::setDescriptors( ::capnp::Data::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Data>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::Data::Builder OrbKeyFrame::Builder::initDescriptors(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Data>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void OrbKeyFrame::Builder::adoptDescriptors( + ::capnp::Orphan< ::capnp::Data>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Data>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Data> OrbKeyFrame::Builder::disownDescriptors() { + return ::capnp::_::PointerHelpers< ::capnp::Data>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline bool KalmanOdometry::Reader::hasTrans() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool KalmanOdometry::Builder::hasTrans() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader KalmanOdometry::Reader::getTrans() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder KalmanOdometry::Builder::getTrans() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void KalmanOdometry::Builder::setTrans( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void KalmanOdometry::Builder::setTrans(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder KalmanOdometry::Builder::initTrans(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void KalmanOdometry::Builder::adoptTrans( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> KalmanOdometry::Builder::disownTrans() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool KalmanOdometry::Reader::hasRot() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool KalmanOdometry::Builder::hasRot() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader KalmanOdometry::Reader::getRot() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder KalmanOdometry::Builder::getRot() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void KalmanOdometry::Builder::setRot( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void KalmanOdometry::Builder::setRot(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder KalmanOdometry::Builder::initRot(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void KalmanOdometry::Builder::adoptRot( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> KalmanOdometry::Builder::disownRot() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool KalmanOdometry::Reader::hasTransStd() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool KalmanOdometry::Builder::hasTransStd() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader KalmanOdometry::Reader::getTransStd() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder KalmanOdometry::Builder::getTransStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void KalmanOdometry::Builder::setTransStd( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline void KalmanOdometry::Builder::setTransStd(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder KalmanOdometry::Builder::initTransStd(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void KalmanOdometry::Builder::adoptTransStd( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> KalmanOdometry::Builder::disownTransStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline bool KalmanOdometry::Reader::hasRotStd() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool KalmanOdometry::Builder::hasRotStd() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader KalmanOdometry::Reader::getRotStd() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder KalmanOdometry::Builder::getRotStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void KalmanOdometry::Builder::setRotStd( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline void KalmanOdometry::Builder::setRotStd(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder KalmanOdometry::Builder::initRotStd(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), size); +} +inline void KalmanOdometry::Builder::adoptRotStd( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> KalmanOdometry::Builder::disownRotStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline ::uint64_t OrbObservation::Reader::getObservationMonoTime() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t OrbObservation::Builder::getObservationMonoTime() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void OrbObservation::Builder::setObservationMonoTime( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool OrbObservation::Reader::hasNormalizedCoordinates() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool OrbObservation::Builder::hasNormalizedCoordinates() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader OrbObservation::Reader::getNormalizedCoordinates() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder OrbObservation::Builder::getNormalizedCoordinates() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void OrbObservation::Builder::setNormalizedCoordinates( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void OrbObservation::Builder::setNormalizedCoordinates(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder OrbObservation::Builder::initNormalizedCoordinates(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void OrbObservation::Builder::adoptNormalizedCoordinates( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> OrbObservation::Builder::disownNormalizedCoordinates() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool OrbObservation::Reader::hasLocationECEF() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool OrbObservation::Builder::hasLocationECEF() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader OrbObservation::Reader::getLocationECEF() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder OrbObservation::Builder::getLocationECEF() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void OrbObservation::Builder::setLocationECEF( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void OrbObservation::Builder::setLocationECEF(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder OrbObservation::Builder::initLocationECEF(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void OrbObservation::Builder::adoptLocationECEF( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> OrbObservation::Builder::disownLocationECEF() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline ::uint32_t OrbObservation::Reader::getMatchDistance() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t OrbObservation::Builder::getMatchDistance() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void OrbObservation::Builder::setMatchDistance( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t CalibrationFeatures::Reader::getFrameId() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t CalibrationFeatures::Builder::getFrameId() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void CalibrationFeatures::Builder::setFrameId( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool CalibrationFeatures::Reader::hasP0() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool CalibrationFeatures::Builder::hasP0() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader CalibrationFeatures::Reader::getP0() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder CalibrationFeatures::Builder::getP0() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void CalibrationFeatures::Builder::setP0( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void CalibrationFeatures::Builder::setP0(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder CalibrationFeatures::Builder::initP0(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void CalibrationFeatures::Builder::adoptP0( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> CalibrationFeatures::Builder::disownP0() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool CalibrationFeatures::Reader::hasP1() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool CalibrationFeatures::Builder::hasP1() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader CalibrationFeatures::Reader::getP1() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder CalibrationFeatures::Builder::getP1() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void CalibrationFeatures::Builder::setP1( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void CalibrationFeatures::Builder::setP1(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder CalibrationFeatures::Builder::initP1(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void CalibrationFeatures::Builder::adoptP1( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> CalibrationFeatures::Builder::disownP1() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool CalibrationFeatures::Reader::hasStatus() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool CalibrationFeatures::Builder::hasStatus() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>::Reader CalibrationFeatures::Reader::getStatus() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>::Builder CalibrationFeatures::Builder::getStatus() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void CalibrationFeatures::Builder::setStatus( ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline void CalibrationFeatures::Builder::setStatus(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>::Builder CalibrationFeatures::Builder::initStatus(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void CalibrationFeatures::Builder::adoptStatus( + ::capnp::Orphan< ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>> CalibrationFeatures::Builder::disownStatus() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline bool NavStatus::Reader::getIsNavigating() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline bool NavStatus::Builder::getIsNavigating() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void NavStatus::Builder::setIsNavigating(bool value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool NavStatus::Reader::hasCurrentAddress() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool NavStatus::Builder::hasCurrentAddress() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::NavStatus::Address::Reader NavStatus::Reader::getCurrentAddress() const { + return ::capnp::_::PointerHelpers< ::cereal::NavStatus::Address>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::NavStatus::Address::Builder NavStatus::Builder::getCurrentAddress() { + return ::capnp::_::PointerHelpers< ::cereal::NavStatus::Address>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::NavStatus::Address::Pipeline NavStatus::Pipeline::getCurrentAddress() { + return ::cereal::NavStatus::Address::Pipeline(_typeless.getPointerField(0)); +} +#endif // !CAPNP_LITE +inline void NavStatus::Builder::setCurrentAddress( ::cereal::NavStatus::Address::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::NavStatus::Address>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::NavStatus::Address::Builder NavStatus::Builder::initCurrentAddress() { + return ::capnp::_::PointerHelpers< ::cereal::NavStatus::Address>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void NavStatus::Builder::adoptCurrentAddress( + ::capnp::Orphan< ::cereal::NavStatus::Address>&& value) { + ::capnp::_::PointerHelpers< ::cereal::NavStatus::Address>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::NavStatus::Address> NavStatus::Builder::disownCurrentAddress() { + return ::capnp::_::PointerHelpers< ::cereal::NavStatus::Address>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool NavStatus::Address::Reader::hasTitle() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool NavStatus::Address::Builder::hasTitle() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader NavStatus::Address::Reader::getTitle() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder NavStatus::Address::Builder::getTitle() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void NavStatus::Address::Builder::setTitle( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder NavStatus::Address::Builder::initTitle(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void NavStatus::Address::Builder::adoptTitle( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> NavStatus::Address::Builder::disownTitle() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline double NavStatus::Address::Reader::getLat() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline double NavStatus::Address::Builder::getLat() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void NavStatus::Address::Builder::setLat(double value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline double NavStatus::Address::Reader::getLng() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline double NavStatus::Address::Builder::getLng() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void NavStatus::Address::Builder::setLng(double value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool NavStatus::Address::Reader::hasHouse() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool NavStatus::Address::Builder::hasHouse() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader NavStatus::Address::Reader::getHouse() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder NavStatus::Address::Builder::getHouse() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void NavStatus::Address::Builder::setHouse( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder NavStatus::Address::Builder::initHouse(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void NavStatus::Address::Builder::adoptHouse( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> NavStatus::Address::Builder::disownHouse() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool NavStatus::Address::Reader::hasAddress() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool NavStatus::Address::Builder::hasAddress() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader NavStatus::Address::Reader::getAddress() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder NavStatus::Address::Builder::getAddress() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void NavStatus::Address::Builder::setAddress( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder NavStatus::Address::Builder::initAddress(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void NavStatus::Address::Builder::adoptAddress( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> NavStatus::Address::Builder::disownAddress() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline bool NavStatus::Address::Reader::hasStreet() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool NavStatus::Address::Builder::hasStreet() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader NavStatus::Address::Reader::getStreet() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder NavStatus::Address::Builder::getStreet() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void NavStatus::Address::Builder::setStreet( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder NavStatus::Address::Builder::initStreet(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), size); +} +inline void NavStatus::Address::Builder::adoptStreet( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> NavStatus::Address::Builder::disownStreet() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline bool NavStatus::Address::Reader::hasCity() const { + return !_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline bool NavStatus::Address::Builder::hasCity() { + return !_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader NavStatus::Address::Reader::getCity() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder NavStatus::Address::Builder::getCity() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline void NavStatus::Address::Builder::setCity( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder NavStatus::Address::Builder::initCity(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), size); +} +inline void NavStatus::Address::Builder::adoptCity( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> NavStatus::Address::Builder::disownCity() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} + +inline bool NavStatus::Address::Reader::hasState() const { + return !_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline bool NavStatus::Address::Builder::hasState() { + return !_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader NavStatus::Address::Reader::getState() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder NavStatus::Address::Builder::getState() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline void NavStatus::Address::Builder::setState( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder NavStatus::Address::Builder::initState(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), size); +} +inline void NavStatus::Address::Builder::adoptState( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> NavStatus::Address::Builder::disownState() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} + +inline bool NavStatus::Address::Reader::hasCountry() const { + return !_reader.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS).isNull(); +} +inline bool NavStatus::Address::Builder::hasCountry() { + return !_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader NavStatus::Address::Reader::getCountry() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder NavStatus::Address::Builder::getCountry() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} +inline void NavStatus::Address::Builder::setCountry( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder NavStatus::Address::Builder::initCountry(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), size); +} +inline void NavStatus::Address::Builder::adoptCountry( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> NavStatus::Address::Builder::disownCountry() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} + +inline bool NavUpdate::Reader::getIsNavigating() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline bool NavUpdate::Builder::getIsNavigating() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void NavUpdate::Builder::setIsNavigating(bool value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t NavUpdate::Reader::getCurSegment() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::int32_t NavUpdate::Builder::getCurSegment() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void NavUpdate::Builder::setCurSegment( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool NavUpdate::Reader::hasSegments() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool NavUpdate::Builder::hasSegments() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::NavUpdate::Segment, ::capnp::Kind::STRUCT>::Reader NavUpdate::Reader::getSegments() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::NavUpdate::Segment, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::NavUpdate::Segment, ::capnp::Kind::STRUCT>::Builder NavUpdate::Builder::getSegments() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::NavUpdate::Segment, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void NavUpdate::Builder::setSegments( ::capnp::List< ::cereal::NavUpdate::Segment, ::capnp::Kind::STRUCT>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::NavUpdate::Segment, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::NavUpdate::Segment, ::capnp::Kind::STRUCT>::Builder NavUpdate::Builder::initSegments(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::NavUpdate::Segment, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void NavUpdate::Builder::adoptSegments( + ::capnp::Orphan< ::capnp::List< ::cereal::NavUpdate::Segment, ::capnp::Kind::STRUCT>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::NavUpdate::Segment, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::NavUpdate::Segment, ::capnp::Kind::STRUCT>> NavUpdate::Builder::disownSegments() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::NavUpdate::Segment, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline double NavUpdate::LatLng::Reader::getLat() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline double NavUpdate::LatLng::Builder::getLat() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void NavUpdate::LatLng::Builder::setLat(double value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline double NavUpdate::LatLng::Reader::getLng() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline double NavUpdate::LatLng::Builder::getLng() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void NavUpdate::LatLng::Builder::setLng(double value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool NavUpdate::Segment::Reader::hasFrom() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool NavUpdate::Segment::Builder::hasFrom() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::NavUpdate::LatLng::Reader NavUpdate::Segment::Reader::getFrom() const { + return ::capnp::_::PointerHelpers< ::cereal::NavUpdate::LatLng>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::NavUpdate::LatLng::Builder NavUpdate::Segment::Builder::getFrom() { + return ::capnp::_::PointerHelpers< ::cereal::NavUpdate::LatLng>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::NavUpdate::LatLng::Pipeline NavUpdate::Segment::Pipeline::getFrom() { + return ::cereal::NavUpdate::LatLng::Pipeline(_typeless.getPointerField(0)); +} +#endif // !CAPNP_LITE +inline void NavUpdate::Segment::Builder::setFrom( ::cereal::NavUpdate::LatLng::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::NavUpdate::LatLng>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::NavUpdate::LatLng::Builder NavUpdate::Segment::Builder::initFrom() { + return ::capnp::_::PointerHelpers< ::cereal::NavUpdate::LatLng>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void NavUpdate::Segment::Builder::adoptFrom( + ::capnp::Orphan< ::cereal::NavUpdate::LatLng>&& value) { + ::capnp::_::PointerHelpers< ::cereal::NavUpdate::LatLng>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::NavUpdate::LatLng> NavUpdate::Segment::Builder::disownFrom() { + return ::capnp::_::PointerHelpers< ::cereal::NavUpdate::LatLng>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool NavUpdate::Segment::Reader::hasTo() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool NavUpdate::Segment::Builder::hasTo() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::NavUpdate::LatLng::Reader NavUpdate::Segment::Reader::getTo() const { + return ::capnp::_::PointerHelpers< ::cereal::NavUpdate::LatLng>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::cereal::NavUpdate::LatLng::Builder NavUpdate::Segment::Builder::getTo() { + return ::capnp::_::PointerHelpers< ::cereal::NavUpdate::LatLng>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::NavUpdate::LatLng::Pipeline NavUpdate::Segment::Pipeline::getTo() { + return ::cereal::NavUpdate::LatLng::Pipeline(_typeless.getPointerField(1)); +} +#endif // !CAPNP_LITE +inline void NavUpdate::Segment::Builder::setTo( ::cereal::NavUpdate::LatLng::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::NavUpdate::LatLng>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::cereal::NavUpdate::LatLng::Builder NavUpdate::Segment::Builder::initTo() { + return ::capnp::_::PointerHelpers< ::cereal::NavUpdate::LatLng>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void NavUpdate::Segment::Builder::adoptTo( + ::capnp::Orphan< ::cereal::NavUpdate::LatLng>&& value) { + ::capnp::_::PointerHelpers< ::cereal::NavUpdate::LatLng>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::NavUpdate::LatLng> NavUpdate::Segment::Builder::disownTo() { + return ::capnp::_::PointerHelpers< ::cereal::NavUpdate::LatLng>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline ::int32_t NavUpdate::Segment::Reader::getUpdateTime() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::int32_t NavUpdate::Segment::Builder::getUpdateTime() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void NavUpdate::Segment::Builder::setUpdateTime( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t NavUpdate::Segment::Reader::getDistance() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::int32_t NavUpdate::Segment::Builder::getDistance() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void NavUpdate::Segment::Builder::setDistance( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t NavUpdate::Segment::Reader::getCrossTime() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::int32_t NavUpdate::Segment::Builder::getCrossTime() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void NavUpdate::Segment::Builder::setCrossTime( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t NavUpdate::Segment::Reader::getExitNo() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline ::int32_t NavUpdate::Segment::Builder::getExitNo() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void NavUpdate::Segment::Builder::setExitNo( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::NavUpdate::Segment::Instruction NavUpdate::Segment::Reader::getInstruction() const { + return _reader.getDataField< ::cereal::NavUpdate::Segment::Instruction>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline ::cereal::NavUpdate::Segment::Instruction NavUpdate::Segment::Builder::getInstruction() { + return _builder.getDataField< ::cereal::NavUpdate::Segment::Instruction>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void NavUpdate::Segment::Builder::setInstruction( ::cereal::NavUpdate::Segment::Instruction value) { + _builder.setDataField< ::cereal::NavUpdate::Segment::Instruction>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline bool NavUpdate::Segment::Reader::hasParts() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool NavUpdate::Segment::Builder::hasParts() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::NavUpdate::LatLng, ::capnp::Kind::STRUCT>::Reader NavUpdate::Segment::Reader::getParts() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::NavUpdate::LatLng, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::NavUpdate::LatLng, ::capnp::Kind::STRUCT>::Builder NavUpdate::Segment::Builder::getParts() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::NavUpdate::LatLng, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void NavUpdate::Segment::Builder::setParts( ::capnp::List< ::cereal::NavUpdate::LatLng, ::capnp::Kind::STRUCT>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::NavUpdate::LatLng, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::NavUpdate::LatLng, ::capnp::Kind::STRUCT>::Builder NavUpdate::Segment::Builder::initParts(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::NavUpdate::LatLng, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void NavUpdate::Segment::Builder::adoptParts( + ::capnp::Orphan< ::capnp::List< ::cereal::NavUpdate::LatLng, ::capnp::Kind::STRUCT>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::NavUpdate::LatLng, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::NavUpdate::LatLng, ::capnp::Kind::STRUCT>> NavUpdate::Segment::Builder::disownParts() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::NavUpdate::LatLng, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline ::cereal::TrafficEvent::Type TrafficEvent::Reader::getType() const { + return _reader.getDataField< ::cereal::TrafficEvent::Type>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::cereal::TrafficEvent::Type TrafficEvent::Builder::getType() { + return _builder.getDataField< ::cereal::TrafficEvent::Type>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void TrafficEvent::Builder::setType( ::cereal::TrafficEvent::Type value) { + _builder.setDataField< ::cereal::TrafficEvent::Type>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline float TrafficEvent::Reader::getDistance() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float TrafficEvent::Builder::getDistance() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void TrafficEvent::Builder::setDistance(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::TrafficEvent::Action TrafficEvent::Reader::getAction() const { + return _reader.getDataField< ::cereal::TrafficEvent::Action>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::cereal::TrafficEvent::Action TrafficEvent::Builder::getAction() { + return _builder.getDataField< ::cereal::TrafficEvent::Action>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void TrafficEvent::Builder::setAction( ::cereal::TrafficEvent::Action value) { + _builder.setDataField< ::cereal::TrafficEvent::Action>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool TrafficEvent::Reader::getResuming() const { + return _reader.getDataField( + ::capnp::bounded<64>() * ::capnp::ELEMENTS); +} + +inline bool TrafficEvent::Builder::getResuming() { + return _builder.getDataField( + ::capnp::bounded<64>() * ::capnp::ELEMENTS); +} +inline void TrafficEvent::Builder::setResuming(bool value) { + _builder.setDataField( + ::capnp::bounded<64>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::AndroidGnss::Which AndroidGnss::Reader::which() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline ::cereal::AndroidGnss::Which AndroidGnss::Builder::which() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline bool AndroidGnss::Reader::isMeasurements() const { + return which() == AndroidGnss::MEASUREMENTS; +} +inline bool AndroidGnss::Builder::isMeasurements() { + return which() == AndroidGnss::MEASUREMENTS; +} +inline bool AndroidGnss::Reader::hasMeasurements() const { + if (which() != AndroidGnss::MEASUREMENTS) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool AndroidGnss::Builder::hasMeasurements() { + if (which() != AndroidGnss::MEASUREMENTS) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::AndroidGnss::Measurements::Reader AndroidGnss::Reader::getMeasurements() const { + KJ_IREQUIRE((which() == AndroidGnss::MEASUREMENTS), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::AndroidGnss::Measurements>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::AndroidGnss::Measurements::Builder AndroidGnss::Builder::getMeasurements() { + KJ_IREQUIRE((which() == AndroidGnss::MEASUREMENTS), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::AndroidGnss::Measurements>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void AndroidGnss::Builder::setMeasurements( ::cereal::AndroidGnss::Measurements::Reader value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, AndroidGnss::MEASUREMENTS); + ::capnp::_::PointerHelpers< ::cereal::AndroidGnss::Measurements>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::AndroidGnss::Measurements::Builder AndroidGnss::Builder::initMeasurements() { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, AndroidGnss::MEASUREMENTS); + return ::capnp::_::PointerHelpers< ::cereal::AndroidGnss::Measurements>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void AndroidGnss::Builder::adoptMeasurements( + ::capnp::Orphan< ::cereal::AndroidGnss::Measurements>&& value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, AndroidGnss::MEASUREMENTS); + ::capnp::_::PointerHelpers< ::cereal::AndroidGnss::Measurements>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::AndroidGnss::Measurements> AndroidGnss::Builder::disownMeasurements() { + KJ_IREQUIRE((which() == AndroidGnss::MEASUREMENTS), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::AndroidGnss::Measurements>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool AndroidGnss::Reader::isNavigationMessage() const { + return which() == AndroidGnss::NAVIGATION_MESSAGE; +} +inline bool AndroidGnss::Builder::isNavigationMessage() { + return which() == AndroidGnss::NAVIGATION_MESSAGE; +} +inline bool AndroidGnss::Reader::hasNavigationMessage() const { + if (which() != AndroidGnss::NAVIGATION_MESSAGE) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool AndroidGnss::Builder::hasNavigationMessage() { + if (which() != AndroidGnss::NAVIGATION_MESSAGE) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::AndroidGnss::NavigationMessage::Reader AndroidGnss::Reader::getNavigationMessage() const { + KJ_IREQUIRE((which() == AndroidGnss::NAVIGATION_MESSAGE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::AndroidGnss::NavigationMessage>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::AndroidGnss::NavigationMessage::Builder AndroidGnss::Builder::getNavigationMessage() { + KJ_IREQUIRE((which() == AndroidGnss::NAVIGATION_MESSAGE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::AndroidGnss::NavigationMessage>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void AndroidGnss::Builder::setNavigationMessage( ::cereal::AndroidGnss::NavigationMessage::Reader value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, AndroidGnss::NAVIGATION_MESSAGE); + ::capnp::_::PointerHelpers< ::cereal::AndroidGnss::NavigationMessage>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::AndroidGnss::NavigationMessage::Builder AndroidGnss::Builder::initNavigationMessage() { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, AndroidGnss::NAVIGATION_MESSAGE); + return ::capnp::_::PointerHelpers< ::cereal::AndroidGnss::NavigationMessage>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void AndroidGnss::Builder::adoptNavigationMessage( + ::capnp::Orphan< ::cereal::AndroidGnss::NavigationMessage>&& value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, AndroidGnss::NAVIGATION_MESSAGE); + ::capnp::_::PointerHelpers< ::cereal::AndroidGnss::NavigationMessage>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::AndroidGnss::NavigationMessage> AndroidGnss::Builder::disownNavigationMessage() { + KJ_IREQUIRE((which() == AndroidGnss::NAVIGATION_MESSAGE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::AndroidGnss::NavigationMessage>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool AndroidGnss::Measurements::Reader::hasClock() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool AndroidGnss::Measurements::Builder::hasClock() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::AndroidGnss::Measurements::Clock::Reader AndroidGnss::Measurements::Reader::getClock() const { + return ::capnp::_::PointerHelpers< ::cereal::AndroidGnss::Measurements::Clock>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::AndroidGnss::Measurements::Clock::Builder AndroidGnss::Measurements::Builder::getClock() { + return ::capnp::_::PointerHelpers< ::cereal::AndroidGnss::Measurements::Clock>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::AndroidGnss::Measurements::Clock::Pipeline AndroidGnss::Measurements::Pipeline::getClock() { + return ::cereal::AndroidGnss::Measurements::Clock::Pipeline(_typeless.getPointerField(0)); +} +#endif // !CAPNP_LITE +inline void AndroidGnss::Measurements::Builder::setClock( ::cereal::AndroidGnss::Measurements::Clock::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::AndroidGnss::Measurements::Clock>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::AndroidGnss::Measurements::Clock::Builder AndroidGnss::Measurements::Builder::initClock() { + return ::capnp::_::PointerHelpers< ::cereal::AndroidGnss::Measurements::Clock>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void AndroidGnss::Measurements::Builder::adoptClock( + ::capnp::Orphan< ::cereal::AndroidGnss::Measurements::Clock>&& value) { + ::capnp::_::PointerHelpers< ::cereal::AndroidGnss::Measurements::Clock>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::AndroidGnss::Measurements::Clock> AndroidGnss::Measurements::Builder::disownClock() { + return ::capnp::_::PointerHelpers< ::cereal::AndroidGnss::Measurements::Clock>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool AndroidGnss::Measurements::Reader::hasMeasurements() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool AndroidGnss::Measurements::Builder::hasMeasurements() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::AndroidGnss::Measurements::Measurement, ::capnp::Kind::STRUCT>::Reader AndroidGnss::Measurements::Reader::getMeasurements() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::AndroidGnss::Measurements::Measurement, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::AndroidGnss::Measurements::Measurement, ::capnp::Kind::STRUCT>::Builder AndroidGnss::Measurements::Builder::getMeasurements() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::AndroidGnss::Measurements::Measurement, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void AndroidGnss::Measurements::Builder::setMeasurements( ::capnp::List< ::cereal::AndroidGnss::Measurements::Measurement, ::capnp::Kind::STRUCT>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::AndroidGnss::Measurements::Measurement, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::AndroidGnss::Measurements::Measurement, ::capnp::Kind::STRUCT>::Builder AndroidGnss::Measurements::Builder::initMeasurements(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::AndroidGnss::Measurements::Measurement, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void AndroidGnss::Measurements::Builder::adoptMeasurements( + ::capnp::Orphan< ::capnp::List< ::cereal::AndroidGnss::Measurements::Measurement, ::capnp::Kind::STRUCT>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::AndroidGnss::Measurements::Measurement, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::AndroidGnss::Measurements::Measurement, ::capnp::Kind::STRUCT>> AndroidGnss::Measurements::Builder::disownMeasurements() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::AndroidGnss::Measurements::Measurement, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline ::int64_t AndroidGnss::Measurements::Clock::Reader::getTimeNanos() const { + return _reader.getDataField< ::int64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::int64_t AndroidGnss::Measurements::Clock::Builder::getTimeNanos() { + return _builder.getDataField< ::int64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void AndroidGnss::Measurements::Clock::Builder::setTimeNanos( ::int64_t value) { + _builder.setDataField< ::int64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t AndroidGnss::Measurements::Clock::Reader::getHardwareClockDiscontinuityCount() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::int32_t AndroidGnss::Measurements::Clock::Builder::getHardwareClockDiscontinuityCount() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void AndroidGnss::Measurements::Clock::Builder::setHardwareClockDiscontinuityCount( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline bool AndroidGnss::Measurements::Clock::Reader::getHasTimeUncertaintyNanos() const { + return _reader.getDataField( + ::capnp::bounded<96>() * ::capnp::ELEMENTS); +} + +inline bool AndroidGnss::Measurements::Clock::Builder::getHasTimeUncertaintyNanos() { + return _builder.getDataField( + ::capnp::bounded<96>() * ::capnp::ELEMENTS); +} +inline void AndroidGnss::Measurements::Clock::Builder::setHasTimeUncertaintyNanos(bool value) { + _builder.setDataField( + ::capnp::bounded<96>() * ::capnp::ELEMENTS, value); +} + +inline double AndroidGnss::Measurements::Clock::Reader::getTimeUncertaintyNanos() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline double AndroidGnss::Measurements::Clock::Builder::getTimeUncertaintyNanos() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void AndroidGnss::Measurements::Clock::Builder::setTimeUncertaintyNanos(double value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline bool AndroidGnss::Measurements::Clock::Reader::getHasLeapSecond() const { + return _reader.getDataField( + ::capnp::bounded<97>() * ::capnp::ELEMENTS); +} + +inline bool AndroidGnss::Measurements::Clock::Builder::getHasLeapSecond() { + return _builder.getDataField( + ::capnp::bounded<97>() * ::capnp::ELEMENTS); +} +inline void AndroidGnss::Measurements::Clock::Builder::setHasLeapSecond(bool value) { + _builder.setDataField( + ::capnp::bounded<97>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t AndroidGnss::Measurements::Clock::Reader::getLeapSecond() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline ::int32_t AndroidGnss::Measurements::Clock::Builder::getLeapSecond() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void AndroidGnss::Measurements::Clock::Builder::setLeapSecond( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline bool AndroidGnss::Measurements::Clock::Reader::getHasFullBiasNanos() const { + return _reader.getDataField( + ::capnp::bounded<98>() * ::capnp::ELEMENTS); +} + +inline bool AndroidGnss::Measurements::Clock::Builder::getHasFullBiasNanos() { + return _builder.getDataField( + ::capnp::bounded<98>() * ::capnp::ELEMENTS); +} +inline void AndroidGnss::Measurements::Clock::Builder::setHasFullBiasNanos(bool value) { + _builder.setDataField( + ::capnp::bounded<98>() * ::capnp::ELEMENTS, value); +} + +inline ::int64_t AndroidGnss::Measurements::Clock::Reader::getFullBiasNanos() const { + return _reader.getDataField< ::int64_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline ::int64_t AndroidGnss::Measurements::Clock::Builder::getFullBiasNanos() { + return _builder.getDataField< ::int64_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void AndroidGnss::Measurements::Clock::Builder::setFullBiasNanos( ::int64_t value) { + _builder.setDataField< ::int64_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline bool AndroidGnss::Measurements::Clock::Reader::getHasBiasNanos() const { + return _reader.getDataField( + ::capnp::bounded<99>() * ::capnp::ELEMENTS); +} + +inline bool AndroidGnss::Measurements::Clock::Builder::getHasBiasNanos() { + return _builder.getDataField( + ::capnp::bounded<99>() * ::capnp::ELEMENTS); +} +inline void AndroidGnss::Measurements::Clock::Builder::setHasBiasNanos(bool value) { + _builder.setDataField( + ::capnp::bounded<99>() * ::capnp::ELEMENTS, value); +} + +inline double AndroidGnss::Measurements::Clock::Reader::getBiasNanos() const { + return _reader.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline double AndroidGnss::Measurements::Clock::Builder::getBiasNanos() { + return _builder.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void AndroidGnss::Measurements::Clock::Builder::setBiasNanos(double value) { + _builder.setDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline bool AndroidGnss::Measurements::Clock::Reader::getHasBiasUncertaintyNanos() const { + return _reader.getDataField( + ::capnp::bounded<100>() * ::capnp::ELEMENTS); +} + +inline bool AndroidGnss::Measurements::Clock::Builder::getHasBiasUncertaintyNanos() { + return _builder.getDataField( + ::capnp::bounded<100>() * ::capnp::ELEMENTS); +} +inline void AndroidGnss::Measurements::Clock::Builder::setHasBiasUncertaintyNanos(bool value) { + _builder.setDataField( + ::capnp::bounded<100>() * ::capnp::ELEMENTS, value); +} + +inline double AndroidGnss::Measurements::Clock::Reader::getBiasUncertaintyNanos() const { + return _reader.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline double AndroidGnss::Measurements::Clock::Builder::getBiasUncertaintyNanos() { + return _builder.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void AndroidGnss::Measurements::Clock::Builder::setBiasUncertaintyNanos(double value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline bool AndroidGnss::Measurements::Clock::Reader::getHasDriftNanosPerSecond() const { + return _reader.getDataField( + ::capnp::bounded<101>() * ::capnp::ELEMENTS); +} + +inline bool AndroidGnss::Measurements::Clock::Builder::getHasDriftNanosPerSecond() { + return _builder.getDataField( + ::capnp::bounded<101>() * ::capnp::ELEMENTS); +} +inline void AndroidGnss::Measurements::Clock::Builder::setHasDriftNanosPerSecond(bool value) { + _builder.setDataField( + ::capnp::bounded<101>() * ::capnp::ELEMENTS, value); +} + +inline double AndroidGnss::Measurements::Clock::Reader::getDriftNanosPerSecond() const { + return _reader.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline double AndroidGnss::Measurements::Clock::Builder::getDriftNanosPerSecond() { + return _builder.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void AndroidGnss::Measurements::Clock::Builder::setDriftNanosPerSecond(double value) { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline bool AndroidGnss::Measurements::Clock::Reader::getHasDriftUncertaintyNanosPerSecond() const { + return _reader.getDataField( + ::capnp::bounded<102>() * ::capnp::ELEMENTS); +} + +inline bool AndroidGnss::Measurements::Clock::Builder::getHasDriftUncertaintyNanosPerSecond() { + return _builder.getDataField( + ::capnp::bounded<102>() * ::capnp::ELEMENTS); +} +inline void AndroidGnss::Measurements::Clock::Builder::setHasDriftUncertaintyNanosPerSecond(bool value) { + _builder.setDataField( + ::capnp::bounded<102>() * ::capnp::ELEMENTS, value); +} + +inline double AndroidGnss::Measurements::Clock::Reader::getDriftUncertaintyNanosPerSecond() const { + return _reader.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline double AndroidGnss::Measurements::Clock::Builder::getDriftUncertaintyNanosPerSecond() { + return _builder.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void AndroidGnss::Measurements::Clock::Builder::setDriftUncertaintyNanosPerSecond(double value) { + _builder.setDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t AndroidGnss::Measurements::Measurement::Reader::getSvId() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::int32_t AndroidGnss::Measurements::Measurement::Builder::getSvId() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void AndroidGnss::Measurements::Measurement::Builder::setSvId( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::AndroidGnss::Measurements::Measurement::Constellation AndroidGnss::Measurements::Measurement::Reader::getConstellation() const { + return _reader.getDataField< ::cereal::AndroidGnss::Measurements::Measurement::Constellation>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::cereal::AndroidGnss::Measurements::Measurement::Constellation AndroidGnss::Measurements::Measurement::Builder::getConstellation() { + return _builder.getDataField< ::cereal::AndroidGnss::Measurements::Measurement::Constellation>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void AndroidGnss::Measurements::Measurement::Builder::setConstellation( ::cereal::AndroidGnss::Measurements::Measurement::Constellation value) { + _builder.setDataField< ::cereal::AndroidGnss::Measurements::Measurement::Constellation>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline double AndroidGnss::Measurements::Measurement::Reader::getTimeOffsetNanos() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline double AndroidGnss::Measurements::Measurement::Builder::getTimeOffsetNanos() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void AndroidGnss::Measurements::Measurement::Builder::setTimeOffsetNanos(double value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t AndroidGnss::Measurements::Measurement::Reader::getState() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline ::int32_t AndroidGnss::Measurements::Measurement::Builder::getState() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void AndroidGnss::Measurements::Measurement::Builder::setState( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline ::int64_t AndroidGnss::Measurements::Measurement::Reader::getReceivedSvTimeNanos() const { + return _reader.getDataField< ::int64_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline ::int64_t AndroidGnss::Measurements::Measurement::Builder::getReceivedSvTimeNanos() { + return _builder.getDataField< ::int64_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void AndroidGnss::Measurements::Measurement::Builder::setReceivedSvTimeNanos( ::int64_t value) { + _builder.setDataField< ::int64_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline ::int64_t AndroidGnss::Measurements::Measurement::Reader::getReceivedSvTimeUncertaintyNanos() const { + return _reader.getDataField< ::int64_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline ::int64_t AndroidGnss::Measurements::Measurement::Builder::getReceivedSvTimeUncertaintyNanos() { + return _builder.getDataField< ::int64_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void AndroidGnss::Measurements::Measurement::Builder::setReceivedSvTimeUncertaintyNanos( ::int64_t value) { + _builder.setDataField< ::int64_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline double AndroidGnss::Measurements::Measurement::Reader::getCn0DbHz() const { + return _reader.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline double AndroidGnss::Measurements::Measurement::Builder::getCn0DbHz() { + return _builder.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void AndroidGnss::Measurements::Measurement::Builder::setCn0DbHz(double value) { + _builder.setDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline double AndroidGnss::Measurements::Measurement::Reader::getPseudorangeRateMetersPerSecond() const { + return _reader.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline double AndroidGnss::Measurements::Measurement::Builder::getPseudorangeRateMetersPerSecond() { + return _builder.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void AndroidGnss::Measurements::Measurement::Builder::setPseudorangeRateMetersPerSecond(double value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline double AndroidGnss::Measurements::Measurement::Reader::getPseudorangeRateUncertaintyMetersPerSecond() const { + return _reader.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline double AndroidGnss::Measurements::Measurement::Builder::getPseudorangeRateUncertaintyMetersPerSecond() { + return _builder.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void AndroidGnss::Measurements::Measurement::Builder::setPseudorangeRateUncertaintyMetersPerSecond(double value) { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t AndroidGnss::Measurements::Measurement::Reader::getAccumulatedDeltaRangeState() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline ::int32_t AndroidGnss::Measurements::Measurement::Builder::getAccumulatedDeltaRangeState() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void AndroidGnss::Measurements::Measurement::Builder::setAccumulatedDeltaRangeState( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline double AndroidGnss::Measurements::Measurement::Reader::getAccumulatedDeltaRangeMeters() const { + return _reader.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline double AndroidGnss::Measurements::Measurement::Builder::getAccumulatedDeltaRangeMeters() { + return _builder.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void AndroidGnss::Measurements::Measurement::Builder::setAccumulatedDeltaRangeMeters(double value) { + _builder.setDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline double AndroidGnss::Measurements::Measurement::Reader::getAccumulatedDeltaRangeUncertaintyMeters() const { + return _reader.getDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} + +inline double AndroidGnss::Measurements::Measurement::Builder::getAccumulatedDeltaRangeUncertaintyMeters() { + return _builder.getDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} +inline void AndroidGnss::Measurements::Measurement::Builder::setAccumulatedDeltaRangeUncertaintyMeters(double value) { + _builder.setDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS, value); +} + +inline bool AndroidGnss::Measurements::Measurement::Reader::getHasCarrierFrequencyHz() const { + return _reader.getDataField( + ::capnp::bounded<48>() * ::capnp::ELEMENTS); +} + +inline bool AndroidGnss::Measurements::Measurement::Builder::getHasCarrierFrequencyHz() { + return _builder.getDataField( + ::capnp::bounded<48>() * ::capnp::ELEMENTS); +} +inline void AndroidGnss::Measurements::Measurement::Builder::setHasCarrierFrequencyHz(bool value) { + _builder.setDataField( + ::capnp::bounded<48>() * ::capnp::ELEMENTS, value); +} + +inline float AndroidGnss::Measurements::Measurement::Reader::getCarrierFrequencyHz() const { + return _reader.getDataField( + ::capnp::bounded<20>() * ::capnp::ELEMENTS); +} + +inline float AndroidGnss::Measurements::Measurement::Builder::getCarrierFrequencyHz() { + return _builder.getDataField( + ::capnp::bounded<20>() * ::capnp::ELEMENTS); +} +inline void AndroidGnss::Measurements::Measurement::Builder::setCarrierFrequencyHz(float value) { + _builder.setDataField( + ::capnp::bounded<20>() * ::capnp::ELEMENTS, value); +} + +inline bool AndroidGnss::Measurements::Measurement::Reader::getHasCarrierCycles() const { + return _reader.getDataField( + ::capnp::bounded<49>() * ::capnp::ELEMENTS); +} + +inline bool AndroidGnss::Measurements::Measurement::Builder::getHasCarrierCycles() { + return _builder.getDataField( + ::capnp::bounded<49>() * ::capnp::ELEMENTS); +} +inline void AndroidGnss::Measurements::Measurement::Builder::setHasCarrierCycles(bool value) { + _builder.setDataField( + ::capnp::bounded<49>() * ::capnp::ELEMENTS, value); +} + +inline ::int64_t AndroidGnss::Measurements::Measurement::Reader::getCarrierCycles() const { + return _reader.getDataField< ::int64_t>( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} + +inline ::int64_t AndroidGnss::Measurements::Measurement::Builder::getCarrierCycles() { + return _builder.getDataField< ::int64_t>( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} +inline void AndroidGnss::Measurements::Measurement::Builder::setCarrierCycles( ::int64_t value) { + _builder.setDataField< ::int64_t>( + ::capnp::bounded<11>() * ::capnp::ELEMENTS, value); +} + +inline bool AndroidGnss::Measurements::Measurement::Reader::getHasCarrierPhase() const { + return _reader.getDataField( + ::capnp::bounded<50>() * ::capnp::ELEMENTS); +} + +inline bool AndroidGnss::Measurements::Measurement::Builder::getHasCarrierPhase() { + return _builder.getDataField( + ::capnp::bounded<50>() * ::capnp::ELEMENTS); +} +inline void AndroidGnss::Measurements::Measurement::Builder::setHasCarrierPhase(bool value) { + _builder.setDataField( + ::capnp::bounded<50>() * ::capnp::ELEMENTS, value); +} + +inline double AndroidGnss::Measurements::Measurement::Reader::getCarrierPhase() const { + return _reader.getDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} + +inline double AndroidGnss::Measurements::Measurement::Builder::getCarrierPhase() { + return _builder.getDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} +inline void AndroidGnss::Measurements::Measurement::Builder::setCarrierPhase(double value) { + _builder.setDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS, value); +} + +inline bool AndroidGnss::Measurements::Measurement::Reader::getHasCarrierPhaseUncertainty() const { + return _reader.getDataField( + ::capnp::bounded<51>() * ::capnp::ELEMENTS); +} + +inline bool AndroidGnss::Measurements::Measurement::Builder::getHasCarrierPhaseUncertainty() { + return _builder.getDataField( + ::capnp::bounded<51>() * ::capnp::ELEMENTS); +} +inline void AndroidGnss::Measurements::Measurement::Builder::setHasCarrierPhaseUncertainty(bool value) { + _builder.setDataField( + ::capnp::bounded<51>() * ::capnp::ELEMENTS, value); +} + +inline double AndroidGnss::Measurements::Measurement::Reader::getCarrierPhaseUncertainty() const { + return _reader.getDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} + +inline double AndroidGnss::Measurements::Measurement::Builder::getCarrierPhaseUncertainty() { + return _builder.getDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} +inline void AndroidGnss::Measurements::Measurement::Builder::setCarrierPhaseUncertainty(double value) { + _builder.setDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS, value); +} + +inline bool AndroidGnss::Measurements::Measurement::Reader::getHasSnrInDb() const { + return _reader.getDataField( + ::capnp::bounded<52>() * ::capnp::ELEMENTS); +} + +inline bool AndroidGnss::Measurements::Measurement::Builder::getHasSnrInDb() { + return _builder.getDataField( + ::capnp::bounded<52>() * ::capnp::ELEMENTS); +} +inline void AndroidGnss::Measurements::Measurement::Builder::setHasSnrInDb(bool value) { + _builder.setDataField( + ::capnp::bounded<52>() * ::capnp::ELEMENTS, value); +} + +inline double AndroidGnss::Measurements::Measurement::Reader::getSnrInDb() const { + return _reader.getDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} + +inline double AndroidGnss::Measurements::Measurement::Builder::getSnrInDb() { + return _builder.getDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} +inline void AndroidGnss::Measurements::Measurement::Builder::setSnrInDb(double value) { + _builder.setDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::AndroidGnss::Measurements::Measurement::MultipathIndicator AndroidGnss::Measurements::Measurement::Reader::getMultipathIndicator() const { + return _reader.getDataField< ::cereal::AndroidGnss::Measurements::Measurement::MultipathIndicator>( + ::capnp::bounded<42>() * ::capnp::ELEMENTS); +} + +inline ::cereal::AndroidGnss::Measurements::Measurement::MultipathIndicator AndroidGnss::Measurements::Measurement::Builder::getMultipathIndicator() { + return _builder.getDataField< ::cereal::AndroidGnss::Measurements::Measurement::MultipathIndicator>( + ::capnp::bounded<42>() * ::capnp::ELEMENTS); +} +inline void AndroidGnss::Measurements::Measurement::Builder::setMultipathIndicator( ::cereal::AndroidGnss::Measurements::Measurement::MultipathIndicator value) { + _builder.setDataField< ::cereal::AndroidGnss::Measurements::Measurement::MultipathIndicator>( + ::capnp::bounded<42>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t AndroidGnss::NavigationMessage::Reader::getType() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::int32_t AndroidGnss::NavigationMessage::Builder::getType() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void AndroidGnss::NavigationMessage::Builder::setType( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t AndroidGnss::NavigationMessage::Reader::getSvId() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::int32_t AndroidGnss::NavigationMessage::Builder::getSvId() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void AndroidGnss::NavigationMessage::Builder::setSvId( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t AndroidGnss::NavigationMessage::Reader::getMessageId() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::int32_t AndroidGnss::NavigationMessage::Builder::getMessageId() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void AndroidGnss::NavigationMessage::Builder::setMessageId( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t AndroidGnss::NavigationMessage::Reader::getSubmessageId() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline ::int32_t AndroidGnss::NavigationMessage::Builder::getSubmessageId() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void AndroidGnss::NavigationMessage::Builder::setSubmessageId( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline bool AndroidGnss::NavigationMessage::Reader::hasData() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool AndroidGnss::NavigationMessage::Builder::hasData() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Data::Reader AndroidGnss::NavigationMessage::Reader::getData() const { + return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::Data::Builder AndroidGnss::NavigationMessage::Builder::getData() { + return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void AndroidGnss::NavigationMessage::Builder::setData( ::capnp::Data::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Data>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::Data::Builder AndroidGnss::NavigationMessage::Builder::initData(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Data>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void AndroidGnss::NavigationMessage::Builder::adoptData( + ::capnp::Orphan< ::capnp::Data>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Data>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Data> AndroidGnss::NavigationMessage::Builder::disownData() { + return ::capnp::_::PointerHelpers< ::capnp::Data>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline ::cereal::AndroidGnss::NavigationMessage::Status AndroidGnss::NavigationMessage::Reader::getStatus() const { + return _reader.getDataField< ::cereal::AndroidGnss::NavigationMessage::Status>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline ::cereal::AndroidGnss::NavigationMessage::Status AndroidGnss::NavigationMessage::Builder::getStatus() { + return _builder.getDataField< ::cereal::AndroidGnss::NavigationMessage::Status>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void AndroidGnss::NavigationMessage::Builder::setStatus( ::cereal::AndroidGnss::NavigationMessage::Status value) { + _builder.setDataField< ::cereal::AndroidGnss::NavigationMessage::Status>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline bool LidarPts::Reader::hasR() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool LidarPts::Builder::hasR() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>::Reader LidarPts::Reader::getR() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>::Builder LidarPts::Builder::getR() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void LidarPts::Builder::setR( ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void LidarPts::Builder::setR(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>::Builder LidarPts::Builder::initR(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void LidarPts::Builder::adoptR( + ::capnp::Orphan< ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>> LidarPts::Builder::disownR() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool LidarPts::Reader::hasTheta() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool LidarPts::Builder::hasTheta() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>::Reader LidarPts::Reader::getTheta() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>::Builder LidarPts::Builder::getTheta() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void LidarPts::Builder::setTheta( ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void LidarPts::Builder::setTheta(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>::Builder LidarPts::Builder::initTheta(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void LidarPts::Builder::adoptTheta( + ::capnp::Orphan< ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>> LidarPts::Builder::disownTheta() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool LidarPts::Reader::hasReflect() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool LidarPts::Builder::hasReflect() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::uint8_t, ::capnp::Kind::PRIMITIVE>::Reader LidarPts::Reader::getReflect() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::uint8_t, ::capnp::Kind::PRIMITIVE>>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::uint8_t, ::capnp::Kind::PRIMITIVE>::Builder LidarPts::Builder::getReflect() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::uint8_t, ::capnp::Kind::PRIMITIVE>>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void LidarPts::Builder::setReflect( ::capnp::List< ::uint8_t, ::capnp::Kind::PRIMITIVE>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::uint8_t, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline void LidarPts::Builder::setReflect(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::uint8_t, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::uint8_t, ::capnp::Kind::PRIMITIVE>::Builder LidarPts::Builder::initReflect(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::uint8_t, ::capnp::Kind::PRIMITIVE>>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void LidarPts::Builder::adoptReflect( + ::capnp::Orphan< ::capnp::List< ::uint8_t, ::capnp::Kind::PRIMITIVE>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::uint8_t, ::capnp::Kind::PRIMITIVE>>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::uint8_t, ::capnp::Kind::PRIMITIVE>> LidarPts::Builder::disownReflect() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::uint8_t, ::capnp::Kind::PRIMITIVE>>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline ::uint64_t LidarPts::Reader::getIdx() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t LidarPts::Builder::getIdx() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void LidarPts::Builder::setIdx( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool LidarPts::Reader::hasPkt() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool LidarPts::Builder::hasPkt() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Data::Reader LidarPts::Reader::getPkt() const { + return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::capnp::Data::Builder LidarPts::Builder::getPkt() { + return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void LidarPts::Builder::setPkt( ::capnp::Data::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Data>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::capnp::Data::Builder LidarPts::Builder::initPkt(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Data>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), size); +} +inline void LidarPts::Builder::adoptPkt( + ::capnp::Orphan< ::capnp::Data>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Data>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Data> LidarPts::Builder::disownPkt() { + return ::capnp::_::PointerHelpers< ::capnp::Data>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +} // namespace + +CAPNP_END_HEADER + diff --git a/cereal/gen/cpp/log.capnp.c++ b/cereal/gen/cpp/log.capnp.c++ new file mode 100644 index 0000000000..d265cb294d --- /dev/null +++ b/cereal/gen/cpp/log.capnp.c++ @@ -0,0 +1,31994 @@ +// Generated by Cap'n Proto compiler, DO NOT EDIT +// source: log.capnp + +#include "log.capnp.h" + +namespace capnp { +namespace schemas { +static const ::capnp::_::AlignedData<23> b_d578fb3372ed5043 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 67, 80, 237, 114, 51, 251, 120, 213, + 10, 0, 0, 0, 4, 0, 0, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 170, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 0, 0, 0, 3, 0, 1, 0, + 36, 0, 0, 0, 2, 0, 1, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 108, 111, 103, 86, 101, 114, + 115, 105, 111, 110, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_d578fb3372ed5043 = b_d578fb3372ed5043.words; +#if !CAPNP_LITE +const ::capnp::_::RawSchema s_d578fb3372ed5043 = { + 0xd578fb3372ed5043, b_d578fb3372ed5043.words, 23, nullptr, nullptr, + 0, 0, nullptr, nullptr, nullptr, { &s_d578fb3372ed5043, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<48> b_f8b13ce2183eb696 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 150, 182, 62, 24, 226, 60, 177, 248, + 10, 0, 0, 0, 1, 0, 0, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 0, 0, + 21, 0, 0, 0, 114, 0, 0, 0, + 25, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 63, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 0, 0, 0, 23, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 77, 97, 112, 0, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 14, 234, 110, 74, 8, 221, 223, 165, + 1, 0, 0, 0, 50, 0, 0, 0, + 69, 110, 116, 114, 121, 0, 0, 0, + 4, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 3, 0, 1, 0, + 56, 0, 0, 0, 2, 0, 1, 0, + 101, 110, 116, 114, 105, 101, 115, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 14, 234, 110, 74, 8, 221, 223, 165, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 1, 0, + 1, 0, 0, 0, 31, 0, 0, 0, + 4, 0, 0, 0, 2, 0, 1, 0, + 150, 182, 62, 24, 226, 60, 177, 248, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 1, 0, + 5, 0, 0, 0, 34, 0, 0, 0, + 5, 0, 0, 0, 50, 0, 0, 0, + 75, 101, 121, 0, 0, 0, 0, 0, + 86, 97, 108, 117, 101, 0, 0, 0, } +}; +::capnp::word const* const bp_f8b13ce2183eb696 = b_f8b13ce2183eb696.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_f8b13ce2183eb696[] = { + &s_a5dfdd084a6eea0e, +}; +static const uint16_t m_f8b13ce2183eb696[] = {0}; +static const uint16_t i_f8b13ce2183eb696[] = {0}; +KJ_CONSTEXPR(const) ::capnp::_::RawBrandedSchema::Dependency bd_f8b13ce2183eb696[] = { + { 16777216, ::cereal::Map< ::capnp::AnyPointer, ::capnp::AnyPointer>::Entry::_capnpPrivate::brand() }, +}; +const ::capnp::_::RawSchema s_f8b13ce2183eb696 = { + 0xf8b13ce2183eb696, b_f8b13ce2183eb696.words, 48, d_f8b13ce2183eb696, m_f8b13ce2183eb696, + 1, 1, i_f8b13ce2183eb696, nullptr, nullptr, { &s_f8b13ce2183eb696, nullptr, bd_f8b13ce2183eb696, 0, sizeof(bd_f8b13ce2183eb696) / sizeof(bd_f8b13ce2183eb696[0]), nullptr }, true +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<47> b_a5dfdd084a6eea0e = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 14, 234, 110, 74, 8, 221, 223, 165, + 14, 0, 0, 0, 1, 0, 0, 0, + 150, 182, 62, 24, 226, 60, 177, 248, + 2, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 0, 0, + 21, 0, 0, 0, 162, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 77, 97, 112, 46, 69, 110, + 116, 114, 121, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 8, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 0, 0, 0, 3, 0, 1, 0, + 48, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 0, 0, 0, 3, 0, 1, 0, + 52, 0, 0, 0, 2, 0, 1, 0, + 107, 101, 121, 0, 0, 0, 0, 0, + 18, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 150, 182, 62, 24, 226, 60, 177, 248, + 0, 0, 0, 0, 0, 0, 0, 0, + 18, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 97, 108, 117, 101, 0, 0, 0, + 18, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 1, 0, 0, 0, 0, 0, + 150, 182, 62, 24, 226, 60, 177, 248, + 0, 0, 0, 0, 0, 0, 0, 0, + 18, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a5dfdd084a6eea0e = b_a5dfdd084a6eea0e.words; +#if !CAPNP_LITE +static const uint16_t m_a5dfdd084a6eea0e[] = {0, 1}; +static const uint16_t i_a5dfdd084a6eea0e[] = {0, 1}; +const ::capnp::_::RawSchema s_a5dfdd084a6eea0e = { + 0xa5dfdd084a6eea0e, b_a5dfdd084a6eea0e.words, 47, nullptr, m_a5dfdd084a6eea0e, + 0, 2, i_a5dfdd084a6eea0e, nullptr, nullptr, { &s_a5dfdd084a6eea0e, nullptr, nullptr, 0, 0, nullptr }, true +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<33> b_d692e23d1a247d99 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 153, 125, 36, 26, 61, 226, 146, 214, + 10, 0, 0, 0, 2, 0, 0, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 18, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 79, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 76, 111, 110, 103, 105, 116, + 117, 100, 105, 110, 97, 108, 80, 101, + 114, 115, 111, 110, 97, 108, 105, 116, + 121, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 103, 103, 114, 101, 115, 115, 105, + 118, 101, 0, 0, 0, 0, 0, 0, + 115, 116, 97, 110, 100, 97, 114, 100, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 108, 97, 120, 101, 100, 0, } +}; +::capnp::word const* const bp_d692e23d1a247d99 = b_d692e23d1a247d99.words; +#if !CAPNP_LITE +static const uint16_t m_d692e23d1a247d99[] = {0, 2, 1}; +const ::capnp::_::RawSchema s_d692e23d1a247d99 = { + 0xd692e23d1a247d99, b_d692e23d1a247d99.words, 33, nullptr, m_d692e23d1a247d99, + 0, 3, nullptr, nullptr, nullptr, { &s_d692e23d1a247d99, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(LongitudinalPersonality_d692e23d1a247d99, d692e23d1a247d99); +static const ::capnp::_::AlignedData<476> b_e71008caeb3fb65c = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 92, 182, 63, 235, 202, 8, 16, 231, + 10, 0, 0, 0, 1, 0, 2, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 19, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 154, 0, 0, 0, + 29, 0, 0, 0, 103, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 129, 0, 0, 0, 15, 5, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 73, 110, 105, 116, 68, 97, + 116, 97, 0, 0, 0, 0, 0, 0, + 24, 0, 0, 0, 1, 0, 1, 0, + 8, 102, 168, 235, 56, 114, 93, 157, + 41, 0, 0, 0, 90, 0, 0, 0, + 173, 240, 223, 92, 114, 232, 115, 230, + 41, 0, 0, 0, 82, 0, 0, 0, + 108, 66, 31, 194, 213, 25, 41, 254, + 41, 0, 0, 0, 138, 0, 0, 0, + 205, 219, 135, 168, 147, 59, 81, 155, + 45, 0, 0, 0, 114, 0, 0, 0, + 165, 21, 246, 164, 83, 93, 251, 156, + 45, 0, 0, 0, 146, 0, 0, 0, + 128, 85, 159, 35, 40, 59, 126, 217, + 49, 0, 0, 0, 106, 0, 0, 0, + 68, 101, 118, 105, 99, 101, 84, 121, + 112, 101, 0, 0, 0, 0, 0, 0, + 80, 97, 110, 100, 97, 73, 110, 102, + 111, 0, 0, 0, 0, 0, 0, 0, + 65, 110, 100, 114, 111, 105, 100, 66, + 117, 105, 108, 100, 73, 110, 102, 111, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 110, 100, 114, 111, 105, 100, 83, + 101, 110, 115, 111, 114, 0, 0, 0, + 67, 104, 102, 102, 114, 65, 110, 100, + 114, 111, 105, 100, 69, 120, 116, 114, + 97, 0, 0, 0, 0, 0, 0, 0, + 73, 111, 115, 66, 117, 105, 108, 100, + 73, 110, 102, 111, 0, 0, 0, 0, + 92, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 2, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 2, 0, 0, 3, 0, 1, 0, + 144, 2, 0, 0, 2, 0, 1, 0, + 18, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 141, 2, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 140, 2, 0, 0, 3, 0, 1, 0, + 152, 2, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 149, 2, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 148, 2, 0, 0, 3, 0, 1, 0, + 160, 2, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 157, 2, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 156, 2, 0, 0, 3, 0, 1, 0, + 168, 2, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 165, 2, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 2, 0, 0, 3, 0, 1, 0, + 172, 2, 0, 0, 2, 0, 1, 0, + 19, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 2, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 172, 2, 0, 0, 3, 0, 1, 0, + 184, 2, 0, 0, 2, 0, 1, 0, + 20, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 2, 0, 0, 202, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 2, 0, 0, 3, 0, 1, 0, + 216, 2, 0, 0, 2, 0, 1, 0, + 21, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 213, 2, 0, 0, 226, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 220, 2, 0, 0, 3, 0, 1, 0, + 232, 2, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 229, 2, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 2, 0, 0, 3, 0, 1, 0, + 240, 2, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 16, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 2, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 2, 0, 0, 3, 0, 1, 0, + 244, 2, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 2, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 2, 0, 0, 3, 0, 1, 0, + 252, 2, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 249, 2, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 248, 2, 0, 0, 3, 0, 1, 0, + 4, 3, 0, 0, 2, 0, 1, 0, + 14, 0, 0, 0, 17, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 3, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 252, 2, 0, 0, 3, 0, 1, 0, + 8, 3, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 3, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 3, 0, 0, 3, 0, 1, 0, + 16, 3, 0, 0, 2, 0, 1, 0, + 22, 0, 0, 0, 11, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 3, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 3, 0, 0, 3, 0, 1, 0, + 28, 3, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 12, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 3, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 3, 0, 0, 3, 0, 1, 0, + 36, 3, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 13, 0, 0, 0, + 0, 0, 1, 0, 16, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 3, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 3, 0, 0, 3, 0, 1, 0, + 120, 3, 0, 0, 2, 0, 1, 0, + 15, 0, 0, 0, 14, 0, 0, 0, + 0, 0, 1, 0, 17, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 3, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 3, 0, 0, 3, 0, 1, 0, + 196, 3, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 15, 0, 0, 0, + 0, 0, 1, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 193, 3, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 192, 3, 0, 0, 3, 0, 1, 0, + 204, 3, 0, 0, 2, 0, 1, 0, + 16, 0, 0, 0, 16, 0, 0, 0, + 0, 0, 1, 0, 19, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 201, 3, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 3, 0, 0, 3, 0, 1, 0, + 28, 4, 0, 0, 2, 0, 1, 0, + 17, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 20, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 4, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 4, 0, 0, 3, 0, 1, 0, + 36, 4, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 17, 0, 0, 0, + 0, 0, 1, 0, 21, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 4, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 4, 0, 0, 3, 0, 1, 0, + 44, 4, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 1, 0, 22, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 4, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 4, 0, 0, 3, 0, 1, 0, + 52, 4, 0, 0, 2, 0, 1, 0, + 107, 101, 114, 110, 101, 108, 65, 114, + 103, 115, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 99, 116, 120, 68, 69, 80, 82, + 69, 67, 65, 84, 69, 68, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 111, 110, 103, 108, 101, 73, 100, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 118, 105, 99, 101, 84, 121, + 112, 101, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 8, 102, 168, 235, 56, 114, 93, 157, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 101, 114, 115, 105, 111, 110, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 110, 100, 114, 111, 105, 100, 66, + 117, 105, 108, 100, 73, 110, 102, 111, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 108, 66, 31, 194, 213, 25, 41, 254, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 110, 100, 114, 111, 105, 100, 83, + 101, 110, 115, 111, 114, 115, 68, 69, + 80, 82, 69, 67, 65, 84, 69, 68, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 205, 219, 135, 168, 147, 59, 81, 155, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 104, 102, 102, 114, 65, 110, 100, + 114, 111, 105, 100, 69, 120, 116, 114, + 97, 68, 69, 80, 82, 69, 67, 65, + 84, 69, 68, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 165, 21, 246, 164, 83, 93, 251, 156, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 97, 110, 100, 97, 73, 110, 102, + 111, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 173, 240, 223, 92, 114, 232, 115, 230, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 105, 114, 116, 121, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 105, 116, 67, 111, 109, 109, 105, + 116, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 105, 116, 66, 114, 97, 110, 99, + 104, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 97, 115, 115, 105, 118, 101, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 105, 116, 82, 101, 109, 111, 116, + 101, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 111, 115, 66, 117, 105, 108, 100, + 73, 110, 102, 111, 68, 69, 80, 82, + 69, 67, 65, 84, 69, 68, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 128, 85, 159, 35, 40, 59, 126, 217, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 107, 101, 114, 110, 101, 108, 86, 101, + 114, 115, 105, 111, 110, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 110, 100, 114, 111, 105, 100, 80, + 114, 111, 112, 101, 114, 116, 105, 101, + 115, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 150, 182, 62, 24, 226, 60, 177, 248, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 1, 0, + 1, 0, 0, 0, 31, 0, 0, 0, + 4, 0, 0, 0, 2, 0, 1, 0, + 150, 182, 62, 24, 226, 60, 177, 248, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 39, 0, 0, 0, + 8, 0, 0, 0, 1, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 3, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 3, 0, 1, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 97, 114, 97, 109, 115, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 150, 182, 62, 24, 226, 60, 177, 248, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 1, 0, + 1, 0, 0, 0, 31, 0, 0, 0, + 4, 0, 0, 0, 2, 0, 1, 0, + 150, 182, 62, 24, 226, 60, 177, 248, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 39, 0, 0, 0, + 8, 0, 0, 0, 1, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 3, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 3, 0, 1, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 115, 86, 101, 114, 115, 105, 111, + 110, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 111, 109, 109, 97, 110, 100, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 150, 182, 62, 24, 226, 60, 177, 248, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 1, 0, + 1, 0, 0, 0, 31, 0, 0, 0, + 4, 0, 0, 0, 2, 0, 1, 0, + 150, 182, 62, 24, 226, 60, 177, 248, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 39, 0, 0, 0, + 8, 0, 0, 0, 1, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 3, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 3, 0, 1, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 119, 97, 108, 108, 84, 105, 109, 101, + 78, 97, 110, 111, 115, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 105, 116, 67, 111, 109, 109, 105, + 116, 68, 97, 116, 101, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 111, 111, 116, 108, 111, 103, 73, + 100, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e71008caeb3fb65c = b_e71008caeb3fb65c.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_e71008caeb3fb65c[] = { + &s_9b513b93a887dbcd, + &s_9cfb5d53a4f615a5, + &s_9d5d7238eba86608, + &s_d97e3b28239f5580, + &s_e673e8725cdff0ad, + &s_f8b13ce2183eb696, + &s_fe2919d5c21f426c, +}; +static const uint16_t m_e71008caeb3fb65c[] = {5, 16, 6, 22, 7, 19, 3, 9, 2, 1, 11, 10, 21, 13, 14, 0, 15, 18, 8, 17, 12, 4, 20}; +static const uint16_t i_e71008caeb3fb65c[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22}; +KJ_CONSTEXPR(const) ::capnp::_::RawBrandedSchema::Dependency bd_e71008caeb3fb65c[] = { + { 16777232, ::cereal::Map< ::capnp::Text, ::capnp::Text>::_capnpPrivate::brand() }, + { 16777233, ::cereal::Map< ::capnp::Text, ::capnp::Data>::_capnpPrivate::brand() }, + { 16777235, ::cereal::Map< ::capnp::Text, ::capnp::Data>::_capnpPrivate::brand() }, +}; +const ::capnp::_::RawSchema s_e71008caeb3fb65c = { + 0xe71008caeb3fb65c, b_e71008caeb3fb65c.words, 476, d_e71008caeb3fb65c, m_e71008caeb3fb65c, + 7, 23, i_e71008caeb3fb65c, nullptr, nullptr, { &s_e71008caeb3fb65c, nullptr, bd_e71008caeb3fb65c, 0, sizeof(bd_e71008caeb3fb65c) / sizeof(bd_e71008caeb3fb65c[0]), nullptr }, true +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<52> b_9d5d7238eba86608 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 8, 102, 168, 235, 56, 114, 93, 157, + 19, 0, 0, 0, 2, 0, 0, 0, + 92, 182, 63, 235, 202, 8, 16, 231, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 242, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 199, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 73, 110, 105, 116, 68, 97, + 116, 97, 46, 68, 101, 118, 105, 99, + 101, 84, 121, 112, 101, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 32, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 81, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 73, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 65, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 57, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 107, 110, 111, 119, 110, 0, + 110, 101, 111, 0, 0, 0, 0, 0, + 99, 104, 102, 102, 114, 65, 110, 100, + 114, 111, 105, 100, 0, 0, 0, 0, + 99, 104, 102, 102, 114, 73, 111, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 99, 105, 0, 0, 0, 0, + 112, 99, 0, 0, 0, 0, 0, 0, + 116, 105, 122, 105, 0, 0, 0, 0, + 109, 105, 99, 105, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_9d5d7238eba86608 = b_9d5d7238eba86608.words; +#if !CAPNP_LITE +static const uint16_t m_9d5d7238eba86608[] = {2, 3, 7, 1, 5, 4, 6, 0}; +const ::capnp::_::RawSchema s_9d5d7238eba86608 = { + 0x9d5d7238eba86608, b_9d5d7238eba86608.words, 52, nullptr, m_9d5d7238eba86608, + 0, 8, nullptr, nullptr, nullptr, { &s_9d5d7238eba86608, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(DeviceType_9d5d7238eba86608, 9d5d7238eba86608); +static const ::capnp::_::AlignedData<82> b_e673e8725cdff0ad = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 173, 240, 223, 92, 114, 232, 115, 230, + 19, 0, 0, 0, 1, 0, 1, 0, + 92, 182, 63, 235, 202, 8, 16, 231, + 3, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 234, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 231, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 73, 110, 105, 116, 68, 97, + 116, 97, 46, 80, 97, 110, 100, 97, + 73, 110, 102, 111, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 0, 0, 0, 3, 0, 1, 0, + 108, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 0, 0, 0, 3, 0, 1, 0, + 116, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 0, 0, 0, 3, 0, 1, 0, + 124, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 0, 0, 0, 3, 0, 1, 0, + 132, 0, 0, 0, 2, 0, 1, 0, + 104, 97, 115, 80, 97, 110, 100, 97, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 111, 110, 103, 108, 101, 73, 100, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 86, 101, 114, 115, 105, 111, + 110, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 115, 112, 86, 101, 114, 115, 105, + 111, 110, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e673e8725cdff0ad = b_e673e8725cdff0ad.words; +#if !CAPNP_LITE +static const uint16_t m_e673e8725cdff0ad[] = {1, 3, 0, 2}; +static const uint16_t i_e673e8725cdff0ad[] = {0, 1, 2, 3}; +const ::capnp::_::RawSchema s_e673e8725cdff0ad = { + 0xe673e8725cdff0ad, b_e673e8725cdff0ad.words, 82, nullptr, m_e673e8725cdff0ad, + 0, 4, i_e673e8725cdff0ad, nullptr, nullptr, { &s_e673e8725cdff0ad, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<379> b_fe2919d5c21f426c = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 108, 66, 31, 194, 213, 25, 41, 254, + 19, 0, 0, 0, 1, 0, 2, 0, + 92, 182, 63, 235, 202, 8, 16, 231, + 21, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 34, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 15, 5, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 73, 110, 105, 116, 68, 97, + 116, 97, 46, 65, 110, 100, 114, 111, + 105, 100, 66, 117, 105, 108, 100, 73, + 110, 102, 111, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 92, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 2, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 2, 0, 0, 3, 0, 1, 0, + 124, 2, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 2, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 2, 0, 0, 3, 0, 1, 0, + 132, 2, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 129, 2, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 2, 0, 0, 3, 0, 1, 0, + 136, 2, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 133, 2, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 128, 2, 0, 0, 3, 0, 1, 0, + 140, 2, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 137, 2, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 132, 2, 0, 0, 3, 0, 1, 0, + 144, 2, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 141, 2, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 140, 2, 0, 0, 3, 0, 1, 0, + 152, 2, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 149, 2, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 148, 2, 0, 0, 3, 0, 1, 0, + 160, 2, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 157, 2, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 2, 0, 0, 3, 0, 1, 0, + 164, 2, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 2, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 156, 2, 0, 0, 3, 0, 1, 0, + 168, 2, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 165, 2, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 164, 2, 0, 0, 3, 0, 1, 0, + 176, 2, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 173, 2, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 2, 0, 0, 3, 0, 1, 0, + 180, 2, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 11, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 2, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 172, 2, 0, 0, 3, 0, 1, 0, + 184, 2, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 12, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 2, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 2, 0, 0, 3, 0, 1, 0, + 192, 2, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 13, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 2, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 2, 0, 0, 3, 0, 1, 0, + 196, 2, 0, 0, 2, 0, 1, 0, + 14, 0, 0, 0, 14, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 193, 2, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 192, 2, 0, 0, 3, 0, 1, 0, + 220, 2, 0, 0, 2, 0, 1, 0, + 15, 0, 0, 0, 15, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 217, 2, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 212, 2, 0, 0, 3, 0, 1, 0, + 224, 2, 0, 0, 2, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 16, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 2, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 2, 0, 0, 3, 0, 1, 0, + 228, 2, 0, 0, 2, 0, 1, 0, + 17, 0, 0, 0, 16, 0, 0, 0, + 0, 0, 1, 0, 17, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 2, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 220, 2, 0, 0, 3, 0, 1, 0, + 232, 2, 0, 0, 2, 0, 1, 0, + 18, 0, 0, 0, 17, 0, 0, 0, + 0, 0, 1, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 229, 2, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 2, 0, 0, 3, 0, 1, 0, + 236, 2, 0, 0, 2, 0, 1, 0, + 19, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 1, 0, 19, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 2, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 2, 0, 0, 3, 0, 1, 0, + 244, 2, 0, 0, 2, 0, 1, 0, + 20, 0, 0, 0, 19, 0, 0, 0, + 0, 0, 1, 0, 20, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 2, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 2, 0, 0, 3, 0, 1, 0, + 252, 2, 0, 0, 2, 0, 1, 0, + 21, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 21, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 249, 2, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 248, 2, 0, 0, 3, 0, 1, 0, + 4, 3, 0, 0, 2, 0, 1, 0, + 22, 0, 0, 0, 20, 0, 0, 0, + 0, 0, 1, 0, 22, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 3, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 3, 0, 0, 3, 0, 1, 0, + 16, 3, 0, 0, 2, 0, 1, 0, + 98, 111, 97, 114, 100, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 111, 111, 116, 108, 111, 97, 100, + 101, 114, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 114, 97, 110, 100, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 118, 105, 99, 101, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 105, 115, 112, 108, 97, 121, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 105, 110, 103, 101, 114, 112, 114, + 105, 110, 116, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 97, 114, 100, 119, 97, 114, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 111, 115, 116, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 100, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 97, 110, 117, 102, 97, 99, 116, + 117, 114, 101, 114, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 111, 100, 101, 108, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 114, 111, 100, 117, 99, 116, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 97, 100, 105, 111, 86, 101, 114, + 115, 105, 111, 110, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 101, 114, 105, 97, 108, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 117, 112, 112, 111, 114, 116, 101, + 100, 65, 98, 105, 115, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 97, 103, 115, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 109, 101, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 121, 112, 101, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 115, 101, 114, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 101, 114, 115, 105, 111, 110, 67, + 111, 100, 101, 110, 97, 109, 101, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 101, 114, 115, 105, 111, 110, 82, + 101, 108, 101, 97, 115, 101, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 101, 114, 115, 105, 111, 110, 83, + 100, 107, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 101, 114, 115, 105, 111, 110, 83, + 101, 99, 117, 114, 105, 116, 121, 80, + 97, 116, 99, 104, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_fe2919d5c21f426c = b_fe2919d5c21f426c.words; +#if !CAPNP_LITE +static const uint16_t m_fe2919d5c21f426c[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22}; +static const uint16_t i_fe2919d5c21f426c[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22}; +const ::capnp::_::RawSchema s_fe2919d5c21f426c = { + 0xfe2919d5c21f426c, b_fe2919d5c21f426c.words, 379, nullptr, m_fe2919d5c21f426c, + 0, 23, i_fe2919d5c21f426c, nullptr, nullptr, { &s_fe2919d5c21f426c, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<238> b_9b513b93a887dbcd = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 205, 219, 135, 168, 147, 59, 81, 155, + 19, 0, 0, 0, 1, 0, 6, 0, + 92, 182, 63, 235, 202, 8, 16, 231, + 3, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 10, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 23, 3, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 73, 110, 105, 116, 68, 97, + 116, 97, 46, 65, 110, 100, 114, 111, + 105, 100, 83, 101, 110, 115, 111, 114, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 56, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 1, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 1, 0, 0, 3, 0, 1, 0, + 128, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 1, 0, 0, 3, 0, 1, 0, + 132, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 129, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 1, 0, 0, 3, 0, 1, 0, + 136, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 133, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 128, 1, 0, 0, 3, 0, 1, 0, + 140, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 137, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 132, 1, 0, 0, 3, 0, 1, 0, + 144, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 141, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 136, 1, 0, 0, 3, 0, 1, 0, + 148, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 145, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 144, 1, 0, 0, 3, 0, 1, 0, + 156, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 1, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 1, 0, 0, 3, 0, 1, 0, + 164, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 156, 1, 0, 0, 3, 0, 1, 0, + 168, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 165, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 164, 1, 0, 0, 3, 0, 1, 0, + 176, 1, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 173, 1, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 1, 0, 0, 3, 0, 1, 0, + 188, 1, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 1, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 1, 0, 0, 3, 0, 1, 0, + 200, 1, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 1, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 1, 0, 0, 3, 0, 1, 0, + 208, 1, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 1, 0, 0, 3, 0, 1, 0, + 216, 1, 0, 0, 2, 0, 1, 0, + 105, 100, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 97, 109, 101, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 101, 110, 100, 111, 114, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 101, 114, 115, 105, 111, 110, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 97, 110, 100, 108, 101, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 121, 112, 101, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 97, 120, 82, 97, 110, 103, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 115, 111, 108, 117, 116, 105, + 111, 110, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 119, 101, 114, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 105, 110, 68, 101, 108, 97, 121, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 105, 102, 111, 82, 101, 115, 101, + 114, 118, 101, 100, 69, 118, 101, 110, + 116, 67, 111, 117, 110, 116, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 105, 102, 111, 77, 97, 120, 69, + 118, 101, 110, 116, 67, 111, 117, 110, + 116, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 114, 105, 110, 103, 84, 121, + 112, 101, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 97, 120, 68, 101, 108, 97, 121, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_9b513b93a887dbcd = b_9b513b93a887dbcd.words; +#if !CAPNP_LITE +static const uint16_t m_9b513b93a887dbcd[] = {11, 10, 4, 0, 13, 6, 9, 1, 8, 7, 12, 5, 2, 3}; +static const uint16_t i_9b513b93a887dbcd[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13}; +const ::capnp::_::RawSchema s_9b513b93a887dbcd = { + 0x9b513b93a887dbcd, b_9b513b93a887dbcd.words, 238, nullptr, m_9b513b93a887dbcd, + 0, 14, i_9b513b93a887dbcd, nullptr, nullptr, { &s_9b513b93a887dbcd, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<55> b_9cfb5d53a4f615a5 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 165, 21, 246, 164, 83, 93, 251, 156, + 19, 0, 0, 0, 1, 0, 0, 0, + 92, 182, 63, 235, 202, 8, 16, 231, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 42, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 63, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 73, 110, 105, 116, 68, 97, + 116, 97, 46, 67, 104, 102, 102, 114, + 65, 110, 100, 114, 111, 105, 100, 69, + 120, 116, 114, 97, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 4, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 202, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 0, 0, 0, 3, 0, 1, 0, + 104, 0, 0, 0, 2, 0, 1, 0, + 97, 108, 108, 67, 97, 109, 101, 114, + 97, 67, 104, 97, 114, 97, 99, 116, + 101, 114, 105, 115, 116, 105, 99, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 150, 182, 62, 24, 226, 60, 177, 248, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 1, 0, + 1, 0, 0, 0, 31, 0, 0, 0, + 4, 0, 0, 0, 2, 0, 1, 0, + 150, 182, 62, 24, 226, 60, 177, 248, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 39, 0, 0, 0, + 8, 0, 0, 0, 1, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 3, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 3, 0, 1, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_9cfb5d53a4f615a5 = b_9cfb5d53a4f615a5.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_9cfb5d53a4f615a5[] = { + &s_f8b13ce2183eb696, +}; +static const uint16_t m_9cfb5d53a4f615a5[] = {0}; +static const uint16_t i_9cfb5d53a4f615a5[] = {0}; +KJ_CONSTEXPR(const) ::capnp::_::RawBrandedSchema::Dependency bd_9cfb5d53a4f615a5[] = { + { 16777216, ::cereal::Map< ::capnp::Text, ::capnp::Text>::_capnpPrivate::brand() }, +}; +const ::capnp::_::RawSchema s_9cfb5d53a4f615a5 = { + 0x9cfb5d53a4f615a5, b_9cfb5d53a4f615a5.words, 55, d_9cfb5d53a4f615a5, m_9cfb5d53a4f615a5, + 1, 1, i_9cfb5d53a4f615a5, nullptr, nullptr, { &s_9cfb5d53a4f615a5, nullptr, bd_9cfb5d53a4f615a5, 0, sizeof(bd_9cfb5d53a4f615a5) / sizeof(bd_9cfb5d53a4f615a5[0]), nullptr }, true +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<82> b_d97e3b28239f5580 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 128, 85, 159, 35, 40, 59, 126, 217, + 19, 0, 0, 0, 1, 0, 1, 0, + 92, 182, 63, 235, 202, 8, 16, 231, + 3, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 2, 1, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 231, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 73, 110, 105, 116, 68, 97, + 116, 97, 46, 73, 111, 115, 66, 117, + 105, 108, 100, 73, 110, 102, 111, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 0, 0, 0, 3, 0, 1, 0, + 108, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 0, 0, 0, 3, 0, 1, 0, + 116, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 0, 0, 0, 3, 0, 1, 0, + 124, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 0, 0, 0, 3, 0, 1, 0, + 132, 0, 0, 0, 2, 0, 1, 0, + 97, 112, 112, 86, 101, 114, 115, 105, + 111, 110, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 112, 112, 66, 117, 105, 108, 100, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 115, 86, 101, 114, 115, 105, 111, + 110, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 118, 105, 99, 101, 77, 111, + 100, 101, 108, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_d97e3b28239f5580 = b_d97e3b28239f5580.words; +#if !CAPNP_LITE +static const uint16_t m_d97e3b28239f5580[] = {1, 0, 3, 2}; +static const uint16_t i_d97e3b28239f5580[] = {0, 1, 2, 3}; +const ::capnp::_::RawSchema s_d97e3b28239f5580 = { + 0xd97e3b28239f5580, b_d97e3b28239f5580.words, 82, nullptr, m_d97e3b28239f5580, + 0, 4, i_d97e3b28239f5580, nullptr, nullptr, { &s_d97e3b28239f5580, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<529> b_ea0245f695ae0a33 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 51, 10, 174, 149, 246, 69, 2, 234, + 10, 0, 0, 0, 1, 0, 12, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 7, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 162, 0, 0, 0, + 29, 0, 0, 0, 55, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 81, 0, 0, 0, 95, 6, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 70, 114, 97, 109, 101, 68, + 97, 116, 97, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 1, 0, 1, 0, + 253, 147, 225, 88, 133, 13, 127, 163, + 17, 0, 0, 0, 162, 0, 0, 0, + 156, 214, 93, 112, 231, 177, 16, 216, + 21, 0, 0, 0, 98, 0, 0, 0, + 72, 32, 29, 196, 186, 239, 195, 188, + 21, 0, 0, 0, 170, 0, 0, 0, + 70, 114, 97, 109, 101, 84, 121, 112, + 101, 68, 69, 80, 82, 69, 67, 65, + 84, 69, 68, 0, 0, 0, 0, 0, + 73, 109, 97, 103, 101, 83, 101, 110, + 115, 111, 114, 0, 0, 0, 0, 0, + 65, 110, 100, 114, 111, 105, 100, 67, + 97, 112, 116, 117, 114, 101, 82, 101, + 115, 117, 108, 116, 0, 0, 0, 0, + 116, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 3, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 3, 0, 0, 3, 0, 1, 0, + 36, 3, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 3, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 3, 0, 0, 3, 0, 1, 0, + 44, 3, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 3, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 3, 0, 0, 3, 0, 1, 0, + 52, 3, 0, 0, 2, 0, 1, 0, + 17, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 3, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 52, 3, 0, 0, 3, 0, 1, 0, + 64, 3, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 61, 3, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 60, 3, 0, 0, 3, 0, 1, 0, + 72, 3, 0, 0, 2, 0, 1, 0, + 18, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 3, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 3, 0, 0, 3, 0, 1, 0, + 84, 3, 0, 0, 2, 0, 1, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 81, 3, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 76, 3, 0, 0, 3, 0, 1, 0, + 88, 3, 0, 0, 2, 0, 1, 0, + 19, 0, 0, 0, 14, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 85, 3, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 88, 3, 0, 0, 3, 0, 1, 0, + 100, 3, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 3, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 3, 0, 0, 3, 0, 1, 0, + 108, 3, 0, 0, 2, 0, 1, 0, + 20, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 3, 0, 0, 250, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 3, 0, 0, 3, 0, 1, 0, + 124, 3, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 3, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 3, 0, 0, 3, 0, 1, 0, + 148, 3, 0, 0, 2, 0, 1, 0, + 21, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 145, 3, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 148, 3, 0, 0, 3, 0, 1, 0, + 160, 3, 0, 0, 2, 0, 1, 0, + 22, 0, 0, 0, 11, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 157, 3, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 3, 0, 0, 3, 0, 1, 0, + 172, 3, 0, 0, 2, 0, 1, 0, + 23, 0, 0, 0, 12, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 3, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 172, 3, 0, 0, 3, 0, 1, 0, + 184, 3, 0, 0, 2, 0, 1, 0, + 24, 0, 0, 0, 13, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 3, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 3, 0, 0, 3, 0, 1, 0, + 196, 3, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 14, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 193, 3, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 3, 0, 0, 3, 0, 1, 0, + 200, 3, 0, 0, 2, 0, 1, 0, + 25, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 16, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 3, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 3, 0, 0, 3, 0, 1, 0, + 228, 3, 0, 0, 2, 0, 1, 0, + 26, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 17, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 3, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 3, 0, 0, 3, 0, 1, 0, + 0, 4, 0, 0, 2, 0, 1, 0, + 27, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 253, 3, 0, 0, 202, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 4, 0, 0, 3, 0, 1, 0, + 32, 4, 0, 0, 2, 0, 1, 0, + 28, 0, 0, 0, 15, 0, 0, 0, + 0, 0, 1, 0, 19, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 4, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 4, 0, 0, 3, 0, 1, 0, + 44, 4, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 240, 0, 0, 0, + 0, 0, 1, 0, 20, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 4, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 44, 4, 0, 0, 3, 0, 1, 0, + 56, 4, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 16, 0, 0, 0, + 0, 0, 1, 0, 21, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 4, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 56, 4, 0, 0, 3, 0, 1, 0, + 68, 4, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 17, 0, 0, 0, + 0, 0, 1, 0, 22, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 4, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 4, 0, 0, 3, 0, 1, 0, + 80, 4, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 1, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 4, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 76, 4, 0, 0, 3, 0, 1, 0, + 88, 4, 0, 0, 2, 0, 1, 0, + 15, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 24, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 85, 4, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 84, 4, 0, 0, 3, 0, 1, 0, + 112, 4, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 19, 0, 0, 0, + 0, 0, 1, 0, 25, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 4, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 4, 0, 0, 3, 0, 1, 0, + 120, 4, 0, 0, 2, 0, 1, 0, + 16, 0, 0, 0, 40, 0, 0, 0, + 0, 0, 1, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 4, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 4, 0, 0, 3, 0, 1, 0, + 124, 4, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 21, 0, 0, 0, + 0, 0, 1, 0, 27, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 4, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 4, 0, 0, 3, 0, 1, 0, + 136, 4, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 22, 0, 0, 0, + 0, 0, 1, 0, 28, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 133, 4, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 132, 4, 0, 0, 3, 0, 1, 0, + 144, 4, 0, 0, 2, 0, 1, 0, + 102, 114, 97, 109, 101, 73, 100, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 110, 99, 111, 100, 101, 73, 100, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 109, 101, 115, 116, 97, 109, + 112, 69, 111, 102, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 114, 97, 109, 101, 76, 101, 110, + 103, 116, 104, 68, 69, 80, 82, 69, + 67, 65, 84, 69, 68, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 110, 116, 101, 103, 76, 105, 110, + 101, 115, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 108, 111, 98, 97, 108, 71, 97, + 105, 110, 68, 69, 80, 82, 69, 67, + 65, 84, 69, 68, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 109, 97, 103, 101, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 114, 97, 109, 101, 84, 121, 112, + 101, 68, 69, 80, 82, 69, 67, 65, + 84, 69, 68, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 253, 147, 225, 88, 133, 13, 127, 163, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 109, 101, 115, 116, 97, 109, + 112, 83, 111, 102, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 110, 100, 114, 111, 105, 100, 67, + 97, 112, 116, 117, 114, 101, 82, 101, + 115, 117, 108, 116, 68, 69, 80, 82, + 69, 67, 65, 84, 69, 68, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 72, 32, 29, 196, 186, 239, 195, 188, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 114, 97, 110, 115, 102, 111, 114, + 109, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 110, 115, 80, 111, 115, 68, + 69, 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+ 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 101, 97, 115, 117, 114, 101, 100, + 71, 114, 101, 121, 70, 114, 97, 99, + 116, 105, 111, 110, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 97, 114, 103, 101, 116, 71, 114, + 101, 121, 70, 114, 97, 99, 116, 105, + 111, 110, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 114, 111, 99, 101, 115, 115, 105, + 110, 103, 84, 105, 109, 101, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 101, 109, 112, 101, 114, 97, 116, + 117, 114, 101, 115, 67, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 114, 97, 109, 101, 73, 100, 83, + 101, 110, 115, 111, 114, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 101, 110, 115, 111, 114, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 156, 214, 93, 112, 231, 177, 16, 216, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 120, 112, 111, 115, 117, 114, 101, + 86, 97, 108, 80, 101, 114, 99, 101, + 110, 116, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 113, 117, 101, 115, 116, 73, + 100, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_ea0245f695ae0a33 = b_ea0245f695ae0a33.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_ea0245f695ae0a33[] = { + &s_a37f0d8558e193fd, + &s_bcc3efbac41d2048, + &s_d810b1e7705dd69c, +}; +static const uint16_t m_ea0245f695ae0a33[] = {9, 1, 27, 17, 16, 0, 25, 3, 7, 15, 5, 20, 6, 4, 13, 11, 12, 14, 21, 23, 19, 28, 26, 18, 22, 24, 2, 8, 10}; +static const uint16_t i_ea0245f695ae0a33[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28}; +const ::capnp::_::RawSchema s_ea0245f695ae0a33 = { + 0xea0245f695ae0a33, b_ea0245f695ae0a33.words, 529, d_ea0245f695ae0a33, m_ea0245f695ae0a33, + 3, 29, i_ea0245f695ae0a33, nullptr, nullptr, { &s_ea0245f695ae0a33, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<36> b_a37f0d8558e193fd = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 253, 147, 225, 88, 133, 13, 127, 163, + 20, 0, 0, 0, 2, 0, 0, 0, + 51, 10, 174, 149, 246, 69, 2, 234, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 66, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 103, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 70, 114, 97, 109, 101, 68, + 97, 116, 97, 46, 70, 114, 97, 109, + 101, 84, 121, 112, 101, 68, 69, 80, + 82, 69, 67, 65, 84, 69, 68, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 107, 110, 111, 119, 110, 0, + 110, 101, 111, 0, 0, 0, 0, 0, + 99, 104, 102, 102, 114, 65, 110, 100, + 114, 111, 105, 100, 0, 0, 0, 0, + 102, 114, 111, 110, 116, 0, 0, 0, } +}; +::capnp::word const* const bp_a37f0d8558e193fd = b_a37f0d8558e193fd.words; +#if !CAPNP_LITE +static const uint16_t m_a37f0d8558e193fd[] = {2, 3, 1, 0}; +const ::capnp::_::RawSchema s_a37f0d8558e193fd = { + 0xa37f0d8558e193fd, b_a37f0d8558e193fd.words, 36, nullptr, m_a37f0d8558e193fd, + 0, 4, nullptr, nullptr, nullptr, { &s_a37f0d8558e193fd, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(FrameTypeDEPRECATED_a37f0d8558e193fd, a37f0d8558e193fd); +static const ::capnp::_::AlignedData<34> b_d810b1e7705dd69c = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 156, 214, 93, 112, 231, 177, 16, 216, + 20, 0, 0, 0, 2, 0, 0, 0, + 51, 10, 174, 149, 246, 69, 2, 234, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 2, 1, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 103, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 70, 114, 97, 109, 101, 68, + 97, 116, 97, 46, 73, 109, 97, 103, + 101, 83, 101, 110, 115, 111, 114, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 17, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 107, 110, 111, 119, 110, 0, + 97, 114, 48, 50, 51, 49, 0, 0, + 111, 120, 48, 51, 99, 49, 48, 0, + 111, 115, 48, 52, 99, 49, 48, 0, } +}; +::capnp::word const* const bp_d810b1e7705dd69c = b_d810b1e7705dd69c.words; +#if !CAPNP_LITE +static const uint16_t m_d810b1e7705dd69c[] = {1, 3, 2, 0}; +const ::capnp::_::RawSchema s_d810b1e7705dd69c = { + 0xd810b1e7705dd69c, b_d810b1e7705dd69c.words, 34, nullptr, m_d810b1e7705dd69c, + 0, 4, nullptr, nullptr, nullptr, { &s_d810b1e7705dd69c, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(ImageSensor_d810b1e7705dd69c, d810b1e7705dd69c); +static const ::capnp::_::AlignedData<144> b_bcc3efbac41d2048 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 72, 32, 29, 196, 186, 239, 195, 188, + 20, 0, 0, 0, 1, 0, 4, 0, + 51, 10, 174, 149, 246, 69, 2, 234, + 2, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 74, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 143, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 70, 114, 97, 109, 101, 68, + 97, 116, 97, 46, 65, 110, 100, 114, + 111, 105, 100, 67, 97, 112, 116, 117, + 114, 101, 82, 101, 115, 117, 108, 116, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 28, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 0, 0, 0, 3, 0, 1, 0, + 192, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 0, 0, 0, 3, 0, 1, 0, + 200, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 0, 0, 0, 3, 0, 1, 0, + 208, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 0, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 0, 0, 0, 3, 0, 1, 0, + 220, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 217, 0, 0, 0, 202, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 0, 0, 0, 3, 0, 1, 0, + 252, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 249, 0, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 252, 0, 0, 0, 3, 0, 1, 0, + 24, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 1, 0, 0, 3, 0, 1, 0, + 32, 1, 0, 0, 2, 0, 1, 0, + 115, 101, 110, 115, 105, 116, 105, 118, + 105, 116, 121, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 114, 97, 109, 101, 68, 117, 114, + 97, 116, 105, 111, 110, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 120, 112, 111, 115, 117, 114, 101, + 84, 105, 109, 101, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 111, 108, 108, 105, 110, 103, 83, + 104, 117, 116, 116, 101, 114, 83, 107, + 101, 119, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 111, 108, 111, 114, 67, 111, 114, + 114, 101, 99, 116, 105, 111, 110, 84, + 114, 97, 110, 115, 102, 111, 114, 109, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 111, 108, 111, 114, 67, 111, 114, + 114, 101, 99, 116, 105, 111, 110, 71, + 97, 105, 110, 115, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 105, 115, 112, 108, 97, 121, 82, + 111, 116, 97, 116, 105, 111, 110, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_bcc3efbac41d2048 = b_bcc3efbac41d2048.words; +#if !CAPNP_LITE +static const uint16_t m_bcc3efbac41d2048[] = {5, 4, 6, 2, 1, 3, 0}; +static const uint16_t i_bcc3efbac41d2048[] = {0, 1, 2, 3, 4, 5, 6}; +const ::capnp::_::RawSchema s_bcc3efbac41d2048 = { + 0xbcc3efbac41d2048, b_bcc3efbac41d2048.words, 144, nullptr, m_bcc3efbac41d2048, + 0, 7, i_bcc3efbac41d2048, nullptr, nullptr, { &s_bcc3efbac41d2048, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<84> b_b65fce64120af7d3 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 211, 247, 10, 18, 100, 206, 95, 182, + 10, 0, 0, 0, 1, 0, 2, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 162, 0, 0, 0, + 29, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 231, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 84, 104, 117, 109, 98, 110, + 97, 105, 108, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 194, 112, 192, 33, 178, 155, 123, 206, + 1, 0, 0, 0, 74, 0, 0, 0, + 69, 110, 99, 111, 100, 105, 110, 103, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 0, 0, 0, 3, 0, 1, 0, + 104, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 0, 0, 0, 3, 0, 1, 0, + 112, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 0, 0, 0, 3, 0, 1, 0, + 120, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 0, 0, 0, 3, 0, 1, 0, + 128, 0, 0, 0, 2, 0, 1, 0, + 102, 114, 97, 109, 101, 73, 100, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 109, 101, 115, 116, 97, 109, + 112, 69, 111, 102, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 104, 117, 109, 98, 110, 97, 105, + 108, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 110, 99, 111, 100, 105, 110, 103, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 194, 112, 192, 33, 178, 155, 123, 206, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_b65fce64120af7d3 = b_b65fce64120af7d3.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_b65fce64120af7d3[] = { + &s_ce7b9bb221c070c2, +}; +static const uint16_t m_b65fce64120af7d3[] = {3, 0, 2, 1}; +static const uint16_t i_b65fce64120af7d3[] = {0, 1, 2, 3}; +const ::capnp::_::RawSchema s_b65fce64120af7d3 = { + 0xb65fce64120af7d3, b_b65fce64120af7d3.words, 84, d_b65fce64120af7d3, m_b65fce64120af7d3, + 1, 4, i_b65fce64120af7d3, nullptr, nullptr, { &s_b65fce64120af7d3, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<31> b_ce7b9bb221c070c2 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 194, 112, 192, 33, 178, 155, 123, 206, + 20, 0, 0, 0, 2, 0, 0, 0, + 211, 247, 10, 18, 100, 206, 95, 182, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 234, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 79, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 84, 104, 117, 109, 98, 110, + 97, 105, 108, 46, 69, 110, 99, 111, + 100, 105, 110, 103, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 107, 110, 111, 119, 110, 0, + 106, 112, 101, 103, 0, 0, 0, 0, + 107, 101, 121, 102, 114, 97, 109, 101, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_ce7b9bb221c070c2 = b_ce7b9bb221c070c2.words; +#if !CAPNP_LITE +static const uint16_t m_ce7b9bb221c070c2[] = {1, 2, 0}; +const ::capnp::_::RawSchema s_ce7b9bb221c070c2 = { + 0xce7b9bb221c070c2, b_ce7b9bb221c070c2.words, 31, nullptr, m_ce7b9bb221c070c2, + 0, 3, nullptr, nullptr, nullptr, { &s_ce7b9bb221c070c2, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(Encoding_ce7b9bb221c070c2, ce7b9bb221c070c2); +static const ::capnp::_::AlignedData<64> b_9d291d7813ba4a88 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 136, 74, 186, 19, 120, 29, 41, 157, + 10, 0, 0, 0, 1, 0, 2, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 178, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 175, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 71, 80, 83, 78, 77, 69, + 65, 68, 97, 116, 97, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 0, 0, 0, 3, 0, 1, 0, + 80, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 76, 0, 0, 0, 3, 0, 1, 0, + 88, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 85, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 80, 0, 0, 0, 3, 0, 1, 0, + 92, 0, 0, 0, 2, 0, 1, 0, + 116, 105, 109, 101, 115, 116, 97, 109, + 112, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 99, 97, 108, 87, 97, 108, + 108, 84, 105, 109, 101, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 109, 101, 97, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_9d291d7813ba4a88 = b_9d291d7813ba4a88.words; +#if !CAPNP_LITE +static const uint16_t m_9d291d7813ba4a88[] = {1, 2, 0}; +static const uint16_t i_9d291d7813ba4a88[] = {0, 1, 2}; +const ::capnp::_::RawSchema s_9d291d7813ba4a88 = { + 0x9d291d7813ba4a88, b_9d291d7813ba4a88.words, 64, nullptr, m_9d291d7813ba4a88, + 0, 3, i_9d291d7813ba4a88, nullptr, nullptr, { &s_9d291d7813ba4a88, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<279> b_a2b29a69d44529a1 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 161, 41, 69, 212, 105, 154, 178, 162, + 10, 0, 0, 0, 1, 0, 4, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 1, 0, 7, 0, 0, 0, 10, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 210, 0, 0, 0, + 33, 0, 0, 0, 39, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 61, 0, 0, 0, 135, 3, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 83, 101, 110, 115, 111, 114, + 69, 118, 101, 110, 116, 68, 97, 116, + 97, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 1, 0, 1, 0, + 252, 36, 252, 43, 189, 41, 52, 164, + 9, 0, 0, 0, 82, 0, 0, 0, + 13, 141, 244, 247, 232, 60, 155, 228, + 9, 0, 0, 0, 106, 0, 0, 0, + 83, 101, 110, 115, 111, 114, 86, 101, + 99, 0, 0, 0, 0, 0, 0, 0, + 83, 101, 110, 115, 111, 114, 83, 111, + 117, 114, 99, 101, 0, 0, 0, 0, + 64, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 172, 1, 0, 0, 3, 0, 1, 0, + 184, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 1, 0, 0, 3, 0, 1, 0, + 188, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 1, 0, 0, 3, 0, 1, 0, + 192, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 1, 0, 0, 3, 0, 1, 0, + 200, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 255, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 1, 0, 0, 3, 0, 1, 0, + 208, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 254, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 1, 0, 0, 3, 0, 1, 0, + 216, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 253, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 213, 1, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 212, 1, 0, 0, 3, 0, 1, 0, + 224, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 252, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 1, 0, 0, 3, 0, 1, 0, + 228, 1, 0, 0, 2, 0, 1, 0, + 15, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 220, 1, 0, 0, 3, 0, 1, 0, + 232, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 251, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 229, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 1, 0, 0, 3, 0, 1, 0, + 240, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 192, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 1, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 1, 0, 0, 3, 0, 1, 0, + 252, 1, 0, 0, 2, 0, 1, 0, + 10, 0, 250, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 249, 1, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 252, 1, 0, 0, 3, 0, 1, 0, + 8, 2, 0, 0, 2, 0, 1, 0, + 11, 0, 249, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 2, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 2, 0, 0, 3, 0, 1, 0, + 20, 2, 0, 0, 2, 0, 1, 0, + 12, 0, 248, 255, 7, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 2, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 2, 0, 0, 3, 0, 1, 0, + 28, 2, 0, 0, 2, 0, 1, 0, + 13, 0, 247, 255, 7, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 2, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 2, 0, 0, 3, 0, 1, 0, + 32, 2, 0, 0, 2, 0, 1, 0, + 14, 0, 246, 255, 7, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 2, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 28, 2, 0, 0, 3, 0, 1, 0, + 40, 2, 0, 0, 2, 0, 1, 0, + 118, 101, 114, 115, 105, 111, 110, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 101, 110, 115, 111, 114, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 121, 112, 101, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 109, 101, 115, 116, 97, 109, + 112, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 99, 101, 108, 101, 114, 97, + 116, 105, 111, 110, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 252, 36, 252, 43, 189, 41, 52, 164, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 97, 103, 110, 101, 116, 105, 99, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 252, 36, 252, 43, 189, 41, 52, 164, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 114, 105, 101, 110, 116, 97, 116, + 105, 111, 110, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 252, 36, 252, 43, 189, 41, 52, 164, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 121, 114, 111, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 252, 36, 252, 43, 189, 41, 52, 164, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 111, 117, 114, 99, 101, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 13, 141, 244, 247, 232, 60, 155, 228, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 114, 101, 115, 115, 117, 114, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 252, 36, 252, 43, 189, 41, 52, 164, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 99, 97, 108, 105, 98, 114, + 97, 116, 101, 100, 68, 69, 80, 82, + 69, 67, 65, 84, 69, 68, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 97, 103, 110, 101, 116, 105, 99, + 85, 110, 99, 97, 108, 105, 98, 114, + 97, 116, 101, 100, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 252, 36, 252, 43, 189, 41, 52, 164, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 121, 114, 111, 85, 110, 99, 97, + 108, 105, 98, 114, 97, 116, 101, 100, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 252, 36, 252, 43, 189, 41, 52, 164, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 114, 111, 120, 105, 109, 105, 116, + 121, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 105, 103, 104, 116, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 101, 109, 112, 101, 114, 97, 116, + 117, 114, 101, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a2b29a69d44529a1 = b_a2b29a69d44529a1.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_a2b29a69d44529a1[] = { + &s_a43429bd2bfc24fc, + &s_e49b3ce8f7f48d0d, +}; +static const uint16_t m_a2b29a69d44529a1[] = {4, 7, 12, 14, 5, 11, 6, 9, 13, 1, 8, 15, 3, 2, 10, 0}; +static const uint16_t i_a2b29a69d44529a1[] = {4, 5, 6, 7, 9, 11, 12, 13, 14, 15, 0, 1, 2, 3, 8, 10}; +const ::capnp::_::RawSchema s_a2b29a69d44529a1 = { + 0xa2b29a69d44529a1, b_a2b29a69d44529a1.words, 279, d_a2b29a69d44529a1, m_a2b29a69d44529a1, + 2, 16, i_a2b29a69d44529a1, nullptr, nullptr, { &s_a2b29a69d44529a1, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<53> b_a43429bd2bfc24fc = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 252, 36, 252, 43, 189, 41, 52, 164, + 26, 0, 0, 0, 1, 0, 1, 0, + 161, 41, 69, 212, 105, 154, 178, 162, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 34, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 83, 101, 110, 115, 111, 114, + 69, 118, 101, 110, 116, 68, 97, 116, + 97, 46, 83, 101, 110, 115, 111, 114, + 86, 101, 99, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 8, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 0, 0, 0, 3, 0, 1, 0, + 64, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 61, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 56, 0, 0, 0, 3, 0, 1, 0, + 68, 0, 0, 0, 2, 0, 1, 0, + 118, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 97, 116, 117, 115, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a43429bd2bfc24fc = b_a43429bd2bfc24fc.words; +#if !CAPNP_LITE +static const uint16_t m_a43429bd2bfc24fc[] = {1, 0}; +static const uint16_t i_a43429bd2bfc24fc[] = {0, 1}; +const ::capnp::_::RawSchema s_a43429bd2bfc24fc = { + 0xa43429bd2bfc24fc, b_a43429bd2bfc24fc.words, 53, nullptr, m_a43429bd2bfc24fc, + 0, 2, i_a43429bd2bfc24fc, nullptr, nullptr, { &s_a43429bd2bfc24fc, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<71> b_e49b3ce8f7f48d0d = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 13, 141, 244, 247, 232, 60, 155, 228, + 26, 0, 0, 0, 2, 0, 0, 0, + 161, 41, 69, 212, 105, 154, 178, 162, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 58, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 39, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 83, 101, 110, 115, 111, 114, + 69, 118, 101, 110, 116, 68, 97, 116, + 97, 46, 83, 101, 110, 115, 111, 114, + 83, 111, 117, 114, 99, 101, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 48, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 137, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 129, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 121, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 113, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 109, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 101, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 93, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 85, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 81, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 73, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 65, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 61, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 110, 100, 114, 111, 105, 100, 0, + 105, 79, 83, 0, 0, 0, 0, 0, + 102, 105, 98, 101, 114, 0, 0, 0, + 118, 101, 108, 111, 100, 121, 110, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 110, 111, 48, 53, 53, 0, 0, + 108, 115, 109, 54, 100, 115, 51, 0, + 98, 109, 112, 50, 56, 48, 0, 0, + 109, 109, 99, 51, 52, 49, 54, 120, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 109, 120, 48, 53, 53, 0, 0, + 114, 112, 114, 48, 53, 50, 49, 0, + 108, 115, 109, 54, 100, 115, 51, 116, + 114, 99, 0, 0, 0, 0, 0, 0, + 109, 109, 99, 53, 54, 48, 51, 110, + 106, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e49b3ce8f7f48d0d = b_e49b3ce8f7f48d0d.words; +#if !CAPNP_LITE +static const uint16_t m_e49b3ce8f7f48d0d[] = {0, 6, 8, 4, 2, 1, 5, 10, 7, 11, 9, 3}; +const ::capnp::_::RawSchema s_e49b3ce8f7f48d0d = { + 0xe49b3ce8f7f48d0d, b_e49b3ce8f7f48d0d.words, 71, nullptr, m_e49b3ce8f7f48d0d, + 0, 12, nullptr, nullptr, nullptr, { &s_e49b3ce8f7f48d0d, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(SensorSource_e49b3ce8f7f48d0d, e49b3ce8f7f48d0d); +static const ::capnp::_::AlignedData<249> b_e946524859add50e = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 14, 213, 173, 89, 72, 82, 70, 233, + 10, 0, 0, 0, 1, 0, 8, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 210, 0, 0, 0, + 33, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 23, 3, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 71, 112, 115, 76, 111, 99, + 97, 116, 105, 111, 110, 68, 97, 116, + 97, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 99, 72, 115, 92, 242, 121, 255, 211, + 1, 0, 0, 0, 106, 0, 0, 0, + 83, 101, 110, 115, 111, 114, 83, 111, + 117, 114, 99, 101, 0, 0, 0, 0, + 56, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 1, 0, 0, 3, 0, 1, 0, + 128, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 1, 0, 0, 3, 0, 1, 0, + 136, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 133, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 132, 1, 0, 0, 3, 0, 1, 0, + 144, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 141, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 140, 1, 0, 0, 3, 0, 1, 0, + 152, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 149, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 144, 1, 0, 0, 3, 0, 1, 0, + 156, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 1, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 1, 0, 0, 3, 0, 1, 0, + 164, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 1, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 164, 1, 0, 0, 3, 0, 1, 0, + 176, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 173, 1, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 1, 0, 0, 3, 0, 1, 0, + 188, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 1, 0, 0, 3, 0, 1, 0, + 192, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 1, 0, 0, 3, 0, 1, 0, + 212, 1, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 12, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 1, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 212, 1, 0, 0, 3, 0, 1, 0, + 224, 1, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 13, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 1, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 1, 0, 0, 3, 0, 1, 0, + 236, 1, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 14, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 1, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 1, 0, 0, 3, 0, 1, 0, + 244, 1, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 224, 1, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 1, 0, 0, 3, 0, 1, 0, + 248, 1, 0, 0, 2, 0, 1, 0, + 102, 108, 97, 103, 115, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 116, 105, 116, 117, 100, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 110, 103, 105, 116, 117, 100, + 101, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 108, 116, 105, 116, 117, 100, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 101, 101, 100, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 101, 97, 114, 105, 110, 103, 68, + 101, 103, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 111, 114, 105, 122, 111, 110, 116, + 97, 108, 65, 99, 99, 117, 114, 97, + 99, 121, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 105, 120, 84, 105, 109, 101, + 115, 116, 97, 109, 112, 77, 105, 108, + 108, 105, 115, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 111, 117, 114, 99, 101, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 99, 72, 115, 92, 242, 121, 255, 211, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 78, 69, 68, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 101, 114, 116, 105, 99, 97, 108, + 65, 99, 99, 117, 114, 97, 99, 121, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 101, 97, 114, 105, 110, 103, 65, + 99, 99, 117, 114, 97, 99, 121, 68, + 101, 103, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 101, 101, 100, 65, 99, 99, + 117, 114, 97, 99, 121, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 97, 115, 70, 105, 120, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e946524859add50e = b_e946524859add50e.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_e946524859add50e[] = { + &s_d3ff79f25c734863, +}; +static const uint16_t m_e946524859add50e[] = {3, 11, 5, 0, 13, 6, 1, 2, 8, 4, 12, 7, 9, 10}; +static const uint16_t i_e946524859add50e[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13}; +const ::capnp::_::RawSchema s_e946524859add50e = { + 0xe946524859add50e, b_e946524859add50e.words, 249, d_e946524859add50e, m_e946524859add50e, + 1, 14, i_e946524859add50e, nullptr, nullptr, { &s_e946524859add50e, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<62> b_d3ff79f25c734863 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 99, 72, 115, 92, 242, 121, 255, 211, + 26, 0, 0, 0, 2, 0, 0, 0, + 14, 213, 173, 89, 72, 82, 70, 233, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 58, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 247, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 71, 112, 115, 76, 111, 99, + 97, 116, 105, 111, 110, 68, 97, 116, + 97, 46, 83, 101, 110, 115, 111, 114, + 83, 111, 117, 114, 99, 101, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 40, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 105, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 89, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 85, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 77, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 73, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 65, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 57, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 110, 100, 114, 111, 105, 100, 0, + 105, 79, 83, 0, 0, 0, 0, 0, + 99, 97, 114, 0, 0, 0, 0, 0, + 118, 101, 108, 111, 100, 121, 110, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 117, 115, 105, 111, 110, 0, 0, + 101, 120, 116, 101, 114, 110, 97, 108, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 98, 108, 111, 120, 0, 0, 0, + 116, 114, 105, 109, 98, 108, 101, 0, + 113, 99, 111, 109, 100, 105, 97, 103, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 105, 99, 111, 114, 101, 0, } +}; +::capnp::word const* const bp_d3ff79f25c734863 = b_d3ff79f25c734863.words; +#if !CAPNP_LITE +static const uint16_t m_d3ff79f25c734863[] = {0, 2, 5, 4, 1, 8, 7, 6, 9, 3}; +const ::capnp::_::RawSchema s_d3ff79f25c734863 = { + 0xd3ff79f25c734863, b_d3ff79f25c734863.words, 62, nullptr, m_d3ff79f25c734863, + 0, 10, nullptr, nullptr, nullptr, { &s_d3ff79f25c734863, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(SensorSource_d3ff79f25c734863, d3ff79f25c734863); +static const ::capnp::_::AlignedData<51> b_ae674a34ba421466 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 102, 20, 66, 186, 52, 74, 103, 174, + 10, 0, 0, 0, 2, 0, 0, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 138, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 175, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 68, 101, 115, 105, 114, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 28, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 65, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 61, 0, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 57, 0, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 110, 101, 0, 0, 0, 0, + 116, 117, 114, 110, 76, 101, 102, 116, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 117, 114, 110, 82, 105, 103, 104, + 116, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 110, 101, 67, 104, 97, 110, + 103, 101, 76, 101, 102, 116, 0, 0, + 108, 97, 110, 101, 67, 104, 97, 110, + 103, 101, 82, 105, 103, 104, 116, 0, + 107, 101, 101, 112, 76, 101, 102, 116, + 0, 0, 0, 0, 0, 0, 0, 0, + 107, 101, 101, 112, 82, 105, 103, 104, + 116, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_ae674a34ba421466 = b_ae674a34ba421466.words; +#if !CAPNP_LITE +static const uint16_t m_ae674a34ba421466[] = {5, 6, 3, 4, 0, 1, 2}; +const ::capnp::_::RawSchema s_ae674a34ba421466 = { + 0xae674a34ba421466, b_ae674a34ba421466.words, 51, nullptr, m_ae674a34ba421466, + 0, 7, nullptr, nullptr, nullptr, { &s_ae674a34ba421466, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(Desire_ae674a34ba421466, ae674a34ba421466); +static const ::capnp::_::AlignedData<39> b_cd37924bf7b2d3d2 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 210, 211, 178, 247, 75, 146, 55, 205, + 10, 0, 0, 0, 2, 0, 0, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 210, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 103, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 76, 97, 110, 101, 67, 104, + 97, 110, 103, 101, 83, 116, 97, 116, + 101, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 102, 102, 0, 0, 0, 0, 0, + 112, 114, 101, 76, 97, 110, 101, 67, + 104, 97, 110, 103, 101, 0, 0, 0, + 108, 97, 110, 101, 67, 104, 97, 110, + 103, 101, 83, 116, 97, 114, 116, 105, + 110, 103, 0, 0, 0, 0, 0, 0, + 108, 97, 110, 101, 67, 104, 97, 110, + 103, 101, 70, 105, 110, 105, 115, 104, + 105, 110, 103, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_cd37924bf7b2d3d2 = b_cd37924bf7b2d3d2.words; +#if !CAPNP_LITE +static const uint16_t m_cd37924bf7b2d3d2[] = {3, 2, 0, 1}; +const ::capnp::_::RawSchema s_cd37924bf7b2d3d2 = { + 0xcd37924bf7b2d3d2, b_cd37924bf7b2d3d2.words, 39, nullptr, m_cd37924bf7b2d3d2, + 0, 4, nullptr, nullptr, nullptr, { &s_cd37924bf7b2d3d2, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(LaneChangeState_cd37924bf7b2d3d2, cd37924bf7b2d3d2); +static const ::capnp::_::AlignedData<30> b_9d0bc0c1fe671176 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 118, 17, 103, 254, 193, 192, 11, 157, + 10, 0, 0, 0, 2, 0, 0, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 242, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 79, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 76, 97, 110, 101, 67, 104, + 97, 110, 103, 101, 68, 105, 114, 101, + 99, 116, 105, 111, 110, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 110, 101, 0, 0, 0, 0, + 108, 101, 102, 116, 0, 0, 0, 0, + 114, 105, 103, 104, 116, 0, 0, 0, } +}; +::capnp::word const* const bp_9d0bc0c1fe671176 = b_9d0bc0c1fe671176.words; +#if !CAPNP_LITE +static const uint16_t m_9d0bc0c1fe671176[] = {1, 0, 2}; +const ::capnp::_::RawSchema s_9d0bc0c1fe671176 = { + 0x9d0bc0c1fe671176, b_9d0bc0c1fe671176.words, 30, nullptr, m_9d0bc0c1fe671176, + 0, 3, nullptr, nullptr, nullptr, { &s_9d0bc0c1fe671176, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(LaneChangeDirection_9d0bc0c1fe671176, 9d0bc0c1fe671176); +static const ::capnp::_::AlignedData<79> b_8785009a964c7c59 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 89, 124, 76, 150, 154, 0, 133, 135, + 10, 0, 0, 0, 1, 0, 1, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 146, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 231, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 110, 68, 97, 116, + 97, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 0, 0, 0, 3, 0, 1, 0, + 104, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 0, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 0, 0, 0, 3, 0, 1, 0, + 116, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 0, 0, 0, 3, 0, 1, 0, + 120, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 0, 0, 0, 3, 0, 1, 0, + 124, 0, 0, 0, 2, 0, 1, 0, + 97, 100, 100, 114, 101, 115, 115, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 117, 115, 84, 105, 109, 101, 68, + 69, 80, 82, 69, 67, 65, 84, 69, + 68, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 97, 116, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 114, 99, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_8785009a964c7c59 = b_8785009a964c7c59.words; +#if !CAPNP_LITE +static const uint16_t m_8785009a964c7c59[] = {0, 1, 2, 3}; +static const uint16_t i_8785009a964c7c59[] = {0, 1, 2, 3}; +const ::capnp::_::RawSchema s_8785009a964c7c59 = { + 0x8785009a964c7c59, b_8785009a964c7c59.words, 79, nullptr, m_8785009a964c7c59, + 0, 4, i_8785009a964c7c59, nullptr, nullptr, { &s_8785009a964c7c59, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<826> b_a4d8b5af2aa492eb = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 235, 146, 164, 42, 175, 181, 216, 164, + 10, 0, 0, 0, 1, 0, 12, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 10, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 178, 0, 0, 0, + 29, 0, 0, 0, 103, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 0, 0, 0, 23, 10, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 68, 101, 118, 105, 99, 101, + 83, 116, 97, 116, 101, 0, 0, 0, + 24, 0, 0, 0, 1, 0, 1, 0, + 111, 246, 61, 133, 41, 0, 121, 208, + 41, 0, 0, 0, 98, 0, 0, 0, + 126, 247, 84, 194, 16, 113, 15, 175, + 41, 0, 0, 0, 114, 0, 0, 0, + 157, 4, 209, 88, 201, 156, 199, 187, + 41, 0, 0, 0, 98, 0, 0, 0, + 19, 62, 32, 19, 138, 140, 48, 221, + 41, 0, 0, 0, 130, 0, 0, 0, + 252, 74, 192, 130, 45, 83, 87, 157, + 41, 0, 0, 0, 98, 0, 0, 0, + 160, 142, 137, 39, 234, 100, 140, 185, + 41, 0, 0, 0, 106, 0, 0, 0, + 84, 104, 101, 114, 109, 97, 108, 90, + 111, 110, 101, 0, 0, 0, 0, 0, + 84, 104, 101, 114, 109, 97, 108, 83, + 116, 97, 116, 117, 115, 0, 0, 0, + 78, 101, 116, 119, 111, 114, 107, 84, + 121, 112, 101, 0, 0, 0, 0, 0, + 78, 101, 116, 119, 111, 114, 107, 83, + 116, 114, 101, 110, 103, 116, 104, 0, + 78, 101, 116, 119, 111, 114, 107, 73, + 110, 102, 111, 0, 0, 0, 0, 0, + 78, 101, 116, 119, 111, 114, 107, 83, + 116, 97, 116, 115, 0, 0, 0, 0, + 184, 0, 0, 0, 3, 0, 4, 0, + 28, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 249, 4, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 248, 4, 0, 0, 3, 0, 1, 0, + 4, 5, 0, 0, 2, 0, 1, 0, + 29, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 5, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 5, 0, 0, 3, 0, 1, 0, + 12, 5, 0, 0, 2, 0, 1, 0, + 30, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 5, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 5, 0, 0, 3, 0, 1, 0, + 20, 5, 0, 0, 2, 0, 1, 0, + 31, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 5, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 5, 0, 0, 3, 0, 1, 0, + 28, 5, 0, 0, 2, 0, 1, 0, + 32, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 5, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 5, 0, 0, 3, 0, 1, 0, + 36, 5, 0, 0, 2, 0, 1, 0, + 33, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 5, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 5, 0, 0, 3, 0, 1, 0, + 44, 5, 0, 0, 2, 0, 1, 0, + 34, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 5, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 5, 0, 0, 3, 0, 1, 0, + 52, 5, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 5, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 52, 5, 0, 0, 3, 0, 1, 0, + 64, 5, 0, 0, 2, 0, 1, 0, + 40, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 61, 5, 0, 0, 202, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 5, 0, 0, 3, 0, 1, 0, + 80, 5, 0, 0, 2, 0, 1, 0, + 37, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 5, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 80, 5, 0, 0, 3, 0, 1, 0, + 92, 5, 0, 0, 2, 0, 1, 0, + 26, 0, 0, 0, 11, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 5, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 5, 0, 0, 3, 0, 1, 0, + 104, 5, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 192, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 5, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 5, 0, 0, 3, 0, 1, 0, + 108, 5, 0, 0, 2, 0, 1, 0, + 44, 0, 0, 0, 193, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 5, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 5, 0, 0, 3, 0, 1, 0, + 120, 5, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 5, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 5, 0, 0, 3, 0, 1, 0, + 128, 5, 0, 0, 2, 0, 1, 0, + 25, 0, 0, 0, 13, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 5, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 5, 0, 0, 3, 0, 1, 0, + 136, 5, 0, 0, 2, 0, 1, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 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0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 112, 117, 84, 101, 109, 112, 67, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 112, 117, 84, 101, 109, 112, 67, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 101, 109, 111, 114, 121, 84, 101, + 109, 112, 67, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 97, 116, 116, 101, 114, 121, 84, + 101, 109, 112, 67, 68, 69, 80, 82, + 69, 67, 65, 84, 69, 68, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 109, 98, 105, 101, 110, 116, 84, + 101, 109, 112, 67, 68, 69, 80, 82, + 69, 67, 65, 84, 69, 68, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 101, 116, 119, 111, 114, 107, 73, + 110, 102, 111, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 252, 74, 192, 130, 45, 83, 87, 157, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 115, 116, 65, 116, 104, 101, + 110, 97, 80, 105, 110, 103, 84, 105, + 109, 101, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 112, 117, 85, 115, 97, 103, 101, + 80, 101, 114, 99, 101, 110, 116, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 112, 117, 85, 115, 97, 103, 101, + 80, 101, 114, 99, 101, 110, 116, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 118, 109, 101, 84, 101, 109, 112, + 67, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 111, 100, 101, 109, 84, 101, 109, + 112, 67, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 99, 114, 101, 101, 110, 66, 114, + 105, 103, 104, 116, 110, 101, 115, 115, + 80, 101, 114, 99, 101, 110, 116, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 104, 101, 114, 109, 97, 108, 90, + 111, 110, 101, 115, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 111, 246, 61, 133, 41, 0, 121, 208, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 109, 105, 99, 84, 101, 109, 112, + 67, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 119, 101, 114, 68, 114, 97, + 119, 87, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 101, 116, 119, 111, 114, 107, 77, + 101, 116, 101, 114, 101, 100, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 111, 109, 80, 111, 119, 101, 114, + 68, 114, 97, 119, 87, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 101, 116, 119, 111, 114, 107, 83, + 116, 97, 116, 115, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 160, 142, 137, 39, 234, 100, 140, 185, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 97, 120, 84, 101, 109, 112, 67, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 118, 105, 99, 101, 84, 121, + 112, 101, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 8, 102, 168, 235, 56, 114, 93, 157, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a4d8b5af2aa492eb = b_a4d8b5af2aa492eb.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_a4d8b5af2aa492eb[] = { + &s_9d57532d82c04afc, + &s_9d5d7238eba86608, + &s_af0f7110c254f77e, + &s_b98c64ea27898ea0, + &s_bbc79cc958d1049d, + &s_d0790029853df66f, + &s_dd308c8a13203e13, +}; +static const uint16_t m_a4d8b5af2aa492eb[] = {30, 6, 15, 8, 9, 29, 16, 25, 18, 17, 0, 1, 2, 3, 26, 34, 20, 45, 10, 7, 5, 27, 33, 32, 44, 4, 28, 19, 36, 31, 41, 43, 24, 22, 35, 23, 21, 39, 40, 37, 42, 11, 13, 14, 38, 12}; +static const uint16_t i_a4d8b5af2aa492eb[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45}; +const ::capnp::_::RawSchema s_a4d8b5af2aa492eb = { + 0xa4d8b5af2aa492eb, b_a4d8b5af2aa492eb.words, 826, d_a4d8b5af2aa492eb, m_a4d8b5af2aa492eb, + 7, 46, i_a4d8b5af2aa492eb, nullptr, nullptr, { &s_a4d8b5af2aa492eb, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<49> b_d0790029853df66f = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 111, 246, 61, 133, 41, 0, 121, 208, + 22, 0, 0, 0, 1, 0, 1, 0, + 235, 146, 164, 42, 175, 181, 216, 164, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 18, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 68, 101, 118, 105, 99, 101, + 83, 116, 97, 116, 101, 46, 84, 104, + 101, 114, 109, 97, 108, 90, 111, 110, + 101, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 8, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 0, 0, 0, 3, 0, 1, 0, + 48, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 0, 0, 0, 3, 0, 1, 0, + 52, 0, 0, 0, 2, 0, 1, 0, + 110, 97, 109, 101, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 101, 109, 112, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_d0790029853df66f = b_d0790029853df66f.words; +#if !CAPNP_LITE +static const uint16_t m_d0790029853df66f[] = {0, 1}; +static const uint16_t i_d0790029853df66f[] = {0, 1}; +const ::capnp::_::RawSchema s_d0790029853df66f = { + 0xd0790029853df66f, b_d0790029853df66f.words, 49, nullptr, m_d0790029853df66f, + 0, 2, i_d0790029853df66f, nullptr, nullptr, { &s_d0790029853df66f, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<35> b_af0f7110c254f77e = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 126, 247, 84, 194, 16, 113, 15, 175, + 22, 0, 0, 0, 2, 0, 0, 0, + 235, 146, 164, 42, 175, 181, 216, 164, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 34, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 103, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 68, 101, 118, 105, 99, 101, + 83, 116, 97, 116, 101, 46, 84, 104, + 101, 114, 109, 97, 108, 83, 116, 97, + 116, 117, 115, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 17, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 114, 101, 101, 110, 0, 0, 0, + 121, 101, 108, 108, 111, 119, 0, 0, + 114, 101, 100, 0, 0, 0, 0, 0, + 100, 97, 110, 103, 101, 114, 0, 0, } +}; +::capnp::word const* const bp_af0f7110c254f77e = b_af0f7110c254f77e.words; +#if !CAPNP_LITE +static const uint16_t m_af0f7110c254f77e[] = {3, 0, 2, 1}; +const ::capnp::_::RawSchema s_af0f7110c254f77e = { + 0xaf0f7110c254f77e, b_af0f7110c254f77e.words, 35, nullptr, m_af0f7110c254f77e, + 0, 4, nullptr, nullptr, nullptr, { &s_af0f7110c254f77e, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(ThermalStatus_af0f7110c254f77e, af0f7110c254f77e); +static const ::capnp::_::AlignedData<48> b_bbc79cc958d1049d = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 157, 4, 209, 88, 201, 156, 199, 187, + 22, 0, 0, 0, 2, 0, 0, 0, + 235, 146, 164, 42, 175, 181, 216, 164, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 18, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 175, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 68, 101, 118, 105, 99, 101, + 83, 116, 97, 116, 101, 46, 78, 101, + 116, 119, 111, 114, 107, 84, 121, 112, + 101, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 28, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 61, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 110, 101, 0, 0, 0, 0, + 119, 105, 102, 105, 0, 0, 0, 0, + 99, 101, 108, 108, 50, 71, 0, 0, + 99, 101, 108, 108, 51, 71, 0, 0, + 99, 101, 108, 108, 52, 71, 0, 0, + 99, 101, 108, 108, 53, 71, 0, 0, + 101, 116, 104, 101, 114, 110, 101, 116, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_bbc79cc958d1049d = b_bbc79cc958d1049d.words; +#if !CAPNP_LITE +static const uint16_t m_bbc79cc958d1049d[] = {2, 3, 4, 5, 6, 0, 1}; +const ::capnp::_::RawSchema s_bbc79cc958d1049d = { + 0xbbc79cc958d1049d, b_bbc79cc958d1049d.words, 48, nullptr, m_bbc79cc958d1049d, + 0, 7, nullptr, nullptr, nullptr, { &s_bbc79cc958d1049d, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(NetworkType_bbc79cc958d1049d, bbc79cc958d1049d); +static const ::capnp::_::AlignedData<40> b_dd308c8a13203e13 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 19, 62, 32, 19, 138, 140, 48, 221, + 22, 0, 0, 0, 2, 0, 0, 0, + 235, 146, 164, 42, 175, 181, 216, 164, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 50, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 127, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 68, 101, 118, 105, 99, 101, + 83, 116, 97, 116, 101, 46, 78, 101, + 116, 119, 111, 114, 107, 83, 116, 114, + 101, 110, 103, 116, 104, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 20, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 107, 110, 111, 119, 110, 0, + 112, 111, 111, 114, 0, 0, 0, 0, + 109, 111, 100, 101, 114, 97, 116, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 111, 111, 100, 0, 0, 0, 0, + 103, 114, 101, 97, 116, 0, 0, 0, } +}; +::capnp::word const* const bp_dd308c8a13203e13 = b_dd308c8a13203e13.words; +#if !CAPNP_LITE +static const uint16_t m_dd308c8a13203e13[] = {3, 4, 2, 1, 0}; +const ::capnp::_::RawSchema s_dd308c8a13203e13 = { + 0xdd308c8a13203e13, b_dd308c8a13203e13.words, 40, nullptr, m_dd308c8a13203e13, + 0, 5, nullptr, nullptr, nullptr, { &s_dd308c8a13203e13, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(NetworkStrength_dd308c8a13203e13, dd308c8a13203e13); +static const ::capnp::_::AlignedData<111> b_9d57532d82c04afc = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 252, 74, 192, 130, 45, 83, 87, 157, + 22, 0, 0, 0, 1, 0, 1, 0, + 235, 146, 164, 42, 175, 181, 216, 164, + 5, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 18, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 87, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 68, 101, 118, 105, 99, 101, + 83, 116, 97, 116, 101, 46, 78, 101, + 116, 119, 111, 114, 107, 73, 110, 102, + 111, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 24, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 0, 0, 0, 3, 0, 1, 0, + 164, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 0, 0, 0, 3, 0, 1, 0, + 172, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 164, 0, 0, 0, 3, 0, 1, 0, + 176, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 173, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 0, 0, 0, 3, 0, 1, 0, + 180, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 172, 0, 0, 0, 3, 0, 1, 0, + 184, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 0, 0, 0, 3, 0, 1, 0, + 188, 0, 0, 0, 2, 0, 1, 0, + 116, 101, 99, 104, 110, 111, 108, 111, + 103, 121, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 112, 101, 114, 97, 116, 111, 114, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 97, 110, 100, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 104, 97, 110, 110, 101, 108, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 120, 116, 114, 97, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 97, 116, 101, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_9d57532d82c04afc = b_9d57532d82c04afc.words; +#if !CAPNP_LITE +static const uint16_t m_9d57532d82c04afc[] = {2, 3, 4, 1, 5, 0}; +static const uint16_t i_9d57532d82c04afc[] = {0, 1, 2, 3, 4, 5}; +const ::capnp::_::RawSchema s_9d57532d82c04afc = { + 0x9d57532d82c04afc, b_9d57532d82c04afc.words, 111, nullptr, m_9d57532d82c04afc, + 0, 6, i_9d57532d82c04afc, nullptr, nullptr, { &s_9d57532d82c04afc, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<49> b_b98c64ea27898ea0 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 160, 142, 137, 39, 234, 100, 140, 185, + 22, 0, 0, 0, 1, 0, 2, 0, + 235, 146, 164, 42, 175, 181, 216, 164, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 26, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 68, 101, 118, 105, 99, 101, + 83, 116, 97, 116, 101, 46, 78, 101, + 116, 119, 111, 114, 107, 83, 116, 97, + 116, 115, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 8, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 0, 0, 0, 3, 0, 1, 0, + 48, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 0, 0, 0, 3, 0, 1, 0, + 52, 0, 0, 0, 2, 0, 1, 0, + 119, 119, 97, 110, 84, 120, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 119, 119, 97, 110, 82, 120, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_b98c64ea27898ea0 = b_b98c64ea27898ea0.words; +#if !CAPNP_LITE +static const uint16_t m_b98c64ea27898ea0[] = {1, 0}; +static const uint16_t i_b98c64ea27898ea0[] = {0, 1}; +const ::capnp::_::RawSchema s_b98c64ea27898ea0 = { + 0xb98c64ea27898ea0, b_b98c64ea27898ea0.words, 49, nullptr, m_b98c64ea27898ea0, + 0, 2, i_b98c64ea27898ea0, nullptr, nullptr, { &s_b98c64ea27898ea0, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<646> b_a7649e2575e4591e = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 30, 89, 228, 117, 37, 158, 100, 167, + 10, 0, 0, 0, 1, 0, 9, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 4, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 170, 0, 0, 0, + 29, 0, 0, 0, 87, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 0, 0, 0, 31, 8, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 80, 97, 110, 100, 97, 83, + 116, 97, 116, 101, 0, 0, 0, 0, + 20, 0, 0, 0, 1, 0, 1, 0, + 187, 173, 201, 10, 139, 11, 253, 242, + 33, 0, 0, 0, 98, 0, 0, 0, + 152, 151, 36, 105, 127, 192, 85, 205, + 33, 0, 0, 0, 82, 0, 0, 0, + 81, 55, 91, 62, 249, 173, 88, 138, + 33, 0, 0, 0, 82, 0, 0, 0, + 191, 129, 192, 232, 209, 62, 154, 246, + 33, 0, 0, 0, 114, 0, 0, 0, + 92, 212, 12, 235, 45, 151, 210, 248, + 33, 0, 0, 0, 114, 0, 0, 0, + 70, 97, 117, 108, 116, 83, 116, 97, + 116, 117, 115, 0, 0, 0, 0, 0, + 70, 97, 117, 108, 116, 84, 121, 112, + 101, 0, 0, 0, 0, 0, 0, 0, + 80, 97, 110, 100, 97, 84, 121, 112, + 101, 0, 0, 0, 0, 0, 0, 0, + 72, 97, 114, 110, 101, 115, 115, 83, + 116, 97, 116, 117, 115, 0, 0, 0, + 80, 97, 110, 100, 97, 67, 97, 110, + 83, 116, 97, 116, 101, 0, 0, 0, + 148, 0, 0, 0, 3, 0, 4, 0, + 27, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 253, 3, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 248, 3, 0, 0, 3, 0, 1, 0, + 4, 4, 0, 0, 2, 0, 1, 0, + 28, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 4, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 252, 3, 0, 0, 3, 0, 1, 0, + 8, 4, 0, 0, 2, 0, 1, 0, + 0, 0, 0, 0, 64, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 4, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 4, 0, 0, 3, 0, 1, 0, + 16, 4, 0, 0, 2, 0, 1, 0, + 20, 0, 0, 0, 65, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 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212, 12, 235, 45, 151, 210, 248, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 97, 102, 101, 116, 121, 82, 120, + 67, 104, 101, 99, 107, 115, 73, 110, + 118, 97, 108, 105, 100, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 105, 67, 104, 101, 99, 107, + 115, 117, 109, 69, 114, 114, 111, 114, + 67, 111, 117, 110, 116, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 97, 110, 83, 116, 97, 108, 108, + 67, 111, 117, 110, 116, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 98, 117, 49, 86, 111, 108, 116, + 97, 103, 101, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 98, 117, 50, 86, 111, 108, 116, + 97, 103, 101, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a7649e2575e4591e = b_a7649e2575e4591e.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_a7649e2575e4591e[] = { + &s_8a58adf93e5b3751, + &s_95551e5b1edaf451, + &s_a8883583b32c9877, + &s_cd55c07f69249798, + &s_f2fd0b8b0ac9adbb, + &s_f69a3ed1e8c081bf, + &s_f8d2972deb0cd45c, +}; +static const uint16_t m_a7649e2575e4591e[] = {23, 29, 30, 31, 3, 1, 28, 11, 34, 15, 18, 4, 9, 21, 6, 22, 13, 2, 25, 10, 16, 7, 14, 27, 26, 20, 32, 19, 24, 35, 36, 33, 5, 8, 17, 12, 0}; +static const uint16_t i_a7649e2575e4591e[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36}; +const ::capnp::_::RawSchema s_a7649e2575e4591e = { + 0xa7649e2575e4591e, b_a7649e2575e4591e.words, 646, d_a7649e2575e4591e, m_a7649e2575e4591e, + 7, 37, i_a7649e2575e4591e, nullptr, nullptr, { &s_a7649e2575e4591e, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<33> b_f2fd0b8b0ac9adbb = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 187, 173, 201, 10, 139, 11, 253, 242, + 21, 0, 0, 0, 2, 0, 0, 0, + 30, 89, 228, 117, 37, 158, 100, 167, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 10, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 79, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 80, 97, 110, 100, 97, 83, + 116, 97, 116, 101, 46, 70, 97, 117, + 108, 116, 83, 116, 97, 116, 117, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 17, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 110, 101, 0, 0, 0, 0, + 102, 97, 117, 108, 116, 84, 101, 109, + 112, 0, 0, 0, 0, 0, 0, 0, + 102, 97, 117, 108, 116, 80, 101, 114, + 109, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_f2fd0b8b0ac9adbb = b_f2fd0b8b0ac9adbb.words; +#if !CAPNP_LITE +static const uint16_t m_f2fd0b8b0ac9adbb[] = {2, 1, 0}; +const ::capnp::_::RawSchema s_f2fd0b8b0ac9adbb = { + 0xf2fd0b8b0ac9adbb, b_f2fd0b8b0ac9adbb.words, 33, nullptr, m_f2fd0b8b0ac9adbb, + 0, 3, nullptr, nullptr, nullptr, { &s_f2fd0b8b0ac9adbb, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(FaultStatus_f2fd0b8b0ac9adbb, f2fd0b8b0ac9adbb); +static const ::capnp::_::AlignedData<182> b_cd55c07f69249798 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 152, 151, 36, 105, 127, 192, 85, 205, + 21, 0, 0, 0, 2, 0, 0, 0, + 30, 89, 228, 117, 37, 158, 100, 167, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 250, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 143, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 80, 97, 110, 100, 97, 83, + 116, 97, 116, 101, 46, 70, 97, 117, + 108, 116, 84, 121, 112, 101, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 108, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 61, 1, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 61, 1, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 61, 1, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 61, 1, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 61, 1, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 61, 1, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 61, 1, 0, 0, 234, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 65, 1, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 65, 1, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 65, 1, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 65, 1, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 65, 1, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 65, 1, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 65, 1, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 65, 1, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 65, 1, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 65, 1, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 0, 0, 0, 0, 0, 0, 0, + 65, 1, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 18, 0, 0, 0, 0, 0, 0, 0, + 65, 1, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 19, 0, 0, 0, 0, 0, 0, 0, + 65, 1, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 0, 0, 0, 0, 0, 0, 0, + 65, 1, 0, 0, 202, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 0, 0, 0, 0, + 69, 1, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 22, 0, 0, 0, 0, 0, 0, 0, + 69, 1, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 23, 0, 0, 0, 0, 0, 0, 0, + 69, 1, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 0, 0, 0, 0, 0, 0, 0, + 69, 1, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 0, 0, 0, 0, + 69, 1, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 26, 0, 0, 0, 0, 0, 0, 0, + 69, 1, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 108, 97, 121, 77, 97, 108, + 102, 117, 110, 99, 116, 105, 111, 110, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 117, 115, 101, 100, 73, 110, + 116, 101, 114, 114, 117, 112, 116, 72, + 97, 110, 100, 108, 101, 100, 0, 0, + 105, 110, 116, 101, 114, 114, 117, 112, + 116, 82, 97, 116, 101, 67, 97, 110, + 49, 0, 0, 0, 0, 0, 0, 0, + 105, 110, 116, 101, 114, 114, 117, 112, + 116, 82, 97, 116, 101, 67, 97, 110, + 50, 0, 0, 0, 0, 0, 0, 0, + 105, 110, 116, 101, 114, 114, 117, 112, + 116, 82, 97, 116, 101, 67, 97, 110, + 51, 0, 0, 0, 0, 0, 0, 0, + 105, 110, 116, 101, 114, 114, 117, 112, + 116, 82, 97, 116, 101, 84, 97, 99, + 104, 0, 0, 0, 0, 0, 0, 0, + 105, 110, 116, 101, 114, 114, 117, 112, + 116, 82, 97, 116, 101, 71, 109, 108, + 97, 110, 68, 69, 80, 82, 69, 67, + 65, 84, 69, 68, 0, 0, 0, 0, + 105, 110, 116, 101, 114, 114, 117, 112, + 116, 82, 97, 116, 101, 73, 110, 116, + 101, 114, 114, 117, 112, 116, 115, 0, + 105, 110, 116, 101, 114, 114, 117, 112, + 116, 82, 97, 116, 101, 83, 112, 105, + 68, 109, 97, 0, 0, 0, 0, 0, + 105, 110, 116, 101, 114, 114, 117, 112, + 116, 82, 97, 116, 101, 83, 112, 105, + 67, 115, 0, 0, 0, 0, 0, 0, + 105, 110, 116, 101, 114, 114, 117, 112, + 116, 82, 97, 116, 101, 85, 97, 114, + 116, 49, 0, 0, 0, 0, 0, 0, + 105, 110, 116, 101, 114, 114, 117, 112, + 116, 82, 97, 116, 101, 85, 97, 114, + 116, 50, 0, 0, 0, 0, 0, 0, + 105, 110, 116, 101, 114, 114, 117, 112, + 116, 82, 97, 116, 101, 85, 97, 114, + 116, 51, 0, 0, 0, 0, 0, 0, + 105, 110, 116, 101, 114, 114, 117, 112, + 116, 82, 97, 116, 101, 85, 97, 114, + 116, 53, 0, 0, 0, 0, 0, 0, + 105, 110, 116, 101, 114, 114, 117, 112, + 116, 82, 97, 116, 101, 85, 97, 114, + 116, 68, 109, 97, 0, 0, 0, 0, + 105, 110, 116, 101, 114, 114, 117, 112, + 116, 82, 97, 116, 101, 85, 115, 98, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 110, 116, 101, 114, 114, 117, 112, + 116, 82, 97, 116, 101, 84, 105, 109, + 49, 0, 0, 0, 0, 0, 0, 0, + 105, 110, 116, 101, 114, 114, 117, 112, + 116, 82, 97, 116, 101, 84, 105, 109, + 51, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 103, 105, 115, 116, 101, 114, + 68, 105, 118, 101, 114, 103, 101, 110, + 116, 0, 0, 0, 0, 0, 0, 0, + 105, 110, 116, 101, 114, 114, 117, 112, + 116, 82, 97, 116, 101, 75, 108, 105, + 110, 101, 73, 110, 105, 116, 0, 0, + 105, 110, 116, 101, 114, 114, 117, 112, + 116, 82, 97, 116, 101, 67, 108, 111, + 99, 107, 83, 111, 117, 114, 99, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 110, 116, 101, 114, 114, 117, 112, + 116, 82, 97, 116, 101, 84, 105, 99, + 107, 0, 0, 0, 0, 0, 0, 0, + 105, 110, 116, 101, 114, 114, 117, 112, + 116, 82, 97, 116, 101, 69, 120, 116, + 105, 0, 0, 0, 0, 0, 0, 0, + 105, 110, 116, 101, 114, 114, 117, 112, + 116, 82, 97, 116, 101, 83, 112, 105, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 110, 116, 101, 114, 114, 117, 112, + 116, 82, 97, 116, 101, 85, 97, 114, + 116, 55, 0, 0, 0, 0, 0, 0, + 115, 105, 114, 101, 110, 77, 97, 108, + 102, 117, 110, 99, 116, 105, 111, 110, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 101, 97, 114, 116, 98, 101, 97, + 116, 76, 111, 111, 112, 87, 97, 116, + 99, 104, 100, 111, 103, 0, 0, 0, } +}; +::capnp::word const* const bp_cd55c07f69249798 = b_cd55c07f69249798.words; +#if !CAPNP_LITE +static const uint16_t m_cd55c07f69249798[] = {26, 2, 3, 4, 20, 22, 6, 7, 19, 23, 9, 8, 5, 21, 16, 17, 10, 11, 12, 13, 24, 14, 15, 18, 0, 25, 1}; +const ::capnp::_::RawSchema s_cd55c07f69249798 = { + 0xcd55c07f69249798, b_cd55c07f69249798.words, 182, nullptr, m_cd55c07f69249798, + 0, 27, nullptr, nullptr, nullptr, { &s_cd55c07f69249798, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(FaultType_cd55c07f69249798, cd55c07f69249798); +static const ::capnp::_::AlignedData<67> b_8a58adf93e5b3751 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 81, 55, 91, 62, 249, 173, 88, 138, + 21, 0, 0, 0, 2, 0, 0, 0, + 30, 89, 228, 117, 37, 158, 100, 167, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 250, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 15, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 80, 97, 110, 100, 97, 83, + 116, 97, 116, 101, 46, 80, 97, 110, + 100, 97, 84, 121, 112, 101, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 44, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 117, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 113, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 109, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 105, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 89, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 81, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 77, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 73, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 65, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 107, 110, 111, 119, 110, 0, + 119, 104, 105, 116, 101, 80, 97, 110, + 100, 97, 0, 0, 0, 0, 0, 0, + 103, 114, 101, 121, 80, 97, 110, 100, + 97, 0, 0, 0, 0, 0, 0, 0, + 98, 108, 97, 99, 107, 80, 97, 110, + 100, 97, 0, 0, 0, 0, 0, 0, + 112, 101, 100, 97, 108, 0, 0, 0, + 117, 110, 111, 0, 0, 0, 0, 0, + 100, 111, 115, 0, 0, 0, 0, 0, + 114, 101, 100, 80, 97, 110, 100, 97, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 100, 80, 97, 110, 100, 97, + 86, 50, 0, 0, 0, 0, 0, 0, + 116, 114, 101, 115, 0, 0, 0, 0, + 99, 117, 97, 116, 114, 111, 0, 0, } +}; +::capnp::word const* const bp_8a58adf93e5b3751 = b_8a58adf93e5b3751.words; +#if !CAPNP_LITE +static const uint16_t m_8a58adf93e5b3751[] = {3, 10, 6, 2, 4, 7, 8, 9, 0, 5, 1}; +const ::capnp::_::RawSchema s_8a58adf93e5b3751 = { + 0x8a58adf93e5b3751, b_8a58adf93e5b3751.words, 67, nullptr, m_8a58adf93e5b3751, + 0, 11, nullptr, nullptr, nullptr, { &s_8a58adf93e5b3751, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(PandaType_8a58adf93e5b3751, 8a58adf93e5b3751); +static const ::capnp::_::AlignedData<32> b_f69a3ed1e8c081bf = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 191, 129, 192, 232, 209, 62, 154, 246, + 21, 0, 0, 0, 2, 0, 0, 0, + 30, 89, 228, 117, 37, 158, 100, 167, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 26, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 79, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 80, 97, 110, 100, 97, 83, + 116, 97, 116, 101, 46, 72, 97, 114, + 110, 101, 115, 115, 83, 116, 97, 116, + 117, 115, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 17, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 116, 67, 111, 110, 110, 101, + 99, 116, 101, 100, 0, 0, 0, 0, + 110, 111, 114, 109, 97, 108, 0, 0, + 102, 108, 105, 112, 112, 101, 100, 0, } +}; +::capnp::word const* const bp_f69a3ed1e8c081bf = b_f69a3ed1e8c081bf.words; +#if !CAPNP_LITE +static const uint16_t m_f69a3ed1e8c081bf[] = {2, 1, 0}; +const ::capnp::_::RawSchema s_f69a3ed1e8c081bf = { + 0xf69a3ed1e8c081bf, b_f69a3ed1e8c081bf.words, 32, nullptr, m_f69a3ed1e8c081bf, + 0, 3, nullptr, nullptr, nullptr, { &s_f69a3ed1e8c081bf, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(HarnessStatus_f69a3ed1e8c081bf, f69a3ed1e8c081bf); +static const ::capnp::_::AlignedData<424> b_f8d2972deb0cd45c = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 92, 212, 12, 235, 45, 151, 210, 248, + 21, 0, 0, 0, 1, 0, 8, 0, + 30, 89, 228, 117, 37, 158, 100, 167, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 26, 1, 0, 0, + 37, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 127, 5, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 80, 97, 110, 100, 97, 83, + 116, 97, 116, 101, 46, 80, 97, 110, + 100, 97, 67, 97, 110, 83, 116, 97, + 116, 101, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 255, 131, 50, 209, 180, 80, 219, 192, + 1, 0, 0, 0, 106, 0, 0, 0, + 76, 101, 99, 69, 114, 114, 111, 114, + 67, 111, 100, 101, 0, 0, 0, 0, + 100, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 173, 2, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 2, 0, 0, 3, 0, 1, 0, + 180, 2, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 2, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 2, 0, 0, 3, 0, 1, 0, + 188, 2, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 2, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 2, 0, 0, 3, 0, 1, 0, + 196, 2, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 193, 2, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 192, 2, 0, 0, 3, 0, 1, 0, + 204, 2, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 201, 2, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 2, 0, 0, 3, 0, 1, 0, + 212, 2, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 2, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 2, 0, 0, 3, 0, 1, 0, + 220, 2, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 217, 2, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 2, 0, 0, 3, 0, 1, 0, + 228, 2, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 2, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 2, 0, 0, 3, 0, 1, 0, + 240, 2, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 2, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 2, 0, 0, 3, 0, 1, 0, + 248, 2, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 14, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 245, 2, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 248, 2, 0, 0, 3, 0, 1, 0, + 4, 3, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 3, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 3, 0, 0, 3, 0, 1, 0, + 12, 3, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 3, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 3, 0, 0, 3, 0, 1, 0, + 20, 3, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 3, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 3, 0, 0, 3, 0, 1, 0, + 28, 3, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 3, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 3, 0, 0, 3, 0, 1, 0, + 36, 3, 0, 0, 2, 0, 1, 0, + 14, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 3, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 3, 0, 0, 3, 0, 1, 0, + 44, 3, 0, 0, 2, 0, 1, 0, + 15, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 3, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 3, 0, 0, 3, 0, 1, 0, + 52, 3, 0, 0, 2, 0, 1, 0, + 16, 0, 0, 0, 20, 0, 0, 0, + 0, 0, 1, 0, 16, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 3, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 48, 3, 0, 0, 3, 0, 1, 0, + 60, 3, 0, 0, 2, 0, 1, 0, + 17, 0, 0, 0, 21, 0, 0, 0, + 0, 0, 1, 0, 17, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 57, 3, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 56, 3, 0, 0, 3, 0, 1, 0, + 68, 3, 0, 0, 2, 0, 1, 0, + 18, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 3, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 64, 3, 0, 0, 3, 0, 1, 0, + 76, 3, 0, 0, 2, 0, 1, 0, + 19, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 19, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 73, 3, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 3, 0, 0, 3, 0, 1, 0, + 84, 3, 0, 0, 2, 0, 1, 0, + 20, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 20, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 81, 3, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 80, 3, 0, 0, 3, 0, 1, 0, + 92, 3, 0, 0, 2, 0, 1, 0, + 21, 0, 0, 0, 11, 0, 0, 0, + 0, 0, 1, 0, 21, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 3, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 88, 3, 0, 0, 3, 0, 1, 0, + 100, 3, 0, 0, 2, 0, 1, 0, + 22, 0, 0, 0, 12, 0, 0, 0, + 0, 0, 1, 0, 22, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 3, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 3, 0, 0, 3, 0, 1, 0, + 108, 3, 0, 0, 2, 0, 1, 0, + 23, 0, 0, 0, 13, 0, 0, 0, + 0, 0, 1, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 3, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 3, 0, 0, 3, 0, 1, 0, + 116, 3, 0, 0, 2, 0, 1, 0, + 24, 0, 0, 0, 14, 0, 0, 0, + 0, 0, 1, 0, 24, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 3, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 3, 0, 0, 3, 0, 1, 0, + 124, 3, 0, 0, 2, 0, 1, 0, + 98, 117, 115, 79, 102, 102, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 117, 115, 79, 102, 102, 67, 110, + 116, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 114, 114, 111, 114, 87, 97, 114, + 110, 105, 110, 103, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 114, 114, 111, 114, 80, 97, 115, + 115, 105, 118, 101, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 115, 116, 69, 114, 114, 111, + 114, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 255, 131, 50, 209, 180, 80, 219, 192, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 115, 116, 83, 116, 111, 114, + 101, 100, 69, 114, 114, 111, 114, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 255, 131, 50, 209, 180, 80, 219, 192, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 115, 116, 68, 97, 116, 97, + 69, 114, 114, 111, 114, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 255, 131, 50, 209, 180, 80, 219, 192, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 115, 116, 68, 97, 116, 97, + 83, 116, 111, 114, 101, 100, 69, 114, + 114, 111, 114, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 255, 131, 50, 209, 180, 80, 219, 192, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 99, 101, 105, 118, 101, 69, + 114, 114, 111, 114, 67, 110, 116, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 114, 97, 110, 115, 109, 105, 116, + 69, 114, 114, 111, 114, 67, 110, 116, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 111, 116, 97, 108, 69, 114, 114, + 111, 114, 67, 110, 116, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 111, 116, 97, 108, 84, 120, 76, + 111, 115, 116, 67, 110, 116, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 111, 116, 97, 108, 82, 120, 76, + 111, 115, 116, 67, 110, 116, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 111, 116, 97, 108, 84, 120, 67, + 110, 116, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 111, 116, 97, 108, 82, 120, 67, + 110, 116, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 111, 116, 97, 108, 70, 119, 100, + 67, 110, 116, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 110, 83, 112, 101, 101, 100, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 110, 68, 97, 116, 97, 83, + 112, 101, 101, 100, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 110, 102, 100, 69, 110, 97, + 98, 108, 101, 100, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 114, 115, 69, 110, 97, 98, 108, + 101, 100, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 110, 102, 100, 78, 111, 110, + 73, 115, 111, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 114, 113, 48, 67, 97, 108, 108, + 82, 97, 116, 101, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 114, 113, 49, 67, 97, 108, 108, + 82, 97, 116, 101, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 114, 113, 50, 67, 97, 108, 108, + 82, 97, 116, 101, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 110, 67, 111, 114, 101, 82, + 101, 115, 101, 116, 67, 110, 116, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_f8d2972deb0cd45c = b_f8d2972deb0cd45c.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_f8d2972deb0cd45c[] = { + &s_c0db50b4d13283ff, +}; +static const uint16_t m_f8d2972deb0cd45c[] = {19, 0, 1, 24, 17, 16, 18, 20, 3, 2, 21, 22, 23, 6, 7, 4, 5, 8, 10, 15, 14, 12, 13, 11, 9}; +static const uint16_t i_f8d2972deb0cd45c[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24}; +const ::capnp::_::RawSchema s_f8d2972deb0cd45c = { + 0xf8d2972deb0cd45c, b_f8d2972deb0cd45c.words, 424, d_f8d2972deb0cd45c, m_f8d2972deb0cd45c, + 1, 25, i_f8d2972deb0cd45c, nullptr, nullptr, { &s_f8d2972deb0cd45c, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<59> b_c0db50b4d13283ff = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 255, 131, 50, 209, 180, 80, 219, 192, + 35, 0, 0, 0, 2, 0, 0, 0, + 92, 212, 12, 235, 45, 151, 210, 248, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 130, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 199, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 80, 97, 110, 100, 97, 83, + 116, 97, 116, 101, 46, 80, 97, 110, + 100, 97, 67, 97, 110, 83, 116, 97, + 116, 101, 46, 76, 101, 99, 69, 114, + 114, 111, 114, 67, 111, 100, 101, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 32, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 81, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 77, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 73, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 65, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 61, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 57, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 69, 114, 114, 111, 114, 0, + 115, 116, 117, 102, 102, 69, 114, 114, + 111, 114, 0, 0, 0, 0, 0, 0, + 102, 111, 114, 109, 69, 114, 114, 111, + 114, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 107, 69, 114, 114, 111, 114, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 105, 116, 49, 69, 114, 114, 111, + 114, 0, 0, 0, 0, 0, 0, 0, + 98, 105, 116, 48, 69, 114, 114, 111, + 114, 0, 0, 0, 0, 0, 0, 0, + 99, 114, 99, 69, 114, 114, 111, 114, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 67, 104, 97, 110, 103, 101, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_c0db50b4d13283ff = b_c0db50b4d13283ff.words; +#if !CAPNP_LITE +static const uint16_t m_c0db50b4d13283ff[] = {3, 5, 4, 6, 2, 7, 0, 1}; +const ::capnp::_::RawSchema s_c0db50b4d13283ff = { + 0xc0db50b4d13283ff, b_c0db50b4d13283ff.words, 59, nullptr, m_c0db50b4d13283ff, + 0, 8, nullptr, nullptr, nullptr, { &s_c0db50b4d13283ff, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(LecErrorCode_c0db50b4d13283ff, c0db50b4d13283ff); +static const ::capnp::_::AlignedData<102> b_ceb8f49734857a88 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 136, 122, 133, 52, 151, 244, 184, 206, + 10, 0, 0, 0, 1, 0, 2, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 210, 0, 0, 0, + 33, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 31, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 80, 101, 114, 105, 112, 104, + 101, 114, 97, 108, 83, 116, 97, 116, + 101, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 119, 152, 44, 179, 131, 53, 136, 168, + 1, 0, 0, 0, 186, 0, 0, 0, + 85, 115, 98, 80, 111, 119, 101, 114, + 77, 111, 100, 101, 68, 69, 80, 82, + 69, 67, 65, 84, 69, 68, 0, 0, + 20, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 0, 0, 0, 3, 0, 1, 0, + 136, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 133, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 128, 0, 0, 0, 3, 0, 1, 0, + 140, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 137, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 132, 0, 0, 0, 3, 0, 1, 0, + 144, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 141, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 140, 0, 0, 0, 3, 0, 1, 0, + 152, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 149, 0, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 0, 0, 0, 3, 0, 1, 0, + 164, 0, 0, 0, 2, 0, 1, 0, + 112, 97, 110, 100, 97, 84, 121, 112, + 101, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 81, 55, 91, 62, 249, 173, 88, 138, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 111, 108, 116, 97, 103, 101, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 114, 114, 101, 110, 116, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 97, 110, 83, 112, 101, 101, 100, + 82, 112, 109, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 115, 98, 80, 111, 119, 101, 114, + 77, 111, 100, 101, 68, 69, 80, 82, + 69, 67, 65, 84, 69, 68, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 119, 152, 44, 179, 131, 53, 136, 168, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_ceb8f49734857a88 = b_ceb8f49734857a88.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_ceb8f49734857a88[] = { + &s_8a58adf93e5b3751, + &s_a8883583b32c9877, +}; +static const uint16_t m_ceb8f49734857a88[] = {2, 3, 0, 4, 1}; +static const uint16_t i_ceb8f49734857a88[] = {0, 1, 2, 3, 4}; +const ::capnp::_::RawSchema s_ceb8f49734857a88 = { + 0xceb8f49734857a88, b_ceb8f49734857a88.words, 102, d_ceb8f49734857a88, m_ceb8f49734857a88, + 2, 5, i_ceb8f49734857a88, nullptr, nullptr, { &s_ceb8f49734857a88, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<37> b_a8883583b32c9877 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 119, 152, 44, 179, 131, 53, 136, 168, + 26, 0, 0, 0, 2, 0, 0, 0, + 136, 122, 133, 52, 151, 244, 184, 206, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 138, 1, 0, 0, + 45, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 103, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 80, 101, 114, 105, 112, 104, + 101, 114, 97, 108, 83, 116, 97, 116, + 101, 46, 85, 115, 98, 80, 111, 119, + 101, 114, 77, 111, 100, 101, 68, 69, + 80, 82, 69, 67, 65, 84, 69, 68, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 17, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 110, 101, 0, 0, 0, 0, + 99, 108, 105, 101, 110, 116, 0, 0, + 99, 100, 112, 0, 0, 0, 0, 0, + 100, 99, 112, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a8883583b32c9877 = b_a8883583b32c9877.words; +#if !CAPNP_LITE +static const uint16_t m_a8883583b32c9877[] = {2, 1, 3, 0}; +const ::capnp::_::RawSchema s_a8883583b32c9877 = { + 0xa8883583b32c9877, b_a8883583b32c9877.words, 37, nullptr, m_a8883583b32c9877, + 0, 4, nullptr, nullptr, nullptr, { &s_a8883583b32c9877, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(UsbPowerModeDEPRECATED_a8883583b32c9877, a8883583b32c9877); +static const ::capnp::_::AlignedData<247> b_9a185389d6fdd05f = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 95, 208, 253, 214, 137, 83, 24, 154, + 10, 0, 0, 0, 1, 0, 5, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 5, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 170, 0, 0, 0, + 29, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 223, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 82, 97, 100, 97, 114, 83, + 116, 97, 116, 101, 0, 0, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 133, 240, 12, 23, 217, 58, 111, 185, + 1, 0, 0, 0, 74, 0, 0, 0, + 76, 101, 97, 100, 68, 97, 116, 97, + 0, 0, 0, 0, 0, 0, 0, 0, + 52, 0, 0, 0, 3, 0, 4, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 93, 1, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 1, 0, 0, 3, 0, 1, 0, + 124, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 1, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 1, 0, 0, 3, 0, 1, 0, + 136, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 133, 1, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 136, 1, 0, 0, 3, 0, 1, 0, + 148, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 145, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 140, 1, 0, 0, 3, 0, 1, 0, + 152, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 149, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 144, 1, 0, 0, 3, 0, 1, 0, + 156, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 1, 0, 0, 3, 0, 1, 0, + 164, 1, 0, 0, 2, 0, 1, 0, + 0, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 1, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 1, 0, 0, 3, 0, 1, 0, + 172, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 1, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 172, 1, 0, 0, 3, 0, 1, 0, + 184, 1, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 1, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 1, 0, 0, 3, 0, 1, 0, + 196, 1, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 193, 1, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 1, 0, 0, 3, 0, 1, 0, + 208, 1, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 1, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 1, 0, 0, 3, 0, 1, 0, + 236, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 1, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 1, 0, 0, 3, 0, 1, 0, + 248, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 245, 1, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 244, 1, 0, 0, 3, 0, 1, 0, + 16, 2, 0, 0, 2, 0, 1, 0, + 119, 97, 114, 112, 77, 97, 116, 114, + 105, 120, 68, 69, 80, 82, 69, 67, + 65, 84, 69, 68, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 110, 103, 108, 101, 79, 102, 102, + 115, 101, 116, 68, 69, 80, 82, 69, + 67, 65, 84, 69, 68, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 108, 83, 116, 97, 116, 117, + 115, 68, 69, 80, 82, 69, 67, 65, + 84, 69, 68, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 97, 100, 79, 110, 101, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 133, 240, 12, 23, 217, 58, 111, 185, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 97, 100, 84, 119, 111, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 133, 240, 12, 23, 217, 58, 111, 185, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 109, 76, 97, 103, 77, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 100, 77, 111, 110, 111, 84, 105, + 109, 101, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 116, 77, 111, 110, 111, 84, 105, + 109, 101, 68, 69, 80, 82, 69, 67, + 65, 84, 69, 68, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 108, 67, 121, 99, 108, 101, + 68, 69, 80, 82, 69, 67, 65, 84, + 69, 68, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 108, 80, 101, 114, 99, 68, + 69, 80, 82, 69, 67, 65, 84, 69, + 68, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 110, 77, 111, 110, 111, 84, + 105, 109, 101, 115, 68, 69, 80, 82, + 69, 67, 65, 84, 69, 68, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 83, 116, 97, 116, 101, + 77, 111, 110, 111, 84, 105, 109, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 97, 100, 97, 114, 69, 114, 114, + 111, 114, 115, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 173, 118, 186, 235, 121, 102, 168, 232, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_9a185389d6fdd05f = b_9a185389d6fdd05f.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_9a185389d6fdd05f[] = { + &s_b96f3ad9170cf085, + &s_e8a86679ebba76ad, +}; +static const uint16_t m_9a185389d6fdd05f[] = {1, 8, 9, 2, 10, 11, 5, 7, 3, 4, 6, 12, 0}; +static const uint16_t i_9a185389d6fdd05f[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12}; +const ::capnp::_::RawSchema s_9a185389d6fdd05f = { + 0x9a185389d6fdd05f, b_9a185389d6fdd05f.words, 247, d_9a185389d6fdd05f, m_9a185389d6fdd05f, + 2, 13, i_9a185389d6fdd05f, nullptr, nullptr, { &s_9a185389d6fdd05f, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<262> b_b96f3ad9170cf085 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 133, 240, 12, 23, 217, 58, 111, 185, + 21, 0, 0, 0, 1, 0, 7, 0, + 95, 208, 253, 214, 137, 83, 24, 154, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 242, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 135, 3, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 82, 97, 100, 97, 114, 83, + 116, 97, 116, 101, 46, 76, 101, 97, + 100, 68, 97, 116, 97, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 64, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 172, 1, 0, 0, 3, 0, 1, 0, + 184, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 1, 0, 0, 3, 0, 1, 0, + 188, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 1, 0, 0, 3, 0, 1, 0, + 192, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 1, 0, 0, 3, 0, 1, 0, + 196, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 193, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 1, 0, 0, 3, 0, 1, 0, + 200, 1, 0, 0, 2, 0, 1, 0, + 15, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 1, 0, 0, 3, 0, 1, 0, + 208, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 1, 0, 0, 3, 0, 1, 0, + 212, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 1, 0, 0, 3, 0, 1, 0, + 216, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 213, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 1, 0, 0, 3, 0, 1, 0, + 220, 1, 0, 0, 2, 0, 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bp_b96f3ad9170cf085 = b_b96f3ad9170cf085.words; +#if !CAPNP_LITE +static const uint16_t m_b96f3ad9170cf085[] = {5, 9, 12, 3, 6, 0, 10, 13, 14, 15, 11, 7, 4, 8, 2, 1}; +static const uint16_t i_b96f3ad9170cf085[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15}; +const ::capnp::_::RawSchema s_b96f3ad9170cf085 = { + 0xb96f3ad9170cf085, b_b96f3ad9170cf085.words, 262, nullptr, m_b96f3ad9170cf085, + 0, 16, i_b96f3ad9170cf085, nullptr, nullptr, { &s_b96f3ad9170cf085, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<264> b_96df70754d8390bc = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 188, 144, 131, 77, 117, 112, 223, 150, + 10, 0, 0, 0, 1, 0, 2, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 8, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 242, 0, 0, 0, + 33, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 223, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 76, 105, 118, 101, 67, 97, + 108, 105, 98, 114, 97, 116, 105, 111, + 110, 68, 97, 116, 97, 0, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 77, 57, 173, 102, 148, 2, 170, 202, + 1, 0, 0, 0, 58, 0, 0, 0, + 83, 116, 97, 116, 117, 115, 0, 0, + 52, 0, 0, 0, 3, 0, 4, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 93, 1, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 1, 0, 0, 3, 0, 1, 0, + 124, 1, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 1, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 1, 0, 0, 3, 0, 1, 0, + 136, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 133, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 132, 1, 0, 0, 3, 0, 1, 0, + 144, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 141, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 136, 1, 0, 0, 3, 0, 1, 0, + 148, 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0, 0, 0, 0, 0, 0, 0, 0, + 114, 112, 121, 67, 97, 108, 105, 98, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 112, 121, 67, 97, 108, 105, 98, + 83, 112, 114, 101, 97, 100, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 97, 108, 105, 100, 66, 108, 111, + 99, 107, 115, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 119, 105, 100, 101, 70, 114, 111, 109, + 68, 101, 118, 105, 99, 101, 69, 117, + 108, 101, 114, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 108, 83, 116, 97, 116, 117, + 115, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 77, 57, 173, 102, 148, 2, 170, 202, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 101, 105, 103, 104, 116, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_96df70754d8390bc = b_96df70754d8390bc.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_96df70754d8390bc[] = { + &s_caaa029466ad394d, +}; +static const uint16_t m_96df70754d8390bc[] = {2, 3, 11, 1, 4, 12, 7, 8, 9, 5, 6, 0, 10}; +static const uint16_t i_96df70754d8390bc[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12}; +const ::capnp::_::RawSchema s_96df70754d8390bc = { + 0x96df70754d8390bc, b_96df70754d8390bc.words, 264, d_96df70754d8390bc, m_96df70754d8390bc, + 1, 13, i_96df70754d8390bc, nullptr, nullptr, { &s_96df70754d8390bc, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<38> b_caaa029466ad394d = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 77, 57, 173, 102, 148, 2, 170, 202, + 30, 0, 0, 0, 2, 0, 0, 0, + 188, 144, 131, 77, 117, 112, 223, 150, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 42, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 103, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 76, 105, 118, 101, 67, 97, + 108, 105, 98, 114, 97, 116, 105, 111, + 110, 68, 97, 116, 97, 46, 83, 116, + 97, 116, 117, 115, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 99, 97, 108, 105, 98, 114, + 97, 116, 101, 100, 0, 0, 0, 0, + 99, 97, 108, 105, 98, 114, 97, 116, + 101, 100, 0, 0, 0, 0, 0, 0, + 105, 110, 118, 97, 108, 105, 100, 0, + 114, 101, 99, 97, 108, 105, 98, 114, + 97, 116, 105, 110, 103, 0, 0, 0, } +}; +::capnp::word const* const bp_caaa029466ad394d = b_caaa029466ad394d.words; +#if !CAPNP_LITE +static const uint16_t m_caaa029466ad394d[] = {1, 2, 3, 0}; +const ::capnp::_::RawSchema s_caaa029466ad394d = { + 0xcaaa029466ad394d, b_caaa029466ad394d.words, 38, nullptr, m_caaa029466ad394d, + 0, 4, nullptr, nullptr, nullptr, { &s_caaa029466ad394d, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(Status_caaa029466ad394d, caaa029466ad394d); +static const ::capnp::_::AlignedData<171> b_8faa644732dec251 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 81, 194, 222, 50, 71, 100, 170, 143, + 10, 0, 0, 0, 1, 0, 5, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 170, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 55, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 76, 105, 118, 101, 84, 114, + 97, 99, 107, 115, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 40, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 1, 0, 0, 3, 0, 1, 0, + 16, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 1, 0, 0, 3, 0, 1, 0, + 20, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 1, 0, 0, 3, 0, 1, 0, + 24, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 1, 0, 0, 3, 0, 1, 0, + 28, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 1, 0, 0, 3, 0, 1, 0, + 32, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 28, 1, 0, 0, 3, 0, 1, 0, + 40, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 1, 0, 0, 3, 0, 1, 0, + 44, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 1, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 1, 0, 0, 3, 0, 1, 0, + 52, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 0, 1, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 1, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 48, 1, 0, 0, 3, 0, 1, 0, + 60, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 1, 1, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 57, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 56, 1, 0, 0, 3, 0, 1, 0, + 68, 1, 0, 0, 2, 0, 1, 0, + 116, 114, 97, 99, 107, 73, 100, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 82, 101, 108, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 82, 101, 108, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 82, 101, 108, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 82, 101, 108, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 109, 101, 83, 116, 97, 109, + 112, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 97, 116, 117, 115, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 114, 114, 101, 110, 116, 84, + 105, 109, 101, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 97, 116, 105, 111, 110, 97, + 114, 121, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 110, 99, 111, 109, 105, 110, 103, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_8faa644732dec251 = b_8faa644732dec251.words; +#if !CAPNP_LITE +static const uint16_t m_8faa644732dec251[] = {4, 7, 1, 9, 8, 6, 5, 0, 3, 2}; +static const uint16_t i_8faa644732dec251[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9}; +const ::capnp::_::RawSchema s_8faa644732dec251 = { + 0x8faa644732dec251, b_8faa644732dec251.words, 171, nullptr, m_8faa644732dec251, + 0, 10, i_8faa644732dec251, nullptr, nullptr, { &s_8faa644732dec251, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<1075> b_97ff69c53601abf1 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 241, 171, 1, 54, 197, 105, 255, 151, + 10, 0, 0, 0, 1, 0, 24, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 6, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 194, 0, 0, 0, + 29, 0, 0, 0, 167, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 0, 0, 0, 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0, + 97, 108, 101, 114, 116, 83, 111, 117, + 110, 100, 68, 69, 80, 82, 69, 67, + 65, 84, 69, 68, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 67, 117, 114, 118, 97, 116, 117, + 114, 101, 68, 69, 80, 82, 69, 67, + 65, 84, 69, 68, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 99, 101, 108, 70, 111, 114, + 84, 117, 114, 110, 68, 69, 80, 82, + 69, 67, 65, 84, 69, 68, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 97, 114, 116, 77, 111, 110, + 111, 84, 105, 109, 101, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 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111, 110, 116, 114, 111, 108, 83, 116, + 97, 116, 101, 0, 0, 0, 0, 0, + 100, 101, 99, 101, 108, 70, 111, 114, + 77, 111, 100, 101, 108, 68, 69, 80, + 82, 69, 67, 65, 84, 69, 68, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 108, 101, 114, 116, 83, 111, 117, + 110, 100, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 158, 51, 78, 149, 108, 226, 165, 245, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 110, 69, 114, 114, 111, 114, + 67, 111, 117, 110, 116, 101, 114, 68, + 69, 80, 82, 69, 67, 65, 84, 69, + 68, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 115, 105, 114, 101, 100, 67, + 117, 114, 118, 97, 116, 117, 114, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 115, 105, 114, 101, 100, 67, + 117, 114, 118, 97, 116, 117, 114, 101, + 82, 97, 116, 101, 68, 69, 80, 82, + 69, 67, 65, 84, 69, 68, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 67, 114, 117, 105, 115, 101, 67, + 108, 117, 115, 116, 101, 114, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 120, 112, 101, 114, 105, 109, 101, + 110, 116, 97, 108, 77, 111, 100, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 101, 114, 115, 111, 110, 97, 108, + 105, 116, 121, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 153, 125, 36, 26, 61, 226, 146, 214, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_97ff69c53601abf1 = b_97ff69c53601abf1.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_97ff69c53601abf1[] = { + &s_a0d0dcd113193c62, + &s_d692e23d1a247d99, + &s_dbe58b96d2d1ac61, + &s_e40f3a917d908282, + &s_e98bb99d6e985f64, + &s_f5a5e26c954e339e, + &s_fd5b914d6b444695, +}; +static const uint16_t m_97ff69c53601abf1[] = {1, 35, 11, 10, 36, 42, 39, 54, 45, 38, 24, 25, 44, 27, 13, 26, 55, 16, 21, 15, 37, 53, 47, 56, 57, 43, 19, 41, 59, 51, 40, 14, 12, 52, 50, 30, 28, 49, 18, 60, 17, 23, 48, 31, 20, 29, 33, 34, 5, 9, 4, 8, 22, 58, 46, 0, 32, 2, 3, 6, 7}; +static const uint16_t i_97ff69c53601abf1[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60}; +const ::capnp::_::RawSchema s_97ff69c53601abf1 = { + 0x97ff69c53601abf1, b_97ff69c53601abf1.words, 1075, d_97ff69c53601abf1, m_97ff69c53601abf1, + 7, 61, i_97ff69c53601abf1, nullptr, nullptr, { &s_97ff69c53601abf1, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<43> b_dbe58b96d2d1ac61 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 97, 172, 209, 210, 150, 139, 229, 219, + 24, 0, 0, 0, 2, 0, 0, 0, + 241, 171, 1, 54, 197, 105, 255, 151, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 58, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 127, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 67, 111, 110, 116, 114, 111, + 108, 115, 83, 116, 97, 116, 101, 46, + 79, 112, 101, 110, 112, 105, 108, 111, + 116, 83, 116, 97, 116, 101, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 20, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 105, 115, 97, 98, 108, 101, 100, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 114, 101, 69, 110, 97, 98, 108, + 101, 100, 0, 0, 0, 0, 0, 0, + 101, 110, 97, 98, 108, 101, 100, 0, + 115, 111, 102, 116, 68, 105, 115, 97, + 98, 108, 105, 110, 103, 0, 0, 0, + 111, 118, 101, 114, 114, 105, 100, 105, + 110, 103, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_dbe58b96d2d1ac61 = b_dbe58b96d2d1ac61.words; +#if !CAPNP_LITE +static const uint16_t m_dbe58b96d2d1ac61[] = {0, 2, 4, 1, 3}; +const ::capnp::_::RawSchema s_dbe58b96d2d1ac61 = { + 0xdbe58b96d2d1ac61, b_dbe58b96d2d1ac61.words, 43, nullptr, m_dbe58b96d2d1ac61, + 0, 5, nullptr, nullptr, nullptr, { &s_dbe58b96d2d1ac61, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(OpenpilotState_dbe58b96d2d1ac61, dbe58b96d2d1ac61); +static const ::capnp::_::AlignedData<33> b_a0d0dcd113193c62 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 98, 60, 25, 19, 209, 220, 208, 160, + 24, 0, 0, 0, 2, 0, 0, 0, + 241, 171, 1, 54, 197, 105, 255, 151, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 34, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 79, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 67, 111, 110, 116, 114, 111, + 108, 115, 83, 116, 97, 116, 101, 46, + 65, 108, 101, 114, 116, 83, 116, 97, + 116, 117, 115, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 17, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 114, 109, 97, 108, 0, 0, + 117, 115, 101, 114, 80, 114, 111, 109, + 112, 116, 0, 0, 0, 0, 0, 0, + 99, 114, 105, 116, 105, 99, 97, 108, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a0d0dcd113193c62 = b_a0d0dcd113193c62.words; +#if !CAPNP_LITE +static const uint16_t m_a0d0dcd113193c62[] = {2, 0, 1}; +const ::capnp::_::RawSchema s_a0d0dcd113193c62 = { + 0xa0d0dcd113193c62, b_a0d0dcd113193c62.words, 33, nullptr, m_a0d0dcd113193c62, + 0, 3, nullptr, nullptr, nullptr, { &s_a0d0dcd113193c62, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(AlertStatus_a0d0dcd113193c62, a0d0dcd113193c62); +static const ::capnp::_::AlignedData<35> b_e98bb99d6e985f64 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 100, 95, 152, 110, 157, 185, 139, 233, + 24, 0, 0, 0, 2, 0, 0, 0, + 241, 171, 1, 54, 197, 105, 255, 151, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 18, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 103, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 67, 111, 110, 116, 114, 111, + 108, 115, 83, 116, 97, 116, 101, 46, + 65, 108, 101, 114, 116, 83, 105, 122, + 101, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 17, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 110, 101, 0, 0, 0, 0, + 115, 109, 97, 108, 108, 0, 0, 0, + 109, 105, 100, 0, 0, 0, 0, 0, + 102, 117, 108, 108, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e98bb99d6e985f64 = b_e98bb99d6e985f64.words; +#if !CAPNP_LITE +static const uint16_t m_e98bb99d6e985f64[] = {3, 2, 0, 1}; +const ::capnp::_::RawSchema s_e98bb99d6e985f64 = { + 0xe98bb99d6e985f64, b_e98bb99d6e985f64.words, 35, nullptr, m_e98bb99d6e985f64, + 0, 4, nullptr, nullptr, nullptr, { &s_e98bb99d6e985f64, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(AlertSize_e98bb99d6e985f64, e98bb99d6e985f64); +static const ::capnp::_::AlignedData<229> b_939463348632375e = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 94, 55, 50, 134, 52, 99, 148, 147, + 24, 0, 0, 0, 1, 0, 6, 0, + 241, 171, 1, 54, 197, 105, 255, 151, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 74, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 223, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 67, 111, 110, 116, 114, 111, + 108, 115, 83, 116, 97, 116, 101, 46, + 76, 97, 116, 101, 114, 97, 108, 73, + 78, 68, 73, 83, 116, 97, 116, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 52, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 93, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 88, 1, 0, 0, 3, 0, 1, 0, + 100, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 1, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 1, 0, 0, 3, 0, 1, 0, + 112, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 1, 0, 0, 3, 0, 1, 0, + 120, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 1, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 1, 0, 0, 3, 0, 1, 0, + 132, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 129, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 128, 1, 0, 0, 3, 0, 1, 0, + 140, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 137, 1, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 136, 1, 0, 0, 3, 0, 1, 0, + 148, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 145, 1, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 144, 1, 0, 0, 3, 0, 1, 0, + 156, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 1, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 1, 0, 0, 3, 0, 1, 0, + 164, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 156, 1, 0, 0, 3, 0, 1, 0, + 168, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 165, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 1, 0, 0, 3, 0, 1, 0, + 172, 1, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 1, 0, 0, 3, 0, 1, 0, + 180, 1, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 1, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 1, 0, 0, 3, 0, 1, 0, + 192, 1, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 11, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 1, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 192, 1, 0, 0, 3, 0, 1, 0, + 204, 1, 0, 0, 2, 0, 1, 0, + 97, 99, 116, 105, 118, 101, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 105, 110, 103, + 65, 110, 103, 108, 101, 68, 101, 103, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 105, 110, 103, + 82, 97, 116, 101, 68, 101, 103, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 105, 110, 103, + 65, 99, 99, 101, 108, 68, 101, 103, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 97, 116, 101, 83, 101, 116, 80, + 111, 105, 110, 116, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 99, 101, 108, 83, 101, 116, + 80, 111, 105, 110, 116, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 99, 101, 108, 69, 114, 114, + 111, 114, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 108, 97, 121, 101, 100, 79, + 117, 116, 112, 117, 116, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 108, 116, 97, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 117, 116, 112, 117, 116, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 97, 116, 117, 114, 97, 116, 101, + 100, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 105, 110, 103, + 65, 110, 103, 108, 101, 68, 101, 115, + 105, 114, 101, 100, 68, 101, 103, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 105, 110, 103, + 82, 97, 116, 101, 68, 101, 115, 105, + 114, 101, 100, 68, 101, 103, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_939463348632375e = b_939463348632375e.words; +#if !CAPNP_LITE +static const uint16_t m_939463348632375e[] = {6, 5, 0, 7, 8, 9, 4, 10, 3, 1, 11, 2, 12}; +static const uint16_t i_939463348632375e[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12}; +const ::capnp::_::RawSchema s_939463348632375e = { + 0x939463348632375e, b_939463348632375e.words, 229, nullptr, m_939463348632375e, + 0, 13, i_939463348632375e, nullptr, nullptr, { &s_939463348632375e, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<176> b_f28c5dc9e09375e3 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 227, 117, 147, 224, 201, 93, 140, 242, + 24, 0, 0, 0, 1, 0, 5, 0, + 241, 171, 1, 54, 197, 105, 255, 151, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 66, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 55, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 67, 111, 110, 116, 114, 111, + 108, 115, 83, 116, 97, 116, 101, 46, + 76, 97, 116, 101, 114, 97, 108, 80, + 73, 68, 83, 116, 97, 116, 101, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 40, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 1, 0, 0, 3, 0, 1, 0, + 16, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 1, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 1, 0, 0, 3, 0, 1, 0, + 28, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 1, 0, 0, 3, 0, 1, 0, + 36, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 1, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 1, 0, 0, 3, 0, 1, 0, + 44, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 1, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 1, 0, 0, 3, 0, 1, 0, + 48, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 1, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 1, 0, 0, 3, 0, 1, 0, + 52, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 1, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 44, 1, 0, 0, 3, 0, 1, 0, + 56, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 48, 1, 0, 0, 3, 0, 1, 0, + 60, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 57, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 56, 1, 0, 0, 3, 0, 1, 0, + 68, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 1, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 1, 0, 0, 3, 0, 1, 0, + 80, 1, 0, 0, 2, 0, 1, 0, + 97, 99, 116, 105, 118, 101, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 105, 110, 103, + 65, 110, 103, 108, 101, 68, 101, 103, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 105, 110, 103, + 82, 97, 116, 101, 68, 101, 103, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 110, 103, 108, 101, 69, 114, 114, + 111, 114, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 117, 116, 112, 117, 116, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 97, 116, 117, 114, 97, 116, 101, + 100, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 105, 110, 103, + 65, 110, 103, 108, 101, 68, 101, 115, + 105, 114, 101, 100, 68, 101, 103, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_f28c5dc9e09375e3 = b_f28c5dc9e09375e3.words; +#if !CAPNP_LITE +static const uint16_t m_f28c5dc9e09375e3[] = {0, 3, 6, 5, 7, 4, 8, 1, 9, 2}; +static const uint16_t i_f28c5dc9e09375e3[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9}; +const ::capnp::_::RawSchema s_f28c5dc9e09375e3 = { + 0xf28c5dc9e09375e3, b_f28c5dc9e09375e3.words, 176, nullptr, m_f28c5dc9e09375e3, + 0, 10, i_f28c5dc9e09375e3, nullptr, nullptr, { &s_f28c5dc9e09375e3, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<191> b_e774a050cbf689a4 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 164, 137, 246, 203, 80, 160, 116, 231, + 24, 0, 0, 0, 1, 0, 5, 0, + 241, 171, 1, 54, 197, 105, 255, 151, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 90, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 111, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 67, 111, 110, 116, 114, 111, + 108, 115, 83, 116, 97, 116, 101, 46, + 76, 97, 116, 101, 114, 97, 108, 84, + 111, 114, 113, 117, 101, 83, 116, 97, + 116, 101, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 44, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 1, 0, 0, 3, 0, 1, 0, + 44, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 1, 0, 0, 3, 0, 1, 0, + 48, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 1, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 1, 0, 0, 3, 0, 1, 0, + 52, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 1, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 44, 1, 0, 0, 3, 0, 1, 0, + 56, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 1, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 48, 1, 0, 0, 3, 0, 1, 0, + 60, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 57, 1, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 52, 1, 0, 0, 3, 0, 1, 0, + 64, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 61, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 56, 1, 0, 0, 3, 0, 1, 0, + 68, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 64, 1, 0, 0, 3, 0, 1, 0, + 76, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 73, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 1, 0, 0, 3, 0, 1, 0, + 84, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 81, 1, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 84, 1, 0, 0, 3, 0, 1, 0, + 96, 1, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 93, 1, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 1, 0, 0, 3, 0, 1, 0, + 108, 1, 0, 0, 2, 0, 1, 0, + 97, 99, 116, 105, 118, 101, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 114, 114, 111, 114, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 117, 116, 112, 117, 116, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 97, 116, 117, 114, 97, 116, 101, + 100, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 114, 114, 111, 114, 82, 97, 116, + 101, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 116, 117, 97, 108, 76, 97, + 116, 101, 114, 97, 108, 65, 99, 99, + 101, 108, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 115, 105, 114, 101, 100, 76, + 97, 116, 101, 114, 97, 108, 65, 99, + 99, 101, 108, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e774a050cbf689a4 = b_e774a050cbf689a4.words; +#if !CAPNP_LITE +static const uint16_t m_e774a050cbf689a4[] = {0, 9, 4, 10, 1, 8, 5, 3, 6, 2, 7}; +static const uint16_t i_e774a050cbf689a4[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10}; +const ::capnp::_::RawSchema s_e774a050cbf689a4 = { + 0xe774a050cbf689a4, b_e774a050cbf689a4.words, 191, nullptr, m_e774a050cbf689a4, + 0, 11, i_e774a050cbf689a4, nullptr, nullptr, { &s_e774a050cbf689a4, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<130> b_9024e2d790c82ade = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 222, 42, 200, 144, 215, 226, 36, 144, + 24, 0, 0, 0, 1, 0, 3, 0, + 241, 171, 1, 54, 197, 105, 255, 151, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 66, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 143, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 67, 111, 110, 116, 114, 111, + 108, 115, 83, 116, 97, 116, 101, 46, + 76, 97, 116, 101, 114, 97, 108, 76, + 81, 82, 83, 116, 97, 116, 101, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 28, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 0, 0, 0, 3, 0, 1, 0, + 188, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 0, 0, 0, 3, 0, 1, 0, + 200, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 192, 0, 0, 0, 3, 0, 1, 0, + 204, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 201, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 0, 0, 0, 3, 0, 1, 0, + 208, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 0, 0, 0, 3, 0, 1, 0, + 216, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 213, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 212, 0, 0, 0, 3, 0, 1, 0, + 224, 0, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 0, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 0, 0, 0, 3, 0, 1, 0, + 236, 0, 0, 0, 2, 0, 1, 0, + 97, 99, 116, 105, 118, 101, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 105, 110, 103, + 65, 110, 103, 108, 101, 68, 101, 103, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 117, 116, 112, 117, 116, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 113, 114, 79, 117, 116, 112, 117, + 116, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 97, 116, 117, 114, 97, 116, 101, + 100, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 105, 110, 103, + 65, 110, 103, 108, 101, 68, 101, 115, + 105, 114, 101, 100, 68, 101, 103, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_9024e2d790c82ade = b_9024e2d790c82ade.words; +#if !CAPNP_LITE +static const uint16_t m_9024e2d790c82ade[] = {0, 2, 4, 3, 5, 1, 6}; +static const uint16_t i_9024e2d790c82ade[] = {0, 1, 2, 3, 4, 5, 6}; +const ::capnp::_::RawSchema s_9024e2d790c82ade = { + 0x9024e2d790c82ade, b_9024e2d790c82ade.words, 130, nullptr, m_9024e2d790c82ade, + 0, 7, i_9024e2d790c82ade, nullptr, nullptr, { &s_9024e2d790c82ade, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<100> b_a2e4ea88ac9980f1 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 241, 128, 153, 172, 136, 234, 228, 162, + 24, 0, 0, 0, 1, 0, 2, 0, + 241, 171, 1, 54, 197, 105, 255, 151, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 82, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 31, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 67, 111, 110, 116, 114, 111, + 108, 115, 83, 116, 97, 116, 101, 46, + 76, 97, 116, 101, 114, 97, 108, 65, + 110, 103, 108, 101, 83, 116, 97, 116, + 101, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 20, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 0, 0, 0, 3, 0, 1, 0, + 132, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 129, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 132, 0, 0, 0, 3, 0, 1, 0, + 144, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 141, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 136, 0, 0, 0, 3, 0, 1, 0, + 148, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 145, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 144, 0, 0, 0, 3, 0, 1, 0, + 156, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 0, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 156, 0, 0, 0, 3, 0, 1, 0, + 168, 0, 0, 0, 2, 0, 1, 0, + 97, 99, 116, 105, 118, 101, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 105, 110, 103, + 65, 110, 103, 108, 101, 68, 101, 103, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 117, 116, 112, 117, 116, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 97, 116, 117, 114, 97, 116, 101, + 100, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 105, 110, 103, + 65, 110, 103, 108, 101, 68, 101, 115, + 105, 114, 101, 100, 68, 101, 103, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a2e4ea88ac9980f1 = b_a2e4ea88ac9980f1.words; +#if !CAPNP_LITE +static const uint16_t m_a2e4ea88ac9980f1[] = {0, 2, 3, 1, 4}; +static const uint16_t i_a2e4ea88ac9980f1[] = {0, 1, 2, 3, 4}; +const ::capnp::_::RawSchema s_a2e4ea88ac9980f1 = { + 0xa2e4ea88ac9980f1, b_a2e4ea88ac9980f1.words, 100, nullptr, m_a2e4ea88ac9980f1, + 0, 5, i_a2e4ea88ac9980f1, nullptr, nullptr, { &s_a2e4ea88ac9980f1, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<159> b_ad9d8095c06f7c61 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 97, 124, 111, 192, 149, 128, 157, 173, + 24, 0, 0, 0, 1, 0, 4, 0, + 241, 171, 1, 54, 197, 105, 255, 151, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 114, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 255, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 67, 111, 110, 116, 114, 111, + 108, 115, 83, 116, 97, 116, 101, 46, + 76, 97, 116, 101, 114, 97, 108, 67, + 117, 114, 118, 97, 116, 117, 114, 101, + 83, 116, 97, 116, 101, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 36, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 0, 0, 0, 3, 0, 1, 0, + 244, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 0, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 0, 0, 0, 3, 0, 1, 0, + 252, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 249, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 252, 0, 0, 0, 3, 0, 1, 0, + 8, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 1, 0, 0, 3, 0, 1, 0, + 12, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 1, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 1, 0, 0, 3, 0, 1, 0, + 16, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 1, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 1, 0, 0, 3, 0, 1, 0, + 20, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 1, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 1, 0, 0, 3, 0, 1, 0, + 24, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 1, 0, 0, 3, 0, 1, 0, + 28, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 1, 0, 0, 3, 0, 1, 0, + 36, 1, 0, 0, 2, 0, 1, 0, + 97, 99, 116, 105, 118, 101, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 116, 117, 97, 108, 67, 117, + 114, 118, 97, 116, 117, 114, 101, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 115, 105, 114, 101, 100, 67, + 117, 114, 118, 97, 116, 117, 114, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 114, 114, 111, 114, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 117, 116, 112, 117, 116, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 97, 116, 117, 114, 97, 116, 101, + 100, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_ad9d8095c06f7c61 = b_ad9d8095c06f7c61.words; +#if !CAPNP_LITE +static const uint16_t m_ad9d8095c06f7c61[] = {0, 1, 2, 3, 6, 5, 7, 4, 8}; +static const uint16_t i_ad9d8095c06f7c61[] = {0, 1, 2, 3, 4, 5, 6, 7, 8}; +const ::capnp::_::RawSchema s_ad9d8095c06f7c61 = { + 0xad9d8095c06f7c61, b_ad9d8095c06f7c61.words, 159, nullptr, m_ad9d8095c06f7c61, + 0, 9, i_ad9d8095c06f7c61, nullptr, nullptr, { &s_ad9d8095c06f7c61, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<83> b_a63a46f0f2889b2d = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 45, 155, 136, 242, 240, 70, 58, 166, + 24, 0, 0, 0, 1, 0, 2, 0, + 241, 171, 1, 54, 197, 105, 255, 151, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 82, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 231, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 67, 111, 110, 116, 114, 111, + 108, 115, 83, 116, 97, 116, 101, 46, + 76, 97, 116, 101, 114, 97, 108, 68, + 101, 98, 117, 103, 83, 116, 97, 116, + 101, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 0, 0, 0, 3, 0, 1, 0, + 104, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 0, 0, 0, 3, 0, 1, 0, + 116, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 0, 0, 0, 3, 0, 1, 0, + 120, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 0, 0, 0, 3, 0, 1, 0, + 128, 0, 0, 0, 2, 0, 1, 0, + 97, 99, 116, 105, 118, 101, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 105, 110, 103, + 65, 110, 103, 108, 101, 68, 101, 103, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 117, 116, 112, 117, 116, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 97, 116, 117, 114, 97, 116, 101, + 100, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a63a46f0f2889b2d = b_a63a46f0f2889b2d.words; +#if !CAPNP_LITE +static const uint16_t m_a63a46f0f2889b2d[] = {0, 2, 3, 1}; +static const uint16_t i_a63a46f0f2889b2d[] = {0, 1, 2, 3}; +const ::capnp::_::RawSchema s_a63a46f0f2889b2d = { + 0xa63a46f0f2889b2d, b_a63a46f0f2889b2d.words, 83, nullptr, m_a63a46f0f2889b2d, + 0, 4, i_a63a46f0f2889b2d, nullptr, nullptr, { &s_a63a46f0f2889b2d, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<134> b_fd5b914d6b444695 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 149, 70, 68, 107, 77, 145, 91, 253, + 24, 0, 0, 0, 1, 0, 24, 0, + 241, 171, 1, 54, 197, 105, 255, 151, + 6, 0, 7, 0, 1, 0, 7, 0, + 71, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 98, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 143, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 67, 111, 110, 116, 114, 111, + 108, 115, 83, 116, 97, 116, 101, 46, + 108, 97, 116, 101, 114, 97, 108, 67, + 111, 110, 116, 114, 111, 108, 83, 116, + 97, 116, 101, 0, 0, 0, 0, 0, + 28, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 255, 255, 5, 0, 0, 0, + 0, 0, 1, 0, 52, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 0, 0, 0, 3, 0, 1, 0, + 192, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 254, 255, 5, 0, 0, 0, + 0, 0, 1, 0, 53, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 0, 0, 0, 3, 0, 1, 0, + 200, 0, 0, 0, 2, 0, 1, 0, + 6, 0, 253, 255, 5, 0, 0, 0, + 0, 0, 1, 0, 55, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 0, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 0, 0, 0, 3, 0, 1, 0, + 212, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 252, 255, 5, 0, 0, 0, + 0, 0, 1, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 0, 0, 0, 3, 0, 1, 0, + 220, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 251, 255, 5, 0, 0, 0, + 0, 0, 1, 0, 59, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 217, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 0, 0, 0, 3, 0, 1, 0, + 228, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 250, 255, 5, 0, 0, 0, + 0, 0, 1, 0, 60, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 0, 0, 0, 3, 0, 1, 0, + 236, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 249, 255, 5, 0, 0, 0, + 0, 0, 1, 0, 65, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 0, 0, 0, 202, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 0, 0, 0, 3, 0, 1, 0, + 252, 0, 0, 0, 2, 0, 1, 0, + 105, 110, 100, 105, 83, 116, 97, 116, + 101, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 94, 55, 50, 134, 52, 99, 148, 147, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 105, 100, 83, 116, 97, 116, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 227, 117, 147, 224, 201, 93, 140, 242, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 113, 114, 83, 116, 97, 116, 101, + 68, 69, 80, 82, 69, 67, 65, 84, + 69, 68, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 222, 42, 200, 144, 215, 226, 36, 144, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 110, 103, 108, 101, 83, 116, 97, + 116, 101, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 241, 128, 153, 172, 136, 234, 228, 162, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 98, 117, 103, 83, 116, 97, + 116, 101, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 45, 155, 136, 242, 240, 70, 58, 166, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 111, 114, 113, 117, 101, 83, 116, + 97, 116, 101, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 164, 137, 246, 203, 80, 160, 116, 231, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 114, 118, 97, 116, 117, 114, + 101, 83, 116, 97, 116, 101, 68, 69, + 80, 82, 69, 67, 65, 84, 69, 68, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 97, 124, 111, 192, 149, 128, 157, 173, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_fd5b914d6b444695 = b_fd5b914d6b444695.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_fd5b914d6b444695[] = { + &s_9024e2d790c82ade, + &s_939463348632375e, + &s_97ff69c53601abf1, + &s_a2e4ea88ac9980f1, + &s_a63a46f0f2889b2d, + &s_ad9d8095c06f7c61, + &s_e774a050cbf689a4, + &s_f28c5dc9e09375e3, +}; +static const uint16_t m_fd5b914d6b444695[] = {3, 6, 4, 0, 2, 1, 5}; +static const uint16_t i_fd5b914d6b444695[] = {0, 1, 2, 3, 4, 5, 6}; +const ::capnp::_::RawSchema s_fd5b914d6b444695 = { + 0xfd5b914d6b444695, b_fd5b914d6b444695.words, 134, d_fd5b914d6b444695, m_fd5b914d6b444695, + 8, 7, i_fd5b914d6b444695, nullptr, nullptr, { &s_fd5b914d6b444695, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<138> b_e8f9ba819993a776 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 118, 167, 147, 153, 129, 186, 249, 232, + 10, 0, 0, 0, 1, 0, 2, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 4, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 218, 0, 0, 0, + 33, 0, 0, 0, 55, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 0, 0, 0, 143, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 68, 114, 105, 118, 105, 110, + 103, 77, 111, 100, 101, 108, 68, 97, + 116, 97, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 1, 0, 1, 0, + 181, 18, 77, 135, 16, 71, 30, 202, + 17, 0, 0, 0, 74, 0, 0, 0, + 37, 86, 126, 157, 54, 240, 110, 153, + 17, 0, 0, 0, 106, 0, 0, 0, + 93, 172, 25, 237, 164, 207, 207, 160, + 17, 0, 0, 0, 74, 0, 0, 0, + 80, 111, 108, 121, 80, 97, 116, 104, + 0, 0, 0, 0, 0, 0, 0, 0, + 76, 97, 110, 101, 76, 105, 110, 101, + 77, 101, 116, 97, 0, 0, 0, 0, + 77, 101, 116, 97, 68, 97, 116, 97, + 0, 0, 0, 0, 0, 0, 0, 0, + 28, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 0, 0, 0, 3, 0, 1, 0, + 188, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 0, 0, 0, 3, 0, 1, 0, + 196, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 193, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 0, 0, 0, 3, 0, 1, 0, + 200, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 0, 0, 0, 3, 0, 1, 0, + 208, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 0, 0, 0, 3, 0, 1, 0, + 212, 0, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 0, 0, 0, 3, 0, 1, 0, + 216, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 213, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 212, 0, 0, 0, 3, 0, 1, 0, + 224, 0, 0, 0, 2, 0, 1, 0, + 102, 114, 97, 109, 101, 73, 100, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 114, 97, 109, 101, 73, 100, 69, + 120, 116, 114, 97, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 116, 105, 111, 110, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 132, 69, 118, 90, 179, 188, 208, 148, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 110, 101, 76, 105, 110, 101, + 77, 101, 116, 97, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 37, 86, 126, 157, 54, 240, 110, 153, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 101, 116, 97, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 93, 172, 25, 237, 164, 207, 207, 160, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 97, 116, 104, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 181, 18, 77, 135, 16, 71, 30, 202, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 114, 97, 109, 101, 68, 114, 111, + 112, 80, 101, 114, 99, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e8f9ba819993a776 = b_e8f9ba819993a776.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_e8f9ba819993a776[] = { + &s_94d0bcb35a764584, + &s_996ef0369d7e5625, + &s_a0cfcfa4ed19ac5d, + &s_ca1e4710874d12b5, +}; +static const uint16_t m_e8f9ba819993a776[] = {2, 6, 0, 1, 3, 4, 5}; +static const uint16_t i_e8f9ba819993a776[] = {0, 1, 2, 3, 4, 5, 6}; +const ::capnp::_::RawSchema s_e8f9ba819993a776 = { + 0xe8f9ba819993a776, b_e8f9ba819993a776.words, 138, d_e8f9ba819993a776, m_e8f9ba819993a776, + 4, 7, i_e8f9ba819993a776, nullptr, nullptr, { &s_e8f9ba819993a776, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<79> b_ca1e4710874d12b5 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 181, 18, 77, 135, 16, 71, 30, 202, + 27, 0, 0, 0, 1, 0, 0, 0, + 118, 167, 147, 153, 129, 186, 249, 232, + 3, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 34, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 175, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 68, 114, 105, 118, 105, 110, + 103, 77, 111, 100, 101, 108, 68, 97, + 116, 97, 46, 80, 111, 108, 121, 80, + 97, 116, 104, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 0, 0, 0, 3, 0, 1, 0, + 96, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 93, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 0, 0, 0, 3, 0, 1, 0, + 120, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 0, 0, 0, 3, 0, 1, 0, + 144, 0, 0, 0, 2, 0, 1, 0, + 120, 67, 111, 101, 102, 102, 105, 99, + 105, 101, 110, 116, 115, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 67, 111, 101, 102, 102, 105, 99, + 105, 101, 110, 116, 115, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 122, 67, 111, 101, 102, 102, 105, 99, + 105, 101, 110, 116, 115, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_ca1e4710874d12b5 = b_ca1e4710874d12b5.words; +#if !CAPNP_LITE +static const uint16_t m_ca1e4710874d12b5[] = {0, 1, 2}; +static const uint16_t i_ca1e4710874d12b5[] = {0, 1, 2}; +const ::capnp::_::RawSchema s_ca1e4710874d12b5 = { + 0xca1e4710874d12b5, b_ca1e4710874d12b5.words, 79, nullptr, m_ca1e4710874d12b5, + 0, 3, i_ca1e4710874d12b5, nullptr, nullptr, { &s_ca1e4710874d12b5, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<81> b_996ef0369d7e5625 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 37, 86, 126, 157, 54, 240, 110, 153, + 27, 0, 0, 0, 1, 0, 2, 0, + 118, 167, 147, 153, 129, 186, 249, 232, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 66, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 231, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 68, 114, 105, 118, 105, 110, + 103, 77, 111, 100, 101, 108, 68, 97, + 116, 97, 46, 76, 97, 110, 101, 76, + 105, 110, 101, 77, 101, 116, 97, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 0, 0, 0, 3, 0, 1, 0, + 104, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 0, 0, 0, 3, 0, 1, 0, + 108, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 0, 0, 0, 3, 0, 1, 0, + 116, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 0, 0, 0, 3, 0, 1, 0, + 124, 0, 0, 0, 2, 0, 1, 0, + 108, 101, 102, 116, 89, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 105, 103, 104, 116, 89, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 102, 116, 80, 114, 111, 98, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 105, 103, 104, 116, 80, 114, 111, + 98, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_996ef0369d7e5625 = b_996ef0369d7e5625.words; +#if !CAPNP_LITE +static const uint16_t m_996ef0369d7e5625[] = {2, 0, 3, 1}; +static const uint16_t i_996ef0369d7e5625[] = {0, 1, 2, 3}; +const ::capnp::_::RawSchema s_996ef0369d7e5625 = { + 0x996ef0369d7e5625, b_996ef0369d7e5625.words, 81, nullptr, m_996ef0369d7e5625, + 0, 4, i_996ef0369d7e5625, nullptr, nullptr, { &s_996ef0369d7e5625, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<52> b_a0cfcfa4ed19ac5d = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 93, 172, 25, 237, 164, 207, 207, 160, + 27, 0, 0, 0, 1, 0, 1, 0, + 118, 167, 147, 153, 129, 186, 249, 232, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 34, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 68, 114, 105, 118, 105, 110, + 103, 77, 111, 100, 101, 108, 68, 97, + 116, 97, 46, 77, 101, 116, 97, 68, + 97, 116, 97, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 8, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 0, 0, 0, 3, 0, 1, 0, + 52, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 52, 0, 0, 0, 3, 0, 1, 0, + 64, 0, 0, 0, 2, 0, 1, 0, + 108, 97, 110, 101, 67, 104, 97, 110, + 103, 101, 83, 116, 97, 116, 101, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 210, 211, 178, 247, 75, 146, 55, 205, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 110, 101, 67, 104, 97, 110, + 103, 101, 68, 105, 114, 101, 99, 116, + 105, 111, 110, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 118, 17, 103, 254, 193, 192, 11, 157, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a0cfcfa4ed19ac5d = b_a0cfcfa4ed19ac5d.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_a0cfcfa4ed19ac5d[] = { + &s_9d0bc0c1fe671176, + &s_cd37924bf7b2d3d2, +}; +static const uint16_t m_a0cfcfa4ed19ac5d[] = {1, 0}; +static const uint16_t i_a0cfcfa4ed19ac5d[] = {0, 1}; +const ::capnp::_::RawSchema s_a0cfcfa4ed19ac5d = { + 0xa0cfcfa4ed19ac5d, b_a0cfcfa4ed19ac5d.words, 52, d_a0cfcfa4ed19ac5d, m_a0cfcfa4ed19ac5d, + 2, 2, i_a0cfcfa4ed19ac5d, nullptr, nullptr, { &s_a0cfcfa4ed19ac5d, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<150> b_c3cbae1fd505ae80 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 128, 174, 5, 213, 31, 174, 203, 195, + 10, 0, 0, 0, 1, 0, 0, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 7, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 154, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 143, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 88, 89, 90, 84, 68, 97, + 116, 97, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 28, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 0, 0, 0, 3, 0, 1, 0, + 204, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 201, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 0, 0, 0, 3, 0, 1, 0, + 224, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 0, 0, 0, 3, 0, 1, 0, + 244, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 0, 0, 0, 3, 0, 1, 0, + 8, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 1, 0, 0, 3, 0, 1, 0, + 28, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 1, 0, 0, 3, 0, 1, 0, + 48, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 1, 0, 0, 3, 0, 1, 0, + 68, 1, 0, 0, 2, 0, 1, 0, + 120, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 122, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 83, 116, 100, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 83, 116, 100, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 122, 83, 116, 100, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_c3cbae1fd505ae80 = b_c3cbae1fd505ae80.words; +#if !CAPNP_LITE +static const uint16_t m_c3cbae1fd505ae80[] = {3, 0, 4, 1, 5, 2, 6}; +static const uint16_t i_c3cbae1fd505ae80[] = {0, 1, 2, 3, 4, 5, 6}; +const ::capnp::_::RawSchema s_c3cbae1fd505ae80 = { + 0xc3cbae1fd505ae80, b_c3cbae1fd505ae80.words, 150, nullptr, m_c3cbae1fd505ae80, + 0, 7, i_c3cbae1fd505ae80, nullptr, nullptr, { &s_c3cbae1fd505ae80, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<512> b_c4713f6b0d36abe9 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 233, 171, 54, 13, 107, 63, 113, 196, + 10, 0, 0, 0, 1, 0, 6, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 17, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 178, 0, 0, 0, + 29, 0, 0, 0, 135, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 0, 0, 0, 239, 5, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 77, 111, 100, 101, 108, 68, + 97, 116, 97, 86, 50, 0, 0, 0, + 32, 0, 0, 0, 1, 0, 1, 0, + 40, 175, 135, 33, 43, 237, 68, 164, + 57, 0, 0, 0, 90, 0, 0, 0, + 235, 127, 206, 208, 26, 136, 152, 214, + 57, 0, 0, 0, 90, 0, 0, 0, + 189, 250, 92, 180, 179, 106, 100, 209, + 57, 0, 0, 0, 74, 0, 0, 0, + 212, 28, 166, 210, 217, 71, 50, 170, + 57, 0, 0, 0, 130, 0, 0, 0, + 37, 141, 220, 188, 221, 165, 10, 134, + 57, 0, 0, 0, 170, 0, 0, 0, + 79, 136, 103, 46, 112, 192, 62, 251, + 61, 0, 0, 0, 42, 0, 0, 0, + 254, 172, 180, 166, 165, 236, 202, 132, + 57, 0, 0, 0, 186, 0, 0, 0, + 132, 69, 118, 90, 179, 188, 208, 148, + 61, 0, 0, 0, 58, 0, 0, 0, + 76, 101, 97, 100, 68, 97, 116, 97, + 86, 50, 0, 0, 0, 0, 0, 0, + 76, 101, 97, 100, 68, 97, 116, 97, + 86, 51, 0, 0, 0, 0, 0, 0, + 77, 101, 116, 97, 68, 97, 116, 97, + 0, 0, 0, 0, 0, 0, 0, 0, + 67, 111, 110, 102, 105, 100, 101, 110, + 99, 101, 67, 108, 97, 115, 115, 0, + 68, 105, 115, 101, 110, 103, 97, 103, + 101, 80, 114, 101, 100, 105, 99, 116, + 105, 111, 110, 115, 0, 0, 0, 0, + 80, 111, 115, 101, 0, 0, 0, 0, + 76, 97, 116, 101, 114, 97, 108, 80, + 108, 97, 110, 110, 101, 114, 83, 111, + 108, 117, 116, 105, 111, 110, 0, 0, + 65, 99, 116, 105, 111, 110, 0, 0, + 108, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 229, 2, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 2, 0, 0, 3, 0, 1, 0, + 236, 2, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 2, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 2, 0, 0, 3, 0, 1, 0, + 244, 2, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 2, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 2, 0, 0, 3, 0, 1, 0, + 252, 2, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 249, 2, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 248, 2, 0, 0, 3, 0, 1, 0, + 4, 3, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 3, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 3, 0, 0, 3, 0, 1, 0, + 12, 3, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 3, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 3, 0, 0, 3, 0, 1, 0, + 20, 3, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 3, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 3, 0, 0, 3, 0, 1, 0, + 28, 3, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 3, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 3, 0, 0, 3, 0, 1, 0, + 36, 3, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 3, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 3, 0, 0, 3, 0, 1, 0, + 60, 3, 0, 0, 2, 0, 1, 0, + 14, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 57, 3, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 56, 3, 0, 0, 3, 0, 1, 0, + 84, 3, 0, 0, 2, 0, 1, 0, + 16, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 81, 3, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 80, 3, 0, 0, 3, 0, 1, 0, + 108, 3, 0, 0, 2, 0, 1, 0, + 18, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 3, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 3, 0, 0, 3, 0, 1, 0, + 128, 3, 0, 0, 2, 0, 1, 0, + 20, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 3, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 3, 0, 0, 3, 0, 1, 0, + 132, 3, 0, 0, 2, 0, 1, 0, + 15, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 129, 3, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 128, 3, 0, 0, 3, 0, 1, 0, + 156, 3, 0, 0, 2, 0, 1, 0, + 17, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 3, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 3, 0, 0, 3, 0, 1, 0, + 180, 3, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 3, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 3, 0, 0, 3, 0, 1, 0, + 192, 3, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 11, 0, 0, 0, + 0, 0, 1, 0, 16, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 3, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 3, 0, 0, 3, 0, 1, 0, + 200, 3, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 17, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 3, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 3, 0, 0, 3, 0, 1, 0, + 212, 3, 0, 0, 2, 0, 1, 0, + 19, 0, 0, 0, 12, 0, 0, 0, + 0, 0, 1, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 3, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 3, 0, 0, 3, 0, 1, 0, + 232, 3, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 13, 0, 0, 0, + 0, 0, 1, 0, 19, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 229, 3, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 3, 0, 0, 3, 0, 1, 0, + 240, 3, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 20, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 3, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 3, 0, 0, 3, 0, 1, 0, + 248, 3, 0, 0, 2, 0, 1, 0, + 22, 0, 0, 0, 14, 0, 0, 0, + 0, 0, 1, 0, 21, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 245, 3, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 244, 3, 0, 0, 3, 0, 1, 0, + 0, 4, 0, 0, 2, 0, 1, 0, + 23, 0, 0, 0, 0, 1, 0, 0, + 0, 0, 1, 0, 22, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 253, 3, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 4, 0, 0, 3, 0, 1, 0, + 12, 4, 0, 0, 2, 0, 1, 0, + 21, 0, 0, 0, 17, 0, 0, 0, + 0, 0, 1, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 4, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 4, 0, 0, 3, 0, 1, 0, + 20, 4, 0, 0, 2, 0, 1, 0, + 24, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 24, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 4, 0, 0, 218, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 4, 0, 0, 3, 0, 1, 0, + 36, 4, 0, 0, 2, 0, 1, 0, + 25, 0, 0, 0, 15, 0, 0, 0, + 0, 0, 1, 0, 25, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 4, 0, 0, 10, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 44, 4, 0, 0, 3, 0, 1, 0, + 56, 4, 0, 0, 2, 0, 1, 0, + 26, 0, 0, 0, 16, 0, 0, 0, + 0, 0, 1, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 4, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 48, 4, 0, 0, 3, 0, 1, 0, + 60, 4, 0, 0, 2, 0, 1, 0, + 102, 114, 97, 109, 101, 73, 100, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 114, 97, 109, 101, 65, 103, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 114, 97, 109, 101, 68, 114, 111, + 112, 80, 101, 114, 99, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 109, 101, 115, 116, 97, 109, + 112, 69, 111, 102, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 115, 105, 116, 105, 111, 110, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 128, 174, 5, 213, 31, 174, 203, 195, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 114, 105, 101, 110, 116, 97, 116, + 105, 111, 110, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 128, 174, 5, 213, 31, 174, 203, 195, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 101, 108, 111, 99, 105, 116, 121, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 128, 174, 5, 213, 31, 174, 203, 195, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 114, 105, 101, 110, 116, 97, 116, + 105, 111, 110, 82, 97, 116, 101, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 128, 174, 5, 213, 31, 174, 203, 195, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 110, 101, 76, 105, 110, 101, + 115, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 128, 174, 5, 213, 31, 174, 203, 195, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 110, 101, 76, 105, 110, 101, + 80, 114, 111, 98, 115, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 111, 97, 100, 69, 100, 103, 101, + 115, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 128, 174, 5, 213, 31, 174, 203, 195, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 97, 100, 115, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 40, 175, 135, 33, 43, 237, 68, 164, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 101, 116, 97, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 189, 250, 92, 180, 179, 106, 100, 209, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 110, 101, 76, 105, 110, 101, + 83, 116, 100, 115, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 111, 97, 100, 69, 100, 103, 101, + 83, 116, 100, 115, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 111, 100, 101, 108, 69, 120, 101, + 99, 117, 116, 105, 111, 110, 84, 105, + 109, 101, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 97, 119, 80, 114, 101, 100, 105, + 99, 116, 105, 111, 110, 115, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 112, 117, 69, 120, 101, 99, 117, + 116, 105, 111, 110, 84, 105, 109, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 97, 100, 115, 86, 51, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 235, 127, 206, 208, 26, 136, 152, 214, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 99, 101, 108, 101, 114, 97, + 116, 105, 111, 110, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 128, 174, 5, 213, 31, 174, 203, 195, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 114, 97, 109, 101, 73, 100, 69, + 120, 116, 114, 97, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 101, 109, 112, 111, 114, 97, 108, + 80, 111, 115, 101, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 79, 136, 103, 46, 112, 192, 62, 251, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 97, 118, 69, 110, 97, 98, 108, + 101, 100, 68, 69, 80, 82, 69, 67, + 65, 84, 69, 68, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 111, 110, 102, 105, 100, 101, 110, + 99, 101, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 212, 28, 166, 210, 217, 71, 50, 170, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 99, 97, 116, 105, 111, 110, + 77, 111, 110, 111, 84, 105, 109, 101, + 68, 69, 80, 82, 69, 67, 65, 84, + 69, 68, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 116, 101, 114, 97, 108, 80, + 108, 97, 110, 110, 101, 114, 83, 111, + 108, 117, 116, 105, 111, 110, 68, 69, + 80, 82, 69, 67, 65, 84, 69, 68, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 254, 172, 180, 166, 165, 236, 202, 132, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 116, 105, 111, 110, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 132, 69, 118, 90, 179, 188, 208, 148, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_c4713f6b0d36abe9 = b_c4713f6b0d36abe9.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_c4713f6b0d36abe9[] = { + &s_84caeca5a6b4acfe, + &s_94d0bcb35a764584, + &s_a444ed2b2187af28, + &s_aa3247d9d2a61cd4, + &s_c3cbae1fd505ae80, + &s_d1646ab3b45cfabd, + &s_d698881ad0ce7feb, + &s_fb3ec0702e67884f, +}; +static const uint16_t m_c4713f6b0d36abe9[] = {19, 26, 23, 1, 2, 0, 20, 17, 9, 13, 8, 25, 11, 18, 24, 12, 15, 22, 5, 7, 4, 16, 14, 10, 21, 3, 6}; +static const uint16_t i_c4713f6b0d36abe9[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26}; +const ::capnp::_::RawSchema s_c4713f6b0d36abe9 = { + 0xc4713f6b0d36abe9, b_c4713f6b0d36abe9.words, 512, d_c4713f6b0d36abe9, m_c4713f6b0d36abe9, + 8, 27, i_c4713f6b0d36abe9, nullptr, nullptr, { &s_c4713f6b0d36abe9, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<87> b_a444ed2b2187af28 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 40, 175, 135, 33, 43, 237, 68, 164, + 22, 0, 0, 0, 1, 0, 1, 0, + 233, 171, 54, 13, 107, 63, 113, 196, + 2, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 10, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 231, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 77, 111, 100, 101, 108, 68, + 97, 116, 97, 86, 50, 46, 76, 101, + 97, 100, 68, 97, 116, 97, 86, 50, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 0, 0, 0, 3, 0, 1, 0, + 104, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 0, 0, 0, 3, 0, 1, 0, + 108, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 0, 0, 0, 3, 0, 1, 0, + 128, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 0, 0, 0, 3, 0, 1, 0, + 148, 0, 0, 0, 2, 0, 1, 0, + 112, 114, 111, 98, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 121, 118, 97, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 121, 118, 97, 83, 116, 100, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a444ed2b2187af28 = b_a444ed2b2187af28.words; +#if !CAPNP_LITE +static const uint16_t m_a444ed2b2187af28[] = {0, 1, 2, 3}; +static const uint16_t i_a444ed2b2187af28[] = {0, 1, 2, 3}; +const ::capnp::_::RawSchema s_a444ed2b2187af28 = { + 0xa444ed2b2187af28, b_a444ed2b2187af28.words, 87, nullptr, m_a444ed2b2187af28, + 0, 4, i_a444ed2b2187af28, nullptr, nullptr, { &s_a444ed2b2187af28, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<221> b_d698881ad0ce7feb = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 235, 127, 206, 208, 26, 136, 152, 214, + 22, 0, 0, 0, 1, 0, 1, 0, + 233, 171, 54, 13, 107, 63, 113, 196, + 9, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 10, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 111, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 77, 111, 100, 101, 108, 68, + 97, 116, 97, 86, 50, 46, 76, 101, + 97, 100, 68, 97, 116, 97, 86, 51, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 44, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 1, 0, 0, 3, 0, 1, 0, + 44, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 1, 0, 0, 3, 0, 1, 0, + 52, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 1, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 44, 1, 0, 0, 3, 0, 1, 0, + 72, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 1, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 64, 1, 0, 0, 3, 0, 1, 0, + 92, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 84, 1, 0, 0, 3, 0, 1, 0, + 112, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 1, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 1, 0, 0, 3, 0, 1, 0, + 132, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 129, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 1, 0, 0, 3, 0, 1, 0, + 152, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 149, 1, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 144, 1, 0, 0, 3, 0, 1, 0, + 172, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 164, 1, 0, 0, 3, 0, 1, 0, + 192, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 1, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 1, 0, 0, 3, 0, 1, 0, + 212, 1, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 1, 0, 0, 3, 0, 1, 0, + 232, 1, 0, 0, 2, 0, 1, 0, + 112, 114, 111, 98, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 114, 111, 98, 84, 105, 109, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 83, 116, 100, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 83, 116, 100, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 83, 116, 100, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 83, 116, 100, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_d698881ad0ce7feb = b_d698881ad0ce7feb.words; +#if !CAPNP_LITE +static const uint16_t m_d698881ad0ce7feb[] = {9, 10, 0, 1, 2, 7, 8, 3, 4, 5, 6}; +static const uint16_t i_d698881ad0ce7feb[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10}; +const ::capnp::_::RawSchema s_d698881ad0ce7feb = { + 0xd698881ad0ce7feb, b_d698881ad0ce7feb.words, 221, nullptr, m_d698881ad0ce7feb, + 0, 11, i_d698881ad0ce7feb, nullptr, nullptr, { &s_d698881ad0ce7feb, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<196> b_d1646ab3b45cfabd = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 189, 250, 92, 180, 179, 106, 100, 209, + 22, 0, 0, 0, 1, 0, 3, 0, + 233, 171, 54, 13, 107, 63, 113, 196, + 3, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 250, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 55, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 77, 111, 100, 101, 108, 68, + 97, 116, 97, 86, 50, 46, 77, 101, + 116, 97, 68, 97, 116, 97, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 40, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 1, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 1, 0, 0, 3, 0, 1, 0, + 20, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 1, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 1, 0, 0, 3, 0, 1, 0, + 48, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 1, 0, 0, 234, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 52, 1, 0, 0, 3, 0, 1, 0, + 64, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 61, 1, 0, 0, 218, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 1, 0, 0, 3, 0, 1, 0, + 80, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 1, 0, 0, 226, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 84, 1, 0, 0, 3, 0, 1, 0, + 96, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 93, 1, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 1, 0, 0, 3, 0, 1, 0, + 120, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 1, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 1, 0, 0, 3, 0, 1, 0, + 132, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 128, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 129, 1, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 132, 1, 0, 0, 3, 0, 1, 0, + 144, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 141, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 140, 1, 0, 0, 3, 0, 1, 0, + 152, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 149, 1, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 1, 0, 0, 3, 0, 1, 0, + 164, 1, 0, 0, 2, 0, 1, 0, + 101, 110, 103, 97, 103, 101, 100, 80, + 114, 111, 98, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 115, 105, 114, 101, 80, 114, + 101, 100, 105, 99, 116, 105, 111, 110, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 114, 97, 107, 101, 68, 105, 115, + 101, 110, 103, 97, 103, 101, 80, 114, + 111, 98, 68, 69, 80, 82, 69, 67, + 65, 84, 69, 68, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 97, 115, 68, 105, 115, 101, 110, + 103, 97, 103, 101, 80, 114, 111, 98, + 68, 69, 80, 82, 69, 67, 65, 84, + 69, 68, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 79, 118, 101, + 114, 114, 105, 100, 101, 80, 114, 111, + 98, 68, 69, 80, 82, 69, 67, 65, + 84, 69, 68, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 115, 105, 114, 101, 83, 116, + 97, 116, 101, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 105, 115, 101, 110, 103, 97, 103, + 101, 80, 114, 101, 100, 105, 99, 116, + 105, 111, 110, 115, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 37, 141, 220, 188, 221, 165, 10, 134, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 97, 114, 100, 66, 114, 97, 107, + 101, 80, 114, 101, 100, 105, 99, 116, + 101, 100, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 110, 101, 67, 104, 97, 110, + 103, 101, 83, 116, 97, 116, 101, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 210, 211, 178, 247, 75, 146, 55, 205, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 110, 101, 67, 104, 97, 110, + 103, 101, 68, 105, 114, 101, 99, 116, + 105, 111, 110, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 118, 17, 103, 254, 193, 192, 11, 157, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_d1646ab3b45cfabd = b_d1646ab3b45cfabd.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_d1646ab3b45cfabd[] = { + &s_860aa5ddbcdc8d25, + &s_9d0bc0c1fe671176, + &s_cd37924bf7b2d3d2, +}; +static const uint16_t m_d1646ab3b45cfabd[] = {2, 1, 5, 6, 0, 3, 7, 9, 8, 4}; +static const uint16_t i_d1646ab3b45cfabd[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9}; +const ::capnp::_::RawSchema s_d1646ab3b45cfabd = { + 0xd1646ab3b45cfabd, b_d1646ab3b45cfabd.words, 196, d_d1646ab3b45cfabd, m_d1646ab3b45cfabd, + 3, 10, i_d1646ab3b45cfabd, nullptr, nullptr, { &s_d1646ab3b45cfabd, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<31> b_aa3247d9d2a61cd4 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 212, 28, 166, 210, 217, 71, 50, 170, + 22, 0, 0, 0, 2, 0, 0, 0, + 233, 171, 54, 13, 107, 63, 113, 196, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 50, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 79, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 77, 111, 100, 101, 108, 68, + 97, 116, 97, 86, 50, 46, 67, 111, + 110, 102, 105, 100, 101, 110, 99, 101, + 67, 108, 97, 115, 115, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 100, 0, 0, 0, 0, 0, + 121, 101, 108, 108, 111, 119, 0, 0, + 103, 114, 101, 101, 110, 0, 0, 0, } +}; +::capnp::word const* const bp_aa3247d9d2a61cd4 = b_aa3247d9d2a61cd4.words; +#if !CAPNP_LITE +static const uint16_t m_aa3247d9d2a61cd4[] = {2, 0, 1}; +const ::capnp::_::RawSchema s_aa3247d9d2a61cd4 = { + 0xaa3247d9d2a61cd4, b_aa3247d9d2a61cd4.words, 31, nullptr, m_aa3247d9d2a61cd4, + 0, 3, nullptr, nullptr, nullptr, { &s_aa3247d9d2a61cd4, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(ConfidenceClass_aa3247d9d2a61cd4, aa3247d9d2a61cd4); +static const ::capnp::_::AlignedData<171> b_860aa5ddbcdc8d25 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 37, 141, 220, 188, 221, 165, 10, 134, + 22, 0, 0, 0, 1, 0, 0, 0, + 233, 171, 54, 13, 107, 63, 113, 196, + 7, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 90, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 143, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 77, 111, 100, 101, 108, 68, + 97, 116, 97, 86, 50, 46, 68, 105, + 115, 101, 110, 103, 97, 103, 101, 80, + 114, 101, 100, 105, 99, 116, 105, 111, + 110, 115, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 28, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 0, 0, 0, 3, 0, 1, 0, + 204, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 201, 0, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 0, 0, 0, 3, 0, 1, 0, + 232, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 229, 0, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 0, 0, 0, 3, 0, 1, 0, + 4, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 1, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 1, 0, 0, 3, 0, 1, 0, + 32, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 1, 0, 0, 18, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 1, 0, 0, 3, 0, 1, 0, + 68, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 1, 0, 0, 18, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 76, 1, 0, 0, 3, 0, 1, 0, + 104, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 1, 0, 0, 18, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 1, 0, 0, 3, 0, 1, 0, + 140, 1, 0, 0, 2, 0, 1, 0, + 116, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 114, 97, 107, 101, 68, 105, 115, + 101, 110, 103, 97, 103, 101, 80, 114, + 111, 98, 115, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 97, 115, 68, 105, 115, 101, 110, + 103, 97, 103, 101, 80, 114, 111, 98, + 115, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 79, 118, 101, + 114, 114, 105, 100, 101, 80, 114, 111, + 98, 115, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 114, 97, 107, 101, 51, 77, 101, + 116, 101, 114, 115, 80, 101, 114, 83, + 101, 99, 111, 110, 100, 83, 113, 117, + 97, 114, 101, 100, 80, 114, 111, 98, + 115, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 114, 97, 107, 101, 52, 77, 101, + 116, 101, 114, 115, 80, 101, 114, 83, + 101, 99, 111, 110, 100, 83, 113, 117, + 97, 114, 101, 100, 80, 114, 111, 98, + 115, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 114, 97, 107, 101, 53, 77, 101, + 116, 101, 114, 115, 80, 101, 114, 83, + 101, 99, 111, 110, 100, 83, 113, 117, + 97, 114, 101, 100, 80, 114, 111, 98, + 115, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_860aa5ddbcdc8d25 = b_860aa5ddbcdc8d25.words; +#if !CAPNP_LITE +static const uint16_t m_860aa5ddbcdc8d25[] = {4, 5, 6, 1, 2, 3, 0}; +static const uint16_t i_860aa5ddbcdc8d25[] = {0, 1, 2, 3, 4, 5, 6}; +const ::capnp::_::RawSchema s_860aa5ddbcdc8d25 = { + 0x860aa5ddbcdc8d25, b_860aa5ddbcdc8d25.words, 171, nullptr, m_860aa5ddbcdc8d25, + 0, 7, i_860aa5ddbcdc8d25, nullptr, nullptr, { &s_860aa5ddbcdc8d25, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<95> b_fb3ec0702e67884f = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 79, 136, 103, 46, 112, 192, 62, 251, + 22, 0, 0, 0, 1, 0, 0, 0, + 233, 171, 54, 13, 107, 63, 113, 196, + 4, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 218, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 231, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 77, 111, 100, 101, 108, 68, + 97, 116, 97, 86, 50, 46, 80, 111, + 115, 101, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 0, 0, 0, 3, 0, 1, 0, + 120, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 0, 0, 0, 3, 0, 1, 0, + 140, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 137, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 136, 0, 0, 0, 3, 0, 1, 0, + 164, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 156, 0, 0, 0, 3, 0, 1, 0, + 184, 0, 0, 0, 2, 0, 1, 0, + 116, 114, 97, 110, 115, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 111, 116, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 114, 97, 110, 115, 83, 116, 100, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 111, 116, 83, 116, 100, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_fb3ec0702e67884f = b_fb3ec0702e67884f.words; +#if !CAPNP_LITE +static const uint16_t m_fb3ec0702e67884f[] = {1, 3, 0, 2}; +static const uint16_t i_fb3ec0702e67884f[] = {0, 1, 2, 3}; +const ::capnp::_::RawSchema s_fb3ec0702e67884f = { + 0xfb3ec0702e67884f, b_fb3ec0702e67884f.words, 95, nullptr, m_fb3ec0702e67884f, + 0, 4, i_fb3ec0702e67884f, nullptr, nullptr, { &s_fb3ec0702e67884f, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<173> b_84caeca5a6b4acfe = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 254, 172, 180, 166, 165, 236, 202, 132, + 22, 0, 0, 0, 1, 0, 0, 0, + 233, 171, 54, 13, 107, 63, 113, 196, + 8, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 106, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 199, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 77, 111, 100, 101, 108, 68, + 97, 116, 97, 86, 50, 46, 76, 97, + 116, 101, 114, 97, 108, 80, 108, 97, + 110, 110, 101, 114, 83, 111, 108, 117, + 116, 105, 111, 110, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 32, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 0, 0, 0, 3, 0, 1, 0, + 232, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 229, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 0, 0, 0, 3, 0, 1, 0, + 252, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 249, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 244, 0, 0, 0, 3, 0, 1, 0, + 16, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 1, 0, 0, 3, 0, 1, 0, + 36, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 28, 1, 0, 0, 3, 0, 1, 0, + 56, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 48, 1, 0, 0, 3, 0, 1, 0, + 76, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 73, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 1, 0, 0, 3, 0, 1, 0, + 96, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 93, 1, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 1, 0, 0, 3, 0, 1, 0, + 120, 1, 0, 0, 2, 0, 1, 0, + 120, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 97, 119, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 97, 119, 82, 97, 116, 101, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 83, 116, 100, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 83, 116, 100, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 97, 119, 83, 116, 100, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 97, 119, 82, 97, 116, 101, 83, + 116, 100, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_84caeca5a6b4acfe = b_84caeca5a6b4acfe.words; +#if !CAPNP_LITE +static const uint16_t m_84caeca5a6b4acfe[] = {0, 4, 1, 5, 2, 3, 7, 6}; +static const uint16_t i_84caeca5a6b4acfe[] = {0, 1, 2, 3, 4, 5, 6, 7}; +const ::capnp::_::RawSchema s_84caeca5a6b4acfe = { + 0x84caeca5a6b4acfe, b_84caeca5a6b4acfe.words, 173, nullptr, m_84caeca5a6b4acfe, + 0, 8, i_84caeca5a6b4acfe, nullptr, nullptr, { &s_84caeca5a6b4acfe, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<35> b_94d0bcb35a764584 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 132, 69, 118, 90, 179, 188, 208, 148, + 22, 0, 0, 0, 1, 0, 1, 0, + 233, 171, 54, 13, 107, 63, 113, 196, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 234, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 63, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 77, 111, 100, 101, 108, 68, + 97, 116, 97, 86, 50, 46, 65, 99, + 116, 105, 111, 110, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 4, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 3, 0, 1, 0, + 28, 0, 0, 0, 2, 0, 1, 0, + 100, 101, 115, 105, 114, 101, 100, 67, + 117, 114, 118, 97, 116, 117, 114, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_94d0bcb35a764584 = b_94d0bcb35a764584.words; +#if !CAPNP_LITE +static const uint16_t m_94d0bcb35a764584[] = {0}; +static const uint16_t i_94d0bcb35a764584[] = {0}; +const ::capnp::_::RawSchema s_94d0bcb35a764584 = { + 0x94d0bcb35a764584, b_94d0bcb35a764584.words, 35, nullptr, m_94d0bcb35a764584, + 0, 1, i_94d0bcb35a764584, nullptr, nullptr, { &s_94d0bcb35a764584, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<176> b_89d394e3541735fc = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 252, 53, 23, 84, 227, 148, 211, 137, + 10, 0, 0, 0, 1, 0, 6, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 178, 0, 0, 0, + 29, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 55, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 69, 110, 99, 111, 100, 101, + 73, 110, 100, 101, 120, 0, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 211, 204, 87, 193, 158, 37, 173, 192, + 1, 0, 0, 0, 42, 0, 0, 0, + 84, 121, 112, 101, 0, 0, 0, 0, + 40, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 1, 0, 0, 3, 0, 1, 0, + 16, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 1, 0, 0, 3, 0, 1, 0, + 20, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 1, 0, 0, 3, 0, 1, 0, + 28, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 1, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 1, 0, 0, 3, 0, 1, 0, + 36, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 1, 0, 0, 3, 0, 1, 0, + 44, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 1, 0, 0, 3, 0, 1, 0, + 52, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 48, 1, 0, 0, 3, 0, 1, 0, + 60, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 57, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 56, 1, 0, 0, 3, 0, 1, 0, + 68, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 60, 1, 0, 0, 3, 0, 1, 0, + 72, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 11, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 1, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 64, 1, 0, 0, 3, 0, 1, 0, + 76, 1, 0, 0, 2, 0, 1, 0, + 102, 114, 97, 109, 101, 73, 100, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 121, 112, 101, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 211, 204, 87, 193, 158, 37, 173, 192, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 110, 99, 111, 100, 101, 73, 100, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 101, 103, 109, 101, 110, 116, 78, + 117, 109, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 101, 103, 109, 101, 110, 116, 73, + 100, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 101, 103, 109, 101, 110, 116, 73, + 100, 69, 110, 99, 111, 100, 101, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 109, 101, 115, 116, 97, 109, + 112, 83, 111, 102, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 109, 101, 115, 116, 97, 109, + 112, 69, 111, 102, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 108, 97, 103, 115, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 110, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_89d394e3541735fc = b_89d394e3541735fc.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_89d394e3541735fc[] = { + &s_c0ad259ec157ccd3, +}; +static const uint16_t m_89d394e3541735fc[] = {2, 8, 0, 9, 4, 5, 3, 7, 6, 1}; +static const uint16_t i_89d394e3541735fc[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9}; +const ::capnp::_::RawSchema s_89d394e3541735fc = { + 0x89d394e3541735fc, b_89d394e3541735fc.words, 176, d_89d394e3541735fc, m_89d394e3541735fc, + 1, 10, i_89d394e3541735fc, nullptr, nullptr, { &s_89d394e3541735fc, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<63> b_c0ad259ec157ccd3 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 211, 204, 87, 193, 158, 37, 173, 192, + 22, 0, 0, 0, 2, 0, 0, 0, + 252, 53, 23, 84, 227, 148, 211, 137, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 218, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 199, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 69, 110, 99, 111, 100, 101, + 73, 110, 100, 101, 120, 46, 84, 121, + 112, 101, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 32, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 0, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 85, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 81, 0, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 81, 0, 0, 0, 218, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 85, 0, 0, 0, 218, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 89, 0, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 85, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 81, 0, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 105, 103, 66, 111, 120, 76, 111, + 115, 115, 108, 101, 115, 115, 0, 0, + 102, 117, 108, 108, 72, 69, 86, 67, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 105, 103, 66, 111, 120, 72, 69, + 86, 67, 68, 69, 80, 82, 69, 67, + 65, 84, 69, 68, 0, 0, 0, 0, + 99, 104, 102, 102, 114, 65, 110, 100, + 114, 111, 105, 100, 72, 50, 54, 52, + 68, 69, 80, 82, 69, 67, 65, 84, + 69, 68, 0, 0, 0, 0, 0, 0, + 102, 117, 108, 108, 76, 111, 115, 115, + 108, 101, 115, 115, 67, 108, 105, 112, + 68, 69, 80, 82, 69, 67, 65, 84, + 69, 68, 0, 0, 0, 0, 0, 0, + 102, 114, 111, 110, 116, 68, 69, 80, + 82, 69, 67, 65, 84, 69, 68, 0, + 113, 99, 97, 109, 101, 114, 97, 72, + 50, 54, 52, 0, 0, 0, 0, 0, + 108, 105, 118, 101, 115, 116, 114, 101, + 97, 109, 72, 50, 54, 52, 0, 0, } +}; +::capnp::word const* const bp_c0ad259ec157ccd3 = b_c0ad259ec157ccd3.words; +#if !CAPNP_LITE +static const uint16_t m_c0ad259ec157ccd3[] = {2, 0, 3, 5, 1, 4, 7, 6}; +const ::capnp::_::RawSchema s_c0ad259ec157ccd3 = { + 0xc0ad259ec157ccd3, b_c0ad259ec157ccd3.words, 63, nullptr, m_c0ad259ec157ccd3, + 0, 8, nullptr, nullptr, nullptr, { &s_c0ad259ec157ccd3, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(Type_c0ad259ec157ccd3, c0ad259ec157ccd3); +static const ::capnp::_::AlignedData<124> b_ea095da1894f7d85 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 133, 125, 79, 137, 161, 93, 9, 234, + 10, 0, 0, 0, 1, 0, 3, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 2, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 210, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 143, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 65, 110, 100, 114, 111, 105, + 100, 76, 111, 103, 69, 110, 116, 114, + 121, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 28, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 0, 0, 0, 3, 0, 1, 0, + 188, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 0, 0, 0, 3, 0, 1, 0, + 192, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 0, 0, 0, 3, 0, 1, 0, + 200, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 192, 0, 0, 0, 3, 0, 1, 0, + 204, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 201, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 0, 0, 0, 3, 0, 1, 0, + 208, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 0, 0, 0, 3, 0, 1, 0, + 212, 0, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 0, 0, 0, 3, 0, 1, 0, + 216, 0, 0, 0, 2, 0, 1, 0, + 105, 100, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 115, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 114, 105, 111, 114, 105, 116, 121, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 105, 100, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 100, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 97, 103, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 101, 115, 115, 97, 103, 101, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_ea095da1894f7d85 = b_ea095da1894f7d85.words; +#if !CAPNP_LITE +static const uint16_t m_ea095da1894f7d85[] = {0, 6, 3, 2, 5, 4, 1}; +static const uint16_t i_ea095da1894f7d85[] = {0, 1, 2, 3, 4, 5, 6}; +const ::capnp::_::RawSchema s_ea095da1894f7d85 = { + 0xea095da1894f7d85, b_ea095da1894f7d85.words, 124, nullptr, m_ea095da1894f7d85, + 0, 7, i_ea095da1894f7d85, nullptr, nullptr, { &s_ea095da1894f7d85, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<711> b_e00b5b3eba12876c = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 108, 135, 18, 186, 62, 91, 11, 224, + 10, 0, 0, 0, 1, 0, 11, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 6, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 218, 0, 0, 0, + 33, 0, 0, 0, 39, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 0, 0, 0, 199, 8, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 76, 111, 110, 103, 105, 116, + 117, 100, 105, 110, 97, 108, 80, 108, + 97, 110, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 1, 0, 1, 0, + 32, 145, 7, 204, 83, 167, 49, 178, + 9, 0, 0, 0, 186, 0, 0, 0, + 0, 16, 48, 245, 114, 176, 254, 140, + 13, 0, 0, 0, 114, 0, 0, 0, + 76, 111, 110, 103, 105, 116, 117, 100, + 105, 110, 97, 108, 80, 108, 97, 110, + 83, 111, 117, 114, 99, 101, 0, 0, + 71, 112, 115, 84, 114, 97, 106, 101, + 99, 116, 111, 114, 121, 0, 0, 0, + 160, 0, 0, 0, 3, 0, 4, 0, + 26, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 81, 4, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 84, 4, 0, 0, 3, 0, 1, 0, + 96, 4, 0, 0, 2, 0, 1, 0, + 28, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 93, 4, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 4, 0, 0, 3, 0, 1, 0, + 120, 4, 0, 0, 2, 0, 1, 0, + 27, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 4, 0, 0, 226, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 4, 0, 0, 3, 0, 1, 0, + 136, 4, 0, 0, 2, 0, 1, 0, + 15, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 133, 4, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 136, 4, 0, 0, 3, 0, 1, 0, + 148, 4, 0, 0, 2, 0, 1, 0, + 24, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 145, 4, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 148, 4, 0, 0, 3, 0, 1, 0, + 160, 4, 0, 0, 2, 0, 1, 0, + 25, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 157, 4, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 4, 0, 0, 3, 0, 1, 0, + 172, 4, 0, 0, 2, 0, 1, 0, + 21, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 4, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 172, 4, 0, 0, 3, 0, 1, 0, + 184, 4, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 4, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 4, 0, 0, 3, 0, 1, 0, + 188, 4, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 4, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 4, 0, 0, 3, 0, 1, 0, + 192, 4, 0, 0, 2, 0, 1, 0, + 0, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 4, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 4, 0, 0, 3, 0, 1, 0, + 200, 4, 0, 0, 2, 0, 1, 0, + 20, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 4, 0, 0, 234, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 4, 0, 0, 3, 0, 1, 0, + 216, 4, 0, 0, 2, 0, 1, 0, + 29, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 213, 4, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 4, 0, 0, 3, 0, 1, 0, + 228, 4, 0, 0, 2, 0, 1, 0, + 37, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 4, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 4, 0, 0, 3, 0, 1, 0, + 240, 4, 0, 0, 2, 0, 1, 0, + 36, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 4, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 4, 0, 0, 3, 0, 1, 0, + 12, 5, 0, 0, 2, 0, 1, 0, + 16, 0, 0, 0, 10, 0, 0, 0, + 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0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 97, 100, 97, 114, 86, 97, 108, + 105, 100, 68, 69, 80, 82, 69, 67, + 65, 84, 69, 68, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 114, 111, 99, 101, 115, 115, 105, + 110, 103, 68, 101, 108, 97, 121, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 97, 100, 97, 114, 67, 97, 110, + 69, 114, 114, 111, 114, 68, 69, 80, + 82, 69, 67, 65, 84, 69, 68, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 111, 109, 109, 73, 115, 115, 117, + 101, 68, 69, 80, 82, 69, 67, 65, + 84, 69, 68, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 99, 101, 108, 115, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 101, 101, 100, 115, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 106, 101, 114, 107, 115, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 111, 108, 118, 101, 114, 69, 120, + 101, 99, 117, 116, 105, 111, 110, 84, + 105, 109, 101, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 101, 114, 115, 111, 110, 97, 108, + 105, 116, 121, 68, 69, 80, 82, 69, + 67, 65, 84, 69, 68, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 153, 125, 36, 26, 61, 226, 146, 214, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 104, 111, 117, 108, 100, 83, 116, + 111, 112, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 108, 108, 111, 119, 84, 104, 114, + 111, 116, 116, 108, 101, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 108, 108, 111, 119, 66, 114, 97, + 107, 101, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e00b5b3eba12876c = b_e00b5b3eba12876c.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_e00b5b3eba12876c[] = { + &s_8cfeb072f5301000, + &s_9b1657f34caf3ad3, + &s_b231a753cc079120, + &s_d692e23d1a247d99, +}; +static const uint16_t m_e00b5b3eba12876c[] = {17, 27, 18, 5, 4, 32, 39, 38, 31, 1, 22, 13, 8, 19, 12, 7, 23, 24, 6, 34, 11, 0, 15, 2, 25, 9, 36, 29, 30, 10, 28, 37, 35, 33, 16, 21, 20, 26, 3, 14}; +static const uint16_t i_e00b5b3eba12876c[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39}; +const ::capnp::_::RawSchema s_e00b5b3eba12876c = { + 0xe00b5b3eba12876c, b_e00b5b3eba12876c.words, 711, d_e00b5b3eba12876c, m_e00b5b3eba12876c, + 4, 40, i_e00b5b3eba12876c, nullptr, nullptr, { &s_e00b5b3eba12876c, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<41> b_b231a753cc079120 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 32, 145, 7, 204, 83, 167, 49, 178, + 27, 0, 0, 0, 2, 0, 0, 0, + 108, 135, 18, 186, 62, 91, 11, 224, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 146, 1, 0, 0, + 45, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 127, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 76, 111, 110, 103, 105, 116, + 117, 100, 105, 110, 97, 108, 80, 108, + 97, 110, 46, 76, 111, 110, 103, 105, + 116, 117, 100, 105, 110, 97, 108, 80, + 108, 97, 110, 83, 111, 117, 114, 99, + 101, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 20, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 114, 117, 105, 115, 101, 0, 0, + 108, 101, 97, 100, 48, 0, 0, 0, + 108, 101, 97, 100, 49, 0, 0, 0, + 108, 101, 97, 100, 50, 0, 0, 0, + 101, 50, 101, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_b231a753cc079120 = b_b231a753cc079120.words; +#if !CAPNP_LITE +static const uint16_t m_b231a753cc079120[] = {0, 4, 1, 2, 3}; +const ::capnp::_::RawSchema s_b231a753cc079120 = { + 0xb231a753cc079120, b_b231a753cc079120.words, 41, nullptr, m_b231a753cc079120, + 0, 5, nullptr, nullptr, nullptr, { &s_b231a753cc079120, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(LongitudinalPlanSource_b231a753cc079120, b231a753cc079120); +static const ::capnp::_::AlignedData<58> b_8cfeb072f5301000 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 0, 16, 48, 245, 114, 176, 254, 140, + 27, 0, 0, 0, 1, 0, 0, 0, + 108, 135, 18, 186, 62, 91, 11, 224, + 2, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 74, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 76, 111, 110, 103, 105, 116, + 117, 100, 105, 110, 97, 108, 80, 108, + 97, 110, 46, 71, 112, 115, 84, 114, + 97, 106, 101, 99, 116, 111, 114, 121, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 8, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 0, 0, 0, 3, 0, 1, 0, + 64, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 61, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 56, 0, 0, 0, 3, 0, 1, 0, + 84, 0, 0, 0, 2, 0, 1, 0, + 120, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_8cfeb072f5301000 = b_8cfeb072f5301000.words; +#if !CAPNP_LITE +static const uint16_t m_8cfeb072f5301000[] = {0, 1}; +static const uint16_t i_8cfeb072f5301000[] = {0, 1}; +const ::capnp::_::RawSchema s_8cfeb072f5301000 = { + 0x8cfeb072f5301000, b_8cfeb072f5301000.words, 58, nullptr, m_8cfeb072f5301000, + 0, 2, i_8cfeb072f5301000, nullptr, nullptr, { &s_8cfeb072f5301000, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<67> b_fc0c9bb05e3927c1 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 193, 39, 57, 94, 176, 155, 12, 252, + 10, 0, 0, 0, 1, 0, 1, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 2, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 138, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 175, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 85, 105, 80, 108, 97, 110, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 3, 0, 4, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 0, 0, 0, 3, 0, 1, 0, + 80, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 0, 0, 0, 3, 0, 1, 0, + 100, 0, 0, 0, 2, 0, 1, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 0, 0, 0, 3, 0, 1, 0, + 104, 0, 0, 0, 2, 0, 1, 0, + 112, 111, 115, 105, 116, 105, 111, 110, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 128, 174, 5, 213, 31, 174, 203, 195, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 99, 101, 108, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 114, 97, 109, 101, 73, 100, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_fc0c9bb05e3927c1 = b_fc0c9bb05e3927c1.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_fc0c9bb05e3927c1[] = { + &s_c3cbae1fd505ae80, +}; +static const uint16_t m_fc0c9bb05e3927c1[] = {1, 2, 0}; +static const uint16_t i_fc0c9bb05e3927c1[] = {0, 1, 2}; +const ::capnp::_::RawSchema s_fc0c9bb05e3927c1 = { + 0xfc0c9bb05e3927c1, b_fc0c9bb05e3927c1.words, 67, d_fc0c9bb05e3927c1, m_fc0c9bb05e3927c1, + 1, 3, i_fc0c9bb05e3927c1, nullptr, nullptr, { &s_fc0c9bb05e3927c1, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<615> b_e1e9318e2ae8b51e = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 30, 181, 232, 42, 142, 49, 233, 225, + 10, 0, 0, 0, 1, 0, 9, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 9, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 178, 0, 0, 0, + 29, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 119, 7, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 76, 97, 116, 101, 114, 97, + 108, 80, 108, 97, 110, 0, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 198, 33, 112, 91, 103, 124, 202, 253, + 1, 0, 0, 0, 98, 0, 0, 0, + 83, 111, 108, 118, 101, 114, 83, 116, + 97, 116, 101, 0, 0, 0, 0, 0, + 136, 0, 0, 0, 3, 0, 4, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 3, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 172, 3, 0, 0, 3, 0, 1, 0, + 184, 3, 0, 0, 2, 0, 1, 0, + 22, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 3, 0, 0, 130, 0, 0, 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0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 118, 17, 103, 254, 193, 192, 11, 157, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 80, 97, 116, 104, 80, 111, 105, + 110, 116, 115, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 80, 114, 111, 98, 68, 69, 80, + 82, 69, 67, 65, 84, 69, 68, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 114, 118, 97, 116, 117, 114, + 101, 68, 69, 80, 82, 69, 67, 65, + 84, 69, 68, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 114, 118, 97, 116, 117, 114, + 101, 82, 97, 116, 101, 68, 69, 80, + 82, 69, 67, 65, 84, 69, 68, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 97, 119, 67, 117, 114, 118, 97, + 116, 117, 114, 101, 68, 69, 80, 82, + 69, 67, 65, 84, 69, 68, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 97, 119, 67, 117, 114, 118, 97, + 116, 117, 114, 101, 82, 97, 116, 101, + 68, 69, 80, 82, 69, 67, 65, 84, + 69, 68, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 115, 105, 115, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 114, 118, 97, 116, 117, 114, + 101, 115, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 114, 118, 97, 116, 117, 114, + 101, 82, 97, 116, 101, 115, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 115, 101, 76, 97, 110, 101, 76, + 105, 110, 101, 115, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 111, 108, 118, 101, 114, 69, 120, + 101, 99, 117, 116, 105, 111, 110, 84, + 105, 109, 101, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 111, 100, 101, 108, 77, 111, 110, + 111, 84, 105, 109, 101, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 111, 108, 118, 101, 114, 67, 111, + 115, 116, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 111, 108, 118, 101, 114, 83, 116, + 97, 116, 101, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 198, 33, 112, 91, 103, 124, 202, 253, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e1e9318e2ae8b51e = b_e1e9318e2ae8b51e.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_e1e9318e2ae8b51e[] = { + &s_9d0bc0c1fe671176, + &s_ae674a34ba421466, + &s_cd37924bf7b2d3d2, + &s_fdca7c675b7021c6, +}; +static const uint16_t m_e1e9318e2ae8b51e[] = {11, 2, 3, 15, 22, 23, 28, 27, 20, 1, 21, 17, 4, 5, 19, 18, 0, 31, 12, 9, 10, 16, 26, 6, 7, 24, 25, 14, 32, 30, 33, 8, 13, 29}; +static const uint16_t i_e1e9318e2ae8b51e[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33}; +const ::capnp::_::RawSchema s_e1e9318e2ae8b51e = { + 0xe1e9318e2ae8b51e, b_e1e9318e2ae8b51e.words, 615, d_e1e9318e2ae8b51e, m_e1e9318e2ae8b51e, + 4, 34, i_e1e9318e2ae8b51e, nullptr, nullptr, { &s_e1e9318e2ae8b51e, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<61> b_fdca7c675b7021c6 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 198, 33, 112, 91, 103, 124, 202, 253, + 22, 0, 0, 0, 1, 0, 0, 0, + 30, 181, 232, 42, 142, 49, 233, 225, + 2, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 18, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 76, 97, 116, 101, 114, 97, + 108, 80, 108, 97, 110, 46, 83, 111, + 108, 118, 101, 114, 83, 116, 97, 116, + 101, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 8, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 0, 0, 0, 3, 0, 1, 0, + 80, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 0, 0, 0, 3, 0, 1, 0, + 100, 0, 0, 0, 2, 0, 1, 0, + 120, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_fdca7c675b7021c6 = b_fdca7c675b7021c6.words; +#if !CAPNP_LITE +static const uint16_t m_fdca7c675b7021c6[] = {1, 0}; +static const uint16_t i_fdca7c675b7021c6[] = {0, 1}; +const ::capnp::_::RawSchema s_fdca7c675b7021c6 = { + 0xfdca7c675b7021c6, b_fdca7c675b7021c6.words, 61, nullptr, m_fdca7c675b7021c6, + 0, 2, i_fdca7c675b7021c6, nullptr, nullptr, { &s_fdca7c675b7021c6, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<466> b_ebc5703d1ee7c129 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 41, 193, 231, 30, 61, 112, 197, 235, + 10, 0, 0, 0, 1, 0, 5, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 15, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 234, 0, 0, 0, + 33, 0, 0, 0, 39, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 57, 0, 0, 0, 239, 5, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 76, 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0, } +}; +::capnp::word const* const bp_ebc5703d1ee7c129 = b_ebc5703d1ee7c129.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_ebc5703d1ee7c129[] = { + &s_8e4dc8cc4b51fc01, + &s_bf23f9ed66dace1c, +}; +static const uint16_t m_ebc5703d1ee7c129[] = {11, 5, 12, 8, 20, 9, 22, 24, 26, 19, 14, 13, 17, 6, 7, 18, 0, 1, 21, 15, 23, 25, 16, 10, 4, 2, 3}; +static const uint16_t i_ebc5703d1ee7c129[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26}; +const ::capnp::_::RawSchema s_ebc5703d1ee7c129 = { + 0xebc5703d1ee7c129, b_ebc5703d1ee7c129.words, 466, d_ebc5703d1ee7c129, m_ebc5703d1ee7c129, + 2, 27, i_ebc5703d1ee7c129, nullptr, nullptr, { &s_ebc5703d1ee7c129, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<33> b_8e4dc8cc4b51fc01 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 1, 252, 81, 75, 204, 200, 77, 142, + 29, 0, 0, 0, 2, 0, 0, 0, + 41, 193, 231, 30, 61, 112, 197, 235, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 34, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 79, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 76, 105, 118, 101, 76, 111, + 99, 97, 116, 105, 111, 110, 75, 97, + 108, 109, 97, 110, 46, 83, 116, 97, + 116, 117, 115, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 105, 110, 105, 116, 105, 97, + 108, 105, 122, 101, 100, 0, 0, 0, + 117, 110, 99, 97, 108, 105, 98, 114, + 97, 116, 101, 100, 0, 0, 0, 0, + 118, 97, 108, 105, 100, 0, 0, 0, } +}; +::capnp::word const* const bp_8e4dc8cc4b51fc01 = b_8e4dc8cc4b51fc01.words; +#if !CAPNP_LITE +static const uint16_t m_8e4dc8cc4b51fc01[] = {1, 0, 2}; +const ::capnp::_::RawSchema s_8e4dc8cc4b51fc01 = { + 0x8e4dc8cc4b51fc01, b_8e4dc8cc4b51fc01.words, 33, nullptr, m_8e4dc8cc4b51fc01, + 0, 3, nullptr, nullptr, nullptr, { &s_8e4dc8cc4b51fc01, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(Status_8e4dc8cc4b51fc01, 8e4dc8cc4b51fc01); +static const ::capnp::_::AlignedData<73> b_bf23f9ed66dace1c = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 28, 206, 218, 102, 237, 249, 35, 191, + 29, 0, 0, 0, 1, 0, 1, 0, + 41, 193, 231, 30, 61, 112, 197, 235, + 2, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 74, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 175, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 76, 105, 118, 101, 76, 111, + 99, 97, 116, 105, 111, 110, 75, 97, + 108, 109, 97, 110, 46, 77, 101, 97, + 115, 117, 114, 101, 109, 101, 110, 116, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 64, 0, 0, 0, 3, 0, 1, 0, + 92, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 84, 0, 0, 0, 3, 0, 1, 0, + 112, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 0, 0, 0, 3, 0, 1, 0, + 116, 0, 0, 0, 2, 0, 1, 0, + 118, 97, 108, 117, 101, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 100, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 97, 108, 105, 100, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_bf23f9ed66dace1c = b_bf23f9ed66dace1c.words; +#if !CAPNP_LITE +static const uint16_t m_bf23f9ed66dace1c[] = {1, 2, 0}; +static const uint16_t i_bf23f9ed66dace1c[] = {0, 1, 2}; +const ::capnp::_::RawSchema s_bf23f9ed66dace1c = { + 0xbf23f9ed66dace1c, b_bf23f9ed66dace1c.words, 73, nullptr, m_bf23f9ed66dace1c, + 0, 3, i_bf23f9ed66dace1c, nullptr, nullptr, { &s_bf23f9ed66dace1c, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<155> b_c24ca2b57206b44d = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 77, 180, 6, 114, 181, 162, 76, 194, + 10, 0, 0, 0, 1, 0, 1, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 5, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 154, 0, 0, 0, + 29, 0, 0, 0, 39, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 57, 0, 0, 0, 199, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 76, 105, 118, 101, 80, 111, + 115, 101, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 1, 0, 1, 0, + 43, 216, 204, 51, 135, 58, 201, 249, + 9, 0, 0, 0, 122, 0, 0, 0, + 102, 95, 203, 224, 196, 182, 203, 218, + 9, 0, 0, 0, 98, 0, 0, 0, + 88, 89, 90, 77, 101, 97, 115, 117, + 114, 101, 109, 101, 110, 116, 0, 0, + 70, 105, 108, 116, 101, 114, 83, 116, + 97, 116, 101, 0, 0, 0, 0, 0, + 32, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 0, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 0, 0, 0, 3, 0, 1, 0, + 220, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 217, 0, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 0, 0, 0, 3, 0, 1, 0, + 228, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 0, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 0, 0, 0, 3, 0, 1, 0, + 240, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 0, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 0, 0, 0, 3, 0, 1, 0, + 252, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 249, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 248, 0, 0, 0, 3, 0, 1, 0, + 4, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 1, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 1, 0, 0, 3, 0, 1, 0, + 12, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 9, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 1, 0, 0, 3, 0, 1, 0, + 20, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 1, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 1, 0, 0, 3, 0, 1, 0, + 28, 1, 0, 0, 2, 0, 1, 0, + 111, 114, 105, 101, 110, 116, 97, 116, + 105, 111, 110, 78, 69, 68, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 43, 216, 204, 51, 135, 58, 201, 249, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 101, 108, 111, 99, 105, 116, 121, + 68, 101, 118, 105, 99, 101, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 43, 216, 204, 51, 135, 58, 201, 249, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 99, 101, 108, 101, 114, 97, + 116, 105, 111, 110, 68, 101, 118, 105, + 99, 101, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 43, 216, 204, 51, 135, 58, 201, 249, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 110, 103, 117, 108, 97, 114, 86, + 101, 108, 111, 99, 105, 116, 121, 68, + 101, 118, 105, 99, 101, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 43, 216, 204, 51, 135, 58, 201, 249, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 110, 112, 117, 116, 115, 79, 75, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 115, 101, 110, 101, 116, 79, + 75, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 101, 110, 115, 111, 114, 115, 79, + 75, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 105, 108, 116, 101, 114, 83, 116, + 97, 116, 101, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 102, 95, 203, 224, 196, 182, 203, 218, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_c24ca2b57206b44d = b_c24ca2b57206b44d.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_c24ca2b57206b44d[] = { + &s_dacbb6c4e0cb5f66, + &s_f9c93a8733ccd82b, +}; +static const uint16_t m_c24ca2b57206b44d[] = {2, 3, 7, 4, 0, 5, 6, 1}; +static const uint16_t i_c24ca2b57206b44d[] = {0, 1, 2, 3, 4, 5, 6, 7}; +const ::capnp::_::RawSchema s_c24ca2b57206b44d = { + 0xc24ca2b57206b44d, b_c24ca2b57206b44d.words, 155, d_c24ca2b57206b44d, m_c24ca2b57206b44d, + 2, 8, i_c24ca2b57206b44d, nullptr, nullptr, { &s_c24ca2b57206b44d, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<124> b_f9c93a8733ccd82b = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 43, 216, 204, 51, 135, 58, 201, 249, + 19, 0, 0, 0, 1, 0, 4, 0, + 77, 180, 6, 114, 181, 162, 76, 194, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 18, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 143, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 76, 105, 118, 101, 80, 111, + 115, 101, 46, 88, 89, 90, 77, 101, + 97, 115, 117, 114, 101, 109, 101, 110, + 116, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 28, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 0, 0, 0, 3, 0, 1, 0, + 188, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 0, 0, 0, 3, 0, 1, 0, + 192, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 0, 0, 0, 3, 0, 1, 0, + 196, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 193, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 0, 0, 0, 3, 0, 1, 0, + 200, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 192, 0, 0, 0, 3, 0, 1, 0, + 204, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 201, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 0, 0, 0, 3, 0, 1, 0, + 208, 0, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 192, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 0, 0, 0, 3, 0, 1, 0, + 212, 0, 0, 0, 2, 0, 1, 0, + 120, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 122, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 83, 116, 100, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 83, 116, 100, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 122, 83, 116, 100, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 97, 108, 105, 100, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_f9c93a8733ccd82b = b_f9c93a8733ccd82b.words; +#if !CAPNP_LITE +static const uint16_t m_f9c93a8733ccd82b[] = {6, 0, 3, 1, 4, 2, 5}; +static const uint16_t i_f9c93a8733ccd82b[] = {0, 1, 2, 3, 4, 5, 6}; +const ::capnp::_::RawSchema s_f9c93a8733ccd82b = { + 0xf9c93a8733ccd82b, b_f9c93a8733ccd82b.words, 124, nullptr, m_f9c93a8733ccd82b, + 0, 7, i_f9c93a8733ccd82b, nullptr, nullptr, { &s_f9c93a8733ccd82b, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<71> b_dacbb6c4e0cb5f66 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 102, 95, 203, 224, 196, 182, 203, 218, + 19, 0, 0, 0, 1, 0, 1, 0, + 77, 180, 6, 114, 181, 162, 76, 194, + 2, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 250, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 175, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 76, 105, 118, 101, 80, 111, + 115, 101, 46, 70, 105, 108, 116, 101, + 114, 83, 116, 97, 116, 101, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 64, 0, 0, 0, 3, 0, 1, 0, + 92, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 84, 0, 0, 0, 3, 0, 1, 0, + 112, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 0, 0, 0, 3, 0, 1, 0, + 116, 0, 0, 0, 2, 0, 1, 0, + 118, 97, 108, 117, 101, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 100, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 97, 108, 105, 100, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_dacbb6c4e0cb5f66 = b_dacbb6c4e0cb5f66.words; +#if !CAPNP_LITE +static const uint16_t m_dacbb6c4e0cb5f66[] = {1, 2, 0}; +static const uint16_t i_dacbb6c4e0cb5f66[] = {0, 1, 2}; +const ::capnp::_::RawSchema s_dacbb6c4e0cb5f66 = { + 0xdacbb6c4e0cb5f66, b_dacbb6c4e0cb5f66.words, 71, nullptr, m_dacbb6c4e0cb5f66, + 0, 3, i_dacbb6c4e0cb5f66, nullptr, nullptr, { &s_dacbb6c4e0cb5f66, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<81> b_af85387b3f681406 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 6, 20, 104, 63, 123, 56, 133, 175, + 10, 0, 0, 0, 1, 0, 0, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 3, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 146, 0, 0, 0, + 29, 0, 0, 0, 55, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 0, 0, 0, 175, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 80, 114, 111, 99, 76, 111, + 103, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 1, 0, 1, 0, + 40, 109, 158, 241, 19, 86, 184, 176, + 17, 0, 0, 0, 66, 0, 0, 0, + 135, 224, 44, 191, 197, 200, 137, 241, + 13, 0, 0, 0, 74, 0, 0, 0, + 212, 63, 139, 240, 148, 95, 9, 253, + 13, 0, 0, 0, 34, 0, 0, 0, + 80, 114, 111, 99, 101, 115, 115, 0, + 67, 80, 85, 84, 105, 109, 101, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 101, 109, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 0, 0, 0, 3, 0, 1, 0, + 96, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 93, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 88, 0, 0, 0, 3, 0, 1, 0, + 100, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 0, 0, 0, 3, 0, 1, 0, + 120, 0, 0, 0, 2, 0, 1, 0, + 99, 112, 117, 84, 105, 109, 101, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 135, 224, 44, 191, 197, 200, 137, 241, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 101, 109, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 212, 63, 139, 240, 148, 95, 9, 253, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 114, 111, 99, 115, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 40, 109, 158, 241, 19, 86, 184, 176, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_af85387b3f681406 = b_af85387b3f681406.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_af85387b3f681406[] = { + &s_b0b85613f19e6d28, + &s_f189c8c5bf2ce087, + &s_fd095f94f08b3fd4, +}; +static const uint16_t m_af85387b3f681406[] = {0, 1, 2}; +static const uint16_t i_af85387b3f681406[] = {0, 1, 2}; +const ::capnp::_::RawSchema s_af85387b3f681406 = { + 0xaf85387b3f681406, b_af85387b3f681406.words, 81, d_af85387b3f681406, m_af85387b3f681406, + 3, 3, i_af85387b3f681406, nullptr, nullptr, { &s_af85387b3f681406, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<285> b_b0b85613f19e6d28 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 40, 109, 158, 241, 19, 86, 184, 176, + 18, 0, 0, 0, 1, 0, 9, 0, + 6, 20, 104, 63, 123, 56, 133, 175, + 3, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 210, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 191, 3, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 80, 114, 111, 99, 76, 111, + 103, 46, 80, 114, 111, 99, 101, 115, + 115, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 68, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 1, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 1, 0, 0, 3, 0, 1, 0, + 212, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 1, 0, 0, 3, 0, 1, 0, + 216, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 213, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 1, 0, 0, 3, 0, 1, 0, + 220, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 217, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 212, 1, 0, 0, 3, 0, 1, 0, + 224, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 1, 0, 0, 3, 0, 1, 0, + 228, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 1, 0, 0, 3, 0, 1, 0, + 236, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 1, 0, 0, 3, 0, 1, 0, + 244, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 1, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 244, 1, 0, 0, 3, 0, 1, 0, + 0, 2, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 253, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 252, 1, 0, 0, 3, 0, 1, 0, + 8, 2, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 2, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 2, 0, 0, 3, 0, 1, 0, + 12, 2, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 2, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 2, 0, 0, 3, 0, 1, 0, + 20, 2, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 2, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 2, 0, 0, 3, 0, 1, 0, + 28, 2, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 2, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 2, 0, 0, 3, 0, 1, 0, + 32, 2, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 2, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 2, 0, 0, 3, 0, 1, 0, + 36, 2, 0, 0, 2, 0, 1, 0, + 14, 0, 0, 0, 11, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 2, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 2, 0, 0, 3, 0, 1, 0, + 44, 2, 0, 0, 2, 0, 1, 0, + 15, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 2, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 2, 0, 0, 3, 0, 1, 0, + 64, 2, 0, 0, 2, 0, 1, 0, + 16, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 16, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 61, 2, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 56, 2, 0, 0, 3, 0, 1, 0, + 68, 2, 0, 0, 2, 0, 1, 0, + 112, 105, 100, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 97, 109, 101, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 97, 116, 101, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 112, 105, 100, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 112, 117, 85, 115, 101, 114, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 112, 117, 83, 121, 115, 116, 101, + 109, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 112, 117, 67, 104, 105, 108, 100, + 114, 101, 110, 85, 115, 101, 114, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 112, 117, 67, 104, 105, 108, 100, + 114, 101, 110, 83, 121, 115, 116, 101, + 109, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 114, 105, 111, 114, 105, 116, 121, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 105, 99, 101, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 117, 109, 84, 104, 114, 101, 97, + 100, 115, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 97, 114, 116, 84, 105, 109, + 101, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 101, 109, 86, 109, 115, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 101, 109, 82, 115, 115, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 114, 111, 99, 101, 115, 115, 111, + 114, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 109, 100, 108, 105, 110, 101, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 120, 101, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_b0b85613f19e6d28 = b_b0b85613f19e6d28.words; +#if !CAPNP_LITE +static const uint16_t m_b0b85613f19e6d28[] = {15, 7, 6, 5, 4, 16, 13, 12, 1, 9, 10, 0, 3, 8, 14, 11, 2}; +static const uint16_t i_b0b85613f19e6d28[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16}; +const ::capnp::_::RawSchema s_b0b85613f19e6d28 = { + 0xb0b85613f19e6d28, b_b0b85613f19e6d28.words, 285, nullptr, m_b0b85613f19e6d28, + 0, 17, i_b0b85613f19e6d28, nullptr, nullptr, { &s_b0b85613f19e6d28, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<138> b_f189c8c5bf2ce087 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 135, 224, 44, 191, 197, 200, 137, 241, + 18, 0, 0, 0, 1, 0, 5, 0, + 6, 20, 104, 63, 123, 56, 133, 175, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 218, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 199, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 80, 114, 111, 99, 76, 111, + 103, 46, 67, 80, 85, 84, 105, 109, + 101, 115, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 32, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 0, 0, 0, 3, 0, 1, 0, + 216, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 213, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 0, 0, 0, 3, 0, 1, 0, + 220, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 217, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 212, 0, 0, 0, 3, 0, 1, 0, + 224, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 0, 0, 0, 3, 0, 1, 0, + 228, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 220, 0, 0, 0, 3, 0, 1, 0, + 232, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 229, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 0, 0, 0, 3, 0, 1, 0, + 236, 0, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 0, 0, 0, 3, 0, 1, 0, + 240, 0, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 0, 0, 0, 3, 0, 1, 0, + 244, 0, 0, 0, 2, 0, 1, 0, + 99, 112, 117, 78, 117, 109, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 115, 101, 114, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 105, 99, 101, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 121, 115, 116, 101, 109, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 100, 108, 101, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 111, 119, 97, 105, 116, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 114, 113, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 111, 102, 116, 105, 114, 113, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_f189c8c5bf2ce087 = b_f189c8c5bf2ce087.words; +#if !CAPNP_LITE +static const uint16_t m_f189c8c5bf2ce087[] = {0, 4, 5, 6, 2, 7, 3, 1}; +static const uint16_t i_f189c8c5bf2ce087[] = {0, 1, 2, 3, 4, 5, 6, 7}; +const ::capnp::_::RawSchema s_f189c8c5bf2ce087 = { + 0xf189c8c5bf2ce087, b_f189c8c5bf2ce087.words, 138, nullptr, m_f189c8c5bf2ce087, + 0, 8, i_f189c8c5bf2ce087, nullptr, nullptr, { &s_f189c8c5bf2ce087, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<139> b_fd095f94f08b3fd4 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 212, 63, 139, 240, 148, 95, 9, 253, + 18, 0, 0, 0, 1, 0, 8, 0, + 6, 20, 104, 63, 123, 56, 133, 175, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 178, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 199, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 80, 114, 111, 99, 76, 111, + 103, 46, 77, 101, 109, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 32, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 0, 0, 0, 3, 0, 1, 0, + 216, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 213, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 0, 0, 0, 3, 0, 1, 0, + 220, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 217, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 0, 0, 0, 3, 0, 1, 0, + 228, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 220, 0, 0, 0, 3, 0, 1, 0, + 232, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 229, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 0, 0, 0, 3, 0, 1, 0, + 236, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 0, 0, 0, 3, 0, 1, 0, + 240, 0, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 0, 0, 0, 3, 0, 1, 0, + 248, 0, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 245, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 0, 0, 0, 3, 0, 1, 0, + 252, 0, 0, 0, 2, 0, 1, 0, + 116, 111, 116, 97, 108, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 114, 101, 101, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 118, 97, 105, 108, 97, 98, 108, + 101, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 117, 102, 102, 101, 114, 115, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 99, 104, 101, 100, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 116, 105, 118, 101, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 110, 97, 99, 116, 105, 118, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 104, 97, 114, 101, 100, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_fd095f94f08b3fd4 = b_fd095f94f08b3fd4.words; +#if !CAPNP_LITE +static const uint16_t m_fd095f94f08b3fd4[] = {5, 2, 3, 4, 1, 6, 7, 0}; +static const uint16_t i_fd095f94f08b3fd4[] = {0, 1, 2, 3, 4, 5, 6, 7}; +const ::capnp::_::RawSchema s_fd095f94f08b3fd4 = { + 0xfd095f94f08b3fd4, b_fd095f94f08b3fd4.words, 139, nullptr, m_fd095f94f08b3fd4, + 0, 8, i_fd095f94f08b3fd4, nullptr, nullptr, { &s_fd095f94f08b3fd4, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<216> b_afd47016570e9d09 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 9, 157, 14, 87, 22, 112, 212, 175, + 10, 0, 0, 0, 1, 0, 3, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 6, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 218, 0, 0, 0, + 33, 0, 0, 0, 103, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 137, 0, 0, 0, 55, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 71, 110, 115, 115, 77, 101, + 97, 115, 117, 114, 101, 109, 101, 110, + 116, 115, 0, 0, 0, 0, 0, 0, + 24, 0, 0, 0, 1, 0, 1, 0, + 96, 184, 191, 168, 230, 107, 40, 243, + 41, 0, 0, 0, 130, 0, 0, 0, + 176, 118, 172, 134, 125, 161, 164, 234, + 41, 0, 0, 0, 170, 0, 0, 0, + 133, 173, 192, 135, 80, 239, 194, 188, + 45, 0, 0, 0, 210, 0, 0, 0, + 119, 8, 69, 168, 46, 156, 7, 130, + 53, 0, 0, 0, 130, 0, 0, 0, + 147, 141, 176, 4, 24, 188, 153, 194, + 53, 0, 0, 0, 114, 0, 0, 0, + 246, 153, 166, 150, 51, 155, 227, 246, + 53, 0, 0, 0, 130, 0, 0, 0, + 69, 112, 104, 101, 109, 101, 114, 105, + 115, 83, 116, 97, 116, 117, 115, 0, + 67, 111, 114, 114, 101, 99, 116, 101, + 100, 77, 101, 97, 115, 117, 114, 101, + 109, 101, 110, 116, 0, 0, 0, 0, + 69, 112, 104, 101, 109, 101, 114, 105, + 115, 83, 111, 117, 114, 99, 101, 68, + 69, 80, 82, 69, 67, 65, 84, 69, + 68, 0, 0, 0, 0, 0, 0, 0, + 67, 111, 110, 115, 116, 101, 108, 108, + 97, 116, 105, 111, 110, 73, 100, 0, + 69, 112, 104, 101, 109, 101, 114, 105, + 115, 84, 121, 112, 101, 0, 0, 0, + 69, 112, 104, 101, 109, 101, 114, 105, + 115, 83, 111, 117, 114, 99, 101, 0, + 40, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 1, 0, 0, 3, 0, 1, 0, + 20, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 1, 0, 0, 3, 0, 1, 0, + 24, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 1, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 1, 0, 0, 3, 0, 1, 0, + 32, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 1, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 1, 0, 0, 3, 0, 1, 0, + 60, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 57, 1, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 60, 1, 0, 0, 3, 0, 1, 0, + 72, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 1, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 1, 0, 0, 3, 0, 1, 0, + 84, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 81, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 80, 1, 0, 0, 3, 0, 1, 0, + 92, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 88, 1, 0, 0, 3, 0, 1, 0, + 100, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 1, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 1, 0, 0, 3, 0, 1, 0, + 108, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 1, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 1, 0, 0, 3, 0, 1, 0, + 136, 1, 0, 0, 2, 0, 1, 0, + 109, 101, 97, 115, 84, 105, 109, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 112, 115, 87, 101, 101, 107, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 112, 115, 84, 105, 109, 101, 79, + 102, 87, 101, 101, 107, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 111, 114, 114, 101, 99, 116, 101, + 100, 77, 101, 97, 115, 117, 114, 101, + 109, 101, 110, 116, 115, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 176, 118, 172, 134, 125, 161, 164, 234, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 107, 97, 108, 109, 97, 110, 80, 111, + 115, 105, 116, 105, 111, 110, 69, 67, + 69, 70, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 28, 206, 218, 102, 237, 249, 35, 191, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 107, 97, 108, 109, 97, 110, 86, 101, + 108, 111, 99, 105, 116, 121, 69, 67, + 69, 70, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 28, 206, 218, 102, 237, 249, 35, 191, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 115, 105, 116, 105, 111, 110, + 69, 67, 69, 70, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 28, 206, 218, 102, 237, 249, 35, 191, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 101, 108, 111, 99, 105, 116, 121, + 69, 67, 69, 70, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 28, 206, 218, 102, 237, 249, 35, 191, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 109, 101, 84, 111, 70, 105, + 114, 115, 116, 70, 105, 120, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 112, 104, 101, 109, 101, 114, 105, + 115, 83, 116, 97, 116, 117, 115, 101, + 115, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 96, 184, 191, 168, 230, 107, 40, 243, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_afd47016570e9d09 = b_afd47016570e9d09.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_afd47016570e9d09[] = { + &s_bf23f9ed66dace1c, + &s_eaa4a17d86ac76b0, + &s_f3286be6a8bfb860, +}; +static const uint16_t m_afd47016570e9d09[] = {3, 9, 2, 1, 4, 5, 0, 6, 8, 7}; +static const uint16_t i_afd47016570e9d09[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9}; +const ::capnp::_::RawSchema s_afd47016570e9d09 = { + 0xafd47016570e9d09, b_afd47016570e9d09.words, 216, d_afd47016570e9d09, m_afd47016570e9d09, + 3, 10, i_afd47016570e9d09, nullptr, nullptr, { &s_afd47016570e9d09, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<111> b_f3286be6a8bfb860 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 96, 184, 191, 168, 230, 107, 40, 243, + 27, 0, 0, 0, 1, 0, 3, 0, + 9, 157, 14, 87, 22, 112, 212, 175, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 90, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 87, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 71, 110, 115, 115, 77, 101, + 97, 115, 117, 114, 101, 109, 101, 110, + 116, 115, 46, 69, 112, 104, 101, 109, + 101, 114, 105, 115, 83, 116, 97, 116, + 117, 115, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 24, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 0, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 0, 0, 0, 3, 0, 1, 0, + 164, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 156, 0, 0, 0, 3, 0, 1, 0, + 168, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 165, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 0, 0, 0, 3, 0, 1, 0, + 172, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 164, 0, 0, 0, 3, 0, 1, 0, + 176, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 173, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 0, 0, 0, 3, 0, 1, 0, + 180, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 172, 0, 0, 0, 3, 0, 1, 0, + 184, 0, 0, 0, 2, 0, 1, 0, + 99, 111, 110, 115, 116, 101, 108, 108, + 97, 116, 105, 111, 110, 73, 100, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 119, 8, 69, 168, 46, 156, 7, 130, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 118, 73, 100, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 121, 112, 101, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 147, 141, 176, 4, 24, 188, 153, 194, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 111, 117, 114, 99, 101, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 246, 153, 166, 150, 51, 155, 227, 246, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 112, 115, 87, 101, 101, 107, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 111, 119, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_f3286be6a8bfb860 = b_f3286be6a8bfb860.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_f3286be6a8bfb860[] = { + &s_82079c2ea8450877, + &s_c299bc1804b08d93, + &s_f6e39b3396a699f6, +}; +static const uint16_t m_f3286be6a8bfb860[] = {0, 4, 3, 1, 5, 2}; +static const uint16_t i_f3286be6a8bfb860[] = {0, 1, 2, 3, 4, 5}; +const ::capnp::_::RawSchema s_f3286be6a8bfb860 = { + 0xf3286be6a8bfb860, b_f3286be6a8bfb860.words, 111, d_f3286be6a8bfb860, m_f3286be6a8bfb860, + 3, 6, i_f3286be6a8bfb860, nullptr, nullptr, { &s_f3286be6a8bfb860, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<189> b_eaa4a17d86ac76b0 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 176, 118, 172, 134, 125, 161, 164, 234, + 27, 0, 0, 0, 1, 0, 5, 0, + 9, 157, 14, 87, 22, 112, 212, 175, + 3, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 130, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 55, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 71, 110, 115, 115, 77, 101, + 97, 115, 117, 114, 101, 109, 101, 110, + 116, 115, 46, 67, 111, 114, 114, 101, + 99, 116, 101, 100, 77, 101, 97, 115, + 117, 114, 101, 109, 101, 110, 116, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 40, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 1, 0, 0, 3, 0, 1, 0, + 20, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 1, 0, 0, 3, 0, 1, 0, + 24, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 1, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 1, 0, 0, 3, 0, 1, 0, + 36, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 1, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 1, 0, 0, 3, 0, 1, 0, + 44, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 1, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 1, 0, 0, 3, 0, 1, 0, + 52, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 48, 1, 0, 0, 3, 0, 1, 0, + 60, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 57, 1, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 60, 1, 0, 0, 3, 0, 1, 0, + 72, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 64, 1, 0, 0, 3, 0, 1, 0, + 92, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 84, 1, 0, 0, 3, 0, 1, 0, + 112, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 1, 0, 0, 210, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 1, 0, 0, 3, 0, 1, 0, + 128, 1, 0, 0, 2, 0, 1, 0, + 99, 111, 110, 115, 116, 101, 108, 108, + 97, 116, 105, 111, 110, 73, 100, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 119, 8, 69, 168, 46, 156, 7, 130, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 118, 73, 100, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 108, 111, 110, 97, 115, 115, 70, + 114, 101, 113, 117, 101, 110, 99, 121, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 115, 101, 117, 100, 111, 114, 97, + 110, 103, 101, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 115, 101, 117, 100, 111, 114, 97, + 110, 103, 101, 83, 116, 100, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 115, 101, 117, 100, 111, 114, 97, + 110, 103, 101, 82, 97, 116, 101, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 115, 101, 117, 100, 111, 114, 97, + 110, 103, 101, 82, 97, 116, 101, 83, + 116, 100, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 97, 116, 80, 111, 115, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 97, 116, 86, 101, 108, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 112, 104, 101, 109, 101, 114, 105, + 115, 83, 111, 117, 114, 99, 101, 68, + 69, 80, 82, 69, 67, 65, 84, 69, + 68, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 133, 173, 192, 135, 80, 239, 194, 188, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_eaa4a17d86ac76b0 = b_eaa4a17d86ac76b0.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_eaa4a17d86ac76b0[] = { + &s_82079c2ea8450877, + &s_bcc2ef5087c0ad85, +}; +static const uint16_t m_eaa4a17d86ac76b0[] = {0, 9, 2, 3, 5, 6, 4, 7, 8, 1}; +static const uint16_t i_eaa4a17d86ac76b0[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9}; +const ::capnp::_::RawSchema s_eaa4a17d86ac76b0 = { + 0xeaa4a17d86ac76b0, b_eaa4a17d86ac76b0.words, 189, d_eaa4a17d86ac76b0, m_eaa4a17d86ac76b0, + 2, 10, i_eaa4a17d86ac76b0, nullptr, nullptr, { &s_eaa4a17d86ac76b0, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<67> b_bcc2ef5087c0ad85 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 133, 173, 192, 135, 80, 239, 194, 188, + 27, 0, 0, 0, 1, 0, 1, 0, + 9, 157, 14, 87, 22, 112, 212, 175, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 170, 1, 0, 0, + 45, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 175, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 71, 110, 115, 115, 77, 101, + 97, 115, 117, 114, 101, 109, 101, 110, + 116, 115, 46, 69, 112, 104, 101, 109, + 101, 114, 105, 115, 83, 111, 117, 114, + 99, 101, 68, 69, 80, 82, 69, 67, + 65, 84, 69, 68, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 64, 0, 0, 0, 3, 0, 1, 0, + 76, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 73, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 0, 0, 0, 3, 0, 1, 0, + 80, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 76, 0, 0, 0, 3, 0, 1, 0, + 88, 0, 0, 0, 2, 0, 1, 0, + 116, 121, 112, 101, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 147, 141, 176, 4, 24, 188, 153, 194, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 112, 115, 87, 101, 101, 107, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 112, 115, 84, 105, 109, 101, 79, + 102, 87, 101, 101, 107, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_bcc2ef5087c0ad85 = b_bcc2ef5087c0ad85.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_bcc2ef5087c0ad85[] = { + &s_c299bc1804b08d93, +}; +static const uint16_t m_bcc2ef5087c0ad85[] = {2, 1, 0}; +static const uint16_t i_bcc2ef5087c0ad85[] = {0, 1, 2}; +const ::capnp::_::RawSchema s_bcc2ef5087c0ad85 = { + 0xbcc2ef5087c0ad85, b_bcc2ef5087c0ad85.words, 67, d_bcc2ef5087c0ad85, m_bcc2ef5087c0ad85, + 1, 3, i_bcc2ef5087c0ad85, nullptr, nullptr, { &s_bcc2ef5087c0ad85, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<48> b_82079c2ea8450877 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 119, 8, 69, 168, 46, 156, 7, 130, + 27, 0, 0, 0, 2, 0, 0, 0, + 9, 157, 14, 87, 22, 112, 212, 175, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 90, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 175, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 71, 110, 115, 115, 77, 101, + 97, 115, 117, 114, 101, 109, 101, 110, + 116, 115, 46, 67, 111, 110, 115, 116, + 101, 108, 108, 97, 116, 105, 111, 110, + 73, 100, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 28, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 61, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 112, 115, 0, 0, 0, 0, 0, + 115, 98, 97, 115, 0, 0, 0, 0, + 103, 97, 108, 105, 108, 101, 111, 0, + 98, 101, 105, 100, 111, 117, 0, 0, + 105, 109, 101, 115, 0, 0, 0, 0, + 113, 122, 110, 115, 115, 0, 0, 0, + 103, 108, 111, 110, 97, 115, 115, 0, } +}; +::capnp::word const* const bp_82079c2ea8450877 = b_82079c2ea8450877.words; +#if !CAPNP_LITE +static const uint16_t m_82079c2ea8450877[] = {3, 2, 6, 0, 4, 5, 1}; +const ::capnp::_::RawSchema s_82079c2ea8450877 = { + 0x82079c2ea8450877, b_82079c2ea8450877.words, 48, nullptr, m_82079c2ea8450877, + 0, 7, nullptr, nullptr, nullptr, { &s_82079c2ea8450877, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(ConstellationId_82079c2ea8450877, 82079c2ea8450877); +static const ::capnp::_::AlignedData<39> b_c299bc1804b08d93 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 147, 141, 176, 4, 24, 188, 153, 194, + 27, 0, 0, 0, 2, 0, 0, 0, + 9, 157, 14, 87, 22, 112, 212, 175, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 74, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 103, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 71, 110, 115, 115, 77, 101, + 97, 115, 117, 114, 101, 109, 101, 110, + 116, 115, 46, 69, 112, 104, 101, 109, + 101, 114, 105, 115, 84, 121, 112, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 97, 118, 0, 0, 0, 0, 0, + 110, 97, 115, 97, 85, 108, 116, 114, + 97, 82, 97, 112, 105, 100, 0, 0, + 103, 108, 111, 110, 97, 115, 115, 73, + 97, 99, 85, 108, 116, 114, 97, 82, + 97, 112, 105, 100, 0, 0, 0, 0, + 113, 99, 111, 109, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_c299bc1804b08d93 = b_c299bc1804b08d93.words; +#if !CAPNP_LITE +static const uint16_t m_c299bc1804b08d93[] = {2, 1, 0, 3}; +const ::capnp::_::RawSchema s_c299bc1804b08d93 = { + 0xc299bc1804b08d93, b_c299bc1804b08d93.words, 39, nullptr, m_c299bc1804b08d93, + 0, 4, nullptr, nullptr, nullptr, { &s_c299bc1804b08d93, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(EphemerisType_c299bc1804b08d93, c299bc1804b08d93); +static const ::capnp::_::AlignedData<38> b_f6e39b3396a699f6 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 246, 153, 166, 150, 51, 155, 227, 246, + 27, 0, 0, 0, 2, 0, 0, 0, + 9, 157, 14, 87, 22, 112, 212, 175, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 90, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 103, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 71, 110, 115, 115, 77, 101, + 97, 115, 117, 114, 101, 109, 101, 110, + 116, 115, 46, 69, 112, 104, 101, 109, + 101, 114, 105, 115, 83, 111, 117, 114, + 99, 101, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 110, 115, 115, 67, 104, 105, 112, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 110, 116, 101, 114, 110, 101, 116, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 99, 104, 101, 0, 0, 0, + 117, 110, 107, 110, 111, 119, 110, 0, } +}; +::capnp::word const* const bp_f6e39b3396a699f6 = b_f6e39b3396a699f6.words; +#if !CAPNP_LITE +static const uint16_t m_f6e39b3396a699f6[] = {2, 0, 1, 3}; +const ::capnp::_::RawSchema s_f6e39b3396a699f6 = { + 0xf6e39b3396a699f6, b_f6e39b3396a699f6.words, 38, nullptr, m_f6e39b3396a699f6, + 0, 4, nullptr, nullptr, nullptr, { &s_f6e39b3396a699f6, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(EphemerisSource_f6e39b3396a699f6, f6e39b3396a699f6); +static const ::capnp::_::AlignedData<161> b_85dddd7ce6cefa5d = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 93, 250, 206, 230, 124, 221, 221, 133, + 10, 0, 0, 0, 1, 0, 1, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 1, 0, 7, 0, 0, 0, 7, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 162, 0, 0, 0, + 29, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 145, 0, 0, 0, 143, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 85, 98, 108, 111, 120, 71, + 110, 115, 115, 0, 0, 0, 0, 0, + 28, 0, 0, 0, 1, 0, 1, 0, + 83, 143, 104, 118, 255, 42, 100, 187, + 49, 0, 0, 0, 82, 0, 0, 0, + 244, 32, 152, 162, 70, 165, 59, 167, + 49, 0, 0, 0, 146, 0, 0, 0, + 92, 248, 24, 129, 120, 140, 65, 216, + 53, 0, 0, 0, 82, 0, 0, 0, + 38, 74, 154, 81, 222, 168, 163, 195, + 53, 0, 0, 0, 74, 0, 0, 0, + 168, 90, 39, 20, 177, 54, 176, 235, + 53, 0, 0, 0, 74, 0, 0, 0, + 198, 83, 14, 185, 16, 180, 25, 249, + 53, 0, 0, 0, 82, 0, 0, 0, + 12, 142, 56, 152, 17, 145, 197, 185, + 53, 0, 0, 0, 138, 0, 0, 0, + 83, 97, 116, 82, 101, 112, 111, 114, + 116, 0, 0, 0, 0, 0, 0, 0, + 77, 101, 97, 115, 117, 114, 101, 109, + 101, 110, 116, 82, 101, 112, 111, 114, + 116, 0, 0, 0, 0, 0, 0, 0, + 69, 112, 104, 101, 109, 101, 114, 105, + 115, 0, 0, 0, 0, 0, 0, 0, + 73, 111, 110, 111, 68, 97, 116, 97, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 119, 83, 116, 97, 116, 117, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 119, 83, 116, 97, 116, 117, 115, + 50, 0, 0, 0, 0, 0, 0, 0, + 71, 108, 111, 110, 97, 115, 115, 69, + 112, 104, 101, 109, 101, 114, 105, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 28, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 255, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 0, 0, 0, 3, 0, 1, 0, + 196, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 254, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 193, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 192, 0, 0, 0, 3, 0, 1, 0, + 204, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 253, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 201, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 0, 0, 0, 3, 0, 1, 0, + 212, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 252, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 0, 0, 0, 3, 0, 1, 0, + 220, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 251, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 217, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 0, 0, 0, 3, 0, 1, 0, + 228, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 250, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 0, 0, 0, 3, 0, 1, 0, + 240, 0, 0, 0, 2, 0, 1, 0, + 6, 0, 249, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 0, 0, 0, 3, 0, 1, 0, + 248, 0, 0, 0, 2, 0, 1, 0, + 109, 101, 97, 115, 117, 114, 101, 109, + 101, 110, 116, 82, 101, 112, 111, 114, + 116, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 244, 32, 152, 162, 70, 165, 59, 167, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 112, 104, 101, 109, 101, 114, 105, + 115, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 92, 248, 24, 129, 120, 140, 65, 216, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 111, 110, 111, 68, 97, 116, 97, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 38, 74, 154, 81, 222, 168, 163, 195, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 119, 83, 116, 97, 116, 117, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 168, 90, 39, 20, 177, 54, 176, 235, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 119, 83, 116, 97, 116, 117, 115, + 50, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 198, 83, 14, 185, 16, 180, 25, 249, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 108, 111, 110, 97, 115, 115, 69, + 112, 104, 101, 109, 101, 114, 105, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 12, 142, 56, 152, 17, 145, 197, 185, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 97, 116, 82, 101, 112, 111, 114, + 116, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 83, 143, 104, 118, 255, 42, 100, 187, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_85dddd7ce6cefa5d = b_85dddd7ce6cefa5d.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_85dddd7ce6cefa5d[] = { + &s_a73ba546a29820f4, + &s_b9c5911198388e0c, + &s_bb642aff76688f53, + &s_c3a3a8de519a4a26, + &s_d8418c788118f85c, + &s_ebb036b114275aa8, + &s_f919b410b90e53c6, +}; +static const uint16_t m_85dddd7ce6cefa5d[] = {1, 5, 3, 4, 2, 0, 6}; +static const uint16_t i_85dddd7ce6cefa5d[] = {0, 1, 2, 3, 4, 5, 6}; +const ::capnp::_::RawSchema s_85dddd7ce6cefa5d = { + 0x85dddd7ce6cefa5d, b_85dddd7ce6cefa5d.words, 161, d_85dddd7ce6cefa5d, m_85dddd7ce6cefa5d, + 7, 7, i_85dddd7ce6cefa5d, nullptr, nullptr, { &s_85dddd7ce6cefa5d, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<55> b_bb642aff76688f53 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 83, 143, 104, 118, 255, 42, 100, 187, + 20, 0, 0, 0, 1, 0, 1, 0, + 93, 250, 206, 230, 124, 221, 221, 133, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 242, 0, 0, 0, + 33, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 85, 98, 108, 111, 120, 71, + 110, 115, 115, 46, 83, 97, 116, 82, + 101, 112, 111, 114, 116, 0, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 67, 158, 215, 206, 2, 206, 157, 232, + 1, 0, 0, 0, 66, 0, 0, 0, + 83, 97, 116, 73, 110, 102, 111, 0, + 8, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 0, 0, 0, 3, 0, 1, 0, + 48, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 0, 0, 0, 3, 0, 1, 0, + 68, 0, 0, 0, 2, 0, 1, 0, + 105, 84, 111, 119, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 118, 115, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 67, 158, 215, 206, 2, 206, 157, 232, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_bb642aff76688f53 = b_bb642aff76688f53.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_bb642aff76688f53[] = { + &s_e89dce02ced79e43, +}; +static const uint16_t m_bb642aff76688f53[] = {0, 1}; +static const uint16_t i_bb642aff76688f53[] = {0, 1}; +const ::capnp::_::RawSchema s_bb642aff76688f53 = { + 0xbb642aff76688f53, b_bb642aff76688f53.words, 55, d_bb642aff76688f53, m_bb642aff76688f53, + 1, 2, i_bb642aff76688f53, nullptr, nullptr, { &s_bb642aff76688f53, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<65> b_e89dce02ced79e43 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 67, 158, 215, 206, 2, 206, 157, 232, + 30, 0, 0, 0, 1, 0, 1, 0, + 83, 143, 104, 118, 255, 42, 100, 187, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 50, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 175, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 85, 98, 108, 111, 120, 71, + 110, 115, 115, 46, 83, 97, 116, 82, + 101, 112, 111, 114, 116, 46, 83, 97, + 116, 73, 110, 102, 111, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 64, 0, 0, 0, 3, 0, 1, 0, + 76, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 73, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 0, 0, 0, 3, 0, 1, 0, + 80, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 76, 0, 0, 0, 3, 0, 1, 0, + 88, 0, 0, 0, 2, 0, 1, 0, + 115, 118, 73, 100, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 110, 115, 115, 73, 100, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 108, 97, 103, 115, 66, 105, 116, + 102, 105, 101, 108, 100, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e89dce02ced79e43 = b_e89dce02ced79e43.words; +#if !CAPNP_LITE +static const uint16_t m_e89dce02ced79e43[] = {2, 1, 0}; +static const uint16_t i_e89dce02ced79e43[] = {0, 1, 2}; +const ::capnp::_::RawSchema s_e89dce02ced79e43 = { + 0xe89dce02ced79e43, b_e89dce02ced79e43.words, 65, nullptr, m_e89dce02ced79e43, + 0, 3, i_e89dce02ced79e43, nullptr, nullptr, { &s_e89dce02ced79e43, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<124> b_a73ba546a29820f4 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 244, 32, 152, 162, 70, 165, 59, 167, + 20, 0, 0, 0, 1, 0, 2, 0, + 93, 250, 206, 230, 124, 221, 221, 133, + 2, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 50, 1, 0, 0, + 37, 0, 0, 0, 39, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 0, 0, 0, 87, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 85, 98, 108, 111, 120, 71, + 110, 115, 115, 46, 77, 101, 97, 115, + 117, 114, 101, 109, 101, 110, 116, 82, + 101, 112, 111, 114, 116, 0, 0, 0, + 8, 0, 0, 0, 1, 0, 1, 0, + 182, 170, 96, 81, 214, 56, 184, 251, + 9, 0, 0, 0, 122, 0, 0, 0, + 1, 100, 50, 94, 95, 101, 138, 143, + 9, 0, 0, 0, 98, 0, 0, 0, + 82, 101, 99, 101, 105, 118, 101, 114, + 83, 116, 97, 116, 117, 115, 0, 0, + 77, 101, 97, 115, 117, 114, 101, 109, + 101, 110, 116, 0, 0, 0, 0, 0, + 24, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 148, 0, 0, 0, 3, 0, 1, 0, + 160, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 157, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 0, 0, 0, 3, 0, 1, 0, + 164, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 0, 0, 0, 3, 0, 1, 0, + 172, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 0, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 0, 0, 0, 3, 0, 1, 0, + 180, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 12, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 172, 0, 0, 0, 3, 0, 1, 0, + 184, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 0, 0, 0, 3, 0, 1, 0, + 208, 0, 0, 0, 2, 0, 1, 0, + 114, 99, 118, 84, 111, 119, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 112, 115, 87, 101, 101, 107, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 97, 112, 83, 101, 99, 111, + 110, 100, 115, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 99, 101, 105, 118, 101, 114, + 83, 116, 97, 116, 117, 115, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 182, 170, 96, 81, 214, 56, 184, 251, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 117, 109, 77, 101, 97, 115, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 101, 97, 115, 117, 114, 101, 109, + 101, 110, 116, 115, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 1, 100, 50, 94, 95, 101, 138, 143, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a73ba546a29820f4 = b_a73ba546a29820f4.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_a73ba546a29820f4[] = { + &s_8f8a655f5e326401, + &s_fbb838d65160aab6, +}; +static const uint16_t m_a73ba546a29820f4[] = {1, 2, 5, 4, 0, 3}; +static const uint16_t i_a73ba546a29820f4[] = {0, 1, 2, 3, 4, 5}; +const ::capnp::_::RawSchema s_a73ba546a29820f4 = { + 0xa73ba546a29820f4, b_a73ba546a29820f4.words, 124, d_a73ba546a29820f4, m_a73ba546a29820f4, + 2, 6, i_a73ba546a29820f4, nullptr, nullptr, { &s_a73ba546a29820f4, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<53> b_fbb838d65160aab6 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 182, 170, 96, 81, 214, 56, 184, 251, + 38, 0, 0, 0, 1, 0, 1, 0, + 244, 32, 152, 162, 70, 165, 59, 167, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 170, 1, 0, 0, + 45, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 85, 98, 108, 111, 120, 71, + 110, 115, 115, 46, 77, 101, 97, 115, + 117, 114, 101, 109, 101, 110, 116, 82, + 101, 112, 111, 114, 116, 46, 82, 101, + 99, 101, 105, 118, 101, 114, 83, 116, + 97, 116, 117, 115, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 8, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 0, 0, 0, 3, 0, 1, 0, + 52, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 48, 0, 0, 0, 3, 0, 1, 0, + 60, 0, 0, 0, 2, 0, 1, 0, + 108, 101, 97, 112, 83, 101, 99, 86, + 97, 108, 105, 100, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 108, 107, 82, 101, 115, 101, 116, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_fbb838d65160aab6 = b_fbb838d65160aab6.words; +#if !CAPNP_LITE +static const uint16_t m_fbb838d65160aab6[] = {1, 0}; +static const uint16_t i_fbb838d65160aab6[] = {0, 1}; +const ::capnp::_::RawSchema s_fbb838d65160aab6 = { + 0xfbb838d65160aab6, b_fbb838d65160aab6.words, 53, nullptr, m_fbb838d65160aab6, + 0, 2, i_fbb838d65160aab6, nullptr, nullptr, { &s_fbb838d65160aab6, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<231> b_8f8a655f5e326401 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 1, 100, 50, 94, 95, 101, 138, 143, + 38, 0, 0, 0, 1, 0, 5, 0, + 244, 32, 152, 162, 70, 165, 59, 167, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 146, 1, 0, 0, + 45, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 57, 0, 0, 0, 223, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 85, 98, 108, 111, 120, 71, + 110, 115, 115, 46, 77, 101, 97, 115, + 117, 114, 101, 109, 101, 110, 116, 82, + 101, 112, 111, 114, 116, 46, 77, 101, + 97, 115, 117, 114, 101, 109, 101, 110, + 116, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 178, 153, 178, 2, 168, 179, 239, 232, + 1, 0, 0, 0, 122, 0, 0, 0, + 84, 114, 97, 99, 107, 105, 110, 103, + 83, 116, 97, 116, 117, 115, 0, 0, + 52, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 93, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 88, 1, 0, 0, 3, 0, 1, 0, + 100, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 1, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 1, 0, 0, 3, 0, 1, 0, + 108, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 1, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 1, 0, 0, 3, 0, 1, 0, + 116, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 1, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 1, 0, 0, 3, 0, 1, 0, + 124, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 1, 0, 0, 3, 0, 1, 0, + 128, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 1, 0, 0, 3, 0, 1, 0, + 132, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 129, 1, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 132, 1, 0, 0, 3, 0, 1, 0, + 144, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 12, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 141, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 140, 1, 0, 0, 3, 0, 1, 0, + 152, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 149, 1, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 144, 1, 0, 0, 3, 0, 1, 0, + 156, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 1, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 156, 1, 0, 0, 3, 0, 1, 0, + 168, 1, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 165, 1, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 1, 0, 0, 3, 0, 1, 0, + 180, 1, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 1, 0, 0, 3, 0, 1, 0, + 188, 1, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 1, 0, 0, 3, 0, 1, 0, + 192, 1, 0, 0, 2, 0, 1, 0, + 115, 118, 73, 100, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 114, 97, 99, 107, 105, 110, 103, + 83, 116, 97, 116, 117, 115, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 178, 153, 178, 2, 168, 179, 239, 232, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 115, 101, 117, 100, 111, 114, 97, + 110, 103, 101, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 114, 105, 101, 114, 67, + 121, 99, 108, 101, 115, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 111, 112, 112, 108, 101, 114, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 110, 115, 115, 73, 100, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 108, 111, 110, 97, 115, 115, 70, + 114, 101, 113, 117, 101, 110, 99, 121, + 73, 110, 100, 101, 120, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 99, 107, 116, 105, 109, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 110, 111, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 115, 101, 117, 100, 111, 114, 97, + 110, 103, 101, 83, 116, 100, 101, 118, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 114, 105, 101, 114, 80, + 104, 97, 115, 101, 83, 116, 100, 101, + 118, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 111, 112, 112, 108, 101, 114, 83, + 116, 100, 101, 118, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 105, 103, 73, 100, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_8f8a655f5e326401 = b_8f8a655f5e326401.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_8f8a655f5e326401[] = { + &s_e8efb3a802b299b2, +}; +static const uint16_t m_8f8a655f5e326401[] = {3, 10, 8, 4, 11, 6, 5, 7, 2, 9, 12, 0, 1}; +static const uint16_t i_8f8a655f5e326401[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12}; +const ::capnp::_::RawSchema s_8f8a655f5e326401 = { + 0x8f8a655f5e326401, b_8f8a655f5e326401.words, 231, d_8f8a655f5e326401, m_8f8a655f5e326401, + 1, 13, i_8f8a655f5e326401, nullptr, nullptr, { &s_8f8a655f5e326401, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<90> b_e8efb3a802b299b2 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 178, 153, 178, 2, 168, 179, 239, 232, + 50, 0, 0, 0, 1, 0, 1, 0, + 1, 100, 50, 94, 95, 101, 138, 143, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 10, 2, 0, 0, + 53, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 231, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 85, 98, 108, 111, 120, 71, + 110, 115, 115, 46, 77, 101, 97, 115, + 117, 114, 101, 109, 101, 110, 116, 82, + 101, 112, 111, 114, 116, 46, 77, 101, + 97, 115, 117, 114, 101, 109, 101, 110, + 116, 46, 84, 114, 97, 99, 107, 105, + 110, 103, 83, 116, 97, 116, 117, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 0, 0, 0, 3, 0, 1, 0, + 112, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 0, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 0, 0, 0, 3, 0, 1, 0, + 124, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 0, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 0, 0, 0, 3, 0, 1, 0, + 132, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 129, 0, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 132, 0, 0, 0, 3, 0, 1, 0, + 144, 0, 0, 0, 2, 0, 1, 0, + 112, 115, 101, 117, 100, 111, 114, 97, + 110, 103, 101, 86, 97, 108, 105, 100, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 114, 105, 101, 114, 80, + 104, 97, 115, 101, 86, 97, 108, 105, + 100, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 97, 108, 102, 67, 121, 99, 108, + 101, 86, 97, 108, 105, 100, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 97, 108, 102, 67, 121, 99, 108, + 101, 83, 117, 98, 116, 114, 97, 99, + 116, 101, 100, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e8efb3a802b299b2 = b_e8efb3a802b299b2.words; +#if !CAPNP_LITE +static const uint16_t m_e8efb3a802b299b2[] = {1, 3, 2, 0}; +static const uint16_t i_e8efb3a802b299b2[] = {0, 1, 2, 3}; +const ::capnp::_::RawSchema s_e8efb3a802b299b2 = { + 0xe8efb3a802b299b2, b_e8efb3a802b299b2.words, 90, nullptr, m_e8efb3a802b299b2, + 0, 4, i_e8efb3a802b299b2, nullptr, nullptr, { &s_e8efb3a802b299b2, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<682> b_d8418c788118f85c = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 92, 248, 24, 129, 120, 140, 65, 216, + 20, 0, 0, 0, 1, 0, 34, 0, + 93, 250, 206, 230, 124, 221, 221, 133, + 2, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 242, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 111, 9, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 85, 98, 108, 111, 120, 71, + 110, 115, 115, 46, 69, 112, 104, 101, + 109, 101, 114, 105, 115, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 172, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 165, 4, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 4, 0, 0, 3, 0, 1, 0, + 172, 4, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 4, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 164, 4, 0, 0, 3, 0, 1, 0, + 176, 4, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 173, 4, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 4, 0, 0, 3, 0, 1, 0, + 180, 4, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 4, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 172, 4, 0, 0, 3, 0, 1, 0, + 184, 4, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 4, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 4, 0, 0, 3, 0, 1, 0, + 188, 4, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 4, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 4, 0, 0, 3, 0, 1, 0, + 192, 4, 0, 0, 2, 0, 1, 0, + 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0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 112, 115, 87, 101, 101, 107, 68, + 69, 80, 82, 69, 67, 65, 84, 69, + 68, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 50, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 118, 65, 99, 99, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 118, 72, 101, 97, 108, 116, 104, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 103, 100, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 111, 100, 99, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 114, 97, 110, 115, 109, 105, 115, + 115, 105, 111, 110, 84, 105, 109, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 105, 116, 73, 110, 116, 101, 114, + 118, 97, 108, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 111, 99, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 111, 110, 111, 67, 111, 101, 102, + 102, 115, 86, 97, 108, 105, 100, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 111, 110, 111, 65, 108, 112, 104, + 97, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 111, 110, 111, 66, 101, 116, 97, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 111, 119, 67, 111, 117, 110, 116, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 111, 101, 87, 101, 101, 107, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 111, 99, 87, 101, 101, 107, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_d8418c788118f85c = b_d8418c788118f85c.words; +#if !CAPNP_LITE +static const uint16_t m_d8418c788118f85c[] = {17, 7, 8, 9, 19, 21, 27, 23, 11, 14, 16, 3, 12, 15, 35, 28, 4, 22, 26, 33, 10, 38, 39, 37, 29, 13, 5, 2, 24, 20, 25, 6, 30, 31, 0, 32, 36, 42, 18, 41, 40, 34, 1}; +static const uint16_t i_d8418c788118f85c[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42}; +const ::capnp::_::RawSchema s_d8418c788118f85c = { + 0xd8418c788118f85c, b_d8418c788118f85c.words, 682, nullptr, m_d8418c788118f85c, + 0, 43, i_d8418c788118f85c, nullptr, nullptr, { &s_d8418c788118f85c, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<136> b_c3a3a8de519a4a26 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 38, 74, 154, 81, 222, 168, 163, 195, + 20, 0, 0, 0, 1, 0, 3, 0, + 93, 250, 206, 230, 124, 221, 221, 133, + 2, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 234, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 143, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 85, 98, 108, 111, 120, 71, + 110, 115, 115, 46, 73, 111, 110, 111, + 68, 97, 116, 97, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 28, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 0, 0, 0, 3, 0, 1, 0, + 192, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 0, 0, 0, 3, 0, 1, 0, + 196, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 193, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 0, 0, 0, 3, 0, 1, 0, + 200, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 0, 0, 0, 3, 0, 1, 0, + 224, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 220, 0, 0, 0, 3, 0, 1, 0, + 248, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 32, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 245, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 244, 0, 0, 0, 3, 0, 1, 0, + 0, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 33, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 253, 0, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 252, 0, 0, 0, 3, 0, 1, 0, + 8, 1, 0, 0, 2, 0, 1, 0, + 115, 118, 72, 101, 97, 108, 116, 104, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 111, 119, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 112, 115, 87, 101, 101, 107, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 111, 110, 111, 65, 108, 112, 104, + 97, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 111, 110, 111, 66, 101, 116, 97, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 101, 97, 108, 116, 104, 86, 97, + 108, 105, 100, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 111, 110, 111, 67, 111, 101, 102, + 102, 115, 86, 97, 108, 105, 100, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_c3a3a8de519a4a26 = b_c3a3a8de519a4a26.words; +#if !CAPNP_LITE +static const uint16_t m_c3a3a8de519a4a26[] = {2, 5, 3, 4, 6, 0, 1}; +static const uint16_t i_c3a3a8de519a4a26[] = {0, 1, 2, 3, 4, 5, 6}; +const ::capnp::_::RawSchema s_c3a3a8de519a4a26 = { + 0xc3a3a8de519a4a26, b_c3a3a8de519a4a26.words, 136, nullptr, m_c3a3a8de519a4a26, + 0, 7, i_c3a3a8de519a4a26, nullptr, nullptr, { &s_c3a3a8de519a4a26, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<119> b_ebb036b114275aa8 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 168, 90, 39, 20, 177, 54, 176, 235, + 20, 0, 0, 0, 1, 0, 2, 0, + 93, 250, 206, 230, 124, 221, 221, 133, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 234, 0, 0, 0, + 33, 0, 0, 0, 39, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 87, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 85, 98, 108, 111, 120, 71, + 110, 115, 115, 46, 72, 119, 83, 116, + 97, 116, 117, 115, 0, 0, 0, 0, + 8, 0, 0, 0, 1, 0, 1, 0, + 83, 91, 77, 171, 40, 17, 62, 194, + 9, 0, 0, 0, 186, 0, 0, 0, + 89, 101, 228, 36, 169, 81, 59, 254, + 13, 0, 0, 0, 154, 0, 0, 0, + 65, 110, 116, 101, 110, 110, 97, 83, + 117, 112, 101, 114, 118, 105, 115, 111, + 114, 83, 116, 97, 116, 101, 0, 0, + 65, 110, 116, 101, 110, 110, 97, 80, + 111, 119, 101, 114, 83, 116, 97, 116, + 117, 115, 0, 0, 0, 0, 0, 0, + 24, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 0, 0, 0, 3, 0, 1, 0, + 164, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 156, 0, 0, 0, 3, 0, 1, 0, + 168, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 165, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 0, 0, 0, 3, 0, 1, 0, + 172, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 164, 0, 0, 0, 3, 0, 1, 0, + 176, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 173, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 0, 0, 0, 3, 0, 1, 0, + 180, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 172, 0, 0, 0, 3, 0, 1, 0, + 184, 0, 0, 0, 2, 0, 1, 0, + 110, 111, 105, 115, 101, 80, 101, 114, + 77, 83, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 103, 99, 67, 110, 116, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 83, 116, 97, 116, 117, 115, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 83, 91, 77, 171, 40, 17, 62, 194, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 80, 111, 119, 101, 114, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 89, 101, 228, 36, 169, 81, 59, 254, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 106, 97, 109, 73, 110, 100, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 108, 97, 103, 115, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_ebb036b114275aa8 = b_ebb036b114275aa8.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_ebb036b114275aa8[] = { + &s_c23e1128ab4d5b53, + &s_fe3b51a924e46559, +}; +static const uint16_t m_ebb036b114275aa8[] = {3, 2, 1, 5, 4, 0}; +static const uint16_t i_ebb036b114275aa8[] = {0, 1, 2, 3, 4, 5}; +const ::capnp::_::RawSchema s_ebb036b114275aa8 = { + 0xebb036b114275aa8, b_ebb036b114275aa8.words, 119, d_ebb036b114275aa8, m_ebb036b114275aa8, + 2, 6, i_ebb036b114275aa8, nullptr, nullptr, { &s_ebb036b114275aa8, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<42> b_c23e1128ab4d5b53 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 83, 91, 77, 171, 40, 17, 62, 194, + 29, 0, 0, 0, 2, 0, 0, 0, + 168, 90, 39, 20, 177, 54, 176, 235, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 162, 1, 0, 0, + 45, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 127, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 85, 98, 108, 111, 120, 71, + 110, 115, 115, 46, 72, 119, 83, 116, + 97, 116, 117, 115, 46, 65, 110, 116, + 101, 110, 110, 97, 83, 117, 112, 101, + 114, 118, 105, 115, 111, 114, 83, 116, + 97, 116, 101, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 20, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 110, 105, 116, 0, 0, 0, 0, + 100, 111, 110, 116, 107, 110, 111, 119, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 107, 0, 0, 0, 0, 0, 0, + 115, 104, 111, 114, 116, 0, 0, 0, + 111, 112, 101, 110, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_c23e1128ab4d5b53 = b_c23e1128ab4d5b53.words; +#if !CAPNP_LITE +static const uint16_t m_c23e1128ab4d5b53[] = {1, 0, 2, 4, 3}; +const ::capnp::_::RawSchema s_c23e1128ab4d5b53 = { + 0xc23e1128ab4d5b53, b_c23e1128ab4d5b53.words, 42, nullptr, m_c23e1128ab4d5b53, + 0, 5, nullptr, nullptr, nullptr, { &s_c23e1128ab4d5b53, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(AntennaSupervisorState_c23e1128ab4d5b53, c23e1128ab4d5b53); +static const ::capnp::_::AlignedData<33> b_fe3b51a924e46559 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 89, 101, 228, 36, 169, 81, 59, 254, + 29, 0, 0, 0, 2, 0, 0, 0, + 168, 90, 39, 20, 177, 54, 176, 235, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 130, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 79, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 85, 98, 108, 111, 120, 71, + 110, 115, 115, 46, 72, 119, 83, 116, + 97, 116, 117, 115, 46, 65, 110, 116, + 101, 110, 110, 97, 80, 111, 119, 101, + 114, 83, 116, 97, 116, 117, 115, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 102, 102, 0, 0, 0, 0, 0, + 111, 110, 0, 0, 0, 0, 0, 0, + 100, 111, 110, 116, 107, 110, 111, 119, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_fe3b51a924e46559 = b_fe3b51a924e46559.words; +#if !CAPNP_LITE +static const uint16_t m_fe3b51a924e46559[] = {2, 0, 1}; +const ::capnp::_::RawSchema s_fe3b51a924e46559 = { + 0xfe3b51a924e46559, b_fe3b51a924e46559.words, 33, nullptr, m_fe3b51a924e46559, + 0, 3, nullptr, nullptr, nullptr, { &s_fe3b51a924e46559, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(AntennaPowerStatus_fe3b51a924e46559, fe3b51a924e46559); +static const ::capnp::_::AlignedData<130> b_f919b410b90e53c6 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 198, 83, 14, 185, 16, 180, 25, 249, + 20, 0, 0, 0, 1, 0, 2, 0, + 93, 250, 206, 230, 124, 221, 221, 133, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 242, 0, 0, 0, + 33, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 143, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 85, 98, 108, 111, 120, 71, + 110, 115, 115, 46, 72, 119, 83, 116, + 97, 116, 117, 115, 50, 0, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 185, 151, 28, 181, 94, 152, 208, 178, + 1, 0, 0, 0, 106, 0, 0, 0, + 67, 111, 110, 102, 105, 103, 83, 111, + 117, 114, 99, 101, 0, 0, 0, 0, + 28, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 0, 0, 0, 3, 0, 1, 0, + 188, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 0, 0, 0, 3, 0, 1, 0, + 192, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 0, 0, 0, 3, 0, 1, 0, + 196, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 193, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 0, 0, 0, 3, 0, 1, 0, + 200, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 0, 0, 0, 3, 0, 1, 0, + 208, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 0, 0, 0, 3, 0, 1, 0, + 216, 0, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 213, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 212, 0, 0, 0, 3, 0, 1, 0, + 224, 0, 0, 0, 2, 0, 1, 0, + 111, 102, 115, 73, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 97, 103, 73, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 102, 115, 81, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 97, 103, 81, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 102, 103, 83, 111, 117, 114, 99, + 101, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 185, 151, 28, 181, 94, 152, 208, 178, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 119, 76, 101, 118, 67, 102, + 103, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 115, 116, 83, 116, 97, 116, + 117, 115, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_f919b410b90e53c6 = b_f919b410b90e53c6.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_f919b410b90e53c6[] = { + &s_b2d0985eb51c97b9, +}; +static const uint16_t m_f919b410b90e53c6[] = {4, 5, 1, 3, 0, 2, 6}; +static const uint16_t i_f919b410b90e53c6[] = {0, 1, 2, 3, 4, 5, 6}; +const ::capnp::_::RawSchema s_f919b410b90e53c6 = { + 0xf919b410b90e53c6, b_f919b410b90e53c6.words, 130, d_f919b410b90e53c6, m_f919b410b90e53c6, + 1, 7, i_f919b410b90e53c6, nullptr, nullptr, { &s_f919b410b90e53c6, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<42> b_b2d0985eb51c97b9 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 185, 151, 28, 181, 94, 152, 208, 178, + 30, 0, 0, 0, 2, 0, 0, 0, + 198, 83, 14, 185, 16, 180, 25, 249, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 90, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 127, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 85, 98, 108, 111, 120, 71, + 110, 115, 115, 46, 72, 119, 83, 116, + 97, 116, 117, 115, 50, 46, 67, 111, + 110, 102, 105, 103, 83, 111, 117, 114, + 99, 101, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 20, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 100, 101, 102, 105, 110, 101, + 100, 0, 0, 0, 0, 0, 0, 0, + 114, 111, 109, 0, 0, 0, 0, 0, + 111, 116, 112, 0, 0, 0, 0, 0, + 99, 111, 110, 102, 105, 103, 112, 105, + 110, 115, 0, 0, 0, 0, 0, 0, + 102, 108, 97, 115, 104, 0, 0, 0, } +}; +::capnp::word const* const bp_b2d0985eb51c97b9 = b_b2d0985eb51c97b9.words; +#if !CAPNP_LITE +static const uint16_t m_b2d0985eb51c97b9[] = {3, 4, 2, 1, 0}; +const ::capnp::_::RawSchema s_b2d0985eb51c97b9 = { + 0xb2d0985eb51c97b9, b_b2d0985eb51c97b9.words, 42, nullptr, m_b2d0985eb51c97b9, + 0, 5, nullptr, nullptr, nullptr, { &s_b2d0985eb51c97b9, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(ConfigSource_b2d0985eb51c97b9, b2d0985eb51c97b9); +static const ::capnp::_::AlignedData<521> b_b9c5911198388e0c = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 12, 142, 56, 152, 17, 145, 197, 185, + 20, 0, 0, 0, 1, 0, 18, 0, + 93, 250, 206, 230, 124, 221, 221, 133, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 42, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 63, 7, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 85, 98, 108, 111, 120, 71, + 110, 115, 115, 46, 71, 108, 111, 110, + 97, 115, 115, 69, 112, 104, 101, 109, + 101, 114, 105, 115, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 132, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 141, 3, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 136, 3, 0, 0, 3, 0, 1, 0, + 148, 3, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 145, 3, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 140, 3, 0, 0, 3, 0, 1, 0, + 152, 3, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 149, 3, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 148, 3, 0, 0, 3, 0, 1, 0, + 160, 3, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 157, 3, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 3, 0, 0, 3, 0, 1, 0, + 164, 3, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 3, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 156, 3, 0, 0, 3, 0, 1, 0, + 168, 3, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 165, 3, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 3, 0, 0, 3, 0, 1, 0, + 172, 3, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 3, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 164, 3, 0, 0, 3, 0, 1, 0, + 176, 3, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 173, 3, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 3, 0, 0, 3, 0, 1, 0, + 180, 3, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 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0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 65, 99, 99, 101, 108, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 122, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 122, 86, 101, 108, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 122, 65, 99, 99, 101, 108, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 118, 84, 121, 112, 101, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 118, 85, 82, 65, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 103, 101, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 118, 72, 101, 97, 108, 116, 104, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 107, 68, 69, 80, 82, 69, 67, + 65, 84, 69, 68, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 98, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 97, 117, 78, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 108, 116, 97, 84, 97, 117, + 78, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 97, 109, 109, 97, 78, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 49, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 50, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 51, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 52, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 114, 101, 113, 78, 117, 109, 68, + 69, 80, 82, 69, 67, 65, 84, 69, + 68, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 52, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 116, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 114, 101, 113, 78, 117, 109, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 107, 83, 101, 99, 111, 110, 100, + 115, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_b9c5911198388e0c = b_b9c5911198388e0c.words; +#if !CAPNP_LITE +static const uint16_t m_b9c5911198388e0c[] = {17, 2, 22, 31, 28, 23, 3, 4, 29, 30, 24, 25, 26, 27, 5, 18, 0, 15, 16, 21, 20, 19, 32, 6, 8, 7, 9, 11, 10, 1, 12, 14, 13}; +static const uint16_t i_b9c5911198388e0c[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32}; +const ::capnp::_::RawSchema s_b9c5911198388e0c = { + 0xb9c5911198388e0c, b_b9c5911198388e0c.words, 521, nullptr, m_b9c5911198388e0c, + 0, 33, i_b9c5911198388e0c, nullptr, nullptr, { &s_b9c5911198388e0c, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<146> b_de94674b07ae51c1 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 193, 81, 174, 7, 75, 103, 148, 222, + 10, 0, 0, 0, 1, 0, 2, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 1, 0, 7, 0, 0, 0, 5, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 154, 0, 0, 0, + 29, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 157, 0, 0, 0, 87, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 81, 99, 111, 109, 71, 110, + 115, 115, 0, 0, 0, 0, 0, 0, + 28, 0, 0, 0, 1, 0, 1, 0, + 238, 167, 173, 250, 182, 18, 26, 215, + 49, 0, 0, 0, 146, 0, 0, 0, + 233, 131, 108, 13, 154, 130, 30, 232, + 53, 0, 0, 0, 154, 0, 0, 0, + 59, 232, 202, 27, 14, 1, 1, 229, + 57, 0, 0, 0, 146, 0, 0, 0, + 146, 134, 123, 107, 216, 215, 128, 245, + 61, 0, 0, 0, 146, 0, 0, 0, + 11, 79, 143, 221, 74, 94, 150, 202, + 65, 0, 0, 0, 98, 0, 0, 0, + 92, 199, 198, 69, 148, 195, 83, 128, + 65, 0, 0, 0, 162, 0, 0, 0, + 112, 50, 103, 26, 129, 128, 251, 177, + 69, 0, 0, 0, 122, 0, 0, 0, + 77, 101, 97, 115, 117, 114, 101, 109, + 101, 110, 116, 83, 111, 117, 114, 99, + 101, 0, 0, 0, 0, 0, 0, 0, + 83, 86, 79, 98, 115, 101, 114, 118, + 97, 116, 105, 111, 110, 83, 116, 97, + 116, 101, 0, 0, 0, 0, 0, 0, + 77, 101, 97, 115, 117, 114, 101, 109, + 101, 110, 116, 83, 116, 97, 116, 117, + 115, 0, 0, 0, 0, 0, 0, 0, + 77, 101, 97, 115, 117, 114, 101, 109, + 101, 110, 116, 82, 101, 112, 111, 114, + 116, 0, 0, 0, 0, 0, 0, 0, + 67, 108, 111, 99, 107, 82, 101, 112, + 111, 114, 116, 0, 0, 0, 0, 0, + 68, 114, 77, 101, 97, 115, 117, 114, + 101, 109, 101, 110, 116, 82, 101, 112, + 111, 114, 116, 0, 0, 0, 0, 0, + 68, 114, 83, 118, 80, 111, 108, 121, + 82, 101, 112, 111, 114, 116, 0, 0, + 24, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 148, 0, 0, 0, 3, 0, 1, 0, + 160, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 255, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 157, 0, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 0, 0, 0, 3, 0, 1, 0, + 172, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 254, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 0, 0, 0, 3, 0, 1, 0, + 180, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 253, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 0, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 0, 0, 0, 3, 0, 1, 0, + 192, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 252, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 0, 0, 0, 3, 0, 1, 0, + 200, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 251, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 192, 0, 0, 0, 3, 0, 1, 0, + 204, 0, 0, 0, 2, 0, 1, 0, + 108, 111, 103, 84, 115, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 101, 97, 115, 117, 114, 101, 109, + 101, 110, 116, 82, 101, 112, 111, 114, + 116, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 146, 134, 123, 107, 216, 215, 128, 245, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 108, 111, 99, 107, 82, 101, 112, + 111, 114, 116, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 11, 79, 143, 221, 74, 94, 150, 202, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 114, 77, 101, 97, 115, 117, 114, + 101, 109, 101, 110, 116, 82, 101, 112, + 111, 114, 116, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 92, 199, 198, 69, 148, 195, 83, 128, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 114, 83, 118, 80, 111, 108, 121, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 112, 50, 103, 26, 129, 128, 251, 177, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 97, 119, 76, 111, 103, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_de94674b07ae51c1 = b_de94674b07ae51c1.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_de94674b07ae51c1[] = { + &s_8053c39445c6c75c, + &s_b1fb80811a673270, + &s_ca965e4add8f4f0b, + &s_f580d7d86b7b8692, +}; +static const uint16_t m_de94674b07ae51c1[] = {2, 3, 4, 0, 1, 5}; +static const uint16_t i_de94674b07ae51c1[] = {1, 2, 3, 4, 5, 0}; +const ::capnp::_::RawSchema s_de94674b07ae51c1 = { + 0xde94674b07ae51c1, b_de94674b07ae51c1.words, 146, d_de94674b07ae51c1, m_de94674b07ae51c1, + 4, 6, i_de94674b07ae51c1, nullptr, nullptr, { &s_de94674b07ae51c1, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<50> b_d71a12b6faada7ee = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 238, 167, 173, 250, 182, 18, 26, 215, + 19, 0, 0, 0, 2, 0, 0, 0, + 193, 81, 174, 7, 75, 103, 148, 222, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 42, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 175, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 81, 99, 111, 109, 71, 110, + 115, 115, 46, 77, 101, 97, 115, 117, + 114, 101, 109, 101, 110, 116, 83, 111, + 117, 114, 99, 101, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 28, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 61, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 112, 115, 0, 0, 0, 0, 0, + 103, 108, 111, 110, 97, 115, 115, 0, + 98, 101, 105, 100, 111, 117, 0, 0, + 117, 110, 107, 110, 111, 119, 110, 51, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 107, 110, 111, 119, 110, 52, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 107, 110, 111, 119, 110, 53, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 98, 97, 115, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_d71a12b6faada7ee = b_d71a12b6faada7ee.words; +#if !CAPNP_LITE +static const uint16_t m_d71a12b6faada7ee[] = {2, 1, 0, 6, 3, 4, 5}; +const ::capnp::_::RawSchema s_d71a12b6faada7ee = { + 0xd71a12b6faada7ee, b_d71a12b6faada7ee.words, 50, nullptr, m_d71a12b6faada7ee, + 0, 7, nullptr, nullptr, nullptr, { &s_d71a12b6faada7ee, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(MeasurementSource_d71a12b6faada7ee, d71a12b6faada7ee); +static const ::capnp::_::AlignedData<63> b_e81e829a0d6c83e9 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 233, 131, 108, 13, 154, 130, 30, 232, + 19, 0, 0, 0, 2, 0, 0, 0, + 193, 81, 174, 7, 75, 103, 148, 222, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 50, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 247, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 81, 99, 111, 109, 71, 110, + 115, 115, 46, 83, 86, 79, 98, 115, + 101, 114, 118, 97, 116, 105, 111, 110, + 83, 116, 97, 116, 101, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 40, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 105, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 93, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 85, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 81, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 73, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 65, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 57, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 100, 108, 101, 0, 0, 0, 0, + 115, 101, 97, 114, 99, 104, 0, 0, + 115, 101, 97, 114, 99, 104, 86, 101, + 114, 105, 102, 121, 0, 0, 0, 0, + 98, 105, 116, 69, 100, 103, 101, 0, + 116, 114, 97, 99, 107, 86, 101, 114, + 105, 102, 121, 0, 0, 0, 0, 0, + 116, 114, 97, 99, 107, 0, 0, 0, + 114, 101, 115, 116, 97, 114, 116, 0, + 100, 112, 111, 0, 0, 0, 0, 0, + 103, 108, 111, 49, 48, 109, 115, 66, + 101, 0, 0, 0, 0, 0, 0, 0, + 103, 108, 111, 49, 48, 109, 115, 65, + 116, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e81e829a0d6c83e9 = b_e81e829a0d6c83e9.words; +#if !CAPNP_LITE +static const uint16_t m_e81e829a0d6c83e9[] = {3, 7, 9, 8, 0, 6, 1, 2, 5, 4}; +const ::capnp::_::RawSchema s_e81e829a0d6c83e9 = { + 0xe81e829a0d6c83e9, b_e81e829a0d6c83e9.words, 63, nullptr, m_e81e829a0d6c83e9, + 0, 10, nullptr, nullptr, nullptr, { &s_e81e829a0d6c83e9, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(SVObservationState_e81e829a0d6c83e9, e81e829a0d6c83e9); +static const ::capnp::_::AlignedData<522> b_e501010e1bcae83b = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 59, 232, 202, 27, 14, 1, 1, 229, + 19, 0, 0, 0, 1, 0, 1, 0, + 193, 81, 174, 7, 75, 103, 148, 222, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 42, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 95, 6, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 81, 99, 111, 109, 71, 110, + 115, 115, 46, 77, 101, 97, 115, 117, + 114, 101, 109, 101, 110, 116, 83, 116, + 97, 116, 117, 115, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 116, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 3, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 3, 0, 0, 3, 0, 1, 0, + 44, 3, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 3, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 44, 3, 0, 0, 3, 0, 1, 0, + 56, 3, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 3, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 56, 3, 0, 0, 3, 0, 1, 0, + 68, 3, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 3, 0, 0, 218, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 3, 0, 0, 3, 0, 1, 0, + 84, 3, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 81, 3, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 84, 3, 0, 0, 3, 0, 1, 0, + 96, 3, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 93, 3, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 3, 0, 0, 3, 0, 1, 0, + 108, 3, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 3, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 3, 0, 0, 3, 0, 1, 0, + 116, 3, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 3, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 3, 0, 0, 3, 0, 1, 0, + 128, 3, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 3, 0, 0, 202, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 132, 3, 0, 0, 3, 0, 1, 0, + 144, 3, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 141, 3, 0, 0, 10, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 3, 0, 0, 3, 0, 1, 0, + 164, 3, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 3, 0, 0, 18, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 172, 3, 0, 0, 3, 0, 1, 0, + 184, 3, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 11, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 3, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 3, 0, 0, 3, 0, 1, 0, + 196, 3, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 12, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 193, 3, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 3, 0, 0, 3, 0, 1, 0, + 208, 3, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 13, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 3, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 3, 0, 0, 3, 0, 1, 0, + 220, 3, 0, 0, 2, 0, 1, 0, + 14, 0, 0, 0, 14, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 217, 3, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 3, 0, 0, 3, 0, 1, 0, + 228, 3, 0, 0, 2, 0, 1, 0, + 15, 0, 0, 0, 15, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 3, 0, 0, 218, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 3, 0, 0, 3, 0, 1, 0, + 244, 3, 0, 0, 2, 0, 1, 0, + 16, 0, 0, 0, 16, 0, 0, 0, + 0, 0, 1, 0, 16, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 3, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 244, 3, 0, 0, 3, 0, 1, 0, + 0, 4, 0, 0, 2, 0, 1, 0, + 17, 0, 0, 0, 17, 0, 0, 0, + 0, 0, 1, 0, 17, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 253, 3, 0, 0, 202, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 4, 0, 0, 3, 0, 1, 0, + 16, 4, 0, 0, 2, 0, 1, 0, + 18, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 1, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 4, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 4, 0, 0, 3, 0, 1, 0, + 24, 4, 0, 0, 2, 0, 1, 0, + 19, 0, 0, 0, 19, 0, 0, 0, + 0, 0, 1, 0, 19, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 4, 0, 0, 26, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 4, 0, 0, 3, 0, 1, 0, + 44, 4, 0, 0, 2, 0, 1, 0, + 20, 0, 0, 0, 20, 0, 0, 0, + 0, 0, 1, 0, 20, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 4, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 44, 4, 0, 0, 3, 0, 1, 0, + 56, 4, 0, 0, 2, 0, 1, 0, + 21, 0, 0, 0, 21, 0, 0, 0, + 0, 0, 1, 0, 21, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 4, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 56, 4, 0, 0, 3, 0, 1, 0, + 68, 4, 0, 0, 2, 0, 1, 0, + 22, 0, 0, 0, 22, 0, 0, 0, + 0, 0, 1, 0, 22, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 4, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 4, 0, 0, 3, 0, 1, 0, + 80, 4, 0, 0, 2, 0, 1, 0, + 23, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 1, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 4, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 80, 4, 0, 0, 3, 0, 1, 0, + 92, 4, 0, 0, 2, 0, 1, 0, + 24, 0, 0, 0, 24, 0, 0, 0, + 0, 0, 1, 0, 24, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 4, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 4, 0, 0, 3, 0, 1, 0, + 104, 4, 0, 0, 2, 0, 1, 0, + 25, 0, 0, 0, 25, 0, 0, 0, + 0, 0, 1, 0, 25, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 4, 0, 0, 202, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 4, 0, 0, 3, 0, 1, 0, + 120, 4, 0, 0, 2, 0, 1, 0, + 26, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 1, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 4, 0, 0, 210, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 4, 0, 0, 3, 0, 1, 0, + 136, 4, 0, 0, 2, 0, 1, 0, + 27, 0, 0, 0, 27, 0, 0, 0, + 0, 0, 1, 0, 27, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 133, 4, 0, 0, 202, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 140, 4, 0, 0, 3, 0, 1, 0, + 152, 4, 0, 0, 2, 0, 1, 0, + 28, 0, 0, 0, 28, 0, 0, 0, + 0, 0, 1, 0, 28, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 149, 4, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 4, 0, 0, 3, 0, 1, 0, + 164, 4, 0, 0, 2, 0, 1, 0, + 115, 117, 98, 77, 105, 108, 108, 105, + 115, 101, 99, 111, 110, 100, 73, 115, + 86, 97, 108, 105, 100, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 117, 98, 66, 105, 116, 84, 105, + 109, 101, 73, 115, 75, 110, 111, 119, + 110, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 97, 116, 101, 108, 108, 105, 116, + 101, 84, 105, 109, 101, 73, 115, 75, + 110, 111, 119, 110, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 105, 116, 69, 100, 103, 101, 67, + 111, 110, 102, 105, 114, 109, 101, 100, + 70, 114, 111, 109, 83, 105, 103, 110, + 97, 108, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 101, 97, 115, 117, 114, 101, 100, + 86, 101, 108, 111, 99, 105, 116, 121, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 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86, 97, 108, 105, 100, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 105, 114, 101, 99, 116, 105, 111, + 110, 73, 115, 86, 97, 108, 105, 100, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e501010e1bcae83b = b_e501010e1bcae83b.words; +#if !CAPNP_LITE +static const uint16_t m_e501010e1bcae83b[] = {3, 28, 5, 26, 15, 16, 20, 21, 22, 19, 17, 18, 24, 8, 9, 7, 6, 25, 4, 12, 27, 23, 14, 2, 13, 10, 1, 0, 11}; +static const uint16_t i_e501010e1bcae83b[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28}; +const ::capnp::_::RawSchema s_e501010e1bcae83b = { + 0xe501010e1bcae83b, b_e501010e1bcae83b.words, 522, nullptr, m_e501010e1bcae83b, + 0, 29, i_e501010e1bcae83b, nullptr, nullptr, { &s_e501010e1bcae83b, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<204> b_f580d7d86b7b8692 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 146, 134, 123, 107, 216, 215, 128, 245, + 19, 0, 0, 0, 1, 0, 4, 0, + 193, 81, 174, 7, 75, 103, 148, 222, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 42, 1, 0, 0, + 37, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 111, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 81, 99, 111, 109, 71, 110, + 115, 115, 46, 77, 101, 97, 115, 117, + 114, 101, 109, 101, 110, 116, 82, 101, + 112, 111, 114, 116, 0, 0, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 39, 44, 187, 231, 90, 89, 12, 241, + 1, 0, 0, 0, 26, 0, 0, 0, + 83, 86, 0, 0, 0, 0, 0, 0, + 44, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 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110, 97, 115, 115, 78, + 117, 109, 98, 101, 114, 79, 102, 68, + 97, 121, 115, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 105, 108, 108, 105, 115, 101, 99, + 111, 110, 100, 115, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 109, 101, 66, 105, 97, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 108, 111, 99, 107, 84, 105, 109, + 101, 85, 110, 99, 101, 114, 116, 97, + 105, 110, 116, 121, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 108, 111, 99, 107, 70, 114, 101, + 113, 117, 101, 110, 99, 121, 66, 105, + 97, 115, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 108, 111, 99, 107, 70, 114, 101, + 113, 117, 101, 110, 99, 121, 85, 110, + 99, 101, 114, 116, 97, 105, 110, 116, + 121, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 118, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 39, 44, 187, 231, 90, 89, 12, 241, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_f580d7d86b7b8692 = b_f580d7d86b7b8692.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_f580d7d86b7b8692[] = { + &s_d71a12b6faada7ee, + &s_f10c595ae7bb2c27, +}; +static const uint16_t m_f580d7d86b7b8692[] = {8, 9, 7, 1, 3, 4, 2, 5, 0, 10, 6}; +static const uint16_t i_f580d7d86b7b8692[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10}; +const ::capnp::_::RawSchema s_f580d7d86b7b8692 = { + 0xf580d7d86b7b8692, b_f580d7d86b7b8692.words, 204, d_f580d7d86b7b8692, m_f580d7d86b7b8692, + 2, 11, i_f580d7d86b7b8692, nullptr, nullptr, { &s_f580d7d86b7b8692, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<454> b_f10c595ae7bb2c27 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 39, 44, 187, 231, 90, 89, 12, 241, + 37, 0, 0, 0, 1, 0, 8, 0, + 146, 134, 123, 107, 216, 215, 128, 245, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 66, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 183, 5, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 81, 99, 111, 109, 71, 110, + 115, 115, 46, 77, 101, 97, 115, 117, + 114, 101, 109, 101, 110, 116, 82, 101, + 112, 111, 114, 116, 46, 83, 86, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 104, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 201, 2, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 2, 0, 0, 3, 0, 1, 0, + 208, 2, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 2, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 2, 0, 0, 3, 0, 1, 0, + 220, 2, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 217, 2, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 220, 2, 0, 0, 3, 0, 1, 0, + 232, 2, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 229, 2, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 2, 0, 0, 3, 0, 1, 0, + 240, 2, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 2, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 2, 0, 0, 3, 0, 1, 0, + 252, 2, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 249, 2, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 252, 2, 0, 0, 3, 0, 1, 0, + 8, 3, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 3, 0, 0, 202, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 3, 0, 0, 3, 0, 1, 0, + 24, 3, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 3, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 3, 0, 0, 3, 0, 1, 0, + 32, 3, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 3, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 28, 3, 0, 0, 3, 0, 1, 0, + 40, 3, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 3, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 3, 0, 0, 3, 0, 1, 0, + 44, 3, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 14, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 3, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 44, 3, 0, 0, 3, 0, 1, 0, + 56, 3, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 3, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 52, 3, 0, 0, 3, 0, 1, 0, + 64, 3, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 61, 3, 0, 0, 242, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 3, 0, 0, 3, 0, 1, 0, + 80, 3, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 3, 0, 0, 242, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 84, 3, 0, 0, 3, 0, 1, 0, + 96, 3, 0, 0, 2, 0, 1, 0, + 14, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 93, 3, 0, 0, 210, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 3, 0, 0, 3, 0, 1, 0, + 112, 3, 0, 0, 2, 0, 1, 0, + 15, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 3, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 3, 0, 0, 3, 0, 1, 0, + 120, 3, 0, 0, 2, 0, 1, 0, + 16, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 16, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 3, 0, 0, 218, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 3, 0, 0, 3, 0, 1, 0, + 136, 3, 0, 0, 2, 0, 1, 0, + 17, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 17, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 133, 3, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 136, 3, 0, 0, 3, 0, 1, 0, + 148, 3, 0, 0, 2, 0, 1, 0, + 18, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 145, 3, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 148, 3, 0, 0, 3, 0, 1, 0, + 160, 3, 0, 0, 2, 0, 1, 0, + 19, 0, 0, 0, 11, 0, 0, 0, + 0, 0, 1, 0, 19, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 157, 3, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 3, 0, 0, 3, 0, 1, 0, + 164, 3, 0, 0, 2, 0, 1, 0, + 20, 0, 0, 0, 12, 0, 0, 0, + 0, 0, 1, 0, 20, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 3, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 3, 0, 0, 3, 0, 1, 0, + 172, 3, 0, 0, 2, 0, 1, 0, + 21, 0, 0, 0, 13, 0, 0, 0, + 0, 0, 1, 0, 21, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 3, 0, 0, 218, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 3, 0, 0, 3, 0, 1, 0, + 188, 3, 0, 0, 2, 0, 1, 0, + 22, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 22, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 3, 0, 0, 218, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 192, 3, 0, 0, 3, 0, 1, 0, + 204, 3, 0, 0, 2, 0, 1, 0, + 23, 0, 0, 0, 14, 0, 0, 0, + 0, 0, 1, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 201, 3, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 3, 0, 0, 3, 0, 1, 0, + 212, 3, 0, 0, 2, 0, 1, 0, + 24, 0, 0, 0, 15, 0, 0, 0, + 0, 0, 1, 0, 24, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 3, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 212, 3, 0, 0, 3, 0, 1, 0, + 224, 3, 0, 0, 2, 0, 1, 0, + 25, 0, 0, 0, 15, 0, 0, 0, + 0, 0, 1, 0, 25, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 3, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 220, 3, 0, 0, 3, 0, 1, 0, + 232, 3, 0, 0, 2, 0, 1, 0, + 115, 118, 73, 100, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 108, 111, 110, 97, 115, 115, 70, + 114, 101, 113, 117, 101, 110, 99, 121, + 73, 110, 100, 101, 120, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 98, 115, 101, 114, 118, 97, 116, + 105, 111, 110, 83, 116, 97, 116, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 233, 131, 108, 13, 154, 130, 30, 232, + 0, 0, 0, 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0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 105, 110, 101, 83, 112, 101, 101, + 100, 85, 110, 99, 101, 114, 116, 97, + 105, 110, 116, 121, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 121, 99, 108, 101, 83, 108, 105, + 112, 67, 111, 117, 110, 116, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_f10c595ae7bb2c27 = b_f10c595ae7bb2c27.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_f10c595ae7bb2c27[] = { + &s_e501010e1bcae83b, + &s_e81e829a0d6c83e9, +}; +static const uint16_t m_f10c595ae7bb2c27[] = {19, 8, 22, 21, 25, 20, 7, 23, 24, 1, 6, 4, 5, 9, 17, 18, 2, 3, 11, 10, 0, 13, 12, 15, 16, 14}; +static const uint16_t i_f10c595ae7bb2c27[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25}; +const ::capnp::_::RawSchema s_f10c595ae7bb2c27 = { + 0xf10c595ae7bb2c27, b_f10c595ae7bb2c27.words, 454, d_f10c595ae7bb2c27, m_f10c595ae7bb2c27, + 2, 26, i_f10c595ae7bb2c27, nullptr, nullptr, { &s_f10c595ae7bb2c27, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<877> b_ca965e4add8f4f0b = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 11, 79, 143, 221, 74, 94, 150, 202, + 19, 0, 0, 0, 1, 0, 18, 0, + 193, 81, 174, 7, 75, 103, 148, 222, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 250, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 47, 11, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 81, 99, 111, 109, 71, 110, + 115, 115, 46, 67, 108, 111, 99, 107, + 82, 101, 112, 111, 114, 116, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 204, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 133, 5, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 132, 5, 0, 0, 3, 0, 1, 0, + 144, 5, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 141, 5, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 136, 5, 0, 0, 3, 0, 1, 0, + 148, 5, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 145, 5, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 144, 5, 0, 0, 3, 0, 1, 0, + 156, 5, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 5, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 148, 5, 0, 0, 3, 0, 1, 0, + 160, 5, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 157, 5, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 5, 0, 0, 3, 0, 1, 0, + 172, 5, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 5, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 5, 0, 0, 3, 0, 1, 0, + 180, 5, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 5, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 5, 0, 0, 3, 0, 1, 0, + 188, 5, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 5, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 5, 0, 0, 3, 0, 1, 0, + 200, 5, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 5, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 5, 0, 0, 3, 0, 1, 0, + 208, 5, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 5, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 5, 0, 0, 3, 0, 1, 0, + 216, 5, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 20, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 213, 5, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 212, 5, 0, 0, 3, 0, 1, 0, + 224, 5, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 5, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 220, 5, 0, 0, 3, 0, 1, 0, + 232, 5, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 11, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 229, 5, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 5, 0, 0, 3, 0, 1, 0, + 240, 5, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 5, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 5, 0, 0, 3, 0, 1, 0, + 252, 5, 0, 0, 2, 0, 1, 0, + 14, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 249, 5, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 252, 5, 0, 0, 3, 0, 1, 0, + 8, 6, 0, 0, 2, 0, 1, 0, + 15, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 6, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 6, 0, 0, 3, 0, 1, 0, + 16, 6, 0, 0, 2, 0, 1, 0, + 16, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 16, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 6, 0, 0, 226, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 6, 0, 0, 3, 0, 1, 0, + 32, 6, 0, 0, 2, 0, 1, 0, + 17, 0, 0, 0, 21, 0, 0, 0, + 0, 0, 1, 0, 17, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 6, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 6, 0, 0, 3, 0, 1, 0, + 44, 6, 0, 0, 2, 0, 1, 0, + 18, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 1, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 6, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 6, 0, 0, 3, 0, 1, 0, + 48, 6, 0, 0, 2, 0, 1, 0, + 19, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 19, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 6, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 44, 6, 0, 0, 3, 0, 1, 0, + 56, 6, 0, 0, 2, 0, 1, 0, + 20, 0, 0, 0, 11, 0, 0, 0, + 0, 0, 1, 0, 20, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 6, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 52, 6, 0, 0, 3, 0, 1, 0, + 64, 6, 0, 0, 2, 0, 1, 0, + 21, 0, 0, 0, 12, 0, 0, 0, + 0, 0, 1, 0, 21, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 61, 6, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 64, 6, 0, 0, 3, 0, 1, 0, + 76, 6, 0, 0, 2, 0, 1, 0, + 22, 0, 0, 0, 38, 0, 0, 0, + 0, 0, 1, 0, 22, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 73, 6, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 6, 0, 0, 3, 0, 1, 0, + 84, 6, 0, 0, 2, 0, 1, 0, + 23, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 1, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 81, 6, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 76, 6, 0, 0, 3, 0, 1, 0, + 88, 6, 0, 0, 2, 0, 1, 0, + 24, 0, 0, 0, 14, 0, 0, 0, + 0, 0, 1, 0, 24, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 85, 6, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 84, 6, 0, 0, 3, 0, 1, 0, + 96, 6, 0, 0, 2, 0, 1, 0, + 25, 0, 0, 0, 15, 0, 0, 0, + 0, 0, 1, 0, 25, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 93, 6, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 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0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 112, 109, 82, 116, 99, 67, 111, + 117, 110, 116, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 108, 111, 99, 107, 82, 101, 115, + 101, 116, 115, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_ca965e4add8f4f0b = b_ca965e4add8f4f0b.words; +#if !CAPNP_LITE +static const uint16_t m_ca965e4add8f4f0b[] = {22, 21, 19, 20, 38, 39, 18, 28, 29, 50, 1, 48, 30, 27, 26, 24, 25, 44, 45, 42, 43, 23, 17, 16, 12, 14, 15, 10, 8, 7, 31, 33, 32, 5, 6, 36, 37, 40, 41, 34, 35, 3, 0, 11, 13, 9, 4, 2, 46, 49, 47}; +static const uint16_t i_ca965e4add8f4f0b[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50}; +const ::capnp::_::RawSchema s_ca965e4add8f4f0b = { + 0xca965e4add8f4f0b, b_ca965e4add8f4f0b.words, 877, nullptr, m_ca965e4add8f4f0b, + 0, 51, i_ca965e4add8f4f0b, nullptr, nullptr, { &s_ca965e4add8f4f0b, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<484> b_8053c39445c6c75c = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 92, 199, 198, 69, 148, 195, 83, 128, + 19, 0, 0, 0, 1, 0, 10, 0, + 193, 81, 174, 7, 75, 103, 148, 222, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 58, 1, 0, 0, + 37, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 39, 6, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 81, 99, 111, 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0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 156, 69, 191, 140, 223, 129, 139, 240, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_8053c39445c6c75c = b_8053c39445c6c75c.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_8053c39445c6c75c[] = { + &s_d71a12b6faada7ee, + &s_f08b81df8cbf459c, +}; +static const uint16_t m_8053c39445c6c75c[] = {23, 24, 6, 5, 25, 17, 22, 19, 20, 21, 18, 16, 15, 8, 9, 13, 14, 10, 11, 12, 0, 3, 2, 1, 26, 27, 7, 4}; +static const uint16_t i_8053c39445c6c75c[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27}; +const ::capnp::_::RawSchema s_8053c39445c6c75c = { + 0x8053c39445c6c75c, b_8053c39445c6c75c.words, 484, d_8053c39445c6c75c, m_8053c39445c6c75c, + 2, 28, i_8053c39445c6c75c, nullptr, nullptr, { &s_8053c39445c6c75c, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<567> b_f08b81df8cbf459c = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 156, 69, 191, 140, 223, 129, 139, 240, + 39, 0, 0, 0, 1, 0, 12, 0, + 92, 199, 198, 69, 148, 195, 83, 128, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 82, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 63, 7, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 81, 99, 111, 109, 71, 110, + 115, 115, 46, 68, 114, 77, 101, 97, + 115, 117, 114, 101, 109, 101, 110, 116, + 82, 101, 112, 111, 114, 116, 46, 83, + 86, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 132, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 141, 3, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 136, 3, 0, 0, 3, 0, 1, 0, + 148, 3, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 145, 3, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 148, 3, 0, 0, 3, 0, 1, 0, + 160, 3, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 157, 3, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 3, 0, 0, 3, 0, 1, 0, + 172, 3, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 3, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 3, 0, 0, 3, 0, 1, 0, + 180, 3, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 3, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 3, 0, 0, 3, 0, 1, 0, + 192, 3, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 3, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 3, 0, 0, 3, 0, 1, 0, + 200, 3, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 3, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 3, 0, 0, 3, 0, 1, 0, + 212, 3, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 3, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 3, 0, 0, 3, 0, 1, 0, + 220, 3, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 217, 3, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 3, 0, 0, 3, 0, 1, 0, + 228, 3, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 3, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 3, 0, 0, 3, 0, 1, 0, + 240, 3, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 3, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 3, 0, 0, 3, 0, 1, 0, + 248, 3, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 245, 3, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 3, 0, 0, 3, 0, 1, 0, + 252, 3, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 249, 3, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 244, 3, 0, 0, 3, 0, 1, 0, + 0, 4, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 253, 3, 0, 0, 226, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 4, 0, 0, 3, 0, 1, 0, + 16, 4, 0, 0, 2, 0, 1, 0, + 14, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 4, 0, 0, 226, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 4, 0, 0, 3, 0, 1, 0, + 32, 4, 0, 0, 2, 0, 1, 0, + 15, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 4, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 4, 0, 0, 3, 0, 1, 0, + 44, 4, 0, 0, 2, 0, 1, 0, + 16, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 16, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 4, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 4, 0, 0, 3, 0, 1, 0, + 52, 4, 0, 0, 2, 0, 1, 0, + 17, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 17, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 4, 0, 0, 202, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 56, 4, 0, 0, 3, 0, 1, 0, + 68, 4, 0, 0, 2, 0, 1, 0, + 18, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 4, 0, 0, 242, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 4, 0, 0, 3, 0, 1, 0, + 84, 4, 0, 0, 2, 0, 1, 0, + 19, 0, 0, 0, 11, 0, 0, 0, + 0, 0, 1, 0, 19, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 81, 4, 0, 0, 242, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 88, 4, 0, 0, 3, 0, 1, 0, + 100, 4, 0, 0, 2, 0, 1, 0, + 20, 0, 0, 0, 12, 0, 0, 0, + 0, 0, 1, 0, 20, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 4, 0, 0, 210, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 4, 0, 0, 3, 0, 1, 0, + 116, 4, 0, 0, 2, 0, 1, 0, + 21, 0, 0, 0, 13, 0, 0, 0, + 0, 0, 1, 0, 21, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 4, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 4, 0, 0, 3, 0, 1, 0, + 124, 4, 0, 0, 2, 0, 1, 0, + 22, 0, 0, 0, 14, 0, 0, 0, + 0, 0, 1, 0, 22, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 4, 0, 0, 218, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 128, 4, 0, 0, 3, 0, 1, 0, + 140, 4, 0, 0, 2, 0, 1, 0, + 23, 0, 0, 0, 15, 0, 0, 0, + 0, 0, 1, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 137, 4, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 140, 4, 0, 0, 3, 0, 1, 0, + 152, 4, 0, 0, 2, 0, 1, 0, + 24, 0, 0, 0, 16, 0, 0, 0, + 0, 0, 1, 0, 24, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 149, 4, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 144, 4, 0, 0, 3, 0, 1, 0, + 156, 4, 0, 0, 2, 0, 1, 0, + 25, 0, 0, 0, 17, 0, 0, 0, + 0, 0, 1, 0, 25, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 4, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 4, 0, 0, 3, 0, 1, 0, + 164, 4, 0, 0, 2, 0, 1, 0, + 26, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 1, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 4, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 164, 4, 0, 0, 3, 0, 1, 0, + 176, 4, 0, 0, 2, 0, 1, 0, + 27, 0, 0, 0, 19, 0, 0, 0, + 0, 0, 1, 0, 27, 0, 0, 0, + 0, 0, 0, 0, 0, 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0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 111, 111, 100, 80, 97, 114, 105, + 116, 121, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_f08b81df8cbf459c = b_f08b81df8cbf459c.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_f08b81df8cbf459c[] = { + &s_e501010e1bcae83b, + &s_e81e829a0d6c83e9, +}; +static const uint16_t m_f08b81df8cbf459c[] = {24, 10, 29, 7, 26, 25, 30, 5, 13, 14, 16, 17, 15, 27, 28, 1, 4, 32, 12, 9, 23, 2, 3, 31, 8, 6, 11, 0, 18, 19, 21, 22, 20}; +static const uint16_t i_f08b81df8cbf459c[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32}; +const ::capnp::_::RawSchema s_f08b81df8cbf459c = { + 0xf08b81df8cbf459c, b_f08b81df8cbf459c.words, 567, d_f08b81df8cbf459c, m_f08b81df8cbf459c, + 2, 33, i_f08b81df8cbf459c, nullptr, nullptr, { &s_f08b81df8cbf459c, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<427> b_b1fb80811a673270 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 112, 50, 103, 26, 129, 128, 251, 177, + 19, 0, 0, 0, 1, 0, 8, 0, + 193, 81, 174, 7, 75, 103, 148, 222, + 4, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 18, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 127, 5, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 81, 99, 111, 109, 71, 110, + 115, 115, 46, 68, 114, 83, 118, 80, + 111, 108, 121, 82, 101, 112, 111, 114, + 116, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 100, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 173, 2, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 2, 0, 0, 3, 0, 1, 0, + 180, 2, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 2, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 2, 0, 0, 3, 0, 1, 0, + 188, 2, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 24, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 2, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 2, 0, 0, 3, 0, 1, 0, + 196, 2, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 25, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 193, 2, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 2, 0, 0, 3, 0, 1, 0, + 200, 2, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 2, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 2, 0, 0, 3, 0, 1, 0, + 208, 2, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 27, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 2, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 2, 0, 0, 3, 0, 1, 0, + 216, 2, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 28, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 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0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 97, 115, 80, 111, 115, 105, 116, + 105, 111, 110, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 97, 115, 73, 111, 110, 111, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 97, 115, 84, 114, 111, 112, 111, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 97, 115, 69, 108, 101, 118, 97, + 116, 105, 111, 110, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 108, 121, 70, 114, 111, 109, + 88, 116, 114, 97, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 97, 115, 83, 98, 97, 115, 73, + 111, 110, 111, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 111, 100, 101, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 48, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 121, 122, 48, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 121, 122, 78, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 116, 104, 101, 114, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 115, 105, 116, 105, 111, 110, + 85, 110, 99, 101, 114, 116, 97, 105, + 110, 116, 121, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 111, 110, 111, 68, 101, 108, 97, + 121, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 111, 110, 111, 68, 111, 116, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 98, 97, 115, 73, 111, 110, 111, + 68, 101, 108, 97, 121, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 98, 97, 115, 73, 111, 110, 111, + 68, 111, 116, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 114, 111, 112, 111, 68, 101, 108, + 97, 121, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 108, 101, 118, 97, 116, 105, 111, + 110, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 108, 101, 118, 97, 116, 105, 111, + 110, 68, 111, 116, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 108, 101, 118, 97, 116, 105, 111, + 110, 85, 110, 99, 101, 114, 116, 97, + 105, 110, 116, 121, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 101, 108, 111, 99, 105, 116, 121, + 67, 111, 101, 102, 102, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 112, 115, 87, 101, 101, 107, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 112, 115, 84, 111, 119, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_b1fb80811a673270 = b_b1fb80811a673270.words; +#if !CAPNP_LITE +static const uint16_t m_b1fb80811a673270[] = {19, 20, 21, 1, 24, 23, 5, 3, 2, 7, 4, 8, 14, 15, 12, 6, 13, 16, 17, 0, 9, 18, 22, 10, 11}; +static const uint16_t i_b1fb80811a673270[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24}; +const ::capnp::_::RawSchema s_b1fb80811a673270 = { + 0xb1fb80811a673270, b_b1fb80811a673270.words, 427, nullptr, m_b1fb80811a673270, + 0, 25, i_b1fb80811a673270, nullptr, nullptr, { &s_b1fb80811a673270, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<104> b_c95fb49a7bdc4618 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 24, 70, 220, 123, 154, 180, 95, 201, + 10, 0, 0, 0, 1, 0, 5, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 138, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 31, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 67, 108, 111, 99, 107, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 20, 0, 0, 0, 3, 0, 4, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 0, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 128, 0, 0, 0, 3, 0, 1, 0, + 140, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 137, 0, 0, 0, 202, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 144, 0, 0, 0, 3, 0, 1, 0, + 156, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 0, 0, 0, 218, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 0, 0, 0, 3, 0, 1, 0, + 172, 0, 0, 0, 2, 0, 1, 0, + 0, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 0, 0, 0, 3, 0, 1, 0, + 180, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 0, 0, 0, 226, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 0, 0, 0, 3, 0, 1, 0, + 196, 0, 0, 0, 2, 0, 1, 0, + 98, 111, 111, 116, 84, 105, 109, 101, + 78, 97, 110, 111, 115, 68, 69, 80, + 82, 69, 67, 65, 84, 69, 68, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 111, 110, 111, 116, 111, 110, 105, + 99, 78, 97, 110, 111, 115, 68, 69, + 80, 82, 69, 67, 65, 84, 69, 68, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 111, 110, 111, 116, 111, 110, 105, + 99, 82, 97, 119, 78, 97, 110, 111, + 115, 68, 69, 80, 82, 69, 67, 65, + 84, 68, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 119, 97, 108, 108, 84, 105, 109, 101, + 78, 97, 110, 111, 115, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 111, 100, 101, 109, 85, 112, 116, + 105, 109, 101, 77, 105, 108, 108, 105, + 115, 68, 69, 80, 82, 69, 67, 65, + 84, 69, 68, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_c95fb49a7bdc4618 = b_c95fb49a7bdc4618.words; +#if !CAPNP_LITE +static const uint16_t m_c95fb49a7bdc4618[] = {0, 4, 1, 2, 3}; +static const uint16_t i_c95fb49a7bdc4618[] = {0, 1, 2, 3, 4}; +const ::capnp::_::RawSchema s_c95fb49a7bdc4618 = { + 0xc95fb49a7bdc4618, b_c95fb49a7bdc4618.words, 104, nullptr, m_c95fb49a7bdc4618, + 0, 5, i_c95fb49a7bdc4618, nullptr, nullptr, { &s_c95fb49a7bdc4618, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<141> b_92a5e332a85f32a0 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 160, 50, 95, 168, 50, 227, 165, 146, + 10, 0, 0, 0, 1, 0, 3, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 4, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 178, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 143, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 76, 105, 118, 101, 77, 112, + 99, 68, 97, 116, 97, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 28, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 0, 0, 0, 3, 0, 1, 0, + 204, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 201, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 0, 0, 0, 3, 0, 1, 0, + 224, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 0, 0, 0, 3, 0, 1, 0, + 244, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 0, 0, 0, 3, 0, 1, 0, + 12, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 1, 0, 0, 3, 0, 1, 0, + 20, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 1, 0, 0, 3, 0, 1, 0, + 28, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 1, 0, 0, 3, 0, 1, 0, + 32, 1, 0, 0, 2, 0, 1, 0, + 120, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 115, 105, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 114, 118, 97, 116, 117, 114, + 101, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 112, 73, 116, 101, 114, 97, 116, + 105, 111, 110, 115, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 108, 99, 117, 108, 97, 116, + 105, 111, 110, 84, 105, 109, 101, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 111, 115, 116, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_92a5e332a85f32a0 = b_92a5e332a85f32a0.words; +#if !CAPNP_LITE +static const uint16_t m_92a5e332a85f32a0[] = {5, 6, 3, 2, 4, 0, 1}; +static const uint16_t i_92a5e332a85f32a0[] = {0, 1, 2, 3, 4, 5, 6}; +const ::capnp::_::RawSchema s_92a5e332a85f32a0 = { + 0x92a5e332a85f32a0, b_92a5e332a85f32a0.words, 141, nullptr, m_92a5e332a85f32a0, + 0, 7, i_92a5e332a85f32a0, nullptr, nullptr, { &s_92a5e332a85f32a0, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<211> b_e7e17c434f865ae2 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 226, 90, 134, 79, 67, 124, 225, 231, + 10, 0, 0, 0, 1, 0, 4, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 6, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 18, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 111, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 76, 105, 118, 101, 76, 111, + 110, 103, 105, 116, 117, 100, 105, 110, + 97, 108, 77, 112, 99, 68, 97, 116, + 97, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 44, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 1, 0, 0, 3, 0, 1, 0, + 60, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 57, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 52, 1, 0, 0, 3, 0, 1, 0, + 80, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 1, 0, 0, 3, 0, 1, 0, + 100, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 1, 0, 0, 3, 0, 1, 0, + 120, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 1, 0, 0, 3, 0, 1, 0, + 140, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 137, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 132, 1, 0, 0, 3, 0, 1, 0, + 160, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 157, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 156, 1, 0, 0, 3, 0, 1, 0, + 168, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 165, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 164, 1, 0, 0, 3, 0, 1, 0, + 176, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 173, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 1, 0, 0, 3, 0, 1, 0, + 180, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 1, 0, 0, 3, 0, 1, 0, + 188, 1, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 1, 0, 0, 3, 0, 1, 0, + 192, 1, 0, 0, 2, 0, 1, 0, + 120, 69, 103, 111, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 69, 103, 111, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 69, 103, 111, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 76, 101, 97, 100, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 76, 101, 97, 100, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 76, 101, 97, 100, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 76, 101, 97, 100, 84, 97, 117, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 112, 73, 116, 101, 114, 97, 116, + 105, 111, 110, 115, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 112, 99, 73, 100, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 108, 99, 117, 108, 97, 116, + 105, 111, 110, 84, 105, 109, 101, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 111, 115, 116, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e7e17c434f865ae2 = b_e7e17c434f865ae2.words; +#if !CAPNP_LITE +static const uint16_t m_e7e17c434f865ae2[] = {2, 5, 6, 9, 10, 8, 7, 1, 4, 0, 3}; +static const uint16_t i_e7e17c434f865ae2[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10}; +const ::capnp::_::RawSchema s_e7e17c434f865ae2 = { + 0xe7e17c434f865ae2, b_e7e17c434f865ae2.words, 211, nullptr, m_e7e17c434f865ae2, + 0, 11, i_e7e17c434f865ae2, nullptr, nullptr, { &s_e7e17c434f865ae2, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<55> b_e42401658e2715e2 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 226, 21, 39, 142, 101, 1, 36, 228, + 10, 0, 0, 0, 1, 0, 0, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 2, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 154, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 74, 111, 121, 115, 116, 105, + 99, 107, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 8, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 0, 0, 0, 3, 0, 1, 0, + 64, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 61, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 56, 0, 0, 0, 3, 0, 1, 0, + 84, 0, 0, 0, 2, 0, 1, 0, + 97, 120, 101, 115, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 117, 116, 116, 111, 110, 115, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e42401658e2715e2 = b_e42401658e2715e2.words; +#if !CAPNP_LITE +static const uint16_t m_e42401658e2715e2[] = {0, 1}; +static const uint16_t i_e42401658e2715e2[] = {0, 1}; +const ::capnp::_::RawSchema s_e42401658e2715e2 = { + 0xe42401658e2715e2, b_e42401658e2715e2.words, 55, nullptr, m_e42401658e2715e2, + 0, 2, i_e42401658e2715e2, nullptr, nullptr, { &s_e42401658e2715e2, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<151> b_fc010c40147563b0 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 176, 99, 117, 20, 64, 12, 1, 252, + 10, 0, 0, 0, 1, 0, 3, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 3, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 194, 0, 0, 0, + 29, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 199, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 68, 114, 105, 118, 101, 114, + 83, 116, 97, 116, 101, 86, 50, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 106, 138, 242, 205, 177, 59, 247, 201, + 1, 0, 0, 0, 90, 0, 0, 0, + 68, 114, 105, 118, 101, 114, 68, 97, + 116, 97, 0, 0, 0, 0, 0, 0, + 32, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 0, 0, 0, 3, 0, 1, 0, + 216, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 213, 0, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 0, 0, 0, 3, 0, 1, 0, + 228, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 0, 0, 0, 3, 0, 1, 0, + 240, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 0, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 0, 0, 0, 3, 0, 1, 0, + 248, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 245, 0, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 244, 0, 0, 0, 3, 0, 1, 0, + 0, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 253, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 1, 0, 0, 3, 0, 1, 0, + 12, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 1, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 1, 0, 0, 3, 0, 1, 0, + 20, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 1, 0, 0, 3, 0, 1, 0, + 28, 1, 0, 0, 2, 0, 1, 0, + 102, 114, 97, 109, 101, 73, 100, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 111, 100, 101, 108, 69, 120, 101, + 99, 117, 116, 105, 111, 110, 84, 105, + 109, 101, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 115, 112, 69, 120, 101, 99, 117, + 116, 105, 111, 110, 84, 105, 109, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 97, 119, 80, 114, 101, 100, 105, + 99, 116, 105, 111, 110, 115, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 111, 114, 86, 105, 115, 105, + 111, 110, 80, 114, 111, 98, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 119, 104, 101, 101, 108, 79, 110, 82, + 105, 103, 104, 116, 80, 114, 111, 98, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 102, 116, 68, 114, 105, 118, + 101, 114, 68, 97, 116, 97, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 106, 138, 242, 205, 177, 59, 247, 201, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 105, 103, 104, 116, 68, 114, 105, + 118, 101, 114, 68, 97, 116, 97, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 106, 138, 242, 205, 177, 59, 247, 201, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_fc010c40147563b0 = b_fc010c40147563b0.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_fc010c40147563b0[] = { + &s_c9f73bb1cdf28a6a, +}; +static const uint16_t m_fc010c40147563b0[] = {2, 0, 6, 1, 4, 3, 7, 5}; +static const uint16_t i_fc010c40147563b0[] = {0, 1, 2, 3, 4, 5, 6, 7}; +const ::capnp::_::RawSchema s_fc010c40147563b0 = { + 0xfc010c40147563b0, b_fc010c40147563b0.words, 151, d_fc010c40147563b0, m_fc010c40147563b0, + 1, 8, i_fc010c40147563b0, nullptr, nullptr, { &s_fc010c40147563b0, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<252> b_c9f73bb1cdf28a6a = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 106, 138, 242, 205, 177, 59, 247, 201, + 24, 0, 0, 0, 1, 0, 4, 0, + 176, 99, 117, 20, 64, 12, 1, 252, + 6, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 26, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 223, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 68, 114, 105, 118, 101, 114, + 83, 116, 97, 116, 101, 86, 50, 46, + 68, 114, 105, 118, 101, 114, 68, 97, + 116, 97, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 52, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 93, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 1, 0, 0, 3, 0, 1, 0, + 120, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 1, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 1, 0, 0, 3, 0, 1, 0, + 148, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 145, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 144, 1, 0, 0, 3, 0, 1, 0, + 172, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 1, 0, 0, 3, 0, 1, 0, + 196, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 193, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 192, 1, 0, 0, 3, 0, 1, 0, + 204, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 201, 1, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 1, 0, 0, 3, 0, 1, 0, + 212, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 1, 0, 0, 3, 0, 1, 0, + 220, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 217, 1, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 1, 0, 0, 3, 0, 1, 0, + 228, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 1, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 1, 0, 0, 3, 0, 1, 0, + 236, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 1, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 1, 0, 0, 3, 0, 1, 0, + 244, 1, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 1, 0, 0, 3, 0, 1, 0, + 252, 1, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 249, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 248, 1, 0, 0, 3, 0, 1, 0, + 20, 2, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 2, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 2, 0, 0, 3, 0, 1, 0, + 44, 2, 0, 0, 2, 0, 1, 0, + 102, 97, 99, 101, 79, 114, 105, 101, + 110, 116, 97, 116, 105, 111, 110, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 97, 99, 101, 79, 114, 105, 101, + 110, 116, 97, 116, 105, 111, 110, 83, + 116, 100, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 97, 99, 101, 80, 111, 115, 105, + 116, 105, 111, 110, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 97, 99, 101, 80, 111, 115, 105, + 116, 105, 111, 110, 83, 116, 100, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 97, 99, 101, 80, 114, 111, 98, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 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98, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_c9f73bb1cdf28a6a = b_c9f73bb1cdf28a6a.words; +#if !CAPNP_LITE +static const uint16_t m_c9f73bb1cdf28a6a[] = {0, 1, 2, 3, 4, 7, 5, 12, 10, 11, 8, 6, 9}; +static const uint16_t i_c9f73bb1cdf28a6a[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12}; +const ::capnp::_::RawSchema s_c9f73bb1cdf28a6a = { + 0xc9f73bb1cdf28a6a, b_c9f73bb1cdf28a6a.words, 252, nullptr, m_c9f73bb1cdf28a6a, + 0, 13, i_c9f73bb1cdf28a6a, nullptr, nullptr, { &s_c9f73bb1cdf28a6a, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<465> b_b83c6cc593ed0a00 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 0, 10, 237, 147, 197, 108, 60, 184, + 10, 0, 0, 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b_b83c6cc593ed0a00.words; +#if !CAPNP_LITE +static const uint16_t m_b83c6cc593ed0a00[] = {1, 20, 19, 16, 21, 3, 11, 4, 12, 5, 0, 10, 8, 6, 14, 25, 23, 18, 22, 17, 15, 24, 9, 7, 2, 13}; +static const uint16_t i_b83c6cc593ed0a00[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25}; +const ::capnp::_::RawSchema s_b83c6cc593ed0a00 = { + 0xb83c6cc593ed0a00, b_b83c6cc593ed0a00.words, 465, nullptr, m_b83c6cc593ed0a00, + 0, 26, i_b83c6cc593ed0a00, nullptr, nullptr, { &s_b83c6cc593ed0a00, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<313> b_b83cda094a1da284 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 132, 162, 29, 74, 9, 218, 60, 184, + 10, 0, 0, 0, 1, 0, 6, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 2, 1, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 247, 3, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 68, 114, 105, 118, 101, 114, + 77, 111, 110, 105, 116, 111, 114, 105, + 110, 103, 83, 116, 97, 116, 101, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 72, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 1, 0, 0, 3, 0, 1, 0, + 0, 2, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 253, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 252, 1, 0, 0, 3, 0, 1, 0, + 8, 2, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 2, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 2, 0, 0, 3, 0, 1, 0, + 16, 2, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 2, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 2, 0, 0, 3, 0, 1, 0, + 24, 2, 0, 0, 2, 0, 1, 0, + 15, 0, 0, 0, 2, 0, 0, 0, + 0, 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0, 3, 0, 1, 0, + 124, 2, 0, 0, 2, 0, 1, 0, + 16, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 2, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 2, 0, 0, 3, 0, 1, 0, + 136, 2, 0, 0, 2, 0, 1, 0, + 14, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 16, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 133, 2, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 132, 2, 0, 0, 3, 0, 1, 0, + 144, 2, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 17, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 141, 2, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 140, 2, 0, 0, 3, 0, 1, 0, + 152, 2, 0, 0, 2, 0, 1, 0, + 101, 118, 101, 110, 116, 115, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 211, 58, 175, 76, 243, 87, 22, 155, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 97, 99, 101, 68, 101, 116, 101, + 99, 116, 101, 100, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 115, 68, 105, 115, 116, 114, 97, + 99, 116, 101, 100, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 119, 97, 114, 101, 110, 101, 115, + 115, 83, 116, 97, 116, 117, 115, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 115, 82, 72, 68, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 104, 100, 67, 104, 101, 99, 107, + 101, 100, 68, 69, 80, 82, 69, 67, + 65, 84, 69, 68, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 115, 101, 80, 105, 116, 99, + 104, 79, 102, 102, 115, 101, 116, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 115, 101, 80, 105, 116, 99, + 104, 86, 97, 108, 105, 100, 67, 111, + 117, 110, 116, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 115, 101, 89, 97, 119, 79, + 102, 102, 115, 101, 116, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 115, 101, 89, 97, 119, 86, + 97, 108, 105, 100, 67, 111, 117, 110, + 116, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 112, 67, 104, 97, 110, + 103, 101, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 119, 97, 114, 101, 110, 101, 115, + 115, 65, 99, 116, 105, 118, 101, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 119, 97, 114, 101, 110, 101, 115, + 115, 80, 97, 115, 115, 105, 118, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 115, 76, 111, 119, 83, 116, 100, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 105, 83, 116, 100, 67, 111, 117, + 110, 116, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 115, 80, 114, 101, 118, 105, 101, + 119, 68, 69, 80, 82, 69, 67, 65, + 84, 69, 68, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 115, 65, 99, 116, 105, 118, 101, + 77, 111, 100, 101, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 105, 115, 116, 114, 97, 99, 116, + 101, 100, 84, 121, 112, 101, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_b83cda094a1da284 = b_b83cda094a1da284.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_b83cda094a1da284[] = { + &s_9b1657f34caf3ad3, +}; +static const uint16_t m_b83cda094a1da284[] = {11, 12, 3, 17, 0, 1, 14, 16, 2, 13, 15, 4, 6, 7, 8, 9, 5, 10}; +static const uint16_t i_b83cda094a1da284[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17}; +const ::capnp::_::RawSchema s_b83cda094a1da284 = { + 0xb83cda094a1da284, b_b83cda094a1da284.words, 313, d_b83cda094a1da284, m_b83cda094a1da284, + 1, 18, i_b83cda094a1da284, nullptr, nullptr, { &s_b83cda094a1da284, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<149> b_a12e8670927a2549 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 73, 37, 122, 146, 112, 134, 46, 161, + 10, 0, 0, 0, 1, 0, 1, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 5, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 122, 0, 0, 0, + 25, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 87, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 66, 111, 111, 116, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 24, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 0, 0, 0, 3, 0, 1, 0, + 164, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 0, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 164, 0, 0, 0, 3, 0, 1, 0, + 176, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 173, 0, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 0, 0, 0, 3, 0, 1, 0, + 188, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 0, 0, 0, 3, 0, 1, 0, + 196, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 193, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 0, 0, 0, 3, 0, 1, 0, + 16, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 1, 0, 0, 3, 0, 1, 0, + 96, 1, 0, 0, 2, 0, 1, 0, + 119, 97, 108, 108, 84, 105, 109, 101, + 78, 97, 110, 111, 115, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 115, 116, 75, 109, 115, 103, + 68, 69, 80, 82, 69, 67, 65, 84, + 69, 68, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 115, 116, 80, 109, 115, 103, + 68, 69, 80, 82, 69, 67, 65, 84, + 69, 68, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 117, 110, 99, 104, 76, 111, + 103, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 115, 116, 111, 114, 101, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 150, 182, 62, 24, 226, 60, 177, 248, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 1, 0, + 1, 0, 0, 0, 31, 0, 0, 0, + 4, 0, 0, 0, 2, 0, 1, 0, + 150, 182, 62, 24, 226, 60, 177, 248, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 39, 0, 0, 0, + 8, 0, 0, 0, 1, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 3, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 3, 0, 1, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 111, 109, 109, 97, 110, 100, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 150, 182, 62, 24, 226, 60, 177, 248, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 1, 0, + 1, 0, 0, 0, 31, 0, 0, 0, + 4, 0, 0, 0, 2, 0, 1, 0, + 150, 182, 62, 24, 226, 60, 177, 248, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 39, 0, 0, 0, + 8, 0, 0, 0, 1, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 3, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 3, 0, 1, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a12e8670927a2549 = b_a12e8670927a2549.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_a12e8670927a2549[] = { + &s_f8b13ce2183eb696, +}; +static const uint16_t m_a12e8670927a2549[] = {5, 1, 2, 3, 4, 0}; +static const uint16_t i_a12e8670927a2549[] = {0, 1, 2, 3, 4, 5}; +KJ_CONSTEXPR(const) ::capnp::_::RawBrandedSchema::Dependency bd_a12e8670927a2549[] = { + { 16777220, ::cereal::Map< ::capnp::Text, ::capnp::Data>::_capnpPrivate::brand() }, + { 16777221, ::cereal::Map< ::capnp::Text, ::capnp::Data>::_capnpPrivate::brand() }, +}; +const ::capnp::_::RawSchema s_a12e8670927a2549 = { + 0xa12e8670927a2549, b_a12e8670927a2549.words, 149, d_a12e8670927a2549, m_a12e8670927a2549, + 1, 6, i_a12e8670927a2549, nullptr, nullptr, { &s_a12e8670927a2549, nullptr, bd_a12e8670927a2549, 0, sizeof(bd_a12e8670927a2549) / sizeof(bd_a12e8670927a2549[0]), nullptr }, true +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<277> b_d9058dcb967c2753 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 83, 39, 124, 150, 203, 141, 5, 217, + 10, 0, 0, 0, 1, 0, 7, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 234, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 135, 3, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 76, 105, 118, 101, 80, 97, + 114, 97, 109, 101, 116, 101, 114, 115, + 68, 97, 116, 97, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 64, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 172, 1, 0, 0, 3, 0, 1, 0, + 184, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 1, 0, 0, 3, 0, 1, 0, + 192, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 1, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 1, 0, 0, 3, 0, 1, 0, + 200, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 1, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 1, 0, 0, 3, 0, 1, 0, + 212, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 1, 0, 0, 3, 0, 1, 0, + 220, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 217, 1, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 1, 0, 0, 3, 0, 1, 0, + 228, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 1, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 1, 0, 0, 3, 0, 1, 0, + 236, 1, 0, 0, 2, 0, 1, 0, + 15, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 1, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 1, 0, 0, 3, 0, 1, 0, + 248, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 245, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 244, 1, 0, 0, 3, 0, 1, 0, + 0, 2, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 253, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 252, 1, 0, 0, 3, 0, 1, 0, + 8, 2, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 2, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 2, 0, 0, 3, 0, 1, 0, + 20, 2, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 2, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 2, 0, 0, 3, 0, 1, 0, + 32, 2, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 2, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 2, 0, 0, 3, 0, 1, 0, + 44, 2, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 11, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 2, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 2, 0, 0, 3, 0, 1, 0, + 52, 2, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 12, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 2, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 44, 2, 0, 0, 3, 0, 1, 0, + 56, 2, 0, 0, 2, 0, 1, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 2, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 52, 2, 0, 0, 3, 0, 1, 0, + 64, 2, 0, 0, 2, 0, 1, 0, + 118, 97, 108, 105, 100, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 121, 114, 111, 66, 105, 97, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 110, 103, 108, 101, 79, 102, 102, + 115, 101, 116, 68, 101, 103, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 110, 103, 108, 101, 79, 102, 102, + 115, 101, 116, 65, 118, 101, 114, 97, + 103, 101, 68, 101, 103, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 105, 102, 102, 110, 101, 115, + 115, 70, 97, 99, 116, 111, 114, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 82, 97, 116, + 105, 111, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 101, 110, 115, 111, 114, 86, 97, + 108, 105, 100, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 97, 119, 82, 97, 116, 101, 68, + 69, 80, 82, 69, 67, 65, 84, 69, + 68, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 115, 101, 110, 101, 116, 83, + 112, 101, 101, 100, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 115, 101, 110, 101, 116, 86, + 97, 108, 105, 100, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 110, 103, 108, 101, 79, 102, 102, + 115, 101, 116, 70, 97, 115, 116, 83, + 116, 100, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 110, 103, 108, 101, 79, 102, 102, + 115, 101, 116, 65, 118, 101, 114, 97, + 103, 101, 83, 116, 100, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 105, 102, 102, 110, 101, 115, + 115, 70, 97, 99, 116, 111, 114, 83, + 116, 100, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 82, 97, 116, + 105, 111, 83, 116, 100, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 111, 108, 108, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 105, 108, 116, 101, 114, 83, 116, + 97, 116, 101, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 28, 206, 218, 102, 237, 249, 35, 191, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_d9058dcb967c2753 = b_d9058dcb967c2753.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_d9058dcb967c2753[] = { + &s_bf23f9ed66dace1c, +}; +static const uint16_t m_d9058dcb967c2753[] = {3, 11, 2, 10, 15, 1, 8, 9, 14, 6, 5, 13, 4, 12, 0, 7}; +static const uint16_t i_d9058dcb967c2753[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15}; +const ::capnp::_::RawSchema s_d9058dcb967c2753 = { + 0xd9058dcb967c2753, b_d9058dcb967c2753.words, 277, d_d9058dcb967c2753, m_d9058dcb967c2753, + 1, 16, i_d9058dcb967c2753, nullptr, nullptr, { &s_d9058dcb967c2753, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<240> b_e61690eb0b091692 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 146, 22, 9, 11, 235, 144, 22, 230, + 10, 0, 0, 0, 1, 0, 6, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 26, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 223, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 76, 105, 118, 101, 84, 111, + 114, 113, 117, 101, 80, 97, 114, 97, + 109, 101, 116, 101, 114, 115, 68, 97, + 116, 97, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 52, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 93, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 1, 0, 0, 3, 0, 1, 0, + 104, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 1, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 1, 0, 0, 3, 0, 1, 0, + 116, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 1, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 1, 0, 0, 3, 0, 1, 0, + 128, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 1, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 128, 1, 0, 0, 3, 0, 1, 0, + 140, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 137, 1, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 140, 1, 0, 0, 3, 0, 1, 0, + 152, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 149, 1, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 1, 0, 0, 3, 0, 1, 0, + 164, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 1, 0, 0, 226, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 1, 0, 0, 3, 0, 1, 0, + 180, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 1, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 1, 0, 0, 3, 0, 1, 0, + 192, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 1, 0, 0, 3, 0, 1, 0, + 196, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 193, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 192, 1, 0, 0, 3, 0, 1, 0, + 204, 1, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 201, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 1, 0, 0, 3, 0, 1, 0, + 240, 1, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 1, 0, 0, 3, 0, 1, 0, + 244, 1, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 1, 0, 0, 3, 0, 1, 0, + 252, 1, 0, 0, 2, 0, 1, 0, + 108, 105, 118, 101, 86, 97, 108, 105, + 100, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 116, 65, 99, 99, 101, 108, + 70, 97, 99, 116, 111, 114, 82, 97, + 119, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 116, 65, 99, 99, 101, 108, + 79, 102, 102, 115, 101, 116, 82, 97, + 119, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 114, 105, 99, 116, 105, 111, 110, + 67, 111, 101, 102, 102, 105, 99, 105, + 101, 110, 116, 82, 97, 119, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 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5, 6, 7, 8, 9, 10, 11, 12}; +const ::capnp::_::RawSchema s_e61690eb0b091692 = { + 0xe61690eb0b091692, b_e61690eb0b091692.words, 240, nullptr, m_e61690eb0b091692, + 0, 13, i_e61690eb0b091692, nullptr, nullptr, { &s_e61690eb0b091692, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<305> b_943e268f93f711a6 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 166, 17, 247, 147, 143, 38, 62, 148, + 10, 0, 0, 0, 1, 0, 5, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 5, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 2, 1, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 191, 3, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 76, 105, 118, 101, 77, 97, + 112, 68, 97, 116, 97, 68, 69, 80, + 82, 69, 67, 65, 84, 69, 68, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 68, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 1, 0, 0, 3, 0, 1, 0, + 216, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 213, 1, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 212, 1, 0, 0, 3, 0, 1, 0, + 224, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 1, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 220, 1, 0, 0, 3, 0, 1, 0, + 232, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 229, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 1, 0, 0, 3, 0, 1, 0, + 240, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 1, 0, 0, 3, 0, 1, 0, + 244, 1, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 1, 0, 0, 3, 0, 1, 0, + 8, 2, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 2, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 2, 0, 0, 3, 0, 1, 0, + 28, 2, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 2, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 2, 0, 0, 3, 0, 1, 0, + 32, 2, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 2, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 28, 2, 0, 0, 3, 0, 1, 0, + 56, 2, 0, 0, 2, 0, 1, 0, + 14, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 2, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 52, 2, 0, 0, 3, 0, 1, 0, + 80, 2, 0, 0, 2, 0, 1, 0, + 15, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 2, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 76, 2, 0, 0, 3, 0, 1, 0, + 88, 2, 0, 0, 2, 0, 1, 0, + 16, 0, 0, 0, 2, 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0, 0, 0, 0, + 108, 97, 115, 116, 71, 112, 115, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 14, 213, 173, 89, 72, 82, 70, 233, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 111, 97, 100, 67, 117, 114, 118, + 97, 116, 117, 114, 101, 88, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 111, 97, 100, 67, 117, 114, 118, + 97, 116, 117, 114, 101, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 105, 115, 116, 84, 111, 84, 117, + 114, 110, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 97, 112, 86, 97, 108, 105, 100, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 101, 101, 100, 65, 100, 118, + 105, 115, 111, 114, 121, 86, 97, 108, + 105, 100, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 101, 101, 100, 65, 100, 118, + 105, 115, 111, 114, 121, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 101, 101, 100, 76, 105, 109, + 105, 116, 65, 104, 101, 97, 100, 86, + 97, 108, 105, 100, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 101, 101, 100, 76, 105, 109, + 105, 116, 65, 104, 101, 97, 100, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 101, 101, 100, 76, 105, 109, + 105, 116, 65, 104, 101, 97, 100, 68, + 105, 115, 116, 97, 110, 99, 101, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_943e268f93f711a6 = b_943e268f93f711a6.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_943e268f93f711a6[] = { + &s_e946524859add50e, +}; +static const uint16_t m_943e268f93f711a6[] = {3, 2, 10, 7, 11, 9, 8, 5, 6, 13, 12, 1, 15, 16, 14, 0, 4}; +static const uint16_t i_943e268f93f711a6[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16}; +const ::capnp::_::RawSchema s_943e268f93f711a6 = { + 0x943e268f93f711a6, b_943e268f93f711a6.words, 305, d_943e268f93f711a6, m_943e268f93f711a6, + 1, 17, i_943e268f93f711a6, nullptr, nullptr, { &s_943e268f93f711a6, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<210> b_fa9a296b9fd41a96 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 150, 26, 212, 159, 107, 41, 154, 250, + 10, 0, 0, 0, 1, 0, 2, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 8, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 202, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 55, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 109, 101, 114, 97, + 79, 100, 111, 109, 101, 116, 114, 121, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 40, 0, 0, 0, 3, 0, 4, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 1, 0, 0, 3, 0, 1, 0, + 32, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 1, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 1, 0, 0, 3, 0, 1, 0, + 52, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 48, 1, 0, 0, 3, 0, 1, 0, + 76, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 73, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 1, 0, 0, 3, 0, 1, 0, + 96, 1, 0, 0, 2, 0, 1, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 93, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 88, 1, 0, 0, 3, 0, 1, 0, + 100, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 1, 0, 0, 3, 0, 1, 0, + 108, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 1, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 1, 0, 0, 3, 0, 1, 0, + 136, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 133, 1, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 136, 1, 0, 0, 3, 0, 1, 0, + 164, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 1, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 164, 1, 0, 0, 3, 0, 1, 0, + 192, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 1, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 192, 1, 0, 0, 3, 0, 1, 0, + 220, 1, 0, 0, 2, 0, 1, 0, + 116, 114, 97, 110, 115, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 111, 116, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 114, 97, 110, 115, 83, 116, 100, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 111, 116, 83, 116, 100, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 114, 97, 109, 101, 73, 100, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 109, 101, 115, 116, 97, 109, + 112, 69, 111, 102, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 119, 105, 100, 101, 70, 114, 111, 109, + 68, 101, 118, 105, 99, 101, 69, 117, + 108, 101, 114, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 119, 105, 100, 101, 70, 114, 111, 109, + 68, 101, 118, 105, 99, 101, 69, 117, + 108, 101, 114, 83, 116, 100, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 111, 97, 100, 84, 114, 97, 110, + 115, 102, 111, 114, 109, 84, 114, 97, + 110, 115, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 111, 97, 100, 84, 114, 97, 110, + 115, 102, 111, 114, 109, 84, 114, 97, + 110, 115, 83, 116, 100, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_fa9a296b9fd41a96 = b_fa9a296b9fd41a96.words; +#if !CAPNP_LITE +static const uint16_t m_fa9a296b9fd41a96[] = {4, 8, 9, 1, 3, 5, 0, 2, 6, 7}; +static const uint16_t i_fa9a296b9fd41a96[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9}; +const ::capnp::_::RawSchema s_fa9a296b9fd41a96 = { + 0xfa9a296b9fd41a96, b_fa9a296b9fd41a96.words, 210, nullptr, m_fa9a296b9fd41a96, + 0, 10, i_fa9a296b9fd41a96, nullptr, nullptr, { &s_fa9a296b9fd41a96, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<51> b_ef0382d244f56e38 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 56, 110, 245, 68, 210, 130, 3, 239, + 10, 0, 0, 0, 1, 0, 1, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 154, 0, 0, 0, + 29, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 83, 101, 110, 116, 105, 110, + 101, 108, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 26, 3, 247, 182, 30, 230, 216, 162, + 1, 0, 0, 0, 106, 0, 0, 0, + 83, 101, 110, 116, 105, 110, 101, 108, + 84, 121, 112, 101, 0, 0, 0, 0, + 8, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 0, 0, 0, 3, 0, 1, 0, + 48, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 0, 0, 0, 3, 0, 1, 0, + 52, 0, 0, 0, 2, 0, 1, 0, + 116, 121, 112, 101, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 26, 3, 247, 182, 30, 230, 216, 162, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 105, 103, 110, 97, 108, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_ef0382d244f56e38 = b_ef0382d244f56e38.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_ef0382d244f56e38[] = { + &s_a2d8e61eb6f7031a, +}; +static const uint16_t m_ef0382d244f56e38[] = {1, 0}; +static const uint16_t i_ef0382d244f56e38[] = {0, 1}; +const ::capnp::_::RawSchema s_ef0382d244f56e38 = { + 0xef0382d244f56e38, b_ef0382d244f56e38.words, 51, d_ef0382d244f56e38, m_ef0382d244f56e38, + 1, 2, i_ef0382d244f56e38, nullptr, nullptr, { &s_ef0382d244f56e38, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<38> b_a2d8e61eb6f7031a = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 26, 3, 247, 182, 30, 230, 216, 162, + 19, 0, 0, 0, 2, 0, 0, 0, + 56, 110, 245, 68, 210, 130, 3, 239, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 2, 1, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 103, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 83, 101, 110, 116, 105, 110, + 101, 108, 46, 83, 101, 110, 116, 105, + 110, 101, 108, 84, 121, 112, 101, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 110, 100, 79, 102, 83, 101, 103, + 109, 101, 110, 116, 0, 0, 0, 0, + 101, 110, 100, 79, 102, 82, 111, 117, + 116, 101, 0, 0, 0, 0, 0, 0, + 115, 116, 97, 114, 116, 79, 102, 83, + 101, 103, 109, 101, 110, 116, 0, 0, + 115, 116, 97, 114, 116, 79, 102, 82, + 111, 117, 116, 101, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a2d8e61eb6f7031a = b_a2d8e61eb6f7031a.words; +#if !CAPNP_LITE +static const uint16_t m_a2d8e61eb6f7031a[] = {1, 0, 3, 2}; +const ::capnp::_::RawSchema s_a2d8e61eb6f7031a = { + 0xa2d8e61eb6f7031a, b_a2d8e61eb6f7031a.words, 38, nullptr, m_a2d8e61eb6f7031a, + 0, 4, nullptr, nullptr, nullptr, { &s_a2d8e61eb6f7031a, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(SentinelType_a2d8e61eb6f7031a, a2d8e61eb6f7031a); +static const ::capnp::_::AlignedData<33> b_fe35ad896ffaeacf = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 207, 234, 250, 111, 137, 173, 53, 254, + 10, 0, 0, 0, 1, 0, 1, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 146, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 63, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 85, 73, 68, 101, 98, 117, + 103, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 4, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 3, 0, 1, 0, + 24, 0, 0, 0, 2, 0, 1, 0, + 100, 114, 97, 119, 84, 105, 109, 101, + 77, 105, 108, 108, 105, 115, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_fe35ad896ffaeacf = b_fe35ad896ffaeacf.words; +#if !CAPNP_LITE +static const uint16_t m_fe35ad896ffaeacf[] = {0}; +static const uint16_t i_fe35ad896ffaeacf[] = {0}; +const ::capnp::_::RawSchema s_fe35ad896ffaeacf = { + 0xfe35ad896ffaeacf, b_fe35ad896ffaeacf.words, 33, nullptr, m_fe35ad896ffaeacf, + 0, 1, i_fe35ad896ffaeacf, nullptr, nullptr, { &s_fe35ad896ffaeacf, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<41> b_cf7154b31a69635b = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 91, 99, 105, 26, 179, 84, 113, 207, + 10, 0, 0, 0, 1, 0, 0, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 186, 0, 0, 0, + 29, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 63, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 77, 97, 110, 97, 103, 101, + 114, 83, 116, 97, 116, 101, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 234, 105, 132, 112, 210, 84, 154, 134, + 1, 0, 0, 0, 106, 0, 0, 0, + 80, 114, 111, 99, 101, 115, 115, 83, + 116, 97, 116, 101, 0, 0, 0, 0, + 4, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 3, 0, 1, 0, + 40, 0, 0, 0, 2, 0, 1, 0, + 112, 114, 111, 99, 101, 115, 115, 101, + 115, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 234, 105, 132, 112, 210, 84, 154, 134, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_cf7154b31a69635b = b_cf7154b31a69635b.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_cf7154b31a69635b[] = { + &s_869a54d2708469ea, +}; +static const uint16_t m_cf7154b31a69635b[] = {0}; +static const uint16_t i_cf7154b31a69635b[] = {0}; +const ::capnp::_::RawSchema s_cf7154b31a69635b = { + 0xcf7154b31a69635b, b_cf7154b31a69635b.words, 41, d_cf7154b31a69635b, m_cf7154b31a69635b, + 1, 1, i_cf7154b31a69635b, nullptr, nullptr, { &s_cf7154b31a69635b, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<96> b_869a54d2708469ea = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 234, 105, 132, 112, 210, 84, 154, 134, + 23, 0, 0, 0, 1, 0, 2, 0, + 91, 99, 105, 26, 179, 84, 113, 207, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 34, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 31, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 77, 97, 110, 97, 103, 101, + 114, 83, 116, 97, 116, 101, 46, 80, + 114, 111, 99, 101, 115, 115, 83, 116, + 97, 116, 101, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 20, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 0, 0, 0, 3, 0, 1, 0, + 132, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 129, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 0, 0, 0, 3, 0, 1, 0, + 136, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 32, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 133, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 128, 0, 0, 0, 3, 0, 1, 0, + 140, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 137, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 136, 0, 0, 0, 3, 0, 1, 0, + 148, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 33, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 145, 0, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 144, 0, 0, 0, 3, 0, 1, 0, + 156, 0, 0, 0, 2, 0, 1, 0, + 110, 97, 109, 101, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 105, 100, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 117, 110, 110, 105, 110, 103, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 120, 105, 116, 67, 111, 100, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 104, 111, 117, 108, 100, 66, 101, + 82, 117, 110, 110, 105, 110, 103, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_869a54d2708469ea = b_869a54d2708469ea.words; +#if !CAPNP_LITE +static const uint16_t m_869a54d2708469ea[] = {3, 0, 1, 2, 4}; +static const uint16_t i_869a54d2708469ea[] = {0, 1, 2, 3, 4}; +const ::capnp::_::RawSchema s_869a54d2708469ea = { + 0x869a54d2708469ea, b_869a54d2708469ea.words, 96, nullptr, m_869a54d2708469ea, + 0, 5, i_869a54d2708469ea, nullptr, nullptr, { &s_869a54d2708469ea, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<131> b_de266b39b76b461e = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 30, 70, 107, 183, 57, 107, 38, 222, + 10, 0, 0, 0, 1, 0, 3, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 194, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 143, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 85, 112, 108, 111, 97, 100, + 101, 114, 83, 116, 97, 116, 101, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 28, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 0, 0, 0, 3, 0, 1, 0, + 196, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 193, 0, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 0, 0, 0, 3, 0, 1, 0, + 208, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 0, 0, 0, 3, 0, 1, 0, + 216, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 213, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 212, 0, 0, 0, 3, 0, 1, 0, + 224, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 220, 0, 0, 0, 3, 0, 1, 0, + 232, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 229, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 0, 0, 0, 3, 0, 1, 0, + 240, 0, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 0, 0, 0, 3, 0, 1, 0, + 248, 0, 0, 0, 2, 0, 1, 0, + 105, 109, 109, 101, 100, 105, 97, 116, + 101, 81, 117, 101, 117, 101, 83, 105, + 122, 101, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 109, 109, 101, 100, 105, 97, 116, + 101, 81, 117, 101, 117, 101, 67, 111, + 117, 110, 116, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 97, 119, 81, 117, 101, 117, 101, + 83, 105, 122, 101, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 97, 119, 81, 117, 101, 117, 101, + 67, 111, 117, 110, 116, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 115, 116, 84, 105, 109, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 115, 116, 83, 112, 101, 101, + 100, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 115, 116, 70, 105, 108, 101, + 110, 97, 109, 101, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_de266b39b76b461e = b_de266b39b76b461e.words; +#if !CAPNP_LITE +static const uint16_t m_de266b39b76b461e[] = {1, 0, 6, 5, 4, 3, 2}; +static const uint16_t i_de266b39b76b461e[] = {0, 1, 2, 3, 4, 5, 6}; +const ::capnp::_::RawSchema s_de266b39b76b461e = { + 0xde266b39b76b461e, b_de266b39b76b461e.words, 131, nullptr, m_de266b39b76b461e, + 0, 7, i_de266b39b76b461e, nullptr, nullptr, { &s_de266b39b76b461e, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<254> b_c18216b27f8602af = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 175, 2, 134, 127, 178, 22, 130, 193, + 10, 0, 0, 0, 1, 0, 3, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 6, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 202, 0, 0, 0, + 33, 0, 0, 0, 71, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 0, 0, 0, 223, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 78, 97, 118, 73, 110, 115, + 116, 114, 117, 99, 116, 105, 111, 110, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 1, 0, 1, 0, + 217, 57, 164, 192, 137, 22, 205, 164, + 25, 0, 0, 0, 42, 0, 0, 0, + 146, 193, 229, 201, 216, 185, 165, 238, + 21, 0, 0, 0, 82, 0, 0, 0, + 102, 156, 208, 104, 165, 10, 110, 182, + 21, 0, 0, 0, 122, 0, 0, 0, + 69, 10, 226, 108, 26, 74, 236, 179, + 21, 0, 0, 0, 74, 0, 0, 0, + 76, 97, 110, 101, 0, 0, 0, 0, + 68, 105, 114, 101, 99, 116, 105, 111, + 110, 0, 0, 0, 0, 0, 0, 0, + 83, 112, 101, 101, 100, 76, 105, 109, + 105, 116, 83, 105, 103, 110, 0, 0, + 77, 97, 110, 101, 117, 118, 101, 114, + 0, 0, 0, 0, 0, 0, 0, 0, + 52, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 93, 1, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 1, 0, 0, 3, 0, 1, 0, + 108, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 1, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 1, 0, 0, 3, 0, 1, 0, + 120, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 1, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 1, 0, 0, 3, 0, 1, 0, + 132, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 129, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 128, 1, 0, 0, 3, 0, 1, 0, + 140, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 137, 1, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 140, 1, 0, 0, 3, 0, 1, 0, + 152, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 149, 1, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 1, 0, 0, 3, 0, 1, 0, + 164, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 1, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 1, 0, 0, 3, 0, 1, 0, + 172, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 1, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 172, 1, 0, 0, 3, 0, 1, 0, + 184, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 1, 0, 0, 3, 0, 1, 0, + 204, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 128, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 201, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 1, 0, 0, 3, 0, 1, 0, + 212, 1, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 1, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 1, 0, 0, 3, 0, 1, 0, + 220, 1, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 217, 1, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 1, 0, 0, 3, 0, 1, 0, + 228, 1, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 1, 0, 0, 3, 0, 1, 0, + 252, 1, 0, 0, 2, 0, 1, 0, + 109, 97, 110, 101, 117, 118, 101, 114, + 80, 114, 105, 109, 97, 114, 121, 84, + 101, 120, 116, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 97, 110, 101, 117, 118, 101, 114, + 83, 101, 99, 111, 110, 100, 97, 114, + 121, 84, 101, 120, 116, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 97, 110, 101, 117, 118, 101, 114, + 68, 105, 115, 116, 97, 110, 99, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 97, 110, 101, 117, 118, 101, 114, + 84, 121, 112, 101, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 97, 110, 101, 117, 118, 101, 114, + 77, 111, 100, 105, 102, 105, 101, 114, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 105, 115, 116, 97, 110, 99, 101, + 82, 101, 109, 97, 105, 110, 105, 110, + 103, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 109, 101, 82, 101, 109, 97, + 105, 110, 105, 110, 103, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 109, 101, 82, 101, 109, 97, + 105, 110, 105, 110, 103, 84, 121, 112, + 105, 99, 97, 108, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 110, 101, 115, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 217, 57, 164, 192, 137, 22, 205, 164, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 104, 111, 119, 70, 117, 108, 108, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 101, 101, 100, 76, 105, 109, + 105, 116, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 101, 101, 100, 76, 105, 109, + 105, 116, 83, 105, 103, 110, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 102, 156, 208, 104, 165, 10, 110, 182, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 108, 108, 77, 97, 110, 101, 117, + 118, 101, 114, 115, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 69, 10, 226, 108, 26, 74, 236, 179, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_c18216b27f8602af = b_c18216b27f8602af.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_c18216b27f8602af[] = { + &s_a4cd1689c0a439d9, + &s_b3ec4a1a6ce20a45, + &s_b66e0aa568d09c66, +}; +static const uint16_t m_c18216b27f8602af[] = {12, 5, 8, 2, 4, 0, 1, 3, 9, 10, 11, 6, 7}; +static const uint16_t i_c18216b27f8602af[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12}; +const ::capnp::_::RawSchema s_c18216b27f8602af = { + 0xc18216b27f8602af, b_c18216b27f8602af.words, 254, d_c18216b27f8602af, m_c18216b27f8602af, + 3, 13, i_c18216b27f8602af, nullptr, nullptr, { &s_c18216b27f8602af, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<69> b_a4cd1689c0a439d9 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 217, 57, 164, 192, 137, 22, 205, 164, + 25, 0, 0, 0, 1, 0, 1, 0, + 175, 2, 134, 127, 178, 22, 130, 193, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 242, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 175, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 78, 97, 118, 73, 110, 115, + 116, 114, 117, 99, 116, 105, 111, 110, + 46, 76, 97, 110, 101, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 0, 0, 0, 3, 0, 1, 0, + 96, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 93, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 88, 0, 0, 0, 3, 0, 1, 0, + 100, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 0, 0, 0, 3, 0, 1, 0, + 108, 0, 0, 0, 2, 0, 1, 0, + 100, 105, 114, 101, 99, 116, 105, 111, + 110, 115, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 146, 193, 229, 201, 216, 185, 165, 238, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 116, 105, 118, 101, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 116, 105, 118, 101, 68, 105, + 114, 101, 99, 116, 105, 111, 110, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 146, 193, 229, 201, 216, 185, 165, 238, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a4cd1689c0a439d9 = b_a4cd1689c0a439d9.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_a4cd1689c0a439d9[] = { + &s_eea5b9d8c9e5c192, +}; +static const uint16_t m_a4cd1689c0a439d9[] = {1, 2, 0}; +static const uint16_t i_a4cd1689c0a439d9[] = {0, 1, 2}; +const ::capnp::_::RawSchema s_a4cd1689c0a439d9 = { + 0xa4cd1689c0a439d9, b_a4cd1689c0a439d9.words, 69, d_a4cd1689c0a439d9, m_a4cd1689c0a439d9, + 1, 3, i_a4cd1689c0a439d9, nullptr, nullptr, { &s_a4cd1689c0a439d9, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<46> b_eea5b9d8c9e5c192 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 146, 193, 229, 201, 216, 185, 165, 238, + 25, 0, 0, 0, 2, 0, 0, 0, + 175, 2, 134, 127, 178, 22, 130, 193, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 26, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 151, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 78, 97, 118, 73, 110, 115, + 116, 114, 117, 99, 116, 105, 111, 110, + 46, 68, 105, 114, 101, 99, 116, 105, + 111, 110, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 24, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 57, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 110, 101, 0, 0, 0, 0, + 108, 101, 102, 116, 0, 0, 0, 0, + 114, 105, 103, 104, 116, 0, 0, 0, + 115, 116, 114, 97, 105, 103, 104, 116, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 108, 105, 103, 104, 116, 76, 101, + 102, 116, 0, 0, 0, 0, 0, 0, + 115, 108, 105, 103, 104, 116, 82, 105, + 103, 104, 116, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_eea5b9d8c9e5c192 = b_eea5b9d8c9e5c192.words; +#if !CAPNP_LITE +static const uint16_t m_eea5b9d8c9e5c192[] = {1, 0, 2, 4, 5, 3}; +const ::capnp::_::RawSchema s_eea5b9d8c9e5c192 = { + 0xeea5b9d8c9e5c192, b_eea5b9d8c9e5c192.words, 46, nullptr, m_eea5b9d8c9e5c192, + 0, 6, nullptr, nullptr, nullptr, { &s_eea5b9d8c9e5c192, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(Direction_eea5b9d8c9e5c192, eea5b9d8c9e5c192); +static const ::capnp::_::AlignedData<27> b_b66e0aa568d09c66 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 102, 156, 208, 104, 165, 10, 110, 182, + 25, 0, 0, 0, 2, 0, 0, 0, + 175, 2, 134, 127, 178, 22, 130, 193, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 66, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 55, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 78, 97, 118, 73, 110, 115, + 116, 114, 117, 99, 116, 105, 111, 110, + 46, 83, 112, 101, 101, 100, 76, 105, + 109, 105, 116, 83, 105, 103, 110, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 8, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 117, 116, 99, 100, 0, 0, 0, + 118, 105, 101, 110, 110, 97, 0, 0, } +}; +::capnp::word const* const bp_b66e0aa568d09c66 = b_b66e0aa568d09c66.words; +#if !CAPNP_LITE +static const uint16_t m_b66e0aa568d09c66[] = {0, 1}; +const ::capnp::_::RawSchema s_b66e0aa568d09c66 = { + 0xb66e0aa568d09c66, b_b66e0aa568d09c66.words, 27, nullptr, m_b66e0aa568d09c66, + 0, 2, nullptr, nullptr, nullptr, { &s_b66e0aa568d09c66, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(SpeedLimitSign_b66e0aa568d09c66, b66e0aa568d09c66); +static const ::capnp::_::AlignedData<66> b_b3ec4a1a6ce20a45 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 69, 10, 226, 108, 26, 74, 236, 179, + 25, 0, 0, 0, 1, 0, 1, 0, + 175, 2, 134, 127, 178, 22, 130, 193, + 2, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 18, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 175, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 78, 97, 118, 73, 110, 115, + 116, 114, 117, 99, 116, 105, 111, 110, + 46, 77, 97, 110, 101, 117, 118, 101, + 114, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 0, 0, 0, 3, 0, 1, 0, + 80, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 0, 0, 0, 3, 0, 1, 0, + 84, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 81, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 80, 0, 0, 0, 3, 0, 1, 0, + 92, 0, 0, 0, 2, 0, 1, 0, + 100, 105, 115, 116, 97, 110, 99, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 121, 112, 101, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 111, 100, 105, 102, 105, 101, 114, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_b3ec4a1a6ce20a45 = b_b3ec4a1a6ce20a45.words; +#if !CAPNP_LITE +static const uint16_t m_b3ec4a1a6ce20a45[] = {0, 2, 1}; +static const uint16_t i_b3ec4a1a6ce20a45[] = {0, 1, 2}; +const ::capnp::_::RawSchema s_b3ec4a1a6ce20a45 = { + 0xb3ec4a1a6ce20a45, b_b3ec4a1a6ce20a45.words, 66, nullptr, m_b3ec4a1a6ce20a45, + 0, 3, i_b3ec4a1a6ce20a45, nullptr, nullptr, { &s_b3ec4a1a6ce20a45, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<41> b_a61452f6440d97d3 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 211, 151, 13, 68, 246, 82, 20, 166, + 10, 0, 0, 0, 1, 0, 0, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 154, 0, 0, 0, + 29, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 63, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 78, 97, 118, 82, 111, 117, + 116, 101, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 133, 116, 30, 173, 83, 111, 201, 196, + 1, 0, 0, 0, 90, 0, 0, 0, + 67, 111, 111, 114, 100, 105, 110, 97, + 116, 101, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 3, 0, 1, 0, + 40, 0, 0, 0, 2, 0, 1, 0, + 99, 111, 111, 114, 100, 105, 110, 97, + 116, 101, 115, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 133, 116, 30, 173, 83, 111, 201, 196, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a61452f6440d97d3 = b_a61452f6440d97d3.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_a61452f6440d97d3[] = { + &s_c4c96f53ad1e7485, +}; +static const uint16_t m_a61452f6440d97d3[] = {0}; +static const uint16_t i_a61452f6440d97d3[] = {0}; +const ::capnp::_::RawSchema s_a61452f6440d97d3 = { + 0xa61452f6440d97d3, b_a61452f6440d97d3.words, 41, d_a61452f6440d97d3, m_a61452f6440d97d3, + 1, 1, i_a61452f6440d97d3, nullptr, nullptr, { &s_a61452f6440d97d3, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<50> b_c4c96f53ad1e7485 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 133, 116, 30, 173, 83, 111, 201, 196, + 19, 0, 0, 0, 1, 0, 1, 0, + 211, 151, 13, 68, 246, 82, 20, 166, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 242, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 78, 97, 118, 82, 111, 117, + 116, 101, 46, 67, 111, 111, 114, 100, + 105, 110, 97, 116, 101, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 8, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 0, 0, 0, 3, 0, 1, 0, + 52, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 48, 0, 0, 0, 3, 0, 1, 0, + 60, 0, 0, 0, 2, 0, 1, 0, + 108, 97, 116, 105, 116, 117, 100, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 110, 103, 105, 116, 117, 100, + 101, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_c4c96f53ad1e7485 = b_c4c96f53ad1e7485.words; +#if !CAPNP_LITE +static const uint16_t m_c4c96f53ad1e7485[] = {0, 1}; +static const uint16_t i_c4c96f53ad1e7485[] = {0, 1}; +const ::capnp::_::RawSchema s_c4c96f53ad1e7485 = { + 0xc4c96f53ad1e7485, b_c4c96f53ad1e7485.words, 50, nullptr, m_c4c96f53ad1e7485, + 0, 2, i_c4c96f53ad1e7485, nullptr, nullptr, { &s_c4c96f53ad1e7485, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<66> b_a158dd2a4cfaa81b = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 27, 168, 250, 76, 42, 221, 88, 161, + 10, 0, 0, 0, 1, 0, 2, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 202, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 175, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 77, 97, 112, 82, 101, 110, + 100, 101, 114, 83, 116, 97, 116, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 0, 0, 0, 3, 0, 1, 0, + 84, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 81, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 80, 0, 0, 0, 3, 0, 1, 0, + 92, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 84, 0, 0, 0, 3, 0, 1, 0, + 96, 0, 0, 0, 2, 0, 1, 0, + 108, 111, 99, 97, 116, 105, 111, 110, + 77, 111, 110, 111, 84, 105, 109, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 110, 100, 101, 114, 84, 105, + 109, 101, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 114, 97, 109, 101, 73, 100, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a158dd2a4cfaa81b = b_a158dd2a4cfaa81b.words; +#if !CAPNP_LITE +static const uint16_t m_a158dd2a4cfaa81b[] = {2, 0, 1}; +static const uint16_t i_a158dd2a4cfaa81b[] = {0, 1, 2}; +const ::capnp::_::RawSchema s_a158dd2a4cfaa81b = { + 0xa158dd2a4cfaa81b, b_a158dd2a4cfaa81b.words, 66, nullptr, m_a158dd2a4cfaa81b, + 0, 3, i_a158dd2a4cfaa81b, nullptr, nullptr, { &s_a158dd2a4cfaa81b, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<143> b_ac3de5c437be057a = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 122, 5, 190, 55, 196, 229, 61, 172, + 10, 0, 0, 0, 1, 0, 3, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 3, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 186, 0, 0, 0, + 29, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 143, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 78, 97, 118, 77, 111, 100, + 101, 108, 68, 97, 116, 97, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 38, 126, 80, 178, 21, 230, 9, 190, + 1, 0, 0, 0, 58, 0, 0, 0, + 88, 89, 68, 97, 116, 97, 0, 0, + 28, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 0, 0, 0, 3, 0, 1, 0, + 188, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 0, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 0, 0, 0, 3, 0, 1, 0, + 200, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 0, 0, 0, 3, 0, 1, 0, + 212, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 0, 0, 0, 3, 0, 1, 0, + 236, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 0, 0, 0, 3, 0, 1, 0, + 244, 0, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 244, 0, 0, 0, 3, 0, 1, 0, + 16, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 1, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 1, 0, 0, 3, 0, 1, 0, + 28, 1, 0, 0, 2, 0, 1, 0, + 102, 114, 97, 109, 101, 73, 100, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 111, 100, 101, 108, 69, 120, 101, + 99, 117, 116, 105, 111, 110, 84, 105, + 109, 101, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 115, 112, 69, 120, 101, 99, 117, + 116, 105, 111, 110, 84, 105, 109, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 101, 97, 116, 117, 114, 101, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 115, 105, 116, 105, 111, 110, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 38, 126, 80, 178, 21, 230, 9, 190, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 115, 105, 114, 101, 80, 114, + 101, 100, 105, 99, 116, 105, 111, 110, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 99, 97, 116, 105, 111, 110, + 77, 111, 110, 111, 84, 105, 109, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_ac3de5c437be057a = b_ac3de5c437be057a.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_ac3de5c437be057a[] = { + &s_be09e615b2507e26, +}; +static const uint16_t m_ac3de5c437be057a[] = {5, 2, 3, 0, 6, 1, 4}; +static const uint16_t i_ac3de5c437be057a[] = {0, 1, 2, 3, 4, 5, 6}; +const ::capnp::_::RawSchema s_ac3de5c437be057a = { + 0xac3de5c437be057a, b_ac3de5c437be057a.words, 143, d_ac3de5c437be057a, m_ac3de5c437be057a, + 1, 7, i_ac3de5c437be057a, nullptr, nullptr, { &s_ac3de5c437be057a, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<94> b_be09e615b2507e26 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 38, 126, 80, 178, 21, 230, 9, 190, + 23, 0, 0, 0, 1, 0, 0, 0, + 122, 5, 190, 55, 196, 229, 61, 172, + 4, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 242, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 231, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 78, 97, 118, 77, 111, 100, + 101, 108, 68, 97, 116, 97, 46, 88, + 89, 68, 97, 116, 97, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 0, 0, 0, 3, 0, 1, 0, + 120, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 0, 0, 0, 3, 0, 1, 0, + 140, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 137, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 132, 0, 0, 0, 3, 0, 1, 0, + 160, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 157, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 0, 0, 0, 3, 0, 1, 0, + 180, 0, 0, 0, 2, 0, 1, 0, + 120, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 83, 116, 100, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 83, 116, 100, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_be09e615b2507e26 = b_be09e615b2507e26.words; +#if !CAPNP_LITE +static const uint16_t m_be09e615b2507e26[] = {0, 2, 1, 3}; +static const uint16_t i_be09e615b2507e26[] = {0, 1, 2, 3}; +const ::capnp::_::RawSchema s_be09e615b2507e26 = { + 0xbe09e615b2507e26, b_be09e615b2507e26.words, 94, nullptr, m_be09e615b2507e26, + 0, 4, i_be09e615b2507e26, nullptr, nullptr, { &s_be09e615b2507e26, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<109> b_cf9aeab355dd85f0 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 240, 133, 221, 85, 179, 234, 154, 207, + 10, 0, 0, 0, 1, 0, 2, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 3, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 170, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 87, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 69, 110, 99, 111, 100, 101, + 68, 97, 116, 97, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 24, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 148, 0, 0, 0, 3, 0, 1, 0, + 160, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 157, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 0, 0, 0, 3, 0, 1, 0, + 164, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 156, 0, 0, 0, 3, 0, 1, 0, + 168, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 165, 0, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 0, 0, 0, 3, 0, 1, 0, + 180, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 172, 0, 0, 0, 3, 0, 1, 0, + 184, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 0, 0, 0, 3, 0, 1, 0, + 188, 0, 0, 0, 2, 0, 1, 0, + 105, 100, 120, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 252, 53, 23, 84, 227, 148, 211, 137, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 97, 116, 97, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 101, 97, 100, 101, 114, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 105, 120, 84, 105, 109, 101, + 115, 116, 97, 109, 112, 78, 97, 110, + 111, 115, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 119, 105, 100, 116, 104, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 101, 105, 103, 104, 116, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_cf9aeab355dd85f0 = b_cf9aeab355dd85f0.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_cf9aeab355dd85f0[] = { + &s_89d394e3541735fc, +}; +static const uint16_t m_cf9aeab355dd85f0[] = {1, 2, 5, 0, 3, 4}; +static const uint16_t i_cf9aeab355dd85f0[] = {0, 1, 2, 3, 4, 5}; +const ::capnp::_::RawSchema s_cf9aeab355dd85f0 = { + 0xcf9aeab355dd85f0, b_cf9aeab355dd85f0.words, 109, d_cf9aeab355dd85f0, m_cf9aeab355dd85f0, + 1, 6, i_cf9aeab355dd85f0, nullptr, nullptr, { &s_cf9aeab355dd85f0, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<16> b_fe346a9de48d9b50 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 80, 155, 141, 228, 157, 106, 52, 254, + 10, 0, 0, 0, 1, 0, 0, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 154, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 85, 115, 101, 114, 70, 108, + 97, 103, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, } +}; +::capnp::word const* const bp_fe346a9de48d9b50 = b_fe346a9de48d9b50.words; +#if !CAPNP_LITE +const ::capnp::_::RawSchema s_fe346a9de48d9b50 = { + 0xfe346a9de48d9b50, b_fe346a9de48d9b50.words, 16, nullptr, nullptr, + 0, 0, nullptr, nullptr, nullptr, { &s_fe346a9de48d9b50, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<85> b_dc24138990726023 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 35, 96, 114, 144, 137, 19, 36, 220, + 10, 0, 0, 0, 1, 0, 2, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 170, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 231, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 77, 105, 99, 114, 111, 112, + 104, 111, 110, 101, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 0, 0, 0, 3, 0, 1, 0, + 108, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 0, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 0, 0, 0, 3, 0, 1, 0, + 120, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 0, 0, 0, 2, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 0, 0, 0, 3, 0, 1, 0, + 136, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 133, 0, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 136, 0, 0, 0, 3, 0, 1, 0, + 148, 0, 0, 0, 2, 0, 1, 0, + 115, 111, 117, 110, 100, 80, 114, 101, + 115, 115, 117, 114, 101, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 111, 117, 110, 100, 80, 114, 101, + 115, 115, 117, 114, 101, 87, 101, 105, + 103, 104, 116, 101, 100, 68, 98, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 105, 108, 116, 101, 114, 101, 100, + 83, 111, 117, 110, 100, 80, 114, 101, + 115, 115, 117, 114, 101, 87, 101, 105, + 103, 104, 116, 101, 100, 68, 98, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 111, 117, 110, 100, 80, 114, 101, + 115, 115, 117, 114, 101, 87, 101, 105, + 103, 104, 116, 101, 100, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_dc24138990726023 = b_dc24138990726023.words; +#if !CAPNP_LITE +static const uint16_t m_dc24138990726023[] = {2, 0, 3, 1}; +static const uint16_t i_dc24138990726023[] = {0, 1, 2, 3}; +const ::capnp::_::RawSchema s_dc24138990726023 = { + 0xdc24138990726023, b_dc24138990726023.words, 85, nullptr, m_dc24138990726023, + 0, 4, i_dc24138990726023, nullptr, nullptr, { &s_dc24138990726023, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<2216> b_d314cfd957229c11 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 17, 156, 34, 87, 217, 207, 20, 211, + 10, 0, 0, 0, 1, 0, 2, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 1, 0, 7, 0, 0, 0, 128, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 130, 0, 0, 0, + 25, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 119, 28, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 69, 118, 101, 110, 116, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 8, 2, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 14, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 14, 0, 0, 3, 0, 1, 0, + 52, 14, 0, 0, 2, 0, 1, 0, + 2, 0, 255, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 14, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 48, 14, 0, 0, 3, 0, 1, 0, + 60, 14, 0, 0, 2, 0, 1, 0, + 44, 0, 254, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 57, 14, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 56, 14, 0, 0, 3, 0, 1, 0, + 68, 14, 0, 0, 2, 0, 1, 0, + 5, 0, 253, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 14, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 60, 14, 0, 0, 3, 0, 1, 0, + 72, 14, 0, 0, 2, 0, 1, 0, + 96, 0, 252, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 14, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 14, 0, 0, 3, 0, 1, 0, + 84, 14, 0, 0, 2, 0, 1, 0, + 6, 0, 251, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 81, 14, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 76, 14, 0, 0, 3, 0, 1, 0, + 104, 14, 0, 0, 2, 0, 1, 0, + 60, 0, 250, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 14, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 14, 0, 0, 3, 0, 1, 0, + 112, 14, 0, 0, 2, 0, 1, 0, + 7, 0, 249, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 14, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 14, 0, 0, 3, 0, 1, 0, + 120, 14, 0, 0, 2, 0, 1, 0, + 97, 0, 248, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 14, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 14, 0, 0, 3, 0, 1, 0, + 148, 14, 0, 0, 2, 0, 1, 0, + 90, 0, 247, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 145, 14, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 140, 14, 0, 0, 3, 0, 1, 0, + 152, 14, 0, 0, 2, 0, 1, 0, + 121, 0, 246, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 149, 14, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 14, 0, 0, 3, 0, 1, 0, + 164, 14, 0, 0, 2, 0, 1, 0, + 126, 0, 245, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 14, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 164, 14, 0, 0, 3, 0, 1, 0, + 192, 14, 0, 0, 2, 0, 1, 0, + 124, 0, 244, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 14, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 192, 14, 0, 0, 3, 0, 1, 0, + 204, 14, 0, 0, 2, 0, 1, 0, + 18, 0, 243, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 201, 14, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 14, 0, 0, 3, 0, 1, 0, + 212, 14, 0, 0, 2, 0, 1, 0, + 95, 0, 242, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 14, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 212, 14, 0, 0, 3, 0, 1, 0, + 224, 14, 0, 0, 2, 0, 1, 0, + 47, 0, 241, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 14, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 220, 14, 0, 0, 3, 0, 1, 0, + 232, 14, 0, 0, 2, 0, 1, 0, + 19, 0, 240, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 16, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 229, 14, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 14, 0, 0, 3, 0, 1, 0, + 0, 15, 0, 0, 2, 0, 1, 0, + 20, 0, 239, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 17, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 253, 14, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 248, 14, 0, 0, 3, 0, 1, 0, + 20, 15, 0, 0, 2, 0, 1, 0, + 61, 0, 238, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 15, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 15, 0, 0, 3, 0, 1, 0, + 28, 15, 0, 0, 2, 0, 1, 0, + 21, 0, 237, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 19, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 15, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 15, 0, 0, 3, 0, 1, 0, + 36, 15, 0, 0, 2, 0, 1, 0, + 55, 0, 236, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 20, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 15, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 15, 0, 0, 3, 0, 1, 0, + 44, 15, 0, 0, 2, 0, 1, 0, + 30, 0, 235, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 21, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 15, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 15, 0, 0, 3, 0, 1, 0, + 52, 15, 0, 0, 2, 0, 1, 0, + 22, 0, 234, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 22, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 15, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 48, 15, 0, 0, 3, 0, 1, 0, + 60, 15, 0, 0, 2, 0, 1, 0, + 23, 0, 233, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 57, 15, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 56, 15, 0, 0, 3, 0, 1, 0, + 68, 15, 0, 0, 2, 0, 1, 0, + 25, 0, 232, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 24, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 15, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 15, 0, 0, 3, 0, 1, 0, + 80, 15, 0, 0, 2, 0, 1, 0, + 98, 0, 231, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 25, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 15, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 80, 15, 0, 0, 3, 0, 1, 0, + 92, 15, 0, 0, 2, 0, 1, 0, + 99, 0, 230, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 15, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 15, 0, 0, 3, 0, 1, 0, + 120, 15, 0, 0, 2, 0, 1, 0, + 113, 0, 229, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 27, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 15, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 15, 0, 0, 3, 0, 1, 0, + 132, 15, 0, 0, 2, 0, 1, 0, + 100, 0, 228, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 28, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 129, 15, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 132, 15, 0, 0, 3, 0, 1, 0, + 160, 15, 0, 0, 2, 0, 1, 0, + 101, 0, 227, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 29, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 157, 15, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 15, 0, 0, 3, 0, 1, 0, + 188, 15, 0, 0, 2, 0, 1, 0, + 107, 0, 226, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 30, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 15, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 15, 0, 0, 3, 0, 1, 0, + 200, 15, 0, 0, 2, 0, 1, 0, + 28, 0, 225, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 31, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 15, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 15, 0, 0, 3, 0, 1, 0, + 208, 15, 0, 0, 2, 0, 1, 0, + 108, 0, 224, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 32, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 15, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 15, 0, 0, 3, 0, 1, 0, + 220, 15, 0, 0, 2, 0, 1, 0, + 58, 0, 223, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 33, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 217, 15, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 212, 15, 0, 0, 3, 0, 1, 0, + 224, 15, 0, 0, 2, 0, 1, 0, + 26, 0, 222, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 15, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 220, 15, 0, 0, 3, 0, 1, 0, + 232, 15, 0, 0, 2, 0, 1, 0, + 59, 0, 221, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 35, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 229, 15, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 15, 0, 0, 3, 0, 1, 0, + 236, 15, 0, 0, 2, 0, 1, 0, + 91, 0, 220, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 36, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 15, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 15, 0, 0, 3, 0, 1, 0, + 248, 15, 0, 0, 2, 0, 1, 0, + 92, 0, 219, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 37, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 245, 15, 0, 0, 242, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 252, 15, 0, 0, 3, 0, 1, 0, + 8, 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b_d314cfd957229c11.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_d314cfd957229c11[] = { + &s_80ae746ee2596b11, + &s_81c2f05a394cf4af, + &s_85dddd7ce6cefa5d, + &s_8785009a964c7c59, + &s_88dcce08ad29dda0, + &s_89d394e3541735fc, + &s_8afd33dc9b35e1aa, + &s_8c69372490aaa9da, + &s_8faa644732dec251, + &s_8fdfadb254ea867a, + &s_90c8426c3eaddd3b, + &s_92a5e332a85f32a0, + &s_92e21bb7ea38793a, + &s_943e268f93f711a6, + &s_94b7baa90c5c321e, + &s_96df70754d8390bc, + &s_97ff69c53601abf1, + &s_9a185389d6fdd05f, + &s_9b1657f34caf3ad3, + &s_9b326d4e436afec7, + &s_9d291d7813ba4a88, + &s_9da4fa09e052903c, + &s_a12e8670927a2549, + &s_a158dd2a4cfaa81b, + &s_a1680744031fdb2d, + &s_a2b29a69d44529a1, + &s_a4d8b5af2aa492eb, + &s_a5cd762cd951a455, + &s_a61452f6440d97d3, + &s_a7649e2575e4591e, + &s_a99a9d5b33cf5859, + &s_ab54c59699f8f9f3, + &s_ac3de5c437be057a, + &s_acfa74a094e62626, + &s_aedffd8f31e7b55d, + &s_af85387b3f681406, + &s_afd47016570e9d09, + &s_b65fce64120af7d3, + &s_b83c6cc593ed0a00, + &s_b83cda094a1da284, + &s_b86e6369214c01c8, + &s_b8aad62cffef28a9, + &s_b99b2bc7a57e8128, + &s_bd8822120928120c, + &s_c08240f996aefced, + &s_c18216b27f8602af, + &s_c24ca2b57206b44d, + &s_c4713f6b0d36abe9, + &s_c8233c0345e27e24, + &s_c95fb49a7bdc4618, + &s_cd60164a8a0159ef, + &s_ceb8f49734857a88, + &s_cf7154b31a69635b, + &s_cf9aeab355dd85f0, + &s_cff7566681c277ce, + &s_d4df5a192382ba0b, + &s_d500d30c5803fa4f, + &s_d7700859ed1f5b76, + &s_d817d6655115ca85, + &s_d9058dcb967c2753, + &s_da96579883444c35, + &s_db98be6565516acb, + &s_dc24138990726023, + &s_de266b39b76b461e, + &s_de94674b07ae51c1, + &s_dfdf30d03fc485bd, + &s_e00b5b3eba12876c, + &s_e1e9318e2ae8b51e, + &s_e3d6685d4e9d8f7a, + &s_e42401658e2715e2, + &s_e61690eb0b091692, + &s_e71008caeb3fb65c, + &s_e7e17c434f865ae2, + &s_e8f9ba819993a776, + &s_e946524859add50e, + &s_ea0245f695ae0a33, + &s_ea095da1894f7d85, + &s_ebc5703d1ee7c129, + &s_ef0382d244f56e38, + &s_f35cc4560bbf6ec2, + &s_f416ec09499d9d19, + &s_f5ad1d90cdc1dd6b, + &s_f78829049ab814af, + &s_f98d843bfd7004a3, + &s_fa9a296b9fd41a96, + &s_fc010c40147563b0, + &s_fc0c9bb05e3927c1, + &s_fe346a9de48d9b50, + &s_fe35ad896ffaeacf, +}; +static const uint16_t m_d314cfd957229c11[] = {98, 101, 30, 20, 55, 42, 60, 63, 5, 23, 127, 69, 22, 28, 35, 7, 107, 114, 115, 116, 124, 125, 126, 6, 70, 87, 76, 71, 110, 59, 92, 128, 112, 85, 26, 10, 91, 21, 48, 3, 41, 40, 99, 100, 1, 65, 64, 109, 32, 96, 19, 8, 46, 25, 72, 51, 44, 37, 62, 111, 36, 61, 129, 94, 16, 14, 122, 119, 120, 117, 121, 118, 49, 18, 0, 24, 108, 95, 78, 105, 103, 9, 75, 113, 82, 104, 83, 38, 84, 27, 68, 54, 58, 56, 47, 53, 45, 12, 81, 80, 33, 89, 90, 31, 13, 2, 86, 15, 17, 4, 11, 73, 97, 123, 52, 66, 43, 34, 39, 102, 57, 50, 106, 79, 93, 67, 74, 88, 77, 29}; +static const uint16_t i_d314cfd957229c11[] = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 0, 67}; +const ::capnp::_::RawSchema s_d314cfd957229c11 = { + 0xd314cfd957229c11, b_d314cfd957229c11.words, 2216, d_d314cfd957229c11, m_d314cfd957229c11, + 89, 130, i_d314cfd957229c11, nullptr, nullptr, { &s_d314cfd957229c11, nullptr, nullptr, 0, 0, nullptr }, true +}; +#endif // !CAPNP_LITE +} // namespace schemas +} // namespace capnp + +// ======================================================================================= + +namespace cereal { + +// InitData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t InitData::_capnpPrivate::dataWordSize; +constexpr uint16_t InitData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind InitData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* InitData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// InitData::PandaInfo +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t InitData::PandaInfo::_capnpPrivate::dataWordSize; +constexpr uint16_t InitData::PandaInfo::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind InitData::PandaInfo::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* InitData::PandaInfo::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// InitData::AndroidBuildInfo +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t InitData::AndroidBuildInfo::_capnpPrivate::dataWordSize; +constexpr uint16_t InitData::AndroidBuildInfo::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind InitData::AndroidBuildInfo::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* InitData::AndroidBuildInfo::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// InitData::AndroidSensor +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t InitData::AndroidSensor::_capnpPrivate::dataWordSize; +constexpr uint16_t InitData::AndroidSensor::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind InitData::AndroidSensor::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* InitData::AndroidSensor::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// InitData::ChffrAndroidExtra +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t InitData::ChffrAndroidExtra::_capnpPrivate::dataWordSize; +constexpr uint16_t InitData::ChffrAndroidExtra::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind InitData::ChffrAndroidExtra::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* InitData::ChffrAndroidExtra::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// InitData::IosBuildInfo +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t InitData::IosBuildInfo::_capnpPrivate::dataWordSize; +constexpr uint16_t InitData::IosBuildInfo::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind InitData::IosBuildInfo::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* InitData::IosBuildInfo::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// FrameData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t FrameData::_capnpPrivate::dataWordSize; +constexpr uint16_t FrameData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind FrameData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* FrameData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// FrameData::AndroidCaptureResult +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t FrameData::AndroidCaptureResult::_capnpPrivate::dataWordSize; +constexpr uint16_t FrameData::AndroidCaptureResult::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind FrameData::AndroidCaptureResult::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* FrameData::AndroidCaptureResult::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// Thumbnail +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t Thumbnail::_capnpPrivate::dataWordSize; +constexpr uint16_t Thumbnail::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind Thumbnail::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* Thumbnail::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// GPSNMEAData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t GPSNMEAData::_capnpPrivate::dataWordSize; +constexpr uint16_t GPSNMEAData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind GPSNMEAData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* GPSNMEAData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// SensorEventData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t SensorEventData::_capnpPrivate::dataWordSize; +constexpr uint16_t SensorEventData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind SensorEventData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* SensorEventData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// SensorEventData::SensorVec +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t SensorEventData::SensorVec::_capnpPrivate::dataWordSize; +constexpr uint16_t SensorEventData::SensorVec::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind SensorEventData::SensorVec::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* SensorEventData::SensorVec::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// GpsLocationData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t GpsLocationData::_capnpPrivate::dataWordSize; +constexpr uint16_t GpsLocationData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind GpsLocationData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* GpsLocationData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CanData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CanData::_capnpPrivate::dataWordSize; +constexpr uint16_t CanData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CanData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CanData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// DeviceState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t DeviceState::_capnpPrivate::dataWordSize; +constexpr uint16_t DeviceState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind DeviceState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* DeviceState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// DeviceState::ThermalZone +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t DeviceState::ThermalZone::_capnpPrivate::dataWordSize; +constexpr uint16_t DeviceState::ThermalZone::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind DeviceState::ThermalZone::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* DeviceState::ThermalZone::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// DeviceState::NetworkInfo +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t DeviceState::NetworkInfo::_capnpPrivate::dataWordSize; +constexpr uint16_t DeviceState::NetworkInfo::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind DeviceState::NetworkInfo::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* DeviceState::NetworkInfo::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// DeviceState::NetworkStats +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t DeviceState::NetworkStats::_capnpPrivate::dataWordSize; +constexpr uint16_t DeviceState::NetworkStats::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind DeviceState::NetworkStats::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* DeviceState::NetworkStats::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// PandaState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t PandaState::_capnpPrivate::dataWordSize; +constexpr uint16_t PandaState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind PandaState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* PandaState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// PandaState::PandaCanState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t PandaState::PandaCanState::_capnpPrivate::dataWordSize; +constexpr uint16_t PandaState::PandaCanState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind PandaState::PandaCanState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* PandaState::PandaCanState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// PeripheralState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t PeripheralState::_capnpPrivate::dataWordSize; +constexpr uint16_t PeripheralState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind PeripheralState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* PeripheralState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// RadarState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t RadarState::_capnpPrivate::dataWordSize; +constexpr uint16_t RadarState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind RadarState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* RadarState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// RadarState::LeadData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t RadarState::LeadData::_capnpPrivate::dataWordSize; +constexpr uint16_t RadarState::LeadData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind RadarState::LeadData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* RadarState::LeadData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// LiveCalibrationData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t LiveCalibrationData::_capnpPrivate::dataWordSize; +constexpr uint16_t LiveCalibrationData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind LiveCalibrationData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* LiveCalibrationData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// LiveTracks +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t LiveTracks::_capnpPrivate::dataWordSize; +constexpr uint16_t LiveTracks::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind LiveTracks::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* LiveTracks::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ControlsState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ControlsState::_capnpPrivate::dataWordSize; +constexpr uint16_t ControlsState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ControlsState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ControlsState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ControlsState::LateralINDIState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ControlsState::LateralINDIState::_capnpPrivate::dataWordSize; +constexpr uint16_t ControlsState::LateralINDIState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ControlsState::LateralINDIState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ControlsState::LateralINDIState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ControlsState::LateralPIDState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ControlsState::LateralPIDState::_capnpPrivate::dataWordSize; +constexpr uint16_t ControlsState::LateralPIDState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ControlsState::LateralPIDState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ControlsState::LateralPIDState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ControlsState::LateralTorqueState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ControlsState::LateralTorqueState::_capnpPrivate::dataWordSize; +constexpr uint16_t ControlsState::LateralTorqueState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ControlsState::LateralTorqueState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ControlsState::LateralTorqueState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ControlsState::LateralLQRState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ControlsState::LateralLQRState::_capnpPrivate::dataWordSize; +constexpr uint16_t ControlsState::LateralLQRState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ControlsState::LateralLQRState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ControlsState::LateralLQRState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ControlsState::LateralAngleState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ControlsState::LateralAngleState::_capnpPrivate::dataWordSize; +constexpr uint16_t ControlsState::LateralAngleState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ControlsState::LateralAngleState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ControlsState::LateralAngleState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ControlsState::LateralCurvatureState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ControlsState::LateralCurvatureState::_capnpPrivate::dataWordSize; +constexpr uint16_t ControlsState::LateralCurvatureState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ControlsState::LateralCurvatureState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ControlsState::LateralCurvatureState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ControlsState::LateralDebugState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ControlsState::LateralDebugState::_capnpPrivate::dataWordSize; +constexpr uint16_t ControlsState::LateralDebugState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ControlsState::LateralDebugState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ControlsState::LateralDebugState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ControlsState::LateralControlState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ControlsState::LateralControlState::_capnpPrivate::dataWordSize; +constexpr uint16_t ControlsState::LateralControlState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ControlsState::LateralControlState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ControlsState::LateralControlState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// DrivingModelData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t DrivingModelData::_capnpPrivate::dataWordSize; +constexpr uint16_t DrivingModelData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind DrivingModelData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* DrivingModelData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// DrivingModelData::PolyPath +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t DrivingModelData::PolyPath::_capnpPrivate::dataWordSize; +constexpr uint16_t DrivingModelData::PolyPath::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind DrivingModelData::PolyPath::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* DrivingModelData::PolyPath::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// DrivingModelData::LaneLineMeta +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t DrivingModelData::LaneLineMeta::_capnpPrivate::dataWordSize; +constexpr uint16_t DrivingModelData::LaneLineMeta::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind DrivingModelData::LaneLineMeta::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* DrivingModelData::LaneLineMeta::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// DrivingModelData::MetaData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t DrivingModelData::MetaData::_capnpPrivate::dataWordSize; +constexpr uint16_t DrivingModelData::MetaData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind DrivingModelData::MetaData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* DrivingModelData::MetaData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// XYZTData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t XYZTData::_capnpPrivate::dataWordSize; +constexpr uint16_t XYZTData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind XYZTData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* XYZTData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ModelDataV2 +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ModelDataV2::_capnpPrivate::dataWordSize; +constexpr uint16_t ModelDataV2::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ModelDataV2::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ModelDataV2::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ModelDataV2::LeadDataV2 +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ModelDataV2::LeadDataV2::_capnpPrivate::dataWordSize; +constexpr uint16_t ModelDataV2::LeadDataV2::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ModelDataV2::LeadDataV2::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ModelDataV2::LeadDataV2::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ModelDataV2::LeadDataV3 +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ModelDataV2::LeadDataV3::_capnpPrivate::dataWordSize; +constexpr uint16_t ModelDataV2::LeadDataV3::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ModelDataV2::LeadDataV3::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ModelDataV2::LeadDataV3::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ModelDataV2::MetaData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ModelDataV2::MetaData::_capnpPrivate::dataWordSize; +constexpr uint16_t ModelDataV2::MetaData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ModelDataV2::MetaData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ModelDataV2::MetaData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ModelDataV2::DisengagePredictions +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ModelDataV2::DisengagePredictions::_capnpPrivate::dataWordSize; +constexpr uint16_t ModelDataV2::DisengagePredictions::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ModelDataV2::DisengagePredictions::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ModelDataV2::DisengagePredictions::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ModelDataV2::Pose +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ModelDataV2::Pose::_capnpPrivate::dataWordSize; +constexpr uint16_t ModelDataV2::Pose::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ModelDataV2::Pose::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ModelDataV2::Pose::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ModelDataV2::LateralPlannerSolution +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ModelDataV2::LateralPlannerSolution::_capnpPrivate::dataWordSize; +constexpr uint16_t ModelDataV2::LateralPlannerSolution::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ModelDataV2::LateralPlannerSolution::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ModelDataV2::LateralPlannerSolution::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ModelDataV2::Action +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ModelDataV2::Action::_capnpPrivate::dataWordSize; +constexpr uint16_t ModelDataV2::Action::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ModelDataV2::Action::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ModelDataV2::Action::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// EncodeIndex +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t EncodeIndex::_capnpPrivate::dataWordSize; +constexpr uint16_t EncodeIndex::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind EncodeIndex::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* EncodeIndex::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// AndroidLogEntry +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t AndroidLogEntry::_capnpPrivate::dataWordSize; +constexpr uint16_t AndroidLogEntry::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind AndroidLogEntry::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* AndroidLogEntry::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// LongitudinalPlan +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t LongitudinalPlan::_capnpPrivate::dataWordSize; +constexpr uint16_t LongitudinalPlan::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind LongitudinalPlan::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* LongitudinalPlan::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// LongitudinalPlan::GpsTrajectory +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t LongitudinalPlan::GpsTrajectory::_capnpPrivate::dataWordSize; +constexpr uint16_t LongitudinalPlan::GpsTrajectory::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind LongitudinalPlan::GpsTrajectory::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* LongitudinalPlan::GpsTrajectory::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// UiPlan +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t UiPlan::_capnpPrivate::dataWordSize; +constexpr uint16_t UiPlan::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind UiPlan::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* UiPlan::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// LateralPlan +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t LateralPlan::_capnpPrivate::dataWordSize; +constexpr uint16_t LateralPlan::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind LateralPlan::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* LateralPlan::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// LateralPlan::SolverState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t LateralPlan::SolverState::_capnpPrivate::dataWordSize; +constexpr uint16_t LateralPlan::SolverState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind LateralPlan::SolverState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* LateralPlan::SolverState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// LiveLocationKalman +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t LiveLocationKalman::_capnpPrivate::dataWordSize; +constexpr uint16_t LiveLocationKalman::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind LiveLocationKalman::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* LiveLocationKalman::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// LiveLocationKalman::Measurement +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t LiveLocationKalman::Measurement::_capnpPrivate::dataWordSize; +constexpr uint16_t LiveLocationKalman::Measurement::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind LiveLocationKalman::Measurement::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* LiveLocationKalman::Measurement::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// LivePose +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t LivePose::_capnpPrivate::dataWordSize; +constexpr uint16_t LivePose::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind LivePose::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* LivePose::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// LivePose::XYZMeasurement +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t LivePose::XYZMeasurement::_capnpPrivate::dataWordSize; +constexpr uint16_t LivePose::XYZMeasurement::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind LivePose::XYZMeasurement::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* LivePose::XYZMeasurement::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// LivePose::FilterState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t LivePose::FilterState::_capnpPrivate::dataWordSize; +constexpr uint16_t LivePose::FilterState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind LivePose::FilterState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* LivePose::FilterState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ProcLog +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ProcLog::_capnpPrivate::dataWordSize; +constexpr uint16_t ProcLog::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ProcLog::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ProcLog::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ProcLog::Process +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ProcLog::Process::_capnpPrivate::dataWordSize; +constexpr uint16_t ProcLog::Process::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ProcLog::Process::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ProcLog::Process::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ProcLog::CPUTimes +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ProcLog::CPUTimes::_capnpPrivate::dataWordSize; +constexpr uint16_t ProcLog::CPUTimes::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ProcLog::CPUTimes::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ProcLog::CPUTimes::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ProcLog::Mem +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ProcLog::Mem::_capnpPrivate::dataWordSize; +constexpr uint16_t ProcLog::Mem::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ProcLog::Mem::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ProcLog::Mem::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// GnssMeasurements +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t GnssMeasurements::_capnpPrivate::dataWordSize; +constexpr uint16_t GnssMeasurements::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind GnssMeasurements::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* GnssMeasurements::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// GnssMeasurements::EphemerisStatus +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t GnssMeasurements::EphemerisStatus::_capnpPrivate::dataWordSize; +constexpr uint16_t GnssMeasurements::EphemerisStatus::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind GnssMeasurements::EphemerisStatus::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* GnssMeasurements::EphemerisStatus::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// GnssMeasurements::CorrectedMeasurement +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t GnssMeasurements::CorrectedMeasurement::_capnpPrivate::dataWordSize; +constexpr uint16_t GnssMeasurements::CorrectedMeasurement::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind GnssMeasurements::CorrectedMeasurement::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* GnssMeasurements::CorrectedMeasurement::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// GnssMeasurements::EphemerisSourceDEPRECATED +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t GnssMeasurements::EphemerisSourceDEPRECATED::_capnpPrivate::dataWordSize; +constexpr uint16_t GnssMeasurements::EphemerisSourceDEPRECATED::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind GnssMeasurements::EphemerisSourceDEPRECATED::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* GnssMeasurements::EphemerisSourceDEPRECATED::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// UbloxGnss +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t UbloxGnss::_capnpPrivate::dataWordSize; +constexpr uint16_t UbloxGnss::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind UbloxGnss::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* UbloxGnss::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// UbloxGnss::SatReport +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t UbloxGnss::SatReport::_capnpPrivate::dataWordSize; +constexpr uint16_t UbloxGnss::SatReport::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind UbloxGnss::SatReport::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* UbloxGnss::SatReport::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// UbloxGnss::SatReport::SatInfo +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t UbloxGnss::SatReport::SatInfo::_capnpPrivate::dataWordSize; +constexpr uint16_t UbloxGnss::SatReport::SatInfo::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind UbloxGnss::SatReport::SatInfo::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* UbloxGnss::SatReport::SatInfo::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// UbloxGnss::MeasurementReport +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t UbloxGnss::MeasurementReport::_capnpPrivate::dataWordSize; +constexpr uint16_t UbloxGnss::MeasurementReport::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind UbloxGnss::MeasurementReport::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* UbloxGnss::MeasurementReport::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// UbloxGnss::MeasurementReport::ReceiverStatus +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t UbloxGnss::MeasurementReport::ReceiverStatus::_capnpPrivate::dataWordSize; +constexpr uint16_t UbloxGnss::MeasurementReport::ReceiverStatus::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind UbloxGnss::MeasurementReport::ReceiverStatus::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* UbloxGnss::MeasurementReport::ReceiverStatus::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// UbloxGnss::MeasurementReport::Measurement +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t UbloxGnss::MeasurementReport::Measurement::_capnpPrivate::dataWordSize; +constexpr uint16_t UbloxGnss::MeasurementReport::Measurement::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind UbloxGnss::MeasurementReport::Measurement::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* UbloxGnss::MeasurementReport::Measurement::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// UbloxGnss::MeasurementReport::Measurement::TrackingStatus +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t UbloxGnss::MeasurementReport::Measurement::TrackingStatus::_capnpPrivate::dataWordSize; +constexpr uint16_t UbloxGnss::MeasurementReport::Measurement::TrackingStatus::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind UbloxGnss::MeasurementReport::Measurement::TrackingStatus::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* UbloxGnss::MeasurementReport::Measurement::TrackingStatus::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// UbloxGnss::Ephemeris +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t UbloxGnss::Ephemeris::_capnpPrivate::dataWordSize; +constexpr uint16_t UbloxGnss::Ephemeris::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind UbloxGnss::Ephemeris::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* UbloxGnss::Ephemeris::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// UbloxGnss::IonoData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t UbloxGnss::IonoData::_capnpPrivate::dataWordSize; +constexpr uint16_t UbloxGnss::IonoData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind UbloxGnss::IonoData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* UbloxGnss::IonoData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// UbloxGnss::HwStatus +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t UbloxGnss::HwStatus::_capnpPrivate::dataWordSize; +constexpr uint16_t UbloxGnss::HwStatus::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind UbloxGnss::HwStatus::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* UbloxGnss::HwStatus::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// UbloxGnss::HwStatus2 +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t UbloxGnss::HwStatus2::_capnpPrivate::dataWordSize; +constexpr uint16_t UbloxGnss::HwStatus2::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind UbloxGnss::HwStatus2::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* UbloxGnss::HwStatus2::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// UbloxGnss::GlonassEphemeris +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t UbloxGnss::GlonassEphemeris::_capnpPrivate::dataWordSize; +constexpr uint16_t UbloxGnss::GlonassEphemeris::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind UbloxGnss::GlonassEphemeris::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* UbloxGnss::GlonassEphemeris::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// QcomGnss +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t QcomGnss::_capnpPrivate::dataWordSize; +constexpr uint16_t QcomGnss::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind QcomGnss::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* QcomGnss::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// QcomGnss::MeasurementStatus +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t QcomGnss::MeasurementStatus::_capnpPrivate::dataWordSize; +constexpr uint16_t QcomGnss::MeasurementStatus::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind QcomGnss::MeasurementStatus::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* QcomGnss::MeasurementStatus::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// QcomGnss::MeasurementReport +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t QcomGnss::MeasurementReport::_capnpPrivate::dataWordSize; +constexpr uint16_t QcomGnss::MeasurementReport::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind QcomGnss::MeasurementReport::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* QcomGnss::MeasurementReport::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// QcomGnss::MeasurementReport::SV +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t QcomGnss::MeasurementReport::SV::_capnpPrivate::dataWordSize; +constexpr uint16_t QcomGnss::MeasurementReport::SV::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind QcomGnss::MeasurementReport::SV::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* QcomGnss::MeasurementReport::SV::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// QcomGnss::ClockReport +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t QcomGnss::ClockReport::_capnpPrivate::dataWordSize; +constexpr uint16_t QcomGnss::ClockReport::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind QcomGnss::ClockReport::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* QcomGnss::ClockReport::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// QcomGnss::DrMeasurementReport +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t QcomGnss::DrMeasurementReport::_capnpPrivate::dataWordSize; +constexpr uint16_t QcomGnss::DrMeasurementReport::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind QcomGnss::DrMeasurementReport::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* QcomGnss::DrMeasurementReport::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// QcomGnss::DrMeasurementReport::SV +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t QcomGnss::DrMeasurementReport::SV::_capnpPrivate::dataWordSize; +constexpr uint16_t QcomGnss::DrMeasurementReport::SV::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind QcomGnss::DrMeasurementReport::SV::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* QcomGnss::DrMeasurementReport::SV::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// QcomGnss::DrSvPolyReport +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t QcomGnss::DrSvPolyReport::_capnpPrivate::dataWordSize; +constexpr uint16_t QcomGnss::DrSvPolyReport::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind QcomGnss::DrSvPolyReport::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* QcomGnss::DrSvPolyReport::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// Clocks +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t Clocks::_capnpPrivate::dataWordSize; +constexpr uint16_t Clocks::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind Clocks::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* Clocks::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// LiveMpcData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t LiveMpcData::_capnpPrivate::dataWordSize; +constexpr uint16_t LiveMpcData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind LiveMpcData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* LiveMpcData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// LiveLongitudinalMpcData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t LiveLongitudinalMpcData::_capnpPrivate::dataWordSize; +constexpr uint16_t LiveLongitudinalMpcData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind LiveLongitudinalMpcData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* LiveLongitudinalMpcData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// Joystick +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t Joystick::_capnpPrivate::dataWordSize; +constexpr uint16_t Joystick::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind Joystick::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* Joystick::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// DriverStateV2 +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t DriverStateV2::_capnpPrivate::dataWordSize; +constexpr uint16_t DriverStateV2::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind DriverStateV2::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* DriverStateV2::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// DriverStateV2::DriverData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t DriverStateV2::DriverData::_capnpPrivate::dataWordSize; +constexpr uint16_t DriverStateV2::DriverData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind DriverStateV2::DriverData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* DriverStateV2::DriverData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// DriverStateDEPRECATED +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t DriverStateDEPRECATED::_capnpPrivate::dataWordSize; +constexpr uint16_t DriverStateDEPRECATED::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind DriverStateDEPRECATED::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* DriverStateDEPRECATED::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// DriverMonitoringState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t DriverMonitoringState::_capnpPrivate::dataWordSize; +constexpr uint16_t DriverMonitoringState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind DriverMonitoringState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* DriverMonitoringState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// Boot +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t Boot::_capnpPrivate::dataWordSize; +constexpr uint16_t Boot::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind Boot::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* Boot::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// LiveParametersData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t LiveParametersData::_capnpPrivate::dataWordSize; +constexpr uint16_t LiveParametersData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind LiveParametersData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* LiveParametersData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// LiveTorqueParametersData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t LiveTorqueParametersData::_capnpPrivate::dataWordSize; +constexpr uint16_t LiveTorqueParametersData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind LiveTorqueParametersData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* LiveTorqueParametersData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// LiveMapDataDEPRECATED +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t LiveMapDataDEPRECATED::_capnpPrivate::dataWordSize; +constexpr uint16_t LiveMapDataDEPRECATED::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind LiveMapDataDEPRECATED::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* LiveMapDataDEPRECATED::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CameraOdometry +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CameraOdometry::_capnpPrivate::dataWordSize; +constexpr uint16_t CameraOdometry::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CameraOdometry::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CameraOdometry::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// Sentinel +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t Sentinel::_capnpPrivate::dataWordSize; +constexpr uint16_t Sentinel::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind Sentinel::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* Sentinel::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// UIDebug +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t UIDebug::_capnpPrivate::dataWordSize; +constexpr uint16_t UIDebug::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind UIDebug::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* UIDebug::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ManagerState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ManagerState::_capnpPrivate::dataWordSize; +constexpr uint16_t ManagerState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ManagerState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ManagerState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ManagerState::ProcessState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ManagerState::ProcessState::_capnpPrivate::dataWordSize; +constexpr uint16_t ManagerState::ProcessState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ManagerState::ProcessState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ManagerState::ProcessState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// UploaderState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t UploaderState::_capnpPrivate::dataWordSize; +constexpr uint16_t UploaderState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind UploaderState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* UploaderState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// NavInstruction +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t NavInstruction::_capnpPrivate::dataWordSize; +constexpr uint16_t NavInstruction::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind NavInstruction::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* NavInstruction::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// NavInstruction::Lane +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t NavInstruction::Lane::_capnpPrivate::dataWordSize; +constexpr uint16_t NavInstruction::Lane::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind NavInstruction::Lane::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* NavInstruction::Lane::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// NavInstruction::Maneuver +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t NavInstruction::Maneuver::_capnpPrivate::dataWordSize; +constexpr uint16_t NavInstruction::Maneuver::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind NavInstruction::Maneuver::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* NavInstruction::Maneuver::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// NavRoute +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t NavRoute::_capnpPrivate::dataWordSize; +constexpr uint16_t NavRoute::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind NavRoute::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* NavRoute::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// NavRoute::Coordinate +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t NavRoute::Coordinate::_capnpPrivate::dataWordSize; +constexpr uint16_t NavRoute::Coordinate::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind NavRoute::Coordinate::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* NavRoute::Coordinate::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// MapRenderState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t MapRenderState::_capnpPrivate::dataWordSize; +constexpr uint16_t MapRenderState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind MapRenderState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* MapRenderState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// NavModelData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t NavModelData::_capnpPrivate::dataWordSize; +constexpr uint16_t NavModelData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind NavModelData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* NavModelData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// NavModelData::XYData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t NavModelData::XYData::_capnpPrivate::dataWordSize; +constexpr uint16_t NavModelData::XYData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind NavModelData::XYData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* NavModelData::XYData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// EncodeData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t EncodeData::_capnpPrivate::dataWordSize; +constexpr uint16_t EncodeData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind EncodeData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* EncodeData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// UserFlag +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t UserFlag::_capnpPrivate::dataWordSize; +constexpr uint16_t UserFlag::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind UserFlag::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* UserFlag::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// Microphone +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t Microphone::_capnpPrivate::dataWordSize; +constexpr uint16_t Microphone::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind Microphone::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* Microphone::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// Event +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t Event::_capnpPrivate::dataWordSize; +constexpr uint16_t Event::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind Event::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* Event::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + + +} // namespace + diff --git a/cereal/gen/cpp/log.capnp.h b/cereal/gen/cpp/log.capnp.h new file mode 100644 index 0000000000..acdc418994 --- /dev/null +++ b/cereal/gen/cpp/log.capnp.h @@ -0,0 +1,55203 @@ +// Generated by Cap'n Proto compiler, DO NOT EDIT +// source: log.capnp + +#pragma once + +#include +#include + +#ifndef CAPNP_VERSION +#error "CAPNP_VERSION is not defined, is capnp/generated-header-support.h missing?" +#elif CAPNP_VERSION != 1000002 +#error "Version mismatch between generated code and library headers. You must use the same version of the Cap'n Proto compiler and library." +#endif + +#include "car.capnp.h" +#include "custom.capnp.h" +#include "legacy.capnp.h" + +CAPNP_BEGIN_HEADER + +namespace capnp { +namespace schemas { + +CAPNP_DECLARE_SCHEMA(d578fb3372ed5043); +CAPNP_DECLARE_SCHEMA(f8b13ce2183eb696); +CAPNP_DECLARE_SCHEMA(a5dfdd084a6eea0e); +CAPNP_DECLARE_SCHEMA(d692e23d1a247d99); +enum class LongitudinalPersonality_d692e23d1a247d99: uint16_t { + AGGRESSIVE, + STANDARD, + RELAXED, +}; +CAPNP_DECLARE_ENUM(LongitudinalPersonality, d692e23d1a247d99); +CAPNP_DECLARE_SCHEMA(e71008caeb3fb65c); +CAPNP_DECLARE_SCHEMA(9d5d7238eba86608); +enum class DeviceType_9d5d7238eba86608: uint16_t { + UNKNOWN, + NEO, + CHFFR_ANDROID, + CHFFR_IOS, + TICI, + PC, + TIZI, + MICI, +}; +CAPNP_DECLARE_ENUM(DeviceType, 9d5d7238eba86608); +CAPNP_DECLARE_SCHEMA(e673e8725cdff0ad); +CAPNP_DECLARE_SCHEMA(fe2919d5c21f426c); +CAPNP_DECLARE_SCHEMA(9b513b93a887dbcd); +CAPNP_DECLARE_SCHEMA(9cfb5d53a4f615a5); +CAPNP_DECLARE_SCHEMA(d97e3b28239f5580); +CAPNP_DECLARE_SCHEMA(ea0245f695ae0a33); +CAPNP_DECLARE_SCHEMA(a37f0d8558e193fd); +enum class FrameTypeDEPRECATED_a37f0d8558e193fd: uint16_t { + UNKNOWN, + NEO, + CHFFR_ANDROID, + FRONT, +}; +CAPNP_DECLARE_ENUM(FrameTypeDEPRECATED, a37f0d8558e193fd); +CAPNP_DECLARE_SCHEMA(d810b1e7705dd69c); +enum class ImageSensor_d810b1e7705dd69c: uint16_t { + UNKNOWN, + AR0231, + OX03C10, + OS04C10, +}; +CAPNP_DECLARE_ENUM(ImageSensor, d810b1e7705dd69c); +CAPNP_DECLARE_SCHEMA(bcc3efbac41d2048); +CAPNP_DECLARE_SCHEMA(b65fce64120af7d3); +CAPNP_DECLARE_SCHEMA(ce7b9bb221c070c2); +enum class Encoding_ce7b9bb221c070c2: uint16_t { + UNKNOWN, + JPEG, + KEYFRAME, +}; +CAPNP_DECLARE_ENUM(Encoding, ce7b9bb221c070c2); +CAPNP_DECLARE_SCHEMA(9d291d7813ba4a88); +CAPNP_DECLARE_SCHEMA(a2b29a69d44529a1); +CAPNP_DECLARE_SCHEMA(a43429bd2bfc24fc); +CAPNP_DECLARE_SCHEMA(e49b3ce8f7f48d0d); +enum class SensorSource_e49b3ce8f7f48d0d: uint16_t { + ANDROID, + I_O_S, + FIBER, + VELODYNE, + BNO055, + LSM6DS3, + BMP280, + MMC3416X, + BMX055, + RPR0521, + LSM6DS3TRC, + MMC5603NJ, +}; +CAPNP_DECLARE_ENUM(SensorSource, e49b3ce8f7f48d0d); +CAPNP_DECLARE_SCHEMA(e946524859add50e); +CAPNP_DECLARE_SCHEMA(d3ff79f25c734863); +enum class SensorSource_d3ff79f25c734863: uint16_t { + ANDROID, + I_O_S, + CAR, + VELODYNE, + FUSION, + EXTERNAL, + UBLOX, + TRIMBLE, + QCOMDIAG, + UNICORE, +}; +CAPNP_DECLARE_ENUM(SensorSource, d3ff79f25c734863); +CAPNP_DECLARE_SCHEMA(ae674a34ba421466); +enum class Desire_ae674a34ba421466: uint16_t { + NONE, + TURN_LEFT, + TURN_RIGHT, + LANE_CHANGE_LEFT, + LANE_CHANGE_RIGHT, + KEEP_LEFT, + KEEP_RIGHT, +}; +CAPNP_DECLARE_ENUM(Desire, ae674a34ba421466); +CAPNP_DECLARE_SCHEMA(cd37924bf7b2d3d2); +enum class LaneChangeState_cd37924bf7b2d3d2: uint16_t { + OFF, + PRE_LANE_CHANGE, + LANE_CHANGE_STARTING, + LANE_CHANGE_FINISHING, +}; +CAPNP_DECLARE_ENUM(LaneChangeState, cd37924bf7b2d3d2); +CAPNP_DECLARE_SCHEMA(9d0bc0c1fe671176); +enum class LaneChangeDirection_9d0bc0c1fe671176: uint16_t { + NONE, + LEFT, + RIGHT, +}; +CAPNP_DECLARE_ENUM(LaneChangeDirection, 9d0bc0c1fe671176); +CAPNP_DECLARE_SCHEMA(8785009a964c7c59); +CAPNP_DECLARE_SCHEMA(a4d8b5af2aa492eb); +CAPNP_DECLARE_SCHEMA(d0790029853df66f); +CAPNP_DECLARE_SCHEMA(af0f7110c254f77e); +enum class ThermalStatus_af0f7110c254f77e: uint16_t { + GREEN, + YELLOW, + RED, + DANGER, +}; +CAPNP_DECLARE_ENUM(ThermalStatus, af0f7110c254f77e); +CAPNP_DECLARE_SCHEMA(bbc79cc958d1049d); +enum class NetworkType_bbc79cc958d1049d: uint16_t { + NONE, + WIFI, + CELL2_G, + CELL3_G, + CELL4_G, + CELL5_G, + ETHERNET, +}; +CAPNP_DECLARE_ENUM(NetworkType, bbc79cc958d1049d); +CAPNP_DECLARE_SCHEMA(dd308c8a13203e13); +enum class NetworkStrength_dd308c8a13203e13: uint16_t { + UNKNOWN, + POOR, + MODERATE, + GOOD, + GREAT, +}; +CAPNP_DECLARE_ENUM(NetworkStrength, dd308c8a13203e13); +CAPNP_DECLARE_SCHEMA(9d57532d82c04afc); +CAPNP_DECLARE_SCHEMA(b98c64ea27898ea0); +CAPNP_DECLARE_SCHEMA(a7649e2575e4591e); +CAPNP_DECLARE_SCHEMA(f2fd0b8b0ac9adbb); +enum class FaultStatus_f2fd0b8b0ac9adbb: uint16_t { + NONE, + FAULT_TEMP, + FAULT_PERM, +}; +CAPNP_DECLARE_ENUM(FaultStatus, f2fd0b8b0ac9adbb); +CAPNP_DECLARE_SCHEMA(cd55c07f69249798); +enum class FaultType_cd55c07f69249798: uint16_t { + RELAY_MALFUNCTION, + UNUSED_INTERRUPT_HANDLED, + INTERRUPT_RATE_CAN1, + INTERRUPT_RATE_CAN2, + INTERRUPT_RATE_CAN3, + INTERRUPT_RATE_TACH, + INTERRUPT_RATE_GMLAN_D_E_P_R_E_C_A_T_E_D, + INTERRUPT_RATE_INTERRUPTS, + INTERRUPT_RATE_SPI_DMA, + INTERRUPT_RATE_SPI_CS, + INTERRUPT_RATE_UART1, + INTERRUPT_RATE_UART2, + INTERRUPT_RATE_UART3, + INTERRUPT_RATE_UART5, + INTERRUPT_RATE_UART_DMA, + INTERRUPT_RATE_USB, + INTERRUPT_RATE_TIM1, + INTERRUPT_RATE_TIM3, + REGISTER_DIVERGENT, + INTERRUPT_RATE_KLINE_INIT, + INTERRUPT_RATE_CLOCK_SOURCE, + INTERRUPT_RATE_TICK, + INTERRUPT_RATE_EXTI, + INTERRUPT_RATE_SPI, + INTERRUPT_RATE_UART7, + SIREN_MALFUNCTION, + HEARTBEAT_LOOP_WATCHDOG, +}; +CAPNP_DECLARE_ENUM(FaultType, cd55c07f69249798); +CAPNP_DECLARE_SCHEMA(8a58adf93e5b3751); +enum class PandaType_8a58adf93e5b3751: uint16_t { + UNKNOWN, + WHITE_PANDA, + GREY_PANDA, + BLACK_PANDA, + PEDAL, + UNO, + DOS, + RED_PANDA, + RED_PANDA_V2, + TRES, + CUATRO, +}; +CAPNP_DECLARE_ENUM(PandaType, 8a58adf93e5b3751); +CAPNP_DECLARE_SCHEMA(f69a3ed1e8c081bf); +enum class HarnessStatus_f69a3ed1e8c081bf: uint16_t { + NOT_CONNECTED, + NORMAL, + FLIPPED, +}; +CAPNP_DECLARE_ENUM(HarnessStatus, f69a3ed1e8c081bf); +CAPNP_DECLARE_SCHEMA(f8d2972deb0cd45c); +CAPNP_DECLARE_SCHEMA(c0db50b4d13283ff); +enum class LecErrorCode_c0db50b4d13283ff: uint16_t { + NO_ERROR, + STUFF_ERROR, + FORM_ERROR, + ACK_ERROR, + BIT1_ERROR, + BIT0_ERROR, + CRC_ERROR, + NO_CHANGE, +}; +CAPNP_DECLARE_ENUM(LecErrorCode, c0db50b4d13283ff); +CAPNP_DECLARE_SCHEMA(ceb8f49734857a88); +CAPNP_DECLARE_SCHEMA(a8883583b32c9877); +enum class UsbPowerModeDEPRECATED_a8883583b32c9877: uint16_t { + NONE, + CLIENT, + CDP, + DCP, +}; +CAPNP_DECLARE_ENUM(UsbPowerModeDEPRECATED, a8883583b32c9877); +CAPNP_DECLARE_SCHEMA(9a185389d6fdd05f); +CAPNP_DECLARE_SCHEMA(b96f3ad9170cf085); +CAPNP_DECLARE_SCHEMA(96df70754d8390bc); +CAPNP_DECLARE_SCHEMA(caaa029466ad394d); +enum class Status_caaa029466ad394d: uint16_t { + UNCALIBRATED, + CALIBRATED, + INVALID, + RECALIBRATING, +}; +CAPNP_DECLARE_ENUM(Status, caaa029466ad394d); +CAPNP_DECLARE_SCHEMA(8faa644732dec251); +CAPNP_DECLARE_SCHEMA(97ff69c53601abf1); +CAPNP_DECLARE_SCHEMA(dbe58b96d2d1ac61); +enum class OpenpilotState_dbe58b96d2d1ac61: uint16_t { + DISABLED, + PRE_ENABLED, + ENABLED, + SOFT_DISABLING, + OVERRIDING, +}; +CAPNP_DECLARE_ENUM(OpenpilotState, dbe58b96d2d1ac61); +CAPNP_DECLARE_SCHEMA(a0d0dcd113193c62); +enum class AlertStatus_a0d0dcd113193c62: uint16_t { + NORMAL, + USER_PROMPT, + CRITICAL, +}; +CAPNP_DECLARE_ENUM(AlertStatus, a0d0dcd113193c62); +CAPNP_DECLARE_SCHEMA(e98bb99d6e985f64); +enum class AlertSize_e98bb99d6e985f64: uint16_t { + NONE, + SMALL, + MID, + FULL, +}; +CAPNP_DECLARE_ENUM(AlertSize, e98bb99d6e985f64); +CAPNP_DECLARE_SCHEMA(939463348632375e); +CAPNP_DECLARE_SCHEMA(f28c5dc9e09375e3); +CAPNP_DECLARE_SCHEMA(e774a050cbf689a4); +CAPNP_DECLARE_SCHEMA(9024e2d790c82ade); +CAPNP_DECLARE_SCHEMA(a2e4ea88ac9980f1); +CAPNP_DECLARE_SCHEMA(ad9d8095c06f7c61); +CAPNP_DECLARE_SCHEMA(a63a46f0f2889b2d); +CAPNP_DECLARE_SCHEMA(fd5b914d6b444695); +CAPNP_DECLARE_SCHEMA(e8f9ba819993a776); +CAPNP_DECLARE_SCHEMA(ca1e4710874d12b5); +CAPNP_DECLARE_SCHEMA(996ef0369d7e5625); +CAPNP_DECLARE_SCHEMA(a0cfcfa4ed19ac5d); +CAPNP_DECLARE_SCHEMA(c3cbae1fd505ae80); +CAPNP_DECLARE_SCHEMA(c4713f6b0d36abe9); +CAPNP_DECLARE_SCHEMA(a444ed2b2187af28); +CAPNP_DECLARE_SCHEMA(d698881ad0ce7feb); +CAPNP_DECLARE_SCHEMA(d1646ab3b45cfabd); +CAPNP_DECLARE_SCHEMA(aa3247d9d2a61cd4); +enum class ConfidenceClass_aa3247d9d2a61cd4: uint16_t { + RED, + YELLOW, + GREEN, +}; +CAPNP_DECLARE_ENUM(ConfidenceClass, aa3247d9d2a61cd4); +CAPNP_DECLARE_SCHEMA(860aa5ddbcdc8d25); +CAPNP_DECLARE_SCHEMA(fb3ec0702e67884f); +CAPNP_DECLARE_SCHEMA(84caeca5a6b4acfe); +CAPNP_DECLARE_SCHEMA(94d0bcb35a764584); +CAPNP_DECLARE_SCHEMA(89d394e3541735fc); +CAPNP_DECLARE_SCHEMA(c0ad259ec157ccd3); +enum class Type_c0ad259ec157ccd3: uint16_t { + BIG_BOX_LOSSLESS, + FULL_H_E_V_C, + BIG_BOX_H_E_V_C_D_E_P_R_E_C_A_T_E_D, + CHFFR_ANDROID_H264_D_E_P_R_E_C_A_T_E_D, + FULL_LOSSLESS_CLIP_D_E_P_R_E_C_A_T_E_D, + FRONT_D_E_P_R_E_C_A_T_E_D, + QCAMERA_H264, + LIVESTREAM_H264, +}; +CAPNP_DECLARE_ENUM(Type, c0ad259ec157ccd3); +CAPNP_DECLARE_SCHEMA(ea095da1894f7d85); +CAPNP_DECLARE_SCHEMA(e00b5b3eba12876c); +CAPNP_DECLARE_SCHEMA(b231a753cc079120); +enum class LongitudinalPlanSource_b231a753cc079120: uint16_t { + CRUISE, + LEAD0, + LEAD1, + LEAD2, + E2E, +}; +CAPNP_DECLARE_ENUM(LongitudinalPlanSource, b231a753cc079120); +CAPNP_DECLARE_SCHEMA(8cfeb072f5301000); +CAPNP_DECLARE_SCHEMA(fc0c9bb05e3927c1); +CAPNP_DECLARE_SCHEMA(e1e9318e2ae8b51e); +CAPNP_DECLARE_SCHEMA(fdca7c675b7021c6); +CAPNP_DECLARE_SCHEMA(ebc5703d1ee7c129); +CAPNP_DECLARE_SCHEMA(8e4dc8cc4b51fc01); +enum class Status_8e4dc8cc4b51fc01: uint16_t { + UNINITIALIZED, + UNCALIBRATED, + VALID, +}; +CAPNP_DECLARE_ENUM(Status, 8e4dc8cc4b51fc01); +CAPNP_DECLARE_SCHEMA(bf23f9ed66dace1c); +CAPNP_DECLARE_SCHEMA(c24ca2b57206b44d); +CAPNP_DECLARE_SCHEMA(f9c93a8733ccd82b); +CAPNP_DECLARE_SCHEMA(dacbb6c4e0cb5f66); +CAPNP_DECLARE_SCHEMA(af85387b3f681406); +CAPNP_DECLARE_SCHEMA(b0b85613f19e6d28); +CAPNP_DECLARE_SCHEMA(f189c8c5bf2ce087); +CAPNP_DECLARE_SCHEMA(fd095f94f08b3fd4); +CAPNP_DECLARE_SCHEMA(afd47016570e9d09); +CAPNP_DECLARE_SCHEMA(f3286be6a8bfb860); +CAPNP_DECLARE_SCHEMA(eaa4a17d86ac76b0); +CAPNP_DECLARE_SCHEMA(bcc2ef5087c0ad85); +CAPNP_DECLARE_SCHEMA(82079c2ea8450877); +enum class ConstellationId_82079c2ea8450877: uint16_t { + GPS, + SBAS, + GALILEO, + BEIDOU, + IMES, + QZNSS, + GLONASS, +}; +CAPNP_DECLARE_ENUM(ConstellationId, 82079c2ea8450877); +CAPNP_DECLARE_SCHEMA(c299bc1804b08d93); +enum class EphemerisType_c299bc1804b08d93: uint16_t { + NAV, + NASA_ULTRA_RAPID, + GLONASS_IAC_ULTRA_RAPID, + QCOM, +}; +CAPNP_DECLARE_ENUM(EphemerisType, c299bc1804b08d93); +CAPNP_DECLARE_SCHEMA(f6e39b3396a699f6); +enum class EphemerisSource_f6e39b3396a699f6: uint16_t { + GNSS_CHIP, + INTERNET, + CACHE, + UNKNOWN, +}; +CAPNP_DECLARE_ENUM(EphemerisSource, f6e39b3396a699f6); +CAPNP_DECLARE_SCHEMA(85dddd7ce6cefa5d); +CAPNP_DECLARE_SCHEMA(bb642aff76688f53); +CAPNP_DECLARE_SCHEMA(e89dce02ced79e43); +CAPNP_DECLARE_SCHEMA(a73ba546a29820f4); +CAPNP_DECLARE_SCHEMA(fbb838d65160aab6); +CAPNP_DECLARE_SCHEMA(8f8a655f5e326401); +CAPNP_DECLARE_SCHEMA(e8efb3a802b299b2); +CAPNP_DECLARE_SCHEMA(d8418c788118f85c); +CAPNP_DECLARE_SCHEMA(c3a3a8de519a4a26); +CAPNP_DECLARE_SCHEMA(ebb036b114275aa8); +CAPNP_DECLARE_SCHEMA(c23e1128ab4d5b53); +enum class AntennaSupervisorState_c23e1128ab4d5b53: uint16_t { + INIT, + DONTKNOW, + OK, + SHORT, + OPEN, +}; +CAPNP_DECLARE_ENUM(AntennaSupervisorState, c23e1128ab4d5b53); +CAPNP_DECLARE_SCHEMA(fe3b51a924e46559); +enum class AntennaPowerStatus_fe3b51a924e46559: uint16_t { + OFF, + ON, + DONTKNOW, +}; +CAPNP_DECLARE_ENUM(AntennaPowerStatus, fe3b51a924e46559); +CAPNP_DECLARE_SCHEMA(f919b410b90e53c6); +CAPNP_DECLARE_SCHEMA(b2d0985eb51c97b9); +enum class ConfigSource_b2d0985eb51c97b9: uint16_t { + UNDEFINED, + ROM, + OTP, + CONFIGPINS, + FLASH, +}; +CAPNP_DECLARE_ENUM(ConfigSource, b2d0985eb51c97b9); +CAPNP_DECLARE_SCHEMA(b9c5911198388e0c); +CAPNP_DECLARE_SCHEMA(de94674b07ae51c1); +CAPNP_DECLARE_SCHEMA(d71a12b6faada7ee); +enum class MeasurementSource_d71a12b6faada7ee: uint16_t { + GPS, + GLONASS, + BEIDOU, + UNKNOWN3, + UNKNOWN4, + UNKNOWN5, + SBAS, +}; +CAPNP_DECLARE_ENUM(MeasurementSource, d71a12b6faada7ee); +CAPNP_DECLARE_SCHEMA(e81e829a0d6c83e9); +enum class SVObservationState_e81e829a0d6c83e9: uint16_t { + IDLE, + SEARCH, + SEARCH_VERIFY, + BIT_EDGE, + TRACK_VERIFY, + TRACK, + RESTART, + DPO, + GLO10MS_BE, + GLO10MS_AT, +}; +CAPNP_DECLARE_ENUM(SVObservationState, e81e829a0d6c83e9); +CAPNP_DECLARE_SCHEMA(e501010e1bcae83b); +CAPNP_DECLARE_SCHEMA(f580d7d86b7b8692); +CAPNP_DECLARE_SCHEMA(f10c595ae7bb2c27); +CAPNP_DECLARE_SCHEMA(ca965e4add8f4f0b); +CAPNP_DECLARE_SCHEMA(8053c39445c6c75c); +CAPNP_DECLARE_SCHEMA(f08b81df8cbf459c); +CAPNP_DECLARE_SCHEMA(b1fb80811a673270); +CAPNP_DECLARE_SCHEMA(c95fb49a7bdc4618); +CAPNP_DECLARE_SCHEMA(92a5e332a85f32a0); +CAPNP_DECLARE_SCHEMA(e7e17c434f865ae2); +CAPNP_DECLARE_SCHEMA(e42401658e2715e2); +CAPNP_DECLARE_SCHEMA(fc010c40147563b0); +CAPNP_DECLARE_SCHEMA(c9f73bb1cdf28a6a); +CAPNP_DECLARE_SCHEMA(b83c6cc593ed0a00); +CAPNP_DECLARE_SCHEMA(b83cda094a1da284); +CAPNP_DECLARE_SCHEMA(a12e8670927a2549); +CAPNP_DECLARE_SCHEMA(d9058dcb967c2753); +CAPNP_DECLARE_SCHEMA(e61690eb0b091692); +CAPNP_DECLARE_SCHEMA(943e268f93f711a6); +CAPNP_DECLARE_SCHEMA(fa9a296b9fd41a96); +CAPNP_DECLARE_SCHEMA(ef0382d244f56e38); +CAPNP_DECLARE_SCHEMA(a2d8e61eb6f7031a); +enum class SentinelType_a2d8e61eb6f7031a: uint16_t { + END_OF_SEGMENT, + END_OF_ROUTE, + START_OF_SEGMENT, + START_OF_ROUTE, +}; +CAPNP_DECLARE_ENUM(SentinelType, a2d8e61eb6f7031a); +CAPNP_DECLARE_SCHEMA(fe35ad896ffaeacf); +CAPNP_DECLARE_SCHEMA(cf7154b31a69635b); +CAPNP_DECLARE_SCHEMA(869a54d2708469ea); +CAPNP_DECLARE_SCHEMA(de266b39b76b461e); +CAPNP_DECLARE_SCHEMA(c18216b27f8602af); +CAPNP_DECLARE_SCHEMA(a4cd1689c0a439d9); +CAPNP_DECLARE_SCHEMA(eea5b9d8c9e5c192); +enum class Direction_eea5b9d8c9e5c192: uint16_t { + NONE, + LEFT, + RIGHT, + STRAIGHT, + SLIGHT_LEFT, + SLIGHT_RIGHT, +}; +CAPNP_DECLARE_ENUM(Direction, eea5b9d8c9e5c192); +CAPNP_DECLARE_SCHEMA(b66e0aa568d09c66); +enum class SpeedLimitSign_b66e0aa568d09c66: uint16_t { + MUTCD, + VIENNA, +}; +CAPNP_DECLARE_ENUM(SpeedLimitSign, b66e0aa568d09c66); +CAPNP_DECLARE_SCHEMA(b3ec4a1a6ce20a45); +CAPNP_DECLARE_SCHEMA(a61452f6440d97d3); +CAPNP_DECLARE_SCHEMA(c4c96f53ad1e7485); +CAPNP_DECLARE_SCHEMA(a158dd2a4cfaa81b); +CAPNP_DECLARE_SCHEMA(ac3de5c437be057a); +CAPNP_DECLARE_SCHEMA(be09e615b2507e26); +CAPNP_DECLARE_SCHEMA(cf9aeab355dd85f0); +CAPNP_DECLARE_SCHEMA(fe346a9de48d9b50); +CAPNP_DECLARE_SCHEMA(dc24138990726023); +CAPNP_DECLARE_SCHEMA(d314cfd957229c11); + +} // namespace schemas +} // namespace capnp + +namespace cereal { + +static constexpr ::int32_t LOG_VERSION = 1; +template +struct Map { + Map() = delete; + + class Reader; + class Builder; + class Pipeline; + struct Entry; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(f8b13ce2183eb696, 0, 1) + #if !CAPNP_LITE + static const ::capnp::_::RawBrandedSchema::Scope brandScopes[]; + static const ::capnp::_::RawBrandedSchema::Binding brandBindings[]; + static const ::capnp::_::RawBrandedSchema::Dependency brandDependencies[]; + static const ::capnp::_::RawBrandedSchema specificBrand; + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return ::capnp::_::ChooseBrand<_capnpPrivate, Key, Value>::brand(); } + #endif // !CAPNP_LITE + }; +}; + +template +struct Map::Entry { + Entry() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(a5dfdd084a6eea0e, 0, 2) + #if !CAPNP_LITE + static const ::capnp::_::RawBrandedSchema::Scope brandScopes[]; + static const ::capnp::_::RawBrandedSchema::Binding brandBindings[]; + static const ::capnp::_::RawBrandedSchema specificBrand; + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return ::capnp::_::ChooseBrand<_capnpPrivate, Key, Value>::brand(); } + #endif // !CAPNP_LITE + }; +}; + +typedef ::capnp::schemas::LongitudinalPersonality_d692e23d1a247d99 LongitudinalPersonality; + +struct InitData { + InitData() = delete; + + class Reader; + class Builder; + class Pipeline; + typedef ::capnp::schemas::DeviceType_9d5d7238eba86608 DeviceType; + + struct PandaInfo; + struct AndroidBuildInfo; + struct AndroidSensor; + struct ChffrAndroidExtra; + struct IosBuildInfo; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(e71008caeb3fb65c, 2, 19) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct InitData::PandaInfo { + PandaInfo() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(e673e8725cdff0ad, 1, 3) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct InitData::AndroidBuildInfo { + AndroidBuildInfo() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(fe2919d5c21f426c, 2, 21) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct InitData::AndroidSensor { + AndroidSensor() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(9b513b93a887dbcd, 6, 3) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct InitData::ChffrAndroidExtra { + ChffrAndroidExtra() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(9cfb5d53a4f615a5, 0, 1) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct InitData::IosBuildInfo { + IosBuildInfo() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(d97e3b28239f5580, 1, 3) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct FrameData { + FrameData() = delete; + + class Reader; + class Builder; + class Pipeline; + typedef ::capnp::schemas::FrameTypeDEPRECATED_a37f0d8558e193fd FrameTypeDEPRECATED; + + typedef ::capnp::schemas::ImageSensor_d810b1e7705dd69c ImageSensor; + + struct AndroidCaptureResult; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(ea0245f695ae0a33, 12, 7) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct FrameData::AndroidCaptureResult { + AndroidCaptureResult() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(bcc3efbac41d2048, 4, 2) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct Thumbnail { + Thumbnail() = delete; + + class Reader; + class Builder; + class Pipeline; + typedef ::capnp::schemas::Encoding_ce7b9bb221c070c2 Encoding; + + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(b65fce64120af7d3, 2, 1) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct GPSNMEAData { + GPSNMEAData() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(9d291d7813ba4a88, 2, 1) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct SensorEventData { + SensorEventData() = delete; + + class Reader; + class Builder; + class Pipeline; + enum Which: uint16_t { + ACCELERATION, + MAGNETIC, + ORIENTATION, + GYRO, + PRESSURE, + MAGNETIC_UNCALIBRATED, + GYRO_UNCALIBRATED, + PROXIMITY, + LIGHT, + TEMPERATURE, + }; + struct SensorVec; + typedef ::capnp::schemas::SensorSource_e49b3ce8f7f48d0d SensorSource; + + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(a2b29a69d44529a1, 4, 1) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct SensorEventData::SensorVec { + SensorVec() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(a43429bd2bfc24fc, 1, 1) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct GpsLocationData { + GpsLocationData() = delete; + + class Reader; + class Builder; + class Pipeline; + typedef ::capnp::schemas::SensorSource_d3ff79f25c734863 SensorSource; + + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(e946524859add50e, 8, 1) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +typedef ::capnp::schemas::Desire_ae674a34ba421466 Desire; + +typedef ::capnp::schemas::LaneChangeState_cd37924bf7b2d3d2 LaneChangeState; + +typedef ::capnp::schemas::LaneChangeDirection_9d0bc0c1fe671176 LaneChangeDirection; + +struct CanData { + CanData() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(8785009a964c7c59, 1, 1) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct DeviceState { + DeviceState() = delete; + + class Reader; + class Builder; + class Pipeline; + struct ThermalZone; + typedef ::capnp::schemas::ThermalStatus_af0f7110c254f77e ThermalStatus; + + typedef ::capnp::schemas::NetworkType_bbc79cc958d1049d NetworkType; + + typedef ::capnp::schemas::NetworkStrength_dd308c8a13203e13 NetworkStrength; + + struct NetworkInfo; + struct NetworkStats; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(a4d8b5af2aa492eb, 12, 10) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct DeviceState::ThermalZone { + ThermalZone() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(d0790029853df66f, 1, 1) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct DeviceState::NetworkInfo { + NetworkInfo() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(9d57532d82c04afc, 1, 5) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct DeviceState::NetworkStats { + NetworkStats() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(b98c64ea27898ea0, 2, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct PandaState { + PandaState() = delete; + + class Reader; + class Builder; + class Pipeline; + typedef ::capnp::schemas::FaultStatus_f2fd0b8b0ac9adbb FaultStatus; + + typedef ::capnp::schemas::FaultType_cd55c07f69249798 FaultType; + + typedef ::capnp::schemas::PandaType_8a58adf93e5b3751 PandaType; + + typedef ::capnp::schemas::HarnessStatus_f69a3ed1e8c081bf HarnessStatus; + + struct PandaCanState; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(a7649e2575e4591e, 9, 4) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct PandaState::PandaCanState { + PandaCanState() = delete; + + class Reader; + class Builder; + class Pipeline; + typedef ::capnp::schemas::LecErrorCode_c0db50b4d13283ff LecErrorCode; + + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(f8d2972deb0cd45c, 8, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct PeripheralState { + PeripheralState() = delete; + + class Reader; + class Builder; + class Pipeline; + typedef ::capnp::schemas::UsbPowerModeDEPRECATED_a8883583b32c9877 UsbPowerModeDEPRECATED; + + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(ceb8f49734857a88, 2, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct RadarState { + RadarState() = delete; + + class Reader; + class Builder; + class Pipeline; + struct LeadData; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(9a185389d6fdd05f, 5, 5) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct RadarState::LeadData { + LeadData() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(b96f3ad9170cf085, 7, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct LiveCalibrationData { + LiveCalibrationData() = delete; + + class Reader; + class Builder; + class Pipeline; + typedef ::capnp::schemas::Status_caaa029466ad394d Status; + + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(96df70754d8390bc, 2, 8) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct LiveTracks { + LiveTracks() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(8faa644732dec251, 5, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct ControlsState { + ControlsState() = delete; + + class Reader; + class Builder; + class Pipeline; + typedef ::capnp::schemas::OpenpilotState_dbe58b96d2d1ac61 OpenpilotState; + + typedef ::capnp::schemas::AlertStatus_a0d0dcd113193c62 AlertStatus; + + typedef ::capnp::schemas::AlertSize_e98bb99d6e985f64 AlertSize; + + struct LateralINDIState; + struct LateralPIDState; + struct LateralTorqueState; + struct LateralLQRState; + struct LateralAngleState; + struct LateralCurvatureState; + struct LateralDebugState; + struct LateralControlState; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(97ff69c53601abf1, 24, 6) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct ControlsState::LateralINDIState { + LateralINDIState() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(939463348632375e, 6, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct ControlsState::LateralPIDState { + LateralPIDState() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(f28c5dc9e09375e3, 5, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct ControlsState::LateralTorqueState { + LateralTorqueState() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(e774a050cbf689a4, 5, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct ControlsState::LateralLQRState { + LateralLQRState() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(9024e2d790c82ade, 3, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct ControlsState::LateralAngleState { + LateralAngleState() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(a2e4ea88ac9980f1, 2, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct ControlsState::LateralCurvatureState { + LateralCurvatureState() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(ad9d8095c06f7c61, 4, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct ControlsState::LateralDebugState { + LateralDebugState() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(a63a46f0f2889b2d, 2, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct ControlsState::LateralControlState { + LateralControlState() = delete; + + class Reader; + class Builder; + class Pipeline; + enum Which: uint16_t { + INDI_STATE, + PID_STATE, + LQR_STATE_D_E_P_R_E_C_A_T_E_D, + ANGLE_STATE, + DEBUG_STATE, + TORQUE_STATE, + CURVATURE_STATE_D_E_P_R_E_C_A_T_E_D, + }; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(fd5b914d6b444695, 24, 6) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct DrivingModelData { + DrivingModelData() = delete; + + class Reader; + class Builder; + class Pipeline; + struct PolyPath; + struct LaneLineMeta; + struct MetaData; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(e8f9ba819993a776, 2, 4) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct DrivingModelData::PolyPath { + PolyPath() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(ca1e4710874d12b5, 0, 3) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct DrivingModelData::LaneLineMeta { + LaneLineMeta() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(996ef0369d7e5625, 2, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct DrivingModelData::MetaData { + MetaData() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(a0cfcfa4ed19ac5d, 1, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct XYZTData { + XYZTData() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(c3cbae1fd505ae80, 0, 7) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct ModelDataV2 { + ModelDataV2() = delete; + + class Reader; + class Builder; + class Pipeline; + struct LeadDataV2; + struct LeadDataV3; + struct MetaData; + typedef ::capnp::schemas::ConfidenceClass_aa3247d9d2a61cd4 ConfidenceClass; + + struct DisengagePredictions; + struct Pose; + struct LateralPlannerSolution; + struct Action; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(c4713f6b0d36abe9, 6, 17) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct ModelDataV2::LeadDataV2 { + LeadDataV2() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(a444ed2b2187af28, 1, 2) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct ModelDataV2::LeadDataV3 { + LeadDataV3() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(d698881ad0ce7feb, 1, 9) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct ModelDataV2::MetaData { + MetaData() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(d1646ab3b45cfabd, 3, 3) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct ModelDataV2::DisengagePredictions { + DisengagePredictions() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(860aa5ddbcdc8d25, 0, 7) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct ModelDataV2::Pose { + Pose() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(fb3ec0702e67884f, 0, 4) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct ModelDataV2::LateralPlannerSolution { + LateralPlannerSolution() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(84caeca5a6b4acfe, 0, 8) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct ModelDataV2::Action { + Action() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(94d0bcb35a764584, 1, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct EncodeIndex { + EncodeIndex() = delete; + + class Reader; + class Builder; + class Pipeline; + typedef ::capnp::schemas::Type_c0ad259ec157ccd3 Type; + + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(89d394e3541735fc, 6, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct AndroidLogEntry { + AndroidLogEntry() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(ea095da1894f7d85, 3, 2) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct LongitudinalPlan { + LongitudinalPlan() = delete; + + class Reader; + class Builder; + class Pipeline; + typedef ::capnp::schemas::LongitudinalPlanSource_b231a753cc079120 LongitudinalPlanSource; + + struct GpsTrajectory; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(e00b5b3eba12876c, 11, 6) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct LongitudinalPlan::GpsTrajectory { + GpsTrajectory() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(8cfeb072f5301000, 0, 2) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct UiPlan { + UiPlan() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(fc0c9bb05e3927c1, 1, 2) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct LateralPlan { + LateralPlan() = delete; + + class Reader; + class Builder; + class Pipeline; + struct SolverState; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(e1e9318e2ae8b51e, 9, 9) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct LateralPlan::SolverState { + SolverState() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(fdca7c675b7021c6, 0, 2) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct LiveLocationKalman { + LiveLocationKalman() = delete; + + class Reader; + class Builder; + class Pipeline; + typedef ::capnp::schemas::Status_8e4dc8cc4b51fc01 Status; + + struct Measurement; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(ebc5703d1ee7c129, 5, 15) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct LiveLocationKalman::Measurement { + Measurement() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(bf23f9ed66dace1c, 1, 2) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct LivePose { + LivePose() = delete; + + class Reader; + class Builder; + class Pipeline; + struct XYZMeasurement; + struct FilterState; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(c24ca2b57206b44d, 1, 5) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct LivePose::XYZMeasurement { + XYZMeasurement() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(f9c93a8733ccd82b, 4, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct LivePose::FilterState { + FilterState() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(dacbb6c4e0cb5f66, 1, 2) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct ProcLog { + ProcLog() = delete; + + class Reader; + class Builder; + class Pipeline; + struct Process; + struct CPUTimes; + struct Mem; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(af85387b3f681406, 0, 3) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct ProcLog::Process { + Process() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(b0b85613f19e6d28, 9, 3) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct ProcLog::CPUTimes { + CPUTimes() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(f189c8c5bf2ce087, 5, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct ProcLog::Mem { + Mem() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(fd095f94f08b3fd4, 8, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct GnssMeasurements { + GnssMeasurements() = delete; + + class Reader; + class Builder; + class Pipeline; + struct EphemerisStatus; + struct CorrectedMeasurement; + struct EphemerisSourceDEPRECATED; + typedef ::capnp::schemas::ConstellationId_82079c2ea8450877 ConstellationId; + + typedef ::capnp::schemas::EphemerisType_c299bc1804b08d93 EphemerisType; + + typedef ::capnp::schemas::EphemerisSource_f6e39b3396a699f6 EphemerisSource; + + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(afd47016570e9d09, 3, 6) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct GnssMeasurements::EphemerisStatus { + EphemerisStatus() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(f3286be6a8bfb860, 3, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct GnssMeasurements::CorrectedMeasurement { + CorrectedMeasurement() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(eaa4a17d86ac76b0, 5, 3) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct GnssMeasurements::EphemerisSourceDEPRECATED { + EphemerisSourceDEPRECATED() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(bcc2ef5087c0ad85, 1, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct UbloxGnss { + UbloxGnss() = delete; + + class Reader; + class Builder; + class Pipeline; + enum Which: uint16_t { + MEASUREMENT_REPORT, + EPHEMERIS, + IONO_DATA, + HW_STATUS, + HW_STATUS2, + GLONASS_EPHEMERIS, + SAT_REPORT, + }; + struct SatReport; + struct MeasurementReport; + struct Ephemeris; + struct IonoData; + struct HwStatus; + struct HwStatus2; + struct GlonassEphemeris; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(85dddd7ce6cefa5d, 1, 1) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct UbloxGnss::SatReport { + SatReport() = delete; + + class Reader; + class Builder; + class Pipeline; + struct SatInfo; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(bb642aff76688f53, 1, 1) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct UbloxGnss::SatReport::SatInfo { + SatInfo() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(e89dce02ced79e43, 1, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct UbloxGnss::MeasurementReport { + MeasurementReport() = delete; + + class Reader; + class Builder; + class Pipeline; + struct ReceiverStatus; + struct Measurement; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(a73ba546a29820f4, 2, 2) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct UbloxGnss::MeasurementReport::ReceiverStatus { + ReceiverStatus() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(fbb838d65160aab6, 1, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct UbloxGnss::MeasurementReport::Measurement { + Measurement() = delete; + + class Reader; + class Builder; + class Pipeline; + struct TrackingStatus; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(8f8a655f5e326401, 5, 1) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct UbloxGnss::MeasurementReport::Measurement::TrackingStatus { + TrackingStatus() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(e8efb3a802b299b2, 1, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct UbloxGnss::Ephemeris { + Ephemeris() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(d8418c788118f85c, 34, 2) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct UbloxGnss::IonoData { + IonoData() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(c3a3a8de519a4a26, 3, 2) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct UbloxGnss::HwStatus { + HwStatus() = delete; + + class Reader; + class Builder; + class Pipeline; + typedef ::capnp::schemas::AntennaSupervisorState_c23e1128ab4d5b53 AntennaSupervisorState; + + typedef ::capnp::schemas::AntennaPowerStatus_fe3b51a924e46559 AntennaPowerStatus; + + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(ebb036b114275aa8, 2, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct UbloxGnss::HwStatus2 { + HwStatus2() = delete; + + class Reader; + class Builder; + class Pipeline; + typedef ::capnp::schemas::ConfigSource_b2d0985eb51c97b9 ConfigSource; + + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(f919b410b90e53c6, 2, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct UbloxGnss::GlonassEphemeris { + GlonassEphemeris() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(b9c5911198388e0c, 18, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct QcomGnss { + QcomGnss() = delete; + + class Reader; + class Builder; + class Pipeline; + enum Which: uint16_t { + MEASUREMENT_REPORT, + CLOCK_REPORT, + DR_MEASUREMENT_REPORT, + DR_SV_POLY, + RAW_LOG, + }; + typedef ::capnp::schemas::MeasurementSource_d71a12b6faada7ee MeasurementSource; + + typedef ::capnp::schemas::SVObservationState_e81e829a0d6c83e9 SVObservationState; + + struct MeasurementStatus; + struct MeasurementReport; + struct ClockReport; + struct DrMeasurementReport; + struct DrSvPolyReport; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(de94674b07ae51c1, 2, 1) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct QcomGnss::MeasurementStatus { + MeasurementStatus() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(e501010e1bcae83b, 1, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct QcomGnss::MeasurementReport { + MeasurementReport() = delete; + + class Reader; + class Builder; + class Pipeline; + struct SV; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(f580d7d86b7b8692, 4, 1) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct QcomGnss::MeasurementReport::SV { + SV() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(f10c595ae7bb2c27, 8, 1) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct QcomGnss::ClockReport { + ClockReport() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(ca965e4add8f4f0b, 18, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct QcomGnss::DrMeasurementReport { + DrMeasurementReport() = delete; + + class Reader; + class Builder; + class Pipeline; + struct SV; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(8053c39445c6c75c, 10, 1) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct QcomGnss::DrMeasurementReport::SV { + SV() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(f08b81df8cbf459c, 12, 1) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct QcomGnss::DrSvPolyReport { + DrSvPolyReport() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(b1fb80811a673270, 8, 4) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct Clocks { + Clocks() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(c95fb49a7bdc4618, 5, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct LiveMpcData { + LiveMpcData() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(92a5e332a85f32a0, 3, 4) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct LiveLongitudinalMpcData { + LiveLongitudinalMpcData() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(e7e17c434f865ae2, 4, 6) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct Joystick { + Joystick() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(e42401658e2715e2, 0, 2) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct DriverStateV2 { + DriverStateV2() = delete; + + class Reader; + class Builder; + class Pipeline; + struct DriverData; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(fc010c40147563b0, 3, 3) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct DriverStateV2::DriverData { + DriverData() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(c9f73bb1cdf28a6a, 4, 6) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct DriverStateDEPRECATED { + DriverStateDEPRECATED() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(b83c6cc593ed0a00, 9, 8) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct DriverMonitoringState { + DriverMonitoringState() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(b83cda094a1da284, 6, 1) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct Boot { + Boot() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(a12e8670927a2549, 1, 5) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct LiveParametersData { + LiveParametersData() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(d9058dcb967c2753, 7, 1) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct LiveTorqueParametersData { + LiveTorqueParametersData() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(e61690eb0b091692, 6, 1) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct LiveMapDataDEPRECATED { + LiveMapDataDEPRECATED() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(943e268f93f711a6, 5, 5) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct CameraOdometry { + CameraOdometry() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(fa9a296b9fd41a96, 2, 8) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct Sentinel { + Sentinel() = delete; + + class Reader; + class Builder; + class Pipeline; + typedef ::capnp::schemas::SentinelType_a2d8e61eb6f7031a SentinelType; + + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(ef0382d244f56e38, 1, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct UIDebug { + UIDebug() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(fe35ad896ffaeacf, 1, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct ManagerState { + ManagerState() = delete; + + class Reader; + class Builder; + class Pipeline; + struct ProcessState; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(cf7154b31a69635b, 0, 1) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct ManagerState::ProcessState { + ProcessState() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(869a54d2708469ea, 2, 1) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct UploaderState { + UploaderState() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(de266b39b76b461e, 3, 1) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct NavInstruction { + NavInstruction() = delete; + + class Reader; + class Builder; + class Pipeline; + struct Lane; + typedef ::capnp::schemas::Direction_eea5b9d8c9e5c192 Direction; + + typedef ::capnp::schemas::SpeedLimitSign_b66e0aa568d09c66 SpeedLimitSign; + + struct Maneuver; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(c18216b27f8602af, 3, 6) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct NavInstruction::Lane { + Lane() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(a4cd1689c0a439d9, 1, 1) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct NavInstruction::Maneuver { + Maneuver() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(b3ec4a1a6ce20a45, 1, 2) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct NavRoute { + NavRoute() = delete; + + class Reader; + class Builder; + class Pipeline; + struct Coordinate; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(a61452f6440d97d3, 0, 1) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct NavRoute::Coordinate { + Coordinate() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(c4c96f53ad1e7485, 1, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct MapRenderState { + MapRenderState() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(a158dd2a4cfaa81b, 2, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct NavModelData { + NavModelData() = delete; + + class Reader; + class Builder; + class Pipeline; + struct XYData; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(ac3de5c437be057a, 3, 3) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct NavModelData::XYData { + XYData() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(be09e615b2507e26, 0, 4) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct EncodeData { + EncodeData() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(cf9aeab355dd85f0, 2, 3) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct UserFlag { + UserFlag() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(fe346a9de48d9b50, 0, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct Microphone { + Microphone() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(dc24138990726023, 2, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +struct Event { + Event() = delete; + + class Reader; + class Builder; + class Pipeline; + enum Which: uint16_t { + INIT_DATA, + ROAD_CAMERA_STATE, + GPS_N_M_E_A, + SENSOR_EVENT_D_E_P_R_E_C_A_T_E_D, + CAN, + DEVICE_STATE, + CONTROLS_STATE, + LIVE_EVENT_D_E_P_R_E_C_A_T_E_D, + MODEL, + FEATURES_D_E_P_R_E_C_A_T_E_D, + SENSOR_EVENTS_D_E_P_R_E_C_A_T_E_D, + PANDA_STATE_D_E_P_R_E_C_A_T_E_D, + RADAR_STATE, + LIVE_U_I_D_E_P_R_E_C_A_T_E_D, + ROAD_ENCODE_IDX, + LIVE_TRACKS, + SENDCAN, + LOG_MESSAGE, + LIVE_CALIBRATION, + ANDROID_LOG, + GPS_LOCATION, + CAR_STATE, + CAR_CONTROL, + LONGITUDINAL_PLAN, + LIVE_LOCATION_D_E_P_R_E_C_A_T_E_D, + ETHERNET_DATA_D_E_P_R_E_C_A_T_E_D, + NAV_UPDATE_D_E_P_R_E_C_A_T_E_D, + CELL_INFO_D_E_P_R_E_C_A_T_E_D, + WIFI_SCAN_D_E_P_R_E_C_A_T_E_D, + ANDROID_GNSS_D_E_P_R_E_C_A_T_E_D, + QCOM_GNSS, + LIDAR_PTS_D_E_P_R_E_C_A_T_E_D, + PROC_LOG, + UBLOX_GNSS, + CLOCKS, + LIVE_MPC_D_E_P_R_E_C_A_T_E_D, + LIVE_LONGITUDINAL_MPC_D_E_P_R_E_C_A_T_E_D, + NAV_STATUS_D_E_P_R_E_C_A_T_E_D, + UBLOX_RAW, + GPS_PLANNER_POINTS_D_E_P_R_E_C_A_T_E_D, + GPS_PLANNER_PLAN_D_E_P_R_E_C_A_T_E_D, + APPLANIX_RAW_D_E_P_R_E_C_A_T_E_D, + TRAFFIC_EVENTS_D_E_P_R_E_C_A_T_E_D, + LIVE_LOCATION_TIMING_D_E_P_R_E_C_A_T_E_D, + ORBSLAM_CORRECTION_D_E_P_R_E_C_A_T_E_D, + LIVE_LOCATION_CORRECTED_D_E_P_R_E_C_A_T_E_D, + ORB_OBSERVATION_D_E_P_R_E_C_A_T_E_D, + GPS_LOCATION_EXTERNAL, + LOCATION_D_E_P_R_E_C_A_T_E_D, + UI_NAVIGATION_EVENT_D_E_P_R_E_C_A_T_E_D, + LIVE_LOCATION_KALMAN_D_E_P_R_E_C_A_T_E_D, + TEST_JOYSTICK, + ORB_ODOMETRY_D_E_P_R_E_C_A_T_E_D, + ORB_FEATURES_D_E_P_R_E_C_A_T_E_D, + APPLANIX_LOCATION_D_E_P_R_E_C_A_T_E_D, + ORB_KEY_FRAME_D_E_P_R_E_C_A_T_E_D, + UI_LAYOUT_STATE_D_E_P_R_E_C_A_T_E_D, + ORB_FEATURES_SUMMARY_D_E_P_R_E_C_A_T_E_D, + DRIVER_STATE_D_E_P_R_E_C_A_T_E_D, + BOOT, + LIVE_PARAMETERS, + LIVE_MAP_DATA_D_E_P_R_E_C_A_T_E_D, + CAMERA_ODOMETRY, + LATERAL_PLAN_D_E_P_R_E_C_A_T_E_D, + KALMAN_ODOMETRY_D_E_P_R_E_C_A_T_E_D, + THUMBNAIL, + ONROAD_EVENTS, + CAR_PARAMS, + DRIVER_CAMERA_STATE, + DRIVER_MONITORING_STATE, + LIVE_LOCATION_KALMAN, + SENTINEL, + WIDE_ROAD_CAMERA_STATE, + MODEL_V2, + DRIVER_ENCODE_IDX, + WIDE_ROAD_ENCODE_IDX, + MANAGER_STATE, + UPLOADER_STATE, + PERIPHERAL_STATE, + PANDA_STATES, + NAV_INSTRUCTION, + NAV_ROUTE, + NAV_THUMBNAIL, + ERROR_LOG_MESSAGE, + ROAD_ENCODE_DATA, + DRIVER_ENCODE_DATA, + WIDE_ROAD_ENCODE_DATA, + Q_ROAD_ENCODE_DATA, + Q_ROAD_ENCODE_IDX, + GNSS_MEASUREMENTS, + DRIVER_STATE_V2, + USER_FLAG, + LIVE_TORQUE_PARAMETERS, + MAGNETOMETER, + LIGHT_SENSOR, + TEMPERATURE_SENSOR, + ACCELEROMETER, + GYROSCOPE, + GYROSCOPE2, + ACCELEROMETER2, + UI_DEBUG, + MICROPHONE, + NAV_MODEL_D_E_P_R_E_C_A_T_E_D, + MAP_RENDER_STATE, + UI_PLAN_D_E_P_R_E_C_A_T_E_D, + CONTROLS_STATE_S_P, + LONGITUDINAL_PLAN_S_P, + LATERAL_PLAN_S_P_D_E_P_R_E_C_A_T_E_D, + DRIVER_MONITORING_STATE_S_P, + LIVE_MAP_DATA_S_P, + E2E_LONG_STATE_S_P, + MODEL_V2_S_P, + CUSTOM_RESERVED7, + CUSTOM_RESERVED8, + CUSTOM_RESERVED9, + LIVESTREAM_ROAD_ENCODE_IDX, + LIVESTREAM_WIDE_ROAD_ENCODE_IDX, + LIVESTREAM_DRIVER_ENCODE_IDX, + LIVESTREAM_ROAD_ENCODE_DATA, + LIVESTREAM_WIDE_ROAD_ENCODE_DATA, + LIVESTREAM_DRIVER_ENCODE_DATA, + TEMPERATURE_SENSOR2, + CUSTOM_RESERVED_RAW_DATA0, + CUSTOM_RESERVED_RAW_DATA1, + CUSTOM_RESERVED_RAW_DATA2, + CAR_OUTPUT, + DRIVING_MODEL_DATA, + LIVE_POSE, + }; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(d314cfd957229c11, 2, 1) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + +// ======================================================================================= + +template +class Map::Reader { +public: + typedef Map Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + template + typename Map::Reader asGeneric() { + return typename Map::Reader(_reader); + } + + inline bool hasEntries() const; + inline typename ::capnp::List::Entry, ::capnp::Kind::STRUCT>::Reader getEntries() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +template +class Map::Builder { +public: + typedef Map Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + template + typename Map::Builder asGeneric() { + return typename Map::Builder(_builder); + } + + inline bool hasEntries(); + inline typename ::capnp::List::Entry, ::capnp::Kind::STRUCT>::Builder getEntries(); + inline void setEntries(typename ::capnp::List::Entry, ::capnp::Kind::STRUCT>::Reader value); + inline typename ::capnp::List::Entry, ::capnp::Kind::STRUCT>::Builder initEntries(unsigned int size); + inline void adoptEntries(::capnp::Orphan< ::capnp::List::Entry, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List::Entry, ::capnp::Kind::STRUCT>> disownEntries(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +template +class Map::Pipeline { +public: + typedef Map Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +template +class Map::Entry::Reader { +public: + typedef Entry Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + template + typename Map::Entry::Reader asMapGeneric() { + return typename Map::Entry::Reader(_reader); + } + + inline bool hasKey() const; + inline ::capnp::ReaderFor getKey() const; + + inline bool hasValue() const; + inline ::capnp::ReaderFor getValue() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +template +class Map::Entry::Builder { +public: + typedef Entry Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + template + typename Map::Entry::Builder asMapGeneric() { + return typename Map::Entry::Builder(_builder); + } + + inline bool hasKey(); + inline ::capnp::BuilderFor getKey(); + inline void setKey( ::capnp::ReaderFor value); + inline ::capnp::BuilderFor initKey(); + inline ::capnp::BuilderFor initKey(unsigned int size); + inline void adoptKey(::capnp::Orphan&& value); + inline ::capnp::Orphan disownKey(); + + inline bool hasValue(); + inline ::capnp::BuilderFor getValue(); + inline void setValue( ::capnp::ReaderFor value); + inline ::capnp::BuilderFor initValue(); + inline ::capnp::BuilderFor initValue(unsigned int size); + inline void adoptValue(::capnp::Orphan&& value); + inline ::capnp::Orphan disownValue(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +template +class Map::Entry::Pipeline { +public: + typedef Entry Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + + inline ::capnp::PipelineFor getKey(); + inline ::capnp::PipelineFor getValue(); +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class InitData::Reader { +public: + typedef InitData Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasKernelArgs() const; + inline ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>::Reader getKernelArgs() const; + + inline bool hasGctxDEPRECATED() const; + inline ::capnp::Text::Reader getGctxDEPRECATED() const; + + inline bool hasDongleId() const; + inline ::capnp::Text::Reader getDongleId() const; + + inline ::cereal::InitData::DeviceType getDeviceType() const; + + inline bool hasVersion() const; + inline ::capnp::Text::Reader getVersion() const; + + inline bool hasAndroidBuildInfo() const; + inline ::cereal::InitData::AndroidBuildInfo::Reader getAndroidBuildInfo() const; + + inline bool hasAndroidSensorsDEPRECATED() const; + inline ::capnp::List< ::cereal::InitData::AndroidSensor, ::capnp::Kind::STRUCT>::Reader getAndroidSensorsDEPRECATED() const; + + inline bool hasChffrAndroidExtraDEPRECATED() const; + inline ::cereal::InitData::ChffrAndroidExtra::Reader getChffrAndroidExtraDEPRECATED() const; + + inline bool hasPandaInfo() const; + inline ::cereal::InitData::PandaInfo::Reader getPandaInfo() const; + + inline bool getDirty() const; + + inline bool hasGitCommit() const; + inline ::capnp::Text::Reader getGitCommit() const; + + inline bool hasGitBranch() const; + inline ::capnp::Text::Reader getGitBranch() const; + + inline bool getPassive() const; + + inline bool hasGitRemote() const; + inline ::capnp::Text::Reader getGitRemote() const; + + inline bool hasIosBuildInfoDEPRECATED() const; + inline ::cereal::InitData::IosBuildInfo::Reader getIosBuildInfoDEPRECATED() const; + + inline bool hasKernelVersion() const; + inline ::capnp::Text::Reader getKernelVersion() const; + + inline bool hasAndroidProperties() const; + inline ::cereal::Map< ::capnp::Text, ::capnp::Text>::Reader getAndroidProperties() const; + + inline bool hasParams() const; + inline ::cereal::Map< ::capnp::Text, ::capnp::Data>::Reader getParams() const; + + inline bool hasOsVersion() const; + inline ::capnp::Text::Reader getOsVersion() const; + + inline bool hasCommands() const; + inline ::cereal::Map< ::capnp::Text, ::capnp::Data>::Reader getCommands() const; + + inline ::uint64_t getWallTimeNanos() const; + + inline bool hasGitCommitDate() const; + inline ::capnp::Text::Reader getGitCommitDate() const; + + inline bool hasBootlogId() const; + inline ::capnp::Text::Reader getBootlogId() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class InitData::Builder { +public: + typedef InitData Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasKernelArgs(); + inline ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>::Builder getKernelArgs(); + inline void setKernelArgs( ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>::Reader value); + inline void setKernelArgs(::kj::ArrayPtr value); + inline ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>::Builder initKernelArgs(unsigned int size); + inline void adoptKernelArgs(::capnp::Orphan< ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>> disownKernelArgs(); + + inline bool hasGctxDEPRECATED(); + inline ::capnp::Text::Builder getGctxDEPRECATED(); + inline void setGctxDEPRECATED( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initGctxDEPRECATED(unsigned int size); + inline void adoptGctxDEPRECATED(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownGctxDEPRECATED(); + + inline bool hasDongleId(); + inline ::capnp::Text::Builder getDongleId(); + inline void setDongleId( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initDongleId(unsigned int size); + inline void adoptDongleId(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownDongleId(); + + inline ::cereal::InitData::DeviceType getDeviceType(); + inline void setDeviceType( ::cereal::InitData::DeviceType value); + + inline bool hasVersion(); + inline ::capnp::Text::Builder getVersion(); + inline void setVersion( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initVersion(unsigned int size); + inline void adoptVersion(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownVersion(); + + inline bool hasAndroidBuildInfo(); + inline ::cereal::InitData::AndroidBuildInfo::Builder getAndroidBuildInfo(); + inline void setAndroidBuildInfo( ::cereal::InitData::AndroidBuildInfo::Reader value); + inline ::cereal::InitData::AndroidBuildInfo::Builder initAndroidBuildInfo(); + inline void adoptAndroidBuildInfo(::capnp::Orphan< ::cereal::InitData::AndroidBuildInfo>&& value); + inline ::capnp::Orphan< ::cereal::InitData::AndroidBuildInfo> disownAndroidBuildInfo(); + + inline bool hasAndroidSensorsDEPRECATED(); + inline ::capnp::List< ::cereal::InitData::AndroidSensor, ::capnp::Kind::STRUCT>::Builder getAndroidSensorsDEPRECATED(); + inline void setAndroidSensorsDEPRECATED( ::capnp::List< ::cereal::InitData::AndroidSensor, ::capnp::Kind::STRUCT>::Reader value); + inline ::capnp::List< ::cereal::InitData::AndroidSensor, ::capnp::Kind::STRUCT>::Builder initAndroidSensorsDEPRECATED(unsigned int size); + inline void adoptAndroidSensorsDEPRECATED(::capnp::Orphan< ::capnp::List< ::cereal::InitData::AndroidSensor, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::InitData::AndroidSensor, ::capnp::Kind::STRUCT>> disownAndroidSensorsDEPRECATED(); + + inline bool hasChffrAndroidExtraDEPRECATED(); + inline ::cereal::InitData::ChffrAndroidExtra::Builder getChffrAndroidExtraDEPRECATED(); + inline void setChffrAndroidExtraDEPRECATED( ::cereal::InitData::ChffrAndroidExtra::Reader value); + inline ::cereal::InitData::ChffrAndroidExtra::Builder initChffrAndroidExtraDEPRECATED(); + inline void adoptChffrAndroidExtraDEPRECATED(::capnp::Orphan< ::cereal::InitData::ChffrAndroidExtra>&& value); + inline ::capnp::Orphan< ::cereal::InitData::ChffrAndroidExtra> disownChffrAndroidExtraDEPRECATED(); + + inline bool hasPandaInfo(); + inline ::cereal::InitData::PandaInfo::Builder getPandaInfo(); + inline void setPandaInfo( ::cereal::InitData::PandaInfo::Reader value); + inline ::cereal::InitData::PandaInfo::Builder initPandaInfo(); + inline void adoptPandaInfo(::capnp::Orphan< ::cereal::InitData::PandaInfo>&& value); + inline ::capnp::Orphan< ::cereal::InitData::PandaInfo> disownPandaInfo(); + + inline bool getDirty(); + inline void setDirty(bool value); + + inline bool hasGitCommit(); + inline ::capnp::Text::Builder getGitCommit(); + inline void setGitCommit( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initGitCommit(unsigned int size); + inline void adoptGitCommit(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownGitCommit(); + + inline bool hasGitBranch(); + inline ::capnp::Text::Builder getGitBranch(); + inline void setGitBranch( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initGitBranch(unsigned int size); + inline void adoptGitBranch(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownGitBranch(); + + inline bool getPassive(); + inline void setPassive(bool value); + + inline bool hasGitRemote(); + inline ::capnp::Text::Builder getGitRemote(); + inline void setGitRemote( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initGitRemote(unsigned int size); + inline void adoptGitRemote(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownGitRemote(); + + inline bool hasIosBuildInfoDEPRECATED(); + inline ::cereal::InitData::IosBuildInfo::Builder getIosBuildInfoDEPRECATED(); + inline void setIosBuildInfoDEPRECATED( ::cereal::InitData::IosBuildInfo::Reader value); + inline ::cereal::InitData::IosBuildInfo::Builder initIosBuildInfoDEPRECATED(); + inline void adoptIosBuildInfoDEPRECATED(::capnp::Orphan< ::cereal::InitData::IosBuildInfo>&& value); + inline ::capnp::Orphan< ::cereal::InitData::IosBuildInfo> disownIosBuildInfoDEPRECATED(); + + inline bool hasKernelVersion(); + inline ::capnp::Text::Builder getKernelVersion(); + inline void setKernelVersion( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initKernelVersion(unsigned int size); + inline void adoptKernelVersion(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownKernelVersion(); + + inline bool hasAndroidProperties(); + inline ::cereal::Map< ::capnp::Text, ::capnp::Text>::Builder getAndroidProperties(); + inline void setAndroidProperties( ::cereal::Map< ::capnp::Text, ::capnp::Text>::Reader value); + inline ::cereal::Map< ::capnp::Text, ::capnp::Text>::Builder initAndroidProperties(); + inline void adoptAndroidProperties(::capnp::Orphan< ::cereal::Map< ::capnp::Text, ::capnp::Text>>&& value); + inline ::capnp::Orphan< ::cereal::Map< ::capnp::Text, ::capnp::Text>> disownAndroidProperties(); + + inline bool hasParams(); + inline ::cereal::Map< ::capnp::Text, ::capnp::Data>::Builder getParams(); + inline void setParams( ::cereal::Map< ::capnp::Text, ::capnp::Data>::Reader value); + inline ::cereal::Map< ::capnp::Text, ::capnp::Data>::Builder initParams(); + inline void adoptParams(::capnp::Orphan< ::cereal::Map< ::capnp::Text, ::capnp::Data>>&& value); + inline ::capnp::Orphan< ::cereal::Map< ::capnp::Text, ::capnp::Data>> disownParams(); + + inline bool hasOsVersion(); + inline ::capnp::Text::Builder getOsVersion(); + inline void setOsVersion( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initOsVersion(unsigned int size); + inline void adoptOsVersion(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownOsVersion(); + + inline bool hasCommands(); + inline ::cereal::Map< ::capnp::Text, ::capnp::Data>::Builder getCommands(); + inline void setCommands( ::cereal::Map< ::capnp::Text, ::capnp::Data>::Reader value); + inline ::cereal::Map< ::capnp::Text, ::capnp::Data>::Builder initCommands(); + inline void adoptCommands(::capnp::Orphan< ::cereal::Map< ::capnp::Text, ::capnp::Data>>&& value); + inline ::capnp::Orphan< ::cereal::Map< ::capnp::Text, ::capnp::Data>> disownCommands(); + + inline ::uint64_t getWallTimeNanos(); + inline void setWallTimeNanos( ::uint64_t value); + + inline bool hasGitCommitDate(); + inline ::capnp::Text::Builder getGitCommitDate(); + inline void setGitCommitDate( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initGitCommitDate(unsigned int size); + inline void adoptGitCommitDate(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownGitCommitDate(); + + inline bool hasBootlogId(); + inline ::capnp::Text::Builder getBootlogId(); + inline void setBootlogId( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initBootlogId(unsigned int size); + inline void adoptBootlogId(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownBootlogId(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class InitData::Pipeline { +public: + typedef InitData Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + + inline ::cereal::InitData::AndroidBuildInfo::Pipeline getAndroidBuildInfo(); + inline ::cereal::InitData::ChffrAndroidExtra::Pipeline getChffrAndroidExtraDEPRECATED(); + inline ::cereal::InitData::PandaInfo::Pipeline getPandaInfo(); + inline ::cereal::InitData::IosBuildInfo::Pipeline getIosBuildInfoDEPRECATED(); + inline ::cereal::Map< ::capnp::Text, ::capnp::Text>::Pipeline getAndroidProperties(); + inline ::cereal::Map< ::capnp::Text, ::capnp::Data>::Pipeline getParams(); + inline ::cereal::Map< ::capnp::Text, ::capnp::Data>::Pipeline getCommands(); +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class InitData::PandaInfo::Reader { +public: + typedef PandaInfo Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool getHasPanda() const; + + inline bool hasDongleId() const; + inline ::capnp::Text::Reader getDongleId() const; + + inline bool hasStVersion() const; + inline ::capnp::Text::Reader getStVersion() const; + + inline bool hasEspVersion() const; + inline ::capnp::Text::Reader getEspVersion() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class InitData::PandaInfo::Builder { +public: + typedef PandaInfo Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool getHasPanda(); + inline void setHasPanda(bool value); + + inline bool hasDongleId(); + inline ::capnp::Text::Builder getDongleId(); + inline void setDongleId( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initDongleId(unsigned int size); + inline void adoptDongleId(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownDongleId(); + + inline bool hasStVersion(); + inline ::capnp::Text::Builder getStVersion(); + inline void setStVersion( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initStVersion(unsigned int size); + inline void adoptStVersion(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownStVersion(); + + inline bool hasEspVersion(); + inline ::capnp::Text::Builder getEspVersion(); + inline void setEspVersion( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initEspVersion(unsigned int size); + inline void adoptEspVersion(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownEspVersion(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class InitData::PandaInfo::Pipeline { +public: + typedef PandaInfo Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class InitData::AndroidBuildInfo::Reader { +public: + typedef AndroidBuildInfo Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasBoard() const; + inline ::capnp::Text::Reader getBoard() const; + + inline bool hasBootloader() const; + inline ::capnp::Text::Reader getBootloader() const; + + inline bool hasBrand() const; + inline ::capnp::Text::Reader getBrand() const; + + inline bool hasDevice() const; + inline ::capnp::Text::Reader getDevice() const; + + inline bool hasDisplay() const; + inline ::capnp::Text::Reader getDisplay() const; + + inline bool hasFingerprint() const; + inline ::capnp::Text::Reader getFingerprint() const; + + inline bool hasHardware() const; + inline ::capnp::Text::Reader getHardware() const; + + inline bool hasHost() const; + inline ::capnp::Text::Reader getHost() const; + + inline bool hasId() const; + inline ::capnp::Text::Reader getId() const; + + inline bool hasManufacturer() const; + inline ::capnp::Text::Reader getManufacturer() const; + + inline bool hasModel() const; + inline ::capnp::Text::Reader getModel() const; + + inline bool hasProduct() const; + inline ::capnp::Text::Reader getProduct() const; + + inline bool hasRadioVersion() const; + inline ::capnp::Text::Reader getRadioVersion() const; + + inline bool hasSerial() const; + inline ::capnp::Text::Reader getSerial() const; + + inline bool hasSupportedAbis() const; + inline ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>::Reader getSupportedAbis() const; + + inline bool hasTags() const; + inline ::capnp::Text::Reader getTags() const; + + inline ::int64_t getTime() const; + + inline bool hasType() const; + inline ::capnp::Text::Reader getType() const; + + inline bool hasUser() const; + inline ::capnp::Text::Reader getUser() const; + + inline bool hasVersionCodename() const; + inline ::capnp::Text::Reader getVersionCodename() const; + + inline bool hasVersionRelease() const; + inline ::capnp::Text::Reader getVersionRelease() const; + + inline ::int32_t getVersionSdk() const; + + inline bool hasVersionSecurityPatch() const; + inline ::capnp::Text::Reader getVersionSecurityPatch() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class InitData::AndroidBuildInfo::Builder { +public: + typedef AndroidBuildInfo Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasBoard(); + inline ::capnp::Text::Builder getBoard(); + inline void setBoard( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initBoard(unsigned int size); + inline void adoptBoard(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownBoard(); + + inline bool hasBootloader(); + inline ::capnp::Text::Builder getBootloader(); + inline void setBootloader( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initBootloader(unsigned int size); + inline void adoptBootloader(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownBootloader(); + + inline bool hasBrand(); + inline ::capnp::Text::Builder getBrand(); + inline void setBrand( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initBrand(unsigned int size); + inline void adoptBrand(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownBrand(); + + inline bool hasDevice(); + inline ::capnp::Text::Builder getDevice(); + inline void setDevice( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initDevice(unsigned int size); + inline void adoptDevice(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownDevice(); + + inline bool hasDisplay(); + inline ::capnp::Text::Builder getDisplay(); + inline void setDisplay( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initDisplay(unsigned int size); + inline void adoptDisplay(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownDisplay(); + + inline bool hasFingerprint(); + inline ::capnp::Text::Builder getFingerprint(); + inline void setFingerprint( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initFingerprint(unsigned int size); + inline void adoptFingerprint(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownFingerprint(); + + inline bool hasHardware(); + inline ::capnp::Text::Builder getHardware(); + inline void setHardware( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initHardware(unsigned int size); + inline void adoptHardware(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownHardware(); + + inline bool hasHost(); + inline ::capnp::Text::Builder getHost(); + inline void setHost( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initHost(unsigned int size); + inline void adoptHost(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownHost(); + + inline bool hasId(); + inline ::capnp::Text::Builder getId(); + inline void setId( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initId(unsigned int size); + inline void adoptId(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownId(); + + inline bool hasManufacturer(); + inline ::capnp::Text::Builder getManufacturer(); + inline void setManufacturer( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initManufacturer(unsigned int size); + inline void adoptManufacturer(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownManufacturer(); + + inline bool hasModel(); + inline ::capnp::Text::Builder getModel(); + inline void setModel( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initModel(unsigned int size); + inline void adoptModel(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownModel(); + + inline bool hasProduct(); + inline ::capnp::Text::Builder getProduct(); + inline void setProduct( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initProduct(unsigned int size); + inline void adoptProduct(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownProduct(); + + inline bool hasRadioVersion(); + inline ::capnp::Text::Builder getRadioVersion(); + inline void setRadioVersion( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initRadioVersion(unsigned int size); + inline void adoptRadioVersion(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownRadioVersion(); + + inline bool hasSerial(); + inline ::capnp::Text::Builder getSerial(); + inline void setSerial( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initSerial(unsigned int size); + inline void adoptSerial(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownSerial(); + + inline bool hasSupportedAbis(); + inline ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>::Builder getSupportedAbis(); + inline void setSupportedAbis( ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>::Reader value); + inline void setSupportedAbis(::kj::ArrayPtr value); + inline ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>::Builder initSupportedAbis(unsigned int size); + inline void adoptSupportedAbis(::capnp::Orphan< ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>> disownSupportedAbis(); + + inline bool hasTags(); + inline ::capnp::Text::Builder getTags(); + inline void setTags( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initTags(unsigned int size); + inline void adoptTags(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownTags(); + + inline ::int64_t getTime(); + inline void setTime( ::int64_t value); + + inline bool hasType(); + inline ::capnp::Text::Builder getType(); + inline void setType( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initType(unsigned int size); + inline void adoptType(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownType(); + + inline bool hasUser(); + inline ::capnp::Text::Builder getUser(); + inline void setUser( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initUser(unsigned int size); + inline void adoptUser(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownUser(); + + inline bool hasVersionCodename(); + inline ::capnp::Text::Builder getVersionCodename(); + inline void setVersionCodename( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initVersionCodename(unsigned int size); + inline void adoptVersionCodename(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownVersionCodename(); + + inline bool hasVersionRelease(); + inline ::capnp::Text::Builder getVersionRelease(); + inline void setVersionRelease( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initVersionRelease(unsigned int size); + inline void adoptVersionRelease(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownVersionRelease(); + + inline ::int32_t getVersionSdk(); + inline void setVersionSdk( ::int32_t value); + + inline bool hasVersionSecurityPatch(); + inline ::capnp::Text::Builder getVersionSecurityPatch(); + inline void setVersionSecurityPatch( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initVersionSecurityPatch(unsigned int size); + inline void adoptVersionSecurityPatch(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownVersionSecurityPatch(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class InitData::AndroidBuildInfo::Pipeline { +public: + typedef AndroidBuildInfo Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class InitData::AndroidSensor::Reader { +public: + typedef AndroidSensor Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::int32_t getId() const; + + inline bool hasName() const; + inline ::capnp::Text::Reader getName() const; + + inline bool hasVendor() const; + inline ::capnp::Text::Reader getVendor() const; + + inline ::int32_t getVersion() const; + + inline ::int32_t getHandle() const; + + inline ::int32_t getType() const; + + inline float getMaxRange() const; + + inline float getResolution() const; + + inline float getPower() const; + + inline ::int32_t getMinDelay() const; + + inline ::uint32_t getFifoReservedEventCount() const; + + inline ::uint32_t getFifoMaxEventCount() const; + + inline bool hasStringType() const; + inline ::capnp::Text::Reader getStringType() const; + + inline ::int32_t getMaxDelay() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class InitData::AndroidSensor::Builder { +public: + typedef AndroidSensor Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::int32_t getId(); + inline void setId( ::int32_t value); + + inline bool hasName(); + inline ::capnp::Text::Builder getName(); + inline void setName( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initName(unsigned int size); + inline void adoptName(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownName(); + + inline bool hasVendor(); + inline ::capnp::Text::Builder getVendor(); + inline void setVendor( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initVendor(unsigned int size); + inline void adoptVendor(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownVendor(); + + inline ::int32_t getVersion(); + inline void setVersion( ::int32_t value); + + inline ::int32_t getHandle(); + inline void setHandle( ::int32_t value); + + inline ::int32_t getType(); + inline void setType( ::int32_t value); + + inline float getMaxRange(); + inline void setMaxRange(float value); + + inline float getResolution(); + inline void setResolution(float value); + + inline float getPower(); + inline void setPower(float value); + + inline ::int32_t getMinDelay(); + inline void setMinDelay( ::int32_t value); + + inline ::uint32_t getFifoReservedEventCount(); + inline void setFifoReservedEventCount( ::uint32_t value); + + inline ::uint32_t getFifoMaxEventCount(); + inline void setFifoMaxEventCount( ::uint32_t value); + + inline bool hasStringType(); + inline ::capnp::Text::Builder getStringType(); + inline void setStringType( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initStringType(unsigned int size); + inline void adoptStringType(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownStringType(); + + inline ::int32_t getMaxDelay(); + inline void setMaxDelay( ::int32_t value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class InitData::AndroidSensor::Pipeline { +public: + typedef AndroidSensor Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class InitData::ChffrAndroidExtra::Reader { +public: + typedef ChffrAndroidExtra Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasAllCameraCharacteristics() const; + inline ::cereal::Map< ::capnp::Text, ::capnp::Text>::Reader getAllCameraCharacteristics() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class InitData::ChffrAndroidExtra::Builder { +public: + typedef ChffrAndroidExtra Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasAllCameraCharacteristics(); + inline ::cereal::Map< ::capnp::Text, ::capnp::Text>::Builder getAllCameraCharacteristics(); + inline void setAllCameraCharacteristics( ::cereal::Map< ::capnp::Text, ::capnp::Text>::Reader value); + inline ::cereal::Map< ::capnp::Text, ::capnp::Text>::Builder initAllCameraCharacteristics(); + inline void adoptAllCameraCharacteristics(::capnp::Orphan< ::cereal::Map< ::capnp::Text, ::capnp::Text>>&& value); + inline ::capnp::Orphan< ::cereal::Map< ::capnp::Text, ::capnp::Text>> disownAllCameraCharacteristics(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class InitData::ChffrAndroidExtra::Pipeline { +public: + typedef ChffrAndroidExtra Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + + inline ::cereal::Map< ::capnp::Text, ::capnp::Text>::Pipeline getAllCameraCharacteristics(); +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class InitData::IosBuildInfo::Reader { +public: + typedef IosBuildInfo Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasAppVersion() const; + inline ::capnp::Text::Reader getAppVersion() const; + + inline ::uint32_t getAppBuild() const; + + inline bool hasOsVersion() const; + inline ::capnp::Text::Reader getOsVersion() const; + + inline bool hasDeviceModel() const; + inline ::capnp::Text::Reader getDeviceModel() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class InitData::IosBuildInfo::Builder { +public: + typedef IosBuildInfo Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasAppVersion(); + inline ::capnp::Text::Builder getAppVersion(); + inline void setAppVersion( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initAppVersion(unsigned int size); + inline void adoptAppVersion(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownAppVersion(); + + inline ::uint32_t getAppBuild(); + inline void setAppBuild( ::uint32_t value); + + inline bool hasOsVersion(); + inline ::capnp::Text::Builder getOsVersion(); + inline void setOsVersion( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initOsVersion(unsigned int size); + inline void adoptOsVersion(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownOsVersion(); + + inline bool hasDeviceModel(); + inline ::capnp::Text::Builder getDeviceModel(); + inline void setDeviceModel( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initDeviceModel(unsigned int size); + inline void adoptDeviceModel(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownDeviceModel(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class InitData::IosBuildInfo::Pipeline { +public: + typedef IosBuildInfo Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class FrameData::Reader { +public: + typedef FrameData Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::uint32_t getFrameId() const; + + inline ::uint32_t getEncodeId() const; + + inline ::uint64_t getTimestampEof() const; + + inline ::int32_t getFrameLengthDEPRECATED() const; + + inline ::int32_t getIntegLines() const; + + inline ::int32_t getGlobalGainDEPRECATED() const; + + inline bool hasImage() const; + inline ::capnp::Data::Reader getImage() const; + + inline ::cereal::FrameData::FrameTypeDEPRECATED getFrameTypeDEPRECATED() const; + + inline ::uint64_t getTimestampSof() const; + + inline bool hasAndroidCaptureResultDEPRECATED() const; + inline ::cereal::FrameData::AndroidCaptureResult::Reader getAndroidCaptureResultDEPRECATED() const; + + inline bool hasTransform() const; + inline ::capnp::List::Reader getTransform() const; + + inline ::int32_t getLensPosDEPRECATED() const; + + inline float getLensSagDEPRECATED() const; + + inline float getLensErrDEPRECATED() const; + + inline float getLensTruePosDEPRECATED() const; + + inline float getGain() const; + + inline bool hasFocusValDEPRECATED() const; + inline ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>::Reader getFocusValDEPRECATED() const; + + inline bool hasFocusConfDEPRECATED() const; + inline ::capnp::List< ::uint8_t, ::capnp::Kind::PRIMITIVE>::Reader getFocusConfDEPRECATED() const; + + inline bool hasSharpnessScoreDEPRECATED() const; + inline ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>::Reader getSharpnessScoreDEPRECATED() const; + + inline ::int32_t getRecoverStateDEPRECATED() const; + + inline bool getHighConversionGain() const; + + inline float getMeasuredGreyFraction() const; + + inline float getTargetGreyFraction() const; + + inline float getProcessingTime() const; + + inline bool hasTemperaturesC() const; + inline ::capnp::List::Reader getTemperaturesC() const; + + inline ::uint32_t getFrameIdSensor() const; + + inline ::cereal::FrameData::ImageSensor getSensor() const; + + inline float getExposureValPercent() const; + + inline ::uint32_t getRequestId() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class FrameData::Builder { +public: + typedef FrameData Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::uint32_t getFrameId(); + inline void setFrameId( ::uint32_t value); + + inline ::uint32_t getEncodeId(); + inline void setEncodeId( ::uint32_t value); + + inline ::uint64_t getTimestampEof(); + inline void setTimestampEof( ::uint64_t value); + + inline ::int32_t getFrameLengthDEPRECATED(); + inline void setFrameLengthDEPRECATED( ::int32_t value); + + inline ::int32_t getIntegLines(); + inline void setIntegLines( ::int32_t value); + + inline ::int32_t getGlobalGainDEPRECATED(); + inline void setGlobalGainDEPRECATED( ::int32_t value); + + inline bool hasImage(); + inline ::capnp::Data::Builder getImage(); + inline void setImage( ::capnp::Data::Reader value); + inline ::capnp::Data::Builder initImage(unsigned int size); + inline void adoptImage(::capnp::Orphan< ::capnp::Data>&& value); + inline ::capnp::Orphan< ::capnp::Data> disownImage(); + + inline ::cereal::FrameData::FrameTypeDEPRECATED getFrameTypeDEPRECATED(); + inline void setFrameTypeDEPRECATED( ::cereal::FrameData::FrameTypeDEPRECATED value); + + inline ::uint64_t getTimestampSof(); + inline void setTimestampSof( ::uint64_t value); + + inline bool hasAndroidCaptureResultDEPRECATED(); + inline ::cereal::FrameData::AndroidCaptureResult::Builder getAndroidCaptureResultDEPRECATED(); + inline void setAndroidCaptureResultDEPRECATED( ::cereal::FrameData::AndroidCaptureResult::Reader value); + inline ::cereal::FrameData::AndroidCaptureResult::Builder initAndroidCaptureResultDEPRECATED(); + inline void adoptAndroidCaptureResultDEPRECATED(::capnp::Orphan< ::cereal::FrameData::AndroidCaptureResult>&& value); + inline ::capnp::Orphan< ::cereal::FrameData::AndroidCaptureResult> disownAndroidCaptureResultDEPRECATED(); + + inline bool hasTransform(); + inline ::capnp::List::Builder getTransform(); + inline void setTransform( ::capnp::List::Reader value); + inline void setTransform(::kj::ArrayPtr value); + inline ::capnp::List::Builder initTransform(unsigned int size); + inline void adoptTransform(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownTransform(); + + inline ::int32_t getLensPosDEPRECATED(); + inline void setLensPosDEPRECATED( ::int32_t value); + + inline float getLensSagDEPRECATED(); + inline void setLensSagDEPRECATED(float value); + + inline float getLensErrDEPRECATED(); + inline void setLensErrDEPRECATED(float value); + + inline float getLensTruePosDEPRECATED(); + inline void setLensTruePosDEPRECATED(float value); + + inline float getGain(); + inline void setGain(float value); + + inline bool hasFocusValDEPRECATED(); + inline ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>::Builder getFocusValDEPRECATED(); + inline void setFocusValDEPRECATED( ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>::Reader value); + inline void setFocusValDEPRECATED(::kj::ArrayPtr value); + inline ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>::Builder initFocusValDEPRECATED(unsigned int size); + inline void adoptFocusValDEPRECATED(::capnp::Orphan< ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>> disownFocusValDEPRECATED(); + + inline bool hasFocusConfDEPRECATED(); + inline ::capnp::List< ::uint8_t, ::capnp::Kind::PRIMITIVE>::Builder getFocusConfDEPRECATED(); + inline void setFocusConfDEPRECATED( ::capnp::List< ::uint8_t, ::capnp::Kind::PRIMITIVE>::Reader value); + inline void setFocusConfDEPRECATED(::kj::ArrayPtr value); + inline ::capnp::List< ::uint8_t, ::capnp::Kind::PRIMITIVE>::Builder initFocusConfDEPRECATED(unsigned int size); + inline void adoptFocusConfDEPRECATED(::capnp::Orphan< ::capnp::List< ::uint8_t, ::capnp::Kind::PRIMITIVE>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::uint8_t, ::capnp::Kind::PRIMITIVE>> disownFocusConfDEPRECATED(); + + inline bool hasSharpnessScoreDEPRECATED(); + inline ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>::Builder getSharpnessScoreDEPRECATED(); + inline void setSharpnessScoreDEPRECATED( ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>::Reader value); + inline void setSharpnessScoreDEPRECATED(::kj::ArrayPtr value); + inline ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>::Builder initSharpnessScoreDEPRECATED(unsigned int size); + inline void adoptSharpnessScoreDEPRECATED(::capnp::Orphan< ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>> disownSharpnessScoreDEPRECATED(); + + inline ::int32_t getRecoverStateDEPRECATED(); + inline void setRecoverStateDEPRECATED( ::int32_t value); + + inline bool getHighConversionGain(); + inline void setHighConversionGain(bool value); + + inline float getMeasuredGreyFraction(); + inline void setMeasuredGreyFraction(float value); + + inline float getTargetGreyFraction(); + inline void setTargetGreyFraction(float value); + + inline float getProcessingTime(); + inline void setProcessingTime(float value); + + inline bool hasTemperaturesC(); + inline ::capnp::List::Builder getTemperaturesC(); + inline void setTemperaturesC( ::capnp::List::Reader value); + inline void setTemperaturesC(::kj::ArrayPtr value); + inline ::capnp::List::Builder initTemperaturesC(unsigned int size); + inline void adoptTemperaturesC(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownTemperaturesC(); + + inline ::uint32_t getFrameIdSensor(); + inline void setFrameIdSensor( ::uint32_t value); + + inline ::cereal::FrameData::ImageSensor getSensor(); + inline void setSensor( ::cereal::FrameData::ImageSensor value); + + inline float getExposureValPercent(); + inline void setExposureValPercent(float value); + + inline ::uint32_t getRequestId(); + inline void setRequestId( ::uint32_t value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class FrameData::Pipeline { +public: + typedef FrameData Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + + inline ::cereal::FrameData::AndroidCaptureResult::Pipeline getAndroidCaptureResultDEPRECATED(); +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class FrameData::AndroidCaptureResult::Reader { +public: + typedef AndroidCaptureResult Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::int32_t getSensitivity() const; + + inline ::int64_t getFrameDuration() const; + + inline ::int64_t getExposureTime() const; + + inline ::uint64_t getRollingShutterSkew() const; + + inline bool hasColorCorrectionTransform() const; + inline ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>::Reader getColorCorrectionTransform() const; + + inline bool hasColorCorrectionGains() const; + inline ::capnp::List::Reader getColorCorrectionGains() const; + + inline ::int8_t getDisplayRotation() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class FrameData::AndroidCaptureResult::Builder { +public: + typedef AndroidCaptureResult Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::int32_t getSensitivity(); + inline void setSensitivity( ::int32_t value); + + inline ::int64_t getFrameDuration(); + inline void setFrameDuration( ::int64_t value); + + inline ::int64_t getExposureTime(); + inline void setExposureTime( ::int64_t value); + + inline ::uint64_t getRollingShutterSkew(); + inline void setRollingShutterSkew( ::uint64_t value); + + inline bool hasColorCorrectionTransform(); + inline ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>::Builder getColorCorrectionTransform(); + inline void setColorCorrectionTransform( ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>::Reader value); + inline void setColorCorrectionTransform(::kj::ArrayPtr value); + inline ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>::Builder initColorCorrectionTransform(unsigned int size); + inline void adoptColorCorrectionTransform(::capnp::Orphan< ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>> disownColorCorrectionTransform(); + + inline bool hasColorCorrectionGains(); + inline ::capnp::List::Builder getColorCorrectionGains(); + inline void setColorCorrectionGains( ::capnp::List::Reader value); + inline void setColorCorrectionGains(::kj::ArrayPtr value); + inline ::capnp::List::Builder initColorCorrectionGains(unsigned int size); + inline void adoptColorCorrectionGains(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownColorCorrectionGains(); + + inline ::int8_t getDisplayRotation(); + inline void setDisplayRotation( ::int8_t value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class FrameData::AndroidCaptureResult::Pipeline { +public: + typedef AndroidCaptureResult Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class Thumbnail::Reader { +public: + typedef Thumbnail Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::uint32_t getFrameId() const; + + inline ::uint64_t getTimestampEof() const; + + inline bool hasThumbnail() const; + inline ::capnp::Data::Reader getThumbnail() const; + + inline ::cereal::Thumbnail::Encoding getEncoding() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class Thumbnail::Builder { +public: + typedef Thumbnail Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::uint32_t getFrameId(); + inline void setFrameId( ::uint32_t value); + + inline ::uint64_t getTimestampEof(); + inline void setTimestampEof( ::uint64_t value); + + inline bool hasThumbnail(); + inline ::capnp::Data::Builder getThumbnail(); + inline void setThumbnail( ::capnp::Data::Reader value); + inline ::capnp::Data::Builder initThumbnail(unsigned int size); + inline void adoptThumbnail(::capnp::Orphan< ::capnp::Data>&& value); + inline ::capnp::Orphan< ::capnp::Data> disownThumbnail(); + + inline ::cereal::Thumbnail::Encoding getEncoding(); + inline void setEncoding( ::cereal::Thumbnail::Encoding value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class Thumbnail::Pipeline { +public: + typedef Thumbnail Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class GPSNMEAData::Reader { +public: + typedef GPSNMEAData Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::int64_t getTimestamp() const; + + inline ::uint64_t getLocalWallTime() const; + + inline bool hasNmea() const; + inline ::capnp::Text::Reader getNmea() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class GPSNMEAData::Builder { +public: + typedef GPSNMEAData Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::int64_t getTimestamp(); + inline void setTimestamp( ::int64_t value); + + inline ::uint64_t getLocalWallTime(); + inline void setLocalWallTime( ::uint64_t value); + + inline bool hasNmea(); + inline ::capnp::Text::Builder getNmea(); + inline void setNmea( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initNmea(unsigned int size); + inline void adoptNmea(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownNmea(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class GPSNMEAData::Pipeline { +public: + typedef GPSNMEAData Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class SensorEventData::Reader { +public: + typedef SensorEventData Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline Which which() const; + inline ::int32_t getVersion() const; + + inline ::int32_t getSensor() const; + + inline ::int32_t getType() const; + + inline ::int64_t getTimestamp() const; + + inline bool isAcceleration() const; + inline bool hasAcceleration() const; + inline ::cereal::SensorEventData::SensorVec::Reader getAcceleration() const; + + inline bool isMagnetic() const; + inline bool hasMagnetic() const; + inline ::cereal::SensorEventData::SensorVec::Reader getMagnetic() const; + + inline bool isOrientation() const; + inline bool hasOrientation() const; + inline ::cereal::SensorEventData::SensorVec::Reader getOrientation() const; + + inline bool isGyro() const; + inline bool hasGyro() const; + inline ::cereal::SensorEventData::SensorVec::Reader getGyro() const; + + inline ::cereal::SensorEventData::SensorSource getSource() const; + + inline bool isPressure() const; + inline bool hasPressure() const; + inline ::cereal::SensorEventData::SensorVec::Reader getPressure() const; + + inline bool getUncalibratedDEPRECATED() const; + + inline bool isMagneticUncalibrated() const; + inline bool hasMagneticUncalibrated() const; + inline ::cereal::SensorEventData::SensorVec::Reader getMagneticUncalibrated() const; + + inline bool isGyroUncalibrated() const; + inline bool hasGyroUncalibrated() const; + inline ::cereal::SensorEventData::SensorVec::Reader getGyroUncalibrated() const; + + inline bool isProximity() const; + inline float getProximity() const; + + inline bool isLight() const; + inline float getLight() const; + + inline bool isTemperature() const; + inline float getTemperature() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class SensorEventData::Builder { +public: + typedef SensorEventData Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline Which which(); + inline ::int32_t getVersion(); + inline void setVersion( ::int32_t value); + + inline ::int32_t getSensor(); + inline void setSensor( ::int32_t value); + + inline ::int32_t getType(); + inline void setType( ::int32_t value); + + inline ::int64_t getTimestamp(); + inline void setTimestamp( ::int64_t value); + + inline bool isAcceleration(); + inline bool hasAcceleration(); + inline ::cereal::SensorEventData::SensorVec::Builder getAcceleration(); + inline void setAcceleration( ::cereal::SensorEventData::SensorVec::Reader value); + inline ::cereal::SensorEventData::SensorVec::Builder initAcceleration(); + inline void adoptAcceleration(::capnp::Orphan< ::cereal::SensorEventData::SensorVec>&& value); + inline ::capnp::Orphan< ::cereal::SensorEventData::SensorVec> disownAcceleration(); + + inline bool isMagnetic(); + inline bool hasMagnetic(); + inline ::cereal::SensorEventData::SensorVec::Builder getMagnetic(); + inline void setMagnetic( ::cereal::SensorEventData::SensorVec::Reader value); + inline ::cereal::SensorEventData::SensorVec::Builder initMagnetic(); + inline void adoptMagnetic(::capnp::Orphan< ::cereal::SensorEventData::SensorVec>&& value); + inline ::capnp::Orphan< ::cereal::SensorEventData::SensorVec> disownMagnetic(); + + inline bool isOrientation(); + inline bool hasOrientation(); + inline ::cereal::SensorEventData::SensorVec::Builder getOrientation(); + inline void setOrientation( ::cereal::SensorEventData::SensorVec::Reader value); + inline ::cereal::SensorEventData::SensorVec::Builder initOrientation(); + inline void adoptOrientation(::capnp::Orphan< ::cereal::SensorEventData::SensorVec>&& value); + inline ::capnp::Orphan< ::cereal::SensorEventData::SensorVec> disownOrientation(); + + inline bool isGyro(); + inline bool hasGyro(); + inline ::cereal::SensorEventData::SensorVec::Builder getGyro(); + inline void setGyro( ::cereal::SensorEventData::SensorVec::Reader value); + inline ::cereal::SensorEventData::SensorVec::Builder initGyro(); + inline void adoptGyro(::capnp::Orphan< ::cereal::SensorEventData::SensorVec>&& value); + inline ::capnp::Orphan< ::cereal::SensorEventData::SensorVec> disownGyro(); + + inline ::cereal::SensorEventData::SensorSource getSource(); + inline void setSource( ::cereal::SensorEventData::SensorSource value); + + inline bool isPressure(); + inline bool hasPressure(); + inline ::cereal::SensorEventData::SensorVec::Builder getPressure(); + inline void setPressure( ::cereal::SensorEventData::SensorVec::Reader value); + inline ::cereal::SensorEventData::SensorVec::Builder initPressure(); + inline void adoptPressure(::capnp::Orphan< ::cereal::SensorEventData::SensorVec>&& value); + inline ::capnp::Orphan< ::cereal::SensorEventData::SensorVec> disownPressure(); + + inline bool getUncalibratedDEPRECATED(); + inline void setUncalibratedDEPRECATED(bool value); + + inline bool isMagneticUncalibrated(); + inline bool hasMagneticUncalibrated(); + inline ::cereal::SensorEventData::SensorVec::Builder getMagneticUncalibrated(); + inline void setMagneticUncalibrated( ::cereal::SensorEventData::SensorVec::Reader value); + inline ::cereal::SensorEventData::SensorVec::Builder initMagneticUncalibrated(); + inline void adoptMagneticUncalibrated(::capnp::Orphan< ::cereal::SensorEventData::SensorVec>&& value); + inline ::capnp::Orphan< ::cereal::SensorEventData::SensorVec> disownMagneticUncalibrated(); + + inline bool isGyroUncalibrated(); + inline bool hasGyroUncalibrated(); + inline ::cereal::SensorEventData::SensorVec::Builder getGyroUncalibrated(); + inline void setGyroUncalibrated( ::cereal::SensorEventData::SensorVec::Reader value); + inline ::cereal::SensorEventData::SensorVec::Builder initGyroUncalibrated(); + inline void adoptGyroUncalibrated(::capnp::Orphan< ::cereal::SensorEventData::SensorVec>&& value); + inline ::capnp::Orphan< ::cereal::SensorEventData::SensorVec> disownGyroUncalibrated(); + + inline bool isProximity(); + inline float getProximity(); + inline void setProximity(float value); + + inline bool isLight(); + inline float getLight(); + inline void setLight(float value); + + inline bool isTemperature(); + inline float getTemperature(); + inline void setTemperature(float value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class SensorEventData::Pipeline { +public: + typedef SensorEventData Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class SensorEventData::SensorVec::Reader { +public: + typedef SensorVec Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasV() const; + inline ::capnp::List::Reader getV() const; + + inline ::int8_t getStatus() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class SensorEventData::SensorVec::Builder { +public: + typedef SensorVec Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasV(); + inline ::capnp::List::Builder getV(); + inline void setV( ::capnp::List::Reader value); + inline void setV(::kj::ArrayPtr value); + inline ::capnp::List::Builder initV(unsigned int size); + inline void adoptV(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownV(); + + inline ::int8_t getStatus(); + inline void setStatus( ::int8_t value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class SensorEventData::SensorVec::Pipeline { +public: + typedef SensorVec Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class GpsLocationData::Reader { +public: + typedef GpsLocationData Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::uint16_t getFlags() const; + + inline double getLatitude() const; + + inline double getLongitude() const; + + inline double getAltitude() const; + + inline float getSpeed() const; + + inline float getBearingDeg() const; + + inline float getHorizontalAccuracy() const; + + inline ::int64_t getUnixTimestampMillis() const; + + inline ::cereal::GpsLocationData::SensorSource getSource() const; + + inline bool hasVNED() const; + inline ::capnp::List::Reader getVNED() const; + + inline float getVerticalAccuracy() const; + + inline float getBearingAccuracyDeg() const; + + inline float getSpeedAccuracy() const; + + inline bool getHasFix() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class GpsLocationData::Builder { +public: + typedef GpsLocationData Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::uint16_t getFlags(); + inline void setFlags( ::uint16_t value); + + inline double getLatitude(); + inline void setLatitude(double value); + + inline double getLongitude(); + inline void setLongitude(double value); + + inline double getAltitude(); + inline void setAltitude(double value); + + inline float getSpeed(); + inline void setSpeed(float value); + + inline float getBearingDeg(); + inline void setBearingDeg(float value); + + inline float getHorizontalAccuracy(); + inline void setHorizontalAccuracy(float value); + + inline ::int64_t getUnixTimestampMillis(); + inline void setUnixTimestampMillis( ::int64_t value); + + inline ::cereal::GpsLocationData::SensorSource getSource(); + inline void setSource( ::cereal::GpsLocationData::SensorSource value); + + inline bool hasVNED(); + inline ::capnp::List::Builder getVNED(); + inline void setVNED( ::capnp::List::Reader value); + inline void setVNED(::kj::ArrayPtr value); + inline ::capnp::List::Builder initVNED(unsigned int size); + inline void adoptVNED(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownVNED(); + + inline float getVerticalAccuracy(); + inline void setVerticalAccuracy(float value); + + inline float getBearingAccuracyDeg(); + inline void setBearingAccuracyDeg(float value); + + inline float getSpeedAccuracy(); + inline void setSpeedAccuracy(float value); + + inline bool getHasFix(); + inline void setHasFix(bool value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class GpsLocationData::Pipeline { +public: + typedef GpsLocationData Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class CanData::Reader { +public: + typedef CanData Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::uint32_t getAddress() const; + + inline ::uint16_t getBusTimeDEPRECATED() const; + + inline bool hasDat() const; + inline ::capnp::Data::Reader getDat() const; + + inline ::uint8_t getSrc() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class CanData::Builder { +public: + typedef CanData Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::uint32_t getAddress(); + inline void setAddress( ::uint32_t value); + + inline ::uint16_t getBusTimeDEPRECATED(); + inline void setBusTimeDEPRECATED( ::uint16_t value); + + inline bool hasDat(); + inline ::capnp::Data::Builder getDat(); + inline void setDat( ::capnp::Data::Reader value); + inline ::capnp::Data::Builder initDat(unsigned int size); + inline void adoptDat(::capnp::Orphan< ::capnp::Data>&& value); + inline ::capnp::Orphan< ::capnp::Data> disownDat(); + + inline ::uint8_t getSrc(); + inline void setSrc( ::uint8_t value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class CanData::Pipeline { +public: + typedef CanData Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class DeviceState::Reader { +public: + typedef DeviceState Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::uint16_t getCpu0DEPRECATED() const; + + inline ::uint16_t getCpu1DEPRECATED() const; + + inline ::uint16_t getCpu2DEPRECATED() const; + + inline ::uint16_t getCpu3DEPRECATED() const; + + inline ::uint16_t getMemDEPRECATED() const; + + inline ::uint16_t getGpuDEPRECATED() const; + + inline ::uint32_t getBatDEPRECATED() const; + + inline float getFreeSpacePercent() const; + + inline ::int16_t getBatteryPercentDEPRECATED() const; + + inline bool hasBatteryStatusDEPRECATED() const; + inline ::capnp::Text::Reader getBatteryStatusDEPRECATED() const; + + inline ::uint16_t getFanSpeedPercentDesired() const; + + inline bool getStarted() const; + + inline bool getUsbOnlineDEPRECATED() const; + + inline ::uint64_t getStartedMonoTime() const; + + inline ::cereal::DeviceState::ThermalStatus getThermalStatus() const; + + inline ::int32_t getBatteryCurrentDEPRECATED() const; + + inline ::int32_t getBatteryVoltageDEPRECATED() const; + + inline bool getChargingErrorDEPRECATED() const; + + inline bool getChargingDisabledDEPRECATED() const; + + inline ::int8_t getMemoryUsagePercent() const; + + inline ::int8_t getCpuUsagePercentDEPRECATED() const; + + inline ::uint16_t getPa0DEPRECATED() const; + + inline ::cereal::DeviceState::NetworkType getNetworkType() const; + + inline ::uint32_t getOffroadPowerUsageUwh() const; + + inline ::cereal::DeviceState::NetworkStrength getNetworkStrength() const; + + inline ::uint32_t getCarBatteryCapacityUwh() const; + + inline bool hasCpuTempC() const; + inline ::capnp::List::Reader getCpuTempC() const; + + inline bool hasGpuTempC() const; + inline ::capnp::List::Reader getGpuTempC() const; + + inline float getMemoryTempC() const; + + inline float getBatteryTempCDEPRECATED() const; + + inline float getAmbientTempCDEPRECATED() const; + + inline bool hasNetworkInfo() const; + inline ::cereal::DeviceState::NetworkInfo::Reader getNetworkInfo() const; + + inline ::uint64_t getLastAthenaPingTime() const; + + inline ::int8_t getGpuUsagePercent() const; + + inline bool hasCpuUsagePercent() const; + inline ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>::Reader getCpuUsagePercent() const; + + inline bool hasNvmeTempC() const; + inline ::capnp::List::Reader getNvmeTempC() const; + + inline bool hasModemTempC() const; + inline ::capnp::List::Reader getModemTempC() const; + + inline ::int8_t getScreenBrightnessPercent() const; + + inline bool hasThermalZones() const; + inline ::capnp::List< ::cereal::DeviceState::ThermalZone, ::capnp::Kind::STRUCT>::Reader getThermalZones() const; + + inline bool hasPmicTempC() const; + inline ::capnp::List::Reader getPmicTempC() const; + + inline float getPowerDrawW() const; + + inline bool getNetworkMetered() const; + + inline float getSomPowerDrawW() const; + + inline bool hasNetworkStats() const; + inline ::cereal::DeviceState::NetworkStats::Reader getNetworkStats() const; + + inline float getMaxTempC() const; + + inline ::cereal::InitData::DeviceType getDeviceType() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class DeviceState::Builder { +public: + typedef DeviceState Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::uint16_t getCpu0DEPRECATED(); + inline void setCpu0DEPRECATED( ::uint16_t value); + + inline ::uint16_t getCpu1DEPRECATED(); + inline void setCpu1DEPRECATED( ::uint16_t value); + + inline ::uint16_t getCpu2DEPRECATED(); + inline void setCpu2DEPRECATED( ::uint16_t value); + + inline ::uint16_t getCpu3DEPRECATED(); + inline void setCpu3DEPRECATED( ::uint16_t value); + + inline ::uint16_t getMemDEPRECATED(); + inline void setMemDEPRECATED( ::uint16_t value); + + inline ::uint16_t getGpuDEPRECATED(); + inline void setGpuDEPRECATED( ::uint16_t value); + + inline ::uint32_t getBatDEPRECATED(); + inline void setBatDEPRECATED( ::uint32_t value); + + inline float getFreeSpacePercent(); + inline void setFreeSpacePercent(float value); + + inline ::int16_t getBatteryPercentDEPRECATED(); + inline void setBatteryPercentDEPRECATED( ::int16_t value); + + inline bool hasBatteryStatusDEPRECATED(); + inline ::capnp::Text::Builder getBatteryStatusDEPRECATED(); + inline void setBatteryStatusDEPRECATED( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initBatteryStatusDEPRECATED(unsigned int size); + inline void adoptBatteryStatusDEPRECATED(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownBatteryStatusDEPRECATED(); + + inline ::uint16_t getFanSpeedPercentDesired(); + inline void setFanSpeedPercentDesired( ::uint16_t value); + + inline bool getStarted(); + inline void setStarted(bool value); + + inline bool getUsbOnlineDEPRECATED(); + inline void setUsbOnlineDEPRECATED(bool value); + + inline ::uint64_t getStartedMonoTime(); + inline void setStartedMonoTime( ::uint64_t value); + + inline ::cereal::DeviceState::ThermalStatus getThermalStatus(); + inline void setThermalStatus( ::cereal::DeviceState::ThermalStatus value); + + inline ::int32_t getBatteryCurrentDEPRECATED(); + inline void setBatteryCurrentDEPRECATED( ::int32_t value); + + inline ::int32_t getBatteryVoltageDEPRECATED(); + inline void setBatteryVoltageDEPRECATED( ::int32_t value); + + inline bool getChargingErrorDEPRECATED(); + inline void setChargingErrorDEPRECATED(bool value); + + inline bool getChargingDisabledDEPRECATED(); + inline void setChargingDisabledDEPRECATED(bool value); + + inline ::int8_t getMemoryUsagePercent(); + inline void setMemoryUsagePercent( ::int8_t value); + + inline ::int8_t getCpuUsagePercentDEPRECATED(); + inline void setCpuUsagePercentDEPRECATED( ::int8_t value); + + inline ::uint16_t getPa0DEPRECATED(); + inline void setPa0DEPRECATED( ::uint16_t value); + + inline ::cereal::DeviceState::NetworkType getNetworkType(); + inline void setNetworkType( ::cereal::DeviceState::NetworkType value); + + inline ::uint32_t getOffroadPowerUsageUwh(); + inline void setOffroadPowerUsageUwh( ::uint32_t value); + + inline ::cereal::DeviceState::NetworkStrength getNetworkStrength(); + inline void setNetworkStrength( ::cereal::DeviceState::NetworkStrength value); + + inline ::uint32_t getCarBatteryCapacityUwh(); + inline void setCarBatteryCapacityUwh( ::uint32_t value); + + inline bool hasCpuTempC(); + inline ::capnp::List::Builder getCpuTempC(); + inline void setCpuTempC( ::capnp::List::Reader value); + inline void setCpuTempC(::kj::ArrayPtr value); + inline ::capnp::List::Builder initCpuTempC(unsigned int size); + inline void adoptCpuTempC(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownCpuTempC(); + + inline bool hasGpuTempC(); + inline ::capnp::List::Builder getGpuTempC(); + inline void setGpuTempC( ::capnp::List::Reader value); + inline void setGpuTempC(::kj::ArrayPtr value); + inline ::capnp::List::Builder initGpuTempC(unsigned int size); + inline void adoptGpuTempC(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownGpuTempC(); + + inline float getMemoryTempC(); + inline void setMemoryTempC(float value); + + inline float getBatteryTempCDEPRECATED(); + inline void setBatteryTempCDEPRECATED(float value); + + inline float getAmbientTempCDEPRECATED(); + inline void setAmbientTempCDEPRECATED(float value); + + inline bool hasNetworkInfo(); + inline ::cereal::DeviceState::NetworkInfo::Builder getNetworkInfo(); + inline void setNetworkInfo( ::cereal::DeviceState::NetworkInfo::Reader value); + inline ::cereal::DeviceState::NetworkInfo::Builder initNetworkInfo(); + inline void adoptNetworkInfo(::capnp::Orphan< ::cereal::DeviceState::NetworkInfo>&& value); + inline ::capnp::Orphan< ::cereal::DeviceState::NetworkInfo> disownNetworkInfo(); + + inline ::uint64_t getLastAthenaPingTime(); + inline void setLastAthenaPingTime( ::uint64_t value); + + inline ::int8_t getGpuUsagePercent(); + inline void setGpuUsagePercent( ::int8_t value); + + inline bool hasCpuUsagePercent(); + inline ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>::Builder getCpuUsagePercent(); + inline void setCpuUsagePercent( ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>::Reader value); + inline void setCpuUsagePercent(::kj::ArrayPtr value); + inline ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>::Builder initCpuUsagePercent(unsigned int size); + inline void adoptCpuUsagePercent(::capnp::Orphan< ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>> disownCpuUsagePercent(); + + inline bool hasNvmeTempC(); + inline ::capnp::List::Builder getNvmeTempC(); + inline void setNvmeTempC( ::capnp::List::Reader value); + inline void setNvmeTempC(::kj::ArrayPtr value); + inline ::capnp::List::Builder initNvmeTempC(unsigned int size); + inline void adoptNvmeTempC(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownNvmeTempC(); + + inline bool hasModemTempC(); + inline ::capnp::List::Builder getModemTempC(); + inline void setModemTempC( ::capnp::List::Reader value); + inline void setModemTempC(::kj::ArrayPtr value); + inline ::capnp::List::Builder initModemTempC(unsigned int size); + inline void adoptModemTempC(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownModemTempC(); + + inline ::int8_t getScreenBrightnessPercent(); + inline void setScreenBrightnessPercent( ::int8_t value); + + inline bool hasThermalZones(); + inline ::capnp::List< ::cereal::DeviceState::ThermalZone, ::capnp::Kind::STRUCT>::Builder getThermalZones(); + inline void setThermalZones( ::capnp::List< ::cereal::DeviceState::ThermalZone, ::capnp::Kind::STRUCT>::Reader value); + inline ::capnp::List< ::cereal::DeviceState::ThermalZone, ::capnp::Kind::STRUCT>::Builder initThermalZones(unsigned int size); + inline void adoptThermalZones(::capnp::Orphan< ::capnp::List< ::cereal::DeviceState::ThermalZone, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::DeviceState::ThermalZone, ::capnp::Kind::STRUCT>> disownThermalZones(); + + inline bool hasPmicTempC(); + inline ::capnp::List::Builder getPmicTempC(); + inline void setPmicTempC( ::capnp::List::Reader value); + inline void setPmicTempC(::kj::ArrayPtr value); + inline ::capnp::List::Builder initPmicTempC(unsigned int size); + inline void adoptPmicTempC(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownPmicTempC(); + + inline float getPowerDrawW(); + inline void setPowerDrawW(float value); + + inline bool getNetworkMetered(); + inline void setNetworkMetered(bool value); + + inline float getSomPowerDrawW(); + inline void setSomPowerDrawW(float value); + + inline bool hasNetworkStats(); + inline ::cereal::DeviceState::NetworkStats::Builder getNetworkStats(); + inline void setNetworkStats( ::cereal::DeviceState::NetworkStats::Reader value); + inline ::cereal::DeviceState::NetworkStats::Builder initNetworkStats(); + inline void adoptNetworkStats(::capnp::Orphan< ::cereal::DeviceState::NetworkStats>&& value); + inline ::capnp::Orphan< ::cereal::DeviceState::NetworkStats> disownNetworkStats(); + + inline float getMaxTempC(); + inline void setMaxTempC(float value); + + inline ::cereal::InitData::DeviceType getDeviceType(); + inline void setDeviceType( ::cereal::InitData::DeviceType value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class DeviceState::Pipeline { +public: + typedef DeviceState Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + + inline ::cereal::DeviceState::NetworkInfo::Pipeline getNetworkInfo(); + inline ::cereal::DeviceState::NetworkStats::Pipeline getNetworkStats(); +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class DeviceState::ThermalZone::Reader { +public: + typedef ThermalZone Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasName() const; + inline ::capnp::Text::Reader getName() const; + + inline float getTemp() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class DeviceState::ThermalZone::Builder { +public: + typedef ThermalZone Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasName(); + inline ::capnp::Text::Builder getName(); + inline void setName( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initName(unsigned int size); + inline void adoptName(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownName(); + + inline float getTemp(); + inline void setTemp(float value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class DeviceState::ThermalZone::Pipeline { +public: + typedef ThermalZone Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class DeviceState::NetworkInfo::Reader { +public: + typedef NetworkInfo Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasTechnology() const; + inline ::capnp::Text::Reader getTechnology() const; + + inline bool hasOperator() const; + inline ::capnp::Text::Reader getOperator() const; + + inline bool hasBand() const; + inline ::capnp::Text::Reader getBand() const; + + inline ::uint16_t getChannel() const; + + inline bool hasExtra() const; + inline ::capnp::Text::Reader getExtra() const; + + inline bool hasState() const; + inline ::capnp::Text::Reader getState() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class DeviceState::NetworkInfo::Builder { +public: + typedef NetworkInfo Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasTechnology(); + inline ::capnp::Text::Builder getTechnology(); + inline void setTechnology( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initTechnology(unsigned int size); + inline void adoptTechnology(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownTechnology(); + + inline bool hasOperator(); + inline ::capnp::Text::Builder getOperator(); + inline void setOperator( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initOperator(unsigned int size); + inline void adoptOperator(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownOperator(); + + inline bool hasBand(); + inline ::capnp::Text::Builder getBand(); + inline void setBand( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initBand(unsigned int size); + inline void adoptBand(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownBand(); + + inline ::uint16_t getChannel(); + inline void setChannel( ::uint16_t value); + + inline bool hasExtra(); + inline ::capnp::Text::Builder getExtra(); + inline void setExtra( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initExtra(unsigned int size); + inline void adoptExtra(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownExtra(); + + inline bool hasState(); + inline ::capnp::Text::Builder getState(); + inline void setState( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initState(unsigned int size); + inline void adoptState(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownState(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class DeviceState::NetworkInfo::Pipeline { +public: + typedef NetworkInfo Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class DeviceState::NetworkStats::Reader { +public: + typedef NetworkStats Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::int64_t getWwanTx() const; + + inline ::int64_t getWwanRx() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class DeviceState::NetworkStats::Builder { +public: + typedef NetworkStats Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::int64_t getWwanTx(); + inline void setWwanTx( ::int64_t value); + + inline ::int64_t getWwanRx(); + inline void setWwanRx( ::int64_t value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class DeviceState::NetworkStats::Pipeline { +public: + typedef NetworkStats Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class PandaState::Reader { +public: + typedef PandaState Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::uint32_t getVoltage() const; + + inline ::uint32_t getCurrent() const; + + inline bool getIgnitionLine() const; + + inline bool getControlsAllowed() const; + + inline bool getGasInterceptorDetectedDEPRECATED() const; + + inline bool getStartedSignalDetectedDEPRECATED() const; + + inline bool getHasGpsDEPRECATED() const; + + inline ::uint32_t getRxBufferOverflow() const; + + inline ::uint32_t getTxBufferOverflow() const; + + inline ::uint32_t getGmlanSendErrsDEPRECATED() const; + + inline ::cereal::PandaState::PandaType getPandaType() const; + + inline ::uint16_t getFanSpeedRpmDEPRECATED() const; + + inline ::cereal::PeripheralState::UsbPowerModeDEPRECATED getUsbPowerModeDEPRECATED() const; + + inline bool getIgnitionCan() const; + + inline ::cereal::CarParams::SafetyModel getSafetyModel() const; + + inline ::cereal::PandaState::FaultStatus getFaultStatus() const; + + inline bool getPowerSaveEnabled() const; + + inline ::uint32_t getUptime() const; + + inline bool hasFaults() const; + inline ::capnp::List< ::cereal::PandaState::FaultType, ::capnp::Kind::ENUM>::Reader getFaults() const; + + inline ::uint32_t getSafetyRxInvalid() const; + + inline ::int16_t getSafetyParamDEPRECATED() const; + + inline ::cereal::PandaState::HarnessStatus getHarnessStatus() const; + + inline bool getHeartbeatLost() const; + + inline ::int16_t getAlternativeExperience() const; + + inline ::uint32_t getSafetyTxBlocked() const; + + inline float getInterruptLoad() const; + + inline ::uint32_t getSafetyParam2DEPRECATED() const; + + inline ::uint16_t getSafetyParam() const; + + inline ::uint8_t getFanPower() const; + + inline bool hasCanState0() const; + inline ::cereal::PandaState::PandaCanState::Reader getCanState0() const; + + inline bool hasCanState1() const; + inline ::cereal::PandaState::PandaCanState::Reader getCanState1() const; + + inline bool hasCanState2() const; + inline ::cereal::PandaState::PandaCanState::Reader getCanState2() const; + + inline bool getSafetyRxChecksInvalid() const; + + inline ::uint16_t getSpiChecksumErrorCount() const; + + inline ::uint8_t getFanStallCount() const; + + inline float getSbu1Voltage() const; + + inline float getSbu2Voltage() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class PandaState::Builder { +public: + typedef PandaState Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::uint32_t getVoltage(); + inline void setVoltage( ::uint32_t value); + + inline ::uint32_t getCurrent(); + inline void setCurrent( ::uint32_t value); + + inline bool getIgnitionLine(); + inline void setIgnitionLine(bool value); + + inline bool getControlsAllowed(); + inline void setControlsAllowed(bool value); + + inline bool getGasInterceptorDetectedDEPRECATED(); + inline void setGasInterceptorDetectedDEPRECATED(bool value); + + inline bool getStartedSignalDetectedDEPRECATED(); + inline void setStartedSignalDetectedDEPRECATED(bool value); + + inline bool getHasGpsDEPRECATED(); + inline void setHasGpsDEPRECATED(bool value); + + inline ::uint32_t getRxBufferOverflow(); + inline void setRxBufferOverflow( ::uint32_t value); + + inline ::uint32_t getTxBufferOverflow(); + inline void setTxBufferOverflow( ::uint32_t value); + + inline ::uint32_t getGmlanSendErrsDEPRECATED(); + inline void setGmlanSendErrsDEPRECATED( ::uint32_t value); + + inline ::cereal::PandaState::PandaType getPandaType(); + inline void setPandaType( ::cereal::PandaState::PandaType value); + + inline ::uint16_t getFanSpeedRpmDEPRECATED(); + inline void setFanSpeedRpmDEPRECATED( ::uint16_t value); + + inline ::cereal::PeripheralState::UsbPowerModeDEPRECATED getUsbPowerModeDEPRECATED(); + inline void setUsbPowerModeDEPRECATED( ::cereal::PeripheralState::UsbPowerModeDEPRECATED value); + + inline bool getIgnitionCan(); + inline void setIgnitionCan(bool value); + + inline ::cereal::CarParams::SafetyModel getSafetyModel(); + inline void setSafetyModel( ::cereal::CarParams::SafetyModel value); + + inline ::cereal::PandaState::FaultStatus getFaultStatus(); + inline void setFaultStatus( ::cereal::PandaState::FaultStatus value); + + inline bool getPowerSaveEnabled(); + inline void setPowerSaveEnabled(bool value); + + inline ::uint32_t getUptime(); + inline void setUptime( ::uint32_t value); + + inline bool hasFaults(); + inline ::capnp::List< ::cereal::PandaState::FaultType, ::capnp::Kind::ENUM>::Builder getFaults(); + inline void setFaults( ::capnp::List< ::cereal::PandaState::FaultType, ::capnp::Kind::ENUM>::Reader value); + inline void setFaults(::kj::ArrayPtr value); + inline ::capnp::List< ::cereal::PandaState::FaultType, ::capnp::Kind::ENUM>::Builder initFaults(unsigned int size); + inline void adoptFaults(::capnp::Orphan< ::capnp::List< ::cereal::PandaState::FaultType, ::capnp::Kind::ENUM>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::PandaState::FaultType, ::capnp::Kind::ENUM>> disownFaults(); + + inline ::uint32_t getSafetyRxInvalid(); + inline void setSafetyRxInvalid( ::uint32_t value); + + inline ::int16_t getSafetyParamDEPRECATED(); + inline void setSafetyParamDEPRECATED( ::int16_t value); + + inline ::cereal::PandaState::HarnessStatus getHarnessStatus(); + inline void setHarnessStatus( ::cereal::PandaState::HarnessStatus value); + + inline bool getHeartbeatLost(); + inline void setHeartbeatLost(bool value); + + inline ::int16_t getAlternativeExperience(); + inline void setAlternativeExperience( ::int16_t value); + + inline ::uint32_t getSafetyTxBlocked(); + inline void setSafetyTxBlocked( ::uint32_t value); + + inline float getInterruptLoad(); + inline void setInterruptLoad(float value); + + inline ::uint32_t getSafetyParam2DEPRECATED(); + inline void setSafetyParam2DEPRECATED( ::uint32_t value); + + inline ::uint16_t getSafetyParam(); + inline void setSafetyParam( ::uint16_t value); + + inline ::uint8_t getFanPower(); + inline void setFanPower( ::uint8_t value); + + inline bool hasCanState0(); + inline ::cereal::PandaState::PandaCanState::Builder getCanState0(); + inline void setCanState0( ::cereal::PandaState::PandaCanState::Reader value); + inline ::cereal::PandaState::PandaCanState::Builder initCanState0(); + inline void adoptCanState0(::capnp::Orphan< ::cereal::PandaState::PandaCanState>&& value); + inline ::capnp::Orphan< ::cereal::PandaState::PandaCanState> disownCanState0(); + + inline bool hasCanState1(); + inline ::cereal::PandaState::PandaCanState::Builder getCanState1(); + inline void setCanState1( ::cereal::PandaState::PandaCanState::Reader value); + inline ::cereal::PandaState::PandaCanState::Builder initCanState1(); + inline void adoptCanState1(::capnp::Orphan< ::cereal::PandaState::PandaCanState>&& value); + inline ::capnp::Orphan< ::cereal::PandaState::PandaCanState> disownCanState1(); + + inline bool hasCanState2(); + inline ::cereal::PandaState::PandaCanState::Builder getCanState2(); + inline void setCanState2( ::cereal::PandaState::PandaCanState::Reader value); + inline ::cereal::PandaState::PandaCanState::Builder initCanState2(); + inline void adoptCanState2(::capnp::Orphan< ::cereal::PandaState::PandaCanState>&& value); + inline ::capnp::Orphan< ::cereal::PandaState::PandaCanState> disownCanState2(); + + inline bool getSafetyRxChecksInvalid(); + inline void setSafetyRxChecksInvalid(bool value); + + inline ::uint16_t getSpiChecksumErrorCount(); + inline void setSpiChecksumErrorCount( ::uint16_t value); + + inline ::uint8_t getFanStallCount(); + inline void setFanStallCount( ::uint8_t value); + + inline float getSbu1Voltage(); + inline void setSbu1Voltage(float value); + + inline float getSbu2Voltage(); + inline void setSbu2Voltage(float value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class PandaState::Pipeline { +public: + typedef PandaState Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + + inline ::cereal::PandaState::PandaCanState::Pipeline getCanState0(); + inline ::cereal::PandaState::PandaCanState::Pipeline getCanState1(); + inline ::cereal::PandaState::PandaCanState::Pipeline getCanState2(); +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class PandaState::PandaCanState::Reader { +public: + typedef PandaCanState Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool getBusOff() const; + + inline ::uint32_t getBusOffCnt() const; + + inline bool getErrorWarning() const; + + inline bool getErrorPassive() const; + + inline ::cereal::PandaState::PandaCanState::LecErrorCode getLastError() const; + + inline ::cereal::PandaState::PandaCanState::LecErrorCode getLastStoredError() const; + + inline ::cereal::PandaState::PandaCanState::LecErrorCode getLastDataError() const; + + inline ::cereal::PandaState::PandaCanState::LecErrorCode getLastDataStoredError() const; + + inline ::uint8_t getReceiveErrorCnt() const; + + inline ::uint8_t getTransmitErrorCnt() const; + + inline ::uint32_t getTotalErrorCnt() const; + + inline ::uint32_t getTotalTxLostCnt() const; + + inline ::uint32_t getTotalRxLostCnt() const; + + inline ::uint32_t getTotalTxCnt() const; + + inline ::uint32_t getTotalRxCnt() const; + + inline ::uint32_t getTotalFwdCnt() const; + + inline ::uint16_t getCanSpeed() const; + + inline ::uint16_t getCanDataSpeed() const; + + inline bool getCanfdEnabled() const; + + inline bool getBrsEnabled() const; + + inline bool getCanfdNonIso() const; + + inline ::uint32_t getIrq0CallRate() const; + + inline ::uint32_t getIrq1CallRate() const; + + inline ::uint32_t getIrq2CallRate() const; + + inline ::uint32_t getCanCoreResetCnt() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class PandaState::PandaCanState::Builder { +public: + typedef PandaCanState Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool getBusOff(); + inline void setBusOff(bool value); + + inline ::uint32_t getBusOffCnt(); + inline void setBusOffCnt( ::uint32_t value); + + inline bool getErrorWarning(); + inline void setErrorWarning(bool value); + + inline bool getErrorPassive(); + inline void setErrorPassive(bool value); + + inline ::cereal::PandaState::PandaCanState::LecErrorCode getLastError(); + inline void setLastError( ::cereal::PandaState::PandaCanState::LecErrorCode value); + + inline ::cereal::PandaState::PandaCanState::LecErrorCode getLastStoredError(); + inline void setLastStoredError( ::cereal::PandaState::PandaCanState::LecErrorCode value); + + inline ::cereal::PandaState::PandaCanState::LecErrorCode getLastDataError(); + inline void setLastDataError( ::cereal::PandaState::PandaCanState::LecErrorCode value); + + inline ::cereal::PandaState::PandaCanState::LecErrorCode getLastDataStoredError(); + inline void setLastDataStoredError( ::cereal::PandaState::PandaCanState::LecErrorCode value); + + inline ::uint8_t getReceiveErrorCnt(); + inline void setReceiveErrorCnt( ::uint8_t value); + + inline ::uint8_t getTransmitErrorCnt(); + inline void setTransmitErrorCnt( ::uint8_t value); + + inline ::uint32_t getTotalErrorCnt(); + inline void setTotalErrorCnt( ::uint32_t value); + + inline ::uint32_t getTotalTxLostCnt(); + inline void setTotalTxLostCnt( ::uint32_t value); + + inline ::uint32_t getTotalRxLostCnt(); + inline void setTotalRxLostCnt( ::uint32_t value); + + inline ::uint32_t getTotalTxCnt(); + inline void setTotalTxCnt( ::uint32_t value); + + inline ::uint32_t getTotalRxCnt(); + inline void setTotalRxCnt( ::uint32_t value); + + inline ::uint32_t getTotalFwdCnt(); + inline void setTotalFwdCnt( ::uint32_t value); + + inline ::uint16_t getCanSpeed(); + inline void setCanSpeed( ::uint16_t value); + + inline ::uint16_t getCanDataSpeed(); + inline void setCanDataSpeed( ::uint16_t value); + + inline bool getCanfdEnabled(); + inline void setCanfdEnabled(bool value); + + inline bool getBrsEnabled(); + inline void setBrsEnabled(bool value); + + inline bool getCanfdNonIso(); + inline void setCanfdNonIso(bool value); + + inline ::uint32_t getIrq0CallRate(); + inline void setIrq0CallRate( ::uint32_t value); + + inline ::uint32_t getIrq1CallRate(); + inline void setIrq1CallRate( ::uint32_t value); + + inline ::uint32_t getIrq2CallRate(); + inline void setIrq2CallRate( ::uint32_t value); + + inline ::uint32_t getCanCoreResetCnt(); + inline void setCanCoreResetCnt( ::uint32_t value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class PandaState::PandaCanState::Pipeline { +public: + typedef PandaCanState Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class PeripheralState::Reader { +public: + typedef PeripheralState Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::cereal::PandaState::PandaType getPandaType() const; + + inline ::uint32_t getVoltage() const; + + inline ::uint32_t getCurrent() const; + + inline ::uint16_t getFanSpeedRpm() const; + + inline ::cereal::PeripheralState::UsbPowerModeDEPRECATED getUsbPowerModeDEPRECATED() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class PeripheralState::Builder { +public: + typedef PeripheralState Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::cereal::PandaState::PandaType getPandaType(); + inline void setPandaType( ::cereal::PandaState::PandaType value); + + inline ::uint32_t getVoltage(); + inline void setVoltage( ::uint32_t value); + + inline ::uint32_t getCurrent(); + inline void setCurrent( ::uint32_t value); + + inline ::uint16_t getFanSpeedRpm(); + inline void setFanSpeedRpm( ::uint16_t value); + + inline ::cereal::PeripheralState::UsbPowerModeDEPRECATED getUsbPowerModeDEPRECATED(); + inline void setUsbPowerModeDEPRECATED( ::cereal::PeripheralState::UsbPowerModeDEPRECATED value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class PeripheralState::Pipeline { +public: + typedef PeripheralState Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class RadarState::Reader { +public: + typedef RadarState Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasWarpMatrixDEPRECATED() const; + inline ::capnp::List::Reader getWarpMatrixDEPRECATED() const; + + inline float getAngleOffsetDEPRECATED() const; + + inline ::int8_t getCalStatusDEPRECATED() const; + + inline bool hasLeadOne() const; + inline ::cereal::RadarState::LeadData::Reader getLeadOne() const; + + inline bool hasLeadTwo() const; + inline ::cereal::RadarState::LeadData::Reader getLeadTwo() const; + + inline float getCumLagMs() const; + + inline ::uint64_t getMdMonoTime() const; + + inline ::uint64_t getFtMonoTimeDEPRECATED() const; + + inline ::int32_t getCalCycleDEPRECATED() const; + + inline ::int8_t getCalPercDEPRECATED() const; + + inline bool hasCanMonoTimesDEPRECATED() const; + inline ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>::Reader getCanMonoTimesDEPRECATED() const; + + inline ::uint64_t getCarStateMonoTime() const; + + inline bool hasRadarErrors() const; + inline ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>::Reader getRadarErrors() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class RadarState::Builder { +public: + typedef RadarState Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasWarpMatrixDEPRECATED(); + inline ::capnp::List::Builder getWarpMatrixDEPRECATED(); + inline void setWarpMatrixDEPRECATED( ::capnp::List::Reader value); + inline void setWarpMatrixDEPRECATED(::kj::ArrayPtr value); + inline ::capnp::List::Builder initWarpMatrixDEPRECATED(unsigned int size); + inline void adoptWarpMatrixDEPRECATED(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownWarpMatrixDEPRECATED(); + + inline float getAngleOffsetDEPRECATED(); + inline void setAngleOffsetDEPRECATED(float value); + + inline ::int8_t getCalStatusDEPRECATED(); + inline void setCalStatusDEPRECATED( ::int8_t value); + + inline bool hasLeadOne(); + inline ::cereal::RadarState::LeadData::Builder getLeadOne(); + inline void setLeadOne( ::cereal::RadarState::LeadData::Reader value); + inline ::cereal::RadarState::LeadData::Builder initLeadOne(); + inline void adoptLeadOne(::capnp::Orphan< ::cereal::RadarState::LeadData>&& value); + inline ::capnp::Orphan< ::cereal::RadarState::LeadData> disownLeadOne(); + + inline bool hasLeadTwo(); + inline ::cereal::RadarState::LeadData::Builder getLeadTwo(); + inline void setLeadTwo( ::cereal::RadarState::LeadData::Reader value); + inline ::cereal::RadarState::LeadData::Builder initLeadTwo(); + inline void adoptLeadTwo(::capnp::Orphan< ::cereal::RadarState::LeadData>&& value); + inline ::capnp::Orphan< ::cereal::RadarState::LeadData> disownLeadTwo(); + + inline float getCumLagMs(); + inline void setCumLagMs(float value); + + inline ::uint64_t getMdMonoTime(); + inline void setMdMonoTime( ::uint64_t value); + + inline ::uint64_t getFtMonoTimeDEPRECATED(); + inline void setFtMonoTimeDEPRECATED( ::uint64_t value); + + inline ::int32_t getCalCycleDEPRECATED(); + inline void setCalCycleDEPRECATED( ::int32_t value); + + inline ::int8_t getCalPercDEPRECATED(); + inline void setCalPercDEPRECATED( ::int8_t value); + + inline bool hasCanMonoTimesDEPRECATED(); + inline ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>::Builder getCanMonoTimesDEPRECATED(); + inline void setCanMonoTimesDEPRECATED( ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>::Reader value); + inline void setCanMonoTimesDEPRECATED(::kj::ArrayPtr value); + inline ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>::Builder initCanMonoTimesDEPRECATED(unsigned int size); + inline void adoptCanMonoTimesDEPRECATED(::capnp::Orphan< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>> disownCanMonoTimesDEPRECATED(); + + inline ::uint64_t getCarStateMonoTime(); + inline void setCarStateMonoTime( ::uint64_t value); + + inline bool hasRadarErrors(); + inline ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>::Builder getRadarErrors(); + inline void setRadarErrors( ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>::Reader value); + inline void setRadarErrors(::kj::ArrayPtr value); + inline ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>::Builder initRadarErrors(unsigned int size); + inline void adoptRadarErrors(::capnp::Orphan< ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>> disownRadarErrors(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class RadarState::Pipeline { +public: + typedef RadarState Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + + inline ::cereal::RadarState::LeadData::Pipeline getLeadOne(); + inline ::cereal::RadarState::LeadData::Pipeline getLeadTwo(); +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class RadarState::LeadData::Reader { +public: + typedef LeadData Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline float getDRel() const; + + inline float getYRel() const; + + inline float getVRel() const; + + inline float getARel() const; + + inline float getVLead() const; + + inline float getALeadDEPRECATED() const; + + inline float getDPath() const; + + inline float getVLat() const; + + inline float getVLeadK() const; + + inline float getALeadK() const; + + inline bool getFcw() const; + + inline bool getStatus() const; + + inline float getALeadTau() const; + + inline float getModelProb() const; + + inline bool getRadar() const; + + inline ::int32_t getRadarTrackId() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class RadarState::LeadData::Builder { +public: + typedef LeadData Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline float getDRel(); + inline void setDRel(float value); + + inline float getYRel(); + inline void setYRel(float value); + + inline float getVRel(); + inline void setVRel(float value); + + inline float getARel(); + inline void setARel(float value); + + inline float getVLead(); + inline void setVLead(float value); + + inline float getALeadDEPRECATED(); + inline void setALeadDEPRECATED(float value); + + inline float getDPath(); + inline void setDPath(float value); + + inline float getVLat(); + inline void setVLat(float value); + + inline float getVLeadK(); + inline void setVLeadK(float value); + + inline float getALeadK(); + inline void setALeadK(float value); + + inline bool getFcw(); + inline void setFcw(bool value); + + inline bool getStatus(); + inline void setStatus(bool value); + + inline float getALeadTau(); + inline void setALeadTau(float value); + + inline float getModelProb(); + inline void setModelProb(float value); + + inline bool getRadar(); + inline void setRadar(bool value); + + inline ::int32_t getRadarTrackId(); + inline void setRadarTrackId( ::int32_t value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class RadarState::LeadData::Pipeline { +public: + typedef LeadData Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class LiveCalibrationData::Reader { +public: + typedef LiveCalibrationData Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasWarpMatrixDEPRECATED() const; + inline ::capnp::List::Reader getWarpMatrixDEPRECATED() const; + + inline ::int8_t getCalStatusDEPRECATED() const; + + inline ::int32_t getCalCycle() const; + + inline ::int8_t getCalPerc() const; + + inline bool hasExtrinsicMatrix() const; + inline ::capnp::List::Reader getExtrinsicMatrix() const; + + inline bool hasWarpMatrix2DEPRECATED() const; + inline ::capnp::List::Reader getWarpMatrix2DEPRECATED() const; + + inline bool hasWarpMatrixBigDEPRECATED() const; + inline ::capnp::List::Reader getWarpMatrixBigDEPRECATED() const; + + inline bool hasRpyCalib() const; + inline ::capnp::List::Reader getRpyCalib() const; + + inline bool hasRpyCalibSpread() const; + inline ::capnp::List::Reader getRpyCalibSpread() const; + + inline ::int32_t getValidBlocks() const; + + inline bool hasWideFromDeviceEuler() const; + inline ::capnp::List::Reader getWideFromDeviceEuler() const; + + inline ::cereal::LiveCalibrationData::Status getCalStatus() const; + + inline bool hasHeight() const; + inline ::capnp::List::Reader getHeight() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class LiveCalibrationData::Builder { +public: + typedef LiveCalibrationData Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasWarpMatrixDEPRECATED(); + inline ::capnp::List::Builder getWarpMatrixDEPRECATED(); + inline void setWarpMatrixDEPRECATED( ::capnp::List::Reader value); + inline void setWarpMatrixDEPRECATED(::kj::ArrayPtr value); + inline ::capnp::List::Builder initWarpMatrixDEPRECATED(unsigned int size); + inline void adoptWarpMatrixDEPRECATED(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownWarpMatrixDEPRECATED(); + + inline ::int8_t getCalStatusDEPRECATED(); + inline void setCalStatusDEPRECATED( ::int8_t value); + + inline ::int32_t getCalCycle(); + inline void setCalCycle( ::int32_t value); + + inline ::int8_t getCalPerc(); + inline void setCalPerc( ::int8_t value); + + inline bool hasExtrinsicMatrix(); + inline ::capnp::List::Builder getExtrinsicMatrix(); + inline void setExtrinsicMatrix( ::capnp::List::Reader value); + inline void setExtrinsicMatrix(::kj::ArrayPtr value); + inline ::capnp::List::Builder initExtrinsicMatrix(unsigned int size); + inline void adoptExtrinsicMatrix(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownExtrinsicMatrix(); + + inline bool hasWarpMatrix2DEPRECATED(); + inline ::capnp::List::Builder getWarpMatrix2DEPRECATED(); + inline void setWarpMatrix2DEPRECATED( ::capnp::List::Reader value); + inline void setWarpMatrix2DEPRECATED(::kj::ArrayPtr value); + inline ::capnp::List::Builder initWarpMatrix2DEPRECATED(unsigned int size); + inline void adoptWarpMatrix2DEPRECATED(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownWarpMatrix2DEPRECATED(); + + inline bool hasWarpMatrixBigDEPRECATED(); + inline ::capnp::List::Builder getWarpMatrixBigDEPRECATED(); + inline void setWarpMatrixBigDEPRECATED( ::capnp::List::Reader value); + inline void setWarpMatrixBigDEPRECATED(::kj::ArrayPtr value); + inline ::capnp::List::Builder initWarpMatrixBigDEPRECATED(unsigned int size); + inline void adoptWarpMatrixBigDEPRECATED(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownWarpMatrixBigDEPRECATED(); + + inline bool hasRpyCalib(); + inline ::capnp::List::Builder getRpyCalib(); + inline void setRpyCalib( ::capnp::List::Reader value); + inline void setRpyCalib(::kj::ArrayPtr value); + inline ::capnp::List::Builder initRpyCalib(unsigned int size); + inline void adoptRpyCalib(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownRpyCalib(); + + inline bool hasRpyCalibSpread(); + inline ::capnp::List::Builder getRpyCalibSpread(); + inline void setRpyCalibSpread( ::capnp::List::Reader value); + inline void setRpyCalibSpread(::kj::ArrayPtr value); + inline ::capnp::List::Builder initRpyCalibSpread(unsigned int size); + inline void adoptRpyCalibSpread(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownRpyCalibSpread(); + + inline ::int32_t getValidBlocks(); + inline void setValidBlocks( ::int32_t value); + + inline bool hasWideFromDeviceEuler(); + inline ::capnp::List::Builder getWideFromDeviceEuler(); + inline void setWideFromDeviceEuler( ::capnp::List::Reader value); + inline void setWideFromDeviceEuler(::kj::ArrayPtr value); + inline ::capnp::List::Builder initWideFromDeviceEuler(unsigned int size); + inline void adoptWideFromDeviceEuler(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownWideFromDeviceEuler(); + + inline ::cereal::LiveCalibrationData::Status getCalStatus(); + inline void setCalStatus( ::cereal::LiveCalibrationData::Status value); + + inline bool hasHeight(); + inline ::capnp::List::Builder getHeight(); + inline void setHeight( ::capnp::List::Reader value); + inline void setHeight(::kj::ArrayPtr value); + inline ::capnp::List::Builder initHeight(unsigned int size); + inline void adoptHeight(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownHeight(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class LiveCalibrationData::Pipeline { +public: + typedef LiveCalibrationData Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class LiveTracks::Reader { +public: + typedef LiveTracks Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::int32_t getTrackId() const; + + inline float getDRel() const; + + inline float getYRel() const; + + inline float getVRel() const; + + inline float getARel() const; + + inline float getTimeStamp() const; + + inline float getStatus() const; + + inline float getCurrentTime() const; + + inline bool getStationary() const; + + inline bool getOncoming() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class LiveTracks::Builder { +public: + typedef LiveTracks Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::int32_t getTrackId(); + inline void setTrackId( ::int32_t value); + + inline float getDRel(); + inline void setDRel(float value); + + inline float getYRel(); + inline void setYRel(float value); + + inline float getVRel(); + inline void setVRel(float value); + + inline float getARel(); + inline void setARel(float value); + + inline float getTimeStamp(); + inline void setTimeStamp(float value); + + inline float getStatus(); + inline void setStatus(float value); + + inline float getCurrentTime(); + inline void setCurrentTime(float value); + + inline bool getStationary(); + inline void setStationary(bool value); + + inline bool getOncoming(); + inline void setOncoming(bool value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class LiveTracks::Pipeline { +public: + typedef LiveTracks Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class ControlsState::Reader { +public: + typedef ControlsState Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline float getVEgoDEPRECATED() const; + + inline float getAEgoDEPRECATED() const; + + inline float getVPidDEPRECATED() const; + + inline float getVTargetLead() const; + + inline float getUpAccelCmd() const; + + inline float getUiAccelCmd() const; + + inline float getYActualDEPRECATED() const; + + inline float getYDesDEPRECATED() const; + + inline float getUpSteerDEPRECATED() const; + + inline float getUiSteerDEPRECATED() const; + + inline float getATargetMinDEPRECATED() const; + + inline float getATargetMaxDEPRECATED() const; + + inline float getJerkFactorDEPRECATED() const; + + inline float getAngleSteersDEPRECATED() const; + + inline ::int32_t getHudLeadDEPRECATED() const; + + inline float getCumLagMs() const; + + inline ::uint64_t getCanMonoTimeDEPRECATED() const; + + inline ::uint64_t getRadarStateMonoTimeDEPRECATED() const; + + inline ::uint64_t getMdMonoTimeDEPRECATED() const; + + inline bool getEnabled() const; + + inline bool getSteerOverrideDEPRECATED() const; + + inline bool hasCanMonoTimesDEPRECATED() const; + inline ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>::Reader getCanMonoTimesDEPRECATED() const; + + inline float getVCruise() const; + + inline bool getRearViewCamDEPRECATED() const; + + inline bool hasAlertText1() const; + inline ::capnp::Text::Reader getAlertText1() const; + + inline bool hasAlertText2() const; + inline ::capnp::Text::Reader getAlertText2() const; + + inline float getAwarenessStatusDEPRECATED() const; + + inline float getAngleModelBiasDEPRECATED() const; + + inline ::uint64_t getLongitudinalPlanMonoTime() const; + + inline float getSteeringAngleDesiredDegDEPRECATED() const; + + inline ::cereal::CarControl::Actuators::LongControlState getLongControlState() const; + + inline ::cereal::ControlsState::OpenpilotState getState() const; + + inline float getVEgoRawDEPRECATED() const; + + inline float getUfAccelCmd() const; + + inline float getUfSteerDEPRECATED() const; + + inline float getATarget() const; + + inline bool getActive() const; + + inline float getCurvature() const; + + inline ::cereal::ControlsState::AlertStatus getAlertStatus() const; + + inline ::cereal::ControlsState::AlertSize getAlertSize() const; + + inline bool getGpsPlannerActiveDEPRECATED() const; + + inline bool getEngageable() const; + + inline float getAlertBlinkingRate() const; + + inline bool getDriverMonitoringOnDEPRECATED() const; + + inline bool hasAlertType() const; + inline ::capnp::Text::Reader getAlertType() const; + + inline bool hasAlertSoundDEPRECATED() const; + inline ::capnp::Text::Reader getAlertSoundDEPRECATED() const; + + inline float getVCurvatureDEPRECATED() const; + + inline bool getDecelForTurnDEPRECATED() const; + + inline ::uint64_t getStartMonoTime() const; + + inline bool getMapValidDEPRECATED() const; + + inline ::uint64_t getLateralPlanMonoTime() const; + + inline bool getForceDecel() const; + + inline typename LateralControlState::Reader getLateralControlState() const; + + inline bool getDecelForModelDEPRECATED() const; + + inline ::cereal::CarControl::HUDControl::AudibleAlert getAlertSound() const; + + inline ::uint32_t getCanErrorCounterDEPRECATED() const; + + inline float getDesiredCurvature() const; + + inline float getDesiredCurvatureRateDEPRECATED() const; + + inline float getVCruiseCluster() const; + + inline bool getExperimentalMode() const; + + inline ::cereal::LongitudinalPersonality getPersonality() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class ControlsState::Builder { +public: + typedef ControlsState Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline float getVEgoDEPRECATED(); + inline void setVEgoDEPRECATED(float value); + + inline float getAEgoDEPRECATED(); + inline void setAEgoDEPRECATED(float value); + + inline float getVPidDEPRECATED(); + inline void setVPidDEPRECATED(float value); + + inline float getVTargetLead(); + inline void setVTargetLead(float value); + + inline float getUpAccelCmd(); + inline void setUpAccelCmd(float value); + + inline float getUiAccelCmd(); + inline void setUiAccelCmd(float value); + + inline float getYActualDEPRECATED(); + inline void setYActualDEPRECATED(float value); + + inline float getYDesDEPRECATED(); + inline void setYDesDEPRECATED(float value); + + inline float getUpSteerDEPRECATED(); + inline void setUpSteerDEPRECATED(float value); + + inline float getUiSteerDEPRECATED(); + inline void setUiSteerDEPRECATED(float value); + + inline float getATargetMinDEPRECATED(); + inline void setATargetMinDEPRECATED(float value); + + inline float getATargetMaxDEPRECATED(); + inline void setATargetMaxDEPRECATED(float value); + + inline float getJerkFactorDEPRECATED(); + inline void setJerkFactorDEPRECATED(float value); + + inline float getAngleSteersDEPRECATED(); + inline void setAngleSteersDEPRECATED(float value); + + inline ::int32_t getHudLeadDEPRECATED(); + inline void setHudLeadDEPRECATED( ::int32_t value); + + inline float getCumLagMs(); + inline void setCumLagMs(float value); + + inline ::uint64_t getCanMonoTimeDEPRECATED(); + inline void setCanMonoTimeDEPRECATED( ::uint64_t value); + + inline ::uint64_t getRadarStateMonoTimeDEPRECATED(); + inline void setRadarStateMonoTimeDEPRECATED( ::uint64_t value); + + inline ::uint64_t getMdMonoTimeDEPRECATED(); + inline void setMdMonoTimeDEPRECATED( ::uint64_t value); + + inline bool getEnabled(); + inline void setEnabled(bool value); + + inline bool getSteerOverrideDEPRECATED(); + inline void setSteerOverrideDEPRECATED(bool value); + + inline bool hasCanMonoTimesDEPRECATED(); + inline ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>::Builder getCanMonoTimesDEPRECATED(); + inline void setCanMonoTimesDEPRECATED( ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>::Reader value); + inline void setCanMonoTimesDEPRECATED(::kj::ArrayPtr value); + inline ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>::Builder initCanMonoTimesDEPRECATED(unsigned int size); + inline void adoptCanMonoTimesDEPRECATED(::capnp::Orphan< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>> disownCanMonoTimesDEPRECATED(); + + inline float getVCruise(); + inline void setVCruise(float value); + + inline bool getRearViewCamDEPRECATED(); + inline void setRearViewCamDEPRECATED(bool value); + + inline bool hasAlertText1(); + inline ::capnp::Text::Builder getAlertText1(); + inline void setAlertText1( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initAlertText1(unsigned int size); + inline void adoptAlertText1(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownAlertText1(); + + inline bool hasAlertText2(); + inline ::capnp::Text::Builder getAlertText2(); + inline void setAlertText2( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initAlertText2(unsigned int size); + inline void adoptAlertText2(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownAlertText2(); + + inline float getAwarenessStatusDEPRECATED(); + inline void setAwarenessStatusDEPRECATED(float value); + + inline float getAngleModelBiasDEPRECATED(); + inline void setAngleModelBiasDEPRECATED(float value); + + inline ::uint64_t getLongitudinalPlanMonoTime(); + inline void setLongitudinalPlanMonoTime( ::uint64_t value); + + inline float getSteeringAngleDesiredDegDEPRECATED(); + inline void setSteeringAngleDesiredDegDEPRECATED(float value); + + inline ::cereal::CarControl::Actuators::LongControlState getLongControlState(); + inline void setLongControlState( ::cereal::CarControl::Actuators::LongControlState value); + + inline ::cereal::ControlsState::OpenpilotState getState(); + inline void setState( ::cereal::ControlsState::OpenpilotState value); + + inline float getVEgoRawDEPRECATED(); + inline void setVEgoRawDEPRECATED(float value); + + inline float getUfAccelCmd(); + inline void setUfAccelCmd(float value); + + inline float getUfSteerDEPRECATED(); + inline void setUfSteerDEPRECATED(float value); + + inline float getATarget(); + inline void setATarget(float value); + + inline bool getActive(); + inline void setActive(bool value); + + inline float getCurvature(); + inline void setCurvature(float value); + + inline ::cereal::ControlsState::AlertStatus getAlertStatus(); + inline void setAlertStatus( ::cereal::ControlsState::AlertStatus value); + + inline ::cereal::ControlsState::AlertSize getAlertSize(); + inline void setAlertSize( ::cereal::ControlsState::AlertSize value); + + inline bool getGpsPlannerActiveDEPRECATED(); + inline void setGpsPlannerActiveDEPRECATED(bool value); + + inline bool getEngageable(); + inline void setEngageable(bool value); + + inline float getAlertBlinkingRate(); + inline void setAlertBlinkingRate(float value); + + inline bool getDriverMonitoringOnDEPRECATED(); + inline void setDriverMonitoringOnDEPRECATED(bool value); + + inline bool hasAlertType(); + inline ::capnp::Text::Builder getAlertType(); + inline void setAlertType( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initAlertType(unsigned int size); + inline void adoptAlertType(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownAlertType(); + + inline bool hasAlertSoundDEPRECATED(); + inline ::capnp::Text::Builder getAlertSoundDEPRECATED(); + inline void setAlertSoundDEPRECATED( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initAlertSoundDEPRECATED(unsigned int size); + inline void adoptAlertSoundDEPRECATED(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownAlertSoundDEPRECATED(); + + inline float getVCurvatureDEPRECATED(); + inline void setVCurvatureDEPRECATED(float value); + + inline bool getDecelForTurnDEPRECATED(); + inline void setDecelForTurnDEPRECATED(bool value); + + inline ::uint64_t getStartMonoTime(); + inline void setStartMonoTime( ::uint64_t value); + + inline bool getMapValidDEPRECATED(); + inline void setMapValidDEPRECATED(bool value); + + inline ::uint64_t getLateralPlanMonoTime(); + inline void setLateralPlanMonoTime( ::uint64_t value); + + inline bool getForceDecel(); + inline void setForceDecel(bool value); + + inline typename LateralControlState::Builder getLateralControlState(); + inline typename LateralControlState::Builder initLateralControlState(); + + inline bool getDecelForModelDEPRECATED(); + inline void setDecelForModelDEPRECATED(bool value); + + inline ::cereal::CarControl::HUDControl::AudibleAlert getAlertSound(); + inline void setAlertSound( ::cereal::CarControl::HUDControl::AudibleAlert value); + + inline ::uint32_t getCanErrorCounterDEPRECATED(); + inline void setCanErrorCounterDEPRECATED( ::uint32_t value); + + inline float getDesiredCurvature(); + inline void setDesiredCurvature(float value); + + inline float getDesiredCurvatureRateDEPRECATED(); + inline void setDesiredCurvatureRateDEPRECATED(float value); + + inline float getVCruiseCluster(); + inline void setVCruiseCluster(float value); + + inline bool getExperimentalMode(); + inline void setExperimentalMode(bool value); + + inline ::cereal::LongitudinalPersonality getPersonality(); + inline void setPersonality( ::cereal::LongitudinalPersonality value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class ControlsState::Pipeline { +public: + typedef ControlsState Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + + inline typename LateralControlState::Pipeline getLateralControlState(); +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class ControlsState::LateralINDIState::Reader { +public: + typedef LateralINDIState Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool getActive() const; + + inline float getSteeringAngleDeg() const; + + inline float getSteeringRateDeg() const; + + inline float getSteeringAccelDeg() const; + + inline float getRateSetPoint() const; + + inline float getAccelSetPoint() const; + + inline float getAccelError() const; + + inline float getDelayedOutput() const; + + inline float getDelta() const; + + inline float getOutput() const; + + inline bool getSaturated() const; + + inline float getSteeringAngleDesiredDeg() const; + + inline float getSteeringRateDesiredDeg() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class ControlsState::LateralINDIState::Builder { +public: + typedef LateralINDIState Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool getActive(); + inline void setActive(bool value); + + inline float getSteeringAngleDeg(); + inline void setSteeringAngleDeg(float value); + + inline float getSteeringRateDeg(); + inline void setSteeringRateDeg(float value); + + inline float getSteeringAccelDeg(); + inline void setSteeringAccelDeg(float value); + + inline float getRateSetPoint(); + inline void setRateSetPoint(float value); + + inline float getAccelSetPoint(); + inline void setAccelSetPoint(float value); + + inline float getAccelError(); + inline void setAccelError(float value); + + inline float getDelayedOutput(); + inline void setDelayedOutput(float value); + + inline float getDelta(); + inline void setDelta(float value); + + inline float getOutput(); + inline void setOutput(float value); + + inline bool getSaturated(); + inline void setSaturated(bool value); + + inline float getSteeringAngleDesiredDeg(); + inline void setSteeringAngleDesiredDeg(float value); + + inline float getSteeringRateDesiredDeg(); + inline void setSteeringRateDesiredDeg(float value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class ControlsState::LateralINDIState::Pipeline { +public: + typedef LateralINDIState Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class ControlsState::LateralPIDState::Reader { +public: + typedef LateralPIDState Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool getActive() const; + + inline float getSteeringAngleDeg() const; + + inline float getSteeringRateDeg() const; + + inline float getAngleError() const; + + inline float getP() const; + + inline float getI() const; + + inline float getF() const; + + inline float getOutput() const; + + inline bool getSaturated() const; + + inline float getSteeringAngleDesiredDeg() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class ControlsState::LateralPIDState::Builder { +public: + typedef LateralPIDState Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool getActive(); + inline void setActive(bool value); + + inline float getSteeringAngleDeg(); + inline void setSteeringAngleDeg(float value); + + inline float getSteeringRateDeg(); + inline void setSteeringRateDeg(float value); + + inline float getAngleError(); + inline void setAngleError(float value); + + inline float getP(); + inline void setP(float value); + + inline float getI(); + inline void setI(float value); + + inline float getF(); + inline void setF(float value); + + inline float getOutput(); + inline void setOutput(float value); + + inline bool getSaturated(); + inline void setSaturated(bool value); + + inline float getSteeringAngleDesiredDeg(); + inline void setSteeringAngleDesiredDeg(float value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class ControlsState::LateralPIDState::Pipeline { +public: + typedef LateralPIDState Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class ControlsState::LateralTorqueState::Reader { +public: + typedef LateralTorqueState Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool getActive() const; + + inline float getError() const; + + inline float getP() const; + + inline float getI() const; + + inline float getD() const; + + inline float getF() const; + + inline float getOutput() const; + + inline bool getSaturated() const; + + inline float getErrorRate() const; + + inline float getActualLateralAccel() const; + + inline float getDesiredLateralAccel() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class ControlsState::LateralTorqueState::Builder { +public: + typedef LateralTorqueState Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool getActive(); + inline void setActive(bool value); + + inline float getError(); + inline void setError(float value); + + inline float getP(); + inline void setP(float value); + + inline float getI(); + inline void setI(float value); + + inline float getD(); + inline void setD(float value); + + inline float getF(); + inline void setF(float value); + + inline float getOutput(); + inline void setOutput(float value); + + inline bool getSaturated(); + inline void setSaturated(bool value); + + inline float getErrorRate(); + inline void setErrorRate(float value); + + inline float getActualLateralAccel(); + inline void setActualLateralAccel(float value); + + inline float getDesiredLateralAccel(); + inline void setDesiredLateralAccel(float value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class ControlsState::LateralTorqueState::Pipeline { +public: + typedef LateralTorqueState Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class ControlsState::LateralLQRState::Reader { +public: + typedef LateralLQRState Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool getActive() const; + + inline float getSteeringAngleDeg() const; + + inline float getI() const; + + inline float getOutput() const; + + inline float getLqrOutput() const; + + inline bool getSaturated() const; + + inline float getSteeringAngleDesiredDeg() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class ControlsState::LateralLQRState::Builder { +public: + typedef LateralLQRState Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool getActive(); + inline void setActive(bool value); + + inline float getSteeringAngleDeg(); + inline void setSteeringAngleDeg(float value); + + inline float getI(); + inline void setI(float value); + + inline float getOutput(); + inline void setOutput(float value); + + inline float getLqrOutput(); + inline void setLqrOutput(float value); + + inline bool getSaturated(); + inline void setSaturated(bool value); + + inline float getSteeringAngleDesiredDeg(); + inline void setSteeringAngleDesiredDeg(float value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class ControlsState::LateralLQRState::Pipeline { +public: + typedef LateralLQRState Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class ControlsState::LateralAngleState::Reader { +public: + typedef LateralAngleState Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool getActive() const; + + inline float getSteeringAngleDeg() const; + + inline float getOutput() const; + + inline bool getSaturated() const; + + inline float getSteeringAngleDesiredDeg() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class ControlsState::LateralAngleState::Builder { +public: + typedef LateralAngleState Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool getActive(); + inline void setActive(bool value); + + inline float getSteeringAngleDeg(); + inline void setSteeringAngleDeg(float value); + + inline float getOutput(); + inline void setOutput(float value); + + inline bool getSaturated(); + inline void setSaturated(bool value); + + inline float getSteeringAngleDesiredDeg(); + inline void setSteeringAngleDesiredDeg(float value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class ControlsState::LateralAngleState::Pipeline { +public: + typedef LateralAngleState Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class ControlsState::LateralCurvatureState::Reader { +public: + typedef LateralCurvatureState Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool getActive() const; + + inline float getActualCurvature() const; + + inline float getDesiredCurvature() const; + + inline float getError() const; + + inline float getP() const; + + inline float getI() const; + + inline float getF() const; + + inline float getOutput() const; + + inline bool getSaturated() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class ControlsState::LateralCurvatureState::Builder { +public: + typedef LateralCurvatureState Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool getActive(); + inline void setActive(bool value); + + inline float getActualCurvature(); + inline void setActualCurvature(float value); + + inline float getDesiredCurvature(); + inline void setDesiredCurvature(float value); + + inline float getError(); + inline void setError(float value); + + inline float getP(); + inline void setP(float value); + + inline float getI(); + inline void setI(float value); + + inline float getF(); + inline void setF(float value); + + inline float getOutput(); + inline void setOutput(float value); + + inline bool getSaturated(); + inline void setSaturated(bool value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class ControlsState::LateralCurvatureState::Pipeline { +public: + typedef LateralCurvatureState Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class ControlsState::LateralDebugState::Reader { +public: + typedef LateralDebugState Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool getActive() const; + + inline float getSteeringAngleDeg() const; + + inline float getOutput() const; + + inline bool getSaturated() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class ControlsState::LateralDebugState::Builder { +public: + typedef LateralDebugState Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool getActive(); + inline void setActive(bool value); + + inline float getSteeringAngleDeg(); + inline void setSteeringAngleDeg(float value); + + inline float getOutput(); + inline void setOutput(float value); + + inline bool getSaturated(); + inline void setSaturated(bool value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class ControlsState::LateralDebugState::Pipeline { +public: + typedef LateralDebugState Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class ControlsState::LateralControlState::Reader { +public: + typedef LateralControlState Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline Which which() const; + inline bool isIndiState() const; + inline bool hasIndiState() const; + inline ::cereal::ControlsState::LateralINDIState::Reader getIndiState() const; + + inline bool isPidState() const; + inline bool hasPidState() const; + inline ::cereal::ControlsState::LateralPIDState::Reader getPidState() const; + + inline bool isLqrStateDEPRECATED() const; + inline bool hasLqrStateDEPRECATED() const; + inline ::cereal::ControlsState::LateralLQRState::Reader getLqrStateDEPRECATED() const; + + inline bool isAngleState() const; + inline bool hasAngleState() const; + inline ::cereal::ControlsState::LateralAngleState::Reader getAngleState() const; + + inline bool isDebugState() const; + inline bool hasDebugState() const; + inline ::cereal::ControlsState::LateralDebugState::Reader getDebugState() const; + + inline bool isTorqueState() const; + inline bool hasTorqueState() const; + inline ::cereal::ControlsState::LateralTorqueState::Reader getTorqueState() const; + + inline bool isCurvatureStateDEPRECATED() const; + inline bool hasCurvatureStateDEPRECATED() const; + inline ::cereal::ControlsState::LateralCurvatureState::Reader getCurvatureStateDEPRECATED() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class ControlsState::LateralControlState::Builder { +public: + typedef LateralControlState Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline Which which(); + inline bool isIndiState(); + inline bool hasIndiState(); + inline ::cereal::ControlsState::LateralINDIState::Builder getIndiState(); + inline void setIndiState( ::cereal::ControlsState::LateralINDIState::Reader value); + inline ::cereal::ControlsState::LateralINDIState::Builder initIndiState(); + inline void adoptIndiState(::capnp::Orphan< ::cereal::ControlsState::LateralINDIState>&& value); + inline ::capnp::Orphan< ::cereal::ControlsState::LateralINDIState> disownIndiState(); + + inline bool isPidState(); + inline bool hasPidState(); + inline ::cereal::ControlsState::LateralPIDState::Builder getPidState(); + inline void setPidState( ::cereal::ControlsState::LateralPIDState::Reader value); + inline ::cereal::ControlsState::LateralPIDState::Builder initPidState(); + inline void adoptPidState(::capnp::Orphan< ::cereal::ControlsState::LateralPIDState>&& value); + inline ::capnp::Orphan< ::cereal::ControlsState::LateralPIDState> disownPidState(); + + inline bool isLqrStateDEPRECATED(); + inline bool hasLqrStateDEPRECATED(); + inline ::cereal::ControlsState::LateralLQRState::Builder getLqrStateDEPRECATED(); + inline void setLqrStateDEPRECATED( ::cereal::ControlsState::LateralLQRState::Reader value); + inline ::cereal::ControlsState::LateralLQRState::Builder initLqrStateDEPRECATED(); + inline void adoptLqrStateDEPRECATED(::capnp::Orphan< ::cereal::ControlsState::LateralLQRState>&& value); + inline ::capnp::Orphan< ::cereal::ControlsState::LateralLQRState> disownLqrStateDEPRECATED(); + + inline bool isAngleState(); + inline bool hasAngleState(); + inline ::cereal::ControlsState::LateralAngleState::Builder getAngleState(); + inline void setAngleState( ::cereal::ControlsState::LateralAngleState::Reader value); + inline ::cereal::ControlsState::LateralAngleState::Builder initAngleState(); + inline void adoptAngleState(::capnp::Orphan< ::cereal::ControlsState::LateralAngleState>&& value); + inline ::capnp::Orphan< ::cereal::ControlsState::LateralAngleState> disownAngleState(); + + inline bool isDebugState(); + inline bool hasDebugState(); + inline ::cereal::ControlsState::LateralDebugState::Builder getDebugState(); + inline void setDebugState( ::cereal::ControlsState::LateralDebugState::Reader value); + inline ::cereal::ControlsState::LateralDebugState::Builder initDebugState(); + inline void adoptDebugState(::capnp::Orphan< ::cereal::ControlsState::LateralDebugState>&& value); + inline ::capnp::Orphan< ::cereal::ControlsState::LateralDebugState> disownDebugState(); + + inline bool isTorqueState(); + inline bool hasTorqueState(); + inline ::cereal::ControlsState::LateralTorqueState::Builder getTorqueState(); + inline void setTorqueState( ::cereal::ControlsState::LateralTorqueState::Reader value); + inline ::cereal::ControlsState::LateralTorqueState::Builder initTorqueState(); + inline void adoptTorqueState(::capnp::Orphan< ::cereal::ControlsState::LateralTorqueState>&& value); + inline ::capnp::Orphan< ::cereal::ControlsState::LateralTorqueState> disownTorqueState(); + + inline bool isCurvatureStateDEPRECATED(); + inline bool hasCurvatureStateDEPRECATED(); + inline ::cereal::ControlsState::LateralCurvatureState::Builder getCurvatureStateDEPRECATED(); + inline void setCurvatureStateDEPRECATED( ::cereal::ControlsState::LateralCurvatureState::Reader value); + inline ::cereal::ControlsState::LateralCurvatureState::Builder initCurvatureStateDEPRECATED(); + inline void adoptCurvatureStateDEPRECATED(::capnp::Orphan< ::cereal::ControlsState::LateralCurvatureState>&& value); + inline ::capnp::Orphan< ::cereal::ControlsState::LateralCurvatureState> disownCurvatureStateDEPRECATED(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class ControlsState::LateralControlState::Pipeline { +public: + typedef LateralControlState Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class DrivingModelData::Reader { +public: + typedef DrivingModelData Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::uint32_t getFrameId() const; + + inline ::uint32_t getFrameIdExtra() const; + + inline bool hasAction() const; + inline ::cereal::ModelDataV2::Action::Reader getAction() const; + + inline bool hasLaneLineMeta() const; + inline ::cereal::DrivingModelData::LaneLineMeta::Reader getLaneLineMeta() const; + + inline bool hasMeta() const; + inline ::cereal::DrivingModelData::MetaData::Reader getMeta() const; + + inline bool hasPath() const; + inline ::cereal::DrivingModelData::PolyPath::Reader getPath() const; + + inline float getFrameDropPerc() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class DrivingModelData::Builder { +public: + typedef DrivingModelData Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::uint32_t getFrameId(); + inline void setFrameId( ::uint32_t value); + + inline ::uint32_t getFrameIdExtra(); + inline void setFrameIdExtra( ::uint32_t value); + + inline bool hasAction(); + inline ::cereal::ModelDataV2::Action::Builder getAction(); + inline void setAction( ::cereal::ModelDataV2::Action::Reader value); + inline ::cereal::ModelDataV2::Action::Builder initAction(); + inline void adoptAction(::capnp::Orphan< ::cereal::ModelDataV2::Action>&& value); + inline ::capnp::Orphan< ::cereal::ModelDataV2::Action> disownAction(); + + inline bool hasLaneLineMeta(); + inline ::cereal::DrivingModelData::LaneLineMeta::Builder getLaneLineMeta(); + inline void setLaneLineMeta( ::cereal::DrivingModelData::LaneLineMeta::Reader value); + inline ::cereal::DrivingModelData::LaneLineMeta::Builder initLaneLineMeta(); + inline void adoptLaneLineMeta(::capnp::Orphan< ::cereal::DrivingModelData::LaneLineMeta>&& value); + inline ::capnp::Orphan< ::cereal::DrivingModelData::LaneLineMeta> disownLaneLineMeta(); + + inline bool hasMeta(); + inline ::cereal::DrivingModelData::MetaData::Builder getMeta(); + inline void setMeta( ::cereal::DrivingModelData::MetaData::Reader value); + inline ::cereal::DrivingModelData::MetaData::Builder initMeta(); + inline void adoptMeta(::capnp::Orphan< ::cereal::DrivingModelData::MetaData>&& value); + inline ::capnp::Orphan< ::cereal::DrivingModelData::MetaData> disownMeta(); + + inline bool hasPath(); + inline ::cereal::DrivingModelData::PolyPath::Builder getPath(); + inline void setPath( ::cereal::DrivingModelData::PolyPath::Reader value); + inline ::cereal::DrivingModelData::PolyPath::Builder initPath(); + inline void adoptPath(::capnp::Orphan< ::cereal::DrivingModelData::PolyPath>&& value); + inline ::capnp::Orphan< ::cereal::DrivingModelData::PolyPath> disownPath(); + + inline float getFrameDropPerc(); + inline void setFrameDropPerc(float value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class DrivingModelData::Pipeline { +public: + typedef DrivingModelData Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + + inline ::cereal::ModelDataV2::Action::Pipeline getAction(); + inline ::cereal::DrivingModelData::LaneLineMeta::Pipeline getLaneLineMeta(); + inline ::cereal::DrivingModelData::MetaData::Pipeline getMeta(); + inline ::cereal::DrivingModelData::PolyPath::Pipeline getPath(); +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class DrivingModelData::PolyPath::Reader { +public: + typedef PolyPath Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasXCoefficients() const; + inline ::capnp::List::Reader getXCoefficients() const; + + inline bool hasYCoefficients() const; + inline ::capnp::List::Reader getYCoefficients() const; + + inline bool hasZCoefficients() const; + inline ::capnp::List::Reader getZCoefficients() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class DrivingModelData::PolyPath::Builder { +public: + typedef PolyPath Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasXCoefficients(); + inline ::capnp::List::Builder getXCoefficients(); + inline void setXCoefficients( ::capnp::List::Reader value); + inline void setXCoefficients(::kj::ArrayPtr value); + inline ::capnp::List::Builder initXCoefficients(unsigned int size); + inline void adoptXCoefficients(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownXCoefficients(); + + inline bool hasYCoefficients(); + inline ::capnp::List::Builder getYCoefficients(); + inline void setYCoefficients( ::capnp::List::Reader value); + inline void setYCoefficients(::kj::ArrayPtr value); + inline ::capnp::List::Builder initYCoefficients(unsigned int size); + inline void adoptYCoefficients(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownYCoefficients(); + + inline bool hasZCoefficients(); + inline ::capnp::List::Builder getZCoefficients(); + inline void setZCoefficients( ::capnp::List::Reader value); + inline void setZCoefficients(::kj::ArrayPtr value); + inline ::capnp::List::Builder initZCoefficients(unsigned int size); + inline void adoptZCoefficients(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownZCoefficients(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class DrivingModelData::PolyPath::Pipeline { +public: + typedef PolyPath Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class DrivingModelData::LaneLineMeta::Reader { +public: + typedef LaneLineMeta Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline float getLeftY() const; + + inline float getRightY() const; + + inline float getLeftProb() const; + + inline float getRightProb() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class DrivingModelData::LaneLineMeta::Builder { +public: + typedef LaneLineMeta Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline float getLeftY(); + inline void setLeftY(float value); + + inline float getRightY(); + inline void setRightY(float value); + + inline float getLeftProb(); + inline void setLeftProb(float value); + + inline float getRightProb(); + inline void setRightProb(float value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class DrivingModelData::LaneLineMeta::Pipeline { +public: + typedef LaneLineMeta Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class DrivingModelData::MetaData::Reader { +public: + typedef MetaData Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::cereal::LaneChangeState getLaneChangeState() const; + + inline ::cereal::LaneChangeDirection getLaneChangeDirection() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class DrivingModelData::MetaData::Builder { +public: + typedef MetaData Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::cereal::LaneChangeState getLaneChangeState(); + inline void setLaneChangeState( ::cereal::LaneChangeState value); + + inline ::cereal::LaneChangeDirection getLaneChangeDirection(); + inline void setLaneChangeDirection( ::cereal::LaneChangeDirection value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class DrivingModelData::MetaData::Pipeline { +public: + typedef MetaData Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class XYZTData::Reader { +public: + typedef XYZTData Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasX() const; + inline ::capnp::List::Reader getX() const; + + inline bool hasY() const; + inline ::capnp::List::Reader getY() const; + + inline bool hasZ() const; + inline ::capnp::List::Reader getZ() const; + + inline bool hasT() const; + inline ::capnp::List::Reader getT() const; + + inline bool hasXStd() const; + inline ::capnp::List::Reader getXStd() const; + + inline bool hasYStd() const; + inline ::capnp::List::Reader getYStd() const; + + inline bool hasZStd() const; + inline ::capnp::List::Reader getZStd() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class XYZTData::Builder { +public: + typedef XYZTData Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasX(); + inline ::capnp::List::Builder getX(); + inline void setX( ::capnp::List::Reader value); + inline void setX(::kj::ArrayPtr value); + inline ::capnp::List::Builder initX(unsigned int size); + inline void adoptX(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownX(); + + inline bool hasY(); + inline ::capnp::List::Builder getY(); + inline void setY( ::capnp::List::Reader value); + inline void setY(::kj::ArrayPtr value); + inline ::capnp::List::Builder initY(unsigned int size); + inline void adoptY(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownY(); + + inline bool hasZ(); + inline ::capnp::List::Builder getZ(); + inline void setZ( ::capnp::List::Reader value); + inline void setZ(::kj::ArrayPtr value); + inline ::capnp::List::Builder initZ(unsigned int size); + inline void adoptZ(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownZ(); + + inline bool hasT(); + inline ::capnp::List::Builder getT(); + inline void setT( ::capnp::List::Reader value); + inline void setT(::kj::ArrayPtr value); + inline ::capnp::List::Builder initT(unsigned int size); + inline void adoptT(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownT(); + + inline bool hasXStd(); + inline ::capnp::List::Builder getXStd(); + inline void setXStd( ::capnp::List::Reader value); + inline void setXStd(::kj::ArrayPtr value); + inline ::capnp::List::Builder initXStd(unsigned int size); + inline void adoptXStd(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownXStd(); + + inline bool hasYStd(); + inline ::capnp::List::Builder getYStd(); + inline void setYStd( ::capnp::List::Reader value); + inline void setYStd(::kj::ArrayPtr value); + inline ::capnp::List::Builder initYStd(unsigned int size); + inline void adoptYStd(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownYStd(); + + inline bool hasZStd(); + inline ::capnp::List::Builder getZStd(); + inline void setZStd( ::capnp::List::Reader value); + inline void setZStd(::kj::ArrayPtr value); + inline ::capnp::List::Builder initZStd(unsigned int size); + inline void adoptZStd(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownZStd(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class XYZTData::Pipeline { +public: + typedef XYZTData Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class ModelDataV2::Reader { +public: + typedef ModelDataV2 Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::uint32_t getFrameId() const; + + inline ::uint32_t getFrameAge() const; + + inline float getFrameDropPerc() const; + + inline ::uint64_t getTimestampEof() const; + + inline bool hasPosition() const; + inline ::cereal::XYZTData::Reader getPosition() const; + + inline bool hasOrientation() const; + inline ::cereal::XYZTData::Reader getOrientation() const; + + inline bool hasVelocity() const; + inline ::cereal::XYZTData::Reader getVelocity() const; + + inline bool hasOrientationRate() const; + inline ::cereal::XYZTData::Reader getOrientationRate() const; + + inline bool hasLaneLines() const; + inline ::capnp::List< ::cereal::XYZTData, ::capnp::Kind::STRUCT>::Reader getLaneLines() const; + + inline bool hasLaneLineProbs() const; + inline ::capnp::List::Reader getLaneLineProbs() const; + + inline bool hasRoadEdges() const; + inline ::capnp::List< ::cereal::XYZTData, ::capnp::Kind::STRUCT>::Reader getRoadEdges() const; + + inline bool hasLeads() const; + inline ::capnp::List< ::cereal::ModelDataV2::LeadDataV2, ::capnp::Kind::STRUCT>::Reader getLeads() const; + + inline bool hasMeta() const; + inline ::cereal::ModelDataV2::MetaData::Reader getMeta() const; + + inline bool hasLaneLineStds() const; + inline ::capnp::List::Reader getLaneLineStds() const; + + inline bool hasRoadEdgeStds() const; + inline ::capnp::List::Reader getRoadEdgeStds() const; + + inline float getModelExecutionTime() const; + + inline bool hasRawPredictions() const; + inline ::capnp::Data::Reader getRawPredictions() const; + + inline float getGpuExecutionTime() const; + + inline bool hasLeadsV3() const; + inline ::capnp::List< ::cereal::ModelDataV2::LeadDataV3, ::capnp::Kind::STRUCT>::Reader getLeadsV3() const; + + inline bool hasAcceleration() const; + inline ::cereal::XYZTData::Reader getAcceleration() const; + + inline ::uint32_t getFrameIdExtra() const; + + inline bool hasTemporalPose() const; + inline ::cereal::ModelDataV2::Pose::Reader getTemporalPose() const; + + inline bool getNavEnabledDEPRECATED() const; + + inline ::cereal::ModelDataV2::ConfidenceClass getConfidence() const; + + inline ::uint64_t getLocationMonoTimeDEPRECATED() const; + + inline bool hasLateralPlannerSolutionDEPRECATED() const; + inline ::cereal::ModelDataV2::LateralPlannerSolution::Reader getLateralPlannerSolutionDEPRECATED() const; + + inline bool hasAction() const; + inline ::cereal::ModelDataV2::Action::Reader getAction() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class ModelDataV2::Builder { +public: + typedef ModelDataV2 Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::uint32_t getFrameId(); + inline void setFrameId( ::uint32_t value); + + inline ::uint32_t getFrameAge(); + inline void setFrameAge( ::uint32_t value); + + inline float getFrameDropPerc(); + inline void setFrameDropPerc(float value); + + inline ::uint64_t getTimestampEof(); + inline void setTimestampEof( ::uint64_t value); + + inline bool hasPosition(); + inline ::cereal::XYZTData::Builder getPosition(); + inline void setPosition( ::cereal::XYZTData::Reader value); + inline ::cereal::XYZTData::Builder initPosition(); + inline void adoptPosition(::capnp::Orphan< ::cereal::XYZTData>&& value); + inline ::capnp::Orphan< ::cereal::XYZTData> disownPosition(); + + inline bool hasOrientation(); + inline ::cereal::XYZTData::Builder getOrientation(); + inline void setOrientation( ::cereal::XYZTData::Reader value); + inline ::cereal::XYZTData::Builder initOrientation(); + inline void adoptOrientation(::capnp::Orphan< ::cereal::XYZTData>&& value); + inline ::capnp::Orphan< ::cereal::XYZTData> disownOrientation(); + + inline bool hasVelocity(); + inline ::cereal::XYZTData::Builder getVelocity(); + inline void setVelocity( ::cereal::XYZTData::Reader value); + inline ::cereal::XYZTData::Builder initVelocity(); + inline void adoptVelocity(::capnp::Orphan< ::cereal::XYZTData>&& value); + inline ::capnp::Orphan< ::cereal::XYZTData> disownVelocity(); + + inline bool hasOrientationRate(); + inline ::cereal::XYZTData::Builder getOrientationRate(); + inline void setOrientationRate( ::cereal::XYZTData::Reader value); + inline ::cereal::XYZTData::Builder initOrientationRate(); + inline void adoptOrientationRate(::capnp::Orphan< ::cereal::XYZTData>&& value); + inline ::capnp::Orphan< ::cereal::XYZTData> disownOrientationRate(); + + inline bool hasLaneLines(); + inline ::capnp::List< ::cereal::XYZTData, ::capnp::Kind::STRUCT>::Builder getLaneLines(); + inline void setLaneLines( ::capnp::List< ::cereal::XYZTData, ::capnp::Kind::STRUCT>::Reader value); + inline ::capnp::List< ::cereal::XYZTData, ::capnp::Kind::STRUCT>::Builder initLaneLines(unsigned int size); + inline void adoptLaneLines(::capnp::Orphan< ::capnp::List< ::cereal::XYZTData, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::XYZTData, ::capnp::Kind::STRUCT>> disownLaneLines(); + + inline bool hasLaneLineProbs(); + inline ::capnp::List::Builder getLaneLineProbs(); + inline void setLaneLineProbs( ::capnp::List::Reader value); + inline void setLaneLineProbs(::kj::ArrayPtr value); + inline ::capnp::List::Builder initLaneLineProbs(unsigned int size); + inline void adoptLaneLineProbs(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownLaneLineProbs(); + + inline bool hasRoadEdges(); + inline ::capnp::List< ::cereal::XYZTData, ::capnp::Kind::STRUCT>::Builder getRoadEdges(); + inline void setRoadEdges( ::capnp::List< ::cereal::XYZTData, ::capnp::Kind::STRUCT>::Reader value); + inline ::capnp::List< ::cereal::XYZTData, ::capnp::Kind::STRUCT>::Builder initRoadEdges(unsigned int size); + inline void adoptRoadEdges(::capnp::Orphan< ::capnp::List< ::cereal::XYZTData, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::XYZTData, ::capnp::Kind::STRUCT>> disownRoadEdges(); + + inline bool hasLeads(); + inline ::capnp::List< ::cereal::ModelDataV2::LeadDataV2, ::capnp::Kind::STRUCT>::Builder getLeads(); + inline void setLeads( ::capnp::List< ::cereal::ModelDataV2::LeadDataV2, ::capnp::Kind::STRUCT>::Reader value); + inline ::capnp::List< ::cereal::ModelDataV2::LeadDataV2, ::capnp::Kind::STRUCT>::Builder initLeads(unsigned int size); + inline void adoptLeads(::capnp::Orphan< ::capnp::List< ::cereal::ModelDataV2::LeadDataV2, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::ModelDataV2::LeadDataV2, ::capnp::Kind::STRUCT>> disownLeads(); + + inline bool hasMeta(); + inline ::cereal::ModelDataV2::MetaData::Builder getMeta(); + inline void setMeta( ::cereal::ModelDataV2::MetaData::Reader value); + inline ::cereal::ModelDataV2::MetaData::Builder initMeta(); + inline void adoptMeta(::capnp::Orphan< ::cereal::ModelDataV2::MetaData>&& value); + inline ::capnp::Orphan< ::cereal::ModelDataV2::MetaData> disownMeta(); + + inline bool hasLaneLineStds(); + inline ::capnp::List::Builder getLaneLineStds(); + inline void setLaneLineStds( ::capnp::List::Reader value); + inline void setLaneLineStds(::kj::ArrayPtr value); + inline ::capnp::List::Builder initLaneLineStds(unsigned int size); + inline void adoptLaneLineStds(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownLaneLineStds(); + + inline bool hasRoadEdgeStds(); + inline ::capnp::List::Builder getRoadEdgeStds(); + inline void setRoadEdgeStds( ::capnp::List::Reader value); + inline void setRoadEdgeStds(::kj::ArrayPtr value); + inline ::capnp::List::Builder initRoadEdgeStds(unsigned int size); + inline void adoptRoadEdgeStds(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownRoadEdgeStds(); + + inline float getModelExecutionTime(); + inline void setModelExecutionTime(float value); + + inline bool hasRawPredictions(); + inline ::capnp::Data::Builder getRawPredictions(); + inline void setRawPredictions( ::capnp::Data::Reader value); + inline ::capnp::Data::Builder initRawPredictions(unsigned int size); + inline void adoptRawPredictions(::capnp::Orphan< ::capnp::Data>&& value); + inline ::capnp::Orphan< ::capnp::Data> disownRawPredictions(); + + inline float getGpuExecutionTime(); + inline void setGpuExecutionTime(float value); + + inline bool hasLeadsV3(); + inline ::capnp::List< ::cereal::ModelDataV2::LeadDataV3, ::capnp::Kind::STRUCT>::Builder getLeadsV3(); + inline void setLeadsV3( ::capnp::List< ::cereal::ModelDataV2::LeadDataV3, ::capnp::Kind::STRUCT>::Reader value); + inline ::capnp::List< ::cereal::ModelDataV2::LeadDataV3, ::capnp::Kind::STRUCT>::Builder initLeadsV3(unsigned int size); + inline void adoptLeadsV3(::capnp::Orphan< ::capnp::List< ::cereal::ModelDataV2::LeadDataV3, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::ModelDataV2::LeadDataV3, ::capnp::Kind::STRUCT>> disownLeadsV3(); + + inline bool hasAcceleration(); + inline ::cereal::XYZTData::Builder getAcceleration(); + inline void setAcceleration( ::cereal::XYZTData::Reader value); + inline ::cereal::XYZTData::Builder initAcceleration(); + inline void adoptAcceleration(::capnp::Orphan< ::cereal::XYZTData>&& value); + inline ::capnp::Orphan< ::cereal::XYZTData> disownAcceleration(); + + inline ::uint32_t getFrameIdExtra(); + inline void setFrameIdExtra( ::uint32_t value); + + inline bool hasTemporalPose(); + inline ::cereal::ModelDataV2::Pose::Builder getTemporalPose(); + inline void setTemporalPose( ::cereal::ModelDataV2::Pose::Reader value); + inline ::cereal::ModelDataV2::Pose::Builder initTemporalPose(); + inline void adoptTemporalPose(::capnp::Orphan< ::cereal::ModelDataV2::Pose>&& value); + inline ::capnp::Orphan< ::cereal::ModelDataV2::Pose> disownTemporalPose(); + + inline bool getNavEnabledDEPRECATED(); + inline void setNavEnabledDEPRECATED(bool value); + + inline ::cereal::ModelDataV2::ConfidenceClass getConfidence(); + inline void setConfidence( ::cereal::ModelDataV2::ConfidenceClass value); + + inline ::uint64_t getLocationMonoTimeDEPRECATED(); + inline void setLocationMonoTimeDEPRECATED( ::uint64_t value); + + inline bool hasLateralPlannerSolutionDEPRECATED(); + inline ::cereal::ModelDataV2::LateralPlannerSolution::Builder getLateralPlannerSolutionDEPRECATED(); + inline void setLateralPlannerSolutionDEPRECATED( ::cereal::ModelDataV2::LateralPlannerSolution::Reader value); + inline ::cereal::ModelDataV2::LateralPlannerSolution::Builder initLateralPlannerSolutionDEPRECATED(); + inline void adoptLateralPlannerSolutionDEPRECATED(::capnp::Orphan< ::cereal::ModelDataV2::LateralPlannerSolution>&& value); + inline ::capnp::Orphan< ::cereal::ModelDataV2::LateralPlannerSolution> disownLateralPlannerSolutionDEPRECATED(); + + inline bool hasAction(); + inline ::cereal::ModelDataV2::Action::Builder getAction(); + inline void setAction( ::cereal::ModelDataV2::Action::Reader value); + inline ::cereal::ModelDataV2::Action::Builder initAction(); + inline void adoptAction(::capnp::Orphan< ::cereal::ModelDataV2::Action>&& value); + inline ::capnp::Orphan< ::cereal::ModelDataV2::Action> disownAction(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class ModelDataV2::Pipeline { +public: + typedef ModelDataV2 Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + + inline ::cereal::XYZTData::Pipeline getPosition(); + inline ::cereal::XYZTData::Pipeline getOrientation(); + inline ::cereal::XYZTData::Pipeline getVelocity(); + inline ::cereal::XYZTData::Pipeline getOrientationRate(); + inline ::cereal::ModelDataV2::MetaData::Pipeline getMeta(); + inline ::cereal::XYZTData::Pipeline getAcceleration(); + inline ::cereal::ModelDataV2::Pose::Pipeline getTemporalPose(); + inline ::cereal::ModelDataV2::LateralPlannerSolution::Pipeline getLateralPlannerSolutionDEPRECATED(); + inline ::cereal::ModelDataV2::Action::Pipeline getAction(); +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class ModelDataV2::LeadDataV2::Reader { +public: + typedef LeadDataV2 Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline float getProb() const; + + inline float getT() const; + + inline bool hasXyva() const; + inline ::capnp::List::Reader getXyva() const; + + inline bool hasXyvaStd() const; + inline ::capnp::List::Reader getXyvaStd() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class ModelDataV2::LeadDataV2::Builder { +public: + typedef LeadDataV2 Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline float getProb(); + inline void setProb(float value); + + inline float getT(); + inline void setT(float value); + + inline bool hasXyva(); + inline ::capnp::List::Builder getXyva(); + inline void setXyva( ::capnp::List::Reader value); + inline void setXyva(::kj::ArrayPtr value); + inline ::capnp::List::Builder initXyva(unsigned int size); + inline void adoptXyva(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownXyva(); + + inline bool hasXyvaStd(); + inline ::capnp::List::Builder getXyvaStd(); + inline void setXyvaStd( ::capnp::List::Reader value); + inline void setXyvaStd(::kj::ArrayPtr value); + inline ::capnp::List::Builder initXyvaStd(unsigned int size); + inline void adoptXyvaStd(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownXyvaStd(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class ModelDataV2::LeadDataV2::Pipeline { +public: + typedef LeadDataV2 Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class ModelDataV2::LeadDataV3::Reader { +public: + typedef LeadDataV3 Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline float getProb() const; + + inline float getProbTime() const; + + inline bool hasT() const; + inline ::capnp::List::Reader getT() const; + + inline bool hasX() const; + inline ::capnp::List::Reader getX() const; + + inline bool hasXStd() const; + inline ::capnp::List::Reader getXStd() const; + + inline bool hasY() const; + inline ::capnp::List::Reader getY() const; + + inline bool hasYStd() const; + inline ::capnp::List::Reader getYStd() const; + + inline bool hasV() const; + inline ::capnp::List::Reader getV() const; + + inline bool hasVStd() const; + inline ::capnp::List::Reader getVStd() const; + + inline bool hasA() const; + inline ::capnp::List::Reader getA() const; + + inline bool hasAStd() const; + inline ::capnp::List::Reader getAStd() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class ModelDataV2::LeadDataV3::Builder { +public: + typedef LeadDataV3 Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline float getProb(); + inline void setProb(float value); + + inline float getProbTime(); + inline void setProbTime(float value); + + inline bool hasT(); + inline ::capnp::List::Builder getT(); + inline void setT( ::capnp::List::Reader value); + inline void setT(::kj::ArrayPtr value); + inline ::capnp::List::Builder initT(unsigned int size); + inline void adoptT(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownT(); + + inline bool hasX(); + inline ::capnp::List::Builder getX(); + inline void setX( ::capnp::List::Reader value); + inline void setX(::kj::ArrayPtr value); + inline ::capnp::List::Builder initX(unsigned int size); + inline void adoptX(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownX(); + + inline bool hasXStd(); + inline ::capnp::List::Builder getXStd(); + inline void setXStd( ::capnp::List::Reader value); + inline void setXStd(::kj::ArrayPtr value); + inline ::capnp::List::Builder initXStd(unsigned int size); + inline void adoptXStd(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownXStd(); + + inline bool hasY(); + inline ::capnp::List::Builder getY(); + inline void setY( ::capnp::List::Reader value); + inline void setY(::kj::ArrayPtr value); + inline ::capnp::List::Builder initY(unsigned int size); + inline void adoptY(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownY(); + + inline bool hasYStd(); + inline ::capnp::List::Builder getYStd(); + inline void setYStd( ::capnp::List::Reader value); + inline void setYStd(::kj::ArrayPtr value); + inline ::capnp::List::Builder initYStd(unsigned int size); + inline void adoptYStd(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownYStd(); + + inline bool hasV(); + inline ::capnp::List::Builder getV(); + inline void setV( ::capnp::List::Reader value); + inline void setV(::kj::ArrayPtr value); + inline ::capnp::List::Builder initV(unsigned int size); + inline void adoptV(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownV(); + + inline bool hasVStd(); + inline ::capnp::List::Builder getVStd(); + inline void setVStd( ::capnp::List::Reader value); + inline void setVStd(::kj::ArrayPtr value); + inline ::capnp::List::Builder initVStd(unsigned int size); + inline void adoptVStd(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownVStd(); + + inline bool hasA(); + inline ::capnp::List::Builder getA(); + inline void setA( ::capnp::List::Reader value); + inline void setA(::kj::ArrayPtr value); + inline ::capnp::List::Builder initA(unsigned int size); + inline void adoptA(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownA(); + + inline bool hasAStd(); + inline ::capnp::List::Builder getAStd(); + inline void setAStd( ::capnp::List::Reader value); + inline void setAStd(::kj::ArrayPtr value); + inline ::capnp::List::Builder initAStd(unsigned int size); + inline void adoptAStd(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownAStd(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class ModelDataV2::LeadDataV3::Pipeline { +public: + typedef LeadDataV3 Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class ModelDataV2::MetaData::Reader { +public: + typedef MetaData Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline float getEngagedProb() const; + + inline bool hasDesirePrediction() const; + inline ::capnp::List::Reader getDesirePrediction() const; + + inline float getBrakeDisengageProbDEPRECATED() const; + + inline float getGasDisengageProbDEPRECATED() const; + + inline float getSteerOverrideProbDEPRECATED() const; + + inline bool hasDesireState() const; + inline ::capnp::List::Reader getDesireState() const; + + inline bool hasDisengagePredictions() const; + inline ::cereal::ModelDataV2::DisengagePredictions::Reader getDisengagePredictions() const; + + inline bool getHardBrakePredicted() const; + + inline ::cereal::LaneChangeState getLaneChangeState() const; + + inline ::cereal::LaneChangeDirection getLaneChangeDirection() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class ModelDataV2::MetaData::Builder { +public: + typedef MetaData Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline float getEngagedProb(); + inline void setEngagedProb(float value); + + inline bool hasDesirePrediction(); + inline ::capnp::List::Builder getDesirePrediction(); + inline void setDesirePrediction( ::capnp::List::Reader value); + inline void setDesirePrediction(::kj::ArrayPtr value); + inline ::capnp::List::Builder initDesirePrediction(unsigned int size); + inline void adoptDesirePrediction(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownDesirePrediction(); + + inline float getBrakeDisengageProbDEPRECATED(); + inline void setBrakeDisengageProbDEPRECATED(float value); + + inline float getGasDisengageProbDEPRECATED(); + inline void setGasDisengageProbDEPRECATED(float value); + + inline float getSteerOverrideProbDEPRECATED(); + inline void setSteerOverrideProbDEPRECATED(float value); + + inline bool hasDesireState(); + inline ::capnp::List::Builder getDesireState(); + inline void setDesireState( ::capnp::List::Reader value); + inline void setDesireState(::kj::ArrayPtr value); + inline ::capnp::List::Builder initDesireState(unsigned int size); + inline void adoptDesireState(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownDesireState(); + + inline bool hasDisengagePredictions(); + inline ::cereal::ModelDataV2::DisengagePredictions::Builder getDisengagePredictions(); + inline void setDisengagePredictions( ::cereal::ModelDataV2::DisengagePredictions::Reader value); + inline ::cereal::ModelDataV2::DisengagePredictions::Builder initDisengagePredictions(); + inline void adoptDisengagePredictions(::capnp::Orphan< ::cereal::ModelDataV2::DisengagePredictions>&& value); + inline ::capnp::Orphan< ::cereal::ModelDataV2::DisengagePredictions> disownDisengagePredictions(); + + inline bool getHardBrakePredicted(); + inline void setHardBrakePredicted(bool value); + + inline ::cereal::LaneChangeState getLaneChangeState(); + inline void setLaneChangeState( ::cereal::LaneChangeState value); + + inline ::cereal::LaneChangeDirection getLaneChangeDirection(); + inline void setLaneChangeDirection( ::cereal::LaneChangeDirection value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class ModelDataV2::MetaData::Pipeline { +public: + typedef MetaData Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + + inline ::cereal::ModelDataV2::DisengagePredictions::Pipeline getDisengagePredictions(); +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class ModelDataV2::DisengagePredictions::Reader { +public: + typedef DisengagePredictions Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasT() const; + inline ::capnp::List::Reader getT() const; + + inline bool hasBrakeDisengageProbs() const; + inline ::capnp::List::Reader getBrakeDisengageProbs() const; + + inline bool hasGasDisengageProbs() const; + inline ::capnp::List::Reader getGasDisengageProbs() const; + + inline bool hasSteerOverrideProbs() const; + inline ::capnp::List::Reader getSteerOverrideProbs() const; + + inline bool hasBrake3MetersPerSecondSquaredProbs() const; + inline ::capnp::List::Reader getBrake3MetersPerSecondSquaredProbs() const; + + inline bool hasBrake4MetersPerSecondSquaredProbs() const; + inline ::capnp::List::Reader getBrake4MetersPerSecondSquaredProbs() const; + + inline bool hasBrake5MetersPerSecondSquaredProbs() const; + inline ::capnp::List::Reader getBrake5MetersPerSecondSquaredProbs() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class ModelDataV2::DisengagePredictions::Builder { +public: + typedef DisengagePredictions Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasT(); + inline ::capnp::List::Builder getT(); + inline void setT( ::capnp::List::Reader value); + inline void setT(::kj::ArrayPtr value); + inline ::capnp::List::Builder initT(unsigned int size); + inline void adoptT(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownT(); + + inline bool hasBrakeDisengageProbs(); + inline ::capnp::List::Builder getBrakeDisengageProbs(); + inline void setBrakeDisengageProbs( ::capnp::List::Reader value); + inline void setBrakeDisengageProbs(::kj::ArrayPtr value); + inline ::capnp::List::Builder initBrakeDisengageProbs(unsigned int size); + inline void adoptBrakeDisengageProbs(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownBrakeDisengageProbs(); + + inline bool hasGasDisengageProbs(); + inline ::capnp::List::Builder getGasDisengageProbs(); + inline void setGasDisengageProbs( ::capnp::List::Reader value); + inline void setGasDisengageProbs(::kj::ArrayPtr value); + inline ::capnp::List::Builder initGasDisengageProbs(unsigned int size); + inline void adoptGasDisengageProbs(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownGasDisengageProbs(); + + inline bool hasSteerOverrideProbs(); + inline ::capnp::List::Builder getSteerOverrideProbs(); + inline void setSteerOverrideProbs( ::capnp::List::Reader value); + inline void setSteerOverrideProbs(::kj::ArrayPtr value); + inline ::capnp::List::Builder initSteerOverrideProbs(unsigned int size); + inline void adoptSteerOverrideProbs(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownSteerOverrideProbs(); + + inline bool hasBrake3MetersPerSecondSquaredProbs(); + inline ::capnp::List::Builder getBrake3MetersPerSecondSquaredProbs(); + inline void setBrake3MetersPerSecondSquaredProbs( ::capnp::List::Reader value); + inline void setBrake3MetersPerSecondSquaredProbs(::kj::ArrayPtr value); + inline ::capnp::List::Builder initBrake3MetersPerSecondSquaredProbs(unsigned int size); + inline void adoptBrake3MetersPerSecondSquaredProbs(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownBrake3MetersPerSecondSquaredProbs(); + + inline bool hasBrake4MetersPerSecondSquaredProbs(); + inline ::capnp::List::Builder getBrake4MetersPerSecondSquaredProbs(); + inline void setBrake4MetersPerSecondSquaredProbs( ::capnp::List::Reader value); + inline void setBrake4MetersPerSecondSquaredProbs(::kj::ArrayPtr value); + inline ::capnp::List::Builder initBrake4MetersPerSecondSquaredProbs(unsigned int size); + inline void adoptBrake4MetersPerSecondSquaredProbs(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownBrake4MetersPerSecondSquaredProbs(); + + inline bool hasBrake5MetersPerSecondSquaredProbs(); + inline ::capnp::List::Builder getBrake5MetersPerSecondSquaredProbs(); + inline void setBrake5MetersPerSecondSquaredProbs( ::capnp::List::Reader value); + inline void setBrake5MetersPerSecondSquaredProbs(::kj::ArrayPtr value); + inline ::capnp::List::Builder initBrake5MetersPerSecondSquaredProbs(unsigned int size); + inline void adoptBrake5MetersPerSecondSquaredProbs(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownBrake5MetersPerSecondSquaredProbs(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class ModelDataV2::DisengagePredictions::Pipeline { +public: + typedef DisengagePredictions Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class ModelDataV2::Pose::Reader { +public: + typedef Pose Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasTrans() const; + inline ::capnp::List::Reader getTrans() const; + + inline bool hasRot() const; + inline ::capnp::List::Reader getRot() const; + + inline bool hasTransStd() const; + inline ::capnp::List::Reader getTransStd() const; + + inline bool hasRotStd() const; + inline ::capnp::List::Reader getRotStd() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class ModelDataV2::Pose::Builder { +public: + typedef Pose Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasTrans(); + inline ::capnp::List::Builder getTrans(); + inline void setTrans( ::capnp::List::Reader value); + inline void setTrans(::kj::ArrayPtr value); + inline ::capnp::List::Builder initTrans(unsigned int size); + inline void adoptTrans(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownTrans(); + + inline bool hasRot(); + inline ::capnp::List::Builder getRot(); + inline void setRot( ::capnp::List::Reader value); + inline void setRot(::kj::ArrayPtr value); + inline ::capnp::List::Builder initRot(unsigned int size); + inline void adoptRot(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownRot(); + + inline bool hasTransStd(); + inline ::capnp::List::Builder getTransStd(); + inline void setTransStd( ::capnp::List::Reader value); + inline void setTransStd(::kj::ArrayPtr value); + inline ::capnp::List::Builder initTransStd(unsigned int size); + inline void adoptTransStd(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownTransStd(); + + inline bool hasRotStd(); + inline ::capnp::List::Builder getRotStd(); + inline void setRotStd( ::capnp::List::Reader value); + inline void setRotStd(::kj::ArrayPtr value); + inline ::capnp::List::Builder initRotStd(unsigned int size); + inline void adoptRotStd(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownRotStd(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class ModelDataV2::Pose::Pipeline { +public: + typedef Pose Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class ModelDataV2::LateralPlannerSolution::Reader { +public: + typedef LateralPlannerSolution Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasX() const; + inline ::capnp::List::Reader getX() const; + + inline bool hasY() const; + inline ::capnp::List::Reader getY() const; + + inline bool hasYaw() const; + inline ::capnp::List::Reader getYaw() const; + + inline bool hasYawRate() const; + inline ::capnp::List::Reader getYawRate() const; + + inline bool hasXStd() const; + inline ::capnp::List::Reader getXStd() const; + + inline bool hasYStd() const; + inline ::capnp::List::Reader getYStd() const; + + inline bool hasYawStd() const; + inline ::capnp::List::Reader getYawStd() const; + + inline bool hasYawRateStd() const; + inline ::capnp::List::Reader getYawRateStd() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class ModelDataV2::LateralPlannerSolution::Builder { +public: + typedef LateralPlannerSolution Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasX(); + inline ::capnp::List::Builder getX(); + inline void setX( ::capnp::List::Reader value); + inline void setX(::kj::ArrayPtr value); + inline ::capnp::List::Builder initX(unsigned int size); + inline void adoptX(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownX(); + + inline bool hasY(); + inline ::capnp::List::Builder getY(); + inline void setY( ::capnp::List::Reader value); + inline void setY(::kj::ArrayPtr value); + inline ::capnp::List::Builder initY(unsigned int size); + inline void adoptY(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownY(); + + inline bool hasYaw(); + inline ::capnp::List::Builder getYaw(); + inline void setYaw( ::capnp::List::Reader value); + inline void setYaw(::kj::ArrayPtr value); + inline ::capnp::List::Builder initYaw(unsigned int size); + inline void adoptYaw(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownYaw(); + + inline bool hasYawRate(); + inline ::capnp::List::Builder getYawRate(); + inline void setYawRate( ::capnp::List::Reader value); + inline void setYawRate(::kj::ArrayPtr value); + inline ::capnp::List::Builder initYawRate(unsigned int size); + inline void adoptYawRate(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownYawRate(); + + inline bool hasXStd(); + inline ::capnp::List::Builder getXStd(); + inline void setXStd( ::capnp::List::Reader value); + inline void setXStd(::kj::ArrayPtr value); + inline ::capnp::List::Builder initXStd(unsigned int size); + inline void adoptXStd(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownXStd(); + + inline bool hasYStd(); + inline ::capnp::List::Builder getYStd(); + inline void setYStd( ::capnp::List::Reader value); + inline void setYStd(::kj::ArrayPtr value); + inline ::capnp::List::Builder initYStd(unsigned int size); + inline void adoptYStd(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownYStd(); + + inline bool hasYawStd(); + inline ::capnp::List::Builder getYawStd(); + inline void setYawStd( ::capnp::List::Reader value); + inline void setYawStd(::kj::ArrayPtr value); + inline ::capnp::List::Builder initYawStd(unsigned int size); + inline void adoptYawStd(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownYawStd(); + + inline bool hasYawRateStd(); + inline ::capnp::List::Builder getYawRateStd(); + inline void setYawRateStd( ::capnp::List::Reader value); + inline void setYawRateStd(::kj::ArrayPtr value); + inline ::capnp::List::Builder initYawRateStd(unsigned int size); + inline void adoptYawRateStd(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownYawRateStd(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class ModelDataV2::LateralPlannerSolution::Pipeline { +public: + typedef LateralPlannerSolution Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class ModelDataV2::Action::Reader { +public: + typedef Action Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline float getDesiredCurvature() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class ModelDataV2::Action::Builder { +public: + typedef Action Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline float getDesiredCurvature(); + inline void setDesiredCurvature(float value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class ModelDataV2::Action::Pipeline { +public: + typedef Action Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class EncodeIndex::Reader { +public: + typedef EncodeIndex Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::uint32_t getFrameId() const; + + inline ::cereal::EncodeIndex::Type getType() const; + + inline ::uint32_t getEncodeId() const; + + inline ::int32_t getSegmentNum() const; + + inline ::uint32_t getSegmentId() const; + + inline ::uint32_t getSegmentIdEncode() const; + + inline ::uint64_t getTimestampSof() const; + + inline ::uint64_t getTimestampEof() const; + + inline ::uint32_t getFlags() const; + + inline ::uint32_t getLen() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class EncodeIndex::Builder { +public: + typedef EncodeIndex Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::uint32_t getFrameId(); + inline void setFrameId( ::uint32_t value); + + inline ::cereal::EncodeIndex::Type getType(); + inline void setType( ::cereal::EncodeIndex::Type value); + + inline ::uint32_t getEncodeId(); + inline void setEncodeId( ::uint32_t value); + + inline ::int32_t getSegmentNum(); + inline void setSegmentNum( ::int32_t value); + + inline ::uint32_t getSegmentId(); + inline void setSegmentId( ::uint32_t value); + + inline ::uint32_t getSegmentIdEncode(); + inline void setSegmentIdEncode( ::uint32_t value); + + inline ::uint64_t getTimestampSof(); + inline void setTimestampSof( ::uint64_t value); + + inline ::uint64_t getTimestampEof(); + inline void setTimestampEof( ::uint64_t value); + + inline ::uint32_t getFlags(); + inline void setFlags( ::uint32_t value); + + inline ::uint32_t getLen(); + inline void setLen( ::uint32_t value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class EncodeIndex::Pipeline { +public: + typedef EncodeIndex Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class AndroidLogEntry::Reader { +public: + typedef AndroidLogEntry Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::uint8_t getId() const; + + inline ::uint64_t getTs() const; + + inline ::uint8_t getPriority() const; + + inline ::int32_t getPid() const; + + inline ::int32_t getTid() const; + + inline bool hasTag() const; + inline ::capnp::Text::Reader getTag() const; + + inline bool hasMessage() const; + inline ::capnp::Text::Reader getMessage() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class AndroidLogEntry::Builder { +public: + typedef AndroidLogEntry Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::uint8_t getId(); + inline void setId( ::uint8_t value); + + inline ::uint64_t getTs(); + inline void setTs( ::uint64_t value); + + inline ::uint8_t getPriority(); + inline void setPriority( ::uint8_t value); + + inline ::int32_t getPid(); + inline void setPid( ::int32_t value); + + inline ::int32_t getTid(); + inline void setTid( ::int32_t value); + + inline bool hasTag(); + inline ::capnp::Text::Builder getTag(); + inline void setTag( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initTag(unsigned int size); + inline void adoptTag(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownTag(); + + inline bool hasMessage(); + inline ::capnp::Text::Builder getMessage(); + inline void setMessage( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initMessage(unsigned int size); + inline void adoptMessage(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownMessage(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class AndroidLogEntry::Pipeline { +public: + typedef AndroidLogEntry Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class LongitudinalPlan::Reader { +public: + typedef LongitudinalPlan Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool getLateralValidDEPRECATED() const; + + inline bool hasDPolyDEPRECATED() const; + inline ::capnp::List::Reader getDPolyDEPRECATED() const; + + inline bool getLongitudinalValidDEPRECATED() const; + + inline float getVTargetDEPRECATED() const; + + inline float getATargetMinDEPRECATED() const; + + inline float getATargetMaxDEPRECATED() const; + + inline float getJerkFactorDEPRECATED() const; + + inline bool getHasLead() const; + + inline bool getFcw() const; + + inline ::uint64_t getModelMonoTime() const; + + inline ::uint64_t getRadarStateMonoTimeDEPRECATED() const; + + inline float getLaneWidthDEPRECATED() const; + + inline bool hasGpsTrajectoryDEPRECATED() const; + inline ::cereal::LongitudinalPlan::GpsTrajectory::Reader getGpsTrajectoryDEPRECATED() const; + + inline bool hasEventsDEPRECATED() const; + inline ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>::Reader getEventsDEPRECATED() const; + + inline float getVTargetFutureDEPRECATED() const; + + inline ::cereal::LongitudinalPlan::LongitudinalPlanSource getLongitudinalPlanSource() const; + + inline float getVCruiseDEPRECATED() const; + + inline float getACruiseDEPRECATED() const; + + inline float getATarget() const; + + inline bool getGpsPlannerActiveDEPRECATED() const; + + inline float getVMaxDEPRECATED() const; + + inline float getVCurvatureDEPRECATED() const; + + inline bool getDecelForTurnDEPRECATED() const; + + inline bool getHasLeftLaneDEPRECATED() const; + + inline bool getHasRightLaneDEPRECATED() const; + + inline bool getMapValidDEPRECATED() const; + + inline float getVStartDEPRECATED() const; + + inline float getAStartDEPRECATED() const; + + inline bool getRadarValidDEPRECATED() const; + + inline float getProcessingDelay() const; + + inline bool getRadarCanErrorDEPRECATED() const; + + inline bool getCommIssueDEPRECATED() const; + + inline bool hasAccels() const; + inline ::capnp::List::Reader getAccels() const; + + inline bool hasSpeeds() const; + inline ::capnp::List::Reader getSpeeds() const; + + inline bool hasJerks() const; + inline ::capnp::List::Reader getJerks() const; + + inline float getSolverExecutionTime() const; + + inline ::cereal::LongitudinalPersonality getPersonalityDEPRECATED() const; + + inline bool getShouldStop() const; + + inline bool getAllowThrottle() const; + + inline bool getAllowBrake() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class LongitudinalPlan::Builder { +public: + typedef LongitudinalPlan Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool getLateralValidDEPRECATED(); + inline void setLateralValidDEPRECATED(bool value); + + inline bool hasDPolyDEPRECATED(); + inline ::capnp::List::Builder getDPolyDEPRECATED(); + inline void setDPolyDEPRECATED( ::capnp::List::Reader value); + inline void setDPolyDEPRECATED(::kj::ArrayPtr value); + inline ::capnp::List::Builder initDPolyDEPRECATED(unsigned int size); + inline void adoptDPolyDEPRECATED(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownDPolyDEPRECATED(); + + inline bool getLongitudinalValidDEPRECATED(); + inline void setLongitudinalValidDEPRECATED(bool value); + + inline float getVTargetDEPRECATED(); + inline void setVTargetDEPRECATED(float value); + + inline float getATargetMinDEPRECATED(); + inline void setATargetMinDEPRECATED(float value); + + inline float getATargetMaxDEPRECATED(); + inline void setATargetMaxDEPRECATED(float value); + + inline float getJerkFactorDEPRECATED(); + inline void setJerkFactorDEPRECATED(float value); + + inline bool getHasLead(); + inline void setHasLead(bool value); + + inline bool getFcw(); + inline void setFcw(bool value); + + inline ::uint64_t getModelMonoTime(); + inline void setModelMonoTime( ::uint64_t value); + + inline ::uint64_t getRadarStateMonoTimeDEPRECATED(); + inline void setRadarStateMonoTimeDEPRECATED( ::uint64_t value); + + inline float getLaneWidthDEPRECATED(); + inline void setLaneWidthDEPRECATED(float value); + + inline bool hasGpsTrajectoryDEPRECATED(); + inline ::cereal::LongitudinalPlan::GpsTrajectory::Builder getGpsTrajectoryDEPRECATED(); + inline void setGpsTrajectoryDEPRECATED( ::cereal::LongitudinalPlan::GpsTrajectory::Reader value); + inline ::cereal::LongitudinalPlan::GpsTrajectory::Builder initGpsTrajectoryDEPRECATED(); + inline void adoptGpsTrajectoryDEPRECATED(::capnp::Orphan< ::cereal::LongitudinalPlan::GpsTrajectory>&& value); + inline ::capnp::Orphan< ::cereal::LongitudinalPlan::GpsTrajectory> disownGpsTrajectoryDEPRECATED(); + + inline bool hasEventsDEPRECATED(); + inline ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>::Builder getEventsDEPRECATED(); + inline void setEventsDEPRECATED( ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>::Reader value); + inline ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>::Builder initEventsDEPRECATED(unsigned int size); + inline void adoptEventsDEPRECATED(::capnp::Orphan< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>> disownEventsDEPRECATED(); + + inline float getVTargetFutureDEPRECATED(); + inline void setVTargetFutureDEPRECATED(float value); + + inline ::cereal::LongitudinalPlan::LongitudinalPlanSource getLongitudinalPlanSource(); + inline void setLongitudinalPlanSource( ::cereal::LongitudinalPlan::LongitudinalPlanSource value); + + inline float getVCruiseDEPRECATED(); + inline void setVCruiseDEPRECATED(float value); + + inline float getACruiseDEPRECATED(); + inline void setACruiseDEPRECATED(float value); + + inline float getATarget(); + inline void setATarget(float value); + + inline bool getGpsPlannerActiveDEPRECATED(); + inline void setGpsPlannerActiveDEPRECATED(bool value); + + inline float getVMaxDEPRECATED(); + inline void setVMaxDEPRECATED(float value); + + inline float getVCurvatureDEPRECATED(); + inline void setVCurvatureDEPRECATED(float value); + + inline bool getDecelForTurnDEPRECATED(); + inline void setDecelForTurnDEPRECATED(bool value); + + inline bool getHasLeftLaneDEPRECATED(); + inline void setHasLeftLaneDEPRECATED(bool value); + + inline bool getHasRightLaneDEPRECATED(); + inline void setHasRightLaneDEPRECATED(bool value); + + inline bool getMapValidDEPRECATED(); + inline void setMapValidDEPRECATED(bool value); + + inline float getVStartDEPRECATED(); + inline void setVStartDEPRECATED(float value); + + inline float getAStartDEPRECATED(); + inline void setAStartDEPRECATED(float value); + + inline bool getRadarValidDEPRECATED(); + inline void setRadarValidDEPRECATED(bool value); + + inline float getProcessingDelay(); + inline void setProcessingDelay(float value); + + inline bool getRadarCanErrorDEPRECATED(); + inline void setRadarCanErrorDEPRECATED(bool value); + + inline bool getCommIssueDEPRECATED(); + inline void setCommIssueDEPRECATED(bool value); + + inline bool hasAccels(); + inline ::capnp::List::Builder getAccels(); + inline void setAccels( ::capnp::List::Reader value); + inline void setAccels(::kj::ArrayPtr value); + inline ::capnp::List::Builder initAccels(unsigned int size); + inline void adoptAccels(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownAccels(); + + inline bool hasSpeeds(); + inline ::capnp::List::Builder getSpeeds(); + inline void setSpeeds( ::capnp::List::Reader value); + inline void setSpeeds(::kj::ArrayPtr value); + inline ::capnp::List::Builder initSpeeds(unsigned int size); + inline void adoptSpeeds(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownSpeeds(); + + inline bool hasJerks(); + inline ::capnp::List::Builder getJerks(); + inline void setJerks( ::capnp::List::Reader value); + inline void setJerks(::kj::ArrayPtr value); + inline ::capnp::List::Builder initJerks(unsigned int size); + inline void adoptJerks(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownJerks(); + + inline float getSolverExecutionTime(); + inline void setSolverExecutionTime(float value); + + inline ::cereal::LongitudinalPersonality getPersonalityDEPRECATED(); + inline void setPersonalityDEPRECATED( ::cereal::LongitudinalPersonality value); + + inline bool getShouldStop(); + inline void setShouldStop(bool value); + + inline bool getAllowThrottle(); + inline void setAllowThrottle(bool value); + + inline bool getAllowBrake(); + inline void setAllowBrake(bool value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class LongitudinalPlan::Pipeline { +public: + typedef LongitudinalPlan Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + + inline ::cereal::LongitudinalPlan::GpsTrajectory::Pipeline getGpsTrajectoryDEPRECATED(); +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class LongitudinalPlan::GpsTrajectory::Reader { +public: + typedef GpsTrajectory Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasX() const; + inline ::capnp::List::Reader getX() const; + + inline bool hasY() const; + inline ::capnp::List::Reader getY() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class LongitudinalPlan::GpsTrajectory::Builder { +public: + typedef GpsTrajectory Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasX(); + inline ::capnp::List::Builder getX(); + inline void setX( ::capnp::List::Reader value); + inline void setX(::kj::ArrayPtr value); + inline ::capnp::List::Builder initX(unsigned int size); + inline void adoptX(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownX(); + + inline bool hasY(); + inline ::capnp::List::Builder getY(); + inline void setY( ::capnp::List::Reader value); + inline void setY(::kj::ArrayPtr value); + inline ::capnp::List::Builder initY(unsigned int size); + inline void adoptY(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownY(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class LongitudinalPlan::GpsTrajectory::Pipeline { +public: + typedef GpsTrajectory Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class UiPlan::Reader { +public: + typedef UiPlan Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasPosition() const; + inline ::cereal::XYZTData::Reader getPosition() const; + + inline bool hasAccel() const; + inline ::capnp::List::Reader getAccel() const; + + inline ::uint32_t getFrameId() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class UiPlan::Builder { +public: + typedef UiPlan Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasPosition(); + inline ::cereal::XYZTData::Builder getPosition(); + inline void setPosition( ::cereal::XYZTData::Reader value); + inline ::cereal::XYZTData::Builder initPosition(); + inline void adoptPosition(::capnp::Orphan< ::cereal::XYZTData>&& value); + inline ::capnp::Orphan< ::cereal::XYZTData> disownPosition(); + + inline bool hasAccel(); + inline ::capnp::List::Builder getAccel(); + inline void setAccel( ::capnp::List::Reader value); + inline void setAccel(::kj::ArrayPtr value); + inline ::capnp::List::Builder initAccel(unsigned int size); + inline void adoptAccel(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownAccel(); + + inline ::uint32_t getFrameId(); + inline void setFrameId( ::uint32_t value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class UiPlan::Pipeline { +public: + typedef UiPlan Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + + inline ::cereal::XYZTData::Pipeline getPosition(); +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class LateralPlan::Reader { +public: + typedef LateralPlan Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline float getLaneWidthDEPRECATED() const; + + inline bool hasDPolyDEPRECATED() const; + inline ::capnp::List::Reader getDPolyDEPRECATED() const; + + inline bool hasCPolyDEPRECATED() const; + inline ::capnp::List::Reader getCPolyDEPRECATED() const; + + inline float getCProbDEPRECATED() const; + + inline bool hasLPolyDEPRECATED() const; + inline ::capnp::List::Reader getLPolyDEPRECATED() const; + + inline float getLProbDEPRECATED() const; + + inline bool hasRPolyDEPRECATED() const; + inline ::capnp::List::Reader getRPolyDEPRECATED() const; + + inline float getRProbDEPRECATED() const; + + inline float getSteeringAngleDegDEPRECATED() const; + + inline bool getMpcSolutionValid() const; + + inline bool getParamsValidDEPRECATED() const; + + inline float getAngleOffsetDegDEPRECATED() const; + + inline bool getModelValidDEPRECATED() const; + + inline float getSteeringRateDegDEPRECATED() const; + + inline bool getSensorValidDEPRECATED() const; + + inline bool getCommIssueDEPRECATED() const; + + inline bool getPosenetValidDEPRECATED() const; + + inline ::cereal::Desire getDesire() const; + + inline ::cereal::LaneChangeState getLaneChangeState() const; + + inline ::cereal::LaneChangeDirection getLaneChangeDirection() const; + + inline bool hasDPathPoints() const; + inline ::capnp::List::Reader getDPathPoints() const; + + inline float getDProbDEPRECATED() const; + + inline float getCurvatureDEPRECATED() const; + + inline float getCurvatureRateDEPRECATED() const; + + inline float getRawCurvatureDEPRECATED() const; + + inline float getRawCurvatureRateDEPRECATED() const; + + inline bool hasPsis() const; + inline ::capnp::List::Reader getPsis() const; + + inline bool hasCurvatures() const; + inline ::capnp::List::Reader getCurvatures() const; + + inline bool hasCurvatureRates() const; + inline ::capnp::List::Reader getCurvatureRates() const; + + inline bool getUseLaneLines() const; + + inline float getSolverExecutionTime() const; + + inline ::uint64_t getModelMonoTime() const; + + inline float getSolverCost() const; + + inline bool hasSolverState() const; + inline ::cereal::LateralPlan::SolverState::Reader getSolverState() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class LateralPlan::Builder { +public: + typedef LateralPlan Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline float getLaneWidthDEPRECATED(); + inline void setLaneWidthDEPRECATED(float value); + + inline bool hasDPolyDEPRECATED(); + inline ::capnp::List::Builder getDPolyDEPRECATED(); + inline void setDPolyDEPRECATED( ::capnp::List::Reader value); + inline void setDPolyDEPRECATED(::kj::ArrayPtr value); + inline ::capnp::List::Builder initDPolyDEPRECATED(unsigned int size); + inline void adoptDPolyDEPRECATED(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownDPolyDEPRECATED(); + + inline bool hasCPolyDEPRECATED(); + inline ::capnp::List::Builder getCPolyDEPRECATED(); + inline void setCPolyDEPRECATED( ::capnp::List::Reader value); + inline void setCPolyDEPRECATED(::kj::ArrayPtr value); + inline ::capnp::List::Builder initCPolyDEPRECATED(unsigned int size); + inline void adoptCPolyDEPRECATED(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownCPolyDEPRECATED(); + + inline float getCProbDEPRECATED(); + inline void setCProbDEPRECATED(float value); + + inline bool hasLPolyDEPRECATED(); + inline ::capnp::List::Builder getLPolyDEPRECATED(); + inline void setLPolyDEPRECATED( ::capnp::List::Reader value); + inline void setLPolyDEPRECATED(::kj::ArrayPtr value); + inline ::capnp::List::Builder initLPolyDEPRECATED(unsigned int size); + inline void adoptLPolyDEPRECATED(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownLPolyDEPRECATED(); + + inline float getLProbDEPRECATED(); + inline void setLProbDEPRECATED(float value); + + inline bool hasRPolyDEPRECATED(); + inline ::capnp::List::Builder getRPolyDEPRECATED(); + inline void setRPolyDEPRECATED( ::capnp::List::Reader value); + inline void setRPolyDEPRECATED(::kj::ArrayPtr value); + inline ::capnp::List::Builder initRPolyDEPRECATED(unsigned int size); + inline void adoptRPolyDEPRECATED(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownRPolyDEPRECATED(); + + inline float getRProbDEPRECATED(); + inline void setRProbDEPRECATED(float value); + + inline float getSteeringAngleDegDEPRECATED(); + inline void setSteeringAngleDegDEPRECATED(float value); + + inline bool getMpcSolutionValid(); + inline void setMpcSolutionValid(bool value); + + inline bool getParamsValidDEPRECATED(); + inline void setParamsValidDEPRECATED(bool value); + + inline float getAngleOffsetDegDEPRECATED(); + inline void setAngleOffsetDegDEPRECATED(float value); + + inline bool getModelValidDEPRECATED(); + inline void setModelValidDEPRECATED(bool value); + + inline float getSteeringRateDegDEPRECATED(); + inline void setSteeringRateDegDEPRECATED(float value); + + inline bool getSensorValidDEPRECATED(); + inline void setSensorValidDEPRECATED(bool value); + + inline bool getCommIssueDEPRECATED(); + inline void setCommIssueDEPRECATED(bool value); + + inline bool getPosenetValidDEPRECATED(); + inline void setPosenetValidDEPRECATED(bool value); + + inline ::cereal::Desire getDesire(); + inline void setDesire( ::cereal::Desire value); + + inline ::cereal::LaneChangeState getLaneChangeState(); + inline void setLaneChangeState( ::cereal::LaneChangeState value); + + inline ::cereal::LaneChangeDirection getLaneChangeDirection(); + inline void setLaneChangeDirection( ::cereal::LaneChangeDirection value); + + inline bool hasDPathPoints(); + inline ::capnp::List::Builder getDPathPoints(); + inline void setDPathPoints( ::capnp::List::Reader value); + inline void setDPathPoints(::kj::ArrayPtr value); + inline ::capnp::List::Builder initDPathPoints(unsigned int size); + inline void adoptDPathPoints(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownDPathPoints(); + + inline float getDProbDEPRECATED(); + inline void setDProbDEPRECATED(float value); + + inline float getCurvatureDEPRECATED(); + inline void setCurvatureDEPRECATED(float value); + + inline float getCurvatureRateDEPRECATED(); + inline void setCurvatureRateDEPRECATED(float value); + + inline float getRawCurvatureDEPRECATED(); + inline void setRawCurvatureDEPRECATED(float value); + + inline float getRawCurvatureRateDEPRECATED(); + inline void setRawCurvatureRateDEPRECATED(float value); + + inline bool hasPsis(); + inline ::capnp::List::Builder getPsis(); + inline void setPsis( ::capnp::List::Reader value); + inline void setPsis(::kj::ArrayPtr value); + inline ::capnp::List::Builder initPsis(unsigned int size); + inline void adoptPsis(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownPsis(); + + inline bool hasCurvatures(); + inline ::capnp::List::Builder getCurvatures(); + inline void setCurvatures( ::capnp::List::Reader value); + inline void setCurvatures(::kj::ArrayPtr value); + inline ::capnp::List::Builder initCurvatures(unsigned int size); + inline void adoptCurvatures(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownCurvatures(); + + inline bool hasCurvatureRates(); + inline ::capnp::List::Builder getCurvatureRates(); + inline void setCurvatureRates( ::capnp::List::Reader value); + inline void setCurvatureRates(::kj::ArrayPtr value); + inline ::capnp::List::Builder initCurvatureRates(unsigned int size); + inline void adoptCurvatureRates(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownCurvatureRates(); + + inline bool getUseLaneLines(); + inline void setUseLaneLines(bool value); + + inline float getSolverExecutionTime(); + inline void setSolverExecutionTime(float value); + + inline ::uint64_t getModelMonoTime(); + inline void setModelMonoTime( ::uint64_t value); + + inline float getSolverCost(); + inline void setSolverCost(float value); + + inline bool hasSolverState(); + inline ::cereal::LateralPlan::SolverState::Builder getSolverState(); + inline void setSolverState( ::cereal::LateralPlan::SolverState::Reader value); + inline ::cereal::LateralPlan::SolverState::Builder initSolverState(); + inline void adoptSolverState(::capnp::Orphan< ::cereal::LateralPlan::SolverState>&& value); + inline ::capnp::Orphan< ::cereal::LateralPlan::SolverState> disownSolverState(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class LateralPlan::Pipeline { +public: + typedef LateralPlan Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + + inline ::cereal::LateralPlan::SolverState::Pipeline getSolverState(); +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class LateralPlan::SolverState::Reader { +public: + typedef SolverState Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasX() const; + inline ::capnp::List< ::capnp::List, ::capnp::Kind::LIST>::Reader getX() const; + + inline bool hasU() const; + inline ::capnp::List::Reader getU() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class LateralPlan::SolverState::Builder { +public: + typedef SolverState Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasX(); + inline ::capnp::List< ::capnp::List, ::capnp::Kind::LIST>::Builder getX(); + inline void setX( ::capnp::List< ::capnp::List, ::capnp::Kind::LIST>::Reader value); + inline void setX(::kj::ArrayPtr::Reader> value); + inline ::capnp::List< ::capnp::List, ::capnp::Kind::LIST>::Builder initX(unsigned int size); + inline void adoptX(::capnp::Orphan< ::capnp::List< ::capnp::List, ::capnp::Kind::LIST>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::capnp::List, ::capnp::Kind::LIST>> disownX(); + + inline bool hasU(); + inline ::capnp::List::Builder getU(); + inline void setU( ::capnp::List::Reader value); + inline void setU(::kj::ArrayPtr value); + inline ::capnp::List::Builder initU(unsigned int size); + inline void adoptU(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownU(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class LateralPlan::SolverState::Pipeline { +public: + typedef SolverState Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class LiveLocationKalman::Reader { +public: + typedef LiveLocationKalman Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasPositionECEF() const; + inline ::cereal::LiveLocationKalman::Measurement::Reader getPositionECEF() const; + + inline bool hasPositionGeodetic() const; + inline ::cereal::LiveLocationKalman::Measurement::Reader getPositionGeodetic() const; + + inline bool hasVelocityECEF() const; + inline ::cereal::LiveLocationKalman::Measurement::Reader getVelocityECEF() const; + + inline bool hasVelocityNED() const; + inline ::cereal::LiveLocationKalman::Measurement::Reader getVelocityNED() const; + + inline bool hasVelocityDevice() const; + inline ::cereal::LiveLocationKalman::Measurement::Reader getVelocityDevice() const; + + inline bool hasAccelerationDevice() const; + inline ::cereal::LiveLocationKalman::Measurement::Reader getAccelerationDevice() const; + + inline bool hasOrientationECEF() const; + inline ::cereal::LiveLocationKalman::Measurement::Reader getOrientationECEF() const; + + inline bool hasOrientationNED() const; + inline ::cereal::LiveLocationKalman::Measurement::Reader getOrientationNED() const; + + inline bool hasAngularVelocityDevice() const; + inline ::cereal::LiveLocationKalman::Measurement::Reader getAngularVelocityDevice() const; + + inline bool hasCalibratedOrientationNED() const; + inline ::cereal::LiveLocationKalman::Measurement::Reader getCalibratedOrientationNED() const; + + inline bool hasVelocityCalibrated() const; + inline ::cereal::LiveLocationKalman::Measurement::Reader getVelocityCalibrated() const; + + inline bool hasAccelerationCalibrated() const; + inline ::cereal::LiveLocationKalman::Measurement::Reader getAccelerationCalibrated() const; + + inline bool hasAngularVelocityCalibrated() const; + inline ::cereal::LiveLocationKalman::Measurement::Reader getAngularVelocityCalibrated() const; + + inline ::int32_t getGpsWeek() const; + + inline double getGpsTimeOfWeek() const; + + inline ::cereal::LiveLocationKalman::Status getStatus() const; + + inline ::int64_t getUnixTimestampMillis() const; + + inline bool getInputsOK() const; + + inline bool getPosenetOK() const; + + inline bool getGpsOK() const; + + inline bool hasCalibratedOrientationECEF() const; + inline ::cereal::LiveLocationKalman::Measurement::Reader getCalibratedOrientationECEF() const; + + inline bool getSensorsOK() const; + + inline bool getDeviceStable() const; + + inline double getTimeSinceReset() const; + + inline bool getExcessiveResets() const; + + inline float getTimeToFirstFix() const; + + inline bool hasFilterState() const; + inline ::cereal::LiveLocationKalman::Measurement::Reader getFilterState() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class LiveLocationKalman::Builder { +public: + typedef LiveLocationKalman Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasPositionECEF(); + inline ::cereal::LiveLocationKalman::Measurement::Builder getPositionECEF(); + inline void setPositionECEF( ::cereal::LiveLocationKalman::Measurement::Reader value); + inline ::cereal::LiveLocationKalman::Measurement::Builder initPositionECEF(); + inline void adoptPositionECEF(::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement>&& value); + inline ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement> disownPositionECEF(); + + inline bool hasPositionGeodetic(); + inline ::cereal::LiveLocationKalman::Measurement::Builder getPositionGeodetic(); + inline void setPositionGeodetic( ::cereal::LiveLocationKalman::Measurement::Reader value); + inline ::cereal::LiveLocationKalman::Measurement::Builder initPositionGeodetic(); + inline void adoptPositionGeodetic(::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement>&& value); + inline ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement> disownPositionGeodetic(); + + inline bool hasVelocityECEF(); + inline ::cereal::LiveLocationKalman::Measurement::Builder getVelocityECEF(); + inline void setVelocityECEF( ::cereal::LiveLocationKalman::Measurement::Reader value); + inline ::cereal::LiveLocationKalman::Measurement::Builder initVelocityECEF(); + inline void adoptVelocityECEF(::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement>&& value); + inline ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement> disownVelocityECEF(); + + inline bool hasVelocityNED(); + inline ::cereal::LiveLocationKalman::Measurement::Builder getVelocityNED(); + inline void setVelocityNED( ::cereal::LiveLocationKalman::Measurement::Reader value); + inline ::cereal::LiveLocationKalman::Measurement::Builder initVelocityNED(); + inline void adoptVelocityNED(::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement>&& value); + inline ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement> disownVelocityNED(); + + inline bool hasVelocityDevice(); + inline ::cereal::LiveLocationKalman::Measurement::Builder getVelocityDevice(); + inline void setVelocityDevice( ::cereal::LiveLocationKalman::Measurement::Reader value); + inline ::cereal::LiveLocationKalman::Measurement::Builder initVelocityDevice(); + inline void adoptVelocityDevice(::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement>&& value); + inline ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement> disownVelocityDevice(); + + inline bool hasAccelerationDevice(); + inline ::cereal::LiveLocationKalman::Measurement::Builder getAccelerationDevice(); + inline void setAccelerationDevice( ::cereal::LiveLocationKalman::Measurement::Reader value); + inline ::cereal::LiveLocationKalman::Measurement::Builder initAccelerationDevice(); + inline void adoptAccelerationDevice(::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement>&& value); + inline ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement> disownAccelerationDevice(); + + inline bool hasOrientationECEF(); + inline ::cereal::LiveLocationKalman::Measurement::Builder getOrientationECEF(); + inline void setOrientationECEF( ::cereal::LiveLocationKalman::Measurement::Reader value); + inline ::cereal::LiveLocationKalman::Measurement::Builder initOrientationECEF(); + inline void adoptOrientationECEF(::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement>&& value); + inline ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement> disownOrientationECEF(); + + inline bool hasOrientationNED(); + inline ::cereal::LiveLocationKalman::Measurement::Builder getOrientationNED(); + inline void setOrientationNED( ::cereal::LiveLocationKalman::Measurement::Reader value); + inline ::cereal::LiveLocationKalman::Measurement::Builder initOrientationNED(); + inline void adoptOrientationNED(::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement>&& value); + inline ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement> disownOrientationNED(); + + inline bool hasAngularVelocityDevice(); + inline ::cereal::LiveLocationKalman::Measurement::Builder getAngularVelocityDevice(); + inline void setAngularVelocityDevice( ::cereal::LiveLocationKalman::Measurement::Reader value); + inline ::cereal::LiveLocationKalman::Measurement::Builder initAngularVelocityDevice(); + inline void adoptAngularVelocityDevice(::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement>&& value); + inline ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement> disownAngularVelocityDevice(); + + inline bool hasCalibratedOrientationNED(); + inline ::cereal::LiveLocationKalman::Measurement::Builder getCalibratedOrientationNED(); + inline void setCalibratedOrientationNED( ::cereal::LiveLocationKalman::Measurement::Reader value); + inline ::cereal::LiveLocationKalman::Measurement::Builder initCalibratedOrientationNED(); + inline void adoptCalibratedOrientationNED(::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement>&& value); + inline ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement> disownCalibratedOrientationNED(); + + inline bool hasVelocityCalibrated(); + inline ::cereal::LiveLocationKalman::Measurement::Builder getVelocityCalibrated(); + inline void setVelocityCalibrated( ::cereal::LiveLocationKalman::Measurement::Reader value); + inline ::cereal::LiveLocationKalman::Measurement::Builder initVelocityCalibrated(); + inline void adoptVelocityCalibrated(::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement>&& value); + inline ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement> disownVelocityCalibrated(); + + inline bool hasAccelerationCalibrated(); + inline ::cereal::LiveLocationKalman::Measurement::Builder getAccelerationCalibrated(); + inline void setAccelerationCalibrated( ::cereal::LiveLocationKalman::Measurement::Reader value); + inline ::cereal::LiveLocationKalman::Measurement::Builder initAccelerationCalibrated(); + inline void adoptAccelerationCalibrated(::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement>&& value); + inline ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement> disownAccelerationCalibrated(); + + inline bool hasAngularVelocityCalibrated(); + inline ::cereal::LiveLocationKalman::Measurement::Builder getAngularVelocityCalibrated(); + inline void setAngularVelocityCalibrated( ::cereal::LiveLocationKalman::Measurement::Reader value); + inline ::cereal::LiveLocationKalman::Measurement::Builder initAngularVelocityCalibrated(); + inline void adoptAngularVelocityCalibrated(::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement>&& value); + inline ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement> disownAngularVelocityCalibrated(); + + inline ::int32_t getGpsWeek(); + inline void setGpsWeek( ::int32_t value); + + inline double getGpsTimeOfWeek(); + inline void setGpsTimeOfWeek(double value); + + inline ::cereal::LiveLocationKalman::Status getStatus(); + inline void setStatus( ::cereal::LiveLocationKalman::Status value); + + inline ::int64_t getUnixTimestampMillis(); + inline void setUnixTimestampMillis( ::int64_t value); + + inline bool getInputsOK(); + inline void setInputsOK(bool value); + + inline bool getPosenetOK(); + inline void setPosenetOK(bool value); + + inline bool getGpsOK(); + inline void setGpsOK(bool value); + + inline bool hasCalibratedOrientationECEF(); + inline ::cereal::LiveLocationKalman::Measurement::Builder getCalibratedOrientationECEF(); + inline void setCalibratedOrientationECEF( ::cereal::LiveLocationKalman::Measurement::Reader value); + inline ::cereal::LiveLocationKalman::Measurement::Builder initCalibratedOrientationECEF(); + inline void adoptCalibratedOrientationECEF(::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement>&& value); + inline ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement> disownCalibratedOrientationECEF(); + + inline bool getSensorsOK(); + inline void setSensorsOK(bool value); + + inline bool getDeviceStable(); + inline void setDeviceStable(bool value); + + inline double getTimeSinceReset(); + inline void setTimeSinceReset(double value); + + inline bool getExcessiveResets(); + inline void setExcessiveResets(bool value); + + inline float getTimeToFirstFix(); + inline void setTimeToFirstFix(float value); + + inline bool hasFilterState(); + inline ::cereal::LiveLocationKalman::Measurement::Builder getFilterState(); + inline void setFilterState( ::cereal::LiveLocationKalman::Measurement::Reader value); + inline ::cereal::LiveLocationKalman::Measurement::Builder initFilterState(); + inline void adoptFilterState(::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement>&& value); + inline ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement> disownFilterState(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class LiveLocationKalman::Pipeline { +public: + typedef LiveLocationKalman Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + + inline ::cereal::LiveLocationKalman::Measurement::Pipeline getPositionECEF(); + inline ::cereal::LiveLocationKalman::Measurement::Pipeline getPositionGeodetic(); + inline ::cereal::LiveLocationKalman::Measurement::Pipeline getVelocityECEF(); + inline ::cereal::LiveLocationKalman::Measurement::Pipeline getVelocityNED(); + inline ::cereal::LiveLocationKalman::Measurement::Pipeline getVelocityDevice(); + inline ::cereal::LiveLocationKalman::Measurement::Pipeline getAccelerationDevice(); + inline ::cereal::LiveLocationKalman::Measurement::Pipeline getOrientationECEF(); + inline ::cereal::LiveLocationKalman::Measurement::Pipeline getOrientationNED(); + inline ::cereal::LiveLocationKalman::Measurement::Pipeline getAngularVelocityDevice(); + inline ::cereal::LiveLocationKalman::Measurement::Pipeline getCalibratedOrientationNED(); + inline ::cereal::LiveLocationKalman::Measurement::Pipeline getVelocityCalibrated(); + inline ::cereal::LiveLocationKalman::Measurement::Pipeline getAccelerationCalibrated(); + inline ::cereal::LiveLocationKalman::Measurement::Pipeline getAngularVelocityCalibrated(); + inline ::cereal::LiveLocationKalman::Measurement::Pipeline getCalibratedOrientationECEF(); + inline ::cereal::LiveLocationKalman::Measurement::Pipeline getFilterState(); +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class LiveLocationKalman::Measurement::Reader { +public: + typedef Measurement Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasValue() const; + inline ::capnp::List::Reader getValue() const; + + inline bool hasStd() const; + inline ::capnp::List::Reader getStd() const; + + inline bool getValid() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class LiveLocationKalman::Measurement::Builder { +public: + typedef Measurement Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasValue(); + inline ::capnp::List::Builder getValue(); + inline void setValue( ::capnp::List::Reader value); + inline void setValue(::kj::ArrayPtr value); + inline ::capnp::List::Builder initValue(unsigned int size); + inline void adoptValue(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownValue(); + + inline bool hasStd(); + inline ::capnp::List::Builder getStd(); + inline void setStd( ::capnp::List::Reader value); + inline void setStd(::kj::ArrayPtr value); + inline ::capnp::List::Builder initStd(unsigned int size); + inline void adoptStd(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownStd(); + + inline bool getValid(); + inline void setValid(bool value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class LiveLocationKalman::Measurement::Pipeline { +public: + typedef Measurement Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class LivePose::Reader { +public: + typedef LivePose Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasOrientationNED() const; + inline ::cereal::LivePose::XYZMeasurement::Reader getOrientationNED() const; + + inline bool hasVelocityDevice() const; + inline ::cereal::LivePose::XYZMeasurement::Reader getVelocityDevice() const; + + inline bool hasAccelerationDevice() const; + inline ::cereal::LivePose::XYZMeasurement::Reader getAccelerationDevice() const; + + inline bool hasAngularVelocityDevice() const; + inline ::cereal::LivePose::XYZMeasurement::Reader getAngularVelocityDevice() const; + + inline bool getInputsOK() const; + + inline bool getPosenetOK() const; + + inline bool getSensorsOK() const; + + inline bool hasFilterState() const; + inline ::cereal::LivePose::FilterState::Reader getFilterState() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class LivePose::Builder { +public: + typedef LivePose Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasOrientationNED(); + inline ::cereal::LivePose::XYZMeasurement::Builder getOrientationNED(); + inline void setOrientationNED( ::cereal::LivePose::XYZMeasurement::Reader value); + inline ::cereal::LivePose::XYZMeasurement::Builder initOrientationNED(); + inline void adoptOrientationNED(::capnp::Orphan< ::cereal::LivePose::XYZMeasurement>&& value); + inline ::capnp::Orphan< ::cereal::LivePose::XYZMeasurement> disownOrientationNED(); + + inline bool hasVelocityDevice(); + inline ::cereal::LivePose::XYZMeasurement::Builder getVelocityDevice(); + inline void setVelocityDevice( ::cereal::LivePose::XYZMeasurement::Reader value); + inline ::cereal::LivePose::XYZMeasurement::Builder initVelocityDevice(); + inline void adoptVelocityDevice(::capnp::Orphan< ::cereal::LivePose::XYZMeasurement>&& value); + inline ::capnp::Orphan< ::cereal::LivePose::XYZMeasurement> disownVelocityDevice(); + + inline bool hasAccelerationDevice(); + inline ::cereal::LivePose::XYZMeasurement::Builder getAccelerationDevice(); + inline void setAccelerationDevice( ::cereal::LivePose::XYZMeasurement::Reader value); + inline ::cereal::LivePose::XYZMeasurement::Builder initAccelerationDevice(); + inline void adoptAccelerationDevice(::capnp::Orphan< ::cereal::LivePose::XYZMeasurement>&& value); + inline ::capnp::Orphan< ::cereal::LivePose::XYZMeasurement> disownAccelerationDevice(); + + inline bool hasAngularVelocityDevice(); + inline ::cereal::LivePose::XYZMeasurement::Builder getAngularVelocityDevice(); + inline void setAngularVelocityDevice( ::cereal::LivePose::XYZMeasurement::Reader value); + inline ::cereal::LivePose::XYZMeasurement::Builder initAngularVelocityDevice(); + inline void adoptAngularVelocityDevice(::capnp::Orphan< ::cereal::LivePose::XYZMeasurement>&& value); + inline ::capnp::Orphan< ::cereal::LivePose::XYZMeasurement> disownAngularVelocityDevice(); + + inline bool getInputsOK(); + inline void setInputsOK(bool value); + + inline bool getPosenetOK(); + inline void setPosenetOK(bool value); + + inline bool getSensorsOK(); + inline void setSensorsOK(bool value); + + inline bool hasFilterState(); + inline ::cereal::LivePose::FilterState::Builder getFilterState(); + inline void setFilterState( ::cereal::LivePose::FilterState::Reader value); + inline ::cereal::LivePose::FilterState::Builder initFilterState(); + inline void adoptFilterState(::capnp::Orphan< ::cereal::LivePose::FilterState>&& value); + inline ::capnp::Orphan< ::cereal::LivePose::FilterState> disownFilterState(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class LivePose::Pipeline { +public: + typedef LivePose Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + + inline ::cereal::LivePose::XYZMeasurement::Pipeline getOrientationNED(); + inline ::cereal::LivePose::XYZMeasurement::Pipeline getVelocityDevice(); + inline ::cereal::LivePose::XYZMeasurement::Pipeline getAccelerationDevice(); + inline ::cereal::LivePose::XYZMeasurement::Pipeline getAngularVelocityDevice(); + inline ::cereal::LivePose::FilterState::Pipeline getFilterState(); +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class LivePose::XYZMeasurement::Reader { +public: + typedef XYZMeasurement Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline float getX() const; + + inline float getY() const; + + inline float getZ() const; + + inline float getXStd() const; + + inline float getYStd() const; + + inline float getZStd() const; + + inline bool getValid() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class LivePose::XYZMeasurement::Builder { +public: + typedef XYZMeasurement Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline float getX(); + inline void setX(float value); + + inline float getY(); + inline void setY(float value); + + inline float getZ(); + inline void setZ(float value); + + inline float getXStd(); + inline void setXStd(float value); + + inline float getYStd(); + inline void setYStd(float value); + + inline float getZStd(); + inline void setZStd(float value); + + inline bool getValid(); + inline void setValid(bool value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class LivePose::XYZMeasurement::Pipeline { +public: + typedef XYZMeasurement Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class LivePose::FilterState::Reader { +public: + typedef FilterState Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasValue() const; + inline ::capnp::List::Reader getValue() const; + + inline bool hasStd() const; + inline ::capnp::List::Reader getStd() const; + + inline bool getValid() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class LivePose::FilterState::Builder { +public: + typedef FilterState Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasValue(); + inline ::capnp::List::Builder getValue(); + inline void setValue( ::capnp::List::Reader value); + inline void setValue(::kj::ArrayPtr value); + inline ::capnp::List::Builder initValue(unsigned int size); + inline void adoptValue(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownValue(); + + inline bool hasStd(); + inline ::capnp::List::Builder getStd(); + inline void setStd( ::capnp::List::Reader value); + inline void setStd(::kj::ArrayPtr value); + inline ::capnp::List::Builder initStd(unsigned int size); + inline void adoptStd(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownStd(); + + inline bool getValid(); + inline void setValid(bool value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class LivePose::FilterState::Pipeline { +public: + typedef FilterState Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class ProcLog::Reader { +public: + typedef ProcLog Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasCpuTimes() const; + inline ::capnp::List< ::cereal::ProcLog::CPUTimes, ::capnp::Kind::STRUCT>::Reader getCpuTimes() const; + + inline bool hasMem() const; + inline ::cereal::ProcLog::Mem::Reader getMem() const; + + inline bool hasProcs() const; + inline ::capnp::List< ::cereal::ProcLog::Process, ::capnp::Kind::STRUCT>::Reader getProcs() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class ProcLog::Builder { +public: + typedef ProcLog Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasCpuTimes(); + inline ::capnp::List< ::cereal::ProcLog::CPUTimes, ::capnp::Kind::STRUCT>::Builder getCpuTimes(); + inline void setCpuTimes( ::capnp::List< ::cereal::ProcLog::CPUTimes, ::capnp::Kind::STRUCT>::Reader value); + inline ::capnp::List< ::cereal::ProcLog::CPUTimes, ::capnp::Kind::STRUCT>::Builder initCpuTimes(unsigned int size); + inline void adoptCpuTimes(::capnp::Orphan< ::capnp::List< ::cereal::ProcLog::CPUTimes, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::ProcLog::CPUTimes, ::capnp::Kind::STRUCT>> disownCpuTimes(); + + inline bool hasMem(); + inline ::cereal::ProcLog::Mem::Builder getMem(); + inline void setMem( ::cereal::ProcLog::Mem::Reader value); + inline ::cereal::ProcLog::Mem::Builder initMem(); + inline void adoptMem(::capnp::Orphan< ::cereal::ProcLog::Mem>&& value); + inline ::capnp::Orphan< ::cereal::ProcLog::Mem> disownMem(); + + inline bool hasProcs(); + inline ::capnp::List< ::cereal::ProcLog::Process, ::capnp::Kind::STRUCT>::Builder getProcs(); + inline void setProcs( ::capnp::List< ::cereal::ProcLog::Process, ::capnp::Kind::STRUCT>::Reader value); + inline ::capnp::List< ::cereal::ProcLog::Process, ::capnp::Kind::STRUCT>::Builder initProcs(unsigned int size); + inline void adoptProcs(::capnp::Orphan< ::capnp::List< ::cereal::ProcLog::Process, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::ProcLog::Process, ::capnp::Kind::STRUCT>> disownProcs(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class ProcLog::Pipeline { +public: + typedef ProcLog Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + + inline ::cereal::ProcLog::Mem::Pipeline getMem(); +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class ProcLog::Process::Reader { +public: + typedef Process Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::int32_t getPid() const; + + inline bool hasName() const; + inline ::capnp::Text::Reader getName() const; + + inline ::uint8_t getState() const; + + inline ::int32_t getPpid() const; + + inline float getCpuUser() const; + + inline float getCpuSystem() const; + + inline float getCpuChildrenUser() const; + + inline float getCpuChildrenSystem() const; + + inline ::int64_t getPriority() const; + + inline ::int32_t getNice() const; + + inline ::int32_t getNumThreads() const; + + inline double getStartTime() const; + + inline ::uint64_t getMemVms() const; + + inline ::uint64_t getMemRss() const; + + inline ::int32_t getProcessor() const; + + inline bool hasCmdline() const; + inline ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>::Reader getCmdline() const; + + inline bool hasExe() const; + inline ::capnp::Text::Reader getExe() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class ProcLog::Process::Builder { +public: + typedef Process Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::int32_t getPid(); + inline void setPid( ::int32_t value); + + inline bool hasName(); + inline ::capnp::Text::Builder getName(); + inline void setName( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initName(unsigned int size); + inline void adoptName(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownName(); + + inline ::uint8_t getState(); + inline void setState( ::uint8_t value); + + inline ::int32_t getPpid(); + inline void setPpid( ::int32_t value); + + inline float getCpuUser(); + inline void setCpuUser(float value); + + inline float getCpuSystem(); + inline void setCpuSystem(float value); + + inline float getCpuChildrenUser(); + inline void setCpuChildrenUser(float value); + + inline float getCpuChildrenSystem(); + inline void setCpuChildrenSystem(float value); + + inline ::int64_t getPriority(); + inline void setPriority( ::int64_t value); + + inline ::int32_t getNice(); + inline void setNice( ::int32_t value); + + inline ::int32_t getNumThreads(); + inline void setNumThreads( ::int32_t value); + + inline double getStartTime(); + inline void setStartTime(double value); + + inline ::uint64_t getMemVms(); + inline void setMemVms( ::uint64_t value); + + inline ::uint64_t getMemRss(); + inline void setMemRss( ::uint64_t value); + + inline ::int32_t getProcessor(); + inline void setProcessor( ::int32_t value); + + inline bool hasCmdline(); + inline ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>::Builder getCmdline(); + inline void setCmdline( ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>::Reader value); + inline void setCmdline(::kj::ArrayPtr value); + inline ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>::Builder initCmdline(unsigned int size); + inline void adoptCmdline(::capnp::Orphan< ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>> disownCmdline(); + + inline bool hasExe(); + inline ::capnp::Text::Builder getExe(); + inline void setExe( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initExe(unsigned int size); + inline void adoptExe(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownExe(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class ProcLog::Process::Pipeline { +public: + typedef Process Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class ProcLog::CPUTimes::Reader { +public: + typedef CPUTimes Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::int64_t getCpuNum() const; + + inline float getUser() const; + + inline float getNice() const; + + inline float getSystem() const; + + inline float getIdle() const; + + inline float getIowait() const; + + inline float getIrq() const; + + inline float getSoftirq() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class ProcLog::CPUTimes::Builder { +public: + typedef CPUTimes Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::int64_t getCpuNum(); + inline void setCpuNum( ::int64_t value); + + inline float getUser(); + inline void setUser(float value); + + inline float getNice(); + inline void setNice(float value); + + inline float getSystem(); + inline void setSystem(float value); + + inline float getIdle(); + inline void setIdle(float value); + + inline float getIowait(); + inline void setIowait(float value); + + inline float getIrq(); + inline void setIrq(float value); + + inline float getSoftirq(); + inline void setSoftirq(float value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class ProcLog::CPUTimes::Pipeline { +public: + typedef CPUTimes Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class ProcLog::Mem::Reader { +public: + typedef Mem Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::uint64_t getTotal() const; + + inline ::uint64_t getFree() const; + + inline ::uint64_t getAvailable() const; + + inline ::uint64_t getBuffers() const; + + inline ::uint64_t getCached() const; + + inline ::uint64_t getActive() const; + + inline ::uint64_t getInactive() const; + + inline ::uint64_t getShared() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class ProcLog::Mem::Builder { +public: + typedef Mem Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::uint64_t getTotal(); + inline void setTotal( ::uint64_t value); + + inline ::uint64_t getFree(); + inline void setFree( ::uint64_t value); + + inline ::uint64_t getAvailable(); + inline void setAvailable( ::uint64_t value); + + inline ::uint64_t getBuffers(); + inline void setBuffers( ::uint64_t value); + + inline ::uint64_t getCached(); + inline void setCached( ::uint64_t value); + + inline ::uint64_t getActive(); + inline void setActive( ::uint64_t value); + + inline ::uint64_t getInactive(); + inline void setInactive( ::uint64_t value); + + inline ::uint64_t getShared(); + inline void setShared( ::uint64_t value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class ProcLog::Mem::Pipeline { +public: + typedef Mem Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class GnssMeasurements::Reader { +public: + typedef GnssMeasurements Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::uint64_t getMeasTime() const; + + inline ::int16_t getGpsWeek() const; + + inline double getGpsTimeOfWeek() const; + + inline bool hasCorrectedMeasurements() const; + inline ::capnp::List< ::cereal::GnssMeasurements::CorrectedMeasurement, ::capnp::Kind::STRUCT>::Reader getCorrectedMeasurements() const; + + inline bool hasKalmanPositionECEF() const; + inline ::cereal::LiveLocationKalman::Measurement::Reader getKalmanPositionECEF() const; + + inline bool hasKalmanVelocityECEF() const; + inline ::cereal::LiveLocationKalman::Measurement::Reader getKalmanVelocityECEF() const; + + inline bool hasPositionECEF() const; + inline ::cereal::LiveLocationKalman::Measurement::Reader getPositionECEF() const; + + inline bool hasVelocityECEF() const; + inline ::cereal::LiveLocationKalman::Measurement::Reader getVelocityECEF() const; + + inline float getTimeToFirstFix() const; + + inline bool hasEphemerisStatuses() const; + inline ::capnp::List< ::cereal::GnssMeasurements::EphemerisStatus, ::capnp::Kind::STRUCT>::Reader getEphemerisStatuses() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class GnssMeasurements::Builder { +public: + typedef GnssMeasurements Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::uint64_t getMeasTime(); + inline void setMeasTime( ::uint64_t value); + + inline ::int16_t getGpsWeek(); + inline void setGpsWeek( ::int16_t value); + + inline double getGpsTimeOfWeek(); + inline void setGpsTimeOfWeek(double value); + + inline bool hasCorrectedMeasurements(); + inline ::capnp::List< ::cereal::GnssMeasurements::CorrectedMeasurement, ::capnp::Kind::STRUCT>::Builder getCorrectedMeasurements(); + inline void setCorrectedMeasurements( ::capnp::List< ::cereal::GnssMeasurements::CorrectedMeasurement, ::capnp::Kind::STRUCT>::Reader value); + inline ::capnp::List< ::cereal::GnssMeasurements::CorrectedMeasurement, ::capnp::Kind::STRUCT>::Builder initCorrectedMeasurements(unsigned int size); + inline void adoptCorrectedMeasurements(::capnp::Orphan< ::capnp::List< ::cereal::GnssMeasurements::CorrectedMeasurement, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::GnssMeasurements::CorrectedMeasurement, ::capnp::Kind::STRUCT>> disownCorrectedMeasurements(); + + inline bool hasKalmanPositionECEF(); + inline ::cereal::LiveLocationKalman::Measurement::Builder getKalmanPositionECEF(); + inline void setKalmanPositionECEF( ::cereal::LiveLocationKalman::Measurement::Reader value); + inline ::cereal::LiveLocationKalman::Measurement::Builder initKalmanPositionECEF(); + inline void adoptKalmanPositionECEF(::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement>&& value); + inline ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement> disownKalmanPositionECEF(); + + inline bool hasKalmanVelocityECEF(); + inline ::cereal::LiveLocationKalman::Measurement::Builder getKalmanVelocityECEF(); + inline void setKalmanVelocityECEF( ::cereal::LiveLocationKalman::Measurement::Reader value); + inline ::cereal::LiveLocationKalman::Measurement::Builder initKalmanVelocityECEF(); + inline void adoptKalmanVelocityECEF(::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement>&& value); + inline ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement> disownKalmanVelocityECEF(); + + inline bool hasPositionECEF(); + inline ::cereal::LiveLocationKalman::Measurement::Builder getPositionECEF(); + inline void setPositionECEF( ::cereal::LiveLocationKalman::Measurement::Reader value); + inline ::cereal::LiveLocationKalman::Measurement::Builder initPositionECEF(); + inline void adoptPositionECEF(::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement>&& value); + inline ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement> disownPositionECEF(); + + inline bool hasVelocityECEF(); + inline ::cereal::LiveLocationKalman::Measurement::Builder getVelocityECEF(); + inline void setVelocityECEF( ::cereal::LiveLocationKalman::Measurement::Reader value); + inline ::cereal::LiveLocationKalman::Measurement::Builder initVelocityECEF(); + inline void adoptVelocityECEF(::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement>&& value); + inline ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement> disownVelocityECEF(); + + inline float getTimeToFirstFix(); + inline void setTimeToFirstFix(float value); + + inline bool hasEphemerisStatuses(); + inline ::capnp::List< ::cereal::GnssMeasurements::EphemerisStatus, ::capnp::Kind::STRUCT>::Builder getEphemerisStatuses(); + inline void setEphemerisStatuses( ::capnp::List< ::cereal::GnssMeasurements::EphemerisStatus, ::capnp::Kind::STRUCT>::Reader value); + inline ::capnp::List< ::cereal::GnssMeasurements::EphemerisStatus, ::capnp::Kind::STRUCT>::Builder initEphemerisStatuses(unsigned int size); + inline void adoptEphemerisStatuses(::capnp::Orphan< ::capnp::List< ::cereal::GnssMeasurements::EphemerisStatus, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::GnssMeasurements::EphemerisStatus, ::capnp::Kind::STRUCT>> disownEphemerisStatuses(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class GnssMeasurements::Pipeline { +public: + typedef GnssMeasurements Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + + inline ::cereal::LiveLocationKalman::Measurement::Pipeline getKalmanPositionECEF(); + inline ::cereal::LiveLocationKalman::Measurement::Pipeline getKalmanVelocityECEF(); + inline ::cereal::LiveLocationKalman::Measurement::Pipeline getPositionECEF(); + inline ::cereal::LiveLocationKalman::Measurement::Pipeline getVelocityECEF(); +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class GnssMeasurements::EphemerisStatus::Reader { +public: + typedef EphemerisStatus Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::cereal::GnssMeasurements::ConstellationId getConstellationId() const; + + inline ::uint8_t getSvId() const; + + inline ::cereal::GnssMeasurements::EphemerisType getType() const; + + inline ::cereal::GnssMeasurements::EphemerisSource getSource() const; + + inline ::uint16_t getGpsWeek() const; + + inline double getTow() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class GnssMeasurements::EphemerisStatus::Builder { +public: + typedef EphemerisStatus Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::cereal::GnssMeasurements::ConstellationId getConstellationId(); + inline void setConstellationId( ::cereal::GnssMeasurements::ConstellationId value); + + inline ::uint8_t getSvId(); + inline void setSvId( ::uint8_t value); + + inline ::cereal::GnssMeasurements::EphemerisType getType(); + inline void setType( ::cereal::GnssMeasurements::EphemerisType value); + + inline ::cereal::GnssMeasurements::EphemerisSource getSource(); + inline void setSource( ::cereal::GnssMeasurements::EphemerisSource value); + + inline ::uint16_t getGpsWeek(); + inline void setGpsWeek( ::uint16_t value); + + inline double getTow(); + inline void setTow(double value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class GnssMeasurements::EphemerisStatus::Pipeline { +public: + typedef EphemerisStatus Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class GnssMeasurements::CorrectedMeasurement::Reader { +public: + typedef CorrectedMeasurement Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::cereal::GnssMeasurements::ConstellationId getConstellationId() const; + + inline ::uint8_t getSvId() const; + + inline ::int8_t getGlonassFrequency() const; + + inline double getPseudorange() const; + + inline double getPseudorangeStd() const; + + inline double getPseudorangeRate() const; + + inline double getPseudorangeRateStd() const; + + inline bool hasSatPos() const; + inline ::capnp::List::Reader getSatPos() const; + + inline bool hasSatVel() const; + inline ::capnp::List::Reader getSatVel() const; + + inline bool hasEphemerisSourceDEPRECATED() const; + inline ::cereal::GnssMeasurements::EphemerisSourceDEPRECATED::Reader getEphemerisSourceDEPRECATED() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class GnssMeasurements::CorrectedMeasurement::Builder { +public: + typedef CorrectedMeasurement Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::cereal::GnssMeasurements::ConstellationId getConstellationId(); + inline void setConstellationId( ::cereal::GnssMeasurements::ConstellationId value); + + inline ::uint8_t getSvId(); + inline void setSvId( ::uint8_t value); + + inline ::int8_t getGlonassFrequency(); + inline void setGlonassFrequency( ::int8_t value); + + inline double getPseudorange(); + inline void setPseudorange(double value); + + inline double getPseudorangeStd(); + inline void setPseudorangeStd(double value); + + inline double getPseudorangeRate(); + inline void setPseudorangeRate(double value); + + inline double getPseudorangeRateStd(); + inline void setPseudorangeRateStd(double value); + + inline bool hasSatPos(); + inline ::capnp::List::Builder getSatPos(); + inline void setSatPos( ::capnp::List::Reader value); + inline void setSatPos(::kj::ArrayPtr value); + inline ::capnp::List::Builder initSatPos(unsigned int size); + inline void adoptSatPos(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownSatPos(); + + inline bool hasSatVel(); + inline ::capnp::List::Builder getSatVel(); + inline void setSatVel( ::capnp::List::Reader value); + inline void setSatVel(::kj::ArrayPtr value); + inline ::capnp::List::Builder initSatVel(unsigned int size); + inline void adoptSatVel(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownSatVel(); + + inline bool hasEphemerisSourceDEPRECATED(); + inline ::cereal::GnssMeasurements::EphemerisSourceDEPRECATED::Builder getEphemerisSourceDEPRECATED(); + inline void setEphemerisSourceDEPRECATED( ::cereal::GnssMeasurements::EphemerisSourceDEPRECATED::Reader value); + inline ::cereal::GnssMeasurements::EphemerisSourceDEPRECATED::Builder initEphemerisSourceDEPRECATED(); + inline void adoptEphemerisSourceDEPRECATED(::capnp::Orphan< ::cereal::GnssMeasurements::EphemerisSourceDEPRECATED>&& value); + inline ::capnp::Orphan< ::cereal::GnssMeasurements::EphemerisSourceDEPRECATED> disownEphemerisSourceDEPRECATED(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class GnssMeasurements::CorrectedMeasurement::Pipeline { +public: + typedef CorrectedMeasurement Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + + inline ::cereal::GnssMeasurements::EphemerisSourceDEPRECATED::Pipeline getEphemerisSourceDEPRECATED(); +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class GnssMeasurements::EphemerisSourceDEPRECATED::Reader { +public: + typedef EphemerisSourceDEPRECATED Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::cereal::GnssMeasurements::EphemerisType getType() const; + + inline ::int16_t getGpsWeek() const; + + inline ::int32_t getGpsTimeOfWeek() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class GnssMeasurements::EphemerisSourceDEPRECATED::Builder { +public: + typedef EphemerisSourceDEPRECATED Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::cereal::GnssMeasurements::EphemerisType getType(); + inline void setType( ::cereal::GnssMeasurements::EphemerisType value); + + inline ::int16_t getGpsWeek(); + inline void setGpsWeek( ::int16_t value); + + inline ::int32_t getGpsTimeOfWeek(); + inline void setGpsTimeOfWeek( ::int32_t value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class GnssMeasurements::EphemerisSourceDEPRECATED::Pipeline { +public: + typedef EphemerisSourceDEPRECATED Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class UbloxGnss::Reader { +public: + typedef UbloxGnss Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline Which which() const; + inline bool isMeasurementReport() const; + inline bool hasMeasurementReport() const; + inline ::cereal::UbloxGnss::MeasurementReport::Reader getMeasurementReport() const; + + inline bool isEphemeris() const; + inline bool hasEphemeris() const; + inline ::cereal::UbloxGnss::Ephemeris::Reader getEphemeris() const; + + inline bool isIonoData() const; + inline bool hasIonoData() const; + inline ::cereal::UbloxGnss::IonoData::Reader getIonoData() const; + + inline bool isHwStatus() const; + inline bool hasHwStatus() const; + inline ::cereal::UbloxGnss::HwStatus::Reader getHwStatus() const; + + inline bool isHwStatus2() const; + inline bool hasHwStatus2() const; + inline ::cereal::UbloxGnss::HwStatus2::Reader getHwStatus2() const; + + inline bool isGlonassEphemeris() const; + inline bool hasGlonassEphemeris() const; + inline ::cereal::UbloxGnss::GlonassEphemeris::Reader getGlonassEphemeris() const; + + inline bool isSatReport() const; + inline bool hasSatReport() const; + inline ::cereal::UbloxGnss::SatReport::Reader getSatReport() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class UbloxGnss::Builder { +public: + typedef UbloxGnss Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline Which which(); + inline bool isMeasurementReport(); + inline bool hasMeasurementReport(); + inline ::cereal::UbloxGnss::MeasurementReport::Builder getMeasurementReport(); + inline void setMeasurementReport( ::cereal::UbloxGnss::MeasurementReport::Reader value); + inline ::cereal::UbloxGnss::MeasurementReport::Builder initMeasurementReport(); + inline void adoptMeasurementReport(::capnp::Orphan< ::cereal::UbloxGnss::MeasurementReport>&& value); + inline ::capnp::Orphan< ::cereal::UbloxGnss::MeasurementReport> disownMeasurementReport(); + + inline bool isEphemeris(); + inline bool hasEphemeris(); + inline ::cereal::UbloxGnss::Ephemeris::Builder getEphemeris(); + inline void setEphemeris( ::cereal::UbloxGnss::Ephemeris::Reader value); + inline ::cereal::UbloxGnss::Ephemeris::Builder initEphemeris(); + inline void adoptEphemeris(::capnp::Orphan< ::cereal::UbloxGnss::Ephemeris>&& value); + inline ::capnp::Orphan< ::cereal::UbloxGnss::Ephemeris> disownEphemeris(); + + inline bool isIonoData(); + inline bool hasIonoData(); + inline ::cereal::UbloxGnss::IonoData::Builder getIonoData(); + inline void setIonoData( ::cereal::UbloxGnss::IonoData::Reader value); + inline ::cereal::UbloxGnss::IonoData::Builder initIonoData(); + inline void adoptIonoData(::capnp::Orphan< ::cereal::UbloxGnss::IonoData>&& value); + inline ::capnp::Orphan< ::cereal::UbloxGnss::IonoData> disownIonoData(); + + inline bool isHwStatus(); + inline bool hasHwStatus(); + inline ::cereal::UbloxGnss::HwStatus::Builder getHwStatus(); + inline void setHwStatus( ::cereal::UbloxGnss::HwStatus::Reader value); + inline ::cereal::UbloxGnss::HwStatus::Builder initHwStatus(); + inline void adoptHwStatus(::capnp::Orphan< ::cereal::UbloxGnss::HwStatus>&& value); + inline ::capnp::Orphan< ::cereal::UbloxGnss::HwStatus> disownHwStatus(); + + inline bool isHwStatus2(); + inline bool hasHwStatus2(); + inline ::cereal::UbloxGnss::HwStatus2::Builder getHwStatus2(); + inline void setHwStatus2( ::cereal::UbloxGnss::HwStatus2::Reader value); + inline ::cereal::UbloxGnss::HwStatus2::Builder initHwStatus2(); + inline void adoptHwStatus2(::capnp::Orphan< ::cereal::UbloxGnss::HwStatus2>&& value); + inline ::capnp::Orphan< ::cereal::UbloxGnss::HwStatus2> disownHwStatus2(); + + inline bool isGlonassEphemeris(); + inline bool hasGlonassEphemeris(); + inline ::cereal::UbloxGnss::GlonassEphemeris::Builder getGlonassEphemeris(); + inline void setGlonassEphemeris( ::cereal::UbloxGnss::GlonassEphemeris::Reader value); + inline ::cereal::UbloxGnss::GlonassEphemeris::Builder initGlonassEphemeris(); + inline void adoptGlonassEphemeris(::capnp::Orphan< ::cereal::UbloxGnss::GlonassEphemeris>&& value); + inline ::capnp::Orphan< ::cereal::UbloxGnss::GlonassEphemeris> disownGlonassEphemeris(); + + inline bool isSatReport(); + inline bool hasSatReport(); + inline ::cereal::UbloxGnss::SatReport::Builder getSatReport(); + inline void setSatReport( ::cereal::UbloxGnss::SatReport::Reader value); + inline ::cereal::UbloxGnss::SatReport::Builder initSatReport(); + inline void adoptSatReport(::capnp::Orphan< ::cereal::UbloxGnss::SatReport>&& value); + inline ::capnp::Orphan< ::cereal::UbloxGnss::SatReport> disownSatReport(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class UbloxGnss::Pipeline { +public: + typedef UbloxGnss Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class UbloxGnss::SatReport::Reader { +public: + typedef SatReport Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::uint32_t getITow() const; + + inline bool hasSvs() const; + inline ::capnp::List< ::cereal::UbloxGnss::SatReport::SatInfo, ::capnp::Kind::STRUCT>::Reader getSvs() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class UbloxGnss::SatReport::Builder { +public: + typedef SatReport Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::uint32_t getITow(); + inline void setITow( ::uint32_t value); + + inline bool hasSvs(); + inline ::capnp::List< ::cereal::UbloxGnss::SatReport::SatInfo, ::capnp::Kind::STRUCT>::Builder getSvs(); + inline void setSvs( ::capnp::List< ::cereal::UbloxGnss::SatReport::SatInfo, ::capnp::Kind::STRUCT>::Reader value); + inline ::capnp::List< ::cereal::UbloxGnss::SatReport::SatInfo, ::capnp::Kind::STRUCT>::Builder initSvs(unsigned int size); + inline void adoptSvs(::capnp::Orphan< ::capnp::List< ::cereal::UbloxGnss::SatReport::SatInfo, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::UbloxGnss::SatReport::SatInfo, ::capnp::Kind::STRUCT>> disownSvs(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class UbloxGnss::SatReport::Pipeline { +public: + typedef SatReport Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class UbloxGnss::SatReport::SatInfo::Reader { +public: + typedef SatInfo Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::uint8_t getSvId() const; + + inline ::uint8_t getGnssId() const; + + inline ::uint32_t getFlagsBitfield() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class UbloxGnss::SatReport::SatInfo::Builder { +public: + typedef SatInfo Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::uint8_t getSvId(); + inline void setSvId( ::uint8_t value); + + inline ::uint8_t getGnssId(); + inline void setGnssId( ::uint8_t value); + + inline ::uint32_t getFlagsBitfield(); + inline void setFlagsBitfield( ::uint32_t value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class UbloxGnss::SatReport::SatInfo::Pipeline { +public: + typedef SatInfo Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class UbloxGnss::MeasurementReport::Reader { +public: + typedef MeasurementReport Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline double getRcvTow() const; + + inline ::uint16_t getGpsWeek() const; + + inline ::uint16_t getLeapSeconds() const; + + inline bool hasReceiverStatus() const; + inline ::cereal::UbloxGnss::MeasurementReport::ReceiverStatus::Reader getReceiverStatus() const; + + inline ::uint8_t getNumMeas() const; + + inline bool hasMeasurements() const; + inline ::capnp::List< ::cereal::UbloxGnss::MeasurementReport::Measurement, ::capnp::Kind::STRUCT>::Reader getMeasurements() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class UbloxGnss::MeasurementReport::Builder { +public: + typedef MeasurementReport Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline double getRcvTow(); + inline void setRcvTow(double value); + + inline ::uint16_t getGpsWeek(); + inline void setGpsWeek( ::uint16_t value); + + inline ::uint16_t getLeapSeconds(); + inline void setLeapSeconds( ::uint16_t value); + + inline bool hasReceiverStatus(); + inline ::cereal::UbloxGnss::MeasurementReport::ReceiverStatus::Builder getReceiverStatus(); + inline void setReceiverStatus( ::cereal::UbloxGnss::MeasurementReport::ReceiverStatus::Reader value); + inline ::cereal::UbloxGnss::MeasurementReport::ReceiverStatus::Builder initReceiverStatus(); + inline void adoptReceiverStatus(::capnp::Orphan< ::cereal::UbloxGnss::MeasurementReport::ReceiverStatus>&& value); + inline ::capnp::Orphan< ::cereal::UbloxGnss::MeasurementReport::ReceiverStatus> disownReceiverStatus(); + + inline ::uint8_t getNumMeas(); + inline void setNumMeas( ::uint8_t value); + + inline bool hasMeasurements(); + inline ::capnp::List< ::cereal::UbloxGnss::MeasurementReport::Measurement, ::capnp::Kind::STRUCT>::Builder getMeasurements(); + inline void setMeasurements( ::capnp::List< ::cereal::UbloxGnss::MeasurementReport::Measurement, ::capnp::Kind::STRUCT>::Reader value); + inline ::capnp::List< ::cereal::UbloxGnss::MeasurementReport::Measurement, ::capnp::Kind::STRUCT>::Builder initMeasurements(unsigned int size); + inline void adoptMeasurements(::capnp::Orphan< ::capnp::List< ::cereal::UbloxGnss::MeasurementReport::Measurement, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::UbloxGnss::MeasurementReport::Measurement, ::capnp::Kind::STRUCT>> disownMeasurements(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class UbloxGnss::MeasurementReport::Pipeline { +public: + typedef MeasurementReport Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + + inline ::cereal::UbloxGnss::MeasurementReport::ReceiverStatus::Pipeline getReceiverStatus(); +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class UbloxGnss::MeasurementReport::ReceiverStatus::Reader { +public: + typedef ReceiverStatus Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool getLeapSecValid() const; + + inline bool getClkReset() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class UbloxGnss::MeasurementReport::ReceiverStatus::Builder { +public: + typedef ReceiverStatus Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool getLeapSecValid(); + inline void setLeapSecValid(bool value); + + inline bool getClkReset(); + inline void setClkReset(bool value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class UbloxGnss::MeasurementReport::ReceiverStatus::Pipeline { +public: + typedef ReceiverStatus Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class UbloxGnss::MeasurementReport::Measurement::Reader { +public: + typedef Measurement Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::uint8_t getSvId() const; + + inline bool hasTrackingStatus() const; + inline ::cereal::UbloxGnss::MeasurementReport::Measurement::TrackingStatus::Reader getTrackingStatus() const; + + inline double getPseudorange() const; + + inline double getCarrierCycles() const; + + inline float getDoppler() const; + + inline ::uint8_t getGnssId() const; + + inline ::uint8_t getGlonassFrequencyIndex() const; + + inline ::uint16_t getLocktime() const; + + inline ::uint8_t getCno() const; + + inline float getPseudorangeStdev() const; + + inline float getCarrierPhaseStdev() const; + + inline float getDopplerStdev() const; + + inline ::uint8_t getSigId() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class UbloxGnss::MeasurementReport::Measurement::Builder { +public: + typedef Measurement Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::uint8_t getSvId(); + inline void setSvId( ::uint8_t value); + + inline bool hasTrackingStatus(); + inline ::cereal::UbloxGnss::MeasurementReport::Measurement::TrackingStatus::Builder getTrackingStatus(); + inline void setTrackingStatus( ::cereal::UbloxGnss::MeasurementReport::Measurement::TrackingStatus::Reader value); + inline ::cereal::UbloxGnss::MeasurementReport::Measurement::TrackingStatus::Builder initTrackingStatus(); + inline void adoptTrackingStatus(::capnp::Orphan< ::cereal::UbloxGnss::MeasurementReport::Measurement::TrackingStatus>&& value); + inline ::capnp::Orphan< ::cereal::UbloxGnss::MeasurementReport::Measurement::TrackingStatus> disownTrackingStatus(); + + inline double getPseudorange(); + inline void setPseudorange(double value); + + inline double getCarrierCycles(); + inline void setCarrierCycles(double value); + + inline float getDoppler(); + inline void setDoppler(float value); + + inline ::uint8_t getGnssId(); + inline void setGnssId( ::uint8_t value); + + inline ::uint8_t getGlonassFrequencyIndex(); + inline void setGlonassFrequencyIndex( ::uint8_t value); + + inline ::uint16_t getLocktime(); + inline void setLocktime( ::uint16_t value); + + inline ::uint8_t getCno(); + inline void setCno( ::uint8_t value); + + inline float getPseudorangeStdev(); + inline void setPseudorangeStdev(float value); + + inline float getCarrierPhaseStdev(); + inline void setCarrierPhaseStdev(float value); + + inline float getDopplerStdev(); + inline void setDopplerStdev(float value); + + inline ::uint8_t getSigId(); + inline void setSigId( ::uint8_t value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class UbloxGnss::MeasurementReport::Measurement::Pipeline { +public: + typedef Measurement Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + + inline ::cereal::UbloxGnss::MeasurementReport::Measurement::TrackingStatus::Pipeline getTrackingStatus(); +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class UbloxGnss::MeasurementReport::Measurement::TrackingStatus::Reader { +public: + typedef TrackingStatus Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool getPseudorangeValid() const; + + inline bool getCarrierPhaseValid() const; + + inline bool getHalfCycleValid() const; + + inline bool getHalfCycleSubtracted() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class UbloxGnss::MeasurementReport::Measurement::TrackingStatus::Builder { +public: + typedef TrackingStatus Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool getPseudorangeValid(); + inline void setPseudorangeValid(bool value); + + inline bool getCarrierPhaseValid(); + inline void setCarrierPhaseValid(bool value); + + inline bool getHalfCycleValid(); + inline void setHalfCycleValid(bool value); + + inline bool getHalfCycleSubtracted(); + inline void setHalfCycleSubtracted(bool value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class UbloxGnss::MeasurementReport::Measurement::TrackingStatus::Pipeline { +public: + typedef TrackingStatus Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class UbloxGnss::Ephemeris::Reader { +public: + typedef Ephemeris Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::uint16_t getSvId() const; + + inline ::uint16_t getYear() const; + + inline ::uint16_t getMonth() const; + + inline ::uint16_t getDay() const; + + inline ::uint16_t getHour() const; + + inline ::uint16_t getMinute() const; + + inline float getSecond() const; + + inline double getAf0() const; + + inline double getAf1() const; + + inline double getAf2() const; + + inline double getIode() const; + + inline double getCrs() const; + + inline double getDeltaN() const; + + inline double getM0() const; + + inline double getCuc() const; + + inline double getEcc() const; + + inline double getCus() const; + + inline double getA() const; + + inline double getToe() const; + + inline double getCic() const; + + inline double getOmega0() const; + + inline double getCis() const; + + inline double getI0() const; + + inline double getCrc() const; + + inline double getOmega() const; + + inline double getOmegaDot() const; + + inline double getIDot() const; + + inline double getCodesL2() const; + + inline double getGpsWeekDEPRECATED() const; + + inline double getL2() const; + + inline double getSvAcc() const; + + inline double getSvHealth() const; + + inline double getTgd() const; + + inline double getIodc() const; + + inline double getTransmissionTime() const; + + inline double getFitInterval() const; + + inline double getToc() const; + + inline bool getIonoCoeffsValid() const; + + inline bool hasIonoAlpha() const; + inline ::capnp::List::Reader getIonoAlpha() const; + + inline bool hasIonoBeta() const; + inline ::capnp::List::Reader getIonoBeta() const; + + inline ::uint32_t getTowCount() const; + + inline ::uint16_t getToeWeek() const; + + inline ::uint16_t getTocWeek() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class UbloxGnss::Ephemeris::Builder { +public: + typedef Ephemeris Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::uint16_t getSvId(); + inline void setSvId( ::uint16_t value); + + inline ::uint16_t getYear(); + inline void setYear( ::uint16_t value); + + inline ::uint16_t getMonth(); + inline void setMonth( ::uint16_t value); + + inline ::uint16_t getDay(); + inline void setDay( ::uint16_t value); + + inline ::uint16_t getHour(); + inline void setHour( ::uint16_t value); + + inline ::uint16_t getMinute(); + inline void setMinute( ::uint16_t value); + + inline float getSecond(); + inline void setSecond(float value); + + inline double getAf0(); + inline void setAf0(double value); + + inline double getAf1(); + inline void setAf1(double value); + + inline double getAf2(); + inline void setAf2(double value); + + inline double getIode(); + inline void setIode(double value); + + inline double getCrs(); + inline void setCrs(double value); + + inline double getDeltaN(); + inline void setDeltaN(double value); + + inline double getM0(); + inline void setM0(double value); + + inline double getCuc(); + inline void setCuc(double value); + + inline double getEcc(); + inline void setEcc(double value); + + inline double getCus(); + inline void setCus(double value); + + inline double getA(); + inline void setA(double value); + + inline double getToe(); + inline void setToe(double value); + + inline double getCic(); + inline void setCic(double value); + + inline double getOmega0(); + inline void setOmega0(double value); + + inline double getCis(); + inline void setCis(double value); + + inline double getI0(); + inline void setI0(double value); + + inline double getCrc(); + inline void setCrc(double value); + + inline double getOmega(); + inline void setOmega(double value); + + inline double getOmegaDot(); + inline void setOmegaDot(double value); + + inline double getIDot(); + inline void setIDot(double value); + + inline double getCodesL2(); + inline void setCodesL2(double value); + + inline double getGpsWeekDEPRECATED(); + inline void setGpsWeekDEPRECATED(double value); + + inline double getL2(); + inline void setL2(double value); + + inline double getSvAcc(); + inline void setSvAcc(double value); + + inline double getSvHealth(); + inline void setSvHealth(double value); + + inline double getTgd(); + inline void setTgd(double value); + + inline double getIodc(); + inline void setIodc(double value); + + inline double getTransmissionTime(); + inline void setTransmissionTime(double value); + + inline double getFitInterval(); + inline void setFitInterval(double value); + + inline double getToc(); + inline void setToc(double value); + + inline bool getIonoCoeffsValid(); + inline void setIonoCoeffsValid(bool value); + + inline bool hasIonoAlpha(); + inline ::capnp::List::Builder getIonoAlpha(); + inline void setIonoAlpha( ::capnp::List::Reader value); + inline void setIonoAlpha(::kj::ArrayPtr value); + inline ::capnp::List::Builder initIonoAlpha(unsigned int size); + inline void adoptIonoAlpha(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownIonoAlpha(); + + inline bool hasIonoBeta(); + inline ::capnp::List::Builder getIonoBeta(); + inline void setIonoBeta( ::capnp::List::Reader value); + inline void setIonoBeta(::kj::ArrayPtr value); + inline ::capnp::List::Builder initIonoBeta(unsigned int size); + inline void adoptIonoBeta(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownIonoBeta(); + + inline ::uint32_t getTowCount(); + inline void setTowCount( ::uint32_t value); + + inline ::uint16_t getToeWeek(); + inline void setToeWeek( ::uint16_t value); + + inline ::uint16_t getTocWeek(); + inline void setTocWeek( ::uint16_t value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class UbloxGnss::Ephemeris::Pipeline { +public: + typedef Ephemeris Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class UbloxGnss::IonoData::Reader { +public: + typedef IonoData Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::uint32_t getSvHealth() const; + + inline double getTow() const; + + inline double getGpsWeek() const; + + inline bool hasIonoAlpha() const; + inline ::capnp::List::Reader getIonoAlpha() const; + + inline bool hasIonoBeta() const; + inline ::capnp::List::Reader getIonoBeta() const; + + inline bool getHealthValid() const; + + inline bool getIonoCoeffsValid() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class UbloxGnss::IonoData::Builder { +public: + typedef IonoData Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::uint32_t getSvHealth(); + inline void setSvHealth( ::uint32_t value); + + inline double getTow(); + inline void setTow(double value); + + inline double getGpsWeek(); + inline void setGpsWeek(double value); + + inline bool hasIonoAlpha(); + inline ::capnp::List::Builder getIonoAlpha(); + inline void setIonoAlpha( ::capnp::List::Reader value); + inline void setIonoAlpha(::kj::ArrayPtr value); + inline ::capnp::List::Builder initIonoAlpha(unsigned int size); + inline void adoptIonoAlpha(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownIonoAlpha(); + + inline bool hasIonoBeta(); + inline ::capnp::List::Builder getIonoBeta(); + inline void setIonoBeta( ::capnp::List::Reader value); + inline void setIonoBeta(::kj::ArrayPtr value); + inline ::capnp::List::Builder initIonoBeta(unsigned int size); + inline void adoptIonoBeta(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownIonoBeta(); + + inline bool getHealthValid(); + inline void setHealthValid(bool value); + + inline bool getIonoCoeffsValid(); + inline void setIonoCoeffsValid(bool value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class UbloxGnss::IonoData::Pipeline { +public: + typedef IonoData Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class UbloxGnss::HwStatus::Reader { +public: + typedef HwStatus Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::uint16_t getNoisePerMS() const; + + inline ::uint16_t getAgcCnt() const; + + inline ::cereal::UbloxGnss::HwStatus::AntennaSupervisorState getAStatus() const; + + inline ::cereal::UbloxGnss::HwStatus::AntennaPowerStatus getAPower() const; + + inline ::uint8_t getJamInd() const; + + inline ::uint8_t getFlags() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class UbloxGnss::HwStatus::Builder { +public: + typedef HwStatus Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::uint16_t getNoisePerMS(); + inline void setNoisePerMS( ::uint16_t value); + + inline ::uint16_t getAgcCnt(); + inline void setAgcCnt( ::uint16_t value); + + inline ::cereal::UbloxGnss::HwStatus::AntennaSupervisorState getAStatus(); + inline void setAStatus( ::cereal::UbloxGnss::HwStatus::AntennaSupervisorState value); + + inline ::cereal::UbloxGnss::HwStatus::AntennaPowerStatus getAPower(); + inline void setAPower( ::cereal::UbloxGnss::HwStatus::AntennaPowerStatus value); + + inline ::uint8_t getJamInd(); + inline void setJamInd( ::uint8_t value); + + inline ::uint8_t getFlags(); + inline void setFlags( ::uint8_t value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class UbloxGnss::HwStatus::Pipeline { +public: + typedef HwStatus Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class UbloxGnss::HwStatus2::Reader { +public: + typedef HwStatus2 Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::int8_t getOfsI() const; + + inline ::uint8_t getMagI() const; + + inline ::int8_t getOfsQ() const; + + inline ::uint8_t getMagQ() const; + + inline ::cereal::UbloxGnss::HwStatus2::ConfigSource getCfgSource() const; + + inline ::uint32_t getLowLevCfg() const; + + inline ::uint32_t getPostStatus() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class UbloxGnss::HwStatus2::Builder { +public: + typedef HwStatus2 Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::int8_t getOfsI(); + inline void setOfsI( ::int8_t value); + + inline ::uint8_t getMagI(); + inline void setMagI( ::uint8_t value); + + inline ::int8_t getOfsQ(); + inline void setOfsQ( ::int8_t value); + + inline ::uint8_t getMagQ(); + inline void setMagQ( ::uint8_t value); + + inline ::cereal::UbloxGnss::HwStatus2::ConfigSource getCfgSource(); + inline void setCfgSource( ::cereal::UbloxGnss::HwStatus2::ConfigSource value); + + inline ::uint32_t getLowLevCfg(); + inline void setLowLevCfg( ::uint32_t value); + + inline ::uint32_t getPostStatus(); + inline void setPostStatus( ::uint32_t value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class UbloxGnss::HwStatus2::Pipeline { +public: + typedef HwStatus2 Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class UbloxGnss::GlonassEphemeris::Reader { +public: + typedef GlonassEphemeris Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::uint16_t getSvId() const; + + inline ::uint16_t getYear() const; + + inline ::uint16_t getDayInYear() const; + + inline ::uint16_t getHour() const; + + inline ::uint16_t getMinute() const; + + inline float getSecond() const; + + inline double getX() const; + + inline double getXVel() const; + + inline double getXAccel() const; + + inline double getY() const; + + inline double getYVel() const; + + inline double getYAccel() const; + + inline double getZ() const; + + inline double getZVel() const; + + inline double getZAccel() const; + + inline ::uint8_t getSvType() const; + + inline float getSvURA() const; + + inline ::uint8_t getAge() const; + + inline ::uint8_t getSvHealth() const; + + inline ::uint16_t getTkDEPRECATED() const; + + inline ::uint16_t getTb() const; + + inline double getTauN() const; + + inline double getDeltaTauN() const; + + inline double getGammaN() const; + + inline ::uint8_t getP1() const; + + inline ::uint8_t getP2() const; + + inline ::uint8_t getP3() const; + + inline ::uint8_t getP4() const; + + inline ::uint32_t getFreqNumDEPRECATED() const; + + inline ::uint8_t getN4() const; + + inline ::uint16_t getNt() const; + + inline ::int16_t getFreqNum() const; + + inline ::uint32_t getTkSeconds() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class UbloxGnss::GlonassEphemeris::Builder { +public: + typedef GlonassEphemeris Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::uint16_t getSvId(); + inline void setSvId( ::uint16_t value); + + inline ::uint16_t getYear(); + inline void setYear( ::uint16_t value); + + inline ::uint16_t getDayInYear(); + inline void setDayInYear( ::uint16_t value); + + inline ::uint16_t getHour(); + inline void setHour( ::uint16_t value); + + inline ::uint16_t getMinute(); + inline void setMinute( ::uint16_t value); + + inline float getSecond(); + inline void setSecond(float value); + + inline double getX(); + inline void setX(double value); + + inline double getXVel(); + inline void setXVel(double value); + + inline double getXAccel(); + inline void setXAccel(double value); + + inline double getY(); + inline void setY(double value); + + inline double getYVel(); + inline void setYVel(double value); + + inline double getYAccel(); + inline void setYAccel(double value); + + inline double getZ(); + inline void setZ(double value); + + inline double getZVel(); + inline void setZVel(double value); + + inline double getZAccel(); + inline void setZAccel(double value); + + inline ::uint8_t getSvType(); + inline void setSvType( ::uint8_t value); + + inline float getSvURA(); + inline void setSvURA(float value); + + inline ::uint8_t getAge(); + inline void setAge( ::uint8_t value); + + inline ::uint8_t getSvHealth(); + inline void setSvHealth( ::uint8_t value); + + inline ::uint16_t getTkDEPRECATED(); + inline void setTkDEPRECATED( ::uint16_t value); + + inline ::uint16_t getTb(); + inline void setTb( ::uint16_t value); + + inline double getTauN(); + inline void setTauN(double value); + + inline double getDeltaTauN(); + inline void setDeltaTauN(double value); + + inline double getGammaN(); + inline void setGammaN(double value); + + inline ::uint8_t getP1(); + inline void setP1( ::uint8_t value); + + inline ::uint8_t getP2(); + inline void setP2( ::uint8_t value); + + inline ::uint8_t getP3(); + inline void setP3( ::uint8_t value); + + inline ::uint8_t getP4(); + inline void setP4( ::uint8_t value); + + inline ::uint32_t getFreqNumDEPRECATED(); + inline void setFreqNumDEPRECATED( ::uint32_t value); + + inline ::uint8_t getN4(); + inline void setN4( ::uint8_t value); + + inline ::uint16_t getNt(); + inline void setNt( ::uint16_t value); + + inline ::int16_t getFreqNum(); + inline void setFreqNum( ::int16_t value); + + inline ::uint32_t getTkSeconds(); + inline void setTkSeconds( ::uint32_t value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class UbloxGnss::GlonassEphemeris::Pipeline { +public: + typedef GlonassEphemeris Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class QcomGnss::Reader { +public: + typedef QcomGnss Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline Which which() const; + inline ::uint64_t getLogTs() const; + + inline bool isMeasurementReport() const; + inline bool hasMeasurementReport() const; + inline ::cereal::QcomGnss::MeasurementReport::Reader getMeasurementReport() const; + + inline bool isClockReport() const; + inline bool hasClockReport() const; + inline ::cereal::QcomGnss::ClockReport::Reader getClockReport() const; + + inline bool isDrMeasurementReport() const; + inline bool hasDrMeasurementReport() const; + inline ::cereal::QcomGnss::DrMeasurementReport::Reader getDrMeasurementReport() const; + + inline bool isDrSvPoly() const; + inline bool hasDrSvPoly() const; + inline ::cereal::QcomGnss::DrSvPolyReport::Reader getDrSvPoly() const; + + inline bool isRawLog() const; + inline bool hasRawLog() const; + inline ::capnp::Data::Reader getRawLog() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class QcomGnss::Builder { +public: + typedef QcomGnss Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline Which which(); + inline ::uint64_t getLogTs(); + inline void setLogTs( ::uint64_t value); + + inline bool isMeasurementReport(); + inline bool hasMeasurementReport(); + inline ::cereal::QcomGnss::MeasurementReport::Builder getMeasurementReport(); + inline void setMeasurementReport( ::cereal::QcomGnss::MeasurementReport::Reader value); + inline ::cereal::QcomGnss::MeasurementReport::Builder initMeasurementReport(); + inline void adoptMeasurementReport(::capnp::Orphan< ::cereal::QcomGnss::MeasurementReport>&& value); + inline ::capnp::Orphan< ::cereal::QcomGnss::MeasurementReport> disownMeasurementReport(); + + inline bool isClockReport(); + inline bool hasClockReport(); + inline ::cereal::QcomGnss::ClockReport::Builder getClockReport(); + inline void setClockReport( ::cereal::QcomGnss::ClockReport::Reader value); + inline ::cereal::QcomGnss::ClockReport::Builder initClockReport(); + inline void adoptClockReport(::capnp::Orphan< ::cereal::QcomGnss::ClockReport>&& value); + inline ::capnp::Orphan< ::cereal::QcomGnss::ClockReport> disownClockReport(); + + inline bool isDrMeasurementReport(); + inline bool hasDrMeasurementReport(); + inline ::cereal::QcomGnss::DrMeasurementReport::Builder getDrMeasurementReport(); + inline void setDrMeasurementReport( ::cereal::QcomGnss::DrMeasurementReport::Reader value); + inline ::cereal::QcomGnss::DrMeasurementReport::Builder initDrMeasurementReport(); + inline void adoptDrMeasurementReport(::capnp::Orphan< ::cereal::QcomGnss::DrMeasurementReport>&& value); + inline ::capnp::Orphan< ::cereal::QcomGnss::DrMeasurementReport> disownDrMeasurementReport(); + + inline bool isDrSvPoly(); + inline bool hasDrSvPoly(); + inline ::cereal::QcomGnss::DrSvPolyReport::Builder getDrSvPoly(); + inline void setDrSvPoly( ::cereal::QcomGnss::DrSvPolyReport::Reader value); + inline ::cereal::QcomGnss::DrSvPolyReport::Builder initDrSvPoly(); + inline void adoptDrSvPoly(::capnp::Orphan< ::cereal::QcomGnss::DrSvPolyReport>&& value); + inline ::capnp::Orphan< ::cereal::QcomGnss::DrSvPolyReport> disownDrSvPoly(); + + inline bool isRawLog(); + inline bool hasRawLog(); + inline ::capnp::Data::Builder getRawLog(); + inline void setRawLog( ::capnp::Data::Reader value); + inline ::capnp::Data::Builder initRawLog(unsigned int size); + inline void adoptRawLog(::capnp::Orphan< ::capnp::Data>&& value); + inline ::capnp::Orphan< ::capnp::Data> disownRawLog(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class QcomGnss::Pipeline { +public: + typedef QcomGnss Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class QcomGnss::MeasurementStatus::Reader { +public: + typedef MeasurementStatus Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool getSubMillisecondIsValid() const; + + inline bool getSubBitTimeIsKnown() const; + + inline bool getSatelliteTimeIsKnown() const; + + inline bool getBitEdgeConfirmedFromSignal() const; + + inline bool getMeasuredVelocity() const; + + inline bool getFineOrCoarseVelocity() const; + + inline bool getLockPointValid() const; + + inline bool getLockPointPositive() const; + + inline bool getLastUpdateFromDifference() const; + + inline bool getLastUpdateFromVelocityDifference() const; + + inline bool getStrongIndicationOfCrossCorelation() const; + + inline bool getTentativeMeasurement() const; + + inline bool getMeasurementNotUsable() const; + + inline bool getSirCheckIsNeeded() const; + + inline bool getProbationMode() const; + + inline bool getGlonassMeanderBitEdgeValid() const; + + inline bool getGlonassTimeMarkValid() const; + + inline bool getGpsRoundRobinRxDiversity() const; + + inline bool getGpsRxDiversity() const; + + inline bool getGpsLowBandwidthRxDiversityCombined() const; + + inline bool getGpsHighBandwidthNu4() const; + + inline bool getGpsHighBandwidthNu8() const; + + inline bool getGpsHighBandwidthUniform() const; + + inline bool getMultipathIndicator() const; + + inline bool getImdJammingIndicator() const; + + inline bool getLteB13TxJammingIndicator() const; + + inline bool getFreshMeasurementIndicator() const; + + inline bool getMultipathEstimateIsValid() const; + + inline bool getDirectionIsValid() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class QcomGnss::MeasurementStatus::Builder { +public: + typedef MeasurementStatus Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool getSubMillisecondIsValid(); + inline void setSubMillisecondIsValid(bool value); + + inline bool getSubBitTimeIsKnown(); + inline void setSubBitTimeIsKnown(bool value); + + inline bool getSatelliteTimeIsKnown(); + inline void setSatelliteTimeIsKnown(bool value); + + inline bool getBitEdgeConfirmedFromSignal(); + inline void setBitEdgeConfirmedFromSignal(bool value); + + inline bool getMeasuredVelocity(); + inline void setMeasuredVelocity(bool value); + + inline bool getFineOrCoarseVelocity(); + inline void setFineOrCoarseVelocity(bool value); + + inline bool getLockPointValid(); + inline void setLockPointValid(bool value); + + inline bool getLockPointPositive(); + inline void setLockPointPositive(bool value); + + inline bool getLastUpdateFromDifference(); + inline void setLastUpdateFromDifference(bool value); + + inline bool getLastUpdateFromVelocityDifference(); + inline void setLastUpdateFromVelocityDifference(bool value); + + inline bool getStrongIndicationOfCrossCorelation(); + inline void setStrongIndicationOfCrossCorelation(bool value); + + inline bool getTentativeMeasurement(); + inline void setTentativeMeasurement(bool value); + + inline bool getMeasurementNotUsable(); + inline void setMeasurementNotUsable(bool value); + + inline bool getSirCheckIsNeeded(); + inline void setSirCheckIsNeeded(bool value); + + inline bool getProbationMode(); + inline void setProbationMode(bool value); + + inline bool getGlonassMeanderBitEdgeValid(); + inline void setGlonassMeanderBitEdgeValid(bool value); + + inline bool getGlonassTimeMarkValid(); + inline void setGlonassTimeMarkValid(bool value); + + inline bool getGpsRoundRobinRxDiversity(); + inline void setGpsRoundRobinRxDiversity(bool value); + + inline bool getGpsRxDiversity(); + inline void setGpsRxDiversity(bool value); + + inline bool getGpsLowBandwidthRxDiversityCombined(); + inline void setGpsLowBandwidthRxDiversityCombined(bool value); + + inline bool getGpsHighBandwidthNu4(); + inline void setGpsHighBandwidthNu4(bool value); + + inline bool getGpsHighBandwidthNu8(); + inline void setGpsHighBandwidthNu8(bool value); + + inline bool getGpsHighBandwidthUniform(); + inline void setGpsHighBandwidthUniform(bool value); + + inline bool getMultipathIndicator(); + inline void setMultipathIndicator(bool value); + + inline bool getImdJammingIndicator(); + inline void setImdJammingIndicator(bool value); + + inline bool getLteB13TxJammingIndicator(); + inline void setLteB13TxJammingIndicator(bool value); + + inline bool getFreshMeasurementIndicator(); + inline void setFreshMeasurementIndicator(bool value); + + inline bool getMultipathEstimateIsValid(); + inline void setMultipathEstimateIsValid(bool value); + + inline bool getDirectionIsValid(); + inline void setDirectionIsValid(bool value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class QcomGnss::MeasurementStatus::Pipeline { +public: + typedef MeasurementStatus Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class QcomGnss::MeasurementReport::Reader { +public: + typedef MeasurementReport Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::cereal::QcomGnss::MeasurementSource getSource() const; + + inline ::uint32_t getFCount() const; + + inline ::uint16_t getGpsWeek() const; + + inline ::uint8_t getGlonassCycleNumber() const; + + inline ::uint16_t getGlonassNumberOfDays() const; + + inline ::uint32_t getMilliseconds() const; + + inline float getTimeBias() const; + + inline float getClockTimeUncertainty() const; + + inline float getClockFrequencyBias() const; + + inline float getClockFrequencyUncertainty() const; + + inline bool hasSv() const; + inline ::capnp::List< ::cereal::QcomGnss::MeasurementReport::SV, ::capnp::Kind::STRUCT>::Reader getSv() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class QcomGnss::MeasurementReport::Builder { +public: + typedef MeasurementReport Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::cereal::QcomGnss::MeasurementSource getSource(); + inline void setSource( ::cereal::QcomGnss::MeasurementSource value); + + inline ::uint32_t getFCount(); + inline void setFCount( ::uint32_t value); + + inline ::uint16_t getGpsWeek(); + inline void setGpsWeek( ::uint16_t value); + + inline ::uint8_t getGlonassCycleNumber(); + inline void setGlonassCycleNumber( ::uint8_t value); + + inline ::uint16_t getGlonassNumberOfDays(); + inline void setGlonassNumberOfDays( ::uint16_t value); + + inline ::uint32_t getMilliseconds(); + inline void setMilliseconds( ::uint32_t value); + + inline float getTimeBias(); + inline void setTimeBias(float value); + + inline float getClockTimeUncertainty(); + inline void setClockTimeUncertainty(float value); + + inline float getClockFrequencyBias(); + inline void setClockFrequencyBias(float value); + + inline float getClockFrequencyUncertainty(); + inline void setClockFrequencyUncertainty(float value); + + inline bool hasSv(); + inline ::capnp::List< ::cereal::QcomGnss::MeasurementReport::SV, ::capnp::Kind::STRUCT>::Builder getSv(); + inline void setSv( ::capnp::List< ::cereal::QcomGnss::MeasurementReport::SV, ::capnp::Kind::STRUCT>::Reader value); + inline ::capnp::List< ::cereal::QcomGnss::MeasurementReport::SV, ::capnp::Kind::STRUCT>::Builder initSv(unsigned int size); + inline void adoptSv(::capnp::Orphan< ::capnp::List< ::cereal::QcomGnss::MeasurementReport::SV, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::QcomGnss::MeasurementReport::SV, ::capnp::Kind::STRUCT>> disownSv(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class QcomGnss::MeasurementReport::Pipeline { +public: + typedef MeasurementReport Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class QcomGnss::MeasurementReport::SV::Reader { +public: + typedef SV Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::uint8_t getSvId() const; + + inline ::int8_t getGlonassFrequencyIndex() const; + + inline ::cereal::QcomGnss::SVObservationState getObservationState() const; + + inline ::uint8_t getObservations() const; + + inline ::uint8_t getGoodObservations() const; + + inline ::uint16_t getGpsParityErrorCount() const; + + inline ::uint8_t getGlonassHemmingErrorCount() const; + + inline ::uint8_t getFilterStages() const; + + inline ::uint16_t getCarrierNoise() const; + + inline ::int16_t getLatency() const; + + inline ::uint8_t getPredetectInterval() const; + + inline ::uint16_t getPostdetections() const; + + inline ::uint32_t getUnfilteredMeasurementIntegral() const; + + inline float getUnfilteredMeasurementFraction() const; + + inline float getUnfilteredTimeUncertainty() const; + + inline float getUnfilteredSpeed() const; + + inline float getUnfilteredSpeedUncertainty() const; + + inline bool hasMeasurementStatus() const; + inline ::cereal::QcomGnss::MeasurementStatus::Reader getMeasurementStatus() const; + + inline ::uint32_t getMultipathEstimate() const; + + inline float getAzimuth() const; + + inline float getElevation() const; + + inline ::int32_t getCarrierPhaseCyclesIntegral() const; + + inline ::uint16_t getCarrierPhaseCyclesFraction() const; + + inline float getFineSpeed() const; + + inline float getFineSpeedUncertainty() const; + + inline ::uint8_t getCycleSlipCount() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class QcomGnss::MeasurementReport::SV::Builder { +public: + typedef SV Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::uint8_t getSvId(); + inline void setSvId( ::uint8_t value); + + inline ::int8_t getGlonassFrequencyIndex(); + inline void setGlonassFrequencyIndex( ::int8_t value); + + inline ::cereal::QcomGnss::SVObservationState getObservationState(); + inline void setObservationState( ::cereal::QcomGnss::SVObservationState value); + + inline ::uint8_t getObservations(); + inline void setObservations( ::uint8_t value); + + inline ::uint8_t getGoodObservations(); + inline void setGoodObservations( ::uint8_t value); + + inline ::uint16_t getGpsParityErrorCount(); + inline void setGpsParityErrorCount( ::uint16_t value); + + inline ::uint8_t getGlonassHemmingErrorCount(); + inline void setGlonassHemmingErrorCount( ::uint8_t value); + + inline ::uint8_t getFilterStages(); + inline void setFilterStages( ::uint8_t value); + + inline ::uint16_t getCarrierNoise(); + inline void setCarrierNoise( ::uint16_t value); + + inline ::int16_t getLatency(); + inline void setLatency( ::int16_t value); + + inline ::uint8_t getPredetectInterval(); + inline void setPredetectInterval( ::uint8_t value); + + inline ::uint16_t getPostdetections(); + inline void setPostdetections( ::uint16_t value); + + inline ::uint32_t getUnfilteredMeasurementIntegral(); + inline void setUnfilteredMeasurementIntegral( ::uint32_t value); + + inline float getUnfilteredMeasurementFraction(); + inline void setUnfilteredMeasurementFraction(float value); + + inline float getUnfilteredTimeUncertainty(); + inline void setUnfilteredTimeUncertainty(float value); + + inline float getUnfilteredSpeed(); + inline void setUnfilteredSpeed(float value); + + inline float getUnfilteredSpeedUncertainty(); + inline void setUnfilteredSpeedUncertainty(float value); + + inline bool hasMeasurementStatus(); + inline ::cereal::QcomGnss::MeasurementStatus::Builder getMeasurementStatus(); + inline void setMeasurementStatus( ::cereal::QcomGnss::MeasurementStatus::Reader value); + inline ::cereal::QcomGnss::MeasurementStatus::Builder initMeasurementStatus(); + inline void adoptMeasurementStatus(::capnp::Orphan< ::cereal::QcomGnss::MeasurementStatus>&& value); + inline ::capnp::Orphan< ::cereal::QcomGnss::MeasurementStatus> disownMeasurementStatus(); + + inline ::uint32_t getMultipathEstimate(); + inline void setMultipathEstimate( ::uint32_t value); + + inline float getAzimuth(); + inline void setAzimuth(float value); + + inline float getElevation(); + inline void setElevation(float value); + + inline ::int32_t getCarrierPhaseCyclesIntegral(); + inline void setCarrierPhaseCyclesIntegral( ::int32_t value); + + inline ::uint16_t getCarrierPhaseCyclesFraction(); + inline void setCarrierPhaseCyclesFraction( ::uint16_t value); + + inline float getFineSpeed(); + inline void setFineSpeed(float value); + + inline float getFineSpeedUncertainty(); + inline void setFineSpeedUncertainty(float value); + + inline ::uint8_t getCycleSlipCount(); + inline void setCycleSlipCount( ::uint8_t value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class QcomGnss::MeasurementReport::SV::Pipeline { +public: + typedef SV Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + + inline ::cereal::QcomGnss::MeasurementStatus::Pipeline getMeasurementStatus(); +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class QcomGnss::ClockReport::Reader { +public: + typedef ClockReport Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool getHasFCount() const; + + inline ::uint32_t getFCount() const; + + inline bool getHasGpsWeek() const; + + inline ::uint16_t getGpsWeek() const; + + inline bool getHasGpsMilliseconds() const; + + inline ::uint32_t getGpsMilliseconds() const; + + inline float getGpsTimeBias() const; + + inline float getGpsClockTimeUncertainty() const; + + inline ::uint8_t getGpsClockSource() const; + + inline bool getHasGlonassYear() const; + + inline ::uint8_t getGlonassYear() const; + + inline bool getHasGlonassDay() const; + + inline ::uint16_t getGlonassDay() const; + + inline bool getHasGlonassMilliseconds() const; + + inline ::uint32_t getGlonassMilliseconds() const; + + inline float getGlonassTimeBias() const; + + inline float getGlonassClockTimeUncertainty() const; + + inline ::uint8_t getGlonassClockSource() const; + + inline ::uint16_t getBdsWeek() const; + + inline ::uint32_t getBdsMilliseconds() const; + + inline float getBdsTimeBias() const; + + inline float getBdsClockTimeUncertainty() const; + + inline ::uint8_t getBdsClockSource() const; + + inline ::uint16_t getGalWeek() const; + + inline ::uint32_t getGalMilliseconds() const; + + inline float getGalTimeBias() const; + + inline float getGalClockTimeUncertainty() const; + + inline ::uint8_t getGalClockSource() const; + + inline float getClockFrequencyBias() const; + + inline float getClockFrequencyUncertainty() const; + + inline ::uint8_t getFrequencySource() const; + + inline ::uint8_t getGpsLeapSeconds() const; + + inline ::uint8_t getGpsLeapSecondsUncertainty() const; + + inline ::uint8_t getGpsLeapSecondsSource() const; + + inline float getGpsToGlonassTimeBiasMilliseconds() const; + + inline float getGpsToGlonassTimeBiasMillisecondsUncertainty() const; + + inline float getGpsToBdsTimeBiasMilliseconds() const; + + inline float getGpsToBdsTimeBiasMillisecondsUncertainty() const; + + inline float getBdsToGloTimeBiasMilliseconds() const; + + inline float getBdsToGloTimeBiasMillisecondsUncertainty() const; + + inline float getGpsToGalTimeBiasMilliseconds() const; + + inline float getGpsToGalTimeBiasMillisecondsUncertainty() const; + + inline float getGalToGloTimeBiasMilliseconds() const; + + inline float getGalToGloTimeBiasMillisecondsUncertainty() const; + + inline float getGalToBdsTimeBiasMilliseconds() const; + + inline float getGalToBdsTimeBiasMillisecondsUncertainty() const; + + inline bool getHasRtcTime() const; + + inline ::uint32_t getSystemRtcTime() const; + + inline ::uint32_t getFCountOffset() const; + + inline ::uint32_t getLpmRtcCount() const; + + inline ::uint32_t getClockResets() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class QcomGnss::ClockReport::Builder { +public: + typedef ClockReport Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool getHasFCount(); + inline void setHasFCount(bool value); + + inline ::uint32_t getFCount(); + inline void setFCount( ::uint32_t value); + + inline bool getHasGpsWeek(); + inline void setHasGpsWeek(bool value); + + inline ::uint16_t getGpsWeek(); + inline void setGpsWeek( ::uint16_t value); + + inline bool getHasGpsMilliseconds(); + inline void setHasGpsMilliseconds(bool value); + + inline ::uint32_t getGpsMilliseconds(); + inline void setGpsMilliseconds( ::uint32_t value); + + inline float getGpsTimeBias(); + inline void setGpsTimeBias(float value); + + inline float getGpsClockTimeUncertainty(); + inline void setGpsClockTimeUncertainty(float value); + + inline ::uint8_t getGpsClockSource(); + inline void setGpsClockSource( ::uint8_t value); + + inline bool getHasGlonassYear(); + inline void setHasGlonassYear(bool value); + + inline ::uint8_t getGlonassYear(); + inline void setGlonassYear( ::uint8_t value); + + inline bool getHasGlonassDay(); + inline void setHasGlonassDay(bool value); + + inline ::uint16_t getGlonassDay(); + inline void setGlonassDay( ::uint16_t value); + + inline bool getHasGlonassMilliseconds(); + inline void setHasGlonassMilliseconds(bool value); + + inline ::uint32_t getGlonassMilliseconds(); + inline void setGlonassMilliseconds( ::uint32_t value); + + inline float getGlonassTimeBias(); + inline void setGlonassTimeBias(float value); + + inline float getGlonassClockTimeUncertainty(); + inline void setGlonassClockTimeUncertainty(float value); + + inline ::uint8_t getGlonassClockSource(); + inline void setGlonassClockSource( ::uint8_t value); + + inline ::uint16_t getBdsWeek(); + inline void setBdsWeek( ::uint16_t value); + + inline ::uint32_t getBdsMilliseconds(); + inline void setBdsMilliseconds( ::uint32_t value); + + inline float getBdsTimeBias(); + inline void setBdsTimeBias(float value); + + inline float getBdsClockTimeUncertainty(); + inline void setBdsClockTimeUncertainty(float value); + + inline ::uint8_t getBdsClockSource(); + inline void setBdsClockSource( ::uint8_t value); + + inline ::uint16_t getGalWeek(); + inline void setGalWeek( ::uint16_t value); + + inline ::uint32_t getGalMilliseconds(); + inline void setGalMilliseconds( ::uint32_t value); + + inline float getGalTimeBias(); + inline void setGalTimeBias(float value); + + inline float getGalClockTimeUncertainty(); + inline void setGalClockTimeUncertainty(float value); + + inline ::uint8_t getGalClockSource(); + inline void setGalClockSource( ::uint8_t value); + + inline float getClockFrequencyBias(); + inline void setClockFrequencyBias(float value); + + inline float getClockFrequencyUncertainty(); + inline void setClockFrequencyUncertainty(float value); + + inline ::uint8_t getFrequencySource(); + inline void setFrequencySource( ::uint8_t value); + + inline ::uint8_t getGpsLeapSeconds(); + inline void setGpsLeapSeconds( ::uint8_t value); + + inline ::uint8_t getGpsLeapSecondsUncertainty(); + inline void setGpsLeapSecondsUncertainty( ::uint8_t value); + + inline ::uint8_t getGpsLeapSecondsSource(); + inline void setGpsLeapSecondsSource( ::uint8_t value); + + inline float getGpsToGlonassTimeBiasMilliseconds(); + inline void setGpsToGlonassTimeBiasMilliseconds(float value); + + inline float getGpsToGlonassTimeBiasMillisecondsUncertainty(); + inline void setGpsToGlonassTimeBiasMillisecondsUncertainty(float value); + + inline float getGpsToBdsTimeBiasMilliseconds(); + inline void setGpsToBdsTimeBiasMilliseconds(float value); + + inline float getGpsToBdsTimeBiasMillisecondsUncertainty(); + inline void setGpsToBdsTimeBiasMillisecondsUncertainty(float value); + + inline float getBdsToGloTimeBiasMilliseconds(); + inline void setBdsToGloTimeBiasMilliseconds(float value); + + inline float getBdsToGloTimeBiasMillisecondsUncertainty(); + inline void setBdsToGloTimeBiasMillisecondsUncertainty(float value); + + inline float getGpsToGalTimeBiasMilliseconds(); + inline void setGpsToGalTimeBiasMilliseconds(float value); + + inline float getGpsToGalTimeBiasMillisecondsUncertainty(); + inline void setGpsToGalTimeBiasMillisecondsUncertainty(float value); + + inline float getGalToGloTimeBiasMilliseconds(); + inline void setGalToGloTimeBiasMilliseconds(float value); + + inline float getGalToGloTimeBiasMillisecondsUncertainty(); + inline void setGalToGloTimeBiasMillisecondsUncertainty(float value); + + inline float getGalToBdsTimeBiasMilliseconds(); + inline void setGalToBdsTimeBiasMilliseconds(float value); + + inline float getGalToBdsTimeBiasMillisecondsUncertainty(); + inline void setGalToBdsTimeBiasMillisecondsUncertainty(float value); + + inline bool getHasRtcTime(); + inline void setHasRtcTime(bool value); + + inline ::uint32_t getSystemRtcTime(); + inline void setSystemRtcTime( ::uint32_t value); + + inline ::uint32_t getFCountOffset(); + inline void setFCountOffset( ::uint32_t value); + + inline ::uint32_t getLpmRtcCount(); + inline void setLpmRtcCount( ::uint32_t value); + + inline ::uint32_t getClockResets(); + inline void setClockResets( ::uint32_t value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class QcomGnss::ClockReport::Pipeline { +public: + typedef ClockReport Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class QcomGnss::DrMeasurementReport::Reader { +public: + typedef DrMeasurementReport Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::uint8_t getReason() const; + + inline ::uint8_t getSeqNum() const; + + inline ::uint8_t getSeqMax() const; + + inline ::uint16_t getRfLoss() const; + + inline bool getSystemRtcValid() const; + + inline ::uint32_t getFCount() const; + + inline ::uint32_t getClockResets() const; + + inline ::uint64_t getSystemRtcTime() const; + + inline ::uint8_t getGpsLeapSeconds() const; + + inline ::uint8_t getGpsLeapSecondsUncertainty() const; + + inline float getGpsToGlonassTimeBiasMilliseconds() const; + + inline float getGpsToGlonassTimeBiasMillisecondsUncertainty() const; + + inline ::uint16_t getGpsWeek() const; + + inline ::uint32_t getGpsMilliseconds() const; + + inline ::uint32_t getGpsTimeBiasMs() const; + + inline ::uint32_t getGpsClockTimeUncertaintyMs() const; + + inline ::uint8_t getGpsClockSource() const; + + inline ::uint8_t getGlonassClockSource() const; + + inline ::uint8_t getGlonassYear() const; + + inline ::uint16_t getGlonassDay() const; + + inline ::uint32_t getGlonassMilliseconds() const; + + inline float getGlonassTimeBias() const; + + inline float getGlonassClockTimeUncertainty() const; + + inline float getClockFrequencyBias() const; + + inline float getClockFrequencyUncertainty() const; + + inline ::uint8_t getFrequencySource() const; + + inline ::cereal::QcomGnss::MeasurementSource getSource() const; + + inline bool hasSv() const; + inline ::capnp::List< ::cereal::QcomGnss::DrMeasurementReport::SV, ::capnp::Kind::STRUCT>::Reader getSv() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class QcomGnss::DrMeasurementReport::Builder { +public: + typedef DrMeasurementReport Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::uint8_t getReason(); + inline void setReason( ::uint8_t value); + + inline ::uint8_t getSeqNum(); + inline void setSeqNum( ::uint8_t value); + + inline ::uint8_t getSeqMax(); + inline void setSeqMax( ::uint8_t value); + + inline ::uint16_t getRfLoss(); + inline void setRfLoss( ::uint16_t value); + + inline bool getSystemRtcValid(); + inline void setSystemRtcValid(bool value); + + inline ::uint32_t getFCount(); + inline void setFCount( ::uint32_t value); + + inline ::uint32_t getClockResets(); + inline void setClockResets( ::uint32_t value); + + inline ::uint64_t getSystemRtcTime(); + inline void setSystemRtcTime( ::uint64_t value); + + inline ::uint8_t getGpsLeapSeconds(); + inline void setGpsLeapSeconds( ::uint8_t value); + + inline ::uint8_t getGpsLeapSecondsUncertainty(); + inline void setGpsLeapSecondsUncertainty( ::uint8_t value); + + inline float getGpsToGlonassTimeBiasMilliseconds(); + inline void setGpsToGlonassTimeBiasMilliseconds(float value); + + inline float getGpsToGlonassTimeBiasMillisecondsUncertainty(); + inline void setGpsToGlonassTimeBiasMillisecondsUncertainty(float value); + + inline ::uint16_t getGpsWeek(); + inline void setGpsWeek( ::uint16_t value); + + inline ::uint32_t getGpsMilliseconds(); + inline void setGpsMilliseconds( ::uint32_t value); + + inline ::uint32_t getGpsTimeBiasMs(); + inline void setGpsTimeBiasMs( ::uint32_t value); + + inline ::uint32_t getGpsClockTimeUncertaintyMs(); + inline void setGpsClockTimeUncertaintyMs( ::uint32_t value); + + inline ::uint8_t getGpsClockSource(); + inline void setGpsClockSource( ::uint8_t value); + + inline ::uint8_t getGlonassClockSource(); + inline void setGlonassClockSource( ::uint8_t value); + + inline ::uint8_t getGlonassYear(); + inline void setGlonassYear( ::uint8_t value); + + inline ::uint16_t getGlonassDay(); + inline void setGlonassDay( ::uint16_t value); + + inline ::uint32_t getGlonassMilliseconds(); + inline void setGlonassMilliseconds( ::uint32_t value); + + inline float getGlonassTimeBias(); + inline void setGlonassTimeBias(float value); + + inline float getGlonassClockTimeUncertainty(); + inline void setGlonassClockTimeUncertainty(float value); + + inline float getClockFrequencyBias(); + inline void setClockFrequencyBias(float value); + + inline float getClockFrequencyUncertainty(); + inline void setClockFrequencyUncertainty(float value); + + inline ::uint8_t getFrequencySource(); + inline void setFrequencySource( ::uint8_t value); + + inline ::cereal::QcomGnss::MeasurementSource getSource(); + inline void setSource( ::cereal::QcomGnss::MeasurementSource value); + + inline bool hasSv(); + inline ::capnp::List< ::cereal::QcomGnss::DrMeasurementReport::SV, ::capnp::Kind::STRUCT>::Builder getSv(); + inline void setSv( ::capnp::List< ::cereal::QcomGnss::DrMeasurementReport::SV, ::capnp::Kind::STRUCT>::Reader value); + inline ::capnp::List< ::cereal::QcomGnss::DrMeasurementReport::SV, ::capnp::Kind::STRUCT>::Builder initSv(unsigned int size); + inline void adoptSv(::capnp::Orphan< ::capnp::List< ::cereal::QcomGnss::DrMeasurementReport::SV, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::QcomGnss::DrMeasurementReport::SV, ::capnp::Kind::STRUCT>> disownSv(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class QcomGnss::DrMeasurementReport::Pipeline { +public: + typedef DrMeasurementReport Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class QcomGnss::DrMeasurementReport::SV::Reader { +public: + typedef SV Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::uint8_t getSvId() const; + + inline ::int8_t getGlonassFrequencyIndex() const; + + inline ::cereal::QcomGnss::SVObservationState getObservationState() const; + + inline ::uint8_t getObservations() const; + + inline ::uint8_t getGoodObservations() const; + + inline ::uint8_t getFilterStages() const; + + inline ::uint8_t getPredetectInterval() const; + + inline ::uint8_t getCycleSlipCount() const; + + inline ::uint16_t getPostdetections() const; + + inline bool hasMeasurementStatus() const; + inline ::cereal::QcomGnss::MeasurementStatus::Reader getMeasurementStatus() const; + + inline ::uint16_t getCarrierNoise() const; + + inline ::uint16_t getRfLoss() const; + + inline ::int16_t getLatency() const; + + inline float getFilteredMeasurementFraction() const; + + inline ::uint32_t getFilteredMeasurementIntegral() const; + + inline float getFilteredTimeUncertainty() const; + + inline float getFilteredSpeed() const; + + inline float getFilteredSpeedUncertainty() const; + + inline float getUnfilteredMeasurementFraction() const; + + inline ::uint32_t getUnfilteredMeasurementIntegral() const; + + inline float getUnfilteredTimeUncertainty() const; + + inline float getUnfilteredSpeed() const; + + inline float getUnfilteredSpeedUncertainty() const; + + inline ::uint32_t getMultipathEstimate() const; + + inline float getAzimuth() const; + + inline float getElevation() const; + + inline float getDopplerAcceleration() const; + + inline float getFineSpeed() const; + + inline float getFineSpeedUncertainty() const; + + inline double getCarrierPhase() const; + + inline ::uint32_t getFCount() const; + + inline ::uint16_t getParityErrorCount() const; + + inline bool getGoodParity() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class QcomGnss::DrMeasurementReport::SV::Builder { +public: + typedef SV Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::uint8_t getSvId(); + inline void setSvId( ::uint8_t value); + + inline ::int8_t getGlonassFrequencyIndex(); + inline void setGlonassFrequencyIndex( ::int8_t value); + + inline ::cereal::QcomGnss::SVObservationState getObservationState(); + inline void setObservationState( ::cereal::QcomGnss::SVObservationState value); + + inline ::uint8_t getObservations(); + inline void setObservations( ::uint8_t value); + + inline ::uint8_t getGoodObservations(); + inline void setGoodObservations( ::uint8_t value); + + inline ::uint8_t getFilterStages(); + inline void setFilterStages( ::uint8_t value); + + inline ::uint8_t getPredetectInterval(); + inline void setPredetectInterval( ::uint8_t value); + + inline ::uint8_t getCycleSlipCount(); + inline void setCycleSlipCount( ::uint8_t value); + + inline ::uint16_t getPostdetections(); + inline void setPostdetections( ::uint16_t value); + + inline bool hasMeasurementStatus(); + inline ::cereal::QcomGnss::MeasurementStatus::Builder getMeasurementStatus(); + inline void setMeasurementStatus( ::cereal::QcomGnss::MeasurementStatus::Reader value); + inline ::cereal::QcomGnss::MeasurementStatus::Builder initMeasurementStatus(); + inline void adoptMeasurementStatus(::capnp::Orphan< ::cereal::QcomGnss::MeasurementStatus>&& value); + inline ::capnp::Orphan< ::cereal::QcomGnss::MeasurementStatus> disownMeasurementStatus(); + + inline ::uint16_t getCarrierNoise(); + inline void setCarrierNoise( ::uint16_t value); + + inline ::uint16_t getRfLoss(); + inline void setRfLoss( ::uint16_t value); + + inline ::int16_t getLatency(); + inline void setLatency( ::int16_t value); + + inline float getFilteredMeasurementFraction(); + inline void setFilteredMeasurementFraction(float value); + + inline ::uint32_t getFilteredMeasurementIntegral(); + inline void setFilteredMeasurementIntegral( ::uint32_t value); + + inline float getFilteredTimeUncertainty(); + inline void setFilteredTimeUncertainty(float value); + + inline float getFilteredSpeed(); + inline void setFilteredSpeed(float value); + + inline float getFilteredSpeedUncertainty(); + inline void setFilteredSpeedUncertainty(float value); + + inline float getUnfilteredMeasurementFraction(); + inline void setUnfilteredMeasurementFraction(float value); + + inline ::uint32_t getUnfilteredMeasurementIntegral(); + inline void setUnfilteredMeasurementIntegral( ::uint32_t value); + + inline float getUnfilteredTimeUncertainty(); + inline void setUnfilteredTimeUncertainty(float value); + + inline float getUnfilteredSpeed(); + inline void setUnfilteredSpeed(float value); + + inline float getUnfilteredSpeedUncertainty(); + inline void setUnfilteredSpeedUncertainty(float value); + + inline ::uint32_t getMultipathEstimate(); + inline void setMultipathEstimate( ::uint32_t value); + + inline float getAzimuth(); + inline void setAzimuth(float value); + + inline float getElevation(); + inline void setElevation(float value); + + inline float getDopplerAcceleration(); + inline void setDopplerAcceleration(float value); + + inline float getFineSpeed(); + inline void setFineSpeed(float value); + + inline float getFineSpeedUncertainty(); + inline void setFineSpeedUncertainty(float value); + + inline double getCarrierPhase(); + inline void setCarrierPhase(double value); + + inline ::uint32_t getFCount(); + inline void setFCount( ::uint32_t value); + + inline ::uint16_t getParityErrorCount(); + inline void setParityErrorCount( ::uint16_t value); + + inline bool getGoodParity(); + inline void setGoodParity(bool value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class QcomGnss::DrMeasurementReport::SV::Pipeline { +public: + typedef SV Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + + inline ::cereal::QcomGnss::MeasurementStatus::Pipeline getMeasurementStatus(); +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class QcomGnss::DrSvPolyReport::Reader { +public: + typedef DrSvPolyReport Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::uint16_t getSvId() const; + + inline ::int8_t getFrequencyIndex() const; + + inline bool getHasPosition() const; + + inline bool getHasIono() const; + + inline bool getHasTropo() const; + + inline bool getHasElevation() const; + + inline bool getPolyFromXtra() const; + + inline bool getHasSbasIono() const; + + inline ::uint16_t getIode() const; + + inline double getT0() const; + + inline bool hasXyz0() const; + inline ::capnp::List::Reader getXyz0() const; + + inline bool hasXyzN() const; + inline ::capnp::List::Reader getXyzN() const; + + inline bool hasOther() const; + inline ::capnp::List::Reader getOther() const; + + inline float getPositionUncertainty() const; + + inline float getIonoDelay() const; + + inline float getIonoDot() const; + + inline float getSbasIonoDelay() const; + + inline float getSbasIonoDot() const; + + inline float getTropoDelay() const; + + inline float getElevation() const; + + inline float getElevationDot() const; + + inline float getElevationUncertainty() const; + + inline bool hasVelocityCoeff() const; + inline ::capnp::List::Reader getVelocityCoeff() const; + + inline ::uint16_t getGpsWeek() const; + + inline double getGpsTow() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class QcomGnss::DrSvPolyReport::Builder { +public: + typedef DrSvPolyReport Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::uint16_t getSvId(); + inline void setSvId( ::uint16_t value); + + inline ::int8_t getFrequencyIndex(); + inline void setFrequencyIndex( ::int8_t value); + + inline bool getHasPosition(); + inline void setHasPosition(bool value); + + inline bool getHasIono(); + inline void setHasIono(bool value); + + inline bool getHasTropo(); + inline void setHasTropo(bool value); + + inline bool getHasElevation(); + inline void setHasElevation(bool value); + + inline bool getPolyFromXtra(); + inline void setPolyFromXtra(bool value); + + inline bool getHasSbasIono(); + inline void setHasSbasIono(bool value); + + inline ::uint16_t getIode(); + inline void setIode( ::uint16_t value); + + inline double getT0(); + inline void setT0(double value); + + inline bool hasXyz0(); + inline ::capnp::List::Builder getXyz0(); + inline void setXyz0( ::capnp::List::Reader value); + inline void setXyz0(::kj::ArrayPtr value); + inline ::capnp::List::Builder initXyz0(unsigned int size); + inline void adoptXyz0(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownXyz0(); + + inline bool hasXyzN(); + inline ::capnp::List::Builder getXyzN(); + inline void setXyzN( ::capnp::List::Reader value); + inline void setXyzN(::kj::ArrayPtr value); + inline ::capnp::List::Builder initXyzN(unsigned int size); + inline void adoptXyzN(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownXyzN(); + + inline bool hasOther(); + inline ::capnp::List::Builder getOther(); + inline void setOther( ::capnp::List::Reader value); + inline void setOther(::kj::ArrayPtr value); + inline ::capnp::List::Builder initOther(unsigned int size); + inline void adoptOther(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownOther(); + + inline float getPositionUncertainty(); + inline void setPositionUncertainty(float value); + + inline float getIonoDelay(); + inline void setIonoDelay(float value); + + inline float getIonoDot(); + inline void setIonoDot(float value); + + inline float getSbasIonoDelay(); + inline void setSbasIonoDelay(float value); + + inline float getSbasIonoDot(); + inline void setSbasIonoDot(float value); + + inline float getTropoDelay(); + inline void setTropoDelay(float value); + + inline float getElevation(); + inline void setElevation(float value); + + inline float getElevationDot(); + inline void setElevationDot(float value); + + inline float getElevationUncertainty(); + inline void setElevationUncertainty(float value); + + inline bool hasVelocityCoeff(); + inline ::capnp::List::Builder getVelocityCoeff(); + inline void setVelocityCoeff( ::capnp::List::Reader value); + inline void setVelocityCoeff(::kj::ArrayPtr value); + inline ::capnp::List::Builder initVelocityCoeff(unsigned int size); + inline void adoptVelocityCoeff(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownVelocityCoeff(); + + inline ::uint16_t getGpsWeek(); + inline void setGpsWeek( ::uint16_t value); + + inline double getGpsTow(); + inline void setGpsTow(double value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class QcomGnss::DrSvPolyReport::Pipeline { +public: + typedef DrSvPolyReport Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class Clocks::Reader { +public: + typedef Clocks Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::uint64_t getBootTimeNanosDEPRECATED() const; + + inline ::uint64_t getMonotonicNanosDEPRECATED() const; + + inline ::uint64_t getMonotonicRawNanosDEPRECATD() const; + + inline ::uint64_t getWallTimeNanos() const; + + inline ::uint64_t getModemUptimeMillisDEPRECATED() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class Clocks::Builder { +public: + typedef Clocks Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::uint64_t getBootTimeNanosDEPRECATED(); + inline void setBootTimeNanosDEPRECATED( ::uint64_t value); + + inline ::uint64_t getMonotonicNanosDEPRECATED(); + inline void setMonotonicNanosDEPRECATED( ::uint64_t value); + + inline ::uint64_t getMonotonicRawNanosDEPRECATD(); + inline void setMonotonicRawNanosDEPRECATD( ::uint64_t value); + + inline ::uint64_t getWallTimeNanos(); + inline void setWallTimeNanos( ::uint64_t value); + + inline ::uint64_t getModemUptimeMillisDEPRECATED(); + inline void setModemUptimeMillisDEPRECATED( ::uint64_t value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class Clocks::Pipeline { +public: + typedef Clocks Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class LiveMpcData::Reader { +public: + typedef LiveMpcData Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasX() const; + inline ::capnp::List::Reader getX() const; + + inline bool hasY() const; + inline ::capnp::List::Reader getY() const; + + inline bool hasPsi() const; + inline ::capnp::List::Reader getPsi() const; + + inline bool hasCurvature() const; + inline ::capnp::List::Reader getCurvature() const; + + inline ::uint32_t getQpIterations() const; + + inline ::uint64_t getCalculationTime() const; + + inline double getCost() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class LiveMpcData::Builder { +public: + typedef LiveMpcData Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasX(); + inline ::capnp::List::Builder getX(); + inline void setX( ::capnp::List::Reader value); + inline void setX(::kj::ArrayPtr value); + inline ::capnp::List::Builder initX(unsigned int size); + inline void adoptX(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownX(); + + inline bool hasY(); + inline ::capnp::List::Builder getY(); + inline void setY( ::capnp::List::Reader value); + inline void setY(::kj::ArrayPtr value); + inline ::capnp::List::Builder initY(unsigned int size); + inline void adoptY(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownY(); + + inline bool hasPsi(); + inline ::capnp::List::Builder getPsi(); + inline void setPsi( ::capnp::List::Reader value); + inline void setPsi(::kj::ArrayPtr value); + inline ::capnp::List::Builder initPsi(unsigned int size); + inline void adoptPsi(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownPsi(); + + inline bool hasCurvature(); + inline ::capnp::List::Builder getCurvature(); + inline void setCurvature( ::capnp::List::Reader value); + inline void setCurvature(::kj::ArrayPtr value); + inline ::capnp::List::Builder initCurvature(unsigned int size); + inline void adoptCurvature(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownCurvature(); + + inline ::uint32_t getQpIterations(); + inline void setQpIterations( ::uint32_t value); + + inline ::uint64_t getCalculationTime(); + inline void setCalculationTime( ::uint64_t value); + + inline double getCost(); + inline void setCost(double value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class LiveMpcData::Pipeline { +public: + typedef LiveMpcData Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class LiveLongitudinalMpcData::Reader { +public: + typedef LiveLongitudinalMpcData Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasXEgo() const; + inline ::capnp::List::Reader getXEgo() const; + + inline bool hasVEgo() const; + inline ::capnp::List::Reader getVEgo() const; + + inline bool hasAEgo() const; + inline ::capnp::List::Reader getAEgo() const; + + inline bool hasXLead() const; + inline ::capnp::List::Reader getXLead() const; + + inline bool hasVLead() const; + inline ::capnp::List::Reader getVLead() const; + + inline bool hasALead() const; + inline ::capnp::List::Reader getALead() const; + + inline float getALeadTau() const; + + inline ::uint32_t getQpIterations() const; + + inline ::uint32_t getMpcId() const; + + inline ::uint64_t getCalculationTime() const; + + inline double getCost() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class LiveLongitudinalMpcData::Builder { +public: + typedef LiveLongitudinalMpcData Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasXEgo(); + inline ::capnp::List::Builder getXEgo(); + inline void setXEgo( ::capnp::List::Reader value); + inline void setXEgo(::kj::ArrayPtr value); + inline ::capnp::List::Builder initXEgo(unsigned int size); + inline void adoptXEgo(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownXEgo(); + + inline bool hasVEgo(); + inline ::capnp::List::Builder getVEgo(); + inline void setVEgo( ::capnp::List::Reader value); + inline void setVEgo(::kj::ArrayPtr value); + inline ::capnp::List::Builder initVEgo(unsigned int size); + inline void adoptVEgo(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownVEgo(); + + inline bool hasAEgo(); + inline ::capnp::List::Builder getAEgo(); + inline void setAEgo( ::capnp::List::Reader value); + inline void setAEgo(::kj::ArrayPtr value); + inline ::capnp::List::Builder initAEgo(unsigned int size); + inline void adoptAEgo(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownAEgo(); + + inline bool hasXLead(); + inline ::capnp::List::Builder getXLead(); + inline void setXLead( ::capnp::List::Reader value); + inline void setXLead(::kj::ArrayPtr value); + inline ::capnp::List::Builder initXLead(unsigned int size); + inline void adoptXLead(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownXLead(); + + inline bool hasVLead(); + inline ::capnp::List::Builder getVLead(); + inline void setVLead( ::capnp::List::Reader value); + inline void setVLead(::kj::ArrayPtr value); + inline ::capnp::List::Builder initVLead(unsigned int size); + inline void adoptVLead(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownVLead(); + + inline bool hasALead(); + inline ::capnp::List::Builder getALead(); + inline void setALead( ::capnp::List::Reader value); + inline void setALead(::kj::ArrayPtr value); + inline ::capnp::List::Builder initALead(unsigned int size); + inline void adoptALead(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownALead(); + + inline float getALeadTau(); + inline void setALeadTau(float value); + + inline ::uint32_t getQpIterations(); + inline void setQpIterations( ::uint32_t value); + + inline ::uint32_t getMpcId(); + inline void setMpcId( ::uint32_t value); + + inline ::uint64_t getCalculationTime(); + inline void setCalculationTime( ::uint64_t value); + + inline double getCost(); + inline void setCost(double value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class LiveLongitudinalMpcData::Pipeline { +public: + typedef LiveLongitudinalMpcData Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class Joystick::Reader { +public: + typedef Joystick Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasAxes() const; + inline ::capnp::List::Reader getAxes() const; + + inline bool hasButtons() const; + inline ::capnp::List::Reader getButtons() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class Joystick::Builder { +public: + typedef Joystick Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasAxes(); + inline ::capnp::List::Builder getAxes(); + inline void setAxes( ::capnp::List::Reader value); + inline void setAxes(::kj::ArrayPtr value); + inline ::capnp::List::Builder initAxes(unsigned int size); + inline void adoptAxes(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownAxes(); + + inline bool hasButtons(); + inline ::capnp::List::Builder getButtons(); + inline void setButtons( ::capnp::List::Reader value); + inline void setButtons(::kj::ArrayPtr value); + inline ::capnp::List::Builder initButtons(unsigned int size); + inline void adoptButtons(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownButtons(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class Joystick::Pipeline { +public: + typedef Joystick Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class DriverStateV2::Reader { +public: + typedef DriverStateV2 Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::uint32_t getFrameId() const; + + inline float getModelExecutionTime() const; + + inline float getDspExecutionTime() const; + + inline bool hasRawPredictions() const; + inline ::capnp::Data::Reader getRawPredictions() const; + + inline float getPoorVisionProb() const; + + inline float getWheelOnRightProb() const; + + inline bool hasLeftDriverData() const; + inline ::cereal::DriverStateV2::DriverData::Reader getLeftDriverData() const; + + inline bool hasRightDriverData() const; + inline ::cereal::DriverStateV2::DriverData::Reader getRightDriverData() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class DriverStateV2::Builder { +public: + typedef DriverStateV2 Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::uint32_t getFrameId(); + inline void setFrameId( ::uint32_t value); + + inline float getModelExecutionTime(); + inline void setModelExecutionTime(float value); + + inline float getDspExecutionTime(); + inline void setDspExecutionTime(float value); + + inline bool hasRawPredictions(); + inline ::capnp::Data::Builder getRawPredictions(); + inline void setRawPredictions( ::capnp::Data::Reader value); + inline ::capnp::Data::Builder initRawPredictions(unsigned int size); + inline void adoptRawPredictions(::capnp::Orphan< ::capnp::Data>&& value); + inline ::capnp::Orphan< ::capnp::Data> disownRawPredictions(); + + inline float getPoorVisionProb(); + inline void setPoorVisionProb(float value); + + inline float getWheelOnRightProb(); + inline void setWheelOnRightProb(float value); + + inline bool hasLeftDriverData(); + inline ::cereal::DriverStateV2::DriverData::Builder getLeftDriverData(); + inline void setLeftDriverData( ::cereal::DriverStateV2::DriverData::Reader value); + inline ::cereal::DriverStateV2::DriverData::Builder initLeftDriverData(); + inline void adoptLeftDriverData(::capnp::Orphan< ::cereal::DriverStateV2::DriverData>&& value); + inline ::capnp::Orphan< ::cereal::DriverStateV2::DriverData> disownLeftDriverData(); + + inline bool hasRightDriverData(); + inline ::cereal::DriverStateV2::DriverData::Builder getRightDriverData(); + inline void setRightDriverData( ::cereal::DriverStateV2::DriverData::Reader value); + inline ::cereal::DriverStateV2::DriverData::Builder initRightDriverData(); + inline void adoptRightDriverData(::capnp::Orphan< ::cereal::DriverStateV2::DriverData>&& value); + inline ::capnp::Orphan< ::cereal::DriverStateV2::DriverData> disownRightDriverData(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class DriverStateV2::Pipeline { +public: + typedef DriverStateV2 Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + + inline ::cereal::DriverStateV2::DriverData::Pipeline getLeftDriverData(); + inline ::cereal::DriverStateV2::DriverData::Pipeline getRightDriverData(); +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class DriverStateV2::DriverData::Reader { +public: + typedef DriverData Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasFaceOrientation() const; + inline ::capnp::List::Reader getFaceOrientation() const; + + inline bool hasFaceOrientationStd() const; + inline ::capnp::List::Reader getFaceOrientationStd() const; + + inline bool hasFacePosition() const; + inline ::capnp::List::Reader getFacePosition() const; + + inline bool hasFacePositionStd() const; + inline ::capnp::List::Reader getFacePositionStd() const; + + inline float getFaceProb() const; + + inline float getLeftEyeProb() const; + + inline float getRightEyeProb() const; + + inline float getLeftBlinkProb() const; + + inline float getRightBlinkProb() const; + + inline float getSunglassesProb() const; + + inline float getOccludedProb() const; + + inline bool hasReadyProb() const; + inline ::capnp::List::Reader getReadyProb() const; + + inline bool hasNotReadyProb() const; + inline ::capnp::List::Reader getNotReadyProb() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class DriverStateV2::DriverData::Builder { +public: + typedef DriverData Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasFaceOrientation(); + inline ::capnp::List::Builder getFaceOrientation(); + inline void setFaceOrientation( ::capnp::List::Reader value); + inline void setFaceOrientation(::kj::ArrayPtr value); + inline ::capnp::List::Builder initFaceOrientation(unsigned int size); + inline void adoptFaceOrientation(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownFaceOrientation(); + + inline bool hasFaceOrientationStd(); + inline ::capnp::List::Builder getFaceOrientationStd(); + inline void setFaceOrientationStd( ::capnp::List::Reader value); + inline void setFaceOrientationStd(::kj::ArrayPtr value); + inline ::capnp::List::Builder initFaceOrientationStd(unsigned int size); + inline void adoptFaceOrientationStd(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownFaceOrientationStd(); + + inline bool hasFacePosition(); + inline ::capnp::List::Builder getFacePosition(); + inline void setFacePosition( ::capnp::List::Reader value); + inline void setFacePosition(::kj::ArrayPtr value); + inline ::capnp::List::Builder initFacePosition(unsigned int size); + inline void adoptFacePosition(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownFacePosition(); + + inline bool hasFacePositionStd(); + inline ::capnp::List::Builder getFacePositionStd(); + inline void setFacePositionStd( ::capnp::List::Reader value); + inline void setFacePositionStd(::kj::ArrayPtr value); + inline ::capnp::List::Builder initFacePositionStd(unsigned int size); + inline void adoptFacePositionStd(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownFacePositionStd(); + + inline float getFaceProb(); + inline void setFaceProb(float value); + + inline float getLeftEyeProb(); + inline void setLeftEyeProb(float value); + + inline float getRightEyeProb(); + inline void setRightEyeProb(float value); + + inline float getLeftBlinkProb(); + inline void setLeftBlinkProb(float value); + + inline float getRightBlinkProb(); + inline void setRightBlinkProb(float value); + + inline float getSunglassesProb(); + inline void setSunglassesProb(float value); + + inline float getOccludedProb(); + inline void setOccludedProb(float value); + + inline bool hasReadyProb(); + inline ::capnp::List::Builder getReadyProb(); + inline void setReadyProb( ::capnp::List::Reader value); + inline void setReadyProb(::kj::ArrayPtr value); + inline ::capnp::List::Builder initReadyProb(unsigned int size); + inline void adoptReadyProb(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownReadyProb(); + + inline bool hasNotReadyProb(); + inline ::capnp::List::Builder getNotReadyProb(); + inline void setNotReadyProb( ::capnp::List::Reader value); + inline void setNotReadyProb(::kj::ArrayPtr value); + inline ::capnp::List::Builder initNotReadyProb(unsigned int size); + inline void adoptNotReadyProb(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownNotReadyProb(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class DriverStateV2::DriverData::Pipeline { +public: + typedef DriverData Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class DriverStateDEPRECATED::Reader { +public: + typedef DriverStateDEPRECATED Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::uint32_t getFrameId() const; + + inline bool hasDescriptorDEPRECATED() const; + inline ::capnp::List::Reader getDescriptorDEPRECATED() const; + + inline float getStdDEPRECATED() const; + + inline bool hasFaceOrientation() const; + inline ::capnp::List::Reader getFaceOrientation() const; + + inline bool hasFacePosition() const; + inline ::capnp::List::Reader getFacePosition() const; + + inline float getFaceProb() const; + + inline float getLeftEyeProb() const; + + inline float getRightEyeProb() const; + + inline float getLeftBlinkProb() const; + + inline float getRightBlinkProb() const; + + inline float getIrPwrDEPRECATED() const; + + inline bool hasFaceOrientationStd() const; + inline ::capnp::List::Reader getFaceOrientationStd() const; + + inline bool hasFacePositionStd() const; + inline ::capnp::List::Reader getFacePositionStd() const; + + inline float getSunglassesProb() const; + + inline float getModelExecutionTime() const; + + inline bool hasRawPredictions() const; + inline ::capnp::Data::Reader getRawPredictions() const; + + inline float getDspExecutionTime() const; + + inline float getPoorVision() const; + + inline float getPartialFace() const; + + inline float getDistractedPose() const; + + inline float getDistractedEyes() const; + + inline float getEyesOnRoad() const; + + inline float getPhoneUse() const; + + inline float getOccludedProb() const; + + inline bool hasReadyProb() const; + inline ::capnp::List::Reader getReadyProb() const; + + inline bool hasNotReadyProb() const; + inline ::capnp::List::Reader getNotReadyProb() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class DriverStateDEPRECATED::Builder { +public: + typedef DriverStateDEPRECATED Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::uint32_t getFrameId(); + inline void setFrameId( ::uint32_t value); + + inline bool hasDescriptorDEPRECATED(); + inline ::capnp::List::Builder getDescriptorDEPRECATED(); + inline void setDescriptorDEPRECATED( ::capnp::List::Reader value); + inline void setDescriptorDEPRECATED(::kj::ArrayPtr value); + inline ::capnp::List::Builder initDescriptorDEPRECATED(unsigned int size); + inline void adoptDescriptorDEPRECATED(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownDescriptorDEPRECATED(); + + inline float getStdDEPRECATED(); + inline void setStdDEPRECATED(float value); + + inline bool hasFaceOrientation(); + inline ::capnp::List::Builder getFaceOrientation(); + inline void setFaceOrientation( ::capnp::List::Reader value); + inline void setFaceOrientation(::kj::ArrayPtr value); + inline ::capnp::List::Builder initFaceOrientation(unsigned int size); + inline void adoptFaceOrientation(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownFaceOrientation(); + + inline bool hasFacePosition(); + inline ::capnp::List::Builder getFacePosition(); + inline void setFacePosition( ::capnp::List::Reader value); + inline void setFacePosition(::kj::ArrayPtr value); + inline ::capnp::List::Builder initFacePosition(unsigned int size); + inline void adoptFacePosition(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownFacePosition(); + + inline float getFaceProb(); + inline void setFaceProb(float value); + + inline float getLeftEyeProb(); + inline void setLeftEyeProb(float value); + + inline float getRightEyeProb(); + inline void setRightEyeProb(float value); + + inline float getLeftBlinkProb(); + inline void setLeftBlinkProb(float value); + + inline float getRightBlinkProb(); + inline void setRightBlinkProb(float value); + + inline float getIrPwrDEPRECATED(); + inline void setIrPwrDEPRECATED(float value); + + inline bool hasFaceOrientationStd(); + inline ::capnp::List::Builder getFaceOrientationStd(); + inline void setFaceOrientationStd( ::capnp::List::Reader value); + inline void setFaceOrientationStd(::kj::ArrayPtr value); + inline ::capnp::List::Builder initFaceOrientationStd(unsigned int size); + inline void adoptFaceOrientationStd(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownFaceOrientationStd(); + + inline bool hasFacePositionStd(); + inline ::capnp::List::Builder getFacePositionStd(); + inline void setFacePositionStd( ::capnp::List::Reader value); + inline void setFacePositionStd(::kj::ArrayPtr value); + inline ::capnp::List::Builder initFacePositionStd(unsigned int size); + inline void adoptFacePositionStd(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownFacePositionStd(); + + inline float getSunglassesProb(); + inline void setSunglassesProb(float value); + + inline float getModelExecutionTime(); + inline void setModelExecutionTime(float value); + + inline bool hasRawPredictions(); + inline ::capnp::Data::Builder getRawPredictions(); + inline void setRawPredictions( ::capnp::Data::Reader value); + inline ::capnp::Data::Builder initRawPredictions(unsigned int size); + inline void adoptRawPredictions(::capnp::Orphan< ::capnp::Data>&& value); + inline ::capnp::Orphan< ::capnp::Data> disownRawPredictions(); + + inline float getDspExecutionTime(); + inline void setDspExecutionTime(float value); + + inline float getPoorVision(); + inline void setPoorVision(float value); + + inline float getPartialFace(); + inline void setPartialFace(float value); + + inline float getDistractedPose(); + inline void setDistractedPose(float value); + + inline float getDistractedEyes(); + inline void setDistractedEyes(float value); + + inline float getEyesOnRoad(); + inline void setEyesOnRoad(float value); + + inline float getPhoneUse(); + inline void setPhoneUse(float value); + + inline float getOccludedProb(); + inline void setOccludedProb(float value); + + inline bool hasReadyProb(); + inline ::capnp::List::Builder getReadyProb(); + inline void setReadyProb( ::capnp::List::Reader value); + inline void setReadyProb(::kj::ArrayPtr value); + inline ::capnp::List::Builder initReadyProb(unsigned int size); + inline void adoptReadyProb(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownReadyProb(); + + inline bool hasNotReadyProb(); + inline ::capnp::List::Builder getNotReadyProb(); + inline void setNotReadyProb( ::capnp::List::Reader value); + inline void setNotReadyProb(::kj::ArrayPtr value); + inline ::capnp::List::Builder initNotReadyProb(unsigned int size); + inline void adoptNotReadyProb(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownNotReadyProb(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class DriverStateDEPRECATED::Pipeline { +public: + typedef DriverStateDEPRECATED Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class DriverMonitoringState::Reader { +public: + typedef DriverMonitoringState Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasEvents() const; + inline ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>::Reader getEvents() const; + + inline bool getFaceDetected() const; + + inline bool getIsDistracted() const; + + inline float getAwarenessStatus() const; + + inline bool getIsRHD() const; + + inline bool getRhdCheckedDEPRECATED() const; + + inline float getPosePitchOffset() const; + + inline ::uint32_t getPosePitchValidCount() const; + + inline float getPoseYawOffset() const; + + inline ::uint32_t getPoseYawValidCount() const; + + inline float getStepChange() const; + + inline float getAwarenessActive() const; + + inline float getAwarenessPassive() const; + + inline bool getIsLowStd() const; + + inline ::uint32_t getHiStdCount() const; + + inline bool getIsPreviewDEPRECATED() const; + + inline bool getIsActiveMode() const; + + inline ::uint32_t getDistractedType() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class DriverMonitoringState::Builder { +public: + typedef DriverMonitoringState Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasEvents(); + inline ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>::Builder getEvents(); + inline void setEvents( ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>::Reader value); + inline ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>::Builder initEvents(unsigned int size); + inline void adoptEvents(::capnp::Orphan< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>> disownEvents(); + + inline bool getFaceDetected(); + inline void setFaceDetected(bool value); + + inline bool getIsDistracted(); + inline void setIsDistracted(bool value); + + inline float getAwarenessStatus(); + inline void setAwarenessStatus(float value); + + inline bool getIsRHD(); + inline void setIsRHD(bool value); + + inline bool getRhdCheckedDEPRECATED(); + inline void setRhdCheckedDEPRECATED(bool value); + + inline float getPosePitchOffset(); + inline void setPosePitchOffset(float value); + + inline ::uint32_t getPosePitchValidCount(); + inline void setPosePitchValidCount( ::uint32_t value); + + inline float getPoseYawOffset(); + inline void setPoseYawOffset(float value); + + inline ::uint32_t getPoseYawValidCount(); + inline void setPoseYawValidCount( ::uint32_t value); + + inline float getStepChange(); + inline void setStepChange(float value); + + inline float getAwarenessActive(); + inline void setAwarenessActive(float value); + + inline float getAwarenessPassive(); + inline void setAwarenessPassive(float value); + + inline bool getIsLowStd(); + inline void setIsLowStd(bool value); + + inline ::uint32_t getHiStdCount(); + inline void setHiStdCount( ::uint32_t value); + + inline bool getIsPreviewDEPRECATED(); + inline void setIsPreviewDEPRECATED(bool value); + + inline bool getIsActiveMode(); + inline void setIsActiveMode(bool value); + + inline ::uint32_t getDistractedType(); + inline void setDistractedType( ::uint32_t value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class DriverMonitoringState::Pipeline { +public: + typedef DriverMonitoringState Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class Boot::Reader { +public: + typedef Boot Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::uint64_t getWallTimeNanos() const; + + inline bool hasLastKmsgDEPRECATED() const; + inline ::capnp::Data::Reader getLastKmsgDEPRECATED() const; + + inline bool hasLastPmsgDEPRECATED() const; + inline ::capnp::Data::Reader getLastPmsgDEPRECATED() const; + + inline bool hasLaunchLog() const; + inline ::capnp::Text::Reader getLaunchLog() const; + + inline bool hasPstore() const; + inline ::cereal::Map< ::capnp::Text, ::capnp::Data>::Reader getPstore() const; + + inline bool hasCommands() const; + inline ::cereal::Map< ::capnp::Text, ::capnp::Data>::Reader getCommands() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class Boot::Builder { +public: + typedef Boot Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::uint64_t getWallTimeNanos(); + inline void setWallTimeNanos( ::uint64_t value); + + inline bool hasLastKmsgDEPRECATED(); + inline ::capnp::Data::Builder getLastKmsgDEPRECATED(); + inline void setLastKmsgDEPRECATED( ::capnp::Data::Reader value); + inline ::capnp::Data::Builder initLastKmsgDEPRECATED(unsigned int size); + inline void adoptLastKmsgDEPRECATED(::capnp::Orphan< ::capnp::Data>&& value); + inline ::capnp::Orphan< ::capnp::Data> disownLastKmsgDEPRECATED(); + + inline bool hasLastPmsgDEPRECATED(); + inline ::capnp::Data::Builder getLastPmsgDEPRECATED(); + inline void setLastPmsgDEPRECATED( ::capnp::Data::Reader value); + inline ::capnp::Data::Builder initLastPmsgDEPRECATED(unsigned int size); + inline void adoptLastPmsgDEPRECATED(::capnp::Orphan< ::capnp::Data>&& value); + inline ::capnp::Orphan< ::capnp::Data> disownLastPmsgDEPRECATED(); + + inline bool hasLaunchLog(); + inline ::capnp::Text::Builder getLaunchLog(); + inline void setLaunchLog( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initLaunchLog(unsigned int size); + inline void adoptLaunchLog(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownLaunchLog(); + + inline bool hasPstore(); + inline ::cereal::Map< ::capnp::Text, ::capnp::Data>::Builder getPstore(); + inline void setPstore( ::cereal::Map< ::capnp::Text, ::capnp::Data>::Reader value); + inline ::cereal::Map< ::capnp::Text, ::capnp::Data>::Builder initPstore(); + inline void adoptPstore(::capnp::Orphan< ::cereal::Map< ::capnp::Text, ::capnp::Data>>&& value); + inline ::capnp::Orphan< ::cereal::Map< ::capnp::Text, ::capnp::Data>> disownPstore(); + + inline bool hasCommands(); + inline ::cereal::Map< ::capnp::Text, ::capnp::Data>::Builder getCommands(); + inline void setCommands( ::cereal::Map< ::capnp::Text, ::capnp::Data>::Reader value); + inline ::cereal::Map< ::capnp::Text, ::capnp::Data>::Builder initCommands(); + inline void adoptCommands(::capnp::Orphan< ::cereal::Map< ::capnp::Text, ::capnp::Data>>&& value); + inline ::capnp::Orphan< ::cereal::Map< ::capnp::Text, ::capnp::Data>> disownCommands(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class Boot::Pipeline { +public: + typedef Boot Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + + inline ::cereal::Map< ::capnp::Text, ::capnp::Data>::Pipeline getPstore(); + inline ::cereal::Map< ::capnp::Text, ::capnp::Data>::Pipeline getCommands(); +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class LiveParametersData::Reader { +public: + typedef LiveParametersData Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool getValid() const; + + inline float getGyroBias() const; + + inline float getAngleOffsetDeg() const; + + inline float getAngleOffsetAverageDeg() const; + + inline float getStiffnessFactor() const; + + inline float getSteerRatio() const; + + inline bool getSensorValid() const; + + inline float getYawRateDEPRECATED() const; + + inline float getPosenetSpeed() const; + + inline bool getPosenetValid() const; + + inline float getAngleOffsetFastStd() const; + + inline float getAngleOffsetAverageStd() const; + + inline float getStiffnessFactorStd() const; + + inline float getSteerRatioStd() const; + + inline float getRoll() const; + + inline bool hasFilterState() const; + inline ::cereal::LiveLocationKalman::Measurement::Reader getFilterState() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class LiveParametersData::Builder { +public: + typedef LiveParametersData Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool getValid(); + inline void setValid(bool value); + + inline float getGyroBias(); + inline void setGyroBias(float value); + + inline float getAngleOffsetDeg(); + inline void setAngleOffsetDeg(float value); + + inline float getAngleOffsetAverageDeg(); + inline void setAngleOffsetAverageDeg(float value); + + inline float getStiffnessFactor(); + inline void setStiffnessFactor(float value); + + inline float getSteerRatio(); + inline void setSteerRatio(float value); + + inline bool getSensorValid(); + inline void setSensorValid(bool value); + + inline float getYawRateDEPRECATED(); + inline void setYawRateDEPRECATED(float value); + + inline float getPosenetSpeed(); + inline void setPosenetSpeed(float value); + + inline bool getPosenetValid(); + inline void setPosenetValid(bool value); + + inline float getAngleOffsetFastStd(); + inline void setAngleOffsetFastStd(float value); + + inline float getAngleOffsetAverageStd(); + inline void setAngleOffsetAverageStd(float value); + + inline float getStiffnessFactorStd(); + inline void setStiffnessFactorStd(float value); + + inline float getSteerRatioStd(); + inline void setSteerRatioStd(float value); + + inline float getRoll(); + inline void setRoll(float value); + + inline bool hasFilterState(); + inline ::cereal::LiveLocationKalman::Measurement::Builder getFilterState(); + inline void setFilterState( ::cereal::LiveLocationKalman::Measurement::Reader value); + inline ::cereal::LiveLocationKalman::Measurement::Builder initFilterState(); + inline void adoptFilterState(::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement>&& value); + inline ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement> disownFilterState(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class LiveParametersData::Pipeline { +public: + typedef LiveParametersData Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + + inline ::cereal::LiveLocationKalman::Measurement::Pipeline getFilterState(); +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class LiveTorqueParametersData::Reader { +public: + typedef LiveTorqueParametersData Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool getLiveValid() const; + + inline float getLatAccelFactorRaw() const; + + inline float getLatAccelOffsetRaw() const; + + inline float getFrictionCoefficientRaw() const; + + inline float getLatAccelFactorFiltered() const; + + inline float getLatAccelOffsetFiltered() const; + + inline float getFrictionCoefficientFiltered() const; + + inline float getTotalBucketPoints() const; + + inline float getDecay() const; + + inline float getMaxResets() const; + + inline bool hasPoints() const; + inline ::capnp::List< ::capnp::List, ::capnp::Kind::LIST>::Reader getPoints() const; + + inline ::int32_t getVersion() const; + + inline bool getUseParams() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class LiveTorqueParametersData::Builder { +public: + typedef LiveTorqueParametersData Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool getLiveValid(); + inline void setLiveValid(bool value); + + inline float getLatAccelFactorRaw(); + inline void setLatAccelFactorRaw(float value); + + inline float getLatAccelOffsetRaw(); + inline void setLatAccelOffsetRaw(float value); + + inline float getFrictionCoefficientRaw(); + inline void setFrictionCoefficientRaw(float value); + + inline float getLatAccelFactorFiltered(); + inline void setLatAccelFactorFiltered(float value); + + inline float getLatAccelOffsetFiltered(); + inline void setLatAccelOffsetFiltered(float value); + + inline float getFrictionCoefficientFiltered(); + inline void setFrictionCoefficientFiltered(float value); + + inline float getTotalBucketPoints(); + inline void setTotalBucketPoints(float value); + + inline float getDecay(); + inline void setDecay(float value); + + inline float getMaxResets(); + inline void setMaxResets(float value); + + inline bool hasPoints(); + inline ::capnp::List< ::capnp::List, ::capnp::Kind::LIST>::Builder getPoints(); + inline void setPoints( ::capnp::List< ::capnp::List, ::capnp::Kind::LIST>::Reader value); + inline void setPoints(::kj::ArrayPtr::Reader> value); + inline ::capnp::List< ::capnp::List, ::capnp::Kind::LIST>::Builder initPoints(unsigned int size); + inline void adoptPoints(::capnp::Orphan< ::capnp::List< ::capnp::List, ::capnp::Kind::LIST>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::capnp::List, ::capnp::Kind::LIST>> disownPoints(); + + inline ::int32_t getVersion(); + inline void setVersion( ::int32_t value); + + inline bool getUseParams(); + inline void setUseParams(bool value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class LiveTorqueParametersData::Pipeline { +public: + typedef LiveTorqueParametersData Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class LiveMapDataDEPRECATED::Reader { +public: + typedef LiveMapDataDEPRECATED Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool getSpeedLimitValid() const; + + inline float getSpeedLimit() const; + + inline bool getCurvatureValid() const; + + inline float getCurvature() const; + + inline ::uint64_t getWayId() const; + + inline bool hasRoadX() const; + inline ::capnp::List::Reader getRoadX() const; + + inline bool hasRoadY() const; + inline ::capnp::List::Reader getRoadY() const; + + inline bool hasLastGps() const; + inline ::cereal::GpsLocationData::Reader getLastGps() const; + + inline bool hasRoadCurvatureX() const; + inline ::capnp::List::Reader getRoadCurvatureX() const; + + inline bool hasRoadCurvature() const; + inline ::capnp::List::Reader getRoadCurvature() const; + + inline float getDistToTurn() const; + + inline bool getMapValid() const; + + inline bool getSpeedAdvisoryValid() const; + + inline float getSpeedAdvisory() const; + + inline bool getSpeedLimitAheadValid() const; + + inline float getSpeedLimitAhead() const; + + inline float getSpeedLimitAheadDistance() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class LiveMapDataDEPRECATED::Builder { +public: + typedef LiveMapDataDEPRECATED Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool getSpeedLimitValid(); + inline void setSpeedLimitValid(bool value); + + inline float getSpeedLimit(); + inline void setSpeedLimit(float value); + + inline bool getCurvatureValid(); + inline void setCurvatureValid(bool value); + + inline float getCurvature(); + inline void setCurvature(float value); + + inline ::uint64_t getWayId(); + inline void setWayId( ::uint64_t value); + + inline bool hasRoadX(); + inline ::capnp::List::Builder getRoadX(); + inline void setRoadX( ::capnp::List::Reader value); + inline void setRoadX(::kj::ArrayPtr value); + inline ::capnp::List::Builder initRoadX(unsigned int size); + inline void adoptRoadX(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownRoadX(); + + inline bool hasRoadY(); + inline ::capnp::List::Builder getRoadY(); + inline void setRoadY( ::capnp::List::Reader value); + inline void setRoadY(::kj::ArrayPtr value); + inline ::capnp::List::Builder initRoadY(unsigned int size); + inline void adoptRoadY(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownRoadY(); + + inline bool hasLastGps(); + inline ::cereal::GpsLocationData::Builder getLastGps(); + inline void setLastGps( ::cereal::GpsLocationData::Reader value); + inline ::cereal::GpsLocationData::Builder initLastGps(); + inline void adoptLastGps(::capnp::Orphan< ::cereal::GpsLocationData>&& value); + inline ::capnp::Orphan< ::cereal::GpsLocationData> disownLastGps(); + + inline bool hasRoadCurvatureX(); + inline ::capnp::List::Builder getRoadCurvatureX(); + inline void setRoadCurvatureX( ::capnp::List::Reader value); + inline void setRoadCurvatureX(::kj::ArrayPtr value); + inline ::capnp::List::Builder initRoadCurvatureX(unsigned int size); + inline void adoptRoadCurvatureX(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownRoadCurvatureX(); + + inline bool hasRoadCurvature(); + inline ::capnp::List::Builder getRoadCurvature(); + inline void setRoadCurvature( ::capnp::List::Reader value); + inline void setRoadCurvature(::kj::ArrayPtr value); + inline ::capnp::List::Builder initRoadCurvature(unsigned int size); + inline void adoptRoadCurvature(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownRoadCurvature(); + + inline float getDistToTurn(); + inline void setDistToTurn(float value); + + inline bool getMapValid(); + inline void setMapValid(bool value); + + inline bool getSpeedAdvisoryValid(); + inline void setSpeedAdvisoryValid(bool value); + + inline float getSpeedAdvisory(); + inline void setSpeedAdvisory(float value); + + inline bool getSpeedLimitAheadValid(); + inline void setSpeedLimitAheadValid(bool value); + + inline float getSpeedLimitAhead(); + inline void setSpeedLimitAhead(float value); + + inline float getSpeedLimitAheadDistance(); + inline void setSpeedLimitAheadDistance(float value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class LiveMapDataDEPRECATED::Pipeline { +public: + typedef LiveMapDataDEPRECATED Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + + inline ::cereal::GpsLocationData::Pipeline getLastGps(); +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class CameraOdometry::Reader { +public: + typedef CameraOdometry Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasTrans() const; + inline ::capnp::List::Reader getTrans() const; + + inline bool hasRot() const; + inline ::capnp::List::Reader getRot() const; + + inline bool hasTransStd() const; + inline ::capnp::List::Reader getTransStd() const; + + inline bool hasRotStd() const; + inline ::capnp::List::Reader getRotStd() const; + + inline ::uint32_t getFrameId() const; + + inline ::uint64_t getTimestampEof() const; + + inline bool hasWideFromDeviceEuler() const; + inline ::capnp::List::Reader getWideFromDeviceEuler() const; + + inline bool hasWideFromDeviceEulerStd() const; + inline ::capnp::List::Reader getWideFromDeviceEulerStd() const; + + inline bool hasRoadTransformTrans() const; + inline ::capnp::List::Reader getRoadTransformTrans() const; + + inline bool hasRoadTransformTransStd() const; + inline ::capnp::List::Reader getRoadTransformTransStd() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class CameraOdometry::Builder { +public: + typedef CameraOdometry Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasTrans(); + inline ::capnp::List::Builder getTrans(); + inline void setTrans( ::capnp::List::Reader value); + inline void setTrans(::kj::ArrayPtr value); + inline ::capnp::List::Builder initTrans(unsigned int size); + inline void adoptTrans(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownTrans(); + + inline bool hasRot(); + inline ::capnp::List::Builder getRot(); + inline void setRot( ::capnp::List::Reader value); + inline void setRot(::kj::ArrayPtr value); + inline ::capnp::List::Builder initRot(unsigned int size); + inline void adoptRot(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownRot(); + + inline bool hasTransStd(); + inline ::capnp::List::Builder getTransStd(); + inline void setTransStd( ::capnp::List::Reader value); + inline void setTransStd(::kj::ArrayPtr value); + inline ::capnp::List::Builder initTransStd(unsigned int size); + inline void adoptTransStd(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownTransStd(); + + inline bool hasRotStd(); + inline ::capnp::List::Builder getRotStd(); + inline void setRotStd( ::capnp::List::Reader value); + inline void setRotStd(::kj::ArrayPtr value); + inline ::capnp::List::Builder initRotStd(unsigned int size); + inline void adoptRotStd(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownRotStd(); + + inline ::uint32_t getFrameId(); + inline void setFrameId( ::uint32_t value); + + inline ::uint64_t getTimestampEof(); + inline void setTimestampEof( ::uint64_t value); + + inline bool hasWideFromDeviceEuler(); + inline ::capnp::List::Builder getWideFromDeviceEuler(); + inline void setWideFromDeviceEuler( ::capnp::List::Reader value); + inline void setWideFromDeviceEuler(::kj::ArrayPtr value); + inline ::capnp::List::Builder initWideFromDeviceEuler(unsigned int size); + inline void adoptWideFromDeviceEuler(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownWideFromDeviceEuler(); + + inline bool hasWideFromDeviceEulerStd(); + inline ::capnp::List::Builder getWideFromDeviceEulerStd(); + inline void setWideFromDeviceEulerStd( ::capnp::List::Reader value); + inline void setWideFromDeviceEulerStd(::kj::ArrayPtr value); + inline ::capnp::List::Builder initWideFromDeviceEulerStd(unsigned int size); + inline void adoptWideFromDeviceEulerStd(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownWideFromDeviceEulerStd(); + + inline bool hasRoadTransformTrans(); + inline ::capnp::List::Builder getRoadTransformTrans(); + inline void setRoadTransformTrans( ::capnp::List::Reader value); + inline void setRoadTransformTrans(::kj::ArrayPtr value); + inline ::capnp::List::Builder initRoadTransformTrans(unsigned int size); + inline void adoptRoadTransformTrans(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownRoadTransformTrans(); + + inline bool hasRoadTransformTransStd(); + inline ::capnp::List::Builder getRoadTransformTransStd(); + inline void setRoadTransformTransStd( ::capnp::List::Reader value); + inline void setRoadTransformTransStd(::kj::ArrayPtr value); + inline ::capnp::List::Builder initRoadTransformTransStd(unsigned int size); + inline void adoptRoadTransformTransStd(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownRoadTransformTransStd(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class CameraOdometry::Pipeline { +public: + typedef CameraOdometry Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class Sentinel::Reader { +public: + typedef Sentinel Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::cereal::Sentinel::SentinelType getType() const; + + inline ::int32_t getSignal() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class Sentinel::Builder { +public: + typedef Sentinel Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::cereal::Sentinel::SentinelType getType(); + inline void setType( ::cereal::Sentinel::SentinelType value); + + inline ::int32_t getSignal(); + inline void setSignal( ::int32_t value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class Sentinel::Pipeline { +public: + typedef Sentinel Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class UIDebug::Reader { +public: + typedef UIDebug Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline float getDrawTimeMillis() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class UIDebug::Builder { +public: + typedef UIDebug Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline float getDrawTimeMillis(); + inline void setDrawTimeMillis(float value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class UIDebug::Pipeline { +public: + typedef UIDebug Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class ManagerState::Reader { +public: + typedef ManagerState Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasProcesses() const; + inline ::capnp::List< ::cereal::ManagerState::ProcessState, ::capnp::Kind::STRUCT>::Reader getProcesses() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class ManagerState::Builder { +public: + typedef ManagerState Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasProcesses(); + inline ::capnp::List< ::cereal::ManagerState::ProcessState, ::capnp::Kind::STRUCT>::Builder getProcesses(); + inline void setProcesses( ::capnp::List< ::cereal::ManagerState::ProcessState, ::capnp::Kind::STRUCT>::Reader value); + inline ::capnp::List< ::cereal::ManagerState::ProcessState, ::capnp::Kind::STRUCT>::Builder initProcesses(unsigned int size); + inline void adoptProcesses(::capnp::Orphan< ::capnp::List< ::cereal::ManagerState::ProcessState, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::ManagerState::ProcessState, ::capnp::Kind::STRUCT>> disownProcesses(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class ManagerState::Pipeline { +public: + typedef ManagerState Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class ManagerState::ProcessState::Reader { +public: + typedef ProcessState Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasName() const; + inline ::capnp::Text::Reader getName() const; + + inline ::int32_t getPid() const; + + inline bool getRunning() const; + + inline ::int32_t getExitCode() const; + + inline bool getShouldBeRunning() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class ManagerState::ProcessState::Builder { +public: + typedef ProcessState Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasName(); + inline ::capnp::Text::Builder getName(); + inline void setName( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initName(unsigned int size); + inline void adoptName(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownName(); + + inline ::int32_t getPid(); + inline void setPid( ::int32_t value); + + inline bool getRunning(); + inline void setRunning(bool value); + + inline ::int32_t getExitCode(); + inline void setExitCode( ::int32_t value); + + inline bool getShouldBeRunning(); + inline void setShouldBeRunning(bool value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class ManagerState::ProcessState::Pipeline { +public: + typedef ProcessState Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class UploaderState::Reader { +public: + typedef UploaderState Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::uint32_t getImmediateQueueSize() const; + + inline ::uint32_t getImmediateQueueCount() const; + + inline ::uint32_t getRawQueueSize() const; + + inline ::uint32_t getRawQueueCount() const; + + inline float getLastTime() const; + + inline float getLastSpeed() const; + + inline bool hasLastFilename() const; + inline ::capnp::Text::Reader getLastFilename() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class UploaderState::Builder { +public: + typedef UploaderState Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::uint32_t getImmediateQueueSize(); + inline void setImmediateQueueSize( ::uint32_t value); + + inline ::uint32_t getImmediateQueueCount(); + inline void setImmediateQueueCount( ::uint32_t value); + + inline ::uint32_t getRawQueueSize(); + inline void setRawQueueSize( ::uint32_t value); + + inline ::uint32_t getRawQueueCount(); + inline void setRawQueueCount( ::uint32_t value); + + inline float getLastTime(); + inline void setLastTime(float value); + + inline float getLastSpeed(); + inline void setLastSpeed(float value); + + inline bool hasLastFilename(); + inline ::capnp::Text::Builder getLastFilename(); + inline void setLastFilename( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initLastFilename(unsigned int size); + inline void adoptLastFilename(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownLastFilename(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class UploaderState::Pipeline { +public: + typedef UploaderState Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class NavInstruction::Reader { +public: + typedef NavInstruction Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasManeuverPrimaryText() const; + inline ::capnp::Text::Reader getManeuverPrimaryText() const; + + inline bool hasManeuverSecondaryText() const; + inline ::capnp::Text::Reader getManeuverSecondaryText() const; + + inline float getManeuverDistance() const; + + inline bool hasManeuverType() const; + inline ::capnp::Text::Reader getManeuverType() const; + + inline bool hasManeuverModifier() const; + inline ::capnp::Text::Reader getManeuverModifier() const; + + inline float getDistanceRemaining() const; + + inline float getTimeRemaining() const; + + inline float getTimeRemainingTypical() const; + + inline bool hasLanes() const; + inline ::capnp::List< ::cereal::NavInstruction::Lane, ::capnp::Kind::STRUCT>::Reader getLanes() const; + + inline bool getShowFull() const; + + inline float getSpeedLimit() const; + + inline ::cereal::NavInstruction::SpeedLimitSign getSpeedLimitSign() const; + + inline bool hasAllManeuvers() const; + inline ::capnp::List< ::cereal::NavInstruction::Maneuver, ::capnp::Kind::STRUCT>::Reader getAllManeuvers() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class NavInstruction::Builder { +public: + typedef NavInstruction Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasManeuverPrimaryText(); + inline ::capnp::Text::Builder getManeuverPrimaryText(); + inline void setManeuverPrimaryText( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initManeuverPrimaryText(unsigned int size); + inline void adoptManeuverPrimaryText(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownManeuverPrimaryText(); + + inline bool hasManeuverSecondaryText(); + inline ::capnp::Text::Builder getManeuverSecondaryText(); + inline void setManeuverSecondaryText( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initManeuverSecondaryText(unsigned int size); + inline void adoptManeuverSecondaryText(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownManeuverSecondaryText(); + + inline float getManeuverDistance(); + inline void setManeuverDistance(float value); + + inline bool hasManeuverType(); + inline ::capnp::Text::Builder getManeuverType(); + inline void setManeuverType( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initManeuverType(unsigned int size); + inline void adoptManeuverType(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownManeuverType(); + + inline bool hasManeuverModifier(); + inline ::capnp::Text::Builder getManeuverModifier(); + inline void setManeuverModifier( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initManeuverModifier(unsigned int size); + inline void adoptManeuverModifier(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownManeuverModifier(); + + inline float getDistanceRemaining(); + inline void setDistanceRemaining(float value); + + inline float getTimeRemaining(); + inline void setTimeRemaining(float value); + + inline float getTimeRemainingTypical(); + inline void setTimeRemainingTypical(float value); + + inline bool hasLanes(); + inline ::capnp::List< ::cereal::NavInstruction::Lane, ::capnp::Kind::STRUCT>::Builder getLanes(); + inline void setLanes( ::capnp::List< ::cereal::NavInstruction::Lane, ::capnp::Kind::STRUCT>::Reader value); + inline ::capnp::List< ::cereal::NavInstruction::Lane, ::capnp::Kind::STRUCT>::Builder initLanes(unsigned int size); + inline void adoptLanes(::capnp::Orphan< ::capnp::List< ::cereal::NavInstruction::Lane, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::NavInstruction::Lane, ::capnp::Kind::STRUCT>> disownLanes(); + + inline bool getShowFull(); + inline void setShowFull(bool value); + + inline float getSpeedLimit(); + inline void setSpeedLimit(float value); + + inline ::cereal::NavInstruction::SpeedLimitSign getSpeedLimitSign(); + inline void setSpeedLimitSign( ::cereal::NavInstruction::SpeedLimitSign value); + + inline bool hasAllManeuvers(); + inline ::capnp::List< ::cereal::NavInstruction::Maneuver, ::capnp::Kind::STRUCT>::Builder getAllManeuvers(); + inline void setAllManeuvers( ::capnp::List< ::cereal::NavInstruction::Maneuver, ::capnp::Kind::STRUCT>::Reader value); + inline ::capnp::List< ::cereal::NavInstruction::Maneuver, ::capnp::Kind::STRUCT>::Builder initAllManeuvers(unsigned int size); + inline void adoptAllManeuvers(::capnp::Orphan< ::capnp::List< ::cereal::NavInstruction::Maneuver, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::NavInstruction::Maneuver, ::capnp::Kind::STRUCT>> disownAllManeuvers(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class NavInstruction::Pipeline { +public: + typedef NavInstruction Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class NavInstruction::Lane::Reader { +public: + typedef Lane Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasDirections() const; + inline ::capnp::List< ::cereal::NavInstruction::Direction, ::capnp::Kind::ENUM>::Reader getDirections() const; + + inline bool getActive() const; + + inline ::cereal::NavInstruction::Direction getActiveDirection() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class NavInstruction::Lane::Builder { +public: + typedef Lane Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasDirections(); + inline ::capnp::List< ::cereal::NavInstruction::Direction, ::capnp::Kind::ENUM>::Builder getDirections(); + inline void setDirections( ::capnp::List< ::cereal::NavInstruction::Direction, ::capnp::Kind::ENUM>::Reader value); + inline void setDirections(::kj::ArrayPtr value); + inline ::capnp::List< ::cereal::NavInstruction::Direction, ::capnp::Kind::ENUM>::Builder initDirections(unsigned int size); + inline void adoptDirections(::capnp::Orphan< ::capnp::List< ::cereal::NavInstruction::Direction, ::capnp::Kind::ENUM>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::NavInstruction::Direction, ::capnp::Kind::ENUM>> disownDirections(); + + inline bool getActive(); + inline void setActive(bool value); + + inline ::cereal::NavInstruction::Direction getActiveDirection(); + inline void setActiveDirection( ::cereal::NavInstruction::Direction value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class NavInstruction::Lane::Pipeline { +public: + typedef Lane Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class NavInstruction::Maneuver::Reader { +public: + typedef Maneuver Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline float getDistance() const; + + inline bool hasType() const; + inline ::capnp::Text::Reader getType() const; + + inline bool hasModifier() const; + inline ::capnp::Text::Reader getModifier() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class NavInstruction::Maneuver::Builder { +public: + typedef Maneuver Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline float getDistance(); + inline void setDistance(float value); + + inline bool hasType(); + inline ::capnp::Text::Builder getType(); + inline void setType( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initType(unsigned int size); + inline void adoptType(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownType(); + + inline bool hasModifier(); + inline ::capnp::Text::Builder getModifier(); + inline void setModifier( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initModifier(unsigned int size); + inline void adoptModifier(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownModifier(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class NavInstruction::Maneuver::Pipeline { +public: + typedef Maneuver Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class NavRoute::Reader { +public: + typedef NavRoute Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasCoordinates() const; + inline ::capnp::List< ::cereal::NavRoute::Coordinate, ::capnp::Kind::STRUCT>::Reader getCoordinates() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class NavRoute::Builder { +public: + typedef NavRoute Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasCoordinates(); + inline ::capnp::List< ::cereal::NavRoute::Coordinate, ::capnp::Kind::STRUCT>::Builder getCoordinates(); + inline void setCoordinates( ::capnp::List< ::cereal::NavRoute::Coordinate, ::capnp::Kind::STRUCT>::Reader value); + inline ::capnp::List< ::cereal::NavRoute::Coordinate, ::capnp::Kind::STRUCT>::Builder initCoordinates(unsigned int size); + inline void adoptCoordinates(::capnp::Orphan< ::capnp::List< ::cereal::NavRoute::Coordinate, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::NavRoute::Coordinate, ::capnp::Kind::STRUCT>> disownCoordinates(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class NavRoute::Pipeline { +public: + typedef NavRoute Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class NavRoute::Coordinate::Reader { +public: + typedef Coordinate Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline float getLatitude() const; + + inline float getLongitude() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class NavRoute::Coordinate::Builder { +public: + typedef Coordinate Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline float getLatitude(); + inline void setLatitude(float value); + + inline float getLongitude(); + inline void setLongitude(float value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class NavRoute::Coordinate::Pipeline { +public: + typedef Coordinate Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class MapRenderState::Reader { +public: + typedef MapRenderState Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::uint64_t getLocationMonoTime() const; + + inline float getRenderTime() const; + + inline ::uint32_t getFrameId() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class MapRenderState::Builder { +public: + typedef MapRenderState Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::uint64_t getLocationMonoTime(); + inline void setLocationMonoTime( ::uint64_t value); + + inline float getRenderTime(); + inline void setRenderTime(float value); + + inline ::uint32_t getFrameId(); + inline void setFrameId( ::uint32_t value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class MapRenderState::Pipeline { +public: + typedef MapRenderState Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class NavModelData::Reader { +public: + typedef NavModelData Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline ::uint32_t getFrameId() const; + + inline float getModelExecutionTime() const; + + inline float getDspExecutionTime() const; + + inline bool hasFeatures() const; + inline ::capnp::List::Reader getFeatures() const; + + inline bool hasPosition() const; + inline ::cereal::NavModelData::XYData::Reader getPosition() const; + + inline bool hasDesirePrediction() const; + inline ::capnp::List::Reader getDesirePrediction() const; + + inline ::uint64_t getLocationMonoTime() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class NavModelData::Builder { +public: + typedef NavModelData Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline ::uint32_t getFrameId(); + inline void setFrameId( ::uint32_t value); + + inline float getModelExecutionTime(); + inline void setModelExecutionTime(float value); + + inline float getDspExecutionTime(); + inline void setDspExecutionTime(float value); + + inline bool hasFeatures(); + inline ::capnp::List::Builder getFeatures(); + inline void setFeatures( ::capnp::List::Reader value); + inline void setFeatures(::kj::ArrayPtr value); + inline ::capnp::List::Builder initFeatures(unsigned int size); + inline void adoptFeatures(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownFeatures(); + + inline bool hasPosition(); + inline ::cereal::NavModelData::XYData::Builder getPosition(); + inline void setPosition( ::cereal::NavModelData::XYData::Reader value); + inline ::cereal::NavModelData::XYData::Builder initPosition(); + inline void adoptPosition(::capnp::Orphan< ::cereal::NavModelData::XYData>&& value); + inline ::capnp::Orphan< ::cereal::NavModelData::XYData> disownPosition(); + + inline bool hasDesirePrediction(); + inline ::capnp::List::Builder getDesirePrediction(); + inline void setDesirePrediction( ::capnp::List::Reader value); + inline void setDesirePrediction(::kj::ArrayPtr value); + inline ::capnp::List::Builder initDesirePrediction(unsigned int size); + inline void adoptDesirePrediction(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownDesirePrediction(); + + inline ::uint64_t getLocationMonoTime(); + inline void setLocationMonoTime( ::uint64_t value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class NavModelData::Pipeline { +public: + typedef NavModelData Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + + inline ::cereal::NavModelData::XYData::Pipeline getPosition(); +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class NavModelData::XYData::Reader { +public: + typedef XYData Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasX() const; + inline ::capnp::List::Reader getX() const; + + inline bool hasY() const; + inline ::capnp::List::Reader getY() const; + + inline bool hasXStd() const; + inline ::capnp::List::Reader getXStd() const; + + inline bool hasYStd() const; + inline ::capnp::List::Reader getYStd() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class NavModelData::XYData::Builder { +public: + typedef XYData Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasX(); + inline ::capnp::List::Builder getX(); + inline void setX( ::capnp::List::Reader value); + inline void setX(::kj::ArrayPtr value); + inline ::capnp::List::Builder initX(unsigned int size); + inline void adoptX(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownX(); + + inline bool hasY(); + inline ::capnp::List::Builder getY(); + inline void setY( ::capnp::List::Reader value); + inline void setY(::kj::ArrayPtr value); + inline ::capnp::List::Builder initY(unsigned int size); + inline void adoptY(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownY(); + + inline bool hasXStd(); + inline ::capnp::List::Builder getXStd(); + inline void setXStd( ::capnp::List::Reader value); + inline void setXStd(::kj::ArrayPtr value); + inline ::capnp::List::Builder initXStd(unsigned int size); + inline void adoptXStd(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownXStd(); + + inline bool hasYStd(); + inline ::capnp::List::Builder getYStd(); + inline void setYStd( ::capnp::List::Reader value); + inline void setYStd(::kj::ArrayPtr value); + inline ::capnp::List::Builder initYStd(unsigned int size); + inline void adoptYStd(::capnp::Orphan< ::capnp::List>&& value); + inline ::capnp::Orphan< ::capnp::List> disownYStd(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class NavModelData::XYData::Pipeline { +public: + typedef XYData Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class EncodeData::Reader { +public: + typedef EncodeData Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline bool hasIdx() const; + inline ::cereal::EncodeIndex::Reader getIdx() const; + + inline bool hasData() const; + inline ::capnp::Data::Reader getData() const; + + inline bool hasHeader() const; + inline ::capnp::Data::Reader getHeader() const; + + inline ::uint64_t getUnixTimestampNanos() const; + + inline ::uint32_t getWidth() const; + + inline ::uint32_t getHeight() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class EncodeData::Builder { +public: + typedef EncodeData Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline bool hasIdx(); + inline ::cereal::EncodeIndex::Builder getIdx(); + inline void setIdx( ::cereal::EncodeIndex::Reader value); + inline ::cereal::EncodeIndex::Builder initIdx(); + inline void adoptIdx(::capnp::Orphan< ::cereal::EncodeIndex>&& value); + inline ::capnp::Orphan< ::cereal::EncodeIndex> disownIdx(); + + inline bool hasData(); + inline ::capnp::Data::Builder getData(); + inline void setData( ::capnp::Data::Reader value); + inline ::capnp::Data::Builder initData(unsigned int size); + inline void adoptData(::capnp::Orphan< ::capnp::Data>&& value); + inline ::capnp::Orphan< ::capnp::Data> disownData(); + + inline bool hasHeader(); + inline ::capnp::Data::Builder getHeader(); + inline void setHeader( ::capnp::Data::Reader value); + inline ::capnp::Data::Builder initHeader(unsigned int size); + inline void adoptHeader(::capnp::Orphan< ::capnp::Data>&& value); + inline ::capnp::Orphan< ::capnp::Data> disownHeader(); + + inline ::uint64_t getUnixTimestampNanos(); + inline void setUnixTimestampNanos( ::uint64_t value); + + inline ::uint32_t getWidth(); + inline void setWidth( ::uint32_t value); + + inline ::uint32_t getHeight(); + inline void setHeight( ::uint32_t value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class EncodeData::Pipeline { +public: + typedef EncodeData Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + + inline ::cereal::EncodeIndex::Pipeline getIdx(); +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class UserFlag::Reader { +public: + typedef UserFlag Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class UserFlag::Builder { +public: + typedef UserFlag Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class UserFlag::Pipeline { +public: + typedef UserFlag Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class Microphone::Reader { +public: + typedef Microphone Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline float getSoundPressure() const; + + inline float getSoundPressureWeightedDb() const; + + inline float getFilteredSoundPressureWeightedDb() const; + + inline float getSoundPressureWeighted() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class Microphone::Builder { +public: + typedef Microphone Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline float getSoundPressure(); + inline void setSoundPressure(float value); + + inline float getSoundPressureWeightedDb(); + inline void setSoundPressureWeightedDb(float value); + + inline float getFilteredSoundPressureWeightedDb(); + inline void setFilteredSoundPressureWeightedDb(float value); + + inline float getSoundPressureWeighted(); + inline void setSoundPressureWeighted(float value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class Microphone::Pipeline { +public: + typedef Microphone Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +class Event::Reader { +public: + typedef Event Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline Which which() const; + inline ::uint64_t getLogMonoTime() const; + + inline bool isInitData() const; + inline bool hasInitData() const; + inline ::cereal::InitData::Reader getInitData() const; + + inline bool isRoadCameraState() const; + inline bool hasRoadCameraState() const; + inline ::cereal::FrameData::Reader getRoadCameraState() const; + + inline bool isGpsNMEA() const; + inline bool hasGpsNMEA() const; + inline ::cereal::GPSNMEAData::Reader getGpsNMEA() const; + + inline bool isSensorEventDEPRECATED() const; + inline bool hasSensorEventDEPRECATED() const; + inline ::cereal::SensorEventData::Reader getSensorEventDEPRECATED() const; + + inline bool isCan() const; + inline bool hasCan() const; + inline ::capnp::List< ::cereal::CanData, ::capnp::Kind::STRUCT>::Reader getCan() const; + + inline bool isDeviceState() const; + inline bool hasDeviceState() const; + inline ::cereal::DeviceState::Reader getDeviceState() const; + + inline bool isControlsState() const; + inline bool hasControlsState() const; + inline ::cereal::ControlsState::Reader getControlsState() const; + + inline bool isLiveEventDEPRECATED() const; + inline bool hasLiveEventDEPRECATED() const; + inline ::capnp::List< ::cereal::LiveEventData, ::capnp::Kind::STRUCT>::Reader getLiveEventDEPRECATED() const; + + inline bool isModel() const; + inline bool hasModel() const; + inline ::cereal::ModelData::Reader getModel() const; + + inline bool isFeaturesDEPRECATED() const; + inline bool hasFeaturesDEPRECATED() const; + inline ::cereal::CalibrationFeatures::Reader getFeaturesDEPRECATED() const; + + inline bool isSensorEventsDEPRECATED() const; + inline bool hasSensorEventsDEPRECATED() const; + inline ::capnp::List< ::cereal::SensorEventData, ::capnp::Kind::STRUCT>::Reader getSensorEventsDEPRECATED() const; + + inline bool isPandaStateDEPRECATED() const; + inline bool hasPandaStateDEPRECATED() const; + inline ::cereal::PandaState::Reader getPandaStateDEPRECATED() const; + + inline bool isRadarState() const; + inline bool hasRadarState() const; + inline ::cereal::RadarState::Reader getRadarState() const; + + inline bool isLiveUIDEPRECATED() const; + inline bool hasLiveUIDEPRECATED() const; + inline ::cereal::LiveUI::Reader getLiveUIDEPRECATED() const; + + inline bool isRoadEncodeIdx() const; + inline bool hasRoadEncodeIdx() const; + inline ::cereal::EncodeIndex::Reader getRoadEncodeIdx() const; + + inline bool isLiveTracks() const; + inline bool hasLiveTracks() const; + inline ::capnp::List< ::cereal::LiveTracks, ::capnp::Kind::STRUCT>::Reader getLiveTracks() const; + + inline bool isSendcan() const; + inline bool hasSendcan() const; + inline ::capnp::List< ::cereal::CanData, ::capnp::Kind::STRUCT>::Reader getSendcan() const; + + inline bool isLogMessage() const; + inline bool hasLogMessage() const; + inline ::capnp::Text::Reader getLogMessage() const; + + inline bool isLiveCalibration() const; + inline bool hasLiveCalibration() const; + inline ::cereal::LiveCalibrationData::Reader getLiveCalibration() const; + + inline bool isAndroidLog() const; + inline bool hasAndroidLog() const; + inline ::cereal::AndroidLogEntry::Reader getAndroidLog() const; + + inline bool isGpsLocation() const; + inline bool hasGpsLocation() const; + inline ::cereal::GpsLocationData::Reader getGpsLocation() const; + + inline bool isCarState() const; + inline bool hasCarState() const; + inline ::cereal::CarState::Reader getCarState() const; + + inline bool isCarControl() const; + inline bool hasCarControl() const; + inline ::cereal::CarControl::Reader getCarControl() const; + + inline bool isLongitudinalPlan() const; + inline bool hasLongitudinalPlan() const; + inline ::cereal::LongitudinalPlan::Reader getLongitudinalPlan() const; + + inline bool isLiveLocationDEPRECATED() const; + inline bool hasLiveLocationDEPRECATED() const; + inline ::cereal::LiveLocationData::Reader getLiveLocationDEPRECATED() const; + + inline bool isEthernetDataDEPRECATED() const; + inline bool hasEthernetDataDEPRECATED() const; + inline ::capnp::List< ::cereal::EthernetPacket, ::capnp::Kind::STRUCT>::Reader getEthernetDataDEPRECATED() const; + + inline bool isNavUpdateDEPRECATED() const; + inline bool hasNavUpdateDEPRECATED() const; + inline ::cereal::NavUpdate::Reader getNavUpdateDEPRECATED() const; + + inline bool isCellInfoDEPRECATED() const; + inline bool hasCellInfoDEPRECATED() const; + inline ::capnp::List< ::cereal::CellInfo, ::capnp::Kind::STRUCT>::Reader getCellInfoDEPRECATED() const; + + inline bool isWifiScanDEPRECATED() const; + inline bool hasWifiScanDEPRECATED() const; + inline ::capnp::List< ::cereal::WifiScan, ::capnp::Kind::STRUCT>::Reader getWifiScanDEPRECATED() const; + + inline bool isAndroidGnssDEPRECATED() const; + inline bool hasAndroidGnssDEPRECATED() const; + inline ::cereal::AndroidGnss::Reader getAndroidGnssDEPRECATED() const; + + inline bool isQcomGnss() const; + inline bool hasQcomGnss() const; + inline ::cereal::QcomGnss::Reader getQcomGnss() const; + + inline bool isLidarPtsDEPRECATED() const; + inline bool hasLidarPtsDEPRECATED() const; + inline ::cereal::LidarPts::Reader getLidarPtsDEPRECATED() const; + + inline bool isProcLog() const; + inline bool hasProcLog() const; + inline ::cereal::ProcLog::Reader getProcLog() const; + + inline bool isUbloxGnss() const; + inline bool hasUbloxGnss() const; + inline ::cereal::UbloxGnss::Reader getUbloxGnss() const; + + inline bool isClocks() const; + inline bool hasClocks() const; + inline ::cereal::Clocks::Reader getClocks() const; + + inline bool isLiveMpcDEPRECATED() const; + inline bool hasLiveMpcDEPRECATED() const; + inline ::cereal::LiveMpcData::Reader getLiveMpcDEPRECATED() const; + + inline bool isLiveLongitudinalMpcDEPRECATED() const; + inline bool hasLiveLongitudinalMpcDEPRECATED() const; + inline ::cereal::LiveLongitudinalMpcData::Reader getLiveLongitudinalMpcDEPRECATED() const; + + inline bool isNavStatusDEPRECATED() const; + inline bool hasNavStatusDEPRECATED() const; + inline ::cereal::NavStatus::Reader getNavStatusDEPRECATED() const; + + inline bool isUbloxRaw() const; + inline bool hasUbloxRaw() const; + inline ::capnp::Data::Reader getUbloxRaw() const; + + inline bool isGpsPlannerPointsDEPRECATED() const; + inline bool hasGpsPlannerPointsDEPRECATED() const; + inline ::cereal::GPSPlannerPoints::Reader getGpsPlannerPointsDEPRECATED() const; + + inline bool isGpsPlannerPlanDEPRECATED() const; + inline bool hasGpsPlannerPlanDEPRECATED() const; + inline ::cereal::GPSPlannerPlan::Reader getGpsPlannerPlanDEPRECATED() const; + + inline bool isApplanixRawDEPRECATED() const; + inline bool hasApplanixRawDEPRECATED() const; + inline ::capnp::Data::Reader getApplanixRawDEPRECATED() const; + + inline bool isTrafficEventsDEPRECATED() const; + inline bool hasTrafficEventsDEPRECATED() const; + inline ::capnp::List< ::cereal::TrafficEvent, ::capnp::Kind::STRUCT>::Reader getTrafficEventsDEPRECATED() const; + + inline bool isLiveLocationTimingDEPRECATED() const; + inline bool hasLiveLocationTimingDEPRECATED() const; + inline ::cereal::LiveLocationData::Reader getLiveLocationTimingDEPRECATED() const; + + inline bool isOrbslamCorrectionDEPRECATED() const; + inline bool hasOrbslamCorrectionDEPRECATED() const; + inline ::cereal::OrbslamCorrection::Reader getOrbslamCorrectionDEPRECATED() const; + + inline bool isLiveLocationCorrectedDEPRECATED() const; + inline bool hasLiveLocationCorrectedDEPRECATED() const; + inline ::cereal::LiveLocationData::Reader getLiveLocationCorrectedDEPRECATED() const; + + inline bool isOrbObservationDEPRECATED() const; + inline bool hasOrbObservationDEPRECATED() const; + inline ::capnp::List< ::cereal::OrbObservation, ::capnp::Kind::STRUCT>::Reader getOrbObservationDEPRECATED() const; + + inline bool isGpsLocationExternal() const; + inline bool hasGpsLocationExternal() const; + inline ::cereal::GpsLocationData::Reader getGpsLocationExternal() const; + + inline bool isLocationDEPRECATED() const; + inline bool hasLocationDEPRECATED() const; + inline ::cereal::LiveLocationData::Reader getLocationDEPRECATED() const; + + inline bool isUiNavigationEventDEPRECATED() const; + inline bool hasUiNavigationEventDEPRECATED() const; + inline ::cereal::UiNavigationEvent::Reader getUiNavigationEventDEPRECATED() const; + + inline bool isLiveLocationKalmanDEPRECATED() const; + inline bool hasLiveLocationKalmanDEPRECATED() const; + inline ::cereal::LiveLocationData::Reader getLiveLocationKalmanDEPRECATED() const; + + inline bool isTestJoystick() const; + inline bool hasTestJoystick() const; + inline ::cereal::Joystick::Reader getTestJoystick() const; + + inline bool isOrbOdometryDEPRECATED() const; + inline bool hasOrbOdometryDEPRECATED() const; + inline ::cereal::OrbOdometry::Reader getOrbOdometryDEPRECATED() const; + + inline bool isOrbFeaturesDEPRECATED() const; + inline bool hasOrbFeaturesDEPRECATED() const; + inline ::cereal::OrbFeatures::Reader getOrbFeaturesDEPRECATED() const; + + inline bool isApplanixLocationDEPRECATED() const; + inline bool hasApplanixLocationDEPRECATED() const; + inline ::cereal::LiveLocationData::Reader getApplanixLocationDEPRECATED() const; + + inline bool isOrbKeyFrameDEPRECATED() const; + inline bool hasOrbKeyFrameDEPRECATED() const; + inline ::cereal::OrbKeyFrame::Reader getOrbKeyFrameDEPRECATED() const; + + inline bool isUiLayoutStateDEPRECATED() const; + inline bool hasUiLayoutStateDEPRECATED() const; + inline ::cereal::UiLayoutState::Reader getUiLayoutStateDEPRECATED() const; + + inline bool isOrbFeaturesSummaryDEPRECATED() const; + inline bool hasOrbFeaturesSummaryDEPRECATED() const; + inline ::cereal::OrbFeaturesSummary::Reader getOrbFeaturesSummaryDEPRECATED() const; + + inline bool isDriverStateDEPRECATED() const; + inline bool hasDriverStateDEPRECATED() const; + inline ::cereal::DriverStateDEPRECATED::Reader getDriverStateDEPRECATED() const; + + inline bool isBoot() const; + inline bool hasBoot() const; + inline ::cereal::Boot::Reader getBoot() const; + + inline bool isLiveParameters() const; + inline bool hasLiveParameters() const; + inline ::cereal::LiveParametersData::Reader getLiveParameters() const; + + inline bool isLiveMapDataDEPRECATED() const; + inline bool hasLiveMapDataDEPRECATED() const; + inline ::cereal::LiveMapDataDEPRECATED::Reader getLiveMapDataDEPRECATED() const; + + inline bool isCameraOdometry() const; + inline bool hasCameraOdometry() const; + inline ::cereal::CameraOdometry::Reader getCameraOdometry() const; + + inline bool isLateralPlanDEPRECATED() const; + inline bool hasLateralPlanDEPRECATED() const; + inline ::cereal::LateralPlan::Reader getLateralPlanDEPRECATED() const; + + inline bool isKalmanOdometryDEPRECATED() const; + inline bool hasKalmanOdometryDEPRECATED() const; + inline ::cereal::KalmanOdometry::Reader getKalmanOdometryDEPRECATED() const; + + inline bool isThumbnail() const; + inline bool hasThumbnail() const; + inline ::cereal::Thumbnail::Reader getThumbnail() const; + + inline bool getValid() const; + + inline bool isOnroadEvents() const; + inline bool hasOnroadEvents() const; + inline ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>::Reader getOnroadEvents() const; + + inline bool isCarParams() const; + inline bool hasCarParams() const; + inline ::cereal::CarParams::Reader getCarParams() const; + + inline bool isDriverCameraState() const; + inline bool hasDriverCameraState() const; + inline ::cereal::FrameData::Reader getDriverCameraState() const; + + inline bool isDriverMonitoringState() const; + inline bool hasDriverMonitoringState() const; + inline ::cereal::DriverMonitoringState::Reader getDriverMonitoringState() const; + + inline bool isLiveLocationKalman() const; + inline bool hasLiveLocationKalman() const; + inline ::cereal::LiveLocationKalman::Reader getLiveLocationKalman() const; + + inline bool isSentinel() const; + inline bool hasSentinel() const; + inline ::cereal::Sentinel::Reader getSentinel() const; + + inline bool isWideRoadCameraState() const; + inline bool hasWideRoadCameraState() const; + inline ::cereal::FrameData::Reader getWideRoadCameraState() const; + + inline bool isModelV2() const; + inline bool hasModelV2() const; + inline ::cereal::ModelDataV2::Reader getModelV2() const; + + inline bool isDriverEncodeIdx() const; + inline bool hasDriverEncodeIdx() const; + inline ::cereal::EncodeIndex::Reader getDriverEncodeIdx() const; + + inline bool isWideRoadEncodeIdx() const; + inline bool hasWideRoadEncodeIdx() const; + inline ::cereal::EncodeIndex::Reader getWideRoadEncodeIdx() const; + + inline bool isManagerState() const; + inline bool hasManagerState() const; + inline ::cereal::ManagerState::Reader getManagerState() const; + + inline bool isUploaderState() const; + inline bool hasUploaderState() const; + inline ::cereal::UploaderState::Reader getUploaderState() const; + + inline bool isPeripheralState() const; + inline bool hasPeripheralState() const; + inline ::cereal::PeripheralState::Reader getPeripheralState() const; + + inline bool isPandaStates() const; + inline bool hasPandaStates() const; + inline ::capnp::List< ::cereal::PandaState, ::capnp::Kind::STRUCT>::Reader getPandaStates() const; + + inline bool isNavInstruction() const; + inline bool hasNavInstruction() const; + inline ::cereal::NavInstruction::Reader getNavInstruction() const; + + inline bool isNavRoute() const; + inline bool hasNavRoute() const; + inline ::cereal::NavRoute::Reader getNavRoute() const; + + inline bool isNavThumbnail() const; + inline bool hasNavThumbnail() const; + inline ::cereal::Thumbnail::Reader getNavThumbnail() const; + + inline bool isErrorLogMessage() const; + inline bool hasErrorLogMessage() const; + inline ::capnp::Text::Reader getErrorLogMessage() const; + + inline bool isRoadEncodeData() const; + inline bool hasRoadEncodeData() const; + inline ::cereal::EncodeData::Reader getRoadEncodeData() const; + + inline bool isDriverEncodeData() const; + inline bool hasDriverEncodeData() const; + inline ::cereal::EncodeData::Reader getDriverEncodeData() const; + + inline bool isWideRoadEncodeData() const; + inline bool hasWideRoadEncodeData() const; + inline ::cereal::EncodeData::Reader getWideRoadEncodeData() const; + + inline bool isQRoadEncodeData() const; + inline bool hasQRoadEncodeData() const; + inline ::cereal::EncodeData::Reader getQRoadEncodeData() const; + + inline bool isQRoadEncodeIdx() const; + inline bool hasQRoadEncodeIdx() const; + inline ::cereal::EncodeIndex::Reader getQRoadEncodeIdx() const; + + inline bool isGnssMeasurements() const; + inline bool hasGnssMeasurements() const; + inline ::cereal::GnssMeasurements::Reader getGnssMeasurements() const; + + inline bool isDriverStateV2() const; + inline bool hasDriverStateV2() const; + inline ::cereal::DriverStateV2::Reader getDriverStateV2() const; + + inline bool isUserFlag() const; + inline bool hasUserFlag() const; + inline ::cereal::UserFlag::Reader getUserFlag() const; + + inline bool isLiveTorqueParameters() const; + inline bool hasLiveTorqueParameters() const; + inline ::cereal::LiveTorqueParametersData::Reader getLiveTorqueParameters() const; + + inline bool isMagnetometer() const; + inline bool hasMagnetometer() const; + inline ::cereal::SensorEventData::Reader getMagnetometer() const; + + inline bool isLightSensor() const; + inline bool hasLightSensor() const; + inline ::cereal::SensorEventData::Reader getLightSensor() const; + + inline bool isTemperatureSensor() const; + inline bool hasTemperatureSensor() const; + inline ::cereal::SensorEventData::Reader getTemperatureSensor() const; + + inline bool isAccelerometer() const; + inline bool hasAccelerometer() const; + inline ::cereal::SensorEventData::Reader getAccelerometer() const; + + inline bool isGyroscope() const; + inline bool hasGyroscope() const; + inline ::cereal::SensorEventData::Reader getGyroscope() const; + + inline bool isGyroscope2() const; + inline bool hasGyroscope2() const; + inline ::cereal::SensorEventData::Reader getGyroscope2() const; + + inline bool isAccelerometer2() const; + inline bool hasAccelerometer2() const; + inline ::cereal::SensorEventData::Reader getAccelerometer2() const; + + inline bool isUiDebug() const; + inline bool hasUiDebug() const; + inline ::cereal::UIDebug::Reader getUiDebug() const; + + inline bool isMicrophone() const; + inline bool hasMicrophone() const; + inline ::cereal::Microphone::Reader getMicrophone() const; + + inline bool isNavModelDEPRECATED() const; + inline bool hasNavModelDEPRECATED() const; + inline ::cereal::NavModelData::Reader getNavModelDEPRECATED() const; + + inline bool isMapRenderState() const; + inline bool hasMapRenderState() const; + inline ::cereal::MapRenderState::Reader getMapRenderState() const; + + inline bool isUiPlanDEPRECATED() const; + inline bool hasUiPlanDEPRECATED() const; + inline ::cereal::UiPlan::Reader getUiPlanDEPRECATED() const; + + inline bool isControlsStateSP() const; + inline bool hasControlsStateSP() const; + inline ::cereal::ControlsStateSP::Reader getControlsStateSP() const; + + inline bool isLongitudinalPlanSP() const; + inline bool hasLongitudinalPlanSP() const; + inline ::cereal::LongitudinalPlanSP::Reader getLongitudinalPlanSP() const; + + inline bool isLateralPlanSPDEPRECATED() const; + inline bool hasLateralPlanSPDEPRECATED() const; + inline ::cereal::LateralPlanSP::Reader getLateralPlanSPDEPRECATED() const; + + inline bool isDriverMonitoringStateSP() const; + inline bool hasDriverMonitoringStateSP() const; + inline ::cereal::DriverMonitoringStateSP::Reader getDriverMonitoringStateSP() const; + + inline bool isLiveMapDataSP() const; + inline bool hasLiveMapDataSP() const; + inline ::cereal::LiveMapDataSP::Reader getLiveMapDataSP() const; + + inline bool isE2eLongStateSP() const; + inline bool hasE2eLongStateSP() const; + inline ::cereal::E2eLongStateSP::Reader getE2eLongStateSP() const; + + inline bool isModelV2SP() const; + inline bool hasModelV2SP() const; + inline ::cereal::ModelDataV2SP::Reader getModelV2SP() const; + + inline bool isCustomReserved7() const; + inline bool hasCustomReserved7() const; + inline ::cereal::CustomReserved7::Reader getCustomReserved7() const; + + inline bool isCustomReserved8() const; + inline bool hasCustomReserved8() const; + inline ::cereal::CustomReserved8::Reader getCustomReserved8() const; + + inline bool isCustomReserved9() const; + inline bool hasCustomReserved9() const; + inline ::cereal::CustomReserved9::Reader getCustomReserved9() const; + + inline bool isLivestreamRoadEncodeIdx() const; + inline bool hasLivestreamRoadEncodeIdx() const; + inline ::cereal::EncodeIndex::Reader getLivestreamRoadEncodeIdx() const; + + inline bool isLivestreamWideRoadEncodeIdx() const; + inline bool hasLivestreamWideRoadEncodeIdx() const; + inline ::cereal::EncodeIndex::Reader getLivestreamWideRoadEncodeIdx() const; + + inline bool isLivestreamDriverEncodeIdx() const; + inline bool hasLivestreamDriverEncodeIdx() const; + inline ::cereal::EncodeIndex::Reader getLivestreamDriverEncodeIdx() const; + + inline bool isLivestreamRoadEncodeData() const; + inline bool hasLivestreamRoadEncodeData() const; + inline ::cereal::EncodeData::Reader getLivestreamRoadEncodeData() const; + + inline bool isLivestreamWideRoadEncodeData() const; + inline bool hasLivestreamWideRoadEncodeData() const; + inline ::cereal::EncodeData::Reader getLivestreamWideRoadEncodeData() const; + + inline bool isLivestreamDriverEncodeData() const; + inline bool hasLivestreamDriverEncodeData() const; + inline ::cereal::EncodeData::Reader getLivestreamDriverEncodeData() const; + + inline bool isTemperatureSensor2() const; + inline bool hasTemperatureSensor2() const; + inline ::cereal::SensorEventData::Reader getTemperatureSensor2() const; + + inline bool isCustomReservedRawData0() const; + inline bool hasCustomReservedRawData0() const; + inline ::capnp::Data::Reader getCustomReservedRawData0() const; + + inline bool isCustomReservedRawData1() const; + inline bool hasCustomReservedRawData1() const; + inline ::capnp::Data::Reader getCustomReservedRawData1() const; + + inline bool isCustomReservedRawData2() const; + inline bool hasCustomReservedRawData2() const; + inline ::capnp::Data::Reader getCustomReservedRawData2() const; + + inline bool isCarOutput() const; + inline bool hasCarOutput() const; + inline ::cereal::CarOutput::Reader getCarOutput() const; + + inline bool isDrivingModelData() const; + inline bool hasDrivingModelData() const; + inline ::cereal::DrivingModelData::Reader getDrivingModelData() const; + + inline bool isLivePose() const; + inline bool hasLivePose() const; + inline ::cereal::LivePose::Reader getLivePose() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class Event::Builder { +public: + typedef Event Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline Which which(); + inline ::uint64_t getLogMonoTime(); + inline void setLogMonoTime( ::uint64_t value); + + inline bool isInitData(); + inline bool hasInitData(); + inline ::cereal::InitData::Builder getInitData(); + inline void setInitData( ::cereal::InitData::Reader value); + inline ::cereal::InitData::Builder initInitData(); + inline void adoptInitData(::capnp::Orphan< ::cereal::InitData>&& value); + inline ::capnp::Orphan< ::cereal::InitData> disownInitData(); + + inline bool isRoadCameraState(); + inline bool hasRoadCameraState(); + inline ::cereal::FrameData::Builder getRoadCameraState(); + inline void setRoadCameraState( ::cereal::FrameData::Reader value); + inline ::cereal::FrameData::Builder initRoadCameraState(); + inline void adoptRoadCameraState(::capnp::Orphan< ::cereal::FrameData>&& value); + inline ::capnp::Orphan< ::cereal::FrameData> disownRoadCameraState(); + + inline bool isGpsNMEA(); + inline bool hasGpsNMEA(); + inline ::cereal::GPSNMEAData::Builder getGpsNMEA(); + inline void setGpsNMEA( ::cereal::GPSNMEAData::Reader value); + inline ::cereal::GPSNMEAData::Builder initGpsNMEA(); + inline void adoptGpsNMEA(::capnp::Orphan< ::cereal::GPSNMEAData>&& value); + inline ::capnp::Orphan< ::cereal::GPSNMEAData> disownGpsNMEA(); + + inline bool isSensorEventDEPRECATED(); + inline bool hasSensorEventDEPRECATED(); + inline ::cereal::SensorEventData::Builder getSensorEventDEPRECATED(); + inline void setSensorEventDEPRECATED( ::cereal::SensorEventData::Reader value); + inline ::cereal::SensorEventData::Builder initSensorEventDEPRECATED(); + inline void adoptSensorEventDEPRECATED(::capnp::Orphan< ::cereal::SensorEventData>&& value); + inline ::capnp::Orphan< ::cereal::SensorEventData> disownSensorEventDEPRECATED(); + + inline bool isCan(); + inline bool hasCan(); + inline ::capnp::List< ::cereal::CanData, ::capnp::Kind::STRUCT>::Builder getCan(); + inline void setCan( ::capnp::List< ::cereal::CanData, ::capnp::Kind::STRUCT>::Reader value); + inline ::capnp::List< ::cereal::CanData, ::capnp::Kind::STRUCT>::Builder initCan(unsigned int size); + inline void adoptCan(::capnp::Orphan< ::capnp::List< ::cereal::CanData, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::CanData, ::capnp::Kind::STRUCT>> disownCan(); + + inline bool isDeviceState(); + inline bool hasDeviceState(); + inline ::cereal::DeviceState::Builder getDeviceState(); + inline void setDeviceState( ::cereal::DeviceState::Reader value); + inline ::cereal::DeviceState::Builder initDeviceState(); + inline void adoptDeviceState(::capnp::Orphan< ::cereal::DeviceState>&& value); + inline ::capnp::Orphan< ::cereal::DeviceState> disownDeviceState(); + + inline bool isControlsState(); + inline bool hasControlsState(); + inline ::cereal::ControlsState::Builder getControlsState(); + inline void setControlsState( ::cereal::ControlsState::Reader value); + inline ::cereal::ControlsState::Builder initControlsState(); + inline void adoptControlsState(::capnp::Orphan< ::cereal::ControlsState>&& value); + inline ::capnp::Orphan< ::cereal::ControlsState> disownControlsState(); + + inline bool isLiveEventDEPRECATED(); + inline bool hasLiveEventDEPRECATED(); + inline ::capnp::List< ::cereal::LiveEventData, ::capnp::Kind::STRUCT>::Builder getLiveEventDEPRECATED(); + inline void setLiveEventDEPRECATED( ::capnp::List< ::cereal::LiveEventData, ::capnp::Kind::STRUCT>::Reader value); + inline ::capnp::List< ::cereal::LiveEventData, ::capnp::Kind::STRUCT>::Builder initLiveEventDEPRECATED(unsigned int size); + inline void adoptLiveEventDEPRECATED(::capnp::Orphan< ::capnp::List< ::cereal::LiveEventData, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::LiveEventData, ::capnp::Kind::STRUCT>> disownLiveEventDEPRECATED(); + + inline bool isModel(); + inline bool hasModel(); + inline ::cereal::ModelData::Builder getModel(); + inline void setModel( ::cereal::ModelData::Reader value); + inline ::cereal::ModelData::Builder initModel(); + inline void adoptModel(::capnp::Orphan< ::cereal::ModelData>&& value); + inline ::capnp::Orphan< ::cereal::ModelData> disownModel(); + + inline bool isFeaturesDEPRECATED(); + inline bool hasFeaturesDEPRECATED(); + inline ::cereal::CalibrationFeatures::Builder getFeaturesDEPRECATED(); + inline void setFeaturesDEPRECATED( ::cereal::CalibrationFeatures::Reader value); + inline ::cereal::CalibrationFeatures::Builder initFeaturesDEPRECATED(); + inline void adoptFeaturesDEPRECATED(::capnp::Orphan< ::cereal::CalibrationFeatures>&& value); + inline ::capnp::Orphan< ::cereal::CalibrationFeatures> disownFeaturesDEPRECATED(); + + inline bool isSensorEventsDEPRECATED(); + inline bool hasSensorEventsDEPRECATED(); + inline ::capnp::List< ::cereal::SensorEventData, ::capnp::Kind::STRUCT>::Builder getSensorEventsDEPRECATED(); + inline void setSensorEventsDEPRECATED( ::capnp::List< ::cereal::SensorEventData, ::capnp::Kind::STRUCT>::Reader value); + inline ::capnp::List< ::cereal::SensorEventData, ::capnp::Kind::STRUCT>::Builder initSensorEventsDEPRECATED(unsigned int size); + inline void adoptSensorEventsDEPRECATED(::capnp::Orphan< ::capnp::List< ::cereal::SensorEventData, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::SensorEventData, ::capnp::Kind::STRUCT>> disownSensorEventsDEPRECATED(); + + inline bool isPandaStateDEPRECATED(); + inline bool hasPandaStateDEPRECATED(); + inline ::cereal::PandaState::Builder getPandaStateDEPRECATED(); + inline void setPandaStateDEPRECATED( ::cereal::PandaState::Reader value); + inline ::cereal::PandaState::Builder initPandaStateDEPRECATED(); + inline void adoptPandaStateDEPRECATED(::capnp::Orphan< ::cereal::PandaState>&& value); + inline ::capnp::Orphan< ::cereal::PandaState> disownPandaStateDEPRECATED(); + + inline bool isRadarState(); + inline bool hasRadarState(); + inline ::cereal::RadarState::Builder getRadarState(); + inline void setRadarState( ::cereal::RadarState::Reader value); + inline ::cereal::RadarState::Builder initRadarState(); + inline void adoptRadarState(::capnp::Orphan< ::cereal::RadarState>&& value); + inline ::capnp::Orphan< ::cereal::RadarState> disownRadarState(); + + inline bool isLiveUIDEPRECATED(); + inline bool hasLiveUIDEPRECATED(); + inline ::cereal::LiveUI::Builder getLiveUIDEPRECATED(); + inline void setLiveUIDEPRECATED( ::cereal::LiveUI::Reader value); + inline ::cereal::LiveUI::Builder initLiveUIDEPRECATED(); + inline void adoptLiveUIDEPRECATED(::capnp::Orphan< ::cereal::LiveUI>&& value); + inline ::capnp::Orphan< ::cereal::LiveUI> disownLiveUIDEPRECATED(); + + inline bool isRoadEncodeIdx(); + inline bool hasRoadEncodeIdx(); + inline ::cereal::EncodeIndex::Builder getRoadEncodeIdx(); + inline void setRoadEncodeIdx( ::cereal::EncodeIndex::Reader value); + inline ::cereal::EncodeIndex::Builder initRoadEncodeIdx(); + inline void adoptRoadEncodeIdx(::capnp::Orphan< ::cereal::EncodeIndex>&& value); + inline ::capnp::Orphan< ::cereal::EncodeIndex> disownRoadEncodeIdx(); + + inline bool isLiveTracks(); + inline bool hasLiveTracks(); + inline ::capnp::List< ::cereal::LiveTracks, ::capnp::Kind::STRUCT>::Builder getLiveTracks(); + inline void setLiveTracks( ::capnp::List< ::cereal::LiveTracks, ::capnp::Kind::STRUCT>::Reader value); + inline ::capnp::List< ::cereal::LiveTracks, ::capnp::Kind::STRUCT>::Builder initLiveTracks(unsigned int size); + inline void adoptLiveTracks(::capnp::Orphan< ::capnp::List< ::cereal::LiveTracks, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::LiveTracks, ::capnp::Kind::STRUCT>> disownLiveTracks(); + + inline bool isSendcan(); + inline bool hasSendcan(); + inline ::capnp::List< ::cereal::CanData, ::capnp::Kind::STRUCT>::Builder getSendcan(); + inline void setSendcan( ::capnp::List< ::cereal::CanData, ::capnp::Kind::STRUCT>::Reader value); + inline ::capnp::List< ::cereal::CanData, ::capnp::Kind::STRUCT>::Builder initSendcan(unsigned int size); + inline void adoptSendcan(::capnp::Orphan< ::capnp::List< ::cereal::CanData, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::CanData, ::capnp::Kind::STRUCT>> disownSendcan(); + + inline bool isLogMessage(); + inline bool hasLogMessage(); + inline ::capnp::Text::Builder getLogMessage(); + inline void setLogMessage( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initLogMessage(unsigned int size); + inline void adoptLogMessage(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownLogMessage(); + + inline bool isLiveCalibration(); + inline bool hasLiveCalibration(); + inline ::cereal::LiveCalibrationData::Builder getLiveCalibration(); + inline void setLiveCalibration( ::cereal::LiveCalibrationData::Reader value); + inline ::cereal::LiveCalibrationData::Builder initLiveCalibration(); + inline void adoptLiveCalibration(::capnp::Orphan< ::cereal::LiveCalibrationData>&& value); + inline ::capnp::Orphan< ::cereal::LiveCalibrationData> disownLiveCalibration(); + + inline bool isAndroidLog(); + inline bool hasAndroidLog(); + inline ::cereal::AndroidLogEntry::Builder getAndroidLog(); + inline void setAndroidLog( ::cereal::AndroidLogEntry::Reader value); + inline ::cereal::AndroidLogEntry::Builder initAndroidLog(); + inline void adoptAndroidLog(::capnp::Orphan< ::cereal::AndroidLogEntry>&& value); + inline ::capnp::Orphan< ::cereal::AndroidLogEntry> disownAndroidLog(); + + inline bool isGpsLocation(); + inline bool hasGpsLocation(); + inline ::cereal::GpsLocationData::Builder getGpsLocation(); + inline void setGpsLocation( ::cereal::GpsLocationData::Reader value); + inline ::cereal::GpsLocationData::Builder initGpsLocation(); + inline void adoptGpsLocation(::capnp::Orphan< ::cereal::GpsLocationData>&& value); + inline ::capnp::Orphan< ::cereal::GpsLocationData> disownGpsLocation(); + + inline bool isCarState(); + inline bool hasCarState(); + inline ::cereal::CarState::Builder getCarState(); + inline void setCarState( ::cereal::CarState::Reader value); + inline ::cereal::CarState::Builder initCarState(); + inline void adoptCarState(::capnp::Orphan< ::cereal::CarState>&& value); + inline ::capnp::Orphan< ::cereal::CarState> disownCarState(); + + inline bool isCarControl(); + inline bool hasCarControl(); + inline ::cereal::CarControl::Builder getCarControl(); + inline void setCarControl( ::cereal::CarControl::Reader value); + inline ::cereal::CarControl::Builder initCarControl(); + inline void adoptCarControl(::capnp::Orphan< ::cereal::CarControl>&& value); + inline ::capnp::Orphan< ::cereal::CarControl> disownCarControl(); + + inline bool isLongitudinalPlan(); + inline bool hasLongitudinalPlan(); + inline ::cereal::LongitudinalPlan::Builder getLongitudinalPlan(); + inline void setLongitudinalPlan( ::cereal::LongitudinalPlan::Reader value); + inline ::cereal::LongitudinalPlan::Builder initLongitudinalPlan(); + inline void adoptLongitudinalPlan(::capnp::Orphan< ::cereal::LongitudinalPlan>&& value); + inline ::capnp::Orphan< ::cereal::LongitudinalPlan> disownLongitudinalPlan(); + + inline bool isLiveLocationDEPRECATED(); + inline bool hasLiveLocationDEPRECATED(); + inline ::cereal::LiveLocationData::Builder getLiveLocationDEPRECATED(); + inline void setLiveLocationDEPRECATED( ::cereal::LiveLocationData::Reader value); + inline ::cereal::LiveLocationData::Builder initLiveLocationDEPRECATED(); + inline void adoptLiveLocationDEPRECATED(::capnp::Orphan< ::cereal::LiveLocationData>&& value); + inline ::capnp::Orphan< ::cereal::LiveLocationData> disownLiveLocationDEPRECATED(); + + inline bool isEthernetDataDEPRECATED(); + inline bool hasEthernetDataDEPRECATED(); + inline ::capnp::List< ::cereal::EthernetPacket, ::capnp::Kind::STRUCT>::Builder getEthernetDataDEPRECATED(); + inline void setEthernetDataDEPRECATED( ::capnp::List< ::cereal::EthernetPacket, ::capnp::Kind::STRUCT>::Reader value); + inline ::capnp::List< ::cereal::EthernetPacket, ::capnp::Kind::STRUCT>::Builder initEthernetDataDEPRECATED(unsigned int size); + inline void adoptEthernetDataDEPRECATED(::capnp::Orphan< ::capnp::List< ::cereal::EthernetPacket, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::EthernetPacket, ::capnp::Kind::STRUCT>> disownEthernetDataDEPRECATED(); + + inline bool isNavUpdateDEPRECATED(); + inline bool hasNavUpdateDEPRECATED(); + inline ::cereal::NavUpdate::Builder getNavUpdateDEPRECATED(); + inline void setNavUpdateDEPRECATED( ::cereal::NavUpdate::Reader value); + inline ::cereal::NavUpdate::Builder initNavUpdateDEPRECATED(); + inline void adoptNavUpdateDEPRECATED(::capnp::Orphan< ::cereal::NavUpdate>&& value); + inline ::capnp::Orphan< ::cereal::NavUpdate> disownNavUpdateDEPRECATED(); + + inline bool isCellInfoDEPRECATED(); + inline bool hasCellInfoDEPRECATED(); + inline ::capnp::List< ::cereal::CellInfo, ::capnp::Kind::STRUCT>::Builder getCellInfoDEPRECATED(); + inline void setCellInfoDEPRECATED( ::capnp::List< ::cereal::CellInfo, ::capnp::Kind::STRUCT>::Reader value); + inline ::capnp::List< ::cereal::CellInfo, ::capnp::Kind::STRUCT>::Builder initCellInfoDEPRECATED(unsigned int size); + inline void adoptCellInfoDEPRECATED(::capnp::Orphan< ::capnp::List< ::cereal::CellInfo, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::CellInfo, ::capnp::Kind::STRUCT>> disownCellInfoDEPRECATED(); + + inline bool isWifiScanDEPRECATED(); + inline bool hasWifiScanDEPRECATED(); + inline ::capnp::List< ::cereal::WifiScan, ::capnp::Kind::STRUCT>::Builder getWifiScanDEPRECATED(); + inline void setWifiScanDEPRECATED( ::capnp::List< ::cereal::WifiScan, ::capnp::Kind::STRUCT>::Reader value); + inline ::capnp::List< ::cereal::WifiScan, ::capnp::Kind::STRUCT>::Builder initWifiScanDEPRECATED(unsigned int size); + inline void adoptWifiScanDEPRECATED(::capnp::Orphan< ::capnp::List< ::cereal::WifiScan, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::WifiScan, ::capnp::Kind::STRUCT>> disownWifiScanDEPRECATED(); + + inline bool isAndroidGnssDEPRECATED(); + inline bool hasAndroidGnssDEPRECATED(); + inline ::cereal::AndroidGnss::Builder getAndroidGnssDEPRECATED(); + inline void setAndroidGnssDEPRECATED( ::cereal::AndroidGnss::Reader value); + inline ::cereal::AndroidGnss::Builder initAndroidGnssDEPRECATED(); + inline void adoptAndroidGnssDEPRECATED(::capnp::Orphan< ::cereal::AndroidGnss>&& value); + inline ::capnp::Orphan< ::cereal::AndroidGnss> disownAndroidGnssDEPRECATED(); + + inline bool isQcomGnss(); + inline bool hasQcomGnss(); + inline ::cereal::QcomGnss::Builder getQcomGnss(); + inline void setQcomGnss( ::cereal::QcomGnss::Reader value); + inline ::cereal::QcomGnss::Builder initQcomGnss(); + inline void adoptQcomGnss(::capnp::Orphan< ::cereal::QcomGnss>&& value); + inline ::capnp::Orphan< ::cereal::QcomGnss> disownQcomGnss(); + + inline bool isLidarPtsDEPRECATED(); + inline bool hasLidarPtsDEPRECATED(); + inline ::cereal::LidarPts::Builder getLidarPtsDEPRECATED(); + inline void setLidarPtsDEPRECATED( ::cereal::LidarPts::Reader value); + inline ::cereal::LidarPts::Builder initLidarPtsDEPRECATED(); + inline void adoptLidarPtsDEPRECATED(::capnp::Orphan< ::cereal::LidarPts>&& value); + inline ::capnp::Orphan< ::cereal::LidarPts> disownLidarPtsDEPRECATED(); + + inline bool isProcLog(); + inline bool hasProcLog(); + inline ::cereal::ProcLog::Builder getProcLog(); + inline void setProcLog( ::cereal::ProcLog::Reader value); + inline ::cereal::ProcLog::Builder initProcLog(); + inline void adoptProcLog(::capnp::Orphan< ::cereal::ProcLog>&& value); + inline ::capnp::Orphan< ::cereal::ProcLog> disownProcLog(); + + inline bool isUbloxGnss(); + inline bool hasUbloxGnss(); + inline ::cereal::UbloxGnss::Builder getUbloxGnss(); + inline void setUbloxGnss( ::cereal::UbloxGnss::Reader value); + inline ::cereal::UbloxGnss::Builder initUbloxGnss(); + inline void adoptUbloxGnss(::capnp::Orphan< ::cereal::UbloxGnss>&& value); + inline ::capnp::Orphan< ::cereal::UbloxGnss> disownUbloxGnss(); + + inline bool isClocks(); + inline bool hasClocks(); + inline ::cereal::Clocks::Builder getClocks(); + inline void setClocks( ::cereal::Clocks::Reader value); + inline ::cereal::Clocks::Builder initClocks(); + inline void adoptClocks(::capnp::Orphan< ::cereal::Clocks>&& value); + inline ::capnp::Orphan< ::cereal::Clocks> disownClocks(); + + inline bool isLiveMpcDEPRECATED(); + inline bool hasLiveMpcDEPRECATED(); + inline ::cereal::LiveMpcData::Builder getLiveMpcDEPRECATED(); + inline void setLiveMpcDEPRECATED( ::cereal::LiveMpcData::Reader value); + inline ::cereal::LiveMpcData::Builder initLiveMpcDEPRECATED(); + inline void adoptLiveMpcDEPRECATED(::capnp::Orphan< ::cereal::LiveMpcData>&& value); + inline ::capnp::Orphan< ::cereal::LiveMpcData> disownLiveMpcDEPRECATED(); + + inline bool isLiveLongitudinalMpcDEPRECATED(); + inline bool hasLiveLongitudinalMpcDEPRECATED(); + inline ::cereal::LiveLongitudinalMpcData::Builder getLiveLongitudinalMpcDEPRECATED(); + inline void setLiveLongitudinalMpcDEPRECATED( ::cereal::LiveLongitudinalMpcData::Reader value); + inline ::cereal::LiveLongitudinalMpcData::Builder initLiveLongitudinalMpcDEPRECATED(); + inline void adoptLiveLongitudinalMpcDEPRECATED(::capnp::Orphan< ::cereal::LiveLongitudinalMpcData>&& value); + inline ::capnp::Orphan< ::cereal::LiveLongitudinalMpcData> disownLiveLongitudinalMpcDEPRECATED(); + + inline bool isNavStatusDEPRECATED(); + inline bool hasNavStatusDEPRECATED(); + inline ::cereal::NavStatus::Builder getNavStatusDEPRECATED(); + inline void setNavStatusDEPRECATED( ::cereal::NavStatus::Reader value); + inline ::cereal::NavStatus::Builder initNavStatusDEPRECATED(); + inline void adoptNavStatusDEPRECATED(::capnp::Orphan< ::cereal::NavStatus>&& value); + inline ::capnp::Orphan< ::cereal::NavStatus> disownNavStatusDEPRECATED(); + + inline bool isUbloxRaw(); + inline bool hasUbloxRaw(); + inline ::capnp::Data::Builder getUbloxRaw(); + inline void setUbloxRaw( ::capnp::Data::Reader value); + inline ::capnp::Data::Builder initUbloxRaw(unsigned int size); + inline void adoptUbloxRaw(::capnp::Orphan< ::capnp::Data>&& value); + inline ::capnp::Orphan< ::capnp::Data> disownUbloxRaw(); + + inline bool isGpsPlannerPointsDEPRECATED(); + inline bool hasGpsPlannerPointsDEPRECATED(); + inline ::cereal::GPSPlannerPoints::Builder getGpsPlannerPointsDEPRECATED(); + inline void setGpsPlannerPointsDEPRECATED( ::cereal::GPSPlannerPoints::Reader value); + inline ::cereal::GPSPlannerPoints::Builder initGpsPlannerPointsDEPRECATED(); + inline void adoptGpsPlannerPointsDEPRECATED(::capnp::Orphan< ::cereal::GPSPlannerPoints>&& value); + inline ::capnp::Orphan< ::cereal::GPSPlannerPoints> disownGpsPlannerPointsDEPRECATED(); + + inline bool isGpsPlannerPlanDEPRECATED(); + inline bool hasGpsPlannerPlanDEPRECATED(); + inline ::cereal::GPSPlannerPlan::Builder getGpsPlannerPlanDEPRECATED(); + inline void setGpsPlannerPlanDEPRECATED( ::cereal::GPSPlannerPlan::Reader value); + inline ::cereal::GPSPlannerPlan::Builder initGpsPlannerPlanDEPRECATED(); + inline void adoptGpsPlannerPlanDEPRECATED(::capnp::Orphan< ::cereal::GPSPlannerPlan>&& value); + inline ::capnp::Orphan< ::cereal::GPSPlannerPlan> disownGpsPlannerPlanDEPRECATED(); + + inline bool isApplanixRawDEPRECATED(); + inline bool hasApplanixRawDEPRECATED(); + inline ::capnp::Data::Builder getApplanixRawDEPRECATED(); + inline void setApplanixRawDEPRECATED( ::capnp::Data::Reader value); + inline ::capnp::Data::Builder initApplanixRawDEPRECATED(unsigned int size); + inline void adoptApplanixRawDEPRECATED(::capnp::Orphan< ::capnp::Data>&& value); + inline ::capnp::Orphan< ::capnp::Data> disownApplanixRawDEPRECATED(); + + inline bool isTrafficEventsDEPRECATED(); + inline bool hasTrafficEventsDEPRECATED(); + inline ::capnp::List< ::cereal::TrafficEvent, ::capnp::Kind::STRUCT>::Builder getTrafficEventsDEPRECATED(); + inline void setTrafficEventsDEPRECATED( ::capnp::List< ::cereal::TrafficEvent, ::capnp::Kind::STRUCT>::Reader value); + inline ::capnp::List< ::cereal::TrafficEvent, ::capnp::Kind::STRUCT>::Builder initTrafficEventsDEPRECATED(unsigned int size); + inline void adoptTrafficEventsDEPRECATED(::capnp::Orphan< ::capnp::List< ::cereal::TrafficEvent, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::TrafficEvent, ::capnp::Kind::STRUCT>> disownTrafficEventsDEPRECATED(); + + inline bool isLiveLocationTimingDEPRECATED(); + inline bool hasLiveLocationTimingDEPRECATED(); + inline ::cereal::LiveLocationData::Builder getLiveLocationTimingDEPRECATED(); + inline void setLiveLocationTimingDEPRECATED( ::cereal::LiveLocationData::Reader value); + inline ::cereal::LiveLocationData::Builder initLiveLocationTimingDEPRECATED(); + inline void adoptLiveLocationTimingDEPRECATED(::capnp::Orphan< ::cereal::LiveLocationData>&& value); + inline ::capnp::Orphan< ::cereal::LiveLocationData> disownLiveLocationTimingDEPRECATED(); + + inline bool isOrbslamCorrectionDEPRECATED(); + inline bool hasOrbslamCorrectionDEPRECATED(); + inline ::cereal::OrbslamCorrection::Builder getOrbslamCorrectionDEPRECATED(); + inline void setOrbslamCorrectionDEPRECATED( ::cereal::OrbslamCorrection::Reader value); + inline ::cereal::OrbslamCorrection::Builder initOrbslamCorrectionDEPRECATED(); + inline void adoptOrbslamCorrectionDEPRECATED(::capnp::Orphan< ::cereal::OrbslamCorrection>&& value); + inline ::capnp::Orphan< ::cereal::OrbslamCorrection> disownOrbslamCorrectionDEPRECATED(); + + inline bool isLiveLocationCorrectedDEPRECATED(); + inline bool hasLiveLocationCorrectedDEPRECATED(); + inline ::cereal::LiveLocationData::Builder getLiveLocationCorrectedDEPRECATED(); + inline void setLiveLocationCorrectedDEPRECATED( ::cereal::LiveLocationData::Reader value); + inline ::cereal::LiveLocationData::Builder initLiveLocationCorrectedDEPRECATED(); + inline void adoptLiveLocationCorrectedDEPRECATED(::capnp::Orphan< ::cereal::LiveLocationData>&& value); + inline ::capnp::Orphan< ::cereal::LiveLocationData> disownLiveLocationCorrectedDEPRECATED(); + + inline bool isOrbObservationDEPRECATED(); + inline bool hasOrbObservationDEPRECATED(); + inline ::capnp::List< ::cereal::OrbObservation, ::capnp::Kind::STRUCT>::Builder getOrbObservationDEPRECATED(); + inline void setOrbObservationDEPRECATED( ::capnp::List< ::cereal::OrbObservation, ::capnp::Kind::STRUCT>::Reader value); + inline ::capnp::List< ::cereal::OrbObservation, ::capnp::Kind::STRUCT>::Builder initOrbObservationDEPRECATED(unsigned int size); + inline void adoptOrbObservationDEPRECATED(::capnp::Orphan< ::capnp::List< ::cereal::OrbObservation, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::OrbObservation, ::capnp::Kind::STRUCT>> disownOrbObservationDEPRECATED(); + + inline bool isGpsLocationExternal(); + inline bool hasGpsLocationExternal(); + inline ::cereal::GpsLocationData::Builder getGpsLocationExternal(); + inline void setGpsLocationExternal( ::cereal::GpsLocationData::Reader value); + inline ::cereal::GpsLocationData::Builder initGpsLocationExternal(); + inline void adoptGpsLocationExternal(::capnp::Orphan< ::cereal::GpsLocationData>&& value); + inline ::capnp::Orphan< ::cereal::GpsLocationData> disownGpsLocationExternal(); + + inline bool isLocationDEPRECATED(); + inline bool hasLocationDEPRECATED(); + inline ::cereal::LiveLocationData::Builder getLocationDEPRECATED(); + inline void setLocationDEPRECATED( ::cereal::LiveLocationData::Reader value); + inline ::cereal::LiveLocationData::Builder initLocationDEPRECATED(); + inline void adoptLocationDEPRECATED(::capnp::Orphan< ::cereal::LiveLocationData>&& value); + inline ::capnp::Orphan< ::cereal::LiveLocationData> disownLocationDEPRECATED(); + + inline bool isUiNavigationEventDEPRECATED(); + inline bool hasUiNavigationEventDEPRECATED(); + inline ::cereal::UiNavigationEvent::Builder getUiNavigationEventDEPRECATED(); + inline void setUiNavigationEventDEPRECATED( ::cereal::UiNavigationEvent::Reader value); + inline ::cereal::UiNavigationEvent::Builder initUiNavigationEventDEPRECATED(); + inline void adoptUiNavigationEventDEPRECATED(::capnp::Orphan< ::cereal::UiNavigationEvent>&& value); + inline ::capnp::Orphan< ::cereal::UiNavigationEvent> disownUiNavigationEventDEPRECATED(); + + inline bool isLiveLocationKalmanDEPRECATED(); + inline bool hasLiveLocationKalmanDEPRECATED(); + inline ::cereal::LiveLocationData::Builder getLiveLocationKalmanDEPRECATED(); + inline void setLiveLocationKalmanDEPRECATED( ::cereal::LiveLocationData::Reader value); + inline ::cereal::LiveLocationData::Builder initLiveLocationKalmanDEPRECATED(); + inline void adoptLiveLocationKalmanDEPRECATED(::capnp::Orphan< ::cereal::LiveLocationData>&& value); + inline ::capnp::Orphan< ::cereal::LiveLocationData> disownLiveLocationKalmanDEPRECATED(); + + inline bool isTestJoystick(); + inline bool hasTestJoystick(); + inline ::cereal::Joystick::Builder getTestJoystick(); + inline void setTestJoystick( ::cereal::Joystick::Reader value); + inline ::cereal::Joystick::Builder initTestJoystick(); + inline void adoptTestJoystick(::capnp::Orphan< ::cereal::Joystick>&& value); + inline ::capnp::Orphan< ::cereal::Joystick> disownTestJoystick(); + + inline bool isOrbOdometryDEPRECATED(); + inline bool hasOrbOdometryDEPRECATED(); + inline ::cereal::OrbOdometry::Builder getOrbOdometryDEPRECATED(); + inline void setOrbOdometryDEPRECATED( ::cereal::OrbOdometry::Reader value); + inline ::cereal::OrbOdometry::Builder initOrbOdometryDEPRECATED(); + inline void adoptOrbOdometryDEPRECATED(::capnp::Orphan< ::cereal::OrbOdometry>&& value); + inline ::capnp::Orphan< ::cereal::OrbOdometry> disownOrbOdometryDEPRECATED(); + + inline bool isOrbFeaturesDEPRECATED(); + inline bool hasOrbFeaturesDEPRECATED(); + inline ::cereal::OrbFeatures::Builder getOrbFeaturesDEPRECATED(); + inline void setOrbFeaturesDEPRECATED( ::cereal::OrbFeatures::Reader value); + inline ::cereal::OrbFeatures::Builder initOrbFeaturesDEPRECATED(); + inline void adoptOrbFeaturesDEPRECATED(::capnp::Orphan< ::cereal::OrbFeatures>&& value); + inline ::capnp::Orphan< ::cereal::OrbFeatures> disownOrbFeaturesDEPRECATED(); + + inline bool isApplanixLocationDEPRECATED(); + inline bool hasApplanixLocationDEPRECATED(); + inline ::cereal::LiveLocationData::Builder getApplanixLocationDEPRECATED(); + inline void setApplanixLocationDEPRECATED( ::cereal::LiveLocationData::Reader value); + inline ::cereal::LiveLocationData::Builder initApplanixLocationDEPRECATED(); + inline void adoptApplanixLocationDEPRECATED(::capnp::Orphan< ::cereal::LiveLocationData>&& value); + inline ::capnp::Orphan< ::cereal::LiveLocationData> disownApplanixLocationDEPRECATED(); + + inline bool isOrbKeyFrameDEPRECATED(); + inline bool hasOrbKeyFrameDEPRECATED(); + inline ::cereal::OrbKeyFrame::Builder getOrbKeyFrameDEPRECATED(); + inline void setOrbKeyFrameDEPRECATED( ::cereal::OrbKeyFrame::Reader value); + inline ::cereal::OrbKeyFrame::Builder initOrbKeyFrameDEPRECATED(); + inline void adoptOrbKeyFrameDEPRECATED(::capnp::Orphan< ::cereal::OrbKeyFrame>&& value); + inline ::capnp::Orphan< ::cereal::OrbKeyFrame> disownOrbKeyFrameDEPRECATED(); + + inline bool isUiLayoutStateDEPRECATED(); + inline bool hasUiLayoutStateDEPRECATED(); + inline ::cereal::UiLayoutState::Builder getUiLayoutStateDEPRECATED(); + inline void setUiLayoutStateDEPRECATED( ::cereal::UiLayoutState::Reader value); + inline ::cereal::UiLayoutState::Builder initUiLayoutStateDEPRECATED(); + inline void adoptUiLayoutStateDEPRECATED(::capnp::Orphan< ::cereal::UiLayoutState>&& value); + inline ::capnp::Orphan< ::cereal::UiLayoutState> disownUiLayoutStateDEPRECATED(); + + inline bool isOrbFeaturesSummaryDEPRECATED(); + inline bool hasOrbFeaturesSummaryDEPRECATED(); + inline ::cereal::OrbFeaturesSummary::Builder getOrbFeaturesSummaryDEPRECATED(); + inline void setOrbFeaturesSummaryDEPRECATED( ::cereal::OrbFeaturesSummary::Reader value); + inline ::cereal::OrbFeaturesSummary::Builder initOrbFeaturesSummaryDEPRECATED(); + inline void adoptOrbFeaturesSummaryDEPRECATED(::capnp::Orphan< ::cereal::OrbFeaturesSummary>&& value); + inline ::capnp::Orphan< ::cereal::OrbFeaturesSummary> disownOrbFeaturesSummaryDEPRECATED(); + + inline bool isDriverStateDEPRECATED(); + inline bool hasDriverStateDEPRECATED(); + inline ::cereal::DriverStateDEPRECATED::Builder getDriverStateDEPRECATED(); + inline void setDriverStateDEPRECATED( ::cereal::DriverStateDEPRECATED::Reader value); + inline ::cereal::DriverStateDEPRECATED::Builder initDriverStateDEPRECATED(); + inline void adoptDriverStateDEPRECATED(::capnp::Orphan< ::cereal::DriverStateDEPRECATED>&& value); + inline ::capnp::Orphan< ::cereal::DriverStateDEPRECATED> disownDriverStateDEPRECATED(); + + inline bool isBoot(); + inline bool hasBoot(); + inline ::cereal::Boot::Builder getBoot(); + inline void setBoot( ::cereal::Boot::Reader value); + inline ::cereal::Boot::Builder initBoot(); + inline void adoptBoot(::capnp::Orphan< ::cereal::Boot>&& value); + inline ::capnp::Orphan< ::cereal::Boot> disownBoot(); + + inline bool isLiveParameters(); + inline bool hasLiveParameters(); + inline ::cereal::LiveParametersData::Builder getLiveParameters(); + inline void setLiveParameters( ::cereal::LiveParametersData::Reader value); + inline ::cereal::LiveParametersData::Builder initLiveParameters(); + inline void adoptLiveParameters(::capnp::Orphan< ::cereal::LiveParametersData>&& value); + inline ::capnp::Orphan< ::cereal::LiveParametersData> disownLiveParameters(); + + inline bool isLiveMapDataDEPRECATED(); + inline bool hasLiveMapDataDEPRECATED(); + inline ::cereal::LiveMapDataDEPRECATED::Builder getLiveMapDataDEPRECATED(); + inline void setLiveMapDataDEPRECATED( ::cereal::LiveMapDataDEPRECATED::Reader value); + inline ::cereal::LiveMapDataDEPRECATED::Builder initLiveMapDataDEPRECATED(); + inline void adoptLiveMapDataDEPRECATED(::capnp::Orphan< ::cereal::LiveMapDataDEPRECATED>&& value); + inline ::capnp::Orphan< ::cereal::LiveMapDataDEPRECATED> disownLiveMapDataDEPRECATED(); + + inline bool isCameraOdometry(); + inline bool hasCameraOdometry(); + inline ::cereal::CameraOdometry::Builder getCameraOdometry(); + inline void setCameraOdometry( ::cereal::CameraOdometry::Reader value); + inline ::cereal::CameraOdometry::Builder initCameraOdometry(); + inline void adoptCameraOdometry(::capnp::Orphan< ::cereal::CameraOdometry>&& value); + inline ::capnp::Orphan< ::cereal::CameraOdometry> disownCameraOdometry(); + + inline bool isLateralPlanDEPRECATED(); + inline bool hasLateralPlanDEPRECATED(); + inline ::cereal::LateralPlan::Builder getLateralPlanDEPRECATED(); + inline void setLateralPlanDEPRECATED( ::cereal::LateralPlan::Reader value); + inline ::cereal::LateralPlan::Builder initLateralPlanDEPRECATED(); + inline void adoptLateralPlanDEPRECATED(::capnp::Orphan< ::cereal::LateralPlan>&& value); + inline ::capnp::Orphan< ::cereal::LateralPlan> disownLateralPlanDEPRECATED(); + + inline bool isKalmanOdometryDEPRECATED(); + inline bool hasKalmanOdometryDEPRECATED(); + inline ::cereal::KalmanOdometry::Builder getKalmanOdometryDEPRECATED(); + inline void setKalmanOdometryDEPRECATED( ::cereal::KalmanOdometry::Reader value); + inline ::cereal::KalmanOdometry::Builder initKalmanOdometryDEPRECATED(); + inline void adoptKalmanOdometryDEPRECATED(::capnp::Orphan< ::cereal::KalmanOdometry>&& value); + inline ::capnp::Orphan< ::cereal::KalmanOdometry> disownKalmanOdometryDEPRECATED(); + + inline bool isThumbnail(); + inline bool hasThumbnail(); + inline ::cereal::Thumbnail::Builder getThumbnail(); + inline void setThumbnail( ::cereal::Thumbnail::Reader value); + inline ::cereal::Thumbnail::Builder initThumbnail(); + inline void adoptThumbnail(::capnp::Orphan< ::cereal::Thumbnail>&& value); + inline ::capnp::Orphan< ::cereal::Thumbnail> disownThumbnail(); + + inline bool getValid(); + inline void setValid(bool value); + + inline bool isOnroadEvents(); + inline bool hasOnroadEvents(); + inline ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>::Builder getOnroadEvents(); + inline void setOnroadEvents( ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>::Reader value); + inline ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>::Builder initOnroadEvents(unsigned int size); + inline void adoptOnroadEvents(::capnp::Orphan< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>> disownOnroadEvents(); + + inline bool isCarParams(); + inline bool hasCarParams(); + inline ::cereal::CarParams::Builder getCarParams(); + inline void setCarParams( ::cereal::CarParams::Reader value); + inline ::cereal::CarParams::Builder initCarParams(); + inline void adoptCarParams(::capnp::Orphan< ::cereal::CarParams>&& value); + inline ::capnp::Orphan< ::cereal::CarParams> disownCarParams(); + + inline bool isDriverCameraState(); + inline bool hasDriverCameraState(); + inline ::cereal::FrameData::Builder getDriverCameraState(); + inline void setDriverCameraState( ::cereal::FrameData::Reader value); + inline ::cereal::FrameData::Builder initDriverCameraState(); + inline void adoptDriverCameraState(::capnp::Orphan< ::cereal::FrameData>&& value); + inline ::capnp::Orphan< ::cereal::FrameData> disownDriverCameraState(); + + inline bool isDriverMonitoringState(); + inline bool hasDriverMonitoringState(); + inline ::cereal::DriverMonitoringState::Builder getDriverMonitoringState(); + inline void setDriverMonitoringState( ::cereal::DriverMonitoringState::Reader value); + inline ::cereal::DriverMonitoringState::Builder initDriverMonitoringState(); + inline void adoptDriverMonitoringState(::capnp::Orphan< ::cereal::DriverMonitoringState>&& value); + inline ::capnp::Orphan< ::cereal::DriverMonitoringState> disownDriverMonitoringState(); + + inline bool isLiveLocationKalman(); + inline bool hasLiveLocationKalman(); + inline ::cereal::LiveLocationKalman::Builder getLiveLocationKalman(); + inline void setLiveLocationKalman( ::cereal::LiveLocationKalman::Reader value); + inline ::cereal::LiveLocationKalman::Builder initLiveLocationKalman(); + inline void adoptLiveLocationKalman(::capnp::Orphan< ::cereal::LiveLocationKalman>&& value); + inline ::capnp::Orphan< ::cereal::LiveLocationKalman> disownLiveLocationKalman(); + + inline bool isSentinel(); + inline bool hasSentinel(); + inline ::cereal::Sentinel::Builder getSentinel(); + inline void setSentinel( ::cereal::Sentinel::Reader value); + inline ::cereal::Sentinel::Builder initSentinel(); + inline void adoptSentinel(::capnp::Orphan< ::cereal::Sentinel>&& value); + inline ::capnp::Orphan< ::cereal::Sentinel> disownSentinel(); + + inline bool isWideRoadCameraState(); + inline bool hasWideRoadCameraState(); + inline ::cereal::FrameData::Builder getWideRoadCameraState(); + inline void setWideRoadCameraState( ::cereal::FrameData::Reader value); + inline ::cereal::FrameData::Builder initWideRoadCameraState(); + inline void adoptWideRoadCameraState(::capnp::Orphan< ::cereal::FrameData>&& value); + inline ::capnp::Orphan< ::cereal::FrameData> disownWideRoadCameraState(); + + inline bool isModelV2(); + inline bool hasModelV2(); + inline ::cereal::ModelDataV2::Builder getModelV2(); + inline void setModelV2( ::cereal::ModelDataV2::Reader value); + inline ::cereal::ModelDataV2::Builder initModelV2(); + inline void adoptModelV2(::capnp::Orphan< ::cereal::ModelDataV2>&& value); + inline ::capnp::Orphan< ::cereal::ModelDataV2> disownModelV2(); + + inline bool isDriverEncodeIdx(); + inline bool hasDriverEncodeIdx(); + inline ::cereal::EncodeIndex::Builder getDriverEncodeIdx(); + inline void setDriverEncodeIdx( ::cereal::EncodeIndex::Reader value); + inline ::cereal::EncodeIndex::Builder initDriverEncodeIdx(); + inline void adoptDriverEncodeIdx(::capnp::Orphan< ::cereal::EncodeIndex>&& value); + inline ::capnp::Orphan< ::cereal::EncodeIndex> disownDriverEncodeIdx(); + + inline bool isWideRoadEncodeIdx(); + inline bool hasWideRoadEncodeIdx(); + inline ::cereal::EncodeIndex::Builder getWideRoadEncodeIdx(); + inline void setWideRoadEncodeIdx( ::cereal::EncodeIndex::Reader value); + inline ::cereal::EncodeIndex::Builder initWideRoadEncodeIdx(); + inline void adoptWideRoadEncodeIdx(::capnp::Orphan< ::cereal::EncodeIndex>&& value); + inline ::capnp::Orphan< ::cereal::EncodeIndex> disownWideRoadEncodeIdx(); + + inline bool isManagerState(); + inline bool hasManagerState(); + inline ::cereal::ManagerState::Builder getManagerState(); + inline void setManagerState( ::cereal::ManagerState::Reader value); + inline ::cereal::ManagerState::Builder initManagerState(); + inline void adoptManagerState(::capnp::Orphan< ::cereal::ManagerState>&& value); + inline ::capnp::Orphan< ::cereal::ManagerState> disownManagerState(); + + inline bool isUploaderState(); + inline bool hasUploaderState(); + inline ::cereal::UploaderState::Builder getUploaderState(); + inline void setUploaderState( ::cereal::UploaderState::Reader value); + inline ::cereal::UploaderState::Builder initUploaderState(); + inline void adoptUploaderState(::capnp::Orphan< ::cereal::UploaderState>&& value); + inline ::capnp::Orphan< ::cereal::UploaderState> disownUploaderState(); + + inline bool isPeripheralState(); + inline bool hasPeripheralState(); + inline ::cereal::PeripheralState::Builder getPeripheralState(); + inline void setPeripheralState( ::cereal::PeripheralState::Reader value); + inline ::cereal::PeripheralState::Builder initPeripheralState(); + inline void adoptPeripheralState(::capnp::Orphan< ::cereal::PeripheralState>&& value); + inline ::capnp::Orphan< ::cereal::PeripheralState> disownPeripheralState(); + + inline bool isPandaStates(); + inline bool hasPandaStates(); + inline ::capnp::List< ::cereal::PandaState, ::capnp::Kind::STRUCT>::Builder getPandaStates(); + inline void setPandaStates( ::capnp::List< ::cereal::PandaState, ::capnp::Kind::STRUCT>::Reader value); + inline ::capnp::List< ::cereal::PandaState, ::capnp::Kind::STRUCT>::Builder initPandaStates(unsigned int size); + inline void adoptPandaStates(::capnp::Orphan< ::capnp::List< ::cereal::PandaState, ::capnp::Kind::STRUCT>>&& value); + inline ::capnp::Orphan< ::capnp::List< ::cereal::PandaState, ::capnp::Kind::STRUCT>> disownPandaStates(); + + inline bool isNavInstruction(); + inline bool hasNavInstruction(); + inline ::cereal::NavInstruction::Builder getNavInstruction(); + inline void setNavInstruction( ::cereal::NavInstruction::Reader value); + inline ::cereal::NavInstruction::Builder initNavInstruction(); + inline void adoptNavInstruction(::capnp::Orphan< ::cereal::NavInstruction>&& value); + inline ::capnp::Orphan< ::cereal::NavInstruction> disownNavInstruction(); + + inline bool isNavRoute(); + inline bool hasNavRoute(); + inline ::cereal::NavRoute::Builder getNavRoute(); + inline void setNavRoute( ::cereal::NavRoute::Reader value); + inline ::cereal::NavRoute::Builder initNavRoute(); + inline void adoptNavRoute(::capnp::Orphan< ::cereal::NavRoute>&& value); + inline ::capnp::Orphan< ::cereal::NavRoute> disownNavRoute(); + + inline bool isNavThumbnail(); + inline bool hasNavThumbnail(); + inline ::cereal::Thumbnail::Builder getNavThumbnail(); + inline void setNavThumbnail( ::cereal::Thumbnail::Reader value); + inline ::cereal::Thumbnail::Builder initNavThumbnail(); + inline void adoptNavThumbnail(::capnp::Orphan< ::cereal::Thumbnail>&& value); + inline ::capnp::Orphan< ::cereal::Thumbnail> disownNavThumbnail(); + + inline bool isErrorLogMessage(); + inline bool hasErrorLogMessage(); + inline ::capnp::Text::Builder getErrorLogMessage(); + inline void setErrorLogMessage( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initErrorLogMessage(unsigned int size); + inline void adoptErrorLogMessage(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownErrorLogMessage(); + + inline bool isRoadEncodeData(); + inline bool hasRoadEncodeData(); + inline ::cereal::EncodeData::Builder getRoadEncodeData(); + inline void setRoadEncodeData( ::cereal::EncodeData::Reader value); + inline ::cereal::EncodeData::Builder initRoadEncodeData(); + inline void adoptRoadEncodeData(::capnp::Orphan< ::cereal::EncodeData>&& value); + inline ::capnp::Orphan< ::cereal::EncodeData> disownRoadEncodeData(); + + inline bool isDriverEncodeData(); + inline bool hasDriverEncodeData(); + inline ::cereal::EncodeData::Builder getDriverEncodeData(); + inline void setDriverEncodeData( ::cereal::EncodeData::Reader value); + inline ::cereal::EncodeData::Builder initDriverEncodeData(); + inline void adoptDriverEncodeData(::capnp::Orphan< ::cereal::EncodeData>&& value); + inline ::capnp::Orphan< ::cereal::EncodeData> disownDriverEncodeData(); + + inline bool isWideRoadEncodeData(); + inline bool hasWideRoadEncodeData(); + inline ::cereal::EncodeData::Builder getWideRoadEncodeData(); + inline void setWideRoadEncodeData( ::cereal::EncodeData::Reader value); + inline ::cereal::EncodeData::Builder initWideRoadEncodeData(); + inline void adoptWideRoadEncodeData(::capnp::Orphan< ::cereal::EncodeData>&& value); + inline ::capnp::Orphan< ::cereal::EncodeData> disownWideRoadEncodeData(); + + inline bool isQRoadEncodeData(); + inline bool hasQRoadEncodeData(); + inline ::cereal::EncodeData::Builder getQRoadEncodeData(); + inline void setQRoadEncodeData( ::cereal::EncodeData::Reader value); + inline ::cereal::EncodeData::Builder initQRoadEncodeData(); + inline void adoptQRoadEncodeData(::capnp::Orphan< ::cereal::EncodeData>&& value); + inline ::capnp::Orphan< ::cereal::EncodeData> disownQRoadEncodeData(); + + inline bool isQRoadEncodeIdx(); + inline bool hasQRoadEncodeIdx(); + inline ::cereal::EncodeIndex::Builder getQRoadEncodeIdx(); + inline void setQRoadEncodeIdx( ::cereal::EncodeIndex::Reader value); + inline ::cereal::EncodeIndex::Builder initQRoadEncodeIdx(); + inline void adoptQRoadEncodeIdx(::capnp::Orphan< ::cereal::EncodeIndex>&& value); + inline ::capnp::Orphan< ::cereal::EncodeIndex> disownQRoadEncodeIdx(); + + inline bool isGnssMeasurements(); + inline bool hasGnssMeasurements(); + inline ::cereal::GnssMeasurements::Builder getGnssMeasurements(); + inline void setGnssMeasurements( ::cereal::GnssMeasurements::Reader value); + inline ::cereal::GnssMeasurements::Builder initGnssMeasurements(); + inline void adoptGnssMeasurements(::capnp::Orphan< ::cereal::GnssMeasurements>&& value); + inline ::capnp::Orphan< ::cereal::GnssMeasurements> disownGnssMeasurements(); + + inline bool isDriverStateV2(); + inline bool hasDriverStateV2(); + inline ::cereal::DriverStateV2::Builder getDriverStateV2(); + inline void setDriverStateV2( ::cereal::DriverStateV2::Reader value); + inline ::cereal::DriverStateV2::Builder initDriverStateV2(); + inline void adoptDriverStateV2(::capnp::Orphan< ::cereal::DriverStateV2>&& value); + inline ::capnp::Orphan< ::cereal::DriverStateV2> disownDriverStateV2(); + + inline bool isUserFlag(); + inline bool hasUserFlag(); + inline ::cereal::UserFlag::Builder getUserFlag(); + inline void setUserFlag( ::cereal::UserFlag::Reader value); + inline ::cereal::UserFlag::Builder initUserFlag(); + inline void adoptUserFlag(::capnp::Orphan< ::cereal::UserFlag>&& value); + inline ::capnp::Orphan< ::cereal::UserFlag> disownUserFlag(); + + inline bool isLiveTorqueParameters(); + inline bool hasLiveTorqueParameters(); + inline ::cereal::LiveTorqueParametersData::Builder getLiveTorqueParameters(); + inline void setLiveTorqueParameters( ::cereal::LiveTorqueParametersData::Reader value); + inline ::cereal::LiveTorqueParametersData::Builder initLiveTorqueParameters(); + inline void adoptLiveTorqueParameters(::capnp::Orphan< ::cereal::LiveTorqueParametersData>&& value); + inline ::capnp::Orphan< ::cereal::LiveTorqueParametersData> disownLiveTorqueParameters(); + + inline bool isMagnetometer(); + inline bool hasMagnetometer(); + inline ::cereal::SensorEventData::Builder getMagnetometer(); + inline void setMagnetometer( ::cereal::SensorEventData::Reader value); + inline ::cereal::SensorEventData::Builder initMagnetometer(); + inline void adoptMagnetometer(::capnp::Orphan< ::cereal::SensorEventData>&& value); + inline ::capnp::Orphan< ::cereal::SensorEventData> disownMagnetometer(); + + inline bool isLightSensor(); + inline bool hasLightSensor(); + inline ::cereal::SensorEventData::Builder getLightSensor(); + inline void setLightSensor( ::cereal::SensorEventData::Reader value); + inline ::cereal::SensorEventData::Builder initLightSensor(); + inline void adoptLightSensor(::capnp::Orphan< ::cereal::SensorEventData>&& value); + inline ::capnp::Orphan< ::cereal::SensorEventData> disownLightSensor(); + + inline bool isTemperatureSensor(); + inline bool hasTemperatureSensor(); + inline ::cereal::SensorEventData::Builder getTemperatureSensor(); + inline void setTemperatureSensor( ::cereal::SensorEventData::Reader value); + inline ::cereal::SensorEventData::Builder initTemperatureSensor(); + inline void adoptTemperatureSensor(::capnp::Orphan< ::cereal::SensorEventData>&& value); + inline ::capnp::Orphan< ::cereal::SensorEventData> disownTemperatureSensor(); + + inline bool isAccelerometer(); + inline bool hasAccelerometer(); + inline ::cereal::SensorEventData::Builder getAccelerometer(); + inline void setAccelerometer( ::cereal::SensorEventData::Reader value); + inline ::cereal::SensorEventData::Builder initAccelerometer(); + inline void adoptAccelerometer(::capnp::Orphan< ::cereal::SensorEventData>&& value); + inline ::capnp::Orphan< ::cereal::SensorEventData> disownAccelerometer(); + + inline bool isGyroscope(); + inline bool hasGyroscope(); + inline ::cereal::SensorEventData::Builder getGyroscope(); + inline void setGyroscope( ::cereal::SensorEventData::Reader value); + inline ::cereal::SensorEventData::Builder initGyroscope(); + inline void adoptGyroscope(::capnp::Orphan< ::cereal::SensorEventData>&& value); + inline ::capnp::Orphan< ::cereal::SensorEventData> disownGyroscope(); + + inline bool isGyroscope2(); + inline bool hasGyroscope2(); + inline ::cereal::SensorEventData::Builder getGyroscope2(); + inline void setGyroscope2( ::cereal::SensorEventData::Reader value); + inline ::cereal::SensorEventData::Builder initGyroscope2(); + inline void adoptGyroscope2(::capnp::Orphan< ::cereal::SensorEventData>&& value); + inline ::capnp::Orphan< ::cereal::SensorEventData> disownGyroscope2(); + + inline bool isAccelerometer2(); + inline bool hasAccelerometer2(); + inline ::cereal::SensorEventData::Builder getAccelerometer2(); + inline void setAccelerometer2( ::cereal::SensorEventData::Reader value); + inline ::cereal::SensorEventData::Builder initAccelerometer2(); + inline void adoptAccelerometer2(::capnp::Orphan< ::cereal::SensorEventData>&& value); + inline ::capnp::Orphan< ::cereal::SensorEventData> disownAccelerometer2(); + + inline bool isUiDebug(); + inline bool hasUiDebug(); + inline ::cereal::UIDebug::Builder getUiDebug(); + inline void setUiDebug( ::cereal::UIDebug::Reader value); + inline ::cereal::UIDebug::Builder initUiDebug(); + inline void adoptUiDebug(::capnp::Orphan< ::cereal::UIDebug>&& value); + inline ::capnp::Orphan< ::cereal::UIDebug> disownUiDebug(); + + inline bool isMicrophone(); + inline bool hasMicrophone(); + inline ::cereal::Microphone::Builder getMicrophone(); + inline void setMicrophone( ::cereal::Microphone::Reader value); + inline ::cereal::Microphone::Builder initMicrophone(); + inline void adoptMicrophone(::capnp::Orphan< ::cereal::Microphone>&& value); + inline ::capnp::Orphan< ::cereal::Microphone> disownMicrophone(); + + inline bool isNavModelDEPRECATED(); + inline bool hasNavModelDEPRECATED(); + inline ::cereal::NavModelData::Builder getNavModelDEPRECATED(); + inline void setNavModelDEPRECATED( ::cereal::NavModelData::Reader value); + inline ::cereal::NavModelData::Builder initNavModelDEPRECATED(); + inline void adoptNavModelDEPRECATED(::capnp::Orphan< ::cereal::NavModelData>&& value); + inline ::capnp::Orphan< ::cereal::NavModelData> disownNavModelDEPRECATED(); + + inline bool isMapRenderState(); + inline bool hasMapRenderState(); + inline ::cereal::MapRenderState::Builder getMapRenderState(); + inline void setMapRenderState( ::cereal::MapRenderState::Reader value); + inline ::cereal::MapRenderState::Builder initMapRenderState(); + inline void adoptMapRenderState(::capnp::Orphan< ::cereal::MapRenderState>&& value); + inline ::capnp::Orphan< ::cereal::MapRenderState> disownMapRenderState(); + + inline bool isUiPlanDEPRECATED(); + inline bool hasUiPlanDEPRECATED(); + inline ::cereal::UiPlan::Builder getUiPlanDEPRECATED(); + inline void setUiPlanDEPRECATED( ::cereal::UiPlan::Reader value); + inline ::cereal::UiPlan::Builder initUiPlanDEPRECATED(); + inline void adoptUiPlanDEPRECATED(::capnp::Orphan< ::cereal::UiPlan>&& value); + inline ::capnp::Orphan< ::cereal::UiPlan> disownUiPlanDEPRECATED(); + + inline bool isControlsStateSP(); + inline bool hasControlsStateSP(); + inline ::cereal::ControlsStateSP::Builder getControlsStateSP(); + inline void setControlsStateSP( ::cereal::ControlsStateSP::Reader value); + inline ::cereal::ControlsStateSP::Builder initControlsStateSP(); + inline void adoptControlsStateSP(::capnp::Orphan< ::cereal::ControlsStateSP>&& value); + inline ::capnp::Orphan< ::cereal::ControlsStateSP> disownControlsStateSP(); + + inline bool isLongitudinalPlanSP(); + inline bool hasLongitudinalPlanSP(); + inline ::cereal::LongitudinalPlanSP::Builder getLongitudinalPlanSP(); + inline void setLongitudinalPlanSP( ::cereal::LongitudinalPlanSP::Reader value); + inline ::cereal::LongitudinalPlanSP::Builder initLongitudinalPlanSP(); + inline void adoptLongitudinalPlanSP(::capnp::Orphan< ::cereal::LongitudinalPlanSP>&& value); + inline ::capnp::Orphan< ::cereal::LongitudinalPlanSP> disownLongitudinalPlanSP(); + + inline bool isLateralPlanSPDEPRECATED(); + inline bool hasLateralPlanSPDEPRECATED(); + inline ::cereal::LateralPlanSP::Builder getLateralPlanSPDEPRECATED(); + inline void setLateralPlanSPDEPRECATED( ::cereal::LateralPlanSP::Reader value); + inline ::cereal::LateralPlanSP::Builder initLateralPlanSPDEPRECATED(); + inline void adoptLateralPlanSPDEPRECATED(::capnp::Orphan< ::cereal::LateralPlanSP>&& value); + inline ::capnp::Orphan< ::cereal::LateralPlanSP> disownLateralPlanSPDEPRECATED(); + + inline bool isDriverMonitoringStateSP(); + inline bool hasDriverMonitoringStateSP(); + inline ::cereal::DriverMonitoringStateSP::Builder getDriverMonitoringStateSP(); + inline void setDriverMonitoringStateSP( ::cereal::DriverMonitoringStateSP::Reader value); + inline ::cereal::DriverMonitoringStateSP::Builder initDriverMonitoringStateSP(); + inline void adoptDriverMonitoringStateSP(::capnp::Orphan< ::cereal::DriverMonitoringStateSP>&& value); + inline ::capnp::Orphan< ::cereal::DriverMonitoringStateSP> disownDriverMonitoringStateSP(); + + inline bool isLiveMapDataSP(); + inline bool hasLiveMapDataSP(); + inline ::cereal::LiveMapDataSP::Builder getLiveMapDataSP(); + inline void setLiveMapDataSP( ::cereal::LiveMapDataSP::Reader value); + inline ::cereal::LiveMapDataSP::Builder initLiveMapDataSP(); + inline void adoptLiveMapDataSP(::capnp::Orphan< ::cereal::LiveMapDataSP>&& value); + inline ::capnp::Orphan< ::cereal::LiveMapDataSP> disownLiveMapDataSP(); + + inline bool isE2eLongStateSP(); + inline bool hasE2eLongStateSP(); + inline ::cereal::E2eLongStateSP::Builder getE2eLongStateSP(); + inline void setE2eLongStateSP( ::cereal::E2eLongStateSP::Reader value); + inline ::cereal::E2eLongStateSP::Builder initE2eLongStateSP(); + inline void adoptE2eLongStateSP(::capnp::Orphan< ::cereal::E2eLongStateSP>&& value); + inline ::capnp::Orphan< ::cereal::E2eLongStateSP> disownE2eLongStateSP(); + + inline bool isModelV2SP(); + inline bool hasModelV2SP(); + inline ::cereal::ModelDataV2SP::Builder getModelV2SP(); + inline void setModelV2SP( ::cereal::ModelDataV2SP::Reader value); + inline ::cereal::ModelDataV2SP::Builder initModelV2SP(); + inline void adoptModelV2SP(::capnp::Orphan< ::cereal::ModelDataV2SP>&& value); + inline ::capnp::Orphan< ::cereal::ModelDataV2SP> disownModelV2SP(); + + inline bool isCustomReserved7(); + inline bool hasCustomReserved7(); + inline ::cereal::CustomReserved7::Builder getCustomReserved7(); + inline void setCustomReserved7( ::cereal::CustomReserved7::Reader value); + inline ::cereal::CustomReserved7::Builder initCustomReserved7(); + inline void adoptCustomReserved7(::capnp::Orphan< ::cereal::CustomReserved7>&& value); + inline ::capnp::Orphan< ::cereal::CustomReserved7> disownCustomReserved7(); + + inline bool isCustomReserved8(); + inline bool hasCustomReserved8(); + inline ::cereal::CustomReserved8::Builder getCustomReserved8(); + inline void setCustomReserved8( ::cereal::CustomReserved8::Reader value); + inline ::cereal::CustomReserved8::Builder initCustomReserved8(); + inline void adoptCustomReserved8(::capnp::Orphan< ::cereal::CustomReserved8>&& value); + inline ::capnp::Orphan< ::cereal::CustomReserved8> disownCustomReserved8(); + + inline bool isCustomReserved9(); + inline bool hasCustomReserved9(); + inline ::cereal::CustomReserved9::Builder getCustomReserved9(); + inline void setCustomReserved9( ::cereal::CustomReserved9::Reader value); + inline ::cereal::CustomReserved9::Builder initCustomReserved9(); + inline void adoptCustomReserved9(::capnp::Orphan< ::cereal::CustomReserved9>&& value); + inline ::capnp::Orphan< ::cereal::CustomReserved9> disownCustomReserved9(); + + inline bool isLivestreamRoadEncodeIdx(); + inline bool hasLivestreamRoadEncodeIdx(); + inline ::cereal::EncodeIndex::Builder getLivestreamRoadEncodeIdx(); + inline void setLivestreamRoadEncodeIdx( ::cereal::EncodeIndex::Reader value); + inline ::cereal::EncodeIndex::Builder initLivestreamRoadEncodeIdx(); + inline void adoptLivestreamRoadEncodeIdx(::capnp::Orphan< ::cereal::EncodeIndex>&& value); + inline ::capnp::Orphan< ::cereal::EncodeIndex> disownLivestreamRoadEncodeIdx(); + + inline bool isLivestreamWideRoadEncodeIdx(); + inline bool hasLivestreamWideRoadEncodeIdx(); + inline ::cereal::EncodeIndex::Builder getLivestreamWideRoadEncodeIdx(); + inline void setLivestreamWideRoadEncodeIdx( ::cereal::EncodeIndex::Reader value); + inline ::cereal::EncodeIndex::Builder initLivestreamWideRoadEncodeIdx(); + inline void adoptLivestreamWideRoadEncodeIdx(::capnp::Orphan< ::cereal::EncodeIndex>&& value); + inline ::capnp::Orphan< ::cereal::EncodeIndex> disownLivestreamWideRoadEncodeIdx(); + + inline bool isLivestreamDriverEncodeIdx(); + inline bool hasLivestreamDriverEncodeIdx(); + inline ::cereal::EncodeIndex::Builder getLivestreamDriverEncodeIdx(); + inline void setLivestreamDriverEncodeIdx( ::cereal::EncodeIndex::Reader value); + inline ::cereal::EncodeIndex::Builder initLivestreamDriverEncodeIdx(); + inline void adoptLivestreamDriverEncodeIdx(::capnp::Orphan< ::cereal::EncodeIndex>&& value); + inline ::capnp::Orphan< ::cereal::EncodeIndex> disownLivestreamDriverEncodeIdx(); + + inline bool isLivestreamRoadEncodeData(); + inline bool hasLivestreamRoadEncodeData(); + inline ::cereal::EncodeData::Builder getLivestreamRoadEncodeData(); + inline void setLivestreamRoadEncodeData( ::cereal::EncodeData::Reader value); + inline ::cereal::EncodeData::Builder initLivestreamRoadEncodeData(); + inline void adoptLivestreamRoadEncodeData(::capnp::Orphan< ::cereal::EncodeData>&& value); + inline ::capnp::Orphan< ::cereal::EncodeData> disownLivestreamRoadEncodeData(); + + inline bool isLivestreamWideRoadEncodeData(); + inline bool hasLivestreamWideRoadEncodeData(); + inline ::cereal::EncodeData::Builder getLivestreamWideRoadEncodeData(); + inline void setLivestreamWideRoadEncodeData( ::cereal::EncodeData::Reader value); + inline ::cereal::EncodeData::Builder initLivestreamWideRoadEncodeData(); + inline void adoptLivestreamWideRoadEncodeData(::capnp::Orphan< ::cereal::EncodeData>&& value); + inline ::capnp::Orphan< ::cereal::EncodeData> disownLivestreamWideRoadEncodeData(); + + inline bool isLivestreamDriverEncodeData(); + inline bool hasLivestreamDriverEncodeData(); + inline ::cereal::EncodeData::Builder getLivestreamDriverEncodeData(); + inline void setLivestreamDriverEncodeData( ::cereal::EncodeData::Reader value); + inline ::cereal::EncodeData::Builder initLivestreamDriverEncodeData(); + inline void adoptLivestreamDriverEncodeData(::capnp::Orphan< ::cereal::EncodeData>&& value); + inline ::capnp::Orphan< ::cereal::EncodeData> disownLivestreamDriverEncodeData(); + + inline bool isTemperatureSensor2(); + inline bool hasTemperatureSensor2(); + inline ::cereal::SensorEventData::Builder getTemperatureSensor2(); + inline void setTemperatureSensor2( ::cereal::SensorEventData::Reader value); + inline ::cereal::SensorEventData::Builder initTemperatureSensor2(); + inline void adoptTemperatureSensor2(::capnp::Orphan< ::cereal::SensorEventData>&& value); + inline ::capnp::Orphan< ::cereal::SensorEventData> disownTemperatureSensor2(); + + inline bool isCustomReservedRawData0(); + inline bool hasCustomReservedRawData0(); + inline ::capnp::Data::Builder getCustomReservedRawData0(); + inline void setCustomReservedRawData0( ::capnp::Data::Reader value); + inline ::capnp::Data::Builder initCustomReservedRawData0(unsigned int size); + inline void adoptCustomReservedRawData0(::capnp::Orphan< ::capnp::Data>&& value); + inline ::capnp::Orphan< ::capnp::Data> disownCustomReservedRawData0(); + + inline bool isCustomReservedRawData1(); + inline bool hasCustomReservedRawData1(); + inline ::capnp::Data::Builder getCustomReservedRawData1(); + inline void setCustomReservedRawData1( ::capnp::Data::Reader value); + inline ::capnp::Data::Builder initCustomReservedRawData1(unsigned int size); + inline void adoptCustomReservedRawData1(::capnp::Orphan< ::capnp::Data>&& value); + inline ::capnp::Orphan< ::capnp::Data> disownCustomReservedRawData1(); + + inline bool isCustomReservedRawData2(); + inline bool hasCustomReservedRawData2(); + inline ::capnp::Data::Builder getCustomReservedRawData2(); + inline void setCustomReservedRawData2( ::capnp::Data::Reader value); + inline ::capnp::Data::Builder initCustomReservedRawData2(unsigned int size); + inline void adoptCustomReservedRawData2(::capnp::Orphan< ::capnp::Data>&& value); + inline ::capnp::Orphan< ::capnp::Data> disownCustomReservedRawData2(); + + inline bool isCarOutput(); + inline bool hasCarOutput(); + inline ::cereal::CarOutput::Builder getCarOutput(); + inline void setCarOutput( ::cereal::CarOutput::Reader value); + inline ::cereal::CarOutput::Builder initCarOutput(); + inline void adoptCarOutput(::capnp::Orphan< ::cereal::CarOutput>&& value); + inline ::capnp::Orphan< ::cereal::CarOutput> disownCarOutput(); + + inline bool isDrivingModelData(); + inline bool hasDrivingModelData(); + inline ::cereal::DrivingModelData::Builder getDrivingModelData(); + inline void setDrivingModelData( ::cereal::DrivingModelData::Reader value); + inline ::cereal::DrivingModelData::Builder initDrivingModelData(); + inline void adoptDrivingModelData(::capnp::Orphan< ::cereal::DrivingModelData>&& value); + inline ::capnp::Orphan< ::cereal::DrivingModelData> disownDrivingModelData(); + + inline bool isLivePose(); + inline bool hasLivePose(); + inline ::cereal::LivePose::Builder getLivePose(); + inline void setLivePose( ::cereal::LivePose::Reader value); + inline ::cereal::LivePose::Builder initLivePose(); + inline void adoptLivePose(::capnp::Orphan< ::cereal::LivePose>&& value); + inline ::capnp::Orphan< ::cereal::LivePose> disownLivePose(); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class Event::Pipeline { +public: + typedef Event Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + +// ======================================================================================= + +template +inline bool Map::Reader::hasEntries() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +template +inline bool Map::Builder::hasEntries() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +template +inline typename ::capnp::List::Entry, ::capnp::Kind::STRUCT>::Reader Map::Reader::getEntries() const { + return ::capnp::_::PointerHelpers< ::capnp::List::Entry, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +template +inline typename ::capnp::List::Entry, ::capnp::Kind::STRUCT>::Builder Map::Builder::getEntries() { + return ::capnp::_::PointerHelpers< ::capnp::List::Entry, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +template +inline void Map::Builder::setEntries(typename ::capnp::List::Entry, ::capnp::Kind::STRUCT>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List::Entry, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +template +inline typename ::capnp::List::Entry, ::capnp::Kind::STRUCT>::Builder Map::Builder::initEntries(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List::Entry, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +template +inline void Map::Builder::adoptEntries( + ::capnp::Orphan< ::capnp::List::Entry, ::capnp::Kind::STRUCT>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List::Entry, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +template +inline ::capnp::Orphan< ::capnp::List::Entry, ::capnp::Kind::STRUCT>> Map::Builder::disownEntries() { + return ::capnp::_::PointerHelpers< ::capnp::List::Entry, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +template +inline bool Map::Entry::Reader::hasKey() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +template +inline bool Map::Entry::Builder::hasKey() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +template +inline ::capnp::ReaderFor Map::Entry::Reader::getKey() const { + return ::capnp::_::PointerHelpers::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +template +inline ::capnp::BuilderFor Map::Entry::Builder::getKey() { + return ::capnp::_::PointerHelpers::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +template +inline ::capnp::PipelineFor Map::Entry::Pipeline::getKey() { + return ::capnp::PipelineFor(_typeless.getPointerField(0)); +} +#endif // !CAPNP_LITE +template +inline void Map::Entry::Builder::setKey( ::capnp::ReaderFor value) { + ::capnp::_::PointerHelpers::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +template +inline ::capnp::BuilderFor Map::Entry::Builder::initKey() { + return ::capnp::_::PointerHelpers::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +template +inline ::capnp::BuilderFor Map::Entry::Builder::initKey(unsigned int size) { + return ::capnp::_::PointerHelpers::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +template +inline void Map::Entry::Builder::adoptKey( + ::capnp::Orphan&& value) { + ::capnp::_::PointerHelpers::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +template +inline ::capnp::Orphan Map::Entry::Builder::disownKey() { + return ::capnp::_::PointerHelpers::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +template +inline bool Map::Entry::Reader::hasValue() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +template +inline bool Map::Entry::Builder::hasValue() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +template +inline ::capnp::ReaderFor Map::Entry::Reader::getValue() const { + return ::capnp::_::PointerHelpers::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +template +inline ::capnp::BuilderFor Map::Entry::Builder::getValue() { + return ::capnp::_::PointerHelpers::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +template +inline ::capnp::PipelineFor Map::Entry::Pipeline::getValue() { + return ::capnp::PipelineFor(_typeless.getPointerField(1)); +} +#endif // !CAPNP_LITE +template +inline void Map::Entry::Builder::setValue( ::capnp::ReaderFor value) { + ::capnp::_::PointerHelpers::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +template +inline ::capnp::BuilderFor Map::Entry::Builder::initValue() { + return ::capnp::_::PointerHelpers::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +template +inline ::capnp::BuilderFor Map::Entry::Builder::initValue(unsigned int size) { + return ::capnp::_::PointerHelpers::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +template +inline void Map::Entry::Builder::adoptValue( + ::capnp::Orphan&& value) { + ::capnp::_::PointerHelpers::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +template +inline ::capnp::Orphan Map::Entry::Builder::disownValue() { + return ::capnp::_::PointerHelpers::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +// Map::Entry +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +template +constexpr uint16_t Map::Entry::_capnpPrivate::dataWordSize; +template +constexpr uint16_t Map::Entry::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +template +constexpr ::capnp::Kind Map::Entry::_capnpPrivate::kind; +template +constexpr ::capnp::_::RawSchema const* Map::Entry::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +template +const ::capnp::_::RawBrandedSchema::Scope Map::Entry::_capnpPrivate::brandScopes[] = { + { 0xf8b13ce2183eb696, brandBindings + 0, 2, false}, +}; +template +const ::capnp::_::RawBrandedSchema::Binding Map::Entry::_capnpPrivate::brandBindings[] = { + ::capnp::_::brandBindingFor(), + ::capnp::_::brandBindingFor(), +}; +template +const ::capnp::_::RawBrandedSchema Map::Entry::_capnpPrivate::specificBrand = { + &::capnp::schemas::s_a5dfdd084a6eea0e, brandScopes, nullptr, + 1, 0, nullptr +}; +#endif // !CAPNP_LITE + +// Map +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +template +constexpr uint16_t Map::_capnpPrivate::dataWordSize; +template +constexpr uint16_t Map::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +template +constexpr ::capnp::Kind Map::_capnpPrivate::kind; +template +constexpr ::capnp::_::RawSchema const* Map::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +template +const ::capnp::_::RawBrandedSchema::Scope Map::_capnpPrivate::brandScopes[] = { + { 0xf8b13ce2183eb696, brandBindings + 0, 2, false}, +}; +template +const ::capnp::_::RawBrandedSchema::Binding Map::_capnpPrivate::brandBindings[] = { + ::capnp::_::brandBindingFor(), + ::capnp::_::brandBindingFor(), +}; +template +const ::capnp::_::RawBrandedSchema::Dependency Map::_capnpPrivate::brandDependencies[] = { + { 16777216, ::cereal::Map::Entry::_capnpPrivate::brand() }, +}; +template +const ::capnp::_::RawBrandedSchema Map::_capnpPrivate::specificBrand = { + &::capnp::schemas::s_f8b13ce2183eb696, brandScopes, brandDependencies, + 1, 1, nullptr +}; +#endif // !CAPNP_LITE + +inline bool InitData::Reader::hasKernelArgs() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::Builder::hasKernelArgs() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>::Reader InitData::Reader::getKernelArgs() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>::Builder InitData::Builder::getKernelArgs() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void InitData::Builder::setKernelArgs( ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void InitData::Builder::setKernelArgs(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>::Builder InitData::Builder::initKernelArgs(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void InitData::Builder::adoptKernelArgs( + ::capnp::Orphan< ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>> InitData::Builder::disownKernelArgs() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool InitData::Reader::hasGctxDEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::Builder::hasGctxDEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader InitData::Reader::getGctxDEPRECATED() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder InitData::Builder::getGctxDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void InitData::Builder::setGctxDEPRECATED( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder InitData::Builder::initGctxDEPRECATED(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void InitData::Builder::adoptGctxDEPRECATED( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> InitData::Builder::disownGctxDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool InitData::Reader::hasDongleId() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::Builder::hasDongleId() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader InitData::Reader::getDongleId() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder InitData::Builder::getDongleId() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void InitData::Builder::setDongleId( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder InitData::Builder::initDongleId(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void InitData::Builder::adoptDongleId( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> InitData::Builder::disownDongleId() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline ::cereal::InitData::DeviceType InitData::Reader::getDeviceType() const { + return _reader.getDataField< ::cereal::InitData::DeviceType>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::cereal::InitData::DeviceType InitData::Builder::getDeviceType() { + return _builder.getDataField< ::cereal::InitData::DeviceType>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void InitData::Builder::setDeviceType( ::cereal::InitData::DeviceType value) { + _builder.setDataField< ::cereal::InitData::DeviceType>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool InitData::Reader::hasVersion() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::Builder::hasVersion() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader InitData::Reader::getVersion() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder InitData::Builder::getVersion() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void InitData::Builder::setVersion( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder InitData::Builder::initVersion(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), size); +} +inline void InitData::Builder::adoptVersion( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> InitData::Builder::disownVersion() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline bool InitData::Reader::hasAndroidBuildInfo() const { + return !_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::Builder::hasAndroidBuildInfo() { + return !_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::InitData::AndroidBuildInfo::Reader InitData::Reader::getAndroidBuildInfo() const { + return ::capnp::_::PointerHelpers< ::cereal::InitData::AndroidBuildInfo>::get(_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline ::cereal::InitData::AndroidBuildInfo::Builder InitData::Builder::getAndroidBuildInfo() { + return ::capnp::_::PointerHelpers< ::cereal::InitData::AndroidBuildInfo>::get(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::InitData::AndroidBuildInfo::Pipeline InitData::Pipeline::getAndroidBuildInfo() { + return ::cereal::InitData::AndroidBuildInfo::Pipeline(_typeless.getPointerField(4)); +} +#endif // !CAPNP_LITE +inline void InitData::Builder::setAndroidBuildInfo( ::cereal::InitData::AndroidBuildInfo::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::InitData::AndroidBuildInfo>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline ::cereal::InitData::AndroidBuildInfo::Builder InitData::Builder::initAndroidBuildInfo() { + return ::capnp::_::PointerHelpers< ::cereal::InitData::AndroidBuildInfo>::init(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline void InitData::Builder::adoptAndroidBuildInfo( + ::capnp::Orphan< ::cereal::InitData::AndroidBuildInfo>&& value) { + ::capnp::_::PointerHelpers< ::cereal::InitData::AndroidBuildInfo>::adopt(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::InitData::AndroidBuildInfo> InitData::Builder::disownAndroidBuildInfo() { + return ::capnp::_::PointerHelpers< ::cereal::InitData::AndroidBuildInfo>::disown(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} + +inline bool InitData::Reader::hasAndroidSensorsDEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::Builder::hasAndroidSensorsDEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::InitData::AndroidSensor, ::capnp::Kind::STRUCT>::Reader InitData::Reader::getAndroidSensorsDEPRECATED() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::InitData::AndroidSensor, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::InitData::AndroidSensor, ::capnp::Kind::STRUCT>::Builder InitData::Builder::getAndroidSensorsDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::InitData::AndroidSensor, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline void InitData::Builder::setAndroidSensorsDEPRECATED( ::capnp::List< ::cereal::InitData::AndroidSensor, ::capnp::Kind::STRUCT>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::InitData::AndroidSensor, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::InitData::AndroidSensor, ::capnp::Kind::STRUCT>::Builder InitData::Builder::initAndroidSensorsDEPRECATED(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::InitData::AndroidSensor, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), size); +} +inline void InitData::Builder::adoptAndroidSensorsDEPRECATED( + ::capnp::Orphan< ::capnp::List< ::cereal::InitData::AndroidSensor, ::capnp::Kind::STRUCT>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::InitData::AndroidSensor, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::InitData::AndroidSensor, ::capnp::Kind::STRUCT>> InitData::Builder::disownAndroidSensorsDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::InitData::AndroidSensor, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} + +inline bool InitData::Reader::hasChffrAndroidExtraDEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::Builder::hasChffrAndroidExtraDEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::InitData::ChffrAndroidExtra::Reader InitData::Reader::getChffrAndroidExtraDEPRECATED() const { + return ::capnp::_::PointerHelpers< ::cereal::InitData::ChffrAndroidExtra>::get(_reader.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} +inline ::cereal::InitData::ChffrAndroidExtra::Builder InitData::Builder::getChffrAndroidExtraDEPRECATED() { + return ::capnp::_::PointerHelpers< ::cereal::InitData::ChffrAndroidExtra>::get(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::InitData::ChffrAndroidExtra::Pipeline InitData::Pipeline::getChffrAndroidExtraDEPRECATED() { + return ::cereal::InitData::ChffrAndroidExtra::Pipeline(_typeless.getPointerField(6)); +} +#endif // !CAPNP_LITE +inline void InitData::Builder::setChffrAndroidExtraDEPRECATED( ::cereal::InitData::ChffrAndroidExtra::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::InitData::ChffrAndroidExtra>::set(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), value); +} +inline ::cereal::InitData::ChffrAndroidExtra::Builder InitData::Builder::initChffrAndroidExtraDEPRECATED() { + return ::capnp::_::PointerHelpers< ::cereal::InitData::ChffrAndroidExtra>::init(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} +inline void InitData::Builder::adoptChffrAndroidExtraDEPRECATED( + ::capnp::Orphan< ::cereal::InitData::ChffrAndroidExtra>&& value) { + ::capnp::_::PointerHelpers< ::cereal::InitData::ChffrAndroidExtra>::adopt(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::InitData::ChffrAndroidExtra> InitData::Builder::disownChffrAndroidExtraDEPRECATED() { + return ::capnp::_::PointerHelpers< ::cereal::InitData::ChffrAndroidExtra>::disown(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} + +inline bool InitData::Reader::hasPandaInfo() const { + return !_reader.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::Builder::hasPandaInfo() { + return !_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::InitData::PandaInfo::Reader InitData::Reader::getPandaInfo() const { + return ::capnp::_::PointerHelpers< ::cereal::InitData::PandaInfo>::get(_reader.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS)); +} +inline ::cereal::InitData::PandaInfo::Builder InitData::Builder::getPandaInfo() { + return ::capnp::_::PointerHelpers< ::cereal::InitData::PandaInfo>::get(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::InitData::PandaInfo::Pipeline InitData::Pipeline::getPandaInfo() { + return ::cereal::InitData::PandaInfo::Pipeline(_typeless.getPointerField(7)); +} +#endif // !CAPNP_LITE +inline void InitData::Builder::setPandaInfo( ::cereal::InitData::PandaInfo::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::InitData::PandaInfo>::set(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), value); +} +inline ::cereal::InitData::PandaInfo::Builder InitData::Builder::initPandaInfo() { + return ::capnp::_::PointerHelpers< ::cereal::InitData::PandaInfo>::init(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS)); +} +inline void InitData::Builder::adoptPandaInfo( + ::capnp::Orphan< ::cereal::InitData::PandaInfo>&& value) { + ::capnp::_::PointerHelpers< ::cereal::InitData::PandaInfo>::adopt(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::InitData::PandaInfo> InitData::Builder::disownPandaInfo() { + return ::capnp::_::PointerHelpers< ::cereal::InitData::PandaInfo>::disown(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS)); +} + +inline bool InitData::Reader::getDirty() const { + return _reader.getDataField( + ::capnp::bounded<16>() * ::capnp::ELEMENTS); +} + +inline bool InitData::Builder::getDirty() { + return _builder.getDataField( + ::capnp::bounded<16>() * ::capnp::ELEMENTS); +} +inline void InitData::Builder::setDirty(bool value) { + _builder.setDataField( + ::capnp::bounded<16>() * ::capnp::ELEMENTS, value); +} + +inline bool InitData::Reader::hasGitCommit() const { + return !_reader.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::Builder::hasGitCommit() { + return !_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader InitData::Reader::getGitCommit() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder InitData::Builder::getGitCommit() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS)); +} +inline void InitData::Builder::setGitCommit( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder InitData::Builder::initGitCommit(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS), size); +} +inline void InitData::Builder::adoptGitCommit( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> InitData::Builder::disownGitCommit() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS)); +} + +inline bool InitData::Reader::hasGitBranch() const { + return !_reader.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::Builder::hasGitBranch() { + return !_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader InitData::Reader::getGitBranch() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder InitData::Builder::getGitBranch() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS)); +} +inline void InitData::Builder::setGitBranch( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder InitData::Builder::initGitBranch(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS), size); +} +inline void InitData::Builder::adoptGitBranch( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> InitData::Builder::disownGitBranch() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS)); +} + +inline bool InitData::Reader::getPassive() const { + return _reader.getDataField( + ::capnp::bounded<17>() * ::capnp::ELEMENTS); +} + +inline bool InitData::Builder::getPassive() { + return _builder.getDataField( + ::capnp::bounded<17>() * ::capnp::ELEMENTS); +} +inline void InitData::Builder::setPassive(bool value) { + _builder.setDataField( + ::capnp::bounded<17>() * ::capnp::ELEMENTS, value); +} + +inline bool InitData::Reader::hasGitRemote() const { + return !_reader.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::Builder::hasGitRemote() { + return !_builder.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader InitData::Reader::getGitRemote() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder InitData::Builder::getGitRemote() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS)); +} +inline void InitData::Builder::setGitRemote( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder InitData::Builder::initGitRemote(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS), size); +} +inline void InitData::Builder::adoptGitRemote( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> InitData::Builder::disownGitRemote() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS)); +} + +inline bool InitData::Reader::hasIosBuildInfoDEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<11>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::Builder::hasIosBuildInfoDEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<11>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::InitData::IosBuildInfo::Reader InitData::Reader::getIosBuildInfoDEPRECATED() const { + return ::capnp::_::PointerHelpers< ::cereal::InitData::IosBuildInfo>::get(_reader.getPointerField( + ::capnp::bounded<11>() * ::capnp::POINTERS)); +} +inline ::cereal::InitData::IosBuildInfo::Builder InitData::Builder::getIosBuildInfoDEPRECATED() { + return ::capnp::_::PointerHelpers< ::cereal::InitData::IosBuildInfo>::get(_builder.getPointerField( + ::capnp::bounded<11>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::InitData::IosBuildInfo::Pipeline InitData::Pipeline::getIosBuildInfoDEPRECATED() { + return ::cereal::InitData::IosBuildInfo::Pipeline(_typeless.getPointerField(11)); +} +#endif // !CAPNP_LITE +inline void InitData::Builder::setIosBuildInfoDEPRECATED( ::cereal::InitData::IosBuildInfo::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::InitData::IosBuildInfo>::set(_builder.getPointerField( + ::capnp::bounded<11>() * ::capnp::POINTERS), value); +} +inline ::cereal::InitData::IosBuildInfo::Builder InitData::Builder::initIosBuildInfoDEPRECATED() { + return ::capnp::_::PointerHelpers< ::cereal::InitData::IosBuildInfo>::init(_builder.getPointerField( + ::capnp::bounded<11>() * ::capnp::POINTERS)); +} +inline void InitData::Builder::adoptIosBuildInfoDEPRECATED( + ::capnp::Orphan< ::cereal::InitData::IosBuildInfo>&& value) { + ::capnp::_::PointerHelpers< ::cereal::InitData::IosBuildInfo>::adopt(_builder.getPointerField( + ::capnp::bounded<11>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::InitData::IosBuildInfo> InitData::Builder::disownIosBuildInfoDEPRECATED() { + return ::capnp::_::PointerHelpers< ::cereal::InitData::IosBuildInfo>::disown(_builder.getPointerField( + ::capnp::bounded<11>() * ::capnp::POINTERS)); +} + +inline bool InitData::Reader::hasKernelVersion() const { + return !_reader.getPointerField( + ::capnp::bounded<12>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::Builder::hasKernelVersion() { + return !_builder.getPointerField( + ::capnp::bounded<12>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader InitData::Reader::getKernelVersion() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<12>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder InitData::Builder::getKernelVersion() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<12>() * ::capnp::POINTERS)); +} +inline void InitData::Builder::setKernelVersion( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<12>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder InitData::Builder::initKernelVersion(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<12>() * ::capnp::POINTERS), size); +} +inline void InitData::Builder::adoptKernelVersion( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<12>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> InitData::Builder::disownKernelVersion() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<12>() * ::capnp::POINTERS)); +} + +inline bool InitData::Reader::hasAndroidProperties() const { + return !_reader.getPointerField( + ::capnp::bounded<13>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::Builder::hasAndroidProperties() { + return !_builder.getPointerField( + ::capnp::bounded<13>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::Map< ::capnp::Text, ::capnp::Text>::Reader InitData::Reader::getAndroidProperties() const { + return ::capnp::_::PointerHelpers< ::cereal::Map< ::capnp::Text, ::capnp::Text>>::get(_reader.getPointerField( + ::capnp::bounded<13>() * ::capnp::POINTERS)); +} +inline ::cereal::Map< ::capnp::Text, ::capnp::Text>::Builder InitData::Builder::getAndroidProperties() { + return ::capnp::_::PointerHelpers< ::cereal::Map< ::capnp::Text, ::capnp::Text>>::get(_builder.getPointerField( + ::capnp::bounded<13>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::Map< ::capnp::Text, ::capnp::Text>::Pipeline InitData::Pipeline::getAndroidProperties() { + return ::cereal::Map< ::capnp::Text, ::capnp::Text>::Pipeline(_typeless.getPointerField(13)); +} +#endif // !CAPNP_LITE +inline void InitData::Builder::setAndroidProperties( ::cereal::Map< ::capnp::Text, ::capnp::Text>::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::Map< ::capnp::Text, ::capnp::Text>>::set(_builder.getPointerField( + ::capnp::bounded<13>() * ::capnp::POINTERS), value); +} +inline ::cereal::Map< ::capnp::Text, ::capnp::Text>::Builder InitData::Builder::initAndroidProperties() { + return ::capnp::_::PointerHelpers< ::cereal::Map< ::capnp::Text, ::capnp::Text>>::init(_builder.getPointerField( + ::capnp::bounded<13>() * ::capnp::POINTERS)); +} +inline void InitData::Builder::adoptAndroidProperties( + ::capnp::Orphan< ::cereal::Map< ::capnp::Text, ::capnp::Text>>&& value) { + ::capnp::_::PointerHelpers< ::cereal::Map< ::capnp::Text, ::capnp::Text>>::adopt(_builder.getPointerField( + ::capnp::bounded<13>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::Map< ::capnp::Text, ::capnp::Text>> InitData::Builder::disownAndroidProperties() { + return ::capnp::_::PointerHelpers< ::cereal::Map< ::capnp::Text, ::capnp::Text>>::disown(_builder.getPointerField( + ::capnp::bounded<13>() * ::capnp::POINTERS)); +} + +inline bool InitData::Reader::hasParams() const { + return !_reader.getPointerField( + ::capnp::bounded<14>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::Builder::hasParams() { + return !_builder.getPointerField( + ::capnp::bounded<14>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::Map< ::capnp::Text, ::capnp::Data>::Reader InitData::Reader::getParams() const { + return ::capnp::_::PointerHelpers< ::cereal::Map< ::capnp::Text, ::capnp::Data>>::get(_reader.getPointerField( + ::capnp::bounded<14>() * ::capnp::POINTERS)); +} +inline ::cereal::Map< ::capnp::Text, ::capnp::Data>::Builder InitData::Builder::getParams() { + return ::capnp::_::PointerHelpers< ::cereal::Map< ::capnp::Text, ::capnp::Data>>::get(_builder.getPointerField( + ::capnp::bounded<14>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::Map< ::capnp::Text, ::capnp::Data>::Pipeline InitData::Pipeline::getParams() { + return ::cereal::Map< ::capnp::Text, ::capnp::Data>::Pipeline(_typeless.getPointerField(14)); +} +#endif // !CAPNP_LITE +inline void InitData::Builder::setParams( ::cereal::Map< ::capnp::Text, ::capnp::Data>::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::Map< ::capnp::Text, ::capnp::Data>>::set(_builder.getPointerField( + ::capnp::bounded<14>() * ::capnp::POINTERS), value); +} +inline ::cereal::Map< ::capnp::Text, ::capnp::Data>::Builder InitData::Builder::initParams() { + return ::capnp::_::PointerHelpers< ::cereal::Map< ::capnp::Text, ::capnp::Data>>::init(_builder.getPointerField( + ::capnp::bounded<14>() * ::capnp::POINTERS)); +} +inline void InitData::Builder::adoptParams( + ::capnp::Orphan< ::cereal::Map< ::capnp::Text, ::capnp::Data>>&& value) { + ::capnp::_::PointerHelpers< ::cereal::Map< ::capnp::Text, ::capnp::Data>>::adopt(_builder.getPointerField( + ::capnp::bounded<14>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::Map< ::capnp::Text, ::capnp::Data>> InitData::Builder::disownParams() { + return ::capnp::_::PointerHelpers< ::cereal::Map< ::capnp::Text, ::capnp::Data>>::disown(_builder.getPointerField( + ::capnp::bounded<14>() * ::capnp::POINTERS)); +} + +inline bool InitData::Reader::hasOsVersion() const { + return !_reader.getPointerField( + ::capnp::bounded<15>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::Builder::hasOsVersion() { + return !_builder.getPointerField( + ::capnp::bounded<15>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader InitData::Reader::getOsVersion() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<15>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder InitData::Builder::getOsVersion() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<15>() * ::capnp::POINTERS)); +} +inline void InitData::Builder::setOsVersion( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<15>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder InitData::Builder::initOsVersion(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<15>() * ::capnp::POINTERS), size); +} +inline void InitData::Builder::adoptOsVersion( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<15>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> InitData::Builder::disownOsVersion() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<15>() * ::capnp::POINTERS)); +} + +inline bool InitData::Reader::hasCommands() const { + return !_reader.getPointerField( + ::capnp::bounded<16>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::Builder::hasCommands() { + return !_builder.getPointerField( + ::capnp::bounded<16>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::Map< ::capnp::Text, ::capnp::Data>::Reader InitData::Reader::getCommands() const { + return ::capnp::_::PointerHelpers< ::cereal::Map< ::capnp::Text, ::capnp::Data>>::get(_reader.getPointerField( + ::capnp::bounded<16>() * ::capnp::POINTERS)); +} +inline ::cereal::Map< ::capnp::Text, ::capnp::Data>::Builder InitData::Builder::getCommands() { + return ::capnp::_::PointerHelpers< ::cereal::Map< ::capnp::Text, ::capnp::Data>>::get(_builder.getPointerField( + ::capnp::bounded<16>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::Map< ::capnp::Text, ::capnp::Data>::Pipeline InitData::Pipeline::getCommands() { + return ::cereal::Map< ::capnp::Text, ::capnp::Data>::Pipeline(_typeless.getPointerField(16)); +} +#endif // !CAPNP_LITE +inline void InitData::Builder::setCommands( ::cereal::Map< ::capnp::Text, ::capnp::Data>::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::Map< ::capnp::Text, ::capnp::Data>>::set(_builder.getPointerField( + ::capnp::bounded<16>() * ::capnp::POINTERS), value); +} +inline ::cereal::Map< ::capnp::Text, ::capnp::Data>::Builder InitData::Builder::initCommands() { + return ::capnp::_::PointerHelpers< ::cereal::Map< ::capnp::Text, ::capnp::Data>>::init(_builder.getPointerField( + ::capnp::bounded<16>() * ::capnp::POINTERS)); +} +inline void InitData::Builder::adoptCommands( + ::capnp::Orphan< ::cereal::Map< ::capnp::Text, ::capnp::Data>>&& value) { + ::capnp::_::PointerHelpers< ::cereal::Map< ::capnp::Text, ::capnp::Data>>::adopt(_builder.getPointerField( + ::capnp::bounded<16>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::Map< ::capnp::Text, ::capnp::Data>> InitData::Builder::disownCommands() { + return ::capnp::_::PointerHelpers< ::cereal::Map< ::capnp::Text, ::capnp::Data>>::disown(_builder.getPointerField( + ::capnp::bounded<16>() * ::capnp::POINTERS)); +} + +inline ::uint64_t InitData::Reader::getWallTimeNanos() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t InitData::Builder::getWallTimeNanos() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void InitData::Builder::setWallTimeNanos( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool InitData::Reader::hasGitCommitDate() const { + return !_reader.getPointerField( + ::capnp::bounded<17>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::Builder::hasGitCommitDate() { + return !_builder.getPointerField( + ::capnp::bounded<17>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader InitData::Reader::getGitCommitDate() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<17>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder InitData::Builder::getGitCommitDate() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<17>() * ::capnp::POINTERS)); +} +inline void InitData::Builder::setGitCommitDate( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<17>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder InitData::Builder::initGitCommitDate(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<17>() * ::capnp::POINTERS), size); +} +inline void InitData::Builder::adoptGitCommitDate( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<17>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> InitData::Builder::disownGitCommitDate() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<17>() * ::capnp::POINTERS)); +} + +inline bool InitData::Reader::hasBootlogId() const { + return !_reader.getPointerField( + ::capnp::bounded<18>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::Builder::hasBootlogId() { + return !_builder.getPointerField( + ::capnp::bounded<18>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader InitData::Reader::getBootlogId() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<18>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder InitData::Builder::getBootlogId() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<18>() * ::capnp::POINTERS)); +} +inline void InitData::Builder::setBootlogId( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<18>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder InitData::Builder::initBootlogId(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<18>() * ::capnp::POINTERS), size); +} +inline void InitData::Builder::adoptBootlogId( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<18>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> InitData::Builder::disownBootlogId() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<18>() * ::capnp::POINTERS)); +} + +inline bool InitData::PandaInfo::Reader::getHasPanda() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline bool InitData::PandaInfo::Builder::getHasPanda() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void InitData::PandaInfo::Builder::setHasPanda(bool value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool InitData::PandaInfo::Reader::hasDongleId() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::PandaInfo::Builder::hasDongleId() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader InitData::PandaInfo::Reader::getDongleId() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder InitData::PandaInfo::Builder::getDongleId() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void InitData::PandaInfo::Builder::setDongleId( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder InitData::PandaInfo::Builder::initDongleId(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void InitData::PandaInfo::Builder::adoptDongleId( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> InitData::PandaInfo::Builder::disownDongleId() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool InitData::PandaInfo::Reader::hasStVersion() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::PandaInfo::Builder::hasStVersion() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader InitData::PandaInfo::Reader::getStVersion() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder InitData::PandaInfo::Builder::getStVersion() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void InitData::PandaInfo::Builder::setStVersion( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder InitData::PandaInfo::Builder::initStVersion(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void InitData::PandaInfo::Builder::adoptStVersion( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> InitData::PandaInfo::Builder::disownStVersion() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool InitData::PandaInfo::Reader::hasEspVersion() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::PandaInfo::Builder::hasEspVersion() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader InitData::PandaInfo::Reader::getEspVersion() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder InitData::PandaInfo::Builder::getEspVersion() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void InitData::PandaInfo::Builder::setEspVersion( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder InitData::PandaInfo::Builder::initEspVersion(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void InitData::PandaInfo::Builder::adoptEspVersion( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> InitData::PandaInfo::Builder::disownEspVersion() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline bool InitData::AndroidBuildInfo::Reader::hasBoard() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::AndroidBuildInfo::Builder::hasBoard() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader InitData::AndroidBuildInfo::Reader::getBoard() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder InitData::AndroidBuildInfo::Builder::getBoard() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void InitData::AndroidBuildInfo::Builder::setBoard( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder InitData::AndroidBuildInfo::Builder::initBoard(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void InitData::AndroidBuildInfo::Builder::adoptBoard( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> InitData::AndroidBuildInfo::Builder::disownBoard() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool InitData::AndroidBuildInfo::Reader::hasBootloader() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::AndroidBuildInfo::Builder::hasBootloader() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader InitData::AndroidBuildInfo::Reader::getBootloader() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder InitData::AndroidBuildInfo::Builder::getBootloader() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void InitData::AndroidBuildInfo::Builder::setBootloader( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder InitData::AndroidBuildInfo::Builder::initBootloader(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void InitData::AndroidBuildInfo::Builder::adoptBootloader( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> InitData::AndroidBuildInfo::Builder::disownBootloader() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool InitData::AndroidBuildInfo::Reader::hasBrand() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::AndroidBuildInfo::Builder::hasBrand() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader InitData::AndroidBuildInfo::Reader::getBrand() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder InitData::AndroidBuildInfo::Builder::getBrand() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void InitData::AndroidBuildInfo::Builder::setBrand( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder InitData::AndroidBuildInfo::Builder::initBrand(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void InitData::AndroidBuildInfo::Builder::adoptBrand( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> InitData::AndroidBuildInfo::Builder::disownBrand() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline bool InitData::AndroidBuildInfo::Reader::hasDevice() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::AndroidBuildInfo::Builder::hasDevice() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader InitData::AndroidBuildInfo::Reader::getDevice() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder InitData::AndroidBuildInfo::Builder::getDevice() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void InitData::AndroidBuildInfo::Builder::setDevice( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder InitData::AndroidBuildInfo::Builder::initDevice(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), size); +} +inline void InitData::AndroidBuildInfo::Builder::adoptDevice( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> InitData::AndroidBuildInfo::Builder::disownDevice() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline bool InitData::AndroidBuildInfo::Reader::hasDisplay() const { + return !_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::AndroidBuildInfo::Builder::hasDisplay() { + return !_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader InitData::AndroidBuildInfo::Reader::getDisplay() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder InitData::AndroidBuildInfo::Builder::getDisplay() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline void InitData::AndroidBuildInfo::Builder::setDisplay( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder InitData::AndroidBuildInfo::Builder::initDisplay(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), size); +} +inline void InitData::AndroidBuildInfo::Builder::adoptDisplay( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> InitData::AndroidBuildInfo::Builder::disownDisplay() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} + +inline bool InitData::AndroidBuildInfo::Reader::hasFingerprint() const { + return !_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::AndroidBuildInfo::Builder::hasFingerprint() { + return !_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader InitData::AndroidBuildInfo::Reader::getFingerprint() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder InitData::AndroidBuildInfo::Builder::getFingerprint() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline void InitData::AndroidBuildInfo::Builder::setFingerprint( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder InitData::AndroidBuildInfo::Builder::initFingerprint(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), size); +} +inline void InitData::AndroidBuildInfo::Builder::adoptFingerprint( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> InitData::AndroidBuildInfo::Builder::disownFingerprint() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} + +inline bool InitData::AndroidBuildInfo::Reader::hasHardware() const { + return !_reader.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::AndroidBuildInfo::Builder::hasHardware() { + return !_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader InitData::AndroidBuildInfo::Reader::getHardware() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder InitData::AndroidBuildInfo::Builder::getHardware() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} +inline void InitData::AndroidBuildInfo::Builder::setHardware( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder InitData::AndroidBuildInfo::Builder::initHardware(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), size); +} +inline void InitData::AndroidBuildInfo::Builder::adoptHardware( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> InitData::AndroidBuildInfo::Builder::disownHardware() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} + +inline bool InitData::AndroidBuildInfo::Reader::hasHost() const { + return !_reader.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::AndroidBuildInfo::Builder::hasHost() { + return !_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader InitData::AndroidBuildInfo::Reader::getHost() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder InitData::AndroidBuildInfo::Builder::getHost() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS)); +} +inline void InitData::AndroidBuildInfo::Builder::setHost( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder InitData::AndroidBuildInfo::Builder::initHost(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), size); +} +inline void InitData::AndroidBuildInfo::Builder::adoptHost( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> InitData::AndroidBuildInfo::Builder::disownHost() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS)); +} + +inline bool InitData::AndroidBuildInfo::Reader::hasId() const { + return !_reader.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::AndroidBuildInfo::Builder::hasId() { + return !_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader InitData::AndroidBuildInfo::Reader::getId() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder InitData::AndroidBuildInfo::Builder::getId() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS)); +} +inline void InitData::AndroidBuildInfo::Builder::setId( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder InitData::AndroidBuildInfo::Builder::initId(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS), size); +} +inline void InitData::AndroidBuildInfo::Builder::adoptId( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> InitData::AndroidBuildInfo::Builder::disownId() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS)); +} + +inline bool InitData::AndroidBuildInfo::Reader::hasManufacturer() const { + return !_reader.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::AndroidBuildInfo::Builder::hasManufacturer() { + return !_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader InitData::AndroidBuildInfo::Reader::getManufacturer() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder InitData::AndroidBuildInfo::Builder::getManufacturer() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS)); +} +inline void InitData::AndroidBuildInfo::Builder::setManufacturer( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder InitData::AndroidBuildInfo::Builder::initManufacturer(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS), size); +} +inline void InitData::AndroidBuildInfo::Builder::adoptManufacturer( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> InitData::AndroidBuildInfo::Builder::disownManufacturer() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS)); +} + +inline bool InitData::AndroidBuildInfo::Reader::hasModel() const { + return !_reader.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::AndroidBuildInfo::Builder::hasModel() { + return !_builder.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader InitData::AndroidBuildInfo::Reader::getModel() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder InitData::AndroidBuildInfo::Builder::getModel() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS)); +} +inline void InitData::AndroidBuildInfo::Builder::setModel( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder InitData::AndroidBuildInfo::Builder::initModel(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS), size); +} +inline void InitData::AndroidBuildInfo::Builder::adoptModel( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> InitData::AndroidBuildInfo::Builder::disownModel() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS)); +} + +inline bool InitData::AndroidBuildInfo::Reader::hasProduct() const { + return !_reader.getPointerField( + ::capnp::bounded<11>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::AndroidBuildInfo::Builder::hasProduct() { + return !_builder.getPointerField( + ::capnp::bounded<11>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader InitData::AndroidBuildInfo::Reader::getProduct() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<11>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder InitData::AndroidBuildInfo::Builder::getProduct() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<11>() * ::capnp::POINTERS)); +} +inline void InitData::AndroidBuildInfo::Builder::setProduct( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<11>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder InitData::AndroidBuildInfo::Builder::initProduct(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<11>() * ::capnp::POINTERS), size); +} +inline void InitData::AndroidBuildInfo::Builder::adoptProduct( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<11>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> InitData::AndroidBuildInfo::Builder::disownProduct() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<11>() * ::capnp::POINTERS)); +} + +inline bool InitData::AndroidBuildInfo::Reader::hasRadioVersion() const { + return !_reader.getPointerField( + ::capnp::bounded<12>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::AndroidBuildInfo::Builder::hasRadioVersion() { + return !_builder.getPointerField( + ::capnp::bounded<12>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader InitData::AndroidBuildInfo::Reader::getRadioVersion() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<12>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder InitData::AndroidBuildInfo::Builder::getRadioVersion() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<12>() * ::capnp::POINTERS)); +} +inline void InitData::AndroidBuildInfo::Builder::setRadioVersion( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<12>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder InitData::AndroidBuildInfo::Builder::initRadioVersion(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<12>() * ::capnp::POINTERS), size); +} +inline void InitData::AndroidBuildInfo::Builder::adoptRadioVersion( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<12>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> InitData::AndroidBuildInfo::Builder::disownRadioVersion() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<12>() * ::capnp::POINTERS)); +} + +inline bool InitData::AndroidBuildInfo::Reader::hasSerial() const { + return !_reader.getPointerField( + ::capnp::bounded<13>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::AndroidBuildInfo::Builder::hasSerial() { + return !_builder.getPointerField( + ::capnp::bounded<13>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader InitData::AndroidBuildInfo::Reader::getSerial() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<13>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder InitData::AndroidBuildInfo::Builder::getSerial() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<13>() * ::capnp::POINTERS)); +} +inline void InitData::AndroidBuildInfo::Builder::setSerial( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<13>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder InitData::AndroidBuildInfo::Builder::initSerial(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<13>() * ::capnp::POINTERS), size); +} +inline void InitData::AndroidBuildInfo::Builder::adoptSerial( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<13>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> InitData::AndroidBuildInfo::Builder::disownSerial() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<13>() * ::capnp::POINTERS)); +} + +inline bool InitData::AndroidBuildInfo::Reader::hasSupportedAbis() const { + return !_reader.getPointerField( + ::capnp::bounded<14>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::AndroidBuildInfo::Builder::hasSupportedAbis() { + return !_builder.getPointerField( + ::capnp::bounded<14>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>::Reader InitData::AndroidBuildInfo::Reader::getSupportedAbis() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>>::get(_reader.getPointerField( + ::capnp::bounded<14>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>::Builder InitData::AndroidBuildInfo::Builder::getSupportedAbis() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>>::get(_builder.getPointerField( + ::capnp::bounded<14>() * ::capnp::POINTERS)); +} +inline void InitData::AndroidBuildInfo::Builder::setSupportedAbis( ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>>::set(_builder.getPointerField( + ::capnp::bounded<14>() * ::capnp::POINTERS), value); +} +inline void InitData::AndroidBuildInfo::Builder::setSupportedAbis(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>>::set(_builder.getPointerField( + ::capnp::bounded<14>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>::Builder InitData::AndroidBuildInfo::Builder::initSupportedAbis(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>>::init(_builder.getPointerField( + ::capnp::bounded<14>() * ::capnp::POINTERS), size); +} +inline void InitData::AndroidBuildInfo::Builder::adoptSupportedAbis( + ::capnp::Orphan< ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>>::adopt(_builder.getPointerField( + ::capnp::bounded<14>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>> InitData::AndroidBuildInfo::Builder::disownSupportedAbis() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>>::disown(_builder.getPointerField( + ::capnp::bounded<14>() * ::capnp::POINTERS)); +} + +inline bool InitData::AndroidBuildInfo::Reader::hasTags() const { + return !_reader.getPointerField( + ::capnp::bounded<15>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::AndroidBuildInfo::Builder::hasTags() { + return !_builder.getPointerField( + ::capnp::bounded<15>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader InitData::AndroidBuildInfo::Reader::getTags() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<15>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder InitData::AndroidBuildInfo::Builder::getTags() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<15>() * ::capnp::POINTERS)); +} +inline void InitData::AndroidBuildInfo::Builder::setTags( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<15>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder InitData::AndroidBuildInfo::Builder::initTags(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<15>() * ::capnp::POINTERS), size); +} +inline void InitData::AndroidBuildInfo::Builder::adoptTags( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<15>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> InitData::AndroidBuildInfo::Builder::disownTags() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<15>() * ::capnp::POINTERS)); +} + +inline ::int64_t InitData::AndroidBuildInfo::Reader::getTime() const { + return _reader.getDataField< ::int64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::int64_t InitData::AndroidBuildInfo::Builder::getTime() { + return _builder.getDataField< ::int64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void InitData::AndroidBuildInfo::Builder::setTime( ::int64_t value) { + _builder.setDataField< ::int64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool InitData::AndroidBuildInfo::Reader::hasType() const { + return !_reader.getPointerField( + ::capnp::bounded<16>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::AndroidBuildInfo::Builder::hasType() { + return !_builder.getPointerField( + ::capnp::bounded<16>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader InitData::AndroidBuildInfo::Reader::getType() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<16>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder InitData::AndroidBuildInfo::Builder::getType() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<16>() * ::capnp::POINTERS)); +} +inline void InitData::AndroidBuildInfo::Builder::setType( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<16>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder InitData::AndroidBuildInfo::Builder::initType(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<16>() * ::capnp::POINTERS), size); +} +inline void InitData::AndroidBuildInfo::Builder::adoptType( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<16>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> InitData::AndroidBuildInfo::Builder::disownType() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<16>() * ::capnp::POINTERS)); +} + +inline bool InitData::AndroidBuildInfo::Reader::hasUser() const { + return !_reader.getPointerField( + ::capnp::bounded<17>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::AndroidBuildInfo::Builder::hasUser() { + return !_builder.getPointerField( + ::capnp::bounded<17>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader InitData::AndroidBuildInfo::Reader::getUser() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<17>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder InitData::AndroidBuildInfo::Builder::getUser() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<17>() * ::capnp::POINTERS)); +} +inline void InitData::AndroidBuildInfo::Builder::setUser( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<17>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder InitData::AndroidBuildInfo::Builder::initUser(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<17>() * ::capnp::POINTERS), size); +} +inline void InitData::AndroidBuildInfo::Builder::adoptUser( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<17>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> InitData::AndroidBuildInfo::Builder::disownUser() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<17>() * ::capnp::POINTERS)); +} + +inline bool InitData::AndroidBuildInfo::Reader::hasVersionCodename() const { + return !_reader.getPointerField( + ::capnp::bounded<18>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::AndroidBuildInfo::Builder::hasVersionCodename() { + return !_builder.getPointerField( + ::capnp::bounded<18>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader InitData::AndroidBuildInfo::Reader::getVersionCodename() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<18>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder InitData::AndroidBuildInfo::Builder::getVersionCodename() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<18>() * ::capnp::POINTERS)); +} +inline void InitData::AndroidBuildInfo::Builder::setVersionCodename( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<18>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder InitData::AndroidBuildInfo::Builder::initVersionCodename(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<18>() * ::capnp::POINTERS), size); +} +inline void InitData::AndroidBuildInfo::Builder::adoptVersionCodename( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<18>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> InitData::AndroidBuildInfo::Builder::disownVersionCodename() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<18>() * ::capnp::POINTERS)); +} + +inline bool InitData::AndroidBuildInfo::Reader::hasVersionRelease() const { + return !_reader.getPointerField( + ::capnp::bounded<19>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::AndroidBuildInfo::Builder::hasVersionRelease() { + return !_builder.getPointerField( + ::capnp::bounded<19>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader InitData::AndroidBuildInfo::Reader::getVersionRelease() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<19>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder InitData::AndroidBuildInfo::Builder::getVersionRelease() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<19>() * ::capnp::POINTERS)); +} +inline void InitData::AndroidBuildInfo::Builder::setVersionRelease( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<19>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder InitData::AndroidBuildInfo::Builder::initVersionRelease(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<19>() * ::capnp::POINTERS), size); +} +inline void InitData::AndroidBuildInfo::Builder::adoptVersionRelease( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<19>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> InitData::AndroidBuildInfo::Builder::disownVersionRelease() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<19>() * ::capnp::POINTERS)); +} + +inline ::int32_t InitData::AndroidBuildInfo::Reader::getVersionSdk() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::int32_t InitData::AndroidBuildInfo::Builder::getVersionSdk() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void InitData::AndroidBuildInfo::Builder::setVersionSdk( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline bool InitData::AndroidBuildInfo::Reader::hasVersionSecurityPatch() const { + return !_reader.getPointerField( + ::capnp::bounded<20>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::AndroidBuildInfo::Builder::hasVersionSecurityPatch() { + return !_builder.getPointerField( + ::capnp::bounded<20>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader InitData::AndroidBuildInfo::Reader::getVersionSecurityPatch() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<20>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder InitData::AndroidBuildInfo::Builder::getVersionSecurityPatch() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<20>() * ::capnp::POINTERS)); +} +inline void InitData::AndroidBuildInfo::Builder::setVersionSecurityPatch( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<20>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder InitData::AndroidBuildInfo::Builder::initVersionSecurityPatch(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<20>() * ::capnp::POINTERS), size); +} +inline void InitData::AndroidBuildInfo::Builder::adoptVersionSecurityPatch( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<20>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> InitData::AndroidBuildInfo::Builder::disownVersionSecurityPatch() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<20>() * ::capnp::POINTERS)); +} + +inline ::int32_t InitData::AndroidSensor::Reader::getId() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::int32_t InitData::AndroidSensor::Builder::getId() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void InitData::AndroidSensor::Builder::setId( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool InitData::AndroidSensor::Reader::hasName() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::AndroidSensor::Builder::hasName() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader InitData::AndroidSensor::Reader::getName() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder InitData::AndroidSensor::Builder::getName() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void InitData::AndroidSensor::Builder::setName( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder InitData::AndroidSensor::Builder::initName(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void InitData::AndroidSensor::Builder::adoptName( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> InitData::AndroidSensor::Builder::disownName() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool InitData::AndroidSensor::Reader::hasVendor() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::AndroidSensor::Builder::hasVendor() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader InitData::AndroidSensor::Reader::getVendor() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder InitData::AndroidSensor::Builder::getVendor() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void InitData::AndroidSensor::Builder::setVendor( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder InitData::AndroidSensor::Builder::initVendor(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void InitData::AndroidSensor::Builder::adoptVendor( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> InitData::AndroidSensor::Builder::disownVendor() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline ::int32_t InitData::AndroidSensor::Reader::getVersion() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::int32_t InitData::AndroidSensor::Builder::getVersion() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void InitData::AndroidSensor::Builder::setVersion( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t InitData::AndroidSensor::Reader::getHandle() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::int32_t InitData::AndroidSensor::Builder::getHandle() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void InitData::AndroidSensor::Builder::setHandle( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t InitData::AndroidSensor::Reader::getType() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline ::int32_t InitData::AndroidSensor::Builder::getType() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void InitData::AndroidSensor::Builder::setType( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline float InitData::AndroidSensor::Reader::getMaxRange() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline float InitData::AndroidSensor::Builder::getMaxRange() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void InitData::AndroidSensor::Builder::setMaxRange(float value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline float InitData::AndroidSensor::Reader::getResolution() const { + return _reader.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline float InitData::AndroidSensor::Builder::getResolution() { + return _builder.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void InitData::AndroidSensor::Builder::setResolution(float value) { + _builder.setDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline float InitData::AndroidSensor::Reader::getPower() const { + return _reader.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline float InitData::AndroidSensor::Builder::getPower() { + return _builder.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void InitData::AndroidSensor::Builder::setPower(float value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t InitData::AndroidSensor::Reader::getMinDelay() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline ::int32_t InitData::AndroidSensor::Builder::getMinDelay() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void InitData::AndroidSensor::Builder::setMinDelay( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t InitData::AndroidSensor::Reader::getFifoReservedEventCount() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t InitData::AndroidSensor::Builder::getFifoReservedEventCount() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void InitData::AndroidSensor::Builder::setFifoReservedEventCount( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t InitData::AndroidSensor::Reader::getFifoMaxEventCount() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t InitData::AndroidSensor::Builder::getFifoMaxEventCount() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} +inline void InitData::AndroidSensor::Builder::setFifoMaxEventCount( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS, value); +} + +inline bool InitData::AndroidSensor::Reader::hasStringType() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::AndroidSensor::Builder::hasStringType() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader InitData::AndroidSensor::Reader::getStringType() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder InitData::AndroidSensor::Builder::getStringType() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void InitData::AndroidSensor::Builder::setStringType( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder InitData::AndroidSensor::Builder::initStringType(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void InitData::AndroidSensor::Builder::adoptStringType( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> InitData::AndroidSensor::Builder::disownStringType() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline ::int32_t InitData::AndroidSensor::Reader::getMaxDelay() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} + +inline ::int32_t InitData::AndroidSensor::Builder::getMaxDelay() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} +inline void InitData::AndroidSensor::Builder::setMaxDelay( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS, value); +} + +inline bool InitData::ChffrAndroidExtra::Reader::hasAllCameraCharacteristics() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::ChffrAndroidExtra::Builder::hasAllCameraCharacteristics() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::Map< ::capnp::Text, ::capnp::Text>::Reader InitData::ChffrAndroidExtra::Reader::getAllCameraCharacteristics() const { + return ::capnp::_::PointerHelpers< ::cereal::Map< ::capnp::Text, ::capnp::Text>>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::Map< ::capnp::Text, ::capnp::Text>::Builder InitData::ChffrAndroidExtra::Builder::getAllCameraCharacteristics() { + return ::capnp::_::PointerHelpers< ::cereal::Map< ::capnp::Text, ::capnp::Text>>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::Map< ::capnp::Text, ::capnp::Text>::Pipeline InitData::ChffrAndroidExtra::Pipeline::getAllCameraCharacteristics() { + return ::cereal::Map< ::capnp::Text, ::capnp::Text>::Pipeline(_typeless.getPointerField(0)); +} +#endif // !CAPNP_LITE +inline void InitData::ChffrAndroidExtra::Builder::setAllCameraCharacteristics( ::cereal::Map< ::capnp::Text, ::capnp::Text>::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::Map< ::capnp::Text, ::capnp::Text>>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::Map< ::capnp::Text, ::capnp::Text>::Builder InitData::ChffrAndroidExtra::Builder::initAllCameraCharacteristics() { + return ::capnp::_::PointerHelpers< ::cereal::Map< ::capnp::Text, ::capnp::Text>>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void InitData::ChffrAndroidExtra::Builder::adoptAllCameraCharacteristics( + ::capnp::Orphan< ::cereal::Map< ::capnp::Text, ::capnp::Text>>&& value) { + ::capnp::_::PointerHelpers< ::cereal::Map< ::capnp::Text, ::capnp::Text>>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::Map< ::capnp::Text, ::capnp::Text>> InitData::ChffrAndroidExtra::Builder::disownAllCameraCharacteristics() { + return ::capnp::_::PointerHelpers< ::cereal::Map< ::capnp::Text, ::capnp::Text>>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool InitData::IosBuildInfo::Reader::hasAppVersion() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::IosBuildInfo::Builder::hasAppVersion() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader InitData::IosBuildInfo::Reader::getAppVersion() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder InitData::IosBuildInfo::Builder::getAppVersion() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void InitData::IosBuildInfo::Builder::setAppVersion( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder InitData::IosBuildInfo::Builder::initAppVersion(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void InitData::IosBuildInfo::Builder::adoptAppVersion( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> InitData::IosBuildInfo::Builder::disownAppVersion() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline ::uint32_t InitData::IosBuildInfo::Reader::getAppBuild() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t InitData::IosBuildInfo::Builder::getAppBuild() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void InitData::IosBuildInfo::Builder::setAppBuild( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool InitData::IosBuildInfo::Reader::hasOsVersion() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::IosBuildInfo::Builder::hasOsVersion() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader InitData::IosBuildInfo::Reader::getOsVersion() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder InitData::IosBuildInfo::Builder::getOsVersion() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void InitData::IosBuildInfo::Builder::setOsVersion( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder InitData::IosBuildInfo::Builder::initOsVersion(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void InitData::IosBuildInfo::Builder::adoptOsVersion( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> InitData::IosBuildInfo::Builder::disownOsVersion() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool InitData::IosBuildInfo::Reader::hasDeviceModel() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool InitData::IosBuildInfo::Builder::hasDeviceModel() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader InitData::IosBuildInfo::Reader::getDeviceModel() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder InitData::IosBuildInfo::Builder::getDeviceModel() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void InitData::IosBuildInfo::Builder::setDeviceModel( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder InitData::IosBuildInfo::Builder::initDeviceModel(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void InitData::IosBuildInfo::Builder::adoptDeviceModel( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> InitData::IosBuildInfo::Builder::disownDeviceModel() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline ::uint32_t FrameData::Reader::getFrameId() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t FrameData::Builder::getFrameId() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void FrameData::Builder::setFrameId( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t FrameData::Reader::getEncodeId() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t FrameData::Builder::getEncodeId() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void FrameData::Builder::setEncodeId( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t FrameData::Reader::getTimestampEof() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t FrameData::Builder::getTimestampEof() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void FrameData::Builder::setTimestampEof( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t FrameData::Reader::getFrameLengthDEPRECATED() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline ::int32_t FrameData::Builder::getFrameLengthDEPRECATED() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void FrameData::Builder::setFrameLengthDEPRECATED( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t FrameData::Reader::getIntegLines() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline ::int32_t FrameData::Builder::getIntegLines() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void FrameData::Builder::setIntegLines( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t FrameData::Reader::getGlobalGainDEPRECATED() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline ::int32_t FrameData::Builder::getGlobalGainDEPRECATED() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void FrameData::Builder::setGlobalGainDEPRECATED( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline bool FrameData::Reader::hasImage() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool FrameData::Builder::hasImage() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Data::Reader FrameData::Reader::getImage() const { + return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::Data::Builder FrameData::Builder::getImage() { + return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void FrameData::Builder::setImage( ::capnp::Data::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Data>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::Data::Builder FrameData::Builder::initImage(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Data>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void FrameData::Builder::adoptImage( + ::capnp::Orphan< ::capnp::Data>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Data>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Data> FrameData::Builder::disownImage() { + return ::capnp::_::PointerHelpers< ::capnp::Data>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline ::cereal::FrameData::FrameTypeDEPRECATED FrameData::Reader::getFrameTypeDEPRECATED() const { + return _reader.getDataField< ::cereal::FrameData::FrameTypeDEPRECATED>( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} + +inline ::cereal::FrameData::FrameTypeDEPRECATED FrameData::Builder::getFrameTypeDEPRECATED() { + return _builder.getDataField< ::cereal::FrameData::FrameTypeDEPRECATED>( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} +inline void FrameData::Builder::setFrameTypeDEPRECATED( ::cereal::FrameData::FrameTypeDEPRECATED value) { + _builder.setDataField< ::cereal::FrameData::FrameTypeDEPRECATED>( + ::capnp::bounded<14>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t FrameData::Reader::getTimestampSof() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t FrameData::Builder::getTimestampSof() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void FrameData::Builder::setTimestampSof( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline bool FrameData::Reader::hasAndroidCaptureResultDEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool FrameData::Builder::hasAndroidCaptureResultDEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::FrameData::AndroidCaptureResult::Reader FrameData::Reader::getAndroidCaptureResultDEPRECATED() const { + return ::capnp::_::PointerHelpers< ::cereal::FrameData::AndroidCaptureResult>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::cereal::FrameData::AndroidCaptureResult::Builder FrameData::Builder::getAndroidCaptureResultDEPRECATED() { + return ::capnp::_::PointerHelpers< ::cereal::FrameData::AndroidCaptureResult>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::FrameData::AndroidCaptureResult::Pipeline FrameData::Pipeline::getAndroidCaptureResultDEPRECATED() { + return ::cereal::FrameData::AndroidCaptureResult::Pipeline(_typeless.getPointerField(1)); +} +#endif // !CAPNP_LITE +inline void FrameData::Builder::setAndroidCaptureResultDEPRECATED( ::cereal::FrameData::AndroidCaptureResult::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::FrameData::AndroidCaptureResult>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::cereal::FrameData::AndroidCaptureResult::Builder FrameData::Builder::initAndroidCaptureResultDEPRECATED() { + return ::capnp::_::PointerHelpers< ::cereal::FrameData::AndroidCaptureResult>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void FrameData::Builder::adoptAndroidCaptureResultDEPRECATED( + ::capnp::Orphan< ::cereal::FrameData::AndroidCaptureResult>&& value) { + ::capnp::_::PointerHelpers< ::cereal::FrameData::AndroidCaptureResult>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::FrameData::AndroidCaptureResult> FrameData::Builder::disownAndroidCaptureResultDEPRECATED() { + return ::capnp::_::PointerHelpers< ::cereal::FrameData::AndroidCaptureResult>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool FrameData::Reader::hasTransform() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool FrameData::Builder::hasTransform() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader FrameData::Reader::getTransform() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder FrameData::Builder::getTransform() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void FrameData::Builder::setTransform( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline void FrameData::Builder::setTransform(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder FrameData::Builder::initTransform(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void FrameData::Builder::adoptTransform( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> FrameData::Builder::disownTransform() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline ::int32_t FrameData::Reader::getLensPosDEPRECATED() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} + +inline ::int32_t FrameData::Builder::getLensPosDEPRECATED() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} +inline void FrameData::Builder::setLensPosDEPRECATED( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS, value); +} + +inline float FrameData::Reader::getLensSagDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} + +inline float FrameData::Builder::getLensSagDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} +inline void FrameData::Builder::setLensSagDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS, value); +} + +inline float FrameData::Reader::getLensErrDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} + +inline float FrameData::Builder::getLensErrDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} +inline void FrameData::Builder::setLensErrDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS, value); +} + +inline float FrameData::Reader::getLensTruePosDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} + +inline float FrameData::Builder::getLensTruePosDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} +inline void FrameData::Builder::setLensTruePosDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS, value); +} + +inline float FrameData::Reader::getGain() const { + return _reader.getDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} + +inline float FrameData::Builder::getGain() { + return _builder.getDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} +inline void FrameData::Builder::setGain(float value) { + _builder.setDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS, value); +} + +inline bool FrameData::Reader::hasFocusValDEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool FrameData::Builder::hasFocusValDEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>::Reader FrameData::Reader::getFocusValDEPRECATED() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>::Builder FrameData::Builder::getFocusValDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void FrameData::Builder::setFocusValDEPRECATED( ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline void FrameData::Builder::setFocusValDEPRECATED(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>::Builder FrameData::Builder::initFocusValDEPRECATED(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), size); +} +inline void FrameData::Builder::adoptFocusValDEPRECATED( + ::capnp::Orphan< ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>> FrameData::Builder::disownFocusValDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::int16_t, ::capnp::Kind::PRIMITIVE>>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline bool FrameData::Reader::hasFocusConfDEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline bool FrameData::Builder::hasFocusConfDEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::uint8_t, ::capnp::Kind::PRIMITIVE>::Reader FrameData::Reader::getFocusConfDEPRECATED() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::uint8_t, ::capnp::Kind::PRIMITIVE>>::get(_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::uint8_t, ::capnp::Kind::PRIMITIVE>::Builder FrameData::Builder::getFocusConfDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::uint8_t, ::capnp::Kind::PRIMITIVE>>::get(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline void FrameData::Builder::setFocusConfDEPRECATED( ::capnp::List< ::uint8_t, ::capnp::Kind::PRIMITIVE>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::uint8_t, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline void FrameData::Builder::setFocusConfDEPRECATED(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::uint8_t, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::uint8_t, ::capnp::Kind::PRIMITIVE>::Builder FrameData::Builder::initFocusConfDEPRECATED(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::uint8_t, ::capnp::Kind::PRIMITIVE>>::init(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), size); +} +inline void FrameData::Builder::adoptFocusConfDEPRECATED( + ::capnp::Orphan< ::capnp::List< ::uint8_t, ::capnp::Kind::PRIMITIVE>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::uint8_t, ::capnp::Kind::PRIMITIVE>>::adopt(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::uint8_t, ::capnp::Kind::PRIMITIVE>> FrameData::Builder::disownFocusConfDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::uint8_t, ::capnp::Kind::PRIMITIVE>>::disown(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} + +inline bool FrameData::Reader::hasSharpnessScoreDEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline bool FrameData::Builder::hasSharpnessScoreDEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>::Reader FrameData::Reader::getSharpnessScoreDEPRECATED() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>>::get(_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>::Builder FrameData::Builder::getSharpnessScoreDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>>::get(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline void FrameData::Builder::setSharpnessScoreDEPRECATED( ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline void FrameData::Builder::setSharpnessScoreDEPRECATED(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>::Builder FrameData::Builder::initSharpnessScoreDEPRECATED(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>>::init(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), size); +} +inline void FrameData::Builder::adoptSharpnessScoreDEPRECATED( + ::capnp::Orphan< ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>>::adopt(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>> FrameData::Builder::disownSharpnessScoreDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::uint16_t, ::capnp::Kind::PRIMITIVE>>::disown(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} + +inline ::int32_t FrameData::Reader::getRecoverStateDEPRECATED() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<15>() * ::capnp::ELEMENTS); +} + +inline ::int32_t FrameData::Builder::getRecoverStateDEPRECATED() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<15>() * ::capnp::ELEMENTS); +} +inline void FrameData::Builder::setRecoverStateDEPRECATED( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<15>() * ::capnp::ELEMENTS, value); +} + +inline bool FrameData::Reader::getHighConversionGain() const { + return _reader.getDataField( + ::capnp::bounded<240>() * ::capnp::ELEMENTS); +} + +inline bool FrameData::Builder::getHighConversionGain() { + return _builder.getDataField( + ::capnp::bounded<240>() * ::capnp::ELEMENTS); +} +inline void FrameData::Builder::setHighConversionGain(bool value) { + _builder.setDataField( + ::capnp::bounded<240>() * ::capnp::ELEMENTS, value); +} + +inline float FrameData::Reader::getMeasuredGreyFraction() const { + return _reader.getDataField( + ::capnp::bounded<16>() * ::capnp::ELEMENTS); +} + +inline float FrameData::Builder::getMeasuredGreyFraction() { + return _builder.getDataField( + ::capnp::bounded<16>() * ::capnp::ELEMENTS); +} +inline void FrameData::Builder::setMeasuredGreyFraction(float value) { + _builder.setDataField( + ::capnp::bounded<16>() * ::capnp::ELEMENTS, value); +} + +inline float FrameData::Reader::getTargetGreyFraction() const { + return _reader.getDataField( + ::capnp::bounded<17>() * ::capnp::ELEMENTS); +} + +inline float FrameData::Builder::getTargetGreyFraction() { + return _builder.getDataField( + ::capnp::bounded<17>() * ::capnp::ELEMENTS); +} +inline void FrameData::Builder::setTargetGreyFraction(float value) { + _builder.setDataField( + ::capnp::bounded<17>() * ::capnp::ELEMENTS, value); +} + +inline float FrameData::Reader::getProcessingTime() const { + return _reader.getDataField( + ::capnp::bounded<18>() * ::capnp::ELEMENTS); +} + +inline float FrameData::Builder::getProcessingTime() { + return _builder.getDataField( + ::capnp::bounded<18>() * ::capnp::ELEMENTS); +} +inline void FrameData::Builder::setProcessingTime(float value) { + _builder.setDataField( + ::capnp::bounded<18>() * ::capnp::ELEMENTS, value); +} + +inline bool FrameData::Reader::hasTemperaturesC() const { + return !_reader.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS).isNull(); +} +inline bool FrameData::Builder::hasTemperaturesC() { + return !_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader FrameData::Reader::getTemperaturesC() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder FrameData::Builder::getTemperaturesC() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} +inline void FrameData::Builder::setTemperaturesC( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), value); +} +inline void FrameData::Builder::setTemperaturesC(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder FrameData::Builder::initTemperaturesC(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), size); +} +inline void FrameData::Builder::adoptTemperaturesC( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> FrameData::Builder::disownTemperaturesC() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} + +inline ::uint32_t FrameData::Reader::getFrameIdSensor() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<19>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t FrameData::Builder::getFrameIdSensor() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<19>() * ::capnp::ELEMENTS); +} +inline void FrameData::Builder::setFrameIdSensor( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<19>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::FrameData::ImageSensor FrameData::Reader::getSensor() const { + return _reader.getDataField< ::cereal::FrameData::ImageSensor>( + ::capnp::bounded<40>() * ::capnp::ELEMENTS); +} + +inline ::cereal::FrameData::ImageSensor FrameData::Builder::getSensor() { + return _builder.getDataField< ::cereal::FrameData::ImageSensor>( + ::capnp::bounded<40>() * ::capnp::ELEMENTS); +} +inline void FrameData::Builder::setSensor( ::cereal::FrameData::ImageSensor value) { + _builder.setDataField< ::cereal::FrameData::ImageSensor>( + ::capnp::bounded<40>() * ::capnp::ELEMENTS, value); +} + +inline float FrameData::Reader::getExposureValPercent() const { + return _reader.getDataField( + ::capnp::bounded<21>() * ::capnp::ELEMENTS); +} + +inline float FrameData::Builder::getExposureValPercent() { + return _builder.getDataField( + ::capnp::bounded<21>() * ::capnp::ELEMENTS); +} +inline void FrameData::Builder::setExposureValPercent(float value) { + _builder.setDataField( + ::capnp::bounded<21>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t FrameData::Reader::getRequestId() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<22>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t FrameData::Builder::getRequestId() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<22>() * ::capnp::ELEMENTS); +} +inline void FrameData::Builder::setRequestId( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<22>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t FrameData::AndroidCaptureResult::Reader::getSensitivity() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::int32_t FrameData::AndroidCaptureResult::Builder::getSensitivity() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void FrameData::AndroidCaptureResult::Builder::setSensitivity( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::int64_t FrameData::AndroidCaptureResult::Reader::getFrameDuration() const { + return _reader.getDataField< ::int64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::int64_t FrameData::AndroidCaptureResult::Builder::getFrameDuration() { + return _builder.getDataField< ::int64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void FrameData::AndroidCaptureResult::Builder::setFrameDuration( ::int64_t value) { + _builder.setDataField< ::int64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::int64_t FrameData::AndroidCaptureResult::Reader::getExposureTime() const { + return _reader.getDataField< ::int64_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::int64_t FrameData::AndroidCaptureResult::Builder::getExposureTime() { + return _builder.getDataField< ::int64_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void FrameData::AndroidCaptureResult::Builder::setExposureTime( ::int64_t value) { + _builder.setDataField< ::int64_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t FrameData::AndroidCaptureResult::Reader::getRollingShutterSkew() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t FrameData::AndroidCaptureResult::Builder::getRollingShutterSkew() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void FrameData::AndroidCaptureResult::Builder::setRollingShutterSkew( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline bool FrameData::AndroidCaptureResult::Reader::hasColorCorrectionTransform() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool FrameData::AndroidCaptureResult::Builder::hasColorCorrectionTransform() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>::Reader FrameData::AndroidCaptureResult::Reader::getColorCorrectionTransform() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>::Builder FrameData::AndroidCaptureResult::Builder::getColorCorrectionTransform() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void FrameData::AndroidCaptureResult::Builder::setColorCorrectionTransform( ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void FrameData::AndroidCaptureResult::Builder::setColorCorrectionTransform(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>::Builder FrameData::AndroidCaptureResult::Builder::initColorCorrectionTransform(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void FrameData::AndroidCaptureResult::Builder::adoptColorCorrectionTransform( + ::capnp::Orphan< ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>> FrameData::AndroidCaptureResult::Builder::disownColorCorrectionTransform() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::int32_t, ::capnp::Kind::PRIMITIVE>>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool FrameData::AndroidCaptureResult::Reader::hasColorCorrectionGains() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool FrameData::AndroidCaptureResult::Builder::hasColorCorrectionGains() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader FrameData::AndroidCaptureResult::Reader::getColorCorrectionGains() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder FrameData::AndroidCaptureResult::Builder::getColorCorrectionGains() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void FrameData::AndroidCaptureResult::Builder::setColorCorrectionGains( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void FrameData::AndroidCaptureResult::Builder::setColorCorrectionGains(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder FrameData::AndroidCaptureResult::Builder::initColorCorrectionGains(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void FrameData::AndroidCaptureResult::Builder::adoptColorCorrectionGains( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> FrameData::AndroidCaptureResult::Builder::disownColorCorrectionGains() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline ::int8_t FrameData::AndroidCaptureResult::Reader::getDisplayRotation() const { + return _reader.getDataField< ::int8_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline ::int8_t FrameData::AndroidCaptureResult::Builder::getDisplayRotation() { + return _builder.getDataField< ::int8_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void FrameData::AndroidCaptureResult::Builder::setDisplayRotation( ::int8_t value) { + _builder.setDataField< ::int8_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t Thumbnail::Reader::getFrameId() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t Thumbnail::Builder::getFrameId() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void Thumbnail::Builder::setFrameId( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t Thumbnail::Reader::getTimestampEof() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t Thumbnail::Builder::getTimestampEof() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void Thumbnail::Builder::setTimestampEof( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool Thumbnail::Reader::hasThumbnail() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Thumbnail::Builder::hasThumbnail() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Data::Reader Thumbnail::Reader::getThumbnail() const { + return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::Data::Builder Thumbnail::Builder::getThumbnail() { + return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Thumbnail::Builder::setThumbnail( ::capnp::Data::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Data>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::Data::Builder Thumbnail::Builder::initThumbnail(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Data>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void Thumbnail::Builder::adoptThumbnail( + ::capnp::Orphan< ::capnp::Data>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Data>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Data> Thumbnail::Builder::disownThumbnail() { + return ::capnp::_::PointerHelpers< ::capnp::Data>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline ::cereal::Thumbnail::Encoding Thumbnail::Reader::getEncoding() const { + return _reader.getDataField< ::cereal::Thumbnail::Encoding>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::cereal::Thumbnail::Encoding Thumbnail::Builder::getEncoding() { + return _builder.getDataField< ::cereal::Thumbnail::Encoding>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void Thumbnail::Builder::setEncoding( ::cereal::Thumbnail::Encoding value) { + _builder.setDataField< ::cereal::Thumbnail::Encoding>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline ::int64_t GPSNMEAData::Reader::getTimestamp() const { + return _reader.getDataField< ::int64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::int64_t GPSNMEAData::Builder::getTimestamp() { + return _builder.getDataField< ::int64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void GPSNMEAData::Builder::setTimestamp( ::int64_t value) { + _builder.setDataField< ::int64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t GPSNMEAData::Reader::getLocalWallTime() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t GPSNMEAData::Builder::getLocalWallTime() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void GPSNMEAData::Builder::setLocalWallTime( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool GPSNMEAData::Reader::hasNmea() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool GPSNMEAData::Builder::hasNmea() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader GPSNMEAData::Reader::getNmea() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder GPSNMEAData::Builder::getNmea() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void GPSNMEAData::Builder::setNmea( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder GPSNMEAData::Builder::initNmea(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void GPSNMEAData::Builder::adoptNmea( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> GPSNMEAData::Builder::disownNmea() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline ::cereal::SensorEventData::Which SensorEventData::Reader::which() const { + return _reader.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline ::cereal::SensorEventData::Which SensorEventData::Builder::which() { + return _builder.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline ::int32_t SensorEventData::Reader::getVersion() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::int32_t SensorEventData::Builder::getVersion() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void SensorEventData::Builder::setVersion( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t SensorEventData::Reader::getSensor() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::int32_t SensorEventData::Builder::getSensor() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void SensorEventData::Builder::setSensor( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t SensorEventData::Reader::getType() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::int32_t SensorEventData::Builder::getType() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void SensorEventData::Builder::setType( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline ::int64_t SensorEventData::Reader::getTimestamp() const { + return _reader.getDataField< ::int64_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::int64_t SensorEventData::Builder::getTimestamp() { + return _builder.getDataField< ::int64_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void SensorEventData::Builder::setTimestamp( ::int64_t value) { + _builder.setDataField< ::int64_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline bool SensorEventData::Reader::isAcceleration() const { + return which() == SensorEventData::ACCELERATION; +} +inline bool SensorEventData::Builder::isAcceleration() { + return which() == SensorEventData::ACCELERATION; +} +inline bool SensorEventData::Reader::hasAcceleration() const { + if (which() != SensorEventData::ACCELERATION) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool SensorEventData::Builder::hasAcceleration() { + if (which() != SensorEventData::ACCELERATION) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::SensorEventData::SensorVec::Reader SensorEventData::Reader::getAcceleration() const { + KJ_IREQUIRE((which() == SensorEventData::ACCELERATION), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData::SensorVec>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::SensorEventData::SensorVec::Builder SensorEventData::Builder::getAcceleration() { + KJ_IREQUIRE((which() == SensorEventData::ACCELERATION), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData::SensorVec>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void SensorEventData::Builder::setAcceleration( ::cereal::SensorEventData::SensorVec::Reader value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, SensorEventData::ACCELERATION); + ::capnp::_::PointerHelpers< ::cereal::SensorEventData::SensorVec>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::SensorEventData::SensorVec::Builder SensorEventData::Builder::initAcceleration() { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, SensorEventData::ACCELERATION); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData::SensorVec>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void SensorEventData::Builder::adoptAcceleration( + ::capnp::Orphan< ::cereal::SensorEventData::SensorVec>&& value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, SensorEventData::ACCELERATION); + ::capnp::_::PointerHelpers< ::cereal::SensorEventData::SensorVec>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::SensorEventData::SensorVec> SensorEventData::Builder::disownAcceleration() { + KJ_IREQUIRE((which() == SensorEventData::ACCELERATION), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData::SensorVec>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool SensorEventData::Reader::isMagnetic() const { + return which() == SensorEventData::MAGNETIC; +} +inline bool SensorEventData::Builder::isMagnetic() { + return which() == SensorEventData::MAGNETIC; +} +inline bool SensorEventData::Reader::hasMagnetic() const { + if (which() != SensorEventData::MAGNETIC) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool SensorEventData::Builder::hasMagnetic() { + if (which() != SensorEventData::MAGNETIC) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::SensorEventData::SensorVec::Reader SensorEventData::Reader::getMagnetic() const { + KJ_IREQUIRE((which() == SensorEventData::MAGNETIC), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData::SensorVec>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::SensorEventData::SensorVec::Builder SensorEventData::Builder::getMagnetic() { + KJ_IREQUIRE((which() == SensorEventData::MAGNETIC), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData::SensorVec>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void SensorEventData::Builder::setMagnetic( ::cereal::SensorEventData::SensorVec::Reader value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, SensorEventData::MAGNETIC); + ::capnp::_::PointerHelpers< ::cereal::SensorEventData::SensorVec>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::SensorEventData::SensorVec::Builder SensorEventData::Builder::initMagnetic() { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, SensorEventData::MAGNETIC); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData::SensorVec>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void SensorEventData::Builder::adoptMagnetic( + ::capnp::Orphan< ::cereal::SensorEventData::SensorVec>&& value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, SensorEventData::MAGNETIC); + ::capnp::_::PointerHelpers< ::cereal::SensorEventData::SensorVec>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::SensorEventData::SensorVec> SensorEventData::Builder::disownMagnetic() { + KJ_IREQUIRE((which() == SensorEventData::MAGNETIC), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData::SensorVec>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool SensorEventData::Reader::isOrientation() const { + return which() == SensorEventData::ORIENTATION; +} +inline bool SensorEventData::Builder::isOrientation() { + return which() == SensorEventData::ORIENTATION; +} +inline bool SensorEventData::Reader::hasOrientation() const { + if (which() != SensorEventData::ORIENTATION) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool SensorEventData::Builder::hasOrientation() { + if (which() != SensorEventData::ORIENTATION) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::SensorEventData::SensorVec::Reader SensorEventData::Reader::getOrientation() const { + KJ_IREQUIRE((which() == SensorEventData::ORIENTATION), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData::SensorVec>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::SensorEventData::SensorVec::Builder SensorEventData::Builder::getOrientation() { + KJ_IREQUIRE((which() == SensorEventData::ORIENTATION), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData::SensorVec>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void SensorEventData::Builder::setOrientation( ::cereal::SensorEventData::SensorVec::Reader value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, SensorEventData::ORIENTATION); + ::capnp::_::PointerHelpers< ::cereal::SensorEventData::SensorVec>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::SensorEventData::SensorVec::Builder SensorEventData::Builder::initOrientation() { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, SensorEventData::ORIENTATION); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData::SensorVec>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void SensorEventData::Builder::adoptOrientation( + ::capnp::Orphan< ::cereal::SensorEventData::SensorVec>&& value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, SensorEventData::ORIENTATION); + ::capnp::_::PointerHelpers< ::cereal::SensorEventData::SensorVec>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::SensorEventData::SensorVec> SensorEventData::Builder::disownOrientation() { + KJ_IREQUIRE((which() == SensorEventData::ORIENTATION), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData::SensorVec>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool SensorEventData::Reader::isGyro() const { + return which() == SensorEventData::GYRO; +} +inline bool SensorEventData::Builder::isGyro() { + return which() == SensorEventData::GYRO; +} +inline bool SensorEventData::Reader::hasGyro() const { + if (which() != SensorEventData::GYRO) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool SensorEventData::Builder::hasGyro() { + if (which() != SensorEventData::GYRO) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::SensorEventData::SensorVec::Reader SensorEventData::Reader::getGyro() const { + KJ_IREQUIRE((which() == SensorEventData::GYRO), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData::SensorVec>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::SensorEventData::SensorVec::Builder SensorEventData::Builder::getGyro() { + KJ_IREQUIRE((which() == SensorEventData::GYRO), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData::SensorVec>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void SensorEventData::Builder::setGyro( ::cereal::SensorEventData::SensorVec::Reader value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, SensorEventData::GYRO); + ::capnp::_::PointerHelpers< ::cereal::SensorEventData::SensorVec>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::SensorEventData::SensorVec::Builder SensorEventData::Builder::initGyro() { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, SensorEventData::GYRO); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData::SensorVec>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void SensorEventData::Builder::adoptGyro( + ::capnp::Orphan< ::cereal::SensorEventData::SensorVec>&& value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, SensorEventData::GYRO); + ::capnp::_::PointerHelpers< ::cereal::SensorEventData::SensorVec>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::SensorEventData::SensorVec> SensorEventData::Builder::disownGyro() { + KJ_IREQUIRE((which() == SensorEventData::GYRO), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData::SensorVec>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline ::cereal::SensorEventData::SensorSource SensorEventData::Reader::getSource() const { + return _reader.getDataField< ::cereal::SensorEventData::SensorSource>( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline ::cereal::SensorEventData::SensorSource SensorEventData::Builder::getSource() { + return _builder.getDataField< ::cereal::SensorEventData::SensorSource>( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void SensorEventData::Builder::setSource( ::cereal::SensorEventData::SensorSource value) { + _builder.setDataField< ::cereal::SensorEventData::SensorSource>( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline bool SensorEventData::Reader::isPressure() const { + return which() == SensorEventData::PRESSURE; +} +inline bool SensorEventData::Builder::isPressure() { + return which() == SensorEventData::PRESSURE; +} +inline bool SensorEventData::Reader::hasPressure() const { + if (which() != SensorEventData::PRESSURE) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool SensorEventData::Builder::hasPressure() { + if (which() != SensorEventData::PRESSURE) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::SensorEventData::SensorVec::Reader SensorEventData::Reader::getPressure() const { + KJ_IREQUIRE((which() == SensorEventData::PRESSURE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData::SensorVec>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::SensorEventData::SensorVec::Builder SensorEventData::Builder::getPressure() { + KJ_IREQUIRE((which() == SensorEventData::PRESSURE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData::SensorVec>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void SensorEventData::Builder::setPressure( ::cereal::SensorEventData::SensorVec::Reader value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, SensorEventData::PRESSURE); + ::capnp::_::PointerHelpers< ::cereal::SensorEventData::SensorVec>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::SensorEventData::SensorVec::Builder SensorEventData::Builder::initPressure() { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, SensorEventData::PRESSURE); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData::SensorVec>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void SensorEventData::Builder::adoptPressure( + ::capnp::Orphan< ::cereal::SensorEventData::SensorVec>&& value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, SensorEventData::PRESSURE); + ::capnp::_::PointerHelpers< ::cereal::SensorEventData::SensorVec>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::SensorEventData::SensorVec> SensorEventData::Builder::disownPressure() { + KJ_IREQUIRE((which() == SensorEventData::PRESSURE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData::SensorVec>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool SensorEventData::Reader::getUncalibratedDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<192>() * ::capnp::ELEMENTS); +} + +inline bool SensorEventData::Builder::getUncalibratedDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<192>() * ::capnp::ELEMENTS); +} +inline void SensorEventData::Builder::setUncalibratedDEPRECATED(bool value) { + _builder.setDataField( + ::capnp::bounded<192>() * ::capnp::ELEMENTS, value); +} + +inline bool SensorEventData::Reader::isMagneticUncalibrated() const { + return which() == SensorEventData::MAGNETIC_UNCALIBRATED; +} +inline bool SensorEventData::Builder::isMagneticUncalibrated() { + return which() == SensorEventData::MAGNETIC_UNCALIBRATED; +} +inline bool SensorEventData::Reader::hasMagneticUncalibrated() const { + if (which() != SensorEventData::MAGNETIC_UNCALIBRATED) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool SensorEventData::Builder::hasMagneticUncalibrated() { + if (which() != SensorEventData::MAGNETIC_UNCALIBRATED) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::SensorEventData::SensorVec::Reader SensorEventData::Reader::getMagneticUncalibrated() const { + KJ_IREQUIRE((which() == SensorEventData::MAGNETIC_UNCALIBRATED), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData::SensorVec>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::SensorEventData::SensorVec::Builder SensorEventData::Builder::getMagneticUncalibrated() { + KJ_IREQUIRE((which() == SensorEventData::MAGNETIC_UNCALIBRATED), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData::SensorVec>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void SensorEventData::Builder::setMagneticUncalibrated( ::cereal::SensorEventData::SensorVec::Reader value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, SensorEventData::MAGNETIC_UNCALIBRATED); + ::capnp::_::PointerHelpers< ::cereal::SensorEventData::SensorVec>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::SensorEventData::SensorVec::Builder SensorEventData::Builder::initMagneticUncalibrated() { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, SensorEventData::MAGNETIC_UNCALIBRATED); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData::SensorVec>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void SensorEventData::Builder::adoptMagneticUncalibrated( + ::capnp::Orphan< ::cereal::SensorEventData::SensorVec>&& value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, SensorEventData::MAGNETIC_UNCALIBRATED); + ::capnp::_::PointerHelpers< ::cereal::SensorEventData::SensorVec>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::SensorEventData::SensorVec> SensorEventData::Builder::disownMagneticUncalibrated() { + KJ_IREQUIRE((which() == SensorEventData::MAGNETIC_UNCALIBRATED), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData::SensorVec>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool SensorEventData::Reader::isGyroUncalibrated() const { + return which() == SensorEventData::GYRO_UNCALIBRATED; +} +inline bool SensorEventData::Builder::isGyroUncalibrated() { + return which() == SensorEventData::GYRO_UNCALIBRATED; +} +inline bool SensorEventData::Reader::hasGyroUncalibrated() const { + if (which() != SensorEventData::GYRO_UNCALIBRATED) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool SensorEventData::Builder::hasGyroUncalibrated() { + if (which() != SensorEventData::GYRO_UNCALIBRATED) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::SensorEventData::SensorVec::Reader SensorEventData::Reader::getGyroUncalibrated() const { + KJ_IREQUIRE((which() == SensorEventData::GYRO_UNCALIBRATED), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData::SensorVec>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::SensorEventData::SensorVec::Builder SensorEventData::Builder::getGyroUncalibrated() { + KJ_IREQUIRE((which() == SensorEventData::GYRO_UNCALIBRATED), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData::SensorVec>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void SensorEventData::Builder::setGyroUncalibrated( ::cereal::SensorEventData::SensorVec::Reader value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, SensorEventData::GYRO_UNCALIBRATED); + ::capnp::_::PointerHelpers< ::cereal::SensorEventData::SensorVec>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::SensorEventData::SensorVec::Builder SensorEventData::Builder::initGyroUncalibrated() { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, SensorEventData::GYRO_UNCALIBRATED); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData::SensorVec>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void SensorEventData::Builder::adoptGyroUncalibrated( + ::capnp::Orphan< ::cereal::SensorEventData::SensorVec>&& value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, SensorEventData::GYRO_UNCALIBRATED); + ::capnp::_::PointerHelpers< ::cereal::SensorEventData::SensorVec>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::SensorEventData::SensorVec> SensorEventData::Builder::disownGyroUncalibrated() { + KJ_IREQUIRE((which() == SensorEventData::GYRO_UNCALIBRATED), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData::SensorVec>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool SensorEventData::Reader::isProximity() const { + return which() == SensorEventData::PROXIMITY; +} +inline bool SensorEventData::Builder::isProximity() { + return which() == SensorEventData::PROXIMITY; +} +inline float SensorEventData::Reader::getProximity() const { + KJ_IREQUIRE((which() == SensorEventData::PROXIMITY), + "Must check which() before get()ing a union member."); + return _reader.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline float SensorEventData::Builder::getProximity() { + KJ_IREQUIRE((which() == SensorEventData::PROXIMITY), + "Must check which() before get()ing a union member."); + return _builder.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void SensorEventData::Builder::setProximity(float value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, SensorEventData::PROXIMITY); + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline bool SensorEventData::Reader::isLight() const { + return which() == SensorEventData::LIGHT; +} +inline bool SensorEventData::Builder::isLight() { + return which() == SensorEventData::LIGHT; +} +inline float SensorEventData::Reader::getLight() const { + KJ_IREQUIRE((which() == SensorEventData::LIGHT), + "Must check which() before get()ing a union member."); + return _reader.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline float SensorEventData::Builder::getLight() { + KJ_IREQUIRE((which() == SensorEventData::LIGHT), + "Must check which() before get()ing a union member."); + return _builder.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void SensorEventData::Builder::setLight(float value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, SensorEventData::LIGHT); + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline bool SensorEventData::Reader::isTemperature() const { + return which() == SensorEventData::TEMPERATURE; +} +inline bool SensorEventData::Builder::isTemperature() { + return which() == SensorEventData::TEMPERATURE; +} +inline float SensorEventData::Reader::getTemperature() const { + KJ_IREQUIRE((which() == SensorEventData::TEMPERATURE), + "Must check which() before get()ing a union member."); + return _reader.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline float SensorEventData::Builder::getTemperature() { + KJ_IREQUIRE((which() == SensorEventData::TEMPERATURE), + "Must check which() before get()ing a union member."); + return _builder.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void SensorEventData::Builder::setTemperature(float value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, SensorEventData::TEMPERATURE); + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline bool SensorEventData::SensorVec::Reader::hasV() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool SensorEventData::SensorVec::Builder::hasV() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader SensorEventData::SensorVec::Reader::getV() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder SensorEventData::SensorVec::Builder::getV() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void SensorEventData::SensorVec::Builder::setV( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void SensorEventData::SensorVec::Builder::setV(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder SensorEventData::SensorVec::Builder::initV(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void SensorEventData::SensorVec::Builder::adoptV( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> SensorEventData::SensorVec::Builder::disownV() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline ::int8_t SensorEventData::SensorVec::Reader::getStatus() const { + return _reader.getDataField< ::int8_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::int8_t SensorEventData::SensorVec::Builder::getStatus() { + return _builder.getDataField< ::int8_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void SensorEventData::SensorVec::Builder::setStatus( ::int8_t value) { + _builder.setDataField< ::int8_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t GpsLocationData::Reader::getFlags() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t GpsLocationData::Builder::getFlags() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void GpsLocationData::Builder::setFlags( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline double GpsLocationData::Reader::getLatitude() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline double GpsLocationData::Builder::getLatitude() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void GpsLocationData::Builder::setLatitude(double value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline double GpsLocationData::Reader::getLongitude() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline double GpsLocationData::Builder::getLongitude() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void GpsLocationData::Builder::setLongitude(double value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline double GpsLocationData::Reader::getAltitude() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline double GpsLocationData::Builder::getAltitude() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void GpsLocationData::Builder::setAltitude(double value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline float GpsLocationData::Reader::getSpeed() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float GpsLocationData::Builder::getSpeed() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void GpsLocationData::Builder::setSpeed(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float GpsLocationData::Reader::getBearingDeg() const { + return _reader.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline float GpsLocationData::Builder::getBearingDeg() { + return _builder.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void GpsLocationData::Builder::setBearingDeg(float value) { + _builder.setDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline float GpsLocationData::Reader::getHorizontalAccuracy() const { + return _reader.getDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} + +inline float GpsLocationData::Builder::getHorizontalAccuracy() { + return _builder.getDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} +inline void GpsLocationData::Builder::setHorizontalAccuracy(float value) { + _builder.setDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS, value); +} + +inline ::int64_t GpsLocationData::Reader::getUnixTimestampMillis() const { + return _reader.getDataField< ::int64_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline ::int64_t GpsLocationData::Builder::getUnixTimestampMillis() { + return _builder.getDataField< ::int64_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void GpsLocationData::Builder::setUnixTimestampMillis( ::int64_t value) { + _builder.setDataField< ::int64_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::GpsLocationData::SensorSource GpsLocationData::Reader::getSource() const { + return _reader.getDataField< ::cereal::GpsLocationData::SensorSource>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::cereal::GpsLocationData::SensorSource GpsLocationData::Builder::getSource() { + return _builder.getDataField< ::cereal::GpsLocationData::SensorSource>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void GpsLocationData::Builder::setSource( ::cereal::GpsLocationData::SensorSource value) { + _builder.setDataField< ::cereal::GpsLocationData::SensorSource>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool GpsLocationData::Reader::hasVNED() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool GpsLocationData::Builder::hasVNED() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader GpsLocationData::Reader::getVNED() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder GpsLocationData::Builder::getVNED() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void GpsLocationData::Builder::setVNED( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void GpsLocationData::Builder::setVNED(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder GpsLocationData::Builder::initVNED(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void GpsLocationData::Builder::adoptVNED( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> GpsLocationData::Builder::disownVNED() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline float GpsLocationData::Reader::getVerticalAccuracy() const { + return _reader.getDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} + +inline float GpsLocationData::Builder::getVerticalAccuracy() { + return _builder.getDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} +inline void GpsLocationData::Builder::setVerticalAccuracy(float value) { + _builder.setDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS, value); +} + +inline float GpsLocationData::Reader::getBearingAccuracyDeg() const { + return _reader.getDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} + +inline float GpsLocationData::Builder::getBearingAccuracyDeg() { + return _builder.getDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} +inline void GpsLocationData::Builder::setBearingAccuracyDeg(float value) { + _builder.setDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS, value); +} + +inline float GpsLocationData::Reader::getSpeedAccuracy() const { + return _reader.getDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} + +inline float GpsLocationData::Builder::getSpeedAccuracy() { + return _builder.getDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} +inline void GpsLocationData::Builder::setSpeedAccuracy(float value) { + _builder.setDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS, value); +} + +inline bool GpsLocationData::Reader::getHasFix() const { + return _reader.getDataField( + ::capnp::bounded<480>() * ::capnp::ELEMENTS); +} + +inline bool GpsLocationData::Builder::getHasFix() { + return _builder.getDataField( + ::capnp::bounded<480>() * ::capnp::ELEMENTS); +} +inline void GpsLocationData::Builder::setHasFix(bool value) { + _builder.setDataField( + ::capnp::bounded<480>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t CanData::Reader::getAddress() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t CanData::Builder::getAddress() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void CanData::Builder::setAddress( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t CanData::Reader::getBusTimeDEPRECATED() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t CanData::Builder::getBusTimeDEPRECATED() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void CanData::Builder::setBusTimeDEPRECATED( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline bool CanData::Reader::hasDat() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool CanData::Builder::hasDat() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Data::Reader CanData::Reader::getDat() const { + return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::Data::Builder CanData::Builder::getDat() { + return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void CanData::Builder::setDat( ::capnp::Data::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Data>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::Data::Builder CanData::Builder::initDat(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Data>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void CanData::Builder::adoptDat( + ::capnp::Orphan< ::capnp::Data>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Data>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Data> CanData::Builder::disownDat() { + return ::capnp::_::PointerHelpers< ::capnp::Data>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline ::uint8_t CanData::Reader::getSrc() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t CanData::Builder::getSrc() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void CanData::Builder::setSrc( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t DeviceState::Reader::getCpu0DEPRECATED() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t DeviceState::Builder::getCpu0DEPRECATED() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void DeviceState::Builder::setCpu0DEPRECATED( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t DeviceState::Reader::getCpu1DEPRECATED() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t DeviceState::Builder::getCpu1DEPRECATED() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void DeviceState::Builder::setCpu1DEPRECATED( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t DeviceState::Reader::getCpu2DEPRECATED() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t DeviceState::Builder::getCpu2DEPRECATED() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void DeviceState::Builder::setCpu2DEPRECATED( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t DeviceState::Reader::getCpu3DEPRECATED() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t DeviceState::Builder::getCpu3DEPRECATED() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void DeviceState::Builder::setCpu3DEPRECATED( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t DeviceState::Reader::getMemDEPRECATED() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t DeviceState::Builder::getMemDEPRECATED() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void DeviceState::Builder::setMemDEPRECATED( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t DeviceState::Reader::getGpuDEPRECATED() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t DeviceState::Builder::getGpuDEPRECATED() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void DeviceState::Builder::setGpuDEPRECATED( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t DeviceState::Reader::getBatDEPRECATED() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t DeviceState::Builder::getBatDEPRECATED() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void DeviceState::Builder::setBatDEPRECATED( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline float DeviceState::Reader::getFreeSpacePercent() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline float DeviceState::Builder::getFreeSpacePercent() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void DeviceState::Builder::setFreeSpacePercent(float value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline ::int16_t DeviceState::Reader::getBatteryPercentDEPRECATED() const { + return _reader.getDataField< ::int16_t>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} + +inline ::int16_t DeviceState::Builder::getBatteryPercentDEPRECATED() { + return _builder.getDataField< ::int16_t>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} +inline void DeviceState::Builder::setBatteryPercentDEPRECATED( ::int16_t value) { + _builder.setDataField< ::int16_t>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS, value); +} + +inline bool DeviceState::Reader::hasBatteryStatusDEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool DeviceState::Builder::hasBatteryStatusDEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader DeviceState::Reader::getBatteryStatusDEPRECATED() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder DeviceState::Builder::getBatteryStatusDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void DeviceState::Builder::setBatteryStatusDEPRECATED( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder DeviceState::Builder::initBatteryStatusDEPRECATED(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void DeviceState::Builder::adoptBatteryStatusDEPRECATED( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> DeviceState::Builder::disownBatteryStatusDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline ::uint16_t DeviceState::Reader::getFanSpeedPercentDesired() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t DeviceState::Builder::getFanSpeedPercentDesired() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} +inline void DeviceState::Builder::setFanSpeedPercentDesired( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<11>() * ::capnp::ELEMENTS, value); +} + +inline bool DeviceState::Reader::getStarted() const { + return _reader.getDataField( + ::capnp::bounded<192>() * ::capnp::ELEMENTS); +} + +inline bool DeviceState::Builder::getStarted() { + return _builder.getDataField( + ::capnp::bounded<192>() * ::capnp::ELEMENTS); +} +inline void DeviceState::Builder::setStarted(bool value) { + _builder.setDataField( + ::capnp::bounded<192>() * ::capnp::ELEMENTS, value); +} + +inline bool DeviceState::Reader::getUsbOnlineDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<193>() * ::capnp::ELEMENTS); +} + +inline bool DeviceState::Builder::getUsbOnlineDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<193>() * ::capnp::ELEMENTS); +} +inline void DeviceState::Builder::setUsbOnlineDEPRECATED(bool value) { + _builder.setDataField( + ::capnp::bounded<193>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t DeviceState::Reader::getStartedMonoTime() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t DeviceState::Builder::getStartedMonoTime() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void DeviceState::Builder::setStartedMonoTime( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::DeviceState::ThermalStatus DeviceState::Reader::getThermalStatus() const { + return _reader.getDataField< ::cereal::DeviceState::ThermalStatus>( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} + +inline ::cereal::DeviceState::ThermalStatus DeviceState::Builder::getThermalStatus() { + return _builder.getDataField< ::cereal::DeviceState::ThermalStatus>( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} +inline void DeviceState::Builder::setThermalStatus( ::cereal::DeviceState::ThermalStatus value) { + _builder.setDataField< ::cereal::DeviceState::ThermalStatus>( + ::capnp::bounded<13>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t DeviceState::Reader::getBatteryCurrentDEPRECATED() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline ::int32_t DeviceState::Builder::getBatteryCurrentDEPRECATED() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void DeviceState::Builder::setBatteryCurrentDEPRECATED( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t DeviceState::Reader::getBatteryVoltageDEPRECATED() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} + +inline ::int32_t DeviceState::Builder::getBatteryVoltageDEPRECATED() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} +inline void DeviceState::Builder::setBatteryVoltageDEPRECATED( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS, value); +} + +inline bool DeviceState::Reader::getChargingErrorDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<194>() * ::capnp::ELEMENTS); +} + +inline bool DeviceState::Builder::getChargingErrorDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<194>() * ::capnp::ELEMENTS); +} +inline void DeviceState::Builder::setChargingErrorDEPRECATED(bool value) { + _builder.setDataField( + ::capnp::bounded<194>() * ::capnp::ELEMENTS, value); +} + +inline bool DeviceState::Reader::getChargingDisabledDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<195>() * ::capnp::ELEMENTS); +} + +inline bool DeviceState::Builder::getChargingDisabledDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<195>() * ::capnp::ELEMENTS); +} +inline void DeviceState::Builder::setChargingDisabledDEPRECATED(bool value) { + _builder.setDataField( + ::capnp::bounded<195>() * ::capnp::ELEMENTS, value); +} + +inline ::int8_t DeviceState::Reader::getMemoryUsagePercent() const { + return _reader.getDataField< ::int8_t>( + ::capnp::bounded<25>() * ::capnp::ELEMENTS); +} + +inline ::int8_t DeviceState::Builder::getMemoryUsagePercent() { + return _builder.getDataField< ::int8_t>( + ::capnp::bounded<25>() * ::capnp::ELEMENTS); +} +inline void DeviceState::Builder::setMemoryUsagePercent( ::int8_t value) { + _builder.setDataField< ::int8_t>( + ::capnp::bounded<25>() * ::capnp::ELEMENTS, value); +} + +inline ::int8_t DeviceState::Reader::getCpuUsagePercentDEPRECATED() const { + return _reader.getDataField< ::int8_t>( + ::capnp::bounded<44>() * ::capnp::ELEMENTS); +} + +inline ::int8_t DeviceState::Builder::getCpuUsagePercentDEPRECATED() { + return _builder.getDataField< ::int8_t>( + ::capnp::bounded<44>() * ::capnp::ELEMENTS); +} +inline void DeviceState::Builder::setCpuUsagePercentDEPRECATED( ::int8_t value) { + _builder.setDataField< ::int8_t>( + ::capnp::bounded<44>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t DeviceState::Reader::getPa0DEPRECATED() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<23>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t DeviceState::Builder::getPa0DEPRECATED() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<23>() * ::capnp::ELEMENTS); +} +inline void DeviceState::Builder::setPa0DEPRECATED( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<23>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::DeviceState::NetworkType DeviceState::Reader::getNetworkType() const { + return _reader.getDataField< ::cereal::DeviceState::NetworkType>( + ::capnp::bounded<24>() * ::capnp::ELEMENTS); +} + +inline ::cereal::DeviceState::NetworkType DeviceState::Builder::getNetworkType() { + return _builder.getDataField< ::cereal::DeviceState::NetworkType>( + ::capnp::bounded<24>() * ::capnp::ELEMENTS); +} +inline void DeviceState::Builder::setNetworkType( ::cereal::DeviceState::NetworkType value) { + _builder.setDataField< ::cereal::DeviceState::NetworkType>( + ::capnp::bounded<24>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t DeviceState::Reader::getOffroadPowerUsageUwh() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t DeviceState::Builder::getOffroadPowerUsageUwh() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} +inline void DeviceState::Builder::setOffroadPowerUsageUwh( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<13>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::DeviceState::NetworkStrength DeviceState::Reader::getNetworkStrength() const { + return _reader.getDataField< ::cereal::DeviceState::NetworkStrength>( + ::capnp::bounded<25>() * ::capnp::ELEMENTS); +} + +inline ::cereal::DeviceState::NetworkStrength DeviceState::Builder::getNetworkStrength() { + return _builder.getDataField< ::cereal::DeviceState::NetworkStrength>( + ::capnp::bounded<25>() * ::capnp::ELEMENTS); +} +inline void DeviceState::Builder::setNetworkStrength( ::cereal::DeviceState::NetworkStrength value) { + _builder.setDataField< ::cereal::DeviceState::NetworkStrength>( + ::capnp::bounded<25>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t DeviceState::Reader::getCarBatteryCapacityUwh() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t DeviceState::Builder::getCarBatteryCapacityUwh() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} +inline void DeviceState::Builder::setCarBatteryCapacityUwh( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<14>() * ::capnp::ELEMENTS, value); +} + +inline bool DeviceState::Reader::hasCpuTempC() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool DeviceState::Builder::hasCpuTempC() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader DeviceState::Reader::getCpuTempC() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder DeviceState::Builder::getCpuTempC() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void DeviceState::Builder::setCpuTempC( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void DeviceState::Builder::setCpuTempC(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder DeviceState::Builder::initCpuTempC(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void DeviceState::Builder::adoptCpuTempC( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> DeviceState::Builder::disownCpuTempC() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool DeviceState::Reader::hasGpuTempC() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool DeviceState::Builder::hasGpuTempC() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader DeviceState::Reader::getGpuTempC() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder DeviceState::Builder::getGpuTempC() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void DeviceState::Builder::setGpuTempC( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline void DeviceState::Builder::setGpuTempC(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder DeviceState::Builder::initGpuTempC(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void DeviceState::Builder::adoptGpuTempC( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> DeviceState::Builder::disownGpuTempC() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline float DeviceState::Reader::getMemoryTempC() const { + return _reader.getDataField( + ::capnp::bounded<15>() * ::capnp::ELEMENTS); +} + +inline float DeviceState::Builder::getMemoryTempC() { + return _builder.getDataField( + ::capnp::bounded<15>() * ::capnp::ELEMENTS); +} +inline void DeviceState::Builder::setMemoryTempC(float value) { + _builder.setDataField( + ::capnp::bounded<15>() * ::capnp::ELEMENTS, value); +} + +inline float DeviceState::Reader::getBatteryTempCDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<16>() * ::capnp::ELEMENTS); +} + +inline float DeviceState::Builder::getBatteryTempCDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<16>() * ::capnp::ELEMENTS); +} +inline void DeviceState::Builder::setBatteryTempCDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<16>() * ::capnp::ELEMENTS, value); +} + +inline float DeviceState::Reader::getAmbientTempCDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<17>() * ::capnp::ELEMENTS); +} + +inline float DeviceState::Builder::getAmbientTempCDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<17>() * ::capnp::ELEMENTS); +} +inline void DeviceState::Builder::setAmbientTempCDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<17>() * ::capnp::ELEMENTS, value); +} + +inline bool DeviceState::Reader::hasNetworkInfo() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool DeviceState::Builder::hasNetworkInfo() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::DeviceState::NetworkInfo::Reader DeviceState::Reader::getNetworkInfo() const { + return ::capnp::_::PointerHelpers< ::cereal::DeviceState::NetworkInfo>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::cereal::DeviceState::NetworkInfo::Builder DeviceState::Builder::getNetworkInfo() { + return ::capnp::_::PointerHelpers< ::cereal::DeviceState::NetworkInfo>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::DeviceState::NetworkInfo::Pipeline DeviceState::Pipeline::getNetworkInfo() { + return ::cereal::DeviceState::NetworkInfo::Pipeline(_typeless.getPointerField(3)); +} +#endif // !CAPNP_LITE +inline void DeviceState::Builder::setNetworkInfo( ::cereal::DeviceState::NetworkInfo::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::DeviceState::NetworkInfo>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::cereal::DeviceState::NetworkInfo::Builder DeviceState::Builder::initNetworkInfo() { + return ::capnp::_::PointerHelpers< ::cereal::DeviceState::NetworkInfo>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void DeviceState::Builder::adoptNetworkInfo( + ::capnp::Orphan< ::cereal::DeviceState::NetworkInfo>&& value) { + ::capnp::_::PointerHelpers< ::cereal::DeviceState::NetworkInfo>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::DeviceState::NetworkInfo> DeviceState::Builder::disownNetworkInfo() { + return ::capnp::_::PointerHelpers< ::cereal::DeviceState::NetworkInfo>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline ::uint64_t DeviceState::Reader::getLastAthenaPingTime() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t DeviceState::Builder::getLastAthenaPingTime() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} +inline void DeviceState::Builder::setLastAthenaPingTime( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS, value); +} + +inline ::int8_t DeviceState::Reader::getGpuUsagePercent() const { + return _reader.getDataField< ::int8_t>( + ::capnp::bounded<45>() * ::capnp::ELEMENTS); +} + +inline ::int8_t DeviceState::Builder::getGpuUsagePercent() { + return _builder.getDataField< ::int8_t>( + ::capnp::bounded<45>() * ::capnp::ELEMENTS); +} +inline void DeviceState::Builder::setGpuUsagePercent( ::int8_t value) { + _builder.setDataField< ::int8_t>( + ::capnp::bounded<45>() * ::capnp::ELEMENTS, value); +} + +inline bool DeviceState::Reader::hasCpuUsagePercent() const { + return !_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline bool DeviceState::Builder::hasCpuUsagePercent() { + return !_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>::Reader DeviceState::Reader::getCpuUsagePercent() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>>::get(_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>::Builder DeviceState::Builder::getCpuUsagePercent() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>>::get(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline void DeviceState::Builder::setCpuUsagePercent( ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline void DeviceState::Builder::setCpuUsagePercent(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>::Builder DeviceState::Builder::initCpuUsagePercent(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>>::init(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), size); +} +inline void DeviceState::Builder::adoptCpuUsagePercent( + ::capnp::Orphan< ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>>::adopt(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>> DeviceState::Builder::disownCpuUsagePercent() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::int8_t, ::capnp::Kind::PRIMITIVE>>::disown(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} + +inline bool DeviceState::Reader::hasNvmeTempC() const { + return !_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline bool DeviceState::Builder::hasNvmeTempC() { + return !_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader DeviceState::Reader::getNvmeTempC() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder DeviceState::Builder::getNvmeTempC() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline void DeviceState::Builder::setNvmeTempC( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline void DeviceState::Builder::setNvmeTempC(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder DeviceState::Builder::initNvmeTempC(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), size); +} +inline void DeviceState::Builder::adoptNvmeTempC( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> DeviceState::Builder::disownNvmeTempC() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} + +inline bool DeviceState::Reader::hasModemTempC() const { + return !_reader.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS).isNull(); +} +inline bool DeviceState::Builder::hasModemTempC() { + return !_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader DeviceState::Reader::getModemTempC() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder DeviceState::Builder::getModemTempC() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} +inline void DeviceState::Builder::setModemTempC( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), value); +} +inline void DeviceState::Builder::setModemTempC(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder DeviceState::Builder::initModemTempC(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), size); +} +inline void DeviceState::Builder::adoptModemTempC( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> DeviceState::Builder::disownModemTempC() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} + +inline ::int8_t DeviceState::Reader::getScreenBrightnessPercent() const { + return _reader.getDataField< ::int8_t>( + ::capnp::bounded<80>() * ::capnp::ELEMENTS); +} + +inline ::int8_t DeviceState::Builder::getScreenBrightnessPercent() { + return _builder.getDataField< ::int8_t>( + ::capnp::bounded<80>() * ::capnp::ELEMENTS); +} +inline void DeviceState::Builder::setScreenBrightnessPercent( ::int8_t value) { + _builder.setDataField< ::int8_t>( + ::capnp::bounded<80>() * ::capnp::ELEMENTS, value); +} + +inline bool DeviceState::Reader::hasThermalZones() const { + return !_reader.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS).isNull(); +} +inline bool DeviceState::Builder::hasThermalZones() { + return !_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::DeviceState::ThermalZone, ::capnp::Kind::STRUCT>::Reader DeviceState::Reader::getThermalZones() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::DeviceState::ThermalZone, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::DeviceState::ThermalZone, ::capnp::Kind::STRUCT>::Builder DeviceState::Builder::getThermalZones() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::DeviceState::ThermalZone, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS)); +} +inline void DeviceState::Builder::setThermalZones( ::capnp::List< ::cereal::DeviceState::ThermalZone, ::capnp::Kind::STRUCT>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::DeviceState::ThermalZone, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::DeviceState::ThermalZone, ::capnp::Kind::STRUCT>::Builder DeviceState::Builder::initThermalZones(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::DeviceState::ThermalZone, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), size); +} +inline void DeviceState::Builder::adoptThermalZones( + ::capnp::Orphan< ::capnp::List< ::cereal::DeviceState::ThermalZone, ::capnp::Kind::STRUCT>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::DeviceState::ThermalZone, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::DeviceState::ThermalZone, ::capnp::Kind::STRUCT>> DeviceState::Builder::disownThermalZones() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::DeviceState::ThermalZone, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS)); +} + +inline bool DeviceState::Reader::hasPmicTempC() const { + return !_reader.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS).isNull(); +} +inline bool DeviceState::Builder::hasPmicTempC() { + return !_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader DeviceState::Reader::getPmicTempC() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder DeviceState::Builder::getPmicTempC() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS)); +} +inline void DeviceState::Builder::setPmicTempC( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS), value); +} +inline void DeviceState::Builder::setPmicTempC(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder DeviceState::Builder::initPmicTempC(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS), size); +} +inline void DeviceState::Builder::adoptPmicTempC( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> DeviceState::Builder::disownPmicTempC() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS)); +} + +inline float DeviceState::Reader::getPowerDrawW() const { + return _reader.getDataField( + ::capnp::bounded<21>() * ::capnp::ELEMENTS); +} + +inline float DeviceState::Builder::getPowerDrawW() { + return _builder.getDataField( + ::capnp::bounded<21>() * ::capnp::ELEMENTS); +} +inline void DeviceState::Builder::setPowerDrawW(float value) { + _builder.setDataField( + ::capnp::bounded<21>() * ::capnp::ELEMENTS, value); +} + +inline bool DeviceState::Reader::getNetworkMetered() const { + return _reader.getDataField( + ::capnp::bounded<196>() * ::capnp::ELEMENTS); +} + +inline bool DeviceState::Builder::getNetworkMetered() { + return _builder.getDataField( + ::capnp::bounded<196>() * ::capnp::ELEMENTS); +} +inline void DeviceState::Builder::setNetworkMetered(bool value) { + _builder.setDataField( + ::capnp::bounded<196>() * ::capnp::ELEMENTS, value); +} + +inline float DeviceState::Reader::getSomPowerDrawW() const { + return _reader.getDataField( + ::capnp::bounded<22>() * ::capnp::ELEMENTS); +} + +inline float DeviceState::Builder::getSomPowerDrawW() { + return _builder.getDataField( + ::capnp::bounded<22>() * ::capnp::ELEMENTS); +} +inline void DeviceState::Builder::setSomPowerDrawW(float value) { + _builder.setDataField( + ::capnp::bounded<22>() * ::capnp::ELEMENTS, value); +} + +inline bool DeviceState::Reader::hasNetworkStats() const { + return !_reader.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS).isNull(); +} +inline bool DeviceState::Builder::hasNetworkStats() { + return !_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::DeviceState::NetworkStats::Reader DeviceState::Reader::getNetworkStats() const { + return ::capnp::_::PointerHelpers< ::cereal::DeviceState::NetworkStats>::get(_reader.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS)); +} +inline ::cereal::DeviceState::NetworkStats::Builder DeviceState::Builder::getNetworkStats() { + return ::capnp::_::PointerHelpers< ::cereal::DeviceState::NetworkStats>::get(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::DeviceState::NetworkStats::Pipeline DeviceState::Pipeline::getNetworkStats() { + return ::cereal::DeviceState::NetworkStats::Pipeline(_typeless.getPointerField(9)); +} +#endif // !CAPNP_LITE +inline void DeviceState::Builder::setNetworkStats( ::cereal::DeviceState::NetworkStats::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::DeviceState::NetworkStats>::set(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS), value); +} +inline ::cereal::DeviceState::NetworkStats::Builder DeviceState::Builder::initNetworkStats() { + return ::capnp::_::PointerHelpers< ::cereal::DeviceState::NetworkStats>::init(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS)); +} +inline void DeviceState::Builder::adoptNetworkStats( + ::capnp::Orphan< ::cereal::DeviceState::NetworkStats>&& value) { + ::capnp::_::PointerHelpers< ::cereal::DeviceState::NetworkStats>::adopt(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::DeviceState::NetworkStats> DeviceState::Builder::disownNetworkStats() { + return ::capnp::_::PointerHelpers< ::cereal::DeviceState::NetworkStats>::disown(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS)); +} + +inline float DeviceState::Reader::getMaxTempC() const { + return _reader.getDataField( + ::capnp::bounded<23>() * ::capnp::ELEMENTS); +} + +inline float DeviceState::Builder::getMaxTempC() { + return _builder.getDataField( + ::capnp::bounded<23>() * ::capnp::ELEMENTS); +} +inline void DeviceState::Builder::setMaxTempC(float value) { + _builder.setDataField( + ::capnp::bounded<23>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::InitData::DeviceType DeviceState::Reader::getDeviceType() const { + return _reader.getDataField< ::cereal::InitData::DeviceType>( + ::capnp::bounded<41>() * ::capnp::ELEMENTS); +} + +inline ::cereal::InitData::DeviceType DeviceState::Builder::getDeviceType() { + return _builder.getDataField< ::cereal::InitData::DeviceType>( + ::capnp::bounded<41>() * ::capnp::ELEMENTS); +} +inline void DeviceState::Builder::setDeviceType( ::cereal::InitData::DeviceType value) { + _builder.setDataField< ::cereal::InitData::DeviceType>( + ::capnp::bounded<41>() * ::capnp::ELEMENTS, value); +} + +inline bool DeviceState::ThermalZone::Reader::hasName() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool DeviceState::ThermalZone::Builder::hasName() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader DeviceState::ThermalZone::Reader::getName() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder DeviceState::ThermalZone::Builder::getName() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void DeviceState::ThermalZone::Builder::setName( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder DeviceState::ThermalZone::Builder::initName(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void DeviceState::ThermalZone::Builder::adoptName( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> DeviceState::ThermalZone::Builder::disownName() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline float DeviceState::ThermalZone::Reader::getTemp() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline float DeviceState::ThermalZone::Builder::getTemp() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void DeviceState::ThermalZone::Builder::setTemp(float value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool DeviceState::NetworkInfo::Reader::hasTechnology() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool DeviceState::NetworkInfo::Builder::hasTechnology() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader DeviceState::NetworkInfo::Reader::getTechnology() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder DeviceState::NetworkInfo::Builder::getTechnology() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void DeviceState::NetworkInfo::Builder::setTechnology( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder DeviceState::NetworkInfo::Builder::initTechnology(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void DeviceState::NetworkInfo::Builder::adoptTechnology( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> DeviceState::NetworkInfo::Builder::disownTechnology() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool DeviceState::NetworkInfo::Reader::hasOperator() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool DeviceState::NetworkInfo::Builder::hasOperator() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader DeviceState::NetworkInfo::Reader::getOperator() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder DeviceState::NetworkInfo::Builder::getOperator() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void DeviceState::NetworkInfo::Builder::setOperator( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder DeviceState::NetworkInfo::Builder::initOperator(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void DeviceState::NetworkInfo::Builder::adoptOperator( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> DeviceState::NetworkInfo::Builder::disownOperator() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool DeviceState::NetworkInfo::Reader::hasBand() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool DeviceState::NetworkInfo::Builder::hasBand() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader DeviceState::NetworkInfo::Reader::getBand() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder DeviceState::NetworkInfo::Builder::getBand() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void DeviceState::NetworkInfo::Builder::setBand( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder DeviceState::NetworkInfo::Builder::initBand(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void DeviceState::NetworkInfo::Builder::adoptBand( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> DeviceState::NetworkInfo::Builder::disownBand() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline ::uint16_t DeviceState::NetworkInfo::Reader::getChannel() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t DeviceState::NetworkInfo::Builder::getChannel() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void DeviceState::NetworkInfo::Builder::setChannel( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool DeviceState::NetworkInfo::Reader::hasExtra() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool DeviceState::NetworkInfo::Builder::hasExtra() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader DeviceState::NetworkInfo::Reader::getExtra() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder DeviceState::NetworkInfo::Builder::getExtra() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void DeviceState::NetworkInfo::Builder::setExtra( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder DeviceState::NetworkInfo::Builder::initExtra(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), size); +} +inline void DeviceState::NetworkInfo::Builder::adoptExtra( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> DeviceState::NetworkInfo::Builder::disownExtra() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline bool DeviceState::NetworkInfo::Reader::hasState() const { + return !_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline bool DeviceState::NetworkInfo::Builder::hasState() { + return !_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader DeviceState::NetworkInfo::Reader::getState() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder DeviceState::NetworkInfo::Builder::getState() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline void DeviceState::NetworkInfo::Builder::setState( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder DeviceState::NetworkInfo::Builder::initState(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), size); +} +inline void DeviceState::NetworkInfo::Builder::adoptState( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> DeviceState::NetworkInfo::Builder::disownState() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} + +inline ::int64_t DeviceState::NetworkStats::Reader::getWwanTx() const { + return _reader.getDataField< ::int64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::int64_t DeviceState::NetworkStats::Builder::getWwanTx() { + return _builder.getDataField< ::int64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void DeviceState::NetworkStats::Builder::setWwanTx( ::int64_t value) { + _builder.setDataField< ::int64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::int64_t DeviceState::NetworkStats::Reader::getWwanRx() const { + return _reader.getDataField< ::int64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::int64_t DeviceState::NetworkStats::Builder::getWwanRx() { + return _builder.getDataField< ::int64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void DeviceState::NetworkStats::Builder::setWwanRx( ::int64_t value) { + _builder.setDataField< ::int64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t PandaState::Reader::getVoltage() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t PandaState::Builder::getVoltage() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void PandaState::Builder::setVoltage( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t PandaState::Reader::getCurrent() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t PandaState::Builder::getCurrent() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void PandaState::Builder::setCurrent( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool PandaState::Reader::getIgnitionLine() const { + return _reader.getDataField( + ::capnp::bounded<64>() * ::capnp::ELEMENTS); +} + +inline bool PandaState::Builder::getIgnitionLine() { + return _builder.getDataField( + ::capnp::bounded<64>() * ::capnp::ELEMENTS); +} +inline void PandaState::Builder::setIgnitionLine(bool value) { + _builder.setDataField( + ::capnp::bounded<64>() * ::capnp::ELEMENTS, value); +} + +inline bool PandaState::Reader::getControlsAllowed() const { + return _reader.getDataField( + ::capnp::bounded<65>() * ::capnp::ELEMENTS); +} + +inline bool PandaState::Builder::getControlsAllowed() { + return _builder.getDataField( + ::capnp::bounded<65>() * ::capnp::ELEMENTS); +} +inline void PandaState::Builder::setControlsAllowed(bool value) { + _builder.setDataField( + ::capnp::bounded<65>() * ::capnp::ELEMENTS, value); +} + +inline bool PandaState::Reader::getGasInterceptorDetectedDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<66>() * ::capnp::ELEMENTS); +} + +inline bool PandaState::Builder::getGasInterceptorDetectedDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<66>() * ::capnp::ELEMENTS); +} +inline void PandaState::Builder::setGasInterceptorDetectedDEPRECATED(bool value) { + _builder.setDataField( + ::capnp::bounded<66>() * ::capnp::ELEMENTS, value); +} + +inline bool PandaState::Reader::getStartedSignalDetectedDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<67>() * ::capnp::ELEMENTS); +} + +inline bool PandaState::Builder::getStartedSignalDetectedDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<67>() * ::capnp::ELEMENTS); +} +inline void PandaState::Builder::setStartedSignalDetectedDEPRECATED(bool value) { + _builder.setDataField( + ::capnp::bounded<67>() * ::capnp::ELEMENTS, value); +} + +inline bool PandaState::Reader::getHasGpsDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<68>() * ::capnp::ELEMENTS); +} + +inline bool PandaState::Builder::getHasGpsDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<68>() * ::capnp::ELEMENTS); +} +inline void PandaState::Builder::setHasGpsDEPRECATED(bool value) { + _builder.setDataField( + ::capnp::bounded<68>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t PandaState::Reader::getRxBufferOverflow() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t PandaState::Builder::getRxBufferOverflow() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void PandaState::Builder::setRxBufferOverflow( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t PandaState::Reader::getTxBufferOverflow() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t PandaState::Builder::getTxBufferOverflow() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void PandaState::Builder::setTxBufferOverflow( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t PandaState::Reader::getGmlanSendErrsDEPRECATED() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t PandaState::Builder::getGmlanSendErrsDEPRECATED() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void PandaState::Builder::setGmlanSendErrsDEPRECATED( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::PandaState::PandaType PandaState::Reader::getPandaType() const { + return _reader.getDataField< ::cereal::PandaState::PandaType>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline ::cereal::PandaState::PandaType PandaState::Builder::getPandaType() { + return _builder.getDataField< ::cereal::PandaState::PandaType>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void PandaState::Builder::setPandaType( ::cereal::PandaState::PandaType value) { + _builder.setDataField< ::cereal::PandaState::PandaType>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t PandaState::Reader::getFanSpeedRpmDEPRECATED() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t PandaState::Builder::getFanSpeedRpmDEPRECATED() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} +inline void PandaState::Builder::setFanSpeedRpmDEPRECATED( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<12>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::PeripheralState::UsbPowerModeDEPRECATED PandaState::Reader::getUsbPowerModeDEPRECATED() const { + return _reader.getDataField< ::cereal::PeripheralState::UsbPowerModeDEPRECATED>( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} + +inline ::cereal::PeripheralState::UsbPowerModeDEPRECATED PandaState::Builder::getUsbPowerModeDEPRECATED() { + return _builder.getDataField< ::cereal::PeripheralState::UsbPowerModeDEPRECATED>( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} +inline void PandaState::Builder::setUsbPowerModeDEPRECATED( ::cereal::PeripheralState::UsbPowerModeDEPRECATED value) { + _builder.setDataField< ::cereal::PeripheralState::UsbPowerModeDEPRECATED>( + ::capnp::bounded<13>() * ::capnp::ELEMENTS, value); +} + +inline bool PandaState::Reader::getIgnitionCan() const { + return _reader.getDataField( + ::capnp::bounded<69>() * ::capnp::ELEMENTS); +} + +inline bool PandaState::Builder::getIgnitionCan() { + return _builder.getDataField( + ::capnp::bounded<69>() * ::capnp::ELEMENTS); +} +inline void PandaState::Builder::setIgnitionCan(bool value) { + _builder.setDataField( + ::capnp::bounded<69>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::CarParams::SafetyModel PandaState::Reader::getSafetyModel() const { + return _reader.getDataField< ::cereal::CarParams::SafetyModel>( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} + +inline ::cereal::CarParams::SafetyModel PandaState::Builder::getSafetyModel() { + return _builder.getDataField< ::cereal::CarParams::SafetyModel>( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} +inline void PandaState::Builder::setSafetyModel( ::cereal::CarParams::SafetyModel value) { + _builder.setDataField< ::cereal::CarParams::SafetyModel>( + ::capnp::bounded<14>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::PandaState::FaultStatus PandaState::Reader::getFaultStatus() const { + return _reader.getDataField< ::cereal::PandaState::FaultStatus>( + ::capnp::bounded<15>() * ::capnp::ELEMENTS); +} + +inline ::cereal::PandaState::FaultStatus PandaState::Builder::getFaultStatus() { + return _builder.getDataField< ::cereal::PandaState::FaultStatus>( + ::capnp::bounded<15>() * ::capnp::ELEMENTS); +} +inline void PandaState::Builder::setFaultStatus( ::cereal::PandaState::FaultStatus value) { + _builder.setDataField< ::cereal::PandaState::FaultStatus>( + ::capnp::bounded<15>() * ::capnp::ELEMENTS, value); +} + +inline bool PandaState::Reader::getPowerSaveEnabled() const { + return _reader.getDataField( + ::capnp::bounded<70>() * ::capnp::ELEMENTS); +} + +inline bool PandaState::Builder::getPowerSaveEnabled() { + return _builder.getDataField( + ::capnp::bounded<70>() * ::capnp::ELEMENTS); +} +inline void PandaState::Builder::setPowerSaveEnabled(bool value) { + _builder.setDataField( + ::capnp::bounded<70>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t PandaState::Reader::getUptime() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t PandaState::Builder::getUptime() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void PandaState::Builder::setUptime( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline bool PandaState::Reader::hasFaults() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool PandaState::Builder::hasFaults() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::PandaState::FaultType, ::capnp::Kind::ENUM>::Reader PandaState::Reader::getFaults() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::PandaState::FaultType, ::capnp::Kind::ENUM>>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::PandaState::FaultType, ::capnp::Kind::ENUM>::Builder PandaState::Builder::getFaults() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::PandaState::FaultType, ::capnp::Kind::ENUM>>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void PandaState::Builder::setFaults( ::capnp::List< ::cereal::PandaState::FaultType, ::capnp::Kind::ENUM>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::PandaState::FaultType, ::capnp::Kind::ENUM>>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void PandaState::Builder::setFaults(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::PandaState::FaultType, ::capnp::Kind::ENUM>>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::PandaState::FaultType, ::capnp::Kind::ENUM>::Builder PandaState::Builder::initFaults(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::PandaState::FaultType, ::capnp::Kind::ENUM>>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void PandaState::Builder::adoptFaults( + ::capnp::Orphan< ::capnp::List< ::cereal::PandaState::FaultType, ::capnp::Kind::ENUM>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::PandaState::FaultType, ::capnp::Kind::ENUM>>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::PandaState::FaultType, ::capnp::Kind::ENUM>> PandaState::Builder::disownFaults() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::PandaState::FaultType, ::capnp::Kind::ENUM>>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline ::uint32_t PandaState::Reader::getSafetyRxInvalid() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t PandaState::Builder::getSafetyRxInvalid() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} +inline void PandaState::Builder::setSafetyRxInvalid( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS, value); +} + +inline ::int16_t PandaState::Reader::getSafetyParamDEPRECATED() const { + return _reader.getDataField< ::int16_t>( + ::capnp::bounded<20>() * ::capnp::ELEMENTS); +} + +inline ::int16_t PandaState::Builder::getSafetyParamDEPRECATED() { + return _builder.getDataField< ::int16_t>( + ::capnp::bounded<20>() * ::capnp::ELEMENTS); +} +inline void PandaState::Builder::setSafetyParamDEPRECATED( ::int16_t value) { + _builder.setDataField< ::int16_t>( + ::capnp::bounded<20>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::PandaState::HarnessStatus PandaState::Reader::getHarnessStatus() const { + return _reader.getDataField< ::cereal::PandaState::HarnessStatus>( + ::capnp::bounded<21>() * ::capnp::ELEMENTS); +} + +inline ::cereal::PandaState::HarnessStatus PandaState::Builder::getHarnessStatus() { + return _builder.getDataField< ::cereal::PandaState::HarnessStatus>( + ::capnp::bounded<21>() * ::capnp::ELEMENTS); +} +inline void PandaState::Builder::setHarnessStatus( ::cereal::PandaState::HarnessStatus value) { + _builder.setDataField< ::cereal::PandaState::HarnessStatus>( + ::capnp::bounded<21>() * ::capnp::ELEMENTS, value); +} + +inline bool PandaState::Reader::getHeartbeatLost() const { + return _reader.getDataField( + ::capnp::bounded<71>() * ::capnp::ELEMENTS); +} + +inline bool PandaState::Builder::getHeartbeatLost() { + return _builder.getDataField( + ::capnp::bounded<71>() * ::capnp::ELEMENTS); +} +inline void PandaState::Builder::setHeartbeatLost(bool value) { + _builder.setDataField( + ::capnp::bounded<71>() * ::capnp::ELEMENTS, value); +} + +inline ::int16_t PandaState::Reader::getAlternativeExperience() const { + return _reader.getDataField< ::int16_t>( + ::capnp::bounded<22>() * ::capnp::ELEMENTS); +} + +inline ::int16_t PandaState::Builder::getAlternativeExperience() { + return _builder.getDataField< ::int16_t>( + ::capnp::bounded<22>() * ::capnp::ELEMENTS); +} +inline void PandaState::Builder::setAlternativeExperience( ::int16_t value) { + _builder.setDataField< ::int16_t>( + ::capnp::bounded<22>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t PandaState::Reader::getSafetyTxBlocked() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t PandaState::Builder::getSafetyTxBlocked() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} +inline void PandaState::Builder::setSafetyTxBlocked( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<12>() * ::capnp::ELEMENTS, value); +} + +inline float PandaState::Reader::getInterruptLoad() const { + return _reader.getDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} + +inline float PandaState::Builder::getInterruptLoad() { + return _builder.getDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} +inline void PandaState::Builder::setInterruptLoad(float value) { + _builder.setDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t PandaState::Reader::getSafetyParam2DEPRECATED() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t PandaState::Builder::getSafetyParam2DEPRECATED() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} +inline void PandaState::Builder::setSafetyParam2DEPRECATED( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<14>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t PandaState::Reader::getSafetyParam() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<23>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t PandaState::Builder::getSafetyParam() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<23>() * ::capnp::ELEMENTS); +} +inline void PandaState::Builder::setSafetyParam( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<23>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t PandaState::Reader::getFanPower() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t PandaState::Builder::getFanPower() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} +inline void PandaState::Builder::setFanPower( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS, value); +} + +inline bool PandaState::Reader::hasCanState0() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool PandaState::Builder::hasCanState0() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::PandaState::PandaCanState::Reader PandaState::Reader::getCanState0() const { + return ::capnp::_::PointerHelpers< ::cereal::PandaState::PandaCanState>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::cereal::PandaState::PandaCanState::Builder PandaState::Builder::getCanState0() { + return ::capnp::_::PointerHelpers< ::cereal::PandaState::PandaCanState>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::PandaState::PandaCanState::Pipeline PandaState::Pipeline::getCanState0() { + return ::cereal::PandaState::PandaCanState::Pipeline(_typeless.getPointerField(1)); +} +#endif // !CAPNP_LITE +inline void PandaState::Builder::setCanState0( ::cereal::PandaState::PandaCanState::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::PandaState::PandaCanState>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::cereal::PandaState::PandaCanState::Builder PandaState::Builder::initCanState0() { + return ::capnp::_::PointerHelpers< ::cereal::PandaState::PandaCanState>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void PandaState::Builder::adoptCanState0( + ::capnp::Orphan< ::cereal::PandaState::PandaCanState>&& value) { + ::capnp::_::PointerHelpers< ::cereal::PandaState::PandaCanState>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::PandaState::PandaCanState> PandaState::Builder::disownCanState0() { + return ::capnp::_::PointerHelpers< ::cereal::PandaState::PandaCanState>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool PandaState::Reader::hasCanState1() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool PandaState::Builder::hasCanState1() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::PandaState::PandaCanState::Reader PandaState::Reader::getCanState1() const { + return ::capnp::_::PointerHelpers< ::cereal::PandaState::PandaCanState>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::cereal::PandaState::PandaCanState::Builder PandaState::Builder::getCanState1() { + return ::capnp::_::PointerHelpers< ::cereal::PandaState::PandaCanState>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::PandaState::PandaCanState::Pipeline PandaState::Pipeline::getCanState1() { + return ::cereal::PandaState::PandaCanState::Pipeline(_typeless.getPointerField(2)); +} +#endif // !CAPNP_LITE +inline void PandaState::Builder::setCanState1( ::cereal::PandaState::PandaCanState::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::PandaState::PandaCanState>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::cereal::PandaState::PandaCanState::Builder PandaState::Builder::initCanState1() { + return ::capnp::_::PointerHelpers< ::cereal::PandaState::PandaCanState>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void PandaState::Builder::adoptCanState1( + ::capnp::Orphan< ::cereal::PandaState::PandaCanState>&& value) { + ::capnp::_::PointerHelpers< ::cereal::PandaState::PandaCanState>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::PandaState::PandaCanState> PandaState::Builder::disownCanState1() { + return ::capnp::_::PointerHelpers< ::cereal::PandaState::PandaCanState>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline bool PandaState::Reader::hasCanState2() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool PandaState::Builder::hasCanState2() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::PandaState::PandaCanState::Reader PandaState::Reader::getCanState2() const { + return ::capnp::_::PointerHelpers< ::cereal::PandaState::PandaCanState>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::cereal::PandaState::PandaCanState::Builder PandaState::Builder::getCanState2() { + return ::capnp::_::PointerHelpers< ::cereal::PandaState::PandaCanState>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::PandaState::PandaCanState::Pipeline PandaState::Pipeline::getCanState2() { + return ::cereal::PandaState::PandaCanState::Pipeline(_typeless.getPointerField(3)); +} +#endif // !CAPNP_LITE +inline void PandaState::Builder::setCanState2( ::cereal::PandaState::PandaCanState::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::PandaState::PandaCanState>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::cereal::PandaState::PandaCanState::Builder PandaState::Builder::initCanState2() { + return ::capnp::_::PointerHelpers< ::cereal::PandaState::PandaCanState>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void PandaState::Builder::adoptCanState2( + ::capnp::Orphan< ::cereal::PandaState::PandaCanState>&& value) { + ::capnp::_::PointerHelpers< ::cereal::PandaState::PandaCanState>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::PandaState::PandaCanState> PandaState::Builder::disownCanState2() { + return ::capnp::_::PointerHelpers< ::cereal::PandaState::PandaCanState>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline bool PandaState::Reader::getSafetyRxChecksInvalid() const { + return _reader.getDataField( + ::capnp::bounded<480>() * ::capnp::ELEMENTS); +} + +inline bool PandaState::Builder::getSafetyRxChecksInvalid() { + return _builder.getDataField( + ::capnp::bounded<480>() * ::capnp::ELEMENTS); +} +inline void PandaState::Builder::setSafetyRxChecksInvalid(bool value) { + _builder.setDataField( + ::capnp::bounded<480>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t PandaState::Reader::getSpiChecksumErrorCount() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<31>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t PandaState::Builder::getSpiChecksumErrorCount() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<31>() * ::capnp::ELEMENTS); +} +inline void PandaState::Builder::setSpiChecksumErrorCount( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<31>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t PandaState::Reader::getFanStallCount() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<61>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t PandaState::Builder::getFanStallCount() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<61>() * ::capnp::ELEMENTS); +} +inline void PandaState::Builder::setFanStallCount( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<61>() * ::capnp::ELEMENTS, value); +} + +inline float PandaState::Reader::getSbu1Voltage() const { + return _reader.getDataField( + ::capnp::bounded<16>() * ::capnp::ELEMENTS); +} + +inline float PandaState::Builder::getSbu1Voltage() { + return _builder.getDataField( + ::capnp::bounded<16>() * ::capnp::ELEMENTS); +} +inline void PandaState::Builder::setSbu1Voltage(float value) { + _builder.setDataField( + ::capnp::bounded<16>() * ::capnp::ELEMENTS, value); +} + +inline float PandaState::Reader::getSbu2Voltage() const { + return _reader.getDataField( + ::capnp::bounded<17>() * ::capnp::ELEMENTS); +} + +inline float PandaState::Builder::getSbu2Voltage() { + return _builder.getDataField( + ::capnp::bounded<17>() * ::capnp::ELEMENTS); +} +inline void PandaState::Builder::setSbu2Voltage(float value) { + _builder.setDataField( + ::capnp::bounded<17>() * ::capnp::ELEMENTS, value); +} + +inline bool PandaState::PandaCanState::Reader::getBusOff() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline bool PandaState::PandaCanState::Builder::getBusOff() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void PandaState::PandaCanState::Builder::setBusOff(bool value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t PandaState::PandaCanState::Reader::getBusOffCnt() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t PandaState::PandaCanState::Builder::getBusOffCnt() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void PandaState::PandaCanState::Builder::setBusOffCnt( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool PandaState::PandaCanState::Reader::getErrorWarning() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline bool PandaState::PandaCanState::Builder::getErrorWarning() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void PandaState::PandaCanState::Builder::setErrorWarning(bool value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool PandaState::PandaCanState::Reader::getErrorPassive() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline bool PandaState::PandaCanState::Builder::getErrorPassive() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void PandaState::PandaCanState::Builder::setErrorPassive(bool value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::PandaState::PandaCanState::LecErrorCode PandaState::PandaCanState::Reader::getLastError() const { + return _reader.getDataField< ::cereal::PandaState::PandaCanState::LecErrorCode>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::cereal::PandaState::PandaCanState::LecErrorCode PandaState::PandaCanState::Builder::getLastError() { + return _builder.getDataField< ::cereal::PandaState::PandaCanState::LecErrorCode>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void PandaState::PandaCanState::Builder::setLastError( ::cereal::PandaState::PandaCanState::LecErrorCode value) { + _builder.setDataField< ::cereal::PandaState::PandaCanState::LecErrorCode>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::PandaState::PandaCanState::LecErrorCode PandaState::PandaCanState::Reader::getLastStoredError() const { + return _reader.getDataField< ::cereal::PandaState::PandaCanState::LecErrorCode>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline ::cereal::PandaState::PandaCanState::LecErrorCode PandaState::PandaCanState::Builder::getLastStoredError() { + return _builder.getDataField< ::cereal::PandaState::PandaCanState::LecErrorCode>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void PandaState::PandaCanState::Builder::setLastStoredError( ::cereal::PandaState::PandaCanState::LecErrorCode value) { + _builder.setDataField< ::cereal::PandaState::PandaCanState::LecErrorCode>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::PandaState::PandaCanState::LecErrorCode PandaState::PandaCanState::Reader::getLastDataError() const { + return _reader.getDataField< ::cereal::PandaState::PandaCanState::LecErrorCode>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline ::cereal::PandaState::PandaCanState::LecErrorCode PandaState::PandaCanState::Builder::getLastDataError() { + return _builder.getDataField< ::cereal::PandaState::PandaCanState::LecErrorCode>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void PandaState::PandaCanState::Builder::setLastDataError( ::cereal::PandaState::PandaCanState::LecErrorCode value) { + _builder.setDataField< ::cereal::PandaState::PandaCanState::LecErrorCode>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::PandaState::PandaCanState::LecErrorCode PandaState::PandaCanState::Reader::getLastDataStoredError() const { + return _reader.getDataField< ::cereal::PandaState::PandaCanState::LecErrorCode>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline ::cereal::PandaState::PandaCanState::LecErrorCode PandaState::PandaCanState::Builder::getLastDataStoredError() { + return _builder.getDataField< ::cereal::PandaState::PandaCanState::LecErrorCode>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void PandaState::PandaCanState::Builder::setLastDataStoredError( ::cereal::PandaState::PandaCanState::LecErrorCode value) { + _builder.setDataField< ::cereal::PandaState::PandaCanState::LecErrorCode>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t PandaState::PandaCanState::Reader::getReceiveErrorCnt() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t PandaState::PandaCanState::Builder::getReceiveErrorCnt() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void PandaState::PandaCanState::Builder::setReceiveErrorCnt( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t PandaState::PandaCanState::Reader::getTransmitErrorCnt() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t PandaState::PandaCanState::Builder::getTransmitErrorCnt() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} +inline void PandaState::PandaCanState::Builder::setTransmitErrorCnt( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<14>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t PandaState::PandaCanState::Reader::getTotalErrorCnt() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t PandaState::PandaCanState::Builder::getTotalErrorCnt() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void PandaState::PandaCanState::Builder::setTotalErrorCnt( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t PandaState::PandaCanState::Reader::getTotalTxLostCnt() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t PandaState::PandaCanState::Builder::getTotalTxLostCnt() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void PandaState::PandaCanState::Builder::setTotalTxLostCnt( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t PandaState::PandaCanState::Reader::getTotalRxLostCnt() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t PandaState::PandaCanState::Builder::getTotalRxLostCnt() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void PandaState::PandaCanState::Builder::setTotalRxLostCnt( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t PandaState::PandaCanState::Reader::getTotalTxCnt() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t PandaState::PandaCanState::Builder::getTotalTxCnt() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void PandaState::PandaCanState::Builder::setTotalTxCnt( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t PandaState::PandaCanState::Reader::getTotalRxCnt() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t PandaState::PandaCanState::Builder::getTotalRxCnt() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void PandaState::PandaCanState::Builder::setTotalRxCnt( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t PandaState::PandaCanState::Reader::getTotalFwdCnt() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t PandaState::PandaCanState::Builder::getTotalFwdCnt() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} +inline void PandaState::PandaCanState::Builder::setTotalFwdCnt( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t PandaState::PandaCanState::Reader::getCanSpeed() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<20>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t PandaState::PandaCanState::Builder::getCanSpeed() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<20>() * ::capnp::ELEMENTS); +} +inline void PandaState::PandaCanState::Builder::setCanSpeed( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<20>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t PandaState::PandaCanState::Reader::getCanDataSpeed() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<21>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t PandaState::PandaCanState::Builder::getCanDataSpeed() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<21>() * ::capnp::ELEMENTS); +} +inline void PandaState::PandaCanState::Builder::setCanDataSpeed( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<21>() * ::capnp::ELEMENTS, value); +} + +inline bool PandaState::PandaCanState::Reader::getCanfdEnabled() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline bool PandaState::PandaCanState::Builder::getCanfdEnabled() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void PandaState::PandaCanState::Builder::setCanfdEnabled(bool value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline bool PandaState::PandaCanState::Reader::getBrsEnabled() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline bool PandaState::PandaCanState::Builder::getBrsEnabled() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void PandaState::PandaCanState::Builder::setBrsEnabled(bool value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline bool PandaState::PandaCanState::Reader::getCanfdNonIso() const { + return _reader.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline bool PandaState::PandaCanState::Builder::getCanfdNonIso() { + return _builder.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void PandaState::PandaCanState::Builder::setCanfdNonIso(bool value) { + _builder.setDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t PandaState::PandaCanState::Reader::getIrq0CallRate() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t PandaState::PandaCanState::Builder::getIrq0CallRate() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} +inline void PandaState::PandaCanState::Builder::setIrq0CallRate( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<11>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t PandaState::PandaCanState::Reader::getIrq1CallRate() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t PandaState::PandaCanState::Builder::getIrq1CallRate() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} +inline void PandaState::PandaCanState::Builder::setIrq1CallRate( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<12>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t PandaState::PandaCanState::Reader::getIrq2CallRate() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t PandaState::PandaCanState::Builder::getIrq2CallRate() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} +inline void PandaState::PandaCanState::Builder::setIrq2CallRate( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<13>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t PandaState::PandaCanState::Reader::getCanCoreResetCnt() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t PandaState::PandaCanState::Builder::getCanCoreResetCnt() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} +inline void PandaState::PandaCanState::Builder::setCanCoreResetCnt( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<14>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::PandaState::PandaType PeripheralState::Reader::getPandaType() const { + return _reader.getDataField< ::cereal::PandaState::PandaType>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::cereal::PandaState::PandaType PeripheralState::Builder::getPandaType() { + return _builder.getDataField< ::cereal::PandaState::PandaType>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void PeripheralState::Builder::setPandaType( ::cereal::PandaState::PandaType value) { + _builder.setDataField< ::cereal::PandaState::PandaType>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t PeripheralState::Reader::getVoltage() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t PeripheralState::Builder::getVoltage() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void PeripheralState::Builder::setVoltage( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t PeripheralState::Reader::getCurrent() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t PeripheralState::Builder::getCurrent() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void PeripheralState::Builder::setCurrent( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t PeripheralState::Reader::getFanSpeedRpm() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t PeripheralState::Builder::getFanSpeedRpm() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void PeripheralState::Builder::setFanSpeedRpm( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::PeripheralState::UsbPowerModeDEPRECATED PeripheralState::Reader::getUsbPowerModeDEPRECATED() const { + return _reader.getDataField< ::cereal::PeripheralState::UsbPowerModeDEPRECATED>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline ::cereal::PeripheralState::UsbPowerModeDEPRECATED PeripheralState::Builder::getUsbPowerModeDEPRECATED() { + return _builder.getDataField< ::cereal::PeripheralState::UsbPowerModeDEPRECATED>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void PeripheralState::Builder::setUsbPowerModeDEPRECATED( ::cereal::PeripheralState::UsbPowerModeDEPRECATED value) { + _builder.setDataField< ::cereal::PeripheralState::UsbPowerModeDEPRECATED>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline bool RadarState::Reader::hasWarpMatrixDEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool RadarState::Builder::hasWarpMatrixDEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader RadarState::Reader::getWarpMatrixDEPRECATED() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder RadarState::Builder::getWarpMatrixDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void RadarState::Builder::setWarpMatrixDEPRECATED( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void RadarState::Builder::setWarpMatrixDEPRECATED(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder RadarState::Builder::initWarpMatrixDEPRECATED(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void RadarState::Builder::adoptWarpMatrixDEPRECATED( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> RadarState::Builder::disownWarpMatrixDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline float RadarState::Reader::getAngleOffsetDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline float RadarState::Builder::getAngleOffsetDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void RadarState::Builder::setAngleOffsetDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::int8_t RadarState::Reader::getCalStatusDEPRECATED() const { + return _reader.getDataField< ::int8_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline ::int8_t RadarState::Builder::getCalStatusDEPRECATED() { + return _builder.getDataField< ::int8_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void RadarState::Builder::setCalStatusDEPRECATED( ::int8_t value) { + _builder.setDataField< ::int8_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline bool RadarState::Reader::hasLeadOne() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool RadarState::Builder::hasLeadOne() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::RadarState::LeadData::Reader RadarState::Reader::getLeadOne() const { + return ::capnp::_::PointerHelpers< ::cereal::RadarState::LeadData>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::cereal::RadarState::LeadData::Builder RadarState::Builder::getLeadOne() { + return ::capnp::_::PointerHelpers< ::cereal::RadarState::LeadData>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::RadarState::LeadData::Pipeline RadarState::Pipeline::getLeadOne() { + return ::cereal::RadarState::LeadData::Pipeline(_typeless.getPointerField(1)); +} +#endif // !CAPNP_LITE +inline void RadarState::Builder::setLeadOne( ::cereal::RadarState::LeadData::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::RadarState::LeadData>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::cereal::RadarState::LeadData::Builder RadarState::Builder::initLeadOne() { + return ::capnp::_::PointerHelpers< ::cereal::RadarState::LeadData>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void RadarState::Builder::adoptLeadOne( + ::capnp::Orphan< ::cereal::RadarState::LeadData>&& value) { + ::capnp::_::PointerHelpers< ::cereal::RadarState::LeadData>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::RadarState::LeadData> RadarState::Builder::disownLeadOne() { + return ::capnp::_::PointerHelpers< ::cereal::RadarState::LeadData>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool RadarState::Reader::hasLeadTwo() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool RadarState::Builder::hasLeadTwo() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::RadarState::LeadData::Reader RadarState::Reader::getLeadTwo() const { + return ::capnp::_::PointerHelpers< ::cereal::RadarState::LeadData>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::cereal::RadarState::LeadData::Builder RadarState::Builder::getLeadTwo() { + return ::capnp::_::PointerHelpers< ::cereal::RadarState::LeadData>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::RadarState::LeadData::Pipeline RadarState::Pipeline::getLeadTwo() { + return ::cereal::RadarState::LeadData::Pipeline(_typeless.getPointerField(2)); +} +#endif // !CAPNP_LITE +inline void RadarState::Builder::setLeadTwo( ::cereal::RadarState::LeadData::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::RadarState::LeadData>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::cereal::RadarState::LeadData::Builder RadarState::Builder::initLeadTwo() { + return ::capnp::_::PointerHelpers< ::cereal::RadarState::LeadData>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void RadarState::Builder::adoptLeadTwo( + ::capnp::Orphan< ::cereal::RadarState::LeadData>&& value) { + ::capnp::_::PointerHelpers< ::cereal::RadarState::LeadData>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::RadarState::LeadData> RadarState::Builder::disownLeadTwo() { + return ::capnp::_::PointerHelpers< ::cereal::RadarState::LeadData>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline float RadarState::Reader::getCumLagMs() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float RadarState::Builder::getCumLagMs() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void RadarState::Builder::setCumLagMs(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t RadarState::Reader::getMdMonoTime() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t RadarState::Builder::getMdMonoTime() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void RadarState::Builder::setMdMonoTime( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t RadarState::Reader::getFtMonoTimeDEPRECATED() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t RadarState::Builder::getFtMonoTimeDEPRECATED() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void RadarState::Builder::setFtMonoTimeDEPRECATED( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t RadarState::Reader::getCalCycleDEPRECATED() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline ::int32_t RadarState::Builder::getCalCycleDEPRECATED() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void RadarState::Builder::setCalCycleDEPRECATED( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline ::int8_t RadarState::Reader::getCalPercDEPRECATED() const { + return _reader.getDataField< ::int8_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline ::int8_t RadarState::Builder::getCalPercDEPRECATED() { + return _builder.getDataField< ::int8_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void RadarState::Builder::setCalPercDEPRECATED( ::int8_t value) { + _builder.setDataField< ::int8_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline bool RadarState::Reader::hasCanMonoTimesDEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool RadarState::Builder::hasCanMonoTimesDEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>::Reader RadarState::Reader::getCanMonoTimesDEPRECATED() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>::Builder RadarState::Builder::getCanMonoTimesDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void RadarState::Builder::setCanMonoTimesDEPRECATED( ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline void RadarState::Builder::setCanMonoTimesDEPRECATED(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>::Builder RadarState::Builder::initCanMonoTimesDEPRECATED(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), size); +} +inline void RadarState::Builder::adoptCanMonoTimesDEPRECATED( + ::capnp::Orphan< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>> RadarState::Builder::disownCanMonoTimesDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline ::uint64_t RadarState::Reader::getCarStateMonoTime() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t RadarState::Builder::getCarStateMonoTime() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void RadarState::Builder::setCarStateMonoTime( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline bool RadarState::Reader::hasRadarErrors() const { + return !_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline bool RadarState::Builder::hasRadarErrors() { + return !_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>::Reader RadarState::Reader::getRadarErrors() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>>::get(_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>::Builder RadarState::Builder::getRadarErrors() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>>::get(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline void RadarState::Builder::setRadarErrors( ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline void RadarState::Builder::setRadarErrors(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>::Builder RadarState::Builder::initRadarErrors(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>>::init(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), size); +} +inline void RadarState::Builder::adoptRadarErrors( + ::capnp::Orphan< ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>>::adopt(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>> RadarState::Builder::disownRadarErrors() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>>::disown(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} + +inline float RadarState::LeadData::Reader::getDRel() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline float RadarState::LeadData::Builder::getDRel() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void RadarState::LeadData::Builder::setDRel(float value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline float RadarState::LeadData::Reader::getYRel() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float RadarState::LeadData::Builder::getYRel() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void RadarState::LeadData::Builder::setYRel(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float RadarState::LeadData::Reader::getVRel() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float RadarState::LeadData::Builder::getVRel() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void RadarState::LeadData::Builder::setVRel(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline float RadarState::LeadData::Reader::getARel() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline float RadarState::LeadData::Builder::getARel() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void RadarState::LeadData::Builder::setARel(float value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline float RadarState::LeadData::Reader::getVLead() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline float RadarState::LeadData::Builder::getVLead() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void RadarState::LeadData::Builder::setVLead(float value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline float RadarState::LeadData::Reader::getALeadDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline float RadarState::LeadData::Builder::getALeadDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void RadarState::LeadData::Builder::setALeadDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline float RadarState::LeadData::Reader::getDPath() const { + return _reader.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline float RadarState::LeadData::Builder::getDPath() { + return _builder.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void RadarState::LeadData::Builder::setDPath(float value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline float RadarState::LeadData::Reader::getVLat() const { + return _reader.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline float RadarState::LeadData::Builder::getVLat() { + return _builder.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void RadarState::LeadData::Builder::setVLat(float value) { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline float RadarState::LeadData::Reader::getVLeadK() const { + return _reader.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline float RadarState::LeadData::Builder::getVLeadK() { + return _builder.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void RadarState::LeadData::Builder::setVLeadK(float value) { + _builder.setDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline float RadarState::LeadData::Reader::getALeadK() const { + return _reader.getDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} + +inline float RadarState::LeadData::Builder::getALeadK() { + return _builder.getDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} +inline void RadarState::LeadData::Builder::setALeadK(float value) { + _builder.setDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS, value); +} + +inline bool RadarState::LeadData::Reader::getFcw() const { + return _reader.getDataField( + ::capnp::bounded<320>() * ::capnp::ELEMENTS); +} + +inline bool RadarState::LeadData::Builder::getFcw() { + return _builder.getDataField( + ::capnp::bounded<320>() * ::capnp::ELEMENTS); +} +inline void RadarState::LeadData::Builder::setFcw(bool value) { + _builder.setDataField( + ::capnp::bounded<320>() * ::capnp::ELEMENTS, value); +} + +inline bool RadarState::LeadData::Reader::getStatus() const { + return _reader.getDataField( + ::capnp::bounded<321>() * ::capnp::ELEMENTS); +} + +inline bool RadarState::LeadData::Builder::getStatus() { + return _builder.getDataField( + ::capnp::bounded<321>() * ::capnp::ELEMENTS); +} +inline void RadarState::LeadData::Builder::setStatus(bool value) { + _builder.setDataField( + ::capnp::bounded<321>() * ::capnp::ELEMENTS, value); +} + +inline float RadarState::LeadData::Reader::getALeadTau() const { + return _reader.getDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} + +inline float RadarState::LeadData::Builder::getALeadTau() { + return _builder.getDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} +inline void RadarState::LeadData::Builder::setALeadTau(float value) { + _builder.setDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS, value); +} + +inline float RadarState::LeadData::Reader::getModelProb() const { + return _reader.getDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} + +inline float RadarState::LeadData::Builder::getModelProb() { + return _builder.getDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} +inline void RadarState::LeadData::Builder::setModelProb(float value) { + _builder.setDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS, value); +} + +inline bool RadarState::LeadData::Reader::getRadar() const { + return _reader.getDataField( + ::capnp::bounded<322>() * ::capnp::ELEMENTS); +} + +inline bool RadarState::LeadData::Builder::getRadar() { + return _builder.getDataField( + ::capnp::bounded<322>() * ::capnp::ELEMENTS); +} +inline void RadarState::LeadData::Builder::setRadar(bool value) { + _builder.setDataField( + ::capnp::bounded<322>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t RadarState::LeadData::Reader::getRadarTrackId() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<13>() * ::capnp::ELEMENTS, -1); +} + +inline ::int32_t RadarState::LeadData::Builder::getRadarTrackId() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<13>() * ::capnp::ELEMENTS, -1); +} +inline void RadarState::LeadData::Builder::setRadarTrackId( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<13>() * ::capnp::ELEMENTS, value, -1); +} + +inline bool LiveCalibrationData::Reader::hasWarpMatrixDEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveCalibrationData::Builder::hasWarpMatrixDEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LiveCalibrationData::Reader::getWarpMatrixDEPRECATED() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LiveCalibrationData::Builder::getWarpMatrixDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void LiveCalibrationData::Builder::setWarpMatrixDEPRECATED( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void LiveCalibrationData::Builder::setWarpMatrixDEPRECATED(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LiveCalibrationData::Builder::initWarpMatrixDEPRECATED(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void LiveCalibrationData::Builder::adoptWarpMatrixDEPRECATED( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LiveCalibrationData::Builder::disownWarpMatrixDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline ::int8_t LiveCalibrationData::Reader::getCalStatusDEPRECATED() const { + return _reader.getDataField< ::int8_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::int8_t LiveCalibrationData::Builder::getCalStatusDEPRECATED() { + return _builder.getDataField< ::int8_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void LiveCalibrationData::Builder::setCalStatusDEPRECATED( ::int8_t value) { + _builder.setDataField< ::int8_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t LiveCalibrationData::Reader::getCalCycle() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::int32_t LiveCalibrationData::Builder::getCalCycle() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void LiveCalibrationData::Builder::setCalCycle( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::int8_t LiveCalibrationData::Reader::getCalPerc() const { + return _reader.getDataField< ::int8_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::int8_t LiveCalibrationData::Builder::getCalPerc() { + return _builder.getDataField< ::int8_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void LiveCalibrationData::Builder::setCalPerc( ::int8_t value) { + _builder.setDataField< ::int8_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool LiveCalibrationData::Reader::hasExtrinsicMatrix() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveCalibrationData::Builder::hasExtrinsicMatrix() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LiveCalibrationData::Reader::getExtrinsicMatrix() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LiveCalibrationData::Builder::getExtrinsicMatrix() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void LiveCalibrationData::Builder::setExtrinsicMatrix( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void LiveCalibrationData::Builder::setExtrinsicMatrix(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LiveCalibrationData::Builder::initExtrinsicMatrix(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void LiveCalibrationData::Builder::adoptExtrinsicMatrix( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LiveCalibrationData::Builder::disownExtrinsicMatrix() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool LiveCalibrationData::Reader::hasWarpMatrix2DEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveCalibrationData::Builder::hasWarpMatrix2DEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LiveCalibrationData::Reader::getWarpMatrix2DEPRECATED() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LiveCalibrationData::Builder::getWarpMatrix2DEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void LiveCalibrationData::Builder::setWarpMatrix2DEPRECATED( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline void LiveCalibrationData::Builder::setWarpMatrix2DEPRECATED(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LiveCalibrationData::Builder::initWarpMatrix2DEPRECATED(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void LiveCalibrationData::Builder::adoptWarpMatrix2DEPRECATED( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LiveCalibrationData::Builder::disownWarpMatrix2DEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline bool LiveCalibrationData::Reader::hasWarpMatrixBigDEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveCalibrationData::Builder::hasWarpMatrixBigDEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LiveCalibrationData::Reader::getWarpMatrixBigDEPRECATED() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LiveCalibrationData::Builder::getWarpMatrixBigDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void LiveCalibrationData::Builder::setWarpMatrixBigDEPRECATED( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline void LiveCalibrationData::Builder::setWarpMatrixBigDEPRECATED(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LiveCalibrationData::Builder::initWarpMatrixBigDEPRECATED(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), size); +} +inline void LiveCalibrationData::Builder::adoptWarpMatrixBigDEPRECATED( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LiveCalibrationData::Builder::disownWarpMatrixBigDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline bool LiveCalibrationData::Reader::hasRpyCalib() const { + return !_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveCalibrationData::Builder::hasRpyCalib() { + return !_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LiveCalibrationData::Reader::getRpyCalib() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LiveCalibrationData::Builder::getRpyCalib() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline void LiveCalibrationData::Builder::setRpyCalib( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline void LiveCalibrationData::Builder::setRpyCalib(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LiveCalibrationData::Builder::initRpyCalib(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), size); +} +inline void LiveCalibrationData::Builder::adoptRpyCalib( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LiveCalibrationData::Builder::disownRpyCalib() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} + +inline bool LiveCalibrationData::Reader::hasRpyCalibSpread() const { + return !_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveCalibrationData::Builder::hasRpyCalibSpread() { + return !_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LiveCalibrationData::Reader::getRpyCalibSpread() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LiveCalibrationData::Builder::getRpyCalibSpread() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline void LiveCalibrationData::Builder::setRpyCalibSpread( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline void LiveCalibrationData::Builder::setRpyCalibSpread(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LiveCalibrationData::Builder::initRpyCalibSpread(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), size); +} +inline void LiveCalibrationData::Builder::adoptRpyCalibSpread( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LiveCalibrationData::Builder::disownRpyCalibSpread() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} + +inline ::int32_t LiveCalibrationData::Reader::getValidBlocks() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::int32_t LiveCalibrationData::Builder::getValidBlocks() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void LiveCalibrationData::Builder::setValidBlocks( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline bool LiveCalibrationData::Reader::hasWideFromDeviceEuler() const { + return !_reader.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveCalibrationData::Builder::hasWideFromDeviceEuler() { + return !_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LiveCalibrationData::Reader::getWideFromDeviceEuler() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LiveCalibrationData::Builder::getWideFromDeviceEuler() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} +inline void LiveCalibrationData::Builder::setWideFromDeviceEuler( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), value); +} +inline void LiveCalibrationData::Builder::setWideFromDeviceEuler(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LiveCalibrationData::Builder::initWideFromDeviceEuler(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), size); +} +inline void LiveCalibrationData::Builder::adoptWideFromDeviceEuler( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LiveCalibrationData::Builder::disownWideFromDeviceEuler() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} + +inline ::cereal::LiveCalibrationData::Status LiveCalibrationData::Reader::getCalStatus() const { + return _reader.getDataField< ::cereal::LiveCalibrationData::Status>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::cereal::LiveCalibrationData::Status LiveCalibrationData::Builder::getCalStatus() { + return _builder.getDataField< ::cereal::LiveCalibrationData::Status>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void LiveCalibrationData::Builder::setCalStatus( ::cereal::LiveCalibrationData::Status value) { + _builder.setDataField< ::cereal::LiveCalibrationData::Status>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool LiveCalibrationData::Reader::hasHeight() const { + return !_reader.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveCalibrationData::Builder::hasHeight() { + return !_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LiveCalibrationData::Reader::getHeight() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LiveCalibrationData::Builder::getHeight() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS)); +} +inline void LiveCalibrationData::Builder::setHeight( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), value); +} +inline void LiveCalibrationData::Builder::setHeight(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LiveCalibrationData::Builder::initHeight(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), size); +} +inline void LiveCalibrationData::Builder::adoptHeight( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LiveCalibrationData::Builder::disownHeight() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS)); +} + +inline ::int32_t LiveTracks::Reader::getTrackId() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::int32_t LiveTracks::Builder::getTrackId() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void LiveTracks::Builder::setTrackId( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline float LiveTracks::Reader::getDRel() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float LiveTracks::Builder::getDRel() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void LiveTracks::Builder::setDRel(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float LiveTracks::Reader::getYRel() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float LiveTracks::Builder::getYRel() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void LiveTracks::Builder::setYRel(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline float LiveTracks::Reader::getVRel() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline float LiveTracks::Builder::getVRel() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void LiveTracks::Builder::setVRel(float value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline float LiveTracks::Reader::getARel() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline float LiveTracks::Builder::getARel() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void LiveTracks::Builder::setARel(float value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline float LiveTracks::Reader::getTimeStamp() const { + return _reader.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline float LiveTracks::Builder::getTimeStamp() { + return _builder.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void LiveTracks::Builder::setTimeStamp(float value) { + _builder.setDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline float LiveTracks::Reader::getStatus() const { + return _reader.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline float LiveTracks::Builder::getStatus() { + return _builder.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void LiveTracks::Builder::setStatus(float value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline float LiveTracks::Reader::getCurrentTime() const { + return _reader.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline float LiveTracks::Builder::getCurrentTime() { + return _builder.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void LiveTracks::Builder::setCurrentTime(float value) { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline bool LiveTracks::Reader::getStationary() const { + return _reader.getDataField( + ::capnp::bounded<256>() * ::capnp::ELEMENTS); +} + +inline bool LiveTracks::Builder::getStationary() { + return _builder.getDataField( + ::capnp::bounded<256>() * ::capnp::ELEMENTS); +} +inline void LiveTracks::Builder::setStationary(bool value) { + _builder.setDataField( + ::capnp::bounded<256>() * ::capnp::ELEMENTS, value); +} + +inline bool LiveTracks::Reader::getOncoming() const { + return _reader.getDataField( + ::capnp::bounded<257>() * ::capnp::ELEMENTS); +} + +inline bool LiveTracks::Builder::getOncoming() { + return _builder.getDataField( + ::capnp::bounded<257>() * ::capnp::ELEMENTS); +} +inline void LiveTracks::Builder::setOncoming(bool value) { + _builder.setDataField( + ::capnp::bounded<257>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::Reader::getVEgoDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::Builder::getVEgoDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setVEgoDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::Reader::getAEgoDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::Builder::getAEgoDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setAEgoDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::Reader::getVPidDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::Builder::getVPidDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setVPidDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::Reader::getVTargetLead() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::Builder::getVTargetLead() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setVTargetLead(float value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::Reader::getUpAccelCmd() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::Builder::getUpAccelCmd() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setUpAccelCmd(float value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::Reader::getUiAccelCmd() const { + return _reader.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::Builder::getUiAccelCmd() { + return _builder.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setUiAccelCmd(float value) { + _builder.setDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::Reader::getYActualDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::Builder::getYActualDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setYActualDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::Reader::getYDesDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::Builder::getYDesDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setYDesDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::Reader::getUpSteerDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::Builder::getUpSteerDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setUpSteerDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::Reader::getUiSteerDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::Builder::getUiSteerDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setUiSteerDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::Reader::getATargetMinDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::Builder::getATargetMinDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setATargetMinDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::Reader::getATargetMaxDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::Builder::getATargetMaxDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setATargetMaxDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::Reader::getJerkFactorDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::Builder::getJerkFactorDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setJerkFactorDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::Reader::getAngleSteersDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::Builder::getAngleSteersDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setAngleSteersDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t ControlsState::Reader::getHudLeadDEPRECATED() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} + +inline ::int32_t ControlsState::Builder::getHudLeadDEPRECATED() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setHudLeadDEPRECATED( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<14>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::Reader::getCumLagMs() const { + return _reader.getDataField( + ::capnp::bounded<15>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::Builder::getCumLagMs() { + return _builder.getDataField( + ::capnp::bounded<15>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setCumLagMs(float value) { + _builder.setDataField( + ::capnp::bounded<15>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t ControlsState::Reader::getCanMonoTimeDEPRECATED() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t ControlsState::Builder::getCanMonoTimeDEPRECATED() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setCanMonoTimeDEPRECATED( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t ControlsState::Reader::getRadarStateMonoTimeDEPRECATED() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t ControlsState::Builder::getRadarStateMonoTimeDEPRECATED() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setRadarStateMonoTimeDEPRECATED( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t ControlsState::Reader::getMdMonoTimeDEPRECATED() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t ControlsState::Builder::getMdMonoTimeDEPRECATED() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setMdMonoTimeDEPRECATED( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS, value); +} + +inline bool ControlsState::Reader::getEnabled() const { + return _reader.getDataField( + ::capnp::bounded<704>() * ::capnp::ELEMENTS); +} + +inline bool ControlsState::Builder::getEnabled() { + return _builder.getDataField( + ::capnp::bounded<704>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setEnabled(bool value) { + _builder.setDataField( + ::capnp::bounded<704>() * ::capnp::ELEMENTS, value); +} + +inline bool ControlsState::Reader::getSteerOverrideDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<705>() * ::capnp::ELEMENTS); +} + +inline bool ControlsState::Builder::getSteerOverrideDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<705>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setSteerOverrideDEPRECATED(bool value) { + _builder.setDataField( + ::capnp::bounded<705>() * ::capnp::ELEMENTS, value); +} + +inline bool ControlsState::Reader::hasCanMonoTimesDEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool ControlsState::Builder::hasCanMonoTimesDEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>::Reader ControlsState::Reader::getCanMonoTimesDEPRECATED() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>::Builder ControlsState::Builder::getCanMonoTimesDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void ControlsState::Builder::setCanMonoTimesDEPRECATED( ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void ControlsState::Builder::setCanMonoTimesDEPRECATED(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>::Builder ControlsState::Builder::initCanMonoTimesDEPRECATED(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void ControlsState::Builder::adoptCanMonoTimesDEPRECATED( + ::capnp::Orphan< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>> ControlsState::Builder::disownCanMonoTimesDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline float ControlsState::Reader::getVCruise() const { + return _reader.getDataField( + ::capnp::bounded<23>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::Builder::getVCruise() { + return _builder.getDataField( + ::capnp::bounded<23>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setVCruise(float value) { + _builder.setDataField( + ::capnp::bounded<23>() * ::capnp::ELEMENTS, value); +} + +inline bool ControlsState::Reader::getRearViewCamDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<706>() * ::capnp::ELEMENTS); +} + +inline bool ControlsState::Builder::getRearViewCamDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<706>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setRearViewCamDEPRECATED(bool value) { + _builder.setDataField( + ::capnp::bounded<706>() * ::capnp::ELEMENTS, value); +} + +inline bool ControlsState::Reader::hasAlertText1() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool ControlsState::Builder::hasAlertText1() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader ControlsState::Reader::getAlertText1() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder ControlsState::Builder::getAlertText1() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void ControlsState::Builder::setAlertText1( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder ControlsState::Builder::initAlertText1(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void ControlsState::Builder::adoptAlertText1( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> ControlsState::Builder::disownAlertText1() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool ControlsState::Reader::hasAlertText2() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool ControlsState::Builder::hasAlertText2() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader ControlsState::Reader::getAlertText2() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder ControlsState::Builder::getAlertText2() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void ControlsState::Builder::setAlertText2( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder ControlsState::Builder::initAlertText2(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void ControlsState::Builder::adoptAlertText2( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> ControlsState::Builder::disownAlertText2() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline float ControlsState::Reader::getAwarenessStatusDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<24>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::Builder::getAwarenessStatusDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<24>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setAwarenessStatusDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<24>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::Reader::getAngleModelBiasDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<25>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::Builder::getAngleModelBiasDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<25>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setAngleModelBiasDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<25>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t ControlsState::Reader::getLongitudinalPlanMonoTime() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t ControlsState::Builder::getLongitudinalPlanMonoTime() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setLongitudinalPlanMonoTime( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<13>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::Reader::getSteeringAngleDesiredDegDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<28>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::Builder::getSteeringAngleDesiredDegDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<28>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setSteeringAngleDesiredDegDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<28>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::CarControl::Actuators::LongControlState ControlsState::Reader::getLongControlState() const { + return _reader.getDataField< ::cereal::CarControl::Actuators::LongControlState>( + ::capnp::bounded<45>() * ::capnp::ELEMENTS); +} + +inline ::cereal::CarControl::Actuators::LongControlState ControlsState::Builder::getLongControlState() { + return _builder.getDataField< ::cereal::CarControl::Actuators::LongControlState>( + ::capnp::bounded<45>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setLongControlState( ::cereal::CarControl::Actuators::LongControlState value) { + _builder.setDataField< ::cereal::CarControl::Actuators::LongControlState>( + ::capnp::bounded<45>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::ControlsState::OpenpilotState ControlsState::Reader::getState() const { + return _reader.getDataField< ::cereal::ControlsState::OpenpilotState>( + ::capnp::bounded<58>() * ::capnp::ELEMENTS); +} + +inline ::cereal::ControlsState::OpenpilotState ControlsState::Builder::getState() { + return _builder.getDataField< ::cereal::ControlsState::OpenpilotState>( + ::capnp::bounded<58>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setState( ::cereal::ControlsState::OpenpilotState value) { + _builder.setDataField< ::cereal::ControlsState::OpenpilotState>( + ::capnp::bounded<58>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::Reader::getVEgoRawDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<30>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::Builder::getVEgoRawDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<30>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setVEgoRawDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<30>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::Reader::getUfAccelCmd() const { + return _reader.getDataField( + ::capnp::bounded<31>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::Builder::getUfAccelCmd() { + return _builder.getDataField( + ::capnp::bounded<31>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setUfAccelCmd(float value) { + _builder.setDataField( + ::capnp::bounded<31>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::Reader::getUfSteerDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<32>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::Builder::getUfSteerDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<32>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setUfSteerDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<32>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::Reader::getATarget() const { + return _reader.getDataField( + ::capnp::bounded<33>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::Builder::getATarget() { + return _builder.getDataField( + ::capnp::bounded<33>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setATarget(float value) { + _builder.setDataField( + ::capnp::bounded<33>() * ::capnp::ELEMENTS, value); +} + +inline bool ControlsState::Reader::getActive() const { + return _reader.getDataField( + ::capnp::bounded<707>() * ::capnp::ELEMENTS); +} + +inline bool ControlsState::Builder::getActive() { + return _builder.getDataField( + ::capnp::bounded<707>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setActive(bool value) { + _builder.setDataField( + ::capnp::bounded<707>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::Reader::getCurvature() const { + return _reader.getDataField( + ::capnp::bounded<34>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::Builder::getCurvature() { + return _builder.getDataField( + ::capnp::bounded<34>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setCurvature(float value) { + _builder.setDataField( + ::capnp::bounded<34>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::ControlsState::AlertStatus ControlsState::Reader::getAlertStatus() const { + return _reader.getDataField< ::cereal::ControlsState::AlertStatus>( + ::capnp::bounded<59>() * ::capnp::ELEMENTS); +} + +inline ::cereal::ControlsState::AlertStatus ControlsState::Builder::getAlertStatus() { + return _builder.getDataField< ::cereal::ControlsState::AlertStatus>( + ::capnp::bounded<59>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setAlertStatus( ::cereal::ControlsState::AlertStatus value) { + _builder.setDataField< ::cereal::ControlsState::AlertStatus>( + ::capnp::bounded<59>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::ControlsState::AlertSize ControlsState::Reader::getAlertSize() const { + return _reader.getDataField< ::cereal::ControlsState::AlertSize>( + ::capnp::bounded<70>() * ::capnp::ELEMENTS); +} + +inline ::cereal::ControlsState::AlertSize ControlsState::Builder::getAlertSize() { + return _builder.getDataField< ::cereal::ControlsState::AlertSize>( + ::capnp::bounded<70>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setAlertSize( ::cereal::ControlsState::AlertSize value) { + _builder.setDataField< ::cereal::ControlsState::AlertSize>( + ::capnp::bounded<70>() * ::capnp::ELEMENTS, value); +} + +inline bool ControlsState::Reader::getGpsPlannerActiveDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<708>() * ::capnp::ELEMENTS); +} + +inline bool ControlsState::Builder::getGpsPlannerActiveDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<708>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setGpsPlannerActiveDEPRECATED(bool value) { + _builder.setDataField( + ::capnp::bounded<708>() * ::capnp::ELEMENTS, value); +} + +inline bool ControlsState::Reader::getEngageable() const { + return _reader.getDataField( + ::capnp::bounded<709>() * ::capnp::ELEMENTS); +} + +inline bool ControlsState::Builder::getEngageable() { + return _builder.getDataField( + ::capnp::bounded<709>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setEngageable(bool value) { + _builder.setDataField( + ::capnp::bounded<709>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::Reader::getAlertBlinkingRate() const { + return _reader.getDataField( + ::capnp::bounded<36>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::Builder::getAlertBlinkingRate() { + return _builder.getDataField( + ::capnp::bounded<36>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setAlertBlinkingRate(float value) { + _builder.setDataField( + ::capnp::bounded<36>() * ::capnp::ELEMENTS, value); +} + +inline bool ControlsState::Reader::getDriverMonitoringOnDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<710>() * ::capnp::ELEMENTS); +} + +inline bool ControlsState::Builder::getDriverMonitoringOnDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<710>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setDriverMonitoringOnDEPRECATED(bool value) { + _builder.setDataField( + ::capnp::bounded<710>() * ::capnp::ELEMENTS, value); +} + +inline bool ControlsState::Reader::hasAlertType() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool ControlsState::Builder::hasAlertType() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader ControlsState::Reader::getAlertType() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder ControlsState::Builder::getAlertType() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void ControlsState::Builder::setAlertType( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder ControlsState::Builder::initAlertType(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), size); +} +inline void ControlsState::Builder::adoptAlertType( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> ControlsState::Builder::disownAlertType() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline bool ControlsState::Reader::hasAlertSoundDEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline bool ControlsState::Builder::hasAlertSoundDEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader ControlsState::Reader::getAlertSoundDEPRECATED() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder ControlsState::Builder::getAlertSoundDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline void ControlsState::Builder::setAlertSoundDEPRECATED( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder ControlsState::Builder::initAlertSoundDEPRECATED(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), size); +} +inline void ControlsState::Builder::adoptAlertSoundDEPRECATED( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> ControlsState::Builder::disownAlertSoundDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} + +inline float ControlsState::Reader::getVCurvatureDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<37>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::Builder::getVCurvatureDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<37>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setVCurvatureDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<37>() * ::capnp::ELEMENTS, value); +} + +inline bool ControlsState::Reader::getDecelForTurnDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<711>() * ::capnp::ELEMENTS); +} + +inline bool ControlsState::Builder::getDecelForTurnDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<711>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setDecelForTurnDEPRECATED(bool value) { + _builder.setDataField( + ::capnp::bounded<711>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t ControlsState::Reader::getStartMonoTime() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<19>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t ControlsState::Builder::getStartMonoTime() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<19>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setStartMonoTime( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<19>() * ::capnp::ELEMENTS, value); +} + +inline bool ControlsState::Reader::getMapValidDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<712>() * ::capnp::ELEMENTS); +} + +inline bool ControlsState::Builder::getMapValidDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<712>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setMapValidDEPRECATED(bool value) { + _builder.setDataField( + ::capnp::bounded<712>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t ControlsState::Reader::getLateralPlanMonoTime() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<20>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t ControlsState::Builder::getLateralPlanMonoTime() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<20>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setLateralPlanMonoTime( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<20>() * ::capnp::ELEMENTS, value); +} + +inline bool ControlsState::Reader::getForceDecel() const { + return _reader.getDataField( + ::capnp::bounded<713>() * ::capnp::ELEMENTS); +} + +inline bool ControlsState::Builder::getForceDecel() { + return _builder.getDataField( + ::capnp::bounded<713>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setForceDecel(bool value) { + _builder.setDataField( + ::capnp::bounded<713>() * ::capnp::ELEMENTS, value); +} + +inline typename ControlsState::LateralControlState::Reader ControlsState::Reader::getLateralControlState() const { + return typename ControlsState::LateralControlState::Reader(_reader); +} +inline typename ControlsState::LateralControlState::Builder ControlsState::Builder::getLateralControlState() { + return typename ControlsState::LateralControlState::Builder(_builder); +} +#if !CAPNP_LITE +inline typename ControlsState::LateralControlState::Pipeline ControlsState::Pipeline::getLateralControlState() { + return typename ControlsState::LateralControlState::Pipeline(_typeless.noop()); +} +#endif // !CAPNP_LITE +inline typename ControlsState::LateralControlState::Builder ControlsState::Builder::initLateralControlState() { + _builder.setDataField< ::uint16_t>(::capnp::bounded<71>() * ::capnp::ELEMENTS, 0); + _builder.getPointerField(::capnp::bounded<5>() * ::capnp::POINTERS).clear(); + return typename ControlsState::LateralControlState::Builder(_builder); +} +inline bool ControlsState::Reader::getDecelForModelDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<714>() * ::capnp::ELEMENTS); +} + +inline bool ControlsState::Builder::getDecelForModelDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<714>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setDecelForModelDEPRECATED(bool value) { + _builder.setDataField( + ::capnp::bounded<714>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::CarControl::HUDControl::AudibleAlert ControlsState::Reader::getAlertSound() const { + return _reader.getDataField< ::cereal::CarControl::HUDControl::AudibleAlert>( + ::capnp::bounded<84>() * ::capnp::ELEMENTS); +} + +inline ::cereal::CarControl::HUDControl::AudibleAlert ControlsState::Builder::getAlertSound() { + return _builder.getDataField< ::cereal::CarControl::HUDControl::AudibleAlert>( + ::capnp::bounded<84>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setAlertSound( ::cereal::CarControl::HUDControl::AudibleAlert value) { + _builder.setDataField< ::cereal::CarControl::HUDControl::AudibleAlert>( + ::capnp::bounded<84>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t ControlsState::Reader::getCanErrorCounterDEPRECATED() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<43>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t ControlsState::Builder::getCanErrorCounterDEPRECATED() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<43>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setCanErrorCounterDEPRECATED( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<43>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::Reader::getDesiredCurvature() const { + return _reader.getDataField( + ::capnp::bounded<44>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::Builder::getDesiredCurvature() { + return _builder.getDataField( + ::capnp::bounded<44>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setDesiredCurvature(float value) { + _builder.setDataField( + ::capnp::bounded<44>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::Reader::getDesiredCurvatureRateDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<45>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::Builder::getDesiredCurvatureRateDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<45>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setDesiredCurvatureRateDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<45>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::Reader::getVCruiseCluster() const { + return _reader.getDataField( + ::capnp::bounded<46>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::Builder::getVCruiseCluster() { + return _builder.getDataField( + ::capnp::bounded<46>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setVCruiseCluster(float value) { + _builder.setDataField( + ::capnp::bounded<46>() * ::capnp::ELEMENTS, value); +} + +inline bool ControlsState::Reader::getExperimentalMode() const { + return _reader.getDataField( + ::capnp::bounded<715>() * ::capnp::ELEMENTS); +} + +inline bool ControlsState::Builder::getExperimentalMode() { + return _builder.getDataField( + ::capnp::bounded<715>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setExperimentalMode(bool value) { + _builder.setDataField( + ::capnp::bounded<715>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::LongitudinalPersonality ControlsState::Reader::getPersonality() const { + return _reader.getDataField< ::cereal::LongitudinalPersonality>( + ::capnp::bounded<85>() * ::capnp::ELEMENTS); +} + +inline ::cereal::LongitudinalPersonality ControlsState::Builder::getPersonality() { + return _builder.getDataField< ::cereal::LongitudinalPersonality>( + ::capnp::bounded<85>() * ::capnp::ELEMENTS); +} +inline void ControlsState::Builder::setPersonality( ::cereal::LongitudinalPersonality value) { + _builder.setDataField< ::cereal::LongitudinalPersonality>( + ::capnp::bounded<85>() * ::capnp::ELEMENTS, value); +} + +inline bool ControlsState::LateralINDIState::Reader::getActive() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline bool ControlsState::LateralINDIState::Builder::getActive() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralINDIState::Builder::setActive(bool value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::LateralINDIState::Reader::getSteeringAngleDeg() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::LateralINDIState::Builder::getSteeringAngleDeg() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralINDIState::Builder::setSteeringAngleDeg(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::LateralINDIState::Reader::getSteeringRateDeg() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::LateralINDIState::Builder::getSteeringRateDeg() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralINDIState::Builder::setSteeringRateDeg(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::LateralINDIState::Reader::getSteeringAccelDeg() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::LateralINDIState::Builder::getSteeringAccelDeg() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralINDIState::Builder::setSteeringAccelDeg(float value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::LateralINDIState::Reader::getRateSetPoint() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::LateralINDIState::Builder::getRateSetPoint() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralINDIState::Builder::setRateSetPoint(float value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::LateralINDIState::Reader::getAccelSetPoint() const { + return _reader.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::LateralINDIState::Builder::getAccelSetPoint() { + return _builder.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralINDIState::Builder::setAccelSetPoint(float value) { + _builder.setDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::LateralINDIState::Reader::getAccelError() const { + return _reader.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::LateralINDIState::Builder::getAccelError() { + return _builder.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralINDIState::Builder::setAccelError(float value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::LateralINDIState::Reader::getDelayedOutput() const { + return _reader.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::LateralINDIState::Builder::getDelayedOutput() { + return _builder.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralINDIState::Builder::setDelayedOutput(float value) { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::LateralINDIState::Reader::getDelta() const { + return _reader.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::LateralINDIState::Builder::getDelta() { + return _builder.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralINDIState::Builder::setDelta(float value) { + _builder.setDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::LateralINDIState::Reader::getOutput() const { + return _reader.getDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::LateralINDIState::Builder::getOutput() { + return _builder.getDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralINDIState::Builder::setOutput(float value) { + _builder.setDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS, value); +} + +inline bool ControlsState::LateralINDIState::Reader::getSaturated() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline bool ControlsState::LateralINDIState::Builder::getSaturated() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralINDIState::Builder::setSaturated(bool value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::LateralINDIState::Reader::getSteeringAngleDesiredDeg() const { + return _reader.getDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::LateralINDIState::Builder::getSteeringAngleDesiredDeg() { + return _builder.getDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralINDIState::Builder::setSteeringAngleDesiredDeg(float value) { + _builder.setDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::LateralINDIState::Reader::getSteeringRateDesiredDeg() const { + return _reader.getDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::LateralINDIState::Builder::getSteeringRateDesiredDeg() { + return _builder.getDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralINDIState::Builder::setSteeringRateDesiredDeg(float value) { + _builder.setDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS, value); +} + +inline bool ControlsState::LateralPIDState::Reader::getActive() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline bool ControlsState::LateralPIDState::Builder::getActive() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralPIDState::Builder::setActive(bool value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::LateralPIDState::Reader::getSteeringAngleDeg() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::LateralPIDState::Builder::getSteeringAngleDeg() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralPIDState::Builder::setSteeringAngleDeg(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::LateralPIDState::Reader::getSteeringRateDeg() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::LateralPIDState::Builder::getSteeringRateDeg() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralPIDState::Builder::setSteeringRateDeg(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::LateralPIDState::Reader::getAngleError() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::LateralPIDState::Builder::getAngleError() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralPIDState::Builder::setAngleError(float value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::LateralPIDState::Reader::getP() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::LateralPIDState::Builder::getP() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralPIDState::Builder::setP(float value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::LateralPIDState::Reader::getI() const { + return _reader.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::LateralPIDState::Builder::getI() { + return _builder.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralPIDState::Builder::setI(float value) { + _builder.setDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::LateralPIDState::Reader::getF() const { + return _reader.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::LateralPIDState::Builder::getF() { + return _builder.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralPIDState::Builder::setF(float value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::LateralPIDState::Reader::getOutput() const { + return _reader.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::LateralPIDState::Builder::getOutput() { + return _builder.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralPIDState::Builder::setOutput(float value) { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline bool ControlsState::LateralPIDState::Reader::getSaturated() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline bool ControlsState::LateralPIDState::Builder::getSaturated() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralPIDState::Builder::setSaturated(bool value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::LateralPIDState::Reader::getSteeringAngleDesiredDeg() const { + return _reader.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::LateralPIDState::Builder::getSteeringAngleDesiredDeg() { + return _builder.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralPIDState::Builder::setSteeringAngleDesiredDeg(float value) { + _builder.setDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline bool ControlsState::LateralTorqueState::Reader::getActive() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline bool ControlsState::LateralTorqueState::Builder::getActive() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralTorqueState::Builder::setActive(bool value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::LateralTorqueState::Reader::getError() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::LateralTorqueState::Builder::getError() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralTorqueState::Builder::setError(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::LateralTorqueState::Reader::getP() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::LateralTorqueState::Builder::getP() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralTorqueState::Builder::setP(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::LateralTorqueState::Reader::getI() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::LateralTorqueState::Builder::getI() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralTorqueState::Builder::setI(float value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::LateralTorqueState::Reader::getD() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::LateralTorqueState::Builder::getD() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralTorqueState::Builder::setD(float value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::LateralTorqueState::Reader::getF() const { + return _reader.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::LateralTorqueState::Builder::getF() { + return _builder.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralTorqueState::Builder::setF(float value) { + _builder.setDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::LateralTorqueState::Reader::getOutput() const { + return _reader.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::LateralTorqueState::Builder::getOutput() { + return _builder.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralTorqueState::Builder::setOutput(float value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline bool ControlsState::LateralTorqueState::Reader::getSaturated() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline bool ControlsState::LateralTorqueState::Builder::getSaturated() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralTorqueState::Builder::setSaturated(bool value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::LateralTorqueState::Reader::getErrorRate() const { + return _reader.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::LateralTorqueState::Builder::getErrorRate() { + return _builder.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralTorqueState::Builder::setErrorRate(float value) { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::LateralTorqueState::Reader::getActualLateralAccel() const { + return _reader.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::LateralTorqueState::Builder::getActualLateralAccel() { + return _builder.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralTorqueState::Builder::setActualLateralAccel(float value) { + _builder.setDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::LateralTorqueState::Reader::getDesiredLateralAccel() const { + return _reader.getDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::LateralTorqueState::Builder::getDesiredLateralAccel() { + return _builder.getDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralTorqueState::Builder::setDesiredLateralAccel(float value) { + _builder.setDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS, value); +} + +inline bool ControlsState::LateralLQRState::Reader::getActive() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline bool ControlsState::LateralLQRState::Builder::getActive() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralLQRState::Builder::setActive(bool value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::LateralLQRState::Reader::getSteeringAngleDeg() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::LateralLQRState::Builder::getSteeringAngleDeg() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralLQRState::Builder::setSteeringAngleDeg(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::LateralLQRState::Reader::getI() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::LateralLQRState::Builder::getI() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralLQRState::Builder::setI(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::LateralLQRState::Reader::getOutput() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::LateralLQRState::Builder::getOutput() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralLQRState::Builder::setOutput(float value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::LateralLQRState::Reader::getLqrOutput() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::LateralLQRState::Builder::getLqrOutput() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralLQRState::Builder::setLqrOutput(float value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline bool ControlsState::LateralLQRState::Reader::getSaturated() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline bool ControlsState::LateralLQRState::Builder::getSaturated() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralLQRState::Builder::setSaturated(bool value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::LateralLQRState::Reader::getSteeringAngleDesiredDeg() const { + return _reader.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::LateralLQRState::Builder::getSteeringAngleDesiredDeg() { + return _builder.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralLQRState::Builder::setSteeringAngleDesiredDeg(float value) { + _builder.setDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline bool ControlsState::LateralAngleState::Reader::getActive() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline bool ControlsState::LateralAngleState::Builder::getActive() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralAngleState::Builder::setActive(bool value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::LateralAngleState::Reader::getSteeringAngleDeg() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::LateralAngleState::Builder::getSteeringAngleDeg() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralAngleState::Builder::setSteeringAngleDeg(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::LateralAngleState::Reader::getOutput() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::LateralAngleState::Builder::getOutput() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralAngleState::Builder::setOutput(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline bool ControlsState::LateralAngleState::Reader::getSaturated() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline bool ControlsState::LateralAngleState::Builder::getSaturated() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralAngleState::Builder::setSaturated(bool value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::LateralAngleState::Reader::getSteeringAngleDesiredDeg() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::LateralAngleState::Builder::getSteeringAngleDesiredDeg() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralAngleState::Builder::setSteeringAngleDesiredDeg(float value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline bool ControlsState::LateralCurvatureState::Reader::getActive() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline bool ControlsState::LateralCurvatureState::Builder::getActive() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralCurvatureState::Builder::setActive(bool value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::LateralCurvatureState::Reader::getActualCurvature() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::LateralCurvatureState::Builder::getActualCurvature() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralCurvatureState::Builder::setActualCurvature(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::LateralCurvatureState::Reader::getDesiredCurvature() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::LateralCurvatureState::Builder::getDesiredCurvature() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralCurvatureState::Builder::setDesiredCurvature(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::LateralCurvatureState::Reader::getError() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::LateralCurvatureState::Builder::getError() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralCurvatureState::Builder::setError(float value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::LateralCurvatureState::Reader::getP() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::LateralCurvatureState::Builder::getP() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralCurvatureState::Builder::setP(float value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::LateralCurvatureState::Reader::getI() const { + return _reader.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::LateralCurvatureState::Builder::getI() { + return _builder.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralCurvatureState::Builder::setI(float value) { + _builder.setDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::LateralCurvatureState::Reader::getF() const { + return _reader.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::LateralCurvatureState::Builder::getF() { + return _builder.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralCurvatureState::Builder::setF(float value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::LateralCurvatureState::Reader::getOutput() const { + return _reader.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::LateralCurvatureState::Builder::getOutput() { + return _builder.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralCurvatureState::Builder::setOutput(float value) { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline bool ControlsState::LateralCurvatureState::Reader::getSaturated() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline bool ControlsState::LateralCurvatureState::Builder::getSaturated() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralCurvatureState::Builder::setSaturated(bool value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool ControlsState::LateralDebugState::Reader::getActive() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline bool ControlsState::LateralDebugState::Builder::getActive() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralDebugState::Builder::setActive(bool value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::LateralDebugState::Reader::getSteeringAngleDeg() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::LateralDebugState::Builder::getSteeringAngleDeg() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralDebugState::Builder::setSteeringAngleDeg(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float ControlsState::LateralDebugState::Reader::getOutput() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::LateralDebugState::Builder::getOutput() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralDebugState::Builder::setOutput(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline bool ControlsState::LateralDebugState::Reader::getSaturated() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline bool ControlsState::LateralDebugState::Builder::getSaturated() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralDebugState::Builder::setSaturated(bool value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::ControlsState::LateralControlState::Which ControlsState::LateralControlState::Reader::which() const { + return _reader.getDataField( + ::capnp::bounded<71>() * ::capnp::ELEMENTS); +} +inline ::cereal::ControlsState::LateralControlState::Which ControlsState::LateralControlState::Builder::which() { + return _builder.getDataField( + ::capnp::bounded<71>() * ::capnp::ELEMENTS); +} + +inline bool ControlsState::LateralControlState::Reader::isIndiState() const { + return which() == ControlsState::LateralControlState::INDI_STATE; +} +inline bool ControlsState::LateralControlState::Builder::isIndiState() { + return which() == ControlsState::LateralControlState::INDI_STATE; +} +inline bool ControlsState::LateralControlState::Reader::hasIndiState() const { + if (which() != ControlsState::LateralControlState::INDI_STATE) return false; + return !_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline bool ControlsState::LateralControlState::Builder::hasIndiState() { + if (which() != ControlsState::LateralControlState::INDI_STATE) return false; + return !_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::ControlsState::LateralINDIState::Reader ControlsState::LateralControlState::Reader::getIndiState() const { + KJ_IREQUIRE((which() == ControlsState::LateralControlState::INDI_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralINDIState>::get(_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline ::cereal::ControlsState::LateralINDIState::Builder ControlsState::LateralControlState::Builder::getIndiState() { + KJ_IREQUIRE((which() == ControlsState::LateralControlState::INDI_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralINDIState>::get(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline void ControlsState::LateralControlState::Builder::setIndiState( ::cereal::ControlsState::LateralINDIState::Reader value) { + _builder.setDataField( + ::capnp::bounded<71>() * ::capnp::ELEMENTS, ControlsState::LateralControlState::INDI_STATE); + ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralINDIState>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline ::cereal::ControlsState::LateralINDIState::Builder ControlsState::LateralControlState::Builder::initIndiState() { + _builder.setDataField( + ::capnp::bounded<71>() * ::capnp::ELEMENTS, ControlsState::LateralControlState::INDI_STATE); + return ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralINDIState>::init(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline void ControlsState::LateralControlState::Builder::adoptIndiState( + ::capnp::Orphan< ::cereal::ControlsState::LateralINDIState>&& value) { + _builder.setDataField( + ::capnp::bounded<71>() * ::capnp::ELEMENTS, ControlsState::LateralControlState::INDI_STATE); + ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralINDIState>::adopt(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::ControlsState::LateralINDIState> ControlsState::LateralControlState::Builder::disownIndiState() { + KJ_IREQUIRE((which() == ControlsState::LateralControlState::INDI_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralINDIState>::disown(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} + +inline bool ControlsState::LateralControlState::Reader::isPidState() const { + return which() == ControlsState::LateralControlState::PID_STATE; +} +inline bool ControlsState::LateralControlState::Builder::isPidState() { + return which() == ControlsState::LateralControlState::PID_STATE; +} +inline bool ControlsState::LateralControlState::Reader::hasPidState() const { + if (which() != ControlsState::LateralControlState::PID_STATE) return false; + return !_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline bool ControlsState::LateralControlState::Builder::hasPidState() { + if (which() != ControlsState::LateralControlState::PID_STATE) return false; + return !_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::ControlsState::LateralPIDState::Reader ControlsState::LateralControlState::Reader::getPidState() const { + KJ_IREQUIRE((which() == ControlsState::LateralControlState::PID_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralPIDState>::get(_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline ::cereal::ControlsState::LateralPIDState::Builder ControlsState::LateralControlState::Builder::getPidState() { + KJ_IREQUIRE((which() == ControlsState::LateralControlState::PID_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralPIDState>::get(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline void ControlsState::LateralControlState::Builder::setPidState( ::cereal::ControlsState::LateralPIDState::Reader value) { + _builder.setDataField( + ::capnp::bounded<71>() * ::capnp::ELEMENTS, ControlsState::LateralControlState::PID_STATE); + ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralPIDState>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline ::cereal::ControlsState::LateralPIDState::Builder ControlsState::LateralControlState::Builder::initPidState() { + _builder.setDataField( + ::capnp::bounded<71>() * ::capnp::ELEMENTS, ControlsState::LateralControlState::PID_STATE); + return ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralPIDState>::init(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline void ControlsState::LateralControlState::Builder::adoptPidState( + ::capnp::Orphan< ::cereal::ControlsState::LateralPIDState>&& value) { + _builder.setDataField( + ::capnp::bounded<71>() * ::capnp::ELEMENTS, ControlsState::LateralControlState::PID_STATE); + ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralPIDState>::adopt(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::ControlsState::LateralPIDState> ControlsState::LateralControlState::Builder::disownPidState() { + KJ_IREQUIRE((which() == ControlsState::LateralControlState::PID_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralPIDState>::disown(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} + +inline bool ControlsState::LateralControlState::Reader::isLqrStateDEPRECATED() const { + return which() == ControlsState::LateralControlState::LQR_STATE_D_E_P_R_E_C_A_T_E_D; +} +inline bool ControlsState::LateralControlState::Builder::isLqrStateDEPRECATED() { + return which() == ControlsState::LateralControlState::LQR_STATE_D_E_P_R_E_C_A_T_E_D; +} +inline bool ControlsState::LateralControlState::Reader::hasLqrStateDEPRECATED() const { + if (which() != ControlsState::LateralControlState::LQR_STATE_D_E_P_R_E_C_A_T_E_D) return false; + return !_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline bool ControlsState::LateralControlState::Builder::hasLqrStateDEPRECATED() { + if (which() != ControlsState::LateralControlState::LQR_STATE_D_E_P_R_E_C_A_T_E_D) return false; + return !_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::ControlsState::LateralLQRState::Reader ControlsState::LateralControlState::Reader::getLqrStateDEPRECATED() const { + KJ_IREQUIRE((which() == ControlsState::LateralControlState::LQR_STATE_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralLQRState>::get(_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline ::cereal::ControlsState::LateralLQRState::Builder ControlsState::LateralControlState::Builder::getLqrStateDEPRECATED() { + KJ_IREQUIRE((which() == ControlsState::LateralControlState::LQR_STATE_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralLQRState>::get(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline void ControlsState::LateralControlState::Builder::setLqrStateDEPRECATED( ::cereal::ControlsState::LateralLQRState::Reader value) { + _builder.setDataField( + ::capnp::bounded<71>() * ::capnp::ELEMENTS, ControlsState::LateralControlState::LQR_STATE_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralLQRState>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline ::cereal::ControlsState::LateralLQRState::Builder ControlsState::LateralControlState::Builder::initLqrStateDEPRECATED() { + _builder.setDataField( + ::capnp::bounded<71>() * ::capnp::ELEMENTS, ControlsState::LateralControlState::LQR_STATE_D_E_P_R_E_C_A_T_E_D); + return ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralLQRState>::init(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline void ControlsState::LateralControlState::Builder::adoptLqrStateDEPRECATED( + ::capnp::Orphan< ::cereal::ControlsState::LateralLQRState>&& value) { + _builder.setDataField( + ::capnp::bounded<71>() * ::capnp::ELEMENTS, ControlsState::LateralControlState::LQR_STATE_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralLQRState>::adopt(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::ControlsState::LateralLQRState> ControlsState::LateralControlState::Builder::disownLqrStateDEPRECATED() { + KJ_IREQUIRE((which() == ControlsState::LateralControlState::LQR_STATE_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralLQRState>::disown(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} + +inline bool ControlsState::LateralControlState::Reader::isAngleState() const { + return which() == ControlsState::LateralControlState::ANGLE_STATE; +} +inline bool ControlsState::LateralControlState::Builder::isAngleState() { + return which() == ControlsState::LateralControlState::ANGLE_STATE; +} +inline bool ControlsState::LateralControlState::Reader::hasAngleState() const { + if (which() != ControlsState::LateralControlState::ANGLE_STATE) return false; + return !_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline bool ControlsState::LateralControlState::Builder::hasAngleState() { + if (which() != ControlsState::LateralControlState::ANGLE_STATE) return false; + return !_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::ControlsState::LateralAngleState::Reader ControlsState::LateralControlState::Reader::getAngleState() const { + KJ_IREQUIRE((which() == ControlsState::LateralControlState::ANGLE_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralAngleState>::get(_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline ::cereal::ControlsState::LateralAngleState::Builder ControlsState::LateralControlState::Builder::getAngleState() { + KJ_IREQUIRE((which() == ControlsState::LateralControlState::ANGLE_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralAngleState>::get(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline void ControlsState::LateralControlState::Builder::setAngleState( ::cereal::ControlsState::LateralAngleState::Reader value) { + _builder.setDataField( + ::capnp::bounded<71>() * ::capnp::ELEMENTS, ControlsState::LateralControlState::ANGLE_STATE); + ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralAngleState>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline ::cereal::ControlsState::LateralAngleState::Builder ControlsState::LateralControlState::Builder::initAngleState() { + _builder.setDataField( + ::capnp::bounded<71>() * ::capnp::ELEMENTS, ControlsState::LateralControlState::ANGLE_STATE); + return ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralAngleState>::init(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline void ControlsState::LateralControlState::Builder::adoptAngleState( + ::capnp::Orphan< ::cereal::ControlsState::LateralAngleState>&& value) { + _builder.setDataField( + ::capnp::bounded<71>() * ::capnp::ELEMENTS, ControlsState::LateralControlState::ANGLE_STATE); + ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralAngleState>::adopt(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::ControlsState::LateralAngleState> ControlsState::LateralControlState::Builder::disownAngleState() { + KJ_IREQUIRE((which() == ControlsState::LateralControlState::ANGLE_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralAngleState>::disown(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} + +inline bool ControlsState::LateralControlState::Reader::isDebugState() const { + return which() == ControlsState::LateralControlState::DEBUG_STATE; +} +inline bool ControlsState::LateralControlState::Builder::isDebugState() { + return which() == ControlsState::LateralControlState::DEBUG_STATE; +} +inline bool ControlsState::LateralControlState::Reader::hasDebugState() const { + if (which() != ControlsState::LateralControlState::DEBUG_STATE) return false; + return !_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline bool ControlsState::LateralControlState::Builder::hasDebugState() { + if (which() != ControlsState::LateralControlState::DEBUG_STATE) return false; + return !_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::ControlsState::LateralDebugState::Reader ControlsState::LateralControlState::Reader::getDebugState() const { + KJ_IREQUIRE((which() == ControlsState::LateralControlState::DEBUG_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralDebugState>::get(_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline ::cereal::ControlsState::LateralDebugState::Builder ControlsState::LateralControlState::Builder::getDebugState() { + KJ_IREQUIRE((which() == ControlsState::LateralControlState::DEBUG_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralDebugState>::get(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline void ControlsState::LateralControlState::Builder::setDebugState( ::cereal::ControlsState::LateralDebugState::Reader value) { + _builder.setDataField( + ::capnp::bounded<71>() * ::capnp::ELEMENTS, ControlsState::LateralControlState::DEBUG_STATE); + ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralDebugState>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline ::cereal::ControlsState::LateralDebugState::Builder ControlsState::LateralControlState::Builder::initDebugState() { + _builder.setDataField( + ::capnp::bounded<71>() * ::capnp::ELEMENTS, ControlsState::LateralControlState::DEBUG_STATE); + return ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralDebugState>::init(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline void ControlsState::LateralControlState::Builder::adoptDebugState( + ::capnp::Orphan< ::cereal::ControlsState::LateralDebugState>&& value) { + _builder.setDataField( + ::capnp::bounded<71>() * ::capnp::ELEMENTS, ControlsState::LateralControlState::DEBUG_STATE); + ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralDebugState>::adopt(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::ControlsState::LateralDebugState> ControlsState::LateralControlState::Builder::disownDebugState() { + KJ_IREQUIRE((which() == ControlsState::LateralControlState::DEBUG_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralDebugState>::disown(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} + +inline bool ControlsState::LateralControlState::Reader::isTorqueState() const { + return which() == ControlsState::LateralControlState::TORQUE_STATE; +} +inline bool ControlsState::LateralControlState::Builder::isTorqueState() { + return which() == ControlsState::LateralControlState::TORQUE_STATE; +} +inline bool ControlsState::LateralControlState::Reader::hasTorqueState() const { + if (which() != ControlsState::LateralControlState::TORQUE_STATE) return false; + return !_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline bool ControlsState::LateralControlState::Builder::hasTorqueState() { + if (which() != ControlsState::LateralControlState::TORQUE_STATE) return false; + return !_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::ControlsState::LateralTorqueState::Reader ControlsState::LateralControlState::Reader::getTorqueState() const { + KJ_IREQUIRE((which() == ControlsState::LateralControlState::TORQUE_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralTorqueState>::get(_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline ::cereal::ControlsState::LateralTorqueState::Builder ControlsState::LateralControlState::Builder::getTorqueState() { + KJ_IREQUIRE((which() == ControlsState::LateralControlState::TORQUE_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralTorqueState>::get(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline void ControlsState::LateralControlState::Builder::setTorqueState( ::cereal::ControlsState::LateralTorqueState::Reader value) { + _builder.setDataField( + ::capnp::bounded<71>() * ::capnp::ELEMENTS, ControlsState::LateralControlState::TORQUE_STATE); + ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralTorqueState>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline ::cereal::ControlsState::LateralTorqueState::Builder ControlsState::LateralControlState::Builder::initTorqueState() { + _builder.setDataField( + ::capnp::bounded<71>() * ::capnp::ELEMENTS, ControlsState::LateralControlState::TORQUE_STATE); + return ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralTorqueState>::init(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline void ControlsState::LateralControlState::Builder::adoptTorqueState( + ::capnp::Orphan< ::cereal::ControlsState::LateralTorqueState>&& value) { + _builder.setDataField( + ::capnp::bounded<71>() * ::capnp::ELEMENTS, ControlsState::LateralControlState::TORQUE_STATE); + ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralTorqueState>::adopt(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::ControlsState::LateralTorqueState> ControlsState::LateralControlState::Builder::disownTorqueState() { + KJ_IREQUIRE((which() == ControlsState::LateralControlState::TORQUE_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralTorqueState>::disown(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} + +inline bool ControlsState::LateralControlState::Reader::isCurvatureStateDEPRECATED() const { + return which() == ControlsState::LateralControlState::CURVATURE_STATE_D_E_P_R_E_C_A_T_E_D; +} +inline bool ControlsState::LateralControlState::Builder::isCurvatureStateDEPRECATED() { + return which() == ControlsState::LateralControlState::CURVATURE_STATE_D_E_P_R_E_C_A_T_E_D; +} +inline bool ControlsState::LateralControlState::Reader::hasCurvatureStateDEPRECATED() const { + if (which() != ControlsState::LateralControlState::CURVATURE_STATE_D_E_P_R_E_C_A_T_E_D) return false; + return !_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline bool ControlsState::LateralControlState::Builder::hasCurvatureStateDEPRECATED() { + if (which() != ControlsState::LateralControlState::CURVATURE_STATE_D_E_P_R_E_C_A_T_E_D) return false; + return !_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::ControlsState::LateralCurvatureState::Reader ControlsState::LateralControlState::Reader::getCurvatureStateDEPRECATED() const { + KJ_IREQUIRE((which() == ControlsState::LateralControlState::CURVATURE_STATE_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralCurvatureState>::get(_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline ::cereal::ControlsState::LateralCurvatureState::Builder ControlsState::LateralControlState::Builder::getCurvatureStateDEPRECATED() { + KJ_IREQUIRE((which() == ControlsState::LateralControlState::CURVATURE_STATE_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralCurvatureState>::get(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline void ControlsState::LateralControlState::Builder::setCurvatureStateDEPRECATED( ::cereal::ControlsState::LateralCurvatureState::Reader value) { + _builder.setDataField( + ::capnp::bounded<71>() * ::capnp::ELEMENTS, ControlsState::LateralControlState::CURVATURE_STATE_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralCurvatureState>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline ::cereal::ControlsState::LateralCurvatureState::Builder ControlsState::LateralControlState::Builder::initCurvatureStateDEPRECATED() { + _builder.setDataField( + ::capnp::bounded<71>() * ::capnp::ELEMENTS, ControlsState::LateralControlState::CURVATURE_STATE_D_E_P_R_E_C_A_T_E_D); + return ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralCurvatureState>::init(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline void ControlsState::LateralControlState::Builder::adoptCurvatureStateDEPRECATED( + ::capnp::Orphan< ::cereal::ControlsState::LateralCurvatureState>&& value) { + _builder.setDataField( + ::capnp::bounded<71>() * ::capnp::ELEMENTS, ControlsState::LateralControlState::CURVATURE_STATE_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralCurvatureState>::adopt(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::ControlsState::LateralCurvatureState> ControlsState::LateralControlState::Builder::disownCurvatureStateDEPRECATED() { + KJ_IREQUIRE((which() == ControlsState::LateralControlState::CURVATURE_STATE_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralCurvatureState>::disown(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} + +inline ::uint32_t DrivingModelData::Reader::getFrameId() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t DrivingModelData::Builder::getFrameId() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void DrivingModelData::Builder::setFrameId( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t DrivingModelData::Reader::getFrameIdExtra() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t DrivingModelData::Builder::getFrameIdExtra() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void DrivingModelData::Builder::setFrameIdExtra( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool DrivingModelData::Reader::hasAction() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool DrivingModelData::Builder::hasAction() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::ModelDataV2::Action::Reader DrivingModelData::Reader::getAction() const { + return ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::Action>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::ModelDataV2::Action::Builder DrivingModelData::Builder::getAction() { + return ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::Action>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::ModelDataV2::Action::Pipeline DrivingModelData::Pipeline::getAction() { + return ::cereal::ModelDataV2::Action::Pipeline(_typeless.getPointerField(0)); +} +#endif // !CAPNP_LITE +inline void DrivingModelData::Builder::setAction( ::cereal::ModelDataV2::Action::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::Action>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::ModelDataV2::Action::Builder DrivingModelData::Builder::initAction() { + return ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::Action>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void DrivingModelData::Builder::adoptAction( + ::capnp::Orphan< ::cereal::ModelDataV2::Action>&& value) { + ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::Action>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::ModelDataV2::Action> DrivingModelData::Builder::disownAction() { + return ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::Action>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool DrivingModelData::Reader::hasLaneLineMeta() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool DrivingModelData::Builder::hasLaneLineMeta() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::DrivingModelData::LaneLineMeta::Reader DrivingModelData::Reader::getLaneLineMeta() const { + return ::capnp::_::PointerHelpers< ::cereal::DrivingModelData::LaneLineMeta>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::cereal::DrivingModelData::LaneLineMeta::Builder DrivingModelData::Builder::getLaneLineMeta() { + return ::capnp::_::PointerHelpers< ::cereal::DrivingModelData::LaneLineMeta>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::DrivingModelData::LaneLineMeta::Pipeline DrivingModelData::Pipeline::getLaneLineMeta() { + return ::cereal::DrivingModelData::LaneLineMeta::Pipeline(_typeless.getPointerField(1)); +} +#endif // !CAPNP_LITE +inline void DrivingModelData::Builder::setLaneLineMeta( ::cereal::DrivingModelData::LaneLineMeta::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::DrivingModelData::LaneLineMeta>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::cereal::DrivingModelData::LaneLineMeta::Builder DrivingModelData::Builder::initLaneLineMeta() { + return ::capnp::_::PointerHelpers< ::cereal::DrivingModelData::LaneLineMeta>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void DrivingModelData::Builder::adoptLaneLineMeta( + ::capnp::Orphan< ::cereal::DrivingModelData::LaneLineMeta>&& value) { + ::capnp::_::PointerHelpers< ::cereal::DrivingModelData::LaneLineMeta>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::DrivingModelData::LaneLineMeta> DrivingModelData::Builder::disownLaneLineMeta() { + return ::capnp::_::PointerHelpers< ::cereal::DrivingModelData::LaneLineMeta>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool DrivingModelData::Reader::hasMeta() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool DrivingModelData::Builder::hasMeta() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::DrivingModelData::MetaData::Reader DrivingModelData::Reader::getMeta() const { + return ::capnp::_::PointerHelpers< ::cereal::DrivingModelData::MetaData>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::cereal::DrivingModelData::MetaData::Builder DrivingModelData::Builder::getMeta() { + return ::capnp::_::PointerHelpers< ::cereal::DrivingModelData::MetaData>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::DrivingModelData::MetaData::Pipeline DrivingModelData::Pipeline::getMeta() { + return ::cereal::DrivingModelData::MetaData::Pipeline(_typeless.getPointerField(2)); +} +#endif // !CAPNP_LITE +inline void DrivingModelData::Builder::setMeta( ::cereal::DrivingModelData::MetaData::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::DrivingModelData::MetaData>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::cereal::DrivingModelData::MetaData::Builder DrivingModelData::Builder::initMeta() { + return ::capnp::_::PointerHelpers< ::cereal::DrivingModelData::MetaData>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void DrivingModelData::Builder::adoptMeta( + ::capnp::Orphan< ::cereal::DrivingModelData::MetaData>&& value) { + ::capnp::_::PointerHelpers< ::cereal::DrivingModelData::MetaData>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::DrivingModelData::MetaData> DrivingModelData::Builder::disownMeta() { + return ::capnp::_::PointerHelpers< ::cereal::DrivingModelData::MetaData>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline bool DrivingModelData::Reader::hasPath() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool DrivingModelData::Builder::hasPath() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::DrivingModelData::PolyPath::Reader DrivingModelData::Reader::getPath() const { + return ::capnp::_::PointerHelpers< ::cereal::DrivingModelData::PolyPath>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::cereal::DrivingModelData::PolyPath::Builder DrivingModelData::Builder::getPath() { + return ::capnp::_::PointerHelpers< ::cereal::DrivingModelData::PolyPath>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::DrivingModelData::PolyPath::Pipeline DrivingModelData::Pipeline::getPath() { + return ::cereal::DrivingModelData::PolyPath::Pipeline(_typeless.getPointerField(3)); +} +#endif // !CAPNP_LITE +inline void DrivingModelData::Builder::setPath( ::cereal::DrivingModelData::PolyPath::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::DrivingModelData::PolyPath>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::cereal::DrivingModelData::PolyPath::Builder DrivingModelData::Builder::initPath() { + return ::capnp::_::PointerHelpers< ::cereal::DrivingModelData::PolyPath>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void DrivingModelData::Builder::adoptPath( + ::capnp::Orphan< ::cereal::DrivingModelData::PolyPath>&& value) { + ::capnp::_::PointerHelpers< ::cereal::DrivingModelData::PolyPath>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::DrivingModelData::PolyPath> DrivingModelData::Builder::disownPath() { + return ::capnp::_::PointerHelpers< ::cereal::DrivingModelData::PolyPath>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline float DrivingModelData::Reader::getFrameDropPerc() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float DrivingModelData::Builder::getFrameDropPerc() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void DrivingModelData::Builder::setFrameDropPerc(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline bool DrivingModelData::PolyPath::Reader::hasXCoefficients() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool DrivingModelData::PolyPath::Builder::hasXCoefficients() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader DrivingModelData::PolyPath::Reader::getXCoefficients() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder DrivingModelData::PolyPath::Builder::getXCoefficients() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void DrivingModelData::PolyPath::Builder::setXCoefficients( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void DrivingModelData::PolyPath::Builder::setXCoefficients(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder DrivingModelData::PolyPath::Builder::initXCoefficients(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void DrivingModelData::PolyPath::Builder::adoptXCoefficients( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> DrivingModelData::PolyPath::Builder::disownXCoefficients() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool DrivingModelData::PolyPath::Reader::hasYCoefficients() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool DrivingModelData::PolyPath::Builder::hasYCoefficients() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader DrivingModelData::PolyPath::Reader::getYCoefficients() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder DrivingModelData::PolyPath::Builder::getYCoefficients() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void DrivingModelData::PolyPath::Builder::setYCoefficients( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void DrivingModelData::PolyPath::Builder::setYCoefficients(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder DrivingModelData::PolyPath::Builder::initYCoefficients(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void DrivingModelData::PolyPath::Builder::adoptYCoefficients( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> DrivingModelData::PolyPath::Builder::disownYCoefficients() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool DrivingModelData::PolyPath::Reader::hasZCoefficients() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool DrivingModelData::PolyPath::Builder::hasZCoefficients() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader DrivingModelData::PolyPath::Reader::getZCoefficients() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder DrivingModelData::PolyPath::Builder::getZCoefficients() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void DrivingModelData::PolyPath::Builder::setZCoefficients( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline void DrivingModelData::PolyPath::Builder::setZCoefficients(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder DrivingModelData::PolyPath::Builder::initZCoefficients(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void DrivingModelData::PolyPath::Builder::adoptZCoefficients( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> DrivingModelData::PolyPath::Builder::disownZCoefficients() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline float DrivingModelData::LaneLineMeta::Reader::getLeftY() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline float DrivingModelData::LaneLineMeta::Builder::getLeftY() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void DrivingModelData::LaneLineMeta::Builder::setLeftY(float value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline float DrivingModelData::LaneLineMeta::Reader::getRightY() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float DrivingModelData::LaneLineMeta::Builder::getRightY() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void DrivingModelData::LaneLineMeta::Builder::setRightY(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float DrivingModelData::LaneLineMeta::Reader::getLeftProb() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float DrivingModelData::LaneLineMeta::Builder::getLeftProb() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void DrivingModelData::LaneLineMeta::Builder::setLeftProb(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline float DrivingModelData::LaneLineMeta::Reader::getRightProb() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline float DrivingModelData::LaneLineMeta::Builder::getRightProb() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void DrivingModelData::LaneLineMeta::Builder::setRightProb(float value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::LaneChangeState DrivingModelData::MetaData::Reader::getLaneChangeState() const { + return _reader.getDataField< ::cereal::LaneChangeState>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::cereal::LaneChangeState DrivingModelData::MetaData::Builder::getLaneChangeState() { + return _builder.getDataField< ::cereal::LaneChangeState>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void DrivingModelData::MetaData::Builder::setLaneChangeState( ::cereal::LaneChangeState value) { + _builder.setDataField< ::cereal::LaneChangeState>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::LaneChangeDirection DrivingModelData::MetaData::Reader::getLaneChangeDirection() const { + return _reader.getDataField< ::cereal::LaneChangeDirection>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::cereal::LaneChangeDirection DrivingModelData::MetaData::Builder::getLaneChangeDirection() { + return _builder.getDataField< ::cereal::LaneChangeDirection>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void DrivingModelData::MetaData::Builder::setLaneChangeDirection( ::cereal::LaneChangeDirection value) { + _builder.setDataField< ::cereal::LaneChangeDirection>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool XYZTData::Reader::hasX() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool XYZTData::Builder::hasX() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader XYZTData::Reader::getX() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder XYZTData::Builder::getX() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void XYZTData::Builder::setX( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void XYZTData::Builder::setX(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder XYZTData::Builder::initX(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void XYZTData::Builder::adoptX( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> XYZTData::Builder::disownX() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool XYZTData::Reader::hasY() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool XYZTData::Builder::hasY() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader XYZTData::Reader::getY() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder XYZTData::Builder::getY() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void XYZTData::Builder::setY( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void XYZTData::Builder::setY(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder XYZTData::Builder::initY(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void XYZTData::Builder::adoptY( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> XYZTData::Builder::disownY() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool XYZTData::Reader::hasZ() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool XYZTData::Builder::hasZ() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader XYZTData::Reader::getZ() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder XYZTData::Builder::getZ() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void XYZTData::Builder::setZ( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline void XYZTData::Builder::setZ(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder XYZTData::Builder::initZ(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void XYZTData::Builder::adoptZ( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> XYZTData::Builder::disownZ() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline bool XYZTData::Reader::hasT() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool XYZTData::Builder::hasT() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader XYZTData::Reader::getT() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder XYZTData::Builder::getT() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void XYZTData::Builder::setT( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline void XYZTData::Builder::setT(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder XYZTData::Builder::initT(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), size); +} +inline void XYZTData::Builder::adoptT( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> XYZTData::Builder::disownT() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline bool XYZTData::Reader::hasXStd() const { + return !_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline bool XYZTData::Builder::hasXStd() { + return !_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader XYZTData::Reader::getXStd() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder XYZTData::Builder::getXStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline void XYZTData::Builder::setXStd( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline void XYZTData::Builder::setXStd(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder XYZTData::Builder::initXStd(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), size); +} +inline void XYZTData::Builder::adoptXStd( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> XYZTData::Builder::disownXStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} + +inline bool XYZTData::Reader::hasYStd() const { + return !_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline bool XYZTData::Builder::hasYStd() { + return !_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader XYZTData::Reader::getYStd() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder XYZTData::Builder::getYStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline void XYZTData::Builder::setYStd( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline void XYZTData::Builder::setYStd(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder XYZTData::Builder::initYStd(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), size); +} +inline void XYZTData::Builder::adoptYStd( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> XYZTData::Builder::disownYStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} + +inline bool XYZTData::Reader::hasZStd() const { + return !_reader.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS).isNull(); +} +inline bool XYZTData::Builder::hasZStd() { + return !_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader XYZTData::Reader::getZStd() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder XYZTData::Builder::getZStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} +inline void XYZTData::Builder::setZStd( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), value); +} +inline void XYZTData::Builder::setZStd(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder XYZTData::Builder::initZStd(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), size); +} +inline void XYZTData::Builder::adoptZStd( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> XYZTData::Builder::disownZStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} + +inline ::uint32_t ModelDataV2::Reader::getFrameId() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t ModelDataV2::Builder::getFrameId() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void ModelDataV2::Builder::setFrameId( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t ModelDataV2::Reader::getFrameAge() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t ModelDataV2::Builder::getFrameAge() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void ModelDataV2::Builder::setFrameAge( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float ModelDataV2::Reader::getFrameDropPerc() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float ModelDataV2::Builder::getFrameDropPerc() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void ModelDataV2::Builder::setFrameDropPerc(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t ModelDataV2::Reader::getTimestampEof() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t ModelDataV2::Builder::getTimestampEof() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void ModelDataV2::Builder::setTimestampEof( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline bool ModelDataV2::Reader::hasPosition() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::Builder::hasPosition() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::XYZTData::Reader ModelDataV2::Reader::getPosition() const { + return ::capnp::_::PointerHelpers< ::cereal::XYZTData>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::XYZTData::Builder ModelDataV2::Builder::getPosition() { + return ::capnp::_::PointerHelpers< ::cereal::XYZTData>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::XYZTData::Pipeline ModelDataV2::Pipeline::getPosition() { + return ::cereal::XYZTData::Pipeline(_typeless.getPointerField(0)); +} +#endif // !CAPNP_LITE +inline void ModelDataV2::Builder::setPosition( ::cereal::XYZTData::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::XYZTData>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::XYZTData::Builder ModelDataV2::Builder::initPosition() { + return ::capnp::_::PointerHelpers< ::cereal::XYZTData>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::Builder::adoptPosition( + ::capnp::Orphan< ::cereal::XYZTData>&& value) { + ::capnp::_::PointerHelpers< ::cereal::XYZTData>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::XYZTData> ModelDataV2::Builder::disownPosition() { + return ::capnp::_::PointerHelpers< ::cereal::XYZTData>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool ModelDataV2::Reader::hasOrientation() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::Builder::hasOrientation() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::XYZTData::Reader ModelDataV2::Reader::getOrientation() const { + return ::capnp::_::PointerHelpers< ::cereal::XYZTData>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::cereal::XYZTData::Builder ModelDataV2::Builder::getOrientation() { + return ::capnp::_::PointerHelpers< ::cereal::XYZTData>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::XYZTData::Pipeline ModelDataV2::Pipeline::getOrientation() { + return ::cereal::XYZTData::Pipeline(_typeless.getPointerField(1)); +} +#endif // !CAPNP_LITE +inline void ModelDataV2::Builder::setOrientation( ::cereal::XYZTData::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::XYZTData>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::cereal::XYZTData::Builder ModelDataV2::Builder::initOrientation() { + return ::capnp::_::PointerHelpers< ::cereal::XYZTData>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::Builder::adoptOrientation( + ::capnp::Orphan< ::cereal::XYZTData>&& value) { + ::capnp::_::PointerHelpers< ::cereal::XYZTData>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::XYZTData> ModelDataV2::Builder::disownOrientation() { + return ::capnp::_::PointerHelpers< ::cereal::XYZTData>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool ModelDataV2::Reader::hasVelocity() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::Builder::hasVelocity() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::XYZTData::Reader ModelDataV2::Reader::getVelocity() const { + return ::capnp::_::PointerHelpers< ::cereal::XYZTData>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::cereal::XYZTData::Builder ModelDataV2::Builder::getVelocity() { + return ::capnp::_::PointerHelpers< ::cereal::XYZTData>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::XYZTData::Pipeline ModelDataV2::Pipeline::getVelocity() { + return ::cereal::XYZTData::Pipeline(_typeless.getPointerField(2)); +} +#endif // !CAPNP_LITE +inline void ModelDataV2::Builder::setVelocity( ::cereal::XYZTData::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::XYZTData>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::cereal::XYZTData::Builder ModelDataV2::Builder::initVelocity() { + return ::capnp::_::PointerHelpers< ::cereal::XYZTData>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::Builder::adoptVelocity( + ::capnp::Orphan< ::cereal::XYZTData>&& value) { + ::capnp::_::PointerHelpers< ::cereal::XYZTData>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::XYZTData> ModelDataV2::Builder::disownVelocity() { + return ::capnp::_::PointerHelpers< ::cereal::XYZTData>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline bool ModelDataV2::Reader::hasOrientationRate() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::Builder::hasOrientationRate() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::XYZTData::Reader ModelDataV2::Reader::getOrientationRate() const { + return ::capnp::_::PointerHelpers< ::cereal::XYZTData>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::cereal::XYZTData::Builder ModelDataV2::Builder::getOrientationRate() { + return ::capnp::_::PointerHelpers< ::cereal::XYZTData>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::XYZTData::Pipeline ModelDataV2::Pipeline::getOrientationRate() { + return ::cereal::XYZTData::Pipeline(_typeless.getPointerField(3)); +} +#endif // !CAPNP_LITE +inline void ModelDataV2::Builder::setOrientationRate( ::cereal::XYZTData::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::XYZTData>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::cereal::XYZTData::Builder ModelDataV2::Builder::initOrientationRate() { + return ::capnp::_::PointerHelpers< ::cereal::XYZTData>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::Builder::adoptOrientationRate( + ::capnp::Orphan< ::cereal::XYZTData>&& value) { + ::capnp::_::PointerHelpers< ::cereal::XYZTData>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::XYZTData> ModelDataV2::Builder::disownOrientationRate() { + return ::capnp::_::PointerHelpers< ::cereal::XYZTData>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline bool ModelDataV2::Reader::hasLaneLines() const { + return !_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::Builder::hasLaneLines() { + return !_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::XYZTData, ::capnp::Kind::STRUCT>::Reader ModelDataV2::Reader::getLaneLines() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::XYZTData, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::XYZTData, ::capnp::Kind::STRUCT>::Builder ModelDataV2::Builder::getLaneLines() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::XYZTData, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::Builder::setLaneLines( ::capnp::List< ::cereal::XYZTData, ::capnp::Kind::STRUCT>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::XYZTData, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::XYZTData, ::capnp::Kind::STRUCT>::Builder ModelDataV2::Builder::initLaneLines(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::XYZTData, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), size); +} +inline void ModelDataV2::Builder::adoptLaneLines( + ::capnp::Orphan< ::capnp::List< ::cereal::XYZTData, ::capnp::Kind::STRUCT>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::XYZTData, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::XYZTData, ::capnp::Kind::STRUCT>> ModelDataV2::Builder::disownLaneLines() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::XYZTData, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} + +inline bool ModelDataV2::Reader::hasLaneLineProbs() const { + return !_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::Builder::hasLaneLineProbs() { + return !_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelDataV2::Reader::getLaneLineProbs() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelDataV2::Builder::getLaneLineProbs() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::Builder::setLaneLineProbs( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline void ModelDataV2::Builder::setLaneLineProbs(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelDataV2::Builder::initLaneLineProbs(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), size); +} +inline void ModelDataV2::Builder::adoptLaneLineProbs( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelDataV2::Builder::disownLaneLineProbs() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} + +inline bool ModelDataV2::Reader::hasRoadEdges() const { + return !_reader.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::Builder::hasRoadEdges() { + return !_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::XYZTData, ::capnp::Kind::STRUCT>::Reader ModelDataV2::Reader::getRoadEdges() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::XYZTData, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::XYZTData, ::capnp::Kind::STRUCT>::Builder ModelDataV2::Builder::getRoadEdges() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::XYZTData, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::Builder::setRoadEdges( ::capnp::List< ::cereal::XYZTData, ::capnp::Kind::STRUCT>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::XYZTData, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::XYZTData, ::capnp::Kind::STRUCT>::Builder ModelDataV2::Builder::initRoadEdges(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::XYZTData, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), size); +} +inline void ModelDataV2::Builder::adoptRoadEdges( + ::capnp::Orphan< ::capnp::List< ::cereal::XYZTData, ::capnp::Kind::STRUCT>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::XYZTData, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::XYZTData, ::capnp::Kind::STRUCT>> ModelDataV2::Builder::disownRoadEdges() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::XYZTData, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} + +inline bool ModelDataV2::Reader::hasLeads() const { + return !_reader.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::Builder::hasLeads() { + return !_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::ModelDataV2::LeadDataV2, ::capnp::Kind::STRUCT>::Reader ModelDataV2::Reader::getLeads() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ModelDataV2::LeadDataV2, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::ModelDataV2::LeadDataV2, ::capnp::Kind::STRUCT>::Builder ModelDataV2::Builder::getLeads() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ModelDataV2::LeadDataV2, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::Builder::setLeads( ::capnp::List< ::cereal::ModelDataV2::LeadDataV2, ::capnp::Kind::STRUCT>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ModelDataV2::LeadDataV2, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::ModelDataV2::LeadDataV2, ::capnp::Kind::STRUCT>::Builder ModelDataV2::Builder::initLeads(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ModelDataV2::LeadDataV2, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), size); +} +inline void ModelDataV2::Builder::adoptLeads( + ::capnp::Orphan< ::capnp::List< ::cereal::ModelDataV2::LeadDataV2, ::capnp::Kind::STRUCT>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ModelDataV2::LeadDataV2, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::ModelDataV2::LeadDataV2, ::capnp::Kind::STRUCT>> ModelDataV2::Builder::disownLeads() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ModelDataV2::LeadDataV2, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS)); +} + +inline bool ModelDataV2::Reader::hasMeta() const { + return !_reader.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::Builder::hasMeta() { + return !_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::ModelDataV2::MetaData::Reader ModelDataV2::Reader::getMeta() const { + return ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::MetaData>::get(_reader.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS)); +} +inline ::cereal::ModelDataV2::MetaData::Builder ModelDataV2::Builder::getMeta() { + return ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::MetaData>::get(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::ModelDataV2::MetaData::Pipeline ModelDataV2::Pipeline::getMeta() { + return ::cereal::ModelDataV2::MetaData::Pipeline(_typeless.getPointerField(8)); +} +#endif // !CAPNP_LITE +inline void ModelDataV2::Builder::setMeta( ::cereal::ModelDataV2::MetaData::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::MetaData>::set(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS), value); +} +inline ::cereal::ModelDataV2::MetaData::Builder ModelDataV2::Builder::initMeta() { + return ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::MetaData>::init(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::Builder::adoptMeta( + ::capnp::Orphan< ::cereal::ModelDataV2::MetaData>&& value) { + ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::MetaData>::adopt(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::ModelDataV2::MetaData> ModelDataV2::Builder::disownMeta() { + return ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::MetaData>::disown(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS)); +} + +inline bool ModelDataV2::Reader::hasLaneLineStds() const { + return !_reader.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::Builder::hasLaneLineStds() { + return !_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelDataV2::Reader::getLaneLineStds() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelDataV2::Builder::getLaneLineStds() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::Builder::setLaneLineStds( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS), value); +} +inline void ModelDataV2::Builder::setLaneLineStds(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelDataV2::Builder::initLaneLineStds(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS), size); +} +inline void ModelDataV2::Builder::adoptLaneLineStds( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelDataV2::Builder::disownLaneLineStds() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS)); +} + +inline bool ModelDataV2::Reader::hasRoadEdgeStds() const { + return !_reader.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::Builder::hasRoadEdgeStds() { + return !_builder.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelDataV2::Reader::getRoadEdgeStds() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelDataV2::Builder::getRoadEdgeStds() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::Builder::setRoadEdgeStds( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS), value); +} +inline void ModelDataV2::Builder::setRoadEdgeStds(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelDataV2::Builder::initRoadEdgeStds(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS), size); +} +inline void ModelDataV2::Builder::adoptRoadEdgeStds( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelDataV2::Builder::disownRoadEdgeStds() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS)); +} + +inline float ModelDataV2::Reader::getModelExecutionTime() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline float ModelDataV2::Builder::getModelExecutionTime() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void ModelDataV2::Builder::setModelExecutionTime(float value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline bool ModelDataV2::Reader::hasRawPredictions() const { + return !_reader.getPointerField( + ::capnp::bounded<11>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::Builder::hasRawPredictions() { + return !_builder.getPointerField( + ::capnp::bounded<11>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Data::Reader ModelDataV2::Reader::getRawPredictions() const { + return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_reader.getPointerField( + ::capnp::bounded<11>() * ::capnp::POINTERS)); +} +inline ::capnp::Data::Builder ModelDataV2::Builder::getRawPredictions() { + return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_builder.getPointerField( + ::capnp::bounded<11>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::Builder::setRawPredictions( ::capnp::Data::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Data>::set(_builder.getPointerField( + ::capnp::bounded<11>() * ::capnp::POINTERS), value); +} +inline ::capnp::Data::Builder ModelDataV2::Builder::initRawPredictions(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Data>::init(_builder.getPointerField( + ::capnp::bounded<11>() * ::capnp::POINTERS), size); +} +inline void ModelDataV2::Builder::adoptRawPredictions( + ::capnp::Orphan< ::capnp::Data>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Data>::adopt(_builder.getPointerField( + ::capnp::bounded<11>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Data> ModelDataV2::Builder::disownRawPredictions() { + return ::capnp::_::PointerHelpers< ::capnp::Data>::disown(_builder.getPointerField( + ::capnp::bounded<11>() * ::capnp::POINTERS)); +} + +inline float ModelDataV2::Reader::getGpuExecutionTime() const { + return _reader.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline float ModelDataV2::Builder::getGpuExecutionTime() { + return _builder.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void ModelDataV2::Builder::setGpuExecutionTime(float value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline bool ModelDataV2::Reader::hasLeadsV3() const { + return !_reader.getPointerField( + ::capnp::bounded<12>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::Builder::hasLeadsV3() { + return !_builder.getPointerField( + ::capnp::bounded<12>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::ModelDataV2::LeadDataV3, ::capnp::Kind::STRUCT>::Reader ModelDataV2::Reader::getLeadsV3() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ModelDataV2::LeadDataV3, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<12>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::ModelDataV2::LeadDataV3, ::capnp::Kind::STRUCT>::Builder ModelDataV2::Builder::getLeadsV3() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ModelDataV2::LeadDataV3, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<12>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::Builder::setLeadsV3( ::capnp::List< ::cereal::ModelDataV2::LeadDataV3, ::capnp::Kind::STRUCT>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ModelDataV2::LeadDataV3, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<12>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::ModelDataV2::LeadDataV3, ::capnp::Kind::STRUCT>::Builder ModelDataV2::Builder::initLeadsV3(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ModelDataV2::LeadDataV3, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<12>() * ::capnp::POINTERS), size); +} +inline void ModelDataV2::Builder::adoptLeadsV3( + ::capnp::Orphan< ::capnp::List< ::cereal::ModelDataV2::LeadDataV3, ::capnp::Kind::STRUCT>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ModelDataV2::LeadDataV3, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<12>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::ModelDataV2::LeadDataV3, ::capnp::Kind::STRUCT>> ModelDataV2::Builder::disownLeadsV3() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ModelDataV2::LeadDataV3, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<12>() * ::capnp::POINTERS)); +} + +inline bool ModelDataV2::Reader::hasAcceleration() const { + return !_reader.getPointerField( + ::capnp::bounded<13>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::Builder::hasAcceleration() { + return !_builder.getPointerField( + ::capnp::bounded<13>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::XYZTData::Reader ModelDataV2::Reader::getAcceleration() const { + return ::capnp::_::PointerHelpers< ::cereal::XYZTData>::get(_reader.getPointerField( + ::capnp::bounded<13>() * ::capnp::POINTERS)); +} +inline ::cereal::XYZTData::Builder ModelDataV2::Builder::getAcceleration() { + return ::capnp::_::PointerHelpers< ::cereal::XYZTData>::get(_builder.getPointerField( + ::capnp::bounded<13>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::XYZTData::Pipeline ModelDataV2::Pipeline::getAcceleration() { + return ::cereal::XYZTData::Pipeline(_typeless.getPointerField(13)); +} +#endif // !CAPNP_LITE +inline void ModelDataV2::Builder::setAcceleration( ::cereal::XYZTData::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::XYZTData>::set(_builder.getPointerField( + ::capnp::bounded<13>() * ::capnp::POINTERS), value); +} +inline ::cereal::XYZTData::Builder ModelDataV2::Builder::initAcceleration() { + return ::capnp::_::PointerHelpers< ::cereal::XYZTData>::init(_builder.getPointerField( + ::capnp::bounded<13>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::Builder::adoptAcceleration( + ::capnp::Orphan< ::cereal::XYZTData>&& value) { + ::capnp::_::PointerHelpers< ::cereal::XYZTData>::adopt(_builder.getPointerField( + ::capnp::bounded<13>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::XYZTData> ModelDataV2::Builder::disownAcceleration() { + return ::capnp::_::PointerHelpers< ::cereal::XYZTData>::disown(_builder.getPointerField( + ::capnp::bounded<13>() * ::capnp::POINTERS)); +} + +inline ::uint32_t ModelDataV2::Reader::getFrameIdExtra() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t ModelDataV2::Builder::getFrameIdExtra() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void ModelDataV2::Builder::setFrameIdExtra( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline bool ModelDataV2::Reader::hasTemporalPose() const { + return !_reader.getPointerField( + ::capnp::bounded<14>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::Builder::hasTemporalPose() { + return !_builder.getPointerField( + ::capnp::bounded<14>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::ModelDataV2::Pose::Reader ModelDataV2::Reader::getTemporalPose() const { + return ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::Pose>::get(_reader.getPointerField( + ::capnp::bounded<14>() * ::capnp::POINTERS)); +} +inline ::cereal::ModelDataV2::Pose::Builder ModelDataV2::Builder::getTemporalPose() { + return ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::Pose>::get(_builder.getPointerField( + ::capnp::bounded<14>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::ModelDataV2::Pose::Pipeline ModelDataV2::Pipeline::getTemporalPose() { + return ::cereal::ModelDataV2::Pose::Pipeline(_typeless.getPointerField(14)); +} +#endif // !CAPNP_LITE +inline void ModelDataV2::Builder::setTemporalPose( ::cereal::ModelDataV2::Pose::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::Pose>::set(_builder.getPointerField( + ::capnp::bounded<14>() * ::capnp::POINTERS), value); +} +inline ::cereal::ModelDataV2::Pose::Builder ModelDataV2::Builder::initTemporalPose() { + return ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::Pose>::init(_builder.getPointerField( + ::capnp::bounded<14>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::Builder::adoptTemporalPose( + ::capnp::Orphan< ::cereal::ModelDataV2::Pose>&& value) { + ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::Pose>::adopt(_builder.getPointerField( + ::capnp::bounded<14>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::ModelDataV2::Pose> ModelDataV2::Builder::disownTemporalPose() { + return ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::Pose>::disown(_builder.getPointerField( + ::capnp::bounded<14>() * ::capnp::POINTERS)); +} + +inline bool ModelDataV2::Reader::getNavEnabledDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<256>() * ::capnp::ELEMENTS); +} + +inline bool ModelDataV2::Builder::getNavEnabledDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<256>() * ::capnp::ELEMENTS); +} +inline void ModelDataV2::Builder::setNavEnabledDEPRECATED(bool value) { + _builder.setDataField( + ::capnp::bounded<256>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::ModelDataV2::ConfidenceClass ModelDataV2::Reader::getConfidence() const { + return _reader.getDataField< ::cereal::ModelDataV2::ConfidenceClass>( + ::capnp::bounded<17>() * ::capnp::ELEMENTS); +} + +inline ::cereal::ModelDataV2::ConfidenceClass ModelDataV2::Builder::getConfidence() { + return _builder.getDataField< ::cereal::ModelDataV2::ConfidenceClass>( + ::capnp::bounded<17>() * ::capnp::ELEMENTS); +} +inline void ModelDataV2::Builder::setConfidence( ::cereal::ModelDataV2::ConfidenceClass value) { + _builder.setDataField< ::cereal::ModelDataV2::ConfidenceClass>( + ::capnp::bounded<17>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t ModelDataV2::Reader::getLocationMonoTimeDEPRECATED() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t ModelDataV2::Builder::getLocationMonoTimeDEPRECATED() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void ModelDataV2::Builder::setLocationMonoTimeDEPRECATED( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline bool ModelDataV2::Reader::hasLateralPlannerSolutionDEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<15>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::Builder::hasLateralPlannerSolutionDEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<15>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::ModelDataV2::LateralPlannerSolution::Reader ModelDataV2::Reader::getLateralPlannerSolutionDEPRECATED() const { + return ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::LateralPlannerSolution>::get(_reader.getPointerField( + ::capnp::bounded<15>() * ::capnp::POINTERS)); +} +inline ::cereal::ModelDataV2::LateralPlannerSolution::Builder ModelDataV2::Builder::getLateralPlannerSolutionDEPRECATED() { + return ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::LateralPlannerSolution>::get(_builder.getPointerField( + ::capnp::bounded<15>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::ModelDataV2::LateralPlannerSolution::Pipeline ModelDataV2::Pipeline::getLateralPlannerSolutionDEPRECATED() { + return ::cereal::ModelDataV2::LateralPlannerSolution::Pipeline(_typeless.getPointerField(15)); +} +#endif // !CAPNP_LITE +inline void ModelDataV2::Builder::setLateralPlannerSolutionDEPRECATED( ::cereal::ModelDataV2::LateralPlannerSolution::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::LateralPlannerSolution>::set(_builder.getPointerField( + ::capnp::bounded<15>() * ::capnp::POINTERS), value); +} +inline ::cereal::ModelDataV2::LateralPlannerSolution::Builder ModelDataV2::Builder::initLateralPlannerSolutionDEPRECATED() { + return ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::LateralPlannerSolution>::init(_builder.getPointerField( + ::capnp::bounded<15>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::Builder::adoptLateralPlannerSolutionDEPRECATED( + ::capnp::Orphan< ::cereal::ModelDataV2::LateralPlannerSolution>&& value) { + ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::LateralPlannerSolution>::adopt(_builder.getPointerField( + ::capnp::bounded<15>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::ModelDataV2::LateralPlannerSolution> ModelDataV2::Builder::disownLateralPlannerSolutionDEPRECATED() { + return ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::LateralPlannerSolution>::disown(_builder.getPointerField( + ::capnp::bounded<15>() * ::capnp::POINTERS)); +} + +inline bool ModelDataV2::Reader::hasAction() const { + return !_reader.getPointerField( + ::capnp::bounded<16>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::Builder::hasAction() { + return !_builder.getPointerField( + ::capnp::bounded<16>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::ModelDataV2::Action::Reader ModelDataV2::Reader::getAction() const { + return ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::Action>::get(_reader.getPointerField( + ::capnp::bounded<16>() * ::capnp::POINTERS)); +} +inline ::cereal::ModelDataV2::Action::Builder ModelDataV2::Builder::getAction() { + return ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::Action>::get(_builder.getPointerField( + ::capnp::bounded<16>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::ModelDataV2::Action::Pipeline ModelDataV2::Pipeline::getAction() { + return ::cereal::ModelDataV2::Action::Pipeline(_typeless.getPointerField(16)); +} +#endif // !CAPNP_LITE +inline void ModelDataV2::Builder::setAction( ::cereal::ModelDataV2::Action::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::Action>::set(_builder.getPointerField( + ::capnp::bounded<16>() * ::capnp::POINTERS), value); +} +inline ::cereal::ModelDataV2::Action::Builder ModelDataV2::Builder::initAction() { + return ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::Action>::init(_builder.getPointerField( + ::capnp::bounded<16>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::Builder::adoptAction( + ::capnp::Orphan< ::cereal::ModelDataV2::Action>&& value) { + ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::Action>::adopt(_builder.getPointerField( + ::capnp::bounded<16>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::ModelDataV2::Action> ModelDataV2::Builder::disownAction() { + return ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::Action>::disown(_builder.getPointerField( + ::capnp::bounded<16>() * ::capnp::POINTERS)); +} + +inline float ModelDataV2::LeadDataV2::Reader::getProb() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline float ModelDataV2::LeadDataV2::Builder::getProb() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void ModelDataV2::LeadDataV2::Builder::setProb(float value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline float ModelDataV2::LeadDataV2::Reader::getT() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float ModelDataV2::LeadDataV2::Builder::getT() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void ModelDataV2::LeadDataV2::Builder::setT(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool ModelDataV2::LeadDataV2::Reader::hasXyva() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::LeadDataV2::Builder::hasXyva() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelDataV2::LeadDataV2::Reader::getXyva() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelDataV2::LeadDataV2::Builder::getXyva() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::LeadDataV2::Builder::setXyva( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void ModelDataV2::LeadDataV2::Builder::setXyva(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelDataV2::LeadDataV2::Builder::initXyva(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void ModelDataV2::LeadDataV2::Builder::adoptXyva( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelDataV2::LeadDataV2::Builder::disownXyva() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool ModelDataV2::LeadDataV2::Reader::hasXyvaStd() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::LeadDataV2::Builder::hasXyvaStd() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelDataV2::LeadDataV2::Reader::getXyvaStd() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelDataV2::LeadDataV2::Builder::getXyvaStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::LeadDataV2::Builder::setXyvaStd( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void ModelDataV2::LeadDataV2::Builder::setXyvaStd(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelDataV2::LeadDataV2::Builder::initXyvaStd(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void ModelDataV2::LeadDataV2::Builder::adoptXyvaStd( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelDataV2::LeadDataV2::Builder::disownXyvaStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline float ModelDataV2::LeadDataV3::Reader::getProb() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline float ModelDataV2::LeadDataV3::Builder::getProb() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void ModelDataV2::LeadDataV3::Builder::setProb(float value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline float ModelDataV2::LeadDataV3::Reader::getProbTime() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float ModelDataV2::LeadDataV3::Builder::getProbTime() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void ModelDataV2::LeadDataV3::Builder::setProbTime(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool ModelDataV2::LeadDataV3::Reader::hasT() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::LeadDataV3::Builder::hasT() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelDataV2::LeadDataV3::Reader::getT() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelDataV2::LeadDataV3::Builder::getT() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::LeadDataV3::Builder::setT( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void ModelDataV2::LeadDataV3::Builder::setT(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelDataV2::LeadDataV3::Builder::initT(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void ModelDataV2::LeadDataV3::Builder::adoptT( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelDataV2::LeadDataV3::Builder::disownT() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool ModelDataV2::LeadDataV3::Reader::hasX() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::LeadDataV3::Builder::hasX() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelDataV2::LeadDataV3::Reader::getX() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelDataV2::LeadDataV3::Builder::getX() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::LeadDataV3::Builder::setX( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void ModelDataV2::LeadDataV3::Builder::setX(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelDataV2::LeadDataV3::Builder::initX(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void ModelDataV2::LeadDataV3::Builder::adoptX( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelDataV2::LeadDataV3::Builder::disownX() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool ModelDataV2::LeadDataV3::Reader::hasXStd() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::LeadDataV3::Builder::hasXStd() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelDataV2::LeadDataV3::Reader::getXStd() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelDataV2::LeadDataV3::Builder::getXStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::LeadDataV3::Builder::setXStd( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline void ModelDataV2::LeadDataV3::Builder::setXStd(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelDataV2::LeadDataV3::Builder::initXStd(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void ModelDataV2::LeadDataV3::Builder::adoptXStd( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelDataV2::LeadDataV3::Builder::disownXStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline bool ModelDataV2::LeadDataV3::Reader::hasY() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::LeadDataV3::Builder::hasY() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelDataV2::LeadDataV3::Reader::getY() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelDataV2::LeadDataV3::Builder::getY() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::LeadDataV3::Builder::setY( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline void ModelDataV2::LeadDataV3::Builder::setY(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelDataV2::LeadDataV3::Builder::initY(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), size); +} +inline void ModelDataV2::LeadDataV3::Builder::adoptY( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelDataV2::LeadDataV3::Builder::disownY() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline bool ModelDataV2::LeadDataV3::Reader::hasYStd() const { + return !_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::LeadDataV3::Builder::hasYStd() { + return !_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelDataV2::LeadDataV3::Reader::getYStd() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelDataV2::LeadDataV3::Builder::getYStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::LeadDataV3::Builder::setYStd( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline void ModelDataV2::LeadDataV3::Builder::setYStd(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelDataV2::LeadDataV3::Builder::initYStd(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), size); +} +inline void ModelDataV2::LeadDataV3::Builder::adoptYStd( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelDataV2::LeadDataV3::Builder::disownYStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} + +inline bool ModelDataV2::LeadDataV3::Reader::hasV() const { + return !_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::LeadDataV3::Builder::hasV() { + return !_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelDataV2::LeadDataV3::Reader::getV() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelDataV2::LeadDataV3::Builder::getV() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::LeadDataV3::Builder::setV( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline void ModelDataV2::LeadDataV3::Builder::setV(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelDataV2::LeadDataV3::Builder::initV(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), size); +} +inline void ModelDataV2::LeadDataV3::Builder::adoptV( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelDataV2::LeadDataV3::Builder::disownV() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} + +inline bool ModelDataV2::LeadDataV3::Reader::hasVStd() const { + return !_reader.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::LeadDataV3::Builder::hasVStd() { + return !_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelDataV2::LeadDataV3::Reader::getVStd() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelDataV2::LeadDataV3::Builder::getVStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::LeadDataV3::Builder::setVStd( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), value); +} +inline void ModelDataV2::LeadDataV3::Builder::setVStd(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelDataV2::LeadDataV3::Builder::initVStd(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), size); +} +inline void ModelDataV2::LeadDataV3::Builder::adoptVStd( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelDataV2::LeadDataV3::Builder::disownVStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} + +inline bool ModelDataV2::LeadDataV3::Reader::hasA() const { + return !_reader.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::LeadDataV3::Builder::hasA() { + return !_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelDataV2::LeadDataV3::Reader::getA() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelDataV2::LeadDataV3::Builder::getA() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::LeadDataV3::Builder::setA( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), value); +} +inline void ModelDataV2::LeadDataV3::Builder::setA(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelDataV2::LeadDataV3::Builder::initA(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), size); +} +inline void ModelDataV2::LeadDataV3::Builder::adoptA( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelDataV2::LeadDataV3::Builder::disownA() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS)); +} + +inline bool ModelDataV2::LeadDataV3::Reader::hasAStd() const { + return !_reader.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::LeadDataV3::Builder::hasAStd() { + return !_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelDataV2::LeadDataV3::Reader::getAStd() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelDataV2::LeadDataV3::Builder::getAStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::LeadDataV3::Builder::setAStd( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS), value); +} +inline void ModelDataV2::LeadDataV3::Builder::setAStd(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelDataV2::LeadDataV3::Builder::initAStd(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS), size); +} +inline void ModelDataV2::LeadDataV3::Builder::adoptAStd( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelDataV2::LeadDataV3::Builder::disownAStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS)); +} + +inline float ModelDataV2::MetaData::Reader::getEngagedProb() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline float ModelDataV2::MetaData::Builder::getEngagedProb() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void ModelDataV2::MetaData::Builder::setEngagedProb(float value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool ModelDataV2::MetaData::Reader::hasDesirePrediction() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::MetaData::Builder::hasDesirePrediction() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelDataV2::MetaData::Reader::getDesirePrediction() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelDataV2::MetaData::Builder::getDesirePrediction() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::MetaData::Builder::setDesirePrediction( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void ModelDataV2::MetaData::Builder::setDesirePrediction(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelDataV2::MetaData::Builder::initDesirePrediction(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void ModelDataV2::MetaData::Builder::adoptDesirePrediction( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelDataV2::MetaData::Builder::disownDesirePrediction() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline float ModelDataV2::MetaData::Reader::getBrakeDisengageProbDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float ModelDataV2::MetaData::Builder::getBrakeDisengageProbDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void ModelDataV2::MetaData::Builder::setBrakeDisengageProbDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float ModelDataV2::MetaData::Reader::getGasDisengageProbDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float ModelDataV2::MetaData::Builder::getGasDisengageProbDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void ModelDataV2::MetaData::Builder::setGasDisengageProbDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline float ModelDataV2::MetaData::Reader::getSteerOverrideProbDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline float ModelDataV2::MetaData::Builder::getSteerOverrideProbDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void ModelDataV2::MetaData::Builder::setSteerOverrideProbDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline bool ModelDataV2::MetaData::Reader::hasDesireState() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::MetaData::Builder::hasDesireState() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelDataV2::MetaData::Reader::getDesireState() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelDataV2::MetaData::Builder::getDesireState() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::MetaData::Builder::setDesireState( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void ModelDataV2::MetaData::Builder::setDesireState(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelDataV2::MetaData::Builder::initDesireState(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void ModelDataV2::MetaData::Builder::adoptDesireState( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelDataV2::MetaData::Builder::disownDesireState() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool ModelDataV2::MetaData::Reader::hasDisengagePredictions() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::MetaData::Builder::hasDisengagePredictions() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::ModelDataV2::DisengagePredictions::Reader ModelDataV2::MetaData::Reader::getDisengagePredictions() const { + return ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::DisengagePredictions>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::cereal::ModelDataV2::DisengagePredictions::Builder ModelDataV2::MetaData::Builder::getDisengagePredictions() { + return ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::DisengagePredictions>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::ModelDataV2::DisengagePredictions::Pipeline ModelDataV2::MetaData::Pipeline::getDisengagePredictions() { + return ::cereal::ModelDataV2::DisengagePredictions::Pipeline(_typeless.getPointerField(2)); +} +#endif // !CAPNP_LITE +inline void ModelDataV2::MetaData::Builder::setDisengagePredictions( ::cereal::ModelDataV2::DisengagePredictions::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::DisengagePredictions>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::cereal::ModelDataV2::DisengagePredictions::Builder ModelDataV2::MetaData::Builder::initDisengagePredictions() { + return ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::DisengagePredictions>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::MetaData::Builder::adoptDisengagePredictions( + ::capnp::Orphan< ::cereal::ModelDataV2::DisengagePredictions>&& value) { + ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::DisengagePredictions>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::ModelDataV2::DisengagePredictions> ModelDataV2::MetaData::Builder::disownDisengagePredictions() { + return ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::DisengagePredictions>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline bool ModelDataV2::MetaData::Reader::getHardBrakePredicted() const { + return _reader.getDataField( + ::capnp::bounded<128>() * ::capnp::ELEMENTS); +} + +inline bool ModelDataV2::MetaData::Builder::getHardBrakePredicted() { + return _builder.getDataField( + ::capnp::bounded<128>() * ::capnp::ELEMENTS); +} +inline void ModelDataV2::MetaData::Builder::setHardBrakePredicted(bool value) { + _builder.setDataField( + ::capnp::bounded<128>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::LaneChangeState ModelDataV2::MetaData::Reader::getLaneChangeState() const { + return _reader.getDataField< ::cereal::LaneChangeState>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} + +inline ::cereal::LaneChangeState ModelDataV2::MetaData::Builder::getLaneChangeState() { + return _builder.getDataField< ::cereal::LaneChangeState>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} +inline void ModelDataV2::MetaData::Builder::setLaneChangeState( ::cereal::LaneChangeState value) { + _builder.setDataField< ::cereal::LaneChangeState>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::LaneChangeDirection ModelDataV2::MetaData::Reader::getLaneChangeDirection() const { + return _reader.getDataField< ::cereal::LaneChangeDirection>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} + +inline ::cereal::LaneChangeDirection ModelDataV2::MetaData::Builder::getLaneChangeDirection() { + return _builder.getDataField< ::cereal::LaneChangeDirection>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} +inline void ModelDataV2::MetaData::Builder::setLaneChangeDirection( ::cereal::LaneChangeDirection value) { + _builder.setDataField< ::cereal::LaneChangeDirection>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS, value); +} + +inline bool ModelDataV2::DisengagePredictions::Reader::hasT() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::DisengagePredictions::Builder::hasT() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelDataV2::DisengagePredictions::Reader::getT() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelDataV2::DisengagePredictions::Builder::getT() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::DisengagePredictions::Builder::setT( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void ModelDataV2::DisengagePredictions::Builder::setT(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelDataV2::DisengagePredictions::Builder::initT(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void ModelDataV2::DisengagePredictions::Builder::adoptT( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelDataV2::DisengagePredictions::Builder::disownT() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool ModelDataV2::DisengagePredictions::Reader::hasBrakeDisengageProbs() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::DisengagePredictions::Builder::hasBrakeDisengageProbs() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelDataV2::DisengagePredictions::Reader::getBrakeDisengageProbs() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelDataV2::DisengagePredictions::Builder::getBrakeDisengageProbs() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::DisengagePredictions::Builder::setBrakeDisengageProbs( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void ModelDataV2::DisengagePredictions::Builder::setBrakeDisengageProbs(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelDataV2::DisengagePredictions::Builder::initBrakeDisengageProbs(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void ModelDataV2::DisengagePredictions::Builder::adoptBrakeDisengageProbs( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelDataV2::DisengagePredictions::Builder::disownBrakeDisengageProbs() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool ModelDataV2::DisengagePredictions::Reader::hasGasDisengageProbs() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::DisengagePredictions::Builder::hasGasDisengageProbs() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelDataV2::DisengagePredictions::Reader::getGasDisengageProbs() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelDataV2::DisengagePredictions::Builder::getGasDisengageProbs() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::DisengagePredictions::Builder::setGasDisengageProbs( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline void ModelDataV2::DisengagePredictions::Builder::setGasDisengageProbs(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelDataV2::DisengagePredictions::Builder::initGasDisengageProbs(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void ModelDataV2::DisengagePredictions::Builder::adoptGasDisengageProbs( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelDataV2::DisengagePredictions::Builder::disownGasDisengageProbs() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline bool ModelDataV2::DisengagePredictions::Reader::hasSteerOverrideProbs() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::DisengagePredictions::Builder::hasSteerOverrideProbs() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelDataV2::DisengagePredictions::Reader::getSteerOverrideProbs() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelDataV2::DisengagePredictions::Builder::getSteerOverrideProbs() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::DisengagePredictions::Builder::setSteerOverrideProbs( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline void ModelDataV2::DisengagePredictions::Builder::setSteerOverrideProbs(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelDataV2::DisengagePredictions::Builder::initSteerOverrideProbs(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), size); +} +inline void ModelDataV2::DisengagePredictions::Builder::adoptSteerOverrideProbs( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelDataV2::DisengagePredictions::Builder::disownSteerOverrideProbs() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline bool ModelDataV2::DisengagePredictions::Reader::hasBrake3MetersPerSecondSquaredProbs() const { + return !_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::DisengagePredictions::Builder::hasBrake3MetersPerSecondSquaredProbs() { + return !_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelDataV2::DisengagePredictions::Reader::getBrake3MetersPerSecondSquaredProbs() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelDataV2::DisengagePredictions::Builder::getBrake3MetersPerSecondSquaredProbs() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::DisengagePredictions::Builder::setBrake3MetersPerSecondSquaredProbs( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline void ModelDataV2::DisengagePredictions::Builder::setBrake3MetersPerSecondSquaredProbs(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelDataV2::DisengagePredictions::Builder::initBrake3MetersPerSecondSquaredProbs(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), size); +} +inline void ModelDataV2::DisengagePredictions::Builder::adoptBrake3MetersPerSecondSquaredProbs( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelDataV2::DisengagePredictions::Builder::disownBrake3MetersPerSecondSquaredProbs() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} + +inline bool ModelDataV2::DisengagePredictions::Reader::hasBrake4MetersPerSecondSquaredProbs() const { + return !_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::DisengagePredictions::Builder::hasBrake4MetersPerSecondSquaredProbs() { + return !_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelDataV2::DisengagePredictions::Reader::getBrake4MetersPerSecondSquaredProbs() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelDataV2::DisengagePredictions::Builder::getBrake4MetersPerSecondSquaredProbs() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::DisengagePredictions::Builder::setBrake4MetersPerSecondSquaredProbs( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline void ModelDataV2::DisengagePredictions::Builder::setBrake4MetersPerSecondSquaredProbs(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelDataV2::DisengagePredictions::Builder::initBrake4MetersPerSecondSquaredProbs(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), size); +} +inline void ModelDataV2::DisengagePredictions::Builder::adoptBrake4MetersPerSecondSquaredProbs( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelDataV2::DisengagePredictions::Builder::disownBrake4MetersPerSecondSquaredProbs() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} + +inline bool ModelDataV2::DisengagePredictions::Reader::hasBrake5MetersPerSecondSquaredProbs() const { + return !_reader.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::DisengagePredictions::Builder::hasBrake5MetersPerSecondSquaredProbs() { + return !_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelDataV2::DisengagePredictions::Reader::getBrake5MetersPerSecondSquaredProbs() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelDataV2::DisengagePredictions::Builder::getBrake5MetersPerSecondSquaredProbs() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::DisengagePredictions::Builder::setBrake5MetersPerSecondSquaredProbs( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), value); +} +inline void ModelDataV2::DisengagePredictions::Builder::setBrake5MetersPerSecondSquaredProbs(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelDataV2::DisengagePredictions::Builder::initBrake5MetersPerSecondSquaredProbs(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), size); +} +inline void ModelDataV2::DisengagePredictions::Builder::adoptBrake5MetersPerSecondSquaredProbs( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelDataV2::DisengagePredictions::Builder::disownBrake5MetersPerSecondSquaredProbs() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} + +inline bool ModelDataV2::Pose::Reader::hasTrans() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::Pose::Builder::hasTrans() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelDataV2::Pose::Reader::getTrans() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelDataV2::Pose::Builder::getTrans() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::Pose::Builder::setTrans( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void ModelDataV2::Pose::Builder::setTrans(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelDataV2::Pose::Builder::initTrans(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void ModelDataV2::Pose::Builder::adoptTrans( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelDataV2::Pose::Builder::disownTrans() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool ModelDataV2::Pose::Reader::hasRot() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::Pose::Builder::hasRot() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelDataV2::Pose::Reader::getRot() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelDataV2::Pose::Builder::getRot() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::Pose::Builder::setRot( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void ModelDataV2::Pose::Builder::setRot(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelDataV2::Pose::Builder::initRot(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void ModelDataV2::Pose::Builder::adoptRot( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelDataV2::Pose::Builder::disownRot() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool ModelDataV2::Pose::Reader::hasTransStd() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::Pose::Builder::hasTransStd() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelDataV2::Pose::Reader::getTransStd() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelDataV2::Pose::Builder::getTransStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::Pose::Builder::setTransStd( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline void ModelDataV2::Pose::Builder::setTransStd(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelDataV2::Pose::Builder::initTransStd(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void ModelDataV2::Pose::Builder::adoptTransStd( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelDataV2::Pose::Builder::disownTransStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline bool ModelDataV2::Pose::Reader::hasRotStd() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::Pose::Builder::hasRotStd() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelDataV2::Pose::Reader::getRotStd() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelDataV2::Pose::Builder::getRotStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::Pose::Builder::setRotStd( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline void ModelDataV2::Pose::Builder::setRotStd(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelDataV2::Pose::Builder::initRotStd(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), size); +} +inline void ModelDataV2::Pose::Builder::adoptRotStd( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelDataV2::Pose::Builder::disownRotStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline bool ModelDataV2::LateralPlannerSolution::Reader::hasX() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::LateralPlannerSolution::Builder::hasX() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelDataV2::LateralPlannerSolution::Reader::getX() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelDataV2::LateralPlannerSolution::Builder::getX() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::LateralPlannerSolution::Builder::setX( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void ModelDataV2::LateralPlannerSolution::Builder::setX(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelDataV2::LateralPlannerSolution::Builder::initX(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void ModelDataV2::LateralPlannerSolution::Builder::adoptX( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelDataV2::LateralPlannerSolution::Builder::disownX() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool ModelDataV2::LateralPlannerSolution::Reader::hasY() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::LateralPlannerSolution::Builder::hasY() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelDataV2::LateralPlannerSolution::Reader::getY() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelDataV2::LateralPlannerSolution::Builder::getY() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::LateralPlannerSolution::Builder::setY( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void ModelDataV2::LateralPlannerSolution::Builder::setY(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelDataV2::LateralPlannerSolution::Builder::initY(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void ModelDataV2::LateralPlannerSolution::Builder::adoptY( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelDataV2::LateralPlannerSolution::Builder::disownY() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool ModelDataV2::LateralPlannerSolution::Reader::hasYaw() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::LateralPlannerSolution::Builder::hasYaw() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelDataV2::LateralPlannerSolution::Reader::getYaw() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelDataV2::LateralPlannerSolution::Builder::getYaw() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::LateralPlannerSolution::Builder::setYaw( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline void ModelDataV2::LateralPlannerSolution::Builder::setYaw(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelDataV2::LateralPlannerSolution::Builder::initYaw(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void ModelDataV2::LateralPlannerSolution::Builder::adoptYaw( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelDataV2::LateralPlannerSolution::Builder::disownYaw() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline bool ModelDataV2::LateralPlannerSolution::Reader::hasYawRate() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::LateralPlannerSolution::Builder::hasYawRate() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelDataV2::LateralPlannerSolution::Reader::getYawRate() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelDataV2::LateralPlannerSolution::Builder::getYawRate() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::LateralPlannerSolution::Builder::setYawRate( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline void ModelDataV2::LateralPlannerSolution::Builder::setYawRate(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelDataV2::LateralPlannerSolution::Builder::initYawRate(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), size); +} +inline void ModelDataV2::LateralPlannerSolution::Builder::adoptYawRate( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelDataV2::LateralPlannerSolution::Builder::disownYawRate() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline bool ModelDataV2::LateralPlannerSolution::Reader::hasXStd() const { + return !_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::LateralPlannerSolution::Builder::hasXStd() { + return !_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelDataV2::LateralPlannerSolution::Reader::getXStd() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelDataV2::LateralPlannerSolution::Builder::getXStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::LateralPlannerSolution::Builder::setXStd( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline void ModelDataV2::LateralPlannerSolution::Builder::setXStd(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelDataV2::LateralPlannerSolution::Builder::initXStd(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), size); +} +inline void ModelDataV2::LateralPlannerSolution::Builder::adoptXStd( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelDataV2::LateralPlannerSolution::Builder::disownXStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} + +inline bool ModelDataV2::LateralPlannerSolution::Reader::hasYStd() const { + return !_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::LateralPlannerSolution::Builder::hasYStd() { + return !_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelDataV2::LateralPlannerSolution::Reader::getYStd() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelDataV2::LateralPlannerSolution::Builder::getYStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::LateralPlannerSolution::Builder::setYStd( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline void ModelDataV2::LateralPlannerSolution::Builder::setYStd(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelDataV2::LateralPlannerSolution::Builder::initYStd(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), size); +} +inline void ModelDataV2::LateralPlannerSolution::Builder::adoptYStd( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelDataV2::LateralPlannerSolution::Builder::disownYStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} + +inline bool ModelDataV2::LateralPlannerSolution::Reader::hasYawStd() const { + return !_reader.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::LateralPlannerSolution::Builder::hasYawStd() { + return !_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelDataV2::LateralPlannerSolution::Reader::getYawStd() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelDataV2::LateralPlannerSolution::Builder::getYawStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::LateralPlannerSolution::Builder::setYawStd( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), value); +} +inline void ModelDataV2::LateralPlannerSolution::Builder::setYawStd(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelDataV2::LateralPlannerSolution::Builder::initYawStd(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), size); +} +inline void ModelDataV2::LateralPlannerSolution::Builder::adoptYawStd( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelDataV2::LateralPlannerSolution::Builder::disownYawStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} + +inline bool ModelDataV2::LateralPlannerSolution::Reader::hasYawRateStd() const { + return !_reader.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::LateralPlannerSolution::Builder::hasYawRateStd() { + return !_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader ModelDataV2::LateralPlannerSolution::Reader::getYawRateStd() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder ModelDataV2::LateralPlannerSolution::Builder::getYawRateStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::LateralPlannerSolution::Builder::setYawRateStd( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), value); +} +inline void ModelDataV2::LateralPlannerSolution::Builder::setYawRateStd(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder ModelDataV2::LateralPlannerSolution::Builder::initYawRateStd(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), size); +} +inline void ModelDataV2::LateralPlannerSolution::Builder::adoptYawRateStd( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> ModelDataV2::LateralPlannerSolution::Builder::disownYawRateStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS)); +} + +inline float ModelDataV2::Action::Reader::getDesiredCurvature() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline float ModelDataV2::Action::Builder::getDesiredCurvature() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void ModelDataV2::Action::Builder::setDesiredCurvature(float value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t EncodeIndex::Reader::getFrameId() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t EncodeIndex::Builder::getFrameId() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void EncodeIndex::Builder::setFrameId( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::EncodeIndex::Type EncodeIndex::Reader::getType() const { + return _reader.getDataField< ::cereal::EncodeIndex::Type>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::cereal::EncodeIndex::Type EncodeIndex::Builder::getType() { + return _builder.getDataField< ::cereal::EncodeIndex::Type>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void EncodeIndex::Builder::setType( ::cereal::EncodeIndex::Type value) { + _builder.setDataField< ::cereal::EncodeIndex::Type>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t EncodeIndex::Reader::getEncodeId() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t EncodeIndex::Builder::getEncodeId() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void EncodeIndex::Builder::setEncodeId( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t EncodeIndex::Reader::getSegmentNum() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline ::int32_t EncodeIndex::Builder::getSegmentNum() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void EncodeIndex::Builder::setSegmentNum( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t EncodeIndex::Reader::getSegmentId() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t EncodeIndex::Builder::getSegmentId() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void EncodeIndex::Builder::setSegmentId( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t EncodeIndex::Reader::getSegmentIdEncode() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t EncodeIndex::Builder::getSegmentIdEncode() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void EncodeIndex::Builder::setSegmentIdEncode( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t EncodeIndex::Reader::getTimestampSof() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t EncodeIndex::Builder::getTimestampSof() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void EncodeIndex::Builder::setTimestampSof( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t EncodeIndex::Reader::getTimestampEof() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t EncodeIndex::Builder::getTimestampEof() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void EncodeIndex::Builder::setTimestampEof( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t EncodeIndex::Reader::getFlags() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t EncodeIndex::Builder::getFlags() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} +inline void EncodeIndex::Builder::setFlags( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t EncodeIndex::Reader::getLen() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t EncodeIndex::Builder::getLen() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} +inline void EncodeIndex::Builder::setLen( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<11>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t AndroidLogEntry::Reader::getId() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t AndroidLogEntry::Builder::getId() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void AndroidLogEntry::Builder::setId( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t AndroidLogEntry::Reader::getTs() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t AndroidLogEntry::Builder::getTs() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void AndroidLogEntry::Builder::setTs( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t AndroidLogEntry::Reader::getPriority() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t AndroidLogEntry::Builder::getPriority() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void AndroidLogEntry::Builder::setPriority( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t AndroidLogEntry::Reader::getPid() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::int32_t AndroidLogEntry::Builder::getPid() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void AndroidLogEntry::Builder::setPid( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t AndroidLogEntry::Reader::getTid() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline ::int32_t AndroidLogEntry::Builder::getTid() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void AndroidLogEntry::Builder::setTid( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline bool AndroidLogEntry::Reader::hasTag() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool AndroidLogEntry::Builder::hasTag() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader AndroidLogEntry::Reader::getTag() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder AndroidLogEntry::Builder::getTag() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void AndroidLogEntry::Builder::setTag( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder AndroidLogEntry::Builder::initTag(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void AndroidLogEntry::Builder::adoptTag( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> AndroidLogEntry::Builder::disownTag() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool AndroidLogEntry::Reader::hasMessage() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool AndroidLogEntry::Builder::hasMessage() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader AndroidLogEntry::Reader::getMessage() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder AndroidLogEntry::Builder::getMessage() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void AndroidLogEntry::Builder::setMessage( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder AndroidLogEntry::Builder::initMessage(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void AndroidLogEntry::Builder::adoptMessage( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> AndroidLogEntry::Builder::disownMessage() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool LongitudinalPlan::Reader::getLateralValidDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline bool LongitudinalPlan::Builder::getLateralValidDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlan::Builder::setLateralValidDEPRECATED(bool value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool LongitudinalPlan::Reader::hasDPolyDEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool LongitudinalPlan::Builder::hasDPolyDEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LongitudinalPlan::Reader::getDPolyDEPRECATED() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LongitudinalPlan::Builder::getDPolyDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void LongitudinalPlan::Builder::setDPolyDEPRECATED( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void LongitudinalPlan::Builder::setDPolyDEPRECATED(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LongitudinalPlan::Builder::initDPolyDEPRECATED(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void LongitudinalPlan::Builder::adoptDPolyDEPRECATED( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LongitudinalPlan::Builder::disownDPolyDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool LongitudinalPlan::Reader::getLongitudinalValidDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline bool LongitudinalPlan::Builder::getLongitudinalValidDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlan::Builder::setLongitudinalValidDEPRECATED(bool value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float LongitudinalPlan::Reader::getVTargetDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float LongitudinalPlan::Builder::getVTargetDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlan::Builder::setVTargetDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float LongitudinalPlan::Reader::getATargetMinDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float LongitudinalPlan::Builder::getATargetMinDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlan::Builder::setATargetMinDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline float LongitudinalPlan::Reader::getATargetMaxDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline float LongitudinalPlan::Builder::getATargetMaxDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlan::Builder::setATargetMaxDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline float LongitudinalPlan::Reader::getJerkFactorDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline float LongitudinalPlan::Builder::getJerkFactorDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlan::Builder::setJerkFactorDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline bool LongitudinalPlan::Reader::getHasLead() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline bool LongitudinalPlan::Builder::getHasLead() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlan::Builder::setHasLead(bool value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline bool LongitudinalPlan::Reader::getFcw() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline bool LongitudinalPlan::Builder::getFcw() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlan::Builder::setFcw(bool value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t LongitudinalPlan::Reader::getModelMonoTime() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t LongitudinalPlan::Builder::getModelMonoTime() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlan::Builder::setModelMonoTime( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t LongitudinalPlan::Reader::getRadarStateMonoTimeDEPRECATED() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t LongitudinalPlan::Builder::getRadarStateMonoTimeDEPRECATED() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlan::Builder::setRadarStateMonoTimeDEPRECATED( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline float LongitudinalPlan::Reader::getLaneWidthDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline float LongitudinalPlan::Builder::getLaneWidthDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlan::Builder::setLaneWidthDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline bool LongitudinalPlan::Reader::hasGpsTrajectoryDEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool LongitudinalPlan::Builder::hasGpsTrajectoryDEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LongitudinalPlan::GpsTrajectory::Reader LongitudinalPlan::Reader::getGpsTrajectoryDEPRECATED() const { + return ::capnp::_::PointerHelpers< ::cereal::LongitudinalPlan::GpsTrajectory>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::cereal::LongitudinalPlan::GpsTrajectory::Builder LongitudinalPlan::Builder::getGpsTrajectoryDEPRECATED() { + return ::capnp::_::PointerHelpers< ::cereal::LongitudinalPlan::GpsTrajectory>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::LongitudinalPlan::GpsTrajectory::Pipeline LongitudinalPlan::Pipeline::getGpsTrajectoryDEPRECATED() { + return ::cereal::LongitudinalPlan::GpsTrajectory::Pipeline(_typeless.getPointerField(1)); +} +#endif // !CAPNP_LITE +inline void LongitudinalPlan::Builder::setGpsTrajectoryDEPRECATED( ::cereal::LongitudinalPlan::GpsTrajectory::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::LongitudinalPlan::GpsTrajectory>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::cereal::LongitudinalPlan::GpsTrajectory::Builder LongitudinalPlan::Builder::initGpsTrajectoryDEPRECATED() { + return ::capnp::_::PointerHelpers< ::cereal::LongitudinalPlan::GpsTrajectory>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void LongitudinalPlan::Builder::adoptGpsTrajectoryDEPRECATED( + ::capnp::Orphan< ::cereal::LongitudinalPlan::GpsTrajectory>&& value) { + ::capnp::_::PointerHelpers< ::cereal::LongitudinalPlan::GpsTrajectory>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LongitudinalPlan::GpsTrajectory> LongitudinalPlan::Builder::disownGpsTrajectoryDEPRECATED() { + return ::capnp::_::PointerHelpers< ::cereal::LongitudinalPlan::GpsTrajectory>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool LongitudinalPlan::Reader::hasEventsDEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool LongitudinalPlan::Builder::hasEventsDEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>::Reader LongitudinalPlan::Reader::getEventsDEPRECATED() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>::Builder LongitudinalPlan::Builder::getEventsDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void LongitudinalPlan::Builder::setEventsDEPRECATED( ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>::Builder LongitudinalPlan::Builder::initEventsDEPRECATED(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void LongitudinalPlan::Builder::adoptEventsDEPRECATED( + ::capnp::Orphan< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>> LongitudinalPlan::Builder::disownEventsDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline float LongitudinalPlan::Reader::getVTargetFutureDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} + +inline float LongitudinalPlan::Builder::getVTargetFutureDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlan::Builder::setVTargetFutureDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::LongitudinalPlan::LongitudinalPlanSource LongitudinalPlan::Reader::getLongitudinalPlanSource() const { + return _reader.getDataField< ::cereal::LongitudinalPlan::LongitudinalPlanSource>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::cereal::LongitudinalPlan::LongitudinalPlanSource LongitudinalPlan::Builder::getLongitudinalPlanSource() { + return _builder.getDataField< ::cereal::LongitudinalPlan::LongitudinalPlanSource>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlan::Builder::setLongitudinalPlanSource( ::cereal::LongitudinalPlan::LongitudinalPlanSource value) { + _builder.setDataField< ::cereal::LongitudinalPlan::LongitudinalPlanSource>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float LongitudinalPlan::Reader::getVCruiseDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} + +inline float LongitudinalPlan::Builder::getVCruiseDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlan::Builder::setVCruiseDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS, value); +} + +inline float LongitudinalPlan::Reader::getACruiseDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} + +inline float LongitudinalPlan::Builder::getACruiseDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlan::Builder::setACruiseDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS, value); +} + +inline float LongitudinalPlan::Reader::getATarget() const { + return _reader.getDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} + +inline float LongitudinalPlan::Builder::getATarget() { + return _builder.getDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlan::Builder::setATarget(float value) { + _builder.setDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS, value); +} + +inline bool LongitudinalPlan::Reader::getGpsPlannerActiveDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline bool LongitudinalPlan::Builder::getGpsPlannerActiveDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlan::Builder::setGpsPlannerActiveDEPRECATED(bool value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline float LongitudinalPlan::Reader::getVMaxDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} + +inline float LongitudinalPlan::Builder::getVMaxDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlan::Builder::setVMaxDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS, value); +} + +inline float LongitudinalPlan::Reader::getVCurvatureDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<15>() * ::capnp::ELEMENTS); +} + +inline float LongitudinalPlan::Builder::getVCurvatureDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<15>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlan::Builder::setVCurvatureDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<15>() * ::capnp::ELEMENTS, value); +} + +inline bool LongitudinalPlan::Reader::getDecelForTurnDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline bool LongitudinalPlan::Builder::getDecelForTurnDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlan::Builder::setDecelForTurnDEPRECATED(bool value) { + _builder.setDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline bool LongitudinalPlan::Reader::getHasLeftLaneDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline bool LongitudinalPlan::Builder::getHasLeftLaneDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlan::Builder::setHasLeftLaneDEPRECATED(bool value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline bool LongitudinalPlan::Reader::getHasRightLaneDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline bool LongitudinalPlan::Builder::getHasRightLaneDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlan::Builder::setHasRightLaneDEPRECATED(bool value) { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline bool LongitudinalPlan::Reader::getMapValidDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline bool LongitudinalPlan::Builder::getMapValidDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlan::Builder::setMapValidDEPRECATED(bool value) { + _builder.setDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline float LongitudinalPlan::Reader::getVStartDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<16>() * ::capnp::ELEMENTS); +} + +inline float LongitudinalPlan::Builder::getVStartDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<16>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlan::Builder::setVStartDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<16>() * ::capnp::ELEMENTS, value); +} + +inline float LongitudinalPlan::Reader::getAStartDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<17>() * ::capnp::ELEMENTS); +} + +inline float LongitudinalPlan::Builder::getAStartDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<17>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlan::Builder::setAStartDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<17>() * ::capnp::ELEMENTS, value); +} + +inline bool LongitudinalPlan::Reader::getRadarValidDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} + +inline bool LongitudinalPlan::Builder::getRadarValidDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlan::Builder::setRadarValidDEPRECATED(bool value) { + _builder.setDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS, value); +} + +inline float LongitudinalPlan::Reader::getProcessingDelay() const { + return _reader.getDataField( + ::capnp::bounded<18>() * ::capnp::ELEMENTS); +} + +inline float LongitudinalPlan::Builder::getProcessingDelay() { + return _builder.getDataField( + ::capnp::bounded<18>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlan::Builder::setProcessingDelay(float value) { + _builder.setDataField( + ::capnp::bounded<18>() * ::capnp::ELEMENTS, value); +} + +inline bool LongitudinalPlan::Reader::getRadarCanErrorDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} + +inline bool LongitudinalPlan::Builder::getRadarCanErrorDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlan::Builder::setRadarCanErrorDEPRECATED(bool value) { + _builder.setDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS, value); +} + +inline bool LongitudinalPlan::Reader::getCommIssueDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} + +inline bool LongitudinalPlan::Builder::getCommIssueDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlan::Builder::setCommIssueDEPRECATED(bool value) { + _builder.setDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS, value); +} + +inline bool LongitudinalPlan::Reader::hasAccels() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool LongitudinalPlan::Builder::hasAccels() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LongitudinalPlan::Reader::getAccels() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LongitudinalPlan::Builder::getAccels() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void LongitudinalPlan::Builder::setAccels( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline void LongitudinalPlan::Builder::setAccels(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LongitudinalPlan::Builder::initAccels(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), size); +} +inline void LongitudinalPlan::Builder::adoptAccels( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LongitudinalPlan::Builder::disownAccels() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline bool LongitudinalPlan::Reader::hasSpeeds() const { + return !_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline bool LongitudinalPlan::Builder::hasSpeeds() { + return !_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LongitudinalPlan::Reader::getSpeeds() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LongitudinalPlan::Builder::getSpeeds() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline void LongitudinalPlan::Builder::setSpeeds( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline void LongitudinalPlan::Builder::setSpeeds(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LongitudinalPlan::Builder::initSpeeds(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), size); +} +inline void LongitudinalPlan::Builder::adoptSpeeds( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LongitudinalPlan::Builder::disownSpeeds() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} + +inline bool LongitudinalPlan::Reader::hasJerks() const { + return !_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline bool LongitudinalPlan::Builder::hasJerks() { + return !_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LongitudinalPlan::Reader::getJerks() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LongitudinalPlan::Builder::getJerks() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline void LongitudinalPlan::Builder::setJerks( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline void LongitudinalPlan::Builder::setJerks(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LongitudinalPlan::Builder::initJerks(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), size); +} +inline void LongitudinalPlan::Builder::adoptJerks( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LongitudinalPlan::Builder::disownJerks() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} + +inline float LongitudinalPlan::Reader::getSolverExecutionTime() const { + return _reader.getDataField( + ::capnp::bounded<19>() * ::capnp::ELEMENTS); +} + +inline float LongitudinalPlan::Builder::getSolverExecutionTime() { + return _builder.getDataField( + ::capnp::bounded<19>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlan::Builder::setSolverExecutionTime(float value) { + _builder.setDataField( + ::capnp::bounded<19>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::LongitudinalPersonality LongitudinalPlan::Reader::getPersonalityDEPRECATED() const { + return _reader.getDataField< ::cereal::LongitudinalPersonality>( + ::capnp::bounded<40>() * ::capnp::ELEMENTS); +} + +inline ::cereal::LongitudinalPersonality LongitudinalPlan::Builder::getPersonalityDEPRECATED() { + return _builder.getDataField< ::cereal::LongitudinalPersonality>( + ::capnp::bounded<40>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlan::Builder::setPersonalityDEPRECATED( ::cereal::LongitudinalPersonality value) { + _builder.setDataField< ::cereal::LongitudinalPersonality>( + ::capnp::bounded<40>() * ::capnp::ELEMENTS, value); +} + +inline bool LongitudinalPlan::Reader::getShouldStop() const { + return _reader.getDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} + +inline bool LongitudinalPlan::Builder::getShouldStop() { + return _builder.getDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlan::Builder::setShouldStop(bool value) { + _builder.setDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS, value); +} + +inline bool LongitudinalPlan::Reader::getAllowThrottle() const { + return _reader.getDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} + +inline bool LongitudinalPlan::Builder::getAllowThrottle() { + return _builder.getDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlan::Builder::setAllowThrottle(bool value) { + _builder.setDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS, value); +} + +inline bool LongitudinalPlan::Reader::getAllowBrake() const { + return _reader.getDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} + +inline bool LongitudinalPlan::Builder::getAllowBrake() { + return _builder.getDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} +inline void LongitudinalPlan::Builder::setAllowBrake(bool value) { + _builder.setDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS, value); +} + +inline bool LongitudinalPlan::GpsTrajectory::Reader::hasX() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool LongitudinalPlan::GpsTrajectory::Builder::hasX() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LongitudinalPlan::GpsTrajectory::Reader::getX() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LongitudinalPlan::GpsTrajectory::Builder::getX() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void LongitudinalPlan::GpsTrajectory::Builder::setX( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void LongitudinalPlan::GpsTrajectory::Builder::setX(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LongitudinalPlan::GpsTrajectory::Builder::initX(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void LongitudinalPlan::GpsTrajectory::Builder::adoptX( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LongitudinalPlan::GpsTrajectory::Builder::disownX() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool LongitudinalPlan::GpsTrajectory::Reader::hasY() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool LongitudinalPlan::GpsTrajectory::Builder::hasY() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LongitudinalPlan::GpsTrajectory::Reader::getY() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LongitudinalPlan::GpsTrajectory::Builder::getY() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void LongitudinalPlan::GpsTrajectory::Builder::setY( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void LongitudinalPlan::GpsTrajectory::Builder::setY(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LongitudinalPlan::GpsTrajectory::Builder::initY(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void LongitudinalPlan::GpsTrajectory::Builder::adoptY( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LongitudinalPlan::GpsTrajectory::Builder::disownY() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool UiPlan::Reader::hasPosition() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool UiPlan::Builder::hasPosition() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::XYZTData::Reader UiPlan::Reader::getPosition() const { + return ::capnp::_::PointerHelpers< ::cereal::XYZTData>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::XYZTData::Builder UiPlan::Builder::getPosition() { + return ::capnp::_::PointerHelpers< ::cereal::XYZTData>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::XYZTData::Pipeline UiPlan::Pipeline::getPosition() { + return ::cereal::XYZTData::Pipeline(_typeless.getPointerField(0)); +} +#endif // !CAPNP_LITE +inline void UiPlan::Builder::setPosition( ::cereal::XYZTData::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::XYZTData>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::XYZTData::Builder UiPlan::Builder::initPosition() { + return ::capnp::_::PointerHelpers< ::cereal::XYZTData>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void UiPlan::Builder::adoptPosition( + ::capnp::Orphan< ::cereal::XYZTData>&& value) { + ::capnp::_::PointerHelpers< ::cereal::XYZTData>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::XYZTData> UiPlan::Builder::disownPosition() { + return ::capnp::_::PointerHelpers< ::cereal::XYZTData>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool UiPlan::Reader::hasAccel() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool UiPlan::Builder::hasAccel() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader UiPlan::Reader::getAccel() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder UiPlan::Builder::getAccel() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void UiPlan::Builder::setAccel( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void UiPlan::Builder::setAccel(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder UiPlan::Builder::initAccel(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void UiPlan::Builder::adoptAccel( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> UiPlan::Builder::disownAccel() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline ::uint32_t UiPlan::Reader::getFrameId() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t UiPlan::Builder::getFrameId() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void UiPlan::Builder::setFrameId( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline float LateralPlan::Reader::getLaneWidthDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline float LateralPlan::Builder::getLaneWidthDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void LateralPlan::Builder::setLaneWidthDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool LateralPlan::Reader::hasDPolyDEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool LateralPlan::Builder::hasDPolyDEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LateralPlan::Reader::getDPolyDEPRECATED() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LateralPlan::Builder::getDPolyDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void LateralPlan::Builder::setDPolyDEPRECATED( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void LateralPlan::Builder::setDPolyDEPRECATED(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LateralPlan::Builder::initDPolyDEPRECATED(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void LateralPlan::Builder::adoptDPolyDEPRECATED( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LateralPlan::Builder::disownDPolyDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool LateralPlan::Reader::hasCPolyDEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool LateralPlan::Builder::hasCPolyDEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LateralPlan::Reader::getCPolyDEPRECATED() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LateralPlan::Builder::getCPolyDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void LateralPlan::Builder::setCPolyDEPRECATED( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void LateralPlan::Builder::setCPolyDEPRECATED(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LateralPlan::Builder::initCPolyDEPRECATED(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void LateralPlan::Builder::adoptCPolyDEPRECATED( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LateralPlan::Builder::disownCPolyDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline float LateralPlan::Reader::getCProbDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float LateralPlan::Builder::getCProbDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void LateralPlan::Builder::setCProbDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool LateralPlan::Reader::hasLPolyDEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool LateralPlan::Builder::hasLPolyDEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LateralPlan::Reader::getLPolyDEPRECATED() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LateralPlan::Builder::getLPolyDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void LateralPlan::Builder::setLPolyDEPRECATED( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline void LateralPlan::Builder::setLPolyDEPRECATED(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LateralPlan::Builder::initLPolyDEPRECATED(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void LateralPlan::Builder::adoptLPolyDEPRECATED( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LateralPlan::Builder::disownLPolyDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline float LateralPlan::Reader::getLProbDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float LateralPlan::Builder::getLProbDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void LateralPlan::Builder::setLProbDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline bool LateralPlan::Reader::hasRPolyDEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool LateralPlan::Builder::hasRPolyDEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LateralPlan::Reader::getRPolyDEPRECATED() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LateralPlan::Builder::getRPolyDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void LateralPlan::Builder::setRPolyDEPRECATED( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline void LateralPlan::Builder::setRPolyDEPRECATED(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LateralPlan::Builder::initRPolyDEPRECATED(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), size); +} +inline void LateralPlan::Builder::adoptRPolyDEPRECATED( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LateralPlan::Builder::disownRPolyDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline float LateralPlan::Reader::getRProbDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline float LateralPlan::Builder::getRProbDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void LateralPlan::Builder::setRProbDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline float LateralPlan::Reader::getSteeringAngleDegDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline float LateralPlan::Builder::getSteeringAngleDegDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void LateralPlan::Builder::setSteeringAngleDegDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline bool LateralPlan::Reader::getMpcSolutionValid() const { + return _reader.getDataField( + ::capnp::bounded<160>() * ::capnp::ELEMENTS); +} + +inline bool LateralPlan::Builder::getMpcSolutionValid() { + return _builder.getDataField( + ::capnp::bounded<160>() * ::capnp::ELEMENTS); +} +inline void LateralPlan::Builder::setMpcSolutionValid(bool value) { + _builder.setDataField( + ::capnp::bounded<160>() * ::capnp::ELEMENTS, value); +} + +inline bool LateralPlan::Reader::getParamsValidDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<161>() * ::capnp::ELEMENTS); +} + +inline bool LateralPlan::Builder::getParamsValidDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<161>() * ::capnp::ELEMENTS); +} +inline void LateralPlan::Builder::setParamsValidDEPRECATED(bool value) { + _builder.setDataField( + ::capnp::bounded<161>() * ::capnp::ELEMENTS, value); +} + +inline float LateralPlan::Reader::getAngleOffsetDegDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline float LateralPlan::Builder::getAngleOffsetDegDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void LateralPlan::Builder::setAngleOffsetDegDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline bool LateralPlan::Reader::getModelValidDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<162>() * ::capnp::ELEMENTS); +} + +inline bool LateralPlan::Builder::getModelValidDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<162>() * ::capnp::ELEMENTS); +} +inline void LateralPlan::Builder::setModelValidDEPRECATED(bool value) { + _builder.setDataField( + ::capnp::bounded<162>() * ::capnp::ELEMENTS, value); +} + +inline float LateralPlan::Reader::getSteeringRateDegDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline float LateralPlan::Builder::getSteeringRateDegDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void LateralPlan::Builder::setSteeringRateDegDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline bool LateralPlan::Reader::getSensorValidDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<163>() * ::capnp::ELEMENTS); +} + +inline bool LateralPlan::Builder::getSensorValidDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<163>() * ::capnp::ELEMENTS); +} +inline void LateralPlan::Builder::setSensorValidDEPRECATED(bool value) { + _builder.setDataField( + ::capnp::bounded<163>() * ::capnp::ELEMENTS, value); +} + +inline bool LateralPlan::Reader::getCommIssueDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<164>() * ::capnp::ELEMENTS); +} + +inline bool LateralPlan::Builder::getCommIssueDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<164>() * ::capnp::ELEMENTS); +} +inline void LateralPlan::Builder::setCommIssueDEPRECATED(bool value) { + _builder.setDataField( + ::capnp::bounded<164>() * ::capnp::ELEMENTS, value); +} + +inline bool LateralPlan::Reader::getPosenetValidDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<165>() * ::capnp::ELEMENTS); +} + +inline bool LateralPlan::Builder::getPosenetValidDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<165>() * ::capnp::ELEMENTS); +} +inline void LateralPlan::Builder::setPosenetValidDEPRECATED(bool value) { + _builder.setDataField( + ::capnp::bounded<165>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::Desire LateralPlan::Reader::getDesire() const { + return _reader.getDataField< ::cereal::Desire>( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} + +inline ::cereal::Desire LateralPlan::Builder::getDesire() { + return _builder.getDataField< ::cereal::Desire>( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} +inline void LateralPlan::Builder::setDesire( ::cereal::Desire value) { + _builder.setDataField< ::cereal::Desire>( + ::capnp::bounded<11>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::LaneChangeState LateralPlan::Reader::getLaneChangeState() const { + return _reader.getDataField< ::cereal::LaneChangeState>( + ::capnp::bounded<16>() * ::capnp::ELEMENTS); +} + +inline ::cereal::LaneChangeState LateralPlan::Builder::getLaneChangeState() { + return _builder.getDataField< ::cereal::LaneChangeState>( + ::capnp::bounded<16>() * ::capnp::ELEMENTS); +} +inline void LateralPlan::Builder::setLaneChangeState( ::cereal::LaneChangeState value) { + _builder.setDataField< ::cereal::LaneChangeState>( + ::capnp::bounded<16>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::LaneChangeDirection LateralPlan::Reader::getLaneChangeDirection() const { + return _reader.getDataField< ::cereal::LaneChangeDirection>( + ::capnp::bounded<17>() * ::capnp::ELEMENTS); +} + +inline ::cereal::LaneChangeDirection LateralPlan::Builder::getLaneChangeDirection() { + return _builder.getDataField< ::cereal::LaneChangeDirection>( + ::capnp::bounded<17>() * ::capnp::ELEMENTS); +} +inline void LateralPlan::Builder::setLaneChangeDirection( ::cereal::LaneChangeDirection value) { + _builder.setDataField< ::cereal::LaneChangeDirection>( + ::capnp::bounded<17>() * ::capnp::ELEMENTS, value); +} + +inline bool LateralPlan::Reader::hasDPathPoints() const { + return !_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline bool LateralPlan::Builder::hasDPathPoints() { + return !_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LateralPlan::Reader::getDPathPoints() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LateralPlan::Builder::getDPathPoints() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline void LateralPlan::Builder::setDPathPoints( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline void LateralPlan::Builder::setDPathPoints(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LateralPlan::Builder::initDPathPoints(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), size); +} +inline void LateralPlan::Builder::adoptDPathPoints( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LateralPlan::Builder::disownDPathPoints() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} + +inline float LateralPlan::Reader::getDProbDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} + +inline float LateralPlan::Builder::getDProbDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} +inline void LateralPlan::Builder::setDProbDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS, value); +} + +inline float LateralPlan::Reader::getCurvatureDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} + +inline float LateralPlan::Builder::getCurvatureDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} +inline void LateralPlan::Builder::setCurvatureDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS, value); +} + +inline float LateralPlan::Reader::getCurvatureRateDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} + +inline float LateralPlan::Builder::getCurvatureRateDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} +inline void LateralPlan::Builder::setCurvatureRateDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS, value); +} + +inline float LateralPlan::Reader::getRawCurvatureDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} + +inline float LateralPlan::Builder::getRawCurvatureDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} +inline void LateralPlan::Builder::setRawCurvatureDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS, value); +} + +inline float LateralPlan::Reader::getRawCurvatureRateDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} + +inline float LateralPlan::Builder::getRawCurvatureRateDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} +inline void LateralPlan::Builder::setRawCurvatureRateDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS, value); +} + +inline bool LateralPlan::Reader::hasPsis() const { + return !_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline bool LateralPlan::Builder::hasPsis() { + return !_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LateralPlan::Reader::getPsis() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LateralPlan::Builder::getPsis() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline void LateralPlan::Builder::setPsis( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline void LateralPlan::Builder::setPsis(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LateralPlan::Builder::initPsis(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), size); +} +inline void LateralPlan::Builder::adoptPsis( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LateralPlan::Builder::disownPsis() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} + +inline bool LateralPlan::Reader::hasCurvatures() const { + return !_reader.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS).isNull(); +} +inline bool LateralPlan::Builder::hasCurvatures() { + return !_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LateralPlan::Reader::getCurvatures() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LateralPlan::Builder::getCurvatures() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} +inline void LateralPlan::Builder::setCurvatures( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), value); +} +inline void LateralPlan::Builder::setCurvatures(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LateralPlan::Builder::initCurvatures(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), size); +} +inline void LateralPlan::Builder::adoptCurvatures( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LateralPlan::Builder::disownCurvatures() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} + +inline bool LateralPlan::Reader::hasCurvatureRates() const { + return !_reader.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS).isNull(); +} +inline bool LateralPlan::Builder::hasCurvatureRates() { + return !_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LateralPlan::Reader::getCurvatureRates() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LateralPlan::Builder::getCurvatureRates() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS)); +} +inline void LateralPlan::Builder::setCurvatureRates( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), value); +} +inline void LateralPlan::Builder::setCurvatureRates(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LateralPlan::Builder::initCurvatureRates(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), size); +} +inline void LateralPlan::Builder::adoptCurvatureRates( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LateralPlan::Builder::disownCurvatureRates() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS)); +} + +inline bool LateralPlan::Reader::getUseLaneLines() const { + return _reader.getDataField( + ::capnp::bounded<166>() * ::capnp::ELEMENTS); +} + +inline bool LateralPlan::Builder::getUseLaneLines() { + return _builder.getDataField( + ::capnp::bounded<166>() * ::capnp::ELEMENTS); +} +inline void LateralPlan::Builder::setUseLaneLines(bool value) { + _builder.setDataField( + ::capnp::bounded<166>() * ::capnp::ELEMENTS, value); +} + +inline float LateralPlan::Reader::getSolverExecutionTime() const { + return _reader.getDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} + +inline float LateralPlan::Builder::getSolverExecutionTime() { + return _builder.getDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} +inline void LateralPlan::Builder::setSolverExecutionTime(float value) { + _builder.setDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t LateralPlan::Reader::getModelMonoTime() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t LateralPlan::Builder::getModelMonoTime() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void LateralPlan::Builder::setModelMonoTime( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline float LateralPlan::Reader::getSolverCost() const { + return _reader.getDataField( + ::capnp::bounded<15>() * ::capnp::ELEMENTS); +} + +inline float LateralPlan::Builder::getSolverCost() { + return _builder.getDataField( + ::capnp::bounded<15>() * ::capnp::ELEMENTS); +} +inline void LateralPlan::Builder::setSolverCost(float value) { + _builder.setDataField( + ::capnp::bounded<15>() * ::capnp::ELEMENTS, value); +} + +inline bool LateralPlan::Reader::hasSolverState() const { + return !_reader.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS).isNull(); +} +inline bool LateralPlan::Builder::hasSolverState() { + return !_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LateralPlan::SolverState::Reader LateralPlan::Reader::getSolverState() const { + return ::capnp::_::PointerHelpers< ::cereal::LateralPlan::SolverState>::get(_reader.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS)); +} +inline ::cereal::LateralPlan::SolverState::Builder LateralPlan::Builder::getSolverState() { + return ::capnp::_::PointerHelpers< ::cereal::LateralPlan::SolverState>::get(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::LateralPlan::SolverState::Pipeline LateralPlan::Pipeline::getSolverState() { + return ::cereal::LateralPlan::SolverState::Pipeline(_typeless.getPointerField(8)); +} +#endif // !CAPNP_LITE +inline void LateralPlan::Builder::setSolverState( ::cereal::LateralPlan::SolverState::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::LateralPlan::SolverState>::set(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS), value); +} +inline ::cereal::LateralPlan::SolverState::Builder LateralPlan::Builder::initSolverState() { + return ::capnp::_::PointerHelpers< ::cereal::LateralPlan::SolverState>::init(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS)); +} +inline void LateralPlan::Builder::adoptSolverState( + ::capnp::Orphan< ::cereal::LateralPlan::SolverState>&& value) { + ::capnp::_::PointerHelpers< ::cereal::LateralPlan::SolverState>::adopt(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LateralPlan::SolverState> LateralPlan::Builder::disownSolverState() { + return ::capnp::_::PointerHelpers< ::cereal::LateralPlan::SolverState>::disown(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS)); +} + +inline bool LateralPlan::SolverState::Reader::hasX() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool LateralPlan::SolverState::Builder::hasX() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::capnp::List, ::capnp::Kind::LIST>::Reader LateralPlan::SolverState::Reader::getX() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::capnp::List, ::capnp::Kind::LIST>>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::capnp::List, ::capnp::Kind::LIST>::Builder LateralPlan::SolverState::Builder::getX() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::capnp::List, ::capnp::Kind::LIST>>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void LateralPlan::SolverState::Builder::setX( ::capnp::List< ::capnp::List, ::capnp::Kind::LIST>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::capnp::List, ::capnp::Kind::LIST>>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void LateralPlan::SolverState::Builder::setX(::kj::ArrayPtr::Reader> value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::capnp::List, ::capnp::Kind::LIST>>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::capnp::List, ::capnp::Kind::LIST>::Builder LateralPlan::SolverState::Builder::initX(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::capnp::List, ::capnp::Kind::LIST>>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void LateralPlan::SolverState::Builder::adoptX( + ::capnp::Orphan< ::capnp::List< ::capnp::List, ::capnp::Kind::LIST>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::capnp::List, ::capnp::Kind::LIST>>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::capnp::List, ::capnp::Kind::LIST>> LateralPlan::SolverState::Builder::disownX() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::capnp::List, ::capnp::Kind::LIST>>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool LateralPlan::SolverState::Reader::hasU() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool LateralPlan::SolverState::Builder::hasU() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LateralPlan::SolverState::Reader::getU() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LateralPlan::SolverState::Builder::getU() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void LateralPlan::SolverState::Builder::setU( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void LateralPlan::SolverState::Builder::setU(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LateralPlan::SolverState::Builder::initU(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void LateralPlan::SolverState::Builder::adoptU( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LateralPlan::SolverState::Builder::disownU() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool LiveLocationKalman::Reader::hasPositionECEF() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveLocationKalman::Builder::hasPositionECEF() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LiveLocationKalman::Measurement::Reader LiveLocationKalman::Reader::getPositionECEF() const { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::LiveLocationKalman::Measurement::Builder LiveLocationKalman::Builder::getPositionECEF() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::LiveLocationKalman::Measurement::Pipeline LiveLocationKalman::Pipeline::getPositionECEF() { + return ::cereal::LiveLocationKalman::Measurement::Pipeline(_typeless.getPointerField(0)); +} +#endif // !CAPNP_LITE +inline void LiveLocationKalman::Builder::setPositionECEF( ::cereal::LiveLocationKalman::Measurement::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::LiveLocationKalman::Measurement::Builder LiveLocationKalman::Builder::initPositionECEF() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void LiveLocationKalman::Builder::adoptPositionECEF( + ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement>&& value) { + ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement> LiveLocationKalman::Builder::disownPositionECEF() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool LiveLocationKalman::Reader::hasPositionGeodetic() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveLocationKalman::Builder::hasPositionGeodetic() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LiveLocationKalman::Measurement::Reader LiveLocationKalman::Reader::getPositionGeodetic() const { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::cereal::LiveLocationKalman::Measurement::Builder LiveLocationKalman::Builder::getPositionGeodetic() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::LiveLocationKalman::Measurement::Pipeline LiveLocationKalman::Pipeline::getPositionGeodetic() { + return ::cereal::LiveLocationKalman::Measurement::Pipeline(_typeless.getPointerField(1)); +} +#endif // !CAPNP_LITE +inline void LiveLocationKalman::Builder::setPositionGeodetic( ::cereal::LiveLocationKalman::Measurement::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::cereal::LiveLocationKalman::Measurement::Builder LiveLocationKalman::Builder::initPositionGeodetic() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void LiveLocationKalman::Builder::adoptPositionGeodetic( + ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement>&& value) { + ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement> LiveLocationKalman::Builder::disownPositionGeodetic() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool LiveLocationKalman::Reader::hasVelocityECEF() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveLocationKalman::Builder::hasVelocityECEF() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LiveLocationKalman::Measurement::Reader LiveLocationKalman::Reader::getVelocityECEF() const { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::cereal::LiveLocationKalman::Measurement::Builder LiveLocationKalman::Builder::getVelocityECEF() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::LiveLocationKalman::Measurement::Pipeline LiveLocationKalman::Pipeline::getVelocityECEF() { + return ::cereal::LiveLocationKalman::Measurement::Pipeline(_typeless.getPointerField(2)); +} +#endif // !CAPNP_LITE +inline void LiveLocationKalman::Builder::setVelocityECEF( ::cereal::LiveLocationKalman::Measurement::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::cereal::LiveLocationKalman::Measurement::Builder LiveLocationKalman::Builder::initVelocityECEF() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void LiveLocationKalman::Builder::adoptVelocityECEF( + ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement>&& value) { + ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement> LiveLocationKalman::Builder::disownVelocityECEF() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline bool LiveLocationKalman::Reader::hasVelocityNED() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveLocationKalman::Builder::hasVelocityNED() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LiveLocationKalman::Measurement::Reader LiveLocationKalman::Reader::getVelocityNED() const { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::cereal::LiveLocationKalman::Measurement::Builder LiveLocationKalman::Builder::getVelocityNED() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::LiveLocationKalman::Measurement::Pipeline LiveLocationKalman::Pipeline::getVelocityNED() { + return ::cereal::LiveLocationKalman::Measurement::Pipeline(_typeless.getPointerField(3)); +} +#endif // !CAPNP_LITE +inline void LiveLocationKalman::Builder::setVelocityNED( ::cereal::LiveLocationKalman::Measurement::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::cereal::LiveLocationKalman::Measurement::Builder LiveLocationKalman::Builder::initVelocityNED() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void LiveLocationKalman::Builder::adoptVelocityNED( + ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement>&& value) { + ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement> LiveLocationKalman::Builder::disownVelocityNED() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline bool LiveLocationKalman::Reader::hasVelocityDevice() const { + return !_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveLocationKalman::Builder::hasVelocityDevice() { + return !_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LiveLocationKalman::Measurement::Reader LiveLocationKalman::Reader::getVelocityDevice() const { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::get(_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline ::cereal::LiveLocationKalman::Measurement::Builder LiveLocationKalman::Builder::getVelocityDevice() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::get(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::LiveLocationKalman::Measurement::Pipeline LiveLocationKalman::Pipeline::getVelocityDevice() { + return ::cereal::LiveLocationKalman::Measurement::Pipeline(_typeless.getPointerField(4)); +} +#endif // !CAPNP_LITE +inline void LiveLocationKalman::Builder::setVelocityDevice( ::cereal::LiveLocationKalman::Measurement::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline ::cereal::LiveLocationKalman::Measurement::Builder LiveLocationKalman::Builder::initVelocityDevice() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::init(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline void LiveLocationKalman::Builder::adoptVelocityDevice( + ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement>&& value) { + ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::adopt(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement> LiveLocationKalman::Builder::disownVelocityDevice() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::disown(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} + +inline bool LiveLocationKalman::Reader::hasAccelerationDevice() const { + return !_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveLocationKalman::Builder::hasAccelerationDevice() { + return !_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LiveLocationKalman::Measurement::Reader LiveLocationKalman::Reader::getAccelerationDevice() const { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::get(_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline ::cereal::LiveLocationKalman::Measurement::Builder LiveLocationKalman::Builder::getAccelerationDevice() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::get(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::LiveLocationKalman::Measurement::Pipeline LiveLocationKalman::Pipeline::getAccelerationDevice() { + return ::cereal::LiveLocationKalman::Measurement::Pipeline(_typeless.getPointerField(5)); +} +#endif // !CAPNP_LITE +inline void LiveLocationKalman::Builder::setAccelerationDevice( ::cereal::LiveLocationKalman::Measurement::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline ::cereal::LiveLocationKalman::Measurement::Builder LiveLocationKalman::Builder::initAccelerationDevice() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::init(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline void LiveLocationKalman::Builder::adoptAccelerationDevice( + ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement>&& value) { + ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::adopt(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement> LiveLocationKalman::Builder::disownAccelerationDevice() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::disown(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} + +inline bool LiveLocationKalman::Reader::hasOrientationECEF() const { + return !_reader.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveLocationKalman::Builder::hasOrientationECEF() { + return !_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LiveLocationKalman::Measurement::Reader LiveLocationKalman::Reader::getOrientationECEF() const { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::get(_reader.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} +inline ::cereal::LiveLocationKalman::Measurement::Builder LiveLocationKalman::Builder::getOrientationECEF() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::get(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::LiveLocationKalman::Measurement::Pipeline LiveLocationKalman::Pipeline::getOrientationECEF() { + return ::cereal::LiveLocationKalman::Measurement::Pipeline(_typeless.getPointerField(6)); +} +#endif // !CAPNP_LITE +inline void LiveLocationKalman::Builder::setOrientationECEF( ::cereal::LiveLocationKalman::Measurement::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::set(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), value); +} +inline ::cereal::LiveLocationKalman::Measurement::Builder LiveLocationKalman::Builder::initOrientationECEF() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::init(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} +inline void LiveLocationKalman::Builder::adoptOrientationECEF( + ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement>&& value) { + ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::adopt(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement> LiveLocationKalman::Builder::disownOrientationECEF() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::disown(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} + +inline bool LiveLocationKalman::Reader::hasOrientationNED() const { + return !_reader.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveLocationKalman::Builder::hasOrientationNED() { + return !_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LiveLocationKalman::Measurement::Reader LiveLocationKalman::Reader::getOrientationNED() const { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::get(_reader.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS)); +} +inline ::cereal::LiveLocationKalman::Measurement::Builder LiveLocationKalman::Builder::getOrientationNED() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::get(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::LiveLocationKalman::Measurement::Pipeline LiveLocationKalman::Pipeline::getOrientationNED() { + return ::cereal::LiveLocationKalman::Measurement::Pipeline(_typeless.getPointerField(7)); +} +#endif // !CAPNP_LITE +inline void LiveLocationKalman::Builder::setOrientationNED( ::cereal::LiveLocationKalman::Measurement::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::set(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), value); +} +inline ::cereal::LiveLocationKalman::Measurement::Builder LiveLocationKalman::Builder::initOrientationNED() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::init(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS)); +} +inline void LiveLocationKalman::Builder::adoptOrientationNED( + ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement>&& value) { + ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::adopt(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement> LiveLocationKalman::Builder::disownOrientationNED() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::disown(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS)); +} + +inline bool LiveLocationKalman::Reader::hasAngularVelocityDevice() const { + return !_reader.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveLocationKalman::Builder::hasAngularVelocityDevice() { + return !_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LiveLocationKalman::Measurement::Reader LiveLocationKalman::Reader::getAngularVelocityDevice() const { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::get(_reader.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS)); +} +inline ::cereal::LiveLocationKalman::Measurement::Builder LiveLocationKalman::Builder::getAngularVelocityDevice() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::get(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::LiveLocationKalman::Measurement::Pipeline LiveLocationKalman::Pipeline::getAngularVelocityDevice() { + return ::cereal::LiveLocationKalman::Measurement::Pipeline(_typeless.getPointerField(8)); +} +#endif // !CAPNP_LITE +inline void LiveLocationKalman::Builder::setAngularVelocityDevice( ::cereal::LiveLocationKalman::Measurement::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::set(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS), value); +} +inline ::cereal::LiveLocationKalman::Measurement::Builder LiveLocationKalman::Builder::initAngularVelocityDevice() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::init(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS)); +} +inline void LiveLocationKalman::Builder::adoptAngularVelocityDevice( + ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement>&& value) { + ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::adopt(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement> LiveLocationKalman::Builder::disownAngularVelocityDevice() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::disown(_builder.getPointerField( + ::capnp::bounded<8>() * ::capnp::POINTERS)); +} + +inline bool LiveLocationKalman::Reader::hasCalibratedOrientationNED() const { + return !_reader.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveLocationKalman::Builder::hasCalibratedOrientationNED() { + return !_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LiveLocationKalman::Measurement::Reader LiveLocationKalman::Reader::getCalibratedOrientationNED() const { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::get(_reader.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS)); +} +inline ::cereal::LiveLocationKalman::Measurement::Builder LiveLocationKalman::Builder::getCalibratedOrientationNED() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::get(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::LiveLocationKalman::Measurement::Pipeline LiveLocationKalman::Pipeline::getCalibratedOrientationNED() { + return ::cereal::LiveLocationKalman::Measurement::Pipeline(_typeless.getPointerField(9)); +} +#endif // !CAPNP_LITE +inline void LiveLocationKalman::Builder::setCalibratedOrientationNED( ::cereal::LiveLocationKalman::Measurement::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::set(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS), value); +} +inline ::cereal::LiveLocationKalman::Measurement::Builder LiveLocationKalman::Builder::initCalibratedOrientationNED() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::init(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS)); +} +inline void LiveLocationKalman::Builder::adoptCalibratedOrientationNED( + ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement>&& value) { + ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::adopt(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement> LiveLocationKalman::Builder::disownCalibratedOrientationNED() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::disown(_builder.getPointerField( + ::capnp::bounded<9>() * ::capnp::POINTERS)); +} + +inline bool LiveLocationKalman::Reader::hasVelocityCalibrated() const { + return !_reader.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveLocationKalman::Builder::hasVelocityCalibrated() { + return !_builder.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LiveLocationKalman::Measurement::Reader LiveLocationKalman::Reader::getVelocityCalibrated() const { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::get(_reader.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS)); +} +inline ::cereal::LiveLocationKalman::Measurement::Builder LiveLocationKalman::Builder::getVelocityCalibrated() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::get(_builder.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::LiveLocationKalman::Measurement::Pipeline LiveLocationKalman::Pipeline::getVelocityCalibrated() { + return ::cereal::LiveLocationKalman::Measurement::Pipeline(_typeless.getPointerField(10)); +} +#endif // !CAPNP_LITE +inline void LiveLocationKalman::Builder::setVelocityCalibrated( ::cereal::LiveLocationKalman::Measurement::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::set(_builder.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS), value); +} +inline ::cereal::LiveLocationKalman::Measurement::Builder LiveLocationKalman::Builder::initVelocityCalibrated() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::init(_builder.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS)); +} +inline void LiveLocationKalman::Builder::adoptVelocityCalibrated( + ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement>&& value) { + ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::adopt(_builder.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement> LiveLocationKalman::Builder::disownVelocityCalibrated() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::disown(_builder.getPointerField( + ::capnp::bounded<10>() * ::capnp::POINTERS)); +} + +inline bool LiveLocationKalman::Reader::hasAccelerationCalibrated() const { + return !_reader.getPointerField( + ::capnp::bounded<11>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveLocationKalman::Builder::hasAccelerationCalibrated() { + return !_builder.getPointerField( + ::capnp::bounded<11>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LiveLocationKalman::Measurement::Reader LiveLocationKalman::Reader::getAccelerationCalibrated() const { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::get(_reader.getPointerField( + ::capnp::bounded<11>() * ::capnp::POINTERS)); +} +inline ::cereal::LiveLocationKalman::Measurement::Builder LiveLocationKalman::Builder::getAccelerationCalibrated() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::get(_builder.getPointerField( + ::capnp::bounded<11>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::LiveLocationKalman::Measurement::Pipeline LiveLocationKalman::Pipeline::getAccelerationCalibrated() { + return ::cereal::LiveLocationKalman::Measurement::Pipeline(_typeless.getPointerField(11)); +} +#endif // !CAPNP_LITE +inline void LiveLocationKalman::Builder::setAccelerationCalibrated( ::cereal::LiveLocationKalman::Measurement::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::set(_builder.getPointerField( + ::capnp::bounded<11>() * ::capnp::POINTERS), value); +} +inline ::cereal::LiveLocationKalman::Measurement::Builder LiveLocationKalman::Builder::initAccelerationCalibrated() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::init(_builder.getPointerField( + ::capnp::bounded<11>() * ::capnp::POINTERS)); +} +inline void LiveLocationKalman::Builder::adoptAccelerationCalibrated( + ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement>&& value) { + ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::adopt(_builder.getPointerField( + ::capnp::bounded<11>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement> LiveLocationKalman::Builder::disownAccelerationCalibrated() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::disown(_builder.getPointerField( + ::capnp::bounded<11>() * ::capnp::POINTERS)); +} + +inline bool LiveLocationKalman::Reader::hasAngularVelocityCalibrated() const { + return !_reader.getPointerField( + ::capnp::bounded<12>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveLocationKalman::Builder::hasAngularVelocityCalibrated() { + return !_builder.getPointerField( + ::capnp::bounded<12>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LiveLocationKalman::Measurement::Reader LiveLocationKalman::Reader::getAngularVelocityCalibrated() const { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::get(_reader.getPointerField( + ::capnp::bounded<12>() * ::capnp::POINTERS)); +} +inline ::cereal::LiveLocationKalman::Measurement::Builder LiveLocationKalman::Builder::getAngularVelocityCalibrated() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::get(_builder.getPointerField( + ::capnp::bounded<12>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::LiveLocationKalman::Measurement::Pipeline LiveLocationKalman::Pipeline::getAngularVelocityCalibrated() { + return ::cereal::LiveLocationKalman::Measurement::Pipeline(_typeless.getPointerField(12)); +} +#endif // !CAPNP_LITE +inline void LiveLocationKalman::Builder::setAngularVelocityCalibrated( ::cereal::LiveLocationKalman::Measurement::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::set(_builder.getPointerField( + ::capnp::bounded<12>() * ::capnp::POINTERS), value); +} +inline ::cereal::LiveLocationKalman::Measurement::Builder LiveLocationKalman::Builder::initAngularVelocityCalibrated() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::init(_builder.getPointerField( + ::capnp::bounded<12>() * ::capnp::POINTERS)); +} +inline void LiveLocationKalman::Builder::adoptAngularVelocityCalibrated( + ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement>&& value) { + ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::adopt(_builder.getPointerField( + ::capnp::bounded<12>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement> LiveLocationKalman::Builder::disownAngularVelocityCalibrated() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::disown(_builder.getPointerField( + ::capnp::bounded<12>() * ::capnp::POINTERS)); +} + +inline ::int32_t LiveLocationKalman::Reader::getGpsWeek() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::int32_t LiveLocationKalman::Builder::getGpsWeek() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void LiveLocationKalman::Builder::setGpsWeek( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline double LiveLocationKalman::Reader::getGpsTimeOfWeek() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline double LiveLocationKalman::Builder::getGpsTimeOfWeek() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void LiveLocationKalman::Builder::setGpsTimeOfWeek(double value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::LiveLocationKalman::Status LiveLocationKalman::Reader::getStatus() const { + return _reader.getDataField< ::cereal::LiveLocationKalman::Status>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::cereal::LiveLocationKalman::Status LiveLocationKalman::Builder::getStatus() { + return _builder.getDataField< ::cereal::LiveLocationKalman::Status>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void LiveLocationKalman::Builder::setStatus( ::cereal::LiveLocationKalman::Status value) { + _builder.setDataField< ::cereal::LiveLocationKalman::Status>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline ::int64_t LiveLocationKalman::Reader::getUnixTimestampMillis() const { + return _reader.getDataField< ::int64_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::int64_t LiveLocationKalman::Builder::getUnixTimestampMillis() { + return _builder.getDataField< ::int64_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void LiveLocationKalman::Builder::setUnixTimestampMillis( ::int64_t value) { + _builder.setDataField< ::int64_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline bool LiveLocationKalman::Reader::getInputsOK() const { + return _reader.getDataField( + ::capnp::bounded<48>() * ::capnp::ELEMENTS, true); +} + +inline bool LiveLocationKalman::Builder::getInputsOK() { + return _builder.getDataField( + ::capnp::bounded<48>() * ::capnp::ELEMENTS, true); +} +inline void LiveLocationKalman::Builder::setInputsOK(bool value) { + _builder.setDataField( + ::capnp::bounded<48>() * ::capnp::ELEMENTS, value, true); +} + +inline bool LiveLocationKalman::Reader::getPosenetOK() const { + return _reader.getDataField( + ::capnp::bounded<49>() * ::capnp::ELEMENTS, true); +} + +inline bool LiveLocationKalman::Builder::getPosenetOK() { + return _builder.getDataField( + ::capnp::bounded<49>() * ::capnp::ELEMENTS, true); +} +inline void LiveLocationKalman::Builder::setPosenetOK(bool value) { + _builder.setDataField( + ::capnp::bounded<49>() * ::capnp::ELEMENTS, value, true); +} + +inline bool LiveLocationKalman::Reader::getGpsOK() const { + return _reader.getDataField( + ::capnp::bounded<50>() * ::capnp::ELEMENTS, true); +} + +inline bool LiveLocationKalman::Builder::getGpsOK() { + return _builder.getDataField( + ::capnp::bounded<50>() * ::capnp::ELEMENTS, true); +} +inline void LiveLocationKalman::Builder::setGpsOK(bool value) { + _builder.setDataField( + ::capnp::bounded<50>() * ::capnp::ELEMENTS, value, true); +} + +inline bool LiveLocationKalman::Reader::hasCalibratedOrientationECEF() const { + return !_reader.getPointerField( + ::capnp::bounded<13>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveLocationKalman::Builder::hasCalibratedOrientationECEF() { + return !_builder.getPointerField( + ::capnp::bounded<13>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LiveLocationKalman::Measurement::Reader LiveLocationKalman::Reader::getCalibratedOrientationECEF() const { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::get(_reader.getPointerField( + ::capnp::bounded<13>() * ::capnp::POINTERS)); +} +inline ::cereal::LiveLocationKalman::Measurement::Builder LiveLocationKalman::Builder::getCalibratedOrientationECEF() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::get(_builder.getPointerField( + ::capnp::bounded<13>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::LiveLocationKalman::Measurement::Pipeline LiveLocationKalman::Pipeline::getCalibratedOrientationECEF() { + return ::cereal::LiveLocationKalman::Measurement::Pipeline(_typeless.getPointerField(13)); +} +#endif // !CAPNP_LITE +inline void LiveLocationKalman::Builder::setCalibratedOrientationECEF( ::cereal::LiveLocationKalman::Measurement::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::set(_builder.getPointerField( + ::capnp::bounded<13>() * ::capnp::POINTERS), value); +} +inline ::cereal::LiveLocationKalman::Measurement::Builder LiveLocationKalman::Builder::initCalibratedOrientationECEF() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::init(_builder.getPointerField( + ::capnp::bounded<13>() * ::capnp::POINTERS)); +} +inline void LiveLocationKalman::Builder::adoptCalibratedOrientationECEF( + ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement>&& value) { + ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::adopt(_builder.getPointerField( + ::capnp::bounded<13>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement> LiveLocationKalman::Builder::disownCalibratedOrientationECEF() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::disown(_builder.getPointerField( + ::capnp::bounded<13>() * ::capnp::POINTERS)); +} + +inline bool LiveLocationKalman::Reader::getSensorsOK() const { + return _reader.getDataField( + ::capnp::bounded<51>() * ::capnp::ELEMENTS, true); +} + +inline bool LiveLocationKalman::Builder::getSensorsOK() { + return _builder.getDataField( + ::capnp::bounded<51>() * ::capnp::ELEMENTS, true); +} +inline void LiveLocationKalman::Builder::setSensorsOK(bool value) { + _builder.setDataField( + ::capnp::bounded<51>() * ::capnp::ELEMENTS, value, true); +} + +inline bool LiveLocationKalman::Reader::getDeviceStable() const { + return _reader.getDataField( + ::capnp::bounded<52>() * ::capnp::ELEMENTS, true); +} + +inline bool LiveLocationKalman::Builder::getDeviceStable() { + return _builder.getDataField( + ::capnp::bounded<52>() * ::capnp::ELEMENTS, true); +} +inline void LiveLocationKalman::Builder::setDeviceStable(bool value) { + _builder.setDataField( + ::capnp::bounded<52>() * ::capnp::ELEMENTS, value, true); +} + +inline double LiveLocationKalman::Reader::getTimeSinceReset() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline double LiveLocationKalman::Builder::getTimeSinceReset() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void LiveLocationKalman::Builder::setTimeSinceReset(double value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline bool LiveLocationKalman::Reader::getExcessiveResets() const { + return _reader.getDataField( + ::capnp::bounded<53>() * ::capnp::ELEMENTS); +} + +inline bool LiveLocationKalman::Builder::getExcessiveResets() { + return _builder.getDataField( + ::capnp::bounded<53>() * ::capnp::ELEMENTS); +} +inline void LiveLocationKalman::Builder::setExcessiveResets(bool value) { + _builder.setDataField( + ::capnp::bounded<53>() * ::capnp::ELEMENTS, value); +} + +inline float LiveLocationKalman::Reader::getTimeToFirstFix() const { + return _reader.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline float LiveLocationKalman::Builder::getTimeToFirstFix() { + return _builder.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void LiveLocationKalman::Builder::setTimeToFirstFix(float value) { + _builder.setDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline bool LiveLocationKalman::Reader::hasFilterState() const { + return !_reader.getPointerField( + ::capnp::bounded<14>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveLocationKalman::Builder::hasFilterState() { + return !_builder.getPointerField( + ::capnp::bounded<14>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LiveLocationKalman::Measurement::Reader LiveLocationKalman::Reader::getFilterState() const { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::get(_reader.getPointerField( + ::capnp::bounded<14>() * ::capnp::POINTERS)); +} +inline ::cereal::LiveLocationKalman::Measurement::Builder LiveLocationKalman::Builder::getFilterState() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::get(_builder.getPointerField( + ::capnp::bounded<14>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::LiveLocationKalman::Measurement::Pipeline LiveLocationKalman::Pipeline::getFilterState() { + return ::cereal::LiveLocationKalman::Measurement::Pipeline(_typeless.getPointerField(14)); +} +#endif // !CAPNP_LITE +inline void LiveLocationKalman::Builder::setFilterState( ::cereal::LiveLocationKalman::Measurement::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::set(_builder.getPointerField( + ::capnp::bounded<14>() * ::capnp::POINTERS), value); +} +inline ::cereal::LiveLocationKalman::Measurement::Builder LiveLocationKalman::Builder::initFilterState() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::init(_builder.getPointerField( + ::capnp::bounded<14>() * ::capnp::POINTERS)); +} +inline void LiveLocationKalman::Builder::adoptFilterState( + ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement>&& value) { + ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::adopt(_builder.getPointerField( + ::capnp::bounded<14>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement> LiveLocationKalman::Builder::disownFilterState() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::disown(_builder.getPointerField( + ::capnp::bounded<14>() * ::capnp::POINTERS)); +} + +inline bool LiveLocationKalman::Measurement::Reader::hasValue() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveLocationKalman::Measurement::Builder::hasValue() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LiveLocationKalman::Measurement::Reader::getValue() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LiveLocationKalman::Measurement::Builder::getValue() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void LiveLocationKalman::Measurement::Builder::setValue( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void LiveLocationKalman::Measurement::Builder::setValue(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LiveLocationKalman::Measurement::Builder::initValue(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void LiveLocationKalman::Measurement::Builder::adoptValue( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LiveLocationKalman::Measurement::Builder::disownValue() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool LiveLocationKalman::Measurement::Reader::hasStd() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveLocationKalman::Measurement::Builder::hasStd() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LiveLocationKalman::Measurement::Reader::getStd() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LiveLocationKalman::Measurement::Builder::getStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void LiveLocationKalman::Measurement::Builder::setStd( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void LiveLocationKalman::Measurement::Builder::setStd(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LiveLocationKalman::Measurement::Builder::initStd(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void LiveLocationKalman::Measurement::Builder::adoptStd( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LiveLocationKalman::Measurement::Builder::disownStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool LiveLocationKalman::Measurement::Reader::getValid() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline bool LiveLocationKalman::Measurement::Builder::getValid() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void LiveLocationKalman::Measurement::Builder::setValid(bool value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool LivePose::Reader::hasOrientationNED() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool LivePose::Builder::hasOrientationNED() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LivePose::XYZMeasurement::Reader LivePose::Reader::getOrientationNED() const { + return ::capnp::_::PointerHelpers< ::cereal::LivePose::XYZMeasurement>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::LivePose::XYZMeasurement::Builder LivePose::Builder::getOrientationNED() { + return ::capnp::_::PointerHelpers< ::cereal::LivePose::XYZMeasurement>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::LivePose::XYZMeasurement::Pipeline LivePose::Pipeline::getOrientationNED() { + return ::cereal::LivePose::XYZMeasurement::Pipeline(_typeless.getPointerField(0)); +} +#endif // !CAPNP_LITE +inline void LivePose::Builder::setOrientationNED( ::cereal::LivePose::XYZMeasurement::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::LivePose::XYZMeasurement>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::LivePose::XYZMeasurement::Builder LivePose::Builder::initOrientationNED() { + return ::capnp::_::PointerHelpers< ::cereal::LivePose::XYZMeasurement>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void LivePose::Builder::adoptOrientationNED( + ::capnp::Orphan< ::cereal::LivePose::XYZMeasurement>&& value) { + ::capnp::_::PointerHelpers< ::cereal::LivePose::XYZMeasurement>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LivePose::XYZMeasurement> LivePose::Builder::disownOrientationNED() { + return ::capnp::_::PointerHelpers< ::cereal::LivePose::XYZMeasurement>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool LivePose::Reader::hasVelocityDevice() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool LivePose::Builder::hasVelocityDevice() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LivePose::XYZMeasurement::Reader LivePose::Reader::getVelocityDevice() const { + return ::capnp::_::PointerHelpers< ::cereal::LivePose::XYZMeasurement>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::cereal::LivePose::XYZMeasurement::Builder LivePose::Builder::getVelocityDevice() { + return ::capnp::_::PointerHelpers< ::cereal::LivePose::XYZMeasurement>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::LivePose::XYZMeasurement::Pipeline LivePose::Pipeline::getVelocityDevice() { + return ::cereal::LivePose::XYZMeasurement::Pipeline(_typeless.getPointerField(1)); +} +#endif // !CAPNP_LITE +inline void LivePose::Builder::setVelocityDevice( ::cereal::LivePose::XYZMeasurement::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::LivePose::XYZMeasurement>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::cereal::LivePose::XYZMeasurement::Builder LivePose::Builder::initVelocityDevice() { + return ::capnp::_::PointerHelpers< ::cereal::LivePose::XYZMeasurement>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void LivePose::Builder::adoptVelocityDevice( + ::capnp::Orphan< ::cereal::LivePose::XYZMeasurement>&& value) { + ::capnp::_::PointerHelpers< ::cereal::LivePose::XYZMeasurement>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LivePose::XYZMeasurement> LivePose::Builder::disownVelocityDevice() { + return ::capnp::_::PointerHelpers< ::cereal::LivePose::XYZMeasurement>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool LivePose::Reader::hasAccelerationDevice() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool LivePose::Builder::hasAccelerationDevice() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LivePose::XYZMeasurement::Reader LivePose::Reader::getAccelerationDevice() const { + return ::capnp::_::PointerHelpers< ::cereal::LivePose::XYZMeasurement>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::cereal::LivePose::XYZMeasurement::Builder LivePose::Builder::getAccelerationDevice() { + return ::capnp::_::PointerHelpers< ::cereal::LivePose::XYZMeasurement>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::LivePose::XYZMeasurement::Pipeline LivePose::Pipeline::getAccelerationDevice() { + return ::cereal::LivePose::XYZMeasurement::Pipeline(_typeless.getPointerField(2)); +} +#endif // !CAPNP_LITE +inline void LivePose::Builder::setAccelerationDevice( ::cereal::LivePose::XYZMeasurement::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::LivePose::XYZMeasurement>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::cereal::LivePose::XYZMeasurement::Builder LivePose::Builder::initAccelerationDevice() { + return ::capnp::_::PointerHelpers< ::cereal::LivePose::XYZMeasurement>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void LivePose::Builder::adoptAccelerationDevice( + ::capnp::Orphan< ::cereal::LivePose::XYZMeasurement>&& value) { + ::capnp::_::PointerHelpers< ::cereal::LivePose::XYZMeasurement>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LivePose::XYZMeasurement> LivePose::Builder::disownAccelerationDevice() { + return ::capnp::_::PointerHelpers< ::cereal::LivePose::XYZMeasurement>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline bool LivePose::Reader::hasAngularVelocityDevice() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool LivePose::Builder::hasAngularVelocityDevice() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LivePose::XYZMeasurement::Reader LivePose::Reader::getAngularVelocityDevice() const { + return ::capnp::_::PointerHelpers< ::cereal::LivePose::XYZMeasurement>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::cereal::LivePose::XYZMeasurement::Builder LivePose::Builder::getAngularVelocityDevice() { + return ::capnp::_::PointerHelpers< ::cereal::LivePose::XYZMeasurement>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::LivePose::XYZMeasurement::Pipeline LivePose::Pipeline::getAngularVelocityDevice() { + return ::cereal::LivePose::XYZMeasurement::Pipeline(_typeless.getPointerField(3)); +} +#endif // !CAPNP_LITE +inline void LivePose::Builder::setAngularVelocityDevice( ::cereal::LivePose::XYZMeasurement::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::LivePose::XYZMeasurement>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::cereal::LivePose::XYZMeasurement::Builder LivePose::Builder::initAngularVelocityDevice() { + return ::capnp::_::PointerHelpers< ::cereal::LivePose::XYZMeasurement>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void LivePose::Builder::adoptAngularVelocityDevice( + ::capnp::Orphan< ::cereal::LivePose::XYZMeasurement>&& value) { + ::capnp::_::PointerHelpers< ::cereal::LivePose::XYZMeasurement>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LivePose::XYZMeasurement> LivePose::Builder::disownAngularVelocityDevice() { + return ::capnp::_::PointerHelpers< ::cereal::LivePose::XYZMeasurement>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline bool LivePose::Reader::getInputsOK() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline bool LivePose::Builder::getInputsOK() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void LivePose::Builder::setInputsOK(bool value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool LivePose::Reader::getPosenetOK() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline bool LivePose::Builder::getPosenetOK() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void LivePose::Builder::setPosenetOK(bool value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool LivePose::Reader::getSensorsOK() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline bool LivePose::Builder::getSensorsOK() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void LivePose::Builder::setSensorsOK(bool value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline bool LivePose::Reader::hasFilterState() const { + return !_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline bool LivePose::Builder::hasFilterState() { + return !_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LivePose::FilterState::Reader LivePose::Reader::getFilterState() const { + return ::capnp::_::PointerHelpers< ::cereal::LivePose::FilterState>::get(_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline ::cereal::LivePose::FilterState::Builder LivePose::Builder::getFilterState() { + return ::capnp::_::PointerHelpers< ::cereal::LivePose::FilterState>::get(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::LivePose::FilterState::Pipeline LivePose::Pipeline::getFilterState() { + return ::cereal::LivePose::FilterState::Pipeline(_typeless.getPointerField(4)); +} +#endif // !CAPNP_LITE +inline void LivePose::Builder::setFilterState( ::cereal::LivePose::FilterState::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::LivePose::FilterState>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline ::cereal::LivePose::FilterState::Builder LivePose::Builder::initFilterState() { + return ::capnp::_::PointerHelpers< ::cereal::LivePose::FilterState>::init(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline void LivePose::Builder::adoptFilterState( + ::capnp::Orphan< ::cereal::LivePose::FilterState>&& value) { + ::capnp::_::PointerHelpers< ::cereal::LivePose::FilterState>::adopt(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LivePose::FilterState> LivePose::Builder::disownFilterState() { + return ::capnp::_::PointerHelpers< ::cereal::LivePose::FilterState>::disown(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} + +inline float LivePose::XYZMeasurement::Reader::getX() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline float LivePose::XYZMeasurement::Builder::getX() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void LivePose::XYZMeasurement::Builder::setX(float value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline float LivePose::XYZMeasurement::Reader::getY() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float LivePose::XYZMeasurement::Builder::getY() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void LivePose::XYZMeasurement::Builder::setY(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float LivePose::XYZMeasurement::Reader::getZ() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float LivePose::XYZMeasurement::Builder::getZ() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void LivePose::XYZMeasurement::Builder::setZ(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline float LivePose::XYZMeasurement::Reader::getXStd() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline float LivePose::XYZMeasurement::Builder::getXStd() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void LivePose::XYZMeasurement::Builder::setXStd(float value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline float LivePose::XYZMeasurement::Reader::getYStd() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline float LivePose::XYZMeasurement::Builder::getYStd() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void LivePose::XYZMeasurement::Builder::setYStd(float value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline float LivePose::XYZMeasurement::Reader::getZStd() const { + return _reader.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline float LivePose::XYZMeasurement::Builder::getZStd() { + return _builder.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void LivePose::XYZMeasurement::Builder::setZStd(float value) { + _builder.setDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline bool LivePose::XYZMeasurement::Reader::getValid() const { + return _reader.getDataField( + ::capnp::bounded<192>() * ::capnp::ELEMENTS); +} + +inline bool LivePose::XYZMeasurement::Builder::getValid() { + return _builder.getDataField( + ::capnp::bounded<192>() * ::capnp::ELEMENTS); +} +inline void LivePose::XYZMeasurement::Builder::setValid(bool value) { + _builder.setDataField( + ::capnp::bounded<192>() * ::capnp::ELEMENTS, value); +} + +inline bool LivePose::FilterState::Reader::hasValue() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool LivePose::FilterState::Builder::hasValue() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LivePose::FilterState::Reader::getValue() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LivePose::FilterState::Builder::getValue() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void LivePose::FilterState::Builder::setValue( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void LivePose::FilterState::Builder::setValue(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LivePose::FilterState::Builder::initValue(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void LivePose::FilterState::Builder::adoptValue( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LivePose::FilterState::Builder::disownValue() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool LivePose::FilterState::Reader::hasStd() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool LivePose::FilterState::Builder::hasStd() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LivePose::FilterState::Reader::getStd() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LivePose::FilterState::Builder::getStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void LivePose::FilterState::Builder::setStd( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void LivePose::FilterState::Builder::setStd(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LivePose::FilterState::Builder::initStd(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void LivePose::FilterState::Builder::adoptStd( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LivePose::FilterState::Builder::disownStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool LivePose::FilterState::Reader::getValid() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline bool LivePose::FilterState::Builder::getValid() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void LivePose::FilterState::Builder::setValid(bool value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool ProcLog::Reader::hasCpuTimes() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool ProcLog::Builder::hasCpuTimes() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::ProcLog::CPUTimes, ::capnp::Kind::STRUCT>::Reader ProcLog::Reader::getCpuTimes() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ProcLog::CPUTimes, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::ProcLog::CPUTimes, ::capnp::Kind::STRUCT>::Builder ProcLog::Builder::getCpuTimes() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ProcLog::CPUTimes, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void ProcLog::Builder::setCpuTimes( ::capnp::List< ::cereal::ProcLog::CPUTimes, ::capnp::Kind::STRUCT>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ProcLog::CPUTimes, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::ProcLog::CPUTimes, ::capnp::Kind::STRUCT>::Builder ProcLog::Builder::initCpuTimes(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ProcLog::CPUTimes, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void ProcLog::Builder::adoptCpuTimes( + ::capnp::Orphan< ::capnp::List< ::cereal::ProcLog::CPUTimes, ::capnp::Kind::STRUCT>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ProcLog::CPUTimes, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::ProcLog::CPUTimes, ::capnp::Kind::STRUCT>> ProcLog::Builder::disownCpuTimes() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ProcLog::CPUTimes, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool ProcLog::Reader::hasMem() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool ProcLog::Builder::hasMem() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::ProcLog::Mem::Reader ProcLog::Reader::getMem() const { + return ::capnp::_::PointerHelpers< ::cereal::ProcLog::Mem>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::cereal::ProcLog::Mem::Builder ProcLog::Builder::getMem() { + return ::capnp::_::PointerHelpers< ::cereal::ProcLog::Mem>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::ProcLog::Mem::Pipeline ProcLog::Pipeline::getMem() { + return ::cereal::ProcLog::Mem::Pipeline(_typeless.getPointerField(1)); +} +#endif // !CAPNP_LITE +inline void ProcLog::Builder::setMem( ::cereal::ProcLog::Mem::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::ProcLog::Mem>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::cereal::ProcLog::Mem::Builder ProcLog::Builder::initMem() { + return ::capnp::_::PointerHelpers< ::cereal::ProcLog::Mem>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void ProcLog::Builder::adoptMem( + ::capnp::Orphan< ::cereal::ProcLog::Mem>&& value) { + ::capnp::_::PointerHelpers< ::cereal::ProcLog::Mem>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::ProcLog::Mem> ProcLog::Builder::disownMem() { + return ::capnp::_::PointerHelpers< ::cereal::ProcLog::Mem>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool ProcLog::Reader::hasProcs() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool ProcLog::Builder::hasProcs() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::ProcLog::Process, ::capnp::Kind::STRUCT>::Reader ProcLog::Reader::getProcs() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ProcLog::Process, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::ProcLog::Process, ::capnp::Kind::STRUCT>::Builder ProcLog::Builder::getProcs() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ProcLog::Process, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void ProcLog::Builder::setProcs( ::capnp::List< ::cereal::ProcLog::Process, ::capnp::Kind::STRUCT>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ProcLog::Process, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::ProcLog::Process, ::capnp::Kind::STRUCT>::Builder ProcLog::Builder::initProcs(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ProcLog::Process, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void ProcLog::Builder::adoptProcs( + ::capnp::Orphan< ::capnp::List< ::cereal::ProcLog::Process, ::capnp::Kind::STRUCT>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ProcLog::Process, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::ProcLog::Process, ::capnp::Kind::STRUCT>> ProcLog::Builder::disownProcs() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ProcLog::Process, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline ::int32_t ProcLog::Process::Reader::getPid() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::int32_t ProcLog::Process::Builder::getPid() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void ProcLog::Process::Builder::setPid( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool ProcLog::Process::Reader::hasName() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool ProcLog::Process::Builder::hasName() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader ProcLog::Process::Reader::getName() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder ProcLog::Process::Builder::getName() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void ProcLog::Process::Builder::setName( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder ProcLog::Process::Builder::initName(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void ProcLog::Process::Builder::adoptName( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> ProcLog::Process::Builder::disownName() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline ::uint8_t ProcLog::Process::Reader::getState() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t ProcLog::Process::Builder::getState() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void ProcLog::Process::Builder::setState( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t ProcLog::Process::Reader::getPpid() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::int32_t ProcLog::Process::Builder::getPpid() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void ProcLog::Process::Builder::setPpid( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline float ProcLog::Process::Reader::getCpuUser() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline float ProcLog::Process::Builder::getCpuUser() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void ProcLog::Process::Builder::setCpuUser(float value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline float ProcLog::Process::Reader::getCpuSystem() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline float ProcLog::Process::Builder::getCpuSystem() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void ProcLog::Process::Builder::setCpuSystem(float value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline float ProcLog::Process::Reader::getCpuChildrenUser() const { + return _reader.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline float ProcLog::Process::Builder::getCpuChildrenUser() { + return _builder.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void ProcLog::Process::Builder::setCpuChildrenUser(float value) { + _builder.setDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline float ProcLog::Process::Reader::getCpuChildrenSystem() const { + return _reader.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline float ProcLog::Process::Builder::getCpuChildrenSystem() { + return _builder.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void ProcLog::Process::Builder::setCpuChildrenSystem(float value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline ::int64_t ProcLog::Process::Reader::getPriority() const { + return _reader.getDataField< ::int64_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline ::int64_t ProcLog::Process::Builder::getPriority() { + return _builder.getDataField< ::int64_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void ProcLog::Process::Builder::setPriority( ::int64_t value) { + _builder.setDataField< ::int64_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t ProcLog::Process::Reader::getNice() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline ::int32_t ProcLog::Process::Builder::getNice() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void ProcLog::Process::Builder::setNice( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t ProcLog::Process::Reader::getNumThreads() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} + +inline ::int32_t ProcLog::Process::Builder::getNumThreads() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} +inline void ProcLog::Process::Builder::setNumThreads( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS, value); +} + +inline double ProcLog::Process::Reader::getStartTime() const { + return _reader.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline double ProcLog::Process::Builder::getStartTime() { + return _builder.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void ProcLog::Process::Builder::setStartTime(double value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t ProcLog::Process::Reader::getMemVms() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t ProcLog::Process::Builder::getMemVms() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void ProcLog::Process::Builder::setMemVms( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t ProcLog::Process::Reader::getMemRss() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t ProcLog::Process::Builder::getMemRss() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void ProcLog::Process::Builder::setMemRss( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t ProcLog::Process::Reader::getProcessor() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} + +inline ::int32_t ProcLog::Process::Builder::getProcessor() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} +inline void ProcLog::Process::Builder::setProcessor( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<11>() * ::capnp::ELEMENTS, value); +} + +inline bool ProcLog::Process::Reader::hasCmdline() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool ProcLog::Process::Builder::hasCmdline() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>::Reader ProcLog::Process::Reader::getCmdline() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>::Builder ProcLog::Process::Builder::getCmdline() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void ProcLog::Process::Builder::setCmdline( ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void ProcLog::Process::Builder::setCmdline(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>::Builder ProcLog::Process::Builder::initCmdline(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void ProcLog::Process::Builder::adoptCmdline( + ::capnp::Orphan< ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>> ProcLog::Process::Builder::disownCmdline() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::capnp::Text, ::capnp::Kind::BLOB>>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool ProcLog::Process::Reader::hasExe() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool ProcLog::Process::Builder::hasExe() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader ProcLog::Process::Reader::getExe() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder ProcLog::Process::Builder::getExe() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void ProcLog::Process::Builder::setExe( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder ProcLog::Process::Builder::initExe(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void ProcLog::Process::Builder::adoptExe( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> ProcLog::Process::Builder::disownExe() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline ::int64_t ProcLog::CPUTimes::Reader::getCpuNum() const { + return _reader.getDataField< ::int64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::int64_t ProcLog::CPUTimes::Builder::getCpuNum() { + return _builder.getDataField< ::int64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void ProcLog::CPUTimes::Builder::setCpuNum( ::int64_t value) { + _builder.setDataField< ::int64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline float ProcLog::CPUTimes::Reader::getUser() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float ProcLog::CPUTimes::Builder::getUser() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void ProcLog::CPUTimes::Builder::setUser(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline float ProcLog::CPUTimes::Reader::getNice() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline float ProcLog::CPUTimes::Builder::getNice() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void ProcLog::CPUTimes::Builder::setNice(float value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline float ProcLog::CPUTimes::Reader::getSystem() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline float ProcLog::CPUTimes::Builder::getSystem() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void ProcLog::CPUTimes::Builder::setSystem(float value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline float ProcLog::CPUTimes::Reader::getIdle() const { + return _reader.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline float ProcLog::CPUTimes::Builder::getIdle() { + return _builder.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void ProcLog::CPUTimes::Builder::setIdle(float value) { + _builder.setDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline float ProcLog::CPUTimes::Reader::getIowait() const { + return _reader.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline float ProcLog::CPUTimes::Builder::getIowait() { + return _builder.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void ProcLog::CPUTimes::Builder::setIowait(float value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline float ProcLog::CPUTimes::Reader::getIrq() const { + return _reader.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline float ProcLog::CPUTimes::Builder::getIrq() { + return _builder.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void ProcLog::CPUTimes::Builder::setIrq(float value) { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline float ProcLog::CPUTimes::Reader::getSoftirq() const { + return _reader.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline float ProcLog::CPUTimes::Builder::getSoftirq() { + return _builder.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void ProcLog::CPUTimes::Builder::setSoftirq(float value) { + _builder.setDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t ProcLog::Mem::Reader::getTotal() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t ProcLog::Mem::Builder::getTotal() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void ProcLog::Mem::Builder::setTotal( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t ProcLog::Mem::Reader::getFree() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t ProcLog::Mem::Builder::getFree() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void ProcLog::Mem::Builder::setFree( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t ProcLog::Mem::Reader::getAvailable() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t ProcLog::Mem::Builder::getAvailable() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void ProcLog::Mem::Builder::setAvailable( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t ProcLog::Mem::Reader::getBuffers() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t ProcLog::Mem::Builder::getBuffers() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void ProcLog::Mem::Builder::setBuffers( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t ProcLog::Mem::Reader::getCached() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t ProcLog::Mem::Builder::getCached() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void ProcLog::Mem::Builder::setCached( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t ProcLog::Mem::Reader::getActive() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t ProcLog::Mem::Builder::getActive() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void ProcLog::Mem::Builder::setActive( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t ProcLog::Mem::Reader::getInactive() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t ProcLog::Mem::Builder::getInactive() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void ProcLog::Mem::Builder::setInactive( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t ProcLog::Mem::Reader::getShared() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t ProcLog::Mem::Builder::getShared() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void ProcLog::Mem::Builder::setShared( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t GnssMeasurements::Reader::getMeasTime() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t GnssMeasurements::Builder::getMeasTime() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void GnssMeasurements::Builder::setMeasTime( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::int16_t GnssMeasurements::Reader::getGpsWeek() const { + return _reader.getDataField< ::int16_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline ::int16_t GnssMeasurements::Builder::getGpsWeek() { + return _builder.getDataField< ::int16_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void GnssMeasurements::Builder::setGpsWeek( ::int16_t value) { + _builder.setDataField< ::int16_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline double GnssMeasurements::Reader::getGpsTimeOfWeek() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline double GnssMeasurements::Builder::getGpsTimeOfWeek() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void GnssMeasurements::Builder::setGpsTimeOfWeek(double value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline bool GnssMeasurements::Reader::hasCorrectedMeasurements() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool GnssMeasurements::Builder::hasCorrectedMeasurements() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::GnssMeasurements::CorrectedMeasurement, ::capnp::Kind::STRUCT>::Reader GnssMeasurements::Reader::getCorrectedMeasurements() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::GnssMeasurements::CorrectedMeasurement, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::GnssMeasurements::CorrectedMeasurement, ::capnp::Kind::STRUCT>::Builder GnssMeasurements::Builder::getCorrectedMeasurements() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::GnssMeasurements::CorrectedMeasurement, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void GnssMeasurements::Builder::setCorrectedMeasurements( ::capnp::List< ::cereal::GnssMeasurements::CorrectedMeasurement, ::capnp::Kind::STRUCT>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::GnssMeasurements::CorrectedMeasurement, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::GnssMeasurements::CorrectedMeasurement, ::capnp::Kind::STRUCT>::Builder GnssMeasurements::Builder::initCorrectedMeasurements(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::GnssMeasurements::CorrectedMeasurement, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void GnssMeasurements::Builder::adoptCorrectedMeasurements( + ::capnp::Orphan< ::capnp::List< ::cereal::GnssMeasurements::CorrectedMeasurement, ::capnp::Kind::STRUCT>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::GnssMeasurements::CorrectedMeasurement, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::GnssMeasurements::CorrectedMeasurement, ::capnp::Kind::STRUCT>> GnssMeasurements::Builder::disownCorrectedMeasurements() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::GnssMeasurements::CorrectedMeasurement, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool GnssMeasurements::Reader::hasKalmanPositionECEF() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool GnssMeasurements::Builder::hasKalmanPositionECEF() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LiveLocationKalman::Measurement::Reader GnssMeasurements::Reader::getKalmanPositionECEF() const { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::cereal::LiveLocationKalman::Measurement::Builder GnssMeasurements::Builder::getKalmanPositionECEF() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::LiveLocationKalman::Measurement::Pipeline GnssMeasurements::Pipeline::getKalmanPositionECEF() { + return ::cereal::LiveLocationKalman::Measurement::Pipeline(_typeless.getPointerField(1)); +} +#endif // !CAPNP_LITE +inline void GnssMeasurements::Builder::setKalmanPositionECEF( ::cereal::LiveLocationKalman::Measurement::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::cereal::LiveLocationKalman::Measurement::Builder GnssMeasurements::Builder::initKalmanPositionECEF() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void GnssMeasurements::Builder::adoptKalmanPositionECEF( + ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement>&& value) { + ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement> GnssMeasurements::Builder::disownKalmanPositionECEF() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool GnssMeasurements::Reader::hasKalmanVelocityECEF() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool GnssMeasurements::Builder::hasKalmanVelocityECEF() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LiveLocationKalman::Measurement::Reader GnssMeasurements::Reader::getKalmanVelocityECEF() const { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::cereal::LiveLocationKalman::Measurement::Builder GnssMeasurements::Builder::getKalmanVelocityECEF() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::LiveLocationKalman::Measurement::Pipeline GnssMeasurements::Pipeline::getKalmanVelocityECEF() { + return ::cereal::LiveLocationKalman::Measurement::Pipeline(_typeless.getPointerField(2)); +} +#endif // !CAPNP_LITE +inline void GnssMeasurements::Builder::setKalmanVelocityECEF( ::cereal::LiveLocationKalman::Measurement::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::cereal::LiveLocationKalman::Measurement::Builder GnssMeasurements::Builder::initKalmanVelocityECEF() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void GnssMeasurements::Builder::adoptKalmanVelocityECEF( + ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement>&& value) { + ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement> GnssMeasurements::Builder::disownKalmanVelocityECEF() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline bool GnssMeasurements::Reader::hasPositionECEF() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool GnssMeasurements::Builder::hasPositionECEF() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LiveLocationKalman::Measurement::Reader GnssMeasurements::Reader::getPositionECEF() const { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::cereal::LiveLocationKalman::Measurement::Builder GnssMeasurements::Builder::getPositionECEF() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::LiveLocationKalman::Measurement::Pipeline GnssMeasurements::Pipeline::getPositionECEF() { + return ::cereal::LiveLocationKalman::Measurement::Pipeline(_typeless.getPointerField(3)); +} +#endif // !CAPNP_LITE +inline void GnssMeasurements::Builder::setPositionECEF( ::cereal::LiveLocationKalman::Measurement::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::cereal::LiveLocationKalman::Measurement::Builder GnssMeasurements::Builder::initPositionECEF() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void GnssMeasurements::Builder::adoptPositionECEF( + ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement>&& value) { + ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement> GnssMeasurements::Builder::disownPositionECEF() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline bool GnssMeasurements::Reader::hasVelocityECEF() const { + return !_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline bool GnssMeasurements::Builder::hasVelocityECEF() { + return !_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LiveLocationKalman::Measurement::Reader GnssMeasurements::Reader::getVelocityECEF() const { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::get(_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline ::cereal::LiveLocationKalman::Measurement::Builder GnssMeasurements::Builder::getVelocityECEF() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::get(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::LiveLocationKalman::Measurement::Pipeline GnssMeasurements::Pipeline::getVelocityECEF() { + return ::cereal::LiveLocationKalman::Measurement::Pipeline(_typeless.getPointerField(4)); +} +#endif // !CAPNP_LITE +inline void GnssMeasurements::Builder::setVelocityECEF( ::cereal::LiveLocationKalman::Measurement::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline ::cereal::LiveLocationKalman::Measurement::Builder GnssMeasurements::Builder::initVelocityECEF() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::init(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline void GnssMeasurements::Builder::adoptVelocityECEF( + ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement>&& value) { + ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::adopt(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement> GnssMeasurements::Builder::disownVelocityECEF() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::disown(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} + +inline float GnssMeasurements::Reader::getTimeToFirstFix() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline float GnssMeasurements::Builder::getTimeToFirstFix() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void GnssMeasurements::Builder::setTimeToFirstFix(float value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline bool GnssMeasurements::Reader::hasEphemerisStatuses() const { + return !_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline bool GnssMeasurements::Builder::hasEphemerisStatuses() { + return !_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::GnssMeasurements::EphemerisStatus, ::capnp::Kind::STRUCT>::Reader GnssMeasurements::Reader::getEphemerisStatuses() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::GnssMeasurements::EphemerisStatus, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::GnssMeasurements::EphemerisStatus, ::capnp::Kind::STRUCT>::Builder GnssMeasurements::Builder::getEphemerisStatuses() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::GnssMeasurements::EphemerisStatus, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline void GnssMeasurements::Builder::setEphemerisStatuses( ::capnp::List< ::cereal::GnssMeasurements::EphemerisStatus, ::capnp::Kind::STRUCT>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::GnssMeasurements::EphemerisStatus, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::GnssMeasurements::EphemerisStatus, ::capnp::Kind::STRUCT>::Builder GnssMeasurements::Builder::initEphemerisStatuses(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::GnssMeasurements::EphemerisStatus, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), size); +} +inline void GnssMeasurements::Builder::adoptEphemerisStatuses( + ::capnp::Orphan< ::capnp::List< ::cereal::GnssMeasurements::EphemerisStatus, ::capnp::Kind::STRUCT>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::GnssMeasurements::EphemerisStatus, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::GnssMeasurements::EphemerisStatus, ::capnp::Kind::STRUCT>> GnssMeasurements::Builder::disownEphemerisStatuses() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::GnssMeasurements::EphemerisStatus, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} + +inline ::cereal::GnssMeasurements::ConstellationId GnssMeasurements::EphemerisStatus::Reader::getConstellationId() const { + return _reader.getDataField< ::cereal::GnssMeasurements::ConstellationId>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::cereal::GnssMeasurements::ConstellationId GnssMeasurements::EphemerisStatus::Builder::getConstellationId() { + return _builder.getDataField< ::cereal::GnssMeasurements::ConstellationId>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void GnssMeasurements::EphemerisStatus::Builder::setConstellationId( ::cereal::GnssMeasurements::ConstellationId value) { + _builder.setDataField< ::cereal::GnssMeasurements::ConstellationId>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t GnssMeasurements::EphemerisStatus::Reader::getSvId() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t GnssMeasurements::EphemerisStatus::Builder::getSvId() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void GnssMeasurements::EphemerisStatus::Builder::setSvId( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::GnssMeasurements::EphemerisType GnssMeasurements::EphemerisStatus::Reader::getType() const { + return _reader.getDataField< ::cereal::GnssMeasurements::EphemerisType>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::cereal::GnssMeasurements::EphemerisType GnssMeasurements::EphemerisStatus::Builder::getType() { + return _builder.getDataField< ::cereal::GnssMeasurements::EphemerisType>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void GnssMeasurements::EphemerisStatus::Builder::setType( ::cereal::GnssMeasurements::EphemerisType value) { + _builder.setDataField< ::cereal::GnssMeasurements::EphemerisType>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::GnssMeasurements::EphemerisSource GnssMeasurements::EphemerisStatus::Reader::getSource() const { + return _reader.getDataField< ::cereal::GnssMeasurements::EphemerisSource>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline ::cereal::GnssMeasurements::EphemerisSource GnssMeasurements::EphemerisStatus::Builder::getSource() { + return _builder.getDataField< ::cereal::GnssMeasurements::EphemerisSource>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void GnssMeasurements::EphemerisStatus::Builder::setSource( ::cereal::GnssMeasurements::EphemerisSource value) { + _builder.setDataField< ::cereal::GnssMeasurements::EphemerisSource>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t GnssMeasurements::EphemerisStatus::Reader::getGpsWeek() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t GnssMeasurements::EphemerisStatus::Builder::getGpsWeek() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void GnssMeasurements::EphemerisStatus::Builder::setGpsWeek( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline double GnssMeasurements::EphemerisStatus::Reader::getTow() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline double GnssMeasurements::EphemerisStatus::Builder::getTow() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void GnssMeasurements::EphemerisStatus::Builder::setTow(double value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::GnssMeasurements::ConstellationId GnssMeasurements::CorrectedMeasurement::Reader::getConstellationId() const { + return _reader.getDataField< ::cereal::GnssMeasurements::ConstellationId>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::cereal::GnssMeasurements::ConstellationId GnssMeasurements::CorrectedMeasurement::Builder::getConstellationId() { + return _builder.getDataField< ::cereal::GnssMeasurements::ConstellationId>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void GnssMeasurements::CorrectedMeasurement::Builder::setConstellationId( ::cereal::GnssMeasurements::ConstellationId value) { + _builder.setDataField< ::cereal::GnssMeasurements::ConstellationId>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t GnssMeasurements::CorrectedMeasurement::Reader::getSvId() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t GnssMeasurements::CorrectedMeasurement::Builder::getSvId() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void GnssMeasurements::CorrectedMeasurement::Builder::setSvId( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline ::int8_t GnssMeasurements::CorrectedMeasurement::Reader::getGlonassFrequency() const { + return _reader.getDataField< ::int8_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline ::int8_t GnssMeasurements::CorrectedMeasurement::Builder::getGlonassFrequency() { + return _builder.getDataField< ::int8_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void GnssMeasurements::CorrectedMeasurement::Builder::setGlonassFrequency( ::int8_t value) { + _builder.setDataField< ::int8_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline double GnssMeasurements::CorrectedMeasurement::Reader::getPseudorange() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline double GnssMeasurements::CorrectedMeasurement::Builder::getPseudorange() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void GnssMeasurements::CorrectedMeasurement::Builder::setPseudorange(double value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline double GnssMeasurements::CorrectedMeasurement::Reader::getPseudorangeStd() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline double GnssMeasurements::CorrectedMeasurement::Builder::getPseudorangeStd() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void GnssMeasurements::CorrectedMeasurement::Builder::setPseudorangeStd(double value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline double GnssMeasurements::CorrectedMeasurement::Reader::getPseudorangeRate() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline double GnssMeasurements::CorrectedMeasurement::Builder::getPseudorangeRate() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void GnssMeasurements::CorrectedMeasurement::Builder::setPseudorangeRate(double value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline double GnssMeasurements::CorrectedMeasurement::Reader::getPseudorangeRateStd() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline double GnssMeasurements::CorrectedMeasurement::Builder::getPseudorangeRateStd() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void GnssMeasurements::CorrectedMeasurement::Builder::setPseudorangeRateStd(double value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline bool GnssMeasurements::CorrectedMeasurement::Reader::hasSatPos() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool GnssMeasurements::CorrectedMeasurement::Builder::hasSatPos() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader GnssMeasurements::CorrectedMeasurement::Reader::getSatPos() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder GnssMeasurements::CorrectedMeasurement::Builder::getSatPos() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void GnssMeasurements::CorrectedMeasurement::Builder::setSatPos( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void GnssMeasurements::CorrectedMeasurement::Builder::setSatPos(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder GnssMeasurements::CorrectedMeasurement::Builder::initSatPos(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void GnssMeasurements::CorrectedMeasurement::Builder::adoptSatPos( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> GnssMeasurements::CorrectedMeasurement::Builder::disownSatPos() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool GnssMeasurements::CorrectedMeasurement::Reader::hasSatVel() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool GnssMeasurements::CorrectedMeasurement::Builder::hasSatVel() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader GnssMeasurements::CorrectedMeasurement::Reader::getSatVel() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder GnssMeasurements::CorrectedMeasurement::Builder::getSatVel() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void GnssMeasurements::CorrectedMeasurement::Builder::setSatVel( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void GnssMeasurements::CorrectedMeasurement::Builder::setSatVel(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder GnssMeasurements::CorrectedMeasurement::Builder::initSatVel(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void GnssMeasurements::CorrectedMeasurement::Builder::adoptSatVel( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> GnssMeasurements::CorrectedMeasurement::Builder::disownSatVel() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool GnssMeasurements::CorrectedMeasurement::Reader::hasEphemerisSourceDEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool GnssMeasurements::CorrectedMeasurement::Builder::hasEphemerisSourceDEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::GnssMeasurements::EphemerisSourceDEPRECATED::Reader GnssMeasurements::CorrectedMeasurement::Reader::getEphemerisSourceDEPRECATED() const { + return ::capnp::_::PointerHelpers< ::cereal::GnssMeasurements::EphemerisSourceDEPRECATED>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::cereal::GnssMeasurements::EphemerisSourceDEPRECATED::Builder GnssMeasurements::CorrectedMeasurement::Builder::getEphemerisSourceDEPRECATED() { + return ::capnp::_::PointerHelpers< ::cereal::GnssMeasurements::EphemerisSourceDEPRECATED>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::GnssMeasurements::EphemerisSourceDEPRECATED::Pipeline GnssMeasurements::CorrectedMeasurement::Pipeline::getEphemerisSourceDEPRECATED() { + return ::cereal::GnssMeasurements::EphemerisSourceDEPRECATED::Pipeline(_typeless.getPointerField(2)); +} +#endif // !CAPNP_LITE +inline void GnssMeasurements::CorrectedMeasurement::Builder::setEphemerisSourceDEPRECATED( ::cereal::GnssMeasurements::EphemerisSourceDEPRECATED::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::GnssMeasurements::EphemerisSourceDEPRECATED>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::cereal::GnssMeasurements::EphemerisSourceDEPRECATED::Builder GnssMeasurements::CorrectedMeasurement::Builder::initEphemerisSourceDEPRECATED() { + return ::capnp::_::PointerHelpers< ::cereal::GnssMeasurements::EphemerisSourceDEPRECATED>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void GnssMeasurements::CorrectedMeasurement::Builder::adoptEphemerisSourceDEPRECATED( + ::capnp::Orphan< ::cereal::GnssMeasurements::EphemerisSourceDEPRECATED>&& value) { + ::capnp::_::PointerHelpers< ::cereal::GnssMeasurements::EphemerisSourceDEPRECATED>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::GnssMeasurements::EphemerisSourceDEPRECATED> GnssMeasurements::CorrectedMeasurement::Builder::disownEphemerisSourceDEPRECATED() { + return ::capnp::_::PointerHelpers< ::cereal::GnssMeasurements::EphemerisSourceDEPRECATED>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline ::cereal::GnssMeasurements::EphemerisType GnssMeasurements::EphemerisSourceDEPRECATED::Reader::getType() const { + return _reader.getDataField< ::cereal::GnssMeasurements::EphemerisType>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::cereal::GnssMeasurements::EphemerisType GnssMeasurements::EphemerisSourceDEPRECATED::Builder::getType() { + return _builder.getDataField< ::cereal::GnssMeasurements::EphemerisType>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void GnssMeasurements::EphemerisSourceDEPRECATED::Builder::setType( ::cereal::GnssMeasurements::EphemerisType value) { + _builder.setDataField< ::cereal::GnssMeasurements::EphemerisType>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::int16_t GnssMeasurements::EphemerisSourceDEPRECATED::Reader::getGpsWeek() const { + return _reader.getDataField< ::int16_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::int16_t GnssMeasurements::EphemerisSourceDEPRECATED::Builder::getGpsWeek() { + return _builder.getDataField< ::int16_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void GnssMeasurements::EphemerisSourceDEPRECATED::Builder::setGpsWeek( ::int16_t value) { + _builder.setDataField< ::int16_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t GnssMeasurements::EphemerisSourceDEPRECATED::Reader::getGpsTimeOfWeek() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::int32_t GnssMeasurements::EphemerisSourceDEPRECATED::Builder::getGpsTimeOfWeek() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void GnssMeasurements::EphemerisSourceDEPRECATED::Builder::setGpsTimeOfWeek( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::UbloxGnss::Which UbloxGnss::Reader::which() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline ::cereal::UbloxGnss::Which UbloxGnss::Builder::which() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline bool UbloxGnss::Reader::isMeasurementReport() const { + return which() == UbloxGnss::MEASUREMENT_REPORT; +} +inline bool UbloxGnss::Builder::isMeasurementReport() { + return which() == UbloxGnss::MEASUREMENT_REPORT; +} +inline bool UbloxGnss::Reader::hasMeasurementReport() const { + if (which() != UbloxGnss::MEASUREMENT_REPORT) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool UbloxGnss::Builder::hasMeasurementReport() { + if (which() != UbloxGnss::MEASUREMENT_REPORT) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::UbloxGnss::MeasurementReport::Reader UbloxGnss::Reader::getMeasurementReport() const { + KJ_IREQUIRE((which() == UbloxGnss::MEASUREMENT_REPORT), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::MeasurementReport>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::UbloxGnss::MeasurementReport::Builder UbloxGnss::Builder::getMeasurementReport() { + KJ_IREQUIRE((which() == UbloxGnss::MEASUREMENT_REPORT), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::MeasurementReport>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void UbloxGnss::Builder::setMeasurementReport( ::cereal::UbloxGnss::MeasurementReport::Reader value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, UbloxGnss::MEASUREMENT_REPORT); + ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::MeasurementReport>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::UbloxGnss::MeasurementReport::Builder UbloxGnss::Builder::initMeasurementReport() { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, UbloxGnss::MEASUREMENT_REPORT); + return ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::MeasurementReport>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void UbloxGnss::Builder::adoptMeasurementReport( + ::capnp::Orphan< ::cereal::UbloxGnss::MeasurementReport>&& value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, UbloxGnss::MEASUREMENT_REPORT); + ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::MeasurementReport>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::UbloxGnss::MeasurementReport> UbloxGnss::Builder::disownMeasurementReport() { + KJ_IREQUIRE((which() == UbloxGnss::MEASUREMENT_REPORT), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::MeasurementReport>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool UbloxGnss::Reader::isEphemeris() const { + return which() == UbloxGnss::EPHEMERIS; +} +inline bool UbloxGnss::Builder::isEphemeris() { + return which() == UbloxGnss::EPHEMERIS; +} +inline bool UbloxGnss::Reader::hasEphemeris() const { + if (which() != UbloxGnss::EPHEMERIS) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool UbloxGnss::Builder::hasEphemeris() { + if (which() != UbloxGnss::EPHEMERIS) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::UbloxGnss::Ephemeris::Reader UbloxGnss::Reader::getEphemeris() const { + KJ_IREQUIRE((which() == UbloxGnss::EPHEMERIS), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::Ephemeris>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::UbloxGnss::Ephemeris::Builder UbloxGnss::Builder::getEphemeris() { + KJ_IREQUIRE((which() == UbloxGnss::EPHEMERIS), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::Ephemeris>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void UbloxGnss::Builder::setEphemeris( ::cereal::UbloxGnss::Ephemeris::Reader value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, UbloxGnss::EPHEMERIS); + ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::Ephemeris>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::UbloxGnss::Ephemeris::Builder UbloxGnss::Builder::initEphemeris() { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, UbloxGnss::EPHEMERIS); + return ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::Ephemeris>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void UbloxGnss::Builder::adoptEphemeris( + ::capnp::Orphan< ::cereal::UbloxGnss::Ephemeris>&& value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, UbloxGnss::EPHEMERIS); + ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::Ephemeris>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::UbloxGnss::Ephemeris> UbloxGnss::Builder::disownEphemeris() { + KJ_IREQUIRE((which() == UbloxGnss::EPHEMERIS), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::Ephemeris>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool UbloxGnss::Reader::isIonoData() const { + return which() == UbloxGnss::IONO_DATA; +} +inline bool UbloxGnss::Builder::isIonoData() { + return which() == UbloxGnss::IONO_DATA; +} +inline bool UbloxGnss::Reader::hasIonoData() const { + if (which() != UbloxGnss::IONO_DATA) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool UbloxGnss::Builder::hasIonoData() { + if (which() != UbloxGnss::IONO_DATA) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::UbloxGnss::IonoData::Reader UbloxGnss::Reader::getIonoData() const { + KJ_IREQUIRE((which() == UbloxGnss::IONO_DATA), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::IonoData>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::UbloxGnss::IonoData::Builder UbloxGnss::Builder::getIonoData() { + KJ_IREQUIRE((which() == UbloxGnss::IONO_DATA), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::IonoData>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void UbloxGnss::Builder::setIonoData( ::cereal::UbloxGnss::IonoData::Reader value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, UbloxGnss::IONO_DATA); + ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::IonoData>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::UbloxGnss::IonoData::Builder UbloxGnss::Builder::initIonoData() { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, UbloxGnss::IONO_DATA); + return ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::IonoData>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void UbloxGnss::Builder::adoptIonoData( + ::capnp::Orphan< ::cereal::UbloxGnss::IonoData>&& value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, UbloxGnss::IONO_DATA); + ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::IonoData>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::UbloxGnss::IonoData> UbloxGnss::Builder::disownIonoData() { + KJ_IREQUIRE((which() == UbloxGnss::IONO_DATA), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::IonoData>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool UbloxGnss::Reader::isHwStatus() const { + return which() == UbloxGnss::HW_STATUS; +} +inline bool UbloxGnss::Builder::isHwStatus() { + return which() == UbloxGnss::HW_STATUS; +} +inline bool UbloxGnss::Reader::hasHwStatus() const { + if (which() != UbloxGnss::HW_STATUS) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool UbloxGnss::Builder::hasHwStatus() { + if (which() != UbloxGnss::HW_STATUS) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::UbloxGnss::HwStatus::Reader UbloxGnss::Reader::getHwStatus() const { + KJ_IREQUIRE((which() == UbloxGnss::HW_STATUS), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::HwStatus>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::UbloxGnss::HwStatus::Builder UbloxGnss::Builder::getHwStatus() { + KJ_IREQUIRE((which() == UbloxGnss::HW_STATUS), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::HwStatus>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void UbloxGnss::Builder::setHwStatus( ::cereal::UbloxGnss::HwStatus::Reader value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, UbloxGnss::HW_STATUS); + ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::HwStatus>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::UbloxGnss::HwStatus::Builder UbloxGnss::Builder::initHwStatus() { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, UbloxGnss::HW_STATUS); + return ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::HwStatus>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void UbloxGnss::Builder::adoptHwStatus( + ::capnp::Orphan< ::cereal::UbloxGnss::HwStatus>&& value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, UbloxGnss::HW_STATUS); + ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::HwStatus>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::UbloxGnss::HwStatus> UbloxGnss::Builder::disownHwStatus() { + KJ_IREQUIRE((which() == UbloxGnss::HW_STATUS), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::HwStatus>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool UbloxGnss::Reader::isHwStatus2() const { + return which() == UbloxGnss::HW_STATUS2; +} +inline bool UbloxGnss::Builder::isHwStatus2() { + return which() == UbloxGnss::HW_STATUS2; +} +inline bool UbloxGnss::Reader::hasHwStatus2() const { + if (which() != UbloxGnss::HW_STATUS2) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool UbloxGnss::Builder::hasHwStatus2() { + if (which() != UbloxGnss::HW_STATUS2) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::UbloxGnss::HwStatus2::Reader UbloxGnss::Reader::getHwStatus2() const { + KJ_IREQUIRE((which() == UbloxGnss::HW_STATUS2), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::HwStatus2>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::UbloxGnss::HwStatus2::Builder UbloxGnss::Builder::getHwStatus2() { + KJ_IREQUIRE((which() == UbloxGnss::HW_STATUS2), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::HwStatus2>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void UbloxGnss::Builder::setHwStatus2( ::cereal::UbloxGnss::HwStatus2::Reader value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, UbloxGnss::HW_STATUS2); + ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::HwStatus2>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::UbloxGnss::HwStatus2::Builder UbloxGnss::Builder::initHwStatus2() { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, UbloxGnss::HW_STATUS2); + return ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::HwStatus2>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void UbloxGnss::Builder::adoptHwStatus2( + ::capnp::Orphan< ::cereal::UbloxGnss::HwStatus2>&& value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, UbloxGnss::HW_STATUS2); + ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::HwStatus2>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::UbloxGnss::HwStatus2> UbloxGnss::Builder::disownHwStatus2() { + KJ_IREQUIRE((which() == UbloxGnss::HW_STATUS2), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::HwStatus2>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool UbloxGnss::Reader::isGlonassEphemeris() const { + return which() == UbloxGnss::GLONASS_EPHEMERIS; +} +inline bool UbloxGnss::Builder::isGlonassEphemeris() { + return which() == UbloxGnss::GLONASS_EPHEMERIS; +} +inline bool UbloxGnss::Reader::hasGlonassEphemeris() const { + if (which() != UbloxGnss::GLONASS_EPHEMERIS) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool UbloxGnss::Builder::hasGlonassEphemeris() { + if (which() != UbloxGnss::GLONASS_EPHEMERIS) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::UbloxGnss::GlonassEphemeris::Reader UbloxGnss::Reader::getGlonassEphemeris() const { + KJ_IREQUIRE((which() == UbloxGnss::GLONASS_EPHEMERIS), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::GlonassEphemeris>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::UbloxGnss::GlonassEphemeris::Builder UbloxGnss::Builder::getGlonassEphemeris() { + KJ_IREQUIRE((which() == UbloxGnss::GLONASS_EPHEMERIS), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::GlonassEphemeris>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void UbloxGnss::Builder::setGlonassEphemeris( ::cereal::UbloxGnss::GlonassEphemeris::Reader value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, UbloxGnss::GLONASS_EPHEMERIS); + ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::GlonassEphemeris>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::UbloxGnss::GlonassEphemeris::Builder UbloxGnss::Builder::initGlonassEphemeris() { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, UbloxGnss::GLONASS_EPHEMERIS); + return ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::GlonassEphemeris>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void UbloxGnss::Builder::adoptGlonassEphemeris( + ::capnp::Orphan< ::cereal::UbloxGnss::GlonassEphemeris>&& value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, UbloxGnss::GLONASS_EPHEMERIS); + ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::GlonassEphemeris>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::UbloxGnss::GlonassEphemeris> UbloxGnss::Builder::disownGlonassEphemeris() { + KJ_IREQUIRE((which() == UbloxGnss::GLONASS_EPHEMERIS), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::GlonassEphemeris>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool UbloxGnss::Reader::isSatReport() const { + return which() == UbloxGnss::SAT_REPORT; +} +inline bool UbloxGnss::Builder::isSatReport() { + return which() == UbloxGnss::SAT_REPORT; +} +inline bool UbloxGnss::Reader::hasSatReport() const { + if (which() != UbloxGnss::SAT_REPORT) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool UbloxGnss::Builder::hasSatReport() { + if (which() != UbloxGnss::SAT_REPORT) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::UbloxGnss::SatReport::Reader UbloxGnss::Reader::getSatReport() const { + KJ_IREQUIRE((which() == UbloxGnss::SAT_REPORT), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::SatReport>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::UbloxGnss::SatReport::Builder UbloxGnss::Builder::getSatReport() { + KJ_IREQUIRE((which() == UbloxGnss::SAT_REPORT), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::SatReport>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void UbloxGnss::Builder::setSatReport( ::cereal::UbloxGnss::SatReport::Reader value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, UbloxGnss::SAT_REPORT); + ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::SatReport>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::UbloxGnss::SatReport::Builder UbloxGnss::Builder::initSatReport() { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, UbloxGnss::SAT_REPORT); + return ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::SatReport>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void UbloxGnss::Builder::adoptSatReport( + ::capnp::Orphan< ::cereal::UbloxGnss::SatReport>&& value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, UbloxGnss::SAT_REPORT); + ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::SatReport>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::UbloxGnss::SatReport> UbloxGnss::Builder::disownSatReport() { + KJ_IREQUIRE((which() == UbloxGnss::SAT_REPORT), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::SatReport>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline ::uint32_t UbloxGnss::SatReport::Reader::getITow() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t UbloxGnss::SatReport::Builder::getITow() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::SatReport::Builder::setITow( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool UbloxGnss::SatReport::Reader::hasSvs() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool UbloxGnss::SatReport::Builder::hasSvs() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::UbloxGnss::SatReport::SatInfo, ::capnp::Kind::STRUCT>::Reader UbloxGnss::SatReport::Reader::getSvs() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::UbloxGnss::SatReport::SatInfo, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::UbloxGnss::SatReport::SatInfo, ::capnp::Kind::STRUCT>::Builder UbloxGnss::SatReport::Builder::getSvs() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::UbloxGnss::SatReport::SatInfo, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void UbloxGnss::SatReport::Builder::setSvs( ::capnp::List< ::cereal::UbloxGnss::SatReport::SatInfo, ::capnp::Kind::STRUCT>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::UbloxGnss::SatReport::SatInfo, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::UbloxGnss::SatReport::SatInfo, ::capnp::Kind::STRUCT>::Builder UbloxGnss::SatReport::Builder::initSvs(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::UbloxGnss::SatReport::SatInfo, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void UbloxGnss::SatReport::Builder::adoptSvs( + ::capnp::Orphan< ::capnp::List< ::cereal::UbloxGnss::SatReport::SatInfo, ::capnp::Kind::STRUCT>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::UbloxGnss::SatReport::SatInfo, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::UbloxGnss::SatReport::SatInfo, ::capnp::Kind::STRUCT>> UbloxGnss::SatReport::Builder::disownSvs() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::UbloxGnss::SatReport::SatInfo, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline ::uint8_t UbloxGnss::SatReport::SatInfo::Reader::getSvId() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t UbloxGnss::SatReport::SatInfo::Builder::getSvId() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::SatReport::SatInfo::Builder::setSvId( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t UbloxGnss::SatReport::SatInfo::Reader::getGnssId() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t UbloxGnss::SatReport::SatInfo::Builder::getGnssId() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::SatReport::SatInfo::Builder::setGnssId( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t UbloxGnss::SatReport::SatInfo::Reader::getFlagsBitfield() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t UbloxGnss::SatReport::SatInfo::Builder::getFlagsBitfield() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::SatReport::SatInfo::Builder::setFlagsBitfield( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline double UbloxGnss::MeasurementReport::Reader::getRcvTow() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::MeasurementReport::Builder::getRcvTow() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::MeasurementReport::Builder::setRcvTow(double value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t UbloxGnss::MeasurementReport::Reader::getGpsWeek() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t UbloxGnss::MeasurementReport::Builder::getGpsWeek() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::MeasurementReport::Builder::setGpsWeek( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t UbloxGnss::MeasurementReport::Reader::getLeapSeconds() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t UbloxGnss::MeasurementReport::Builder::getLeapSeconds() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::MeasurementReport::Builder::setLeapSeconds( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline bool UbloxGnss::MeasurementReport::Reader::hasReceiverStatus() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool UbloxGnss::MeasurementReport::Builder::hasReceiverStatus() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::UbloxGnss::MeasurementReport::ReceiverStatus::Reader UbloxGnss::MeasurementReport::Reader::getReceiverStatus() const { + return ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::MeasurementReport::ReceiverStatus>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::UbloxGnss::MeasurementReport::ReceiverStatus::Builder UbloxGnss::MeasurementReport::Builder::getReceiverStatus() { + return ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::MeasurementReport::ReceiverStatus>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::UbloxGnss::MeasurementReport::ReceiverStatus::Pipeline UbloxGnss::MeasurementReport::Pipeline::getReceiverStatus() { + return ::cereal::UbloxGnss::MeasurementReport::ReceiverStatus::Pipeline(_typeless.getPointerField(0)); +} +#endif // !CAPNP_LITE +inline void UbloxGnss::MeasurementReport::Builder::setReceiverStatus( ::cereal::UbloxGnss::MeasurementReport::ReceiverStatus::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::MeasurementReport::ReceiverStatus>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::UbloxGnss::MeasurementReport::ReceiverStatus::Builder UbloxGnss::MeasurementReport::Builder::initReceiverStatus() { + return ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::MeasurementReport::ReceiverStatus>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void UbloxGnss::MeasurementReport::Builder::adoptReceiverStatus( + ::capnp::Orphan< ::cereal::UbloxGnss::MeasurementReport::ReceiverStatus>&& value) { + ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::MeasurementReport::ReceiverStatus>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::UbloxGnss::MeasurementReport::ReceiverStatus> UbloxGnss::MeasurementReport::Builder::disownReceiverStatus() { + return ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::MeasurementReport::ReceiverStatus>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline ::uint8_t UbloxGnss::MeasurementReport::Reader::getNumMeas() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t UbloxGnss::MeasurementReport::Builder::getNumMeas() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::MeasurementReport::Builder::setNumMeas( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<12>() * ::capnp::ELEMENTS, value); +} + +inline bool UbloxGnss::MeasurementReport::Reader::hasMeasurements() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool UbloxGnss::MeasurementReport::Builder::hasMeasurements() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::UbloxGnss::MeasurementReport::Measurement, ::capnp::Kind::STRUCT>::Reader UbloxGnss::MeasurementReport::Reader::getMeasurements() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::UbloxGnss::MeasurementReport::Measurement, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::UbloxGnss::MeasurementReport::Measurement, ::capnp::Kind::STRUCT>::Builder UbloxGnss::MeasurementReport::Builder::getMeasurements() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::UbloxGnss::MeasurementReport::Measurement, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void UbloxGnss::MeasurementReport::Builder::setMeasurements( ::capnp::List< ::cereal::UbloxGnss::MeasurementReport::Measurement, ::capnp::Kind::STRUCT>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::UbloxGnss::MeasurementReport::Measurement, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::UbloxGnss::MeasurementReport::Measurement, ::capnp::Kind::STRUCT>::Builder UbloxGnss::MeasurementReport::Builder::initMeasurements(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::UbloxGnss::MeasurementReport::Measurement, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void UbloxGnss::MeasurementReport::Builder::adoptMeasurements( + ::capnp::Orphan< ::capnp::List< ::cereal::UbloxGnss::MeasurementReport::Measurement, ::capnp::Kind::STRUCT>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::UbloxGnss::MeasurementReport::Measurement, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::UbloxGnss::MeasurementReport::Measurement, ::capnp::Kind::STRUCT>> UbloxGnss::MeasurementReport::Builder::disownMeasurements() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::UbloxGnss::MeasurementReport::Measurement, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool UbloxGnss::MeasurementReport::ReceiverStatus::Reader::getLeapSecValid() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline bool UbloxGnss::MeasurementReport::ReceiverStatus::Builder::getLeapSecValid() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::MeasurementReport::ReceiverStatus::Builder::setLeapSecValid(bool value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool UbloxGnss::MeasurementReport::ReceiverStatus::Reader::getClkReset() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline bool UbloxGnss::MeasurementReport::ReceiverStatus::Builder::getClkReset() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::MeasurementReport::ReceiverStatus::Builder::setClkReset(bool value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t UbloxGnss::MeasurementReport::Measurement::Reader::getSvId() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t UbloxGnss::MeasurementReport::Measurement::Builder::getSvId() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::MeasurementReport::Measurement::Builder::setSvId( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool UbloxGnss::MeasurementReport::Measurement::Reader::hasTrackingStatus() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool UbloxGnss::MeasurementReport::Measurement::Builder::hasTrackingStatus() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::UbloxGnss::MeasurementReport::Measurement::TrackingStatus::Reader UbloxGnss::MeasurementReport::Measurement::Reader::getTrackingStatus() const { + return ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::MeasurementReport::Measurement::TrackingStatus>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::UbloxGnss::MeasurementReport::Measurement::TrackingStatus::Builder UbloxGnss::MeasurementReport::Measurement::Builder::getTrackingStatus() { + return ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::MeasurementReport::Measurement::TrackingStatus>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::UbloxGnss::MeasurementReport::Measurement::TrackingStatus::Pipeline UbloxGnss::MeasurementReport::Measurement::Pipeline::getTrackingStatus() { + return ::cereal::UbloxGnss::MeasurementReport::Measurement::TrackingStatus::Pipeline(_typeless.getPointerField(0)); +} +#endif // !CAPNP_LITE +inline void UbloxGnss::MeasurementReport::Measurement::Builder::setTrackingStatus( ::cereal::UbloxGnss::MeasurementReport::Measurement::TrackingStatus::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::MeasurementReport::Measurement::TrackingStatus>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::UbloxGnss::MeasurementReport::Measurement::TrackingStatus::Builder UbloxGnss::MeasurementReport::Measurement::Builder::initTrackingStatus() { + return ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::MeasurementReport::Measurement::TrackingStatus>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void UbloxGnss::MeasurementReport::Measurement::Builder::adoptTrackingStatus( + ::capnp::Orphan< ::cereal::UbloxGnss::MeasurementReport::Measurement::TrackingStatus>&& value) { + ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::MeasurementReport::Measurement::TrackingStatus>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::UbloxGnss::MeasurementReport::Measurement::TrackingStatus> UbloxGnss::MeasurementReport::Measurement::Builder::disownTrackingStatus() { + return ::capnp::_::PointerHelpers< ::cereal::UbloxGnss::MeasurementReport::Measurement::TrackingStatus>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline double UbloxGnss::MeasurementReport::Measurement::Reader::getPseudorange() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::MeasurementReport::Measurement::Builder::getPseudorange() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::MeasurementReport::Measurement::Builder::setPseudorange(double value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline double UbloxGnss::MeasurementReport::Measurement::Reader::getCarrierCycles() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::MeasurementReport::Measurement::Builder::getCarrierCycles() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::MeasurementReport::Measurement::Builder::setCarrierCycles(double value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline float UbloxGnss::MeasurementReport::Measurement::Reader::getDoppler() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float UbloxGnss::MeasurementReport::Measurement::Builder::getDoppler() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::MeasurementReport::Measurement::Builder::setDoppler(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t UbloxGnss::MeasurementReport::Measurement::Reader::getGnssId() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t UbloxGnss::MeasurementReport::Measurement::Builder::getGnssId() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::MeasurementReport::Measurement::Builder::setGnssId( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t UbloxGnss::MeasurementReport::Measurement::Reader::getGlonassFrequencyIndex() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t UbloxGnss::MeasurementReport::Measurement::Builder::getGlonassFrequencyIndex() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::MeasurementReport::Measurement::Builder::setGlonassFrequencyIndex( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t UbloxGnss::MeasurementReport::Measurement::Reader::getLocktime() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t UbloxGnss::MeasurementReport::Measurement::Builder::getLocktime() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::MeasurementReport::Measurement::Builder::setLocktime( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<12>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t UbloxGnss::MeasurementReport::Measurement::Reader::getCno() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t UbloxGnss::MeasurementReport::Measurement::Builder::getCno() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::MeasurementReport::Measurement::Builder::setCno( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline float UbloxGnss::MeasurementReport::Measurement::Reader::getPseudorangeStdev() const { + return _reader.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline float UbloxGnss::MeasurementReport::Measurement::Builder::getPseudorangeStdev() { + return _builder.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::MeasurementReport::Measurement::Builder::setPseudorangeStdev(float value) { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline float UbloxGnss::MeasurementReport::Measurement::Reader::getCarrierPhaseStdev() const { + return _reader.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline float UbloxGnss::MeasurementReport::Measurement::Builder::getCarrierPhaseStdev() { + return _builder.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::MeasurementReport::Measurement::Builder::setCarrierPhaseStdev(float value) { + _builder.setDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline float UbloxGnss::MeasurementReport::Measurement::Reader::getDopplerStdev() const { + return _reader.getDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} + +inline float UbloxGnss::MeasurementReport::Measurement::Builder::getDopplerStdev() { + return _builder.getDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::MeasurementReport::Measurement::Builder::setDopplerStdev(float value) { + _builder.setDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t UbloxGnss::MeasurementReport::Measurement::Reader::getSigId() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<26>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t UbloxGnss::MeasurementReport::Measurement::Builder::getSigId() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<26>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::MeasurementReport::Measurement::Builder::setSigId( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<26>() * ::capnp::ELEMENTS, value); +} + +inline bool UbloxGnss::MeasurementReport::Measurement::TrackingStatus::Reader::getPseudorangeValid() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline bool UbloxGnss::MeasurementReport::Measurement::TrackingStatus::Builder::getPseudorangeValid() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::MeasurementReport::Measurement::TrackingStatus::Builder::setPseudorangeValid(bool value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool UbloxGnss::MeasurementReport::Measurement::TrackingStatus::Reader::getCarrierPhaseValid() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline bool UbloxGnss::MeasurementReport::Measurement::TrackingStatus::Builder::getCarrierPhaseValid() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::MeasurementReport::Measurement::TrackingStatus::Builder::setCarrierPhaseValid(bool value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool UbloxGnss::MeasurementReport::Measurement::TrackingStatus::Reader::getHalfCycleValid() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline bool UbloxGnss::MeasurementReport::Measurement::TrackingStatus::Builder::getHalfCycleValid() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::MeasurementReport::Measurement::TrackingStatus::Builder::setHalfCycleValid(bool value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline bool UbloxGnss::MeasurementReport::Measurement::TrackingStatus::Reader::getHalfCycleSubtracted() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline bool UbloxGnss::MeasurementReport::Measurement::TrackingStatus::Builder::getHalfCycleSubtracted() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::MeasurementReport::Measurement::TrackingStatus::Builder::setHalfCycleSubtracted(bool value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t UbloxGnss::Ephemeris::Reader::getSvId() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t UbloxGnss::Ephemeris::Builder::getSvId() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::Ephemeris::Builder::setSvId( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t UbloxGnss::Ephemeris::Reader::getYear() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t UbloxGnss::Ephemeris::Builder::getYear() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::Ephemeris::Builder::setYear( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t UbloxGnss::Ephemeris::Reader::getMonth() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t UbloxGnss::Ephemeris::Builder::getMonth() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::Ephemeris::Builder::setMonth( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t UbloxGnss::Ephemeris::Reader::getDay() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t UbloxGnss::Ephemeris::Builder::getDay() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::Ephemeris::Builder::setDay( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t UbloxGnss::Ephemeris::Reader::getHour() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t UbloxGnss::Ephemeris::Builder::getHour() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::Ephemeris::Builder::setHour( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t UbloxGnss::Ephemeris::Reader::getMinute() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t UbloxGnss::Ephemeris::Builder::getMinute() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::Ephemeris::Builder::setMinute( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline float UbloxGnss::Ephemeris::Reader::getSecond() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline float UbloxGnss::Ephemeris::Builder::getSecond() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::Ephemeris::Builder::setSecond(float value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline double UbloxGnss::Ephemeris::Reader::getAf0() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::Ephemeris::Builder::getAf0() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::Ephemeris::Builder::setAf0(double value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline double UbloxGnss::Ephemeris::Reader::getAf1() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::Ephemeris::Builder::getAf1() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::Ephemeris::Builder::setAf1(double value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline double UbloxGnss::Ephemeris::Reader::getAf2() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::Ephemeris::Builder::getAf2() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::Ephemeris::Builder::setAf2(double value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline double UbloxGnss::Ephemeris::Reader::getIode() const { + return _reader.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::Ephemeris::Builder::getIode() { + return _builder.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::Ephemeris::Builder::setIode(double value) { + _builder.setDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline double UbloxGnss::Ephemeris::Reader::getCrs() const { + return _reader.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::Ephemeris::Builder::getCrs() { + return _builder.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::Ephemeris::Builder::setCrs(double value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline double UbloxGnss::Ephemeris::Reader::getDeltaN() const { + return _reader.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::Ephemeris::Builder::getDeltaN() { + return _builder.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::Ephemeris::Builder::setDeltaN(double value) { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline double UbloxGnss::Ephemeris::Reader::getM0() const { + return _reader.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::Ephemeris::Builder::getM0() { + return _builder.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::Ephemeris::Builder::setM0(double value) { + _builder.setDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline double UbloxGnss::Ephemeris::Reader::getCuc() const { + return _reader.getDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::Ephemeris::Builder::getCuc() { + return _builder.getDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::Ephemeris::Builder::setCuc(double value) { + _builder.setDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS, value); +} + +inline double UbloxGnss::Ephemeris::Reader::getEcc() const { + return _reader.getDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::Ephemeris::Builder::getEcc() { + return _builder.getDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::Ephemeris::Builder::setEcc(double value) { + _builder.setDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS, value); +} + +inline double UbloxGnss::Ephemeris::Reader::getCus() const { + return _reader.getDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::Ephemeris::Builder::getCus() { + return _builder.getDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::Ephemeris::Builder::setCus(double value) { + _builder.setDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS, value); +} + +inline double UbloxGnss::Ephemeris::Reader::getA() const { + return _reader.getDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::Ephemeris::Builder::getA() { + return _builder.getDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::Ephemeris::Builder::setA(double value) { + _builder.setDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS, value); +} + +inline double UbloxGnss::Ephemeris::Reader::getToe() const { + return _reader.getDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::Ephemeris::Builder::getToe() { + return _builder.getDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::Ephemeris::Builder::setToe(double value) { + _builder.setDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS, value); +} + +inline double UbloxGnss::Ephemeris::Reader::getCic() const { + return _reader.getDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::Ephemeris::Builder::getCic() { + return _builder.getDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::Ephemeris::Builder::setCic(double value) { + _builder.setDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS, value); +} + +inline double UbloxGnss::Ephemeris::Reader::getOmega0() const { + return _reader.getDataField( + ::capnp::bounded<15>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::Ephemeris::Builder::getOmega0() { + return _builder.getDataField( + ::capnp::bounded<15>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::Ephemeris::Builder::setOmega0(double value) { + _builder.setDataField( + ::capnp::bounded<15>() * ::capnp::ELEMENTS, value); +} + +inline double UbloxGnss::Ephemeris::Reader::getCis() const { + return _reader.getDataField( + ::capnp::bounded<16>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::Ephemeris::Builder::getCis() { + return _builder.getDataField( + ::capnp::bounded<16>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::Ephemeris::Builder::setCis(double value) { + _builder.setDataField( + ::capnp::bounded<16>() * ::capnp::ELEMENTS, value); +} + +inline double UbloxGnss::Ephemeris::Reader::getI0() const { + return _reader.getDataField( + ::capnp::bounded<17>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::Ephemeris::Builder::getI0() { + return _builder.getDataField( + ::capnp::bounded<17>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::Ephemeris::Builder::setI0(double value) { + _builder.setDataField( + ::capnp::bounded<17>() * ::capnp::ELEMENTS, value); +} + +inline double UbloxGnss::Ephemeris::Reader::getCrc() const { + return _reader.getDataField( + ::capnp::bounded<18>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::Ephemeris::Builder::getCrc() { + return _builder.getDataField( + ::capnp::bounded<18>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::Ephemeris::Builder::setCrc(double value) { + _builder.setDataField( + ::capnp::bounded<18>() * ::capnp::ELEMENTS, value); +} + +inline double UbloxGnss::Ephemeris::Reader::getOmega() const { + return _reader.getDataField( + ::capnp::bounded<19>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::Ephemeris::Builder::getOmega() { + return _builder.getDataField( + ::capnp::bounded<19>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::Ephemeris::Builder::setOmega(double value) { + _builder.setDataField( + ::capnp::bounded<19>() * ::capnp::ELEMENTS, value); +} + +inline double UbloxGnss::Ephemeris::Reader::getOmegaDot() const { + return _reader.getDataField( + ::capnp::bounded<20>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::Ephemeris::Builder::getOmegaDot() { + return _builder.getDataField( + ::capnp::bounded<20>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::Ephemeris::Builder::setOmegaDot(double value) { + _builder.setDataField( + ::capnp::bounded<20>() * ::capnp::ELEMENTS, value); +} + +inline double UbloxGnss::Ephemeris::Reader::getIDot() const { + return _reader.getDataField( + ::capnp::bounded<21>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::Ephemeris::Builder::getIDot() { + return _builder.getDataField( + ::capnp::bounded<21>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::Ephemeris::Builder::setIDot(double value) { + _builder.setDataField( + ::capnp::bounded<21>() * ::capnp::ELEMENTS, value); +} + +inline double UbloxGnss::Ephemeris::Reader::getCodesL2() const { + return _reader.getDataField( + ::capnp::bounded<22>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::Ephemeris::Builder::getCodesL2() { + return _builder.getDataField( + ::capnp::bounded<22>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::Ephemeris::Builder::setCodesL2(double value) { + _builder.setDataField( + ::capnp::bounded<22>() * ::capnp::ELEMENTS, value); +} + +inline double UbloxGnss::Ephemeris::Reader::getGpsWeekDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<23>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::Ephemeris::Builder::getGpsWeekDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<23>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::Ephemeris::Builder::setGpsWeekDEPRECATED(double value) { + _builder.setDataField( + ::capnp::bounded<23>() * ::capnp::ELEMENTS, value); +} + +inline double UbloxGnss::Ephemeris::Reader::getL2() const { + return _reader.getDataField( + ::capnp::bounded<24>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::Ephemeris::Builder::getL2() { + return _builder.getDataField( + ::capnp::bounded<24>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::Ephemeris::Builder::setL2(double value) { + _builder.setDataField( + ::capnp::bounded<24>() * ::capnp::ELEMENTS, value); +} + +inline double UbloxGnss::Ephemeris::Reader::getSvAcc() const { + return _reader.getDataField( + ::capnp::bounded<25>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::Ephemeris::Builder::getSvAcc() { + return _builder.getDataField( + ::capnp::bounded<25>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::Ephemeris::Builder::setSvAcc(double value) { + _builder.setDataField( + ::capnp::bounded<25>() * ::capnp::ELEMENTS, value); +} + +inline double UbloxGnss::Ephemeris::Reader::getSvHealth() const { + return _reader.getDataField( + ::capnp::bounded<26>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::Ephemeris::Builder::getSvHealth() { + return _builder.getDataField( + ::capnp::bounded<26>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::Ephemeris::Builder::setSvHealth(double value) { + _builder.setDataField( + ::capnp::bounded<26>() * ::capnp::ELEMENTS, value); +} + +inline double UbloxGnss::Ephemeris::Reader::getTgd() const { + return _reader.getDataField( + ::capnp::bounded<27>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::Ephemeris::Builder::getTgd() { + return _builder.getDataField( + ::capnp::bounded<27>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::Ephemeris::Builder::setTgd(double value) { + _builder.setDataField( + ::capnp::bounded<27>() * ::capnp::ELEMENTS, value); +} + +inline double UbloxGnss::Ephemeris::Reader::getIodc() const { + return _reader.getDataField( + ::capnp::bounded<28>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::Ephemeris::Builder::getIodc() { + return _builder.getDataField( + ::capnp::bounded<28>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::Ephemeris::Builder::setIodc(double value) { + _builder.setDataField( + ::capnp::bounded<28>() * ::capnp::ELEMENTS, value); +} + +inline double UbloxGnss::Ephemeris::Reader::getTransmissionTime() const { + return _reader.getDataField( + ::capnp::bounded<29>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::Ephemeris::Builder::getTransmissionTime() { + return _builder.getDataField( + ::capnp::bounded<29>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::Ephemeris::Builder::setTransmissionTime(double value) { + _builder.setDataField( + ::capnp::bounded<29>() * ::capnp::ELEMENTS, value); +} + +inline double UbloxGnss::Ephemeris::Reader::getFitInterval() const { + return _reader.getDataField( + ::capnp::bounded<30>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::Ephemeris::Builder::getFitInterval() { + return _builder.getDataField( + ::capnp::bounded<30>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::Ephemeris::Builder::setFitInterval(double value) { + _builder.setDataField( + ::capnp::bounded<30>() * ::capnp::ELEMENTS, value); +} + +inline double UbloxGnss::Ephemeris::Reader::getToc() const { + return _reader.getDataField( + ::capnp::bounded<31>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::Ephemeris::Builder::getToc() { + return _builder.getDataField( + ::capnp::bounded<31>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::Ephemeris::Builder::setToc(double value) { + _builder.setDataField( + ::capnp::bounded<31>() * ::capnp::ELEMENTS, value); +} + +inline bool UbloxGnss::Ephemeris::Reader::getIonoCoeffsValid() const { + return _reader.getDataField( + ::capnp::bounded<2048>() * ::capnp::ELEMENTS); +} + +inline bool UbloxGnss::Ephemeris::Builder::getIonoCoeffsValid() { + return _builder.getDataField( + ::capnp::bounded<2048>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::Ephemeris::Builder::setIonoCoeffsValid(bool value) { + _builder.setDataField( + ::capnp::bounded<2048>() * ::capnp::ELEMENTS, value); +} + +inline bool UbloxGnss::Ephemeris::Reader::hasIonoAlpha() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool UbloxGnss::Ephemeris::Builder::hasIonoAlpha() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader UbloxGnss::Ephemeris::Reader::getIonoAlpha() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder UbloxGnss::Ephemeris::Builder::getIonoAlpha() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void UbloxGnss::Ephemeris::Builder::setIonoAlpha( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void UbloxGnss::Ephemeris::Builder::setIonoAlpha(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder UbloxGnss::Ephemeris::Builder::initIonoAlpha(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void UbloxGnss::Ephemeris::Builder::adoptIonoAlpha( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> UbloxGnss::Ephemeris::Builder::disownIonoAlpha() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool UbloxGnss::Ephemeris::Reader::hasIonoBeta() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool UbloxGnss::Ephemeris::Builder::hasIonoBeta() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader UbloxGnss::Ephemeris::Reader::getIonoBeta() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder UbloxGnss::Ephemeris::Builder::getIonoBeta() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void UbloxGnss::Ephemeris::Builder::setIonoBeta( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void UbloxGnss::Ephemeris::Builder::setIonoBeta(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder UbloxGnss::Ephemeris::Builder::initIonoBeta(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void UbloxGnss::Ephemeris::Builder::adoptIonoBeta( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> UbloxGnss::Ephemeris::Builder::disownIonoBeta() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline ::uint32_t UbloxGnss::Ephemeris::Reader::getTowCount() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<65>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t UbloxGnss::Ephemeris::Builder::getTowCount() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<65>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::Ephemeris::Builder::setTowCount( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<65>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t UbloxGnss::Ephemeris::Reader::getToeWeek() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<129>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t UbloxGnss::Ephemeris::Builder::getToeWeek() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<129>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::Ephemeris::Builder::setToeWeek( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<129>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t UbloxGnss::Ephemeris::Reader::getTocWeek() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<132>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t UbloxGnss::Ephemeris::Builder::getTocWeek() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<132>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::Ephemeris::Builder::setTocWeek( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<132>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t UbloxGnss::IonoData::Reader::getSvHealth() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t UbloxGnss::IonoData::Builder::getSvHealth() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::IonoData::Builder::setSvHealth( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline double UbloxGnss::IonoData::Reader::getTow() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::IonoData::Builder::getTow() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::IonoData::Builder::setTow(double value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline double UbloxGnss::IonoData::Reader::getGpsWeek() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::IonoData::Builder::getGpsWeek() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::IonoData::Builder::setGpsWeek(double value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline bool UbloxGnss::IonoData::Reader::hasIonoAlpha() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool UbloxGnss::IonoData::Builder::hasIonoAlpha() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader UbloxGnss::IonoData::Reader::getIonoAlpha() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder UbloxGnss::IonoData::Builder::getIonoAlpha() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void UbloxGnss::IonoData::Builder::setIonoAlpha( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void UbloxGnss::IonoData::Builder::setIonoAlpha(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder UbloxGnss::IonoData::Builder::initIonoAlpha(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void UbloxGnss::IonoData::Builder::adoptIonoAlpha( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> UbloxGnss::IonoData::Builder::disownIonoAlpha() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool UbloxGnss::IonoData::Reader::hasIonoBeta() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool UbloxGnss::IonoData::Builder::hasIonoBeta() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader UbloxGnss::IonoData::Reader::getIonoBeta() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder UbloxGnss::IonoData::Builder::getIonoBeta() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void UbloxGnss::IonoData::Builder::setIonoBeta( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void UbloxGnss::IonoData::Builder::setIonoBeta(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder UbloxGnss::IonoData::Builder::initIonoBeta(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void UbloxGnss::IonoData::Builder::adoptIonoBeta( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> UbloxGnss::IonoData::Builder::disownIonoBeta() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool UbloxGnss::IonoData::Reader::getHealthValid() const { + return _reader.getDataField( + ::capnp::bounded<32>() * ::capnp::ELEMENTS); +} + +inline bool UbloxGnss::IonoData::Builder::getHealthValid() { + return _builder.getDataField( + ::capnp::bounded<32>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::IonoData::Builder::setHealthValid(bool value) { + _builder.setDataField( + ::capnp::bounded<32>() * ::capnp::ELEMENTS, value); +} + +inline bool UbloxGnss::IonoData::Reader::getIonoCoeffsValid() const { + return _reader.getDataField( + ::capnp::bounded<33>() * ::capnp::ELEMENTS); +} + +inline bool UbloxGnss::IonoData::Builder::getIonoCoeffsValid() { + return _builder.getDataField( + ::capnp::bounded<33>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::IonoData::Builder::setIonoCoeffsValid(bool value) { + _builder.setDataField( + ::capnp::bounded<33>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t UbloxGnss::HwStatus::Reader::getNoisePerMS() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t UbloxGnss::HwStatus::Builder::getNoisePerMS() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::HwStatus::Builder::setNoisePerMS( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t UbloxGnss::HwStatus::Reader::getAgcCnt() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t UbloxGnss::HwStatus::Builder::getAgcCnt() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::HwStatus::Builder::setAgcCnt( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::UbloxGnss::HwStatus::AntennaSupervisorState UbloxGnss::HwStatus::Reader::getAStatus() const { + return _reader.getDataField< ::cereal::UbloxGnss::HwStatus::AntennaSupervisorState>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::cereal::UbloxGnss::HwStatus::AntennaSupervisorState UbloxGnss::HwStatus::Builder::getAStatus() { + return _builder.getDataField< ::cereal::UbloxGnss::HwStatus::AntennaSupervisorState>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::HwStatus::Builder::setAStatus( ::cereal::UbloxGnss::HwStatus::AntennaSupervisorState value) { + _builder.setDataField< ::cereal::UbloxGnss::HwStatus::AntennaSupervisorState>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::UbloxGnss::HwStatus::AntennaPowerStatus UbloxGnss::HwStatus::Reader::getAPower() const { + return _reader.getDataField< ::cereal::UbloxGnss::HwStatus::AntennaPowerStatus>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline ::cereal::UbloxGnss::HwStatus::AntennaPowerStatus UbloxGnss::HwStatus::Builder::getAPower() { + return _builder.getDataField< ::cereal::UbloxGnss::HwStatus::AntennaPowerStatus>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::HwStatus::Builder::setAPower( ::cereal::UbloxGnss::HwStatus::AntennaPowerStatus value) { + _builder.setDataField< ::cereal::UbloxGnss::HwStatus::AntennaPowerStatus>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t UbloxGnss::HwStatus::Reader::getJamInd() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t UbloxGnss::HwStatus::Builder::getJamInd() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::HwStatus::Builder::setJamInd( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t UbloxGnss::HwStatus::Reader::getFlags() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t UbloxGnss::HwStatus::Builder::getFlags() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::HwStatus::Builder::setFlags( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS, value); +} + +inline ::int8_t UbloxGnss::HwStatus2::Reader::getOfsI() const { + return _reader.getDataField< ::int8_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::int8_t UbloxGnss::HwStatus2::Builder::getOfsI() { + return _builder.getDataField< ::int8_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::HwStatus2::Builder::setOfsI( ::int8_t value) { + _builder.setDataField< ::int8_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t UbloxGnss::HwStatus2::Reader::getMagI() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t UbloxGnss::HwStatus2::Builder::getMagI() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::HwStatus2::Builder::setMagI( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::int8_t UbloxGnss::HwStatus2::Reader::getOfsQ() const { + return _reader.getDataField< ::int8_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::int8_t UbloxGnss::HwStatus2::Builder::getOfsQ() { + return _builder.getDataField< ::int8_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::HwStatus2::Builder::setOfsQ( ::int8_t value) { + _builder.setDataField< ::int8_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t UbloxGnss::HwStatus2::Reader::getMagQ() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t UbloxGnss::HwStatus2::Builder::getMagQ() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::HwStatus2::Builder::setMagQ( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::UbloxGnss::HwStatus2::ConfigSource UbloxGnss::HwStatus2::Reader::getCfgSource() const { + return _reader.getDataField< ::cereal::UbloxGnss::HwStatus2::ConfigSource>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::cereal::UbloxGnss::HwStatus2::ConfigSource UbloxGnss::HwStatus2::Builder::getCfgSource() { + return _builder.getDataField< ::cereal::UbloxGnss::HwStatus2::ConfigSource>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::HwStatus2::Builder::setCfgSource( ::cereal::UbloxGnss::HwStatus2::ConfigSource value) { + _builder.setDataField< ::cereal::UbloxGnss::HwStatus2::ConfigSource>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t UbloxGnss::HwStatus2::Reader::getLowLevCfg() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t UbloxGnss::HwStatus2::Builder::getLowLevCfg() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::HwStatus2::Builder::setLowLevCfg( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t UbloxGnss::HwStatus2::Reader::getPostStatus() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t UbloxGnss::HwStatus2::Builder::getPostStatus() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::HwStatus2::Builder::setPostStatus( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t UbloxGnss::GlonassEphemeris::Reader::getSvId() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t UbloxGnss::GlonassEphemeris::Builder::getSvId() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::GlonassEphemeris::Builder::setSvId( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t UbloxGnss::GlonassEphemeris::Reader::getYear() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t UbloxGnss::GlonassEphemeris::Builder::getYear() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::GlonassEphemeris::Builder::setYear( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t UbloxGnss::GlonassEphemeris::Reader::getDayInYear() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t UbloxGnss::GlonassEphemeris::Builder::getDayInYear() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::GlonassEphemeris::Builder::setDayInYear( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t UbloxGnss::GlonassEphemeris::Reader::getHour() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t UbloxGnss::GlonassEphemeris::Builder::getHour() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::GlonassEphemeris::Builder::setHour( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t UbloxGnss::GlonassEphemeris::Reader::getMinute() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t UbloxGnss::GlonassEphemeris::Builder::getMinute() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::GlonassEphemeris::Builder::setMinute( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline float UbloxGnss::GlonassEphemeris::Reader::getSecond() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline float UbloxGnss::GlonassEphemeris::Builder::getSecond() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::GlonassEphemeris::Builder::setSecond(float value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline double UbloxGnss::GlonassEphemeris::Reader::getX() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::GlonassEphemeris::Builder::getX() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::GlonassEphemeris::Builder::setX(double value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline double UbloxGnss::GlonassEphemeris::Reader::getXVel() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::GlonassEphemeris::Builder::getXVel() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::GlonassEphemeris::Builder::setXVel(double value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline double UbloxGnss::GlonassEphemeris::Reader::getXAccel() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::GlonassEphemeris::Builder::getXAccel() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::GlonassEphemeris::Builder::setXAccel(double value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline double UbloxGnss::GlonassEphemeris::Reader::getY() const { + return _reader.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::GlonassEphemeris::Builder::getY() { + return _builder.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::GlonassEphemeris::Builder::setY(double value) { + _builder.setDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline double UbloxGnss::GlonassEphemeris::Reader::getYVel() const { + return _reader.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::GlonassEphemeris::Builder::getYVel() { + return _builder.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::GlonassEphemeris::Builder::setYVel(double value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline double UbloxGnss::GlonassEphemeris::Reader::getYAccel() const { + return _reader.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::GlonassEphemeris::Builder::getYAccel() { + return _builder.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::GlonassEphemeris::Builder::setYAccel(double value) { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline double UbloxGnss::GlonassEphemeris::Reader::getZ() const { + return _reader.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::GlonassEphemeris::Builder::getZ() { + return _builder.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::GlonassEphemeris::Builder::setZ(double value) { + _builder.setDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline double UbloxGnss::GlonassEphemeris::Reader::getZVel() const { + return _reader.getDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::GlonassEphemeris::Builder::getZVel() { + return _builder.getDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::GlonassEphemeris::Builder::setZVel(double value) { + _builder.setDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS, value); +} + +inline double UbloxGnss::GlonassEphemeris::Reader::getZAccel() const { + return _reader.getDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::GlonassEphemeris::Builder::getZAccel() { + return _builder.getDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::GlonassEphemeris::Builder::setZAccel(double value) { + _builder.setDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t UbloxGnss::GlonassEphemeris::Reader::getSvType() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t UbloxGnss::GlonassEphemeris::Builder::getSvType() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::GlonassEphemeris::Builder::setSvType( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS, value); +} + +inline float UbloxGnss::GlonassEphemeris::Reader::getSvURA() const { + return _reader.getDataField( + ::capnp::bounded<22>() * ::capnp::ELEMENTS); +} + +inline float UbloxGnss::GlonassEphemeris::Builder::getSvURA() { + return _builder.getDataField( + ::capnp::bounded<22>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::GlonassEphemeris::Builder::setSvURA(float value) { + _builder.setDataField( + ::capnp::bounded<22>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t UbloxGnss::GlonassEphemeris::Reader::getAge() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t UbloxGnss::GlonassEphemeris::Builder::getAge() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::GlonassEphemeris::Builder::setAge( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<11>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t UbloxGnss::GlonassEphemeris::Reader::getSvHealth() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<92>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t UbloxGnss::GlonassEphemeris::Builder::getSvHealth() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<92>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::GlonassEphemeris::Builder::setSvHealth( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<92>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t UbloxGnss::GlonassEphemeris::Reader::getTkDEPRECATED() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<47>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t UbloxGnss::GlonassEphemeris::Builder::getTkDEPRECATED() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<47>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::GlonassEphemeris::Builder::setTkDEPRECATED( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<47>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t UbloxGnss::GlonassEphemeris::Reader::getTb() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<48>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t UbloxGnss::GlonassEphemeris::Builder::getTb() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<48>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::GlonassEphemeris::Builder::setTb( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<48>() * ::capnp::ELEMENTS, value); +} + +inline double UbloxGnss::GlonassEphemeris::Reader::getTauN() const { + return _reader.getDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::GlonassEphemeris::Builder::getTauN() { + return _builder.getDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::GlonassEphemeris::Builder::setTauN(double value) { + _builder.setDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS, value); +} + +inline double UbloxGnss::GlonassEphemeris::Reader::getDeltaTauN() const { + return _reader.getDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::GlonassEphemeris::Builder::getDeltaTauN() { + return _builder.getDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::GlonassEphemeris::Builder::setDeltaTauN(double value) { + _builder.setDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS, value); +} + +inline double UbloxGnss::GlonassEphemeris::Reader::getGammaN() const { + return _reader.getDataField( + ::capnp::bounded<15>() * ::capnp::ELEMENTS); +} + +inline double UbloxGnss::GlonassEphemeris::Builder::getGammaN() { + return _builder.getDataField( + ::capnp::bounded<15>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::GlonassEphemeris::Builder::setGammaN(double value) { + _builder.setDataField( + ::capnp::bounded<15>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t UbloxGnss::GlonassEphemeris::Reader::getP1() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<93>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t UbloxGnss::GlonassEphemeris::Builder::getP1() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<93>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::GlonassEphemeris::Builder::setP1( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<93>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t UbloxGnss::GlonassEphemeris::Reader::getP2() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<98>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t UbloxGnss::GlonassEphemeris::Builder::getP2() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<98>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::GlonassEphemeris::Builder::setP2( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<98>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t UbloxGnss::GlonassEphemeris::Reader::getP3() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<99>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t UbloxGnss::GlonassEphemeris::Builder::getP3() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<99>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::GlonassEphemeris::Builder::setP3( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<99>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t UbloxGnss::GlonassEphemeris::Reader::getP4() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<100>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t UbloxGnss::GlonassEphemeris::Builder::getP4() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<100>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::GlonassEphemeris::Builder::setP4( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<100>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t UbloxGnss::GlonassEphemeris::Reader::getFreqNumDEPRECATED() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<32>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t UbloxGnss::GlonassEphemeris::Builder::getFreqNumDEPRECATED() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<32>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::GlonassEphemeris::Builder::setFreqNumDEPRECATED( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<32>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t UbloxGnss::GlonassEphemeris::Reader::getN4() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<101>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t UbloxGnss::GlonassEphemeris::Builder::getN4() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<101>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::GlonassEphemeris::Builder::setN4( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<101>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t UbloxGnss::GlonassEphemeris::Reader::getNt() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<51>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t UbloxGnss::GlonassEphemeris::Builder::getNt() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<51>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::GlonassEphemeris::Builder::setNt( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<51>() * ::capnp::ELEMENTS, value); +} + +inline ::int16_t UbloxGnss::GlonassEphemeris::Reader::getFreqNum() const { + return _reader.getDataField< ::int16_t>( + ::capnp::bounded<66>() * ::capnp::ELEMENTS); +} + +inline ::int16_t UbloxGnss::GlonassEphemeris::Builder::getFreqNum() { + return _builder.getDataField< ::int16_t>( + ::capnp::bounded<66>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::GlonassEphemeris::Builder::setFreqNum( ::int16_t value) { + _builder.setDataField< ::int16_t>( + ::capnp::bounded<66>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t UbloxGnss::GlonassEphemeris::Reader::getTkSeconds() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<34>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t UbloxGnss::GlonassEphemeris::Builder::getTkSeconds() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<34>() * ::capnp::ELEMENTS); +} +inline void UbloxGnss::GlonassEphemeris::Builder::setTkSeconds( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<34>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::QcomGnss::Which QcomGnss::Reader::which() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline ::cereal::QcomGnss::Which QcomGnss::Builder::which() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t QcomGnss::Reader::getLogTs() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t QcomGnss::Builder::getLogTs() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::Builder::setLogTs( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::Reader::isMeasurementReport() const { + return which() == QcomGnss::MEASUREMENT_REPORT; +} +inline bool QcomGnss::Builder::isMeasurementReport() { + return which() == QcomGnss::MEASUREMENT_REPORT; +} +inline bool QcomGnss::Reader::hasMeasurementReport() const { + if (which() != QcomGnss::MEASUREMENT_REPORT) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool QcomGnss::Builder::hasMeasurementReport() { + if (which() != QcomGnss::MEASUREMENT_REPORT) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::QcomGnss::MeasurementReport::Reader QcomGnss::Reader::getMeasurementReport() const { + KJ_IREQUIRE((which() == QcomGnss::MEASUREMENT_REPORT), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::QcomGnss::MeasurementReport>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::QcomGnss::MeasurementReport::Builder QcomGnss::Builder::getMeasurementReport() { + KJ_IREQUIRE((which() == QcomGnss::MEASUREMENT_REPORT), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::QcomGnss::MeasurementReport>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void QcomGnss::Builder::setMeasurementReport( ::cereal::QcomGnss::MeasurementReport::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, QcomGnss::MEASUREMENT_REPORT); + ::capnp::_::PointerHelpers< ::cereal::QcomGnss::MeasurementReport>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::QcomGnss::MeasurementReport::Builder QcomGnss::Builder::initMeasurementReport() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, QcomGnss::MEASUREMENT_REPORT); + return ::capnp::_::PointerHelpers< ::cereal::QcomGnss::MeasurementReport>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void QcomGnss::Builder::adoptMeasurementReport( + ::capnp::Orphan< ::cereal::QcomGnss::MeasurementReport>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, QcomGnss::MEASUREMENT_REPORT); + ::capnp::_::PointerHelpers< ::cereal::QcomGnss::MeasurementReport>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::QcomGnss::MeasurementReport> QcomGnss::Builder::disownMeasurementReport() { + KJ_IREQUIRE((which() == QcomGnss::MEASUREMENT_REPORT), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::QcomGnss::MeasurementReport>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool QcomGnss::Reader::isClockReport() const { + return which() == QcomGnss::CLOCK_REPORT; +} +inline bool QcomGnss::Builder::isClockReport() { + return which() == QcomGnss::CLOCK_REPORT; +} +inline bool QcomGnss::Reader::hasClockReport() const { + if (which() != QcomGnss::CLOCK_REPORT) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool QcomGnss::Builder::hasClockReport() { + if (which() != QcomGnss::CLOCK_REPORT) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::QcomGnss::ClockReport::Reader QcomGnss::Reader::getClockReport() const { + KJ_IREQUIRE((which() == QcomGnss::CLOCK_REPORT), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::QcomGnss::ClockReport>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::QcomGnss::ClockReport::Builder QcomGnss::Builder::getClockReport() { + KJ_IREQUIRE((which() == QcomGnss::CLOCK_REPORT), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::QcomGnss::ClockReport>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void QcomGnss::Builder::setClockReport( ::cereal::QcomGnss::ClockReport::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, QcomGnss::CLOCK_REPORT); + ::capnp::_::PointerHelpers< ::cereal::QcomGnss::ClockReport>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::QcomGnss::ClockReport::Builder QcomGnss::Builder::initClockReport() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, QcomGnss::CLOCK_REPORT); + return ::capnp::_::PointerHelpers< ::cereal::QcomGnss::ClockReport>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void QcomGnss::Builder::adoptClockReport( + ::capnp::Orphan< ::cereal::QcomGnss::ClockReport>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, QcomGnss::CLOCK_REPORT); + ::capnp::_::PointerHelpers< ::cereal::QcomGnss::ClockReport>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::QcomGnss::ClockReport> QcomGnss::Builder::disownClockReport() { + KJ_IREQUIRE((which() == QcomGnss::CLOCK_REPORT), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::QcomGnss::ClockReport>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool QcomGnss::Reader::isDrMeasurementReport() const { + return which() == QcomGnss::DR_MEASUREMENT_REPORT; +} +inline bool QcomGnss::Builder::isDrMeasurementReport() { + return which() == QcomGnss::DR_MEASUREMENT_REPORT; +} +inline bool QcomGnss::Reader::hasDrMeasurementReport() const { + if (which() != QcomGnss::DR_MEASUREMENT_REPORT) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool QcomGnss::Builder::hasDrMeasurementReport() { + if (which() != QcomGnss::DR_MEASUREMENT_REPORT) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::QcomGnss::DrMeasurementReport::Reader QcomGnss::Reader::getDrMeasurementReport() const { + KJ_IREQUIRE((which() == QcomGnss::DR_MEASUREMENT_REPORT), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::QcomGnss::DrMeasurementReport>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::QcomGnss::DrMeasurementReport::Builder QcomGnss::Builder::getDrMeasurementReport() { + KJ_IREQUIRE((which() == QcomGnss::DR_MEASUREMENT_REPORT), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::QcomGnss::DrMeasurementReport>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void QcomGnss::Builder::setDrMeasurementReport( ::cereal::QcomGnss::DrMeasurementReport::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, QcomGnss::DR_MEASUREMENT_REPORT); + ::capnp::_::PointerHelpers< ::cereal::QcomGnss::DrMeasurementReport>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::QcomGnss::DrMeasurementReport::Builder QcomGnss::Builder::initDrMeasurementReport() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, QcomGnss::DR_MEASUREMENT_REPORT); + return ::capnp::_::PointerHelpers< ::cereal::QcomGnss::DrMeasurementReport>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void QcomGnss::Builder::adoptDrMeasurementReport( + ::capnp::Orphan< ::cereal::QcomGnss::DrMeasurementReport>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, QcomGnss::DR_MEASUREMENT_REPORT); + ::capnp::_::PointerHelpers< ::cereal::QcomGnss::DrMeasurementReport>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::QcomGnss::DrMeasurementReport> QcomGnss::Builder::disownDrMeasurementReport() { + KJ_IREQUIRE((which() == QcomGnss::DR_MEASUREMENT_REPORT), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::QcomGnss::DrMeasurementReport>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool QcomGnss::Reader::isDrSvPoly() const { + return which() == QcomGnss::DR_SV_POLY; +} +inline bool QcomGnss::Builder::isDrSvPoly() { + return which() == QcomGnss::DR_SV_POLY; +} +inline bool QcomGnss::Reader::hasDrSvPoly() const { + if (which() != QcomGnss::DR_SV_POLY) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool QcomGnss::Builder::hasDrSvPoly() { + if (which() != QcomGnss::DR_SV_POLY) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::QcomGnss::DrSvPolyReport::Reader QcomGnss::Reader::getDrSvPoly() const { + KJ_IREQUIRE((which() == QcomGnss::DR_SV_POLY), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::QcomGnss::DrSvPolyReport>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::QcomGnss::DrSvPolyReport::Builder QcomGnss::Builder::getDrSvPoly() { + KJ_IREQUIRE((which() == QcomGnss::DR_SV_POLY), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::QcomGnss::DrSvPolyReport>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void QcomGnss::Builder::setDrSvPoly( ::cereal::QcomGnss::DrSvPolyReport::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, QcomGnss::DR_SV_POLY); + ::capnp::_::PointerHelpers< ::cereal::QcomGnss::DrSvPolyReport>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::QcomGnss::DrSvPolyReport::Builder QcomGnss::Builder::initDrSvPoly() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, QcomGnss::DR_SV_POLY); + return ::capnp::_::PointerHelpers< ::cereal::QcomGnss::DrSvPolyReport>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void QcomGnss::Builder::adoptDrSvPoly( + ::capnp::Orphan< ::cereal::QcomGnss::DrSvPolyReport>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, QcomGnss::DR_SV_POLY); + ::capnp::_::PointerHelpers< ::cereal::QcomGnss::DrSvPolyReport>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::QcomGnss::DrSvPolyReport> QcomGnss::Builder::disownDrSvPoly() { + KJ_IREQUIRE((which() == QcomGnss::DR_SV_POLY), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::QcomGnss::DrSvPolyReport>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool QcomGnss::Reader::isRawLog() const { + return which() == QcomGnss::RAW_LOG; +} +inline bool QcomGnss::Builder::isRawLog() { + return which() == QcomGnss::RAW_LOG; +} +inline bool QcomGnss::Reader::hasRawLog() const { + if (which() != QcomGnss::RAW_LOG) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool QcomGnss::Builder::hasRawLog() { + if (which() != QcomGnss::RAW_LOG) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Data::Reader QcomGnss::Reader::getRawLog() const { + KJ_IREQUIRE((which() == QcomGnss::RAW_LOG), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::Data::Builder QcomGnss::Builder::getRawLog() { + KJ_IREQUIRE((which() == QcomGnss::RAW_LOG), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void QcomGnss::Builder::setRawLog( ::capnp::Data::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, QcomGnss::RAW_LOG); + ::capnp::_::PointerHelpers< ::capnp::Data>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::Data::Builder QcomGnss::Builder::initRawLog(unsigned int size) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, QcomGnss::RAW_LOG); + return ::capnp::_::PointerHelpers< ::capnp::Data>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void QcomGnss::Builder::adoptRawLog( + ::capnp::Orphan< ::capnp::Data>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, QcomGnss::RAW_LOG); + ::capnp::_::PointerHelpers< ::capnp::Data>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Data> QcomGnss::Builder::disownRawLog() { + KJ_IREQUIRE((which() == QcomGnss::RAW_LOG), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::Data>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool QcomGnss::MeasurementStatus::Reader::getSubMillisecondIsValid() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline bool QcomGnss::MeasurementStatus::Builder::getSubMillisecondIsValid() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementStatus::Builder::setSubMillisecondIsValid(bool value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::MeasurementStatus::Reader::getSubBitTimeIsKnown() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline bool QcomGnss::MeasurementStatus::Builder::getSubBitTimeIsKnown() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementStatus::Builder::setSubBitTimeIsKnown(bool value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::MeasurementStatus::Reader::getSatelliteTimeIsKnown() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline bool QcomGnss::MeasurementStatus::Builder::getSatelliteTimeIsKnown() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementStatus::Builder::setSatelliteTimeIsKnown(bool value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::MeasurementStatus::Reader::getBitEdgeConfirmedFromSignal() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline bool QcomGnss::MeasurementStatus::Builder::getBitEdgeConfirmedFromSignal() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementStatus::Builder::setBitEdgeConfirmedFromSignal(bool value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::MeasurementStatus::Reader::getMeasuredVelocity() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline bool QcomGnss::MeasurementStatus::Builder::getMeasuredVelocity() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementStatus::Builder::setMeasuredVelocity(bool value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::MeasurementStatus::Reader::getFineOrCoarseVelocity() const { + return _reader.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline bool QcomGnss::MeasurementStatus::Builder::getFineOrCoarseVelocity() { + return _builder.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementStatus::Builder::setFineOrCoarseVelocity(bool value) { + _builder.setDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::MeasurementStatus::Reader::getLockPointValid() const { + return _reader.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline bool QcomGnss::MeasurementStatus::Builder::getLockPointValid() { + return _builder.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementStatus::Builder::setLockPointValid(bool value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::MeasurementStatus::Reader::getLockPointPositive() const { + return _reader.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline bool QcomGnss::MeasurementStatus::Builder::getLockPointPositive() { + return _builder.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementStatus::Builder::setLockPointPositive(bool value) { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::MeasurementStatus::Reader::getLastUpdateFromDifference() const { + return _reader.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline bool QcomGnss::MeasurementStatus::Builder::getLastUpdateFromDifference() { + return _builder.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementStatus::Builder::setLastUpdateFromDifference(bool value) { + _builder.setDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::MeasurementStatus::Reader::getLastUpdateFromVelocityDifference() const { + return _reader.getDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} + +inline bool QcomGnss::MeasurementStatus::Builder::getLastUpdateFromVelocityDifference() { + return _builder.getDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementStatus::Builder::setLastUpdateFromVelocityDifference(bool value) { + _builder.setDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::MeasurementStatus::Reader::getStrongIndicationOfCrossCorelation() const { + return _reader.getDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} + +inline bool QcomGnss::MeasurementStatus::Builder::getStrongIndicationOfCrossCorelation() { + return _builder.getDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementStatus::Builder::setStrongIndicationOfCrossCorelation(bool value) { + _builder.setDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::MeasurementStatus::Reader::getTentativeMeasurement() const { + return _reader.getDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} + +inline bool QcomGnss::MeasurementStatus::Builder::getTentativeMeasurement() { + return _builder.getDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementStatus::Builder::setTentativeMeasurement(bool value) { + _builder.setDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::MeasurementStatus::Reader::getMeasurementNotUsable() const { + return _reader.getDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} + +inline bool QcomGnss::MeasurementStatus::Builder::getMeasurementNotUsable() { + return _builder.getDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementStatus::Builder::setMeasurementNotUsable(bool value) { + _builder.setDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::MeasurementStatus::Reader::getSirCheckIsNeeded() const { + return _reader.getDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} + +inline bool QcomGnss::MeasurementStatus::Builder::getSirCheckIsNeeded() { + return _builder.getDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementStatus::Builder::setSirCheckIsNeeded(bool value) { + _builder.setDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::MeasurementStatus::Reader::getProbationMode() const { + return _reader.getDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} + +inline bool QcomGnss::MeasurementStatus::Builder::getProbationMode() { + return _builder.getDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementStatus::Builder::setProbationMode(bool value) { + _builder.setDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::MeasurementStatus::Reader::getGlonassMeanderBitEdgeValid() const { + return _reader.getDataField( + ::capnp::bounded<15>() * ::capnp::ELEMENTS); +} + +inline bool QcomGnss::MeasurementStatus::Builder::getGlonassMeanderBitEdgeValid() { + return _builder.getDataField( + ::capnp::bounded<15>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementStatus::Builder::setGlonassMeanderBitEdgeValid(bool value) { + _builder.setDataField( + ::capnp::bounded<15>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::MeasurementStatus::Reader::getGlonassTimeMarkValid() const { + return _reader.getDataField( + ::capnp::bounded<16>() * ::capnp::ELEMENTS); +} + +inline bool QcomGnss::MeasurementStatus::Builder::getGlonassTimeMarkValid() { + return _builder.getDataField( + ::capnp::bounded<16>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementStatus::Builder::setGlonassTimeMarkValid(bool value) { + _builder.setDataField( + ::capnp::bounded<16>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::MeasurementStatus::Reader::getGpsRoundRobinRxDiversity() const { + return _reader.getDataField( + ::capnp::bounded<17>() * ::capnp::ELEMENTS); +} + +inline bool QcomGnss::MeasurementStatus::Builder::getGpsRoundRobinRxDiversity() { + return _builder.getDataField( + ::capnp::bounded<17>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementStatus::Builder::setGpsRoundRobinRxDiversity(bool value) { + _builder.setDataField( + ::capnp::bounded<17>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::MeasurementStatus::Reader::getGpsRxDiversity() const { + return _reader.getDataField( + ::capnp::bounded<18>() * ::capnp::ELEMENTS); +} + +inline bool QcomGnss::MeasurementStatus::Builder::getGpsRxDiversity() { + return _builder.getDataField( + ::capnp::bounded<18>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementStatus::Builder::setGpsRxDiversity(bool value) { + _builder.setDataField( + ::capnp::bounded<18>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::MeasurementStatus::Reader::getGpsLowBandwidthRxDiversityCombined() const { + return _reader.getDataField( + ::capnp::bounded<19>() * ::capnp::ELEMENTS); +} + +inline bool QcomGnss::MeasurementStatus::Builder::getGpsLowBandwidthRxDiversityCombined() { + return _builder.getDataField( + ::capnp::bounded<19>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementStatus::Builder::setGpsLowBandwidthRxDiversityCombined(bool value) { + _builder.setDataField( + ::capnp::bounded<19>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::MeasurementStatus::Reader::getGpsHighBandwidthNu4() const { + return _reader.getDataField( + ::capnp::bounded<20>() * ::capnp::ELEMENTS); +} + +inline bool QcomGnss::MeasurementStatus::Builder::getGpsHighBandwidthNu4() { + return _builder.getDataField( + ::capnp::bounded<20>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementStatus::Builder::setGpsHighBandwidthNu4(bool value) { + _builder.setDataField( + ::capnp::bounded<20>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::MeasurementStatus::Reader::getGpsHighBandwidthNu8() const { + return _reader.getDataField( + ::capnp::bounded<21>() * ::capnp::ELEMENTS); +} + +inline bool QcomGnss::MeasurementStatus::Builder::getGpsHighBandwidthNu8() { + return _builder.getDataField( + ::capnp::bounded<21>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementStatus::Builder::setGpsHighBandwidthNu8(bool value) { + _builder.setDataField( + ::capnp::bounded<21>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::MeasurementStatus::Reader::getGpsHighBandwidthUniform() const { + return _reader.getDataField( + ::capnp::bounded<22>() * ::capnp::ELEMENTS); +} + +inline bool QcomGnss::MeasurementStatus::Builder::getGpsHighBandwidthUniform() { + return _builder.getDataField( + ::capnp::bounded<22>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementStatus::Builder::setGpsHighBandwidthUniform(bool value) { + _builder.setDataField( + ::capnp::bounded<22>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::MeasurementStatus::Reader::getMultipathIndicator() const { + return _reader.getDataField( + ::capnp::bounded<23>() * ::capnp::ELEMENTS); +} + +inline bool QcomGnss::MeasurementStatus::Builder::getMultipathIndicator() { + return _builder.getDataField( + ::capnp::bounded<23>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementStatus::Builder::setMultipathIndicator(bool value) { + _builder.setDataField( + ::capnp::bounded<23>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::MeasurementStatus::Reader::getImdJammingIndicator() const { + return _reader.getDataField( + ::capnp::bounded<24>() * ::capnp::ELEMENTS); +} + +inline bool QcomGnss::MeasurementStatus::Builder::getImdJammingIndicator() { + return _builder.getDataField( + ::capnp::bounded<24>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementStatus::Builder::setImdJammingIndicator(bool value) { + _builder.setDataField( + ::capnp::bounded<24>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::MeasurementStatus::Reader::getLteB13TxJammingIndicator() const { + return _reader.getDataField( + ::capnp::bounded<25>() * ::capnp::ELEMENTS); +} + +inline bool QcomGnss::MeasurementStatus::Builder::getLteB13TxJammingIndicator() { + return _builder.getDataField( + ::capnp::bounded<25>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementStatus::Builder::setLteB13TxJammingIndicator(bool value) { + _builder.setDataField( + ::capnp::bounded<25>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::MeasurementStatus::Reader::getFreshMeasurementIndicator() const { + return _reader.getDataField( + ::capnp::bounded<26>() * ::capnp::ELEMENTS); +} + +inline bool QcomGnss::MeasurementStatus::Builder::getFreshMeasurementIndicator() { + return _builder.getDataField( + ::capnp::bounded<26>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementStatus::Builder::setFreshMeasurementIndicator(bool value) { + _builder.setDataField( + ::capnp::bounded<26>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::MeasurementStatus::Reader::getMultipathEstimateIsValid() const { + return _reader.getDataField( + ::capnp::bounded<27>() * ::capnp::ELEMENTS); +} + +inline bool QcomGnss::MeasurementStatus::Builder::getMultipathEstimateIsValid() { + return _builder.getDataField( + ::capnp::bounded<27>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementStatus::Builder::setMultipathEstimateIsValid(bool value) { + _builder.setDataField( + ::capnp::bounded<27>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::MeasurementStatus::Reader::getDirectionIsValid() const { + return _reader.getDataField( + ::capnp::bounded<28>() * ::capnp::ELEMENTS); +} + +inline bool QcomGnss::MeasurementStatus::Builder::getDirectionIsValid() { + return _builder.getDataField( + ::capnp::bounded<28>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementStatus::Builder::setDirectionIsValid(bool value) { + _builder.setDataField( + ::capnp::bounded<28>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::QcomGnss::MeasurementSource QcomGnss::MeasurementReport::Reader::getSource() const { + return _reader.getDataField< ::cereal::QcomGnss::MeasurementSource>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::cereal::QcomGnss::MeasurementSource QcomGnss::MeasurementReport::Builder::getSource() { + return _builder.getDataField< ::cereal::QcomGnss::MeasurementSource>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementReport::Builder::setSource( ::cereal::QcomGnss::MeasurementSource value) { + _builder.setDataField< ::cereal::QcomGnss::MeasurementSource>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t QcomGnss::MeasurementReport::Reader::getFCount() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t QcomGnss::MeasurementReport::Builder::getFCount() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementReport::Builder::setFCount( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t QcomGnss::MeasurementReport::Reader::getGpsWeek() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t QcomGnss::MeasurementReport::Builder::getGpsWeek() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementReport::Builder::setGpsWeek( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t QcomGnss::MeasurementReport::Reader::getGlonassCycleNumber() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t QcomGnss::MeasurementReport::Builder::getGlonassCycleNumber() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementReport::Builder::setGlonassCycleNumber( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t QcomGnss::MeasurementReport::Reader::getGlonassNumberOfDays() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t QcomGnss::MeasurementReport::Builder::getGlonassNumberOfDays() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementReport::Builder::setGlonassNumberOfDays( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t QcomGnss::MeasurementReport::Reader::getMilliseconds() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t QcomGnss::MeasurementReport::Builder::getMilliseconds() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementReport::Builder::setMilliseconds( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::MeasurementReport::Reader::getTimeBias() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::MeasurementReport::Builder::getTimeBias() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementReport::Builder::setTimeBias(float value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::MeasurementReport::Reader::getClockTimeUncertainty() const { + return _reader.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::MeasurementReport::Builder::getClockTimeUncertainty() { + return _builder.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementReport::Builder::setClockTimeUncertainty(float value) { + _builder.setDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::MeasurementReport::Reader::getClockFrequencyBias() const { + return _reader.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::MeasurementReport::Builder::getClockFrequencyBias() { + return _builder.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementReport::Builder::setClockFrequencyBias(float value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::MeasurementReport::Reader::getClockFrequencyUncertainty() const { + return _reader.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::MeasurementReport::Builder::getClockFrequencyUncertainty() { + return _builder.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementReport::Builder::setClockFrequencyUncertainty(float value) { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::MeasurementReport::Reader::hasSv() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool QcomGnss::MeasurementReport::Builder::hasSv() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::QcomGnss::MeasurementReport::SV, ::capnp::Kind::STRUCT>::Reader QcomGnss::MeasurementReport::Reader::getSv() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::QcomGnss::MeasurementReport::SV, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::QcomGnss::MeasurementReport::SV, ::capnp::Kind::STRUCT>::Builder QcomGnss::MeasurementReport::Builder::getSv() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::QcomGnss::MeasurementReport::SV, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void QcomGnss::MeasurementReport::Builder::setSv( ::capnp::List< ::cereal::QcomGnss::MeasurementReport::SV, ::capnp::Kind::STRUCT>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::QcomGnss::MeasurementReport::SV, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::QcomGnss::MeasurementReport::SV, ::capnp::Kind::STRUCT>::Builder QcomGnss::MeasurementReport::Builder::initSv(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::QcomGnss::MeasurementReport::SV, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void QcomGnss::MeasurementReport::Builder::adoptSv( + ::capnp::Orphan< ::capnp::List< ::cereal::QcomGnss::MeasurementReport::SV, ::capnp::Kind::STRUCT>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::QcomGnss::MeasurementReport::SV, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::QcomGnss::MeasurementReport::SV, ::capnp::Kind::STRUCT>> QcomGnss::MeasurementReport::Builder::disownSv() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::QcomGnss::MeasurementReport::SV, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline ::uint8_t QcomGnss::MeasurementReport::SV::Reader::getSvId() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t QcomGnss::MeasurementReport::SV::Builder::getSvId() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementReport::SV::Builder::setSvId( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::int8_t QcomGnss::MeasurementReport::SV::Reader::getGlonassFrequencyIndex() const { + return _reader.getDataField< ::int8_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::int8_t QcomGnss::MeasurementReport::SV::Builder::getGlonassFrequencyIndex() { + return _builder.getDataField< ::int8_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementReport::SV::Builder::setGlonassFrequencyIndex( ::int8_t value) { + _builder.setDataField< ::int8_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::QcomGnss::SVObservationState QcomGnss::MeasurementReport::SV::Reader::getObservationState() const { + return _reader.getDataField< ::cereal::QcomGnss::SVObservationState>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::cereal::QcomGnss::SVObservationState QcomGnss::MeasurementReport::SV::Builder::getObservationState() { + return _builder.getDataField< ::cereal::QcomGnss::SVObservationState>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementReport::SV::Builder::setObservationState( ::cereal::QcomGnss::SVObservationState value) { + _builder.setDataField< ::cereal::QcomGnss::SVObservationState>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t QcomGnss::MeasurementReport::SV::Reader::getObservations() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t QcomGnss::MeasurementReport::SV::Builder::getObservations() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementReport::SV::Builder::setObservations( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t QcomGnss::MeasurementReport::SV::Reader::getGoodObservations() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t QcomGnss::MeasurementReport::SV::Builder::getGoodObservations() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementReport::SV::Builder::setGoodObservations( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t QcomGnss::MeasurementReport::SV::Reader::getGpsParityErrorCount() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t QcomGnss::MeasurementReport::SV::Builder::getGpsParityErrorCount() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementReport::SV::Builder::setGpsParityErrorCount( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t QcomGnss::MeasurementReport::SV::Reader::getGlonassHemmingErrorCount() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t QcomGnss::MeasurementReport::SV::Builder::getGlonassHemmingErrorCount() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementReport::SV::Builder::setGlonassHemmingErrorCount( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t QcomGnss::MeasurementReport::SV::Reader::getFilterStages() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t QcomGnss::MeasurementReport::SV::Builder::getFilterStages() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementReport::SV::Builder::setFilterStages( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t QcomGnss::MeasurementReport::SV::Reader::getCarrierNoise() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t QcomGnss::MeasurementReport::SV::Builder::getCarrierNoise() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementReport::SV::Builder::setCarrierNoise( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline ::int16_t QcomGnss::MeasurementReport::SV::Reader::getLatency() const { + return _reader.getDataField< ::int16_t>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline ::int16_t QcomGnss::MeasurementReport::SV::Builder::getLatency() { + return _builder.getDataField< ::int16_t>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementReport::SV::Builder::setLatency( ::int16_t value) { + _builder.setDataField< ::int16_t>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t QcomGnss::MeasurementReport::SV::Reader::getPredetectInterval() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t QcomGnss::MeasurementReport::SV::Builder::getPredetectInterval() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementReport::SV::Builder::setPredetectInterval( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<14>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t QcomGnss::MeasurementReport::SV::Reader::getPostdetections() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t QcomGnss::MeasurementReport::SV::Builder::getPostdetections() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementReport::SV::Builder::setPostdetections( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t QcomGnss::MeasurementReport::SV::Reader::getUnfilteredMeasurementIntegral() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t QcomGnss::MeasurementReport::SV::Builder::getUnfilteredMeasurementIntegral() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementReport::SV::Builder::setUnfilteredMeasurementIntegral( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::MeasurementReport::SV::Reader::getUnfilteredMeasurementFraction() const { + return _reader.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::MeasurementReport::SV::Builder::getUnfilteredMeasurementFraction() { + return _builder.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementReport::SV::Builder::setUnfilteredMeasurementFraction(float value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::MeasurementReport::SV::Reader::getUnfilteredTimeUncertainty() const { + return _reader.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::MeasurementReport::SV::Builder::getUnfilteredTimeUncertainty() { + return _builder.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementReport::SV::Builder::setUnfilteredTimeUncertainty(float value) { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::MeasurementReport::SV::Reader::getUnfilteredSpeed() const { + return _reader.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::MeasurementReport::SV::Builder::getUnfilteredSpeed() { + return _builder.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementReport::SV::Builder::setUnfilteredSpeed(float value) { + _builder.setDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::MeasurementReport::SV::Reader::getUnfilteredSpeedUncertainty() const { + return _reader.getDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::MeasurementReport::SV::Builder::getUnfilteredSpeedUncertainty() { + return _builder.getDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementReport::SV::Builder::setUnfilteredSpeedUncertainty(float value) { + _builder.setDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::MeasurementReport::SV::Reader::hasMeasurementStatus() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool QcomGnss::MeasurementReport::SV::Builder::hasMeasurementStatus() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::QcomGnss::MeasurementStatus::Reader QcomGnss::MeasurementReport::SV::Reader::getMeasurementStatus() const { + return ::capnp::_::PointerHelpers< ::cereal::QcomGnss::MeasurementStatus>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::QcomGnss::MeasurementStatus::Builder QcomGnss::MeasurementReport::SV::Builder::getMeasurementStatus() { + return ::capnp::_::PointerHelpers< ::cereal::QcomGnss::MeasurementStatus>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::QcomGnss::MeasurementStatus::Pipeline QcomGnss::MeasurementReport::SV::Pipeline::getMeasurementStatus() { + return ::cereal::QcomGnss::MeasurementStatus::Pipeline(_typeless.getPointerField(0)); +} +#endif // !CAPNP_LITE +inline void QcomGnss::MeasurementReport::SV::Builder::setMeasurementStatus( ::cereal::QcomGnss::MeasurementStatus::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::QcomGnss::MeasurementStatus>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::QcomGnss::MeasurementStatus::Builder QcomGnss::MeasurementReport::SV::Builder::initMeasurementStatus() { + return ::capnp::_::PointerHelpers< ::cereal::QcomGnss::MeasurementStatus>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void QcomGnss::MeasurementReport::SV::Builder::adoptMeasurementStatus( + ::capnp::Orphan< ::cereal::QcomGnss::MeasurementStatus>&& value) { + ::capnp::_::PointerHelpers< ::cereal::QcomGnss::MeasurementStatus>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::QcomGnss::MeasurementStatus> QcomGnss::MeasurementReport::SV::Builder::disownMeasurementStatus() { + return ::capnp::_::PointerHelpers< ::cereal::QcomGnss::MeasurementStatus>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline ::uint32_t QcomGnss::MeasurementReport::SV::Reader::getMultipathEstimate() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t QcomGnss::MeasurementReport::SV::Builder::getMultipathEstimate() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementReport::SV::Builder::setMultipathEstimate( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::MeasurementReport::SV::Reader::getAzimuth() const { + return _reader.getDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::MeasurementReport::SV::Builder::getAzimuth() { + return _builder.getDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementReport::SV::Builder::setAzimuth(float value) { + _builder.setDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::MeasurementReport::SV::Reader::getElevation() const { + return _reader.getDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::MeasurementReport::SV::Builder::getElevation() { + return _builder.getDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementReport::SV::Builder::setElevation(float value) { + _builder.setDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t QcomGnss::MeasurementReport::SV::Reader::getCarrierPhaseCyclesIntegral() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} + +inline ::int32_t QcomGnss::MeasurementReport::SV::Builder::getCarrierPhaseCyclesIntegral() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementReport::SV::Builder::setCarrierPhaseCyclesIntegral( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<13>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t QcomGnss::MeasurementReport::SV::Reader::getCarrierPhaseCyclesFraction() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t QcomGnss::MeasurementReport::SV::Builder::getCarrierPhaseCyclesFraction() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementReport::SV::Builder::setCarrierPhaseCyclesFraction( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::MeasurementReport::SV::Reader::getFineSpeed() const { + return _reader.getDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::MeasurementReport::SV::Builder::getFineSpeed() { + return _builder.getDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementReport::SV::Builder::setFineSpeed(float value) { + _builder.setDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::MeasurementReport::SV::Reader::getFineSpeedUncertainty() const { + return _reader.getDataField( + ::capnp::bounded<15>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::MeasurementReport::SV::Builder::getFineSpeedUncertainty() { + return _builder.getDataField( + ::capnp::bounded<15>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementReport::SV::Builder::setFineSpeedUncertainty(float value) { + _builder.setDataField( + ::capnp::bounded<15>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t QcomGnss::MeasurementReport::SV::Reader::getCycleSlipCount() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<15>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t QcomGnss::MeasurementReport::SV::Builder::getCycleSlipCount() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<15>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::MeasurementReport::SV::Builder::setCycleSlipCount( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<15>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::ClockReport::Reader::getHasFCount() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline bool QcomGnss::ClockReport::Builder::getHasFCount() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setHasFCount(bool value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t QcomGnss::ClockReport::Reader::getFCount() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t QcomGnss::ClockReport::Builder::getFCount() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setFCount( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::ClockReport::Reader::getHasGpsWeek() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline bool QcomGnss::ClockReport::Builder::getHasGpsWeek() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setHasGpsWeek(bool value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t QcomGnss::ClockReport::Reader::getGpsWeek() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t QcomGnss::ClockReport::Builder::getGpsWeek() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setGpsWeek( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::ClockReport::Reader::getHasGpsMilliseconds() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline bool QcomGnss::ClockReport::Builder::getHasGpsMilliseconds() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setHasGpsMilliseconds(bool value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t QcomGnss::ClockReport::Reader::getGpsMilliseconds() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t QcomGnss::ClockReport::Builder::getGpsMilliseconds() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setGpsMilliseconds( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::ClockReport::Reader::getGpsTimeBias() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::ClockReport::Builder::getGpsTimeBias() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setGpsTimeBias(float value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::ClockReport::Reader::getGpsClockTimeUncertainty() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::ClockReport::Builder::getGpsClockTimeUncertainty() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setGpsClockTimeUncertainty(float value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t QcomGnss::ClockReport::Reader::getGpsClockSource() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t QcomGnss::ClockReport::Builder::getGpsClockSource() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setGpsClockSource( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::ClockReport::Reader::getHasGlonassYear() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline bool QcomGnss::ClockReport::Builder::getHasGlonassYear() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setHasGlonassYear(bool value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t QcomGnss::ClockReport::Reader::getGlonassYear() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<20>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t QcomGnss::ClockReport::Builder::getGlonassYear() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<20>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setGlonassYear( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<20>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::ClockReport::Reader::getHasGlonassDay() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline bool QcomGnss::ClockReport::Builder::getHasGlonassDay() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setHasGlonassDay(bool value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t QcomGnss::ClockReport::Reader::getGlonassDay() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t QcomGnss::ClockReport::Builder::getGlonassDay() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setGlonassDay( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<11>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::ClockReport::Reader::getHasGlonassMilliseconds() const { + return _reader.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline bool QcomGnss::ClockReport::Builder::getHasGlonassMilliseconds() { + return _builder.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setHasGlonassMilliseconds(bool value) { + _builder.setDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t QcomGnss::ClockReport::Reader::getGlonassMilliseconds() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t QcomGnss::ClockReport::Builder::getGlonassMilliseconds() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setGlonassMilliseconds( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::ClockReport::Reader::getGlonassTimeBias() const { + return _reader.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::ClockReport::Builder::getGlonassTimeBias() { + return _builder.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setGlonassTimeBias(float value) { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::ClockReport::Reader::getGlonassClockTimeUncertainty() const { + return _reader.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::ClockReport::Builder::getGlonassClockTimeUncertainty() { + return _builder.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setGlonassClockTimeUncertainty(float value) { + _builder.setDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t QcomGnss::ClockReport::Reader::getGlonassClockSource() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<21>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t QcomGnss::ClockReport::Builder::getGlonassClockSource() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<21>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setGlonassClockSource( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<21>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t QcomGnss::ClockReport::Reader::getBdsWeek() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<18>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t QcomGnss::ClockReport::Builder::getBdsWeek() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<18>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setBdsWeek( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<18>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t QcomGnss::ClockReport::Reader::getBdsMilliseconds() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t QcomGnss::ClockReport::Builder::getBdsMilliseconds() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setBdsMilliseconds( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::ClockReport::Reader::getBdsTimeBias() const { + return _reader.getDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::ClockReport::Builder::getBdsTimeBias() { + return _builder.getDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setBdsTimeBias(float value) { + _builder.setDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::ClockReport::Reader::getBdsClockTimeUncertainty() const { + return _reader.getDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::ClockReport::Builder::getBdsClockTimeUncertainty() { + return _builder.getDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setBdsClockTimeUncertainty(float value) { + _builder.setDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t QcomGnss::ClockReport::Reader::getBdsClockSource() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<38>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t QcomGnss::ClockReport::Builder::getBdsClockSource() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<38>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setBdsClockSource( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<38>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t QcomGnss::ClockReport::Reader::getGalWeek() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<26>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t QcomGnss::ClockReport::Builder::getGalWeek() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<26>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setGalWeek( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<26>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t QcomGnss::ClockReport::Reader::getGalMilliseconds() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t QcomGnss::ClockReport::Builder::getGalMilliseconds() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setGalMilliseconds( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<14>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::ClockReport::Reader::getGalTimeBias() const { + return _reader.getDataField( + ::capnp::bounded<15>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::ClockReport::Builder::getGalTimeBias() { + return _builder.getDataField( + ::capnp::bounded<15>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setGalTimeBias(float value) { + _builder.setDataField( + ::capnp::bounded<15>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::ClockReport::Reader::getGalClockTimeUncertainty() const { + return _reader.getDataField( + ::capnp::bounded<16>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::ClockReport::Builder::getGalClockTimeUncertainty() { + return _builder.getDataField( + ::capnp::bounded<16>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setGalClockTimeUncertainty(float value) { + _builder.setDataField( + ::capnp::bounded<16>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t QcomGnss::ClockReport::Reader::getGalClockSource() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<39>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t QcomGnss::ClockReport::Builder::getGalClockSource() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<39>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setGalClockSource( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<39>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::ClockReport::Reader::getClockFrequencyBias() const { + return _reader.getDataField( + ::capnp::bounded<17>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::ClockReport::Builder::getClockFrequencyBias() { + return _builder.getDataField( + ::capnp::bounded<17>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setClockFrequencyBias(float value) { + _builder.setDataField( + ::capnp::bounded<17>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::ClockReport::Reader::getClockFrequencyUncertainty() const { + return _reader.getDataField( + ::capnp::bounded<18>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::ClockReport::Builder::getClockFrequencyUncertainty() { + return _builder.getDataField( + ::capnp::bounded<18>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setClockFrequencyUncertainty(float value) { + _builder.setDataField( + ::capnp::bounded<18>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t QcomGnss::ClockReport::Reader::getFrequencySource() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<54>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t QcomGnss::ClockReport::Builder::getFrequencySource() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<54>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setFrequencySource( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<54>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t QcomGnss::ClockReport::Reader::getGpsLeapSeconds() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<55>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t QcomGnss::ClockReport::Builder::getGpsLeapSeconds() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<55>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setGpsLeapSeconds( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<55>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t QcomGnss::ClockReport::Reader::getGpsLeapSecondsUncertainty() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<76>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t QcomGnss::ClockReport::Builder::getGpsLeapSecondsUncertainty() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<76>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setGpsLeapSecondsUncertainty( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<76>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t QcomGnss::ClockReport::Reader::getGpsLeapSecondsSource() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<77>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t QcomGnss::ClockReport::Builder::getGpsLeapSecondsSource() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<77>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setGpsLeapSecondsSource( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<77>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::ClockReport::Reader::getGpsToGlonassTimeBiasMilliseconds() const { + return _reader.getDataField( + ::capnp::bounded<20>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::ClockReport::Builder::getGpsToGlonassTimeBiasMilliseconds() { + return _builder.getDataField( + ::capnp::bounded<20>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setGpsToGlonassTimeBiasMilliseconds(float value) { + _builder.setDataField( + ::capnp::bounded<20>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::ClockReport::Reader::getGpsToGlonassTimeBiasMillisecondsUncertainty() const { + return _reader.getDataField( + ::capnp::bounded<21>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::ClockReport::Builder::getGpsToGlonassTimeBiasMillisecondsUncertainty() { + return _builder.getDataField( + ::capnp::bounded<21>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setGpsToGlonassTimeBiasMillisecondsUncertainty(float value) { + _builder.setDataField( + ::capnp::bounded<21>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::ClockReport::Reader::getGpsToBdsTimeBiasMilliseconds() const { + return _reader.getDataField( + ::capnp::bounded<22>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::ClockReport::Builder::getGpsToBdsTimeBiasMilliseconds() { + return _builder.getDataField( + ::capnp::bounded<22>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setGpsToBdsTimeBiasMilliseconds(float value) { + _builder.setDataField( + ::capnp::bounded<22>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::ClockReport::Reader::getGpsToBdsTimeBiasMillisecondsUncertainty() const { + return _reader.getDataField( + ::capnp::bounded<23>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::ClockReport::Builder::getGpsToBdsTimeBiasMillisecondsUncertainty() { + return _builder.getDataField( + ::capnp::bounded<23>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setGpsToBdsTimeBiasMillisecondsUncertainty(float value) { + _builder.setDataField( + ::capnp::bounded<23>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::ClockReport::Reader::getBdsToGloTimeBiasMilliseconds() const { + return _reader.getDataField( + ::capnp::bounded<24>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::ClockReport::Builder::getBdsToGloTimeBiasMilliseconds() { + return _builder.getDataField( + ::capnp::bounded<24>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setBdsToGloTimeBiasMilliseconds(float value) { + _builder.setDataField( + ::capnp::bounded<24>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::ClockReport::Reader::getBdsToGloTimeBiasMillisecondsUncertainty() const { + return _reader.getDataField( + ::capnp::bounded<25>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::ClockReport::Builder::getBdsToGloTimeBiasMillisecondsUncertainty() { + return _builder.getDataField( + ::capnp::bounded<25>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setBdsToGloTimeBiasMillisecondsUncertainty(float value) { + _builder.setDataField( + ::capnp::bounded<25>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::ClockReport::Reader::getGpsToGalTimeBiasMilliseconds() const { + return _reader.getDataField( + ::capnp::bounded<26>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::ClockReport::Builder::getGpsToGalTimeBiasMilliseconds() { + return _builder.getDataField( + ::capnp::bounded<26>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setGpsToGalTimeBiasMilliseconds(float value) { + _builder.setDataField( + ::capnp::bounded<26>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::ClockReport::Reader::getGpsToGalTimeBiasMillisecondsUncertainty() const { + return _reader.getDataField( + ::capnp::bounded<27>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::ClockReport::Builder::getGpsToGalTimeBiasMillisecondsUncertainty() { + return _builder.getDataField( + ::capnp::bounded<27>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setGpsToGalTimeBiasMillisecondsUncertainty(float value) { + _builder.setDataField( + ::capnp::bounded<27>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::ClockReport::Reader::getGalToGloTimeBiasMilliseconds() const { + return _reader.getDataField( + ::capnp::bounded<28>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::ClockReport::Builder::getGalToGloTimeBiasMilliseconds() { + return _builder.getDataField( + ::capnp::bounded<28>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setGalToGloTimeBiasMilliseconds(float value) { + _builder.setDataField( + ::capnp::bounded<28>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::ClockReport::Reader::getGalToGloTimeBiasMillisecondsUncertainty() const { + return _reader.getDataField( + ::capnp::bounded<29>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::ClockReport::Builder::getGalToGloTimeBiasMillisecondsUncertainty() { + return _builder.getDataField( + ::capnp::bounded<29>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setGalToGloTimeBiasMillisecondsUncertainty(float value) { + _builder.setDataField( + ::capnp::bounded<29>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::ClockReport::Reader::getGalToBdsTimeBiasMilliseconds() const { + return _reader.getDataField( + ::capnp::bounded<30>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::ClockReport::Builder::getGalToBdsTimeBiasMilliseconds() { + return _builder.getDataField( + ::capnp::bounded<30>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setGalToBdsTimeBiasMilliseconds(float value) { + _builder.setDataField( + ::capnp::bounded<30>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::ClockReport::Reader::getGalToBdsTimeBiasMillisecondsUncertainty() const { + return _reader.getDataField( + ::capnp::bounded<31>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::ClockReport::Builder::getGalToBdsTimeBiasMillisecondsUncertainty() { + return _builder.getDataField( + ::capnp::bounded<31>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setGalToBdsTimeBiasMillisecondsUncertainty(float value) { + _builder.setDataField( + ::capnp::bounded<31>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::ClockReport::Reader::getHasRtcTime() const { + return _reader.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline bool QcomGnss::ClockReport::Builder::getHasRtcTime() { + return _builder.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setHasRtcTime(bool value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t QcomGnss::ClockReport::Reader::getSystemRtcTime() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<32>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t QcomGnss::ClockReport::Builder::getSystemRtcTime() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<32>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setSystemRtcTime( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<32>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t QcomGnss::ClockReport::Reader::getFCountOffset() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<33>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t QcomGnss::ClockReport::Builder::getFCountOffset() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<33>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setFCountOffset( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<33>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t QcomGnss::ClockReport::Reader::getLpmRtcCount() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<34>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t QcomGnss::ClockReport::Builder::getLpmRtcCount() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<34>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setLpmRtcCount( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<34>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t QcomGnss::ClockReport::Reader::getClockResets() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<35>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t QcomGnss::ClockReport::Builder::getClockResets() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<35>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::ClockReport::Builder::setClockResets( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<35>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t QcomGnss::DrMeasurementReport::Reader::getReason() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t QcomGnss::DrMeasurementReport::Builder::getReason() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::Builder::setReason( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t QcomGnss::DrMeasurementReport::Reader::getSeqNum() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t QcomGnss::DrMeasurementReport::Builder::getSeqNum() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::Builder::setSeqNum( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t QcomGnss::DrMeasurementReport::Reader::getSeqMax() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t QcomGnss::DrMeasurementReport::Builder::getSeqMax() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::Builder::setSeqMax( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t QcomGnss::DrMeasurementReport::Reader::getRfLoss() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t QcomGnss::DrMeasurementReport::Builder::getRfLoss() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::Builder::setRfLoss( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::DrMeasurementReport::Reader::getSystemRtcValid() const { + return _reader.getDataField( + ::capnp::bounded<24>() * ::capnp::ELEMENTS); +} + +inline bool QcomGnss::DrMeasurementReport::Builder::getSystemRtcValid() { + return _builder.getDataField( + ::capnp::bounded<24>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::Builder::setSystemRtcValid(bool value) { + _builder.setDataField( + ::capnp::bounded<24>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t QcomGnss::DrMeasurementReport::Reader::getFCount() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t QcomGnss::DrMeasurementReport::Builder::getFCount() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::Builder::setFCount( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t QcomGnss::DrMeasurementReport::Reader::getClockResets() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t QcomGnss::DrMeasurementReport::Builder::getClockResets() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::Builder::setClockResets( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t QcomGnss::DrMeasurementReport::Reader::getSystemRtcTime() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t QcomGnss::DrMeasurementReport::Builder::getSystemRtcTime() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::Builder::setSystemRtcTime( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t QcomGnss::DrMeasurementReport::Reader::getGpsLeapSeconds() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t QcomGnss::DrMeasurementReport::Builder::getGpsLeapSeconds() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::Builder::setGpsLeapSeconds( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t QcomGnss::DrMeasurementReport::Reader::getGpsLeapSecondsUncertainty() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t QcomGnss::DrMeasurementReport::Builder::getGpsLeapSecondsUncertainty() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::Builder::setGpsLeapSecondsUncertainty( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::DrMeasurementReport::Reader::getGpsToGlonassTimeBiasMilliseconds() const { + return _reader.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::DrMeasurementReport::Builder::getGpsToGlonassTimeBiasMilliseconds() { + return _builder.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::Builder::setGpsToGlonassTimeBiasMilliseconds(float value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::DrMeasurementReport::Reader::getGpsToGlonassTimeBiasMillisecondsUncertainty() const { + return _reader.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::DrMeasurementReport::Builder::getGpsToGlonassTimeBiasMillisecondsUncertainty() { + return _builder.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::Builder::setGpsToGlonassTimeBiasMillisecondsUncertainty(float value) { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t QcomGnss::DrMeasurementReport::Reader::getGpsWeek() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<16>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t QcomGnss::DrMeasurementReport::Builder::getGpsWeek() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<16>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::Builder::setGpsWeek( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<16>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t QcomGnss::DrMeasurementReport::Reader::getGpsMilliseconds() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t QcomGnss::DrMeasurementReport::Builder::getGpsMilliseconds() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::Builder::setGpsMilliseconds( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t QcomGnss::DrMeasurementReport::Reader::getGpsTimeBiasMs() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t QcomGnss::DrMeasurementReport::Builder::getGpsTimeBiasMs() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::Builder::setGpsTimeBiasMs( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t QcomGnss::DrMeasurementReport::Reader::getGpsClockTimeUncertaintyMs() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t QcomGnss::DrMeasurementReport::Builder::getGpsClockTimeUncertaintyMs() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::Builder::setGpsClockTimeUncertaintyMs( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<11>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t QcomGnss::DrMeasurementReport::Reader::getGpsClockSource() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<34>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t QcomGnss::DrMeasurementReport::Builder::getGpsClockSource() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<34>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::Builder::setGpsClockSource( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<34>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t QcomGnss::DrMeasurementReport::Reader::getGlonassClockSource() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<35>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t QcomGnss::DrMeasurementReport::Builder::getGlonassClockSource() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<35>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::Builder::setGlonassClockSource( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<35>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t QcomGnss::DrMeasurementReport::Reader::getGlonassYear() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<48>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t QcomGnss::DrMeasurementReport::Builder::getGlonassYear() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<48>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::Builder::setGlonassYear( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<48>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t QcomGnss::DrMeasurementReport::Reader::getGlonassDay() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<25>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t QcomGnss::DrMeasurementReport::Builder::getGlonassDay() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<25>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::Builder::setGlonassDay( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<25>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t QcomGnss::DrMeasurementReport::Reader::getGlonassMilliseconds() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t QcomGnss::DrMeasurementReport::Builder::getGlonassMilliseconds() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::Builder::setGlonassMilliseconds( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<13>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::DrMeasurementReport::Reader::getGlonassTimeBias() const { + return _reader.getDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::DrMeasurementReport::Builder::getGlonassTimeBias() { + return _builder.getDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::Builder::setGlonassTimeBias(float value) { + _builder.setDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::DrMeasurementReport::Reader::getGlonassClockTimeUncertainty() const { + return _reader.getDataField( + ::capnp::bounded<15>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::DrMeasurementReport::Builder::getGlonassClockTimeUncertainty() { + return _builder.getDataField( + ::capnp::bounded<15>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::Builder::setGlonassClockTimeUncertainty(float value) { + _builder.setDataField( + ::capnp::bounded<15>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::DrMeasurementReport::Reader::getClockFrequencyBias() const { + return _reader.getDataField( + ::capnp::bounded<16>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::DrMeasurementReport::Builder::getClockFrequencyBias() { + return _builder.getDataField( + ::capnp::bounded<16>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::Builder::setClockFrequencyBias(float value) { + _builder.setDataField( + ::capnp::bounded<16>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::DrMeasurementReport::Reader::getClockFrequencyUncertainty() const { + return _reader.getDataField( + ::capnp::bounded<17>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::DrMeasurementReport::Builder::getClockFrequencyUncertainty() { + return _builder.getDataField( + ::capnp::bounded<17>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::Builder::setClockFrequencyUncertainty(float value) { + _builder.setDataField( + ::capnp::bounded<17>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t QcomGnss::DrMeasurementReport::Reader::getFrequencySource() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<49>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t QcomGnss::DrMeasurementReport::Builder::getFrequencySource() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<49>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::Builder::setFrequencySource( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<49>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::QcomGnss::MeasurementSource QcomGnss::DrMeasurementReport::Reader::getSource() const { + return _reader.getDataField< ::cereal::QcomGnss::MeasurementSource>( + ::capnp::bounded<36>() * ::capnp::ELEMENTS); +} + +inline ::cereal::QcomGnss::MeasurementSource QcomGnss::DrMeasurementReport::Builder::getSource() { + return _builder.getDataField< ::cereal::QcomGnss::MeasurementSource>( + ::capnp::bounded<36>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::Builder::setSource( ::cereal::QcomGnss::MeasurementSource value) { + _builder.setDataField< ::cereal::QcomGnss::MeasurementSource>( + ::capnp::bounded<36>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::DrMeasurementReport::Reader::hasSv() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool QcomGnss::DrMeasurementReport::Builder::hasSv() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::QcomGnss::DrMeasurementReport::SV, ::capnp::Kind::STRUCT>::Reader QcomGnss::DrMeasurementReport::Reader::getSv() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::QcomGnss::DrMeasurementReport::SV, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::QcomGnss::DrMeasurementReport::SV, ::capnp::Kind::STRUCT>::Builder QcomGnss::DrMeasurementReport::Builder::getSv() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::QcomGnss::DrMeasurementReport::SV, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void QcomGnss::DrMeasurementReport::Builder::setSv( ::capnp::List< ::cereal::QcomGnss::DrMeasurementReport::SV, ::capnp::Kind::STRUCT>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::QcomGnss::DrMeasurementReport::SV, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::QcomGnss::DrMeasurementReport::SV, ::capnp::Kind::STRUCT>::Builder QcomGnss::DrMeasurementReport::Builder::initSv(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::QcomGnss::DrMeasurementReport::SV, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void QcomGnss::DrMeasurementReport::Builder::adoptSv( + ::capnp::Orphan< ::capnp::List< ::cereal::QcomGnss::DrMeasurementReport::SV, ::capnp::Kind::STRUCT>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::QcomGnss::DrMeasurementReport::SV, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::QcomGnss::DrMeasurementReport::SV, ::capnp::Kind::STRUCT>> QcomGnss::DrMeasurementReport::Builder::disownSv() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::QcomGnss::DrMeasurementReport::SV, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline ::uint8_t QcomGnss::DrMeasurementReport::SV::Reader::getSvId() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t QcomGnss::DrMeasurementReport::SV::Builder::getSvId() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::SV::Builder::setSvId( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::int8_t QcomGnss::DrMeasurementReport::SV::Reader::getGlonassFrequencyIndex() const { + return _reader.getDataField< ::int8_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::int8_t QcomGnss::DrMeasurementReport::SV::Builder::getGlonassFrequencyIndex() { + return _builder.getDataField< ::int8_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::SV::Builder::setGlonassFrequencyIndex( ::int8_t value) { + _builder.setDataField< ::int8_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::QcomGnss::SVObservationState QcomGnss::DrMeasurementReport::SV::Reader::getObservationState() const { + return _reader.getDataField< ::cereal::QcomGnss::SVObservationState>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::cereal::QcomGnss::SVObservationState QcomGnss::DrMeasurementReport::SV::Builder::getObservationState() { + return _builder.getDataField< ::cereal::QcomGnss::SVObservationState>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::SV::Builder::setObservationState( ::cereal::QcomGnss::SVObservationState value) { + _builder.setDataField< ::cereal::QcomGnss::SVObservationState>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t QcomGnss::DrMeasurementReport::SV::Reader::getObservations() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t QcomGnss::DrMeasurementReport::SV::Builder::getObservations() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::SV::Builder::setObservations( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t QcomGnss::DrMeasurementReport::SV::Reader::getGoodObservations() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t QcomGnss::DrMeasurementReport::SV::Builder::getGoodObservations() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::SV::Builder::setGoodObservations( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t QcomGnss::DrMeasurementReport::SV::Reader::getFilterStages() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t QcomGnss::DrMeasurementReport::SV::Builder::getFilterStages() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::SV::Builder::setFilterStages( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t QcomGnss::DrMeasurementReport::SV::Reader::getPredetectInterval() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t QcomGnss::DrMeasurementReport::SV::Builder::getPredetectInterval() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::SV::Builder::setPredetectInterval( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline ::uint8_t QcomGnss::DrMeasurementReport::SV::Reader::getCycleSlipCount() const { + return _reader.getDataField< ::uint8_t>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline ::uint8_t QcomGnss::DrMeasurementReport::SV::Builder::getCycleSlipCount() { + return _builder.getDataField< ::uint8_t>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::SV::Builder::setCycleSlipCount( ::uint8_t value) { + _builder.setDataField< ::uint8_t>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t QcomGnss::DrMeasurementReport::SV::Reader::getPostdetections() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t QcomGnss::DrMeasurementReport::SV::Builder::getPostdetections() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::SV::Builder::setPostdetections( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::DrMeasurementReport::SV::Reader::hasMeasurementStatus() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool QcomGnss::DrMeasurementReport::SV::Builder::hasMeasurementStatus() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::QcomGnss::MeasurementStatus::Reader QcomGnss::DrMeasurementReport::SV::Reader::getMeasurementStatus() const { + return ::capnp::_::PointerHelpers< ::cereal::QcomGnss::MeasurementStatus>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::QcomGnss::MeasurementStatus::Builder QcomGnss::DrMeasurementReport::SV::Builder::getMeasurementStatus() { + return ::capnp::_::PointerHelpers< ::cereal::QcomGnss::MeasurementStatus>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::QcomGnss::MeasurementStatus::Pipeline QcomGnss::DrMeasurementReport::SV::Pipeline::getMeasurementStatus() { + return ::cereal::QcomGnss::MeasurementStatus::Pipeline(_typeless.getPointerField(0)); +} +#endif // !CAPNP_LITE +inline void QcomGnss::DrMeasurementReport::SV::Builder::setMeasurementStatus( ::cereal::QcomGnss::MeasurementStatus::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::QcomGnss::MeasurementStatus>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::QcomGnss::MeasurementStatus::Builder QcomGnss::DrMeasurementReport::SV::Builder::initMeasurementStatus() { + return ::capnp::_::PointerHelpers< ::cereal::QcomGnss::MeasurementStatus>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void QcomGnss::DrMeasurementReport::SV::Builder::adoptMeasurementStatus( + ::capnp::Orphan< ::cereal::QcomGnss::MeasurementStatus>&& value) { + ::capnp::_::PointerHelpers< ::cereal::QcomGnss::MeasurementStatus>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::QcomGnss::MeasurementStatus> QcomGnss::DrMeasurementReport::SV::Builder::disownMeasurementStatus() { + return ::capnp::_::PointerHelpers< ::cereal::QcomGnss::MeasurementStatus>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline ::uint16_t QcomGnss::DrMeasurementReport::SV::Reader::getCarrierNoise() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t QcomGnss::DrMeasurementReport::SV::Builder::getCarrierNoise() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::SV::Builder::setCarrierNoise( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t QcomGnss::DrMeasurementReport::SV::Reader::getRfLoss() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t QcomGnss::DrMeasurementReport::SV::Builder::getRfLoss() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::SV::Builder::setRfLoss( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline ::int16_t QcomGnss::DrMeasurementReport::SV::Reader::getLatency() const { + return _reader.getDataField< ::int16_t>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline ::int16_t QcomGnss::DrMeasurementReport::SV::Builder::getLatency() { + return _builder.getDataField< ::int16_t>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::SV::Builder::setLatency( ::int16_t value) { + _builder.setDataField< ::int16_t>( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::DrMeasurementReport::SV::Reader::getFilteredMeasurementFraction() const { + return _reader.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::DrMeasurementReport::SV::Builder::getFilteredMeasurementFraction() { + return _builder.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::SV::Builder::setFilteredMeasurementFraction(float value) { + _builder.setDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t QcomGnss::DrMeasurementReport::SV::Reader::getFilteredMeasurementIntegral() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t QcomGnss::DrMeasurementReport::SV::Builder::getFilteredMeasurementIntegral() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::SV::Builder::setFilteredMeasurementIntegral( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::DrMeasurementReport::SV::Reader::getFilteredTimeUncertainty() const { + return _reader.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::DrMeasurementReport::SV::Builder::getFilteredTimeUncertainty() { + return _builder.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::SV::Builder::setFilteredTimeUncertainty(float value) { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::DrMeasurementReport::SV::Reader::getFilteredSpeed() const { + return _reader.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::DrMeasurementReport::SV::Builder::getFilteredSpeed() { + return _builder.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::SV::Builder::setFilteredSpeed(float value) { + _builder.setDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::DrMeasurementReport::SV::Reader::getFilteredSpeedUncertainty() const { + return _reader.getDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::DrMeasurementReport::SV::Builder::getFilteredSpeedUncertainty() { + return _builder.getDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::SV::Builder::setFilteredSpeedUncertainty(float value) { + _builder.setDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::DrMeasurementReport::SV::Reader::getUnfilteredMeasurementFraction() const { + return _reader.getDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::DrMeasurementReport::SV::Builder::getUnfilteredMeasurementFraction() { + return _builder.getDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::SV::Builder::setUnfilteredMeasurementFraction(float value) { + _builder.setDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t QcomGnss::DrMeasurementReport::SV::Reader::getUnfilteredMeasurementIntegral() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t QcomGnss::DrMeasurementReport::SV::Builder::getUnfilteredMeasurementIntegral() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::SV::Builder::setUnfilteredMeasurementIntegral( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<11>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::DrMeasurementReport::SV::Reader::getUnfilteredTimeUncertainty() const { + return _reader.getDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::DrMeasurementReport::SV::Builder::getUnfilteredTimeUncertainty() { + return _builder.getDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::SV::Builder::setUnfilteredTimeUncertainty(float value) { + _builder.setDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::DrMeasurementReport::SV::Reader::getUnfilteredSpeed() const { + return _reader.getDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::DrMeasurementReport::SV::Builder::getUnfilteredSpeed() { + return _builder.getDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::SV::Builder::setUnfilteredSpeed(float value) { + _builder.setDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::DrMeasurementReport::SV::Reader::getUnfilteredSpeedUncertainty() const { + return _reader.getDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::DrMeasurementReport::SV::Builder::getUnfilteredSpeedUncertainty() { + return _builder.getDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::SV::Builder::setUnfilteredSpeedUncertainty(float value) { + _builder.setDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t QcomGnss::DrMeasurementReport::SV::Reader::getMultipathEstimate() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<15>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t QcomGnss::DrMeasurementReport::SV::Builder::getMultipathEstimate() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<15>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::SV::Builder::setMultipathEstimate( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<15>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::DrMeasurementReport::SV::Reader::getAzimuth() const { + return _reader.getDataField( + ::capnp::bounded<16>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::DrMeasurementReport::SV::Builder::getAzimuth() { + return _builder.getDataField( + ::capnp::bounded<16>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::SV::Builder::setAzimuth(float value) { + _builder.setDataField( + ::capnp::bounded<16>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::DrMeasurementReport::SV::Reader::getElevation() const { + return _reader.getDataField( + ::capnp::bounded<17>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::DrMeasurementReport::SV::Builder::getElevation() { + return _builder.getDataField( + ::capnp::bounded<17>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::SV::Builder::setElevation(float value) { + _builder.setDataField( + ::capnp::bounded<17>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::DrMeasurementReport::SV::Reader::getDopplerAcceleration() const { + return _reader.getDataField( + ::capnp::bounded<18>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::DrMeasurementReport::SV::Builder::getDopplerAcceleration() { + return _builder.getDataField( + ::capnp::bounded<18>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::SV::Builder::setDopplerAcceleration(float value) { + _builder.setDataField( + ::capnp::bounded<18>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::DrMeasurementReport::SV::Reader::getFineSpeed() const { + return _reader.getDataField( + ::capnp::bounded<19>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::DrMeasurementReport::SV::Builder::getFineSpeed() { + return _builder.getDataField( + ::capnp::bounded<19>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::SV::Builder::setFineSpeed(float value) { + _builder.setDataField( + ::capnp::bounded<19>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::DrMeasurementReport::SV::Reader::getFineSpeedUncertainty() const { + return _reader.getDataField( + ::capnp::bounded<20>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::DrMeasurementReport::SV::Builder::getFineSpeedUncertainty() { + return _builder.getDataField( + ::capnp::bounded<20>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::SV::Builder::setFineSpeedUncertainty(float value) { + _builder.setDataField( + ::capnp::bounded<20>() * ::capnp::ELEMENTS, value); +} + +inline double QcomGnss::DrMeasurementReport::SV::Reader::getCarrierPhase() const { + return _reader.getDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} + +inline double QcomGnss::DrMeasurementReport::SV::Builder::getCarrierPhase() { + return _builder.getDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::SV::Builder::setCarrierPhase(double value) { + _builder.setDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t QcomGnss::DrMeasurementReport::SV::Reader::getFCount() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<21>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t QcomGnss::DrMeasurementReport::SV::Builder::getFCount() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<21>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::SV::Builder::setFCount( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<21>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t QcomGnss::DrMeasurementReport::SV::Reader::getParityErrorCount() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t QcomGnss::DrMeasurementReport::SV::Builder::getParityErrorCount() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::SV::Builder::setParityErrorCount( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::DrMeasurementReport::SV::Reader::getGoodParity() const { + return _reader.getDataField( + ::capnp::bounded<72>() * ::capnp::ELEMENTS); +} + +inline bool QcomGnss::DrMeasurementReport::SV::Builder::getGoodParity() { + return _builder.getDataField( + ::capnp::bounded<72>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrMeasurementReport::SV::Builder::setGoodParity(bool value) { + _builder.setDataField( + ::capnp::bounded<72>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t QcomGnss::DrSvPolyReport::Reader::getSvId() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t QcomGnss::DrSvPolyReport::Builder::getSvId() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrSvPolyReport::Builder::setSvId( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::int8_t QcomGnss::DrSvPolyReport::Reader::getFrequencyIndex() const { + return _reader.getDataField< ::int8_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::int8_t QcomGnss::DrSvPolyReport::Builder::getFrequencyIndex() { + return _builder.getDataField< ::int8_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrSvPolyReport::Builder::setFrequencyIndex( ::int8_t value) { + _builder.setDataField< ::int8_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::DrSvPolyReport::Reader::getHasPosition() const { + return _reader.getDataField( + ::capnp::bounded<24>() * ::capnp::ELEMENTS); +} + +inline bool QcomGnss::DrSvPolyReport::Builder::getHasPosition() { + return _builder.getDataField( + ::capnp::bounded<24>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrSvPolyReport::Builder::setHasPosition(bool value) { + _builder.setDataField( + ::capnp::bounded<24>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::DrSvPolyReport::Reader::getHasIono() const { + return _reader.getDataField( + ::capnp::bounded<25>() * ::capnp::ELEMENTS); +} + +inline bool QcomGnss::DrSvPolyReport::Builder::getHasIono() { + return _builder.getDataField( + ::capnp::bounded<25>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrSvPolyReport::Builder::setHasIono(bool value) { + _builder.setDataField( + ::capnp::bounded<25>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::DrSvPolyReport::Reader::getHasTropo() const { + return _reader.getDataField( + ::capnp::bounded<26>() * ::capnp::ELEMENTS); +} + +inline bool QcomGnss::DrSvPolyReport::Builder::getHasTropo() { + return _builder.getDataField( + ::capnp::bounded<26>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrSvPolyReport::Builder::setHasTropo(bool value) { + _builder.setDataField( + ::capnp::bounded<26>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::DrSvPolyReport::Reader::getHasElevation() const { + return _reader.getDataField( + ::capnp::bounded<27>() * ::capnp::ELEMENTS); +} + +inline bool QcomGnss::DrSvPolyReport::Builder::getHasElevation() { + return _builder.getDataField( + ::capnp::bounded<27>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrSvPolyReport::Builder::setHasElevation(bool value) { + _builder.setDataField( + ::capnp::bounded<27>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::DrSvPolyReport::Reader::getPolyFromXtra() const { + return _reader.getDataField( + ::capnp::bounded<28>() * ::capnp::ELEMENTS); +} + +inline bool QcomGnss::DrSvPolyReport::Builder::getPolyFromXtra() { + return _builder.getDataField( + ::capnp::bounded<28>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrSvPolyReport::Builder::setPolyFromXtra(bool value) { + _builder.setDataField( + ::capnp::bounded<28>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::DrSvPolyReport::Reader::getHasSbasIono() const { + return _reader.getDataField( + ::capnp::bounded<29>() * ::capnp::ELEMENTS); +} + +inline bool QcomGnss::DrSvPolyReport::Builder::getHasSbasIono() { + return _builder.getDataField( + ::capnp::bounded<29>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrSvPolyReport::Builder::setHasSbasIono(bool value) { + _builder.setDataField( + ::capnp::bounded<29>() * ::capnp::ELEMENTS, value); +} + +inline ::uint16_t QcomGnss::DrSvPolyReport::Reader::getIode() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t QcomGnss::DrSvPolyReport::Builder::getIode() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrSvPolyReport::Builder::setIode( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline double QcomGnss::DrSvPolyReport::Reader::getT0() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline double QcomGnss::DrSvPolyReport::Builder::getT0() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrSvPolyReport::Builder::setT0(double value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::DrSvPolyReport::Reader::hasXyz0() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool QcomGnss::DrSvPolyReport::Builder::hasXyz0() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader QcomGnss::DrSvPolyReport::Reader::getXyz0() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder QcomGnss::DrSvPolyReport::Builder::getXyz0() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void QcomGnss::DrSvPolyReport::Builder::setXyz0( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void QcomGnss::DrSvPolyReport::Builder::setXyz0(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder QcomGnss::DrSvPolyReport::Builder::initXyz0(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void QcomGnss::DrSvPolyReport::Builder::adoptXyz0( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> QcomGnss::DrSvPolyReport::Builder::disownXyz0() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool QcomGnss::DrSvPolyReport::Reader::hasXyzN() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool QcomGnss::DrSvPolyReport::Builder::hasXyzN() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader QcomGnss::DrSvPolyReport::Reader::getXyzN() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder QcomGnss::DrSvPolyReport::Builder::getXyzN() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void QcomGnss::DrSvPolyReport::Builder::setXyzN( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void QcomGnss::DrSvPolyReport::Builder::setXyzN(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder QcomGnss::DrSvPolyReport::Builder::initXyzN(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void QcomGnss::DrSvPolyReport::Builder::adoptXyzN( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> QcomGnss::DrSvPolyReport::Builder::disownXyzN() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool QcomGnss::DrSvPolyReport::Reader::hasOther() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool QcomGnss::DrSvPolyReport::Builder::hasOther() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader QcomGnss::DrSvPolyReport::Reader::getOther() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder QcomGnss::DrSvPolyReport::Builder::getOther() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void QcomGnss::DrSvPolyReport::Builder::setOther( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline void QcomGnss::DrSvPolyReport::Builder::setOther(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder QcomGnss::DrSvPolyReport::Builder::initOther(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void QcomGnss::DrSvPolyReport::Builder::adoptOther( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> QcomGnss::DrSvPolyReport::Builder::disownOther() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline float QcomGnss::DrSvPolyReport::Reader::getPositionUncertainty() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::DrSvPolyReport::Builder::getPositionUncertainty() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrSvPolyReport::Builder::setPositionUncertainty(float value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::DrSvPolyReport::Reader::getIonoDelay() const { + return _reader.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::DrSvPolyReport::Builder::getIonoDelay() { + return _builder.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrSvPolyReport::Builder::setIonoDelay(float value) { + _builder.setDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::DrSvPolyReport::Reader::getIonoDot() const { + return _reader.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::DrSvPolyReport::Builder::getIonoDot() { + return _builder.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrSvPolyReport::Builder::setIonoDot(float value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::DrSvPolyReport::Reader::getSbasIonoDelay() const { + return _reader.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::DrSvPolyReport::Builder::getSbasIonoDelay() { + return _builder.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrSvPolyReport::Builder::setSbasIonoDelay(float value) { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::DrSvPolyReport::Reader::getSbasIonoDot() const { + return _reader.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::DrSvPolyReport::Builder::getSbasIonoDot() { + return _builder.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrSvPolyReport::Builder::setSbasIonoDot(float value) { + _builder.setDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::DrSvPolyReport::Reader::getTropoDelay() const { + return _reader.getDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::DrSvPolyReport::Builder::getTropoDelay() { + return _builder.getDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrSvPolyReport::Builder::setTropoDelay(float value) { + _builder.setDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::DrSvPolyReport::Reader::getElevation() const { + return _reader.getDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::DrSvPolyReport::Builder::getElevation() { + return _builder.getDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrSvPolyReport::Builder::setElevation(float value) { + _builder.setDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::DrSvPolyReport::Reader::getElevationDot() const { + return _reader.getDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::DrSvPolyReport::Builder::getElevationDot() { + return _builder.getDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrSvPolyReport::Builder::setElevationDot(float value) { + _builder.setDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS, value); +} + +inline float QcomGnss::DrSvPolyReport::Reader::getElevationUncertainty() const { + return _reader.getDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} + +inline float QcomGnss::DrSvPolyReport::Builder::getElevationUncertainty() { + return _builder.getDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrSvPolyReport::Builder::setElevationUncertainty(float value) { + _builder.setDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS, value); +} + +inline bool QcomGnss::DrSvPolyReport::Reader::hasVelocityCoeff() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool QcomGnss::DrSvPolyReport::Builder::hasVelocityCoeff() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader QcomGnss::DrSvPolyReport::Reader::getVelocityCoeff() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder QcomGnss::DrSvPolyReport::Builder::getVelocityCoeff() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void QcomGnss::DrSvPolyReport::Builder::setVelocityCoeff( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline void QcomGnss::DrSvPolyReport::Builder::setVelocityCoeff(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder QcomGnss::DrSvPolyReport::Builder::initVelocityCoeff(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), size); +} +inline void QcomGnss::DrSvPolyReport::Builder::adoptVelocityCoeff( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> QcomGnss::DrSvPolyReport::Builder::disownVelocityCoeff() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline ::uint16_t QcomGnss::DrSvPolyReport::Reader::getGpsWeek() const { + return _reader.getDataField< ::uint16_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline ::uint16_t QcomGnss::DrSvPolyReport::Builder::getGpsWeek() { + return _builder.getDataField< ::uint16_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrSvPolyReport::Builder::setGpsWeek( ::uint16_t value) { + _builder.setDataField< ::uint16_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline double QcomGnss::DrSvPolyReport::Reader::getGpsTow() const { + return _reader.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline double QcomGnss::DrSvPolyReport::Builder::getGpsTow() { + return _builder.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void QcomGnss::DrSvPolyReport::Builder::setGpsTow(double value) { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t Clocks::Reader::getBootTimeNanosDEPRECATED() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t Clocks::Builder::getBootTimeNanosDEPRECATED() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void Clocks::Builder::setBootTimeNanosDEPRECATED( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t Clocks::Reader::getMonotonicNanosDEPRECATED() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t Clocks::Builder::getMonotonicNanosDEPRECATED() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void Clocks::Builder::setMonotonicNanosDEPRECATED( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t Clocks::Reader::getMonotonicRawNanosDEPRECATD() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t Clocks::Builder::getMonotonicRawNanosDEPRECATD() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void Clocks::Builder::setMonotonicRawNanosDEPRECATD( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t Clocks::Reader::getWallTimeNanos() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t Clocks::Builder::getWallTimeNanos() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void Clocks::Builder::setWallTimeNanos( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t Clocks::Reader::getModemUptimeMillisDEPRECATED() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t Clocks::Builder::getModemUptimeMillisDEPRECATED() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void Clocks::Builder::setModemUptimeMillisDEPRECATED( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline bool LiveMpcData::Reader::hasX() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveMpcData::Builder::hasX() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LiveMpcData::Reader::getX() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LiveMpcData::Builder::getX() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void LiveMpcData::Builder::setX( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void LiveMpcData::Builder::setX(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LiveMpcData::Builder::initX(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void LiveMpcData::Builder::adoptX( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LiveMpcData::Builder::disownX() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool LiveMpcData::Reader::hasY() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveMpcData::Builder::hasY() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LiveMpcData::Reader::getY() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LiveMpcData::Builder::getY() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void LiveMpcData::Builder::setY( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void LiveMpcData::Builder::setY(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LiveMpcData::Builder::initY(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void LiveMpcData::Builder::adoptY( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LiveMpcData::Builder::disownY() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool LiveMpcData::Reader::hasPsi() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveMpcData::Builder::hasPsi() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LiveMpcData::Reader::getPsi() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LiveMpcData::Builder::getPsi() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void LiveMpcData::Builder::setPsi( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline void LiveMpcData::Builder::setPsi(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LiveMpcData::Builder::initPsi(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void LiveMpcData::Builder::adoptPsi( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LiveMpcData::Builder::disownPsi() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline bool LiveMpcData::Reader::hasCurvature() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveMpcData::Builder::hasCurvature() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LiveMpcData::Reader::getCurvature() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LiveMpcData::Builder::getCurvature() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void LiveMpcData::Builder::setCurvature( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline void LiveMpcData::Builder::setCurvature(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LiveMpcData::Builder::initCurvature(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), size); +} +inline void LiveMpcData::Builder::adoptCurvature( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LiveMpcData::Builder::disownCurvature() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline ::uint32_t LiveMpcData::Reader::getQpIterations() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t LiveMpcData::Builder::getQpIterations() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void LiveMpcData::Builder::setQpIterations( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t LiveMpcData::Reader::getCalculationTime() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t LiveMpcData::Builder::getCalculationTime() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void LiveMpcData::Builder::setCalculationTime( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline double LiveMpcData::Reader::getCost() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline double LiveMpcData::Builder::getCost() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void LiveMpcData::Builder::setCost(double value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline bool LiveLongitudinalMpcData::Reader::hasXEgo() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveLongitudinalMpcData::Builder::hasXEgo() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LiveLongitudinalMpcData::Reader::getXEgo() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LiveLongitudinalMpcData::Builder::getXEgo() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void LiveLongitudinalMpcData::Builder::setXEgo( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void LiveLongitudinalMpcData::Builder::setXEgo(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LiveLongitudinalMpcData::Builder::initXEgo(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void LiveLongitudinalMpcData::Builder::adoptXEgo( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LiveLongitudinalMpcData::Builder::disownXEgo() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool LiveLongitudinalMpcData::Reader::hasVEgo() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveLongitudinalMpcData::Builder::hasVEgo() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LiveLongitudinalMpcData::Reader::getVEgo() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LiveLongitudinalMpcData::Builder::getVEgo() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void LiveLongitudinalMpcData::Builder::setVEgo( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void LiveLongitudinalMpcData::Builder::setVEgo(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LiveLongitudinalMpcData::Builder::initVEgo(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void LiveLongitudinalMpcData::Builder::adoptVEgo( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LiveLongitudinalMpcData::Builder::disownVEgo() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool LiveLongitudinalMpcData::Reader::hasAEgo() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveLongitudinalMpcData::Builder::hasAEgo() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LiveLongitudinalMpcData::Reader::getAEgo() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LiveLongitudinalMpcData::Builder::getAEgo() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void LiveLongitudinalMpcData::Builder::setAEgo( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline void LiveLongitudinalMpcData::Builder::setAEgo(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LiveLongitudinalMpcData::Builder::initAEgo(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void LiveLongitudinalMpcData::Builder::adoptAEgo( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LiveLongitudinalMpcData::Builder::disownAEgo() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline bool LiveLongitudinalMpcData::Reader::hasXLead() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveLongitudinalMpcData::Builder::hasXLead() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LiveLongitudinalMpcData::Reader::getXLead() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LiveLongitudinalMpcData::Builder::getXLead() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void LiveLongitudinalMpcData::Builder::setXLead( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline void LiveLongitudinalMpcData::Builder::setXLead(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LiveLongitudinalMpcData::Builder::initXLead(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), size); +} +inline void LiveLongitudinalMpcData::Builder::adoptXLead( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LiveLongitudinalMpcData::Builder::disownXLead() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline bool LiveLongitudinalMpcData::Reader::hasVLead() const { + return !_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveLongitudinalMpcData::Builder::hasVLead() { + return !_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LiveLongitudinalMpcData::Reader::getVLead() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LiveLongitudinalMpcData::Builder::getVLead() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline void LiveLongitudinalMpcData::Builder::setVLead( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline void LiveLongitudinalMpcData::Builder::setVLead(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LiveLongitudinalMpcData::Builder::initVLead(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), size); +} +inline void LiveLongitudinalMpcData::Builder::adoptVLead( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LiveLongitudinalMpcData::Builder::disownVLead() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} + +inline bool LiveLongitudinalMpcData::Reader::hasALead() const { + return !_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveLongitudinalMpcData::Builder::hasALead() { + return !_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LiveLongitudinalMpcData::Reader::getALead() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LiveLongitudinalMpcData::Builder::getALead() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline void LiveLongitudinalMpcData::Builder::setALead( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline void LiveLongitudinalMpcData::Builder::setALead(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LiveLongitudinalMpcData::Builder::initALead(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), size); +} +inline void LiveLongitudinalMpcData::Builder::adoptALead( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LiveLongitudinalMpcData::Builder::disownALead() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} + +inline float LiveLongitudinalMpcData::Reader::getALeadTau() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline float LiveLongitudinalMpcData::Builder::getALeadTau() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void LiveLongitudinalMpcData::Builder::setALeadTau(float value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t LiveLongitudinalMpcData::Reader::getQpIterations() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t LiveLongitudinalMpcData::Builder::getQpIterations() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void LiveLongitudinalMpcData::Builder::setQpIterations( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t LiveLongitudinalMpcData::Reader::getMpcId() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t LiveLongitudinalMpcData::Builder::getMpcId() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void LiveLongitudinalMpcData::Builder::setMpcId( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t LiveLongitudinalMpcData::Reader::getCalculationTime() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t LiveLongitudinalMpcData::Builder::getCalculationTime() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void LiveLongitudinalMpcData::Builder::setCalculationTime( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline double LiveLongitudinalMpcData::Reader::getCost() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline double LiveLongitudinalMpcData::Builder::getCost() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void LiveLongitudinalMpcData::Builder::setCost(double value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline bool Joystick::Reader::hasAxes() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Joystick::Builder::hasAxes() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader Joystick::Reader::getAxes() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder Joystick::Builder::getAxes() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Joystick::Builder::setAxes( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void Joystick::Builder::setAxes(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder Joystick::Builder::initAxes(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void Joystick::Builder::adoptAxes( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> Joystick::Builder::disownAxes() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Joystick::Reader::hasButtons() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool Joystick::Builder::hasButtons() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader Joystick::Reader::getButtons() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder Joystick::Builder::getButtons() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void Joystick::Builder::setButtons( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void Joystick::Builder::setButtons(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder Joystick::Builder::initButtons(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void Joystick::Builder::adoptButtons( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> Joystick::Builder::disownButtons() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline ::uint32_t DriverStateV2::Reader::getFrameId() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t DriverStateV2::Builder::getFrameId() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void DriverStateV2::Builder::setFrameId( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline float DriverStateV2::Reader::getModelExecutionTime() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float DriverStateV2::Builder::getModelExecutionTime() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void DriverStateV2::Builder::setModelExecutionTime(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float DriverStateV2::Reader::getDspExecutionTime() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float DriverStateV2::Builder::getDspExecutionTime() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void DriverStateV2::Builder::setDspExecutionTime(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline bool DriverStateV2::Reader::hasRawPredictions() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool DriverStateV2::Builder::hasRawPredictions() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Data::Reader DriverStateV2::Reader::getRawPredictions() const { + return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::Data::Builder DriverStateV2::Builder::getRawPredictions() { + return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void DriverStateV2::Builder::setRawPredictions( ::capnp::Data::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Data>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::Data::Builder DriverStateV2::Builder::initRawPredictions(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Data>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void DriverStateV2::Builder::adoptRawPredictions( + ::capnp::Orphan< ::capnp::Data>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Data>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Data> DriverStateV2::Builder::disownRawPredictions() { + return ::capnp::_::PointerHelpers< ::capnp::Data>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline float DriverStateV2::Reader::getPoorVisionProb() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline float DriverStateV2::Builder::getPoorVisionProb() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void DriverStateV2::Builder::setPoorVisionProb(float value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline float DriverStateV2::Reader::getWheelOnRightProb() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline float DriverStateV2::Builder::getWheelOnRightProb() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void DriverStateV2::Builder::setWheelOnRightProb(float value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline bool DriverStateV2::Reader::hasLeftDriverData() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool DriverStateV2::Builder::hasLeftDriverData() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::DriverStateV2::DriverData::Reader DriverStateV2::Reader::getLeftDriverData() const { + return ::capnp::_::PointerHelpers< ::cereal::DriverStateV2::DriverData>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::cereal::DriverStateV2::DriverData::Builder DriverStateV2::Builder::getLeftDriverData() { + return ::capnp::_::PointerHelpers< ::cereal::DriverStateV2::DriverData>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::DriverStateV2::DriverData::Pipeline DriverStateV2::Pipeline::getLeftDriverData() { + return ::cereal::DriverStateV2::DriverData::Pipeline(_typeless.getPointerField(1)); +} +#endif // !CAPNP_LITE +inline void DriverStateV2::Builder::setLeftDriverData( ::cereal::DriverStateV2::DriverData::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::DriverStateV2::DriverData>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::cereal::DriverStateV2::DriverData::Builder DriverStateV2::Builder::initLeftDriverData() { + return ::capnp::_::PointerHelpers< ::cereal::DriverStateV2::DriverData>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void DriverStateV2::Builder::adoptLeftDriverData( + ::capnp::Orphan< ::cereal::DriverStateV2::DriverData>&& value) { + ::capnp::_::PointerHelpers< ::cereal::DriverStateV2::DriverData>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::DriverStateV2::DriverData> DriverStateV2::Builder::disownLeftDriverData() { + return ::capnp::_::PointerHelpers< ::cereal::DriverStateV2::DriverData>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool DriverStateV2::Reader::hasRightDriverData() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool DriverStateV2::Builder::hasRightDriverData() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::DriverStateV2::DriverData::Reader DriverStateV2::Reader::getRightDriverData() const { + return ::capnp::_::PointerHelpers< ::cereal::DriverStateV2::DriverData>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::cereal::DriverStateV2::DriverData::Builder DriverStateV2::Builder::getRightDriverData() { + return ::capnp::_::PointerHelpers< ::cereal::DriverStateV2::DriverData>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::DriverStateV2::DriverData::Pipeline DriverStateV2::Pipeline::getRightDriverData() { + return ::cereal::DriverStateV2::DriverData::Pipeline(_typeless.getPointerField(2)); +} +#endif // !CAPNP_LITE +inline void DriverStateV2::Builder::setRightDriverData( ::cereal::DriverStateV2::DriverData::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::DriverStateV2::DriverData>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::cereal::DriverStateV2::DriverData::Builder DriverStateV2::Builder::initRightDriverData() { + return ::capnp::_::PointerHelpers< ::cereal::DriverStateV2::DriverData>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void DriverStateV2::Builder::adoptRightDriverData( + ::capnp::Orphan< ::cereal::DriverStateV2::DriverData>&& value) { + ::capnp::_::PointerHelpers< ::cereal::DriverStateV2::DriverData>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::DriverStateV2::DriverData> DriverStateV2::Builder::disownRightDriverData() { + return ::capnp::_::PointerHelpers< ::cereal::DriverStateV2::DriverData>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline bool DriverStateV2::DriverData::Reader::hasFaceOrientation() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool DriverStateV2::DriverData::Builder::hasFaceOrientation() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader DriverStateV2::DriverData::Reader::getFaceOrientation() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder DriverStateV2::DriverData::Builder::getFaceOrientation() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void DriverStateV2::DriverData::Builder::setFaceOrientation( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void DriverStateV2::DriverData::Builder::setFaceOrientation(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder DriverStateV2::DriverData::Builder::initFaceOrientation(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void DriverStateV2::DriverData::Builder::adoptFaceOrientation( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> DriverStateV2::DriverData::Builder::disownFaceOrientation() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool DriverStateV2::DriverData::Reader::hasFaceOrientationStd() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool DriverStateV2::DriverData::Builder::hasFaceOrientationStd() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader DriverStateV2::DriverData::Reader::getFaceOrientationStd() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder DriverStateV2::DriverData::Builder::getFaceOrientationStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void DriverStateV2::DriverData::Builder::setFaceOrientationStd( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void DriverStateV2::DriverData::Builder::setFaceOrientationStd(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder DriverStateV2::DriverData::Builder::initFaceOrientationStd(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void DriverStateV2::DriverData::Builder::adoptFaceOrientationStd( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> DriverStateV2::DriverData::Builder::disownFaceOrientationStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool DriverStateV2::DriverData::Reader::hasFacePosition() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool DriverStateV2::DriverData::Builder::hasFacePosition() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader DriverStateV2::DriverData::Reader::getFacePosition() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder DriverStateV2::DriverData::Builder::getFacePosition() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void DriverStateV2::DriverData::Builder::setFacePosition( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline void DriverStateV2::DriverData::Builder::setFacePosition(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder DriverStateV2::DriverData::Builder::initFacePosition(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void DriverStateV2::DriverData::Builder::adoptFacePosition( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> DriverStateV2::DriverData::Builder::disownFacePosition() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline bool DriverStateV2::DriverData::Reader::hasFacePositionStd() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool DriverStateV2::DriverData::Builder::hasFacePositionStd() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader DriverStateV2::DriverData::Reader::getFacePositionStd() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder DriverStateV2::DriverData::Builder::getFacePositionStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void DriverStateV2::DriverData::Builder::setFacePositionStd( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline void DriverStateV2::DriverData::Builder::setFacePositionStd(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder DriverStateV2::DriverData::Builder::initFacePositionStd(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), size); +} +inline void DriverStateV2::DriverData::Builder::adoptFacePositionStd( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> DriverStateV2::DriverData::Builder::disownFacePositionStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline float DriverStateV2::DriverData::Reader::getFaceProb() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline float DriverStateV2::DriverData::Builder::getFaceProb() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void DriverStateV2::DriverData::Builder::setFaceProb(float value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline float DriverStateV2::DriverData::Reader::getLeftEyeProb() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float DriverStateV2::DriverData::Builder::getLeftEyeProb() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void DriverStateV2::DriverData::Builder::setLeftEyeProb(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float DriverStateV2::DriverData::Reader::getRightEyeProb() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float DriverStateV2::DriverData::Builder::getRightEyeProb() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void DriverStateV2::DriverData::Builder::setRightEyeProb(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline float DriverStateV2::DriverData::Reader::getLeftBlinkProb() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline float DriverStateV2::DriverData::Builder::getLeftBlinkProb() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void DriverStateV2::DriverData::Builder::setLeftBlinkProb(float value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline float DriverStateV2::DriverData::Reader::getRightBlinkProb() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline float DriverStateV2::DriverData::Builder::getRightBlinkProb() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void DriverStateV2::DriverData::Builder::setRightBlinkProb(float value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline float DriverStateV2::DriverData::Reader::getSunglassesProb() const { + return _reader.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline float DriverStateV2::DriverData::Builder::getSunglassesProb() { + return _builder.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void DriverStateV2::DriverData::Builder::setSunglassesProb(float value) { + _builder.setDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline float DriverStateV2::DriverData::Reader::getOccludedProb() const { + return _reader.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline float DriverStateV2::DriverData::Builder::getOccludedProb() { + return _builder.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void DriverStateV2::DriverData::Builder::setOccludedProb(float value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline bool DriverStateV2::DriverData::Reader::hasReadyProb() const { + return !_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline bool DriverStateV2::DriverData::Builder::hasReadyProb() { + return !_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader DriverStateV2::DriverData::Reader::getReadyProb() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder DriverStateV2::DriverData::Builder::getReadyProb() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline void DriverStateV2::DriverData::Builder::setReadyProb( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline void DriverStateV2::DriverData::Builder::setReadyProb(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder DriverStateV2::DriverData::Builder::initReadyProb(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), size); +} +inline void DriverStateV2::DriverData::Builder::adoptReadyProb( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> DriverStateV2::DriverData::Builder::disownReadyProb() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} + +inline bool DriverStateV2::DriverData::Reader::hasNotReadyProb() const { + return !_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline bool DriverStateV2::DriverData::Builder::hasNotReadyProb() { + return !_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader DriverStateV2::DriverData::Reader::getNotReadyProb() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder DriverStateV2::DriverData::Builder::getNotReadyProb() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline void DriverStateV2::DriverData::Builder::setNotReadyProb( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline void DriverStateV2::DriverData::Builder::setNotReadyProb(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder DriverStateV2::DriverData::Builder::initNotReadyProb(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), size); +} +inline void DriverStateV2::DriverData::Builder::adoptNotReadyProb( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> DriverStateV2::DriverData::Builder::disownNotReadyProb() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} + +inline ::uint32_t DriverStateDEPRECATED::Reader::getFrameId() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t DriverStateDEPRECATED::Builder::getFrameId() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void DriverStateDEPRECATED::Builder::setFrameId( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool DriverStateDEPRECATED::Reader::hasDescriptorDEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool DriverStateDEPRECATED::Builder::hasDescriptorDEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader DriverStateDEPRECATED::Reader::getDescriptorDEPRECATED() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder DriverStateDEPRECATED::Builder::getDescriptorDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void DriverStateDEPRECATED::Builder::setDescriptorDEPRECATED( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void DriverStateDEPRECATED::Builder::setDescriptorDEPRECATED(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder DriverStateDEPRECATED::Builder::initDescriptorDEPRECATED(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void DriverStateDEPRECATED::Builder::adoptDescriptorDEPRECATED( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> DriverStateDEPRECATED::Builder::disownDescriptorDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline float DriverStateDEPRECATED::Reader::getStdDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float DriverStateDEPRECATED::Builder::getStdDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void DriverStateDEPRECATED::Builder::setStdDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool DriverStateDEPRECATED::Reader::hasFaceOrientation() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool DriverStateDEPRECATED::Builder::hasFaceOrientation() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader DriverStateDEPRECATED::Reader::getFaceOrientation() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder DriverStateDEPRECATED::Builder::getFaceOrientation() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void DriverStateDEPRECATED::Builder::setFaceOrientation( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void DriverStateDEPRECATED::Builder::setFaceOrientation(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder DriverStateDEPRECATED::Builder::initFaceOrientation(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void DriverStateDEPRECATED::Builder::adoptFaceOrientation( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> DriverStateDEPRECATED::Builder::disownFaceOrientation() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool DriverStateDEPRECATED::Reader::hasFacePosition() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool DriverStateDEPRECATED::Builder::hasFacePosition() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader DriverStateDEPRECATED::Reader::getFacePosition() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder DriverStateDEPRECATED::Builder::getFacePosition() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void DriverStateDEPRECATED::Builder::setFacePosition( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline void DriverStateDEPRECATED::Builder::setFacePosition(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder DriverStateDEPRECATED::Builder::initFacePosition(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void DriverStateDEPRECATED::Builder::adoptFacePosition( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> DriverStateDEPRECATED::Builder::disownFacePosition() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline float DriverStateDEPRECATED::Reader::getFaceProb() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float DriverStateDEPRECATED::Builder::getFaceProb() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void DriverStateDEPRECATED::Builder::setFaceProb(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline float DriverStateDEPRECATED::Reader::getLeftEyeProb() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline float DriverStateDEPRECATED::Builder::getLeftEyeProb() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void DriverStateDEPRECATED::Builder::setLeftEyeProb(float value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline float DriverStateDEPRECATED::Reader::getRightEyeProb() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline float DriverStateDEPRECATED::Builder::getRightEyeProb() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void DriverStateDEPRECATED::Builder::setRightEyeProb(float value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline float DriverStateDEPRECATED::Reader::getLeftBlinkProb() const { + return _reader.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline float DriverStateDEPRECATED::Builder::getLeftBlinkProb() { + return _builder.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void DriverStateDEPRECATED::Builder::setLeftBlinkProb(float value) { + _builder.setDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline float DriverStateDEPRECATED::Reader::getRightBlinkProb() const { + return _reader.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline float DriverStateDEPRECATED::Builder::getRightBlinkProb() { + return _builder.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void DriverStateDEPRECATED::Builder::setRightBlinkProb(float value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline float DriverStateDEPRECATED::Reader::getIrPwrDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline float DriverStateDEPRECATED::Builder::getIrPwrDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void DriverStateDEPRECATED::Builder::setIrPwrDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline bool DriverStateDEPRECATED::Reader::hasFaceOrientationStd() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool DriverStateDEPRECATED::Builder::hasFaceOrientationStd() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader DriverStateDEPRECATED::Reader::getFaceOrientationStd() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder DriverStateDEPRECATED::Builder::getFaceOrientationStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void DriverStateDEPRECATED::Builder::setFaceOrientationStd( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline void DriverStateDEPRECATED::Builder::setFaceOrientationStd(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder DriverStateDEPRECATED::Builder::initFaceOrientationStd(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), size); +} +inline void DriverStateDEPRECATED::Builder::adoptFaceOrientationStd( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> DriverStateDEPRECATED::Builder::disownFaceOrientationStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline bool DriverStateDEPRECATED::Reader::hasFacePositionStd() const { + return !_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline bool DriverStateDEPRECATED::Builder::hasFacePositionStd() { + return !_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader DriverStateDEPRECATED::Reader::getFacePositionStd() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder DriverStateDEPRECATED::Builder::getFacePositionStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline void DriverStateDEPRECATED::Builder::setFacePositionStd( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline void DriverStateDEPRECATED::Builder::setFacePositionStd(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder DriverStateDEPRECATED::Builder::initFacePositionStd(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), size); +} +inline void DriverStateDEPRECATED::Builder::adoptFacePositionStd( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> DriverStateDEPRECATED::Builder::disownFacePositionStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} + +inline float DriverStateDEPRECATED::Reader::getSunglassesProb() const { + return _reader.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline float DriverStateDEPRECATED::Builder::getSunglassesProb() { + return _builder.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void DriverStateDEPRECATED::Builder::setSunglassesProb(float value) { + _builder.setDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline float DriverStateDEPRECATED::Reader::getModelExecutionTime() const { + return _reader.getDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} + +inline float DriverStateDEPRECATED::Builder::getModelExecutionTime() { + return _builder.getDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} +inline void DriverStateDEPRECATED::Builder::setModelExecutionTime(float value) { + _builder.setDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS, value); +} + +inline bool DriverStateDEPRECATED::Reader::hasRawPredictions() const { + return !_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline bool DriverStateDEPRECATED::Builder::hasRawPredictions() { + return !_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Data::Reader DriverStateDEPRECATED::Reader::getRawPredictions() const { + return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline ::capnp::Data::Builder DriverStateDEPRECATED::Builder::getRawPredictions() { + return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline void DriverStateDEPRECATED::Builder::setRawPredictions( ::capnp::Data::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Data>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline ::capnp::Data::Builder DriverStateDEPRECATED::Builder::initRawPredictions(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Data>::init(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), size); +} +inline void DriverStateDEPRECATED::Builder::adoptRawPredictions( + ::capnp::Orphan< ::capnp::Data>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Data>::adopt(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Data> DriverStateDEPRECATED::Builder::disownRawPredictions() { + return ::capnp::_::PointerHelpers< ::capnp::Data>::disown(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} + +inline float DriverStateDEPRECATED::Reader::getDspExecutionTime() const { + return _reader.getDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} + +inline float DriverStateDEPRECATED::Builder::getDspExecutionTime() { + return _builder.getDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} +inline void DriverStateDEPRECATED::Builder::setDspExecutionTime(float value) { + _builder.setDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS, value); +} + +inline float DriverStateDEPRECATED::Reader::getPoorVision() const { + return _reader.getDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} + +inline float DriverStateDEPRECATED::Builder::getPoorVision() { + return _builder.getDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} +inline void DriverStateDEPRECATED::Builder::setPoorVision(float value) { + _builder.setDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS, value); +} + +inline float DriverStateDEPRECATED::Reader::getPartialFace() const { + return _reader.getDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} + +inline float DriverStateDEPRECATED::Builder::getPartialFace() { + return _builder.getDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} +inline void DriverStateDEPRECATED::Builder::setPartialFace(float value) { + _builder.setDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS, value); +} + +inline float DriverStateDEPRECATED::Reader::getDistractedPose() const { + return _reader.getDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} + +inline float DriverStateDEPRECATED::Builder::getDistractedPose() { + return _builder.getDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS); +} +inline void DriverStateDEPRECATED::Builder::setDistractedPose(float value) { + _builder.setDataField( + ::capnp::bounded<13>() * ::capnp::ELEMENTS, value); +} + +inline float DriverStateDEPRECATED::Reader::getDistractedEyes() const { + return _reader.getDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} + +inline float DriverStateDEPRECATED::Builder::getDistractedEyes() { + return _builder.getDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS); +} +inline void DriverStateDEPRECATED::Builder::setDistractedEyes(float value) { + _builder.setDataField( + ::capnp::bounded<14>() * ::capnp::ELEMENTS, value); +} + +inline float DriverStateDEPRECATED::Reader::getEyesOnRoad() const { + return _reader.getDataField( + ::capnp::bounded<15>() * ::capnp::ELEMENTS); +} + +inline float DriverStateDEPRECATED::Builder::getEyesOnRoad() { + return _builder.getDataField( + ::capnp::bounded<15>() * ::capnp::ELEMENTS); +} +inline void DriverStateDEPRECATED::Builder::setEyesOnRoad(float value) { + _builder.setDataField( + ::capnp::bounded<15>() * ::capnp::ELEMENTS, value); +} + +inline float DriverStateDEPRECATED::Reader::getPhoneUse() const { + return _reader.getDataField( + ::capnp::bounded<16>() * ::capnp::ELEMENTS); +} + +inline float DriverStateDEPRECATED::Builder::getPhoneUse() { + return _builder.getDataField( + ::capnp::bounded<16>() * ::capnp::ELEMENTS); +} +inline void DriverStateDEPRECATED::Builder::setPhoneUse(float value) { + _builder.setDataField( + ::capnp::bounded<16>() * ::capnp::ELEMENTS, value); +} + +inline float DriverStateDEPRECATED::Reader::getOccludedProb() const { + return _reader.getDataField( + ::capnp::bounded<17>() * ::capnp::ELEMENTS); +} + +inline float DriverStateDEPRECATED::Builder::getOccludedProb() { + return _builder.getDataField( + ::capnp::bounded<17>() * ::capnp::ELEMENTS); +} +inline void DriverStateDEPRECATED::Builder::setOccludedProb(float value) { + _builder.setDataField( + ::capnp::bounded<17>() * ::capnp::ELEMENTS, value); +} + +inline bool DriverStateDEPRECATED::Reader::hasReadyProb() const { + return !_reader.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS).isNull(); +} +inline bool DriverStateDEPRECATED::Builder::hasReadyProb() { + return !_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader DriverStateDEPRECATED::Reader::getReadyProb() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder DriverStateDEPRECATED::Builder::getReadyProb() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} +inline void DriverStateDEPRECATED::Builder::setReadyProb( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), value); +} +inline void DriverStateDEPRECATED::Builder::setReadyProb(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder DriverStateDEPRECATED::Builder::initReadyProb(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), size); +} +inline void DriverStateDEPRECATED::Builder::adoptReadyProb( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> DriverStateDEPRECATED::Builder::disownReadyProb() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} + +inline bool DriverStateDEPRECATED::Reader::hasNotReadyProb() const { + return !_reader.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS).isNull(); +} +inline bool DriverStateDEPRECATED::Builder::hasNotReadyProb() { + return !_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader DriverStateDEPRECATED::Reader::getNotReadyProb() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder DriverStateDEPRECATED::Builder::getNotReadyProb() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS)); +} +inline void DriverStateDEPRECATED::Builder::setNotReadyProb( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), value); +} +inline void DriverStateDEPRECATED::Builder::setNotReadyProb(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder DriverStateDEPRECATED::Builder::initNotReadyProb(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), size); +} +inline void DriverStateDEPRECATED::Builder::adoptNotReadyProb( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> DriverStateDEPRECATED::Builder::disownNotReadyProb() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS)); +} + +inline bool DriverMonitoringState::Reader::hasEvents() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool DriverMonitoringState::Builder::hasEvents() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>::Reader DriverMonitoringState::Reader::getEvents() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>::Builder DriverMonitoringState::Builder::getEvents() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void DriverMonitoringState::Builder::setEvents( ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>::Builder DriverMonitoringState::Builder::initEvents(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void DriverMonitoringState::Builder::adoptEvents( + ::capnp::Orphan< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>> DriverMonitoringState::Builder::disownEvents() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool DriverMonitoringState::Reader::getFaceDetected() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline bool DriverMonitoringState::Builder::getFaceDetected() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void DriverMonitoringState::Builder::setFaceDetected(bool value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool DriverMonitoringState::Reader::getIsDistracted() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline bool DriverMonitoringState::Builder::getIsDistracted() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void DriverMonitoringState::Builder::setIsDistracted(bool value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float DriverMonitoringState::Reader::getAwarenessStatus() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float DriverMonitoringState::Builder::getAwarenessStatus() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void DriverMonitoringState::Builder::setAwarenessStatus(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool DriverMonitoringState::Reader::getIsRHD() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline bool DriverMonitoringState::Builder::getIsRHD() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void DriverMonitoringState::Builder::setIsRHD(bool value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline bool DriverMonitoringState::Reader::getRhdCheckedDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline bool DriverMonitoringState::Builder::getRhdCheckedDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void DriverMonitoringState::Builder::setRhdCheckedDEPRECATED(bool value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline float DriverMonitoringState::Reader::getPosePitchOffset() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float DriverMonitoringState::Builder::getPosePitchOffset() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void DriverMonitoringState::Builder::setPosePitchOffset(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t DriverMonitoringState::Reader::getPosePitchValidCount() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t DriverMonitoringState::Builder::getPosePitchValidCount() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void DriverMonitoringState::Builder::setPosePitchValidCount( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline float DriverMonitoringState::Reader::getPoseYawOffset() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline float DriverMonitoringState::Builder::getPoseYawOffset() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void DriverMonitoringState::Builder::setPoseYawOffset(float value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t DriverMonitoringState::Reader::getPoseYawValidCount() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t DriverMonitoringState::Builder::getPoseYawValidCount() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void DriverMonitoringState::Builder::setPoseYawValidCount( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline float DriverMonitoringState::Reader::getStepChange() const { + return _reader.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline float DriverMonitoringState::Builder::getStepChange() { + return _builder.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void DriverMonitoringState::Builder::setStepChange(float value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline float DriverMonitoringState::Reader::getAwarenessActive() const { + return _reader.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline float DriverMonitoringState::Builder::getAwarenessActive() { + return _builder.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void DriverMonitoringState::Builder::setAwarenessActive(float value) { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline float DriverMonitoringState::Reader::getAwarenessPassive() const { + return _reader.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline float DriverMonitoringState::Builder::getAwarenessPassive() { + return _builder.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void DriverMonitoringState::Builder::setAwarenessPassive(float value) { + _builder.setDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline bool DriverMonitoringState::Reader::getIsLowStd() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline bool DriverMonitoringState::Builder::getIsLowStd() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void DriverMonitoringState::Builder::setIsLowStd(bool value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t DriverMonitoringState::Reader::getHiStdCount() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t DriverMonitoringState::Builder::getHiStdCount() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} +inline void DriverMonitoringState::Builder::setHiStdCount( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS, value); +} + +inline bool DriverMonitoringState::Reader::getIsPreviewDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline bool DriverMonitoringState::Builder::getIsPreviewDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void DriverMonitoringState::Builder::setIsPreviewDEPRECATED(bool value) { + _builder.setDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline bool DriverMonitoringState::Reader::getIsActiveMode() const { + return _reader.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline bool DriverMonitoringState::Builder::getIsActiveMode() { + return _builder.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void DriverMonitoringState::Builder::setIsActiveMode(bool value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t DriverMonitoringState::Reader::getDistractedType() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t DriverMonitoringState::Builder::getDistractedType() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} +inline void DriverMonitoringState::Builder::setDistractedType( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t Boot::Reader::getWallTimeNanos() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t Boot::Builder::getWallTimeNanos() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void Boot::Builder::setWallTimeNanos( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool Boot::Reader::hasLastKmsgDEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Boot::Builder::hasLastKmsgDEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Data::Reader Boot::Reader::getLastKmsgDEPRECATED() const { + return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::Data::Builder Boot::Builder::getLastKmsgDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Boot::Builder::setLastKmsgDEPRECATED( ::capnp::Data::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Data>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::Data::Builder Boot::Builder::initLastKmsgDEPRECATED(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Data>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void Boot::Builder::adoptLastKmsgDEPRECATED( + ::capnp::Orphan< ::capnp::Data>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Data>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Data> Boot::Builder::disownLastKmsgDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::Data>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Boot::Reader::hasLastPmsgDEPRECATED() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool Boot::Builder::hasLastPmsgDEPRECATED() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Data::Reader Boot::Reader::getLastPmsgDEPRECATED() const { + return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::Data::Builder Boot::Builder::getLastPmsgDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void Boot::Builder::setLastPmsgDEPRECATED( ::capnp::Data::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Data>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::Data::Builder Boot::Builder::initLastPmsgDEPRECATED(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Data>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void Boot::Builder::adoptLastPmsgDEPRECATED( + ::capnp::Orphan< ::capnp::Data>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Data>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Data> Boot::Builder::disownLastPmsgDEPRECATED() { + return ::capnp::_::PointerHelpers< ::capnp::Data>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool Boot::Reader::hasLaunchLog() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool Boot::Builder::hasLaunchLog() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader Boot::Reader::getLaunchLog() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder Boot::Builder::getLaunchLog() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void Boot::Builder::setLaunchLog( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder Boot::Builder::initLaunchLog(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void Boot::Builder::adoptLaunchLog( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> Boot::Builder::disownLaunchLog() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline bool Boot::Reader::hasPstore() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool Boot::Builder::hasPstore() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::Map< ::capnp::Text, ::capnp::Data>::Reader Boot::Reader::getPstore() const { + return ::capnp::_::PointerHelpers< ::cereal::Map< ::capnp::Text, ::capnp::Data>>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::cereal::Map< ::capnp::Text, ::capnp::Data>::Builder Boot::Builder::getPstore() { + return ::capnp::_::PointerHelpers< ::cereal::Map< ::capnp::Text, ::capnp::Data>>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::Map< ::capnp::Text, ::capnp::Data>::Pipeline Boot::Pipeline::getPstore() { + return ::cereal::Map< ::capnp::Text, ::capnp::Data>::Pipeline(_typeless.getPointerField(3)); +} +#endif // !CAPNP_LITE +inline void Boot::Builder::setPstore( ::cereal::Map< ::capnp::Text, ::capnp::Data>::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::Map< ::capnp::Text, ::capnp::Data>>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::cereal::Map< ::capnp::Text, ::capnp::Data>::Builder Boot::Builder::initPstore() { + return ::capnp::_::PointerHelpers< ::cereal::Map< ::capnp::Text, ::capnp::Data>>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void Boot::Builder::adoptPstore( + ::capnp::Orphan< ::cereal::Map< ::capnp::Text, ::capnp::Data>>&& value) { + ::capnp::_::PointerHelpers< ::cereal::Map< ::capnp::Text, ::capnp::Data>>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::Map< ::capnp::Text, ::capnp::Data>> Boot::Builder::disownPstore() { + return ::capnp::_::PointerHelpers< ::cereal::Map< ::capnp::Text, ::capnp::Data>>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline bool Boot::Reader::hasCommands() const { + return !_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline bool Boot::Builder::hasCommands() { + return !_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::Map< ::capnp::Text, ::capnp::Data>::Reader Boot::Reader::getCommands() const { + return ::capnp::_::PointerHelpers< ::cereal::Map< ::capnp::Text, ::capnp::Data>>::get(_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline ::cereal::Map< ::capnp::Text, ::capnp::Data>::Builder Boot::Builder::getCommands() { + return ::capnp::_::PointerHelpers< ::cereal::Map< ::capnp::Text, ::capnp::Data>>::get(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::Map< ::capnp::Text, ::capnp::Data>::Pipeline Boot::Pipeline::getCommands() { + return ::cereal::Map< ::capnp::Text, ::capnp::Data>::Pipeline(_typeless.getPointerField(4)); +} +#endif // !CAPNP_LITE +inline void Boot::Builder::setCommands( ::cereal::Map< ::capnp::Text, ::capnp::Data>::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::Map< ::capnp::Text, ::capnp::Data>>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline ::cereal::Map< ::capnp::Text, ::capnp::Data>::Builder Boot::Builder::initCommands() { + return ::capnp::_::PointerHelpers< ::cereal::Map< ::capnp::Text, ::capnp::Data>>::init(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline void Boot::Builder::adoptCommands( + ::capnp::Orphan< ::cereal::Map< ::capnp::Text, ::capnp::Data>>&& value) { + ::capnp::_::PointerHelpers< ::cereal::Map< ::capnp::Text, ::capnp::Data>>::adopt(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::Map< ::capnp::Text, ::capnp::Data>> Boot::Builder::disownCommands() { + return ::capnp::_::PointerHelpers< ::cereal::Map< ::capnp::Text, ::capnp::Data>>::disown(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} + +inline bool LiveParametersData::Reader::getValid() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline bool LiveParametersData::Builder::getValid() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void LiveParametersData::Builder::setValid(bool value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline float LiveParametersData::Reader::getGyroBias() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float LiveParametersData::Builder::getGyroBias() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void LiveParametersData::Builder::setGyroBias(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float LiveParametersData::Reader::getAngleOffsetDeg() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float LiveParametersData::Builder::getAngleOffsetDeg() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void LiveParametersData::Builder::setAngleOffsetDeg(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline float LiveParametersData::Reader::getAngleOffsetAverageDeg() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline float LiveParametersData::Builder::getAngleOffsetAverageDeg() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void LiveParametersData::Builder::setAngleOffsetAverageDeg(float value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline float LiveParametersData::Reader::getStiffnessFactor() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline float LiveParametersData::Builder::getStiffnessFactor() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void LiveParametersData::Builder::setStiffnessFactor(float value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline float LiveParametersData::Reader::getSteerRatio() const { + return _reader.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline float LiveParametersData::Builder::getSteerRatio() { + return _builder.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void LiveParametersData::Builder::setSteerRatio(float value) { + _builder.setDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline bool LiveParametersData::Reader::getSensorValid() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline bool LiveParametersData::Builder::getSensorValid() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void LiveParametersData::Builder::setSensorValid(bool value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float LiveParametersData::Reader::getYawRateDEPRECATED() const { + return _reader.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline float LiveParametersData::Builder::getYawRateDEPRECATED() { + return _builder.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void LiveParametersData::Builder::setYawRateDEPRECATED(float value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline float LiveParametersData::Reader::getPosenetSpeed() const { + return _reader.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline float LiveParametersData::Builder::getPosenetSpeed() { + return _builder.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void LiveParametersData::Builder::setPosenetSpeed(float value) { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline bool LiveParametersData::Reader::getPosenetValid() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline bool LiveParametersData::Builder::getPosenetValid() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void LiveParametersData::Builder::setPosenetValid(bool value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline float LiveParametersData::Reader::getAngleOffsetFastStd() const { + return _reader.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline float LiveParametersData::Builder::getAngleOffsetFastStd() { + return _builder.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void LiveParametersData::Builder::setAngleOffsetFastStd(float value) { + _builder.setDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline float LiveParametersData::Reader::getAngleOffsetAverageStd() const { + return _reader.getDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} + +inline float LiveParametersData::Builder::getAngleOffsetAverageStd() { + return _builder.getDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} +inline void LiveParametersData::Builder::setAngleOffsetAverageStd(float value) { + _builder.setDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS, value); +} + +inline float LiveParametersData::Reader::getStiffnessFactorStd() const { + return _reader.getDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} + +inline float LiveParametersData::Builder::getStiffnessFactorStd() { + return _builder.getDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} +inline void LiveParametersData::Builder::setStiffnessFactorStd(float value) { + _builder.setDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS, value); +} + +inline float LiveParametersData::Reader::getSteerRatioStd() const { + return _reader.getDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} + +inline float LiveParametersData::Builder::getSteerRatioStd() { + return _builder.getDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} +inline void LiveParametersData::Builder::setSteerRatioStd(float value) { + _builder.setDataField( + ::capnp::bounded<11>() * ::capnp::ELEMENTS, value); +} + +inline float LiveParametersData::Reader::getRoll() const { + return _reader.getDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} + +inline float LiveParametersData::Builder::getRoll() { + return _builder.getDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS); +} +inline void LiveParametersData::Builder::setRoll(float value) { + _builder.setDataField( + ::capnp::bounded<12>() * ::capnp::ELEMENTS, value); +} + +inline bool LiveParametersData::Reader::hasFilterState() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveParametersData::Builder::hasFilterState() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LiveLocationKalman::Measurement::Reader LiveParametersData::Reader::getFilterState() const { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::LiveLocationKalman::Measurement::Builder LiveParametersData::Builder::getFilterState() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::LiveLocationKalman::Measurement::Pipeline LiveParametersData::Pipeline::getFilterState() { + return ::cereal::LiveLocationKalman::Measurement::Pipeline(_typeless.getPointerField(0)); +} +#endif // !CAPNP_LITE +inline void LiveParametersData::Builder::setFilterState( ::cereal::LiveLocationKalman::Measurement::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::LiveLocationKalman::Measurement::Builder LiveParametersData::Builder::initFilterState() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void LiveParametersData::Builder::adoptFilterState( + ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement>&& value) { + ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LiveLocationKalman::Measurement> LiveParametersData::Builder::disownFilterState() { + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman::Measurement>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool LiveTorqueParametersData::Reader::getLiveValid() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline bool LiveTorqueParametersData::Builder::getLiveValid() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void LiveTorqueParametersData::Builder::setLiveValid(bool value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline float LiveTorqueParametersData::Reader::getLatAccelFactorRaw() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float LiveTorqueParametersData::Builder::getLatAccelFactorRaw() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void LiveTorqueParametersData::Builder::setLatAccelFactorRaw(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float LiveTorqueParametersData::Reader::getLatAccelOffsetRaw() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float LiveTorqueParametersData::Builder::getLatAccelOffsetRaw() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void LiveTorqueParametersData::Builder::setLatAccelOffsetRaw(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline float LiveTorqueParametersData::Reader::getFrictionCoefficientRaw() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline float LiveTorqueParametersData::Builder::getFrictionCoefficientRaw() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void LiveTorqueParametersData::Builder::setFrictionCoefficientRaw(float value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline float LiveTorqueParametersData::Reader::getLatAccelFactorFiltered() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline float LiveTorqueParametersData::Builder::getLatAccelFactorFiltered() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void LiveTorqueParametersData::Builder::setLatAccelFactorFiltered(float value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline float LiveTorqueParametersData::Reader::getLatAccelOffsetFiltered() const { + return _reader.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline float LiveTorqueParametersData::Builder::getLatAccelOffsetFiltered() { + return _builder.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void LiveTorqueParametersData::Builder::setLatAccelOffsetFiltered(float value) { + _builder.setDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline float LiveTorqueParametersData::Reader::getFrictionCoefficientFiltered() const { + return _reader.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline float LiveTorqueParametersData::Builder::getFrictionCoefficientFiltered() { + return _builder.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void LiveTorqueParametersData::Builder::setFrictionCoefficientFiltered(float value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline float LiveTorqueParametersData::Reader::getTotalBucketPoints() const { + return _reader.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline float LiveTorqueParametersData::Builder::getTotalBucketPoints() { + return _builder.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void LiveTorqueParametersData::Builder::setTotalBucketPoints(float value) { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline float LiveTorqueParametersData::Reader::getDecay() const { + return _reader.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline float LiveTorqueParametersData::Builder::getDecay() { + return _builder.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void LiveTorqueParametersData::Builder::setDecay(float value) { + _builder.setDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline float LiveTorqueParametersData::Reader::getMaxResets() const { + return _reader.getDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} + +inline float LiveTorqueParametersData::Builder::getMaxResets() { + return _builder.getDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} +inline void LiveTorqueParametersData::Builder::setMaxResets(float value) { + _builder.setDataField( + ::capnp::bounded<9>() * ::capnp::ELEMENTS, value); +} + +inline bool LiveTorqueParametersData::Reader::hasPoints() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveTorqueParametersData::Builder::hasPoints() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::capnp::List, ::capnp::Kind::LIST>::Reader LiveTorqueParametersData::Reader::getPoints() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::capnp::List, ::capnp::Kind::LIST>>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::capnp::List, ::capnp::Kind::LIST>::Builder LiveTorqueParametersData::Builder::getPoints() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::capnp::List, ::capnp::Kind::LIST>>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void LiveTorqueParametersData::Builder::setPoints( ::capnp::List< ::capnp::List, ::capnp::Kind::LIST>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::capnp::List, ::capnp::Kind::LIST>>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void LiveTorqueParametersData::Builder::setPoints(::kj::ArrayPtr::Reader> value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::capnp::List, ::capnp::Kind::LIST>>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::capnp::List, ::capnp::Kind::LIST>::Builder LiveTorqueParametersData::Builder::initPoints(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::capnp::List, ::capnp::Kind::LIST>>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void LiveTorqueParametersData::Builder::adoptPoints( + ::capnp::Orphan< ::capnp::List< ::capnp::List, ::capnp::Kind::LIST>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::capnp::List, ::capnp::Kind::LIST>>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::capnp::List, ::capnp::Kind::LIST>> LiveTorqueParametersData::Builder::disownPoints() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::capnp::List, ::capnp::Kind::LIST>>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline ::int32_t LiveTorqueParametersData::Reader::getVersion() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} + +inline ::int32_t LiveTorqueParametersData::Builder::getVersion() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} +inline void LiveTorqueParametersData::Builder::setVersion( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS, value); +} + +inline bool LiveTorqueParametersData::Reader::getUseParams() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline bool LiveTorqueParametersData::Builder::getUseParams() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void LiveTorqueParametersData::Builder::setUseParams(bool value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool LiveMapDataDEPRECATED::Reader::getSpeedLimitValid() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline bool LiveMapDataDEPRECATED::Builder::getSpeedLimitValid() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void LiveMapDataDEPRECATED::Builder::setSpeedLimitValid(bool value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline float LiveMapDataDEPRECATED::Reader::getSpeedLimit() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float LiveMapDataDEPRECATED::Builder::getSpeedLimit() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void LiveMapDataDEPRECATED::Builder::setSpeedLimit(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool LiveMapDataDEPRECATED::Reader::getCurvatureValid() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline bool LiveMapDataDEPRECATED::Builder::getCurvatureValid() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void LiveMapDataDEPRECATED::Builder::setCurvatureValid(bool value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float LiveMapDataDEPRECATED::Reader::getCurvature() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float LiveMapDataDEPRECATED::Builder::getCurvature() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void LiveMapDataDEPRECATED::Builder::setCurvature(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t LiveMapDataDEPRECATED::Reader::getWayId() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t LiveMapDataDEPRECATED::Builder::getWayId() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void LiveMapDataDEPRECATED::Builder::setWayId( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline bool LiveMapDataDEPRECATED::Reader::hasRoadX() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveMapDataDEPRECATED::Builder::hasRoadX() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LiveMapDataDEPRECATED::Reader::getRoadX() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LiveMapDataDEPRECATED::Builder::getRoadX() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void LiveMapDataDEPRECATED::Builder::setRoadX( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void LiveMapDataDEPRECATED::Builder::setRoadX(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LiveMapDataDEPRECATED::Builder::initRoadX(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void LiveMapDataDEPRECATED::Builder::adoptRoadX( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LiveMapDataDEPRECATED::Builder::disownRoadX() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool LiveMapDataDEPRECATED::Reader::hasRoadY() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveMapDataDEPRECATED::Builder::hasRoadY() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LiveMapDataDEPRECATED::Reader::getRoadY() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LiveMapDataDEPRECATED::Builder::getRoadY() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void LiveMapDataDEPRECATED::Builder::setRoadY( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void LiveMapDataDEPRECATED::Builder::setRoadY(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LiveMapDataDEPRECATED::Builder::initRoadY(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void LiveMapDataDEPRECATED::Builder::adoptRoadY( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LiveMapDataDEPRECATED::Builder::disownRoadY() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool LiveMapDataDEPRECATED::Reader::hasLastGps() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveMapDataDEPRECATED::Builder::hasLastGps() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::GpsLocationData::Reader LiveMapDataDEPRECATED::Reader::getLastGps() const { + return ::capnp::_::PointerHelpers< ::cereal::GpsLocationData>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::cereal::GpsLocationData::Builder LiveMapDataDEPRECATED::Builder::getLastGps() { + return ::capnp::_::PointerHelpers< ::cereal::GpsLocationData>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::GpsLocationData::Pipeline LiveMapDataDEPRECATED::Pipeline::getLastGps() { + return ::cereal::GpsLocationData::Pipeline(_typeless.getPointerField(2)); +} +#endif // !CAPNP_LITE +inline void LiveMapDataDEPRECATED::Builder::setLastGps( ::cereal::GpsLocationData::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::GpsLocationData>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::cereal::GpsLocationData::Builder LiveMapDataDEPRECATED::Builder::initLastGps() { + return ::capnp::_::PointerHelpers< ::cereal::GpsLocationData>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void LiveMapDataDEPRECATED::Builder::adoptLastGps( + ::capnp::Orphan< ::cereal::GpsLocationData>&& value) { + ::capnp::_::PointerHelpers< ::cereal::GpsLocationData>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::GpsLocationData> LiveMapDataDEPRECATED::Builder::disownLastGps() { + return ::capnp::_::PointerHelpers< ::cereal::GpsLocationData>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline bool LiveMapDataDEPRECATED::Reader::hasRoadCurvatureX() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveMapDataDEPRECATED::Builder::hasRoadCurvatureX() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LiveMapDataDEPRECATED::Reader::getRoadCurvatureX() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LiveMapDataDEPRECATED::Builder::getRoadCurvatureX() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void LiveMapDataDEPRECATED::Builder::setRoadCurvatureX( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline void LiveMapDataDEPRECATED::Builder::setRoadCurvatureX(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LiveMapDataDEPRECATED::Builder::initRoadCurvatureX(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), size); +} +inline void LiveMapDataDEPRECATED::Builder::adoptRoadCurvatureX( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LiveMapDataDEPRECATED::Builder::disownRoadCurvatureX() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline bool LiveMapDataDEPRECATED::Reader::hasRoadCurvature() const { + return !_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline bool LiveMapDataDEPRECATED::Builder::hasRoadCurvature() { + return !_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader LiveMapDataDEPRECATED::Reader::getRoadCurvature() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder LiveMapDataDEPRECATED::Builder::getRoadCurvature() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline void LiveMapDataDEPRECATED::Builder::setRoadCurvature( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline void LiveMapDataDEPRECATED::Builder::setRoadCurvature(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder LiveMapDataDEPRECATED::Builder::initRoadCurvature(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), size); +} +inline void LiveMapDataDEPRECATED::Builder::adoptRoadCurvature( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> LiveMapDataDEPRECATED::Builder::disownRoadCurvature() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} + +inline float LiveMapDataDEPRECATED::Reader::getDistToTurn() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline float LiveMapDataDEPRECATED::Builder::getDistToTurn() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void LiveMapDataDEPRECATED::Builder::setDistToTurn(float value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline bool LiveMapDataDEPRECATED::Reader::getMapValid() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline bool LiveMapDataDEPRECATED::Builder::getMapValid() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void LiveMapDataDEPRECATED::Builder::setMapValid(bool value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline bool LiveMapDataDEPRECATED::Reader::getSpeedAdvisoryValid() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline bool LiveMapDataDEPRECATED::Builder::getSpeedAdvisoryValid() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void LiveMapDataDEPRECATED::Builder::setSpeedAdvisoryValid(bool value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline float LiveMapDataDEPRECATED::Reader::getSpeedAdvisory() const { + return _reader.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} + +inline float LiveMapDataDEPRECATED::Builder::getSpeedAdvisory() { + return _builder.getDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS); +} +inline void LiveMapDataDEPRECATED::Builder::setSpeedAdvisory(float value) { + _builder.setDataField( + ::capnp::bounded<6>() * ::capnp::ELEMENTS, value); +} + +inline bool LiveMapDataDEPRECATED::Reader::getSpeedLimitAheadValid() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline bool LiveMapDataDEPRECATED::Builder::getSpeedLimitAheadValid() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void LiveMapDataDEPRECATED::Builder::setSpeedLimitAheadValid(bool value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline float LiveMapDataDEPRECATED::Reader::getSpeedLimitAhead() const { + return _reader.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline float LiveMapDataDEPRECATED::Builder::getSpeedLimitAhead() { + return _builder.getDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void LiveMapDataDEPRECATED::Builder::setSpeedLimitAhead(float value) { + _builder.setDataField( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + +inline float LiveMapDataDEPRECATED::Reader::getSpeedLimitAheadDistance() const { + return _reader.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} + +inline float LiveMapDataDEPRECATED::Builder::getSpeedLimitAheadDistance() { + return _builder.getDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS); +} +inline void LiveMapDataDEPRECATED::Builder::setSpeedLimitAheadDistance(float value) { + _builder.setDataField( + ::capnp::bounded<8>() * ::capnp::ELEMENTS, value); +} + +inline bool CameraOdometry::Reader::hasTrans() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool CameraOdometry::Builder::hasTrans() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader CameraOdometry::Reader::getTrans() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder CameraOdometry::Builder::getTrans() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void CameraOdometry::Builder::setTrans( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void CameraOdometry::Builder::setTrans(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder CameraOdometry::Builder::initTrans(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void CameraOdometry::Builder::adoptTrans( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> CameraOdometry::Builder::disownTrans() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool CameraOdometry::Reader::hasRot() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool CameraOdometry::Builder::hasRot() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader CameraOdometry::Reader::getRot() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder CameraOdometry::Builder::getRot() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void CameraOdometry::Builder::setRot( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void CameraOdometry::Builder::setRot(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder CameraOdometry::Builder::initRot(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void CameraOdometry::Builder::adoptRot( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> CameraOdometry::Builder::disownRot() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool CameraOdometry::Reader::hasTransStd() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool CameraOdometry::Builder::hasTransStd() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader CameraOdometry::Reader::getTransStd() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder CameraOdometry::Builder::getTransStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void CameraOdometry::Builder::setTransStd( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline void CameraOdometry::Builder::setTransStd(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder CameraOdometry::Builder::initTransStd(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void CameraOdometry::Builder::adoptTransStd( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> CameraOdometry::Builder::disownTransStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline bool CameraOdometry::Reader::hasRotStd() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool CameraOdometry::Builder::hasRotStd() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader CameraOdometry::Reader::getRotStd() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder CameraOdometry::Builder::getRotStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void CameraOdometry::Builder::setRotStd( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline void CameraOdometry::Builder::setRotStd(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder CameraOdometry::Builder::initRotStd(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), size); +} +inline void CameraOdometry::Builder::adoptRotStd( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> CameraOdometry::Builder::disownRotStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline ::uint32_t CameraOdometry::Reader::getFrameId() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t CameraOdometry::Builder::getFrameId() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void CameraOdometry::Builder::setFrameId( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t CameraOdometry::Reader::getTimestampEof() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t CameraOdometry::Builder::getTimestampEof() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void CameraOdometry::Builder::setTimestampEof( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline bool CameraOdometry::Reader::hasWideFromDeviceEuler() const { + return !_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline bool CameraOdometry::Builder::hasWideFromDeviceEuler() { + return !_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader CameraOdometry::Reader::getWideFromDeviceEuler() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder CameraOdometry::Builder::getWideFromDeviceEuler() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline void CameraOdometry::Builder::setWideFromDeviceEuler( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline void CameraOdometry::Builder::setWideFromDeviceEuler(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder CameraOdometry::Builder::initWideFromDeviceEuler(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), size); +} +inline void CameraOdometry::Builder::adoptWideFromDeviceEuler( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> CameraOdometry::Builder::disownWideFromDeviceEuler() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} + +inline bool CameraOdometry::Reader::hasWideFromDeviceEulerStd() const { + return !_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline bool CameraOdometry::Builder::hasWideFromDeviceEulerStd() { + return !_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader CameraOdometry::Reader::getWideFromDeviceEulerStd() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder CameraOdometry::Builder::getWideFromDeviceEulerStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline void CameraOdometry::Builder::setWideFromDeviceEulerStd( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline void CameraOdometry::Builder::setWideFromDeviceEulerStd(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder CameraOdometry::Builder::initWideFromDeviceEulerStd(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), size); +} +inline void CameraOdometry::Builder::adoptWideFromDeviceEulerStd( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> CameraOdometry::Builder::disownWideFromDeviceEulerStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} + +inline bool CameraOdometry::Reader::hasRoadTransformTrans() const { + return !_reader.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS).isNull(); +} +inline bool CameraOdometry::Builder::hasRoadTransformTrans() { + return !_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader CameraOdometry::Reader::getRoadTransformTrans() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder CameraOdometry::Builder::getRoadTransformTrans() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} +inline void CameraOdometry::Builder::setRoadTransformTrans( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), value); +} +inline void CameraOdometry::Builder::setRoadTransformTrans(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder CameraOdometry::Builder::initRoadTransformTrans(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), size); +} +inline void CameraOdometry::Builder::adoptRoadTransformTrans( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> CameraOdometry::Builder::disownRoadTransformTrans() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<6>() * ::capnp::POINTERS)); +} + +inline bool CameraOdometry::Reader::hasRoadTransformTransStd() const { + return !_reader.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS).isNull(); +} +inline bool CameraOdometry::Builder::hasRoadTransformTransStd() { + return !_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader CameraOdometry::Reader::getRoadTransformTransStd() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder CameraOdometry::Builder::getRoadTransformTransStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS)); +} +inline void CameraOdometry::Builder::setRoadTransformTransStd( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), value); +} +inline void CameraOdometry::Builder::setRoadTransformTransStd(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder CameraOdometry::Builder::initRoadTransformTransStd(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), size); +} +inline void CameraOdometry::Builder::adoptRoadTransformTransStd( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> CameraOdometry::Builder::disownRoadTransformTransStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<7>() * ::capnp::POINTERS)); +} + +inline ::cereal::Sentinel::SentinelType Sentinel::Reader::getType() const { + return _reader.getDataField< ::cereal::Sentinel::SentinelType>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::cereal::Sentinel::SentinelType Sentinel::Builder::getType() { + return _builder.getDataField< ::cereal::Sentinel::SentinelType>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void Sentinel::Builder::setType( ::cereal::Sentinel::SentinelType value) { + _builder.setDataField< ::cereal::Sentinel::SentinelType>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t Sentinel::Reader::getSignal() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::int32_t Sentinel::Builder::getSignal() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void Sentinel::Builder::setSignal( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float UIDebug::Reader::getDrawTimeMillis() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline float UIDebug::Builder::getDrawTimeMillis() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void UIDebug::Builder::setDrawTimeMillis(float value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool ManagerState::Reader::hasProcesses() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool ManagerState::Builder::hasProcesses() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::ManagerState::ProcessState, ::capnp::Kind::STRUCT>::Reader ManagerState::Reader::getProcesses() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ManagerState::ProcessState, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::ManagerState::ProcessState, ::capnp::Kind::STRUCT>::Builder ManagerState::Builder::getProcesses() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ManagerState::ProcessState, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void ManagerState::Builder::setProcesses( ::capnp::List< ::cereal::ManagerState::ProcessState, ::capnp::Kind::STRUCT>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ManagerState::ProcessState, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::ManagerState::ProcessState, ::capnp::Kind::STRUCT>::Builder ManagerState::Builder::initProcesses(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ManagerState::ProcessState, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void ManagerState::Builder::adoptProcesses( + ::capnp::Orphan< ::capnp::List< ::cereal::ManagerState::ProcessState, ::capnp::Kind::STRUCT>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ManagerState::ProcessState, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::ManagerState::ProcessState, ::capnp::Kind::STRUCT>> ManagerState::Builder::disownProcesses() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ManagerState::ProcessState, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool ManagerState::ProcessState::Reader::hasName() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool ManagerState::ProcessState::Builder::hasName() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader ManagerState::ProcessState::Reader::getName() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder ManagerState::ProcessState::Builder::getName() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void ManagerState::ProcessState::Builder::setName( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder ManagerState::ProcessState::Builder::initName(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void ManagerState::ProcessState::Builder::adoptName( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> ManagerState::ProcessState::Builder::disownName() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline ::int32_t ManagerState::ProcessState::Reader::getPid() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::int32_t ManagerState::ProcessState::Builder::getPid() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void ManagerState::ProcessState::Builder::setPid( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool ManagerState::ProcessState::Reader::getRunning() const { + return _reader.getDataField( + ::capnp::bounded<32>() * ::capnp::ELEMENTS); +} + +inline bool ManagerState::ProcessState::Builder::getRunning() { + return _builder.getDataField( + ::capnp::bounded<32>() * ::capnp::ELEMENTS); +} +inline void ManagerState::ProcessState::Builder::setRunning(bool value) { + _builder.setDataField( + ::capnp::bounded<32>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t ManagerState::ProcessState::Reader::getExitCode() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::int32_t ManagerState::ProcessState::Builder::getExitCode() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void ManagerState::ProcessState::Builder::setExitCode( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline bool ManagerState::ProcessState::Reader::getShouldBeRunning() const { + return _reader.getDataField( + ::capnp::bounded<33>() * ::capnp::ELEMENTS); +} + +inline bool ManagerState::ProcessState::Builder::getShouldBeRunning() { + return _builder.getDataField( + ::capnp::bounded<33>() * ::capnp::ELEMENTS); +} +inline void ManagerState::ProcessState::Builder::setShouldBeRunning(bool value) { + _builder.setDataField( + ::capnp::bounded<33>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t UploaderState::Reader::getImmediateQueueSize() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t UploaderState::Builder::getImmediateQueueSize() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void UploaderState::Builder::setImmediateQueueSize( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t UploaderState::Reader::getImmediateQueueCount() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t UploaderState::Builder::getImmediateQueueCount() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void UploaderState::Builder::setImmediateQueueCount( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t UploaderState::Reader::getRawQueueSize() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t UploaderState::Builder::getRawQueueSize() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void UploaderState::Builder::setRawQueueSize( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t UploaderState::Reader::getRawQueueCount() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t UploaderState::Builder::getRawQueueCount() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void UploaderState::Builder::setRawQueueCount( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline float UploaderState::Reader::getLastTime() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline float UploaderState::Builder::getLastTime() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void UploaderState::Builder::setLastTime(float value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + +inline float UploaderState::Reader::getLastSpeed() const { + return _reader.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline float UploaderState::Builder::getLastSpeed() { + return _builder.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void UploaderState::Builder::setLastSpeed(float value) { + _builder.setDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline bool UploaderState::Reader::hasLastFilename() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool UploaderState::Builder::hasLastFilename() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader UploaderState::Reader::getLastFilename() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder UploaderState::Builder::getLastFilename() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void UploaderState::Builder::setLastFilename( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder UploaderState::Builder::initLastFilename(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void UploaderState::Builder::adoptLastFilename( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> UploaderState::Builder::disownLastFilename() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool NavInstruction::Reader::hasManeuverPrimaryText() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool NavInstruction::Builder::hasManeuverPrimaryText() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader NavInstruction::Reader::getManeuverPrimaryText() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder NavInstruction::Builder::getManeuverPrimaryText() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void NavInstruction::Builder::setManeuverPrimaryText( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder NavInstruction::Builder::initManeuverPrimaryText(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void NavInstruction::Builder::adoptManeuverPrimaryText( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> NavInstruction::Builder::disownManeuverPrimaryText() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool NavInstruction::Reader::hasManeuverSecondaryText() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool NavInstruction::Builder::hasManeuverSecondaryText() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader NavInstruction::Reader::getManeuverSecondaryText() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder NavInstruction::Builder::getManeuverSecondaryText() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void NavInstruction::Builder::setManeuverSecondaryText( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder NavInstruction::Builder::initManeuverSecondaryText(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void NavInstruction::Builder::adoptManeuverSecondaryText( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> NavInstruction::Builder::disownManeuverSecondaryText() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline float NavInstruction::Reader::getManeuverDistance() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline float NavInstruction::Builder::getManeuverDistance() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void NavInstruction::Builder::setManeuverDistance(float value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool NavInstruction::Reader::hasManeuverType() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool NavInstruction::Builder::hasManeuverType() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader NavInstruction::Reader::getManeuverType() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder NavInstruction::Builder::getManeuverType() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void NavInstruction::Builder::setManeuverType( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder NavInstruction::Builder::initManeuverType(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void NavInstruction::Builder::adoptManeuverType( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> NavInstruction::Builder::disownManeuverType() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline bool NavInstruction::Reader::hasManeuverModifier() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool NavInstruction::Builder::hasManeuverModifier() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader NavInstruction::Reader::getManeuverModifier() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder NavInstruction::Builder::getManeuverModifier() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void NavInstruction::Builder::setManeuverModifier( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder NavInstruction::Builder::initManeuverModifier(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), size); +} +inline void NavInstruction::Builder::adoptManeuverModifier( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> NavInstruction::Builder::disownManeuverModifier() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline float NavInstruction::Reader::getDistanceRemaining() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float NavInstruction::Builder::getDistanceRemaining() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void NavInstruction::Builder::setDistanceRemaining(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float NavInstruction::Reader::getTimeRemaining() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float NavInstruction::Builder::getTimeRemaining() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void NavInstruction::Builder::setTimeRemaining(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline float NavInstruction::Reader::getTimeRemainingTypical() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline float NavInstruction::Builder::getTimeRemainingTypical() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void NavInstruction::Builder::setTimeRemainingTypical(float value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline bool NavInstruction::Reader::hasLanes() const { + return !_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline bool NavInstruction::Builder::hasLanes() { + return !_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::NavInstruction::Lane, ::capnp::Kind::STRUCT>::Reader NavInstruction::Reader::getLanes() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::NavInstruction::Lane, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::NavInstruction::Lane, ::capnp::Kind::STRUCT>::Builder NavInstruction::Builder::getLanes() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::NavInstruction::Lane, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} +inline void NavInstruction::Builder::setLanes( ::capnp::List< ::cereal::NavInstruction::Lane, ::capnp::Kind::STRUCT>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::NavInstruction::Lane, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::NavInstruction::Lane, ::capnp::Kind::STRUCT>::Builder NavInstruction::Builder::initLanes(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::NavInstruction::Lane, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), size); +} +inline void NavInstruction::Builder::adoptLanes( + ::capnp::Orphan< ::capnp::List< ::cereal::NavInstruction::Lane, ::capnp::Kind::STRUCT>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::NavInstruction::Lane, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::NavInstruction::Lane, ::capnp::Kind::STRUCT>> NavInstruction::Builder::disownLanes() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::NavInstruction::Lane, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::POINTERS)); +} + +inline bool NavInstruction::Reader::getShowFull() const { + return _reader.getDataField( + ::capnp::bounded<128>() * ::capnp::ELEMENTS); +} + +inline bool NavInstruction::Builder::getShowFull() { + return _builder.getDataField( + ::capnp::bounded<128>() * ::capnp::ELEMENTS); +} +inline void NavInstruction::Builder::setShowFull(bool value) { + _builder.setDataField( + ::capnp::bounded<128>() * ::capnp::ELEMENTS, value); +} + +inline float NavInstruction::Reader::getSpeedLimit() const { + return _reader.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} + +inline float NavInstruction::Builder::getSpeedLimit() { + return _builder.getDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS); +} +inline void NavInstruction::Builder::setSpeedLimit(float value) { + _builder.setDataField( + ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::NavInstruction::SpeedLimitSign NavInstruction::Reader::getSpeedLimitSign() const { + return _reader.getDataField< ::cereal::NavInstruction::SpeedLimitSign>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} + +inline ::cereal::NavInstruction::SpeedLimitSign NavInstruction::Builder::getSpeedLimitSign() { + return _builder.getDataField< ::cereal::NavInstruction::SpeedLimitSign>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} +inline void NavInstruction::Builder::setSpeedLimitSign( ::cereal::NavInstruction::SpeedLimitSign value) { + _builder.setDataField< ::cereal::NavInstruction::SpeedLimitSign>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS, value); +} + +inline bool NavInstruction::Reader::hasAllManeuvers() const { + return !_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline bool NavInstruction::Builder::hasAllManeuvers() { + return !_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::NavInstruction::Maneuver, ::capnp::Kind::STRUCT>::Reader NavInstruction::Reader::getAllManeuvers() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::NavInstruction::Maneuver, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::NavInstruction::Maneuver, ::capnp::Kind::STRUCT>::Builder NavInstruction::Builder::getAllManeuvers() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::NavInstruction::Maneuver, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} +inline void NavInstruction::Builder::setAllManeuvers( ::capnp::List< ::cereal::NavInstruction::Maneuver, ::capnp::Kind::STRUCT>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::NavInstruction::Maneuver, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::NavInstruction::Maneuver, ::capnp::Kind::STRUCT>::Builder NavInstruction::Builder::initAllManeuvers(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::NavInstruction::Maneuver, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), size); +} +inline void NavInstruction::Builder::adoptAllManeuvers( + ::capnp::Orphan< ::capnp::List< ::cereal::NavInstruction::Maneuver, ::capnp::Kind::STRUCT>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::NavInstruction::Maneuver, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::NavInstruction::Maneuver, ::capnp::Kind::STRUCT>> NavInstruction::Builder::disownAllManeuvers() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::NavInstruction::Maneuver, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<5>() * ::capnp::POINTERS)); +} + +inline bool NavInstruction::Lane::Reader::hasDirections() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool NavInstruction::Lane::Builder::hasDirections() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::NavInstruction::Direction, ::capnp::Kind::ENUM>::Reader NavInstruction::Lane::Reader::getDirections() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::NavInstruction::Direction, ::capnp::Kind::ENUM>>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::NavInstruction::Direction, ::capnp::Kind::ENUM>::Builder NavInstruction::Lane::Builder::getDirections() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::NavInstruction::Direction, ::capnp::Kind::ENUM>>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void NavInstruction::Lane::Builder::setDirections( ::capnp::List< ::cereal::NavInstruction::Direction, ::capnp::Kind::ENUM>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::NavInstruction::Direction, ::capnp::Kind::ENUM>>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void NavInstruction::Lane::Builder::setDirections(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::NavInstruction::Direction, ::capnp::Kind::ENUM>>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::NavInstruction::Direction, ::capnp::Kind::ENUM>::Builder NavInstruction::Lane::Builder::initDirections(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::NavInstruction::Direction, ::capnp::Kind::ENUM>>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void NavInstruction::Lane::Builder::adoptDirections( + ::capnp::Orphan< ::capnp::List< ::cereal::NavInstruction::Direction, ::capnp::Kind::ENUM>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::NavInstruction::Direction, ::capnp::Kind::ENUM>>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::NavInstruction::Direction, ::capnp::Kind::ENUM>> NavInstruction::Lane::Builder::disownDirections() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::NavInstruction::Direction, ::capnp::Kind::ENUM>>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool NavInstruction::Lane::Reader::getActive() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline bool NavInstruction::Lane::Builder::getActive() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void NavInstruction::Lane::Builder::setActive(bool value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::NavInstruction::Direction NavInstruction::Lane::Reader::getActiveDirection() const { + return _reader.getDataField< ::cereal::NavInstruction::Direction>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline ::cereal::NavInstruction::Direction NavInstruction::Lane::Builder::getActiveDirection() { + return _builder.getDataField< ::cereal::NavInstruction::Direction>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void NavInstruction::Lane::Builder::setActiveDirection( ::cereal::NavInstruction::Direction value) { + _builder.setDataField< ::cereal::NavInstruction::Direction>( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float NavInstruction::Maneuver::Reader::getDistance() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline float NavInstruction::Maneuver::Builder::getDistance() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void NavInstruction::Maneuver::Builder::setDistance(float value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool NavInstruction::Maneuver::Reader::hasType() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool NavInstruction::Maneuver::Builder::hasType() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader NavInstruction::Maneuver::Reader::getType() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder NavInstruction::Maneuver::Builder::getType() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void NavInstruction::Maneuver::Builder::setType( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder NavInstruction::Maneuver::Builder::initType(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void NavInstruction::Maneuver::Builder::adoptType( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> NavInstruction::Maneuver::Builder::disownType() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool NavInstruction::Maneuver::Reader::hasModifier() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool NavInstruction::Maneuver::Builder::hasModifier() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader NavInstruction::Maneuver::Reader::getModifier() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder NavInstruction::Maneuver::Builder::getModifier() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void NavInstruction::Maneuver::Builder::setModifier( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder NavInstruction::Maneuver::Builder::initModifier(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void NavInstruction::Maneuver::Builder::adoptModifier( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> NavInstruction::Maneuver::Builder::disownModifier() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool NavRoute::Reader::hasCoordinates() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool NavRoute::Builder::hasCoordinates() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::NavRoute::Coordinate, ::capnp::Kind::STRUCT>::Reader NavRoute::Reader::getCoordinates() const { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::NavRoute::Coordinate, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::NavRoute::Coordinate, ::capnp::Kind::STRUCT>::Builder NavRoute::Builder::getCoordinates() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::NavRoute::Coordinate, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void NavRoute::Builder::setCoordinates( ::capnp::List< ::cereal::NavRoute::Coordinate, ::capnp::Kind::STRUCT>::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::NavRoute::Coordinate, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::NavRoute::Coordinate, ::capnp::Kind::STRUCT>::Builder NavRoute::Builder::initCoordinates(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::NavRoute::Coordinate, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void NavRoute::Builder::adoptCoordinates( + ::capnp::Orphan< ::capnp::List< ::cereal::NavRoute::Coordinate, ::capnp::Kind::STRUCT>>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::NavRoute::Coordinate, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::NavRoute::Coordinate, ::capnp::Kind::STRUCT>> NavRoute::Builder::disownCoordinates() { + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::NavRoute::Coordinate, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline float NavRoute::Coordinate::Reader::getLatitude() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline float NavRoute::Coordinate::Builder::getLatitude() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void NavRoute::Coordinate::Builder::setLatitude(float value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline float NavRoute::Coordinate::Reader::getLongitude() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float NavRoute::Coordinate::Builder::getLongitude() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void NavRoute::Coordinate::Builder::setLongitude(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t MapRenderState::Reader::getLocationMonoTime() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t MapRenderState::Builder::getLocationMonoTime() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void MapRenderState::Builder::setLocationMonoTime( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline float MapRenderState::Reader::getRenderTime() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float MapRenderState::Builder::getRenderTime() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void MapRenderState::Builder::setRenderTime(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t MapRenderState::Reader::getFrameId() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t MapRenderState::Builder::getFrameId() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void MapRenderState::Builder::setFrameId( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t NavModelData::Reader::getFrameId() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t NavModelData::Builder::getFrameId() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void NavModelData::Builder::setFrameId( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline float NavModelData::Reader::getModelExecutionTime() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float NavModelData::Builder::getModelExecutionTime() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void NavModelData::Builder::setModelExecutionTime(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float NavModelData::Reader::getDspExecutionTime() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float NavModelData::Builder::getDspExecutionTime() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void NavModelData::Builder::setDspExecutionTime(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline bool NavModelData::Reader::hasFeatures() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool NavModelData::Builder::hasFeatures() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader NavModelData::Reader::getFeatures() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder NavModelData::Builder::getFeatures() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void NavModelData::Builder::setFeatures( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void NavModelData::Builder::setFeatures(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder NavModelData::Builder::initFeatures(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void NavModelData::Builder::adoptFeatures( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> NavModelData::Builder::disownFeatures() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool NavModelData::Reader::hasPosition() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool NavModelData::Builder::hasPosition() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::NavModelData::XYData::Reader NavModelData::Reader::getPosition() const { + return ::capnp::_::PointerHelpers< ::cereal::NavModelData::XYData>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::cereal::NavModelData::XYData::Builder NavModelData::Builder::getPosition() { + return ::capnp::_::PointerHelpers< ::cereal::NavModelData::XYData>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::NavModelData::XYData::Pipeline NavModelData::Pipeline::getPosition() { + return ::cereal::NavModelData::XYData::Pipeline(_typeless.getPointerField(1)); +} +#endif // !CAPNP_LITE +inline void NavModelData::Builder::setPosition( ::cereal::NavModelData::XYData::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::NavModelData::XYData>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::cereal::NavModelData::XYData::Builder NavModelData::Builder::initPosition() { + return ::capnp::_::PointerHelpers< ::cereal::NavModelData::XYData>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void NavModelData::Builder::adoptPosition( + ::capnp::Orphan< ::cereal::NavModelData::XYData>&& value) { + ::capnp::_::PointerHelpers< ::cereal::NavModelData::XYData>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::NavModelData::XYData> NavModelData::Builder::disownPosition() { + return ::capnp::_::PointerHelpers< ::cereal::NavModelData::XYData>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool NavModelData::Reader::hasDesirePrediction() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool NavModelData::Builder::hasDesirePrediction() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader NavModelData::Reader::getDesirePrediction() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder NavModelData::Builder::getDesirePrediction() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void NavModelData::Builder::setDesirePrediction( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline void NavModelData::Builder::setDesirePrediction(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder NavModelData::Builder::initDesirePrediction(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void NavModelData::Builder::adoptDesirePrediction( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> NavModelData::Builder::disownDesirePrediction() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline ::uint64_t NavModelData::Reader::getLocationMonoTime() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t NavModelData::Builder::getLocationMonoTime() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void NavModelData::Builder::setLocationMonoTime( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline bool NavModelData::XYData::Reader::hasX() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool NavModelData::XYData::Builder::hasX() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader NavModelData::XYData::Reader::getX() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder NavModelData::XYData::Builder::getX() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void NavModelData::XYData::Builder::setX( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline void NavModelData::XYData::Builder::setX(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder NavModelData::XYData::Builder::initX(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void NavModelData::XYData::Builder::adoptX( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> NavModelData::XYData::Builder::disownX() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool NavModelData::XYData::Reader::hasY() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool NavModelData::XYData::Builder::hasY() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader NavModelData::XYData::Reader::getY() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder NavModelData::XYData::Builder::getY() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void NavModelData::XYData::Builder::setY( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline void NavModelData::XYData::Builder::setY(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder NavModelData::XYData::Builder::initY(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void NavModelData::XYData::Builder::adoptY( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> NavModelData::XYData::Builder::disownY() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool NavModelData::XYData::Reader::hasXStd() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool NavModelData::XYData::Builder::hasXStd() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader NavModelData::XYData::Reader::getXStd() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder NavModelData::XYData::Builder::getXStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void NavModelData::XYData::Builder::setXStd( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline void NavModelData::XYData::Builder::setXStd(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder NavModelData::XYData::Builder::initXStd(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void NavModelData::XYData::Builder::adoptXStd( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> NavModelData::XYData::Builder::disownXStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline bool NavModelData::XYData::Reader::hasYStd() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool NavModelData::XYData::Builder::hasYStd() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List::Reader NavModelData::XYData::Reader::getYStd() const { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::capnp::List::Builder NavModelData::XYData::Builder::getYStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void NavModelData::XYData::Builder::setYStd( ::capnp::List::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline void NavModelData::XYData::Builder::setYStd(::kj::ArrayPtr value) { + ::capnp::_::PointerHelpers< ::capnp::List>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::capnp::List::Builder NavModelData::XYData::Builder::initYStd(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::List>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), size); +} +inline void NavModelData::XYData::Builder::adoptYStd( + ::capnp::Orphan< ::capnp::List>&& value) { + ::capnp::_::PointerHelpers< ::capnp::List>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List> NavModelData::XYData::Builder::disownYStd() { + return ::capnp::_::PointerHelpers< ::capnp::List>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + +inline bool EncodeData::Reader::hasIdx() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool EncodeData::Builder::hasIdx() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::EncodeIndex::Reader EncodeData::Reader::getIdx() const { + return ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::EncodeIndex::Builder EncodeData::Builder::getIdx() { + return ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::EncodeIndex::Pipeline EncodeData::Pipeline::getIdx() { + return ::cereal::EncodeIndex::Pipeline(_typeless.getPointerField(0)); +} +#endif // !CAPNP_LITE +inline void EncodeData::Builder::setIdx( ::cereal::EncodeIndex::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::EncodeIndex::Builder EncodeData::Builder::initIdx() { + return ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void EncodeData::Builder::adoptIdx( + ::capnp::Orphan< ::cereal::EncodeIndex>&& value) { + ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::EncodeIndex> EncodeData::Builder::disownIdx() { + return ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool EncodeData::Reader::hasData() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool EncodeData::Builder::hasData() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Data::Reader EncodeData::Reader::getData() const { + return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::Data::Builder EncodeData::Builder::getData() { + return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void EncodeData::Builder::setData( ::capnp::Data::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Data>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::Data::Builder EncodeData::Builder::initData(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Data>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void EncodeData::Builder::adoptData( + ::capnp::Orphan< ::capnp::Data>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Data>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Data> EncodeData::Builder::disownData() { + return ::capnp::_::PointerHelpers< ::capnp::Data>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool EncodeData::Reader::hasHeader() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool EncodeData::Builder::hasHeader() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Data::Reader EncodeData::Reader::getHeader() const { + return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::Data::Builder EncodeData::Builder::getHeader() { + return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void EncodeData::Builder::setHeader( ::capnp::Data::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Data>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::Data::Builder EncodeData::Builder::initHeader(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Data>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void EncodeData::Builder::adoptHeader( + ::capnp::Orphan< ::capnp::Data>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Data>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Data> EncodeData::Builder::disownHeader() { + return ::capnp::_::PointerHelpers< ::capnp::Data>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline ::uint64_t EncodeData::Reader::getUnixTimestampNanos() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t EncodeData::Builder::getUnixTimestampNanos() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void EncodeData::Builder::setUnixTimestampNanos( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t EncodeData::Reader::getWidth() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t EncodeData::Builder::getWidth() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void EncodeData::Builder::setWidth( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t EncodeData::Reader::getHeight() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t EncodeData::Builder::getHeight() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void EncodeData::Builder::setHeight( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline float Microphone::Reader::getSoundPressure() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline float Microphone::Builder::getSoundPressure() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void Microphone::Builder::setSoundPressure(float value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline float Microphone::Reader::getSoundPressureWeightedDb() const { + return _reader.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} + +inline float Microphone::Builder::getSoundPressureWeightedDb() { + return _builder.getDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS); +} +inline void Microphone::Builder::setSoundPressureWeightedDb(float value) { + _builder.setDataField( + ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); +} + +inline float Microphone::Reader::getFilteredSoundPressureWeightedDb() const { + return _reader.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline float Microphone::Builder::getFilteredSoundPressureWeightedDb() { + return _builder.getDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void Microphone::Builder::setFilteredSoundPressureWeightedDb(float value) { + _builder.setDataField( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline float Microphone::Reader::getSoundPressureWeighted() const { + return _reader.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline float Microphone::Builder::getSoundPressureWeighted() { + return _builder.getDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void Microphone::Builder::setSoundPressureWeighted(float value) { + _builder.setDataField( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::Event::Which Event::Reader::which() const { + return _reader.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline ::cereal::Event::Which Event::Builder::which() { + return _builder.getDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t Event::Reader::getLogMonoTime() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t Event::Builder::getLogMonoTime() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void Event::Builder::setLogMonoTime( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + +inline bool Event::Reader::isInitData() const { + return which() == Event::INIT_DATA; +} +inline bool Event::Builder::isInitData() { + return which() == Event::INIT_DATA; +} +inline bool Event::Reader::hasInitData() const { + if (which() != Event::INIT_DATA) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasInitData() { + if (which() != Event::INIT_DATA) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::InitData::Reader Event::Reader::getInitData() const { + KJ_IREQUIRE((which() == Event::INIT_DATA), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::InitData>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::InitData::Builder Event::Builder::getInitData() { + KJ_IREQUIRE((which() == Event::INIT_DATA), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::InitData>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setInitData( ::cereal::InitData::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::INIT_DATA); + ::capnp::_::PointerHelpers< ::cereal::InitData>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::InitData::Builder Event::Builder::initInitData() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::INIT_DATA); + return ::capnp::_::PointerHelpers< ::cereal::InitData>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptInitData( + ::capnp::Orphan< ::cereal::InitData>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::INIT_DATA); + ::capnp::_::PointerHelpers< ::cereal::InitData>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::InitData> Event::Builder::disownInitData() { + KJ_IREQUIRE((which() == Event::INIT_DATA), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::InitData>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isRoadCameraState() const { + return which() == Event::ROAD_CAMERA_STATE; +} +inline bool Event::Builder::isRoadCameraState() { + return which() == Event::ROAD_CAMERA_STATE; +} +inline bool Event::Reader::hasRoadCameraState() const { + if (which() != Event::ROAD_CAMERA_STATE) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasRoadCameraState() { + if (which() != Event::ROAD_CAMERA_STATE) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::FrameData::Reader Event::Reader::getRoadCameraState() const { + KJ_IREQUIRE((which() == Event::ROAD_CAMERA_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::FrameData>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::FrameData::Builder Event::Builder::getRoadCameraState() { + KJ_IREQUIRE((which() == Event::ROAD_CAMERA_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::FrameData>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setRoadCameraState( ::cereal::FrameData::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ROAD_CAMERA_STATE); + ::capnp::_::PointerHelpers< ::cereal::FrameData>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::FrameData::Builder Event::Builder::initRoadCameraState() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ROAD_CAMERA_STATE); + return ::capnp::_::PointerHelpers< ::cereal::FrameData>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptRoadCameraState( + ::capnp::Orphan< ::cereal::FrameData>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ROAD_CAMERA_STATE); + ::capnp::_::PointerHelpers< ::cereal::FrameData>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::FrameData> Event::Builder::disownRoadCameraState() { + KJ_IREQUIRE((which() == Event::ROAD_CAMERA_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::FrameData>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isGpsNMEA() const { + return which() == Event::GPS_N_M_E_A; +} +inline bool Event::Builder::isGpsNMEA() { + return which() == Event::GPS_N_M_E_A; +} +inline bool Event::Reader::hasGpsNMEA() const { + if (which() != Event::GPS_N_M_E_A) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasGpsNMEA() { + if (which() != Event::GPS_N_M_E_A) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::GPSNMEAData::Reader Event::Reader::getGpsNMEA() const { + KJ_IREQUIRE((which() == Event::GPS_N_M_E_A), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::GPSNMEAData>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::GPSNMEAData::Builder Event::Builder::getGpsNMEA() { + KJ_IREQUIRE((which() == Event::GPS_N_M_E_A), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::GPSNMEAData>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setGpsNMEA( ::cereal::GPSNMEAData::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::GPS_N_M_E_A); + ::capnp::_::PointerHelpers< ::cereal::GPSNMEAData>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::GPSNMEAData::Builder Event::Builder::initGpsNMEA() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::GPS_N_M_E_A); + return ::capnp::_::PointerHelpers< ::cereal::GPSNMEAData>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptGpsNMEA( + ::capnp::Orphan< ::cereal::GPSNMEAData>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::GPS_N_M_E_A); + ::capnp::_::PointerHelpers< ::cereal::GPSNMEAData>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::GPSNMEAData> Event::Builder::disownGpsNMEA() { + KJ_IREQUIRE((which() == Event::GPS_N_M_E_A), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::GPSNMEAData>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isSensorEventDEPRECATED() const { + return which() == Event::SENSOR_EVENT_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Builder::isSensorEventDEPRECATED() { + return which() == Event::SENSOR_EVENT_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Reader::hasSensorEventDEPRECATED() const { + if (which() != Event::SENSOR_EVENT_D_E_P_R_E_C_A_T_E_D) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasSensorEventDEPRECATED() { + if (which() != Event::SENSOR_EVENT_D_E_P_R_E_C_A_T_E_D) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::SensorEventData::Reader Event::Reader::getSensorEventDEPRECATED() const { + KJ_IREQUIRE((which() == Event::SENSOR_EVENT_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::SensorEventData::Builder Event::Builder::getSensorEventDEPRECATED() { + KJ_IREQUIRE((which() == Event::SENSOR_EVENT_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setSensorEventDEPRECATED( ::cereal::SensorEventData::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::SENSOR_EVENT_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::SensorEventData::Builder Event::Builder::initSensorEventDEPRECATED() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::SENSOR_EVENT_D_E_P_R_E_C_A_T_E_D); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptSensorEventDEPRECATED( + ::capnp::Orphan< ::cereal::SensorEventData>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::SENSOR_EVENT_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::SensorEventData> Event::Builder::disownSensorEventDEPRECATED() { + KJ_IREQUIRE((which() == Event::SENSOR_EVENT_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isCan() const { + return which() == Event::CAN; +} +inline bool Event::Builder::isCan() { + return which() == Event::CAN; +} +inline bool Event::Reader::hasCan() const { + if (which() != Event::CAN) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasCan() { + if (which() != Event::CAN) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::CanData, ::capnp::Kind::STRUCT>::Reader Event::Reader::getCan() const { + KJ_IREQUIRE((which() == Event::CAN), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CanData, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::CanData, ::capnp::Kind::STRUCT>::Builder Event::Builder::getCan() { + KJ_IREQUIRE((which() == Event::CAN), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CanData, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setCan( ::capnp::List< ::cereal::CanData, ::capnp::Kind::STRUCT>::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CAN); + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CanData, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::CanData, ::capnp::Kind::STRUCT>::Builder Event::Builder::initCan(unsigned int size) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CAN); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CanData, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void Event::Builder::adoptCan( + ::capnp::Orphan< ::capnp::List< ::cereal::CanData, ::capnp::Kind::STRUCT>>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CAN); + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CanData, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::CanData, ::capnp::Kind::STRUCT>> Event::Builder::disownCan() { + KJ_IREQUIRE((which() == Event::CAN), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CanData, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isDeviceState() const { + return which() == Event::DEVICE_STATE; +} +inline bool Event::Builder::isDeviceState() { + return which() == Event::DEVICE_STATE; +} +inline bool Event::Reader::hasDeviceState() const { + if (which() != Event::DEVICE_STATE) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasDeviceState() { + if (which() != Event::DEVICE_STATE) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::DeviceState::Reader Event::Reader::getDeviceState() const { + KJ_IREQUIRE((which() == Event::DEVICE_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::DeviceState>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::DeviceState::Builder Event::Builder::getDeviceState() { + KJ_IREQUIRE((which() == Event::DEVICE_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::DeviceState>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setDeviceState( ::cereal::DeviceState::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::DEVICE_STATE); + ::capnp::_::PointerHelpers< ::cereal::DeviceState>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::DeviceState::Builder Event::Builder::initDeviceState() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::DEVICE_STATE); + return ::capnp::_::PointerHelpers< ::cereal::DeviceState>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptDeviceState( + ::capnp::Orphan< ::cereal::DeviceState>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::DEVICE_STATE); + ::capnp::_::PointerHelpers< ::cereal::DeviceState>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::DeviceState> Event::Builder::disownDeviceState() { + KJ_IREQUIRE((which() == Event::DEVICE_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::DeviceState>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isControlsState() const { + return which() == Event::CONTROLS_STATE; +} +inline bool Event::Builder::isControlsState() { + return which() == Event::CONTROLS_STATE; +} +inline bool Event::Reader::hasControlsState() const { + if (which() != Event::CONTROLS_STATE) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasControlsState() { + if (which() != Event::CONTROLS_STATE) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::ControlsState::Reader Event::Reader::getControlsState() const { + KJ_IREQUIRE((which() == Event::CONTROLS_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsState>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::ControlsState::Builder Event::Builder::getControlsState() { + KJ_IREQUIRE((which() == Event::CONTROLS_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsState>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setControlsState( ::cereal::ControlsState::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CONTROLS_STATE); + ::capnp::_::PointerHelpers< ::cereal::ControlsState>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::ControlsState::Builder Event::Builder::initControlsState() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CONTROLS_STATE); + return ::capnp::_::PointerHelpers< ::cereal::ControlsState>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptControlsState( + ::capnp::Orphan< ::cereal::ControlsState>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CONTROLS_STATE); + ::capnp::_::PointerHelpers< ::cereal::ControlsState>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::ControlsState> Event::Builder::disownControlsState() { + KJ_IREQUIRE((which() == Event::CONTROLS_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsState>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isLiveEventDEPRECATED() const { + return which() == Event::LIVE_EVENT_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Builder::isLiveEventDEPRECATED() { + return which() == Event::LIVE_EVENT_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Reader::hasLiveEventDEPRECATED() const { + if (which() != Event::LIVE_EVENT_D_E_P_R_E_C_A_T_E_D) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasLiveEventDEPRECATED() { + if (which() != Event::LIVE_EVENT_D_E_P_R_E_C_A_T_E_D) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::LiveEventData, ::capnp::Kind::STRUCT>::Reader Event::Reader::getLiveEventDEPRECATED() const { + KJ_IREQUIRE((which() == Event::LIVE_EVENT_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::LiveEventData, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::LiveEventData, ::capnp::Kind::STRUCT>::Builder Event::Builder::getLiveEventDEPRECATED() { + KJ_IREQUIRE((which() == Event::LIVE_EVENT_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::LiveEventData, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setLiveEventDEPRECATED( ::capnp::List< ::cereal::LiveEventData, ::capnp::Kind::STRUCT>::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_EVENT_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::LiveEventData, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::LiveEventData, ::capnp::Kind::STRUCT>::Builder Event::Builder::initLiveEventDEPRECATED(unsigned int size) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_EVENT_D_E_P_R_E_C_A_T_E_D); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::LiveEventData, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void Event::Builder::adoptLiveEventDEPRECATED( + ::capnp::Orphan< ::capnp::List< ::cereal::LiveEventData, ::capnp::Kind::STRUCT>>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_EVENT_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::LiveEventData, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::LiveEventData, ::capnp::Kind::STRUCT>> Event::Builder::disownLiveEventDEPRECATED() { + KJ_IREQUIRE((which() == Event::LIVE_EVENT_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::LiveEventData, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isModel() const { + return which() == Event::MODEL; +} +inline bool Event::Builder::isModel() { + return which() == Event::MODEL; +} +inline bool Event::Reader::hasModel() const { + if (which() != Event::MODEL) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasModel() { + if (which() != Event::MODEL) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::ModelData::Reader Event::Reader::getModel() const { + KJ_IREQUIRE((which() == Event::MODEL), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ModelData>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::ModelData::Builder Event::Builder::getModel() { + KJ_IREQUIRE((which() == Event::MODEL), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ModelData>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setModel( ::cereal::ModelData::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::MODEL); + ::capnp::_::PointerHelpers< ::cereal::ModelData>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::ModelData::Builder Event::Builder::initModel() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::MODEL); + return ::capnp::_::PointerHelpers< ::cereal::ModelData>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptModel( + ::capnp::Orphan< ::cereal::ModelData>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::MODEL); + ::capnp::_::PointerHelpers< ::cereal::ModelData>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::ModelData> Event::Builder::disownModel() { + KJ_IREQUIRE((which() == Event::MODEL), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ModelData>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isFeaturesDEPRECATED() const { + return which() == Event::FEATURES_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Builder::isFeaturesDEPRECATED() { + return which() == Event::FEATURES_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Reader::hasFeaturesDEPRECATED() const { + if (which() != Event::FEATURES_D_E_P_R_E_C_A_T_E_D) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasFeaturesDEPRECATED() { + if (which() != Event::FEATURES_D_E_P_R_E_C_A_T_E_D) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::CalibrationFeatures::Reader Event::Reader::getFeaturesDEPRECATED() const { + KJ_IREQUIRE((which() == Event::FEATURES_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::CalibrationFeatures>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::CalibrationFeatures::Builder Event::Builder::getFeaturesDEPRECATED() { + KJ_IREQUIRE((which() == Event::FEATURES_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::CalibrationFeatures>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setFeaturesDEPRECATED( ::cereal::CalibrationFeatures::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::FEATURES_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::CalibrationFeatures>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::CalibrationFeatures::Builder Event::Builder::initFeaturesDEPRECATED() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::FEATURES_D_E_P_R_E_C_A_T_E_D); + return ::capnp::_::PointerHelpers< ::cereal::CalibrationFeatures>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptFeaturesDEPRECATED( + ::capnp::Orphan< ::cereal::CalibrationFeatures>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::FEATURES_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::CalibrationFeatures>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::CalibrationFeatures> Event::Builder::disownFeaturesDEPRECATED() { + KJ_IREQUIRE((which() == Event::FEATURES_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::CalibrationFeatures>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isSensorEventsDEPRECATED() const { + return which() == Event::SENSOR_EVENTS_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Builder::isSensorEventsDEPRECATED() { + return which() == Event::SENSOR_EVENTS_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Reader::hasSensorEventsDEPRECATED() const { + if (which() != Event::SENSOR_EVENTS_D_E_P_R_E_C_A_T_E_D) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasSensorEventsDEPRECATED() { + if (which() != Event::SENSOR_EVENTS_D_E_P_R_E_C_A_T_E_D) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::SensorEventData, ::capnp::Kind::STRUCT>::Reader Event::Reader::getSensorEventsDEPRECATED() const { + KJ_IREQUIRE((which() == Event::SENSOR_EVENTS_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::SensorEventData, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::SensorEventData, ::capnp::Kind::STRUCT>::Builder Event::Builder::getSensorEventsDEPRECATED() { + KJ_IREQUIRE((which() == Event::SENSOR_EVENTS_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::SensorEventData, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setSensorEventsDEPRECATED( ::capnp::List< ::cereal::SensorEventData, ::capnp::Kind::STRUCT>::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::SENSOR_EVENTS_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::SensorEventData, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::SensorEventData, ::capnp::Kind::STRUCT>::Builder Event::Builder::initSensorEventsDEPRECATED(unsigned int size) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::SENSOR_EVENTS_D_E_P_R_E_C_A_T_E_D); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::SensorEventData, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void Event::Builder::adoptSensorEventsDEPRECATED( + ::capnp::Orphan< ::capnp::List< ::cereal::SensorEventData, ::capnp::Kind::STRUCT>>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::SENSOR_EVENTS_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::SensorEventData, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::SensorEventData, ::capnp::Kind::STRUCT>> Event::Builder::disownSensorEventsDEPRECATED() { + KJ_IREQUIRE((which() == Event::SENSOR_EVENTS_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::SensorEventData, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isPandaStateDEPRECATED() const { + return which() == Event::PANDA_STATE_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Builder::isPandaStateDEPRECATED() { + return which() == Event::PANDA_STATE_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Reader::hasPandaStateDEPRECATED() const { + if (which() != Event::PANDA_STATE_D_E_P_R_E_C_A_T_E_D) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasPandaStateDEPRECATED() { + if (which() != Event::PANDA_STATE_D_E_P_R_E_C_A_T_E_D) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::PandaState::Reader Event::Reader::getPandaStateDEPRECATED() const { + KJ_IREQUIRE((which() == Event::PANDA_STATE_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::PandaState>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::PandaState::Builder Event::Builder::getPandaStateDEPRECATED() { + KJ_IREQUIRE((which() == Event::PANDA_STATE_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::PandaState>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setPandaStateDEPRECATED( ::cereal::PandaState::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::PANDA_STATE_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::PandaState>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::PandaState::Builder Event::Builder::initPandaStateDEPRECATED() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::PANDA_STATE_D_E_P_R_E_C_A_T_E_D); + return ::capnp::_::PointerHelpers< ::cereal::PandaState>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptPandaStateDEPRECATED( + ::capnp::Orphan< ::cereal::PandaState>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::PANDA_STATE_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::PandaState>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::PandaState> Event::Builder::disownPandaStateDEPRECATED() { + KJ_IREQUIRE((which() == Event::PANDA_STATE_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::PandaState>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isRadarState() const { + return which() == Event::RADAR_STATE; +} +inline bool Event::Builder::isRadarState() { + return which() == Event::RADAR_STATE; +} +inline bool Event::Reader::hasRadarState() const { + if (which() != Event::RADAR_STATE) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasRadarState() { + if (which() != Event::RADAR_STATE) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::RadarState::Reader Event::Reader::getRadarState() const { + KJ_IREQUIRE((which() == Event::RADAR_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::RadarState>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::RadarState::Builder Event::Builder::getRadarState() { + KJ_IREQUIRE((which() == Event::RADAR_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::RadarState>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setRadarState( ::cereal::RadarState::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::RADAR_STATE); + ::capnp::_::PointerHelpers< ::cereal::RadarState>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::RadarState::Builder Event::Builder::initRadarState() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::RADAR_STATE); + return ::capnp::_::PointerHelpers< ::cereal::RadarState>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptRadarState( + ::capnp::Orphan< ::cereal::RadarState>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::RADAR_STATE); + ::capnp::_::PointerHelpers< ::cereal::RadarState>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::RadarState> Event::Builder::disownRadarState() { + KJ_IREQUIRE((which() == Event::RADAR_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::RadarState>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isLiveUIDEPRECATED() const { + return which() == Event::LIVE_U_I_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Builder::isLiveUIDEPRECATED() { + return which() == Event::LIVE_U_I_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Reader::hasLiveUIDEPRECATED() const { + if (which() != Event::LIVE_U_I_D_E_P_R_E_C_A_T_E_D) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasLiveUIDEPRECATED() { + if (which() != Event::LIVE_U_I_D_E_P_R_E_C_A_T_E_D) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LiveUI::Reader Event::Reader::getLiveUIDEPRECATED() const { + KJ_IREQUIRE((which() == Event::LIVE_U_I_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LiveUI>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::LiveUI::Builder Event::Builder::getLiveUIDEPRECATED() { + KJ_IREQUIRE((which() == Event::LIVE_U_I_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LiveUI>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setLiveUIDEPRECATED( ::cereal::LiveUI::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_U_I_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::LiveUI>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::LiveUI::Builder Event::Builder::initLiveUIDEPRECATED() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_U_I_D_E_P_R_E_C_A_T_E_D); + return ::capnp::_::PointerHelpers< ::cereal::LiveUI>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptLiveUIDEPRECATED( + ::capnp::Orphan< ::cereal::LiveUI>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_U_I_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::LiveUI>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LiveUI> Event::Builder::disownLiveUIDEPRECATED() { + KJ_IREQUIRE((which() == Event::LIVE_U_I_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LiveUI>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isRoadEncodeIdx() const { + return which() == Event::ROAD_ENCODE_IDX; +} +inline bool Event::Builder::isRoadEncodeIdx() { + return which() == Event::ROAD_ENCODE_IDX; +} +inline bool Event::Reader::hasRoadEncodeIdx() const { + if (which() != Event::ROAD_ENCODE_IDX) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasRoadEncodeIdx() { + if (which() != Event::ROAD_ENCODE_IDX) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::EncodeIndex::Reader Event::Reader::getRoadEncodeIdx() const { + KJ_IREQUIRE((which() == Event::ROAD_ENCODE_IDX), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::EncodeIndex::Builder Event::Builder::getRoadEncodeIdx() { + KJ_IREQUIRE((which() == Event::ROAD_ENCODE_IDX), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setRoadEncodeIdx( ::cereal::EncodeIndex::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ROAD_ENCODE_IDX); + ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::EncodeIndex::Builder Event::Builder::initRoadEncodeIdx() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ROAD_ENCODE_IDX); + return ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptRoadEncodeIdx( + ::capnp::Orphan< ::cereal::EncodeIndex>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ROAD_ENCODE_IDX); + ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::EncodeIndex> Event::Builder::disownRoadEncodeIdx() { + KJ_IREQUIRE((which() == Event::ROAD_ENCODE_IDX), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isLiveTracks() const { + return which() == Event::LIVE_TRACKS; +} +inline bool Event::Builder::isLiveTracks() { + return which() == Event::LIVE_TRACKS; +} +inline bool Event::Reader::hasLiveTracks() const { + if (which() != Event::LIVE_TRACKS) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasLiveTracks() { + if (which() != Event::LIVE_TRACKS) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::LiveTracks, ::capnp::Kind::STRUCT>::Reader Event::Reader::getLiveTracks() const { + KJ_IREQUIRE((which() == Event::LIVE_TRACKS), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::LiveTracks, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::LiveTracks, ::capnp::Kind::STRUCT>::Builder Event::Builder::getLiveTracks() { + KJ_IREQUIRE((which() == Event::LIVE_TRACKS), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::LiveTracks, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setLiveTracks( ::capnp::List< ::cereal::LiveTracks, ::capnp::Kind::STRUCT>::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_TRACKS); + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::LiveTracks, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::LiveTracks, ::capnp::Kind::STRUCT>::Builder Event::Builder::initLiveTracks(unsigned int size) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_TRACKS); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::LiveTracks, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void Event::Builder::adoptLiveTracks( + ::capnp::Orphan< ::capnp::List< ::cereal::LiveTracks, ::capnp::Kind::STRUCT>>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_TRACKS); + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::LiveTracks, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::LiveTracks, ::capnp::Kind::STRUCT>> Event::Builder::disownLiveTracks() { + KJ_IREQUIRE((which() == Event::LIVE_TRACKS), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::LiveTracks, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isSendcan() const { + return which() == Event::SENDCAN; +} +inline bool Event::Builder::isSendcan() { + return which() == Event::SENDCAN; +} +inline bool Event::Reader::hasSendcan() const { + if (which() != Event::SENDCAN) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasSendcan() { + if (which() != Event::SENDCAN) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::CanData, ::capnp::Kind::STRUCT>::Reader Event::Reader::getSendcan() const { + KJ_IREQUIRE((which() == Event::SENDCAN), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CanData, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::CanData, ::capnp::Kind::STRUCT>::Builder Event::Builder::getSendcan() { + KJ_IREQUIRE((which() == Event::SENDCAN), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CanData, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setSendcan( ::capnp::List< ::cereal::CanData, ::capnp::Kind::STRUCT>::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::SENDCAN); + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CanData, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::CanData, ::capnp::Kind::STRUCT>::Builder Event::Builder::initSendcan(unsigned int size) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::SENDCAN); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CanData, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void Event::Builder::adoptSendcan( + ::capnp::Orphan< ::capnp::List< ::cereal::CanData, ::capnp::Kind::STRUCT>>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::SENDCAN); + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CanData, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::CanData, ::capnp::Kind::STRUCT>> Event::Builder::disownSendcan() { + KJ_IREQUIRE((which() == Event::SENDCAN), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CanData, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isLogMessage() const { + return which() == Event::LOG_MESSAGE; +} +inline bool Event::Builder::isLogMessage() { + return which() == Event::LOG_MESSAGE; +} +inline bool Event::Reader::hasLogMessage() const { + if (which() != Event::LOG_MESSAGE) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasLogMessage() { + if (which() != Event::LOG_MESSAGE) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader Event::Reader::getLogMessage() const { + KJ_IREQUIRE((which() == Event::LOG_MESSAGE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder Event::Builder::getLogMessage() { + KJ_IREQUIRE((which() == Event::LOG_MESSAGE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setLogMessage( ::capnp::Text::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LOG_MESSAGE); + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder Event::Builder::initLogMessage(unsigned int size) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LOG_MESSAGE); + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void Event::Builder::adoptLogMessage( + ::capnp::Orphan< ::capnp::Text>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LOG_MESSAGE); + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> Event::Builder::disownLogMessage() { + KJ_IREQUIRE((which() == Event::LOG_MESSAGE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isLiveCalibration() const { + return which() == Event::LIVE_CALIBRATION; +} +inline bool Event::Builder::isLiveCalibration() { + return which() == Event::LIVE_CALIBRATION; +} +inline bool Event::Reader::hasLiveCalibration() const { + if (which() != Event::LIVE_CALIBRATION) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasLiveCalibration() { + if (which() != Event::LIVE_CALIBRATION) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LiveCalibrationData::Reader Event::Reader::getLiveCalibration() const { + KJ_IREQUIRE((which() == Event::LIVE_CALIBRATION), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LiveCalibrationData>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::LiveCalibrationData::Builder Event::Builder::getLiveCalibration() { + KJ_IREQUIRE((which() == Event::LIVE_CALIBRATION), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LiveCalibrationData>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setLiveCalibration( ::cereal::LiveCalibrationData::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_CALIBRATION); + ::capnp::_::PointerHelpers< ::cereal::LiveCalibrationData>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::LiveCalibrationData::Builder Event::Builder::initLiveCalibration() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_CALIBRATION); + return ::capnp::_::PointerHelpers< ::cereal::LiveCalibrationData>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptLiveCalibration( + ::capnp::Orphan< ::cereal::LiveCalibrationData>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_CALIBRATION); + ::capnp::_::PointerHelpers< ::cereal::LiveCalibrationData>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LiveCalibrationData> Event::Builder::disownLiveCalibration() { + KJ_IREQUIRE((which() == Event::LIVE_CALIBRATION), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LiveCalibrationData>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isAndroidLog() const { + return which() == Event::ANDROID_LOG; +} +inline bool Event::Builder::isAndroidLog() { + return which() == Event::ANDROID_LOG; +} +inline bool Event::Reader::hasAndroidLog() const { + if (which() != Event::ANDROID_LOG) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasAndroidLog() { + if (which() != Event::ANDROID_LOG) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::AndroidLogEntry::Reader Event::Reader::getAndroidLog() const { + KJ_IREQUIRE((which() == Event::ANDROID_LOG), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::AndroidLogEntry>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::AndroidLogEntry::Builder Event::Builder::getAndroidLog() { + KJ_IREQUIRE((which() == Event::ANDROID_LOG), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::AndroidLogEntry>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setAndroidLog( ::cereal::AndroidLogEntry::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ANDROID_LOG); + ::capnp::_::PointerHelpers< ::cereal::AndroidLogEntry>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::AndroidLogEntry::Builder Event::Builder::initAndroidLog() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ANDROID_LOG); + return ::capnp::_::PointerHelpers< ::cereal::AndroidLogEntry>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptAndroidLog( + ::capnp::Orphan< ::cereal::AndroidLogEntry>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ANDROID_LOG); + ::capnp::_::PointerHelpers< ::cereal::AndroidLogEntry>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::AndroidLogEntry> Event::Builder::disownAndroidLog() { + KJ_IREQUIRE((which() == Event::ANDROID_LOG), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::AndroidLogEntry>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isGpsLocation() const { + return which() == Event::GPS_LOCATION; +} +inline bool Event::Builder::isGpsLocation() { + return which() == Event::GPS_LOCATION; +} +inline bool Event::Reader::hasGpsLocation() const { + if (which() != Event::GPS_LOCATION) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasGpsLocation() { + if (which() != Event::GPS_LOCATION) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::GpsLocationData::Reader Event::Reader::getGpsLocation() const { + KJ_IREQUIRE((which() == Event::GPS_LOCATION), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::GpsLocationData>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::GpsLocationData::Builder Event::Builder::getGpsLocation() { + KJ_IREQUIRE((which() == Event::GPS_LOCATION), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::GpsLocationData>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setGpsLocation( ::cereal::GpsLocationData::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::GPS_LOCATION); + ::capnp::_::PointerHelpers< ::cereal::GpsLocationData>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::GpsLocationData::Builder Event::Builder::initGpsLocation() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::GPS_LOCATION); + return ::capnp::_::PointerHelpers< ::cereal::GpsLocationData>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptGpsLocation( + ::capnp::Orphan< ::cereal::GpsLocationData>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::GPS_LOCATION); + ::capnp::_::PointerHelpers< ::cereal::GpsLocationData>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::GpsLocationData> Event::Builder::disownGpsLocation() { + KJ_IREQUIRE((which() == Event::GPS_LOCATION), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::GpsLocationData>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isCarState() const { + return which() == Event::CAR_STATE; +} +inline bool Event::Builder::isCarState() { + return which() == Event::CAR_STATE; +} +inline bool Event::Reader::hasCarState() const { + if (which() != Event::CAR_STATE) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasCarState() { + if (which() != Event::CAR_STATE) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::CarState::Reader Event::Reader::getCarState() const { + KJ_IREQUIRE((which() == Event::CAR_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::CarState>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::CarState::Builder Event::Builder::getCarState() { + KJ_IREQUIRE((which() == Event::CAR_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::CarState>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setCarState( ::cereal::CarState::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CAR_STATE); + ::capnp::_::PointerHelpers< ::cereal::CarState>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::CarState::Builder Event::Builder::initCarState() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CAR_STATE); + return ::capnp::_::PointerHelpers< ::cereal::CarState>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptCarState( + ::capnp::Orphan< ::cereal::CarState>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CAR_STATE); + ::capnp::_::PointerHelpers< ::cereal::CarState>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::CarState> Event::Builder::disownCarState() { + KJ_IREQUIRE((which() == Event::CAR_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::CarState>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isCarControl() const { + return which() == Event::CAR_CONTROL; +} +inline bool Event::Builder::isCarControl() { + return which() == Event::CAR_CONTROL; +} +inline bool Event::Reader::hasCarControl() const { + if (which() != Event::CAR_CONTROL) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasCarControl() { + if (which() != Event::CAR_CONTROL) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::CarControl::Reader Event::Reader::getCarControl() const { + KJ_IREQUIRE((which() == Event::CAR_CONTROL), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::CarControl>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::CarControl::Builder Event::Builder::getCarControl() { + KJ_IREQUIRE((which() == Event::CAR_CONTROL), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::CarControl>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setCarControl( ::cereal::CarControl::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CAR_CONTROL); + ::capnp::_::PointerHelpers< ::cereal::CarControl>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::CarControl::Builder Event::Builder::initCarControl() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CAR_CONTROL); + return ::capnp::_::PointerHelpers< ::cereal::CarControl>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptCarControl( + ::capnp::Orphan< ::cereal::CarControl>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CAR_CONTROL); + ::capnp::_::PointerHelpers< ::cereal::CarControl>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::CarControl> Event::Builder::disownCarControl() { + KJ_IREQUIRE((which() == Event::CAR_CONTROL), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::CarControl>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isLongitudinalPlan() const { + return which() == Event::LONGITUDINAL_PLAN; +} +inline bool Event::Builder::isLongitudinalPlan() { + return which() == Event::LONGITUDINAL_PLAN; +} +inline bool Event::Reader::hasLongitudinalPlan() const { + if (which() != Event::LONGITUDINAL_PLAN) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasLongitudinalPlan() { + if (which() != Event::LONGITUDINAL_PLAN) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LongitudinalPlan::Reader Event::Reader::getLongitudinalPlan() const { + KJ_IREQUIRE((which() == Event::LONGITUDINAL_PLAN), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LongitudinalPlan>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::LongitudinalPlan::Builder Event::Builder::getLongitudinalPlan() { + KJ_IREQUIRE((which() == Event::LONGITUDINAL_PLAN), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LongitudinalPlan>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setLongitudinalPlan( ::cereal::LongitudinalPlan::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LONGITUDINAL_PLAN); + ::capnp::_::PointerHelpers< ::cereal::LongitudinalPlan>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::LongitudinalPlan::Builder Event::Builder::initLongitudinalPlan() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LONGITUDINAL_PLAN); + return ::capnp::_::PointerHelpers< ::cereal::LongitudinalPlan>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptLongitudinalPlan( + ::capnp::Orphan< ::cereal::LongitudinalPlan>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LONGITUDINAL_PLAN); + ::capnp::_::PointerHelpers< ::cereal::LongitudinalPlan>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LongitudinalPlan> Event::Builder::disownLongitudinalPlan() { + KJ_IREQUIRE((which() == Event::LONGITUDINAL_PLAN), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LongitudinalPlan>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isLiveLocationDEPRECATED() const { + return which() == Event::LIVE_LOCATION_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Builder::isLiveLocationDEPRECATED() { + return which() == Event::LIVE_LOCATION_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Reader::hasLiveLocationDEPRECATED() const { + if (which() != Event::LIVE_LOCATION_D_E_P_R_E_C_A_T_E_D) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasLiveLocationDEPRECATED() { + if (which() != Event::LIVE_LOCATION_D_E_P_R_E_C_A_T_E_D) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LiveLocationData::Reader Event::Reader::getLiveLocationDEPRECATED() const { + KJ_IREQUIRE((which() == Event::LIVE_LOCATION_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationData>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::LiveLocationData::Builder Event::Builder::getLiveLocationDEPRECATED() { + KJ_IREQUIRE((which() == Event::LIVE_LOCATION_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationData>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setLiveLocationDEPRECATED( ::cereal::LiveLocationData::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_LOCATION_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::LiveLocationData>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::LiveLocationData::Builder Event::Builder::initLiveLocationDEPRECATED() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_LOCATION_D_E_P_R_E_C_A_T_E_D); + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationData>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptLiveLocationDEPRECATED( + ::capnp::Orphan< ::cereal::LiveLocationData>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_LOCATION_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::LiveLocationData>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LiveLocationData> Event::Builder::disownLiveLocationDEPRECATED() { + KJ_IREQUIRE((which() == Event::LIVE_LOCATION_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationData>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isEthernetDataDEPRECATED() const { + return which() == Event::ETHERNET_DATA_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Builder::isEthernetDataDEPRECATED() { + return which() == Event::ETHERNET_DATA_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Reader::hasEthernetDataDEPRECATED() const { + if (which() != Event::ETHERNET_DATA_D_E_P_R_E_C_A_T_E_D) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasEthernetDataDEPRECATED() { + if (which() != Event::ETHERNET_DATA_D_E_P_R_E_C_A_T_E_D) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::EthernetPacket, ::capnp::Kind::STRUCT>::Reader Event::Reader::getEthernetDataDEPRECATED() const { + KJ_IREQUIRE((which() == Event::ETHERNET_DATA_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::EthernetPacket, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::EthernetPacket, ::capnp::Kind::STRUCT>::Builder Event::Builder::getEthernetDataDEPRECATED() { + KJ_IREQUIRE((which() == Event::ETHERNET_DATA_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::EthernetPacket, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setEthernetDataDEPRECATED( ::capnp::List< ::cereal::EthernetPacket, ::capnp::Kind::STRUCT>::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ETHERNET_DATA_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::EthernetPacket, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::EthernetPacket, ::capnp::Kind::STRUCT>::Builder Event::Builder::initEthernetDataDEPRECATED(unsigned int size) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ETHERNET_DATA_D_E_P_R_E_C_A_T_E_D); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::EthernetPacket, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void Event::Builder::adoptEthernetDataDEPRECATED( + ::capnp::Orphan< ::capnp::List< ::cereal::EthernetPacket, ::capnp::Kind::STRUCT>>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ETHERNET_DATA_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::EthernetPacket, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::EthernetPacket, ::capnp::Kind::STRUCT>> Event::Builder::disownEthernetDataDEPRECATED() { + KJ_IREQUIRE((which() == Event::ETHERNET_DATA_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::EthernetPacket, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isNavUpdateDEPRECATED() const { + return which() == Event::NAV_UPDATE_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Builder::isNavUpdateDEPRECATED() { + return which() == Event::NAV_UPDATE_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Reader::hasNavUpdateDEPRECATED() const { + if (which() != Event::NAV_UPDATE_D_E_P_R_E_C_A_T_E_D) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasNavUpdateDEPRECATED() { + if (which() != Event::NAV_UPDATE_D_E_P_R_E_C_A_T_E_D) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::NavUpdate::Reader Event::Reader::getNavUpdateDEPRECATED() const { + KJ_IREQUIRE((which() == Event::NAV_UPDATE_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::NavUpdate>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::NavUpdate::Builder Event::Builder::getNavUpdateDEPRECATED() { + KJ_IREQUIRE((which() == Event::NAV_UPDATE_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::NavUpdate>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setNavUpdateDEPRECATED( ::cereal::NavUpdate::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::NAV_UPDATE_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::NavUpdate>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::NavUpdate::Builder Event::Builder::initNavUpdateDEPRECATED() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::NAV_UPDATE_D_E_P_R_E_C_A_T_E_D); + return ::capnp::_::PointerHelpers< ::cereal::NavUpdate>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptNavUpdateDEPRECATED( + ::capnp::Orphan< ::cereal::NavUpdate>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::NAV_UPDATE_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::NavUpdate>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::NavUpdate> Event::Builder::disownNavUpdateDEPRECATED() { + KJ_IREQUIRE((which() == Event::NAV_UPDATE_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::NavUpdate>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isCellInfoDEPRECATED() const { + return which() == Event::CELL_INFO_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Builder::isCellInfoDEPRECATED() { + return which() == Event::CELL_INFO_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Reader::hasCellInfoDEPRECATED() const { + if (which() != Event::CELL_INFO_D_E_P_R_E_C_A_T_E_D) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasCellInfoDEPRECATED() { + if (which() != Event::CELL_INFO_D_E_P_R_E_C_A_T_E_D) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::CellInfo, ::capnp::Kind::STRUCT>::Reader Event::Reader::getCellInfoDEPRECATED() const { + KJ_IREQUIRE((which() == Event::CELL_INFO_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CellInfo, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::CellInfo, ::capnp::Kind::STRUCT>::Builder Event::Builder::getCellInfoDEPRECATED() { + KJ_IREQUIRE((which() == Event::CELL_INFO_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CellInfo, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setCellInfoDEPRECATED( ::capnp::List< ::cereal::CellInfo, ::capnp::Kind::STRUCT>::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CELL_INFO_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CellInfo, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::CellInfo, ::capnp::Kind::STRUCT>::Builder Event::Builder::initCellInfoDEPRECATED(unsigned int size) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CELL_INFO_D_E_P_R_E_C_A_T_E_D); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CellInfo, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void Event::Builder::adoptCellInfoDEPRECATED( + ::capnp::Orphan< ::capnp::List< ::cereal::CellInfo, ::capnp::Kind::STRUCT>>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CELL_INFO_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CellInfo, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::CellInfo, ::capnp::Kind::STRUCT>> Event::Builder::disownCellInfoDEPRECATED() { + KJ_IREQUIRE((which() == Event::CELL_INFO_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CellInfo, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isWifiScanDEPRECATED() const { + return which() == Event::WIFI_SCAN_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Builder::isWifiScanDEPRECATED() { + return which() == Event::WIFI_SCAN_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Reader::hasWifiScanDEPRECATED() const { + if (which() != Event::WIFI_SCAN_D_E_P_R_E_C_A_T_E_D) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasWifiScanDEPRECATED() { + if (which() != Event::WIFI_SCAN_D_E_P_R_E_C_A_T_E_D) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::WifiScan, ::capnp::Kind::STRUCT>::Reader Event::Reader::getWifiScanDEPRECATED() const { + KJ_IREQUIRE((which() == Event::WIFI_SCAN_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::WifiScan, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::WifiScan, ::capnp::Kind::STRUCT>::Builder Event::Builder::getWifiScanDEPRECATED() { + KJ_IREQUIRE((which() == Event::WIFI_SCAN_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::WifiScan, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setWifiScanDEPRECATED( ::capnp::List< ::cereal::WifiScan, ::capnp::Kind::STRUCT>::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::WIFI_SCAN_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::WifiScan, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::WifiScan, ::capnp::Kind::STRUCT>::Builder Event::Builder::initWifiScanDEPRECATED(unsigned int size) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::WIFI_SCAN_D_E_P_R_E_C_A_T_E_D); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::WifiScan, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void Event::Builder::adoptWifiScanDEPRECATED( + ::capnp::Orphan< ::capnp::List< ::cereal::WifiScan, ::capnp::Kind::STRUCT>>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::WIFI_SCAN_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::WifiScan, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::WifiScan, ::capnp::Kind::STRUCT>> Event::Builder::disownWifiScanDEPRECATED() { + KJ_IREQUIRE((which() == Event::WIFI_SCAN_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::WifiScan, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isAndroidGnssDEPRECATED() const { + return which() == Event::ANDROID_GNSS_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Builder::isAndroidGnssDEPRECATED() { + return which() == Event::ANDROID_GNSS_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Reader::hasAndroidGnssDEPRECATED() const { + if (which() != Event::ANDROID_GNSS_D_E_P_R_E_C_A_T_E_D) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasAndroidGnssDEPRECATED() { + if (which() != Event::ANDROID_GNSS_D_E_P_R_E_C_A_T_E_D) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::AndroidGnss::Reader Event::Reader::getAndroidGnssDEPRECATED() const { + KJ_IREQUIRE((which() == Event::ANDROID_GNSS_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::AndroidGnss>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::AndroidGnss::Builder Event::Builder::getAndroidGnssDEPRECATED() { + KJ_IREQUIRE((which() == Event::ANDROID_GNSS_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::AndroidGnss>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setAndroidGnssDEPRECATED( ::cereal::AndroidGnss::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ANDROID_GNSS_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::AndroidGnss>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::AndroidGnss::Builder Event::Builder::initAndroidGnssDEPRECATED() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ANDROID_GNSS_D_E_P_R_E_C_A_T_E_D); + return ::capnp::_::PointerHelpers< ::cereal::AndroidGnss>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptAndroidGnssDEPRECATED( + ::capnp::Orphan< ::cereal::AndroidGnss>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ANDROID_GNSS_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::AndroidGnss>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::AndroidGnss> Event::Builder::disownAndroidGnssDEPRECATED() { + KJ_IREQUIRE((which() == Event::ANDROID_GNSS_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::AndroidGnss>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isQcomGnss() const { + return which() == Event::QCOM_GNSS; +} +inline bool Event::Builder::isQcomGnss() { + return which() == Event::QCOM_GNSS; +} +inline bool Event::Reader::hasQcomGnss() const { + if (which() != Event::QCOM_GNSS) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasQcomGnss() { + if (which() != Event::QCOM_GNSS) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::QcomGnss::Reader Event::Reader::getQcomGnss() const { + KJ_IREQUIRE((which() == Event::QCOM_GNSS), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::QcomGnss>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::QcomGnss::Builder Event::Builder::getQcomGnss() { + KJ_IREQUIRE((which() == Event::QCOM_GNSS), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::QcomGnss>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setQcomGnss( ::cereal::QcomGnss::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::QCOM_GNSS); + ::capnp::_::PointerHelpers< ::cereal::QcomGnss>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::QcomGnss::Builder Event::Builder::initQcomGnss() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::QCOM_GNSS); + return ::capnp::_::PointerHelpers< ::cereal::QcomGnss>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptQcomGnss( + ::capnp::Orphan< ::cereal::QcomGnss>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::QCOM_GNSS); + ::capnp::_::PointerHelpers< ::cereal::QcomGnss>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::QcomGnss> Event::Builder::disownQcomGnss() { + KJ_IREQUIRE((which() == Event::QCOM_GNSS), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::QcomGnss>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isLidarPtsDEPRECATED() const { + return which() == Event::LIDAR_PTS_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Builder::isLidarPtsDEPRECATED() { + return which() == Event::LIDAR_PTS_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Reader::hasLidarPtsDEPRECATED() const { + if (which() != Event::LIDAR_PTS_D_E_P_R_E_C_A_T_E_D) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasLidarPtsDEPRECATED() { + if (which() != Event::LIDAR_PTS_D_E_P_R_E_C_A_T_E_D) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LidarPts::Reader Event::Reader::getLidarPtsDEPRECATED() const { + KJ_IREQUIRE((which() == Event::LIDAR_PTS_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LidarPts>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::LidarPts::Builder Event::Builder::getLidarPtsDEPRECATED() { + KJ_IREQUIRE((which() == Event::LIDAR_PTS_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LidarPts>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setLidarPtsDEPRECATED( ::cereal::LidarPts::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIDAR_PTS_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::LidarPts>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::LidarPts::Builder Event::Builder::initLidarPtsDEPRECATED() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIDAR_PTS_D_E_P_R_E_C_A_T_E_D); + return ::capnp::_::PointerHelpers< ::cereal::LidarPts>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptLidarPtsDEPRECATED( + ::capnp::Orphan< ::cereal::LidarPts>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIDAR_PTS_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::LidarPts>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LidarPts> Event::Builder::disownLidarPtsDEPRECATED() { + KJ_IREQUIRE((which() == Event::LIDAR_PTS_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LidarPts>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isProcLog() const { + return which() == Event::PROC_LOG; +} +inline bool Event::Builder::isProcLog() { + return which() == Event::PROC_LOG; +} +inline bool Event::Reader::hasProcLog() const { + if (which() != Event::PROC_LOG) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasProcLog() { + if (which() != Event::PROC_LOG) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::ProcLog::Reader Event::Reader::getProcLog() const { + KJ_IREQUIRE((which() == Event::PROC_LOG), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ProcLog>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::ProcLog::Builder Event::Builder::getProcLog() { + KJ_IREQUIRE((which() == Event::PROC_LOG), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ProcLog>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setProcLog( ::cereal::ProcLog::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::PROC_LOG); + ::capnp::_::PointerHelpers< ::cereal::ProcLog>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::ProcLog::Builder Event::Builder::initProcLog() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::PROC_LOG); + return ::capnp::_::PointerHelpers< ::cereal::ProcLog>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptProcLog( + ::capnp::Orphan< ::cereal::ProcLog>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::PROC_LOG); + ::capnp::_::PointerHelpers< ::cereal::ProcLog>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::ProcLog> Event::Builder::disownProcLog() { + KJ_IREQUIRE((which() == Event::PROC_LOG), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ProcLog>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isUbloxGnss() const { + return which() == Event::UBLOX_GNSS; +} +inline bool Event::Builder::isUbloxGnss() { + return which() == Event::UBLOX_GNSS; +} +inline bool Event::Reader::hasUbloxGnss() const { + if (which() != Event::UBLOX_GNSS) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasUbloxGnss() { + if (which() != Event::UBLOX_GNSS) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::UbloxGnss::Reader Event::Reader::getUbloxGnss() const { + KJ_IREQUIRE((which() == Event::UBLOX_GNSS), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::UbloxGnss>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::UbloxGnss::Builder Event::Builder::getUbloxGnss() { + KJ_IREQUIRE((which() == Event::UBLOX_GNSS), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::UbloxGnss>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setUbloxGnss( ::cereal::UbloxGnss::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::UBLOX_GNSS); + ::capnp::_::PointerHelpers< ::cereal::UbloxGnss>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::UbloxGnss::Builder Event::Builder::initUbloxGnss() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::UBLOX_GNSS); + return ::capnp::_::PointerHelpers< ::cereal::UbloxGnss>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptUbloxGnss( + ::capnp::Orphan< ::cereal::UbloxGnss>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::UBLOX_GNSS); + ::capnp::_::PointerHelpers< ::cereal::UbloxGnss>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::UbloxGnss> Event::Builder::disownUbloxGnss() { + KJ_IREQUIRE((which() == Event::UBLOX_GNSS), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::UbloxGnss>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isClocks() const { + return which() == Event::CLOCKS; +} +inline bool Event::Builder::isClocks() { + return which() == Event::CLOCKS; +} +inline bool Event::Reader::hasClocks() const { + if (which() != Event::CLOCKS) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasClocks() { + if (which() != Event::CLOCKS) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::Clocks::Reader Event::Reader::getClocks() const { + KJ_IREQUIRE((which() == Event::CLOCKS), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::Clocks>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::Clocks::Builder Event::Builder::getClocks() { + KJ_IREQUIRE((which() == Event::CLOCKS), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::Clocks>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setClocks( ::cereal::Clocks::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CLOCKS); + ::capnp::_::PointerHelpers< ::cereal::Clocks>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::Clocks::Builder Event::Builder::initClocks() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CLOCKS); + return ::capnp::_::PointerHelpers< ::cereal::Clocks>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptClocks( + ::capnp::Orphan< ::cereal::Clocks>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CLOCKS); + ::capnp::_::PointerHelpers< ::cereal::Clocks>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::Clocks> Event::Builder::disownClocks() { + KJ_IREQUIRE((which() == Event::CLOCKS), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::Clocks>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isLiveMpcDEPRECATED() const { + return which() == Event::LIVE_MPC_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Builder::isLiveMpcDEPRECATED() { + return which() == Event::LIVE_MPC_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Reader::hasLiveMpcDEPRECATED() const { + if (which() != Event::LIVE_MPC_D_E_P_R_E_C_A_T_E_D) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasLiveMpcDEPRECATED() { + if (which() != Event::LIVE_MPC_D_E_P_R_E_C_A_T_E_D) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LiveMpcData::Reader Event::Reader::getLiveMpcDEPRECATED() const { + KJ_IREQUIRE((which() == Event::LIVE_MPC_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LiveMpcData>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::LiveMpcData::Builder Event::Builder::getLiveMpcDEPRECATED() { + KJ_IREQUIRE((which() == Event::LIVE_MPC_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LiveMpcData>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setLiveMpcDEPRECATED( ::cereal::LiveMpcData::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_MPC_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::LiveMpcData>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::LiveMpcData::Builder Event::Builder::initLiveMpcDEPRECATED() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_MPC_D_E_P_R_E_C_A_T_E_D); + return ::capnp::_::PointerHelpers< ::cereal::LiveMpcData>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptLiveMpcDEPRECATED( + ::capnp::Orphan< ::cereal::LiveMpcData>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_MPC_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::LiveMpcData>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LiveMpcData> Event::Builder::disownLiveMpcDEPRECATED() { + KJ_IREQUIRE((which() == Event::LIVE_MPC_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LiveMpcData>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isLiveLongitudinalMpcDEPRECATED() const { + return which() == Event::LIVE_LONGITUDINAL_MPC_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Builder::isLiveLongitudinalMpcDEPRECATED() { + return which() == Event::LIVE_LONGITUDINAL_MPC_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Reader::hasLiveLongitudinalMpcDEPRECATED() const { + if (which() != Event::LIVE_LONGITUDINAL_MPC_D_E_P_R_E_C_A_T_E_D) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasLiveLongitudinalMpcDEPRECATED() { + if (which() != Event::LIVE_LONGITUDINAL_MPC_D_E_P_R_E_C_A_T_E_D) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LiveLongitudinalMpcData::Reader Event::Reader::getLiveLongitudinalMpcDEPRECATED() const { + KJ_IREQUIRE((which() == Event::LIVE_LONGITUDINAL_MPC_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LiveLongitudinalMpcData>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::LiveLongitudinalMpcData::Builder Event::Builder::getLiveLongitudinalMpcDEPRECATED() { + KJ_IREQUIRE((which() == Event::LIVE_LONGITUDINAL_MPC_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LiveLongitudinalMpcData>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setLiveLongitudinalMpcDEPRECATED( ::cereal::LiveLongitudinalMpcData::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_LONGITUDINAL_MPC_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::LiveLongitudinalMpcData>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::LiveLongitudinalMpcData::Builder Event::Builder::initLiveLongitudinalMpcDEPRECATED() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_LONGITUDINAL_MPC_D_E_P_R_E_C_A_T_E_D); + return ::capnp::_::PointerHelpers< ::cereal::LiveLongitudinalMpcData>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptLiveLongitudinalMpcDEPRECATED( + ::capnp::Orphan< ::cereal::LiveLongitudinalMpcData>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_LONGITUDINAL_MPC_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::LiveLongitudinalMpcData>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LiveLongitudinalMpcData> Event::Builder::disownLiveLongitudinalMpcDEPRECATED() { + KJ_IREQUIRE((which() == Event::LIVE_LONGITUDINAL_MPC_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LiveLongitudinalMpcData>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isNavStatusDEPRECATED() const { + return which() == Event::NAV_STATUS_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Builder::isNavStatusDEPRECATED() { + return which() == Event::NAV_STATUS_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Reader::hasNavStatusDEPRECATED() const { + if (which() != Event::NAV_STATUS_D_E_P_R_E_C_A_T_E_D) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasNavStatusDEPRECATED() { + if (which() != Event::NAV_STATUS_D_E_P_R_E_C_A_T_E_D) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::NavStatus::Reader Event::Reader::getNavStatusDEPRECATED() const { + KJ_IREQUIRE((which() == Event::NAV_STATUS_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::NavStatus>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::NavStatus::Builder Event::Builder::getNavStatusDEPRECATED() { + KJ_IREQUIRE((which() == Event::NAV_STATUS_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::NavStatus>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setNavStatusDEPRECATED( ::cereal::NavStatus::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::NAV_STATUS_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::NavStatus>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::NavStatus::Builder Event::Builder::initNavStatusDEPRECATED() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::NAV_STATUS_D_E_P_R_E_C_A_T_E_D); + return ::capnp::_::PointerHelpers< ::cereal::NavStatus>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptNavStatusDEPRECATED( + ::capnp::Orphan< ::cereal::NavStatus>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::NAV_STATUS_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::NavStatus>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::NavStatus> Event::Builder::disownNavStatusDEPRECATED() { + KJ_IREQUIRE((which() == Event::NAV_STATUS_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::NavStatus>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isUbloxRaw() const { + return which() == Event::UBLOX_RAW; +} +inline bool Event::Builder::isUbloxRaw() { + return which() == Event::UBLOX_RAW; +} +inline bool Event::Reader::hasUbloxRaw() const { + if (which() != Event::UBLOX_RAW) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasUbloxRaw() { + if (which() != Event::UBLOX_RAW) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Data::Reader Event::Reader::getUbloxRaw() const { + KJ_IREQUIRE((which() == Event::UBLOX_RAW), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::Data::Builder Event::Builder::getUbloxRaw() { + KJ_IREQUIRE((which() == Event::UBLOX_RAW), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setUbloxRaw( ::capnp::Data::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::UBLOX_RAW); + ::capnp::_::PointerHelpers< ::capnp::Data>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::Data::Builder Event::Builder::initUbloxRaw(unsigned int size) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::UBLOX_RAW); + return ::capnp::_::PointerHelpers< ::capnp::Data>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void Event::Builder::adoptUbloxRaw( + ::capnp::Orphan< ::capnp::Data>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::UBLOX_RAW); + ::capnp::_::PointerHelpers< ::capnp::Data>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Data> Event::Builder::disownUbloxRaw() { + KJ_IREQUIRE((which() == Event::UBLOX_RAW), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::Data>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isGpsPlannerPointsDEPRECATED() const { + return which() == Event::GPS_PLANNER_POINTS_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Builder::isGpsPlannerPointsDEPRECATED() { + return which() == Event::GPS_PLANNER_POINTS_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Reader::hasGpsPlannerPointsDEPRECATED() const { + if (which() != Event::GPS_PLANNER_POINTS_D_E_P_R_E_C_A_T_E_D) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasGpsPlannerPointsDEPRECATED() { + if (which() != Event::GPS_PLANNER_POINTS_D_E_P_R_E_C_A_T_E_D) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::GPSPlannerPoints::Reader Event::Reader::getGpsPlannerPointsDEPRECATED() const { + KJ_IREQUIRE((which() == Event::GPS_PLANNER_POINTS_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::GPSPlannerPoints>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::GPSPlannerPoints::Builder Event::Builder::getGpsPlannerPointsDEPRECATED() { + KJ_IREQUIRE((which() == Event::GPS_PLANNER_POINTS_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::GPSPlannerPoints>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setGpsPlannerPointsDEPRECATED( ::cereal::GPSPlannerPoints::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::GPS_PLANNER_POINTS_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::GPSPlannerPoints>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::GPSPlannerPoints::Builder Event::Builder::initGpsPlannerPointsDEPRECATED() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::GPS_PLANNER_POINTS_D_E_P_R_E_C_A_T_E_D); + return ::capnp::_::PointerHelpers< ::cereal::GPSPlannerPoints>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptGpsPlannerPointsDEPRECATED( + ::capnp::Orphan< ::cereal::GPSPlannerPoints>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::GPS_PLANNER_POINTS_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::GPSPlannerPoints>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::GPSPlannerPoints> Event::Builder::disownGpsPlannerPointsDEPRECATED() { + KJ_IREQUIRE((which() == Event::GPS_PLANNER_POINTS_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::GPSPlannerPoints>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isGpsPlannerPlanDEPRECATED() const { + return which() == Event::GPS_PLANNER_PLAN_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Builder::isGpsPlannerPlanDEPRECATED() { + return which() == Event::GPS_PLANNER_PLAN_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Reader::hasGpsPlannerPlanDEPRECATED() const { + if (which() != Event::GPS_PLANNER_PLAN_D_E_P_R_E_C_A_T_E_D) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasGpsPlannerPlanDEPRECATED() { + if (which() != Event::GPS_PLANNER_PLAN_D_E_P_R_E_C_A_T_E_D) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::GPSPlannerPlan::Reader Event::Reader::getGpsPlannerPlanDEPRECATED() const { + KJ_IREQUIRE((which() == Event::GPS_PLANNER_PLAN_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::GPSPlannerPlan>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::GPSPlannerPlan::Builder Event::Builder::getGpsPlannerPlanDEPRECATED() { + KJ_IREQUIRE((which() == Event::GPS_PLANNER_PLAN_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::GPSPlannerPlan>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setGpsPlannerPlanDEPRECATED( ::cereal::GPSPlannerPlan::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::GPS_PLANNER_PLAN_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::GPSPlannerPlan>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::GPSPlannerPlan::Builder Event::Builder::initGpsPlannerPlanDEPRECATED() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::GPS_PLANNER_PLAN_D_E_P_R_E_C_A_T_E_D); + return ::capnp::_::PointerHelpers< ::cereal::GPSPlannerPlan>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptGpsPlannerPlanDEPRECATED( + ::capnp::Orphan< ::cereal::GPSPlannerPlan>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::GPS_PLANNER_PLAN_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::GPSPlannerPlan>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::GPSPlannerPlan> Event::Builder::disownGpsPlannerPlanDEPRECATED() { + KJ_IREQUIRE((which() == Event::GPS_PLANNER_PLAN_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::GPSPlannerPlan>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isApplanixRawDEPRECATED() const { + return which() == Event::APPLANIX_RAW_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Builder::isApplanixRawDEPRECATED() { + return which() == Event::APPLANIX_RAW_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Reader::hasApplanixRawDEPRECATED() const { + if (which() != Event::APPLANIX_RAW_D_E_P_R_E_C_A_T_E_D) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasApplanixRawDEPRECATED() { + if (which() != Event::APPLANIX_RAW_D_E_P_R_E_C_A_T_E_D) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Data::Reader Event::Reader::getApplanixRawDEPRECATED() const { + KJ_IREQUIRE((which() == Event::APPLANIX_RAW_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::Data::Builder Event::Builder::getApplanixRawDEPRECATED() { + KJ_IREQUIRE((which() == Event::APPLANIX_RAW_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setApplanixRawDEPRECATED( ::capnp::Data::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::APPLANIX_RAW_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::capnp::Data>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::Data::Builder Event::Builder::initApplanixRawDEPRECATED(unsigned int size) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::APPLANIX_RAW_D_E_P_R_E_C_A_T_E_D); + return ::capnp::_::PointerHelpers< ::capnp::Data>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void Event::Builder::adoptApplanixRawDEPRECATED( + ::capnp::Orphan< ::capnp::Data>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::APPLANIX_RAW_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::capnp::Data>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Data> Event::Builder::disownApplanixRawDEPRECATED() { + KJ_IREQUIRE((which() == Event::APPLANIX_RAW_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::Data>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isTrafficEventsDEPRECATED() const { + return which() == Event::TRAFFIC_EVENTS_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Builder::isTrafficEventsDEPRECATED() { + return which() == Event::TRAFFIC_EVENTS_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Reader::hasTrafficEventsDEPRECATED() const { + if (which() != Event::TRAFFIC_EVENTS_D_E_P_R_E_C_A_T_E_D) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasTrafficEventsDEPRECATED() { + if (which() != Event::TRAFFIC_EVENTS_D_E_P_R_E_C_A_T_E_D) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::TrafficEvent, ::capnp::Kind::STRUCT>::Reader Event::Reader::getTrafficEventsDEPRECATED() const { + KJ_IREQUIRE((which() == Event::TRAFFIC_EVENTS_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::TrafficEvent, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::TrafficEvent, ::capnp::Kind::STRUCT>::Builder Event::Builder::getTrafficEventsDEPRECATED() { + KJ_IREQUIRE((which() == Event::TRAFFIC_EVENTS_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::TrafficEvent, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setTrafficEventsDEPRECATED( ::capnp::List< ::cereal::TrafficEvent, ::capnp::Kind::STRUCT>::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::TRAFFIC_EVENTS_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::TrafficEvent, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::TrafficEvent, ::capnp::Kind::STRUCT>::Builder Event::Builder::initTrafficEventsDEPRECATED(unsigned int size) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::TRAFFIC_EVENTS_D_E_P_R_E_C_A_T_E_D); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::TrafficEvent, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void Event::Builder::adoptTrafficEventsDEPRECATED( + ::capnp::Orphan< ::capnp::List< ::cereal::TrafficEvent, ::capnp::Kind::STRUCT>>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::TRAFFIC_EVENTS_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::TrafficEvent, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::TrafficEvent, ::capnp::Kind::STRUCT>> Event::Builder::disownTrafficEventsDEPRECATED() { + KJ_IREQUIRE((which() == Event::TRAFFIC_EVENTS_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::TrafficEvent, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isLiveLocationTimingDEPRECATED() const { + return which() == Event::LIVE_LOCATION_TIMING_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Builder::isLiveLocationTimingDEPRECATED() { + return which() == Event::LIVE_LOCATION_TIMING_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Reader::hasLiveLocationTimingDEPRECATED() const { + if (which() != Event::LIVE_LOCATION_TIMING_D_E_P_R_E_C_A_T_E_D) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasLiveLocationTimingDEPRECATED() { + if (which() != Event::LIVE_LOCATION_TIMING_D_E_P_R_E_C_A_T_E_D) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LiveLocationData::Reader Event::Reader::getLiveLocationTimingDEPRECATED() const { + KJ_IREQUIRE((which() == Event::LIVE_LOCATION_TIMING_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationData>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::LiveLocationData::Builder Event::Builder::getLiveLocationTimingDEPRECATED() { + KJ_IREQUIRE((which() == Event::LIVE_LOCATION_TIMING_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationData>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setLiveLocationTimingDEPRECATED( ::cereal::LiveLocationData::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_LOCATION_TIMING_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::LiveLocationData>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::LiveLocationData::Builder Event::Builder::initLiveLocationTimingDEPRECATED() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_LOCATION_TIMING_D_E_P_R_E_C_A_T_E_D); + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationData>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptLiveLocationTimingDEPRECATED( + ::capnp::Orphan< ::cereal::LiveLocationData>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_LOCATION_TIMING_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::LiveLocationData>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LiveLocationData> Event::Builder::disownLiveLocationTimingDEPRECATED() { + KJ_IREQUIRE((which() == Event::LIVE_LOCATION_TIMING_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationData>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isOrbslamCorrectionDEPRECATED() const { + return which() == Event::ORBSLAM_CORRECTION_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Builder::isOrbslamCorrectionDEPRECATED() { + return which() == Event::ORBSLAM_CORRECTION_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Reader::hasOrbslamCorrectionDEPRECATED() const { + if (which() != Event::ORBSLAM_CORRECTION_D_E_P_R_E_C_A_T_E_D) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasOrbslamCorrectionDEPRECATED() { + if (which() != Event::ORBSLAM_CORRECTION_D_E_P_R_E_C_A_T_E_D) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::OrbslamCorrection::Reader Event::Reader::getOrbslamCorrectionDEPRECATED() const { + KJ_IREQUIRE((which() == Event::ORBSLAM_CORRECTION_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::OrbslamCorrection>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::OrbslamCorrection::Builder Event::Builder::getOrbslamCorrectionDEPRECATED() { + KJ_IREQUIRE((which() == Event::ORBSLAM_CORRECTION_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::OrbslamCorrection>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setOrbslamCorrectionDEPRECATED( ::cereal::OrbslamCorrection::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ORBSLAM_CORRECTION_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::OrbslamCorrection>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::OrbslamCorrection::Builder Event::Builder::initOrbslamCorrectionDEPRECATED() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ORBSLAM_CORRECTION_D_E_P_R_E_C_A_T_E_D); + return ::capnp::_::PointerHelpers< ::cereal::OrbslamCorrection>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptOrbslamCorrectionDEPRECATED( + ::capnp::Orphan< ::cereal::OrbslamCorrection>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ORBSLAM_CORRECTION_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::OrbslamCorrection>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::OrbslamCorrection> Event::Builder::disownOrbslamCorrectionDEPRECATED() { + KJ_IREQUIRE((which() == Event::ORBSLAM_CORRECTION_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::OrbslamCorrection>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isLiveLocationCorrectedDEPRECATED() const { + return which() == Event::LIVE_LOCATION_CORRECTED_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Builder::isLiveLocationCorrectedDEPRECATED() { + return which() == Event::LIVE_LOCATION_CORRECTED_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Reader::hasLiveLocationCorrectedDEPRECATED() const { + if (which() != Event::LIVE_LOCATION_CORRECTED_D_E_P_R_E_C_A_T_E_D) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasLiveLocationCorrectedDEPRECATED() { + if (which() != Event::LIVE_LOCATION_CORRECTED_D_E_P_R_E_C_A_T_E_D) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LiveLocationData::Reader Event::Reader::getLiveLocationCorrectedDEPRECATED() const { + KJ_IREQUIRE((which() == Event::LIVE_LOCATION_CORRECTED_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationData>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::LiveLocationData::Builder Event::Builder::getLiveLocationCorrectedDEPRECATED() { + KJ_IREQUIRE((which() == Event::LIVE_LOCATION_CORRECTED_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationData>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setLiveLocationCorrectedDEPRECATED( ::cereal::LiveLocationData::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_LOCATION_CORRECTED_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::LiveLocationData>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::LiveLocationData::Builder Event::Builder::initLiveLocationCorrectedDEPRECATED() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_LOCATION_CORRECTED_D_E_P_R_E_C_A_T_E_D); + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationData>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptLiveLocationCorrectedDEPRECATED( + ::capnp::Orphan< ::cereal::LiveLocationData>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_LOCATION_CORRECTED_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::LiveLocationData>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LiveLocationData> Event::Builder::disownLiveLocationCorrectedDEPRECATED() { + KJ_IREQUIRE((which() == Event::LIVE_LOCATION_CORRECTED_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationData>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isOrbObservationDEPRECATED() const { + return which() == Event::ORB_OBSERVATION_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Builder::isOrbObservationDEPRECATED() { + return which() == Event::ORB_OBSERVATION_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Reader::hasOrbObservationDEPRECATED() const { + if (which() != Event::ORB_OBSERVATION_D_E_P_R_E_C_A_T_E_D) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasOrbObservationDEPRECATED() { + if (which() != Event::ORB_OBSERVATION_D_E_P_R_E_C_A_T_E_D) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::OrbObservation, ::capnp::Kind::STRUCT>::Reader Event::Reader::getOrbObservationDEPRECATED() const { + KJ_IREQUIRE((which() == Event::ORB_OBSERVATION_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::OrbObservation, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::OrbObservation, ::capnp::Kind::STRUCT>::Builder Event::Builder::getOrbObservationDEPRECATED() { + KJ_IREQUIRE((which() == Event::ORB_OBSERVATION_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::OrbObservation, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setOrbObservationDEPRECATED( ::capnp::List< ::cereal::OrbObservation, ::capnp::Kind::STRUCT>::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ORB_OBSERVATION_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::OrbObservation, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::OrbObservation, ::capnp::Kind::STRUCT>::Builder Event::Builder::initOrbObservationDEPRECATED(unsigned int size) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ORB_OBSERVATION_D_E_P_R_E_C_A_T_E_D); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::OrbObservation, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void Event::Builder::adoptOrbObservationDEPRECATED( + ::capnp::Orphan< ::capnp::List< ::cereal::OrbObservation, ::capnp::Kind::STRUCT>>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ORB_OBSERVATION_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::OrbObservation, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::OrbObservation, ::capnp::Kind::STRUCT>> Event::Builder::disownOrbObservationDEPRECATED() { + KJ_IREQUIRE((which() == Event::ORB_OBSERVATION_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::OrbObservation, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isGpsLocationExternal() const { + return which() == Event::GPS_LOCATION_EXTERNAL; +} +inline bool Event::Builder::isGpsLocationExternal() { + return which() == Event::GPS_LOCATION_EXTERNAL; +} +inline bool Event::Reader::hasGpsLocationExternal() const { + if (which() != Event::GPS_LOCATION_EXTERNAL) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasGpsLocationExternal() { + if (which() != Event::GPS_LOCATION_EXTERNAL) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::GpsLocationData::Reader Event::Reader::getGpsLocationExternal() const { + KJ_IREQUIRE((which() == Event::GPS_LOCATION_EXTERNAL), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::GpsLocationData>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::GpsLocationData::Builder Event::Builder::getGpsLocationExternal() { + KJ_IREQUIRE((which() == Event::GPS_LOCATION_EXTERNAL), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::GpsLocationData>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setGpsLocationExternal( ::cereal::GpsLocationData::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::GPS_LOCATION_EXTERNAL); + ::capnp::_::PointerHelpers< ::cereal::GpsLocationData>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::GpsLocationData::Builder Event::Builder::initGpsLocationExternal() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::GPS_LOCATION_EXTERNAL); + return ::capnp::_::PointerHelpers< ::cereal::GpsLocationData>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptGpsLocationExternal( + ::capnp::Orphan< ::cereal::GpsLocationData>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::GPS_LOCATION_EXTERNAL); + ::capnp::_::PointerHelpers< ::cereal::GpsLocationData>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::GpsLocationData> Event::Builder::disownGpsLocationExternal() { + KJ_IREQUIRE((which() == Event::GPS_LOCATION_EXTERNAL), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::GpsLocationData>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isLocationDEPRECATED() const { + return which() == Event::LOCATION_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Builder::isLocationDEPRECATED() { + return which() == Event::LOCATION_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Reader::hasLocationDEPRECATED() const { + if (which() != Event::LOCATION_D_E_P_R_E_C_A_T_E_D) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasLocationDEPRECATED() { + if (which() != Event::LOCATION_D_E_P_R_E_C_A_T_E_D) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LiveLocationData::Reader Event::Reader::getLocationDEPRECATED() const { + KJ_IREQUIRE((which() == Event::LOCATION_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationData>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::LiveLocationData::Builder Event::Builder::getLocationDEPRECATED() { + KJ_IREQUIRE((which() == Event::LOCATION_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationData>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setLocationDEPRECATED( ::cereal::LiveLocationData::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LOCATION_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::LiveLocationData>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::LiveLocationData::Builder Event::Builder::initLocationDEPRECATED() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LOCATION_D_E_P_R_E_C_A_T_E_D); + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationData>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptLocationDEPRECATED( + ::capnp::Orphan< ::cereal::LiveLocationData>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LOCATION_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::LiveLocationData>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LiveLocationData> Event::Builder::disownLocationDEPRECATED() { + KJ_IREQUIRE((which() == Event::LOCATION_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationData>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isUiNavigationEventDEPRECATED() const { + return which() == Event::UI_NAVIGATION_EVENT_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Builder::isUiNavigationEventDEPRECATED() { + return which() == Event::UI_NAVIGATION_EVENT_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Reader::hasUiNavigationEventDEPRECATED() const { + if (which() != Event::UI_NAVIGATION_EVENT_D_E_P_R_E_C_A_T_E_D) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasUiNavigationEventDEPRECATED() { + if (which() != Event::UI_NAVIGATION_EVENT_D_E_P_R_E_C_A_T_E_D) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::UiNavigationEvent::Reader Event::Reader::getUiNavigationEventDEPRECATED() const { + KJ_IREQUIRE((which() == Event::UI_NAVIGATION_EVENT_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::UiNavigationEvent>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::UiNavigationEvent::Builder Event::Builder::getUiNavigationEventDEPRECATED() { + KJ_IREQUIRE((which() == Event::UI_NAVIGATION_EVENT_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::UiNavigationEvent>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setUiNavigationEventDEPRECATED( ::cereal::UiNavigationEvent::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::UI_NAVIGATION_EVENT_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::UiNavigationEvent>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::UiNavigationEvent::Builder Event::Builder::initUiNavigationEventDEPRECATED() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::UI_NAVIGATION_EVENT_D_E_P_R_E_C_A_T_E_D); + return ::capnp::_::PointerHelpers< ::cereal::UiNavigationEvent>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptUiNavigationEventDEPRECATED( + ::capnp::Orphan< ::cereal::UiNavigationEvent>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::UI_NAVIGATION_EVENT_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::UiNavigationEvent>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::UiNavigationEvent> Event::Builder::disownUiNavigationEventDEPRECATED() { + KJ_IREQUIRE((which() == Event::UI_NAVIGATION_EVENT_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::UiNavigationEvent>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isLiveLocationKalmanDEPRECATED() const { + return which() == Event::LIVE_LOCATION_KALMAN_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Builder::isLiveLocationKalmanDEPRECATED() { + return which() == Event::LIVE_LOCATION_KALMAN_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Reader::hasLiveLocationKalmanDEPRECATED() const { + if (which() != Event::LIVE_LOCATION_KALMAN_D_E_P_R_E_C_A_T_E_D) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasLiveLocationKalmanDEPRECATED() { + if (which() != Event::LIVE_LOCATION_KALMAN_D_E_P_R_E_C_A_T_E_D) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LiveLocationData::Reader Event::Reader::getLiveLocationKalmanDEPRECATED() const { + KJ_IREQUIRE((which() == Event::LIVE_LOCATION_KALMAN_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationData>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::LiveLocationData::Builder Event::Builder::getLiveLocationKalmanDEPRECATED() { + KJ_IREQUIRE((which() == Event::LIVE_LOCATION_KALMAN_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationData>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setLiveLocationKalmanDEPRECATED( ::cereal::LiveLocationData::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_LOCATION_KALMAN_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::LiveLocationData>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::LiveLocationData::Builder Event::Builder::initLiveLocationKalmanDEPRECATED() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_LOCATION_KALMAN_D_E_P_R_E_C_A_T_E_D); + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationData>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptLiveLocationKalmanDEPRECATED( + ::capnp::Orphan< ::cereal::LiveLocationData>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_LOCATION_KALMAN_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::LiveLocationData>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LiveLocationData> Event::Builder::disownLiveLocationKalmanDEPRECATED() { + KJ_IREQUIRE((which() == Event::LIVE_LOCATION_KALMAN_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationData>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isTestJoystick() const { + return which() == Event::TEST_JOYSTICK; +} +inline bool Event::Builder::isTestJoystick() { + return which() == Event::TEST_JOYSTICK; +} +inline bool Event::Reader::hasTestJoystick() const { + if (which() != Event::TEST_JOYSTICK) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasTestJoystick() { + if (which() != Event::TEST_JOYSTICK) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::Joystick::Reader Event::Reader::getTestJoystick() const { + KJ_IREQUIRE((which() == Event::TEST_JOYSTICK), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::Joystick>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::Joystick::Builder Event::Builder::getTestJoystick() { + KJ_IREQUIRE((which() == Event::TEST_JOYSTICK), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::Joystick>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setTestJoystick( ::cereal::Joystick::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::TEST_JOYSTICK); + ::capnp::_::PointerHelpers< ::cereal::Joystick>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::Joystick::Builder Event::Builder::initTestJoystick() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::TEST_JOYSTICK); + return ::capnp::_::PointerHelpers< ::cereal::Joystick>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptTestJoystick( + ::capnp::Orphan< ::cereal::Joystick>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::TEST_JOYSTICK); + ::capnp::_::PointerHelpers< ::cereal::Joystick>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::Joystick> Event::Builder::disownTestJoystick() { + KJ_IREQUIRE((which() == Event::TEST_JOYSTICK), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::Joystick>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isOrbOdometryDEPRECATED() const { + return which() == Event::ORB_ODOMETRY_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Builder::isOrbOdometryDEPRECATED() { + return which() == Event::ORB_ODOMETRY_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Reader::hasOrbOdometryDEPRECATED() const { + if (which() != Event::ORB_ODOMETRY_D_E_P_R_E_C_A_T_E_D) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasOrbOdometryDEPRECATED() { + if (which() != Event::ORB_ODOMETRY_D_E_P_R_E_C_A_T_E_D) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::OrbOdometry::Reader Event::Reader::getOrbOdometryDEPRECATED() const { + KJ_IREQUIRE((which() == Event::ORB_ODOMETRY_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::OrbOdometry>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::OrbOdometry::Builder Event::Builder::getOrbOdometryDEPRECATED() { + KJ_IREQUIRE((which() == Event::ORB_ODOMETRY_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::OrbOdometry>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setOrbOdometryDEPRECATED( ::cereal::OrbOdometry::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ORB_ODOMETRY_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::OrbOdometry>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::OrbOdometry::Builder Event::Builder::initOrbOdometryDEPRECATED() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ORB_ODOMETRY_D_E_P_R_E_C_A_T_E_D); + return ::capnp::_::PointerHelpers< ::cereal::OrbOdometry>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptOrbOdometryDEPRECATED( + ::capnp::Orphan< ::cereal::OrbOdometry>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ORB_ODOMETRY_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::OrbOdometry>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::OrbOdometry> Event::Builder::disownOrbOdometryDEPRECATED() { + KJ_IREQUIRE((which() == Event::ORB_ODOMETRY_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::OrbOdometry>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isOrbFeaturesDEPRECATED() const { + return which() == Event::ORB_FEATURES_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Builder::isOrbFeaturesDEPRECATED() { + return which() == Event::ORB_FEATURES_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Reader::hasOrbFeaturesDEPRECATED() const { + if (which() != Event::ORB_FEATURES_D_E_P_R_E_C_A_T_E_D) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasOrbFeaturesDEPRECATED() { + if (which() != Event::ORB_FEATURES_D_E_P_R_E_C_A_T_E_D) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::OrbFeatures::Reader Event::Reader::getOrbFeaturesDEPRECATED() const { + KJ_IREQUIRE((which() == Event::ORB_FEATURES_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::OrbFeatures>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::OrbFeatures::Builder Event::Builder::getOrbFeaturesDEPRECATED() { + KJ_IREQUIRE((which() == Event::ORB_FEATURES_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::OrbFeatures>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setOrbFeaturesDEPRECATED( ::cereal::OrbFeatures::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ORB_FEATURES_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::OrbFeatures>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::OrbFeatures::Builder Event::Builder::initOrbFeaturesDEPRECATED() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ORB_FEATURES_D_E_P_R_E_C_A_T_E_D); + return ::capnp::_::PointerHelpers< ::cereal::OrbFeatures>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptOrbFeaturesDEPRECATED( + ::capnp::Orphan< ::cereal::OrbFeatures>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ORB_FEATURES_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::OrbFeatures>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::OrbFeatures> Event::Builder::disownOrbFeaturesDEPRECATED() { + KJ_IREQUIRE((which() == Event::ORB_FEATURES_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::OrbFeatures>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isApplanixLocationDEPRECATED() const { + return which() == Event::APPLANIX_LOCATION_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Builder::isApplanixLocationDEPRECATED() { + return which() == Event::APPLANIX_LOCATION_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Reader::hasApplanixLocationDEPRECATED() const { + if (which() != Event::APPLANIX_LOCATION_D_E_P_R_E_C_A_T_E_D) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasApplanixLocationDEPRECATED() { + if (which() != Event::APPLANIX_LOCATION_D_E_P_R_E_C_A_T_E_D) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LiveLocationData::Reader Event::Reader::getApplanixLocationDEPRECATED() const { + KJ_IREQUIRE((which() == Event::APPLANIX_LOCATION_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationData>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::LiveLocationData::Builder Event::Builder::getApplanixLocationDEPRECATED() { + KJ_IREQUIRE((which() == Event::APPLANIX_LOCATION_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationData>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setApplanixLocationDEPRECATED( ::cereal::LiveLocationData::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::APPLANIX_LOCATION_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::LiveLocationData>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::LiveLocationData::Builder Event::Builder::initApplanixLocationDEPRECATED() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::APPLANIX_LOCATION_D_E_P_R_E_C_A_T_E_D); + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationData>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptApplanixLocationDEPRECATED( + ::capnp::Orphan< ::cereal::LiveLocationData>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::APPLANIX_LOCATION_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::LiveLocationData>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LiveLocationData> Event::Builder::disownApplanixLocationDEPRECATED() { + KJ_IREQUIRE((which() == Event::APPLANIX_LOCATION_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationData>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isOrbKeyFrameDEPRECATED() const { + return which() == Event::ORB_KEY_FRAME_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Builder::isOrbKeyFrameDEPRECATED() { + return which() == Event::ORB_KEY_FRAME_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Reader::hasOrbKeyFrameDEPRECATED() const { + if (which() != Event::ORB_KEY_FRAME_D_E_P_R_E_C_A_T_E_D) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasOrbKeyFrameDEPRECATED() { + if (which() != Event::ORB_KEY_FRAME_D_E_P_R_E_C_A_T_E_D) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::OrbKeyFrame::Reader Event::Reader::getOrbKeyFrameDEPRECATED() const { + KJ_IREQUIRE((which() == Event::ORB_KEY_FRAME_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::OrbKeyFrame>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::OrbKeyFrame::Builder Event::Builder::getOrbKeyFrameDEPRECATED() { + KJ_IREQUIRE((which() == Event::ORB_KEY_FRAME_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::OrbKeyFrame>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setOrbKeyFrameDEPRECATED( ::cereal::OrbKeyFrame::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ORB_KEY_FRAME_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::OrbKeyFrame>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::OrbKeyFrame::Builder Event::Builder::initOrbKeyFrameDEPRECATED() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ORB_KEY_FRAME_D_E_P_R_E_C_A_T_E_D); + return ::capnp::_::PointerHelpers< ::cereal::OrbKeyFrame>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptOrbKeyFrameDEPRECATED( + ::capnp::Orphan< ::cereal::OrbKeyFrame>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ORB_KEY_FRAME_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::OrbKeyFrame>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::OrbKeyFrame> Event::Builder::disownOrbKeyFrameDEPRECATED() { + KJ_IREQUIRE((which() == Event::ORB_KEY_FRAME_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::OrbKeyFrame>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isUiLayoutStateDEPRECATED() const { + return which() == Event::UI_LAYOUT_STATE_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Builder::isUiLayoutStateDEPRECATED() { + return which() == Event::UI_LAYOUT_STATE_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Reader::hasUiLayoutStateDEPRECATED() const { + if (which() != Event::UI_LAYOUT_STATE_D_E_P_R_E_C_A_T_E_D) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasUiLayoutStateDEPRECATED() { + if (which() != Event::UI_LAYOUT_STATE_D_E_P_R_E_C_A_T_E_D) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::UiLayoutState::Reader Event::Reader::getUiLayoutStateDEPRECATED() const { + KJ_IREQUIRE((which() == Event::UI_LAYOUT_STATE_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::UiLayoutState>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::UiLayoutState::Builder Event::Builder::getUiLayoutStateDEPRECATED() { + KJ_IREQUIRE((which() == Event::UI_LAYOUT_STATE_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::UiLayoutState>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setUiLayoutStateDEPRECATED( ::cereal::UiLayoutState::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::UI_LAYOUT_STATE_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::UiLayoutState>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::UiLayoutState::Builder Event::Builder::initUiLayoutStateDEPRECATED() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::UI_LAYOUT_STATE_D_E_P_R_E_C_A_T_E_D); + return ::capnp::_::PointerHelpers< ::cereal::UiLayoutState>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptUiLayoutStateDEPRECATED( + ::capnp::Orphan< ::cereal::UiLayoutState>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::UI_LAYOUT_STATE_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::UiLayoutState>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::UiLayoutState> Event::Builder::disownUiLayoutStateDEPRECATED() { + KJ_IREQUIRE((which() == Event::UI_LAYOUT_STATE_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::UiLayoutState>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isOrbFeaturesSummaryDEPRECATED() const { + return which() == Event::ORB_FEATURES_SUMMARY_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Builder::isOrbFeaturesSummaryDEPRECATED() { + return which() == Event::ORB_FEATURES_SUMMARY_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Reader::hasOrbFeaturesSummaryDEPRECATED() const { + if (which() != Event::ORB_FEATURES_SUMMARY_D_E_P_R_E_C_A_T_E_D) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasOrbFeaturesSummaryDEPRECATED() { + if (which() != Event::ORB_FEATURES_SUMMARY_D_E_P_R_E_C_A_T_E_D) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::OrbFeaturesSummary::Reader Event::Reader::getOrbFeaturesSummaryDEPRECATED() const { + KJ_IREQUIRE((which() == Event::ORB_FEATURES_SUMMARY_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::OrbFeaturesSummary>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::OrbFeaturesSummary::Builder Event::Builder::getOrbFeaturesSummaryDEPRECATED() { + KJ_IREQUIRE((which() == Event::ORB_FEATURES_SUMMARY_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::OrbFeaturesSummary>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setOrbFeaturesSummaryDEPRECATED( ::cereal::OrbFeaturesSummary::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ORB_FEATURES_SUMMARY_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::OrbFeaturesSummary>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::OrbFeaturesSummary::Builder Event::Builder::initOrbFeaturesSummaryDEPRECATED() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ORB_FEATURES_SUMMARY_D_E_P_R_E_C_A_T_E_D); + return ::capnp::_::PointerHelpers< ::cereal::OrbFeaturesSummary>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptOrbFeaturesSummaryDEPRECATED( + ::capnp::Orphan< ::cereal::OrbFeaturesSummary>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ORB_FEATURES_SUMMARY_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::OrbFeaturesSummary>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::OrbFeaturesSummary> Event::Builder::disownOrbFeaturesSummaryDEPRECATED() { + KJ_IREQUIRE((which() == Event::ORB_FEATURES_SUMMARY_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::OrbFeaturesSummary>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isDriverStateDEPRECATED() const { + return which() == Event::DRIVER_STATE_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Builder::isDriverStateDEPRECATED() { + return which() == Event::DRIVER_STATE_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Reader::hasDriverStateDEPRECATED() const { + if (which() != Event::DRIVER_STATE_D_E_P_R_E_C_A_T_E_D) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasDriverStateDEPRECATED() { + if (which() != Event::DRIVER_STATE_D_E_P_R_E_C_A_T_E_D) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::DriverStateDEPRECATED::Reader Event::Reader::getDriverStateDEPRECATED() const { + KJ_IREQUIRE((which() == Event::DRIVER_STATE_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::DriverStateDEPRECATED>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::DriverStateDEPRECATED::Builder Event::Builder::getDriverStateDEPRECATED() { + KJ_IREQUIRE((which() == Event::DRIVER_STATE_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::DriverStateDEPRECATED>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setDriverStateDEPRECATED( ::cereal::DriverStateDEPRECATED::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::DRIVER_STATE_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::DriverStateDEPRECATED>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::DriverStateDEPRECATED::Builder Event::Builder::initDriverStateDEPRECATED() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::DRIVER_STATE_D_E_P_R_E_C_A_T_E_D); + return ::capnp::_::PointerHelpers< ::cereal::DriverStateDEPRECATED>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptDriverStateDEPRECATED( + ::capnp::Orphan< ::cereal::DriverStateDEPRECATED>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::DRIVER_STATE_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::DriverStateDEPRECATED>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::DriverStateDEPRECATED> Event::Builder::disownDriverStateDEPRECATED() { + KJ_IREQUIRE((which() == Event::DRIVER_STATE_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::DriverStateDEPRECATED>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isBoot() const { + return which() == Event::BOOT; +} +inline bool Event::Builder::isBoot() { + return which() == Event::BOOT; +} +inline bool Event::Reader::hasBoot() const { + if (which() != Event::BOOT) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasBoot() { + if (which() != Event::BOOT) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::Boot::Reader Event::Reader::getBoot() const { + KJ_IREQUIRE((which() == Event::BOOT), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::Boot>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::Boot::Builder Event::Builder::getBoot() { + KJ_IREQUIRE((which() == Event::BOOT), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::Boot>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setBoot( ::cereal::Boot::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::BOOT); + ::capnp::_::PointerHelpers< ::cereal::Boot>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::Boot::Builder Event::Builder::initBoot() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::BOOT); + return ::capnp::_::PointerHelpers< ::cereal::Boot>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptBoot( + ::capnp::Orphan< ::cereal::Boot>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::BOOT); + ::capnp::_::PointerHelpers< ::cereal::Boot>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::Boot> Event::Builder::disownBoot() { + KJ_IREQUIRE((which() == Event::BOOT), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::Boot>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isLiveParameters() const { + return which() == Event::LIVE_PARAMETERS; +} +inline bool Event::Builder::isLiveParameters() { + return which() == Event::LIVE_PARAMETERS; +} +inline bool Event::Reader::hasLiveParameters() const { + if (which() != Event::LIVE_PARAMETERS) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasLiveParameters() { + if (which() != Event::LIVE_PARAMETERS) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LiveParametersData::Reader Event::Reader::getLiveParameters() const { + KJ_IREQUIRE((which() == Event::LIVE_PARAMETERS), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LiveParametersData>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::LiveParametersData::Builder Event::Builder::getLiveParameters() { + KJ_IREQUIRE((which() == Event::LIVE_PARAMETERS), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LiveParametersData>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setLiveParameters( ::cereal::LiveParametersData::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_PARAMETERS); + ::capnp::_::PointerHelpers< ::cereal::LiveParametersData>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::LiveParametersData::Builder Event::Builder::initLiveParameters() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_PARAMETERS); + return ::capnp::_::PointerHelpers< ::cereal::LiveParametersData>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptLiveParameters( + ::capnp::Orphan< ::cereal::LiveParametersData>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_PARAMETERS); + ::capnp::_::PointerHelpers< ::cereal::LiveParametersData>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LiveParametersData> Event::Builder::disownLiveParameters() { + KJ_IREQUIRE((which() == Event::LIVE_PARAMETERS), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LiveParametersData>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isLiveMapDataDEPRECATED() const { + return which() == Event::LIVE_MAP_DATA_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Builder::isLiveMapDataDEPRECATED() { + return which() == Event::LIVE_MAP_DATA_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Reader::hasLiveMapDataDEPRECATED() const { + if (which() != Event::LIVE_MAP_DATA_D_E_P_R_E_C_A_T_E_D) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasLiveMapDataDEPRECATED() { + if (which() != Event::LIVE_MAP_DATA_D_E_P_R_E_C_A_T_E_D) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LiveMapDataDEPRECATED::Reader Event::Reader::getLiveMapDataDEPRECATED() const { + KJ_IREQUIRE((which() == Event::LIVE_MAP_DATA_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LiveMapDataDEPRECATED>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::LiveMapDataDEPRECATED::Builder Event::Builder::getLiveMapDataDEPRECATED() { + KJ_IREQUIRE((which() == Event::LIVE_MAP_DATA_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LiveMapDataDEPRECATED>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setLiveMapDataDEPRECATED( ::cereal::LiveMapDataDEPRECATED::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_MAP_DATA_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::LiveMapDataDEPRECATED>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::LiveMapDataDEPRECATED::Builder Event::Builder::initLiveMapDataDEPRECATED() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_MAP_DATA_D_E_P_R_E_C_A_T_E_D); + return ::capnp::_::PointerHelpers< ::cereal::LiveMapDataDEPRECATED>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptLiveMapDataDEPRECATED( + ::capnp::Orphan< ::cereal::LiveMapDataDEPRECATED>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_MAP_DATA_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::LiveMapDataDEPRECATED>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LiveMapDataDEPRECATED> Event::Builder::disownLiveMapDataDEPRECATED() { + KJ_IREQUIRE((which() == Event::LIVE_MAP_DATA_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LiveMapDataDEPRECATED>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isCameraOdometry() const { + return which() == Event::CAMERA_ODOMETRY; +} +inline bool Event::Builder::isCameraOdometry() { + return which() == Event::CAMERA_ODOMETRY; +} +inline bool Event::Reader::hasCameraOdometry() const { + if (which() != Event::CAMERA_ODOMETRY) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasCameraOdometry() { + if (which() != Event::CAMERA_ODOMETRY) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::CameraOdometry::Reader Event::Reader::getCameraOdometry() const { + KJ_IREQUIRE((which() == Event::CAMERA_ODOMETRY), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::CameraOdometry>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::CameraOdometry::Builder Event::Builder::getCameraOdometry() { + KJ_IREQUIRE((which() == Event::CAMERA_ODOMETRY), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::CameraOdometry>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setCameraOdometry( ::cereal::CameraOdometry::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CAMERA_ODOMETRY); + ::capnp::_::PointerHelpers< ::cereal::CameraOdometry>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::CameraOdometry::Builder Event::Builder::initCameraOdometry() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CAMERA_ODOMETRY); + return ::capnp::_::PointerHelpers< ::cereal::CameraOdometry>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptCameraOdometry( + ::capnp::Orphan< ::cereal::CameraOdometry>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CAMERA_ODOMETRY); + ::capnp::_::PointerHelpers< ::cereal::CameraOdometry>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::CameraOdometry> Event::Builder::disownCameraOdometry() { + KJ_IREQUIRE((which() == Event::CAMERA_ODOMETRY), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::CameraOdometry>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isLateralPlanDEPRECATED() const { + return which() == Event::LATERAL_PLAN_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Builder::isLateralPlanDEPRECATED() { + return which() == Event::LATERAL_PLAN_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Reader::hasLateralPlanDEPRECATED() const { + if (which() != Event::LATERAL_PLAN_D_E_P_R_E_C_A_T_E_D) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasLateralPlanDEPRECATED() { + if (which() != Event::LATERAL_PLAN_D_E_P_R_E_C_A_T_E_D) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LateralPlan::Reader Event::Reader::getLateralPlanDEPRECATED() const { + KJ_IREQUIRE((which() == Event::LATERAL_PLAN_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LateralPlan>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::LateralPlan::Builder Event::Builder::getLateralPlanDEPRECATED() { + KJ_IREQUIRE((which() == Event::LATERAL_PLAN_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LateralPlan>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setLateralPlanDEPRECATED( ::cereal::LateralPlan::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LATERAL_PLAN_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::LateralPlan>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::LateralPlan::Builder Event::Builder::initLateralPlanDEPRECATED() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LATERAL_PLAN_D_E_P_R_E_C_A_T_E_D); + return ::capnp::_::PointerHelpers< ::cereal::LateralPlan>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptLateralPlanDEPRECATED( + ::capnp::Orphan< ::cereal::LateralPlan>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LATERAL_PLAN_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::LateralPlan>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LateralPlan> Event::Builder::disownLateralPlanDEPRECATED() { + KJ_IREQUIRE((which() == Event::LATERAL_PLAN_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LateralPlan>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isKalmanOdometryDEPRECATED() const { + return which() == Event::KALMAN_ODOMETRY_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Builder::isKalmanOdometryDEPRECATED() { + return which() == Event::KALMAN_ODOMETRY_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Reader::hasKalmanOdometryDEPRECATED() const { + if (which() != Event::KALMAN_ODOMETRY_D_E_P_R_E_C_A_T_E_D) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasKalmanOdometryDEPRECATED() { + if (which() != Event::KALMAN_ODOMETRY_D_E_P_R_E_C_A_T_E_D) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::KalmanOdometry::Reader Event::Reader::getKalmanOdometryDEPRECATED() const { + KJ_IREQUIRE((which() == Event::KALMAN_ODOMETRY_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::KalmanOdometry>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::KalmanOdometry::Builder Event::Builder::getKalmanOdometryDEPRECATED() { + KJ_IREQUIRE((which() == Event::KALMAN_ODOMETRY_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::KalmanOdometry>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setKalmanOdometryDEPRECATED( ::cereal::KalmanOdometry::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::KALMAN_ODOMETRY_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::KalmanOdometry>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::KalmanOdometry::Builder Event::Builder::initKalmanOdometryDEPRECATED() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::KALMAN_ODOMETRY_D_E_P_R_E_C_A_T_E_D); + return ::capnp::_::PointerHelpers< ::cereal::KalmanOdometry>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptKalmanOdometryDEPRECATED( + ::capnp::Orphan< ::cereal::KalmanOdometry>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::KALMAN_ODOMETRY_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::KalmanOdometry>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::KalmanOdometry> Event::Builder::disownKalmanOdometryDEPRECATED() { + KJ_IREQUIRE((which() == Event::KALMAN_ODOMETRY_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::KalmanOdometry>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isThumbnail() const { + return which() == Event::THUMBNAIL; +} +inline bool Event::Builder::isThumbnail() { + return which() == Event::THUMBNAIL; +} +inline bool Event::Reader::hasThumbnail() const { + if (which() != Event::THUMBNAIL) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasThumbnail() { + if (which() != Event::THUMBNAIL) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::Thumbnail::Reader Event::Reader::getThumbnail() const { + KJ_IREQUIRE((which() == Event::THUMBNAIL), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::Thumbnail>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::Thumbnail::Builder Event::Builder::getThumbnail() { + KJ_IREQUIRE((which() == Event::THUMBNAIL), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::Thumbnail>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setThumbnail( ::cereal::Thumbnail::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::THUMBNAIL); + ::capnp::_::PointerHelpers< ::cereal::Thumbnail>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::Thumbnail::Builder Event::Builder::initThumbnail() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::THUMBNAIL); + return ::capnp::_::PointerHelpers< ::cereal::Thumbnail>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptThumbnail( + ::capnp::Orphan< ::cereal::Thumbnail>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::THUMBNAIL); + ::capnp::_::PointerHelpers< ::cereal::Thumbnail>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::Thumbnail> Event::Builder::disownThumbnail() { + KJ_IREQUIRE((which() == Event::THUMBNAIL), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::Thumbnail>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::getValid() const { + return _reader.getDataField( + ::capnp::bounded<80>() * ::capnp::ELEMENTS, true); +} + +inline bool Event::Builder::getValid() { + return _builder.getDataField( + ::capnp::bounded<80>() * ::capnp::ELEMENTS, true); +} +inline void Event::Builder::setValid(bool value) { + _builder.setDataField( + ::capnp::bounded<80>() * ::capnp::ELEMENTS, value, true); +} + +inline bool Event::Reader::isOnroadEvents() const { + return which() == Event::ONROAD_EVENTS; +} +inline bool Event::Builder::isOnroadEvents() { + return which() == Event::ONROAD_EVENTS; +} +inline bool Event::Reader::hasOnroadEvents() const { + if (which() != Event::ONROAD_EVENTS) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasOnroadEvents() { + if (which() != Event::ONROAD_EVENTS) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>::Reader Event::Reader::getOnroadEvents() const { + KJ_IREQUIRE((which() == Event::ONROAD_EVENTS), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>::Builder Event::Builder::getOnroadEvents() { + KJ_IREQUIRE((which() == Event::ONROAD_EVENTS), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setOnroadEvents( ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ONROAD_EVENTS); + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>::Builder Event::Builder::initOnroadEvents(unsigned int size) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ONROAD_EVENTS); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void Event::Builder::adoptOnroadEvents( + ::capnp::Orphan< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ONROAD_EVENTS); + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>> Event::Builder::disownOnroadEvents() { + KJ_IREQUIRE((which() == Event::ONROAD_EVENTS), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarEvent, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isCarParams() const { + return which() == Event::CAR_PARAMS; +} +inline bool Event::Builder::isCarParams() { + return which() == Event::CAR_PARAMS; +} +inline bool Event::Reader::hasCarParams() const { + if (which() != Event::CAR_PARAMS) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasCarParams() { + if (which() != Event::CAR_PARAMS) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::CarParams::Reader Event::Reader::getCarParams() const { + KJ_IREQUIRE((which() == Event::CAR_PARAMS), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::CarParams>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::CarParams::Builder Event::Builder::getCarParams() { + KJ_IREQUIRE((which() == Event::CAR_PARAMS), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::CarParams>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setCarParams( ::cereal::CarParams::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CAR_PARAMS); + ::capnp::_::PointerHelpers< ::cereal::CarParams>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::CarParams::Builder Event::Builder::initCarParams() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CAR_PARAMS); + return ::capnp::_::PointerHelpers< ::cereal::CarParams>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptCarParams( + ::capnp::Orphan< ::cereal::CarParams>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CAR_PARAMS); + ::capnp::_::PointerHelpers< ::cereal::CarParams>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::CarParams> Event::Builder::disownCarParams() { + KJ_IREQUIRE((which() == Event::CAR_PARAMS), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::CarParams>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isDriverCameraState() const { + return which() == Event::DRIVER_CAMERA_STATE; +} +inline bool Event::Builder::isDriverCameraState() { + return which() == Event::DRIVER_CAMERA_STATE; +} +inline bool Event::Reader::hasDriverCameraState() const { + if (which() != Event::DRIVER_CAMERA_STATE) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasDriverCameraState() { + if (which() != Event::DRIVER_CAMERA_STATE) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::FrameData::Reader Event::Reader::getDriverCameraState() const { + KJ_IREQUIRE((which() == Event::DRIVER_CAMERA_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::FrameData>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::FrameData::Builder Event::Builder::getDriverCameraState() { + KJ_IREQUIRE((which() == Event::DRIVER_CAMERA_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::FrameData>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setDriverCameraState( ::cereal::FrameData::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::DRIVER_CAMERA_STATE); + ::capnp::_::PointerHelpers< ::cereal::FrameData>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::FrameData::Builder Event::Builder::initDriverCameraState() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::DRIVER_CAMERA_STATE); + return ::capnp::_::PointerHelpers< ::cereal::FrameData>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptDriverCameraState( + ::capnp::Orphan< ::cereal::FrameData>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::DRIVER_CAMERA_STATE); + ::capnp::_::PointerHelpers< ::cereal::FrameData>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::FrameData> Event::Builder::disownDriverCameraState() { + KJ_IREQUIRE((which() == Event::DRIVER_CAMERA_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::FrameData>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isDriverMonitoringState() const { + return which() == Event::DRIVER_MONITORING_STATE; +} +inline bool Event::Builder::isDriverMonitoringState() { + return which() == Event::DRIVER_MONITORING_STATE; +} +inline bool Event::Reader::hasDriverMonitoringState() const { + if (which() != Event::DRIVER_MONITORING_STATE) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasDriverMonitoringState() { + if (which() != Event::DRIVER_MONITORING_STATE) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::DriverMonitoringState::Reader Event::Reader::getDriverMonitoringState() const { + KJ_IREQUIRE((which() == Event::DRIVER_MONITORING_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::DriverMonitoringState>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::DriverMonitoringState::Builder Event::Builder::getDriverMonitoringState() { + KJ_IREQUIRE((which() == Event::DRIVER_MONITORING_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::DriverMonitoringState>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setDriverMonitoringState( ::cereal::DriverMonitoringState::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::DRIVER_MONITORING_STATE); + ::capnp::_::PointerHelpers< ::cereal::DriverMonitoringState>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::DriverMonitoringState::Builder Event::Builder::initDriverMonitoringState() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::DRIVER_MONITORING_STATE); + return ::capnp::_::PointerHelpers< ::cereal::DriverMonitoringState>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptDriverMonitoringState( + ::capnp::Orphan< ::cereal::DriverMonitoringState>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::DRIVER_MONITORING_STATE); + ::capnp::_::PointerHelpers< ::cereal::DriverMonitoringState>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::DriverMonitoringState> Event::Builder::disownDriverMonitoringState() { + KJ_IREQUIRE((which() == Event::DRIVER_MONITORING_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::DriverMonitoringState>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isLiveLocationKalman() const { + return which() == Event::LIVE_LOCATION_KALMAN; +} +inline bool Event::Builder::isLiveLocationKalman() { + return which() == Event::LIVE_LOCATION_KALMAN; +} +inline bool Event::Reader::hasLiveLocationKalman() const { + if (which() != Event::LIVE_LOCATION_KALMAN) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasLiveLocationKalman() { + if (which() != Event::LIVE_LOCATION_KALMAN) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LiveLocationKalman::Reader Event::Reader::getLiveLocationKalman() const { + KJ_IREQUIRE((which() == Event::LIVE_LOCATION_KALMAN), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::LiveLocationKalman::Builder Event::Builder::getLiveLocationKalman() { + KJ_IREQUIRE((which() == Event::LIVE_LOCATION_KALMAN), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setLiveLocationKalman( ::cereal::LiveLocationKalman::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_LOCATION_KALMAN); + ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::LiveLocationKalman::Builder Event::Builder::initLiveLocationKalman() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_LOCATION_KALMAN); + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptLiveLocationKalman( + ::capnp::Orphan< ::cereal::LiveLocationKalman>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_LOCATION_KALMAN); + ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LiveLocationKalman> Event::Builder::disownLiveLocationKalman() { + KJ_IREQUIRE((which() == Event::LIVE_LOCATION_KALMAN), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LiveLocationKalman>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isSentinel() const { + return which() == Event::SENTINEL; +} +inline bool Event::Builder::isSentinel() { + return which() == Event::SENTINEL; +} +inline bool Event::Reader::hasSentinel() const { + if (which() != Event::SENTINEL) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasSentinel() { + if (which() != Event::SENTINEL) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::Sentinel::Reader Event::Reader::getSentinel() const { + KJ_IREQUIRE((which() == Event::SENTINEL), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::Sentinel>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::Sentinel::Builder Event::Builder::getSentinel() { + KJ_IREQUIRE((which() == Event::SENTINEL), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::Sentinel>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setSentinel( ::cereal::Sentinel::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::SENTINEL); + ::capnp::_::PointerHelpers< ::cereal::Sentinel>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::Sentinel::Builder Event::Builder::initSentinel() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::SENTINEL); + return ::capnp::_::PointerHelpers< ::cereal::Sentinel>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptSentinel( + ::capnp::Orphan< ::cereal::Sentinel>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::SENTINEL); + ::capnp::_::PointerHelpers< ::cereal::Sentinel>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::Sentinel> Event::Builder::disownSentinel() { + KJ_IREQUIRE((which() == Event::SENTINEL), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::Sentinel>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isWideRoadCameraState() const { + return which() == Event::WIDE_ROAD_CAMERA_STATE; +} +inline bool Event::Builder::isWideRoadCameraState() { + return which() == Event::WIDE_ROAD_CAMERA_STATE; +} +inline bool Event::Reader::hasWideRoadCameraState() const { + if (which() != Event::WIDE_ROAD_CAMERA_STATE) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasWideRoadCameraState() { + if (which() != Event::WIDE_ROAD_CAMERA_STATE) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::FrameData::Reader Event::Reader::getWideRoadCameraState() const { + KJ_IREQUIRE((which() == Event::WIDE_ROAD_CAMERA_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::FrameData>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::FrameData::Builder Event::Builder::getWideRoadCameraState() { + KJ_IREQUIRE((which() == Event::WIDE_ROAD_CAMERA_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::FrameData>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setWideRoadCameraState( ::cereal::FrameData::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::WIDE_ROAD_CAMERA_STATE); + ::capnp::_::PointerHelpers< ::cereal::FrameData>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::FrameData::Builder Event::Builder::initWideRoadCameraState() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::WIDE_ROAD_CAMERA_STATE); + return ::capnp::_::PointerHelpers< ::cereal::FrameData>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptWideRoadCameraState( + ::capnp::Orphan< ::cereal::FrameData>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::WIDE_ROAD_CAMERA_STATE); + ::capnp::_::PointerHelpers< ::cereal::FrameData>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::FrameData> Event::Builder::disownWideRoadCameraState() { + KJ_IREQUIRE((which() == Event::WIDE_ROAD_CAMERA_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::FrameData>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isModelV2() const { + return which() == Event::MODEL_V2; +} +inline bool Event::Builder::isModelV2() { + return which() == Event::MODEL_V2; +} +inline bool Event::Reader::hasModelV2() const { + if (which() != Event::MODEL_V2) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasModelV2() { + if (which() != Event::MODEL_V2) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::ModelDataV2::Reader Event::Reader::getModelV2() const { + KJ_IREQUIRE((which() == Event::MODEL_V2), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ModelDataV2>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::ModelDataV2::Builder Event::Builder::getModelV2() { + KJ_IREQUIRE((which() == Event::MODEL_V2), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ModelDataV2>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setModelV2( ::cereal::ModelDataV2::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::MODEL_V2); + ::capnp::_::PointerHelpers< ::cereal::ModelDataV2>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::ModelDataV2::Builder Event::Builder::initModelV2() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::MODEL_V2); + return ::capnp::_::PointerHelpers< ::cereal::ModelDataV2>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptModelV2( + ::capnp::Orphan< ::cereal::ModelDataV2>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::MODEL_V2); + ::capnp::_::PointerHelpers< ::cereal::ModelDataV2>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::ModelDataV2> Event::Builder::disownModelV2() { + KJ_IREQUIRE((which() == Event::MODEL_V2), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ModelDataV2>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isDriverEncodeIdx() const { + return which() == Event::DRIVER_ENCODE_IDX; +} +inline bool Event::Builder::isDriverEncodeIdx() { + return which() == Event::DRIVER_ENCODE_IDX; +} +inline bool Event::Reader::hasDriverEncodeIdx() const { + if (which() != Event::DRIVER_ENCODE_IDX) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasDriverEncodeIdx() { + if (which() != Event::DRIVER_ENCODE_IDX) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::EncodeIndex::Reader Event::Reader::getDriverEncodeIdx() const { + KJ_IREQUIRE((which() == Event::DRIVER_ENCODE_IDX), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::EncodeIndex::Builder Event::Builder::getDriverEncodeIdx() { + KJ_IREQUIRE((which() == Event::DRIVER_ENCODE_IDX), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setDriverEncodeIdx( ::cereal::EncodeIndex::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::DRIVER_ENCODE_IDX); + ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::EncodeIndex::Builder Event::Builder::initDriverEncodeIdx() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::DRIVER_ENCODE_IDX); + return ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptDriverEncodeIdx( + ::capnp::Orphan< ::cereal::EncodeIndex>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::DRIVER_ENCODE_IDX); + ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::EncodeIndex> Event::Builder::disownDriverEncodeIdx() { + KJ_IREQUIRE((which() == Event::DRIVER_ENCODE_IDX), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isWideRoadEncodeIdx() const { + return which() == Event::WIDE_ROAD_ENCODE_IDX; +} +inline bool Event::Builder::isWideRoadEncodeIdx() { + return which() == Event::WIDE_ROAD_ENCODE_IDX; +} +inline bool Event::Reader::hasWideRoadEncodeIdx() const { + if (which() != Event::WIDE_ROAD_ENCODE_IDX) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasWideRoadEncodeIdx() { + if (which() != Event::WIDE_ROAD_ENCODE_IDX) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::EncodeIndex::Reader Event::Reader::getWideRoadEncodeIdx() const { + KJ_IREQUIRE((which() == Event::WIDE_ROAD_ENCODE_IDX), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::EncodeIndex::Builder Event::Builder::getWideRoadEncodeIdx() { + KJ_IREQUIRE((which() == Event::WIDE_ROAD_ENCODE_IDX), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setWideRoadEncodeIdx( ::cereal::EncodeIndex::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::WIDE_ROAD_ENCODE_IDX); + ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::EncodeIndex::Builder Event::Builder::initWideRoadEncodeIdx() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::WIDE_ROAD_ENCODE_IDX); + return ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptWideRoadEncodeIdx( + ::capnp::Orphan< ::cereal::EncodeIndex>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::WIDE_ROAD_ENCODE_IDX); + ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::EncodeIndex> Event::Builder::disownWideRoadEncodeIdx() { + KJ_IREQUIRE((which() == Event::WIDE_ROAD_ENCODE_IDX), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isManagerState() const { + return which() == Event::MANAGER_STATE; +} +inline bool Event::Builder::isManagerState() { + return which() == Event::MANAGER_STATE; +} +inline bool Event::Reader::hasManagerState() const { + if (which() != Event::MANAGER_STATE) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasManagerState() { + if (which() != Event::MANAGER_STATE) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::ManagerState::Reader Event::Reader::getManagerState() const { + KJ_IREQUIRE((which() == Event::MANAGER_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ManagerState>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::ManagerState::Builder Event::Builder::getManagerState() { + KJ_IREQUIRE((which() == Event::MANAGER_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ManagerState>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setManagerState( ::cereal::ManagerState::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::MANAGER_STATE); + ::capnp::_::PointerHelpers< ::cereal::ManagerState>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::ManagerState::Builder Event::Builder::initManagerState() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::MANAGER_STATE); + return ::capnp::_::PointerHelpers< ::cereal::ManagerState>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptManagerState( + ::capnp::Orphan< ::cereal::ManagerState>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::MANAGER_STATE); + ::capnp::_::PointerHelpers< ::cereal::ManagerState>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::ManagerState> Event::Builder::disownManagerState() { + KJ_IREQUIRE((which() == Event::MANAGER_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ManagerState>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isUploaderState() const { + return which() == Event::UPLOADER_STATE; +} +inline bool Event::Builder::isUploaderState() { + return which() == Event::UPLOADER_STATE; +} +inline bool Event::Reader::hasUploaderState() const { + if (which() != Event::UPLOADER_STATE) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasUploaderState() { + if (which() != Event::UPLOADER_STATE) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::UploaderState::Reader Event::Reader::getUploaderState() const { + KJ_IREQUIRE((which() == Event::UPLOADER_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::UploaderState>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::UploaderState::Builder Event::Builder::getUploaderState() { + KJ_IREQUIRE((which() == Event::UPLOADER_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::UploaderState>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setUploaderState( ::cereal::UploaderState::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::UPLOADER_STATE); + ::capnp::_::PointerHelpers< ::cereal::UploaderState>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::UploaderState::Builder Event::Builder::initUploaderState() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::UPLOADER_STATE); + return ::capnp::_::PointerHelpers< ::cereal::UploaderState>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptUploaderState( + ::capnp::Orphan< ::cereal::UploaderState>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::UPLOADER_STATE); + ::capnp::_::PointerHelpers< ::cereal::UploaderState>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::UploaderState> Event::Builder::disownUploaderState() { + KJ_IREQUIRE((which() == Event::UPLOADER_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::UploaderState>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isPeripheralState() const { + return which() == Event::PERIPHERAL_STATE; +} +inline bool Event::Builder::isPeripheralState() { + return which() == Event::PERIPHERAL_STATE; +} +inline bool Event::Reader::hasPeripheralState() const { + if (which() != Event::PERIPHERAL_STATE) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasPeripheralState() { + if (which() != Event::PERIPHERAL_STATE) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::PeripheralState::Reader Event::Reader::getPeripheralState() const { + KJ_IREQUIRE((which() == Event::PERIPHERAL_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::PeripheralState>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::PeripheralState::Builder Event::Builder::getPeripheralState() { + KJ_IREQUIRE((which() == Event::PERIPHERAL_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::PeripheralState>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setPeripheralState( ::cereal::PeripheralState::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::PERIPHERAL_STATE); + ::capnp::_::PointerHelpers< ::cereal::PeripheralState>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::PeripheralState::Builder Event::Builder::initPeripheralState() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::PERIPHERAL_STATE); + return ::capnp::_::PointerHelpers< ::cereal::PeripheralState>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptPeripheralState( + ::capnp::Orphan< ::cereal::PeripheralState>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::PERIPHERAL_STATE); + ::capnp::_::PointerHelpers< ::cereal::PeripheralState>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::PeripheralState> Event::Builder::disownPeripheralState() { + KJ_IREQUIRE((which() == Event::PERIPHERAL_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::PeripheralState>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isPandaStates() const { + return which() == Event::PANDA_STATES; +} +inline bool Event::Builder::isPandaStates() { + return which() == Event::PANDA_STATES; +} +inline bool Event::Reader::hasPandaStates() const { + if (which() != Event::PANDA_STATES) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasPandaStates() { + if (which() != Event::PANDA_STATES) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::List< ::cereal::PandaState, ::capnp::Kind::STRUCT>::Reader Event::Reader::getPandaStates() const { + KJ_IREQUIRE((which() == Event::PANDA_STATES), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::PandaState, ::capnp::Kind::STRUCT>>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::List< ::cereal::PandaState, ::capnp::Kind::STRUCT>::Builder Event::Builder::getPandaStates() { + KJ_IREQUIRE((which() == Event::PANDA_STATES), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::PandaState, ::capnp::Kind::STRUCT>>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setPandaStates( ::capnp::List< ::cereal::PandaState, ::capnp::Kind::STRUCT>::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::PANDA_STATES); + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::PandaState, ::capnp::Kind::STRUCT>>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::List< ::cereal::PandaState, ::capnp::Kind::STRUCT>::Builder Event::Builder::initPandaStates(unsigned int size) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::PANDA_STATES); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::PandaState, ::capnp::Kind::STRUCT>>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void Event::Builder::adoptPandaStates( + ::capnp::Orphan< ::capnp::List< ::cereal::PandaState, ::capnp::Kind::STRUCT>>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::PANDA_STATES); + ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::PandaState, ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::List< ::cereal::PandaState, ::capnp::Kind::STRUCT>> Event::Builder::disownPandaStates() { + KJ_IREQUIRE((which() == Event::PANDA_STATES), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::PandaState, ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isNavInstruction() const { + return which() == Event::NAV_INSTRUCTION; +} +inline bool Event::Builder::isNavInstruction() { + return which() == Event::NAV_INSTRUCTION; +} +inline bool Event::Reader::hasNavInstruction() const { + if (which() != Event::NAV_INSTRUCTION) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasNavInstruction() { + if (which() != Event::NAV_INSTRUCTION) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::NavInstruction::Reader Event::Reader::getNavInstruction() const { + KJ_IREQUIRE((which() == Event::NAV_INSTRUCTION), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::NavInstruction>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::NavInstruction::Builder Event::Builder::getNavInstruction() { + KJ_IREQUIRE((which() == Event::NAV_INSTRUCTION), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::NavInstruction>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setNavInstruction( ::cereal::NavInstruction::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::NAV_INSTRUCTION); + ::capnp::_::PointerHelpers< ::cereal::NavInstruction>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::NavInstruction::Builder Event::Builder::initNavInstruction() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::NAV_INSTRUCTION); + return ::capnp::_::PointerHelpers< ::cereal::NavInstruction>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptNavInstruction( + ::capnp::Orphan< ::cereal::NavInstruction>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::NAV_INSTRUCTION); + ::capnp::_::PointerHelpers< ::cereal::NavInstruction>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::NavInstruction> Event::Builder::disownNavInstruction() { + KJ_IREQUIRE((which() == Event::NAV_INSTRUCTION), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::NavInstruction>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isNavRoute() const { + return which() == Event::NAV_ROUTE; +} +inline bool Event::Builder::isNavRoute() { + return which() == Event::NAV_ROUTE; +} +inline bool Event::Reader::hasNavRoute() const { + if (which() != Event::NAV_ROUTE) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasNavRoute() { + if (which() != Event::NAV_ROUTE) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::NavRoute::Reader Event::Reader::getNavRoute() const { + KJ_IREQUIRE((which() == Event::NAV_ROUTE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::NavRoute>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::NavRoute::Builder Event::Builder::getNavRoute() { + KJ_IREQUIRE((which() == Event::NAV_ROUTE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::NavRoute>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setNavRoute( ::cereal::NavRoute::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::NAV_ROUTE); + ::capnp::_::PointerHelpers< ::cereal::NavRoute>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::NavRoute::Builder Event::Builder::initNavRoute() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::NAV_ROUTE); + return ::capnp::_::PointerHelpers< ::cereal::NavRoute>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptNavRoute( + ::capnp::Orphan< ::cereal::NavRoute>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::NAV_ROUTE); + ::capnp::_::PointerHelpers< ::cereal::NavRoute>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::NavRoute> Event::Builder::disownNavRoute() { + KJ_IREQUIRE((which() == Event::NAV_ROUTE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::NavRoute>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isNavThumbnail() const { + return which() == Event::NAV_THUMBNAIL; +} +inline bool Event::Builder::isNavThumbnail() { + return which() == Event::NAV_THUMBNAIL; +} +inline bool Event::Reader::hasNavThumbnail() const { + if (which() != Event::NAV_THUMBNAIL) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasNavThumbnail() { + if (which() != Event::NAV_THUMBNAIL) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::Thumbnail::Reader Event::Reader::getNavThumbnail() const { + KJ_IREQUIRE((which() == Event::NAV_THUMBNAIL), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::Thumbnail>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::Thumbnail::Builder Event::Builder::getNavThumbnail() { + KJ_IREQUIRE((which() == Event::NAV_THUMBNAIL), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::Thumbnail>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setNavThumbnail( ::cereal::Thumbnail::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::NAV_THUMBNAIL); + ::capnp::_::PointerHelpers< ::cereal::Thumbnail>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::Thumbnail::Builder Event::Builder::initNavThumbnail() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::NAV_THUMBNAIL); + return ::capnp::_::PointerHelpers< ::cereal::Thumbnail>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptNavThumbnail( + ::capnp::Orphan< ::cereal::Thumbnail>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::NAV_THUMBNAIL); + ::capnp::_::PointerHelpers< ::cereal::Thumbnail>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::Thumbnail> Event::Builder::disownNavThumbnail() { + KJ_IREQUIRE((which() == Event::NAV_THUMBNAIL), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::Thumbnail>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isErrorLogMessage() const { + return which() == Event::ERROR_LOG_MESSAGE; +} +inline bool Event::Builder::isErrorLogMessage() { + return which() == Event::ERROR_LOG_MESSAGE; +} +inline bool Event::Reader::hasErrorLogMessage() const { + if (which() != Event::ERROR_LOG_MESSAGE) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasErrorLogMessage() { + if (which() != Event::ERROR_LOG_MESSAGE) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader Event::Reader::getErrorLogMessage() const { + KJ_IREQUIRE((which() == Event::ERROR_LOG_MESSAGE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder Event::Builder::getErrorLogMessage() { + KJ_IREQUIRE((which() == Event::ERROR_LOG_MESSAGE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setErrorLogMessage( ::capnp::Text::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ERROR_LOG_MESSAGE); + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder Event::Builder::initErrorLogMessage(unsigned int size) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ERROR_LOG_MESSAGE); + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void Event::Builder::adoptErrorLogMessage( + ::capnp::Orphan< ::capnp::Text>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ERROR_LOG_MESSAGE); + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> Event::Builder::disownErrorLogMessage() { + KJ_IREQUIRE((which() == Event::ERROR_LOG_MESSAGE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isRoadEncodeData() const { + return which() == Event::ROAD_ENCODE_DATA; +} +inline bool Event::Builder::isRoadEncodeData() { + return which() == Event::ROAD_ENCODE_DATA; +} +inline bool Event::Reader::hasRoadEncodeData() const { + if (which() != Event::ROAD_ENCODE_DATA) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasRoadEncodeData() { + if (which() != Event::ROAD_ENCODE_DATA) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::EncodeData::Reader Event::Reader::getRoadEncodeData() const { + KJ_IREQUIRE((which() == Event::ROAD_ENCODE_DATA), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::EncodeData>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::EncodeData::Builder Event::Builder::getRoadEncodeData() { + KJ_IREQUIRE((which() == Event::ROAD_ENCODE_DATA), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::EncodeData>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setRoadEncodeData( ::cereal::EncodeData::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ROAD_ENCODE_DATA); + ::capnp::_::PointerHelpers< ::cereal::EncodeData>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::EncodeData::Builder Event::Builder::initRoadEncodeData() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ROAD_ENCODE_DATA); + return ::capnp::_::PointerHelpers< ::cereal::EncodeData>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptRoadEncodeData( + ::capnp::Orphan< ::cereal::EncodeData>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ROAD_ENCODE_DATA); + ::capnp::_::PointerHelpers< ::cereal::EncodeData>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::EncodeData> Event::Builder::disownRoadEncodeData() { + KJ_IREQUIRE((which() == Event::ROAD_ENCODE_DATA), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::EncodeData>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isDriverEncodeData() const { + return which() == Event::DRIVER_ENCODE_DATA; +} +inline bool Event::Builder::isDriverEncodeData() { + return which() == Event::DRIVER_ENCODE_DATA; +} +inline bool Event::Reader::hasDriverEncodeData() const { + if (which() != Event::DRIVER_ENCODE_DATA) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasDriverEncodeData() { + if (which() != Event::DRIVER_ENCODE_DATA) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::EncodeData::Reader Event::Reader::getDriverEncodeData() const { + KJ_IREQUIRE((which() == Event::DRIVER_ENCODE_DATA), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::EncodeData>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::EncodeData::Builder Event::Builder::getDriverEncodeData() { + KJ_IREQUIRE((which() == Event::DRIVER_ENCODE_DATA), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::EncodeData>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setDriverEncodeData( ::cereal::EncodeData::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::DRIVER_ENCODE_DATA); + ::capnp::_::PointerHelpers< ::cereal::EncodeData>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::EncodeData::Builder Event::Builder::initDriverEncodeData() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::DRIVER_ENCODE_DATA); + return ::capnp::_::PointerHelpers< ::cereal::EncodeData>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptDriverEncodeData( + ::capnp::Orphan< ::cereal::EncodeData>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::DRIVER_ENCODE_DATA); + ::capnp::_::PointerHelpers< ::cereal::EncodeData>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::EncodeData> Event::Builder::disownDriverEncodeData() { + KJ_IREQUIRE((which() == Event::DRIVER_ENCODE_DATA), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::EncodeData>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isWideRoadEncodeData() const { + return which() == Event::WIDE_ROAD_ENCODE_DATA; +} +inline bool Event::Builder::isWideRoadEncodeData() { + return which() == Event::WIDE_ROAD_ENCODE_DATA; +} +inline bool Event::Reader::hasWideRoadEncodeData() const { + if (which() != Event::WIDE_ROAD_ENCODE_DATA) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasWideRoadEncodeData() { + if (which() != Event::WIDE_ROAD_ENCODE_DATA) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::EncodeData::Reader Event::Reader::getWideRoadEncodeData() const { + KJ_IREQUIRE((which() == Event::WIDE_ROAD_ENCODE_DATA), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::EncodeData>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::EncodeData::Builder Event::Builder::getWideRoadEncodeData() { + KJ_IREQUIRE((which() == Event::WIDE_ROAD_ENCODE_DATA), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::EncodeData>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setWideRoadEncodeData( ::cereal::EncodeData::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::WIDE_ROAD_ENCODE_DATA); + ::capnp::_::PointerHelpers< ::cereal::EncodeData>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::EncodeData::Builder Event::Builder::initWideRoadEncodeData() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::WIDE_ROAD_ENCODE_DATA); + return ::capnp::_::PointerHelpers< ::cereal::EncodeData>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptWideRoadEncodeData( + ::capnp::Orphan< ::cereal::EncodeData>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::WIDE_ROAD_ENCODE_DATA); + ::capnp::_::PointerHelpers< ::cereal::EncodeData>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::EncodeData> Event::Builder::disownWideRoadEncodeData() { + KJ_IREQUIRE((which() == Event::WIDE_ROAD_ENCODE_DATA), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::EncodeData>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isQRoadEncodeData() const { + return which() == Event::Q_ROAD_ENCODE_DATA; +} +inline bool Event::Builder::isQRoadEncodeData() { + return which() == Event::Q_ROAD_ENCODE_DATA; +} +inline bool Event::Reader::hasQRoadEncodeData() const { + if (which() != Event::Q_ROAD_ENCODE_DATA) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasQRoadEncodeData() { + if (which() != Event::Q_ROAD_ENCODE_DATA) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::EncodeData::Reader Event::Reader::getQRoadEncodeData() const { + KJ_IREQUIRE((which() == Event::Q_ROAD_ENCODE_DATA), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::EncodeData>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::EncodeData::Builder Event::Builder::getQRoadEncodeData() { + KJ_IREQUIRE((which() == Event::Q_ROAD_ENCODE_DATA), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::EncodeData>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setQRoadEncodeData( ::cereal::EncodeData::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::Q_ROAD_ENCODE_DATA); + ::capnp::_::PointerHelpers< ::cereal::EncodeData>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::EncodeData::Builder Event::Builder::initQRoadEncodeData() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::Q_ROAD_ENCODE_DATA); + return ::capnp::_::PointerHelpers< ::cereal::EncodeData>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptQRoadEncodeData( + ::capnp::Orphan< ::cereal::EncodeData>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::Q_ROAD_ENCODE_DATA); + ::capnp::_::PointerHelpers< ::cereal::EncodeData>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::EncodeData> Event::Builder::disownQRoadEncodeData() { + KJ_IREQUIRE((which() == Event::Q_ROAD_ENCODE_DATA), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::EncodeData>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isQRoadEncodeIdx() const { + return which() == Event::Q_ROAD_ENCODE_IDX; +} +inline bool Event::Builder::isQRoadEncodeIdx() { + return which() == Event::Q_ROAD_ENCODE_IDX; +} +inline bool Event::Reader::hasQRoadEncodeIdx() const { + if (which() != Event::Q_ROAD_ENCODE_IDX) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasQRoadEncodeIdx() { + if (which() != Event::Q_ROAD_ENCODE_IDX) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::EncodeIndex::Reader Event::Reader::getQRoadEncodeIdx() const { + KJ_IREQUIRE((which() == Event::Q_ROAD_ENCODE_IDX), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::EncodeIndex::Builder Event::Builder::getQRoadEncodeIdx() { + KJ_IREQUIRE((which() == Event::Q_ROAD_ENCODE_IDX), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setQRoadEncodeIdx( ::cereal::EncodeIndex::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::Q_ROAD_ENCODE_IDX); + ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::EncodeIndex::Builder Event::Builder::initQRoadEncodeIdx() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::Q_ROAD_ENCODE_IDX); + return ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptQRoadEncodeIdx( + ::capnp::Orphan< ::cereal::EncodeIndex>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::Q_ROAD_ENCODE_IDX); + ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::EncodeIndex> Event::Builder::disownQRoadEncodeIdx() { + KJ_IREQUIRE((which() == Event::Q_ROAD_ENCODE_IDX), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isGnssMeasurements() const { + return which() == Event::GNSS_MEASUREMENTS; +} +inline bool Event::Builder::isGnssMeasurements() { + return which() == Event::GNSS_MEASUREMENTS; +} +inline bool Event::Reader::hasGnssMeasurements() const { + if (which() != Event::GNSS_MEASUREMENTS) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasGnssMeasurements() { + if (which() != Event::GNSS_MEASUREMENTS) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::GnssMeasurements::Reader Event::Reader::getGnssMeasurements() const { + KJ_IREQUIRE((which() == Event::GNSS_MEASUREMENTS), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::GnssMeasurements>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::GnssMeasurements::Builder Event::Builder::getGnssMeasurements() { + KJ_IREQUIRE((which() == Event::GNSS_MEASUREMENTS), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::GnssMeasurements>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setGnssMeasurements( ::cereal::GnssMeasurements::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::GNSS_MEASUREMENTS); + ::capnp::_::PointerHelpers< ::cereal::GnssMeasurements>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::GnssMeasurements::Builder Event::Builder::initGnssMeasurements() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::GNSS_MEASUREMENTS); + return ::capnp::_::PointerHelpers< ::cereal::GnssMeasurements>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptGnssMeasurements( + ::capnp::Orphan< ::cereal::GnssMeasurements>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::GNSS_MEASUREMENTS); + ::capnp::_::PointerHelpers< ::cereal::GnssMeasurements>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::GnssMeasurements> Event::Builder::disownGnssMeasurements() { + KJ_IREQUIRE((which() == Event::GNSS_MEASUREMENTS), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::GnssMeasurements>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isDriverStateV2() const { + return which() == Event::DRIVER_STATE_V2; +} +inline bool Event::Builder::isDriverStateV2() { + return which() == Event::DRIVER_STATE_V2; +} +inline bool Event::Reader::hasDriverStateV2() const { + if (which() != Event::DRIVER_STATE_V2) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasDriverStateV2() { + if (which() != Event::DRIVER_STATE_V2) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::DriverStateV2::Reader Event::Reader::getDriverStateV2() const { + KJ_IREQUIRE((which() == Event::DRIVER_STATE_V2), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::DriverStateV2>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::DriverStateV2::Builder Event::Builder::getDriverStateV2() { + KJ_IREQUIRE((which() == Event::DRIVER_STATE_V2), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::DriverStateV2>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setDriverStateV2( ::cereal::DriverStateV2::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::DRIVER_STATE_V2); + ::capnp::_::PointerHelpers< ::cereal::DriverStateV2>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::DriverStateV2::Builder Event::Builder::initDriverStateV2() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::DRIVER_STATE_V2); + return ::capnp::_::PointerHelpers< ::cereal::DriverStateV2>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptDriverStateV2( + ::capnp::Orphan< ::cereal::DriverStateV2>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::DRIVER_STATE_V2); + ::capnp::_::PointerHelpers< ::cereal::DriverStateV2>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::DriverStateV2> Event::Builder::disownDriverStateV2() { + KJ_IREQUIRE((which() == Event::DRIVER_STATE_V2), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::DriverStateV2>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isUserFlag() const { + return which() == Event::USER_FLAG; +} +inline bool Event::Builder::isUserFlag() { + return which() == Event::USER_FLAG; +} +inline bool Event::Reader::hasUserFlag() const { + if (which() != Event::USER_FLAG) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasUserFlag() { + if (which() != Event::USER_FLAG) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::UserFlag::Reader Event::Reader::getUserFlag() const { + KJ_IREQUIRE((which() == Event::USER_FLAG), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::UserFlag>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::UserFlag::Builder Event::Builder::getUserFlag() { + KJ_IREQUIRE((which() == Event::USER_FLAG), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::UserFlag>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setUserFlag( ::cereal::UserFlag::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::USER_FLAG); + ::capnp::_::PointerHelpers< ::cereal::UserFlag>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::UserFlag::Builder Event::Builder::initUserFlag() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::USER_FLAG); + return ::capnp::_::PointerHelpers< ::cereal::UserFlag>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptUserFlag( + ::capnp::Orphan< ::cereal::UserFlag>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::USER_FLAG); + ::capnp::_::PointerHelpers< ::cereal::UserFlag>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::UserFlag> Event::Builder::disownUserFlag() { + KJ_IREQUIRE((which() == Event::USER_FLAG), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::UserFlag>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isLiveTorqueParameters() const { + return which() == Event::LIVE_TORQUE_PARAMETERS; +} +inline bool Event::Builder::isLiveTorqueParameters() { + return which() == Event::LIVE_TORQUE_PARAMETERS; +} +inline bool Event::Reader::hasLiveTorqueParameters() const { + if (which() != Event::LIVE_TORQUE_PARAMETERS) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasLiveTorqueParameters() { + if (which() != Event::LIVE_TORQUE_PARAMETERS) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LiveTorqueParametersData::Reader Event::Reader::getLiveTorqueParameters() const { + KJ_IREQUIRE((which() == Event::LIVE_TORQUE_PARAMETERS), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LiveTorqueParametersData>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::LiveTorqueParametersData::Builder Event::Builder::getLiveTorqueParameters() { + KJ_IREQUIRE((which() == Event::LIVE_TORQUE_PARAMETERS), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LiveTorqueParametersData>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setLiveTorqueParameters( ::cereal::LiveTorqueParametersData::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_TORQUE_PARAMETERS); + ::capnp::_::PointerHelpers< ::cereal::LiveTorqueParametersData>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::LiveTorqueParametersData::Builder Event::Builder::initLiveTorqueParameters() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_TORQUE_PARAMETERS); + return ::capnp::_::PointerHelpers< ::cereal::LiveTorqueParametersData>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptLiveTorqueParameters( + ::capnp::Orphan< ::cereal::LiveTorqueParametersData>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_TORQUE_PARAMETERS); + ::capnp::_::PointerHelpers< ::cereal::LiveTorqueParametersData>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LiveTorqueParametersData> Event::Builder::disownLiveTorqueParameters() { + KJ_IREQUIRE((which() == Event::LIVE_TORQUE_PARAMETERS), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LiveTorqueParametersData>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isMagnetometer() const { + return which() == Event::MAGNETOMETER; +} +inline bool Event::Builder::isMagnetometer() { + return which() == Event::MAGNETOMETER; +} +inline bool Event::Reader::hasMagnetometer() const { + if (which() != Event::MAGNETOMETER) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasMagnetometer() { + if (which() != Event::MAGNETOMETER) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::SensorEventData::Reader Event::Reader::getMagnetometer() const { + KJ_IREQUIRE((which() == Event::MAGNETOMETER), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::SensorEventData::Builder Event::Builder::getMagnetometer() { + KJ_IREQUIRE((which() == Event::MAGNETOMETER), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setMagnetometer( ::cereal::SensorEventData::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::MAGNETOMETER); + ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::SensorEventData::Builder Event::Builder::initMagnetometer() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::MAGNETOMETER); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptMagnetometer( + ::capnp::Orphan< ::cereal::SensorEventData>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::MAGNETOMETER); + ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::SensorEventData> Event::Builder::disownMagnetometer() { + KJ_IREQUIRE((which() == Event::MAGNETOMETER), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isLightSensor() const { + return which() == Event::LIGHT_SENSOR; +} +inline bool Event::Builder::isLightSensor() { + return which() == Event::LIGHT_SENSOR; +} +inline bool Event::Reader::hasLightSensor() const { + if (which() != Event::LIGHT_SENSOR) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasLightSensor() { + if (which() != Event::LIGHT_SENSOR) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::SensorEventData::Reader Event::Reader::getLightSensor() const { + KJ_IREQUIRE((which() == Event::LIGHT_SENSOR), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::SensorEventData::Builder Event::Builder::getLightSensor() { + KJ_IREQUIRE((which() == Event::LIGHT_SENSOR), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setLightSensor( ::cereal::SensorEventData::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIGHT_SENSOR); + ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::SensorEventData::Builder Event::Builder::initLightSensor() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIGHT_SENSOR); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptLightSensor( + ::capnp::Orphan< ::cereal::SensorEventData>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIGHT_SENSOR); + ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::SensorEventData> Event::Builder::disownLightSensor() { + KJ_IREQUIRE((which() == Event::LIGHT_SENSOR), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isTemperatureSensor() const { + return which() == Event::TEMPERATURE_SENSOR; +} +inline bool Event::Builder::isTemperatureSensor() { + return which() == Event::TEMPERATURE_SENSOR; +} +inline bool Event::Reader::hasTemperatureSensor() const { + if (which() != Event::TEMPERATURE_SENSOR) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasTemperatureSensor() { + if (which() != Event::TEMPERATURE_SENSOR) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::SensorEventData::Reader Event::Reader::getTemperatureSensor() const { + KJ_IREQUIRE((which() == Event::TEMPERATURE_SENSOR), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::SensorEventData::Builder Event::Builder::getTemperatureSensor() { + KJ_IREQUIRE((which() == Event::TEMPERATURE_SENSOR), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setTemperatureSensor( ::cereal::SensorEventData::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::TEMPERATURE_SENSOR); + ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::SensorEventData::Builder Event::Builder::initTemperatureSensor() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::TEMPERATURE_SENSOR); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptTemperatureSensor( + ::capnp::Orphan< ::cereal::SensorEventData>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::TEMPERATURE_SENSOR); + ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::SensorEventData> Event::Builder::disownTemperatureSensor() { + KJ_IREQUIRE((which() == Event::TEMPERATURE_SENSOR), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isAccelerometer() const { + return which() == Event::ACCELEROMETER; +} +inline bool Event::Builder::isAccelerometer() { + return which() == Event::ACCELEROMETER; +} +inline bool Event::Reader::hasAccelerometer() const { + if (which() != Event::ACCELEROMETER) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasAccelerometer() { + if (which() != Event::ACCELEROMETER) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::SensorEventData::Reader Event::Reader::getAccelerometer() const { + KJ_IREQUIRE((which() == Event::ACCELEROMETER), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::SensorEventData::Builder Event::Builder::getAccelerometer() { + KJ_IREQUIRE((which() == Event::ACCELEROMETER), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setAccelerometer( ::cereal::SensorEventData::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ACCELEROMETER); + ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::SensorEventData::Builder Event::Builder::initAccelerometer() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ACCELEROMETER); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptAccelerometer( + ::capnp::Orphan< ::cereal::SensorEventData>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ACCELEROMETER); + ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::SensorEventData> Event::Builder::disownAccelerometer() { + KJ_IREQUIRE((which() == Event::ACCELEROMETER), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isGyroscope() const { + return which() == Event::GYROSCOPE; +} +inline bool Event::Builder::isGyroscope() { + return which() == Event::GYROSCOPE; +} +inline bool Event::Reader::hasGyroscope() const { + if (which() != Event::GYROSCOPE) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasGyroscope() { + if (which() != Event::GYROSCOPE) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::SensorEventData::Reader Event::Reader::getGyroscope() const { + KJ_IREQUIRE((which() == Event::GYROSCOPE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::SensorEventData::Builder Event::Builder::getGyroscope() { + KJ_IREQUIRE((which() == Event::GYROSCOPE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setGyroscope( ::cereal::SensorEventData::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::GYROSCOPE); + ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::SensorEventData::Builder Event::Builder::initGyroscope() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::GYROSCOPE); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptGyroscope( + ::capnp::Orphan< ::cereal::SensorEventData>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::GYROSCOPE); + ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::SensorEventData> Event::Builder::disownGyroscope() { + KJ_IREQUIRE((which() == Event::GYROSCOPE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isGyroscope2() const { + return which() == Event::GYROSCOPE2; +} +inline bool Event::Builder::isGyroscope2() { + return which() == Event::GYROSCOPE2; +} +inline bool Event::Reader::hasGyroscope2() const { + if (which() != Event::GYROSCOPE2) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasGyroscope2() { + if (which() != Event::GYROSCOPE2) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::SensorEventData::Reader Event::Reader::getGyroscope2() const { + KJ_IREQUIRE((which() == Event::GYROSCOPE2), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::SensorEventData::Builder Event::Builder::getGyroscope2() { + KJ_IREQUIRE((which() == Event::GYROSCOPE2), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setGyroscope2( ::cereal::SensorEventData::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::GYROSCOPE2); + ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::SensorEventData::Builder Event::Builder::initGyroscope2() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::GYROSCOPE2); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptGyroscope2( + ::capnp::Orphan< ::cereal::SensorEventData>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::GYROSCOPE2); + ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::SensorEventData> Event::Builder::disownGyroscope2() { + KJ_IREQUIRE((which() == Event::GYROSCOPE2), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isAccelerometer2() const { + return which() == Event::ACCELEROMETER2; +} +inline bool Event::Builder::isAccelerometer2() { + return which() == Event::ACCELEROMETER2; +} +inline bool Event::Reader::hasAccelerometer2() const { + if (which() != Event::ACCELEROMETER2) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasAccelerometer2() { + if (which() != Event::ACCELEROMETER2) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::SensorEventData::Reader Event::Reader::getAccelerometer2() const { + KJ_IREQUIRE((which() == Event::ACCELEROMETER2), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::SensorEventData::Builder Event::Builder::getAccelerometer2() { + KJ_IREQUIRE((which() == Event::ACCELEROMETER2), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setAccelerometer2( ::cereal::SensorEventData::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ACCELEROMETER2); + ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::SensorEventData::Builder Event::Builder::initAccelerometer2() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ACCELEROMETER2); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptAccelerometer2( + ::capnp::Orphan< ::cereal::SensorEventData>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::ACCELEROMETER2); + ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::SensorEventData> Event::Builder::disownAccelerometer2() { + KJ_IREQUIRE((which() == Event::ACCELEROMETER2), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isUiDebug() const { + return which() == Event::UI_DEBUG; +} +inline bool Event::Builder::isUiDebug() { + return which() == Event::UI_DEBUG; +} +inline bool Event::Reader::hasUiDebug() const { + if (which() != Event::UI_DEBUG) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasUiDebug() { + if (which() != Event::UI_DEBUG) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::UIDebug::Reader Event::Reader::getUiDebug() const { + KJ_IREQUIRE((which() == Event::UI_DEBUG), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::UIDebug>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::UIDebug::Builder Event::Builder::getUiDebug() { + KJ_IREQUIRE((which() == Event::UI_DEBUG), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::UIDebug>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setUiDebug( ::cereal::UIDebug::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::UI_DEBUG); + ::capnp::_::PointerHelpers< ::cereal::UIDebug>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::UIDebug::Builder Event::Builder::initUiDebug() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::UI_DEBUG); + return ::capnp::_::PointerHelpers< ::cereal::UIDebug>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptUiDebug( + ::capnp::Orphan< ::cereal::UIDebug>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::UI_DEBUG); + ::capnp::_::PointerHelpers< ::cereal::UIDebug>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::UIDebug> Event::Builder::disownUiDebug() { + KJ_IREQUIRE((which() == Event::UI_DEBUG), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::UIDebug>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isMicrophone() const { + return which() == Event::MICROPHONE; +} +inline bool Event::Builder::isMicrophone() { + return which() == Event::MICROPHONE; +} +inline bool Event::Reader::hasMicrophone() const { + if (which() != Event::MICROPHONE) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasMicrophone() { + if (which() != Event::MICROPHONE) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::Microphone::Reader Event::Reader::getMicrophone() const { + KJ_IREQUIRE((which() == Event::MICROPHONE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::Microphone>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::Microphone::Builder Event::Builder::getMicrophone() { + KJ_IREQUIRE((which() == Event::MICROPHONE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::Microphone>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setMicrophone( ::cereal::Microphone::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::MICROPHONE); + ::capnp::_::PointerHelpers< ::cereal::Microphone>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::Microphone::Builder Event::Builder::initMicrophone() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::MICROPHONE); + return ::capnp::_::PointerHelpers< ::cereal::Microphone>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptMicrophone( + ::capnp::Orphan< ::cereal::Microphone>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::MICROPHONE); + ::capnp::_::PointerHelpers< ::cereal::Microphone>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::Microphone> Event::Builder::disownMicrophone() { + KJ_IREQUIRE((which() == Event::MICROPHONE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::Microphone>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isNavModelDEPRECATED() const { + return which() == Event::NAV_MODEL_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Builder::isNavModelDEPRECATED() { + return which() == Event::NAV_MODEL_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Reader::hasNavModelDEPRECATED() const { + if (which() != Event::NAV_MODEL_D_E_P_R_E_C_A_T_E_D) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasNavModelDEPRECATED() { + if (which() != Event::NAV_MODEL_D_E_P_R_E_C_A_T_E_D) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::NavModelData::Reader Event::Reader::getNavModelDEPRECATED() const { + KJ_IREQUIRE((which() == Event::NAV_MODEL_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::NavModelData>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::NavModelData::Builder Event::Builder::getNavModelDEPRECATED() { + KJ_IREQUIRE((which() == Event::NAV_MODEL_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::NavModelData>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setNavModelDEPRECATED( ::cereal::NavModelData::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::NAV_MODEL_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::NavModelData>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::NavModelData::Builder Event::Builder::initNavModelDEPRECATED() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::NAV_MODEL_D_E_P_R_E_C_A_T_E_D); + return ::capnp::_::PointerHelpers< ::cereal::NavModelData>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptNavModelDEPRECATED( + ::capnp::Orphan< ::cereal::NavModelData>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::NAV_MODEL_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::NavModelData>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::NavModelData> Event::Builder::disownNavModelDEPRECATED() { + KJ_IREQUIRE((which() == Event::NAV_MODEL_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::NavModelData>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isMapRenderState() const { + return which() == Event::MAP_RENDER_STATE; +} +inline bool Event::Builder::isMapRenderState() { + return which() == Event::MAP_RENDER_STATE; +} +inline bool Event::Reader::hasMapRenderState() const { + if (which() != Event::MAP_RENDER_STATE) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasMapRenderState() { + if (which() != Event::MAP_RENDER_STATE) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::MapRenderState::Reader Event::Reader::getMapRenderState() const { + KJ_IREQUIRE((which() == Event::MAP_RENDER_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::MapRenderState>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::MapRenderState::Builder Event::Builder::getMapRenderState() { + KJ_IREQUIRE((which() == Event::MAP_RENDER_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::MapRenderState>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setMapRenderState( ::cereal::MapRenderState::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::MAP_RENDER_STATE); + ::capnp::_::PointerHelpers< ::cereal::MapRenderState>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::MapRenderState::Builder Event::Builder::initMapRenderState() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::MAP_RENDER_STATE); + return ::capnp::_::PointerHelpers< ::cereal::MapRenderState>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptMapRenderState( + ::capnp::Orphan< ::cereal::MapRenderState>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::MAP_RENDER_STATE); + ::capnp::_::PointerHelpers< ::cereal::MapRenderState>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::MapRenderState> Event::Builder::disownMapRenderState() { + KJ_IREQUIRE((which() == Event::MAP_RENDER_STATE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::MapRenderState>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isUiPlanDEPRECATED() const { + return which() == Event::UI_PLAN_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Builder::isUiPlanDEPRECATED() { + return which() == Event::UI_PLAN_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Reader::hasUiPlanDEPRECATED() const { + if (which() != Event::UI_PLAN_D_E_P_R_E_C_A_T_E_D) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasUiPlanDEPRECATED() { + if (which() != Event::UI_PLAN_D_E_P_R_E_C_A_T_E_D) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::UiPlan::Reader Event::Reader::getUiPlanDEPRECATED() const { + KJ_IREQUIRE((which() == Event::UI_PLAN_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::UiPlan>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::UiPlan::Builder Event::Builder::getUiPlanDEPRECATED() { + KJ_IREQUIRE((which() == Event::UI_PLAN_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::UiPlan>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setUiPlanDEPRECATED( ::cereal::UiPlan::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::UI_PLAN_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::UiPlan>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::UiPlan::Builder Event::Builder::initUiPlanDEPRECATED() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::UI_PLAN_D_E_P_R_E_C_A_T_E_D); + return ::capnp::_::PointerHelpers< ::cereal::UiPlan>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptUiPlanDEPRECATED( + ::capnp::Orphan< ::cereal::UiPlan>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::UI_PLAN_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::UiPlan>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::UiPlan> Event::Builder::disownUiPlanDEPRECATED() { + KJ_IREQUIRE((which() == Event::UI_PLAN_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::UiPlan>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isControlsStateSP() const { + return which() == Event::CONTROLS_STATE_S_P; +} +inline bool Event::Builder::isControlsStateSP() { + return which() == Event::CONTROLS_STATE_S_P; +} +inline bool Event::Reader::hasControlsStateSP() const { + if (which() != Event::CONTROLS_STATE_S_P) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasControlsStateSP() { + if (which() != Event::CONTROLS_STATE_S_P) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::ControlsStateSP::Reader Event::Reader::getControlsStateSP() const { + KJ_IREQUIRE((which() == Event::CONTROLS_STATE_S_P), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::ControlsStateSP::Builder Event::Builder::getControlsStateSP() { + KJ_IREQUIRE((which() == Event::CONTROLS_STATE_S_P), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setControlsStateSP( ::cereal::ControlsStateSP::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CONTROLS_STATE_S_P); + ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::ControlsStateSP::Builder Event::Builder::initControlsStateSP() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CONTROLS_STATE_S_P); + return ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptControlsStateSP( + ::capnp::Orphan< ::cereal::ControlsStateSP>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CONTROLS_STATE_S_P); + ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::ControlsStateSP> Event::Builder::disownControlsStateSP() { + KJ_IREQUIRE((which() == Event::CONTROLS_STATE_S_P), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ControlsStateSP>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isLongitudinalPlanSP() const { + return which() == Event::LONGITUDINAL_PLAN_S_P; +} +inline bool Event::Builder::isLongitudinalPlanSP() { + return which() == Event::LONGITUDINAL_PLAN_S_P; +} +inline bool Event::Reader::hasLongitudinalPlanSP() const { + if (which() != Event::LONGITUDINAL_PLAN_S_P) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasLongitudinalPlanSP() { + if (which() != Event::LONGITUDINAL_PLAN_S_P) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LongitudinalPlanSP::Reader Event::Reader::getLongitudinalPlanSP() const { + KJ_IREQUIRE((which() == Event::LONGITUDINAL_PLAN_S_P), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LongitudinalPlanSP>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::LongitudinalPlanSP::Builder Event::Builder::getLongitudinalPlanSP() { + KJ_IREQUIRE((which() == Event::LONGITUDINAL_PLAN_S_P), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LongitudinalPlanSP>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setLongitudinalPlanSP( ::cereal::LongitudinalPlanSP::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LONGITUDINAL_PLAN_S_P); + ::capnp::_::PointerHelpers< ::cereal::LongitudinalPlanSP>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::LongitudinalPlanSP::Builder Event::Builder::initLongitudinalPlanSP() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LONGITUDINAL_PLAN_S_P); + return ::capnp::_::PointerHelpers< ::cereal::LongitudinalPlanSP>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptLongitudinalPlanSP( + ::capnp::Orphan< ::cereal::LongitudinalPlanSP>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LONGITUDINAL_PLAN_S_P); + ::capnp::_::PointerHelpers< ::cereal::LongitudinalPlanSP>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LongitudinalPlanSP> Event::Builder::disownLongitudinalPlanSP() { + KJ_IREQUIRE((which() == Event::LONGITUDINAL_PLAN_S_P), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LongitudinalPlanSP>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isLateralPlanSPDEPRECATED() const { + return which() == Event::LATERAL_PLAN_S_P_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Builder::isLateralPlanSPDEPRECATED() { + return which() == Event::LATERAL_PLAN_S_P_D_E_P_R_E_C_A_T_E_D; +} +inline bool Event::Reader::hasLateralPlanSPDEPRECATED() const { + if (which() != Event::LATERAL_PLAN_S_P_D_E_P_R_E_C_A_T_E_D) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasLateralPlanSPDEPRECATED() { + if (which() != Event::LATERAL_PLAN_S_P_D_E_P_R_E_C_A_T_E_D) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LateralPlanSP::Reader Event::Reader::getLateralPlanSPDEPRECATED() const { + KJ_IREQUIRE((which() == Event::LATERAL_PLAN_S_P_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LateralPlanSP>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::LateralPlanSP::Builder Event::Builder::getLateralPlanSPDEPRECATED() { + KJ_IREQUIRE((which() == Event::LATERAL_PLAN_S_P_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LateralPlanSP>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setLateralPlanSPDEPRECATED( ::cereal::LateralPlanSP::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LATERAL_PLAN_S_P_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::LateralPlanSP>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::LateralPlanSP::Builder Event::Builder::initLateralPlanSPDEPRECATED() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LATERAL_PLAN_S_P_D_E_P_R_E_C_A_T_E_D); + return ::capnp::_::PointerHelpers< ::cereal::LateralPlanSP>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptLateralPlanSPDEPRECATED( + ::capnp::Orphan< ::cereal::LateralPlanSP>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LATERAL_PLAN_S_P_D_E_P_R_E_C_A_T_E_D); + ::capnp::_::PointerHelpers< ::cereal::LateralPlanSP>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LateralPlanSP> Event::Builder::disownLateralPlanSPDEPRECATED() { + KJ_IREQUIRE((which() == Event::LATERAL_PLAN_S_P_D_E_P_R_E_C_A_T_E_D), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LateralPlanSP>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isDriverMonitoringStateSP() const { + return which() == Event::DRIVER_MONITORING_STATE_S_P; +} +inline bool Event::Builder::isDriverMonitoringStateSP() { + return which() == Event::DRIVER_MONITORING_STATE_S_P; +} +inline bool Event::Reader::hasDriverMonitoringStateSP() const { + if (which() != Event::DRIVER_MONITORING_STATE_S_P) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasDriverMonitoringStateSP() { + if (which() != Event::DRIVER_MONITORING_STATE_S_P) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::DriverMonitoringStateSP::Reader Event::Reader::getDriverMonitoringStateSP() const { + KJ_IREQUIRE((which() == Event::DRIVER_MONITORING_STATE_S_P), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::DriverMonitoringStateSP>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::DriverMonitoringStateSP::Builder Event::Builder::getDriverMonitoringStateSP() { + KJ_IREQUIRE((which() == Event::DRIVER_MONITORING_STATE_S_P), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::DriverMonitoringStateSP>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setDriverMonitoringStateSP( ::cereal::DriverMonitoringStateSP::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::DRIVER_MONITORING_STATE_S_P); + ::capnp::_::PointerHelpers< ::cereal::DriverMonitoringStateSP>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::DriverMonitoringStateSP::Builder Event::Builder::initDriverMonitoringStateSP() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::DRIVER_MONITORING_STATE_S_P); + return ::capnp::_::PointerHelpers< ::cereal::DriverMonitoringStateSP>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptDriverMonitoringStateSP( + ::capnp::Orphan< ::cereal::DriverMonitoringStateSP>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::DRIVER_MONITORING_STATE_S_P); + ::capnp::_::PointerHelpers< ::cereal::DriverMonitoringStateSP>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::DriverMonitoringStateSP> Event::Builder::disownDriverMonitoringStateSP() { + KJ_IREQUIRE((which() == Event::DRIVER_MONITORING_STATE_S_P), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::DriverMonitoringStateSP>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isLiveMapDataSP() const { + return which() == Event::LIVE_MAP_DATA_S_P; +} +inline bool Event::Builder::isLiveMapDataSP() { + return which() == Event::LIVE_MAP_DATA_S_P; +} +inline bool Event::Reader::hasLiveMapDataSP() const { + if (which() != Event::LIVE_MAP_DATA_S_P) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasLiveMapDataSP() { + if (which() != Event::LIVE_MAP_DATA_S_P) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LiveMapDataSP::Reader Event::Reader::getLiveMapDataSP() const { + KJ_IREQUIRE((which() == Event::LIVE_MAP_DATA_S_P), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LiveMapDataSP>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::LiveMapDataSP::Builder Event::Builder::getLiveMapDataSP() { + KJ_IREQUIRE((which() == Event::LIVE_MAP_DATA_S_P), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LiveMapDataSP>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setLiveMapDataSP( ::cereal::LiveMapDataSP::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_MAP_DATA_S_P); + ::capnp::_::PointerHelpers< ::cereal::LiveMapDataSP>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::LiveMapDataSP::Builder Event::Builder::initLiveMapDataSP() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_MAP_DATA_S_P); + return ::capnp::_::PointerHelpers< ::cereal::LiveMapDataSP>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptLiveMapDataSP( + ::capnp::Orphan< ::cereal::LiveMapDataSP>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_MAP_DATA_S_P); + ::capnp::_::PointerHelpers< ::cereal::LiveMapDataSP>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LiveMapDataSP> Event::Builder::disownLiveMapDataSP() { + KJ_IREQUIRE((which() == Event::LIVE_MAP_DATA_S_P), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LiveMapDataSP>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isE2eLongStateSP() const { + return which() == Event::E2E_LONG_STATE_S_P; +} +inline bool Event::Builder::isE2eLongStateSP() { + return which() == Event::E2E_LONG_STATE_S_P; +} +inline bool Event::Reader::hasE2eLongStateSP() const { + if (which() != Event::E2E_LONG_STATE_S_P) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasE2eLongStateSP() { + if (which() != Event::E2E_LONG_STATE_S_P) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::E2eLongStateSP::Reader Event::Reader::getE2eLongStateSP() const { + KJ_IREQUIRE((which() == Event::E2E_LONG_STATE_S_P), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::E2eLongStateSP>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::E2eLongStateSP::Builder Event::Builder::getE2eLongStateSP() { + KJ_IREQUIRE((which() == Event::E2E_LONG_STATE_S_P), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::E2eLongStateSP>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setE2eLongStateSP( ::cereal::E2eLongStateSP::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::E2E_LONG_STATE_S_P); + ::capnp::_::PointerHelpers< ::cereal::E2eLongStateSP>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::E2eLongStateSP::Builder Event::Builder::initE2eLongStateSP() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::E2E_LONG_STATE_S_P); + return ::capnp::_::PointerHelpers< ::cereal::E2eLongStateSP>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptE2eLongStateSP( + ::capnp::Orphan< ::cereal::E2eLongStateSP>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::E2E_LONG_STATE_S_P); + ::capnp::_::PointerHelpers< ::cereal::E2eLongStateSP>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::E2eLongStateSP> Event::Builder::disownE2eLongStateSP() { + KJ_IREQUIRE((which() == Event::E2E_LONG_STATE_S_P), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::E2eLongStateSP>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isModelV2SP() const { + return which() == Event::MODEL_V2_S_P; +} +inline bool Event::Builder::isModelV2SP() { + return which() == Event::MODEL_V2_S_P; +} +inline bool Event::Reader::hasModelV2SP() const { + if (which() != Event::MODEL_V2_S_P) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasModelV2SP() { + if (which() != Event::MODEL_V2_S_P) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::ModelDataV2SP::Reader Event::Reader::getModelV2SP() const { + KJ_IREQUIRE((which() == Event::MODEL_V2_S_P), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ModelDataV2SP>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::ModelDataV2SP::Builder Event::Builder::getModelV2SP() { + KJ_IREQUIRE((which() == Event::MODEL_V2_S_P), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ModelDataV2SP>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setModelV2SP( ::cereal::ModelDataV2SP::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::MODEL_V2_S_P); + ::capnp::_::PointerHelpers< ::cereal::ModelDataV2SP>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::ModelDataV2SP::Builder Event::Builder::initModelV2SP() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::MODEL_V2_S_P); + return ::capnp::_::PointerHelpers< ::cereal::ModelDataV2SP>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptModelV2SP( + ::capnp::Orphan< ::cereal::ModelDataV2SP>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::MODEL_V2_S_P); + ::capnp::_::PointerHelpers< ::cereal::ModelDataV2SP>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::ModelDataV2SP> Event::Builder::disownModelV2SP() { + KJ_IREQUIRE((which() == Event::MODEL_V2_S_P), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::ModelDataV2SP>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isCustomReserved7() const { + return which() == Event::CUSTOM_RESERVED7; +} +inline bool Event::Builder::isCustomReserved7() { + return which() == Event::CUSTOM_RESERVED7; +} +inline bool Event::Reader::hasCustomReserved7() const { + if (which() != Event::CUSTOM_RESERVED7) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasCustomReserved7() { + if (which() != Event::CUSTOM_RESERVED7) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::CustomReserved7::Reader Event::Reader::getCustomReserved7() const { + KJ_IREQUIRE((which() == Event::CUSTOM_RESERVED7), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::CustomReserved7>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::CustomReserved7::Builder Event::Builder::getCustomReserved7() { + KJ_IREQUIRE((which() == Event::CUSTOM_RESERVED7), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::CustomReserved7>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setCustomReserved7( ::cereal::CustomReserved7::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CUSTOM_RESERVED7); + ::capnp::_::PointerHelpers< ::cereal::CustomReserved7>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::CustomReserved7::Builder Event::Builder::initCustomReserved7() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CUSTOM_RESERVED7); + return ::capnp::_::PointerHelpers< ::cereal::CustomReserved7>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptCustomReserved7( + ::capnp::Orphan< ::cereal::CustomReserved7>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CUSTOM_RESERVED7); + ::capnp::_::PointerHelpers< ::cereal::CustomReserved7>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::CustomReserved7> Event::Builder::disownCustomReserved7() { + KJ_IREQUIRE((which() == Event::CUSTOM_RESERVED7), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::CustomReserved7>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isCustomReserved8() const { + return which() == Event::CUSTOM_RESERVED8; +} +inline bool Event::Builder::isCustomReserved8() { + return which() == Event::CUSTOM_RESERVED8; +} +inline bool Event::Reader::hasCustomReserved8() const { + if (which() != Event::CUSTOM_RESERVED8) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasCustomReserved8() { + if (which() != Event::CUSTOM_RESERVED8) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::CustomReserved8::Reader Event::Reader::getCustomReserved8() const { + KJ_IREQUIRE((which() == Event::CUSTOM_RESERVED8), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::CustomReserved8>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::CustomReserved8::Builder Event::Builder::getCustomReserved8() { + KJ_IREQUIRE((which() == Event::CUSTOM_RESERVED8), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::CustomReserved8>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setCustomReserved8( ::cereal::CustomReserved8::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CUSTOM_RESERVED8); + ::capnp::_::PointerHelpers< ::cereal::CustomReserved8>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::CustomReserved8::Builder Event::Builder::initCustomReserved8() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CUSTOM_RESERVED8); + return ::capnp::_::PointerHelpers< ::cereal::CustomReserved8>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptCustomReserved8( + ::capnp::Orphan< ::cereal::CustomReserved8>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CUSTOM_RESERVED8); + ::capnp::_::PointerHelpers< ::cereal::CustomReserved8>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::CustomReserved8> Event::Builder::disownCustomReserved8() { + KJ_IREQUIRE((which() == Event::CUSTOM_RESERVED8), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::CustomReserved8>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isCustomReserved9() const { + return which() == Event::CUSTOM_RESERVED9; +} +inline bool Event::Builder::isCustomReserved9() { + return which() == Event::CUSTOM_RESERVED9; +} +inline bool Event::Reader::hasCustomReserved9() const { + if (which() != Event::CUSTOM_RESERVED9) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasCustomReserved9() { + if (which() != Event::CUSTOM_RESERVED9) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::CustomReserved9::Reader Event::Reader::getCustomReserved9() const { + KJ_IREQUIRE((which() == Event::CUSTOM_RESERVED9), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::CustomReserved9>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::CustomReserved9::Builder Event::Builder::getCustomReserved9() { + KJ_IREQUIRE((which() == Event::CUSTOM_RESERVED9), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::CustomReserved9>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setCustomReserved9( ::cereal::CustomReserved9::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CUSTOM_RESERVED9); + ::capnp::_::PointerHelpers< ::cereal::CustomReserved9>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::CustomReserved9::Builder Event::Builder::initCustomReserved9() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CUSTOM_RESERVED9); + return ::capnp::_::PointerHelpers< ::cereal::CustomReserved9>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptCustomReserved9( + ::capnp::Orphan< ::cereal::CustomReserved9>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CUSTOM_RESERVED9); + ::capnp::_::PointerHelpers< ::cereal::CustomReserved9>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::CustomReserved9> Event::Builder::disownCustomReserved9() { + KJ_IREQUIRE((which() == Event::CUSTOM_RESERVED9), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::CustomReserved9>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isLivestreamRoadEncodeIdx() const { + return which() == Event::LIVESTREAM_ROAD_ENCODE_IDX; +} +inline bool Event::Builder::isLivestreamRoadEncodeIdx() { + return which() == Event::LIVESTREAM_ROAD_ENCODE_IDX; +} +inline bool Event::Reader::hasLivestreamRoadEncodeIdx() const { + if (which() != Event::LIVESTREAM_ROAD_ENCODE_IDX) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasLivestreamRoadEncodeIdx() { + if (which() != Event::LIVESTREAM_ROAD_ENCODE_IDX) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::EncodeIndex::Reader Event::Reader::getLivestreamRoadEncodeIdx() const { + KJ_IREQUIRE((which() == Event::LIVESTREAM_ROAD_ENCODE_IDX), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::EncodeIndex::Builder Event::Builder::getLivestreamRoadEncodeIdx() { + KJ_IREQUIRE((which() == Event::LIVESTREAM_ROAD_ENCODE_IDX), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setLivestreamRoadEncodeIdx( ::cereal::EncodeIndex::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVESTREAM_ROAD_ENCODE_IDX); + ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::EncodeIndex::Builder Event::Builder::initLivestreamRoadEncodeIdx() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVESTREAM_ROAD_ENCODE_IDX); + return ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptLivestreamRoadEncodeIdx( + ::capnp::Orphan< ::cereal::EncodeIndex>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVESTREAM_ROAD_ENCODE_IDX); + ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::EncodeIndex> Event::Builder::disownLivestreamRoadEncodeIdx() { + KJ_IREQUIRE((which() == Event::LIVESTREAM_ROAD_ENCODE_IDX), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isLivestreamWideRoadEncodeIdx() const { + return which() == Event::LIVESTREAM_WIDE_ROAD_ENCODE_IDX; +} +inline bool Event::Builder::isLivestreamWideRoadEncodeIdx() { + return which() == Event::LIVESTREAM_WIDE_ROAD_ENCODE_IDX; +} +inline bool Event::Reader::hasLivestreamWideRoadEncodeIdx() const { + if (which() != Event::LIVESTREAM_WIDE_ROAD_ENCODE_IDX) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasLivestreamWideRoadEncodeIdx() { + if (which() != Event::LIVESTREAM_WIDE_ROAD_ENCODE_IDX) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::EncodeIndex::Reader Event::Reader::getLivestreamWideRoadEncodeIdx() const { + KJ_IREQUIRE((which() == Event::LIVESTREAM_WIDE_ROAD_ENCODE_IDX), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::EncodeIndex::Builder Event::Builder::getLivestreamWideRoadEncodeIdx() { + KJ_IREQUIRE((which() == Event::LIVESTREAM_WIDE_ROAD_ENCODE_IDX), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setLivestreamWideRoadEncodeIdx( ::cereal::EncodeIndex::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVESTREAM_WIDE_ROAD_ENCODE_IDX); + ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::EncodeIndex::Builder Event::Builder::initLivestreamWideRoadEncodeIdx() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVESTREAM_WIDE_ROAD_ENCODE_IDX); + return ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptLivestreamWideRoadEncodeIdx( + ::capnp::Orphan< ::cereal::EncodeIndex>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVESTREAM_WIDE_ROAD_ENCODE_IDX); + ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::EncodeIndex> Event::Builder::disownLivestreamWideRoadEncodeIdx() { + KJ_IREQUIRE((which() == Event::LIVESTREAM_WIDE_ROAD_ENCODE_IDX), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isLivestreamDriverEncodeIdx() const { + return which() == Event::LIVESTREAM_DRIVER_ENCODE_IDX; +} +inline bool Event::Builder::isLivestreamDriverEncodeIdx() { + return which() == Event::LIVESTREAM_DRIVER_ENCODE_IDX; +} +inline bool Event::Reader::hasLivestreamDriverEncodeIdx() const { + if (which() != Event::LIVESTREAM_DRIVER_ENCODE_IDX) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasLivestreamDriverEncodeIdx() { + if (which() != Event::LIVESTREAM_DRIVER_ENCODE_IDX) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::EncodeIndex::Reader Event::Reader::getLivestreamDriverEncodeIdx() const { + KJ_IREQUIRE((which() == Event::LIVESTREAM_DRIVER_ENCODE_IDX), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::EncodeIndex::Builder Event::Builder::getLivestreamDriverEncodeIdx() { + KJ_IREQUIRE((which() == Event::LIVESTREAM_DRIVER_ENCODE_IDX), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setLivestreamDriverEncodeIdx( ::cereal::EncodeIndex::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVESTREAM_DRIVER_ENCODE_IDX); + ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::EncodeIndex::Builder Event::Builder::initLivestreamDriverEncodeIdx() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVESTREAM_DRIVER_ENCODE_IDX); + return ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptLivestreamDriverEncodeIdx( + ::capnp::Orphan< ::cereal::EncodeIndex>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVESTREAM_DRIVER_ENCODE_IDX); + ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::EncodeIndex> Event::Builder::disownLivestreamDriverEncodeIdx() { + KJ_IREQUIRE((which() == Event::LIVESTREAM_DRIVER_ENCODE_IDX), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::EncodeIndex>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isLivestreamRoadEncodeData() const { + return which() == Event::LIVESTREAM_ROAD_ENCODE_DATA; +} +inline bool Event::Builder::isLivestreamRoadEncodeData() { + return which() == Event::LIVESTREAM_ROAD_ENCODE_DATA; +} +inline bool Event::Reader::hasLivestreamRoadEncodeData() const { + if (which() != Event::LIVESTREAM_ROAD_ENCODE_DATA) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasLivestreamRoadEncodeData() { + if (which() != Event::LIVESTREAM_ROAD_ENCODE_DATA) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::EncodeData::Reader Event::Reader::getLivestreamRoadEncodeData() const { + KJ_IREQUIRE((which() == Event::LIVESTREAM_ROAD_ENCODE_DATA), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::EncodeData>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::EncodeData::Builder Event::Builder::getLivestreamRoadEncodeData() { + KJ_IREQUIRE((which() == Event::LIVESTREAM_ROAD_ENCODE_DATA), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::EncodeData>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setLivestreamRoadEncodeData( ::cereal::EncodeData::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVESTREAM_ROAD_ENCODE_DATA); + ::capnp::_::PointerHelpers< ::cereal::EncodeData>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::EncodeData::Builder Event::Builder::initLivestreamRoadEncodeData() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVESTREAM_ROAD_ENCODE_DATA); + return ::capnp::_::PointerHelpers< ::cereal::EncodeData>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptLivestreamRoadEncodeData( + ::capnp::Orphan< ::cereal::EncodeData>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVESTREAM_ROAD_ENCODE_DATA); + ::capnp::_::PointerHelpers< ::cereal::EncodeData>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::EncodeData> Event::Builder::disownLivestreamRoadEncodeData() { + KJ_IREQUIRE((which() == Event::LIVESTREAM_ROAD_ENCODE_DATA), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::EncodeData>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isLivestreamWideRoadEncodeData() const { + return which() == Event::LIVESTREAM_WIDE_ROAD_ENCODE_DATA; +} +inline bool Event::Builder::isLivestreamWideRoadEncodeData() { + return which() == Event::LIVESTREAM_WIDE_ROAD_ENCODE_DATA; +} +inline bool Event::Reader::hasLivestreamWideRoadEncodeData() const { + if (which() != Event::LIVESTREAM_WIDE_ROAD_ENCODE_DATA) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasLivestreamWideRoadEncodeData() { + if (which() != Event::LIVESTREAM_WIDE_ROAD_ENCODE_DATA) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::EncodeData::Reader Event::Reader::getLivestreamWideRoadEncodeData() const { + KJ_IREQUIRE((which() == Event::LIVESTREAM_WIDE_ROAD_ENCODE_DATA), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::EncodeData>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::EncodeData::Builder Event::Builder::getLivestreamWideRoadEncodeData() { + KJ_IREQUIRE((which() == Event::LIVESTREAM_WIDE_ROAD_ENCODE_DATA), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::EncodeData>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setLivestreamWideRoadEncodeData( ::cereal::EncodeData::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVESTREAM_WIDE_ROAD_ENCODE_DATA); + ::capnp::_::PointerHelpers< ::cereal::EncodeData>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::EncodeData::Builder Event::Builder::initLivestreamWideRoadEncodeData() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVESTREAM_WIDE_ROAD_ENCODE_DATA); + return ::capnp::_::PointerHelpers< ::cereal::EncodeData>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptLivestreamWideRoadEncodeData( + ::capnp::Orphan< ::cereal::EncodeData>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVESTREAM_WIDE_ROAD_ENCODE_DATA); + ::capnp::_::PointerHelpers< ::cereal::EncodeData>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::EncodeData> Event::Builder::disownLivestreamWideRoadEncodeData() { + KJ_IREQUIRE((which() == Event::LIVESTREAM_WIDE_ROAD_ENCODE_DATA), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::EncodeData>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isLivestreamDriverEncodeData() const { + return which() == Event::LIVESTREAM_DRIVER_ENCODE_DATA; +} +inline bool Event::Builder::isLivestreamDriverEncodeData() { + return which() == Event::LIVESTREAM_DRIVER_ENCODE_DATA; +} +inline bool Event::Reader::hasLivestreamDriverEncodeData() const { + if (which() != Event::LIVESTREAM_DRIVER_ENCODE_DATA) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasLivestreamDriverEncodeData() { + if (which() != Event::LIVESTREAM_DRIVER_ENCODE_DATA) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::EncodeData::Reader Event::Reader::getLivestreamDriverEncodeData() const { + KJ_IREQUIRE((which() == Event::LIVESTREAM_DRIVER_ENCODE_DATA), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::EncodeData>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::EncodeData::Builder Event::Builder::getLivestreamDriverEncodeData() { + KJ_IREQUIRE((which() == Event::LIVESTREAM_DRIVER_ENCODE_DATA), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::EncodeData>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setLivestreamDriverEncodeData( ::cereal::EncodeData::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVESTREAM_DRIVER_ENCODE_DATA); + ::capnp::_::PointerHelpers< ::cereal::EncodeData>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::EncodeData::Builder Event::Builder::initLivestreamDriverEncodeData() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVESTREAM_DRIVER_ENCODE_DATA); + return ::capnp::_::PointerHelpers< ::cereal::EncodeData>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptLivestreamDriverEncodeData( + ::capnp::Orphan< ::cereal::EncodeData>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVESTREAM_DRIVER_ENCODE_DATA); + ::capnp::_::PointerHelpers< ::cereal::EncodeData>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::EncodeData> Event::Builder::disownLivestreamDriverEncodeData() { + KJ_IREQUIRE((which() == Event::LIVESTREAM_DRIVER_ENCODE_DATA), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::EncodeData>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isTemperatureSensor2() const { + return which() == Event::TEMPERATURE_SENSOR2; +} +inline bool Event::Builder::isTemperatureSensor2() { + return which() == Event::TEMPERATURE_SENSOR2; +} +inline bool Event::Reader::hasTemperatureSensor2() const { + if (which() != Event::TEMPERATURE_SENSOR2) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasTemperatureSensor2() { + if (which() != Event::TEMPERATURE_SENSOR2) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::SensorEventData::Reader Event::Reader::getTemperatureSensor2() const { + KJ_IREQUIRE((which() == Event::TEMPERATURE_SENSOR2), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::SensorEventData::Builder Event::Builder::getTemperatureSensor2() { + KJ_IREQUIRE((which() == Event::TEMPERATURE_SENSOR2), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setTemperatureSensor2( ::cereal::SensorEventData::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::TEMPERATURE_SENSOR2); + ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::SensorEventData::Builder Event::Builder::initTemperatureSensor2() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::TEMPERATURE_SENSOR2); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptTemperatureSensor2( + ::capnp::Orphan< ::cereal::SensorEventData>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::TEMPERATURE_SENSOR2); + ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::SensorEventData> Event::Builder::disownTemperatureSensor2() { + KJ_IREQUIRE((which() == Event::TEMPERATURE_SENSOR2), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isCustomReservedRawData0() const { + return which() == Event::CUSTOM_RESERVED_RAW_DATA0; +} +inline bool Event::Builder::isCustomReservedRawData0() { + return which() == Event::CUSTOM_RESERVED_RAW_DATA0; +} +inline bool Event::Reader::hasCustomReservedRawData0() const { + if (which() != Event::CUSTOM_RESERVED_RAW_DATA0) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasCustomReservedRawData0() { + if (which() != Event::CUSTOM_RESERVED_RAW_DATA0) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Data::Reader Event::Reader::getCustomReservedRawData0() const { + KJ_IREQUIRE((which() == Event::CUSTOM_RESERVED_RAW_DATA0), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::Data::Builder Event::Builder::getCustomReservedRawData0() { + KJ_IREQUIRE((which() == Event::CUSTOM_RESERVED_RAW_DATA0), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setCustomReservedRawData0( ::capnp::Data::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CUSTOM_RESERVED_RAW_DATA0); + ::capnp::_::PointerHelpers< ::capnp::Data>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::Data::Builder Event::Builder::initCustomReservedRawData0(unsigned int size) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CUSTOM_RESERVED_RAW_DATA0); + return ::capnp::_::PointerHelpers< ::capnp::Data>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void Event::Builder::adoptCustomReservedRawData0( + ::capnp::Orphan< ::capnp::Data>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CUSTOM_RESERVED_RAW_DATA0); + ::capnp::_::PointerHelpers< ::capnp::Data>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Data> Event::Builder::disownCustomReservedRawData0() { + KJ_IREQUIRE((which() == Event::CUSTOM_RESERVED_RAW_DATA0), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::Data>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isCustomReservedRawData1() const { + return which() == Event::CUSTOM_RESERVED_RAW_DATA1; +} +inline bool Event::Builder::isCustomReservedRawData1() { + return which() == Event::CUSTOM_RESERVED_RAW_DATA1; +} +inline bool Event::Reader::hasCustomReservedRawData1() const { + if (which() != Event::CUSTOM_RESERVED_RAW_DATA1) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasCustomReservedRawData1() { + if (which() != Event::CUSTOM_RESERVED_RAW_DATA1) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Data::Reader Event::Reader::getCustomReservedRawData1() const { + KJ_IREQUIRE((which() == Event::CUSTOM_RESERVED_RAW_DATA1), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::Data::Builder Event::Builder::getCustomReservedRawData1() { + KJ_IREQUIRE((which() == Event::CUSTOM_RESERVED_RAW_DATA1), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setCustomReservedRawData1( ::capnp::Data::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CUSTOM_RESERVED_RAW_DATA1); + ::capnp::_::PointerHelpers< ::capnp::Data>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::Data::Builder Event::Builder::initCustomReservedRawData1(unsigned int size) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CUSTOM_RESERVED_RAW_DATA1); + return ::capnp::_::PointerHelpers< ::capnp::Data>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void Event::Builder::adoptCustomReservedRawData1( + ::capnp::Orphan< ::capnp::Data>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CUSTOM_RESERVED_RAW_DATA1); + ::capnp::_::PointerHelpers< ::capnp::Data>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Data> Event::Builder::disownCustomReservedRawData1() { + KJ_IREQUIRE((which() == Event::CUSTOM_RESERVED_RAW_DATA1), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::Data>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isCustomReservedRawData2() const { + return which() == Event::CUSTOM_RESERVED_RAW_DATA2; +} +inline bool Event::Builder::isCustomReservedRawData2() { + return which() == Event::CUSTOM_RESERVED_RAW_DATA2; +} +inline bool Event::Reader::hasCustomReservedRawData2() const { + if (which() != Event::CUSTOM_RESERVED_RAW_DATA2) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasCustomReservedRawData2() { + if (which() != Event::CUSTOM_RESERVED_RAW_DATA2) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Data::Reader Event::Reader::getCustomReservedRawData2() const { + KJ_IREQUIRE((which() == Event::CUSTOM_RESERVED_RAW_DATA2), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::Data::Builder Event::Builder::getCustomReservedRawData2() { + KJ_IREQUIRE((which() == Event::CUSTOM_RESERVED_RAW_DATA2), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setCustomReservedRawData2( ::capnp::Data::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CUSTOM_RESERVED_RAW_DATA2); + ::capnp::_::PointerHelpers< ::capnp::Data>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::Data::Builder Event::Builder::initCustomReservedRawData2(unsigned int size) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CUSTOM_RESERVED_RAW_DATA2); + return ::capnp::_::PointerHelpers< ::capnp::Data>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void Event::Builder::adoptCustomReservedRawData2( + ::capnp::Orphan< ::capnp::Data>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CUSTOM_RESERVED_RAW_DATA2); + ::capnp::_::PointerHelpers< ::capnp::Data>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Data> Event::Builder::disownCustomReservedRawData2() { + KJ_IREQUIRE((which() == Event::CUSTOM_RESERVED_RAW_DATA2), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::capnp::Data>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isCarOutput() const { + return which() == Event::CAR_OUTPUT; +} +inline bool Event::Builder::isCarOutput() { + return which() == Event::CAR_OUTPUT; +} +inline bool Event::Reader::hasCarOutput() const { + if (which() != Event::CAR_OUTPUT) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasCarOutput() { + if (which() != Event::CAR_OUTPUT) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::CarOutput::Reader Event::Reader::getCarOutput() const { + KJ_IREQUIRE((which() == Event::CAR_OUTPUT), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::CarOutput>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::CarOutput::Builder Event::Builder::getCarOutput() { + KJ_IREQUIRE((which() == Event::CAR_OUTPUT), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::CarOutput>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setCarOutput( ::cereal::CarOutput::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CAR_OUTPUT); + ::capnp::_::PointerHelpers< ::cereal::CarOutput>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::CarOutput::Builder Event::Builder::initCarOutput() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CAR_OUTPUT); + return ::capnp::_::PointerHelpers< ::cereal::CarOutput>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptCarOutput( + ::capnp::Orphan< ::cereal::CarOutput>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CAR_OUTPUT); + ::capnp::_::PointerHelpers< ::cereal::CarOutput>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::CarOutput> Event::Builder::disownCarOutput() { + KJ_IREQUIRE((which() == Event::CAR_OUTPUT), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::CarOutput>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isDrivingModelData() const { + return which() == Event::DRIVING_MODEL_DATA; +} +inline bool Event::Builder::isDrivingModelData() { + return which() == Event::DRIVING_MODEL_DATA; +} +inline bool Event::Reader::hasDrivingModelData() const { + if (which() != Event::DRIVING_MODEL_DATA) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasDrivingModelData() { + if (which() != Event::DRIVING_MODEL_DATA) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::DrivingModelData::Reader Event::Reader::getDrivingModelData() const { + KJ_IREQUIRE((which() == Event::DRIVING_MODEL_DATA), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::DrivingModelData>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::DrivingModelData::Builder Event::Builder::getDrivingModelData() { + KJ_IREQUIRE((which() == Event::DRIVING_MODEL_DATA), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::DrivingModelData>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setDrivingModelData( ::cereal::DrivingModelData::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::DRIVING_MODEL_DATA); + ::capnp::_::PointerHelpers< ::cereal::DrivingModelData>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::DrivingModelData::Builder Event::Builder::initDrivingModelData() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::DRIVING_MODEL_DATA); + return ::capnp::_::PointerHelpers< ::cereal::DrivingModelData>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptDrivingModelData( + ::capnp::Orphan< ::cereal::DrivingModelData>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::DRIVING_MODEL_DATA); + ::capnp::_::PointerHelpers< ::cereal::DrivingModelData>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::DrivingModelData> Event::Builder::disownDrivingModelData() { + KJ_IREQUIRE((which() == Event::DRIVING_MODEL_DATA), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::DrivingModelData>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool Event::Reader::isLivePose() const { + return which() == Event::LIVE_POSE; +} +inline bool Event::Builder::isLivePose() { + return which() == Event::LIVE_POSE; +} +inline bool Event::Reader::hasLivePose() const { + if (which() != Event::LIVE_POSE) return false; + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool Event::Builder::hasLivePose() { + if (which() != Event::LIVE_POSE) return false; + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::LivePose::Reader Event::Reader::getLivePose() const { + KJ_IREQUIRE((which() == Event::LIVE_POSE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LivePose>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::cereal::LivePose::Builder Event::Builder::getLivePose() { + KJ_IREQUIRE((which() == Event::LIVE_POSE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LivePose>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::setLivePose( ::cereal::LivePose::Reader value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_POSE); + ::capnp::_::PointerHelpers< ::cereal::LivePose>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::cereal::LivePose::Builder Event::Builder::initLivePose() { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_POSE); + return ::capnp::_::PointerHelpers< ::cereal::LivePose>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void Event::Builder::adoptLivePose( + ::capnp::Orphan< ::cereal::LivePose>&& value) { + _builder.setDataField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LIVE_POSE); + ::capnp::_::PointerHelpers< ::cereal::LivePose>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::LivePose> Event::Builder::disownLivePose() { + KJ_IREQUIRE((which() == Event::LIVE_POSE), + "Must check which() before get()ing a union member."); + return ::capnp::_::PointerHelpers< ::cereal::LivePose>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +} // namespace + +CAPNP_END_HEADER + diff --git a/cereal/include/c++.capnp b/cereal/include/c++.capnp new file mode 100644 index 0000000000..2bda547179 --- /dev/null +++ b/cereal/include/c++.capnp @@ -0,0 +1,26 @@ +# Copyright (c) 2013-2014 Sandstorm Development Group, Inc. and contributors +# Licensed under the MIT License: +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. + +@0xbdf87d7bb8304e81; +$namespace("capnp::annotations"); + +annotation namespace(file): Text; +annotation name(field, enumerant, struct, enum, interface, method, param, group, union): Text; diff --git a/cereal/legacy.capnp b/cereal/legacy.capnp new file mode 100644 index 0000000000..a8fa5e4a1f --- /dev/null +++ b/cereal/legacy.capnp @@ -0,0 +1,574 @@ +using Cxx = import "./include/c++.capnp"; +$Cxx.namespace("cereal"); + +@0x80ef1ec4889c2a63; + +# legacy.capnp: a home for deprecated structs + +struct LogRotate @0x9811e1f38f62f2d1 { + segmentNum @0 :Int32; + path @1 :Text; +} + +struct LiveUI @0xc08240f996aefced { + rearViewCam @0 :Bool; + alertText1 @1 :Text; + alertText2 @2 :Text; + awarenessStatus @3 :Float32; +} + +struct UiLayoutState @0x88dcce08ad29dda0 { + activeApp @0 :App; + sidebarCollapsed @1 :Bool; + mapEnabled @2 :Bool; + mockEngaged @3 :Bool; + + enum App @0x9917470acf94d285 { + home @0; + music @1; + nav @2; + settings @3; + none @4; + } +} + +struct OrbslamCorrection @0x8afd33dc9b35e1aa { + correctionMonoTime @0 :UInt64; + prePositionECEF @1 :List(Float64); + postPositionECEF @2 :List(Float64); + prePoseQuatECEF @3 :List(Float32); + postPoseQuatECEF @4 :List(Float32); + numInliers @5 :UInt32; +} + +struct EthernetPacket @0xa99a9d5b33cf5859 { + pkt @0 :Data; + ts @1 :Float32; +} + +struct CellInfo @0xcff7566681c277ce { + timestamp @0 :UInt64; + repr @1 :Text; # android toString() for now +} + +struct WifiScan @0xd4df5a192382ba0b { + bssid @0 :Text; + ssid @1 :Text; + capabilities @2 :Text; + frequency @3 :Int32; + level @4 :Int32; + timestamp @5 :Int64; + + centerFreq0 @6 :Int32; + centerFreq1 @7 :Int32; + channelWidth @8 :ChannelWidth; + operatorFriendlyName @9 :Text; + venueName @10 :Text; + is80211mcResponder @11 :Bool; + passpoint @12 :Bool; + + distanceCm @13 :Int32; + distanceSdCm @14 :Int32; + + enum ChannelWidth @0xcb6a279f015f6b51 { + w20Mhz @0; + w40Mhz @1; + w80Mhz @2; + w160Mhz @3; + w80Plus80Mhz @4; + } +} + +struct LiveEventData @0x94b7baa90c5c321e { + name @0 :Text; + value @1 :Int32; +} + +struct ModelData @0xb8aad62cffef28a9 { + frameId @0 :UInt32; + frameAge @12 :UInt32; + frameDropPerc @13 :Float32; + timestampEof @9 :UInt64; + modelExecutionTime @14 :Float32; + gpuExecutionTime @16 :Float32; + rawPred @15 :Data; + + path @1 :PathData; + leftLane @2 :PathData; + rightLane @3 :PathData; + lead @4 :LeadData; + freePath @6 :List(Float32); + + settings @5 :ModelSettings; + leadFuture @7 :LeadData; + speed @8 :List(Float32); + meta @10 :MetaData; + longitudinal @11 :LongitudinalData; + + struct PathData @0x8817eeea389e9f08 { + points @0 :List(Float32); + prob @1 :Float32; + std @2 :Float32; + stds @3 :List(Float32); + poly @4 :List(Float32); + validLen @5 :Float32; + } + + struct LeadData @0xd1c9bef96d26fa91 { + dist @0 :Float32; + prob @1 :Float32; + std @2 :Float32; + relVel @3 :Float32; + relVelStd @4 :Float32; + relY @5 :Float32; + relYStd @6 :Float32; + relA @7 :Float32; + relAStd @8 :Float32; + } + + struct ModelSettings @0xa26e3710efd3e914 { + bigBoxX @0 :UInt16; + bigBoxY @1 :UInt16; + bigBoxWidth @2 :UInt16; + bigBoxHeight @3 :UInt16; + boxProjection @4 :List(Float32); + yuvCorrection @5 :List(Float32); + inputTransform @6 :List(Float32); + } + + struct MetaData @0x9744f25fb60f2bf8 { + engagedProb @0 :Float32; + desirePrediction @1 :List(Float32); + brakeDisengageProb @2 :Float32; + gasDisengageProb @3 :Float32; + steerOverrideProb @4 :Float32; + desireState @5 :List(Float32); + } + + struct LongitudinalData @0xf98f999c6a071122 { + distances @2 :List(Float32); + speeds @0 :List(Float32); + accelerations @1 :List(Float32); + } +} + +struct ECEFPoint @0xc25bbbd524983447 { + x @0 :Float64; + y @1 :Float64; + z @2 :Float64; +} + +struct ECEFPointDEPRECATED @0xe10e21168db0c7f7 { + x @0 :Float32; + y @1 :Float32; + z @2 :Float32; +} + +struct GPSPlannerPoints @0xab54c59699f8f9f3 { + curPosDEPRECATED @0 :ECEFPointDEPRECATED; + pointsDEPRECATED @1 :List(ECEFPointDEPRECATED); + curPos @6 :ECEFPoint; + points @7 :List(ECEFPoint); + valid @2 :Bool; + trackName @3 :Text; + speedLimit @4 :Float32; + accelTarget @5 :Float32; +} + +struct GPSPlannerPlan @0xf5ad1d90cdc1dd6b { + valid @0 :Bool; + poly @1 :List(Float32); + trackName @2 :Text; + speed @3 :Float32; + acceleration @4 :Float32; + pointsDEPRECATED @5 :List(ECEFPointDEPRECATED); + points @6 :List(ECEFPoint); + xLookahead @7 :Float32; +} + +struct UiNavigationEvent @0x90c8426c3eaddd3b { + type @0: Type; + status @1: Status; + distanceTo @2: Float32; + endRoadPointDEPRECATED @3: ECEFPointDEPRECATED; + endRoadPoint @4: ECEFPoint; + + enum Type @0xe8db07dcf8fcea05 { + none @0; + laneChangeLeft @1; + laneChangeRight @2; + mergeLeft @3; + mergeRight @4; + turnLeft @5; + turnRight @6; + } + + enum Status @0xb9aa88c75ef99a1f { + none @0; + passive @1; + approaching @2; + active @3; + } +} + +struct LiveLocationData @0xb99b2bc7a57e8128 { + status @0 :UInt8; + + # 3D fix + lat @1 :Float64; + lon @2 :Float64; + alt @3 :Float32; # m + + # speed + speed @4 :Float32; # m/s + + # NED velocity components + vNED @5 :List(Float32); + + # roll, pitch, heading (x,y,z) + roll @6 :Float32; # WRT to center of earth? + pitch @7 :Float32; # WRT to center of earth? + heading @8 :Float32; # WRT to north? + + # what are these? + wanderAngle @9 :Float32; + trackAngle @10 :Float32; + + # car frame -- https://upload.wikimedia.org/wikipedia/commons/f/f5/RPY_angles_of_cars.png + + # gyro, in car frame, deg/s + gyro @11 :List(Float32); + + # accel, in car frame, m/s^2 + accel @12 :List(Float32); + + accuracy @13 :Accuracy; + + source @14 :SensorSource; + # if we are fixing a location in the past + fixMonoTime @15 :UInt64; + + gpsWeek @16 :Int32; + timeOfWeek @17 :Float64; + + positionECEF @18 :List(Float64); + poseQuatECEF @19 :List(Float32); + pitchCalibration @20 :Float32; + yawCalibration @21 :Float32; + imuFrame @22 :List(Float32); + + struct Accuracy @0x943dc4625473b03f { + pNEDError @0 :List(Float32); + vNEDError @1 :List(Float32); + rollError @2 :Float32; + pitchError @3 :Float32; + headingError @4 :Float32; + ellipsoidSemiMajorError @5 :Float32; + ellipsoidSemiMinorError @6 :Float32; + ellipsoidOrientationError @7 :Float32; + } + + enum SensorSource @0xc871d3cc252af657 { + applanix @0; + kalman @1; + orbslam @2; + timing @3; + dummy @4; + } +} + +struct OrbOdometry @0xd7700859ed1f5b76 { + # timing first + startMonoTime @0 :UInt64; + endMonoTime @1 :UInt64; + + # fundamental matrix and error + f @2: List(Float64); + err @3: Float64; + + # number of inlier points + inliers @4: Int32; + + # for debug only + # indexed by endMonoTime features + # value is startMonoTime feature match + # -1 if no match + matches @5: List(Int16); +} + +struct OrbFeatures @0xcd60164a8a0159ef { + timestampEof @0 :UInt64; + # transposed arrays of normalized image coordinates + # len(xs) == len(ys) == len(descriptors) * 32 + xs @1 :List(Float32); + ys @2 :List(Float32); + descriptors @3 :Data; + octaves @4 :List(Int8); + + # match index to last OrbFeatures + # -1 if no match + timestampLastEof @5 :UInt64; + matches @6: List(Int16); +} + +struct OrbFeaturesSummary @0xd500d30c5803fa4f { + timestampEof @0 :UInt64; + timestampLastEof @1 :UInt64; + + featureCount @2 :UInt16; + matchCount @3 :UInt16; + computeNs @4 :UInt64; +} + +struct OrbKeyFrame @0xc8233c0345e27e24 { + # this is a globally unique id for the KeyFrame + id @0: UInt64; + + # this is the location of the KeyFrame + pos @1: ECEFPoint; + + # these are the features in the world + # len(dpos) == len(descriptors) * 32 + dpos @2 :List(ECEFPoint); + descriptors @3 :Data; +} + +struct KalmanOdometry @0x92e21bb7ea38793a { + trans @0 :List(Float32); # m/s in device frame + rot @1 :List(Float32); # rad/s in device frame + transStd @2 :List(Float32); # std m/s in device frame + rotStd @3 :List(Float32); # std rad/s in device frame +} + +struct OrbObservation @0x9b326d4e436afec7 { + observationMonoTime @0 :UInt64; + normalizedCoordinates @1 :List(Float32); + locationECEF @2 :List(Float64); + matchDistance @3: UInt32; +} + +struct CalibrationFeatures @0x8fdfadb254ea867a { + frameId @0 :UInt32; + + p0 @1 :List(Float32); + p1 @2 :List(Float32); + status @3 :List(Int8); +} + +struct NavStatus @0xbd8822120928120c { + isNavigating @0 :Bool; + currentAddress @1 :Address; + + struct Address @0xce7cd672cacc7814 { + title @0 :Text; + lat @1 :Float64; + lng @2 :Float64; + house @3 :Text; + address @4 :Text; + street @5 :Text; + city @6 :Text; + state @7 :Text; + country @8 :Text; + } +} + +struct NavUpdate @0xdb98be6565516acb { + isNavigating @0 :Bool; + curSegment @1 :Int32; + segments @2 :List(Segment); + + struct LatLng @0x9eaef9187cadbb9b { + lat @0 :Float64; + lng @1 :Float64; + } + + struct Segment @0xa5b39b4fc4d7da3f { + from @0 :LatLng; + to @1 :LatLng; + updateTime @2 :Int32; + distance @3 :Int32; + crossTime @4 :Int32; + exitNo @5 :Int32; + instruction @6 :Instruction; + + parts @7 :List(LatLng); + + enum Instruction @0xc5417a637451246f { + turnLeft @0; + turnRight @1; + keepLeft @2; + keepRight @3; + straight @4; + roundaboutExitNumber @5; + roundaboutExit @6; + roundaboutTurnLeft @7; + unkn8 @8; + roundaboutStraight @9; + unkn10 @10; + roundaboutTurnRight @11; + unkn12 @12; + roundaboutUturn @13; + unkn14 @14; + arrive @15; + exitLeft @16; + exitRight @17; + unkn18 @18; + uturn @19; + # ... + } + } +} + +struct TrafficEvent @0xacfa74a094e62626 { + type @0 :Type; + distance @1 :Float32; + action @2 :Action; + resuming @3 :Bool; + + enum Type @0xd85d75253435bf4b { + stopSign @0; + lightRed @1; + lightYellow @2; + lightGreen @3; + stopLight @4; + } + + enum Action @0xa6f6ce72165ccb49 { + none @0; + yield @1; + stop @2; + resumeReady @3; + } + +} + + +struct AndroidGnss @0xdfdf30d03fc485bd { + union { + measurements @0 :Measurements; + navigationMessage @1 :NavigationMessage; + } + + struct Measurements @0xa20710d4f428d6cd { + clock @0 :Clock; + measurements @1 :List(Measurement); + + struct Clock @0xa0e27b453a38f450 { + timeNanos @0 :Int64; + hardwareClockDiscontinuityCount @1 :Int32; + + hasTimeUncertaintyNanos @2 :Bool; + timeUncertaintyNanos @3 :Float64; + + hasLeapSecond @4 :Bool; + leapSecond @5 :Int32; + + hasFullBiasNanos @6 :Bool; + fullBiasNanos @7 :Int64; + + hasBiasNanos @8 :Bool; + biasNanos @9 :Float64; + + hasBiasUncertaintyNanos @10 :Bool; + biasUncertaintyNanos @11 :Float64; + + hasDriftNanosPerSecond @12 :Bool; + driftNanosPerSecond @13 :Float64; + + hasDriftUncertaintyNanosPerSecond @14 :Bool; + driftUncertaintyNanosPerSecond @15 :Float64; + } + + struct Measurement @0xd949bf717d77614d { + svId @0 :Int32; + constellation @1 :Constellation; + + timeOffsetNanos @2 :Float64; + state @3 :Int32; + receivedSvTimeNanos @4 :Int64; + receivedSvTimeUncertaintyNanos @5 :Int64; + cn0DbHz @6 :Float64; + pseudorangeRateMetersPerSecond @7 :Float64; + pseudorangeRateUncertaintyMetersPerSecond @8 :Float64; + accumulatedDeltaRangeState @9 :Int32; + accumulatedDeltaRangeMeters @10 :Float64; + accumulatedDeltaRangeUncertaintyMeters @11 :Float64; + + hasCarrierFrequencyHz @12 :Bool; + carrierFrequencyHz @13 :Float32; + hasCarrierCycles @14 :Bool; + carrierCycles @15 :Int64; + hasCarrierPhase @16 :Bool; + carrierPhase @17 :Float64; + hasCarrierPhaseUncertainty @18 :Bool; + carrierPhaseUncertainty @19 :Float64; + hasSnrInDb @20 :Bool; + snrInDb @21 :Float64; + + multipathIndicator @22 :MultipathIndicator; + + enum Constellation @0x9ef1f3ff0deb5ffb { + unknown @0; + gps @1; + sbas @2; + glonass @3; + qzss @4; + beidou @5; + galileo @6; + } + + enum State @0xcbb9490adce12d72 { + unknown @0; + codeLock @1; + bitSync @2; + subframeSync @3; + towDecoded @4; + msecAmbiguous @5; + symbolSync @6; + gloStringSync @7; + gloTodDecoded @8; + bdsD2BitSync @9; + bdsD2SubframeSync @10; + galE1bcCodeLock @11; + galE1c2ndCodeLock @12; + galE1bPageSync @13; + sbasSync @14; + } + + enum MultipathIndicator @0xc04e7b6231d4caa8 { + unknown @0; + detected @1; + notDetected @2; + } + } + } + + struct NavigationMessage @0xe2517b083095fd4e { + type @0 :Int32; + svId @1 :Int32; + messageId @2 :Int32; + submessageId @3 :Int32; + data @4 :Data; + status @5 :Status; + + enum Status @0xec1ff7996b35366f { + unknown @0; + parityPassed @1; + parityRebuilt @2; + } + } +} + +struct LidarPts @0xe3d6685d4e9d8f7a { + r @0 :List(UInt16); # uint16 m*500.0 + theta @1 :List(UInt16); # uint16 deg*100.0 + reflect @2 :List(UInt8); # uint8 0-255 + + # For storing out of file. + idx @3 :UInt64; + + # For storing in file + pkt @4 :Data; +} + + diff --git a/cereal/libcereal_shared.so b/cereal/libcereal_shared.so new file mode 100755 index 0000000000..aa44eaaa72 Binary files /dev/null and b/cereal/libcereal_shared.so differ diff --git a/cereal/log.capnp b/cereal/log.capnp new file mode 100644 index 0000000000..df1aef8796 --- /dev/null +++ b/cereal/log.capnp @@ -0,0 +1,2437 @@ +using Cxx = import "./include/c++.capnp"; +$Cxx.namespace("cereal"); + +using Car = import "car.capnp"; +using Legacy = import "legacy.capnp"; +using Custom = import "custom.capnp"; + +@0xf3b1f17e25a4285b; + +const logVersion :Int32 = 1; + +struct Map(Key, Value) { + entries @0 :List(Entry); + struct Entry { + key @0 :Key; + value @1 :Value; + } +} + +enum LongitudinalPersonality { + aggressive @0; + standard @1; + relaxed @2; +} + +struct InitData { + kernelArgs @0 :List(Text); + kernelVersion @15 :Text; + osVersion @18 :Text; + + dongleId @2 :Text; + bootlogId @22 :Text; + + deviceType @3 :DeviceType; + version @4 :Text; + gitCommit @10 :Text; + gitCommitDate @21 :Text; + gitBranch @11 :Text; + gitRemote @13 :Text; + + androidProperties @16 :Map(Text, Text); + + pandaInfo @8 :PandaInfo; + + dirty @9 :Bool; + passive @12 :Bool; + params @17 :Map(Text, Data); + + commands @19 :Map(Text, Data); + + wallTimeNanos @20 :UInt64; + + enum DeviceType { + unknown @0; + neo @1; + chffrAndroid @2; + chffrIos @3; + tici @4; + pc @5; + tizi @6; + mici @7; + } + + struct PandaInfo { + hasPanda @0 :Bool; + dongleId @1 :Text; + stVersion @2 :Text; + espVersion @3 :Text; + } + + # ***** deprecated stuff ***** + gctxDEPRECATED @1 :Text; + androidBuildInfo @5 :AndroidBuildInfo; + androidSensorsDEPRECATED @6 :List(AndroidSensor); + chffrAndroidExtraDEPRECATED @7 :ChffrAndroidExtra; + iosBuildInfoDEPRECATED @14 :IosBuildInfo; + + struct AndroidBuildInfo { + board @0 :Text; + bootloader @1 :Text; + brand @2 :Text; + device @3 :Text; + display @4 :Text; + fingerprint @5 :Text; + hardware @6 :Text; + host @7 :Text; + id @8 :Text; + manufacturer @9 :Text; + model @10 :Text; + product @11 :Text; + radioVersion @12 :Text; + serial @13 :Text; + supportedAbis @14 :List(Text); + tags @15 :Text; + time @16 :Int64; + type @17 :Text; + user @18 :Text; + + versionCodename @19 :Text; + versionRelease @20 :Text; + versionSdk @21 :Int32; + versionSecurityPatch @22 :Text; + } + + struct AndroidSensor { + id @0 :Int32; + name @1 :Text; + vendor @2 :Text; + version @3 :Int32; + handle @4 :Int32; + type @5 :Int32; + maxRange @6 :Float32; + resolution @7 :Float32; + power @8 :Float32; + minDelay @9 :Int32; + fifoReservedEventCount @10 :UInt32; + fifoMaxEventCount @11 :UInt32; + stringType @12 :Text; + maxDelay @13 :Int32; + } + + struct ChffrAndroidExtra { + allCameraCharacteristics @0 :Map(Text, Text); + } + + struct IosBuildInfo { + appVersion @0 :Text; + appBuild @1 :UInt32; + osVersion @2 :Text; + deviceModel @3 :Text; + } +} + +struct FrameData { + frameId @0 :UInt32; + frameIdSensor @25 :UInt32; + requestId @28 :UInt32; + encodeId @1 :UInt32; + + # Timestamps + timestampEof @2 :UInt64; + timestampSof @8 :UInt64; + processingTime @23 :Float32; + + # Exposure + integLines @4 :Int32; + highConversionGain @20 :Bool; + gain @15 :Float32; # This includes highConversionGain if enabled + measuredGreyFraction @21 :Float32; + targetGreyFraction @22 :Float32; + exposureValPercent @27 :Float32; + + transform @10 :List(Float32); + + image @6 :Data; + + temperaturesC @24 :List(Float32); + + enum FrameTypeDEPRECATED { + unknown @0; + neo @1; + chffrAndroid @2; + front @3; + } + + sensor @26 :ImageSensor; + enum ImageSensor { + unknown @0; + ar0231 @1; + ox03c10 @2; + os04c10 @3; + } + + frameLengthDEPRECATED @3 :Int32; + globalGainDEPRECATED @5 :Int32; + frameTypeDEPRECATED @7 :FrameTypeDEPRECATED; + androidCaptureResultDEPRECATED @9 :AndroidCaptureResult; + lensPosDEPRECATED @11 :Int32; + lensSagDEPRECATED @12 :Float32; + lensErrDEPRECATED @13 :Float32; + lensTruePosDEPRECATED @14 :Float32; + focusValDEPRECATED @16 :List(Int16); + focusConfDEPRECATED @17 :List(UInt8); + sharpnessScoreDEPRECATED @18 :List(UInt16); + recoverStateDEPRECATED @19 :Int32; + struct AndroidCaptureResult { + sensitivity @0 :Int32; + frameDuration @1 :Int64; + exposureTime @2 :Int64; + rollingShutterSkew @3 :UInt64; + colorCorrectionTransform @4 :List(Int32); + colorCorrectionGains @5 :List(Float32); + displayRotation @6 :Int8; + } +} + +struct Thumbnail { + frameId @0 :UInt32; + timestampEof @1 :UInt64; + thumbnail @2 :Data; + encoding @3 :Encoding; + + enum Encoding { + unknown @0; + jpeg @1; + keyframe @2; + } +} + +struct GPSNMEAData { + timestamp @0 :Int64; + localWallTime @1 :UInt64; + nmea @2 :Text; +} + +# android sensor_event_t +struct SensorEventData { + version @0 :Int32; + sensor @1 :Int32; + type @2 :Int32; + timestamp @3 :Int64; + uncalibratedDEPRECATED @10 :Bool; + + union { + acceleration @4 :SensorVec; + magnetic @5 :SensorVec; + orientation @6 :SensorVec; + gyro @7 :SensorVec; + pressure @9 :SensorVec; + magneticUncalibrated @11 :SensorVec; + gyroUncalibrated @12 :SensorVec; + proximity @13: Float32; + light @14: Float32; + temperature @15: Float32; + } + source @8 :SensorSource; + + struct SensorVec { + v @0 :List(Float32); + status @1 :Int8; + } + + enum SensorSource { + android @0; + iOS @1; + fiber @2; + velodyne @3; # Velodyne IMU + bno055 @4; # Bosch accelerometer + lsm6ds3 @5; # includes LSM6DS3 and LSM6DS3TR, TR = tape reel + bmp280 @6; # barometer + mmc3416x @7; # magnetometer + bmx055 @8; + rpr0521 @9; + lsm6ds3trc @10; + mmc5603nj @11; + } +} + +# android struct GpsLocation +struct GpsLocationData { + # Contains module-specific flags. + flags @0 :UInt16; + + # Represents latitude in degrees. + latitude @1 :Float64; + + # Represents longitude in degrees. + longitude @2 :Float64; + + # Represents altitude in meters above the WGS 84 reference ellipsoid. + altitude @3 :Float64; + + # Represents speed in meters per second. + speed @4 :Float32; + + # Represents heading in degrees. + bearingDeg @5 :Float32; + + # Represents expected horizontal accuracy in meters. + horizontalAccuracy @6 :Float32; + + unixTimestampMillis @7 :Int64; + + source @8 :SensorSource; + + # Represents NED velocity in m/s. + vNED @9 :List(Float32); + + # Represents expected vertical accuracy in meters. (presumably 1 sigma?) + verticalAccuracy @10 :Float32; + + # Represents bearing accuracy in degrees. (presumably 1 sigma?) + bearingAccuracyDeg @11 :Float32; + + # Represents velocity accuracy in m/s. (presumably 1 sigma?) + speedAccuracy @12 :Float32; + + hasFix @13 :Bool; + + enum SensorSource { + android @0; + iOS @1; + car @2; + velodyne @3; # Velodyne IMU + fusion @4; + external @5; + ublox @6; + trimble @7; + qcomdiag @8; + unicore @9; + } +} + +enum Desire { + none @0; + turnLeft @1; + turnRight @2; + laneChangeLeft @3; + laneChangeRight @4; + keepLeft @5; + keepRight @6; +} + +enum LaneChangeState { + off @0; + preLaneChange @1; + laneChangeStarting @2; + laneChangeFinishing @3; +} + +enum LaneChangeDirection { + none @0; + left @1; + right @2; +} + +struct CanData { + address @0 :UInt32; + dat @2 :Data; + src @3 :UInt8; + busTimeDEPRECATED @1 :UInt16; +} + +struct DeviceState @0xa4d8b5af2aa492eb { + deviceType @45 :InitData.DeviceType; + + networkType @22 :NetworkType; + networkInfo @31 :NetworkInfo; + networkStrength @24 :NetworkStrength; + networkStats @43 :NetworkStats; + networkMetered @41 :Bool; + lastAthenaPingTime @32 :UInt64; + + started @11 :Bool; + startedMonoTime @13 :UInt64; + + # system utilization + freeSpacePercent @7 :Float32; + memoryUsagePercent @19 :Int8; + gpuUsagePercent @33 :Int8; + cpuUsagePercent @34 :List(Int8); # per-core cpu usage + + # power + offroadPowerUsageUwh @23 :UInt32; + carBatteryCapacityUwh @25 :UInt32; + powerDrawW @40 :Float32; + somPowerDrawW @42 :Float32; + + # device thermals + cpuTempC @26 :List(Float32); + gpuTempC @27 :List(Float32); + memoryTempC @28 :Float32; + nvmeTempC @35 :List(Float32); + modemTempC @36 :List(Float32); + pmicTempC @39 :List(Float32); + maxTempC @44 :Float32; # max of other temps, used to control fan + thermalZones @38 :List(ThermalZone); + thermalStatus @14 :ThermalStatus; + + fanSpeedPercentDesired @10 :UInt16; + screenBrightnessPercent @37 :Int8; + + struct ThermalZone { + name @0 :Text; + temp @1 :Float32; + } + + enum ThermalStatus { + green @0; + yellow @1; + red @2; + danger @3; + } + + enum NetworkType { + none @0; + wifi @1; + cell2G @2; + cell3G @3; + cell4G @4; + cell5G @5; + ethernet @6; + } + + enum NetworkStrength { + unknown @0; + poor @1; + moderate @2; + good @3; + great @4; + } + + struct NetworkInfo { + technology @0 :Text; + operator @1 :Text; + band @2 :Text; + channel @3 :UInt16; + extra @4 :Text; + state @5 :Text; + } + + struct NetworkStats { + wwanTx @0 :Int64; + wwanRx @1 :Int64; + } + + # deprecated + cpu0DEPRECATED @0 :UInt16; + cpu1DEPRECATED @1 :UInt16; + cpu2DEPRECATED @2 :UInt16; + cpu3DEPRECATED @3 :UInt16; + memDEPRECATED @4 :UInt16; + gpuDEPRECATED @5 :UInt16; + batDEPRECATED @6 :UInt32; + pa0DEPRECATED @21 :UInt16; + cpuUsagePercentDEPRECATED @20 :Int8; + batteryStatusDEPRECATED @9 :Text; + batteryVoltageDEPRECATED @16 :Int32; + batteryTempCDEPRECATED @29 :Float32; + batteryPercentDEPRECATED @8 :Int16; + batteryCurrentDEPRECATED @15 :Int32; + chargingErrorDEPRECATED @17 :Bool; + chargingDisabledDEPRECATED @18 :Bool; + usbOnlineDEPRECATED @12 :Bool; + ambientTempCDEPRECATED @30 :Float32; +} + +struct PandaState @0xa7649e2575e4591e { + ignitionLine @2 :Bool; + rxBufferOverflow @7 :UInt32; + txBufferOverflow @8 :UInt32; + pandaType @10 :PandaType; + ignitionCan @13 :Bool; + faultStatus @15 :FaultStatus; + powerSaveEnabled @16 :Bool; + uptime @17 :UInt32; + faults @18 :List(FaultType); + heartbeatLost @22 :Bool; + interruptLoad @25 :Float32; + fanPower @28 :UInt8; + fanStallCount @34 :UInt8; + + spiChecksumErrorCount @33 :UInt16; + + harnessStatus @21 :HarnessStatus; + sbu1Voltage @35 :Float32; + sbu2Voltage @36 :Float32; + + # can health + canState0 @29 :PandaCanState; + canState1 @30 :PandaCanState; + canState2 @31 :PandaCanState; + + # safety stuff + controlsAllowed @3 :Bool; + safetyRxInvalid @19 :UInt32; + safetyTxBlocked @24 :UInt32; + safetyModel @14 :Car.CarParams.SafetyModel; + safetyParam @27 :UInt16; + alternativeExperience @23 :Int16; + safetyRxChecksInvalid @32 :Bool; + + voltage @0 :UInt32; + current @1 :UInt32; + + enum FaultStatus { + none @0; + faultTemp @1; + faultPerm @2; + } + + enum FaultType { + relayMalfunction @0; + unusedInterruptHandled @1; + interruptRateCan1 @2; + interruptRateCan2 @3; + interruptRateCan3 @4; + interruptRateTach @5; + interruptRateGmlanDEPRECATED @6; + interruptRateInterrupts @7; + interruptRateSpiDma @8; + interruptRateSpiCs @9; + interruptRateUart1 @10; + interruptRateUart2 @11; + interruptRateUart3 @12; + interruptRateUart5 @13; + interruptRateUartDma @14; + interruptRateUsb @15; + interruptRateTim1 @16; + interruptRateTim3 @17; + registerDivergent @18; + interruptRateKlineInit @19; + interruptRateClockSource @20; + interruptRateTick @21; + interruptRateExti @22; + interruptRateSpi @23; + interruptRateUart7 @24; + sirenMalfunction @25; + heartbeatLoopWatchdog @26; + # Update max fault type in boardd when adding faults + } + + enum PandaType @0x8a58adf93e5b3751 { + unknown @0; + whitePanda @1; + greyPanda @2; + blackPanda @3; + pedal @4; + uno @5; + dos @6; + redPanda @7; + redPandaV2 @8; + tres @9; + cuatro @10; + } + + enum HarnessStatus { + notConnected @0; + normal @1; + flipped @2; + } + + struct PandaCanState { + busOff @0 :Bool; + busOffCnt @1 :UInt32; + errorWarning @2 :Bool; + errorPassive @3 :Bool; + lastError @4 :LecErrorCode; + lastStoredError @5 :LecErrorCode; + lastDataError @6 :LecErrorCode; + lastDataStoredError @7 :LecErrorCode; + receiveErrorCnt @8 :UInt8; + transmitErrorCnt @9 :UInt8; + totalErrorCnt @10 :UInt32; + totalTxLostCnt @11 :UInt32; + totalRxLostCnt @12 :UInt32; + totalTxCnt @13 :UInt32; + totalRxCnt @14 :UInt32; + totalFwdCnt @15 :UInt32; + canSpeed @16 :UInt16; + canDataSpeed @17 :UInt16; + canfdEnabled @18 :Bool; + brsEnabled @19 :Bool; + canfdNonIso @20 :Bool; + irq0CallRate @21 :UInt32; + irq1CallRate @22 :UInt32; + irq2CallRate @23 :UInt32; + canCoreResetCnt @24 :UInt32; + + enum LecErrorCode { + noError @0; + stuffError @1; + formError @2; + ackError @3; + bit1Error @4; + bit0Error @5; + crcError @6; + noChange @7; + } + } + + gasInterceptorDetectedDEPRECATED @4 :Bool; + startedSignalDetectedDEPRECATED @5 :Bool; + hasGpsDEPRECATED @6 :Bool; + gmlanSendErrsDEPRECATED @9 :UInt32; + fanSpeedRpmDEPRECATED @11 :UInt16; + usbPowerModeDEPRECATED @12 :PeripheralState.UsbPowerModeDEPRECATED; + safetyParamDEPRECATED @20 :Int16; + safetyParam2DEPRECATED @26 :UInt32; +} + +struct PeripheralState { + pandaType @0 :PandaState.PandaType; + voltage @1 :UInt32; + current @2 :UInt32; + fanSpeedRpm @3 :UInt16; + + usbPowerModeDEPRECATED @4 :UsbPowerModeDEPRECATED; + enum UsbPowerModeDEPRECATED @0xa8883583b32c9877 { + none @0; + client @1; + cdp @2; + dcp @3; + } +} + +struct RadarState @0x9a185389d6fdd05f { + mdMonoTime @6 :UInt64; + carStateMonoTime @11 :UInt64; + radarErrors @12 :List(Car.RadarData.Error); + + leadOne @3 :LeadData; + leadTwo @4 :LeadData; + cumLagMs @5 :Float32; + + struct LeadData { + dRel @0 :Float32; + yRel @1 :Float32; + vRel @2 :Float32; + aRel @3 :Float32; + vLead @4 :Float32; + dPath @6 :Float32; + vLat @7 :Float32; + vLeadK @8 :Float32; + aLeadK @9 :Float32; + fcw @10 :Bool; + status @11 :Bool; + aLeadTau @12 :Float32; + modelProb @13 :Float32; + radar @14 :Bool; + radarTrackId @15 :Int32 = -1; + + aLeadDEPRECATED @5 :Float32; + } + + # deprecated + ftMonoTimeDEPRECATED @7 :UInt64; + warpMatrixDEPRECATED @0 :List(Float32); + angleOffsetDEPRECATED @1 :Float32; + calStatusDEPRECATED @2 :Int8; + calCycleDEPRECATED @8 :Int32; + calPercDEPRECATED @9 :Int8; + canMonoTimesDEPRECATED @10 :List(UInt64); +} + +struct LiveCalibrationData { + calStatus @11 :Status; + calCycle @2 :Int32; + calPerc @3 :Int8; + validBlocks @9 :Int32; + + # view_frame_from_road_frame + # ui's is inversed needs new + extrinsicMatrix @4 :List(Float32); + # the direction of travel vector in device frame + rpyCalib @7 :List(Float32); + rpyCalibSpread @8 :List(Float32); + wideFromDeviceEuler @10 :List(Float32); + height @12 :List(Float32); + + warpMatrixDEPRECATED @0 :List(Float32); + calStatusDEPRECATED @1 :Int8; + warpMatrix2DEPRECATED @5 :List(Float32); + warpMatrixBigDEPRECATED @6 :List(Float32); + + enum Status { + uncalibrated @0; + calibrated @1; + invalid @2; + recalibrating @3; + } +} + +struct LiveTracks { + trackId @0 :Int32; + dRel @1 :Float32; + yRel @2 :Float32; + vRel @3 :Float32; + aRel @4 :Float32; + timeStamp @5 :Float32; + status @6 :Float32; + currentTime @7 :Float32; + stationary @8 :Bool; + oncoming @9 :Bool; +} + +struct ControlsState @0x97ff69c53601abf1 { + startMonoTime @48 :UInt64; + longitudinalPlanMonoTime @28 :UInt64; + lateralPlanMonoTime @50 :UInt64; + + state @31 :OpenpilotState; + enabled @19 :Bool; + active @36 :Bool; + + experimentalMode @64 :Bool; + personality @66 :LongitudinalPersonality; + + longControlState @30 :Car.CarControl.Actuators.LongControlState; + vTargetLead @3 :Float32; + vCruise @22 :Float32; # actual set speed + vCruiseCluster @63 :Float32; # set speed to display in the UI + upAccelCmd @4 :Float32; + uiAccelCmd @5 :Float32; + ufAccelCmd @33 :Float32; + aTarget @35 :Float32; + curvature @37 :Float32; # path curvature from vehicle model + desiredCurvature @61 :Float32; # lag adjusted curvatures used by lateral controllers + forceDecel @51 :Bool; + + # UI alerts + alertText1 @24 :Text; + alertText2 @25 :Text; + alertStatus @38 :AlertStatus; + alertSize @39 :AlertSize; + alertBlinkingRate @42 :Float32; + alertType @44 :Text; + alertSound @56 :Car.CarControl.HUDControl.AudibleAlert; + engageable @41 :Bool; # can OP be engaged? + + cumLagMs @15 :Float32; + + lateralControlState :union { + indiState @52 :LateralINDIState; + pidState @53 :LateralPIDState; + angleState @58 :LateralAngleState; + debugState @59 :LateralDebugState; + torqueState @60 :LateralTorqueState; + + curvatureStateDEPRECATED @65 :LateralCurvatureState; + lqrStateDEPRECATED @55 :LateralLQRState; + } + + enum OpenpilotState @0xdbe58b96d2d1ac61 { + disabled @0; + preEnabled @1; + enabled @2; + softDisabling @3; + overriding @4; # superset of overriding with steering or accelerator + } + + enum AlertStatus { + normal @0; # low priority alert for user's convenience + userPrompt @1; # mid priority alert that might require user intervention + critical @2; # high priority alert that needs immediate user intervention + } + + enum AlertSize { + none @0; # don't display the alert + small @1; # small box + mid @2; # mid screen + full @3; # full screen + } + + struct LateralINDIState { + active @0 :Bool; + steeringAngleDeg @1 :Float32; + steeringRateDeg @2 :Float32; + steeringAccelDeg @3 :Float32; + rateSetPoint @4 :Float32; + accelSetPoint @5 :Float32; + accelError @6 :Float32; + delayedOutput @7 :Float32; + delta @8 :Float32; + output @9 :Float32; + saturated @10 :Bool; + steeringAngleDesiredDeg @11 :Float32; + steeringRateDesiredDeg @12 :Float32; + } + + struct LateralPIDState { + active @0 :Bool; + steeringAngleDeg @1 :Float32; + steeringRateDeg @2 :Float32; + angleError @3 :Float32; + p @4 :Float32; + i @5 :Float32; + f @6 :Float32; + output @7 :Float32; + saturated @8 :Bool; + steeringAngleDesiredDeg @9 :Float32; + } + + struct LateralTorqueState { + active @0 :Bool; + error @1 :Float32; + errorRate @8 :Float32; + p @2 :Float32; + i @3 :Float32; + d @4 :Float32; + f @5 :Float32; + output @6 :Float32; + saturated @7 :Bool; + actualLateralAccel @9 :Float32; + desiredLateralAccel @10 :Float32; + } + + struct LateralLQRState { + active @0 :Bool; + steeringAngleDeg @1 :Float32; + i @2 :Float32; + output @3 :Float32; + lqrOutput @4 :Float32; + saturated @5 :Bool; + steeringAngleDesiredDeg @6 :Float32; + } + + struct LateralAngleState { + active @0 :Bool; + steeringAngleDeg @1 :Float32; + output @2 :Float32; + saturated @3 :Bool; + steeringAngleDesiredDeg @4 :Float32; + } + + struct LateralCurvatureState { + active @0 :Bool; + actualCurvature @1 :Float32; + desiredCurvature @2 :Float32; + error @3 :Float32; + p @4 :Float32; + i @5 :Float32; + f @6 :Float32; + output @7 :Float32; + saturated @8 :Bool; + } + + struct LateralDebugState { + active @0 :Bool; + steeringAngleDeg @1 :Float32; + output @2 :Float32; + saturated @3 :Bool; + } + + # deprecated + vEgoDEPRECATED @0 :Float32; + vEgoRawDEPRECATED @32 :Float32; + aEgoDEPRECATED @1 :Float32; + canMonoTimeDEPRECATED @16 :UInt64; + radarStateMonoTimeDEPRECATED @17 :UInt64; + mdMonoTimeDEPRECATED @18 :UInt64; + yActualDEPRECATED @6 :Float32; + yDesDEPRECATED @7 :Float32; + upSteerDEPRECATED @8 :Float32; + uiSteerDEPRECATED @9 :Float32; + ufSteerDEPRECATED @34 :Float32; + aTargetMinDEPRECATED @10 :Float32; + aTargetMaxDEPRECATED @11 :Float32; + rearViewCamDEPRECATED @23 :Bool; + driverMonitoringOnDEPRECATED @43 :Bool; + hudLeadDEPRECATED @14 :Int32; + alertSoundDEPRECATED @45 :Text; + angleModelBiasDEPRECATED @27 :Float32; + gpsPlannerActiveDEPRECATED @40 :Bool; + decelForTurnDEPRECATED @47 :Bool; + decelForModelDEPRECATED @54 :Bool; + awarenessStatusDEPRECATED @26 :Float32; + angleSteersDEPRECATED @13 :Float32; + vCurvatureDEPRECATED @46 :Float32; + mapValidDEPRECATED @49 :Bool; + jerkFactorDEPRECATED @12 :Float32; + steerOverrideDEPRECATED @20 :Bool; + steeringAngleDesiredDegDEPRECATED @29 :Float32; + canMonoTimesDEPRECATED @21 :List(UInt64); + desiredCurvatureRateDEPRECATED @62 :Float32; + canErrorCounterDEPRECATED @57 :UInt32; + vPidDEPRECATED @2 :Float32; +} + +struct DrivingModelData { + frameId @0 :UInt32; + frameIdExtra @1 :UInt32; + frameDropPerc @6 :Float32; + + action @2 :ModelDataV2.Action; + + laneLineMeta @3 :LaneLineMeta; + meta @4 :MetaData; + + path @5 :PolyPath; + + struct PolyPath { + xCoefficients @0 :List(Float32); + yCoefficients @1 :List(Float32); + zCoefficients @2 :List(Float32); + } + + struct LaneLineMeta { + leftY @0 :Float32; + rightY @1 :Float32; + leftProb @2 :Float32; + rightProb @3 :Float32; + } + + struct MetaData { + laneChangeState @0 :LaneChangeState; + laneChangeDirection @1 :LaneChangeDirection; + } +} + +# All SI units and in device frame +struct XYZTData @0xc3cbae1fd505ae80 { + x @0 :List(Float32); + y @1 :List(Float32); + z @2 :List(Float32); + t @3 :List(Float32); + xStd @4 :List(Float32); + yStd @5 :List(Float32); + zStd @6 :List(Float32); +} + +struct ModelDataV2 { + frameId @0 :UInt32; + frameIdExtra @20 :UInt32; + frameAge @1 :UInt32; + frameDropPerc @2 :Float32; + timestampEof @3 :UInt64; + modelExecutionTime @15 :Float32; + gpuExecutionTime @17 :Float32; + rawPredictions @16 :Data; + + # predicted future position, orientation, etc.. + position @4 :XYZTData; + orientation @5 :XYZTData; + velocity @6 :XYZTData; + orientationRate @7 :XYZTData; + acceleration @19 :XYZTData; + + # prediction lanelines and road edges + laneLines @8 :List(XYZTData); + laneLineProbs @9 :List(Float32); + laneLineStds @13 :List(Float32); + roadEdges @10 :List(XYZTData); + roadEdgeStds @14 :List(Float32); + + # predicted lead cars + leads @11 :List(LeadDataV2); + leadsV3 @18 :List(LeadDataV3); + + meta @12 :MetaData; + confidence @23: ConfidenceClass; + + # Model perceived motion + temporalPose @21 :Pose; + + navEnabledDEPRECATED @22 :Bool; + locationMonoTimeDEPRECATED @24 :UInt64; + + # e2e lateral planner + lateralPlannerSolutionDEPRECATED @25: LateralPlannerSolution; + action @26: Action; + + struct LeadDataV2 { + prob @0 :Float32; # probability that car is your lead at time t + t @1 :Float32; + + # x and y are relative position in device frame + # v is norm relative speed + # a is norm relative acceleration + xyva @2 :List(Float32); + xyvaStd @3 :List(Float32); + } + + struct LeadDataV3 { + prob @0 :Float32; # probability that car is your lead at time t + probTime @1 :Float32; + t @2 :List(Float32); + + # x and y are relative position in device frame + # v absolute norm speed + # a is derivative of v + x @3 :List(Float32); + xStd @4 :List(Float32); + y @5 :List(Float32); + yStd @6 :List(Float32); + v @7 :List(Float32); + vStd @8 :List(Float32); + a @9 :List(Float32); + aStd @10 :List(Float32); + } + + + struct MetaData { + engagedProb @0 :Float32; + desirePrediction @1 :List(Float32); + desireState @5 :List(Float32); + disengagePredictions @6 :DisengagePredictions; + hardBrakePredicted @7 :Bool; + laneChangeState @8 :LaneChangeState; + laneChangeDirection @9 :LaneChangeDirection; + + + # deprecated + brakeDisengageProbDEPRECATED @2 :Float32; + gasDisengageProbDEPRECATED @3 :Float32; + steerOverrideProbDEPRECATED @4 :Float32; + } + + enum ConfidenceClass { + red @0; + yellow @1; + green @2; + } + + struct DisengagePredictions { + t @0 :List(Float32); + brakeDisengageProbs @1 :List(Float32); + gasDisengageProbs @2 :List(Float32); + steerOverrideProbs @3 :List(Float32); + brake3MetersPerSecondSquaredProbs @4 :List(Float32); + brake4MetersPerSecondSquaredProbs @5 :List(Float32); + brake5MetersPerSecondSquaredProbs @6 :List(Float32); + } + + struct Pose { + trans @0 :List(Float32); # m/s in device frame + rot @1 :List(Float32); # rad/s in device frame + transStd @2 :List(Float32); # std m/s in device frame + rotStd @3 :List(Float32); # std rad/s in device frame + } + + struct LateralPlannerSolution { + x @0 :List(Float32); + y @1 :List(Float32); + yaw @2 :List(Float32); + yawRate @3 :List(Float32); + xStd @4 :List(Float32); + yStd @5 :List(Float32); + yawStd @6 :List(Float32); + yawRateStd @7 :List(Float32); + } + + struct Action { + desiredCurvature @0 :Float32; + } +} + +struct EncodeIndex { + # picture from camera + frameId @0 :UInt32; + type @1 :Type; + # index of encoder from start of route + encodeId @2 :UInt32; + # minute long segment this frame is in + segmentNum @3 :Int32; + # index into camera file in segment in presentation order + segmentId @4 :UInt32; + # index into camera file in segment in encode order + segmentIdEncode @5 :UInt32; + timestampSof @6 :UInt64; + timestampEof @7 :UInt64; + + # encoder metadata + flags @8 :UInt32; + len @9 :UInt32; + + enum Type { + bigBoxLossless @0; + fullHEVC @1; + qcameraH264 @6; + livestreamH264 @7; + + # deprecated + bigBoxHEVCDEPRECATED @2; + chffrAndroidH264DEPRECATED @3; + fullLosslessClipDEPRECATED @4; + frontDEPRECATED @5; + + } +} + +struct AndroidLogEntry { + id @0 :UInt8; + ts @1 :UInt64; + priority @2 :UInt8; + pid @3 :Int32; + tid @4 :Int32; + tag @5 :Text; + message @6 :Text; +} + +struct LongitudinalPlan @0xe00b5b3eba12876c { + modelMonoTime @9 :UInt64; + hasLead @7 :Bool; + fcw @8 :Bool; + longitudinalPlanSource @15 :LongitudinalPlanSource; + processingDelay @29 :Float32; + + # desired speed/accel/jerk over next 2.5s + accels @32 :List(Float32); + speeds @33 :List(Float32); + jerks @34 :List(Float32); + aTarget @18 :Float32; + shouldStop @37: Bool; + allowThrottle @38: Bool; + allowBrake @39: Bool; + + + solverExecutionTime @35 :Float32; + + enum LongitudinalPlanSource { + cruise @0; + lead0 @1; + lead1 @2; + lead2 @3; + e2e @4; + } + + # deprecated + vCruiseDEPRECATED @16 :Float32; + aCruiseDEPRECATED @17 :Float32; + vTargetDEPRECATED @3 :Float32; + vTargetFutureDEPRECATED @14 :Float32; + vStartDEPRECATED @26 :Float32; + aStartDEPRECATED @27 :Float32; + vMaxDEPRECATED @20 :Float32; + radarStateMonoTimeDEPRECATED @10 :UInt64; + jerkFactorDEPRECATED @6 :Float32; + hasLeftLaneDEPRECATED @23 :Bool; + hasRightLaneDEPRECATED @24 :Bool; + aTargetMinDEPRECATED @4 :Float32; + aTargetMaxDEPRECATED @5 :Float32; + lateralValidDEPRECATED @0 :Bool; + longitudinalValidDEPRECATED @2 :Bool; + dPolyDEPRECATED @1 :List(Float32); + laneWidthDEPRECATED @11 :Float32; + vCurvatureDEPRECATED @21 :Float32; + decelForTurnDEPRECATED @22 :Bool; + mapValidDEPRECATED @25 :Bool; + radarValidDEPRECATED @28 :Bool; + radarCanErrorDEPRECATED @30 :Bool; + commIssueDEPRECATED @31 :Bool; + eventsDEPRECATED @13 :List(Car.CarEvent); + gpsTrajectoryDEPRECATED @12 :GpsTrajectory; + gpsPlannerActiveDEPRECATED @19 :Bool; + personalityDEPRECATED @36 :LongitudinalPersonality; + + struct GpsTrajectory { + x @0 :List(Float32); + y @1 :List(Float32); + } +} +struct UiPlan { + frameId @2 :UInt32; + position @0 :XYZTData; + accel @1 :List(Float32); +} + +struct LateralPlan @0xe1e9318e2ae8b51e { + modelMonoTime @31 :UInt64; + laneWidthDEPRECATED @0 :Float32; + lProbDEPRECATED @5 :Float32; + rProbDEPRECATED @7 :Float32; + dPathPoints @20 :List(Float32); + dProbDEPRECATED @21 :Float32; + + mpcSolutionValid @9 :Bool; + desire @17 :Desire; + laneChangeState @18 :LaneChangeState; + laneChangeDirection @19 :LaneChangeDirection; + useLaneLines @29 :Bool; + + # desired curvatures over next 2.5s in rad/m + psis @26 :List(Float32); + curvatures @27 :List(Float32); + curvatureRates @28 :List(Float32); + + solverExecutionTime @30 :Float32; + solverCost @32 :Float32; + solverState @33 :SolverState; + + struct SolverState { + x @0 :List(List(Float32)); + u @1 :List(Float32); + } + + # deprecated + curvatureDEPRECATED @22 :Float32; + curvatureRateDEPRECATED @23 :Float32; + rawCurvatureDEPRECATED @24 :Float32; + rawCurvatureRateDEPRECATED @25 :Float32; + cProbDEPRECATED @3 :Float32; + dPolyDEPRECATED @1 :List(Float32); + cPolyDEPRECATED @2 :List(Float32); + lPolyDEPRECATED @4 :List(Float32); + rPolyDEPRECATED @6 :List(Float32); + modelValidDEPRECATED @12 :Bool; + commIssueDEPRECATED @15 :Bool; + posenetValidDEPRECATED @16 :Bool; + sensorValidDEPRECATED @14 :Bool; + paramsValidDEPRECATED @10 :Bool; + steeringAngleDegDEPRECATED @8 :Float32; # deg + steeringRateDegDEPRECATED @13 :Float32; # deg/s + angleOffsetDegDEPRECATED @11 :Float32; +} + +struct LiveLocationKalman { + + # More info on reference frames: + # https://github.com/commaai/openpilot/tree/master/common/transformations + + positionECEF @0 : Measurement; + positionGeodetic @1 : Measurement; + velocityECEF @2 : Measurement; + velocityNED @3 : Measurement; + velocityDevice @4 : Measurement; + accelerationDevice @5: Measurement; + + + # These angles are all eulers and roll, pitch, yaw + # orientationECEF transforms to rot matrix: ecef_from_device + orientationECEF @6 : Measurement; + calibratedOrientationECEF @20 : Measurement; + orientationNED @7 : Measurement; + angularVelocityDevice @8 : Measurement; + + # orientationNEDCalibrated transforms to rot matrix: NED_from_calibrated + calibratedOrientationNED @9 : Measurement; + + # Calibrated frame is simply device frame + # aligned with the vehicle + velocityCalibrated @10 : Measurement; + accelerationCalibrated @11 : Measurement; + angularVelocityCalibrated @12 : Measurement; + + gpsWeek @13 :Int32; + gpsTimeOfWeek @14 :Float64; + status @15 :Status; + unixTimestampMillis @16 :Int64; + inputsOK @17 :Bool = true; + posenetOK @18 :Bool = true; + gpsOK @19 :Bool = true; + sensorsOK @21 :Bool = true; + deviceStable @22 :Bool = true; + timeSinceReset @23 :Float64; + excessiveResets @24 :Bool; + timeToFirstFix @25 :Float32; + + filterState @26 : Measurement; + + enum Status { + uninitialized @0; + uncalibrated @1; + valid @2; + } + + struct Measurement { + value @0 : List(Float64); + std @1 : List(Float64); + valid @2 : Bool; + } +} + + +struct LivePose { + # More info on reference frames: + # https://github.com/commaai/openpilot/tree/master/common/transformations + orientationNED @0 :XYZMeasurement; + velocityDevice @1 :XYZMeasurement; + accelerationDevice @2 :XYZMeasurement; + angularVelocityDevice @3 :XYZMeasurement; + + inputsOK @4 :Bool = false; + posenetOK @5 :Bool = false; + sensorsOK @6 :Bool = false; + + filterState @7 :FilterState; + + struct XYZMeasurement { + x @0 :Float32; + y @1 :Float32; + z @2 :Float32; + xStd @3 :Float32; + yStd @4 :Float32; + zStd @5 :Float32; + valid @6 :Bool; + } + + struct FilterState { + value @0 : List(Float64); + std @1 : List(Float64); + valid @2 : Bool; + } +} + +struct ProcLog { + cpuTimes @0 :List(CPUTimes); + mem @1 :Mem; + procs @2 :List(Process); + + struct Process { + pid @0 :Int32; + name @1 :Text; + state @2 :UInt8; + ppid @3 :Int32; + + cpuUser @4 :Float32; + cpuSystem @5 :Float32; + cpuChildrenUser @6 :Float32; + cpuChildrenSystem @7 :Float32; + priority @8 :Int64; + nice @9 :Int32; + numThreads @10 :Int32; + startTime @11 :Float64; + + memVms @12 :UInt64; + memRss @13 :UInt64; + + processor @14 :Int32; + + cmdline @15 :List(Text); + exe @16 :Text; + } + + struct CPUTimes { + cpuNum @0 :Int64; + user @1 :Float32; + nice @2 :Float32; + system @3 :Float32; + idle @4 :Float32; + iowait @5 :Float32; + irq @6 :Float32; + softirq @7 :Float32; + } + + struct Mem { + total @0 :UInt64; + free @1 :UInt64; + available @2 :UInt64; + buffers @3 :UInt64; + cached @4 :UInt64; + active @5 :UInt64; + inactive @6 :UInt64; + shared @7 :UInt64; + } +} + +struct GnssMeasurements { + measTime @0 :UInt64; + gpsWeek @1 :Int16; + gpsTimeOfWeek @2 :Float64; + + correctedMeasurements @3 :List(CorrectedMeasurement); + ephemerisStatuses @9 :List(EphemerisStatus); + + kalmanPositionECEF @4 :LiveLocationKalman.Measurement; + kalmanVelocityECEF @5 :LiveLocationKalman.Measurement; + positionECEF @6 :LiveLocationKalman.Measurement; + velocityECEF @7 :LiveLocationKalman.Measurement; + timeToFirstFix @8 :Float32; + # Todo sync this with timing pulse of ublox + + struct EphemerisStatus { + constellationId @0 :ConstellationId; + svId @1 :UInt8; + type @2 :EphemerisType; + source @3 :EphemerisSource; + gpsWeek @4 : UInt16; + tow @5 :Float64; + } + + struct CorrectedMeasurement { + constellationId @0 :ConstellationId; + svId @1 :UInt8; + # Is 0 when not Glonass constellation. + glonassFrequency @2 :Int8; + pseudorange @3 :Float64; + pseudorangeStd @4 :Float64; + pseudorangeRate @5 :Float64; + pseudorangeRateStd @6 :Float64; + # Satellite position and velocity [x,y,z] + satPos @7 :List(Float64); + satVel @8 :List(Float64); + ephemerisSourceDEPRECATED @9 :EphemerisSourceDEPRECATED; + } + + struct EphemerisSourceDEPRECATED { + type @0 :EphemerisType; + # first epoch in file: + gpsWeek @1 :Int16; # -1 if Nav + gpsTimeOfWeek @2 :Int32; # -1 if Nav. Integer for seconds is good enough for logs. + } + + enum ConstellationId { + # Satellite Constellation using the Ublox gnssid as index + gps @0; + sbas @1; + galileo @2; + beidou @3; + imes @4; + qznss @5; + glonass @6; + } + + enum EphemerisType { + nav @0; + # Different ultra-rapid files: + nasaUltraRapid @1; + glonassIacUltraRapid @2; + qcom @3; + } + + enum EphemerisSource { + gnssChip @0; + internet @1; + cache @2; + unknown @3; + } +} + +struct UbloxGnss { + union { + measurementReport @0 :MeasurementReport; + ephemeris @1 :Ephemeris; + ionoData @2 :IonoData; + hwStatus @3 :HwStatus; + hwStatus2 @4 :HwStatus2; + glonassEphemeris @5 :GlonassEphemeris; + satReport @6 :SatReport; + } + + struct SatReport { + #received time of week in gps time in seconds and gps week + iTow @0 :UInt32; + svs @1 :List(SatInfo); + + struct SatInfo { + svId @0 :UInt8; + gnssId @1 :UInt8; + flagsBitfield @2 :UInt32; + } + } + + struct MeasurementReport { + #received time of week in gps time in seconds and gps week + rcvTow @0 :Float64; + gpsWeek @1 :UInt16; + # leap seconds in seconds + leapSeconds @2 :UInt16; + # receiver status + receiverStatus @3 :ReceiverStatus; + # num of measurements to follow + numMeas @4 :UInt8; + measurements @5 :List(Measurement); + + struct ReceiverStatus { + # leap seconds have been determined + leapSecValid @0 :Bool; + # Clock reset applied + clkReset @1 :Bool; + } + + struct Measurement { + svId @0 :UInt8; + trackingStatus @1 :TrackingStatus; + # pseudorange in meters + pseudorange @2 :Float64; + # carrier phase measurement in cycles + carrierCycles @3 :Float64; + # doppler measurement in Hz + doppler @4 :Float32; + # GNSS id, 0 is gps + gnssId @5 :UInt8; + glonassFrequencyIndex @6 :UInt8; + # carrier phase locktime counter in ms + locktime @7 :UInt16; + # Carrier-to-noise density ratio (signal strength) in dBHz + cno @8 :UInt8; + # pseudorange standard deviation in meters + pseudorangeStdev @9 :Float32; + # carrier phase standard deviation in cycles + carrierPhaseStdev @10 :Float32; + # doppler standard deviation in Hz + dopplerStdev @11 :Float32; + sigId @12 :UInt8; + + struct TrackingStatus { + # pseudorange valid + pseudorangeValid @0 :Bool; + # carrier phase valid + carrierPhaseValid @1 :Bool; + # half cycle valid + halfCycleValid @2 :Bool; + # half cycle subtracted from phase + halfCycleSubtracted @3 :Bool; + } + } + } + + struct Ephemeris { + # This is according to the rinex (2?) format + svId @0 :UInt16; + year @1 :UInt16; + month @2 :UInt16; + day @3 :UInt16; + hour @4 :UInt16; + minute @5 :UInt16; + second @6 :Float32; + af0 @7 :Float64; + af1 @8 :Float64; + af2 @9 :Float64; + + iode @10 :Float64; + crs @11 :Float64; + deltaN @12 :Float64; + m0 @13 :Float64; + + cuc @14 :Float64; + ecc @15 :Float64; + cus @16 :Float64; + a @17 :Float64; # note that this is not the root!! + + toe @18 :Float64; + cic @19 :Float64; + omega0 @20 :Float64; + cis @21 :Float64; + + i0 @22 :Float64; + crc @23 :Float64; + omega @24 :Float64; + omegaDot @25 :Float64; + + iDot @26 :Float64; + codesL2 @27 :Float64; + gpsWeekDEPRECATED @28 :Float64; + l2 @29 :Float64; + + svAcc @30 :Float64; + svHealth @31 :Float64; + tgd @32 :Float64; + iodc @33 :Float64; + + transmissionTime @34 :Float64; + fitInterval @35 :Float64; + + toc @36 :Float64; + + ionoCoeffsValid @37 :Bool; + ionoAlpha @38 :List(Float64); + ionoBeta @39 :List(Float64); + + towCount @40 :UInt32; + toeWeek @41 :UInt16; + tocWeek @42 :UInt16; + } + + struct IonoData { + svHealth @0 :UInt32; + tow @1 :Float64; + gpsWeek @2 :Float64; + + ionoAlpha @3 :List(Float64); + ionoBeta @4 :List(Float64); + + healthValid @5 :Bool; + ionoCoeffsValid @6 :Bool; + } + + struct HwStatus { + noisePerMS @0 :UInt16; + agcCnt @1 :UInt16; + aStatus @2 :AntennaSupervisorState; + aPower @3 :AntennaPowerStatus; + jamInd @4 :UInt8; + flags @5 :UInt8; + + enum AntennaSupervisorState { + init @0; + dontknow @1; + ok @2; + short @3; + open @4; + } + + enum AntennaPowerStatus { + off @0; + on @1; + dontknow @2; + } + } + + struct HwStatus2 { + ofsI @0 :Int8; + magI @1 :UInt8; + ofsQ @2 :Int8; + magQ @3 :UInt8; + cfgSource @4 :ConfigSource; + lowLevCfg @5 :UInt32; + postStatus @6 :UInt32; + + enum ConfigSource { + undefined @0; + rom @1; + otp @2; + configpins @3; + flash @4; + } + } + + struct GlonassEphemeris { + svId @0 :UInt16; + year @1 :UInt16; + dayInYear @2 :UInt16; + hour @3 :UInt16; + minute @4 :UInt16; + second @5 :Float32; + + x @6 :Float64; + xVel @7 :Float64; + xAccel @8 :Float64; + y @9 :Float64; + yVel @10 :Float64; + yAccel @11 :Float64; + z @12 :Float64; + zVel @13 :Float64; + zAccel @14 :Float64; + + svType @15 :UInt8; + svURA @16 :Float32; + age @17 :UInt8; + + svHealth @18 :UInt8; + tkDEPRECATED @19 :UInt16; + tb @20 :UInt16; + + tauN @21 :Float64; + deltaTauN @22 :Float64; + gammaN @23 :Float64; + + p1 @24 :UInt8; + p2 @25 :UInt8; + p3 @26 :UInt8; + p4 @27 :UInt8; + + freqNumDEPRECATED @28 :UInt32; + + n4 @29 :UInt8; + nt @30 :UInt16; + freqNum @31 :Int16; + tkSeconds @32 :UInt32; + } +} + +struct QcomGnss @0xde94674b07ae51c1 { + logTs @0 :UInt64; + union { + measurementReport @1 :MeasurementReport; + clockReport @2 :ClockReport; + drMeasurementReport @3 :DrMeasurementReport; + drSvPoly @4 :DrSvPolyReport; + rawLog @5 :Data; + } + + enum MeasurementSource @0xd71a12b6faada7ee { + gps @0; + glonass @1; + beidou @2; + unknown3 @3; + unknown4 @4; + unknown5 @5; + sbas @6; + } + + enum SVObservationState @0xe81e829a0d6c83e9 { + idle @0; + search @1; + searchVerify @2; + bitEdge @3; + trackVerify @4; + track @5; + restart @6; + dpo @7; + glo10msBe @8; + glo10msAt @9; + } + + struct MeasurementStatus @0xe501010e1bcae83b { + subMillisecondIsValid @0 :Bool; + subBitTimeIsKnown @1 :Bool; + satelliteTimeIsKnown @2 :Bool; + bitEdgeConfirmedFromSignal @3 :Bool; + measuredVelocity @4 :Bool; + fineOrCoarseVelocity @5 :Bool; + lockPointValid @6 :Bool; + lockPointPositive @7 :Bool; + lastUpdateFromDifference @8 :Bool; + lastUpdateFromVelocityDifference @9 :Bool; + strongIndicationOfCrossCorelation @10 :Bool; + tentativeMeasurement @11 :Bool; + measurementNotUsable @12 :Bool; + sirCheckIsNeeded @13 :Bool; + probationMode @14 :Bool; + + glonassMeanderBitEdgeValid @15 :Bool; + glonassTimeMarkValid @16 :Bool; + + gpsRoundRobinRxDiversity @17 :Bool; + gpsRxDiversity @18 :Bool; + gpsLowBandwidthRxDiversityCombined @19 :Bool; + gpsHighBandwidthNu4 @20 :Bool; + gpsHighBandwidthNu8 @21 :Bool; + gpsHighBandwidthUniform @22 :Bool; + multipathIndicator @23 :Bool; + + imdJammingIndicator @24 :Bool; + lteB13TxJammingIndicator @25 :Bool; + freshMeasurementIndicator @26 :Bool; + + multipathEstimateIsValid @27 :Bool; + directionIsValid @28 :Bool; + } + + struct MeasurementReport @0xf580d7d86b7b8692 { + source @0 :MeasurementSource; + + fCount @1 :UInt32; + + gpsWeek @2 :UInt16; + glonassCycleNumber @3 :UInt8; + glonassNumberOfDays @4 :UInt16; + + milliseconds @5 :UInt32; + timeBias @6 :Float32; + clockTimeUncertainty @7 :Float32; + clockFrequencyBias @8 :Float32; + clockFrequencyUncertainty @9 :Float32; + + sv @10 :List(SV); + + struct SV @0xf10c595ae7bb2c27 { + svId @0 :UInt8; + observationState @2 :SVObservationState; + observations @3 :UInt8; + goodObservations @4 :UInt8; + gpsParityErrorCount @5 :UInt16; + glonassFrequencyIndex @1 :Int8; + glonassHemmingErrorCount @6 :UInt8; + filterStages @7 :UInt8; + carrierNoise @8 :UInt16; + latency @9 :Int16; + predetectInterval @10 :UInt8; + postdetections @11 :UInt16; + + unfilteredMeasurementIntegral @12 :UInt32; + unfilteredMeasurementFraction @13 :Float32; + unfilteredTimeUncertainty @14 :Float32; + unfilteredSpeed @15 :Float32; + unfilteredSpeedUncertainty @16 :Float32; + measurementStatus @17 :MeasurementStatus; + multipathEstimate @18 :UInt32; + azimuth @19 :Float32; + elevation @20 :Float32; + carrierPhaseCyclesIntegral @21 :Int32; + carrierPhaseCyclesFraction @22 :UInt16; + fineSpeed @23 :Float32; + fineSpeedUncertainty @24 :Float32; + cycleSlipCount @25 :UInt8; + } + + } + + struct ClockReport @0xca965e4add8f4f0b { + hasFCount @0 :Bool; + fCount @1 :UInt32; + + hasGpsWeek @2 :Bool; + gpsWeek @3 :UInt16; + hasGpsMilliseconds @4 :Bool; + gpsMilliseconds @5 :UInt32; + gpsTimeBias @6 :Float32; + gpsClockTimeUncertainty @7 :Float32; + gpsClockSource @8 :UInt8; + + hasGlonassYear @9 :Bool; + glonassYear @10 :UInt8; + hasGlonassDay @11 :Bool; + glonassDay @12 :UInt16; + hasGlonassMilliseconds @13 :Bool; + glonassMilliseconds @14 :UInt32; + glonassTimeBias @15 :Float32; + glonassClockTimeUncertainty @16 :Float32; + glonassClockSource @17 :UInt8; + + bdsWeek @18 :UInt16; + bdsMilliseconds @19 :UInt32; + bdsTimeBias @20 :Float32; + bdsClockTimeUncertainty @21 :Float32; + bdsClockSource @22 :UInt8; + + galWeek @23 :UInt16; + galMilliseconds @24 :UInt32; + galTimeBias @25 :Float32; + galClockTimeUncertainty @26 :Float32; + galClockSource @27 :UInt8; + + clockFrequencyBias @28 :Float32; + clockFrequencyUncertainty @29 :Float32; + frequencySource @30 :UInt8; + gpsLeapSeconds @31 :UInt8; + gpsLeapSecondsUncertainty @32 :UInt8; + gpsLeapSecondsSource @33 :UInt8; + + gpsToGlonassTimeBiasMilliseconds @34 :Float32; + gpsToGlonassTimeBiasMillisecondsUncertainty @35 :Float32; + gpsToBdsTimeBiasMilliseconds @36 :Float32; + gpsToBdsTimeBiasMillisecondsUncertainty @37 :Float32; + bdsToGloTimeBiasMilliseconds @38 :Float32; + bdsToGloTimeBiasMillisecondsUncertainty @39 :Float32; + gpsToGalTimeBiasMilliseconds @40 :Float32; + gpsToGalTimeBiasMillisecondsUncertainty @41 :Float32; + galToGloTimeBiasMilliseconds @42 :Float32; + galToGloTimeBiasMillisecondsUncertainty @43 :Float32; + galToBdsTimeBiasMilliseconds @44 :Float32; + galToBdsTimeBiasMillisecondsUncertainty @45 :Float32; + + hasRtcTime @46 :Bool; + systemRtcTime @47 :UInt32; + fCountOffset @48 :UInt32; + lpmRtcCount @49 :UInt32; + clockResets @50 :UInt32; + } + + struct DrMeasurementReport @0x8053c39445c6c75c { + + reason @0 :UInt8; + seqNum @1 :UInt8; + seqMax @2 :UInt8; + rfLoss @3 :UInt16; + + systemRtcValid @4 :Bool; + fCount @5 :UInt32; + clockResets @6 :UInt32; + systemRtcTime @7 :UInt64; + + gpsLeapSeconds @8 :UInt8; + gpsLeapSecondsUncertainty @9 :UInt8; + gpsToGlonassTimeBiasMilliseconds @10 :Float32; + gpsToGlonassTimeBiasMillisecondsUncertainty @11 :Float32; + + gpsWeek @12 :UInt16; + gpsMilliseconds @13 :UInt32; + gpsTimeBiasMs @14 :UInt32; + gpsClockTimeUncertaintyMs @15 :UInt32; + gpsClockSource @16 :UInt8; + + glonassClockSource @17 :UInt8; + glonassYear @18 :UInt8; + glonassDay @19 :UInt16; + glonassMilliseconds @20 :UInt32; + glonassTimeBias @21 :Float32; + glonassClockTimeUncertainty @22 :Float32; + + clockFrequencyBias @23 :Float32; + clockFrequencyUncertainty @24 :Float32; + frequencySource @25 :UInt8; + + source @26 :MeasurementSource; + + sv @27 :List(SV); + + struct SV @0xf08b81df8cbf459c { + svId @0 :UInt8; + glonassFrequencyIndex @1 :Int8; + observationState @2 :SVObservationState; + observations @3 :UInt8; + goodObservations @4 :UInt8; + filterStages @5 :UInt8; + predetectInterval @6 :UInt8; + cycleSlipCount @7 :UInt8; + postdetections @8 :UInt16; + + measurementStatus @9 :MeasurementStatus; + + carrierNoise @10 :UInt16; + rfLoss @11 :UInt16; + latency @12 :Int16; + + filteredMeasurementFraction @13 :Float32; + filteredMeasurementIntegral @14 :UInt32; + filteredTimeUncertainty @15 :Float32; + filteredSpeed @16 :Float32; + filteredSpeedUncertainty @17 :Float32; + + unfilteredMeasurementFraction @18 :Float32; + unfilteredMeasurementIntegral @19 :UInt32; + unfilteredTimeUncertainty @20 :Float32; + unfilteredSpeed @21 :Float32; + unfilteredSpeedUncertainty @22 :Float32; + + multipathEstimate @23 :UInt32; + azimuth @24 :Float32; + elevation @25 :Float32; + dopplerAcceleration @26 :Float32; + fineSpeed @27 :Float32; + fineSpeedUncertainty @28 :Float32; + + carrierPhase @29 :Float64; + fCount @30 :UInt32; + + parityErrorCount @31 :UInt16; + goodParity @32 :Bool; + } + } + + struct DrSvPolyReport @0xb1fb80811a673270 { + svId @0 :UInt16; + frequencyIndex @1 :Int8; + + hasPosition @2 :Bool; + hasIono @3 :Bool; + hasTropo @4 :Bool; + hasElevation @5 :Bool; + polyFromXtra @6 :Bool; + hasSbasIono @7 :Bool; + + iode @8 :UInt16; + t0 @9 :Float64; + xyz0 @10 :List(Float64); + xyzN @11 :List(Float64); + other @12 :List(Float32); + + positionUncertainty @13 :Float32; + ionoDelay @14 :Float32; + ionoDot @15 :Float32; + sbasIonoDelay @16 :Float32; + sbasIonoDot @17 :Float32; + tropoDelay @18 :Float32; + elevation @19 :Float32; + elevationDot @20 :Float32; + elevationUncertainty @21 :Float32; + velocityCoeff @22 :List(Float64); + + gpsWeek @23 :UInt16; + gpsTow @24 :Float64; + } +} + +struct Clocks { + wallTimeNanos @3 :UInt64; # unix epoch time + + bootTimeNanosDEPRECATED @0 :UInt64; + monotonicNanosDEPRECATED @1 :UInt64; + monotonicRawNanosDEPRECATD @2 :UInt64; + modemUptimeMillisDEPRECATED @4 :UInt64; +} + +struct LiveMpcData { + x @0 :List(Float32); + y @1 :List(Float32); + psi @2 :List(Float32); + curvature @3 :List(Float32); + qpIterations @4 :UInt32; + calculationTime @5 :UInt64; + cost @6 :Float64; +} + +struct LiveLongitudinalMpcData { + xEgo @0 :List(Float32); + vEgo @1 :List(Float32); + aEgo @2 :List(Float32); + xLead @3 :List(Float32); + vLead @4 :List(Float32); + aLead @5 :List(Float32); + aLeadTau @6 :Float32; # lead accel time constant + qpIterations @7 :UInt32; + mpcId @8 :UInt32; + calculationTime @9 :UInt64; + cost @10 :Float64; +} + +struct Joystick { + # convenient for debug and live tuning + axes @0: List(Float32); + buttons @1: List(Bool); +} + +struct DriverStateV2 { + frameId @0 :UInt32; + modelExecutionTime @1 :Float32; + dspExecutionTime @2 :Float32; + rawPredictions @3 :Data; + + poorVisionProb @4 :Float32; + wheelOnRightProb @5 :Float32; + + leftDriverData @6 :DriverData; + rightDriverData @7 :DriverData; + + struct DriverData { + faceOrientation @0 :List(Float32); + faceOrientationStd @1 :List(Float32); + facePosition @2 :List(Float32); + facePositionStd @3 :List(Float32); + faceProb @4 :Float32; + leftEyeProb @5 :Float32; + rightEyeProb @6 :Float32; + leftBlinkProb @7 :Float32; + rightBlinkProb @8 :Float32; + sunglassesProb @9 :Float32; + occludedProb @10 :Float32; + readyProb @11 :List(Float32); + notReadyProb @12 :List(Float32); + } +} + +struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 { + frameId @0 :UInt32; + modelExecutionTime @14 :Float32; + dspExecutionTime @16 :Float32; + rawPredictions @15 :Data; + + faceOrientation @3 :List(Float32); + facePosition @4 :List(Float32); + faceProb @5 :Float32; + leftEyeProb @6 :Float32; + rightEyeProb @7 :Float32; + leftBlinkProb @8 :Float32; + rightBlinkProb @9 :Float32; + faceOrientationStd @11 :List(Float32); + facePositionStd @12 :List(Float32); + sunglassesProb @13 :Float32; + poorVision @17 :Float32; + partialFace @18 :Float32; + distractedPose @19 :Float32; + distractedEyes @20 :Float32; + eyesOnRoad @21 :Float32; + phoneUse @22 :Float32; + occludedProb @23 :Float32; + + readyProb @24 :List(Float32); + notReadyProb @25 :List(Float32); + + irPwrDEPRECATED @10 :Float32; + descriptorDEPRECATED @1 :List(Float32); + stdDEPRECATED @2 :Float32; +} + +struct DriverMonitoringState @0xb83cda094a1da284 { + events @0 :List(Car.CarEvent); + faceDetected @1 :Bool; + isDistracted @2 :Bool; + distractedType @17 :UInt32; + awarenessStatus @3 :Float32; + posePitchOffset @6 :Float32; + posePitchValidCount @7 :UInt32; + poseYawOffset @8 :Float32; + poseYawValidCount @9 :UInt32; + stepChange @10 :Float32; + awarenessActive @11 :Float32; + awarenessPassive @12 :Float32; + isLowStd @13 :Bool; + hiStdCount @14 :UInt32; + isActiveMode @16 :Bool; + isRHD @4 :Bool; + + isPreviewDEPRECATED @15 :Bool; + rhdCheckedDEPRECATED @5 :Bool; +} + +struct Boot { + wallTimeNanos @0 :UInt64; + pstore @4 :Map(Text, Data); + commands @5 :Map(Text, Data); + launchLog @3 :Text; + + lastKmsgDEPRECATED @1 :Data; + lastPmsgDEPRECATED @2 :Data; +} + +struct LiveParametersData { + valid @0 :Bool; + gyroBias @1 :Float32; + angleOffsetDeg @2 :Float32; + angleOffsetAverageDeg @3 :Float32; + stiffnessFactor @4 :Float32; + steerRatio @5 :Float32; + sensorValid @6 :Bool; + posenetSpeed @8 :Float32; + posenetValid @9 :Bool; + angleOffsetFastStd @10 :Float32; + angleOffsetAverageStd @11 :Float32; + stiffnessFactorStd @12 :Float32; + steerRatioStd @13 :Float32; + roll @14 :Float32; + filterState @15 :LiveLocationKalman.Measurement; + + yawRateDEPRECATED @7 :Float32; +} + +struct LiveTorqueParametersData { + liveValid @0 :Bool; + latAccelFactorRaw @1 :Float32; + latAccelOffsetRaw @2 :Float32; + frictionCoefficientRaw @3 :Float32; + latAccelFactorFiltered @4 :Float32; + latAccelOffsetFiltered @5 :Float32; + frictionCoefficientFiltered @6 :Float32; + totalBucketPoints @7 :Float32; + decay @8 :Float32; + maxResets @9 :Float32; + points @10 :List(List(Float32)); + version @11 :Int32; + useParams @12 :Bool; +} + +struct LiveMapDataDEPRECATED { + speedLimitValid @0 :Bool; + speedLimit @1 :Float32; + speedAdvisoryValid @12 :Bool; + speedAdvisory @13 :Float32; + speedLimitAheadValid @14 :Bool; + speedLimitAhead @15 :Float32; + speedLimitAheadDistance @16 :Float32; + curvatureValid @2 :Bool; + curvature @3 :Float32; + wayId @4 :UInt64; + roadX @5 :List(Float32); + roadY @6 :List(Float32); + lastGps @7: GpsLocationData; + roadCurvatureX @8 :List(Float32); + roadCurvature @9 :List(Float32); + distToTurn @10 :Float32; + mapValid @11 :Bool; +} + +struct CameraOdometry { + frameId @4 :UInt32; + timestampEof @5 :UInt64; + trans @0 :List(Float32); # m/s in device frame + rot @1 :List(Float32); # rad/s in device frame + transStd @2 :List(Float32); # std m/s in device frame + rotStd @3 :List(Float32); # std rad/s in device frame + wideFromDeviceEuler @6 :List(Float32); + wideFromDeviceEulerStd @7 :List(Float32); + roadTransformTrans @8 :List(Float32); + roadTransformTransStd @9 :List(Float32); +} + +struct Sentinel { + enum SentinelType { + endOfSegment @0; + endOfRoute @1; + startOfSegment @2; + startOfRoute @3; + } + type @0 :SentinelType; + signal @1 :Int32; +} + +struct UIDebug { + drawTimeMillis @0 :Float32; +} + +struct ManagerState { + processes @0 :List(ProcessState); + + struct ProcessState { + name @0 :Text; + pid @1 :Int32; + running @2 :Bool; + shouldBeRunning @4 :Bool; + exitCode @3 :Int32; + } +} + +struct UploaderState { + immediateQueueSize @0 :UInt32; + immediateQueueCount @1 :UInt32; + rawQueueSize @2 :UInt32; + rawQueueCount @3 :UInt32; + + # stats for last successfully uploaded file + lastTime @4 :Float32; # s + lastSpeed @5 :Float32; # MB/s + lastFilename @6 :Text; +} + +struct NavInstruction { + maneuverPrimaryText @0 :Text; + maneuverSecondaryText @1 :Text; + maneuverDistance @2 :Float32; # m + maneuverType @3 :Text; # TODO: Make Enum + maneuverModifier @4 :Text; # TODO: Make Enum + + distanceRemaining @5 :Float32; # m + timeRemaining @6 :Float32; # s + timeRemainingTypical @7 :Float32; # s + + lanes @8 :List(Lane); + showFull @9 :Bool; + + speedLimit @10 :Float32; # m/s + speedLimitSign @11 :SpeedLimitSign; + + allManeuvers @12 :List(Maneuver); + + struct Lane { + directions @0 :List(Direction); + active @1 :Bool; + activeDirection @2 :Direction; + } + + enum Direction { + none @0; + left @1; + right @2; + straight @3; + slightLeft @4; + slightRight @5; + } + + enum SpeedLimitSign { + mutcd @0; # US Style + vienna @1; # EU Style + } + + struct Maneuver { + distance @0 :Float32; + type @1 :Text; + modifier @2 :Text; + } +} + +struct NavRoute { + coordinates @0 :List(Coordinate); + + struct Coordinate { + latitude @0 :Float32; + longitude @1 :Float32; + } +} + +struct MapRenderState { + locationMonoTime @0 :UInt64; + renderTime @1 :Float32; + frameId @2: UInt32; +} + +struct NavModelData { + frameId @0 :UInt32; + locationMonoTime @6 :UInt64; + modelExecutionTime @1 :Float32; + dspExecutionTime @2 :Float32; + features @3 :List(Float32); + # predicted future position + position @4 :XYData; + desirePrediction @5 :List(Float32); + + # All SI units and in device frame + struct XYData { + x @0 :List(Float32); + y @1 :List(Float32); + xStd @2 :List(Float32); + yStd @3 :List(Float32); + } +} + +struct EncodeData { + idx @0 :EncodeIndex; + data @1 :Data; + header @2 :Data; + unixTimestampNanos @3 :UInt64; + width @4 :UInt32; + height @5 :UInt32; +} + +struct UserFlag { +} + +struct Microphone { + soundPressure @0 :Float32; + + # uncalibrated, A-weighted + soundPressureWeighted @3 :Float32; + soundPressureWeightedDb @1 :Float32; + filteredSoundPressureWeightedDb @2 :Float32; +} + +struct Event { + logMonoTime @0 :UInt64; # nanoseconds + valid @67 :Bool = true; + + union { + # *********** log metadata *********** + initData @1 :InitData; + sentinel @73 :Sentinel; + + # *********** bootlog *********** + boot @60 :Boot; + + # ********** openpilot daemon msgs ********** + gpsNMEA @3 :GPSNMEAData; + can @5 :List(CanData); + controlsState @7 :ControlsState; + gyroscope @99 :SensorEventData; + gyroscope2 @100 :SensorEventData; + accelerometer @98 :SensorEventData; + accelerometer2 @101 :SensorEventData; + magnetometer @95 :SensorEventData; + lightSensor @96 :SensorEventData; + temperatureSensor @97 :SensorEventData; + temperatureSensor2 @123 :SensorEventData; + pandaStates @81 :List(PandaState); + peripheralState @80 :PeripheralState; + radarState @13 :RadarState; + liveTracks @16 :List(LiveTracks); + sendcan @17 :List(CanData); + liveCalibration @19 :LiveCalibrationData; + carState @22 :Car.CarState; + carControl @23 :Car.CarControl; + carOutput @127 :Car.CarOutput; + longitudinalPlan @24 :LongitudinalPlan; + ubloxGnss @34 :UbloxGnss; + ubloxRaw @39 :Data; + qcomGnss @31 :QcomGnss; + gpsLocationExternal @48 :GpsLocationData; + gpsLocation @21 :GpsLocationData; + gnssMeasurements @91 :GnssMeasurements; + liveParameters @61 :LiveParametersData; + liveTorqueParameters @94 :LiveTorqueParametersData; + cameraOdometry @63 :CameraOdometry; + thumbnail @66: Thumbnail; + onroadEvents @68: List(Car.CarEvent); + carParams @69: Car.CarParams; + driverMonitoringState @71: DriverMonitoringState; + liveLocationKalman @72 :LiveLocationKalman; + livePose @129 :LivePose; + modelV2 @75 :ModelDataV2; + drivingModelData @128 :DrivingModelData; + driverStateV2 @92 :DriverStateV2; + + # camera stuff, each camera state has a matching encode idx + roadCameraState @2 :FrameData; + driverCameraState @70: FrameData; + wideRoadCameraState @74: FrameData; + roadEncodeIdx @15 :EncodeIndex; + driverEncodeIdx @76 :EncodeIndex; + wideRoadEncodeIdx @77 :EncodeIndex; + qRoadEncodeIdx @90 :EncodeIndex; + + livestreamRoadEncodeIdx @117 :EncodeIndex; + livestreamWideRoadEncodeIdx @118 :EncodeIndex; + livestreamDriverEncodeIdx @119 :EncodeIndex; + + # microphone data + microphone @103 :Microphone; + + # systems stuff + androidLog @20 :AndroidLogEntry; + managerState @78 :ManagerState; + uploaderState @79 :UploaderState; + procLog @33 :ProcLog; + clocks @35 :Clocks; + deviceState @6 :DeviceState; + logMessage @18 :Text; + errorLogMessage @85 :Text; + + # navigation + navInstruction @82 :NavInstruction; + navRoute @83 :NavRoute; + navThumbnail @84: Thumbnail; + mapRenderState @105: MapRenderState; + + # UI services + userFlag @93 :UserFlag; + uiDebug @102 :UIDebug; + + # *********** debug *********** + testJoystick @52 :Joystick; + roadEncodeData @86 :EncodeData; + driverEncodeData @87 :EncodeData; + wideRoadEncodeData @88 :EncodeData; + qRoadEncodeData @89 :EncodeData; + + livestreamRoadEncodeData @120 :EncodeData; + livestreamWideRoadEncodeData @121 :EncodeData; + livestreamDriverEncodeData @122 :EncodeData; + + customReservedRawData0 @124 :Data; + customReservedRawData1 @125 :Data; + customReservedRawData2 @126 :Data; + + # *********** Custom: reserved for forks *********** + controlsStateSP @107 :Custom.ControlsStateSP; + longitudinalPlanSP @108 :Custom.LongitudinalPlanSP; + lateralPlanSPDEPRECATED @109 :Custom.LateralPlanSP; + driverMonitoringStateSP @110 :Custom.DriverMonitoringStateSP; + liveMapDataSP @111 :Custom.LiveMapDataSP; + e2eLongStateSP @112 :Custom.E2eLongStateSP; + modelV2SP @113 :Custom.ModelDataV2SP; + customReserved7 @114 :Custom.CustomReserved7; + customReserved8 @115 :Custom.CustomReserved8; + customReserved9 @116 :Custom.CustomReserved9; + + # *********** legacy + deprecated *********** + model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated + liveMpcDEPRECATED @36 :LiveMpcData; + liveLongitudinalMpcDEPRECATED @37 :LiveLongitudinalMpcData; + liveLocationKalmanDEPRECATED @51 :Legacy.LiveLocationData; + orbslamCorrectionDEPRECATED @45 :Legacy.OrbslamCorrection; + liveUIDEPRECATED @14 :Legacy.LiveUI; + sensorEventDEPRECATED @4 :SensorEventData; + liveEventDEPRECATED @8 :List(Legacy.LiveEventData); + liveLocationDEPRECATED @25 :Legacy.LiveLocationData; + ethernetDataDEPRECATED @26 :List(Legacy.EthernetPacket); + cellInfoDEPRECATED @28 :List(Legacy.CellInfo); + wifiScanDEPRECATED @29 :List(Legacy.WifiScan); + uiNavigationEventDEPRECATED @50 :Legacy.UiNavigationEvent; + liveMapDataDEPRECATED @62 :LiveMapDataDEPRECATED; + gpsPlannerPointsDEPRECATED @40 :Legacy.GPSPlannerPoints; + gpsPlannerPlanDEPRECATED @41 :Legacy.GPSPlannerPlan; + applanixRawDEPRECATED @42 :Data; + androidGnssDEPRECATED @30 :Legacy.AndroidGnss; + lidarPtsDEPRECATED @32 :Legacy.LidarPts; + navStatusDEPRECATED @38 :Legacy.NavStatus; + trafficEventsDEPRECATED @43 :List(Legacy.TrafficEvent); + liveLocationTimingDEPRECATED @44 :Legacy.LiveLocationData; + liveLocationCorrectedDEPRECATED @46 :Legacy.LiveLocationData; + navUpdateDEPRECATED @27 :Legacy.NavUpdate; + orbObservationDEPRECATED @47 :List(Legacy.OrbObservation); + locationDEPRECATED @49 :Legacy.LiveLocationData; + orbOdometryDEPRECATED @53 :Legacy.OrbOdometry; + orbFeaturesDEPRECATED @54 :Legacy.OrbFeatures; + applanixLocationDEPRECATED @55 :Legacy.LiveLocationData; + orbKeyFrameDEPRECATED @56 :Legacy.OrbKeyFrame; + orbFeaturesSummaryDEPRECATED @58 :Legacy.OrbFeaturesSummary; + featuresDEPRECATED @10 :Legacy.CalibrationFeatures; + kalmanOdometryDEPRECATED @65 :Legacy.KalmanOdometry; + uiLayoutStateDEPRECATED @57 :Legacy.UiLayoutState; + pandaStateDEPRECATED @12 :PandaState; + driverStateDEPRECATED @59 :DriverStateDEPRECATED; + sensorEventsDEPRECATED @11 :List(SensorEventData); + lateralPlanDEPRECATED @64 :LateralPlan; + navModelDEPRECATED @104 :NavModelData; + uiPlanDEPRECATED @106 :UiPlan; + } +} diff --git a/cereal/maptile.capnp b/cereal/maptile.capnp new file mode 100644 index 0000000000..c8a23a1822 --- /dev/null +++ b/cereal/maptile.capnp @@ -0,0 +1,49 @@ +using Cxx = import "./include/c++.capnp"; +$Cxx.namespace("cereal"); + +@0xa086df597ef5d7a0; + +# Geometry +struct Point { + x @0: Float64; + y @1: Float64; + z @2: Float64; +} + +struct PolyLine { + points @0: List(Point); +} + +# Map features +struct Lane { + id @0 :Text; + + leftBoundary @1 :LaneBoundary; + rightBoundary @2 :LaneBoundary; + + leftAdjacentId @3 :Text; + rightAdjacentId @4 :Text; + + inboundIds @5 :List(Text); + outboundIds @6 :List(Text); + + struct LaneBoundary { + polyLine @0 :PolyLine; + startHeading @1 :Float32; # WRT north + } +} + +# Map tiles +struct TileSummary { + version @0 :Text; + updatedAt @1 :UInt64; # Millis since epoch + + level @2 :UInt8; + x @3 :UInt16; + y @4 :UInt16; +} + +struct MapTile { + summary @0 :TileSummary; + lanes @1 :List(Lane); +} diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py new file mode 100644 index 0000000000..9646047de3 --- /dev/null +++ b/cereal/messaging/__init__.py @@ -0,0 +1,257 @@ +# must be built with scons +from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \ + set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event +from msgq.ipc_pyx import MultiplePublishersError, IpcError +from msgq import fake_event_handle, pub_sock, sub_sock, drain_sock_raw +import msgq + +import os +import capnp +import time + +from typing import Optional, List, Union, Dict, Deque +from collections import deque + +from cereal import log +from cereal.services import SERVICE_LIST + +NO_TRAVERSAL_LIMIT = 2**64-1 + + +def reset_context(): + msgq.context = Context() + + +def log_from_bytes(dat: bytes, struct: capnp.lib.capnp._StructModule = log.Event) -> capnp.lib.capnp._DynamicStructReader: + with struct.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as msg: + return msg + + +def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) -> capnp.lib.capnp._DynamicStructBuilder: + args = { + 'valid': False, + 'logMonoTime': int(time.monotonic() * 1e9), + **kwargs + } + dat = log.Event.new_message(**args) + if service is not None: + if size is None: + dat.init(service) + else: + dat.init(service, size) + return dat + + +def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]: + """Receive all message currently available on the queue""" + msgs = drain_sock_raw(sock, wait_for_one=wait_for_one) + return [log_from_bytes(m) for m in msgs] + + +# TODO: print when we drop packets? +def recv_sock(sock: SubSocket, wait: bool = False) -> Optional[capnp.lib.capnp._DynamicStructReader]: + """Same as drain sock, but only returns latest message. Consider using conflate instead.""" + dat = None + + while 1: + if wait and dat is None: + recv = sock.receive() + else: + recv = sock.receive(non_blocking=True) + + if recv is None: # Timeout hit + break + + dat = recv + + if dat is not None: + dat = log_from_bytes(dat) + + return dat + + +def recv_one(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]: + dat = sock.receive() + if dat is not None: + dat = log_from_bytes(dat) + return dat + + +def recv_one_or_none(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]: + dat = sock.receive(non_blocking=True) + if dat is not None: + dat = log_from_bytes(dat) + return dat + + +def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader: + """Keep receiving until we get a message""" + while True: + dat = sock.receive() + if dat is not None: + return log_from_bytes(dat) + + +class SubMaster: + def __init__(self, services: List[str], poll: Optional[str] = None, + ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None, + ignore_valid: Optional[List[str]] = None, addr: str = "127.0.0.1", frequency: Optional[float] = None): + self.frame = -1 + self.seen = {s: False for s in services} + self.updated = {s: False for s in services} + self.recv_time = {s: 0. for s in services} + self.recv_frame = {s: 0 for s in services} + self.alive = {s: False for s in services} + self.freq_ok = {s: False for s in services} + self.recv_dts: Dict[str, Deque[float]] = {} + self.sock = {} + self.data = {} + self.valid = {} + self.logMonoTime = {} + + self.max_freq = {} + self.min_freq = {} + + self.poller = Poller() + polled_services = set([poll, ] if poll is not None else services) + self.non_polled_services = set(services) - polled_services + + self.ignore_average_freq = [] if ignore_avg_freq is None else ignore_avg_freq + self.ignore_alive = [] if ignore_alive is None else ignore_alive + self.ignore_valid = [] if ignore_valid is None else ignore_valid + + self.simulation = bool(int(os.getenv("SIMULATION", "0"))) + + # if freq and poll aren't specified, assume the max to be conservative + assert frequency is None or poll is None, "Do not specify 'frequency' - frequency of the polled service will be used." + self.update_freq = frequency or max([SERVICE_LIST[s].frequency for s in polled_services]) + + for s in services: + p = self.poller if s not in self.non_polled_services else None + self.sock[s] = sub_sock(s, poller=p, addr=addr, conflate=True) + + try: + data = new_message(s) + except capnp.lib.capnp.KjException: + data = new_message(s, 0) # lists + + self.data[s] = getattr(data.as_reader(), s) + self.logMonoTime[s] = 0 + self.valid[s] = True # FIXME: this should default to False + + freq = max(min([SERVICE_LIST[s].frequency, self.update_freq]), 1.) + if s == poll: + max_freq = freq + min_freq = freq + else: + max_freq = min(freq, self.update_freq) + if SERVICE_LIST[s].frequency >= 2*self.update_freq: + min_freq = self.update_freq + elif self.update_freq >= 2*SERVICE_LIST[s].frequency: + min_freq = freq + else: + min_freq = min(freq, freq / 2.) + self.max_freq[s] = max_freq*1.2 + self.min_freq[s] = min_freq*0.8 + self.recv_dts[s] = deque(maxlen=int(10*freq)) + + def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader: + return self.data[s] + + def _check_avg_freq(self, s: str) -> bool: + return SERVICE_LIST[s].frequency > 0.99 and (s not in self.ignore_average_freq) and (s not in self.ignore_alive) + + def update(self, timeout: int = 100) -> None: + msgs = [] + for sock in self.poller.poll(timeout): + msgs.append(recv_one_or_none(sock)) + + # non-blocking receive for non-polled sockets + for s in self.non_polled_services: + msgs.append(recv_one_or_none(self.sock[s])) + self.update_msgs(time.monotonic(), msgs) + + def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None: + self.frame += 1 + self.updated = dict.fromkeys(self.updated, False) + for msg in msgs: + if msg is None: + continue + + s = msg.which() + self.seen[s] = True + self.updated[s] = True + + if self.recv_time[s] > 1e-5: + self.recv_dts[s].append(cur_time - self.recv_time[s]) + self.recv_time[s] = cur_time + self.recv_frame[s] = self.frame + self.data[s] = getattr(msg, s) + self.logMonoTime[s] = msg.logMonoTime + self.valid[s] = msg.valid + + for s in self.data: + if SERVICE_LIST[s].frequency > 1e-5 and not self.simulation: + # alive if delay is within 10x the expected frequency + self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency) + + # check average frequency; slow to fall, quick to recover + dts = self.recv_dts[s] + assert dts.maxlen is not None + recent_dts = list(dts)[-int(dts.maxlen / 10):] + try: + avg_freq = 1 / (sum(dts) / len(dts)) + avg_freq_recent = 1 / (sum(recent_dts) / len(recent_dts)) + except ZeroDivisionError: + avg_freq = 0 + avg_freq_recent = 0 + + avg_freq_ok = self.min_freq[s] <= avg_freq <= self.max_freq[s] + recent_freq_ok = self.min_freq[s] <= avg_freq_recent <= self.max_freq[s] + self.freq_ok[s] = avg_freq_ok or recent_freq_ok + else: + self.freq_ok[s] = True + if self.simulation: + self.alive[s] = self.seen[s] # alive is defined as seen when simulation flag set + else: + self.alive[s] = True + + def all_alive(self, service_list: Optional[List[str]] = None) -> bool: + if service_list is None: + service_list = list(self.sock.keys()) + return all(self.alive[s] for s in service_list if s not in self.ignore_alive) + + def all_freq_ok(self, service_list: Optional[List[str]] = None) -> bool: + if service_list is None: + service_list = list(self.sock.keys()) + return all(self.freq_ok[s] for s in service_list if self._check_avg_freq(s)) + + def all_valid(self, service_list: Optional[List[str]] = None) -> bool: + if service_list is None: + service_list = list(self.sock.keys()) + return all(self.valid[s] for s in service_list if s not in self.ignore_valid) + + def all_checks(self, service_list: Optional[List[str]] = None) -> bool: + return self.all_alive(service_list) and self.all_freq_ok(service_list) and self.all_valid(service_list) + + +class PubMaster: + def __init__(self, services: List[str]): + self.sock = {} + for s in services: + self.sock[s] = pub_sock(s) + + def send(self, s: str, dat: Union[bytes, capnp.lib.capnp._DynamicStructBuilder]) -> None: + if not isinstance(dat, bytes): + dat = dat.to_bytes() + self.sock[s].send(dat) + + def wait_for_readers_to_update(self, s: str, timeout: int, dt: float = 0.05) -> bool: + for _ in range(int(timeout*(1./dt))): + if self.sock[s].all_readers_updated(): + return True + time.sleep(dt) + return False + + def all_readers_updated(self, s: str) -> bool: + return self.sock[s].all_readers_updated() # type: ignore diff --git a/cereal/messaging/bridge b/cereal/messaging/bridge new file mode 100755 index 0000000000..2283942d42 Binary files /dev/null and b/cereal/messaging/bridge differ diff --git a/cereal/messaging/messaging.h b/cereal/messaging/messaging.h new file mode 100644 index 0000000000..fb9c261f2b --- /dev/null +++ b/cereal/messaging/messaging.h @@ -0,0 +1,102 @@ +#pragma once + +#include +#include +#include +#include +#include + +#include + +#include "cereal/gen/cpp/log.capnp.h" +#include "common/timing.h" +#include "msgq/ipc.h" + +class SubMaster { +public: + SubMaster(const std::vector &service_list, const std::vector &poll = {}, + const char *address = nullptr, const std::vector &ignore_alive = {}); + void update(int timeout = 1000); + void update_msgs(uint64_t current_time, const std::vector> &messages); + inline bool allAlive(const std::vector &service_list = {}) { return all_(service_list, false, true); } + inline bool allValid(const std::vector &service_list = {}) { return all_(service_list, true, false); } + inline bool allAliveAndValid(const std::vector &service_list = {}) { return all_(service_list, true, true); } + void drain(); + ~SubMaster(); + + uint64_t frame = 0; + bool updated(const char *name) const; + bool alive(const char *name) const; + bool valid(const char *name) const; + uint64_t rcv_frame(const char *name) const; + uint64_t rcv_time(const char *name) const; + cereal::Event::Reader &operator[](const char *name) const; + +private: + bool all_(const std::vector &service_list, bool valid, bool alive); + Poller *poller_ = nullptr; + struct SubMessage; + std::map messages_; + std::map services_; +}; + +class MessageBuilder : public capnp::MallocMessageBuilder { +public: + MessageBuilder() = default; + + cereal::Event::Builder initEvent(bool valid = true) { + cereal::Event::Builder event = initRoot(); + event.setLogMonoTime(nanos_since_boot()); + event.setValid(valid); + return event; + } + + kj::ArrayPtr toBytes() { + heapArray_ = capnp::messageToFlatArray(*this); + return heapArray_.asBytes(); + } + + size_t getSerializedSize() { + return capnp::computeSerializedSizeInWords(*this) * sizeof(capnp::word); + } + + int serializeToBuffer(unsigned char *buffer, size_t buffer_size) { + size_t serialized_size = getSerializedSize(); + if (serialized_size > buffer_size) { return -1; } + kj::ArrayOutputStream out(kj::ArrayPtr(buffer, buffer_size)); + capnp::writeMessage(out, *this); + return serialized_size; + } + +private: + kj::Array heapArray_; +}; + +class PubMaster { +public: + PubMaster(const std::vector &service_list); + inline int send(const char *name, capnp::byte *data, size_t size) { return sockets_.at(name)->send((char *)data, size); } + int send(const char *name, MessageBuilder &msg); + ~PubMaster(); + +private: + std::map sockets_; +}; + +class AlignedBuffer { +public: + kj::ArrayPtr align(const char *data, const size_t size) { + words_size = size / sizeof(capnp::word) + 1; + if (aligned_buf.size() < words_size) { + aligned_buf = kj::heapArray(words_size < 512 ? 512 : words_size); + } + memcpy(aligned_buf.begin(), data, size); + return aligned_buf.slice(0, words_size); + } + inline kj::ArrayPtr align(Message *m) { + return align(m->getData(), m->getSize()); + } +private: + kj::Array aligned_buf; + size_t words_size; +}; diff --git a/cereal/services.h b/cereal/services.h new file mode 100644 index 0000000000..f5c2f31ae2 --- /dev/null +++ b/cereal/services.h @@ -0,0 +1,95 @@ +/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT services.py */ +#ifndef __SERVICES_H +#define __SERVICES_H +#include +#include +struct service { std::string name; bool should_log; int frequency; int decimation; }; +static std::map services = { + { "gyroscope", {"gyroscope", true, 104, 104}}, + { "gyroscope2", {"gyroscope2", true, 100, 100}}, + { "accelerometer", {"accelerometer", true, 104, 104}}, + { "accelerometer2", {"accelerometer2", true, 100, 100}}, + { "magnetometer", {"magnetometer", true, 25, -1}}, + { "lightSensor", {"lightSensor", true, 100, 100}}, + { "temperatureSensor", {"temperatureSensor", true, 2, 200}}, + { "temperatureSensor2", {"temperatureSensor2", true, 2, 200}}, + { "gpsNMEA", {"gpsNMEA", true, 9, -1}}, + { "deviceState", {"deviceState", true, 2, 1}}, + { "can", {"can", true, 100, 2053}}, + { "controlsState", {"controlsState", true, 100, 10}}, + { "pandaStates", {"pandaStates", true, 10, 1}}, + { "peripheralState", {"peripheralState", true, 2, 1}}, + { "radarState", {"radarState", true, 20, 5}}, + { "roadEncodeIdx", {"roadEncodeIdx", false, 20, 1}}, + { "liveTracks", {"liveTracks", true, 20, -1}}, + { "sendcan", {"sendcan", true, 100, 139}}, + { "logMessage", {"logMessage", true, 0, -1}}, + { "errorLogMessage", {"errorLogMessage", true, 0, 1}}, + { "liveCalibration", {"liveCalibration", true, 4, 4}}, + { "liveTorqueParameters", {"liveTorqueParameters", true, 4, 1}}, + { "androidLog", {"androidLog", true, 0, -1}}, + { "carState", {"carState", true, 100, 10}}, + { "carControl", {"carControl", true, 100, 10}}, + { "carOutput", {"carOutput", true, 100, 10}}, + { "longitudinalPlan", {"longitudinalPlan", true, 20, 10}}, + { "procLog", {"procLog", true, 0, 15}}, + { "gpsLocationExternal", {"gpsLocationExternal", true, 10, 10}}, + { "gpsLocation", {"gpsLocation", true, 1, 1}}, + { "ubloxGnss", {"ubloxGnss", true, 10, -1}}, + { "qcomGnss", {"qcomGnss", true, 2, -1}}, + { "gnssMeasurements", {"gnssMeasurements", true, 10, 10}}, + { "clocks", {"clocks", true, 0, 1}}, + { "ubloxRaw", {"ubloxRaw", true, 20, -1}}, + { "livePose", {"livePose", true, 20, 4}}, + { "liveLocationKalman", {"liveLocationKalman", true, 20, -1}}, + { "liveParameters", {"liveParameters", true, 20, 5}}, + { "cameraOdometry", {"cameraOdometry", true, 20, 10}}, + { "lateralPlanDEPRECATED", {"lateralPlanDEPRECATED", true, 20, 5}}, + { "thumbnail", {"thumbnail", true, 0, 1}}, + { "onroadEvents", {"onroadEvents", true, 1, 1}}, + { "carParams", {"carParams", true, 0, 1}}, + { "roadCameraState", {"roadCameraState", true, 20, 20}}, + { "driverCameraState", {"driverCameraState", true, 20, 20}}, + { "driverEncodeIdx", {"driverEncodeIdx", false, 20, 1}}, + { "driverStateV2", {"driverStateV2", true, 20, 10}}, + { "driverMonitoringState", {"driverMonitoringState", true, 20, 10}}, + { "wideRoadEncodeIdx", {"wideRoadEncodeIdx", false, 20, 1}}, + { "wideRoadCameraState", {"wideRoadCameraState", true, 20, 20}}, + { "drivingModelData", {"drivingModelData", true, 20, 10}}, + { "modelV2", {"modelV2", true, 20, -1}}, + { "managerState", {"managerState", true, 2, 1}}, + { "uploaderState", {"uploaderState", true, 0, 1}}, + { "navInstruction", {"navInstruction", true, 1, 10}}, + { "navRoute", {"navRoute", true, 0, -1}}, + { "navThumbnail", {"navThumbnail", true, 0, -1}}, + { "navModelDEPRECATED", {"navModelDEPRECATED", true, 2, 4}}, + { "mapRenderState", {"mapRenderState", true, 2, 1}}, + { "uiPlanDEPRECATED", {"uiPlanDEPRECATED", true, 20, 40}}, + { "qRoadEncodeIdx", {"qRoadEncodeIdx", false, 20, -1}}, + { "userFlag", {"userFlag", true, 0, 1}}, + { "microphone", {"microphone", true, 10, 10}}, + { "controlsStateSP", {"controlsStateSP", true, 100, 10}}, + { "longitudinalPlanSP", {"longitudinalPlanSP", true, 20, 5}}, + { "lateralPlanSPDEPRECATED", {"lateralPlanSPDEPRECATED", true, 20, 5}}, + { "driverMonitoringStateSP", {"driverMonitoringStateSP", true, 20, 10}}, + { "liveMapDataSP", {"liveMapDataSP", true, 0, -1}}, + { "e2eLongStateSP", {"e2eLongStateSP", true, 0, -1}}, + { "modelV2SP", {"modelV2SP", true, 20, 40}}, + { "uiDebug", {"uiDebug", true, 0, 1}}, + { "testJoystick", {"testJoystick", true, 0, -1}}, + { "roadEncodeData", {"roadEncodeData", false, 20, -1}}, + { "driverEncodeData", {"driverEncodeData", false, 20, -1}}, + { "wideRoadEncodeData", {"wideRoadEncodeData", false, 20, -1}}, + { "qRoadEncodeData", {"qRoadEncodeData", false, 20, -1}}, + { "livestreamWideRoadEncodeIdx", {"livestreamWideRoadEncodeIdx", false, 20, -1}}, + { "livestreamRoadEncodeIdx", {"livestreamRoadEncodeIdx", false, 20, -1}}, + { "livestreamDriverEncodeIdx", {"livestreamDriverEncodeIdx", false, 20, -1}}, + { "livestreamWideRoadEncodeData", {"livestreamWideRoadEncodeData", false, 20, -1}}, + { "livestreamRoadEncodeData", {"livestreamRoadEncodeData", false, 20, -1}}, + { "livestreamDriverEncodeData", {"livestreamDriverEncodeData", false, 20, -1}}, + { "customReservedRawData0", {"customReservedRawData0", true, 0, -1}}, + { "customReservedRawData1", {"customReservedRawData1", true, 0, -1}}, + { "customReservedRawData2", {"customReservedRawData2", true, 0, -1}}, +}; +#endif + diff --git a/cereal/services.py b/cereal/services.py new file mode 100755 index 0000000000..5bc8dcfac2 --- /dev/null +++ b/cereal/services.py @@ -0,0 +1,131 @@ +#!/usr/bin/env python3 +from typing import Optional + + +class Service: + def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None): + self.should_log = should_log + self.frequency = frequency + self.decimation = decimation + + +_services: dict[str, tuple] = { + # service: (should_log, frequency, qlog decimation (optional)) + # note: the "EncodeIdx" packets will still be in the log + "gyroscope": (True, 104., 104), + "gyroscope2": (True, 100., 100), + "accelerometer": (True, 104., 104), + "accelerometer2": (True, 100., 100), + "magnetometer": (True, 25.), + "lightSensor": (True, 100., 100), + "temperatureSensor": (True, 2., 200), + "temperatureSensor2": (True, 2., 200), + "gpsNMEA": (True, 9.), + "deviceState": (True, 2., 1), + "can": (True, 100., 2053), # decimation gives ~3 msgs in a full segment + "controlsState": (True, 100., 10), + "pandaStates": (True, 10., 1), + "peripheralState": (True, 2., 1), + "radarState": (True, 20., 5), + "roadEncodeIdx": (False, 20., 1), + "liveTracks": (True, 20.), + "sendcan": (True, 100., 139), + "logMessage": (True, 0.), + "errorLogMessage": (True, 0., 1), + "liveCalibration": (True, 4., 4), + "liveTorqueParameters": (True, 4., 1), + "androidLog": (True, 0.), + "carState": (True, 100., 10), + "carControl": (True, 100., 10), + "carOutput": (True, 100., 10), + "longitudinalPlan": (True, 20., 10), + "procLog": (True, 0.5, 15), + "gpsLocationExternal": (True, 10., 10), + "gpsLocation": (True, 1., 1), + "ubloxGnss": (True, 10.), + "qcomGnss": (True, 2.), + "gnssMeasurements": (True, 10., 10), + "clocks": (True, 0.1, 1), + "ubloxRaw": (True, 20.), + "livePose": (True, 20., 4), + "liveLocationKalman": (True, 20.), + "liveParameters": (True, 20., 5), + "cameraOdometry": (True, 20., 10), + "lateralPlanDEPRECATED": (True, 20., 5), + "thumbnail": (True, 0.2, 1), + "onroadEvents": (True, 1., 1), + "carParams": (True, 0.02, 1), + "roadCameraState": (True, 20., 20), + "driverCameraState": (True, 20., 20), + "driverEncodeIdx": (False, 20., 1), + "driverStateV2": (True, 20., 10), + "driverMonitoringState": (True, 20., 10), + "wideRoadEncodeIdx": (False, 20., 1), + "wideRoadCameraState": (True, 20., 20), + "drivingModelData": (True, 20., 10), + "modelV2": (True, 20.), + "managerState": (True, 2., 1), + "uploaderState": (True, 0., 1), + "navInstruction": (True, 1., 10), + "navRoute": (True, 0.), + "navThumbnail": (True, 0.), + "navModelDEPRECATED": (True, 2., 4.), + "mapRenderState": (True, 2., 1.), + "uiPlanDEPRECATED": (True, 20., 40.), + "qRoadEncodeIdx": (False, 20.), + "userFlag": (True, 0., 1), + "microphone": (True, 10., 10), + + "controlsStateSP": (True, 100., 10), + "longitudinalPlanSP": (True, 20., 5), + "lateralPlanSPDEPRECATED": (True, 20., 5), + "driverMonitoringStateSP": (True, 20., 10), + "liveMapDataSP": (True, 0.), + "e2eLongStateSP": (True, 0.), + "modelV2SP": (True, 20., 40), + + # debug + "uiDebug": (True, 0., 1), + "testJoystick": (True, 0.), + "roadEncodeData": (False, 20.), + "driverEncodeData": (False, 20.), + "wideRoadEncodeData": (False, 20.), + "qRoadEncodeData": (False, 20.), + "livestreamWideRoadEncodeIdx": (False, 20.), + "livestreamRoadEncodeIdx": (False, 20.), + "livestreamDriverEncodeIdx": (False, 20.), + "livestreamWideRoadEncodeData": (False, 20.), + "livestreamRoadEncodeData": (False, 20.), + "livestreamDriverEncodeData": (False, 20.), + "customReservedRawData0": (True, 0.), + "customReservedRawData1": (True, 0.), + "customReservedRawData2": (True, 0.), +} +SERVICE_LIST = {name: Service(*vals) for + idx, (name, vals) in enumerate(_services.items())} + + +def build_header(): + h = "" + h += "/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT services.py */\n" + h += "#ifndef __SERVICES_H\n" + h += "#define __SERVICES_H\n" + + h += "#include \n" + h += "#include \n" + + h += "struct service { std::string name; bool should_log; int frequency; int decimation; };\n" + h += "static std::map services = {\n" + for k, v in SERVICE_LIST.items(): + should_log = "true" if v.should_log else "false" + decimation = -1 if v.decimation is None else v.decimation + h += ' { "%s", {"%s", %s, %d, %d}},\n' % \ + (k, k, should_log, v.frequency, decimation) + h += "};\n" + + h += "#endif\n" + return h + + +if __name__ == "__main__": + print(build_header()) diff --git a/common/.gitignore b/common/.gitignore new file mode 100644 index 0000000000..ce1da4c53c --- /dev/null +++ b/common/.gitignore @@ -0,0 +1 @@ +*.cpp diff --git a/common/__init__.py b/common/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/common/api/__init__.py b/common/api/__init__.py new file mode 100644 index 0000000000..ab18ed1abc --- /dev/null +++ b/common/api/__init__.py @@ -0,0 +1,27 @@ +from .comma_connect import CommaConnectApi +from .sunnylink import SunnylinkApi + + +class Api: + def __init__(self, dongle_id, use_sunnylink=False): + if use_sunnylink: + self.service = SunnylinkApi(dongle_id) + else: + self.service = CommaConnectApi(dongle_id) + + def request(self, method, endpoint, **params): + return self.service.request(method, endpoint, **params) + + def get(self, *args, **kwargs): + return self.service.get(*args, **kwargs) + + def post(self, *args, **kwargs): + return self.service.post(*args, **kwargs) + + def get_token(self, expiry_hours=1): + return self.service.get_token(expiry_hours) + + +def api_get(endpoint, method='GET', timeout=None, access_token=None, use_sunnylink=False, **params): + return CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, **params) if not use_sunnylink else \ + SunnylinkApi(None).api_get(endpoint, method, timeout, access_token, **params) diff --git a/common/api/base.py b/common/api/base.py new file mode 100644 index 0000000000..9efb6fe07e --- /dev/null +++ b/common/api/base.py @@ -0,0 +1,56 @@ +import jwt +import requests +import unicodedata +from datetime import datetime, timedelta, UTC +from openpilot.system.hardware.hw import Paths +from openpilot.system.version import get_version + + +class BaseApi: + def __init__(self, dongle_id, api_host, user_agent="openpilot-"): + self.dongle_id = dongle_id + self.api_host = api_host + self.user_agent = user_agent + with open(Paths.persist_root()+'/comma/id_rsa') as f: + self.private_key = f.read() + + def get(self, *args, **kwargs): + return self.request('GET', *args, **kwargs) + + def post(self, *args, **kwargs): + return self.request('POST', *args, **kwargs) + + def request(self, method, endpoint, timeout=None, access_token=None, **params): + return self.api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params) + + def _get_token(self, expiry_hours=1, **extra_payload): + now = datetime.now(UTC).replace(tzinfo=None) + payload = { + 'identity': self.dongle_id, + 'nbf': now, + 'iat': now, + 'exp': now + timedelta(hours=expiry_hours), + **extra_payload + } + token = jwt.encode(payload, self.private_key, algorithm='RS256') + if isinstance(token, bytes): + token = token.decode('utf8') + return token + + def get_token(self, expiry_hours=1): + return self._get_token(expiry_hours) + + def remove_non_ascii_chars(self, text): + normalized_text = unicodedata.normalize('NFD', text) + ascii_encoded_text = normalized_text.encode('ascii', 'ignore') + return ascii_encoded_text.decode() + + def api_get(self, endpoint, method='GET', timeout=None, access_token=None, **params): + headers = {} + if access_token is not None: + headers['Authorization'] = "JWT " + access_token + + version = self.remove_non_ascii_chars(get_version()) + headers['User-Agent'] = self.user_agent + version + + return requests.request(method, self.api_host + "/" + endpoint, timeout=timeout, headers=headers, params=params) diff --git a/common/api/comma_connect.py b/common/api/comma_connect.py new file mode 100644 index 0000000000..1c705f3722 --- /dev/null +++ b/common/api/comma_connect.py @@ -0,0 +1,11 @@ +import os + +from openpilot.common.api.base import BaseApi + +API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com') + + +class CommaConnectApi(BaseApi): + def __init__(self, dongle_id): + super().__init__(dongle_id, API_HOST) + self.user_agent = "openpilot-" diff --git a/common/api/sunnylink.py b/common/api/sunnylink.py new file mode 100644 index 0000000000..80e6cf9b6c --- /dev/null +++ b/common/api/sunnylink.py @@ -0,0 +1,155 @@ +import os +import time +import jwt +import json +from pathlib import Path +from datetime import datetime, timedelta +from openpilot.common.params import Params +from openpilot.system.hardware import HARDWARE +from openpilot.system.hardware.hw import Paths + +from openpilot.common.api.base import BaseApi + +API_HOST = os.getenv('SUNNYLINK_API_HOST', 'https://stg.api.sunnypilot.ai') +UNREGISTERED_SUNNYLINK_DONGLE_ID = "UnregisteredDevice" +MAX_RETRIES = 6 +CRASH_LOG_DIR = '/data/community/crashes' + +class SunnylinkApi(BaseApi): + def __init__(self, dongle_id): + super().__init__(dongle_id, API_HOST) + self.user_agent = "sunnypilot-" + self.spinner = None + self.params = Params() + + def api_get(self, endpoint, method='GET', timeout=10, access_token=None, **kwargs): + if not self.params.get_bool("SunnylinkEnabled"): + return None + + return super().api_get(endpoint, method, timeout, access_token, **kwargs) + + def resume_queued(self, timeout=10, **kwargs): + sunnylinkId, commaId = self._resolve_dongle_ids() + return self.api_get(f"ws/{sunnylinkId}/resume_queued", "POST", timeout, access_token=self.get_token(), **kwargs) + + def get_token(self, expiry_hours=1): + # Add your additional data here + additional_data = {} + return super()._get_token(expiry_hours, **additional_data) + + def _status_update(self, message): + print(message) + if self.spinner: + self.spinner.update(message) + time.sleep(0.5) + + def _resolve_dongle_ids(self): + sunnylink_dongle_id = self.params.get("SunnylinkDongleId", encoding='utf-8') + comma_dongle_id = self.dongle_id or self.params.get("DongleId", encoding='utf-8') + return sunnylink_dongle_id, comma_dongle_id + + def _resolve_imeis(self): + imei1, imei2 = None, None + imei_try = 0 + while imei1 is None and imei2 is None and imei_try < MAX_RETRIES: + try: + imei1, imei2 = self.params.get("IMEI", encoding='utf8') or HARDWARE.get_imei(0), HARDWARE.get_imei(1) + except Exception: + self._status_update(f"Error getting imei, trying again... [{imei_try+1}/{MAX_RETRIES}]") + time.sleep(1) + imei_try += 1 + return imei1, imei2 + + def _resolve_serial(self): + serial = self.params.get("HardwareSerial", encoding='utf8') or HARDWARE.get_serial() + return serial + + def register_device(self, spinner=None, timeout=60, verbose=False): + self.spinner = spinner + + sunnylink_dongle_id, comma_dongle_id = self._resolve_dongle_ids() + + if comma_dongle_id is None: + self._status_update("Comma dongle ID not found, deferring sunnylink's registration to comma's registration process.") + return None + + imei1, imei2 = self._resolve_imeis() + serial = self._resolve_serial() + + if sunnylink_dongle_id not in (None, UNREGISTERED_SUNNYLINK_DONGLE_ID): + return sunnylink_dongle_id + + privkey_path = Path(Paths.persist_root()+"/comma/id_rsa") + pubkey_path = Path(Paths.persist_root()+"/comma/id_rsa.pub") + + start_time = time.monotonic() + successful_registration = False + if not pubkey_path.is_file(): + sunnylink_dongle_id = UNREGISTERED_SUNNYLINK_DONGLE_ID + self._status_update("Public key not found, setting dongle ID to unregistered.") + else: + Params().put("LastSunnylinkPingTime", "0") # Reset the last ping time to 0 if we are trying to register + with pubkey_path.open() as f1, privkey_path.open() as f2: + public_key = f1.read() + private_key = f2.read() + + backoff = 1 + while True: + register_token = jwt.encode({'register': True, 'exp': datetime.utcnow() + timedelta(hours=1)}, private_key, algorithm='RS256') + try: + if verbose or time.monotonic() - start_time < timeout / 2: + self._status_update("Registering device to sunnylink...") + elif time.monotonic() - start_time >= timeout / 2: + self._status_update("Still registering device to sunnylink...") + + resp = self.api_get("v2/pilotauth/", method='POST', timeout=15, imei=imei1, imei2=imei2, serial=serial, comma_dongle_id=comma_dongle_id, public_key=public_key, register_token=register_token) + + if resp is None: + raise Exception("Unable to register device, request was None") + + if resp.status_code in (409, 412): + timeout = time.monotonic() - start_time # Don't retry if the public key is already in use + key_in_use = "Public key is already in use, is your key unique? Contact your vendor for a new key." + unsafe_key = "Public key is known to not be unique and it's unsafe. Contact your vendor for a new key." + error_message = key_in_use if resp.status_code == 409 else unsafe_key + raise Exception(error_message) + + if resp.status_code != 200: + raise Exception(f"Failed to register with sunnylink. Status code: {resp.status_code}\nData\n:{resp.text}") + + dongleauth = json.loads(resp.text) + sunnylink_dongle_id = dongleauth["device_id"] + if sunnylink_dongle_id: + self._status_update("Device registered successfully.") + successful_registration = True + break + except Exception as e: + if verbose: + self._status_update(f"Waiting {backoff}s before retry, Exception occurred during registration: [{str(e)}]") + + if not os.path.exists(CRASH_LOG_DIR): + os.makedirs(CRASH_LOG_DIR) + + with open(f'{CRASH_LOG_DIR}/error.txt', 'a') as f: + f.write(f"[{datetime.now()}] sunnylink: {str(e)}\n") + + backoff = min(backoff * 2, 60) + time.sleep(backoff) + + if time.monotonic() - start_time > timeout: + self._status_update(f"Giving up on sunnylink's registration after {timeout}s. Will retry on next boot.") + time.sleep(3) + break + + self.params.put("SunnylinkDongleId", sunnylink_dongle_id or UNREGISTERED_SUNNYLINK_DONGLE_ID) + + # Set the last ping time to the current time since we were just talking to the API + last_ping = int(time.monotonic() * 1e9) if successful_registration else start_time + Params().put("LastSunnylinkPingTime", str(last_ping)) + + # Disable sunnylink if registration was not successful + if not successful_registration: + Params().put_bool("SunnylinkEnabled", False) + + self.spinner = None + return sunnylink_dongle_id diff --git a/common/basedir.py b/common/basedir.py new file mode 100644 index 0000000000..6b4811e53c --- /dev/null +++ b/common/basedir.py @@ -0,0 +1,4 @@ +import os + + +BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")) diff --git a/common/clutil.h b/common/clutil.h new file mode 100644 index 0000000000..af986d6434 --- /dev/null +++ b/common/clutil.h @@ -0,0 +1,29 @@ +#pragma once + +#ifdef __APPLE__ +#include +#else +#include +#endif + +#include + +#define CL_CHECK(_expr) \ + do { \ + assert(CL_SUCCESS == (_expr)); \ + } while (0) + +#define CL_CHECK_ERR(_expr) \ + ({ \ + cl_int err = CL_INVALID_VALUE; \ + __typeof__(_expr) _ret = _expr; \ + assert(_ret&& err == CL_SUCCESS); \ + _ret; \ + }) + +cl_device_id cl_get_device_id(cl_device_type device_type); +cl_context cl_create_context(cl_device_id device_id); +cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr); +cl_program cl_program_from_binary(cl_context ctx, cl_device_id device_id, const uint8_t* binary, size_t length, const char* args = nullptr); +cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args); +const char* cl_get_error_string(int err); diff --git a/common/conversions.py b/common/conversions.py new file mode 100644 index 0000000000..b02b33c625 --- /dev/null +++ b/common/conversions.py @@ -0,0 +1,19 @@ +import numpy as np + +class Conversions: + # Speed + MPH_TO_KPH = 1.609344 + KPH_TO_MPH = 1. / MPH_TO_KPH + MS_TO_KPH = 3.6 + KPH_TO_MS = 1. / MS_TO_KPH + MS_TO_MPH = MS_TO_KPH * KPH_TO_MPH + MPH_TO_MS = MPH_TO_KPH * KPH_TO_MS + MS_TO_KNOTS = 1.9438 + KNOTS_TO_MS = 1. / MS_TO_KNOTS + + # Angle + DEG_TO_RAD = np.pi / 180. + RAD_TO_DEG = 1. / DEG_TO_RAD + + # Mass + LB_TO_KG = 0.453592 diff --git a/common/dict_helpers.py b/common/dict_helpers.py new file mode 100644 index 0000000000..62cff63b58 --- /dev/null +++ b/common/dict_helpers.py @@ -0,0 +1,9 @@ +# remove all keys that end in DEPRECATED +def strip_deprecated_keys(d): + for k in list(d.keys()): + if isinstance(k, str): + if k.endswith('DEPRECATED'): + d.pop(k) + elif isinstance(d[k], dict): + strip_deprecated_keys(d[k]) + return d diff --git a/common/ffi_wrapper.py b/common/ffi_wrapper.py new file mode 100644 index 0000000000..01741c6f42 --- /dev/null +++ b/common/ffi_wrapper.py @@ -0,0 +1,8 @@ +import platform + + +def suffix(): + if platform.system() == "Darwin": + return ".dylib" + else: + return ".so" diff --git a/common/file_helpers.py b/common/file_helpers.py new file mode 100644 index 0000000000..29ad219c07 --- /dev/null +++ b/common/file_helpers.py @@ -0,0 +1,37 @@ +import os +import tempfile +import contextlib + + +class CallbackReader: + """Wraps a file, but overrides the read method to also + call a callback function with the number of bytes read so far.""" + def __init__(self, f, callback, *args): + self.f = f + self.callback = callback + self.cb_args = args + self.total_read = 0 + + def __getattr__(self, attr): + return getattr(self.f, attr) + + def read(self, *args, **kwargs): + chunk = self.f.read(*args, **kwargs) + self.total_read += len(chunk) + self.callback(*self.cb_args, self.total_read) + return chunk + + +@contextlib.contextmanager +def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: str = None, newline: str = None, + overwrite: bool = False): + """Write to a file atomically using a temporary file in the same directory as the destination file.""" + dir_name = os.path.dirname(path) + + if not overwrite and os.path.exists(path): + raise FileExistsError(f"File '{path}' already exists. To overwrite it, set 'overwrite' to True.") + + with tempfile.NamedTemporaryFile(mode=mode, buffering=buffering, encoding=encoding, newline=newline, dir=dir_name, delete=False) as tmp_file: + yield tmp_file + tmp_file_name = tmp_file.name + os.replace(tmp_file_name, path) diff --git a/common/filter_simple.py b/common/filter_simple.py new file mode 100644 index 0000000000..0ec7a51562 --- /dev/null +++ b/common/filter_simple.py @@ -0,0 +1,18 @@ +class FirstOrderFilter: + # first order filter + def __init__(self, x0, rc, dt, initialized=True): + self.x = x0 + self.dt = dt + self.update_alpha(rc) + self.initialized = initialized + + def update_alpha(self, rc): + self.alpha = self.dt / (rc + self.dt) + + def update(self, x): + if self.initialized: + self.x = (1. - self.alpha) * self.x + self.alpha * x + else: + self.initialized = True + self.x = x + return self.x diff --git a/common/git.py b/common/git.py new file mode 100644 index 0000000000..4406bf96b1 --- /dev/null +++ b/common/git.py @@ -0,0 +1,42 @@ +from functools import cache +import subprocess +from openpilot.common.run import run_cmd, run_cmd_default + + +@cache +def get_commit(cwd: str = None, branch: str = "HEAD") -> str: + return run_cmd_default(["git", "rev-parse", branch], cwd=cwd) + + +@cache +def get_commit_date(cwd: str = None, commit: str = "HEAD") -> str: + return run_cmd_default(["git", "show", "--no-patch", "--format='%ct %ci'", commit], cwd=cwd) + + +@cache +def get_short_branch(cwd: str = None) -> str: + return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"], cwd=cwd) + + +@cache +def get_branch(cwd: str = None) -> str: + return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"], cwd=cwd) + + +@cache +def get_origin(cwd: str = None) -> str: + try: + local_branch = run_cmd(["git", "name-rev", "--name-only", "HEAD"], cwd=cwd) + tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"], cwd=cwd) + return run_cmd(["git", "config", "remote." + tracking_remote + ".url"], cwd=cwd) + except subprocess.CalledProcessError: # Not on a branch, fallback + return run_cmd_default(["git", "config", "--get", "remote.origin.url"], cwd=cwd) + + +@cache +def get_normalized_origin(cwd: str = None) -> str: + return get_origin(cwd) \ + .replace("git@", "", 1) \ + .replace(".git", "", 1) \ + .replace("https://", "", 1) \ + .replace(":", "/", 1) diff --git a/common/gpio.h b/common/gpio.h new file mode 100644 index 0000000000..89cdedd66c --- /dev/null +++ b/common/gpio.h @@ -0,0 +1,33 @@ +#pragma once + +// Pin definitions +#ifdef QCOM2 + #define GPIO_HUB_RST_N 30 + #define GPIO_UBLOX_RST_N 32 + #define GPIO_UBLOX_SAFEBOOT_N 33 + #define GPIO_GNSS_PWR_EN 34 /* SCHEMATIC LABEL: GPIO_UBLOX_PWR_EN */ + #define GPIO_STM_RST_N 124 + #define GPIO_STM_BOOT0 134 + #define GPIO_BMX_ACCEL_INT 21 + #define GPIO_BMX_GYRO_INT 23 + #define GPIO_BMX_MAGN_INT 87 + #define GPIO_LSM_INT 84 + #define GPIOCHIP_INT 0 +#else + #define GPIO_HUB_RST_N 0 + #define GPIO_UBLOX_RST_N 0 + #define GPIO_UBLOX_SAFEBOOT_N 0 + #define GPIO_GNSS_PWR_EN 0 /* SCHEMATIC LABEL: GPIO_UBLOX_PWR_EN */ + #define GPIO_STM_RST_N 0 + #define GPIO_STM_BOOT0 0 + #define GPIO_BMX_ACCEL_INT 0 + #define GPIO_BMX_GYRO_INT 0 + #define GPIO_BMX_MAGN_INT 0 + #define GPIO_LSM_INT 0 + #define GPIOCHIP_INT 0 +#endif + +int gpio_init(int pin_nr, bool output); +int gpio_set(int pin_nr, bool high); + +int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr); diff --git a/common/gpio.py b/common/gpio.py new file mode 100644 index 0000000000..66b2adf438 --- /dev/null +++ b/common/gpio.py @@ -0,0 +1,54 @@ +import os +from functools import cache + +def gpio_init(pin: int, output: bool) -> None: + try: + with open(f"/sys/class/gpio/gpio{pin}/direction", 'wb') as f: + f.write(b"out" if output else b"in") + except Exception as e: + print(f"Failed to set gpio {pin} direction: {e}") + +def gpio_set(pin: int, high: bool) -> None: + try: + with open(f"/sys/class/gpio/gpio{pin}/value", 'wb') as f: + f.write(b"1" if high else b"0") + except Exception as e: + print(f"Failed to set gpio {pin} value: {e}") + +def gpio_read(pin: int) -> bool | None: + val = None + try: + with open(f"/sys/class/gpio/gpio{pin}/value", 'rb') as f: + val = bool(int(f.read().strip())) + except Exception as e: + print(f"Failed to set gpio {pin} value: {e}") + + return val + +def gpio_export(pin: int) -> None: + if os.path.isdir(f"/sys/class/gpio/gpio{pin}"): + return + + try: + with open("/sys/class/gpio/export", 'w') as f: + f.write(str(pin)) + except Exception: + print(f"Failed to export gpio {pin}") + +@cache +def get_irq_action(irq: int) -> list[str]: + try: + with open(f"/sys/kernel/irq/{irq}/actions") as f: + actions = f.read().strip().split(',') + return actions + except FileNotFoundError: + return [] + +def get_irqs_for_action(action: str) -> list[str]: + ret = [] + with open("/proc/interrupts") as f: + for l in f.readlines(): + irq = l.split(':')[0].strip() + if irq.isdigit() and action in get_irq_action(irq): + ret.append(irq) + return ret diff --git a/common/i2c.h b/common/i2c.h new file mode 100644 index 0000000000..ca0d4635b8 --- /dev/null +++ b/common/i2c.h @@ -0,0 +1,19 @@ +#pragma once + +#include +#include + +#include + +class I2CBus { + private: + int i2c_fd; + std::mutex m; + + public: + I2CBus(uint8_t bus_id); + ~I2CBus(); + + int read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len); + int set_register(uint8_t device_address, uint register_address, uint8_t data); +}; diff --git a/common/logging_extra.py b/common/logging_extra.py new file mode 100644 index 0000000000..f53d503108 --- /dev/null +++ b/common/logging_extra.py @@ -0,0 +1,247 @@ +import io +import os +import sys +import copy +import json +import time +import uuid +import socket +import logging +import traceback +from threading import local +from collections import OrderedDict +from contextlib import contextmanager + +LOG_TIMESTAMPS = "LOG_TIMESTAMPS" in os.environ + +def json_handler(obj): + # if isinstance(obj, (datetime.date, datetime.time)): + # return obj.isoformat() + return repr(obj) + +def json_robust_dumps(obj): + return json.dumps(obj, default=json_handler) + +class NiceOrderedDict(OrderedDict): + def __str__(self): + return json_robust_dumps(self) + +class SwagFormatter(logging.Formatter): + def __init__(self, swaglogger): + logging.Formatter.__init__(self, None, '%a %b %d %H:%M:%S %Z %Y') + + self.swaglogger = swaglogger + self.host = socket.gethostname() + + def format_dict(self, record): + record_dict = NiceOrderedDict() + + if isinstance(record.msg, dict): + record_dict['msg'] = record.msg + else: + try: + record_dict['msg'] = record.getMessage() + except (ValueError, TypeError): + record_dict['msg'] = [record.msg]+record.args + + record_dict['ctx'] = self.swaglogger.get_ctx() + + if record.exc_info: + record_dict['exc_info'] = self.formatException(record.exc_info) + + record_dict['level'] = record.levelname + record_dict['levelnum'] = record.levelno + record_dict['name'] = record.name + record_dict['filename'] = record.filename + record_dict['lineno'] = record.lineno + record_dict['pathname'] = record.pathname + record_dict['module'] = record.module + record_dict['funcName'] = record.funcName + record_dict['host'] = self.host + record_dict['process'] = record.process + record_dict['thread'] = record.thread + record_dict['threadName'] = record.threadName + record_dict['created'] = record.created + + return record_dict + + def format(self, record): + if self.swaglogger is None: + raise Exception("must set swaglogger before calling format()") + return json_robust_dumps(self.format_dict(record)) + +class SwagLogFileFormatter(SwagFormatter): + def fix_kv(self, k, v): + # append type to names to preserve legacy naming in logs + # avoids overlapping key namespaces with different types + # e.g. log.info() creates 'msg' -> 'msg$s' + # log.event() creates 'msg.health.logMonoTime' -> 'msg.health.logMonoTime$i' + # because overlapping namespace 'msg' caused problems + if isinstance(v, (str, bytes)): + k += "$s" + elif isinstance(v, float): + k += "$f" + elif isinstance(v, bool): + k += "$b" + elif isinstance(v, int): + k += "$i" + elif isinstance(v, dict): + nv = {} + for ik, iv in v.items(): + ik, iv = self.fix_kv(ik, iv) + nv[ik] = iv + v = nv + elif isinstance(v, list): + k += "$a" + return k, v + + def format(self, record): + if isinstance(record, str): + v = json.loads(record) + else: + v = self.format_dict(record) + + mk, mv = self.fix_kv('msg', v['msg']) + del v['msg'] + v[mk] = mv + v['id'] = uuid.uuid4().hex + + return json_robust_dumps(v) + +class SwagErrorFilter(logging.Filter): + def filter(self, record): + return record.levelno < logging.ERROR + +def _tmpfunc(): + return 0 + +def _srcfile(): + return os.path.normcase(_tmpfunc.__code__.co_filename) + +class SwagLogger(logging.Logger): + def __init__(self): + logging.Logger.__init__(self, "swaglog") + + self.global_ctx = {} + + self.log_local = local() + self.log_local.ctx = {} + + def local_ctx(self): + try: + return self.log_local.ctx + except AttributeError: + self.log_local.ctx = {} + return self.log_local.ctx + + def get_ctx(self): + return dict(self.local_ctx(), **self.global_ctx) + + @contextmanager + def ctx(self, **kwargs): + old_ctx = self.local_ctx() + self.log_local.ctx = copy.copy(old_ctx) or {} + self.log_local.ctx.update(kwargs) + try: + yield + finally: + self.log_local.ctx = old_ctx + + def bind(self, **kwargs): + self.local_ctx().update(kwargs) + + def bind_global(self, **kwargs): + self.global_ctx.update(kwargs) + + def event(self, event, *args, **kwargs): + evt = NiceOrderedDict() + evt['event'] = event + if args: + evt['args'] = args + evt.update(kwargs) + if 'error' in kwargs: + self.error(evt) + elif 'debug' in kwargs: + self.debug(evt) + else: + self.info(evt) + + def timestamp(self, event_name): + if LOG_TIMESTAMPS: + t = time.monotonic() + tstp = NiceOrderedDict() + tstp['timestamp'] = NiceOrderedDict() + tstp['timestamp']["event"] = event_name + tstp['timestamp']["time"] = t*1e9 + self.debug(tstp) + + def findCaller(self, stack_info=False, stacklevel=1): + """ + Find the stack frame of the caller so that we can note the source + file name, line number and function name. + """ + f = sys._getframe(3) + #On some versions of IronPython, currentframe() returns None if + #IronPython isn't run with -X:Frames. + if f is not None: + f = f.f_back + orig_f = f + while f and stacklevel > 1: + f = f.f_back + stacklevel -= 1 + if not f: + f = orig_f + rv = "(unknown file)", 0, "(unknown function)", None + while hasattr(f, "f_code"): + co = f.f_code + filename = os.path.normcase(co.co_filename) + + # TODO: is this pylint exception correct? + if filename == _srcfile: + f = f.f_back + continue + sinfo = None + if stack_info: + sio = io.StringIO() + sio.write('Stack (most recent call last):\n') + traceback.print_stack(f, file=sio) + sinfo = sio.getvalue() + if sinfo[-1] == '\n': + sinfo = sinfo[:-1] + sio.close() + rv = (co.co_filename, f.f_lineno, co.co_name, sinfo) + break + return rv + +if __name__ == "__main__": + log = SwagLogger() + + stdout_handler = logging.StreamHandler(sys.stdout) + stdout_handler.setLevel(logging.INFO) + stdout_handler.addFilter(SwagErrorFilter()) + log.addHandler(stdout_handler) + + stderr_handler = logging.StreamHandler(sys.stderr) + stderr_handler.setLevel(logging.ERROR) + log.addHandler(stderr_handler) + + log.info("asdasd %s", "a") + log.info({'wut': 1}) + log.warning("warning") + log.error("error") + log.critical("critical") + log.event("test", x="y") + + with log.ctx(): + stdout_handler.setFormatter(SwagFormatter(log)) + stderr_handler.setFormatter(SwagFormatter(log)) + log.bind(user="some user") + log.info("in req") + print("") + log.warning("warning") + print("") + log.error("error") + print("") + log.critical("critical") + print("") + log.event("do_req", a=1, b="c") diff --git a/common/markdown.py b/common/markdown.py new file mode 100644 index 0000000000..f0f056d963 --- /dev/null +++ b/common/markdown.py @@ -0,0 +1,45 @@ +HTML_REPLACEMENTS = [ + (r'&', r'&'), + (r'"', r'"'), +] + +def parse_markdown(text: str, tab_length: int = 2) -> str: + lines = text.split("\n") + output: list[str] = [] + list_level = 0 + + def end_outstanding_lists(level: int, end_level: int) -> int: + while level > end_level: + level -= 1 + output.append("") + if level > 0: + output.append("") + return end_level + + for i, line in enumerate(lines): + if i + 1 < len(lines) and lines[i + 1].startswith("==="): # heading + output.append(f"

{line}

") + elif line.startswith("==="): + pass + elif line.lstrip().startswith("* "): # list + line_level = 1 + line.count(" " * tab_length, 0, line.index("*")) + if list_level >= line_level: + list_level = end_outstanding_lists(list_level, line_level) + else: + list_level += 1 + if list_level > 1: + output[-1] = output[-1].replace("", "") + output.append("
    ") + output.append(f"
  • {line.replace('*', '', 1).lstrip()}
    • ") + else: + list_level = end_outstanding_lists(list_level, 0) + if len(line) > 0: + output.append(line) + + end_outstanding_lists(list_level, 0) + output_str = "\n".join(output) + "\n" + + for (fr, to) in HTML_REPLACEMENTS: + output_str = output_str.replace(fr, to) + + return output_str diff --git a/common/mat.h b/common/mat.h new file mode 100644 index 0000000000..8e10d61971 --- /dev/null +++ b/common/mat.h @@ -0,0 +1,85 @@ +#pragma once + +typedef struct vec3 { + float v[3]; +} vec3; + +typedef struct vec4 { + float v[4]; +} vec4; + +typedef struct mat3 { + float v[3*3]; +} mat3; + +typedef struct mat4 { + float v[4*4]; +} mat4; + +static inline mat3 matmul3(const mat3 &a, const mat3 &b) { + mat3 ret = {{0.0}}; + for (int r=0; r<3; r++) { + for (int c=0; c<3; c++) { + float v = 0.0; + for (int k=0; k<3; k++) { + v += a.v[r*3+k] * b.v[k*3+c]; + } + ret.v[r*3+c] = v; + } + } + return ret; +} + +static inline vec3 matvecmul3(const mat3 &a, const vec3 &b) { + vec3 ret = {{0.0}}; + for (int r=0; r<3; r++) { + for (int c=0; c<3; c++) { + ret.v[r] += a.v[r*3+c] * b.v[c]; + } + } + return ret; +} + +static inline mat4 matmul(const mat4 &a, const mat4 &b) { + mat4 ret = {{0.0}}; + for (int r=0; r<4; r++) { + for (int c=0; c<4; c++) { + float v = 0.0; + for (int k=0; k<4; k++) { + v += a.v[r*4+k] * b.v[k*4+c]; + } + ret.v[r*4+c] = v; + } + } + return ret; +} + +static inline vec4 matvecmul(const mat4 &a, const vec4 &b) { + vec4 ret = {{0.0}}; + for (int r=0; r<4; r++) { + for (int c=0; c<4; c++) { + ret.v[r] += a.v[r*4+c] * b.v[c]; + } + } + return ret; +} + +// scales the input and output space of a transformation matrix +// that assumes pixel-center origin. +static inline mat3 transform_scale_buffer(const mat3 &in, float s) { + // in_pt = ( transform(out_pt/s + 0.5) - 0.5) * s + + mat3 transform_out = {{ + 1.0f/s, 0.0f, 0.5f, + 0.0f, 1.0f/s, 0.5f, + 0.0f, 0.0f, 1.0f, + }}; + + mat3 transform_in = {{ + s, 0.0f, -0.5f*s, + 0.0f, s, -0.5f*s, + 0.0f, 0.0f, 1.0f, + }}; + + return matmul3(transform_in, matmul3(in, transform_out)); +} diff --git a/common/mock/__init__.py b/common/mock/__init__.py new file mode 100644 index 0000000000..8c86bbd394 --- /dev/null +++ b/common/mock/__init__.py @@ -0,0 +1,50 @@ +""" +Utilities for generating mock messages for testing. +example in common/tests/test_mock.py +""" + + +import functools +import threading +from cereal.messaging import PubMaster +from cereal.services import SERVICE_LIST +from openpilot.common.mock.generators import generate_liveLocationKalman +from openpilot.common.realtime import Ratekeeper + + +MOCK_GENERATOR = { + "liveLocationKalman": generate_liveLocationKalman +} + + +def generate_messages_loop(services: list[str], done: threading.Event): + pm = PubMaster(services) + rk = Ratekeeper(100) + i = 0 + while not done.is_set(): + for s in services: + should_send = i % (100/SERVICE_LIST[s].frequency) == 0 + if should_send: + message = MOCK_GENERATOR[s]() + pm.send(s, message) + i += 1 + rk.keep_time() + + +def mock_messages(services: list[str] | str): + if isinstance(services, str): + services = [services] + + def decorator(func): + @functools.wraps(func) + def wrapper(*args, **kwargs): + done = threading.Event() + t = threading.Thread(target=generate_messages_loop, args=(services, done)) + t.start() + try: + return func(*args, **kwargs) + finally: + done.set() + t.join() + return wrapper + return decorator diff --git a/common/mock/generators.py b/common/mock/generators.py new file mode 100644 index 0000000000..40951faf85 --- /dev/null +++ b/common/mock/generators.py @@ -0,0 +1,20 @@ +from cereal import messaging + + +LOCATION1 = (32.7174, -117.16277) +LOCATION2 = (32.7558, -117.2037) + +LLK_DECIMATION = 10 +RENDER_FRAMES = 15 +DEFAULT_ITERATIONS = RENDER_FRAMES * LLK_DECIMATION + + +def generate_liveLocationKalman(location=LOCATION1): + msg = messaging.new_message('liveLocationKalman') + msg.liveLocationKalman.positionGeodetic = {'value': [*location, 0], 'std': [0., 0., 0.], 'valid': True} + msg.liveLocationKalman.positionECEF = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True} + msg.liveLocationKalman.calibratedOrientationNED = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True} + msg.liveLocationKalman.velocityCalibrated = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True} + msg.liveLocationKalman.status = 'valid' + msg.liveLocationKalman.gpsOK = True + return msg diff --git a/common/model.h b/common/model.h new file mode 100644 index 0000000000..4754df3728 --- /dev/null +++ b/common/model.h @@ -0,0 +1 @@ +#define CURRENT_MODEL "Notre Dame (July 1, 2024)" diff --git a/common/numpy_fast.py b/common/numpy_fast.py new file mode 100644 index 0000000000..878c0005c8 --- /dev/null +++ b/common/numpy_fast.py @@ -0,0 +1,19 @@ +def clip(x, lo, hi): + return max(lo, min(hi, x)) + +def interp(x, xp, fp): + N = len(xp) + + def get_interp(xv): + hi = 0 + while hi < N and xv > xp[hi]: + hi += 1 + low = hi - 1 + return fp[-1] if hi == N and xv > xp[low] else ( + fp[0] if hi == 0 else + (xv - xp[low]) * (fp[hi] - fp[low]) / (xp[hi] - xp[low]) + fp[low]) + + return [get_interp(v) for v in x] if hasattr(x, '__iter__') else get_interp(x) + +def mean(x): + return sum(x) / len(x) diff --git a/common/params.h b/common/params.h new file mode 100644 index 0000000000..b40371f976 --- /dev/null +++ b/common/params.h @@ -0,0 +1,71 @@ +#pragma once + +#include +#include +#include +#include +#include +#include + +#include "common/queue.h" + +enum ParamKeyType { + PERSISTENT = 0x02, + CLEAR_ON_MANAGER_START = 0x04, + CLEAR_ON_ONROAD_TRANSITION = 0x08, + CLEAR_ON_OFFROAD_TRANSITION = 0x10, + DONT_LOG = 0x20, + DEVELOPMENT_ONLY = 0x40, + BACKUP = 0x80, + ALL = 0xFFFFFFFF +}; + +class Params { +public: + explicit Params(const std::string &path = {}); + ~Params(); + // Not copyable. + Params(const Params&) = delete; + Params& operator=(const Params&) = delete; + + std::vector allKeys() const; + bool checkKey(const std::string &key); + ParamKeyType getKeyType(const std::string &key); + inline std::string getParamPath(const std::string &key = {}) { + return params_path + params_prefix + (key.empty() ? "" : "/" + key); + } + + // Delete a value + int remove(const std::string &key); + void clearAll(ParamKeyType type); + + // helpers for reading values + std::string get(const std::string &key, bool block = false); + inline bool getBool(const std::string &key, bool block = false) { + return get(key, block) == "1"; + } + std::map readAll(); + + // helpers for writing values + int put(const char *key, const char *val, size_t value_size); + inline int put(const std::string &key, const std::string &val) { + return put(key.c_str(), val.data(), val.size()); + } + inline int putBool(const std::string &key, bool val) { + return put(key.c_str(), val ? "1" : "0", 1); + } + void putNonBlocking(const std::string &key, const std::string &val); + inline void putBoolNonBlocking(const std::string &key, bool val) { + putNonBlocking(key, val ? "1" : "0"); + } + +private: + void asyncWriteThread(); + + std::string params_path; + std::string params_prefix; + + // for nonblocking write + std::future future; + SafeQueue> queue; +}; diff --git a/common/params.py b/common/params.py new file mode 100644 index 0000000000..66808083dc --- /dev/null +++ b/common/params.py @@ -0,0 +1,18 @@ +from openpilot.common.params_pyx import Params, ParamKeyType, UnknownKeyName +assert Params +assert ParamKeyType +assert UnknownKeyName + +if __name__ == "__main__": + import sys + + params = Params() + key = sys.argv[1] + assert params.check_key(key), f"unknown param: {key}" + + if len(sys.argv) == 3: + val = sys.argv[2] + print(f"SET: {key} = {val}") + params.put(key, val) + elif len(sys.argv) == 2: + print(f"GET: {key} = {params.get(key)}") diff --git a/common/params_pyx.cpp b/common/params_pyx.cpp new file mode 100644 index 0000000000..6be24feab6 --- /dev/null +++ b/common/params_pyx.cpp @@ -0,0 +1,18382 @@ +/* Generated by Cython 3.0.8 */ + +/* BEGIN: Cython Metadata +{ + "distutils": { + "depends": [ + "common/params.h" + ], + "language": "c++", + "name": "common.params_pyx", + "sources": [ + "/data/openpilot/common/params_pyx.pyx" + ] + }, + "module_name": "common.params_pyx" +} +END: Cython Metadata */ + +#ifndef PY_SSIZE_T_CLEAN +#define PY_SSIZE_T_CLEAN +#endif /* PY_SSIZE_T_CLEAN */ +#if defined(CYTHON_LIMITED_API) && 0 + #ifndef Py_LIMITED_API + #if CYTHON_LIMITED_API+0 > 0x03030000 + #define Py_LIMITED_API CYTHON_LIMITED_API + #else + #define Py_LIMITED_API 0x03030000 + #endif + #endif +#endif + +#include "Python.h" +#ifndef Py_PYTHON_H + #error Python headers needed to compile C extensions, please install development version of Python. +#elif PY_VERSION_HEX < 0x02070000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) + #error Cython requires Python 2.7+ or Python 3.3+. +#else +#if defined(CYTHON_LIMITED_API) && CYTHON_LIMITED_API +#define __PYX_EXTRA_ABI_MODULE_NAME "limited" +#else +#define __PYX_EXTRA_ABI_MODULE_NAME "" +#endif +#define CYTHON_ABI "3_0_8" __PYX_EXTRA_ABI_MODULE_NAME +#define __PYX_ABI_MODULE_NAME "_cython_" CYTHON_ABI +#define __PYX_TYPE_MODULE_PREFIX __PYX_ABI_MODULE_NAME "." +#define CYTHON_HEX_VERSION 0x030008F0 +#define CYTHON_FUTURE_DIVISION 1 +#include +#ifndef offsetof + #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) +#endif +#if !defined(_WIN32) && !defined(WIN32) && !defined(MS_WINDOWS) + #ifndef __stdcall + #define __stdcall + #endif + #ifndef __cdecl + #define __cdecl + #endif + #ifndef __fastcall + #define __fastcall + #endif +#endif +#ifndef DL_IMPORT + #define DL_IMPORT(t) t +#endif +#ifndef DL_EXPORT + #define DL_EXPORT(t) t +#endif +#define __PYX_COMMA , +#ifndef HAVE_LONG_LONG + #define HAVE_LONG_LONG +#endif +#ifndef PY_LONG_LONG + #define PY_LONG_LONG LONG_LONG +#endif +#ifndef Py_HUGE_VAL + #define Py_HUGE_VAL HUGE_VAL +#endif +#define __PYX_LIMITED_VERSION_HEX PY_VERSION_HEX +#if defined(GRAALVM_PYTHON) + /* For very preliminary testing purposes. Most variables are set the same as PyPy. + The existence of this section does not imply that anything works or is even tested */ + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 1 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(PYPY_VERSION) + #define CYTHON_COMPILING_IN_PYPY 1 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #if PY_VERSION_HEX < 0x03090000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1 && PYPY_VERSION_NUM >= 0x07030C00) + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(CYTHON_LIMITED_API) + #ifdef Py_LIMITED_API + #undef __PYX_LIMITED_VERSION_HEX + #define __PYX_LIMITED_VERSION_HEX Py_LIMITED_API + #endif + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 1 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_CLINE_IN_TRACEBACK + #define CYTHON_CLINE_IN_TRACEBACK 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 1 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #endif + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 1 + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(Py_GIL_DISABLED) || defined(Py_NOGIL) + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 1 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #ifndef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#else + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 1 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #ifndef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 1 + #endif + #if PY_MAJOR_VERSION < 3 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #ifndef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 1 + #endif + #ifndef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 1 + #endif + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #elif !defined(CYTHON_USE_UNICODE_WRITER) + #define CYTHON_USE_UNICODE_WRITER 1 + #endif + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #ifndef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 1 + #endif + #ifndef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL (PY_MAJOR_VERSION < 3 || PY_VERSION_HEX >= 0x03060000 && PY_VERSION_HEX < 0x030C00A6) + #endif + #ifndef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL (PY_VERSION_HEX >= 0x030700A1) + #endif + #ifndef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 1 + #endif + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #endif + #if PY_VERSION_HEX < 0x030400a1 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #elif !defined(CYTHON_USE_TP_FINALIZE) + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #if PY_VERSION_HEX < 0x030600B1 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #elif !defined(CYTHON_USE_DICT_VERSIONS) + #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX < 0x030C00A5) + #endif + #if PY_VERSION_HEX < 0x030700A3 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #elif !defined(CYTHON_USE_EXC_INFO_STACK) + #define CYTHON_USE_EXC_INFO_STACK 1 + #endif + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 1 + #endif +#endif +#if !defined(CYTHON_FAST_PYCCALL) +#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) +#endif +#if !defined(CYTHON_VECTORCALL) +#define CYTHON_VECTORCALL (CYTHON_FAST_PYCCALL && PY_VERSION_HEX >= 0x030800B1) +#endif +#define CYTHON_BACKPORT_VECTORCALL (CYTHON_METH_FASTCALL && PY_VERSION_HEX < 0x030800B1) +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_MAJOR_VERSION < 3 + #include "longintrepr.h" + #endif + #undef SHIFT + #undef BASE + #undef MASK + #ifdef SIZEOF_VOID_P + enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; + #endif +#endif +#ifndef __has_attribute + #define __has_attribute(x) 0 +#endif +#ifndef __has_cpp_attribute + #define __has_cpp_attribute(x) 0 +#endif +#ifndef CYTHON_RESTRICT + #if defined(__GNUC__) + #define CYTHON_RESTRICT __restrict__ + #elif defined(_MSC_VER) && _MSC_VER >= 1400 + #define CYTHON_RESTRICT __restrict + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_RESTRICT restrict + #else + #define CYTHON_RESTRICT + #endif +#endif +#ifndef CYTHON_UNUSED + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(maybe_unused) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(maybe_unused) + #define CYTHON_UNUSED [[maybe_unused]] + #endif + #endif + #endif +#endif +#ifndef CYTHON_UNUSED +# if defined(__GNUC__) +# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_UNUSED_VAR +# if defined(__cplusplus) + template void CYTHON_UNUSED_VAR( const T& ) { } +# else +# define CYTHON_UNUSED_VAR(x) (void)(x) +# endif +#endif +#ifndef CYTHON_MAYBE_UNUSED_VAR + #define CYTHON_MAYBE_UNUSED_VAR(x) CYTHON_UNUSED_VAR(x) +#endif +#ifndef CYTHON_NCP_UNUSED +# if CYTHON_COMPILING_IN_CPYTHON +# define CYTHON_NCP_UNUSED +# else +# define CYTHON_NCP_UNUSED CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_USE_CPP_STD_MOVE + #if defined(__cplusplus) && (\ + __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600)) + #define CYTHON_USE_CPP_STD_MOVE 1 + #else + #define CYTHON_USE_CPP_STD_MOVE 0 + #endif +#endif +#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) +#ifdef _MSC_VER + #ifndef _MSC_STDINT_H_ + #if _MSC_VER < 1300 + typedef unsigned char uint8_t; + typedef unsigned short uint16_t; + typedef unsigned int uint32_t; + #else + typedef unsigned __int8 uint8_t; + typedef unsigned __int16 uint16_t; + typedef unsigned __int32 uint32_t; + #endif + #endif + #if _MSC_VER < 1300 + #ifdef _WIN64 + typedef unsigned long long __pyx_uintptr_t; + #else + typedef unsigned int __pyx_uintptr_t; + #endif + #else + #ifdef _WIN64 + typedef unsigned __int64 __pyx_uintptr_t; + #else + typedef unsigned __int32 __pyx_uintptr_t; + #endif + #endif +#else + #include + typedef uintptr_t __pyx_uintptr_t; +#endif +#ifndef CYTHON_FALLTHROUGH + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(fallthrough) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(fallthrough) + #define CYTHON_FALLTHROUGH [[fallthrough]] + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_cpp_attribute(clang::fallthrough) + #define CYTHON_FALLTHROUGH [[clang::fallthrough]] + #elif __has_cpp_attribute(gnu::fallthrough) + #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] + #endif + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_attribute(fallthrough) + #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) + #else + #define CYTHON_FALLTHROUGH + #endif + #endif + #if defined(__clang__) && defined(__apple_build_version__) + #if __apple_build_version__ < 7000000 + #undef CYTHON_FALLTHROUGH + #define CYTHON_FALLTHROUGH + #endif + #endif +#endif +#ifdef __cplusplus + template + struct __PYX_IS_UNSIGNED_IMPL {static const bool value = T(0) < T(-1);}; + #define __PYX_IS_UNSIGNED(type) (__PYX_IS_UNSIGNED_IMPL::value) +#else + #define __PYX_IS_UNSIGNED(type) (((type)-1) > 0) +#endif +#if CYTHON_COMPILING_IN_PYPY == 1 + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x030A0000) +#else + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000) +#endif +#define __PYX_REINTERPRET_FUNCION(func_pointer, other_pointer) ((func_pointer)(void(*)(void))(other_pointer)) + +#ifndef __cplusplus + #error "Cython files generated with the C++ option must be compiled with a C++ compiler." +#endif +#ifndef CYTHON_INLINE + #if defined(__clang__) + #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) + #else + #define CYTHON_INLINE inline + #endif +#endif +template +void __Pyx_call_destructor(T& x) { + x.~T(); +} +template +class __Pyx_FakeReference { + public: + __Pyx_FakeReference() : ptr(NULL) { } + __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } + T *operator->() { return ptr; } + T *operator&() { return ptr; } + operator T&() { return *ptr; } + template bool operator ==(const U& other) const { return *ptr == other; } + template bool operator !=(const U& other) const { return *ptr != other; } + template bool operator==(const __Pyx_FakeReference& other) const { return *ptr == *other.ptr; } + template bool operator!=(const __Pyx_FakeReference& other) const { return *ptr != *other.ptr; } + private: + T *ptr; +}; + +#define __PYX_BUILD_PY_SSIZE_T "n" +#define CYTHON_FORMAT_SSIZE_T "z" +#if PY_MAJOR_VERSION < 3 + #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" + #define __Pyx_DefaultClassType PyClass_Type + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_BUILTIN_MODULE_NAME "builtins" + #define __Pyx_DefaultClassType PyType_Type +#if CYTHON_COMPILING_IN_LIMITED_API + static CYTHON_INLINE PyObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyObject *exception_table = NULL; + PyObject *types_module=NULL, *code_type=NULL, *result=NULL; + #if __PYX_LIMITED_VERSION_HEX < 0x030B0000 + PyObject *version_info; + PyObject *py_minor_version = NULL; + #endif + long minor_version = 0; + PyObject *type, *value, *traceback; + PyErr_Fetch(&type, &value, &traceback); + #if __PYX_LIMITED_VERSION_HEX >= 0x030B0000 + minor_version = 11; + #else + if (!(version_info = PySys_GetObject("version_info"))) goto end; + if (!(py_minor_version = PySequence_GetItem(version_info, 1))) goto end; + minor_version = PyLong_AsLong(py_minor_version); + Py_DECREF(py_minor_version); + if (minor_version == -1 && PyErr_Occurred()) goto end; + #endif + if (!(types_module = PyImport_ImportModule("types"))) goto end; + if (!(code_type = PyObject_GetAttrString(types_module, "CodeType"))) goto end; + if (minor_version <= 7) { + (void)p; + result = PyObject_CallFunction(code_type, "iiiiiOOOOOOiOO", a, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else if (minor_version <= 10) { + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else { + if (!(exception_table = PyBytes_FromStringAndSize(NULL, 0))) goto end; + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, name, fline, lnos, exception_table, fv, cell); + } + end: + Py_XDECREF(code_type); + Py_XDECREF(exception_table); + Py_XDECREF(types_module); + if (type) { + PyErr_Restore(type, value, traceback); + } + return result; + } + #ifndef CO_OPTIMIZED + #define CO_OPTIMIZED 0x0001 + #endif + #ifndef CO_NEWLOCALS + #define CO_NEWLOCALS 0x0002 + #endif + #ifndef CO_VARARGS + #define CO_VARARGS 0x0004 + #endif + #ifndef CO_VARKEYWORDS + #define CO_VARKEYWORDS 0x0008 + #endif + #ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x0200 + #endif + #ifndef CO_GENERATOR + #define CO_GENERATOR 0x0020 + #endif + #ifndef CO_COROUTINE + #define CO_COROUTINE 0x0080 + #endif +#elif PY_VERSION_HEX >= 0x030B0000 + static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyCodeObject *result; + PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); + if (!empty_bytes) return NULL; + result = + #if PY_VERSION_HEX >= 0x030C0000 + PyUnstable_Code_NewWithPosOnlyArgs + #else + PyCode_NewWithPosOnlyArgs + #endif + (a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, name, fline, lnos, empty_bytes); + Py_DECREF(empty_bytes); + return result; + } +#elif PY_VERSION_HEX >= 0x030800B2 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_NewWithPosOnlyArgs(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#endif +#endif +#if PY_VERSION_HEX >= 0x030900A4 || defined(Py_IS_TYPE) + #define __Pyx_IS_TYPE(ob, type) Py_IS_TYPE(ob, type) +#else + #define __Pyx_IS_TYPE(ob, type) (((const PyObject*)ob)->ob_type == (type)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_Is) + #define __Pyx_Py_Is(x, y) Py_Is(x, y) +#else + #define __Pyx_Py_Is(x, y) ((x) == (y)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsNone) + #define __Pyx_Py_IsNone(ob) Py_IsNone(ob) +#else + #define __Pyx_Py_IsNone(ob) __Pyx_Py_Is((ob), Py_None) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsTrue) + #define __Pyx_Py_IsTrue(ob) Py_IsTrue(ob) +#else + #define __Pyx_Py_IsTrue(ob) __Pyx_Py_Is((ob), Py_True) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsFalse) + #define __Pyx_Py_IsFalse(ob) Py_IsFalse(ob) +#else + #define __Pyx_Py_IsFalse(ob) __Pyx_Py_Is((ob), Py_False) +#endif +#define __Pyx_NoneAsNull(obj) (__Pyx_Py_IsNone(obj) ? NULL : (obj)) +#if PY_VERSION_HEX >= 0x030900F0 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_GC_IsFinalized(o) PyObject_GC_IsFinalized(o) +#else + #define __Pyx_PyObject_GC_IsFinalized(o) _PyGC_FINALIZED(o) +#endif +#ifndef CO_COROUTINE + #define CO_COROUTINE 0x80 +#endif +#ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x200 +#endif +#ifndef Py_TPFLAGS_CHECKTYPES + #define Py_TPFLAGS_CHECKTYPES 0 +#endif +#ifndef Py_TPFLAGS_HAVE_INDEX + #define Py_TPFLAGS_HAVE_INDEX 0 +#endif +#ifndef Py_TPFLAGS_HAVE_NEWBUFFER + #define Py_TPFLAGS_HAVE_NEWBUFFER 0 +#endif +#ifndef Py_TPFLAGS_HAVE_FINALIZE + #define Py_TPFLAGS_HAVE_FINALIZE 0 +#endif +#ifndef Py_TPFLAGS_SEQUENCE + #define Py_TPFLAGS_SEQUENCE 0 +#endif +#ifndef Py_TPFLAGS_MAPPING + #define Py_TPFLAGS_MAPPING 0 +#endif +#ifndef METH_STACKLESS + #define METH_STACKLESS 0 +#endif +#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) + #ifndef METH_FASTCALL + #define METH_FASTCALL 0x80 + #endif + typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); + typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, + Py_ssize_t nargs, PyObject *kwnames); +#else + #define __Pyx_PyCFunctionFast _PyCFunctionFast + #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords +#endif +#if CYTHON_METH_FASTCALL + #define __Pyx_METH_FASTCALL METH_FASTCALL + #define __Pyx_PyCFunction_FastCall __Pyx_PyCFunctionFast + #define __Pyx_PyCFunction_FastCallWithKeywords __Pyx_PyCFunctionFastWithKeywords +#else + #define __Pyx_METH_FASTCALL METH_VARARGS + #define __Pyx_PyCFunction_FastCall PyCFunction + #define __Pyx_PyCFunction_FastCallWithKeywords PyCFunctionWithKeywords +#endif +#if CYTHON_VECTORCALL + #define __pyx_vectorcallfunc vectorcallfunc + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET PY_VECTORCALL_ARGUMENTS_OFFSET + #define __Pyx_PyVectorcall_NARGS(n) PyVectorcall_NARGS((size_t)(n)) +#elif CYTHON_BACKPORT_VECTORCALL + typedef PyObject *(*__pyx_vectorcallfunc)(PyObject *callable, PyObject *const *args, + size_t nargsf, PyObject *kwnames); + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET ((size_t)1 << (8 * sizeof(size_t) - 1)) + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(((size_t)(n)) & ~__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET)) +#else + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET 0 + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(n)) +#endif +#if PY_MAJOR_VERSION >= 0x030900B1 +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_CheckExact(func) +#else +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_Check(func) +#endif +#define __Pyx_CyOrPyCFunction_Check(func) PyCFunction_Check(func) +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) (((PyCFunctionObject*)(func))->m_ml->ml_meth) +#elif !CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) PyCFunction_GET_FUNCTION(func) +#endif +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FLAGS(func) (((PyCFunctionObject*)(func))->m_ml->ml_flags) +static CYTHON_INLINE PyObject* __Pyx_CyOrPyCFunction_GET_SELF(PyObject *func) { + return (__Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_STATIC) ? NULL : ((PyCFunctionObject*)func)->m_self; +} +#endif +static CYTHON_INLINE int __Pyx__IsSameCFunction(PyObject *func, void *cfunc) { +#if CYTHON_COMPILING_IN_LIMITED_API + return PyCFunction_Check(func) && PyCFunction_GetFunction(func) == (PyCFunction) cfunc; +#else + return PyCFunction_Check(func) && PyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +#endif +} +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCFunction(func, cfunc) +#if __PYX_LIMITED_VERSION_HEX < 0x030900B1 + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) ((void)m, PyType_FromSpecWithBases(s, b)) + typedef PyObject *(*__Pyx_PyCMethod)(PyObject *, PyTypeObject *, PyObject *const *, size_t, PyObject *); +#else + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) PyType_FromModuleAndSpec(m, s, b) + #define __Pyx_PyCMethod PyCMethod +#endif +#ifndef METH_METHOD + #define METH_METHOD 0x200 +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) + #define PyObject_Malloc(s) PyMem_Malloc(s) + #define PyObject_Free(p) PyMem_Free(p) + #define PyObject_Realloc(p) PyMem_Realloc(p) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) +#else + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyThreadState_Current PyThreadState_Get() +#elif !CYTHON_FAST_THREAD_STATE + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#elif PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyThreadState_Current PyThreadState_GetUnchecked() +#elif PY_VERSION_HEX >= 0x03060000 + #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() +#elif PY_VERSION_HEX >= 0x03000000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#else + #define __Pyx_PyThreadState_Current _PyThreadState_Current +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE void *__Pyx_PyModule_GetState(PyObject *op) +{ + void *result; + result = PyModule_GetState(op); + if (!result) + Py_FatalError("Couldn't find the module state"); + return result; +} +#endif +#define __Pyx_PyObject_GetSlot(obj, name, func_ctype) __Pyx_PyType_GetSlot(Py_TYPE(obj), name, func_ctype) +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((func_ctype) PyType_GetSlot((type), Py_##name)) +#else + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((type)->name) +#endif +#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) +#include "pythread.h" +#define Py_tss_NEEDS_INIT 0 +typedef int Py_tss_t; +static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { + *key = PyThread_create_key(); + return 0; +} +static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { + Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); + *key = Py_tss_NEEDS_INIT; + return key; +} +static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { + PyObject_Free(key); +} +static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { + return *key != Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { + PyThread_delete_key(*key); + *key = Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { + return PyThread_set_key_value(*key, value); +} +static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { + return PyThread_get_key_value(*key); +} +#endif +#if PY_MAJOR_VERSION < 3 + #if CYTHON_COMPILING_IN_PYPY + #if PYPY_VERSION_NUM < 0x07030600 + #if defined(__cplusplus) && __cplusplus >= 201402L + [[deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")]] + #elif defined(__GNUC__) || defined(__clang__) + __attribute__ ((__deprecated__("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6"))) + #elif defined(_MSC_VER) + __declspec(deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")) + #endif + static CYTHON_INLINE int PyGILState_Check(void) { + return 0; + } + #else // PYPY_VERSION_NUM < 0x07030600 + #endif // PYPY_VERSION_NUM < 0x07030600 + #else + static CYTHON_INLINE int PyGILState_Check(void) { + PyThreadState * tstate = _PyThreadState_Current; + return tstate && (tstate == PyGILState_GetThisThreadState()); + } + #endif +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030d0000 || defined(_PyDict_NewPresized) +#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) +#else +#define __Pyx_PyDict_NewPresized(n) PyDict_New() +#endif +#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION + #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) +#else + #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX > 0x030600B4 && PY_VERSION_HEX < 0x030d0000 && CYTHON_USE_UNICODE_INTERNALS +#define __Pyx_PyDict_GetItemStrWithError(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStr(PyObject *dict, PyObject *name) { + PyObject *res = __Pyx_PyDict_GetItemStrWithError(dict, name); + if (res == NULL) PyErr_Clear(); + return res; +} +#elif PY_MAJOR_VERSION >= 3 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07020000) +#define __Pyx_PyDict_GetItemStrWithError PyDict_GetItemWithError +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#else +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStrWithError(PyObject *dict, PyObject *name) { +#if CYTHON_COMPILING_IN_PYPY + return PyDict_GetItem(dict, name); +#else + PyDictEntry *ep; + PyDictObject *mp = (PyDictObject*) dict; + long hash = ((PyStringObject *) name)->ob_shash; + assert(hash != -1); + ep = (mp->ma_lookup)(mp, name, hash); + if (ep == NULL) { + return NULL; + } + return ep->me_value; +#endif +} +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#endif +#if CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyType_GetFlags(tp) (((PyTypeObject *)tp)->tp_flags) + #define __Pyx_PyType_HasFeature(type, feature) ((__Pyx_PyType_GetFlags(type) & (feature)) != 0) + #define __Pyx_PyObject_GetIterNextFunc(obj) (Py_TYPE(obj)->tp_iternext) +#else + #define __Pyx_PyType_GetFlags(tp) (PyType_GetFlags((PyTypeObject *)tp)) + #define __Pyx_PyType_HasFeature(type, feature) PyType_HasFeature(type, feature) + #define __Pyx_PyObject_GetIterNextFunc(obj) PyIter_Next +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyObject_GenericSetAttr((PyObject*)tp, k, v) +#else + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyDict_SetItem(tp->tp_dict, k, v) +#endif +#if CYTHON_USE_TYPE_SPECS && PY_VERSION_HEX >= 0x03080000 +#define __Pyx_PyHeapTypeObject_GC_Del(obj) {\ + PyTypeObject *type = Py_TYPE((PyObject*)obj);\ + assert(__Pyx_PyType_HasFeature(type, Py_TPFLAGS_HEAPTYPE));\ + PyObject_GC_Del(obj);\ + Py_DECREF(type);\ +} +#else +#define __Pyx_PyHeapTypeObject_GC_Del(obj) PyObject_GC_Del(obj) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define CYTHON_PEP393_ENABLED 1 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GetLength(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_ReadChar(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((void)u, 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((void)u, (0)) + #define __Pyx_PyUnicode_DATA(u) ((void*)u) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)k, PyUnicode_ReadChar((PyObject*)(d), i)) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GetLength(u)) +#elif PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) + #define CYTHON_PEP393_ENABLED 1 + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_READY(op) (0) + #else + #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ + 0 : _PyUnicode_Ready((PyObject *)(op))) + #endif + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) + #define __Pyx_PyUnicode_KIND(u) ((int)PyUnicode_KIND(u)) + #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) + #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, (Py_UCS4) ch) + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) + #else + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) + #endif + #endif +#else + #define CYTHON_PEP393_ENABLED 0 + #define PyUnicode_1BYTE_KIND 1 + #define PyUnicode_2BYTE_KIND 2 + #define PyUnicode_4BYTE_KIND 4 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535U : 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((int)sizeof(Py_UNICODE)) + #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = (Py_UNICODE) ch) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) +#else + #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ + PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #if !defined(PyUnicode_DecodeUnicodeEscape) + #define PyUnicode_DecodeUnicodeEscape(s, size, errors) PyUnicode_Decode(s, size, "unicode_escape", errors) + #endif + #if !defined(PyUnicode_Contains) || (PY_MAJOR_VERSION == 2 && PYPY_VERSION_NUM < 0x07030500) + #undef PyUnicode_Contains + #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) + #endif + #if !defined(PyByteArray_Check) + #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) + #endif + #if !defined(PyObject_Format) + #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) + #endif +#endif +#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) +#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) +#else + #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) +#endif +#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) + #define PyObject_ASCII(o) PyObject_Repr(o) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBaseString_Type PyUnicode_Type + #define PyStringObject PyUnicodeObject + #define PyString_Type PyUnicode_Type + #define PyString_Check PyUnicode_Check + #define PyString_CheckExact PyUnicode_CheckExact +#ifndef PyObject_Unicode + #define PyObject_Unicode PyObject_Str +#endif +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) + #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) +#else + #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) + #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) +#endif +#if CYTHON_COMPILING_IN_CPYTHON + #define __Pyx_PySequence_ListKeepNew(obj)\ + (likely(PyList_CheckExact(obj) && Py_REFCNT(obj) == 1) ? __Pyx_NewRef(obj) : PySequence_List(obj)) +#else + #define __Pyx_PySequence_ListKeepNew(obj) PySequence_List(obj) +#endif +#ifndef PySet_CheckExact + #define PySet_CheckExact(obj) __Pyx_IS_TYPE(obj, &PySet_Type) +#endif +#if PY_VERSION_HEX >= 0x030900A4 + #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) +#else + #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) +#endif +#if CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_PySequence_ITEM(o, i) PySequence_ITEM(o, i) + #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) (PyTuple_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyList_SET_ITEM(o, i, v) (PyList_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_GET_SIZE(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_GET_SIZE(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_GET_SIZE(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_GET_SIZE(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_GET_SIZE(o) +#else + #define __Pyx_PySequence_ITEM(o, i) PySequence_GetItem(o, i) + #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) PyTuple_SetItem(o, i, v) + #define __Pyx_PyList_SET_ITEM(o, i, v) PyList_SetItem(o, i, v) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_Size(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_Size(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_Size(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_Size(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_Size(o) +#endif +#if PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyImport_AddModuleRef(name) PyImport_AddModuleRef(name) +#else + static CYTHON_INLINE PyObject *__Pyx_PyImport_AddModuleRef(const char *name) { + PyObject *module = PyImport_AddModule(name); + Py_XINCREF(module); + return module; + } +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyIntObject PyLongObject + #define PyInt_Type PyLong_Type + #define PyInt_Check(op) PyLong_Check(op) + #define PyInt_CheckExact(op) PyLong_CheckExact(op) + #define __Pyx_Py3Int_Check(op) PyLong_Check(op) + #define __Pyx_Py3Int_CheckExact(op) PyLong_CheckExact(op) + #define PyInt_FromString PyLong_FromString + #define PyInt_FromUnicode PyLong_FromUnicode + #define PyInt_FromLong PyLong_FromLong + #define PyInt_FromSize_t PyLong_FromSize_t + #define PyInt_FromSsize_t PyLong_FromSsize_t + #define PyInt_AsLong PyLong_AsLong + #define PyInt_AS_LONG PyLong_AS_LONG + #define PyInt_AsSsize_t PyLong_AsSsize_t + #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask + #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask + #define PyNumber_Int PyNumber_Long +#else + #define __Pyx_Py3Int_Check(op) (PyLong_Check(op) || PyInt_Check(op)) + #define __Pyx_Py3Int_CheckExact(op) (PyLong_CheckExact(op) || PyInt_CheckExact(op)) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBoolObject PyLongObject +#endif +#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY + #ifndef PyUnicode_InternFromString + #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) + #endif +#endif +#if PY_VERSION_HEX < 0x030200A4 + typedef long Py_hash_t; + #define __Pyx_PyInt_FromHash_t PyInt_FromLong + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t +#else + #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t +#endif +#if CYTHON_USE_ASYNC_SLOTS + #if PY_VERSION_HEX >= 0x030500B1 + #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods + #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) + #else + #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) + #endif +#else + #define __Pyx_PyType_AsAsync(obj) NULL +#endif +#ifndef __Pyx_PyAsyncMethodsStruct + typedef struct { + unaryfunc am_await; + unaryfunc am_aiter; + unaryfunc am_anext; + } __Pyx_PyAsyncMethodsStruct; +#endif + +#if defined(_WIN32) || defined(WIN32) || defined(MS_WINDOWS) + #if !defined(_USE_MATH_DEFINES) + #define _USE_MATH_DEFINES + #endif +#endif +#include +#ifdef NAN +#define __PYX_NAN() ((float) NAN) +#else +static CYTHON_INLINE float __PYX_NAN() { + float value; + memset(&value, 0xFF, sizeof(value)); + return value; +} +#endif +#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) +#define __Pyx_truncl trunc +#else +#define __Pyx_truncl truncl +#endif + +#define __PYX_MARK_ERR_POS(f_index, lineno) \ + { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } +#define __PYX_ERR(f_index, lineno, Ln_error) \ + { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } + +#ifdef CYTHON_EXTERN_C + #undef __PYX_EXTERN_C + #define __PYX_EXTERN_C CYTHON_EXTERN_C +#elif defined(__PYX_EXTERN_C) + #ifdef _MSC_VER + #pragma message ("Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead.") + #else + #warning Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead. + #endif +#else + #define __PYX_EXTERN_C extern "C++" +#endif + +#define __PYX_HAVE__common__params_pyx +#define __PYX_HAVE_API__common__params_pyx +/* Early includes */ +#include +#include +#include "ios" +#include "new" +#include "stdexcept" +#include "typeinfo" +#include +#include + + #if __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600) + // move should be defined for these versions of MSVC, but __cplusplus isn't set usefully + #include + + namespace cython_std { + template typename std::remove_reference::type&& move(T& t) noexcept { return std::move(t); } + template typename std::remove_reference::type&& move(T&& t) noexcept { return std::move(t); } + } + + #endif + +#include +#include "common/params.h" +#ifdef _OPENMP +#include +#endif /* _OPENMP */ + +#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) +#define CYTHON_WITHOUT_ASSERTIONS +#endif + +typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; + const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; + +#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) +#define __PYX_DEFAULT_STRING_ENCODING "" +#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString +#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#define __Pyx_uchar_cast(c) ((unsigned char)c) +#define __Pyx_long_cast(x) ((long)x) +#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ + (sizeof(type) < sizeof(Py_ssize_t)) ||\ + (sizeof(type) > sizeof(Py_ssize_t) &&\ + likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX) &&\ + (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ + v == (type)PY_SSIZE_T_MIN))) ||\ + (sizeof(type) == sizeof(Py_ssize_t) &&\ + (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX))) ) +static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { + return (size_t) i < (size_t) limit; +} +#if defined (__cplusplus) && __cplusplus >= 201103L + #include + #define __Pyx_sst_abs(value) std::abs(value) +#elif SIZEOF_INT >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) abs(value) +#elif SIZEOF_LONG >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) labs(value) +#elif defined (_MSC_VER) + #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) +#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define __Pyx_sst_abs(value) llabs(value) +#elif defined (__GNUC__) + #define __Pyx_sst_abs(value) __builtin_llabs(value) +#else + #define __Pyx_sst_abs(value) ((value<0) ? -value : value) +#endif +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s); +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char*); +#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) +#define __Pyx_PyBytes_FromString PyBytes_FromString +#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); +#if PY_MAJOR_VERSION < 3 + #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#else + #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize +#endif +#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyObject_AsWritableString(s) ((char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableSString(s) ((signed char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) +#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) +#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) +#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) +#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const wchar_t *u) +{ + const wchar_t *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#else +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) +{ + const Py_UNICODE *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#endif +#define __Pyx_PyUnicode_FromOrdinal(o) PyUnicode_FromOrdinal((int)o) +#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) +#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode +#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode +#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) +#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); +#define __Pyx_PySequence_Tuple(obj)\ + (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); +#if CYTHON_ASSUME_SAFE_MACROS +#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) +#else +#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) +#endif +#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) +#else +#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) +#endif +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_VERSION_HEX >= 0x030C00A7 + #ifndef _PyLong_SIGN_MASK + #define _PyLong_SIGN_MASK 3 + #endif + #ifndef _PyLong_NON_SIZE_BITS + #define _PyLong_NON_SIZE_BITS 3 + #endif + #define __Pyx_PyLong_Sign(x) (((PyLongObject*)x)->long_value.lv_tag & _PyLong_SIGN_MASK) + #define __Pyx_PyLong_IsNeg(x) ((__Pyx_PyLong_Sign(x) & 2) != 0) + #define __Pyx_PyLong_IsNonNeg(x) (!__Pyx_PyLong_IsNeg(x)) + #define __Pyx_PyLong_IsZero(x) (__Pyx_PyLong_Sign(x) & 1) + #define __Pyx_PyLong_IsPos(x) (__Pyx_PyLong_Sign(x) == 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) (__Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) ((Py_ssize_t) (((PyLongObject*)x)->long_value.lv_tag >> _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_SignedDigitCount(x)\ + ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * __Pyx_PyLong_DigitCount(x)) + #if defined(PyUnstable_Long_IsCompact) && defined(PyUnstable_Long_CompactValue) + #define __Pyx_PyLong_IsCompact(x) PyUnstable_Long_IsCompact((PyLongObject*) x) + #define __Pyx_PyLong_CompactValue(x) PyUnstable_Long_CompactValue((PyLongObject*) x) + #else + #define __Pyx_PyLong_IsCompact(x) (((PyLongObject*)x)->long_value.lv_tag < (2 << _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_CompactValue(x) ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * (Py_ssize_t) __Pyx_PyLong_Digits(x)[0]) + #endif + typedef Py_ssize_t __Pyx_compact_pylong; + typedef size_t __Pyx_compact_upylong; + #else + #define __Pyx_PyLong_IsNeg(x) (Py_SIZE(x) < 0) + #define __Pyx_PyLong_IsNonNeg(x) (Py_SIZE(x) >= 0) + #define __Pyx_PyLong_IsZero(x) (Py_SIZE(x) == 0) + #define __Pyx_PyLong_IsPos(x) (Py_SIZE(x) > 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) ((Py_SIZE(x) == 0) ? 0 : __Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) __Pyx_sst_abs(Py_SIZE(x)) + #define __Pyx_PyLong_SignedDigitCount(x) Py_SIZE(x) + #define __Pyx_PyLong_IsCompact(x) (Py_SIZE(x) == 0 || Py_SIZE(x) == 1 || Py_SIZE(x) == -1) + #define __Pyx_PyLong_CompactValue(x)\ + ((Py_SIZE(x) == 0) ? (sdigit) 0 : ((Py_SIZE(x) < 0) ? -(sdigit)__Pyx_PyLong_Digits(x)[0] : (sdigit)__Pyx_PyLong_Digits(x)[0])) + typedef sdigit __Pyx_compact_pylong; + typedef digit __Pyx_compact_upylong; + #endif + #if PY_VERSION_HEX >= 0x030C00A5 + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->long_value.ob_digit) + #else + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->ob_digit) + #endif +#endif +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII +#include +static int __Pyx_sys_getdefaultencoding_not_ascii; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + PyObject* ascii_chars_u = NULL; + PyObject* ascii_chars_b = NULL; + const char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + if (strcmp(default_encoding_c, "ascii") == 0) { + __Pyx_sys_getdefaultencoding_not_ascii = 0; + } else { + char ascii_chars[128]; + int c; + for (c = 0; c < 128; c++) { + ascii_chars[c] = (char) c; + } + __Pyx_sys_getdefaultencoding_not_ascii = 1; + ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); + if (!ascii_chars_u) goto bad; + ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); + if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { + PyErr_Format( + PyExc_ValueError, + "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", + default_encoding_c); + goto bad; + } + Py_DECREF(ascii_chars_u); + Py_DECREF(ascii_chars_b); + } + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + Py_XDECREF(ascii_chars_u); + Py_XDECREF(ascii_chars_b); + return -1; +} +#endif +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3 +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL) +#else +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL) +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#include +static char* __PYX_DEFAULT_STRING_ENCODING; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1); + if (!__PYX_DEFAULT_STRING_ENCODING) goto bad; + strcpy(__PYX_DEFAULT_STRING_ENCODING, default_encoding_c); + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + return -1; +} +#endif +#endif + + +/* Test for GCC > 2.95 */ +#if defined(__GNUC__) && (__GNUC__ > 2 || (__GNUC__ == 2 && (__GNUC_MINOR__ > 95))) + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#else /* !__GNUC__ or GCC < 2.95 */ + #define likely(x) (x) + #define unlikely(x) (x) +#endif /* __GNUC__ */ +static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void)ptr; } + +#if !CYTHON_USE_MODULE_STATE +static PyObject *__pyx_m = NULL; +#endif +static int __pyx_lineno; +static int __pyx_clineno = 0; +static const char * __pyx_cfilenm = __FILE__; +static const char *__pyx_filename; + +/* #### Code section: filename_table ### */ + +static const char *__pyx_f[] = { + "common/params_pyx.pyx", + "", +}; +/* #### Code section: utility_code_proto_before_types ### */ +/* ForceInitThreads.proto */ +#ifndef __PYX_FORCE_INIT_THREADS + #define __PYX_FORCE_INIT_THREADS 0 +#endif + +/* NoFastGil.proto */ +#define __Pyx_PyGILState_Ensure PyGILState_Ensure +#define __Pyx_PyGILState_Release PyGILState_Release +#define __Pyx_FastGIL_Remember() +#define __Pyx_FastGIL_Forget() +#define __Pyx_FastGilFuncInit() + +/* #### Code section: numeric_typedefs ### */ +/* #### Code section: complex_type_declarations ### */ +/* #### Code section: type_declarations ### */ + +/*--- Type declarations ---*/ +struct __pyx_obj_6common_10params_pyx_Params; +struct __pyx_obj___Pyx_EnumMeta; + +/* "common/params_pyx.pyx":40 + * pass + * + * cdef class Params: # <<<<<<<<<<<<<< + * cdef c_Params* p + * + */ +struct __pyx_obj_6common_10params_pyx_Params { + PyObject_HEAD + Params *p; +}; + + +/* "EnumBase":16 + * + * @cython.internal + * cdef class __Pyx_EnumMeta(type): # <<<<<<<<<<<<<< + * def __init__(cls, name, parents, dct): + * type.__init__(cls, name, parents, dct) + */ +struct __pyx_obj___Pyx_EnumMeta { + PyHeapTypeObject __pyx_base; +}; + +/* #### Code section: utility_code_proto ### */ + +/* --- Runtime support code (head) --- */ +/* Refnanny.proto */ +#ifndef CYTHON_REFNANNY + #define CYTHON_REFNANNY 0 +#endif +#if CYTHON_REFNANNY + typedef struct { + void (*INCREF)(void*, PyObject*, Py_ssize_t); + void (*DECREF)(void*, PyObject*, Py_ssize_t); + void (*GOTREF)(void*, PyObject*, Py_ssize_t); + void (*GIVEREF)(void*, PyObject*, Py_ssize_t); + void* (*SetupContext)(const char*, Py_ssize_t, const char*); + void (*FinishContext)(void**); + } __Pyx_RefNannyAPIStruct; + static __Pyx_RefNannyAPIStruct *__Pyx_RefNanny = NULL; + static __Pyx_RefNannyAPIStruct *__Pyx_RefNannyImportAPI(const char *modname); + #define __Pyx_RefNannyDeclarations void *__pyx_refnanny = NULL; +#ifdef WITH_THREAD + #define __Pyx_RefNannySetupContext(name, acquire_gil)\ + if (acquire_gil) {\ + PyGILState_STATE __pyx_gilstate_save = PyGILState_Ensure();\ + __pyx_refnanny = __Pyx_RefNanny->SetupContext((name), (__LINE__), (__FILE__));\ + PyGILState_Release(__pyx_gilstate_save);\ + } else {\ + __pyx_refnanny = __Pyx_RefNanny->SetupContext((name), (__LINE__), (__FILE__));\ + } + #define __Pyx_RefNannyFinishContextNogil() {\ + PyGILState_STATE __pyx_gilstate_save = PyGILState_Ensure();\ + __Pyx_RefNannyFinishContext();\ + PyGILState_Release(__pyx_gilstate_save);\ + } +#else + #define __Pyx_RefNannySetupContext(name, acquire_gil)\ + __pyx_refnanny = __Pyx_RefNanny->SetupContext((name), (__LINE__), (__FILE__)) + #define __Pyx_RefNannyFinishContextNogil() __Pyx_RefNannyFinishContext() +#endif + #define __Pyx_RefNannyFinishContextNogil() {\ + PyGILState_STATE __pyx_gilstate_save = PyGILState_Ensure();\ + __Pyx_RefNannyFinishContext();\ + PyGILState_Release(__pyx_gilstate_save);\ + } + #define __Pyx_RefNannyFinishContext()\ + __Pyx_RefNanny->FinishContext(&__pyx_refnanny) + #define __Pyx_INCREF(r) __Pyx_RefNanny->INCREF(__pyx_refnanny, (PyObject *)(r), (__LINE__)) + #define __Pyx_DECREF(r) __Pyx_RefNanny->DECREF(__pyx_refnanny, (PyObject *)(r), (__LINE__)) + #define __Pyx_GOTREF(r) __Pyx_RefNanny->GOTREF(__pyx_refnanny, (PyObject *)(r), (__LINE__)) + #define __Pyx_GIVEREF(r) __Pyx_RefNanny->GIVEREF(__pyx_refnanny, (PyObject *)(r), (__LINE__)) + #define __Pyx_XINCREF(r) do { if((r) == NULL); else {__Pyx_INCREF(r); }} while(0) + #define __Pyx_XDECREF(r) do { if((r) == NULL); else {__Pyx_DECREF(r); }} while(0) + #define __Pyx_XGOTREF(r) do { if((r) == NULL); else {__Pyx_GOTREF(r); }} while(0) + #define __Pyx_XGIVEREF(r) do { if((r) == NULL); else {__Pyx_GIVEREF(r);}} while(0) +#else + #define __Pyx_RefNannyDeclarations + #define __Pyx_RefNannySetupContext(name, acquire_gil) + #define __Pyx_RefNannyFinishContextNogil() + #define __Pyx_RefNannyFinishContext() + #define __Pyx_INCREF(r) Py_INCREF(r) + #define __Pyx_DECREF(r) Py_DECREF(r) + #define __Pyx_GOTREF(r) + #define __Pyx_GIVEREF(r) + #define __Pyx_XINCREF(r) Py_XINCREF(r) + #define __Pyx_XDECREF(r) Py_XDECREF(r) + #define __Pyx_XGOTREF(r) + #define __Pyx_XGIVEREF(r) +#endif +#define __Pyx_Py_XDECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; Py_XDECREF(tmp);\ + } while (0) +#define __Pyx_XDECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_XDECREF(tmp);\ + } while (0) +#define __Pyx_DECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_DECREF(tmp);\ + } while (0) +#define __Pyx_CLEAR(r) do { PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);} while(0) +#define __Pyx_XCLEAR(r) do { if((r) != NULL) {PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);}} while(0) + +/* PyErrExceptionMatches.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_ExceptionMatches(err) __Pyx_PyErr_ExceptionMatchesInState(__pyx_tstate, err) +static CYTHON_INLINE int __Pyx_PyErr_ExceptionMatchesInState(PyThreadState* tstate, PyObject* err); +#else +#define __Pyx_PyErr_ExceptionMatches(err) PyErr_ExceptionMatches(err) +#endif + +/* PyThreadStateGet.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyThreadState_declare PyThreadState *__pyx_tstate; +#define __Pyx_PyThreadState_assign __pyx_tstate = __Pyx_PyThreadState_Current; +#if PY_VERSION_HEX >= 0x030C00A6 +#define __Pyx_PyErr_Occurred() (__pyx_tstate->current_exception != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->current_exception ? (PyObject*) Py_TYPE(__pyx_tstate->current_exception) : (PyObject*) NULL) +#else +#define __Pyx_PyErr_Occurred() (__pyx_tstate->curexc_type != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->curexc_type) +#endif +#else +#define __Pyx_PyThreadState_declare +#define __Pyx_PyThreadState_assign +#define __Pyx_PyErr_Occurred() (PyErr_Occurred() != NULL) +#define __Pyx_PyErr_CurrentExceptionType() PyErr_Occurred() +#endif + +/* PyErrFetchRestore.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_Clear() __Pyx_ErrRestore(NULL, NULL, NULL) +#define __Pyx_ErrRestoreWithState(type, value, tb) __Pyx_ErrRestoreInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) __Pyx_ErrFetchInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) __Pyx_ErrRestoreInState(__pyx_tstate, type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) __Pyx_ErrFetchInState(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A6 +#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) +#else +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#endif +#else +#define __Pyx_PyErr_Clear() PyErr_Clear() +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) +#endif + +/* PyObjectGetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n) +#endif + +/* PyObjectGetAttrStrNoError.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); + +/* GetBuiltinName.proto */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name); + +/* PyDictVersioning.proto */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) +#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ + (version_var) = __PYX_GET_DICT_VERSION(dict);\ + (cache_var) = (value); +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ + (VAR) = __pyx_dict_cached_value;\ + } else {\ + (VAR) = __pyx_dict_cached_value = (LOOKUP);\ + __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ + }\ +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); +#else +#define __PYX_GET_DICT_VERSION(dict) (0) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); +#endif + +/* GetModuleGlobalName.proto */ +#if CYTHON_USE_DICT_VERSIONS +#define __Pyx_GetModuleGlobalName(var, name) do {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + (var) = (likely(__pyx_dict_version == __PYX_GET_DICT_VERSION(__pyx_d))) ?\ + (likely(__pyx_dict_cached_value) ? __Pyx_NewRef(__pyx_dict_cached_value) : __Pyx_GetBuiltinName(name)) :\ + __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +#define __Pyx_GetModuleGlobalNameUncached(var, name) do {\ + PY_UINT64_T __pyx_dict_version;\ + PyObject *__pyx_dict_cached_value;\ + (var) = __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value); +#else +#define __Pyx_GetModuleGlobalName(var, name) (var) = __Pyx__GetModuleGlobalName(name) +#define __Pyx_GetModuleGlobalNameUncached(var, name) (var) = __Pyx__GetModuleGlobalName(name) +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name); +#endif + +/* PyFunctionFastCall.proto */ +#if CYTHON_FAST_PYCALL +#if !CYTHON_VECTORCALL +#define __Pyx_PyFunction_FastCall(func, args, nargs)\ + __Pyx_PyFunction_FastCallDict((func), (args), (nargs), NULL) +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs); +#endif +#define __Pyx_BUILD_ASSERT_EXPR(cond)\ + (sizeof(char [1 - 2*!(cond)]) - 1) +#ifndef Py_MEMBER_SIZE +#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member) +#endif +#if !CYTHON_VECTORCALL +#if PY_VERSION_HEX >= 0x03080000 + #include "frameobject.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif + #define __Pxy_PyFrame_Initialize_Offsets() + #define __Pyx_PyFrame_GetLocalsplus(frame) ((frame)->f_localsplus) +#else + static size_t __pyx_pyframe_localsplus_offset = 0; + #include "frameobject.h" + #define __Pxy_PyFrame_Initialize_Offsets()\ + ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\ + (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus))) + #define __Pyx_PyFrame_GetLocalsplus(frame)\ + (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset)) +#endif +#endif +#endif + +/* PyObjectCall.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw); +#else +#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw) +#endif + +/* PyObjectCallMethO.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg); +#endif + +/* PyObjectFastCall.proto */ +#define __Pyx_PyObject_FastCall(func, args, nargs) __Pyx_PyObject_FastCallDict(func, args, (size_t)(nargs), NULL) +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs); + +/* TupleAndListFromArray.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n); +static CYTHON_INLINE PyObject* __Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n); +#endif + +/* IncludeStringH.proto */ +#include + +/* BytesEquals.proto */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals); + +/* UnicodeEquals.proto */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals); + +/* fastcall.proto */ +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_VARARGS(args, i) PySequence_GetItem(args, i) +#elif CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GET_ITEM(args, i) +#else + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GetItem(args, i) +#endif +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_NewRef_VARARGS(arg) __Pyx_NewRef(arg) + #define __Pyx_Arg_XDECREF_VARARGS(arg) Py_XDECREF(arg) +#else + #define __Pyx_Arg_NewRef_VARARGS(arg) arg + #define __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#define __Pyx_NumKwargs_VARARGS(kwds) PyDict_Size(kwds) +#define __Pyx_KwValues_VARARGS(args, nargs) NULL +#define __Pyx_GetKwValue_VARARGS(kw, kwvalues, s) __Pyx_PyDict_GetItemStrWithError(kw, s) +#define __Pyx_KwargsAsDict_VARARGS(kw, kwvalues) PyDict_Copy(kw) +#if CYTHON_METH_FASTCALL + #define __Pyx_Arg_FASTCALL(args, i) args[i] + #define __Pyx_NumKwargs_FASTCALL(kwds) PyTuple_GET_SIZE(kwds) + #define __Pyx_KwValues_FASTCALL(args, nargs) ((args) + (nargs)) + static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); + #else + #define __Pyx_KwargsAsDict_FASTCALL(kw, kwvalues) _PyStack_AsDict(kwvalues, kw) + #endif + #define __Pyx_Arg_NewRef_FASTCALL(arg) arg /* no-op, __Pyx_Arg_FASTCALL is direct and this needs + to have the same reference counting */ + #define __Pyx_Arg_XDECREF_FASTCALL(arg) +#else + #define __Pyx_Arg_FASTCALL __Pyx_Arg_VARARGS + #define __Pyx_NumKwargs_FASTCALL __Pyx_NumKwargs_VARARGS + #define __Pyx_KwValues_FASTCALL __Pyx_KwValues_VARARGS + #define __Pyx_GetKwValue_FASTCALL __Pyx_GetKwValue_VARARGS + #define __Pyx_KwargsAsDict_FASTCALL __Pyx_KwargsAsDict_VARARGS + #define __Pyx_Arg_NewRef_FASTCALL(arg) __Pyx_Arg_NewRef_VARARGS(arg) + #define __Pyx_Arg_XDECREF_FASTCALL(arg) __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_VARARGS(args, start), stop - start) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_FASTCALL(args, start), stop - start) +#else +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) PyTuple_GetSlice(args, start, stop) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) PyTuple_GetSlice(args, start, stop) +#endif + +/* RaiseArgTupleInvalid.proto */ +static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, + Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); + +/* RaiseDoubleKeywords.proto */ +static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); + +/* ParseKeywords.proto */ +static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args, + const char* function_name); + +/* PyObjectSetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +#define __Pyx_PyObject_DelAttrStr(o,n) __Pyx_PyObject_SetAttrStr(o, n, NULL) +static CYTHON_INLINE int __Pyx_PyObject_SetAttrStr(PyObject* obj, PyObject* attr_name, PyObject* value); +#else +#define __Pyx_PyObject_DelAttrStr(o,n) PyObject_DelAttr(o,n) +#define __Pyx_PyObject_SetAttrStr(o,n,v) PyObject_SetAttr(o,n,v) +#endif + +/* GetItemInt.proto */ +#define __Pyx_GetItemInt(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Fast(o, (Py_ssize_t)i, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\ + __Pyx_GetItemInt_Generic(o, to_py_func(i)))) +#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j); +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, + int is_list, int wraparound, int boundscheck); + +/* PyObjectCallOneArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg); + +/* ObjectGetItem.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key); +#else +#define __Pyx_PyObject_GetItem(obj, key) PyObject_GetItem(obj, key) +#endif + +/* KeywordStringCheck.proto */ +static int __Pyx_CheckKeywordStrings(PyObject *kw, const char* function_name, int kw_allowed); + +/* GetAttr3.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *, PyObject *, PyObject *); + +/* RaiseUnexpectedTypeError.proto */ +static int __Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj); + +/* RaiseException.proto */ +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause); + +/* PySequenceContains.proto */ +static CYTHON_INLINE int __Pyx_PySequence_ContainsTF(PyObject* item, PyObject* seq, int eq) { + int result = PySequence_Contains(seq, item); + return unlikely(result < 0) ? result : (result == (eq == Py_EQ)); +} + +/* Import.proto */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level); + +/* ImportFrom.proto */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name); + +/* GetAttr.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *, PyObject *); + +/* HasAttr.proto */ +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 +#define __Pyx_HasAttr(o, n) PyObject_HasAttrWithError(o, n) +#else +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *, PyObject *); +#endif + +/* MoveIfSupported.proto */ +#if CYTHON_USE_CPP_STD_MOVE + #include + #define __PYX_STD_MOVE_IF_SUPPORTED(x) std::move(x) +#else + #define __PYX_STD_MOVE_IF_SUPPORTED(x) x +#endif + +/* IncludeCppStringH.proto */ +#include + +/* decode_c_string_utf16.proto */ +static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16(const char *s, Py_ssize_t size, const char *errors) { + int byteorder = 0; + return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); +} +static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16LE(const char *s, Py_ssize_t size, const char *errors) { + int byteorder = -1; + return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); +} +static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16BE(const char *s, Py_ssize_t size, const char *errors) { + int byteorder = 1; + return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); +} + +/* decode_c_bytes.proto */ +static CYTHON_INLINE PyObject* __Pyx_decode_c_bytes( + const char* cstring, Py_ssize_t length, Py_ssize_t start, Py_ssize_t stop, + const char* encoding, const char* errors, + PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)); + +/* decode_cpp_string.proto */ +static CYTHON_INLINE PyObject* __Pyx_decode_cpp_string( + std::string cppstring, Py_ssize_t start, Py_ssize_t stop, + const char* encoding, const char* errors, + PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)) { + return __Pyx_decode_c_bytes( + cppstring.data(), cppstring.size(), start, stop, encoding, errors, decode_func); +} + +/* IncludeStructmemberH.proto */ +#include + +/* FixUpExtensionType.proto */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type); +#endif + +/* PyObjectCallNoArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func); + +/* PyObjectGetMethod.proto */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method); + +/* PyObjectCallMethod0.proto */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name); + +/* ValidateBasesTuple.proto */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases); +#endif + +/* PyType_Ready.proto */ +CYTHON_UNUSED static int __Pyx_PyType_Ready(PyTypeObject *t); + +/* PyObject_GenericGetAttrNoDict.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr +#endif + +/* PyObject_GenericGetAttr.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr +#endif + +/* SetupReduce.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce(PyObject* type_obj); +#endif + +/* FetchSharedCythonModule.proto */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void); + +/* FetchCommonType.proto */ +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type); +#else +static PyTypeObject* __Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases); +#endif + +/* PyMethodNew.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + PyObject *typesModule=NULL, *methodType=NULL, *result=NULL; + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + typesModule = PyImport_ImportModule("types"); + if (!typesModule) return NULL; + methodType = PyObject_GetAttrString(typesModule, "MethodType"); + Py_DECREF(typesModule); + if (!methodType) return NULL; + result = PyObject_CallFunctionObjArgs(methodType, func, self, NULL); + Py_DECREF(methodType); + return result; +} +#elif PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + return PyMethod_New(func, self); +} +#else + #define __Pyx_PyMethod_New PyMethod_New +#endif + +/* PyVectorcallFastCallDict.proto */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw); +#endif + +/* CythonFunctionShared.proto */ +#define __Pyx_CyFunction_USED +#define __Pyx_CYFUNCTION_STATICMETHOD 0x01 +#define __Pyx_CYFUNCTION_CLASSMETHOD 0x02 +#define __Pyx_CYFUNCTION_CCLASS 0x04 +#define __Pyx_CYFUNCTION_COROUTINE 0x08 +#define __Pyx_CyFunction_GetClosure(f)\ + (((__pyx_CyFunctionObject *) (f))->func_closure) +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_CyFunction_GetClassObj(f)\ + (((__pyx_CyFunctionObject *) (f))->func_classobj) +#else + #define __Pyx_CyFunction_GetClassObj(f)\ + ((PyObject*) ((PyCMethodObject *) (f))->mm_class) +#endif +#define __Pyx_CyFunction_SetClassObj(f, classobj)\ + __Pyx__CyFunction_SetClassObj((__pyx_CyFunctionObject *) (f), (classobj)) +#define __Pyx_CyFunction_Defaults(type, f)\ + ((type *)(((__pyx_CyFunctionObject *) (f))->defaults)) +#define __Pyx_CyFunction_SetDefaultsGetter(f, g)\ + ((__pyx_CyFunctionObject *) (f))->defaults_getter = (g) +typedef struct { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject_HEAD + PyObject *func; +#elif PY_VERSION_HEX < 0x030900B1 + PyCFunctionObject func; +#else + PyCMethodObject func; +#endif +#if CYTHON_BACKPORT_VECTORCALL + __pyx_vectorcallfunc func_vectorcall; +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_weakreflist; +#endif + PyObject *func_dict; + PyObject *func_name; + PyObject *func_qualname; + PyObject *func_doc; + PyObject *func_globals; + PyObject *func_code; + PyObject *func_closure; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_classobj; +#endif + void *defaults; + int defaults_pyobjects; + size_t defaults_size; + int flags; + PyObject *defaults_tuple; + PyObject *defaults_kwdict; + PyObject *(*defaults_getter)(PyObject *); + PyObject *func_annotations; + PyObject *func_is_coroutine; +} __pyx_CyFunctionObject; +#undef __Pyx_CyOrPyCFunction_Check +#define __Pyx_CyFunction_Check(obj) __Pyx_TypeCheck(obj, __pyx_CyFunctionType) +#define __Pyx_CyOrPyCFunction_Check(obj) __Pyx_TypeCheck2(obj, __pyx_CyFunctionType, &PyCFunction_Type) +#define __Pyx_CyFunction_CheckExact(obj) __Pyx_IS_TYPE(obj, __pyx_CyFunctionType) +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc); +#undef __Pyx_IsSameCFunction +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCyOrCFunction(func, cfunc) +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject* op, PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj); +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *m, + size_t size, + int pyobjects); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *m, + PyObject *tuple); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *m, + PyObject *dict); +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *m, + PyObject *dict); +static int __pyx_CyFunction_init(PyObject *module); +#if CYTHON_METH_FASTCALL +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +#if CYTHON_BACKPORT_VECTORCALL +#define __Pyx_CyFunction_func_vectorcall(f) (((__pyx_CyFunctionObject*)f)->func_vectorcall) +#else +#define __Pyx_CyFunction_func_vectorcall(f) (((PyCFunctionObject*)f)->vectorcall) +#endif +#endif + +/* CythonFunction.proto */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); + +/* Py3UpdateBases.proto */ +static PyObject* __Pyx_PEP560_update_bases(PyObject *bases); + +/* SetNameInClass.proto */ +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && PY_VERSION_HEX < 0x030d0000 +#define __Pyx_SetNameInClass(ns, name, value)\ + (likely(PyDict_CheckExact(ns)) ? _PyDict_SetItem_KnownHash(ns, name, value, ((PyASCIIObject *) name)->hash) : PyObject_SetItem(ns, name, value)) +#elif CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_SetNameInClass(ns, name, value)\ + (likely(PyDict_CheckExact(ns)) ? PyDict_SetItem(ns, name, value) : PyObject_SetItem(ns, name, value)) +#else +#define __Pyx_SetNameInClass(ns, name, value) PyObject_SetItem(ns, name, value) +#endif + +/* SetNewInClass.proto */ +static int __Pyx_SetNewInClass(PyObject *ns, PyObject *name, PyObject *value); + +/* CalculateMetaclass.proto */ +static PyObject *__Pyx_CalculateMetaclass(PyTypeObject *metaclass, PyObject *bases); + +/* PyObjectCall2Args.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2); + +/* PyObjectLookupSpecial.proto */ +#if CYTHON_USE_PYTYPE_LOOKUP && CYTHON_USE_TYPE_SLOTS +#define __Pyx_PyObject_LookupSpecialNoError(obj, attr_name) __Pyx__PyObject_LookupSpecial(obj, attr_name, 0) +#define __Pyx_PyObject_LookupSpecial(obj, attr_name) __Pyx__PyObject_LookupSpecial(obj, attr_name, 1) +static CYTHON_INLINE PyObject* __Pyx__PyObject_LookupSpecial(PyObject* obj, PyObject* attr_name, int with_error); +#else +#define __Pyx_PyObject_LookupSpecialNoError(o,n) __Pyx_PyObject_GetAttrStrNoError(o,n) +#define __Pyx_PyObject_LookupSpecial(o,n) __Pyx_PyObject_GetAttrStr(o,n) +#endif + +/* Py3ClassCreate.proto */ +static PyObject *__Pyx_Py3MetaclassPrepare(PyObject *metaclass, PyObject *bases, PyObject *name, PyObject *qualname, + PyObject *mkw, PyObject *modname, PyObject *doc); +static PyObject *__Pyx_Py3ClassCreate(PyObject *metaclass, PyObject *name, PyObject *bases, PyObject *dict, + PyObject *mkw, int calculate_metaclass, int allow_py2_metaclass); + +/* Globals.proto */ +static PyObject* __Pyx_Globals(void); + +/* dict_getitem_default.proto */ +static PyObject* __Pyx_PyDict_GetItemDefault(PyObject* d, PyObject* key, PyObject* default_value); + +/* UnpackUnboundCMethod.proto */ +typedef struct { + PyObject *type; + PyObject **method_name; + PyCFunction func; + PyObject *method; + int flag; +} __Pyx_CachedCFunction; + +/* CallUnboundCMethod1.proto */ +static PyObject* __Pyx__CallUnboundCMethod1(__Pyx_CachedCFunction* cfunc, PyObject* self, PyObject* arg); +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_CallUnboundCMethod1(__Pyx_CachedCFunction* cfunc, PyObject* self, PyObject* arg); +#else +#define __Pyx_CallUnboundCMethod1(cfunc, self, arg) __Pyx__CallUnboundCMethod1(cfunc, self, arg) +#endif + +/* CallUnboundCMethod2.proto */ +static PyObject* __Pyx__CallUnboundCMethod2(__Pyx_CachedCFunction* cfunc, PyObject* self, PyObject* arg1, PyObject* arg2); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030600B1 +static CYTHON_INLINE PyObject *__Pyx_CallUnboundCMethod2(__Pyx_CachedCFunction *cfunc, PyObject *self, PyObject *arg1, PyObject *arg2); +#else +#define __Pyx_CallUnboundCMethod2(cfunc, self, arg1, arg2) __Pyx__CallUnboundCMethod2(cfunc, self, arg1, arg2) +#endif + +/* CLineInTraceback.proto */ +#ifdef CYTHON_CLINE_IN_TRACEBACK +#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) +#else +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); +#endif + +/* CodeObjectCache.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +typedef struct { + PyCodeObject* code_object; + int code_line; +} __Pyx_CodeObjectCacheEntry; +struct __Pyx_CodeObjectCache { + int count; + int max_count; + __Pyx_CodeObjectCacheEntry* entries; +}; +static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); +static PyCodeObject *__pyx_find_code_object(int code_line); +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); +#endif + +/* AddTraceback.proto */ +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename); + +/* CppExceptionConversion.proto */ +#ifndef __Pyx_CppExn2PyErr +#include +#include +#include +#include +static void __Pyx_CppExn2PyErr() { + try { + if (PyErr_Occurred()) + ; // let the latest Python exn pass through and ignore the current one + else + throw; + } catch (const std::bad_alloc& exn) { + PyErr_SetString(PyExc_MemoryError, exn.what()); + } catch (const std::bad_cast& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::bad_typeid& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::domain_error& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::invalid_argument& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::ios_base::failure& exn) { + PyErr_SetString(PyExc_IOError, exn.what()); + } catch (const std::out_of_range& exn) { + PyErr_SetString(PyExc_IndexError, exn.what()); + } catch (const std::overflow_error& exn) { + PyErr_SetString(PyExc_OverflowError, exn.what()); + } catch (const std::range_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::underflow_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::exception& exn) { + PyErr_SetString(PyExc_RuntimeError, exn.what()); + } + catch (...) + { + PyErr_SetString(PyExc_RuntimeError, "Unknown exception"); + } +} +#endif + +/* GCCDiagnostics.proto */ +#if !defined(__INTEL_COMPILER) && defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) +#define __Pyx_HAS_GCC_DIAGNOSTIC +#endif + +/* CIntFromPy.proto */ +static CYTHON_INLINE enum ParamKeyType __Pyx_PyInt_As_enum__ParamKeyType(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_enum__ParamKeyType(enum ParamKeyType value); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); + +/* FormatTypeName.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +typedef PyObject *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%U" +static __Pyx_TypeName __Pyx_PyType_GetName(PyTypeObject* tp); +#define __Pyx_DECREF_TypeName(obj) Py_XDECREF(obj) +#else +typedef const char *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%.200s" +#define __Pyx_PyType_GetName(tp) ((tp)->tp_name) +#define __Pyx_DECREF_TypeName(obj) +#endif + +/* CIntFromPy.proto */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); + +/* FastTypeChecks.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) __Pyx_IsAnySubtype2(Py_TYPE(obj), (PyTypeObject *)type1, (PyTypeObject *)type2) +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); +#else +#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) (PyObject_TypeCheck(obj, (PyTypeObject *)type1) || PyObject_TypeCheck(obj, (PyTypeObject *)type2)) +#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) +#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) +#endif +#define __Pyx_PyErr_ExceptionMatches2(err1, err2) __Pyx_PyErr_GivenExceptionMatches2(__Pyx_PyErr_CurrentExceptionType(), err1, err2) +#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) + +/* CheckBinaryVersion.proto */ +static unsigned long __Pyx_get_runtime_version(void); +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer); + +/* InitStrings.proto */ +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); + +/* #### Code section: module_declarations ### */ + +/* Module declarations from "libcpp" */ + +/* Module declarations from "libc.string" */ + +/* Module declarations from "libcpp.string" */ + +/* Module declarations from "libcpp.vector" */ + +/* Module declarations from "libcpp.utility" */ + +/* Module declarations from "libcpp.map" */ + +/* Module declarations from "common.params_pyx" */ +static PyObject *__Pyx_OrderedDict = 0; +static PyObject *__Pyx_EnumBase = 0; +static PyObject *__Pyx_FlagBase = 0; +static PyObject *__Pyx_globals = 0; +static PyObject *__Pyx_Enum_enum__space_ParamKeyType_to_py(enum ParamKeyType); /*proto*/ +static std::string __pyx_convert_string_from_py_std__in_string(PyObject *); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyObject_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyUnicode_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyStr_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyBytes_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyByteArray_string_to_py_std__in_string(std::string const &); /*proto*/ +static PyObject *__pyx_convert_vector_to_py_std_3a__3a_string(std::vector const &); /*proto*/ +static PyObject *__pyx_convert_map_to_py_std_3a__3a_string____std_3a__3a_string(std::map const &); /*proto*/ +static PyObject *__pyx_unpickle___Pyx_EnumMeta__set_state(struct __pyx_obj___Pyx_EnumMeta *, PyObject *); /*proto*/ +/* #### Code section: typeinfo ### */ +/* #### Code section: before_global_var ### */ +#define __Pyx_MODULE_NAME "common.params_pyx" +extern int __pyx_module_is_main_common__params_pyx; +int __pyx_module_is_main_common__params_pyx = 0; + +/* Implementation of "common.params_pyx" */ +/* #### Code section: global_var ### */ +static PyObject *__pyx_builtin_KeyboardInterrupt; +static PyObject *__pyx_builtin_TypeError; +static PyObject *__pyx_builtin_MemoryError; +static PyObject *__pyx_builtin_range; +static PyObject *__pyx_builtin_ValueError; +/* #### Code section: string_decls ### */ +static const char __pyx_k_[] = ""; +static const char __pyx_k_d[] = "d"; +static const char __pyx_k_k[] = "k"; +static const char __pyx_k_r[] = "r"; +static const char __pyx_k_v[] = "v"; +static const char __pyx_k__3[] = "."; +static const char __pyx_k_gc[] = "gc"; +static const char __pyx_k_ALL[] = "ALL"; +static const char __pyx_k__47[] = "?"; +static const char __pyx_k_cls[] = "cls"; +static const char __pyx_k_dat[] = "dat"; +static const char __pyx_k_dct[] = "dct"; +static const char __pyx_k_doc[] = "__doc__"; +static const char __pyx_k_get[] = "get"; +static const char __pyx_k_key[] = "key"; +static const char __pyx_k_new[] = "__new__"; +static const char __pyx_k_put[] = "put"; +static const char __pyx_k_res[] = "res"; +static const char __pyx_k_s_s[] = "%s.%s"; +static const char __pyx_k_str[] = "__str__"; +static const char __pyx_k_val[] = "val"; +static const char __pyx_k_dict[] = "__dict__"; +static const char __pyx_k_enum[] = "enum"; +static const char __pyx_k_init[] = "__init__"; +static const char __pyx_k_main[] = "__main__"; +static const char __pyx_k_name[] = "name"; +static const char __pyx_k_repr[] = "__repr__"; +static const char __pyx_k_self[] = "self"; +static const char __pyx_k_test[] = "__test__"; +static const char __pyx_k_block[] = "block"; +static const char __pyx_k_class[] = "__class__"; +static const char __pyx_k_range[] = "range"; +static const char __pyx_k_s_s_d[] = "<%s.%s: %d>"; +static const char __pyx_k_state[] = "state"; +static const char __pyx_k_super[] = "super"; +static const char __pyx_k_value[] = "value"; +static const char __pyx_k_BACKUP[] = "BACKUP"; +static const char __pyx_k_Params[] = "Params"; +static const char __pyx_k_decode[] = "decode"; +static const char __pyx_k_dict_2[] = "_dict"; +static const char __pyx_k_enable[] = "enable"; +static const char __pyx_k_encode[] = "encode"; +static const char __pyx_k_import[] = "__import__"; +static const char __pyx_k_module[] = "__module__"; +static const char __pyx_k_name_2[] = "__name__"; +static const char __pyx_k_pickle[] = "pickle"; +static const char __pyx_k_reduce[] = "__reduce__"; +static const char __pyx_k_remove[] = "remove"; +static const char __pyx_k_update[] = "update"; +static const char __pyx_k_values[] = "values"; +static const char __pyx_k_IntEnum[] = "IntEnum"; +static const char __pyx_k_IntFlag[] = "IntFlag"; +static const char __pyx_k_disable[] = "disable"; +static const char __pyx_k_members[] = "__members__"; +static const char __pyx_k_parents[] = "parents"; +static const char __pyx_k_prepare[] = "__prepare__"; +static const char __pyx_k_tx_type[] = "tx_type"; +static const char __pyx_k_EnumBase[] = "EnumBase"; +static const char __pyx_k_EnumType[] = "EnumType"; +static const char __pyx_k_all_keys[] = "all_keys"; +static const char __pyx_k_encoding[] = "encoding"; +static const char __pyx_k_get_bool[] = "get_bool"; +static const char __pyx_k_getstate[] = "__getstate__"; +static const char __pyx_k_module_2[] = "module"; +static const char __pyx_k_put_bool[] = "put_bool"; +static const char __pyx_k_pyx_type[] = "__pyx_type"; +static const char __pyx_k_qualname[] = "__qualname__"; +static const char __pyx_k_read_all[] = "read_all"; +static const char __pyx_k_set_name[] = "__set_name__"; +static const char __pyx_k_setstate[] = "__setstate__"; +static const char __pyx_k_TypeError[] = "TypeError"; +static const char __pyx_k_check_key[] = "check_key"; +static const char __pyx_k_clear_all[] = "clear_all"; +static const char __pyx_k_dat_bytes[] = "dat_bytes"; +static const char __pyx_k_isenabled[] = "isenabled"; +static const char __pyx_k_key_bytes[] = "key_bytes"; +static const char __pyx_k_metaclass[] = "__metaclass__"; +static const char __pyx_k_pyx_state[] = "__pyx_state"; +static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; +static const char __pyx_k_PERSISTENT[] = "PERSISTENT"; +static const char __pyx_k_Params_get[] = "Params.get"; +static const char __pyx_k_Params_put[] = "Params.put"; +static const char __pyx_k_ValueError[] = "ValueError"; +static const char __pyx_k_pyx_result[] = "__pyx_result"; +static const char __pyx_k_MemoryError[] = "MemoryError"; +static const char __pyx_k_OrderedDict[] = "OrderedDict"; +static const char __pyx_k_PickleError[] = "PickleError"; +static const char __pyx_k_collections[] = "collections"; +static const char __pyx_k_mro_entries[] = "__mro_entries__"; +static const char __pyx_k_ParamKeyType[] = "ParamKeyType"; +static const char __pyx_k_Pyx_EnumBase[] = "__Pyx_EnumBase"; +static const char __pyx_k_Pyx_FlagBase[] = "__Pyx_FlagBase"; +static const char __pyx_k_ensure_bytes[] = "ensure_bytes"; +static const char __pyx_k_is_coroutine[] = "_is_coroutine"; +static const char __pyx_k_member_names[] = "_member_names_"; +static const char __pyx_k_pyx_checksum[] = "__pyx_checksum"; +static const char __pyx_k_stringsource[] = ""; +static const char __pyx_k_use_setstate[] = "use_setstate"; +static const char __pyx_k_Params_remove[] = "Params.remove"; +static const char __pyx_k_class_getitem[] = "__class_getitem__"; +static const char __pyx_k_init_subclass[] = "__init_subclass__"; +static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; +static const char __pyx_k_UnknownKeyName[] = "UnknownKeyName"; +static const char __pyx_k_get_param_path[] = "get_param_path"; +static const char __pyx_k_Params_all_keys[] = "Params.all_keys"; +static const char __pyx_k_Params_get_bool[] = "Params.get_bool"; +static const char __pyx_k_Params_put_bool[] = "Params.put_bool"; +static const char __pyx_k_Params_read_all[] = "Params.read_all"; +static const char __pyx_k_put_nonblocking[] = "put_nonblocking"; +static const char __pyx_k_pyx_PickleError[] = "__pyx_PickleError"; +static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; +static const char __pyx_k_DEVELOPMENT_ONLY[] = "DEVELOPMENT_ONLY"; +static const char __pyx_k_Params_check_key[] = "Params.check_key"; +static const char __pyx_k_Params_clear_all[] = "Params.clear_all"; +static const char __pyx_k_KeyboardInterrupt[] = "KeyboardInterrupt"; +static const char __pyx_k_common_params_pyx[] = "common.params_pyx"; +static const char __pyx_k_Pyx_EnumBase___new[] = "__Pyx_EnumBase.__new__"; +static const char __pyx_k_Pyx_EnumBase___str[] = "__Pyx_EnumBase.__str__"; +static const char __pyx_k_Pyx_FlagBase___new[] = "__Pyx_FlagBase.__new__"; +static const char __pyx_k_Pyx_FlagBase___str[] = "__Pyx_FlagBase.__str__"; +static const char __pyx_k_asyncio_coroutines[] = "asyncio.coroutines"; +static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; +static const char __pyx_k_Pyx_EnumBase___repr[] = "__Pyx_EnumBase.__repr__"; +static const char __pyx_k_Pyx_FlagBase___repr[] = "__Pyx_FlagBase.__repr__"; +static const char __pyx_k_Unknown_enum_value_s[] = "Unknown enum value: '%s'"; +static const char __pyx_k_put_bool_nonblocking[] = "put_bool_nonblocking"; +static const char __pyx_k_Params_get_param_path[] = "Params.get_param_path"; +static const char __pyx_k_common_params_pyx_pyx[] = "common/params_pyx.pyx"; +static const char __pyx_k_CLEAR_ON_MANAGER_START[] = "CLEAR_ON_MANAGER_START"; +static const char __pyx_k_Params___reduce_cython[] = "Params.__reduce_cython__"; +static const char __pyx_k_Params_put_nonblocking[] = "Params.put_nonblocking"; +static const char __pyx_k_Params___setstate_cython[] = "Params.__setstate_cython__"; +static const char __pyx_k_CLEAR_ON_ONROAD_TRANSITION[] = "CLEAR_ON_ONROAD_TRANSITION"; +static const char __pyx_k_CLEAR_ON_OFFROAD_TRANSITION[] = "CLEAR_ON_OFFROAD_TRANSITION"; +static const char __pyx_k_Params_put_bool_nonblocking[] = "Params.put_bool_nonblocking"; +static const char __pyx_k_pyx_unpickle___Pyx_EnumMeta[] = "__pyx_unpickle___Pyx_EnumMeta"; +static const char __pyx_k_Pyx_EnumMeta___reduce_cython[] = "__Pyx_EnumMeta.__reduce_cython__"; +static const char __pyx_k_Pyx_EnumMeta___setstate_cython[] = "__Pyx_EnumMeta.__setstate_cython__"; +static const char __pyx_k_Incompatible_checksums_0x_x_vs_0[] = "Incompatible checksums (0x%x vs (0xe3b0c44, 0xda39a3e, 0xd41d8cd) = ())"; +static const char __pyx_k_no_default___reduce___due_to_non[] = "no default __reduce__ due to non-trivial __cinit__"; +/* #### Code section: decls ### */ +static int __pyx_pf_8EnumBase_14__Pyx_EnumMeta___init__(struct __pyx_obj___Pyx_EnumMeta *__pyx_v_cls, PyObject *__pyx_v_name, PyObject *__pyx_v_parents, PyObject *__pyx_v_dct); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumMeta_2__iter__(struct __pyx_obj___Pyx_EnumMeta *__pyx_v_cls); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumMeta_4__getitem__(struct __pyx_obj___Pyx_EnumMeta *__pyx_v_cls, PyObject *__pyx_v_name); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumMeta_6__reduce_cython__(struct __pyx_obj___Pyx_EnumMeta *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumMeta_8__setstate_cython__(struct __pyx_obj___Pyx_EnumMeta *__pyx_v_self, PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumBase___new__(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_cls, PyObject *__pyx_v_value, PyObject *__pyx_v_name); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumBase_2__repr__(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumBase_4__str__(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_FlagBase___new__(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_cls, PyObject *__pyx_v_value, PyObject *__pyx_v_name); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_FlagBase_2__repr__(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_FlagBase_4__str__(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_8EnumBase___pyx_unpickle___Pyx_EnumMeta(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v___pyx_type, long __pyx_v___pyx_checksum, PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_pf_6common_10params_pyx_ensure_bytes(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_v); /* proto */ +static int __pyx_pf_6common_10params_pyx_6Params___cinit__(struct __pyx_obj_6common_10params_pyx_Params *__pyx_v_self, PyObject *__pyx_v_d); /* proto */ +static void __pyx_pf_6common_10params_pyx_6Params_2__dealloc__(struct __pyx_obj_6common_10params_pyx_Params *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_6common_10params_pyx_6Params_4clear_all(struct __pyx_obj_6common_10params_pyx_Params *__pyx_v_self, PyObject *__pyx_v_tx_type); /* proto */ +static PyObject *__pyx_pf_6common_10params_pyx_6Params_6check_key(struct __pyx_obj_6common_10params_pyx_Params *__pyx_v_self, PyObject *__pyx_v_key); /* proto */ +static PyObject *__pyx_pf_6common_10params_pyx_6Params_8get(struct __pyx_obj_6common_10params_pyx_Params *__pyx_v_self, PyObject *__pyx_v_key, bool __pyx_v_block, PyObject *__pyx_v_encoding); /* proto */ +static PyObject *__pyx_pf_6common_10params_pyx_6Params_10get_bool(struct __pyx_obj_6common_10params_pyx_Params *__pyx_v_self, PyObject *__pyx_v_key, bool __pyx_v_block); /* proto */ +static PyObject *__pyx_pf_6common_10params_pyx_6Params_12put(struct __pyx_obj_6common_10params_pyx_Params *__pyx_v_self, PyObject *__pyx_v_key, PyObject *__pyx_v_dat); /* proto */ +static PyObject *__pyx_pf_6common_10params_pyx_6Params_14put_bool(struct __pyx_obj_6common_10params_pyx_Params *__pyx_v_self, PyObject *__pyx_v_key, bool __pyx_v_val); /* proto */ +static PyObject *__pyx_pf_6common_10params_pyx_6Params_16put_nonblocking(struct __pyx_obj_6common_10params_pyx_Params *__pyx_v_self, PyObject *__pyx_v_key, PyObject *__pyx_v_dat); /* proto */ +static PyObject *__pyx_pf_6common_10params_pyx_6Params_18put_bool_nonblocking(struct __pyx_obj_6common_10params_pyx_Params *__pyx_v_self, PyObject *__pyx_v_key, bool __pyx_v_val); /* proto */ +static PyObject *__pyx_pf_6common_10params_pyx_6Params_20remove(struct __pyx_obj_6common_10params_pyx_Params *__pyx_v_self, PyObject *__pyx_v_key); /* proto */ +static PyObject *__pyx_pf_6common_10params_pyx_6Params_22get_param_path(struct __pyx_obj_6common_10params_pyx_Params *__pyx_v_self, PyObject *__pyx_v_key); /* proto */ +static PyObject *__pyx_pf_6common_10params_pyx_6Params_24all_keys(struct __pyx_obj_6common_10params_pyx_Params *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_6common_10params_pyx_6Params_26read_all(struct __pyx_obj_6common_10params_pyx_Params *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_6common_10params_pyx_6Params_28__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_6common_10params_pyx_Params *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_6common_10params_pyx_6Params_30__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_6common_10params_pyx_Params *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_tp_new_6common_10params_pyx_Params(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static __Pyx_CachedCFunction __pyx_umethod_PyDict_Type_get = {0, 0, 0, 0, 0}; +/* #### Code section: late_includes ### */ +/* #### Code section: module_state ### */ +typedef struct { + PyObject *__pyx_d; + PyObject *__pyx_b; + PyObject *__pyx_cython_runtime; + PyObject *__pyx_empty_tuple; + PyObject *__pyx_empty_bytes; + PyObject *__pyx_empty_unicode; + #ifdef __Pyx_CyFunction_USED + PyTypeObject *__pyx_CyFunctionType; + #endif + #ifdef __Pyx_FusedFunction_USED + PyTypeObject *__pyx_FusedFunctionType; + #endif + #ifdef __Pyx_Generator_USED + PyTypeObject *__pyx_GeneratorType; + #endif + #ifdef __Pyx_IterableCoroutine_USED + PyTypeObject *__pyx_IterableCoroutineType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineAwaitType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineType; + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + PyObject *__pyx_type_6common_10params_pyx_Params; + PyObject *__Pyx_EnumMeta; + #endif + PyTypeObject *__pyx_ptype_6common_10params_pyx_Params; + PyTypeObject *__pyx_ptype___Pyx_EnumMeta; + PyObject *__pyx_kp_s_; + PyObject *__pyx_kp_u_; + PyObject *__pyx_n_s_ALL; + PyObject *__pyx_n_s_BACKUP; + PyObject *__pyx_n_s_CLEAR_ON_MANAGER_START; + PyObject *__pyx_n_s_CLEAR_ON_OFFROAD_TRANSITION; + PyObject *__pyx_n_s_CLEAR_ON_ONROAD_TRANSITION; + PyObject *__pyx_n_s_DEVELOPMENT_ONLY; + PyObject *__pyx_n_s_EnumBase; + PyObject *__pyx_n_s_EnumType; + PyObject *__pyx_kp_s_Incompatible_checksums_0x_x_vs_0; + PyObject *__pyx_n_s_IntEnum; + PyObject *__pyx_n_s_IntFlag; + PyObject *__pyx_n_s_KeyboardInterrupt; + PyObject *__pyx_n_s_MemoryError; + PyObject *__pyx_n_s_OrderedDict; + PyObject *__pyx_n_s_PERSISTENT; + PyObject *__pyx_n_s_ParamKeyType; + PyObject *__pyx_n_s_Params; + PyObject *__pyx_n_s_Params___reduce_cython; + PyObject *__pyx_n_s_Params___setstate_cython; + PyObject *__pyx_n_s_Params_all_keys; + PyObject *__pyx_n_s_Params_check_key; + PyObject *__pyx_n_s_Params_clear_all; + PyObject *__pyx_n_s_Params_get; + PyObject *__pyx_n_s_Params_get_bool; + PyObject *__pyx_n_s_Params_get_param_path; + PyObject *__pyx_n_s_Params_put; + PyObject *__pyx_n_s_Params_put_bool; + PyObject *__pyx_n_s_Params_put_bool_nonblocking; + PyObject *__pyx_n_s_Params_put_nonblocking; + PyObject 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PyObject *__pyx_n_s_reduce_cython; + PyObject *__pyx_n_s_reduce_ex; + PyObject *__pyx_n_s_remove; + PyObject *__pyx_n_s_repr; + PyObject *__pyx_n_s_res; + PyObject *__pyx_kp_s_s_s; + PyObject *__pyx_kp_s_s_s_d; + PyObject *__pyx_n_s_self; + PyObject *__pyx_n_s_set_name; + PyObject *__pyx_n_s_setstate; + PyObject *__pyx_n_s_setstate_cython; + PyObject *__pyx_n_s_state; + PyObject *__pyx_n_s_str; + PyObject *__pyx_kp_s_stringsource; + PyObject *__pyx_n_s_super; + PyObject *__pyx_n_s_test; + PyObject *__pyx_n_s_tx_type; + PyObject *__pyx_n_s_update; + PyObject *__pyx_n_s_use_setstate; + PyObject *__pyx_n_s_v; + PyObject *__pyx_n_s_val; + PyObject *__pyx_n_s_value; + PyObject *__pyx_n_s_values; + PyObject *__pyx_int_222419149; + PyObject *__pyx_int_228825662; + PyObject *__pyx_int_238750788; + PyObject *__pyx_k__4; + PyObject *__pyx_tuple__2; + PyObject *__pyx_tuple__5; + PyObject *__pyx_tuple__7; + PyObject *__pyx_tuple__9; + PyObject *__pyx_tuple__11; + PyObject *__pyx_tuple__12; + PyObject *__pyx_tuple__18; + PyObject *__pyx_tuple__20; + PyObject *__pyx_tuple__22; + PyObject *__pyx_tuple__24; + PyObject *__pyx_tuple__26; + PyObject *__pyx_tuple__28; + PyObject *__pyx_tuple__29; + PyObject *__pyx_tuple__31; + PyObject *__pyx_tuple__32; + PyObject *__pyx_tuple__34; + PyObject *__pyx_tuple__38; + PyObject *__pyx_tuple__40; + PyObject *__pyx_tuple__42; + PyObject *__pyx_codeobj__6; + PyObject *__pyx_codeobj__8; + PyObject *__pyx_codeobj__10; + PyObject *__pyx_codeobj__13; + PyObject *__pyx_codeobj__14; + PyObject *__pyx_codeobj__15; + PyObject *__pyx_codeobj__16; + PyObject *__pyx_codeobj__17; + PyObject *__pyx_codeobj__19; + PyObject *__pyx_codeobj__21; + PyObject *__pyx_codeobj__23; + PyObject *__pyx_codeobj__25; + PyObject *__pyx_codeobj__27; + PyObject *__pyx_codeobj__30; + PyObject *__pyx_codeobj__33; + PyObject *__pyx_codeobj__35; + PyObject *__pyx_codeobj__36; + PyObject *__pyx_codeobj__37; + PyObject *__pyx_codeobj__39; + PyObject *__pyx_codeobj__41; + PyObject *__pyx_codeobj__43; + PyObject *__pyx_codeobj__44; + PyObject *__pyx_codeobj__45; + PyObject *__pyx_codeobj__46; +} __pyx_mstate; + +#if CYTHON_USE_MODULE_STATE +#ifdef __cplusplus +namespace { + extern struct PyModuleDef __pyx_moduledef; +} /* anonymous namespace */ +#else +static struct PyModuleDef __pyx_moduledef; +#endif + +#define __pyx_mstate(o) ((__pyx_mstate *)__Pyx_PyModule_GetState(o)) + +#define __pyx_mstate_global (__pyx_mstate(PyState_FindModule(&__pyx_moduledef))) + +#define __pyx_m (PyState_FindModule(&__pyx_moduledef)) +#else +static __pyx_mstate __pyx_mstate_global_static = +#ifdef __cplusplus + {}; +#else + {0}; +#endif +static __pyx_mstate *__pyx_mstate_global = &__pyx_mstate_global_static; +#endif +/* #### Code section: module_state_clear ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_clear(PyObject *m) { + __pyx_mstate *clear_module_state = __pyx_mstate(m); + if (!clear_module_state) return 0; + Py_CLEAR(clear_module_state->__pyx_d); + Py_CLEAR(clear_module_state->__pyx_b); + Py_CLEAR(clear_module_state->__pyx_cython_runtime); + Py_CLEAR(clear_module_state->__pyx_empty_tuple); + Py_CLEAR(clear_module_state->__pyx_empty_bytes); + Py_CLEAR(clear_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_CLEAR(clear_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_CLEAR(clear_module_state->__pyx_FusedFunctionType); + #endif + Py_CLEAR(clear_module_state->__pyx_ptype_6common_10params_pyx_Params); + Py_CLEAR(clear_module_state->__pyx_type_6common_10params_pyx_Params); + Py_CLEAR(clear_module_state->__pyx_ptype___Pyx_EnumMeta); + Py_CLEAR(clear_module_state->__Pyx_EnumMeta); + Py_CLEAR(clear_module_state->__pyx_kp_s_); + Py_CLEAR(clear_module_state->__pyx_kp_u_); + Py_CLEAR(clear_module_state->__pyx_n_s_ALL); + Py_CLEAR(clear_module_state->__pyx_n_s_BACKUP); + Py_CLEAR(clear_module_state->__pyx_n_s_CLEAR_ON_MANAGER_START); + Py_CLEAR(clear_module_state->__pyx_n_s_CLEAR_ON_OFFROAD_TRANSITION); + Py_CLEAR(clear_module_state->__pyx_n_s_CLEAR_ON_ONROAD_TRANSITION); + Py_CLEAR(clear_module_state->__pyx_n_s_DEVELOPMENT_ONLY); + Py_CLEAR(clear_module_state->__pyx_n_s_EnumBase); + Py_CLEAR(clear_module_state->__pyx_n_s_EnumType); + Py_CLEAR(clear_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0); + Py_CLEAR(clear_module_state->__pyx_n_s_IntEnum); + Py_CLEAR(clear_module_state->__pyx_n_s_IntFlag); + Py_CLEAR(clear_module_state->__pyx_n_s_KeyboardInterrupt); + Py_CLEAR(clear_module_state->__pyx_n_s_MemoryError); + Py_CLEAR(clear_module_state->__pyx_n_s_OrderedDict); + Py_CLEAR(clear_module_state->__pyx_n_s_PERSISTENT); + Py_CLEAR(clear_module_state->__pyx_n_s_ParamKeyType); + Py_CLEAR(clear_module_state->__pyx_n_s_Params); + Py_CLEAR(clear_module_state->__pyx_n_s_Params___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_Params___setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_Params_all_keys); + Py_CLEAR(clear_module_state->__pyx_n_s_Params_check_key); + Py_CLEAR(clear_module_state->__pyx_n_s_Params_clear_all); + Py_CLEAR(clear_module_state->__pyx_n_s_Params_get); + Py_CLEAR(clear_module_state->__pyx_n_s_Params_get_bool); + Py_CLEAR(clear_module_state->__pyx_n_s_Params_get_param_path); + Py_CLEAR(clear_module_state->__pyx_n_s_Params_put); + Py_CLEAR(clear_module_state->__pyx_n_s_Params_put_bool); + Py_CLEAR(clear_module_state->__pyx_n_s_Params_put_bool_nonblocking); + Py_CLEAR(clear_module_state->__pyx_n_s_Params_put_nonblocking); + Py_CLEAR(clear_module_state->__pyx_n_s_Params_read_all); + Py_CLEAR(clear_module_state->__pyx_n_s_Params_remove); + Py_CLEAR(clear_module_state->__pyx_n_s_PickleError); + Py_CLEAR(clear_module_state->__pyx_n_s_Pyx_EnumBase); + Py_CLEAR(clear_module_state->__pyx_n_s_Pyx_EnumBase___new); + Py_CLEAR(clear_module_state->__pyx_n_s_Pyx_EnumBase___repr); + Py_CLEAR(clear_module_state->__pyx_n_s_Pyx_EnumBase___str); + Py_CLEAR(clear_module_state->__pyx_n_s_Pyx_EnumMeta___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_Pyx_EnumMeta___setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_Pyx_FlagBase); + Py_CLEAR(clear_module_state->__pyx_n_s_Pyx_FlagBase___new); + Py_CLEAR(clear_module_state->__pyx_n_s_Pyx_FlagBase___repr); + Py_CLEAR(clear_module_state->__pyx_n_s_Pyx_FlagBase___str); + Py_CLEAR(clear_module_state->__pyx_n_s_TypeError); + Py_CLEAR(clear_module_state->__pyx_n_s_UnknownKeyName); + Py_CLEAR(clear_module_state->__pyx_kp_s_Unknown_enum_value_s); + Py_CLEAR(clear_module_state->__pyx_n_s_ValueError); + Py_CLEAR(clear_module_state->__pyx_kp_u__3); + Py_CLEAR(clear_module_state->__pyx_n_s__47); + Py_CLEAR(clear_module_state->__pyx_n_s_all_keys); + Py_CLEAR(clear_module_state->__pyx_n_s_asyncio_coroutines); + Py_CLEAR(clear_module_state->__pyx_n_s_block); + Py_CLEAR(clear_module_state->__pyx_n_s_check_key); + Py_CLEAR(clear_module_state->__pyx_n_s_class); + Py_CLEAR(clear_module_state->__pyx_n_s_class_getitem); + Py_CLEAR(clear_module_state->__pyx_n_s_clear_all); + Py_CLEAR(clear_module_state->__pyx_n_s_cline_in_traceback); + Py_CLEAR(clear_module_state->__pyx_n_s_cls); + Py_CLEAR(clear_module_state->__pyx_n_s_collections); + Py_CLEAR(clear_module_state->__pyx_kp_s_common_params_pyx); + Py_CLEAR(clear_module_state->__pyx_kp_s_common_params_pyx_pyx); + Py_CLEAR(clear_module_state->__pyx_n_s_d); + Py_CLEAR(clear_module_state->__pyx_n_s_dat); + Py_CLEAR(clear_module_state->__pyx_n_s_dat_bytes); + Py_CLEAR(clear_module_state->__pyx_n_s_dct); + Py_CLEAR(clear_module_state->__pyx_n_s_decode); + Py_CLEAR(clear_module_state->__pyx_n_s_dict); + Py_CLEAR(clear_module_state->__pyx_n_s_dict_2); + Py_CLEAR(clear_module_state->__pyx_kp_u_disable); + Py_CLEAR(clear_module_state->__pyx_n_s_doc); + Py_CLEAR(clear_module_state->__pyx_kp_u_enable); + Py_CLEAR(clear_module_state->__pyx_n_s_encode); + Py_CLEAR(clear_module_state->__pyx_n_s_encoding); + Py_CLEAR(clear_module_state->__pyx_n_s_ensure_bytes); + Py_CLEAR(clear_module_state->__pyx_n_s_enum); + Py_CLEAR(clear_module_state->__pyx_kp_u_gc); + Py_CLEAR(clear_module_state->__pyx_n_s_get); + Py_CLEAR(clear_module_state->__pyx_n_s_get_bool); + Py_CLEAR(clear_module_state->__pyx_n_s_get_param_path); + Py_CLEAR(clear_module_state->__pyx_n_s_getstate); + Py_CLEAR(clear_module_state->__pyx_n_s_import); + Py_CLEAR(clear_module_state->__pyx_n_s_init); + Py_CLEAR(clear_module_state->__pyx_n_s_init_subclass); + Py_CLEAR(clear_module_state->__pyx_n_s_is_coroutine); + Py_CLEAR(clear_module_state->__pyx_kp_u_isenabled); + Py_CLEAR(clear_module_state->__pyx_n_s_k); + Py_CLEAR(clear_module_state->__pyx_n_s_key); + Py_CLEAR(clear_module_state->__pyx_n_s_key_bytes); + Py_CLEAR(clear_module_state->__pyx_n_s_main); + Py_CLEAR(clear_module_state->__pyx_n_s_member_names); + Py_CLEAR(clear_module_state->__pyx_n_s_members); + Py_CLEAR(clear_module_state->__pyx_n_s_metaclass); + Py_CLEAR(clear_module_state->__pyx_n_s_module); + Py_CLEAR(clear_module_state->__pyx_n_s_module_2); + Py_CLEAR(clear_module_state->__pyx_n_s_mro_entries); + Py_CLEAR(clear_module_state->__pyx_n_s_name); + Py_CLEAR(clear_module_state->__pyx_n_s_name_2); + Py_CLEAR(clear_module_state->__pyx_n_s_new); + Py_CLEAR(clear_module_state->__pyx_kp_s_no_default___reduce___due_to_non); + Py_CLEAR(clear_module_state->__pyx_n_s_parents); + Py_CLEAR(clear_module_state->__pyx_n_s_pickle); + Py_CLEAR(clear_module_state->__pyx_n_s_prepare); + Py_CLEAR(clear_module_state->__pyx_n_s_put); + Py_CLEAR(clear_module_state->__pyx_n_s_put_bool); + Py_CLEAR(clear_module_state->__pyx_n_s_put_bool_nonblocking); + Py_CLEAR(clear_module_state->__pyx_n_s_put_nonblocking); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_PickleError); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_checksum); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_result); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_state); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_type); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_unpickle___Pyx_EnumMeta); + Py_CLEAR(clear_module_state->__pyx_n_s_qualname); + Py_CLEAR(clear_module_state->__pyx_n_s_r); + Py_CLEAR(clear_module_state->__pyx_n_s_range); + Py_CLEAR(clear_module_state->__pyx_n_s_read_all); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_ex); + Py_CLEAR(clear_module_state->__pyx_n_s_remove); + Py_CLEAR(clear_module_state->__pyx_n_s_repr); + Py_CLEAR(clear_module_state->__pyx_n_s_res); + Py_CLEAR(clear_module_state->__pyx_kp_s_s_s); + Py_CLEAR(clear_module_state->__pyx_kp_s_s_s_d); + Py_CLEAR(clear_module_state->__pyx_n_s_self); + Py_CLEAR(clear_module_state->__pyx_n_s_set_name); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_state); + Py_CLEAR(clear_module_state->__pyx_n_s_str); + Py_CLEAR(clear_module_state->__pyx_kp_s_stringsource); + Py_CLEAR(clear_module_state->__pyx_n_s_super); + Py_CLEAR(clear_module_state->__pyx_n_s_test); + Py_CLEAR(clear_module_state->__pyx_n_s_tx_type); + Py_CLEAR(clear_module_state->__pyx_n_s_update); + Py_CLEAR(clear_module_state->__pyx_n_s_use_setstate); + Py_CLEAR(clear_module_state->__pyx_n_s_v); + Py_CLEAR(clear_module_state->__pyx_n_s_val); + Py_CLEAR(clear_module_state->__pyx_n_s_value); + Py_CLEAR(clear_module_state->__pyx_n_s_values); + Py_CLEAR(clear_module_state->__pyx_int_222419149); + Py_CLEAR(clear_module_state->__pyx_int_228825662); + Py_CLEAR(clear_module_state->__pyx_int_238750788); + Py_CLEAR(clear_module_state->__pyx_k__4); + Py_CLEAR(clear_module_state->__pyx_tuple__2); + Py_CLEAR(clear_module_state->__pyx_tuple__5); + Py_CLEAR(clear_module_state->__pyx_tuple__7); + Py_CLEAR(clear_module_state->__pyx_tuple__9); + Py_CLEAR(clear_module_state->__pyx_tuple__11); + Py_CLEAR(clear_module_state->__pyx_tuple__12); + Py_CLEAR(clear_module_state->__pyx_tuple__18); + Py_CLEAR(clear_module_state->__pyx_tuple__20); + Py_CLEAR(clear_module_state->__pyx_tuple__22); + Py_CLEAR(clear_module_state->__pyx_tuple__24); + Py_CLEAR(clear_module_state->__pyx_tuple__26); + Py_CLEAR(clear_module_state->__pyx_tuple__28); + Py_CLEAR(clear_module_state->__pyx_tuple__29); + Py_CLEAR(clear_module_state->__pyx_tuple__31); + Py_CLEAR(clear_module_state->__pyx_tuple__32); + Py_CLEAR(clear_module_state->__pyx_tuple__34); + Py_CLEAR(clear_module_state->__pyx_tuple__38); + Py_CLEAR(clear_module_state->__pyx_tuple__40); + Py_CLEAR(clear_module_state->__pyx_tuple__42); + Py_CLEAR(clear_module_state->__pyx_codeobj__6); + Py_CLEAR(clear_module_state->__pyx_codeobj__8); + Py_CLEAR(clear_module_state->__pyx_codeobj__10); + Py_CLEAR(clear_module_state->__pyx_codeobj__13); + Py_CLEAR(clear_module_state->__pyx_codeobj__14); + Py_CLEAR(clear_module_state->__pyx_codeobj__15); + Py_CLEAR(clear_module_state->__pyx_codeobj__16); + Py_CLEAR(clear_module_state->__pyx_codeobj__17); + Py_CLEAR(clear_module_state->__pyx_codeobj__19); + Py_CLEAR(clear_module_state->__pyx_codeobj__21); + Py_CLEAR(clear_module_state->__pyx_codeobj__23); + Py_CLEAR(clear_module_state->__pyx_codeobj__25); + Py_CLEAR(clear_module_state->__pyx_codeobj__27); + Py_CLEAR(clear_module_state->__pyx_codeobj__30); + Py_CLEAR(clear_module_state->__pyx_codeobj__33); + Py_CLEAR(clear_module_state->__pyx_codeobj__35); + Py_CLEAR(clear_module_state->__pyx_codeobj__36); + Py_CLEAR(clear_module_state->__pyx_codeobj__37); + Py_CLEAR(clear_module_state->__pyx_codeobj__39); + Py_CLEAR(clear_module_state->__pyx_codeobj__41); + Py_CLEAR(clear_module_state->__pyx_codeobj__43); + Py_CLEAR(clear_module_state->__pyx_codeobj__44); + Py_CLEAR(clear_module_state->__pyx_codeobj__45); + Py_CLEAR(clear_module_state->__pyx_codeobj__46); + return 0; +} +#endif +/* #### Code section: module_state_traverse ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_traverse(PyObject *m, visitproc visit, void *arg) { + __pyx_mstate *traverse_module_state = __pyx_mstate(m); + if (!traverse_module_state) return 0; + Py_VISIT(traverse_module_state->__pyx_d); + Py_VISIT(traverse_module_state->__pyx_b); + Py_VISIT(traverse_module_state->__pyx_cython_runtime); + Py_VISIT(traverse_module_state->__pyx_empty_tuple); + Py_VISIT(traverse_module_state->__pyx_empty_bytes); + Py_VISIT(traverse_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_VISIT(traverse_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_VISIT(traverse_module_state->__pyx_FusedFunctionType); + #endif + Py_VISIT(traverse_module_state->__pyx_ptype_6common_10params_pyx_Params); + Py_VISIT(traverse_module_state->__pyx_type_6common_10params_pyx_Params); + Py_VISIT(traverse_module_state->__pyx_ptype___Pyx_EnumMeta); + Py_VISIT(traverse_module_state->__Pyx_EnumMeta); + Py_VISIT(traverse_module_state->__pyx_kp_s_); + Py_VISIT(traverse_module_state->__pyx_kp_u_); + Py_VISIT(traverse_module_state->__pyx_n_s_ALL); + Py_VISIT(traverse_module_state->__pyx_n_s_BACKUP); + Py_VISIT(traverse_module_state->__pyx_n_s_CLEAR_ON_MANAGER_START); + Py_VISIT(traverse_module_state->__pyx_n_s_CLEAR_ON_OFFROAD_TRANSITION); + Py_VISIT(traverse_module_state->__pyx_n_s_CLEAR_ON_ONROAD_TRANSITION); + Py_VISIT(traverse_module_state->__pyx_n_s_DEVELOPMENT_ONLY); + Py_VISIT(traverse_module_state->__pyx_n_s_EnumBase); + Py_VISIT(traverse_module_state->__pyx_n_s_EnumType); + Py_VISIT(traverse_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0); + Py_VISIT(traverse_module_state->__pyx_n_s_IntEnum); + Py_VISIT(traverse_module_state->__pyx_n_s_IntFlag); + Py_VISIT(traverse_module_state->__pyx_n_s_KeyboardInterrupt); + Py_VISIT(traverse_module_state->__pyx_n_s_MemoryError); + Py_VISIT(traverse_module_state->__pyx_n_s_OrderedDict); + Py_VISIT(traverse_module_state->__pyx_n_s_PERSISTENT); + Py_VISIT(traverse_module_state->__pyx_n_s_ParamKeyType); + Py_VISIT(traverse_module_state->__pyx_n_s_Params); + Py_VISIT(traverse_module_state->__pyx_n_s_Params___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_Params___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_Params_all_keys); + Py_VISIT(traverse_module_state->__pyx_n_s_Params_check_key); + Py_VISIT(traverse_module_state->__pyx_n_s_Params_clear_all); + Py_VISIT(traverse_module_state->__pyx_n_s_Params_get); + Py_VISIT(traverse_module_state->__pyx_n_s_Params_get_bool); + Py_VISIT(traverse_module_state->__pyx_n_s_Params_get_param_path); + Py_VISIT(traverse_module_state->__pyx_n_s_Params_put); + Py_VISIT(traverse_module_state->__pyx_n_s_Params_put_bool); + Py_VISIT(traverse_module_state->__pyx_n_s_Params_put_bool_nonblocking); + Py_VISIT(traverse_module_state->__pyx_n_s_Params_put_nonblocking); + Py_VISIT(traverse_module_state->__pyx_n_s_Params_read_all); + Py_VISIT(traverse_module_state->__pyx_n_s_Params_remove); + Py_VISIT(traverse_module_state->__pyx_n_s_PickleError); + Py_VISIT(traverse_module_state->__pyx_n_s_Pyx_EnumBase); + Py_VISIT(traverse_module_state->__pyx_n_s_Pyx_EnumBase___new); + Py_VISIT(traverse_module_state->__pyx_n_s_Pyx_EnumBase___repr); + Py_VISIT(traverse_module_state->__pyx_n_s_Pyx_EnumBase___str); + Py_VISIT(traverse_module_state->__pyx_n_s_Pyx_EnumMeta___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_Pyx_EnumMeta___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_Pyx_FlagBase); + Py_VISIT(traverse_module_state->__pyx_n_s_Pyx_FlagBase___new); + Py_VISIT(traverse_module_state->__pyx_n_s_Pyx_FlagBase___repr); + Py_VISIT(traverse_module_state->__pyx_n_s_Pyx_FlagBase___str); + Py_VISIT(traverse_module_state->__pyx_n_s_TypeError); + Py_VISIT(traverse_module_state->__pyx_n_s_UnknownKeyName); + Py_VISIT(traverse_module_state->__pyx_kp_s_Unknown_enum_value_s); + Py_VISIT(traverse_module_state->__pyx_n_s_ValueError); + Py_VISIT(traverse_module_state->__pyx_kp_u__3); + Py_VISIT(traverse_module_state->__pyx_n_s__47); + Py_VISIT(traverse_module_state->__pyx_n_s_all_keys); + Py_VISIT(traverse_module_state->__pyx_n_s_asyncio_coroutines); + Py_VISIT(traverse_module_state->__pyx_n_s_block); + Py_VISIT(traverse_module_state->__pyx_n_s_check_key); + Py_VISIT(traverse_module_state->__pyx_n_s_class); + Py_VISIT(traverse_module_state->__pyx_n_s_class_getitem); + Py_VISIT(traverse_module_state->__pyx_n_s_clear_all); + Py_VISIT(traverse_module_state->__pyx_n_s_cline_in_traceback); + Py_VISIT(traverse_module_state->__pyx_n_s_cls); + Py_VISIT(traverse_module_state->__pyx_n_s_collections); + Py_VISIT(traverse_module_state->__pyx_kp_s_common_params_pyx); + Py_VISIT(traverse_module_state->__pyx_kp_s_common_params_pyx_pyx); + Py_VISIT(traverse_module_state->__pyx_n_s_d); + Py_VISIT(traverse_module_state->__pyx_n_s_dat); + Py_VISIT(traverse_module_state->__pyx_n_s_dat_bytes); + Py_VISIT(traverse_module_state->__pyx_n_s_dct); + Py_VISIT(traverse_module_state->__pyx_n_s_decode); + Py_VISIT(traverse_module_state->__pyx_n_s_dict); + Py_VISIT(traverse_module_state->__pyx_n_s_dict_2); + Py_VISIT(traverse_module_state->__pyx_kp_u_disable); + Py_VISIT(traverse_module_state->__pyx_n_s_doc); + Py_VISIT(traverse_module_state->__pyx_kp_u_enable); + Py_VISIT(traverse_module_state->__pyx_n_s_encode); + Py_VISIT(traverse_module_state->__pyx_n_s_encoding); + Py_VISIT(traverse_module_state->__pyx_n_s_ensure_bytes); + Py_VISIT(traverse_module_state->__pyx_n_s_enum); + Py_VISIT(traverse_module_state->__pyx_kp_u_gc); + Py_VISIT(traverse_module_state->__pyx_n_s_get); + Py_VISIT(traverse_module_state->__pyx_n_s_get_bool); + Py_VISIT(traverse_module_state->__pyx_n_s_get_param_path); + Py_VISIT(traverse_module_state->__pyx_n_s_getstate); + Py_VISIT(traverse_module_state->__pyx_n_s_import); + Py_VISIT(traverse_module_state->__pyx_n_s_init); + Py_VISIT(traverse_module_state->__pyx_n_s_init_subclass); + Py_VISIT(traverse_module_state->__pyx_n_s_is_coroutine); + Py_VISIT(traverse_module_state->__pyx_kp_u_isenabled); + Py_VISIT(traverse_module_state->__pyx_n_s_k); + Py_VISIT(traverse_module_state->__pyx_n_s_key); + Py_VISIT(traverse_module_state->__pyx_n_s_key_bytes); + Py_VISIT(traverse_module_state->__pyx_n_s_main); + Py_VISIT(traverse_module_state->__pyx_n_s_member_names); + Py_VISIT(traverse_module_state->__pyx_n_s_members); + Py_VISIT(traverse_module_state->__pyx_n_s_metaclass); + Py_VISIT(traverse_module_state->__pyx_n_s_module); + Py_VISIT(traverse_module_state->__pyx_n_s_module_2); + Py_VISIT(traverse_module_state->__pyx_n_s_mro_entries); + Py_VISIT(traverse_module_state->__pyx_n_s_name); + Py_VISIT(traverse_module_state->__pyx_n_s_name_2); + Py_VISIT(traverse_module_state->__pyx_n_s_new); + Py_VISIT(traverse_module_state->__pyx_kp_s_no_default___reduce___due_to_non); + Py_VISIT(traverse_module_state->__pyx_n_s_parents); + Py_VISIT(traverse_module_state->__pyx_n_s_pickle); + Py_VISIT(traverse_module_state->__pyx_n_s_prepare); + Py_VISIT(traverse_module_state->__pyx_n_s_put); + Py_VISIT(traverse_module_state->__pyx_n_s_put_bool); + Py_VISIT(traverse_module_state->__pyx_n_s_put_bool_nonblocking); + Py_VISIT(traverse_module_state->__pyx_n_s_put_nonblocking); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_PickleError); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_checksum); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_result); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_state); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_type); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_unpickle___Pyx_EnumMeta); + Py_VISIT(traverse_module_state->__pyx_n_s_qualname); + Py_VISIT(traverse_module_state->__pyx_n_s_r); + Py_VISIT(traverse_module_state->__pyx_n_s_range); + Py_VISIT(traverse_module_state->__pyx_n_s_read_all); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_ex); + Py_VISIT(traverse_module_state->__pyx_n_s_remove); + Py_VISIT(traverse_module_state->__pyx_n_s_repr); + Py_VISIT(traverse_module_state->__pyx_n_s_res); + Py_VISIT(traverse_module_state->__pyx_kp_s_s_s); + Py_VISIT(traverse_module_state->__pyx_kp_s_s_s_d); + Py_VISIT(traverse_module_state->__pyx_n_s_self); + Py_VISIT(traverse_module_state->__pyx_n_s_set_name); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_state); + Py_VISIT(traverse_module_state->__pyx_n_s_str); + Py_VISIT(traverse_module_state->__pyx_kp_s_stringsource); + Py_VISIT(traverse_module_state->__pyx_n_s_super); + Py_VISIT(traverse_module_state->__pyx_n_s_test); + Py_VISIT(traverse_module_state->__pyx_n_s_tx_type); + Py_VISIT(traverse_module_state->__pyx_n_s_update); + Py_VISIT(traverse_module_state->__pyx_n_s_use_setstate); + Py_VISIT(traverse_module_state->__pyx_n_s_v); + Py_VISIT(traverse_module_state->__pyx_n_s_val); + Py_VISIT(traverse_module_state->__pyx_n_s_value); + Py_VISIT(traverse_module_state->__pyx_n_s_values); + Py_VISIT(traverse_module_state->__pyx_int_222419149); + Py_VISIT(traverse_module_state->__pyx_int_228825662); + Py_VISIT(traverse_module_state->__pyx_int_238750788); + Py_VISIT(traverse_module_state->__pyx_k__4); + Py_VISIT(traverse_module_state->__pyx_tuple__2); + Py_VISIT(traverse_module_state->__pyx_tuple__5); + Py_VISIT(traverse_module_state->__pyx_tuple__7); + Py_VISIT(traverse_module_state->__pyx_tuple__9); + Py_VISIT(traverse_module_state->__pyx_tuple__11); + Py_VISIT(traverse_module_state->__pyx_tuple__12); + Py_VISIT(traverse_module_state->__pyx_tuple__18); + Py_VISIT(traverse_module_state->__pyx_tuple__20); + Py_VISIT(traverse_module_state->__pyx_tuple__22); + Py_VISIT(traverse_module_state->__pyx_tuple__24); + Py_VISIT(traverse_module_state->__pyx_tuple__26); + Py_VISIT(traverse_module_state->__pyx_tuple__28); + Py_VISIT(traverse_module_state->__pyx_tuple__29); + Py_VISIT(traverse_module_state->__pyx_tuple__31); + Py_VISIT(traverse_module_state->__pyx_tuple__32); + Py_VISIT(traverse_module_state->__pyx_tuple__34); + Py_VISIT(traverse_module_state->__pyx_tuple__38); + Py_VISIT(traverse_module_state->__pyx_tuple__40); + Py_VISIT(traverse_module_state->__pyx_tuple__42); + Py_VISIT(traverse_module_state->__pyx_codeobj__6); + Py_VISIT(traverse_module_state->__pyx_codeobj__8); + Py_VISIT(traverse_module_state->__pyx_codeobj__10); + Py_VISIT(traverse_module_state->__pyx_codeobj__13); + Py_VISIT(traverse_module_state->__pyx_codeobj__14); + Py_VISIT(traverse_module_state->__pyx_codeobj__15); + Py_VISIT(traverse_module_state->__pyx_codeobj__16); + Py_VISIT(traverse_module_state->__pyx_codeobj__17); + Py_VISIT(traverse_module_state->__pyx_codeobj__19); + Py_VISIT(traverse_module_state->__pyx_codeobj__21); + Py_VISIT(traverse_module_state->__pyx_codeobj__23); + Py_VISIT(traverse_module_state->__pyx_codeobj__25); + Py_VISIT(traverse_module_state->__pyx_codeobj__27); + Py_VISIT(traverse_module_state->__pyx_codeobj__30); + Py_VISIT(traverse_module_state->__pyx_codeobj__33); + Py_VISIT(traverse_module_state->__pyx_codeobj__35); + Py_VISIT(traverse_module_state->__pyx_codeobj__36); + Py_VISIT(traverse_module_state->__pyx_codeobj__37); + Py_VISIT(traverse_module_state->__pyx_codeobj__39); + Py_VISIT(traverse_module_state->__pyx_codeobj__41); + Py_VISIT(traverse_module_state->__pyx_codeobj__43); + Py_VISIT(traverse_module_state->__pyx_codeobj__44); + Py_VISIT(traverse_module_state->__pyx_codeobj__45); + Py_VISIT(traverse_module_state->__pyx_codeobj__46); + return 0; +} +#endif +/* #### Code section: module_state_defines ### */ +#define __pyx_d __pyx_mstate_global->__pyx_d +#define __pyx_b __pyx_mstate_global->__pyx_b +#define __pyx_cython_runtime __pyx_mstate_global->__pyx_cython_runtime +#define __pyx_empty_tuple __pyx_mstate_global->__pyx_empty_tuple +#define __pyx_empty_bytes __pyx_mstate_global->__pyx_empty_bytes +#define __pyx_empty_unicode __pyx_mstate_global->__pyx_empty_unicode +#ifdef __Pyx_CyFunction_USED +#define __pyx_CyFunctionType __pyx_mstate_global->__pyx_CyFunctionType +#endif +#ifdef __Pyx_FusedFunction_USED +#define __pyx_FusedFunctionType __pyx_mstate_global->__pyx_FusedFunctionType +#endif +#ifdef __Pyx_Generator_USED +#define __pyx_GeneratorType __pyx_mstate_global->__pyx_GeneratorType +#endif +#ifdef __Pyx_IterableCoroutine_USED +#define __pyx_IterableCoroutineType __pyx_mstate_global->__pyx_IterableCoroutineType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineAwaitType __pyx_mstate_global->__pyx_CoroutineAwaitType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineType __pyx_mstate_global->__pyx_CoroutineType +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#define __pyx_type_6common_10params_pyx_Params __pyx_mstate_global->__pyx_type_6common_10params_pyx_Params +#define __Pyx_EnumMeta __pyx_mstate_global->__Pyx_EnumMeta +#endif +#define __pyx_ptype_6common_10params_pyx_Params __pyx_mstate_global->__pyx_ptype_6common_10params_pyx_Params +#define __pyx_ptype___Pyx_EnumMeta __pyx_mstate_global->__pyx_ptype___Pyx_EnumMeta +#define __pyx_kp_s_ __pyx_mstate_global->__pyx_kp_s_ +#define __pyx_kp_u_ __pyx_mstate_global->__pyx_kp_u_ +#define __pyx_n_s_ALL __pyx_mstate_global->__pyx_n_s_ALL +#define __pyx_n_s_BACKUP __pyx_mstate_global->__pyx_n_s_BACKUP +#define __pyx_n_s_CLEAR_ON_MANAGER_START __pyx_mstate_global->__pyx_n_s_CLEAR_ON_MANAGER_START +#define __pyx_n_s_CLEAR_ON_OFFROAD_TRANSITION __pyx_mstate_global->__pyx_n_s_CLEAR_ON_OFFROAD_TRANSITION +#define __pyx_n_s_CLEAR_ON_ONROAD_TRANSITION __pyx_mstate_global->__pyx_n_s_CLEAR_ON_ONROAD_TRANSITION +#define __pyx_n_s_DEVELOPMENT_ONLY __pyx_mstate_global->__pyx_n_s_DEVELOPMENT_ONLY +#define __pyx_n_s_EnumBase __pyx_mstate_global->__pyx_n_s_EnumBase +#define __pyx_n_s_EnumType __pyx_mstate_global->__pyx_n_s_EnumType +#define __pyx_kp_s_Incompatible_checksums_0x_x_vs_0 __pyx_mstate_global->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0 +#define __pyx_n_s_IntEnum __pyx_mstate_global->__pyx_n_s_IntEnum +#define __pyx_n_s_IntFlag __pyx_mstate_global->__pyx_n_s_IntFlag +#define __pyx_n_s_KeyboardInterrupt __pyx_mstate_global->__pyx_n_s_KeyboardInterrupt +#define __pyx_n_s_MemoryError __pyx_mstate_global->__pyx_n_s_MemoryError +#define __pyx_n_s_OrderedDict __pyx_mstate_global->__pyx_n_s_OrderedDict +#define __pyx_n_s_PERSISTENT __pyx_mstate_global->__pyx_n_s_PERSISTENT +#define __pyx_n_s_ParamKeyType __pyx_mstate_global->__pyx_n_s_ParamKeyType +#define __pyx_n_s_Params __pyx_mstate_global->__pyx_n_s_Params +#define __pyx_n_s_Params___reduce_cython __pyx_mstate_global->__pyx_n_s_Params___reduce_cython +#define __pyx_n_s_Params___setstate_cython __pyx_mstate_global->__pyx_n_s_Params___setstate_cython +#define __pyx_n_s_Params_all_keys __pyx_mstate_global->__pyx_n_s_Params_all_keys +#define __pyx_n_s_Params_check_key __pyx_mstate_global->__pyx_n_s_Params_check_key +#define __pyx_n_s_Params_clear_all __pyx_mstate_global->__pyx_n_s_Params_clear_all +#define __pyx_n_s_Params_get __pyx_mstate_global->__pyx_n_s_Params_get +#define __pyx_n_s_Params_get_bool __pyx_mstate_global->__pyx_n_s_Params_get_bool +#define __pyx_n_s_Params_get_param_path __pyx_mstate_global->__pyx_n_s_Params_get_param_path +#define __pyx_n_s_Params_put __pyx_mstate_global->__pyx_n_s_Params_put +#define __pyx_n_s_Params_put_bool __pyx_mstate_global->__pyx_n_s_Params_put_bool +#define __pyx_n_s_Params_put_bool_nonblocking __pyx_mstate_global->__pyx_n_s_Params_put_bool_nonblocking +#define __pyx_n_s_Params_put_nonblocking __pyx_mstate_global->__pyx_n_s_Params_put_nonblocking +#define __pyx_n_s_Params_read_all __pyx_mstate_global->__pyx_n_s_Params_read_all +#define __pyx_n_s_Params_remove __pyx_mstate_global->__pyx_n_s_Params_remove +#define __pyx_n_s_PickleError __pyx_mstate_global->__pyx_n_s_PickleError +#define __pyx_n_s_Pyx_EnumBase __pyx_mstate_global->__pyx_n_s_Pyx_EnumBase +#define __pyx_n_s_Pyx_EnumBase___new __pyx_mstate_global->__pyx_n_s_Pyx_EnumBase___new +#define __pyx_n_s_Pyx_EnumBase___repr __pyx_mstate_global->__pyx_n_s_Pyx_EnumBase___repr +#define __pyx_n_s_Pyx_EnumBase___str __pyx_mstate_global->__pyx_n_s_Pyx_EnumBase___str +#define __pyx_n_s_Pyx_EnumMeta___reduce_cython __pyx_mstate_global->__pyx_n_s_Pyx_EnumMeta___reduce_cython +#define __pyx_n_s_Pyx_EnumMeta___setstate_cython __pyx_mstate_global->__pyx_n_s_Pyx_EnumMeta___setstate_cython +#define __pyx_n_s_Pyx_FlagBase __pyx_mstate_global->__pyx_n_s_Pyx_FlagBase +#define __pyx_n_s_Pyx_FlagBase___new __pyx_mstate_global->__pyx_n_s_Pyx_FlagBase___new +#define __pyx_n_s_Pyx_FlagBase___repr __pyx_mstate_global->__pyx_n_s_Pyx_FlagBase___repr +#define __pyx_n_s_Pyx_FlagBase___str __pyx_mstate_global->__pyx_n_s_Pyx_FlagBase___str +#define __pyx_n_s_TypeError __pyx_mstate_global->__pyx_n_s_TypeError +#define __pyx_n_s_UnknownKeyName __pyx_mstate_global->__pyx_n_s_UnknownKeyName +#define __pyx_kp_s_Unknown_enum_value_s __pyx_mstate_global->__pyx_kp_s_Unknown_enum_value_s +#define __pyx_n_s_ValueError __pyx_mstate_global->__pyx_n_s_ValueError +#define __pyx_kp_u__3 __pyx_mstate_global->__pyx_kp_u__3 +#define __pyx_n_s__47 __pyx_mstate_global->__pyx_n_s__47 +#define __pyx_n_s_all_keys __pyx_mstate_global->__pyx_n_s_all_keys +#define __pyx_n_s_asyncio_coroutines __pyx_mstate_global->__pyx_n_s_asyncio_coroutines +#define __pyx_n_s_block __pyx_mstate_global->__pyx_n_s_block +#define __pyx_n_s_check_key __pyx_mstate_global->__pyx_n_s_check_key +#define __pyx_n_s_class __pyx_mstate_global->__pyx_n_s_class +#define __pyx_n_s_class_getitem __pyx_mstate_global->__pyx_n_s_class_getitem +#define __pyx_n_s_clear_all __pyx_mstate_global->__pyx_n_s_clear_all +#define __pyx_n_s_cline_in_traceback __pyx_mstate_global->__pyx_n_s_cline_in_traceback +#define __pyx_n_s_cls __pyx_mstate_global->__pyx_n_s_cls +#define __pyx_n_s_collections __pyx_mstate_global->__pyx_n_s_collections +#define __pyx_kp_s_common_params_pyx __pyx_mstate_global->__pyx_kp_s_common_params_pyx +#define __pyx_kp_s_common_params_pyx_pyx __pyx_mstate_global->__pyx_kp_s_common_params_pyx_pyx +#define __pyx_n_s_d __pyx_mstate_global->__pyx_n_s_d +#define __pyx_n_s_dat __pyx_mstate_global->__pyx_n_s_dat +#define __pyx_n_s_dat_bytes __pyx_mstate_global->__pyx_n_s_dat_bytes +#define __pyx_n_s_dct __pyx_mstate_global->__pyx_n_s_dct +#define __pyx_n_s_decode __pyx_mstate_global->__pyx_n_s_decode +#define __pyx_n_s_dict __pyx_mstate_global->__pyx_n_s_dict +#define __pyx_n_s_dict_2 __pyx_mstate_global->__pyx_n_s_dict_2 +#define __pyx_kp_u_disable __pyx_mstate_global->__pyx_kp_u_disable +#define __pyx_n_s_doc __pyx_mstate_global->__pyx_n_s_doc +#define __pyx_kp_u_enable __pyx_mstate_global->__pyx_kp_u_enable +#define __pyx_n_s_encode __pyx_mstate_global->__pyx_n_s_encode +#define __pyx_n_s_encoding __pyx_mstate_global->__pyx_n_s_encoding +#define __pyx_n_s_ensure_bytes __pyx_mstate_global->__pyx_n_s_ensure_bytes +#define __pyx_n_s_enum __pyx_mstate_global->__pyx_n_s_enum +#define __pyx_kp_u_gc __pyx_mstate_global->__pyx_kp_u_gc +#define __pyx_n_s_get __pyx_mstate_global->__pyx_n_s_get +#define __pyx_n_s_get_bool __pyx_mstate_global->__pyx_n_s_get_bool +#define __pyx_n_s_get_param_path __pyx_mstate_global->__pyx_n_s_get_param_path +#define __pyx_n_s_getstate __pyx_mstate_global->__pyx_n_s_getstate +#define __pyx_n_s_import __pyx_mstate_global->__pyx_n_s_import +#define __pyx_n_s_init __pyx_mstate_global->__pyx_n_s_init +#define __pyx_n_s_init_subclass __pyx_mstate_global->__pyx_n_s_init_subclass +#define __pyx_n_s_is_coroutine __pyx_mstate_global->__pyx_n_s_is_coroutine +#define __pyx_kp_u_isenabled __pyx_mstate_global->__pyx_kp_u_isenabled +#define __pyx_n_s_k __pyx_mstate_global->__pyx_n_s_k +#define __pyx_n_s_key __pyx_mstate_global->__pyx_n_s_key +#define __pyx_n_s_key_bytes __pyx_mstate_global->__pyx_n_s_key_bytes +#define __pyx_n_s_main __pyx_mstate_global->__pyx_n_s_main +#define __pyx_n_s_member_names __pyx_mstate_global->__pyx_n_s_member_names +#define __pyx_n_s_members __pyx_mstate_global->__pyx_n_s_members +#define __pyx_n_s_metaclass __pyx_mstate_global->__pyx_n_s_metaclass +#define __pyx_n_s_module __pyx_mstate_global->__pyx_n_s_module +#define __pyx_n_s_module_2 __pyx_mstate_global->__pyx_n_s_module_2 +#define __pyx_n_s_mro_entries __pyx_mstate_global->__pyx_n_s_mro_entries +#define __pyx_n_s_name __pyx_mstate_global->__pyx_n_s_name +#define __pyx_n_s_name_2 __pyx_mstate_global->__pyx_n_s_name_2 +#define __pyx_n_s_new __pyx_mstate_global->__pyx_n_s_new +#define __pyx_kp_s_no_default___reduce___due_to_non __pyx_mstate_global->__pyx_kp_s_no_default___reduce___due_to_non +#define __pyx_n_s_parents __pyx_mstate_global->__pyx_n_s_parents +#define __pyx_n_s_pickle __pyx_mstate_global->__pyx_n_s_pickle +#define __pyx_n_s_prepare __pyx_mstate_global->__pyx_n_s_prepare +#define __pyx_n_s_put __pyx_mstate_global->__pyx_n_s_put +#define __pyx_n_s_put_bool __pyx_mstate_global->__pyx_n_s_put_bool +#define __pyx_n_s_put_bool_nonblocking __pyx_mstate_global->__pyx_n_s_put_bool_nonblocking +#define __pyx_n_s_put_nonblocking __pyx_mstate_global->__pyx_n_s_put_nonblocking +#define __pyx_n_s_pyx_PickleError __pyx_mstate_global->__pyx_n_s_pyx_PickleError +#define __pyx_n_s_pyx_checksum __pyx_mstate_global->__pyx_n_s_pyx_checksum +#define __pyx_n_s_pyx_result __pyx_mstate_global->__pyx_n_s_pyx_result +#define __pyx_n_s_pyx_state __pyx_mstate_global->__pyx_n_s_pyx_state +#define __pyx_n_s_pyx_type __pyx_mstate_global->__pyx_n_s_pyx_type +#define __pyx_n_s_pyx_unpickle___Pyx_EnumMeta __pyx_mstate_global->__pyx_n_s_pyx_unpickle___Pyx_EnumMeta +#define __pyx_n_s_qualname __pyx_mstate_global->__pyx_n_s_qualname +#define __pyx_n_s_r __pyx_mstate_global->__pyx_n_s_r +#define __pyx_n_s_range __pyx_mstate_global->__pyx_n_s_range +#define __pyx_n_s_read_all __pyx_mstate_global->__pyx_n_s_read_all +#define __pyx_n_s_reduce __pyx_mstate_global->__pyx_n_s_reduce +#define __pyx_n_s_reduce_cython __pyx_mstate_global->__pyx_n_s_reduce_cython +#define __pyx_n_s_reduce_ex __pyx_mstate_global->__pyx_n_s_reduce_ex +#define __pyx_n_s_remove __pyx_mstate_global->__pyx_n_s_remove +#define __pyx_n_s_repr __pyx_mstate_global->__pyx_n_s_repr +#define __pyx_n_s_res __pyx_mstate_global->__pyx_n_s_res +#define __pyx_kp_s_s_s __pyx_mstate_global->__pyx_kp_s_s_s +#define __pyx_kp_s_s_s_d __pyx_mstate_global->__pyx_kp_s_s_s_d +#define __pyx_n_s_self __pyx_mstate_global->__pyx_n_s_self +#define __pyx_n_s_set_name __pyx_mstate_global->__pyx_n_s_set_name +#define __pyx_n_s_setstate __pyx_mstate_global->__pyx_n_s_setstate +#define __pyx_n_s_setstate_cython __pyx_mstate_global->__pyx_n_s_setstate_cython +#define __pyx_n_s_state __pyx_mstate_global->__pyx_n_s_state +#define __pyx_n_s_str __pyx_mstate_global->__pyx_n_s_str +#define __pyx_kp_s_stringsource __pyx_mstate_global->__pyx_kp_s_stringsource +#define __pyx_n_s_super __pyx_mstate_global->__pyx_n_s_super +#define __pyx_n_s_test __pyx_mstate_global->__pyx_n_s_test +#define __pyx_n_s_tx_type __pyx_mstate_global->__pyx_n_s_tx_type +#define __pyx_n_s_update __pyx_mstate_global->__pyx_n_s_update +#define __pyx_n_s_use_setstate __pyx_mstate_global->__pyx_n_s_use_setstate +#define __pyx_n_s_v __pyx_mstate_global->__pyx_n_s_v +#define __pyx_n_s_val __pyx_mstate_global->__pyx_n_s_val +#define __pyx_n_s_value __pyx_mstate_global->__pyx_n_s_value +#define __pyx_n_s_values __pyx_mstate_global->__pyx_n_s_values +#define __pyx_int_222419149 __pyx_mstate_global->__pyx_int_222419149 +#define __pyx_int_228825662 __pyx_mstate_global->__pyx_int_228825662 +#define __pyx_int_238750788 __pyx_mstate_global->__pyx_int_238750788 +#define __pyx_k__4 __pyx_mstate_global->__pyx_k__4 +#define __pyx_tuple__2 __pyx_mstate_global->__pyx_tuple__2 +#define __pyx_tuple__5 __pyx_mstate_global->__pyx_tuple__5 +#define __pyx_tuple__7 __pyx_mstate_global->__pyx_tuple__7 +#define __pyx_tuple__9 __pyx_mstate_global->__pyx_tuple__9 +#define __pyx_tuple__11 __pyx_mstate_global->__pyx_tuple__11 +#define __pyx_tuple__12 __pyx_mstate_global->__pyx_tuple__12 +#define __pyx_tuple__18 __pyx_mstate_global->__pyx_tuple__18 +#define __pyx_tuple__20 __pyx_mstate_global->__pyx_tuple__20 +#define __pyx_tuple__22 __pyx_mstate_global->__pyx_tuple__22 +#define __pyx_tuple__24 __pyx_mstate_global->__pyx_tuple__24 +#define __pyx_tuple__26 __pyx_mstate_global->__pyx_tuple__26 +#define __pyx_tuple__28 __pyx_mstate_global->__pyx_tuple__28 +#define __pyx_tuple__29 __pyx_mstate_global->__pyx_tuple__29 +#define __pyx_tuple__31 __pyx_mstate_global->__pyx_tuple__31 +#define __pyx_tuple__32 __pyx_mstate_global->__pyx_tuple__32 +#define __pyx_tuple__34 __pyx_mstate_global->__pyx_tuple__34 +#define __pyx_tuple__38 __pyx_mstate_global->__pyx_tuple__38 +#define __pyx_tuple__40 __pyx_mstate_global->__pyx_tuple__40 +#define __pyx_tuple__42 __pyx_mstate_global->__pyx_tuple__42 +#define __pyx_codeobj__6 __pyx_mstate_global->__pyx_codeobj__6 +#define __pyx_codeobj__8 __pyx_mstate_global->__pyx_codeobj__8 +#define __pyx_codeobj__10 __pyx_mstate_global->__pyx_codeobj__10 +#define __pyx_codeobj__13 __pyx_mstate_global->__pyx_codeobj__13 +#define __pyx_codeobj__14 __pyx_mstate_global->__pyx_codeobj__14 +#define __pyx_codeobj__15 __pyx_mstate_global->__pyx_codeobj__15 +#define __pyx_codeobj__16 __pyx_mstate_global->__pyx_codeobj__16 +#define __pyx_codeobj__17 __pyx_mstate_global->__pyx_codeobj__17 +#define __pyx_codeobj__19 __pyx_mstate_global->__pyx_codeobj__19 +#define __pyx_codeobj__21 __pyx_mstate_global->__pyx_codeobj__21 +#define __pyx_codeobj__23 __pyx_mstate_global->__pyx_codeobj__23 +#define __pyx_codeobj__25 __pyx_mstate_global->__pyx_codeobj__25 +#define __pyx_codeobj__27 __pyx_mstate_global->__pyx_codeobj__27 +#define __pyx_codeobj__30 __pyx_mstate_global->__pyx_codeobj__30 +#define __pyx_codeobj__33 __pyx_mstate_global->__pyx_codeobj__33 +#define __pyx_codeobj__35 __pyx_mstate_global->__pyx_codeobj__35 +#define __pyx_codeobj__36 __pyx_mstate_global->__pyx_codeobj__36 +#define __pyx_codeobj__37 __pyx_mstate_global->__pyx_codeobj__37 +#define __pyx_codeobj__39 __pyx_mstate_global->__pyx_codeobj__39 +#define __pyx_codeobj__41 __pyx_mstate_global->__pyx_codeobj__41 +#define __pyx_codeobj__43 __pyx_mstate_global->__pyx_codeobj__43 +#define __pyx_codeobj__44 __pyx_mstate_global->__pyx_codeobj__44 +#define __pyx_codeobj__45 __pyx_mstate_global->__pyx_codeobj__45 +#define __pyx_codeobj__46 __pyx_mstate_global->__pyx_codeobj__46 +/* #### Code section: module_code ### */ + +/* "EnumTypeToPy":132 + * + * @cname("__Pyx_Enum_enum__space_ParamKeyType_to_py") + * cdef __Pyx_Enum_enum__space_ParamKeyType_to_py(ParamKeyType c_val): # <<<<<<<<<<<<<< + * cdef object __pyx_enum + * + */ + +static PyObject *__Pyx_Enum_enum__space_ParamKeyType_to_py(enum ParamKeyType __pyx_v_c_val) { + PyObject *__pyx_v___pyx_enum = 0; + int __pyx_v_underlying_c_val; + PyObject *__pyx_r = NULL; + __Pyx_RefNannyDeclarations + PyObject *__pyx_t_1 = NULL; + int __pyx_t_2; + PyObject *__pyx_t_3 = NULL; + PyObject *__pyx_t_4 = NULL; + PyObject *__pyx_t_5 = NULL; + int __pyx_t_6; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + __Pyx_RefNannySetupContext("__Pyx_Enum_enum__space_ParamKeyType_to_py", 1); + + /* "EnumTypeToPy":137 + * + * + * __pyx_enum = ParamKeyType # <<<<<<<<<<<<<< + * + * if 0: + */ + __Pyx_GetModuleGlobalName(__pyx_t_1, __pyx_n_s_ParamKeyType); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 137, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_1); + __pyx_v___pyx_enum = __pyx_t_1; + __pyx_t_1 = 0; + + /* "EnumTypeToPy":141 + * if 0: + * pass + * elif c_val == ParamKeyType.PERSISTENT: # <<<<<<<<<<<<<< + * return __pyx_enum.PERSISTENT + * elif c_val == ParamKeyType.CLEAR_ON_MANAGER_START: + */ + __pyx_t_2 = (__pyx_v_c_val == PERSISTENT); + if (__pyx_t_2) { + + /* "EnumTypeToPy":142 + * pass + * elif c_val == ParamKeyType.PERSISTENT: + * return __pyx_enum.PERSISTENT # <<<<<<<<<<<<<< + * elif c_val == ParamKeyType.CLEAR_ON_MANAGER_START: + * return __pyx_enum.CLEAR_ON_MANAGER_START + */ + __Pyx_XDECREF(__pyx_r); + __pyx_t_1 = __Pyx_PyObject_GetAttrStr(__pyx_v___pyx_enum, __pyx_n_s_PERSISTENT); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 142, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_1); + __pyx_r = __pyx_t_1; + __pyx_t_1 = 0; + goto __pyx_L0; + + /* "EnumTypeToPy":141 + * if 0: + * pass + * elif c_val == ParamKeyType.PERSISTENT: # 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tp_dealloc, destructor) == __pyx_tp_dealloc_6common_10params_pyx_Params) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_pw_6common_10params_pyx_6Params_3__dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static PyMethodDef __pyx_methods_6common_10params_pyx_Params[] = { + {"clear_all", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_6common_10params_pyx_6Params_5clear_all, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"check_key", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_6common_10params_pyx_6Params_7check_key, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"get", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_6common_10params_pyx_6Params_9get, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"get_bool", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_6common_10params_pyx_6Params_11get_bool, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"put", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_6common_10params_pyx_6Params_13put, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_6common_10params_pyx_6Params_12put}, + {"put_bool", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_6common_10params_pyx_6Params_15put_bool, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"put_nonblocking", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_6common_10params_pyx_6Params_17put_nonblocking, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"put_bool_nonblocking", 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__Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_6common_10params_pyx_6Params_31__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_6common_10params_pyx_Params_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_6common_10params_pyx_Params}, + {Py_tp_methods, (void *)__pyx_methods_6common_10params_pyx_Params}, + {Py_tp_new, (void *)__pyx_tp_new_6common_10params_pyx_Params}, + {0, 0}, +}; +static PyType_Spec __pyx_type_6common_10params_pyx_Params_spec = { + "common.params_pyx.Params", + sizeof(struct __pyx_obj_6common_10params_pyx_Params), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, + __pyx_type_6common_10params_pyx_Params_slots, +}; +#else + +static PyTypeObject __pyx_type_6common_10params_pyx_Params = { + PyVarObject_HEAD_INIT(0, 0) + 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+ goto done; + } + k = &PyTuple_GET_ITEM(kwtuple, 0); + pos = i = 0; + while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { + Py_INCREF(k[i]); + Py_INCREF(k[i+1]); + i += 2; + } + nk = i / 2; + } + else { + kwtuple = NULL; + k = NULL; + } + closure = PyFunction_GET_CLOSURE(func); +#if PY_MAJOR_VERSION >= 3 + kwdefs = PyFunction_GET_KW_DEFAULTS(func); +#endif + if (argdefs != NULL) { + d = &PyTuple_GET_ITEM(argdefs, 0); + nd = Py_SIZE(argdefs); + } + else { + d = NULL; + nd = 0; + } +#if PY_MAJOR_VERSION >= 3 + result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, kwdefs, closure); +#else + result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, closure); +#endif + Py_XDECREF(kwtuple); +done: + Py_LeaveRecursiveCall(); + return result; +} +#endif + +/* PyObjectCall */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *result; + ternaryfunc call = Py_TYPE(func)->tp_call; + if (unlikely(!call)) + return PyObject_Call(func, arg, kw); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = (*call)(func, arg, kw); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCallMethO */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { + PyObject *self, *result; + PyCFunction cfunc; + cfunc = __Pyx_CyOrPyCFunction_GET_FUNCTION(func); + self = __Pyx_CyOrPyCFunction_GET_SELF(func); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = cfunc(self, arg); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectFastCall */ +#if PY_VERSION_HEX < 0x03090000 || CYTHON_COMPILING_IN_LIMITED_API +static PyObject* __Pyx_PyObject_FastCall_fallback(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs) { + PyObject *argstuple; + PyObject *result = 0; + size_t i; + argstuple = PyTuple_New((Py_ssize_t)nargs); + if (unlikely(!argstuple)) return NULL; + for (i = 0; i < nargs; i++) { + Py_INCREF(args[i]); + if (__Pyx_PyTuple_SET_ITEM(argstuple, (Py_ssize_t)i, args[i]) < 0) goto bad; + } + result = __Pyx_PyObject_Call(func, argstuple, kwargs); + bad: + Py_DECREF(argstuple); + return result; +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t _nargs, PyObject *kwargs) { + Py_ssize_t nargs = __Pyx_PyVectorcall_NARGS(_nargs); +#if CYTHON_COMPILING_IN_CPYTHON + if (nargs == 0 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_NOARGS)) + return __Pyx_PyObject_CallMethO(func, NULL); + } + else if (nargs == 1 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_O)) + return __Pyx_PyObject_CallMethO(func, args[0]); + } +#endif + #if PY_VERSION_HEX < 0x030800B1 + #if CYTHON_FAST_PYCCALL + if (PyCFunction_Check(func)) { + if (kwargs) { + return _PyCFunction_FastCallDict(func, args, nargs, kwargs); + } else { + return _PyCFunction_FastCallKeywords(func, args, nargs, NULL); + } + } + #if PY_VERSION_HEX >= 0x030700A1 + if (!kwargs && __Pyx_IS_TYPE(func, &PyMethodDescr_Type)) { + return _PyMethodDescr_FastCallKeywords(func, args, nargs, NULL); + } + #endif + #endif + #if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs); + } + #endif + #endif + if (kwargs == NULL) { + #if CYTHON_VECTORCALL + #if PY_VERSION_HEX < 0x03090000 + vectorcallfunc f = _PyVectorcall_Function(func); + #else + vectorcallfunc f = PyVectorcall_Function(func); + #endif + if (f) { + return f(func, args, (size_t)nargs, NULL); + } + #elif defined(__Pyx_CyFunction_USED) && CYTHON_BACKPORT_VECTORCALL + if (__Pyx_CyFunction_CheckExact(func)) { + __pyx_vectorcallfunc f = __Pyx_CyFunction_func_vectorcall(func); + if (f) return f(func, args, (size_t)nargs, NULL); + } + #endif + } + if (nargs == 0) { + return __Pyx_PyObject_Call(func, __pyx_empty_tuple, kwargs); + } + #if PY_VERSION_HEX >= 0x03090000 && !CYTHON_COMPILING_IN_LIMITED_API + return PyObject_VectorcallDict(func, args, (size_t)nargs, kwargs); + #else + return __Pyx_PyObject_FastCall_fallback(func, args, (size_t)nargs, kwargs); + #endif +} + +/* TupleAndListFromArray */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE void __Pyx_copy_object_array(PyObject *const *CYTHON_RESTRICT src, PyObject** CYTHON_RESTRICT dest, Py_ssize_t length) { + PyObject *v; + Py_ssize_t i; + for (i = 0; i < length; i++) { + v = dest[i] = src[i]; + Py_INCREF(v); + } +} +static CYTHON_INLINE PyObject * +__Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + Py_INCREF(__pyx_empty_tuple); + return __pyx_empty_tuple; + } + res = PyTuple_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyTupleObject*)res)->ob_item, n); + return res; +} +static CYTHON_INLINE PyObject * +__Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + return PyList_New(0); + } + res = PyList_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyListObject*)res)->ob_item, n); + return res; +} +#endif + +/* BytesEquals */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else + if (s1 == s2) { + return (equals == Py_EQ); + } else if (PyBytes_CheckExact(s1) & PyBytes_CheckExact(s2)) { + const char *ps1, *ps2; + Py_ssize_t length = PyBytes_GET_SIZE(s1); + if (length != PyBytes_GET_SIZE(s2)) + return (equals == Py_NE); + ps1 = PyBytes_AS_STRING(s1); + ps2 = PyBytes_AS_STRING(s2); + if (ps1[0] != ps2[0]) { + return (equals == Py_NE); + } else if (length == 1) { + return (equals == Py_EQ); + } else { + int result; +#if CYTHON_USE_UNICODE_INTERNALS && (PY_VERSION_HEX < 0x030B0000) + Py_hash_t hash1, hash2; + hash1 = ((PyBytesObject*)s1)->ob_shash; + hash2 = ((PyBytesObject*)s2)->ob_shash; + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + return (equals == Py_NE); + } +#endif + result = memcmp(ps1, ps2, (size_t)length); + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { + return (equals == Py_NE); + } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { + return (equals == Py_NE); + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +#endif +} + +/* UnicodeEquals */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else +#if PY_MAJOR_VERSION < 3 + PyObject* owned_ref = NULL; +#endif + int s1_is_unicode, s2_is_unicode; + if (s1 == s2) { + goto return_eq; + } + s1_is_unicode = PyUnicode_CheckExact(s1); + s2_is_unicode = PyUnicode_CheckExact(s2); +#if PY_MAJOR_VERSION < 3 + if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { + owned_ref = PyUnicode_FromObject(s2); + if (unlikely(!owned_ref)) + return -1; + s2 = owned_ref; + s2_is_unicode = 1; + } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { + owned_ref = PyUnicode_FromObject(s1); + if (unlikely(!owned_ref)) + return -1; + s1 = owned_ref; + s1_is_unicode = 1; + } else if (((!s2_is_unicode) & (!s1_is_unicode))) { + return __Pyx_PyBytes_Equals(s1, s2, equals); + } +#endif + if (s1_is_unicode & s2_is_unicode) { + Py_ssize_t length; + int kind; + void *data1, *data2; + if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) + return -1; + length = __Pyx_PyUnicode_GET_LENGTH(s1); + if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { + goto return_ne; + } +#if CYTHON_USE_UNICODE_INTERNALS + { + Py_hash_t hash1, hash2; + #if CYTHON_PEP393_ENABLED + hash1 = ((PyASCIIObject*)s1)->hash; + hash2 = ((PyASCIIObject*)s2)->hash; + #else + hash1 = ((PyUnicodeObject*)s1)->hash; + hash2 = ((PyUnicodeObject*)s2)->hash; + #endif + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + goto return_ne; + } + } +#endif + kind = __Pyx_PyUnicode_KIND(s1); + if (kind != __Pyx_PyUnicode_KIND(s2)) { + goto return_ne; + } + data1 = __Pyx_PyUnicode_DATA(s1); + data2 = __Pyx_PyUnicode_DATA(s2); + if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { + goto return_ne; + } else if (length == 1) { + goto return_eq; + } else { + int result = memcmp(data1, data2, (size_t)(length * kind)); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & s2_is_unicode) { + goto return_ne; + } else if ((s2 == Py_None) & s1_is_unicode) { + goto return_ne; + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +return_eq: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ); +return_ne: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_NE); +#endif +} + +/* fastcall */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s) +{ + Py_ssize_t i, n = PyTuple_GET_SIZE(kwnames); + for (i = 0; i < n; i++) + { + if (s == PyTuple_GET_ITEM(kwnames, i)) return kwvalues[i]; + } + for (i = 0; i < n; i++) + { + int eq = __Pyx_PyUnicode_Equals(s, PyTuple_GET_ITEM(kwnames, i), Py_EQ); + if (unlikely(eq != 0)) { + if (unlikely(eq < 0)) return NULL; + return kwvalues[i]; + } + } + return NULL; +} +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 +CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { + Py_ssize_t i, nkwargs = PyTuple_GET_SIZE(kwnames); + PyObject *dict; + dict = PyDict_New(); + if (unlikely(!dict)) + return NULL; + for (i=0; i= 3 + "%s() got multiple values for keyword argument '%U'", func_name, kw_name); + #else + "%s() got multiple values for keyword argument '%s'", func_name, + PyString_AsString(kw_name)); + #endif +} + +/* ParseKeywords */ +static int __Pyx_ParseOptionalKeywords( + PyObject *kwds, + PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, + PyObject *values[], + Py_ssize_t num_pos_args, + const char* function_name) +{ + PyObject *key = 0, *value = 0; + Py_ssize_t pos = 0; + PyObject*** name; + PyObject*** first_kw_arg = argnames + num_pos_args; + int kwds_is_tuple = CYTHON_METH_FASTCALL && likely(PyTuple_Check(kwds)); + while (1) { + Py_XDECREF(key); key = NULL; + Py_XDECREF(value); value = NULL; + if (kwds_is_tuple) { + Py_ssize_t size; +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(kwds); +#else + size = PyTuple_Size(kwds); + if (size < 0) goto bad; +#endif + if (pos >= size) break; +#if CYTHON_AVOID_BORROWED_REFS + key = __Pyx_PySequence_ITEM(kwds, pos); + if (!key) goto bad; +#elif CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kwds, pos); +#else + key = PyTuple_GetItem(kwds, pos); + if (!key) goto bad; +#endif + value = kwvalues[pos]; + pos++; + } + else + { + if (!PyDict_Next(kwds, &pos, &key, &value)) break; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + } + name = first_kw_arg; + while (*name && (**name != key)) name++; + if (*name) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(value); + Py_DECREF(key); +#endif + key = NULL; + value = NULL; + continue; + } +#if !CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + Py_INCREF(value); + name = first_kw_arg; + #if PY_MAJOR_VERSION < 3 + if (likely(PyString_Check(key))) { + while (*name) { + if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) + && _PyString_Eq(**name, key)) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + if ((**argname == key) || ( + (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) + && _PyString_Eq(**argname, key))) { + goto arg_passed_twice; + } + argname++; + } + } + } else + #endif + if (likely(PyUnicode_Check(key))) { + while (*name) { + int cmp = ( + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**name, key) + ); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + int cmp = (**argname == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**argname, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) goto arg_passed_twice; + argname++; + } + } + } else + goto invalid_keyword_type; + if (kwds2) { + if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; + } else { + goto invalid_keyword; + } + } + Py_XDECREF(key); + Py_XDECREF(value); + return 0; +arg_passed_twice: + __Pyx_RaiseDoubleKeywordsError(function_name, key); + goto bad; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + goto bad; +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif +bad: + Py_XDECREF(key); + Py_XDECREF(value); + return -1; +} + +/* PyObjectSetAttrStr */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE int __Pyx_PyObject_SetAttrStr(PyObject* obj, PyObject* attr_name, PyObject* value) { + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_setattro)) + return tp->tp_setattro(obj, attr_name, value); +#if PY_MAJOR_VERSION < 3 + if (likely(tp->tp_setattr)) + return tp->tp_setattr(obj, PyString_AS_STRING(attr_name), value); +#endif + return PyObject_SetAttr(obj, attr_name, value); +} +#endif + +/* GetItemInt */ +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { + PyObject *r; + if (unlikely(!j)) return NULL; + r = PyObject_GetItem(o, j); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyList_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { + PyObject *r = PyList_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyTuple_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); + if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { + PyObject *r = PyList_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } + else if (PyTuple_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_subscript) { + PyObject *r, *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return NULL; + r = mm->mp_subscript(o, key); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return NULL; + PyErr_Clear(); + } + } + return sm->sq_item(o, i); + } + } +#else + if (is_list || !PyMapping_Check(o)) { + return PySequence_GetItem(o, i); + } +#endif + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +} + +/* PyObjectCallOneArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *args[2] = {NULL, arg}; + return __Pyx_PyObject_FastCall(func, args+1, 1 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* ObjectGetItem */ +#if CYTHON_USE_TYPE_SLOTS +static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject *index) { + PyObject *runerr = NULL; + Py_ssize_t key_value; + key_value = __Pyx_PyIndex_AsSsize_t(index); + if (likely(key_value != -1 || !(runerr = PyErr_Occurred()))) { + return __Pyx_GetItemInt_Fast(obj, key_value, 0, 1, 1); + } + if (PyErr_GivenExceptionMatches(runerr, PyExc_OverflowError)) { + __Pyx_TypeName index_type_name = __Pyx_PyType_GetName(Py_TYPE(index)); + PyErr_Clear(); + PyErr_Format(PyExc_IndexError, + "cannot fit '" __Pyx_FMT_TYPENAME "' into an index-sized integer", index_type_name); + __Pyx_DECREF_TypeName(index_type_name); + } + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem_Slow(PyObject *obj, PyObject *key) { + __Pyx_TypeName obj_type_name; + if (likely(PyType_Check(obj))) { + PyObject *meth = __Pyx_PyObject_GetAttrStrNoError(obj, __pyx_n_s_class_getitem); + if (!meth) { + PyErr_Clear(); + } else { + PyObject *result = __Pyx_PyObject_CallOneArg(meth, key); + Py_DECREF(meth); + return result; + } + } + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' object is not subscriptable", obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key) { + PyTypeObject *tp = Py_TYPE(obj); + PyMappingMethods *mm = tp->tp_as_mapping; + PySequenceMethods *sm = tp->tp_as_sequence; + if (likely(mm && mm->mp_subscript)) { + return mm->mp_subscript(obj, key); + } + if (likely(sm && sm->sq_item)) { + return __Pyx_PyObject_GetIndex(obj, key); + } + return __Pyx_PyObject_GetItem_Slow(obj, key); +} +#endif + +/* KeywordStringCheck */ +static int __Pyx_CheckKeywordStrings( + PyObject *kw, + const char* function_name, + int kw_allowed) +{ + PyObject* key = 0; + Py_ssize_t pos = 0; +#if CYTHON_COMPILING_IN_PYPY + if (!kw_allowed && PyDict_Next(kw, &pos, &key, 0)) + goto invalid_keyword; + return 1; +#else + if (CYTHON_METH_FASTCALL && likely(PyTuple_Check(kw))) { + Py_ssize_t kwsize; +#if CYTHON_ASSUME_SAFE_MACROS + kwsize = PyTuple_GET_SIZE(kw); +#else + kwsize = PyTuple_Size(kw); + if (kwsize < 0) return 0; +#endif + if (unlikely(kwsize == 0)) + return 1; + if (!kw_allowed) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, 0); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + goto invalid_keyword; + } +#if PY_VERSION_HEX < 0x03090000 + for (pos = 0; pos < kwsize; pos++) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, pos); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } +#endif + return 1; + } + while (PyDict_Next(kw, &pos, &key, 0)) { + #if PY_MAJOR_VERSION < 3 + if (unlikely(!PyString_Check(key))) + #endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } + if (!kw_allowed && unlikely(key)) + goto invalid_keyword; + return 1; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + return 0; +#endif +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif + return 0; +} + +/* GetAttr3 */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static PyObject *__Pyx_GetAttr3Default(PyObject *d) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (unlikely(!__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + return NULL; + __Pyx_PyErr_Clear(); + Py_INCREF(d); + return d; +} +#endif +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *o, PyObject *n, PyObject *d) { + PyObject *r; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + int res = PyObject_GetOptionalAttr(o, n, &r); + return (res != 0) ? r : __Pyx_NewRef(d); +#else + #if CYTHON_USE_TYPE_SLOTS + if (likely(PyString_Check(n))) { + r = __Pyx_PyObject_GetAttrStrNoError(o, n); + if (unlikely(!r) && likely(!PyErr_Occurred())) { + r = __Pyx_NewRef(d); + } + return r; + } + #endif + r = PyObject_GetAttr(o, n); + return (likely(r)) ? r : __Pyx_GetAttr3Default(d); +#endif +} + +/* RaiseUnexpectedTypeError */ +static int +__Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj) +{ + __Pyx_TypeName obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, "Expected %s, got " __Pyx_FMT_TYPENAME, + expected, obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* RaiseException */ +#if PY_MAJOR_VERSION < 3 +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + __Pyx_PyThreadState_declare + CYTHON_UNUSED_VAR(cause); + Py_XINCREF(type); + if (!value || value == Py_None) + value = NULL; + else + Py_INCREF(value); + if (!tb || tb == Py_None) + tb = NULL; + else { + Py_INCREF(tb); + if (!PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto raise_error; + } + } + if (PyType_Check(type)) { +#if CYTHON_COMPILING_IN_PYPY + if (!value) { + Py_INCREF(Py_None); + value = Py_None; + } +#endif + PyErr_NormalizeException(&type, &value, &tb); + } else { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto raise_error; + } + value = type; + type = (PyObject*) Py_TYPE(type); + Py_INCREF(type); + if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto raise_error; + } + } + __Pyx_PyThreadState_assign + __Pyx_ErrRestore(type, value, tb); + return; +raise_error: + Py_XDECREF(value); + Py_XDECREF(type); + Py_XDECREF(tb); + return; +} +#else +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + PyObject* owned_instance = NULL; + if (tb == Py_None) { + tb = 0; + } else if (tb && !PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto bad; + } + if (value == Py_None) + value = 0; + if (PyExceptionInstance_Check(type)) { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto bad; + } + value = type; + type = (PyObject*) Py_TYPE(value); + } else if (PyExceptionClass_Check(type)) { + PyObject *instance_class = NULL; + if (value && PyExceptionInstance_Check(value)) { + instance_class = (PyObject*) Py_TYPE(value); + if (instance_class != type) { + int is_subclass = PyObject_IsSubclass(instance_class, type); + if (!is_subclass) { + instance_class = NULL; + } else if (unlikely(is_subclass == -1)) { + goto bad; + } else { + type = instance_class; + } + } + } + if (!instance_class) { + PyObject *args; + if (!value) + args = PyTuple_New(0); + else if (PyTuple_Check(value)) { + Py_INCREF(value); + args = value; + } else + args = PyTuple_Pack(1, value); + if (!args) + goto bad; + owned_instance = PyObject_Call(type, args, NULL); + Py_DECREF(args); + if (!owned_instance) + goto bad; + value = owned_instance; + if (!PyExceptionInstance_Check(value)) { + PyErr_Format(PyExc_TypeError, + "calling %R should have returned an instance of " + "BaseException, not %R", + type, Py_TYPE(value)); + goto bad; + } + } + } else { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto bad; + } + if (cause) { + PyObject *fixed_cause; + if (cause == Py_None) { + fixed_cause = NULL; + } else if (PyExceptionClass_Check(cause)) { + fixed_cause = PyObject_CallObject(cause, NULL); + if (fixed_cause == NULL) + goto bad; + } else if (PyExceptionInstance_Check(cause)) { + fixed_cause = cause; + Py_INCREF(fixed_cause); + } else { + PyErr_SetString(PyExc_TypeError, + "exception causes must derive from " + "BaseException"); + goto bad; + } + PyException_SetCause(value, fixed_cause); + } + PyErr_SetObject(type, value); + if (tb) { + #if PY_VERSION_HEX >= 0x030C00A6 + PyException_SetTraceback(value, tb); + #elif CYTHON_FAST_THREAD_STATE + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* tmp_tb = tstate->curexc_traceback; + if (tb != tmp_tb) { + Py_INCREF(tb); + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_tb); + } +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); + Py_INCREF(tb); + PyErr_Restore(tmp_type, tmp_value, tb); + Py_XDECREF(tmp_tb); +#endif + } +bad: + Py_XDECREF(owned_instance); + return; +} +#endif + +/* Import */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { + PyObject *module = 0; + PyObject *empty_dict = 0; + PyObject *empty_list = 0; + #if PY_MAJOR_VERSION < 3 + PyObject *py_import; + py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); + if (unlikely(!py_import)) + goto bad; + if (!from_list) { + empty_list = PyList_New(0); + if (unlikely(!empty_list)) + goto bad; + from_list = empty_list; + } + #endif + empty_dict = PyDict_New(); + if (unlikely(!empty_dict)) + goto bad; + { + #if PY_MAJOR_VERSION >= 3 + if (level == -1) { + if (strchr(__Pyx_MODULE_NAME, '.') != NULL) { + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, 1); + if (unlikely(!module)) { + if (unlikely(!PyErr_ExceptionMatches(PyExc_ImportError))) + goto bad; + PyErr_Clear(); + } + } + level = 0; + } + #endif + if (!module) { + #if PY_MAJOR_VERSION < 3 + PyObject *py_level = PyInt_FromLong(level); + if (unlikely(!py_level)) + goto bad; + module = PyObject_CallFunctionObjArgs(py_import, + name, __pyx_d, empty_dict, from_list, py_level, (PyObject *)NULL); + Py_DECREF(py_level); + #else + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, level); + #endif + } + } +bad: + Py_XDECREF(empty_dict); + Py_XDECREF(empty_list); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_import); + #endif + return module; +} + +/* ImportFrom */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name) { + PyObject* value = __Pyx_PyObject_GetAttrStr(module, name); + if (unlikely(!value) && PyErr_ExceptionMatches(PyExc_AttributeError)) { + const char* module_name_str = 0; + PyObject* module_name = 0; + PyObject* module_dot = 0; + PyObject* full_name = 0; + PyErr_Clear(); + module_name_str = PyModule_GetName(module); + if (unlikely(!module_name_str)) { goto modbad; } + module_name = PyUnicode_FromString(module_name_str); + if (unlikely(!module_name)) { goto modbad; } + module_dot = PyUnicode_Concat(module_name, __pyx_kp_u__3); + if (unlikely(!module_dot)) { goto modbad; } + full_name = PyUnicode_Concat(module_dot, name); + if (unlikely(!full_name)) { goto modbad; } + #if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + { + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + goto modbad; + value = PyObject_GetItem(modules, full_name); + } + #else + value = PyImport_GetModule(full_name); + #endif + modbad: + Py_XDECREF(full_name); + Py_XDECREF(module_dot); + Py_XDECREF(module_name); + } + if (unlikely(!value)) { + PyErr_Format(PyExc_ImportError, + #if PY_MAJOR_VERSION < 3 + "cannot import name %.230s", PyString_AS_STRING(name)); + #else + "cannot import name %S", name); + #endif + } + return value; +} + +/* GetAttr */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *o, PyObject *n) { +#if CYTHON_USE_TYPE_SLOTS +#if PY_MAJOR_VERSION >= 3 + if (likely(PyUnicode_Check(n))) +#else + if (likely(PyString_Check(n))) +#endif + return __Pyx_PyObject_GetAttrStr(o, n); +#endif + return PyObject_GetAttr(o, n); +} + +/* HasAttr */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *o, PyObject *n) { + PyObject *r; + if (unlikely(!__Pyx_PyBaseString_Check(n))) { + PyErr_SetString(PyExc_TypeError, + "hasattr(): attribute name must be string"); + return -1; + } + r = __Pyx_GetAttr(o, n); + if (!r) { + PyErr_Clear(); + return 0; + } else { + Py_DECREF(r); + return 1; + } +} +#endif + +/* decode_c_bytes */ +static CYTHON_INLINE PyObject* __Pyx_decode_c_bytes( + const char* cstring, Py_ssize_t length, Py_ssize_t start, Py_ssize_t stop, + const char* encoding, const char* errors, + PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)) { + if (unlikely((start < 0) | (stop < 0))) { + if (start < 0) { + start += length; + if (start < 0) + start = 0; + } + if (stop < 0) + stop += length; + } + if (stop > length) + stop = length; + if (unlikely(stop <= start)) + return __Pyx_NewRef(__pyx_empty_unicode); + length = stop - start; + cstring += start; + if (decode_func) { + return decode_func(cstring, length, errors); + } else { + return PyUnicode_Decode(cstring, length, encoding, errors); + } +} + +/* FixUpExtensionType */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type) { +#if PY_VERSION_HEX > 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + CYTHON_UNUSED_VAR(spec); + CYTHON_UNUSED_VAR(type); +#else + const PyType_Slot *slot = spec->slots; + while (slot && slot->slot && slot->slot != Py_tp_members) + slot++; + if (slot && slot->slot == Py_tp_members) { + int changed = 0; +#if !(PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON) + const +#endif + PyMemberDef *memb = (PyMemberDef*) slot->pfunc; + while (memb && memb->name) { + if (memb->name[0] == '_' && memb->name[1] == '_') { +#if PY_VERSION_HEX < 0x030900b1 + if (strcmp(memb->name, "__weaklistoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_weaklistoffset = memb->offset; + changed = 1; + } + else if (strcmp(memb->name, "__dictoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_dictoffset = memb->offset; + changed = 1; + } +#if CYTHON_METH_FASTCALL + else if (strcmp(memb->name, "__vectorcalloffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); +#if PY_VERSION_HEX >= 0x030800b4 + type->tp_vectorcall_offset = memb->offset; +#else + type->tp_print = (printfunc) memb->offset; +#endif + changed = 1; + } +#endif +#else + if ((0)); +#endif +#if PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON + else if (strcmp(memb->name, "__module__") == 0) { + PyObject *descr; + assert(memb->type == T_OBJECT); + assert(memb->flags == 0 || memb->flags == READONLY); + descr = PyDescr_NewMember(type, memb); + if (unlikely(!descr)) + return -1; + if (unlikely(PyDict_SetItem(type->tp_dict, PyDescr_NAME(descr), descr) < 0)) { + Py_DECREF(descr); + return -1; + } + Py_DECREF(descr); + changed = 1; + } +#endif + } + memb++; + } + if (changed) + PyType_Modified(type); + } +#endif + return 0; +} +#endif + +/* PyObjectCallNoArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { + PyObject *arg[2] = {NULL, NULL}; + return __Pyx_PyObject_FastCall(func, arg + 1, 0 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* PyObjectGetMethod */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method) { + PyObject *attr; +#if CYTHON_UNPACK_METHODS && CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_PYTYPE_LOOKUP + __Pyx_TypeName type_name; + PyTypeObject *tp = Py_TYPE(obj); + PyObject *descr; + descrgetfunc f = NULL; + PyObject **dictptr, *dict; + int meth_found = 0; + assert (*method == NULL); + if (unlikely(tp->tp_getattro != PyObject_GenericGetAttr)) { + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; + } + if (unlikely(tp->tp_dict == NULL) && unlikely(PyType_Ready(tp) < 0)) { + return 0; + } + descr = _PyType_Lookup(tp, name); + if (likely(descr != NULL)) { + Py_INCREF(descr); +#if defined(Py_TPFLAGS_METHOD_DESCRIPTOR) && Py_TPFLAGS_METHOD_DESCRIPTOR + if (__Pyx_PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_METHOD_DESCRIPTOR)) +#elif PY_MAJOR_VERSION >= 3 + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type))) + #endif +#else + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr))) + #endif +#endif + { + meth_found = 1; + } else { + f = Py_TYPE(descr)->tp_descr_get; + if (f != NULL && PyDescr_IsData(descr)) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + } + } + dictptr = _PyObject_GetDictPtr(obj); + if (dictptr != NULL && (dict = *dictptr) != NULL) { + Py_INCREF(dict); + attr = __Pyx_PyDict_GetItemStr(dict, name); + if (attr != NULL) { + Py_INCREF(attr); + Py_DECREF(dict); + Py_XDECREF(descr); + goto try_unpack; + } + Py_DECREF(dict); + } + if (meth_found) { + *method = descr; + return 1; + } + if (f != NULL) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + if (likely(descr != NULL)) { + *method = descr; + return 0; + } + type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return 0; +#else + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; +#endif +try_unpack: +#if CYTHON_UNPACK_METHODS + if (likely(attr) && PyMethod_Check(attr) && likely(PyMethod_GET_SELF(attr) == obj)) { + PyObject *function = PyMethod_GET_FUNCTION(attr); + Py_INCREF(function); + Py_DECREF(attr); + *method = function; + return 1; + } +#endif + *method = attr; + return 0; +} + +/* PyObjectCallMethod0 */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name) { + PyObject *method = NULL, *result = NULL; + int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); + if (likely(is_method)) { + result = __Pyx_PyObject_CallOneArg(method, obj); + Py_DECREF(method); + return result; + } + if (unlikely(!method)) goto bad; + result = __Pyx_PyObject_CallNoArg(method); + Py_DECREF(method); +bad: + return result; +} + +/* ValidateBasesTuple */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases) { + Py_ssize_t i, n; +#if CYTHON_ASSUME_SAFE_MACROS + n = PyTuple_GET_SIZE(bases); +#else + n = PyTuple_Size(bases); + if (n < 0) return -1; +#endif + for (i = 1; i < n; i++) + { +#if CYTHON_AVOID_BORROWED_REFS + PyObject *b0 = PySequence_GetItem(bases, i); + if (!b0) return -1; +#elif CYTHON_ASSUME_SAFE_MACROS + PyObject *b0 = PyTuple_GET_ITEM(bases, i); +#else + PyObject *b0 = PyTuple_GetItem(bases, i); + if (!b0) return -1; +#endif + PyTypeObject *b; +#if PY_MAJOR_VERSION < 3 + if (PyClass_Check(b0)) + { + PyErr_Format(PyExc_TypeError, "base class '%.200s' is an old-style class", + PyString_AS_STRING(((PyClassObject*)b0)->cl_name)); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } +#endif + b = (PyTypeObject*) b0; + if (!__Pyx_PyType_HasFeature(b, Py_TPFLAGS_HEAPTYPE)) + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "base class '" __Pyx_FMT_TYPENAME "' is not a heap type", b_name); + __Pyx_DECREF_TypeName(b_name); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + if (dictoffset == 0) + { + Py_ssize_t b_dictoffset = 0; +#if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + b_dictoffset = b->tp_dictoffset; +#else + PyObject *py_b_dictoffset = PyObject_GetAttrString((PyObject*)b, "__dictoffset__"); + if (!py_b_dictoffset) goto dictoffset_return; + b_dictoffset = PyLong_AsSsize_t(py_b_dictoffset); + Py_DECREF(py_b_dictoffset); + if (b_dictoffset == -1 && PyErr_Occurred()) goto dictoffset_return; +#endif + if (b_dictoffset) { + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "extension type '%.200s' has no __dict__ slot, " + "but base type '" __Pyx_FMT_TYPENAME "' has: " + "either add 'cdef dict __dict__' to the extension type " + "or add '__slots__ = [...]' to the base type", + type_name, b_name); + __Pyx_DECREF_TypeName(b_name); + } +#if !(CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY) + dictoffset_return: +#endif +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + } +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + } + return 0; +} +#endif + +/* PyType_Ready */ +static int __Pyx_PyType_Ready(PyTypeObject *t) { +#if CYTHON_USE_TYPE_SPECS || !(CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API) || defined(PYSTON_MAJOR_VERSION) + (void)__Pyx_PyObject_CallMethod0; +#if CYTHON_USE_TYPE_SPECS + (void)__Pyx_validate_bases_tuple; +#endif + return PyType_Ready(t); +#else + int r; + PyObject *bases = __Pyx_PyType_GetSlot(t, tp_bases, PyObject*); + if (bases && unlikely(__Pyx_validate_bases_tuple(t->tp_name, t->tp_dictoffset, bases) == -1)) + return -1; +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + { + int gc_was_enabled; + #if PY_VERSION_HEX >= 0x030A00b1 + gc_was_enabled = PyGC_Disable(); + (void)__Pyx_PyObject_CallMethod0; + #else + PyObject *ret, *py_status; + PyObject *gc = NULL; + #if PY_VERSION_HEX >= 0x030700a1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM+0 >= 0x07030400) + gc = PyImport_GetModule(__pyx_kp_u_gc); + #endif + if (unlikely(!gc)) gc = PyImport_Import(__pyx_kp_u_gc); + if (unlikely(!gc)) return -1; + py_status = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_isenabled); + if (unlikely(!py_status)) { + Py_DECREF(gc); + return -1; + } + gc_was_enabled = __Pyx_PyObject_IsTrue(py_status); + Py_DECREF(py_status); + if (gc_was_enabled > 0) { + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_disable); + if (unlikely(!ret)) { + Py_DECREF(gc); + return -1; + } + Py_DECREF(ret); + } else if (unlikely(gc_was_enabled == -1)) { + Py_DECREF(gc); + return -1; + } + #endif + t->tp_flags |= Py_TPFLAGS_HEAPTYPE; +#if PY_VERSION_HEX >= 0x030A0000 + t->tp_flags |= Py_TPFLAGS_IMMUTABLETYPE; +#endif +#else + (void)__Pyx_PyObject_CallMethod0; +#endif + r = PyType_Ready(t); +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + t->tp_flags &= ~Py_TPFLAGS_HEAPTYPE; + #if PY_VERSION_HEX >= 0x030A00b1 + if (gc_was_enabled) + PyGC_Enable(); + #else + if (gc_was_enabled) { + PyObject *tp, *v, *tb; + PyErr_Fetch(&tp, &v, &tb); + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_enable); + if (likely(ret || r == -1)) { + Py_XDECREF(ret); + PyErr_Restore(tp, v, tb); + } else { + Py_XDECREF(tp); + Py_XDECREF(v); + Py_XDECREF(tb); + r = -1; + } + } + Py_DECREF(gc); + #endif + } +#endif + return r; +#endif +} + +/* PyObject_GenericGetAttrNoDict */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { + __Pyx_TypeName type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, attr_name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(attr_name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { + PyObject *descr; + PyTypeObject *tp = Py_TYPE(obj); + if (unlikely(!PyString_Check(attr_name))) { + return PyObject_GenericGetAttr(obj, attr_name); + } + assert(!tp->tp_dictoffset); + descr = _PyType_Lookup(tp, attr_name); + if (unlikely(!descr)) { + return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); + } + Py_INCREF(descr); + #if PY_MAJOR_VERSION < 3 + if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) + #endif + { + descrgetfunc f = Py_TYPE(descr)->tp_descr_get; + if (unlikely(f)) { + PyObject *res = f(descr, obj, (PyObject *)tp); + Py_DECREF(descr); + return res; + } + } + return descr; +} +#endif + +/* PyObject_GenericGetAttr */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { + if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { + return PyObject_GenericGetAttr(obj, attr_name); + } + return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); +} +#endif + +/* SetupReduce */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { + int ret; + PyObject *name_attr; + name_attr = __Pyx_PyObject_GetAttrStrNoError(meth, __pyx_n_s_name_2); + if (likely(name_attr)) { + ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); + } else { + ret = -1; + } + if (unlikely(ret < 0)) { + PyErr_Clear(); + ret = 0; + } + Py_XDECREF(name_attr); + return ret; +} +static int __Pyx_setup_reduce(PyObject* type_obj) { + int ret = 0; + PyObject *object_reduce = NULL; + PyObject *object_getstate = NULL; + PyObject *object_reduce_ex = NULL; + PyObject *reduce = NULL; + PyObject *reduce_ex = NULL; + PyObject *reduce_cython = NULL; + PyObject *setstate = NULL; + PyObject *setstate_cython = NULL; + PyObject *getstate = NULL; +#if CYTHON_USE_PYTYPE_LOOKUP + getstate = _PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate); +#else + getstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_getstate); + if (!getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (getstate) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_getstate = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_getstate); +#else + object_getstate = __Pyx_PyObject_GetAttrStrNoError((PyObject*)&PyBaseObject_Type, __pyx_n_s_getstate); + if (!object_getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (object_getstate != getstate) { + goto __PYX_GOOD; + } + } +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#else + object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#endif + reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; + if (reduce_ex == object_reduce_ex) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#else + object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#endif + reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; + if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { + reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); + if (likely(reduce_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (reduce == object_reduce || PyErr_Occurred()) { + goto __PYX_BAD; + } + setstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate); + if (!setstate) PyErr_Clear(); + if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { + setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); + if (likely(setstate_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (!setstate || PyErr_Occurred()) { + goto __PYX_BAD; + } + } + PyType_Modified((PyTypeObject*)type_obj); + } + } + goto __PYX_GOOD; +__PYX_BAD: + if (!PyErr_Occurred()) { + __Pyx_TypeName type_obj_name = + __Pyx_PyType_GetName((PyTypeObject*)type_obj); + PyErr_Format(PyExc_RuntimeError, + "Unable to initialize pickling for " __Pyx_FMT_TYPENAME, type_obj_name); + __Pyx_DECREF_TypeName(type_obj_name); + } + ret = -1; +__PYX_GOOD: +#if !CYTHON_USE_PYTYPE_LOOKUP + Py_XDECREF(object_reduce); + Py_XDECREF(object_reduce_ex); + Py_XDECREF(object_getstate); + Py_XDECREF(getstate); +#endif + Py_XDECREF(reduce); + Py_XDECREF(reduce_ex); + Py_XDECREF(reduce_cython); + Py_XDECREF(setstate); + Py_XDECREF(setstate_cython); + return ret; +} +#endif + +/* FetchSharedCythonModule */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void) { + return __Pyx_PyImport_AddModuleRef((char*) __PYX_ABI_MODULE_NAME); +} + +/* FetchCommonType */ +static int __Pyx_VerifyCachedType(PyObject *cached_type, + const char *name, + Py_ssize_t basicsize, + Py_ssize_t expected_basicsize) { + if (!PyType_Check(cached_type)) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s is not a type object", name); + return -1; + } + if (basicsize != expected_basicsize) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s has the wrong size, try recompiling", + name); + return -1; + } + return 0; +} +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) { + PyObject* abi_module; + const char* object_name; + PyTypeObject *cached_type = NULL; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + object_name = strrchr(type->tp_name, '.'); + object_name = object_name ? object_name+1 : type->tp_name; + cached_type = (PyTypeObject*) PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + if (__Pyx_VerifyCachedType( + (PyObject *)cached_type, + object_name, + cached_type->tp_basicsize, + type->tp_basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + if (PyType_Ready(type) < 0) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, (PyObject *)type) < 0) + goto bad; + Py_INCREF(type); + cached_type = type; +done: + Py_DECREF(abi_module); + return cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#else +static PyTypeObject *__Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases) { + PyObject *abi_module, *cached_type = NULL; + const char* object_name = strrchr(spec->name, '.'); + object_name = object_name ? object_name+1 : spec->name; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + cached_type = PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + Py_ssize_t basicsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + py_basicsize = PyObject_GetAttrString(cached_type, "__basicsize__"); + if (unlikely(!py_basicsize)) goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (unlikely(basicsize == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; +#else + basicsize = likely(PyType_Check(cached_type)) ? ((PyTypeObject*) cached_type)->tp_basicsize : -1; +#endif + if (__Pyx_VerifyCachedType( + cached_type, + object_name, + basicsize, + spec->basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + CYTHON_UNUSED_VAR(module); + cached_type = __Pyx_PyType_FromModuleAndSpec(abi_module, spec, bases); + if (unlikely(!cached_type)) goto bad; + if (unlikely(__Pyx_fix_up_extension_type_from_spec(spec, (PyTypeObject *) cached_type) < 0)) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, cached_type) < 0) goto bad; +done: + Py_DECREF(abi_module); + assert(cached_type == NULL || PyType_Check(cached_type)); + return (PyTypeObject *) cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#endif + +/* PyVectorcallFastCallDict */ +#if CYTHON_METH_FASTCALL +static PyObject *__Pyx_PyVectorcall_FastCallDict_kw(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + PyObject *res = NULL; + PyObject *kwnames; + PyObject **newargs; + PyObject **kwvalues; + Py_ssize_t i, pos; + size_t j; + PyObject *key, *value; + unsigned long keys_are_strings; + Py_ssize_t nkw = PyDict_GET_SIZE(kw); + newargs = (PyObject **)PyMem_Malloc((nargs + (size_t)nkw) * sizeof(args[0])); + if (unlikely(newargs == NULL)) { + PyErr_NoMemory(); + return NULL; + } + for (j = 0; j < nargs; j++) newargs[j] = args[j]; + kwnames = PyTuple_New(nkw); + if (unlikely(kwnames == NULL)) { + PyMem_Free(newargs); + return NULL; + } + kwvalues = newargs + nargs; + pos = i = 0; + keys_are_strings = Py_TPFLAGS_UNICODE_SUBCLASS; + while (PyDict_Next(kw, &pos, &key, &value)) { + keys_are_strings &= Py_TYPE(key)->tp_flags; + Py_INCREF(key); + Py_INCREF(value); + PyTuple_SET_ITEM(kwnames, i, key); + kwvalues[i] = value; + i++; + } + if (unlikely(!keys_are_strings)) { + PyErr_SetString(PyExc_TypeError, "keywords must be strings"); + goto cleanup; + } + res = vc(func, newargs, nargs, kwnames); +cleanup: + Py_DECREF(kwnames); + for (i = 0; i < nkw; i++) + Py_DECREF(kwvalues[i]); + PyMem_Free(newargs); + return res; +} +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + if (likely(kw == NULL) || PyDict_GET_SIZE(kw) == 0) { + return vc(func, args, nargs, NULL); + } + return __Pyx_PyVectorcall_FastCallDict_kw(func, vc, args, nargs, kw); +} +#endif + +/* CythonFunctionShared */ +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + if (__Pyx_CyFunction_Check(func)) { + return PyCFunction_GetFunction(((__pyx_CyFunctionObject*)func)->func) == (PyCFunction) cfunc; + } else if (PyCFunction_Check(func)) { + return PyCFunction_GetFunction(func) == (PyCFunction) cfunc; + } + return 0; +} +#else +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + return __Pyx_CyOrPyCFunction_Check(func) && __Pyx_CyOrPyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +} +#endif +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj) { +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + __Pyx_Py_XDECREF_SET( + __Pyx_CyFunction_GetClassObj(f), + ((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#else + __Pyx_Py_XDECREF_SET( + ((PyCMethodObject *) (f))->mm_class, + (PyTypeObject*)((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#endif +} +static PyObject * +__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, void *closure) +{ + CYTHON_UNUSED_VAR(closure); + if (unlikely(op->func_doc == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_doc = PyObject_GetAttrString(op->func, "__doc__"); + if (unlikely(!op->func_doc)) return NULL; +#else + if (((PyCFunctionObject*)op)->m_ml->ml_doc) { +#if PY_MAJOR_VERSION >= 3 + op->func_doc = PyUnicode_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#else + op->func_doc = PyString_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#endif + if (unlikely(op->func_doc == NULL)) + return NULL; + } else { + Py_INCREF(Py_None); + return Py_None; + } +#endif + } + Py_INCREF(op->func_doc); + return op->func_doc; +} +static int +__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (value == NULL) { + value = Py_None; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_doc, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_name == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_name = PyObject_GetAttrString(op->func, "__name__"); +#elif PY_MAJOR_VERSION >= 3 + op->func_name = PyUnicode_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#else + op->func_name = PyString_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#endif + if (unlikely(op->func_name == NULL)) + return NULL; + } + Py_INCREF(op->func_name); + return op->func_name; +} +static int +__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__name__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_name, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_qualname); + return op->func_qualname; +} +static int +__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__qualname__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_qualname, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_dict(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_dict == NULL)) { + op->func_dict = PyDict_New(); + if (unlikely(op->func_dict == NULL)) + return NULL; + } + Py_INCREF(op->func_dict); + return op->func_dict; +} +static int +__Pyx_CyFunction_set_dict(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(value == NULL)) { + PyErr_SetString(PyExc_TypeError, + "function's dictionary may not be deleted"); + return -1; + } + if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "setting function's dictionary to a non-dict"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_dict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_globals(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_globals); + return op->func_globals; +} +static PyObject * +__Pyx_CyFunction_get_closure(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(op); + CYTHON_UNUSED_VAR(context); + Py_INCREF(Py_None); + return Py_None; +} +static PyObject * +__Pyx_CyFunction_get_code(__pyx_CyFunctionObject *op, void *context) +{ + PyObject* result = (op->func_code) ? op->func_code : Py_None; + CYTHON_UNUSED_VAR(context); + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_init_defaults(__pyx_CyFunctionObject *op) { + int result = 0; + PyObject *res = op->defaults_getter((PyObject *) op); + if (unlikely(!res)) + return -1; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + op->defaults_tuple = PyTuple_GET_ITEM(res, 0); + Py_INCREF(op->defaults_tuple); + op->defaults_kwdict = PyTuple_GET_ITEM(res, 1); + Py_INCREF(op->defaults_kwdict); + #else + op->defaults_tuple = __Pyx_PySequence_ITEM(res, 0); + if (unlikely(!op->defaults_tuple)) result = -1; + else { + op->defaults_kwdict = __Pyx_PySequence_ITEM(res, 1); + if (unlikely(!op->defaults_kwdict)) result = -1; + } + #endif + Py_DECREF(res); + return result; +} +static int +__Pyx_CyFunction_set_defaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyTuple_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__defaults__ must be set to a tuple object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__defaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_tuple, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_defaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_tuple; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_tuple; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_kwdefaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__kwdefaults__ must be set to a dict object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__kwdefaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_kwdict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_kwdefaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_kwdict; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_kwdict; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_annotations(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value || value == Py_None) { + value = NULL; + } else if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__annotations__ must be set to a dict object"); + return -1; + } + Py_XINCREF(value); + __Pyx_Py_XDECREF_SET(op->func_annotations, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_annotations(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->func_annotations; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + result = PyDict_New(); + if (unlikely(!result)) return NULL; + op->func_annotations = result; + } + Py_INCREF(result); + return result; +} +static PyObject * +__Pyx_CyFunction_get_is_coroutine(__pyx_CyFunctionObject *op, void *context) { + int is_coroutine; + CYTHON_UNUSED_VAR(context); + if (op->func_is_coroutine) { + return __Pyx_NewRef(op->func_is_coroutine); + } + is_coroutine = op->flags & __Pyx_CYFUNCTION_COROUTINE; +#if PY_VERSION_HEX >= 0x03050000 + if (is_coroutine) { + PyObject *module, *fromlist, *marker = __pyx_n_s_is_coroutine; + fromlist = PyList_New(1); + if (unlikely(!fromlist)) return NULL; + Py_INCREF(marker); +#if CYTHON_ASSUME_SAFE_MACROS + PyList_SET_ITEM(fromlist, 0, marker); +#else + if (unlikely(PyList_SetItem(fromlist, 0, marker) < 0)) { + Py_DECREF(marker); + Py_DECREF(fromlist); + return NULL; + } +#endif + module = PyImport_ImportModuleLevelObject(__pyx_n_s_asyncio_coroutines, NULL, NULL, fromlist, 0); + Py_DECREF(fromlist); + if (unlikely(!module)) goto ignore; + op->func_is_coroutine = __Pyx_PyObject_GetAttrStr(module, marker); + Py_DECREF(module); + if (likely(op->func_is_coroutine)) { + return __Pyx_NewRef(op->func_is_coroutine); + } +ignore: + PyErr_Clear(); + } +#endif + op->func_is_coroutine = __Pyx_PyBool_FromLong(is_coroutine); + return __Pyx_NewRef(op->func_is_coroutine); +} +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject * +__Pyx_CyFunction_get_module(__pyx_CyFunctionObject *op, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_GetAttrString(op->func, "__module__"); +} +static int +__Pyx_CyFunction_set_module(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_SetAttrString(op->func, "__module__", value); +} +#endif +static PyGetSetDef __pyx_CyFunction_getsets[] = { + {(char *) "func_doc", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "__doc__", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "func_name", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__name__", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__qualname__", (getter)__Pyx_CyFunction_get_qualname, (setter)__Pyx_CyFunction_set_qualname, 0, 0}, + {(char *) "func_dict", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "__dict__", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "func_globals", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "__globals__", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "func_closure", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "__closure__", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "func_code", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "__code__", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "func_defaults", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__defaults__", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__kwdefaults__", (getter)__Pyx_CyFunction_get_kwdefaults, (setter)__Pyx_CyFunction_set_kwdefaults, 0, 0}, + {(char *) "__annotations__", (getter)__Pyx_CyFunction_get_annotations, (setter)__Pyx_CyFunction_set_annotations, 0, 0}, + {(char *) "_is_coroutine", (getter)__Pyx_CyFunction_get_is_coroutine, 0, 0, 0}, +#if CYTHON_COMPILING_IN_LIMITED_API + {"__module__", (getter)__Pyx_CyFunction_get_module, (setter)__Pyx_CyFunction_set_module, 0, 0}, +#endif + {0, 0, 0, 0, 0} +}; +static PyMemberDef __pyx_CyFunction_members[] = { +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__module__", T_OBJECT, offsetof(PyCFunctionObject, m_module), 0, 0}, +#endif +#if CYTHON_USE_TYPE_SPECS + {(char *) "__dictoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_dict), READONLY, 0}, +#if CYTHON_METH_FASTCALL +#if CYTHON_BACKPORT_VECTORCALL + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_vectorcall), READONLY, 0}, +#else +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(PyCFunctionObject, vectorcall), READONLY, 0}, +#endif +#endif +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_weakreflist), READONLY, 0}, +#else + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(PyCFunctionObject, m_weakreflist), READONLY, 0}, +#endif +#endif + {0, 0, 0, 0, 0} +}; +static PyObject * +__Pyx_CyFunction_reduce(__pyx_CyFunctionObject *m, PyObject *args) +{ + CYTHON_UNUSED_VAR(args); +#if PY_MAJOR_VERSION >= 3 + Py_INCREF(m->func_qualname); + return m->func_qualname; +#else + return PyString_FromString(((PyCFunctionObject*)m)->m_ml->ml_name); +#endif +} +static PyMethodDef __pyx_CyFunction_methods[] = { + {"__reduce__", (PyCFunction)__Pyx_CyFunction_reduce, METH_VARARGS, 0}, + {0, 0, 0, 0} +}; +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func_weakreflist) +#else +#define __Pyx_CyFunction_weakreflist(cyfunc) (((PyCFunctionObject*)cyfunc)->m_weakreflist) +#endif +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject *op, PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { +#if !CYTHON_COMPILING_IN_LIMITED_API + PyCFunctionObject *cf = (PyCFunctionObject*) op; +#endif + if (unlikely(op == NULL)) + return NULL; +#if CYTHON_COMPILING_IN_LIMITED_API + op->func = PyCFunction_NewEx(ml, (PyObject*)op, module); + if (unlikely(!op->func)) return NULL; +#endif + op->flags = flags; + __Pyx_CyFunction_weakreflist(op) = NULL; +#if !CYTHON_COMPILING_IN_LIMITED_API + cf->m_ml = ml; + cf->m_self = (PyObject *) op; +#endif + Py_XINCREF(closure); + op->func_closure = closure; +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_XINCREF(module); + cf->m_module = module; +#endif + op->func_dict = NULL; + op->func_name = NULL; + Py_INCREF(qualname); + op->func_qualname = qualname; + op->func_doc = NULL; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + op->func_classobj = NULL; +#else + ((PyCMethodObject*)op)->mm_class = NULL; +#endif + op->func_globals = globals; + Py_INCREF(op->func_globals); + Py_XINCREF(code); + op->func_code = code; + op->defaults_pyobjects = 0; + op->defaults_size = 0; + op->defaults = NULL; + op->defaults_tuple = NULL; + op->defaults_kwdict = NULL; + op->defaults_getter = NULL; + op->func_annotations = NULL; + op->func_is_coroutine = NULL; +#if CYTHON_METH_FASTCALL + switch (ml->ml_flags & (METH_VARARGS | METH_FASTCALL | METH_NOARGS | METH_O | METH_KEYWORDS | METH_METHOD)) { + case METH_NOARGS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_NOARGS; + break; + case METH_O: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_O; + break; + case METH_METHOD | METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD; + break; + case METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS; + break; + case METH_VARARGS | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = NULL; + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + Py_DECREF(op); + return NULL; + } +#endif + return (PyObject *) op; +} +static int +__Pyx_CyFunction_clear(__pyx_CyFunctionObject *m) +{ + Py_CLEAR(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_CLEAR(m->func); +#else + Py_CLEAR(((PyCFunctionObject*)m)->m_module); +#endif + Py_CLEAR(m->func_dict); + Py_CLEAR(m->func_name); + Py_CLEAR(m->func_qualname); + Py_CLEAR(m->func_doc); + Py_CLEAR(m->func_globals); + Py_CLEAR(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API +#if PY_VERSION_HEX < 0x030900B1 + Py_CLEAR(__Pyx_CyFunction_GetClassObj(m)); +#else + { + PyObject *cls = (PyObject*) ((PyCMethodObject *) (m))->mm_class; + ((PyCMethodObject *) (m))->mm_class = NULL; + Py_XDECREF(cls); + } +#endif +#endif + Py_CLEAR(m->defaults_tuple); + Py_CLEAR(m->defaults_kwdict); + Py_CLEAR(m->func_annotations); + Py_CLEAR(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_XDECREF(pydefaults[i]); + PyObject_Free(m->defaults); + m->defaults = NULL; + } + return 0; +} +static void __Pyx__CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + if (__Pyx_CyFunction_weakreflist(m) != NULL) + PyObject_ClearWeakRefs((PyObject *) m); + __Pyx_CyFunction_clear(m); + __Pyx_PyHeapTypeObject_GC_Del(m); +} +static void __Pyx_CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + PyObject_GC_UnTrack(m); + __Pyx__CyFunction_dealloc(m); +} +static int __Pyx_CyFunction_traverse(__pyx_CyFunctionObject *m, visitproc visit, void *arg) +{ + Py_VISIT(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(m->func); +#else + Py_VISIT(((PyCFunctionObject*)m)->m_module); +#endif + Py_VISIT(m->func_dict); + Py_VISIT(m->func_name); + Py_VISIT(m->func_qualname); + Py_VISIT(m->func_doc); + Py_VISIT(m->func_globals); + Py_VISIT(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(__Pyx_CyFunction_GetClassObj(m)); +#endif + Py_VISIT(m->defaults_tuple); + Py_VISIT(m->defaults_kwdict); + Py_VISIT(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_VISIT(pydefaults[i]); + } + return 0; +} +static PyObject* +__Pyx_CyFunction_repr(__pyx_CyFunctionObject *op) +{ +#if PY_MAJOR_VERSION >= 3 + return PyUnicode_FromFormat("", + op->func_qualname, (void *)op); +#else + return PyString_FromFormat("", + PyString_AsString(op->func_qualname), (void *)op); +#endif +} +static PyObject * __Pyx_CyFunction_CallMethod(PyObject *func, PyObject *self, PyObject *arg, PyObject *kw) { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *f = ((__pyx_CyFunctionObject*)func)->func; + PyObject *py_name = NULL; + PyCFunction meth; + int flags; + meth = PyCFunction_GetFunction(f); + if (unlikely(!meth)) return NULL; + flags = PyCFunction_GetFlags(f); + if (unlikely(flags < 0)) return NULL; +#else + PyCFunctionObject* f = (PyCFunctionObject*)func; + PyCFunction meth = f->m_ml->ml_meth; + int flags = f->m_ml->ml_flags; +#endif + Py_ssize_t size; + switch (flags & (METH_VARARGS | METH_KEYWORDS | METH_NOARGS | METH_O)) { + case METH_VARARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) + return (*meth)(self, arg); + break; + case METH_VARARGS | METH_KEYWORDS: + return (*(PyCFunctionWithKeywords)(void*)meth)(self, arg, kw); + case METH_NOARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 0)) + return (*meth)(self, NULL); +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + case METH_O: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 1)) { + PyObject *result, *arg0; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + arg0 = PyTuple_GET_ITEM(arg, 0); + #else + arg0 = __Pyx_PySequence_ITEM(arg, 0); if (unlikely(!arg0)) return NULL; + #endif + result = (*meth)(self, arg0); + #if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(arg0); + #endif + return result; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + return NULL; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, "%.200S() takes no keyword arguments", + py_name); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, "%.200s() takes no keyword arguments", + f->m_ml->ml_name); +#endif + return NULL; +} +static CYTHON_INLINE PyObject *__Pyx_CyFunction_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *self, *result; +#if CYTHON_COMPILING_IN_LIMITED_API + self = PyCFunction_GetSelf(((__pyx_CyFunctionObject*)func)->func); + if (unlikely(!self) && PyErr_Occurred()) return NULL; +#else + self = ((PyCFunctionObject*)func)->m_self; +#endif + result = __Pyx_CyFunction_CallMethod(func, self, arg, kw); + return result; +} +static PyObject *__Pyx_CyFunction_CallAsMethod(PyObject *func, PyObject *args, PyObject *kw) { + PyObject *result; + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *) func; +#if CYTHON_METH_FASTCALL + __pyx_vectorcallfunc vc = __Pyx_CyFunction_func_vectorcall(cyfunc); + if (vc) { +#if CYTHON_ASSUME_SAFE_MACROS + return __Pyx_PyVectorcall_FastCallDict(func, vc, &PyTuple_GET_ITEM(args, 0), (size_t)PyTuple_GET_SIZE(args), kw); +#else + (void) &__Pyx_PyVectorcall_FastCallDict; + return PyVectorcall_Call(func, args, kw); +#endif + } +#endif + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + Py_ssize_t argc; + PyObject *new_args; + PyObject *self; +#if CYTHON_ASSUME_SAFE_MACROS + argc = PyTuple_GET_SIZE(args); +#else + argc = PyTuple_Size(args); + if (unlikely(!argc) < 0) return NULL; +#endif + new_args = PyTuple_GetSlice(args, 1, argc); + if (unlikely(!new_args)) + return NULL; + self = PyTuple_GetItem(args, 0); + if (unlikely(!self)) { + Py_DECREF(new_args); +#if PY_MAJOR_VERSION > 2 + PyErr_Format(PyExc_TypeError, + "unbound method %.200S() needs an argument", + cyfunc->func_qualname); +#else + PyErr_SetString(PyExc_TypeError, + "unbound method needs an argument"); +#endif + return NULL; + } + result = __Pyx_CyFunction_CallMethod(func, self, new_args, kw); + Py_DECREF(new_args); + } else { + result = __Pyx_CyFunction_Call(func, args, kw); + } + return result; +} +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE int __Pyx_CyFunction_Vectorcall_CheckArgs(__pyx_CyFunctionObject *cyfunc, Py_ssize_t nargs, PyObject *kwnames) +{ + int ret = 0; + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + if (unlikely(nargs < 1)) { + PyErr_Format(PyExc_TypeError, "%.200s() needs an argument", + ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + ret = 1; + } + if (unlikely(kwnames) && unlikely(PyTuple_GET_SIZE(kwnames))) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no keyword arguments", ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + return ret; +} +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 0)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, NULL); +} +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 1)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, args[0]); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((_PyCFunctionFastWithKeywords)(void(*)(void))def->ml_meth)(self, args, nargs, kwnames); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; + PyTypeObject *cls = (PyTypeObject *) __Pyx_CyFunction_GetClassObj(cyfunc); +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((__Pyx_PyCMethod)(void(*)(void))def->ml_meth)(self, cls, args, (size_t)nargs, kwnames); +} +#endif +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_CyFunctionType_slots[] = { + {Py_tp_dealloc, (void *)__Pyx_CyFunction_dealloc}, + {Py_tp_repr, (void *)__Pyx_CyFunction_repr}, + {Py_tp_call, (void *)__Pyx_CyFunction_CallAsMethod}, + {Py_tp_traverse, (void *)__Pyx_CyFunction_traverse}, + {Py_tp_clear, (void *)__Pyx_CyFunction_clear}, + {Py_tp_methods, (void *)__pyx_CyFunction_methods}, + {Py_tp_members, (void *)__pyx_CyFunction_members}, + {Py_tp_getset, (void *)__pyx_CyFunction_getsets}, + {Py_tp_descr_get, (void *)__Pyx_PyMethod_New}, + {0, 0}, +}; +static PyType_Spec __pyx_CyFunctionType_spec = { + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if (defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL) + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + __pyx_CyFunctionType_slots +}; +#else +static PyTypeObject __pyx_CyFunctionType_type = { + PyVarObject_HEAD_INIT(0, 0) + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, + (destructor) __Pyx_CyFunction_dealloc, +#if !CYTHON_METH_FASTCALL + 0, +#elif CYTHON_BACKPORT_VECTORCALL + (printfunc)offsetof(__pyx_CyFunctionObject, func_vectorcall), +#else + offsetof(PyCFunctionObject, vectorcall), +#endif + 0, + 0, +#if PY_MAJOR_VERSION < 3 + 0, +#else + 0, +#endif + (reprfunc) __Pyx_CyFunction_repr, + 0, + 0, + 0, + 0, + __Pyx_CyFunction_CallAsMethod, + 0, + 0, + 0, + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + 0, + (traverseproc) __Pyx_CyFunction_traverse, + (inquiry) __Pyx_CyFunction_clear, + 0, +#if PY_VERSION_HEX < 0x030500A0 + offsetof(__pyx_CyFunctionObject, func_weakreflist), +#else + offsetof(PyCFunctionObject, m_weakreflist), +#endif + 0, + 0, + __pyx_CyFunction_methods, + __pyx_CyFunction_members, + __pyx_CyFunction_getsets, + 0, + 0, + __Pyx_PyMethod_New, + 0, + offsetof(__pyx_CyFunctionObject, func_dict), + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, +#if PY_VERSION_HEX >= 0x030400a1 + 0, +#endif +#if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, +#endif +#if __PYX_NEED_TP_PRINT_SLOT + 0, +#endif +#if PY_VERSION_HEX >= 0x030C0000 + 0, +#endif +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, +#endif +}; +#endif +static int __pyx_CyFunction_init(PyObject *module) { +#if CYTHON_USE_TYPE_SPECS + __pyx_CyFunctionType = __Pyx_FetchCommonTypeFromSpec(module, &__pyx_CyFunctionType_spec, NULL); +#else + CYTHON_UNUSED_VAR(module); + __pyx_CyFunctionType = __Pyx_FetchCommonType(&__pyx_CyFunctionType_type); +#endif + if (unlikely(__pyx_CyFunctionType == NULL)) { + return -1; + } + return 0; +} +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *func, size_t size, int pyobjects) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults = PyObject_Malloc(size); + if (unlikely(!m->defaults)) + return PyErr_NoMemory(); + memset(m->defaults, 0, size); + m->defaults_pyobjects = pyobjects; + m->defaults_size = size; + return m->defaults; +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *func, PyObject *tuple) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_tuple = tuple; + Py_INCREF(tuple); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_kwdict = dict; + Py_INCREF(dict); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->func_annotations = dict; + Py_INCREF(dict); +} + +/* CythonFunction */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { + PyObject *op = __Pyx_CyFunction_Init( + PyObject_GC_New(__pyx_CyFunctionObject, __pyx_CyFunctionType), + ml, flags, qualname, closure, module, globals, code + ); + if (likely(op)) { + PyObject_GC_Track(op); + } + return op; +} + +/* Py3UpdateBases */ +static PyObject* +__Pyx_PEP560_update_bases(PyObject *bases) +{ + Py_ssize_t i, j, size_bases; + PyObject *base, *meth, *new_base, *result, *new_bases = NULL; + size_bases = PyTuple_GET_SIZE(bases); + for (i = 0; i < size_bases; i++) { + base = PyTuple_GET_ITEM(bases, i); + if (PyType_Check(base)) { + if (new_bases) { + if (PyList_Append(new_bases, base) < 0) { + goto error; + } + } + continue; + } + meth = __Pyx_PyObject_GetAttrStrNoError(base, __pyx_n_s_mro_entries); + if (!meth && PyErr_Occurred()) { + goto error; + } + if (!meth) { + if (new_bases) { + if (PyList_Append(new_bases, base) < 0) { + goto error; + } + } + continue; + } + new_base = __Pyx_PyObject_CallOneArg(meth, bases); + Py_DECREF(meth); + if (!new_base) { + goto error; + } + if (!PyTuple_Check(new_base)) { + PyErr_SetString(PyExc_TypeError, + "__mro_entries__ must return a tuple"); + Py_DECREF(new_base); + goto error; + } + if (!new_bases) { + if (!(new_bases = PyList_New(i))) { + goto error; + } + for (j = 0; j < i; j++) { + base = PyTuple_GET_ITEM(bases, j); + PyList_SET_ITEM(new_bases, j, base); + Py_INCREF(base); + } + } + j = PyList_GET_SIZE(new_bases); + if (PyList_SetSlice(new_bases, j, j, new_base) < 0) { + goto error; + } + Py_DECREF(new_base); + } + if (!new_bases) { + Py_INCREF(bases); + return bases; + } + result = PyList_AsTuple(new_bases); + Py_DECREF(new_bases); + return result; +error: + Py_XDECREF(new_bases); + return NULL; +} + +/* SetNewInClass */ +static int __Pyx_SetNewInClass(PyObject *ns, PyObject *name, PyObject *value) { +#ifdef __Pyx_CyFunction_USED + int ret; + if (__Pyx_CyFunction_Check(value)) { + PyObject *staticnew = PyStaticMethod_New(value); + if (unlikely(!staticnew)) return -1; + ret = __Pyx_SetNameInClass(ns, name, staticnew); + Py_DECREF(staticnew); + return ret; + } +#endif + return __Pyx_SetNameInClass(ns, name, value); +} + +/* CalculateMetaclass */ +static PyObject *__Pyx_CalculateMetaclass(PyTypeObject *metaclass, PyObject *bases) { + Py_ssize_t i, nbases; +#if CYTHON_ASSUME_SAFE_MACROS + nbases = PyTuple_GET_SIZE(bases); +#else + nbases = PyTuple_Size(bases); + if (nbases < 0) return NULL; +#endif + for (i=0; i < nbases; i++) { + PyTypeObject *tmptype; +#if CYTHON_ASSUME_SAFE_MACROS + PyObject *tmp = PyTuple_GET_ITEM(bases, i); +#else + PyObject *tmp = PyTuple_GetItem(bases, i); + if (!tmp) return NULL; +#endif + tmptype = Py_TYPE(tmp); +#if PY_MAJOR_VERSION < 3 + if (tmptype == &PyClass_Type) + continue; +#endif + if (!metaclass) { + metaclass = tmptype; + continue; + } + if (PyType_IsSubtype(metaclass, tmptype)) + continue; + if (PyType_IsSubtype(tmptype, metaclass)) { + metaclass = tmptype; + continue; + } + PyErr_SetString(PyExc_TypeError, + "metaclass conflict: " + "the metaclass of a derived class " + "must be a (non-strict) subclass " + "of the metaclasses of all its bases"); + return NULL; + } + if (!metaclass) { +#if PY_MAJOR_VERSION < 3 + metaclass = &PyClass_Type; +#else + metaclass = &PyType_Type; +#endif + } + Py_INCREF((PyObject*) metaclass); + return (PyObject*) metaclass; +} + +/* PyObjectCall2Args */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2) { + PyObject *args[3] = {NULL, arg1, arg2}; + return __Pyx_PyObject_FastCall(function, args+1, 2 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* PyObjectLookupSpecial */ +#if CYTHON_USE_PYTYPE_LOOKUP && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx__PyObject_LookupSpecial(PyObject* obj, PyObject* attr_name, int with_error) { + PyObject *res; + PyTypeObject *tp = Py_TYPE(obj); +#if PY_MAJOR_VERSION < 3 + if (unlikely(PyInstance_Check(obj))) + return with_error ? __Pyx_PyObject_GetAttrStr(obj, attr_name) : __Pyx_PyObject_GetAttrStrNoError(obj, attr_name); +#endif + res = _PyType_Lookup(tp, attr_name); + if (likely(res)) { + descrgetfunc f = Py_TYPE(res)->tp_descr_get; + if (!f) { + Py_INCREF(res); + } else { + res = f(res, obj, (PyObject *)tp); + } + } else if (with_error) { + PyErr_SetObject(PyExc_AttributeError, attr_name); + } + return res; +} +#endif + +/* Py3ClassCreate */ +static PyObject *__Pyx_Py3MetaclassPrepare(PyObject *metaclass, PyObject *bases, PyObject *name, + PyObject *qualname, PyObject *mkw, PyObject *modname, PyObject *doc) { + PyObject *ns; + if (metaclass) { + PyObject *prep = __Pyx_PyObject_GetAttrStrNoError(metaclass, __pyx_n_s_prepare); + if (prep) { + PyObject *pargs[3] = {NULL, name, bases}; + ns = __Pyx_PyObject_FastCallDict(prep, pargs+1, 2 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET, mkw); + Py_DECREF(prep); + } else { + if (unlikely(PyErr_Occurred())) + return NULL; + ns = PyDict_New(); + } + } else { + ns = PyDict_New(); + } + if (unlikely(!ns)) + return NULL; + if (unlikely(PyObject_SetItem(ns, __pyx_n_s_module, modname) < 0)) goto bad; +#if PY_VERSION_HEX >= 0x03030000 + if (unlikely(PyObject_SetItem(ns, __pyx_n_s_qualname, qualname) < 0)) goto bad; +#else + CYTHON_MAYBE_UNUSED_VAR(qualname); +#endif + if (unlikely(doc && PyObject_SetItem(ns, __pyx_n_s_doc, doc) < 0)) goto bad; + return ns; +bad: + Py_DECREF(ns); + return NULL; +} +#if PY_VERSION_HEX < 0x030600A4 && CYTHON_PEP487_INIT_SUBCLASS +static int __Pyx_SetNamesPEP487(PyObject *type_obj) { + PyTypeObject *type = (PyTypeObject*) type_obj; + PyObject *names_to_set, *key, *value, *set_name, *tmp; + Py_ssize_t i = 0; +#if CYTHON_USE_TYPE_SLOTS + names_to_set = PyDict_Copy(type->tp_dict); +#else + { + PyObject *d = PyObject_GetAttr(type_obj, __pyx_n_s_dict); + names_to_set = NULL; + if (likely(d)) { + PyObject *names_to_set = PyDict_New(); + int ret = likely(names_to_set) ? PyDict_Update(names_to_set, d) : -1; + Py_DECREF(d); + if (unlikely(ret < 0)) + Py_CLEAR(names_to_set); + } + } +#endif + if (unlikely(names_to_set == NULL)) + goto bad; + while (PyDict_Next(names_to_set, &i, &key, &value)) { + set_name = __Pyx_PyObject_LookupSpecialNoError(value, __pyx_n_s_set_name); + if (unlikely(set_name != NULL)) { + tmp = __Pyx_PyObject_Call2Args(set_name, type_obj, key); + Py_DECREF(set_name); + if (unlikely(tmp == NULL)) { + __Pyx_TypeName value_type_name = + __Pyx_PyType_GetName(Py_TYPE(value)); + __Pyx_TypeName type_name = __Pyx_PyType_GetName(type); + PyErr_Format(PyExc_RuntimeError, +#if PY_MAJOR_VERSION >= 3 + "Error calling __set_name__ on '" __Pyx_FMT_TYPENAME "' instance %R " "in '" __Pyx_FMT_TYPENAME "'", + value_type_name, key, type_name); +#else + "Error calling __set_name__ on '" __Pyx_FMT_TYPENAME "' instance %.100s in '" __Pyx_FMT_TYPENAME "'", + value_type_name, + PyString_Check(key) ? PyString_AS_STRING(key) : "?", + type_name); +#endif + goto bad; + } else { + Py_DECREF(tmp); + } + } + else if (unlikely(PyErr_Occurred())) { + goto bad; + } + } + Py_DECREF(names_to_set); + return 0; +bad: + Py_XDECREF(names_to_set); + return -1; +} +static PyObject *__Pyx_InitSubclassPEP487(PyObject *type_obj, PyObject *mkw) { +#if CYTHON_USE_TYPE_SLOTS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + PyTypeObject *type = (PyTypeObject*) type_obj; + PyObject *mro = type->tp_mro; + Py_ssize_t i, nbases; + if (unlikely(!mro)) goto done; + (void) &__Pyx_GetBuiltinName; + Py_INCREF(mro); + nbases = PyTuple_GET_SIZE(mro); + assert(PyTuple_GET_ITEM(mro, 0) == type_obj); + for (i = 1; i < nbases-1; i++) { + PyObject *base, *dict, *meth; + base = PyTuple_GET_ITEM(mro, i); + dict = ((PyTypeObject *)base)->tp_dict; + meth = __Pyx_PyDict_GetItemStrWithError(dict, __pyx_n_s_init_subclass); + if (unlikely(meth)) { + descrgetfunc f = Py_TYPE(meth)->tp_descr_get; + PyObject *res; + Py_INCREF(meth); + if (likely(f)) { + res = f(meth, NULL, type_obj); + Py_DECREF(meth); + if (unlikely(!res)) goto bad; + meth = res; + } + res = __Pyx_PyObject_FastCallDict(meth, NULL, 0, mkw); + Py_DECREF(meth); + if (unlikely(!res)) goto bad; + Py_DECREF(res); + goto done; + } else if (unlikely(PyErr_Occurred())) { + goto bad; + } + } +done: + Py_XDECREF(mro); + return type_obj; +bad: + Py_XDECREF(mro); + Py_DECREF(type_obj); + return NULL; +#else + PyObject *super_type, *super, *func, *res; +#if CYTHON_COMPILING_IN_PYPY && !defined(PySuper_Type) + super_type = __Pyx_GetBuiltinName(__pyx_n_s_super); +#else + super_type = (PyObject*) &PySuper_Type; + (void) &__Pyx_GetBuiltinName; +#endif + super = likely(super_type) ? __Pyx_PyObject_Call2Args(super_type, type_obj, type_obj) : NULL; +#if CYTHON_COMPILING_IN_PYPY && !defined(PySuper_Type) + Py_XDECREF(super_type); +#endif + if (unlikely(!super)) { + Py_CLEAR(type_obj); + goto done; + } + func = __Pyx_PyObject_GetAttrStrNoError(super, __pyx_n_s_init_subclass); + Py_DECREF(super); + if (likely(!func)) { + if (unlikely(PyErr_Occurred())) + Py_CLEAR(type_obj); + goto done; + } + res = __Pyx_PyObject_FastCallDict(func, NULL, 0, mkw); + Py_DECREF(func); + if (unlikely(!res)) + Py_CLEAR(type_obj); + Py_XDECREF(res); +done: + return type_obj; +#endif +} +#endif +static PyObject *__Pyx_Py3ClassCreate(PyObject *metaclass, PyObject *name, PyObject *bases, + PyObject *dict, PyObject *mkw, + int calculate_metaclass, int allow_py2_metaclass) { + PyObject *result; + PyObject *owned_metaclass = NULL; + PyObject *margs[4] = {NULL, name, bases, dict}; + if (allow_py2_metaclass) { + owned_metaclass = PyObject_GetItem(dict, __pyx_n_s_metaclass); + if (owned_metaclass) { + metaclass = owned_metaclass; + } else if (likely(PyErr_ExceptionMatches(PyExc_KeyError))) { + PyErr_Clear(); + } else { + return NULL; + } + } + if (calculate_metaclass && (!metaclass || PyType_Check(metaclass))) { + metaclass = __Pyx_CalculateMetaclass((PyTypeObject*) metaclass, bases); + Py_XDECREF(owned_metaclass); + if (unlikely(!metaclass)) + return NULL; + owned_metaclass = metaclass; + } + result = __Pyx_PyObject_FastCallDict(metaclass, margs+1, 3 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET, +#if PY_VERSION_HEX < 0x030600A4 + (metaclass == (PyObject*)&PyType_Type) ? NULL : mkw +#else + mkw +#endif + ); + Py_XDECREF(owned_metaclass); +#if PY_VERSION_HEX < 0x030600A4 && CYTHON_PEP487_INIT_SUBCLASS + if (likely(result) && likely(PyType_Check(result))) { + if (unlikely(__Pyx_SetNamesPEP487(result) < 0)) { + Py_CLEAR(result); + } else { + result = __Pyx_InitSubclassPEP487(result, mkw); + } + } +#else + (void) &__Pyx_GetBuiltinName; +#endif + return result; +} + +/* Globals */ +static PyObject* __Pyx_Globals(void) { + return __Pyx_NewRef(__pyx_d); +} + +/* UnpackUnboundCMethod */ +static PyObject *__Pyx_SelflessCall(PyObject *method, PyObject *args, PyObject *kwargs) { + PyObject *result; + PyObject *selfless_args = PyTuple_GetSlice(args, 1, PyTuple_Size(args)); + if (unlikely(!selfless_args)) return NULL; + result = PyObject_Call(method, selfless_args, kwargs); + Py_DECREF(selfless_args); + return result; +} +static PyMethodDef __Pyx_UnboundCMethod_Def = { + "CythonUnboundCMethod", + __PYX_REINTERPRET_FUNCION(PyCFunction, __Pyx_SelflessCall), + METH_VARARGS | METH_KEYWORDS, + NULL +}; +static int __Pyx_TryUnpackUnboundCMethod(__Pyx_CachedCFunction* target) { + PyObject *method; + method = __Pyx_PyObject_GetAttrStr(target->type, *target->method_name); + if (unlikely(!method)) + return -1; + target->method = method; +#if CYTHON_COMPILING_IN_CPYTHON + #if PY_MAJOR_VERSION >= 3 + if (likely(__Pyx_TypeCheck(method, &PyMethodDescr_Type))) + #else + if (likely(!__Pyx_CyOrPyCFunction_Check(method))) + #endif + { + PyMethodDescrObject *descr = (PyMethodDescrObject*) method; + target->func = descr->d_method->ml_meth; + target->flag = descr->d_method->ml_flags & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_STACKLESS); + } else +#endif +#if CYTHON_COMPILING_IN_PYPY +#else + if (PyCFunction_Check(method)) +#endif + { + PyObject *self; + int self_found; +#if CYTHON_COMPILING_IN_LIMITED_API || CYTHON_COMPILING_IN_PYPY + self = PyObject_GetAttrString(method, "__self__"); + if (!self) { + PyErr_Clear(); + } +#else + self = PyCFunction_GET_SELF(method); +#endif + self_found = (self && self != Py_None); +#if CYTHON_COMPILING_IN_LIMITED_API || CYTHON_COMPILING_IN_PYPY + Py_XDECREF(self); +#endif + if (self_found) { + PyObject *unbound_method = PyCFunction_New(&__Pyx_UnboundCMethod_Def, method); + if (unlikely(!unbound_method)) return -1; + Py_DECREF(method); + target->method = unbound_method; + } + } + return 0; +} + +/* CallUnboundCMethod1 */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_CallUnboundCMethod1(__Pyx_CachedCFunction* cfunc, PyObject* self, PyObject* arg) { + if (likely(cfunc->func)) { + int flag = cfunc->flag; + if (flag == METH_O) { + return (*(cfunc->func))(self, arg); + } else if ((PY_VERSION_HEX >= 0x030600B1) && flag == METH_FASTCALL) { + #if PY_VERSION_HEX >= 0x030700A0 + return (*(__Pyx_PyCFunctionFast)(void*)(PyCFunction)cfunc->func)(self, &arg, 1); + #else + return (*(__Pyx_PyCFunctionFastWithKeywords)(void*)(PyCFunction)cfunc->func)(self, &arg, 1, NULL); + #endif + } else if ((PY_VERSION_HEX >= 0x030700A0) && flag == (METH_FASTCALL | METH_KEYWORDS)) { + return (*(__Pyx_PyCFunctionFastWithKeywords)(void*)(PyCFunction)cfunc->func)(self, &arg, 1, NULL); + } + } + return __Pyx__CallUnboundCMethod1(cfunc, self, arg); +} +#endif +static PyObject* __Pyx__CallUnboundCMethod1(__Pyx_CachedCFunction* cfunc, PyObject* self, PyObject* arg){ + PyObject *args, *result = NULL; + if (unlikely(!cfunc->func && !cfunc->method) && unlikely(__Pyx_TryUnpackUnboundCMethod(cfunc) < 0)) return NULL; +#if CYTHON_COMPILING_IN_CPYTHON + if (cfunc->func && (cfunc->flag & METH_VARARGS)) { + args = PyTuple_New(1); + if (unlikely(!args)) goto bad; + Py_INCREF(arg); + PyTuple_SET_ITEM(args, 0, arg); + if (cfunc->flag & METH_KEYWORDS) + result = (*(PyCFunctionWithKeywords)(void*)(PyCFunction)cfunc->func)(self, args, NULL); + else + result = (*cfunc->func)(self, args); + } else { + args = PyTuple_New(2); + if (unlikely(!args)) goto bad; + Py_INCREF(self); + PyTuple_SET_ITEM(args, 0, self); + Py_INCREF(arg); + PyTuple_SET_ITEM(args, 1, arg); + result = __Pyx_PyObject_Call(cfunc->method, args, NULL); + } +#else + args = PyTuple_Pack(2, self, arg); + if (unlikely(!args)) goto bad; + result = __Pyx_PyObject_Call(cfunc->method, args, NULL); +#endif +bad: + Py_XDECREF(args); + return result; +} + +/* CallUnboundCMethod2 */ +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030600B1 +static CYTHON_INLINE PyObject *__Pyx_CallUnboundCMethod2(__Pyx_CachedCFunction *cfunc, PyObject *self, PyObject *arg1, PyObject *arg2) { + if (likely(cfunc->func)) { + PyObject *args[2] = {arg1, arg2}; + if (cfunc->flag == METH_FASTCALL) { + #if PY_VERSION_HEX >= 0x030700A0 + return (*(__Pyx_PyCFunctionFast)(void*)(PyCFunction)cfunc->func)(self, args, 2); + #else + return (*(__Pyx_PyCFunctionFastWithKeywords)(void*)(PyCFunction)cfunc->func)(self, args, 2, NULL); + #endif + } + #if PY_VERSION_HEX >= 0x030700A0 + if (cfunc->flag == (METH_FASTCALL | METH_KEYWORDS)) + return (*(__Pyx_PyCFunctionFastWithKeywords)(void*)(PyCFunction)cfunc->func)(self, args, 2, NULL); + #endif + } + return __Pyx__CallUnboundCMethod2(cfunc, self, arg1, arg2); +} +#endif +static PyObject* __Pyx__CallUnboundCMethod2(__Pyx_CachedCFunction* cfunc, PyObject* self, PyObject* arg1, PyObject* arg2){ + PyObject *args, *result = NULL; + if (unlikely(!cfunc->func && !cfunc->method) && unlikely(__Pyx_TryUnpackUnboundCMethod(cfunc) < 0)) return NULL; +#if CYTHON_COMPILING_IN_CPYTHON + if (cfunc->func && (cfunc->flag & METH_VARARGS)) { + args = PyTuple_New(2); + if (unlikely(!args)) goto bad; + Py_INCREF(arg1); + PyTuple_SET_ITEM(args, 0, arg1); + Py_INCREF(arg2); + PyTuple_SET_ITEM(args, 1, arg2); + if (cfunc->flag & METH_KEYWORDS) + result = (*(PyCFunctionWithKeywords)(void*)(PyCFunction)cfunc->func)(self, args, NULL); + else + result = (*cfunc->func)(self, args); + } else { + args = PyTuple_New(3); + if (unlikely(!args)) goto bad; + Py_INCREF(self); + PyTuple_SET_ITEM(args, 0, self); + Py_INCREF(arg1); + PyTuple_SET_ITEM(args, 1, arg1); + Py_INCREF(arg2); + PyTuple_SET_ITEM(args, 2, arg2); + result = __Pyx_PyObject_Call(cfunc->method, args, NULL); + } +#else + args = PyTuple_Pack(3, self, arg1, arg2); + if (unlikely(!args)) goto bad; + result = __Pyx_PyObject_Call(cfunc->method, args, NULL); +#endif +bad: + Py_XDECREF(args); + return result; +} + +/* dict_getitem_default */ +static PyObject* __Pyx_PyDict_GetItemDefault(PyObject* d, PyObject* key, PyObject* default_value) { + PyObject* value; +#if PY_MAJOR_VERSION >= 3 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07020000) + value = PyDict_GetItemWithError(d, key); + if (unlikely(!value)) { + if (unlikely(PyErr_Occurred())) + return NULL; + value = default_value; + } + Py_INCREF(value); + if ((1)); +#else + if (PyString_CheckExact(key) || PyUnicode_CheckExact(key) || PyInt_CheckExact(key)) { + value = PyDict_GetItem(d, key); + if (unlikely(!value)) { + value = default_value; + } + Py_INCREF(value); + } +#endif + else { + if (default_value == Py_None) + value = __Pyx_CallUnboundCMethod1(&__pyx_umethod_PyDict_Type_get, d, key); + else + value = __Pyx_CallUnboundCMethod2(&__pyx_umethod_PyDict_Type_get, d, key, default_value); + } + return value; +} + +/* CLineInTraceback */ +#ifndef CYTHON_CLINE_IN_TRACEBACK +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line) { + PyObject *use_cline; + PyObject *ptype, *pvalue, *ptraceback; +#if CYTHON_COMPILING_IN_CPYTHON + PyObject **cython_runtime_dict; +#endif + CYTHON_MAYBE_UNUSED_VAR(tstate); + if (unlikely(!__pyx_cython_runtime)) { + return c_line; + } + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); +#if CYTHON_COMPILING_IN_CPYTHON + cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); + if (likely(cython_runtime_dict)) { + __PYX_PY_DICT_LOOKUP_IF_MODIFIED( + use_cline, *cython_runtime_dict, + __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) + } else +#endif + { + PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStrNoError(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); + if (use_cline_obj) { + use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; +} +#endif + +/* CodeObjectCache */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; + } + } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } +} +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; + } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; +} +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; + } + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; + } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); +} +#endif + +/* AddTraceback */ +#include "compile.h" +#include "frameobject.h" +#include "traceback.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyCode_Replace_For_AddTraceback(PyObject *code, PyObject *scratch_dict, + PyObject *firstlineno, PyObject *name) { + PyObject *replace = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_firstlineno", firstlineno))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_name", name))) return NULL; + replace = PyObject_GetAttrString(code, "replace"); + if (likely(replace)) { + PyObject *result; + result = PyObject_Call(replace, __pyx_empty_tuple, scratch_dict); + Py_DECREF(replace); + return result; + } + PyErr_Clear(); + #if __PYX_LIMITED_VERSION_HEX < 0x030780000 + { + PyObject *compiled = NULL, *result = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "code", code))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "type", (PyObject*)(&PyType_Type)))) return NULL; + compiled = Py_CompileString( + "out = type(code)(\n" + " code.co_argcount, code.co_kwonlyargcount, code.co_nlocals, code.co_stacksize,\n" + " code.co_flags, code.co_code, code.co_consts, code.co_names,\n" + " code.co_varnames, code.co_filename, co_name, co_firstlineno,\n" + " code.co_lnotab)\n", "", Py_file_input); + if (!compiled) return NULL; + result = PyEval_EvalCode(compiled, scratch_dict, scratch_dict); + Py_DECREF(compiled); + if (!result) PyErr_Print(); + Py_DECREF(result); + result = PyDict_GetItemString(scratch_dict, "out"); + if (result) Py_INCREF(result); + return result; + } + #else + return NULL; + #endif +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyObject *code_object = NULL, *py_py_line = NULL, *py_funcname = NULL, *dict = NULL; + PyObject *replace = NULL, *getframe = NULL, *frame = NULL; + PyObject *exc_type, *exc_value, *exc_traceback; + int success = 0; + if (c_line) { + (void) __pyx_cfilenm; + (void) __Pyx_CLineForTraceback(__Pyx_PyThreadState_Current, c_line); + } + PyErr_Fetch(&exc_type, &exc_value, &exc_traceback); + code_object = Py_CompileString("_getframe()", filename, Py_eval_input); + if (unlikely(!code_object)) goto bad; + py_py_line = PyLong_FromLong(py_line); + if (unlikely(!py_py_line)) goto bad; + py_funcname = PyUnicode_FromString(funcname); + if (unlikely(!py_funcname)) goto bad; + dict = PyDict_New(); + if (unlikely(!dict)) goto bad; + { + PyObject *old_code_object = code_object; + code_object = __Pyx_PyCode_Replace_For_AddTraceback(code_object, dict, py_py_line, py_funcname); + Py_DECREF(old_code_object); + } + if (unlikely(!code_object)) goto bad; + getframe = PySys_GetObject("_getframe"); + if (unlikely(!getframe)) goto bad; + if (unlikely(PyDict_SetItemString(dict, "_getframe", getframe))) goto bad; + frame = PyEval_EvalCode(code_object, dict, dict); + if (unlikely(!frame) || frame == Py_None) goto bad; + success = 1; + bad: + PyErr_Restore(exc_type, exc_value, exc_traceback); + Py_XDECREF(code_object); + Py_XDECREF(py_py_line); + Py_XDECREF(py_funcname); + Py_XDECREF(dict); + Py_XDECREF(replace); + if (success) { + PyTraceBack_Here( + (struct _frame*)frame); + } + Py_XDECREF(frame); +} +#else +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = NULL; + PyObject *py_funcname = NULL; + #if PY_MAJOR_VERSION < 3 + PyObject *py_srcfile = NULL; + py_srcfile = PyString_FromString(filename); + if (!py_srcfile) goto bad; + #endif + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + funcname = PyUnicode_AsUTF8(py_funcname); + if (!funcname) goto bad; + #endif + } + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + if (!py_funcname) goto bad; + #endif + } + #if PY_MAJOR_VERSION < 3 + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + #else + py_code = PyCode_NewEmpty(filename, funcname, py_line); + #endif + Py_XDECREF(py_funcname); + return py_code; +bad: + Py_XDECREF(py_funcname); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_srcfile); + #endif + return NULL; +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject *ptype, *pvalue, *ptraceback; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); + } + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) { + /* If the code object creation fails, then we should clear the + fetched exception references and propagate the new exception */ + Py_XDECREF(ptype); + Py_XDECREF(pvalue); + Py_XDECREF(ptraceback); + goto bad; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + } + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} +#endif + +/* CIntFromPyVerify */ +#define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* CIntFromPy */ +static CYTHON_INLINE enum ParamKeyType __Pyx_PyInt_As_enum__ParamKeyType(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const enum ParamKeyType neg_one = (enum ParamKeyType) -1, const_zero = (enum ParamKeyType) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(enum ParamKeyType) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(enum ParamKeyType, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (enum ParamKeyType) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(enum ParamKeyType, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(enum ParamKeyType) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(enum ParamKeyType, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(enum ParamKeyType) >= 2 * PyLong_SHIFT)) { + return (enum ParamKeyType) (((((enum ParamKeyType)digits[1]) << PyLong_SHIFT) | (enum ParamKeyType)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(enum ParamKeyType) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(enum ParamKeyType, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(enum ParamKeyType) >= 3 * PyLong_SHIFT)) { + return (enum ParamKeyType) (((((((enum ParamKeyType)digits[2]) << PyLong_SHIFT) | (enum ParamKeyType)digits[1]) << PyLong_SHIFT) | (enum ParamKeyType)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(enum ParamKeyType) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(enum ParamKeyType, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(enum ParamKeyType) >= 4 * PyLong_SHIFT)) { + return (enum ParamKeyType) (((((((((enum ParamKeyType)digits[3]) << PyLong_SHIFT) | (enum ParamKeyType)digits[2]) << PyLong_SHIFT) | (enum ParamKeyType)digits[1]) << PyLong_SHIFT) | (enum ParamKeyType)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (enum ParamKeyType) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(enum ParamKeyType) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(enum ParamKeyType, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(enum ParamKeyType) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(enum ParamKeyType, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(enum ParamKeyType, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(enum ParamKeyType) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(enum ParamKeyType, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(enum ParamKeyType) - 1 > 2 * PyLong_SHIFT)) { + return (enum ParamKeyType) (((enum ParamKeyType)-1)*(((((enum ParamKeyType)digits[1]) << PyLong_SHIFT) | (enum ParamKeyType)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(enum ParamKeyType) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(enum ParamKeyType, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(enum ParamKeyType) - 1 > 2 * PyLong_SHIFT)) { + return (enum ParamKeyType) ((((((enum ParamKeyType)digits[1]) << PyLong_SHIFT) | (enum ParamKeyType)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(enum ParamKeyType) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(enum ParamKeyType, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(enum ParamKeyType) - 1 > 3 * PyLong_SHIFT)) { + return (enum ParamKeyType) (((enum ParamKeyType)-1)*(((((((enum ParamKeyType)digits[2]) << PyLong_SHIFT) | (enum ParamKeyType)digits[1]) << PyLong_SHIFT) | (enum ParamKeyType)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(enum ParamKeyType) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(enum ParamKeyType, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(enum ParamKeyType) - 1 > 3 * PyLong_SHIFT)) { + return (enum ParamKeyType) ((((((((enum ParamKeyType)digits[2]) << PyLong_SHIFT) | (enum ParamKeyType)digits[1]) << PyLong_SHIFT) | (enum ParamKeyType)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(enum ParamKeyType) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(enum ParamKeyType, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(enum ParamKeyType) - 1 > 4 * PyLong_SHIFT)) { + return (enum ParamKeyType) (((enum ParamKeyType)-1)*(((((((((enum ParamKeyType)digits[3]) << PyLong_SHIFT) | (enum ParamKeyType)digits[2]) << PyLong_SHIFT) | (enum ParamKeyType)digits[1]) << PyLong_SHIFT) | (enum ParamKeyType)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(enum ParamKeyType) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(enum ParamKeyType, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(enum ParamKeyType) - 1 > 4 * PyLong_SHIFT)) { + return (enum ParamKeyType) ((((((((((enum ParamKeyType)digits[3]) << PyLong_SHIFT) | (enum ParamKeyType)digits[2]) << PyLong_SHIFT) | (enum ParamKeyType)digits[1]) << PyLong_SHIFT) | (enum ParamKeyType)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(enum ParamKeyType) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(enum ParamKeyType, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(enum ParamKeyType) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(enum ParamKeyType, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + PyErr_SetString(PyExc_RuntimeError, + "_PyLong_AsByteArray() not available, cannot convert large enums"); + return (enum ParamKeyType) -1; + } else { + enum ParamKeyType val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (enum ParamKeyType) -1; + val = __Pyx_PyInt_As_enum__ParamKeyType(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to enum ParamKeyType"); + return (enum ParamKeyType) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to enum ParamKeyType"); + return (enum ParamKeyType) -1; +} + +/* CIntToPy */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_enum__ParamKeyType(enum ParamKeyType value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const enum ParamKeyType neg_one = (enum ParamKeyType) -1, const_zero = (enum ParamKeyType) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(enum ParamKeyType) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(enum ParamKeyType) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(enum ParamKeyType) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(enum ParamKeyType) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(enum ParamKeyType) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(enum ParamKeyType), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(enum ParamKeyType)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntToPy */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(int) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(int) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(int) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(int), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(int)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPy */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(long) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (long) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 2 * PyLong_SHIFT)) { + return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 3 * PyLong_SHIFT)) { + return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 4 * PyLong_SHIFT)) { + return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(long) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(long) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(long) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + long val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (long) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (long) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (long) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (long) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(long) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(long) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((long) 1) << (sizeof(long) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (long) -1; + } + } else { + long val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (long) -1; + val = __Pyx_PyInt_As_long(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to long"); + return (long) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to long"); + return (long) -1; +} + +/* CIntToPy */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(long)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* FormatTypeName */ +#if CYTHON_COMPILING_IN_LIMITED_API +static __Pyx_TypeName +__Pyx_PyType_GetName(PyTypeObject* tp) +{ + PyObject *name = __Pyx_PyObject_GetAttrStr((PyObject *)tp, + __pyx_n_s_name_2); + if (unlikely(name == NULL) || unlikely(!PyUnicode_Check(name))) { + PyErr_Clear(); + Py_XDECREF(name); + name = __Pyx_NewRef(__pyx_n_s__47); + } + return name; +} +#endif + +/* CIntFromPy */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(int) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (int) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 2 * PyLong_SHIFT)) { + return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 3 * PyLong_SHIFT)) { + return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 4 * PyLong_SHIFT)) { + return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(int) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(int) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(int) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + int val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (int) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (int) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (int) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (int) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(int) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(int) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((int) 1) << (sizeof(int) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (int) -1; + } + } else { + int val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (int) -1; + val = __Pyx_PyInt_As_int(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to int"); + return (int) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to int"); + return (int) -1; +} + +/* FastTypeChecks */ +#if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = __Pyx_PyType_GetSlot(a, tp_base, PyTypeObject*); + if (a == b) + return 1; + } + return b == &PyBaseObject_Type; +} +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(a, b); +} +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (cls == a || cls == b) return 1; + mro = cls->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + PyObject *base = PyTuple_GET_ITEM(mro, i); + if (base == (PyObject *)a || base == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(cls, a) || __Pyx_InBases(cls, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + } + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + if (exc_type1) { + return __Pyx_IsAnySubtype2((PyTypeObject*)err, (PyTypeObject*)exc_type1, (PyTypeObject*)exc_type2); + } else { + return __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } +} +#endif +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; i= 0x030B00A4 + return Py_Version & ~0xFFUL; +#else + const char* rt_version = Py_GetVersion(); + unsigned long version = 0; + unsigned long factor = 0x01000000UL; + unsigned int digit = 0; + int i = 0; + while (factor) { + while ('0' <= rt_version[i] && rt_version[i] <= '9') { + digit = digit * 10 + (unsigned int) (rt_version[i] - '0'); + ++i; + } + version += factor * digit; + if (rt_version[i] != '.') + break; + digit = 0; + factor >>= 8; + ++i; + } + return version; +#endif +} +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer) { + const unsigned long MAJOR_MINOR = 0xFFFF0000UL; + if ((rt_version & MAJOR_MINOR) == (ct_version & MAJOR_MINOR)) + return 0; + if (likely(allow_newer && (rt_version & MAJOR_MINOR) > (ct_version & MAJOR_MINOR))) + return 1; + { + char message[200]; + PyOS_snprintf(message, sizeof(message), + "compile time Python version %d.%d " + "of module '%.100s' " + "%s " + "runtime version %d.%d", + (int) (ct_version >> 24), (int) ((ct_version >> 16) & 0xFF), + __Pyx_MODULE_NAME, + (allow_newer) ? "was newer than" : "does not match", + (int) (rt_version >> 24), (int) ((rt_version >> 16) & 0xFF) + ); + return PyErr_WarnEx(NULL, message, 1); + } +} + +/* InitStrings */ +#if PY_MAJOR_VERSION >= 3 +static int __Pyx_InitString(__Pyx_StringTabEntry t, PyObject **str) { + if (t.is_unicode | t.is_str) { + if (t.intern) { + *str = PyUnicode_InternFromString(t.s); + } else if (t.encoding) { + *str = PyUnicode_Decode(t.s, t.n - 1, t.encoding, NULL); + } else { + *str = PyUnicode_FromStringAndSize(t.s, t.n - 1); + } + } else { + *str = PyBytes_FromStringAndSize(t.s, t.n - 1); + } + if (!*str) + return -1; + if (PyObject_Hash(*str) == -1) + return -1; + return 0; +} +#endif +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t) { + while (t->p) { + #if PY_MAJOR_VERSION >= 3 + __Pyx_InitString(*t, t->p); + #else + if (t->is_unicode) { + *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); + } else if (t->intern) { + *t->p = PyString_InternFromString(t->s); + } else { + *t->p = PyString_FromStringAndSize(t->s, t->n - 1); + } + if (!*t->p) + return -1; + if (PyObject_Hash(*t->p) == -1) + return -1; + #endif + ++t; + } + return 0; +} + +#include +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s) { + size_t len = strlen(s); + if (unlikely(len > (size_t) PY_SSIZE_T_MAX)) { + PyErr_SetString(PyExc_OverflowError, "byte string is too long"); + return -1; + } + return (Py_ssize_t) len; +} +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return __Pyx_PyUnicode_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return PyByteArray_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { + Py_ssize_t ignore; + return __Pyx_PyObject_AsStringAndSize(o, &ignore); +} +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#if !CYTHON_PEP393_ENABLED +static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + char* defenc_c; + PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); + if (!defenc) return NULL; + defenc_c = PyBytes_AS_STRING(defenc); +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + { + char* end = defenc_c + PyBytes_GET_SIZE(defenc); + char* c; + for (c = defenc_c; c < end; c++) { + if ((unsigned char) (*c) >= 128) { + PyUnicode_AsASCIIString(o); + return NULL; + } + } + } +#endif + *length = PyBytes_GET_SIZE(defenc); + return defenc_c; +} +#else +static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + if (likely(PyUnicode_IS_ASCII(o))) { + *length = PyUnicode_GET_LENGTH(o); + return PyUnicode_AsUTF8(o); + } else { + PyUnicode_AsASCIIString(o); + return NULL; + } +#else + return PyUnicode_AsUTF8AndSize(o, length); +#endif +} +#endif +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT + if ( +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + __Pyx_sys_getdefaultencoding_not_ascii && +#endif + PyUnicode_Check(o)) { + return __Pyx_PyUnicode_AsStringAndSize(o, length); + } else +#endif +#if (!CYTHON_COMPILING_IN_PYPY && !CYTHON_COMPILING_IN_LIMITED_API) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) + if (PyByteArray_Check(o)) { + *length = PyByteArray_GET_SIZE(o); + return PyByteArray_AS_STRING(o); + } else +#endif + { + char* result; + int r = PyBytes_AsStringAndSize(o, &result, length); + if (unlikely(r < 0)) { + return NULL; + } else { + return result; + } + } +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { + int is_true = x == Py_True; + if (is_true | (x == Py_False) | (x == Py_None)) return is_true; + else return PyObject_IsTrue(x); +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { + int retval; + if (unlikely(!x)) return -1; + retval = __Pyx_PyObject_IsTrue(x); + Py_DECREF(x); + return retval; +} +static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { + __Pyx_TypeName result_type_name = __Pyx_PyType_GetName(Py_TYPE(result)); +#if PY_MAJOR_VERSION >= 3 + if (PyLong_Check(result)) { + if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, + "__int__ returned non-int (type " __Pyx_FMT_TYPENAME "). " + "The ability to return an instance of a strict subclass of int is deprecated, " + "and may be removed in a future version of Python.", + result_type_name)) { + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; + } + __Pyx_DECREF_TypeName(result_type_name); + return result; + } +#endif + PyErr_Format(PyExc_TypeError, + "__%.4s__ returned non-%.4s (type " __Pyx_FMT_TYPENAME ")", + type_name, type_name, result_type_name); + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { +#if CYTHON_USE_TYPE_SLOTS + PyNumberMethods *m; +#endif + const char *name = NULL; + PyObject *res = NULL; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x) || PyLong_Check(x))) +#else + if (likely(PyLong_Check(x))) +#endif + return __Pyx_NewRef(x); +#if CYTHON_USE_TYPE_SLOTS + m = Py_TYPE(x)->tp_as_number; + #if PY_MAJOR_VERSION < 3 + if (m && m->nb_int) { + name = "int"; + res = m->nb_int(x); + } + else if (m && m->nb_long) { + name = "long"; + res = m->nb_long(x); + } + #else + if (likely(m && m->nb_int)) { + name = "int"; + res = m->nb_int(x); + } + #endif +#else + if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { + res = PyNumber_Int(x); + } +#endif + if (likely(res)) { +#if PY_MAJOR_VERSION < 3 + if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { +#else + if (unlikely(!PyLong_CheckExact(res))) { +#endif + return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); + } + } + else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_TypeError, + "an integer is required"); + } + return res; +} +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { + Py_ssize_t ival; + PyObject *x; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(b))) { + if (sizeof(Py_ssize_t) >= sizeof(long)) + return PyInt_AS_LONG(b); + else + return PyInt_AsSsize_t(b); + } +#endif + if (likely(PyLong_CheckExact(b))) { + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(__Pyx_PyLong_IsCompact(b))) { + return __Pyx_PyLong_CompactValue(b); + } else { + const digit* digits = __Pyx_PyLong_Digits(b); + const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(b); + switch (size) { + case 2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + } + } + #endif + return PyLong_AsSsize_t(b); + } + x = PyNumber_Index(b); + if (!x) return -1; + ival = PyInt_AsSsize_t(x); + Py_DECREF(x); + return ival; +} +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { + if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { + return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); +#if PY_MAJOR_VERSION < 3 + } else if (likely(PyInt_CheckExact(o))) { + return PyInt_AS_LONG(o); +#endif + } else { + Py_ssize_t ival; + PyObject *x; + x = PyNumber_Index(o); + if (!x) return -1; + ival = PyInt_AsLong(x); + Py_DECREF(x); + return ival; + } +} +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { + return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); +} +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { + return PyInt_FromSize_t(ival); +} + + +/* #### Code section: utility_code_pragmas_end ### */ +#ifdef _MSC_VER +#pragma warning( pop ) +#endif + + + +/* #### Code section: end ### */ +#endif /* Py_PYTHON_H */ diff --git a/common/params_pyx.pyx b/common/params_pyx.pyx new file mode 100644 index 0000000000..b39664e154 --- /dev/null +++ b/common/params_pyx.pyx @@ -0,0 +1,124 @@ +# distutils: language = c++ +# cython: language_level = 3 +from libcpp cimport bool +from libcpp.string cimport string +from libcpp.vector cimport vector +from libcpp.map cimport map + +cdef extern from "common/params.h": + cpdef enum ParamKeyType: + PERSISTENT + CLEAR_ON_MANAGER_START + CLEAR_ON_ONROAD_TRANSITION + CLEAR_ON_OFFROAD_TRANSITION + DEVELOPMENT_ONLY + BACKUP + ALL + + cdef cppclass c_Params "Params": + c_Params(string) except + nogil + string get(string, bool) nogil + bool getBool(string, bool) nogil + int remove(string) nogil + int put(string, string) nogil + void putNonBlocking(string, string) nogil + void putBoolNonBlocking(string, bool) nogil + int putBool(string, bool) nogil + bool checkKey(string) nogil + string getParamPath(string) nogil + void clearAll(ParamKeyType) + vector[string] allKeys() + map[string, string] readAll() + + +def ensure_bytes(v): + return v.encode() if isinstance(v, str) else v + +class UnknownKeyName(Exception): + pass + +cdef class Params: + cdef c_Params* p + + def __cinit__(self, d=""): + cdef string path = d.encode() + with nogil: + self.p = new c_Params(path) + + def __dealloc__(self): + del self.p + + def clear_all(self, tx_type=ParamKeyType.ALL): + self.p.clearAll(tx_type) + + def check_key(self, key): + key = ensure_bytes(key) + if not self.p.checkKey(key): + raise UnknownKeyName(key) + return key + + def get(self, key, bool block=False, encoding=None): + cdef string k = self.check_key(key) + cdef string val + with nogil: + val = self.p.get(k, block) + + if val == b"": + if block: + # If we got no value while running in blocked mode + # it means we got an interrupt while waiting + raise KeyboardInterrupt + else: + return None + + return val if encoding is None else val.decode(encoding) + + def get_bool(self, key, bool block=False): + cdef string k = self.check_key(key) + cdef bool r + with nogil: + r = self.p.getBool(k, block) + return r + + def put(self, key, dat): + """ + Warning: This function blocks until the param is written to disk! + In very rare cases this can take over a second, and your code will hang. + Use the put_nonblocking, put_bool_nonblocking in time sensitive code, but + in general try to avoid writing params as much as possible. + """ + cdef string k = self.check_key(key) + cdef string dat_bytes = ensure_bytes(dat) + with nogil: + self.p.put(k, dat_bytes) + + def put_bool(self, key, bool val): + cdef string k = self.check_key(key) + with nogil: + self.p.putBool(k, val) + + def put_nonblocking(self, key, dat): + cdef string k = self.check_key(key) + cdef string dat_bytes = ensure_bytes(dat) + with nogil: + self.p.putNonBlocking(k, dat_bytes) + + def put_bool_nonblocking(self, key, bool val): + cdef string k = self.check_key(key) + with nogil: + self.p.putBoolNonBlocking(k, val) + + def remove(self, key): + cdef string k = self.check_key(key) + with nogil: + self.p.remove(k) + + def get_param_path(self, key=""): + cdef string key_bytes = ensure_bytes(key) + return self.p.getParamPath(key_bytes).decode("utf-8") + + def all_keys(self): + return self.p.allKeys() + + def read_all(self): + return self.p.readAll() diff --git a/common/params_pyx.so b/common/params_pyx.so new file mode 100755 index 0000000000..2b91ad234c Binary files /dev/null and b/common/params_pyx.so differ diff --git a/common/prefix.h b/common/prefix.h new file mode 100644 index 0000000000..11d0bc1066 --- /dev/null +++ b/common/prefix.h @@ -0,0 +1,39 @@ +#pragma once + +#include +#include + +#include "common/params.h" +#include "common/util.h" +#include "system/hardware/hw.h" + +class OpenpilotPrefix { +public: + OpenpilotPrefix(std::string prefix = {}) { + if (prefix.empty()) { + prefix = util::random_string(15); + } + msgq_path = "/dev/shm/" + prefix; + bool ret = util::create_directories(msgq_path, 0777); + assert(ret); + setenv("OPENPILOT_PREFIX", prefix.c_str(), 1); + } + + ~OpenpilotPrefix() { + auto param_path = Params().getParamPath(); + if (util::file_exists(param_path)) { + std::string real_path = util::readlink(param_path); + system(util::string_format("rm %s -rf", real_path.c_str()).c_str()); + unlink(param_path.c_str()); + } + if (getenv("COMMA_CACHE") == nullptr) { + system(util::string_format("rm %s -rf", Path::download_cache_root().c_str()).c_str()); + } + system(util::string_format("rm %s -rf", Path::comma_home().c_str()).c_str()); + system(util::string_format("rm %s -rf", msgq_path.c_str()).c_str()); + unsetenv("OPENPILOT_PREFIX"); + } + +private: + std::string msgq_path; +}; diff --git a/common/prefix.py b/common/prefix.py new file mode 100644 index 0000000000..3292acae86 --- /dev/null +++ b/common/prefix.py @@ -0,0 +1,53 @@ +import os +import shutil +import uuid + + +from openpilot.common.params import Params +from openpilot.system.hardware import PC +from openpilot.system.hardware.hw import Paths +from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT + +class OpenpilotPrefix: + def __init__(self, prefix: str = None, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False): + self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15]) + self.msgq_path = os.path.join('/dev/shm', self.prefix) + self.clean_dirs_on_exit = clean_dirs_on_exit + self.shared_download_cache = shared_download_cache + + def __enter__(self): + self.original_prefix = os.environ.get('OPENPILOT_PREFIX', None) + os.environ['OPENPILOT_PREFIX'] = self.prefix + try: + os.mkdir(self.msgq_path) + except FileExistsError: + pass + os.makedirs(Paths.log_root(), exist_ok=True) + + if self.shared_download_cache: + os.environ["COMMA_CACHE"] = DEFAULT_DOWNLOAD_CACHE_ROOT + + return self + + def __exit__(self, exc_type, exc_obj, exc_tb): + if self.clean_dirs_on_exit: + self.clean_dirs() + try: + del os.environ['OPENPILOT_PREFIX'] + if self.original_prefix is not None: + os.environ['OPENPILOT_PREFIX'] = self.original_prefix + except KeyError: + pass + return False + + def clean_dirs(self): + symlink_path = Params().get_param_path() + if os.path.exists(symlink_path): + shutil.rmtree(os.path.realpath(symlink_path), ignore_errors=True) + os.remove(symlink_path) + shutil.rmtree(self.msgq_path, ignore_errors=True) + if PC: + shutil.rmtree(Paths.log_root(), ignore_errors=True) + if not os.environ.get("COMMA_CACHE", False): + shutil.rmtree(Paths.download_cache_root(), ignore_errors=True) + shutil.rmtree(Paths.comma_home(), ignore_errors=True) diff --git a/common/queue.h b/common/queue.h new file mode 100644 index 0000000000..b3558b11a4 --- /dev/null +++ b/common/queue.h @@ -0,0 +1,52 @@ +#pragma once + +#include +#include +#include + +template +class SafeQueue { +public: + SafeQueue() = default; + + void push(const T& v) { + { + std::unique_lock lk(m); + q.push(v); + } + cv.notify_one(); + } + + T pop() { + std::unique_lock lk(m); + cv.wait(lk, [this] { return !q.empty(); }); + T v = q.front(); + q.pop(); + return v; + } + + bool try_pop(T& v, int timeout_ms = 0) { + std::unique_lock lk(m); + if (!cv.wait_for(lk, std::chrono::milliseconds(timeout_ms), [this] { return !q.empty(); })) { + return false; + } + v = q.front(); + q.pop(); + return true; + } + + bool empty() const { + std::scoped_lock lk(m); + return q.empty(); + } + + size_t size() const { + std::scoped_lock lk(m); + return q.size(); + } + +private: + mutable std::mutex m; + std::condition_variable cv; + std::queue q; +}; diff --git a/common/ratekeeper.h b/common/ratekeeper.h new file mode 100644 index 0000000000..e7323c6ec3 --- /dev/null +++ b/common/ratekeeper.h @@ -0,0 +1,23 @@ +#pragma once + +#include +#include + +class RateKeeper { +public: + RateKeeper(const std::string &name, float rate, float print_delay_threshold = 0); + ~RateKeeper() {} + bool keepTime(); + bool monitorTime(); + inline uint64_t frame() const { return frame_; } + inline double remaining() const { return remaining_; } + +private: + double interval; + double next_frame_time; + double last_monitor_time; + double remaining_ = 0; + float print_delay_threshold = 0; + uint64_t frame_ = 0; + std::string name; +}; diff --git a/common/realtime.py b/common/realtime.py new file mode 100644 index 0000000000..692e95c5d9 --- /dev/null +++ b/common/realtime.py @@ -0,0 +1,104 @@ +"""Utilities for reading real time clocks and keeping soft real time constraints.""" +import gc +import os +import time +import threading +import psutil +from collections import deque + +from openpilot.common.threadname import getthreadname + +from openpilot.system.hardware import PC + + +# time step for each process +DT_CTRL = 0.01 # controlsd +DT_MDL = 0.05 # model +DT_HW = 0.5 # hardwared and manager +DT_DMON = 0.05 # driver monitoring + + +class Priority: + # CORE 2 + # - modeld = 55 + # - camerad = 54 + CTRL_LOW = 51 # plannerd & radard + + # CORE 3 + # - pandad = 55 + CTRL_HIGH = 53 + + +def set_realtime_priority(level: int) -> None: + if not PC: + os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level)) + + +def set_core_affinity(cores: list[int]) -> None: + if not PC: + os.sched_setaffinity(0, cores) + + +def config_realtime_process(cores: int | list[int], priority: int) -> None: + gc.disable() + set_realtime_priority(priority) + c = cores if isinstance(cores, list) else [cores, ] + set_core_affinity(c) + + +def set_thread_affinity(thread: threading.Thread, cores: list[int]) -> None: + try: + process = psutil.Process(thread.ident) + process.cpu_affinity(cores) + except Exception as e: + print(f"Error setting thread affinity: {e}") + + +class Ratekeeper: + def __init__(self, rate: float, print_delay_threshold: float | None = 0.0) -> None: + """Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative.""" + self._interval = 1. / rate + self._next_frame_time = time.monotonic() + self._interval + self._print_delay_threshold = print_delay_threshold + self._frame = 0 + self._remaining = 0.0 + self._thread_name = getthreadname() + self._dts = deque([self._interval], maxlen=100) + self._last_monitor_time = time.monotonic() + + @property + def frame(self) -> int: + return self._frame + + @property + def remaining(self) -> float: + return self._remaining + + @property + def lagging(self) -> bool: + avg_dt = sum(self._dts) / len(self._dts) + expected_dt = self._interval * (1 / 0.9) + return avg_dt > expected_dt + + # Maintain loop rate by calling this at the end of each loop + def keep_time(self) -> bool: + lagged = self.monitor_time() + if self._remaining > 0: + time.sleep(self._remaining) + return lagged + + # Monitors the cumulative lag, but does not enforce a rate + def monitor_time(self) -> bool: + prev = self._last_monitor_time + self._last_monitor_time = time.monotonic() + self._dts.append(self._last_monitor_time - prev) + + lagged = False + remaining = self._next_frame_time - time.monotonic() + self._next_frame_time += self._interval + if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold: + print(f"{self._thread_name} lagging by {-remaining * 1000:.2f} ms") + lagged = True + self._frame += 1 + self._remaining = remaining + return lagged diff --git a/common/retry.py b/common/retry.py new file mode 100644 index 0000000000..9bd4ac9522 --- /dev/null +++ b/common/retry.py @@ -0,0 +1,30 @@ +import time +import functools + +from openpilot.common.swaglog import cloudlog + + +def retry(attempts=3, delay=1.0, ignore_failure=False): + def decorator(func): + @functools.wraps(func) + def wrapper(*args, **kwargs): + for _ in range(attempts): + try: + return func(*args, **kwargs) + except Exception: + cloudlog.exception(f"{func.__name__} failed, trying again") + time.sleep(delay) + + if ignore_failure: + cloudlog.error(f"{func.__name__} failed after retry") + else: + raise Exception(f"{func.__name__} failed after retry") + return wrapper + return decorator + + +if __name__ == "__main__": + @retry(attempts=10) + def abc(): + raise ValueError("abc failed :(") + abc() diff --git a/common/run.py b/common/run.py new file mode 100644 index 0000000000..06deb6388d --- /dev/null +++ b/common/run.py @@ -0,0 +1,13 @@ +import subprocess + + +def run_cmd(cmd: list[str], cwd=None, env=None) -> str: + return subprocess.check_output(cmd, encoding='utf8', cwd=cwd, env=env).strip() + + +def run_cmd_default(cmd: list[str], default: str = "", cwd=None, env=None) -> str: + try: + return run_cmd(cmd, cwd=cwd, env=env) + except subprocess.CalledProcessError: + return default + diff --git a/common/simple_kalman.py b/common/simple_kalman.py new file mode 100644 index 0000000000..194b27204b --- /dev/null +++ b/common/simple_kalman.py @@ -0,0 +1,54 @@ +import numpy as np + + +def get_kalman_gain(dt, A, C, Q, R, iterations=100): + P = np.zeros_like(Q) + for _ in range(iterations): + P = A.dot(P).dot(A.T) + dt * Q + S = C.dot(P).dot(C.T) + R + K = P.dot(C.T).dot(np.linalg.inv(S)) + P = (np.eye(len(P)) - K.dot(C)).dot(P) + return K + + +class KF1D: + # this EKF assumes constant covariance matrix, so calculations are much simpler + # the Kalman gain also needs to be precomputed using the control module + + def __init__(self, x0, A, C, K): + self.x0_0 = x0[0][0] + self.x1_0 = x0[1][0] + self.A0_0 = A[0][0] + self.A0_1 = A[0][1] + self.A1_0 = A[1][0] + self.A1_1 = A[1][1] + self.C0_0 = C[0] + self.C0_1 = C[1] + self.K0_0 = K[0][0] + self.K1_0 = K[1][0] + + self.A_K_0 = self.A0_0 - self.K0_0 * self.C0_0 + self.A_K_1 = self.A0_1 - self.K0_0 * self.C0_1 + self.A_K_2 = self.A1_0 - self.K1_0 * self.C0_0 + self.A_K_3 = self.A1_1 - self.K1_0 * self.C0_1 + + # K matrix needs to be pre-computed as follow: + # import control + # (x, l, K) = control.dare(np.transpose(self.A), np.transpose(self.C), Q, R) + # self.K = np.transpose(K) + + def update(self, meas): + #self.x = np.dot(self.A_K, self.x) + np.dot(self.K, meas) + x0_0 = self.A_K_0 * self.x0_0 + self.A_K_1 * self.x1_0 + self.K0_0 * meas + x1_0 = self.A_K_2 * self.x0_0 + self.A_K_3 * self.x1_0 + self.K1_0 * meas + self.x0_0 = x0_0 + self.x1_0 = x1_0 + return [self.x0_0, self.x1_0] + + @property + def x(self): + return [[self.x0_0], [self.x1_0]] + + def set_x(self, x): + self.x0_0 = x[0][0] + self.x1_0 = x[1][0] diff --git a/common/spinner.py b/common/spinner.py new file mode 100644 index 0000000000..dcf22641c4 --- /dev/null +++ b/common/spinner.py @@ -0,0 +1,52 @@ +import os +import subprocess +from openpilot.common.basedir import BASEDIR + + +class Spinner: + def __init__(self): + try: + self.spinner_proc = subprocess.Popen(["./spinner"], + stdin=subprocess.PIPE, + cwd=os.path.join(BASEDIR, "selfdrive", "ui"), + close_fds=True) + except OSError: + self.spinner_proc = None + + def __enter__(self): + return self + + def update(self, spinner_text: str): + if self.spinner_proc is not None: + self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n") + try: + self.spinner_proc.stdin.flush() + except BrokenPipeError: + pass + + def update_progress(self, cur: float, total: float): + self.update(str(round(100 * cur / total))) + + def close(self): + if self.spinner_proc is not None: + self.spinner_proc.kill() + try: + self.spinner_proc.communicate(timeout=2.) + except subprocess.TimeoutExpired: + print("WARNING: failed to kill spinner") + self.spinner_proc = None + + def __del__(self): + self.close() + + def __exit__(self, exc_type, exc_value, traceback): + self.close() + + +if __name__ == "__main__": + import time + with Spinner() as s: + s.update("Spinner text") + time.sleep(5.0) + print("gone") + time.sleep(5.0) diff --git a/common/stat_live.py b/common/stat_live.py new file mode 100644 index 0000000000..3901c448d8 --- /dev/null +++ b/common/stat_live.py @@ -0,0 +1,73 @@ +import numpy as np + +class RunningStat: + # tracks realtime mean and standard deviation without storing any data + def __init__(self, priors=None, max_trackable=-1): + self.max_trackable = max_trackable + if priors is not None: + # initialize from history + self.M = priors[0] + self.S = priors[1] + self.n = priors[2] + self.M_last = self.M + self.S_last = self.S + + else: + self.reset() + + def reset(self): + self.M = 0. + self.S = 0. + self.M_last = 0. + self.S_last = 0. + self.n = 0 + + def push_data(self, new_data): + # short term memory hack + if self.max_trackable < 0 or self.n < self.max_trackable: + self.n += 1 + if self.n == 0: + self.M_last = new_data + self.M = self.M_last + self.S_last = 0. + else: + self.M = self.M_last + (new_data - self.M_last) / self.n + self.S = self.S_last + (new_data - self.M_last) * (new_data - self.M) + self.M_last = self.M + self.S_last = self.S + + def mean(self): + return self.M + + def variance(self): + if self.n >= 2: + return self.S / (self.n - 1.) + else: + return 0 + + def std(self): + return np.sqrt(self.variance()) + + def params_to_save(self): + return [self.M, self.S, self.n] + +class RunningStatFilter: + def __init__(self, raw_priors=None, filtered_priors=None, max_trackable=-1): + self.raw_stat = RunningStat(raw_priors, -1) + self.filtered_stat = RunningStat(filtered_priors, max_trackable) + + def reset(self): + self.raw_stat.reset() + self.filtered_stat.reset() + + def push_and_update(self, new_data): + _std_last = self.raw_stat.std() + self.raw_stat.push_data(new_data) + _delta_std = self.raw_stat.std() - _std_last + if _delta_std <= 0: + self.filtered_stat.push_data(new_data) + else: + pass + # self.filtered_stat.push_data(self.filtered_stat.mean()) + +# class SequentialBayesian(): diff --git a/common/swaglog.h b/common/swaglog.h new file mode 100644 index 0000000000..06d45b1d98 --- /dev/null +++ b/common/swaglog.h @@ -0,0 +1,76 @@ +#pragma once + +#include "common/timing.h" + +#define CLOUDLOG_DEBUG 10 +#define CLOUDLOG_INFO 20 +#define CLOUDLOG_WARNING 30 +#define CLOUDLOG_ERROR 40 +#define CLOUDLOG_CRITICAL 50 + + +#ifdef __GNUC__ +#define SWAG_LOG_CHECK_FMT(a, b) __attribute__ ((format (printf, a, b))) +#else +#define SWAG_LOG_CHECK_FMT(a, b) +#endif + +void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func, + const char* fmt, ...) SWAG_LOG_CHECK_FMT(5, 6); + +void cloudlog_te(int levelnum, const char* filename, int lineno, const char* func, + const char* fmt, ...) SWAG_LOG_CHECK_FMT(5, 6); + +void cloudlog_te(int levelnum, const char* filename, int lineno, const char* func, + uint32_t frame_id, const char* fmt, ...) SWAG_LOG_CHECK_FMT(6, 7); + + +#define cloudlog(lvl, fmt, ...) cloudlog_e(lvl, __FILE__, __LINE__, \ + __func__, \ + fmt, ## __VA_ARGS__) + +#define cloudlog_t(lvl, ...) cloudlog_te(lvl, __FILE__, __LINE__, \ + __func__, \ + __VA_ARGS__) + + +#define cloudlog_rl(burst, millis, lvl, fmt, ...) \ +{ \ + static uint64_t __begin = 0; \ + static int __printed = 0; \ + static int __missed = 0; \ + \ + int __burst = (burst); \ + int __millis = (millis); \ + uint64_t __ts = nanos_since_boot(); \ + \ + if (!__begin) { __begin = __ts; } \ + \ + if (__begin + __millis*1000000ULL < __ts) { \ + if (__missed) { \ + cloudlog(CLOUDLOG_WARNING, "cloudlog: %d messages suppressed", __missed); \ + } \ + __begin = 0; \ + __printed = 0; \ + __missed = 0; \ + } \ + \ + if (__printed < __burst) { \ + cloudlog(lvl, fmt, ## __VA_ARGS__); \ + __printed++; \ + } else { \ + __missed++; \ + } \ +} + + +#define LOGT(...) cloudlog_t(CLOUDLOG_DEBUG, __VA_ARGS__) +#define LOGD(fmt, ...) cloudlog(CLOUDLOG_DEBUG, fmt, ## __VA_ARGS__) +#define LOG(fmt, ...) cloudlog(CLOUDLOG_INFO, fmt, ## __VA_ARGS__) +#define LOGW(fmt, ...) cloudlog(CLOUDLOG_WARNING, fmt, ## __VA_ARGS__) +#define LOGE(fmt, ...) cloudlog(CLOUDLOG_ERROR, fmt, ## __VA_ARGS__) + +#define LOGD_100(fmt, ...) cloudlog_rl(2, 100, CLOUDLOG_DEBUG, fmt, ## __VA_ARGS__) +#define LOG_100(fmt, ...) cloudlog_rl(2, 100, CLOUDLOG_INFO, fmt, ## __VA_ARGS__) +#define LOGW_100(fmt, ...) cloudlog_rl(2, 100, CLOUDLOG_WARNING, fmt, ## __VA_ARGS__) +#define LOGE_100(fmt, ...) cloudlog_rl(2, 100, CLOUDLOG_ERROR, fmt, ## __VA_ARGS__) diff --git a/common/swaglog.py b/common/swaglog.py new file mode 100644 index 0000000000..ba81318234 --- /dev/null +++ b/common/swaglog.py @@ -0,0 +1,135 @@ +import logging +import os +import time +import warnings +from pathlib import Path +from logging.handlers import BaseRotatingHandler + +import zmq + +from openpilot.common.logging_extra import SwagLogger, SwagFormatter, SwagLogFileFormatter +from openpilot.system.hardware.hw import Paths + + +def get_file_handler(): + Path(Paths.swaglog_root()).mkdir(parents=True, exist_ok=True) + base_filename = os.path.join(Paths.swaglog_root(), "swaglog") + handler = SwaglogRotatingFileHandler(base_filename) + return handler + +class SwaglogRotatingFileHandler(BaseRotatingHandler): + def __init__(self, base_filename, interval=60, max_bytes=1024*256, backup_count=2500, encoding=None): + super().__init__(base_filename, mode="a", encoding=encoding, delay=True) + self.base_filename = base_filename + self.interval = interval # seconds + self.max_bytes = max_bytes + self.backup_count = backup_count + self.log_files = self.get_existing_logfiles() + log_indexes = [f.split(".")[-1] for f in self.log_files] + self.last_file_idx = max([int(i) for i in log_indexes if i.isdigit()] or [-1]) + self.last_rollover = None + self.doRollover() + + def _open(self): + self.last_rollover = time.monotonic() + self.last_file_idx += 1 + next_filename = f"{self.base_filename}.{self.last_file_idx:010}" + stream = open(next_filename, self.mode, encoding=self.encoding) + self.log_files.insert(0, next_filename) + return stream + + def get_existing_logfiles(self): + log_files = list() + base_dir = os.path.dirname(self.base_filename) + for fn in os.listdir(base_dir): + fp = os.path.join(base_dir, fn) + if fp.startswith(self.base_filename) and os.path.isfile(fp): + log_files.append(fp) + return sorted(log_files) + + def shouldRollover(self, record): + size_exceeded = self.max_bytes > 0 and self.stream.tell() >= self.max_bytes + time_exceeded = self.interval > 0 and self.last_rollover + self.interval <= time.monotonic() + return size_exceeded or time_exceeded + + def doRollover(self): + if self.stream: + self.stream.close() + self.stream = self._open() + + if self.backup_count > 0: + while len(self.log_files) > self.backup_count: + to_delete = self.log_files.pop() + if os.path.exists(to_delete): # just being safe, should always exist + os.remove(to_delete) + +class UnixDomainSocketHandler(logging.Handler): + def __init__(self, formatter): + logging.Handler.__init__(self) + self.setFormatter(formatter) + self.pid = None + + self.zctx = None + self.sock = None + + def __del__(self): + self.close() + + def close(self): + if self.sock is not None: + self.sock.close() + if self.zctx is not None: + self.zctx.term() + + def connect(self): + self.zctx = zmq.Context() + self.sock = self.zctx.socket(zmq.PUSH) + self.sock.setsockopt(zmq.LINGER, 10) + self.sock.connect(Paths.swaglog_ipc()) + self.pid = os.getpid() + + def emit(self, record): + if os.getpid() != self.pid: + # TODO suppresses warning about forking proc with zmq socket, fix root cause + warnings.filterwarnings("ignore", category=ResourceWarning, message="unclosed.*") + self.connect() + + msg = self.format(record).rstrip('\n') + # print("SEND".format(repr(msg))) + try: + s = chr(record.levelno)+msg + self.sock.send(s.encode('utf8'), zmq.NOBLOCK) + except zmq.error.Again: + # drop :/ + pass + + +def add_file_handler(log): + """ + Function to add the file log handler to swaglog. + This can be used to store logs when logmessaged is not running. + """ + handler = get_file_handler() + handler.setFormatter(SwagLogFileFormatter(log)) + log.addHandler(handler) + + +cloudlog = log = SwagLogger() +log.setLevel(logging.DEBUG) + + +outhandler = logging.StreamHandler() + +print_level = os.environ.get('LOGPRINT', 'warning') +if print_level == 'debug': + outhandler.setLevel(logging.DEBUG) +elif print_level == 'info': + outhandler.setLevel(logging.INFO) +elif print_level == 'warning': + outhandler.setLevel(logging.WARNING) + +ipchandler = UnixDomainSocketHandler(SwagFormatter(log)) + +log.addHandler(outhandler) +# logs are sent through IPC before writing to disk to prevent disk I/O blocking +log.addHandler(ipchandler) diff --git a/common/text_window.py b/common/text_window.py new file mode 100755 index 0000000000..d2762ebf7d --- /dev/null +++ b/common/text_window.py @@ -0,0 +1,63 @@ +#!/usr/bin/env python3 +import os +import time +import subprocess +from openpilot.common.basedir import BASEDIR + + +class TextWindow: + def __init__(self, text): + try: + self.text_proc = subprocess.Popen(["./text", text], + stdin=subprocess.PIPE, + cwd=os.path.join(BASEDIR, "selfdrive", "ui"), + close_fds=True) + except OSError: + self.text_proc = None + + def get_status(self): + if self.text_proc is not None: + self.text_proc.poll() + return self.text_proc.returncode + return None + + def __enter__(self): + return self + + def close(self): + if self.text_proc is not None: + self.text_proc.terminate() + self.text_proc = None + + def wait_for_exit(self): + if self.text_proc is not None: + while True: + if self.get_status() == 1: + return + time.sleep(0.1) + + def __del__(self): + self.close() + + def __exit__(self, exc_type, exc_value, traceback): + self.close() + + +if __name__ == "__main__": + text = """Traceback (most recent call last): + File "./controlsd.py", line 608, in + main() + File "./controlsd.py", line 604, in main + controlsd_thread(sm, pm, logcan) + File "./controlsd.py", line 455, in controlsd_thread + 1/0 +ZeroDivisionError: division by zero""" + print(text) + + with TextWindow(text) as s: + for _ in range(100): + if s.get_status() == 1: + print("Got exit button") + break + time.sleep(0.1) + print("gone") diff --git a/common/threadname.py b/common/threadname.py new file mode 100644 index 0000000000..7c415721f4 --- /dev/null +++ b/common/threadname.py @@ -0,0 +1,19 @@ +import ctypes +import os + +LINUX = os.name == 'posix' and os.uname().sysname == 'Linux' + +if LINUX: + libc = ctypes.CDLL('libc.so.6') + +def setthreadname(name: str) -> None: + if LINUX: + name = name[-15:] + '\0' + libc.prctl(15, str.encode(name), 0, 0, 0) + +def getthreadname() -> str: + if LINUX: + name = ctypes.create_string_buffer(16) + libc.prctl(16, name) + return name.value.decode('utf-8') + return "" diff --git a/common/time.py b/common/time.py new file mode 100644 index 0000000000..5379faf22a --- /dev/null +++ b/common/time.py @@ -0,0 +1,15 @@ +import datetime +from pathlib import Path + +_MIN_DATE = datetime.datetime(year=2024, month=3, day=30) + +def min_date(): + # on systemd systems, the default time is the systemd build time + systemd_path = Path("/lib/systemd/systemd") + if systemd_path.exists(): + d = datetime.datetime.fromtimestamp(systemd_path.stat().st_mtime) + return d + datetime.timedelta(days=1) + return _MIN_DATE + +def system_time_valid(): + return datetime.datetime.now() > min_date() diff --git a/common/timeout.py b/common/timeout.py new file mode 100644 index 0000000000..d0b0ce0630 --- /dev/null +++ b/common/timeout.py @@ -0,0 +1,27 @@ +import signal + +class TimeoutException(Exception): + pass + +class Timeout: + """ + Timeout context manager. + For example this code will raise a TimeoutException: + with Timeout(seconds=5, error_msg="Sleep was too long"): + time.sleep(10) + """ + def __init__(self, seconds, error_msg=None): + if error_msg is None: + error_msg = f'Timed out after {seconds} seconds' + self.seconds = seconds + self.error_msg = error_msg + + def handle_timeout(self, signume, frame): + raise TimeoutException(self.error_msg) + + def __enter__(self): + signal.signal(signal.SIGALRM, self.handle_timeout) + signal.alarm(self.seconds) + + def __exit__(self, exc_type, exc_val, exc_tb): + signal.alarm(0) diff --git a/common/timing.h b/common/timing.h new file mode 100644 index 0000000000..83f55e0c40 --- /dev/null +++ b/common/timing.h @@ -0,0 +1,51 @@ +#pragma once + +#include +#include + +#ifdef __APPLE__ +#define CLOCK_BOOTTIME CLOCK_MONOTONIC +#endif + +static inline uint64_t nanos_since_boot() { + struct timespec t; + clock_gettime(CLOCK_BOOTTIME, &t); + return t.tv_sec * 1000000000ULL + t.tv_nsec; +} + +static inline double millis_since_boot() { + struct timespec t; + clock_gettime(CLOCK_BOOTTIME, &t); + return t.tv_sec * 1000.0 + t.tv_nsec * 1e-6; +} + +static inline double seconds_since_boot() { + struct timespec t; + clock_gettime(CLOCK_BOOTTIME, &t); + return (double)t.tv_sec + t.tv_nsec * 1e-9; +} + +static inline uint64_t nanos_since_epoch() { + struct timespec t; + clock_gettime(CLOCK_REALTIME, &t); + return t.tv_sec * 1000000000ULL + t.tv_nsec; +} + +static inline double seconds_since_epoch() { + struct timespec t; + clock_gettime(CLOCK_REALTIME, &t); + return (double)t.tv_sec + t.tv_nsec * 1e-9; +} + +// you probably should use nanos_since_boot instead +static inline uint64_t nanos_monotonic() { + struct timespec t; + clock_gettime(CLOCK_MONOTONIC, &t); + return t.tv_sec * 1000000000ULL + t.tv_nsec; +} + +static inline uint64_t nanos_monotonic_raw() { + struct timespec t; + clock_gettime(CLOCK_MONOTONIC_RAW, &t); + return t.tv_sec * 1000000000ULL + t.tv_nsec; +} diff --git a/common/transformations/.gitignore b/common/transformations/.gitignore new file mode 100644 index 0000000000..a67290f09a --- /dev/null +++ b/common/transformations/.gitignore @@ -0,0 +1,2 @@ +transformations +transformations.cpp diff --git a/common/transformations/__init__.py b/common/transformations/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/common/transformations/camera.py b/common/transformations/camera.py new file mode 100644 index 0000000000..2e68b5e37c --- /dev/null +++ b/common/transformations/camera.py @@ -0,0 +1,179 @@ +import itertools +import numpy as np +from dataclasses import dataclass + +import openpilot.common.transformations.orientation as orient + +## -- hardcoded hardware params -- +@dataclass(frozen=True) +class CameraConfig: + width: int + height: int + focal_length: float + + @property + def size(self): + return (self.width, self.height) + + @property + def intrinsics(self): + # aka 'K' aka camera_frame_from_view_frame + return np.array([ + [self.focal_length, 0.0, float(self.width)/2], + [0.0, self.focal_length, float(self.height)/2], + [0.0, 0.0, 1.0] + ]) + + @property + def intrinsics_inv(self): + # aka 'K_inv' aka view_frame_from_camera_frame + return np.linalg.inv(self.intrinsics) + +@dataclass(frozen=True) +class _NoneCameraConfig(CameraConfig): + width: int = 0 + height: int = 0 + focal_length: float = 0 + +@dataclass(frozen=True) +class DeviceCameraConfig: + fcam: CameraConfig + dcam: CameraConfig + ecam: CameraConfig + + def all_cams(self): + for cam in ['fcam', 'dcam', 'ecam']: + if not isinstance(getattr(self, cam), _NoneCameraConfig): + yield cam, getattr(self, cam) + +_ar_ox_fisheye = CameraConfig(1928, 1208, 567.0) # focal length probably wrong? magnification is not consistent across frame +_os_fisheye = CameraConfig(2688 // 2, 1520 // 2, 567.0 / 4 * 3) +_ar_ox_config = DeviceCameraConfig(CameraConfig(1928, 1208, 2648.0), _ar_ox_fisheye, _ar_ox_fisheye) +_os_config = DeviceCameraConfig(CameraConfig(2688 // 2, 1520 // 2, 1522.0 * 3 / 4), _os_fisheye, _os_fisheye) +_neo_config = DeviceCameraConfig(CameraConfig(1164, 874, 910.0), CameraConfig(816, 612, 650.0), _NoneCameraConfig()) + +DEVICE_CAMERAS = { + # A "device camera" is defined by a device type and sensor + + # sensor type was never set on eon/neo/two + ("neo", "unknown"): _neo_config, + # unknown here is AR0231, field was added with OX03C10 support + ("tici", "unknown"): _ar_ox_config, + + # before deviceState.deviceType was set, assume tici AR config + ("unknown", "ar0231"): _ar_ox_config, + ("unknown", "ox03c10"): _ar_ox_config, + + # simulator (emulates a tici) + ("pc", "unknown"): _ar_ox_config, +} +prods = itertools.product(('tici', 'tizi', 'mici'), (('ar0231', _ar_ox_config), ('ox03c10', _ar_ox_config), ('os04c10', _os_config))) +DEVICE_CAMERAS.update({(d, c[0]): c[1] for d, c in prods}) + +# device/mesh : x->forward, y-> right, z->down +# view : x->right, y->down, z->forward +device_frame_from_view_frame = np.array([ + [ 0., 0., 1.], + [ 1., 0., 0.], + [ 0., 1., 0.] +]) +view_frame_from_device_frame = device_frame_from_view_frame.T + + +# aka 'extrinsic_matrix' +# road : x->forward, y -> left, z->up +def get_view_frame_from_road_frame(roll, pitch, yaw, height): + device_from_road = orient.rot_from_euler([roll, pitch, yaw]).dot(np.diag([1, -1, -1])) + view_from_road = view_frame_from_device_frame.dot(device_from_road) + return np.hstack((view_from_road, [[0], [height], [0]])) + + + +# aka 'extrinsic_matrix' +def get_view_frame_from_calib_frame(roll, pitch, yaw, height): + device_from_calib= orient.rot_from_euler([roll, pitch, yaw]) + view_from_calib = view_frame_from_device_frame.dot(device_from_calib) + return np.hstack((view_from_calib, [[0], [height], [0]])) + + +def vp_from_ke(m): + """ + Computes the vanishing point from the product of the intrinsic and extrinsic + matrices C = KE. + + The vanishing point is defined as lim x->infinity C (x, 0, 0, 1).T + """ + return (m[0, 0]/m[2, 0], m[1, 0]/m[2, 0]) + + +def roll_from_ke(m): + # note: different from calibration.h/RollAnglefromKE: i think that one's just wrong + return np.arctan2(-(m[1, 0] - m[1, 1] * m[2, 0] / m[2, 1]), + -(m[0, 0] - m[0, 1] * m[2, 0] / m[2, 1])) + + +def normalize(img_pts, intrinsics): + # normalizes image coordinates + # accepts single pt or array of pts + intrinsics_inv = np.linalg.inv(intrinsics) + img_pts = np.array(img_pts) + input_shape = img_pts.shape + img_pts = np.atleast_2d(img_pts) + img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0], 1)))) + img_pts_normalized = img_pts.dot(intrinsics_inv.T) + img_pts_normalized[(img_pts < 0).any(axis=1)] = np.nan + return img_pts_normalized[:, :2].reshape(input_shape) + + +def denormalize(img_pts, intrinsics, width=np.inf, height=np.inf): + # denormalizes image coordinates + # accepts single pt or array of pts + img_pts = np.array(img_pts) + input_shape = img_pts.shape + img_pts = np.atleast_2d(img_pts) + img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0], 1), dtype=img_pts.dtype))) + img_pts_denormalized = img_pts.dot(intrinsics.T) + if np.isfinite(width): + img_pts_denormalized[img_pts_denormalized[:, 0] > width] = np.nan + img_pts_denormalized[img_pts_denormalized[:, 0] < 0] = np.nan + if np.isfinite(height): + img_pts_denormalized[img_pts_denormalized[:, 1] > height] = np.nan + img_pts_denormalized[img_pts_denormalized[:, 1] < 0] = np.nan + return img_pts_denormalized[:, :2].reshape(input_shape) + + +def get_calib_from_vp(vp, intrinsics): + vp_norm = normalize(vp, intrinsics) + yaw_calib = np.arctan(vp_norm[0]) + pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib)) + roll_calib = 0 + return roll_calib, pitch_calib, yaw_calib + + +def device_from_ecef(pos_ecef, orientation_ecef, pt_ecef): + # device from ecef frame + # device frame is x -> forward, y-> right, z -> down + # accepts single pt or array of pts + input_shape = pt_ecef.shape + pt_ecef = np.atleast_2d(pt_ecef) + ecef_from_device_rot = orient.rotations_from_quats(orientation_ecef) + device_from_ecef_rot = ecef_from_device_rot.T + pt_ecef_rel = pt_ecef - pos_ecef + pt_device = np.einsum('jk,ik->ij', device_from_ecef_rot, pt_ecef_rel) + return pt_device.reshape(input_shape) + + +def img_from_device(pt_device): + # img coordinates from pts in device frame + # first transforms to view frame, then to img coords + # accepts single pt or array of pts + input_shape = pt_device.shape + pt_device = np.atleast_2d(pt_device) + pt_view = np.einsum('jk,ik->ij', view_frame_from_device_frame, pt_device) + + # This function should never return negative depths + pt_view[pt_view[:, 2] < 0] = np.nan + + pt_img = pt_view/pt_view[:, 2:3] + return pt_img.reshape(input_shape)[:, :2] + diff --git a/common/transformations/coordinates.hpp b/common/transformations/coordinates.hpp new file mode 100644 index 0000000000..32ec2ff66e --- /dev/null +++ b/common/transformations/coordinates.hpp @@ -0,0 +1,43 @@ +#pragma once + +#include + +#define DEG2RAD(x) ((x) * M_PI / 180.0) +#define RAD2DEG(x) ((x) * 180.0 / M_PI) + +struct ECEF { + double x, y, z; + Eigen::Vector3d to_vector(){ + return Eigen::Vector3d(x, y, z); + } +}; + +struct NED { + double n, e, d; + Eigen::Vector3d to_vector(){ + return Eigen::Vector3d(n, e, d); + } +}; + +struct Geodetic { + double lat, lon, alt; + bool radians=false; +}; + +ECEF geodetic2ecef(Geodetic g); +Geodetic ecef2geodetic(ECEF e); + +class LocalCoord { +public: + Eigen::Matrix3d ned2ecef_matrix; + Eigen::Matrix3d ecef2ned_matrix; + Eigen::Vector3d init_ecef; + LocalCoord(Geodetic g, ECEF e); + LocalCoord(Geodetic g) : LocalCoord(g, ::geodetic2ecef(g)) {} + LocalCoord(ECEF e) : LocalCoord(::ecef2geodetic(e), e) {} + + NED ecef2ned(ECEF e); + ECEF ned2ecef(NED n); + NED geodetic2ned(Geodetic g); + Geodetic ned2geodetic(NED n); +}; diff --git a/common/transformations/coordinates.py b/common/transformations/coordinates.py new file mode 100644 index 0000000000..696e7de2e5 --- /dev/null +++ b/common/transformations/coordinates.py @@ -0,0 +1,18 @@ +from openpilot.common.transformations.orientation import numpy_wrap +from openpilot.common.transformations.transformations import (ecef2geodetic_single, + geodetic2ecef_single) +from openpilot.common.transformations.transformations import LocalCoord as LocalCoord_single + + +class LocalCoord(LocalCoord_single): + ecef2ned = numpy_wrap(LocalCoord_single.ecef2ned_single, (3,), (3,)) + ned2ecef = numpy_wrap(LocalCoord_single.ned2ecef_single, (3,), (3,)) + geodetic2ned = numpy_wrap(LocalCoord_single.geodetic2ned_single, (3,), (3,)) + ned2geodetic = numpy_wrap(LocalCoord_single.ned2geodetic_single, (3,), (3,)) + + +geodetic2ecef = numpy_wrap(geodetic2ecef_single, (3,), (3,)) +ecef2geodetic = numpy_wrap(ecef2geodetic_single, (3,), (3,)) + +geodetic_from_ecef = ecef2geodetic +ecef_from_geodetic = geodetic2ecef diff --git a/common/transformations/model.py b/common/transformations/model.py new file mode 100644 index 0000000000..aaa12d776a --- /dev/null +++ b/common/transformations/model.py @@ -0,0 +1,63 @@ +import numpy as np + +from openpilot.common.transformations.orientation import rot_from_euler +from openpilot.common.transformations.camera import get_view_frame_from_calib_frame, view_frame_from_device_frame + +# segnet +SEGNET_SIZE = (512, 384) + +# MED model +MEDMODEL_INPUT_SIZE = (512, 256) +MEDMODEL_YUV_SIZE = (MEDMODEL_INPUT_SIZE[0], MEDMODEL_INPUT_SIZE[1] * 3 // 2) +MEDMODEL_CY = 47.6 + +medmodel_fl = 910.0 +medmodel_intrinsics = np.array([ + [medmodel_fl, 0.0, 0.5 * MEDMODEL_INPUT_SIZE[0]], + [0.0, medmodel_fl, MEDMODEL_CY], + [0.0, 0.0, 1.0]]) + + +# BIG model +BIGMODEL_INPUT_SIZE = (1024, 512) +BIGMODEL_YUV_SIZE = (BIGMODEL_INPUT_SIZE[0], BIGMODEL_INPUT_SIZE[1] * 3 // 2) + +bigmodel_fl = 910.0 +bigmodel_intrinsics = np.array([ + [bigmodel_fl, 0.0, 0.5 * BIGMODEL_INPUT_SIZE[0]], + [0.0, bigmodel_fl, 256 + MEDMODEL_CY], + [0.0, 0.0, 1.0]]) + + +# SBIG model (big model with the size of small model) +SBIGMODEL_INPUT_SIZE = (512, 256) +SBIGMODEL_YUV_SIZE = (SBIGMODEL_INPUT_SIZE[0], SBIGMODEL_INPUT_SIZE[1] * 3 // 2) + +sbigmodel_fl = 455.0 +sbigmodel_intrinsics = np.array([ + [sbigmodel_fl, 0.0, 0.5 * SBIGMODEL_INPUT_SIZE[0]], + [0.0, sbigmodel_fl, 0.5 * (256 + MEDMODEL_CY)], + [0.0, 0.0, 1.0]]) + +bigmodel_frame_from_calib_frame = np.dot(bigmodel_intrinsics, + get_view_frame_from_calib_frame(0, 0, 0, 0)) + + +sbigmodel_frame_from_calib_frame = np.dot(sbigmodel_intrinsics, + get_view_frame_from_calib_frame(0, 0, 0, 0)) + +medmodel_frame_from_calib_frame = np.dot(medmodel_intrinsics, + get_view_frame_from_calib_frame(0, 0, 0, 0)) + +medmodel_frame_from_bigmodel_frame = np.dot(medmodel_intrinsics, np.linalg.inv(bigmodel_intrinsics)) + +calib_from_medmodel = np.linalg.inv(medmodel_frame_from_calib_frame[:, :3]) +calib_from_sbigmodel = np.linalg.inv(sbigmodel_frame_from_calib_frame[:, :3]) + +# This function is verified to give similar results to xx.uncommon.utils.transform_img +def get_warp_matrix(device_from_calib_euler: np.ndarray, intrinsics: np.ndarray, bigmodel_frame: bool = False) -> np.ndarray: + calib_from_model = calib_from_sbigmodel if bigmodel_frame else calib_from_medmodel + device_from_calib = rot_from_euler(device_from_calib_euler) + camera_from_calib = intrinsics @ view_frame_from_device_frame @ device_from_calib + warp_matrix: np.ndarray = camera_from_calib @ calib_from_model + return warp_matrix diff --git a/common/transformations/orientation.hpp b/common/transformations/orientation.hpp new file mode 100644 index 0000000000..150b12cade --- /dev/null +++ b/common/transformations/orientation.hpp @@ -0,0 +1,17 @@ +#pragma once +#include +#include "common/transformations/coordinates.hpp" + + +Eigen::Quaterniond ensure_unique(Eigen::Quaterniond quat); + +Eigen::Quaterniond euler2quat(Eigen::Vector3d euler); +Eigen::Vector3d quat2euler(Eigen::Quaterniond quat); +Eigen::Matrix3d quat2rot(Eigen::Quaterniond quat); +Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot); +Eigen::Matrix3d euler2rot(Eigen::Vector3d euler); +Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot); +Eigen::Matrix3d rot_matrix(double roll, double pitch, double yaw); +Eigen::Matrix3d rot(Eigen::Vector3d axis, double angle); +Eigen::Vector3d ecef_euler_from_ned(ECEF ecef_init, Eigen::Vector3d ned_pose); +Eigen::Vector3d ned_euler_from_ecef(ECEF ecef_init, Eigen::Vector3d ecef_pose); diff --git a/common/transformations/orientation.py b/common/transformations/orientation.py new file mode 100644 index 0000000000..86e6a6c347 --- /dev/null +++ b/common/transformations/orientation.py @@ -0,0 +1,52 @@ +import numpy as np +from collections.abc import Callable + +from openpilot.common.transformations.transformations import (ecef_euler_from_ned_single, + euler2quat_single, + euler2rot_single, + ned_euler_from_ecef_single, + quat2euler_single, + quat2rot_single, + rot2euler_single, + rot2quat_single) + + +def numpy_wrap(function, input_shape, output_shape) -> Callable[..., np.ndarray]: + """Wrap a function to take either an input or list of inputs and return the correct shape""" + def f(*inps): + *args, inp = inps + inp = np.array(inp) + shape = inp.shape + + if len(shape) == len(input_shape): + out_shape = output_shape + else: + out_shape = (shape[0],) + output_shape + + # Add empty dimension if inputs is not a list + if len(shape) == len(input_shape): + inp.shape = (1, ) + inp.shape + + result = np.asarray([function(*args, i) for i in inp]) + result.shape = out_shape + return result + return f + + +euler2quat = numpy_wrap(euler2quat_single, (3,), (4,)) +quat2euler = numpy_wrap(quat2euler_single, (4,), (3,)) +quat2rot = numpy_wrap(quat2rot_single, (4,), (3, 3)) +rot2quat = numpy_wrap(rot2quat_single, (3, 3), (4,)) +euler2rot = numpy_wrap(euler2rot_single, (3,), (3, 3)) +rot2euler = numpy_wrap(rot2euler_single, (3, 3), (3,)) +ecef_euler_from_ned = numpy_wrap(ecef_euler_from_ned_single, (3,), (3,)) +ned_euler_from_ecef = numpy_wrap(ned_euler_from_ecef_single, (3,), (3,)) + +quats_from_rotations = rot2quat +quat_from_rot = rot2quat +rotations_from_quats = quat2rot +rot_from_quat = quat2rot +euler_from_rot = rot2euler +euler_from_quat = quat2euler +rot_from_euler = euler2rot +quat_from_euler = euler2quat diff --git a/common/transformations/transformations.cpp b/common/transformations/transformations.cpp new file mode 100644 index 0000000000..0eea8b004b --- /dev/null +++ b/common/transformations/transformations.cpp @@ -0,0 +1,16660 @@ +/* Generated by Cython 3.0.8 */ + +/* BEGIN: Cython Metadata +{ + "distutils": { + "depends": [ + "common/transformations/coordinates.cc", + "common/transformations/coordinates.hpp", + "common/transformations/orientation.cc", + "common/transformations/orientation.hpp", + "openpilot/common/transformations/coordinates.cc", + "openpilot/common/transformations/coordinates.hpp", + "openpilot/common/transformations/orientation.cc", + "openpilot/common/transformations/orientation.hpp" + ], + "include_dirs": [ + "common/transformations", + "openpilot/common/transformations" + ], + "language": "c++", + "name": "common.transformations.transformations", + "sources": [ + "/data/openpilot/common/transformations/transformations.pyx" + ] + }, + "module_name": "common.transformations.transformations" +} +END: Cython Metadata */ + +#ifndef PY_SSIZE_T_CLEAN +#define PY_SSIZE_T_CLEAN +#endif /* PY_SSIZE_T_CLEAN */ +#if defined(CYTHON_LIMITED_API) && 0 + #ifndef Py_LIMITED_API + #if CYTHON_LIMITED_API+0 > 0x03030000 + #define Py_LIMITED_API CYTHON_LIMITED_API + #else + #define Py_LIMITED_API 0x03030000 + #endif + #endif +#endif + +#include "Python.h" +#ifndef Py_PYTHON_H + #error Python headers needed to compile C extensions, please install development version of Python. +#elif PY_VERSION_HEX < 0x02070000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) + #error Cython requires Python 2.7+ or Python 3.3+. +#else +#if defined(CYTHON_LIMITED_API) && CYTHON_LIMITED_API +#define __PYX_EXTRA_ABI_MODULE_NAME "limited" +#else +#define __PYX_EXTRA_ABI_MODULE_NAME "" +#endif +#define CYTHON_ABI "3_0_8" __PYX_EXTRA_ABI_MODULE_NAME +#define __PYX_ABI_MODULE_NAME "_cython_" CYTHON_ABI +#define __PYX_TYPE_MODULE_PREFIX __PYX_ABI_MODULE_NAME "." +#define CYTHON_HEX_VERSION 0x030008F0 +#define CYTHON_FUTURE_DIVISION 1 +#include +#ifndef offsetof + #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) +#endif +#if !defined(_WIN32) && !defined(WIN32) && !defined(MS_WINDOWS) + #ifndef __stdcall + #define __stdcall + #endif + #ifndef __cdecl + #define __cdecl + #endif + #ifndef __fastcall + #define __fastcall + #endif +#endif +#ifndef DL_IMPORT + #define DL_IMPORT(t) t +#endif +#ifndef DL_EXPORT + #define DL_EXPORT(t) t +#endif +#define __PYX_COMMA , +#ifndef HAVE_LONG_LONG + #define HAVE_LONG_LONG +#endif +#ifndef PY_LONG_LONG + #define PY_LONG_LONG LONG_LONG +#endif +#ifndef Py_HUGE_VAL + #define Py_HUGE_VAL HUGE_VAL +#endif +#define __PYX_LIMITED_VERSION_HEX PY_VERSION_HEX +#if defined(GRAALVM_PYTHON) + /* For very preliminary testing purposes. Most variables are set the same as PyPy. + The existence of this section does not imply that anything works or is even tested */ + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 1 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(PYPY_VERSION) + #define CYTHON_COMPILING_IN_PYPY 1 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #if PY_VERSION_HEX < 0x03090000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1 && PYPY_VERSION_NUM >= 0x07030C00) + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(CYTHON_LIMITED_API) + #ifdef Py_LIMITED_API + #undef __PYX_LIMITED_VERSION_HEX + #define __PYX_LIMITED_VERSION_HEX Py_LIMITED_API + #endif + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 1 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_CLINE_IN_TRACEBACK + #define CYTHON_CLINE_IN_TRACEBACK 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 1 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #endif + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 1 + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(Py_GIL_DISABLED) || defined(Py_NOGIL) + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 1 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #ifndef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#else + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 1 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #ifndef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 1 + #endif + #if PY_MAJOR_VERSION < 3 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #ifndef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 1 + #endif + #ifndef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 1 + #endif + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #elif !defined(CYTHON_USE_UNICODE_WRITER) + #define CYTHON_USE_UNICODE_WRITER 1 + #endif + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #ifndef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 1 + #endif + #ifndef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL (PY_MAJOR_VERSION < 3 || PY_VERSION_HEX >= 0x03060000 && PY_VERSION_HEX < 0x030C00A6) + #endif + #ifndef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL (PY_VERSION_HEX >= 0x030700A1) + #endif + #ifndef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 1 + #endif + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #endif + #if PY_VERSION_HEX < 0x030400a1 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #elif !defined(CYTHON_USE_TP_FINALIZE) + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #if PY_VERSION_HEX < 0x030600B1 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #elif !defined(CYTHON_USE_DICT_VERSIONS) + #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX < 0x030C00A5) + #endif + #if PY_VERSION_HEX < 0x030700A3 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #elif !defined(CYTHON_USE_EXC_INFO_STACK) + #define CYTHON_USE_EXC_INFO_STACK 1 + #endif + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 1 + #endif +#endif +#if !defined(CYTHON_FAST_PYCCALL) +#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) +#endif +#if !defined(CYTHON_VECTORCALL) +#define CYTHON_VECTORCALL (CYTHON_FAST_PYCCALL && PY_VERSION_HEX >= 0x030800B1) +#endif +#define CYTHON_BACKPORT_VECTORCALL (CYTHON_METH_FASTCALL && PY_VERSION_HEX < 0x030800B1) +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_MAJOR_VERSION < 3 + #include "longintrepr.h" + #endif + #undef SHIFT + #undef BASE + #undef MASK + #ifdef SIZEOF_VOID_P + enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; + #endif +#endif +#ifndef __has_attribute + #define __has_attribute(x) 0 +#endif +#ifndef __has_cpp_attribute + #define __has_cpp_attribute(x) 0 +#endif +#ifndef CYTHON_RESTRICT + #if defined(__GNUC__) + #define CYTHON_RESTRICT __restrict__ + #elif defined(_MSC_VER) && _MSC_VER >= 1400 + #define CYTHON_RESTRICT __restrict + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_RESTRICT restrict + #else + #define CYTHON_RESTRICT + #endif +#endif +#ifndef CYTHON_UNUSED + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(maybe_unused) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(maybe_unused) + #define CYTHON_UNUSED [[maybe_unused]] + #endif + #endif + #endif +#endif +#ifndef CYTHON_UNUSED +# if defined(__GNUC__) +# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_UNUSED_VAR +# if defined(__cplusplus) + template void CYTHON_UNUSED_VAR( const T& ) { } +# else +# define CYTHON_UNUSED_VAR(x) (void)(x) +# endif +#endif +#ifndef CYTHON_MAYBE_UNUSED_VAR + #define CYTHON_MAYBE_UNUSED_VAR(x) CYTHON_UNUSED_VAR(x) +#endif +#ifndef CYTHON_NCP_UNUSED +# if CYTHON_COMPILING_IN_CPYTHON +# define CYTHON_NCP_UNUSED +# else +# define CYTHON_NCP_UNUSED CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_USE_CPP_STD_MOVE + #if defined(__cplusplus) && (\ + __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600)) + #define CYTHON_USE_CPP_STD_MOVE 1 + #else + #define CYTHON_USE_CPP_STD_MOVE 0 + #endif +#endif +#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) +#ifdef _MSC_VER + #ifndef _MSC_STDINT_H_ + #if _MSC_VER < 1300 + typedef unsigned char uint8_t; + typedef unsigned short uint16_t; + typedef unsigned int uint32_t; + #else + typedef unsigned __int8 uint8_t; + typedef unsigned __int16 uint16_t; + typedef unsigned __int32 uint32_t; + #endif + #endif + #if _MSC_VER < 1300 + #ifdef _WIN64 + typedef unsigned long long __pyx_uintptr_t; + #else + typedef unsigned int __pyx_uintptr_t; + #endif + #else + #ifdef _WIN64 + typedef unsigned __int64 __pyx_uintptr_t; + #else + typedef unsigned __int32 __pyx_uintptr_t; + #endif + #endif +#else + #include + typedef uintptr_t __pyx_uintptr_t; +#endif +#ifndef CYTHON_FALLTHROUGH + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(fallthrough) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(fallthrough) + #define CYTHON_FALLTHROUGH [[fallthrough]] + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_cpp_attribute(clang::fallthrough) + #define CYTHON_FALLTHROUGH [[clang::fallthrough]] + #elif __has_cpp_attribute(gnu::fallthrough) + #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] + #endif + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_attribute(fallthrough) + #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) + #else + #define CYTHON_FALLTHROUGH + #endif + #endif + #if defined(__clang__) && defined(__apple_build_version__) + #if __apple_build_version__ < 7000000 + #undef CYTHON_FALLTHROUGH + #define CYTHON_FALLTHROUGH + #endif + #endif +#endif +#ifdef __cplusplus + template + struct __PYX_IS_UNSIGNED_IMPL {static const bool value = T(0) < T(-1);}; + #define __PYX_IS_UNSIGNED(type) (__PYX_IS_UNSIGNED_IMPL::value) +#else + #define __PYX_IS_UNSIGNED(type) (((type)-1) > 0) +#endif +#if CYTHON_COMPILING_IN_PYPY == 1 + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x030A0000) +#else + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000) +#endif +#define __PYX_REINTERPRET_FUNCION(func_pointer, other_pointer) ((func_pointer)(void(*)(void))(other_pointer)) + +#ifndef __cplusplus + #error "Cython files generated with the C++ option must be compiled with a C++ compiler." +#endif +#ifndef CYTHON_INLINE + #if defined(__clang__) + #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) + #else + #define CYTHON_INLINE inline + #endif +#endif +template +void __Pyx_call_destructor(T& x) { + x.~T(); +} +template +class __Pyx_FakeReference { + public: + __Pyx_FakeReference() : ptr(NULL) { } + __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } + T *operator->() { return ptr; } + T *operator&() { return ptr; } + operator T&() { return *ptr; } + template bool operator ==(const U& other) const { return *ptr == other; } + template bool operator !=(const U& other) const { return *ptr != other; } + template bool operator==(const __Pyx_FakeReference& other) const { return *ptr == *other.ptr; } + template bool operator!=(const __Pyx_FakeReference& other) const { return *ptr != *other.ptr; } + private: + T *ptr; +}; + +#define __PYX_BUILD_PY_SSIZE_T "n" +#define CYTHON_FORMAT_SSIZE_T "z" +#if PY_MAJOR_VERSION < 3 + #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" + #define __Pyx_DefaultClassType PyClass_Type + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_BUILTIN_MODULE_NAME "builtins" + #define __Pyx_DefaultClassType PyType_Type +#if CYTHON_COMPILING_IN_LIMITED_API + static CYTHON_INLINE PyObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyObject *exception_table = NULL; + PyObject *types_module=NULL, *code_type=NULL, *result=NULL; + #if __PYX_LIMITED_VERSION_HEX < 0x030B0000 + PyObject *version_info; + PyObject *py_minor_version = NULL; + #endif + long minor_version = 0; + PyObject *type, *value, *traceback; + PyErr_Fetch(&type, &value, &traceback); + #if __PYX_LIMITED_VERSION_HEX >= 0x030B0000 + minor_version = 11; + #else + if (!(version_info = PySys_GetObject("version_info"))) goto end; + if (!(py_minor_version = PySequence_GetItem(version_info, 1))) goto end; + minor_version = PyLong_AsLong(py_minor_version); + Py_DECREF(py_minor_version); + if (minor_version == -1 && PyErr_Occurred()) goto end; + #endif + if (!(types_module = PyImport_ImportModule("types"))) goto end; + if (!(code_type = PyObject_GetAttrString(types_module, "CodeType"))) goto end; + if (minor_version <= 7) { + (void)p; + result = PyObject_CallFunction(code_type, "iiiiiOOOOOOiOO", a, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else if (minor_version <= 10) { + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else { + if (!(exception_table = PyBytes_FromStringAndSize(NULL, 0))) goto end; + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, name, fline, lnos, exception_table, fv, cell); + } + end: + Py_XDECREF(code_type); + Py_XDECREF(exception_table); + Py_XDECREF(types_module); + if (type) { + PyErr_Restore(type, value, traceback); + } + return result; + } + #ifndef CO_OPTIMIZED + #define CO_OPTIMIZED 0x0001 + #endif + #ifndef CO_NEWLOCALS + #define CO_NEWLOCALS 0x0002 + #endif + #ifndef CO_VARARGS + #define CO_VARARGS 0x0004 + #endif + #ifndef CO_VARKEYWORDS + #define CO_VARKEYWORDS 0x0008 + #endif + #ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x0200 + #endif + #ifndef CO_GENERATOR + #define CO_GENERATOR 0x0020 + #endif + #ifndef CO_COROUTINE + #define CO_COROUTINE 0x0080 + #endif +#elif PY_VERSION_HEX >= 0x030B0000 + static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyCodeObject *result; + PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); + if (!empty_bytes) return NULL; + result = + #if PY_VERSION_HEX >= 0x030C0000 + PyUnstable_Code_NewWithPosOnlyArgs + #else + PyCode_NewWithPosOnlyArgs + #endif + (a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, name, fline, lnos, empty_bytes); + Py_DECREF(empty_bytes); + return result; + } +#elif PY_VERSION_HEX >= 0x030800B2 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_NewWithPosOnlyArgs(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#endif +#endif +#if PY_VERSION_HEX >= 0x030900A4 || defined(Py_IS_TYPE) + #define __Pyx_IS_TYPE(ob, type) Py_IS_TYPE(ob, type) +#else + #define __Pyx_IS_TYPE(ob, type) (((const PyObject*)ob)->ob_type == (type)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_Is) + #define __Pyx_Py_Is(x, y) Py_Is(x, y) +#else + #define __Pyx_Py_Is(x, y) ((x) == (y)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsNone) + #define __Pyx_Py_IsNone(ob) Py_IsNone(ob) +#else + #define __Pyx_Py_IsNone(ob) __Pyx_Py_Is((ob), Py_None) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsTrue) + #define __Pyx_Py_IsTrue(ob) Py_IsTrue(ob) +#else + #define __Pyx_Py_IsTrue(ob) __Pyx_Py_Is((ob), Py_True) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsFalse) + #define __Pyx_Py_IsFalse(ob) Py_IsFalse(ob) +#else + #define __Pyx_Py_IsFalse(ob) __Pyx_Py_Is((ob), Py_False) +#endif +#define __Pyx_NoneAsNull(obj) (__Pyx_Py_IsNone(obj) ? NULL : (obj)) +#if PY_VERSION_HEX >= 0x030900F0 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_GC_IsFinalized(o) PyObject_GC_IsFinalized(o) +#else + #define __Pyx_PyObject_GC_IsFinalized(o) _PyGC_FINALIZED(o) +#endif +#ifndef CO_COROUTINE + #define CO_COROUTINE 0x80 +#endif +#ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x200 +#endif +#ifndef Py_TPFLAGS_CHECKTYPES + #define Py_TPFLAGS_CHECKTYPES 0 +#endif +#ifndef Py_TPFLAGS_HAVE_INDEX + #define Py_TPFLAGS_HAVE_INDEX 0 +#endif +#ifndef Py_TPFLAGS_HAVE_NEWBUFFER + #define Py_TPFLAGS_HAVE_NEWBUFFER 0 +#endif +#ifndef Py_TPFLAGS_HAVE_FINALIZE + #define Py_TPFLAGS_HAVE_FINALIZE 0 +#endif +#ifndef Py_TPFLAGS_SEQUENCE + #define Py_TPFLAGS_SEQUENCE 0 +#endif +#ifndef Py_TPFLAGS_MAPPING + #define Py_TPFLAGS_MAPPING 0 +#endif +#ifndef METH_STACKLESS + #define METH_STACKLESS 0 +#endif +#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) + #ifndef METH_FASTCALL + #define METH_FASTCALL 0x80 + #endif + typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); + typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, + Py_ssize_t nargs, PyObject *kwnames); +#else + #define __Pyx_PyCFunctionFast _PyCFunctionFast + #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords +#endif +#if CYTHON_METH_FASTCALL + #define __Pyx_METH_FASTCALL METH_FASTCALL + #define __Pyx_PyCFunction_FastCall __Pyx_PyCFunctionFast + #define __Pyx_PyCFunction_FastCallWithKeywords __Pyx_PyCFunctionFastWithKeywords +#else + #define __Pyx_METH_FASTCALL METH_VARARGS + #define __Pyx_PyCFunction_FastCall PyCFunction + #define __Pyx_PyCFunction_FastCallWithKeywords PyCFunctionWithKeywords +#endif +#if CYTHON_VECTORCALL + #define __pyx_vectorcallfunc vectorcallfunc + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET PY_VECTORCALL_ARGUMENTS_OFFSET + #define __Pyx_PyVectorcall_NARGS(n) PyVectorcall_NARGS((size_t)(n)) +#elif CYTHON_BACKPORT_VECTORCALL + typedef PyObject *(*__pyx_vectorcallfunc)(PyObject *callable, PyObject *const *args, + size_t nargsf, PyObject *kwnames); + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET ((size_t)1 << (8 * sizeof(size_t) - 1)) + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(((size_t)(n)) & ~__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET)) +#else + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET 0 + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(n)) +#endif +#if PY_MAJOR_VERSION >= 0x030900B1 +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_CheckExact(func) +#else +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_Check(func) +#endif +#define __Pyx_CyOrPyCFunction_Check(func) PyCFunction_Check(func) +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) (((PyCFunctionObject*)(func))->m_ml->ml_meth) +#elif !CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) PyCFunction_GET_FUNCTION(func) +#endif +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FLAGS(func) (((PyCFunctionObject*)(func))->m_ml->ml_flags) +static CYTHON_INLINE PyObject* __Pyx_CyOrPyCFunction_GET_SELF(PyObject *func) { + return (__Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_STATIC) ? NULL : ((PyCFunctionObject*)func)->m_self; +} +#endif +static CYTHON_INLINE int __Pyx__IsSameCFunction(PyObject *func, void *cfunc) { +#if CYTHON_COMPILING_IN_LIMITED_API + return PyCFunction_Check(func) && PyCFunction_GetFunction(func) == (PyCFunction) cfunc; +#else + return PyCFunction_Check(func) && PyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +#endif +} +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCFunction(func, cfunc) +#if __PYX_LIMITED_VERSION_HEX < 0x030900B1 + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) ((void)m, PyType_FromSpecWithBases(s, b)) + typedef PyObject *(*__Pyx_PyCMethod)(PyObject *, PyTypeObject *, PyObject *const *, size_t, PyObject *); +#else + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) PyType_FromModuleAndSpec(m, s, b) + #define __Pyx_PyCMethod PyCMethod +#endif +#ifndef METH_METHOD + #define METH_METHOD 0x200 +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) + #define PyObject_Malloc(s) PyMem_Malloc(s) + #define PyObject_Free(p) PyMem_Free(p) + #define PyObject_Realloc(p) PyMem_Realloc(p) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) +#else + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyThreadState_Current PyThreadState_Get() +#elif !CYTHON_FAST_THREAD_STATE + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#elif PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyThreadState_Current PyThreadState_GetUnchecked() +#elif PY_VERSION_HEX >= 0x03060000 + #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() +#elif PY_VERSION_HEX >= 0x03000000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#else + #define __Pyx_PyThreadState_Current _PyThreadState_Current +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE void *__Pyx_PyModule_GetState(PyObject *op) +{ + void *result; + result = PyModule_GetState(op); + if (!result) + Py_FatalError("Couldn't find the module state"); + return result; +} +#endif +#define __Pyx_PyObject_GetSlot(obj, name, func_ctype) __Pyx_PyType_GetSlot(Py_TYPE(obj), name, func_ctype) +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((func_ctype) PyType_GetSlot((type), Py_##name)) +#else + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((type)->name) +#endif +#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) +#include "pythread.h" +#define Py_tss_NEEDS_INIT 0 +typedef int Py_tss_t; +static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { + *key = PyThread_create_key(); + return 0; +} +static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { + Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); + *key = Py_tss_NEEDS_INIT; + return key; +} +static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { + PyObject_Free(key); +} +static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { + return *key != Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { + PyThread_delete_key(*key); + *key = Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { + return PyThread_set_key_value(*key, value); +} +static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { + return PyThread_get_key_value(*key); +} +#endif +#if PY_MAJOR_VERSION < 3 + #if CYTHON_COMPILING_IN_PYPY + #if PYPY_VERSION_NUM < 0x07030600 + #if defined(__cplusplus) && __cplusplus >= 201402L + [[deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")]] + #elif defined(__GNUC__) || defined(__clang__) + __attribute__ ((__deprecated__("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6"))) + #elif defined(_MSC_VER) + __declspec(deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")) + #endif + static CYTHON_INLINE int PyGILState_Check(void) { + return 0; + } + #else // PYPY_VERSION_NUM < 0x07030600 + #endif // PYPY_VERSION_NUM < 0x07030600 + #else + static CYTHON_INLINE int PyGILState_Check(void) { + PyThreadState * tstate = _PyThreadState_Current; + return tstate && (tstate == PyGILState_GetThisThreadState()); + } + #endif +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030d0000 || defined(_PyDict_NewPresized) +#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) +#else +#define __Pyx_PyDict_NewPresized(n) PyDict_New() +#endif +#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION + #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) +#else + #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX > 0x030600B4 && PY_VERSION_HEX < 0x030d0000 && CYTHON_USE_UNICODE_INTERNALS +#define __Pyx_PyDict_GetItemStrWithError(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStr(PyObject *dict, PyObject *name) { + PyObject *res = __Pyx_PyDict_GetItemStrWithError(dict, name); + if (res == NULL) PyErr_Clear(); + return res; +} +#elif PY_MAJOR_VERSION >= 3 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07020000) +#define __Pyx_PyDict_GetItemStrWithError PyDict_GetItemWithError +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#else +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStrWithError(PyObject *dict, PyObject *name) { +#if CYTHON_COMPILING_IN_PYPY + return PyDict_GetItem(dict, name); +#else + PyDictEntry *ep; + PyDictObject *mp = (PyDictObject*) dict; + long hash = ((PyStringObject *) name)->ob_shash; + assert(hash != -1); + ep = (mp->ma_lookup)(mp, name, hash); + if (ep == NULL) { + return NULL; + } + return ep->me_value; +#endif +} +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#endif +#if CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyType_GetFlags(tp) (((PyTypeObject *)tp)->tp_flags) + #define __Pyx_PyType_HasFeature(type, feature) ((__Pyx_PyType_GetFlags(type) & (feature)) != 0) + #define __Pyx_PyObject_GetIterNextFunc(obj) (Py_TYPE(obj)->tp_iternext) +#else + #define __Pyx_PyType_GetFlags(tp) (PyType_GetFlags((PyTypeObject *)tp)) + #define __Pyx_PyType_HasFeature(type, feature) PyType_HasFeature(type, feature) + #define __Pyx_PyObject_GetIterNextFunc(obj) PyIter_Next +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyObject_GenericSetAttr((PyObject*)tp, k, v) +#else + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyDict_SetItem(tp->tp_dict, k, v) +#endif +#if CYTHON_USE_TYPE_SPECS && PY_VERSION_HEX >= 0x03080000 +#define __Pyx_PyHeapTypeObject_GC_Del(obj) {\ + PyTypeObject *type = Py_TYPE((PyObject*)obj);\ + assert(__Pyx_PyType_HasFeature(type, Py_TPFLAGS_HEAPTYPE));\ + PyObject_GC_Del(obj);\ + Py_DECREF(type);\ +} +#else +#define __Pyx_PyHeapTypeObject_GC_Del(obj) PyObject_GC_Del(obj) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define CYTHON_PEP393_ENABLED 1 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GetLength(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_ReadChar(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((void)u, 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((void)u, (0)) + #define __Pyx_PyUnicode_DATA(u) ((void*)u) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)k, PyUnicode_ReadChar((PyObject*)(d), i)) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GetLength(u)) +#elif PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) + #define CYTHON_PEP393_ENABLED 1 + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_READY(op) (0) + #else + #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ + 0 : _PyUnicode_Ready((PyObject *)(op))) + #endif + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) + #define __Pyx_PyUnicode_KIND(u) ((int)PyUnicode_KIND(u)) + #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) + #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, (Py_UCS4) ch) + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) + #else + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) + #endif + #endif +#else + #define CYTHON_PEP393_ENABLED 0 + #define PyUnicode_1BYTE_KIND 1 + #define PyUnicode_2BYTE_KIND 2 + #define PyUnicode_4BYTE_KIND 4 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535U : 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((int)sizeof(Py_UNICODE)) + #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = (Py_UNICODE) ch) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) +#else + #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ + PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #if !defined(PyUnicode_DecodeUnicodeEscape) + #define PyUnicode_DecodeUnicodeEscape(s, size, errors) PyUnicode_Decode(s, size, "unicode_escape", errors) + #endif + #if !defined(PyUnicode_Contains) || (PY_MAJOR_VERSION == 2 && PYPY_VERSION_NUM < 0x07030500) + #undef PyUnicode_Contains + #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) + #endif + #if !defined(PyByteArray_Check) + #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) + #endif + #if !defined(PyObject_Format) + #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) + #endif +#endif +#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) +#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) +#else + #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) +#endif +#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) + #define PyObject_ASCII(o) PyObject_Repr(o) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBaseString_Type PyUnicode_Type + #define PyStringObject PyUnicodeObject + #define PyString_Type PyUnicode_Type + #define PyString_Check PyUnicode_Check + #define PyString_CheckExact PyUnicode_CheckExact +#ifndef PyObject_Unicode + #define PyObject_Unicode PyObject_Str +#endif +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) + #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) +#else + #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) + #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) +#endif +#if CYTHON_COMPILING_IN_CPYTHON + #define __Pyx_PySequence_ListKeepNew(obj)\ + (likely(PyList_CheckExact(obj) && Py_REFCNT(obj) == 1) ? __Pyx_NewRef(obj) : PySequence_List(obj)) +#else + #define __Pyx_PySequence_ListKeepNew(obj) PySequence_List(obj) +#endif +#ifndef PySet_CheckExact + #define PySet_CheckExact(obj) __Pyx_IS_TYPE(obj, &PySet_Type) +#endif +#if PY_VERSION_HEX >= 0x030900A4 + #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) +#else + #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) +#endif +#if CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_PySequence_ITEM(o, i) PySequence_ITEM(o, i) + #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) (PyTuple_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyList_SET_ITEM(o, i, v) (PyList_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_GET_SIZE(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_GET_SIZE(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_GET_SIZE(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_GET_SIZE(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_GET_SIZE(o) +#else + #define __Pyx_PySequence_ITEM(o, i) PySequence_GetItem(o, i) + #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) PyTuple_SetItem(o, i, v) + #define __Pyx_PyList_SET_ITEM(o, i, v) PyList_SetItem(o, i, v) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_Size(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_Size(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_Size(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_Size(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_Size(o) +#endif +#if PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyImport_AddModuleRef(name) PyImport_AddModuleRef(name) +#else + static CYTHON_INLINE PyObject *__Pyx_PyImport_AddModuleRef(const char *name) { + PyObject *module = PyImport_AddModule(name); + Py_XINCREF(module); + return module; + } +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyIntObject PyLongObject + #define PyInt_Type PyLong_Type + #define PyInt_Check(op) PyLong_Check(op) + #define PyInt_CheckExact(op) PyLong_CheckExact(op) + #define __Pyx_Py3Int_Check(op) PyLong_Check(op) + #define __Pyx_Py3Int_CheckExact(op) PyLong_CheckExact(op) + #define PyInt_FromString PyLong_FromString + #define PyInt_FromUnicode PyLong_FromUnicode + #define PyInt_FromLong PyLong_FromLong + #define PyInt_FromSize_t PyLong_FromSize_t + #define PyInt_FromSsize_t PyLong_FromSsize_t + #define PyInt_AsLong PyLong_AsLong + #define PyInt_AS_LONG PyLong_AS_LONG + #define PyInt_AsSsize_t PyLong_AsSsize_t + #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask + #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask + #define PyNumber_Int PyNumber_Long +#else + #define __Pyx_Py3Int_Check(op) (PyLong_Check(op) || PyInt_Check(op)) + #define __Pyx_Py3Int_CheckExact(op) (PyLong_CheckExact(op) || PyInt_CheckExact(op)) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBoolObject PyLongObject +#endif +#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY + #ifndef PyUnicode_InternFromString + #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) + #endif +#endif +#if PY_VERSION_HEX < 0x030200A4 + typedef long Py_hash_t; + #define __Pyx_PyInt_FromHash_t PyInt_FromLong + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t +#else + #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t +#endif +#if CYTHON_USE_ASYNC_SLOTS + #if PY_VERSION_HEX >= 0x030500B1 + #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods + #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) + #else + #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) + #endif +#else + #define __Pyx_PyType_AsAsync(obj) NULL +#endif +#ifndef __Pyx_PyAsyncMethodsStruct + typedef struct { + unaryfunc am_await; + unaryfunc am_aiter; + unaryfunc am_anext; + } __Pyx_PyAsyncMethodsStruct; +#endif + +#if defined(_WIN32) || defined(WIN32) || defined(MS_WINDOWS) + #if !defined(_USE_MATH_DEFINES) + #define _USE_MATH_DEFINES + #endif +#endif +#include +#ifdef NAN +#define __PYX_NAN() ((float) NAN) +#else +static CYTHON_INLINE float __PYX_NAN() { + float value; + memset(&value, 0xFF, sizeof(value)); + return value; +} +#endif +#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) +#define __Pyx_truncl trunc +#else +#define __Pyx_truncl truncl +#endif + +#define __PYX_MARK_ERR_POS(f_index, lineno) \ + { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } +#define __PYX_ERR(f_index, lineno, Ln_error) \ + { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } + +#ifdef CYTHON_EXTERN_C + #undef __PYX_EXTERN_C + #define __PYX_EXTERN_C CYTHON_EXTERN_C +#elif defined(__PYX_EXTERN_C) + #ifdef _MSC_VER + #pragma message ("Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead.") + #else + #warning Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead. + #endif +#else + #define __PYX_EXTERN_C extern "C++" +#endif + +#define __PYX_HAVE__common__transformations__transformations +#define __PYX_HAVE_API__common__transformations__transformations +/* Early includes */ +#include "orientation.cc" +#include "orientation.hpp" +#include "coordinates.cc" +#include "coordinates.hpp" +#include +#include + + /* Using NumPy API declarations from "numpy/__init__.cython-30.pxd" */ + +#include "numpy/arrayobject.h" +#include "numpy/ndarrayobject.h" +#include "numpy/ndarraytypes.h" +#include "numpy/arrayscalars.h" +#include "numpy/ufuncobject.h" +#ifdef _OPENMP +#include +#endif /* _OPENMP */ + +#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) +#define CYTHON_WITHOUT_ASSERTIONS +#endif + +typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; + const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; + +#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) +#define __PYX_DEFAULT_STRING_ENCODING "" +#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString +#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#define __Pyx_uchar_cast(c) ((unsigned char)c) +#define __Pyx_long_cast(x) ((long)x) +#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ + (sizeof(type) < sizeof(Py_ssize_t)) ||\ + (sizeof(type) > sizeof(Py_ssize_t) &&\ + likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX) &&\ + (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ + v == (type)PY_SSIZE_T_MIN))) ||\ + (sizeof(type) == sizeof(Py_ssize_t) &&\ + (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX))) ) +static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { + return (size_t) i < (size_t) limit; +} +#if defined (__cplusplus) && __cplusplus >= 201103L + #include + #define __Pyx_sst_abs(value) std::abs(value) +#elif SIZEOF_INT >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) abs(value) +#elif SIZEOF_LONG >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) labs(value) +#elif defined (_MSC_VER) + #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) +#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define __Pyx_sst_abs(value) llabs(value) +#elif defined (__GNUC__) + #define __Pyx_sst_abs(value) __builtin_llabs(value) +#else + #define __Pyx_sst_abs(value) ((value<0) ? -value : value) +#endif +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s); +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char*); +#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) +#define __Pyx_PyBytes_FromString PyBytes_FromString +#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); +#if PY_MAJOR_VERSION < 3 + #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#else + #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize +#endif +#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyObject_AsWritableString(s) ((char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableSString(s) ((signed char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) +#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) +#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) +#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) +#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const wchar_t *u) +{ + const wchar_t *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#else +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) +{ + const Py_UNICODE *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#endif +#define __Pyx_PyUnicode_FromOrdinal(o) PyUnicode_FromOrdinal((int)o) +#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) +#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode +#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode +#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) +#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); +#define __Pyx_PySequence_Tuple(obj)\ + (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); +#if CYTHON_ASSUME_SAFE_MACROS +#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) +#else +#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) +#endif +#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) +#else +#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) +#endif +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_VERSION_HEX >= 0x030C00A7 + #ifndef _PyLong_SIGN_MASK + #define _PyLong_SIGN_MASK 3 + #endif + #ifndef _PyLong_NON_SIZE_BITS + #define _PyLong_NON_SIZE_BITS 3 + #endif + #define __Pyx_PyLong_Sign(x) (((PyLongObject*)x)->long_value.lv_tag & _PyLong_SIGN_MASK) + #define __Pyx_PyLong_IsNeg(x) ((__Pyx_PyLong_Sign(x) & 2) != 0) + #define __Pyx_PyLong_IsNonNeg(x) (!__Pyx_PyLong_IsNeg(x)) + #define __Pyx_PyLong_IsZero(x) (__Pyx_PyLong_Sign(x) & 1) + #define __Pyx_PyLong_IsPos(x) (__Pyx_PyLong_Sign(x) == 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) (__Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) ((Py_ssize_t) (((PyLongObject*)x)->long_value.lv_tag >> _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_SignedDigitCount(x)\ + ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * __Pyx_PyLong_DigitCount(x)) + #if defined(PyUnstable_Long_IsCompact) && defined(PyUnstable_Long_CompactValue) + #define __Pyx_PyLong_IsCompact(x) PyUnstable_Long_IsCompact((PyLongObject*) x) + #define __Pyx_PyLong_CompactValue(x) PyUnstable_Long_CompactValue((PyLongObject*) x) + #else + #define __Pyx_PyLong_IsCompact(x) (((PyLongObject*)x)->long_value.lv_tag < (2 << _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_CompactValue(x) ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * (Py_ssize_t) __Pyx_PyLong_Digits(x)[0]) + #endif + typedef Py_ssize_t __Pyx_compact_pylong; + typedef size_t __Pyx_compact_upylong; + #else + #define __Pyx_PyLong_IsNeg(x) (Py_SIZE(x) < 0) + #define __Pyx_PyLong_IsNonNeg(x) (Py_SIZE(x) >= 0) + #define __Pyx_PyLong_IsZero(x) (Py_SIZE(x) == 0) + #define __Pyx_PyLong_IsPos(x) (Py_SIZE(x) > 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) ((Py_SIZE(x) == 0) ? 0 : __Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) __Pyx_sst_abs(Py_SIZE(x)) + #define __Pyx_PyLong_SignedDigitCount(x) Py_SIZE(x) + #define __Pyx_PyLong_IsCompact(x) (Py_SIZE(x) == 0 || Py_SIZE(x) == 1 || Py_SIZE(x) == -1) + #define __Pyx_PyLong_CompactValue(x)\ + ((Py_SIZE(x) == 0) ? (sdigit) 0 : ((Py_SIZE(x) < 0) ? -(sdigit)__Pyx_PyLong_Digits(x)[0] : (sdigit)__Pyx_PyLong_Digits(x)[0])) + typedef sdigit __Pyx_compact_pylong; + typedef digit __Pyx_compact_upylong; + #endif + #if PY_VERSION_HEX >= 0x030C00A5 + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->long_value.ob_digit) + #else + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->ob_digit) + #endif +#endif +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII +#include +static int __Pyx_sys_getdefaultencoding_not_ascii; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + PyObject* ascii_chars_u = NULL; + PyObject* ascii_chars_b = NULL; + const char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + if (strcmp(default_encoding_c, "ascii") == 0) { + __Pyx_sys_getdefaultencoding_not_ascii = 0; + } else { + char ascii_chars[128]; + int c; + for (c = 0; c < 128; c++) { + ascii_chars[c] = (char) c; + } + __Pyx_sys_getdefaultencoding_not_ascii = 1; + ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); + if (!ascii_chars_u) goto bad; + ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); + if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { + PyErr_Format( + PyExc_ValueError, + "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", + default_encoding_c); + goto bad; + } + Py_DECREF(ascii_chars_u); + Py_DECREF(ascii_chars_b); + } + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + Py_XDECREF(ascii_chars_u); + Py_XDECREF(ascii_chars_b); + return -1; +} +#endif +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3 +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL) +#else +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL) +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#include +static char* __PYX_DEFAULT_STRING_ENCODING; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1); + if (!__PYX_DEFAULT_STRING_ENCODING) goto bad; + strcpy(__PYX_DEFAULT_STRING_ENCODING, default_encoding_c); + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + return -1; +} +#endif +#endif + + +/* Test for GCC > 2.95 */ +#if defined(__GNUC__) && (__GNUC__ > 2 || (__GNUC__ == 2 && (__GNUC_MINOR__ > 95))) + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#else /* !__GNUC__ or GCC < 2.95 */ + #define likely(x) (x) + #define unlikely(x) (x) +#endif /* __GNUC__ */ +static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void)ptr; } + +#if !CYTHON_USE_MODULE_STATE +static PyObject *__pyx_m = NULL; +#endif +static int __pyx_lineno; +static int __pyx_clineno = 0; +static const char * __pyx_cfilenm = __FILE__; +static const char *__pyx_filename; + +/* Header.proto */ +#if !defined(CYTHON_CCOMPLEX) + #if defined(__cplusplus) + #define CYTHON_CCOMPLEX 1 + #elif (defined(_Complex_I) && !defined(_MSC_VER)) || ((defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) && !defined(__STDC_NO_COMPLEX__) && !defined(_MSC_VER)) + #define CYTHON_CCOMPLEX 1 + #else + #define CYTHON_CCOMPLEX 0 + #endif +#endif +#if CYTHON_CCOMPLEX + #ifdef __cplusplus + #include + #else + #include + #endif +#endif +#if CYTHON_CCOMPLEX && !defined(__cplusplus) && defined(__sun__) && defined(__GNUC__) + #undef _Complex_I + #define _Complex_I 1.0fj +#endif + +/* #### Code section: filename_table ### */ + +static const char *__pyx_f[] = { + "common/transformations/transformations.pyx", + "", + "__init__.cython-30.pxd", + "type.pxd", +}; +/* #### Code section: utility_code_proto_before_types ### */ +/* ForceInitThreads.proto */ +#ifndef __PYX_FORCE_INIT_THREADS + #define __PYX_FORCE_INIT_THREADS 0 +#endif + +/* BufferFormatStructs.proto */ +struct __Pyx_StructField_; +#define __PYX_BUF_FLAGS_PACKED_STRUCT (1 << 0) +typedef struct { + const char* name; + struct __Pyx_StructField_* fields; + size_t size; + size_t arraysize[8]; + int ndim; + char typegroup; + char is_unsigned; + int flags; +} __Pyx_TypeInfo; +typedef struct __Pyx_StructField_ { + __Pyx_TypeInfo* type; + const char* name; + size_t offset; +} __Pyx_StructField; +typedef struct { + __Pyx_StructField* field; + size_t parent_offset; +} __Pyx_BufFmt_StackElem; +typedef struct { + __Pyx_StructField root; + __Pyx_BufFmt_StackElem* head; + size_t fmt_offset; + size_t new_count, enc_count; + size_t struct_alignment; + int is_complex; + char enc_type; + char new_packmode; + char enc_packmode; + char is_valid_array; +} __Pyx_BufFmt_Context; + +/* #### Code section: numeric_typedefs ### */ + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":730 + * # in Cython to enable them only on the right systems. + * + * ctypedef npy_int8 int8_t # <<<<<<<<<<<<<< + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t + */ +typedef npy_int8 __pyx_t_5numpy_int8_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":731 + * + * ctypedef npy_int8 int8_t + * ctypedef npy_int16 int16_t # <<<<<<<<<<<<<< + * ctypedef npy_int32 int32_t + * ctypedef npy_int64 int64_t + */ +typedef npy_int16 __pyx_t_5numpy_int16_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":732 + * ctypedef npy_int8 int8_t + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t # <<<<<<<<<<<<<< + * ctypedef npy_int64 int64_t + * #ctypedef npy_int96 int96_t + */ +typedef npy_int32 __pyx_t_5numpy_int32_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":733 + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t + * ctypedef npy_int64 int64_t # <<<<<<<<<<<<<< + * #ctypedef npy_int96 int96_t + * #ctypedef npy_int128 int128_t + */ +typedef npy_int64 __pyx_t_5numpy_int64_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":737 + * #ctypedef npy_int128 int128_t + * + * ctypedef npy_uint8 uint8_t # <<<<<<<<<<<<<< + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t + */ +typedef npy_uint8 __pyx_t_5numpy_uint8_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":738 + * + * ctypedef npy_uint8 uint8_t + * ctypedef npy_uint16 uint16_t # <<<<<<<<<<<<<< + * ctypedef npy_uint32 uint32_t + * ctypedef npy_uint64 uint64_t + */ +typedef npy_uint16 __pyx_t_5numpy_uint16_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":739 + * ctypedef npy_uint8 uint8_t + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t # <<<<<<<<<<<<<< + * ctypedef npy_uint64 uint64_t + * #ctypedef npy_uint96 uint96_t + */ +typedef npy_uint32 __pyx_t_5numpy_uint32_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":740 + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t + * ctypedef npy_uint64 uint64_t # <<<<<<<<<<<<<< + * #ctypedef npy_uint96 uint96_t + * #ctypedef npy_uint128 uint128_t + */ +typedef npy_uint64 __pyx_t_5numpy_uint64_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":744 + * #ctypedef npy_uint128 uint128_t + * + * ctypedef npy_float32 float32_t # <<<<<<<<<<<<<< + * ctypedef npy_float64 float64_t + * #ctypedef npy_float80 float80_t + */ +typedef npy_float32 __pyx_t_5numpy_float32_t; 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+static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A6 +#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) +#else +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#endif +#else +#define __Pyx_PyErr_Clear() PyErr_Clear() +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) +#endif + +/* PyObjectGetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n) +#endif + +/* PyObjectGetAttrStrNoError.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); + +/* GetBuiltinName.proto */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name); + +/* GetTopmostException.proto */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * __Pyx_PyErr_GetTopmostException(PyThreadState *tstate); +#endif + +/* SaveResetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSave(type, value, tb) __Pyx__ExceptionSave(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#define __Pyx_ExceptionReset(type, value, tb) __Pyx__ExceptionReset(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +#else +#define __Pyx_ExceptionSave(type, value, tb) PyErr_GetExcInfo(type, value, tb) +#define __Pyx_ExceptionReset(type, value, tb) PyErr_SetExcInfo(type, value, tb) +#endif + +/* GetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_GetException(type, value, tb) __Pyx__GetException(__pyx_tstate, type, value, tb) +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* PyObjectCall.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw); +#else +#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw) +#endif + +/* RaiseException.proto */ +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause); + +/* PyDictVersioning.proto */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) +#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ + (version_var) = __PYX_GET_DICT_VERSION(dict);\ + (cache_var) = (value); +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ + (VAR) = __pyx_dict_cached_value;\ + } else {\ + (VAR) = __pyx_dict_cached_value = (LOOKUP);\ + __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ + }\ +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); +#else +#define __PYX_GET_DICT_VERSION(dict) (0) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); +#endif + +/* GetModuleGlobalName.proto */ +#if CYTHON_USE_DICT_VERSIONS +#define __Pyx_GetModuleGlobalName(var, name) do {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + (var) = (likely(__pyx_dict_version == __PYX_GET_DICT_VERSION(__pyx_d))) ?\ + (likely(__pyx_dict_cached_value) ? __Pyx_NewRef(__pyx_dict_cached_value) : __Pyx_GetBuiltinName(name)) :\ + __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +#define __Pyx_GetModuleGlobalNameUncached(var, name) do {\ + PY_UINT64_T __pyx_dict_version;\ + PyObject *__pyx_dict_cached_value;\ + (var) = __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value); +#else +#define __Pyx_GetModuleGlobalName(var, name) (var) = __Pyx__GetModuleGlobalName(name) +#define __Pyx_GetModuleGlobalNameUncached(var, name) (var) = __Pyx__GetModuleGlobalName(name) +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name); +#endif + +/* PyFunctionFastCall.proto */ +#if CYTHON_FAST_PYCALL +#if !CYTHON_VECTORCALL +#define __Pyx_PyFunction_FastCall(func, args, nargs)\ + __Pyx_PyFunction_FastCallDict((func), (args), (nargs), NULL) +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs); +#endif +#define __Pyx_BUILD_ASSERT_EXPR(cond)\ + (sizeof(char [1 - 2*!(cond)]) - 1) +#ifndef Py_MEMBER_SIZE +#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member) +#endif +#if !CYTHON_VECTORCALL +#if PY_VERSION_HEX >= 0x03080000 + #include "frameobject.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif + #define __Pxy_PyFrame_Initialize_Offsets() + #define __Pyx_PyFrame_GetLocalsplus(frame) ((frame)->f_localsplus) +#else + static size_t __pyx_pyframe_localsplus_offset = 0; + #include "frameobject.h" + #define __Pxy_PyFrame_Initialize_Offsets()\ + ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\ + (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus))) + #define __Pyx_PyFrame_GetLocalsplus(frame)\ + (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset)) +#endif +#endif +#endif + +/* PyObjectCallMethO.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg); +#endif + +/* PyObjectFastCall.proto */ +#define __Pyx_PyObject_FastCall(func, args, nargs) __Pyx_PyObject_FastCallDict(func, args, (size_t)(nargs), NULL) +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs); + +/* ExtTypeTest.proto */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type); + +/* IsLittleEndian.proto */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void); + +/* BufferFormatCheck.proto */ +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts); +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type); + +/* BufferGetAndValidate.proto */ +#define __Pyx_GetBufferAndValidate(buf, obj, dtype, flags, nd, cast, stack)\ + ((obj == Py_None || obj == NULL) ?\ + (__Pyx_ZeroBuffer(buf), 0) :\ + __Pyx__GetBufferAndValidate(buf, obj, dtype, flags, nd, cast, stack)) +static int __Pyx__GetBufferAndValidate(Py_buffer* buf, PyObject* obj, + __Pyx_TypeInfo* dtype, int flags, int nd, int cast, __Pyx_BufFmt_StackElem* stack); +static void __Pyx_ZeroBuffer(Py_buffer* buf); +static CYTHON_INLINE void __Pyx_SafeReleaseBuffer(Py_buffer* info); +static Py_ssize_t __Pyx_minusones[] = { -1, -1, -1, -1, -1, -1, -1, -1 }; +static Py_ssize_t __Pyx_zeros[] = { 0, 0, 0, 0, 0, 0, 0, 0 }; + +/* AssertionsEnabled.proto */ +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag) + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (1) +#elif CYTHON_COMPILING_IN_LIMITED_API || (CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030C0000) + static int __pyx_assertions_enabled_flag; + #define __pyx_assertions_enabled() (__pyx_assertions_enabled_flag) + static int __Pyx_init_assertions_enabled(void) { + PyObject *builtins, *debug, *debug_str; + int flag; + builtins = PyEval_GetBuiltins(); + if (!builtins) goto bad; + debug_str = PyUnicode_FromStringAndSize("__debug__", 9); + if (!debug_str) goto bad; + debug = PyObject_GetItem(builtins, debug_str); + Py_DECREF(debug_str); + if (!debug) goto bad; + flag = PyObject_IsTrue(debug); + Py_DECREF(debug); + if (flag == -1) goto bad; + __pyx_assertions_enabled_flag = flag; + return 0; + bad: + __pyx_assertions_enabled_flag = 1; + return -1; + } +#else + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (!Py_OptimizeFlag) +#endif + +/* GetItemInt.proto */ +#define __Pyx_GetItemInt(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Fast(o, (Py_ssize_t)i, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\ + __Pyx_GetItemInt_Generic(o, to_py_func(i)))) +#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j); +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, + int is_list, int wraparound, int boundscheck); + +/* TupleAndListFromArray.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n); +static CYTHON_INLINE PyObject* __Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n); +#endif + +/* IncludeStringH.proto */ +#include + +/* BytesEquals.proto */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals); + +/* UnicodeEquals.proto */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals); + +/* fastcall.proto */ +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_VARARGS(args, i) PySequence_GetItem(args, i) +#elif CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GET_ITEM(args, i) +#else + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GetItem(args, i) +#endif +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_NewRef_VARARGS(arg) __Pyx_NewRef(arg) + #define __Pyx_Arg_XDECREF_VARARGS(arg) Py_XDECREF(arg) +#else + #define __Pyx_Arg_NewRef_VARARGS(arg) arg + #define __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#define __Pyx_NumKwargs_VARARGS(kwds) PyDict_Size(kwds) +#define __Pyx_KwValues_VARARGS(args, nargs) NULL +#define __Pyx_GetKwValue_VARARGS(kw, kwvalues, s) __Pyx_PyDict_GetItemStrWithError(kw, s) +#define __Pyx_KwargsAsDict_VARARGS(kw, kwvalues) PyDict_Copy(kw) +#if CYTHON_METH_FASTCALL + #define __Pyx_Arg_FASTCALL(args, i) args[i] + #define __Pyx_NumKwargs_FASTCALL(kwds) PyTuple_GET_SIZE(kwds) + #define __Pyx_KwValues_FASTCALL(args, nargs) ((args) + (nargs)) + static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); + #else + #define __Pyx_KwargsAsDict_FASTCALL(kw, kwvalues) _PyStack_AsDict(kwvalues, kw) + #endif + #define __Pyx_Arg_NewRef_FASTCALL(arg) arg /* no-op, __Pyx_Arg_FASTCALL is direct and this needs + to have the same reference counting */ + #define __Pyx_Arg_XDECREF_FASTCALL(arg) +#else + #define __Pyx_Arg_FASTCALL __Pyx_Arg_VARARGS + #define __Pyx_NumKwargs_FASTCALL __Pyx_NumKwargs_VARARGS + #define __Pyx_KwValues_FASTCALL __Pyx_KwValues_VARARGS + #define __Pyx_GetKwValue_FASTCALL __Pyx_GetKwValue_VARARGS + #define __Pyx_KwargsAsDict_FASTCALL __Pyx_KwargsAsDict_VARARGS + #define __Pyx_Arg_NewRef_FASTCALL(arg) __Pyx_Arg_NewRef_VARARGS(arg) + #define __Pyx_Arg_XDECREF_FASTCALL(arg) __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_VARARGS(args, start), stop - start) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_FASTCALL(args, start), stop - start) +#else +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) PyTuple_GetSlice(args, start, stop) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) PyTuple_GetSlice(args, start, stop) +#endif + +/* RaiseDoubleKeywords.proto */ +static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); + +/* ParseKeywords.proto */ +static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args, + const char* function_name); + +/* RaiseArgTupleInvalid.proto */ +static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, + Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); + +/* MoveIfSupported.proto */ +#if CYTHON_USE_CPP_STD_MOVE + #include + #define __PYX_STD_MOVE_IF_SUPPORTED(x) std::move(x) +#else + #define __PYX_STD_MOVE_IF_SUPPORTED(x) x +#endif + +/* KeywordStringCheck.proto */ +static int __Pyx_CheckKeywordStrings(PyObject *kw, const char* function_name, int kw_allowed); + +/* IncludeStructmemberH.proto */ +#include + +/* FixUpExtensionType.proto */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type); +#endif + +/* PyObjectCallNoArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func); + +/* PyObjectCallOneArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg); + +/* PyObjectGetMethod.proto */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method); + +/* PyObjectCallMethod0.proto */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name); + +/* ValidateBasesTuple.proto */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases); +#endif + +/* PyType_Ready.proto */ +CYTHON_UNUSED static int __Pyx_PyType_Ready(PyTypeObject *t); + +/* PyObject_GenericGetAttrNoDict.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr +#endif + +/* PyObject_GenericGetAttr.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr +#endif + +/* SetupReduce.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce(PyObject* type_obj); +#endif + +/* TypeImport.proto */ +#ifndef __PYX_HAVE_RT_ImportType_proto_3_0_8 +#define __PYX_HAVE_RT_ImportType_proto_3_0_8 +#if defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L +#include +#endif +#if (defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) || __cplusplus >= 201103L +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) alignof(s) +#else +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) sizeof(void*) +#endif +enum __Pyx_ImportType_CheckSize_3_0_8 { + __Pyx_ImportType_CheckSize_Error_3_0_8 = 0, + __Pyx_ImportType_CheckSize_Warn_3_0_8 = 1, + __Pyx_ImportType_CheckSize_Ignore_3_0_8 = 2 +}; +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject* module, const char *module_name, const char *class_name, size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size); +#endif + +/* Import.proto */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level); + +/* ImportDottedModule.proto */ +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple); +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple); +#endif + +/* FetchSharedCythonModule.proto */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void); + +/* FetchCommonType.proto */ +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type); +#else +static PyTypeObject* __Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases); +#endif + +/* PyMethodNew.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + PyObject *typesModule=NULL, *methodType=NULL, *result=NULL; + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + typesModule = PyImport_ImportModule("types"); + if (!typesModule) return NULL; + methodType = PyObject_GetAttrString(typesModule, "MethodType"); + Py_DECREF(typesModule); + if (!methodType) return NULL; + result = PyObject_CallFunctionObjArgs(methodType, func, self, NULL); + Py_DECREF(methodType); + return result; +} +#elif PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + return PyMethod_New(func, self); +} +#else + #define __Pyx_PyMethod_New PyMethod_New +#endif + +/* PyVectorcallFastCallDict.proto */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw); +#endif + +/* CythonFunctionShared.proto */ +#define __Pyx_CyFunction_USED +#define __Pyx_CYFUNCTION_STATICMETHOD 0x01 +#define __Pyx_CYFUNCTION_CLASSMETHOD 0x02 +#define __Pyx_CYFUNCTION_CCLASS 0x04 +#define __Pyx_CYFUNCTION_COROUTINE 0x08 +#define __Pyx_CyFunction_GetClosure(f)\ + (((__pyx_CyFunctionObject *) (f))->func_closure) +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_CyFunction_GetClassObj(f)\ + (((__pyx_CyFunctionObject *) (f))->func_classobj) +#else + #define __Pyx_CyFunction_GetClassObj(f)\ + ((PyObject*) ((PyCMethodObject *) (f))->mm_class) +#endif +#define __Pyx_CyFunction_SetClassObj(f, classobj)\ + __Pyx__CyFunction_SetClassObj((__pyx_CyFunctionObject *) (f), (classobj)) +#define __Pyx_CyFunction_Defaults(type, f)\ + ((type *)(((__pyx_CyFunctionObject *) (f))->defaults)) +#define __Pyx_CyFunction_SetDefaultsGetter(f, g)\ + ((__pyx_CyFunctionObject *) (f))->defaults_getter = (g) +typedef struct { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject_HEAD + PyObject *func; +#elif PY_VERSION_HEX < 0x030900B1 + PyCFunctionObject func; +#else + PyCMethodObject func; +#endif +#if CYTHON_BACKPORT_VECTORCALL + __pyx_vectorcallfunc func_vectorcall; +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_weakreflist; +#endif + PyObject *func_dict; + PyObject *func_name; + PyObject *func_qualname; + PyObject *func_doc; + PyObject *func_globals; + PyObject *func_code; + PyObject *func_closure; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_classobj; +#endif + void *defaults; + int defaults_pyobjects; + size_t defaults_size; + int flags; + PyObject *defaults_tuple; + PyObject *defaults_kwdict; + PyObject *(*defaults_getter)(PyObject *); + PyObject *func_annotations; + PyObject *func_is_coroutine; +} __pyx_CyFunctionObject; +#undef __Pyx_CyOrPyCFunction_Check +#define __Pyx_CyFunction_Check(obj) __Pyx_TypeCheck(obj, __pyx_CyFunctionType) +#define __Pyx_CyOrPyCFunction_Check(obj) __Pyx_TypeCheck2(obj, __pyx_CyFunctionType, &PyCFunction_Type) +#define __Pyx_CyFunction_CheckExact(obj) __Pyx_IS_TYPE(obj, __pyx_CyFunctionType) +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc); +#undef __Pyx_IsSameCFunction +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCyOrCFunction(func, cfunc) +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject* op, PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj); +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *m, + size_t size, + int pyobjects); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *m, + PyObject *tuple); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *m, + PyObject *dict); +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *m, + PyObject *dict); +static int __pyx_CyFunction_init(PyObject *module); +#if CYTHON_METH_FASTCALL +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +#if CYTHON_BACKPORT_VECTORCALL +#define __Pyx_CyFunction_func_vectorcall(f) (((__pyx_CyFunctionObject*)f)->func_vectorcall) +#else +#define __Pyx_CyFunction_func_vectorcall(f) (((PyCFunctionObject*)f)->vectorcall) +#endif +#endif + +/* CythonFunction.proto */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); + +/* ClassMethod.proto */ +#include "descrobject.h" +CYTHON_UNUSED static PyObject* __Pyx_Method_ClassMethod(PyObject *method); + +/* GetNameInClass.proto */ +#define __Pyx_GetNameInClass(var, nmspace, name) (var) = __Pyx__GetNameInClass(nmspace, name) +static PyObject *__Pyx__GetNameInClass(PyObject *nmspace, PyObject *name); + +/* CLineInTraceback.proto */ +#ifdef CYTHON_CLINE_IN_TRACEBACK +#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) +#else +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); +#endif + +/* CodeObjectCache.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +typedef struct { + PyCodeObject* code_object; + int code_line; +} __Pyx_CodeObjectCacheEntry; +struct __Pyx_CodeObjectCache { + int count; + int max_count; + __Pyx_CodeObjectCacheEntry* entries; +}; +static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); +static PyCodeObject *__pyx_find_code_object(int code_line); +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); +#endif + +/* AddTraceback.proto */ +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename); + +/* BufferStructDeclare.proto */ +typedef struct { + Py_ssize_t shape, strides, suboffsets; +} __Pyx_Buf_DimInfo; +typedef struct { + size_t refcount; + Py_buffer pybuffer; +} __Pyx_Buffer; +typedef struct { + __Pyx_Buffer *rcbuffer; + char *data; + __Pyx_Buf_DimInfo diminfo[8]; +} __Pyx_LocalBuf_ND; + +#if PY_MAJOR_VERSION < 3 + static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags); + static void __Pyx_ReleaseBuffer(Py_buffer *view); +#else + #define __Pyx_GetBuffer PyObject_GetBuffer + #define __Pyx_ReleaseBuffer PyBuffer_Release +#endif + + +/* GCCDiagnostics.proto */ +#if !defined(__INTEL_COMPILER) && defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) +#define __Pyx_HAS_GCC_DIAGNOSTIC +#endif + +/* RealImag.proto */ +#if CYTHON_CCOMPLEX + #ifdef __cplusplus + #define __Pyx_CREAL(z) ((z).real()) + #define __Pyx_CIMAG(z) ((z).imag()) + #else + #define __Pyx_CREAL(z) (__real__(z)) + #define __Pyx_CIMAG(z) (__imag__(z)) + #endif +#else + #define __Pyx_CREAL(z) ((z).real) + #define __Pyx_CIMAG(z) ((z).imag) +#endif +#if defined(__cplusplus) && CYTHON_CCOMPLEX\ + && (defined(_WIN32) || defined(__clang__) || (defined(__GNUC__) && (__GNUC__ >= 5 || __GNUC__ == 4 && __GNUC_MINOR__ >= 4 )) || __cplusplus >= 201103) + #define __Pyx_SET_CREAL(z,x) ((z).real(x)) + #define __Pyx_SET_CIMAG(z,y) ((z).imag(y)) +#else + #define __Pyx_SET_CREAL(z,x) __Pyx_CREAL(z) = (x) + #define __Pyx_SET_CIMAG(z,y) __Pyx_CIMAG(z) = (y) +#endif + +/* Arithmetic.proto */ +#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #define __Pyx_c_eq_float(a, b) ((a)==(b)) + #define __Pyx_c_sum_float(a, b) ((a)+(b)) + #define __Pyx_c_diff_float(a, b) ((a)-(b)) + #define __Pyx_c_prod_float(a, b) ((a)*(b)) + #define __Pyx_c_quot_float(a, b) ((a)/(b)) + #define __Pyx_c_neg_float(a) (-(a)) + #ifdef __cplusplus + #define __Pyx_c_is_zero_float(z) ((z)==(float)0) + #define __Pyx_c_conj_float(z) (::std::conj(z)) + #if 1 + #define __Pyx_c_abs_float(z) (::std::abs(z)) + #define __Pyx_c_pow_float(a, b) (::std::pow(a, b)) + #endif + #else + #define __Pyx_c_is_zero_float(z) ((z)==0) + #define __Pyx_c_conj_float(z) (conjf(z)) + #if 1 + #define __Pyx_c_abs_float(z) (cabsf(z)) + #define __Pyx_c_pow_float(a, b) (cpowf(a, b)) + #endif + #endif +#else + static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex); + static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex); + #if 1 + static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex, __pyx_t_float_complex); + #endif +#endif + +/* Arithmetic.proto */ +#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #define __Pyx_c_eq_double(a, b) ((a)==(b)) + #define __Pyx_c_sum_double(a, b) ((a)+(b)) + #define __Pyx_c_diff_double(a, b) ((a)-(b)) + #define __Pyx_c_prod_double(a, b) ((a)*(b)) + #define __Pyx_c_quot_double(a, b) ((a)/(b)) + #define __Pyx_c_neg_double(a) (-(a)) + #ifdef __cplusplus + #define __Pyx_c_is_zero_double(z) ((z)==(double)0) + #define __Pyx_c_conj_double(z) (::std::conj(z)) + #if 1 + #define __Pyx_c_abs_double(z) (::std::abs(z)) + #define __Pyx_c_pow_double(a, b) (::std::pow(a, b)) + #endif + #else + #define __Pyx_c_is_zero_double(z) ((z)==0) + #define __Pyx_c_conj_double(z) (conj(z)) + #if 1 + #define __Pyx_c_abs_double(z) (cabs(z)) + #define __Pyx_c_pow_double(a, b) (cpow(a, b)) + #endif + #endif +#else + static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex); + static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex); + #if 1 + static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex, __pyx_t_double_complex); + #endif +#endif + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); + +/* FormatTypeName.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +typedef PyObject *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%U" +static __Pyx_TypeName __Pyx_PyType_GetName(PyTypeObject* tp); +#define __Pyx_DECREF_TypeName(obj) Py_XDECREF(obj) +#else +typedef const char *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%.200s" +#define __Pyx_PyType_GetName(tp) ((tp)->tp_name) +#define __Pyx_DECREF_TypeName(obj) +#endif + +/* CIntFromPy.proto */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); + +/* CIntFromPy.proto */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); + +/* FastTypeChecks.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) __Pyx_IsAnySubtype2(Py_TYPE(obj), (PyTypeObject *)type1, (PyTypeObject *)type2) +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); +#else +#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) (PyObject_TypeCheck(obj, (PyTypeObject *)type1) || PyObject_TypeCheck(obj, (PyTypeObject *)type2)) +#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) +#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) +#endif +#define __Pyx_PyErr_ExceptionMatches2(err1, err2) __Pyx_PyErr_GivenExceptionMatches2(__Pyx_PyErr_CurrentExceptionType(), err1, err2) +#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) + +/* CheckBinaryVersion.proto */ +static unsigned long __Pyx_get_runtime_version(void); +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer); + +/* InitStrings.proto */ +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); + +/* #### Code section: module_declarations ### */ +static CYTHON_INLINE PyObject *__pyx_f_5numpy_7ndarray_4base_base(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE PyArray_Descr *__pyx_f_5numpy_7ndarray_5descr_descr(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE int __pyx_f_5numpy_7ndarray_4ndim_ndim(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE npy_intp *__pyx_f_5numpy_7ndarray_5shape_shape(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE npy_intp *__pyx_f_5numpy_7ndarray_7strides_strides(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE npy_intp __pyx_f_5numpy_7ndarray_4size_size(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE char *__pyx_f_5numpy_7ndarray_4data_data(PyArrayObject *__pyx_v_self); /* proto*/ + +/* Module declarations from "libcpp" */ + +/* Module declarations from "openpilot.common.transformations.transformations" */ + +/* Module declarations from "libc.string" */ + +/* Module declarations from "libc.stdio" */ + +/* Module declarations from "__builtin__" */ + +/* Module declarations from "cpython.type" */ + +/* Module declarations from "cpython" */ + +/* Module declarations from "cpython.object" */ + +/* Module declarations from "cpython.ref" */ + +/* Module declarations from "numpy" */ + +/* Module declarations from "numpy" */ + +/* Module declarations from "common.transformations.transformations" */ +static PyArrayObject *__pyx_f_6common_15transformations_15transformations_matrix2numpy(Eigen::Matrix3d); /*proto*/ +static Eigen::Matrix3d __pyx_f_6common_15transformations_15transformations_numpy2matrix(PyArrayObject *); /*proto*/ +static struct ECEF __pyx_f_6common_15transformations_15transformations_list2ecef(PyObject *); /*proto*/ +static struct NED __pyx_f_6common_15transformations_15transformations_list2ned(PyObject *); /*proto*/ +static struct Geodetic __pyx_f_6common_15transformations_15transformations_list2geodetic(PyObject *); /*proto*/ +/* #### Code section: typeinfo ### */ +static __Pyx_TypeInfo __Pyx_TypeInfo_double = { "double", NULL, sizeof(double), { 0 }, 0, 'R', 0, 0 }; +/* #### Code section: before_global_var ### */ +#define __Pyx_MODULE_NAME "common.transformations.transformations" +extern int __pyx_module_is_main_common__transformations__transformations; +int __pyx_module_is_main_common__transformations__transformations = 0; + +/* Implementation of "common.transformations.transformations" */ +/* #### Code section: global_var ### */ +static PyObject *__pyx_builtin_AssertionError; +static PyObject *__pyx_builtin_TypeError; +static PyObject *__pyx_builtin_ImportError; +/* #### Code section: string_decls ### */ +static const char __pyx_k_e[] = "e"; +static const char __pyx_k_g[] = "g"; +static const char __pyx_k_n[] = "n"; +static const char __pyx_k_q[] = "q"; +static const char __pyx_k_r[] = "r"; +static const char __pyx_k__3[] = "*"; +static const char __pyx_k_gc[] = "gc"; +static const char __pyx_k_np[] = "np"; +static const char __pyx_k__42[] = "?"; +static const char __pyx_k_cls[] = "cls"; +static const char __pyx_k_ned[] = "ned"; +static const char __pyx_k_rot[] = "rot"; +static const char __pyx_k_yaw[] = "yaw"; +static const char __pyx_k_dict[] = "__dict__"; +static const char __pyx_k_ecef[] = "ecef"; +static const char __pyx_k_init[] = "init"; +static const char __pyx_k_main[] = "__main__"; +static const char __pyx_k_name[] = "__name__"; +static const char __pyx_k_pose[] = "pose"; +static const char __pyx_k_quat[] = "quat"; +static const char __pyx_k_roll[] = "roll"; +static const char __pyx_k_self[] = "self"; +static const char __pyx_k_spec[] = "__spec__"; +static const char __pyx_k_test[] = "__test__"; +static const char __pyx_k_array[] = "array"; +static const char __pyx_k_dtype[] = "dtype"; +static const char __pyx_k_euler[] = "euler"; +static const char __pyx_k_numpy[] = "numpy"; +static const char __pyx_k_pitch[] = "pitch"; +static const char __pyx_k_double[] = "double"; +static const char __pyx_k_enable[] = "enable"; +static const char __pyx_k_import[] = "__import__"; +static const char __pyx_k_reduce[] = "__reduce__"; +static const char __pyx_k_disable[] = "disable"; +static const char __pyx_k_geodetic[] = "geodetic"; +static const char __pyx_k_getstate[] = "__getstate__"; +static const char __pyx_k_ned_pose[] = "ned_pose"; +static const char __pyx_k_setstate[] = "__setstate__"; +static const char __pyx_k_TypeError[] = "TypeError"; +static const char __pyx_k_ecef_init[] = "ecef_init"; +static const char __pyx_k_ecef_pose[] = "ecef_pose"; +static const char __pyx_k_from_ecef[] = "from_ecef"; +static const char __pyx_k_isenabled[] = "isenabled"; +static const char __pyx_k_pyx_state[] = "__pyx_state"; +static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; +static const char __pyx_k_LocalCoord[] = "LocalCoord"; +static const char __pyx_k_rot_matrix[] = "rot_matrix"; +static const char __pyx_k_ImportError[] = "ImportError"; +static const char __pyx_k_initializing[] = "_initializing"; +static const char __pyx_k_is_coroutine[] = "_is_coroutine"; +static const char __pyx_k_stringsource[] = ""; +static const char __pyx_k_from_geodetic[] = "from_geodetic"; +static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; +static const char __pyx_k_AssertionError[] = "AssertionError"; +static const char __pyx_k_asfortranarray[] = "asfortranarray"; +static const char __pyx_k_ecef2ned_matrix[] = "ecef2ned_matrix"; +static const char __pyx_k_ecef2ned_single[] = "ecef2ned_single"; +static const char __pyx_k_ned2ecef_matrix[] = "ned2ecef_matrix"; +static const char __pyx_k_ned2ecef_single[] = "ned2ecef_single"; +static const char __pyx_k_quat2rot_single[] = "quat2rot_single"; +static const char __pyx_k_rot2quat_single[] = "rot2quat_single"; +static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; +static const char __pyx_k_euler2rot_single[] = "euler2rot_single"; +static const char __pyx_k_rot2euler_single[] = "rot2euler_single"; +static const char __pyx_k_euler2quat_single[] = "euler2quat_single"; +static const char __pyx_k_quat2euler_single[] = "quat2euler_single"; +static const char __pyx_k_asyncio_coroutines[] = "asyncio.coroutines"; +static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; +static const char __pyx_k_geodetic2ned_single[] = "geodetic2ned_single"; +static const char __pyx_k_ned2geodetic_single[] = "ned2geodetic_single"; +static const char __pyx_k_LocalCoord_from_ecef[] = "LocalCoord.from_ecef"; +static const char __pyx_k_ecef2geodetic_single[] = "ecef2geodetic_single"; +static const char __pyx_k_geodetic2ecef_single[] = "geodetic2ecef_single"; +static const char __pyx_k_LocalCoord_from_geodetic[] = "LocalCoord.from_geodetic"; +static const char __pyx_k_LocalCoord___reduce_cython[] = "LocalCoord.__reduce_cython__"; +static const char __pyx_k_LocalCoord_ecef2ned_single[] = "LocalCoord.ecef2ned_single"; +static const char __pyx_k_LocalCoord_ned2ecef_single[] = "LocalCoord.ned2ecef_single"; +static const char __pyx_k_ecef_euler_from_ned_single[] = "ecef_euler_from_ned_single"; +static const char __pyx_k_ned_euler_from_ecef_single[] = "ned_euler_from_ecef_single"; +static const char __pyx_k_LocalCoord___setstate_cython[] = "LocalCoord.__setstate_cython__"; +static const char __pyx_k_LocalCoord_geodetic2ned_single[] = "LocalCoord.geodetic2ned_single"; +static const char __pyx_k_LocalCoord_ned2geodetic_single[] = "LocalCoord.ned2geodetic_single"; +static const char __pyx_k_numpy_core_multiarray_failed_to[] = "numpy.core.multiarray failed to import"; +static const char __pyx_k_common_transformations_transform[] = "common/transformations/transformations.pyx"; +static const char __pyx_k_numpy_core_umath_failed_to_impor[] = "numpy.core.umath failed to import"; +static const char __pyx_k_self_lc_cannot_be_converted_to_a[] = "self.lc cannot be converted to a Python object for pickling"; +static const char __pyx_k_common_transformations_transform_2[] = "common.transformations.transformations"; +/* #### Code section: decls ### */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_euler2quat_single(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_euler); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_2quat2euler_single(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_quat); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_4quat2rot_single(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_quat); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_6rot2quat_single(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_rot); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_8euler2rot_single(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_euler); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_10rot2euler_single(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_rot); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_12rot_matrix(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_roll, PyObject *__pyx_v_pitch, PyObject *__pyx_v_yaw); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_14ecef_euler_from_ned_single(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_ecef_init, PyObject *__pyx_v_ned_pose); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_16ned_euler_from_ecef_single(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_ecef_init, PyObject *__pyx_v_ecef_pose); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_18geodetic2ecef_single(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_geodetic); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_20ecef2geodetic_single(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_ecef); /* proto */ +static int __pyx_pf_6common_15transformations_15transformations_10LocalCoord___init__(struct __pyx_obj_6common_15transformations_15transformations_LocalCoord *__pyx_v_self, PyObject *__pyx_v_geodetic, PyObject *__pyx_v_ecef); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_10LocalCoord_15ned2ecef_matrix___get__(struct __pyx_obj_6common_15transformations_15transformations_LocalCoord *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_10LocalCoord_15ecef2ned_matrix___get__(struct __pyx_obj_6common_15transformations_15transformations_LocalCoord *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_10LocalCoord_20ned_from_ecef_matrix___get__(struct __pyx_obj_6common_15transformations_15transformations_LocalCoord *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_10LocalCoord_20ecef_from_ned_matrix___get__(struct __pyx_obj_6common_15transformations_15transformations_LocalCoord *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_10LocalCoord_2from_geodetic(PyTypeObject *__pyx_v_cls, PyObject *__pyx_v_geodetic); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_10LocalCoord_4from_ecef(PyTypeObject *__pyx_v_cls, PyObject *__pyx_v_ecef); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_10LocalCoord_6ecef2ned_single(struct __pyx_obj_6common_15transformations_15transformations_LocalCoord *__pyx_v_self, PyObject *__pyx_v_ecef); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_10LocalCoord_8ned2ecef_single(struct __pyx_obj_6common_15transformations_15transformations_LocalCoord *__pyx_v_self, PyObject *__pyx_v_ned); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_10LocalCoord_10geodetic2ned_single(struct __pyx_obj_6common_15transformations_15transformations_LocalCoord *__pyx_v_self, PyObject *__pyx_v_geodetic); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_10LocalCoord_12ned2geodetic_single(struct __pyx_obj_6common_15transformations_15transformations_LocalCoord *__pyx_v_self, PyObject *__pyx_v_ned); /* proto */ +static void __pyx_pf_6common_15transformations_15transformations_10LocalCoord_14__dealloc__(struct __pyx_obj_6common_15transformations_15transformations_LocalCoord *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_10LocalCoord_16__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_6common_15transformations_15transformations_LocalCoord *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_10LocalCoord_18__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_6common_15transformations_15transformations_LocalCoord *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_tp_new_6common_15transformations_15transformations_LocalCoord(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +/* #### Code section: late_includes ### */ +/* #### Code section: module_state ### */ +typedef struct { + PyObject *__pyx_d; + PyObject *__pyx_b; + PyObject *__pyx_cython_runtime; + PyObject *__pyx_empty_tuple; + PyObject *__pyx_empty_bytes; + PyObject *__pyx_empty_unicode; + #ifdef __Pyx_CyFunction_USED + PyTypeObject *__pyx_CyFunctionType; + #endif + #ifdef __Pyx_FusedFunction_USED + PyTypeObject *__pyx_FusedFunctionType; + #endif + #ifdef __Pyx_Generator_USED + PyTypeObject *__pyx_GeneratorType; + #endif + #ifdef __Pyx_IterableCoroutine_USED + PyTypeObject *__pyx_IterableCoroutineType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineAwaitType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineType; + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_7cpython_4type_type; + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_5numpy_dtype; + PyTypeObject *__pyx_ptype_5numpy_flatiter; + PyTypeObject *__pyx_ptype_5numpy_broadcast; + PyTypeObject *__pyx_ptype_5numpy_ndarray; + PyTypeObject *__pyx_ptype_5numpy_generic; + PyTypeObject *__pyx_ptype_5numpy_number; + PyTypeObject *__pyx_ptype_5numpy_integer; + PyTypeObject *__pyx_ptype_5numpy_signedinteger; + PyTypeObject *__pyx_ptype_5numpy_unsignedinteger; + PyTypeObject *__pyx_ptype_5numpy_inexact; + PyTypeObject *__pyx_ptype_5numpy_floating; + PyTypeObject *__pyx_ptype_5numpy_complexfloating; + PyTypeObject *__pyx_ptype_5numpy_flexible; + PyTypeObject *__pyx_ptype_5numpy_character; + PyTypeObject *__pyx_ptype_5numpy_ufunc; + #if CYTHON_USE_MODULE_STATE + PyObject *__pyx_type_6common_15transformations_15transformations_LocalCoord; + #endif + PyTypeObject *__pyx_ptype_6common_15transformations_15transformations_LocalCoord; + PyObject *__pyx_n_s_AssertionError; + PyObject *__pyx_n_s_ImportError; + PyObject *__pyx_n_s_LocalCoord; + PyObject *__pyx_n_s_LocalCoord___reduce_cython; + PyObject *__pyx_n_s_LocalCoord___setstate_cython; + PyObject *__pyx_n_s_LocalCoord_ecef2ned_single; + PyObject *__pyx_n_s_LocalCoord_from_ecef; + PyObject *__pyx_n_s_LocalCoord_from_geodetic; + PyObject *__pyx_n_s_LocalCoord_geodetic2ned_single; + PyObject *__pyx_n_s_LocalCoord_ned2ecef_single; + PyObject *__pyx_n_s_LocalCoord_ned2geodetic_single; + PyObject *__pyx_n_s_TypeError; + PyObject *__pyx_n_s__3; + PyObject *__pyx_n_s__42; + PyObject *__pyx_n_s_array; + PyObject *__pyx_n_s_asfortranarray; + PyObject *__pyx_n_s_asyncio_coroutines; + PyObject *__pyx_n_s_cline_in_traceback; + PyObject *__pyx_n_s_cls; + PyObject *__pyx_kp_s_common_transformations_transform; + PyObject *__pyx_n_s_common_transformations_transform_2; + PyObject *__pyx_n_s_dict; + PyObject *__pyx_kp_u_disable; + PyObject *__pyx_n_s_double; + PyObject *__pyx_n_s_dtype; + PyObject *__pyx_n_s_e; + PyObject *__pyx_n_s_ecef; + PyObject *__pyx_n_s_ecef2geodetic_single; + PyObject *__pyx_n_s_ecef2ned_matrix; + PyObject *__pyx_n_s_ecef2ned_single; + PyObject *__pyx_n_s_ecef_euler_from_ned_single; + PyObject *__pyx_n_s_ecef_init; + PyObject *__pyx_n_s_ecef_pose; + PyObject *__pyx_kp_u_enable; + PyObject *__pyx_n_s_euler; + PyObject *__pyx_n_s_euler2quat_single; + PyObject *__pyx_n_s_euler2rot_single; + PyObject *__pyx_n_s_from_ecef; + PyObject *__pyx_n_s_from_geodetic; + PyObject *__pyx_n_s_g; + PyObject *__pyx_kp_u_gc; + PyObject *__pyx_n_s_geodetic; + PyObject *__pyx_n_s_geodetic2ecef_single; + PyObject *__pyx_n_s_geodetic2ned_single; + PyObject *__pyx_n_s_getstate; + PyObject *__pyx_n_s_import; + PyObject *__pyx_n_s_init; + PyObject *__pyx_n_s_initializing; + PyObject *__pyx_n_s_is_coroutine; + PyObject *__pyx_kp_u_isenabled; + PyObject *__pyx_n_s_main; + PyObject *__pyx_n_s_n; + PyObject *__pyx_n_s_name; + PyObject *__pyx_n_s_ned; + PyObject *__pyx_n_s_ned2ecef_matrix; + PyObject *__pyx_n_s_ned2ecef_single; + PyObject *__pyx_n_s_ned2geodetic_single; + PyObject *__pyx_n_s_ned_euler_from_ecef_single; + PyObject *__pyx_n_s_ned_pose; + PyObject *__pyx_n_s_np; + PyObject *__pyx_n_s_numpy; + PyObject *__pyx_kp_u_numpy_core_multiarray_failed_to; + PyObject *__pyx_kp_u_numpy_core_umath_failed_to_impor; + PyObject *__pyx_n_s_pitch; + PyObject *__pyx_n_s_pose; + PyObject *__pyx_n_s_pyx_state; + PyObject *__pyx_n_s_q; + PyObject *__pyx_n_s_quat; + PyObject *__pyx_n_s_quat2euler_single; + PyObject *__pyx_n_s_quat2rot_single; + PyObject *__pyx_n_s_r; + PyObject *__pyx_n_s_reduce; + PyObject *__pyx_n_s_reduce_cython; + PyObject *__pyx_n_s_reduce_ex; + PyObject *__pyx_n_s_roll; + PyObject *__pyx_n_s_rot; + PyObject *__pyx_n_s_rot2euler_single; + PyObject *__pyx_n_s_rot2quat_single; + PyObject *__pyx_n_s_rot_matrix; + PyObject *__pyx_n_s_self; + PyObject *__pyx_kp_s_self_lc_cannot_be_converted_to_a; + PyObject *__pyx_n_s_setstate; + PyObject *__pyx_n_s_setstate_cython; + PyObject *__pyx_n_s_spec; + PyObject *__pyx_kp_s_stringsource; + PyObject *__pyx_n_s_test; + PyObject *__pyx_n_s_yaw; + PyObject *__pyx_tuple_; + PyObject *__pyx_tuple__2; + PyObject *__pyx_tuple__4; + PyObject *__pyx_tuple__6; + PyObject *__pyx_tuple__8; + PyObject *__pyx_tuple__10; + PyObject *__pyx_tuple__12; + PyObject *__pyx_tuple__14; + PyObject *__pyx_tuple__16; + PyObject *__pyx_tuple__18; + PyObject *__pyx_tuple__20; + PyObject *__pyx_tuple__22; + PyObject *__pyx_tuple__24; + PyObject *__pyx_tuple__26; + PyObject *__pyx_tuple__28; + PyObject *__pyx_tuple__30; + PyObject *__pyx_tuple__32; + PyObject *__pyx_tuple__34; + PyObject *__pyx_tuple__36; + PyObject *__pyx_tuple__38; + PyObject *__pyx_tuple__40; + PyObject *__pyx_codeobj__5; + PyObject *__pyx_codeobj__7; + PyObject *__pyx_codeobj__9; + PyObject *__pyx_codeobj__11; + PyObject *__pyx_codeobj__13; + PyObject *__pyx_codeobj__15; + PyObject *__pyx_codeobj__17; + PyObject *__pyx_codeobj__19; + PyObject *__pyx_codeobj__21; + PyObject *__pyx_codeobj__23; + PyObject *__pyx_codeobj__25; + PyObject *__pyx_codeobj__27; + PyObject *__pyx_codeobj__29; + PyObject *__pyx_codeobj__31; + PyObject *__pyx_codeobj__33; + PyObject *__pyx_codeobj__35; + PyObject *__pyx_codeobj__37; + PyObject *__pyx_codeobj__39; + PyObject *__pyx_codeobj__41; +} __pyx_mstate; + +#if CYTHON_USE_MODULE_STATE +#ifdef __cplusplus +namespace { + extern struct PyModuleDef __pyx_moduledef; +} /* anonymous namespace */ +#else +static struct PyModuleDef __pyx_moduledef; +#endif + +#define __pyx_mstate(o) ((__pyx_mstate *)__Pyx_PyModule_GetState(o)) + +#define __pyx_mstate_global (__pyx_mstate(PyState_FindModule(&__pyx_moduledef))) + +#define __pyx_m (PyState_FindModule(&__pyx_moduledef)) +#else +static __pyx_mstate __pyx_mstate_global_static = +#ifdef __cplusplus + {}; +#else + {0}; +#endif +static __pyx_mstate *__pyx_mstate_global = &__pyx_mstate_global_static; +#endif +/* #### Code section: module_state_clear ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_clear(PyObject *m) { + __pyx_mstate *clear_module_state = __pyx_mstate(m); + if (!clear_module_state) return 0; + Py_CLEAR(clear_module_state->__pyx_d); + Py_CLEAR(clear_module_state->__pyx_b); + Py_CLEAR(clear_module_state->__pyx_cython_runtime); + Py_CLEAR(clear_module_state->__pyx_empty_tuple); + Py_CLEAR(clear_module_state->__pyx_empty_bytes); + Py_CLEAR(clear_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_CLEAR(clear_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_CLEAR(clear_module_state->__pyx_FusedFunctionType); + #endif + Py_CLEAR(clear_module_state->__pyx_ptype_7cpython_4type_type); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_dtype); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_flatiter); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_broadcast); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_ndarray); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_generic); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_number); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_integer); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_signedinteger); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_unsignedinteger); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_inexact); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_floating); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_complexfloating); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_flexible); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_character); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_ufunc); + Py_CLEAR(clear_module_state->__pyx_ptype_6common_15transformations_15transformations_LocalCoord); + Py_CLEAR(clear_module_state->__pyx_type_6common_15transformations_15transformations_LocalCoord); + Py_CLEAR(clear_module_state->__pyx_n_s_AssertionError); + Py_CLEAR(clear_module_state->__pyx_n_s_ImportError); + Py_CLEAR(clear_module_state->__pyx_n_s_LocalCoord); + Py_CLEAR(clear_module_state->__pyx_n_s_LocalCoord___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_LocalCoord___setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_LocalCoord_ecef2ned_single); + Py_CLEAR(clear_module_state->__pyx_n_s_LocalCoord_from_ecef); + Py_CLEAR(clear_module_state->__pyx_n_s_LocalCoord_from_geodetic); + Py_CLEAR(clear_module_state->__pyx_n_s_LocalCoord_geodetic2ned_single); + Py_CLEAR(clear_module_state->__pyx_n_s_LocalCoord_ned2ecef_single); + Py_CLEAR(clear_module_state->__pyx_n_s_LocalCoord_ned2geodetic_single); + Py_CLEAR(clear_module_state->__pyx_n_s_TypeError); + Py_CLEAR(clear_module_state->__pyx_n_s__3); + Py_CLEAR(clear_module_state->__pyx_n_s__42); + Py_CLEAR(clear_module_state->__pyx_n_s_array); + Py_CLEAR(clear_module_state->__pyx_n_s_asfortranarray); + Py_CLEAR(clear_module_state->__pyx_n_s_asyncio_coroutines); + Py_CLEAR(clear_module_state->__pyx_n_s_cline_in_traceback); + Py_CLEAR(clear_module_state->__pyx_n_s_cls); + Py_CLEAR(clear_module_state->__pyx_kp_s_common_transformations_transform); + Py_CLEAR(clear_module_state->__pyx_n_s_common_transformations_transform_2); + Py_CLEAR(clear_module_state->__pyx_n_s_dict); + Py_CLEAR(clear_module_state->__pyx_kp_u_disable); + Py_CLEAR(clear_module_state->__pyx_n_s_double); + Py_CLEAR(clear_module_state->__pyx_n_s_dtype); + Py_CLEAR(clear_module_state->__pyx_n_s_e); + Py_CLEAR(clear_module_state->__pyx_n_s_ecef); + Py_CLEAR(clear_module_state->__pyx_n_s_ecef2geodetic_single); + Py_CLEAR(clear_module_state->__pyx_n_s_ecef2ned_matrix); + Py_CLEAR(clear_module_state->__pyx_n_s_ecef2ned_single); + Py_CLEAR(clear_module_state->__pyx_n_s_ecef_euler_from_ned_single); + Py_CLEAR(clear_module_state->__pyx_n_s_ecef_init); + Py_CLEAR(clear_module_state->__pyx_n_s_ecef_pose); + Py_CLEAR(clear_module_state->__pyx_kp_u_enable); + Py_CLEAR(clear_module_state->__pyx_n_s_euler); + Py_CLEAR(clear_module_state->__pyx_n_s_euler2quat_single); + Py_CLEAR(clear_module_state->__pyx_n_s_euler2rot_single); + Py_CLEAR(clear_module_state->__pyx_n_s_from_ecef); + Py_CLEAR(clear_module_state->__pyx_n_s_from_geodetic); + Py_CLEAR(clear_module_state->__pyx_n_s_g); + Py_CLEAR(clear_module_state->__pyx_kp_u_gc); + Py_CLEAR(clear_module_state->__pyx_n_s_geodetic); + Py_CLEAR(clear_module_state->__pyx_n_s_geodetic2ecef_single); + Py_CLEAR(clear_module_state->__pyx_n_s_geodetic2ned_single); + Py_CLEAR(clear_module_state->__pyx_n_s_getstate); + Py_CLEAR(clear_module_state->__pyx_n_s_import); + Py_CLEAR(clear_module_state->__pyx_n_s_init); + Py_CLEAR(clear_module_state->__pyx_n_s_initializing); + Py_CLEAR(clear_module_state->__pyx_n_s_is_coroutine); + Py_CLEAR(clear_module_state->__pyx_kp_u_isenabled); + Py_CLEAR(clear_module_state->__pyx_n_s_main); + Py_CLEAR(clear_module_state->__pyx_n_s_n); + Py_CLEAR(clear_module_state->__pyx_n_s_name); + Py_CLEAR(clear_module_state->__pyx_n_s_ned); + Py_CLEAR(clear_module_state->__pyx_n_s_ned2ecef_matrix); + Py_CLEAR(clear_module_state->__pyx_n_s_ned2ecef_single); + Py_CLEAR(clear_module_state->__pyx_n_s_ned2geodetic_single); + Py_CLEAR(clear_module_state->__pyx_n_s_ned_euler_from_ecef_single); + Py_CLEAR(clear_module_state->__pyx_n_s_ned_pose); + Py_CLEAR(clear_module_state->__pyx_n_s_np); + Py_CLEAR(clear_module_state->__pyx_n_s_numpy); + Py_CLEAR(clear_module_state->__pyx_kp_u_numpy_core_multiarray_failed_to); + Py_CLEAR(clear_module_state->__pyx_kp_u_numpy_core_umath_failed_to_impor); + Py_CLEAR(clear_module_state->__pyx_n_s_pitch); + Py_CLEAR(clear_module_state->__pyx_n_s_pose); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_state); + Py_CLEAR(clear_module_state->__pyx_n_s_q); + Py_CLEAR(clear_module_state->__pyx_n_s_quat); + Py_CLEAR(clear_module_state->__pyx_n_s_quat2euler_single); + Py_CLEAR(clear_module_state->__pyx_n_s_quat2rot_single); + Py_CLEAR(clear_module_state->__pyx_n_s_r); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_ex); + Py_CLEAR(clear_module_state->__pyx_n_s_roll); + Py_CLEAR(clear_module_state->__pyx_n_s_rot); + Py_CLEAR(clear_module_state->__pyx_n_s_rot2euler_single); + Py_CLEAR(clear_module_state->__pyx_n_s_rot2quat_single); + Py_CLEAR(clear_module_state->__pyx_n_s_rot_matrix); + Py_CLEAR(clear_module_state->__pyx_n_s_self); + Py_CLEAR(clear_module_state->__pyx_kp_s_self_lc_cannot_be_converted_to_a); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_spec); + Py_CLEAR(clear_module_state->__pyx_kp_s_stringsource); + Py_CLEAR(clear_module_state->__pyx_n_s_test); + Py_CLEAR(clear_module_state->__pyx_n_s_yaw); + Py_CLEAR(clear_module_state->__pyx_tuple_); + Py_CLEAR(clear_module_state->__pyx_tuple__2); + Py_CLEAR(clear_module_state->__pyx_tuple__4); + Py_CLEAR(clear_module_state->__pyx_tuple__6); + Py_CLEAR(clear_module_state->__pyx_tuple__8); + Py_CLEAR(clear_module_state->__pyx_tuple__10); + Py_CLEAR(clear_module_state->__pyx_tuple__12); + Py_CLEAR(clear_module_state->__pyx_tuple__14); + Py_CLEAR(clear_module_state->__pyx_tuple__16); + Py_CLEAR(clear_module_state->__pyx_tuple__18); + Py_CLEAR(clear_module_state->__pyx_tuple__20); + Py_CLEAR(clear_module_state->__pyx_tuple__22); + Py_CLEAR(clear_module_state->__pyx_tuple__24); + Py_CLEAR(clear_module_state->__pyx_tuple__26); + Py_CLEAR(clear_module_state->__pyx_tuple__28); + Py_CLEAR(clear_module_state->__pyx_tuple__30); + Py_CLEAR(clear_module_state->__pyx_tuple__32); + Py_CLEAR(clear_module_state->__pyx_tuple__34); + Py_CLEAR(clear_module_state->__pyx_tuple__36); + Py_CLEAR(clear_module_state->__pyx_tuple__38); + Py_CLEAR(clear_module_state->__pyx_tuple__40); + Py_CLEAR(clear_module_state->__pyx_codeobj__5); + Py_CLEAR(clear_module_state->__pyx_codeobj__7); + Py_CLEAR(clear_module_state->__pyx_codeobj__9); + Py_CLEAR(clear_module_state->__pyx_codeobj__11); + Py_CLEAR(clear_module_state->__pyx_codeobj__13); + Py_CLEAR(clear_module_state->__pyx_codeobj__15); + Py_CLEAR(clear_module_state->__pyx_codeobj__17); + Py_CLEAR(clear_module_state->__pyx_codeobj__19); + Py_CLEAR(clear_module_state->__pyx_codeobj__21); + Py_CLEAR(clear_module_state->__pyx_codeobj__23); + Py_CLEAR(clear_module_state->__pyx_codeobj__25); + Py_CLEAR(clear_module_state->__pyx_codeobj__27); + Py_CLEAR(clear_module_state->__pyx_codeobj__29); + Py_CLEAR(clear_module_state->__pyx_codeobj__31); + Py_CLEAR(clear_module_state->__pyx_codeobj__33); + Py_CLEAR(clear_module_state->__pyx_codeobj__35); + Py_CLEAR(clear_module_state->__pyx_codeobj__37); + Py_CLEAR(clear_module_state->__pyx_codeobj__39); + Py_CLEAR(clear_module_state->__pyx_codeobj__41); + return 0; +} +#endif +/* #### Code section: module_state_traverse ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_traverse(PyObject *m, visitproc visit, void *arg) { + __pyx_mstate *traverse_module_state = __pyx_mstate(m); + if (!traverse_module_state) return 0; + Py_VISIT(traverse_module_state->__pyx_d); + Py_VISIT(traverse_module_state->__pyx_b); + Py_VISIT(traverse_module_state->__pyx_cython_runtime); + Py_VISIT(traverse_module_state->__pyx_empty_tuple); + Py_VISIT(traverse_module_state->__pyx_empty_bytes); + Py_VISIT(traverse_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_VISIT(traverse_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_VISIT(traverse_module_state->__pyx_FusedFunctionType); + #endif + Py_VISIT(traverse_module_state->__pyx_ptype_7cpython_4type_type); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_dtype); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_flatiter); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_broadcast); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_ndarray); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_generic); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_number); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_integer); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_signedinteger); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_unsignedinteger); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_inexact); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_floating); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_complexfloating); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_flexible); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_character); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_ufunc); + Py_VISIT(traverse_module_state->__pyx_ptype_6common_15transformations_15transformations_LocalCoord); + Py_VISIT(traverse_module_state->__pyx_type_6common_15transformations_15transformations_LocalCoord); + Py_VISIT(traverse_module_state->__pyx_n_s_AssertionError); + Py_VISIT(traverse_module_state->__pyx_n_s_ImportError); + Py_VISIT(traverse_module_state->__pyx_n_s_LocalCoord); + Py_VISIT(traverse_module_state->__pyx_n_s_LocalCoord___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_LocalCoord___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_LocalCoord_ecef2ned_single); + Py_VISIT(traverse_module_state->__pyx_n_s_LocalCoord_from_ecef); + Py_VISIT(traverse_module_state->__pyx_n_s_LocalCoord_from_geodetic); + Py_VISIT(traverse_module_state->__pyx_n_s_LocalCoord_geodetic2ned_single); + Py_VISIT(traverse_module_state->__pyx_n_s_LocalCoord_ned2ecef_single); + Py_VISIT(traverse_module_state->__pyx_n_s_LocalCoord_ned2geodetic_single); + Py_VISIT(traverse_module_state->__pyx_n_s_TypeError); + Py_VISIT(traverse_module_state->__pyx_n_s__3); + Py_VISIT(traverse_module_state->__pyx_n_s__42); + Py_VISIT(traverse_module_state->__pyx_n_s_array); + Py_VISIT(traverse_module_state->__pyx_n_s_asfortranarray); + Py_VISIT(traverse_module_state->__pyx_n_s_asyncio_coroutines); + Py_VISIT(traverse_module_state->__pyx_n_s_cline_in_traceback); + Py_VISIT(traverse_module_state->__pyx_n_s_cls); + Py_VISIT(traverse_module_state->__pyx_kp_s_common_transformations_transform); + Py_VISIT(traverse_module_state->__pyx_n_s_common_transformations_transform_2); + Py_VISIT(traverse_module_state->__pyx_n_s_dict); + Py_VISIT(traverse_module_state->__pyx_kp_u_disable); + Py_VISIT(traverse_module_state->__pyx_n_s_double); + Py_VISIT(traverse_module_state->__pyx_n_s_dtype); + Py_VISIT(traverse_module_state->__pyx_n_s_e); + Py_VISIT(traverse_module_state->__pyx_n_s_ecef); + Py_VISIT(traverse_module_state->__pyx_n_s_ecef2geodetic_single); + Py_VISIT(traverse_module_state->__pyx_n_s_ecef2ned_matrix); + Py_VISIT(traverse_module_state->__pyx_n_s_ecef2ned_single); + Py_VISIT(traverse_module_state->__pyx_n_s_ecef_euler_from_ned_single); + Py_VISIT(traverse_module_state->__pyx_n_s_ecef_init); + Py_VISIT(traverse_module_state->__pyx_n_s_ecef_pose); + Py_VISIT(traverse_module_state->__pyx_kp_u_enable); + Py_VISIT(traverse_module_state->__pyx_n_s_euler); + Py_VISIT(traverse_module_state->__pyx_n_s_euler2quat_single); + Py_VISIT(traverse_module_state->__pyx_n_s_euler2rot_single); + Py_VISIT(traverse_module_state->__pyx_n_s_from_ecef); + Py_VISIT(traverse_module_state->__pyx_n_s_from_geodetic); + Py_VISIT(traverse_module_state->__pyx_n_s_g); + Py_VISIT(traverse_module_state->__pyx_kp_u_gc); + Py_VISIT(traverse_module_state->__pyx_n_s_geodetic); + Py_VISIT(traverse_module_state->__pyx_n_s_geodetic2ecef_single); + Py_VISIT(traverse_module_state->__pyx_n_s_geodetic2ned_single); + Py_VISIT(traverse_module_state->__pyx_n_s_getstate); + Py_VISIT(traverse_module_state->__pyx_n_s_import); + Py_VISIT(traverse_module_state->__pyx_n_s_init); + Py_VISIT(traverse_module_state->__pyx_n_s_initializing); + Py_VISIT(traverse_module_state->__pyx_n_s_is_coroutine); + Py_VISIT(traverse_module_state->__pyx_kp_u_isenabled); + Py_VISIT(traverse_module_state->__pyx_n_s_main); + Py_VISIT(traverse_module_state->__pyx_n_s_n); + Py_VISIT(traverse_module_state->__pyx_n_s_name); + Py_VISIT(traverse_module_state->__pyx_n_s_ned); + Py_VISIT(traverse_module_state->__pyx_n_s_ned2ecef_matrix); + Py_VISIT(traverse_module_state->__pyx_n_s_ned2ecef_single); + Py_VISIT(traverse_module_state->__pyx_n_s_ned2geodetic_single); + Py_VISIT(traverse_module_state->__pyx_n_s_ned_euler_from_ecef_single); + Py_VISIT(traverse_module_state->__pyx_n_s_ned_pose); + Py_VISIT(traverse_module_state->__pyx_n_s_np); + Py_VISIT(traverse_module_state->__pyx_n_s_numpy); + Py_VISIT(traverse_module_state->__pyx_kp_u_numpy_core_multiarray_failed_to); + Py_VISIT(traverse_module_state->__pyx_kp_u_numpy_core_umath_failed_to_impor); + Py_VISIT(traverse_module_state->__pyx_n_s_pitch); + Py_VISIT(traverse_module_state->__pyx_n_s_pose); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_state); + Py_VISIT(traverse_module_state->__pyx_n_s_q); + Py_VISIT(traverse_module_state->__pyx_n_s_quat); + Py_VISIT(traverse_module_state->__pyx_n_s_quat2euler_single); + Py_VISIT(traverse_module_state->__pyx_n_s_quat2rot_single); + Py_VISIT(traverse_module_state->__pyx_n_s_r); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_ex); + Py_VISIT(traverse_module_state->__pyx_n_s_roll); + Py_VISIT(traverse_module_state->__pyx_n_s_rot); + Py_VISIT(traverse_module_state->__pyx_n_s_rot2euler_single); + Py_VISIT(traverse_module_state->__pyx_n_s_rot2quat_single); + Py_VISIT(traverse_module_state->__pyx_n_s_rot_matrix); + Py_VISIT(traverse_module_state->__pyx_n_s_self); + Py_VISIT(traverse_module_state->__pyx_kp_s_self_lc_cannot_be_converted_to_a); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_spec); + Py_VISIT(traverse_module_state->__pyx_kp_s_stringsource); + Py_VISIT(traverse_module_state->__pyx_n_s_test); + Py_VISIT(traverse_module_state->__pyx_n_s_yaw); + Py_VISIT(traverse_module_state->__pyx_tuple_); + Py_VISIT(traverse_module_state->__pyx_tuple__2); + Py_VISIT(traverse_module_state->__pyx_tuple__4); + Py_VISIT(traverse_module_state->__pyx_tuple__6); + Py_VISIT(traverse_module_state->__pyx_tuple__8); + Py_VISIT(traverse_module_state->__pyx_tuple__10); + Py_VISIT(traverse_module_state->__pyx_tuple__12); + Py_VISIT(traverse_module_state->__pyx_tuple__14); + Py_VISIT(traverse_module_state->__pyx_tuple__16); + Py_VISIT(traverse_module_state->__pyx_tuple__18); + Py_VISIT(traverse_module_state->__pyx_tuple__20); + Py_VISIT(traverse_module_state->__pyx_tuple__22); + Py_VISIT(traverse_module_state->__pyx_tuple__24); + Py_VISIT(traverse_module_state->__pyx_tuple__26); + Py_VISIT(traverse_module_state->__pyx_tuple__28); + Py_VISIT(traverse_module_state->__pyx_tuple__30); + Py_VISIT(traverse_module_state->__pyx_tuple__32); + Py_VISIT(traverse_module_state->__pyx_tuple__34); + Py_VISIT(traverse_module_state->__pyx_tuple__36); + Py_VISIT(traverse_module_state->__pyx_tuple__38); + Py_VISIT(traverse_module_state->__pyx_tuple__40); + Py_VISIT(traverse_module_state->__pyx_codeobj__5); + Py_VISIT(traverse_module_state->__pyx_codeobj__7); + Py_VISIT(traverse_module_state->__pyx_codeobj__9); + Py_VISIT(traverse_module_state->__pyx_codeobj__11); + Py_VISIT(traverse_module_state->__pyx_codeobj__13); + Py_VISIT(traverse_module_state->__pyx_codeobj__15); + Py_VISIT(traverse_module_state->__pyx_codeobj__17); + Py_VISIT(traverse_module_state->__pyx_codeobj__19); + Py_VISIT(traverse_module_state->__pyx_codeobj__21); + Py_VISIT(traverse_module_state->__pyx_codeobj__23); + Py_VISIT(traverse_module_state->__pyx_codeobj__25); + Py_VISIT(traverse_module_state->__pyx_codeobj__27); + Py_VISIT(traverse_module_state->__pyx_codeobj__29); + Py_VISIT(traverse_module_state->__pyx_codeobj__31); + Py_VISIT(traverse_module_state->__pyx_codeobj__33); + Py_VISIT(traverse_module_state->__pyx_codeobj__35); + Py_VISIT(traverse_module_state->__pyx_codeobj__37); + Py_VISIT(traverse_module_state->__pyx_codeobj__39); + Py_VISIT(traverse_module_state->__pyx_codeobj__41); + return 0; +} +#endif +/* #### Code section: module_state_defines ### */ +#define __pyx_d __pyx_mstate_global->__pyx_d +#define __pyx_b __pyx_mstate_global->__pyx_b +#define __pyx_cython_runtime __pyx_mstate_global->__pyx_cython_runtime +#define __pyx_empty_tuple __pyx_mstate_global->__pyx_empty_tuple +#define __pyx_empty_bytes __pyx_mstate_global->__pyx_empty_bytes +#define __pyx_empty_unicode __pyx_mstate_global->__pyx_empty_unicode +#ifdef __Pyx_CyFunction_USED +#define __pyx_CyFunctionType __pyx_mstate_global->__pyx_CyFunctionType +#endif +#ifdef __Pyx_FusedFunction_USED +#define __pyx_FusedFunctionType __pyx_mstate_global->__pyx_FusedFunctionType +#endif +#ifdef __Pyx_Generator_USED +#define __pyx_GeneratorType __pyx_mstate_global->__pyx_GeneratorType +#endif +#ifdef __Pyx_IterableCoroutine_USED +#define __pyx_IterableCoroutineType __pyx_mstate_global->__pyx_IterableCoroutineType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineAwaitType __pyx_mstate_global->__pyx_CoroutineAwaitType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineType __pyx_mstate_global->__pyx_CoroutineType +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_7cpython_4type_type __pyx_mstate_global->__pyx_ptype_7cpython_4type_type +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_5numpy_dtype __pyx_mstate_global->__pyx_ptype_5numpy_dtype +#define __pyx_ptype_5numpy_flatiter __pyx_mstate_global->__pyx_ptype_5numpy_flatiter +#define __pyx_ptype_5numpy_broadcast __pyx_mstate_global->__pyx_ptype_5numpy_broadcast +#define __pyx_ptype_5numpy_ndarray __pyx_mstate_global->__pyx_ptype_5numpy_ndarray +#define __pyx_ptype_5numpy_generic __pyx_mstate_global->__pyx_ptype_5numpy_generic +#define __pyx_ptype_5numpy_number __pyx_mstate_global->__pyx_ptype_5numpy_number +#define __pyx_ptype_5numpy_integer __pyx_mstate_global->__pyx_ptype_5numpy_integer +#define __pyx_ptype_5numpy_signedinteger __pyx_mstate_global->__pyx_ptype_5numpy_signedinteger +#define __pyx_ptype_5numpy_unsignedinteger __pyx_mstate_global->__pyx_ptype_5numpy_unsignedinteger +#define __pyx_ptype_5numpy_inexact __pyx_mstate_global->__pyx_ptype_5numpy_inexact +#define __pyx_ptype_5numpy_floating __pyx_mstate_global->__pyx_ptype_5numpy_floating +#define __pyx_ptype_5numpy_complexfloating __pyx_mstate_global->__pyx_ptype_5numpy_complexfloating +#define __pyx_ptype_5numpy_flexible __pyx_mstate_global->__pyx_ptype_5numpy_flexible +#define __pyx_ptype_5numpy_character __pyx_mstate_global->__pyx_ptype_5numpy_character +#define __pyx_ptype_5numpy_ufunc __pyx_mstate_global->__pyx_ptype_5numpy_ufunc +#if CYTHON_USE_MODULE_STATE +#define __pyx_type_6common_15transformations_15transformations_LocalCoord __pyx_mstate_global->__pyx_type_6common_15transformations_15transformations_LocalCoord +#endif +#define __pyx_ptype_6common_15transformations_15transformations_LocalCoord __pyx_mstate_global->__pyx_ptype_6common_15transformations_15transformations_LocalCoord +#define __pyx_n_s_AssertionError __pyx_mstate_global->__pyx_n_s_AssertionError +#define __pyx_n_s_ImportError __pyx_mstate_global->__pyx_n_s_ImportError +#define __pyx_n_s_LocalCoord __pyx_mstate_global->__pyx_n_s_LocalCoord +#define __pyx_n_s_LocalCoord___reduce_cython __pyx_mstate_global->__pyx_n_s_LocalCoord___reduce_cython +#define __pyx_n_s_LocalCoord___setstate_cython __pyx_mstate_global->__pyx_n_s_LocalCoord___setstate_cython +#define __pyx_n_s_LocalCoord_ecef2ned_single __pyx_mstate_global->__pyx_n_s_LocalCoord_ecef2ned_single +#define __pyx_n_s_LocalCoord_from_ecef __pyx_mstate_global->__pyx_n_s_LocalCoord_from_ecef +#define __pyx_n_s_LocalCoord_from_geodetic __pyx_mstate_global->__pyx_n_s_LocalCoord_from_geodetic +#define __pyx_n_s_LocalCoord_geodetic2ned_single __pyx_mstate_global->__pyx_n_s_LocalCoord_geodetic2ned_single +#define __pyx_n_s_LocalCoord_ned2ecef_single __pyx_mstate_global->__pyx_n_s_LocalCoord_ned2ecef_single +#define __pyx_n_s_LocalCoord_ned2geodetic_single __pyx_mstate_global->__pyx_n_s_LocalCoord_ned2geodetic_single +#define __pyx_n_s_TypeError __pyx_mstate_global->__pyx_n_s_TypeError +#define __pyx_n_s__3 __pyx_mstate_global->__pyx_n_s__3 +#define __pyx_n_s__42 __pyx_mstate_global->__pyx_n_s__42 +#define __pyx_n_s_array __pyx_mstate_global->__pyx_n_s_array +#define __pyx_n_s_asfortranarray __pyx_mstate_global->__pyx_n_s_asfortranarray +#define __pyx_n_s_asyncio_coroutines __pyx_mstate_global->__pyx_n_s_asyncio_coroutines +#define __pyx_n_s_cline_in_traceback __pyx_mstate_global->__pyx_n_s_cline_in_traceback +#define __pyx_n_s_cls __pyx_mstate_global->__pyx_n_s_cls +#define __pyx_kp_s_common_transformations_transform __pyx_mstate_global->__pyx_kp_s_common_transformations_transform +#define __pyx_n_s_common_transformations_transform_2 __pyx_mstate_global->__pyx_n_s_common_transformations_transform_2 +#define __pyx_n_s_dict __pyx_mstate_global->__pyx_n_s_dict +#define __pyx_kp_u_disable __pyx_mstate_global->__pyx_kp_u_disable +#define __pyx_n_s_double __pyx_mstate_global->__pyx_n_s_double +#define __pyx_n_s_dtype __pyx_mstate_global->__pyx_n_s_dtype +#define __pyx_n_s_e __pyx_mstate_global->__pyx_n_s_e +#define __pyx_n_s_ecef __pyx_mstate_global->__pyx_n_s_ecef +#define __pyx_n_s_ecef2geodetic_single __pyx_mstate_global->__pyx_n_s_ecef2geodetic_single +#define __pyx_n_s_ecef2ned_matrix __pyx_mstate_global->__pyx_n_s_ecef2ned_matrix +#define __pyx_n_s_ecef2ned_single __pyx_mstate_global->__pyx_n_s_ecef2ned_single +#define __pyx_n_s_ecef_euler_from_ned_single __pyx_mstate_global->__pyx_n_s_ecef_euler_from_ned_single +#define __pyx_n_s_ecef_init __pyx_mstate_global->__pyx_n_s_ecef_init +#define __pyx_n_s_ecef_pose __pyx_mstate_global->__pyx_n_s_ecef_pose +#define __pyx_kp_u_enable __pyx_mstate_global->__pyx_kp_u_enable +#define __pyx_n_s_euler __pyx_mstate_global->__pyx_n_s_euler +#define __pyx_n_s_euler2quat_single __pyx_mstate_global->__pyx_n_s_euler2quat_single +#define __pyx_n_s_euler2rot_single __pyx_mstate_global->__pyx_n_s_euler2rot_single +#define __pyx_n_s_from_ecef __pyx_mstate_global->__pyx_n_s_from_ecef +#define __pyx_n_s_from_geodetic __pyx_mstate_global->__pyx_n_s_from_geodetic +#define __pyx_n_s_g __pyx_mstate_global->__pyx_n_s_g +#define __pyx_kp_u_gc __pyx_mstate_global->__pyx_kp_u_gc +#define __pyx_n_s_geodetic __pyx_mstate_global->__pyx_n_s_geodetic +#define __pyx_n_s_geodetic2ecef_single __pyx_mstate_global->__pyx_n_s_geodetic2ecef_single +#define __pyx_n_s_geodetic2ned_single __pyx_mstate_global->__pyx_n_s_geodetic2ned_single +#define __pyx_n_s_getstate __pyx_mstate_global->__pyx_n_s_getstate +#define __pyx_n_s_import __pyx_mstate_global->__pyx_n_s_import +#define __pyx_n_s_init __pyx_mstate_global->__pyx_n_s_init +#define __pyx_n_s_initializing __pyx_mstate_global->__pyx_n_s_initializing +#define __pyx_n_s_is_coroutine __pyx_mstate_global->__pyx_n_s_is_coroutine +#define __pyx_kp_u_isenabled __pyx_mstate_global->__pyx_kp_u_isenabled +#define __pyx_n_s_main __pyx_mstate_global->__pyx_n_s_main +#define __pyx_n_s_n __pyx_mstate_global->__pyx_n_s_n +#define __pyx_n_s_name __pyx_mstate_global->__pyx_n_s_name +#define __pyx_n_s_ned __pyx_mstate_global->__pyx_n_s_ned +#define __pyx_n_s_ned2ecef_matrix __pyx_mstate_global->__pyx_n_s_ned2ecef_matrix +#define __pyx_n_s_ned2ecef_single __pyx_mstate_global->__pyx_n_s_ned2ecef_single +#define __pyx_n_s_ned2geodetic_single __pyx_mstate_global->__pyx_n_s_ned2geodetic_single +#define __pyx_n_s_ned_euler_from_ecef_single __pyx_mstate_global->__pyx_n_s_ned_euler_from_ecef_single +#define __pyx_n_s_ned_pose __pyx_mstate_global->__pyx_n_s_ned_pose +#define __pyx_n_s_np __pyx_mstate_global->__pyx_n_s_np +#define __pyx_n_s_numpy __pyx_mstate_global->__pyx_n_s_numpy +#define __pyx_kp_u_numpy_core_multiarray_failed_to __pyx_mstate_global->__pyx_kp_u_numpy_core_multiarray_failed_to +#define __pyx_kp_u_numpy_core_umath_failed_to_impor __pyx_mstate_global->__pyx_kp_u_numpy_core_umath_failed_to_impor +#define __pyx_n_s_pitch __pyx_mstate_global->__pyx_n_s_pitch +#define __pyx_n_s_pose __pyx_mstate_global->__pyx_n_s_pose +#define __pyx_n_s_pyx_state __pyx_mstate_global->__pyx_n_s_pyx_state +#define __pyx_n_s_q __pyx_mstate_global->__pyx_n_s_q +#define __pyx_n_s_quat __pyx_mstate_global->__pyx_n_s_quat +#define __pyx_n_s_quat2euler_single __pyx_mstate_global->__pyx_n_s_quat2euler_single +#define __pyx_n_s_quat2rot_single __pyx_mstate_global->__pyx_n_s_quat2rot_single +#define __pyx_n_s_r __pyx_mstate_global->__pyx_n_s_r +#define __pyx_n_s_reduce __pyx_mstate_global->__pyx_n_s_reduce +#define __pyx_n_s_reduce_cython __pyx_mstate_global->__pyx_n_s_reduce_cython +#define __pyx_n_s_reduce_ex __pyx_mstate_global->__pyx_n_s_reduce_ex +#define __pyx_n_s_roll __pyx_mstate_global->__pyx_n_s_roll +#define __pyx_n_s_rot __pyx_mstate_global->__pyx_n_s_rot +#define __pyx_n_s_rot2euler_single __pyx_mstate_global->__pyx_n_s_rot2euler_single +#define __pyx_n_s_rot2quat_single __pyx_mstate_global->__pyx_n_s_rot2quat_single +#define __pyx_n_s_rot_matrix __pyx_mstate_global->__pyx_n_s_rot_matrix +#define __pyx_n_s_self __pyx_mstate_global->__pyx_n_s_self +#define __pyx_kp_s_self_lc_cannot_be_converted_to_a __pyx_mstate_global->__pyx_kp_s_self_lc_cannot_be_converted_to_a +#define __pyx_n_s_setstate __pyx_mstate_global->__pyx_n_s_setstate +#define __pyx_n_s_setstate_cython __pyx_mstate_global->__pyx_n_s_setstate_cython +#define __pyx_n_s_spec __pyx_mstate_global->__pyx_n_s_spec +#define __pyx_kp_s_stringsource __pyx_mstate_global->__pyx_kp_s_stringsource +#define __pyx_n_s_test __pyx_mstate_global->__pyx_n_s_test +#define __pyx_n_s_yaw __pyx_mstate_global->__pyx_n_s_yaw +#define __pyx_tuple_ __pyx_mstate_global->__pyx_tuple_ +#define __pyx_tuple__2 __pyx_mstate_global->__pyx_tuple__2 +#define __pyx_tuple__4 __pyx_mstate_global->__pyx_tuple__4 +#define __pyx_tuple__6 __pyx_mstate_global->__pyx_tuple__6 +#define __pyx_tuple__8 __pyx_mstate_global->__pyx_tuple__8 +#define __pyx_tuple__10 __pyx_mstate_global->__pyx_tuple__10 +#define __pyx_tuple__12 __pyx_mstate_global->__pyx_tuple__12 +#define __pyx_tuple__14 __pyx_mstate_global->__pyx_tuple__14 +#define __pyx_tuple__16 __pyx_mstate_global->__pyx_tuple__16 +#define __pyx_tuple__18 __pyx_mstate_global->__pyx_tuple__18 +#define __pyx_tuple__20 __pyx_mstate_global->__pyx_tuple__20 +#define __pyx_tuple__22 __pyx_mstate_global->__pyx_tuple__22 +#define __pyx_tuple__24 __pyx_mstate_global->__pyx_tuple__24 +#define __pyx_tuple__26 __pyx_mstate_global->__pyx_tuple__26 +#define __pyx_tuple__28 __pyx_mstate_global->__pyx_tuple__28 +#define __pyx_tuple__30 __pyx_mstate_global->__pyx_tuple__30 +#define __pyx_tuple__32 __pyx_mstate_global->__pyx_tuple__32 +#define __pyx_tuple__34 __pyx_mstate_global->__pyx_tuple__34 +#define __pyx_tuple__36 __pyx_mstate_global->__pyx_tuple__36 +#define __pyx_tuple__38 __pyx_mstate_global->__pyx_tuple__38 +#define __pyx_tuple__40 __pyx_mstate_global->__pyx_tuple__40 +#define __pyx_codeobj__5 __pyx_mstate_global->__pyx_codeobj__5 +#define __pyx_codeobj__7 __pyx_mstate_global->__pyx_codeobj__7 +#define __pyx_codeobj__9 __pyx_mstate_global->__pyx_codeobj__9 +#define __pyx_codeobj__11 __pyx_mstate_global->__pyx_codeobj__11 +#define __pyx_codeobj__13 __pyx_mstate_global->__pyx_codeobj__13 +#define __pyx_codeobj__15 __pyx_mstate_global->__pyx_codeobj__15 +#define __pyx_codeobj__17 __pyx_mstate_global->__pyx_codeobj__17 +#define __pyx_codeobj__19 __pyx_mstate_global->__pyx_codeobj__19 +#define __pyx_codeobj__21 __pyx_mstate_global->__pyx_codeobj__21 +#define __pyx_codeobj__23 __pyx_mstate_global->__pyx_codeobj__23 +#define __pyx_codeobj__25 __pyx_mstate_global->__pyx_codeobj__25 +#define __pyx_codeobj__27 __pyx_mstate_global->__pyx_codeobj__27 +#define __pyx_codeobj__29 __pyx_mstate_global->__pyx_codeobj__29 +#define __pyx_codeobj__31 __pyx_mstate_global->__pyx_codeobj__31 +#define __pyx_codeobj__33 __pyx_mstate_global->__pyx_codeobj__33 +#define __pyx_codeobj__35 __pyx_mstate_global->__pyx_codeobj__35 +#define __pyx_codeobj__37 __pyx_mstate_global->__pyx_codeobj__37 +#define __pyx_codeobj__39 __pyx_mstate_global->__pyx_codeobj__39 +#define __pyx_codeobj__41 __pyx_mstate_global->__pyx_codeobj__41 +/* #### Code section: module_code ### */ + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":245 + * + * @property + * cdef inline PyObject* base(self) nogil: # <<<<<<<<<<<<<< + * """Returns a borrowed reference to the object owning the data/memory. + * """ + */ + +static CYTHON_INLINE PyObject *__pyx_f_5numpy_7ndarray_4base_base(PyArrayObject *__pyx_v_self) { + PyObject *__pyx_r; + + /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":248 + * """Returns a borrowed reference to the object owning the data/memory. + * """ + * return PyArray_BASE(self) # <<<<<<<<<<<<<< + * + * @property + */ + __pyx_r = PyArray_BASE(__pyx_v_self); + goto __pyx_L0; + + /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":245 + * + * @property + * cdef inline PyObject* base(self) nogil: # <<<<<<<<<<<<<< + * """Returns a borrowed reference to the object owning the data/memory. + * """ + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":251 + * + * @property + * cdef inline dtype descr(self): # <<<<<<<<<<<<<< + * """Returns an owned reference to the dtype of the array. + * """ + */ + +static CYTHON_INLINE PyArray_Descr *__pyx_f_5numpy_7ndarray_5descr_descr(PyArrayObject *__pyx_v_self) { + PyArray_Descr *__pyx_r = NULL; + __Pyx_RefNannyDeclarations + PyArray_Descr *__pyx_t_1; + __Pyx_RefNannySetupContext("descr", 1); + + /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":254 + * """Returns an owned reference to the dtype of the array. + * """ + * return PyArray_DESCR(self) # <<<<<<<<<<<<<< + * + * @property + */ + __Pyx_XDECREF((PyObject *)__pyx_r); + __pyx_t_1 = PyArray_DESCR(__pyx_v_self); + __Pyx_INCREF((PyObject *)((PyArray_Descr *)__pyx_t_1)); + __pyx_r = ((PyArray_Descr *)__pyx_t_1); + goto __pyx_L0; + + /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":251 + * + * @property + * cdef inline dtype descr(self): # <<<<<<<<<<<<<< + * """Returns an owned reference to the dtype of the array. + * """ + */ + + /* function exit code */ + __pyx_L0:; + __Pyx_XGIVEREF((PyObject *)__pyx_r); + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":257 + * + * @property + * cdef inline int ndim(self) nogil: # <<<<<<<<<<<<<< + * """Returns the number of dimensions in the array. + * """ + */ + +static CYTHON_INLINE int __pyx_f_5numpy_7ndarray_4ndim_ndim(PyArrayObject *__pyx_v_self) { + int __pyx_r; + + /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":260 + * """Returns the number of dimensions in the array. + * """ + * return PyArray_NDIM(self) # <<<<<<<<<<<<<< + * + * @property + */ + __pyx_r = PyArray_NDIM(__pyx_v_self); + goto __pyx_L0; + + /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":257 + * + * @property + * cdef inline int ndim(self) nogil: # <<<<<<<<<<<<<< + * """Returns the number of dimensions in the array. + * """ + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":263 + * + * @property + * cdef inline npy_intp *shape(self) nogil: # <<<<<<<<<<<<<< + * """Returns a pointer to the dimensions/shape of the array. + * The number of elements matches the number of dimensions of the array (ndim). + */ + +static CYTHON_INLINE npy_intp *__pyx_f_5numpy_7ndarray_5shape_shape(PyArrayObject *__pyx_v_self) { + npy_intp *__pyx_r; + + /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":268 + * Can return NULL for 0-dimensional arrays. + * """ + * return PyArray_DIMS(self) # <<<<<<<<<<<<<< + * + * @property + */ + __pyx_r = PyArray_DIMS(__pyx_v_self); + goto __pyx_L0; + + /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":263 + * + * @property + * cdef inline npy_intp *shape(self) nogil: # <<<<<<<<<<<<<< + * """Returns a pointer to the dimensions/shape of the array. + * The number of elements matches the number of dimensions of the array (ndim). + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":271 + * + * @property + * cdef inline npy_intp *strides(self) nogil: # <<<<<<<<<<<<<< + * """Returns a pointer to the strides of the array. + * The number of elements matches the number of dimensions of the array (ndim). + */ + +static CYTHON_INLINE npy_intp *__pyx_f_5numpy_7ndarray_7strides_strides(PyArrayObject *__pyx_v_self) { + npy_intp *__pyx_r; + + /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":275 + * The number of elements matches the number of dimensions of the array (ndim). + * """ + * return PyArray_STRIDES(self) # <<<<<<<<<<<<<< + * + * @property + */ + __pyx_r = PyArray_STRIDES(__pyx_v_self); + goto __pyx_L0; + + /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":271 + * + * @property + * cdef inline npy_intp *strides(self) nogil: # <<<<<<<<<<<<<< + * """Returns a pointer to the strides of the array. + * The number of elements matches the number of dimensions of the array (ndim). + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":278 + * + * @property + * cdef inline npy_intp size(self) nogil: # <<<<<<<<<<<<<< + * """Returns the total size (in number of elements) of the array. + * """ + */ + +static CYTHON_INLINE npy_intp __pyx_f_5numpy_7ndarray_4size_size(PyArrayObject *__pyx_v_self) { + npy_intp __pyx_r; + + /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":281 + * """Returns the total size (in number of elements) of the array. + * """ + * return PyArray_SIZE(self) # <<<<<<<<<<<<<< + * + * @property + */ + __pyx_r = PyArray_SIZE(__pyx_v_self); + goto __pyx_L0; + + /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":278 + * + * @property + * cdef inline npy_intp size(self) nogil: # <<<<<<<<<<<<<< + * """Returns the total size (in number of elements) of the array. + * """ + */ + + /* function exit code */ + 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alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + return o; +} + +static void __pyx_tp_dealloc_6common_15transformations_15transformations_LocalCoord(PyObject *o) { + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_6common_15transformations_15transformations_LocalCoord) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + 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(PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_6common_15transformations_15transformations_10LocalCoord_17__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_6common_15transformations_15transformations_10LocalCoord_19__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_6common_15transformations_15transformations_LocalCoord[] = { + {(char *)"ned2ecef_matrix", __pyx_getprop_6common_15transformations_15transformations_10LocalCoord_ned2ecef_matrix, 0, (char *)0, 0}, + {(char *)"ecef2ned_matrix", __pyx_getprop_6common_15transformations_15transformations_10LocalCoord_ecef2ned_matrix, 0, (char *)0, 0}, + {(char *)"ned_from_ecef_matrix", __pyx_getprop_6common_15transformations_15transformations_10LocalCoord_ned_from_ecef_matrix, 0, (char *)0, 0}, + {(char *)"ecef_from_ned_matrix", 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+ } + #if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(exc_type); + #endif + return result; +} +#endif + +/* PyErrFetchRestore */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { +#if PY_VERSION_HEX >= 0x030C00A6 + PyObject *tmp_value; + assert(type == NULL || (value != NULL && type == (PyObject*) Py_TYPE(value))); + if (value) { + #if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(((PyBaseExceptionObject*) value)->traceback != tb)) + #endif + PyException_SetTraceback(value, tb); + } + tmp_value = tstate->current_exception; + tstate->current_exception = value; + Py_XDECREF(tmp_value); + Py_XDECREF(type); + Py_XDECREF(tb); +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + tmp_type = tstate->curexc_type; + tmp_value = tstate->curexc_value; + tmp_tb = tstate->curexc_traceback; + tstate->curexc_type = type; + tstate->curexc_value = value; + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#endif +} +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { +#if PY_VERSION_HEX >= 0x030C00A6 + PyObject* exc_value; + exc_value = tstate->current_exception; + tstate->current_exception = 0; + *value = exc_value; + *type = NULL; + *tb = NULL; + if (exc_value) { + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + #if CYTHON_COMPILING_IN_CPYTHON + *tb = ((PyBaseExceptionObject*) exc_value)->traceback; + Py_XINCREF(*tb); + #else + *tb = PyException_GetTraceback(exc_value); + #endif + } +#else + *type = tstate->curexc_type; + *value = tstate->curexc_value; + *tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; +#endif +} +#endif + +/* PyObjectGetAttrStr */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name) { + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro)) + return tp->tp_getattro(obj, attr_name); +#if PY_MAJOR_VERSION < 3 + if (likely(tp->tp_getattr)) + return tp->tp_getattr(obj, PyString_AS_STRING(attr_name)); +#endif + return PyObject_GetAttr(obj, attr_name); +} +#endif + +/* PyObjectGetAttrStrNoError */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + __Pyx_PyErr_Clear(); +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { + PyObject *result; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + (void) PyObject_GetOptionalAttr(obj, attr_name, &result); + return result; +#else +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { + return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); + } +#endif + result = __Pyx_PyObject_GetAttrStr(obj, attr_name); + if (unlikely(!result)) { + __Pyx_PyObject_GetAttrStr_ClearAttributeError(); + } + return result; +#endif +} + +/* GetBuiltinName */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name) { + PyObject* result = __Pyx_PyObject_GetAttrStrNoError(__pyx_b, name); + if (unlikely(!result) && !PyErr_Occurred()) { + PyErr_Format(PyExc_NameError, +#if PY_MAJOR_VERSION >= 3 + "name '%U' is not defined", name); +#else + "name '%.200s' is not defined", PyString_AS_STRING(name)); +#endif + } + return result; +} + +/* GetTopmostException */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * +__Pyx_PyErr_GetTopmostException(PyThreadState *tstate) +{ + _PyErr_StackItem *exc_info = tstate->exc_info; + while ((exc_info->exc_value == NULL || exc_info->exc_value == Py_None) && + exc_info->previous_item != NULL) + { + exc_info = exc_info->previous_item; + } + return exc_info; +} +#endif + +/* SaveResetException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + PyObject *exc_value = exc_info->exc_value; + if (exc_value == NULL || exc_value == Py_None) { + *value = NULL; + *type = NULL; + *tb = NULL; + } else { + *value = exc_value; + Py_INCREF(*value); + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + *tb = PyException_GetTraceback(exc_value); + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + *type = exc_info->exc_type; + *value = exc_info->exc_value; + *tb = exc_info->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #else + *type = tstate->exc_type; + *value = tstate->exc_value; + *tb = tstate->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #endif +} +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + PyObject *tmp_value = exc_info->exc_value; + exc_info->exc_value = value; + Py_XDECREF(tmp_value); + Py_XDECREF(type); + Py_XDECREF(tb); + #else + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = type; + exc_info->exc_value = value; + exc_info->exc_traceback = tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = type; + tstate->exc_value = value; + tstate->exc_traceback = tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); + #endif +} +#endif + +/* GetException */ +#if CYTHON_FAST_THREAD_STATE +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb) +#endif +{ + PyObject *local_type = NULL, *local_value, *local_tb = NULL; +#if CYTHON_FAST_THREAD_STATE + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if PY_VERSION_HEX >= 0x030C00A6 + local_value = tstate->current_exception; + tstate->current_exception = 0; + if (likely(local_value)) { + local_type = (PyObject*) Py_TYPE(local_value); + Py_INCREF(local_type); + local_tb = PyException_GetTraceback(local_value); + } + #else + local_type = tstate->curexc_type; + local_value = tstate->curexc_value; + local_tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; + #endif +#else + PyErr_Fetch(&local_type, &local_value, &local_tb); +#endif + PyErr_NormalizeException(&local_type, &local_value, &local_tb); +#if CYTHON_FAST_THREAD_STATE && PY_VERSION_HEX >= 0x030C00A6 + if (unlikely(tstate->current_exception)) +#elif CYTHON_FAST_THREAD_STATE + if (unlikely(tstate->curexc_type)) +#else + if (unlikely(PyErr_Occurred())) +#endif + goto bad; + #if PY_MAJOR_VERSION >= 3 + if (local_tb) { + if (unlikely(PyException_SetTraceback(local_value, local_tb) < 0)) + goto bad; + } + #endif + Py_XINCREF(local_tb); + Py_XINCREF(local_type); + Py_XINCREF(local_value); + *type = local_type; + *value = local_value; + *tb = local_tb; +#if CYTHON_FAST_THREAD_STATE + #if CYTHON_USE_EXC_INFO_STACK + { + _PyErr_StackItem *exc_info = tstate->exc_info; + #if PY_VERSION_HEX >= 0x030B00a4 + tmp_value = exc_info->exc_value; + exc_info->exc_value = local_value; + tmp_type = NULL; + tmp_tb = NULL; + Py_XDECREF(local_type); + Py_XDECREF(local_tb); + #else + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = local_type; + exc_info->exc_value = local_value; + exc_info->exc_traceback = local_tb; + #endif + } + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = local_type; + tstate->exc_value = local_value; + tstate->exc_traceback = local_tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#else + PyErr_SetExcInfo(local_type, local_value, local_tb); +#endif + return 0; +bad: + *type = 0; + *value = 0; + *tb = 0; + Py_XDECREF(local_type); + Py_XDECREF(local_value); + Py_XDECREF(local_tb); + return -1; +} + +/* PyObjectCall */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *result; + ternaryfunc call = Py_TYPE(func)->tp_call; + if (unlikely(!call)) + return PyObject_Call(func, arg, kw); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = (*call)(func, arg, kw); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* RaiseException */ +#if PY_MAJOR_VERSION < 3 +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + __Pyx_PyThreadState_declare + CYTHON_UNUSED_VAR(cause); + Py_XINCREF(type); + if (!value || value == Py_None) + value = NULL; + else + Py_INCREF(value); + if (!tb || tb == Py_None) + tb = NULL; + else { + Py_INCREF(tb); + if (!PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto raise_error; + } + } + if (PyType_Check(type)) { +#if CYTHON_COMPILING_IN_PYPY + if (!value) { + Py_INCREF(Py_None); + value = Py_None; + } +#endif + PyErr_NormalizeException(&type, &value, &tb); + } else { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto raise_error; + } + value = type; + type = (PyObject*) Py_TYPE(type); + Py_INCREF(type); + if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto raise_error; + } + } + __Pyx_PyThreadState_assign + __Pyx_ErrRestore(type, value, tb); + return; +raise_error: + Py_XDECREF(value); + Py_XDECREF(type); + Py_XDECREF(tb); + return; +} +#else +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + PyObject* owned_instance = NULL; + if (tb == Py_None) { + tb = 0; + } else if (tb && !PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto bad; + } + if (value == Py_None) + value = 0; + if (PyExceptionInstance_Check(type)) { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto bad; + } + value = type; + type = (PyObject*) Py_TYPE(value); + } else if (PyExceptionClass_Check(type)) { + PyObject *instance_class = NULL; + if (value && PyExceptionInstance_Check(value)) { + instance_class = (PyObject*) Py_TYPE(value); + if (instance_class != type) { + int is_subclass = PyObject_IsSubclass(instance_class, type); + if (!is_subclass) { + instance_class = NULL; + } else if (unlikely(is_subclass == -1)) { + goto bad; + } else { + type = instance_class; + } + } + } + if (!instance_class) { + PyObject *args; + if (!value) + args = PyTuple_New(0); + else if (PyTuple_Check(value)) { + Py_INCREF(value); + args = value; + } else + args = PyTuple_Pack(1, value); + if (!args) + goto bad; + owned_instance = PyObject_Call(type, args, NULL); + Py_DECREF(args); + if (!owned_instance) + goto bad; + value = owned_instance; + if (!PyExceptionInstance_Check(value)) { + PyErr_Format(PyExc_TypeError, + "calling %R should have returned an instance of " + "BaseException, not %R", + type, Py_TYPE(value)); + goto bad; + } + } + } else { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto bad; + } + if (cause) { + PyObject *fixed_cause; + if (cause == Py_None) { + fixed_cause = NULL; + } else if (PyExceptionClass_Check(cause)) { + fixed_cause = PyObject_CallObject(cause, NULL); + if (fixed_cause == NULL) + goto bad; + } else if (PyExceptionInstance_Check(cause)) { + fixed_cause = cause; + Py_INCREF(fixed_cause); + } else { + PyErr_SetString(PyExc_TypeError, + "exception causes must derive from " + "BaseException"); + goto bad; + } + PyException_SetCause(value, fixed_cause); + } + PyErr_SetObject(type, value); + if (tb) { + #if PY_VERSION_HEX >= 0x030C00A6 + PyException_SetTraceback(value, tb); + #elif CYTHON_FAST_THREAD_STATE + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* tmp_tb = tstate->curexc_traceback; + if (tb != tmp_tb) { + Py_INCREF(tb); + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_tb); + } +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); + Py_INCREF(tb); + PyErr_Restore(tmp_type, tmp_value, tb); + Py_XDECREF(tmp_tb); +#endif + } +bad: + Py_XDECREF(owned_instance); + return; +} +#endif + +/* PyDictVersioning */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { + PyObject **dictptr = NULL; + Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; + if (offset) { +#if CYTHON_COMPILING_IN_CPYTHON + dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); +#else + dictptr = _PyObject_GetDictPtr(obj); +#endif + } + return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; +} +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) + return 0; + return obj_dict_version == __Pyx_get_object_dict_version(obj); +} +#endif + +/* GetModuleGlobalName */ +#if CYTHON_USE_DICT_VERSIONS +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) +#else +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) +#endif +{ + PyObject *result; +#if !CYTHON_AVOID_BORROWED_REFS +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && PY_VERSION_HEX < 0x030d0000 + result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } else if (unlikely(PyErr_Occurred())) { + return NULL; + } +#elif CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(!__pyx_m)) { + return NULL; + } + result = PyObject_GetAttr(__pyx_m, name); + if (likely(result)) { + return result; + } +#else + result = PyDict_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } +#endif +#else + result = PyObject_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } + PyErr_Clear(); +#endif + return __Pyx_GetBuiltinName(name); +} + +/* PyFunctionFastCall */ +#if CYTHON_FAST_PYCALL && !CYTHON_VECTORCALL +static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, + PyObject *globals) { + PyFrameObject *f; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject **fastlocals; + Py_ssize_t i; + PyObject *result; + assert(globals != NULL); + /* XXX Perhaps we should create a specialized + PyFrame_New() that doesn't take locals, but does + take builtins without sanity checking them. + */ + assert(tstate != NULL); + f = PyFrame_New(tstate, co, globals, NULL); + if (f == NULL) { + return NULL; + } + fastlocals = __Pyx_PyFrame_GetLocalsplus(f); + for (i = 0; i < na; i++) { + Py_INCREF(*args); + fastlocals[i] = *args++; + } + result = PyEval_EvalFrameEx(f,0); + ++tstate->recursion_depth; + Py_DECREF(f); + --tstate->recursion_depth; + return result; +} +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { + PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); + PyObject *globals = PyFunction_GET_GLOBALS(func); + PyObject *argdefs = PyFunction_GET_DEFAULTS(func); + PyObject *closure; +#if PY_MAJOR_VERSION >= 3 + PyObject *kwdefs; +#endif + PyObject *kwtuple, **k; + PyObject **d; + Py_ssize_t nd; + Py_ssize_t nk; + PyObject *result; + assert(kwargs == NULL || PyDict_Check(kwargs)); + nk = kwargs ? PyDict_Size(kwargs) : 0; + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) { + return NULL; + } + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) { + return NULL; + } + #endif + if ( +#if PY_MAJOR_VERSION >= 3 + co->co_kwonlyargcount == 0 && +#endif + likely(kwargs == NULL || nk == 0) && + co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { + if (argdefs == NULL && co->co_argcount == nargs) { + result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); + goto done; + } + else if (nargs == 0 && argdefs != NULL + && co->co_argcount == Py_SIZE(argdefs)) { + /* function called with no arguments, but all parameters have + a default value: use default values as arguments .*/ + args = &PyTuple_GET_ITEM(argdefs, 0); + result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); + goto done; + } + } + if (kwargs != NULL) { + Py_ssize_t pos, i; + kwtuple = PyTuple_New(2 * nk); + if (kwtuple == NULL) { + result = NULL; + goto done; + } + k = &PyTuple_GET_ITEM(kwtuple, 0); + pos = i = 0; + while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { + Py_INCREF(k[i]); + Py_INCREF(k[i+1]); + i += 2; + } + nk = i / 2; + } + else { + kwtuple = NULL; + k = NULL; + } + closure = PyFunction_GET_CLOSURE(func); +#if PY_MAJOR_VERSION >= 3 + kwdefs = PyFunction_GET_KW_DEFAULTS(func); +#endif + if (argdefs != NULL) { + d = &PyTuple_GET_ITEM(argdefs, 0); + nd = Py_SIZE(argdefs); + } + else { + d = NULL; + nd = 0; + } +#if PY_MAJOR_VERSION >= 3 + result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, kwdefs, closure); +#else + result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, closure); +#endif + Py_XDECREF(kwtuple); +done: + Py_LeaveRecursiveCall(); + return result; +} +#endif + +/* PyObjectCallMethO */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { + PyObject *self, *result; + PyCFunction cfunc; + cfunc = __Pyx_CyOrPyCFunction_GET_FUNCTION(func); + self = __Pyx_CyOrPyCFunction_GET_SELF(func); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = cfunc(self, arg); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectFastCall */ +#if PY_VERSION_HEX < 0x03090000 || CYTHON_COMPILING_IN_LIMITED_API +static PyObject* __Pyx_PyObject_FastCall_fallback(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs) { + PyObject *argstuple; + PyObject *result = 0; + size_t i; + argstuple = PyTuple_New((Py_ssize_t)nargs); + if (unlikely(!argstuple)) return NULL; + for (i = 0; i < nargs; i++) { + Py_INCREF(args[i]); + if (__Pyx_PyTuple_SET_ITEM(argstuple, (Py_ssize_t)i, args[i]) < 0) goto bad; + } + result = __Pyx_PyObject_Call(func, argstuple, kwargs); + bad: + Py_DECREF(argstuple); + return result; +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t _nargs, PyObject *kwargs) { + Py_ssize_t nargs = __Pyx_PyVectorcall_NARGS(_nargs); +#if CYTHON_COMPILING_IN_CPYTHON + if (nargs == 0 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_NOARGS)) + return __Pyx_PyObject_CallMethO(func, NULL); + } + else if (nargs == 1 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_O)) + return __Pyx_PyObject_CallMethO(func, args[0]); + } +#endif + #if PY_VERSION_HEX < 0x030800B1 + #if CYTHON_FAST_PYCCALL + if (PyCFunction_Check(func)) { + if (kwargs) { + return _PyCFunction_FastCallDict(func, args, nargs, kwargs); + } else { + return _PyCFunction_FastCallKeywords(func, args, nargs, NULL); + } + } + #if PY_VERSION_HEX >= 0x030700A1 + if (!kwargs && __Pyx_IS_TYPE(func, &PyMethodDescr_Type)) { + return _PyMethodDescr_FastCallKeywords(func, args, nargs, NULL); + } + #endif + #endif + #if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs); + } + #endif + #endif + if (kwargs == NULL) { + #if CYTHON_VECTORCALL + #if PY_VERSION_HEX < 0x03090000 + vectorcallfunc f = _PyVectorcall_Function(func); + #else + vectorcallfunc f = PyVectorcall_Function(func); + #endif + if (f) { + return f(func, args, (size_t)nargs, NULL); + } + #elif defined(__Pyx_CyFunction_USED) && CYTHON_BACKPORT_VECTORCALL + if (__Pyx_CyFunction_CheckExact(func)) { + __pyx_vectorcallfunc f = __Pyx_CyFunction_func_vectorcall(func); + if (f) return f(func, args, (size_t)nargs, NULL); + } + #endif + } + if (nargs == 0) { + return __Pyx_PyObject_Call(func, __pyx_empty_tuple, kwargs); + } + #if PY_VERSION_HEX >= 0x03090000 && !CYTHON_COMPILING_IN_LIMITED_API + return PyObject_VectorcallDict(func, args, (size_t)nargs, kwargs); + #else + return __Pyx_PyObject_FastCall_fallback(func, args, (size_t)nargs, kwargs); + #endif +} + +/* ExtTypeTest */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type) { + __Pyx_TypeName obj_type_name; + __Pyx_TypeName type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + if (likely(__Pyx_TypeCheck(obj, type))) + return 1; + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + type_name = __Pyx_PyType_GetName(type); + PyErr_Format(PyExc_TypeError, + "Cannot convert " __Pyx_FMT_TYPENAME " to " __Pyx_FMT_TYPENAME, + obj_type_name, type_name); + __Pyx_DECREF_TypeName(obj_type_name); + __Pyx_DECREF_TypeName(type_name); + return 0; +} + +/* IsLittleEndian */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void) +{ + union { + uint32_t u32; + uint8_t u8[4]; + } S; + S.u32 = 0x01020304; + return S.u8[0] == 4; +} + +/* BufferFormatCheck */ +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type) { + stack[0].field = &ctx->root; + stack[0].parent_offset = 0; + ctx->root.type = type; + ctx->root.name = "buffer dtype"; + ctx->root.offset = 0; + ctx->head = stack; + ctx->head->field = &ctx->root; + ctx->fmt_offset = 0; + ctx->head->parent_offset = 0; + ctx->new_packmode = '@'; + ctx->enc_packmode = '@'; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->is_complex = 0; + ctx->is_valid_array = 0; + ctx->struct_alignment = 0; + while (type->typegroup == 'S') { + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = 0; + type = type->fields->type; + } +} +static int __Pyx_BufFmt_ParseNumber(const char** ts) { + int count; + const char* t = *ts; + if (*t < '0' || *t > '9') { + return -1; + } else { + count = *t++ - '0'; + while (*t >= '0' && *t <= '9') { + count *= 10; + count += *t++ - '0'; + } + } + *ts = t; + return count; +} +static int __Pyx_BufFmt_ExpectNumber(const char **ts) { + int number = __Pyx_BufFmt_ParseNumber(ts); + if (number == -1) + PyErr_Format(PyExc_ValueError,\ + "Does not understand character buffer dtype format string ('%c')", **ts); + return number; +} +static void __Pyx_BufFmt_RaiseUnexpectedChar(char ch) { + PyErr_Format(PyExc_ValueError, + "Unexpected format string character: '%c'", ch); +} +static const char* __Pyx_BufFmt_DescribeTypeChar(char ch, int is_complex) { + switch (ch) { + case '?': return "'bool'"; + case 'c': return "'char'"; + case 'b': return "'signed char'"; + case 'B': return "'unsigned char'"; + case 'h': return "'short'"; + case 'H': return "'unsigned short'"; + case 'i': return "'int'"; + case 'I': return "'unsigned int'"; + case 'l': return "'long'"; + case 'L': return "'unsigned long'"; + case 'q': return "'long long'"; + case 'Q': return "'unsigned long long'"; + case 'f': return (is_complex ? "'complex float'" : "'float'"); + case 'd': return (is_complex ? "'complex double'" : "'double'"); + case 'g': return (is_complex ? "'complex long double'" : "'long double'"); + case 'T': return "a struct"; + case 'O': return "Python object"; + case 'P': return "a pointer"; + case 's': case 'p': return "a string"; + case 0: return "end"; + default: return "unparsable format string"; + } +} +static size_t __Pyx_BufFmt_TypeCharToStandardSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return 2; + case 'i': case 'I': case 'l': case 'L': return 4; + case 'q': case 'Q': return 8; + case 'f': return (is_complex ? 8 : 4); + case 'd': return (is_complex ? 16 : 8); + case 'g': { + PyErr_SetString(PyExc_ValueError, "Python does not define a standard format string size for long double ('g').."); + return 0; + } + case 'O': case 'P': return sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static size_t __Pyx_BufFmt_TypeCharToNativeSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(short); + case 'i': case 'I': return sizeof(int); + case 'l': case 'L': return sizeof(long); + #ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(PY_LONG_LONG); + #endif + case 'f': return sizeof(float) * (is_complex ? 2 : 1); + case 'd': return sizeof(double) * (is_complex ? 2 : 1); + case 'g': return sizeof(long double) * (is_complex ? 2 : 1); + case 'O': case 'P': return sizeof(void*); + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +typedef struct { char c; short x; } __Pyx_st_short; +typedef struct { char c; int x; } __Pyx_st_int; +typedef struct { char c; long x; } __Pyx_st_long; +typedef struct { char c; float x; } __Pyx_st_float; +typedef struct { char c; double x; } __Pyx_st_double; +typedef struct { char c; long double x; } __Pyx_st_longdouble; +typedef struct { char c; void *x; } __Pyx_st_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { char c; PY_LONG_LONG x; } __Pyx_st_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToAlignment(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_st_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_st_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_st_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_st_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_st_float) - sizeof(float); + case 'd': return sizeof(__Pyx_st_double) - sizeof(double); + case 'g': return sizeof(__Pyx_st_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_st_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +/* These are for computing the padding at the end of the struct to align + on the first member of the struct. This will probably the same as above, + but we don't have any guarantees. + */ +typedef struct { short x; char c; } __Pyx_pad_short; +typedef struct { int x; char c; } __Pyx_pad_int; +typedef struct { long x; char c; } __Pyx_pad_long; +typedef struct { float x; char c; } __Pyx_pad_float; +typedef struct { double x; char c; } __Pyx_pad_double; +typedef struct { long double x; char c; } __Pyx_pad_longdouble; +typedef struct { void *x; char c; } __Pyx_pad_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { PY_LONG_LONG x; char c; } __Pyx_pad_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToPadding(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_pad_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_pad_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_pad_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_pad_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_pad_float) - sizeof(float); + case 'd': return sizeof(__Pyx_pad_double) - sizeof(double); + case 'g': return sizeof(__Pyx_pad_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_pad_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static char __Pyx_BufFmt_TypeCharToGroup(char ch, int is_complex) { + switch (ch) { + case 'c': + return 'H'; + case 'b': case 'h': case 'i': + case 'l': case 'q': case 's': case 'p': + return 'I'; + case '?': case 'B': case 'H': case 'I': case 'L': case 'Q': + return 'U'; + case 'f': case 'd': case 'g': + return (is_complex ? 'C' : 'R'); + case 'O': + return 'O'; + case 'P': + return 'P'; + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +static void __Pyx_BufFmt_RaiseExpected(__Pyx_BufFmt_Context* ctx) { + if (ctx->head == NULL || ctx->head->field == &ctx->root) { + const char* expected; + const char* quote; + if (ctx->head == NULL) { + expected = "end"; + quote = ""; + } else { + expected = ctx->head->field->type->name; + quote = "'"; + } + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected %s%s%s but got %s", + quote, expected, quote, + __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex)); + } else { + __Pyx_StructField* field = ctx->head->field; + __Pyx_StructField* parent = (ctx->head - 1)->field; + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected '%s' but got %s in '%s.%s'", + field->type->name, __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex), + parent->type->name, field->name); + } +} +static int __Pyx_BufFmt_ProcessTypeChunk(__Pyx_BufFmt_Context* ctx) { + char group; + size_t size, offset, arraysize = 1; + if (ctx->enc_type == 0) return 0; + if (ctx->head->field->type->arraysize[0]) { + int i, ndim = 0; + if (ctx->enc_type == 's' || ctx->enc_type == 'p') { + ctx->is_valid_array = ctx->head->field->type->ndim == 1; + ndim = 1; + if (ctx->enc_count != ctx->head->field->type->arraysize[0]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %zu", + ctx->head->field->type->arraysize[0], ctx->enc_count); + return -1; + } + } + if (!ctx->is_valid_array) { + PyErr_Format(PyExc_ValueError, "Expected %d dimensions, got %d", + ctx->head->field->type->ndim, ndim); + return -1; + } + for (i = 0; i < ctx->head->field->type->ndim; i++) { + arraysize *= ctx->head->field->type->arraysize[i]; + } + ctx->is_valid_array = 0; + ctx->enc_count = 1; + } + group = __Pyx_BufFmt_TypeCharToGroup(ctx->enc_type, ctx->is_complex); + do { + __Pyx_StructField* field = ctx->head->field; + __Pyx_TypeInfo* type = field->type; + if (ctx->enc_packmode == '@' || ctx->enc_packmode == '^') { + size = __Pyx_BufFmt_TypeCharToNativeSize(ctx->enc_type, ctx->is_complex); + } else { + size = __Pyx_BufFmt_TypeCharToStandardSize(ctx->enc_type, ctx->is_complex); + } + if (ctx->enc_packmode == '@') { + size_t align_at = __Pyx_BufFmt_TypeCharToAlignment(ctx->enc_type, ctx->is_complex); + size_t align_mod_offset; + if (align_at == 0) return -1; + align_mod_offset = ctx->fmt_offset % align_at; + if (align_mod_offset > 0) ctx->fmt_offset += align_at - align_mod_offset; + if (ctx->struct_alignment == 0) + ctx->struct_alignment = __Pyx_BufFmt_TypeCharToPadding(ctx->enc_type, + ctx->is_complex); + } + if (type->size != size || type->typegroup != group) { + if (type->typegroup == 'C' && type->fields != NULL) { + size_t parent_offset = ctx->head->parent_offset + field->offset; + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = parent_offset; + continue; + } + if ((type->typegroup == 'H' || group == 'H') && type->size == size) { + } else { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + } + offset = ctx->head->parent_offset + field->offset; + if (ctx->fmt_offset != offset) { + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch; next field is at offset %" CYTHON_FORMAT_SSIZE_T "d but %" CYTHON_FORMAT_SSIZE_T "d expected", + (Py_ssize_t)ctx->fmt_offset, (Py_ssize_t)offset); + return -1; + } + ctx->fmt_offset += size; + if (arraysize) + ctx->fmt_offset += (arraysize - 1) * size; + --ctx->enc_count; + while (1) { + if (field == &ctx->root) { + ctx->head = NULL; + if (ctx->enc_count != 0) { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + break; + } + ctx->head->field = ++field; + if (field->type == NULL) { + --ctx->head; + field = ctx->head->field; + continue; + } else if (field->type->typegroup == 'S') { + size_t parent_offset = ctx->head->parent_offset + field->offset; + if (field->type->fields->type == NULL) continue; + field = field->type->fields; + ++ctx->head; + ctx->head->field = field; + ctx->head->parent_offset = parent_offset; + break; + } else { + break; + } + } + } while (ctx->enc_count); + ctx->enc_type = 0; + ctx->is_complex = 0; + return 0; +} +static int +__pyx_buffmt_parse_array(__Pyx_BufFmt_Context* ctx, const char** tsp) +{ + const char *ts = *tsp; + int i = 0, number, ndim; + ++ts; + if (ctx->new_count != 1) { + PyErr_SetString(PyExc_ValueError, + "Cannot handle repeated arrays in format string"); + return -1; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return -1; + ndim = ctx->head->field->type->ndim; + while (*ts && *ts != ')') { + switch (*ts) { + case ' ': case '\f': case '\r': case '\n': case '\t': case '\v': continue; + default: break; + } + number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return -1; + if (i < ndim && (size_t) number != ctx->head->field->type->arraysize[i]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %d", + ctx->head->field->type->arraysize[i], number); + return -1; + } + if (*ts != ',' && *ts != ')') { + PyErr_Format(PyExc_ValueError, + "Expected a comma in format string, got '%c'", *ts); + return -1; + } + if (*ts == ',') ts++; + i++; + } + if (i != ndim) { + PyErr_Format(PyExc_ValueError, "Expected %d dimension(s), got %d", + ctx->head->field->type->ndim, i); + return -1; + } + if (!*ts) { + PyErr_SetString(PyExc_ValueError, + "Unexpected end of format string, expected ')'"); + return -1; + } + ctx->is_valid_array = 1; + ctx->new_count = 1; + *tsp = ++ts; + return 0; +} +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts) { + int got_Z = 0; + while (1) { + switch(*ts) { + case 0: + if (ctx->enc_type != 0 && ctx->head == NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + if (ctx->head != NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + return ts; + case ' ': + case '\r': + case '\n': + ++ts; + break; + case '<': + if (!__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Little-endian buffer not supported on big-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '>': + case '!': + if (__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Big-endian buffer not supported on little-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '=': + case '@': + case '^': + ctx->new_packmode = *ts++; + break; + case 'T': + { + const char* ts_after_sub; + size_t i, struct_count = ctx->new_count; + size_t struct_alignment = ctx->struct_alignment; + ctx->new_count = 1; + ++ts; + if (*ts != '{') { + PyErr_SetString(PyExc_ValueError, "Buffer acquisition: Expected '{' after 'T'"); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + ctx->enc_count = 0; + ctx->struct_alignment = 0; + ++ts; + ts_after_sub = ts; + for (i = 0; i != struct_count; ++i) { + ts_after_sub = __Pyx_BufFmt_CheckString(ctx, ts); + if (!ts_after_sub) return NULL; + } + ts = ts_after_sub; + if (struct_alignment) ctx->struct_alignment = struct_alignment; + } + break; + case '}': + { + size_t alignment = ctx->struct_alignment; + ++ts; + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + if (alignment && ctx->fmt_offset % alignment) { + ctx->fmt_offset += alignment - (ctx->fmt_offset % alignment); + } + } + return ts; + case 'x': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->fmt_offset += ctx->new_count; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->enc_packmode = ctx->new_packmode; + ++ts; + break; + case 'Z': + got_Z = 1; + ++ts; + if (*ts != 'f' && *ts != 'd' && *ts != 'g') { + __Pyx_BufFmt_RaiseUnexpectedChar('Z'); + return NULL; + } + CYTHON_FALLTHROUGH; + case '?': case 'c': case 'b': case 'B': case 'h': case 'H': case 'i': case 'I': + case 'l': case 'L': case 'q': case 'Q': + case 'f': case 'd': case 'g': + case 'O': case 'p': + if ((ctx->enc_type == *ts) && (got_Z == ctx->is_complex) && + (ctx->enc_packmode == ctx->new_packmode) && (!ctx->is_valid_array)) { + ctx->enc_count += ctx->new_count; + ctx->new_count = 1; + got_Z = 0; + ++ts; + break; + } + CYTHON_FALLTHROUGH; + case 's': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_count = ctx->new_count; + ctx->enc_packmode = ctx->new_packmode; + ctx->enc_type = *ts; + ctx->is_complex = got_Z; + ++ts; + ctx->new_count = 1; + got_Z = 0; + break; + case ':': + ++ts; + while(*ts != ':') ++ts; + ++ts; + break; + case '(': + if (__pyx_buffmt_parse_array(ctx, &ts) < 0) return NULL; + break; + default: + { + int number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return NULL; + ctx->new_count = (size_t)number; + } + } + } +} + +/* BufferGetAndValidate */ + static CYTHON_INLINE void __Pyx_SafeReleaseBuffer(Py_buffer* info) { + if (unlikely(info->buf == NULL)) return; + if (info->suboffsets == __Pyx_minusones) info->suboffsets = NULL; + __Pyx_ReleaseBuffer(info); +} +static void __Pyx_ZeroBuffer(Py_buffer* buf) { + buf->buf = NULL; + buf->obj = NULL; + buf->strides = __Pyx_zeros; + buf->shape = __Pyx_zeros; + buf->suboffsets = __Pyx_minusones; +} +static int __Pyx__GetBufferAndValidate( + Py_buffer* buf, PyObject* obj, __Pyx_TypeInfo* dtype, int flags, + int nd, int cast, __Pyx_BufFmt_StackElem* stack) +{ + buf->buf = NULL; + if (unlikely(__Pyx_GetBuffer(obj, buf, flags) == -1)) { + __Pyx_ZeroBuffer(buf); + return -1; + } + if (unlikely(buf->ndim != nd)) { + PyErr_Format(PyExc_ValueError, + "Buffer has wrong number of dimensions (expected %d, got %d)", + nd, buf->ndim); + goto fail; + } + if (!cast) { + __Pyx_BufFmt_Context ctx; + __Pyx_BufFmt_Init(&ctx, stack, dtype); + if (!__Pyx_BufFmt_CheckString(&ctx, buf->format)) goto fail; + } + if (unlikely((size_t)buf->itemsize != dtype->size)) { + PyErr_Format(PyExc_ValueError, + "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "d byte%s) does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "d byte%s)", + buf->itemsize, (buf->itemsize > 1) ? "s" : "", + dtype->name, (Py_ssize_t)dtype->size, (dtype->size > 1) ? "s" : ""); + goto fail; + } + if (buf->suboffsets == NULL) buf->suboffsets = __Pyx_minusones; + return 0; +fail:; + __Pyx_SafeReleaseBuffer(buf); + return -1; +} + +/* GetItemInt */ + static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { + PyObject *r; + if (unlikely(!j)) return NULL; + r = PyObject_GetItem(o, j); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyList_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { + PyObject *r = PyList_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyTuple_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); + if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { + PyObject *r = PyList_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } + else if (PyTuple_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_subscript) { + PyObject *r, *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return NULL; + r = mm->mp_subscript(o, key); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return NULL; + PyErr_Clear(); + } + } + return sm->sq_item(o, i); + } + } +#else + if (is_list || !PyMapping_Check(o)) { + return PySequence_GetItem(o, i); + } +#endif + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +} + +/* TupleAndListFromArray */ + #if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE void __Pyx_copy_object_array(PyObject *const *CYTHON_RESTRICT src, PyObject** CYTHON_RESTRICT dest, Py_ssize_t length) { + PyObject *v; + Py_ssize_t i; + for (i = 0; i < length; i++) { + v = dest[i] = src[i]; + Py_INCREF(v); + } +} +static CYTHON_INLINE PyObject * +__Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + Py_INCREF(__pyx_empty_tuple); + return __pyx_empty_tuple; + } + res = PyTuple_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyTupleObject*)res)->ob_item, n); + return res; +} +static CYTHON_INLINE PyObject * +__Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + return PyList_New(0); + } + res = PyList_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyListObject*)res)->ob_item, n); + return res; +} +#endif + +/* BytesEquals */ + static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else + if (s1 == s2) { + return (equals == Py_EQ); + } else if (PyBytes_CheckExact(s1) & PyBytes_CheckExact(s2)) { + const char *ps1, *ps2; + Py_ssize_t length = PyBytes_GET_SIZE(s1); + if (length != PyBytes_GET_SIZE(s2)) + return (equals == Py_NE); + ps1 = PyBytes_AS_STRING(s1); + ps2 = PyBytes_AS_STRING(s2); + if (ps1[0] != ps2[0]) { + return (equals == Py_NE); + } else if (length == 1) { + return (equals == Py_EQ); + } else { + int result; +#if CYTHON_USE_UNICODE_INTERNALS && (PY_VERSION_HEX < 0x030B0000) + Py_hash_t hash1, hash2; + hash1 = ((PyBytesObject*)s1)->ob_shash; + hash2 = ((PyBytesObject*)s2)->ob_shash; + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + return (equals == Py_NE); + } +#endif + result = memcmp(ps1, ps2, (size_t)length); + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { + return (equals == Py_NE); + } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { + return (equals == Py_NE); + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +#endif +} + +/* UnicodeEquals */ + static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else +#if PY_MAJOR_VERSION < 3 + PyObject* owned_ref = NULL; +#endif + int s1_is_unicode, s2_is_unicode; + if (s1 == s2) { + goto return_eq; + } + s1_is_unicode = PyUnicode_CheckExact(s1); + s2_is_unicode = PyUnicode_CheckExact(s2); +#if PY_MAJOR_VERSION < 3 + if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { + owned_ref = PyUnicode_FromObject(s2); + if (unlikely(!owned_ref)) + return -1; + s2 = owned_ref; + s2_is_unicode = 1; + } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { + owned_ref = PyUnicode_FromObject(s1); + if (unlikely(!owned_ref)) + return -1; + s1 = owned_ref; + s1_is_unicode = 1; + } else if (((!s2_is_unicode) & (!s1_is_unicode))) { + return __Pyx_PyBytes_Equals(s1, s2, equals); + } +#endif + if (s1_is_unicode & s2_is_unicode) { + Py_ssize_t length; + int kind; + void *data1, *data2; + if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) + return -1; + length = __Pyx_PyUnicode_GET_LENGTH(s1); + if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { + goto return_ne; + } +#if CYTHON_USE_UNICODE_INTERNALS + { + Py_hash_t hash1, hash2; + #if CYTHON_PEP393_ENABLED + hash1 = ((PyASCIIObject*)s1)->hash; + hash2 = ((PyASCIIObject*)s2)->hash; + #else + hash1 = ((PyUnicodeObject*)s1)->hash; + hash2 = ((PyUnicodeObject*)s2)->hash; + #endif + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + goto return_ne; + } + } +#endif + kind = __Pyx_PyUnicode_KIND(s1); + if (kind != __Pyx_PyUnicode_KIND(s2)) { + goto return_ne; + } + data1 = __Pyx_PyUnicode_DATA(s1); + data2 = __Pyx_PyUnicode_DATA(s2); + if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { + goto return_ne; + } else if (length == 1) { + goto return_eq; + } else { + int result = memcmp(data1, data2, (size_t)(length * kind)); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & s2_is_unicode) { + goto return_ne; + } else if ((s2 == Py_None) & s1_is_unicode) { + goto return_ne; + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +return_eq: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ); +return_ne: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_NE); +#endif +} + +/* fastcall */ + #if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s) +{ + Py_ssize_t i, n = PyTuple_GET_SIZE(kwnames); + for (i = 0; i < n; i++) + { + if (s == PyTuple_GET_ITEM(kwnames, i)) return kwvalues[i]; + } + for (i = 0; i < n; i++) + { + int eq = __Pyx_PyUnicode_Equals(s, PyTuple_GET_ITEM(kwnames, i), Py_EQ); + if (unlikely(eq != 0)) { + if (unlikely(eq < 0)) return NULL; + return kwvalues[i]; + } + } + return NULL; +} +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 +CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { + Py_ssize_t i, nkwargs = PyTuple_GET_SIZE(kwnames); + PyObject *dict; + dict = PyDict_New(); + if (unlikely(!dict)) + return NULL; + for (i=0; i= 3 + "%s() got multiple values for keyword argument '%U'", func_name, kw_name); + #else + "%s() got multiple values for keyword argument '%s'", func_name, + PyString_AsString(kw_name)); + #endif +} + +/* ParseKeywords */ + static int __Pyx_ParseOptionalKeywords( + PyObject *kwds, + PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, + PyObject *values[], + Py_ssize_t num_pos_args, + const char* function_name) +{ + PyObject *key = 0, *value = 0; + Py_ssize_t pos = 0; + PyObject*** name; + PyObject*** first_kw_arg = argnames + num_pos_args; + int kwds_is_tuple = CYTHON_METH_FASTCALL && likely(PyTuple_Check(kwds)); + while (1) { + Py_XDECREF(key); key = NULL; + Py_XDECREF(value); value = NULL; + if (kwds_is_tuple) { + Py_ssize_t size; +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(kwds); +#else + size = PyTuple_Size(kwds); + if (size < 0) goto bad; +#endif + if (pos >= size) break; +#if CYTHON_AVOID_BORROWED_REFS + key = __Pyx_PySequence_ITEM(kwds, pos); + if (!key) goto bad; +#elif CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kwds, pos); +#else + key = PyTuple_GetItem(kwds, pos); + if (!key) goto bad; +#endif + value = kwvalues[pos]; + pos++; + } + else + { + if (!PyDict_Next(kwds, &pos, &key, &value)) break; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + } + name = first_kw_arg; + while (*name && (**name != key)) name++; + if (*name) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(value); + Py_DECREF(key); +#endif + key = NULL; + value = NULL; + continue; + } +#if !CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + Py_INCREF(value); + name = first_kw_arg; + #if PY_MAJOR_VERSION < 3 + if (likely(PyString_Check(key))) { + while (*name) { + if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) + && _PyString_Eq(**name, key)) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + if ((**argname == key) || ( + (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) + && _PyString_Eq(**argname, key))) { + goto arg_passed_twice; + } + argname++; + } + } + } else + #endif + if (likely(PyUnicode_Check(key))) { + while (*name) { + int cmp = ( + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**name, key) + ); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + int cmp = (**argname == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**argname, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) goto arg_passed_twice; + argname++; + } + } + } else + goto invalid_keyword_type; + if (kwds2) { + if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; + } else { + goto invalid_keyword; + } + } + Py_XDECREF(key); + Py_XDECREF(value); + return 0; +arg_passed_twice: + __Pyx_RaiseDoubleKeywordsError(function_name, key); + goto bad; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + goto bad; +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif +bad: + Py_XDECREF(key); + Py_XDECREF(value); + return -1; +} + +/* RaiseArgTupleInvalid */ + static void __Pyx_RaiseArgtupleInvalid( + const char* func_name, + int exact, + Py_ssize_t num_min, + Py_ssize_t num_max, + Py_ssize_t num_found) +{ + Py_ssize_t num_expected; + const char *more_or_less; + if (num_found < num_min) { + num_expected = num_min; + more_or_less = "at least"; + } else { + num_expected = num_max; + more_or_less = "at most"; + } + if (exact) { + more_or_less = "exactly"; + } + PyErr_Format(PyExc_TypeError, + "%.200s() takes %.8s %" CYTHON_FORMAT_SSIZE_T "d positional argument%.1s (%" CYTHON_FORMAT_SSIZE_T "d given)", + func_name, more_or_less, num_expected, + (num_expected == 1) ? "" : "s", num_found); +} + +/* KeywordStringCheck */ + static int __Pyx_CheckKeywordStrings( + PyObject *kw, + const char* function_name, + int kw_allowed) +{ + PyObject* key = 0; + Py_ssize_t pos = 0; +#if CYTHON_COMPILING_IN_PYPY + if (!kw_allowed && PyDict_Next(kw, &pos, &key, 0)) + goto invalid_keyword; + return 1; +#else + if (CYTHON_METH_FASTCALL && likely(PyTuple_Check(kw))) { + Py_ssize_t kwsize; +#if CYTHON_ASSUME_SAFE_MACROS + kwsize = PyTuple_GET_SIZE(kw); +#else + kwsize = PyTuple_Size(kw); + if (kwsize < 0) return 0; +#endif + if (unlikely(kwsize == 0)) + return 1; + if (!kw_allowed) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, 0); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + goto invalid_keyword; + } +#if PY_VERSION_HEX < 0x03090000 + for (pos = 0; pos < kwsize; pos++) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, pos); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } +#endif + return 1; + } + while (PyDict_Next(kw, &pos, &key, 0)) { + #if PY_MAJOR_VERSION < 3 + if (unlikely(!PyString_Check(key))) + #endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } + if (!kw_allowed && unlikely(key)) + goto invalid_keyword; + return 1; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + return 0; +#endif +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif + return 0; +} + +/* FixUpExtensionType */ + #if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type) { +#if PY_VERSION_HEX > 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + CYTHON_UNUSED_VAR(spec); + CYTHON_UNUSED_VAR(type); +#else + const PyType_Slot *slot = spec->slots; + while (slot && slot->slot && slot->slot != Py_tp_members) + slot++; + if (slot && slot->slot == Py_tp_members) { + int changed = 0; +#if !(PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON) + const +#endif + PyMemberDef *memb = (PyMemberDef*) slot->pfunc; + while (memb && memb->name) { + if (memb->name[0] == '_' && memb->name[1] == '_') { +#if PY_VERSION_HEX < 0x030900b1 + if (strcmp(memb->name, "__weaklistoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_weaklistoffset = memb->offset; + changed = 1; + } + else if (strcmp(memb->name, "__dictoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_dictoffset = memb->offset; + changed = 1; + } +#if CYTHON_METH_FASTCALL + else if (strcmp(memb->name, "__vectorcalloffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); +#if PY_VERSION_HEX >= 0x030800b4 + type->tp_vectorcall_offset = memb->offset; +#else + type->tp_print = (printfunc) memb->offset; +#endif + changed = 1; + } +#endif +#else + if ((0)); +#endif +#if PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON + else if (strcmp(memb->name, "__module__") == 0) { + PyObject *descr; + assert(memb->type == T_OBJECT); + assert(memb->flags == 0 || memb->flags == READONLY); + descr = PyDescr_NewMember(type, memb); + if (unlikely(!descr)) + return -1; + if (unlikely(PyDict_SetItem(type->tp_dict, PyDescr_NAME(descr), descr) < 0)) { + Py_DECREF(descr); + return -1; + } + Py_DECREF(descr); + changed = 1; + } +#endif + } + memb++; + } + if (changed) + PyType_Modified(type); + } +#endif + return 0; +} +#endif + +/* PyObjectCallNoArg */ + static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { + PyObject *arg[2] = {NULL, NULL}; + return __Pyx_PyObject_FastCall(func, arg + 1, 0 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* PyObjectCallOneArg */ + static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *args[2] = {NULL, arg}; + return __Pyx_PyObject_FastCall(func, args+1, 1 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* PyObjectGetMethod */ + static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method) { + PyObject *attr; +#if CYTHON_UNPACK_METHODS && CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_PYTYPE_LOOKUP + __Pyx_TypeName type_name; + PyTypeObject *tp = Py_TYPE(obj); + PyObject *descr; + descrgetfunc f = NULL; + PyObject **dictptr, *dict; + int meth_found = 0; + assert (*method == NULL); + if (unlikely(tp->tp_getattro != PyObject_GenericGetAttr)) { + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; + } + if (unlikely(tp->tp_dict == NULL) && unlikely(PyType_Ready(tp) < 0)) { + return 0; + } + descr = _PyType_Lookup(tp, name); + if (likely(descr != NULL)) { + Py_INCREF(descr); +#if defined(Py_TPFLAGS_METHOD_DESCRIPTOR) && Py_TPFLAGS_METHOD_DESCRIPTOR + if (__Pyx_PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_METHOD_DESCRIPTOR)) +#elif PY_MAJOR_VERSION >= 3 + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type))) + #endif +#else + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr))) + #endif +#endif + { + meth_found = 1; + } else { + f = Py_TYPE(descr)->tp_descr_get; + if (f != NULL && PyDescr_IsData(descr)) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + } + } + dictptr = _PyObject_GetDictPtr(obj); + if (dictptr != NULL && (dict = *dictptr) != NULL) { + Py_INCREF(dict); + attr = __Pyx_PyDict_GetItemStr(dict, name); + if (attr != NULL) { + Py_INCREF(attr); + Py_DECREF(dict); + Py_XDECREF(descr); + goto try_unpack; + } + Py_DECREF(dict); + } + if (meth_found) { + *method = descr; + return 1; + } + if (f != NULL) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + if (likely(descr != NULL)) { + *method = descr; + return 0; + } + type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return 0; +#else + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; +#endif +try_unpack: +#if CYTHON_UNPACK_METHODS + if (likely(attr) && PyMethod_Check(attr) && likely(PyMethod_GET_SELF(attr) == obj)) { + PyObject *function = PyMethod_GET_FUNCTION(attr); + Py_INCREF(function); + Py_DECREF(attr); + *method = function; + return 1; + } +#endif + *method = attr; + return 0; +} + +/* PyObjectCallMethod0 */ + static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name) { + PyObject *method = NULL, *result = NULL; + int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); + if (likely(is_method)) { + result = __Pyx_PyObject_CallOneArg(method, obj); + Py_DECREF(method); + return result; + } + if (unlikely(!method)) goto bad; + result = __Pyx_PyObject_CallNoArg(method); + Py_DECREF(method); +bad: + return result; +} + +/* ValidateBasesTuple */ + #if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases) { + Py_ssize_t i, n; +#if CYTHON_ASSUME_SAFE_MACROS + n = PyTuple_GET_SIZE(bases); +#else + n = PyTuple_Size(bases); + if (n < 0) return -1; +#endif + for (i = 1; i < n; i++) + { +#if CYTHON_AVOID_BORROWED_REFS + PyObject *b0 = PySequence_GetItem(bases, i); + if (!b0) return -1; +#elif CYTHON_ASSUME_SAFE_MACROS + PyObject *b0 = PyTuple_GET_ITEM(bases, i); +#else + PyObject *b0 = PyTuple_GetItem(bases, i); + if (!b0) return -1; +#endif + PyTypeObject *b; +#if PY_MAJOR_VERSION < 3 + if (PyClass_Check(b0)) + { + PyErr_Format(PyExc_TypeError, "base class '%.200s' is an old-style class", + PyString_AS_STRING(((PyClassObject*)b0)->cl_name)); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } +#endif + b = (PyTypeObject*) b0; + if (!__Pyx_PyType_HasFeature(b, Py_TPFLAGS_HEAPTYPE)) + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "base class '" __Pyx_FMT_TYPENAME "' is not a heap type", b_name); + __Pyx_DECREF_TypeName(b_name); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + if (dictoffset == 0) + { + Py_ssize_t b_dictoffset = 0; +#if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + b_dictoffset = b->tp_dictoffset; +#else + PyObject *py_b_dictoffset = PyObject_GetAttrString((PyObject*)b, "__dictoffset__"); + if (!py_b_dictoffset) goto dictoffset_return; + b_dictoffset = PyLong_AsSsize_t(py_b_dictoffset); + Py_DECREF(py_b_dictoffset); + if (b_dictoffset == -1 && PyErr_Occurred()) goto dictoffset_return; +#endif + if (b_dictoffset) { + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "extension type '%.200s' has no __dict__ slot, " + "but base type '" __Pyx_FMT_TYPENAME "' has: " + "either add 'cdef dict __dict__' to the extension type " + "or add '__slots__ = [...]' to the base type", + type_name, b_name); + __Pyx_DECREF_TypeName(b_name); + } +#if !(CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY) + dictoffset_return: +#endif +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + } +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + } + return 0; +} +#endif + +/* PyType_Ready */ + static int __Pyx_PyType_Ready(PyTypeObject *t) { +#if CYTHON_USE_TYPE_SPECS || !(CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API) || defined(PYSTON_MAJOR_VERSION) + (void)__Pyx_PyObject_CallMethod0; +#if CYTHON_USE_TYPE_SPECS + (void)__Pyx_validate_bases_tuple; +#endif + return PyType_Ready(t); +#else + int r; + PyObject *bases = __Pyx_PyType_GetSlot(t, tp_bases, PyObject*); + if (bases && unlikely(__Pyx_validate_bases_tuple(t->tp_name, t->tp_dictoffset, bases) == -1)) + return -1; +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + { + int gc_was_enabled; + #if PY_VERSION_HEX >= 0x030A00b1 + gc_was_enabled = PyGC_Disable(); + (void)__Pyx_PyObject_CallMethod0; + #else + PyObject *ret, *py_status; + PyObject *gc = NULL; + #if PY_VERSION_HEX >= 0x030700a1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM+0 >= 0x07030400) + gc = PyImport_GetModule(__pyx_kp_u_gc); + #endif + if (unlikely(!gc)) gc = PyImport_Import(__pyx_kp_u_gc); + if (unlikely(!gc)) return -1; + py_status = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_isenabled); + if (unlikely(!py_status)) { + Py_DECREF(gc); + return -1; + } + gc_was_enabled = __Pyx_PyObject_IsTrue(py_status); + Py_DECREF(py_status); + if (gc_was_enabled > 0) { + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_disable); + if (unlikely(!ret)) { + Py_DECREF(gc); + return -1; + } + Py_DECREF(ret); + } else if (unlikely(gc_was_enabled == -1)) { + Py_DECREF(gc); + return -1; + } + #endif + t->tp_flags |= Py_TPFLAGS_HEAPTYPE; +#if PY_VERSION_HEX >= 0x030A0000 + t->tp_flags |= Py_TPFLAGS_IMMUTABLETYPE; +#endif +#else + (void)__Pyx_PyObject_CallMethod0; +#endif + r = PyType_Ready(t); +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + t->tp_flags &= ~Py_TPFLAGS_HEAPTYPE; + #if PY_VERSION_HEX >= 0x030A00b1 + if (gc_was_enabled) + PyGC_Enable(); + #else + if (gc_was_enabled) { + PyObject *tp, *v, *tb; + PyErr_Fetch(&tp, &v, &tb); + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_enable); + if (likely(ret || r == -1)) { + Py_XDECREF(ret); + PyErr_Restore(tp, v, tb); + } else { + Py_XDECREF(tp); + Py_XDECREF(v); + Py_XDECREF(tb); + r = -1; + } + } + Py_DECREF(gc); + #endif + } +#endif + return r; +#endif +} + +/* PyObject_GenericGetAttrNoDict */ + #if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { + __Pyx_TypeName type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, attr_name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(attr_name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { + PyObject *descr; + PyTypeObject *tp = Py_TYPE(obj); + if (unlikely(!PyString_Check(attr_name))) { + return PyObject_GenericGetAttr(obj, attr_name); + } + assert(!tp->tp_dictoffset); + descr = _PyType_Lookup(tp, attr_name); + if (unlikely(!descr)) { + return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); + } + Py_INCREF(descr); + #if PY_MAJOR_VERSION < 3 + if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) + #endif + { + descrgetfunc f = Py_TYPE(descr)->tp_descr_get; + if (unlikely(f)) { + PyObject *res = f(descr, obj, (PyObject *)tp); + Py_DECREF(descr); + return res; + } + } + return descr; +} +#endif + +/* PyObject_GenericGetAttr */ + #if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { + if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { + return PyObject_GenericGetAttr(obj, attr_name); + } + return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); +} +#endif + +/* SetupReduce */ + #if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { + int ret; + PyObject *name_attr; + name_attr = __Pyx_PyObject_GetAttrStrNoError(meth, __pyx_n_s_name); + if (likely(name_attr)) { + ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); + } else { + ret = -1; + } + if (unlikely(ret < 0)) { + PyErr_Clear(); + ret = 0; + } + Py_XDECREF(name_attr); + return ret; +} +static int __Pyx_setup_reduce(PyObject* type_obj) { + int ret = 0; + PyObject *object_reduce = NULL; + PyObject *object_getstate = NULL; + PyObject *object_reduce_ex = NULL; + PyObject *reduce = NULL; + PyObject *reduce_ex = NULL; + PyObject *reduce_cython = NULL; + PyObject *setstate = NULL; + PyObject *setstate_cython = NULL; + PyObject *getstate = NULL; +#if CYTHON_USE_PYTYPE_LOOKUP + getstate = _PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate); +#else + getstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_getstate); + if (!getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (getstate) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_getstate = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_getstate); +#else + object_getstate = __Pyx_PyObject_GetAttrStrNoError((PyObject*)&PyBaseObject_Type, __pyx_n_s_getstate); + if (!object_getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (object_getstate != getstate) { + goto __PYX_GOOD; + } + } +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#else + object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#endif + reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; + if (reduce_ex == object_reduce_ex) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#else + object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#endif + reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; + if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { + reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); + if (likely(reduce_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (reduce == object_reduce || PyErr_Occurred()) { + goto __PYX_BAD; + } + setstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate); + if (!setstate) PyErr_Clear(); + if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { + setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); + if (likely(setstate_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (!setstate || PyErr_Occurred()) { + goto __PYX_BAD; + } + } + PyType_Modified((PyTypeObject*)type_obj); + } + } + goto __PYX_GOOD; +__PYX_BAD: + if (!PyErr_Occurred()) { + __Pyx_TypeName type_obj_name = + __Pyx_PyType_GetName((PyTypeObject*)type_obj); + PyErr_Format(PyExc_RuntimeError, + "Unable to initialize pickling for " __Pyx_FMT_TYPENAME, type_obj_name); + __Pyx_DECREF_TypeName(type_obj_name); + } + ret = -1; +__PYX_GOOD: +#if !CYTHON_USE_PYTYPE_LOOKUP + Py_XDECREF(object_reduce); + Py_XDECREF(object_reduce_ex); + Py_XDECREF(object_getstate); + Py_XDECREF(getstate); +#endif + Py_XDECREF(reduce); + Py_XDECREF(reduce_ex); + Py_XDECREF(reduce_cython); + Py_XDECREF(setstate); + Py_XDECREF(setstate_cython); + return ret; +} +#endif + +/* TypeImport */ + #ifndef __PYX_HAVE_RT_ImportType_3_0_8 +#define __PYX_HAVE_RT_ImportType_3_0_8 +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject *module, const char *module_name, const char *class_name, + size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size) +{ + PyObject *result = 0; + char warning[200]; + Py_ssize_t basicsize; + Py_ssize_t itemsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + PyObject *py_itemsize; +#endif + result = PyObject_GetAttrString(module, class_name); + if (!result) + goto bad; + if (!PyType_Check(result)) { + PyErr_Format(PyExc_TypeError, + "%.200s.%.200s is not a type object", + module_name, class_name); + goto bad; + } +#if !CYTHON_COMPILING_IN_LIMITED_API + basicsize = ((PyTypeObject *)result)->tp_basicsize; + itemsize = ((PyTypeObject *)result)->tp_itemsize; +#else + py_basicsize = PyObject_GetAttrString(result, "__basicsize__"); + if (!py_basicsize) + goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (basicsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; + py_itemsize = PyObject_GetAttrString(result, "__itemsize__"); + if (!py_itemsize) + goto bad; + itemsize = PyLong_AsSsize_t(py_itemsize); + Py_DECREF(py_itemsize); + py_itemsize = 0; + if (itemsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; +#endif + if (itemsize) { + if (size % alignment) { + alignment = size % alignment; + } + if (itemsize < (Py_ssize_t)alignment) + itemsize = (Py_ssize_t)alignment; + } + if ((size_t)(basicsize + itemsize) < size) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize+itemsize); + goto bad; + } + if (check_size == __Pyx_ImportType_CheckSize_Error_3_0_8 && + ((size_t)basicsize > size || (size_t)(basicsize + itemsize) < size)) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd-%zd from PyObject", + module_name, class_name, size, basicsize, basicsize+itemsize); + goto bad; + } + else if (check_size == __Pyx_ImportType_CheckSize_Warn_3_0_8 && (size_t)basicsize > size) { + PyOS_snprintf(warning, sizeof(warning), + "%s.%s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize); + if (PyErr_WarnEx(NULL, warning, 0) < 0) goto bad; + } + return (PyTypeObject *)result; +bad: + Py_XDECREF(result); + return NULL; +} +#endif + +/* Import */ + static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { + PyObject *module = 0; + PyObject *empty_dict = 0; + PyObject *empty_list = 0; + #if PY_MAJOR_VERSION < 3 + PyObject *py_import; + py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); + if (unlikely(!py_import)) + goto bad; + if (!from_list) { + empty_list = PyList_New(0); + if (unlikely(!empty_list)) + goto bad; + from_list = empty_list; + } + #endif + empty_dict = PyDict_New(); + if (unlikely(!empty_dict)) + goto bad; + { + #if PY_MAJOR_VERSION >= 3 + if (level == -1) { + if (strchr(__Pyx_MODULE_NAME, '.') != NULL) { + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, 1); + if (unlikely(!module)) { + if (unlikely(!PyErr_ExceptionMatches(PyExc_ImportError))) + goto bad; + PyErr_Clear(); + } + } + level = 0; + } + #endif + if (!module) { + #if PY_MAJOR_VERSION < 3 + PyObject *py_level = PyInt_FromLong(level); + if (unlikely(!py_level)) + goto bad; + module = PyObject_CallFunctionObjArgs(py_import, + name, __pyx_d, empty_dict, from_list, py_level, (PyObject *)NULL); + Py_DECREF(py_level); + #else + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, level); + #endif + } + } +bad: + Py_XDECREF(empty_dict); + Py_XDECREF(empty_list); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_import); + #endif + return module; +} + +/* ImportDottedModule */ + #if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Error(PyObject *name, PyObject *parts_tuple, Py_ssize_t count) { + PyObject *partial_name = NULL, *slice = NULL, *sep = NULL; + if (unlikely(PyErr_Occurred())) { + PyErr_Clear(); + } + if (likely(PyTuple_GET_SIZE(parts_tuple) == count)) { + partial_name = name; + } else { + slice = PySequence_GetSlice(parts_tuple, 0, count); + if (unlikely(!slice)) + goto bad; + sep = PyUnicode_FromStringAndSize(".", 1); + if (unlikely(!sep)) + goto bad; + partial_name = PyUnicode_Join(sep, slice); + } + PyErr_Format( +#if PY_MAJOR_VERSION < 3 + PyExc_ImportError, + "No module named '%s'", PyString_AS_STRING(partial_name)); +#else +#if PY_VERSION_HEX >= 0x030600B1 + PyExc_ModuleNotFoundError, +#else + PyExc_ImportError, +#endif + "No module named '%U'", partial_name); +#endif +bad: + Py_XDECREF(sep); + Py_XDECREF(slice); + Py_XDECREF(partial_name); + return NULL; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Lookup(PyObject *name) { + PyObject *imported_module; +#if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + return NULL; + imported_module = __Pyx_PyDict_GetItemStr(modules, name); + Py_XINCREF(imported_module); +#else + imported_module = PyImport_GetModule(name); +#endif + return imported_module; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple) { + Py_ssize_t i, nparts; + nparts = PyTuple_GET_SIZE(parts_tuple); + for (i=1; i < nparts && module; i++) { + PyObject *part, *submodule; +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + part = PyTuple_GET_ITEM(parts_tuple, i); +#else + part = PySequence_ITEM(parts_tuple, i); +#endif + submodule = __Pyx_PyObject_GetAttrStrNoError(module, part); +#if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(part); +#endif + Py_DECREF(module); + module = submodule; + } + if (unlikely(!module)) { + return __Pyx__ImportDottedModule_Error(name, parts_tuple, i); + } + return module; +} +#endif +static PyObject *__Pyx__ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if PY_MAJOR_VERSION < 3 + PyObject *module, *from_list, *star = __pyx_n_s__3; + CYTHON_UNUSED_VAR(parts_tuple); + from_list = PyList_New(1); + if (unlikely(!from_list)) + return NULL; + Py_INCREF(star); + PyList_SET_ITEM(from_list, 0, star); + module = __Pyx_Import(name, from_list, 0); + Py_DECREF(from_list); + return module; +#else + PyObject *imported_module; + PyObject *module = __Pyx_Import(name, NULL, 0); + if (!parts_tuple || unlikely(!module)) + return module; + imported_module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(imported_module)) { + Py_DECREF(module); + return imported_module; + } + PyErr_Clear(); + return __Pyx_ImportDottedModule_WalkParts(module, name, parts_tuple); +#endif +} +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030400B1 + PyObject *module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(module)) { + PyObject *spec = __Pyx_PyObject_GetAttrStrNoError(module, __pyx_n_s_spec); + if (likely(spec)) { + PyObject *unsafe = __Pyx_PyObject_GetAttrStrNoError(spec, __pyx_n_s_initializing); + if (likely(!unsafe || !__Pyx_PyObject_IsTrue(unsafe))) { + Py_DECREF(spec); + spec = NULL; + } + Py_XDECREF(unsafe); + } + if (likely(!spec)) { + PyErr_Clear(); + return module; + } + Py_DECREF(spec); + Py_DECREF(module); + } else if (PyErr_Occurred()) { + PyErr_Clear(); + } +#endif + return __Pyx__ImportDottedModule(name, parts_tuple); +} + +/* FetchSharedCythonModule */ + static PyObject *__Pyx_FetchSharedCythonABIModule(void) { + return __Pyx_PyImport_AddModuleRef((char*) __PYX_ABI_MODULE_NAME); +} + +/* FetchCommonType */ + static int __Pyx_VerifyCachedType(PyObject *cached_type, + const char *name, + Py_ssize_t basicsize, + Py_ssize_t expected_basicsize) { + if (!PyType_Check(cached_type)) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s is not a type object", name); + return -1; + } + if (basicsize != expected_basicsize) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s has the wrong size, try recompiling", + name); + return -1; + } + return 0; +} +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) { + PyObject* abi_module; + const char* object_name; + PyTypeObject *cached_type = NULL; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + object_name = strrchr(type->tp_name, '.'); + object_name = object_name ? object_name+1 : type->tp_name; + cached_type = (PyTypeObject*) PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + if (__Pyx_VerifyCachedType( + (PyObject *)cached_type, + object_name, + cached_type->tp_basicsize, + type->tp_basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + if (PyType_Ready(type) < 0) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, (PyObject *)type) < 0) + goto bad; + Py_INCREF(type); + cached_type = type; +done: + Py_DECREF(abi_module); + return cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#else +static PyTypeObject *__Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases) { + PyObject *abi_module, *cached_type = NULL; + const char* object_name = strrchr(spec->name, '.'); + object_name = object_name ? object_name+1 : spec->name; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + cached_type = PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + Py_ssize_t basicsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + py_basicsize = PyObject_GetAttrString(cached_type, "__basicsize__"); + if (unlikely(!py_basicsize)) goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (unlikely(basicsize == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; +#else + basicsize = likely(PyType_Check(cached_type)) ? ((PyTypeObject*) cached_type)->tp_basicsize : -1; +#endif + if (__Pyx_VerifyCachedType( + cached_type, + object_name, + basicsize, + spec->basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + CYTHON_UNUSED_VAR(module); + cached_type = __Pyx_PyType_FromModuleAndSpec(abi_module, spec, bases); + if (unlikely(!cached_type)) goto bad; + if (unlikely(__Pyx_fix_up_extension_type_from_spec(spec, (PyTypeObject *) cached_type) < 0)) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, cached_type) < 0) goto bad; +done: + Py_DECREF(abi_module); + assert(cached_type == NULL || PyType_Check(cached_type)); + return (PyTypeObject *) cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#endif + +/* PyVectorcallFastCallDict */ + #if CYTHON_METH_FASTCALL +static PyObject *__Pyx_PyVectorcall_FastCallDict_kw(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + PyObject *res = NULL; + PyObject *kwnames; + PyObject **newargs; + PyObject **kwvalues; + Py_ssize_t i, pos; + size_t j; + PyObject *key, *value; + unsigned long keys_are_strings; + Py_ssize_t nkw = PyDict_GET_SIZE(kw); + newargs = (PyObject **)PyMem_Malloc((nargs + (size_t)nkw) * sizeof(args[0])); + if (unlikely(newargs == NULL)) { + PyErr_NoMemory(); + return NULL; + } + for (j = 0; j < nargs; j++) newargs[j] = args[j]; + kwnames = PyTuple_New(nkw); + if (unlikely(kwnames == NULL)) { + PyMem_Free(newargs); + return NULL; + } + kwvalues = newargs + nargs; + pos = i = 0; + keys_are_strings = Py_TPFLAGS_UNICODE_SUBCLASS; + while (PyDict_Next(kw, &pos, &key, &value)) { + keys_are_strings &= Py_TYPE(key)->tp_flags; + Py_INCREF(key); + Py_INCREF(value); + PyTuple_SET_ITEM(kwnames, i, key); + kwvalues[i] = value; + i++; + } + if (unlikely(!keys_are_strings)) { + PyErr_SetString(PyExc_TypeError, "keywords must be strings"); + goto cleanup; + } + res = vc(func, newargs, nargs, kwnames); +cleanup: + Py_DECREF(kwnames); + for (i = 0; i < nkw; i++) + Py_DECREF(kwvalues[i]); + PyMem_Free(newargs); + return res; +} +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + if (likely(kw == NULL) || PyDict_GET_SIZE(kw) == 0) { + return vc(func, args, nargs, NULL); + } + return __Pyx_PyVectorcall_FastCallDict_kw(func, vc, args, nargs, kw); +} +#endif + +/* CythonFunctionShared */ + #if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + if (__Pyx_CyFunction_Check(func)) { + return PyCFunction_GetFunction(((__pyx_CyFunctionObject*)func)->func) == (PyCFunction) cfunc; + } else if (PyCFunction_Check(func)) { + return PyCFunction_GetFunction(func) == (PyCFunction) cfunc; + } + return 0; +} +#else +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + return __Pyx_CyOrPyCFunction_Check(func) && __Pyx_CyOrPyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +} +#endif +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj) { +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + __Pyx_Py_XDECREF_SET( + __Pyx_CyFunction_GetClassObj(f), + ((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#else + __Pyx_Py_XDECREF_SET( + ((PyCMethodObject *) (f))->mm_class, + (PyTypeObject*)((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#endif +} +static PyObject * +__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, void *closure) +{ + CYTHON_UNUSED_VAR(closure); + if (unlikely(op->func_doc == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_doc = PyObject_GetAttrString(op->func, "__doc__"); + if (unlikely(!op->func_doc)) return NULL; +#else + if (((PyCFunctionObject*)op)->m_ml->ml_doc) { +#if PY_MAJOR_VERSION >= 3 + op->func_doc = PyUnicode_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#else + op->func_doc = PyString_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#endif + if (unlikely(op->func_doc == NULL)) + return NULL; + } else { + Py_INCREF(Py_None); + return Py_None; + } +#endif + } + Py_INCREF(op->func_doc); + return op->func_doc; +} +static int +__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (value == NULL) { + value = Py_None; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_doc, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_name == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_name = PyObject_GetAttrString(op->func, "__name__"); +#elif PY_MAJOR_VERSION >= 3 + op->func_name = PyUnicode_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#else + op->func_name = PyString_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#endif + if (unlikely(op->func_name == NULL)) + return NULL; + } + Py_INCREF(op->func_name); + return op->func_name; +} +static int +__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__name__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_name, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_qualname); + return op->func_qualname; +} +static int +__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__qualname__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_qualname, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_dict(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_dict == NULL)) { + op->func_dict = PyDict_New(); + if (unlikely(op->func_dict == NULL)) + return NULL; + } + Py_INCREF(op->func_dict); + return op->func_dict; +} +static int +__Pyx_CyFunction_set_dict(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(value == NULL)) { + PyErr_SetString(PyExc_TypeError, + "function's dictionary may not be deleted"); + return -1; + } + if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "setting function's dictionary to a non-dict"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_dict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_globals(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_globals); + return op->func_globals; +} +static PyObject * +__Pyx_CyFunction_get_closure(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(op); + CYTHON_UNUSED_VAR(context); + Py_INCREF(Py_None); + return Py_None; +} +static PyObject * +__Pyx_CyFunction_get_code(__pyx_CyFunctionObject *op, void *context) +{ + PyObject* result = (op->func_code) ? op->func_code : Py_None; + CYTHON_UNUSED_VAR(context); + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_init_defaults(__pyx_CyFunctionObject *op) { + int result = 0; + PyObject *res = op->defaults_getter((PyObject *) op); + if (unlikely(!res)) + return -1; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + op->defaults_tuple = PyTuple_GET_ITEM(res, 0); + Py_INCREF(op->defaults_tuple); + op->defaults_kwdict = PyTuple_GET_ITEM(res, 1); + Py_INCREF(op->defaults_kwdict); + #else + op->defaults_tuple = __Pyx_PySequence_ITEM(res, 0); + if (unlikely(!op->defaults_tuple)) result = -1; + else { + op->defaults_kwdict = __Pyx_PySequence_ITEM(res, 1); + if (unlikely(!op->defaults_kwdict)) result = -1; + } + #endif + Py_DECREF(res); + return result; +} +static int +__Pyx_CyFunction_set_defaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyTuple_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__defaults__ must be set to a tuple object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__defaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_tuple, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_defaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_tuple; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_tuple; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_kwdefaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__kwdefaults__ must be set to a dict object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__kwdefaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_kwdict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_kwdefaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_kwdict; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_kwdict; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_annotations(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value || value == Py_None) { + value = NULL; + } else if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__annotations__ must be set to a dict object"); + return -1; + } + Py_XINCREF(value); + __Pyx_Py_XDECREF_SET(op->func_annotations, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_annotations(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->func_annotations; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + result = PyDict_New(); + if (unlikely(!result)) return NULL; + op->func_annotations = result; + } + Py_INCREF(result); + return result; +} +static PyObject * +__Pyx_CyFunction_get_is_coroutine(__pyx_CyFunctionObject *op, void *context) { + int is_coroutine; + CYTHON_UNUSED_VAR(context); + if (op->func_is_coroutine) { + return __Pyx_NewRef(op->func_is_coroutine); + } + is_coroutine = op->flags & __Pyx_CYFUNCTION_COROUTINE; +#if PY_VERSION_HEX >= 0x03050000 + if (is_coroutine) { + PyObject *module, *fromlist, *marker = __pyx_n_s_is_coroutine; + fromlist = PyList_New(1); + if (unlikely(!fromlist)) return NULL; + Py_INCREF(marker); +#if CYTHON_ASSUME_SAFE_MACROS + PyList_SET_ITEM(fromlist, 0, marker); +#else + if (unlikely(PyList_SetItem(fromlist, 0, marker) < 0)) { + Py_DECREF(marker); + Py_DECREF(fromlist); + return NULL; + } +#endif + module = PyImport_ImportModuleLevelObject(__pyx_n_s_asyncio_coroutines, NULL, NULL, fromlist, 0); + Py_DECREF(fromlist); + if (unlikely(!module)) goto ignore; + op->func_is_coroutine = __Pyx_PyObject_GetAttrStr(module, marker); + Py_DECREF(module); + if (likely(op->func_is_coroutine)) { + return __Pyx_NewRef(op->func_is_coroutine); + } +ignore: + PyErr_Clear(); + } +#endif + op->func_is_coroutine = __Pyx_PyBool_FromLong(is_coroutine); + return __Pyx_NewRef(op->func_is_coroutine); +} +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject * +__Pyx_CyFunction_get_module(__pyx_CyFunctionObject *op, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_GetAttrString(op->func, "__module__"); +} +static int +__Pyx_CyFunction_set_module(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_SetAttrString(op->func, "__module__", value); +} +#endif +static PyGetSetDef __pyx_CyFunction_getsets[] = { + {(char *) "func_doc", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "__doc__", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "func_name", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__name__", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__qualname__", (getter)__Pyx_CyFunction_get_qualname, (setter)__Pyx_CyFunction_set_qualname, 0, 0}, + {(char *) "func_dict", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "__dict__", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "func_globals", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "__globals__", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "func_closure", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "__closure__", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "func_code", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "__code__", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "func_defaults", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__defaults__", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__kwdefaults__", (getter)__Pyx_CyFunction_get_kwdefaults, (setter)__Pyx_CyFunction_set_kwdefaults, 0, 0}, + {(char *) "__annotations__", (getter)__Pyx_CyFunction_get_annotations, (setter)__Pyx_CyFunction_set_annotations, 0, 0}, + {(char *) "_is_coroutine", (getter)__Pyx_CyFunction_get_is_coroutine, 0, 0, 0}, +#if CYTHON_COMPILING_IN_LIMITED_API + {"__module__", (getter)__Pyx_CyFunction_get_module, (setter)__Pyx_CyFunction_set_module, 0, 0}, +#endif + {0, 0, 0, 0, 0} +}; +static PyMemberDef __pyx_CyFunction_members[] = { +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__module__", T_OBJECT, offsetof(PyCFunctionObject, m_module), 0, 0}, +#endif +#if CYTHON_USE_TYPE_SPECS + {(char *) "__dictoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_dict), READONLY, 0}, +#if CYTHON_METH_FASTCALL +#if CYTHON_BACKPORT_VECTORCALL + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_vectorcall), READONLY, 0}, +#else +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(PyCFunctionObject, vectorcall), READONLY, 0}, +#endif +#endif +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_weakreflist), READONLY, 0}, +#else + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(PyCFunctionObject, m_weakreflist), READONLY, 0}, +#endif +#endif + {0, 0, 0, 0, 0} +}; +static PyObject * +__Pyx_CyFunction_reduce(__pyx_CyFunctionObject *m, PyObject *args) +{ + CYTHON_UNUSED_VAR(args); +#if PY_MAJOR_VERSION >= 3 + Py_INCREF(m->func_qualname); + return m->func_qualname; +#else + return PyString_FromString(((PyCFunctionObject*)m)->m_ml->ml_name); +#endif +} +static PyMethodDef __pyx_CyFunction_methods[] = { + {"__reduce__", (PyCFunction)__Pyx_CyFunction_reduce, METH_VARARGS, 0}, + {0, 0, 0, 0} +}; +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func_weakreflist) +#else +#define __Pyx_CyFunction_weakreflist(cyfunc) (((PyCFunctionObject*)cyfunc)->m_weakreflist) +#endif +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject *op, PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { +#if !CYTHON_COMPILING_IN_LIMITED_API + PyCFunctionObject *cf = (PyCFunctionObject*) op; +#endif + if (unlikely(op == NULL)) + return NULL; +#if CYTHON_COMPILING_IN_LIMITED_API + op->func = PyCFunction_NewEx(ml, (PyObject*)op, module); + if (unlikely(!op->func)) return NULL; +#endif + op->flags = flags; + __Pyx_CyFunction_weakreflist(op) = NULL; +#if !CYTHON_COMPILING_IN_LIMITED_API + cf->m_ml = ml; + cf->m_self = (PyObject *) op; +#endif + Py_XINCREF(closure); + op->func_closure = closure; +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_XINCREF(module); + cf->m_module = module; +#endif + op->func_dict = NULL; + op->func_name = NULL; + Py_INCREF(qualname); + op->func_qualname = qualname; + op->func_doc = NULL; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + op->func_classobj = NULL; +#else + ((PyCMethodObject*)op)->mm_class = NULL; +#endif + op->func_globals = globals; + Py_INCREF(op->func_globals); + Py_XINCREF(code); + op->func_code = code; + op->defaults_pyobjects = 0; + op->defaults_size = 0; + op->defaults = NULL; + op->defaults_tuple = NULL; + op->defaults_kwdict = NULL; + op->defaults_getter = NULL; + op->func_annotations = NULL; + op->func_is_coroutine = NULL; +#if CYTHON_METH_FASTCALL + switch (ml->ml_flags & (METH_VARARGS | METH_FASTCALL | METH_NOARGS | METH_O | METH_KEYWORDS | METH_METHOD)) { + case METH_NOARGS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_NOARGS; + break; + case METH_O: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_O; + break; + case METH_METHOD | METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD; + break; + case METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS; + break; + case METH_VARARGS | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = NULL; + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + Py_DECREF(op); + return NULL; + } +#endif + return (PyObject *) op; +} +static int +__Pyx_CyFunction_clear(__pyx_CyFunctionObject *m) +{ + Py_CLEAR(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_CLEAR(m->func); +#else + Py_CLEAR(((PyCFunctionObject*)m)->m_module); +#endif + Py_CLEAR(m->func_dict); + Py_CLEAR(m->func_name); + Py_CLEAR(m->func_qualname); + Py_CLEAR(m->func_doc); + Py_CLEAR(m->func_globals); + Py_CLEAR(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API +#if PY_VERSION_HEX < 0x030900B1 + Py_CLEAR(__Pyx_CyFunction_GetClassObj(m)); +#else + { + PyObject *cls = (PyObject*) ((PyCMethodObject *) (m))->mm_class; + ((PyCMethodObject *) (m))->mm_class = NULL; + Py_XDECREF(cls); + } +#endif +#endif + Py_CLEAR(m->defaults_tuple); + Py_CLEAR(m->defaults_kwdict); + Py_CLEAR(m->func_annotations); + Py_CLEAR(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_XDECREF(pydefaults[i]); + PyObject_Free(m->defaults); + m->defaults = NULL; + } + return 0; +} +static void __Pyx__CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + if (__Pyx_CyFunction_weakreflist(m) != NULL) + PyObject_ClearWeakRefs((PyObject *) m); + __Pyx_CyFunction_clear(m); + __Pyx_PyHeapTypeObject_GC_Del(m); +} +static void __Pyx_CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + PyObject_GC_UnTrack(m); + __Pyx__CyFunction_dealloc(m); +} +static int __Pyx_CyFunction_traverse(__pyx_CyFunctionObject *m, visitproc visit, void *arg) +{ + Py_VISIT(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(m->func); +#else + Py_VISIT(((PyCFunctionObject*)m)->m_module); +#endif + Py_VISIT(m->func_dict); + Py_VISIT(m->func_name); + Py_VISIT(m->func_qualname); + Py_VISIT(m->func_doc); + Py_VISIT(m->func_globals); + Py_VISIT(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(__Pyx_CyFunction_GetClassObj(m)); +#endif + Py_VISIT(m->defaults_tuple); + Py_VISIT(m->defaults_kwdict); + Py_VISIT(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_VISIT(pydefaults[i]); + } + return 0; +} +static PyObject* +__Pyx_CyFunction_repr(__pyx_CyFunctionObject *op) +{ +#if PY_MAJOR_VERSION >= 3 + return PyUnicode_FromFormat("", + op->func_qualname, (void *)op); +#else + return PyString_FromFormat("", + PyString_AsString(op->func_qualname), (void *)op); +#endif +} +static PyObject * __Pyx_CyFunction_CallMethod(PyObject *func, PyObject *self, PyObject *arg, PyObject *kw) { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *f = ((__pyx_CyFunctionObject*)func)->func; + PyObject *py_name = NULL; + PyCFunction meth; + int flags; + meth = PyCFunction_GetFunction(f); + if (unlikely(!meth)) return NULL; + flags = PyCFunction_GetFlags(f); + if (unlikely(flags < 0)) return NULL; +#else + PyCFunctionObject* f = (PyCFunctionObject*)func; + PyCFunction meth = f->m_ml->ml_meth; + int flags = f->m_ml->ml_flags; +#endif + Py_ssize_t size; + switch (flags & (METH_VARARGS | METH_KEYWORDS | METH_NOARGS | METH_O)) { + case METH_VARARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) + return (*meth)(self, arg); + break; + case METH_VARARGS | METH_KEYWORDS: + return (*(PyCFunctionWithKeywords)(void*)meth)(self, arg, kw); + case METH_NOARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 0)) + return (*meth)(self, NULL); +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + case METH_O: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 1)) { + PyObject *result, *arg0; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + arg0 = PyTuple_GET_ITEM(arg, 0); + #else + arg0 = __Pyx_PySequence_ITEM(arg, 0); if (unlikely(!arg0)) return NULL; + #endif + result = (*meth)(self, arg0); + #if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(arg0); + #endif + return result; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + return NULL; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, "%.200S() takes no keyword arguments", + py_name); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, "%.200s() takes no keyword arguments", + f->m_ml->ml_name); +#endif + return NULL; +} +static CYTHON_INLINE PyObject *__Pyx_CyFunction_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *self, *result; +#if CYTHON_COMPILING_IN_LIMITED_API + self = PyCFunction_GetSelf(((__pyx_CyFunctionObject*)func)->func); + if (unlikely(!self) && PyErr_Occurred()) return NULL; +#else + self = ((PyCFunctionObject*)func)->m_self; +#endif + result = __Pyx_CyFunction_CallMethod(func, self, arg, kw); + return result; +} +static PyObject *__Pyx_CyFunction_CallAsMethod(PyObject *func, PyObject *args, PyObject *kw) { + PyObject *result; + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *) func; +#if CYTHON_METH_FASTCALL + __pyx_vectorcallfunc vc = __Pyx_CyFunction_func_vectorcall(cyfunc); + if (vc) { +#if CYTHON_ASSUME_SAFE_MACROS + return __Pyx_PyVectorcall_FastCallDict(func, vc, &PyTuple_GET_ITEM(args, 0), (size_t)PyTuple_GET_SIZE(args), kw); +#else + (void) &__Pyx_PyVectorcall_FastCallDict; + return PyVectorcall_Call(func, args, kw); +#endif + } +#endif + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + Py_ssize_t argc; + PyObject *new_args; + PyObject *self; +#if CYTHON_ASSUME_SAFE_MACROS + argc = PyTuple_GET_SIZE(args); +#else + argc = PyTuple_Size(args); + if (unlikely(!argc) < 0) return NULL; +#endif + new_args = PyTuple_GetSlice(args, 1, argc); + if (unlikely(!new_args)) + return NULL; + self = PyTuple_GetItem(args, 0); + if (unlikely(!self)) { + Py_DECREF(new_args); +#if PY_MAJOR_VERSION > 2 + PyErr_Format(PyExc_TypeError, + "unbound method %.200S() needs an argument", + cyfunc->func_qualname); +#else + PyErr_SetString(PyExc_TypeError, + "unbound method needs an argument"); +#endif + return NULL; + } + result = __Pyx_CyFunction_CallMethod(func, self, new_args, kw); + Py_DECREF(new_args); + } else { + result = __Pyx_CyFunction_Call(func, args, kw); + } + return result; +} +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE int __Pyx_CyFunction_Vectorcall_CheckArgs(__pyx_CyFunctionObject *cyfunc, Py_ssize_t nargs, PyObject *kwnames) +{ + int ret = 0; + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + if (unlikely(nargs < 1)) { + PyErr_Format(PyExc_TypeError, "%.200s() needs an argument", + ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + ret = 1; + } + if (unlikely(kwnames) && unlikely(PyTuple_GET_SIZE(kwnames))) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no keyword arguments", ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + return ret; +} +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 0)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, NULL); +} +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 1)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, args[0]); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((_PyCFunctionFastWithKeywords)(void(*)(void))def->ml_meth)(self, args, nargs, kwnames); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; + PyTypeObject *cls = (PyTypeObject *) __Pyx_CyFunction_GetClassObj(cyfunc); +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((__Pyx_PyCMethod)(void(*)(void))def->ml_meth)(self, cls, args, (size_t)nargs, kwnames); +} +#endif +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_CyFunctionType_slots[] = { + {Py_tp_dealloc, (void *)__Pyx_CyFunction_dealloc}, + {Py_tp_repr, (void *)__Pyx_CyFunction_repr}, + {Py_tp_call, (void *)__Pyx_CyFunction_CallAsMethod}, + {Py_tp_traverse, (void *)__Pyx_CyFunction_traverse}, + {Py_tp_clear, (void *)__Pyx_CyFunction_clear}, + {Py_tp_methods, (void *)__pyx_CyFunction_methods}, + {Py_tp_members, (void *)__pyx_CyFunction_members}, + {Py_tp_getset, (void *)__pyx_CyFunction_getsets}, + {Py_tp_descr_get, (void *)__Pyx_PyMethod_New}, + {0, 0}, +}; +static PyType_Spec __pyx_CyFunctionType_spec = { + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if (defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL) + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + __pyx_CyFunctionType_slots +}; +#else +static PyTypeObject __pyx_CyFunctionType_type = { + PyVarObject_HEAD_INIT(0, 0) + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, + (destructor) __Pyx_CyFunction_dealloc, +#if !CYTHON_METH_FASTCALL + 0, +#elif CYTHON_BACKPORT_VECTORCALL + (printfunc)offsetof(__pyx_CyFunctionObject, func_vectorcall), +#else + offsetof(PyCFunctionObject, vectorcall), +#endif + 0, + 0, +#if PY_MAJOR_VERSION < 3 + 0, +#else + 0, +#endif + (reprfunc) __Pyx_CyFunction_repr, + 0, + 0, + 0, + 0, + __Pyx_CyFunction_CallAsMethod, + 0, + 0, + 0, + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + 0, + (traverseproc) __Pyx_CyFunction_traverse, + (inquiry) __Pyx_CyFunction_clear, + 0, +#if PY_VERSION_HEX < 0x030500A0 + offsetof(__pyx_CyFunctionObject, func_weakreflist), +#else + offsetof(PyCFunctionObject, m_weakreflist), +#endif + 0, + 0, + __pyx_CyFunction_methods, + __pyx_CyFunction_members, + __pyx_CyFunction_getsets, + 0, + 0, + __Pyx_PyMethod_New, + 0, + offsetof(__pyx_CyFunctionObject, func_dict), + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, +#if PY_VERSION_HEX >= 0x030400a1 + 0, +#endif +#if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, +#endif +#if __PYX_NEED_TP_PRINT_SLOT + 0, +#endif +#if PY_VERSION_HEX >= 0x030C0000 + 0, +#endif +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, +#endif +}; +#endif +static int __pyx_CyFunction_init(PyObject *module) { +#if CYTHON_USE_TYPE_SPECS + __pyx_CyFunctionType = __Pyx_FetchCommonTypeFromSpec(module, &__pyx_CyFunctionType_spec, NULL); +#else + CYTHON_UNUSED_VAR(module); + __pyx_CyFunctionType = __Pyx_FetchCommonType(&__pyx_CyFunctionType_type); +#endif + if (unlikely(__pyx_CyFunctionType == NULL)) { + return -1; + } + return 0; +} +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *func, size_t size, int pyobjects) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults = PyObject_Malloc(size); + if (unlikely(!m->defaults)) + return PyErr_NoMemory(); + memset(m->defaults, 0, size); + m->defaults_pyobjects = pyobjects; + m->defaults_size = size; + return m->defaults; +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *func, PyObject *tuple) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_tuple = tuple; + Py_INCREF(tuple); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_kwdict = dict; + Py_INCREF(dict); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->func_annotations = dict; + Py_INCREF(dict); +} + +/* CythonFunction */ + static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { + PyObject *op = __Pyx_CyFunction_Init( + PyObject_GC_New(__pyx_CyFunctionObject, __pyx_CyFunctionType), + ml, flags, qualname, closure, module, globals, code + ); + if (likely(op)) { + PyObject_GC_Track(op); + } + return op; +} + +/* ClassMethod */ + static PyObject* __Pyx_Method_ClassMethod(PyObject *method) { +#if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM <= 0x05080000 + if (PyObject_TypeCheck(method, &PyWrapperDescr_Type)) { + return PyClassMethod_New(method); + } +#else +#if CYTHON_COMPILING_IN_PYPY + if (PyMethodDescr_Check(method)) +#else + #if PY_MAJOR_VERSION == 2 + static PyTypeObject *methoddescr_type = NULL; + if (unlikely(methoddescr_type == NULL)) { + PyObject *meth = PyObject_GetAttrString((PyObject*)&PyList_Type, "append"); + if (unlikely(!meth)) return NULL; + methoddescr_type = Py_TYPE(meth); + Py_DECREF(meth); + } + #else + PyTypeObject *methoddescr_type = &PyMethodDescr_Type; + #endif + if (__Pyx_TypeCheck(method, methoddescr_type)) +#endif + { + PyMethodDescrObject *descr = (PyMethodDescrObject *)method; + #if PY_VERSION_HEX < 0x03020000 + PyTypeObject *d_type = descr->d_type; + #else + PyTypeObject *d_type = descr->d_common.d_type; + #endif + return PyDescr_NewClassMethod(d_type, descr->d_method); + } +#endif + else if (PyMethod_Check(method)) { + return PyClassMethod_New(PyMethod_GET_FUNCTION(method)); + } + else { + return PyClassMethod_New(method); + } +} + +/* GetNameInClass */ + static PyObject *__Pyx__GetNameInClass(PyObject *nmspace, PyObject *name) { + PyObject *result; + PyObject *dict; + assert(PyType_Check(nmspace)); +#if CYTHON_USE_TYPE_SLOTS + dict = ((PyTypeObject*)nmspace)->tp_dict; + Py_XINCREF(dict); +#else + dict = PyObject_GetAttr(nmspace, __pyx_n_s_dict); +#endif + if (likely(dict)) { + result = PyObject_GetItem(dict, name); + Py_DECREF(dict); + if (result) { + return result; + } + } + PyErr_Clear(); + __Pyx_GetModuleGlobalNameUncached(result, name); + return result; +} + +/* CLineInTraceback */ + #ifndef CYTHON_CLINE_IN_TRACEBACK +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line) { + PyObject *use_cline; + PyObject *ptype, *pvalue, *ptraceback; +#if CYTHON_COMPILING_IN_CPYTHON + PyObject **cython_runtime_dict; +#endif + CYTHON_MAYBE_UNUSED_VAR(tstate); + if (unlikely(!__pyx_cython_runtime)) { + return c_line; + } + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); +#if CYTHON_COMPILING_IN_CPYTHON + cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); + if (likely(cython_runtime_dict)) { + __PYX_PY_DICT_LOOKUP_IF_MODIFIED( + use_cline, *cython_runtime_dict, + __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) + } else +#endif + { + PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStrNoError(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); + if (use_cline_obj) { + use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; +} +#endif + +/* CodeObjectCache */ + #if !CYTHON_COMPILING_IN_LIMITED_API +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; + } + } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } +} +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; + } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; +} +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; + } + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; + } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); +} +#endif + +/* AddTraceback */ + #include "compile.h" +#include "frameobject.h" +#include "traceback.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyCode_Replace_For_AddTraceback(PyObject *code, PyObject *scratch_dict, + PyObject *firstlineno, PyObject *name) { + PyObject *replace = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_firstlineno", firstlineno))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_name", name))) return NULL; + replace = PyObject_GetAttrString(code, "replace"); + if (likely(replace)) { + PyObject *result; + result = PyObject_Call(replace, __pyx_empty_tuple, scratch_dict); + Py_DECREF(replace); + return result; + } + PyErr_Clear(); + #if __PYX_LIMITED_VERSION_HEX < 0x030780000 + { + PyObject *compiled = NULL, *result = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "code", code))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "type", (PyObject*)(&PyType_Type)))) return NULL; + compiled = Py_CompileString( + "out = type(code)(\n" + " code.co_argcount, code.co_kwonlyargcount, code.co_nlocals, code.co_stacksize,\n" + " code.co_flags, code.co_code, code.co_consts, code.co_names,\n" + " code.co_varnames, code.co_filename, co_name, co_firstlineno,\n" + " code.co_lnotab)\n", "", Py_file_input); + if (!compiled) return NULL; + result = PyEval_EvalCode(compiled, scratch_dict, scratch_dict); + Py_DECREF(compiled); + if (!result) PyErr_Print(); + Py_DECREF(result); + result = PyDict_GetItemString(scratch_dict, "out"); + if (result) Py_INCREF(result); + return result; + } + #else + return NULL; + #endif +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyObject *code_object = NULL, *py_py_line = NULL, *py_funcname = NULL, *dict = NULL; + PyObject *replace = NULL, *getframe = NULL, *frame = NULL; + PyObject *exc_type, *exc_value, *exc_traceback; + int success = 0; + if (c_line) { + (void) __pyx_cfilenm; + (void) __Pyx_CLineForTraceback(__Pyx_PyThreadState_Current, c_line); + } + PyErr_Fetch(&exc_type, &exc_value, &exc_traceback); + code_object = Py_CompileString("_getframe()", filename, Py_eval_input); + if (unlikely(!code_object)) goto bad; + py_py_line = PyLong_FromLong(py_line); + if (unlikely(!py_py_line)) goto bad; + py_funcname = PyUnicode_FromString(funcname); + if (unlikely(!py_funcname)) goto bad; + dict = PyDict_New(); + if (unlikely(!dict)) goto bad; + { + PyObject *old_code_object = code_object; + code_object = __Pyx_PyCode_Replace_For_AddTraceback(code_object, dict, py_py_line, py_funcname); + Py_DECREF(old_code_object); + } + if (unlikely(!code_object)) goto bad; + getframe = PySys_GetObject("_getframe"); + if (unlikely(!getframe)) goto bad; + if (unlikely(PyDict_SetItemString(dict, "_getframe", getframe))) goto bad; + frame = PyEval_EvalCode(code_object, dict, dict); + if (unlikely(!frame) || frame == Py_None) goto bad; + success = 1; + bad: + PyErr_Restore(exc_type, exc_value, exc_traceback); + Py_XDECREF(code_object); + Py_XDECREF(py_py_line); + Py_XDECREF(py_funcname); + Py_XDECREF(dict); + Py_XDECREF(replace); + if (success) { + PyTraceBack_Here( + (struct _frame*)frame); + } + Py_XDECREF(frame); +} +#else +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = NULL; + PyObject *py_funcname = NULL; + #if PY_MAJOR_VERSION < 3 + PyObject *py_srcfile = NULL; + py_srcfile = PyString_FromString(filename); + if (!py_srcfile) goto bad; + #endif + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + funcname = PyUnicode_AsUTF8(py_funcname); + if (!funcname) goto bad; + #endif + } + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + if (!py_funcname) goto bad; + #endif + } + #if PY_MAJOR_VERSION < 3 + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + #else + py_code = PyCode_NewEmpty(filename, funcname, py_line); + #endif + Py_XDECREF(py_funcname); + return py_code; +bad: + Py_XDECREF(py_funcname); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_srcfile); + #endif + return NULL; +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject *ptype, *pvalue, *ptraceback; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); + } + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) { + /* If the code object creation fails, then we should clear the + fetched exception references and propagate the new exception */ + Py_XDECREF(ptype); + Py_XDECREF(pvalue); + Py_XDECREF(ptraceback); + goto bad; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + } + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} +#endif + +#if PY_MAJOR_VERSION < 3 +static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags) { + __Pyx_TypeName obj_type_name; + if (PyObject_CheckBuffer(obj)) return PyObject_GetBuffer(obj, view, flags); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' does not have the buffer interface", + obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return -1; +} +static void __Pyx_ReleaseBuffer(Py_buffer *view) { + PyObject *obj = view->obj; + if (!obj) return; + if (PyObject_CheckBuffer(obj)) { + PyBuffer_Release(view); + return; + } + if ((0)) {} + view->obj = NULL; + Py_DECREF(obj); +} +#endif + + + /* Declarations */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #ifdef __cplusplus + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + return ::std::complex< float >(x, y); + } + #else + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + return x + y*(__pyx_t_float_complex)_Complex_I; + } + #endif +#else + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + __pyx_t_float_complex z; + z.real = x; + z.imag = y; + return z; + } +#endif + +/* Arithmetic */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) +#else + static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + return (a.real == b.real) && (a.imag == b.imag); + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real + b.real; + z.imag = a.imag + b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real - b.real; + z.imag = a.imag - b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real * b.real - a.imag * b.imag; + z.imag = a.real * b.imag + a.imag * b.real; + return z; + } + #if 1 + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + if (b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); + } else if (fabsf(b.real) >= fabsf(b.imag)) { + if (b.real == 0 && b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.imag); + } else { + float r = b.imag / b.real; + float s = (float)(1.0) / (b.real + b.imag * r); + return __pyx_t_float_complex_from_parts( + (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); + } + } else { + float r = b.real / b.imag; + float s = (float)(1.0) / (b.imag + b.real * r); + return __pyx_t_float_complex_from_parts( + (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); + } + } + #else + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + if (b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); + } else { + float denom = b.real * b.real + b.imag * b.imag; + return __pyx_t_float_complex_from_parts( + (a.real * b.real + a.imag * b.imag) / denom, + (a.imag * b.real - a.real * b.imag) / denom); + } + } + #endif + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex a) { + __pyx_t_float_complex z; + z.real = -a.real; + z.imag = -a.imag; + return z; + } + static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex a) { + return (a.real == 0) && (a.imag == 0); + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex a) { + __pyx_t_float_complex z; + z.real = a.real; + z.imag = -a.imag; + return z; + } + #if 1 + static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex z) { + #if !defined(HAVE_HYPOT) || defined(_MSC_VER) + return sqrtf(z.real*z.real + z.imag*z.imag); + #else + return hypotf(z.real, z.imag); + #endif + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + float r, lnr, theta, z_r, z_theta; + if (b.imag == 0 && b.real == (int)b.real) { + if (b.real < 0) { + float denom = a.real * a.real + a.imag * a.imag; + a.real = a.real / denom; + a.imag = -a.imag / denom; + b.real = -b.real; + } + switch ((int)b.real) { + case 0: + z.real = 1; + z.imag = 0; + return z; + case 1: + return a; + case 2: + return __Pyx_c_prod_float(a, a); + case 3: + z = __Pyx_c_prod_float(a, a); + return __Pyx_c_prod_float(z, a); + case 4: + z = __Pyx_c_prod_float(a, a); + return __Pyx_c_prod_float(z, z); + } + } + if (a.imag == 0) { + if (a.real == 0) { + return a; + } else if ((b.imag == 0) && (a.real >= 0)) { + z.real = powf(a.real, b.real); + z.imag = 0; + return z; + } else if (a.real > 0) { + r = a.real; + theta = 0; + } else { + r = -a.real; + theta = atan2f(0.0, -1.0); + } + } else { + r = __Pyx_c_abs_float(a); + theta = atan2f(a.imag, a.real); + } + lnr = logf(r); + z_r = expf(lnr * b.real - theta * b.imag); + z_theta = theta * b.real + lnr * b.imag; + z.real = z_r * cosf(z_theta); + z.imag = z_r * sinf(z_theta); + return z; + } + #endif +#endif + +/* Declarations */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #ifdef __cplusplus + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + return ::std::complex< double >(x, y); + } + #else + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + return x + y*(__pyx_t_double_complex)_Complex_I; + } + #endif +#else + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + __pyx_t_double_complex z; + z.real = x; + z.imag = y; + return z; + } +#endif + +/* Arithmetic */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) +#else + static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + return (a.real == b.real) && (a.imag == b.imag); + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real + b.real; + z.imag = a.imag + b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real - b.real; + z.imag = a.imag - b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real * b.real - a.imag * b.imag; + z.imag = a.real * b.imag + a.imag * b.real; + return z; + } + #if 1 + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + if (b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); + } else if (fabs(b.real) >= fabs(b.imag)) { + if (b.real == 0 && b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.imag); + } else { + double r = b.imag / b.real; + double s = (double)(1.0) / (b.real + b.imag * r); + return __pyx_t_double_complex_from_parts( + (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); + } + } else { + double r = b.real / b.imag; + double s = (double)(1.0) / (b.imag + b.real * r); + return __pyx_t_double_complex_from_parts( + (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); + } + } + #else + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + if (b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); + } else { + double denom = b.real * b.real + b.imag * b.imag; + return __pyx_t_double_complex_from_parts( + (a.real * b.real + a.imag * b.imag) / denom, + (a.imag * b.real - a.real * b.imag) / denom); + } + } + #endif + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex a) { + __pyx_t_double_complex z; + z.real = -a.real; + z.imag = -a.imag; + return z; + } + static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex a) { + return (a.real == 0) && (a.imag == 0); + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex a) { + __pyx_t_double_complex z; + z.real = a.real; + z.imag = -a.imag; + return z; + } + #if 1 + static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex z) { + #if !defined(HAVE_HYPOT) || defined(_MSC_VER) + return sqrt(z.real*z.real + z.imag*z.imag); + #else + return hypot(z.real, z.imag); + #endif + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + double r, lnr, theta, z_r, z_theta; + if (b.imag == 0 && b.real == (int)b.real) { + if (b.real < 0) { + double denom = a.real * a.real + a.imag * a.imag; + a.real = a.real / denom; + a.imag = -a.imag / denom; + b.real = -b.real; + } + switch ((int)b.real) { + case 0: + z.real = 1; + z.imag = 0; + return z; + case 1: + return a; + case 2: + return __Pyx_c_prod_double(a, a); + case 3: + z = __Pyx_c_prod_double(a, a); + return __Pyx_c_prod_double(z, a); + case 4: + z = __Pyx_c_prod_double(a, a); + return __Pyx_c_prod_double(z, z); + } + } + if (a.imag == 0) { + if (a.real == 0) { + return a; + } else if ((b.imag == 0) && (a.real >= 0)) { + z.real = pow(a.real, b.real); + z.imag = 0; + return z; + } else if (a.real > 0) { + r = a.real; + theta = 0; + } else { + r = -a.real; + theta = atan2(0.0, -1.0); + } + } else { + r = __Pyx_c_abs_double(a); + theta = atan2(a.imag, a.real); + } + lnr = log(r); + z_r = exp(lnr * b.real - theta * b.imag); + z_theta = theta * b.real + lnr * b.imag; + z.real = z_r * cos(z_theta); + z.imag = z_r * sin(z_theta); + return z; + } + #endif +#endif + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(long)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* FormatTypeName */ + #if CYTHON_COMPILING_IN_LIMITED_API +static __Pyx_TypeName +__Pyx_PyType_GetName(PyTypeObject* tp) +{ + PyObject *name = __Pyx_PyObject_GetAttrStr((PyObject *)tp, + __pyx_n_s_name); + if (unlikely(name == NULL) || unlikely(!PyUnicode_Check(name))) { + PyErr_Clear(); + Py_XDECREF(name); + name = __Pyx_NewRef(__pyx_n_s__42); + } + return name; +} +#endif + +/* CIntFromPyVerify */ + #define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* CIntFromPy */ + static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(long) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (long) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 2 * PyLong_SHIFT)) { + return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 3 * PyLong_SHIFT)) { + return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 4 * PyLong_SHIFT)) { + return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(long) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(long) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(long) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + long val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (long) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (long) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (long) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (long) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(long) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(long) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((long) 1) << (sizeof(long) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (long) -1; + } + } else { + long val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (long) -1; + val = __Pyx_PyInt_As_long(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to long"); + return (long) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to long"); + return (long) -1; +} + +/* CIntFromPy */ + static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(int) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (int) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 2 * PyLong_SHIFT)) { + return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 3 * PyLong_SHIFT)) { + return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 4 * PyLong_SHIFT)) { + return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(int) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(int) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(int) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + int val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (int) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (int) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (int) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (int) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(int) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(int) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((int) 1) << (sizeof(int) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (int) -1; + } + } else { + int val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (int) -1; + val = __Pyx_PyInt_As_int(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to int"); + return (int) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to int"); + return (int) -1; +} + +/* FastTypeChecks */ + #if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = __Pyx_PyType_GetSlot(a, tp_base, PyTypeObject*); + if (a == b) + return 1; + } + return b == &PyBaseObject_Type; +} +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(a, b); +} +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (cls == a || cls == b) return 1; + mro = cls->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + PyObject *base = PyTuple_GET_ITEM(mro, i); + if (base == (PyObject *)a || base == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(cls, a) || __Pyx_InBases(cls, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + } + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + if (exc_type1) { + return __Pyx_IsAnySubtype2((PyTypeObject*)err, (PyTypeObject*)exc_type1, (PyTypeObject*)exc_type2); + } else { + return __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } +} +#endif +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; i= 0x030B00A4 + return Py_Version & ~0xFFUL; +#else + const char* rt_version = Py_GetVersion(); + unsigned long version = 0; + unsigned long factor = 0x01000000UL; + unsigned int digit = 0; + int i = 0; + while (factor) { + while ('0' <= rt_version[i] && rt_version[i] <= '9') { + digit = digit * 10 + (unsigned int) (rt_version[i] - '0'); + ++i; + } + version += factor * digit; + if (rt_version[i] != '.') + break; + digit = 0; + factor >>= 8; + ++i; + } + return version; +#endif +} +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer) { + const unsigned long MAJOR_MINOR = 0xFFFF0000UL; + if ((rt_version & MAJOR_MINOR) == (ct_version & MAJOR_MINOR)) + return 0; + if (likely(allow_newer && (rt_version & MAJOR_MINOR) > (ct_version & MAJOR_MINOR))) + return 1; + { + char message[200]; + PyOS_snprintf(message, sizeof(message), + "compile time Python version %d.%d " + "of module '%.100s' " + "%s " + "runtime version %d.%d", + (int) (ct_version >> 24), (int) ((ct_version >> 16) & 0xFF), + __Pyx_MODULE_NAME, + (allow_newer) ? "was newer than" : "does not match", + (int) (rt_version >> 24), (int) ((rt_version >> 16) & 0xFF) + ); + return PyErr_WarnEx(NULL, message, 1); + } +} + +/* InitStrings */ + #if PY_MAJOR_VERSION >= 3 +static int __Pyx_InitString(__Pyx_StringTabEntry t, PyObject **str) { + if (t.is_unicode | t.is_str) { + if (t.intern) { + *str = PyUnicode_InternFromString(t.s); + } else if (t.encoding) { + *str = PyUnicode_Decode(t.s, t.n - 1, t.encoding, NULL); + } else { + *str = PyUnicode_FromStringAndSize(t.s, t.n - 1); + } + } else { + *str = PyBytes_FromStringAndSize(t.s, t.n - 1); + } + if (!*str) + return -1; + if (PyObject_Hash(*str) == -1) + return -1; + return 0; +} +#endif +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t) { + while (t->p) { + #if PY_MAJOR_VERSION >= 3 + __Pyx_InitString(*t, t->p); + #else + if (t->is_unicode) { + *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); + } else if (t->intern) { + *t->p = PyString_InternFromString(t->s); + } else { + *t->p = PyString_FromStringAndSize(t->s, t->n - 1); + } + if (!*t->p) + return -1; + if (PyObject_Hash(*t->p) == -1) + return -1; + #endif + ++t; + } + return 0; +} + +#include +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s) { + size_t len = strlen(s); + if (unlikely(len > (size_t) PY_SSIZE_T_MAX)) { + PyErr_SetString(PyExc_OverflowError, "byte string is too long"); + return -1; + } + return (Py_ssize_t) len; +} +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return __Pyx_PyUnicode_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return PyByteArray_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { + Py_ssize_t ignore; + return __Pyx_PyObject_AsStringAndSize(o, &ignore); +} +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#if !CYTHON_PEP393_ENABLED +static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + char* defenc_c; + PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); + if (!defenc) return NULL; + defenc_c = PyBytes_AS_STRING(defenc); +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + { + char* end = defenc_c + PyBytes_GET_SIZE(defenc); + char* c; + for (c = defenc_c; c < end; c++) { + if ((unsigned char) (*c) >= 128) { + PyUnicode_AsASCIIString(o); + return NULL; + } + } + } +#endif + *length = PyBytes_GET_SIZE(defenc); + return defenc_c; +} +#else +static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + if (likely(PyUnicode_IS_ASCII(o))) { + *length = PyUnicode_GET_LENGTH(o); + return PyUnicode_AsUTF8(o); + } else { + PyUnicode_AsASCIIString(o); + return NULL; + } +#else + return PyUnicode_AsUTF8AndSize(o, length); +#endif +} +#endif +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT + if ( +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + __Pyx_sys_getdefaultencoding_not_ascii && +#endif + PyUnicode_Check(o)) { + return __Pyx_PyUnicode_AsStringAndSize(o, length); + } else +#endif +#if (!CYTHON_COMPILING_IN_PYPY && !CYTHON_COMPILING_IN_LIMITED_API) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) + if (PyByteArray_Check(o)) { + *length = PyByteArray_GET_SIZE(o); + return PyByteArray_AS_STRING(o); + } else +#endif + { + char* result; + int r = PyBytes_AsStringAndSize(o, &result, length); + if (unlikely(r < 0)) { + return NULL; + } else { + return result; + } + } +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { + int is_true = x == Py_True; + if (is_true | (x == Py_False) | (x == Py_None)) return is_true; + else return PyObject_IsTrue(x); +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { + int retval; + if (unlikely(!x)) return -1; + retval = __Pyx_PyObject_IsTrue(x); + Py_DECREF(x); + return retval; +} +static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { + __Pyx_TypeName result_type_name = __Pyx_PyType_GetName(Py_TYPE(result)); +#if PY_MAJOR_VERSION >= 3 + if (PyLong_Check(result)) { + if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, + "__int__ returned non-int (type " __Pyx_FMT_TYPENAME "). " + "The ability to return an instance of a strict subclass of int is deprecated, " + "and may be removed in a future version of Python.", + result_type_name)) { + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; + } + __Pyx_DECREF_TypeName(result_type_name); + return result; + } +#endif + PyErr_Format(PyExc_TypeError, + "__%.4s__ returned non-%.4s (type " __Pyx_FMT_TYPENAME ")", + type_name, type_name, result_type_name); + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { +#if CYTHON_USE_TYPE_SLOTS + PyNumberMethods *m; +#endif + const char *name = NULL; + PyObject *res = NULL; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x) || PyLong_Check(x))) +#else + if (likely(PyLong_Check(x))) +#endif + return __Pyx_NewRef(x); +#if CYTHON_USE_TYPE_SLOTS + m = Py_TYPE(x)->tp_as_number; + #if PY_MAJOR_VERSION < 3 + if (m && m->nb_int) { + name = "int"; + res = m->nb_int(x); + } + else if (m && m->nb_long) { + name = "long"; + res = m->nb_long(x); + } + #else + if (likely(m && m->nb_int)) { + name = "int"; + res = m->nb_int(x); + } + #endif +#else + if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { + res = PyNumber_Int(x); + } +#endif + if (likely(res)) { +#if PY_MAJOR_VERSION < 3 + if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { +#else + if (unlikely(!PyLong_CheckExact(res))) { +#endif + return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); + } + } + else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_TypeError, + "an integer is required"); + } + return res; +} +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { + Py_ssize_t ival; + PyObject *x; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(b))) { + if (sizeof(Py_ssize_t) >= sizeof(long)) + return PyInt_AS_LONG(b); + else + return PyInt_AsSsize_t(b); + } +#endif + if (likely(PyLong_CheckExact(b))) { + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(__Pyx_PyLong_IsCompact(b))) { + return __Pyx_PyLong_CompactValue(b); + } else { + const digit* digits = __Pyx_PyLong_Digits(b); + const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(b); + switch (size) { + case 2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + } + } + #endif + return PyLong_AsSsize_t(b); + } + x = PyNumber_Index(b); + if (!x) return -1; + ival = PyInt_AsSsize_t(x); + Py_DECREF(x); + return ival; +} +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { + if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { + return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); +#if PY_MAJOR_VERSION < 3 + } else if (likely(PyInt_CheckExact(o))) { + return PyInt_AS_LONG(o); +#endif + } else { + Py_ssize_t ival; + PyObject *x; + x = PyNumber_Index(o); + if (!x) return -1; + ival = PyInt_AsLong(x); + Py_DECREF(x); + return ival; + } +} +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { + return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); +} +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { + return PyInt_FromSize_t(ival); +} + + +/* #### Code section: utility_code_pragmas_end ### */ +#ifdef _MSC_VER +#pragma warning( pop ) +#endif + + + +/* #### Code section: end ### */ +#endif /* Py_PYTHON_H */ diff --git a/common/transformations/transformations.pxd b/common/transformations/transformations.pxd new file mode 100644 index 0000000000..964adf06ec --- /dev/null +++ b/common/transformations/transformations.pxd @@ -0,0 +1,72 @@ +# cython: language_level=3 +from libcpp cimport bool + +cdef extern from "orientation.cc": + pass + +cdef extern from "orientation.hpp": + cdef cppclass Quaternion "Eigen::Quaterniond": + Quaternion() + Quaternion(double, double, double, double) + double w() + double x() + double y() + double z() + + cdef cppclass Vector3 "Eigen::Vector3d": + Vector3() + Vector3(double, double, double) + double operator()(int) + + cdef cppclass Matrix3 "Eigen::Matrix3d": + Matrix3() + Matrix3(double*) + + double operator()(int, int) + + Quaternion euler2quat(Vector3) + Vector3 quat2euler(Quaternion) + Matrix3 quat2rot(Quaternion) + Quaternion rot2quat(Matrix3) + Vector3 rot2euler(Matrix3) + Matrix3 euler2rot(Vector3) + Matrix3 rot_matrix(double, double, double) + Vector3 ecef_euler_from_ned(ECEF, Vector3) + Vector3 ned_euler_from_ecef(ECEF, Vector3) + + +cdef extern from "coordinates.cc": + cdef struct ECEF: + double x + double y + double z + + cdef struct NED: + double n + double e + double d + + cdef struct Geodetic: + double lat + double lon + double alt + bool radians + + ECEF geodetic2ecef(Geodetic) + Geodetic ecef2geodetic(ECEF) + + cdef cppclass LocalCoord_c "LocalCoord": + Matrix3 ned2ecef_matrix + Matrix3 ecef2ned_matrix + + LocalCoord_c(Geodetic, ECEF) + LocalCoord_c(Geodetic) + LocalCoord_c(ECEF) + + NED ecef2ned(ECEF) + ECEF ned2ecef(NED) + NED geodetic2ned(Geodetic) + Geodetic ned2geodetic(NED) + +cdef extern from "coordinates.hpp": + pass diff --git a/common/transformations/transformations.pyx b/common/transformations/transformations.pyx new file mode 100644 index 0000000000..ae045c369d --- /dev/null +++ b/common/transformations/transformations.pyx @@ -0,0 +1,173 @@ +# distutils: language = c++ +# cython: language_level = 3 +from openpilot.common.transformations.transformations cimport Matrix3, Vector3, Quaternion +from openpilot.common.transformations.transformations cimport ECEF, NED, Geodetic + +from openpilot.common.transformations.transformations cimport euler2quat as euler2quat_c +from openpilot.common.transformations.transformations cimport quat2euler as quat2euler_c +from openpilot.common.transformations.transformations cimport quat2rot as quat2rot_c +from openpilot.common.transformations.transformations cimport rot2quat as rot2quat_c +from openpilot.common.transformations.transformations cimport euler2rot as euler2rot_c +from openpilot.common.transformations.transformations cimport rot2euler as rot2euler_c +from openpilot.common.transformations.transformations cimport rot_matrix as rot_matrix_c +from openpilot.common.transformations.transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c +from openpilot.common.transformations.transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c +from openpilot.common.transformations.transformations cimport geodetic2ecef as geodetic2ecef_c +from openpilot.common.transformations.transformations cimport ecef2geodetic as ecef2geodetic_c +from openpilot.common.transformations.transformations cimport LocalCoord_c + + +import numpy as np +cimport numpy as np + +cdef np.ndarray[double, ndim=2] matrix2numpy(Matrix3 m): + return np.array([ + [m(0, 0), m(0, 1), m(0, 2)], + [m(1, 0), m(1, 1), m(1, 2)], + [m(2, 0), m(2, 1), m(2, 2)], + ]) + +cdef Matrix3 numpy2matrix(np.ndarray[double, ndim=2, mode="fortran"] m): + assert m.shape[0] == 3 + assert m.shape[1] == 3 + return Matrix3(m.data) + +cdef ECEF list2ecef(ecef): + cdef ECEF e + e.x = ecef[0] + e.y = ecef[1] + e.z = ecef[2] + return e + +cdef NED list2ned(ned): + cdef NED n + n.n = ned[0] + n.e = ned[1] + n.d = ned[2] + return n + +cdef Geodetic list2geodetic(geodetic): + cdef Geodetic g + g.lat = geodetic[0] + g.lon = geodetic[1] + g.alt = geodetic[2] + return g + +def euler2quat_single(euler): + cdef Vector3 e = Vector3(euler[0], euler[1], euler[2]) + cdef Quaternion q = euler2quat_c(e) + return [q.w(), q.x(), q.y(), q.z()] + +def quat2euler_single(quat): + cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3]) + cdef Vector3 e = quat2euler_c(q) + return [e(0), e(1), e(2)] + +def quat2rot_single(quat): + cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3]) + cdef Matrix3 r = quat2rot_c(q) + return matrix2numpy(r) + +def rot2quat_single(rot): + cdef Matrix3 r = numpy2matrix(np.asfortranarray(rot, dtype=np.double)) + cdef Quaternion q = rot2quat_c(r) + return [q.w(), q.x(), q.y(), q.z()] + +def euler2rot_single(euler): + cdef Vector3 e = Vector3(euler[0], euler[1], euler[2]) + cdef Matrix3 r = euler2rot_c(e) + return matrix2numpy(r) + +def rot2euler_single(rot): + cdef Matrix3 r = numpy2matrix(np.asfortranarray(rot, dtype=np.double)) + cdef Vector3 e = rot2euler_c(r) + return [e(0), e(1), e(2)] + +def rot_matrix(roll, pitch, yaw): + return matrix2numpy(rot_matrix_c(roll, pitch, yaw)) + +def ecef_euler_from_ned_single(ecef_init, ned_pose): + cdef ECEF init = list2ecef(ecef_init) + cdef Vector3 pose = Vector3(ned_pose[0], ned_pose[1], ned_pose[2]) + + cdef Vector3 e = ecef_euler_from_ned_c(init, pose) + return [e(0), e(1), e(2)] + +def ned_euler_from_ecef_single(ecef_init, ecef_pose): + cdef ECEF init = list2ecef(ecef_init) + cdef Vector3 pose = Vector3(ecef_pose[0], ecef_pose[1], ecef_pose[2]) + + cdef Vector3 e = ned_euler_from_ecef_c(init, pose) + return [e(0), e(1), e(2)] + +def geodetic2ecef_single(geodetic): + cdef Geodetic g = list2geodetic(geodetic) + cdef ECEF e = geodetic2ecef_c(g) + return [e.x, e.y, e.z] + +def ecef2geodetic_single(ecef): + cdef ECEF e = list2ecef(ecef) + cdef Geodetic g = ecef2geodetic_c(e) + return [g.lat, g.lon, g.alt] + + +cdef class LocalCoord: + cdef LocalCoord_c * lc + + def __init__(self, geodetic=None, ecef=None): + assert (geodetic is not None) or (ecef is not None) + if geodetic is not None: + self.lc = new LocalCoord_c(list2geodetic(geodetic)) + elif ecef is not None: + self.lc = new LocalCoord_c(list2ecef(ecef)) + + @property + def ned2ecef_matrix(self): + return matrix2numpy(self.lc.ned2ecef_matrix) + + @property + def ecef2ned_matrix(self): + return matrix2numpy(self.lc.ecef2ned_matrix) + + @property + def ned_from_ecef_matrix(self): + return self.ecef2ned_matrix + + @property + def ecef_from_ned_matrix(self): + return self.ned2ecef_matrix + + @classmethod + def from_geodetic(cls, geodetic): + return cls(geodetic=geodetic) + + @classmethod + def from_ecef(cls, ecef): + return cls(ecef=ecef) + + def ecef2ned_single(self, ecef): + assert self.lc + cdef ECEF e = list2ecef(ecef) + cdef NED n = self.lc.ecef2ned(e) + return [n.n, n.e, n.d] + + def ned2ecef_single(self, ned): + assert self.lc + cdef NED n = list2ned(ned) + cdef ECEF e = self.lc.ned2ecef(n) + return [e.x, e.y, e.z] + + def geodetic2ned_single(self, geodetic): + assert self.lc + cdef Geodetic g = list2geodetic(geodetic) + cdef NED n = self.lc.geodetic2ned(g) + return [n.n, n.e, n.d] + + def ned2geodetic_single(self, ned): + assert self.lc + cdef NED n = list2ned(ned) + cdef Geodetic g = self.lc.ned2geodetic(n) + return [g.lat, g.lon, g.alt] + + def __dealloc__(self): + del self.lc diff --git a/common/transformations/transformations.so b/common/transformations/transformations.so new file mode 100755 index 0000000000..a7d5e60276 Binary files /dev/null and b/common/transformations/transformations.so differ diff --git a/common/util.h b/common/util.h new file mode 100644 index 0000000000..186873ac21 --- /dev/null +++ b/common/util.h @@ -0,0 +1,182 @@ +#pragma once + +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +// keep trying if x gets interrupted by a signal +#define HANDLE_EINTR(x) \ + ({ \ + decltype(x) ret_; \ + int try_cnt = 0; \ + do { \ + ret_ = (x); \ + } while (ret_ == -1 && errno == EINTR && try_cnt++ < 100); \ + ret_; \ + }) + +#ifndef sighandler_t +typedef void (*sighandler_t)(int sig); +#endif + +const double MILE_TO_KM = 1.609344; +const double KM_TO_MILE = 1. / MILE_TO_KM; +const double MS_TO_KPH = 3.6; +const double MS_TO_MPH = MS_TO_KPH * KM_TO_MILE; +const double METER_TO_MILE = KM_TO_MILE / 1000.0; +const double METER_TO_FOOT = 3.28084; + +namespace util { + +void set_thread_name(const char* name); +int set_realtime_priority(int level); +int set_core_affinity(std::vector cores); +int set_file_descriptor_limit(uint64_t limit); + +// ***** math helpers ***** + +// map x from [a1, a2] to [b1, b2] +template +T map_val(T x, T a1, T a2, T b1, T b2) { + x = std::clamp(x, a1, a2); + T ra = a2 - a1; + T rb = b2 - b1; + return (x - a1) * rb / ra + b1; +} + +// ***** string helpers ***** + +template +std::string string_format(const std::string& format, Args... args) { + size_t size = snprintf(nullptr, 0, format.c_str(), args...) + 1; + std::unique_ptr buf(new char[size]); + snprintf(buf.get(), size, format.c_str(), args...); + return std::string(buf.get(), buf.get() + size - 1); +} + +std::string getenv(const char* key, std::string default_val = ""); +int getenv(const char* key, int default_val); +float getenv(const char* key, float default_val); + +std::string hexdump(const uint8_t* in, const size_t size); +bool starts_with(const std::string &s1, const std::string &s2); +bool ends_with(const std::string &s, const std::string &suffix); + +// ***** random helpers ***** +int random_int(int min, int max); +std::string random_string(std::string::size_type length); + +// **** file helpers ***** +std::string read_file(const std::string& fn); +std::map read_files_in_dir(const std::string& path); +int write_file(const char* path, const void* data, size_t size, int flags = O_WRONLY, mode_t mode = 0664); + +FILE* safe_fopen(const char* filename, const char* mode); +size_t safe_fwrite(const void * ptr, size_t size, size_t count, FILE * stream); +int safe_fflush(FILE *stream); +int safe_ioctl(int fd, unsigned long request, void *argp); + +std::string readlink(const std::string& path); +bool file_exists(const std::string& fn); +bool create_directories(const std::string &dir, mode_t mode); + +std::string check_output(const std::string& command); + +inline void sleep_for(const int milliseconds) { + if (milliseconds > 0) { + std::this_thread::sleep_for(std::chrono::milliseconds(milliseconds)); + } +} + +} // namespace util + +class ExitHandler { +public: + ExitHandler() { + std::signal(SIGINT, (sighandler_t)set_do_exit); + std::signal(SIGTERM, (sighandler_t)set_do_exit); + +#ifndef __APPLE__ + std::signal(SIGPWR, (sighandler_t)set_do_exit); +#endif + } + inline static std::atomic power_failure = false; + inline static std::atomic signal = 0; + inline operator bool() { return do_exit; } + inline ExitHandler& operator=(bool v) { + signal = 0; + do_exit = v; + return *this; + } +private: + static void set_do_exit(int sig) { +#ifndef __APPLE__ + power_failure = (sig == SIGPWR); +#endif + signal = sig; + do_exit = true; + } + inline static std::atomic do_exit = false; +}; + +struct unique_fd { + unique_fd(int fd = -1) : fd_(fd) {} + unique_fd& operator=(unique_fd&& uf) { + fd_ = uf.fd_; + uf.fd_ = -1; + return *this; + } + ~unique_fd() { + if (fd_ != -1) close(fd_); + } + operator int() const { return fd_; } + int fd_; +}; + +class FirstOrderFilter { +public: + FirstOrderFilter(float x0, float ts, float dt, bool initialized = true) { + k_ = (dt / ts) / (1.0 + dt / ts); + x_ = x0; + initialized_ = initialized; + } + inline float update(float x) { + if (initialized_) { + x_ = (1. - k_) * x_ + k_ * x; + } else { + initialized_ = true; + x_ = x; + } + return x_; + } + inline void reset(float x) { x_ = x; } + inline float x(){ return x_; } + +private: + float x_, k_; + bool initialized_; +}; + +template +void update_max_atomic(std::atomic& max, T const& value) { + T prev = max; + while (prev < value && !max.compare_exchange_weak(prev, value)) {} +} + +typedef struct Rect { + int x; + int y; + int w; + int h; +} Rect; diff --git a/common/utils.py b/common/utils.py new file mode 100644 index 0000000000..b9de020ee6 --- /dev/null +++ b/common/utils.py @@ -0,0 +1,11 @@ +class Freezable: + _frozen: bool = False + + def freeze(self): + if not self._frozen: + self._frozen = True + + def __setattr__(self, *args, **kwargs): + if self._frozen: + raise Exception("cannot modify frozen object") + super().__setattr__(*args, **kwargs) diff --git a/common/version.h b/common/version.h new file mode 100644 index 0000000000..0b1b6c96ae --- /dev/null +++ b/common/version.h @@ -0,0 +1 @@ +#define COMMA_VERSION "2024.11.16-3490" diff --git a/common/watchdog.h b/common/watchdog.h new file mode 100644 index 0000000000..12dd2ca035 --- /dev/null +++ b/common/watchdog.h @@ -0,0 +1,5 @@ +#pragma once + +#include + +bool watchdog_kick(uint64_t ts); diff --git a/docs/CARS.md b/docs/CARS.md new file mode 100644 index 0000000000..8fafc483f2 --- /dev/null +++ b/docs/CARS.md @@ -0,0 +1,358 @@ + + +# Supported Cars + +A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. + +# 287 Supported Cars + +|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
     |Video| +|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| +|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 Honda Nidec connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 Honda Nidec connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Acura|RDX 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Honda Bosch A connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 GM connector
    - 1 comma 3X
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 GM connector
    - 1 comma 3X
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 GM connector
    - 1 comma 3X
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[1](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 GM connector
    - 1 comma 3X
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 GM connector
    - 1 comma 3X
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 FCA connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 FCA connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 FCA connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 FCA connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Chrysler|Pacifica Hybrid 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 FCA connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|| +|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 FCA connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Ford|Bronco Sport 2021-23|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Ford Q3 connector
    - 1 RJ45 cable (7 ft)
    - 1 angled mount (8 degrees)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Ford Q3 connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Ford Q3 connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Ford Q3 connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Ford|Explorer 2020-23|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Ford Q3 connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Ford|Explorer Hybrid 2020-23|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Ford Q3 connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Ford|Focus 2018[3](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Ford Q3 connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Ford|Focus Hybrid 2018[3](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Ford Q3 connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Ford Q3 connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Ford|Kuga Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Ford Q3 connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Ford|Kuga Plug-in Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Ford Q3 connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Ford|Maverick 2022|LARIAT Luxury|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Ford Q3 connector
    - 1 RJ45 cable (7 ft)
    - 1 angled mount (8 degrees)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Ford Q3 connector
    - 1 RJ45 cable (7 ft)
    - 1 angled mount (8 degrees)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Ford Q3 connector
    - 1 RJ45 cable (7 ft)
    - 1 angled mount (8 degrees)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Ford Q3 connector
    - 1 RJ45 cable (7 ft)
    - 1 angled mount (8 degrees)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai F connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Genesis|G70 2019-21|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai F connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Genesis|G70 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai L connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 Hyundai J connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai H connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Genesis|G90 2017-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai C connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Genesis|GV60 (Advanced Trim) 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai A connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Genesis|GV60 (Performance Trim) 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai K connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Genesis|GV70 (2.5T Trim, without HDA II) 2022-23[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai L connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai M connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Genesis|GV80 2023[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai M connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[1](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 GM connector
    - 1 comma 3X
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Honda|Accord 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Honda Bosch A connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Honda|Accord Hybrid 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Honda Bosch A connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Honda Nidec connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Honda|Civic 2019-21|All|openpilot available[1](#footnotes)|0 mph|2 mph[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Honda Bosch A connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Honda|Civic 2022-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Honda Bosch B connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Honda Bosch A connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Honda|Civic Hatchback 2022-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Honda Bosch B connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 Honda Nidec connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Honda|CR-V 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Honda Bosch A connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Honda|CR-V Hybrid 2017-21|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Honda Bosch A connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Honda|e 2020|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Honda Bosch A connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 Honda Nidec connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 Honda Nidec connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 Honda Nidec connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Honda|HR-V 2023|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Honda Bosch B connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Honda|Insight 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Honda Bosch A connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Honda|Inspire 2018|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Honda Bosch A connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 Honda Nidec connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Honda|Passport 2019-23|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 Honda Nidec connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 Honda Nidec connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Honda|Ridgeline 2017-24|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 Honda Nidec connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Hyundai|Azera 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai K connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Hyundai|Azera Hybrid 2019|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai C connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Hyundai|Azera Hybrid 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai K connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Hyundai|Custin 2023|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai K connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 Hyundai B connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 Hyundai G connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai K connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai E connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai K connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 Hyundai J connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai E connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Hyundai|Ioniq 5 (Non-US only) 2022-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai Q connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Hyundai|Ioniq 5 (with HDA II) 2022-24[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai Q connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Hyundai|Ioniq 5 (without HDA II) 2022-24[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai K connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Hyundai|Ioniq 6 (with HDA II) 2023-24[5](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai P connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai C connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Hyundai|Ioniq Electric 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai H connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai C connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai H connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai C connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai H connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 Hyundai B connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai G connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai O connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Hyundai|Kona Electric (with HDA II, Korea only) 2023[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai R connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai I connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Hyundai|Palisade 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai H connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Hyundai|Santa Cruz 2022-24[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai N connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Hyundai|Santa Fe 2019-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai D connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Hyundai|Santa Fe 2021-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai L connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai L connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Hyundai|Santa Fe Plug-in Hybrid 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai L connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai E connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Hyundai|Sonata 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai A connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Hyundai|Sonata Hybrid 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai A connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Hyundai|Staria 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai K connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 Hyundai L connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Hyundai|Tucson 2022[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai N connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Hyundai|Tucson 2023-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai N connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai L connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Hyundai|Tucson Hybrid 2022-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai N connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Hyundai|Tucson Plug-in Hybrid 2024[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai N connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 Hyundai E connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 FCA connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 FCA connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Kia|Carnival 2022-24[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai A connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Kia|Carnival (China only) 2023[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai K connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai E connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Kia|EV6 (Non-US only) 2022-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai P connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Kia|EV6 (with HDA II) 2022-24[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai P connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Kia|EV6 (without HDA II) 2022-24[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai L connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 Hyundai G connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai E connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai A connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai A connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Kia|K8 Hybrid (with HDA II) 2023[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai Q connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Kia|Niro EV 2019|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai H connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Kia|Niro EV 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai F connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Kia|Niro EV 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai C connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Kia|Niro EV 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai H connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Kia|Niro EV 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai A connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Kia|Niro Hybrid 2018|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 Hyundai C connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai D connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai F connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Kia|Niro Hybrid 2023[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai A connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 Hyundai C connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Kia|Niro Plug-in Hybrid 2020|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai D connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Kia|Niro Plug-in Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai D connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Kia|Niro Plug-in Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai F connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai B connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai G connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai H connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai A connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai E connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai E connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Kia|Sorento 2021-23[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai K connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Kia|Sorento Hybrid 2021-23[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai A connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Kia|Sorento Plug-in Hybrid 2022-23[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai A connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Kia|Sportage 2023-24[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai N connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Kia|Sportage Hybrid 2023[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai N connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai C connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Kia|Stinger 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai K connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Kia|Telluride 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai H connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Lexus|ES 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Lexus|ES 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Lexus|ES Hybrid 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Lexus|ES Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Lexus|IS 2022-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Lexus|LC 2024|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Lexus|NX 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Lexus|NX Hybrid 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Lexus|RX 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Lexus|RX 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Lexus|RX Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Lincoln|Aviator 2020-23|Co-Pilot360 Plus|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Ford Q3 connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Lincoln|Aviator Plug-in Hybrid 2020-23|Co-Pilot360 Plus|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Ford Q3 connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 angled mount (8 degrees)
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 angled mount (8 degrees)
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Mazda|CX-5 2022-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Mazda connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Mazda connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 Nissan B connector
    - 1 RJ45 cable (7 ft)
    - 1 USB-C coupler
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 Nissan A connector
    - 1 RJ45 cable (7 ft)
    - 1 USB-C coupler
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 Nissan A connector
    - 1 RJ45 cable (7 ft)
    - 1 USB-C coupler
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 Nissan A connector
    - 1 RJ45 cable (7 ft)
    - 1 USB-C coupler
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Ram connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Subaru|Ascent 2019-21|All[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Subaru A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    Tools- 1 Pry Tool
    - 1 Socket Wrench 8mm or 5/16" (deep)
    || +|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Subaru A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    Tools- 1 Pry Tool
    - 1 Socket Wrench 8mm or 5/16" (deep)
    || +|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Subaru A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    Tools- 1 Pry Tool
    - 1 Socket Wrench 8mm or 5/16" (deep)
    || +|Subaru|Forester 2019-21|All[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Subaru A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    Tools- 1 Pry Tool
    - 1 Socket Wrench 8mm or 5/16" (deep)
    || +|Subaru|Impreza 2017-19|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Subaru A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    Tools- 1 Pry Tool
    - 1 Socket Wrench 8mm or 5/16" (deep)
    || +|Subaru|Impreza 2020-22|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Subaru A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    Tools- 1 Pry Tool
    - 1 Socket Wrench 8mm or 5/16" (deep)
    || +|Subaru|Legacy 2020-22|All[6](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Subaru B connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    Tools- 1 Pry Tool
    - 1 Socket Wrench 8mm or 5/16" (deep)
    || +|Subaru|Outback 2020-22|All[6](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Subaru B connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    Tools- 1 Pry Tool
    - 1 Socket Wrench 8mm or 5/16" (deep)
    || +|Subaru|XV 2018-19|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Subaru A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    Tools- 1 Pry Tool
    - 1 Socket Wrench 8mm or 5/16" (deep)
    || +|Subaru|XV 2020-21|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Subaru A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    Tools- 1 Pry Tool
    - 1 Socket Wrench 8mm or 5/16" (deep)
    || +|Škoda|Fabia 2022-23[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    [13](#footnotes)|| +|Škoda|Kamiq 2021-23[9,11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    [13](#footnotes)|| +|Škoda|Karoq 2019-23[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Škoda|Kodiaq 2017-23[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Škoda|Octavia 2015-19[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Škoda|Octavia RS 2016[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Škoda|Octavia Scout 2017-19[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Škoda|Scala 2020-23[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    [13](#footnotes)|| +|Škoda|Superb 2015-22[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|Avalon 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|Avalon 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|Avalon Hybrid 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|C-HR 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|C-HR Hybrid 2021-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|Camry 2018-20|All|Stock|0 mph[8](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|Camry 2021-24|All|openpilot|0 mph[8](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|Corolla 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|Corolla Hybrid (South America only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|Highlander 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|Highlander Hybrid 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|Prius 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|Prius Prime 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|RAV4 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|RAV4 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|RAV4 2023-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|RAV4 Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|RAV4 Hybrid 2023-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|Sienna 2018-20|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
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    || +|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 angled mount (8 degrees)
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 right angle OBD-C cable (1.5 ft)
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    || +|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 angled mount (8 degrees)
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 angled mount (8 degrees)
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 angled mount (8 degrees)
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 angled mount (8 degrees)
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Volkswagen|Jetta 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Volkswagen|Jetta GLI 2021-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Volkswagen|Passat 2015-22[10](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    [13](#footnotes)|| +|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    [13](#footnotes)|| +|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    [13](#footnotes)|| +|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 USB-C coupler
    - 1 VW J533 connector
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || + +### Footnotes +1openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`.
    +2By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).
    +3Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia.
    +42019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.
    +5Requires a CAN FD panda kit if not using comma 3X for this CAN FD car.
    +6In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance.
    +7Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB.
    +8openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
    +9Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.
    +10Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.
    +11Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality.
    +12Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC.
    +13Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store.
    + +## Community Maintained Cars +Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/). + +# Don't see your car here? + +**openpilot can support many more cars than it currently does.** There are a few reasons your car may not be supported. +If your car doesn't fit into any of the incompatibility criteria here, then there's a good chance it can be supported! We're adding support for new cars all the time. **We don't have a roadmap for car support**, and in fact, most car support comes from users like you! + +### Which cars are able to be supported? + +openpilot uses the existing steering, gas, and brake interfaces in your car. If your car lacks any one of these interfaces, openpilot will not be able to control the car. If your car has [ACC](https://en.wikipedia.org/wiki/Adaptive_cruise_control) and any form of [LKAS](https://en.wikipedia.org/wiki/Automated_Lane_Keeping_Systems)/[LCA](https://en.wikipedia.org/wiki/Lane_centering), then it almost certainly has these interfaces. These features generally started shipping on cars around 2016. Note that manufacturers will often make their own [marketing terms](https://en.wikipedia.org/wiki/Adaptive_cruise_control#Vehicle_models_supporting_adaptive_cruise_control) for these features, such as Hyundai's "Smart Cruise Control" branding of Adaptive Cruise Control. + +If your car has the following packages or features, then it's a good candidate for support. + +| Make | Required Package/Features | +| ---- | ------------------------- | +| Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. | +| Ford | Any car with Lane Centering will likely work. | +| Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. | +| Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. | +| Nissan | Any car with ProPILOT will likely work. | +| Toyota & Lexus | Any car that has Toyota/Lexus Safety Sense with "Lane Departure Alert with Steering Assist (LDA w/SA)" and/or "Lane Tracing Assist (LTA)" will work. Note that LDA without Steering Assist will not work. These features come standard on most newer models. | +| Hyundai, Kia, & Genesis | Any car with Smart Cruise Control (SCC) and Lane Following Assist (LFA) or Lane Keeping Assist (LKAS) will work. LKAS/LFA comes standard on most newer models. Any form of SCC will work, such as NSCC. | +| Chrysler, Jeep, & Ram | Any car with LaneSense and Adaptive Cruise Control will likely work. These come standard on many newer models. | + +### FlexRay + +All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wiki/CAN_bus) for communication between all the car's computers, however a CAN bus isn't the only way that the computers in your car can communicate. Most, if not all, vehicles from the following manufacturers use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) instead of a CAN bus: **BMW, Mercedes, Audi, Land Rover, and some Volvo**. These cars may one day be supported, but we have no immediate plans to support FlexRay. + +### Toyota Security + +openpilot does not yet support these Toyota models due to a new message authentication method. +[Vote](https://comma.ai/shop#toyota-security) if you'd like to see openpilot support on these models. + +* Toyota RAV4 Prime 2021+ +* Toyota Sienna 2021+ +* Toyota Venza 2021+ +* Toyota Sequoia 2023+ +* Toyota Tundra 2022+ +* Toyota Highlander 2024+ +* Toyota Corolla Cross 2022+ (only US model) +* Toyota Camry 2025+ +* Lexus NX 2022+ +* Toyota bZ4x 2023+ +* Subaru Solterra 2023+ diff --git a/docs/CONTRIBUTING.md b/docs/CONTRIBUTING.md new file mode 100644 index 0000000000..755ca82220 --- /dev/null +++ b/docs/CONTRIBUTING.md @@ -0,0 +1,65 @@ +# How to contribute + +Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/). Development activity is coordinated through our GitHub Issues, [GitHub Discussions](https://github.com/commaai/openpilot/discussions), and [Discord](https://discord.comma.ai). + +### Getting Started + +* Setup your [development environment](../tools/) +* Read about the [development workflow](WORKFLOW.md) +* Join our [Discord](https://discord.comma.ai) +* Docs are at https://docs.comma.ai and https://blog.comma.ai + +## What contributions are we looking for? + +**openpilot's priorities are [safety](SAFETY.md), stability, quality, and features, in that order.** openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and **all** development is towards that goal. + +### What gets merged? + +The probability of a pull request being merged is a function of its value to the project and the effort it will take us to get it merged. +If a PR offers *some* value but will take lots of time to get merged, it will be closed. +Simple, well-tested bug fixes are the easiest to merge, and new features are the hardest to get merged. + +All of these are examples of good PRs: +* typo fix: https://github.com/commaai/openpilot/pull/30678 +* removing unused code: https://github.com/commaai/openpilot/pull/30573 +* simple car model port: https://github.com/commaai/openpilot/pull/30245 +* car brand port: https://github.com/commaai/openpilot/pull/23331 + +### What doesn't get merged? + +* **arbitrary style changes**: code is art, and it's up to the author to make it beautiful +* **500+ line PRs**: clean it up, break it up into smaller PRs, or both +* **PRs without a clear goal**: every PR must have a singular and clear goal +* **UI design changes**: we do not have a good review process for this yet +* **New features**: We believe openpilot is mostly feature-complete, and the rest is a matter of refinement and fixing bugs. As a result of this, most feature PRs will be immediately closed, however the beauty of open source is that forks can and do offer features that upstream openpilot doesn't. + +### First contribution + +Check out any [good first issue](https://github.com/commaai/openpilot/issues?q=is%3Aissue+is%3Aopen+label%3A%22good+first+issue%22) to get started. + +### What do I need to contribute? + +A lot of openpilot work requires only a PC, and some requires a comma device. +Most car-related contributions require access to that car, plus a comma device installed in the car. + +## Pull Requests + +Pull requests should be against the master branch. If you're unsure about a contribution, feel free to open a discussion, issue, or draft PR to discuss the problem you're trying to solve. + +A good pull request has all of the following: +* a clearly stated purpose +* every line changed directly contributes to the stated purpose +* verification, i.e. how did you test your PR? +* justification + * if you've optimized something, post benchmarks to prove it's better + * if you've improved your car's tuning, post before and after plots +* passes the CI tests + +## Contributing without Code + +* Report bugs in GitHub issues. +* Report driving issues in the `#driving-feedback` Discord channel. +* Consider opting into driver camera uploads to improve the driver monitoring model. +* Connect your device to Wi-Fi regularly, so that we can pull data for training better driving models. +* Run the `nightly` branch and report issues. This branch is like `master` but it's built just like a release. +* Annotate images in the [comma10k dataset](https://github.com/commaai/comma10k). diff --git a/docs/HOW-TOS.md b/docs/HOW-TOS.md new file mode 100644 index 0000000000..a66786c200 --- /dev/null +++ b/docs/HOW-TOS.md @@ -0,0 +1,77 @@ +# How Tos +This page is a repository of useful how-tos as a supplement for additional information. + +Table of Contents +======================= + +* [Radar Tracks](#Radar-Tracks) + * [Enable Radar Tracks](#-Enable-Radar-Tracks) +* [Enable Mapbox Navigation](#-Enable-Mapbox-Navigation) + +--- + +

    📡 Radar Tracks

     + +Radar tracks can now be enabled manually on applicable cars through SSH thanks to [@greghogan](https://github.com/greghogan) and [@pd0wm](https://github.com/pd0wm). + +Some Hyundai radars can be reconfigured to output (debug) radar points on bus 1. +Reconfiguration is done over UDS by reading/writing to 0x0142 using the Read/Write Data By Identifier +endpoints (0x22 & 0x2E). This script checks your radar firmware version against a list of known +firmware versions. If you want to try on a new radar, make sure to note the default config value +in case it is different from the other radars and you need to revert the changes. +After changing the config the car should not show any faults when openpilot is not running. +These config changes are persistent across car reboots. You need to run this script again +to go back to the default values. + +**USE AT YOUR OWN RISK!** Stock system safety features, like AEB and FCW, might be affected by these changes. + +**How radar points can be used along with vision:** +* Current OP long policy is identify with vision first, if vision sees a vehicle match it to a radar point. If vision sees nothing you get a false negative and no lead car detection. (Source: [Hubblesphere#7894 from comma.ai community Discord](https://discord.com/channels/469524606043160576/872899198738104330/872913890793635872)) + +### 🚨 Enable Radar Tracks + +***(EXPERIMENTAL, as of January 1st, 2022)*** + +***(Only applicable to some Hyundai, Kia, and Genesis cars, as of January 1st, 2022)*** + +*(Base on version 0.8.12 [`devel`](https://github.com/commaai/openpilot/tree/devel))* + +**USE AT YOUR OWN RISK!** Stock system safety features, like AEB and FCW, might be affected by these changes. + +1. Ensure the car is at the `OFF` ignition position. +2. Connect your compatible comma device (EON, C2, C3) to the car. comma device power should be ON. +3. Use a laptop or applicable device to connect to your comma device via SSH. (Tips: Instructions to SSH in [HERE](https://github.com/commaai/openpilot/wiki/SSH)) +4. In the SSH terminal after successfully connected to your comma device, execute the following commands: + 1. `pkill -f openpilot` + 2. `python /data/openpilot/selfdrive/debug/hyundai_enable_radar_points.py` + 3. Follow the instructions in the script: + * `Power on the vehicle keeping the engine off (press start button twice) then type OK to continue`. + * If successful, the following message should appear: `[DONE]. Restart your vehicle and ensure there are no faults`. + * If the script did not run successfully, reach out to the community in [Sunnyhaibin's Openpilot Discord Server](https://discord.gg/wRW3meAgtx) or `#hyundai-kia-genesis channel` on [commaai community Discord Server](https://discord.comma.ai) for assistance. + 4. Reboot your comma device: + 1. C3: `sudo reboot` + 2. C2 or EON: `reboot` +5. Once your comma device is rebooted, start your car with engine on (with or without comma device connected). Ensure that there are no faults from the car. If there are faults, reach out to the community in [Sunnyhaibin's Openpilot Discord Server](https://discord.gg/wRW3meAgtx) or `#hyundai-kia-genesis channel` on [commaai community Discord Server](https://discord.comma.ai) for assistance. +6. Go for a quick drive and drive behind a lead car with varied follow distance. Then, come back and allow the drive to upload its `rlogs` in [comma Connect](https://connect.comma.ai). +7. With all `rlogs` uploaded, open the drive in Cabana from [comma Connect](https://connect.comma.ai). Load DBC -> `hyundai_kia_mando_front_radar.dbc`, then search `RADAR_TRACK_50x` (`x` could be anything), open any of them, and look at `LONG_DIST`. +8. If the radar tracks data is relevant with the lead car you drove behind, you are done! Your car now have radar tracks enabled. +
    + +

    🗺 Enable Mapbox Navigation

     + +1) Create a free mapbox account. Account will ask for a credit card for verification. You will not be charged for the free tier. +2) On the Dashboard, you will see a section called Access Tokens. Click `Create a Token`. Name it whatever you like. Set the scopes to allow everything for both Public and Secret. Copy both of these keys. **YOU WON'T BE ABLE TO ACCESS THE SECRET KEY AFTER THIS WINDOW.** +3) Once rebooted, connect your C3 to a network with internet access and find the C3’s IP address. +4) In a browser, navigate to that IP with **port 8082** (i.e 192.168.1.69:8082). You should be greeted with the Comma logo and a public key input field. +5) Paste your Public token (pk.xx), click enter, paste your Secret key (sk.xx), click enter. You can now search for places. This page will be available at your devices’s IP address/port 8082 to search for destinations. +6) To set Home and Work addresses, search for a place, select Home/Work from the dropdown and click Navigate. For non-Home/Work destinations, select Recent Places.
    *At this time, it is not possible to search directly on the C3.* + +**TIPS:** +- If your C3 is showing a black screen that says “Map Loading”, performing a reboot via the UI should fix it. +- If your phone can create a Hotspot, you are able to connect the C3 to your phone hotspot and use your phone browser to search for places. +- In the Navigation panel on the C3, you can select Home, Work, and from a list of Recent Places you have navigated to without needing a browser (assuming the C3 is connected to the internet.) + +**IMPORTANT NOTE:** Your C3 will require an active internet connection to download map data, generate driving directions, and ETA. Once map data and directions are downloaded, it *is* possible to use it offline, however nothing will update (such as new driving direction after a missed turn, updated ETA, map data further into your drive etc.) + +***NAVIGATION NOTE:** At this time, mapbox does not support alphanumeric addresses (i.e W123N1234 Main St). There is currently no known workaround for this.* +
    diff --git a/docs/INTEGRATION.md b/docs/INTEGRATION.md new file mode 100644 index 0000000000..ba6291c1e3 --- /dev/null +++ b/docs/INTEGRATION.md @@ -0,0 +1,11 @@ +# Integration with Stock Features + +In all supported cars: +* Stock Lane Keep Assist (LKA) and stock ALC are replaced by openpilot ALC, which only functions when openpilot is engaged by the user. +* Stock LDW is replaced by openpilot LDW. + +Additionally, on specific supported cars (see ACC column in [supported cars](CARS.md)): +* Stock ACC is replaced by openpilot ACC. +* openpilot FCW operates in addition to stock FCW. + +openpilot should preserve all other vehicle's stock features, including, but not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning. diff --git a/docs/LIMITATIONS.md b/docs/LIMITATIONS.md new file mode 100644 index 0000000000..8c112659c2 --- /dev/null +++ b/docs/LIMITATIONS.md @@ -0,0 +1,58 @@ +# Limitations +## Limitations of openpilot ALC and LDW + +openpilot ALC and openpilot LDW do not automatically drive the vehicle or reduce the amount of attention that must be paid to operate your vehicle. The driver must always keep control of the steering wheel and be ready to correct the openpilot ALC action at all times. + +While changing lanes, openpilot is not capable of looking next to you or checking your blind spot. Only nudge the wheel to initiate a lane change after you have confirmed it's safe to do so. + +Many factors can impact the performance of openpilot ALC and openpilot LDW, causing them to be unable to function as intended. These include, but are not limited to: + +* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation. +* The road facing camera is obstructed, covered or damaged by mud, ice, snow, etc. +* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle. +* The device is mounted incorrectly. +* When in sharp curves, like on-off ramps, intersections etc...; openpilot is designed to be limited in the amount of steering torque it can produce. +* In the presence of restricted lanes or construction zones. +* When driving on highly banked roads or in presence of strong cross-wind. +* Extremely hot or cold temperatures. +* Bright light (due to oncoming headlights, direct sunlight, etc.). +* Driving on hills, narrow, or winding roads. + +The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times. + +## Limitations of openpilot ACC and FCW + +openpilot ACC and openpilot FCW are not systems that allow careless or inattentive driving. It is still necessary for the driver to pay close attention to the vehicle’s surroundings and to be ready to re-take control of the gas and the brake at all times. + +Many factors can impact the performance of openpilot ACC and openpilot FCW, causing them to be unable to function as intended. These include, but are not limited to: + +* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation. +* The road facing camera or radar are obstructed, covered, or damaged by mud, ice, snow, etc. +* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle. +* The device is mounted incorrectly. +* Approaching a toll booth, a bridge or a large metal plate. +* When driving on roads with pedestrians, cyclists, etc... +* In presence of traffic signs or stop lights, which are not detected by openpilot at this time. +* When the posted speed limit is below the user selected set speed. openpilot does not detect speed limits at this time. +* In presence of vehicles in the same lane that are not moving. +* When abrupt braking maneuvers are required. openpilot is designed to be limited in the amount of deceleration and acceleration that it can produce. +* When surrounding vehicles perform close cut-ins from neighbor lanes. +* Driving on hills, narrow, or winding roads. +* Extremely hot or cold temperatures. +* Bright light (due to oncoming headlights, direct sunlight, etc.). +* Interference from other equipment that generates radar waves. + +The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times. + +## Limitations of openpilot DM + +openpilot DM should not be considered an exact measurement of the alertness of the driver. + +Many factors can impact the performance of openpilot DM, causing it to be unable to function as intended. These include, but are not limited to: + +* Low light conditions, such as driving at night or in dark tunnels. +* Bright light (due to oncoming headlights, direct sunlight, etc.). +* The driver's face is partially or completely outside field of view of the driver facing camera. +* The driver facing camera is obstructed, covered, or damaged. + +The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. A driver should not rely on openpilot DM to assess their level of attention. diff --git a/docs/sunnyhaibin0850_qrcode_paypal.me.png b/docs/sunnyhaibin0850_qrcode_paypal.me.png new file mode 100644 index 0000000000..e187bb2ea2 Binary files /dev/null and b/docs/sunnyhaibin0850_qrcode_paypal.me.png differ diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh new file mode 100755 index 0000000000..8b213c0972 --- /dev/null +++ b/launch_chffrplus.sh @@ -0,0 +1,96 @@ +#!/usr/bin/bash + +if [ -z "$BASEDIR" ]; then + BASEDIR="/data/openpilot" +fi + +source "$BASEDIR/launch_env.sh" + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" + +function agnos_init { + # TODO: move this to agnos + sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta + + # set success flag for current boot slot + sudo abctl --set_success + + # TODO: do this without udev in AGNOS + # udev does this, but sometimes we startup faster + sudo chgrp gpu /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0 + sudo chmod 660 /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0 + + # Check if AGNOS update is required + if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then + AGNOS_PY="$DIR/system/hardware/tici/agnos.py" + MANIFEST="$DIR/system/hardware/tici/agnos.json" + if $AGNOS_PY --verify $MANIFEST; then + sudo reboot + fi + $DIR/system/hardware/tici/updater $AGNOS_PY $MANIFEST + fi +} + +function launch { + # Remove orphaned git lock if it exists on boot + [ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock + + # Check to see if there's a valid overlay-based update available. Conditions + # are as follows: + # + # 1. The BASEDIR init file has to exist, with a newer modtime than anything in + # the BASEDIR Git repo. This checks for local development work or the user + # switching branches/forks, which should not be overwritten. + # 2. The FINALIZED consistent file has to exist, indicating there's an update + # that completed successfully and synced to disk. + + if [ -f "${BASEDIR}/.overlay_init" ]; then + find ${BASEDIR}/.git -newer ${BASEDIR}/.overlay_init | grep -q '.' 2> /dev/null + if [ $? -eq 0 ]; then + echo "${BASEDIR} has been modified, skipping overlay update installation" + else + if [ -f "${STAGING_ROOT}/finalized/.overlay_consistent" ]; then + if [ ! -d /data/safe_staging/old_openpilot ]; then + echo "Valid overlay update found, installing" + LAUNCHER_LOCATION="${BASH_SOURCE[0]}" + + mv $BASEDIR /data/safe_staging/old_openpilot + mv "${STAGING_ROOT}/finalized" $BASEDIR + cd $BASEDIR + + echo "Restarting launch script ${LAUNCHER_LOCATION}" + unset AGNOS_VERSION + exec "${LAUNCHER_LOCATION}" + else + echo "openpilot backup found, not updating" + # TODO: restore backup? This means the updater didn't start after swapping + fi + fi + fi + fi + + # handle pythonpath + ln -sfn $(pwd) /data/pythonpath + export PYTHONPATH="$PWD" + + # hardware specific init + if [ -f /AGNOS ]; then + agnos_init + fi + + # write tmux scrollback to a file + tmux capture-pane -pq -S-1000 > /tmp/launch_log + + # start manager + cd system/manager + if [ ! -f $DIR/prebuilt ]; then + ./build.py + fi + + ./mapd_installer.py; ./manager.py + + # if broken, keep on screen error + while true; do sleep 1; done +} + +launch diff --git a/launch_env.sh b/launch_env.sh new file mode 100755 index 0000000000..81578aff01 --- /dev/null +++ b/launch_env.sh @@ -0,0 +1,13 @@ +#!/usr/bin/bash + +export OMP_NUM_THREADS=1 +export MKL_NUM_THREADS=1 +export NUMEXPR_NUM_THREADS=1 +export OPENBLAS_NUM_THREADS=1 +export VECLIB_MAXIMUM_THREADS=1 + +if [ -z "$AGNOS_VERSION" ]; then + export AGNOS_VERSION="10.1" +fi + +export STAGING_ROOT="/data/safe_staging" diff --git a/launch_openpilot.sh b/launch_openpilot.sh new file mode 100755 index 0000000000..2888814c22 --- /dev/null +++ b/launch_openpilot.sh @@ -0,0 +1,3 @@ +#!/usr/bin/bash + +exec ./launch_chffrplus.sh diff --git a/mkdocs.yml b/mkdocs.yml new file mode 100644 index 0000000000..743b8fa1b7 --- /dev/null +++ b/mkdocs.yml @@ -0,0 +1,38 @@ +site_name: openpilot docs +repo_url: https://github.com/commaai/openpilot/ +site_url: https://docs.comma.ai + +exclude_docs: README.md + +strict: true +docs_dir: docs +site_dir: docs_site/ + +theme: + name: readthedocs + navigation_depth: 3 + +nav: + - Getting Started: + - What is openpilot?: getting-started/what-is-openpilot.md + - How-to: + - Turn the speed blue: how-to/turn-the-speed-blue.md + - Connect to a comma 3/3X: how-to/connect-to-comma.md + #- Replay a drive: how-to/replay-a-drive.md + - Concepts: + - Logs: concepts/logs.md + - Safety: concepts/safety.md + - Car Porting: + - What is a car port?: car-porting/what-is-a-car-port.md + - Porting a car brand: car-porting/brand-port.md + - Porting a car model: car-porting/model-port.md + - Contributing: + - Roadmap: contributing/roadmap.md + #- Architecture: contributing/architecture.md + - Contributing Guide →: https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md + - Links: + - Blog →: https://blog.comma.ai + - Bounties →: https://comma.ai/bounties + - GitHub →: https://github.com/commaai + - Discord →: https://discord.comma.ai + - X →: https://x.com/comma_ai diff --git a/msgq b/msgq new file mode 120000 index 0000000000..df09146f62 --- /dev/null +++ b/msgq @@ -0,0 +1 @@ +msgq_repo/msgq \ No newline at end of file diff --git a/msgq_repo/.gitignore b/msgq_repo/.gitignore new file mode 100644 index 0000000000..6db3c7cd46 --- /dev/null +++ b/msgq_repo/.gitignore @@ -0,0 +1,19 @@ +/gen/ +*.tmp +*.pyc +__pycache__ +.*.swp +.*.swo +*.os +*.so +*.o +*.a + +test_runner + +libmessaging.* +libmessaging_shared.* +services.h +.sconsign.dblite +libcereal_shared.* +.mypy_cache/ diff --git a/msgq_repo/msgq/.gitignore b/msgq_repo/msgq/.gitignore new file mode 100644 index 0000000000..6bd751773b --- /dev/null +++ b/msgq_repo/msgq/.gitignore @@ -0,0 +1 @@ +ipc_pyx.cpp diff --git a/msgq_repo/msgq/__init__.py b/msgq_repo/msgq/__init__.py new file mode 100644 index 0000000000..340a1254e3 --- /dev/null +++ b/msgq_repo/msgq/__init__.py @@ -0,0 +1,61 @@ +# must be built with scons +from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \ + set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event +from msgq.ipc_pyx import MultiplePublishersError, IpcError + +from typing import Optional, List + +assert MultiplePublishersError +assert IpcError +assert toggle_fake_events +assert set_fake_prefix +assert get_fake_prefix +assert delete_fake_prefix +assert wait_for_one_event + +NO_TRAVERSAL_LIMIT = 2**64-1 + +context = Context() + + +def fake_event_handle(endpoint: str, identifier: Optional[str] = None, override: bool = True, enable: bool = False) -> SocketEventHandle: + identifier = identifier or get_fake_prefix() + handle = SocketEventHandle(endpoint, identifier, override) + if override: + handle.enabled = enable + + return handle + +def pub_sock(endpoint: str) -> PubSocket: + sock = PubSocket() + sock.connect(context, endpoint) + return sock + + +def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1", + conflate: bool = False, timeout: Optional[int] = None) -> SubSocket: + sock = SubSocket() + sock.connect(context, endpoint, addr.encode('utf8'), conflate) + + if timeout is not None: + sock.setTimeout(timeout) + + if poller is not None: + poller.registerSocket(sock) + return sock + +def drain_sock_raw(sock: SubSocket, wait_for_one: bool = False) -> List[bytes]: + """Receive all message currently available on the queue""" + ret: List[bytes] = [] + while 1: + if wait_for_one and len(ret) == 0: + dat = sock.receive() + else: + dat = sock.receive(non_blocking=True) + + if dat is None: + break + + ret.append(dat) + + return ret diff --git a/msgq_repo/msgq/event.h b/msgq_repo/msgq/event.h new file mode 100644 index 0000000000..c638b6b4ea --- /dev/null +++ b/msgq_repo/msgq/event.h @@ -0,0 +1,58 @@ +#pragma once + +#include +#include + +#define CEREAL_EVENTS_PREFIX std::string("cereal_events") + +void event_state_shm_mmap(std::string endpoint, std::string identifier, char **shm_mem, std::string *shm_path); + +enum EventPurpose { + RECV_CALLED, + RECV_READY +}; + +struct EventState { + int fds[2]; + bool enabled; +}; + +class Event { +private: + int event_fd = -1; + + inline void throw_if_invalid() const { + if (!this->is_valid()) { + throw std::runtime_error("Event does not have valid file descriptor."); + } + } +public: + Event(int fd = -1); + + void set() const; + int clear() const; + void wait(int timeout_sec = -1) const; + bool peek() const; + bool is_valid() const; + int fd() const; + + static int wait_for_one(const std::vector& events, int timeout_sec = -1); +}; + +class SocketEventHandle { +private: + std::string shm_path; + EventState* state; +public: + SocketEventHandle(std::string endpoint, std::string identifier = "", bool override = true); + ~SocketEventHandle(); + + bool is_enabled(); + void set_enabled(bool enabled); + Event recv_called(); + Event recv_ready(); + + static void toggle_fake_events(bool enabled); + static void set_fake_prefix(std::string prefix); + static std::string fake_prefix(); +}; diff --git a/msgq_repo/msgq/impl_fake.h b/msgq_repo/msgq/impl_fake.h new file mode 100644 index 0000000000..2c3b74dc9a --- /dev/null +++ b/msgq_repo/msgq/impl_fake.h @@ -0,0 +1,67 @@ +#pragma once + +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +#include "msgq/ipc.h" +#include "msgq/event.h" + +template +class FakeSubSocket: public TSubSocket { +private: + Event *recv_called = nullptr; + Event *recv_ready = nullptr; + EventState *state = nullptr; + +public: + FakeSubSocket(): TSubSocket() {} + ~FakeSubSocket() { + delete recv_called; + delete recv_ready; + if (state != nullptr) { + munmap(state, sizeof(EventState)); + } + } + + int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true) override { + const char* cereal_prefix = std::getenv("CEREAL_FAKE_PREFIX"); + + char* mem; + std::string identifier = cereal_prefix != nullptr ? std::string(cereal_prefix) : ""; + event_state_shm_mmap(endpoint, identifier, &mem, nullptr); + + this->state = (EventState*)mem; + this->recv_called = new Event(state->fds[EventPurpose::RECV_CALLED]); + this->recv_ready = new Event(state->fds[EventPurpose::RECV_READY]); + + return TSubSocket::connect(context, endpoint, address, conflate, check_endpoint); + } + + Message *receive(bool non_blocking=false) override { + if (this->state->enabled) { + this->recv_called->set(); + this->recv_ready->wait(); + this->recv_ready->clear(); + } + + return TSubSocket::receive(non_blocking); + } +}; + +class FakePoller: public Poller { +private: + std::vector sockets; + +public: + void registerSocket(SubSocket *socket) override; + std::vector poll(int timeout) override; + ~FakePoller() {} +}; diff --git a/msgq_repo/msgq/impl_msgq.h b/msgq_repo/msgq/impl_msgq.h new file mode 100644 index 0000000000..4d9db1850f --- /dev/null +++ b/msgq_repo/msgq/impl_msgq.h @@ -0,0 +1,67 @@ +#pragma once + +#include +#include + +#include "msgq/ipc.h" +#include "msgq/msgq.h" + +#define MAX_POLLERS 128 + +class MSGQContext : public Context { +private: + void * context = NULL; +public: + MSGQContext(); + void * getRawContext() {return context;} + ~MSGQContext(); +}; + +class MSGQMessage : public Message { +private: + char * data; + size_t size; +public: + void init(size_t size); + void init(char *data, size_t size); + void takeOwnership(char *data, size_t size); + size_t getSize(){return size;} + char * getData(){return data;} + void close(); + ~MSGQMessage(); +}; + +class MSGQSubSocket : public SubSocket { +private: + msgq_queue_t * q = NULL; + int timeout; +public: + int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true); + void setTimeout(int timeout); + void * getRawSocket() {return (void*)q;} + Message *receive(bool non_blocking=false); + ~MSGQSubSocket(); +}; + +class MSGQPubSocket : public PubSocket { +private: + msgq_queue_t * q = NULL; +public: + int connect(Context *context, std::string endpoint, bool check_endpoint=true); + int sendMessage(Message *message); + int send(char *data, size_t size); + bool all_readers_updated(); + ~MSGQPubSocket(); +}; + +class MSGQPoller : public Poller { +private: + std::vector sockets; + msgq_pollitem_t polls[MAX_POLLERS]; + size_t num_polls = 0; + +public: + void registerSocket(SubSocket *socket); + std::vector poll(int timeout); + ~MSGQPoller(){} +}; diff --git a/msgq_repo/msgq/impl_zmq.h b/msgq_repo/msgq/impl_zmq.h new file mode 100644 index 0000000000..718196e306 --- /dev/null +++ b/msgq_repo/msgq/impl_zmq.h @@ -0,0 +1,68 @@ +#pragma once + +#include +#include +#include + +#include "msgq/ipc.h" + +#define MAX_POLLERS 128 + +class ZMQContext : public Context { +private: + void * context = NULL; +public: + ZMQContext(); + void * getRawContext() {return context;} + ~ZMQContext(); +}; + +class ZMQMessage : public Message { +private: + char * data; + size_t size; +public: + void init(size_t size); + void init(char *data, size_t size); + size_t getSize(){return size;} + char * getData(){return data;} + void close(); + ~ZMQMessage(); +}; + +class ZMQSubSocket : public SubSocket { +private: + void * sock; + std::string full_endpoint; +public: + int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true); + void setTimeout(int timeout); + void * getRawSocket() {return sock;} + Message *receive(bool non_blocking=false); + ~ZMQSubSocket(); +}; + +class ZMQPubSocket : public PubSocket { +private: + void * sock; + std::string full_endpoint; + int pid = -1; +public: + int connect(Context *context, std::string endpoint, bool check_endpoint=true); + int sendMessage(Message *message); + int send(char *data, size_t size); + bool all_readers_updated(); + ~ZMQPubSocket(); +}; + +class ZMQPoller : public Poller { +private: + std::vector sockets; + zmq_pollitem_t polls[MAX_POLLERS]; + size_t num_polls = 0; + +public: + void registerSocket(SubSocket *socket); + std::vector poll(int timeout); + ~ZMQPoller(){} +}; diff --git a/msgq_repo/msgq/ipc.h b/msgq_repo/msgq/ipc.h new file mode 100644 index 0000000000..1f0e3e06b5 --- /dev/null +++ b/msgq_repo/msgq/ipc.h @@ -0,0 +1,68 @@ +#pragma once + +#include +#include +#include +#include +#include +#include + + + +#ifdef __APPLE__ +#define CLOCK_BOOTTIME CLOCK_MONOTONIC +#endif + +#define MSG_MULTIPLE_PUBLISHERS 100 + +bool messaging_use_zmq(); + +class Context { +public: + virtual void * getRawContext() = 0; + static Context * create(); + virtual ~Context(){} +}; + +class Message { +public: + virtual void init(size_t size) = 0; + virtual void init(char * data, size_t size) = 0; + virtual void close() = 0; + virtual size_t getSize() = 0; + virtual char * getData() = 0; + virtual ~Message(){} +}; + + +class SubSocket { +public: + virtual int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true) = 0; + virtual void setTimeout(int timeout) = 0; + virtual Message *receive(bool non_blocking=false) = 0; + virtual void * getRawSocket() = 0; + static SubSocket * create(); + static SubSocket * create(Context * context, std::string endpoint, std::string address="127.0.0.1", bool conflate=false, bool check_endpoint=true); + virtual ~SubSocket(){} +}; + +class PubSocket { +public: + virtual int connect(Context *context, std::string endpoint, bool check_endpoint=true) = 0; + virtual int sendMessage(Message *message) = 0; + virtual int send(char *data, size_t size) = 0; + virtual bool all_readers_updated() = 0; + static PubSocket * create(); + static PubSocket * create(Context * context, std::string endpoint, bool check_endpoint=true); + static PubSocket * create(Context * context, std::string endpoint, int port, bool check_endpoint=true); + virtual ~PubSocket(){} +}; + +class Poller { +public: + virtual void registerSocket(SubSocket *socket) = 0; + virtual std::vector poll(int timeout) = 0; + static Poller * create(); + static Poller * create(std::vector sockets); + virtual ~Poller(){} +}; \ No newline at end of file diff --git a/msgq_repo/msgq/ipc.pxd b/msgq_repo/msgq/ipc.pxd new file mode 100644 index 0000000000..2c7ac963ec --- /dev/null +++ b/msgq_repo/msgq/ipc.pxd @@ -0,0 +1,68 @@ +# distutils: language = c++ +#cython: language_level=3 + +from libcpp.string cimport string +from libcpp.vector cimport vector +from libcpp cimport bool + + +cdef extern from "msgq/impl_fake.h": + cdef cppclass Event: + @staticmethod + int wait_for_one(vector[Event], int) except + + + Event() + Event(int) + void set() + int clear() + void wait(int) except + + bool peek() + int fd() + + cdef cppclass SocketEventHandle: + @staticmethod + void toggle_fake_events(bool) + @staticmethod + void set_fake_prefix(string) + @staticmethod + string fake_prefix() + + SocketEventHandle(string, string, bool) + bool is_enabled() + void set_enabled(bool) + Event recv_called() + Event recv_ready() + + +cdef extern from "msgq/ipc.h": + cdef cppclass Context: + @staticmethod + Context * create() + + cdef cppclass Message: + void init(size_t) + void init(char *, size_t) + void close() + size_t getSize() + char *getData() + + cdef cppclass SubSocket: + @staticmethod + SubSocket * create() + int connect(Context *, string, string, bool) + Message * receive(bool) + void setTimeout(int) + + cdef cppclass PubSocket: + @staticmethod + PubSocket * create() + int connect(Context *, string) + int sendMessage(Message *) + int send(char *, size_t) + bool all_readers_updated() + + cdef cppclass Poller: + @staticmethod + Poller * create() + void registerSocket(SubSocket *) + vector[SubSocket*] poll(int) nogil diff --git a/msgq_repo/msgq/ipc_pyx.cpp b/msgq_repo/msgq/ipc_pyx.cpp new file mode 100644 index 0000000000..08638b0621 --- /dev/null +++ b/msgq_repo/msgq/ipc_pyx.cpp @@ -0,0 +1,17670 @@ +/* Generated by Cython 3.0.8 */ + +/* BEGIN: Cython Metadata +{ + "distutils": { + "depends": [ + "msgq/impl_fake.h", + "msgq/ipc.h" + ], + "language": "c++", + "name": "msgq.ipc_pyx", + "sources": [ + "/data/openpilot/msgq_repo/msgq/ipc_pyx.pyx" + ] + }, + "module_name": "msgq.ipc_pyx" +} +END: Cython Metadata */ + +#ifndef PY_SSIZE_T_CLEAN +#define PY_SSIZE_T_CLEAN +#endif /* PY_SSIZE_T_CLEAN */ +#if defined(CYTHON_LIMITED_API) && 0 + #ifndef Py_LIMITED_API + #if CYTHON_LIMITED_API+0 > 0x03030000 + #define Py_LIMITED_API CYTHON_LIMITED_API + #else + #define Py_LIMITED_API 0x03030000 + #endif + #endif +#endif + +#include "Python.h" +#ifndef Py_PYTHON_H + #error Python headers needed to compile C extensions, please install development version of Python. +#elif PY_VERSION_HEX < 0x02070000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) + #error Cython requires Python 2.7+ or Python 3.3+. +#else +#if defined(CYTHON_LIMITED_API) && CYTHON_LIMITED_API +#define __PYX_EXTRA_ABI_MODULE_NAME "limited" +#else +#define __PYX_EXTRA_ABI_MODULE_NAME "" +#endif +#define CYTHON_ABI "3_0_8" __PYX_EXTRA_ABI_MODULE_NAME +#define __PYX_ABI_MODULE_NAME "_cython_" CYTHON_ABI +#define __PYX_TYPE_MODULE_PREFIX __PYX_ABI_MODULE_NAME "." +#define CYTHON_HEX_VERSION 0x030008F0 +#define CYTHON_FUTURE_DIVISION 1 +#include +#ifndef offsetof + #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) +#endif +#if !defined(_WIN32) && !defined(WIN32) && !defined(MS_WINDOWS) + #ifndef __stdcall + #define __stdcall + #endif + #ifndef __cdecl + #define __cdecl + #endif + #ifndef __fastcall + #define __fastcall + #endif +#endif +#ifndef DL_IMPORT + #define DL_IMPORT(t) t +#endif +#ifndef DL_EXPORT + #define DL_EXPORT(t) t +#endif +#define __PYX_COMMA , +#ifndef HAVE_LONG_LONG + #define HAVE_LONG_LONG +#endif +#ifndef PY_LONG_LONG + #define PY_LONG_LONG LONG_LONG +#endif +#ifndef Py_HUGE_VAL + #define Py_HUGE_VAL HUGE_VAL +#endif +#define __PYX_LIMITED_VERSION_HEX PY_VERSION_HEX +#if defined(GRAALVM_PYTHON) + /* For very preliminary testing purposes. Most variables are set the same as PyPy. + The existence of this section does not imply that anything works or is even tested */ + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 1 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(PYPY_VERSION) + #define CYTHON_COMPILING_IN_PYPY 1 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #if PY_VERSION_HEX < 0x03090000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1 && PYPY_VERSION_NUM >= 0x07030C00) + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(CYTHON_LIMITED_API) + #ifdef Py_LIMITED_API + #undef __PYX_LIMITED_VERSION_HEX + #define __PYX_LIMITED_VERSION_HEX Py_LIMITED_API + #endif + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 1 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_CLINE_IN_TRACEBACK + #define CYTHON_CLINE_IN_TRACEBACK 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 1 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #endif + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 1 + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(Py_GIL_DISABLED) || defined(Py_NOGIL) + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 1 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #ifndef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#else + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 1 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #ifndef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 1 + #endif + #if PY_MAJOR_VERSION < 3 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #ifndef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 1 + #endif + #ifndef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 1 + #endif + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #elif !defined(CYTHON_USE_UNICODE_WRITER) + #define CYTHON_USE_UNICODE_WRITER 1 + #endif + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #ifndef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 1 + #endif + #ifndef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL (PY_MAJOR_VERSION < 3 || PY_VERSION_HEX >= 0x03060000 && PY_VERSION_HEX < 0x030C00A6) + #endif + #ifndef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL (PY_VERSION_HEX >= 0x030700A1) + #endif + #ifndef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 1 + #endif + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #endif + #if PY_VERSION_HEX < 0x030400a1 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #elif !defined(CYTHON_USE_TP_FINALIZE) + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #if PY_VERSION_HEX < 0x030600B1 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #elif !defined(CYTHON_USE_DICT_VERSIONS) + #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX < 0x030C00A5) + #endif + #if PY_VERSION_HEX < 0x030700A3 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #elif !defined(CYTHON_USE_EXC_INFO_STACK) + #define CYTHON_USE_EXC_INFO_STACK 1 + #endif + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 1 + #endif +#endif +#if !defined(CYTHON_FAST_PYCCALL) +#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) +#endif +#if !defined(CYTHON_VECTORCALL) +#define CYTHON_VECTORCALL (CYTHON_FAST_PYCCALL && PY_VERSION_HEX >= 0x030800B1) +#endif +#define CYTHON_BACKPORT_VECTORCALL (CYTHON_METH_FASTCALL && PY_VERSION_HEX < 0x030800B1) +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_MAJOR_VERSION < 3 + #include "longintrepr.h" + #endif + #undef SHIFT + #undef BASE + #undef MASK + #ifdef SIZEOF_VOID_P + enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; + #endif +#endif +#ifndef __has_attribute + #define __has_attribute(x) 0 +#endif +#ifndef __has_cpp_attribute + #define __has_cpp_attribute(x) 0 +#endif +#ifndef CYTHON_RESTRICT + #if defined(__GNUC__) + #define CYTHON_RESTRICT __restrict__ + #elif defined(_MSC_VER) && _MSC_VER >= 1400 + #define CYTHON_RESTRICT __restrict + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_RESTRICT restrict + #else + #define CYTHON_RESTRICT + #endif +#endif +#ifndef CYTHON_UNUSED + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(maybe_unused) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(maybe_unused) + #define CYTHON_UNUSED [[maybe_unused]] + #endif + #endif + #endif +#endif +#ifndef CYTHON_UNUSED +# if defined(__GNUC__) +# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_UNUSED_VAR +# if defined(__cplusplus) + template void CYTHON_UNUSED_VAR( const T& ) { } +# else +# define CYTHON_UNUSED_VAR(x) (void)(x) +# endif +#endif +#ifndef CYTHON_MAYBE_UNUSED_VAR + #define CYTHON_MAYBE_UNUSED_VAR(x) CYTHON_UNUSED_VAR(x) +#endif +#ifndef CYTHON_NCP_UNUSED +# if CYTHON_COMPILING_IN_CPYTHON +# define CYTHON_NCP_UNUSED +# else +# define CYTHON_NCP_UNUSED CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_USE_CPP_STD_MOVE + #if defined(__cplusplus) && (\ + __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600)) + #define CYTHON_USE_CPP_STD_MOVE 1 + #else + #define CYTHON_USE_CPP_STD_MOVE 0 + #endif +#endif +#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) +#ifdef _MSC_VER + #ifndef _MSC_STDINT_H_ + #if _MSC_VER < 1300 + typedef unsigned char uint8_t; + typedef unsigned short uint16_t; + typedef unsigned int uint32_t; + #else + typedef unsigned __int8 uint8_t; + typedef unsigned __int16 uint16_t; + typedef unsigned __int32 uint32_t; + #endif + #endif + #if _MSC_VER < 1300 + #ifdef _WIN64 + typedef unsigned long long __pyx_uintptr_t; + #else + typedef unsigned int __pyx_uintptr_t; + #endif + #else + #ifdef _WIN64 + typedef unsigned __int64 __pyx_uintptr_t; + #else + typedef unsigned __int32 __pyx_uintptr_t; + #endif + #endif +#else + #include + typedef uintptr_t __pyx_uintptr_t; +#endif +#ifndef CYTHON_FALLTHROUGH + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(fallthrough) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(fallthrough) + #define CYTHON_FALLTHROUGH [[fallthrough]] + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_cpp_attribute(clang::fallthrough) + #define CYTHON_FALLTHROUGH [[clang::fallthrough]] + #elif __has_cpp_attribute(gnu::fallthrough) + #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] + #endif + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_attribute(fallthrough) + #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) + #else + #define CYTHON_FALLTHROUGH + #endif + #endif + #if defined(__clang__) && defined(__apple_build_version__) + #if __apple_build_version__ < 7000000 + #undef CYTHON_FALLTHROUGH + #define CYTHON_FALLTHROUGH + #endif + #endif +#endif +#ifdef __cplusplus + template + struct __PYX_IS_UNSIGNED_IMPL {static const bool value = T(0) < T(-1);}; + #define __PYX_IS_UNSIGNED(type) (__PYX_IS_UNSIGNED_IMPL::value) +#else + #define __PYX_IS_UNSIGNED(type) (((type)-1) > 0) +#endif +#if CYTHON_COMPILING_IN_PYPY == 1 + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x030A0000) +#else + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000) +#endif +#define __PYX_REINTERPRET_FUNCION(func_pointer, other_pointer) ((func_pointer)(void(*)(void))(other_pointer)) + +#ifndef __cplusplus + #error "Cython files generated with the C++ option must be compiled with a C++ compiler." +#endif +#ifndef CYTHON_INLINE + #if defined(__clang__) + #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) + #else + #define CYTHON_INLINE inline + #endif +#endif +template +void __Pyx_call_destructor(T& x) { + x.~T(); +} +template +class __Pyx_FakeReference { + public: + __Pyx_FakeReference() : ptr(NULL) { } + __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } + T *operator->() { return ptr; } + T *operator&() { return ptr; } + operator T&() { return *ptr; } + template bool operator ==(const U& other) const { return *ptr == other; } + template bool operator !=(const U& other) const { return *ptr != other; } + template bool operator==(const __Pyx_FakeReference& other) const { return *ptr == *other.ptr; } + template bool operator!=(const __Pyx_FakeReference& other) const { return *ptr != *other.ptr; } + private: + T *ptr; +}; + +#define __PYX_BUILD_PY_SSIZE_T "n" +#define CYTHON_FORMAT_SSIZE_T "z" +#if PY_MAJOR_VERSION < 3 + #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" + #define __Pyx_DefaultClassType PyClass_Type + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_BUILTIN_MODULE_NAME "builtins" + #define __Pyx_DefaultClassType PyType_Type +#if CYTHON_COMPILING_IN_LIMITED_API + static CYTHON_INLINE PyObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyObject *exception_table = NULL; + PyObject *types_module=NULL, *code_type=NULL, *result=NULL; + #if __PYX_LIMITED_VERSION_HEX < 0x030B0000 + PyObject *version_info; + PyObject *py_minor_version = NULL; + #endif + long minor_version = 0; + PyObject *type, *value, *traceback; + PyErr_Fetch(&type, &value, &traceback); + #if __PYX_LIMITED_VERSION_HEX >= 0x030B0000 + minor_version = 11; + #else + if (!(version_info = PySys_GetObject("version_info"))) goto end; + if (!(py_minor_version = PySequence_GetItem(version_info, 1))) goto end; + minor_version = PyLong_AsLong(py_minor_version); + Py_DECREF(py_minor_version); + if (minor_version == -1 && PyErr_Occurred()) goto end; + #endif + if (!(types_module = PyImport_ImportModule("types"))) goto end; + if (!(code_type = PyObject_GetAttrString(types_module, "CodeType"))) goto end; + if (minor_version <= 7) { + (void)p; + result = PyObject_CallFunction(code_type, "iiiiiOOOOOOiOO", a, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else if (minor_version <= 10) { + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else { + if (!(exception_table = PyBytes_FromStringAndSize(NULL, 0))) goto end; + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, name, fline, lnos, exception_table, fv, cell); + } + end: + Py_XDECREF(code_type); + Py_XDECREF(exception_table); + Py_XDECREF(types_module); + if (type) { + PyErr_Restore(type, value, traceback); + } + return result; + } + #ifndef CO_OPTIMIZED + #define CO_OPTIMIZED 0x0001 + #endif + #ifndef CO_NEWLOCALS + #define CO_NEWLOCALS 0x0002 + #endif + #ifndef CO_VARARGS + #define CO_VARARGS 0x0004 + #endif + #ifndef CO_VARKEYWORDS + #define CO_VARKEYWORDS 0x0008 + #endif + #ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x0200 + #endif + #ifndef CO_GENERATOR + #define CO_GENERATOR 0x0020 + #endif + #ifndef CO_COROUTINE + #define CO_COROUTINE 0x0080 + #endif +#elif PY_VERSION_HEX >= 0x030B0000 + static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyCodeObject *result; + PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); + if (!empty_bytes) return NULL; + result = + #if PY_VERSION_HEX >= 0x030C0000 + PyUnstable_Code_NewWithPosOnlyArgs + #else + PyCode_NewWithPosOnlyArgs + #endif + (a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, name, fline, lnos, empty_bytes); + Py_DECREF(empty_bytes); + return result; + } +#elif PY_VERSION_HEX >= 0x030800B2 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_NewWithPosOnlyArgs(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#endif +#endif +#if PY_VERSION_HEX >= 0x030900A4 || defined(Py_IS_TYPE) + #define __Pyx_IS_TYPE(ob, type) Py_IS_TYPE(ob, type) +#else + #define __Pyx_IS_TYPE(ob, type) (((const PyObject*)ob)->ob_type == (type)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_Is) + #define __Pyx_Py_Is(x, y) Py_Is(x, y) +#else + #define __Pyx_Py_Is(x, y) ((x) == (y)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsNone) + #define __Pyx_Py_IsNone(ob) Py_IsNone(ob) +#else + #define __Pyx_Py_IsNone(ob) __Pyx_Py_Is((ob), Py_None) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsTrue) + #define __Pyx_Py_IsTrue(ob) Py_IsTrue(ob) +#else + #define __Pyx_Py_IsTrue(ob) __Pyx_Py_Is((ob), Py_True) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsFalse) + #define __Pyx_Py_IsFalse(ob) Py_IsFalse(ob) +#else + #define __Pyx_Py_IsFalse(ob) __Pyx_Py_Is((ob), Py_False) +#endif +#define __Pyx_NoneAsNull(obj) (__Pyx_Py_IsNone(obj) ? NULL : (obj)) +#if PY_VERSION_HEX >= 0x030900F0 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_GC_IsFinalized(o) PyObject_GC_IsFinalized(o) +#else + #define __Pyx_PyObject_GC_IsFinalized(o) _PyGC_FINALIZED(o) +#endif +#ifndef CO_COROUTINE + #define CO_COROUTINE 0x80 +#endif +#ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x200 +#endif +#ifndef Py_TPFLAGS_CHECKTYPES + #define Py_TPFLAGS_CHECKTYPES 0 +#endif +#ifndef Py_TPFLAGS_HAVE_INDEX + #define Py_TPFLAGS_HAVE_INDEX 0 +#endif +#ifndef Py_TPFLAGS_HAVE_NEWBUFFER + #define Py_TPFLAGS_HAVE_NEWBUFFER 0 +#endif +#ifndef Py_TPFLAGS_HAVE_FINALIZE + #define Py_TPFLAGS_HAVE_FINALIZE 0 +#endif +#ifndef Py_TPFLAGS_SEQUENCE + #define Py_TPFLAGS_SEQUENCE 0 +#endif +#ifndef Py_TPFLAGS_MAPPING + #define Py_TPFLAGS_MAPPING 0 +#endif +#ifndef METH_STACKLESS + #define METH_STACKLESS 0 +#endif +#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) + #ifndef METH_FASTCALL + #define METH_FASTCALL 0x80 + #endif + typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); + typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, + Py_ssize_t nargs, PyObject *kwnames); +#else + #define __Pyx_PyCFunctionFast _PyCFunctionFast + #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords +#endif +#if CYTHON_METH_FASTCALL + #define __Pyx_METH_FASTCALL METH_FASTCALL + #define __Pyx_PyCFunction_FastCall __Pyx_PyCFunctionFast + #define __Pyx_PyCFunction_FastCallWithKeywords __Pyx_PyCFunctionFastWithKeywords +#else + #define __Pyx_METH_FASTCALL METH_VARARGS + #define __Pyx_PyCFunction_FastCall PyCFunction + #define __Pyx_PyCFunction_FastCallWithKeywords PyCFunctionWithKeywords +#endif +#if CYTHON_VECTORCALL + #define __pyx_vectorcallfunc vectorcallfunc + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET PY_VECTORCALL_ARGUMENTS_OFFSET + #define __Pyx_PyVectorcall_NARGS(n) PyVectorcall_NARGS((size_t)(n)) +#elif CYTHON_BACKPORT_VECTORCALL + typedef PyObject *(*__pyx_vectorcallfunc)(PyObject *callable, PyObject *const *args, + size_t nargsf, PyObject *kwnames); + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET ((size_t)1 << (8 * sizeof(size_t) - 1)) + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(((size_t)(n)) & ~__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET)) +#else + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET 0 + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(n)) +#endif +#if PY_MAJOR_VERSION >= 0x030900B1 +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_CheckExact(func) +#else +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_Check(func) +#endif +#define __Pyx_CyOrPyCFunction_Check(func) PyCFunction_Check(func) +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) (((PyCFunctionObject*)(func))->m_ml->ml_meth) +#elif !CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) PyCFunction_GET_FUNCTION(func) +#endif +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FLAGS(func) (((PyCFunctionObject*)(func))->m_ml->ml_flags) +static CYTHON_INLINE PyObject* __Pyx_CyOrPyCFunction_GET_SELF(PyObject *func) { + return (__Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_STATIC) ? NULL : ((PyCFunctionObject*)func)->m_self; +} +#endif +static CYTHON_INLINE int __Pyx__IsSameCFunction(PyObject *func, void *cfunc) { +#if CYTHON_COMPILING_IN_LIMITED_API + return PyCFunction_Check(func) && PyCFunction_GetFunction(func) == (PyCFunction) cfunc; +#else + return PyCFunction_Check(func) && PyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +#endif +} +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCFunction(func, cfunc) +#if __PYX_LIMITED_VERSION_HEX < 0x030900B1 + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) ((void)m, PyType_FromSpecWithBases(s, b)) + typedef PyObject *(*__Pyx_PyCMethod)(PyObject *, PyTypeObject *, PyObject *const *, size_t, PyObject *); +#else + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) PyType_FromModuleAndSpec(m, s, b) + #define __Pyx_PyCMethod PyCMethod +#endif +#ifndef METH_METHOD + #define METH_METHOD 0x200 +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) + #define PyObject_Malloc(s) PyMem_Malloc(s) + #define PyObject_Free(p) PyMem_Free(p) + #define PyObject_Realloc(p) PyMem_Realloc(p) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) +#else + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyThreadState_Current PyThreadState_Get() +#elif !CYTHON_FAST_THREAD_STATE + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#elif PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyThreadState_Current PyThreadState_GetUnchecked() +#elif PY_VERSION_HEX >= 0x03060000 + #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() +#elif PY_VERSION_HEX >= 0x03000000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#else + #define __Pyx_PyThreadState_Current _PyThreadState_Current +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE void *__Pyx_PyModule_GetState(PyObject *op) +{ + void *result; + result = PyModule_GetState(op); + if (!result) + Py_FatalError("Couldn't find the module state"); + return result; +} +#endif +#define __Pyx_PyObject_GetSlot(obj, name, func_ctype) __Pyx_PyType_GetSlot(Py_TYPE(obj), name, func_ctype) +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((func_ctype) PyType_GetSlot((type), Py_##name)) +#else + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((type)->name) +#endif +#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) +#include "pythread.h" +#define Py_tss_NEEDS_INIT 0 +typedef int Py_tss_t; +static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { + *key = PyThread_create_key(); + return 0; +} +static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { + Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); + *key = Py_tss_NEEDS_INIT; + return key; +} +static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { + PyObject_Free(key); +} +static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { + return *key != Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { + PyThread_delete_key(*key); + *key = Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { + return PyThread_set_key_value(*key, value); +} +static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { + return PyThread_get_key_value(*key); +} +#endif +#if PY_MAJOR_VERSION < 3 + #if CYTHON_COMPILING_IN_PYPY + #if PYPY_VERSION_NUM < 0x07030600 + #if defined(__cplusplus) && __cplusplus >= 201402L + [[deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")]] + #elif defined(__GNUC__) || defined(__clang__) + __attribute__ ((__deprecated__("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6"))) + #elif defined(_MSC_VER) + __declspec(deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")) + #endif + static CYTHON_INLINE int PyGILState_Check(void) { + return 0; + } + #else // PYPY_VERSION_NUM < 0x07030600 + #endif // PYPY_VERSION_NUM < 0x07030600 + #else + static CYTHON_INLINE int PyGILState_Check(void) { + PyThreadState * tstate = _PyThreadState_Current; + return tstate && (tstate == PyGILState_GetThisThreadState()); + } + #endif +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030d0000 || defined(_PyDict_NewPresized) +#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) +#else +#define __Pyx_PyDict_NewPresized(n) PyDict_New() +#endif +#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION + #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) +#else + #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX > 0x030600B4 && PY_VERSION_HEX < 0x030d0000 && CYTHON_USE_UNICODE_INTERNALS +#define __Pyx_PyDict_GetItemStrWithError(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStr(PyObject *dict, PyObject *name) { + PyObject *res = __Pyx_PyDict_GetItemStrWithError(dict, name); + if (res == NULL) PyErr_Clear(); + return res; +} +#elif PY_MAJOR_VERSION >= 3 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07020000) +#define __Pyx_PyDict_GetItemStrWithError PyDict_GetItemWithError +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#else +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStrWithError(PyObject *dict, PyObject *name) { +#if CYTHON_COMPILING_IN_PYPY + return PyDict_GetItem(dict, name); +#else + PyDictEntry *ep; + PyDictObject *mp = (PyDictObject*) dict; + long hash = ((PyStringObject *) name)->ob_shash; + assert(hash != -1); + ep = (mp->ma_lookup)(mp, name, hash); + if (ep == NULL) { + return NULL; + } + return ep->me_value; +#endif +} +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#endif +#if CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyType_GetFlags(tp) (((PyTypeObject *)tp)->tp_flags) + #define __Pyx_PyType_HasFeature(type, feature) ((__Pyx_PyType_GetFlags(type) & (feature)) != 0) + #define __Pyx_PyObject_GetIterNextFunc(obj) (Py_TYPE(obj)->tp_iternext) +#else + #define __Pyx_PyType_GetFlags(tp) (PyType_GetFlags((PyTypeObject *)tp)) + #define __Pyx_PyType_HasFeature(type, feature) PyType_HasFeature(type, feature) + #define __Pyx_PyObject_GetIterNextFunc(obj) PyIter_Next +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyObject_GenericSetAttr((PyObject*)tp, k, v) +#else + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyDict_SetItem(tp->tp_dict, k, v) +#endif +#if CYTHON_USE_TYPE_SPECS && PY_VERSION_HEX >= 0x03080000 +#define __Pyx_PyHeapTypeObject_GC_Del(obj) {\ + PyTypeObject *type = Py_TYPE((PyObject*)obj);\ + assert(__Pyx_PyType_HasFeature(type, Py_TPFLAGS_HEAPTYPE));\ + PyObject_GC_Del(obj);\ + Py_DECREF(type);\ +} +#else +#define __Pyx_PyHeapTypeObject_GC_Del(obj) PyObject_GC_Del(obj) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define CYTHON_PEP393_ENABLED 1 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GetLength(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_ReadChar(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((void)u, 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((void)u, (0)) + #define __Pyx_PyUnicode_DATA(u) ((void*)u) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)k, PyUnicode_ReadChar((PyObject*)(d), i)) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GetLength(u)) +#elif PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) + #define CYTHON_PEP393_ENABLED 1 + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_READY(op) (0) + #else + #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ + 0 : _PyUnicode_Ready((PyObject *)(op))) + #endif + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) + #define __Pyx_PyUnicode_KIND(u) ((int)PyUnicode_KIND(u)) + #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) + #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, (Py_UCS4) ch) + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) + #else + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) + #endif + #endif +#else + #define CYTHON_PEP393_ENABLED 0 + #define PyUnicode_1BYTE_KIND 1 + #define PyUnicode_2BYTE_KIND 2 + #define PyUnicode_4BYTE_KIND 4 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535U : 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((int)sizeof(Py_UNICODE)) + #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = (Py_UNICODE) ch) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) +#else + #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ + PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #if !defined(PyUnicode_DecodeUnicodeEscape) + #define PyUnicode_DecodeUnicodeEscape(s, size, errors) PyUnicode_Decode(s, size, "unicode_escape", errors) + #endif + #if !defined(PyUnicode_Contains) || (PY_MAJOR_VERSION == 2 && PYPY_VERSION_NUM < 0x07030500) + #undef PyUnicode_Contains + #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) + #endif + #if !defined(PyByteArray_Check) + #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) + #endif + #if !defined(PyObject_Format) + #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) + #endif +#endif +#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) +#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) +#else + #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) +#endif +#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) + #define PyObject_ASCII(o) PyObject_Repr(o) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBaseString_Type PyUnicode_Type + #define PyStringObject PyUnicodeObject + #define PyString_Type PyUnicode_Type + #define PyString_Check PyUnicode_Check + #define PyString_CheckExact PyUnicode_CheckExact +#ifndef PyObject_Unicode + #define PyObject_Unicode PyObject_Str +#endif +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) + #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) +#else + #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) + #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) +#endif +#if CYTHON_COMPILING_IN_CPYTHON + #define __Pyx_PySequence_ListKeepNew(obj)\ + (likely(PyList_CheckExact(obj) && Py_REFCNT(obj) == 1) ? __Pyx_NewRef(obj) : PySequence_List(obj)) +#else + #define __Pyx_PySequence_ListKeepNew(obj) PySequence_List(obj) +#endif +#ifndef PySet_CheckExact + #define PySet_CheckExact(obj) __Pyx_IS_TYPE(obj, &PySet_Type) +#endif +#if PY_VERSION_HEX >= 0x030900A4 + #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) +#else + #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) +#endif +#if CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_PySequence_ITEM(o, i) PySequence_ITEM(o, i) + #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) (PyTuple_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyList_SET_ITEM(o, i, v) (PyList_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_GET_SIZE(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_GET_SIZE(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_GET_SIZE(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_GET_SIZE(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_GET_SIZE(o) +#else + #define __Pyx_PySequence_ITEM(o, i) PySequence_GetItem(o, i) + #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) PyTuple_SetItem(o, i, v) + #define __Pyx_PyList_SET_ITEM(o, i, v) PyList_SetItem(o, i, v) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_Size(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_Size(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_Size(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_Size(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_Size(o) +#endif +#if PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyImport_AddModuleRef(name) PyImport_AddModuleRef(name) +#else + static CYTHON_INLINE PyObject *__Pyx_PyImport_AddModuleRef(const char *name) { + PyObject *module = PyImport_AddModule(name); + Py_XINCREF(module); + return module; + } +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyIntObject PyLongObject + #define PyInt_Type PyLong_Type + #define PyInt_Check(op) PyLong_Check(op) + #define PyInt_CheckExact(op) PyLong_CheckExact(op) + #define __Pyx_Py3Int_Check(op) PyLong_Check(op) + #define __Pyx_Py3Int_CheckExact(op) PyLong_CheckExact(op) + #define PyInt_FromString PyLong_FromString + #define PyInt_FromUnicode PyLong_FromUnicode + #define PyInt_FromLong PyLong_FromLong + #define PyInt_FromSize_t PyLong_FromSize_t + #define PyInt_FromSsize_t PyLong_FromSsize_t + #define PyInt_AsLong PyLong_AsLong + #define PyInt_AS_LONG PyLong_AS_LONG + #define PyInt_AsSsize_t PyLong_AsSsize_t + #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask + #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask + #define PyNumber_Int PyNumber_Long +#else + #define __Pyx_Py3Int_Check(op) (PyLong_Check(op) || PyInt_Check(op)) + #define __Pyx_Py3Int_CheckExact(op) (PyLong_CheckExact(op) || PyInt_CheckExact(op)) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBoolObject PyLongObject +#endif +#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY + #ifndef PyUnicode_InternFromString + #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) + #endif +#endif +#if PY_VERSION_HEX < 0x030200A4 + typedef long Py_hash_t; + #define __Pyx_PyInt_FromHash_t PyInt_FromLong + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t +#else + #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t +#endif +#if CYTHON_USE_ASYNC_SLOTS + #if PY_VERSION_HEX >= 0x030500B1 + #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods + #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) + #else + #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) + #endif +#else + #define __Pyx_PyType_AsAsync(obj) NULL +#endif +#ifndef __Pyx_PyAsyncMethodsStruct + typedef struct { + unaryfunc am_await; + unaryfunc am_aiter; + unaryfunc am_anext; + } __Pyx_PyAsyncMethodsStruct; +#endif + +#if defined(_WIN32) || defined(WIN32) || defined(MS_WINDOWS) + #if !defined(_USE_MATH_DEFINES) + #define _USE_MATH_DEFINES + #endif +#endif +#include +#ifdef NAN +#define __PYX_NAN() ((float) NAN) +#else +static CYTHON_INLINE float __PYX_NAN() { + float value; + memset(&value, 0xFF, sizeof(value)); + return value; +} +#endif +#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) +#define __Pyx_truncl trunc +#else +#define __Pyx_truncl truncl +#endif + +#define __PYX_MARK_ERR_POS(f_index, lineno) \ + { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } +#define __PYX_ERR(f_index, lineno, Ln_error) \ + { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } + +#ifdef CYTHON_EXTERN_C + #undef __PYX_EXTERN_C + #define __PYX_EXTERN_C CYTHON_EXTERN_C +#elif defined(__PYX_EXTERN_C) + #ifdef _MSC_VER + #pragma message ("Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead.") + #else + #warning Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead. + #endif +#else + #define __PYX_EXTERN_C extern "C++" +#endif + +#define __PYX_HAVE__msgq__ipc_pyx +#define __PYX_HAVE_API__msgq__ipc_pyx +/* Early includes */ +#include +#include +#include "ios" +#include "new" +#include "stdexcept" +#include "typeinfo" +#include +#include +#include "msgq/impl_fake.h" +#include "msgq/ipc.h" +#ifdef _OPENMP +#include +#endif /* _OPENMP */ + +#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) +#define CYTHON_WITHOUT_ASSERTIONS +#endif + +typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; + const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; + +#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 1 +#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) +#define __PYX_DEFAULT_STRING_ENCODING "ascii" +#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString +#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#define __Pyx_uchar_cast(c) ((unsigned char)c) +#define __Pyx_long_cast(x) ((long)x) +#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ + (sizeof(type) < sizeof(Py_ssize_t)) ||\ + (sizeof(type) > sizeof(Py_ssize_t) &&\ + likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX) &&\ + (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ + v == (type)PY_SSIZE_T_MIN))) ||\ + (sizeof(type) == sizeof(Py_ssize_t) &&\ + (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX))) ) +static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { + return (size_t) i < (size_t) limit; +} +#if defined (__cplusplus) && __cplusplus >= 201103L + #include + #define __Pyx_sst_abs(value) std::abs(value) +#elif SIZEOF_INT >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) abs(value) +#elif SIZEOF_LONG >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) labs(value) +#elif defined (_MSC_VER) + #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) +#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define __Pyx_sst_abs(value) llabs(value) +#elif defined (__GNUC__) + #define __Pyx_sst_abs(value) __builtin_llabs(value) +#else + #define __Pyx_sst_abs(value) ((value<0) ? -value : value) +#endif +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s); +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char*); +#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) +#define __Pyx_PyBytes_FromString PyBytes_FromString +#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); +#if PY_MAJOR_VERSION < 3 + #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#else + #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize +#endif +#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyObject_AsWritableString(s) ((char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableSString(s) ((signed char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) +#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) +#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) +#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) +#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const wchar_t *u) +{ + const wchar_t *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#else +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) +{ + const Py_UNICODE *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#endif +#define __Pyx_PyUnicode_FromOrdinal(o) PyUnicode_FromOrdinal((int)o) +#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) +#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode +#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode +#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) +#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); +#define __Pyx_PySequence_Tuple(obj)\ + (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); +#if CYTHON_ASSUME_SAFE_MACROS +#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) +#else +#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) +#endif +#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) +#else +#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) +#endif +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_VERSION_HEX >= 0x030C00A7 + #ifndef _PyLong_SIGN_MASK + #define _PyLong_SIGN_MASK 3 + #endif + #ifndef _PyLong_NON_SIZE_BITS + #define _PyLong_NON_SIZE_BITS 3 + #endif + #define __Pyx_PyLong_Sign(x) (((PyLongObject*)x)->long_value.lv_tag & _PyLong_SIGN_MASK) + #define __Pyx_PyLong_IsNeg(x) ((__Pyx_PyLong_Sign(x) & 2) != 0) + #define __Pyx_PyLong_IsNonNeg(x) (!__Pyx_PyLong_IsNeg(x)) + #define __Pyx_PyLong_IsZero(x) (__Pyx_PyLong_Sign(x) & 1) + #define __Pyx_PyLong_IsPos(x) (__Pyx_PyLong_Sign(x) == 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) (__Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) ((Py_ssize_t) (((PyLongObject*)x)->long_value.lv_tag >> _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_SignedDigitCount(x)\ + ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * __Pyx_PyLong_DigitCount(x)) + #if defined(PyUnstable_Long_IsCompact) && defined(PyUnstable_Long_CompactValue) + #define __Pyx_PyLong_IsCompact(x) PyUnstable_Long_IsCompact((PyLongObject*) x) + #define __Pyx_PyLong_CompactValue(x) PyUnstable_Long_CompactValue((PyLongObject*) x) + #else + #define __Pyx_PyLong_IsCompact(x) (((PyLongObject*)x)->long_value.lv_tag < (2 << _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_CompactValue(x) ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * (Py_ssize_t) __Pyx_PyLong_Digits(x)[0]) + #endif + typedef Py_ssize_t __Pyx_compact_pylong; + typedef size_t __Pyx_compact_upylong; + #else + #define __Pyx_PyLong_IsNeg(x) (Py_SIZE(x) < 0) + #define __Pyx_PyLong_IsNonNeg(x) (Py_SIZE(x) >= 0) + #define __Pyx_PyLong_IsZero(x) (Py_SIZE(x) == 0) + #define __Pyx_PyLong_IsPos(x) (Py_SIZE(x) > 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) ((Py_SIZE(x) == 0) ? 0 : __Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) __Pyx_sst_abs(Py_SIZE(x)) + #define __Pyx_PyLong_SignedDigitCount(x) Py_SIZE(x) + #define __Pyx_PyLong_IsCompact(x) (Py_SIZE(x) == 0 || Py_SIZE(x) == 1 || Py_SIZE(x) == -1) + #define __Pyx_PyLong_CompactValue(x)\ + ((Py_SIZE(x) == 0) ? (sdigit) 0 : ((Py_SIZE(x) < 0) ? -(sdigit)__Pyx_PyLong_Digits(x)[0] : (sdigit)__Pyx_PyLong_Digits(x)[0])) + typedef sdigit __Pyx_compact_pylong; + typedef digit __Pyx_compact_upylong; + #endif + #if PY_VERSION_HEX >= 0x030C00A5 + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->long_value.ob_digit) + #else + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->ob_digit) + #endif +#endif +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII +#include +static int __Pyx_sys_getdefaultencoding_not_ascii; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + PyObject* ascii_chars_u = NULL; + PyObject* ascii_chars_b = NULL; + const char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + if (strcmp(default_encoding_c, "ascii") == 0) { + __Pyx_sys_getdefaultencoding_not_ascii = 0; + } else { + char ascii_chars[128]; + int c; + for (c = 0; c < 128; c++) { + ascii_chars[c] = (char) c; + } + __Pyx_sys_getdefaultencoding_not_ascii = 1; + ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); + if (!ascii_chars_u) goto bad; + ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); + if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { + PyErr_Format( + PyExc_ValueError, + "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", + default_encoding_c); + goto bad; + } + Py_DECREF(ascii_chars_u); + Py_DECREF(ascii_chars_b); + } + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + Py_XDECREF(ascii_chars_u); + Py_XDECREF(ascii_chars_b); + return -1; +} +#endif +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3 +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL) +#else +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL) +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#include +static char* __PYX_DEFAULT_STRING_ENCODING; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1); + if (!__PYX_DEFAULT_STRING_ENCODING) goto bad; + strcpy(__PYX_DEFAULT_STRING_ENCODING, default_encoding_c); + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + return -1; +} +#endif +#endif + + +/* Test for GCC > 2.95 */ +#if defined(__GNUC__) && (__GNUC__ > 2 || (__GNUC__ == 2 && (__GNUC_MINOR__ > 95))) + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#else /* !__GNUC__ or GCC < 2.95 */ + #define likely(x) (x) + #define unlikely(x) (x) +#endif /* __GNUC__ */ +static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void)ptr; } + +#if !CYTHON_USE_MODULE_STATE +static PyObject *__pyx_m = NULL; +#endif +static int __pyx_lineno; +static int __pyx_clineno = 0; +static const char * __pyx_cfilenm = __FILE__; +static const char *__pyx_filename; + +/* #### Code section: filename_table ### */ + +static const char *__pyx_f[] = { + "msgq_repo/msgq/ipc_pyx.pyx", + "", +}; +/* #### Code section: utility_code_proto_before_types ### */ +/* ForceInitThreads.proto */ +#ifndef __PYX_FORCE_INIT_THREADS + #define __PYX_FORCE_INIT_THREADS 0 +#endif + +/* NoFastGil.proto */ +#define __Pyx_PyGILState_Ensure PyGILState_Ensure +#define __Pyx_PyGILState_Release PyGILState_Release +#define __Pyx_FastGIL_Remember() +#define __Pyx_FastGIL_Forget() +#define __Pyx_FastGilFuncInit() + +/* #### Code section: numeric_typedefs ### */ +/* #### Code section: complex_type_declarations ### */ +/* #### Code section: type_declarations ### */ + +/*--- Type declarations ---*/ +struct __pyx_obj_4msgq_7ipc_pyx_Event; +struct __pyx_obj_4msgq_7ipc_pyx_SocketEventHandle; +struct __pyx_obj_4msgq_7ipc_pyx_Context; +struct __pyx_obj_4msgq_7ipc_pyx_Poller; +struct __pyx_obj_4msgq_7ipc_pyx_SubSocket; +struct __pyx_obj_4msgq_7ipc_pyx_PubSocket; + +/* "msgq/ipc_pyx.pyx":55 + * + * + * cdef class Event: # <<<<<<<<<<<<<< + * cdef cppEvent event; + * + */ +struct __pyx_obj_4msgq_7ipc_pyx_Event { + PyObject_HEAD + struct __pyx_vtabstruct_4msgq_7ipc_pyx_Event *__pyx_vtab; + Event event; +}; + + +/* "msgq/ipc_pyx.pyx":85 + * + * + * cdef class SocketEventHandle: # <<<<<<<<<<<<<< + * cdef cppSocketEventHandle * handle; + * + */ +struct __pyx_obj_4msgq_7ipc_pyx_SocketEventHandle { + PyObject_HEAD + SocketEventHandle *handle; +}; + + +/* "msgq/ipc_pyx.pyx":117 + * + * + * cdef class Context: # <<<<<<<<<<<<<< + * cdef cppContext * context + * + */ +struct __pyx_obj_4msgq_7ipc_pyx_Context { + PyObject_HEAD + Context *context; +}; + + +/* "msgq/ipc_pyx.pyx":134 + * + * + * cdef class Poller: # <<<<<<<<<<<<<< + * cdef cppPoller * poller + * cdef list sub_sockets + */ +struct __pyx_obj_4msgq_7ipc_pyx_Poller { + PyObject_HEAD + Poller *poller; + PyObject *sub_sockets; +}; + + +/* "msgq/ipc_pyx.pyx":164 + * + * + * cdef class SubSocket: # <<<<<<<<<<<<<< + * cdef cppSubSocket * socket + * cdef bool is_owner + */ +struct __pyx_obj_4msgq_7ipc_pyx_SubSocket { + PyObject_HEAD + struct __pyx_vtabstruct_4msgq_7ipc_pyx_SubSocket *__pyx_vtab; + SubSocket *socket; + bool is_owner; +}; + + +/* "msgq/ipc_pyx.pyx":216 + * + * + * cdef class PubSocket: # <<<<<<<<<<<<<< + * cdef cppPubSocket * socket + * + */ +struct __pyx_obj_4msgq_7ipc_pyx_PubSocket { + PyObject_HEAD + PubSocket *socket; +}; + + + +/* "msgq/ipc_pyx.pyx":55 + * + * + * cdef class Event: # <<<<<<<<<<<<<< + * cdef cppEvent event; + * + */ + +struct __pyx_vtabstruct_4msgq_7ipc_pyx_Event { + PyObject *(*setEvent)(struct __pyx_obj_4msgq_7ipc_pyx_Event *, Event); +}; +static struct __pyx_vtabstruct_4msgq_7ipc_pyx_Event *__pyx_vtabptr_4msgq_7ipc_pyx_Event; + + +/* "msgq/ipc_pyx.pyx":164 + * + * + * cdef class SubSocket: # <<<<<<<<<<<<<< + * cdef cppSubSocket * socket + * cdef bool is_owner + */ + +struct __pyx_vtabstruct_4msgq_7ipc_pyx_SubSocket { + PyObject *(*setPtr)(struct __pyx_obj_4msgq_7ipc_pyx_SubSocket *, SubSocket *); +}; +static struct __pyx_vtabstruct_4msgq_7ipc_pyx_SubSocket *__pyx_vtabptr_4msgq_7ipc_pyx_SubSocket; +/* #### Code section: utility_code_proto ### */ + +/* --- Runtime support code (head) --- */ +/* Refnanny.proto */ +#ifndef CYTHON_REFNANNY + #define CYTHON_REFNANNY 0 +#endif +#if CYTHON_REFNANNY + typedef struct { + void (*INCREF)(void*, PyObject*, Py_ssize_t); + void (*DECREF)(void*, PyObject*, Py_ssize_t); + void (*GOTREF)(void*, PyObject*, Py_ssize_t); + void (*GIVEREF)(void*, PyObject*, Py_ssize_t); + void* (*SetupContext)(const char*, Py_ssize_t, const char*); + void (*FinishContext)(void**); + } __Pyx_RefNannyAPIStruct; + static __Pyx_RefNannyAPIStruct *__Pyx_RefNanny = NULL; + static __Pyx_RefNannyAPIStruct *__Pyx_RefNannyImportAPI(const char *modname); + #define __Pyx_RefNannyDeclarations void *__pyx_refnanny = NULL; +#ifdef WITH_THREAD + #define __Pyx_RefNannySetupContext(name, acquire_gil)\ + if (acquire_gil) {\ + PyGILState_STATE __pyx_gilstate_save = PyGILState_Ensure();\ + __pyx_refnanny = __Pyx_RefNanny->SetupContext((name), (__LINE__), (__FILE__));\ + PyGILState_Release(__pyx_gilstate_save);\ + } else {\ + __pyx_refnanny = __Pyx_RefNanny->SetupContext((name), (__LINE__), (__FILE__));\ + } + #define __Pyx_RefNannyFinishContextNogil() {\ + PyGILState_STATE __pyx_gilstate_save = PyGILState_Ensure();\ + __Pyx_RefNannyFinishContext();\ + PyGILState_Release(__pyx_gilstate_save);\ + } +#else + #define __Pyx_RefNannySetupContext(name, acquire_gil)\ + __pyx_refnanny = __Pyx_RefNanny->SetupContext((name), (__LINE__), (__FILE__)) + #define __Pyx_RefNannyFinishContextNogil() __Pyx_RefNannyFinishContext() +#endif + #define __Pyx_RefNannyFinishContextNogil() {\ + PyGILState_STATE __pyx_gilstate_save = PyGILState_Ensure();\ + __Pyx_RefNannyFinishContext();\ + PyGILState_Release(__pyx_gilstate_save);\ + } + #define __Pyx_RefNannyFinishContext()\ + __Pyx_RefNanny->FinishContext(&__pyx_refnanny) + #define __Pyx_INCREF(r) __Pyx_RefNanny->INCREF(__pyx_refnanny, (PyObject *)(r), (__LINE__)) + #define __Pyx_DECREF(r) __Pyx_RefNanny->DECREF(__pyx_refnanny, (PyObject *)(r), (__LINE__)) + #define __Pyx_GOTREF(r) __Pyx_RefNanny->GOTREF(__pyx_refnanny, (PyObject *)(r), (__LINE__)) + #define __Pyx_GIVEREF(r) __Pyx_RefNanny->GIVEREF(__pyx_refnanny, (PyObject *)(r), (__LINE__)) + #define __Pyx_XINCREF(r) do { if((r) == NULL); else {__Pyx_INCREF(r); }} while(0) + #define __Pyx_XDECREF(r) do { if((r) == NULL); else {__Pyx_DECREF(r); }} while(0) + #define __Pyx_XGOTREF(r) do { if((r) == NULL); else {__Pyx_GOTREF(r); }} while(0) + #define __Pyx_XGIVEREF(r) do { if((r) == NULL); else {__Pyx_GIVEREF(r);}} while(0) +#else + #define __Pyx_RefNannyDeclarations + #define __Pyx_RefNannySetupContext(name, acquire_gil) + #define __Pyx_RefNannyFinishContextNogil() + #define __Pyx_RefNannyFinishContext() + #define __Pyx_INCREF(r) Py_INCREF(r) + #define __Pyx_DECREF(r) Py_DECREF(r) + #define __Pyx_GOTREF(r) + #define __Pyx_GIVEREF(r) + #define __Pyx_XINCREF(r) Py_XINCREF(r) + #define __Pyx_XDECREF(r) Py_XDECREF(r) + #define __Pyx_XGOTREF(r) + #define __Pyx_XGIVEREF(r) +#endif +#define __Pyx_Py_XDECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; Py_XDECREF(tmp);\ + } while (0) +#define __Pyx_XDECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_XDECREF(tmp);\ + } while (0) +#define __Pyx_DECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_DECREF(tmp);\ + } while (0) +#define __Pyx_CLEAR(r) do { PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);} while(0) +#define __Pyx_XCLEAR(r) do { if((r) != NULL) {PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);}} while(0) + +/* PyErrExceptionMatches.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_ExceptionMatches(err) __Pyx_PyErr_ExceptionMatchesInState(__pyx_tstate, err) +static CYTHON_INLINE int __Pyx_PyErr_ExceptionMatchesInState(PyThreadState* tstate, PyObject* err); +#else +#define __Pyx_PyErr_ExceptionMatches(err) PyErr_ExceptionMatches(err) +#endif + +/* PyThreadStateGet.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyThreadState_declare PyThreadState *__pyx_tstate; +#define __Pyx_PyThreadState_assign __pyx_tstate = __Pyx_PyThreadState_Current; +#if PY_VERSION_HEX >= 0x030C00A6 +#define __Pyx_PyErr_Occurred() (__pyx_tstate->current_exception != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->current_exception ? (PyObject*) Py_TYPE(__pyx_tstate->current_exception) : (PyObject*) NULL) +#else +#define __Pyx_PyErr_Occurred() (__pyx_tstate->curexc_type != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->curexc_type) +#endif +#else +#define __Pyx_PyThreadState_declare +#define __Pyx_PyThreadState_assign +#define __Pyx_PyErr_Occurred() (PyErr_Occurred() != NULL) +#define __Pyx_PyErr_CurrentExceptionType() PyErr_Occurred() +#endif + +/* PyErrFetchRestore.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_Clear() __Pyx_ErrRestore(NULL, NULL, NULL) +#define __Pyx_ErrRestoreWithState(type, value, tb) __Pyx_ErrRestoreInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) __Pyx_ErrFetchInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) __Pyx_ErrRestoreInState(__pyx_tstate, type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) __Pyx_ErrFetchInState(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A6 +#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) +#else +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#endif +#else +#define __Pyx_PyErr_Clear() PyErr_Clear() +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) +#endif + +/* PyObjectGetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n) +#endif + +/* PyObjectGetAttrStrNoError.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); + +/* GetBuiltinName.proto */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name); + +/* TupleAndListFromArray.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n); +static CYTHON_INLINE PyObject* __Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n); +#endif + +/* IncludeStringH.proto */ +#include + +/* BytesEquals.proto */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals); + +/* UnicodeEquals.proto */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals); + +/* fastcall.proto */ +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_VARARGS(args, i) PySequence_GetItem(args, i) +#elif CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GET_ITEM(args, i) +#else + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GetItem(args, i) +#endif +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_NewRef_VARARGS(arg) __Pyx_NewRef(arg) + #define __Pyx_Arg_XDECREF_VARARGS(arg) Py_XDECREF(arg) +#else + #define __Pyx_Arg_NewRef_VARARGS(arg) arg + #define __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#define __Pyx_NumKwargs_VARARGS(kwds) PyDict_Size(kwds) +#define __Pyx_KwValues_VARARGS(args, nargs) NULL +#define __Pyx_GetKwValue_VARARGS(kw, kwvalues, s) __Pyx_PyDict_GetItemStrWithError(kw, s) +#define __Pyx_KwargsAsDict_VARARGS(kw, kwvalues) PyDict_Copy(kw) +#if CYTHON_METH_FASTCALL + #define __Pyx_Arg_FASTCALL(args, i) args[i] + #define __Pyx_NumKwargs_FASTCALL(kwds) PyTuple_GET_SIZE(kwds) + #define __Pyx_KwValues_FASTCALL(args, nargs) ((args) + (nargs)) + static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); + #else + #define __Pyx_KwargsAsDict_FASTCALL(kw, kwvalues) _PyStack_AsDict(kwvalues, kw) + #endif + #define __Pyx_Arg_NewRef_FASTCALL(arg) arg /* no-op, __Pyx_Arg_FASTCALL is direct and this needs + to have the same reference counting */ + #define __Pyx_Arg_XDECREF_FASTCALL(arg) +#else + #define __Pyx_Arg_FASTCALL __Pyx_Arg_VARARGS + #define __Pyx_NumKwargs_FASTCALL __Pyx_NumKwargs_VARARGS + #define __Pyx_KwValues_FASTCALL __Pyx_KwValues_VARARGS + #define __Pyx_GetKwValue_FASTCALL __Pyx_GetKwValue_VARARGS + #define __Pyx_KwargsAsDict_FASTCALL __Pyx_KwargsAsDict_VARARGS + #define __Pyx_Arg_NewRef_FASTCALL(arg) __Pyx_Arg_NewRef_VARARGS(arg) + #define __Pyx_Arg_XDECREF_FASTCALL(arg) __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_VARARGS(args, start), stop - start) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_FASTCALL(args, start), stop - start) +#else +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) PyTuple_GetSlice(args, start, stop) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) PyTuple_GetSlice(args, start, stop) +#endif + +/* RaiseDoubleKeywords.proto */ +static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); + +/* ParseKeywords.proto */ +static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args, + const char* function_name); + +/* RaiseArgTupleInvalid.proto */ +static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, + Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); + +/* PyFunctionFastCall.proto */ +#if CYTHON_FAST_PYCALL +#if !CYTHON_VECTORCALL +#define __Pyx_PyFunction_FastCall(func, args, nargs)\ + __Pyx_PyFunction_FastCallDict((func), (args), (nargs), NULL) +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs); +#endif +#define __Pyx_BUILD_ASSERT_EXPR(cond)\ + (sizeof(char [1 - 2*!(cond)]) - 1) +#ifndef Py_MEMBER_SIZE +#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member) +#endif +#if !CYTHON_VECTORCALL +#if PY_VERSION_HEX >= 0x03080000 + #include "frameobject.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif + #define __Pxy_PyFrame_Initialize_Offsets() + #define __Pyx_PyFrame_GetLocalsplus(frame) ((frame)->f_localsplus) +#else + static size_t __pyx_pyframe_localsplus_offset = 0; + #include "frameobject.h" + #define __Pxy_PyFrame_Initialize_Offsets()\ + ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\ + (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus))) + #define __Pyx_PyFrame_GetLocalsplus(frame)\ + (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset)) +#endif +#endif +#endif + +/* PyObjectCall.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw); +#else +#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw) +#endif + +/* PyObjectCallMethO.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg); +#endif + +/* PyObjectFastCall.proto */ +#define __Pyx_PyObject_FastCall(func, args, nargs) __Pyx_PyObject_FastCallDict(func, args, (size_t)(nargs), NULL) +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs); + +/* PyObjectFormatSimple.proto */ +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#elif PY_MAJOR_VERSION < 3 + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyString_CheckExact(s)) ? PyUnicode_FromEncodedObject(s, NULL, "strict") :\ + PyObject_Format(s, f)) +#elif CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyLong_CheckExact(s)) ? PyLong_Type.tp_repr(s) :\ + likely(PyFloat_CheckExact(s)) ? PyFloat_Type.tp_repr(s) :\ + PyObject_Format(s, f)) +#else + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#endif + +/* PyUnicode_Unicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_Unicode(PyObject *obj); + +/* decode_c_string_utf16.proto */ +static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16(const char *s, Py_ssize_t size, const char *errors) { + int byteorder = 0; + return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); +} +static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16LE(const char *s, Py_ssize_t size, const char *errors) { + int byteorder = -1; + return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); +} +static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16BE(const char *s, Py_ssize_t size, const char *errors) { + int byteorder = 1; + return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); +} + +/* decode_c_string.proto */ +static CYTHON_INLINE PyObject* __Pyx_decode_c_string( + const char* cstring, Py_ssize_t start, Py_ssize_t stop, + const char* encoding, const char* errors, + PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)); + +/* JoinPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char); + +/* MoveIfSupported.proto */ +#if CYTHON_USE_CPP_STD_MOVE + #include + #define __PYX_STD_MOVE_IF_SUPPORTED(x) std::move(x) +#else + #define __PYX_STD_MOVE_IF_SUPPORTED(x) x +#endif + +/* ArgTypeTest.proto */ +#define __Pyx_ArgTypeTest(obj, type, none_allowed, name, exact)\ + ((likely(__Pyx_IS_TYPE(obj, type) | (none_allowed && (obj == Py_None)))) ? 1 :\ + __Pyx__ArgTypeTest(obj, type, name, exact)) +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact); + +/* KeywordStringCheck.proto */ +static int __Pyx_CheckKeywordStrings(PyObject *kw, const char* function_name, int kw_allowed); + +/* RaiseException.proto */ +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause); + +/* PyObjectCallNoArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func); + +/* ListAppend.proto */ +#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS +static CYTHON_INLINE int __Pyx_PyList_Append(PyObject* list, PyObject* x) { + PyListObject* L = (PyListObject*) list; + Py_ssize_t len = Py_SIZE(list); + if (likely(L->allocated > len) & likely(len > (L->allocated >> 1))) { + Py_INCREF(x); + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + L->ob_item[len] = x; + #else + PyList_SET_ITEM(list, len, x); + #endif + __Pyx_SET_SIZE(list, len + 1); + return 0; + } + return PyList_Append(list, x); +} +#else +#define __Pyx_PyList_Append(L,x) PyList_Append(L,x) +#endif + +/* PyDictVersioning.proto */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) +#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ + (version_var) = __PYX_GET_DICT_VERSION(dict);\ + (cache_var) = (value); +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ + (VAR) = __pyx_dict_cached_value;\ + } else {\ + (VAR) = __pyx_dict_cached_value = (LOOKUP);\ + __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ + }\ +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); +#else +#define __PYX_GET_DICT_VERSION(dict) (0) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); +#endif + +/* GetModuleGlobalName.proto */ +#if CYTHON_USE_DICT_VERSIONS +#define __Pyx_GetModuleGlobalName(var, name) do {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + (var) = (likely(__pyx_dict_version == __PYX_GET_DICT_VERSION(__pyx_d))) ?\ + (likely(__pyx_dict_cached_value) ? __Pyx_NewRef(__pyx_dict_cached_value) : __Pyx_GetBuiltinName(name)) :\ + __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +#define __Pyx_GetModuleGlobalNameUncached(var, name) do {\ + PY_UINT64_T __pyx_dict_version;\ + PyObject *__pyx_dict_cached_value;\ + (var) = __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value); +#else +#define __Pyx_GetModuleGlobalName(var, name) (var) = __Pyx__GetModuleGlobalName(name) +#define __Pyx_GetModuleGlobalNameUncached(var, name) (var) = __Pyx__GetModuleGlobalName(name) +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name); +#endif + +/* IncludeStructmemberH.proto */ +#include + +/* FixUpExtensionType.proto */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type); +#endif + +/* PyObjectCallOneArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg); + +/* PyObjectGetMethod.proto */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method); + +/* PyObjectCallMethod0.proto */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name); + +/* ValidateBasesTuple.proto */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases); +#endif + +/* PyType_Ready.proto */ +CYTHON_UNUSED static int __Pyx_PyType_Ready(PyTypeObject *t); + +/* PyObject_GenericGetAttrNoDict.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr +#endif + +/* PyObject_GenericGetAttr.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr +#endif + +/* SetVTable.proto */ +static int __Pyx_SetVtable(PyTypeObject* typeptr , void* vtable); + +/* GetVTable.proto */ +static void* __Pyx_GetVtable(PyTypeObject *type); + +/* MergeVTables.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type); +#endif + +/* SetupReduce.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce(PyObject* type_obj); +#endif + +/* Import.proto */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level); + +/* ImportDottedModule.proto */ +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple); +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple); +#endif + +/* Py3UpdateBases.proto */ +static PyObject* __Pyx_PEP560_update_bases(PyObject *bases); + +/* CalculateMetaclass.proto */ +static PyObject *__Pyx_CalculateMetaclass(PyTypeObject *metaclass, PyObject *bases); + +/* FetchSharedCythonModule.proto */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void); + +/* FetchCommonType.proto */ +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type); +#else +static PyTypeObject* __Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases); +#endif + +/* PyMethodNew.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + PyObject *typesModule=NULL, *methodType=NULL, *result=NULL; + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + typesModule = PyImport_ImportModule("types"); + if (!typesModule) return NULL; + methodType = PyObject_GetAttrString(typesModule, "MethodType"); + Py_DECREF(typesModule); + if (!methodType) return NULL; + result = PyObject_CallFunctionObjArgs(methodType, func, self, NULL); + Py_DECREF(methodType); + return result; +} +#elif PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + return PyMethod_New(func, self); +} +#else + #define __Pyx_PyMethod_New PyMethod_New +#endif + +/* PyVectorcallFastCallDict.proto */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw); +#endif + +/* CythonFunctionShared.proto */ +#define __Pyx_CyFunction_USED +#define __Pyx_CYFUNCTION_STATICMETHOD 0x01 +#define __Pyx_CYFUNCTION_CLASSMETHOD 0x02 +#define __Pyx_CYFUNCTION_CCLASS 0x04 +#define __Pyx_CYFUNCTION_COROUTINE 0x08 +#define __Pyx_CyFunction_GetClosure(f)\ + (((__pyx_CyFunctionObject *) (f))->func_closure) +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_CyFunction_GetClassObj(f)\ + (((__pyx_CyFunctionObject *) (f))->func_classobj) +#else + #define __Pyx_CyFunction_GetClassObj(f)\ + ((PyObject*) ((PyCMethodObject *) (f))->mm_class) +#endif +#define __Pyx_CyFunction_SetClassObj(f, classobj)\ + __Pyx__CyFunction_SetClassObj((__pyx_CyFunctionObject *) (f), (classobj)) +#define __Pyx_CyFunction_Defaults(type, f)\ + ((type *)(((__pyx_CyFunctionObject *) (f))->defaults)) +#define __Pyx_CyFunction_SetDefaultsGetter(f, g)\ + ((__pyx_CyFunctionObject *) (f))->defaults_getter = (g) +typedef struct { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject_HEAD + PyObject *func; +#elif PY_VERSION_HEX < 0x030900B1 + PyCFunctionObject func; +#else + PyCMethodObject func; +#endif +#if CYTHON_BACKPORT_VECTORCALL + __pyx_vectorcallfunc func_vectorcall; +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_weakreflist; +#endif + PyObject *func_dict; + PyObject *func_name; + PyObject *func_qualname; + PyObject *func_doc; + PyObject *func_globals; + PyObject *func_code; + PyObject *func_closure; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_classobj; +#endif + void *defaults; + int defaults_pyobjects; + size_t defaults_size; + int flags; + PyObject *defaults_tuple; + PyObject *defaults_kwdict; + PyObject *(*defaults_getter)(PyObject *); + PyObject *func_annotations; + PyObject *func_is_coroutine; +} __pyx_CyFunctionObject; +#undef __Pyx_CyOrPyCFunction_Check +#define __Pyx_CyFunction_Check(obj) __Pyx_TypeCheck(obj, __pyx_CyFunctionType) +#define __Pyx_CyOrPyCFunction_Check(obj) __Pyx_TypeCheck2(obj, __pyx_CyFunctionType, &PyCFunction_Type) +#define __Pyx_CyFunction_CheckExact(obj) __Pyx_IS_TYPE(obj, __pyx_CyFunctionType) +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc); +#undef __Pyx_IsSameCFunction +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCyOrCFunction(func, cfunc) +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject* op, PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj); +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *m, + size_t size, + int pyobjects); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *m, + PyObject *tuple); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *m, + PyObject *dict); +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *m, + PyObject *dict); +static int __pyx_CyFunction_init(PyObject *module); +#if CYTHON_METH_FASTCALL +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +#if CYTHON_BACKPORT_VECTORCALL +#define __Pyx_CyFunction_func_vectorcall(f) (((__pyx_CyFunctionObject*)f)->func_vectorcall) +#else +#define __Pyx_CyFunction_func_vectorcall(f) (((PyCFunctionObject*)f)->vectorcall) +#endif +#endif + +/* CythonFunction.proto */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); + +/* SetNameInClass.proto */ +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && PY_VERSION_HEX < 0x030d0000 +#define __Pyx_SetNameInClass(ns, name, value)\ + (likely(PyDict_CheckExact(ns)) ? _PyDict_SetItem_KnownHash(ns, name, value, ((PyASCIIObject *) name)->hash) : PyObject_SetItem(ns, name, value)) +#elif CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_SetNameInClass(ns, name, value)\ + (likely(PyDict_CheckExact(ns)) ? PyDict_SetItem(ns, name, value) : PyObject_SetItem(ns, name, value)) +#else +#define __Pyx_SetNameInClass(ns, name, value) PyObject_SetItem(ns, name, value) +#endif + +/* PyObjectCall2Args.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2); + +/* PyObjectLookupSpecial.proto */ +#if CYTHON_USE_PYTYPE_LOOKUP && CYTHON_USE_TYPE_SLOTS +#define __Pyx_PyObject_LookupSpecialNoError(obj, attr_name) __Pyx__PyObject_LookupSpecial(obj, attr_name, 0) +#define __Pyx_PyObject_LookupSpecial(obj, attr_name) __Pyx__PyObject_LookupSpecial(obj, attr_name, 1) +static CYTHON_INLINE PyObject* __Pyx__PyObject_LookupSpecial(PyObject* obj, PyObject* attr_name, int with_error); +#else +#define __Pyx_PyObject_LookupSpecialNoError(o,n) __Pyx_PyObject_GetAttrStrNoError(o,n) +#define __Pyx_PyObject_LookupSpecial(o,n) __Pyx_PyObject_GetAttrStr(o,n) +#endif + +/* Py3ClassCreate.proto */ +static PyObject *__Pyx_Py3MetaclassPrepare(PyObject *metaclass, PyObject *bases, PyObject *name, PyObject *qualname, + PyObject *mkw, PyObject *modname, PyObject *doc); +static PyObject *__Pyx_Py3ClassCreate(PyObject *metaclass, PyObject *name, PyObject *bases, PyObject *dict, + PyObject *mkw, int calculate_metaclass, int allow_py2_metaclass); + +/* CyFunctionClassCell.proto */ +static int __Pyx_CyFunction_InitClassCell(PyObject *cyfunctions, PyObject *classobj); + +/* CLineInTraceback.proto */ +#ifdef CYTHON_CLINE_IN_TRACEBACK +#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) +#else +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); +#endif + +/* CodeObjectCache.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +typedef struct { + PyCodeObject* code_object; + int code_line; +} __Pyx_CodeObjectCacheEntry; +struct __Pyx_CodeObjectCache { + int count; + int max_count; + __Pyx_CodeObjectCacheEntry* entries; +}; +static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); +static PyCodeObject *__pyx_find_code_object(int code_line); +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); +#endif + +/* AddTraceback.proto */ +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename); + +/* None.proto */ +#include + +/* GCCDiagnostics.proto */ +#if !defined(__INTEL_COMPILER) && defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) +#define __Pyx_HAS_GCC_DIAGNOSTIC +#endif + +/* CppExceptionConversion.proto */ +#ifndef __Pyx_CppExn2PyErr +#include +#include +#include +#include +static void __Pyx_CppExn2PyErr() { + try { + if (PyErr_Occurred()) + ; // let the latest Python exn pass through and ignore the current one + else + throw; + } catch (const std::bad_alloc& exn) { + PyErr_SetString(PyExc_MemoryError, exn.what()); + } catch (const std::bad_cast& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::bad_typeid& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::domain_error& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::invalid_argument& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::ios_base::failure& exn) { + PyErr_SetString(PyExc_IOError, exn.what()); + } catch (const std::out_of_range& exn) { + PyErr_SetString(PyExc_IndexError, exn.what()); + } catch (const std::overflow_error& exn) { + PyErr_SetString(PyExc_OverflowError, exn.what()); + } catch (const std::range_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::underflow_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::exception& exn) { + PyErr_SetString(PyExc_RuntimeError, exn.what()); + } + catch (...) + { + PyErr_SetString(PyExc_RuntimeError, "Unknown exception"); + } +} +#endif + +/* CIntFromPy.proto */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE size_t __Pyx_PyInt_As_size_t(PyObject *); + +/* FormatTypeName.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +typedef PyObject *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%U" +static __Pyx_TypeName __Pyx_PyType_GetName(PyTypeObject* tp); +#define __Pyx_DECREF_TypeName(obj) Py_XDECREF(obj) +#else +typedef const char *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%.200s" +#define __Pyx_PyType_GetName(tp) ((tp)->tp_name) +#define __Pyx_DECREF_TypeName(obj) +#endif + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); + +/* FastTypeChecks.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) __Pyx_IsAnySubtype2(Py_TYPE(obj), (PyTypeObject *)type1, (PyTypeObject *)type2) +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); +#else +#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) (PyObject_TypeCheck(obj, (PyTypeObject *)type1) || PyObject_TypeCheck(obj, (PyTypeObject *)type2)) +#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) +#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) +#endif +#define __Pyx_PyErr_ExceptionMatches2(err1, err2) __Pyx_PyErr_GivenExceptionMatches2(__Pyx_PyErr_CurrentExceptionType(), err1, err2) +#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) + +/* CheckBinaryVersion.proto */ +static unsigned long __Pyx_get_runtime_version(void); +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer); + +/* InitStrings.proto */ +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); + +/* #### Code section: module_declarations ### */ +static PyObject *__pyx_f_4msgq_7ipc_pyx_5Event_setEvent(struct __pyx_obj_4msgq_7ipc_pyx_Event *__pyx_v_self, Event __pyx_v_event); /* proto*/ +static PyObject *__pyx_f_4msgq_7ipc_pyx_9SubSocket_setPtr(struct __pyx_obj_4msgq_7ipc_pyx_SubSocket *__pyx_v_self, SubSocket *__pyx_v_ptr); /* proto*/ + +/* Module declarations from "libc.string" */ + +/* Module declarations from "libcpp.string" */ + +/* Module declarations from "libcpp.vector" */ + +/* Module declarations from "libcpp" */ + +/* Module declarations from "libc" */ + +/* Module declarations from "libc.errno" */ + +/* Module declarations from "msgq.ipc" */ + +/* Module declarations from "msgq.ipc_pyx" */ +static std::string __pyx_convert_string_from_py_std__in_string(PyObject *); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyObject_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyUnicode_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyStr_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyBytes_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyByteArray_string_to_py_std__in_string(std::string const &); /*proto*/ +/* #### Code section: typeinfo ### */ +/* #### Code section: before_global_var ### */ +#define __Pyx_MODULE_NAME "msgq.ipc_pyx" +extern int __pyx_module_is_main_msgq__ipc_pyx; +int __pyx_module_is_main_msgq__ipc_pyx = 0; + +/* Implementation of "msgq.ipc_pyx" */ +/* #### Code section: global_var ### */ +static PyObject *__pyx_builtin_super; +static PyObject *__pyx_builtin_TypeError; +static PyObject *__pyx_builtin_print; +/* #### Code section: string_decls ### */ +static const char __pyx_k_[] = ""; +static const char __pyx_k_m[] = "m"; +static const char __pyx_k_r[] = "r"; +static const char __pyx_k_s[] = "s"; +static const char __pyx_k_t[] = "t"; +static const char __pyx_k__2[] = ": "; +static const char __pyx_k__5[] = "*"; +static const char __pyx_k_gc[] = "gc"; +static const char __pyx_k_sz[] = "sz"; +static const char __pyx_k__53[] = "?"; +static const char __pyx_k_doc[] = "__doc__"; +static const char __pyx_k_msg[] = "msg"; +static const char __pyx_k_ptr[] = "ptr"; +static const char __pyx_k_set[] = "set"; +static const char __pyx_k_sys[] = "sys"; +static const char __pyx_k_None[] = "None"; +static const char __pyx_k_data[] = "data"; +static const char __pyx_k_dict[] = "__dict__"; +static const char __pyx_k_exit[] = "exit"; +static const char __pyx_k_init[] = "__init__"; +static const char __pyx_k_main[] = "__main__"; +static const char __pyx_k_name[] = "__name__"; +static const char __pyx_k_peek[] = "peek"; +static const char __pyx_k_poll[] = "poll"; +static const char __pyx_k_self[] = "self"; +static const char __pyx_k_send[] = "send"; +static const char __pyx_k_spec[] = "__spec__"; +static const char __pyx_k_term[] = "term"; +static const char __pyx_k_test[] = "__test__"; +static const char __pyx_k_wait[] = "wait"; +static const char __pyx_k_with[] = "with "; +static const char __pyx_k_Event[] = "Event"; +static const char __pyx_k_clear[] = "clear"; +static const char __pyx_k_event[] = "event"; +static const char __pyx_k_items[] = "items"; +static const char __pyx_k_print[] = "print"; +static const char __pyx_k_super[] = "super"; +static const char __pyx_k_utf_8[] = "utf-8"; +static const char __pyx_k_Poller[] = "Poller"; +static const char __pyx_k_decode[] = "decode"; +static const char __pyx_k_enable[] = "enable"; +static const char __pyx_k_events[] = "events"; +static const char __pyx_k_import[] = "__import__"; +static const char __pyx_k_length[] = "length"; +static const char __pyx_k_module[] = "__module__"; +static const char __pyx_k_prefix[] = "prefix"; +static const char __pyx_k_reduce[] = "__reduce__"; +static const char __pyx_k_result[] = "result"; +static const char __pyx_k_socket[] = "socket"; +static const char __pyx_k_suffix[] = "suffix"; +static const char __pyx_k_Context[] = "Context"; +static const char __pyx_k_address[] = "address"; +static const char __pyx_k_connect[] = "connect"; +static const char __pyx_k_context[] = "context"; +static const char __pyx_k_disable[] = "disable"; +static const char __pyx_k_enabled[] = "enabled"; +static const char __pyx_k_message[] = "message"; +static const char __pyx_k_prepare[] = "__prepare__"; +static const char __pyx_k_receive[] = "receive"; +static const char __pyx_k_sockets[] = "sockets"; +static const char __pyx_k_timeout[] = "timeout"; +static const char __pyx_k_IpcError[] = "IpcError"; +static const char __pyx_k_conflate[] = "conflate"; +static const char __pyx_k_endpoint[] = "endpoint"; +static const char __pyx_k_getstate[] = "__getstate__"; +static const char __pyx_k_override[] = "override"; +static const char __pyx_k_qualname[] = "__qualname__"; +static const char __pyx_k_set_name[] = "__set_name__"; +static const char __pyx_k_setstate[] = "__setstate__"; +static const char __pyx_k_127_0_0_1[] = "127.0.0.1"; +static const char __pyx_k_Event_set[] = "Event.set"; +static const char __pyx_k_PubSocket[] = "PubSocket"; +static const char __pyx_k_SubSocket[] = "SubSocket"; +static const char __pyx_k_TypeError[] = "TypeError"; +static const char __pyx_k_isenabled[] = "isenabled"; +static const char __pyx_k_metaclass[] = "__metaclass__"; +static const char __pyx_k_pyx_state[] = "__pyx_state"; +static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; +static const char __pyx_k_Event_peek[] = "Event.peek"; +static const char __pyx_k_Event_wait[] = "Event.wait"; +static const char __pyx_k_identifier[] = "identifier"; +static const char __pyx_k_pyx_vtable[] = "__pyx_vtable__"; +static const char __pyx_k_setTimeout[] = "setTimeout"; +static const char __pyx_k_Event_clear[] = "Event.clear"; +static const char __pyx_k_Poller_poll[] = "Poller.poll"; +static const char __pyx_k_mro_entries[] = "__mro_entries__"; +static const char __pyx_k_Context_term[] = "Context.term"; +static const char __pyx_k_initializing[] = "_initializing"; +static const char __pyx_k_is_coroutine[] = "_is_coroutine"; +static const char __pyx_k_msgq_ipc_pyx[] = "msgq.ipc_pyx"; +static const char __pyx_k_non_blocking[] = "non_blocking"; +static const char __pyx_k_stringsource[] = ""; +static const char __pyx_k_init_subclass[] = "__init_subclass__"; +static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; +static const char __pyx_k_PubSocket_send[] = "PubSocket.send"; +static const char __pyx_k_registerSocket[] = "registerSocket"; +static const char __pyx_k_IpcError___init[] = "IpcError.__init__"; +static const char __pyx_k_get_fake_prefix[] = "get_fake_prefix"; +static const char __pyx_k_set_fake_prefix[] = "set_fake_prefix"; +static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; +static const char __pyx_k_Messaging_failure[] = "Messaging failure "; +static const char __pyx_k_PubSocket_connect[] = "PubSocket.connect"; +static const char __pyx_k_SocketEventHandle[] = "SocketEventHandle"; +static const char __pyx_k_SubSocket_connect[] = "SubSocket.connect"; +static const char __pyx_k_SubSocket_receive[] = "SubSocket.receive"; +static const char __pyx_k_asyncio_coroutines[] = "asyncio.coroutines"; +static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; +static const char __pyx_k_delete_fake_prefix[] = "delete_fake_prefix"; +static const char __pyx_k_toggle_fake_events[] = "toggle_fake_events"; +static const char __pyx_k_wait_for_one_event[] = "wait_for_one_event"; +static const char __pyx_k_all_readers_updated[] = "all_readers_updated"; +static const char __pyx_k_SubSocket_setTimeout[] = "SubSocket.setTimeout"; +static const char __pyx_k_Event___reduce_cython[] = "Event.__reduce_cython__"; +static const char __pyx_k_Poller_registerSocket[] = "Poller.registerSocket"; +static const char __pyx_k_Poller___reduce_cython[] = "Poller.__reduce_cython__"; +static const char __pyx_k_Context___reduce_cython[] = "Context.__reduce_cython__"; +static const char __pyx_k_Event___setstate_cython[] = "Event.__setstate_cython__"; +static const char __pyx_k_MultiplePublishersError[] = "MultiplePublishersError"; +static const char __pyx_k_SIGINT_received_exiting[] = "SIGINT received, exiting"; +static const char __pyx_k_Poller___setstate_cython[] = "Poller.__setstate_cython__"; +static const char __pyx_k_Context___setstate_cython[] = "Context.__setstate_cython__"; +static const char __pyx_k_PubSocket___reduce_cython[] = "PubSocket.__reduce_cython__"; +static const char __pyx_k_SubSocket___reduce_cython[] = "SubSocket.__reduce_cython__"; +static const char __pyx_k_msgq_repo_msgq_ipc_pyx_pyx[] = "msgq_repo/msgq/ipc_pyx.pyx"; +static const char __pyx_k_PubSocket___setstate_cython[] = "PubSocket.__setstate_cython__"; +static const char __pyx_k_SubSocket___setstate_cython[] = "SubSocket.__setstate_cython__"; +static const char __pyx_k_PubSocket_all_readers_updated[] = "PubSocket.all_readers_updated"; +static const char __pyx_k_SocketEventHandle___reduce_cytho[] = "SocketEventHandle.__reduce_cython__"; +static const char __pyx_k_SocketEventHandle___setstate_cyt[] = "SocketEventHandle.__setstate_cython__"; +static const char __pyx_k_no_default___reduce___due_to_non[] = "no default __reduce__ due to non-trivial __cinit__"; +/* #### Code section: decls ### */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_8IpcError___init__(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_endpoint); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_toggle_fake_events(CYTHON_UNUSED PyObject *__pyx_self, bool __pyx_v_enabled); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_2set_fake_prefix(CYTHON_UNUSED PyObject *__pyx_self, std::string __pyx_v_prefix); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_4get_fake_prefix(CYTHON_UNUSED PyObject *__pyx_self); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_6delete_fake_prefix(CYTHON_UNUSED PyObject *__pyx_self); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_8wait_for_one_event(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_events, int __pyx_v_timeout); /* proto */ +static int __pyx_pf_4msgq_7ipc_pyx_5Event___cinit__(CYTHON_UNUSED struct __pyx_obj_4msgq_7ipc_pyx_Event *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_5Event_2set(struct __pyx_obj_4msgq_7ipc_pyx_Event *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_5Event_4clear(struct __pyx_obj_4msgq_7ipc_pyx_Event *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_5Event_6wait(struct __pyx_obj_4msgq_7ipc_pyx_Event *__pyx_v_self, int __pyx_v_timeout); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_5Event_8peek(struct __pyx_obj_4msgq_7ipc_pyx_Event *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_5Event_2fd___get__(struct __pyx_obj_4msgq_7ipc_pyx_Event *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_5Event_3ptr___get__(struct __pyx_obj_4msgq_7ipc_pyx_Event *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_5Event_10__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_4msgq_7ipc_pyx_Event *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_5Event_12__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_4msgq_7ipc_pyx_Event *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_pf_4msgq_7ipc_pyx_17SocketEventHandle___cinit__(struct __pyx_obj_4msgq_7ipc_pyx_SocketEventHandle *__pyx_v_self, std::string __pyx_v_endpoint, std::string __pyx_v_identifier, bool __pyx_v_override); /* proto */ +static void __pyx_pf_4msgq_7ipc_pyx_17SocketEventHandle_2__dealloc__(struct __pyx_obj_4msgq_7ipc_pyx_SocketEventHandle *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_17SocketEventHandle_7enabled___get__(struct __pyx_obj_4msgq_7ipc_pyx_SocketEventHandle *__pyx_v_self); /* proto */ +static int __pyx_pf_4msgq_7ipc_pyx_17SocketEventHandle_7enabled_2__set__(struct __pyx_obj_4msgq_7ipc_pyx_SocketEventHandle *__pyx_v_self, bool __pyx_v_value); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_17SocketEventHandle_17recv_called_event___get__(struct __pyx_obj_4msgq_7ipc_pyx_SocketEventHandle *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_17SocketEventHandle_16recv_ready_event___get__(struct __pyx_obj_4msgq_7ipc_pyx_SocketEventHandle *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_17SocketEventHandle_4__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_4msgq_7ipc_pyx_SocketEventHandle *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_17SocketEventHandle_6__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_4msgq_7ipc_pyx_SocketEventHandle *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_pf_4msgq_7ipc_pyx_7Context___cinit__(struct __pyx_obj_4msgq_7ipc_pyx_Context *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_7Context_2term(struct __pyx_obj_4msgq_7ipc_pyx_Context *__pyx_v_self); /* proto */ +static void __pyx_pf_4msgq_7ipc_pyx_7Context_4__dealloc__(CYTHON_UNUSED struct __pyx_obj_4msgq_7ipc_pyx_Context *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_7Context_6__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_4msgq_7ipc_pyx_Context *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_7Context_8__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_4msgq_7ipc_pyx_Context *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_pf_4msgq_7ipc_pyx_6Poller___cinit__(struct __pyx_obj_4msgq_7ipc_pyx_Poller *__pyx_v_self); /* proto */ +static void __pyx_pf_4msgq_7ipc_pyx_6Poller_2__dealloc__(struct __pyx_obj_4msgq_7ipc_pyx_Poller *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_6Poller_4registerSocket(struct __pyx_obj_4msgq_7ipc_pyx_Poller *__pyx_v_self, struct __pyx_obj_4msgq_7ipc_pyx_SubSocket *__pyx_v_socket); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_6Poller_6poll(struct __pyx_obj_4msgq_7ipc_pyx_Poller *__pyx_v_self, PyObject *__pyx_v_timeout); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_6Poller_8__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_4msgq_7ipc_pyx_Poller *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_6Poller_10__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_4msgq_7ipc_pyx_Poller *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_pf_4msgq_7ipc_pyx_9SubSocket___cinit__(struct __pyx_obj_4msgq_7ipc_pyx_SubSocket *__pyx_v_self); /* proto */ +static void __pyx_pf_4msgq_7ipc_pyx_9SubSocket_2__dealloc__(struct __pyx_obj_4msgq_7ipc_pyx_SubSocket *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_9SubSocket_4connect(struct __pyx_obj_4msgq_7ipc_pyx_SubSocket *__pyx_v_self, struct __pyx_obj_4msgq_7ipc_pyx_Context *__pyx_v_context, std::string __pyx_v_endpoint, std::string __pyx_v_address, bool __pyx_v_conflate); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_9SubSocket_6setTimeout(struct __pyx_obj_4msgq_7ipc_pyx_SubSocket *__pyx_v_self, int __pyx_v_timeout); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_9SubSocket_8receive(struct __pyx_obj_4msgq_7ipc_pyx_SubSocket *__pyx_v_self, bool __pyx_v_non_blocking); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_9SubSocket_10__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_4msgq_7ipc_pyx_SubSocket *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_9SubSocket_12__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_4msgq_7ipc_pyx_SubSocket *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_pf_4msgq_7ipc_pyx_9PubSocket___cinit__(struct __pyx_obj_4msgq_7ipc_pyx_PubSocket *__pyx_v_self); /* proto */ +static void __pyx_pf_4msgq_7ipc_pyx_9PubSocket_2__dealloc__(struct __pyx_obj_4msgq_7ipc_pyx_PubSocket *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_9PubSocket_4connect(struct __pyx_obj_4msgq_7ipc_pyx_PubSocket *__pyx_v_self, struct __pyx_obj_4msgq_7ipc_pyx_Context *__pyx_v_context, std::string __pyx_v_endpoint); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_9PubSocket_6send(struct __pyx_obj_4msgq_7ipc_pyx_PubSocket *__pyx_v_self, PyObject *__pyx_v_data); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_9PubSocket_8all_readers_updated(struct __pyx_obj_4msgq_7ipc_pyx_PubSocket *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_9PubSocket_10__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_4msgq_7ipc_pyx_PubSocket *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_9PubSocket_12__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_4msgq_7ipc_pyx_PubSocket *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_tp_new_4msgq_7ipc_pyx_Event(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_4msgq_7ipc_pyx_SocketEventHandle(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_4msgq_7ipc_pyx_Context(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_4msgq_7ipc_pyx_Poller(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_4msgq_7ipc_pyx_SubSocket(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_4msgq_7ipc_pyx_PubSocket(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +/* #### Code section: late_includes ### */ +/* #### Code section: module_state ### */ +typedef struct { + PyObject *__pyx_d; + PyObject *__pyx_b; + PyObject *__pyx_cython_runtime; + PyObject *__pyx_empty_tuple; + PyObject *__pyx_empty_bytes; + PyObject *__pyx_empty_unicode; + #ifdef __Pyx_CyFunction_USED + PyTypeObject *__pyx_CyFunctionType; + #endif + #ifdef __Pyx_FusedFunction_USED + PyTypeObject *__pyx_FusedFunctionType; + #endif + #ifdef __Pyx_Generator_USED + PyTypeObject *__pyx_GeneratorType; + #endif + #ifdef __Pyx_IterableCoroutine_USED + PyTypeObject *__pyx_IterableCoroutineType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineAwaitType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineType; + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + PyObject *__pyx_type_4msgq_7ipc_pyx_Event; + PyObject *__pyx_type_4msgq_7ipc_pyx_SocketEventHandle; + PyObject *__pyx_type_4msgq_7ipc_pyx_Context; + PyObject *__pyx_type_4msgq_7ipc_pyx_Poller; + PyObject *__pyx_type_4msgq_7ipc_pyx_SubSocket; + PyObject *__pyx_type_4msgq_7ipc_pyx_PubSocket; + #endif + PyTypeObject *__pyx_ptype_4msgq_7ipc_pyx_Event; + PyTypeObject *__pyx_ptype_4msgq_7ipc_pyx_SocketEventHandle; + PyTypeObject *__pyx_ptype_4msgq_7ipc_pyx_Context; + PyTypeObject *__pyx_ptype_4msgq_7ipc_pyx_Poller; + PyTypeObject *__pyx_ptype_4msgq_7ipc_pyx_SubSocket; + PyTypeObject *__pyx_ptype_4msgq_7ipc_pyx_PubSocket; + PyObject *__pyx_kp_b_; + PyObject *__pyx_kp_u_; + PyObject *__pyx_kp_b_127_0_0_1; + PyObject *__pyx_n_s_Context; + PyObject *__pyx_n_s_Context___reduce_cython; + PyObject *__pyx_n_s_Context___setstate_cython; + PyObject *__pyx_n_s_Context_term; + PyObject *__pyx_n_s_Event; + PyObject *__pyx_n_s_Event___reduce_cython; + PyObject *__pyx_n_s_Event___setstate_cython; + PyObject *__pyx_n_s_Event_clear; + PyObject *__pyx_n_s_Event_peek; + PyObject *__pyx_n_s_Event_set; + PyObject *__pyx_n_s_Event_wait; + PyObject *__pyx_n_s_IpcError; + PyObject *__pyx_n_s_IpcError___init; + PyObject *__pyx_kp_u_Messaging_failure; + PyObject *__pyx_n_s_MultiplePublishersError; + PyObject *__pyx_kp_u_None; + PyObject *__pyx_n_s_Poller; + PyObject *__pyx_n_s_Poller___reduce_cython; + PyObject *__pyx_n_s_Poller___setstate_cython; + PyObject *__pyx_n_s_Poller_poll; + PyObject *__pyx_n_s_Poller_registerSocket; + PyObject *__pyx_n_s_PubSocket; + PyObject *__pyx_n_s_PubSocket___reduce_cython; + PyObject *__pyx_n_s_PubSocket___setstate_cython; + PyObject *__pyx_n_s_PubSocket_all_readers_updated; + PyObject *__pyx_n_s_PubSocket_connect; + PyObject *__pyx_n_s_PubSocket_send; + PyObject *__pyx_kp_u_SIGINT_received_exiting; + PyObject *__pyx_n_s_SocketEventHandle; + PyObject *__pyx_n_s_SocketEventHandle___reduce_cytho; + PyObject *__pyx_n_s_SocketEventHandle___setstate_cyt; + PyObject *__pyx_n_s_SubSocket; + PyObject *__pyx_n_s_SubSocket___reduce_cython; + PyObject *__pyx_n_s_SubSocket___setstate_cython; + PyObject *__pyx_n_s_SubSocket_connect; + PyObject *__pyx_n_s_SubSocket_receive; + PyObject *__pyx_n_s_SubSocket_setTimeout; + PyObject *__pyx_n_s_TypeError; + PyObject *__pyx_kp_u__2; + PyObject *__pyx_n_s__5; + PyObject *__pyx_n_s__53; + PyObject *__pyx_n_s_address; + PyObject *__pyx_n_s_all_readers_updated; + PyObject *__pyx_n_s_asyncio_coroutines; + PyObject *__pyx_n_s_clear; + PyObject *__pyx_n_s_cline_in_traceback; + PyObject *__pyx_n_s_conflate; + PyObject *__pyx_n_s_connect; + PyObject *__pyx_n_s_context; + PyObject *__pyx_n_s_data; + PyObject *__pyx_n_s_decode; + PyObject *__pyx_n_s_delete_fake_prefix; + PyObject *__pyx_n_s_dict; + PyObject *__pyx_kp_u_disable; + PyObject *__pyx_n_s_doc; + PyObject *__pyx_kp_u_enable; + PyObject *__pyx_n_s_enabled; + PyObject *__pyx_n_s_endpoint; + PyObject *__pyx_n_s_event; + PyObject *__pyx_n_s_events; + PyObject *__pyx_n_s_exit; + PyObject *__pyx_kp_u_gc; + PyObject *__pyx_n_s_get_fake_prefix; + PyObject *__pyx_n_s_getstate; + PyObject *__pyx_n_s_identifier; + PyObject *__pyx_n_s_import; + PyObject *__pyx_n_s_init; + PyObject *__pyx_n_s_init_subclass; + PyObject *__pyx_n_s_initializing; + PyObject *__pyx_n_s_is_coroutine; + PyObject *__pyx_kp_u_isenabled; + PyObject *__pyx_n_s_items; + PyObject *__pyx_n_s_length; + PyObject *__pyx_n_s_m; + PyObject *__pyx_n_s_main; + PyObject *__pyx_n_s_message; + PyObject *__pyx_n_s_metaclass; + PyObject *__pyx_n_s_module; + PyObject *__pyx_n_s_mro_entries; + PyObject *__pyx_n_s_msg; + PyObject *__pyx_n_s_msgq_ipc_pyx; + PyObject *__pyx_kp_s_msgq_repo_msgq_ipc_pyx_pyx; + PyObject *__pyx_n_s_name; + PyObject *__pyx_kp_s_no_default___reduce___due_to_non; + PyObject *__pyx_n_s_non_blocking; + PyObject *__pyx_n_s_override; + PyObject *__pyx_n_s_peek; + PyObject *__pyx_n_s_poll; + PyObject *__pyx_n_s_prefix; + PyObject *__pyx_n_s_prepare; + PyObject *__pyx_n_s_print; + PyObject *__pyx_n_s_ptr; + PyObject *__pyx_n_s_pyx_state; + PyObject *__pyx_n_s_pyx_vtable; + PyObject *__pyx_n_s_qualname; + PyObject *__pyx_n_s_r; + PyObject *__pyx_n_s_receive; + PyObject *__pyx_n_s_reduce; + PyObject *__pyx_n_s_reduce_cython; + PyObject *__pyx_n_s_reduce_ex; + PyObject *__pyx_n_s_registerSocket; + PyObject *__pyx_n_s_result; + PyObject *__pyx_n_s_s; + PyObject *__pyx_n_s_self; + PyObject *__pyx_n_s_send; + PyObject *__pyx_n_s_set; + PyObject *__pyx_n_s_setTimeout; + PyObject *__pyx_n_s_set_fake_prefix; + PyObject *__pyx_n_s_set_name; + PyObject *__pyx_n_s_setstate; + PyObject *__pyx_n_s_setstate_cython; + PyObject *__pyx_n_s_socket; + PyObject *__pyx_n_s_sockets; + PyObject *__pyx_n_s_spec; + PyObject *__pyx_kp_s_stringsource; + PyObject *__pyx_n_s_suffix; + PyObject *__pyx_n_s_super; + PyObject *__pyx_n_s_sys; + PyObject *__pyx_n_s_sz; + PyObject *__pyx_n_s_t; + PyObject *__pyx_n_s_term; + PyObject *__pyx_n_s_test; + PyObject *__pyx_n_s_timeout; + PyObject *__pyx_n_s_toggle_fake_events; + PyObject *__pyx_kp_u_utf_8; + PyObject *__pyx_n_s_wait; + PyObject *__pyx_n_s_wait_for_one_event; + PyObject *__pyx_kp_u_with; + PyObject *__pyx_int_1; + PyObject *__pyx_int_neg_1; + std::string __pyx_k__3; + PyObject *__pyx_tuple__4; + PyObject *__pyx_tuple__6; + PyObject *__pyx_tuple__8; + PyObject *__pyx_tuple__9; + PyObject *__pyx_tuple__11; + PyObject *__pyx_tuple__15; + PyObject *__pyx_tuple__17; + PyObject *__pyx_tuple__20; + PyObject *__pyx_tuple__22; + PyObject *__pyx_tuple__25; + PyObject *__pyx_tuple__32; + PyObject *__pyx_tuple__34; + PyObject *__pyx_tuple__38; + PyObject *__pyx_tuple__41; + PyObject *__pyx_tuple__43; + PyObject *__pyx_tuple__46; + PyObject *__pyx_tuple__48; + PyObject *__pyx_codeobj__7; + PyObject *__pyx_codeobj__10; + PyObject *__pyx_codeobj__12; + PyObject *__pyx_codeobj__13; + PyObject *__pyx_codeobj__14; + PyObject *__pyx_codeobj__16; + PyObject *__pyx_codeobj__18; + PyObject *__pyx_codeobj__19; + PyObject *__pyx_codeobj__21; + PyObject *__pyx_codeobj__23; + PyObject *__pyx_codeobj__24; + PyObject *__pyx_codeobj__26; + PyObject *__pyx_codeobj__27; + PyObject *__pyx_codeobj__28; + PyObject *__pyx_codeobj__29; + PyObject *__pyx_codeobj__30; + PyObject *__pyx_codeobj__31; + PyObject *__pyx_codeobj__33; + PyObject *__pyx_codeobj__35; + PyObject *__pyx_codeobj__36; + PyObject *__pyx_codeobj__37; + PyObject *__pyx_codeobj__39; + PyObject *__pyx_codeobj__40; + PyObject *__pyx_codeobj__42; + PyObject *__pyx_codeobj__44; + PyObject *__pyx_codeobj__45; + PyObject *__pyx_codeobj__47; + PyObject *__pyx_codeobj__49; + PyObject *__pyx_codeobj__50; + PyObject *__pyx_codeobj__51; + PyObject *__pyx_codeobj__52; +} __pyx_mstate; + +#if CYTHON_USE_MODULE_STATE +#ifdef __cplusplus +namespace { + extern struct PyModuleDef __pyx_moduledef; +} /* anonymous namespace */ +#else +static struct PyModuleDef __pyx_moduledef; +#endif + +#define __pyx_mstate(o) ((__pyx_mstate *)__Pyx_PyModule_GetState(o)) + +#define __pyx_mstate_global (__pyx_mstate(PyState_FindModule(&__pyx_moduledef))) + +#define __pyx_m (PyState_FindModule(&__pyx_moduledef)) +#else +static __pyx_mstate __pyx_mstate_global_static = +#ifdef __cplusplus + {}; +#else + {0}; +#endif +static __pyx_mstate *__pyx_mstate_global = &__pyx_mstate_global_static; +#endif +/* #### Code section: module_state_clear ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_clear(PyObject *m) { + __pyx_mstate *clear_module_state = __pyx_mstate(m); + if (!clear_module_state) return 0; + Py_CLEAR(clear_module_state->__pyx_d); + Py_CLEAR(clear_module_state->__pyx_b); + Py_CLEAR(clear_module_state->__pyx_cython_runtime); + Py_CLEAR(clear_module_state->__pyx_empty_tuple); + Py_CLEAR(clear_module_state->__pyx_empty_bytes); + Py_CLEAR(clear_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_CLEAR(clear_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_CLEAR(clear_module_state->__pyx_FusedFunctionType); + #endif + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_7ipc_pyx_Event); + Py_CLEAR(clear_module_state->__pyx_type_4msgq_7ipc_pyx_Event); + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_7ipc_pyx_SocketEventHandle); + Py_CLEAR(clear_module_state->__pyx_type_4msgq_7ipc_pyx_SocketEventHandle); + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_7ipc_pyx_Context); + Py_CLEAR(clear_module_state->__pyx_type_4msgq_7ipc_pyx_Context); + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_7ipc_pyx_Poller); + Py_CLEAR(clear_module_state->__pyx_type_4msgq_7ipc_pyx_Poller); + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_7ipc_pyx_SubSocket); + Py_CLEAR(clear_module_state->__pyx_type_4msgq_7ipc_pyx_SubSocket); + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_7ipc_pyx_PubSocket); + Py_CLEAR(clear_module_state->__pyx_type_4msgq_7ipc_pyx_PubSocket); + Py_CLEAR(clear_module_state->__pyx_kp_b_); + Py_CLEAR(clear_module_state->__pyx_kp_u_); + Py_CLEAR(clear_module_state->__pyx_kp_b_127_0_0_1); + Py_CLEAR(clear_module_state->__pyx_n_s_Context); + Py_CLEAR(clear_module_state->__pyx_n_s_Context___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_Context___setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_Context_term); + Py_CLEAR(clear_module_state->__pyx_n_s_Event); + Py_CLEAR(clear_module_state->__pyx_n_s_Event___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_Event___setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_Event_clear); + Py_CLEAR(clear_module_state->__pyx_n_s_Event_peek); + Py_CLEAR(clear_module_state->__pyx_n_s_Event_set); + Py_CLEAR(clear_module_state->__pyx_n_s_Event_wait); + Py_CLEAR(clear_module_state->__pyx_n_s_IpcError); + Py_CLEAR(clear_module_state->__pyx_n_s_IpcError___init); + Py_CLEAR(clear_module_state->__pyx_kp_u_Messaging_failure); + Py_CLEAR(clear_module_state->__pyx_n_s_MultiplePublishersError); + Py_CLEAR(clear_module_state->__pyx_kp_u_None); + Py_CLEAR(clear_module_state->__pyx_n_s_Poller); + Py_CLEAR(clear_module_state->__pyx_n_s_Poller___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_Poller___setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_Poller_poll); + Py_CLEAR(clear_module_state->__pyx_n_s_Poller_registerSocket); + Py_CLEAR(clear_module_state->__pyx_n_s_PubSocket); + Py_CLEAR(clear_module_state->__pyx_n_s_PubSocket___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_PubSocket___setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_PubSocket_all_readers_updated); + Py_CLEAR(clear_module_state->__pyx_n_s_PubSocket_connect); + Py_CLEAR(clear_module_state->__pyx_n_s_PubSocket_send); + Py_CLEAR(clear_module_state->__pyx_kp_u_SIGINT_received_exiting); + Py_CLEAR(clear_module_state->__pyx_n_s_SocketEventHandle); + Py_CLEAR(clear_module_state->__pyx_n_s_SocketEventHandle___reduce_cytho); + Py_CLEAR(clear_module_state->__pyx_n_s_SocketEventHandle___setstate_cyt); + Py_CLEAR(clear_module_state->__pyx_n_s_SubSocket); + Py_CLEAR(clear_module_state->__pyx_n_s_SubSocket___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_SubSocket___setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_SubSocket_connect); + Py_CLEAR(clear_module_state->__pyx_n_s_SubSocket_receive); + Py_CLEAR(clear_module_state->__pyx_n_s_SubSocket_setTimeout); + Py_CLEAR(clear_module_state->__pyx_n_s_TypeError); + Py_CLEAR(clear_module_state->__pyx_kp_u__2); + Py_CLEAR(clear_module_state->__pyx_n_s__5); + Py_CLEAR(clear_module_state->__pyx_n_s__53); + Py_CLEAR(clear_module_state->__pyx_n_s_address); + Py_CLEAR(clear_module_state->__pyx_n_s_all_readers_updated); + Py_CLEAR(clear_module_state->__pyx_n_s_asyncio_coroutines); + Py_CLEAR(clear_module_state->__pyx_n_s_clear); + Py_CLEAR(clear_module_state->__pyx_n_s_cline_in_traceback); + Py_CLEAR(clear_module_state->__pyx_n_s_conflate); + Py_CLEAR(clear_module_state->__pyx_n_s_connect); + Py_CLEAR(clear_module_state->__pyx_n_s_context); + Py_CLEAR(clear_module_state->__pyx_n_s_data); + Py_CLEAR(clear_module_state->__pyx_n_s_decode); + Py_CLEAR(clear_module_state->__pyx_n_s_delete_fake_prefix); + Py_CLEAR(clear_module_state->__pyx_n_s_dict); + Py_CLEAR(clear_module_state->__pyx_kp_u_disable); + Py_CLEAR(clear_module_state->__pyx_n_s_doc); + Py_CLEAR(clear_module_state->__pyx_kp_u_enable); + Py_CLEAR(clear_module_state->__pyx_n_s_enabled); + Py_CLEAR(clear_module_state->__pyx_n_s_endpoint); + Py_CLEAR(clear_module_state->__pyx_n_s_event); + Py_CLEAR(clear_module_state->__pyx_n_s_events); + Py_CLEAR(clear_module_state->__pyx_n_s_exit); + Py_CLEAR(clear_module_state->__pyx_kp_u_gc); + Py_CLEAR(clear_module_state->__pyx_n_s_get_fake_prefix); + Py_CLEAR(clear_module_state->__pyx_n_s_getstate); + Py_CLEAR(clear_module_state->__pyx_n_s_identifier); + Py_CLEAR(clear_module_state->__pyx_n_s_import); + Py_CLEAR(clear_module_state->__pyx_n_s_init); + Py_CLEAR(clear_module_state->__pyx_n_s_init_subclass); + Py_CLEAR(clear_module_state->__pyx_n_s_initializing); + Py_CLEAR(clear_module_state->__pyx_n_s_is_coroutine); + Py_CLEAR(clear_module_state->__pyx_kp_u_isenabled); + Py_CLEAR(clear_module_state->__pyx_n_s_items); + Py_CLEAR(clear_module_state->__pyx_n_s_length); + Py_CLEAR(clear_module_state->__pyx_n_s_m); + Py_CLEAR(clear_module_state->__pyx_n_s_main); + Py_CLEAR(clear_module_state->__pyx_n_s_message); + Py_CLEAR(clear_module_state->__pyx_n_s_metaclass); + Py_CLEAR(clear_module_state->__pyx_n_s_module); + Py_CLEAR(clear_module_state->__pyx_n_s_mro_entries); + Py_CLEAR(clear_module_state->__pyx_n_s_msg); + Py_CLEAR(clear_module_state->__pyx_n_s_msgq_ipc_pyx); + Py_CLEAR(clear_module_state->__pyx_kp_s_msgq_repo_msgq_ipc_pyx_pyx); + Py_CLEAR(clear_module_state->__pyx_n_s_name); + Py_CLEAR(clear_module_state->__pyx_kp_s_no_default___reduce___due_to_non); + Py_CLEAR(clear_module_state->__pyx_n_s_non_blocking); + Py_CLEAR(clear_module_state->__pyx_n_s_override); + Py_CLEAR(clear_module_state->__pyx_n_s_peek); + Py_CLEAR(clear_module_state->__pyx_n_s_poll); + Py_CLEAR(clear_module_state->__pyx_n_s_prefix); + Py_CLEAR(clear_module_state->__pyx_n_s_prepare); + Py_CLEAR(clear_module_state->__pyx_n_s_print); + Py_CLEAR(clear_module_state->__pyx_n_s_ptr); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_state); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_vtable); + Py_CLEAR(clear_module_state->__pyx_n_s_qualname); + Py_CLEAR(clear_module_state->__pyx_n_s_r); + Py_CLEAR(clear_module_state->__pyx_n_s_receive); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_ex); + Py_CLEAR(clear_module_state->__pyx_n_s_registerSocket); + Py_CLEAR(clear_module_state->__pyx_n_s_result); + Py_CLEAR(clear_module_state->__pyx_n_s_s); + Py_CLEAR(clear_module_state->__pyx_n_s_self); + Py_CLEAR(clear_module_state->__pyx_n_s_send); + Py_CLEAR(clear_module_state->__pyx_n_s_set); + Py_CLEAR(clear_module_state->__pyx_n_s_setTimeout); + Py_CLEAR(clear_module_state->__pyx_n_s_set_fake_prefix); + Py_CLEAR(clear_module_state->__pyx_n_s_set_name); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_socket); + Py_CLEAR(clear_module_state->__pyx_n_s_sockets); + Py_CLEAR(clear_module_state->__pyx_n_s_spec); + Py_CLEAR(clear_module_state->__pyx_kp_s_stringsource); + Py_CLEAR(clear_module_state->__pyx_n_s_suffix); + Py_CLEAR(clear_module_state->__pyx_n_s_super); + Py_CLEAR(clear_module_state->__pyx_n_s_sys); + Py_CLEAR(clear_module_state->__pyx_n_s_sz); + Py_CLEAR(clear_module_state->__pyx_n_s_t); + Py_CLEAR(clear_module_state->__pyx_n_s_term); + Py_CLEAR(clear_module_state->__pyx_n_s_test); + Py_CLEAR(clear_module_state->__pyx_n_s_timeout); + Py_CLEAR(clear_module_state->__pyx_n_s_toggle_fake_events); + Py_CLEAR(clear_module_state->__pyx_kp_u_utf_8); + Py_CLEAR(clear_module_state->__pyx_n_s_wait); + Py_CLEAR(clear_module_state->__pyx_n_s_wait_for_one_event); + Py_CLEAR(clear_module_state->__pyx_kp_u_with); + Py_CLEAR(clear_module_state->__pyx_int_1); + Py_CLEAR(clear_module_state->__pyx_int_neg_1); + Py_CLEAR(clear_module_state->__pyx_tuple__4); + Py_CLEAR(clear_module_state->__pyx_tuple__6); + Py_CLEAR(clear_module_state->__pyx_tuple__8); + Py_CLEAR(clear_module_state->__pyx_tuple__9); + Py_CLEAR(clear_module_state->__pyx_tuple__11); + Py_CLEAR(clear_module_state->__pyx_tuple__15); + Py_CLEAR(clear_module_state->__pyx_tuple__17); + Py_CLEAR(clear_module_state->__pyx_tuple__20); + Py_CLEAR(clear_module_state->__pyx_tuple__22); + Py_CLEAR(clear_module_state->__pyx_tuple__25); + Py_CLEAR(clear_module_state->__pyx_tuple__32); + Py_CLEAR(clear_module_state->__pyx_tuple__34); + Py_CLEAR(clear_module_state->__pyx_tuple__38); + Py_CLEAR(clear_module_state->__pyx_tuple__41); + Py_CLEAR(clear_module_state->__pyx_tuple__43); + Py_CLEAR(clear_module_state->__pyx_tuple__46); + Py_CLEAR(clear_module_state->__pyx_tuple__48); + Py_CLEAR(clear_module_state->__pyx_codeobj__7); + Py_CLEAR(clear_module_state->__pyx_codeobj__10); + Py_CLEAR(clear_module_state->__pyx_codeobj__12); + Py_CLEAR(clear_module_state->__pyx_codeobj__13); + Py_CLEAR(clear_module_state->__pyx_codeobj__14); + Py_CLEAR(clear_module_state->__pyx_codeobj__16); + Py_CLEAR(clear_module_state->__pyx_codeobj__18); + Py_CLEAR(clear_module_state->__pyx_codeobj__19); + Py_CLEAR(clear_module_state->__pyx_codeobj__21); + Py_CLEAR(clear_module_state->__pyx_codeobj__23); + Py_CLEAR(clear_module_state->__pyx_codeobj__24); + Py_CLEAR(clear_module_state->__pyx_codeobj__26); + Py_CLEAR(clear_module_state->__pyx_codeobj__27); + Py_CLEAR(clear_module_state->__pyx_codeobj__28); + Py_CLEAR(clear_module_state->__pyx_codeobj__29); + Py_CLEAR(clear_module_state->__pyx_codeobj__30); + Py_CLEAR(clear_module_state->__pyx_codeobj__31); + Py_CLEAR(clear_module_state->__pyx_codeobj__33); + Py_CLEAR(clear_module_state->__pyx_codeobj__35); + Py_CLEAR(clear_module_state->__pyx_codeobj__36); + Py_CLEAR(clear_module_state->__pyx_codeobj__37); + Py_CLEAR(clear_module_state->__pyx_codeobj__39); + Py_CLEAR(clear_module_state->__pyx_codeobj__40); + Py_CLEAR(clear_module_state->__pyx_codeobj__42); + Py_CLEAR(clear_module_state->__pyx_codeobj__44); + Py_CLEAR(clear_module_state->__pyx_codeobj__45); + Py_CLEAR(clear_module_state->__pyx_codeobj__47); + Py_CLEAR(clear_module_state->__pyx_codeobj__49); + Py_CLEAR(clear_module_state->__pyx_codeobj__50); + Py_CLEAR(clear_module_state->__pyx_codeobj__51); + Py_CLEAR(clear_module_state->__pyx_codeobj__52); + return 0; +} +#endif +/* #### Code section: module_state_traverse ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_traverse(PyObject *m, visitproc visit, void *arg) { + __pyx_mstate *traverse_module_state = __pyx_mstate(m); + if (!traverse_module_state) return 0; + Py_VISIT(traverse_module_state->__pyx_d); + Py_VISIT(traverse_module_state->__pyx_b); + Py_VISIT(traverse_module_state->__pyx_cython_runtime); + Py_VISIT(traverse_module_state->__pyx_empty_tuple); + Py_VISIT(traverse_module_state->__pyx_empty_bytes); + Py_VISIT(traverse_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_VISIT(traverse_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_VISIT(traverse_module_state->__pyx_FusedFunctionType); + #endif + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_7ipc_pyx_Event); + Py_VISIT(traverse_module_state->__pyx_type_4msgq_7ipc_pyx_Event); + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_7ipc_pyx_SocketEventHandle); + Py_VISIT(traverse_module_state->__pyx_type_4msgq_7ipc_pyx_SocketEventHandle); + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_7ipc_pyx_Context); + Py_VISIT(traverse_module_state->__pyx_type_4msgq_7ipc_pyx_Context); + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_7ipc_pyx_Poller); + Py_VISIT(traverse_module_state->__pyx_type_4msgq_7ipc_pyx_Poller); + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_7ipc_pyx_SubSocket); + Py_VISIT(traverse_module_state->__pyx_type_4msgq_7ipc_pyx_SubSocket); + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_7ipc_pyx_PubSocket); + Py_VISIT(traverse_module_state->__pyx_type_4msgq_7ipc_pyx_PubSocket); + Py_VISIT(traverse_module_state->__pyx_kp_b_); + Py_VISIT(traverse_module_state->__pyx_kp_u_); + Py_VISIT(traverse_module_state->__pyx_kp_b_127_0_0_1); + Py_VISIT(traverse_module_state->__pyx_n_s_Context); + Py_VISIT(traverse_module_state->__pyx_n_s_Context___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_Context___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_Context_term); + Py_VISIT(traverse_module_state->__pyx_n_s_Event); + Py_VISIT(traverse_module_state->__pyx_n_s_Event___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_Event___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_Event_clear); + Py_VISIT(traverse_module_state->__pyx_n_s_Event_peek); + Py_VISIT(traverse_module_state->__pyx_n_s_Event_set); + Py_VISIT(traverse_module_state->__pyx_n_s_Event_wait); + Py_VISIT(traverse_module_state->__pyx_n_s_IpcError); + Py_VISIT(traverse_module_state->__pyx_n_s_IpcError___init); + Py_VISIT(traverse_module_state->__pyx_kp_u_Messaging_failure); + Py_VISIT(traverse_module_state->__pyx_n_s_MultiplePublishersError); + Py_VISIT(traverse_module_state->__pyx_kp_u_None); + Py_VISIT(traverse_module_state->__pyx_n_s_Poller); + Py_VISIT(traverse_module_state->__pyx_n_s_Poller___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_Poller___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_Poller_poll); + Py_VISIT(traverse_module_state->__pyx_n_s_Poller_registerSocket); + Py_VISIT(traverse_module_state->__pyx_n_s_PubSocket); + Py_VISIT(traverse_module_state->__pyx_n_s_PubSocket___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_PubSocket___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_PubSocket_all_readers_updated); + Py_VISIT(traverse_module_state->__pyx_n_s_PubSocket_connect); + Py_VISIT(traverse_module_state->__pyx_n_s_PubSocket_send); + Py_VISIT(traverse_module_state->__pyx_kp_u_SIGINT_received_exiting); + Py_VISIT(traverse_module_state->__pyx_n_s_SocketEventHandle); + Py_VISIT(traverse_module_state->__pyx_n_s_SocketEventHandle___reduce_cytho); + Py_VISIT(traverse_module_state->__pyx_n_s_SocketEventHandle___setstate_cyt); + Py_VISIT(traverse_module_state->__pyx_n_s_SubSocket); + Py_VISIT(traverse_module_state->__pyx_n_s_SubSocket___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_SubSocket___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_SubSocket_connect); + Py_VISIT(traverse_module_state->__pyx_n_s_SubSocket_receive); + Py_VISIT(traverse_module_state->__pyx_n_s_SubSocket_setTimeout); + Py_VISIT(traverse_module_state->__pyx_n_s_TypeError); + Py_VISIT(traverse_module_state->__pyx_kp_u__2); + Py_VISIT(traverse_module_state->__pyx_n_s__5); + Py_VISIT(traverse_module_state->__pyx_n_s__53); + Py_VISIT(traverse_module_state->__pyx_n_s_address); + Py_VISIT(traverse_module_state->__pyx_n_s_all_readers_updated); + Py_VISIT(traverse_module_state->__pyx_n_s_asyncio_coroutines); + Py_VISIT(traverse_module_state->__pyx_n_s_clear); + Py_VISIT(traverse_module_state->__pyx_n_s_cline_in_traceback); + Py_VISIT(traverse_module_state->__pyx_n_s_conflate); + Py_VISIT(traverse_module_state->__pyx_n_s_connect); + Py_VISIT(traverse_module_state->__pyx_n_s_context); + Py_VISIT(traverse_module_state->__pyx_n_s_data); + Py_VISIT(traverse_module_state->__pyx_n_s_decode); + Py_VISIT(traverse_module_state->__pyx_n_s_delete_fake_prefix); + Py_VISIT(traverse_module_state->__pyx_n_s_dict); + Py_VISIT(traverse_module_state->__pyx_kp_u_disable); + Py_VISIT(traverse_module_state->__pyx_n_s_doc); + Py_VISIT(traverse_module_state->__pyx_kp_u_enable); + Py_VISIT(traverse_module_state->__pyx_n_s_enabled); + Py_VISIT(traverse_module_state->__pyx_n_s_endpoint); + Py_VISIT(traverse_module_state->__pyx_n_s_event); + Py_VISIT(traverse_module_state->__pyx_n_s_events); + Py_VISIT(traverse_module_state->__pyx_n_s_exit); + Py_VISIT(traverse_module_state->__pyx_kp_u_gc); + Py_VISIT(traverse_module_state->__pyx_n_s_get_fake_prefix); + Py_VISIT(traverse_module_state->__pyx_n_s_getstate); + Py_VISIT(traverse_module_state->__pyx_n_s_identifier); + Py_VISIT(traverse_module_state->__pyx_n_s_import); + Py_VISIT(traverse_module_state->__pyx_n_s_init); + Py_VISIT(traverse_module_state->__pyx_n_s_init_subclass); + Py_VISIT(traverse_module_state->__pyx_n_s_initializing); + Py_VISIT(traverse_module_state->__pyx_n_s_is_coroutine); + Py_VISIT(traverse_module_state->__pyx_kp_u_isenabled); + Py_VISIT(traverse_module_state->__pyx_n_s_items); + Py_VISIT(traverse_module_state->__pyx_n_s_length); + Py_VISIT(traverse_module_state->__pyx_n_s_m); + Py_VISIT(traverse_module_state->__pyx_n_s_main); + Py_VISIT(traverse_module_state->__pyx_n_s_message); + Py_VISIT(traverse_module_state->__pyx_n_s_metaclass); + Py_VISIT(traverse_module_state->__pyx_n_s_module); + Py_VISIT(traverse_module_state->__pyx_n_s_mro_entries); + Py_VISIT(traverse_module_state->__pyx_n_s_msg); + Py_VISIT(traverse_module_state->__pyx_n_s_msgq_ipc_pyx); + Py_VISIT(traverse_module_state->__pyx_kp_s_msgq_repo_msgq_ipc_pyx_pyx); + Py_VISIT(traverse_module_state->__pyx_n_s_name); + Py_VISIT(traverse_module_state->__pyx_kp_s_no_default___reduce___due_to_non); + Py_VISIT(traverse_module_state->__pyx_n_s_non_blocking); + Py_VISIT(traverse_module_state->__pyx_n_s_override); + Py_VISIT(traverse_module_state->__pyx_n_s_peek); + Py_VISIT(traverse_module_state->__pyx_n_s_poll); + Py_VISIT(traverse_module_state->__pyx_n_s_prefix); + Py_VISIT(traverse_module_state->__pyx_n_s_prepare); + Py_VISIT(traverse_module_state->__pyx_n_s_print); + Py_VISIT(traverse_module_state->__pyx_n_s_ptr); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_state); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_vtable); + Py_VISIT(traverse_module_state->__pyx_n_s_qualname); + Py_VISIT(traverse_module_state->__pyx_n_s_r); + Py_VISIT(traverse_module_state->__pyx_n_s_receive); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_ex); + Py_VISIT(traverse_module_state->__pyx_n_s_registerSocket); + Py_VISIT(traverse_module_state->__pyx_n_s_result); + Py_VISIT(traverse_module_state->__pyx_n_s_s); + Py_VISIT(traverse_module_state->__pyx_n_s_self); + Py_VISIT(traverse_module_state->__pyx_n_s_send); + Py_VISIT(traverse_module_state->__pyx_n_s_set); + Py_VISIT(traverse_module_state->__pyx_n_s_setTimeout); + Py_VISIT(traverse_module_state->__pyx_n_s_set_fake_prefix); + Py_VISIT(traverse_module_state->__pyx_n_s_set_name); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_socket); + Py_VISIT(traverse_module_state->__pyx_n_s_sockets); + Py_VISIT(traverse_module_state->__pyx_n_s_spec); + Py_VISIT(traverse_module_state->__pyx_kp_s_stringsource); + Py_VISIT(traverse_module_state->__pyx_n_s_suffix); + Py_VISIT(traverse_module_state->__pyx_n_s_super); + Py_VISIT(traverse_module_state->__pyx_n_s_sys); + Py_VISIT(traverse_module_state->__pyx_n_s_sz); + Py_VISIT(traverse_module_state->__pyx_n_s_t); + Py_VISIT(traverse_module_state->__pyx_n_s_term); + Py_VISIT(traverse_module_state->__pyx_n_s_test); + Py_VISIT(traverse_module_state->__pyx_n_s_timeout); + Py_VISIT(traverse_module_state->__pyx_n_s_toggle_fake_events); + Py_VISIT(traverse_module_state->__pyx_kp_u_utf_8); + Py_VISIT(traverse_module_state->__pyx_n_s_wait); + Py_VISIT(traverse_module_state->__pyx_n_s_wait_for_one_event); + Py_VISIT(traverse_module_state->__pyx_kp_u_with); + Py_VISIT(traverse_module_state->__pyx_int_1); + Py_VISIT(traverse_module_state->__pyx_int_neg_1); + Py_VISIT(traverse_module_state->__pyx_tuple__4); + Py_VISIT(traverse_module_state->__pyx_tuple__6); + Py_VISIT(traverse_module_state->__pyx_tuple__8); + Py_VISIT(traverse_module_state->__pyx_tuple__9); + Py_VISIT(traverse_module_state->__pyx_tuple__11); + Py_VISIT(traverse_module_state->__pyx_tuple__15); + Py_VISIT(traverse_module_state->__pyx_tuple__17); + Py_VISIT(traverse_module_state->__pyx_tuple__20); + Py_VISIT(traverse_module_state->__pyx_tuple__22); + Py_VISIT(traverse_module_state->__pyx_tuple__25); + Py_VISIT(traverse_module_state->__pyx_tuple__32); + Py_VISIT(traverse_module_state->__pyx_tuple__34); + Py_VISIT(traverse_module_state->__pyx_tuple__38); + Py_VISIT(traverse_module_state->__pyx_tuple__41); + Py_VISIT(traverse_module_state->__pyx_tuple__43); + Py_VISIT(traverse_module_state->__pyx_tuple__46); + Py_VISIT(traverse_module_state->__pyx_tuple__48); + Py_VISIT(traverse_module_state->__pyx_codeobj__7); + Py_VISIT(traverse_module_state->__pyx_codeobj__10); + Py_VISIT(traverse_module_state->__pyx_codeobj__12); + Py_VISIT(traverse_module_state->__pyx_codeobj__13); + Py_VISIT(traverse_module_state->__pyx_codeobj__14); + Py_VISIT(traverse_module_state->__pyx_codeobj__16); + Py_VISIT(traverse_module_state->__pyx_codeobj__18); + Py_VISIT(traverse_module_state->__pyx_codeobj__19); + Py_VISIT(traverse_module_state->__pyx_codeobj__21); + Py_VISIT(traverse_module_state->__pyx_codeobj__23); + Py_VISIT(traverse_module_state->__pyx_codeobj__24); + Py_VISIT(traverse_module_state->__pyx_codeobj__26); + Py_VISIT(traverse_module_state->__pyx_codeobj__27); + Py_VISIT(traverse_module_state->__pyx_codeobj__28); + Py_VISIT(traverse_module_state->__pyx_codeobj__29); + Py_VISIT(traverse_module_state->__pyx_codeobj__30); + Py_VISIT(traverse_module_state->__pyx_codeobj__31); + Py_VISIT(traverse_module_state->__pyx_codeobj__33); + Py_VISIT(traverse_module_state->__pyx_codeobj__35); + Py_VISIT(traverse_module_state->__pyx_codeobj__36); + Py_VISIT(traverse_module_state->__pyx_codeobj__37); + Py_VISIT(traverse_module_state->__pyx_codeobj__39); + Py_VISIT(traverse_module_state->__pyx_codeobj__40); + Py_VISIT(traverse_module_state->__pyx_codeobj__42); + Py_VISIT(traverse_module_state->__pyx_codeobj__44); + Py_VISIT(traverse_module_state->__pyx_codeobj__45); + Py_VISIT(traverse_module_state->__pyx_codeobj__47); + Py_VISIT(traverse_module_state->__pyx_codeobj__49); + Py_VISIT(traverse_module_state->__pyx_codeobj__50); + Py_VISIT(traverse_module_state->__pyx_codeobj__51); + Py_VISIT(traverse_module_state->__pyx_codeobj__52); + return 0; +} +#endif +/* #### Code section: module_state_defines ### */ +#define __pyx_d __pyx_mstate_global->__pyx_d +#define __pyx_b __pyx_mstate_global->__pyx_b +#define __pyx_cython_runtime __pyx_mstate_global->__pyx_cython_runtime +#define __pyx_empty_tuple __pyx_mstate_global->__pyx_empty_tuple +#define __pyx_empty_bytes __pyx_mstate_global->__pyx_empty_bytes +#define __pyx_empty_unicode __pyx_mstate_global->__pyx_empty_unicode +#ifdef __Pyx_CyFunction_USED +#define __pyx_CyFunctionType __pyx_mstate_global->__pyx_CyFunctionType +#endif +#ifdef __Pyx_FusedFunction_USED +#define __pyx_FusedFunctionType __pyx_mstate_global->__pyx_FusedFunctionType +#endif +#ifdef __Pyx_Generator_USED +#define __pyx_GeneratorType __pyx_mstate_global->__pyx_GeneratorType +#endif +#ifdef __Pyx_IterableCoroutine_USED +#define __pyx_IterableCoroutineType __pyx_mstate_global->__pyx_IterableCoroutineType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineAwaitType __pyx_mstate_global->__pyx_CoroutineAwaitType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineType __pyx_mstate_global->__pyx_CoroutineType +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#define __pyx_type_4msgq_7ipc_pyx_Event __pyx_mstate_global->__pyx_type_4msgq_7ipc_pyx_Event +#define __pyx_type_4msgq_7ipc_pyx_SocketEventHandle __pyx_mstate_global->__pyx_type_4msgq_7ipc_pyx_SocketEventHandle +#define __pyx_type_4msgq_7ipc_pyx_Context __pyx_mstate_global->__pyx_type_4msgq_7ipc_pyx_Context +#define __pyx_type_4msgq_7ipc_pyx_Poller __pyx_mstate_global->__pyx_type_4msgq_7ipc_pyx_Poller +#define __pyx_type_4msgq_7ipc_pyx_SubSocket __pyx_mstate_global->__pyx_type_4msgq_7ipc_pyx_SubSocket +#define __pyx_type_4msgq_7ipc_pyx_PubSocket __pyx_mstate_global->__pyx_type_4msgq_7ipc_pyx_PubSocket +#endif +#define __pyx_ptype_4msgq_7ipc_pyx_Event __pyx_mstate_global->__pyx_ptype_4msgq_7ipc_pyx_Event +#define __pyx_ptype_4msgq_7ipc_pyx_SocketEventHandle __pyx_mstate_global->__pyx_ptype_4msgq_7ipc_pyx_SocketEventHandle +#define __pyx_ptype_4msgq_7ipc_pyx_Context __pyx_mstate_global->__pyx_ptype_4msgq_7ipc_pyx_Context +#define __pyx_ptype_4msgq_7ipc_pyx_Poller __pyx_mstate_global->__pyx_ptype_4msgq_7ipc_pyx_Poller +#define __pyx_ptype_4msgq_7ipc_pyx_SubSocket __pyx_mstate_global->__pyx_ptype_4msgq_7ipc_pyx_SubSocket +#define __pyx_ptype_4msgq_7ipc_pyx_PubSocket __pyx_mstate_global->__pyx_ptype_4msgq_7ipc_pyx_PubSocket +#define __pyx_kp_b_ __pyx_mstate_global->__pyx_kp_b_ +#define __pyx_kp_u_ __pyx_mstate_global->__pyx_kp_u_ +#define __pyx_kp_b_127_0_0_1 __pyx_mstate_global->__pyx_kp_b_127_0_0_1 +#define __pyx_n_s_Context __pyx_mstate_global->__pyx_n_s_Context +#define __pyx_n_s_Context___reduce_cython __pyx_mstate_global->__pyx_n_s_Context___reduce_cython +#define __pyx_n_s_Context___setstate_cython __pyx_mstate_global->__pyx_n_s_Context___setstate_cython +#define __pyx_n_s_Context_term __pyx_mstate_global->__pyx_n_s_Context_term +#define __pyx_n_s_Event __pyx_mstate_global->__pyx_n_s_Event +#define __pyx_n_s_Event___reduce_cython __pyx_mstate_global->__pyx_n_s_Event___reduce_cython +#define __pyx_n_s_Event___setstate_cython __pyx_mstate_global->__pyx_n_s_Event___setstate_cython +#define __pyx_n_s_Event_clear __pyx_mstate_global->__pyx_n_s_Event_clear +#define __pyx_n_s_Event_peek __pyx_mstate_global->__pyx_n_s_Event_peek +#define __pyx_n_s_Event_set __pyx_mstate_global->__pyx_n_s_Event_set +#define __pyx_n_s_Event_wait __pyx_mstate_global->__pyx_n_s_Event_wait +#define __pyx_n_s_IpcError __pyx_mstate_global->__pyx_n_s_IpcError +#define __pyx_n_s_IpcError___init __pyx_mstate_global->__pyx_n_s_IpcError___init +#define __pyx_kp_u_Messaging_failure __pyx_mstate_global->__pyx_kp_u_Messaging_failure +#define __pyx_n_s_MultiplePublishersError __pyx_mstate_global->__pyx_n_s_MultiplePublishersError +#define __pyx_kp_u_None __pyx_mstate_global->__pyx_kp_u_None +#define __pyx_n_s_Poller __pyx_mstate_global->__pyx_n_s_Poller +#define __pyx_n_s_Poller___reduce_cython __pyx_mstate_global->__pyx_n_s_Poller___reduce_cython +#define __pyx_n_s_Poller___setstate_cython __pyx_mstate_global->__pyx_n_s_Poller___setstate_cython +#define __pyx_n_s_Poller_poll __pyx_mstate_global->__pyx_n_s_Poller_poll +#define __pyx_n_s_Poller_registerSocket __pyx_mstate_global->__pyx_n_s_Poller_registerSocket +#define __pyx_n_s_PubSocket __pyx_mstate_global->__pyx_n_s_PubSocket +#define __pyx_n_s_PubSocket___reduce_cython __pyx_mstate_global->__pyx_n_s_PubSocket___reduce_cython +#define __pyx_n_s_PubSocket___setstate_cython __pyx_mstate_global->__pyx_n_s_PubSocket___setstate_cython +#define __pyx_n_s_PubSocket_all_readers_updated __pyx_mstate_global->__pyx_n_s_PubSocket_all_readers_updated +#define __pyx_n_s_PubSocket_connect __pyx_mstate_global->__pyx_n_s_PubSocket_connect +#define __pyx_n_s_PubSocket_send __pyx_mstate_global->__pyx_n_s_PubSocket_send +#define __pyx_kp_u_SIGINT_received_exiting __pyx_mstate_global->__pyx_kp_u_SIGINT_received_exiting +#define __pyx_n_s_SocketEventHandle __pyx_mstate_global->__pyx_n_s_SocketEventHandle +#define __pyx_n_s_SocketEventHandle___reduce_cytho __pyx_mstate_global->__pyx_n_s_SocketEventHandle___reduce_cytho +#define __pyx_n_s_SocketEventHandle___setstate_cyt __pyx_mstate_global->__pyx_n_s_SocketEventHandle___setstate_cyt +#define __pyx_n_s_SubSocket __pyx_mstate_global->__pyx_n_s_SubSocket +#define __pyx_n_s_SubSocket___reduce_cython __pyx_mstate_global->__pyx_n_s_SubSocket___reduce_cython +#define __pyx_n_s_SubSocket___setstate_cython __pyx_mstate_global->__pyx_n_s_SubSocket___setstate_cython +#define __pyx_n_s_SubSocket_connect __pyx_mstate_global->__pyx_n_s_SubSocket_connect +#define __pyx_n_s_SubSocket_receive __pyx_mstate_global->__pyx_n_s_SubSocket_receive +#define __pyx_n_s_SubSocket_setTimeout __pyx_mstate_global->__pyx_n_s_SubSocket_setTimeout +#define __pyx_n_s_TypeError __pyx_mstate_global->__pyx_n_s_TypeError +#define __pyx_kp_u__2 __pyx_mstate_global->__pyx_kp_u__2 +#define __pyx_n_s__5 __pyx_mstate_global->__pyx_n_s__5 +#define __pyx_n_s__53 __pyx_mstate_global->__pyx_n_s__53 +#define __pyx_n_s_address __pyx_mstate_global->__pyx_n_s_address +#define __pyx_n_s_all_readers_updated __pyx_mstate_global->__pyx_n_s_all_readers_updated +#define __pyx_n_s_asyncio_coroutines __pyx_mstate_global->__pyx_n_s_asyncio_coroutines +#define __pyx_n_s_clear __pyx_mstate_global->__pyx_n_s_clear +#define __pyx_n_s_cline_in_traceback __pyx_mstate_global->__pyx_n_s_cline_in_traceback +#define __pyx_n_s_conflate __pyx_mstate_global->__pyx_n_s_conflate +#define __pyx_n_s_connect __pyx_mstate_global->__pyx_n_s_connect +#define __pyx_n_s_context __pyx_mstate_global->__pyx_n_s_context +#define __pyx_n_s_data __pyx_mstate_global->__pyx_n_s_data +#define __pyx_n_s_decode __pyx_mstate_global->__pyx_n_s_decode +#define __pyx_n_s_delete_fake_prefix __pyx_mstate_global->__pyx_n_s_delete_fake_prefix +#define __pyx_n_s_dict __pyx_mstate_global->__pyx_n_s_dict +#define __pyx_kp_u_disable __pyx_mstate_global->__pyx_kp_u_disable +#define __pyx_n_s_doc __pyx_mstate_global->__pyx_n_s_doc +#define __pyx_kp_u_enable __pyx_mstate_global->__pyx_kp_u_enable +#define __pyx_n_s_enabled __pyx_mstate_global->__pyx_n_s_enabled +#define __pyx_n_s_endpoint __pyx_mstate_global->__pyx_n_s_endpoint +#define __pyx_n_s_event __pyx_mstate_global->__pyx_n_s_event +#define __pyx_n_s_events __pyx_mstate_global->__pyx_n_s_events +#define __pyx_n_s_exit __pyx_mstate_global->__pyx_n_s_exit +#define __pyx_kp_u_gc __pyx_mstate_global->__pyx_kp_u_gc +#define __pyx_n_s_get_fake_prefix __pyx_mstate_global->__pyx_n_s_get_fake_prefix +#define __pyx_n_s_getstate __pyx_mstate_global->__pyx_n_s_getstate +#define __pyx_n_s_identifier __pyx_mstate_global->__pyx_n_s_identifier +#define __pyx_n_s_import __pyx_mstate_global->__pyx_n_s_import +#define __pyx_n_s_init __pyx_mstate_global->__pyx_n_s_init +#define __pyx_n_s_init_subclass __pyx_mstate_global->__pyx_n_s_init_subclass +#define __pyx_n_s_initializing __pyx_mstate_global->__pyx_n_s_initializing +#define __pyx_n_s_is_coroutine __pyx_mstate_global->__pyx_n_s_is_coroutine +#define __pyx_kp_u_isenabled __pyx_mstate_global->__pyx_kp_u_isenabled +#define __pyx_n_s_items __pyx_mstate_global->__pyx_n_s_items +#define __pyx_n_s_length __pyx_mstate_global->__pyx_n_s_length +#define __pyx_n_s_m __pyx_mstate_global->__pyx_n_s_m +#define __pyx_n_s_main __pyx_mstate_global->__pyx_n_s_main +#define __pyx_n_s_message __pyx_mstate_global->__pyx_n_s_message +#define __pyx_n_s_metaclass __pyx_mstate_global->__pyx_n_s_metaclass +#define __pyx_n_s_module __pyx_mstate_global->__pyx_n_s_module +#define __pyx_n_s_mro_entries __pyx_mstate_global->__pyx_n_s_mro_entries +#define __pyx_n_s_msg __pyx_mstate_global->__pyx_n_s_msg +#define __pyx_n_s_msgq_ipc_pyx __pyx_mstate_global->__pyx_n_s_msgq_ipc_pyx +#define __pyx_kp_s_msgq_repo_msgq_ipc_pyx_pyx __pyx_mstate_global->__pyx_kp_s_msgq_repo_msgq_ipc_pyx_pyx +#define __pyx_n_s_name __pyx_mstate_global->__pyx_n_s_name +#define __pyx_kp_s_no_default___reduce___due_to_non __pyx_mstate_global->__pyx_kp_s_no_default___reduce___due_to_non +#define __pyx_n_s_non_blocking __pyx_mstate_global->__pyx_n_s_non_blocking +#define __pyx_n_s_override __pyx_mstate_global->__pyx_n_s_override +#define __pyx_n_s_peek __pyx_mstate_global->__pyx_n_s_peek +#define __pyx_n_s_poll __pyx_mstate_global->__pyx_n_s_poll +#define __pyx_n_s_prefix __pyx_mstate_global->__pyx_n_s_prefix +#define __pyx_n_s_prepare __pyx_mstate_global->__pyx_n_s_prepare +#define __pyx_n_s_print __pyx_mstate_global->__pyx_n_s_print +#define __pyx_n_s_ptr __pyx_mstate_global->__pyx_n_s_ptr +#define __pyx_n_s_pyx_state __pyx_mstate_global->__pyx_n_s_pyx_state +#define __pyx_n_s_pyx_vtable __pyx_mstate_global->__pyx_n_s_pyx_vtable +#define __pyx_n_s_qualname __pyx_mstate_global->__pyx_n_s_qualname +#define __pyx_n_s_r __pyx_mstate_global->__pyx_n_s_r +#define __pyx_n_s_receive __pyx_mstate_global->__pyx_n_s_receive +#define __pyx_n_s_reduce __pyx_mstate_global->__pyx_n_s_reduce +#define __pyx_n_s_reduce_cython __pyx_mstate_global->__pyx_n_s_reduce_cython +#define __pyx_n_s_reduce_ex __pyx_mstate_global->__pyx_n_s_reduce_ex +#define __pyx_n_s_registerSocket __pyx_mstate_global->__pyx_n_s_registerSocket +#define __pyx_n_s_result __pyx_mstate_global->__pyx_n_s_result +#define __pyx_n_s_s __pyx_mstate_global->__pyx_n_s_s +#define __pyx_n_s_self __pyx_mstate_global->__pyx_n_s_self +#define __pyx_n_s_send __pyx_mstate_global->__pyx_n_s_send +#define __pyx_n_s_set __pyx_mstate_global->__pyx_n_s_set +#define __pyx_n_s_setTimeout __pyx_mstate_global->__pyx_n_s_setTimeout +#define __pyx_n_s_set_fake_prefix __pyx_mstate_global->__pyx_n_s_set_fake_prefix +#define __pyx_n_s_set_name __pyx_mstate_global->__pyx_n_s_set_name +#define __pyx_n_s_setstate __pyx_mstate_global->__pyx_n_s_setstate +#define __pyx_n_s_setstate_cython __pyx_mstate_global->__pyx_n_s_setstate_cython +#define __pyx_n_s_socket __pyx_mstate_global->__pyx_n_s_socket +#define __pyx_n_s_sockets __pyx_mstate_global->__pyx_n_s_sockets +#define __pyx_n_s_spec __pyx_mstate_global->__pyx_n_s_spec +#define __pyx_kp_s_stringsource __pyx_mstate_global->__pyx_kp_s_stringsource +#define __pyx_n_s_suffix __pyx_mstate_global->__pyx_n_s_suffix +#define __pyx_n_s_super __pyx_mstate_global->__pyx_n_s_super +#define __pyx_n_s_sys __pyx_mstate_global->__pyx_n_s_sys +#define __pyx_n_s_sz __pyx_mstate_global->__pyx_n_s_sz +#define __pyx_n_s_t __pyx_mstate_global->__pyx_n_s_t +#define __pyx_n_s_term __pyx_mstate_global->__pyx_n_s_term +#define __pyx_n_s_test __pyx_mstate_global->__pyx_n_s_test +#define __pyx_n_s_timeout __pyx_mstate_global->__pyx_n_s_timeout +#define __pyx_n_s_toggle_fake_events __pyx_mstate_global->__pyx_n_s_toggle_fake_events +#define __pyx_kp_u_utf_8 __pyx_mstate_global->__pyx_kp_u_utf_8 +#define __pyx_n_s_wait __pyx_mstate_global->__pyx_n_s_wait +#define __pyx_n_s_wait_for_one_event __pyx_mstate_global->__pyx_n_s_wait_for_one_event +#define __pyx_kp_u_with __pyx_mstate_global->__pyx_kp_u_with +#define __pyx_int_1 __pyx_mstate_global->__pyx_int_1 +#define __pyx_int_neg_1 __pyx_mstate_global->__pyx_int_neg_1 +#define __pyx_k__3 __pyx_mstate_global->__pyx_k__3 +#define __pyx_tuple__4 __pyx_mstate_global->__pyx_tuple__4 +#define __pyx_tuple__6 __pyx_mstate_global->__pyx_tuple__6 +#define __pyx_tuple__8 __pyx_mstate_global->__pyx_tuple__8 +#define __pyx_tuple__9 __pyx_mstate_global->__pyx_tuple__9 +#define __pyx_tuple__11 __pyx_mstate_global->__pyx_tuple__11 +#define __pyx_tuple__15 __pyx_mstate_global->__pyx_tuple__15 +#define __pyx_tuple__17 __pyx_mstate_global->__pyx_tuple__17 +#define __pyx_tuple__20 __pyx_mstate_global->__pyx_tuple__20 +#define __pyx_tuple__22 __pyx_mstate_global->__pyx_tuple__22 +#define __pyx_tuple__25 __pyx_mstate_global->__pyx_tuple__25 +#define __pyx_tuple__32 __pyx_mstate_global->__pyx_tuple__32 +#define __pyx_tuple__34 __pyx_mstate_global->__pyx_tuple__34 +#define __pyx_tuple__38 __pyx_mstate_global->__pyx_tuple__38 +#define __pyx_tuple__41 __pyx_mstate_global->__pyx_tuple__41 +#define __pyx_tuple__43 __pyx_mstate_global->__pyx_tuple__43 +#define __pyx_tuple__46 __pyx_mstate_global->__pyx_tuple__46 +#define __pyx_tuple__48 __pyx_mstate_global->__pyx_tuple__48 +#define __pyx_codeobj__7 __pyx_mstate_global->__pyx_codeobj__7 +#define __pyx_codeobj__10 __pyx_mstate_global->__pyx_codeobj__10 +#define __pyx_codeobj__12 __pyx_mstate_global->__pyx_codeobj__12 +#define __pyx_codeobj__13 __pyx_mstate_global->__pyx_codeobj__13 +#define __pyx_codeobj__14 __pyx_mstate_global->__pyx_codeobj__14 +#define __pyx_codeobj__16 __pyx_mstate_global->__pyx_codeobj__16 +#define __pyx_codeobj__18 __pyx_mstate_global->__pyx_codeobj__18 +#define __pyx_codeobj__19 __pyx_mstate_global->__pyx_codeobj__19 +#define __pyx_codeobj__21 __pyx_mstate_global->__pyx_codeobj__21 +#define __pyx_codeobj__23 __pyx_mstate_global->__pyx_codeobj__23 +#define __pyx_codeobj__24 __pyx_mstate_global->__pyx_codeobj__24 +#define __pyx_codeobj__26 __pyx_mstate_global->__pyx_codeobj__26 +#define __pyx_codeobj__27 __pyx_mstate_global->__pyx_codeobj__27 +#define __pyx_codeobj__28 __pyx_mstate_global->__pyx_codeobj__28 +#define __pyx_codeobj__29 __pyx_mstate_global->__pyx_codeobj__29 +#define __pyx_codeobj__30 __pyx_mstate_global->__pyx_codeobj__30 +#define __pyx_codeobj__31 __pyx_mstate_global->__pyx_codeobj__31 +#define __pyx_codeobj__33 __pyx_mstate_global->__pyx_codeobj__33 +#define __pyx_codeobj__35 __pyx_mstate_global->__pyx_codeobj__35 +#define __pyx_codeobj__36 __pyx_mstate_global->__pyx_codeobj__36 +#define __pyx_codeobj__37 __pyx_mstate_global->__pyx_codeobj__37 +#define __pyx_codeobj__39 __pyx_mstate_global->__pyx_codeobj__39 +#define __pyx_codeobj__40 __pyx_mstate_global->__pyx_codeobj__40 +#define __pyx_codeobj__42 __pyx_mstate_global->__pyx_codeobj__42 +#define __pyx_codeobj__44 __pyx_mstate_global->__pyx_codeobj__44 +#define __pyx_codeobj__45 __pyx_mstate_global->__pyx_codeobj__45 +#define __pyx_codeobj__47 __pyx_mstate_global->__pyx_codeobj__47 +#define __pyx_codeobj__49 __pyx_mstate_global->__pyx_codeobj__49 +#define __pyx_codeobj__50 __pyx_mstate_global->__pyx_codeobj__50 +#define __pyx_codeobj__51 __pyx_mstate_global->__pyx_codeobj__51 +#define __pyx_codeobj__52 __pyx_mstate_global->__pyx_codeobj__52 +/* #### Code section: module_code ### */ + +/* "string.from_py":13 + * + * @cname("__pyx_convert_string_from_py_std__in_string") + * cdef string __pyx_convert_string_from_py_std__in_string(object o) except *: # <<<<<<<<<<<<<< + * cdef Py_ssize_t length = 0 + * cdef const char* data = __Pyx_PyObject_AsStringAndSize(o, &length) + */ + +static std::string __pyx_convert_string_from_py_std__in_string(PyObject *__pyx_v_o) { + Py_ssize_t __pyx_v_length; + char const *__pyx_v_data; + std::string __pyx_r; + char const *__pyx_t_1; + std::string __pyx_t_2; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + + /* "string.from_py":14 + * @cname("__pyx_convert_string_from_py_std__in_string") + * cdef string __pyx_convert_string_from_py_std__in_string(object o) except *: + * cdef Py_ssize_t length = 0 # <<<<<<<<<<<<<< + * cdef const char* data = __Pyx_PyObject_AsStringAndSize(o, &length) + * return string(data, length) + */ + __pyx_v_length = 0; + + /* "string.from_py":15 + * cdef string __pyx_convert_string_from_py_std__in_string(object o) except *: + * cdef Py_ssize_t length = 0 + * cdef const char* data = __Pyx_PyObject_AsStringAndSize(o, &length) # <<<<<<<<<<<<<< + * return string(data, length) + * + */ + __pyx_t_1 = __Pyx_PyObject_AsStringAndSize(__pyx_v_o, (&__pyx_v_length)); if (unlikely(__pyx_t_1 == ((char const *)NULL))) __PYX_ERR(1, 15, __pyx_L1_error) + __pyx_v_data = __pyx_t_1; + + /* "string.from_py":16 + * cdef Py_ssize_t length = 0 + * cdef const char* data = __Pyx_PyObject_AsStringAndSize(o, &length) + * return string(data, length) # <<<<<<<<<<<<<< + * + * + */ + try { + __pyx_t_2 = std::string(__pyx_v_data, __pyx_v_length); + } catch(...) { + __Pyx_CppExn2PyErr(); + __PYX_ERR(1, 16, __pyx_L1_error) + } + __pyx_r = __pyx_t_2; + goto __pyx_L0; + + /* "string.from_py":13 + * + * @cname("__pyx_convert_string_from_py_std__in_string") + * cdef string __pyx_convert_string_from_py_std__in_string(object o) except *: # <<<<<<<<<<<<<< + * cdef 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__Pyx_RaiseArgtupleInvalid("registerSocket", 1, 1, 1, __pyx_nargs); __PYX_ERR(0, 145, __pyx_L3_error) + __pyx_L6_skip:; + goto __pyx_L4_argument_unpacking_done; + __pyx_L3_error:; + { + Py_ssize_t __pyx_temp; + for (__pyx_temp=0; __pyx_temp < (Py_ssize_t)(sizeof(values)/sizeof(values[0])); ++__pyx_temp) { + __Pyx_Arg_XDECREF_FASTCALL(values[__pyx_temp]); + } + } + __Pyx_AddTraceback("msgq.ipc_pyx.Poller.registerSocket", __pyx_clineno, __pyx_lineno, __pyx_filename); + __Pyx_RefNannyFinishContext(); + return NULL; + __pyx_L4_argument_unpacking_done:; + if (unlikely(!__Pyx_ArgTypeTest(((PyObject *)__pyx_v_socket), __pyx_ptype_4msgq_7ipc_pyx_SubSocket, 1, "socket", 0))) __PYX_ERR(0, 145, __pyx_L1_error) + __pyx_r = __pyx_pf_4msgq_7ipc_pyx_6Poller_4registerSocket(((struct __pyx_obj_4msgq_7ipc_pyx_Poller *)__pyx_v_self), __pyx_v_socket); + + /* function exit code */ + goto __pyx_L0; + __pyx_L1_error:; + __pyx_r = NULL; + __pyx_L0:; + { + Py_ssize_t __pyx_temp; + for (__pyx_temp=0; __pyx_temp 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__Pyx_RefNannyFinishContext(); + return __pyx_r; +} +static struct __pyx_vtabstruct_4msgq_7ipc_pyx_Event __pyx_vtable_4msgq_7ipc_pyx_Event; + +static PyObject *__pyx_tp_new_4msgq_7ipc_pyx_Event(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + struct __pyx_obj_4msgq_7ipc_pyx_Event *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_obj_4msgq_7ipc_pyx_Event *)o); + p->__pyx_vtab = __pyx_vtabptr_4msgq_7ipc_pyx_Event; + new((void*)&(p->event)) Event(); + if (unlikely(__pyx_pw_4msgq_7ipc_pyx_5Event_1__cinit__(o, __pyx_empty_tuple, NULL) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_4msgq_7ipc_pyx_Event(PyObject *o) { + struct __pyx_obj_4msgq_7ipc_pyx_Event *p = (struct __pyx_obj_4msgq_7ipc_pyx_Event *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_4msgq_7ipc_pyx_Event) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + __Pyx_call_destructor(p->event); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static PyObject *__pyx_getprop_4msgq_7ipc_pyx_5Event_fd(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_4msgq_7ipc_pyx_5Event_2fd_1__get__(o); +} + +static PyObject *__pyx_getprop_4msgq_7ipc_pyx_5Event_ptr(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_4msgq_7ipc_pyx_5Event_3ptr_1__get__(o); +} + +static PyMethodDef __pyx_methods_4msgq_7ipc_pyx_Event[] = { + {"set", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_5Event_3set, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"clear", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_5Event_5clear, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"wait", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_5Event_7wait, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"peek", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_5Event_9peek, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_5Event_11__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_5Event_13__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_4msgq_7ipc_pyx_Event[] = { + {(char *)"fd", __pyx_getprop_4msgq_7ipc_pyx_5Event_fd, 0, (char *)0, 0}, + {(char *)"ptr", __pyx_getprop_4msgq_7ipc_pyx_5Event_ptr, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_4msgq_7ipc_pyx_Event_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_4msgq_7ipc_pyx_Event}, + {Py_tp_methods, (void *)__pyx_methods_4msgq_7ipc_pyx_Event}, + {Py_tp_getset, (void *)__pyx_getsets_4msgq_7ipc_pyx_Event}, + {Py_tp_new, (void *)__pyx_tp_new_4msgq_7ipc_pyx_Event}, + {0, 0}, +}; +static PyType_Spec __pyx_type_4msgq_7ipc_pyx_Event_spec = { + "msgq.ipc_pyx.Event", + sizeof(struct __pyx_obj_4msgq_7ipc_pyx_Event), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, + __pyx_type_4msgq_7ipc_pyx_Event_slots, +}; +#else + +static PyTypeObject __pyx_type_4msgq_7ipc_pyx_Event = { + PyVarObject_HEAD_INIT(0, 0) + "msgq.ipc_pyx.""Event", /*tp_name*/ + sizeof(struct __pyx_obj_4msgq_7ipc_pyx_Event), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_4msgq_7ipc_pyx_Event, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_4msgq_7ipc_pyx_Event, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_4msgq_7ipc_pyx_Event, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_4msgq_7ipc_pyx_Event, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyObject *__pyx_tp_new_4msgq_7ipc_pyx_SocketEventHandle(PyTypeObject *t, PyObject *a, PyObject *k) { + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + if (unlikely(__pyx_pw_4msgq_7ipc_pyx_17SocketEventHandle_1__cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_4msgq_7ipc_pyx_SocketEventHandle(PyObject *o) { + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_4msgq_7ipc_pyx_SocketEventHandle) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_pw_4msgq_7ipc_pyx_17SocketEventHandle_3__dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static PyObject *__pyx_getprop_4msgq_7ipc_pyx_17SocketEventHandle_enabled(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_4msgq_7ipc_pyx_17SocketEventHandle_7enabled_1__get__(o); +} + +static int __pyx_setprop_4msgq_7ipc_pyx_17SocketEventHandle_enabled(PyObject *o, PyObject *v, CYTHON_UNUSED void *x) { + if (v) { + return __pyx_pw_4msgq_7ipc_pyx_17SocketEventHandle_7enabled_3__set__(o, v); + } + else { + PyErr_SetString(PyExc_NotImplementedError, "__del__"); + return -1; + } +} + +static PyObject *__pyx_getprop_4msgq_7ipc_pyx_17SocketEventHandle_recv_called_event(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_4msgq_7ipc_pyx_17SocketEventHandle_17recv_called_event_1__get__(o); +} + +static PyObject *__pyx_getprop_4msgq_7ipc_pyx_17SocketEventHandle_recv_ready_event(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_4msgq_7ipc_pyx_17SocketEventHandle_16recv_ready_event_1__get__(o); +} + +static PyMethodDef __pyx_methods_4msgq_7ipc_pyx_SocketEventHandle[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_17SocketEventHandle_5__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_17SocketEventHandle_7__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_4msgq_7ipc_pyx_SocketEventHandle[] = { + {(char *)"enabled", __pyx_getprop_4msgq_7ipc_pyx_17SocketEventHandle_enabled, __pyx_setprop_4msgq_7ipc_pyx_17SocketEventHandle_enabled, (char *)0, 0}, + {(char *)"recv_called_event", __pyx_getprop_4msgq_7ipc_pyx_17SocketEventHandle_recv_called_event, 0, (char *)0, 0}, + {(char *)"recv_ready_event", __pyx_getprop_4msgq_7ipc_pyx_17SocketEventHandle_recv_ready_event, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_4msgq_7ipc_pyx_SocketEventHandle_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_4msgq_7ipc_pyx_SocketEventHandle}, + {Py_tp_methods, (void *)__pyx_methods_4msgq_7ipc_pyx_SocketEventHandle}, + {Py_tp_getset, (void *)__pyx_getsets_4msgq_7ipc_pyx_SocketEventHandle}, + {Py_tp_new, (void *)__pyx_tp_new_4msgq_7ipc_pyx_SocketEventHandle}, + {0, 0}, +}; +static PyType_Spec __pyx_type_4msgq_7ipc_pyx_SocketEventHandle_spec = { + "msgq.ipc_pyx.SocketEventHandle", + sizeof(struct __pyx_obj_4msgq_7ipc_pyx_SocketEventHandle), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, + __pyx_type_4msgq_7ipc_pyx_SocketEventHandle_slots, +}; +#else + +static PyTypeObject __pyx_type_4msgq_7ipc_pyx_SocketEventHandle = { + PyVarObject_HEAD_INIT(0, 0) + "msgq.ipc_pyx.""SocketEventHandle", /*tp_name*/ + sizeof(struct __pyx_obj_4msgq_7ipc_pyx_SocketEventHandle), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_4msgq_7ipc_pyx_SocketEventHandle, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_4msgq_7ipc_pyx_SocketEventHandle, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_4msgq_7ipc_pyx_SocketEventHandle, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_4msgq_7ipc_pyx_SocketEventHandle, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyObject *__pyx_tp_new_4msgq_7ipc_pyx_Context(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + if (unlikely(__pyx_pw_4msgq_7ipc_pyx_7Context_1__cinit__(o, __pyx_empty_tuple, NULL) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_4msgq_7ipc_pyx_Context(PyObject *o) { + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_4msgq_7ipc_pyx_Context) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_pw_4msgq_7ipc_pyx_7Context_5__dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static PyMethodDef __pyx_methods_4msgq_7ipc_pyx_Context[] = { + {"term", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_7Context_3term, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_7Context_7__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_7Context_9__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_4msgq_7ipc_pyx_Context_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_4msgq_7ipc_pyx_Context}, + {Py_tp_methods, (void *)__pyx_methods_4msgq_7ipc_pyx_Context}, + {Py_tp_new, (void *)__pyx_tp_new_4msgq_7ipc_pyx_Context}, + {0, 0}, +}; +static PyType_Spec __pyx_type_4msgq_7ipc_pyx_Context_spec = { + "msgq.ipc_pyx.Context", + sizeof(struct __pyx_obj_4msgq_7ipc_pyx_Context), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, + __pyx_type_4msgq_7ipc_pyx_Context_slots, +}; +#else + +static PyTypeObject __pyx_type_4msgq_7ipc_pyx_Context = { + PyVarObject_HEAD_INIT(0, 0) + "msgq.ipc_pyx.""Context", /*tp_name*/ + sizeof(struct __pyx_obj_4msgq_7ipc_pyx_Context), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_4msgq_7ipc_pyx_Context, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_4msgq_7ipc_pyx_Context, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_4msgq_7ipc_pyx_Context, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyObject *__pyx_tp_new_4msgq_7ipc_pyx_Poller(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + struct __pyx_obj_4msgq_7ipc_pyx_Poller *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_obj_4msgq_7ipc_pyx_Poller *)o); + p->sub_sockets = ((PyObject*)Py_None); Py_INCREF(Py_None); + if (unlikely(__pyx_pw_4msgq_7ipc_pyx_6Poller_1__cinit__(o, __pyx_empty_tuple, NULL) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_4msgq_7ipc_pyx_Poller(PyObject *o) { + struct __pyx_obj_4msgq_7ipc_pyx_Poller *p = (struct __pyx_obj_4msgq_7ipc_pyx_Poller *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_4msgq_7ipc_pyx_Poller) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_pw_4msgq_7ipc_pyx_6Poller_3__dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->sub_sockets); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_4msgq_7ipc_pyx_Poller(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_obj_4msgq_7ipc_pyx_Poller *p = (struct __pyx_obj_4msgq_7ipc_pyx_Poller *)o; + if (p->sub_sockets) { + e = (*v)(p->sub_sockets, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_4msgq_7ipc_pyx_Poller(PyObject *o) { + PyObject* tmp; + struct __pyx_obj_4msgq_7ipc_pyx_Poller *p = (struct __pyx_obj_4msgq_7ipc_pyx_Poller *)o; + tmp = ((PyObject*)p->sub_sockets); + p->sub_sockets = ((PyObject*)Py_None); Py_INCREF(Py_None); + Py_XDECREF(tmp); + return 0; +} + +static PyMethodDef __pyx_methods_4msgq_7ipc_pyx_Poller[] = { + {"registerSocket", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_6Poller_5registerSocket, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"poll", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_6Poller_7poll, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_6Poller_9__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_6Poller_11__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_4msgq_7ipc_pyx_Poller_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_4msgq_7ipc_pyx_Poller}, + {Py_tp_traverse, (void *)__pyx_tp_traverse_4msgq_7ipc_pyx_Poller}, + {Py_tp_clear, (void *)__pyx_tp_clear_4msgq_7ipc_pyx_Poller}, + {Py_tp_methods, (void *)__pyx_methods_4msgq_7ipc_pyx_Poller}, + {Py_tp_new, (void *)__pyx_tp_new_4msgq_7ipc_pyx_Poller}, + {0, 0}, +}; +static PyType_Spec __pyx_type_4msgq_7ipc_pyx_Poller_spec = { + "msgq.ipc_pyx.Poller", + sizeof(struct __pyx_obj_4msgq_7ipc_pyx_Poller), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type_4msgq_7ipc_pyx_Poller_slots, +}; +#else + +static PyTypeObject __pyx_type_4msgq_7ipc_pyx_Poller = { + PyVarObject_HEAD_INIT(0, 0) + "msgq.ipc_pyx.""Poller", /*tp_name*/ + sizeof(struct __pyx_obj_4msgq_7ipc_pyx_Poller), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_4msgq_7ipc_pyx_Poller, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_4msgq_7ipc_pyx_Poller, /*tp_traverse*/ + __pyx_tp_clear_4msgq_7ipc_pyx_Poller, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_4msgq_7ipc_pyx_Poller, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_4msgq_7ipc_pyx_Poller, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_4msgq_7ipc_pyx_SubSocket __pyx_vtable_4msgq_7ipc_pyx_SubSocket; + +static PyObject *__pyx_tp_new_4msgq_7ipc_pyx_SubSocket(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + struct __pyx_obj_4msgq_7ipc_pyx_SubSocket *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_obj_4msgq_7ipc_pyx_SubSocket *)o); + p->__pyx_vtab = __pyx_vtabptr_4msgq_7ipc_pyx_SubSocket; + if (unlikely(__pyx_pw_4msgq_7ipc_pyx_9SubSocket_1__cinit__(o, __pyx_empty_tuple, NULL) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_4msgq_7ipc_pyx_SubSocket(PyObject *o) { + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_4msgq_7ipc_pyx_SubSocket) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_pw_4msgq_7ipc_pyx_9SubSocket_3__dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static PyMethodDef __pyx_methods_4msgq_7ipc_pyx_SubSocket[] = { + {"connect", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_9SubSocket_5connect, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"setTimeout", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_9SubSocket_7setTimeout, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"receive", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_9SubSocket_9receive, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_9SubSocket_11__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_9SubSocket_13__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_4msgq_7ipc_pyx_SubSocket_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_4msgq_7ipc_pyx_SubSocket}, + {Py_tp_methods, (void *)__pyx_methods_4msgq_7ipc_pyx_SubSocket}, + {Py_tp_new, (void *)__pyx_tp_new_4msgq_7ipc_pyx_SubSocket}, + {0, 0}, +}; +static PyType_Spec __pyx_type_4msgq_7ipc_pyx_SubSocket_spec = { + "msgq.ipc_pyx.SubSocket", + sizeof(struct __pyx_obj_4msgq_7ipc_pyx_SubSocket), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, + __pyx_type_4msgq_7ipc_pyx_SubSocket_slots, +}; +#else + +static PyTypeObject __pyx_type_4msgq_7ipc_pyx_SubSocket = { + PyVarObject_HEAD_INIT(0, 0) + "msgq.ipc_pyx.""SubSocket", /*tp_name*/ + sizeof(struct __pyx_obj_4msgq_7ipc_pyx_SubSocket), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_4msgq_7ipc_pyx_SubSocket, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_4msgq_7ipc_pyx_SubSocket, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_4msgq_7ipc_pyx_SubSocket, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyObject *__pyx_tp_new_4msgq_7ipc_pyx_PubSocket(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + if (unlikely(__pyx_pw_4msgq_7ipc_pyx_9PubSocket_1__cinit__(o, __pyx_empty_tuple, NULL) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_4msgq_7ipc_pyx_PubSocket(PyObject *o) { + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_4msgq_7ipc_pyx_PubSocket) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_pw_4msgq_7ipc_pyx_9PubSocket_3__dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static PyMethodDef __pyx_methods_4msgq_7ipc_pyx_PubSocket[] = { + {"connect", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_9PubSocket_5connect, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"send", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_9PubSocket_7send, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"all_readers_updated", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_9PubSocket_9all_readers_updated, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_9PubSocket_11__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_9PubSocket_13__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_4msgq_7ipc_pyx_PubSocket_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_4msgq_7ipc_pyx_PubSocket}, + {Py_tp_methods, (void *)__pyx_methods_4msgq_7ipc_pyx_PubSocket}, + {Py_tp_new, (void *)__pyx_tp_new_4msgq_7ipc_pyx_PubSocket}, + {0, 0}, +}; +static PyType_Spec __pyx_type_4msgq_7ipc_pyx_PubSocket_spec = { + "msgq.ipc_pyx.PubSocket", + sizeof(struct __pyx_obj_4msgq_7ipc_pyx_PubSocket), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, + __pyx_type_4msgq_7ipc_pyx_PubSocket_slots, +}; +#else + +static PyTypeObject __pyx_type_4msgq_7ipc_pyx_PubSocket = { + PyVarObject_HEAD_INIT(0, 0) + "msgq.ipc_pyx.""PubSocket", /*tp_name*/ + sizeof(struct __pyx_obj_4msgq_7ipc_pyx_PubSocket), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_4msgq_7ipc_pyx_PubSocket, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, 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+ assert(type == NULL || (value != NULL && type == (PyObject*) Py_TYPE(value))); + if (value) { + #if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(((PyBaseExceptionObject*) value)->traceback != tb)) + #endif + PyException_SetTraceback(value, tb); + } + tmp_value = tstate->current_exception; + tstate->current_exception = value; + Py_XDECREF(tmp_value); + Py_XDECREF(type); + Py_XDECREF(tb); +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + tmp_type = tstate->curexc_type; + tmp_value = tstate->curexc_value; + tmp_tb = tstate->curexc_traceback; + tstate->curexc_type = type; + tstate->curexc_value = value; + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#endif +} +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { +#if PY_VERSION_HEX >= 0x030C00A6 + PyObject* exc_value; + exc_value = tstate->current_exception; + tstate->current_exception = 0; + *value = exc_value; + *type = NULL; + *tb = NULL; + if (exc_value) { + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + #if CYTHON_COMPILING_IN_CPYTHON + *tb = ((PyBaseExceptionObject*) exc_value)->traceback; + Py_XINCREF(*tb); + #else + *tb = PyException_GetTraceback(exc_value); + #endif + } +#else + *type = tstate->curexc_type; + *value = tstate->curexc_value; + *tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; +#endif +} +#endif + +/* PyObjectGetAttrStr */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name) { + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro)) + return tp->tp_getattro(obj, attr_name); +#if PY_MAJOR_VERSION < 3 + if (likely(tp->tp_getattr)) + return tp->tp_getattr(obj, PyString_AS_STRING(attr_name)); +#endif + return PyObject_GetAttr(obj, attr_name); +} +#endif + +/* PyObjectGetAttrStrNoError */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + __Pyx_PyErr_Clear(); +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { + PyObject *result; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + (void) PyObject_GetOptionalAttr(obj, attr_name, &result); + return result; +#else +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { + return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); + } +#endif + result = __Pyx_PyObject_GetAttrStr(obj, attr_name); + if (unlikely(!result)) { + __Pyx_PyObject_GetAttrStr_ClearAttributeError(); + } + return result; +#endif +} + +/* GetBuiltinName */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name) { + PyObject* result = __Pyx_PyObject_GetAttrStrNoError(__pyx_b, name); + if (unlikely(!result) && !PyErr_Occurred()) { + PyErr_Format(PyExc_NameError, +#if PY_MAJOR_VERSION >= 3 + "name '%U' is not defined", name); +#else + "name '%.200s' is not defined", PyString_AS_STRING(name)); +#endif + } + return result; +} + +/* TupleAndListFromArray */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE void __Pyx_copy_object_array(PyObject *const *CYTHON_RESTRICT src, PyObject** CYTHON_RESTRICT dest, Py_ssize_t length) { + PyObject *v; + Py_ssize_t i; + for (i = 0; i < length; i++) { + v = dest[i] = src[i]; + Py_INCREF(v); + } +} +static CYTHON_INLINE PyObject * +__Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + Py_INCREF(__pyx_empty_tuple); + return __pyx_empty_tuple; + } + res = PyTuple_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyTupleObject*)res)->ob_item, n); + return res; +} +static CYTHON_INLINE PyObject * +__Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + return PyList_New(0); + } + res = PyList_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyListObject*)res)->ob_item, n); + return res; +} +#endif + +/* BytesEquals */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else + if (s1 == s2) { + return (equals == Py_EQ); + } else if (PyBytes_CheckExact(s1) & PyBytes_CheckExact(s2)) { + const char *ps1, *ps2; + Py_ssize_t length = PyBytes_GET_SIZE(s1); + if (length != PyBytes_GET_SIZE(s2)) + return (equals == Py_NE); + ps1 = PyBytes_AS_STRING(s1); + ps2 = PyBytes_AS_STRING(s2); + if (ps1[0] != ps2[0]) { + return (equals == Py_NE); + } else if (length == 1) { + return (equals == Py_EQ); + } else { + int result; +#if CYTHON_USE_UNICODE_INTERNALS && (PY_VERSION_HEX < 0x030B0000) + Py_hash_t hash1, hash2; + hash1 = ((PyBytesObject*)s1)->ob_shash; + hash2 = ((PyBytesObject*)s2)->ob_shash; + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + return (equals == Py_NE); + } +#endif + result = memcmp(ps1, ps2, (size_t)length); + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { + return (equals == Py_NE); + } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { + return (equals == Py_NE); + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +#endif +} + +/* UnicodeEquals */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else +#if PY_MAJOR_VERSION < 3 + PyObject* owned_ref = NULL; +#endif + int s1_is_unicode, s2_is_unicode; + if (s1 == s2) { + goto return_eq; + } + s1_is_unicode = PyUnicode_CheckExact(s1); + s2_is_unicode = PyUnicode_CheckExact(s2); +#if PY_MAJOR_VERSION < 3 + if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { + owned_ref = PyUnicode_FromObject(s2); + if (unlikely(!owned_ref)) + return -1; + s2 = owned_ref; + s2_is_unicode = 1; + } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { + owned_ref = PyUnicode_FromObject(s1); + if (unlikely(!owned_ref)) + return -1; + s1 = owned_ref; + s1_is_unicode = 1; + } else if (((!s2_is_unicode) & (!s1_is_unicode))) { + return __Pyx_PyBytes_Equals(s1, s2, equals); + } +#endif + if (s1_is_unicode & s2_is_unicode) { + Py_ssize_t length; + int kind; + void *data1, *data2; + if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) + return -1; + length = __Pyx_PyUnicode_GET_LENGTH(s1); + if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { + goto return_ne; + } +#if CYTHON_USE_UNICODE_INTERNALS + { + Py_hash_t hash1, hash2; + #if CYTHON_PEP393_ENABLED + hash1 = ((PyASCIIObject*)s1)->hash; + hash2 = ((PyASCIIObject*)s2)->hash; + #else + hash1 = ((PyUnicodeObject*)s1)->hash; + hash2 = ((PyUnicodeObject*)s2)->hash; + #endif + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + goto return_ne; + } + } +#endif + kind = __Pyx_PyUnicode_KIND(s1); + if (kind != __Pyx_PyUnicode_KIND(s2)) { + goto return_ne; + } + data1 = __Pyx_PyUnicode_DATA(s1); + data2 = __Pyx_PyUnicode_DATA(s2); + if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { + goto return_ne; + } else if (length == 1) { + goto return_eq; + } else { + int result = memcmp(data1, data2, (size_t)(length * kind)); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & s2_is_unicode) { + goto return_ne; + } else if ((s2 == Py_None) & s1_is_unicode) { + goto return_ne; + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +return_eq: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ); +return_ne: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_NE); +#endif +} + +/* fastcall */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s) +{ + Py_ssize_t i, n = PyTuple_GET_SIZE(kwnames); + for (i = 0; i < n; i++) + { + if (s == PyTuple_GET_ITEM(kwnames, i)) return kwvalues[i]; + } + for (i = 0; i < n; i++) + { + int eq = __Pyx_PyUnicode_Equals(s, PyTuple_GET_ITEM(kwnames, i), Py_EQ); + if (unlikely(eq != 0)) { + if (unlikely(eq < 0)) return NULL; + return kwvalues[i]; + } + } + return NULL; +} +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 +CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { + Py_ssize_t i, nkwargs = PyTuple_GET_SIZE(kwnames); + PyObject *dict; + dict = PyDict_New(); + if (unlikely(!dict)) + return NULL; + for (i=0; i= 3 + "%s() got multiple values for keyword argument '%U'", func_name, kw_name); + #else + "%s() got multiple values for keyword argument '%s'", func_name, + PyString_AsString(kw_name)); + #endif +} + +/* ParseKeywords */ +static int __Pyx_ParseOptionalKeywords( + PyObject *kwds, + PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, + PyObject *values[], + Py_ssize_t num_pos_args, + const char* function_name) +{ + PyObject *key = 0, *value = 0; + Py_ssize_t pos = 0; + PyObject*** name; + PyObject*** first_kw_arg = argnames + num_pos_args; + int kwds_is_tuple = CYTHON_METH_FASTCALL && likely(PyTuple_Check(kwds)); + while (1) { + Py_XDECREF(key); key = NULL; + Py_XDECREF(value); value = NULL; + if (kwds_is_tuple) { + Py_ssize_t size; +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(kwds); +#else + size = PyTuple_Size(kwds); + if (size < 0) goto bad; +#endif + if (pos >= size) break; +#if CYTHON_AVOID_BORROWED_REFS + key = __Pyx_PySequence_ITEM(kwds, pos); + if (!key) goto bad; +#elif CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kwds, pos); +#else + key = PyTuple_GetItem(kwds, pos); + if (!key) goto bad; +#endif + value = kwvalues[pos]; + pos++; + } + else + { + if (!PyDict_Next(kwds, &pos, &key, &value)) break; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + } + name = first_kw_arg; + while (*name && (**name != key)) name++; + if (*name) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(value); + Py_DECREF(key); +#endif + key = NULL; + value = NULL; + continue; + } +#if !CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + Py_INCREF(value); + name = first_kw_arg; + #if PY_MAJOR_VERSION < 3 + if (likely(PyString_Check(key))) { + while (*name) { + if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) + && _PyString_Eq(**name, key)) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + if ((**argname == key) || ( + (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) + && _PyString_Eq(**argname, key))) { + goto arg_passed_twice; + } + argname++; + } + } + } else + #endif + if (likely(PyUnicode_Check(key))) { + while (*name) { + int cmp = ( + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**name, key) + ); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + int cmp = (**argname == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**argname, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) goto arg_passed_twice; + argname++; + } + } + } else + goto invalid_keyword_type; + if (kwds2) { + if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; + } else { + goto invalid_keyword; + } + } + Py_XDECREF(key); + Py_XDECREF(value); + return 0; +arg_passed_twice: + __Pyx_RaiseDoubleKeywordsError(function_name, key); + goto bad; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + goto bad; +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif +bad: + Py_XDECREF(key); + Py_XDECREF(value); + return -1; +} + +/* RaiseArgTupleInvalid */ +static void __Pyx_RaiseArgtupleInvalid( + const char* func_name, + int exact, + Py_ssize_t num_min, + Py_ssize_t num_max, + Py_ssize_t num_found) +{ + Py_ssize_t num_expected; + const char *more_or_less; + if (num_found < num_min) { + num_expected = num_min; + more_or_less = "at least"; + } else { + num_expected = num_max; + more_or_less = "at most"; + } + if (exact) { + more_or_less = "exactly"; + } + PyErr_Format(PyExc_TypeError, + "%.200s() takes %.8s %" CYTHON_FORMAT_SSIZE_T "d positional argument%.1s (%" CYTHON_FORMAT_SSIZE_T "d given)", + func_name, more_or_less, num_expected, + (num_expected == 1) ? "" : "s", num_found); +} + +/* PyFunctionFastCall */ +#if CYTHON_FAST_PYCALL && !CYTHON_VECTORCALL +static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, + PyObject *globals) { + PyFrameObject *f; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject **fastlocals; + Py_ssize_t i; + PyObject *result; + assert(globals != NULL); + /* XXX Perhaps we should create a specialized + PyFrame_New() that doesn't take locals, but does + take builtins without sanity checking them. + */ + assert(tstate != NULL); + f = PyFrame_New(tstate, co, globals, NULL); + if (f == NULL) { + return NULL; + } + fastlocals = __Pyx_PyFrame_GetLocalsplus(f); + for (i = 0; i < na; i++) { + Py_INCREF(*args); + fastlocals[i] = *args++; + } + result = PyEval_EvalFrameEx(f,0); + ++tstate->recursion_depth; + Py_DECREF(f); + --tstate->recursion_depth; + return result; +} +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { + PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); + PyObject *globals = PyFunction_GET_GLOBALS(func); + PyObject *argdefs = PyFunction_GET_DEFAULTS(func); + PyObject *closure; +#if PY_MAJOR_VERSION >= 3 + PyObject *kwdefs; +#endif + PyObject *kwtuple, **k; + PyObject **d; + Py_ssize_t nd; + Py_ssize_t nk; + PyObject *result; + assert(kwargs == NULL || PyDict_Check(kwargs)); + nk = kwargs ? PyDict_Size(kwargs) : 0; + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) { + return NULL; + } + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) { + return NULL; + } + #endif + if ( +#if PY_MAJOR_VERSION >= 3 + co->co_kwonlyargcount == 0 && +#endif + likely(kwargs == NULL || nk == 0) && + co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { + if (argdefs == NULL && co->co_argcount == nargs) { + result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); + goto done; + } + else if (nargs == 0 && argdefs != NULL + && co->co_argcount == Py_SIZE(argdefs)) { + /* function called with no arguments, but all parameters have + a default value: use default values as arguments .*/ + args = &PyTuple_GET_ITEM(argdefs, 0); + result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); + goto done; + } + } + if (kwargs != NULL) { + Py_ssize_t pos, i; + kwtuple = PyTuple_New(2 * nk); + if (kwtuple == NULL) { + result = NULL; + goto done; + } + k = &PyTuple_GET_ITEM(kwtuple, 0); + pos = i = 0; + while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { + Py_INCREF(k[i]); + Py_INCREF(k[i+1]); + i += 2; + } + nk = i / 2; + } + else { + kwtuple = NULL; + k = NULL; + } + closure = PyFunction_GET_CLOSURE(func); +#if PY_MAJOR_VERSION >= 3 + kwdefs = PyFunction_GET_KW_DEFAULTS(func); +#endif + if (argdefs != NULL) { + d = &PyTuple_GET_ITEM(argdefs, 0); + nd = Py_SIZE(argdefs); + } + else { + d = NULL; + nd = 0; + } +#if PY_MAJOR_VERSION >= 3 + result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, kwdefs, closure); +#else + result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, closure); +#endif + Py_XDECREF(kwtuple); +done: + Py_LeaveRecursiveCall(); + return result; +} +#endif + +/* PyObjectCall */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *result; + ternaryfunc call = Py_TYPE(func)->tp_call; + if (unlikely(!call)) + return PyObject_Call(func, arg, kw); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = (*call)(func, arg, kw); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCallMethO */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { + PyObject *self, *result; + PyCFunction cfunc; + cfunc = __Pyx_CyOrPyCFunction_GET_FUNCTION(func); + self = __Pyx_CyOrPyCFunction_GET_SELF(func); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = cfunc(self, arg); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectFastCall */ +#if PY_VERSION_HEX < 0x03090000 || CYTHON_COMPILING_IN_LIMITED_API +static PyObject* __Pyx_PyObject_FastCall_fallback(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs) { + PyObject *argstuple; + PyObject *result = 0; + size_t i; + argstuple = PyTuple_New((Py_ssize_t)nargs); + if (unlikely(!argstuple)) return NULL; + for (i = 0; i < nargs; i++) { + Py_INCREF(args[i]); + if (__Pyx_PyTuple_SET_ITEM(argstuple, (Py_ssize_t)i, args[i]) < 0) goto bad; + } + result = __Pyx_PyObject_Call(func, argstuple, kwargs); + bad: + Py_DECREF(argstuple); + return result; +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t _nargs, PyObject *kwargs) { + Py_ssize_t nargs = __Pyx_PyVectorcall_NARGS(_nargs); +#if CYTHON_COMPILING_IN_CPYTHON + if (nargs == 0 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_NOARGS)) + return __Pyx_PyObject_CallMethO(func, NULL); + } + else if (nargs == 1 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_O)) + return __Pyx_PyObject_CallMethO(func, args[0]); + } +#endif + #if PY_VERSION_HEX < 0x030800B1 + #if CYTHON_FAST_PYCCALL + if (PyCFunction_Check(func)) { + if (kwargs) { + return _PyCFunction_FastCallDict(func, args, nargs, kwargs); + } else { + return _PyCFunction_FastCallKeywords(func, args, nargs, NULL); + } + } + #if PY_VERSION_HEX >= 0x030700A1 + if (!kwargs && __Pyx_IS_TYPE(func, &PyMethodDescr_Type)) { + return _PyMethodDescr_FastCallKeywords(func, args, nargs, NULL); + } + #endif + #endif + #if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs); + } + #endif + #endif + if (kwargs == NULL) { + #if CYTHON_VECTORCALL + #if PY_VERSION_HEX < 0x03090000 + vectorcallfunc f = _PyVectorcall_Function(func); + #else + vectorcallfunc f = PyVectorcall_Function(func); + #endif + if (f) { + return f(func, args, (size_t)nargs, NULL); + } + #elif defined(__Pyx_CyFunction_USED) && CYTHON_BACKPORT_VECTORCALL + if (__Pyx_CyFunction_CheckExact(func)) { + __pyx_vectorcallfunc f = __Pyx_CyFunction_func_vectorcall(func); + if (f) return f(func, args, (size_t)nargs, NULL); + } + #endif + } + if (nargs == 0) { + return __Pyx_PyObject_Call(func, __pyx_empty_tuple, kwargs); + } + #if PY_VERSION_HEX >= 0x03090000 && !CYTHON_COMPILING_IN_LIMITED_API + return PyObject_VectorcallDict(func, args, (size_t)nargs, kwargs); + #else + return __Pyx_PyObject_FastCall_fallback(func, args, (size_t)nargs, kwargs); + #endif +} + +/* PyUnicode_Unicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_Unicode(PyObject *obj) { + if (unlikely(obj == Py_None)) + obj = __pyx_kp_u_None; + return __Pyx_NewRef(obj); +} + +/* decode_c_string */ +static CYTHON_INLINE PyObject* __Pyx_decode_c_string( + const char* cstring, Py_ssize_t start, Py_ssize_t stop, + const char* encoding, const char* errors, + PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)) { + Py_ssize_t length; + if (unlikely((start < 0) | (stop < 0))) { + size_t slen = strlen(cstring); + if (unlikely(slen > (size_t) PY_SSIZE_T_MAX)) { + PyErr_SetString(PyExc_OverflowError, + "c-string too long to convert to Python"); + return NULL; + } + length = (Py_ssize_t) slen; + if (start < 0) { + start += length; + if (start < 0) + start = 0; + } + if (stop < 0) + stop += length; + } + if (unlikely(stop <= start)) + return __Pyx_NewRef(__pyx_empty_unicode); + length = stop - start; + cstring += start; + if (decode_func) { + return decode_func(cstring, length, errors); + } else { + return PyUnicode_Decode(cstring, length, encoding, errors); + } +} + +/* JoinPyUnicode */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char) { +#if CYTHON_USE_UNICODE_INTERNALS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + PyObject *result_uval; + int result_ukind, kind_shift; + Py_ssize_t i, char_pos; + void *result_udata; + CYTHON_MAYBE_UNUSED_VAR(max_char); +#if CYTHON_PEP393_ENABLED + result_uval = PyUnicode_New(result_ulength, max_char); + if (unlikely(!result_uval)) return NULL; + result_ukind = (max_char <= 255) ? PyUnicode_1BYTE_KIND : (max_char <= 65535) ? PyUnicode_2BYTE_KIND : PyUnicode_4BYTE_KIND; + kind_shift = (result_ukind == PyUnicode_4BYTE_KIND) ? 2 : result_ukind - 1; + result_udata = PyUnicode_DATA(result_uval); +#else + result_uval = PyUnicode_FromUnicode(NULL, result_ulength); + if (unlikely(!result_uval)) return NULL; + result_ukind = sizeof(Py_UNICODE); + kind_shift = (result_ukind == 4) ? 2 : result_ukind - 1; + result_udata = PyUnicode_AS_UNICODE(result_uval); +#endif + assert(kind_shift == 2 || kind_shift == 1 || kind_shift == 0); + char_pos = 0; + for (i=0; i < value_count; i++) { + int ukind; + Py_ssize_t ulength; + void *udata; + PyObject *uval = PyTuple_GET_ITEM(value_tuple, i); + if (unlikely(__Pyx_PyUnicode_READY(uval))) + goto bad; + ulength = __Pyx_PyUnicode_GET_LENGTH(uval); + if (unlikely(!ulength)) + continue; + if (unlikely((PY_SSIZE_T_MAX >> kind_shift) - ulength < char_pos)) + goto overflow; + ukind = __Pyx_PyUnicode_KIND(uval); + udata = __Pyx_PyUnicode_DATA(uval); + if (!CYTHON_PEP393_ENABLED || ukind == result_ukind) { + memcpy((char *)result_udata + (char_pos << kind_shift), udata, (size_t) (ulength << kind_shift)); + } else { + #if PY_VERSION_HEX >= 0x030d0000 + if (unlikely(PyUnicode_CopyCharacters(result_uval, char_pos, uval, 0, ulength) < 0)) goto bad; + #elif CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030300F0 || defined(_PyUnicode_FastCopyCharacters) + _PyUnicode_FastCopyCharacters(result_uval, char_pos, uval, 0, ulength); + #else + Py_ssize_t j; + for (j=0; j < ulength; j++) { + Py_UCS4 uchar = __Pyx_PyUnicode_READ(ukind, udata, j); + __Pyx_PyUnicode_WRITE(result_ukind, result_udata, char_pos+j, uchar); + } + #endif + } + char_pos += ulength; + } + return result_uval; +overflow: + PyErr_SetString(PyExc_OverflowError, "join() result is too long for a Python string"); +bad: + Py_DECREF(result_uval); + return NULL; +#else + CYTHON_UNUSED_VAR(max_char); + CYTHON_UNUSED_VAR(result_ulength); + CYTHON_UNUSED_VAR(value_count); + return PyUnicode_Join(__pyx_empty_unicode, value_tuple); +#endif +} + +/* ArgTypeTest */ +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact) +{ + __Pyx_TypeName type_name; + __Pyx_TypeName obj_type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + else if (exact) { + #if PY_MAJOR_VERSION == 2 + if ((type == &PyBaseString_Type) && likely(__Pyx_PyBaseString_CheckExact(obj))) return 1; + #endif + } + else { + if (likely(__Pyx_TypeCheck(obj, type))) return 1; + } + type_name = __Pyx_PyType_GetName(type); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "Argument '%.200s' has incorrect type (expected " __Pyx_FMT_TYPENAME + ", got " __Pyx_FMT_TYPENAME ")", name, type_name, obj_type_name); + __Pyx_DECREF_TypeName(type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* KeywordStringCheck */ +static int __Pyx_CheckKeywordStrings( + PyObject *kw, + const char* function_name, + int kw_allowed) +{ + PyObject* key = 0; + Py_ssize_t pos = 0; +#if CYTHON_COMPILING_IN_PYPY + if (!kw_allowed && PyDict_Next(kw, &pos, &key, 0)) + goto invalid_keyword; + return 1; +#else + if (CYTHON_METH_FASTCALL && likely(PyTuple_Check(kw))) { + Py_ssize_t kwsize; +#if CYTHON_ASSUME_SAFE_MACROS + kwsize = PyTuple_GET_SIZE(kw); +#else + kwsize = PyTuple_Size(kw); + if (kwsize < 0) return 0; +#endif + if (unlikely(kwsize == 0)) + return 1; + if (!kw_allowed) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, 0); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + goto invalid_keyword; + } +#if PY_VERSION_HEX < 0x03090000 + for (pos = 0; pos < kwsize; pos++) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, pos); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } +#endif + return 1; + } + while (PyDict_Next(kw, &pos, &key, 0)) { + #if PY_MAJOR_VERSION < 3 + if (unlikely(!PyString_Check(key))) + #endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } + if (!kw_allowed && unlikely(key)) + goto invalid_keyword; + return 1; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + return 0; +#endif +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif + return 0; +} + +/* RaiseException */ +#if PY_MAJOR_VERSION < 3 +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + __Pyx_PyThreadState_declare + CYTHON_UNUSED_VAR(cause); + Py_XINCREF(type); + if (!value || value == Py_None) + value = NULL; + else + Py_INCREF(value); + if (!tb || tb == Py_None) + tb = NULL; + else { + Py_INCREF(tb); + if (!PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto raise_error; + } + } + if (PyType_Check(type)) { +#if CYTHON_COMPILING_IN_PYPY + if (!value) { + Py_INCREF(Py_None); + value = Py_None; + } +#endif + PyErr_NormalizeException(&type, &value, &tb); + } else { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto raise_error; + } + value = type; + type = (PyObject*) Py_TYPE(type); + Py_INCREF(type); + if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto raise_error; + } + } + __Pyx_PyThreadState_assign + __Pyx_ErrRestore(type, value, tb); + return; +raise_error: + Py_XDECREF(value); + Py_XDECREF(type); + Py_XDECREF(tb); + return; +} +#else +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + PyObject* owned_instance = NULL; + if (tb == Py_None) { + tb = 0; + } else if (tb && !PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto bad; + } + if (value == Py_None) + value = 0; + if (PyExceptionInstance_Check(type)) { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto bad; + } + value = type; + type = (PyObject*) Py_TYPE(value); + } else if (PyExceptionClass_Check(type)) { + PyObject *instance_class = NULL; + if (value && PyExceptionInstance_Check(value)) { + instance_class = (PyObject*) Py_TYPE(value); + if (instance_class != type) { + int is_subclass = PyObject_IsSubclass(instance_class, type); + if (!is_subclass) { + instance_class = NULL; + } else if (unlikely(is_subclass == -1)) { + goto bad; + } else { + type = instance_class; + } + } + } + if (!instance_class) { + PyObject *args; + if (!value) + args = PyTuple_New(0); + else if (PyTuple_Check(value)) { + Py_INCREF(value); + args = value; + } else + args = PyTuple_Pack(1, value); + if (!args) + goto bad; + owned_instance = PyObject_Call(type, args, NULL); + Py_DECREF(args); + if (!owned_instance) + goto bad; + value = owned_instance; + if (!PyExceptionInstance_Check(value)) { + PyErr_Format(PyExc_TypeError, + "calling %R should have returned an instance of " + "BaseException, not %R", + type, Py_TYPE(value)); + goto bad; + } + } + } else { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto bad; + } + if (cause) { + PyObject *fixed_cause; + if (cause == Py_None) { + fixed_cause = NULL; + } else if (PyExceptionClass_Check(cause)) { + fixed_cause = PyObject_CallObject(cause, NULL); + if (fixed_cause == NULL) + goto bad; + } else if (PyExceptionInstance_Check(cause)) { + fixed_cause = cause; + Py_INCREF(fixed_cause); + } else { + PyErr_SetString(PyExc_TypeError, + "exception causes must derive from " + "BaseException"); + goto bad; + } + PyException_SetCause(value, fixed_cause); + } + PyErr_SetObject(type, value); + if (tb) { + #if PY_VERSION_HEX >= 0x030C00A6 + PyException_SetTraceback(value, tb); + #elif CYTHON_FAST_THREAD_STATE + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* tmp_tb = tstate->curexc_traceback; + if (tb != tmp_tb) { + Py_INCREF(tb); + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_tb); + } +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); + Py_INCREF(tb); + PyErr_Restore(tmp_type, tmp_value, tb); + Py_XDECREF(tmp_tb); +#endif + } +bad: + Py_XDECREF(owned_instance); + return; +} +#endif + +/* PyObjectCallNoArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { + PyObject *arg[2] = {NULL, NULL}; + return __Pyx_PyObject_FastCall(func, arg + 1, 0 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* PyDictVersioning */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { + PyObject **dictptr = NULL; + Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; + if (offset) { +#if CYTHON_COMPILING_IN_CPYTHON + dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); +#else + dictptr = _PyObject_GetDictPtr(obj); +#endif + } + return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; +} +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) + return 0; + return obj_dict_version == __Pyx_get_object_dict_version(obj); +} +#endif + +/* GetModuleGlobalName */ +#if CYTHON_USE_DICT_VERSIONS +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) +#else +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) +#endif +{ + PyObject *result; +#if !CYTHON_AVOID_BORROWED_REFS +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && PY_VERSION_HEX < 0x030d0000 + result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } else if (unlikely(PyErr_Occurred())) { + return NULL; + } +#elif CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(!__pyx_m)) { + return NULL; + } + result = PyObject_GetAttr(__pyx_m, name); + if (likely(result)) { + return result; + } +#else + result = PyDict_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } +#endif +#else + result = PyObject_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } + PyErr_Clear(); +#endif + return __Pyx_GetBuiltinName(name); +} + +/* FixUpExtensionType */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type) { +#if PY_VERSION_HEX > 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + CYTHON_UNUSED_VAR(spec); + CYTHON_UNUSED_VAR(type); +#else + const PyType_Slot *slot = spec->slots; + while (slot && slot->slot && slot->slot != Py_tp_members) + slot++; + if (slot && slot->slot == Py_tp_members) { + int changed = 0; +#if !(PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON) + const +#endif + PyMemberDef *memb = (PyMemberDef*) slot->pfunc; + while (memb && memb->name) { + if (memb->name[0] == '_' && memb->name[1] == '_') { +#if PY_VERSION_HEX < 0x030900b1 + if (strcmp(memb->name, "__weaklistoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_weaklistoffset = memb->offset; + changed = 1; + } + else if (strcmp(memb->name, "__dictoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_dictoffset = memb->offset; + changed = 1; + } +#if CYTHON_METH_FASTCALL + else if (strcmp(memb->name, "__vectorcalloffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); +#if PY_VERSION_HEX >= 0x030800b4 + type->tp_vectorcall_offset = memb->offset; +#else + type->tp_print = (printfunc) memb->offset; +#endif + changed = 1; + } +#endif +#else + if ((0)); +#endif +#if PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON + else if (strcmp(memb->name, "__module__") == 0) { + PyObject *descr; + assert(memb->type == T_OBJECT); + assert(memb->flags == 0 || memb->flags == READONLY); + descr = PyDescr_NewMember(type, memb); + if (unlikely(!descr)) + return -1; + if (unlikely(PyDict_SetItem(type->tp_dict, PyDescr_NAME(descr), descr) < 0)) { + Py_DECREF(descr); + return -1; + } + Py_DECREF(descr); + changed = 1; + } +#endif + } + memb++; + } + if (changed) + PyType_Modified(type); + } +#endif + return 0; +} +#endif + +/* PyObjectCallOneArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *args[2] = {NULL, arg}; + return __Pyx_PyObject_FastCall(func, args+1, 1 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* PyObjectGetMethod */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method) { + PyObject *attr; +#if CYTHON_UNPACK_METHODS && CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_PYTYPE_LOOKUP + __Pyx_TypeName type_name; + PyTypeObject *tp = Py_TYPE(obj); + PyObject *descr; + descrgetfunc f = NULL; + PyObject **dictptr, *dict; + int meth_found = 0; + assert (*method == NULL); + if (unlikely(tp->tp_getattro != PyObject_GenericGetAttr)) { + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; + } + if (unlikely(tp->tp_dict == NULL) && unlikely(PyType_Ready(tp) < 0)) { + return 0; + } + descr = _PyType_Lookup(tp, name); + if (likely(descr != NULL)) { + Py_INCREF(descr); +#if defined(Py_TPFLAGS_METHOD_DESCRIPTOR) && Py_TPFLAGS_METHOD_DESCRIPTOR + if (__Pyx_PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_METHOD_DESCRIPTOR)) +#elif PY_MAJOR_VERSION >= 3 + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type))) + #endif +#else + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr))) + #endif +#endif + { + meth_found = 1; + } else { + f = Py_TYPE(descr)->tp_descr_get; + if (f != NULL && PyDescr_IsData(descr)) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + } + } + dictptr = _PyObject_GetDictPtr(obj); + if (dictptr != NULL && (dict = *dictptr) != NULL) { + Py_INCREF(dict); + attr = __Pyx_PyDict_GetItemStr(dict, name); + if (attr != NULL) { + Py_INCREF(attr); + Py_DECREF(dict); + Py_XDECREF(descr); + goto try_unpack; + } + Py_DECREF(dict); + } + if (meth_found) { + *method = descr; + return 1; + } + if (f != NULL) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + if (likely(descr != NULL)) { + *method = descr; + return 0; + } + type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return 0; +#else + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; +#endif +try_unpack: +#if CYTHON_UNPACK_METHODS + if (likely(attr) && PyMethod_Check(attr) && likely(PyMethod_GET_SELF(attr) == obj)) { + PyObject *function = PyMethod_GET_FUNCTION(attr); + Py_INCREF(function); + Py_DECREF(attr); + *method = function; + return 1; + } +#endif + *method = attr; + return 0; +} + +/* PyObjectCallMethod0 */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name) { + PyObject *method = NULL, *result = NULL; + int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); + if (likely(is_method)) { + result = __Pyx_PyObject_CallOneArg(method, obj); + Py_DECREF(method); + return result; + } + if (unlikely(!method)) goto bad; + result = __Pyx_PyObject_CallNoArg(method); + Py_DECREF(method); +bad: + return result; +} + +/* ValidateBasesTuple */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases) { + Py_ssize_t i, n; +#if CYTHON_ASSUME_SAFE_MACROS + n = PyTuple_GET_SIZE(bases); +#else + n = PyTuple_Size(bases); + if (n < 0) return -1; +#endif + for (i = 1; i < n; i++) + { +#if CYTHON_AVOID_BORROWED_REFS + PyObject *b0 = PySequence_GetItem(bases, i); + if (!b0) return -1; +#elif CYTHON_ASSUME_SAFE_MACROS + PyObject *b0 = PyTuple_GET_ITEM(bases, i); +#else + PyObject *b0 = PyTuple_GetItem(bases, i); + if (!b0) return -1; +#endif + PyTypeObject *b; +#if PY_MAJOR_VERSION < 3 + if (PyClass_Check(b0)) + { + PyErr_Format(PyExc_TypeError, "base class '%.200s' is an old-style class", + PyString_AS_STRING(((PyClassObject*)b0)->cl_name)); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } +#endif + b = (PyTypeObject*) b0; + if (!__Pyx_PyType_HasFeature(b, Py_TPFLAGS_HEAPTYPE)) + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "base class '" __Pyx_FMT_TYPENAME "' is not a heap type", b_name); + __Pyx_DECREF_TypeName(b_name); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + if (dictoffset == 0) + { + Py_ssize_t b_dictoffset = 0; +#if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + b_dictoffset = b->tp_dictoffset; +#else + PyObject *py_b_dictoffset = PyObject_GetAttrString((PyObject*)b, "__dictoffset__"); + if (!py_b_dictoffset) goto dictoffset_return; + b_dictoffset = PyLong_AsSsize_t(py_b_dictoffset); + Py_DECREF(py_b_dictoffset); + if (b_dictoffset == -1 && PyErr_Occurred()) goto dictoffset_return; +#endif + if (b_dictoffset) { + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "extension type '%.200s' has no __dict__ slot, " + "but base type '" __Pyx_FMT_TYPENAME "' has: " + "either add 'cdef dict __dict__' to the extension type " + "or add '__slots__ = [...]' to the base type", + type_name, b_name); + __Pyx_DECREF_TypeName(b_name); + } +#if !(CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY) + dictoffset_return: +#endif +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + } +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + } + return 0; +} +#endif + +/* PyType_Ready */ +static int __Pyx_PyType_Ready(PyTypeObject *t) { +#if CYTHON_USE_TYPE_SPECS || !(CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API) || defined(PYSTON_MAJOR_VERSION) + (void)__Pyx_PyObject_CallMethod0; +#if CYTHON_USE_TYPE_SPECS + (void)__Pyx_validate_bases_tuple; +#endif + return PyType_Ready(t); +#else + int r; + PyObject *bases = __Pyx_PyType_GetSlot(t, tp_bases, PyObject*); + if (bases && unlikely(__Pyx_validate_bases_tuple(t->tp_name, t->tp_dictoffset, bases) == -1)) + return -1; +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + { + int gc_was_enabled; + #if PY_VERSION_HEX >= 0x030A00b1 + gc_was_enabled = PyGC_Disable(); + (void)__Pyx_PyObject_CallMethod0; + #else + PyObject *ret, *py_status; + PyObject *gc = NULL; + #if PY_VERSION_HEX >= 0x030700a1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM+0 >= 0x07030400) + gc = PyImport_GetModule(__pyx_kp_u_gc); + #endif + if (unlikely(!gc)) gc = PyImport_Import(__pyx_kp_u_gc); + if (unlikely(!gc)) return -1; + py_status = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_isenabled); + if (unlikely(!py_status)) { + Py_DECREF(gc); + return -1; + } + gc_was_enabled = __Pyx_PyObject_IsTrue(py_status); + Py_DECREF(py_status); + if (gc_was_enabled > 0) { + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_disable); + if (unlikely(!ret)) { + Py_DECREF(gc); + return -1; + } + Py_DECREF(ret); + } else if (unlikely(gc_was_enabled == -1)) { + Py_DECREF(gc); + return -1; + } + #endif + t->tp_flags |= Py_TPFLAGS_HEAPTYPE; +#if PY_VERSION_HEX >= 0x030A0000 + t->tp_flags |= Py_TPFLAGS_IMMUTABLETYPE; +#endif +#else + (void)__Pyx_PyObject_CallMethod0; +#endif + r = PyType_Ready(t); +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + t->tp_flags &= ~Py_TPFLAGS_HEAPTYPE; + #if PY_VERSION_HEX >= 0x030A00b1 + if (gc_was_enabled) + PyGC_Enable(); + #else + if (gc_was_enabled) { + PyObject *tp, *v, *tb; + PyErr_Fetch(&tp, &v, &tb); + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_enable); + if (likely(ret || r == -1)) { + Py_XDECREF(ret); + PyErr_Restore(tp, v, tb); + } else { + Py_XDECREF(tp); + Py_XDECREF(v); + Py_XDECREF(tb); + r = -1; + } + } + Py_DECREF(gc); + #endif + } +#endif + return r; +#endif +} + +/* PyObject_GenericGetAttrNoDict */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { + __Pyx_TypeName type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, attr_name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(attr_name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { + PyObject *descr; + PyTypeObject *tp = Py_TYPE(obj); + if (unlikely(!PyString_Check(attr_name))) { + return PyObject_GenericGetAttr(obj, attr_name); + } + assert(!tp->tp_dictoffset); + descr = _PyType_Lookup(tp, attr_name); + if (unlikely(!descr)) { + return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); + } + Py_INCREF(descr); + #if PY_MAJOR_VERSION < 3 + if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) + #endif + { + descrgetfunc f = Py_TYPE(descr)->tp_descr_get; + if (unlikely(f)) { + PyObject *res = f(descr, obj, (PyObject *)tp); + Py_DECREF(descr); + return res; + } + } + return descr; +} +#endif + +/* PyObject_GenericGetAttr */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { + if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { + return PyObject_GenericGetAttr(obj, attr_name); + } + return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); +} +#endif + +/* SetVTable */ +static int __Pyx_SetVtable(PyTypeObject *type, void *vtable) { + PyObject *ob = PyCapsule_New(vtable, 0, 0); + if (unlikely(!ob)) + goto bad; +#if CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(PyObject_SetAttr((PyObject *) type, __pyx_n_s_pyx_vtable, ob) < 0)) +#else + if (unlikely(PyDict_SetItem(type->tp_dict, __pyx_n_s_pyx_vtable, ob) < 0)) +#endif + goto bad; + Py_DECREF(ob); + return 0; +bad: + Py_XDECREF(ob); + return -1; +} + +/* GetVTable */ +static void* __Pyx_GetVtable(PyTypeObject *type) { + void* ptr; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *ob = PyObject_GetAttr((PyObject *)type, __pyx_n_s_pyx_vtable); +#else + PyObject *ob = PyObject_GetItem(type->tp_dict, __pyx_n_s_pyx_vtable); +#endif + if (!ob) + goto bad; + ptr = PyCapsule_GetPointer(ob, 0); + if (!ptr && !PyErr_Occurred()) + PyErr_SetString(PyExc_RuntimeError, "invalid vtable found for imported type"); + Py_DECREF(ob); + return ptr; +bad: + Py_XDECREF(ob); + return NULL; +} + +/* MergeVTables */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type) { + int i; + void** base_vtables; + __Pyx_TypeName tp_base_name; + __Pyx_TypeName base_name; + void* unknown = (void*)-1; + PyObject* bases = type->tp_bases; + int base_depth = 0; + { + PyTypeObject* base = type->tp_base; + while (base) { + base_depth += 1; + base = base->tp_base; + } + } + base_vtables = (void**) malloc(sizeof(void*) * (size_t)(base_depth + 1)); + base_vtables[0] = unknown; + for (i = 1; i < PyTuple_GET_SIZE(bases); i++) { + void* base_vtable = __Pyx_GetVtable(((PyTypeObject*)PyTuple_GET_ITEM(bases, i))); + if (base_vtable != NULL) { + int j; + PyTypeObject* base = type->tp_base; + for (j = 0; j < base_depth; j++) { + if (base_vtables[j] == unknown) { + base_vtables[j] = __Pyx_GetVtable(base); + base_vtables[j + 1] = unknown; + } + if (base_vtables[j] == base_vtable) { + break; + } else if (base_vtables[j] == NULL) { + goto bad; + } + base = base->tp_base; + } + } + } + PyErr_Clear(); + free(base_vtables); + return 0; +bad: + tp_base_name = __Pyx_PyType_GetName(type->tp_base); + base_name = __Pyx_PyType_GetName((PyTypeObject*)PyTuple_GET_ITEM(bases, i)); + PyErr_Format(PyExc_TypeError, + "multiple bases have vtable conflict: '" __Pyx_FMT_TYPENAME "' and '" __Pyx_FMT_TYPENAME "'", tp_base_name, base_name); + __Pyx_DECREF_TypeName(tp_base_name); + __Pyx_DECREF_TypeName(base_name); + free(base_vtables); + return -1; +} +#endif + +/* SetupReduce */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { + int ret; + PyObject *name_attr; + name_attr = __Pyx_PyObject_GetAttrStrNoError(meth, __pyx_n_s_name); + if (likely(name_attr)) { + ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); + } else { + ret = -1; + } + if (unlikely(ret < 0)) { + PyErr_Clear(); + ret = 0; + } + Py_XDECREF(name_attr); + return ret; +} +static int __Pyx_setup_reduce(PyObject* type_obj) { + int ret = 0; + PyObject *object_reduce = NULL; + PyObject *object_getstate = NULL; + PyObject *object_reduce_ex = NULL; + PyObject *reduce = NULL; + PyObject *reduce_ex = NULL; + PyObject *reduce_cython = NULL; + PyObject *setstate = NULL; + PyObject *setstate_cython = NULL; + PyObject *getstate = NULL; +#if CYTHON_USE_PYTYPE_LOOKUP + getstate = _PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate); +#else + getstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_getstate); + if (!getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (getstate) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_getstate = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_getstate); +#else + object_getstate = __Pyx_PyObject_GetAttrStrNoError((PyObject*)&PyBaseObject_Type, __pyx_n_s_getstate); + if (!object_getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (object_getstate != getstate) { + goto __PYX_GOOD; + } + } +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#else + object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#endif + reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; + if (reduce_ex == object_reduce_ex) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#else + object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#endif + reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; + if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { + reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); + if (likely(reduce_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (reduce == object_reduce || PyErr_Occurred()) { + goto __PYX_BAD; + } + setstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate); + if (!setstate) PyErr_Clear(); + if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { + setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); + if (likely(setstate_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (!setstate || PyErr_Occurred()) { + goto __PYX_BAD; + } + } + PyType_Modified((PyTypeObject*)type_obj); + } + } + goto __PYX_GOOD; +__PYX_BAD: + if (!PyErr_Occurred()) { + __Pyx_TypeName type_obj_name = + __Pyx_PyType_GetName((PyTypeObject*)type_obj); + PyErr_Format(PyExc_RuntimeError, + "Unable to initialize pickling for " __Pyx_FMT_TYPENAME, type_obj_name); + __Pyx_DECREF_TypeName(type_obj_name); + } + ret = -1; +__PYX_GOOD: +#if !CYTHON_USE_PYTYPE_LOOKUP + Py_XDECREF(object_reduce); + Py_XDECREF(object_reduce_ex); + Py_XDECREF(object_getstate); + Py_XDECREF(getstate); +#endif + Py_XDECREF(reduce); + Py_XDECREF(reduce_ex); + Py_XDECREF(reduce_cython); + Py_XDECREF(setstate); + Py_XDECREF(setstate_cython); + return ret; +} +#endif + +/* Import */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { + PyObject *module = 0; + PyObject *empty_dict = 0; + PyObject *empty_list = 0; + #if PY_MAJOR_VERSION < 3 + PyObject *py_import; + py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); + if (unlikely(!py_import)) + goto bad; + if (!from_list) { + empty_list = PyList_New(0); + if (unlikely(!empty_list)) + goto bad; + from_list = empty_list; + } + #endif + empty_dict = PyDict_New(); + if (unlikely(!empty_dict)) + goto bad; + { + #if PY_MAJOR_VERSION >= 3 + if (level == -1) { + if (strchr(__Pyx_MODULE_NAME, '.') != NULL) { + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, 1); + if (unlikely(!module)) { + if (unlikely(!PyErr_ExceptionMatches(PyExc_ImportError))) + goto bad; + PyErr_Clear(); + } + } + level = 0; + } + #endif + if (!module) { + #if PY_MAJOR_VERSION < 3 + PyObject *py_level = PyInt_FromLong(level); + if (unlikely(!py_level)) + goto bad; + module = PyObject_CallFunctionObjArgs(py_import, + name, __pyx_d, empty_dict, from_list, py_level, (PyObject *)NULL); + Py_DECREF(py_level); + #else + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, level); + #endif + } + } +bad: + Py_XDECREF(empty_dict); + Py_XDECREF(empty_list); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_import); + #endif + return module; +} + +/* ImportDottedModule */ +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Error(PyObject *name, PyObject *parts_tuple, Py_ssize_t count) { + PyObject *partial_name = NULL, *slice = NULL, *sep = NULL; + if (unlikely(PyErr_Occurred())) { + PyErr_Clear(); + } + if (likely(PyTuple_GET_SIZE(parts_tuple) == count)) { + partial_name = name; + } else { + slice = PySequence_GetSlice(parts_tuple, 0, count); + if (unlikely(!slice)) + goto bad; + sep = PyUnicode_FromStringAndSize(".", 1); + if (unlikely(!sep)) + goto bad; + partial_name = PyUnicode_Join(sep, slice); + } + PyErr_Format( +#if PY_MAJOR_VERSION < 3 + PyExc_ImportError, + "No module named '%s'", PyString_AS_STRING(partial_name)); +#else +#if PY_VERSION_HEX >= 0x030600B1 + PyExc_ModuleNotFoundError, +#else + PyExc_ImportError, +#endif + "No module named '%U'", partial_name); +#endif +bad: + Py_XDECREF(sep); + Py_XDECREF(slice); + Py_XDECREF(partial_name); + return NULL; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Lookup(PyObject *name) { + PyObject *imported_module; +#if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + return NULL; + imported_module = __Pyx_PyDict_GetItemStr(modules, name); + Py_XINCREF(imported_module); +#else + imported_module = PyImport_GetModule(name); +#endif + return imported_module; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple) { + Py_ssize_t i, nparts; + nparts = PyTuple_GET_SIZE(parts_tuple); + for (i=1; i < nparts && module; i++) { + PyObject *part, *submodule; +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + part = PyTuple_GET_ITEM(parts_tuple, i); +#else + part = PySequence_ITEM(parts_tuple, i); +#endif + submodule = __Pyx_PyObject_GetAttrStrNoError(module, part); +#if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(part); +#endif + Py_DECREF(module); + module = submodule; + } + if (unlikely(!module)) { + return __Pyx__ImportDottedModule_Error(name, parts_tuple, i); + } + return module; +} +#endif +static PyObject *__Pyx__ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if PY_MAJOR_VERSION < 3 + PyObject *module, *from_list, *star = __pyx_n_s__5; + CYTHON_UNUSED_VAR(parts_tuple); + from_list = PyList_New(1); + if (unlikely(!from_list)) + return NULL; + Py_INCREF(star); + PyList_SET_ITEM(from_list, 0, star); + module = __Pyx_Import(name, from_list, 0); + Py_DECREF(from_list); + return module; +#else + PyObject *imported_module; + PyObject *module = __Pyx_Import(name, NULL, 0); + if (!parts_tuple || unlikely(!module)) + return module; + imported_module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(imported_module)) { + Py_DECREF(module); + return imported_module; + } + PyErr_Clear(); + return __Pyx_ImportDottedModule_WalkParts(module, name, parts_tuple); +#endif +} +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030400B1 + PyObject *module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(module)) { + PyObject *spec = __Pyx_PyObject_GetAttrStrNoError(module, __pyx_n_s_spec); + if (likely(spec)) { + PyObject *unsafe = __Pyx_PyObject_GetAttrStrNoError(spec, __pyx_n_s_initializing); + if (likely(!unsafe || !__Pyx_PyObject_IsTrue(unsafe))) { + Py_DECREF(spec); + spec = NULL; + } + Py_XDECREF(unsafe); + } + if (likely(!spec)) { + PyErr_Clear(); + return module; + } + Py_DECREF(spec); + Py_DECREF(module); + } else if (PyErr_Occurred()) { + PyErr_Clear(); + } +#endif + return __Pyx__ImportDottedModule(name, parts_tuple); +} + +/* Py3UpdateBases */ +static PyObject* +__Pyx_PEP560_update_bases(PyObject *bases) +{ + Py_ssize_t i, j, size_bases; + PyObject *base, *meth, *new_base, *result, *new_bases = NULL; + size_bases = PyTuple_GET_SIZE(bases); + for (i = 0; i < size_bases; i++) { + base = PyTuple_GET_ITEM(bases, i); + if (PyType_Check(base)) { + if (new_bases) { + if (PyList_Append(new_bases, base) < 0) { + goto error; + } + } + continue; + } + meth = __Pyx_PyObject_GetAttrStrNoError(base, __pyx_n_s_mro_entries); + if (!meth && PyErr_Occurred()) { + goto error; + } + if (!meth) { + if (new_bases) { + if (PyList_Append(new_bases, base) < 0) { + goto error; + } + } + continue; + } + new_base = __Pyx_PyObject_CallOneArg(meth, bases); + Py_DECREF(meth); + if (!new_base) { + goto error; + } + if (!PyTuple_Check(new_base)) { + PyErr_SetString(PyExc_TypeError, + "__mro_entries__ must return a tuple"); + Py_DECREF(new_base); + goto error; + } + if (!new_bases) { + if (!(new_bases = PyList_New(i))) { + goto error; + } + for (j = 0; j < i; j++) { + base = PyTuple_GET_ITEM(bases, j); + PyList_SET_ITEM(new_bases, j, base); + Py_INCREF(base); + } + } + j = PyList_GET_SIZE(new_bases); + if (PyList_SetSlice(new_bases, j, j, new_base) < 0) { + goto error; + } + Py_DECREF(new_base); + } + if (!new_bases) { + Py_INCREF(bases); + return bases; + } + result = PyList_AsTuple(new_bases); + Py_DECREF(new_bases); + return result; +error: + Py_XDECREF(new_bases); + return NULL; +} + +/* CalculateMetaclass */ +static PyObject *__Pyx_CalculateMetaclass(PyTypeObject *metaclass, PyObject *bases) { + Py_ssize_t i, nbases; +#if CYTHON_ASSUME_SAFE_MACROS + nbases = PyTuple_GET_SIZE(bases); +#else + nbases = PyTuple_Size(bases); + if (nbases < 0) return NULL; +#endif + for (i=0; i < nbases; i++) { + PyTypeObject *tmptype; +#if CYTHON_ASSUME_SAFE_MACROS + PyObject *tmp = PyTuple_GET_ITEM(bases, i); +#else + PyObject *tmp = PyTuple_GetItem(bases, i); + if (!tmp) return NULL; +#endif + tmptype = Py_TYPE(tmp); +#if PY_MAJOR_VERSION < 3 + if (tmptype == &PyClass_Type) + continue; +#endif + if (!metaclass) { + metaclass = tmptype; + continue; + } + if (PyType_IsSubtype(metaclass, tmptype)) + continue; + if (PyType_IsSubtype(tmptype, metaclass)) { + metaclass = tmptype; + continue; + } + PyErr_SetString(PyExc_TypeError, + "metaclass conflict: " + "the metaclass of a derived class " + "must be a (non-strict) subclass " + "of the metaclasses of all its bases"); + return NULL; + } + if (!metaclass) { +#if PY_MAJOR_VERSION < 3 + metaclass = &PyClass_Type; +#else + metaclass = &PyType_Type; +#endif + } + Py_INCREF((PyObject*) metaclass); + return (PyObject*) metaclass; +} + +/* FetchSharedCythonModule */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void) { + return __Pyx_PyImport_AddModuleRef((char*) __PYX_ABI_MODULE_NAME); +} + +/* FetchCommonType */ +static int __Pyx_VerifyCachedType(PyObject *cached_type, + const char *name, + Py_ssize_t basicsize, + Py_ssize_t expected_basicsize) { + if (!PyType_Check(cached_type)) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s is not a type object", name); + return -1; + } + if (basicsize != expected_basicsize) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s has the wrong size, try recompiling", + name); + return -1; + } + return 0; +} +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) { + PyObject* abi_module; + const char* object_name; + PyTypeObject *cached_type = NULL; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + object_name = strrchr(type->tp_name, '.'); + object_name = object_name ? object_name+1 : type->tp_name; + cached_type = (PyTypeObject*) PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + if (__Pyx_VerifyCachedType( + (PyObject *)cached_type, + object_name, + cached_type->tp_basicsize, + type->tp_basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + if (PyType_Ready(type) < 0) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, (PyObject *)type) < 0) + goto bad; + Py_INCREF(type); + cached_type = type; +done: + Py_DECREF(abi_module); + return cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#else +static PyTypeObject *__Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases) { + PyObject *abi_module, *cached_type = NULL; + const char* object_name = strrchr(spec->name, '.'); + object_name = object_name ? object_name+1 : spec->name; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + cached_type = PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + Py_ssize_t basicsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + py_basicsize = PyObject_GetAttrString(cached_type, "__basicsize__"); + if (unlikely(!py_basicsize)) goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (unlikely(basicsize == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; +#else + basicsize = likely(PyType_Check(cached_type)) ? ((PyTypeObject*) cached_type)->tp_basicsize : -1; +#endif + if (__Pyx_VerifyCachedType( + cached_type, + object_name, + basicsize, + spec->basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + CYTHON_UNUSED_VAR(module); + cached_type = __Pyx_PyType_FromModuleAndSpec(abi_module, spec, bases); + if (unlikely(!cached_type)) goto bad; + if (unlikely(__Pyx_fix_up_extension_type_from_spec(spec, (PyTypeObject *) cached_type) < 0)) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, cached_type) < 0) goto bad; +done: + Py_DECREF(abi_module); + assert(cached_type == NULL || PyType_Check(cached_type)); + return (PyTypeObject *) cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#endif + +/* PyVectorcallFastCallDict */ +#if CYTHON_METH_FASTCALL +static PyObject *__Pyx_PyVectorcall_FastCallDict_kw(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + PyObject *res = NULL; + PyObject *kwnames; + PyObject **newargs; + PyObject **kwvalues; + Py_ssize_t i, pos; + size_t j; + PyObject *key, *value; + unsigned long keys_are_strings; + Py_ssize_t nkw = PyDict_GET_SIZE(kw); + newargs = (PyObject **)PyMem_Malloc((nargs + (size_t)nkw) * sizeof(args[0])); + if (unlikely(newargs == NULL)) { + PyErr_NoMemory(); + return NULL; + } + for (j = 0; j < nargs; j++) newargs[j] = args[j]; + kwnames = PyTuple_New(nkw); + if (unlikely(kwnames == NULL)) { + PyMem_Free(newargs); + return NULL; + } + kwvalues = newargs + nargs; + pos = i = 0; + keys_are_strings = Py_TPFLAGS_UNICODE_SUBCLASS; + while (PyDict_Next(kw, &pos, &key, &value)) { + keys_are_strings &= Py_TYPE(key)->tp_flags; + Py_INCREF(key); + Py_INCREF(value); + PyTuple_SET_ITEM(kwnames, i, key); + kwvalues[i] = value; + i++; + } + if (unlikely(!keys_are_strings)) { + PyErr_SetString(PyExc_TypeError, "keywords must be strings"); + goto cleanup; + } + res = vc(func, newargs, nargs, kwnames); +cleanup: + Py_DECREF(kwnames); + for (i = 0; i < nkw; i++) + Py_DECREF(kwvalues[i]); + PyMem_Free(newargs); + return res; +} +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + if (likely(kw == NULL) || PyDict_GET_SIZE(kw) == 0) { + return vc(func, args, nargs, NULL); + } + return __Pyx_PyVectorcall_FastCallDict_kw(func, vc, args, nargs, kw); +} +#endif + +/* CythonFunctionShared */ +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + if (__Pyx_CyFunction_Check(func)) { + return PyCFunction_GetFunction(((__pyx_CyFunctionObject*)func)->func) == (PyCFunction) cfunc; + } else if (PyCFunction_Check(func)) { + return PyCFunction_GetFunction(func) == (PyCFunction) cfunc; + } + return 0; +} +#else +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + return __Pyx_CyOrPyCFunction_Check(func) && __Pyx_CyOrPyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +} +#endif +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj) { +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + __Pyx_Py_XDECREF_SET( + __Pyx_CyFunction_GetClassObj(f), + ((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#else + __Pyx_Py_XDECREF_SET( + ((PyCMethodObject *) (f))->mm_class, + (PyTypeObject*)((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#endif +} +static PyObject * +__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, void *closure) +{ + CYTHON_UNUSED_VAR(closure); + if (unlikely(op->func_doc == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_doc = PyObject_GetAttrString(op->func, "__doc__"); + if (unlikely(!op->func_doc)) return NULL; +#else + if (((PyCFunctionObject*)op)->m_ml->ml_doc) { +#if PY_MAJOR_VERSION >= 3 + op->func_doc = PyUnicode_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#else + op->func_doc = PyString_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#endif + if (unlikely(op->func_doc == NULL)) + return NULL; + } else { + Py_INCREF(Py_None); + return Py_None; + } +#endif + } + Py_INCREF(op->func_doc); + return op->func_doc; +} +static int +__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (value == NULL) { + value = Py_None; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_doc, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_name == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_name = PyObject_GetAttrString(op->func, "__name__"); +#elif PY_MAJOR_VERSION >= 3 + op->func_name = PyUnicode_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#else + op->func_name = PyString_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#endif + if (unlikely(op->func_name == NULL)) + return NULL; + } + Py_INCREF(op->func_name); + return op->func_name; +} +static int +__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__name__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_name, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_qualname); + return op->func_qualname; +} +static int +__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__qualname__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_qualname, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_dict(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_dict == NULL)) { + op->func_dict = PyDict_New(); + if (unlikely(op->func_dict == NULL)) + return NULL; + } + Py_INCREF(op->func_dict); + return op->func_dict; +} +static int +__Pyx_CyFunction_set_dict(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(value == NULL)) { + PyErr_SetString(PyExc_TypeError, + "function's dictionary may not be deleted"); + return -1; + } + if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "setting function's dictionary to a non-dict"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_dict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_globals(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_globals); + return op->func_globals; +} +static PyObject * +__Pyx_CyFunction_get_closure(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(op); + CYTHON_UNUSED_VAR(context); + Py_INCREF(Py_None); + return Py_None; +} +static PyObject * +__Pyx_CyFunction_get_code(__pyx_CyFunctionObject *op, void *context) +{ + PyObject* result = (op->func_code) ? op->func_code : Py_None; + CYTHON_UNUSED_VAR(context); + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_init_defaults(__pyx_CyFunctionObject *op) { + int result = 0; + PyObject *res = op->defaults_getter((PyObject *) op); + if (unlikely(!res)) + return -1; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + op->defaults_tuple = PyTuple_GET_ITEM(res, 0); + Py_INCREF(op->defaults_tuple); + op->defaults_kwdict = PyTuple_GET_ITEM(res, 1); + Py_INCREF(op->defaults_kwdict); + #else + op->defaults_tuple = __Pyx_PySequence_ITEM(res, 0); + if (unlikely(!op->defaults_tuple)) result = -1; + else { + op->defaults_kwdict = __Pyx_PySequence_ITEM(res, 1); + if (unlikely(!op->defaults_kwdict)) result = -1; + } + #endif + Py_DECREF(res); + return result; +} +static int +__Pyx_CyFunction_set_defaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyTuple_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__defaults__ must be set to a tuple object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__defaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_tuple, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_defaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_tuple; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_tuple; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_kwdefaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__kwdefaults__ must be set to a dict object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__kwdefaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_kwdict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_kwdefaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_kwdict; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_kwdict; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_annotations(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value || value == Py_None) { + value = NULL; + } else if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__annotations__ must be set to a dict object"); + return -1; + } + Py_XINCREF(value); + __Pyx_Py_XDECREF_SET(op->func_annotations, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_annotations(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->func_annotations; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + result = PyDict_New(); + if (unlikely(!result)) return NULL; + op->func_annotations = result; + } + Py_INCREF(result); + return result; +} +static PyObject * +__Pyx_CyFunction_get_is_coroutine(__pyx_CyFunctionObject *op, void *context) { + int is_coroutine; + CYTHON_UNUSED_VAR(context); + if (op->func_is_coroutine) { + return __Pyx_NewRef(op->func_is_coroutine); + } + is_coroutine = op->flags & __Pyx_CYFUNCTION_COROUTINE; +#if PY_VERSION_HEX >= 0x03050000 + if (is_coroutine) { + PyObject *module, *fromlist, *marker = __pyx_n_s_is_coroutine; + fromlist = PyList_New(1); + if (unlikely(!fromlist)) return NULL; + Py_INCREF(marker); +#if CYTHON_ASSUME_SAFE_MACROS + PyList_SET_ITEM(fromlist, 0, marker); +#else + if (unlikely(PyList_SetItem(fromlist, 0, marker) < 0)) { + Py_DECREF(marker); + Py_DECREF(fromlist); + return NULL; + } +#endif + module = PyImport_ImportModuleLevelObject(__pyx_n_s_asyncio_coroutines, NULL, NULL, fromlist, 0); + Py_DECREF(fromlist); + if (unlikely(!module)) goto ignore; + op->func_is_coroutine = __Pyx_PyObject_GetAttrStr(module, marker); + Py_DECREF(module); + if (likely(op->func_is_coroutine)) { + return __Pyx_NewRef(op->func_is_coroutine); + } +ignore: + PyErr_Clear(); + } +#endif + op->func_is_coroutine = __Pyx_PyBool_FromLong(is_coroutine); + return __Pyx_NewRef(op->func_is_coroutine); +} +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject * +__Pyx_CyFunction_get_module(__pyx_CyFunctionObject *op, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_GetAttrString(op->func, "__module__"); +} +static int +__Pyx_CyFunction_set_module(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_SetAttrString(op->func, "__module__", value); +} +#endif +static PyGetSetDef __pyx_CyFunction_getsets[] = { + {(char *) "func_doc", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "__doc__", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "func_name", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__name__", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__qualname__", (getter)__Pyx_CyFunction_get_qualname, (setter)__Pyx_CyFunction_set_qualname, 0, 0}, + {(char *) "func_dict", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "__dict__", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "func_globals", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "__globals__", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "func_closure", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "__closure__", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "func_code", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "__code__", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "func_defaults", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__defaults__", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__kwdefaults__", (getter)__Pyx_CyFunction_get_kwdefaults, (setter)__Pyx_CyFunction_set_kwdefaults, 0, 0}, + {(char *) "__annotations__", (getter)__Pyx_CyFunction_get_annotations, (setter)__Pyx_CyFunction_set_annotations, 0, 0}, + {(char *) "_is_coroutine", (getter)__Pyx_CyFunction_get_is_coroutine, 0, 0, 0}, +#if CYTHON_COMPILING_IN_LIMITED_API + {"__module__", (getter)__Pyx_CyFunction_get_module, (setter)__Pyx_CyFunction_set_module, 0, 0}, +#endif + {0, 0, 0, 0, 0} +}; +static PyMemberDef __pyx_CyFunction_members[] = { +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__module__", T_OBJECT, offsetof(PyCFunctionObject, m_module), 0, 0}, +#endif +#if CYTHON_USE_TYPE_SPECS + {(char *) "__dictoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_dict), READONLY, 0}, +#if CYTHON_METH_FASTCALL +#if CYTHON_BACKPORT_VECTORCALL + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_vectorcall), READONLY, 0}, +#else +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(PyCFunctionObject, vectorcall), READONLY, 0}, +#endif +#endif +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_weakreflist), READONLY, 0}, +#else + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(PyCFunctionObject, m_weakreflist), READONLY, 0}, +#endif +#endif + {0, 0, 0, 0, 0} +}; +static PyObject * +__Pyx_CyFunction_reduce(__pyx_CyFunctionObject *m, PyObject *args) +{ + CYTHON_UNUSED_VAR(args); +#if PY_MAJOR_VERSION >= 3 + Py_INCREF(m->func_qualname); + return m->func_qualname; +#else + return PyString_FromString(((PyCFunctionObject*)m)->m_ml->ml_name); +#endif +} +static PyMethodDef __pyx_CyFunction_methods[] = { + {"__reduce__", (PyCFunction)__Pyx_CyFunction_reduce, METH_VARARGS, 0}, + {0, 0, 0, 0} +}; +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func_weakreflist) +#else +#define __Pyx_CyFunction_weakreflist(cyfunc) (((PyCFunctionObject*)cyfunc)->m_weakreflist) +#endif +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject *op, PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { +#if !CYTHON_COMPILING_IN_LIMITED_API + PyCFunctionObject *cf = (PyCFunctionObject*) op; +#endif + if (unlikely(op == NULL)) + return NULL; +#if CYTHON_COMPILING_IN_LIMITED_API + op->func = PyCFunction_NewEx(ml, (PyObject*)op, module); + if (unlikely(!op->func)) return NULL; +#endif + op->flags = flags; + __Pyx_CyFunction_weakreflist(op) = NULL; +#if !CYTHON_COMPILING_IN_LIMITED_API + cf->m_ml = ml; + cf->m_self = (PyObject *) op; +#endif + Py_XINCREF(closure); + op->func_closure = closure; +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_XINCREF(module); + cf->m_module = module; +#endif + op->func_dict = NULL; + op->func_name = NULL; + Py_INCREF(qualname); + op->func_qualname = qualname; + op->func_doc = NULL; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + op->func_classobj = NULL; +#else + ((PyCMethodObject*)op)->mm_class = NULL; +#endif + op->func_globals = globals; + Py_INCREF(op->func_globals); + Py_XINCREF(code); + op->func_code = code; + op->defaults_pyobjects = 0; + op->defaults_size = 0; + op->defaults = NULL; + op->defaults_tuple = NULL; + op->defaults_kwdict = NULL; + op->defaults_getter = NULL; + op->func_annotations = NULL; + op->func_is_coroutine = NULL; +#if CYTHON_METH_FASTCALL + switch (ml->ml_flags & (METH_VARARGS | METH_FASTCALL | METH_NOARGS | METH_O | METH_KEYWORDS | METH_METHOD)) { + case METH_NOARGS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_NOARGS; + break; + case METH_O: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_O; + break; + case METH_METHOD | METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD; + break; + case METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS; + break; + case METH_VARARGS | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = NULL; + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + Py_DECREF(op); + return NULL; + } +#endif + return (PyObject *) op; +} +static int +__Pyx_CyFunction_clear(__pyx_CyFunctionObject *m) +{ + Py_CLEAR(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_CLEAR(m->func); +#else + Py_CLEAR(((PyCFunctionObject*)m)->m_module); +#endif + Py_CLEAR(m->func_dict); + Py_CLEAR(m->func_name); + Py_CLEAR(m->func_qualname); + Py_CLEAR(m->func_doc); + Py_CLEAR(m->func_globals); + Py_CLEAR(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API +#if PY_VERSION_HEX < 0x030900B1 + Py_CLEAR(__Pyx_CyFunction_GetClassObj(m)); +#else + { + PyObject *cls = (PyObject*) ((PyCMethodObject *) (m))->mm_class; + ((PyCMethodObject *) (m))->mm_class = NULL; + Py_XDECREF(cls); + } +#endif +#endif + Py_CLEAR(m->defaults_tuple); + Py_CLEAR(m->defaults_kwdict); + Py_CLEAR(m->func_annotations); + Py_CLEAR(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_XDECREF(pydefaults[i]); + PyObject_Free(m->defaults); + m->defaults = NULL; + } + return 0; +} +static void __Pyx__CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + if (__Pyx_CyFunction_weakreflist(m) != NULL) + PyObject_ClearWeakRefs((PyObject *) m); + __Pyx_CyFunction_clear(m); + __Pyx_PyHeapTypeObject_GC_Del(m); +} +static void __Pyx_CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + PyObject_GC_UnTrack(m); + __Pyx__CyFunction_dealloc(m); +} +static int __Pyx_CyFunction_traverse(__pyx_CyFunctionObject *m, visitproc visit, void *arg) +{ + Py_VISIT(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(m->func); +#else + Py_VISIT(((PyCFunctionObject*)m)->m_module); +#endif + Py_VISIT(m->func_dict); + Py_VISIT(m->func_name); + Py_VISIT(m->func_qualname); + Py_VISIT(m->func_doc); + Py_VISIT(m->func_globals); + Py_VISIT(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(__Pyx_CyFunction_GetClassObj(m)); +#endif + Py_VISIT(m->defaults_tuple); + Py_VISIT(m->defaults_kwdict); + Py_VISIT(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_VISIT(pydefaults[i]); + } + return 0; +} +static PyObject* +__Pyx_CyFunction_repr(__pyx_CyFunctionObject *op) +{ +#if PY_MAJOR_VERSION >= 3 + return PyUnicode_FromFormat("", + op->func_qualname, (void *)op); +#else + return PyString_FromFormat("", + PyString_AsString(op->func_qualname), (void *)op); +#endif +} +static PyObject * __Pyx_CyFunction_CallMethod(PyObject *func, PyObject *self, PyObject *arg, PyObject *kw) { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *f = ((__pyx_CyFunctionObject*)func)->func; + PyObject *py_name = NULL; + PyCFunction meth; + int flags; + meth = PyCFunction_GetFunction(f); + if (unlikely(!meth)) return NULL; + flags = PyCFunction_GetFlags(f); + if (unlikely(flags < 0)) return NULL; +#else + PyCFunctionObject* f = (PyCFunctionObject*)func; + PyCFunction meth = f->m_ml->ml_meth; + int flags = f->m_ml->ml_flags; +#endif + Py_ssize_t size; + switch (flags & (METH_VARARGS | METH_KEYWORDS | METH_NOARGS | METH_O)) { + case METH_VARARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) + return (*meth)(self, arg); + break; + case METH_VARARGS | METH_KEYWORDS: + return (*(PyCFunctionWithKeywords)(void*)meth)(self, arg, kw); + case METH_NOARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 0)) + return (*meth)(self, NULL); +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + case METH_O: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 1)) { + PyObject *result, *arg0; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + arg0 = PyTuple_GET_ITEM(arg, 0); + #else + arg0 = __Pyx_PySequence_ITEM(arg, 0); if (unlikely(!arg0)) return NULL; + #endif + result = (*meth)(self, arg0); + #if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(arg0); + #endif + return result; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + return NULL; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, "%.200S() takes no keyword arguments", + py_name); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, "%.200s() takes no keyword arguments", + f->m_ml->ml_name); +#endif + return NULL; +} +static CYTHON_INLINE PyObject *__Pyx_CyFunction_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *self, *result; +#if CYTHON_COMPILING_IN_LIMITED_API + self = PyCFunction_GetSelf(((__pyx_CyFunctionObject*)func)->func); + if (unlikely(!self) && PyErr_Occurred()) return NULL; +#else + self = ((PyCFunctionObject*)func)->m_self; +#endif + result = __Pyx_CyFunction_CallMethod(func, self, arg, kw); + return result; +} +static PyObject *__Pyx_CyFunction_CallAsMethod(PyObject *func, PyObject *args, PyObject *kw) { + PyObject *result; + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *) func; +#if CYTHON_METH_FASTCALL + __pyx_vectorcallfunc vc = __Pyx_CyFunction_func_vectorcall(cyfunc); + if (vc) { +#if CYTHON_ASSUME_SAFE_MACROS + return __Pyx_PyVectorcall_FastCallDict(func, vc, &PyTuple_GET_ITEM(args, 0), (size_t)PyTuple_GET_SIZE(args), kw); +#else + (void) &__Pyx_PyVectorcall_FastCallDict; + return PyVectorcall_Call(func, args, kw); +#endif + } +#endif + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + Py_ssize_t argc; + PyObject *new_args; + PyObject *self; +#if CYTHON_ASSUME_SAFE_MACROS + argc = PyTuple_GET_SIZE(args); +#else + argc = PyTuple_Size(args); + if (unlikely(!argc) < 0) return NULL; +#endif + new_args = PyTuple_GetSlice(args, 1, argc); + if (unlikely(!new_args)) + return NULL; + self = PyTuple_GetItem(args, 0); + if (unlikely(!self)) { + Py_DECREF(new_args); +#if PY_MAJOR_VERSION > 2 + PyErr_Format(PyExc_TypeError, + "unbound method %.200S() needs an argument", + cyfunc->func_qualname); +#else + PyErr_SetString(PyExc_TypeError, + "unbound method needs an argument"); +#endif + return NULL; + } + result = __Pyx_CyFunction_CallMethod(func, self, new_args, kw); + Py_DECREF(new_args); + } else { + result = __Pyx_CyFunction_Call(func, args, kw); + } + return result; +} +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE int __Pyx_CyFunction_Vectorcall_CheckArgs(__pyx_CyFunctionObject *cyfunc, Py_ssize_t nargs, PyObject *kwnames) +{ + int ret = 0; + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + if (unlikely(nargs < 1)) { + PyErr_Format(PyExc_TypeError, "%.200s() needs an argument", + ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + ret = 1; + } + if (unlikely(kwnames) && unlikely(PyTuple_GET_SIZE(kwnames))) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no keyword arguments", ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + return ret; +} +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 0)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, NULL); +} +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 1)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, args[0]); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((_PyCFunctionFastWithKeywords)(void(*)(void))def->ml_meth)(self, args, nargs, kwnames); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; + PyTypeObject *cls = (PyTypeObject *) __Pyx_CyFunction_GetClassObj(cyfunc); +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((__Pyx_PyCMethod)(void(*)(void))def->ml_meth)(self, cls, args, (size_t)nargs, kwnames); +} +#endif +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_CyFunctionType_slots[] = { + {Py_tp_dealloc, (void *)__Pyx_CyFunction_dealloc}, + {Py_tp_repr, (void *)__Pyx_CyFunction_repr}, + {Py_tp_call, (void *)__Pyx_CyFunction_CallAsMethod}, + {Py_tp_traverse, (void *)__Pyx_CyFunction_traverse}, + {Py_tp_clear, (void *)__Pyx_CyFunction_clear}, + {Py_tp_methods, (void *)__pyx_CyFunction_methods}, + {Py_tp_members, (void *)__pyx_CyFunction_members}, + {Py_tp_getset, (void *)__pyx_CyFunction_getsets}, + {Py_tp_descr_get, (void *)__Pyx_PyMethod_New}, + {0, 0}, +}; +static PyType_Spec __pyx_CyFunctionType_spec = { + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if (defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL) + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + __pyx_CyFunctionType_slots +}; +#else +static PyTypeObject __pyx_CyFunctionType_type = { + PyVarObject_HEAD_INIT(0, 0) + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, + (destructor) __Pyx_CyFunction_dealloc, +#if !CYTHON_METH_FASTCALL + 0, +#elif CYTHON_BACKPORT_VECTORCALL + (printfunc)offsetof(__pyx_CyFunctionObject, func_vectorcall), +#else + offsetof(PyCFunctionObject, vectorcall), +#endif + 0, + 0, +#if PY_MAJOR_VERSION < 3 + 0, +#else + 0, +#endif + (reprfunc) __Pyx_CyFunction_repr, + 0, + 0, + 0, + 0, + __Pyx_CyFunction_CallAsMethod, + 0, + 0, + 0, + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + 0, + (traverseproc) __Pyx_CyFunction_traverse, + (inquiry) __Pyx_CyFunction_clear, + 0, +#if PY_VERSION_HEX < 0x030500A0 + offsetof(__pyx_CyFunctionObject, func_weakreflist), +#else + offsetof(PyCFunctionObject, m_weakreflist), +#endif + 0, + 0, + __pyx_CyFunction_methods, + __pyx_CyFunction_members, + __pyx_CyFunction_getsets, + 0, + 0, + __Pyx_PyMethod_New, + 0, + offsetof(__pyx_CyFunctionObject, func_dict), + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, +#if PY_VERSION_HEX >= 0x030400a1 + 0, +#endif +#if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, +#endif +#if __PYX_NEED_TP_PRINT_SLOT + 0, +#endif +#if PY_VERSION_HEX >= 0x030C0000 + 0, +#endif +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, +#endif +}; +#endif +static int __pyx_CyFunction_init(PyObject *module) { +#if CYTHON_USE_TYPE_SPECS + __pyx_CyFunctionType = __Pyx_FetchCommonTypeFromSpec(module, &__pyx_CyFunctionType_spec, NULL); +#else + CYTHON_UNUSED_VAR(module); + __pyx_CyFunctionType = __Pyx_FetchCommonType(&__pyx_CyFunctionType_type); +#endif + if (unlikely(__pyx_CyFunctionType == NULL)) { + return -1; + } + return 0; +} +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *func, size_t size, int pyobjects) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults = PyObject_Malloc(size); + if (unlikely(!m->defaults)) + return PyErr_NoMemory(); + memset(m->defaults, 0, size); + m->defaults_pyobjects = pyobjects; + m->defaults_size = size; + return m->defaults; +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *func, PyObject *tuple) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_tuple = tuple; + Py_INCREF(tuple); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_kwdict = dict; + Py_INCREF(dict); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->func_annotations = dict; + Py_INCREF(dict); +} + +/* CythonFunction */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { + PyObject *op = __Pyx_CyFunction_Init( + PyObject_GC_New(__pyx_CyFunctionObject, __pyx_CyFunctionType), + ml, flags, qualname, closure, module, globals, code + ); + if (likely(op)) { + PyObject_GC_Track(op); + } + return op; +} + +/* PyObjectCall2Args */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2) { + PyObject *args[3] = {NULL, arg1, arg2}; + return __Pyx_PyObject_FastCall(function, args+1, 2 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* PyObjectLookupSpecial */ +#if CYTHON_USE_PYTYPE_LOOKUP && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx__PyObject_LookupSpecial(PyObject* obj, PyObject* attr_name, int with_error) { + PyObject *res; + PyTypeObject *tp = Py_TYPE(obj); +#if PY_MAJOR_VERSION < 3 + if (unlikely(PyInstance_Check(obj))) + return with_error ? __Pyx_PyObject_GetAttrStr(obj, attr_name) : __Pyx_PyObject_GetAttrStrNoError(obj, attr_name); +#endif + res = _PyType_Lookup(tp, attr_name); + if (likely(res)) { + descrgetfunc f = Py_TYPE(res)->tp_descr_get; + if (!f) { + Py_INCREF(res); + } else { + res = f(res, obj, (PyObject *)tp); + } + } else if (with_error) { + PyErr_SetObject(PyExc_AttributeError, attr_name); + } + return res; +} +#endif + +/* Py3ClassCreate */ +static PyObject *__Pyx_Py3MetaclassPrepare(PyObject *metaclass, PyObject *bases, PyObject *name, + PyObject *qualname, PyObject *mkw, PyObject *modname, PyObject *doc) { + PyObject *ns; + if (metaclass) { + PyObject *prep = __Pyx_PyObject_GetAttrStrNoError(metaclass, __pyx_n_s_prepare); + if (prep) { + PyObject *pargs[3] = {NULL, name, bases}; + ns = __Pyx_PyObject_FastCallDict(prep, pargs+1, 2 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET, mkw); + Py_DECREF(prep); + } else { + if (unlikely(PyErr_Occurred())) + return NULL; + ns = PyDict_New(); + } + } else { + ns = PyDict_New(); + } + if (unlikely(!ns)) + return NULL; + if (unlikely(PyObject_SetItem(ns, __pyx_n_s_module, modname) < 0)) goto bad; +#if PY_VERSION_HEX >= 0x03030000 + if (unlikely(PyObject_SetItem(ns, __pyx_n_s_qualname, qualname) < 0)) goto bad; +#else + CYTHON_MAYBE_UNUSED_VAR(qualname); +#endif + if (unlikely(doc && PyObject_SetItem(ns, __pyx_n_s_doc, doc) < 0)) goto bad; + return ns; +bad: + Py_DECREF(ns); + return NULL; +} +#if PY_VERSION_HEX < 0x030600A4 && CYTHON_PEP487_INIT_SUBCLASS +static int __Pyx_SetNamesPEP487(PyObject *type_obj) { + PyTypeObject *type = (PyTypeObject*) type_obj; + PyObject *names_to_set, *key, *value, *set_name, *tmp; + Py_ssize_t i = 0; +#if CYTHON_USE_TYPE_SLOTS + names_to_set = PyDict_Copy(type->tp_dict); +#else + { + PyObject *d = PyObject_GetAttr(type_obj, __pyx_n_s_dict); + names_to_set = NULL; + if (likely(d)) { + PyObject *names_to_set = PyDict_New(); + int ret = likely(names_to_set) ? PyDict_Update(names_to_set, d) : -1; + Py_DECREF(d); + if (unlikely(ret < 0)) + Py_CLEAR(names_to_set); + } + } +#endif + if (unlikely(names_to_set == NULL)) + goto bad; + while (PyDict_Next(names_to_set, &i, &key, &value)) { + set_name = __Pyx_PyObject_LookupSpecialNoError(value, __pyx_n_s_set_name); + if (unlikely(set_name != NULL)) { + tmp = __Pyx_PyObject_Call2Args(set_name, type_obj, key); + Py_DECREF(set_name); + if (unlikely(tmp == NULL)) { + __Pyx_TypeName value_type_name = + __Pyx_PyType_GetName(Py_TYPE(value)); + __Pyx_TypeName type_name = __Pyx_PyType_GetName(type); + PyErr_Format(PyExc_RuntimeError, +#if PY_MAJOR_VERSION >= 3 + "Error calling __set_name__ on '" __Pyx_FMT_TYPENAME "' instance %R " "in '" __Pyx_FMT_TYPENAME "'", + value_type_name, key, type_name); +#else + "Error calling __set_name__ on '" __Pyx_FMT_TYPENAME "' instance %.100s in '" __Pyx_FMT_TYPENAME "'", + value_type_name, + PyString_Check(key) ? PyString_AS_STRING(key) : "?", + type_name); +#endif + goto bad; + } else { + Py_DECREF(tmp); + } + } + else if (unlikely(PyErr_Occurred())) { + goto bad; + } + } + Py_DECREF(names_to_set); + return 0; +bad: + Py_XDECREF(names_to_set); + return -1; +} +static PyObject *__Pyx_InitSubclassPEP487(PyObject *type_obj, PyObject *mkw) { +#if CYTHON_USE_TYPE_SLOTS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + PyTypeObject *type = (PyTypeObject*) type_obj; + PyObject *mro = type->tp_mro; + Py_ssize_t i, nbases; + if (unlikely(!mro)) goto done; + (void) &__Pyx_GetBuiltinName; + Py_INCREF(mro); + nbases = PyTuple_GET_SIZE(mro); + assert(PyTuple_GET_ITEM(mro, 0) == type_obj); + for (i = 1; i < nbases-1; i++) { + PyObject *base, *dict, *meth; + base = PyTuple_GET_ITEM(mro, i); + dict = ((PyTypeObject *)base)->tp_dict; + meth = __Pyx_PyDict_GetItemStrWithError(dict, __pyx_n_s_init_subclass); + if (unlikely(meth)) { + descrgetfunc f = Py_TYPE(meth)->tp_descr_get; + PyObject *res; + Py_INCREF(meth); + if (likely(f)) { + res = f(meth, NULL, type_obj); + Py_DECREF(meth); + if (unlikely(!res)) goto bad; + meth = res; + } + res = __Pyx_PyObject_FastCallDict(meth, NULL, 0, mkw); + Py_DECREF(meth); + if (unlikely(!res)) goto bad; + Py_DECREF(res); + goto done; + } else if (unlikely(PyErr_Occurred())) { + goto bad; + } + } +done: + Py_XDECREF(mro); + return type_obj; +bad: + Py_XDECREF(mro); + Py_DECREF(type_obj); + return NULL; +#else + PyObject *super_type, *super, *func, *res; +#if CYTHON_COMPILING_IN_PYPY && !defined(PySuper_Type) + super_type = __Pyx_GetBuiltinName(__pyx_n_s_super); +#else + super_type = (PyObject*) &PySuper_Type; + (void) &__Pyx_GetBuiltinName; +#endif + super = likely(super_type) ? __Pyx_PyObject_Call2Args(super_type, type_obj, type_obj) : NULL; +#if CYTHON_COMPILING_IN_PYPY && !defined(PySuper_Type) + Py_XDECREF(super_type); +#endif + if (unlikely(!super)) { + Py_CLEAR(type_obj); + goto done; + } + func = __Pyx_PyObject_GetAttrStrNoError(super, __pyx_n_s_init_subclass); + Py_DECREF(super); + if (likely(!func)) { + if (unlikely(PyErr_Occurred())) + Py_CLEAR(type_obj); + goto done; + } + res = __Pyx_PyObject_FastCallDict(func, NULL, 0, mkw); + Py_DECREF(func); + if (unlikely(!res)) + Py_CLEAR(type_obj); + Py_XDECREF(res); +done: + return type_obj; +#endif +} +#endif +static PyObject *__Pyx_Py3ClassCreate(PyObject *metaclass, PyObject *name, PyObject *bases, + PyObject *dict, PyObject *mkw, + int calculate_metaclass, int allow_py2_metaclass) { + PyObject *result; + PyObject *owned_metaclass = NULL; + PyObject *margs[4] = {NULL, name, bases, dict}; + if (allow_py2_metaclass) { + owned_metaclass = PyObject_GetItem(dict, __pyx_n_s_metaclass); + if (owned_metaclass) { + metaclass = owned_metaclass; + } else if (likely(PyErr_ExceptionMatches(PyExc_KeyError))) { + PyErr_Clear(); + } else { + return NULL; + } + } + if (calculate_metaclass && (!metaclass || PyType_Check(metaclass))) { + metaclass = __Pyx_CalculateMetaclass((PyTypeObject*) metaclass, bases); + Py_XDECREF(owned_metaclass); + if (unlikely(!metaclass)) + return NULL; + owned_metaclass = metaclass; + } + result = __Pyx_PyObject_FastCallDict(metaclass, margs+1, 3 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET, +#if PY_VERSION_HEX < 0x030600A4 + (metaclass == (PyObject*)&PyType_Type) ? NULL : mkw +#else + mkw +#endif + ); + Py_XDECREF(owned_metaclass); +#if PY_VERSION_HEX < 0x030600A4 && CYTHON_PEP487_INIT_SUBCLASS + if (likely(result) && likely(PyType_Check(result))) { + if (unlikely(__Pyx_SetNamesPEP487(result) < 0)) { + Py_CLEAR(result); + } else { + result = __Pyx_InitSubclassPEP487(result, mkw); + } + } +#else + (void) &__Pyx_GetBuiltinName; +#endif + return result; +} + +/* CyFunctionClassCell */ +static int __Pyx_CyFunction_InitClassCell(PyObject *cyfunctions, PyObject *classobj) { + Py_ssize_t i, count = PyList_GET_SIZE(cyfunctions); + for (i = 0; i < count; i++) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + PyList_GET_ITEM(cyfunctions, i); +#else + PySequence_ITEM(cyfunctions, i); + if (unlikely(!m)) + return -1; +#endif + __Pyx_CyFunction_SetClassObj(m, classobj); +#if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF((PyObject*)m); +#endif + } + return 0; +} + +/* CLineInTraceback */ +#ifndef CYTHON_CLINE_IN_TRACEBACK +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line) { + PyObject *use_cline; + PyObject *ptype, *pvalue, *ptraceback; +#if CYTHON_COMPILING_IN_CPYTHON + PyObject **cython_runtime_dict; +#endif + CYTHON_MAYBE_UNUSED_VAR(tstate); + if (unlikely(!__pyx_cython_runtime)) { + return c_line; + } + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); +#if CYTHON_COMPILING_IN_CPYTHON + cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); + if (likely(cython_runtime_dict)) { + __PYX_PY_DICT_LOOKUP_IF_MODIFIED( + use_cline, *cython_runtime_dict, + __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) + } else +#endif + { + PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStrNoError(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); + if (use_cline_obj) { + use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; +} +#endif + +/* CodeObjectCache */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; + } + } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } +} +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; + } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; +} +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; + } + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; + } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); +} +#endif + +/* AddTraceback */ +#include "compile.h" +#include "frameobject.h" +#include "traceback.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyCode_Replace_For_AddTraceback(PyObject *code, PyObject *scratch_dict, + PyObject *firstlineno, PyObject *name) { + PyObject *replace = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_firstlineno", firstlineno))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_name", name))) return NULL; + replace = PyObject_GetAttrString(code, "replace"); + if (likely(replace)) { + PyObject *result; + result = PyObject_Call(replace, __pyx_empty_tuple, scratch_dict); + Py_DECREF(replace); + return result; + } + PyErr_Clear(); + #if __PYX_LIMITED_VERSION_HEX < 0x030780000 + { + PyObject *compiled = NULL, *result = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "code", code))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "type", (PyObject*)(&PyType_Type)))) return NULL; + compiled = Py_CompileString( + "out = type(code)(\n" + " code.co_argcount, code.co_kwonlyargcount, code.co_nlocals, code.co_stacksize,\n" + " code.co_flags, code.co_code, code.co_consts, code.co_names,\n" + " code.co_varnames, code.co_filename, co_name, co_firstlineno,\n" + " code.co_lnotab)\n", "", Py_file_input); + if (!compiled) return NULL; + result = PyEval_EvalCode(compiled, scratch_dict, scratch_dict); + Py_DECREF(compiled); + if (!result) PyErr_Print(); + Py_DECREF(result); + result = PyDict_GetItemString(scratch_dict, "out"); + if (result) Py_INCREF(result); + return result; + } + #else + return NULL; + #endif +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyObject *code_object = NULL, *py_py_line = NULL, *py_funcname = NULL, *dict = NULL; + PyObject *replace = NULL, *getframe = NULL, *frame = NULL; + PyObject *exc_type, *exc_value, *exc_traceback; + int success = 0; + if (c_line) { + (void) __pyx_cfilenm; + (void) __Pyx_CLineForTraceback(__Pyx_PyThreadState_Current, c_line); + } + PyErr_Fetch(&exc_type, &exc_value, &exc_traceback); + code_object = Py_CompileString("_getframe()", filename, Py_eval_input); + if (unlikely(!code_object)) goto bad; + py_py_line = PyLong_FromLong(py_line); + if (unlikely(!py_py_line)) goto bad; + py_funcname = PyUnicode_FromString(funcname); + if (unlikely(!py_funcname)) goto bad; + dict = PyDict_New(); + if (unlikely(!dict)) goto bad; + { + PyObject *old_code_object = code_object; + code_object = __Pyx_PyCode_Replace_For_AddTraceback(code_object, dict, py_py_line, py_funcname); + Py_DECREF(old_code_object); + } + if (unlikely(!code_object)) goto bad; + getframe = PySys_GetObject("_getframe"); + if (unlikely(!getframe)) goto bad; + if (unlikely(PyDict_SetItemString(dict, "_getframe", getframe))) goto bad; + frame = PyEval_EvalCode(code_object, dict, dict); + if (unlikely(!frame) || frame == Py_None) goto bad; + success = 1; + bad: + PyErr_Restore(exc_type, exc_value, exc_traceback); + Py_XDECREF(code_object); + Py_XDECREF(py_py_line); + Py_XDECREF(py_funcname); + Py_XDECREF(dict); + Py_XDECREF(replace); + if (success) { + PyTraceBack_Here( + (struct _frame*)frame); + } + Py_XDECREF(frame); +} +#else +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = NULL; + PyObject *py_funcname = NULL; + #if PY_MAJOR_VERSION < 3 + PyObject *py_srcfile = NULL; + py_srcfile = PyString_FromString(filename); + if (!py_srcfile) goto bad; + #endif + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + funcname = PyUnicode_AsUTF8(py_funcname); + if (!funcname) goto bad; + #endif + } + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + if (!py_funcname) goto bad; + #endif + } + #if PY_MAJOR_VERSION < 3 + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + #else + py_code = PyCode_NewEmpty(filename, funcname, py_line); + #endif + Py_XDECREF(py_funcname); + return py_code; +bad: + Py_XDECREF(py_funcname); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_srcfile); + #endif + return NULL; +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject *ptype, *pvalue, *ptraceback; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); + } + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) { + /* If the code object creation fails, then we should clear the + fetched exception references and propagate the new exception */ + Py_XDECREF(ptype); + Py_XDECREF(pvalue); + Py_XDECREF(ptraceback); + goto bad; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + } + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} +#endif + +/* CIntFromPyVerify */ +#define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* CIntFromPy */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(int) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (int) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 2 * PyLong_SHIFT)) { + return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 3 * PyLong_SHIFT)) { + return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 4 * PyLong_SHIFT)) { + return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(int) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(int) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(int) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + int val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (int) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (int) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (int) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (int) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(int) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(int) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((int) 1) << (sizeof(int) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (int) -1; + } + } else { + int val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (int) -1; + val = __Pyx_PyInt_As_int(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to int"); + return (int) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to int"); + return (int) -1; +} + +/* CIntToPy */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(int) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(int) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(int) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(int), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(int)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPy */ +static CYTHON_INLINE size_t __Pyx_PyInt_As_size_t(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const size_t neg_one = (size_t) -1, const_zero = (size_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(size_t) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(size_t, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (size_t) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(size_t, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(size_t) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) >= 2 * PyLong_SHIFT)) { + return (size_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(size_t) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) >= 3 * PyLong_SHIFT)) { + return (size_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(size_t) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) >= 4 * PyLong_SHIFT)) { + return (size_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (size_t) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(size_t) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(size_t) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(size_t, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(size_t) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT)) { + return (size_t) (((size_t)-1)*(((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(size_t) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT)) { + return (size_t) ((((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT)) { + return (size_t) (((size_t)-1)*(((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(size_t) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT)) { + return (size_t) ((((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 4 * PyLong_SHIFT)) { + return (size_t) (((size_t)-1)*(((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(size_t) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 4 * PyLong_SHIFT)) { + return (size_t) ((((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(size_t) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(size_t) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + size_t val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (size_t) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (size_t) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (size_t) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (size_t) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (size_t) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(size_t) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((size_t) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(size_t) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((size_t) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((size_t) 1) << (sizeof(size_t) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (size_t) -1; + } + } else { + size_t val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (size_t) -1; + val = __Pyx_PyInt_As_size_t(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to size_t"); + return (size_t) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to size_t"); + return (size_t) -1; +} + +/* FormatTypeName */ +#if CYTHON_COMPILING_IN_LIMITED_API +static __Pyx_TypeName +__Pyx_PyType_GetName(PyTypeObject* tp) +{ + PyObject *name = __Pyx_PyObject_GetAttrStr((PyObject *)tp, + __pyx_n_s_name); + if (unlikely(name == NULL) || unlikely(!PyUnicode_Check(name))) { + PyErr_Clear(); + Py_XDECREF(name); + name = __Pyx_NewRef(__pyx_n_s__53); + } + return name; +} +#endif + +/* CIntToPy */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(long)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPy */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(long) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (long) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 2 * PyLong_SHIFT)) { + return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 3 * PyLong_SHIFT)) { + return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 4 * PyLong_SHIFT)) { + return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(long) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(long) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(long) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + long val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (long) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (long) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (long) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (long) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(long) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(long) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((long) 1) << (sizeof(long) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (long) -1; + } + } else { + long val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (long) -1; + val = __Pyx_PyInt_As_long(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to long"); + return (long) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to long"); + return (long) -1; +} + +/* FastTypeChecks */ +#if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = __Pyx_PyType_GetSlot(a, tp_base, PyTypeObject*); + if (a == b) + return 1; + } + return b == &PyBaseObject_Type; +} +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(a, b); +} +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (cls == a || cls == b) return 1; + mro = cls->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + PyObject *base = PyTuple_GET_ITEM(mro, i); + if (base == (PyObject *)a || base == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(cls, a) || __Pyx_InBases(cls, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + } + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + if (exc_type1) { + return __Pyx_IsAnySubtype2((PyTypeObject*)err, (PyTypeObject*)exc_type1, (PyTypeObject*)exc_type2); + } else { + return __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } +} +#endif +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; i= 0x030B00A4 + return Py_Version & ~0xFFUL; +#else + const char* rt_version = Py_GetVersion(); + unsigned long version = 0; + unsigned long factor = 0x01000000UL; + unsigned int digit = 0; + int i = 0; + while (factor) { + while ('0' <= rt_version[i] && rt_version[i] <= '9') { + digit = digit * 10 + (unsigned int) (rt_version[i] - '0'); + ++i; + } + version += factor * digit; + if (rt_version[i] != '.') + break; + digit = 0; + factor >>= 8; + ++i; + } + return version; +#endif +} +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer) { + const unsigned long MAJOR_MINOR = 0xFFFF0000UL; + if ((rt_version & MAJOR_MINOR) == (ct_version & MAJOR_MINOR)) + return 0; + if (likely(allow_newer && (rt_version & MAJOR_MINOR) > (ct_version & MAJOR_MINOR))) + return 1; + { + char message[200]; + PyOS_snprintf(message, sizeof(message), + "compile time Python version %d.%d " + "of module '%.100s' " + "%s " + "runtime version %d.%d", + (int) (ct_version >> 24), (int) ((ct_version >> 16) & 0xFF), + __Pyx_MODULE_NAME, + (allow_newer) ? "was newer than" : "does not match", + (int) (rt_version >> 24), (int) ((rt_version >> 16) & 0xFF) + ); + return PyErr_WarnEx(NULL, message, 1); + } +} + +/* InitStrings */ +#if PY_MAJOR_VERSION >= 3 +static int __Pyx_InitString(__Pyx_StringTabEntry t, PyObject **str) { + if (t.is_unicode | t.is_str) { + if (t.intern) { + *str = PyUnicode_InternFromString(t.s); + } else if (t.encoding) { + *str = PyUnicode_Decode(t.s, t.n - 1, t.encoding, NULL); + } else { + *str = PyUnicode_FromStringAndSize(t.s, t.n - 1); + } + } else { + *str = PyBytes_FromStringAndSize(t.s, t.n - 1); + } + if (!*str) + return -1; + if (PyObject_Hash(*str) == -1) + return -1; + return 0; +} +#endif +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t) { + while (t->p) { + #if PY_MAJOR_VERSION >= 3 + __Pyx_InitString(*t, t->p); + #else + if (t->is_unicode) { + *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); + } else if (t->intern) { + *t->p = PyString_InternFromString(t->s); + } else { + *t->p = PyString_FromStringAndSize(t->s, t->n - 1); + } + if (!*t->p) + return -1; + if (PyObject_Hash(*t->p) == -1) + return -1; + #endif + ++t; + } + return 0; +} + +#include +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s) { + size_t len = strlen(s); + if (unlikely(len > (size_t) PY_SSIZE_T_MAX)) { + PyErr_SetString(PyExc_OverflowError, "byte string is too long"); + return -1; + } + return (Py_ssize_t) len; +} +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return __Pyx_PyUnicode_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return PyByteArray_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { + Py_ssize_t ignore; + return __Pyx_PyObject_AsStringAndSize(o, &ignore); +} +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#if !CYTHON_PEP393_ENABLED +static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + char* defenc_c; + PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); + if (!defenc) return NULL; + defenc_c = PyBytes_AS_STRING(defenc); +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + { + char* end = defenc_c + PyBytes_GET_SIZE(defenc); + char* c; + for (c = defenc_c; c < end; c++) { + if ((unsigned char) (*c) >= 128) { + PyUnicode_AsASCIIString(o); + return NULL; + } + } + } +#endif + *length = PyBytes_GET_SIZE(defenc); + return defenc_c; +} +#else +static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + if (likely(PyUnicode_IS_ASCII(o))) { + *length = PyUnicode_GET_LENGTH(o); + return PyUnicode_AsUTF8(o); + } else { + PyUnicode_AsASCIIString(o); + return NULL; + } +#else + return PyUnicode_AsUTF8AndSize(o, length); +#endif +} +#endif +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT + if ( +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + __Pyx_sys_getdefaultencoding_not_ascii && +#endif + PyUnicode_Check(o)) { + return __Pyx_PyUnicode_AsStringAndSize(o, length); + } else +#endif +#if (!CYTHON_COMPILING_IN_PYPY && !CYTHON_COMPILING_IN_LIMITED_API) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) + if (PyByteArray_Check(o)) { + *length = PyByteArray_GET_SIZE(o); + return PyByteArray_AS_STRING(o); + } else +#endif + { + char* result; + int r = PyBytes_AsStringAndSize(o, &result, length); + if (unlikely(r < 0)) { + return NULL; + } else { + return result; + } + } +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { + int is_true = x == Py_True; + if (is_true | (x == Py_False) | (x == Py_None)) return is_true; + else return PyObject_IsTrue(x); +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { + int retval; + if (unlikely(!x)) return -1; + retval = __Pyx_PyObject_IsTrue(x); + Py_DECREF(x); + return retval; +} +static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { + __Pyx_TypeName result_type_name = __Pyx_PyType_GetName(Py_TYPE(result)); +#if PY_MAJOR_VERSION >= 3 + if (PyLong_Check(result)) { + if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, + "__int__ returned non-int (type " __Pyx_FMT_TYPENAME "). " + "The ability to return an instance of a strict subclass of int is deprecated, " + "and may be removed in a future version of Python.", + result_type_name)) { + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; + } + __Pyx_DECREF_TypeName(result_type_name); + return result; + } +#endif + PyErr_Format(PyExc_TypeError, + "__%.4s__ returned non-%.4s (type " __Pyx_FMT_TYPENAME ")", + type_name, type_name, result_type_name); + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { +#if CYTHON_USE_TYPE_SLOTS + PyNumberMethods *m; +#endif + const char *name = NULL; + PyObject *res = NULL; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x) || PyLong_Check(x))) +#else + if (likely(PyLong_Check(x))) +#endif + return __Pyx_NewRef(x); +#if CYTHON_USE_TYPE_SLOTS + m = Py_TYPE(x)->tp_as_number; + #if PY_MAJOR_VERSION < 3 + if (m && m->nb_int) { + name = "int"; + res = m->nb_int(x); + } + else if (m && m->nb_long) { + name = "long"; + res = m->nb_long(x); + } + #else + if (likely(m && m->nb_int)) { + name = "int"; + res = m->nb_int(x); + } + #endif +#else + if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { + res = PyNumber_Int(x); + } +#endif + if (likely(res)) { +#if PY_MAJOR_VERSION < 3 + if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { +#else + if (unlikely(!PyLong_CheckExact(res))) { +#endif + return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); + } + } + else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_TypeError, + "an integer is required"); + } + return res; +} +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { + Py_ssize_t ival; + PyObject *x; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(b))) { + if (sizeof(Py_ssize_t) >= sizeof(long)) + return PyInt_AS_LONG(b); + else + return PyInt_AsSsize_t(b); + } +#endif + if (likely(PyLong_CheckExact(b))) { + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(__Pyx_PyLong_IsCompact(b))) { + return __Pyx_PyLong_CompactValue(b); + } else { + const digit* digits = __Pyx_PyLong_Digits(b); + const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(b); + switch (size) { + case 2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + } + } + #endif + return PyLong_AsSsize_t(b); + } + x = PyNumber_Index(b); + if (!x) return -1; + ival = PyInt_AsSsize_t(x); + Py_DECREF(x); + return ival; +} +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { + if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { + return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); +#if PY_MAJOR_VERSION < 3 + } else if (likely(PyInt_CheckExact(o))) { + return PyInt_AS_LONG(o); +#endif + } else { + Py_ssize_t ival; + PyObject *x; + x = PyNumber_Index(o); + if (!x) return -1; + ival = PyInt_AsLong(x); + Py_DECREF(x); + return ival; + } +} +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { + return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); +} +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { + return PyInt_FromSize_t(ival); +} + + +/* #### Code section: utility_code_pragmas_end ### */ +#ifdef _MSC_VER +#pragma warning( pop ) +#endif + + + +/* #### Code section: end ### */ +#endif /* Py_PYTHON_H */ diff --git a/msgq_repo/msgq/ipc_pyx.pyx b/msgq_repo/msgq/ipc_pyx.pyx new file mode 100644 index 0000000000..d8797f3959 --- /dev/null +++ b/msgq_repo/msgq/ipc_pyx.pyx @@ -0,0 +1,247 @@ +# distutils: language = c++ +# cython: c_string_encoding=ascii, language_level=3 + +import sys +from libcpp.string cimport string +from libcpp.vector cimport vector +from libcpp cimport bool +from libc cimport errno +from libc.string cimport strerror +from cython.operator import dereference + + +from .ipc cimport Context as cppContext +from .ipc cimport SubSocket as cppSubSocket +from .ipc cimport PubSocket as cppPubSocket +from .ipc cimport Poller as cppPoller +from .ipc cimport Message as cppMessage +from .ipc cimport Event as cppEvent, SocketEventHandle as cppSocketEventHandle + + +class IpcError(Exception): + def __init__(self, endpoint=None): + suffix = f"with {endpoint.decode('utf-8')}" if endpoint else "" + message = f"Messaging failure {suffix}: {strerror(errno.errno).decode('utf-8')}" + super().__init__(message) + + +class MultiplePublishersError(IpcError): + pass + + +def toggle_fake_events(bool enabled): + cppSocketEventHandle.toggle_fake_events(enabled) + + +def set_fake_prefix(string prefix): + cppSocketEventHandle.set_fake_prefix(prefix) + + +def get_fake_prefix(): + return cppSocketEventHandle.fake_prefix() + + +def delete_fake_prefix(): + cppSocketEventHandle.set_fake_prefix(b"") + + +def wait_for_one_event(list events, int timeout=-1): + cdef vector[cppEvent] items + for event in events: + items.push_back(dereference(event.ptr)) + return cppEvent.wait_for_one(items, timeout) + + +cdef class Event: + cdef cppEvent event; + + def __cinit__(self): + pass + + cdef setEvent(self, cppEvent event): + self.event = event + + def set(self): + self.event.set() + + def clear(self): + return self.event.clear() + + def wait(self, int timeout=-1): + self.event.wait(timeout) + + def peek(self): + return self.event.peek() + + @property + def fd(self): + return self.event.fd() + + @property + def ptr(self): + return &self.event + + +cdef class SocketEventHandle: + cdef cppSocketEventHandle * handle; + + def __cinit__(self, string endpoint, string identifier, bool override): + self.handle = new cppSocketEventHandle(endpoint, identifier, override) + + def __dealloc__(self): + del self.handle + + @property + def enabled(self): + return self.handle.is_enabled() + + @enabled.setter + def enabled(self, bool value): + self.handle.set_enabled(value) + + @property + def recv_called_event(self): + e = Event() + e.setEvent(self.handle.recv_called()) + + return e + + @property + def recv_ready_event(self): + e = Event() + e.setEvent(self.handle.recv_ready()) + + return e + + +cdef class Context: + cdef cppContext * context + + def __cinit__(self): + self.context = cppContext.create() + + def term(self): + del self.context + self.context = NULL + + def __dealloc__(self): + pass + # Deleting the context will hang if sockets are still active + # TODO: Figure out a way to make sure the context is closed last + # del self.context + + +cdef class Poller: + cdef cppPoller * poller + cdef list sub_sockets + + def __cinit__(self): + self.sub_sockets = [] + self.poller = cppPoller.create() + + def __dealloc__(self): + del self.poller + + def registerSocket(self, SubSocket socket): + self.sub_sockets.append(socket) + self.poller.registerSocket(socket.socket) + + def poll(self, timeout): + sockets = [] + cdef int t = timeout + + with nogil: + result = self.poller.poll(t) + + for s in result: + socket = SubSocket() + socket.setPtr(s) + sockets.append(socket) + + return sockets + + +cdef class SubSocket: + cdef cppSubSocket * socket + cdef bool is_owner + + def __cinit__(self): + self.socket = cppSubSocket.create() + self.is_owner = True + + if self.socket == NULL: + raise IpcError + + def __dealloc__(self): + if self.is_owner: + del self.socket + + cdef setPtr(self, cppSubSocket * ptr): + if self.is_owner: + del self.socket + + self.is_owner = False + self.socket = ptr + + def connect(self, Context context, string endpoint, string address=b"127.0.0.1", bool conflate=False): + r = self.socket.connect(context.context, endpoint, address, conflate) + + if r != 0: + if errno.errno == errno.EADDRINUSE: + raise MultiplePublishersError(endpoint) + else: + raise IpcError(endpoint) + + def setTimeout(self, int timeout): + self.socket.setTimeout(timeout) + + def receive(self, bool non_blocking=False): + msg = self.socket.receive(non_blocking) + + if msg == NULL: + # If a blocking read returns no message check errno if SIGINT was caught in the C++ code + if errno.errno == errno.EINTR: + print("SIGINT received, exiting") + sys.exit(1) + + return None + else: + sz = msg.getSize() + m = msg.getData()[:sz] + del msg + + return m + + +cdef class PubSocket: + cdef cppPubSocket * socket + + def __cinit__(self): + self.socket = cppPubSocket.create() + if self.socket == NULL: + raise IpcError + + def __dealloc__(self): + del self.socket + + def connect(self, Context context, string endpoint): + r = self.socket.connect(context.context, endpoint) + + if r != 0: + if errno.errno == errno.EADDRINUSE: + raise MultiplePublishersError(endpoint) + else: + raise IpcError(endpoint) + + def send(self, bytes data): + length = len(data) + r = self.socket.send(data, length) + + if r != length: + if errno.errno == errno.EADDRINUSE: + raise MultiplePublishersError + else: + raise IpcError + + def all_readers_updated(self): + return self.socket.all_readers_updated() diff --git a/msgq_repo/msgq/ipc_pyx.so b/msgq_repo/msgq/ipc_pyx.so new file mode 100755 index 0000000000..2a1887ae07 Binary files /dev/null and b/msgq_repo/msgq/ipc_pyx.so differ diff --git a/msgq_repo/msgq/logger/logger.h b/msgq_repo/msgq/logger/logger.h new file mode 100644 index 0000000000..03336f8fff --- /dev/null +++ b/msgq_repo/msgq/logger/logger.h @@ -0,0 +1,21 @@ +#pragma once + +#ifdef SWAGLOG +// cppcheck-suppress preprocessorErrorDirective +#include SWAGLOG +#else + +#define CLOUDLOG_DEBUG 10 +#define CLOUDLOG_INFO 20 +#define CLOUDLOG_WARNING 30 +#define CLOUDLOG_ERROR 40 +#define CLOUDLOG_CRITICAL 50 + +#define cloudlog(lvl, fmt, ...) printf(fmt "\n", ## __VA_ARGS__) + +#define LOGD(fmt, ...) cloudlog(CLOUDLOG_DEBUG, fmt, ## __VA_ARGS__) +#define LOG(fmt, ...) cloudlog(CLOUDLOG_INFO, fmt, ## __VA_ARGS__) +#define LOGW(fmt, ...) cloudlog(CLOUDLOG_WARNING, fmt, ## __VA_ARGS__) +#define LOGE(fmt, ...) cloudlog(CLOUDLOG_ERROR, fmt, ## __VA_ARGS__) + +#endif diff --git a/msgq_repo/msgq/msgq.h b/msgq_repo/msgq/msgq.h new file mode 100644 index 0000000000..0e6b5396b4 --- /dev/null +++ b/msgq_repo/msgq/msgq.h @@ -0,0 +1,70 @@ +#pragma once + +#include +#include +#include +#include + +#define DEFAULT_SEGMENT_SIZE (10 * 1024 * 1024) +#define NUM_READERS 23 +#define ALIGN(n) ((n + (8 - 1)) & -8) + +#define UNUSED(x) (void)x +#define UNPACK64(higher, lower, input) do {uint64_t tmp = input; higher = tmp >> 32; lower = tmp & 0xFFFFFFFF;} while (0) +#define PACK64(output, higher, lower) output = ((uint64_t)higher << 32) | ((uint64_t)lower & 0xFFFFFFFF) + +struct msgq_header_t { + uint64_t num_readers; + uint64_t write_pointer; + uint64_t write_uid; + uint64_t read_pointers[NUM_READERS]; + uint64_t read_valids[NUM_READERS]; + uint64_t read_uids[NUM_READERS]; +}; + +struct msgq_queue_t { + std::atomic *num_readers; + std::atomic *write_pointer; + std::atomic *write_uid; + std::atomic *read_pointers[NUM_READERS]; + std::atomic *read_valids[NUM_READERS]; + std::atomic *read_uids[NUM_READERS]; + char * mmap_p; + char * data; + size_t size; + int reader_id; + uint64_t read_uid_local; + uint64_t write_uid_local; + + bool read_conflate; + std::string endpoint; +}; + +struct msgq_msg_t { + size_t size; + char * data; +}; + +struct msgq_pollitem_t { + msgq_queue_t *q; + int revents; +}; + +void msgq_wait_for_subscriber(msgq_queue_t *q); +void msgq_reset_reader(msgq_queue_t *q); + +int msgq_msg_init_size(msgq_msg_t *msg, size_t size); +int msgq_msg_init_data(msgq_msg_t *msg, char * data, size_t size); +int msgq_msg_close(msgq_msg_t *msg); + +int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size); +void msgq_close_queue(msgq_queue_t *q); +void msgq_init_publisher(msgq_queue_t * q); +void msgq_init_subscriber(msgq_queue_t * q); + +int msgq_msg_send(msgq_msg_t *msg, msgq_queue_t *q); +int msgq_msg_recv(msgq_msg_t *msg, msgq_queue_t *q); +int msgq_msg_ready(msgq_queue_t * q); +int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout); + +bool msgq_all_readers_updated(msgq_queue_t *q); diff --git a/msgq_repo/msgq/visionipc/.gitignore b/msgq_repo/msgq/visionipc/.gitignore new file mode 100644 index 0000000000..fa5a2b9f38 --- /dev/null +++ b/msgq_repo/msgq/visionipc/.gitignore @@ -0,0 +1,2 @@ +visionipc_pyx.cpp +*.so diff --git a/msgq_repo/msgq/visionipc/__init__.py b/msgq_repo/msgq/visionipc/__init__.py new file mode 100644 index 0000000000..57011537e4 --- /dev/null +++ b/msgq_repo/msgq/visionipc/__init__.py @@ -0,0 +1,6 @@ +from msgq.visionipc.visionipc_pyx import VisionBuf, VisionIpcClient, VisionIpcServer, VisionStreamType, get_endpoint_name +assert VisionBuf +assert VisionIpcClient +assert VisionIpcServer +assert VisionStreamType +assert get_endpoint_name diff --git a/msgq_repo/msgq/visionipc/visionbuf.h b/msgq_repo/msgq/visionipc/visionbuf.h new file mode 100644 index 0000000000..6b678a0041 --- /dev/null +++ b/msgq_repo/msgq/visionipc/visionbuf.h @@ -0,0 +1,66 @@ +#pragma once + +#include "msgq/visionipc/visionipc.h" + +#define CL_USE_DEPRECATED_OPENCL_1_2_APIS +#ifdef __APPLE__ +#include +#else +#include +#endif + +#define VISIONBUF_SYNC_FROM_DEVICE 0 +#define VISIONBUF_SYNC_TO_DEVICE 1 + +enum VisionStreamType { + VISION_STREAM_ROAD, + VISION_STREAM_DRIVER, + VISION_STREAM_WIDE_ROAD, + + VISION_STREAM_MAP, + VISION_STREAM_MAX, +}; + +class VisionBuf { + public: + size_t len = 0; + size_t mmap_len = 0; + void * addr = nullptr; + uint64_t *frame_id; + int fd = 0; + + bool rgb = false; + size_t width = 0; + size_t height = 0; + size_t stride = 0; + size_t uv_offset = 0; + + // YUV + uint8_t * y = nullptr; + uint8_t * uv = nullptr; + + // Visionipc + uint64_t server_id = 0; + size_t idx = 0; + VisionStreamType type; + + // OpenCL + cl_mem buf_cl = nullptr; + cl_command_queue copy_q = nullptr; + + // ion + int handle = 0; + + void allocate(size_t len); + void import(); + void init_cl(cl_device_id device_id, cl_context ctx); + void init_rgb(size_t width, size_t height, size_t stride); + void init_yuv(size_t width, size_t height, size_t stride, size_t uv_offset); + int sync(int dir); + int free(); + + void set_frame_id(uint64_t id); + uint64_t get_frame_id(); +}; + +void visionbuf_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h); diff --git a/msgq_repo/msgq/visionipc/visionipc.h b/msgq_repo/msgq/visionipc/visionipc.h new file mode 100644 index 0000000000..224f129c91 --- /dev/null +++ b/msgq_repo/msgq/visionipc/visionipc.h @@ -0,0 +1,25 @@ +#pragma once + +#include +#include + + +int ipc_connect(const char* socket_path); +int ipc_bind(const char* socket_path); +int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fds, int num_fds, + int *out_num_fds); + +constexpr int VISIONIPC_MAX_FDS = 128; + +struct VisionIpcBufExtra { + uint32_t frame_id; + uint64_t timestamp_sof; + uint64_t timestamp_eof; + bool valid; +}; + +struct VisionIpcPacket { + uint64_t server_id; + size_t idx; + struct VisionIpcBufExtra extra; +}; diff --git a/msgq_repo/msgq/visionipc/visionipc.pxd b/msgq_repo/msgq/visionipc/visionipc.pxd new file mode 100644 index 0000000000..645ab2208f --- /dev/null +++ b/msgq_repo/msgq/visionipc/visionipc.pxd @@ -0,0 +1,60 @@ +# distutils: language = c++ +#cython: language_level=3 + +from libcpp.string cimport string +from libcpp.vector cimport vector +from libcpp.set cimport set +from libc.stdint cimport uint32_t, uint64_t +from libcpp cimport bool, int + +cdef extern from "msgq/visionipc/visionbuf.h": + struct _cl_device_id + struct _cl_context + struct _cl_mem + + ctypedef _cl_device_id * cl_device_id + ctypedef _cl_context * cl_context + ctypedef _cl_mem * cl_mem + + cdef enum VisionStreamType: + pass + + cdef cppclass VisionBuf: + void * addr + bool rgb + size_t len + size_t width + size_t height + size_t stride + size_t uv_offset + cl_mem buf_cl + void set_frame_id(uint64_t id) + +cdef extern from "msgq/visionipc/visionipc.h": + struct VisionIpcBufExtra: + uint32_t frame_id + uint64_t timestamp_sof + uint64_t timestamp_eof + bool valid + +cdef extern from "msgq/visionipc/visionipc_server.h": + string get_endpoint_name(string, VisionStreamType) + + cdef cppclass VisionIpcServer: + VisionIpcServer(string, void*, void*) + void create_buffers(VisionStreamType, size_t, bool, size_t, size_t) + void create_buffers_with_sizes(VisionStreamType, size_t, bool, size_t, size_t, size_t, size_t, size_t) + VisionBuf * get_buffer(VisionStreamType) + void send(VisionBuf *, VisionIpcBufExtra *, bool) + void start_listener() + +cdef extern from "msgq/visionipc/visionipc_client.h": + cdef cppclass VisionIpcClient: + int num_buffers + VisionBuf buffers[1] + VisionIpcClient(string, VisionStreamType, bool, void*, void*) + VisionBuf * recv(VisionIpcBufExtra *, int) + bool connect(bool) + bool is_connected() + @staticmethod + set[VisionStreamType] getAvailableStreams(string, bool) diff --git a/msgq_repo/msgq/visionipc/visionipc_client.h b/msgq_repo/msgq/visionipc/visionipc_client.h new file mode 100644 index 0000000000..e4abdc5de3 --- /dev/null +++ b/msgq_repo/msgq/visionipc/visionipc_client.h @@ -0,0 +1,31 @@ +#pragma once + +#include +#include + +#include "msgq/ipc.h" +#include "msgq/visionipc/visionbuf.h" + + +class VisionIpcClient { +private: + std::string name; + Context * msg_ctx; + SubSocket * sock; + Poller * poller; + + cl_device_id device_id = nullptr; + cl_context ctx = nullptr; + +public: + bool connected = false; + VisionStreamType type; + int num_buffers = 0; + VisionBuf buffers[VISIONIPC_MAX_FDS]; + VisionIpcClient(std::string name, VisionStreamType type, bool conflate, cl_device_id device_id=nullptr, cl_context ctx=nullptr); + ~VisionIpcClient(); + VisionBuf * recv(VisionIpcBufExtra * extra=nullptr, const int timeout_ms=100); + bool connect(bool blocking=true); + bool is_connected() { return connected; } + static std::set getAvailableStreams(const std::string &name, bool blocking = true); +}; diff --git a/msgq_repo/msgq/visionipc/visionipc_pyx.cpp b/msgq_repo/msgq/visionipc/visionipc_pyx.cpp new file mode 100644 index 0000000000..d4fae573d2 --- /dev/null +++ b/msgq_repo/msgq/visionipc/visionipc_pyx.cpp @@ -0,0 +1,42217 @@ +/* Generated by Cython 3.0.8 */ + +/* BEGIN: Cython Metadata +{ + "distutils": { + "depends": [ + "msgq/visionipc/visionbuf.h", + "msgq/visionipc/visionipc.h", + "msgq/visionipc/visionipc_client.h", + "msgq/visionipc/visionipc_server.h" + ], + "language": "c++", + "name": "msgq.visionipc.visionipc_pyx", + "sources": [ + "/data/openpilot/msgq_repo/msgq/visionipc/visionipc_pyx.pyx" + ] + }, + "module_name": "msgq.visionipc.visionipc_pyx" +} +END: Cython Metadata */ + +#ifndef PY_SSIZE_T_CLEAN +#define PY_SSIZE_T_CLEAN +#endif /* PY_SSIZE_T_CLEAN */ +#if defined(CYTHON_LIMITED_API) && 0 + #ifndef Py_LIMITED_API + #if CYTHON_LIMITED_API+0 > 0x03030000 + #define Py_LIMITED_API CYTHON_LIMITED_API + #else + #define Py_LIMITED_API 0x03030000 + #endif + #endif +#endif + +#include "Python.h" +#ifndef Py_PYTHON_H + #error Python headers needed to compile C extensions, please install development version of Python. +#elif PY_VERSION_HEX < 0x02070000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) + #error Cython requires Python 2.7+ or Python 3.3+. +#else +#if defined(CYTHON_LIMITED_API) && CYTHON_LIMITED_API +#define __PYX_EXTRA_ABI_MODULE_NAME "limited" +#else +#define __PYX_EXTRA_ABI_MODULE_NAME "" +#endif +#define CYTHON_ABI "3_0_8" __PYX_EXTRA_ABI_MODULE_NAME +#define __PYX_ABI_MODULE_NAME "_cython_" CYTHON_ABI +#define __PYX_TYPE_MODULE_PREFIX __PYX_ABI_MODULE_NAME "." +#define CYTHON_HEX_VERSION 0x030008F0 +#define CYTHON_FUTURE_DIVISION 1 +#include +#ifndef offsetof + #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) +#endif +#if !defined(_WIN32) && !defined(WIN32) && !defined(MS_WINDOWS) + #ifndef __stdcall + #define __stdcall + #endif + #ifndef __cdecl + #define __cdecl + #endif + #ifndef __fastcall + #define __fastcall + #endif +#endif +#ifndef DL_IMPORT + #define DL_IMPORT(t) t +#endif +#ifndef DL_EXPORT + #define DL_EXPORT(t) t +#endif +#define __PYX_COMMA , +#ifndef HAVE_LONG_LONG + #define HAVE_LONG_LONG +#endif +#ifndef PY_LONG_LONG + #define PY_LONG_LONG LONG_LONG +#endif +#ifndef Py_HUGE_VAL + #define Py_HUGE_VAL HUGE_VAL +#endif +#define __PYX_LIMITED_VERSION_HEX PY_VERSION_HEX +#if defined(GRAALVM_PYTHON) + /* For very preliminary testing purposes. Most variables are set the same as PyPy. + The existence of this section does not imply that anything works or is even tested */ + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 1 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(PYPY_VERSION) + #define CYTHON_COMPILING_IN_PYPY 1 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #if PY_VERSION_HEX < 0x03090000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1 && PYPY_VERSION_NUM >= 0x07030C00) + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(CYTHON_LIMITED_API) + #ifdef Py_LIMITED_API + #undef __PYX_LIMITED_VERSION_HEX + #define __PYX_LIMITED_VERSION_HEX Py_LIMITED_API + #endif + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 1 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_CLINE_IN_TRACEBACK + #define CYTHON_CLINE_IN_TRACEBACK 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 1 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #endif + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 1 + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(Py_GIL_DISABLED) || defined(Py_NOGIL) + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 1 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #ifndef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#else + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 1 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #ifndef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 1 + #endif + #if PY_MAJOR_VERSION < 3 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #ifndef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 1 + #endif + #ifndef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 1 + #endif + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #elif !defined(CYTHON_USE_UNICODE_WRITER) + #define CYTHON_USE_UNICODE_WRITER 1 + #endif + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #ifndef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 1 + #endif + #ifndef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL (PY_MAJOR_VERSION < 3 || PY_VERSION_HEX >= 0x03060000 && PY_VERSION_HEX < 0x030C00A6) + #endif + #ifndef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL (PY_VERSION_HEX >= 0x030700A1) + #endif + #ifndef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 1 + #endif + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #endif + #if PY_VERSION_HEX < 0x030400a1 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #elif !defined(CYTHON_USE_TP_FINALIZE) + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #if PY_VERSION_HEX < 0x030600B1 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #elif !defined(CYTHON_USE_DICT_VERSIONS) + #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX < 0x030C00A5) + #endif + #if PY_VERSION_HEX < 0x030700A3 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #elif !defined(CYTHON_USE_EXC_INFO_STACK) + #define CYTHON_USE_EXC_INFO_STACK 1 + #endif + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 1 + #endif +#endif +#if !defined(CYTHON_FAST_PYCCALL) +#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) +#endif +#if !defined(CYTHON_VECTORCALL) +#define CYTHON_VECTORCALL (CYTHON_FAST_PYCCALL && PY_VERSION_HEX >= 0x030800B1) +#endif +#define CYTHON_BACKPORT_VECTORCALL (CYTHON_METH_FASTCALL && PY_VERSION_HEX < 0x030800B1) +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_MAJOR_VERSION < 3 + #include "longintrepr.h" + #endif + #undef SHIFT + #undef BASE + #undef MASK + #ifdef SIZEOF_VOID_P + enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; + #endif +#endif +#ifndef __has_attribute + #define __has_attribute(x) 0 +#endif +#ifndef __has_cpp_attribute + #define __has_cpp_attribute(x) 0 +#endif +#ifndef CYTHON_RESTRICT + #if defined(__GNUC__) + #define CYTHON_RESTRICT __restrict__ + #elif defined(_MSC_VER) && _MSC_VER >= 1400 + #define CYTHON_RESTRICT __restrict + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_RESTRICT restrict + #else + #define CYTHON_RESTRICT + #endif +#endif +#ifndef CYTHON_UNUSED + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(maybe_unused) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(maybe_unused) + #define CYTHON_UNUSED [[maybe_unused]] + #endif + #endif + #endif +#endif +#ifndef CYTHON_UNUSED +# if defined(__GNUC__) +# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_UNUSED_VAR +# if defined(__cplusplus) + template void CYTHON_UNUSED_VAR( const T& ) { } +# else +# define CYTHON_UNUSED_VAR(x) (void)(x) +# endif +#endif +#ifndef CYTHON_MAYBE_UNUSED_VAR + #define CYTHON_MAYBE_UNUSED_VAR(x) CYTHON_UNUSED_VAR(x) +#endif +#ifndef CYTHON_NCP_UNUSED +# if CYTHON_COMPILING_IN_CPYTHON +# define CYTHON_NCP_UNUSED +# else +# define CYTHON_NCP_UNUSED CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_USE_CPP_STD_MOVE + #if defined(__cplusplus) && (\ + __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600)) + #define CYTHON_USE_CPP_STD_MOVE 1 + #else + #define CYTHON_USE_CPP_STD_MOVE 0 + #endif +#endif +#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) +#ifdef _MSC_VER + #ifndef _MSC_STDINT_H_ + #if _MSC_VER < 1300 + typedef unsigned char uint8_t; + typedef unsigned short uint16_t; + typedef unsigned int uint32_t; + #else + typedef unsigned __int8 uint8_t; + typedef unsigned __int16 uint16_t; + typedef unsigned __int32 uint32_t; + #endif + #endif + #if _MSC_VER < 1300 + #ifdef _WIN64 + typedef unsigned long long __pyx_uintptr_t; + #else + typedef unsigned int __pyx_uintptr_t; + #endif + #else + #ifdef _WIN64 + typedef unsigned __int64 __pyx_uintptr_t; + #else + typedef unsigned __int32 __pyx_uintptr_t; + #endif + #endif +#else + #include + typedef uintptr_t __pyx_uintptr_t; +#endif +#ifndef CYTHON_FALLTHROUGH + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(fallthrough) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(fallthrough) + #define CYTHON_FALLTHROUGH [[fallthrough]] + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_cpp_attribute(clang::fallthrough) + #define CYTHON_FALLTHROUGH [[clang::fallthrough]] + #elif __has_cpp_attribute(gnu::fallthrough) + #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] + #endif + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_attribute(fallthrough) + #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) + #else + #define CYTHON_FALLTHROUGH + #endif + #endif + #if defined(__clang__) && defined(__apple_build_version__) + #if __apple_build_version__ < 7000000 + #undef CYTHON_FALLTHROUGH + #define CYTHON_FALLTHROUGH + #endif + #endif +#endif +#ifdef __cplusplus + template + struct __PYX_IS_UNSIGNED_IMPL {static const bool value = T(0) < T(-1);}; + #define __PYX_IS_UNSIGNED(type) (__PYX_IS_UNSIGNED_IMPL::value) +#else + #define __PYX_IS_UNSIGNED(type) (((type)-1) > 0) +#endif +#if CYTHON_COMPILING_IN_PYPY == 1 + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x030A0000) +#else + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000) +#endif +#define __PYX_REINTERPRET_FUNCION(func_pointer, other_pointer) ((func_pointer)(void(*)(void))(other_pointer)) + +#ifndef __cplusplus + #error "Cython files generated with the C++ option must be compiled with a C++ compiler." +#endif +#ifndef CYTHON_INLINE + #if defined(__clang__) + #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) + #else + #define CYTHON_INLINE inline + #endif +#endif +template +void __Pyx_call_destructor(T& x) { + x.~T(); +} +template +class __Pyx_FakeReference { + public: + __Pyx_FakeReference() : ptr(NULL) { } + __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } + T *operator->() { return ptr; } + T *operator&() { return ptr; } + operator T&() { return *ptr; } + template bool operator ==(const U& other) const { return *ptr == other; } + template bool operator !=(const U& other) const { return *ptr != other; } + template bool operator==(const __Pyx_FakeReference& other) const { return *ptr == *other.ptr; } + template bool operator!=(const __Pyx_FakeReference& other) const { return *ptr != *other.ptr; } + private: + T *ptr; +}; + +#define __PYX_BUILD_PY_SSIZE_T "n" +#define CYTHON_FORMAT_SSIZE_T "z" +#if PY_MAJOR_VERSION < 3 + #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" + #define __Pyx_DefaultClassType PyClass_Type + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_BUILTIN_MODULE_NAME "builtins" + #define __Pyx_DefaultClassType PyType_Type +#if CYTHON_COMPILING_IN_LIMITED_API + static CYTHON_INLINE PyObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyObject *exception_table = NULL; + PyObject *types_module=NULL, *code_type=NULL, *result=NULL; + #if __PYX_LIMITED_VERSION_HEX < 0x030B0000 + PyObject *version_info; + PyObject *py_minor_version = NULL; + #endif + long minor_version = 0; + PyObject *type, *value, *traceback; + PyErr_Fetch(&type, &value, &traceback); + #if __PYX_LIMITED_VERSION_HEX >= 0x030B0000 + minor_version = 11; + #else + if (!(version_info = PySys_GetObject("version_info"))) goto end; + if (!(py_minor_version = PySequence_GetItem(version_info, 1))) goto end; + minor_version = PyLong_AsLong(py_minor_version); + Py_DECREF(py_minor_version); + if (minor_version == -1 && PyErr_Occurred()) goto end; + #endif + if (!(types_module = PyImport_ImportModule("types"))) goto end; + if (!(code_type = PyObject_GetAttrString(types_module, "CodeType"))) goto end; + if (minor_version <= 7) { + (void)p; + result = PyObject_CallFunction(code_type, "iiiiiOOOOOOiOO", a, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else if (minor_version <= 10) { + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else { + if (!(exception_table = PyBytes_FromStringAndSize(NULL, 0))) goto end; + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, name, fline, lnos, exception_table, fv, cell); + } + end: + Py_XDECREF(code_type); + Py_XDECREF(exception_table); + Py_XDECREF(types_module); + if (type) { + PyErr_Restore(type, value, traceback); + } + return result; + } + #ifndef CO_OPTIMIZED + #define CO_OPTIMIZED 0x0001 + #endif + #ifndef CO_NEWLOCALS + #define CO_NEWLOCALS 0x0002 + #endif + #ifndef CO_VARARGS + #define CO_VARARGS 0x0004 + #endif + #ifndef CO_VARKEYWORDS + #define CO_VARKEYWORDS 0x0008 + #endif + #ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x0200 + #endif + #ifndef CO_GENERATOR + #define CO_GENERATOR 0x0020 + #endif + #ifndef CO_COROUTINE + #define CO_COROUTINE 0x0080 + #endif +#elif PY_VERSION_HEX >= 0x030B0000 + static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyCodeObject *result; + PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); + if (!empty_bytes) return NULL; + result = + #if PY_VERSION_HEX >= 0x030C0000 + PyUnstable_Code_NewWithPosOnlyArgs + #else + PyCode_NewWithPosOnlyArgs + #endif + (a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, name, fline, lnos, empty_bytes); + Py_DECREF(empty_bytes); + return result; + } +#elif PY_VERSION_HEX >= 0x030800B2 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_NewWithPosOnlyArgs(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#endif +#endif +#if PY_VERSION_HEX >= 0x030900A4 || defined(Py_IS_TYPE) + #define __Pyx_IS_TYPE(ob, type) Py_IS_TYPE(ob, type) +#else + #define __Pyx_IS_TYPE(ob, type) (((const PyObject*)ob)->ob_type == (type)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_Is) + #define __Pyx_Py_Is(x, y) Py_Is(x, y) +#else + #define __Pyx_Py_Is(x, y) ((x) == (y)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsNone) + #define __Pyx_Py_IsNone(ob) Py_IsNone(ob) +#else + #define __Pyx_Py_IsNone(ob) __Pyx_Py_Is((ob), Py_None) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsTrue) + #define __Pyx_Py_IsTrue(ob) Py_IsTrue(ob) +#else + #define __Pyx_Py_IsTrue(ob) __Pyx_Py_Is((ob), Py_True) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsFalse) + #define __Pyx_Py_IsFalse(ob) Py_IsFalse(ob) +#else + #define __Pyx_Py_IsFalse(ob) __Pyx_Py_Is((ob), Py_False) +#endif +#define __Pyx_NoneAsNull(obj) (__Pyx_Py_IsNone(obj) ? NULL : (obj)) +#if PY_VERSION_HEX >= 0x030900F0 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_GC_IsFinalized(o) PyObject_GC_IsFinalized(o) +#else + #define __Pyx_PyObject_GC_IsFinalized(o) _PyGC_FINALIZED(o) +#endif +#ifndef CO_COROUTINE + #define CO_COROUTINE 0x80 +#endif +#ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x200 +#endif +#ifndef Py_TPFLAGS_CHECKTYPES + #define Py_TPFLAGS_CHECKTYPES 0 +#endif +#ifndef Py_TPFLAGS_HAVE_INDEX + #define Py_TPFLAGS_HAVE_INDEX 0 +#endif +#ifndef Py_TPFLAGS_HAVE_NEWBUFFER + #define Py_TPFLAGS_HAVE_NEWBUFFER 0 +#endif +#ifndef Py_TPFLAGS_HAVE_FINALIZE + #define Py_TPFLAGS_HAVE_FINALIZE 0 +#endif +#ifndef Py_TPFLAGS_SEQUENCE + #define Py_TPFLAGS_SEQUENCE 0 +#endif +#ifndef Py_TPFLAGS_MAPPING + #define Py_TPFLAGS_MAPPING 0 +#endif +#ifndef METH_STACKLESS + #define METH_STACKLESS 0 +#endif +#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) + #ifndef METH_FASTCALL + #define METH_FASTCALL 0x80 + #endif + typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); + typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, + Py_ssize_t nargs, PyObject *kwnames); +#else + #define __Pyx_PyCFunctionFast _PyCFunctionFast + #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords +#endif +#if CYTHON_METH_FASTCALL + #define __Pyx_METH_FASTCALL METH_FASTCALL + #define __Pyx_PyCFunction_FastCall __Pyx_PyCFunctionFast + #define __Pyx_PyCFunction_FastCallWithKeywords __Pyx_PyCFunctionFastWithKeywords +#else + #define __Pyx_METH_FASTCALL METH_VARARGS + #define __Pyx_PyCFunction_FastCall PyCFunction + #define __Pyx_PyCFunction_FastCallWithKeywords PyCFunctionWithKeywords +#endif +#if CYTHON_VECTORCALL + #define __pyx_vectorcallfunc vectorcallfunc + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET PY_VECTORCALL_ARGUMENTS_OFFSET + #define __Pyx_PyVectorcall_NARGS(n) PyVectorcall_NARGS((size_t)(n)) +#elif CYTHON_BACKPORT_VECTORCALL + typedef PyObject *(*__pyx_vectorcallfunc)(PyObject *callable, PyObject *const *args, + size_t nargsf, PyObject *kwnames); + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET ((size_t)1 << (8 * sizeof(size_t) - 1)) + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(((size_t)(n)) & ~__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET)) +#else + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET 0 + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(n)) +#endif +#if PY_MAJOR_VERSION >= 0x030900B1 +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_CheckExact(func) +#else +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_Check(func) +#endif +#define __Pyx_CyOrPyCFunction_Check(func) PyCFunction_Check(func) +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) (((PyCFunctionObject*)(func))->m_ml->ml_meth) +#elif !CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) PyCFunction_GET_FUNCTION(func) +#endif +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FLAGS(func) (((PyCFunctionObject*)(func))->m_ml->ml_flags) +static CYTHON_INLINE PyObject* __Pyx_CyOrPyCFunction_GET_SELF(PyObject *func) { + return (__Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_STATIC) ? NULL : ((PyCFunctionObject*)func)->m_self; +} +#endif +static CYTHON_INLINE int __Pyx__IsSameCFunction(PyObject *func, void *cfunc) { +#if CYTHON_COMPILING_IN_LIMITED_API + return PyCFunction_Check(func) && PyCFunction_GetFunction(func) == (PyCFunction) cfunc; +#else + return PyCFunction_Check(func) && PyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +#endif +} +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCFunction(func, cfunc) +#if __PYX_LIMITED_VERSION_HEX < 0x030900B1 + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) ((void)m, PyType_FromSpecWithBases(s, b)) + typedef PyObject *(*__Pyx_PyCMethod)(PyObject *, PyTypeObject *, PyObject *const *, size_t, PyObject *); +#else + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) PyType_FromModuleAndSpec(m, s, b) + #define __Pyx_PyCMethod PyCMethod +#endif +#ifndef METH_METHOD + #define METH_METHOD 0x200 +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) + #define PyObject_Malloc(s) PyMem_Malloc(s) + #define PyObject_Free(p) PyMem_Free(p) + #define PyObject_Realloc(p) PyMem_Realloc(p) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) +#else + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyThreadState_Current PyThreadState_Get() +#elif !CYTHON_FAST_THREAD_STATE + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#elif PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyThreadState_Current PyThreadState_GetUnchecked() +#elif PY_VERSION_HEX >= 0x03060000 + #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() +#elif PY_VERSION_HEX >= 0x03000000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#else + #define __Pyx_PyThreadState_Current _PyThreadState_Current +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE void *__Pyx_PyModule_GetState(PyObject *op) +{ + void *result; + result = PyModule_GetState(op); + if (!result) + Py_FatalError("Couldn't find the module state"); + return result; +} +#endif +#define __Pyx_PyObject_GetSlot(obj, name, func_ctype) __Pyx_PyType_GetSlot(Py_TYPE(obj), name, func_ctype) +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((func_ctype) PyType_GetSlot((type), Py_##name)) +#else + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((type)->name) +#endif +#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) +#include "pythread.h" +#define Py_tss_NEEDS_INIT 0 +typedef int Py_tss_t; +static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { + *key = PyThread_create_key(); + return 0; +} +static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { + Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); + *key = Py_tss_NEEDS_INIT; + return key; +} +static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { + PyObject_Free(key); +} +static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { + return *key != Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { + PyThread_delete_key(*key); + *key = Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { + return PyThread_set_key_value(*key, value); +} +static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { + return PyThread_get_key_value(*key); +} +#endif +#if PY_MAJOR_VERSION < 3 + #if CYTHON_COMPILING_IN_PYPY + #if PYPY_VERSION_NUM < 0x07030600 + #if defined(__cplusplus) && __cplusplus >= 201402L + [[deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")]] + #elif defined(__GNUC__) || defined(__clang__) + __attribute__ ((__deprecated__("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6"))) + #elif defined(_MSC_VER) + __declspec(deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")) + #endif + static CYTHON_INLINE int PyGILState_Check(void) { + return 0; + } + #else // PYPY_VERSION_NUM < 0x07030600 + #endif // PYPY_VERSION_NUM < 0x07030600 + #else + static CYTHON_INLINE int PyGILState_Check(void) { + PyThreadState * tstate = _PyThreadState_Current; + return tstate && (tstate == PyGILState_GetThisThreadState()); + } + #endif +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030d0000 || defined(_PyDict_NewPresized) +#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) +#else +#define __Pyx_PyDict_NewPresized(n) PyDict_New() +#endif +#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION + #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) +#else + #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX > 0x030600B4 && PY_VERSION_HEX < 0x030d0000 && CYTHON_USE_UNICODE_INTERNALS +#define __Pyx_PyDict_GetItemStrWithError(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStr(PyObject *dict, PyObject *name) { + PyObject *res = __Pyx_PyDict_GetItemStrWithError(dict, name); + if (res == NULL) PyErr_Clear(); + return res; +} +#elif PY_MAJOR_VERSION >= 3 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07020000) +#define __Pyx_PyDict_GetItemStrWithError PyDict_GetItemWithError +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#else +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStrWithError(PyObject *dict, PyObject *name) { +#if CYTHON_COMPILING_IN_PYPY + return PyDict_GetItem(dict, name); +#else + PyDictEntry *ep; + PyDictObject *mp = (PyDictObject*) dict; + long hash = ((PyStringObject *) name)->ob_shash; + assert(hash != -1); + ep = (mp->ma_lookup)(mp, name, hash); + if (ep == NULL) { + return NULL; + } + return ep->me_value; +#endif +} +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#endif +#if CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyType_GetFlags(tp) (((PyTypeObject *)tp)->tp_flags) + #define __Pyx_PyType_HasFeature(type, feature) ((__Pyx_PyType_GetFlags(type) & (feature)) != 0) + #define __Pyx_PyObject_GetIterNextFunc(obj) (Py_TYPE(obj)->tp_iternext) +#else + #define __Pyx_PyType_GetFlags(tp) (PyType_GetFlags((PyTypeObject *)tp)) + #define __Pyx_PyType_HasFeature(type, feature) PyType_HasFeature(type, feature) + #define __Pyx_PyObject_GetIterNextFunc(obj) PyIter_Next +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyObject_GenericSetAttr((PyObject*)tp, k, v) +#else + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyDict_SetItem(tp->tp_dict, k, v) +#endif +#if CYTHON_USE_TYPE_SPECS && PY_VERSION_HEX >= 0x03080000 +#define __Pyx_PyHeapTypeObject_GC_Del(obj) {\ + PyTypeObject *type = Py_TYPE((PyObject*)obj);\ + assert(__Pyx_PyType_HasFeature(type, Py_TPFLAGS_HEAPTYPE));\ + PyObject_GC_Del(obj);\ + Py_DECREF(type);\ +} +#else +#define __Pyx_PyHeapTypeObject_GC_Del(obj) PyObject_GC_Del(obj) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define CYTHON_PEP393_ENABLED 1 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GetLength(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_ReadChar(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((void)u, 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((void)u, (0)) + #define __Pyx_PyUnicode_DATA(u) ((void*)u) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)k, PyUnicode_ReadChar((PyObject*)(d), i)) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GetLength(u)) +#elif PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) + #define CYTHON_PEP393_ENABLED 1 + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_READY(op) (0) + #else + #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ + 0 : _PyUnicode_Ready((PyObject *)(op))) + #endif + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) + #define __Pyx_PyUnicode_KIND(u) ((int)PyUnicode_KIND(u)) + #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) + #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, (Py_UCS4) ch) + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) + #else + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) + #endif + #endif +#else + #define CYTHON_PEP393_ENABLED 0 + #define PyUnicode_1BYTE_KIND 1 + #define PyUnicode_2BYTE_KIND 2 + #define PyUnicode_4BYTE_KIND 4 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535U : 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((int)sizeof(Py_UNICODE)) + #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = (Py_UNICODE) ch) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) +#else + #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ + PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #if !defined(PyUnicode_DecodeUnicodeEscape) + #define PyUnicode_DecodeUnicodeEscape(s, size, errors) PyUnicode_Decode(s, size, "unicode_escape", errors) + #endif + #if !defined(PyUnicode_Contains) || (PY_MAJOR_VERSION == 2 && PYPY_VERSION_NUM < 0x07030500) + #undef PyUnicode_Contains + #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) + #endif + #if !defined(PyByteArray_Check) + #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) + #endif + #if !defined(PyObject_Format) + #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) + #endif +#endif +#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) +#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) +#else + #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) +#endif +#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) + #define PyObject_ASCII(o) PyObject_Repr(o) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBaseString_Type PyUnicode_Type + #define PyStringObject PyUnicodeObject + #define PyString_Type PyUnicode_Type + #define PyString_Check PyUnicode_Check + #define PyString_CheckExact PyUnicode_CheckExact +#ifndef PyObject_Unicode + #define PyObject_Unicode PyObject_Str +#endif +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) + #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) +#else + #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) + #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) +#endif +#if CYTHON_COMPILING_IN_CPYTHON + #define __Pyx_PySequence_ListKeepNew(obj)\ + (likely(PyList_CheckExact(obj) && Py_REFCNT(obj) == 1) ? __Pyx_NewRef(obj) : PySequence_List(obj)) +#else + #define __Pyx_PySequence_ListKeepNew(obj) PySequence_List(obj) +#endif +#ifndef PySet_CheckExact + #define PySet_CheckExact(obj) __Pyx_IS_TYPE(obj, &PySet_Type) +#endif +#if PY_VERSION_HEX >= 0x030900A4 + #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) +#else + #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) +#endif +#if CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_PySequence_ITEM(o, i) PySequence_ITEM(o, i) + #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) (PyTuple_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyList_SET_ITEM(o, i, v) (PyList_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_GET_SIZE(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_GET_SIZE(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_GET_SIZE(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_GET_SIZE(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_GET_SIZE(o) +#else + #define __Pyx_PySequence_ITEM(o, i) PySequence_GetItem(o, i) + #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) PyTuple_SetItem(o, i, v) + #define __Pyx_PyList_SET_ITEM(o, i, v) PyList_SetItem(o, i, v) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_Size(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_Size(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_Size(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_Size(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_Size(o) +#endif +#if PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyImport_AddModuleRef(name) PyImport_AddModuleRef(name) +#else + static CYTHON_INLINE PyObject *__Pyx_PyImport_AddModuleRef(const char *name) { + PyObject *module = PyImport_AddModule(name); + Py_XINCREF(module); + return module; + } +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyIntObject PyLongObject + #define PyInt_Type PyLong_Type + #define PyInt_Check(op) PyLong_Check(op) + #define PyInt_CheckExact(op) PyLong_CheckExact(op) + #define __Pyx_Py3Int_Check(op) PyLong_Check(op) + #define __Pyx_Py3Int_CheckExact(op) PyLong_CheckExact(op) + #define PyInt_FromString PyLong_FromString + #define PyInt_FromUnicode PyLong_FromUnicode + #define PyInt_FromLong PyLong_FromLong + #define PyInt_FromSize_t PyLong_FromSize_t + #define PyInt_FromSsize_t PyLong_FromSsize_t + #define PyInt_AsLong PyLong_AsLong + #define PyInt_AS_LONG PyLong_AS_LONG + #define PyInt_AsSsize_t PyLong_AsSsize_t + #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask + #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask + #define PyNumber_Int PyNumber_Long +#else + #define __Pyx_Py3Int_Check(op) (PyLong_Check(op) || PyInt_Check(op)) + #define __Pyx_Py3Int_CheckExact(op) (PyLong_CheckExact(op) || PyInt_CheckExact(op)) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBoolObject PyLongObject +#endif +#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY + #ifndef PyUnicode_InternFromString + #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) + #endif +#endif +#if PY_VERSION_HEX < 0x030200A4 + typedef long Py_hash_t; + #define __Pyx_PyInt_FromHash_t PyInt_FromLong + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t +#else + #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t +#endif +#if CYTHON_USE_ASYNC_SLOTS + #if PY_VERSION_HEX >= 0x030500B1 + #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods + #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) + #else + #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) + #endif +#else + #define __Pyx_PyType_AsAsync(obj) NULL +#endif +#ifndef __Pyx_PyAsyncMethodsStruct + typedef struct { + unaryfunc am_await; + unaryfunc am_aiter; + unaryfunc am_anext; + } __Pyx_PyAsyncMethodsStruct; +#endif + +#if defined(_WIN32) || defined(WIN32) || defined(MS_WINDOWS) + #if !defined(_USE_MATH_DEFINES) + #define _USE_MATH_DEFINES + #endif +#endif +#include +#ifdef NAN +#define __PYX_NAN() ((float) NAN) +#else +static CYTHON_INLINE float __PYX_NAN() { + float value; + memset(&value, 0xFF, sizeof(value)); + return value; +} +#endif +#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) +#define __Pyx_truncl trunc +#else +#define __Pyx_truncl truncl +#endif + +#define __PYX_MARK_ERR_POS(f_index, lineno) \ + { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } +#define __PYX_ERR(f_index, lineno, Ln_error) \ + { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } + +#ifdef CYTHON_EXTERN_C + #undef __PYX_EXTERN_C + #define __PYX_EXTERN_C CYTHON_EXTERN_C +#elif defined(__PYX_EXTERN_C) + #ifdef _MSC_VER + #pragma message ("Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead.") + #else + #warning Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead. + #endif +#else + #define __PYX_EXTERN_C extern "C++" +#endif + +#define __PYX_HAVE__msgq__visionipc__visionipc_pyx +#define __PYX_HAVE_API__msgq__visionipc__visionipc_pyx +/* Early includes */ +#include +#include +#include "ios" +#include "new" +#include "stdexcept" +#include "typeinfo" +#include +#include + + #if __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600) + // move should be defined for these versions of MSVC, but __cplusplus isn't set usefully + #include + + namespace cython_std { + template typename std::remove_reference::type&& move(T& t) noexcept { return std::move(t); } + template typename std::remove_reference::type&& move(T&& t) noexcept { return std::move(t); } + } + + #endif + +#include +#include +#include "msgq/visionipc/visionbuf.h" +#include "msgq/visionipc/visionipc.h" +#include "msgq/visionipc/visionipc_server.h" +#include "msgq/visionipc/visionipc_client.h" +#include + + /* Using NumPy API declarations from "numpy/__init__.cython-30.pxd" */ + +#include "numpy/arrayobject.h" +#include "numpy/ndarrayobject.h" +#include "numpy/ndarraytypes.h" +#include "numpy/arrayscalars.h" +#include "numpy/ufuncobject.h" +#include "pythread.h" +#include +#ifdef _OPENMP +#include +#endif /* _OPENMP */ + +#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) +#define CYTHON_WITHOUT_ASSERTIONS +#endif + +typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; + const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; + +#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 1 +#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) +#define __PYX_DEFAULT_STRING_ENCODING "ascii" +#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString +#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#define __Pyx_uchar_cast(c) ((unsigned char)c) +#define __Pyx_long_cast(x) ((long)x) +#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ + (sizeof(type) < sizeof(Py_ssize_t)) ||\ + (sizeof(type) > sizeof(Py_ssize_t) &&\ + likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX) &&\ + (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ + v == (type)PY_SSIZE_T_MIN))) ||\ + (sizeof(type) == sizeof(Py_ssize_t) &&\ + (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX))) ) +static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { + return (size_t) i < (size_t) limit; +} +#if defined (__cplusplus) && __cplusplus >= 201103L + #include + #define __Pyx_sst_abs(value) std::abs(value) +#elif SIZEOF_INT >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) abs(value) +#elif SIZEOF_LONG >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) labs(value) +#elif defined (_MSC_VER) + #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) +#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define __Pyx_sst_abs(value) llabs(value) +#elif defined (__GNUC__) + #define __Pyx_sst_abs(value) __builtin_llabs(value) +#else + #define __Pyx_sst_abs(value) ((value<0) ? -value : value) +#endif +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s); +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char*); +#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) +#define __Pyx_PyBytes_FromString PyBytes_FromString +#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); +#if PY_MAJOR_VERSION < 3 + #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#else + #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize +#endif +#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyObject_AsWritableString(s) ((char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableSString(s) ((signed char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) +#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) +#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) +#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) +#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const wchar_t *u) +{ + const wchar_t *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#else +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) +{ + const Py_UNICODE *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#endif +#define __Pyx_PyUnicode_FromOrdinal(o) PyUnicode_FromOrdinal((int)o) +#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) +#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode +#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode +#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) +#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); +#define __Pyx_PySequence_Tuple(obj)\ + (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); +#if CYTHON_ASSUME_SAFE_MACROS +#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) +#else +#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) +#endif +#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) +#else +#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) +#endif +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_VERSION_HEX >= 0x030C00A7 + #ifndef _PyLong_SIGN_MASK + #define _PyLong_SIGN_MASK 3 + #endif + #ifndef _PyLong_NON_SIZE_BITS + #define _PyLong_NON_SIZE_BITS 3 + #endif + #define __Pyx_PyLong_Sign(x) (((PyLongObject*)x)->long_value.lv_tag & _PyLong_SIGN_MASK) + #define __Pyx_PyLong_IsNeg(x) ((__Pyx_PyLong_Sign(x) & 2) != 0) + #define __Pyx_PyLong_IsNonNeg(x) (!__Pyx_PyLong_IsNeg(x)) + #define __Pyx_PyLong_IsZero(x) (__Pyx_PyLong_Sign(x) & 1) + #define __Pyx_PyLong_IsPos(x) (__Pyx_PyLong_Sign(x) == 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) (__Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) ((Py_ssize_t) (((PyLongObject*)x)->long_value.lv_tag >> _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_SignedDigitCount(x)\ + ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * __Pyx_PyLong_DigitCount(x)) + #if defined(PyUnstable_Long_IsCompact) && defined(PyUnstable_Long_CompactValue) + #define __Pyx_PyLong_IsCompact(x) PyUnstable_Long_IsCompact((PyLongObject*) x) + #define __Pyx_PyLong_CompactValue(x) PyUnstable_Long_CompactValue((PyLongObject*) x) + #else + #define __Pyx_PyLong_IsCompact(x) (((PyLongObject*)x)->long_value.lv_tag < (2 << _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_CompactValue(x) ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * (Py_ssize_t) __Pyx_PyLong_Digits(x)[0]) + #endif + typedef Py_ssize_t __Pyx_compact_pylong; + typedef size_t __Pyx_compact_upylong; + #else + #define __Pyx_PyLong_IsNeg(x) (Py_SIZE(x) < 0) + #define __Pyx_PyLong_IsNonNeg(x) (Py_SIZE(x) >= 0) + #define __Pyx_PyLong_IsZero(x) (Py_SIZE(x) == 0) + #define __Pyx_PyLong_IsPos(x) (Py_SIZE(x) > 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) ((Py_SIZE(x) == 0) ? 0 : __Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) __Pyx_sst_abs(Py_SIZE(x)) + #define __Pyx_PyLong_SignedDigitCount(x) Py_SIZE(x) + #define __Pyx_PyLong_IsCompact(x) (Py_SIZE(x) == 0 || Py_SIZE(x) == 1 || Py_SIZE(x) == -1) + #define __Pyx_PyLong_CompactValue(x)\ + ((Py_SIZE(x) == 0) ? (sdigit) 0 : ((Py_SIZE(x) < 0) ? -(sdigit)__Pyx_PyLong_Digits(x)[0] : (sdigit)__Pyx_PyLong_Digits(x)[0])) + typedef sdigit __Pyx_compact_pylong; + typedef digit __Pyx_compact_upylong; + #endif + #if PY_VERSION_HEX >= 0x030C00A5 + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->long_value.ob_digit) + #else + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->ob_digit) + #endif +#endif +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII +#include +static int __Pyx_sys_getdefaultencoding_not_ascii; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + PyObject* ascii_chars_u = NULL; + PyObject* ascii_chars_b = NULL; + const char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + if (strcmp(default_encoding_c, "ascii") == 0) { + __Pyx_sys_getdefaultencoding_not_ascii = 0; + } else { + char ascii_chars[128]; + int c; + for (c = 0; c < 128; c++) { + ascii_chars[c] = (char) c; + } + __Pyx_sys_getdefaultencoding_not_ascii = 1; + ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); + if (!ascii_chars_u) goto bad; + ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); + if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { + PyErr_Format( + PyExc_ValueError, + "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", + default_encoding_c); + goto bad; + } + Py_DECREF(ascii_chars_u); + Py_DECREF(ascii_chars_b); + } + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + Py_XDECREF(ascii_chars_u); + Py_XDECREF(ascii_chars_b); + return -1; +} +#endif +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3 +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL) +#else +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL) +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#include +static char* __PYX_DEFAULT_STRING_ENCODING; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1); + if (!__PYX_DEFAULT_STRING_ENCODING) goto bad; + strcpy(__PYX_DEFAULT_STRING_ENCODING, default_encoding_c); + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + return -1; +} +#endif +#endif + + +/* Test for GCC > 2.95 */ +#if defined(__GNUC__) && (__GNUC__ > 2 || (__GNUC__ == 2 && (__GNUC_MINOR__ > 95))) + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#else /* !__GNUC__ or GCC < 2.95 */ + #define likely(x) (x) + #define unlikely(x) (x) +#endif /* __GNUC__ */ +static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void)ptr; } + +#if !CYTHON_USE_MODULE_STATE +static PyObject *__pyx_m = NULL; +#endif +static int __pyx_lineno; +static int __pyx_clineno = 0; +static const char * __pyx_cfilenm = __FILE__; +static const char *__pyx_filename; + +/* Header.proto */ +#if !defined(CYTHON_CCOMPLEX) + #if defined(__cplusplus) + #define CYTHON_CCOMPLEX 1 + #elif (defined(_Complex_I) && !defined(_MSC_VER)) || ((defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) && !defined(__STDC_NO_COMPLEX__) && !defined(_MSC_VER)) + #define CYTHON_CCOMPLEX 1 + #else + #define CYTHON_CCOMPLEX 0 + #endif +#endif +#if CYTHON_CCOMPLEX + #ifdef __cplusplus + #include + #else + #include + #endif +#endif +#if CYTHON_CCOMPLEX && !defined(__cplusplus) && defined(__sun__) && defined(__GNUC__) + #undef _Complex_I + #define _Complex_I 1.0fj +#endif + +/* #### Code section: filename_table ### */ + +static const char *__pyx_f[] = { + "msgq_repo/msgq/visionipc/visionipc_pyx.pyx", + "", + "__init__.cython-30.pxd", + "msgq_repo/msgq/visionipc/visionipc_pyx.pxd", + "type.pxd", +}; +/* #### Code section: utility_code_proto_before_types ### */ +/* ForceInitThreads.proto */ +#ifndef __PYX_FORCE_INIT_THREADS + #define __PYX_FORCE_INIT_THREADS 0 +#endif + +/* NoFastGil.proto */ +#define __Pyx_PyGILState_Ensure PyGILState_Ensure +#define __Pyx_PyGILState_Release PyGILState_Release +#define __Pyx_FastGIL_Remember() +#define __Pyx_FastGIL_Forget() +#define __Pyx_FastGilFuncInit() + +/* BufferFormatStructs.proto */ +struct __Pyx_StructField_; +#define __PYX_BUF_FLAGS_PACKED_STRUCT (1 << 0) +typedef struct { + const char* name; + struct __Pyx_StructField_* fields; + size_t size; + size_t arraysize[8]; + int ndim; + char typegroup; + char is_unsigned; + int flags; +} __Pyx_TypeInfo; +typedef struct __Pyx_StructField_ { + __Pyx_TypeInfo* type; + const char* name; + size_t offset; +} __Pyx_StructField; +typedef struct { + __Pyx_StructField* field; + size_t parent_offset; +} __Pyx_BufFmt_StackElem; +typedef struct { + __Pyx_StructField root; + __Pyx_BufFmt_StackElem* head; + size_t fmt_offset; + size_t new_count, enc_count; + size_t struct_alignment; + int is_complex; + char enc_type; + char new_packmode; + char enc_packmode; + char is_valid_array; +} __Pyx_BufFmt_Context; + +/* Atomics.proto */ +#include +#ifndef CYTHON_ATOMICS + #define CYTHON_ATOMICS 1 +#endif +#define __PYX_CYTHON_ATOMICS_ENABLED() CYTHON_ATOMICS +#define __pyx_atomic_int_type int +#define __pyx_nonatomic_int_type int +#if CYTHON_ATOMICS && (defined(__STDC_VERSION__) &&\ + (__STDC_VERSION__ >= 201112L) &&\ + !defined(__STDC_NO_ATOMICS__)) + #include +#elif CYTHON_ATOMICS && (defined(__cplusplus) && (\ + (__cplusplus >= 201103L) ||\ + (defined(_MSC_VER) && _MSC_VER >= 1700))) + #include +#endif +#if CYTHON_ATOMICS && (defined(__STDC_VERSION__) &&\ + (__STDC_VERSION__ >= 201112L) &&\ + !defined(__STDC_NO_ATOMICS__) &&\ + ATOMIC_INT_LOCK_FREE == 2) + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type atomic_int + #define __pyx_atomic_incr_aligned(value) atomic_fetch_add_explicit(value, 1, memory_order_relaxed) + #define __pyx_atomic_decr_aligned(value) atomic_fetch_sub_explicit(value, 1, memory_order_acq_rel) + #if defined(__PYX_DEBUG_ATOMICS) && defined(_MSC_VER) + #pragma message ("Using standard C atomics") + #elif defined(__PYX_DEBUG_ATOMICS) + #warning "Using standard C atomics" + #endif +#elif CYTHON_ATOMICS && (defined(__cplusplus) && (\ + (__cplusplus >= 201103L) ||\ +\ + (defined(_MSC_VER) && _MSC_VER >= 1700)) &&\ + ATOMIC_INT_LOCK_FREE == 2) + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type std::atomic_int + #define __pyx_atomic_incr_aligned(value) std::atomic_fetch_add_explicit(value, 1, std::memory_order_relaxed) + #define __pyx_atomic_decr_aligned(value) std::atomic_fetch_sub_explicit(value, 1, std::memory_order_acq_rel) + #if defined(__PYX_DEBUG_ATOMICS) && defined(_MSC_VER) + #pragma message ("Using standard C++ atomics") + #elif defined(__PYX_DEBUG_ATOMICS) + #warning "Using standard C++ atomics" + #endif +#elif CYTHON_ATOMICS && (__GNUC__ >= 5 || (__GNUC__ == 4 &&\ + (__GNUC_MINOR__ > 1 ||\ + (__GNUC_MINOR__ == 1 && __GNUC_PATCHLEVEL__ >= 2)))) + #define __pyx_atomic_incr_aligned(value) __sync_fetch_and_add(value, 1) + #define __pyx_atomic_decr_aligned(value) __sync_fetch_and_sub(value, 1) + #ifdef __PYX_DEBUG_ATOMICS + #warning "Using GNU atomics" + #endif +#elif CYTHON_ATOMICS && defined(_MSC_VER) + #include + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type long + #undef __pyx_nonatomic_int_type + #define __pyx_nonatomic_int_type long + #pragma intrinsic (_InterlockedExchangeAdd) + #define __pyx_atomic_incr_aligned(value) _InterlockedExchangeAdd(value, 1) + #define __pyx_atomic_decr_aligned(value) _InterlockedExchangeAdd(value, -1) + #ifdef __PYX_DEBUG_ATOMICS + #pragma message ("Using MSVC atomics") + #endif +#else + #undef CYTHON_ATOMICS + #define CYTHON_ATOMICS 0 + #ifdef __PYX_DEBUG_ATOMICS + #warning "Not using atomics" + #endif +#endif +#if CYTHON_ATOMICS + #define __pyx_add_acquisition_count(memview)\ + __pyx_atomic_incr_aligned(__pyx_get_slice_count_pointer(memview)) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_atomic_decr_aligned(__pyx_get_slice_count_pointer(memview)) +#else + #define __pyx_add_acquisition_count(memview)\ + __pyx_add_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_sub_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) +#endif + +/* MemviewSliceStruct.proto */ +struct __pyx_memoryview_obj; +typedef struct { + struct __pyx_memoryview_obj *memview; + char *data; + Py_ssize_t shape[8]; + Py_ssize_t strides[8]; + Py_ssize_t suboffsets[8]; +} __Pyx_memviewslice; +#define __Pyx_MemoryView_Len(m) (m.shape[0]) + +/* #### Code section: numeric_typedefs ### */ + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":730 + * # in Cython to enable them only on the right systems. + * + * ctypedef npy_int8 int8_t # <<<<<<<<<<<<<< + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t + */ +typedef npy_int8 __pyx_t_5numpy_int8_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":731 + * + * ctypedef npy_int8 int8_t + * ctypedef npy_int16 int16_t # <<<<<<<<<<<<<< + * ctypedef npy_int32 int32_t + * ctypedef npy_int64 int64_t + */ +typedef npy_int16 __pyx_t_5numpy_int16_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":732 + * ctypedef npy_int8 int8_t + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t # <<<<<<<<<<<<<< + * ctypedef npy_int64 int64_t + * #ctypedef npy_int96 int96_t + */ +typedef npy_int32 __pyx_t_5numpy_int32_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":733 + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t + * ctypedef npy_int64 int64_t # <<<<<<<<<<<<<< + * #ctypedef npy_int96 int96_t + * #ctypedef npy_int128 int128_t + */ +typedef npy_int64 __pyx_t_5numpy_int64_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":737 + * #ctypedef npy_int128 int128_t + * + * ctypedef npy_uint8 uint8_t # <<<<<<<<<<<<<< + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t + */ +typedef npy_uint8 __pyx_t_5numpy_uint8_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":738 + * + * ctypedef npy_uint8 uint8_t + * ctypedef npy_uint16 uint16_t # <<<<<<<<<<<<<< + * ctypedef npy_uint32 uint32_t + * ctypedef npy_uint64 uint64_t + */ +typedef npy_uint16 __pyx_t_5numpy_uint16_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":739 + * ctypedef npy_uint8 uint8_t + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t # <<<<<<<<<<<<<< + * ctypedef npy_uint64 uint64_t + * #ctypedef npy_uint96 uint96_t + */ +typedef npy_uint32 __pyx_t_5numpy_uint32_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":740 + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t + * ctypedef npy_uint64 uint64_t # <<<<<<<<<<<<<< + * #ctypedef npy_uint96 uint96_t + * #ctypedef npy_uint128 uint128_t + */ +typedef npy_uint64 __pyx_t_5numpy_uint64_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":744 + * #ctypedef npy_uint128 uint128_t + * + * ctypedef npy_float32 float32_t # <<<<<<<<<<<<<< + * ctypedef npy_float64 float64_t + * #ctypedef npy_float80 float80_t + */ +typedef npy_float32 __pyx_t_5numpy_float32_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":745 + * + * ctypedef npy_float32 float32_t + * ctypedef npy_float64 float64_t # <<<<<<<<<<<<<< + * #ctypedef npy_float80 float80_t + * #ctypedef npy_float128 float128_t + */ +typedef npy_float64 __pyx_t_5numpy_float64_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":754 + * # The int types are mapped a bit surprising -- + * # numpy.int corresponds to 'l' and numpy.long to 'q' + * ctypedef npy_long int_t # <<<<<<<<<<<<<< + * ctypedef npy_longlong longlong_t + * + */ +typedef npy_long __pyx_t_5numpy_int_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":755 + * # numpy.int corresponds to 'l' and numpy.long to 'q' + * ctypedef npy_long int_t + * ctypedef npy_longlong longlong_t # <<<<<<<<<<<<<< + * + * ctypedef npy_ulong uint_t + */ +typedef npy_longlong __pyx_t_5numpy_longlong_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":757 + * ctypedef npy_longlong longlong_t + * + * ctypedef npy_ulong uint_t # <<<<<<<<<<<<<< + * ctypedef npy_ulonglong ulonglong_t + * + */ +typedef npy_ulong __pyx_t_5numpy_uint_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":758 + * + * ctypedef npy_ulong uint_t + * ctypedef npy_ulonglong ulonglong_t # <<<<<<<<<<<<<< + * + * ctypedef npy_intp intp_t + */ +typedef npy_ulonglong __pyx_t_5numpy_ulonglong_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":760 + * ctypedef npy_ulonglong ulonglong_t + * + * ctypedef npy_intp intp_t # <<<<<<<<<<<<<< + * ctypedef npy_uintp uintp_t + * + */ +typedef npy_intp __pyx_t_5numpy_intp_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":761 + * + * ctypedef npy_intp intp_t + * ctypedef npy_uintp uintp_t # <<<<<<<<<<<<<< + * + * ctypedef npy_double float_t + */ +typedef npy_uintp __pyx_t_5numpy_uintp_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":763 + * ctypedef npy_uintp uintp_t + * + * ctypedef npy_double float_t # <<<<<<<<<<<<<< + * ctypedef npy_double double_t + * ctypedef npy_longdouble longdouble_t + */ +typedef npy_double __pyx_t_5numpy_float_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":764 + * + * ctypedef npy_double float_t + * ctypedef npy_double double_t # <<<<<<<<<<<<<< + * ctypedef npy_longdouble longdouble_t + * + */ +typedef npy_double __pyx_t_5numpy_double_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":765 + * ctypedef npy_double float_t + * ctypedef npy_double double_t + * ctypedef npy_longdouble longdouble_t # <<<<<<<<<<<<<< + * + * ctypedef npy_cfloat cfloat_t + */ +typedef npy_longdouble __pyx_t_5numpy_longdouble_t; +/* #### Code section: complex_type_declarations ### */ +/* Declarations.proto */ +#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #ifdef __cplusplus + typedef ::std::complex< float > __pyx_t_float_complex; + #else + typedef float _Complex __pyx_t_float_complex; + #endif +#else + typedef struct { float real, imag; } __pyx_t_float_complex; +#endif +static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float, float); + +/* Declarations.proto */ +#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #ifdef __cplusplus + typedef ::std::complex< double > __pyx_t_double_complex; + #else + typedef double _Complex __pyx_t_double_complex; + #endif +#else + typedef struct { double real, imag; } __pyx_t_double_complex; +#endif +static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double, double); + +/* #### Code section: type_declarations ### */ + +/*--- Type declarations ---*/ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext; +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf; +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer; +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient; +struct __pyx_obj___Pyx_EnumMeta; +struct __pyx_array_obj; +struct __pyx_MemviewEnum_obj; +struct __pyx_memoryview_obj; +struct __pyx_memoryviewslice_obj; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":767 + * ctypedef npy_longdouble longdouble_t + * + * ctypedef npy_cfloat cfloat_t # <<<<<<<<<<<<<< + * ctypedef npy_cdouble cdouble_t + * ctypedef npy_clongdouble clongdouble_t + */ +typedef npy_cfloat __pyx_t_5numpy_cfloat_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":768 + * + * ctypedef npy_cfloat cfloat_t + * ctypedef npy_cdouble cdouble_t # <<<<<<<<<<<<<< + * ctypedef npy_clongdouble clongdouble_t + * + */ +typedef npy_cdouble __pyx_t_5numpy_cdouble_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":769 + * ctypedef npy_cfloat cfloat_t + * ctypedef npy_cdouble cdouble_t + * ctypedef npy_clongdouble clongdouble_t # <<<<<<<<<<<<<< + * + * ctypedef npy_cdouble complex_t + */ +typedef npy_clongdouble __pyx_t_5numpy_clongdouble_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":771 + * ctypedef npy_clongdouble clongdouble_t + * + * ctypedef npy_cdouble complex_t # <<<<<<<<<<<<<< + * + * cdef inline object PyArray_MultiIterNew1(a): + */ +typedef npy_cdouble __pyx_t_5numpy_complex_t; + +/* "msgq/visionipc/visionipc_pyx.pyx":24 + * + * + * cpdef enum VisionStreamType: # <<<<<<<<<<<<<< + * VISION_STREAM_ROAD + * VISION_STREAM_DRIVER + */ +enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType { + __pyx_e_4msgq_9visionipc_13visionipc_pyx_VISION_STREAM_ROAD, + __pyx_e_4msgq_9visionipc_13visionipc_pyx_VISION_STREAM_DRIVER, + __pyx_e_4msgq_9visionipc_13visionipc_pyx_VISION_STREAM_WIDE_ROAD, + __pyx_e_4msgq_9visionipc_13visionipc_pyx_VISION_STREAM_MAP +}; + +/* "msgq/visionipc/visionipc_pyx.pxd":7 + * from .visionipc cimport cl_device_id, cl_context + * + * cdef class CLContext: # <<<<<<<<<<<<<< + * cdef cl_device_id device_id + * cdef cl_context context + */ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext { + PyObject_HEAD + cl_device_id device_id; + cl_context context; +}; + + +/* "msgq/visionipc/visionipc_pyx.pxd":11 + * cdef cl_context context + * + * cdef class VisionBuf: # <<<<<<<<<<<<<< + * cdef cppVisionBuf * buf + * + */ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf { + PyObject_HEAD + struct __pyx_vtabstruct_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_vtab; + VisionBuf *buf; +}; + + +/* "msgq/visionipc/visionipc_pyx.pyx":63 + * + * + * cdef class VisionIpcServer: # <<<<<<<<<<<<<< + * cdef cppVisionIpcServer * server + * + */ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer { + PyObject_HEAD + VisionIpcServer *server; +}; + + +/* "msgq/visionipc/visionipc_pyx.pyx":97 + * + * + * cdef class VisionIpcClient: # <<<<<<<<<<<<<< + * cdef cppVisionIpcClient * client + * cdef VisionIpcBufExtra extra + */ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient { + PyObject_HEAD + VisionIpcClient *client; + struct VisionIpcBufExtra extra; +}; + + +/* "EnumBase":16 + * + * @cython.internal + * cdef class __Pyx_EnumMeta(type): # <<<<<<<<<<<<<< + * def __init__(cls, name, parents, dct): + * type.__init__(cls, name, parents, dct) + */ +struct __pyx_obj___Pyx_EnumMeta { + PyHeapTypeObject __pyx_base; +}; + + +/* "View.MemoryView":114 + * @cython.collection_type("sequence") + * @cname("__pyx_array") + * cdef class array: # <<<<<<<<<<<<<< + * + * cdef: + */ +struct __pyx_array_obj { + PyObject_HEAD + struct __pyx_vtabstruct_array *__pyx_vtab; + char *data; + Py_ssize_t len; + char *format; + int ndim; + Py_ssize_t *_shape; + Py_ssize_t *_strides; + Py_ssize_t itemsize; + PyObject *mode; + PyObject *_format; + void (*callback_free_data)(void *); + int free_data; + int dtype_is_object; +}; + + +/* "View.MemoryView":302 + * + * @cname('__pyx_MemviewEnum') + * cdef class Enum(object): # <<<<<<<<<<<<<< + * cdef object name + * def __init__(self, name): + */ +struct __pyx_MemviewEnum_obj { + PyObject_HEAD + PyObject *name; +}; + + +/* "View.MemoryView":337 + * + * @cname('__pyx_memoryview') + * cdef class memoryview: # <<<<<<<<<<<<<< + * + * cdef object obj + */ +struct __pyx_memoryview_obj { + PyObject_HEAD + struct __pyx_vtabstruct_memoryview *__pyx_vtab; + PyObject *obj; + PyObject *_size; + PyObject *_array_interface; + PyThread_type_lock lock; + __pyx_atomic_int_type acquisition_count; + Py_buffer view; + int flags; + int dtype_is_object; + __Pyx_TypeInfo *typeinfo; +}; + + +/* "View.MemoryView":952 + * @cython.collection_type("sequence") + * @cname('__pyx_memoryviewslice') + * cdef class _memoryviewslice(memoryview): # <<<<<<<<<<<<<< + * "Internal class for passing memoryview slices to Python" + * + */ +struct __pyx_memoryviewslice_obj { + struct __pyx_memoryview_obj __pyx_base; + __Pyx_memviewslice from_slice; + PyObject *from_object; + PyObject *(*to_object_func)(char *); + int (*to_dtype_func)(char *, PyObject *); +}; + + + +/* "View.MemoryView":114 + * @cython.collection_type("sequence") + * @cname("__pyx_array") + * cdef class array: # <<<<<<<<<<<<<< + * + * cdef: + */ + +struct __pyx_vtabstruct_array { + PyObject *(*get_memview)(struct __pyx_array_obj *); +}; +static struct __pyx_vtabstruct_array *__pyx_vtabptr_array; + + +/* "msgq/visionipc/visionipc_pyx.pyx":31 + * + * + * cdef class VisionBuf: # <<<<<<<<<<<<<< + * @staticmethod + * cdef create(cppVisionBuf * cbuf): + */ + +struct __pyx_vtabstruct_4msgq_9visionipc_13visionipc_pyx_VisionBuf { + PyObject *(*create)(VisionBuf *); +}; +static struct __pyx_vtabstruct_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_vtabptr_4msgq_9visionipc_13visionipc_pyx_VisionBuf; + + +/* "View.MemoryView":337 + * + * @cname('__pyx_memoryview') + * cdef class memoryview: # <<<<<<<<<<<<<< + * + * cdef object obj + */ + +struct __pyx_vtabstruct_memoryview { + char *(*get_item_pointer)(struct __pyx_memoryview_obj *, PyObject *); + PyObject *(*is_slice)(struct __pyx_memoryview_obj *, PyObject *); + PyObject *(*setitem_slice_assignment)(struct __pyx_memoryview_obj *, PyObject *, PyObject *); + PyObject *(*setitem_slice_assign_scalar)(struct __pyx_memoryview_obj *, struct __pyx_memoryview_obj *, PyObject *); + PyObject *(*setitem_indexed)(struct __pyx_memoryview_obj *, PyObject *, PyObject *); + PyObject *(*convert_item_to_object)(struct __pyx_memoryview_obj *, char *); + PyObject *(*assign_item_from_object)(struct __pyx_memoryview_obj *, char *, PyObject *); + PyObject *(*_get_base)(struct __pyx_memoryview_obj *); +}; +static struct __pyx_vtabstruct_memoryview *__pyx_vtabptr_memoryview; + + +/* "View.MemoryView":952 + * @cython.collection_type("sequence") + * @cname('__pyx_memoryviewslice') + * cdef class _memoryviewslice(memoryview): # <<<<<<<<<<<<<< + * "Internal class for passing memoryview slices to Python" + * + */ + +struct __pyx_vtabstruct__memoryviewslice { + struct __pyx_vtabstruct_memoryview __pyx_base; +}; +static struct __pyx_vtabstruct__memoryviewslice *__pyx_vtabptr__memoryviewslice; +/* #### Code section: utility_code_proto ### */ + +/* --- Runtime support code (head) --- */ +/* Refnanny.proto */ +#ifndef CYTHON_REFNANNY + #define CYTHON_REFNANNY 0 +#endif +#if CYTHON_REFNANNY + typedef struct { + void (*INCREF)(void*, PyObject*, Py_ssize_t); + void (*DECREF)(void*, PyObject*, Py_ssize_t); + void (*GOTREF)(void*, PyObject*, Py_ssize_t); + void (*GIVEREF)(void*, PyObject*, Py_ssize_t); + void* (*SetupContext)(const char*, Py_ssize_t, const char*); + void (*FinishContext)(void**); + } __Pyx_RefNannyAPIStruct; + static __Pyx_RefNannyAPIStruct *__Pyx_RefNanny = NULL; 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else {__Pyx_INCREF(r); }} while(0) + #define __Pyx_XDECREF(r) do { if((r) == NULL); else {__Pyx_DECREF(r); }} while(0) + #define __Pyx_XGOTREF(r) do { if((r) == NULL); else {__Pyx_GOTREF(r); }} while(0) + #define __Pyx_XGIVEREF(r) do { if((r) == NULL); else {__Pyx_GIVEREF(r);}} while(0) +#else + #define __Pyx_RefNannyDeclarations + #define __Pyx_RefNannySetupContext(name, acquire_gil) + #define __Pyx_RefNannyFinishContextNogil() + #define __Pyx_RefNannyFinishContext() + #define __Pyx_INCREF(r) Py_INCREF(r) + #define __Pyx_DECREF(r) Py_DECREF(r) + #define __Pyx_GOTREF(r) + #define __Pyx_GIVEREF(r) + #define __Pyx_XINCREF(r) Py_XINCREF(r) + #define __Pyx_XDECREF(r) Py_XDECREF(r) + #define __Pyx_XGOTREF(r) + #define __Pyx_XGIVEREF(r) +#endif +#define __Pyx_Py_XDECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; Py_XDECREF(tmp);\ + } while (0) +#define __Pyx_XDECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_XDECREF(tmp);\ + } while (0) +#define __Pyx_DECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_DECREF(tmp);\ + } while (0) +#define __Pyx_CLEAR(r) do { PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);} while(0) +#define __Pyx_XCLEAR(r) do { if((r) != NULL) {PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);}} while(0) + +/* PyErrExceptionMatches.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_ExceptionMatches(err) __Pyx_PyErr_ExceptionMatchesInState(__pyx_tstate, err) +static CYTHON_INLINE int __Pyx_PyErr_ExceptionMatchesInState(PyThreadState* tstate, PyObject* err); +#else +#define __Pyx_PyErr_ExceptionMatches(err) PyErr_ExceptionMatches(err) +#endif + +/* PyThreadStateGet.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyThreadState_declare PyThreadState *__pyx_tstate; +#define __Pyx_PyThreadState_assign __pyx_tstate = __Pyx_PyThreadState_Current; +#if PY_VERSION_HEX >= 0x030C00A6 +#define __Pyx_PyErr_Occurred() (__pyx_tstate->current_exception != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->current_exception ? (PyObject*) Py_TYPE(__pyx_tstate->current_exception) : (PyObject*) NULL) +#else +#define __Pyx_PyErr_Occurred() (__pyx_tstate->curexc_type != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->curexc_type) +#endif +#else +#define __Pyx_PyThreadState_declare +#define __Pyx_PyThreadState_assign +#define __Pyx_PyErr_Occurred() (PyErr_Occurred() != NULL) +#define __Pyx_PyErr_CurrentExceptionType() PyErr_Occurred() +#endif + +/* PyErrFetchRestore.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_Clear() __Pyx_ErrRestore(NULL, NULL, NULL) +#define __Pyx_ErrRestoreWithState(type, value, tb) __Pyx_ErrRestoreInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) __Pyx_ErrFetchInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) __Pyx_ErrRestoreInState(__pyx_tstate, type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) __Pyx_ErrFetchInState(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A6 +#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) +#else +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#endif +#else +#define __Pyx_PyErr_Clear() PyErr_Clear() +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) +#endif + +/* PyObjectGetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n) +#endif + +/* PyObjectGetAttrStrNoError.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); + +/* GetBuiltinName.proto */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name); + +/* TupleAndListFromArray.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n); +static CYTHON_INLINE PyObject* __Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n); +#endif + +/* IncludeStringH.proto */ +#include + +/* BytesEquals.proto */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals); + +/* UnicodeEquals.proto */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals); + +/* fastcall.proto */ +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_VARARGS(args, i) PySequence_GetItem(args, i) +#elif CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GET_ITEM(args, i) +#else + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GetItem(args, i) +#endif +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_NewRef_VARARGS(arg) __Pyx_NewRef(arg) + #define __Pyx_Arg_XDECREF_VARARGS(arg) Py_XDECREF(arg) +#else + #define __Pyx_Arg_NewRef_VARARGS(arg) arg + #define __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#define __Pyx_NumKwargs_VARARGS(kwds) PyDict_Size(kwds) +#define __Pyx_KwValues_VARARGS(args, nargs) NULL +#define __Pyx_GetKwValue_VARARGS(kw, kwvalues, s) __Pyx_PyDict_GetItemStrWithError(kw, s) +#define __Pyx_KwargsAsDict_VARARGS(kw, kwvalues) PyDict_Copy(kw) +#if CYTHON_METH_FASTCALL + #define __Pyx_Arg_FASTCALL(args, i) args[i] + #define __Pyx_NumKwargs_FASTCALL(kwds) PyTuple_GET_SIZE(kwds) + #define __Pyx_KwValues_FASTCALL(args, nargs) ((args) + (nargs)) + static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); + #else + #define __Pyx_KwargsAsDict_FASTCALL(kw, kwvalues) _PyStack_AsDict(kwvalues, kw) + #endif + #define __Pyx_Arg_NewRef_FASTCALL(arg) arg /* no-op, __Pyx_Arg_FASTCALL is direct and this needs + to have the same reference counting */ + #define __Pyx_Arg_XDECREF_FASTCALL(arg) +#else + #define __Pyx_Arg_FASTCALL __Pyx_Arg_VARARGS + #define __Pyx_NumKwargs_FASTCALL __Pyx_NumKwargs_VARARGS + #define __Pyx_KwValues_FASTCALL __Pyx_KwValues_VARARGS + #define __Pyx_GetKwValue_FASTCALL __Pyx_GetKwValue_VARARGS + #define __Pyx_KwargsAsDict_FASTCALL __Pyx_KwargsAsDict_VARARGS + #define __Pyx_Arg_NewRef_FASTCALL(arg) __Pyx_Arg_NewRef_VARARGS(arg) + #define __Pyx_Arg_XDECREF_FASTCALL(arg) __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_VARARGS(args, start), stop - start) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_FASTCALL(args, start), stop - start) +#else +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) PyTuple_GetSlice(args, start, stop) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) PyTuple_GetSlice(args, start, stop) +#endif + +/* RaiseArgTupleInvalid.proto */ +static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, + Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); + +/* RaiseDoubleKeywords.proto */ +static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); + +/* ParseKeywords.proto */ +static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args, + const char* function_name); + +/* PyFunctionFastCall.proto */ +#if CYTHON_FAST_PYCALL +#if !CYTHON_VECTORCALL +#define __Pyx_PyFunction_FastCall(func, args, nargs)\ + __Pyx_PyFunction_FastCallDict((func), (args), (nargs), NULL) +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs); +#endif +#define __Pyx_BUILD_ASSERT_EXPR(cond)\ + (sizeof(char [1 - 2*!(cond)]) - 1) +#ifndef Py_MEMBER_SIZE +#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member) +#endif +#if !CYTHON_VECTORCALL +#if PY_VERSION_HEX >= 0x03080000 + #include "frameobject.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif + #define __Pxy_PyFrame_Initialize_Offsets() + #define __Pyx_PyFrame_GetLocalsplus(frame) ((frame)->f_localsplus) +#else + static size_t __pyx_pyframe_localsplus_offset = 0; + #include "frameobject.h" + #define __Pxy_PyFrame_Initialize_Offsets()\ + ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\ + (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus))) + #define __Pyx_PyFrame_GetLocalsplus(frame)\ + (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset)) +#endif +#endif +#endif + +/* PyObjectCall.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw); +#else +#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw) +#endif + +/* PyObjectCallMethO.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg); +#endif + +/* PyObjectFastCall.proto */ +#define __Pyx_PyObject_FastCall(func, args, nargs) __Pyx_PyObject_FastCallDict(func, args, (size_t)(nargs), NULL) +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs); + +/* PyObjectSetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +#define __Pyx_PyObject_DelAttrStr(o,n) __Pyx_PyObject_SetAttrStr(o, n, NULL) +static CYTHON_INLINE int __Pyx_PyObject_SetAttrStr(PyObject* obj, PyObject* attr_name, PyObject* value); +#else +#define __Pyx_PyObject_DelAttrStr(o,n) PyObject_DelAttr(o,n) +#define __Pyx_PyObject_SetAttrStr(o,n,v) PyObject_SetAttr(o,n,v) +#endif + +/* GetItemInt.proto */ +#define __Pyx_GetItemInt(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Fast(o, (Py_ssize_t)i, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\ + __Pyx_GetItemInt_Generic(o, to_py_func(i)))) +#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j); +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, + int is_list, int wraparound, int boundscheck); + +/* PyObjectCallOneArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg); + +/* ObjectGetItem.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key); +#else +#define __Pyx_PyObject_GetItem(obj, key) PyObject_GetItem(obj, key) +#endif + +/* KeywordStringCheck.proto */ +static int __Pyx_CheckKeywordStrings(PyObject *kw, const char* function_name, int kw_allowed); + +/* GetAttr3.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *, PyObject *, PyObject *); + +/* PyDictVersioning.proto */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) +#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ + (version_var) = __PYX_GET_DICT_VERSION(dict);\ + (cache_var) = (value); +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ + (VAR) = __pyx_dict_cached_value;\ + } else {\ + (VAR) = __pyx_dict_cached_value = (LOOKUP);\ + __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ + }\ +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); +#else +#define __PYX_GET_DICT_VERSION(dict) (0) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); +#endif + +/* GetModuleGlobalName.proto */ +#if CYTHON_USE_DICT_VERSIONS +#define __Pyx_GetModuleGlobalName(var, name) do {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + (var) = (likely(__pyx_dict_version == __PYX_GET_DICT_VERSION(__pyx_d))) ?\ + (likely(__pyx_dict_cached_value) ? __Pyx_NewRef(__pyx_dict_cached_value) : __Pyx_GetBuiltinName(name)) :\ + __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +#define __Pyx_GetModuleGlobalNameUncached(var, name) do {\ + PY_UINT64_T __pyx_dict_version;\ + PyObject *__pyx_dict_cached_value;\ + (var) = __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value); +#else +#define __Pyx_GetModuleGlobalName(var, name) (var) = __Pyx__GetModuleGlobalName(name) +#define __Pyx_GetModuleGlobalNameUncached(var, name) (var) = __Pyx__GetModuleGlobalName(name) +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name); +#endif + +/* RaiseUnexpectedTypeError.proto */ +static int __Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj); + +/* RaiseException.proto */ +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause); + +/* PySequenceContains.proto */ +static CYTHON_INLINE int __Pyx_PySequence_ContainsTF(PyObject* item, PyObject* seq, int eq) { + int result = PySequence_Contains(seq, item); + return unlikely(result < 0) ? result : (result == (eq == Py_EQ)); +} + +/* Import.proto */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level); + +/* ImportFrom.proto */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name); + +/* GetAttr.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *, PyObject *); + +/* HasAttr.proto */ +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 +#define __Pyx_HasAttr(o, n) PyObject_HasAttrWithError(o, n) +#else +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *, PyObject *); +#endif + +/* ArgTypeTest.proto */ +#define __Pyx_ArgTypeTest(obj, type, none_allowed, name, exact)\ + ((likely(__Pyx_IS_TYPE(obj, type) | (none_allowed && (obj == Py_None)))) ? 1 :\ + __Pyx__ArgTypeTest(obj, type, name, exact)) +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact); + +/* GCCDiagnostics.proto */ +#if !defined(__INTEL_COMPILER) && defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) +#define __Pyx_HAS_GCC_DIAGNOSTIC +#endif + +/* BuildPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_Py_ssize_t(Py_ssize_t value, Py_ssize_t width, char padding_char, char format_char); + +/* JoinPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char); + +/* StrEquals.proto */ +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyString_Equals __Pyx_PyUnicode_Equals +#else +#define __Pyx_PyString_Equals __Pyx_PyBytes_Equals +#endif + +/* PyObjectFormatSimple.proto */ +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#elif PY_MAJOR_VERSION < 3 + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyString_CheckExact(s)) ? PyUnicode_FromEncodedObject(s, NULL, "strict") :\ + PyObject_Format(s, f)) +#elif CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyLong_CheckExact(s)) ? PyLong_Type.tp_repr(s) :\ + likely(PyFloat_CheckExact(s)) ? PyFloat_Type.tp_repr(s) :\ + PyObject_Format(s, f)) +#else + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#endif + +CYTHON_UNUSED static int __pyx_array_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *); /*proto*/ +/* DivInt[Py_ssize_t].proto */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t, Py_ssize_t); + +/* UnaryNegOverflows.proto */ +#define __Pyx_UNARY_NEG_WOULD_OVERFLOW(x)\ + (((x) < 0) & ((unsigned long)(x) == 0-(unsigned long)(x))) + +/* AssertionsEnabled.proto */ +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag) + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (1) +#elif CYTHON_COMPILING_IN_LIMITED_API || (CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030C0000) + static int __pyx_assertions_enabled_flag; + #define __pyx_assertions_enabled() (__pyx_assertions_enabled_flag) + static int __Pyx_init_assertions_enabled(void) { + PyObject *builtins, *debug, *debug_str; + int flag; + builtins = PyEval_GetBuiltins(); + if (!builtins) goto bad; + debug_str = PyUnicode_FromStringAndSize("__debug__", 9); + if (!debug_str) goto bad; + debug = PyObject_GetItem(builtins, debug_str); + Py_DECREF(debug_str); + if (!debug) goto bad; + flag = PyObject_IsTrue(debug); + Py_DECREF(debug); + if (flag == -1) goto bad; + __pyx_assertions_enabled_flag = flag; + return 0; + bad: + __pyx_assertions_enabled_flag = 1; + return -1; + } +#else + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (!Py_OptimizeFlag) +#endif + +/* RaiseTooManyValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected); + +/* RaiseNeedMoreValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index); + +/* RaiseNoneIterError.proto */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void); + +/* ExtTypeTest.proto */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type); + +/* GetTopmostException.proto */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * __Pyx_PyErr_GetTopmostException(PyThreadState *tstate); +#endif + +/* SaveResetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSave(type, value, tb) __Pyx__ExceptionSave(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#define __Pyx_ExceptionReset(type, value, tb) __Pyx__ExceptionReset(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +#else +#define __Pyx_ExceptionSave(type, value, tb) PyErr_GetExcInfo(type, value, tb) +#define __Pyx_ExceptionReset(type, value, tb) PyErr_SetExcInfo(type, value, tb) +#endif + +/* GetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_GetException(type, value, tb) __Pyx__GetException(__pyx_tstate, type, value, tb) +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* SwapException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSwap(type, value, tb) __Pyx__ExceptionSwap(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* ImportDottedModule.proto */ +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple); +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple); +#endif + +/* FastTypeChecks.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) __Pyx_IsAnySubtype2(Py_TYPE(obj), (PyTypeObject *)type1, (PyTypeObject *)type2) +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); +#else +#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) (PyObject_TypeCheck(obj, (PyTypeObject *)type1) || PyObject_TypeCheck(obj, (PyTypeObject *)type2)) +#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) +#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) +#endif +#define __Pyx_PyErr_ExceptionMatches2(err1, err2) __Pyx_PyErr_GivenExceptionMatches2(__Pyx_PyErr_CurrentExceptionType(), err1, err2) +#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) + +CYTHON_UNUSED static int __pyx_memoryview_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +/* ListCompAppend.proto */ +#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS +static CYTHON_INLINE int __Pyx_ListComp_Append(PyObject* list, PyObject* x) { + PyListObject* L = (PyListObject*) list; + Py_ssize_t len = Py_SIZE(list); + if (likely(L->allocated > len)) { + Py_INCREF(x); + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + L->ob_item[len] = x; + #else + PyList_SET_ITEM(list, len, x); + #endif + __Pyx_SET_SIZE(list, len + 1); + return 0; + } + return PyList_Append(list, x); +} +#else +#define __Pyx_ListComp_Append(L,x) PyList_Append(L,x) +#endif + +/* PySequenceMultiply.proto */ +#define __Pyx_PySequence_Multiply_Left(mul, seq) __Pyx_PySequence_Multiply(seq, mul) +static CYTHON_INLINE PyObject* __Pyx_PySequence_Multiply(PyObject *seq, Py_ssize_t mul); + +/* SetItemInt.proto */ +#define __Pyx_SetItemInt(o, i, v, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_SetItemInt_Fast(o, (Py_ssize_t)i, v, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list assignment index out of range"), -1) :\ + __Pyx_SetItemInt_Generic(o, to_py_func(i), v))) +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v); +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, + int is_list, int wraparound, int boundscheck); + +/* RaiseUnboundLocalError.proto */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname); + +/* DivInt[long].proto */ +static CYTHON_INLINE long __Pyx_div_long(long, long); + +/* ListAppend.proto */ +#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS +static CYTHON_INLINE int __Pyx_PyList_Append(PyObject* list, PyObject* x) { + PyListObject* L = (PyListObject*) list; + Py_ssize_t len = Py_SIZE(list); + if (likely(L->allocated > len) & likely(len > (L->allocated >> 1))) { + Py_INCREF(x); + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + L->ob_item[len] = x; + #else + PyList_SET_ITEM(list, len, x); + #endif + __Pyx_SET_SIZE(list, len + 1); + return 0; + } + return PyList_Append(list, x); +} +#else +#define __Pyx_PyList_Append(L,x) PyList_Append(L,x) +#endif + +/* PyObjectCall2Args.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2); + +/* PyObjectGetMethod.proto */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method); + +/* PyObjectCallMethod1.proto */ +static PyObject* __Pyx_PyObject_CallMethod1(PyObject* obj, PyObject* method_name, PyObject* arg); + +/* StringJoin.proto */ +#if PY_MAJOR_VERSION < 3 +#define __Pyx_PyString_Join __Pyx_PyBytes_Join +#define __Pyx_PyBaseString_Join(s, v) (PyUnicode_CheckExact(s) ? PyUnicode_Join(s, v) : __Pyx_PyBytes_Join(s, v)) +#else +#define __Pyx_PyString_Join PyUnicode_Join +#define __Pyx_PyBaseString_Join PyUnicode_Join +#endif +static CYTHON_INLINE PyObject* __Pyx_PyBytes_Join(PyObject* sep, PyObject* values); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_size_t(size_t value, Py_ssize_t width, char padding_char, char format_char); + +/* MoveIfSupported.proto */ +#if CYTHON_USE_CPP_STD_MOVE + #include + #define __PYX_STD_MOVE_IF_SUPPORTED(x) std::move(x) +#else + #define __PYX_STD_MOVE_IF_SUPPORTED(x) x +#endif + +/* IncludeCppStringH.proto */ +#include + +/* decode_c_string_utf16.proto */ +static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16(const char *s, Py_ssize_t size, const char *errors) { + int byteorder = 0; + return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); +} +static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16LE(const char *s, Py_ssize_t size, const char *errors) { + int byteorder = -1; + return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); +} +static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16BE(const char *s, Py_ssize_t size, const char *errors) { + int byteorder = 1; + return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); +} + +/* decode_c_bytes.proto */ +static CYTHON_INLINE PyObject* __Pyx_decode_c_bytes( + const char* cstring, Py_ssize_t length, Py_ssize_t start, Py_ssize_t stop, + const char* encoding, const char* errors, + PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)); + +/* decode_cpp_string.proto */ +static CYTHON_INLINE PyObject* __Pyx_decode_cpp_string( + std::string cppstring, Py_ssize_t start, Py_ssize_t stop, + const char* encoding, const char* errors, + PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)) { + return __Pyx_decode_c_bytes( + cppstring.data(), cppstring.size(), start, stop, encoding, errors, decode_func); +} + +/* PyObjectCallNoArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func); + +/* BufferIndexError.proto */ +static void __Pyx_RaiseBufferIndexError(int axis); + +/* PyObject_GenericGetAttrNoDict.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr +#endif + +/* PyObject_GenericGetAttr.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr +#endif + +/* IncludeStructmemberH.proto */ +#include + +/* FixUpExtensionType.proto */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type); +#endif + +/* PyObjectCallMethod0.proto */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name); + +/* ValidateBasesTuple.proto */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases); +#endif + +/* PyType_Ready.proto */ +CYTHON_UNUSED static int __Pyx_PyType_Ready(PyTypeObject *t); + +/* SetVTable.proto */ +static int __Pyx_SetVtable(PyTypeObject* typeptr , void* vtable); + +/* GetVTable.proto */ +static void* __Pyx_GetVtable(PyTypeObject *type); + +/* MergeVTables.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type); +#endif + +/* SetupReduce.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce(PyObject* type_obj); +#endif + +/* TypeImport.proto */ +#ifndef __PYX_HAVE_RT_ImportType_proto_3_0_8 +#define __PYX_HAVE_RT_ImportType_proto_3_0_8 +#if defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L +#include +#endif +#if (defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) || __cplusplus >= 201103L +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) alignof(s) +#else +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) sizeof(void*) +#endif +enum __Pyx_ImportType_CheckSize_3_0_8 { + __Pyx_ImportType_CheckSize_Error_3_0_8 = 0, + __Pyx_ImportType_CheckSize_Warn_3_0_8 = 1, + __Pyx_ImportType_CheckSize_Ignore_3_0_8 = 2 +}; +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject* module, const char *module_name, const char *class_name, size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size); +#endif + +/* FetchSharedCythonModule.proto */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void); + +/* FetchCommonType.proto */ +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type); +#else +static PyTypeObject* __Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases); +#endif + +/* PyMethodNew.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + PyObject *typesModule=NULL, *methodType=NULL, *result=NULL; + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + typesModule = PyImport_ImportModule("types"); + if (!typesModule) return NULL; + methodType = PyObject_GetAttrString(typesModule, "MethodType"); + Py_DECREF(typesModule); + if (!methodType) return NULL; + result = PyObject_CallFunctionObjArgs(methodType, func, self, NULL); + Py_DECREF(methodType); + return result; +} +#elif PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + return PyMethod_New(func, self); +} +#else + #define __Pyx_PyMethod_New PyMethod_New +#endif + +/* PyVectorcallFastCallDict.proto */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw); +#endif + +/* CythonFunctionShared.proto */ +#define __Pyx_CyFunction_USED +#define __Pyx_CYFUNCTION_STATICMETHOD 0x01 +#define __Pyx_CYFUNCTION_CLASSMETHOD 0x02 +#define __Pyx_CYFUNCTION_CCLASS 0x04 +#define __Pyx_CYFUNCTION_COROUTINE 0x08 +#define __Pyx_CyFunction_GetClosure(f)\ + (((__pyx_CyFunctionObject *) (f))->func_closure) +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_CyFunction_GetClassObj(f)\ + (((__pyx_CyFunctionObject *) (f))->func_classobj) +#else + #define __Pyx_CyFunction_GetClassObj(f)\ + ((PyObject*) ((PyCMethodObject *) (f))->mm_class) +#endif +#define __Pyx_CyFunction_SetClassObj(f, classobj)\ + __Pyx__CyFunction_SetClassObj((__pyx_CyFunctionObject *) (f), (classobj)) +#define __Pyx_CyFunction_Defaults(type, f)\ + ((type *)(((__pyx_CyFunctionObject *) (f))->defaults)) +#define __Pyx_CyFunction_SetDefaultsGetter(f, g)\ + ((__pyx_CyFunctionObject *) (f))->defaults_getter = (g) +typedef struct { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject_HEAD + PyObject *func; +#elif PY_VERSION_HEX < 0x030900B1 + PyCFunctionObject func; +#else + PyCMethodObject func; +#endif +#if CYTHON_BACKPORT_VECTORCALL + __pyx_vectorcallfunc func_vectorcall; +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_weakreflist; +#endif + PyObject *func_dict; + PyObject *func_name; + PyObject *func_qualname; + PyObject *func_doc; + PyObject *func_globals; + PyObject *func_code; + PyObject *func_closure; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_classobj; +#endif + void *defaults; + int defaults_pyobjects; + size_t defaults_size; + int flags; + PyObject *defaults_tuple; + PyObject *defaults_kwdict; + PyObject *(*defaults_getter)(PyObject *); + PyObject *func_annotations; + PyObject *func_is_coroutine; +} __pyx_CyFunctionObject; +#undef __Pyx_CyOrPyCFunction_Check +#define __Pyx_CyFunction_Check(obj) __Pyx_TypeCheck(obj, __pyx_CyFunctionType) +#define __Pyx_CyOrPyCFunction_Check(obj) __Pyx_TypeCheck2(obj, __pyx_CyFunctionType, &PyCFunction_Type) +#define __Pyx_CyFunction_CheckExact(obj) __Pyx_IS_TYPE(obj, __pyx_CyFunctionType) +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc); +#undef __Pyx_IsSameCFunction +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCyOrCFunction(func, cfunc) +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject* op, PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj); +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *m, + size_t size, + int pyobjects); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *m, + PyObject *tuple); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *m, + PyObject *dict); +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *m, + PyObject *dict); +static int __pyx_CyFunction_init(PyObject *module); +#if CYTHON_METH_FASTCALL +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +#if CYTHON_BACKPORT_VECTORCALL +#define __Pyx_CyFunction_func_vectorcall(f) (((__pyx_CyFunctionObject*)f)->func_vectorcall) +#else +#define __Pyx_CyFunction_func_vectorcall(f) (((PyCFunctionObject*)f)->vectorcall) +#endif +#endif + +/* CythonFunction.proto */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); + +/* Py3UpdateBases.proto */ +static PyObject* __Pyx_PEP560_update_bases(PyObject *bases); + +/* SetNameInClass.proto */ +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && PY_VERSION_HEX < 0x030d0000 +#define __Pyx_SetNameInClass(ns, name, value)\ + (likely(PyDict_CheckExact(ns)) ? _PyDict_SetItem_KnownHash(ns, name, value, ((PyASCIIObject *) name)->hash) : PyObject_SetItem(ns, name, value)) +#elif CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_SetNameInClass(ns, name, value)\ + (likely(PyDict_CheckExact(ns)) ? PyDict_SetItem(ns, name, value) : PyObject_SetItem(ns, name, value)) +#else +#define __Pyx_SetNameInClass(ns, name, value) PyObject_SetItem(ns, name, value) +#endif + +/* SetNewInClass.proto */ +static int __Pyx_SetNewInClass(PyObject *ns, PyObject *name, PyObject *value); + +/* CalculateMetaclass.proto */ +static PyObject *__Pyx_CalculateMetaclass(PyTypeObject *metaclass, PyObject *bases); + +/* PyObjectLookupSpecial.proto */ +#if CYTHON_USE_PYTYPE_LOOKUP && CYTHON_USE_TYPE_SLOTS +#define __Pyx_PyObject_LookupSpecialNoError(obj, attr_name) __Pyx__PyObject_LookupSpecial(obj, attr_name, 0) +#define __Pyx_PyObject_LookupSpecial(obj, attr_name) __Pyx__PyObject_LookupSpecial(obj, attr_name, 1) +static CYTHON_INLINE PyObject* __Pyx__PyObject_LookupSpecial(PyObject* obj, PyObject* attr_name, int with_error); +#else +#define __Pyx_PyObject_LookupSpecialNoError(o,n) __Pyx_PyObject_GetAttrStrNoError(o,n) +#define __Pyx_PyObject_LookupSpecial(o,n) __Pyx_PyObject_GetAttrStr(o,n) +#endif + +/* Py3ClassCreate.proto */ +static PyObject *__Pyx_Py3MetaclassPrepare(PyObject *metaclass, PyObject *bases, PyObject *name, PyObject *qualname, + PyObject *mkw, PyObject *modname, PyObject *doc); +static PyObject *__Pyx_Py3ClassCreate(PyObject *metaclass, PyObject *name, PyObject *bases, PyObject *dict, + PyObject *mkw, int calculate_metaclass, int allow_py2_metaclass); + +/* Globals.proto */ +static PyObject* __Pyx_Globals(void); + +/* dict_getitem_default.proto */ +static PyObject* __Pyx_PyDict_GetItemDefault(PyObject* d, PyObject* key, PyObject* default_value); + +/* UnpackUnboundCMethod.proto */ +typedef struct { + PyObject *type; + PyObject **method_name; + PyCFunction func; + PyObject *method; + int flag; +} __Pyx_CachedCFunction; + +/* CallUnboundCMethod1.proto */ +static PyObject* __Pyx__CallUnboundCMethod1(__Pyx_CachedCFunction* cfunc, PyObject* self, PyObject* arg); +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_CallUnboundCMethod1(__Pyx_CachedCFunction* cfunc, PyObject* self, PyObject* arg); +#else +#define __Pyx_CallUnboundCMethod1(cfunc, self, arg) __Pyx__CallUnboundCMethod1(cfunc, self, arg) +#endif + +/* CallUnboundCMethod2.proto */ +static PyObject* __Pyx__CallUnboundCMethod2(__Pyx_CachedCFunction* cfunc, PyObject* self, PyObject* arg1, PyObject* arg2); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030600B1 +static CYTHON_INLINE PyObject *__Pyx_CallUnboundCMethod2(__Pyx_CachedCFunction *cfunc, PyObject *self, PyObject *arg1, PyObject *arg2); +#else +#define __Pyx_CallUnboundCMethod2(cfunc, self, arg1, arg2) __Pyx__CallUnboundCMethod2(cfunc, self, arg1, arg2) +#endif + +/* GetNameInClass.proto */ +#define __Pyx_GetNameInClass(var, nmspace, name) (var) = __Pyx__GetNameInClass(nmspace, name) +static PyObject *__Pyx__GetNameInClass(PyObject *nmspace, PyObject *name); + +/* CLineInTraceback.proto */ +#ifdef CYTHON_CLINE_IN_TRACEBACK +#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) +#else +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); +#endif + +/* CodeObjectCache.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +typedef struct { + PyCodeObject* code_object; + int code_line; +} __Pyx_CodeObjectCacheEntry; +struct __Pyx_CodeObjectCache { + int count; + int max_count; + __Pyx_CodeObjectCacheEntry* entries; +}; +static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); +static PyCodeObject *__pyx_find_code_object(int code_line); +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); +#endif + +/* AddTraceback.proto */ +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename); + +#if PY_MAJOR_VERSION < 3 + static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags); + static void __Pyx_ReleaseBuffer(Py_buffer *view); +#else + #define __Pyx_GetBuffer PyObject_GetBuffer + #define __Pyx_ReleaseBuffer PyBuffer_Release +#endif + + +/* BufferStructDeclare.proto */ +typedef struct { + Py_ssize_t shape, strides, suboffsets; +} __Pyx_Buf_DimInfo; +typedef struct { + size_t refcount; + Py_buffer pybuffer; +} __Pyx_Buffer; +typedef struct { + __Pyx_Buffer *rcbuffer; + char *data; + __Pyx_Buf_DimInfo diminfo[8]; +} __Pyx_LocalBuf_ND; + +/* MemviewSliceIsContig.proto */ +static int __pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim); + +/* OverlappingSlices.proto */ +static int __pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize); + +/* None.proto */ +#include + +/* IsLittleEndian.proto */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void); + +/* BufferFormatCheck.proto */ +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts); +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type); + +/* TypeInfoCompare.proto */ +static int __pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b); + +/* MemviewSliceValidateAndInit.proto */ +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj); + +/* ObjectToMemviewSlice.proto */ +static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_unsigned_char__const__(PyObject *, int writable_flag); + +/* MemviewDtypeToObject.proto */ +static CYTHON_INLINE PyObject *__pyx_memview_get_nn___pyx_t_5numpy_uint8_t(const char *itemp); +static CYTHON_INLINE int __pyx_memview_set_nn___pyx_t_5numpy_uint8_t(const char *itemp, PyObject *obj); + +/* MemviewDtypeToObject.proto */ +static CYTHON_INLINE PyObject *__pyx_memview_get_unsigned_char__const__(const char *itemp); + +/* RealImag.proto */ +#if CYTHON_CCOMPLEX + #ifdef __cplusplus + #define __Pyx_CREAL(z) ((z).real()) + #define __Pyx_CIMAG(z) ((z).imag()) + #else + #define __Pyx_CREAL(z) (__real__(z)) + #define __Pyx_CIMAG(z) (__imag__(z)) + #endif +#else + #define __Pyx_CREAL(z) ((z).real) + #define __Pyx_CIMAG(z) ((z).imag) +#endif +#if defined(__cplusplus) && CYTHON_CCOMPLEX\ + && (defined(_WIN32) || defined(__clang__) || (defined(__GNUC__) && (__GNUC__ >= 5 || __GNUC__ == 4 && __GNUC_MINOR__ >= 4 )) || __cplusplus >= 201103) + #define __Pyx_SET_CREAL(z,x) ((z).real(x)) + #define __Pyx_SET_CIMAG(z,y) ((z).imag(y)) +#else + #define __Pyx_SET_CREAL(z,x) __Pyx_CREAL(z) = (x) + #define __Pyx_SET_CIMAG(z,y) __Pyx_CIMAG(z) = (y) +#endif + +/* Arithmetic.proto */ +#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #define __Pyx_c_eq_float(a, b) ((a)==(b)) + #define __Pyx_c_sum_float(a, b) ((a)+(b)) + #define __Pyx_c_diff_float(a, b) ((a)-(b)) + #define __Pyx_c_prod_float(a, b) ((a)*(b)) + #define __Pyx_c_quot_float(a, b) ((a)/(b)) + #define __Pyx_c_neg_float(a) (-(a)) + #ifdef __cplusplus + #define __Pyx_c_is_zero_float(z) ((z)==(float)0) + #define __Pyx_c_conj_float(z) (::std::conj(z)) + #if 1 + #define __Pyx_c_abs_float(z) (::std::abs(z)) + #define __Pyx_c_pow_float(a, b) (::std::pow(a, b)) + #endif + #else + #define __Pyx_c_is_zero_float(z) ((z)==0) + #define __Pyx_c_conj_float(z) (conjf(z)) + #if 1 + #define __Pyx_c_abs_float(z) (cabsf(z)) + #define __Pyx_c_pow_float(a, b) (cpowf(a, b)) + #endif + #endif +#else + static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex); + static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex); + #if 1 + static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex, __pyx_t_float_complex); + #endif +#endif + +/* Arithmetic.proto */ +#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #define __Pyx_c_eq_double(a, b) ((a)==(b)) + #define __Pyx_c_sum_double(a, b) ((a)+(b)) + #define __Pyx_c_diff_double(a, b) ((a)-(b)) + #define __Pyx_c_prod_double(a, b) ((a)*(b)) + #define __Pyx_c_quot_double(a, b) ((a)/(b)) + #define __Pyx_c_neg_double(a) (-(a)) + #ifdef __cplusplus + #define __Pyx_c_is_zero_double(z) ((z)==(double)0) + #define __Pyx_c_conj_double(z) (::std::conj(z)) + #if 1 + #define __Pyx_c_abs_double(z) (::std::abs(z)) + #define __Pyx_c_pow_double(a, b) (::std::pow(a, b)) + #endif + #else + #define __Pyx_c_is_zero_double(z) ((z)==0) + #define __Pyx_c_conj_double(z) (conj(z)) + #if 1 + #define __Pyx_c_abs_double(z) (cabs(z)) + #define __Pyx_c_pow_double(a, b) (cpow(a, b)) + #endif + #endif +#else + static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex); + static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex); + #if 1 + static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex, __pyx_t_double_complex); + #endif +#endif + +/* MemviewSliceCopyTemplate.proto */ +static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object); + +/* MemviewSliceInit.proto */ +#define __Pyx_BUF_MAX_NDIMS %(BUF_MAX_NDIMS)d +#define __Pyx_MEMVIEW_DIRECT 1 +#define __Pyx_MEMVIEW_PTR 2 +#define __Pyx_MEMVIEW_FULL 4 +#define __Pyx_MEMVIEW_CONTIG 8 +#define __Pyx_MEMVIEW_STRIDED 16 +#define __Pyx_MEMVIEW_FOLLOW 32 +#define __Pyx_IS_C_CONTIG 1 +#define __Pyx_IS_F_CONTIG 2 +static int __Pyx_init_memviewslice( + struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference); +static CYTHON_INLINE int __pyx_add_acquisition_count_locked( + __pyx_atomic_int_type *acquisition_count, PyThread_type_lock lock); +static CYTHON_INLINE int __pyx_sub_acquisition_count_locked( + __pyx_atomic_int_type *acquisition_count, PyThread_type_lock lock); +#define __pyx_get_slice_count_pointer(memview) (&memview->acquisition_count) +#define __PYX_INC_MEMVIEW(slice, have_gil) __Pyx_INC_MEMVIEW(slice, have_gil, __LINE__) +#define __PYX_XCLEAR_MEMVIEW(slice, have_gil) __Pyx_XCLEAR_MEMVIEW(slice, have_gil, __LINE__) +static CYTHON_INLINE void __Pyx_INC_MEMVIEW(__Pyx_memviewslice *, int, int); +static CYTHON_INLINE void __Pyx_XCLEAR_MEMVIEW(__Pyx_memviewslice *, int, int); + +/* TypeInfoToFormat.proto */ +struct __pyx_typeinfo_string { + char string[3]; +}; +static struct __pyx_typeinfo_string __Pyx_TypeInfoToFormat(__Pyx_TypeInfo *type); + +/* CIntFromPy.proto */ +static CYTHON_INLINE enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType __Pyx_PyInt_As_enum____pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType(PyObject *); + +/* CIntFromPy.proto */ +static CYTHON_INLINE size_t __Pyx_PyInt_As_size_t(PyObject *); + +/* CIntFromPy.proto */ +static CYTHON_INLINE uint32_t __Pyx_PyInt_As_uint32_t(PyObject *); + +/* CIntFromPy.proto */ +static CYTHON_INLINE uint64_t __Pyx_PyInt_As_uint64_t(PyObject *); + +/* CIntFromPy.proto */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_npy_uint8(npy_uint8 value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE npy_uint8 __Pyx_PyInt_As_npy_uint8(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_unsigned_char(unsigned char value); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_uint32_t(uint32_t value); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_uint64_t(uint64_t value); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_enum__VisionStreamType(enum VisionStreamType value); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_enum____pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType value); + +/* CppExceptionConversion.proto */ +#ifndef __Pyx_CppExn2PyErr +#include +#include +#include +#include +static void __Pyx_CppExn2PyErr() { + try { + if (PyErr_Occurred()) + ; // let the latest Python exn pass through and ignore the current one + else + throw; + } catch (const std::bad_alloc& exn) { + PyErr_SetString(PyExc_MemoryError, exn.what()); + } catch (const std::bad_cast& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::bad_typeid& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::domain_error& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::invalid_argument& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::ios_base::failure& exn) { + PyErr_SetString(PyExc_IOError, exn.what()); + } catch (const std::out_of_range& exn) { + PyErr_SetString(PyExc_IndexError, exn.what()); + } catch (const std::overflow_error& exn) { + PyErr_SetString(PyExc_OverflowError, exn.what()); + } catch (const std::range_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::underflow_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::exception& exn) { + PyErr_SetString(PyExc_RuntimeError, exn.what()); + } + catch (...) + { + PyErr_SetString(PyExc_RuntimeError, "Unknown exception"); + } +} +#endif + +/* CIntFromPy.proto */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *); + +/* FormatTypeName.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +typedef PyObject *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%U" +static __Pyx_TypeName __Pyx_PyType_GetName(PyTypeObject* tp); +#define __Pyx_DECREF_TypeName(obj) Py_XDECREF(obj) +#else +typedef const char *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%.200s" +#define __Pyx_PyType_GetName(tp) ((tp)->tp_name) +#define __Pyx_DECREF_TypeName(obj) +#endif + +/* CheckBinaryVersion.proto */ +static unsigned long __Pyx_get_runtime_version(void); +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer); + +/* InitStrings.proto */ +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); + +/* #### Code section: module_declarations ### */ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *__pyx_v_self); /* proto*/ +static char *__pyx_memoryview_get_item_pointer(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto*/ +static PyObject *__pyx_memoryview_is_slice(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assignment(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_dst, PyObject *__pyx_v_src); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assign_scalar(struct __pyx_memoryview_obj *__pyx_v_self, struct __pyx_memoryview_obj *__pyx_v_dst, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_setitem_indexed(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_convert_item_to_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryview_assign_item_from_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview__get_base(struct __pyx_memoryview_obj *__pyx_v_self); /* proto*/ +static PyObject *__pyx_memoryviewslice_convert_item_to_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryviewslice_assign_item_from_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryviewslice__get_base(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto*/ +static CYTHON_INLINE PyObject *__pyx_f_5numpy_7ndarray_4base_base(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE PyArray_Descr *__pyx_f_5numpy_7ndarray_5descr_descr(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE int __pyx_f_5numpy_7ndarray_4ndim_ndim(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE npy_intp *__pyx_f_5numpy_7ndarray_5shape_shape(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE npy_intp *__pyx_f_5numpy_7ndarray_7strides_strides(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE npy_intp __pyx_f_5numpy_7ndarray_4size_size(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE char *__pyx_f_5numpy_7ndarray_4data_data(PyArrayObject *__pyx_v_self); /* proto*/ +static PyObject *__pyx_f_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_create(VisionBuf *__pyx_v_cbuf); /* proto*/ + +/* Module declarations from "libc.string" */ + +/* Module declarations from "libcpp.string" */ + +/* Module declarations from "libcpp.vector" */ + +/* Module declarations from "libcpp.utility" */ + +/* Module declarations from "libcpp.set" */ + +/* Module declarations from "libc.stdint" */ + +/* Module declarations from "libcpp" */ + +/* Module declarations from "msgq.visionipc.visionipc" */ + +/* Module declarations from "libc.stdio" */ + +/* Module declarations from "__builtin__" */ + +/* Module declarations from "cpython.type" */ + +/* Module declarations from "cpython" */ + +/* Module declarations from "cpython.object" */ + +/* Module declarations from "cpython.ref" */ + +/* Module declarations from "numpy" */ + +/* Module declarations from "numpy" */ + +/* Module declarations from "cython.view" */ +static struct __pyx_array_obj *__pyx_array_new(PyObject *, Py_ssize_t, char *, char *, char *); /*proto*/ + +/* Module declarations from "msgq.visionipc.visionipc_pyx" */ +static PyObject *__Pyx_OrderedDict = 0; +static PyObject *__Pyx_EnumBase = 0; +static PyObject *__Pyx_FlagBase = 0; +static PyObject *__pyx_collections_abc_Sequence = 0; +static PyObject *generic = 0; +static PyObject *strided = 0; +static PyObject *indirect = 0; +static PyObject *contiguous = 0; +static PyObject *indirect_contiguous = 0; +static int __pyx_memoryview_thread_locks_used; +static PyThread_type_lock __pyx_memoryview_thread_locks[8]; +static PyObject *__Pyx_globals = 0; +static std::string __pyx_convert_string_from_py_std__in_string(PyObject *); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyObject_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyUnicode_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyStr_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyBytes_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyByteArray_string_to_py_std__in_string(std::string const &); /*proto*/ +static PyObject *__pyx_convert_set_to_py_enum__VisionStreamType(std::set const &); /*proto*/ +static PyObject *__pyx_unpickle___Pyx_EnumMeta__set_state(struct __pyx_obj___Pyx_EnumMeta *, PyObject *); /*proto*/ +static int __pyx_array_allocate_buffer(struct __pyx_array_obj *); /*proto*/ +static struct __pyx_array_obj *__pyx_array_new(PyObject *, Py_ssize_t, char *, char *, char *); /*proto*/ +static PyObject *__pyx_memoryview_new(PyObject *, int, int, __Pyx_TypeInfo *); /*proto*/ +static CYTHON_INLINE int __pyx_memoryview_check(PyObject *); /*proto*/ +static PyObject *_unellipsify(PyObject *, int); /*proto*/ +static int assert_direct_dimensions(Py_ssize_t *, int); /*proto*/ +static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_obj *, PyObject *); /*proto*/ +static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int, int); /*proto*/ +static char *__pyx_pybuffer_index(Py_buffer *, char *, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memslice_transpose(__Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_fromslice(__Pyx_memviewslice, int, PyObject *(*)(char *), int (*)(char *, PyObject *), int); /*proto*/ +static __Pyx_memviewslice *__pyx_memoryview_get_slice_from_memoryview(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static void __pyx_memoryview_slice_copy(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object(struct __pyx_memoryview_obj *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object_from_slice(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static Py_ssize_t abs_py_ssize_t(Py_ssize_t); /*proto*/ +static char __pyx_get_best_slice_order(__Pyx_memviewslice *, int); /*proto*/ +static void _copy_strided_to_strided(char *, Py_ssize_t *, char *, Py_ssize_t *, Py_ssize_t *, Py_ssize_t *, int, size_t); /*proto*/ +static void copy_strided_to_strided(__Pyx_memviewslice *, __Pyx_memviewslice *, int, size_t); /*proto*/ +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *, int); /*proto*/ +static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *, Py_ssize_t *, Py_ssize_t, int, char); /*proto*/ +static void *__pyx_memoryview_copy_data_to_temp(__Pyx_memviewslice *, __Pyx_memviewslice *, char, int); /*proto*/ +static int __pyx_memoryview_err_extents(int, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memoryview_err_dim(PyObject *, PyObject *, int); /*proto*/ +static int __pyx_memoryview_err(PyObject *, PyObject *); /*proto*/ +static int __pyx_memoryview_err_no_memory(void); /*proto*/ +static int __pyx_memoryview_copy_contents(__Pyx_memviewslice, __Pyx_memviewslice, int, int, int); /*proto*/ +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *, int, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *, int, size_t, void *, int); /*proto*/ +static void __pyx_memoryview__slice_assign_scalar(char *, Py_ssize_t *, Py_ssize_t *, int, size_t, void *); /*proto*/ +static PyObject *__pyx_unpickle_Enum__set_state(struct __pyx_MemviewEnum_obj *, PyObject *); /*proto*/ +static PyObject *__pyx_format_from_typeinfo(__Pyx_TypeInfo *); /*proto*/ +/* #### Code section: typeinfo ### */ +static __Pyx_TypeInfo __Pyx_TypeInfo_nn___pyx_t_5numpy_uint8_t = { "uint8_t", NULL, sizeof(__pyx_t_5numpy_uint8_t), { 0 }, 0, __PYX_IS_UNSIGNED(__pyx_t_5numpy_uint8_t) ? 'U' : 'I', __PYX_IS_UNSIGNED(__pyx_t_5numpy_uint8_t), 0 }; +static __Pyx_TypeInfo __Pyx_TypeInfo_unsigned_char__const__ = { "const unsigned char", NULL, sizeof(unsigned char const ), { 0 }, 0, __PYX_IS_UNSIGNED(unsigned char const ) ? 'U' : 'I', __PYX_IS_UNSIGNED(unsigned char const ), 0 }; +/* #### Code section: before_global_var ### */ +#define __Pyx_MODULE_NAME "msgq.visionipc.visionipc_pyx" +extern int __pyx_module_is_main_msgq__visionipc__visionipc_pyx; +int __pyx_module_is_main_msgq__visionipc__visionipc_pyx = 0; + +/* Implementation of "msgq.visionipc.visionipc_pyx" */ +/* #### Code section: global_var ### */ +static PyObject *__pyx_builtin_staticmethod; +static PyObject *__pyx_builtin_TypeError; +static PyObject *__pyx_builtin_AssertionError; +static PyObject *__pyx_builtin_ValueError; +static PyObject *__pyx_builtin___import__; +static PyObject *__pyx_builtin_MemoryError; +static PyObject *__pyx_builtin_enumerate; +static PyObject *__pyx_builtin_range; +static PyObject *__pyx_builtin_Ellipsis; +static PyObject *__pyx_builtin_id; +static PyObject *__pyx_builtin_IndexError; +static PyObject *__pyx_builtin_ImportError; +/* #### Code section: string_decls ### */ +static const char __pyx_k_[] = ""; +static const char __pyx_k_O[] = "O"; +static const char __pyx_k_T[] = "T{"; + static const char __pyx_k_c[] = "c"; + static const char __pyx_k_v[] = "v"; + static const char __pyx_k__3[] = "."; + static const char __pyx_k__4[] = ": "; + static const char __pyx_k__5[] = "*"; + static const char __pyx_k__8[] = "'"; + static const char __pyx_k__9[] = ")"; + static const char __pyx_k_gc[] = "gc"; + static const char __pyx_k_id[] = "id"; + static const char __pyx_k_np[] = "np"; + static const char __pyx_k_tp[] = "tp"; + static const char __pyx_k__11[] = "^"; + static const char __pyx_k__12[] = ":"; +static const char __pyx_k__13[] = "}"; +static const char __pyx_k__14[] = "("; +static const char __pyx_k__15[] = ","; +static const char __pyx_k__67[] = "?"; +static const char __pyx_k_abc[] = "abc"; +static const char __pyx_k_and[] = " and "; +static const char __pyx_k_buf[] = "buf"; +static const char __pyx_k_cls[] = "cls"; +static const char __pyx_k_dct[] = "dct"; +static const char __pyx_k_doc[] = "__doc__"; +static const char __pyx_k_get[] = "get"; +static const char __pyx_k_got[] = " (got "; +static const char __pyx_k_new[] = "__new__"; +static const char __pyx_k_obj[] = "obj"; +static const char __pyx_k_res[] = "res"; +static const char __pyx_k_rgb[] = "rgb"; +static const char __pyx_k_s_s[] = "%s.%s"; +static const char __pyx_k_str[] = "__str__"; +static const char __pyx_k_sys[] = "sys"; +static const char __pyx_k_base[] = "base"; +static const char __pyx_k_data[] = "data"; +static const char __pyx_k_dict[] = "__dict__"; +static const char __pyx_k_enum[] = "enum"; +static const char __pyx_k_init[] = "__init__"; +static const char __pyx_k_join[] = "join"; +static const char __pyx_k_main[] = "__main__"; +static const char __pyx_k_mode[] = "mode"; +static const char __pyx_k_name[] = "name"; +static const char __pyx_k_ndim[] = "ndim"; +static const char __pyx_k_pack[] = "pack"; +static const char __pyx_k_recv[] = "recv"; +static const char __pyx_k_repr[] = "__repr__"; +static const char __pyx_k_self[] = "self"; +static const char __pyx_k_send[] = "send"; +static const char __pyx_k_size[] = "size"; +static const char __pyx_k_spec[] = "__spec__"; +static const char __pyx_k_step[] = "step"; +static const char __pyx_k_stop[] = "stop"; +static const char __pyx_k_test[] = "__test__"; +static const char __pyx_k_ASCII[] = "ASCII"; +static const char __pyx_k_block[] = "block"; +static const char __pyx_k_class[] = "__class__"; +static const char __pyx_k_count[] = "count"; +static const char __pyx_k_error[] = "error"; +static const char __pyx_k_extra[] = "extra"; +static const char __pyx_k_flags[] = "flags"; +static const char __pyx_k_index[] = "index"; +static const char __pyx_k_numpy[] = "numpy"; +static const char __pyx_k_range[] = "range"; +static const char __pyx_k_s_s_d[] = "<%s.%s: %d>"; +static const char __pyx_k_shape[] = "shape"; +static const char __pyx_k_start[] = "start"; +static const char __pyx_k_state[] = "state"; +static const char __pyx_k_super[] = "super"; +static const char __pyx_k_value[] = "value"; +static const char __pyx_k_width[] = "width"; +static const char __pyx_k_dict_2[] = "_dict"; +static const char __pyx_k_enable[] = "enable"; +static const char __pyx_k_encode[] = "encode"; +static const char __pyx_k_format[] = "format"; +static const char __pyx_k_height[] = "height"; +static const char __pyx_k_import[] = "__import__"; +static const char __pyx_k_module[] = "__module__"; +static const char __pyx_k_name_2[] = "__name__"; +static const char __pyx_k_pickle[] = "pickle"; +static const char __pyx_k_reduce[] = "__reduce__"; +static const char __pyx_k_stream[] = "stream"; +static const char __pyx_k_stride[] = "stride"; +static const char __pyx_k_struct[] = "struct"; +static const char __pyx_k_unpack[] = "unpack"; +static const char __pyx_k_update[] = "update"; +static const char __pyx_k_values[] = "values"; +static const char __pyx_k_IntEnum[] = "IntEnum"; +static const char __pyx_k_IntFlag[] = "IntFlag"; +static const char __pyx_k_asarray[] = "asarray"; +static const char __pyx_k_connect[] = "connect"; +static const char __pyx_k_context[] = "context"; +static const char __pyx_k_disable[] = "disable"; +static const char __pyx_k_fortran[] = "fortran"; +static const char __pyx_k_members[] = "__members__"; +static const char __pyx_k_memview[] = "memview"; +static const char __pyx_k_parents[] = "parents"; +static const char __pyx_k_prepare[] = "__prepare__"; +static const char __pyx_k_Ellipsis[] = "Ellipsis"; +static const char __pyx_k_EnumBase[] = "EnumBase"; +static const char __pyx_k_EnumType[] = "EnumType"; +static const char __pyx_k_Sequence[] = "Sequence"; +static const char __pyx_k_blocking[] = "blocking"; +static const char __pyx_k_conflate[] = "conflate"; +static const char __pyx_k_frame_id[] = "frame_id"; +static const char __pyx_k_getstate[] = "__getstate__"; +static const char __pyx_k_itemsize[] = "itemsize"; +static const char __pyx_k_module_2[] = "module"; +static const char __pyx_k_pyx_type[] = "__pyx_type"; +static const char __pyx_k_qualname[] = "__qualname__"; +static const char __pyx_k_register[] = "register"; +static const char __pyx_k_set_name[] = "__set_name__"; +static const char __pyx_k_setstate[] = "__setstate__"; +static const char __pyx_k_CLContext[] = "CLContext"; +static const char __pyx_k_TypeError[] = "TypeError"; +static const char __pyx_k_VisionBuf[] = "VisionBuf"; +static const char __pyx_k_enumerate[] = "enumerate"; +static const char __pyx_k_isenabled[] = "isenabled"; +static const char __pyx_k_metaclass[] = "__metaclass__"; +static const char __pyx_k_pyx_state[] = "__pyx_state"; +static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; +static const char __pyx_k_uv_offset[] = "uv_offset"; +static const char __pyx_k_IndexError[] = "IndexError"; +static const char __pyx_k_ValueError[] = "ValueError"; +static const char __pyx_k_pyx_result[] = "__pyx_result"; +static const char __pyx_k_pyx_vtable[] = "__pyx_vtable__"; +static const char __pyx_k_timeout_ms[] = "timeout_ms"; +static const char __pyx_k_ImportError[] = "ImportError"; +static const char __pyx_k_MemoryError[] = "MemoryError"; +static const char __pyx_k_OrderedDict[] = "OrderedDict"; +static const char __pyx_k_PickleError[] = "PickleError"; +static const char __pyx_k_collections[] = "collections"; +static const char __pyx_k_mro_entries[] = "__mro_entries__"; +static const char __pyx_k_num_buffers[] = "num_buffers"; +static const char __pyx_k_Pyx_EnumBase[] = "__Pyx_EnumBase"; +static const char __pyx_k_Pyx_FlagBase[] = "__Pyx_FlagBase"; +static const char __pyx_k_initializing[] = "_initializing"; +static const char __pyx_k_is_connected[] = "is_connected"; +static const char __pyx_k_is_coroutine[] = "_is_coroutine"; +static const char __pyx_k_member_names[] = "_member_names_"; +static const char __pyx_k_pyx_checksum[] = "__pyx_checksum"; +static const char __pyx_k_staticmethod[] = "staticmethod"; +static const char __pyx_k_stringsource[] = ""; +static const char __pyx_k_use_setstate[] = "use_setstate"; +static const char __pyx_k_version_info[] = "version_info"; +static const char __pyx_k_class_getitem[] = "__class_getitem__"; +static const char __pyx_k_init_subclass[] = "__init_subclass__"; +static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; +static const char __pyx_k_timestamp_eof[] = "timestamp_eof"; +static const char __pyx_k_timestamp_sof[] = "timestamp_sof"; +static const char __pyx_k_AssertionError[] = "AssertionError"; +static const char __pyx_k_create_buffers[] = "create_buffers"; +static const char __pyx_k_start_listener[] = "start_listener"; +static const char __pyx_k_View_MemoryView[] = "View.MemoryView"; +static const char __pyx_k_VisionIpcClient[] = "VisionIpcClient"; +static const char __pyx_k_VisionIpcServer[] = "VisionIpcServer"; +static const char __pyx_k_allocate_buffer[] = "allocate_buffer"; +static const char __pyx_k_collections_abc[] = "collections.abc"; +static const char __pyx_k_dtype_is_object[] = "dtype_is_object"; +static const char __pyx_k_pyx_PickleError[] = "__pyx_PickleError"; +static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; +static const char __pyx_k_VisionStreamType[] = "VisionStreamType"; +static const char __pyx_k_VISION_STREAM_MAP[] = "VISION_STREAM_MAP"; +static const char __pyx_k_available_streams[] = "available_streams"; +static const char __pyx_k_get_endpoint_name[] = "get_endpoint_name"; +static const char __pyx_k_pyx_unpickle_Enum[] = "__pyx_unpickle_Enum"; +static const char __pyx_k_Pyx_EnumBase___new[] = "__Pyx_EnumBase.__new__"; +static const char __pyx_k_Pyx_EnumBase___str[] = "__Pyx_EnumBase.__str__"; +static const char __pyx_k_Pyx_FlagBase___new[] = "__Pyx_FlagBase.__new__"; +static const char __pyx_k_Pyx_FlagBase___str[] = "__Pyx_FlagBase.__str__"; +static const char __pyx_k_VISION_STREAM_ROAD[] = "VISION_STREAM_ROAD"; +static const char __pyx_k_asyncio_coroutines[] = "asyncio.coroutines"; +static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; +static const char __pyx_k_strided_and_direct[] = ""; +static const char __pyx_k_Pyx_EnumBase___repr[] = "__Pyx_EnumBase.__repr__"; +static const char __pyx_k_Pyx_FlagBase___repr[] = "__Pyx_FlagBase.__repr__"; +static const char __pyx_k_Unknown_enum_value_s[] = "Unknown enum value: '%s'"; +static const char __pyx_k_VISION_STREAM_DRIVER[] = "VISION_STREAM_DRIVER"; +static const char __pyx_k_VisionIpcClient_recv[] = "VisionIpcClient.recv"; +static const char __pyx_k_VisionIpcServer_send[] = "VisionIpcServer.send"; +static const char __pyx_k_strided_and_indirect[] = ""; +static const char __pyx_k_Invalid_shape_in_axis[] = "Invalid shape in axis "; +static const char __pyx_k_contiguous_and_direct[] = ""; +static const char __pyx_k_Cannot_index_with_type[] = "Cannot index with type '"; +static const char __pyx_k_MemoryView_of_r_object[] = ""; +static const char __pyx_k_MemoryView_of_r_at_0x_x[] = ""; +static const char __pyx_k_VISION_STREAM_WIDE_ROAD[] = "VISION_STREAM_WIDE_ROAD"; +static const char __pyx_k_VisionIpcClient_connect[] = "VisionIpcClient.connect"; +static const char __pyx_k_contiguous_and_indirect[] = ""; +static const char __pyx_k_Dimension_d_is_not_direct[] = "Dimension %d is not direct"; +static const char __pyx_k_VisionBuf___reduce_cython[] = "VisionBuf.__reduce_cython__"; +static const char __pyx_k_create_buffers_with_sizes[] = "create_buffers_with_sizes"; +static const char __pyx_k_Index_out_of_bounds_axis_d[] = "Index out of bounds (axis %d)"; +static const char __pyx_k_Step_may_not_be_zero_axis_d[] = "Step may not be zero (axis %d)"; +static const char __pyx_k_VisionBuf___setstate_cython[] = "VisionBuf.__setstate_cython__"; +static const char __pyx_k_itemsize_0_for_cython_array[] = "itemsize <= 0 for cython.array"; +static const char __pyx_k_pyx_unpickle___Pyx_EnumMeta[] = "__pyx_unpickle___Pyx_EnumMeta"; +static const char __pyx_k_Pyx_EnumMeta___reduce_cython[] = "__Pyx_EnumMeta.__reduce_cython__"; +static const char __pyx_k_VisionIpcClient_is_connected[] = "VisionIpcClient.is_connected"; +static const char __pyx_k_msgq_visionipc_visionipc_pyx[] = "msgq.visionipc.visionipc_pyx"; +static const char __pyx_k_unable_to_allocate_array_data[] = "unable to allocate array data."; +static const char __pyx_k_Pyx_EnumMeta___setstate_cython[] = "__Pyx_EnumMeta.__setstate_cython__"; +static const char __pyx_k_VisionIpcServer_create_buffers[] = "VisionIpcServer.create_buffers"; +static const char __pyx_k_VisionIpcServer_start_listener[] = "VisionIpcServer.start_listener"; +static const char __pyx_k_strided_and_direct_or_indirect[] = ""; +static const char __pyx_k_VisionIpcClient___reduce_cython[] = "VisionIpcClient.__reduce_cython__"; +static const char __pyx_k_VisionIpcServer___reduce_cython[] = "VisionIpcServer.__reduce_cython__"; +static const char __pyx_k_numpy_core_multiarray_failed_to[] = "numpy.core.multiarray failed to import"; +static const char __pyx_k_self_buf_cannot_be_converted_to[] = "self.buf cannot be converted to a Python object for pickling"; +static const char __pyx_k_self_server_cannot_be_converted[] = "self.server cannot be converted to a Python object for pickling"; +static const char __pyx_k_All_dimensions_preceding_dimensi[] = "All dimensions preceding dimension %d must be indexed and not sliced"; +static const char __pyx_k_Buffer_view_does_not_expose_stri[] = "Buffer view does not expose strides"; +static const char __pyx_k_Can_only_create_a_buffer_that_is[] = "Can only create a buffer that is contiguous in memory."; +static const char __pyx_k_Cannot_assign_to_read_only_memor[] = "Cannot assign to read-only memoryview"; +static const char __pyx_k_Cannot_create_writable_memory_vi[] = "Cannot create writable memory view from read-only memoryview"; +static const char __pyx_k_Cannot_transpose_memoryview_with[] = "Cannot transpose memoryview with indirect dimensions"; +static const char __pyx_k_Empty_shape_tuple_for_cython_arr[] = "Empty shape tuple for cython.array"; +static const char __pyx_k_Incompatible_checksums_0x_x_vs_0[] = "Incompatible checksums (0x%x vs (0xe3b0c44, 0xda39a3e, 0xd41d8cd) = ())"; +static const char __pyx_k_Indirect_dimensions_not_supporte[] = "Indirect dimensions not supported"; +static const char __pyx_k_Invalid_mode_expected_c_or_fortr[] = "Invalid mode, expected 'c' or 'fortran', got "; +static const char __pyx_k_Out_of_bounds_on_buffer_access_a[] = "Out of bounds on buffer access (axis "; +static const char __pyx_k_Unable_to_convert_item_to_object[] = "Unable to convert item to object"; +static const char __pyx_k_VisionIpcClient___setstate_cytho[] = "VisionIpcClient.__setstate_cython__"; +static const char __pyx_k_VisionIpcClient_available_stream[] = "VisionIpcClient.available_streams"; +static const char __pyx_k_VisionIpcServer___setstate_cytho[] = "VisionIpcServer.__setstate_cython__"; +static const char __pyx_k_VisionIpcServer_create_buffers_w[] = "VisionIpcServer.create_buffers_with_sizes"; +static const char __pyx_k_got_differing_extents_in_dimensi[] = "got differing extents in dimension "; +static const char __pyx_k_msgq_repo_msgq_visionipc_visioni[] = "msgq_repo/msgq/visionipc/visionipc_pyx.pyx"; +static const char __pyx_k_no_default___reduce___due_to_non[] = "no default __reduce__ due to non-trivial __cinit__"; +static const char __pyx_k_numpy_core_umath_failed_to_impor[] = "numpy.core.umath failed to import"; +static const char __pyx_k_unable_to_allocate_shape_and_str[] = "unable to allocate shape and strides."; +static const char __pyx_k_Incompatible_checksums_0x_x_vs_0_2[] = "Incompatible checksums (0x%x vs (0x82a3537, 0x6ae9995, 0xb068931) = (name))"; +/* #### Code section: decls ### */ +static int __pyx_pf_8EnumBase_14__Pyx_EnumMeta___init__(struct __pyx_obj___Pyx_EnumMeta *__pyx_v_cls, PyObject *__pyx_v_name, PyObject *__pyx_v_parents, PyObject *__pyx_v_dct); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumMeta_2__iter__(struct __pyx_obj___Pyx_EnumMeta *__pyx_v_cls); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumMeta_4__getitem__(struct __pyx_obj___Pyx_EnumMeta *__pyx_v_cls, PyObject *__pyx_v_name); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumMeta_6__reduce_cython__(struct __pyx_obj___Pyx_EnumMeta *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumMeta_8__setstate_cython__(struct __pyx_obj___Pyx_EnumMeta *__pyx_v_self, PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumBase___new__(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_cls, PyObject *__pyx_v_value, PyObject *__pyx_v_name); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumBase_2__repr__(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumBase_4__str__(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_FlagBase___new__(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_cls, PyObject *__pyx_v_value, PyObject *__pyx_v_name); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_FlagBase_2__repr__(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_FlagBase_4__str__(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_8EnumBase___pyx_unpickle___Pyx_EnumMeta(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v___pyx_type, long __pyx_v___pyx_checksum, PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_shape, Py_ssize_t __pyx_v_itemsize, PyObject *__pyx_v_format, PyObject *__pyx_v_mode, int __pyx_v_allocate_buffer); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_2__getbuffer__(struct __pyx_array_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static void __pyx_array___pyx_pf_15View_dot_MemoryView_5array_4__dealloc__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_5array_7memview___get__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_array___pyx_pf_15View_dot_MemoryView_5array_6__len__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_8__getattr__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_attr); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_10__getitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_12__setitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item, PyObject *__pyx_v_value); /* proto */ +static PyObject *__pyx_pf___pyx_array___reduce_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_array_2__setstate_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum___init__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v_name); /* proto */ +static PyObject *__pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum_2__repr__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum___reduce_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum_2__setstate_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview___cinit__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj, int __pyx_v_flags, int __pyx_v_dtype_is_object); /* proto */ +static void __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_2__dealloc__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_4__getitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_6__setitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_8__getbuffer__(struct __pyx_memoryview_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_1T___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4base___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_5shape___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_7strides___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_10suboffsets___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4ndim___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_8itemsize___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_6nbytes___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4size___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_10__len__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_12__repr__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_14__str__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_16is_c_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_18is_f_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_20copy(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_22copy_fortran(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static void __pyx_memoryviewslice___pyx_pf_15View_dot_MemoryView_16_memoryviewslice___dealloc__(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView___pyx_unpickle_Enum(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v___pyx_type, long __pyx_v___pyx_checksum, PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_get_endpoint_name(CYTHON_UNUSED PyObject *__pyx_self, std::string __pyx_v_name, enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType __pyx_v_stream); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_4data___get__(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_5width___get__(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_6height___get__(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_6stride___get__(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_9uv_offset___get__(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_3rgb___get__(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_9VisionBuf___reduce_cython__(CYTHON_UNUSED struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_2__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcServer___init__(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer *__pyx_v_self, std::string __pyx_v_name); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcServer_2create_buffers(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer *__pyx_v_self, enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType __pyx_v_tp, size_t __pyx_v_num_buffers, bool __pyx_v_rgb, size_t __pyx_v_width, size_t __pyx_v_height); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcServer_4create_buffers_with_sizes(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer *__pyx_v_self, enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType __pyx_v_tp, size_t __pyx_v_num_buffers, bool __pyx_v_rgb, size_t __pyx_v_width, size_t __pyx_v_height, size_t __pyx_v_size, size_t __pyx_v_stride, size_t __pyx_v_uv_offset); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcServer_6send(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer *__pyx_v_self, enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType __pyx_v_tp, __Pyx_memviewslice __pyx_v_data, uint32_t __pyx_v_frame_id, uint64_t __pyx_v_timestamp_sof, uint64_t __pyx_v_timestamp_eof); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcServer_8start_listener(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer *__pyx_v_self); /* proto */ +static void __pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcServer_10__dealloc__(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcServer_12__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcServer_14__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient___cinit__(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self, std::string __pyx_v_name, enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType __pyx_v_stream, bool __pyx_v_conflate, struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext *__pyx_v_context); /* proto */ +static void __pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_2__dealloc__(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_5width___get__(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_6height___get__(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_6stride___get__(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_9uv_offset___get__(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_3rgb___get__(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_10buffer_len___get__(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_11num_buffers___get__(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_8frame_id___get__(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_13timestamp_sof___get__(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_13timestamp_eof___get__(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_5valid___get__(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_4recv(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self, int __pyx_v_timeout_ms); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_6connect(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self, bool __pyx_v_blocking); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_8is_connected(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_10available_streams(std::string __pyx_v_name, bool __pyx_v_block); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_12__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_14__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_tp_new_4msgq_9visionipc_13visionipc_pyx_CLContext(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_4msgq_9visionipc_13visionipc_pyx_VisionBuf(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static __Pyx_CachedCFunction __pyx_umethod_PyDict_Type_get = {0, 0, 0, 0, 0}; +/* #### Code section: late_includes ### */ +/* #### Code section: module_state ### */ +typedef struct { + PyObject *__pyx_d; + PyObject *__pyx_b; + PyObject *__pyx_cython_runtime; + PyObject *__pyx_empty_tuple; + PyObject *__pyx_empty_bytes; + PyObject *__pyx_empty_unicode; + #ifdef __Pyx_CyFunction_USED + PyTypeObject *__pyx_CyFunctionType; + #endif + #ifdef __Pyx_FusedFunction_USED + PyTypeObject *__pyx_FusedFunctionType; + #endif + #ifdef __Pyx_Generator_USED + PyTypeObject *__pyx_GeneratorType; + #endif + #ifdef __Pyx_IterableCoroutine_USED + PyTypeObject *__pyx_IterableCoroutineType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineAwaitType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineType; + #endif + #if 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PyObject *__pyx_tuple__36; + PyObject *__pyx_tuple__37; + PyObject *__pyx_tuple__38; + PyObject *__pyx_tuple__39; + PyObject *__pyx_tuple__40; + PyObject *__pyx_tuple__41; + PyObject *__pyx_tuple__43; + PyObject *__pyx_tuple__47; + PyObject *__pyx_tuple__49; + PyObject *__pyx_tuple__51; + PyObject *__pyx_tuple__53; + PyObject *__pyx_tuple__57; + PyObject *__pyx_tuple__59; + PyObject *__pyx_tuple__60; + PyObject *__pyx_tuple__63; + PyObject *__pyx_codeobj__19; + PyObject *__pyx_codeobj__21; + PyObject *__pyx_codeobj__23; + PyObject *__pyx_codeobj__26; + PyObject *__pyx_codeobj__27; + PyObject *__pyx_codeobj__28; + PyObject *__pyx_codeobj__29; + PyObject *__pyx_codeobj__30; + PyObject *__pyx_codeobj__32; + PyObject *__pyx_codeobj__42; + PyObject *__pyx_codeobj__44; + PyObject *__pyx_codeobj__45; + PyObject *__pyx_codeobj__46; + PyObject *__pyx_codeobj__48; + PyObject *__pyx_codeobj__50; + PyObject *__pyx_codeobj__52; + PyObject *__pyx_codeobj__54; + PyObject *__pyx_codeobj__55; + PyObject *__pyx_codeobj__56; + PyObject *__pyx_codeobj__58; + PyObject *__pyx_codeobj__61; + PyObject *__pyx_codeobj__62; + PyObject *__pyx_codeobj__64; + PyObject *__pyx_codeobj__65; + PyObject *__pyx_codeobj__66; +} __pyx_mstate; + +#if CYTHON_USE_MODULE_STATE +#ifdef __cplusplus +namespace { + extern struct PyModuleDef __pyx_moduledef; +} /* anonymous namespace */ +#else +static struct PyModuleDef __pyx_moduledef; +#endif + +#define __pyx_mstate(o) ((__pyx_mstate *)__Pyx_PyModule_GetState(o)) + +#define __pyx_mstate_global (__pyx_mstate(PyState_FindModule(&__pyx_moduledef))) + +#define __pyx_m (PyState_FindModule(&__pyx_moduledef)) +#else +static __pyx_mstate __pyx_mstate_global_static = +#ifdef __cplusplus + {}; +#else + {0}; +#endif +static __pyx_mstate *__pyx_mstate_global = &__pyx_mstate_global_static; +#endif +/* #### Code section: module_state_clear ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_clear(PyObject *m) { + __pyx_mstate *clear_module_state = 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Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_integer); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_signedinteger); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_unsignedinteger); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_inexact); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_floating); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_complexfloating); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_flexible); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_character); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_ufunc); + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext); + Py_CLEAR(clear_module_state->__pyx_type_4msgq_9visionipc_13visionipc_pyx_CLContext); + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf); + Py_CLEAR(clear_module_state->__pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionBuf); + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer); + Py_CLEAR(clear_module_state->__pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer); + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient); + Py_CLEAR(clear_module_state->__pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient); + Py_CLEAR(clear_module_state->__pyx_ptype___Pyx_EnumMeta); + Py_CLEAR(clear_module_state->__Pyx_EnumMeta); + Py_CLEAR(clear_module_state->__pyx_array_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_array); + Py_CLEAR(clear_module_state->__pyx_MemviewEnum_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_MemviewEnum); + Py_CLEAR(clear_module_state->__pyx_memoryview_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_memoryview); + Py_CLEAR(clear_module_state->__pyx_memoryviewslice_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_memoryviewslice); + Py_CLEAR(clear_module_state->__pyx_kp_b_); + Py_CLEAR(clear_module_state->__pyx_kp_s_); + Py_CLEAR(clear_module_state->__pyx_n_s_ASCII); + Py_CLEAR(clear_module_state->__pyx_kp_s_All_dimensions_preceding_dimensi); + Py_CLEAR(clear_module_state->__pyx_n_s_AssertionError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Buffer_view_does_not_expose_stri); + Py_CLEAR(clear_module_state->__pyx_n_s_CLContext); + Py_CLEAR(clear_module_state->__pyx_kp_s_Can_only_create_a_buffer_that_is); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_assign_to_read_only_memor); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_create_writable_memory_vi); + Py_CLEAR(clear_module_state->__pyx_kp_u_Cannot_index_with_type); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_transpose_memoryview_with); + Py_CLEAR(clear_module_state->__pyx_kp_s_Dimension_d_is_not_direct); + Py_CLEAR(clear_module_state->__pyx_n_s_Ellipsis); + Py_CLEAR(clear_module_state->__pyx_kp_s_Empty_shape_tuple_for_cython_arr); + Py_CLEAR(clear_module_state->__pyx_n_s_EnumBase); + Py_CLEAR(clear_module_state->__pyx_n_s_EnumType); + Py_CLEAR(clear_module_state->__pyx_n_s_ImportError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0); + Py_CLEAR(clear_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0_2); + Py_CLEAR(clear_module_state->__pyx_n_s_IndexError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Index_out_of_bounds_axis_d); + Py_CLEAR(clear_module_state->__pyx_kp_s_Indirect_dimensions_not_supporte); + Py_CLEAR(clear_module_state->__pyx_n_s_IntEnum); + Py_CLEAR(clear_module_state->__pyx_n_s_IntFlag); + Py_CLEAR(clear_module_state->__pyx_kp_u_Invalid_mode_expected_c_or_fortr); + Py_CLEAR(clear_module_state->__pyx_kp_u_Invalid_shape_in_axis); + Py_CLEAR(clear_module_state->__pyx_n_s_MemoryError); + Py_CLEAR(clear_module_state->__pyx_kp_s_MemoryView_of_r_at_0x_x); + Py_CLEAR(clear_module_state->__pyx_kp_s_MemoryView_of_r_object); + Py_CLEAR(clear_module_state->__pyx_n_b_O); + Py_CLEAR(clear_module_state->__pyx_n_s_OrderedDict); + Py_CLEAR(clear_module_state->__pyx_kp_u_Out_of_bounds_on_buffer_access_a); + Py_CLEAR(clear_module_state->__pyx_n_s_PickleError); + Py_CLEAR(clear_module_state->__pyx_n_s_Pyx_EnumBase); + Py_CLEAR(clear_module_state->__pyx_n_s_Pyx_EnumBase___new); + Py_CLEAR(clear_module_state->__pyx_n_s_Pyx_EnumBase___repr); + Py_CLEAR(clear_module_state->__pyx_n_s_Pyx_EnumBase___str); + Py_CLEAR(clear_module_state->__pyx_n_s_Pyx_EnumMeta___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_Pyx_EnumMeta___setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_Pyx_FlagBase); + Py_CLEAR(clear_module_state->__pyx_n_s_Pyx_FlagBase___new); + Py_CLEAR(clear_module_state->__pyx_n_s_Pyx_FlagBase___repr); + Py_CLEAR(clear_module_state->__pyx_n_s_Pyx_FlagBase___str); + Py_CLEAR(clear_module_state->__pyx_n_s_Sequence); + Py_CLEAR(clear_module_state->__pyx_kp_s_Step_may_not_be_zero_axis_d); + Py_CLEAR(clear_module_state->__pyx_kp_b_T); + Py_CLEAR(clear_module_state->__pyx_n_s_TypeError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Unable_to_convert_item_to_object); + Py_CLEAR(clear_module_state->__pyx_kp_s_Unknown_enum_value_s); + Py_CLEAR(clear_module_state->__pyx_n_s_VISION_STREAM_DRIVER); + Py_CLEAR(clear_module_state->__pyx_n_s_VISION_STREAM_MAP); + Py_CLEAR(clear_module_state->__pyx_n_s_VISION_STREAM_ROAD); + Py_CLEAR(clear_module_state->__pyx_n_s_VISION_STREAM_WIDE_ROAD); + Py_CLEAR(clear_module_state->__pyx_n_s_ValueError); + Py_CLEAR(clear_module_state->__pyx_n_s_View_MemoryView); + Py_CLEAR(clear_module_state->__pyx_n_s_VisionBuf); + Py_CLEAR(clear_module_state->__pyx_n_s_VisionBuf___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_VisionBuf___setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_VisionIpcClient); + Py_CLEAR(clear_module_state->__pyx_n_s_VisionIpcClient___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_VisionIpcClient___setstate_cytho); + Py_CLEAR(clear_module_state->__pyx_n_s_VisionIpcClient_available_stream); + Py_CLEAR(clear_module_state->__pyx_n_s_VisionIpcClient_connect); + Py_CLEAR(clear_module_state->__pyx_n_s_VisionIpcClient_is_connected); + Py_CLEAR(clear_module_state->__pyx_n_s_VisionIpcClient_recv); + Py_CLEAR(clear_module_state->__pyx_n_s_VisionIpcServer); + Py_CLEAR(clear_module_state->__pyx_n_s_VisionIpcServer___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_VisionIpcServer___setstate_cytho); + Py_CLEAR(clear_module_state->__pyx_n_s_VisionIpcServer_create_buffers); + Py_CLEAR(clear_module_state->__pyx_n_s_VisionIpcServer_create_buffers_w); + Py_CLEAR(clear_module_state->__pyx_n_s_VisionIpcServer_send); + Py_CLEAR(clear_module_state->__pyx_n_s_VisionIpcServer_start_listener); + Py_CLEAR(clear_module_state->__pyx_n_s_VisionStreamType); + Py_CLEAR(clear_module_state->__pyx_kp_b__11); + Py_CLEAR(clear_module_state->__pyx_kp_b__12); + Py_CLEAR(clear_module_state->__pyx_kp_b__13); + Py_CLEAR(clear_module_state->__pyx_kp_u__14); + Py_CLEAR(clear_module_state->__pyx_kp_u__15); + Py_CLEAR(clear_module_state->__pyx_kp_u__3); + Py_CLEAR(clear_module_state->__pyx_kp_u__4); + Py_CLEAR(clear_module_state->__pyx_n_s__5); + Py_CLEAR(clear_module_state->__pyx_n_s__67); + Py_CLEAR(clear_module_state->__pyx_kp_u__8); + Py_CLEAR(clear_module_state->__pyx_kp_u__9); + Py_CLEAR(clear_module_state->__pyx_n_s_abc); + Py_CLEAR(clear_module_state->__pyx_n_s_allocate_buffer); + Py_CLEAR(clear_module_state->__pyx_kp_u_and); + Py_CLEAR(clear_module_state->__pyx_n_s_asarray); + Py_CLEAR(clear_module_state->__pyx_n_s_asyncio_coroutines); + Py_CLEAR(clear_module_state->__pyx_n_s_available_streams); + Py_CLEAR(clear_module_state->__pyx_n_s_base); + Py_CLEAR(clear_module_state->__pyx_n_s_block); + Py_CLEAR(clear_module_state->__pyx_n_s_blocking); + Py_CLEAR(clear_module_state->__pyx_n_s_buf); + Py_CLEAR(clear_module_state->__pyx_n_s_c); + Py_CLEAR(clear_module_state->__pyx_n_u_c); + Py_CLEAR(clear_module_state->__pyx_n_s_class); + Py_CLEAR(clear_module_state->__pyx_n_s_class_getitem); + Py_CLEAR(clear_module_state->__pyx_n_s_cline_in_traceback); + Py_CLEAR(clear_module_state->__pyx_n_s_cls); + Py_CLEAR(clear_module_state->__pyx_n_s_collections); + Py_CLEAR(clear_module_state->__pyx_kp_s_collections_abc); + Py_CLEAR(clear_module_state->__pyx_n_s_conflate); + Py_CLEAR(clear_module_state->__pyx_n_s_connect); + Py_CLEAR(clear_module_state->__pyx_n_s_context); + Py_CLEAR(clear_module_state->__pyx_kp_s_contiguous_and_direct); + Py_CLEAR(clear_module_state->__pyx_kp_s_contiguous_and_indirect); + Py_CLEAR(clear_module_state->__pyx_n_s_count); + Py_CLEAR(clear_module_state->__pyx_n_s_create_buffers); + Py_CLEAR(clear_module_state->__pyx_n_s_create_buffers_with_sizes); + Py_CLEAR(clear_module_state->__pyx_n_s_data); + Py_CLEAR(clear_module_state->__pyx_n_s_dct); + Py_CLEAR(clear_module_state->__pyx_n_s_dict); + Py_CLEAR(clear_module_state->__pyx_n_s_dict_2); + Py_CLEAR(clear_module_state->__pyx_kp_u_disable); + Py_CLEAR(clear_module_state->__pyx_n_s_doc); + Py_CLEAR(clear_module_state->__pyx_n_s_dtype_is_object); + Py_CLEAR(clear_module_state->__pyx_kp_u_enable); + Py_CLEAR(clear_module_state->__pyx_n_s_encode); + Py_CLEAR(clear_module_state->__pyx_n_s_enum); + Py_CLEAR(clear_module_state->__pyx_n_s_enumerate); + Py_CLEAR(clear_module_state->__pyx_n_s_error); + Py_CLEAR(clear_module_state->__pyx_n_s_extra); + Py_CLEAR(clear_module_state->__pyx_n_s_flags); + Py_CLEAR(clear_module_state->__pyx_n_s_format); + Py_CLEAR(clear_module_state->__pyx_n_s_fortran); + Py_CLEAR(clear_module_state->__pyx_n_u_fortran); + Py_CLEAR(clear_module_state->__pyx_n_s_frame_id); + Py_CLEAR(clear_module_state->__pyx_kp_u_gc); + Py_CLEAR(clear_module_state->__pyx_n_s_get); + Py_CLEAR(clear_module_state->__pyx_n_s_get_endpoint_name); + Py_CLEAR(clear_module_state->__pyx_n_s_getstate); + Py_CLEAR(clear_module_state->__pyx_kp_u_got); + Py_CLEAR(clear_module_state->__pyx_kp_u_got_differing_extents_in_dimensi); + Py_CLEAR(clear_module_state->__pyx_n_s_height); + Py_CLEAR(clear_module_state->__pyx_n_s_id); + Py_CLEAR(clear_module_state->__pyx_n_s_import); + Py_CLEAR(clear_module_state->__pyx_n_s_index); + Py_CLEAR(clear_module_state->__pyx_n_s_init); + Py_CLEAR(clear_module_state->__pyx_n_s_init_subclass); + Py_CLEAR(clear_module_state->__pyx_n_s_initializing); + Py_CLEAR(clear_module_state->__pyx_n_s_is_connected); + Py_CLEAR(clear_module_state->__pyx_n_s_is_coroutine); + Py_CLEAR(clear_module_state->__pyx_kp_u_isenabled); + Py_CLEAR(clear_module_state->__pyx_n_s_itemsize); + Py_CLEAR(clear_module_state->__pyx_kp_s_itemsize_0_for_cython_array); + Py_CLEAR(clear_module_state->__pyx_n_s_join); + Py_CLEAR(clear_module_state->__pyx_n_s_main); + Py_CLEAR(clear_module_state->__pyx_n_s_member_names); + Py_CLEAR(clear_module_state->__pyx_n_s_members); + Py_CLEAR(clear_module_state->__pyx_n_s_memview); + Py_CLEAR(clear_module_state->__pyx_n_s_metaclass); + Py_CLEAR(clear_module_state->__pyx_n_s_mode); + Py_CLEAR(clear_module_state->__pyx_n_s_module); + Py_CLEAR(clear_module_state->__pyx_n_s_module_2); + Py_CLEAR(clear_module_state->__pyx_n_s_mro_entries); + Py_CLEAR(clear_module_state->__pyx_kp_s_msgq_repo_msgq_visionipc_visioni); + Py_CLEAR(clear_module_state->__pyx_kp_s_msgq_visionipc_visionipc_pyx); + Py_CLEAR(clear_module_state->__pyx_n_s_name); + Py_CLEAR(clear_module_state->__pyx_n_s_name_2); + Py_CLEAR(clear_module_state->__pyx_n_s_ndim); + Py_CLEAR(clear_module_state->__pyx_n_s_new); + Py_CLEAR(clear_module_state->__pyx_kp_s_no_default___reduce___due_to_non); + Py_CLEAR(clear_module_state->__pyx_n_s_np); + Py_CLEAR(clear_module_state->__pyx_n_s_num_buffers); + Py_CLEAR(clear_module_state->__pyx_n_s_numpy); + Py_CLEAR(clear_module_state->__pyx_kp_u_numpy_core_multiarray_failed_to); + Py_CLEAR(clear_module_state->__pyx_kp_u_numpy_core_umath_failed_to_impor); + Py_CLEAR(clear_module_state->__pyx_n_s_obj); + Py_CLEAR(clear_module_state->__pyx_n_s_pack); + Py_CLEAR(clear_module_state->__pyx_n_s_parents); + Py_CLEAR(clear_module_state->__pyx_n_s_pickle); + Py_CLEAR(clear_module_state->__pyx_n_s_prepare); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_PickleError); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_checksum); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_result); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_state); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_type); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_unpickle_Enum); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_unpickle___Pyx_EnumMeta); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_vtable); + Py_CLEAR(clear_module_state->__pyx_n_s_qualname); + Py_CLEAR(clear_module_state->__pyx_n_s_range); + Py_CLEAR(clear_module_state->__pyx_n_s_recv); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_ex); + Py_CLEAR(clear_module_state->__pyx_n_s_register); + Py_CLEAR(clear_module_state->__pyx_n_s_repr); + Py_CLEAR(clear_module_state->__pyx_n_s_res); + Py_CLEAR(clear_module_state->__pyx_n_s_rgb); + Py_CLEAR(clear_module_state->__pyx_kp_s_s_s); + Py_CLEAR(clear_module_state->__pyx_kp_s_s_s_d); + Py_CLEAR(clear_module_state->__pyx_n_s_self); + Py_CLEAR(clear_module_state->__pyx_kp_s_self_buf_cannot_be_converted_to); + Py_CLEAR(clear_module_state->__pyx_kp_s_self_server_cannot_be_converted); + Py_CLEAR(clear_module_state->__pyx_n_s_send); + Py_CLEAR(clear_module_state->__pyx_n_s_set_name); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_shape); + Py_CLEAR(clear_module_state->__pyx_n_s_size); + Py_CLEAR(clear_module_state->__pyx_n_s_spec); + Py_CLEAR(clear_module_state->__pyx_n_s_start); + Py_CLEAR(clear_module_state->__pyx_n_s_start_listener); + Py_CLEAR(clear_module_state->__pyx_n_s_state); + Py_CLEAR(clear_module_state->__pyx_n_s_staticmethod); + Py_CLEAR(clear_module_state->__pyx_n_s_step); + Py_CLEAR(clear_module_state->__pyx_n_s_stop); + Py_CLEAR(clear_module_state->__pyx_n_s_str); + Py_CLEAR(clear_module_state->__pyx_n_s_stream); + Py_CLEAR(clear_module_state->__pyx_n_s_stride); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_direct); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_direct_or_indirect); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_indirect); + Py_CLEAR(clear_module_state->__pyx_kp_s_stringsource); + Py_CLEAR(clear_module_state->__pyx_n_s_struct); + Py_CLEAR(clear_module_state->__pyx_n_s_super); + Py_CLEAR(clear_module_state->__pyx_n_s_sys); + Py_CLEAR(clear_module_state->__pyx_n_s_test); + Py_CLEAR(clear_module_state->__pyx_n_s_timeout_ms); + Py_CLEAR(clear_module_state->__pyx_n_s_timestamp_eof); + Py_CLEAR(clear_module_state->__pyx_n_s_timestamp_sof); + Py_CLEAR(clear_module_state->__pyx_n_s_tp); + Py_CLEAR(clear_module_state->__pyx_kp_s_unable_to_allocate_array_data); + Py_CLEAR(clear_module_state->__pyx_kp_s_unable_to_allocate_shape_and_str); + Py_CLEAR(clear_module_state->__pyx_n_s_unpack); + Py_CLEAR(clear_module_state->__pyx_n_s_update); + Py_CLEAR(clear_module_state->__pyx_n_s_use_setstate); + Py_CLEAR(clear_module_state->__pyx_n_s_uv_offset); + Py_CLEAR(clear_module_state->__pyx_n_s_v); + Py_CLEAR(clear_module_state->__pyx_n_s_value); + Py_CLEAR(clear_module_state->__pyx_n_s_values); + Py_CLEAR(clear_module_state->__pyx_n_s_version_info); + Py_CLEAR(clear_module_state->__pyx_n_s_width); + Py_CLEAR(clear_module_state->__pyx_int_0); + Py_CLEAR(clear_module_state->__pyx_int_1); + Py_CLEAR(clear_module_state->__pyx_int_3); + Py_CLEAR(clear_module_state->__pyx_int_100); + Py_CLEAR(clear_module_state->__pyx_int_112105877); + Py_CLEAR(clear_module_state->__pyx_int_136983863); + Py_CLEAR(clear_module_state->__pyx_int_184977713); + Py_CLEAR(clear_module_state->__pyx_int_222419149); + Py_CLEAR(clear_module_state->__pyx_int_228825662); + Py_CLEAR(clear_module_state->__pyx_int_238750788); + Py_CLEAR(clear_module_state->__pyx_int_neg_1); + Py_CLEAR(clear_module_state->__pyx_slice__7); + Py_CLEAR(clear_module_state->__pyx_tuple__2); + Py_CLEAR(clear_module_state->__pyx_tuple__6); + Py_CLEAR(clear_module_state->__pyx_tuple__10); + Py_CLEAR(clear_module_state->__pyx_tuple__16); + Py_CLEAR(clear_module_state->__pyx_tuple__17); + Py_CLEAR(clear_module_state->__pyx_tuple__18); + Py_CLEAR(clear_module_state->__pyx_tuple__20); + Py_CLEAR(clear_module_state->__pyx_tuple__22); + Py_CLEAR(clear_module_state->__pyx_tuple__24); + Py_CLEAR(clear_module_state->__pyx_tuple__25); + Py_CLEAR(clear_module_state->__pyx_tuple__31); + Py_CLEAR(clear_module_state->__pyx_tuple__33); + Py_CLEAR(clear_module_state->__pyx_tuple__34); + Py_CLEAR(clear_module_state->__pyx_tuple__35); + Py_CLEAR(clear_module_state->__pyx_tuple__36); + Py_CLEAR(clear_module_state->__pyx_tuple__37); + Py_CLEAR(clear_module_state->__pyx_tuple__38); + Py_CLEAR(clear_module_state->__pyx_tuple__39); + Py_CLEAR(clear_module_state->__pyx_tuple__40); + Py_CLEAR(clear_module_state->__pyx_tuple__41); + Py_CLEAR(clear_module_state->__pyx_tuple__43); + Py_CLEAR(clear_module_state->__pyx_tuple__47); + Py_CLEAR(clear_module_state->__pyx_tuple__49); + Py_CLEAR(clear_module_state->__pyx_tuple__51); + Py_CLEAR(clear_module_state->__pyx_tuple__53); + Py_CLEAR(clear_module_state->__pyx_tuple__57); + Py_CLEAR(clear_module_state->__pyx_tuple__59); + Py_CLEAR(clear_module_state->__pyx_tuple__60); + Py_CLEAR(clear_module_state->__pyx_tuple__63); + Py_CLEAR(clear_module_state->__pyx_codeobj__19); + Py_CLEAR(clear_module_state->__pyx_codeobj__21); + Py_CLEAR(clear_module_state->__pyx_codeobj__23); + Py_CLEAR(clear_module_state->__pyx_codeobj__26); + Py_CLEAR(clear_module_state->__pyx_codeobj__27); + Py_CLEAR(clear_module_state->__pyx_codeobj__28); + Py_CLEAR(clear_module_state->__pyx_codeobj__29); + Py_CLEAR(clear_module_state->__pyx_codeobj__30); + Py_CLEAR(clear_module_state->__pyx_codeobj__32); + Py_CLEAR(clear_module_state->__pyx_codeobj__42); + Py_CLEAR(clear_module_state->__pyx_codeobj__44); + Py_CLEAR(clear_module_state->__pyx_codeobj__45); + Py_CLEAR(clear_module_state->__pyx_codeobj__46); + Py_CLEAR(clear_module_state->__pyx_codeobj__48); + Py_CLEAR(clear_module_state->__pyx_codeobj__50); + Py_CLEAR(clear_module_state->__pyx_codeobj__52); + Py_CLEAR(clear_module_state->__pyx_codeobj__54); + Py_CLEAR(clear_module_state->__pyx_codeobj__55); + Py_CLEAR(clear_module_state->__pyx_codeobj__56); + Py_CLEAR(clear_module_state->__pyx_codeobj__58); + Py_CLEAR(clear_module_state->__pyx_codeobj__61); + Py_CLEAR(clear_module_state->__pyx_codeobj__62); + Py_CLEAR(clear_module_state->__pyx_codeobj__64); + Py_CLEAR(clear_module_state->__pyx_codeobj__65); + Py_CLEAR(clear_module_state->__pyx_codeobj__66); + return 0; +} +#endif +/* #### Code section: module_state_traverse ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_traverse(PyObject *m, visitproc visit, void *arg) { + __pyx_mstate *traverse_module_state = __pyx_mstate(m); + if (!traverse_module_state) return 0; + Py_VISIT(traverse_module_state->__pyx_d); + Py_VISIT(traverse_module_state->__pyx_b); + Py_VISIT(traverse_module_state->__pyx_cython_runtime); + Py_VISIT(traverse_module_state->__pyx_empty_tuple); + Py_VISIT(traverse_module_state->__pyx_empty_bytes); + Py_VISIT(traverse_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_VISIT(traverse_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_VISIT(traverse_module_state->__pyx_FusedFunctionType); + #endif + Py_VISIT(traverse_module_state->__pyx_ptype_7cpython_4type_type); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_dtype); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_flatiter); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_broadcast); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_ndarray); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_generic); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_number); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_integer); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_signedinteger); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_unsignedinteger); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_inexact); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_floating); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_complexfloating); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_flexible); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_character); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_ufunc); + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext); + Py_VISIT(traverse_module_state->__pyx_type_4msgq_9visionipc_13visionipc_pyx_CLContext); + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf); + Py_VISIT(traverse_module_state->__pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionBuf); + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer); + Py_VISIT(traverse_module_state->__pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer); + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient); + Py_VISIT(traverse_module_state->__pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient); + Py_VISIT(traverse_module_state->__pyx_ptype___Pyx_EnumMeta); + Py_VISIT(traverse_module_state->__Pyx_EnumMeta); + Py_VISIT(traverse_module_state->__pyx_array_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_array); + Py_VISIT(traverse_module_state->__pyx_MemviewEnum_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_MemviewEnum); + Py_VISIT(traverse_module_state->__pyx_memoryview_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_memoryview); + Py_VISIT(traverse_module_state->__pyx_memoryviewslice_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_memoryviewslice); + Py_VISIT(traverse_module_state->__pyx_kp_b_); + Py_VISIT(traverse_module_state->__pyx_kp_s_); + Py_VISIT(traverse_module_state->__pyx_n_s_ASCII); + Py_VISIT(traverse_module_state->__pyx_kp_s_All_dimensions_preceding_dimensi); + Py_VISIT(traverse_module_state->__pyx_n_s_AssertionError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Buffer_view_does_not_expose_stri); + Py_VISIT(traverse_module_state->__pyx_n_s_CLContext); + Py_VISIT(traverse_module_state->__pyx_kp_s_Can_only_create_a_buffer_that_is); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_assign_to_read_only_memor); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_create_writable_memory_vi); + Py_VISIT(traverse_module_state->__pyx_kp_u_Cannot_index_with_type); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_transpose_memoryview_with); + Py_VISIT(traverse_module_state->__pyx_kp_s_Dimension_d_is_not_direct); + Py_VISIT(traverse_module_state->__pyx_n_s_Ellipsis); + Py_VISIT(traverse_module_state->__pyx_kp_s_Empty_shape_tuple_for_cython_arr); + Py_VISIT(traverse_module_state->__pyx_n_s_EnumBase); + Py_VISIT(traverse_module_state->__pyx_n_s_EnumType); + Py_VISIT(traverse_module_state->__pyx_n_s_ImportError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0); + Py_VISIT(traverse_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0_2); + Py_VISIT(traverse_module_state->__pyx_n_s_IndexError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Index_out_of_bounds_axis_d); + Py_VISIT(traverse_module_state->__pyx_kp_s_Indirect_dimensions_not_supporte); + Py_VISIT(traverse_module_state->__pyx_n_s_IntEnum); + Py_VISIT(traverse_module_state->__pyx_n_s_IntFlag); + Py_VISIT(traverse_module_state->__pyx_kp_u_Invalid_mode_expected_c_or_fortr); + Py_VISIT(traverse_module_state->__pyx_kp_u_Invalid_shape_in_axis); + Py_VISIT(traverse_module_state->__pyx_n_s_MemoryError); + Py_VISIT(traverse_module_state->__pyx_kp_s_MemoryView_of_r_at_0x_x); + Py_VISIT(traverse_module_state->__pyx_kp_s_MemoryView_of_r_object); + Py_VISIT(traverse_module_state->__pyx_n_b_O); + Py_VISIT(traverse_module_state->__pyx_n_s_OrderedDict); + Py_VISIT(traverse_module_state->__pyx_kp_u_Out_of_bounds_on_buffer_access_a); + Py_VISIT(traverse_module_state->__pyx_n_s_PickleError); + Py_VISIT(traverse_module_state->__pyx_n_s_Pyx_EnumBase); + Py_VISIT(traverse_module_state->__pyx_n_s_Pyx_EnumBase___new); + Py_VISIT(traverse_module_state->__pyx_n_s_Pyx_EnumBase___repr); + Py_VISIT(traverse_module_state->__pyx_n_s_Pyx_EnumBase___str); + Py_VISIT(traverse_module_state->__pyx_n_s_Pyx_EnumMeta___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_Pyx_EnumMeta___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_Pyx_FlagBase); + Py_VISIT(traverse_module_state->__pyx_n_s_Pyx_FlagBase___new); + Py_VISIT(traverse_module_state->__pyx_n_s_Pyx_FlagBase___repr); + Py_VISIT(traverse_module_state->__pyx_n_s_Pyx_FlagBase___str); + Py_VISIT(traverse_module_state->__pyx_n_s_Sequence); + Py_VISIT(traverse_module_state->__pyx_kp_s_Step_may_not_be_zero_axis_d); + Py_VISIT(traverse_module_state->__pyx_kp_b_T); + Py_VISIT(traverse_module_state->__pyx_n_s_TypeError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Unable_to_convert_item_to_object); + Py_VISIT(traverse_module_state->__pyx_kp_s_Unknown_enum_value_s); + Py_VISIT(traverse_module_state->__pyx_n_s_VISION_STREAM_DRIVER); + Py_VISIT(traverse_module_state->__pyx_n_s_VISION_STREAM_MAP); + Py_VISIT(traverse_module_state->__pyx_n_s_VISION_STREAM_ROAD); + Py_VISIT(traverse_module_state->__pyx_n_s_VISION_STREAM_WIDE_ROAD); + Py_VISIT(traverse_module_state->__pyx_n_s_ValueError); + Py_VISIT(traverse_module_state->__pyx_n_s_View_MemoryView); + 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Py_VISIT(traverse_module_state->__pyx_n_s_VisionIpcServer_create_buffers); + Py_VISIT(traverse_module_state->__pyx_n_s_VisionIpcServer_create_buffers_w); + Py_VISIT(traverse_module_state->__pyx_n_s_VisionIpcServer_send); + Py_VISIT(traverse_module_state->__pyx_n_s_VisionIpcServer_start_listener); + Py_VISIT(traverse_module_state->__pyx_n_s_VisionStreamType); + Py_VISIT(traverse_module_state->__pyx_kp_b__11); + Py_VISIT(traverse_module_state->__pyx_kp_b__12); + Py_VISIT(traverse_module_state->__pyx_kp_b__13); + Py_VISIT(traverse_module_state->__pyx_kp_u__14); + Py_VISIT(traverse_module_state->__pyx_kp_u__15); + Py_VISIT(traverse_module_state->__pyx_kp_u__3); + Py_VISIT(traverse_module_state->__pyx_kp_u__4); + Py_VISIT(traverse_module_state->__pyx_n_s__5); + Py_VISIT(traverse_module_state->__pyx_n_s__67); + Py_VISIT(traverse_module_state->__pyx_kp_u__8); + Py_VISIT(traverse_module_state->__pyx_kp_u__9); + Py_VISIT(traverse_module_state->__pyx_n_s_abc); + 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Py_VISIT(traverse_module_state->__pyx_codeobj__58); + Py_VISIT(traverse_module_state->__pyx_codeobj__61); + Py_VISIT(traverse_module_state->__pyx_codeobj__62); + Py_VISIT(traverse_module_state->__pyx_codeobj__64); + Py_VISIT(traverse_module_state->__pyx_codeobj__65); + Py_VISIT(traverse_module_state->__pyx_codeobj__66); + return 0; +} +#endif +/* #### Code section: module_state_defines ### */ +#define __pyx_d __pyx_mstate_global->__pyx_d +#define __pyx_b __pyx_mstate_global->__pyx_b +#define __pyx_cython_runtime __pyx_mstate_global->__pyx_cython_runtime +#define __pyx_empty_tuple __pyx_mstate_global->__pyx_empty_tuple +#define __pyx_empty_bytes __pyx_mstate_global->__pyx_empty_bytes +#define __pyx_empty_unicode __pyx_mstate_global->__pyx_empty_unicode +#ifdef __Pyx_CyFunction_USED +#define __pyx_CyFunctionType __pyx_mstate_global->__pyx_CyFunctionType +#endif +#ifdef __Pyx_FusedFunction_USED +#define __pyx_FusedFunctionType __pyx_mstate_global->__pyx_FusedFunctionType +#endif +#ifdef __Pyx_Generator_USED +#define __pyx_GeneratorType __pyx_mstate_global->__pyx_GeneratorType +#endif +#ifdef __Pyx_IterableCoroutine_USED +#define __pyx_IterableCoroutineType __pyx_mstate_global->__pyx_IterableCoroutineType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineAwaitType __pyx_mstate_global->__pyx_CoroutineAwaitType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineType __pyx_mstate_global->__pyx_CoroutineType +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_7cpython_4type_type __pyx_mstate_global->__pyx_ptype_7cpython_4type_type +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_5numpy_dtype __pyx_mstate_global->__pyx_ptype_5numpy_dtype +#define __pyx_ptype_5numpy_flatiter __pyx_mstate_global->__pyx_ptype_5numpy_flatiter +#define __pyx_ptype_5numpy_broadcast __pyx_mstate_global->__pyx_ptype_5numpy_broadcast +#define __pyx_ptype_5numpy_ndarray __pyx_mstate_global->__pyx_ptype_5numpy_ndarray +#define __pyx_ptype_5numpy_generic __pyx_mstate_global->__pyx_ptype_5numpy_generic +#define __pyx_ptype_5numpy_number __pyx_mstate_global->__pyx_ptype_5numpy_number +#define __pyx_ptype_5numpy_integer __pyx_mstate_global->__pyx_ptype_5numpy_integer +#define __pyx_ptype_5numpy_signedinteger __pyx_mstate_global->__pyx_ptype_5numpy_signedinteger +#define __pyx_ptype_5numpy_unsignedinteger __pyx_mstate_global->__pyx_ptype_5numpy_unsignedinteger +#define __pyx_ptype_5numpy_inexact __pyx_mstate_global->__pyx_ptype_5numpy_inexact +#define __pyx_ptype_5numpy_floating __pyx_mstate_global->__pyx_ptype_5numpy_floating +#define __pyx_ptype_5numpy_complexfloating __pyx_mstate_global->__pyx_ptype_5numpy_complexfloating +#define __pyx_ptype_5numpy_flexible __pyx_mstate_global->__pyx_ptype_5numpy_flexible +#define __pyx_ptype_5numpy_character __pyx_mstate_global->__pyx_ptype_5numpy_character +#define __pyx_ptype_5numpy_ufunc __pyx_mstate_global->__pyx_ptype_5numpy_ufunc +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#define __pyx_type_4msgq_9visionipc_13visionipc_pyx_CLContext __pyx_mstate_global->__pyx_type_4msgq_9visionipc_13visionipc_pyx_CLContext +#define __pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionBuf __pyx_mstate_global->__pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionBuf +#define __pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer __pyx_mstate_global->__pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer +#define __pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient __pyx_mstate_global->__pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient +#define __Pyx_EnumMeta __pyx_mstate_global->__Pyx_EnumMeta +#define __pyx_type___pyx_array __pyx_mstate_global->__pyx_type___pyx_array +#define __pyx_type___pyx_MemviewEnum __pyx_mstate_global->__pyx_type___pyx_MemviewEnum +#define __pyx_type___pyx_memoryview __pyx_mstate_global->__pyx_type___pyx_memoryview +#define __pyx_type___pyx_memoryviewslice __pyx_mstate_global->__pyx_type___pyx_memoryviewslice +#endif +#define __pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext __pyx_mstate_global->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext +#define __pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf __pyx_mstate_global->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf +#define __pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer __pyx_mstate_global->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer +#define __pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient __pyx_mstate_global->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient +#define __pyx_ptype___Pyx_EnumMeta __pyx_mstate_global->__pyx_ptype___Pyx_EnumMeta +#define __pyx_array_type __pyx_mstate_global->__pyx_array_type +#define __pyx_MemviewEnum_type __pyx_mstate_global->__pyx_MemviewEnum_type +#define __pyx_memoryview_type __pyx_mstate_global->__pyx_memoryview_type +#define __pyx_memoryviewslice_type __pyx_mstate_global->__pyx_memoryviewslice_type +#define __pyx_kp_b_ __pyx_mstate_global->__pyx_kp_b_ +#define __pyx_kp_s_ __pyx_mstate_global->__pyx_kp_s_ +#define __pyx_n_s_ASCII __pyx_mstate_global->__pyx_n_s_ASCII +#define __pyx_kp_s_All_dimensions_preceding_dimensi __pyx_mstate_global->__pyx_kp_s_All_dimensions_preceding_dimensi +#define __pyx_n_s_AssertionError __pyx_mstate_global->__pyx_n_s_AssertionError +#define __pyx_kp_s_Buffer_view_does_not_expose_stri __pyx_mstate_global->__pyx_kp_s_Buffer_view_does_not_expose_stri +#define __pyx_n_s_CLContext __pyx_mstate_global->__pyx_n_s_CLContext +#define __pyx_kp_s_Can_only_create_a_buffer_that_is __pyx_mstate_global->__pyx_kp_s_Can_only_create_a_buffer_that_is +#define __pyx_kp_s_Cannot_assign_to_read_only_memor __pyx_mstate_global->__pyx_kp_s_Cannot_assign_to_read_only_memor +#define __pyx_kp_s_Cannot_create_writable_memory_vi __pyx_mstate_global->__pyx_kp_s_Cannot_create_writable_memory_vi +#define __pyx_kp_u_Cannot_index_with_type __pyx_mstate_global->__pyx_kp_u_Cannot_index_with_type +#define __pyx_kp_s_Cannot_transpose_memoryview_with __pyx_mstate_global->__pyx_kp_s_Cannot_transpose_memoryview_with +#define __pyx_kp_s_Dimension_d_is_not_direct __pyx_mstate_global->__pyx_kp_s_Dimension_d_is_not_direct +#define __pyx_n_s_Ellipsis __pyx_mstate_global->__pyx_n_s_Ellipsis +#define __pyx_kp_s_Empty_shape_tuple_for_cython_arr __pyx_mstate_global->__pyx_kp_s_Empty_shape_tuple_for_cython_arr +#define __pyx_n_s_EnumBase __pyx_mstate_global->__pyx_n_s_EnumBase +#define __pyx_n_s_EnumType __pyx_mstate_global->__pyx_n_s_EnumType +#define __pyx_n_s_ImportError __pyx_mstate_global->__pyx_n_s_ImportError +#define __pyx_kp_s_Incompatible_checksums_0x_x_vs_0 __pyx_mstate_global->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0 +#define __pyx_kp_s_Incompatible_checksums_0x_x_vs_0_2 __pyx_mstate_global->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0_2 +#define __pyx_n_s_IndexError __pyx_mstate_global->__pyx_n_s_IndexError +#define __pyx_kp_s_Index_out_of_bounds_axis_d __pyx_mstate_global->__pyx_kp_s_Index_out_of_bounds_axis_d +#define __pyx_kp_s_Indirect_dimensions_not_supporte __pyx_mstate_global->__pyx_kp_s_Indirect_dimensions_not_supporte +#define __pyx_n_s_IntEnum __pyx_mstate_global->__pyx_n_s_IntEnum +#define __pyx_n_s_IntFlag __pyx_mstate_global->__pyx_n_s_IntFlag +#define __pyx_kp_u_Invalid_mode_expected_c_or_fortr __pyx_mstate_global->__pyx_kp_u_Invalid_mode_expected_c_or_fortr +#define __pyx_kp_u_Invalid_shape_in_axis __pyx_mstate_global->__pyx_kp_u_Invalid_shape_in_axis +#define __pyx_n_s_MemoryError __pyx_mstate_global->__pyx_n_s_MemoryError +#define __pyx_kp_s_MemoryView_of_r_at_0x_x __pyx_mstate_global->__pyx_kp_s_MemoryView_of_r_at_0x_x +#define __pyx_kp_s_MemoryView_of_r_object __pyx_mstate_global->__pyx_kp_s_MemoryView_of_r_object +#define __pyx_n_b_O __pyx_mstate_global->__pyx_n_b_O +#define __pyx_n_s_OrderedDict __pyx_mstate_global->__pyx_n_s_OrderedDict +#define __pyx_kp_u_Out_of_bounds_on_buffer_access_a __pyx_mstate_global->__pyx_kp_u_Out_of_bounds_on_buffer_access_a +#define __pyx_n_s_PickleError __pyx_mstate_global->__pyx_n_s_PickleError +#define __pyx_n_s_Pyx_EnumBase __pyx_mstate_global->__pyx_n_s_Pyx_EnumBase +#define __pyx_n_s_Pyx_EnumBase___new __pyx_mstate_global->__pyx_n_s_Pyx_EnumBase___new +#define __pyx_n_s_Pyx_EnumBase___repr __pyx_mstate_global->__pyx_n_s_Pyx_EnumBase___repr +#define __pyx_n_s_Pyx_EnumBase___str __pyx_mstate_global->__pyx_n_s_Pyx_EnumBase___str +#define __pyx_n_s_Pyx_EnumMeta___reduce_cython __pyx_mstate_global->__pyx_n_s_Pyx_EnumMeta___reduce_cython +#define __pyx_n_s_Pyx_EnumMeta___setstate_cython __pyx_mstate_global->__pyx_n_s_Pyx_EnumMeta___setstate_cython +#define __pyx_n_s_Pyx_FlagBase __pyx_mstate_global->__pyx_n_s_Pyx_FlagBase +#define __pyx_n_s_Pyx_FlagBase___new __pyx_mstate_global->__pyx_n_s_Pyx_FlagBase___new +#define __pyx_n_s_Pyx_FlagBase___repr __pyx_mstate_global->__pyx_n_s_Pyx_FlagBase___repr +#define __pyx_n_s_Pyx_FlagBase___str __pyx_mstate_global->__pyx_n_s_Pyx_FlagBase___str +#define __pyx_n_s_Sequence __pyx_mstate_global->__pyx_n_s_Sequence +#define __pyx_kp_s_Step_may_not_be_zero_axis_d __pyx_mstate_global->__pyx_kp_s_Step_may_not_be_zero_axis_d +#define __pyx_kp_b_T __pyx_mstate_global->__pyx_kp_b_T +#define __pyx_n_s_TypeError __pyx_mstate_global->__pyx_n_s_TypeError +#define __pyx_kp_s_Unable_to_convert_item_to_object __pyx_mstate_global->__pyx_kp_s_Unable_to_convert_item_to_object +#define __pyx_kp_s_Unknown_enum_value_s __pyx_mstate_global->__pyx_kp_s_Unknown_enum_value_s +#define __pyx_n_s_VISION_STREAM_DRIVER __pyx_mstate_global->__pyx_n_s_VISION_STREAM_DRIVER +#define __pyx_n_s_VISION_STREAM_MAP __pyx_mstate_global->__pyx_n_s_VISION_STREAM_MAP +#define __pyx_n_s_VISION_STREAM_ROAD __pyx_mstate_global->__pyx_n_s_VISION_STREAM_ROAD +#define __pyx_n_s_VISION_STREAM_WIDE_ROAD __pyx_mstate_global->__pyx_n_s_VISION_STREAM_WIDE_ROAD +#define __pyx_n_s_ValueError __pyx_mstate_global->__pyx_n_s_ValueError +#define __pyx_n_s_View_MemoryView __pyx_mstate_global->__pyx_n_s_View_MemoryView +#define __pyx_n_s_VisionBuf __pyx_mstate_global->__pyx_n_s_VisionBuf +#define __pyx_n_s_VisionBuf___reduce_cython __pyx_mstate_global->__pyx_n_s_VisionBuf___reduce_cython +#define __pyx_n_s_VisionBuf___setstate_cython __pyx_mstate_global->__pyx_n_s_VisionBuf___setstate_cython +#define __pyx_n_s_VisionIpcClient __pyx_mstate_global->__pyx_n_s_VisionIpcClient +#define __pyx_n_s_VisionIpcClient___reduce_cython __pyx_mstate_global->__pyx_n_s_VisionIpcClient___reduce_cython +#define __pyx_n_s_VisionIpcClient___setstate_cytho __pyx_mstate_global->__pyx_n_s_VisionIpcClient___setstate_cytho +#define __pyx_n_s_VisionIpcClient_available_stream __pyx_mstate_global->__pyx_n_s_VisionIpcClient_available_stream +#define __pyx_n_s_VisionIpcClient_connect __pyx_mstate_global->__pyx_n_s_VisionIpcClient_connect +#define __pyx_n_s_VisionIpcClient_is_connected __pyx_mstate_global->__pyx_n_s_VisionIpcClient_is_connected +#define __pyx_n_s_VisionIpcClient_recv __pyx_mstate_global->__pyx_n_s_VisionIpcClient_recv +#define __pyx_n_s_VisionIpcServer __pyx_mstate_global->__pyx_n_s_VisionIpcServer +#define __pyx_n_s_VisionIpcServer___reduce_cython __pyx_mstate_global->__pyx_n_s_VisionIpcServer___reduce_cython +#define __pyx_n_s_VisionIpcServer___setstate_cytho __pyx_mstate_global->__pyx_n_s_VisionIpcServer___setstate_cytho +#define __pyx_n_s_VisionIpcServer_create_buffers __pyx_mstate_global->__pyx_n_s_VisionIpcServer_create_buffers +#define __pyx_n_s_VisionIpcServer_create_buffers_w __pyx_mstate_global->__pyx_n_s_VisionIpcServer_create_buffers_w +#define __pyx_n_s_VisionIpcServer_send __pyx_mstate_global->__pyx_n_s_VisionIpcServer_send +#define __pyx_n_s_VisionIpcServer_start_listener __pyx_mstate_global->__pyx_n_s_VisionIpcServer_start_listener +#define __pyx_n_s_VisionStreamType __pyx_mstate_global->__pyx_n_s_VisionStreamType +#define __pyx_kp_b__11 __pyx_mstate_global->__pyx_kp_b__11 +#define __pyx_kp_b__12 __pyx_mstate_global->__pyx_kp_b__12 +#define __pyx_kp_b__13 __pyx_mstate_global->__pyx_kp_b__13 +#define __pyx_kp_u__14 __pyx_mstate_global->__pyx_kp_u__14 +#define __pyx_kp_u__15 __pyx_mstate_global->__pyx_kp_u__15 +#define __pyx_kp_u__3 __pyx_mstate_global->__pyx_kp_u__3 +#define __pyx_kp_u__4 __pyx_mstate_global->__pyx_kp_u__4 +#define __pyx_n_s__5 __pyx_mstate_global->__pyx_n_s__5 +#define __pyx_n_s__67 __pyx_mstate_global->__pyx_n_s__67 +#define __pyx_kp_u__8 __pyx_mstate_global->__pyx_kp_u__8 +#define __pyx_kp_u__9 __pyx_mstate_global->__pyx_kp_u__9 +#define __pyx_n_s_abc __pyx_mstate_global->__pyx_n_s_abc +#define __pyx_n_s_allocate_buffer __pyx_mstate_global->__pyx_n_s_allocate_buffer +#define __pyx_kp_u_and __pyx_mstate_global->__pyx_kp_u_and +#define __pyx_n_s_asarray __pyx_mstate_global->__pyx_n_s_asarray +#define __pyx_n_s_asyncio_coroutines __pyx_mstate_global->__pyx_n_s_asyncio_coroutines +#define __pyx_n_s_available_streams __pyx_mstate_global->__pyx_n_s_available_streams +#define __pyx_n_s_base __pyx_mstate_global->__pyx_n_s_base +#define __pyx_n_s_block __pyx_mstate_global->__pyx_n_s_block +#define __pyx_n_s_blocking __pyx_mstate_global->__pyx_n_s_blocking +#define __pyx_n_s_buf __pyx_mstate_global->__pyx_n_s_buf +#define __pyx_n_s_c __pyx_mstate_global->__pyx_n_s_c +#define __pyx_n_u_c __pyx_mstate_global->__pyx_n_u_c +#define __pyx_n_s_class __pyx_mstate_global->__pyx_n_s_class +#define __pyx_n_s_class_getitem __pyx_mstate_global->__pyx_n_s_class_getitem +#define __pyx_n_s_cline_in_traceback __pyx_mstate_global->__pyx_n_s_cline_in_traceback +#define __pyx_n_s_cls __pyx_mstate_global->__pyx_n_s_cls +#define __pyx_n_s_collections __pyx_mstate_global->__pyx_n_s_collections +#define __pyx_kp_s_collections_abc __pyx_mstate_global->__pyx_kp_s_collections_abc +#define __pyx_n_s_conflate __pyx_mstate_global->__pyx_n_s_conflate +#define __pyx_n_s_connect __pyx_mstate_global->__pyx_n_s_connect +#define __pyx_n_s_context __pyx_mstate_global->__pyx_n_s_context +#define __pyx_kp_s_contiguous_and_direct __pyx_mstate_global->__pyx_kp_s_contiguous_and_direct +#define __pyx_kp_s_contiguous_and_indirect __pyx_mstate_global->__pyx_kp_s_contiguous_and_indirect +#define __pyx_n_s_count __pyx_mstate_global->__pyx_n_s_count +#define __pyx_n_s_create_buffers __pyx_mstate_global->__pyx_n_s_create_buffers +#define __pyx_n_s_create_buffers_with_sizes __pyx_mstate_global->__pyx_n_s_create_buffers_with_sizes +#define __pyx_n_s_data __pyx_mstate_global->__pyx_n_s_data +#define __pyx_n_s_dct __pyx_mstate_global->__pyx_n_s_dct +#define __pyx_n_s_dict __pyx_mstate_global->__pyx_n_s_dict +#define __pyx_n_s_dict_2 __pyx_mstate_global->__pyx_n_s_dict_2 +#define __pyx_kp_u_disable __pyx_mstate_global->__pyx_kp_u_disable +#define __pyx_n_s_doc __pyx_mstate_global->__pyx_n_s_doc +#define __pyx_n_s_dtype_is_object __pyx_mstate_global->__pyx_n_s_dtype_is_object +#define __pyx_kp_u_enable __pyx_mstate_global->__pyx_kp_u_enable +#define __pyx_n_s_encode __pyx_mstate_global->__pyx_n_s_encode +#define __pyx_n_s_enum __pyx_mstate_global->__pyx_n_s_enum +#define __pyx_n_s_enumerate __pyx_mstate_global->__pyx_n_s_enumerate +#define __pyx_n_s_error __pyx_mstate_global->__pyx_n_s_error +#define __pyx_n_s_extra __pyx_mstate_global->__pyx_n_s_extra +#define __pyx_n_s_flags __pyx_mstate_global->__pyx_n_s_flags +#define __pyx_n_s_format __pyx_mstate_global->__pyx_n_s_format +#define __pyx_n_s_fortran __pyx_mstate_global->__pyx_n_s_fortran +#define __pyx_n_u_fortran __pyx_mstate_global->__pyx_n_u_fortran +#define __pyx_n_s_frame_id __pyx_mstate_global->__pyx_n_s_frame_id +#define __pyx_kp_u_gc __pyx_mstate_global->__pyx_kp_u_gc +#define __pyx_n_s_get __pyx_mstate_global->__pyx_n_s_get +#define __pyx_n_s_get_endpoint_name __pyx_mstate_global->__pyx_n_s_get_endpoint_name +#define __pyx_n_s_getstate __pyx_mstate_global->__pyx_n_s_getstate +#define __pyx_kp_u_got __pyx_mstate_global->__pyx_kp_u_got +#define __pyx_kp_u_got_differing_extents_in_dimensi __pyx_mstate_global->__pyx_kp_u_got_differing_extents_in_dimensi +#define __pyx_n_s_height __pyx_mstate_global->__pyx_n_s_height +#define __pyx_n_s_id __pyx_mstate_global->__pyx_n_s_id +#define __pyx_n_s_import __pyx_mstate_global->__pyx_n_s_import +#define __pyx_n_s_index __pyx_mstate_global->__pyx_n_s_index +#define __pyx_n_s_init __pyx_mstate_global->__pyx_n_s_init +#define __pyx_n_s_init_subclass __pyx_mstate_global->__pyx_n_s_init_subclass +#define __pyx_n_s_initializing __pyx_mstate_global->__pyx_n_s_initializing +#define __pyx_n_s_is_connected __pyx_mstate_global->__pyx_n_s_is_connected +#define __pyx_n_s_is_coroutine __pyx_mstate_global->__pyx_n_s_is_coroutine +#define __pyx_kp_u_isenabled __pyx_mstate_global->__pyx_kp_u_isenabled +#define __pyx_n_s_itemsize __pyx_mstate_global->__pyx_n_s_itemsize +#define __pyx_kp_s_itemsize_0_for_cython_array __pyx_mstate_global->__pyx_kp_s_itemsize_0_for_cython_array +#define __pyx_n_s_join __pyx_mstate_global->__pyx_n_s_join +#define __pyx_n_s_main __pyx_mstate_global->__pyx_n_s_main +#define __pyx_n_s_member_names __pyx_mstate_global->__pyx_n_s_member_names +#define __pyx_n_s_members __pyx_mstate_global->__pyx_n_s_members +#define __pyx_n_s_memview __pyx_mstate_global->__pyx_n_s_memview +#define __pyx_n_s_metaclass __pyx_mstate_global->__pyx_n_s_metaclass +#define __pyx_n_s_mode __pyx_mstate_global->__pyx_n_s_mode +#define __pyx_n_s_module __pyx_mstate_global->__pyx_n_s_module +#define __pyx_n_s_module_2 __pyx_mstate_global->__pyx_n_s_module_2 +#define __pyx_n_s_mro_entries __pyx_mstate_global->__pyx_n_s_mro_entries +#define __pyx_kp_s_msgq_repo_msgq_visionipc_visioni __pyx_mstate_global->__pyx_kp_s_msgq_repo_msgq_visionipc_visioni +#define __pyx_kp_s_msgq_visionipc_visionipc_pyx __pyx_mstate_global->__pyx_kp_s_msgq_visionipc_visionipc_pyx +#define __pyx_n_s_name __pyx_mstate_global->__pyx_n_s_name +#define __pyx_n_s_name_2 __pyx_mstate_global->__pyx_n_s_name_2 +#define __pyx_n_s_ndim __pyx_mstate_global->__pyx_n_s_ndim +#define __pyx_n_s_new __pyx_mstate_global->__pyx_n_s_new +#define __pyx_kp_s_no_default___reduce___due_to_non __pyx_mstate_global->__pyx_kp_s_no_default___reduce___due_to_non +#define __pyx_n_s_np __pyx_mstate_global->__pyx_n_s_np +#define __pyx_n_s_num_buffers __pyx_mstate_global->__pyx_n_s_num_buffers +#define __pyx_n_s_numpy __pyx_mstate_global->__pyx_n_s_numpy +#define __pyx_kp_u_numpy_core_multiarray_failed_to __pyx_mstate_global->__pyx_kp_u_numpy_core_multiarray_failed_to +#define __pyx_kp_u_numpy_core_umath_failed_to_impor __pyx_mstate_global->__pyx_kp_u_numpy_core_umath_failed_to_impor +#define __pyx_n_s_obj __pyx_mstate_global->__pyx_n_s_obj +#define __pyx_n_s_pack __pyx_mstate_global->__pyx_n_s_pack +#define __pyx_n_s_parents __pyx_mstate_global->__pyx_n_s_parents +#define __pyx_n_s_pickle __pyx_mstate_global->__pyx_n_s_pickle +#define __pyx_n_s_prepare __pyx_mstate_global->__pyx_n_s_prepare +#define __pyx_n_s_pyx_PickleError __pyx_mstate_global->__pyx_n_s_pyx_PickleError +#define __pyx_n_s_pyx_checksum __pyx_mstate_global->__pyx_n_s_pyx_checksum +#define __pyx_n_s_pyx_result __pyx_mstate_global->__pyx_n_s_pyx_result +#define __pyx_n_s_pyx_state __pyx_mstate_global->__pyx_n_s_pyx_state +#define __pyx_n_s_pyx_type __pyx_mstate_global->__pyx_n_s_pyx_type +#define __pyx_n_s_pyx_unpickle_Enum __pyx_mstate_global->__pyx_n_s_pyx_unpickle_Enum +#define __pyx_n_s_pyx_unpickle___Pyx_EnumMeta __pyx_mstate_global->__pyx_n_s_pyx_unpickle___Pyx_EnumMeta +#define __pyx_n_s_pyx_vtable __pyx_mstate_global->__pyx_n_s_pyx_vtable +#define __pyx_n_s_qualname __pyx_mstate_global->__pyx_n_s_qualname +#define __pyx_n_s_range __pyx_mstate_global->__pyx_n_s_range +#define __pyx_n_s_recv __pyx_mstate_global->__pyx_n_s_recv +#define __pyx_n_s_reduce __pyx_mstate_global->__pyx_n_s_reduce +#define __pyx_n_s_reduce_cython __pyx_mstate_global->__pyx_n_s_reduce_cython +#define __pyx_n_s_reduce_ex __pyx_mstate_global->__pyx_n_s_reduce_ex +#define __pyx_n_s_register __pyx_mstate_global->__pyx_n_s_register +#define __pyx_n_s_repr __pyx_mstate_global->__pyx_n_s_repr +#define __pyx_n_s_res __pyx_mstate_global->__pyx_n_s_res +#define __pyx_n_s_rgb __pyx_mstate_global->__pyx_n_s_rgb +#define __pyx_kp_s_s_s __pyx_mstate_global->__pyx_kp_s_s_s +#define __pyx_kp_s_s_s_d __pyx_mstate_global->__pyx_kp_s_s_s_d +#define __pyx_n_s_self __pyx_mstate_global->__pyx_n_s_self +#define __pyx_kp_s_self_buf_cannot_be_converted_to __pyx_mstate_global->__pyx_kp_s_self_buf_cannot_be_converted_to +#define __pyx_kp_s_self_server_cannot_be_converted __pyx_mstate_global->__pyx_kp_s_self_server_cannot_be_converted +#define __pyx_n_s_send __pyx_mstate_global->__pyx_n_s_send +#define __pyx_n_s_set_name __pyx_mstate_global->__pyx_n_s_set_name +#define __pyx_n_s_setstate __pyx_mstate_global->__pyx_n_s_setstate +#define __pyx_n_s_setstate_cython __pyx_mstate_global->__pyx_n_s_setstate_cython +#define __pyx_n_s_shape __pyx_mstate_global->__pyx_n_s_shape +#define __pyx_n_s_size __pyx_mstate_global->__pyx_n_s_size +#define __pyx_n_s_spec __pyx_mstate_global->__pyx_n_s_spec +#define __pyx_n_s_start __pyx_mstate_global->__pyx_n_s_start +#define __pyx_n_s_start_listener __pyx_mstate_global->__pyx_n_s_start_listener +#define __pyx_n_s_state __pyx_mstate_global->__pyx_n_s_state +#define __pyx_n_s_staticmethod __pyx_mstate_global->__pyx_n_s_staticmethod +#define __pyx_n_s_step __pyx_mstate_global->__pyx_n_s_step +#define __pyx_n_s_stop __pyx_mstate_global->__pyx_n_s_stop +#define __pyx_n_s_str __pyx_mstate_global->__pyx_n_s_str +#define __pyx_n_s_stream __pyx_mstate_global->__pyx_n_s_stream +#define __pyx_n_s_stride __pyx_mstate_global->__pyx_n_s_stride +#define __pyx_kp_s_strided_and_direct __pyx_mstate_global->__pyx_kp_s_strided_and_direct +#define __pyx_kp_s_strided_and_direct_or_indirect __pyx_mstate_global->__pyx_kp_s_strided_and_direct_or_indirect +#define __pyx_kp_s_strided_and_indirect __pyx_mstate_global->__pyx_kp_s_strided_and_indirect +#define __pyx_kp_s_stringsource __pyx_mstate_global->__pyx_kp_s_stringsource +#define __pyx_n_s_struct __pyx_mstate_global->__pyx_n_s_struct +#define __pyx_n_s_super __pyx_mstate_global->__pyx_n_s_super +#define __pyx_n_s_sys __pyx_mstate_global->__pyx_n_s_sys +#define __pyx_n_s_test __pyx_mstate_global->__pyx_n_s_test +#define __pyx_n_s_timeout_ms __pyx_mstate_global->__pyx_n_s_timeout_ms +#define __pyx_n_s_timestamp_eof __pyx_mstate_global->__pyx_n_s_timestamp_eof +#define __pyx_n_s_timestamp_sof __pyx_mstate_global->__pyx_n_s_timestamp_sof +#define __pyx_n_s_tp __pyx_mstate_global->__pyx_n_s_tp +#define __pyx_kp_s_unable_to_allocate_array_data __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_array_data +#define __pyx_kp_s_unable_to_allocate_shape_and_str __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_shape_and_str +#define __pyx_n_s_unpack __pyx_mstate_global->__pyx_n_s_unpack +#define __pyx_n_s_update __pyx_mstate_global->__pyx_n_s_update +#define __pyx_n_s_use_setstate __pyx_mstate_global->__pyx_n_s_use_setstate +#define __pyx_n_s_uv_offset __pyx_mstate_global->__pyx_n_s_uv_offset +#define __pyx_n_s_v __pyx_mstate_global->__pyx_n_s_v +#define __pyx_n_s_value __pyx_mstate_global->__pyx_n_s_value +#define __pyx_n_s_values __pyx_mstate_global->__pyx_n_s_values +#define __pyx_n_s_version_info __pyx_mstate_global->__pyx_n_s_version_info +#define __pyx_n_s_width __pyx_mstate_global->__pyx_n_s_width +#define __pyx_int_0 __pyx_mstate_global->__pyx_int_0 +#define __pyx_int_1 __pyx_mstate_global->__pyx_int_1 +#define __pyx_int_3 __pyx_mstate_global->__pyx_int_3 +#define __pyx_int_100 __pyx_mstate_global->__pyx_int_100 +#define __pyx_int_112105877 __pyx_mstate_global->__pyx_int_112105877 +#define __pyx_int_136983863 __pyx_mstate_global->__pyx_int_136983863 +#define __pyx_int_184977713 __pyx_mstate_global->__pyx_int_184977713 +#define __pyx_int_222419149 __pyx_mstate_global->__pyx_int_222419149 +#define __pyx_int_228825662 __pyx_mstate_global->__pyx_int_228825662 +#define __pyx_int_238750788 __pyx_mstate_global->__pyx_int_238750788 +#define __pyx_int_neg_1 __pyx_mstate_global->__pyx_int_neg_1 +#define __pyx_slice__7 __pyx_mstate_global->__pyx_slice__7 +#define __pyx_tuple__2 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__pyx_mstate_global->__pyx_tuple__38 +#define __pyx_tuple__39 __pyx_mstate_global->__pyx_tuple__39 +#define __pyx_tuple__40 __pyx_mstate_global->__pyx_tuple__40 +#define __pyx_tuple__41 __pyx_mstate_global->__pyx_tuple__41 +#define __pyx_tuple__43 __pyx_mstate_global->__pyx_tuple__43 +#define __pyx_tuple__47 __pyx_mstate_global->__pyx_tuple__47 +#define __pyx_tuple__49 __pyx_mstate_global->__pyx_tuple__49 +#define __pyx_tuple__51 __pyx_mstate_global->__pyx_tuple__51 +#define __pyx_tuple__53 __pyx_mstate_global->__pyx_tuple__53 +#define __pyx_tuple__57 __pyx_mstate_global->__pyx_tuple__57 +#define __pyx_tuple__59 __pyx_mstate_global->__pyx_tuple__59 +#define __pyx_tuple__60 __pyx_mstate_global->__pyx_tuple__60 +#define __pyx_tuple__63 __pyx_mstate_global->__pyx_tuple__63 +#define __pyx_codeobj__19 __pyx_mstate_global->__pyx_codeobj__19 +#define __pyx_codeobj__21 __pyx_mstate_global->__pyx_codeobj__21 +#define __pyx_codeobj__23 __pyx_mstate_global->__pyx_codeobj__23 +#define 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(__pyx_v_start >= __pyx_v_shape); + if (__pyx_t_2) { + + /* "View.MemoryView":836 + * start = 0 + * elif start >= shape: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + if (__pyx_v_negative_step) { + + /* "View.MemoryView":837 + * elif start >= shape: + * if negative_step: + * start = shape - 1 # <<<<<<<<<<<<<< + * else: + * start = shape + */ + __pyx_v_start = (__pyx_v_shape - 1); + + /* "View.MemoryView":836 + * start = 0 + * elif start >= shape: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + goto __pyx_L11; + } + + /* "View.MemoryView":839 + * start = shape - 1 + * else: + * start = shape # <<<<<<<<<<<<<< + * else: + * if negative_step: + */ + /*else*/ { + __pyx_v_start = __pyx_v_shape; + } + __pyx_L11:; + + /* "View.MemoryView":835 + * if start < 0: + * start = 0 + * elif start >= shape: # <<<<<<<<<<<<<< + * if negative_step: + * start = shape - 1 + */ + } + __pyx_L9:; + + /* "View.MemoryView":830 + * + * + * if 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return __pyx_r; +} + +/* "View.MemoryView":1137 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + +static void _copy_strided_to_strided(char *__pyx_v_src_data, Py_ssize_t *__pyx_v_src_strides, char *__pyx_v_dst_data, Py_ssize_t *__pyx_v_dst_strides, Py_ssize_t *__pyx_v_src_shape, Py_ssize_t *__pyx_v_dst_shape, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + CYTHON_UNUSED Py_ssize_t __pyx_v_src_extent; + Py_ssize_t __pyx_v_dst_extent; + Py_ssize_t __pyx_v_src_stride; + Py_ssize_t __pyx_v_dst_stride; + int __pyx_t_1; + int __pyx_t_2; + Py_ssize_t __pyx_t_3; + Py_ssize_t __pyx_t_4; + Py_ssize_t __pyx_t_5; + + /* "View.MemoryView":1144 + * + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + */ + __pyx_v_src_extent = (__pyx_v_src_shape[0]); + + /* "View.MemoryView":1145 + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] + */ + __pyx_v_dst_extent = (__pyx_v_dst_shape[0]); + + /* "View.MemoryView":1146 + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + */ + __pyx_v_src_stride = (__pyx_v_src_strides[0]); + + /* "View.MemoryView":1147 + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] # <<<<<<<<<<<<<< + * + * if ndim == 1: + */ + __pyx_v_dst_stride = (__pyx_v_dst_strides[0]); + + /* "View.MemoryView":1149 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + __pyx_t_1 = (__pyx_v_ndim == 1); + if (__pyx_t_1) { + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + __pyx_t_2 = (__pyx_v_src_stride > 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + __pyx_t_2 = (__pyx_v_dst_stride > 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + + /* "View.MemoryView":1151 + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + */ + __pyx_t_2 = (((size_t)__pyx_v_src_stride) == __pyx_v_itemsize); + if (__pyx_t_2) { + __pyx_t_2 = (__pyx_v_itemsize == ((size_t)__pyx_v_dst_stride)); + } + __pyx_t_1 = __pyx_t_2; + __pyx_L5_bool_binop_done:; + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + if (__pyx_t_1) { + + /* "View.MemoryView":1152 + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, (__pyx_v_itemsize * __pyx_v_dst_extent))); + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + goto __pyx_L4; + } + + /* "View.MemoryView":1154 + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + */ + /*else*/ { + __pyx_t_3 = __pyx_v_dst_extent; + __pyx_t_4 = __pyx_t_3; + for (__pyx_t_5 = 0; __pyx_t_5 < __pyx_t_4; __pyx_t_5+=1) { + __pyx_v_i = __pyx_t_5; + + /* "View.MemoryView":1155 + * else: + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) # <<<<<<<<<<<<<< + * src_data += src_stride + * dst_data += dst_stride + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, __pyx_v_itemsize)); + + /* "View.MemoryView":1156 + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * else: + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1157 + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L4:; + + /* "View.MemoryView":1149 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1159 + * dst_data += dst_stride + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * _copy_strided_to_strided(src_data, src_strides + 1, + * dst_data, dst_strides + 1, + */ + /*else*/ { + __pyx_t_3 = __pyx_v_dst_extent; + __pyx_t_4 = __pyx_t_3; + for (__pyx_t_5 = 0; __pyx_t_5 < __pyx_t_4; __pyx_t_5+=1) { + __pyx_v_i = __pyx_t_5; + + /* "View.MemoryView":1160 + * else: + * for i in range(dst_extent): + * _copy_strided_to_strided(src_data, src_strides + 1, # <<<<<<<<<<<<<< + * dst_data, dst_strides + 1, + * src_shape + 1, dst_shape + 1, + */ + _copy_strided_to_strided(__pyx_v_src_data, (__pyx_v_src_strides + 1), __pyx_v_dst_data, (__pyx_v_dst_strides + 1), (__pyx_v_src_shape + 1), (__pyx_v_dst_shape + 1), (__pyx_v_ndim - 1), __pyx_v_itemsize); + + /* "View.MemoryView":1164 + * src_shape + 1, dst_shape + 1, + * ndim - 1, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1165 + * ndim - 1, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L3:; + + /* "View.MemoryView":1137 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + + /* function exit code */ +} + +/* "View.MemoryView":1167 + * dst_data += dst_stride + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + */ + +static void copy_strided_to_strided(__Pyx_memviewslice *__pyx_v_src, __Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + + /* "View.MemoryView":1170 + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + * _copy_strided_to_strided(src.data, src.strides, dst.data, dst.strides, # <<<<<<<<<<<<<< + * src.shape, dst.shape, ndim, itemsize) + * + */ + _copy_strided_to_strided(__pyx_v_src->data, __pyx_v_src->strides, __pyx_v_dst->data, __pyx_v_dst->strides, __pyx_v_src->shape, __pyx_v_dst->shape, __pyx_v_ndim, __pyx_v_itemsize); + + /* "View.MemoryView":1167 + * dst_data += dst_stride + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1174 + * + * @cname('__pyx_memoryview_slice_get_size') + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + */ + +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *__pyx_v_src, int __pyx_v_ndim) { + Py_ssize_t __pyx_v_shape; + Py_ssize_t __pyx_v_size; + Py_ssize_t __pyx_r; + Py_ssize_t __pyx_t_1; + Py_ssize_t *__pyx_t_2; + Py_ssize_t *__pyx_t_3; + Py_ssize_t *__pyx_t_4; + + /* "View.MemoryView":1176 + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize # <<<<<<<<<<<<<< + * + * for shape in src.shape[:ndim]: + */ + __pyx_t_1 = __pyx_v_src->memview->view.itemsize; + __pyx_v_size = __pyx_t_1; + + /* "View.MemoryView":1178 + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + * + * for shape in src.shape[:ndim]: # <<<<<<<<<<<<<< + * size *= shape + * + */ + __pyx_t_3 = (__pyx_v_src->shape + __pyx_v_ndim); + for (__pyx_t_4 = __pyx_v_src->shape; __pyx_t_4 < __pyx_t_3; __pyx_t_4++) { + __pyx_t_2 = __pyx_t_4; + __pyx_v_shape = (__pyx_t_2[0]); + + /* "View.MemoryView":1179 + * + * for shape in src.shape[:ndim]: + * size *= shape # <<<<<<<<<<<<<< + * + * return size + */ + __pyx_v_size = (__pyx_v_size * __pyx_v_shape); + } + + /* "View.MemoryView":1181 + * size *= shape + * + * return size # <<<<<<<<<<<<<< + * + * @cname('__pyx_fill_contig_strides_array') + */ + __pyx_r = __pyx_v_size; + goto __pyx_L0; + + /* "View.MemoryView":1174 + * + * @cname('__pyx_memoryview_slice_get_size') + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1184 + * + * @cname('__pyx_fill_contig_strides_array') + * cdef Py_ssize_t fill_contig_strides_array( # <<<<<<<<<<<<<< + * Py_ssize_t *shape, Py_ssize_t *strides, Py_ssize_t stride, + * int ndim, char order) noexcept nogil: + */ + +static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, Py_ssize_t __pyx_v_stride, int __pyx_v_ndim, char __pyx_v_order) { + int __pyx_v_idx; + Py_ssize_t __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1193 + * cdef int idx + * + * if order == 'F': # <<<<<<<<<<<<<< + * for idx in range(ndim): + * strides[idx] = stride + */ + __pyx_t_1 = (__pyx_v_order == 'F'); + if (__pyx_t_1) { + + /* "View.MemoryView":1194 + * + * if order == 'F': + * for idx in range(ndim): # <<<<<<<<<<<<<< + * strides[idx] = stride + * stride *= shape[idx] + */ + __pyx_t_2 = __pyx_v_ndim; + __pyx_t_3 = __pyx_t_2; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_idx = __pyx_t_4; + + /* "View.MemoryView":1195 + * if order == 'F': + * for idx in range(ndim): + * strides[idx] = stride # <<<<<<<<<<<<<< + * stride *= shape[idx] + * else: + */ + (__pyx_v_strides[__pyx_v_idx]) = __pyx_v_stride; + + /* "View.MemoryView":1196 + * for idx in range(ndim): + * strides[idx] = stride + * stride *= shape[idx] # <<<<<<<<<<<<<< + * else: + * for idx in range(ndim - 1, -1, -1): + */ + __pyx_v_stride = (__pyx_v_stride * (__pyx_v_shape[__pyx_v_idx])); + } + + /* "View.MemoryView":1193 + * cdef int idx + * + * if order == 'F': # <<<<<<<<<<<<<< + * for idx in range(ndim): + * strides[idx] = stride + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1198 + * stride *= shape[idx] + * else: + * for idx in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * strides[idx] = stride + * stride *= shape[idx] + */ + /*else*/ { + for (__pyx_t_2 = (__pyx_v_ndim - 1); __pyx_t_2 > -1; __pyx_t_2-=1) { + __pyx_v_idx = __pyx_t_2; + + /* "View.MemoryView":1199 + * else: + * for idx in range(ndim - 1, -1, -1): + * strides[idx] = stride # <<<<<<<<<<<<<< + * stride *= shape[idx] + * + */ + (__pyx_v_strides[__pyx_v_idx]) = __pyx_v_stride; + + /* "View.MemoryView":1200 + * for idx in range(ndim - 1, -1, -1): + * strides[idx] = stride + * stride *= shape[idx] # <<<<<<<<<<<<<< + * + * return stride + */ + __pyx_v_stride = (__pyx_v_stride * (__pyx_v_shape[__pyx_v_idx])); + } + } + __pyx_L3:; + + /* "View.MemoryView":1202 + * stride *= shape[idx] + * + * return stride # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_copy_data_to_temp') + */ + __pyx_r = __pyx_v_stride; + goto __pyx_L0; + + /* "View.MemoryView":1184 + * + * @cname('__pyx_fill_contig_strides_array') + * cdef Py_ssize_t fill_contig_strides_array( # <<<<<<<<<<<<<< + * Py_ssize_t *shape, Py_ssize_t *strides, Py_ssize_t stride, + * int ndim, char order) noexcept nogil: + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1205 + * + * @cname('__pyx_memoryview_copy_data_to_temp') + * cdef void *copy_data_to_temp(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *tmpslice, + * char order, + */ + +static void *__pyx_memoryview_copy_data_to_temp(__Pyx_memviewslice *__pyx_v_src, __Pyx_memviewslice *__pyx_v_tmpslice, char __pyx_v_order, int __pyx_v_ndim) { + int __pyx_v_i; + void *__pyx_v_result; + size_t __pyx_v_itemsize; + size_t __pyx_v_size; + void *__pyx_r; + Py_ssize_t __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + struct __pyx_memoryview_obj *__pyx_t_4; + int __pyx_t_5; + int __pyx_t_6; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save; + #endif + + /* "View.MemoryView":1216 + * cdef void *result + * + * cdef size_t itemsize = src.memview.view.itemsize # <<<<<<<<<<<<<< + * cdef size_t size = slice_get_size(src, ndim) + * + */ + __pyx_t_1 = __pyx_v_src->memview->view.itemsize; + __pyx_v_itemsize = __pyx_t_1; + + /* "View.MemoryView":1217 + * + * cdef size_t itemsize = src.memview.view.itemsize + * cdef size_t size = slice_get_size(src, ndim) # <<<<<<<<<<<<<< + * + * result = malloc(size) + */ + __pyx_v_size = __pyx_memoryview_slice_get_size(__pyx_v_src, __pyx_v_ndim); + + /* "View.MemoryView":1219 + * cdef size_t size = slice_get_size(src, ndim) + * + * result = malloc(size) # <<<<<<<<<<<<<< + * if not result: + * _err_no_memory() + */ + __pyx_v_result = malloc(__pyx_v_size); + + /* "View.MemoryView":1220 + * + * result = malloc(size) + * if not result: # <<<<<<<<<<<<<< + * _err_no_memory() + * + */ + __pyx_t_2 = (!(__pyx_v_result != 0)); + if (__pyx_t_2) { + + /* "View.MemoryView":1221 + * result = malloc(size) + * if not result: + * _err_no_memory() # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_3 = __pyx_memoryview_err_no_memory(); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(1, 1221, __pyx_L1_error) + + /* "View.MemoryView":1220 + * + * result = malloc(size) + * if not result: # <<<<<<<<<<<<<< + * _err_no_memory() + * + */ + } + + /* "View.MemoryView":1224 + * + * + * tmpslice.data = result # <<<<<<<<<<<<<< + * tmpslice.memview = src.memview + * for i in range(ndim): + */ + __pyx_v_tmpslice->data = ((char *)__pyx_v_result); + + /* "View.MemoryView":1225 + * + * tmpslice.data = result + * tmpslice.memview = src.memview # <<<<<<<<<<<<<< + * for i in range(ndim): + * tmpslice.shape[i] = src.shape[i] + */ + __pyx_t_4 = __pyx_v_src->memview; + __pyx_v_tmpslice->memview = __pyx_t_4; + + /* "View.MemoryView":1226 + * tmpslice.data = result + * tmpslice.memview = src.memview + * for i in range(ndim): # <<<<<<<<<<<<<< + * tmpslice.shape[i] = src.shape[i] + * tmpslice.suboffsets[i] = -1 + */ + __pyx_t_3 = __pyx_v_ndim; + __pyx_t_5 = __pyx_t_3; + for (__pyx_t_6 = 0; __pyx_t_6 < __pyx_t_5; __pyx_t_6+=1) { + __pyx_v_i = __pyx_t_6; + + /* "View.MemoryView":1227 + * tmpslice.memview = src.memview + * for i in range(ndim): + * tmpslice.shape[i] = src.shape[i] # <<<<<<<<<<<<<< + * tmpslice.suboffsets[i] = -1 + * + */ + (__pyx_v_tmpslice->shape[__pyx_v_i]) = (__pyx_v_src->shape[__pyx_v_i]); + + /* "View.MemoryView":1228 + * for i in range(ndim): + * tmpslice.shape[i] = src.shape[i] + * tmpslice.suboffsets[i] = -1 # <<<<<<<<<<<<<< + * + * fill_contig_strides_array(&tmpslice.shape[0], &tmpslice.strides[0], itemsize, ndim, order) + */ + (__pyx_v_tmpslice->suboffsets[__pyx_v_i]) = -1L; + } + + /* "View.MemoryView":1230 + * tmpslice.suboffsets[i] = -1 + * + * fill_contig_strides_array(&tmpslice.shape[0], &tmpslice.strides[0], itemsize, ndim, order) # <<<<<<<<<<<<<< + * + * + */ + (void)(__pyx_fill_contig_strides_array((&(__pyx_v_tmpslice->shape[0])), (&(__pyx_v_tmpslice->strides[0])), __pyx_v_itemsize, __pyx_v_ndim, __pyx_v_order)); + + /* "View.MemoryView":1233 + * + * + * for i in range(ndim): # <<<<<<<<<<<<<< + * if tmpslice.shape[i] == 1: + * tmpslice.strides[i] = 0 + */ + __pyx_t_3 = __pyx_v_ndim; + __pyx_t_5 = __pyx_t_3; + for (__pyx_t_6 = 0; __pyx_t_6 < __pyx_t_5; __pyx_t_6+=1) { + __pyx_v_i = __pyx_t_6; + + /* "View.MemoryView":1234 + * + * for i in range(ndim): + * if tmpslice.shape[i] == 1: # <<<<<<<<<<<<<< + * tmpslice.strides[i] = 0 + * + */ + __pyx_t_2 = ((__pyx_v_tmpslice->shape[__pyx_v_i]) == 1); + if (__pyx_t_2) { + + /* "View.MemoryView":1235 + * for i in range(ndim): + * if tmpslice.shape[i] == 1: + * tmpslice.strides[i] = 0 # <<<<<<<<<<<<<< + * + * if slice_is_contig(src[0], order, ndim): + */ + (__pyx_v_tmpslice->strides[__pyx_v_i]) = 0; + + /* "View.MemoryView":1234 + * + * for i in range(ndim): + * if tmpslice.shape[i] == 1: # <<<<<<<<<<<<<< + * tmpslice.strides[i] = 0 + * + */ + } + } + + /* "View.MemoryView":1237 + * tmpslice.strides[i] = 0 + * + * if slice_is_contig(src[0], order, ndim): # <<<<<<<<<<<<<< + * memcpy(result, src.data, size) + * else: + */ + __pyx_t_2 = 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(__pyx_t_2) { + __pyx_t_5 = __pyx_t_3; + } else { + __pyx_t_5 = __pyx_t_4; + } + __pyx_v_ndim = __pyx_t_5; + + /* "View.MemoryView":1288 + * cdef int ndim = max(src_ndim, dst_ndim) + * + * for i in range(ndim): # <<<<<<<<<<<<<< + * if src.shape[i] != dst.shape[i]: + * if src.shape[i] == 1: + */ + __pyx_t_5 = __pyx_v_ndim; + __pyx_t_3 = __pyx_t_5; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_i = __pyx_t_4; + + /* "View.MemoryView":1289 + * + * for i in range(ndim): + * if src.shape[i] != dst.shape[i]: # <<<<<<<<<<<<<< + * if src.shape[i] == 1: + * broadcasting = True + */ + __pyx_t_2 = ((__pyx_v_src.shape[__pyx_v_i]) != (__pyx_v_dst.shape[__pyx_v_i])); + if (__pyx_t_2) { + + /* "View.MemoryView":1290 + * for i in range(ndim): + * if src.shape[i] != dst.shape[i]: + * if src.shape[i] == 1: # <<<<<<<<<<<<<< + * broadcasting = True + * src.strides[i] = 0 + */ + __pyx_t_2 = ((__pyx_v_src.shape[__pyx_v_i]) == 1); + if (__pyx_t_2) { + + /* "View.MemoryView":1291 + * if src.shape[i] != dst.shape[i]: + * if src.shape[i] == 1: + * broadcasting = True # <<<<<<<<<<<<<< + * src.strides[i] = 0 + * else: + */ + __pyx_v_broadcasting = 1; + + /* "View.MemoryView":1292 + * if src.shape[i] == 1: + * broadcasting = True + * src.strides[i] = 0 # <<<<<<<<<<<<<< + * else: + * _err_extents(i, dst.shape[i], src.shape[i]) + */ + (__pyx_v_src.strides[__pyx_v_i]) = 0; + + /* "View.MemoryView":1290 + * for i in range(ndim): + * if src.shape[i] != dst.shape[i]: + * if src.shape[i] == 1: # <<<<<<<<<<<<<< + * broadcasting = True + * src.strides[i] = 0 + */ + goto __pyx_L7; + } + + /* "View.MemoryView":1294 + * src.strides[i] = 0 + * else: + * _err_extents(i, dst.shape[i], src.shape[i]) # <<<<<<<<<<<<<< + * + * if src.suboffsets[i] >= 0: + */ + /*else*/ { + __pyx_t_6 = __pyx_memoryview_err_extents(__pyx_v_i, (__pyx_v_dst.shape[__pyx_v_i]), (__pyx_v_src.shape[__pyx_v_i])); if (unlikely(__pyx_t_6 == ((int)-1))) __PYX_ERR(1, 1294, __pyx_L1_error) + } + __pyx_L7:; + + /* "View.MemoryView":1289 + * + * for i in range(ndim): + * if src.shape[i] != dst.shape[i]: # <<<<<<<<<<<<<< + * if src.shape[i] == 1: + * broadcasting = True + */ + } + + /* "View.MemoryView":1296 + * _err_extents(i, dst.shape[i], src.shape[i]) + * + * if src.suboffsets[i] >= 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) + * + */ + __pyx_t_2 = ((__pyx_v_src.suboffsets[__pyx_v_i]) >= 0); + if (__pyx_t_2) { + + /* "View.MemoryView":1297 + * + * if src.suboffsets[i] >= 0: + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) # <<<<<<<<<<<<<< + * + * if slices_overlap(&src, &dst, ndim, itemsize): + */ + __pyx_t_6 = __pyx_memoryview_err_dim(PyExc_ValueError, __pyx_kp_s_Dimension_d_is_not_direct, __pyx_v_i); if (unlikely(__pyx_t_6 == ((int)-1))) __PYX_ERR(1, 1297, __pyx_L1_error) + + /* "View.MemoryView":1296 + * _err_extents(i, dst.shape[i], src.shape[i]) + * + * if src.suboffsets[i] >= 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) + * + */ + } + } + + /* "View.MemoryView":1299 + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) + * + * if slices_overlap(&src, &dst, ndim, itemsize): # <<<<<<<<<<<<<< + * + * if not slice_is_contig(src, order, ndim): + */ + __pyx_t_2 = __pyx_slices_overlap((&__pyx_v_src), (&__pyx_v_dst), __pyx_v_ndim, __pyx_v_itemsize); + if (__pyx_t_2) { + + /* "View.MemoryView":1301 + * if slices_overlap(&src, &dst, ndim, itemsize): + * + * if not slice_is_contig(src, order, ndim): # <<<<<<<<<<<<<< + * order = get_best_order(&dst, ndim) + * + */ + __pyx_t_2 = (!__pyx_memviewslice_is_contig(__pyx_v_src, __pyx_v_order, __pyx_v_ndim)); + if (__pyx_t_2) { + + /* "View.MemoryView":1302 + * + * if not slice_is_contig(src, order, ndim): + * order = get_best_order(&dst, ndim) # <<<<<<<<<<<<<< + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) + */ + __pyx_v_order = __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim); + + /* "View.MemoryView":1301 + * if slices_overlap(&src, &dst, ndim, itemsize): + * + * if not slice_is_contig(src, order, ndim): # <<<<<<<<<<<<<< + * order = get_best_order(&dst, ndim) + * + */ + } + + /* "View.MemoryView":1304 + * order = get_best_order(&dst, ndim) + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) # <<<<<<<<<<<<<< + * src = tmp + * + */ + __pyx_t_7 = __pyx_memoryview_copy_data_to_temp((&__pyx_v_src), (&__pyx_v_tmp), __pyx_v_order, __pyx_v_ndim); if (unlikely(__pyx_t_7 == ((void *)NULL))) __PYX_ERR(1, 1304, __pyx_L1_error) + __pyx_v_tmpdata = __pyx_t_7; + + /* "View.MemoryView":1305 + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) + * src = tmp # <<<<<<<<<<<<<< + * + * if not broadcasting: + */ + __pyx_v_src = __pyx_v_tmp; + + /* "View.MemoryView":1299 + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) + * + * if slices_overlap(&src, &dst, ndim, itemsize): # <<<<<<<<<<<<<< + * + * if not slice_is_contig(src, order, ndim): + */ + } + + /* "View.MemoryView":1307 + * src = tmp + * + * if not broadcasting: # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_2 = (!__pyx_v_broadcasting); + if (__pyx_t_2) { + + /* "View.MemoryView":1310 + * + * + * if slice_is_contig(src, 'C', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + */ + __pyx_t_2 = __pyx_memviewslice_is_contig(__pyx_v_src, 'C', __pyx_v_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1311 + * + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) # <<<<<<<<<<<<<< + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'C', __pyx_v_ndim); + + /* "View.MemoryView":1310 + * + * + * if slice_is_contig(src, 'C', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + */ + goto __pyx_L12; + } + + /* "View.MemoryView":1312 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + __pyx_t_2 = __pyx_memviewslice_is_contig(__pyx_v_src, 'F', __pyx_v_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1313 + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) # <<<<<<<<<<<<<< + * + * if direct_copy: + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'F', __pyx_v_ndim); + + /* "View.MemoryView":1312 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + } + __pyx_L12:; + + /* "View.MemoryView":1315 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + if (__pyx_v_direct_copy) { + + /* "View.MemoryView":1317 + * if direct_copy: + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1318 + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) + */ + (void)(memcpy(__pyx_v_dst.data, __pyx_v_src.data, __pyx_memoryview_slice_get_size((&__pyx_v_src), __pyx_v_ndim))); + + /* "View.MemoryView":1319 + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * free(tmpdata) + * return 0 + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1320 + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1321 + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * if order == 'F' == get_best_order(&dst, ndim): + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1315 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + } + + /* "View.MemoryView":1307 + * src = tmp + * + * if not broadcasting: # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1323 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_2 = (__pyx_v_order == 'F'); + if (__pyx_t_2) { + __pyx_t_2 = ('F' == __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim)); + } + if (__pyx_t_2) { + + /* "View.MemoryView":1326 + * + * + * transpose_memslice(&src) # <<<<<<<<<<<<<< + * transpose_memslice(&dst) + * + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_src)); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(1, 1326, __pyx_L1_error) + + /* "View.MemoryView":1327 + * + * transpose_memslice(&src) + * transpose_memslice(&dst) # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_dst)); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(1, 1327, __pyx_L1_error) + + /* "View.MemoryView":1323 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1329 + * transpose_memslice(&dst) + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1330 + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * + */ + copy_strided_to_strided((&__pyx_v_src), (&__pyx_v_dst), __pyx_v_ndim, __pyx_v_itemsize); + + /* "View.MemoryView":1331 + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * + * free(tmpdata) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1333 + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1334 + * + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_broadcast_leading') + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1265 + * + * @cname('__pyx_memoryview_copy_contents') + * cdef int memoryview_copy_contents(__Pyx_memviewslice src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice dst, + * int src_ndim, int dst_ndim, + */ + + /* function exit code */ + __pyx_L1_error:; + #ifdef WITH_THREAD + __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + __Pyx_AddTraceback("View.MemoryView.memoryview_copy_contents", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = -1; + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1337 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) noexcept nogil: + */ + +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *__pyx_v_mslice, int __pyx_v_ndim, int __pyx_v_ndim_other) { + int __pyx_v_i; + int __pyx_v_offset; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + + /* "View.MemoryView":1341 + * int ndim_other) noexcept nogil: + * cdef int i + * cdef int offset = ndim_other - ndim # <<<<<<<<<<<<<< + * + * for i in range(ndim - 1, -1, -1): + */ + __pyx_v_offset = (__pyx_v_ndim_other - __pyx_v_ndim); + + /* "View.MemoryView":1343 + * cdef int offset = ndim_other - ndim + * + * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + */ + for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { + __pyx_v_i = __pyx_t_1; + + /* "View.MemoryView":1344 + * + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] # <<<<<<<<<<<<<< + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + */ + (__pyx_v_mslice->shape[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->shape[__pyx_v_i]); + + /* "View.MemoryView":1345 + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] # <<<<<<<<<<<<<< + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + */ + (__pyx_v_mslice->strides[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1346 + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] # <<<<<<<<<<<<<< + * + * for i in range(offset): + */ + (__pyx_v_mslice->suboffsets[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->suboffsets[__pyx_v_i]); + } + + /* "View.MemoryView":1348 + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + * for i in range(offset): # <<<<<<<<<<<<<< + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + */ + __pyx_t_1 = __pyx_v_offset; + __pyx_t_2 = __pyx_t_1; + for (__pyx_t_3 = 0; __pyx_t_3 < __pyx_t_2; __pyx_t_3+=1) { + __pyx_v_i = __pyx_t_3; + + /* "View.MemoryView":1349 + * + * for i in range(offset): + * mslice.shape[i] = 1 # <<<<<<<<<<<<<< + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 + */ + (__pyx_v_mslice->shape[__pyx_v_i]) = 1; + + /* "View.MemoryView":1350 + * for i in range(offset): + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] # <<<<<<<<<<<<<< + * mslice.suboffsets[i] = -1 + * + */ + (__pyx_v_mslice->strides[__pyx_v_i]) = (__pyx_v_mslice->strides[0]); + + /* "View.MemoryView":1351 + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 # <<<<<<<<<<<<<< + * + * + */ + (__pyx_v_mslice->suboffsets[__pyx_v_i]) = -1L; + } + + /* "View.MemoryView":1337 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1359 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: # <<<<<<<<<<<<<< + * + * if dtype_is_object: + */ + +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_dtype_is_object, int __pyx_v_ndim, int __pyx_v_inc) { + + /* "View.MemoryView":1361 + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) + * + */ + if (__pyx_v_dtype_is_object) { + + /* "View.MemoryView":1362 + * + * if dtype_is_object: + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + */ + __pyx_memoryview_refcount_objects_in_slice_with_gil(__pyx_v_dst->data, __pyx_v_dst->shape, __pyx_v_dst->strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1361 + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) + * + */ + } + + /* "View.MemoryView":1359 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: # <<<<<<<<<<<<<< + * + * if dtype_is_object: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1365 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + * cdef void refcount_objects_in_slice_with_gil(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + */ + +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, int __pyx_v_inc) { + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + + /* "View.MemoryView":1368 + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + * refcount_objects_in_slice(data, shape, strides, ndim, inc) # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + */ + __pyx_memoryview_refcount_objects_in_slice(__pyx_v_data, __pyx_v_shape, __pyx_v_strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1365 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + * cdef void 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__pyx_memoryview_refcount_copying(__pyx_v_dst, __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1391 + * + * @cname('__pyx_memoryview_slice_assign_scalar') + * cdef void slice_assign_scalar(__Pyx_memviewslice *dst, int ndim, # <<<<<<<<<<<<<< + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1400 + * + * @cname('__pyx_memoryview__slice_assign_scalar') + * cdef void _slice_assign_scalar(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * size_t itemsize, void *item) noexcept nogil: + */ + +static void __pyx_memoryview__slice_assign_scalar(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, size_t __pyx_v_itemsize, void *__pyx_v_item) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + Py_ssize_t __pyx_v_stride; + Py_ssize_t __pyx_v_extent; + int __pyx_t_1; + Py_ssize_t __pyx_t_2; + Py_ssize_t __pyx_t_3; + Py_ssize_t 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__Pyx_RaiseArgtupleInvalid("create_buffers_with_sizes", 1, 8, 8, 7); __PYX_ERR(0, 72, __pyx_L3_error) + } + } + if (unlikely(kw_args > 0)) { + const Py_ssize_t kwd_pos_args = __pyx_nargs; + if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_kwvalues, __pyx_pyargnames, 0, values + 0, kwd_pos_args, "create_buffers_with_sizes") < 0)) __PYX_ERR(0, 72, __pyx_L3_error) + } + } else if (unlikely(__pyx_nargs != 8)) { + goto __pyx_L5_argtuple_error; + } else { + values[0] = __Pyx_Arg_FASTCALL(__pyx_args, 0); + values[1] = __Pyx_Arg_FASTCALL(__pyx_args, 1); + values[2] = __Pyx_Arg_FASTCALL(__pyx_args, 2); + values[3] = __Pyx_Arg_FASTCALL(__pyx_args, 3); + values[4] = __Pyx_Arg_FASTCALL(__pyx_args, 4); + values[5] = __Pyx_Arg_FASTCALL(__pyx_args, 5); + values[6] = __Pyx_Arg_FASTCALL(__pyx_args, 6); + values[7] = __Pyx_Arg_FASTCALL(__pyx_args, 7); + } + __pyx_v_tp = ((enum 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CYTHON_FALLTHROUGH; + case 1: values[0] = __Pyx_Arg_FASTCALL(__pyx_args, 0); + CYTHON_FALLTHROUGH; + case 0: break; + default: goto __pyx_L5_argtuple_error; + } + kw_args = __Pyx_NumKwargs_FASTCALL(__pyx_kwds); + switch (__pyx_nargs) { + case 0: + if (likely((values[0] = __Pyx_GetKwValue_FASTCALL(__pyx_kwds, __pyx_kwvalues, __pyx_n_s_tp)) != 0)) { + (void)__Pyx_Arg_NewRef_FASTCALL(values[0]); + kw_args--; + } + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 75, __pyx_L3_error) + else goto __pyx_L5_argtuple_error; + CYTHON_FALLTHROUGH; + case 1: + if (likely((values[1] = __Pyx_GetKwValue_FASTCALL(__pyx_kwds, __pyx_kwvalues, __pyx_n_s_data)) != 0)) { + (void)__Pyx_Arg_NewRef_FASTCALL(values[1]); + kw_args--; + } + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 75, __pyx_L3_error) + else { + __Pyx_RaiseArgtupleInvalid("send", 0, 2, 5, 1); __PYX_ERR(0, 75, __pyx_L3_error) + } + CYTHON_FALLTHROUGH; + case 2: + if (kw_args > 0) { + PyObject* value = 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*__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_14__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state) { + PyObject *__pyx_r = NULL; + __Pyx_RefNannyDeclarations + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + __Pyx_RefNannySetupContext("__setstate_cython__", 1); + + /* "(tree fragment)":4 + * raise TypeError, "no default __reduce__ due to non-trivial __cinit__" + * def __setstate_cython__(self, __pyx_state): + * raise TypeError, "no default __reduce__ due to non-trivial __cinit__" # <<<<<<<<<<<<<< + */ + __Pyx_Raise(__pyx_builtin_TypeError, __pyx_kp_s_no_default___reduce___due_to_non, 0, 0); + __PYX_ERR(1, 4, __pyx_L1_error) + + /* "(tree fragment)":3 + * def __reduce_cython__(self): + * raise TypeError, "no default __reduce__ due to non-trivial __cinit__" + * def __setstate_cython__(self, __pyx_state): # <<<<<<<<<<<<<< + * raise TypeError, "no default __reduce__ due to non-trivial __cinit__" + */ + + /* function exit code */ + __pyx_L1_error:; + __Pyx_AddTraceback("msgq.visionipc.visionipc_pyx.VisionIpcClient.__setstate_cython__", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = NULL; + __Pyx_XGIVEREF(__pyx_r); + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +static PyObject *__pyx_tp_new_4msgq_9visionipc_13visionipc_pyx_CLContext(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + return o; +} + +static void __pyx_tp_dealloc_4msgq_9visionipc_13visionipc_pyx_CLContext(PyObject *o) { + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_4msgq_9visionipc_13visionipc_pyx_CLContext) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_4msgq_9visionipc_13visionipc_pyx_CLContext_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_4msgq_9visionipc_13visionipc_pyx_CLContext}, + {Py_tp_new, (void *)__pyx_tp_new_4msgq_9visionipc_13visionipc_pyx_CLContext}, + {0, 0}, +}; +static PyType_Spec __pyx_type_4msgq_9visionipc_13visionipc_pyx_CLContext_spec = { + "msgq.visionipc.visionipc_pyx.CLContext", + sizeof(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_FINALIZE, + __pyx_type_4msgq_9visionipc_13visionipc_pyx_CLContext_slots, +}; +#else + +static PyTypeObject __pyx_type_4msgq_9visionipc_13visionipc_pyx_CLContext = { + PyVarObject_HEAD_INIT(0, 0) + "msgq.visionipc.visionipc_pyx.""CLContext", /*tp_name*/ + sizeof(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_4msgq_9visionipc_13visionipc_pyx_CLContext, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_FINALIZE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + 0, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_4msgq_9visionipc_13visionipc_pyx_CLContext, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_4msgq_9visionipc_13visionipc_pyx_VisionBuf __pyx_vtable_4msgq_9visionipc_13visionipc_pyx_VisionBuf; + +static PyObject *__pyx_tp_new_4msgq_9visionipc_13visionipc_pyx_VisionBuf(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf *)o); + p->__pyx_vtab = __pyx_vtabptr_4msgq_9visionipc_13visionipc_pyx_VisionBuf; + return o; +} + +static void __pyx_tp_dealloc_4msgq_9visionipc_13visionipc_pyx_VisionBuf(PyObject *o) { + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_4msgq_9visionipc_13visionipc_pyx_VisionBuf) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static PyObject *__pyx_getprop_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_data(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_4data_1__get__(o); +} + +static PyObject *__pyx_getprop_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_width(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_5width_1__get__(o); +} + +static PyObject *__pyx_getprop_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_height(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_6height_1__get__(o); +} + +static PyObject *__pyx_getprop_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_stride(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_6stride_1__get__(o); +} + +static PyObject *__pyx_getprop_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_uv_offset(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_9uv_offset_1__get__(o); +} + +static PyObject *__pyx_getprop_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_rgb(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_3rgb_1__get__(o); +} + +static PyMethodDef __pyx_methods_4msgq_9visionipc_13visionipc_pyx_VisionBuf[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_4msgq_9visionipc_13visionipc_pyx_VisionBuf[] = { + {(char *)"data", __pyx_getprop_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_data, 0, (char *)0, 0}, + {(char *)"width", __pyx_getprop_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_width, 0, (char *)0, 0}, + {(char *)"height", __pyx_getprop_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_height, 0, (char *)0, 0}, + {(char *)"stride", __pyx_getprop_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_stride, 0, (char *)0, 0}, + {(char *)"uv_offset", __pyx_getprop_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_uv_offset, 0, (char *)0, 0}, + {(char *)"rgb", __pyx_getprop_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_rgb, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionBuf_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_4msgq_9visionipc_13visionipc_pyx_VisionBuf}, + {Py_tp_methods, (void *)__pyx_methods_4msgq_9visionipc_13visionipc_pyx_VisionBuf}, + {Py_tp_getset, (void *)__pyx_getsets_4msgq_9visionipc_13visionipc_pyx_VisionBuf}, + {Py_tp_new, (void *)__pyx_tp_new_4msgq_9visionipc_13visionipc_pyx_VisionBuf}, + {0, 0}, +}; +static PyType_Spec __pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionBuf_spec = { + "msgq.visionipc.visionipc_pyx.VisionBuf", + sizeof(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, + __pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionBuf_slots, +}; +#else + +static PyTypeObject __pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionBuf = { + PyVarObject_HEAD_INIT(0, 0) + "msgq.visionipc.visionipc_pyx.""VisionBuf", /*tp_name*/ + sizeof(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_4msgq_9visionipc_13visionipc_pyx_VisionBuf, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_4msgq_9visionipc_13visionipc_pyx_VisionBuf, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_4msgq_9visionipc_13visionipc_pyx_VisionBuf, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_4msgq_9visionipc_13visionipc_pyx_VisionBuf, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyObject *__pyx_tp_new_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + return o; +} + +static void __pyx_tp_dealloc_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer(PyObject *o) { + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcServer_11__dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static PyMethodDef __pyx_methods_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer[] = { + {"create_buffers", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcServer_3create_buffers, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"create_buffers_with_sizes", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcServer_5create_buffers_with_sizes, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"send", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcServer_7send, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"start_listener", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcServer_9start_listener, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcServer_13__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcServer_15__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer}, + {Py_tp_methods, (void *)__pyx_methods_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer}, + {Py_tp_init, (void *)__pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcServer_1__init__}, + {Py_tp_new, (void *)__pyx_tp_new_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer}, + {0, 0}, +}; +static PyType_Spec __pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer_spec = { + "msgq.visionipc.visionipc_pyx.VisionIpcServer", + sizeof(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, + __pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer_slots, +}; +#else + +static PyTypeObject __pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer = { + PyVarObject_HEAD_INIT(0, 0) + "msgq.visionipc.visionipc_pyx.""VisionIpcServer", /*tp_name*/ + sizeof(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + __pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcServer_1__init__, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyObject *__pyx_tp_new_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient *)o); + new((void*)&(p->extra)) struct VisionIpcBufExtra(); + if (unlikely(__pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_1__cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient(PyObject *o) { + struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient *p = (struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_3__dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + __Pyx_call_destructor(p->extra); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static PyObject *__pyx_getprop_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_width(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_5width_1__get__(o); +} + +static PyObject *__pyx_getprop_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_height(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_6height_1__get__(o); +} + +static PyObject *__pyx_getprop_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_stride(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_6stride_1__get__(o); +} + +static PyObject *__pyx_getprop_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_uv_offset(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_9uv_offset_1__get__(o); +} + +static PyObject *__pyx_getprop_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_rgb(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_3rgb_1__get__(o); +} + +static PyObject *__pyx_getprop_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_buffer_len(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_10buffer_len_1__get__(o); +} + +static PyObject *__pyx_getprop_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_num_buffers(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_11num_buffers_1__get__(o); +} + +static PyObject *__pyx_getprop_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_frame_id(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_8frame_id_1__get__(o); +} + +static PyObject *__pyx_getprop_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_timestamp_sof(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_13timestamp_sof_1__get__(o); +} + +static PyObject *__pyx_getprop_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_timestamp_eof(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_13timestamp_eof_1__get__(o); +} + +static PyObject *__pyx_getprop_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_valid(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_5valid_1__get__(o); +} + +static PyMethodDef __pyx_methods_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient[] = { + {"recv", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_5recv, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"connect", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_7connect, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"is_connected", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_9is_connected, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"available_streams", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_11available_streams, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_13__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_15__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient[] = { + {(char *)"width", __pyx_getprop_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_width, 0, (char *)0, 0}, + {(char *)"height", __pyx_getprop_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_height, 0, (char *)0, 0}, + {(char *)"stride", __pyx_getprop_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_stride, 0, (char *)0, 0}, + {(char *)"uv_offset", __pyx_getprop_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_uv_offset, 0, (char *)0, 0}, + {(char *)"rgb", __pyx_getprop_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_rgb, 0, (char *)0, 0}, + {(char *)"buffer_len", __pyx_getprop_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_buffer_len, 0, (char *)0, 0}, + {(char *)"num_buffers", __pyx_getprop_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_num_buffers, 0, (char *)0, 0}, + {(char *)"frame_id", __pyx_getprop_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_frame_id, 0, (char *)0, 0}, + {(char *)"timestamp_sof", __pyx_getprop_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_timestamp_sof, 0, (char *)0, 0}, + {(char *)"timestamp_eof", __pyx_getprop_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_timestamp_eof, 0, (char *)0, 0}, + {(char *)"valid", __pyx_getprop_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_valid, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient}, + {Py_tp_methods, (void *)__pyx_methods_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient}, + {Py_tp_getset, (void *)__pyx_getsets_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient}, + {Py_tp_new, (void *)__pyx_tp_new_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient}, + {0, 0}, +}; +static PyType_Spec __pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient_spec = { + "msgq.visionipc.visionipc_pyx.VisionIpcClient", + sizeof(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, + __pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient_slots, +}; +#else + +static PyTypeObject __pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient = { + PyVarObject_HEAD_INIT(0, 0) + "msgq.visionipc.visionipc_pyx.""VisionIpcClient", /*tp_name*/ + sizeof(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static int __pyx_tp_traverse___Pyx_EnumMeta(PyObject *o, visitproc v, void *a) { + int e; + if (!(&PyType_Type)->tp_traverse); else { e = (&PyType_Type)->tp_traverse(o,v,a); if (e) return e; } + return 0; +} + +static int __pyx_tp_clear___Pyx_EnumMeta(PyObject *o) { + if (!(&PyType_Type)->tp_clear); else (&PyType_Type)->tp_clear(o); + return 0; +} +static PyObject *__pyx_sq_item___Pyx_EnumMeta(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static PyMethodDef __pyx_methods___Pyx_EnumMeta[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_8EnumBase_14__Pyx_EnumMeta_7__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_8EnumBase_14__Pyx_EnumMeta_9__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __Pyx_EnumMeta_slots[] = { + {Py_sq_item, (void *)__pyx_sq_item___Pyx_EnumMeta}, + {Py_mp_subscript, (void *)__pyx_pw_8EnumBase_14__Pyx_EnumMeta_5__getitem__}, + {Py_tp_traverse, (void *)__pyx_tp_traverse___Pyx_EnumMeta}, + {Py_tp_clear, (void *)__pyx_tp_clear___Pyx_EnumMeta}, + {Py_tp_iter, (void *)__pyx_pw_8EnumBase_14__Pyx_EnumMeta_3__iter__}, + {Py_tp_methods, (void *)__pyx_methods___Pyx_EnumMeta}, + {Py_tp_init, (void *)__pyx_pw_8EnumBase_14__Pyx_EnumMeta_1__init__}, + {0, 0}, +}; +static PyType_Spec __Pyx_EnumMeta_spec = { + "msgq.visionipc.visionipc_pyx.__Pyx_EnumMeta", + sizeof(struct __pyx_obj___Pyx_EnumMeta), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_HAVE_FINALIZE, + __Pyx_EnumMeta_slots, +}; +#else + +static PySequenceMethods __pyx_tp_as_sequence___Pyx_EnumMeta = { + 0, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item___Pyx_EnumMeta, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping___Pyx_EnumMeta = { + 0, /*mp_length*/ + __pyx_pw_8EnumBase_14__Pyx_EnumMeta_5__getitem__, /*mp_subscript*/ + 0, /*mp_ass_subscript*/ +}; + +static PyTypeObject __Pyx_EnumMeta = { + PyVarObject_HEAD_INIT(0, 0) + "msgq.visionipc.visionipc_pyx.""__Pyx_EnumMeta", /*tp_name*/ + sizeof(struct __pyx_obj___Pyx_EnumMeta), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + 0, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence___Pyx_EnumMeta, /*tp_as_sequence*/ + &__pyx_tp_as_mapping___Pyx_EnumMeta, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_HAVE_FINALIZE, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse___Pyx_EnumMeta, /*tp_traverse*/ + __pyx_tp_clear___Pyx_EnumMeta, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + __pyx_pw_8EnumBase_14__Pyx_EnumMeta_3__iter__, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods___Pyx_EnumMeta, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + __pyx_pw_8EnumBase_14__Pyx_EnumMeta_1__init__, /*tp_init*/ + 0, /*tp_alloc*/ + 0, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_array __pyx_vtable_array; + +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_array_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_array_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_array; + p->mode = ((PyObject*)Py_None); Py_INCREF(Py_None); + p->_format = ((PyObject*)Py_None); Py_INCREF(Py_None); + if (unlikely(__pyx_array___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_array(PyObject *o) { + struct __pyx_array_obj *p = (struct __pyx_array_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_array) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_array___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->mode); + Py_CLEAR(p->_format); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} +static PyObject *__pyx_sq_item_array(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_array(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_array___setitem__(o, i, v); + } + else { + __Pyx_TypeName o_type_name; + o_type_name = __Pyx_PyType_GetName(Py_TYPE(o)); + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by " __Pyx_FMT_TYPENAME, o_type_name); + __Pyx_DECREF_TypeName(o_type_name); + return -1; + } +} + +static PyObject *__pyx_tp_getattro_array(PyObject *o, PyObject *n) { + PyObject *v = __Pyx_PyObject_GenericGetAttr(o, n); + if (!v && PyErr_ExceptionMatches(PyExc_AttributeError)) { + PyErr_Clear(); + v = __pyx_array___getattr__(o, n); + } + return v; +} + +static PyObject *__pyx_getprop___pyx_array_memview(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_5array_7memview_1__get__(o); +} + +static PyMethodDef __pyx_methods_array[] = { + {"__getattr__", (PyCFunction)__pyx_array___getattr__, METH_O|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_array_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_array_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_array[] = { + {(char *)"memview", __pyx_getprop___pyx_array_memview, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +#if !CYTHON_COMPILING_IN_LIMITED_API + +static PyBufferProcs __pyx_tp_as_buffer_array = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_array_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; +#endif +static PyType_Slot __pyx_type___pyx_array_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_array}, + {Py_sq_length, (void *)__pyx_array___len__}, + {Py_sq_item, (void *)__pyx_sq_item_array}, + {Py_mp_length, (void *)__pyx_array___len__}, + {Py_mp_subscript, (void *)__pyx_array___getitem__}, + {Py_mp_ass_subscript, (void *)__pyx_mp_ass_subscript_array}, + {Py_tp_getattro, (void *)__pyx_tp_getattro_array}, + #if defined(Py_bf_getbuffer) + {Py_bf_getbuffer, (void *)__pyx_array_getbuffer}, + #endif + {Py_tp_methods, (void *)__pyx_methods_array}, + {Py_tp_getset, (void *)__pyx_getsets_array}, + {Py_tp_new, (void *)__pyx_tp_new_array}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_array_spec = { + "msgq.visionipc.visionipc_pyx.array", + sizeof(struct __pyx_array_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_SEQUENCE, + __pyx_type___pyx_array_slots, +}; +#else + +static PySequenceMethods __pyx_tp_as_sequence_array = { + __pyx_array___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_array, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_array = { + __pyx_array___len__, /*mp_length*/ + __pyx_array___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_array, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_array = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_array_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_array = { + PyVarObject_HEAD_INIT(0, 0) + "msgq.visionipc.visionipc_pyx.""array", /*tp_name*/ + sizeof(struct __pyx_array_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_array, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_array, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_array, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + __pyx_tp_getattro_array, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_array, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_SEQUENCE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_array, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_array, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_array, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + struct __pyx_MemviewEnum_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_MemviewEnum_obj *)o); + p->name = Py_None; Py_INCREF(Py_None); + return o; +} + +static void __pyx_tp_dealloc_Enum(PyObject *o) { + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_Enum) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + Py_CLEAR(p->name); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_Enum(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + if (p->name) { + e = (*v)(p->name, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_Enum(PyObject *o) { + PyObject* tmp; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + tmp = ((PyObject*)p->name); + p->name = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + return 0; +} + +static PyObject *__pyx_specialmethod___pyx_MemviewEnum___repr__(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __pyx_MemviewEnum___repr__(self); +} + +static PyMethodDef __pyx_methods_Enum[] = { + {"__repr__", (PyCFunction)__pyx_specialmethod___pyx_MemviewEnum___repr__, METH_NOARGS|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_MemviewEnum_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_MemviewEnum_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type___pyx_MemviewEnum_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_Enum}, + {Py_tp_repr, (void *)__pyx_MemviewEnum___repr__}, + {Py_tp_traverse, (void *)__pyx_tp_traverse_Enum}, + {Py_tp_clear, (void *)__pyx_tp_clear_Enum}, + {Py_tp_methods, (void *)__pyx_methods_Enum}, + {Py_tp_init, (void *)__pyx_MemviewEnum___init__}, + {Py_tp_new, (void *)__pyx_tp_new_Enum}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_MemviewEnum_spec = { + "msgq.visionipc.visionipc_pyx.Enum", + sizeof(struct __pyx_MemviewEnum_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type___pyx_MemviewEnum_slots, +}; +#else + +static PyTypeObject __pyx_type___pyx_MemviewEnum = { + PyVarObject_HEAD_INIT(0, 0) + "msgq.visionipc.visionipc_pyx.""Enum", /*tp_name*/ + sizeof(struct __pyx_MemviewEnum_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_Enum, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_MemviewEnum___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_Enum, /*tp_traverse*/ + __pyx_tp_clear_Enum, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_Enum, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + __pyx_MemviewEnum___init__, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_Enum, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_memoryview __pyx_vtable_memoryview; + +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryview_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_memoryview_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_memoryview; + p->obj = Py_None; Py_INCREF(Py_None); + p->_size = Py_None; Py_INCREF(Py_None); + p->_array_interface = Py_None; Py_INCREF(Py_None); + p->view.obj = NULL; + if (unlikely(__pyx_memoryview___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_memoryview(PyObject *o) { + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_memoryview) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryview___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->obj); + Py_CLEAR(p->_size); + Py_CLEAR(p->_array_interface); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_memoryview(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + if (p->obj) { + e = (*v)(p->obj, a); if (e) return e; + } + if (p->_size) { + e = (*v)(p->_size, a); if (e) return e; + } + if (p->_array_interface) { + e = (*v)(p->_array_interface, a); if (e) return e; + } + if (p->view.obj) { + e = (*v)(p->view.obj, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_memoryview(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + tmp = ((PyObject*)p->obj); + p->obj = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_size); + p->_size = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_array_interface); + p->_array_interface = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + Py_CLEAR(p->view.obj); + return 0; +} +static PyObject *__pyx_sq_item_memoryview(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_memoryview(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_memoryview___setitem__(o, i, v); + } + else { + __Pyx_TypeName o_type_name; + o_type_name = __Pyx_PyType_GetName(Py_TYPE(o)); + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by " __Pyx_FMT_TYPENAME, o_type_name); + __Pyx_DECREF_TypeName(o_type_name); + return -1; + } +} + +static PyObject *__pyx_getprop___pyx_memoryview_T(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_1T_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_base(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4base_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_shape(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_5shape_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_strides(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_7strides_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_suboffsets(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_10suboffsets_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_ndim(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4ndim_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_itemsize(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_8itemsize_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_nbytes(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_6nbytes_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_size(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4size_1__get__(o); +} + +static PyObject *__pyx_specialmethod___pyx_memoryview___repr__(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __pyx_memoryview___repr__(self); +} + +static PyMethodDef __pyx_methods_memoryview[] = { + {"__repr__", (PyCFunction)__pyx_specialmethod___pyx_memoryview___repr__, METH_NOARGS|METH_COEXIST, 0}, + {"is_c_contig", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_is_c_contig, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"is_f_contig", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_is_f_contig, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"copy", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_copy, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"copy_fortran", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_copy_fortran, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryview_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryview_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_memoryview[] = { + {(char *)"T", __pyx_getprop___pyx_memoryview_T, 0, (char *)0, 0}, + {(char *)"base", __pyx_getprop___pyx_memoryview_base, 0, (char *)0, 0}, + {(char *)"shape", __pyx_getprop___pyx_memoryview_shape, 0, (char *)0, 0}, + {(char *)"strides", __pyx_getprop___pyx_memoryview_strides, 0, (char *)0, 0}, + {(char *)"suboffsets", __pyx_getprop___pyx_memoryview_suboffsets, 0, (char *)0, 0}, + {(char *)"ndim", __pyx_getprop___pyx_memoryview_ndim, 0, (char *)0, 0}, + {(char *)"itemsize", __pyx_getprop___pyx_memoryview_itemsize, 0, (char *)0, 0}, + {(char *)"nbytes", __pyx_getprop___pyx_memoryview_nbytes, 0, (char *)0, 0}, + {(char *)"size", __pyx_getprop___pyx_memoryview_size, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +#if !CYTHON_COMPILING_IN_LIMITED_API + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; +#endif +static PyType_Slot __pyx_type___pyx_memoryview_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_memoryview}, + {Py_tp_repr, (void *)__pyx_memoryview___repr__}, + {Py_sq_length, (void *)__pyx_memoryview___len__}, + {Py_sq_item, (void *)__pyx_sq_item_memoryview}, + {Py_mp_length, (void *)__pyx_memoryview___len__}, + {Py_mp_subscript, (void *)__pyx_memoryview___getitem__}, + {Py_mp_ass_subscript, (void *)__pyx_mp_ass_subscript_memoryview}, + {Py_tp_str, (void *)__pyx_memoryview___str__}, + #if defined(Py_bf_getbuffer) + {Py_bf_getbuffer, (void *)__pyx_memoryview_getbuffer}, + #endif + {Py_tp_traverse, (void *)__pyx_tp_traverse_memoryview}, + {Py_tp_clear, (void *)__pyx_tp_clear_memoryview}, + {Py_tp_methods, (void *)__pyx_methods_memoryview}, + {Py_tp_getset, (void *)__pyx_getsets_memoryview}, + {Py_tp_new, (void *)__pyx_tp_new_memoryview}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_memoryview_spec = { + "msgq.visionipc.visionipc_pyx.memoryview", + sizeof(struct __pyx_memoryview_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type___pyx_memoryview_slots, +}; +#else + +static PySequenceMethods __pyx_tp_as_sequence_memoryview = { + __pyx_memoryview___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_memoryview, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_memoryview = { + __pyx_memoryview___len__, /*mp_length*/ + __pyx_memoryview___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_memoryview, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_memoryview = { + PyVarObject_HEAD_INIT(0, 0) + "msgq.visionipc.visionipc_pyx.""memoryview", /*tp_name*/ + sizeof(struct __pyx_memoryview_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_memoryview, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_memoryview___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_memoryview, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_memoryview, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + __pyx_memoryview___str__, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_memoryview, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_memoryview, /*tp_traverse*/ + __pyx_tp_clear_memoryview, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_memoryview, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_memoryview, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_memoryview, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct__memoryviewslice __pyx_vtable__memoryviewslice; + +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryviewslice_obj *p; + PyObject *o = __pyx_tp_new_memoryview(t, a, k); + if (unlikely(!o)) return 0; + p = ((struct __pyx_memoryviewslice_obj *)o); + p->__pyx_base.__pyx_vtab = (struct __pyx_vtabstruct_memoryview*)__pyx_vtabptr__memoryviewslice; + new((void*)&(p->from_slice)) __Pyx_memviewslice(); + p->from_object = Py_None; Py_INCREF(Py_None); + p->from_slice.memview = NULL; + return o; +} + +static void __pyx_tp_dealloc__memoryviewslice(PyObject *o) { + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc__memoryviewslice) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryviewslice___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + __Pyx_call_destructor(p->from_slice); + Py_CLEAR(p->from_object); + PyObject_GC_Track(o); + __pyx_tp_dealloc_memoryview(o); +} + +static int __pyx_tp_traverse__memoryviewslice(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + e = __pyx_tp_traverse_memoryview(o, v, a); if (e) return e; + if (p->from_object) { + e = (*v)(p->from_object, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear__memoryviewslice(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + __pyx_tp_clear_memoryview(o); + tmp = ((PyObject*)p->from_object); + p->from_object = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + __PYX_XCLEAR_MEMVIEW(&p->from_slice, 1); + return 0; +} + +static PyMethodDef __pyx_methods__memoryviewslice[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryviewslice_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryviewslice_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type___pyx_memoryviewslice_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc__memoryviewslice}, + {Py_tp_doc, (void *)PyDoc_STR("Internal class for passing memoryview slices to Python")}, + {Py_tp_traverse, (void *)__pyx_tp_traverse__memoryviewslice}, + {Py_tp_clear, (void *)__pyx_tp_clear__memoryviewslice}, + {Py_tp_methods, (void *)__pyx_methods__memoryviewslice}, + {Py_tp_new, (void *)__pyx_tp_new__memoryviewslice}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_memoryviewslice_spec = { + "msgq.visionipc.visionipc_pyx._memoryviewslice", + sizeof(struct __pyx_memoryviewslice_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_SEQUENCE, + __pyx_type___pyx_memoryviewslice_slots, +}; +#else + +static PyTypeObject __pyx_type___pyx_memoryviewslice = { + PyVarObject_HEAD_INIT(0, 0) + "msgq.visionipc.visionipc_pyx.""_memoryviewslice", /*tp_name*/ + sizeof(struct __pyx_memoryviewslice_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc__memoryviewslice, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + #if CYTHON_COMPILING_IN_PYPY || 0 + __pyx_memoryview___repr__, /*tp_repr*/ + #else + 0, /*tp_repr*/ + #endif + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + #if CYTHON_COMPILING_IN_PYPY || 0 + __pyx_memoryview___str__, /*tp_str*/ + #else + 0, /*tp_str*/ + #endif + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_SEQUENCE, /*tp_flags*/ + PyDoc_STR("Internal class for passing memoryview slices to Python"), /*tp_doc*/ + __pyx_tp_traverse__memoryviewslice, /*tp_traverse*/ + __pyx_tp_clear__memoryviewslice, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods__memoryviewslice, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new__memoryviewslice, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyMethodDef __pyx_methods[] = { + {0, 0, 0, 0} +}; +#ifndef CYTHON_SMALL_CODE +#if defined(__clang__) + #define CYTHON_SMALL_CODE +#elif defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 3)) + #define CYTHON_SMALL_CODE __attribute__((cold)) +#else + #define CYTHON_SMALL_CODE +#endif +#endif +/* #### Code section: pystring_table ### */ + +static int __Pyx_CreateStringTabAndInitStrings(void) { + __Pyx_StringTabEntry __pyx_string_tab[] = { + {&__pyx_kp_b_, __pyx_k_, sizeof(__pyx_k_), 0, 0, 0, 0}, + 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+ Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#endif +} +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { +#if PY_VERSION_HEX >= 0x030C00A6 + PyObject* exc_value; + exc_value = tstate->current_exception; + tstate->current_exception = 0; + *value = exc_value; + *type = NULL; + *tb = NULL; + if (exc_value) { + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + #if CYTHON_COMPILING_IN_CPYTHON + *tb = ((PyBaseExceptionObject*) exc_value)->traceback; + Py_XINCREF(*tb); + #else + *tb = PyException_GetTraceback(exc_value); + #endif + } +#else + *type = tstate->curexc_type; + *value = tstate->curexc_value; + *tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; +#endif +} +#endif + +/* PyObjectGetAttrStr */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name) { + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro)) + return tp->tp_getattro(obj, attr_name); +#if PY_MAJOR_VERSION < 3 + if (likely(tp->tp_getattr)) + return tp->tp_getattr(obj, PyString_AS_STRING(attr_name)); +#endif + return PyObject_GetAttr(obj, attr_name); +} +#endif + +/* PyObjectGetAttrStrNoError */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + __Pyx_PyErr_Clear(); +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { + PyObject *result; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + (void) PyObject_GetOptionalAttr(obj, attr_name, &result); + return result; +#else +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { + return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); + } +#endif + result = __Pyx_PyObject_GetAttrStr(obj, attr_name); + if (unlikely(!result)) { + __Pyx_PyObject_GetAttrStr_ClearAttributeError(); + } + return result; +#endif +} + +/* GetBuiltinName */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name) { + PyObject* result = __Pyx_PyObject_GetAttrStrNoError(__pyx_b, name); + if (unlikely(!result) && !PyErr_Occurred()) { + PyErr_Format(PyExc_NameError, +#if PY_MAJOR_VERSION >= 3 + "name '%U' is not defined", name); +#else + "name '%.200s' is not defined", PyString_AS_STRING(name)); +#endif + } + return result; +} + +/* TupleAndListFromArray */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE void __Pyx_copy_object_array(PyObject *const *CYTHON_RESTRICT src, PyObject** CYTHON_RESTRICT dest, Py_ssize_t length) { + PyObject *v; + Py_ssize_t i; + for (i = 0; i < length; i++) { + v = dest[i] = src[i]; + Py_INCREF(v); + } +} +static CYTHON_INLINE PyObject * +__Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + Py_INCREF(__pyx_empty_tuple); + return __pyx_empty_tuple; + } + res = PyTuple_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyTupleObject*)res)->ob_item, n); + return res; +} +static CYTHON_INLINE PyObject * +__Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + return PyList_New(0); + } + res = PyList_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyListObject*)res)->ob_item, n); + return res; +} +#endif + +/* BytesEquals */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else + if (s1 == s2) { + return (equals == Py_EQ); + } else if (PyBytes_CheckExact(s1) & PyBytes_CheckExact(s2)) { + const char *ps1, *ps2; + Py_ssize_t length = PyBytes_GET_SIZE(s1); + if (length != PyBytes_GET_SIZE(s2)) + return (equals == Py_NE); + ps1 = PyBytes_AS_STRING(s1); + ps2 = PyBytes_AS_STRING(s2); + if (ps1[0] != ps2[0]) { + return (equals == Py_NE); + } else if (length == 1) { + return (equals == Py_EQ); + } else { + int result; +#if CYTHON_USE_UNICODE_INTERNALS && (PY_VERSION_HEX < 0x030B0000) + Py_hash_t hash1, hash2; + hash1 = ((PyBytesObject*)s1)->ob_shash; + hash2 = ((PyBytesObject*)s2)->ob_shash; + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + return (equals == Py_NE); + } +#endif + result = memcmp(ps1, ps2, (size_t)length); + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { + return (equals == Py_NE); + } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { + return (equals == Py_NE); + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +#endif +} + +/* UnicodeEquals */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else +#if PY_MAJOR_VERSION < 3 + PyObject* owned_ref = NULL; +#endif + int s1_is_unicode, s2_is_unicode; + if (s1 == s2) { + goto return_eq; + } + s1_is_unicode = PyUnicode_CheckExact(s1); + s2_is_unicode = PyUnicode_CheckExact(s2); +#if PY_MAJOR_VERSION < 3 + if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { + owned_ref = PyUnicode_FromObject(s2); + if (unlikely(!owned_ref)) + return -1; + s2 = owned_ref; + s2_is_unicode = 1; + } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { + owned_ref = PyUnicode_FromObject(s1); + if (unlikely(!owned_ref)) + return -1; + s1 = owned_ref; + s1_is_unicode = 1; + } else if (((!s2_is_unicode) & (!s1_is_unicode))) { + return __Pyx_PyBytes_Equals(s1, s2, equals); + } +#endif + if (s1_is_unicode & s2_is_unicode) { + Py_ssize_t length; + int kind; + void *data1, *data2; + if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) + return -1; + length = __Pyx_PyUnicode_GET_LENGTH(s1); + if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { + goto return_ne; + } +#if CYTHON_USE_UNICODE_INTERNALS + { + Py_hash_t hash1, hash2; + #if CYTHON_PEP393_ENABLED + hash1 = ((PyASCIIObject*)s1)->hash; + hash2 = ((PyASCIIObject*)s2)->hash; + #else + hash1 = ((PyUnicodeObject*)s1)->hash; + hash2 = ((PyUnicodeObject*)s2)->hash; + #endif + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + goto return_ne; + } + } +#endif + kind = __Pyx_PyUnicode_KIND(s1); + if (kind != __Pyx_PyUnicode_KIND(s2)) { + goto return_ne; + } + data1 = __Pyx_PyUnicode_DATA(s1); + data2 = __Pyx_PyUnicode_DATA(s2); + if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { + goto return_ne; + } else if (length == 1) { + goto return_eq; + } else { + int result = memcmp(data1, data2, (size_t)(length * kind)); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & s2_is_unicode) { + goto return_ne; + } else if ((s2 == Py_None) & s1_is_unicode) { + goto return_ne; + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +return_eq: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ); +return_ne: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_NE); +#endif +} + +/* fastcall */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s) +{ + Py_ssize_t i, n = PyTuple_GET_SIZE(kwnames); + for (i = 0; i < n; i++) + { + if (s == PyTuple_GET_ITEM(kwnames, i)) return kwvalues[i]; + } + for (i = 0; i < n; i++) + { + int eq = __Pyx_PyUnicode_Equals(s, PyTuple_GET_ITEM(kwnames, i), Py_EQ); + if (unlikely(eq != 0)) { + if (unlikely(eq < 0)) return NULL; + return kwvalues[i]; + } + } + return NULL; +} +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 +CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { + Py_ssize_t i, nkwargs = PyTuple_GET_SIZE(kwnames); + PyObject *dict; + dict = PyDict_New(); + if (unlikely(!dict)) + return NULL; + for (i=0; i= 3 + "%s() got multiple values for keyword argument '%U'", func_name, kw_name); + #else + "%s() got multiple values for keyword argument '%s'", func_name, + PyString_AsString(kw_name)); + #endif +} + +/* ParseKeywords */ +static int __Pyx_ParseOptionalKeywords( + PyObject *kwds, + PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, + PyObject *values[], + Py_ssize_t num_pos_args, + const char* function_name) +{ + PyObject *key = 0, *value = 0; + Py_ssize_t pos = 0; + PyObject*** name; + PyObject*** first_kw_arg = argnames + num_pos_args; + int kwds_is_tuple = CYTHON_METH_FASTCALL && likely(PyTuple_Check(kwds)); + while (1) { + Py_XDECREF(key); key = NULL; + Py_XDECREF(value); value = NULL; + if (kwds_is_tuple) { + Py_ssize_t size; +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(kwds); +#else + size = PyTuple_Size(kwds); + if (size < 0) goto bad; +#endif + if (pos >= size) break; +#if CYTHON_AVOID_BORROWED_REFS + key = __Pyx_PySequence_ITEM(kwds, pos); + if (!key) goto bad; +#elif CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kwds, pos); +#else + key = PyTuple_GetItem(kwds, pos); + if (!key) goto bad; +#endif + value = kwvalues[pos]; + pos++; + } + else + { + if (!PyDict_Next(kwds, &pos, &key, &value)) break; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + } + name = first_kw_arg; + while (*name && (**name != key)) name++; + if (*name) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(value); + Py_DECREF(key); +#endif + key = NULL; + value = NULL; + continue; + } +#if !CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + Py_INCREF(value); + name = first_kw_arg; + #if PY_MAJOR_VERSION < 3 + if (likely(PyString_Check(key))) { + while (*name) { + if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) + && _PyString_Eq(**name, key)) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + if ((**argname == key) || ( + (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) + && _PyString_Eq(**argname, key))) { + goto arg_passed_twice; + } + argname++; + } + } + } else + #endif + if (likely(PyUnicode_Check(key))) { + while (*name) { + int cmp = ( + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**name, key) + ); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + int cmp = (**argname == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**argname, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) goto arg_passed_twice; + argname++; + } + } + } else + goto invalid_keyword_type; + if (kwds2) { + if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; + } else { + goto invalid_keyword; + } + } + Py_XDECREF(key); + Py_XDECREF(value); + return 0; +arg_passed_twice: + __Pyx_RaiseDoubleKeywordsError(function_name, key); + goto bad; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + goto bad; +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif +bad: + Py_XDECREF(key); + Py_XDECREF(value); + return -1; +} + +/* PyFunctionFastCall */ +#if CYTHON_FAST_PYCALL && !CYTHON_VECTORCALL +static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, + PyObject *globals) { + PyFrameObject *f; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject **fastlocals; + Py_ssize_t i; + PyObject *result; + assert(globals != NULL); + /* XXX Perhaps we should create a specialized + PyFrame_New() that doesn't take locals, but does + take builtins without sanity checking them. + */ + assert(tstate != NULL); + f = PyFrame_New(tstate, co, globals, NULL); + if (f == NULL) { + return NULL; + } + fastlocals = __Pyx_PyFrame_GetLocalsplus(f); + for (i = 0; i < na; i++) { + Py_INCREF(*args); + fastlocals[i] = *args++; + } + result = PyEval_EvalFrameEx(f,0); + ++tstate->recursion_depth; + Py_DECREF(f); + --tstate->recursion_depth; + return result; +} +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { + PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); + PyObject *globals = PyFunction_GET_GLOBALS(func); + PyObject *argdefs = PyFunction_GET_DEFAULTS(func); + PyObject *closure; +#if PY_MAJOR_VERSION >= 3 + PyObject *kwdefs; +#endif + PyObject *kwtuple, **k; + PyObject **d; + Py_ssize_t nd; + Py_ssize_t nk; + PyObject *result; + assert(kwargs == NULL || PyDict_Check(kwargs)); + nk = kwargs ? PyDict_Size(kwargs) : 0; + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) { + return NULL; + } + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) { + return NULL; + } + #endif + if ( +#if PY_MAJOR_VERSION >= 3 + co->co_kwonlyargcount == 0 && +#endif + likely(kwargs == NULL || nk == 0) && + co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { + if (argdefs == NULL && co->co_argcount == nargs) { + result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); + goto done; + } + else if (nargs == 0 && argdefs != NULL + && co->co_argcount == Py_SIZE(argdefs)) { + /* function called with no arguments, but all parameters have + a default value: use default values as arguments .*/ + args = &PyTuple_GET_ITEM(argdefs, 0); + result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); + goto done; + } + } + if (kwargs != NULL) { + Py_ssize_t pos, i; + kwtuple = PyTuple_New(2 * nk); + if (kwtuple == NULL) { + result = NULL; + goto done; + } + k = &PyTuple_GET_ITEM(kwtuple, 0); + pos = i = 0; + while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { + Py_INCREF(k[i]); + Py_INCREF(k[i+1]); + i += 2; + } + nk = i / 2; + } + else { + kwtuple = NULL; + k = NULL; + } + closure = PyFunction_GET_CLOSURE(func); +#if PY_MAJOR_VERSION >= 3 + kwdefs = PyFunction_GET_KW_DEFAULTS(func); +#endif + if (argdefs != NULL) { + d = &PyTuple_GET_ITEM(argdefs, 0); + nd = Py_SIZE(argdefs); + } + else { + d = NULL; + nd = 0; + } +#if PY_MAJOR_VERSION >= 3 + result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, kwdefs, closure); +#else + result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, closure); +#endif + Py_XDECREF(kwtuple); +done: + Py_LeaveRecursiveCall(); + return result; +} +#endif + +/* PyObjectCall */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *result; + ternaryfunc call = Py_TYPE(func)->tp_call; + if (unlikely(!call)) + return PyObject_Call(func, arg, kw); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = (*call)(func, arg, kw); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCallMethO */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { + PyObject *self, *result; + PyCFunction cfunc; + cfunc = __Pyx_CyOrPyCFunction_GET_FUNCTION(func); + self = __Pyx_CyOrPyCFunction_GET_SELF(func); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = cfunc(self, arg); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectFastCall */ +#if PY_VERSION_HEX < 0x03090000 || CYTHON_COMPILING_IN_LIMITED_API +static PyObject* __Pyx_PyObject_FastCall_fallback(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs) { + PyObject *argstuple; + PyObject *result = 0; + size_t i; + argstuple = PyTuple_New((Py_ssize_t)nargs); + if (unlikely(!argstuple)) return NULL; + for (i = 0; i < nargs; i++) { + Py_INCREF(args[i]); + if (__Pyx_PyTuple_SET_ITEM(argstuple, (Py_ssize_t)i, args[i]) < 0) goto bad; + } + result = __Pyx_PyObject_Call(func, argstuple, kwargs); + bad: + Py_DECREF(argstuple); + return result; +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t _nargs, PyObject *kwargs) { + Py_ssize_t nargs = __Pyx_PyVectorcall_NARGS(_nargs); +#if CYTHON_COMPILING_IN_CPYTHON + if (nargs == 0 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_NOARGS)) + return __Pyx_PyObject_CallMethO(func, NULL); + } + else if (nargs == 1 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_O)) + return __Pyx_PyObject_CallMethO(func, args[0]); + } +#endif + #if PY_VERSION_HEX < 0x030800B1 + #if CYTHON_FAST_PYCCALL + if (PyCFunction_Check(func)) { + if (kwargs) { + return _PyCFunction_FastCallDict(func, args, nargs, kwargs); + } else { + return _PyCFunction_FastCallKeywords(func, args, nargs, NULL); + } + } + #if PY_VERSION_HEX >= 0x030700A1 + if (!kwargs && __Pyx_IS_TYPE(func, &PyMethodDescr_Type)) { + return _PyMethodDescr_FastCallKeywords(func, args, nargs, NULL); + } + #endif + #endif + #if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs); + } + #endif + #endif + if (kwargs == NULL) { + #if CYTHON_VECTORCALL + #if PY_VERSION_HEX < 0x03090000 + vectorcallfunc f = _PyVectorcall_Function(func); + #else + vectorcallfunc f = PyVectorcall_Function(func); + #endif + if (f) { + return f(func, args, (size_t)nargs, NULL); + } + #elif defined(__Pyx_CyFunction_USED) && CYTHON_BACKPORT_VECTORCALL + if (__Pyx_CyFunction_CheckExact(func)) { + __pyx_vectorcallfunc f = __Pyx_CyFunction_func_vectorcall(func); + if (f) return f(func, args, (size_t)nargs, NULL); + } + #endif + } + if (nargs == 0) { + return __Pyx_PyObject_Call(func, __pyx_empty_tuple, kwargs); + } + #if PY_VERSION_HEX >= 0x03090000 && !CYTHON_COMPILING_IN_LIMITED_API + return PyObject_VectorcallDict(func, args, (size_t)nargs, kwargs); + #else + return __Pyx_PyObject_FastCall_fallback(func, args, (size_t)nargs, kwargs); + #endif +} + +/* PyObjectSetAttrStr */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE int __Pyx_PyObject_SetAttrStr(PyObject* obj, PyObject* attr_name, PyObject* value) { + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_setattro)) + return tp->tp_setattro(obj, attr_name, value); +#if PY_MAJOR_VERSION < 3 + if (likely(tp->tp_setattr)) + return tp->tp_setattr(obj, PyString_AS_STRING(attr_name), value); +#endif + return PyObject_SetAttr(obj, attr_name, value); +} +#endif + +/* GetItemInt */ +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { + PyObject *r; + if (unlikely(!j)) return NULL; + r = PyObject_GetItem(o, j); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyList_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { + PyObject *r = PyList_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyTuple_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); + if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { + PyObject *r = PyList_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } + else if (PyTuple_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_subscript) { + PyObject *r, *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return NULL; + r = mm->mp_subscript(o, key); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return NULL; + PyErr_Clear(); + } + } + return sm->sq_item(o, i); + } + } +#else + if (is_list || !PyMapping_Check(o)) { + return PySequence_GetItem(o, i); + } +#endif + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +} + +/* PyObjectCallOneArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *args[2] = {NULL, arg}; + return __Pyx_PyObject_FastCall(func, args+1, 1 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* ObjectGetItem */ +#if CYTHON_USE_TYPE_SLOTS +static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject *index) { + PyObject *runerr = NULL; + Py_ssize_t key_value; + key_value = __Pyx_PyIndex_AsSsize_t(index); + if (likely(key_value != -1 || !(runerr = PyErr_Occurred()))) { + return __Pyx_GetItemInt_Fast(obj, key_value, 0, 1, 1); + } + if (PyErr_GivenExceptionMatches(runerr, PyExc_OverflowError)) { + __Pyx_TypeName index_type_name = __Pyx_PyType_GetName(Py_TYPE(index)); + PyErr_Clear(); + PyErr_Format(PyExc_IndexError, + "cannot fit '" __Pyx_FMT_TYPENAME "' into an index-sized integer", index_type_name); + __Pyx_DECREF_TypeName(index_type_name); + } + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem_Slow(PyObject *obj, PyObject *key) { + __Pyx_TypeName obj_type_name; + if (likely(PyType_Check(obj))) { + PyObject *meth = __Pyx_PyObject_GetAttrStrNoError(obj, __pyx_n_s_class_getitem); + if (!meth) { + PyErr_Clear(); + } else { + PyObject *result = __Pyx_PyObject_CallOneArg(meth, key); + Py_DECREF(meth); + return result; + } + } + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' object is not subscriptable", obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key) { + PyTypeObject *tp = Py_TYPE(obj); + PyMappingMethods *mm = tp->tp_as_mapping; + PySequenceMethods *sm = tp->tp_as_sequence; + if (likely(mm && mm->mp_subscript)) { + return mm->mp_subscript(obj, key); + } + if (likely(sm && sm->sq_item)) { + return __Pyx_PyObject_GetIndex(obj, key); + } + return __Pyx_PyObject_GetItem_Slow(obj, key); +} +#endif + +/* KeywordStringCheck */ +static int __Pyx_CheckKeywordStrings( + PyObject *kw, + const char* function_name, + int kw_allowed) +{ + PyObject* key = 0; + Py_ssize_t pos = 0; +#if CYTHON_COMPILING_IN_PYPY + if (!kw_allowed && PyDict_Next(kw, &pos, &key, 0)) + goto invalid_keyword; + return 1; +#else + if (CYTHON_METH_FASTCALL && likely(PyTuple_Check(kw))) { + Py_ssize_t kwsize; +#if CYTHON_ASSUME_SAFE_MACROS + kwsize = PyTuple_GET_SIZE(kw); +#else + kwsize = PyTuple_Size(kw); + if (kwsize < 0) return 0; +#endif + if (unlikely(kwsize == 0)) + return 1; + if (!kw_allowed) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, 0); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + goto invalid_keyword; + } +#if PY_VERSION_HEX < 0x03090000 + for (pos = 0; pos < kwsize; pos++) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, pos); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } +#endif + return 1; + } + while (PyDict_Next(kw, &pos, &key, 0)) { + #if PY_MAJOR_VERSION < 3 + if (unlikely(!PyString_Check(key))) + #endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } + if (!kw_allowed && unlikely(key)) + goto invalid_keyword; + return 1; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + return 0; +#endif +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif + return 0; +} + +/* GetAttr3 */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static PyObject *__Pyx_GetAttr3Default(PyObject *d) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (unlikely(!__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + return NULL; + __Pyx_PyErr_Clear(); + Py_INCREF(d); + return d; +} +#endif +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *o, PyObject *n, PyObject *d) { + PyObject *r; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + int res = PyObject_GetOptionalAttr(o, n, &r); + return (res != 0) ? r : __Pyx_NewRef(d); +#else + #if CYTHON_USE_TYPE_SLOTS + if (likely(PyString_Check(n))) { + r = __Pyx_PyObject_GetAttrStrNoError(o, n); + if (unlikely(!r) && likely(!PyErr_Occurred())) { + r = __Pyx_NewRef(d); + } + return r; + } + #endif + r = PyObject_GetAttr(o, n); + return (likely(r)) ? r : __Pyx_GetAttr3Default(d); +#endif +} + +/* PyDictVersioning */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { + PyObject **dictptr = NULL; + Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; + if (offset) { +#if CYTHON_COMPILING_IN_CPYTHON + dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); +#else + dictptr = _PyObject_GetDictPtr(obj); +#endif + } + return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; +} +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) + return 0; + return obj_dict_version == __Pyx_get_object_dict_version(obj); +} +#endif + +/* GetModuleGlobalName */ +#if CYTHON_USE_DICT_VERSIONS +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) +#else +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) +#endif +{ + PyObject *result; +#if !CYTHON_AVOID_BORROWED_REFS +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && PY_VERSION_HEX < 0x030d0000 + result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } else if (unlikely(PyErr_Occurred())) { + return NULL; + } +#elif CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(!__pyx_m)) { + return NULL; + } + result = PyObject_GetAttr(__pyx_m, name); + if (likely(result)) { + return result; + } +#else + result = PyDict_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } +#endif +#else + result = PyObject_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } + PyErr_Clear(); +#endif + return __Pyx_GetBuiltinName(name); +} + +/* RaiseUnexpectedTypeError */ +static int +__Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj) +{ + __Pyx_TypeName obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, "Expected %s, got " __Pyx_FMT_TYPENAME, + expected, obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* RaiseException */ +#if PY_MAJOR_VERSION < 3 +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + __Pyx_PyThreadState_declare + CYTHON_UNUSED_VAR(cause); + Py_XINCREF(type); + if (!value || value == Py_None) + value = NULL; + else + Py_INCREF(value); + if (!tb || tb == Py_None) + tb = NULL; + else { + Py_INCREF(tb); + if (!PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto raise_error; + } + } + if (PyType_Check(type)) { +#if CYTHON_COMPILING_IN_PYPY + if (!value) { + Py_INCREF(Py_None); + value = Py_None; + } +#endif + PyErr_NormalizeException(&type, &value, &tb); + } else { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto raise_error; + } + value = type; + type = (PyObject*) Py_TYPE(type); + Py_INCREF(type); + if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto raise_error; + } + } + __Pyx_PyThreadState_assign + __Pyx_ErrRestore(type, value, tb); + return; +raise_error: + Py_XDECREF(value); + Py_XDECREF(type); + Py_XDECREF(tb); + return; +} +#else +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + PyObject* owned_instance = NULL; + if (tb == Py_None) { + tb = 0; + } else if (tb && !PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto bad; + } + if (value == Py_None) + value = 0; + if (PyExceptionInstance_Check(type)) { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto bad; + } + value = type; + type = (PyObject*) Py_TYPE(value); + } else if (PyExceptionClass_Check(type)) { + PyObject *instance_class = NULL; + if (value && PyExceptionInstance_Check(value)) { + instance_class = (PyObject*) Py_TYPE(value); + if (instance_class != type) { + int is_subclass = PyObject_IsSubclass(instance_class, type); + if (!is_subclass) { + instance_class = NULL; + } else if (unlikely(is_subclass == -1)) { + goto bad; + } else { + type = instance_class; + } + } + } + if (!instance_class) { + PyObject *args; + if (!value) + args = PyTuple_New(0); + else if (PyTuple_Check(value)) { + Py_INCREF(value); + args = value; + } else + args = PyTuple_Pack(1, value); + if (!args) + goto bad; + owned_instance = PyObject_Call(type, args, NULL); + Py_DECREF(args); + if (!owned_instance) + goto bad; + value = owned_instance; + if (!PyExceptionInstance_Check(value)) { + PyErr_Format(PyExc_TypeError, + "calling %R should have returned an instance of " + "BaseException, not %R", + type, Py_TYPE(value)); + goto bad; + } + } + } else { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto bad; + } + if (cause) { + PyObject *fixed_cause; + if (cause == Py_None) { + fixed_cause = NULL; + } else if (PyExceptionClass_Check(cause)) { + fixed_cause = PyObject_CallObject(cause, NULL); + if (fixed_cause == NULL) + goto bad; + } else if (PyExceptionInstance_Check(cause)) { + fixed_cause = cause; + Py_INCREF(fixed_cause); + } else { + PyErr_SetString(PyExc_TypeError, + "exception causes must derive from " + "BaseException"); + goto bad; + } + PyException_SetCause(value, fixed_cause); + } + PyErr_SetObject(type, value); + if (tb) { + #if PY_VERSION_HEX >= 0x030C00A6 + PyException_SetTraceback(value, tb); + #elif CYTHON_FAST_THREAD_STATE + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* tmp_tb = tstate->curexc_traceback; + if (tb != tmp_tb) { + Py_INCREF(tb); + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_tb); + } +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); + Py_INCREF(tb); + PyErr_Restore(tmp_type, tmp_value, tb); + Py_XDECREF(tmp_tb); +#endif + } +bad: + Py_XDECREF(owned_instance); + return; +} +#endif + +/* Import */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { + PyObject *module = 0; + PyObject *empty_dict = 0; + PyObject *empty_list = 0; + #if PY_MAJOR_VERSION < 3 + PyObject *py_import; + py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); + if (unlikely(!py_import)) + goto bad; + if (!from_list) { + empty_list = PyList_New(0); + if (unlikely(!empty_list)) + goto bad; + from_list = empty_list; + } + #endif + empty_dict = PyDict_New(); + if (unlikely(!empty_dict)) + goto bad; + { + #if PY_MAJOR_VERSION >= 3 + if (level == -1) { + if (strchr(__Pyx_MODULE_NAME, '.') != NULL) { + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, 1); + if (unlikely(!module)) { + if (unlikely(!PyErr_ExceptionMatches(PyExc_ImportError))) + goto bad; + PyErr_Clear(); + } + } + level = 0; + } + #endif + if (!module) { + #if PY_MAJOR_VERSION < 3 + PyObject *py_level = PyInt_FromLong(level); + if (unlikely(!py_level)) + goto bad; + module = PyObject_CallFunctionObjArgs(py_import, + name, __pyx_d, empty_dict, from_list, py_level, (PyObject *)NULL); + Py_DECREF(py_level); + #else + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, level); + #endif + } + } +bad: + Py_XDECREF(empty_dict); + Py_XDECREF(empty_list); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_import); + #endif + return module; +} + +/* ImportFrom */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name) { + PyObject* value = __Pyx_PyObject_GetAttrStr(module, name); + if (unlikely(!value) && PyErr_ExceptionMatches(PyExc_AttributeError)) { + const char* module_name_str = 0; + PyObject* module_name = 0; + PyObject* module_dot = 0; + PyObject* full_name = 0; + PyErr_Clear(); + module_name_str = PyModule_GetName(module); + if (unlikely(!module_name_str)) { goto modbad; } + module_name = PyUnicode_FromString(module_name_str); + if (unlikely(!module_name)) { goto modbad; } + module_dot = PyUnicode_Concat(module_name, __pyx_kp_u__3); + if (unlikely(!module_dot)) { goto modbad; } + full_name = PyUnicode_Concat(module_dot, name); + if (unlikely(!full_name)) { goto modbad; } + #if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + { + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + goto modbad; + value = PyObject_GetItem(modules, full_name); + } + #else + value = PyImport_GetModule(full_name); + #endif + modbad: + Py_XDECREF(full_name); + Py_XDECREF(module_dot); + Py_XDECREF(module_name); + } + if (unlikely(!value)) { + PyErr_Format(PyExc_ImportError, + #if PY_MAJOR_VERSION < 3 + "cannot import name %.230s", PyString_AS_STRING(name)); + #else + "cannot import name %S", name); + #endif + } + return value; +} + +/* GetAttr */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *o, PyObject *n) { +#if CYTHON_USE_TYPE_SLOTS +#if PY_MAJOR_VERSION >= 3 + if (likely(PyUnicode_Check(n))) +#else + if (likely(PyString_Check(n))) +#endif + return __Pyx_PyObject_GetAttrStr(o, n); +#endif + return PyObject_GetAttr(o, n); +} + +/* HasAttr */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *o, PyObject *n) { + PyObject *r; + if (unlikely(!__Pyx_PyBaseString_Check(n))) { + PyErr_SetString(PyExc_TypeError, + "hasattr(): attribute name must be string"); + return -1; + } + r = __Pyx_GetAttr(o, n); + if (!r) { + PyErr_Clear(); + return 0; + } else { + Py_DECREF(r); + return 1; + } +} +#endif + +/* ArgTypeTest */ +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact) +{ + __Pyx_TypeName type_name; + __Pyx_TypeName obj_type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + else if (exact) { + #if PY_MAJOR_VERSION == 2 + if ((type == &PyBaseString_Type) && likely(__Pyx_PyBaseString_CheckExact(obj))) return 1; + #endif + } + else { + if (likely(__Pyx_TypeCheck(obj, type))) return 1; + } + type_name = __Pyx_PyType_GetName(type); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "Argument '%.200s' has incorrect type (expected " __Pyx_FMT_TYPENAME + ", got " __Pyx_FMT_TYPENAME ")", name, type_name, obj_type_name); + __Pyx_DECREF_TypeName(type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* CIntToDigits */ +static const char DIGIT_PAIRS_10[2*10*10+1] = { + "00010203040506070809" + "10111213141516171819" + "20212223242526272829" + "30313233343536373839" + "40414243444546474849" + "50515253545556575859" + "60616263646566676869" + "70717273747576777879" + "80818283848586878889" + "90919293949596979899" +}; +static const char DIGIT_PAIRS_8[2*8*8+1] = { + "0001020304050607" + "1011121314151617" + "2021222324252627" + "3031323334353637" + "4041424344454647" + "5051525354555657" + "6061626364656667" + "7071727374757677" +}; +static const char DIGITS_HEX[2*16+1] = { + "0123456789abcdef" + "0123456789ABCDEF" +}; + +/* BuildPyUnicode */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char) { + PyObject *uval; + Py_ssize_t uoffset = ulength - clength; +#if CYTHON_USE_UNICODE_INTERNALS + Py_ssize_t i; +#if CYTHON_PEP393_ENABLED + void *udata; + uval = PyUnicode_New(ulength, 127); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_DATA(uval); +#else + Py_UNICODE *udata; + uval = PyUnicode_FromUnicode(NULL, ulength); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_AS_UNICODE(uval); +#endif + if (uoffset > 0) { + i = 0; + if (prepend_sign) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, 0, '-'); + i++; + } + for (; i < uoffset; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, i, padding_char); + } + } + for (i=0; i < clength; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, uoffset+i, chars[i]); + } +#else + { + PyObject *sign = NULL, *padding = NULL; + uval = NULL; + if (uoffset > 0) { + prepend_sign = !!prepend_sign; + if (uoffset > prepend_sign) { + padding = PyUnicode_FromOrdinal(padding_char); + if (likely(padding) && uoffset > prepend_sign + 1) { + PyObject *tmp; + PyObject *repeat = PyInt_FromSsize_t(uoffset - prepend_sign); + if (unlikely(!repeat)) goto done_or_error; + tmp = PyNumber_Multiply(padding, repeat); + Py_DECREF(repeat); + Py_DECREF(padding); + padding = tmp; + } + if (unlikely(!padding)) goto done_or_error; + } + if (prepend_sign) { + sign = PyUnicode_FromOrdinal('-'); + if (unlikely(!sign)) goto done_or_error; + } + } + uval = PyUnicode_DecodeASCII(chars, clength, NULL); + if (likely(uval) && padding) { + PyObject *tmp = PyNumber_Add(padding, uval); + Py_DECREF(uval); + uval = tmp; + } + if (likely(uval) && sign) { + PyObject *tmp = PyNumber_Add(sign, uval); + Py_DECREF(uval); + uval = tmp; + } +done_or_error: + Py_XDECREF(padding); + Py_XDECREF(sign); + } +#endif + return uval; +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(int)*3+2]; + char *dpos, *end = digits + sizeof(int)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + int remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (int) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (int) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (int) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_Py_ssize_t(Py_ssize_t value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(Py_ssize_t)*3+2]; + char *dpos, *end = digits + sizeof(Py_ssize_t)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + Py_ssize_t remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const Py_ssize_t neg_one = (Py_ssize_t) -1, const_zero = (Py_ssize_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (Py_ssize_t) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (Py_ssize_t) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (Py_ssize_t) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* JoinPyUnicode */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char) { +#if CYTHON_USE_UNICODE_INTERNALS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + PyObject *result_uval; + int result_ukind, kind_shift; + Py_ssize_t i, char_pos; + void *result_udata; + CYTHON_MAYBE_UNUSED_VAR(max_char); +#if CYTHON_PEP393_ENABLED + result_uval = PyUnicode_New(result_ulength, max_char); + if (unlikely(!result_uval)) return NULL; + result_ukind = (max_char <= 255) ? PyUnicode_1BYTE_KIND : (max_char <= 65535) ? PyUnicode_2BYTE_KIND : PyUnicode_4BYTE_KIND; + kind_shift = (result_ukind == PyUnicode_4BYTE_KIND) ? 2 : result_ukind - 1; + result_udata = PyUnicode_DATA(result_uval); +#else + result_uval = PyUnicode_FromUnicode(NULL, result_ulength); + if (unlikely(!result_uval)) return NULL; + result_ukind = sizeof(Py_UNICODE); + kind_shift = (result_ukind == 4) ? 2 : result_ukind - 1; + result_udata = PyUnicode_AS_UNICODE(result_uval); +#endif + assert(kind_shift == 2 || kind_shift == 1 || kind_shift == 0); + char_pos = 0; + for (i=0; i < value_count; i++) { + int ukind; + Py_ssize_t ulength; + void *udata; + PyObject *uval = PyTuple_GET_ITEM(value_tuple, i); + if (unlikely(__Pyx_PyUnicode_READY(uval))) + goto bad; + ulength = __Pyx_PyUnicode_GET_LENGTH(uval); + if (unlikely(!ulength)) + continue; + if (unlikely((PY_SSIZE_T_MAX >> kind_shift) - ulength < char_pos)) + goto overflow; + ukind = __Pyx_PyUnicode_KIND(uval); + udata = __Pyx_PyUnicode_DATA(uval); + if (!CYTHON_PEP393_ENABLED || ukind == result_ukind) { + memcpy((char *)result_udata + (char_pos << kind_shift), udata, (size_t) (ulength << kind_shift)); + } else { + #if PY_VERSION_HEX >= 0x030d0000 + if (unlikely(PyUnicode_CopyCharacters(result_uval, char_pos, uval, 0, ulength) < 0)) goto bad; + #elif CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030300F0 || defined(_PyUnicode_FastCopyCharacters) + _PyUnicode_FastCopyCharacters(result_uval, char_pos, uval, 0, ulength); + #else + Py_ssize_t j; + for (j=0; j < ulength; j++) { + Py_UCS4 uchar = __Pyx_PyUnicode_READ(ukind, udata, j); + __Pyx_PyUnicode_WRITE(result_ukind, result_udata, char_pos+j, uchar); + } + #endif + } + char_pos += ulength; + } + return result_uval; +overflow: + PyErr_SetString(PyExc_OverflowError, "join() result is too long for a Python string"); +bad: + Py_DECREF(result_uval); + return NULL; +#else + CYTHON_UNUSED_VAR(max_char); + CYTHON_UNUSED_VAR(result_ulength); + CYTHON_UNUSED_VAR(value_count); + return PyUnicode_Join(__pyx_empty_unicode, value_tuple); +#endif +} + +/* DivInt[Py_ssize_t] */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t a, Py_ssize_t b) { + Py_ssize_t q = a / b; + Py_ssize_t r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* RaiseTooManyValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected) { + PyErr_Format(PyExc_ValueError, + "too many values to unpack (expected %" CYTHON_FORMAT_SSIZE_T "d)", expected); +} + +/* RaiseNeedMoreValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index) { + PyErr_Format(PyExc_ValueError, + "need more than %" CYTHON_FORMAT_SSIZE_T "d value%.1s to unpack", + index, (index == 1) ? "" : "s"); +} + +/* RaiseNoneIterError */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void) { + PyErr_SetString(PyExc_TypeError, "'NoneType' object is not iterable"); +} + +/* ExtTypeTest */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type) { + __Pyx_TypeName obj_type_name; + __Pyx_TypeName type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + if (likely(__Pyx_TypeCheck(obj, type))) + return 1; + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + type_name = __Pyx_PyType_GetName(type); + PyErr_Format(PyExc_TypeError, + "Cannot convert " __Pyx_FMT_TYPENAME " to " __Pyx_FMT_TYPENAME, + obj_type_name, type_name); + __Pyx_DECREF_TypeName(obj_type_name); + __Pyx_DECREF_TypeName(type_name); + return 0; +} + +/* GetTopmostException */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * +__Pyx_PyErr_GetTopmostException(PyThreadState *tstate) +{ + _PyErr_StackItem *exc_info = tstate->exc_info; + while ((exc_info->exc_value == NULL || exc_info->exc_value == Py_None) && + exc_info->previous_item != NULL) + { + exc_info = exc_info->previous_item; + } + return exc_info; +} +#endif + +/* SaveResetException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + PyObject *exc_value = exc_info->exc_value; + if (exc_value == NULL || exc_value == Py_None) { + *value = NULL; + *type = NULL; + *tb = NULL; + } else { + *value = exc_value; + Py_INCREF(*value); + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + *tb = PyException_GetTraceback(exc_value); + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + *type = exc_info->exc_type; + *value = exc_info->exc_value; + *tb = exc_info->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #else + *type = tstate->exc_type; + *value = tstate->exc_value; + *tb = tstate->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #endif +} +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + PyObject *tmp_value = exc_info->exc_value; + exc_info->exc_value = value; + Py_XDECREF(tmp_value); + Py_XDECREF(type); + Py_XDECREF(tb); + #else + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = type; + exc_info->exc_value = value; + exc_info->exc_traceback = tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = type; + tstate->exc_value = value; + tstate->exc_traceback = tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); + #endif +} +#endif + +/* GetException */ +#if CYTHON_FAST_THREAD_STATE +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb) +#endif +{ + PyObject *local_type = NULL, *local_value, *local_tb = NULL; +#if CYTHON_FAST_THREAD_STATE + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if PY_VERSION_HEX >= 0x030C00A6 + local_value = tstate->current_exception; + tstate->current_exception = 0; + if (likely(local_value)) { + local_type = (PyObject*) Py_TYPE(local_value); + Py_INCREF(local_type); + local_tb = PyException_GetTraceback(local_value); + } + #else + local_type = tstate->curexc_type; + local_value = tstate->curexc_value; + local_tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; + #endif +#else + PyErr_Fetch(&local_type, &local_value, &local_tb); +#endif + PyErr_NormalizeException(&local_type, &local_value, &local_tb); +#if CYTHON_FAST_THREAD_STATE && PY_VERSION_HEX >= 0x030C00A6 + if (unlikely(tstate->current_exception)) +#elif CYTHON_FAST_THREAD_STATE + if (unlikely(tstate->curexc_type)) +#else + if (unlikely(PyErr_Occurred())) +#endif + goto bad; + #if PY_MAJOR_VERSION >= 3 + if (local_tb) { + if (unlikely(PyException_SetTraceback(local_value, local_tb) < 0)) + goto bad; + } + #endif + Py_XINCREF(local_tb); + Py_XINCREF(local_type); + Py_XINCREF(local_value); + *type = local_type; + *value = local_value; + *tb = local_tb; +#if CYTHON_FAST_THREAD_STATE + #if CYTHON_USE_EXC_INFO_STACK + { + _PyErr_StackItem *exc_info = tstate->exc_info; + #if PY_VERSION_HEX >= 0x030B00a4 + tmp_value = exc_info->exc_value; + exc_info->exc_value = local_value; + tmp_type = NULL; + tmp_tb = NULL; + Py_XDECREF(local_type); + Py_XDECREF(local_tb); + #else + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = local_type; + exc_info->exc_value = local_value; + exc_info->exc_traceback = local_tb; + #endif + } + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = local_type; + tstate->exc_value = local_value; + tstate->exc_traceback = local_tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#else + PyErr_SetExcInfo(local_type, local_value, local_tb); +#endif + return 0; +bad: + *type = 0; + *value = 0; + *tb = 0; + Py_XDECREF(local_type); + Py_XDECREF(local_value); + Py_XDECREF(local_tb); + return -1; +} + +/* SwapException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_value = exc_info->exc_value; + exc_info->exc_value = *value; + if (tmp_value == NULL || tmp_value == Py_None) { + Py_XDECREF(tmp_value); + tmp_value = NULL; + tmp_type = NULL; + tmp_tb = NULL; + } else { + tmp_type = (PyObject*) Py_TYPE(tmp_value); + Py_INCREF(tmp_type); + #if CYTHON_COMPILING_IN_CPYTHON + tmp_tb = ((PyBaseExceptionObject*) tmp_value)->traceback; + Py_XINCREF(tmp_tb); + #else + tmp_tb = PyException_GetTraceback(tmp_value); + #endif + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = *type; + exc_info->exc_value = *value; + exc_info->exc_traceback = *tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = *type; + tstate->exc_value = *value; + tstate->exc_traceback = *tb; + #endif + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_GetExcInfo(&tmp_type, &tmp_value, &tmp_tb); + PyErr_SetExcInfo(*type, *value, *tb); + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#endif + +/* ImportDottedModule */ +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Error(PyObject *name, PyObject *parts_tuple, Py_ssize_t count) { + PyObject *partial_name = NULL, *slice = NULL, *sep = NULL; + if (unlikely(PyErr_Occurred())) { + PyErr_Clear(); + } + if (likely(PyTuple_GET_SIZE(parts_tuple) == count)) { + partial_name = name; + } else { + slice = PySequence_GetSlice(parts_tuple, 0, count); + if (unlikely(!slice)) + goto bad; + sep = PyUnicode_FromStringAndSize(".", 1); + if (unlikely(!sep)) + goto bad; + partial_name = PyUnicode_Join(sep, slice); + } + PyErr_Format( +#if PY_MAJOR_VERSION < 3 + PyExc_ImportError, + "No module named '%s'", PyString_AS_STRING(partial_name)); +#else +#if PY_VERSION_HEX >= 0x030600B1 + PyExc_ModuleNotFoundError, +#else + PyExc_ImportError, +#endif + "No module named '%U'", partial_name); +#endif +bad: + Py_XDECREF(sep); + Py_XDECREF(slice); + Py_XDECREF(partial_name); + return NULL; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Lookup(PyObject *name) { + PyObject *imported_module; +#if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + return NULL; + imported_module = __Pyx_PyDict_GetItemStr(modules, name); + Py_XINCREF(imported_module); +#else + imported_module = PyImport_GetModule(name); +#endif + return imported_module; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple) { + Py_ssize_t i, nparts; + nparts = PyTuple_GET_SIZE(parts_tuple); + for (i=1; i < nparts && module; i++) { + PyObject *part, *submodule; +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + part = PyTuple_GET_ITEM(parts_tuple, i); +#else + part = PySequence_ITEM(parts_tuple, i); +#endif + submodule = __Pyx_PyObject_GetAttrStrNoError(module, part); +#if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(part); +#endif + Py_DECREF(module); + module = submodule; + } + if (unlikely(!module)) { + return __Pyx__ImportDottedModule_Error(name, parts_tuple, i); + } + return module; +} +#endif +static PyObject *__Pyx__ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if PY_MAJOR_VERSION < 3 + PyObject *module, *from_list, *star = __pyx_n_s__5; + CYTHON_UNUSED_VAR(parts_tuple); + from_list = PyList_New(1); + if (unlikely(!from_list)) + return NULL; + Py_INCREF(star); + PyList_SET_ITEM(from_list, 0, star); + module = __Pyx_Import(name, from_list, 0); + Py_DECREF(from_list); + return module; +#else + PyObject *imported_module; + PyObject *module = __Pyx_Import(name, NULL, 0); + if (!parts_tuple || unlikely(!module)) + return module; + imported_module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(imported_module)) { + Py_DECREF(module); + return imported_module; + } + PyErr_Clear(); + return __Pyx_ImportDottedModule_WalkParts(module, name, parts_tuple); +#endif +} +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030400B1 + PyObject *module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(module)) { + PyObject *spec = __Pyx_PyObject_GetAttrStrNoError(module, __pyx_n_s_spec); + if (likely(spec)) { + PyObject *unsafe = __Pyx_PyObject_GetAttrStrNoError(spec, __pyx_n_s_initializing); + if (likely(!unsafe || !__Pyx_PyObject_IsTrue(unsafe))) { + Py_DECREF(spec); + spec = NULL; + } + Py_XDECREF(unsafe); + } + if (likely(!spec)) { + PyErr_Clear(); + return module; + } + Py_DECREF(spec); + Py_DECREF(module); + } else if (PyErr_Occurred()) { + PyErr_Clear(); + } +#endif + return __Pyx__ImportDottedModule(name, parts_tuple); +} + +/* FastTypeChecks */ +#if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = __Pyx_PyType_GetSlot(a, tp_base, PyTypeObject*); + if (a == b) + return 1; + } + return b == &PyBaseObject_Type; +} +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(a, b); +} +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (cls == a || cls == b) return 1; + mro = cls->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + PyObject *base = PyTuple_GET_ITEM(mro, i); + if (base == (PyObject *)a || base == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(cls, a) || __Pyx_InBases(cls, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + } + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + if (exc_type1) { + return __Pyx_IsAnySubtype2((PyTypeObject*)err, (PyTypeObject*)exc_type1, (PyTypeObject*)exc_type2); + } else { + return __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } +} +#endif +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; itp_as_sequence && type->tp_as_sequence->sq_repeat)) { + return type->tp_as_sequence->sq_repeat(seq, mul); + } else +#endif + { + return __Pyx_PySequence_Multiply_Generic(seq, mul); + } +} + +/* SetItemInt */ +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v) { + int r; + if (unlikely(!j)) return -1; + r = PyObject_SetItem(o, j, v); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, int is_list, + CYTHON_NCP_UNUSED int wraparound, CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = (!wraparound) ? i : ((likely(i >= 0)) ? i : i + PyList_GET_SIZE(o)); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o)))) { + PyObject* old = PyList_GET_ITEM(o, n); + Py_INCREF(v); + PyList_SET_ITEM(o, n, v); + Py_DECREF(old); + return 1; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_ass_subscript) { + int r; + PyObject *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return -1; + r = mm->mp_ass_subscript(o, key, v); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_ass_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return -1; + PyErr_Clear(); + } + } + return sm->sq_ass_item(o, i, v); + } + } +#else + if (is_list || !PyMapping_Check(o)) + { + return PySequence_SetItem(o, i, v); + } +#endif + return __Pyx_SetItemInt_Generic(o, PyInt_FromSsize_t(i), v); +} + +/* RaiseUnboundLocalError */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname) { + PyErr_Format(PyExc_UnboundLocalError, "local variable '%s' referenced before assignment", varname); +} + +/* DivInt[long] */ +static CYTHON_INLINE long __Pyx_div_long(long a, long b) { + long q = a / b; + long r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* PyObjectCall2Args */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2) { + PyObject *args[3] = {NULL, arg1, arg2}; + return __Pyx_PyObject_FastCall(function, args+1, 2 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* PyObjectGetMethod */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method) { + PyObject *attr; +#if CYTHON_UNPACK_METHODS && CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_PYTYPE_LOOKUP + __Pyx_TypeName type_name; + PyTypeObject *tp = Py_TYPE(obj); + PyObject *descr; + descrgetfunc f = NULL; + PyObject **dictptr, *dict; + int meth_found = 0; + assert (*method == NULL); + if (unlikely(tp->tp_getattro != PyObject_GenericGetAttr)) { + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; + } + if (unlikely(tp->tp_dict == NULL) && unlikely(PyType_Ready(tp) < 0)) { + return 0; + } + descr = _PyType_Lookup(tp, name); + if (likely(descr != NULL)) { + Py_INCREF(descr); +#if defined(Py_TPFLAGS_METHOD_DESCRIPTOR) && Py_TPFLAGS_METHOD_DESCRIPTOR + if (__Pyx_PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_METHOD_DESCRIPTOR)) +#elif PY_MAJOR_VERSION >= 3 + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type))) + #endif +#else + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr))) + #endif +#endif + { + meth_found = 1; + } else { + f = Py_TYPE(descr)->tp_descr_get; + if (f != NULL && PyDescr_IsData(descr)) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + } + } + dictptr = _PyObject_GetDictPtr(obj); + if (dictptr != NULL && (dict = *dictptr) != NULL) { + Py_INCREF(dict); + attr = __Pyx_PyDict_GetItemStr(dict, name); + if (attr != NULL) { + Py_INCREF(attr); + Py_DECREF(dict); + Py_XDECREF(descr); + goto try_unpack; + } + Py_DECREF(dict); + } + if (meth_found) { + *method = descr; + return 1; + } + if (f != NULL) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + if (likely(descr != NULL)) { + *method = descr; + return 0; + } + type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return 0; +#else + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; +#endif +try_unpack: +#if CYTHON_UNPACK_METHODS + if (likely(attr) && PyMethod_Check(attr) && likely(PyMethod_GET_SELF(attr) == obj)) { + PyObject *function = PyMethod_GET_FUNCTION(attr); + Py_INCREF(function); + Py_DECREF(attr); + *method = function; + return 1; + } +#endif + *method = attr; + return 0; +} + +/* PyObjectCallMethod1 */ +#if !(CYTHON_VECTORCALL && __PYX_LIMITED_VERSION_HEX >= 0x030C00A2) +static PyObject* __Pyx__PyObject_CallMethod1(PyObject* method, PyObject* arg) { + PyObject *result = __Pyx_PyObject_CallOneArg(method, arg); + Py_DECREF(method); + return result; +} +#endif +static PyObject* __Pyx_PyObject_CallMethod1(PyObject* obj, PyObject* method_name, PyObject* arg) { +#if CYTHON_VECTORCALL && __PYX_LIMITED_VERSION_HEX >= 0x030C00A2 + PyObject *args[2] = {obj, arg}; + (void) __Pyx_PyObject_GetMethod; + (void) __Pyx_PyObject_CallOneArg; + (void) __Pyx_PyObject_Call2Args; + return PyObject_VectorcallMethod(method_name, args, 2 | PY_VECTORCALL_ARGUMENTS_OFFSET, NULL); +#else + PyObject *method = NULL, *result; + int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); + if (likely(is_method)) { + result = __Pyx_PyObject_Call2Args(method, obj, arg); + Py_DECREF(method); + return result; + } + if (unlikely(!method)) return NULL; + return __Pyx__PyObject_CallMethod1(method, arg); +#endif +} + +/* StringJoin */ +static CYTHON_INLINE PyObject* __Pyx_PyBytes_Join(PyObject* sep, PyObject* values) { + (void) __Pyx_PyObject_CallMethod1; +#if CYTHON_COMPILING_IN_CPYTHON && PY_MAJOR_VERSION < 3 + return _PyString_Join(sep, values); +#elif CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030d0000 + return _PyBytes_Join(sep, values); +#else + return __Pyx_PyObject_CallMethod1(sep, __pyx_n_s_join, values); +#endif +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_size_t(size_t value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(size_t)*3+2]; + char *dpos, *end = digits + sizeof(size_t)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + size_t remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const size_t neg_one = (size_t) -1, const_zero = (size_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (size_t) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (size_t) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (size_t) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* decode_c_bytes */ +static CYTHON_INLINE PyObject* __Pyx_decode_c_bytes( + const char* cstring, Py_ssize_t length, Py_ssize_t start, Py_ssize_t stop, + const char* encoding, const char* errors, + PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)) { + if (unlikely((start < 0) | (stop < 0))) { + if (start < 0) { + start += length; + if (start < 0) + start = 0; + } + if (stop < 0) + stop += length; + } + if (stop > length) + stop = length; + if (unlikely(stop <= start)) + return __Pyx_NewRef(__pyx_empty_unicode); + length = stop - start; + cstring += start; + if (decode_func) { + return decode_func(cstring, length, errors); + } else { + return PyUnicode_Decode(cstring, length, encoding, errors); + } +} + +/* PyObjectCallNoArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { + PyObject *arg[2] = {NULL, NULL}; + return __Pyx_PyObject_FastCall(func, arg + 1, 0 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* BufferIndexError */ +static void __Pyx_RaiseBufferIndexError(int axis) { + PyErr_Format(PyExc_IndexError, + "Out of bounds on buffer access (axis %d)", axis); +} + +/* PyObject_GenericGetAttrNoDict */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { + __Pyx_TypeName type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, attr_name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(attr_name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { + PyObject *descr; + PyTypeObject *tp = Py_TYPE(obj); + if (unlikely(!PyString_Check(attr_name))) { + return PyObject_GenericGetAttr(obj, attr_name); + } + assert(!tp->tp_dictoffset); + descr = _PyType_Lookup(tp, attr_name); + if (unlikely(!descr)) { + return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); + } + Py_INCREF(descr); + #if PY_MAJOR_VERSION < 3 + if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) + #endif + { + descrgetfunc f = Py_TYPE(descr)->tp_descr_get; + if (unlikely(f)) { + PyObject *res = f(descr, obj, (PyObject *)tp); + Py_DECREF(descr); + return res; + } + } + return descr; +} +#endif + +/* PyObject_GenericGetAttr */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { + if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { + return PyObject_GenericGetAttr(obj, attr_name); + } + return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); +} +#endif + +/* FixUpExtensionType */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type) { +#if PY_VERSION_HEX > 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + CYTHON_UNUSED_VAR(spec); + CYTHON_UNUSED_VAR(type); +#else + const PyType_Slot *slot = spec->slots; + while (slot && slot->slot && slot->slot != Py_tp_members) + slot++; + if (slot && slot->slot == Py_tp_members) { + int changed = 0; +#if !(PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON) + const +#endif + PyMemberDef *memb = (PyMemberDef*) slot->pfunc; + while (memb && memb->name) { + if (memb->name[0] == '_' && memb->name[1] == '_') { +#if PY_VERSION_HEX < 0x030900b1 + if (strcmp(memb->name, "__weaklistoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_weaklistoffset = memb->offset; + changed = 1; + } + else if (strcmp(memb->name, "__dictoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_dictoffset = memb->offset; + changed = 1; + } +#if CYTHON_METH_FASTCALL + else if (strcmp(memb->name, "__vectorcalloffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); +#if PY_VERSION_HEX >= 0x030800b4 + type->tp_vectorcall_offset = memb->offset; +#else + type->tp_print = (printfunc) memb->offset; +#endif + changed = 1; + } +#endif +#else + if ((0)); +#endif +#if PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON + else if (strcmp(memb->name, "__module__") == 0) { + PyObject *descr; + assert(memb->type == T_OBJECT); + assert(memb->flags == 0 || memb->flags == READONLY); + descr = PyDescr_NewMember(type, memb); + if (unlikely(!descr)) + return -1; + if (unlikely(PyDict_SetItem(type->tp_dict, PyDescr_NAME(descr), descr) < 0)) { + Py_DECREF(descr); + return -1; + } + Py_DECREF(descr); + changed = 1; + } +#endif + } + memb++; + } + if (changed) + PyType_Modified(type); + } +#endif + return 0; +} +#endif + +/* PyObjectCallMethod0 */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name) { + PyObject *method = NULL, *result = NULL; + int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); + if (likely(is_method)) { + result = __Pyx_PyObject_CallOneArg(method, obj); + Py_DECREF(method); + return result; + } + if (unlikely(!method)) goto bad; + result = __Pyx_PyObject_CallNoArg(method); + Py_DECREF(method); +bad: + return result; +} + +/* ValidateBasesTuple */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases) { + Py_ssize_t i, n; +#if CYTHON_ASSUME_SAFE_MACROS + n = PyTuple_GET_SIZE(bases); +#else + n = PyTuple_Size(bases); + if (n < 0) return -1; +#endif + for (i = 1; i < n; i++) + { +#if CYTHON_AVOID_BORROWED_REFS + PyObject *b0 = PySequence_GetItem(bases, i); + if (!b0) return -1; +#elif CYTHON_ASSUME_SAFE_MACROS + PyObject *b0 = PyTuple_GET_ITEM(bases, i); +#else + PyObject *b0 = PyTuple_GetItem(bases, i); + if (!b0) return -1; +#endif + PyTypeObject *b; +#if PY_MAJOR_VERSION < 3 + if (PyClass_Check(b0)) + { + PyErr_Format(PyExc_TypeError, "base class '%.200s' is an old-style class", + PyString_AS_STRING(((PyClassObject*)b0)->cl_name)); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } +#endif + b = (PyTypeObject*) b0; + if (!__Pyx_PyType_HasFeature(b, Py_TPFLAGS_HEAPTYPE)) + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "base class '" __Pyx_FMT_TYPENAME "' is not a heap type", b_name); + __Pyx_DECREF_TypeName(b_name); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + if (dictoffset == 0) + { + Py_ssize_t b_dictoffset = 0; +#if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + b_dictoffset = b->tp_dictoffset; +#else + PyObject *py_b_dictoffset = PyObject_GetAttrString((PyObject*)b, "__dictoffset__"); + if (!py_b_dictoffset) goto dictoffset_return; + b_dictoffset = PyLong_AsSsize_t(py_b_dictoffset); + Py_DECREF(py_b_dictoffset); + if (b_dictoffset == -1 && PyErr_Occurred()) goto dictoffset_return; +#endif + if (b_dictoffset) { + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "extension type '%.200s' has no __dict__ slot, " + "but base type '" __Pyx_FMT_TYPENAME "' has: " + "either add 'cdef dict __dict__' to the extension type " + "or add '__slots__ = [...]' to the base type", + type_name, b_name); + __Pyx_DECREF_TypeName(b_name); + } +#if !(CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY) + dictoffset_return: +#endif +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + } +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + } + return 0; +} +#endif + +/* PyType_Ready */ +static int __Pyx_PyType_Ready(PyTypeObject *t) { +#if CYTHON_USE_TYPE_SPECS || !(CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API) || defined(PYSTON_MAJOR_VERSION) + (void)__Pyx_PyObject_CallMethod0; +#if CYTHON_USE_TYPE_SPECS + (void)__Pyx_validate_bases_tuple; +#endif + return PyType_Ready(t); +#else + int r; + PyObject *bases = __Pyx_PyType_GetSlot(t, tp_bases, PyObject*); + if (bases && unlikely(__Pyx_validate_bases_tuple(t->tp_name, t->tp_dictoffset, bases) == -1)) + return -1; +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + { + int gc_was_enabled; + #if PY_VERSION_HEX >= 0x030A00b1 + gc_was_enabled = PyGC_Disable(); + (void)__Pyx_PyObject_CallMethod0; + #else + PyObject *ret, *py_status; + PyObject *gc = NULL; + #if PY_VERSION_HEX >= 0x030700a1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM+0 >= 0x07030400) + gc = PyImport_GetModule(__pyx_kp_u_gc); + #endif + if (unlikely(!gc)) gc = PyImport_Import(__pyx_kp_u_gc); + if (unlikely(!gc)) return -1; + py_status = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_isenabled); + if (unlikely(!py_status)) { + Py_DECREF(gc); + return -1; + } + gc_was_enabled = __Pyx_PyObject_IsTrue(py_status); + Py_DECREF(py_status); + if (gc_was_enabled > 0) { + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_disable); + if (unlikely(!ret)) { + Py_DECREF(gc); + return -1; + } + Py_DECREF(ret); + } else if (unlikely(gc_was_enabled == -1)) { + Py_DECREF(gc); + return -1; + } + #endif + t->tp_flags |= Py_TPFLAGS_HEAPTYPE; +#if PY_VERSION_HEX >= 0x030A0000 + t->tp_flags |= Py_TPFLAGS_IMMUTABLETYPE; +#endif +#else + (void)__Pyx_PyObject_CallMethod0; +#endif + r = PyType_Ready(t); +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + t->tp_flags &= ~Py_TPFLAGS_HEAPTYPE; + #if PY_VERSION_HEX >= 0x030A00b1 + if (gc_was_enabled) + PyGC_Enable(); + #else + if (gc_was_enabled) { + PyObject *tp, *v, *tb; + PyErr_Fetch(&tp, &v, &tb); + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_enable); + if (likely(ret || r == -1)) { + Py_XDECREF(ret); + PyErr_Restore(tp, v, tb); + } else { + Py_XDECREF(tp); + Py_XDECREF(v); + Py_XDECREF(tb); + r = -1; + } + } + Py_DECREF(gc); + #endif + } +#endif + return r; +#endif +} + +/* SetVTable */ +static int __Pyx_SetVtable(PyTypeObject *type, void *vtable) { + PyObject *ob = PyCapsule_New(vtable, 0, 0); + if (unlikely(!ob)) + goto bad; +#if CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(PyObject_SetAttr((PyObject *) type, __pyx_n_s_pyx_vtable, ob) < 0)) +#else + if (unlikely(PyDict_SetItem(type->tp_dict, __pyx_n_s_pyx_vtable, ob) < 0)) +#endif + goto bad; + Py_DECREF(ob); + return 0; +bad: + Py_XDECREF(ob); + return -1; +} + +/* GetVTable */ +static void* __Pyx_GetVtable(PyTypeObject *type) { + void* ptr; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *ob = PyObject_GetAttr((PyObject *)type, __pyx_n_s_pyx_vtable); +#else + PyObject *ob = PyObject_GetItem(type->tp_dict, __pyx_n_s_pyx_vtable); +#endif + if (!ob) + goto bad; + ptr = PyCapsule_GetPointer(ob, 0); + if (!ptr && !PyErr_Occurred()) + PyErr_SetString(PyExc_RuntimeError, "invalid vtable found for imported type"); + Py_DECREF(ob); + return ptr; +bad: + Py_XDECREF(ob); + return NULL; +} + +/* MergeVTables */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type) { + int i; + void** base_vtables; + __Pyx_TypeName tp_base_name; + __Pyx_TypeName base_name; + void* unknown = (void*)-1; + PyObject* bases = type->tp_bases; + int base_depth = 0; + { + PyTypeObject* base = type->tp_base; + while (base) { + base_depth += 1; + base = base->tp_base; + } + } + base_vtables = (void**) malloc(sizeof(void*) * (size_t)(base_depth + 1)); + base_vtables[0] = unknown; + for (i = 1; i < PyTuple_GET_SIZE(bases); i++) { + void* base_vtable = __Pyx_GetVtable(((PyTypeObject*)PyTuple_GET_ITEM(bases, i))); + if (base_vtable != NULL) { + int j; + PyTypeObject* base = type->tp_base; + for (j = 0; j < base_depth; j++) { + if (base_vtables[j] == unknown) { + base_vtables[j] = __Pyx_GetVtable(base); + base_vtables[j + 1] = unknown; + } + if (base_vtables[j] == base_vtable) { + break; + } else if (base_vtables[j] == NULL) { + goto bad; + } + base = base->tp_base; + } + } + } + PyErr_Clear(); + free(base_vtables); + return 0; +bad: + tp_base_name = __Pyx_PyType_GetName(type->tp_base); + base_name = __Pyx_PyType_GetName((PyTypeObject*)PyTuple_GET_ITEM(bases, i)); + PyErr_Format(PyExc_TypeError, + "multiple bases have vtable conflict: '" __Pyx_FMT_TYPENAME "' and '" __Pyx_FMT_TYPENAME "'", tp_base_name, base_name); + __Pyx_DECREF_TypeName(tp_base_name); + __Pyx_DECREF_TypeName(base_name); + free(base_vtables); + return -1; +} +#endif + +/* SetupReduce */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { + int ret; + PyObject *name_attr; + name_attr = __Pyx_PyObject_GetAttrStrNoError(meth, __pyx_n_s_name_2); + if (likely(name_attr)) { + ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); + } else { + ret = -1; + } + if (unlikely(ret < 0)) { + PyErr_Clear(); + ret = 0; + } + Py_XDECREF(name_attr); + return ret; +} +static int __Pyx_setup_reduce(PyObject* type_obj) { + int ret = 0; + PyObject *object_reduce = NULL; + PyObject *object_getstate = NULL; + PyObject *object_reduce_ex = NULL; + PyObject *reduce = NULL; + PyObject *reduce_ex = NULL; + PyObject *reduce_cython = NULL; + PyObject *setstate = NULL; + PyObject *setstate_cython = NULL; + PyObject *getstate = NULL; +#if CYTHON_USE_PYTYPE_LOOKUP + getstate = _PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate); +#else + getstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_getstate); + if (!getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (getstate) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_getstate = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_getstate); +#else + object_getstate = __Pyx_PyObject_GetAttrStrNoError((PyObject*)&PyBaseObject_Type, __pyx_n_s_getstate); + if (!object_getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (object_getstate != getstate) { + goto __PYX_GOOD; + } + } +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#else + object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#endif + reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; + if (reduce_ex == object_reduce_ex) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#else + object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#endif + reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; + if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { + reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); + if (likely(reduce_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (reduce == object_reduce || PyErr_Occurred()) { + goto __PYX_BAD; + } + setstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate); + if (!setstate) PyErr_Clear(); + if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { + setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); + if (likely(setstate_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (!setstate || PyErr_Occurred()) { + goto __PYX_BAD; + } + } + PyType_Modified((PyTypeObject*)type_obj); + } + } + goto __PYX_GOOD; +__PYX_BAD: + if (!PyErr_Occurred()) { + __Pyx_TypeName type_obj_name = + __Pyx_PyType_GetName((PyTypeObject*)type_obj); + PyErr_Format(PyExc_RuntimeError, + "Unable to initialize pickling for " __Pyx_FMT_TYPENAME, type_obj_name); + __Pyx_DECREF_TypeName(type_obj_name); + } + ret = -1; +__PYX_GOOD: +#if !CYTHON_USE_PYTYPE_LOOKUP + Py_XDECREF(object_reduce); + Py_XDECREF(object_reduce_ex); + Py_XDECREF(object_getstate); + Py_XDECREF(getstate); +#endif + Py_XDECREF(reduce); + Py_XDECREF(reduce_ex); + Py_XDECREF(reduce_cython); + Py_XDECREF(setstate); + Py_XDECREF(setstate_cython); + return ret; +} +#endif + +/* TypeImport */ +#ifndef __PYX_HAVE_RT_ImportType_3_0_8 +#define __PYX_HAVE_RT_ImportType_3_0_8 +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject *module, const char *module_name, const char *class_name, + size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size) +{ + PyObject *result = 0; + char warning[200]; + Py_ssize_t basicsize; + Py_ssize_t itemsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + PyObject *py_itemsize; +#endif + result = PyObject_GetAttrString(module, class_name); + if (!result) + goto bad; + if (!PyType_Check(result)) { + PyErr_Format(PyExc_TypeError, + "%.200s.%.200s is not a type object", + module_name, class_name); + goto bad; + } +#if !CYTHON_COMPILING_IN_LIMITED_API + basicsize = ((PyTypeObject *)result)->tp_basicsize; + itemsize = ((PyTypeObject *)result)->tp_itemsize; +#else + py_basicsize = PyObject_GetAttrString(result, "__basicsize__"); + if (!py_basicsize) + goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (basicsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; + py_itemsize = PyObject_GetAttrString(result, "__itemsize__"); + if (!py_itemsize) + goto bad; + itemsize = PyLong_AsSsize_t(py_itemsize); + Py_DECREF(py_itemsize); + py_itemsize = 0; + if (itemsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; +#endif + if (itemsize) { + if (size % alignment) { + alignment = size % alignment; + } + if (itemsize < (Py_ssize_t)alignment) + itemsize = (Py_ssize_t)alignment; + } + if ((size_t)(basicsize + itemsize) < size) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize+itemsize); + goto bad; + } + if (check_size == __Pyx_ImportType_CheckSize_Error_3_0_8 && + ((size_t)basicsize > size || (size_t)(basicsize + itemsize) < size)) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd-%zd from PyObject", + module_name, class_name, size, basicsize, basicsize+itemsize); + goto bad; + } + else if (check_size == __Pyx_ImportType_CheckSize_Warn_3_0_8 && (size_t)basicsize > size) { + PyOS_snprintf(warning, sizeof(warning), + "%s.%s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize); + if (PyErr_WarnEx(NULL, warning, 0) < 0) goto bad; + } + return (PyTypeObject *)result; +bad: + Py_XDECREF(result); + return NULL; +} +#endif + +/* FetchSharedCythonModule */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void) { + return __Pyx_PyImport_AddModuleRef((char*) __PYX_ABI_MODULE_NAME); +} + +/* FetchCommonType */ +static int __Pyx_VerifyCachedType(PyObject *cached_type, + const char *name, + Py_ssize_t basicsize, + Py_ssize_t expected_basicsize) { + if (!PyType_Check(cached_type)) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s is not a type object", name); + return -1; + } + if (basicsize != expected_basicsize) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s has the wrong size, try recompiling", + name); + return -1; + } + return 0; +} +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) { + PyObject* abi_module; + const char* object_name; + PyTypeObject *cached_type = NULL; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + object_name = strrchr(type->tp_name, '.'); + object_name = object_name ? object_name+1 : type->tp_name; + cached_type = (PyTypeObject*) PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + if (__Pyx_VerifyCachedType( + (PyObject *)cached_type, + object_name, + cached_type->tp_basicsize, + type->tp_basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + if (PyType_Ready(type) < 0) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, (PyObject *)type) < 0) + goto bad; + Py_INCREF(type); + cached_type = type; +done: + Py_DECREF(abi_module); + return cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#else +static PyTypeObject *__Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases) { + PyObject *abi_module, *cached_type = NULL; + const char* object_name = strrchr(spec->name, '.'); + object_name = object_name ? object_name+1 : spec->name; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + cached_type = PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + Py_ssize_t basicsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + py_basicsize = PyObject_GetAttrString(cached_type, "__basicsize__"); + if (unlikely(!py_basicsize)) goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (unlikely(basicsize == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; +#else + basicsize = likely(PyType_Check(cached_type)) ? ((PyTypeObject*) cached_type)->tp_basicsize : -1; +#endif + if (__Pyx_VerifyCachedType( + cached_type, + object_name, + basicsize, + spec->basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + CYTHON_UNUSED_VAR(module); + cached_type = __Pyx_PyType_FromModuleAndSpec(abi_module, spec, bases); + if (unlikely(!cached_type)) goto bad; + if (unlikely(__Pyx_fix_up_extension_type_from_spec(spec, (PyTypeObject *) cached_type) < 0)) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, cached_type) < 0) goto bad; +done: + Py_DECREF(abi_module); + assert(cached_type == NULL || PyType_Check(cached_type)); + return (PyTypeObject *) cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#endif + +/* PyVectorcallFastCallDict */ +#if CYTHON_METH_FASTCALL +static PyObject *__Pyx_PyVectorcall_FastCallDict_kw(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + PyObject *res = NULL; + PyObject *kwnames; + PyObject **newargs; + PyObject **kwvalues; + Py_ssize_t i, pos; + size_t j; + PyObject *key, *value; + unsigned long keys_are_strings; + Py_ssize_t nkw = PyDict_GET_SIZE(kw); + newargs = (PyObject **)PyMem_Malloc((nargs + (size_t)nkw) * sizeof(args[0])); + if (unlikely(newargs == NULL)) { + PyErr_NoMemory(); + return NULL; + } + for (j = 0; j < nargs; j++) newargs[j] = args[j]; + kwnames = PyTuple_New(nkw); + if (unlikely(kwnames == NULL)) { + PyMem_Free(newargs); + return NULL; + } + kwvalues = newargs + nargs; + pos = i = 0; + keys_are_strings = Py_TPFLAGS_UNICODE_SUBCLASS; + while (PyDict_Next(kw, &pos, &key, &value)) { + keys_are_strings &= Py_TYPE(key)->tp_flags; + Py_INCREF(key); + Py_INCREF(value); + PyTuple_SET_ITEM(kwnames, i, key); + kwvalues[i] = value; + i++; + } + if (unlikely(!keys_are_strings)) { + PyErr_SetString(PyExc_TypeError, "keywords must be strings"); + goto cleanup; + } + res = vc(func, newargs, nargs, kwnames); +cleanup: + Py_DECREF(kwnames); + for (i = 0; i < nkw; i++) + Py_DECREF(kwvalues[i]); + PyMem_Free(newargs); + return res; +} +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + if (likely(kw == NULL) || PyDict_GET_SIZE(kw) == 0) { + return vc(func, args, nargs, NULL); + } + return __Pyx_PyVectorcall_FastCallDict_kw(func, vc, args, nargs, kw); +} +#endif + +/* CythonFunctionShared */ +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + if (__Pyx_CyFunction_Check(func)) { + return PyCFunction_GetFunction(((__pyx_CyFunctionObject*)func)->func) == (PyCFunction) cfunc; + } else if (PyCFunction_Check(func)) { + return PyCFunction_GetFunction(func) == (PyCFunction) cfunc; + } + return 0; +} +#else +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + return __Pyx_CyOrPyCFunction_Check(func) && __Pyx_CyOrPyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +} +#endif +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj) { +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + __Pyx_Py_XDECREF_SET( + __Pyx_CyFunction_GetClassObj(f), + ((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#else + __Pyx_Py_XDECREF_SET( + ((PyCMethodObject *) (f))->mm_class, + (PyTypeObject*)((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#endif +} +static PyObject * +__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, void *closure) +{ + CYTHON_UNUSED_VAR(closure); + if (unlikely(op->func_doc == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_doc = PyObject_GetAttrString(op->func, "__doc__"); + if (unlikely(!op->func_doc)) return NULL; +#else + if (((PyCFunctionObject*)op)->m_ml->ml_doc) { +#if PY_MAJOR_VERSION >= 3 + op->func_doc = PyUnicode_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#else + op->func_doc = PyString_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#endif + if (unlikely(op->func_doc == NULL)) + return NULL; + } else { + Py_INCREF(Py_None); + return Py_None; + } +#endif + } + Py_INCREF(op->func_doc); + return op->func_doc; +} +static int +__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (value == NULL) { + value = Py_None; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_doc, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_name == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_name = PyObject_GetAttrString(op->func, "__name__"); +#elif PY_MAJOR_VERSION >= 3 + op->func_name = PyUnicode_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#else + op->func_name = PyString_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#endif + if (unlikely(op->func_name == NULL)) + return NULL; + } + Py_INCREF(op->func_name); + return op->func_name; +} +static int +__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__name__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_name, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_qualname); + return op->func_qualname; +} +static int +__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__qualname__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_qualname, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_dict(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_dict == NULL)) { + op->func_dict = PyDict_New(); + if (unlikely(op->func_dict == NULL)) + return NULL; + } + Py_INCREF(op->func_dict); + return op->func_dict; +} +static int +__Pyx_CyFunction_set_dict(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(value == NULL)) { + PyErr_SetString(PyExc_TypeError, + "function's dictionary may not be deleted"); + return -1; + } + if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "setting function's dictionary to a non-dict"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_dict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_globals(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_globals); + return op->func_globals; +} +static PyObject * +__Pyx_CyFunction_get_closure(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(op); + CYTHON_UNUSED_VAR(context); + Py_INCREF(Py_None); + return Py_None; +} +static PyObject * +__Pyx_CyFunction_get_code(__pyx_CyFunctionObject *op, void *context) +{ + PyObject* result = (op->func_code) ? op->func_code : Py_None; + CYTHON_UNUSED_VAR(context); + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_init_defaults(__pyx_CyFunctionObject *op) { + int result = 0; + PyObject *res = op->defaults_getter((PyObject *) op); + if (unlikely(!res)) + return -1; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + op->defaults_tuple = PyTuple_GET_ITEM(res, 0); + Py_INCREF(op->defaults_tuple); + op->defaults_kwdict = PyTuple_GET_ITEM(res, 1); + Py_INCREF(op->defaults_kwdict); + #else + op->defaults_tuple = __Pyx_PySequence_ITEM(res, 0); + if (unlikely(!op->defaults_tuple)) result = -1; + else { + op->defaults_kwdict = __Pyx_PySequence_ITEM(res, 1); + if (unlikely(!op->defaults_kwdict)) result = -1; + } + #endif + Py_DECREF(res); + return result; +} +static int +__Pyx_CyFunction_set_defaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyTuple_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__defaults__ must be set to a tuple object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__defaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_tuple, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_defaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_tuple; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_tuple; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_kwdefaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__kwdefaults__ must be set to a dict object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__kwdefaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_kwdict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_kwdefaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_kwdict; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_kwdict; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_annotations(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value || value == Py_None) { + value = NULL; + } else if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__annotations__ must be set to a dict object"); + return -1; + } + Py_XINCREF(value); + __Pyx_Py_XDECREF_SET(op->func_annotations, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_annotations(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->func_annotations; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + result = PyDict_New(); + if (unlikely(!result)) return NULL; + op->func_annotations = result; + } + Py_INCREF(result); + return result; +} +static PyObject * +__Pyx_CyFunction_get_is_coroutine(__pyx_CyFunctionObject *op, void *context) { + int is_coroutine; + CYTHON_UNUSED_VAR(context); + if (op->func_is_coroutine) { + return __Pyx_NewRef(op->func_is_coroutine); + } + is_coroutine = op->flags & __Pyx_CYFUNCTION_COROUTINE; +#if PY_VERSION_HEX >= 0x03050000 + if (is_coroutine) { + PyObject *module, *fromlist, *marker = __pyx_n_s_is_coroutine; + fromlist = PyList_New(1); + if (unlikely(!fromlist)) return NULL; + Py_INCREF(marker); +#if CYTHON_ASSUME_SAFE_MACROS + PyList_SET_ITEM(fromlist, 0, marker); +#else + if (unlikely(PyList_SetItem(fromlist, 0, marker) < 0)) { + Py_DECREF(marker); + Py_DECREF(fromlist); + return NULL; + } +#endif + module = PyImport_ImportModuleLevelObject(__pyx_n_s_asyncio_coroutines, NULL, NULL, fromlist, 0); + Py_DECREF(fromlist); + if (unlikely(!module)) goto ignore; + op->func_is_coroutine = __Pyx_PyObject_GetAttrStr(module, marker); + Py_DECREF(module); + if (likely(op->func_is_coroutine)) { + return __Pyx_NewRef(op->func_is_coroutine); + } +ignore: + PyErr_Clear(); + } +#endif + op->func_is_coroutine = __Pyx_PyBool_FromLong(is_coroutine); + return __Pyx_NewRef(op->func_is_coroutine); +} +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject * +__Pyx_CyFunction_get_module(__pyx_CyFunctionObject *op, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_GetAttrString(op->func, "__module__"); +} +static int +__Pyx_CyFunction_set_module(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_SetAttrString(op->func, "__module__", value); +} +#endif +static PyGetSetDef __pyx_CyFunction_getsets[] = { + {(char *) "func_doc", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "__doc__", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "func_name", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__name__", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__qualname__", (getter)__Pyx_CyFunction_get_qualname, (setter)__Pyx_CyFunction_set_qualname, 0, 0}, + {(char *) "func_dict", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "__dict__", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "func_globals", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "__globals__", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "func_closure", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "__closure__", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "func_code", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "__code__", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "func_defaults", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__defaults__", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__kwdefaults__", (getter)__Pyx_CyFunction_get_kwdefaults, (setter)__Pyx_CyFunction_set_kwdefaults, 0, 0}, + {(char *) "__annotations__", (getter)__Pyx_CyFunction_get_annotations, (setter)__Pyx_CyFunction_set_annotations, 0, 0}, + {(char *) "_is_coroutine", (getter)__Pyx_CyFunction_get_is_coroutine, 0, 0, 0}, +#if CYTHON_COMPILING_IN_LIMITED_API + {"__module__", (getter)__Pyx_CyFunction_get_module, (setter)__Pyx_CyFunction_set_module, 0, 0}, +#endif + {0, 0, 0, 0, 0} +}; +static PyMemberDef __pyx_CyFunction_members[] = { +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__module__", T_OBJECT, offsetof(PyCFunctionObject, m_module), 0, 0}, +#endif +#if CYTHON_USE_TYPE_SPECS + {(char *) "__dictoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_dict), READONLY, 0}, +#if CYTHON_METH_FASTCALL +#if CYTHON_BACKPORT_VECTORCALL + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_vectorcall), READONLY, 0}, +#else +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(PyCFunctionObject, vectorcall), READONLY, 0}, +#endif +#endif +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_weakreflist), READONLY, 0}, +#else + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(PyCFunctionObject, m_weakreflist), READONLY, 0}, +#endif +#endif + {0, 0, 0, 0, 0} +}; +static PyObject * +__Pyx_CyFunction_reduce(__pyx_CyFunctionObject *m, PyObject *args) +{ + CYTHON_UNUSED_VAR(args); +#if PY_MAJOR_VERSION >= 3 + Py_INCREF(m->func_qualname); + return m->func_qualname; +#else + return PyString_FromString(((PyCFunctionObject*)m)->m_ml->ml_name); +#endif +} +static PyMethodDef __pyx_CyFunction_methods[] = { + {"__reduce__", (PyCFunction)__Pyx_CyFunction_reduce, METH_VARARGS, 0}, + {0, 0, 0, 0} +}; +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func_weakreflist) +#else +#define __Pyx_CyFunction_weakreflist(cyfunc) (((PyCFunctionObject*)cyfunc)->m_weakreflist) +#endif +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject *op, PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { +#if !CYTHON_COMPILING_IN_LIMITED_API + PyCFunctionObject *cf = (PyCFunctionObject*) op; +#endif + if (unlikely(op == NULL)) + return NULL; +#if CYTHON_COMPILING_IN_LIMITED_API + op->func = PyCFunction_NewEx(ml, (PyObject*)op, module); + if (unlikely(!op->func)) return NULL; +#endif + op->flags = flags; + __Pyx_CyFunction_weakreflist(op) = NULL; +#if !CYTHON_COMPILING_IN_LIMITED_API + cf->m_ml = ml; + cf->m_self = (PyObject *) op; +#endif + Py_XINCREF(closure); + op->func_closure = closure; +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_XINCREF(module); + cf->m_module = module; +#endif + op->func_dict = NULL; + op->func_name = NULL; + Py_INCREF(qualname); + op->func_qualname = qualname; + op->func_doc = NULL; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + op->func_classobj = NULL; +#else + ((PyCMethodObject*)op)->mm_class = NULL; +#endif + op->func_globals = globals; + Py_INCREF(op->func_globals); + Py_XINCREF(code); + op->func_code = code; + op->defaults_pyobjects = 0; + op->defaults_size = 0; + op->defaults = NULL; + op->defaults_tuple = NULL; + op->defaults_kwdict = NULL; + op->defaults_getter = NULL; + op->func_annotations = NULL; + op->func_is_coroutine = NULL; +#if CYTHON_METH_FASTCALL + switch (ml->ml_flags & (METH_VARARGS | METH_FASTCALL | METH_NOARGS | METH_O | METH_KEYWORDS | METH_METHOD)) { + case METH_NOARGS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_NOARGS; + break; + case METH_O: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_O; + break; + case METH_METHOD | METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD; + break; + case METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS; + break; + case METH_VARARGS | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = NULL; + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + Py_DECREF(op); + return NULL; + } +#endif + return (PyObject *) op; +} +static int +__Pyx_CyFunction_clear(__pyx_CyFunctionObject *m) +{ + Py_CLEAR(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_CLEAR(m->func); +#else + Py_CLEAR(((PyCFunctionObject*)m)->m_module); +#endif + Py_CLEAR(m->func_dict); + Py_CLEAR(m->func_name); + Py_CLEAR(m->func_qualname); + Py_CLEAR(m->func_doc); + Py_CLEAR(m->func_globals); + Py_CLEAR(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API +#if PY_VERSION_HEX < 0x030900B1 + Py_CLEAR(__Pyx_CyFunction_GetClassObj(m)); +#else + { + PyObject *cls = (PyObject*) ((PyCMethodObject *) (m))->mm_class; + ((PyCMethodObject *) (m))->mm_class = NULL; + Py_XDECREF(cls); + } +#endif +#endif + Py_CLEAR(m->defaults_tuple); + Py_CLEAR(m->defaults_kwdict); + Py_CLEAR(m->func_annotations); + Py_CLEAR(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_XDECREF(pydefaults[i]); + PyObject_Free(m->defaults); + m->defaults = NULL; + } + return 0; +} +static void __Pyx__CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + if (__Pyx_CyFunction_weakreflist(m) != NULL) + PyObject_ClearWeakRefs((PyObject *) m); + __Pyx_CyFunction_clear(m); + __Pyx_PyHeapTypeObject_GC_Del(m); +} +static void __Pyx_CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + PyObject_GC_UnTrack(m); + __Pyx__CyFunction_dealloc(m); +} +static int __Pyx_CyFunction_traverse(__pyx_CyFunctionObject *m, visitproc visit, void *arg) +{ + Py_VISIT(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(m->func); +#else + Py_VISIT(((PyCFunctionObject*)m)->m_module); +#endif + Py_VISIT(m->func_dict); + Py_VISIT(m->func_name); + Py_VISIT(m->func_qualname); + Py_VISIT(m->func_doc); + Py_VISIT(m->func_globals); + Py_VISIT(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(__Pyx_CyFunction_GetClassObj(m)); +#endif + Py_VISIT(m->defaults_tuple); + Py_VISIT(m->defaults_kwdict); + Py_VISIT(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_VISIT(pydefaults[i]); + } + return 0; +} +static PyObject* +__Pyx_CyFunction_repr(__pyx_CyFunctionObject *op) +{ +#if PY_MAJOR_VERSION >= 3 + return PyUnicode_FromFormat("", + op->func_qualname, (void *)op); +#else + return PyString_FromFormat("", + PyString_AsString(op->func_qualname), (void *)op); +#endif +} +static PyObject * __Pyx_CyFunction_CallMethod(PyObject *func, PyObject *self, PyObject *arg, PyObject *kw) { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *f = ((__pyx_CyFunctionObject*)func)->func; + PyObject *py_name = NULL; + PyCFunction meth; + int flags; + meth = PyCFunction_GetFunction(f); + if (unlikely(!meth)) return NULL; + flags = PyCFunction_GetFlags(f); + if (unlikely(flags < 0)) return NULL; +#else + PyCFunctionObject* f = (PyCFunctionObject*)func; + PyCFunction meth = f->m_ml->ml_meth; + int flags = f->m_ml->ml_flags; +#endif + Py_ssize_t size; + switch (flags & (METH_VARARGS | METH_KEYWORDS | METH_NOARGS | METH_O)) { + case METH_VARARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) + return (*meth)(self, arg); + break; + case METH_VARARGS | METH_KEYWORDS: + return (*(PyCFunctionWithKeywords)(void*)meth)(self, arg, kw); + case METH_NOARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 0)) + return (*meth)(self, NULL); +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + case METH_O: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 1)) { + PyObject *result, *arg0; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + arg0 = PyTuple_GET_ITEM(arg, 0); + #else + arg0 = __Pyx_PySequence_ITEM(arg, 0); if (unlikely(!arg0)) return NULL; + #endif + result = (*meth)(self, arg0); + #if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(arg0); + #endif + return result; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + return NULL; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, "%.200S() takes no keyword arguments", + py_name); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, "%.200s() takes no keyword arguments", + f->m_ml->ml_name); +#endif + return NULL; +} +static CYTHON_INLINE PyObject *__Pyx_CyFunction_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *self, *result; +#if CYTHON_COMPILING_IN_LIMITED_API + self = PyCFunction_GetSelf(((__pyx_CyFunctionObject*)func)->func); + if (unlikely(!self) && PyErr_Occurred()) return NULL; +#else + self = ((PyCFunctionObject*)func)->m_self; +#endif + result = __Pyx_CyFunction_CallMethod(func, self, arg, kw); + return result; +} +static PyObject *__Pyx_CyFunction_CallAsMethod(PyObject *func, PyObject *args, PyObject *kw) { + PyObject *result; + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *) func; +#if CYTHON_METH_FASTCALL + __pyx_vectorcallfunc vc = __Pyx_CyFunction_func_vectorcall(cyfunc); + if (vc) { +#if CYTHON_ASSUME_SAFE_MACROS + return __Pyx_PyVectorcall_FastCallDict(func, vc, &PyTuple_GET_ITEM(args, 0), (size_t)PyTuple_GET_SIZE(args), kw); +#else + (void) &__Pyx_PyVectorcall_FastCallDict; + return PyVectorcall_Call(func, args, kw); +#endif + } +#endif + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + Py_ssize_t argc; + PyObject *new_args; + PyObject *self; +#if CYTHON_ASSUME_SAFE_MACROS + argc = PyTuple_GET_SIZE(args); +#else + argc = PyTuple_Size(args); + if (unlikely(!argc) < 0) return NULL; +#endif + new_args = PyTuple_GetSlice(args, 1, argc); + if (unlikely(!new_args)) + return NULL; + self = PyTuple_GetItem(args, 0); + if (unlikely(!self)) { + Py_DECREF(new_args); +#if PY_MAJOR_VERSION > 2 + PyErr_Format(PyExc_TypeError, + "unbound method %.200S() needs an argument", + cyfunc->func_qualname); +#else + PyErr_SetString(PyExc_TypeError, + "unbound method needs an argument"); +#endif + return NULL; + } + result = __Pyx_CyFunction_CallMethod(func, self, new_args, kw); + Py_DECREF(new_args); + } else { + result = __Pyx_CyFunction_Call(func, args, kw); + } + return result; +} +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE int __Pyx_CyFunction_Vectorcall_CheckArgs(__pyx_CyFunctionObject *cyfunc, Py_ssize_t nargs, PyObject *kwnames) +{ + int ret = 0; + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + if (unlikely(nargs < 1)) { + PyErr_Format(PyExc_TypeError, "%.200s() needs an argument", + ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + ret = 1; + } + if (unlikely(kwnames) && unlikely(PyTuple_GET_SIZE(kwnames))) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no keyword arguments", ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + return ret; +} +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 0)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, NULL); +} +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 1)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, args[0]); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((_PyCFunctionFastWithKeywords)(void(*)(void))def->ml_meth)(self, args, nargs, kwnames); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; + PyTypeObject *cls = (PyTypeObject *) __Pyx_CyFunction_GetClassObj(cyfunc); +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((__Pyx_PyCMethod)(void(*)(void))def->ml_meth)(self, cls, args, (size_t)nargs, kwnames); +} +#endif +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_CyFunctionType_slots[] = { + {Py_tp_dealloc, (void *)__Pyx_CyFunction_dealloc}, + {Py_tp_repr, (void *)__Pyx_CyFunction_repr}, + {Py_tp_call, (void *)__Pyx_CyFunction_CallAsMethod}, + {Py_tp_traverse, (void *)__Pyx_CyFunction_traverse}, + {Py_tp_clear, (void *)__Pyx_CyFunction_clear}, + {Py_tp_methods, (void *)__pyx_CyFunction_methods}, + {Py_tp_members, (void *)__pyx_CyFunction_members}, + {Py_tp_getset, (void *)__pyx_CyFunction_getsets}, + {Py_tp_descr_get, (void *)__Pyx_PyMethod_New}, + {0, 0}, +}; +static PyType_Spec __pyx_CyFunctionType_spec = { + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if (defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL) + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + __pyx_CyFunctionType_slots +}; +#else +static PyTypeObject __pyx_CyFunctionType_type = { + PyVarObject_HEAD_INIT(0, 0) + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, + (destructor) __Pyx_CyFunction_dealloc, +#if !CYTHON_METH_FASTCALL + 0, +#elif CYTHON_BACKPORT_VECTORCALL + (printfunc)offsetof(__pyx_CyFunctionObject, func_vectorcall), +#else + offsetof(PyCFunctionObject, vectorcall), +#endif + 0, + 0, +#if PY_MAJOR_VERSION < 3 + 0, +#else + 0, +#endif + (reprfunc) __Pyx_CyFunction_repr, + 0, + 0, + 0, + 0, + __Pyx_CyFunction_CallAsMethod, + 0, + 0, + 0, + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + 0, + (traverseproc) __Pyx_CyFunction_traverse, + (inquiry) __Pyx_CyFunction_clear, + 0, +#if PY_VERSION_HEX < 0x030500A0 + offsetof(__pyx_CyFunctionObject, func_weakreflist), +#else + offsetof(PyCFunctionObject, m_weakreflist), +#endif + 0, + 0, + __pyx_CyFunction_methods, + __pyx_CyFunction_members, + __pyx_CyFunction_getsets, + 0, + 0, + __Pyx_PyMethod_New, + 0, + offsetof(__pyx_CyFunctionObject, func_dict), + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, +#if PY_VERSION_HEX >= 0x030400a1 + 0, +#endif +#if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, +#endif +#if __PYX_NEED_TP_PRINT_SLOT + 0, +#endif +#if PY_VERSION_HEX >= 0x030C0000 + 0, +#endif +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, +#endif +}; +#endif +static int __pyx_CyFunction_init(PyObject *module) { +#if CYTHON_USE_TYPE_SPECS + __pyx_CyFunctionType = __Pyx_FetchCommonTypeFromSpec(module, &__pyx_CyFunctionType_spec, NULL); +#else + CYTHON_UNUSED_VAR(module); + __pyx_CyFunctionType = __Pyx_FetchCommonType(&__pyx_CyFunctionType_type); +#endif + if (unlikely(__pyx_CyFunctionType == NULL)) { + return -1; + } + return 0; +} +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *func, size_t size, int pyobjects) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults = PyObject_Malloc(size); + if (unlikely(!m->defaults)) + return PyErr_NoMemory(); + memset(m->defaults, 0, size); + m->defaults_pyobjects = pyobjects; + m->defaults_size = size; + return m->defaults; +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *func, PyObject *tuple) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_tuple = tuple; + Py_INCREF(tuple); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_kwdict = dict; + Py_INCREF(dict); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->func_annotations = dict; + Py_INCREF(dict); +} + +/* CythonFunction */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { + PyObject *op = __Pyx_CyFunction_Init( + PyObject_GC_New(__pyx_CyFunctionObject, __pyx_CyFunctionType), + ml, flags, qualname, closure, module, globals, code + ); + if (likely(op)) { + PyObject_GC_Track(op); + } + return op; +} + +/* Py3UpdateBases */ +static PyObject* +__Pyx_PEP560_update_bases(PyObject *bases) +{ + Py_ssize_t i, j, size_bases; + PyObject *base, *meth, *new_base, *result, *new_bases = NULL; + size_bases = PyTuple_GET_SIZE(bases); + for (i = 0; i < size_bases; i++) { + base = PyTuple_GET_ITEM(bases, i); + if (PyType_Check(base)) { + if (new_bases) { + if (PyList_Append(new_bases, base) < 0) { + goto error; + } + } + continue; + } + meth = __Pyx_PyObject_GetAttrStrNoError(base, __pyx_n_s_mro_entries); + if (!meth && PyErr_Occurred()) { + goto error; + } + if (!meth) { + if (new_bases) { + if (PyList_Append(new_bases, base) < 0) { + goto error; + } + } + continue; + } + new_base = __Pyx_PyObject_CallOneArg(meth, bases); + Py_DECREF(meth); + if (!new_base) { + goto error; + } + if (!PyTuple_Check(new_base)) { + PyErr_SetString(PyExc_TypeError, + "__mro_entries__ must return a tuple"); + Py_DECREF(new_base); + goto error; + } + if (!new_bases) { + if (!(new_bases = PyList_New(i))) { + goto error; + } + for (j = 0; j < i; j++) { + base = PyTuple_GET_ITEM(bases, j); + PyList_SET_ITEM(new_bases, j, base); + Py_INCREF(base); + } + } + j = PyList_GET_SIZE(new_bases); + if (PyList_SetSlice(new_bases, j, j, new_base) < 0) { + goto error; + } + Py_DECREF(new_base); + } + if (!new_bases) { + Py_INCREF(bases); + return bases; + } + result = PyList_AsTuple(new_bases); + Py_DECREF(new_bases); + return result; +error: + Py_XDECREF(new_bases); + return NULL; +} + +/* SetNewInClass */ +static int __Pyx_SetNewInClass(PyObject *ns, PyObject *name, PyObject *value) { +#ifdef __Pyx_CyFunction_USED + int ret; + if (__Pyx_CyFunction_Check(value)) { + PyObject *staticnew = PyStaticMethod_New(value); + if (unlikely(!staticnew)) return -1; + ret = __Pyx_SetNameInClass(ns, name, staticnew); + Py_DECREF(staticnew); + return ret; + } +#endif + return __Pyx_SetNameInClass(ns, name, value); +} + +/* CalculateMetaclass */ +static PyObject *__Pyx_CalculateMetaclass(PyTypeObject *metaclass, PyObject *bases) { + Py_ssize_t i, nbases; +#if CYTHON_ASSUME_SAFE_MACROS + nbases = PyTuple_GET_SIZE(bases); +#else + nbases = PyTuple_Size(bases); + if (nbases < 0) return NULL; +#endif + for (i=0; i < nbases; i++) { + PyTypeObject *tmptype; +#if CYTHON_ASSUME_SAFE_MACROS + PyObject *tmp = PyTuple_GET_ITEM(bases, i); +#else + PyObject *tmp = PyTuple_GetItem(bases, i); + if (!tmp) return NULL; +#endif + tmptype = Py_TYPE(tmp); +#if PY_MAJOR_VERSION < 3 + if (tmptype == &PyClass_Type) + continue; +#endif + if (!metaclass) { + metaclass = tmptype; + continue; + } + if (PyType_IsSubtype(metaclass, tmptype)) + continue; + if (PyType_IsSubtype(tmptype, metaclass)) { + metaclass = tmptype; + continue; + } + PyErr_SetString(PyExc_TypeError, + "metaclass conflict: " + "the metaclass of a derived class " + "must be a (non-strict) subclass " + "of the metaclasses of all its bases"); + return NULL; + } + if (!metaclass) { +#if PY_MAJOR_VERSION < 3 + metaclass = &PyClass_Type; +#else + metaclass = &PyType_Type; +#endif + } + Py_INCREF((PyObject*) metaclass); + return (PyObject*) metaclass; +} + +/* PyObjectLookupSpecial */ +#if CYTHON_USE_PYTYPE_LOOKUP && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx__PyObject_LookupSpecial(PyObject* obj, PyObject* attr_name, int with_error) { + PyObject *res; + PyTypeObject *tp = Py_TYPE(obj); +#if PY_MAJOR_VERSION < 3 + if (unlikely(PyInstance_Check(obj))) + return with_error ? __Pyx_PyObject_GetAttrStr(obj, attr_name) : __Pyx_PyObject_GetAttrStrNoError(obj, attr_name); +#endif + res = _PyType_Lookup(tp, attr_name); + if (likely(res)) { + descrgetfunc f = Py_TYPE(res)->tp_descr_get; + if (!f) { + Py_INCREF(res); + } else { + res = f(res, obj, (PyObject *)tp); + } + } else if (with_error) { + PyErr_SetObject(PyExc_AttributeError, attr_name); + } + return res; +} +#endif + +/* Py3ClassCreate */ +static PyObject *__Pyx_Py3MetaclassPrepare(PyObject *metaclass, PyObject *bases, PyObject *name, + PyObject *qualname, PyObject *mkw, PyObject *modname, PyObject *doc) { + PyObject *ns; + if (metaclass) { + PyObject *prep = __Pyx_PyObject_GetAttrStrNoError(metaclass, __pyx_n_s_prepare); + if (prep) { + PyObject *pargs[3] = {NULL, name, bases}; + ns = __Pyx_PyObject_FastCallDict(prep, pargs+1, 2 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET, mkw); + Py_DECREF(prep); + } else { + if (unlikely(PyErr_Occurred())) + return NULL; + ns = PyDict_New(); + } + } else { + ns = PyDict_New(); + } + if (unlikely(!ns)) + return NULL; + if (unlikely(PyObject_SetItem(ns, __pyx_n_s_module, modname) < 0)) goto bad; +#if PY_VERSION_HEX >= 0x03030000 + if (unlikely(PyObject_SetItem(ns, __pyx_n_s_qualname, qualname) < 0)) goto bad; +#else + CYTHON_MAYBE_UNUSED_VAR(qualname); +#endif + if (unlikely(doc && PyObject_SetItem(ns, __pyx_n_s_doc, doc) < 0)) goto bad; + return ns; +bad: + Py_DECREF(ns); + return NULL; +} +#if PY_VERSION_HEX < 0x030600A4 && CYTHON_PEP487_INIT_SUBCLASS +static int __Pyx_SetNamesPEP487(PyObject *type_obj) { + PyTypeObject *type = (PyTypeObject*) type_obj; + PyObject *names_to_set, *key, *value, *set_name, *tmp; + Py_ssize_t i = 0; +#if CYTHON_USE_TYPE_SLOTS + names_to_set = PyDict_Copy(type->tp_dict); +#else + { + PyObject *d = PyObject_GetAttr(type_obj, __pyx_n_s_dict); + names_to_set = NULL; + if (likely(d)) { + PyObject *names_to_set = PyDict_New(); + int ret = likely(names_to_set) ? PyDict_Update(names_to_set, d) : -1; + Py_DECREF(d); + if (unlikely(ret < 0)) + Py_CLEAR(names_to_set); + } + } +#endif + if (unlikely(names_to_set == NULL)) + goto bad; + while (PyDict_Next(names_to_set, &i, &key, &value)) { + set_name = __Pyx_PyObject_LookupSpecialNoError(value, __pyx_n_s_set_name); + if (unlikely(set_name != NULL)) { + tmp = __Pyx_PyObject_Call2Args(set_name, type_obj, key); + Py_DECREF(set_name); + if (unlikely(tmp == NULL)) { + __Pyx_TypeName value_type_name = + __Pyx_PyType_GetName(Py_TYPE(value)); + __Pyx_TypeName type_name = __Pyx_PyType_GetName(type); + PyErr_Format(PyExc_RuntimeError, +#if PY_MAJOR_VERSION >= 3 + "Error calling __set_name__ on '" __Pyx_FMT_TYPENAME "' instance %R " "in '" __Pyx_FMT_TYPENAME "'", + value_type_name, key, type_name); +#else + "Error calling __set_name__ on '" __Pyx_FMT_TYPENAME "' instance %.100s in '" __Pyx_FMT_TYPENAME "'", + value_type_name, + PyString_Check(key) ? PyString_AS_STRING(key) : "?", + type_name); +#endif + goto bad; + } else { + Py_DECREF(tmp); + } + } + else if (unlikely(PyErr_Occurred())) { + goto bad; + } + } + Py_DECREF(names_to_set); + return 0; +bad: + Py_XDECREF(names_to_set); + return -1; +} +static PyObject *__Pyx_InitSubclassPEP487(PyObject *type_obj, PyObject *mkw) { +#if CYTHON_USE_TYPE_SLOTS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + PyTypeObject *type = (PyTypeObject*) type_obj; + PyObject *mro = type->tp_mro; + Py_ssize_t i, nbases; + if (unlikely(!mro)) goto done; + (void) &__Pyx_GetBuiltinName; + Py_INCREF(mro); + nbases = PyTuple_GET_SIZE(mro); + assert(PyTuple_GET_ITEM(mro, 0) == type_obj); + for (i = 1; i < nbases-1; i++) { + PyObject *base, *dict, *meth; + base = PyTuple_GET_ITEM(mro, i); + dict = ((PyTypeObject *)base)->tp_dict; + meth = __Pyx_PyDict_GetItemStrWithError(dict, __pyx_n_s_init_subclass); + if (unlikely(meth)) { + descrgetfunc f = Py_TYPE(meth)->tp_descr_get; + PyObject *res; + Py_INCREF(meth); + if (likely(f)) { + res = f(meth, NULL, type_obj); + Py_DECREF(meth); + if (unlikely(!res)) goto bad; + meth = res; + } + res = __Pyx_PyObject_FastCallDict(meth, NULL, 0, mkw); + Py_DECREF(meth); + if (unlikely(!res)) goto bad; + Py_DECREF(res); + goto done; + } else if (unlikely(PyErr_Occurred())) { + goto bad; + } + } +done: + Py_XDECREF(mro); + return type_obj; +bad: + Py_XDECREF(mro); + Py_DECREF(type_obj); + return NULL; +#else + PyObject *super_type, *super, *func, *res; +#if CYTHON_COMPILING_IN_PYPY && !defined(PySuper_Type) + super_type = __Pyx_GetBuiltinName(__pyx_n_s_super); +#else + super_type = (PyObject*) &PySuper_Type; + (void) &__Pyx_GetBuiltinName; +#endif + super = likely(super_type) ? __Pyx_PyObject_Call2Args(super_type, type_obj, type_obj) : NULL; +#if CYTHON_COMPILING_IN_PYPY && !defined(PySuper_Type) + Py_XDECREF(super_type); +#endif + if (unlikely(!super)) { + Py_CLEAR(type_obj); + goto done; + } + func = __Pyx_PyObject_GetAttrStrNoError(super, __pyx_n_s_init_subclass); + Py_DECREF(super); + if (likely(!func)) { + if (unlikely(PyErr_Occurred())) + Py_CLEAR(type_obj); + goto done; + } + res = __Pyx_PyObject_FastCallDict(func, NULL, 0, mkw); + Py_DECREF(func); + if (unlikely(!res)) + Py_CLEAR(type_obj); + Py_XDECREF(res); +done: + return type_obj; +#endif +} +#endif +static PyObject *__Pyx_Py3ClassCreate(PyObject *metaclass, PyObject *name, PyObject *bases, + PyObject *dict, PyObject *mkw, + int calculate_metaclass, int allow_py2_metaclass) { + PyObject *result; + PyObject *owned_metaclass = NULL; + PyObject *margs[4] = {NULL, name, bases, dict}; + if (allow_py2_metaclass) { + owned_metaclass = PyObject_GetItem(dict, __pyx_n_s_metaclass); + if (owned_metaclass) { + metaclass = owned_metaclass; + } else if (likely(PyErr_ExceptionMatches(PyExc_KeyError))) { + PyErr_Clear(); + } else { + return NULL; + } + } + if (calculate_metaclass && (!metaclass || PyType_Check(metaclass))) { + metaclass = __Pyx_CalculateMetaclass((PyTypeObject*) metaclass, bases); + Py_XDECREF(owned_metaclass); + if (unlikely(!metaclass)) + return NULL; + owned_metaclass = metaclass; + } + result = __Pyx_PyObject_FastCallDict(metaclass, margs+1, 3 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET, +#if PY_VERSION_HEX < 0x030600A4 + (metaclass == (PyObject*)&PyType_Type) ? NULL : mkw +#else + mkw +#endif + ); + Py_XDECREF(owned_metaclass); +#if PY_VERSION_HEX < 0x030600A4 && CYTHON_PEP487_INIT_SUBCLASS + if (likely(result) && likely(PyType_Check(result))) { + if (unlikely(__Pyx_SetNamesPEP487(result) < 0)) { + Py_CLEAR(result); + } else { + result = __Pyx_InitSubclassPEP487(result, mkw); + } + } +#else + (void) &__Pyx_GetBuiltinName; +#endif + return result; +} + +/* Globals */ +static PyObject* __Pyx_Globals(void) { + return __Pyx_NewRef(__pyx_d); +} + +/* UnpackUnboundCMethod */ +static PyObject *__Pyx_SelflessCall(PyObject *method, PyObject *args, PyObject *kwargs) { + PyObject *result; + PyObject *selfless_args = PyTuple_GetSlice(args, 1, PyTuple_Size(args)); + if (unlikely(!selfless_args)) return NULL; + result = PyObject_Call(method, selfless_args, kwargs); + Py_DECREF(selfless_args); + return result; +} +static PyMethodDef __Pyx_UnboundCMethod_Def = { + "CythonUnboundCMethod", + __PYX_REINTERPRET_FUNCION(PyCFunction, __Pyx_SelflessCall), + METH_VARARGS | METH_KEYWORDS, + NULL +}; +static int __Pyx_TryUnpackUnboundCMethod(__Pyx_CachedCFunction* target) { + PyObject *method; + method = __Pyx_PyObject_GetAttrStr(target->type, *target->method_name); + if (unlikely(!method)) + return -1; + target->method = method; +#if CYTHON_COMPILING_IN_CPYTHON + #if PY_MAJOR_VERSION >= 3 + if (likely(__Pyx_TypeCheck(method, &PyMethodDescr_Type))) + #else + if (likely(!__Pyx_CyOrPyCFunction_Check(method))) + #endif + { + PyMethodDescrObject *descr = (PyMethodDescrObject*) method; + target->func = descr->d_method->ml_meth; + target->flag = descr->d_method->ml_flags & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_STACKLESS); + } else +#endif +#if CYTHON_COMPILING_IN_PYPY +#else + if (PyCFunction_Check(method)) +#endif + { + PyObject *self; + int self_found; +#if CYTHON_COMPILING_IN_LIMITED_API || CYTHON_COMPILING_IN_PYPY + self = PyObject_GetAttrString(method, "__self__"); + if (!self) { + PyErr_Clear(); + } +#else + self = PyCFunction_GET_SELF(method); +#endif + self_found = (self && self != Py_None); +#if CYTHON_COMPILING_IN_LIMITED_API || CYTHON_COMPILING_IN_PYPY + Py_XDECREF(self); +#endif + if (self_found) { + PyObject *unbound_method = PyCFunction_New(&__Pyx_UnboundCMethod_Def, method); + if (unlikely(!unbound_method)) return -1; + Py_DECREF(method); + target->method = unbound_method; + } + } + return 0; +} + +/* CallUnboundCMethod1 */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_CallUnboundCMethod1(__Pyx_CachedCFunction* cfunc, PyObject* self, PyObject* arg) { + if (likely(cfunc->func)) { + int flag = cfunc->flag; + if (flag == METH_O) { + return (*(cfunc->func))(self, arg); + } else if ((PY_VERSION_HEX >= 0x030600B1) && flag == METH_FASTCALL) { + #if PY_VERSION_HEX >= 0x030700A0 + return (*(__Pyx_PyCFunctionFast)(void*)(PyCFunction)cfunc->func)(self, &arg, 1); + #else + return (*(__Pyx_PyCFunctionFastWithKeywords)(void*)(PyCFunction)cfunc->func)(self, &arg, 1, NULL); + #endif + } else if ((PY_VERSION_HEX >= 0x030700A0) && flag == (METH_FASTCALL | METH_KEYWORDS)) { + return (*(__Pyx_PyCFunctionFastWithKeywords)(void*)(PyCFunction)cfunc->func)(self, &arg, 1, NULL); + } + } + return __Pyx__CallUnboundCMethod1(cfunc, self, arg); +} +#endif +static PyObject* __Pyx__CallUnboundCMethod1(__Pyx_CachedCFunction* cfunc, PyObject* self, PyObject* arg){ + PyObject *args, *result = NULL; + if (unlikely(!cfunc->func && !cfunc->method) && unlikely(__Pyx_TryUnpackUnboundCMethod(cfunc) < 0)) return NULL; +#if CYTHON_COMPILING_IN_CPYTHON + if (cfunc->func && (cfunc->flag & METH_VARARGS)) { + args = PyTuple_New(1); + if (unlikely(!args)) goto bad; + Py_INCREF(arg); + PyTuple_SET_ITEM(args, 0, arg); + if (cfunc->flag & METH_KEYWORDS) + result = (*(PyCFunctionWithKeywords)(void*)(PyCFunction)cfunc->func)(self, args, NULL); + else + result = (*cfunc->func)(self, args); + } else { + args = PyTuple_New(2); + if (unlikely(!args)) goto bad; + Py_INCREF(self); + PyTuple_SET_ITEM(args, 0, self); + Py_INCREF(arg); + PyTuple_SET_ITEM(args, 1, arg); + result = __Pyx_PyObject_Call(cfunc->method, args, NULL); + } +#else + args = PyTuple_Pack(2, self, arg); + if (unlikely(!args)) goto bad; + result = __Pyx_PyObject_Call(cfunc->method, args, NULL); +#endif +bad: + Py_XDECREF(args); + return result; +} + +/* CallUnboundCMethod2 */ +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030600B1 +static CYTHON_INLINE PyObject *__Pyx_CallUnboundCMethod2(__Pyx_CachedCFunction *cfunc, PyObject *self, PyObject *arg1, PyObject *arg2) { + if (likely(cfunc->func)) { + PyObject *args[2] = {arg1, arg2}; + if (cfunc->flag == METH_FASTCALL) { + #if PY_VERSION_HEX >= 0x030700A0 + return (*(__Pyx_PyCFunctionFast)(void*)(PyCFunction)cfunc->func)(self, args, 2); + #else + return (*(__Pyx_PyCFunctionFastWithKeywords)(void*)(PyCFunction)cfunc->func)(self, args, 2, NULL); + #endif + } + #if PY_VERSION_HEX >= 0x030700A0 + if (cfunc->flag == (METH_FASTCALL | METH_KEYWORDS)) + return (*(__Pyx_PyCFunctionFastWithKeywords)(void*)(PyCFunction)cfunc->func)(self, args, 2, NULL); + #endif + } + return __Pyx__CallUnboundCMethod2(cfunc, self, arg1, arg2); +} +#endif +static PyObject* __Pyx__CallUnboundCMethod2(__Pyx_CachedCFunction* cfunc, PyObject* self, PyObject* arg1, PyObject* arg2){ + PyObject *args, *result = NULL; + if (unlikely(!cfunc->func && !cfunc->method) && unlikely(__Pyx_TryUnpackUnboundCMethod(cfunc) < 0)) return NULL; +#if CYTHON_COMPILING_IN_CPYTHON + if (cfunc->func && (cfunc->flag & METH_VARARGS)) { + args = PyTuple_New(2); + if (unlikely(!args)) goto bad; + Py_INCREF(arg1); + PyTuple_SET_ITEM(args, 0, arg1); + Py_INCREF(arg2); + PyTuple_SET_ITEM(args, 1, arg2); + if (cfunc->flag & METH_KEYWORDS) + result = (*(PyCFunctionWithKeywords)(void*)(PyCFunction)cfunc->func)(self, args, NULL); + else + result = (*cfunc->func)(self, args); + } else { + args = PyTuple_New(3); + if (unlikely(!args)) goto bad; + Py_INCREF(self); + PyTuple_SET_ITEM(args, 0, self); + Py_INCREF(arg1); + PyTuple_SET_ITEM(args, 1, arg1); + Py_INCREF(arg2); + PyTuple_SET_ITEM(args, 2, arg2); + result = __Pyx_PyObject_Call(cfunc->method, args, NULL); + } +#else + args = PyTuple_Pack(3, self, arg1, arg2); + if (unlikely(!args)) goto bad; + result = __Pyx_PyObject_Call(cfunc->method, args, NULL); +#endif +bad: + Py_XDECREF(args); + return result; +} + +/* dict_getitem_default */ +static PyObject* __Pyx_PyDict_GetItemDefault(PyObject* d, PyObject* key, PyObject* default_value) { + PyObject* value; +#if PY_MAJOR_VERSION >= 3 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07020000) + value = PyDict_GetItemWithError(d, key); + if (unlikely(!value)) { + if (unlikely(PyErr_Occurred())) + return NULL; + value = default_value; + } + Py_INCREF(value); + if ((1)); +#else + if (PyString_CheckExact(key) || PyUnicode_CheckExact(key) || PyInt_CheckExact(key)) { + value = PyDict_GetItem(d, key); + if (unlikely(!value)) { + value = default_value; + } + Py_INCREF(value); + } +#endif + else { + if (default_value == Py_None) + value = __Pyx_CallUnboundCMethod1(&__pyx_umethod_PyDict_Type_get, d, key); + else + value = __Pyx_CallUnboundCMethod2(&__pyx_umethod_PyDict_Type_get, d, key, default_value); + } + return value; +} + +/* GetNameInClass */ +static PyObject *__Pyx__GetNameInClass(PyObject *nmspace, PyObject *name) { + PyObject *result; + PyObject *dict; + assert(PyType_Check(nmspace)); +#if CYTHON_USE_TYPE_SLOTS + dict = ((PyTypeObject*)nmspace)->tp_dict; + Py_XINCREF(dict); +#else + dict = PyObject_GetAttr(nmspace, __pyx_n_s_dict); +#endif + if (likely(dict)) { + result = PyObject_GetItem(dict, name); + Py_DECREF(dict); + if (result) { + return result; + } + } + PyErr_Clear(); + __Pyx_GetModuleGlobalNameUncached(result, name); + return result; +} + +/* CLineInTraceback */ +#ifndef CYTHON_CLINE_IN_TRACEBACK +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line) { + PyObject *use_cline; + PyObject *ptype, *pvalue, *ptraceback; +#if CYTHON_COMPILING_IN_CPYTHON + PyObject **cython_runtime_dict; +#endif + CYTHON_MAYBE_UNUSED_VAR(tstate); + if (unlikely(!__pyx_cython_runtime)) { + return c_line; + } + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); +#if CYTHON_COMPILING_IN_CPYTHON + cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); + if (likely(cython_runtime_dict)) { + __PYX_PY_DICT_LOOKUP_IF_MODIFIED( + use_cline, *cython_runtime_dict, + __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) + } else +#endif + { + PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStrNoError(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); + if (use_cline_obj) { + use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; +} +#endif + +/* CodeObjectCache */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; + } + } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } +} +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; + } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; +} +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; + } + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; + } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); +} +#endif + +/* AddTraceback */ +#include "compile.h" +#include "frameobject.h" +#include "traceback.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyCode_Replace_For_AddTraceback(PyObject *code, PyObject *scratch_dict, + PyObject *firstlineno, PyObject *name) { + PyObject *replace = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_firstlineno", firstlineno))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_name", name))) return NULL; + replace = PyObject_GetAttrString(code, "replace"); + if (likely(replace)) { + PyObject *result; + result = PyObject_Call(replace, __pyx_empty_tuple, scratch_dict); + Py_DECREF(replace); + return result; + } + PyErr_Clear(); + #if __PYX_LIMITED_VERSION_HEX < 0x030780000 + { + PyObject *compiled = NULL, *result = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "code", code))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "type", (PyObject*)(&PyType_Type)))) return NULL; + compiled = Py_CompileString( + "out = type(code)(\n" + " code.co_argcount, code.co_kwonlyargcount, code.co_nlocals, code.co_stacksize,\n" + " code.co_flags, code.co_code, code.co_consts, code.co_names,\n" + " code.co_varnames, code.co_filename, co_name, co_firstlineno,\n" + " code.co_lnotab)\n", "", Py_file_input); + if (!compiled) return NULL; + result = PyEval_EvalCode(compiled, scratch_dict, scratch_dict); + Py_DECREF(compiled); + if (!result) PyErr_Print(); + Py_DECREF(result); + result = PyDict_GetItemString(scratch_dict, "out"); + if (result) Py_INCREF(result); + return result; + } + #else + return NULL; + #endif +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyObject *code_object = NULL, *py_py_line = NULL, *py_funcname = NULL, *dict = NULL; + PyObject *replace = NULL, *getframe = NULL, *frame = NULL; + PyObject *exc_type, *exc_value, *exc_traceback; + int success = 0; + if (c_line) { + (void) __pyx_cfilenm; + (void) __Pyx_CLineForTraceback(__Pyx_PyThreadState_Current, c_line); + } + PyErr_Fetch(&exc_type, &exc_value, &exc_traceback); + code_object = Py_CompileString("_getframe()", filename, Py_eval_input); + if (unlikely(!code_object)) goto bad; + py_py_line = PyLong_FromLong(py_line); + if (unlikely(!py_py_line)) goto bad; + py_funcname = PyUnicode_FromString(funcname); + if (unlikely(!py_funcname)) goto bad; + dict = PyDict_New(); + if (unlikely(!dict)) goto bad; + { + PyObject *old_code_object = code_object; + code_object = __Pyx_PyCode_Replace_For_AddTraceback(code_object, dict, py_py_line, py_funcname); + Py_DECREF(old_code_object); + } + if (unlikely(!code_object)) goto bad; + getframe = PySys_GetObject("_getframe"); + if (unlikely(!getframe)) goto bad; + if (unlikely(PyDict_SetItemString(dict, "_getframe", getframe))) goto bad; + frame = PyEval_EvalCode(code_object, dict, dict); + if (unlikely(!frame) || frame == Py_None) goto bad; + success = 1; + bad: + PyErr_Restore(exc_type, exc_value, exc_traceback); + Py_XDECREF(code_object); + Py_XDECREF(py_py_line); + Py_XDECREF(py_funcname); + Py_XDECREF(dict); + Py_XDECREF(replace); + if (success) { + PyTraceBack_Here( + (struct _frame*)frame); + } + Py_XDECREF(frame); +} +#else +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = NULL; + PyObject *py_funcname = NULL; + #if PY_MAJOR_VERSION < 3 + PyObject *py_srcfile = NULL; + py_srcfile = PyString_FromString(filename); + if (!py_srcfile) goto bad; + #endif + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + funcname = PyUnicode_AsUTF8(py_funcname); + if (!funcname) goto bad; + #endif + } + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + if (!py_funcname) goto bad; + #endif + } + #if PY_MAJOR_VERSION < 3 + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + #else + py_code = PyCode_NewEmpty(filename, funcname, py_line); + #endif + Py_XDECREF(py_funcname); + return py_code; +bad: + Py_XDECREF(py_funcname); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_srcfile); + #endif + return NULL; +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject *ptype, *pvalue, *ptraceback; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); + } + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) { + /* If the code object creation fails, then we should clear the + fetched exception references and propagate the new exception */ + Py_XDECREF(ptype); + Py_XDECREF(pvalue); + Py_XDECREF(ptraceback); + goto bad; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + } + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} +#endif + +#if PY_MAJOR_VERSION < 3 +static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags) { + __Pyx_TypeName obj_type_name; + if (PyObject_CheckBuffer(obj)) return PyObject_GetBuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_array_type)) return __pyx_array_getbuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_memoryview_type)) return __pyx_memoryview_getbuffer(obj, view, flags); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' does not have the buffer interface", + obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return -1; +} +static void __Pyx_ReleaseBuffer(Py_buffer *view) { + PyObject *obj = view->obj; + if (!obj) return; + if (PyObject_CheckBuffer(obj)) { + PyBuffer_Release(view); + return; + } + if ((0)) {} + view->obj = NULL; + Py_DECREF(obj); +} +#endif + + +/* MemviewSliceIsContig */ +static int +__pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim) +{ + int i, index, step, start; + Py_ssize_t itemsize = mvs.memview->view.itemsize; + if (order == 'F') { + step = 1; + start = 0; + } else { + step = -1; + start = ndim - 1; + } + for (i = 0; i < ndim; i++) { + index = start + step * i; + if (mvs.suboffsets[index] >= 0 || mvs.strides[index] != itemsize) + return 0; + itemsize *= mvs.shape[index]; + } + return 1; +} + +/* OverlappingSlices */ +static void +__pyx_get_array_memory_extents(__Pyx_memviewslice *slice, + void **out_start, void **out_end, + int ndim, size_t itemsize) +{ + char *start, *end; + int i; + start = end = slice->data; + for (i = 0; i < ndim; i++) { + Py_ssize_t stride = slice->strides[i]; + Py_ssize_t extent = slice->shape[i]; + if (extent == 0) { + *out_start = *out_end = start; + return; + } else { + if (stride > 0) + end += stride * (extent - 1); + else + start += stride * (extent - 1); + } + } + *out_start = start; + *out_end = end + itemsize; +} +static int +__pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize) +{ + void *start1, *end1, *start2, *end2; + __pyx_get_array_memory_extents(slice1, &start1, &end1, ndim, itemsize); + __pyx_get_array_memory_extents(slice2, &start2, &end2, ndim, itemsize); + return (start1 < end2) && (start2 < end1); +} + +/* CIntFromPyVerify */ +#define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* IsLittleEndian */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void) +{ + union { + uint32_t u32; + uint8_t u8[4]; + } S; + S.u32 = 0x01020304; + return S.u8[0] == 4; +} + +/* BufferFormatCheck */ +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type) { + stack[0].field = &ctx->root; + stack[0].parent_offset = 0; + ctx->root.type = type; + ctx->root.name = "buffer dtype"; + ctx->root.offset = 0; + ctx->head = stack; + ctx->head->field = &ctx->root; + ctx->fmt_offset = 0; + ctx->head->parent_offset = 0; + ctx->new_packmode = '@'; + ctx->enc_packmode = '@'; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->is_complex = 0; + ctx->is_valid_array = 0; + ctx->struct_alignment = 0; + while (type->typegroup == 'S') { + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = 0; + type = type->fields->type; + } +} +static int __Pyx_BufFmt_ParseNumber(const char** ts) { + int count; + const char* t = *ts; + if (*t < '0' || *t > '9') { + return -1; + } else { + count = *t++ - '0'; + while (*t >= '0' && *t <= '9') { + count *= 10; + count += *t++ - '0'; + } + } + *ts = t; + return count; +} +static int __Pyx_BufFmt_ExpectNumber(const char **ts) { + int number = __Pyx_BufFmt_ParseNumber(ts); + if (number == -1) + PyErr_Format(PyExc_ValueError,\ + "Does not understand character buffer dtype format string ('%c')", **ts); + return number; +} +static void __Pyx_BufFmt_RaiseUnexpectedChar(char ch) { + PyErr_Format(PyExc_ValueError, + "Unexpected format string character: '%c'", ch); +} +static const char* __Pyx_BufFmt_DescribeTypeChar(char ch, int is_complex) { + switch (ch) { + case '?': return "'bool'"; + case 'c': return "'char'"; + case 'b': return "'signed char'"; + case 'B': return "'unsigned char'"; + case 'h': return "'short'"; + case 'H': return "'unsigned short'"; + case 'i': return "'int'"; + case 'I': return "'unsigned int'"; + case 'l': return "'long'"; + case 'L': return "'unsigned long'"; + case 'q': return "'long long'"; + case 'Q': return "'unsigned long long'"; + case 'f': return (is_complex ? "'complex float'" : "'float'"); + case 'd': return (is_complex ? "'complex double'" : "'double'"); + case 'g': return (is_complex ? "'complex long double'" : "'long double'"); + case 'T': return "a struct"; + case 'O': return "Python object"; + case 'P': return "a pointer"; + case 's': case 'p': return "a string"; + case 0: return "end"; + default: return "unparsable format string"; + } +} +static size_t __Pyx_BufFmt_TypeCharToStandardSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return 2; + case 'i': case 'I': case 'l': case 'L': return 4; + case 'q': case 'Q': return 8; + case 'f': return (is_complex ? 8 : 4); + case 'd': return (is_complex ? 16 : 8); + case 'g': { + PyErr_SetString(PyExc_ValueError, "Python does not define a standard format string size for long double ('g').."); + return 0; + } + case 'O': case 'P': return sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static size_t __Pyx_BufFmt_TypeCharToNativeSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(short); + case 'i': case 'I': return sizeof(int); + case 'l': case 'L': return sizeof(long); + #ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(PY_LONG_LONG); + #endif + case 'f': return sizeof(float) * (is_complex ? 2 : 1); + case 'd': return sizeof(double) * (is_complex ? 2 : 1); + case 'g': return sizeof(long double) * (is_complex ? 2 : 1); + case 'O': case 'P': return sizeof(void*); + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +typedef struct { char c; short x; } __Pyx_st_short; +typedef struct { char c; int x; } __Pyx_st_int; +typedef struct { char c; long x; } __Pyx_st_long; +typedef struct { char c; float x; } __Pyx_st_float; +typedef struct { char c; double x; } __Pyx_st_double; +typedef struct { char c; long double x; } __Pyx_st_longdouble; +typedef struct { char c; void *x; } __Pyx_st_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { char c; PY_LONG_LONG x; } __Pyx_st_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToAlignment(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_st_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_st_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_st_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_st_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_st_float) - sizeof(float); + case 'd': return sizeof(__Pyx_st_double) - sizeof(double); + case 'g': return sizeof(__Pyx_st_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_st_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +/* These are for computing the padding at the end of the struct to align + on the first member of the struct. This will probably the same as above, + but we don't have any guarantees. + */ +typedef struct { short x; char c; } __Pyx_pad_short; +typedef struct { int x; char c; } __Pyx_pad_int; +typedef struct { long x; char c; } __Pyx_pad_long; +typedef struct { float x; char c; } __Pyx_pad_float; +typedef struct { double x; char c; } __Pyx_pad_double; +typedef struct { long double x; char c; } __Pyx_pad_longdouble; +typedef struct { void *x; char c; } __Pyx_pad_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { PY_LONG_LONG x; char c; } __Pyx_pad_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToPadding(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_pad_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_pad_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_pad_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_pad_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_pad_float) - sizeof(float); + case 'd': return sizeof(__Pyx_pad_double) - sizeof(double); + case 'g': return sizeof(__Pyx_pad_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_pad_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static char __Pyx_BufFmt_TypeCharToGroup(char ch, int is_complex) { + switch (ch) { + case 'c': + return 'H'; + case 'b': case 'h': case 'i': + case 'l': case 'q': case 's': case 'p': + return 'I'; + case '?': case 'B': case 'H': case 'I': case 'L': case 'Q': + return 'U'; + case 'f': case 'd': case 'g': + return (is_complex ? 'C' : 'R'); + case 'O': + return 'O'; + case 'P': + return 'P'; + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +static void __Pyx_BufFmt_RaiseExpected(__Pyx_BufFmt_Context* ctx) { + if (ctx->head == NULL || ctx->head->field == &ctx->root) { + const char* expected; + const char* quote; + if (ctx->head == NULL) { + expected = "end"; + quote = ""; + } else { + expected = ctx->head->field->type->name; + quote = "'"; + } + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected %s%s%s but got %s", + quote, expected, quote, + __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex)); + } else { + __Pyx_StructField* field = ctx->head->field; + __Pyx_StructField* parent = (ctx->head - 1)->field; + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected '%s' but got %s in '%s.%s'", + field->type->name, __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex), + parent->type->name, field->name); + } +} +static int __Pyx_BufFmt_ProcessTypeChunk(__Pyx_BufFmt_Context* ctx) { + char group; + size_t size, offset, arraysize = 1; + if (ctx->enc_type == 0) return 0; + if (ctx->head->field->type->arraysize[0]) { + int i, ndim = 0; + if (ctx->enc_type == 's' || ctx->enc_type == 'p') { + ctx->is_valid_array = ctx->head->field->type->ndim == 1; + ndim = 1; + if (ctx->enc_count != ctx->head->field->type->arraysize[0]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %zu", + ctx->head->field->type->arraysize[0], ctx->enc_count); + return -1; + } + } + if (!ctx->is_valid_array) { + PyErr_Format(PyExc_ValueError, "Expected %d dimensions, got %d", + ctx->head->field->type->ndim, ndim); + return -1; + } + for (i = 0; i < ctx->head->field->type->ndim; i++) { + arraysize *= ctx->head->field->type->arraysize[i]; + } + ctx->is_valid_array = 0; + ctx->enc_count = 1; + } + group = __Pyx_BufFmt_TypeCharToGroup(ctx->enc_type, ctx->is_complex); + do { + __Pyx_StructField* field = ctx->head->field; + __Pyx_TypeInfo* type = field->type; + if (ctx->enc_packmode == '@' || ctx->enc_packmode == '^') { + size = __Pyx_BufFmt_TypeCharToNativeSize(ctx->enc_type, ctx->is_complex); + } else { + size = __Pyx_BufFmt_TypeCharToStandardSize(ctx->enc_type, ctx->is_complex); + } + if (ctx->enc_packmode == '@') { + size_t align_at = __Pyx_BufFmt_TypeCharToAlignment(ctx->enc_type, ctx->is_complex); + size_t align_mod_offset; + if (align_at == 0) return -1; + align_mod_offset = ctx->fmt_offset % align_at; + if (align_mod_offset > 0) ctx->fmt_offset += align_at - align_mod_offset; + if (ctx->struct_alignment == 0) + ctx->struct_alignment = __Pyx_BufFmt_TypeCharToPadding(ctx->enc_type, + ctx->is_complex); + } + if (type->size != size || type->typegroup != group) { + if (type->typegroup == 'C' && type->fields != NULL) { + size_t parent_offset = ctx->head->parent_offset + field->offset; + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = parent_offset; + continue; + } + if ((type->typegroup == 'H' || group == 'H') && type->size == size) { + } else { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + } + offset = ctx->head->parent_offset + field->offset; + if (ctx->fmt_offset != offset) { + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch; next field is at offset %" CYTHON_FORMAT_SSIZE_T "d but %" CYTHON_FORMAT_SSIZE_T "d expected", + (Py_ssize_t)ctx->fmt_offset, (Py_ssize_t)offset); + return -1; + } + ctx->fmt_offset += size; + if (arraysize) + ctx->fmt_offset += (arraysize - 1) * size; + --ctx->enc_count; + while (1) { + if (field == &ctx->root) { + ctx->head = NULL; + if (ctx->enc_count != 0) { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + break; + } + ctx->head->field = ++field; + if (field->type == NULL) { + --ctx->head; + field = ctx->head->field; + continue; + } else if (field->type->typegroup == 'S') { + size_t parent_offset = ctx->head->parent_offset + field->offset; + if (field->type->fields->type == NULL) continue; + field = field->type->fields; + ++ctx->head; + ctx->head->field = field; + ctx->head->parent_offset = parent_offset; + break; + } else { + break; + } + } + } while (ctx->enc_count); + ctx->enc_type = 0; + ctx->is_complex = 0; + return 0; +} +static int +__pyx_buffmt_parse_array(__Pyx_BufFmt_Context* ctx, const char** tsp) +{ + const char *ts = *tsp; + int i = 0, number, ndim; + ++ts; + if (ctx->new_count != 1) { + PyErr_SetString(PyExc_ValueError, + "Cannot handle repeated arrays in format string"); + return -1; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return -1; + ndim = ctx->head->field->type->ndim; + while (*ts && *ts != ')') { + switch (*ts) { + case ' ': case '\f': case '\r': case '\n': case '\t': case '\v': continue; + default: break; + } + number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return -1; + if (i < ndim && (size_t) number != ctx->head->field->type->arraysize[i]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %d", + ctx->head->field->type->arraysize[i], number); + return -1; + } + if (*ts != ',' && *ts != ')') { + PyErr_Format(PyExc_ValueError, + "Expected a comma in format string, got '%c'", *ts); + return -1; + } + if (*ts == ',') ts++; + i++; + } + if (i != ndim) { + PyErr_Format(PyExc_ValueError, "Expected %d dimension(s), got %d", + ctx->head->field->type->ndim, i); + return -1; + } + if (!*ts) { + PyErr_SetString(PyExc_ValueError, + "Unexpected end of format string, expected ')'"); + return -1; + } + ctx->is_valid_array = 1; + ctx->new_count = 1; + *tsp = ++ts; + return 0; +} +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts) { + int got_Z = 0; + while (1) { + switch(*ts) { + case 0: + if (ctx->enc_type != 0 && ctx->head == NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + if (ctx->head != NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + return ts; + case ' ': + case '\r': + case '\n': + ++ts; + break; + case '<': + if (!__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Little-endian buffer not supported on big-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '>': + case '!': + if (__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Big-endian buffer not supported on little-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '=': + case '@': + case '^': + ctx->new_packmode = *ts++; + break; + case 'T': + { + const char* ts_after_sub; + size_t i, struct_count = ctx->new_count; + size_t struct_alignment = ctx->struct_alignment; + ctx->new_count = 1; + ++ts; + if (*ts != '{') { + PyErr_SetString(PyExc_ValueError, "Buffer acquisition: Expected '{' after 'T'"); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + ctx->enc_count = 0; + ctx->struct_alignment = 0; + ++ts; + ts_after_sub = ts; + for (i = 0; i != struct_count; ++i) { + ts_after_sub = __Pyx_BufFmt_CheckString(ctx, ts); + if (!ts_after_sub) return NULL; + } + ts = ts_after_sub; + if (struct_alignment) ctx->struct_alignment = struct_alignment; + } + break; + case '}': + { + size_t alignment = ctx->struct_alignment; + ++ts; + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + if (alignment && ctx->fmt_offset % alignment) { + ctx->fmt_offset += alignment - (ctx->fmt_offset % alignment); + } + } + return ts; + case 'x': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->fmt_offset += ctx->new_count; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->enc_packmode = ctx->new_packmode; + ++ts; + break; + case 'Z': + got_Z = 1; + ++ts; + if (*ts != 'f' && *ts != 'd' && *ts != 'g') { + __Pyx_BufFmt_RaiseUnexpectedChar('Z'); + return NULL; + } + CYTHON_FALLTHROUGH; + case '?': case 'c': case 'b': case 'B': case 'h': case 'H': case 'i': case 'I': + case 'l': case 'L': case 'q': case 'Q': + case 'f': case 'd': case 'g': + case 'O': case 'p': + if ((ctx->enc_type == *ts) && (got_Z == ctx->is_complex) && + (ctx->enc_packmode == ctx->new_packmode) && (!ctx->is_valid_array)) { + ctx->enc_count += ctx->new_count; + ctx->new_count = 1; + got_Z = 0; + ++ts; + break; + } + CYTHON_FALLTHROUGH; + case 's': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_count = ctx->new_count; + ctx->enc_packmode = ctx->new_packmode; + ctx->enc_type = *ts; + ctx->is_complex = got_Z; + ++ts; + ctx->new_count = 1; + got_Z = 0; + break; + case ':': + ++ts; + while(*ts != ':') ++ts; + ++ts; + break; + case '(': + if (__pyx_buffmt_parse_array(ctx, &ts) < 0) return NULL; + break; + default: + { + int number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return NULL; + ctx->new_count = (size_t)number; + } + } + } +} + +/* TypeInfoCompare */ + static int +__pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b) +{ + int i; + if (!a || !b) + return 0; + if (a == b) + return 1; + if (a->size != b->size || a->typegroup != b->typegroup || + a->is_unsigned != b->is_unsigned || a->ndim != b->ndim) { + if (a->typegroup == 'H' || b->typegroup == 'H') { + return a->size == b->size; + } else { + return 0; + } + } + if (a->ndim) { + for (i = 0; i < a->ndim; i++) + if (a->arraysize[i] != b->arraysize[i]) + return 0; + } + if (a->typegroup == 'S') { + if (a->flags != b->flags) + return 0; + if (a->fields || b->fields) { + if (!(a->fields && b->fields)) + return 0; + for (i = 0; a->fields[i].type && b->fields[i].type; i++) { + __Pyx_StructField *field_a = a->fields + i; + __Pyx_StructField *field_b = b->fields + i; + if (field_a->offset != field_b->offset || + !__pyx_typeinfo_cmp(field_a->type, field_b->type)) + return 0; + } + return !a->fields[i].type && !b->fields[i].type; + } + } + return 1; +} + +/* MemviewSliceValidateAndInit */ + static int +__pyx_check_strides(Py_buffer *buf, int dim, int ndim, int spec) +{ + if (buf->shape[dim] <= 1) + return 1; + if (buf->strides) { + if (spec & __Pyx_MEMVIEW_CONTIG) { + if (spec & (__Pyx_MEMVIEW_PTR|__Pyx_MEMVIEW_FULL)) { + if (unlikely(buf->strides[dim] != sizeof(void *))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly contiguous " + "in dimension %d.", dim); + goto fail; + } + } else if (unlikely(buf->strides[dim] != buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_FOLLOW) { + Py_ssize_t stride = buf->strides[dim]; + if (stride < 0) + stride = -stride; + if (unlikely(stride < buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + } else { + if (unlikely(spec & __Pyx_MEMVIEW_CONTIG && dim != ndim - 1)) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not contiguous in " + "dimension %d", dim); + goto fail; + } else if (unlikely(spec & (__Pyx_MEMVIEW_PTR))) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not indirect in " + "dimension %d", dim); + goto fail; + } else if (unlikely(buf->suboffsets)) { + PyErr_SetString(PyExc_ValueError, + "Buffer exposes suboffsets but no strides"); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_check_suboffsets(Py_buffer *buf, int dim, int ndim, int spec) +{ + CYTHON_UNUSED_VAR(ndim); + if (spec & __Pyx_MEMVIEW_DIRECT) { + if (unlikely(buf->suboffsets && buf->suboffsets[dim] >= 0)) { + PyErr_Format(PyExc_ValueError, + "Buffer not compatible with direct access " + "in dimension %d.", dim); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_PTR) { + if (unlikely(!buf->suboffsets || (buf->suboffsets[dim] < 0))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly accessible " + "in dimension %d.", dim); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_verify_contig(Py_buffer *buf, int ndim, int c_or_f_flag) +{ + int i; + if (c_or_f_flag & __Pyx_IS_F_CONTIG) { + Py_ssize_t stride = 1; + for (i = 0; i < ndim; i++) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not fortran contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } else if (c_or_f_flag & __Pyx_IS_C_CONTIG) { + Py_ssize_t stride = 1; + for (i = ndim - 1; i >- 1; i--) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not C contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } + return 1; +fail: + return 0; +} +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj) +{ + struct __pyx_memoryview_obj *memview, *new_memview; + __Pyx_RefNannyDeclarations + Py_buffer *buf; + int i, spec = 0, retval = -1; + __Pyx_BufFmt_Context ctx; + int from_memoryview = __pyx_memoryview_check(original_obj); + __Pyx_RefNannySetupContext("ValidateAndInit_memviewslice", 0); + if (from_memoryview && __pyx_typeinfo_cmp(dtype, ((struct __pyx_memoryview_obj *) + original_obj)->typeinfo)) { + memview = (struct __pyx_memoryview_obj *) original_obj; + new_memview = NULL; + } else { + memview = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + original_obj, buf_flags, 0, dtype); + new_memview = memview; + if (unlikely(!memview)) + goto fail; + } + buf = &memview->view; + if (unlikely(buf->ndim != ndim)) { + PyErr_Format(PyExc_ValueError, + "Buffer has wrong number of dimensions (expected %d, got %d)", + ndim, buf->ndim); + goto fail; + } + if (new_memview) { + __Pyx_BufFmt_Init(&ctx, stack, dtype); + if (unlikely(!__Pyx_BufFmt_CheckString(&ctx, buf->format))) goto fail; + } + if (unlikely((unsigned) buf->itemsize != dtype->size)) { + PyErr_Format(PyExc_ValueError, + "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "u byte%s) " + "does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "u byte%s)", + buf->itemsize, + (buf->itemsize > 1) ? "s" : "", + dtype->name, + dtype->size, + (dtype->size > 1) ? "s" : ""); + goto fail; + } + if (buf->len > 0) { + for (i = 0; i < ndim; i++) { + spec = axes_specs[i]; + if (unlikely(!__pyx_check_strides(buf, i, ndim, spec))) + goto fail; + if (unlikely(!__pyx_check_suboffsets(buf, i, ndim, spec))) + goto fail; + } + if (unlikely(buf->strides && !__pyx_verify_contig(buf, ndim, c_or_f_flag))) + goto fail; + } + if (unlikely(__Pyx_init_memviewslice(memview, ndim, memviewslice, + new_memview != NULL) == -1)) { + goto fail; + } + retval = 0; + goto no_fail; +fail: + Py_XDECREF(new_memview); + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} + +/* ObjectToMemviewSlice */ + static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_unsigned_char__const__(PyObject *obj, int writable_flag) { + __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; + __Pyx_BufFmt_StackElem stack[1]; + int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_STRIDED) }; + int retcode; + if (obj == Py_None) { + result.memview = (struct __pyx_memoryview_obj *) Py_None; + return result; + } + retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, 0, + PyBUF_RECORDS_RO | writable_flag, 1, + &__Pyx_TypeInfo_unsigned_char__const__, stack, + &result, obj); + if (unlikely(retcode == -1)) + goto __pyx_fail; + return result; +__pyx_fail: + result.memview = NULL; + result.data = NULL; + return result; +} + +/* MemviewDtypeToObject */ + static CYTHON_INLINE PyObject *__pyx_memview_get_nn___pyx_t_5numpy_uint8_t(const char *itemp) { + return (PyObject *) __Pyx_PyInt_From_npy_uint8(*(__pyx_t_5numpy_uint8_t *) itemp); +} +static CYTHON_INLINE int __pyx_memview_set_nn___pyx_t_5numpy_uint8_t(const char *itemp, PyObject *obj) { + __pyx_t_5numpy_uint8_t value = __Pyx_PyInt_As_npy_uint8(obj); + if (unlikely((value == ((npy_uint8)-1)) && PyErr_Occurred())) + return 0; + *(__pyx_t_5numpy_uint8_t *) itemp = value; + return 1; +} + +/* MemviewDtypeToObject */ + static CYTHON_INLINE PyObject *__pyx_memview_get_unsigned_char__const__(const char *itemp) { + return (PyObject *) __Pyx_PyInt_From_unsigned_char(*(unsigned char const *) itemp); +} + +/* Declarations */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #ifdef __cplusplus + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + return ::std::complex< float >(x, y); + } + #else + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + return x + y*(__pyx_t_float_complex)_Complex_I; + } + #endif +#else + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + __pyx_t_float_complex z; + z.real = x; + z.imag = y; + return z; + } +#endif + +/* Arithmetic */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) +#else + static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + return (a.real == b.real) && (a.imag == b.imag); + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real + b.real; + z.imag = a.imag + b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real - b.real; + z.imag = a.imag - b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real * b.real - a.imag * b.imag; + z.imag = a.real * b.imag + a.imag * b.real; + return z; + } + #if 1 + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + if (b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); + } else if (fabsf(b.real) >= fabsf(b.imag)) { + if (b.real == 0 && b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.imag); + } else { + float r = b.imag / b.real; + float s = (float)(1.0) / (b.real + b.imag * r); + return __pyx_t_float_complex_from_parts( + (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); + } + } else { + float r = b.real / b.imag; + float s = (float)(1.0) / (b.imag + b.real * r); + return __pyx_t_float_complex_from_parts( + (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); + } + } + #else + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + if (b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); + } else { + float denom = b.real * b.real + b.imag * b.imag; + return __pyx_t_float_complex_from_parts( + (a.real * b.real + a.imag * b.imag) / denom, + (a.imag * b.real - a.real * b.imag) / denom); + } + } + #endif + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex a) { + __pyx_t_float_complex z; + z.real = -a.real; + z.imag = -a.imag; + return z; + } + static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex a) { + return (a.real == 0) && (a.imag == 0); + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex a) { + __pyx_t_float_complex z; + z.real = a.real; + z.imag = -a.imag; + return z; + } + #if 1 + static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex z) { + #if !defined(HAVE_HYPOT) || defined(_MSC_VER) + return sqrtf(z.real*z.real + z.imag*z.imag); + #else + return hypotf(z.real, z.imag); + #endif + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + float r, lnr, theta, z_r, z_theta; + if (b.imag == 0 && b.real == (int)b.real) { + if (b.real < 0) { + float denom = a.real * a.real + a.imag * a.imag; + a.real = a.real / denom; + a.imag = -a.imag / denom; + b.real = -b.real; + } + switch ((int)b.real) { + case 0: + z.real = 1; + z.imag = 0; + return z; + case 1: + return a; + case 2: + return __Pyx_c_prod_float(a, a); + case 3: + z = __Pyx_c_prod_float(a, a); + return __Pyx_c_prod_float(z, a); + case 4: + z = __Pyx_c_prod_float(a, a); + return __Pyx_c_prod_float(z, z); + } + } + if (a.imag == 0) { + if (a.real == 0) { + return a; + } else if ((b.imag == 0) && (a.real >= 0)) { + z.real = powf(a.real, b.real); + z.imag = 0; + return z; + } else if (a.real > 0) { + r = a.real; + theta = 0; + } else { + r = -a.real; + theta = atan2f(0.0, -1.0); + } + } else { + r = __Pyx_c_abs_float(a); + theta = atan2f(a.imag, a.real); + } + lnr = logf(r); + z_r = expf(lnr * b.real - theta * b.imag); + z_theta = theta * b.real + lnr * b.imag; + z.real = z_r * cosf(z_theta); + z.imag = z_r * sinf(z_theta); + return z; + } + #endif +#endif + +/* Declarations */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #ifdef __cplusplus + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + return ::std::complex< double >(x, y); + } + #else + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + return x + y*(__pyx_t_double_complex)_Complex_I; + } + #endif +#else + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + __pyx_t_double_complex z; + z.real = x; + z.imag = y; + return z; + } +#endif + +/* Arithmetic */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) +#else + static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + return (a.real == b.real) && (a.imag == b.imag); + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real + b.real; + z.imag = a.imag + b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real - b.real; + z.imag = a.imag - b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real * b.real - a.imag * b.imag; + z.imag = a.real * b.imag + a.imag * b.real; + return z; + } + #if 1 + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + if (b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); + } else if (fabs(b.real) >= fabs(b.imag)) { + if (b.real == 0 && b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.imag); + } else { + double r = b.imag / b.real; + double s = (double)(1.0) / (b.real + b.imag * r); + return __pyx_t_double_complex_from_parts( + (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); + } + } else { + double r = b.real / b.imag; + double s = (double)(1.0) / (b.imag + b.real * r); + return __pyx_t_double_complex_from_parts( + (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); + } + } + #else + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + if (b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); + } else { + double denom = b.real * b.real + b.imag * b.imag; + return __pyx_t_double_complex_from_parts( + (a.real * b.real + a.imag * b.imag) / denom, + (a.imag * b.real - a.real * b.imag) / denom); + } + } + #endif + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex a) { + __pyx_t_double_complex z; + z.real = -a.real; + z.imag = -a.imag; + return z; + } + static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex a) { + return (a.real == 0) && (a.imag == 0); + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex a) { + __pyx_t_double_complex z; + z.real = a.real; + z.imag = -a.imag; + return z; + } + #if 1 + static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex z) { + #if !defined(HAVE_HYPOT) || defined(_MSC_VER) + return sqrt(z.real*z.real + z.imag*z.imag); + #else + return hypot(z.real, z.imag); + #endif + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + double r, lnr, theta, z_r, z_theta; + if (b.imag == 0 && b.real == (int)b.real) { + if (b.real < 0) { + double denom = a.real * a.real + a.imag * a.imag; + a.real = a.real / denom; + a.imag = -a.imag / denom; + b.real = -b.real; + } + switch ((int)b.real) { + case 0: + z.real = 1; + z.imag = 0; + return z; + case 1: + return a; + case 2: + return __Pyx_c_prod_double(a, a); + case 3: + z = __Pyx_c_prod_double(a, a); + return __Pyx_c_prod_double(z, a); + case 4: + z = __Pyx_c_prod_double(a, a); + return __Pyx_c_prod_double(z, z); + } + } + if (a.imag == 0) { + if (a.real == 0) { + return a; + } else if ((b.imag == 0) && (a.real >= 0)) { + z.real = pow(a.real, b.real); + z.imag = 0; + return z; + } else if (a.real > 0) { + r = a.real; + theta = 0; + } else { + r = -a.real; + theta = atan2(0.0, -1.0); + } + } else { + r = __Pyx_c_abs_double(a); + theta = atan2(a.imag, a.real); + } + lnr = log(r); + z_r = exp(lnr * b.real - theta * b.imag); + z_theta = theta * b.real + lnr * b.imag; + z.real = z_r * cos(z_theta); + z.imag = z_r * sin(z_theta); + return z; + } + #endif +#endif + +/* MemviewSliceCopyTemplate */ + static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object) +{ + __Pyx_RefNannyDeclarations + int i; + __Pyx_memviewslice new_mvs = { 0, 0, { 0 }, { 0 }, { 0 } }; + struct __pyx_memoryview_obj *from_memview = from_mvs->memview; + Py_buffer *buf = &from_memview->view; + PyObject *shape_tuple = NULL; + PyObject *temp_int = NULL; + struct __pyx_array_obj *array_obj = NULL; + struct __pyx_memoryview_obj *memview_obj = NULL; + __Pyx_RefNannySetupContext("__pyx_memoryview_copy_new_contig", 0); + for (i = 0; i < ndim; i++) { + if (unlikely(from_mvs->suboffsets[i] >= 0)) { + PyErr_Format(PyExc_ValueError, "Cannot copy memoryview slice with " + "indirect dimensions (axis %d)", i); + goto fail; + } + } + shape_tuple = PyTuple_New(ndim); + if (unlikely(!shape_tuple)) { + goto fail; + } + __Pyx_GOTREF(shape_tuple); + for(i = 0; i < ndim; i++) { + temp_int = PyInt_FromSsize_t(from_mvs->shape[i]); + if(unlikely(!temp_int)) { + goto fail; + } else { + PyTuple_SET_ITEM(shape_tuple, i, temp_int); + temp_int = NULL; + } + } + array_obj = __pyx_array_new(shape_tuple, sizeof_dtype, buf->format, (char *) mode, NULL); + if (unlikely(!array_obj)) { + goto fail; + } + __Pyx_GOTREF(array_obj); + memview_obj = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + (PyObject *) array_obj, contig_flag, + dtype_is_object, + from_mvs->memview->typeinfo); + if (unlikely(!memview_obj)) + goto fail; + if (unlikely(__Pyx_init_memviewslice(memview_obj, ndim, &new_mvs, 1) < 0)) + goto fail; + if (unlikely(__pyx_memoryview_copy_contents(*from_mvs, new_mvs, ndim, ndim, + dtype_is_object) < 0)) + goto fail; + goto no_fail; +fail: + __Pyx_XDECREF(new_mvs.memview); + new_mvs.memview = NULL; + new_mvs.data = NULL; +no_fail: + __Pyx_XDECREF(shape_tuple); + __Pyx_XDECREF(temp_int); + __Pyx_XDECREF(array_obj); + __Pyx_RefNannyFinishContext(); + return new_mvs; +} + +/* MemviewSliceInit */ + static int +__Pyx_init_memviewslice(struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference) +{ + __Pyx_RefNannyDeclarations + int i, retval=-1; + Py_buffer *buf = &memview->view; + __Pyx_RefNannySetupContext("init_memviewslice", 0); + if (unlikely(memviewslice->memview || memviewslice->data)) { + PyErr_SetString(PyExc_ValueError, + "memviewslice is already initialized!"); + goto fail; + } + if (buf->strides) { + for (i = 0; i < ndim; i++) { + memviewslice->strides[i] = buf->strides[i]; + } + } else { + Py_ssize_t stride = buf->itemsize; + for (i = ndim - 1; i >= 0; i--) { + memviewslice->strides[i] = stride; + stride *= buf->shape[i]; + } + } + for (i = 0; i < ndim; i++) { + memviewslice->shape[i] = buf->shape[i]; + if (buf->suboffsets) { + memviewslice->suboffsets[i] = buf->suboffsets[i]; + } else { + memviewslice->suboffsets[i] = -1; + } + } + memviewslice->memview = memview; + memviewslice->data = (char *)buf->buf; + if (__pyx_add_acquisition_count(memview) == 0 && !memview_is_new_reference) { + Py_INCREF(memview); + } + retval = 0; + goto no_fail; +fail: + memviewslice->memview = 0; + memviewslice->data = 0; + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} +#ifndef Py_NO_RETURN +#define Py_NO_RETURN +#endif +static void __pyx_fatalerror(const char *fmt, ...) Py_NO_RETURN { + va_list vargs; + char msg[200]; +#if PY_VERSION_HEX >= 0x030A0000 || defined(HAVE_STDARG_PROTOTYPES) + va_start(vargs, fmt); +#else + va_start(vargs); +#endif + vsnprintf(msg, 200, fmt, vargs); + va_end(vargs); + Py_FatalError(msg); +} +static CYTHON_INLINE int +__pyx_add_acquisition_count_locked(__pyx_atomic_int_type *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)++; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE int +__pyx_sub_acquisition_count_locked(__pyx_atomic_int_type *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)--; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE void +__Pyx_INC_MEMVIEW(__Pyx_memviewslice *memslice, int have_gil, int lineno) +{ + __pyx_nonatomic_int_type old_acquisition_count; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + return; + } + old_acquisition_count = __pyx_add_acquisition_count(memview); + if (unlikely(old_acquisition_count <= 0)) { + if (likely(old_acquisition_count == 0)) { + if (have_gil) { + Py_INCREF((PyObject *) memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_INCREF((PyObject *) memview); + PyGILState_Release(_gilstate); + } + } else { + __pyx_fatalerror("Acquisition count is %d (line %d)", + old_acquisition_count+1, lineno); + } + } +} +static CYTHON_INLINE void __Pyx_XCLEAR_MEMVIEW(__Pyx_memviewslice *memslice, + int have_gil, int lineno) { + __pyx_nonatomic_int_type old_acquisition_count; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + memslice->memview = NULL; + return; + } + old_acquisition_count = __pyx_sub_acquisition_count(memview); + memslice->data = NULL; + if (likely(old_acquisition_count > 1)) { + memslice->memview = NULL; + } else if (likely(old_acquisition_count == 1)) { + if (have_gil) { + Py_CLEAR(memslice->memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_CLEAR(memslice->memview); + PyGILState_Release(_gilstate); + } + } else { + __pyx_fatalerror("Acquisition count is %d (line %d)", + old_acquisition_count-1, lineno); + } +} + +/* TypeInfoToFormat */ + static struct __pyx_typeinfo_string __Pyx_TypeInfoToFormat(__Pyx_TypeInfo *type) { + struct __pyx_typeinfo_string result = { {0} }; + char *buf = (char *) result.string; + size_t size = type->size; + switch (type->typegroup) { + case 'H': + *buf = 'c'; + break; + case 'I': + case 'U': + if (size == 1) + *buf = (type->is_unsigned) ? 'B' : 'b'; + else if (size == 2) + *buf = (type->is_unsigned) ? 'H' : 'h'; + else if (size == 4) + *buf = (type->is_unsigned) ? 'I' : 'i'; + else if (size == 8) + *buf = (type->is_unsigned) ? 'Q' : 'q'; + break; + case 'P': + *buf = 'P'; + break; + case 'C': + { + __Pyx_TypeInfo complex_type = *type; + complex_type.typegroup = 'R'; + complex_type.size /= 2; + *buf++ = 'Z'; + *buf = __Pyx_TypeInfoToFormat(&complex_type).string[0]; + break; + } + case 'R': + if (size == 4) + *buf = 'f'; + else if (size == 8) + *buf = 'd'; + else + *buf = 'g'; + break; + } + return result; +} + +/* CIntFromPy */ + static CYTHON_INLINE enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType __Pyx_PyInt_As_enum____pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType neg_one = (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) -1, const_zero = (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) >= 2 * PyLong_SHIFT)) { + return (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) (((((enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[1]) << PyLong_SHIFT) | (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) >= 3 * PyLong_SHIFT)) { + return (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) (((((((enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[2]) << PyLong_SHIFT) | (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[1]) << PyLong_SHIFT) | (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) >= 4 * PyLong_SHIFT)) { + return (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) (((((((((enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[3]) << PyLong_SHIFT) | (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[2]) << PyLong_SHIFT) | (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[1]) << PyLong_SHIFT) | (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) - 1 > 2 * PyLong_SHIFT)) { + return (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) (((enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)-1)*(((((enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[1]) << PyLong_SHIFT) | (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) - 1 > 2 * PyLong_SHIFT)) { + return (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) ((((((enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[1]) << PyLong_SHIFT) | (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) - 1 > 3 * PyLong_SHIFT)) { + return (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) (((enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)-1)*(((((((enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[2]) << PyLong_SHIFT) | (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[1]) << PyLong_SHIFT) | (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) - 1 > 3 * PyLong_SHIFT)) { + return (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) ((((((((enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[2]) << PyLong_SHIFT) | (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[1]) << PyLong_SHIFT) | (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) - 1 > 4 * PyLong_SHIFT)) { + return (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) (((enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)-1)*(((((((((enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[3]) << PyLong_SHIFT) | (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[2]) << PyLong_SHIFT) | (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[1]) << PyLong_SHIFT) | (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) - 1 > 4 * PyLong_SHIFT)) { + return (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) ((((((((((enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[3]) << PyLong_SHIFT) | (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[2]) << PyLong_SHIFT) | (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[1]) << PyLong_SHIFT) | (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + PyErr_SetString(PyExc_RuntimeError, + "_PyLong_AsByteArray() not available, cannot convert large enums"); + return (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) -1; + } else { + enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) -1; + val = __Pyx_PyInt_As_enum____pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType"); + return (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType"); + return (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) -1; +} + +/* CIntFromPy */ + static CYTHON_INLINE size_t __Pyx_PyInt_As_size_t(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const size_t neg_one = (size_t) -1, const_zero = (size_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(size_t) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(size_t, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (size_t) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(size_t, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(size_t) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) >= 2 * PyLong_SHIFT)) { + return (size_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(size_t) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) >= 3 * PyLong_SHIFT)) { + return (size_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(size_t) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) >= 4 * PyLong_SHIFT)) { + return (size_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (size_t) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(size_t) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(size_t) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(size_t, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(size_t) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT)) { + return (size_t) (((size_t)-1)*(((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(size_t) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT)) { + return (size_t) ((((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT)) { + return (size_t) (((size_t)-1)*(((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(size_t) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT)) { + return (size_t) ((((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 4 * PyLong_SHIFT)) { + return (size_t) (((size_t)-1)*(((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(size_t) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 4 * PyLong_SHIFT)) { + return (size_t) ((((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(size_t) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(size_t) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + size_t val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (size_t) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (size_t) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (size_t) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (size_t) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (size_t) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(size_t) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((size_t) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(size_t) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((size_t) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((size_t) 1) << (sizeof(size_t) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (size_t) -1; + } + } else { + size_t val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (size_t) -1; + val = __Pyx_PyInt_As_size_t(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to size_t"); + return (size_t) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to size_t"); + return (size_t) -1; +} + +/* CIntFromPy */ + static CYTHON_INLINE uint32_t __Pyx_PyInt_As_uint32_t(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const uint32_t neg_one = (uint32_t) -1, const_zero = (uint32_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(uint32_t) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(uint32_t, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (uint32_t) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(uint32_t, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(uint32_t) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) >= 2 * PyLong_SHIFT)) { + return (uint32_t) (((((uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(uint32_t) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) >= 3 * PyLong_SHIFT)) { + return (uint32_t) (((((((uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(uint32_t) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) >= 4 * PyLong_SHIFT)) { + return (uint32_t) (((((((((uint32_t)digits[3]) << PyLong_SHIFT) | (uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (uint32_t) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(uint32_t) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(uint32_t, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(uint32_t) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(uint32_t, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(uint32_t, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(uint32_t) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) - 1 > 2 * PyLong_SHIFT)) { + return (uint32_t) (((uint32_t)-1)*(((((uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(uint32_t) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) - 1 > 2 * PyLong_SHIFT)) { + return (uint32_t) ((((((uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(uint32_t) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) - 1 > 3 * PyLong_SHIFT)) { + return (uint32_t) (((uint32_t)-1)*(((((((uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(uint32_t) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) - 1 > 3 * PyLong_SHIFT)) { + return (uint32_t) ((((((((uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(uint32_t) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) - 1 > 4 * PyLong_SHIFT)) { + return (uint32_t) (((uint32_t)-1)*(((((((((uint32_t)digits[3]) << PyLong_SHIFT) | (uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(uint32_t) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) - 1 > 4 * PyLong_SHIFT)) { + return (uint32_t) ((((((((((uint32_t)digits[3]) << PyLong_SHIFT) | (uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(uint32_t) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(uint32_t, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(uint32_t) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(uint32_t, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + uint32_t val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (uint32_t) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (uint32_t) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (uint32_t) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (uint32_t) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (uint32_t) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(uint32_t) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((uint32_t) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(uint32_t) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((uint32_t) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((uint32_t) 1) << (sizeof(uint32_t) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (uint32_t) -1; + } + } else { + uint32_t val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (uint32_t) -1; + val = __Pyx_PyInt_As_uint32_t(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to uint32_t"); + return (uint32_t) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to uint32_t"); + return (uint32_t) -1; +} + +/* CIntFromPy */ + static CYTHON_INLINE uint64_t __Pyx_PyInt_As_uint64_t(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const uint64_t neg_one = (uint64_t) -1, const_zero = (uint64_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(uint64_t) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(uint64_t, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (uint64_t) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(uint64_t, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(uint64_t) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint64_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint64_t) >= 2 * PyLong_SHIFT)) { + return (uint64_t) (((((uint64_t)digits[1]) << PyLong_SHIFT) | (uint64_t)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(uint64_t) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint64_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint64_t) >= 3 * PyLong_SHIFT)) { + return (uint64_t) (((((((uint64_t)digits[2]) << PyLong_SHIFT) | (uint64_t)digits[1]) << PyLong_SHIFT) | (uint64_t)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(uint64_t) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint64_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint64_t) >= 4 * PyLong_SHIFT)) { + return (uint64_t) (((((((((uint64_t)digits[3]) << PyLong_SHIFT) | (uint64_t)digits[2]) << PyLong_SHIFT) | (uint64_t)digits[1]) << PyLong_SHIFT) | (uint64_t)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (uint64_t) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(uint64_t) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(uint64_t, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(uint64_t) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(uint64_t, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(uint64_t, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(uint64_t) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint64_t, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint64_t) - 1 > 2 * PyLong_SHIFT)) { + return (uint64_t) (((uint64_t)-1)*(((((uint64_t)digits[1]) << PyLong_SHIFT) | (uint64_t)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(uint64_t) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint64_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint64_t) - 1 > 2 * PyLong_SHIFT)) { + return (uint64_t) ((((((uint64_t)digits[1]) << PyLong_SHIFT) | (uint64_t)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(uint64_t) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint64_t, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint64_t) - 1 > 3 * PyLong_SHIFT)) { + return (uint64_t) (((uint64_t)-1)*(((((((uint64_t)digits[2]) << PyLong_SHIFT) | (uint64_t)digits[1]) << PyLong_SHIFT) | (uint64_t)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(uint64_t) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint64_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint64_t) - 1 > 3 * PyLong_SHIFT)) { + return (uint64_t) ((((((((uint64_t)digits[2]) << PyLong_SHIFT) | (uint64_t)digits[1]) << PyLong_SHIFT) | (uint64_t)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(uint64_t) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint64_t, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint64_t) - 1 > 4 * PyLong_SHIFT)) { + return (uint64_t) (((uint64_t)-1)*(((((((((uint64_t)digits[3]) << PyLong_SHIFT) | (uint64_t)digits[2]) << PyLong_SHIFT) | (uint64_t)digits[1]) << PyLong_SHIFT) | (uint64_t)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(uint64_t) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint64_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint64_t) - 1 > 4 * PyLong_SHIFT)) { + return (uint64_t) ((((((((((uint64_t)digits[3]) << PyLong_SHIFT) | (uint64_t)digits[2]) << PyLong_SHIFT) | (uint64_t)digits[1]) << PyLong_SHIFT) | (uint64_t)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(uint64_t) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(uint64_t, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(uint64_t) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(uint64_t, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + uint64_t val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (uint64_t) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (uint64_t) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (uint64_t) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (uint64_t) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (uint64_t) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(uint64_t) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((uint64_t) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(uint64_t) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((uint64_t) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((uint64_t) 1) << (sizeof(uint64_t) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (uint64_t) -1; + } + } else { + uint64_t val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (uint64_t) -1; + val = __Pyx_PyInt_As_uint64_t(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to uint64_t"); + return (uint64_t) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to uint64_t"); + return (uint64_t) -1; +} + +/* CIntFromPy */ + static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(int) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (int) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 2 * PyLong_SHIFT)) { + return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 3 * PyLong_SHIFT)) { + return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 4 * PyLong_SHIFT)) { + return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(int) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(int) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(int) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + int val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (int) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (int) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (int) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (int) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(int) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(int) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((int) 1) << (sizeof(int) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (int) -1; + } + } else { + int val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (int) -1; + val = __Pyx_PyInt_As_int(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to int"); + return (int) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to int"); + return (int) -1; +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_npy_uint8(npy_uint8 value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const npy_uint8 neg_one = (npy_uint8) -1, const_zero = (npy_uint8) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(npy_uint8) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(npy_uint8) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(npy_uint8) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(npy_uint8) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(npy_uint8) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(npy_uint8), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(npy_uint8)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPy */ + static CYTHON_INLINE npy_uint8 __Pyx_PyInt_As_npy_uint8(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const npy_uint8 neg_one = (npy_uint8) -1, const_zero = (npy_uint8) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(npy_uint8) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(npy_uint8, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (npy_uint8) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(npy_uint8, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(npy_uint8) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(npy_uint8, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(npy_uint8) >= 2 * PyLong_SHIFT)) { + return (npy_uint8) (((((npy_uint8)digits[1]) << PyLong_SHIFT) | (npy_uint8)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(npy_uint8) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(npy_uint8, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(npy_uint8) >= 3 * PyLong_SHIFT)) { + return (npy_uint8) (((((((npy_uint8)digits[2]) << PyLong_SHIFT) | (npy_uint8)digits[1]) << PyLong_SHIFT) | (npy_uint8)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(npy_uint8) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(npy_uint8, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(npy_uint8) >= 4 * PyLong_SHIFT)) { + return (npy_uint8) (((((((((npy_uint8)digits[3]) << PyLong_SHIFT) | (npy_uint8)digits[2]) << PyLong_SHIFT) | (npy_uint8)digits[1]) << PyLong_SHIFT) | (npy_uint8)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (npy_uint8) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(npy_uint8) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(npy_uint8, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(npy_uint8) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(npy_uint8, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(npy_uint8, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(npy_uint8) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(npy_uint8, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(npy_uint8) - 1 > 2 * PyLong_SHIFT)) { + return (npy_uint8) (((npy_uint8)-1)*(((((npy_uint8)digits[1]) << PyLong_SHIFT) | (npy_uint8)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(npy_uint8) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(npy_uint8, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(npy_uint8) - 1 > 2 * PyLong_SHIFT)) { + return (npy_uint8) ((((((npy_uint8)digits[1]) << PyLong_SHIFT) | (npy_uint8)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(npy_uint8) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(npy_uint8, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(npy_uint8) - 1 > 3 * PyLong_SHIFT)) { + return (npy_uint8) (((npy_uint8)-1)*(((((((npy_uint8)digits[2]) << PyLong_SHIFT) | (npy_uint8)digits[1]) << PyLong_SHIFT) | (npy_uint8)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(npy_uint8) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(npy_uint8, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(npy_uint8) - 1 > 3 * PyLong_SHIFT)) { + return (npy_uint8) ((((((((npy_uint8)digits[2]) << PyLong_SHIFT) | (npy_uint8)digits[1]) << PyLong_SHIFT) | (npy_uint8)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(npy_uint8) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(npy_uint8, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(npy_uint8) - 1 > 4 * PyLong_SHIFT)) { + return (npy_uint8) (((npy_uint8)-1)*(((((((((npy_uint8)digits[3]) << PyLong_SHIFT) | (npy_uint8)digits[2]) << PyLong_SHIFT) | (npy_uint8)digits[1]) << PyLong_SHIFT) | (npy_uint8)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(npy_uint8) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(npy_uint8, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(npy_uint8) - 1 > 4 * PyLong_SHIFT)) { + return (npy_uint8) ((((((((((npy_uint8)digits[3]) << PyLong_SHIFT) | (npy_uint8)digits[2]) << PyLong_SHIFT) | (npy_uint8)digits[1]) << PyLong_SHIFT) | (npy_uint8)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(npy_uint8) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(npy_uint8, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(npy_uint8) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(npy_uint8, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + npy_uint8 val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (npy_uint8) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (npy_uint8) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (npy_uint8) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (npy_uint8) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (npy_uint8) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(npy_uint8) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((npy_uint8) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(npy_uint8) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((npy_uint8) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((npy_uint8) 1) << (sizeof(npy_uint8) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (npy_uint8) -1; + } + } else { + npy_uint8 val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (npy_uint8) -1; + val = __Pyx_PyInt_As_npy_uint8(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to npy_uint8"); + return (npy_uint8) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to npy_uint8"); + return (npy_uint8) -1; +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_unsigned_char(unsigned char value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const unsigned char neg_one = (unsigned char) -1, const_zero = (unsigned char) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(unsigned char) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(unsigned char) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(unsigned char) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(unsigned char) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(unsigned char) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(unsigned char), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(unsigned char)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(int) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(int) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(int) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(int), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(int)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_uint32_t(uint32_t value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const uint32_t neg_one = (uint32_t) -1, const_zero = (uint32_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(uint32_t) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(uint32_t) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(uint32_t) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(uint32_t) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(uint32_t) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(uint32_t), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(uint32_t)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_uint64_t(uint64_t value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const uint64_t neg_one = (uint64_t) -1, const_zero = (uint64_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(uint64_t) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(uint64_t) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(uint64_t) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(uint64_t) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(uint64_t) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(uint64_t), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(uint64_t)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_enum__VisionStreamType(enum VisionStreamType value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const enum VisionStreamType neg_one = (enum VisionStreamType) -1, const_zero = (enum VisionStreamType) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(enum VisionStreamType) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(enum VisionStreamType) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(enum VisionStreamType) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(enum VisionStreamType) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(enum VisionStreamType) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(enum VisionStreamType), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(enum VisionStreamType)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_enum____pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType neg_one = (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) -1, const_zero = (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPy */ + static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(long) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (long) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 2 * PyLong_SHIFT)) { + return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 3 * PyLong_SHIFT)) { + return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 4 * PyLong_SHIFT)) { + return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(long) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(long) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(long) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + long val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (long) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (long) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (long) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (long) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(long) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(long) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((long) 1) << (sizeof(long) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (long) -1; + } + } else { + long val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (long) -1; + val = __Pyx_PyInt_As_long(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to long"); + return (long) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to long"); + return (long) -1; +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(long)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPy */ + static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const char neg_one = (char) -1, const_zero = (char) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(char) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(char, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (char) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(char, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(char) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 2 * PyLong_SHIFT)) { + return (char) (((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(char) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 3 * PyLong_SHIFT)) { + return (char) (((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(char) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 4 * PyLong_SHIFT)) { + return (char) (((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(char) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(char) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(char, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(char) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(char) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + return (char) ((((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(char) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + return (char) ((((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 4 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(char) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 4 * PyLong_SHIFT)) { + return (char) ((((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(char) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(char, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(char) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(char, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + char val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (char) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (char) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (char) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (char) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(char) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((char) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(char) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((char) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((char) 1) << (sizeof(char) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (char) -1; + } + } else { + char val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (char) -1; + val = __Pyx_PyInt_As_char(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to char"); + return (char) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to char"); + return (char) -1; +} + +/* FormatTypeName */ + #if CYTHON_COMPILING_IN_LIMITED_API +static __Pyx_TypeName +__Pyx_PyType_GetName(PyTypeObject* tp) +{ + PyObject *name = __Pyx_PyObject_GetAttrStr((PyObject *)tp, + __pyx_n_s_name_2); + if (unlikely(name == NULL) || unlikely(!PyUnicode_Check(name))) { + PyErr_Clear(); + Py_XDECREF(name); + name = __Pyx_NewRef(__pyx_n_s__67); + } + return name; +} +#endif + +/* CheckBinaryVersion */ + static unsigned long __Pyx_get_runtime_version(void) { +#if __PYX_LIMITED_VERSION_HEX >= 0x030B00A4 + return Py_Version & ~0xFFUL; +#else + const char* rt_version = Py_GetVersion(); + unsigned long version = 0; + unsigned long factor = 0x01000000UL; + unsigned int digit = 0; + int i = 0; + while (factor) { + while ('0' <= rt_version[i] && rt_version[i] <= '9') { + digit = digit * 10 + (unsigned int) (rt_version[i] - '0'); + ++i; + } + version += factor * digit; + if (rt_version[i] != '.') + break; + digit = 0; + factor >>= 8; + ++i; + } + return version; +#endif +} +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer) { + const unsigned long MAJOR_MINOR = 0xFFFF0000UL; + if ((rt_version & MAJOR_MINOR) == (ct_version & MAJOR_MINOR)) + return 0; + if (likely(allow_newer && (rt_version & MAJOR_MINOR) > (ct_version & MAJOR_MINOR))) + return 1; + { + char message[200]; + PyOS_snprintf(message, sizeof(message), + "compile time Python version %d.%d " + "of module '%.100s' " + "%s " + "runtime version %d.%d", + (int) (ct_version >> 24), (int) ((ct_version >> 16) & 0xFF), + __Pyx_MODULE_NAME, + (allow_newer) ? "was newer than" : "does not match", + (int) (rt_version >> 24), (int) ((rt_version >> 16) & 0xFF) + ); + return PyErr_WarnEx(NULL, message, 1); + } +} + +/* InitStrings */ + #if PY_MAJOR_VERSION >= 3 +static int __Pyx_InitString(__Pyx_StringTabEntry t, PyObject **str) { + if (t.is_unicode | t.is_str) { + if (t.intern) { + *str = PyUnicode_InternFromString(t.s); + } else if (t.encoding) { + *str = PyUnicode_Decode(t.s, t.n - 1, t.encoding, NULL); + } else { + *str = PyUnicode_FromStringAndSize(t.s, t.n - 1); + } + } else { + *str = PyBytes_FromStringAndSize(t.s, t.n - 1); + } + if (!*str) + return -1; + if (PyObject_Hash(*str) == -1) + return -1; + return 0; +} +#endif +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t) { + while (t->p) { + #if PY_MAJOR_VERSION >= 3 + __Pyx_InitString(*t, t->p); + #else + if (t->is_unicode) { + *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); + } else if (t->intern) { + *t->p = PyString_InternFromString(t->s); + } else { + *t->p = PyString_FromStringAndSize(t->s, t->n - 1); + } + if (!*t->p) + return -1; + if (PyObject_Hash(*t->p) == -1) + return -1; + #endif + ++t; + } + return 0; +} + +#include +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s) { + size_t len = strlen(s); + if (unlikely(len > (size_t) PY_SSIZE_T_MAX)) { + PyErr_SetString(PyExc_OverflowError, "byte string is too long"); + return -1; + } + return (Py_ssize_t) len; +} +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return __Pyx_PyUnicode_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return PyByteArray_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { + Py_ssize_t ignore; + return __Pyx_PyObject_AsStringAndSize(o, &ignore); +} +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#if !CYTHON_PEP393_ENABLED +static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + char* defenc_c; + PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); + if (!defenc) return NULL; + defenc_c = PyBytes_AS_STRING(defenc); +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + { + char* end = defenc_c + PyBytes_GET_SIZE(defenc); + char* c; + for (c = defenc_c; c < end; c++) { + if ((unsigned char) (*c) >= 128) { + PyUnicode_AsASCIIString(o); + return NULL; + } + } + } +#endif + *length = PyBytes_GET_SIZE(defenc); + return defenc_c; +} +#else +static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + if (likely(PyUnicode_IS_ASCII(o))) { + *length = PyUnicode_GET_LENGTH(o); + return PyUnicode_AsUTF8(o); + } else { + PyUnicode_AsASCIIString(o); + return NULL; + } +#else + return PyUnicode_AsUTF8AndSize(o, length); +#endif +} +#endif +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT + if ( +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + __Pyx_sys_getdefaultencoding_not_ascii && +#endif + PyUnicode_Check(o)) { + return __Pyx_PyUnicode_AsStringAndSize(o, length); + } else +#endif +#if (!CYTHON_COMPILING_IN_PYPY && !CYTHON_COMPILING_IN_LIMITED_API) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) + if (PyByteArray_Check(o)) { + *length = PyByteArray_GET_SIZE(o); + return PyByteArray_AS_STRING(o); + } else +#endif + { + char* result; + int r = PyBytes_AsStringAndSize(o, &result, length); + if (unlikely(r < 0)) { + return NULL; + } else { + return result; + } + } +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { + int is_true = x == Py_True; + if (is_true | (x == Py_False) | (x == Py_None)) return is_true; + else return PyObject_IsTrue(x); +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { + int retval; + if (unlikely(!x)) return -1; + retval = __Pyx_PyObject_IsTrue(x); + Py_DECREF(x); + return retval; +} +static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { + __Pyx_TypeName result_type_name = __Pyx_PyType_GetName(Py_TYPE(result)); +#if PY_MAJOR_VERSION >= 3 + if (PyLong_Check(result)) { + if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, + "__int__ returned non-int (type " __Pyx_FMT_TYPENAME "). " + "The ability to return an instance of a strict subclass of int is deprecated, " + "and may be removed in a future version of Python.", + result_type_name)) { + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; + } + __Pyx_DECREF_TypeName(result_type_name); + return result; + } +#endif + PyErr_Format(PyExc_TypeError, + "__%.4s__ returned non-%.4s (type " __Pyx_FMT_TYPENAME ")", + type_name, type_name, result_type_name); + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { +#if CYTHON_USE_TYPE_SLOTS + PyNumberMethods *m; +#endif + const char *name = NULL; + PyObject *res = NULL; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x) || PyLong_Check(x))) +#else + if (likely(PyLong_Check(x))) +#endif + return __Pyx_NewRef(x); +#if CYTHON_USE_TYPE_SLOTS + m = Py_TYPE(x)->tp_as_number; + #if PY_MAJOR_VERSION < 3 + if (m && m->nb_int) { + name = "int"; + res = m->nb_int(x); + } + else if (m && m->nb_long) { + name = "long"; + res = m->nb_long(x); + } + #else + if (likely(m && m->nb_int)) { + name = "int"; + res = m->nb_int(x); + } + #endif +#else + if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { + res = PyNumber_Int(x); + } +#endif + if (likely(res)) { +#if PY_MAJOR_VERSION < 3 + if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { +#else + if (unlikely(!PyLong_CheckExact(res))) { +#endif + return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); + } + } + else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_TypeError, + "an integer is required"); + } + return res; +} +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { + Py_ssize_t ival; + PyObject *x; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(b))) { + if (sizeof(Py_ssize_t) >= sizeof(long)) + return PyInt_AS_LONG(b); + else + return PyInt_AsSsize_t(b); + } +#endif + if (likely(PyLong_CheckExact(b))) { + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(__Pyx_PyLong_IsCompact(b))) { + return __Pyx_PyLong_CompactValue(b); + } else { + const digit* digits = __Pyx_PyLong_Digits(b); + const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(b); + switch (size) { + case 2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + } + } + #endif + return PyLong_AsSsize_t(b); + } + x = PyNumber_Index(b); + if (!x) return -1; + ival = PyInt_AsSsize_t(x); + Py_DECREF(x); + return ival; +} +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { + if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { + return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); +#if PY_MAJOR_VERSION < 3 + } else if (likely(PyInt_CheckExact(o))) { + return PyInt_AS_LONG(o); +#endif + } else { + Py_ssize_t ival; + PyObject *x; + x = PyNumber_Index(o); + if (!x) return -1; + ival = PyInt_AsLong(x); + Py_DECREF(x); + return ival; + } +} +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { + return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); +} +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { + return PyInt_FromSize_t(ival); +} + + +/* #### Code section: utility_code_pragmas_end ### */ +#ifdef _MSC_VER +#pragma warning( pop ) +#endif + + + +/* #### Code section: end ### */ +#endif /* Py_PYTHON_H */ diff --git a/msgq_repo/msgq/visionipc/visionipc_pyx.pxd b/msgq_repo/msgq/visionipc/visionipc_pyx.pxd new file mode 100644 index 0000000000..ec431ceecd --- /dev/null +++ b/msgq_repo/msgq/visionipc/visionipc_pyx.pxd @@ -0,0 +1,15 @@ +# distutils: language = c++ +#cython: language_level=3 + +from .visionipc cimport VisionBuf as cppVisionBuf +from .visionipc cimport cl_device_id, cl_context + +cdef class CLContext: + cdef cl_device_id device_id + cdef cl_context context + +cdef class VisionBuf: + cdef cppVisionBuf * buf + + @staticmethod + cdef create(cppVisionBuf*) diff --git a/msgq_repo/msgq/visionipc/visionipc_pyx.pyx b/msgq_repo/msgq/visionipc/visionipc_pyx.pyx new file mode 100644 index 0000000000..0ff270efd5 --- /dev/null +++ b/msgq_repo/msgq/visionipc/visionipc_pyx.pyx @@ -0,0 +1,168 @@ +# distutils: language = c++ +# cython: c_string_encoding=ascii, language_level=3 + +import sys +import numpy as np +cimport numpy as cnp +from cython.view cimport array +from libc.string cimport memcpy +from libc.stdint cimport uint32_t, uint64_t +from libcpp cimport bool +from libcpp.string cimport string + +from .visionipc cimport VisionIpcServer as cppVisionIpcServer +from .visionipc cimport VisionIpcClient as cppVisionIpcClient +from .visionipc cimport VisionBuf as cppVisionBuf +from .visionipc cimport VisionIpcBufExtra +from .visionipc cimport get_endpoint_name as cpp_get_endpoint_name + + +def get_endpoint_name(string name, VisionStreamType stream): + return cpp_get_endpoint_name(name, stream).decode('utf-8') + + +cpdef enum VisionStreamType: + VISION_STREAM_ROAD + VISION_STREAM_DRIVER + VISION_STREAM_WIDE_ROAD + VISION_STREAM_MAP + + +cdef class VisionBuf: + @staticmethod + cdef create(cppVisionBuf * cbuf): + buf = VisionBuf() + buf.buf = cbuf + return buf + + @property + def data(self): + return np.asarray( self.buf.addr) + + @property + def width(self): + return self.buf.width + + @property + def height(self): + return self.buf.height + + @property + def stride(self): + return self.buf.stride + + @property + def uv_offset(self): + return self.buf.uv_offset + + @property + def rgb(self): + return self.buf.rgb + + +cdef class VisionIpcServer: + cdef cppVisionIpcServer * server + + def __init__(self, string name): + self.server = new cppVisionIpcServer(name, NULL, NULL) + + def create_buffers(self, VisionStreamType tp, size_t num_buffers, bool rgb, size_t width, size_t height): + self.server.create_buffers(tp, num_buffers, rgb, width, height) + + def create_buffers_with_sizes(self, VisionStreamType tp, size_t num_buffers, bool rgb, size_t width, size_t height, size_t size, size_t stride, size_t uv_offset): + self.server.create_buffers_with_sizes(tp, num_buffers, rgb, width, height, size, stride, uv_offset) + + def send(self, VisionStreamType tp, const unsigned char[:] data, uint32_t frame_id=0, uint64_t timestamp_sof=0, uint64_t timestamp_eof=0): + cdef cppVisionBuf * buf = self.server.get_buffer(tp) + + # Populate buffer + assert buf.len == len(data) + memcpy(buf.addr, &data[0], len(data)) + buf.set_frame_id(frame_id) + + cdef VisionIpcBufExtra extra + extra.frame_id = frame_id + extra.timestamp_sof = timestamp_sof + extra.timestamp_eof = timestamp_eof + + self.server.send(buf, &extra, False) + + def start_listener(self): + self.server.start_listener() + + def __dealloc__(self): + del self.server + + +cdef class VisionIpcClient: + cdef cppVisionIpcClient * client + cdef VisionIpcBufExtra extra + + def __cinit__(self, string name, VisionStreamType stream, bool conflate, CLContext context = None): + if context: + self.client = new cppVisionIpcClient(name, stream, conflate, context.device_id, context.context) + else: + self.client = new cppVisionIpcClient(name, stream, conflate, NULL, NULL) + + def __dealloc__(self): + del self.client + + @property + def width(self): + return self.client.buffers[0].width if self.client.num_buffers else None + + @property + def height(self): + return self.client.buffers[0].height if self.client.num_buffers else None + + @property + def stride(self): + return self.client.buffers[0].stride if self.client.num_buffers else None + + @property + def uv_offset(self): + return self.client.buffers[0].uv_offset if self.client.num_buffers else None + + @property + def rgb(self): + return self.client.buffers[0].rgb if self.client.num_buffers else None + + @property + def buffer_len(self): + return self.client.buffers[0].len if self.client.num_buffers else None + + @property + def num_buffers(self): + return self.client.num_buffers + + @property + def frame_id(self): + return self.extra.frame_id + + @property + def timestamp_sof(self): + return self.extra.timestamp_sof + + @property + def timestamp_eof(self): + return self.extra.timestamp_eof + + @property + def valid(self): + return self.extra.valid + + def recv(self, int timeout_ms=100): + buf = self.client.recv(&self.extra, timeout_ms) + if not buf: + return None + return VisionBuf.create(buf) + + def connect(self, bool blocking): + return self.client.connect(blocking) + + def is_connected(self): + return self.client.is_connected() + + @staticmethod + def available_streams(string name, bool block): + return cppVisionIpcClient.getAvailableStreams(name, block) diff --git a/msgq_repo/msgq/visionipc/visionipc_pyx.so b/msgq_repo/msgq/visionipc/visionipc_pyx.so new file mode 100755 index 0000000000..dbe7c532ee Binary files /dev/null and b/msgq_repo/msgq/visionipc/visionipc_pyx.so differ diff --git a/msgq_repo/msgq/visionipc/visionipc_server.h b/msgq_repo/msgq/visionipc/visionipc_server.h new file mode 100644 index 0000000000..feacc4d10d --- /dev/null +++ b/msgq_repo/msgq/visionipc/visionipc_server.h @@ -0,0 +1,42 @@ +#pragma once +#include +#include +#include +#include +#include + +#include "msgq/ipc.h" +#include "msgq/visionipc/visionbuf.h" + +std::string get_endpoint_name(std::string name, VisionStreamType type); +std::string get_ipc_path(const std::string &name); + +class VisionIpcServer { + private: + cl_device_id device_id = nullptr; + cl_context ctx = nullptr; + uint64_t server_id; + + std::atomic should_exit = false; + std::string name; + std::thread listener_thread; + + std::map > cur_idx; + std::map > buffers; + + Context * msg_ctx; + std::map sockets; + + void listener(void); + + public: + VisionIpcServer(std::string name, cl_device_id device_id=nullptr, cl_context ctx=nullptr); + ~VisionIpcServer(); + + VisionBuf * get_buffer(VisionStreamType type); + + void create_buffers(VisionStreamType type, size_t num_buffers, bool rgb, size_t width, size_t height); + void create_buffers_with_sizes(VisionStreamType type, size_t num_buffers, bool rgb, size_t width, size_t height, size_t size, size_t stride, size_t uv_offset); + void send(VisionBuf * buf, VisionIpcBufExtra * extra, bool sync=true); + void start_listener(); +}; diff --git a/msgq_repo/pyproject.toml b/msgq_repo/pyproject.toml new file mode 100644 index 0000000000..c0d9b3f40b --- /dev/null +++ b/msgq_repo/pyproject.toml @@ -0,0 +1,32 @@ +# https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml +[tool.ruff] +lint.select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF100", "A"] +lint.ignore = ["W292", "E741", "E402", "C408", "ISC003"] +lint.flake8-implicit-str-concat.allow-multiline=false + +line-length = 160 +target-version="py311" + +[tool.ruff.lint.flake8-tidy-imports.banned-api] +"pytest.main".msg = "pytest.main requires special handling that is easy to mess up!" +"unittest".msg = "Use pytest" + +[mypy.tool] +# third-party packages +ignore_missing_imports=true + +# helpful warnings +warn_redundant_casts=true +warn_unreachable=true +warn_unused_ignores=true + +# restrict dynamic typing +warn_return_any=true +check_untyped_defs=true + +[tool.pytest.ini_options] +addopts = "--durations=10" +testpaths = [ + "msgq/tests", + "msgq/visionipc/tests", +] diff --git a/msgq_repo/site_scons/site_tools/cython.py b/msgq_repo/site_scons/site_tools/cython.py new file mode 100644 index 0000000000..c291475533 --- /dev/null +++ b/msgq_repo/site_scons/site_tools/cython.py @@ -0,0 +1,72 @@ +import re +import SCons +from SCons.Action import Action +from SCons.Scanner import Scanner + +pyx_from_import_re = re.compile(r'^from\s+(\S+)\s+cimport', re.M) +pyx_import_re = re.compile(r'^cimport\s+(\S+)', re.M) +cdef_import_re = re.compile(r'^cdef extern from\s+.(\S+).:', re.M) + + +def pyx_scan(node, env, path, arg=None): + contents = node.get_text_contents() + + # from cimport ... + matches = pyx_from_import_re.findall(contents) + # cimport + matches += pyx_import_re.findall(contents) + + # Modules can be either .pxd or .pyx files + files = [m.replace('.', '/') + '.pxd' for m in matches] + files += [m.replace('.', '/') + '.pyx' for m in matches] + + # cdef extern from + files += cdef_import_re.findall(contents) + + # Handle relative imports + cur_dir = str(node.get_dir()) + files = [cur_dir + f if f.startswith('/') else f for f in files] + + # Filter out non-existing files (probably system imports) + files = [f for f in files if env.File(f).exists()] + return env.File(files) + + +pyxscanner = Scanner(function=pyx_scan, skeys=['.pyx', '.pxd'], recursive=True) +cythonAction = Action("$CYTHONCOM") + + +def create_builder(env): + try: + cython = env['BUILDERS']['Cython'] + except KeyError: + cython = SCons.Builder.Builder( + action=cythonAction, + emitter={}, + suffix=cython_suffix_emitter, + single_source=1 + ) + env.Append(SCANNERS=pyxscanner) + env['BUILDERS']['Cython'] = cython + return cython + +def cython_suffix_emitter(env, source): + return "$CYTHONCFILESUFFIX" + +def generate(env): + env["CYTHON"] = "cythonize" + env["CYTHONCOM"] = "$CYTHON $CYTHONFLAGS $SOURCE" + env["CYTHONCFILESUFFIX"] = ".cpp" + + c_file, _ = SCons.Tool.createCFileBuilders(env) + + c_file.suffix['.pyx'] = cython_suffix_emitter + c_file.add_action('.pyx', cythonAction) + + c_file.suffix['.py'] = cython_suffix_emitter + c_file.add_action('.py', cythonAction) + + create_builder(env) + +def exists(env): + return True diff --git a/opendbc b/opendbc new file mode 120000 index 0000000000..7cd9a5bd1e --- /dev/null +++ b/opendbc @@ -0,0 +1 @@ +opendbc_repo/opendbc \ No newline at end of file diff --git a/opendbc_repo/.gitignore b/opendbc_repo/.gitignore new file mode 100644 index 0000000000..3b68262069 --- /dev/null +++ b/opendbc_repo/.gitignore @@ -0,0 +1,18 @@ +.mypy_cache/ +*.pyc +*.os +*.o +*.tmp +*.dylib +.*.swp +.DS_Store +.sconsign.dblite + +opendbc/can/*.so +opendbc/can/*.a +opendbc/can/build/ +opendbc/can/obj/ +opendbc/can/packer_pyx.cpp +opendbc/can/parser_pyx.cpp +opendbc/can/packer_pyx.html +opendbc/can/parser_pyx.html diff --git a/opendbc_repo/opendbc/__init__.py b/opendbc_repo/opendbc/__init__.py new file mode 100644 index 0000000000..a40e5dbfa8 --- /dev/null +++ b/opendbc_repo/opendbc/__init__.py @@ -0,0 +1,3 @@ +import os + +DBC_PATH = os.path.join(os.path.dirname(os.path.abspath(__file__)), 'dbc') diff --git a/opendbc_repo/opendbc/can/__init__.py b/opendbc_repo/opendbc/can/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/opendbc_repo/opendbc/can/can_define.py b/opendbc_repo/opendbc/can/can_define.py new file mode 100644 index 0000000000..ad79432a7a --- /dev/null +++ b/opendbc_repo/opendbc/can/can_define.py @@ -0,0 +1,2 @@ +from opendbc.can.parser_pyx import CANDefine # pylint: disable=no-name-in-module, import-error +assert CANDefine diff --git a/opendbc_repo/opendbc/can/common.h b/opendbc_repo/opendbc/can/common.h new file mode 100644 index 0000000000..930a570131 --- /dev/null +++ b/opendbc_repo/opendbc/can/common.h @@ -0,0 +1,100 @@ +#pragma once + +#include +#include +#include +#include +#include + +#include "opendbc/can/logger.h" +#include "opendbc/can/common_dbc.h" + +#define INFO printf +#define WARN printf +#define DEBUG(...) +//#define DEBUG printf + +#define MAX_BAD_COUNTER 5 +#define CAN_INVALID_CNT 20 + +// Car specific functions +unsigned int honda_checksum(uint32_t address, const Signal &sig, const std::vector &d); +unsigned int toyota_checksum(uint32_t address, const Signal &sig, const std::vector &d); +unsigned int subaru_checksum(uint32_t address, const Signal &sig, const std::vector &d); +unsigned int chrysler_checksum(uint32_t address, const Signal &sig, const std::vector &d); +unsigned int volkswagen_mqb_checksum(uint32_t address, const Signal &sig, const std::vector &d); +unsigned int xor_checksum(uint32_t address, const Signal &sig, const std::vector &d); +unsigned int hkg_can_fd_checksum(uint32_t address, const Signal &sig, const std::vector &d); +unsigned int pedal_checksum(uint32_t address, const Signal &sig, const std::vector &d); + +struct CanFrame { + long src; + uint32_t address; + std::vector dat; +}; + +struct CanData { + uint64_t nanos; + std::vector frames; +}; + +class MessageState { +public: + std::string name; + uint32_t address; + unsigned int size; + + std::vector parse_sigs; + std::vector vals; + std::vector> all_vals; + + uint64_t last_seen_nanos; + uint64_t check_threshold; + + uint8_t counter; + uint8_t counter_fail; + + bool ignore_checksum = false; + bool ignore_counter = false; + + bool parse(uint64_t nanos, const std::vector &dat); + bool update_counter_generic(int64_t v, int cnt_size); +}; + +class CANParser { +private: + const int bus; + const DBC *dbc = NULL; + std::unordered_map message_states; + +public: + bool can_valid = false; + bool bus_timeout = false; + uint64_t first_nanos = 0; + uint64_t last_nanos = 0; + uint64_t last_nonempty_nanos = 0; + uint64_t bus_timeout_threshold = 0; + uint64_t can_invalid_cnt = CAN_INVALID_CNT; + + CANParser(int abus, const std::string& dbc_name, + const std::vector> &messages); + CANParser(int abus, const std::string& dbc_name, bool ignore_checksum, bool ignore_counter); + void update(const std::vector &can_data, std::vector &vals); + void query_latest(std::vector &vals, uint64_t last_ts = 0); + +protected: + void UpdateCans(const CanData &can); + void UpdateValid(uint64_t nanos); +}; + +class CANPacker { +private: + const DBC *dbc = NULL; + std::map, Signal> signal_lookup; + std::map counters; + +public: + CANPacker(const std::string& dbc_name); + std::vector pack(uint32_t address, const std::vector &values); + const Msg* lookup_message(uint32_t address); +}; diff --git a/opendbc_repo/opendbc/can/common.pxd b/opendbc_repo/opendbc/can/common.pxd new file mode 100644 index 0000000000..21e276fa07 --- /dev/null +++ b/opendbc_repo/opendbc/can/common.pxd @@ -0,0 +1,87 @@ +# distutils: language = c++ +# cython: language_level=3 + +from libc.stdint cimport uint8_t, uint32_t, uint64_t +from libcpp cimport bool +from libcpp.pair cimport pair +from libcpp.string cimport string +from libcpp.vector cimport vector +from libcpp.unordered_map cimport unordered_map + + +ctypedef unsigned int (*calc_checksum_type)(uint32_t, const Signal&, const vector[uint8_t] &) + +cdef extern from "common_dbc.h": + ctypedef enum SignalType: + DEFAULT, + COUNTER, + HONDA_CHECKSUM, + TOYOTA_CHECKSUM, + PEDAL_CHECKSUM, + VOLKSWAGEN_MQB_CHECKSUM, + XOR_CHECKSUM, + SUBARU_CHECKSUM, + CHRYSLER_CHECKSUM + HKG_CAN_FD_CHECKSUM, + + cdef struct Signal: + string name + int start_bit, msb, lsb, size + bool is_signed + double factor, offset + bool is_little_endian + SignalType type + calc_checksum_type calc_checksum + + cdef struct Msg: + string name + uint32_t address + unsigned int size + vector[Signal] sigs + + cdef struct Val: + string name + uint32_t address + string def_val + vector[Signal] sigs + + cdef struct DBC: + string name + vector[Msg] msgs + vector[Val] vals + unordered_map[uint32_t, const Msg*] addr_to_msg + unordered_map[string, const Msg*] name_to_msg + + cdef struct SignalValue: + uint32_t address + uint64_t ts_nanos + string name + double value + vector[double] all_values + + cdef struct SignalPackValue: + string name + double value + + +cdef extern from "common.h": + cdef const DBC* dbc_lookup(const string) except + + + cdef struct CanFrame: + long src + uint32_t address + vector[uint8_t] dat + + cdef struct CanData: + uint64_t nanos + vector[CanFrame] frames + + cdef cppclass CANParser: + bool can_valid + bool bus_timeout + CANParser(int, string, vector[pair[uint32_t, int]]) except + + void update(vector[CanData]&, vector[SignalValue]&) except + + + cdef cppclass CANPacker: + CANPacker(string) + vector[uint8_t] pack(uint32_t, vector[SignalPackValue]&) diff --git a/opendbc_repo/opendbc/can/common_dbc.h b/opendbc_repo/opendbc/can/common_dbc.h new file mode 100644 index 0000000000..19507ecd4e --- /dev/null +++ b/opendbc_repo/opendbc/can/common_dbc.h @@ -0,0 +1,79 @@ +#pragma once + +#include +#include +#include +#include + +struct SignalPackValue { + std::string name; + double value; +}; + +struct SignalValue { + uint32_t address; + uint64_t ts_nanos; + std::string name; + double value; // latest value + std::vector all_values; // all values from this cycle +}; + +enum SignalType { + DEFAULT, + COUNTER, + HONDA_CHECKSUM, + TOYOTA_CHECKSUM, + PEDAL_CHECKSUM, + VOLKSWAGEN_MQB_CHECKSUM, + XOR_CHECKSUM, + SUBARU_CHECKSUM, + CHRYSLER_CHECKSUM, + HKG_CAN_FD_CHECKSUM, +}; + +struct Signal { + std::string name; + int start_bit, msb, lsb, size; + bool is_signed; + double factor, offset; + bool is_little_endian; + SignalType type; + unsigned int (*calc_checksum)(uint32_t address, const Signal &sig, const std::vector &d); +}; + +struct Msg { + std::string name; + uint32_t address; + unsigned int size; + std::vector sigs; +}; + +struct Val { + std::string name; + uint32_t address; + std::string def_val; + std::vector sigs; +}; + +struct DBC { + std::string name; + std::vector msgs; + std::vector vals; + std::unordered_map addr_to_msg; + std::unordered_map name_to_msg; +}; + +typedef struct ChecksumState { + int checksum_size; + int counter_size; + int checksum_start_bit; + int counter_start_bit; + bool little_endian; + SignalType checksum_type; + unsigned int (*calc_checksum)(uint32_t address, const Signal &sig, const std::vector &d); +} ChecksumState; + +DBC* dbc_parse(const std::string& dbc_path); +DBC* dbc_parse_from_stream(const std::string &dbc_name, std::istream &stream, ChecksumState *checksum = nullptr, bool allow_duplicate_msg_name=false); +const DBC* dbc_lookup(const std::string& dbc_name); +std::vector get_dbc_names(); diff --git a/opendbc_repo/opendbc/can/libdbc.so b/opendbc_repo/opendbc/can/libdbc.so new file mode 100755 index 0000000000..fba193e650 Binary files /dev/null and b/opendbc_repo/opendbc/can/libdbc.so differ diff --git a/opendbc_repo/opendbc/can/logger.h b/opendbc_repo/opendbc/can/logger.h new file mode 100644 index 0000000000..bab70c4894 --- /dev/null +++ b/opendbc_repo/opendbc/can/logger.h @@ -0,0 +1,27 @@ +#pragma once + +#ifdef SWAGLOG +// cppcheck-suppress preprocessorErrorDirective +#include SWAGLOG +#else + +#define CLOUDLOG_DEBUG 10 +#define CLOUDLOG_INFO 20 +#define CLOUDLOG_WARNING 30 +#define CLOUDLOG_ERROR 40 +#define CLOUDLOG_CRITICAL 50 + +#define cloudlog(lvl, fmt, ...) printf(fmt "\n", ## __VA_ARGS__) +#define cloudlog_rl(burst, millis, lvl, fmt, ...) printf(fmt "\n", ##__VA_ARGS__) + +#define LOGD(fmt, ...) cloudlog(CLOUDLOG_DEBUG, fmt, ## __VA_ARGS__) +#define LOG(fmt, ...) cloudlog(CLOUDLOG_INFO, fmt, ## __VA_ARGS__) +#define LOGW(fmt, ...) cloudlog(CLOUDLOG_WARNING, fmt, ## __VA_ARGS__) +#define LOGE(fmt, ...) cloudlog(CLOUDLOG_ERROR, fmt, ## __VA_ARGS__) + +#define LOGD_100(fmt, ...) cloudlog_rl(2, 100, CLOUDLOG_DEBUG, fmt, ## __VA_ARGS__) +#define LOG_100(fmt, ...) cloudlog_rl(2, 100, CLOUDLOG_INFO, fmt, ## __VA_ARGS__) +#define LOGW_100(fmt, ...) cloudlog_rl(2, 100, CLOUDLOG_WARNING, fmt, ## __VA_ARGS__) +#define LOGE_100(fmt, ...) cloudlog_rl(2, 100, CLOUDLOG_ERROR, fmt, ## __VA_ARGS__) + +#endif diff --git a/opendbc_repo/opendbc/can/packer.py b/opendbc_repo/opendbc/can/packer.py new file mode 100644 index 0000000000..024cf30451 --- /dev/null +++ b/opendbc_repo/opendbc/can/packer.py @@ -0,0 +1,2 @@ +from opendbc.can.packer_pyx import CANPacker # pylint: disable=no-name-in-module, import-error +assert CANPacker diff --git a/opendbc_repo/opendbc/can/packer_pyx.cpp b/opendbc_repo/opendbc/can/packer_pyx.cpp new file mode 100644 index 0000000000..d381147bfd --- /dev/null +++ b/opendbc_repo/opendbc/can/packer_pyx.cpp @@ -0,0 +1,9604 @@ +/* Generated by Cython 3.0.8 */ + +/* BEGIN: Cython Metadata +{ + "distutils": { + "depends": [ + "opendbc/can/common.h", + "opendbc/can/common_dbc.h" + ], + "include_dirs": [ + "opendbc/can" + ], + "language": "c++", + "name": "opendbc.can.packer_pyx", + "sources": [ + "/data/openpilot/opendbc/can/packer_pyx.pyx" + ] + }, + "module_name": "opendbc.can.packer_pyx" +} +END: Cython Metadata */ + +#ifndef PY_SSIZE_T_CLEAN +#define PY_SSIZE_T_CLEAN +#endif /* PY_SSIZE_T_CLEAN */ +#if defined(CYTHON_LIMITED_API) && 0 + #ifndef Py_LIMITED_API + #if CYTHON_LIMITED_API+0 > 0x03030000 + #define Py_LIMITED_API CYTHON_LIMITED_API + #else + #define Py_LIMITED_API 0x03030000 + #endif + #endif +#endif + +#include "Python.h" +#ifndef Py_PYTHON_H + #error Python headers needed to compile C extensions, please install development version of Python. +#elif PY_VERSION_HEX < 0x02070000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) + #error Cython requires Python 2.7+ or Python 3.3+. +#else +#if defined(CYTHON_LIMITED_API) && CYTHON_LIMITED_API +#define __PYX_EXTRA_ABI_MODULE_NAME "limited" +#else +#define __PYX_EXTRA_ABI_MODULE_NAME "" +#endif +#define CYTHON_ABI "3_0_8" __PYX_EXTRA_ABI_MODULE_NAME +#define __PYX_ABI_MODULE_NAME "_cython_" CYTHON_ABI +#define __PYX_TYPE_MODULE_PREFIX __PYX_ABI_MODULE_NAME "." +#define CYTHON_HEX_VERSION 0x030008F0 +#define CYTHON_FUTURE_DIVISION 1 +#include +#ifndef offsetof + #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) +#endif +#if !defined(_WIN32) && !defined(WIN32) && !defined(MS_WINDOWS) + #ifndef __stdcall + #define __stdcall + #endif + #ifndef __cdecl + #define __cdecl + #endif + #ifndef __fastcall + #define __fastcall + #endif +#endif +#ifndef DL_IMPORT + #define DL_IMPORT(t) t +#endif +#ifndef DL_EXPORT + #define DL_EXPORT(t) t +#endif +#define __PYX_COMMA , +#ifndef HAVE_LONG_LONG + #define HAVE_LONG_LONG +#endif +#ifndef PY_LONG_LONG + #define PY_LONG_LONG LONG_LONG +#endif +#ifndef Py_HUGE_VAL + #define Py_HUGE_VAL HUGE_VAL +#endif +#define __PYX_LIMITED_VERSION_HEX PY_VERSION_HEX +#if defined(GRAALVM_PYTHON) + /* For very preliminary testing purposes. Most variables are set the same as PyPy. + The existence of this section does not imply that anything works or is even tested */ + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 1 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(PYPY_VERSION) + #define CYTHON_COMPILING_IN_PYPY 1 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #if PY_VERSION_HEX < 0x03090000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1 && PYPY_VERSION_NUM >= 0x07030C00) + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(CYTHON_LIMITED_API) + #ifdef Py_LIMITED_API + #undef __PYX_LIMITED_VERSION_HEX + #define __PYX_LIMITED_VERSION_HEX Py_LIMITED_API + #endif + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 1 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_CLINE_IN_TRACEBACK + #define CYTHON_CLINE_IN_TRACEBACK 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 1 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #endif + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 1 + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(Py_GIL_DISABLED) || defined(Py_NOGIL) + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 1 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #ifndef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#else + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 1 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #ifndef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 1 + #endif + #if PY_MAJOR_VERSION < 3 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #ifndef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 1 + #endif + #ifndef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 1 + #endif + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #elif !defined(CYTHON_USE_UNICODE_WRITER) + #define CYTHON_USE_UNICODE_WRITER 1 + #endif + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #ifndef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 1 + #endif + #ifndef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL (PY_MAJOR_VERSION < 3 || PY_VERSION_HEX >= 0x03060000 && PY_VERSION_HEX < 0x030C00A6) + #endif + #ifndef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL (PY_VERSION_HEX >= 0x030700A1) + #endif + #ifndef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 1 + #endif + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #endif + #if PY_VERSION_HEX < 0x030400a1 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #elif !defined(CYTHON_USE_TP_FINALIZE) + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #if PY_VERSION_HEX < 0x030600B1 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #elif !defined(CYTHON_USE_DICT_VERSIONS) + #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX < 0x030C00A5) + #endif + #if PY_VERSION_HEX < 0x030700A3 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #elif !defined(CYTHON_USE_EXC_INFO_STACK) + #define CYTHON_USE_EXC_INFO_STACK 1 + #endif + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 1 + #endif +#endif +#if !defined(CYTHON_FAST_PYCCALL) +#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) +#endif +#if !defined(CYTHON_VECTORCALL) +#define CYTHON_VECTORCALL (CYTHON_FAST_PYCCALL && PY_VERSION_HEX >= 0x030800B1) +#endif +#define CYTHON_BACKPORT_VECTORCALL (CYTHON_METH_FASTCALL && PY_VERSION_HEX < 0x030800B1) +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_MAJOR_VERSION < 3 + #include "longintrepr.h" + #endif + #undef SHIFT + #undef BASE + #undef MASK + #ifdef SIZEOF_VOID_P + enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; + #endif +#endif +#ifndef __has_attribute + #define __has_attribute(x) 0 +#endif +#ifndef __has_cpp_attribute + #define __has_cpp_attribute(x) 0 +#endif +#ifndef CYTHON_RESTRICT + #if defined(__GNUC__) + #define CYTHON_RESTRICT __restrict__ + #elif defined(_MSC_VER) && _MSC_VER >= 1400 + #define CYTHON_RESTRICT __restrict + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_RESTRICT restrict + #else + #define CYTHON_RESTRICT + #endif +#endif +#ifndef CYTHON_UNUSED + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(maybe_unused) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(maybe_unused) + #define CYTHON_UNUSED [[maybe_unused]] + #endif + #endif + #endif +#endif +#ifndef CYTHON_UNUSED +# if defined(__GNUC__) +# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_UNUSED_VAR +# if defined(__cplusplus) + template void CYTHON_UNUSED_VAR( const T& ) { } +# else +# define CYTHON_UNUSED_VAR(x) (void)(x) +# endif +#endif +#ifndef CYTHON_MAYBE_UNUSED_VAR + #define CYTHON_MAYBE_UNUSED_VAR(x) CYTHON_UNUSED_VAR(x) +#endif +#ifndef CYTHON_NCP_UNUSED +# if CYTHON_COMPILING_IN_CPYTHON +# define CYTHON_NCP_UNUSED +# else +# define CYTHON_NCP_UNUSED CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_USE_CPP_STD_MOVE + #if defined(__cplusplus) && (\ + __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600)) + #define CYTHON_USE_CPP_STD_MOVE 1 + #else + #define CYTHON_USE_CPP_STD_MOVE 0 + #endif +#endif +#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) +#ifdef _MSC_VER + #ifndef _MSC_STDINT_H_ + #if _MSC_VER < 1300 + typedef unsigned char uint8_t; + typedef unsigned short uint16_t; + typedef unsigned int uint32_t; + #else + typedef unsigned __int8 uint8_t; + typedef unsigned __int16 uint16_t; + typedef unsigned __int32 uint32_t; + #endif + #endif + #if _MSC_VER < 1300 + #ifdef _WIN64 + typedef unsigned long long __pyx_uintptr_t; + #else + typedef unsigned int __pyx_uintptr_t; + #endif + #else + #ifdef _WIN64 + typedef unsigned __int64 __pyx_uintptr_t; + #else + typedef unsigned __int32 __pyx_uintptr_t; + #endif + #endif +#else + #include + typedef uintptr_t __pyx_uintptr_t; +#endif +#ifndef CYTHON_FALLTHROUGH + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(fallthrough) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(fallthrough) + #define CYTHON_FALLTHROUGH [[fallthrough]] + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_cpp_attribute(clang::fallthrough) + #define CYTHON_FALLTHROUGH [[clang::fallthrough]] + #elif __has_cpp_attribute(gnu::fallthrough) + #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] + #endif + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_attribute(fallthrough) + #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) + #else + #define CYTHON_FALLTHROUGH + #endif + #endif + #if defined(__clang__) && defined(__apple_build_version__) + #if __apple_build_version__ < 7000000 + #undef CYTHON_FALLTHROUGH + #define CYTHON_FALLTHROUGH + #endif + #endif +#endif +#ifdef __cplusplus + template + struct __PYX_IS_UNSIGNED_IMPL {static const bool value = T(0) < T(-1);}; + #define __PYX_IS_UNSIGNED(type) (__PYX_IS_UNSIGNED_IMPL::value) +#else + #define __PYX_IS_UNSIGNED(type) (((type)-1) > 0) +#endif +#if CYTHON_COMPILING_IN_PYPY == 1 + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x030A0000) +#else + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000) +#endif +#define __PYX_REINTERPRET_FUNCION(func_pointer, other_pointer) ((func_pointer)(void(*)(void))(other_pointer)) + +#ifndef __cplusplus + #error "Cython files generated with the C++ option must be compiled with a C++ compiler." +#endif +#ifndef CYTHON_INLINE + #if defined(__clang__) + #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) + #else + #define CYTHON_INLINE inline + #endif +#endif +template +void __Pyx_call_destructor(T& x) { + x.~T(); +} +template +class __Pyx_FakeReference { + public: + __Pyx_FakeReference() : ptr(NULL) { } + __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } + T *operator->() { return ptr; } + T *operator&() { return ptr; } + operator T&() { return *ptr; } + template bool operator ==(const U& other) const { return *ptr == other; } + template bool operator !=(const U& other) const { return *ptr != other; } + template bool operator==(const __Pyx_FakeReference& other) const { return *ptr == *other.ptr; } + template bool operator!=(const __Pyx_FakeReference& other) const { return *ptr != *other.ptr; } + private: + T *ptr; +}; + +#define __PYX_BUILD_PY_SSIZE_T "n" +#define CYTHON_FORMAT_SSIZE_T "z" +#if PY_MAJOR_VERSION < 3 + #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" + #define __Pyx_DefaultClassType PyClass_Type + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_BUILTIN_MODULE_NAME "builtins" + #define __Pyx_DefaultClassType PyType_Type +#if CYTHON_COMPILING_IN_LIMITED_API + static CYTHON_INLINE PyObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyObject *exception_table = NULL; + PyObject *types_module=NULL, *code_type=NULL, *result=NULL; + #if __PYX_LIMITED_VERSION_HEX < 0x030B0000 + PyObject *version_info; + PyObject *py_minor_version = NULL; + #endif + long minor_version = 0; + PyObject *type, *value, *traceback; + PyErr_Fetch(&type, &value, &traceback); + #if __PYX_LIMITED_VERSION_HEX >= 0x030B0000 + minor_version = 11; + #else + if (!(version_info = PySys_GetObject("version_info"))) goto end; + if (!(py_minor_version = PySequence_GetItem(version_info, 1))) goto end; + minor_version = PyLong_AsLong(py_minor_version); + Py_DECREF(py_minor_version); + if (minor_version == -1 && PyErr_Occurred()) goto end; + #endif + if (!(types_module = PyImport_ImportModule("types"))) goto end; + if (!(code_type = PyObject_GetAttrString(types_module, "CodeType"))) goto end; + if (minor_version <= 7) { + (void)p; + result = PyObject_CallFunction(code_type, "iiiiiOOOOOOiOO", a, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else if (minor_version <= 10) { + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else { + if (!(exception_table = PyBytes_FromStringAndSize(NULL, 0))) goto end; + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, name, fline, lnos, exception_table, fv, cell); + } + end: + Py_XDECREF(code_type); + Py_XDECREF(exception_table); + Py_XDECREF(types_module); + if (type) { + PyErr_Restore(type, value, traceback); + } + return result; + } + #ifndef CO_OPTIMIZED + #define CO_OPTIMIZED 0x0001 + #endif + #ifndef CO_NEWLOCALS + #define CO_NEWLOCALS 0x0002 + #endif + #ifndef CO_VARARGS + #define CO_VARARGS 0x0004 + #endif + #ifndef CO_VARKEYWORDS + #define CO_VARKEYWORDS 0x0008 + #endif + #ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x0200 + #endif + #ifndef CO_GENERATOR + #define CO_GENERATOR 0x0020 + #endif + #ifndef CO_COROUTINE + #define CO_COROUTINE 0x0080 + #endif +#elif PY_VERSION_HEX >= 0x030B0000 + static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyCodeObject *result; + PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); + if (!empty_bytes) return NULL; + result = + #if PY_VERSION_HEX >= 0x030C0000 + PyUnstable_Code_NewWithPosOnlyArgs + #else + PyCode_NewWithPosOnlyArgs + #endif + (a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, name, fline, lnos, empty_bytes); + Py_DECREF(empty_bytes); + return result; + } +#elif PY_VERSION_HEX >= 0x030800B2 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_NewWithPosOnlyArgs(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#endif +#endif +#if PY_VERSION_HEX >= 0x030900A4 || defined(Py_IS_TYPE) + #define __Pyx_IS_TYPE(ob, type) Py_IS_TYPE(ob, type) +#else + #define __Pyx_IS_TYPE(ob, type) (((const PyObject*)ob)->ob_type == (type)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_Is) + #define __Pyx_Py_Is(x, y) Py_Is(x, y) +#else + #define __Pyx_Py_Is(x, y) ((x) == (y)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsNone) + #define __Pyx_Py_IsNone(ob) Py_IsNone(ob) +#else + #define __Pyx_Py_IsNone(ob) __Pyx_Py_Is((ob), Py_None) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsTrue) + #define __Pyx_Py_IsTrue(ob) Py_IsTrue(ob) +#else + #define __Pyx_Py_IsTrue(ob) __Pyx_Py_Is((ob), Py_True) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsFalse) + #define __Pyx_Py_IsFalse(ob) Py_IsFalse(ob) +#else + #define __Pyx_Py_IsFalse(ob) __Pyx_Py_Is((ob), Py_False) +#endif +#define __Pyx_NoneAsNull(obj) (__Pyx_Py_IsNone(obj) ? NULL : (obj)) +#if PY_VERSION_HEX >= 0x030900F0 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_GC_IsFinalized(o) PyObject_GC_IsFinalized(o) +#else + #define __Pyx_PyObject_GC_IsFinalized(o) _PyGC_FINALIZED(o) +#endif +#ifndef CO_COROUTINE + #define CO_COROUTINE 0x80 +#endif +#ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x200 +#endif +#ifndef Py_TPFLAGS_CHECKTYPES + #define Py_TPFLAGS_CHECKTYPES 0 +#endif +#ifndef Py_TPFLAGS_HAVE_INDEX + #define Py_TPFLAGS_HAVE_INDEX 0 +#endif +#ifndef Py_TPFLAGS_HAVE_NEWBUFFER + #define Py_TPFLAGS_HAVE_NEWBUFFER 0 +#endif +#ifndef Py_TPFLAGS_HAVE_FINALIZE + #define Py_TPFLAGS_HAVE_FINALIZE 0 +#endif +#ifndef Py_TPFLAGS_SEQUENCE + #define Py_TPFLAGS_SEQUENCE 0 +#endif +#ifndef Py_TPFLAGS_MAPPING + #define Py_TPFLAGS_MAPPING 0 +#endif +#ifndef METH_STACKLESS + #define METH_STACKLESS 0 +#endif +#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) + #ifndef METH_FASTCALL + #define METH_FASTCALL 0x80 + #endif + typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); + typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, + Py_ssize_t nargs, PyObject *kwnames); +#else + #define __Pyx_PyCFunctionFast _PyCFunctionFast + #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords +#endif +#if CYTHON_METH_FASTCALL + #define __Pyx_METH_FASTCALL METH_FASTCALL + #define __Pyx_PyCFunction_FastCall __Pyx_PyCFunctionFast + #define __Pyx_PyCFunction_FastCallWithKeywords __Pyx_PyCFunctionFastWithKeywords +#else + #define __Pyx_METH_FASTCALL METH_VARARGS + #define __Pyx_PyCFunction_FastCall PyCFunction + #define __Pyx_PyCFunction_FastCallWithKeywords PyCFunctionWithKeywords +#endif +#if CYTHON_VECTORCALL + #define __pyx_vectorcallfunc vectorcallfunc + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET PY_VECTORCALL_ARGUMENTS_OFFSET + #define __Pyx_PyVectorcall_NARGS(n) PyVectorcall_NARGS((size_t)(n)) +#elif CYTHON_BACKPORT_VECTORCALL + typedef PyObject *(*__pyx_vectorcallfunc)(PyObject *callable, PyObject *const *args, + size_t nargsf, PyObject *kwnames); + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET ((size_t)1 << (8 * sizeof(size_t) - 1)) + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(((size_t)(n)) & ~__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET)) +#else + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET 0 + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(n)) +#endif +#if PY_MAJOR_VERSION >= 0x030900B1 +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_CheckExact(func) +#else +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_Check(func) +#endif +#define __Pyx_CyOrPyCFunction_Check(func) PyCFunction_Check(func) +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) (((PyCFunctionObject*)(func))->m_ml->ml_meth) +#elif !CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) PyCFunction_GET_FUNCTION(func) +#endif +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FLAGS(func) (((PyCFunctionObject*)(func))->m_ml->ml_flags) +static CYTHON_INLINE PyObject* __Pyx_CyOrPyCFunction_GET_SELF(PyObject *func) { + return (__Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_STATIC) ? NULL : ((PyCFunctionObject*)func)->m_self; +} +#endif +static CYTHON_INLINE int __Pyx__IsSameCFunction(PyObject *func, void *cfunc) { +#if CYTHON_COMPILING_IN_LIMITED_API + return PyCFunction_Check(func) && PyCFunction_GetFunction(func) == (PyCFunction) cfunc; +#else + return PyCFunction_Check(func) && PyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +#endif +} +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCFunction(func, cfunc) +#if __PYX_LIMITED_VERSION_HEX < 0x030900B1 + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) ((void)m, PyType_FromSpecWithBases(s, b)) + typedef PyObject *(*__Pyx_PyCMethod)(PyObject *, PyTypeObject *, PyObject *const *, size_t, PyObject *); +#else + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) PyType_FromModuleAndSpec(m, s, b) + #define __Pyx_PyCMethod PyCMethod +#endif +#ifndef METH_METHOD + #define METH_METHOD 0x200 +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) + #define PyObject_Malloc(s) PyMem_Malloc(s) + #define PyObject_Free(p) PyMem_Free(p) + #define PyObject_Realloc(p) PyMem_Realloc(p) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) +#else + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyThreadState_Current PyThreadState_Get() +#elif !CYTHON_FAST_THREAD_STATE + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#elif PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyThreadState_Current PyThreadState_GetUnchecked() +#elif PY_VERSION_HEX >= 0x03060000 + #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() +#elif PY_VERSION_HEX >= 0x03000000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#else + #define __Pyx_PyThreadState_Current _PyThreadState_Current +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE void *__Pyx_PyModule_GetState(PyObject *op) +{ + void *result; + result = PyModule_GetState(op); + if (!result) + Py_FatalError("Couldn't find the module state"); + return result; +} +#endif +#define __Pyx_PyObject_GetSlot(obj, name, func_ctype) __Pyx_PyType_GetSlot(Py_TYPE(obj), name, func_ctype) +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((func_ctype) PyType_GetSlot((type), Py_##name)) +#else + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((type)->name) +#endif +#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) +#include "pythread.h" +#define Py_tss_NEEDS_INIT 0 +typedef int Py_tss_t; +static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { + *key = PyThread_create_key(); + return 0; +} +static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { + Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); + *key = Py_tss_NEEDS_INIT; + return key; +} +static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { + PyObject_Free(key); +} +static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { + return *key != Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { + PyThread_delete_key(*key); + *key = Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { + return PyThread_set_key_value(*key, value); +} +static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { + return PyThread_get_key_value(*key); +} +#endif +#if PY_MAJOR_VERSION < 3 + #if CYTHON_COMPILING_IN_PYPY + #if PYPY_VERSION_NUM < 0x07030600 + #if defined(__cplusplus) && __cplusplus >= 201402L + [[deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")]] + #elif defined(__GNUC__) || defined(__clang__) + __attribute__ ((__deprecated__("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6"))) + #elif defined(_MSC_VER) + __declspec(deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")) + #endif + static CYTHON_INLINE int PyGILState_Check(void) { + return 0; + } + #else // PYPY_VERSION_NUM < 0x07030600 + #endif // PYPY_VERSION_NUM < 0x07030600 + #else + static CYTHON_INLINE int PyGILState_Check(void) { + PyThreadState * tstate = _PyThreadState_Current; + return tstate && (tstate == PyGILState_GetThisThreadState()); + } + #endif +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030d0000 || defined(_PyDict_NewPresized) +#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) +#else +#define __Pyx_PyDict_NewPresized(n) PyDict_New() +#endif +#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION + #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) +#else + #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX > 0x030600B4 && PY_VERSION_HEX < 0x030d0000 && CYTHON_USE_UNICODE_INTERNALS +#define __Pyx_PyDict_GetItemStrWithError(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStr(PyObject *dict, PyObject *name) { + PyObject *res = __Pyx_PyDict_GetItemStrWithError(dict, name); + if (res == NULL) PyErr_Clear(); + return res; +} +#elif PY_MAJOR_VERSION >= 3 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07020000) +#define __Pyx_PyDict_GetItemStrWithError PyDict_GetItemWithError +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#else +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStrWithError(PyObject *dict, PyObject *name) { +#if CYTHON_COMPILING_IN_PYPY + return PyDict_GetItem(dict, name); +#else + PyDictEntry *ep; + PyDictObject *mp = (PyDictObject*) dict; + long hash = ((PyStringObject *) name)->ob_shash; + assert(hash != -1); + ep = (mp->ma_lookup)(mp, name, hash); + if (ep == NULL) { + return NULL; + } + return ep->me_value; +#endif +} +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#endif +#if CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyType_GetFlags(tp) (((PyTypeObject *)tp)->tp_flags) + #define __Pyx_PyType_HasFeature(type, feature) ((__Pyx_PyType_GetFlags(type) & (feature)) != 0) + #define __Pyx_PyObject_GetIterNextFunc(obj) (Py_TYPE(obj)->tp_iternext) +#else + #define __Pyx_PyType_GetFlags(tp) (PyType_GetFlags((PyTypeObject *)tp)) + #define __Pyx_PyType_HasFeature(type, feature) PyType_HasFeature(type, feature) + #define __Pyx_PyObject_GetIterNextFunc(obj) PyIter_Next +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyObject_GenericSetAttr((PyObject*)tp, k, v) +#else + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyDict_SetItem(tp->tp_dict, k, v) +#endif +#if CYTHON_USE_TYPE_SPECS && PY_VERSION_HEX >= 0x03080000 +#define __Pyx_PyHeapTypeObject_GC_Del(obj) {\ + PyTypeObject *type = Py_TYPE((PyObject*)obj);\ + assert(__Pyx_PyType_HasFeature(type, Py_TPFLAGS_HEAPTYPE));\ + PyObject_GC_Del(obj);\ + Py_DECREF(type);\ +} +#else +#define __Pyx_PyHeapTypeObject_GC_Del(obj) PyObject_GC_Del(obj) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define CYTHON_PEP393_ENABLED 1 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GetLength(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_ReadChar(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((void)u, 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((void)u, (0)) + #define __Pyx_PyUnicode_DATA(u) ((void*)u) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)k, PyUnicode_ReadChar((PyObject*)(d), i)) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GetLength(u)) +#elif PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) + #define CYTHON_PEP393_ENABLED 1 + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_READY(op) (0) + #else + #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ + 0 : _PyUnicode_Ready((PyObject *)(op))) + #endif + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) + #define __Pyx_PyUnicode_KIND(u) ((int)PyUnicode_KIND(u)) + #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) + #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, (Py_UCS4) ch) + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) + #else + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) + #endif + #endif +#else + #define CYTHON_PEP393_ENABLED 0 + #define PyUnicode_1BYTE_KIND 1 + #define PyUnicode_2BYTE_KIND 2 + #define PyUnicode_4BYTE_KIND 4 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535U : 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((int)sizeof(Py_UNICODE)) + #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = (Py_UNICODE) ch) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) +#else + #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ + PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #if !defined(PyUnicode_DecodeUnicodeEscape) + #define PyUnicode_DecodeUnicodeEscape(s, size, errors) PyUnicode_Decode(s, size, "unicode_escape", errors) + #endif + #if !defined(PyUnicode_Contains) || (PY_MAJOR_VERSION == 2 && PYPY_VERSION_NUM < 0x07030500) + #undef PyUnicode_Contains + #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) + #endif + #if !defined(PyByteArray_Check) + #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) + #endif + #if !defined(PyObject_Format) + #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) + #endif +#endif +#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) +#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) +#else + #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) +#endif +#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) + #define PyObject_ASCII(o) PyObject_Repr(o) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBaseString_Type PyUnicode_Type + #define PyStringObject PyUnicodeObject + #define PyString_Type PyUnicode_Type + #define PyString_Check PyUnicode_Check + #define PyString_CheckExact PyUnicode_CheckExact +#ifndef PyObject_Unicode + #define PyObject_Unicode PyObject_Str +#endif +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) + #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) +#else + #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) + #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) +#endif +#if CYTHON_COMPILING_IN_CPYTHON + #define __Pyx_PySequence_ListKeepNew(obj)\ + (likely(PyList_CheckExact(obj) && Py_REFCNT(obj) == 1) ? __Pyx_NewRef(obj) : PySequence_List(obj)) +#else + #define __Pyx_PySequence_ListKeepNew(obj) PySequence_List(obj) +#endif +#ifndef PySet_CheckExact + #define PySet_CheckExact(obj) __Pyx_IS_TYPE(obj, &PySet_Type) +#endif +#if PY_VERSION_HEX >= 0x030900A4 + #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) +#else + #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) +#endif +#if CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_PySequence_ITEM(o, i) PySequence_ITEM(o, i) + #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) (PyTuple_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyList_SET_ITEM(o, i, v) (PyList_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_GET_SIZE(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_GET_SIZE(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_GET_SIZE(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_GET_SIZE(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_GET_SIZE(o) +#else + #define __Pyx_PySequence_ITEM(o, i) PySequence_GetItem(o, i) + #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) PyTuple_SetItem(o, i, v) + #define __Pyx_PyList_SET_ITEM(o, i, v) PyList_SetItem(o, i, v) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_Size(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_Size(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_Size(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_Size(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_Size(o) +#endif +#if PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyImport_AddModuleRef(name) PyImport_AddModuleRef(name) +#else + static CYTHON_INLINE PyObject *__Pyx_PyImport_AddModuleRef(const char *name) { + PyObject *module = PyImport_AddModule(name); + Py_XINCREF(module); + return module; + } +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyIntObject PyLongObject + #define PyInt_Type PyLong_Type + #define PyInt_Check(op) PyLong_Check(op) + #define PyInt_CheckExact(op) PyLong_CheckExact(op) + #define __Pyx_Py3Int_Check(op) PyLong_Check(op) + #define __Pyx_Py3Int_CheckExact(op) PyLong_CheckExact(op) + #define PyInt_FromString PyLong_FromString + #define PyInt_FromUnicode PyLong_FromUnicode + #define PyInt_FromLong PyLong_FromLong + #define PyInt_FromSize_t PyLong_FromSize_t + #define PyInt_FromSsize_t PyLong_FromSsize_t + #define PyInt_AsLong PyLong_AsLong + #define PyInt_AS_LONG PyLong_AS_LONG + #define PyInt_AsSsize_t PyLong_AsSsize_t + #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask + #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask + #define PyNumber_Int PyNumber_Long +#else + #define __Pyx_Py3Int_Check(op) (PyLong_Check(op) || PyInt_Check(op)) + #define __Pyx_Py3Int_CheckExact(op) (PyLong_CheckExact(op) || PyInt_CheckExact(op)) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBoolObject PyLongObject +#endif +#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY + #ifndef PyUnicode_InternFromString + #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) + #endif +#endif +#if PY_VERSION_HEX < 0x030200A4 + typedef long Py_hash_t; + #define __Pyx_PyInt_FromHash_t PyInt_FromLong + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t +#else + #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t +#endif +#if CYTHON_USE_ASYNC_SLOTS + #if PY_VERSION_HEX >= 0x030500B1 + #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods + #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) + #else + #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) + #endif +#else + #define __Pyx_PyType_AsAsync(obj) NULL +#endif +#ifndef __Pyx_PyAsyncMethodsStruct + typedef struct { + unaryfunc am_await; + unaryfunc am_aiter; + unaryfunc am_anext; + } __Pyx_PyAsyncMethodsStruct; +#endif + +#if defined(_WIN32) || defined(WIN32) || defined(MS_WINDOWS) + #if !defined(_USE_MATH_DEFINES) + #define _USE_MATH_DEFINES + #endif +#endif +#include +#ifdef NAN +#define __PYX_NAN() ((float) NAN) +#else +static CYTHON_INLINE float __PYX_NAN() { + float value; + memset(&value, 0xFF, sizeof(value)); + return value; +} +#endif +#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) +#define __Pyx_truncl trunc +#else +#define __Pyx_truncl truncl +#endif + +#define __PYX_MARK_ERR_POS(f_index, lineno) \ + { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } +#define __PYX_ERR(f_index, lineno, Ln_error) \ + { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } + +#ifdef CYTHON_EXTERN_C + #undef __PYX_EXTERN_C + #define __PYX_EXTERN_C CYTHON_EXTERN_C +#elif defined(__PYX_EXTERN_C) + #ifdef _MSC_VER + #pragma message ("Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead.") + #else + #warning Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead. + #endif +#else + #define __PYX_EXTERN_C extern "C++" +#endif + +#define __PYX_HAVE__opendbc__can__packer_pyx +#define __PYX_HAVE_API__opendbc__can__packer_pyx +/* Early includes */ +#include +#include "ios" +#include "new" +#include "stdexcept" +#include "typeinfo" +#include +#include + + #if __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600) + // move should be defined for these versions of MSVC, but __cplusplus isn't set usefully + #include + + namespace cython_std { + template typename std::remove_reference::type&& move(T& t) noexcept { return std::move(t); } + template typename std::remove_reference::type&& move(T&& t) noexcept { return std::move(t); } + } + + #endif + +#include +#include +#include +#include "common_dbc.h" +#include "common.h" +#ifdef _OPENMP +#include +#endif /* _OPENMP */ + +#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) +#define CYTHON_WITHOUT_ASSERTIONS +#endif + +typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; + const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; + +#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 1 +#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) +#define __PYX_DEFAULT_STRING_ENCODING "ascii" +#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString +#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#define __Pyx_uchar_cast(c) ((unsigned char)c) +#define __Pyx_long_cast(x) ((long)x) +#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ + (sizeof(type) < sizeof(Py_ssize_t)) ||\ + (sizeof(type) > sizeof(Py_ssize_t) &&\ + likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX) &&\ + (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ + v == (type)PY_SSIZE_T_MIN))) ||\ + (sizeof(type) == sizeof(Py_ssize_t) &&\ + (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX))) ) +static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { + return (size_t) i < (size_t) limit; +} +#if defined (__cplusplus) && __cplusplus >= 201103L + #include + #define __Pyx_sst_abs(value) std::abs(value) +#elif SIZEOF_INT >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) abs(value) +#elif SIZEOF_LONG >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) labs(value) +#elif defined (_MSC_VER) + #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) +#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define __Pyx_sst_abs(value) llabs(value) +#elif defined (__GNUC__) + #define __Pyx_sst_abs(value) __builtin_llabs(value) +#else + #define __Pyx_sst_abs(value) ((value<0) ? -value : value) +#endif +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s); +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char*); +#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) +#define __Pyx_PyBytes_FromString PyBytes_FromString +#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); +#if PY_MAJOR_VERSION < 3 + #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#else + #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize +#endif +#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyObject_AsWritableString(s) ((char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableSString(s) ((signed char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) +#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) +#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) +#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) +#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const wchar_t *u) +{ + const wchar_t *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#else +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) +{ + const Py_UNICODE *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#endif +#define __Pyx_PyUnicode_FromOrdinal(o) PyUnicode_FromOrdinal((int)o) +#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) +#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode +#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode +#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) +#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); +#define __Pyx_PySequence_Tuple(obj)\ + (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); +#if CYTHON_ASSUME_SAFE_MACROS +#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) +#else +#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) +#endif +#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) +#else +#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) +#endif +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_VERSION_HEX >= 0x030C00A7 + #ifndef _PyLong_SIGN_MASK + #define _PyLong_SIGN_MASK 3 + #endif + #ifndef _PyLong_NON_SIZE_BITS + #define _PyLong_NON_SIZE_BITS 3 + #endif + #define __Pyx_PyLong_Sign(x) (((PyLongObject*)x)->long_value.lv_tag & _PyLong_SIGN_MASK) + #define __Pyx_PyLong_IsNeg(x) ((__Pyx_PyLong_Sign(x) & 2) != 0) + #define __Pyx_PyLong_IsNonNeg(x) (!__Pyx_PyLong_IsNeg(x)) + #define __Pyx_PyLong_IsZero(x) (__Pyx_PyLong_Sign(x) & 1) + #define __Pyx_PyLong_IsPos(x) (__Pyx_PyLong_Sign(x) == 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) (__Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) ((Py_ssize_t) (((PyLongObject*)x)->long_value.lv_tag >> _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_SignedDigitCount(x)\ + ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * __Pyx_PyLong_DigitCount(x)) + #if defined(PyUnstable_Long_IsCompact) && defined(PyUnstable_Long_CompactValue) + #define __Pyx_PyLong_IsCompact(x) PyUnstable_Long_IsCompact((PyLongObject*) x) + #define __Pyx_PyLong_CompactValue(x) PyUnstable_Long_CompactValue((PyLongObject*) x) + #else + #define __Pyx_PyLong_IsCompact(x) (((PyLongObject*)x)->long_value.lv_tag < (2 << _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_CompactValue(x) ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * (Py_ssize_t) __Pyx_PyLong_Digits(x)[0]) + #endif + typedef Py_ssize_t __Pyx_compact_pylong; + typedef size_t __Pyx_compact_upylong; + #else + #define __Pyx_PyLong_IsNeg(x) (Py_SIZE(x) < 0) + #define __Pyx_PyLong_IsNonNeg(x) (Py_SIZE(x) >= 0) + #define __Pyx_PyLong_IsZero(x) (Py_SIZE(x) == 0) + #define __Pyx_PyLong_IsPos(x) (Py_SIZE(x) > 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) ((Py_SIZE(x) == 0) ? 0 : __Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) __Pyx_sst_abs(Py_SIZE(x)) + #define __Pyx_PyLong_SignedDigitCount(x) Py_SIZE(x) + #define __Pyx_PyLong_IsCompact(x) (Py_SIZE(x) == 0 || Py_SIZE(x) == 1 || Py_SIZE(x) == -1) + #define __Pyx_PyLong_CompactValue(x)\ + ((Py_SIZE(x) == 0) ? (sdigit) 0 : ((Py_SIZE(x) < 0) ? -(sdigit)__Pyx_PyLong_Digits(x)[0] : (sdigit)__Pyx_PyLong_Digits(x)[0])) + typedef sdigit __Pyx_compact_pylong; + typedef digit __Pyx_compact_upylong; + #endif + #if PY_VERSION_HEX >= 0x030C00A5 + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->long_value.ob_digit) + #else + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->ob_digit) + #endif +#endif +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII +#include +static int __Pyx_sys_getdefaultencoding_not_ascii; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + PyObject* ascii_chars_u = NULL; + PyObject* ascii_chars_b = NULL; + const char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + if (strcmp(default_encoding_c, "ascii") == 0) { + __Pyx_sys_getdefaultencoding_not_ascii = 0; + } else { + char ascii_chars[128]; + int c; + for (c = 0; c < 128; c++) { + ascii_chars[c] = (char) c; + } + __Pyx_sys_getdefaultencoding_not_ascii = 1; + ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); + if (!ascii_chars_u) goto bad; + ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); + if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { + PyErr_Format( + PyExc_ValueError, + "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", + default_encoding_c); + goto bad; + } + Py_DECREF(ascii_chars_u); + Py_DECREF(ascii_chars_b); + } + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + Py_XDECREF(ascii_chars_u); + Py_XDECREF(ascii_chars_b); + return -1; +} +#endif +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3 +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL) +#else +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL) +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#include +static char* __PYX_DEFAULT_STRING_ENCODING; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1); + if (!__PYX_DEFAULT_STRING_ENCODING) goto bad; + strcpy(__PYX_DEFAULT_STRING_ENCODING, default_encoding_c); + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + return -1; +} +#endif +#endif + + +/* Test for GCC > 2.95 */ +#if defined(__GNUC__) && (__GNUC__ > 2 || (__GNUC__ == 2 && (__GNUC_MINOR__ > 95))) + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#else /* !__GNUC__ or GCC < 2.95 */ + #define likely(x) (x) + #define unlikely(x) (x) +#endif /* __GNUC__ */ +static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void)ptr; } + +#if !CYTHON_USE_MODULE_STATE +static PyObject *__pyx_m = NULL; +#endif +static int __pyx_lineno; +static int __pyx_clineno = 0; +static const char * __pyx_cfilenm = __FILE__; +static const char *__pyx_filename; + +/* #### Code section: filename_table ### */ + +static const char *__pyx_f[] = { + "opendbc/can/packer_pyx.pyx", + "", +}; +/* #### Code section: utility_code_proto_before_types ### */ +/* ForceInitThreads.proto */ +#ifndef __PYX_FORCE_INIT_THREADS + #define __PYX_FORCE_INIT_THREADS 0 +#endif + +/* #### Code section: numeric_typedefs ### */ +/* #### Code section: complex_type_declarations ### */ +/* #### Code section: type_declarations ### */ + +/*--- Type declarations ---*/ +struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker; + +/* "common.pxd":12 + * + * + * ctypedef unsigned int (*calc_checksum_type)(uint32_t, const Signal&, const vector[uint8_t] &) # <<<<<<<<<<<<<< + * + * cdef extern from "common_dbc.h": + */ +typedef unsigned int (*__pyx_t_7opendbc_3can_6common_calc_checksum_type)(uint32_t, struct Signal const &, std::vector const &); + +/* "opendbc/can/packer_pyx.pyx":11 + * + * + * cdef class CANPacker: # <<<<<<<<<<<<<< + * cdef: + * cpp_CANPacker *packer + */ +struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker { + PyObject_HEAD + struct __pyx_vtabstruct_7opendbc_3can_10packer_pyx_CANPacker *__pyx_vtab; + CANPacker *packer; + struct DBC const *dbc; +}; + + + +struct __pyx_vtabstruct_7opendbc_3can_10packer_pyx_CANPacker { + std::vector (*pack)(struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *, PyObject *, PyObject *); + PyObject *(*make_can_msg)(struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *, PyObject *, PyObject *, PyObject *, int __pyx_skip_dispatch); +}; +static struct __pyx_vtabstruct_7opendbc_3can_10packer_pyx_CANPacker *__pyx_vtabptr_7opendbc_3can_10packer_pyx_CANPacker; +/* #### Code section: utility_code_proto ### */ + +/* --- Runtime support code (head) --- */ +/* Refnanny.proto */ +#ifndef CYTHON_REFNANNY + #define CYTHON_REFNANNY 0 +#endif +#if CYTHON_REFNANNY + typedef struct { + void (*INCREF)(void*, PyObject*, Py_ssize_t); + void (*DECREF)(void*, PyObject*, Py_ssize_t); + void (*GOTREF)(void*, PyObject*, Py_ssize_t); + void (*GIVEREF)(void*, PyObject*, Py_ssize_t); + void* (*SetupContext)(const char*, Py_ssize_t, const char*); + void (*FinishContext)(void**); + } __Pyx_RefNannyAPIStruct; + static __Pyx_RefNannyAPIStruct *__Pyx_RefNanny = NULL; + static __Pyx_RefNannyAPIStruct *__Pyx_RefNannyImportAPI(const char *modname); + #define __Pyx_RefNannyDeclarations void *__pyx_refnanny = NULL; +#ifdef WITH_THREAD + #define __Pyx_RefNannySetupContext(name, acquire_gil)\ + if (acquire_gil) {\ + PyGILState_STATE __pyx_gilstate_save = PyGILState_Ensure();\ + __pyx_refnanny = __Pyx_RefNanny->SetupContext((name), (__LINE__), (__FILE__));\ + PyGILState_Release(__pyx_gilstate_save);\ + } else {\ + __pyx_refnanny = __Pyx_RefNanny->SetupContext((name), (__LINE__), (__FILE__));\ + } + #define __Pyx_RefNannyFinishContextNogil() {\ + PyGILState_STATE __pyx_gilstate_save = PyGILState_Ensure();\ + __Pyx_RefNannyFinishContext();\ + PyGILState_Release(__pyx_gilstate_save);\ + } +#else + #define __Pyx_RefNannySetupContext(name, acquire_gil)\ + __pyx_refnanny = __Pyx_RefNanny->SetupContext((name), (__LINE__), (__FILE__)) + #define __Pyx_RefNannyFinishContextNogil() __Pyx_RefNannyFinishContext() +#endif + #define __Pyx_RefNannyFinishContextNogil() {\ + PyGILState_STATE __pyx_gilstate_save = PyGILState_Ensure();\ + __Pyx_RefNannyFinishContext();\ + PyGILState_Release(__pyx_gilstate_save);\ + } + #define __Pyx_RefNannyFinishContext()\ + __Pyx_RefNanny->FinishContext(&__pyx_refnanny) + #define __Pyx_INCREF(r) __Pyx_RefNanny->INCREF(__pyx_refnanny, (PyObject *)(r), (__LINE__)) + #define __Pyx_DECREF(r) __Pyx_RefNanny->DECREF(__pyx_refnanny, (PyObject *)(r), (__LINE__)) + #define __Pyx_GOTREF(r) __Pyx_RefNanny->GOTREF(__pyx_refnanny, (PyObject *)(r), (__LINE__)) + #define __Pyx_GIVEREF(r) __Pyx_RefNanny->GIVEREF(__pyx_refnanny, (PyObject *)(r), (__LINE__)) + #define __Pyx_XINCREF(r) do { if((r) == NULL); else {__Pyx_INCREF(r); }} while(0) + #define __Pyx_XDECREF(r) do { if((r) == NULL); else {__Pyx_DECREF(r); }} while(0) + #define __Pyx_XGOTREF(r) do { if((r) == NULL); else {__Pyx_GOTREF(r); }} while(0) + #define __Pyx_XGIVEREF(r) do { if((r) == NULL); else {__Pyx_GIVEREF(r);}} while(0) +#else + #define __Pyx_RefNannyDeclarations + #define __Pyx_RefNannySetupContext(name, acquire_gil) + #define __Pyx_RefNannyFinishContextNogil() + #define __Pyx_RefNannyFinishContext() + #define __Pyx_INCREF(r) Py_INCREF(r) + #define __Pyx_DECREF(r) Py_DECREF(r) + #define __Pyx_GOTREF(r) + #define __Pyx_GIVEREF(r) + #define __Pyx_XINCREF(r) Py_XINCREF(r) + #define __Pyx_XDECREF(r) Py_XDECREF(r) + #define __Pyx_XGOTREF(r) + #define __Pyx_XGIVEREF(r) +#endif +#define __Pyx_Py_XDECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; Py_XDECREF(tmp);\ + } while (0) +#define __Pyx_XDECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_XDECREF(tmp);\ + } while (0) +#define __Pyx_DECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_DECREF(tmp);\ + } while (0) +#define __Pyx_CLEAR(r) do { PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);} while(0) +#define __Pyx_XCLEAR(r) do { if((r) != NULL) {PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);}} while(0) + +/* PyErrExceptionMatches.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_ExceptionMatches(err) __Pyx_PyErr_ExceptionMatchesInState(__pyx_tstate, err) +static CYTHON_INLINE int __Pyx_PyErr_ExceptionMatchesInState(PyThreadState* tstate, PyObject* err); +#else +#define __Pyx_PyErr_ExceptionMatches(err) PyErr_ExceptionMatches(err) +#endif + +/* PyThreadStateGet.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyThreadState_declare PyThreadState *__pyx_tstate; +#define __Pyx_PyThreadState_assign __pyx_tstate = __Pyx_PyThreadState_Current; +#if PY_VERSION_HEX >= 0x030C00A6 +#define __Pyx_PyErr_Occurred() (__pyx_tstate->current_exception != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->current_exception ? (PyObject*) Py_TYPE(__pyx_tstate->current_exception) : (PyObject*) NULL) +#else +#define __Pyx_PyErr_Occurred() (__pyx_tstate->curexc_type != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->curexc_type) +#endif +#else +#define __Pyx_PyThreadState_declare +#define __Pyx_PyThreadState_assign +#define __Pyx_PyErr_Occurred() (PyErr_Occurred() != NULL) +#define __Pyx_PyErr_CurrentExceptionType() PyErr_Occurred() +#endif + +/* PyErrFetchRestore.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_Clear() __Pyx_ErrRestore(NULL, NULL, NULL) +#define __Pyx_ErrRestoreWithState(type, value, tb) __Pyx_ErrRestoreInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) __Pyx_ErrFetchInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) __Pyx_ErrRestoreInState(__pyx_tstate, type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) __Pyx_ErrFetchInState(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A6 +#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) +#else +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#endif +#else +#define __Pyx_PyErr_Clear() PyErr_Clear() +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) +#endif + +/* PyObjectGetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n) +#endif + +/* PyObjectGetAttrStrNoError.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); + +/* GetBuiltinName.proto */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name); + +/* TupleAndListFromArray.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n); +static CYTHON_INLINE PyObject* __Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n); +#endif + +/* IncludeStringH.proto */ +#include + +/* BytesEquals.proto */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals); + +/* UnicodeEquals.proto */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals); + +/* fastcall.proto */ +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_VARARGS(args, i) PySequence_GetItem(args, i) +#elif CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GET_ITEM(args, i) +#else + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GetItem(args, i) +#endif +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_NewRef_VARARGS(arg) __Pyx_NewRef(arg) + #define __Pyx_Arg_XDECREF_VARARGS(arg) Py_XDECREF(arg) +#else + #define __Pyx_Arg_NewRef_VARARGS(arg) arg + #define __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#define __Pyx_NumKwargs_VARARGS(kwds) PyDict_Size(kwds) +#define __Pyx_KwValues_VARARGS(args, nargs) NULL +#define __Pyx_GetKwValue_VARARGS(kw, kwvalues, s) __Pyx_PyDict_GetItemStrWithError(kw, s) +#define __Pyx_KwargsAsDict_VARARGS(kw, kwvalues) PyDict_Copy(kw) +#if CYTHON_METH_FASTCALL + #define __Pyx_Arg_FASTCALL(args, i) args[i] + #define __Pyx_NumKwargs_FASTCALL(kwds) PyTuple_GET_SIZE(kwds) + #define __Pyx_KwValues_FASTCALL(args, nargs) ((args) + (nargs)) + static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); + #else + #define __Pyx_KwargsAsDict_FASTCALL(kw, kwvalues) _PyStack_AsDict(kwvalues, kw) + #endif + #define __Pyx_Arg_NewRef_FASTCALL(arg) arg /* no-op, __Pyx_Arg_FASTCALL is direct and this needs + to have the same reference counting */ + #define __Pyx_Arg_XDECREF_FASTCALL(arg) +#else + #define __Pyx_Arg_FASTCALL __Pyx_Arg_VARARGS + #define __Pyx_NumKwargs_FASTCALL __Pyx_NumKwargs_VARARGS + #define __Pyx_KwValues_FASTCALL __Pyx_KwValues_VARARGS + #define __Pyx_GetKwValue_FASTCALL __Pyx_GetKwValue_VARARGS + #define __Pyx_KwargsAsDict_FASTCALL __Pyx_KwargsAsDict_VARARGS + #define __Pyx_Arg_NewRef_FASTCALL(arg) __Pyx_Arg_NewRef_VARARGS(arg) + #define __Pyx_Arg_XDECREF_FASTCALL(arg) __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_VARARGS(args, start), stop - start) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_FASTCALL(args, start), stop - start) +#else +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) PyTuple_GetSlice(args, start, stop) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) PyTuple_GetSlice(args, start, stop) +#endif + +/* RaiseDoubleKeywords.proto */ +static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); + +/* ParseKeywords.proto */ +static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args, + const char* function_name); + +/* RaiseArgTupleInvalid.proto */ +static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, + Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); + +/* MoveIfSupported.proto */ +#if CYTHON_USE_CPP_STD_MOVE + #include + #define __PYX_STD_MOVE_IF_SUPPORTED(x) std::move(x) +#else + #define __PYX_STD_MOVE_IF_SUPPORTED(x) x +#endif + +/* PyObjectFormatSimple.proto */ +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#elif PY_MAJOR_VERSION < 3 + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyString_CheckExact(s)) ? PyUnicode_FromEncodedObject(s, NULL, "strict") :\ + PyObject_Format(s, f)) +#elif CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyLong_CheckExact(s)) ? PyLong_Type.tp_repr(s) :\ + likely(PyFloat_CheckExact(s)) ? PyFloat_Type.tp_repr(s) :\ + PyObject_Format(s, f)) +#else + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#endif + +/* PyFunctionFastCall.proto */ +#if CYTHON_FAST_PYCALL +#if !CYTHON_VECTORCALL +#define __Pyx_PyFunction_FastCall(func, args, nargs)\ + __Pyx_PyFunction_FastCallDict((func), (args), (nargs), NULL) +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs); +#endif +#define __Pyx_BUILD_ASSERT_EXPR(cond)\ + (sizeof(char [1 - 2*!(cond)]) - 1) +#ifndef Py_MEMBER_SIZE +#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member) +#endif +#if !CYTHON_VECTORCALL +#if PY_VERSION_HEX >= 0x03080000 + #include "frameobject.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif + #define __Pxy_PyFrame_Initialize_Offsets() + #define __Pyx_PyFrame_GetLocalsplus(frame) ((frame)->f_localsplus) +#else + static size_t __pyx_pyframe_localsplus_offset = 0; + #include "frameobject.h" + #define __Pxy_PyFrame_Initialize_Offsets()\ + ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\ + (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus))) + #define __Pyx_PyFrame_GetLocalsplus(frame)\ + (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset)) +#endif +#endif +#endif + +/* PyObjectCall.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw); +#else +#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw) +#endif + +/* PyObjectCallMethO.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg); +#endif + +/* PyObjectFastCall.proto */ +#define __Pyx_PyObject_FastCall(func, args, nargs) __Pyx_PyObject_FastCallDict(func, args, (size_t)(nargs), NULL) +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs); + +/* PyObjectCallOneArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg); + +/* RaiseException.proto */ +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause); + +/* IterFinish.proto */ +static CYTHON_INLINE int __Pyx_IterFinish(void); + +/* PyObjectCallNoArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func); + +/* PyObjectGetMethod.proto */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method); + +/* PyObjectCallMethod0.proto */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name); + +/* RaiseNeedMoreValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index); + +/* RaiseTooManyValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected); + +/* UnpackItemEndCheck.proto */ +static int __Pyx_IternextUnpackEndCheck(PyObject *retval, Py_ssize_t expected); + +/* RaiseNoneIterError.proto */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void); + +/* UnpackTupleError.proto */ +static void __Pyx_UnpackTupleError(PyObject *, Py_ssize_t index); + +/* UnpackTuple2.proto */ +#define __Pyx_unpack_tuple2(tuple, value1, value2, is_tuple, has_known_size, decref_tuple)\ + (likely(is_tuple || PyTuple_Check(tuple)) ?\ + (likely(has_known_size || PyTuple_GET_SIZE(tuple) == 2) ?\ + __Pyx_unpack_tuple2_exact(tuple, value1, value2, decref_tuple) :\ + (__Pyx_UnpackTupleError(tuple, 2), -1)) :\ + __Pyx_unpack_tuple2_generic(tuple, value1, value2, has_known_size, decref_tuple)) +static CYTHON_INLINE int __Pyx_unpack_tuple2_exact( + PyObject* tuple, PyObject** value1, PyObject** value2, int decref_tuple); +static int __Pyx_unpack_tuple2_generic( + PyObject* tuple, PyObject** value1, PyObject** value2, int has_known_size, int decref_tuple); + +/* dict_iter.proto */ +static CYTHON_INLINE PyObject* __Pyx_dict_iterator(PyObject* dict, int is_dict, PyObject* method_name, + Py_ssize_t* p_orig_length, int* p_is_dict); +static CYTHON_INLINE int __Pyx_dict_iter_next(PyObject* dict_or_iter, Py_ssize_t orig_length, Py_ssize_t* ppos, + PyObject** pkey, PyObject** pvalue, PyObject** pitem, int is_dict); + +/* PyDictVersioning.proto */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) +#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ + (version_var) = __PYX_GET_DICT_VERSION(dict);\ + (cache_var) = (value); +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ + (VAR) = __pyx_dict_cached_value;\ + } else {\ + (VAR) = __pyx_dict_cached_value = (LOOKUP);\ + __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ + }\ +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); +#else +#define __PYX_GET_DICT_VERSION(dict) (0) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); +#endif + +/* GetTopmostException.proto */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * __Pyx_PyErr_GetTopmostException(PyThreadState *tstate); +#endif + +/* SaveResetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSave(type, value, tb) __Pyx__ExceptionSave(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#define __Pyx_ExceptionReset(type, value, tb) __Pyx__ExceptionReset(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +#else +#define __Pyx_ExceptionSave(type, value, tb) PyErr_GetExcInfo(type, value, tb) +#define __Pyx_ExceptionReset(type, value, tb) PyErr_SetExcInfo(type, value, tb) +#endif + +/* KeywordStringCheck.proto */ +static int __Pyx_CheckKeywordStrings(PyObject *kw, const char* function_name, int kw_allowed); + +/* IncludeStructmemberH.proto */ +#include + +/* FixUpExtensionType.proto */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type); +#endif + +/* ValidateBasesTuple.proto */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases); +#endif + +/* PyType_Ready.proto */ +CYTHON_UNUSED static int __Pyx_PyType_Ready(PyTypeObject *t); + +/* PyObject_GenericGetAttrNoDict.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr +#endif + +/* PyObject_GenericGetAttr.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr +#endif + +/* SetVTable.proto */ +static int __Pyx_SetVtable(PyTypeObject* typeptr , void* vtable); + +/* GetVTable.proto */ +static void* __Pyx_GetVtable(PyTypeObject *type); + +/* MergeVTables.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type); +#endif + +/* SetupReduce.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce(PyObject* type_obj); +#endif + +/* FetchSharedCythonModule.proto */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void); + +/* FetchCommonType.proto */ +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type); +#else +static PyTypeObject* __Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases); +#endif + +/* PyMethodNew.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + PyObject *typesModule=NULL, *methodType=NULL, *result=NULL; + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + typesModule = PyImport_ImportModule("types"); + if (!typesModule) return NULL; + methodType = PyObject_GetAttrString(typesModule, "MethodType"); + Py_DECREF(typesModule); + if (!methodType) return NULL; + result = PyObject_CallFunctionObjArgs(methodType, func, self, NULL); + Py_DECREF(methodType); + return result; +} +#elif PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + return PyMethod_New(func, self); +} +#else + #define __Pyx_PyMethod_New PyMethod_New +#endif + +/* PyVectorcallFastCallDict.proto */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw); +#endif + +/* CythonFunctionShared.proto */ +#define __Pyx_CyFunction_USED +#define __Pyx_CYFUNCTION_STATICMETHOD 0x01 +#define __Pyx_CYFUNCTION_CLASSMETHOD 0x02 +#define __Pyx_CYFUNCTION_CCLASS 0x04 +#define __Pyx_CYFUNCTION_COROUTINE 0x08 +#define __Pyx_CyFunction_GetClosure(f)\ + (((__pyx_CyFunctionObject *) (f))->func_closure) +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_CyFunction_GetClassObj(f)\ + (((__pyx_CyFunctionObject *) (f))->func_classobj) +#else + #define __Pyx_CyFunction_GetClassObj(f)\ + ((PyObject*) ((PyCMethodObject *) (f))->mm_class) +#endif +#define __Pyx_CyFunction_SetClassObj(f, classobj)\ + __Pyx__CyFunction_SetClassObj((__pyx_CyFunctionObject *) (f), (classobj)) +#define __Pyx_CyFunction_Defaults(type, f)\ + ((type *)(((__pyx_CyFunctionObject *) (f))->defaults)) +#define __Pyx_CyFunction_SetDefaultsGetter(f, g)\ + ((__pyx_CyFunctionObject *) (f))->defaults_getter = (g) +typedef struct { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject_HEAD + PyObject *func; +#elif PY_VERSION_HEX < 0x030900B1 + PyCFunctionObject func; +#else + PyCMethodObject func; +#endif +#if CYTHON_BACKPORT_VECTORCALL + __pyx_vectorcallfunc func_vectorcall; +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_weakreflist; +#endif + PyObject *func_dict; + PyObject *func_name; + PyObject *func_qualname; + PyObject *func_doc; + PyObject *func_globals; + PyObject *func_code; + PyObject *func_closure; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_classobj; +#endif + void *defaults; + int defaults_pyobjects; + size_t defaults_size; + int flags; + PyObject *defaults_tuple; + PyObject *defaults_kwdict; + PyObject *(*defaults_getter)(PyObject *); + PyObject *func_annotations; + PyObject *func_is_coroutine; +} __pyx_CyFunctionObject; +#undef __Pyx_CyOrPyCFunction_Check +#define __Pyx_CyFunction_Check(obj) __Pyx_TypeCheck(obj, __pyx_CyFunctionType) +#define __Pyx_CyOrPyCFunction_Check(obj) __Pyx_TypeCheck2(obj, __pyx_CyFunctionType, &PyCFunction_Type) +#define __Pyx_CyFunction_CheckExact(obj) __Pyx_IS_TYPE(obj, __pyx_CyFunctionType) +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc); +#undef __Pyx_IsSameCFunction +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCyOrCFunction(func, cfunc) +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject* op, PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj); +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *m, + size_t size, + int pyobjects); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *m, + PyObject *tuple); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *m, + PyObject *dict); +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *m, + PyObject *dict); +static int __pyx_CyFunction_init(PyObject *module); +#if CYTHON_METH_FASTCALL +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +#if CYTHON_BACKPORT_VECTORCALL +#define __Pyx_CyFunction_func_vectorcall(f) (((__pyx_CyFunctionObject*)f)->func_vectorcall) +#else +#define __Pyx_CyFunction_func_vectorcall(f) (((PyCFunctionObject*)f)->vectorcall) +#endif +#endif + +/* CythonFunction.proto */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); + +/* CLineInTraceback.proto */ +#ifdef CYTHON_CLINE_IN_TRACEBACK +#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) +#else +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); +#endif + +/* CodeObjectCache.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +typedef struct { + PyCodeObject* code_object; + int code_line; +} __Pyx_CodeObjectCacheEntry; +struct __Pyx_CodeObjectCache { + int count; + int max_count; + __Pyx_CodeObjectCacheEntry* entries; +}; +static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); +static PyCodeObject *__pyx_find_code_object(int code_line); +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); +#endif + +/* AddTraceback.proto */ +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename); + +/* CppExceptionConversion.proto */ +#ifndef __Pyx_CppExn2PyErr +#include +#include +#include +#include +static void __Pyx_CppExn2PyErr() { + try { + if (PyErr_Occurred()) + ; // let the latest Python exn pass through and ignore the current one + else + throw; + } catch (const std::bad_alloc& exn) { + PyErr_SetString(PyExc_MemoryError, exn.what()); + } catch (const std::bad_cast& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::bad_typeid& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::domain_error& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::invalid_argument& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::ios_base::failure& exn) { + PyErr_SetString(PyExc_IOError, exn.what()); + } catch (const std::out_of_range& exn) { + PyErr_SetString(PyExc_IndexError, exn.what()); + } catch (const std::overflow_error& exn) { + PyErr_SetString(PyExc_OverflowError, exn.what()); + } catch (const std::range_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::underflow_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::exception& exn) { + PyErr_SetString(PyExc_RuntimeError, exn.what()); + } + catch (...) + { + PyErr_SetString(PyExc_RuntimeError, "Unknown exception"); + } +} +#endif + +/* GCCDiagnostics.proto */ +#if !defined(__INTEL_COMPILER) && defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) +#define __Pyx_HAS_GCC_DIAGNOSTIC +#endif + +/* CIntFromPy.proto */ +static CYTHON_INLINE uint32_t __Pyx_PyInt_As_uint32_t(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_uint32_t(uint32_t value); + +/* FormatTypeName.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +typedef PyObject *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%U" +static __Pyx_TypeName __Pyx_PyType_GetName(PyTypeObject* tp); +#define __Pyx_DECREF_TypeName(obj) Py_XDECREF(obj) +#else +typedef const char *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%.200s" +#define __Pyx_PyType_GetName(tp) ((tp)->tp_name) +#define __Pyx_DECREF_TypeName(obj) +#endif + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); + +/* CIntFromPy.proto */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); + +/* FastTypeChecks.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) __Pyx_IsAnySubtype2(Py_TYPE(obj), (PyTypeObject *)type1, (PyTypeObject *)type2) +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); +#else +#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) (PyObject_TypeCheck(obj, (PyTypeObject *)type1) || PyObject_TypeCheck(obj, (PyTypeObject *)type2)) +#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) +#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) +#endif +#define __Pyx_PyErr_ExceptionMatches2(err1, err2) __Pyx_PyErr_GivenExceptionMatches2(__Pyx_PyErr_CurrentExceptionType(), err1, err2) +#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) + +/* CheckBinaryVersion.proto */ +static unsigned long __Pyx_get_runtime_version(void); +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer); + +/* InitStrings.proto */ +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); + +/* #### Code section: module_declarations ### */ +static std::vector __pyx_f_7opendbc_3can_10packer_pyx_9CANPacker_pack(struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *__pyx_v_self, PyObject *__pyx_v_addr, PyObject *__pyx_v_values); /* proto*/ +static PyObject *__pyx_f_7opendbc_3can_10packer_pyx_9CANPacker_make_can_msg(struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *__pyx_v_self, PyObject *__pyx_v_name_or_addr, PyObject *__pyx_v_bus, PyObject *__pyx_v_values, int __pyx_skip_dispatch); /* proto*/ + +/* Module declarations from "libc.stdint" */ + +/* Module declarations from "libcpp.vector" */ + +/* Module declarations from "libcpp" */ + +/* Module declarations from "libcpp.utility" */ + +/* Module declarations from "libcpp.pair" */ + +/* Module declarations from "libc.string" */ + +/* Module declarations from "libcpp.string" */ + +/* Module declarations from "libcpp.unordered_map" */ + +/* Module declarations from "opendbc.can.common" */ + +/* Module declarations from "opendbc.can.packer_pyx" */ +static std::string __pyx_convert_string_from_py_std__in_string(PyObject *); /*proto*/ +/* #### Code section: typeinfo ### */ +/* #### Code section: before_global_var ### */ +#define __Pyx_MODULE_NAME "opendbc.can.packer_pyx" +extern int __pyx_module_is_main_opendbc__can__packer_pyx; +int __pyx_module_is_main_opendbc__can__packer_pyx = 0; + +/* Implementation of "opendbc.can.packer_pyx" */ +/* #### Code section: global_var ### */ +static PyObject *__pyx_builtin_RuntimeError; +static PyObject *__pyx_builtin_IndexError; +static PyObject *__pyx_builtin_TypeError; +/* #### Code section: string_decls ### */ +static const char __pyx_k__7[] = "?"; +static const char __pyx_k_gc[] = "gc"; +static const char __pyx_k_bus[] = "bus"; +static const char __pyx_k_main[] = "__main__"; +static const char __pyx_k_name[] = "__name__"; +static const char __pyx_k_self[] = "self"; +static const char __pyx_k_test[] = "__test__"; +static const char __pyx_k_utf8[] = "utf8"; +static const char __pyx_k_enable[] = "enable"; +static const char __pyx_k_encode[] = "encode"; +static const char __pyx_k_reduce[] = "__reduce__"; +static const char __pyx_k_values[] = "values"; +static const char __pyx_k_disable[] = "disable"; +static const char __pyx_k_dbc_name[] = "dbc_name"; +static const char __pyx_k_getstate[] = "__getstate__"; +static const char __pyx_k_setstate[] = "__setstate__"; +static const char __pyx_k_CANPacker[] = "CANPacker"; +static const char __pyx_k_TypeError[] = "TypeError"; +static const char __pyx_k_isenabled[] = "isenabled"; +static const char __pyx_k_iteritems[] = "iteritems"; +static const char __pyx_k_pyx_state[] = "__pyx_state"; +static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; +static const char __pyx_k_IndexError[] = "IndexError"; +static const char __pyx_k_pyx_vtable[] = "__pyx_vtable__"; +static const char __pyx_k_Can_t_lookup[] = "Can't lookup "; +static const char __pyx_k_RuntimeError[] = "RuntimeError"; +static const char __pyx_k_is_coroutine[] = "_is_coroutine"; +static const char __pyx_k_make_can_msg[] = "make_can_msg"; +static const char __pyx_k_name_or_addr[] = "name_or_addr"; +static const char __pyx_k_stringsource[] = ""; +static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; +static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; +static const char __pyx_k_asyncio_coroutines[] = "asyncio.coroutines"; +static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; +static const char __pyx_k_CANPacker_make_can_msg[] = "CANPacker.make_can_msg"; +static const char __pyx_k_opendbc_can_packer_pyx[] = "opendbc.can.packer_pyx"; +static const char __pyx_k_CANPacker___reduce_cython[] = "CANPacker.__reduce_cython__"; +static const char __pyx_k_opendbc_can_packer_pyx_pyx[] = "opendbc/can/packer_pyx.pyx"; +static const char __pyx_k_CANPacker___setstate_cython[] = "CANPacker.__setstate_cython__"; +static const char __pyx_k_self_dbc_self_packer_cannot_be_c[] = "self.dbc,self.packer cannot be converted to a Python object for pickling"; +/* #### Code section: decls ### */ +static int __pyx_pf_7opendbc_3can_10packer_pyx_9CANPacker___init__(struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *__pyx_v_self, PyObject *__pyx_v_dbc_name); /* proto */ +static void __pyx_pf_7opendbc_3can_10packer_pyx_9CANPacker_2__dealloc__(struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10packer_pyx_9CANPacker_4make_can_msg(struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *__pyx_v_self, PyObject *__pyx_v_name_or_addr, PyObject *__pyx_v_bus, PyObject *__pyx_v_values); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10packer_pyx_9CANPacker_6__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10packer_pyx_9CANPacker_8__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_tp_new_7opendbc_3can_10packer_pyx_CANPacker(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +/* #### Code section: late_includes ### */ +/* #### Code section: module_state ### */ +typedef struct { + PyObject *__pyx_d; + PyObject *__pyx_b; + PyObject *__pyx_cython_runtime; + PyObject *__pyx_empty_tuple; + PyObject *__pyx_empty_bytes; + PyObject *__pyx_empty_unicode; + #ifdef __Pyx_CyFunction_USED + PyTypeObject *__pyx_CyFunctionType; + #endif + #ifdef __Pyx_FusedFunction_USED + PyTypeObject *__pyx_FusedFunctionType; + #endif + #ifdef __Pyx_Generator_USED + PyTypeObject *__pyx_GeneratorType; + #endif + #ifdef __Pyx_IterableCoroutine_USED + PyTypeObject *__pyx_IterableCoroutineType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineAwaitType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineType; + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + PyObject *__pyx_type_7opendbc_3can_10packer_pyx_CANPacker; + #endif + PyTypeObject *__pyx_ptype_7opendbc_3can_10packer_pyx_CANPacker; + PyObject *__pyx_n_s_CANPacker; + PyObject *__pyx_n_s_CANPacker___reduce_cython; + PyObject *__pyx_n_s_CANPacker___setstate_cython; + PyObject *__pyx_n_s_CANPacker_make_can_msg; + PyObject *__pyx_kp_u_Can_t_lookup; + PyObject *__pyx_n_s_IndexError; + PyObject *__pyx_n_s_RuntimeError; + PyObject *__pyx_n_s_TypeError; + PyObject *__pyx_n_s__7; + PyObject *__pyx_n_s_asyncio_coroutines; + PyObject *__pyx_n_s_bus; + PyObject *__pyx_n_s_cline_in_traceback; + PyObject *__pyx_n_s_dbc_name; + PyObject *__pyx_kp_u_disable; + PyObject *__pyx_kp_u_enable; + PyObject *__pyx_n_s_encode; + PyObject *__pyx_kp_u_gc; + PyObject *__pyx_n_s_getstate; + PyObject *__pyx_n_s_is_coroutine; + PyObject *__pyx_kp_u_isenabled; + PyObject *__pyx_n_s_iteritems; + PyObject *__pyx_n_s_main; + PyObject *__pyx_n_s_make_can_msg; + PyObject *__pyx_n_s_name; + PyObject *__pyx_n_s_name_or_addr; + PyObject *__pyx_n_s_opendbc_can_packer_pyx; + PyObject *__pyx_kp_s_opendbc_can_packer_pyx_pyx; + PyObject *__pyx_n_s_pyx_state; + PyObject *__pyx_n_s_pyx_vtable; + PyObject *__pyx_n_s_reduce; + PyObject *__pyx_n_s_reduce_cython; + PyObject *__pyx_n_s_reduce_ex; + PyObject *__pyx_n_s_self; + PyObject *__pyx_kp_s_self_dbc_self_packer_cannot_be_c; + PyObject *__pyx_n_s_setstate; + PyObject *__pyx_n_s_setstate_cython; + PyObject *__pyx_kp_s_stringsource; + PyObject *__pyx_n_s_test; + PyObject *__pyx_n_u_utf8; + PyObject *__pyx_n_s_values; + PyObject *__pyx_tuple_; + PyObject *__pyx_tuple__3; + PyObject *__pyx_tuple__5; + PyObject *__pyx_codeobj__2; + PyObject *__pyx_codeobj__4; + PyObject *__pyx_codeobj__6; +} __pyx_mstate; + +#if CYTHON_USE_MODULE_STATE +#ifdef __cplusplus +namespace { + extern struct PyModuleDef __pyx_moduledef; +} /* anonymous namespace */ +#else +static struct PyModuleDef __pyx_moduledef; +#endif + +#define __pyx_mstate(o) ((__pyx_mstate *)__Pyx_PyModule_GetState(o)) + +#define __pyx_mstate_global (__pyx_mstate(PyState_FindModule(&__pyx_moduledef))) + +#define __pyx_m (PyState_FindModule(&__pyx_moduledef)) +#else +static __pyx_mstate __pyx_mstate_global_static = +#ifdef __cplusplus + {}; +#else + {0}; +#endif +static __pyx_mstate *__pyx_mstate_global = &__pyx_mstate_global_static; +#endif +/* #### Code section: module_state_clear ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_clear(PyObject *m) { + __pyx_mstate *clear_module_state = __pyx_mstate(m); + if (!clear_module_state) return 0; + Py_CLEAR(clear_module_state->__pyx_d); + Py_CLEAR(clear_module_state->__pyx_b); + Py_CLEAR(clear_module_state->__pyx_cython_runtime); + Py_CLEAR(clear_module_state->__pyx_empty_tuple); + Py_CLEAR(clear_module_state->__pyx_empty_bytes); + Py_CLEAR(clear_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_CLEAR(clear_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_CLEAR(clear_module_state->__pyx_FusedFunctionType); + #endif + Py_CLEAR(clear_module_state->__pyx_ptype_7opendbc_3can_10packer_pyx_CANPacker); + Py_CLEAR(clear_module_state->__pyx_type_7opendbc_3can_10packer_pyx_CANPacker); + Py_CLEAR(clear_module_state->__pyx_n_s_CANPacker); + Py_CLEAR(clear_module_state->__pyx_n_s_CANPacker___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_CANPacker___setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_CANPacker_make_can_msg); + Py_CLEAR(clear_module_state->__pyx_kp_u_Can_t_lookup); + Py_CLEAR(clear_module_state->__pyx_n_s_IndexError); + Py_CLEAR(clear_module_state->__pyx_n_s_RuntimeError); + Py_CLEAR(clear_module_state->__pyx_n_s_TypeError); + Py_CLEAR(clear_module_state->__pyx_n_s__7); + Py_CLEAR(clear_module_state->__pyx_n_s_asyncio_coroutines); + Py_CLEAR(clear_module_state->__pyx_n_s_bus); + Py_CLEAR(clear_module_state->__pyx_n_s_cline_in_traceback); + Py_CLEAR(clear_module_state->__pyx_n_s_dbc_name); + Py_CLEAR(clear_module_state->__pyx_kp_u_disable); + Py_CLEAR(clear_module_state->__pyx_kp_u_enable); + Py_CLEAR(clear_module_state->__pyx_n_s_encode); + Py_CLEAR(clear_module_state->__pyx_kp_u_gc); + Py_CLEAR(clear_module_state->__pyx_n_s_getstate); + Py_CLEAR(clear_module_state->__pyx_n_s_is_coroutine); + Py_CLEAR(clear_module_state->__pyx_kp_u_isenabled); + Py_CLEAR(clear_module_state->__pyx_n_s_iteritems); + Py_CLEAR(clear_module_state->__pyx_n_s_main); + Py_CLEAR(clear_module_state->__pyx_n_s_make_can_msg); + Py_CLEAR(clear_module_state->__pyx_n_s_name); + Py_CLEAR(clear_module_state->__pyx_n_s_name_or_addr); + Py_CLEAR(clear_module_state->__pyx_n_s_opendbc_can_packer_pyx); + Py_CLEAR(clear_module_state->__pyx_kp_s_opendbc_can_packer_pyx_pyx); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_state); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_vtable); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_ex); + Py_CLEAR(clear_module_state->__pyx_n_s_self); + Py_CLEAR(clear_module_state->__pyx_kp_s_self_dbc_self_packer_cannot_be_c); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate_cython); + Py_CLEAR(clear_module_state->__pyx_kp_s_stringsource); + Py_CLEAR(clear_module_state->__pyx_n_s_test); + Py_CLEAR(clear_module_state->__pyx_n_u_utf8); + Py_CLEAR(clear_module_state->__pyx_n_s_values); + Py_CLEAR(clear_module_state->__pyx_tuple_); + Py_CLEAR(clear_module_state->__pyx_tuple__3); + Py_CLEAR(clear_module_state->__pyx_tuple__5); + Py_CLEAR(clear_module_state->__pyx_codeobj__2); + Py_CLEAR(clear_module_state->__pyx_codeobj__4); + Py_CLEAR(clear_module_state->__pyx_codeobj__6); + return 0; +} +#endif +/* #### Code section: module_state_traverse ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_traverse(PyObject *m, visitproc visit, void *arg) { + __pyx_mstate *traverse_module_state = __pyx_mstate(m); + if (!traverse_module_state) return 0; + Py_VISIT(traverse_module_state->__pyx_d); + Py_VISIT(traverse_module_state->__pyx_b); + Py_VISIT(traverse_module_state->__pyx_cython_runtime); + Py_VISIT(traverse_module_state->__pyx_empty_tuple); + Py_VISIT(traverse_module_state->__pyx_empty_bytes); + Py_VISIT(traverse_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_VISIT(traverse_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_VISIT(traverse_module_state->__pyx_FusedFunctionType); + #endif + Py_VISIT(traverse_module_state->__pyx_ptype_7opendbc_3can_10packer_pyx_CANPacker); + Py_VISIT(traverse_module_state->__pyx_type_7opendbc_3can_10packer_pyx_CANPacker); + Py_VISIT(traverse_module_state->__pyx_n_s_CANPacker); + Py_VISIT(traverse_module_state->__pyx_n_s_CANPacker___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_CANPacker___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_CANPacker_make_can_msg); + Py_VISIT(traverse_module_state->__pyx_kp_u_Can_t_lookup); + Py_VISIT(traverse_module_state->__pyx_n_s_IndexError); + Py_VISIT(traverse_module_state->__pyx_n_s_RuntimeError); + Py_VISIT(traverse_module_state->__pyx_n_s_TypeError); + Py_VISIT(traverse_module_state->__pyx_n_s__7); + Py_VISIT(traverse_module_state->__pyx_n_s_asyncio_coroutines); + Py_VISIT(traverse_module_state->__pyx_n_s_bus); + Py_VISIT(traverse_module_state->__pyx_n_s_cline_in_traceback); + Py_VISIT(traverse_module_state->__pyx_n_s_dbc_name); + Py_VISIT(traverse_module_state->__pyx_kp_u_disable); + Py_VISIT(traverse_module_state->__pyx_kp_u_enable); + Py_VISIT(traverse_module_state->__pyx_n_s_encode); + Py_VISIT(traverse_module_state->__pyx_kp_u_gc); + Py_VISIT(traverse_module_state->__pyx_n_s_getstate); + Py_VISIT(traverse_module_state->__pyx_n_s_is_coroutine); + Py_VISIT(traverse_module_state->__pyx_kp_u_isenabled); + Py_VISIT(traverse_module_state->__pyx_n_s_iteritems); + Py_VISIT(traverse_module_state->__pyx_n_s_main); + Py_VISIT(traverse_module_state->__pyx_n_s_make_can_msg); + Py_VISIT(traverse_module_state->__pyx_n_s_name); + Py_VISIT(traverse_module_state->__pyx_n_s_name_or_addr); + Py_VISIT(traverse_module_state->__pyx_n_s_opendbc_can_packer_pyx); + Py_VISIT(traverse_module_state->__pyx_kp_s_opendbc_can_packer_pyx_pyx); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_state); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_vtable); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_ex); + Py_VISIT(traverse_module_state->__pyx_n_s_self); + Py_VISIT(traverse_module_state->__pyx_kp_s_self_dbc_self_packer_cannot_be_c); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate_cython); + Py_VISIT(traverse_module_state->__pyx_kp_s_stringsource); + Py_VISIT(traverse_module_state->__pyx_n_s_test); + Py_VISIT(traverse_module_state->__pyx_n_u_utf8); + Py_VISIT(traverse_module_state->__pyx_n_s_values); + Py_VISIT(traverse_module_state->__pyx_tuple_); + Py_VISIT(traverse_module_state->__pyx_tuple__3); + Py_VISIT(traverse_module_state->__pyx_tuple__5); + Py_VISIT(traverse_module_state->__pyx_codeobj__2); + Py_VISIT(traverse_module_state->__pyx_codeobj__4); + Py_VISIT(traverse_module_state->__pyx_codeobj__6); + return 0; +} +#endif +/* #### Code section: module_state_defines ### */ +#define __pyx_d __pyx_mstate_global->__pyx_d +#define __pyx_b __pyx_mstate_global->__pyx_b +#define __pyx_cython_runtime __pyx_mstate_global->__pyx_cython_runtime +#define __pyx_empty_tuple __pyx_mstate_global->__pyx_empty_tuple +#define __pyx_empty_bytes __pyx_mstate_global->__pyx_empty_bytes +#define __pyx_empty_unicode __pyx_mstate_global->__pyx_empty_unicode +#ifdef __Pyx_CyFunction_USED +#define __pyx_CyFunctionType __pyx_mstate_global->__pyx_CyFunctionType +#endif +#ifdef __Pyx_FusedFunction_USED +#define __pyx_FusedFunctionType __pyx_mstate_global->__pyx_FusedFunctionType +#endif +#ifdef __Pyx_Generator_USED +#define __pyx_GeneratorType __pyx_mstate_global->__pyx_GeneratorType +#endif +#ifdef __Pyx_IterableCoroutine_USED +#define __pyx_IterableCoroutineType __pyx_mstate_global->__pyx_IterableCoroutineType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineAwaitType __pyx_mstate_global->__pyx_CoroutineAwaitType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineType __pyx_mstate_global->__pyx_CoroutineType +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#define __pyx_type_7opendbc_3can_10packer_pyx_CANPacker __pyx_mstate_global->__pyx_type_7opendbc_3can_10packer_pyx_CANPacker +#endif +#define __pyx_ptype_7opendbc_3can_10packer_pyx_CANPacker __pyx_mstate_global->__pyx_ptype_7opendbc_3can_10packer_pyx_CANPacker +#define __pyx_n_s_CANPacker __pyx_mstate_global->__pyx_n_s_CANPacker +#define __pyx_n_s_CANPacker___reduce_cython __pyx_mstate_global->__pyx_n_s_CANPacker___reduce_cython +#define __pyx_n_s_CANPacker___setstate_cython __pyx_mstate_global->__pyx_n_s_CANPacker___setstate_cython +#define __pyx_n_s_CANPacker_make_can_msg __pyx_mstate_global->__pyx_n_s_CANPacker_make_can_msg +#define __pyx_kp_u_Can_t_lookup __pyx_mstate_global->__pyx_kp_u_Can_t_lookup +#define __pyx_n_s_IndexError __pyx_mstate_global->__pyx_n_s_IndexError +#define __pyx_n_s_RuntimeError __pyx_mstate_global->__pyx_n_s_RuntimeError +#define __pyx_n_s_TypeError __pyx_mstate_global->__pyx_n_s_TypeError +#define __pyx_n_s__7 __pyx_mstate_global->__pyx_n_s__7 +#define __pyx_n_s_asyncio_coroutines __pyx_mstate_global->__pyx_n_s_asyncio_coroutines +#define __pyx_n_s_bus __pyx_mstate_global->__pyx_n_s_bus +#define __pyx_n_s_cline_in_traceback __pyx_mstate_global->__pyx_n_s_cline_in_traceback +#define __pyx_n_s_dbc_name __pyx_mstate_global->__pyx_n_s_dbc_name +#define __pyx_kp_u_disable __pyx_mstate_global->__pyx_kp_u_disable +#define __pyx_kp_u_enable __pyx_mstate_global->__pyx_kp_u_enable +#define __pyx_n_s_encode __pyx_mstate_global->__pyx_n_s_encode +#define __pyx_kp_u_gc __pyx_mstate_global->__pyx_kp_u_gc +#define __pyx_n_s_getstate __pyx_mstate_global->__pyx_n_s_getstate +#define __pyx_n_s_is_coroutine __pyx_mstate_global->__pyx_n_s_is_coroutine +#define __pyx_kp_u_isenabled __pyx_mstate_global->__pyx_kp_u_isenabled +#define __pyx_n_s_iteritems __pyx_mstate_global->__pyx_n_s_iteritems +#define __pyx_n_s_main __pyx_mstate_global->__pyx_n_s_main +#define __pyx_n_s_make_can_msg __pyx_mstate_global->__pyx_n_s_make_can_msg +#define __pyx_n_s_name __pyx_mstate_global->__pyx_n_s_name +#define __pyx_n_s_name_or_addr __pyx_mstate_global->__pyx_n_s_name_or_addr +#define __pyx_n_s_opendbc_can_packer_pyx __pyx_mstate_global->__pyx_n_s_opendbc_can_packer_pyx +#define __pyx_kp_s_opendbc_can_packer_pyx_pyx __pyx_mstate_global->__pyx_kp_s_opendbc_can_packer_pyx_pyx +#define __pyx_n_s_pyx_state __pyx_mstate_global->__pyx_n_s_pyx_state +#define __pyx_n_s_pyx_vtable __pyx_mstate_global->__pyx_n_s_pyx_vtable +#define __pyx_n_s_reduce __pyx_mstate_global->__pyx_n_s_reduce +#define __pyx_n_s_reduce_cython __pyx_mstate_global->__pyx_n_s_reduce_cython +#define __pyx_n_s_reduce_ex __pyx_mstate_global->__pyx_n_s_reduce_ex +#define __pyx_n_s_self __pyx_mstate_global->__pyx_n_s_self +#define __pyx_kp_s_self_dbc_self_packer_cannot_be_c __pyx_mstate_global->__pyx_kp_s_self_dbc_self_packer_cannot_be_c +#define __pyx_n_s_setstate __pyx_mstate_global->__pyx_n_s_setstate +#define __pyx_n_s_setstate_cython __pyx_mstate_global->__pyx_n_s_setstate_cython +#define __pyx_kp_s_stringsource __pyx_mstate_global->__pyx_kp_s_stringsource +#define __pyx_n_s_test __pyx_mstate_global->__pyx_n_s_test +#define __pyx_n_u_utf8 __pyx_mstate_global->__pyx_n_u_utf8 +#define __pyx_n_s_values __pyx_mstate_global->__pyx_n_s_values +#define __pyx_tuple_ __pyx_mstate_global->__pyx_tuple_ +#define __pyx_tuple__3 __pyx_mstate_global->__pyx_tuple__3 +#define __pyx_tuple__5 __pyx_mstate_global->__pyx_tuple__5 +#define __pyx_codeobj__2 __pyx_mstate_global->__pyx_codeobj__2 +#define __pyx_codeobj__4 __pyx_mstate_global->__pyx_codeobj__4 +#define __pyx_codeobj__6 __pyx_mstate_global->__pyx_codeobj__6 +/* #### Code section: module_code ### */ + +/* "string.from_py":13 + * + * @cname("__pyx_convert_string_from_py_std__in_string") + * cdef string __pyx_convert_string_from_py_std__in_string(object o) except *: # <<<<<<<<<<<<<< + * cdef Py_ssize_t length = 0 + * cdef const char* data = __Pyx_PyObject_AsStringAndSize(o, &length) + */ + +static std::string __pyx_convert_string_from_py_std__in_string(PyObject *__pyx_v_o) { + Py_ssize_t __pyx_v_length; + char const *__pyx_v_data; + std::string __pyx_r; + char const *__pyx_t_1; + std::string __pyx_t_2; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + + /* "string.from_py":14 + * @cname("__pyx_convert_string_from_py_std__in_string") + * cdef string __pyx_convert_string_from_py_std__in_string(object o) except *: + * cdef Py_ssize_t length = 0 # <<<<<<<<<<<<<< + * cdef const char* data = __Pyx_PyObject_AsStringAndSize(o, &length) + * return string(data, length) + */ + __pyx_v_length = 0; + + /* "string.from_py":15 + * cdef string __pyx_convert_string_from_py_std__in_string(object o) except *: + * cdef Py_ssize_t length = 0 + * cdef const char* data = __Pyx_PyObject_AsStringAndSize(o, &length) # <<<<<<<<<<<<<< + * return string(data, length) + * + */ + __pyx_t_1 = __Pyx_PyObject_AsStringAndSize(__pyx_v_o, (&__pyx_v_length)); if (unlikely(__pyx_t_1 == ((char const *)NULL))) __PYX_ERR(1, 15, __pyx_L1_error) + __pyx_v_data = __pyx_t_1; + + /* "string.from_py":16 + * cdef Py_ssize_t length = 0 + * cdef const char* data = __Pyx_PyObject_AsStringAndSize(o, &length) + * return string(data, length) # <<<<<<<<<<<<<< + * + * + */ + try { + __pyx_t_2 = std::string(__pyx_v_data, __pyx_v_length); + } catch(...) { + __Pyx_CppExn2PyErr(); + __PYX_ERR(1, 16, __pyx_L1_error) + } + __pyx_r = __pyx_t_2; + goto __pyx_L0; + + /* "string.from_py":13 + * + * @cname("__pyx_convert_string_from_py_std__in_string") + * cdef string __pyx_convert_string_from_py_std__in_string(object o) except *: # <<<<<<<<<<<<<< + * cdef Py_ssize_t length = 0 + * cdef const char* data = __Pyx_PyObject_AsStringAndSize(o, &length) + */ + + /* function exit code */ + __pyx_L1_error:; + __Pyx_AddTraceback("string.from_py.__pyx_convert_string_from_py_std__in_string", __pyx_clineno, __pyx_lineno, __pyx_filename); + __Pyx_pretend_to_initialize(&__pyx_r); + __pyx_L0:; + return __pyx_r; +} + +/* "opendbc/can/packer_pyx.pyx":16 + * const DBC *dbc + * + * def __init__(self, dbc_name): # <<<<<<<<<<<<<< + * self.dbc = dbc_lookup(dbc_name) + * if not self.dbc: + */ + +/* Python wrapper */ +static int __pyx_pw_7opendbc_3can_10packer_pyx_9CANPacker_1__init__(PyObject *__pyx_v_self, PyObject *__pyx_args, PyObject *__pyx_kwds); /*proto*/ +static int __pyx_pw_7opendbc_3can_10packer_pyx_9CANPacker_1__init__(PyObject *__pyx_v_self, PyObject *__pyx_args, PyObject *__pyx_kwds) { + PyObject *__pyx_v_dbc_name = 0; + CYTHON_UNUSED Py_ssize_t __pyx_nargs; + CYTHON_UNUSED PyObject *const *__pyx_kwvalues; + PyObject* values[1] = {0}; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + int __pyx_r; + __Pyx_RefNannyDeclarations + __Pyx_RefNannySetupContext("__init__ (wrapper)", 0); + #if CYTHON_ASSUME_SAFE_MACROS + __pyx_nargs = PyTuple_GET_SIZE(__pyx_args); + #else + __pyx_nargs = PyTuple_Size(__pyx_args); if (unlikely(__pyx_nargs < 0)) return -1; + #endif + __pyx_kwvalues = __Pyx_KwValues_VARARGS(__pyx_args, __pyx_nargs); + { + PyObject **__pyx_pyargnames[] = {&__pyx_n_s_dbc_name,0}; + if (__pyx_kwds) { + Py_ssize_t kw_args; + switch (__pyx_nargs) { + case 1: values[0] = __Pyx_Arg_VARARGS(__pyx_args, 0); + CYTHON_FALLTHROUGH; + case 0: break; + default: goto __pyx_L5_argtuple_error; + } + kw_args = __Pyx_NumKwargs_VARARGS(__pyx_kwds); + switch (__pyx_nargs) { + case 0: + if (likely((values[0] = __Pyx_GetKwValue_VARARGS(__pyx_kwds, __pyx_kwvalues, __pyx_n_s_dbc_name)) != 0)) { + (void)__Pyx_Arg_NewRef_VARARGS(values[0]); + kw_args--; + } + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 16, __pyx_L3_error) + else goto __pyx_L5_argtuple_error; + } + if (unlikely(kw_args > 0)) { + const Py_ssize_t kwd_pos_args = __pyx_nargs; + if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_kwvalues, __pyx_pyargnames, 0, values + 0, kwd_pos_args, "__init__") < 0)) __PYX_ERR(0, 16, __pyx_L3_error) + } + } else if (unlikely(__pyx_nargs != 1)) { + goto __pyx_L5_argtuple_error; + } else { + values[0] = __Pyx_Arg_VARARGS(__pyx_args, 0); + } + __pyx_v_dbc_name = values[0]; + } + goto __pyx_L6_skip; + __pyx_L5_argtuple_error:; + __Pyx_RaiseArgtupleInvalid("__init__", 1, 1, 1, __pyx_nargs); __PYX_ERR(0, 16, __pyx_L3_error) + __pyx_L6_skip:; + goto __pyx_L4_argument_unpacking_done; + __pyx_L3_error:; + { + Py_ssize_t __pyx_temp; + for (__pyx_temp=0; __pyx_temp < (Py_ssize_t)(sizeof(values)/sizeof(values[0])); ++__pyx_temp) { + __Pyx_Arg_XDECREF_VARARGS(values[__pyx_temp]); + } + } + __Pyx_AddTraceback("opendbc.can.packer_pyx.CANPacker.__init__", __pyx_clineno, __pyx_lineno, __pyx_filename); + __Pyx_RefNannyFinishContext(); + return -1; + __pyx_L4_argument_unpacking_done:; + __pyx_r = __pyx_pf_7opendbc_3can_10packer_pyx_9CANPacker___init__(((struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *)__pyx_v_self), __pyx_v_dbc_name); + + /* function exit code */ + { + Py_ssize_t __pyx_temp; + for (__pyx_temp=0; __pyx_temp < (Py_ssize_t)(sizeof(values)/sizeof(values[0])); ++__pyx_temp) { + __Pyx_Arg_XDECREF_VARARGS(values[__pyx_temp]); + } + } + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +static int __pyx_pf_7opendbc_3can_10packer_pyx_9CANPacker___init__(struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *__pyx_v_self, PyObject *__pyx_v_dbc_name) { + int __pyx_r; + __Pyx_RefNannyDeclarations + std::string __pyx_t_1; + struct DBC const *__pyx_t_2; + int __pyx_t_3; + PyObject *__pyx_t_4 = NULL; + 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+ o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *)o); + p->__pyx_vtab = __pyx_vtabptr_7opendbc_3can_10packer_pyx_CANPacker; + return o; +} + +static void __pyx_tp_dealloc_7opendbc_3can_10packer_pyx_CANPacker(PyObject *o) { + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_7opendbc_3can_10packer_pyx_CANPacker) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, 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__pyx_tp_dealloc_7opendbc_3can_10packer_pyx_CANPacker, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_7opendbc_3can_10packer_pyx_CANPacker, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 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+static int __pyx_pymod_exec_packer_pyx(PyObject* module); /*proto*/ +static PyModuleDef_Slot __pyx_moduledef_slots[] = { + {Py_mod_create, (void*)__pyx_pymod_create}, + {Py_mod_exec, (void*)__pyx_pymod_exec_packer_pyx}, + {0, NULL} +}; +#endif + +#ifdef __cplusplus +namespace { + struct PyModuleDef __pyx_moduledef = + #else + static struct PyModuleDef __pyx_moduledef = + #endif + { + PyModuleDef_HEAD_INIT, + "packer_pyx", + 0, /* m_doc */ + #if CYTHON_PEP489_MULTI_PHASE_INIT + 0, /* m_size */ + #elif CYTHON_USE_MODULE_STATE + sizeof(__pyx_mstate), /* m_size */ + #else + -1, /* m_size */ + #endif + __pyx_methods /* m_methods */, + #if CYTHON_PEP489_MULTI_PHASE_INIT + __pyx_moduledef_slots, /* m_slots */ + #else + NULL, /* m_reload */ + #endif + #if CYTHON_USE_MODULE_STATE + __pyx_m_traverse, /* m_traverse */ + __pyx_m_clear, /* m_clear */ + NULL /* m_free */ + #else + NULL, /* m_traverse */ + NULL, /* m_clear */ + NULL /* m_free */ + #endif + }; + #ifdef __cplusplus +} /* anonymous namespace */ +#endif +#endif + +#ifndef CYTHON_NO_PYINIT_EXPORT +#define __Pyx_PyMODINIT_FUNC PyMODINIT_FUNC +#elif PY_MAJOR_VERSION < 3 +#ifdef __cplusplus +#define __Pyx_PyMODINIT_FUNC extern "C" void +#else +#define __Pyx_PyMODINIT_FUNC void +#endif +#else +#ifdef __cplusplus +#define __Pyx_PyMODINIT_FUNC extern "C" PyObject * +#else +#define __Pyx_PyMODINIT_FUNC PyObject * +#endif +#endif + + +#if PY_MAJOR_VERSION < 3 +__Pyx_PyMODINIT_FUNC initpacker_pyx(void) CYTHON_SMALL_CODE; /*proto*/ +__Pyx_PyMODINIT_FUNC initpacker_pyx(void) +#else +__Pyx_PyMODINIT_FUNC PyInit_packer_pyx(void) CYTHON_SMALL_CODE; /*proto*/ +__Pyx_PyMODINIT_FUNC PyInit_packer_pyx(void) +#if CYTHON_PEP489_MULTI_PHASE_INIT +{ + return PyModuleDef_Init(&__pyx_moduledef); +} +static CYTHON_SMALL_CODE int __Pyx_check_single_interpreter(void) { + #if PY_VERSION_HEX >= 0x030700A1 + static PY_INT64_T main_interpreter_id = -1; + PY_INT64_T current_id = PyInterpreterState_GetID(PyThreadState_Get()->interp); + if (main_interpreter_id == -1) { + main_interpreter_id = current_id; + return (unlikely(current_id == -1)) ? -1 : 0; + } else if (unlikely(main_interpreter_id != current_id)) + #else + static PyInterpreterState *main_interpreter = NULL; + PyInterpreterState *current_interpreter = PyThreadState_Get()->interp; + if (!main_interpreter) { + main_interpreter = current_interpreter; + } else if (unlikely(main_interpreter != current_interpreter)) + #endif + { + PyErr_SetString( + PyExc_ImportError, + "Interpreter change detected - this module can only be loaded into one interpreter per process."); + return -1; + } + return 0; +} +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_SMALL_CODE int __Pyx_copy_spec_to_module(PyObject *spec, PyObject *module, const char* from_name, const char* to_name, int allow_none) +#else +static CYTHON_SMALL_CODE int __Pyx_copy_spec_to_module(PyObject *spec, PyObject *moddict, const char* from_name, const char* to_name, int allow_none) +#endif +{ + PyObject *value 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(unlikely(!moddict)) goto bad; +#endif + if (unlikely(__Pyx_copy_spec_to_module(spec, moddict, "loader", "__loader__", 1) < 0)) goto bad; + if (unlikely(__Pyx_copy_spec_to_module(spec, moddict, "origin", "__file__", 1) < 0)) goto bad; + if (unlikely(__Pyx_copy_spec_to_module(spec, moddict, "parent", "__package__", 1) < 0)) goto bad; + if (unlikely(__Pyx_copy_spec_to_module(spec, moddict, "submodule_search_locations", "__path__", 0) < 0)) goto bad; + return module; +bad: + Py_XDECREF(module); + return NULL; +} + + +static CYTHON_SMALL_CODE int __pyx_pymod_exec_packer_pyx(PyObject *__pyx_pyinit_module) +#endif +#endif +{ + int stringtab_initialized = 0; + #if CYTHON_USE_MODULE_STATE + int pystate_addmodule_run = 0; + #endif + PyObject *__pyx_t_1 = NULL; + PyObject *__pyx_t_2 = NULL; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + __Pyx_RefNannyDeclarations + #if CYTHON_PEP489_MULTI_PHASE_INIT + if (__pyx_m) { + if (__pyx_m == __pyx_pyinit_module) 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+ if (likely(tp->tp_getattro)) + return tp->tp_getattro(obj, attr_name); +#if PY_MAJOR_VERSION < 3 + if (likely(tp->tp_getattr)) + return tp->tp_getattr(obj, PyString_AS_STRING(attr_name)); +#endif + return PyObject_GetAttr(obj, attr_name); +} +#endif + +/* PyObjectGetAttrStrNoError */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + __Pyx_PyErr_Clear(); +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { + PyObject *result; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + (void) PyObject_GetOptionalAttr(obj, attr_name, &result); + return result; +#else +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { + return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); + } +#endif + result = __Pyx_PyObject_GetAttrStr(obj, attr_name); + if (unlikely(!result)) { + __Pyx_PyObject_GetAttrStr_ClearAttributeError(); + } + return result; +#endif +} + +/* GetBuiltinName */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name) { + PyObject* result = __Pyx_PyObject_GetAttrStrNoError(__pyx_b, name); + if (unlikely(!result) && !PyErr_Occurred()) { + PyErr_Format(PyExc_NameError, +#if PY_MAJOR_VERSION >= 3 + "name '%U' is not defined", name); +#else + "name '%.200s' is not defined", PyString_AS_STRING(name)); +#endif + } + return result; +} + +/* TupleAndListFromArray */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE void __Pyx_copy_object_array(PyObject *const *CYTHON_RESTRICT src, PyObject** CYTHON_RESTRICT dest, Py_ssize_t length) { + PyObject *v; + Py_ssize_t i; + for (i = 0; i < length; i++) { + v = dest[i] = src[i]; + Py_INCREF(v); + } +} +static CYTHON_INLINE PyObject * +__Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + Py_INCREF(__pyx_empty_tuple); + return __pyx_empty_tuple; + } + res = PyTuple_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyTupleObject*)res)->ob_item, n); + return res; +} +static CYTHON_INLINE PyObject * +__Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + return PyList_New(0); + } + res = PyList_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyListObject*)res)->ob_item, n); + return res; +} +#endif + +/* BytesEquals */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else + if (s1 == s2) { + return (equals == Py_EQ); + } else if (PyBytes_CheckExact(s1) & PyBytes_CheckExact(s2)) { + const char *ps1, *ps2; + Py_ssize_t length = PyBytes_GET_SIZE(s1); + if (length != PyBytes_GET_SIZE(s2)) + return (equals == Py_NE); + ps1 = PyBytes_AS_STRING(s1); + ps2 = PyBytes_AS_STRING(s2); + if (ps1[0] != ps2[0]) { + return (equals == Py_NE); + } else if (length == 1) { + return (equals == Py_EQ); + } else { + int result; +#if CYTHON_USE_UNICODE_INTERNALS && (PY_VERSION_HEX < 0x030B0000) + Py_hash_t hash1, hash2; + hash1 = ((PyBytesObject*)s1)->ob_shash; + hash2 = ((PyBytesObject*)s2)->ob_shash; + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + return (equals == Py_NE); + } +#endif + result = memcmp(ps1, ps2, (size_t)length); + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { + return (equals == Py_NE); + } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { + return (equals == Py_NE); + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +#endif +} + +/* UnicodeEquals */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else +#if PY_MAJOR_VERSION < 3 + PyObject* owned_ref = NULL; +#endif + int s1_is_unicode, s2_is_unicode; + if (s1 == s2) { + goto return_eq; + } + s1_is_unicode = PyUnicode_CheckExact(s1); + s2_is_unicode = PyUnicode_CheckExact(s2); +#if PY_MAJOR_VERSION < 3 + if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { + owned_ref = PyUnicode_FromObject(s2); + if (unlikely(!owned_ref)) + return -1; + s2 = owned_ref; + s2_is_unicode = 1; + } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { + owned_ref = PyUnicode_FromObject(s1); + if (unlikely(!owned_ref)) + return -1; + s1 = owned_ref; + s1_is_unicode = 1; + } else if (((!s2_is_unicode) & (!s1_is_unicode))) { + return __Pyx_PyBytes_Equals(s1, s2, equals); + } +#endif + if (s1_is_unicode & s2_is_unicode) { + Py_ssize_t length; + int kind; + void *data1, *data2; + if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) + return -1; + length = __Pyx_PyUnicode_GET_LENGTH(s1); + if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { + goto return_ne; + } +#if CYTHON_USE_UNICODE_INTERNALS + { + Py_hash_t hash1, hash2; + #if CYTHON_PEP393_ENABLED + hash1 = ((PyASCIIObject*)s1)->hash; + hash2 = ((PyASCIIObject*)s2)->hash; + #else + hash1 = ((PyUnicodeObject*)s1)->hash; + hash2 = ((PyUnicodeObject*)s2)->hash; + #endif + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + goto return_ne; + } + } +#endif + kind = __Pyx_PyUnicode_KIND(s1); + if (kind != __Pyx_PyUnicode_KIND(s2)) { + goto return_ne; + } + data1 = __Pyx_PyUnicode_DATA(s1); + data2 = __Pyx_PyUnicode_DATA(s2); + if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { + goto return_ne; + } else if (length == 1) { + goto return_eq; + } else { + int result = memcmp(data1, data2, (size_t)(length * kind)); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & s2_is_unicode) { + goto return_ne; + } else if ((s2 == Py_None) & s1_is_unicode) { + goto return_ne; + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +return_eq: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ); +return_ne: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_NE); +#endif +} + +/* fastcall */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s) +{ + Py_ssize_t i, n = PyTuple_GET_SIZE(kwnames); + for (i = 0; i < n; i++) + { + if (s == PyTuple_GET_ITEM(kwnames, i)) return kwvalues[i]; + } + for (i = 0; i < n; i++) + { + int eq = __Pyx_PyUnicode_Equals(s, PyTuple_GET_ITEM(kwnames, i), Py_EQ); + if (unlikely(eq != 0)) { + if (unlikely(eq < 0)) return NULL; + return kwvalues[i]; + } + } + return NULL; +} +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 +CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { + Py_ssize_t i, nkwargs = PyTuple_GET_SIZE(kwnames); + PyObject *dict; + dict = PyDict_New(); + if (unlikely(!dict)) + return NULL; + for (i=0; i= 3 + "%s() got multiple values for keyword argument '%U'", func_name, kw_name); + #else + "%s() got multiple values for keyword argument '%s'", func_name, + PyString_AsString(kw_name)); + #endif +} + +/* ParseKeywords */ +static int __Pyx_ParseOptionalKeywords( + PyObject *kwds, + PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, + PyObject *values[], + Py_ssize_t num_pos_args, + const char* function_name) +{ + PyObject *key = 0, *value = 0; + Py_ssize_t pos = 0; + PyObject*** name; + PyObject*** first_kw_arg = argnames + num_pos_args; + int kwds_is_tuple = CYTHON_METH_FASTCALL && likely(PyTuple_Check(kwds)); + while (1) { + Py_XDECREF(key); key = NULL; + Py_XDECREF(value); value = NULL; + if (kwds_is_tuple) { + Py_ssize_t size; +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(kwds); +#else + size = PyTuple_Size(kwds); + if (size < 0) goto bad; +#endif + if (pos >= size) break; +#if CYTHON_AVOID_BORROWED_REFS + key = __Pyx_PySequence_ITEM(kwds, pos); + if (!key) goto bad; +#elif CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kwds, pos); +#else + key = PyTuple_GetItem(kwds, pos); + if (!key) goto bad; +#endif + value = kwvalues[pos]; + pos++; + } + else + { + if (!PyDict_Next(kwds, &pos, &key, &value)) break; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + } + name = first_kw_arg; + while (*name && (**name != key)) name++; + if (*name) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(value); + Py_DECREF(key); +#endif + key = NULL; + value = NULL; + continue; + } +#if !CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + Py_INCREF(value); + name = first_kw_arg; + #if PY_MAJOR_VERSION < 3 + if (likely(PyString_Check(key))) { + while (*name) { + if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) + && _PyString_Eq(**name, key)) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + if ((**argname == key) || ( + (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) + && _PyString_Eq(**argname, key))) { + goto arg_passed_twice; + } + argname++; + } + } + } else + #endif + if (likely(PyUnicode_Check(key))) { + while (*name) { + int cmp = ( + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**name, key) + ); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + int cmp = (**argname == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**argname, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) goto arg_passed_twice; + argname++; + } + } + } else + goto invalid_keyword_type; + if (kwds2) { + if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; + } else { + goto invalid_keyword; + } + } + Py_XDECREF(key); + Py_XDECREF(value); + return 0; +arg_passed_twice: + __Pyx_RaiseDoubleKeywordsError(function_name, key); + goto bad; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + goto bad; +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif +bad: + Py_XDECREF(key); + Py_XDECREF(value); + return -1; +} + +/* RaiseArgTupleInvalid */ +static void __Pyx_RaiseArgtupleInvalid( + const char* func_name, + int exact, + Py_ssize_t num_min, + Py_ssize_t num_max, + Py_ssize_t num_found) +{ + Py_ssize_t num_expected; + const char *more_or_less; + if (num_found < num_min) { + num_expected = num_min; + more_or_less = "at least"; + } else { + num_expected = num_max; + more_or_less = "at most"; + } + if (exact) { + more_or_less = "exactly"; + } + PyErr_Format(PyExc_TypeError, + "%.200s() takes %.8s %" CYTHON_FORMAT_SSIZE_T "d positional argument%.1s (%" CYTHON_FORMAT_SSIZE_T "d given)", + func_name, more_or_less, num_expected, + (num_expected == 1) ? "" : "s", num_found); +} + +/* PyFunctionFastCall */ +#if CYTHON_FAST_PYCALL && !CYTHON_VECTORCALL +static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, + PyObject *globals) { + PyFrameObject *f; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject **fastlocals; + Py_ssize_t i; + PyObject *result; + assert(globals != NULL); + /* XXX Perhaps we should create a specialized + PyFrame_New() that doesn't take locals, but does + take builtins without sanity checking them. + */ + assert(tstate != NULL); + f = PyFrame_New(tstate, co, globals, NULL); + if (f == NULL) { + return NULL; + } + fastlocals = __Pyx_PyFrame_GetLocalsplus(f); + for (i = 0; i < na; i++) { + Py_INCREF(*args); + fastlocals[i] = *args++; + } + result = PyEval_EvalFrameEx(f,0); + ++tstate->recursion_depth; + Py_DECREF(f); + --tstate->recursion_depth; + return result; +} +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { + PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); + PyObject *globals = PyFunction_GET_GLOBALS(func); + PyObject *argdefs = PyFunction_GET_DEFAULTS(func); + PyObject *closure; +#if PY_MAJOR_VERSION >= 3 + PyObject *kwdefs; +#endif + PyObject *kwtuple, **k; + PyObject **d; + Py_ssize_t nd; + Py_ssize_t nk; + PyObject *result; + assert(kwargs == NULL || PyDict_Check(kwargs)); + nk = kwargs ? PyDict_Size(kwargs) : 0; + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) { + return NULL; + } + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) { + return NULL; + } + #endif + if ( +#if PY_MAJOR_VERSION >= 3 + co->co_kwonlyargcount == 0 && +#endif + likely(kwargs == NULL || nk == 0) && + co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { + if (argdefs == NULL && co->co_argcount == nargs) { + result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); + goto done; + } + else if (nargs == 0 && argdefs != NULL + && co->co_argcount == Py_SIZE(argdefs)) { + /* function called with no arguments, but all parameters have + a default value: use default values as arguments .*/ + args = &PyTuple_GET_ITEM(argdefs, 0); + result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); + goto done; + } + } + if (kwargs != NULL) { + Py_ssize_t pos, i; + kwtuple = PyTuple_New(2 * nk); + if (kwtuple == NULL) { + result = NULL; + goto done; + } + k = &PyTuple_GET_ITEM(kwtuple, 0); + pos = i = 0; + while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { + Py_INCREF(k[i]); + Py_INCREF(k[i+1]); + i += 2; + } + nk = i / 2; + } + else { + kwtuple = NULL; + k = NULL; + } + closure = PyFunction_GET_CLOSURE(func); +#if PY_MAJOR_VERSION >= 3 + kwdefs = PyFunction_GET_KW_DEFAULTS(func); +#endif + if (argdefs != NULL) { + d = &PyTuple_GET_ITEM(argdefs, 0); + nd = Py_SIZE(argdefs); + } + else { + d = NULL; + nd = 0; + } +#if PY_MAJOR_VERSION >= 3 + result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, kwdefs, closure); +#else + result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, closure); +#endif + Py_XDECREF(kwtuple); +done: + Py_LeaveRecursiveCall(); + return result; +} +#endif + +/* PyObjectCall */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *result; + ternaryfunc call = Py_TYPE(func)->tp_call; + if (unlikely(!call)) + return PyObject_Call(func, arg, kw); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = (*call)(func, arg, kw); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCallMethO */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { + PyObject *self, *result; + PyCFunction cfunc; + cfunc = __Pyx_CyOrPyCFunction_GET_FUNCTION(func); + self = __Pyx_CyOrPyCFunction_GET_SELF(func); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = cfunc(self, arg); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectFastCall */ +#if PY_VERSION_HEX < 0x03090000 || CYTHON_COMPILING_IN_LIMITED_API +static PyObject* __Pyx_PyObject_FastCall_fallback(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs) { + PyObject *argstuple; + PyObject *result = 0; + size_t i; + argstuple = PyTuple_New((Py_ssize_t)nargs); + if (unlikely(!argstuple)) return NULL; + for (i = 0; i < nargs; i++) { + Py_INCREF(args[i]); + if (__Pyx_PyTuple_SET_ITEM(argstuple, (Py_ssize_t)i, args[i]) < 0) goto bad; + } + result = __Pyx_PyObject_Call(func, argstuple, kwargs); + bad: + Py_DECREF(argstuple); + return result; +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t _nargs, PyObject *kwargs) { + Py_ssize_t nargs = __Pyx_PyVectorcall_NARGS(_nargs); +#if CYTHON_COMPILING_IN_CPYTHON + if (nargs == 0 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_NOARGS)) + return __Pyx_PyObject_CallMethO(func, NULL); + } + else if (nargs == 1 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_O)) + return __Pyx_PyObject_CallMethO(func, args[0]); + } +#endif + #if PY_VERSION_HEX < 0x030800B1 + #if CYTHON_FAST_PYCCALL + if (PyCFunction_Check(func)) { + if (kwargs) { + return _PyCFunction_FastCallDict(func, args, nargs, kwargs); + } else { + return _PyCFunction_FastCallKeywords(func, args, nargs, NULL); + } + } + #if PY_VERSION_HEX >= 0x030700A1 + if (!kwargs && __Pyx_IS_TYPE(func, &PyMethodDescr_Type)) { + return _PyMethodDescr_FastCallKeywords(func, args, nargs, NULL); + } + #endif + #endif + #if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs); + } + #endif + #endif + if (kwargs == NULL) { + #if CYTHON_VECTORCALL + #if PY_VERSION_HEX < 0x03090000 + vectorcallfunc f = _PyVectorcall_Function(func); + #else + vectorcallfunc f = PyVectorcall_Function(func); + #endif + if (f) { + return f(func, args, (size_t)nargs, NULL); + } + #elif defined(__Pyx_CyFunction_USED) && CYTHON_BACKPORT_VECTORCALL + if (__Pyx_CyFunction_CheckExact(func)) { + __pyx_vectorcallfunc f = __Pyx_CyFunction_func_vectorcall(func); + if (f) return f(func, args, (size_t)nargs, NULL); + } + #endif + } + if (nargs == 0) { + return __Pyx_PyObject_Call(func, __pyx_empty_tuple, kwargs); + } + #if PY_VERSION_HEX >= 0x03090000 && !CYTHON_COMPILING_IN_LIMITED_API + return PyObject_VectorcallDict(func, args, (size_t)nargs, kwargs); + #else + return __Pyx_PyObject_FastCall_fallback(func, args, (size_t)nargs, kwargs); + #endif +} + +/* PyObjectCallOneArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *args[2] = {NULL, arg}; + return __Pyx_PyObject_FastCall(func, args+1, 1 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* RaiseException */ +#if PY_MAJOR_VERSION < 3 +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + __Pyx_PyThreadState_declare + CYTHON_UNUSED_VAR(cause); + Py_XINCREF(type); + if (!value || value == Py_None) + value = NULL; + else + Py_INCREF(value); + if (!tb || tb == Py_None) + tb = NULL; + else { + Py_INCREF(tb); + if (!PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto raise_error; + } + } + if (PyType_Check(type)) { +#if CYTHON_COMPILING_IN_PYPY + if (!value) { + Py_INCREF(Py_None); + value = Py_None; + } +#endif + PyErr_NormalizeException(&type, &value, &tb); + } else { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto raise_error; + } + value = type; + type = (PyObject*) Py_TYPE(type); + Py_INCREF(type); + if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto raise_error; + } + } + __Pyx_PyThreadState_assign + __Pyx_ErrRestore(type, value, tb); + return; +raise_error: + Py_XDECREF(value); + Py_XDECREF(type); + Py_XDECREF(tb); + return; +} +#else +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + PyObject* owned_instance = NULL; + if (tb == Py_None) { + tb = 0; + } else if (tb && !PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto bad; + } + if (value == Py_None) + value = 0; + if (PyExceptionInstance_Check(type)) { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto bad; + } + value = type; + type = (PyObject*) Py_TYPE(value); + } else if (PyExceptionClass_Check(type)) { + PyObject *instance_class = NULL; + if (value && PyExceptionInstance_Check(value)) { + instance_class = (PyObject*) Py_TYPE(value); + if (instance_class != type) { + int is_subclass = PyObject_IsSubclass(instance_class, type); + if (!is_subclass) { + instance_class = NULL; + } else if (unlikely(is_subclass == -1)) { + goto bad; + } else { + type = instance_class; + } + } + } + if (!instance_class) { + PyObject *args; + if (!value) + args = PyTuple_New(0); + else if (PyTuple_Check(value)) { + Py_INCREF(value); + args = value; + } else + args = PyTuple_Pack(1, value); + if (!args) + goto bad; + owned_instance = PyObject_Call(type, args, NULL); + Py_DECREF(args); + if (!owned_instance) + goto bad; + value = owned_instance; + if (!PyExceptionInstance_Check(value)) { + PyErr_Format(PyExc_TypeError, + "calling %R should have returned an instance of " + "BaseException, not %R", + type, Py_TYPE(value)); + goto bad; + } + } + } else { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto bad; + } + if (cause) { + PyObject *fixed_cause; + if (cause == Py_None) { + fixed_cause = NULL; + } else if (PyExceptionClass_Check(cause)) { + fixed_cause = PyObject_CallObject(cause, NULL); + if (fixed_cause == NULL) + goto bad; + } else if (PyExceptionInstance_Check(cause)) { + fixed_cause = cause; + Py_INCREF(fixed_cause); + } else { + PyErr_SetString(PyExc_TypeError, + "exception causes must derive from " + "BaseException"); + goto bad; + } + PyException_SetCause(value, fixed_cause); + } + PyErr_SetObject(type, value); + if (tb) { + #if PY_VERSION_HEX >= 0x030C00A6 + PyException_SetTraceback(value, tb); + #elif CYTHON_FAST_THREAD_STATE + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* tmp_tb = tstate->curexc_traceback; + if (tb != tmp_tb) { + Py_INCREF(tb); + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_tb); + } +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); + Py_INCREF(tb); + PyErr_Restore(tmp_type, tmp_value, tb); + Py_XDECREF(tmp_tb); +#endif + } +bad: + Py_XDECREF(owned_instance); + return; +} +#endif + +/* IterFinish */ +static CYTHON_INLINE int __Pyx_IterFinish(void) { + PyObject* exc_type; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + exc_type = __Pyx_PyErr_CurrentExceptionType(); + if (unlikely(exc_type)) { + if (unlikely(!__Pyx_PyErr_GivenExceptionMatches(exc_type, PyExc_StopIteration))) + return -1; + __Pyx_PyErr_Clear(); + return 0; + } + return 0; +} + +/* PyObjectCallNoArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { + PyObject *arg[2] = {NULL, NULL}; + return __Pyx_PyObject_FastCall(func, arg + 1, 0 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* PyObjectGetMethod */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method) { + PyObject *attr; +#if CYTHON_UNPACK_METHODS && CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_PYTYPE_LOOKUP + __Pyx_TypeName type_name; + PyTypeObject *tp = Py_TYPE(obj); + PyObject *descr; + descrgetfunc f = NULL; + PyObject **dictptr, *dict; + int meth_found = 0; + assert (*method == NULL); + if (unlikely(tp->tp_getattro != PyObject_GenericGetAttr)) { + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; + } + if (unlikely(tp->tp_dict == NULL) && unlikely(PyType_Ready(tp) < 0)) { + return 0; + } + descr = _PyType_Lookup(tp, name); + if (likely(descr != NULL)) { + Py_INCREF(descr); +#if defined(Py_TPFLAGS_METHOD_DESCRIPTOR) && Py_TPFLAGS_METHOD_DESCRIPTOR + if (__Pyx_PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_METHOD_DESCRIPTOR)) +#elif PY_MAJOR_VERSION >= 3 + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type))) + #endif +#else + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr))) + #endif +#endif + { + meth_found = 1; + } else { + f = Py_TYPE(descr)->tp_descr_get; + if (f != NULL && PyDescr_IsData(descr)) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + } + } + dictptr = _PyObject_GetDictPtr(obj); + if (dictptr != NULL && (dict = *dictptr) != NULL) { + Py_INCREF(dict); + attr = __Pyx_PyDict_GetItemStr(dict, name); + if (attr != NULL) { + Py_INCREF(attr); + Py_DECREF(dict); + Py_XDECREF(descr); + goto try_unpack; + } + Py_DECREF(dict); + } + if (meth_found) { + *method = descr; + return 1; + } + if (f != NULL) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + if (likely(descr != NULL)) { + *method = descr; + return 0; + } + type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return 0; +#else + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; +#endif +try_unpack: +#if CYTHON_UNPACK_METHODS + if (likely(attr) && PyMethod_Check(attr) && likely(PyMethod_GET_SELF(attr) == obj)) { + PyObject *function = PyMethod_GET_FUNCTION(attr); + Py_INCREF(function); + Py_DECREF(attr); + *method = function; + return 1; + } +#endif + *method = attr; + return 0; +} + +/* PyObjectCallMethod0 */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name) { + PyObject *method = NULL, *result = NULL; + int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); + if (likely(is_method)) { + result = __Pyx_PyObject_CallOneArg(method, obj); + Py_DECREF(method); + return result; + } + if (unlikely(!method)) goto bad; + result = __Pyx_PyObject_CallNoArg(method); + Py_DECREF(method); +bad: + return result; +} + +/* RaiseNeedMoreValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index) { + PyErr_Format(PyExc_ValueError, + "need more than %" CYTHON_FORMAT_SSIZE_T "d value%.1s to unpack", + index, (index == 1) ? "" : "s"); +} + +/* RaiseTooManyValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected) { + PyErr_Format(PyExc_ValueError, + "too many values to unpack (expected %" CYTHON_FORMAT_SSIZE_T "d)", expected); +} + +/* UnpackItemEndCheck */ +static int __Pyx_IternextUnpackEndCheck(PyObject *retval, Py_ssize_t expected) { + if (unlikely(retval)) { + Py_DECREF(retval); + __Pyx_RaiseTooManyValuesError(expected); + return -1; + } + return __Pyx_IterFinish(); +} + +/* RaiseNoneIterError */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void) { + PyErr_SetString(PyExc_TypeError, "'NoneType' object is not iterable"); +} + +/* UnpackTupleError */ +static void __Pyx_UnpackTupleError(PyObject *t, Py_ssize_t index) { + if (t == Py_None) { + __Pyx_RaiseNoneNotIterableError(); + } else if (PyTuple_GET_SIZE(t) < index) { + __Pyx_RaiseNeedMoreValuesError(PyTuple_GET_SIZE(t)); + } else { + __Pyx_RaiseTooManyValuesError(index); + } +} + +/* UnpackTuple2 */ +static CYTHON_INLINE int __Pyx_unpack_tuple2_exact( + PyObject* tuple, PyObject** pvalue1, PyObject** pvalue2, int decref_tuple) { + PyObject *value1 = NULL, *value2 = NULL; +#if CYTHON_COMPILING_IN_PYPY + value1 = PySequence_ITEM(tuple, 0); if (unlikely(!value1)) goto bad; + value2 = PySequence_ITEM(tuple, 1); if (unlikely(!value2)) goto bad; +#else + value1 = PyTuple_GET_ITEM(tuple, 0); Py_INCREF(value1); + value2 = PyTuple_GET_ITEM(tuple, 1); Py_INCREF(value2); +#endif + if (decref_tuple) { + Py_DECREF(tuple); + } + *pvalue1 = value1; + *pvalue2 = value2; + return 0; +#if CYTHON_COMPILING_IN_PYPY +bad: + Py_XDECREF(value1); + Py_XDECREF(value2); + if (decref_tuple) { Py_XDECREF(tuple); } + return -1; +#endif +} +static int __Pyx_unpack_tuple2_generic(PyObject* tuple, PyObject** pvalue1, PyObject** pvalue2, + int has_known_size, int decref_tuple) { + Py_ssize_t index; + PyObject *value1 = NULL, *value2 = NULL, *iter = NULL; + iternextfunc iternext; + iter = PyObject_GetIter(tuple); + if (unlikely(!iter)) goto bad; + if (decref_tuple) { Py_DECREF(tuple); tuple = NULL; } + iternext = __Pyx_PyObject_GetIterNextFunc(iter); + value1 = iternext(iter); if (unlikely(!value1)) { index = 0; goto unpacking_failed; } + value2 = iternext(iter); if (unlikely(!value2)) { index = 1; goto unpacking_failed; } + if (!has_known_size && unlikely(__Pyx_IternextUnpackEndCheck(iternext(iter), 2))) goto bad; + Py_DECREF(iter); + *pvalue1 = value1; + *pvalue2 = value2; + return 0; +unpacking_failed: + if (!has_known_size && __Pyx_IterFinish() == 0) + __Pyx_RaiseNeedMoreValuesError(index); +bad: + Py_XDECREF(iter); + Py_XDECREF(value1); + Py_XDECREF(value2); + if (decref_tuple) { Py_XDECREF(tuple); } + return -1; +} + +/* dict_iter */ +#if CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 +#include +#endif +static CYTHON_INLINE PyObject* __Pyx_dict_iterator(PyObject* iterable, int is_dict, PyObject* method_name, + Py_ssize_t* p_orig_length, int* p_source_is_dict) { + is_dict = is_dict || likely(PyDict_CheckExact(iterable)); + *p_source_is_dict = is_dict; + if (is_dict) { +#if !CYTHON_COMPILING_IN_PYPY + *p_orig_length = PyDict_Size(iterable); + Py_INCREF(iterable); + return iterable; +#elif PY_MAJOR_VERSION >= 3 + static PyObject *py_items = NULL, *py_keys = NULL, *py_values = NULL; + PyObject **pp = NULL; + if (method_name) { + const char *name = PyUnicode_AsUTF8(method_name); + if (strcmp(name, "iteritems") == 0) pp = &py_items; + else if (strcmp(name, "iterkeys") == 0) pp = &py_keys; + else if (strcmp(name, "itervalues") == 0) pp = &py_values; + if (pp) { + if (!*pp) { + *pp = PyUnicode_FromString(name + 4); + if (!*pp) + return NULL; + } + method_name = *pp; + } + } +#endif + } + *p_orig_length = 0; + if (method_name) { + PyObject* iter; + iterable = __Pyx_PyObject_CallMethod0(iterable, method_name); + if (!iterable) + return NULL; +#if !CYTHON_COMPILING_IN_PYPY + if (PyTuple_CheckExact(iterable) || PyList_CheckExact(iterable)) + return iterable; +#endif + iter = PyObject_GetIter(iterable); + Py_DECREF(iterable); + return iter; + } + return PyObject_GetIter(iterable); +} +static CYTHON_INLINE int __Pyx_dict_iter_next( + PyObject* iter_obj, CYTHON_NCP_UNUSED Py_ssize_t orig_length, CYTHON_NCP_UNUSED Py_ssize_t* ppos, + PyObject** pkey, PyObject** pvalue, PyObject** pitem, int source_is_dict) { + PyObject* next_item; +#if !CYTHON_COMPILING_IN_PYPY + if (source_is_dict) { + PyObject *key, *value; + if (unlikely(orig_length != PyDict_Size(iter_obj))) { + PyErr_SetString(PyExc_RuntimeError, "dictionary changed size during iteration"); + return -1; + } + if (unlikely(!PyDict_Next(iter_obj, ppos, &key, &value))) { + return 0; + } + if (pitem) { + PyObject* tuple = PyTuple_New(2); + if (unlikely(!tuple)) { + return -1; + } + Py_INCREF(key); + Py_INCREF(value); + PyTuple_SET_ITEM(tuple, 0, key); + PyTuple_SET_ITEM(tuple, 1, value); + *pitem = tuple; + } else { + if (pkey) { + Py_INCREF(key); + *pkey = key; + } + if (pvalue) { + Py_INCREF(value); + *pvalue = value; + } + } + return 1; + } else if (PyTuple_CheckExact(iter_obj)) { + Py_ssize_t pos = *ppos; + if (unlikely(pos >= PyTuple_GET_SIZE(iter_obj))) return 0; + *ppos = pos + 1; + next_item = PyTuple_GET_ITEM(iter_obj, pos); + Py_INCREF(next_item); + } else if (PyList_CheckExact(iter_obj)) { + Py_ssize_t pos = *ppos; + if (unlikely(pos >= PyList_GET_SIZE(iter_obj))) return 0; + *ppos = pos + 1; + next_item = PyList_GET_ITEM(iter_obj, pos); + Py_INCREF(next_item); + } else +#endif + { + next_item = PyIter_Next(iter_obj); + if (unlikely(!next_item)) { + return __Pyx_IterFinish(); + } + } + if (pitem) { + *pitem = next_item; + } else if (pkey && pvalue) { + if (__Pyx_unpack_tuple2(next_item, pkey, pvalue, source_is_dict, source_is_dict, 1)) + return -1; + } else if (pkey) { + *pkey = next_item; + } else { + *pvalue = next_item; + } + return 1; +} + +/* PyDictVersioning */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { + PyObject **dictptr = NULL; + Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; + if (offset) { +#if CYTHON_COMPILING_IN_CPYTHON + dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); +#else + dictptr = _PyObject_GetDictPtr(obj); +#endif + } + return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; +} +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) + return 0; + return obj_dict_version == __Pyx_get_object_dict_version(obj); +} +#endif + +/* GetTopmostException */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * +__Pyx_PyErr_GetTopmostException(PyThreadState *tstate) +{ + _PyErr_StackItem *exc_info = tstate->exc_info; + while ((exc_info->exc_value == NULL || exc_info->exc_value == Py_None) && + exc_info->previous_item != NULL) + { + exc_info = exc_info->previous_item; + } + return exc_info; +} +#endif + +/* SaveResetException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + PyObject *exc_value = exc_info->exc_value; + if (exc_value == NULL || exc_value == Py_None) { + *value = NULL; + *type = NULL; + *tb = NULL; + } else { + *value = exc_value; + Py_INCREF(*value); + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + *tb = PyException_GetTraceback(exc_value); + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + *type = exc_info->exc_type; + *value = exc_info->exc_value; + *tb = exc_info->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #else + *type = tstate->exc_type; + *value = tstate->exc_value; + *tb = tstate->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #endif +} +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + PyObject *tmp_value = exc_info->exc_value; + exc_info->exc_value = value; + Py_XDECREF(tmp_value); + Py_XDECREF(type); + Py_XDECREF(tb); + #else + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = type; + exc_info->exc_value = value; + exc_info->exc_traceback = tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = type; + tstate->exc_value = value; + tstate->exc_traceback = tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); + #endif +} +#endif + +/* KeywordStringCheck */ +static int __Pyx_CheckKeywordStrings( + PyObject *kw, + const char* function_name, + int kw_allowed) +{ + PyObject* key = 0; + Py_ssize_t pos = 0; +#if CYTHON_COMPILING_IN_PYPY + if (!kw_allowed && PyDict_Next(kw, &pos, &key, 0)) + goto invalid_keyword; + return 1; +#else + if (CYTHON_METH_FASTCALL && likely(PyTuple_Check(kw))) { + Py_ssize_t kwsize; +#if CYTHON_ASSUME_SAFE_MACROS + kwsize = PyTuple_GET_SIZE(kw); +#else + kwsize = PyTuple_Size(kw); + if (kwsize < 0) return 0; +#endif + if (unlikely(kwsize == 0)) + return 1; + if (!kw_allowed) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, 0); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + goto invalid_keyword; + } +#if PY_VERSION_HEX < 0x03090000 + for (pos = 0; pos < kwsize; pos++) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, pos); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } +#endif + return 1; + } + while (PyDict_Next(kw, &pos, &key, 0)) { + #if PY_MAJOR_VERSION < 3 + if (unlikely(!PyString_Check(key))) + #endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } + if (!kw_allowed && unlikely(key)) + goto invalid_keyword; + return 1; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + return 0; +#endif +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif + return 0; +} + +/* FixUpExtensionType */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type) { +#if PY_VERSION_HEX > 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + CYTHON_UNUSED_VAR(spec); + CYTHON_UNUSED_VAR(type); +#else + const PyType_Slot *slot = spec->slots; + while (slot && slot->slot && slot->slot != Py_tp_members) + slot++; + if (slot && slot->slot == Py_tp_members) { + int changed = 0; +#if !(PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON) + const +#endif + PyMemberDef *memb = (PyMemberDef*) slot->pfunc; + while (memb && memb->name) { + if (memb->name[0] == '_' && memb->name[1] == '_') { +#if PY_VERSION_HEX < 0x030900b1 + if (strcmp(memb->name, "__weaklistoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_weaklistoffset = memb->offset; + changed = 1; + } + else if (strcmp(memb->name, "__dictoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_dictoffset = memb->offset; + changed = 1; + } +#if CYTHON_METH_FASTCALL + else if (strcmp(memb->name, "__vectorcalloffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); +#if PY_VERSION_HEX >= 0x030800b4 + type->tp_vectorcall_offset = memb->offset; +#else + type->tp_print = (printfunc) memb->offset; +#endif + changed = 1; + } +#endif +#else + if ((0)); +#endif +#if PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON + else if (strcmp(memb->name, "__module__") == 0) { + PyObject *descr; + assert(memb->type == T_OBJECT); + assert(memb->flags == 0 || memb->flags == READONLY); + descr = PyDescr_NewMember(type, memb); + if (unlikely(!descr)) + return -1; + if (unlikely(PyDict_SetItem(type->tp_dict, PyDescr_NAME(descr), descr) < 0)) { + Py_DECREF(descr); + return -1; + } + Py_DECREF(descr); + changed = 1; + } +#endif + } + memb++; + } + if (changed) + PyType_Modified(type); + } +#endif + return 0; +} +#endif + +/* ValidateBasesTuple */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases) { + Py_ssize_t i, n; +#if CYTHON_ASSUME_SAFE_MACROS + n = PyTuple_GET_SIZE(bases); +#else + n = PyTuple_Size(bases); + if (n < 0) return -1; +#endif + for (i = 1; i < n; i++) + { +#if CYTHON_AVOID_BORROWED_REFS + PyObject *b0 = PySequence_GetItem(bases, i); + if (!b0) return -1; +#elif CYTHON_ASSUME_SAFE_MACROS + PyObject *b0 = PyTuple_GET_ITEM(bases, i); +#else + PyObject *b0 = PyTuple_GetItem(bases, i); + if (!b0) return -1; +#endif + PyTypeObject *b; +#if PY_MAJOR_VERSION < 3 + if (PyClass_Check(b0)) + { + PyErr_Format(PyExc_TypeError, "base class '%.200s' is an old-style class", + PyString_AS_STRING(((PyClassObject*)b0)->cl_name)); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } +#endif + b = (PyTypeObject*) b0; + if (!__Pyx_PyType_HasFeature(b, Py_TPFLAGS_HEAPTYPE)) + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "base class '" __Pyx_FMT_TYPENAME "' is not a heap type", b_name); + __Pyx_DECREF_TypeName(b_name); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + if (dictoffset == 0) + { + Py_ssize_t b_dictoffset = 0; +#if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + b_dictoffset = b->tp_dictoffset; +#else + PyObject *py_b_dictoffset = PyObject_GetAttrString((PyObject*)b, "__dictoffset__"); + if (!py_b_dictoffset) goto dictoffset_return; + b_dictoffset = PyLong_AsSsize_t(py_b_dictoffset); + Py_DECREF(py_b_dictoffset); + if (b_dictoffset == -1 && PyErr_Occurred()) goto dictoffset_return; +#endif + if (b_dictoffset) { + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "extension type '%.200s' has no __dict__ slot, " + "but base type '" __Pyx_FMT_TYPENAME "' has: " + "either add 'cdef dict __dict__' to the extension type " + "or add '__slots__ = [...]' to the base type", + type_name, b_name); + __Pyx_DECREF_TypeName(b_name); + } +#if !(CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY) + dictoffset_return: +#endif +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + } +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + } + return 0; +} +#endif + +/* PyType_Ready */ +static int __Pyx_PyType_Ready(PyTypeObject *t) { +#if CYTHON_USE_TYPE_SPECS || !(CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API) || defined(PYSTON_MAJOR_VERSION) + (void)__Pyx_PyObject_CallMethod0; +#if CYTHON_USE_TYPE_SPECS + (void)__Pyx_validate_bases_tuple; +#endif + return PyType_Ready(t); +#else + int r; + PyObject *bases = __Pyx_PyType_GetSlot(t, tp_bases, PyObject*); + if (bases && unlikely(__Pyx_validate_bases_tuple(t->tp_name, t->tp_dictoffset, bases) == -1)) + return -1; +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + { + int gc_was_enabled; + #if PY_VERSION_HEX >= 0x030A00b1 + gc_was_enabled = PyGC_Disable(); + (void)__Pyx_PyObject_CallMethod0; + #else + PyObject *ret, *py_status; + PyObject *gc = NULL; + #if PY_VERSION_HEX >= 0x030700a1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM+0 >= 0x07030400) + gc = PyImport_GetModule(__pyx_kp_u_gc); + #endif + if (unlikely(!gc)) gc = PyImport_Import(__pyx_kp_u_gc); + if (unlikely(!gc)) return -1; + py_status = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_isenabled); + if (unlikely(!py_status)) { + Py_DECREF(gc); + return -1; + } + gc_was_enabled = __Pyx_PyObject_IsTrue(py_status); + Py_DECREF(py_status); + if (gc_was_enabled > 0) { + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_disable); + if (unlikely(!ret)) { + Py_DECREF(gc); + return -1; + } + Py_DECREF(ret); + } else if (unlikely(gc_was_enabled == -1)) { + Py_DECREF(gc); + return -1; + } + #endif + t->tp_flags |= Py_TPFLAGS_HEAPTYPE; +#if PY_VERSION_HEX >= 0x030A0000 + t->tp_flags |= Py_TPFLAGS_IMMUTABLETYPE; +#endif +#else + (void)__Pyx_PyObject_CallMethod0; +#endif + r = PyType_Ready(t); +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + t->tp_flags &= ~Py_TPFLAGS_HEAPTYPE; + #if PY_VERSION_HEX >= 0x030A00b1 + if (gc_was_enabled) + PyGC_Enable(); + #else + if (gc_was_enabled) { + PyObject *tp, *v, *tb; + PyErr_Fetch(&tp, &v, &tb); + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_enable); + if (likely(ret || r == -1)) { + Py_XDECREF(ret); + PyErr_Restore(tp, v, tb); + } else { + Py_XDECREF(tp); + Py_XDECREF(v); + Py_XDECREF(tb); + r = -1; + } + } + Py_DECREF(gc); + #endif + } +#endif + return r; +#endif +} + +/* PyObject_GenericGetAttrNoDict */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { + __Pyx_TypeName type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, attr_name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(attr_name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { + PyObject *descr; + PyTypeObject *tp = Py_TYPE(obj); + if (unlikely(!PyString_Check(attr_name))) { + return PyObject_GenericGetAttr(obj, attr_name); + } + assert(!tp->tp_dictoffset); + descr = _PyType_Lookup(tp, attr_name); + if (unlikely(!descr)) { + return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); + } + Py_INCREF(descr); + #if PY_MAJOR_VERSION < 3 + if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) + #endif + { + descrgetfunc f = Py_TYPE(descr)->tp_descr_get; + if (unlikely(f)) { + PyObject *res = f(descr, obj, (PyObject *)tp); + Py_DECREF(descr); + return res; + } + } + return descr; +} +#endif + +/* PyObject_GenericGetAttr */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { + if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { + return PyObject_GenericGetAttr(obj, attr_name); + } + return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); +} +#endif + +/* SetVTable */ +static int __Pyx_SetVtable(PyTypeObject *type, void *vtable) { + PyObject *ob = PyCapsule_New(vtable, 0, 0); + if (unlikely(!ob)) + goto bad; +#if CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(PyObject_SetAttr((PyObject *) type, __pyx_n_s_pyx_vtable, ob) < 0)) +#else + if (unlikely(PyDict_SetItem(type->tp_dict, __pyx_n_s_pyx_vtable, ob) < 0)) +#endif + goto bad; + Py_DECREF(ob); + return 0; +bad: + Py_XDECREF(ob); + return -1; +} + +/* GetVTable */ +static void* __Pyx_GetVtable(PyTypeObject *type) { + void* ptr; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *ob = PyObject_GetAttr((PyObject *)type, __pyx_n_s_pyx_vtable); +#else + PyObject *ob = PyObject_GetItem(type->tp_dict, __pyx_n_s_pyx_vtable); +#endif + if (!ob) + goto bad; + ptr = PyCapsule_GetPointer(ob, 0); + if (!ptr && !PyErr_Occurred()) + PyErr_SetString(PyExc_RuntimeError, "invalid vtable found for imported type"); + Py_DECREF(ob); + return ptr; +bad: + Py_XDECREF(ob); + return NULL; +} + +/* MergeVTables */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type) { + int i; + void** base_vtables; + __Pyx_TypeName tp_base_name; + __Pyx_TypeName base_name; + void* unknown = (void*)-1; + PyObject* bases = type->tp_bases; + int base_depth = 0; + { + PyTypeObject* base = type->tp_base; + while (base) { + base_depth += 1; + base = base->tp_base; + } + } + base_vtables = (void**) malloc(sizeof(void*) * (size_t)(base_depth + 1)); + base_vtables[0] = unknown; + for (i = 1; i < PyTuple_GET_SIZE(bases); i++) { + void* base_vtable = __Pyx_GetVtable(((PyTypeObject*)PyTuple_GET_ITEM(bases, i))); + if (base_vtable != NULL) { + int j; + PyTypeObject* base = type->tp_base; + for (j = 0; j < base_depth; j++) { + if (base_vtables[j] == unknown) { + base_vtables[j] = __Pyx_GetVtable(base); + base_vtables[j + 1] = unknown; + } + if (base_vtables[j] == base_vtable) { + break; + } else if (base_vtables[j] == NULL) { + goto bad; + } + base = base->tp_base; + } + } + } + PyErr_Clear(); + free(base_vtables); + return 0; +bad: + tp_base_name = __Pyx_PyType_GetName(type->tp_base); + base_name = __Pyx_PyType_GetName((PyTypeObject*)PyTuple_GET_ITEM(bases, i)); + PyErr_Format(PyExc_TypeError, + "multiple bases have vtable conflict: '" __Pyx_FMT_TYPENAME "' and '" __Pyx_FMT_TYPENAME "'", tp_base_name, base_name); + __Pyx_DECREF_TypeName(tp_base_name); + __Pyx_DECREF_TypeName(base_name); + free(base_vtables); + return -1; +} +#endif + +/* SetupReduce */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { + int ret; + PyObject *name_attr; + name_attr = __Pyx_PyObject_GetAttrStrNoError(meth, __pyx_n_s_name); + if (likely(name_attr)) { + ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); + } else { + ret = -1; + } + if (unlikely(ret < 0)) { + PyErr_Clear(); + ret = 0; + } + Py_XDECREF(name_attr); + return ret; +} +static int __Pyx_setup_reduce(PyObject* type_obj) { + int ret = 0; + PyObject *object_reduce = NULL; + PyObject *object_getstate = NULL; + PyObject *object_reduce_ex = NULL; + PyObject *reduce = NULL; + PyObject *reduce_ex = NULL; + PyObject *reduce_cython = NULL; + PyObject *setstate = NULL; + PyObject *setstate_cython = NULL; + PyObject *getstate = NULL; +#if CYTHON_USE_PYTYPE_LOOKUP + getstate = _PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate); +#else + getstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_getstate); + if (!getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (getstate) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_getstate = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_getstate); +#else + object_getstate = __Pyx_PyObject_GetAttrStrNoError((PyObject*)&PyBaseObject_Type, __pyx_n_s_getstate); + if (!object_getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (object_getstate != getstate) { + goto __PYX_GOOD; + } + } +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#else + object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#endif + reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; + if (reduce_ex == object_reduce_ex) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#else + object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#endif + reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; + if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { + reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); + if (likely(reduce_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (reduce == object_reduce || PyErr_Occurred()) { + goto __PYX_BAD; + } + setstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate); + if (!setstate) PyErr_Clear(); + if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { + setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); + if (likely(setstate_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (!setstate || PyErr_Occurred()) { + goto __PYX_BAD; + } + } + PyType_Modified((PyTypeObject*)type_obj); + } + } + goto __PYX_GOOD; +__PYX_BAD: + if (!PyErr_Occurred()) { + __Pyx_TypeName type_obj_name = + __Pyx_PyType_GetName((PyTypeObject*)type_obj); + PyErr_Format(PyExc_RuntimeError, + "Unable to initialize pickling for " __Pyx_FMT_TYPENAME, type_obj_name); + __Pyx_DECREF_TypeName(type_obj_name); + } + ret = -1; +__PYX_GOOD: +#if !CYTHON_USE_PYTYPE_LOOKUP + Py_XDECREF(object_reduce); + Py_XDECREF(object_reduce_ex); + Py_XDECREF(object_getstate); + Py_XDECREF(getstate); +#endif + Py_XDECREF(reduce); + Py_XDECREF(reduce_ex); + Py_XDECREF(reduce_cython); + Py_XDECREF(setstate); + Py_XDECREF(setstate_cython); + return ret; +} +#endif + +/* FetchSharedCythonModule */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void) { + return __Pyx_PyImport_AddModuleRef((char*) __PYX_ABI_MODULE_NAME); +} + +/* FetchCommonType */ +static int __Pyx_VerifyCachedType(PyObject *cached_type, + const char *name, + Py_ssize_t basicsize, + Py_ssize_t expected_basicsize) { + if (!PyType_Check(cached_type)) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s is not a type object", name); + return -1; + } + if (basicsize != expected_basicsize) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s has the wrong size, try recompiling", + name); + return -1; + } + return 0; +} +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) { + PyObject* abi_module; + const char* object_name; + PyTypeObject *cached_type = NULL; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + object_name = strrchr(type->tp_name, '.'); + object_name = object_name ? object_name+1 : type->tp_name; + cached_type = (PyTypeObject*) PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + if (__Pyx_VerifyCachedType( + (PyObject *)cached_type, + object_name, + cached_type->tp_basicsize, + type->tp_basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + if (PyType_Ready(type) < 0) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, (PyObject *)type) < 0) + goto bad; + Py_INCREF(type); + cached_type = type; +done: + Py_DECREF(abi_module); + return cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#else +static PyTypeObject *__Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases) { + PyObject *abi_module, *cached_type = NULL; + const char* object_name = strrchr(spec->name, '.'); + object_name = object_name ? object_name+1 : spec->name; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + cached_type = PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + Py_ssize_t basicsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + py_basicsize = PyObject_GetAttrString(cached_type, "__basicsize__"); + if (unlikely(!py_basicsize)) goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (unlikely(basicsize == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; +#else + basicsize = likely(PyType_Check(cached_type)) ? ((PyTypeObject*) cached_type)->tp_basicsize : -1; +#endif + if (__Pyx_VerifyCachedType( + cached_type, + object_name, + basicsize, + spec->basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + CYTHON_UNUSED_VAR(module); + cached_type = __Pyx_PyType_FromModuleAndSpec(abi_module, spec, bases); + if (unlikely(!cached_type)) goto bad; + if (unlikely(__Pyx_fix_up_extension_type_from_spec(spec, (PyTypeObject *) cached_type) < 0)) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, cached_type) < 0) goto bad; +done: + Py_DECREF(abi_module); + assert(cached_type == NULL || PyType_Check(cached_type)); + return (PyTypeObject *) cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#endif + +/* PyVectorcallFastCallDict */ +#if CYTHON_METH_FASTCALL +static PyObject *__Pyx_PyVectorcall_FastCallDict_kw(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + PyObject *res = NULL; + PyObject *kwnames; + PyObject **newargs; + PyObject **kwvalues; + Py_ssize_t i, pos; + size_t j; + PyObject *key, *value; + unsigned long keys_are_strings; + Py_ssize_t nkw = PyDict_GET_SIZE(kw); + newargs = (PyObject **)PyMem_Malloc((nargs + (size_t)nkw) * sizeof(args[0])); + if (unlikely(newargs == NULL)) { + PyErr_NoMemory(); + return NULL; + } + for (j = 0; j < nargs; j++) newargs[j] = args[j]; + kwnames = PyTuple_New(nkw); + if (unlikely(kwnames == NULL)) { + PyMem_Free(newargs); + return NULL; + } + kwvalues = newargs + nargs; + pos = i = 0; + keys_are_strings = Py_TPFLAGS_UNICODE_SUBCLASS; + while (PyDict_Next(kw, &pos, &key, &value)) { + keys_are_strings &= Py_TYPE(key)->tp_flags; + Py_INCREF(key); + Py_INCREF(value); + PyTuple_SET_ITEM(kwnames, i, key); + kwvalues[i] = value; + i++; + } + if (unlikely(!keys_are_strings)) { + PyErr_SetString(PyExc_TypeError, "keywords must be strings"); + goto cleanup; + } + res = vc(func, newargs, nargs, kwnames); +cleanup: + Py_DECREF(kwnames); + for (i = 0; i < nkw; i++) + Py_DECREF(kwvalues[i]); + PyMem_Free(newargs); + return res; +} +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + if (likely(kw == NULL) || PyDict_GET_SIZE(kw) == 0) { + return vc(func, args, nargs, NULL); + } + return __Pyx_PyVectorcall_FastCallDict_kw(func, vc, args, nargs, kw); +} +#endif + +/* CythonFunctionShared */ +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + if (__Pyx_CyFunction_Check(func)) { + return PyCFunction_GetFunction(((__pyx_CyFunctionObject*)func)->func) == (PyCFunction) cfunc; + } else if (PyCFunction_Check(func)) { + return PyCFunction_GetFunction(func) == (PyCFunction) cfunc; + } + return 0; +} +#else +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + return __Pyx_CyOrPyCFunction_Check(func) && __Pyx_CyOrPyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +} +#endif +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj) { +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + __Pyx_Py_XDECREF_SET( + __Pyx_CyFunction_GetClassObj(f), + ((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#else + __Pyx_Py_XDECREF_SET( + ((PyCMethodObject *) (f))->mm_class, + (PyTypeObject*)((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#endif +} +static PyObject * +__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, void *closure) +{ + CYTHON_UNUSED_VAR(closure); + if (unlikely(op->func_doc == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_doc = PyObject_GetAttrString(op->func, "__doc__"); + if (unlikely(!op->func_doc)) return NULL; +#else + if (((PyCFunctionObject*)op)->m_ml->ml_doc) { +#if PY_MAJOR_VERSION >= 3 + op->func_doc = PyUnicode_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#else + op->func_doc = PyString_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#endif + if (unlikely(op->func_doc == NULL)) + return NULL; + } else { + Py_INCREF(Py_None); + return Py_None; + } +#endif + } + Py_INCREF(op->func_doc); + return op->func_doc; +} +static int +__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (value == NULL) { + value = Py_None; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_doc, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_name == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_name = PyObject_GetAttrString(op->func, "__name__"); +#elif PY_MAJOR_VERSION >= 3 + op->func_name = PyUnicode_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#else + op->func_name = PyString_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#endif + if (unlikely(op->func_name == NULL)) + return NULL; + } + Py_INCREF(op->func_name); + return op->func_name; +} +static int +__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__name__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_name, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_qualname); + return op->func_qualname; +} +static int +__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__qualname__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_qualname, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_dict(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_dict == NULL)) { + op->func_dict = PyDict_New(); + if (unlikely(op->func_dict == NULL)) + return NULL; + } + Py_INCREF(op->func_dict); + return op->func_dict; +} +static int +__Pyx_CyFunction_set_dict(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(value == NULL)) { + PyErr_SetString(PyExc_TypeError, + "function's dictionary may not be deleted"); + return -1; + } + if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "setting function's dictionary to a non-dict"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_dict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_globals(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_globals); + return op->func_globals; +} +static PyObject * +__Pyx_CyFunction_get_closure(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(op); + CYTHON_UNUSED_VAR(context); + Py_INCREF(Py_None); + return Py_None; +} +static PyObject * +__Pyx_CyFunction_get_code(__pyx_CyFunctionObject *op, void *context) +{ + PyObject* result = (op->func_code) ? op->func_code : Py_None; + CYTHON_UNUSED_VAR(context); + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_init_defaults(__pyx_CyFunctionObject *op) { + int result = 0; + PyObject *res = op->defaults_getter((PyObject *) op); + if (unlikely(!res)) + return -1; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + op->defaults_tuple = PyTuple_GET_ITEM(res, 0); + Py_INCREF(op->defaults_tuple); + op->defaults_kwdict = PyTuple_GET_ITEM(res, 1); + Py_INCREF(op->defaults_kwdict); + #else + op->defaults_tuple = __Pyx_PySequence_ITEM(res, 0); + if (unlikely(!op->defaults_tuple)) result = -1; + else { + op->defaults_kwdict = __Pyx_PySequence_ITEM(res, 1); + if (unlikely(!op->defaults_kwdict)) result = -1; + } + #endif + Py_DECREF(res); + return result; +} +static int +__Pyx_CyFunction_set_defaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyTuple_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__defaults__ must be set to a tuple object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__defaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_tuple, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_defaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_tuple; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_tuple; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_kwdefaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__kwdefaults__ must be set to a dict object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__kwdefaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_kwdict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_kwdefaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_kwdict; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_kwdict; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_annotations(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value || value == Py_None) { + value = NULL; + } else if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__annotations__ must be set to a dict object"); + return -1; + } + Py_XINCREF(value); + __Pyx_Py_XDECREF_SET(op->func_annotations, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_annotations(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->func_annotations; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + result = PyDict_New(); + if (unlikely(!result)) return NULL; + op->func_annotations = result; + } + Py_INCREF(result); + return result; +} +static PyObject * +__Pyx_CyFunction_get_is_coroutine(__pyx_CyFunctionObject *op, void *context) { + int is_coroutine; + CYTHON_UNUSED_VAR(context); + if (op->func_is_coroutine) { + return __Pyx_NewRef(op->func_is_coroutine); + } + is_coroutine = op->flags & __Pyx_CYFUNCTION_COROUTINE; +#if PY_VERSION_HEX >= 0x03050000 + if (is_coroutine) { + PyObject *module, *fromlist, *marker = __pyx_n_s_is_coroutine; + fromlist = PyList_New(1); + if (unlikely(!fromlist)) return NULL; + Py_INCREF(marker); +#if CYTHON_ASSUME_SAFE_MACROS + PyList_SET_ITEM(fromlist, 0, marker); +#else + if (unlikely(PyList_SetItem(fromlist, 0, marker) < 0)) { + Py_DECREF(marker); + Py_DECREF(fromlist); + return NULL; + } +#endif + module = PyImport_ImportModuleLevelObject(__pyx_n_s_asyncio_coroutines, NULL, NULL, fromlist, 0); + Py_DECREF(fromlist); + if (unlikely(!module)) goto ignore; + op->func_is_coroutine = __Pyx_PyObject_GetAttrStr(module, marker); + Py_DECREF(module); + if (likely(op->func_is_coroutine)) { + return __Pyx_NewRef(op->func_is_coroutine); + } +ignore: + PyErr_Clear(); + } +#endif + op->func_is_coroutine = __Pyx_PyBool_FromLong(is_coroutine); + return __Pyx_NewRef(op->func_is_coroutine); +} +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject * +__Pyx_CyFunction_get_module(__pyx_CyFunctionObject *op, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_GetAttrString(op->func, "__module__"); +} +static int +__Pyx_CyFunction_set_module(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_SetAttrString(op->func, "__module__", value); +} +#endif +static PyGetSetDef __pyx_CyFunction_getsets[] = { + {(char *) "func_doc", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "__doc__", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "func_name", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__name__", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__qualname__", (getter)__Pyx_CyFunction_get_qualname, (setter)__Pyx_CyFunction_set_qualname, 0, 0}, + {(char *) "func_dict", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "__dict__", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "func_globals", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "__globals__", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "func_closure", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "__closure__", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "func_code", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "__code__", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "func_defaults", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__defaults__", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__kwdefaults__", (getter)__Pyx_CyFunction_get_kwdefaults, (setter)__Pyx_CyFunction_set_kwdefaults, 0, 0}, + {(char *) "__annotations__", (getter)__Pyx_CyFunction_get_annotations, (setter)__Pyx_CyFunction_set_annotations, 0, 0}, + {(char *) "_is_coroutine", (getter)__Pyx_CyFunction_get_is_coroutine, 0, 0, 0}, +#if CYTHON_COMPILING_IN_LIMITED_API + {"__module__", (getter)__Pyx_CyFunction_get_module, (setter)__Pyx_CyFunction_set_module, 0, 0}, +#endif + {0, 0, 0, 0, 0} +}; +static PyMemberDef __pyx_CyFunction_members[] = { +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__module__", T_OBJECT, offsetof(PyCFunctionObject, m_module), 0, 0}, +#endif +#if CYTHON_USE_TYPE_SPECS + {(char *) "__dictoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_dict), READONLY, 0}, +#if CYTHON_METH_FASTCALL +#if CYTHON_BACKPORT_VECTORCALL + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_vectorcall), READONLY, 0}, +#else +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(PyCFunctionObject, vectorcall), READONLY, 0}, +#endif +#endif +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_weakreflist), READONLY, 0}, +#else + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(PyCFunctionObject, m_weakreflist), READONLY, 0}, +#endif +#endif + {0, 0, 0, 0, 0} +}; +static PyObject * +__Pyx_CyFunction_reduce(__pyx_CyFunctionObject *m, PyObject *args) +{ + CYTHON_UNUSED_VAR(args); +#if PY_MAJOR_VERSION >= 3 + Py_INCREF(m->func_qualname); + return m->func_qualname; +#else + return PyString_FromString(((PyCFunctionObject*)m)->m_ml->ml_name); +#endif +} +static PyMethodDef __pyx_CyFunction_methods[] = { + {"__reduce__", (PyCFunction)__Pyx_CyFunction_reduce, METH_VARARGS, 0}, + {0, 0, 0, 0} +}; +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func_weakreflist) +#else +#define __Pyx_CyFunction_weakreflist(cyfunc) (((PyCFunctionObject*)cyfunc)->m_weakreflist) +#endif +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject *op, PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { +#if !CYTHON_COMPILING_IN_LIMITED_API + PyCFunctionObject *cf = (PyCFunctionObject*) op; +#endif + if (unlikely(op == NULL)) + return NULL; +#if CYTHON_COMPILING_IN_LIMITED_API + op->func = PyCFunction_NewEx(ml, (PyObject*)op, module); + if (unlikely(!op->func)) return NULL; +#endif + op->flags = flags; + __Pyx_CyFunction_weakreflist(op) = NULL; +#if !CYTHON_COMPILING_IN_LIMITED_API + cf->m_ml = ml; + cf->m_self = (PyObject *) op; +#endif + Py_XINCREF(closure); + op->func_closure = closure; +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_XINCREF(module); + cf->m_module = module; +#endif + op->func_dict = NULL; + op->func_name = NULL; + Py_INCREF(qualname); + op->func_qualname = qualname; + op->func_doc = NULL; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + op->func_classobj = NULL; +#else + ((PyCMethodObject*)op)->mm_class = NULL; +#endif + op->func_globals = globals; + Py_INCREF(op->func_globals); + Py_XINCREF(code); + op->func_code = code; + op->defaults_pyobjects = 0; + op->defaults_size = 0; + op->defaults = NULL; + op->defaults_tuple = NULL; + op->defaults_kwdict = NULL; + op->defaults_getter = NULL; + op->func_annotations = NULL; + op->func_is_coroutine = NULL; +#if CYTHON_METH_FASTCALL + switch (ml->ml_flags & (METH_VARARGS | METH_FASTCALL | METH_NOARGS | METH_O | METH_KEYWORDS | METH_METHOD)) { + case METH_NOARGS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_NOARGS; + break; + case METH_O: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_O; + break; + case METH_METHOD | METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD; + break; + case METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS; + break; + case METH_VARARGS | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = NULL; + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + Py_DECREF(op); + return NULL; + } +#endif + return (PyObject *) op; +} +static int +__Pyx_CyFunction_clear(__pyx_CyFunctionObject *m) +{ + Py_CLEAR(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_CLEAR(m->func); +#else + Py_CLEAR(((PyCFunctionObject*)m)->m_module); +#endif + Py_CLEAR(m->func_dict); + Py_CLEAR(m->func_name); + Py_CLEAR(m->func_qualname); + Py_CLEAR(m->func_doc); + Py_CLEAR(m->func_globals); + Py_CLEAR(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API +#if PY_VERSION_HEX < 0x030900B1 + Py_CLEAR(__Pyx_CyFunction_GetClassObj(m)); +#else + { + PyObject *cls = (PyObject*) ((PyCMethodObject *) (m))->mm_class; + ((PyCMethodObject *) (m))->mm_class = NULL; + Py_XDECREF(cls); + } +#endif +#endif + Py_CLEAR(m->defaults_tuple); + Py_CLEAR(m->defaults_kwdict); + Py_CLEAR(m->func_annotations); + Py_CLEAR(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_XDECREF(pydefaults[i]); + PyObject_Free(m->defaults); + m->defaults = NULL; + } + return 0; +} +static void __Pyx__CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + if (__Pyx_CyFunction_weakreflist(m) != NULL) + PyObject_ClearWeakRefs((PyObject *) m); + __Pyx_CyFunction_clear(m); + __Pyx_PyHeapTypeObject_GC_Del(m); +} +static void __Pyx_CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + PyObject_GC_UnTrack(m); + __Pyx__CyFunction_dealloc(m); +} +static int __Pyx_CyFunction_traverse(__pyx_CyFunctionObject *m, visitproc visit, void *arg) +{ + Py_VISIT(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(m->func); +#else + Py_VISIT(((PyCFunctionObject*)m)->m_module); +#endif + Py_VISIT(m->func_dict); + Py_VISIT(m->func_name); + Py_VISIT(m->func_qualname); + Py_VISIT(m->func_doc); + Py_VISIT(m->func_globals); + Py_VISIT(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(__Pyx_CyFunction_GetClassObj(m)); +#endif + Py_VISIT(m->defaults_tuple); + Py_VISIT(m->defaults_kwdict); + Py_VISIT(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_VISIT(pydefaults[i]); + } + return 0; +} +static PyObject* +__Pyx_CyFunction_repr(__pyx_CyFunctionObject *op) +{ +#if PY_MAJOR_VERSION >= 3 + return PyUnicode_FromFormat("", + op->func_qualname, (void *)op); +#else + return PyString_FromFormat("", + PyString_AsString(op->func_qualname), (void *)op); +#endif +} +static PyObject * __Pyx_CyFunction_CallMethod(PyObject *func, PyObject *self, PyObject *arg, PyObject *kw) { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *f = ((__pyx_CyFunctionObject*)func)->func; + PyObject *py_name = NULL; + PyCFunction meth; + int flags; + meth = PyCFunction_GetFunction(f); + if (unlikely(!meth)) return NULL; + flags = PyCFunction_GetFlags(f); + if (unlikely(flags < 0)) return NULL; +#else + PyCFunctionObject* f = (PyCFunctionObject*)func; + PyCFunction meth = f->m_ml->ml_meth; + int flags = f->m_ml->ml_flags; +#endif + Py_ssize_t size; + switch (flags & (METH_VARARGS | METH_KEYWORDS | METH_NOARGS | METH_O)) { + case METH_VARARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) + return (*meth)(self, arg); + break; + case METH_VARARGS | METH_KEYWORDS: + return (*(PyCFunctionWithKeywords)(void*)meth)(self, arg, kw); + case METH_NOARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 0)) + return (*meth)(self, NULL); +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + case METH_O: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 1)) { + PyObject *result, *arg0; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + arg0 = PyTuple_GET_ITEM(arg, 0); + #else + arg0 = __Pyx_PySequence_ITEM(arg, 0); if (unlikely(!arg0)) return NULL; + #endif + result = (*meth)(self, arg0); + #if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(arg0); + #endif + return result; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + return NULL; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, "%.200S() takes no keyword arguments", + py_name); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, "%.200s() takes no keyword arguments", + f->m_ml->ml_name); +#endif + return NULL; +} +static CYTHON_INLINE PyObject *__Pyx_CyFunction_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *self, *result; +#if CYTHON_COMPILING_IN_LIMITED_API + self = PyCFunction_GetSelf(((__pyx_CyFunctionObject*)func)->func); + if (unlikely(!self) && PyErr_Occurred()) return NULL; +#else + self = ((PyCFunctionObject*)func)->m_self; +#endif + result = __Pyx_CyFunction_CallMethod(func, self, arg, kw); + return result; +} +static PyObject *__Pyx_CyFunction_CallAsMethod(PyObject *func, PyObject *args, PyObject *kw) { + PyObject *result; + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *) func; +#if CYTHON_METH_FASTCALL + __pyx_vectorcallfunc vc = __Pyx_CyFunction_func_vectorcall(cyfunc); + if (vc) { +#if CYTHON_ASSUME_SAFE_MACROS + return __Pyx_PyVectorcall_FastCallDict(func, vc, &PyTuple_GET_ITEM(args, 0), (size_t)PyTuple_GET_SIZE(args), kw); +#else + (void) &__Pyx_PyVectorcall_FastCallDict; + return PyVectorcall_Call(func, args, kw); +#endif + } +#endif + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + Py_ssize_t argc; + PyObject *new_args; + PyObject *self; +#if CYTHON_ASSUME_SAFE_MACROS + argc = PyTuple_GET_SIZE(args); +#else + argc = PyTuple_Size(args); + if (unlikely(!argc) < 0) return NULL; +#endif + new_args = PyTuple_GetSlice(args, 1, argc); + if (unlikely(!new_args)) + return NULL; + self = PyTuple_GetItem(args, 0); + if (unlikely(!self)) { + Py_DECREF(new_args); +#if PY_MAJOR_VERSION > 2 + PyErr_Format(PyExc_TypeError, + "unbound method %.200S() needs an argument", + cyfunc->func_qualname); +#else + PyErr_SetString(PyExc_TypeError, + "unbound method needs an argument"); +#endif + return NULL; + } + result = __Pyx_CyFunction_CallMethod(func, self, new_args, kw); + Py_DECREF(new_args); + } else { + result = __Pyx_CyFunction_Call(func, args, kw); + } + return result; +} +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE int __Pyx_CyFunction_Vectorcall_CheckArgs(__pyx_CyFunctionObject *cyfunc, Py_ssize_t nargs, PyObject *kwnames) +{ + int ret = 0; + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + if (unlikely(nargs < 1)) { + PyErr_Format(PyExc_TypeError, "%.200s() needs an argument", + ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + ret = 1; + } + if (unlikely(kwnames) && unlikely(PyTuple_GET_SIZE(kwnames))) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no keyword arguments", ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + return ret; +} +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 0)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, NULL); +} +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 1)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, args[0]); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((_PyCFunctionFastWithKeywords)(void(*)(void))def->ml_meth)(self, args, nargs, kwnames); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; + PyTypeObject *cls = (PyTypeObject *) __Pyx_CyFunction_GetClassObj(cyfunc); +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((__Pyx_PyCMethod)(void(*)(void))def->ml_meth)(self, cls, args, (size_t)nargs, kwnames); +} +#endif +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_CyFunctionType_slots[] = { + {Py_tp_dealloc, (void *)__Pyx_CyFunction_dealloc}, + {Py_tp_repr, (void *)__Pyx_CyFunction_repr}, + {Py_tp_call, (void *)__Pyx_CyFunction_CallAsMethod}, + {Py_tp_traverse, (void *)__Pyx_CyFunction_traverse}, + {Py_tp_clear, (void *)__Pyx_CyFunction_clear}, + {Py_tp_methods, (void *)__pyx_CyFunction_methods}, + {Py_tp_members, (void *)__pyx_CyFunction_members}, + {Py_tp_getset, (void *)__pyx_CyFunction_getsets}, + {Py_tp_descr_get, (void *)__Pyx_PyMethod_New}, + {0, 0}, +}; +static PyType_Spec __pyx_CyFunctionType_spec = { + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if (defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL) + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + __pyx_CyFunctionType_slots +}; +#else +static PyTypeObject __pyx_CyFunctionType_type = { + PyVarObject_HEAD_INIT(0, 0) + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, + (destructor) __Pyx_CyFunction_dealloc, +#if !CYTHON_METH_FASTCALL + 0, +#elif CYTHON_BACKPORT_VECTORCALL + (printfunc)offsetof(__pyx_CyFunctionObject, func_vectorcall), +#else + offsetof(PyCFunctionObject, vectorcall), +#endif + 0, + 0, +#if PY_MAJOR_VERSION < 3 + 0, +#else + 0, +#endif + (reprfunc) __Pyx_CyFunction_repr, + 0, + 0, + 0, + 0, + __Pyx_CyFunction_CallAsMethod, + 0, + 0, + 0, + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + 0, + (traverseproc) __Pyx_CyFunction_traverse, + (inquiry) __Pyx_CyFunction_clear, + 0, +#if PY_VERSION_HEX < 0x030500A0 + offsetof(__pyx_CyFunctionObject, func_weakreflist), +#else + offsetof(PyCFunctionObject, m_weakreflist), +#endif + 0, + 0, + __pyx_CyFunction_methods, + __pyx_CyFunction_members, + __pyx_CyFunction_getsets, + 0, + 0, + __Pyx_PyMethod_New, + 0, + offsetof(__pyx_CyFunctionObject, func_dict), + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, +#if PY_VERSION_HEX >= 0x030400a1 + 0, +#endif +#if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, +#endif +#if __PYX_NEED_TP_PRINT_SLOT + 0, +#endif +#if PY_VERSION_HEX >= 0x030C0000 + 0, +#endif +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, +#endif +}; +#endif +static int __pyx_CyFunction_init(PyObject *module) { +#if CYTHON_USE_TYPE_SPECS + __pyx_CyFunctionType = __Pyx_FetchCommonTypeFromSpec(module, &__pyx_CyFunctionType_spec, NULL); +#else + CYTHON_UNUSED_VAR(module); + __pyx_CyFunctionType = __Pyx_FetchCommonType(&__pyx_CyFunctionType_type); +#endif + if (unlikely(__pyx_CyFunctionType == NULL)) { + return -1; + } + return 0; +} +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *func, size_t size, int pyobjects) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults = PyObject_Malloc(size); + if (unlikely(!m->defaults)) + return PyErr_NoMemory(); + memset(m->defaults, 0, size); + m->defaults_pyobjects = pyobjects; + m->defaults_size = size; + return m->defaults; +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *func, PyObject *tuple) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_tuple = tuple; + Py_INCREF(tuple); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_kwdict = dict; + Py_INCREF(dict); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->func_annotations = dict; + Py_INCREF(dict); +} + +/* CythonFunction */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { + PyObject *op = __Pyx_CyFunction_Init( + PyObject_GC_New(__pyx_CyFunctionObject, __pyx_CyFunctionType), + ml, flags, qualname, closure, module, globals, code + ); + if (likely(op)) { + PyObject_GC_Track(op); + } + return op; +} + +/* CLineInTraceback */ +#ifndef CYTHON_CLINE_IN_TRACEBACK +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line) { + PyObject *use_cline; + PyObject *ptype, *pvalue, *ptraceback; +#if CYTHON_COMPILING_IN_CPYTHON + PyObject **cython_runtime_dict; +#endif + CYTHON_MAYBE_UNUSED_VAR(tstate); + if (unlikely(!__pyx_cython_runtime)) { + return c_line; + } + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); +#if CYTHON_COMPILING_IN_CPYTHON + cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); + if (likely(cython_runtime_dict)) { + __PYX_PY_DICT_LOOKUP_IF_MODIFIED( + use_cline, *cython_runtime_dict, + __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) + } else +#endif + { + PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStrNoError(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); + if (use_cline_obj) { + use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; +} +#endif + +/* CodeObjectCache */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; + } + } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } +} +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; + } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; +} +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; + } + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; + } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); +} +#endif + +/* AddTraceback */ +#include "compile.h" +#include "frameobject.h" +#include "traceback.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyCode_Replace_For_AddTraceback(PyObject *code, PyObject *scratch_dict, + PyObject *firstlineno, PyObject *name) { + PyObject *replace = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_firstlineno", firstlineno))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_name", name))) return NULL; + replace = PyObject_GetAttrString(code, "replace"); + if (likely(replace)) { + PyObject *result; + result = PyObject_Call(replace, __pyx_empty_tuple, scratch_dict); + Py_DECREF(replace); + return result; + } + PyErr_Clear(); + #if __PYX_LIMITED_VERSION_HEX < 0x030780000 + { + PyObject *compiled = NULL, *result = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "code", code))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "type", (PyObject*)(&PyType_Type)))) return NULL; + compiled = Py_CompileString( + "out = type(code)(\n" + " code.co_argcount, code.co_kwonlyargcount, code.co_nlocals, code.co_stacksize,\n" + " code.co_flags, code.co_code, code.co_consts, code.co_names,\n" + " code.co_varnames, code.co_filename, co_name, co_firstlineno,\n" + " code.co_lnotab)\n", "", Py_file_input); + if (!compiled) return NULL; + result = PyEval_EvalCode(compiled, scratch_dict, scratch_dict); + Py_DECREF(compiled); + if (!result) PyErr_Print(); + Py_DECREF(result); + result = PyDict_GetItemString(scratch_dict, "out"); + if (result) Py_INCREF(result); + return result; + } + #else + return NULL; + #endif +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyObject *code_object = NULL, *py_py_line = NULL, *py_funcname = NULL, *dict = NULL; + PyObject *replace = NULL, *getframe = NULL, *frame = NULL; + PyObject *exc_type, *exc_value, *exc_traceback; + int success = 0; + if (c_line) { + (void) __pyx_cfilenm; + (void) __Pyx_CLineForTraceback(__Pyx_PyThreadState_Current, c_line); + } + PyErr_Fetch(&exc_type, &exc_value, &exc_traceback); + code_object = Py_CompileString("_getframe()", filename, Py_eval_input); + if (unlikely(!code_object)) goto bad; + py_py_line = PyLong_FromLong(py_line); + if (unlikely(!py_py_line)) goto bad; + py_funcname = PyUnicode_FromString(funcname); + if (unlikely(!py_funcname)) goto bad; + dict = PyDict_New(); + if (unlikely(!dict)) goto bad; + { + PyObject *old_code_object = code_object; + code_object = __Pyx_PyCode_Replace_For_AddTraceback(code_object, dict, py_py_line, py_funcname); + Py_DECREF(old_code_object); + } + if (unlikely(!code_object)) goto bad; + getframe = PySys_GetObject("_getframe"); + if (unlikely(!getframe)) goto bad; + if (unlikely(PyDict_SetItemString(dict, "_getframe", getframe))) goto bad; + frame = PyEval_EvalCode(code_object, dict, dict); + if (unlikely(!frame) || frame == Py_None) goto bad; + success = 1; + bad: + PyErr_Restore(exc_type, exc_value, exc_traceback); + Py_XDECREF(code_object); + Py_XDECREF(py_py_line); + Py_XDECREF(py_funcname); + Py_XDECREF(dict); + Py_XDECREF(replace); + if (success) { + PyTraceBack_Here( + (struct _frame*)frame); + } + Py_XDECREF(frame); +} +#else +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = NULL; + PyObject *py_funcname = NULL; + #if PY_MAJOR_VERSION < 3 + PyObject *py_srcfile = NULL; + py_srcfile = PyString_FromString(filename); + if (!py_srcfile) goto bad; + #endif + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + funcname = PyUnicode_AsUTF8(py_funcname); + if (!funcname) goto bad; + #endif + } + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + if (!py_funcname) goto bad; + #endif + } + #if PY_MAJOR_VERSION < 3 + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + #else + py_code = PyCode_NewEmpty(filename, funcname, py_line); + #endif + Py_XDECREF(py_funcname); + return py_code; +bad: + Py_XDECREF(py_funcname); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_srcfile); + #endif + return NULL; +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject *ptype, *pvalue, *ptraceback; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); + } + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) { + /* If the code object creation fails, then we should clear the + fetched exception references and propagate the new exception */ + Py_XDECREF(ptype); + Py_XDECREF(pvalue); + Py_XDECREF(ptraceback); + goto bad; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + } + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} +#endif + +/* CIntFromPyVerify */ +#define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* CIntFromPy */ +static CYTHON_INLINE uint32_t __Pyx_PyInt_As_uint32_t(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const uint32_t neg_one = (uint32_t) -1, const_zero = (uint32_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(uint32_t) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(uint32_t, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (uint32_t) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(uint32_t, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(uint32_t) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) >= 2 * PyLong_SHIFT)) { + return (uint32_t) (((((uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(uint32_t) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) >= 3 * PyLong_SHIFT)) { + return (uint32_t) (((((((uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(uint32_t) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) >= 4 * PyLong_SHIFT)) { + return (uint32_t) (((((((((uint32_t)digits[3]) << PyLong_SHIFT) | (uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (uint32_t) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(uint32_t) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(uint32_t, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(uint32_t) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(uint32_t, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(uint32_t, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(uint32_t) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) - 1 > 2 * PyLong_SHIFT)) { + return (uint32_t) (((uint32_t)-1)*(((((uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(uint32_t) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) - 1 > 2 * PyLong_SHIFT)) { + return (uint32_t) ((((((uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(uint32_t) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) - 1 > 3 * PyLong_SHIFT)) { + return (uint32_t) (((uint32_t)-1)*(((((((uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(uint32_t) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) - 1 > 3 * PyLong_SHIFT)) { + return (uint32_t) ((((((((uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(uint32_t) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) - 1 > 4 * PyLong_SHIFT)) { + return (uint32_t) (((uint32_t)-1)*(((((((((uint32_t)digits[3]) << PyLong_SHIFT) | (uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(uint32_t) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) - 1 > 4 * PyLong_SHIFT)) { + return (uint32_t) ((((((((((uint32_t)digits[3]) << PyLong_SHIFT) | (uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(uint32_t) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(uint32_t, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(uint32_t) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(uint32_t, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + uint32_t val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (uint32_t) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (uint32_t) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (uint32_t) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (uint32_t) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (uint32_t) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(uint32_t) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((uint32_t) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(uint32_t) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((uint32_t) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((uint32_t) 1) << (sizeof(uint32_t) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (uint32_t) -1; + } + } else { + uint32_t val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (uint32_t) -1; + val = __Pyx_PyInt_As_uint32_t(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to uint32_t"); + return (uint32_t) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to uint32_t"); + return (uint32_t) -1; +} + +/* CIntToPy */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_uint32_t(uint32_t value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const uint32_t neg_one = (uint32_t) -1, const_zero = (uint32_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(uint32_t) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(uint32_t) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(uint32_t) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(uint32_t) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(uint32_t) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(uint32_t), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(uint32_t)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* FormatTypeName */ +#if CYTHON_COMPILING_IN_LIMITED_API +static __Pyx_TypeName +__Pyx_PyType_GetName(PyTypeObject* tp) +{ + PyObject *name = __Pyx_PyObject_GetAttrStr((PyObject *)tp, + __pyx_n_s_name); + if (unlikely(name == NULL) || unlikely(!PyUnicode_Check(name))) { + PyErr_Clear(); + Py_XDECREF(name); + name = __Pyx_NewRef(__pyx_n_s__7); + } + return name; +} +#endif + +/* CIntToPy */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(long)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPy */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(long) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (long) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 2 * PyLong_SHIFT)) { + return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 3 * PyLong_SHIFT)) { + return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 4 * PyLong_SHIFT)) { + return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(long) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(long) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(long) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + long val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (long) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (long) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (long) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (long) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(long) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(long) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((long) 1) << (sizeof(long) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (long) -1; + } + } else { + long val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (long) -1; + val = __Pyx_PyInt_As_long(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to long"); + return (long) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to long"); + return (long) -1; +} + +/* CIntFromPy */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(int) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (int) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 2 * PyLong_SHIFT)) { + return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 3 * PyLong_SHIFT)) { + return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 4 * PyLong_SHIFT)) { + return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(int) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(int) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(int) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + int val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (int) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (int) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (int) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (int) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(int) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(int) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((int) 1) << (sizeof(int) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (int) -1; + } + } else { + int val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (int) -1; + val = __Pyx_PyInt_As_int(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to int"); + return (int) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to int"); + return (int) -1; +} + +/* FastTypeChecks */ +#if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = __Pyx_PyType_GetSlot(a, tp_base, PyTypeObject*); + if (a == b) + return 1; + } + return b == &PyBaseObject_Type; +} +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(a, b); +} +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (cls == a || cls == b) return 1; + mro = cls->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + PyObject *base = PyTuple_GET_ITEM(mro, i); + if (base == (PyObject *)a || base == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(cls, a) || __Pyx_InBases(cls, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + } + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + if (exc_type1) { + return __Pyx_IsAnySubtype2((PyTypeObject*)err, (PyTypeObject*)exc_type1, (PyTypeObject*)exc_type2); + } else { + return __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } +} +#endif +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; i= 0x030B00A4 + return Py_Version & ~0xFFUL; +#else + const char* rt_version = Py_GetVersion(); + unsigned long version = 0; + unsigned long factor = 0x01000000UL; + unsigned int digit = 0; + int i = 0; + while (factor) { + while ('0' <= rt_version[i] && rt_version[i] <= '9') { + digit = digit * 10 + (unsigned int) (rt_version[i] - '0'); + ++i; + } + version += factor * digit; + if (rt_version[i] != '.') + break; + digit = 0; + factor >>= 8; + ++i; + } + return version; +#endif +} +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer) { + const unsigned long MAJOR_MINOR = 0xFFFF0000UL; + if ((rt_version & MAJOR_MINOR) == (ct_version & MAJOR_MINOR)) + return 0; + if (likely(allow_newer && (rt_version & MAJOR_MINOR) > (ct_version & MAJOR_MINOR))) + return 1; + { + char message[200]; + PyOS_snprintf(message, sizeof(message), + "compile time Python version %d.%d " + "of module '%.100s' " + "%s " + "runtime version %d.%d", + (int) (ct_version >> 24), (int) ((ct_version >> 16) & 0xFF), + __Pyx_MODULE_NAME, + (allow_newer) ? "was newer than" : "does not match", + (int) (rt_version >> 24), (int) ((rt_version >> 16) & 0xFF) + ); + return PyErr_WarnEx(NULL, message, 1); + } +} + +/* InitStrings */ +#if PY_MAJOR_VERSION >= 3 +static int __Pyx_InitString(__Pyx_StringTabEntry t, PyObject **str) { + if (t.is_unicode | t.is_str) { + if (t.intern) { + *str = PyUnicode_InternFromString(t.s); + } else if (t.encoding) { + *str = PyUnicode_Decode(t.s, t.n - 1, t.encoding, NULL); + } else { + *str = PyUnicode_FromStringAndSize(t.s, t.n - 1); + } + } else { + *str = PyBytes_FromStringAndSize(t.s, t.n - 1); + } + if (!*str) + return -1; + if (PyObject_Hash(*str) == -1) + return -1; + return 0; +} +#endif +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t) { + while (t->p) { + #if PY_MAJOR_VERSION >= 3 + __Pyx_InitString(*t, t->p); + #else + if (t->is_unicode) { + *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); + } else if (t->intern) { + *t->p = PyString_InternFromString(t->s); + } else { + *t->p = PyString_FromStringAndSize(t->s, t->n - 1); + } + if (!*t->p) + return -1; + if (PyObject_Hash(*t->p) == -1) + return -1; + #endif + ++t; + } + return 0; +} + +#include +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s) { + size_t len = strlen(s); + if (unlikely(len > (size_t) PY_SSIZE_T_MAX)) { + PyErr_SetString(PyExc_OverflowError, "byte string is too long"); + return -1; + } + return (Py_ssize_t) len; +} +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return __Pyx_PyUnicode_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return PyByteArray_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { + Py_ssize_t ignore; + return __Pyx_PyObject_AsStringAndSize(o, &ignore); +} +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#if !CYTHON_PEP393_ENABLED +static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + char* defenc_c; + PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); + if (!defenc) return NULL; + defenc_c = PyBytes_AS_STRING(defenc); +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + { + char* end = defenc_c + PyBytes_GET_SIZE(defenc); + char* c; + for (c = defenc_c; c < end; c++) { + if ((unsigned char) (*c) >= 128) { + PyUnicode_AsASCIIString(o); + return NULL; + } + } + } +#endif + *length = PyBytes_GET_SIZE(defenc); + return defenc_c; +} +#else +static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + if (likely(PyUnicode_IS_ASCII(o))) { + *length = PyUnicode_GET_LENGTH(o); + return PyUnicode_AsUTF8(o); + } else { + PyUnicode_AsASCIIString(o); + return NULL; + } +#else + return PyUnicode_AsUTF8AndSize(o, length); +#endif +} +#endif +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT + if ( +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + __Pyx_sys_getdefaultencoding_not_ascii && +#endif + PyUnicode_Check(o)) { + return __Pyx_PyUnicode_AsStringAndSize(o, length); + } else +#endif +#if (!CYTHON_COMPILING_IN_PYPY && !CYTHON_COMPILING_IN_LIMITED_API) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) + if (PyByteArray_Check(o)) { + *length = PyByteArray_GET_SIZE(o); + return PyByteArray_AS_STRING(o); + } else +#endif + { + char* result; + int r = PyBytes_AsStringAndSize(o, &result, length); + if (unlikely(r < 0)) { + return NULL; + } else { + return result; + } + } +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { + int is_true = x == Py_True; + if (is_true | (x == Py_False) | (x == Py_None)) return is_true; + else return PyObject_IsTrue(x); +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { + int retval; + if (unlikely(!x)) return -1; + retval = __Pyx_PyObject_IsTrue(x); + Py_DECREF(x); + return retval; +} +static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { + __Pyx_TypeName result_type_name = __Pyx_PyType_GetName(Py_TYPE(result)); +#if PY_MAJOR_VERSION >= 3 + if (PyLong_Check(result)) { + if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, + "__int__ returned non-int (type " __Pyx_FMT_TYPENAME "). " + "The ability to return an instance of a strict subclass of int is deprecated, " + "and may be removed in a future version of Python.", + result_type_name)) { + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; + } + __Pyx_DECREF_TypeName(result_type_name); + return result; + } +#endif + PyErr_Format(PyExc_TypeError, + "__%.4s__ returned non-%.4s (type " __Pyx_FMT_TYPENAME ")", + type_name, type_name, result_type_name); + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { +#if CYTHON_USE_TYPE_SLOTS + PyNumberMethods *m; +#endif + const char *name = NULL; + PyObject *res = NULL; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x) || PyLong_Check(x))) +#else + if (likely(PyLong_Check(x))) +#endif + return __Pyx_NewRef(x); +#if CYTHON_USE_TYPE_SLOTS + m = Py_TYPE(x)->tp_as_number; + #if PY_MAJOR_VERSION < 3 + if (m && m->nb_int) { + name = "int"; + res = m->nb_int(x); + } + else if (m && m->nb_long) { + name = "long"; + res = m->nb_long(x); + } + #else + if (likely(m && m->nb_int)) { + name = "int"; + res = m->nb_int(x); + } + #endif +#else + if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { + res = PyNumber_Int(x); + } +#endif + if (likely(res)) { +#if PY_MAJOR_VERSION < 3 + if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { +#else + if (unlikely(!PyLong_CheckExact(res))) { +#endif + return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); + } + } + else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_TypeError, + "an integer is required"); + } + return res; +} +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { + Py_ssize_t ival; + PyObject *x; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(b))) { + if (sizeof(Py_ssize_t) >= sizeof(long)) + return PyInt_AS_LONG(b); + else + return PyInt_AsSsize_t(b); + } +#endif + if (likely(PyLong_CheckExact(b))) { + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(__Pyx_PyLong_IsCompact(b))) { + return __Pyx_PyLong_CompactValue(b); + } else { + const digit* digits = __Pyx_PyLong_Digits(b); + const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(b); + switch (size) { + case 2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + } + } + #endif + return PyLong_AsSsize_t(b); + } + x = PyNumber_Index(b); + if (!x) return -1; + ival = PyInt_AsSsize_t(x); + Py_DECREF(x); + return ival; +} +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { + if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { + return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); +#if PY_MAJOR_VERSION < 3 + } else if (likely(PyInt_CheckExact(o))) { + return PyInt_AS_LONG(o); +#endif + } else { + Py_ssize_t ival; + PyObject *x; + x = PyNumber_Index(o); + if (!x) return -1; + ival = PyInt_AsLong(x); + Py_DECREF(x); + return ival; + } +} +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { + return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); +} +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { + return PyInt_FromSize_t(ival); +} + + +/* #### Code section: utility_code_pragmas_end ### */ +#ifdef _MSC_VER +#pragma warning( pop ) +#endif + + + +/* #### Code section: end ### */ +#endif /* Py_PYTHON_H */ diff --git a/opendbc_repo/opendbc/can/packer_pyx.pyx b/opendbc_repo/opendbc/can/packer_pyx.pyx new file mode 100644 index 0000000000..84a7e4544e --- /dev/null +++ b/opendbc_repo/opendbc/can/packer_pyx.pyx @@ -0,0 +1,53 @@ +# distutils: language = c++ +# cython: c_string_encoding=ascii, language_level=3 + +from libc.stdint cimport uint8_t, uint32_t +from libcpp.vector cimport vector + +from .common cimport CANPacker as cpp_CANPacker +from .common cimport dbc_lookup, SignalPackValue, DBC, Msg + + +cdef class CANPacker: + cdef: + cpp_CANPacker *packer + const DBC *dbc + + def __init__(self, dbc_name): + self.dbc = dbc_lookup(dbc_name) + if not self.dbc: + raise RuntimeError(f"Can't lookup {dbc_name}") + + self.packer = new cpp_CANPacker(dbc_name) + + def __dealloc__(self): + if self.packer: + del self.packer + + cdef vector[uint8_t] pack(self, addr, values): + cdef vector[SignalPackValue] values_thing + values_thing.reserve(len(values)) + cdef SignalPackValue spv + + for name, value in values.iteritems(): + spv.name = name.encode("utf8") + spv.value = value + values_thing.push_back(spv) + + return self.packer.pack(addr, values_thing) + + cpdef make_can_msg(self, name_or_addr, bus, values): + cdef uint32_t addr = 0 + cdef const Msg* m + if isinstance(name_or_addr, int): + addr = name_or_addr + else: + try: + m = self.dbc.name_to_msg.at(name_or_addr.encode("utf8")) + addr = m.address + except IndexError: + # The C++ pack function will log an error message for invalid addresses + pass + + cdef vector[uint8_t] val = self.pack(addr, values) + return [addr, (&val[0])[:val.size()], bus] diff --git a/opendbc_repo/opendbc/can/packer_pyx.so b/opendbc_repo/opendbc/can/packer_pyx.so new file mode 100755 index 0000000000..81d1792a80 Binary files /dev/null and b/opendbc_repo/opendbc/can/packer_pyx.so differ diff --git a/opendbc_repo/opendbc/can/parser.py b/opendbc_repo/opendbc/can/parser.py new file mode 100644 index 0000000000..04722115ce --- /dev/null +++ b/opendbc_repo/opendbc/can/parser.py @@ -0,0 +1,2 @@ +from opendbc.can.parser_pyx import CANParser, CANDefine # pylint: disable=no-name-in-module, import-error +assert CANParser, CANDefine diff --git a/opendbc_repo/opendbc/can/parser_pyx.cpp b/opendbc_repo/opendbc/can/parser_pyx.cpp new file mode 100644 index 0000000000..2c3521703a --- /dev/null +++ b/opendbc_repo/opendbc/can/parser_pyx.cpp @@ -0,0 +1,14534 @@ +/* Generated by Cython 3.0.8 */ + +/* BEGIN: Cython Metadata +{ + "distutils": { + "depends": [ + "opendbc/can/common.h", + "opendbc/can/common_dbc.h" + ], + "include_dirs": [ + "opendbc/can" + ], + "language": "c++", + "name": "opendbc.can.parser_pyx", + "sources": [ + "/data/openpilot/opendbc/can/parser_pyx.pyx" + ] + }, + "module_name": "opendbc.can.parser_pyx" +} +END: Cython Metadata */ + +#ifndef PY_SSIZE_T_CLEAN +#define PY_SSIZE_T_CLEAN +#endif /* PY_SSIZE_T_CLEAN */ +#if defined(CYTHON_LIMITED_API) && 0 + #ifndef Py_LIMITED_API + #if CYTHON_LIMITED_API+0 > 0x03030000 + #define Py_LIMITED_API CYTHON_LIMITED_API + #else + #define Py_LIMITED_API 0x03030000 + #endif + #endif +#endif + +#include "Python.h" +#ifndef Py_PYTHON_H + #error Python headers needed to compile C extensions, please install development version of Python. +#elif PY_VERSION_HEX < 0x02070000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) + #error Cython requires Python 2.7+ or Python 3.3+. +#else +#if defined(CYTHON_LIMITED_API) && CYTHON_LIMITED_API +#define __PYX_EXTRA_ABI_MODULE_NAME "limited" +#else +#define __PYX_EXTRA_ABI_MODULE_NAME "" +#endif +#define CYTHON_ABI "3_0_8" __PYX_EXTRA_ABI_MODULE_NAME +#define __PYX_ABI_MODULE_NAME "_cython_" CYTHON_ABI +#define __PYX_TYPE_MODULE_PREFIX __PYX_ABI_MODULE_NAME "." +#define CYTHON_HEX_VERSION 0x030008F0 +#define CYTHON_FUTURE_DIVISION 1 +#include +#ifndef offsetof + #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) +#endif +#if !defined(_WIN32) && !defined(WIN32) && !defined(MS_WINDOWS) + #ifndef __stdcall + #define __stdcall + #endif + #ifndef __cdecl + #define __cdecl + #endif + #ifndef __fastcall + #define __fastcall + #endif +#endif +#ifndef DL_IMPORT + #define DL_IMPORT(t) t +#endif +#ifndef DL_EXPORT + #define DL_EXPORT(t) t +#endif +#define __PYX_COMMA , +#ifndef HAVE_LONG_LONG + #define HAVE_LONG_LONG +#endif +#ifndef PY_LONG_LONG + #define PY_LONG_LONG LONG_LONG +#endif +#ifndef Py_HUGE_VAL + #define Py_HUGE_VAL HUGE_VAL +#endif +#define __PYX_LIMITED_VERSION_HEX PY_VERSION_HEX +#if defined(GRAALVM_PYTHON) + /* For very preliminary testing purposes. Most variables are set the same as PyPy. + The existence of this section does not imply that anything works or is even tested */ + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 1 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(PYPY_VERSION) + #define CYTHON_COMPILING_IN_PYPY 1 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #if PY_VERSION_HEX < 0x03090000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1 && PYPY_VERSION_NUM >= 0x07030C00) + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(CYTHON_LIMITED_API) + #ifdef Py_LIMITED_API + #undef __PYX_LIMITED_VERSION_HEX + #define __PYX_LIMITED_VERSION_HEX Py_LIMITED_API + #endif + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 1 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_CLINE_IN_TRACEBACK + #define CYTHON_CLINE_IN_TRACEBACK 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 1 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #endif + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 1 + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(Py_GIL_DISABLED) || defined(Py_NOGIL) + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 1 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #ifndef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#else + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 1 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #ifndef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 1 + #endif + #if PY_MAJOR_VERSION < 3 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #ifndef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 1 + #endif + #ifndef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 1 + #endif + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #elif !defined(CYTHON_USE_UNICODE_WRITER) + #define CYTHON_USE_UNICODE_WRITER 1 + #endif + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #ifndef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 1 + #endif + #ifndef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL (PY_MAJOR_VERSION < 3 || PY_VERSION_HEX >= 0x03060000 && PY_VERSION_HEX < 0x030C00A6) + #endif + #ifndef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL (PY_VERSION_HEX >= 0x030700A1) + #endif + #ifndef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 1 + #endif + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #endif + #if PY_VERSION_HEX < 0x030400a1 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #elif !defined(CYTHON_USE_TP_FINALIZE) + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #if PY_VERSION_HEX < 0x030600B1 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #elif !defined(CYTHON_USE_DICT_VERSIONS) + #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX < 0x030C00A5) + #endif + #if PY_VERSION_HEX < 0x030700A3 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #elif !defined(CYTHON_USE_EXC_INFO_STACK) + #define CYTHON_USE_EXC_INFO_STACK 1 + #endif + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 1 + #endif +#endif +#if !defined(CYTHON_FAST_PYCCALL) +#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) +#endif +#if !defined(CYTHON_VECTORCALL) +#define CYTHON_VECTORCALL (CYTHON_FAST_PYCCALL && PY_VERSION_HEX >= 0x030800B1) +#endif +#define CYTHON_BACKPORT_VECTORCALL (CYTHON_METH_FASTCALL && PY_VERSION_HEX < 0x030800B1) +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_MAJOR_VERSION < 3 + #include "longintrepr.h" + #endif + #undef SHIFT + #undef BASE + #undef MASK + #ifdef SIZEOF_VOID_P + enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; + #endif +#endif +#ifndef __has_attribute + #define __has_attribute(x) 0 +#endif +#ifndef __has_cpp_attribute + #define __has_cpp_attribute(x) 0 +#endif +#ifndef CYTHON_RESTRICT + #if defined(__GNUC__) + #define CYTHON_RESTRICT __restrict__ + #elif defined(_MSC_VER) && _MSC_VER >= 1400 + #define CYTHON_RESTRICT __restrict + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_RESTRICT restrict + #else + #define CYTHON_RESTRICT + #endif +#endif +#ifndef CYTHON_UNUSED + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(maybe_unused) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(maybe_unused) + #define CYTHON_UNUSED [[maybe_unused]] + #endif + #endif + #endif +#endif +#ifndef CYTHON_UNUSED +# if defined(__GNUC__) +# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_UNUSED_VAR +# if defined(__cplusplus) + template void CYTHON_UNUSED_VAR( const T& ) { } +# else +# define CYTHON_UNUSED_VAR(x) (void)(x) +# endif +#endif +#ifndef CYTHON_MAYBE_UNUSED_VAR + #define CYTHON_MAYBE_UNUSED_VAR(x) CYTHON_UNUSED_VAR(x) +#endif +#ifndef CYTHON_NCP_UNUSED +# if CYTHON_COMPILING_IN_CPYTHON +# define CYTHON_NCP_UNUSED +# else +# define CYTHON_NCP_UNUSED CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_USE_CPP_STD_MOVE + #if defined(__cplusplus) && (\ + __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600)) + #define CYTHON_USE_CPP_STD_MOVE 1 + #else + #define CYTHON_USE_CPP_STD_MOVE 0 + #endif +#endif +#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) +#ifdef _MSC_VER + #ifndef _MSC_STDINT_H_ + #if _MSC_VER < 1300 + typedef unsigned char uint8_t; + typedef unsigned short uint16_t; + typedef unsigned int uint32_t; + #else + typedef unsigned __int8 uint8_t; + typedef unsigned __int16 uint16_t; + typedef unsigned __int32 uint32_t; + #endif + #endif + #if _MSC_VER < 1300 + #ifdef _WIN64 + typedef unsigned long long __pyx_uintptr_t; + #else + typedef unsigned int __pyx_uintptr_t; + #endif + #else + #ifdef _WIN64 + typedef unsigned __int64 __pyx_uintptr_t; + #else + typedef unsigned __int32 __pyx_uintptr_t; + #endif + #endif +#else + #include + typedef uintptr_t __pyx_uintptr_t; +#endif +#ifndef CYTHON_FALLTHROUGH + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(fallthrough) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(fallthrough) + #define CYTHON_FALLTHROUGH [[fallthrough]] + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_cpp_attribute(clang::fallthrough) + #define CYTHON_FALLTHROUGH [[clang::fallthrough]] + #elif __has_cpp_attribute(gnu::fallthrough) + #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] + #endif + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_attribute(fallthrough) + #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) + #else + #define CYTHON_FALLTHROUGH + #endif + #endif + #if defined(__clang__) && defined(__apple_build_version__) + #if __apple_build_version__ < 7000000 + #undef CYTHON_FALLTHROUGH + #define CYTHON_FALLTHROUGH + #endif + #endif +#endif +#ifdef __cplusplus + template + struct __PYX_IS_UNSIGNED_IMPL {static const bool value = T(0) < T(-1);}; + #define __PYX_IS_UNSIGNED(type) (__PYX_IS_UNSIGNED_IMPL::value) +#else + #define __PYX_IS_UNSIGNED(type) (((type)-1) > 0) +#endif +#if CYTHON_COMPILING_IN_PYPY == 1 + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x030A0000) +#else + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000) +#endif +#define __PYX_REINTERPRET_FUNCION(func_pointer, other_pointer) ((func_pointer)(void(*)(void))(other_pointer)) + +#ifndef __cplusplus + #error "Cython files generated with the C++ option must be compiled with a C++ compiler." +#endif +#ifndef CYTHON_INLINE + #if defined(__clang__) + #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) + #else + #define CYTHON_INLINE inline + #endif +#endif +template +void __Pyx_call_destructor(T& x) { + x.~T(); +} +template +class __Pyx_FakeReference { + public: + __Pyx_FakeReference() : ptr(NULL) { } + __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } + T *operator->() { return ptr; } + T *operator&() { return ptr; } + operator T&() { return *ptr; } + template bool operator ==(const U& other) const { return *ptr == other; } + template bool operator !=(const U& other) const { return *ptr != other; } + template bool operator==(const __Pyx_FakeReference& other) const { return *ptr == *other.ptr; } + template bool operator!=(const __Pyx_FakeReference& other) const { return *ptr != *other.ptr; } + private: + T *ptr; +}; + +#define __PYX_BUILD_PY_SSIZE_T "n" +#define CYTHON_FORMAT_SSIZE_T "z" +#if PY_MAJOR_VERSION < 3 + #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" + #define __Pyx_DefaultClassType PyClass_Type + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_BUILTIN_MODULE_NAME "builtins" + #define __Pyx_DefaultClassType PyType_Type +#if CYTHON_COMPILING_IN_LIMITED_API + static CYTHON_INLINE PyObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyObject *exception_table = NULL; + PyObject *types_module=NULL, *code_type=NULL, *result=NULL; + #if __PYX_LIMITED_VERSION_HEX < 0x030B0000 + PyObject *version_info; + PyObject *py_minor_version = NULL; + #endif + long minor_version = 0; + PyObject *type, *value, *traceback; + PyErr_Fetch(&type, &value, &traceback); + #if __PYX_LIMITED_VERSION_HEX >= 0x030B0000 + minor_version = 11; + #else + if (!(version_info = PySys_GetObject("version_info"))) goto end; + if (!(py_minor_version = PySequence_GetItem(version_info, 1))) goto end; + minor_version = PyLong_AsLong(py_minor_version); + Py_DECREF(py_minor_version); + if (minor_version == -1 && PyErr_Occurred()) goto end; + #endif + if (!(types_module = PyImport_ImportModule("types"))) goto end; + if (!(code_type = PyObject_GetAttrString(types_module, "CodeType"))) goto end; + if (minor_version <= 7) { + (void)p; + result = PyObject_CallFunction(code_type, "iiiiiOOOOOOiOO", a, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else if (minor_version <= 10) { + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else { + if (!(exception_table = PyBytes_FromStringAndSize(NULL, 0))) goto end; + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, name, fline, lnos, exception_table, fv, cell); + } + end: + Py_XDECREF(code_type); + Py_XDECREF(exception_table); + Py_XDECREF(types_module); + if (type) { + PyErr_Restore(type, value, traceback); + } + return result; + } + #ifndef CO_OPTIMIZED + #define CO_OPTIMIZED 0x0001 + #endif + #ifndef CO_NEWLOCALS + #define CO_NEWLOCALS 0x0002 + #endif + #ifndef CO_VARARGS + #define CO_VARARGS 0x0004 + #endif + #ifndef CO_VARKEYWORDS + #define CO_VARKEYWORDS 0x0008 + #endif + #ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x0200 + #endif + #ifndef CO_GENERATOR + #define CO_GENERATOR 0x0020 + #endif + #ifndef CO_COROUTINE + #define CO_COROUTINE 0x0080 + #endif +#elif PY_VERSION_HEX >= 0x030B0000 + static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyCodeObject *result; + PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); + if (!empty_bytes) return NULL; + result = + #if PY_VERSION_HEX >= 0x030C0000 + PyUnstable_Code_NewWithPosOnlyArgs + #else + PyCode_NewWithPosOnlyArgs + #endif + (a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, name, fline, lnos, empty_bytes); + Py_DECREF(empty_bytes); + return result; + } +#elif PY_VERSION_HEX >= 0x030800B2 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_NewWithPosOnlyArgs(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#endif +#endif +#if PY_VERSION_HEX >= 0x030900A4 || defined(Py_IS_TYPE) + #define __Pyx_IS_TYPE(ob, type) Py_IS_TYPE(ob, type) +#else + #define __Pyx_IS_TYPE(ob, type) (((const PyObject*)ob)->ob_type == (type)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_Is) + #define __Pyx_Py_Is(x, y) Py_Is(x, y) +#else + #define __Pyx_Py_Is(x, y) ((x) == (y)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsNone) + #define __Pyx_Py_IsNone(ob) Py_IsNone(ob) +#else + #define __Pyx_Py_IsNone(ob) __Pyx_Py_Is((ob), Py_None) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsTrue) + #define __Pyx_Py_IsTrue(ob) Py_IsTrue(ob) +#else + #define __Pyx_Py_IsTrue(ob) __Pyx_Py_Is((ob), Py_True) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsFalse) + #define __Pyx_Py_IsFalse(ob) Py_IsFalse(ob) +#else + #define __Pyx_Py_IsFalse(ob) __Pyx_Py_Is((ob), Py_False) +#endif +#define __Pyx_NoneAsNull(obj) (__Pyx_Py_IsNone(obj) ? NULL : (obj)) +#if PY_VERSION_HEX >= 0x030900F0 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_GC_IsFinalized(o) PyObject_GC_IsFinalized(o) +#else + #define __Pyx_PyObject_GC_IsFinalized(o) _PyGC_FINALIZED(o) +#endif +#ifndef CO_COROUTINE + #define CO_COROUTINE 0x80 +#endif +#ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x200 +#endif +#ifndef Py_TPFLAGS_CHECKTYPES + #define Py_TPFLAGS_CHECKTYPES 0 +#endif +#ifndef Py_TPFLAGS_HAVE_INDEX + #define Py_TPFLAGS_HAVE_INDEX 0 +#endif +#ifndef Py_TPFLAGS_HAVE_NEWBUFFER + #define Py_TPFLAGS_HAVE_NEWBUFFER 0 +#endif +#ifndef Py_TPFLAGS_HAVE_FINALIZE + #define Py_TPFLAGS_HAVE_FINALIZE 0 +#endif +#ifndef Py_TPFLAGS_SEQUENCE + #define Py_TPFLAGS_SEQUENCE 0 +#endif +#ifndef Py_TPFLAGS_MAPPING + #define Py_TPFLAGS_MAPPING 0 +#endif +#ifndef METH_STACKLESS + #define METH_STACKLESS 0 +#endif +#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) + #ifndef METH_FASTCALL + #define METH_FASTCALL 0x80 + #endif + typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); + typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, + Py_ssize_t nargs, PyObject *kwnames); +#else + #define __Pyx_PyCFunctionFast _PyCFunctionFast + #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords +#endif +#if CYTHON_METH_FASTCALL + #define __Pyx_METH_FASTCALL METH_FASTCALL + #define __Pyx_PyCFunction_FastCall __Pyx_PyCFunctionFast + #define __Pyx_PyCFunction_FastCallWithKeywords __Pyx_PyCFunctionFastWithKeywords +#else + #define __Pyx_METH_FASTCALL METH_VARARGS + #define __Pyx_PyCFunction_FastCall PyCFunction + #define __Pyx_PyCFunction_FastCallWithKeywords PyCFunctionWithKeywords +#endif +#if CYTHON_VECTORCALL + #define __pyx_vectorcallfunc vectorcallfunc + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET PY_VECTORCALL_ARGUMENTS_OFFSET + #define __Pyx_PyVectorcall_NARGS(n) PyVectorcall_NARGS((size_t)(n)) +#elif CYTHON_BACKPORT_VECTORCALL + typedef PyObject *(*__pyx_vectorcallfunc)(PyObject *callable, PyObject *const *args, + size_t nargsf, PyObject *kwnames); + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET ((size_t)1 << (8 * sizeof(size_t) - 1)) + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(((size_t)(n)) & ~__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET)) +#else + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET 0 + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(n)) +#endif +#if PY_MAJOR_VERSION >= 0x030900B1 +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_CheckExact(func) +#else +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_Check(func) +#endif +#define __Pyx_CyOrPyCFunction_Check(func) PyCFunction_Check(func) +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) (((PyCFunctionObject*)(func))->m_ml->ml_meth) +#elif !CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) PyCFunction_GET_FUNCTION(func) +#endif +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FLAGS(func) (((PyCFunctionObject*)(func))->m_ml->ml_flags) +static CYTHON_INLINE PyObject* __Pyx_CyOrPyCFunction_GET_SELF(PyObject *func) { + return (__Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_STATIC) ? NULL : ((PyCFunctionObject*)func)->m_self; +} +#endif +static CYTHON_INLINE int __Pyx__IsSameCFunction(PyObject *func, void *cfunc) { +#if CYTHON_COMPILING_IN_LIMITED_API + return PyCFunction_Check(func) && PyCFunction_GetFunction(func) == (PyCFunction) cfunc; +#else + return PyCFunction_Check(func) && PyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +#endif +} +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCFunction(func, cfunc) +#if __PYX_LIMITED_VERSION_HEX < 0x030900B1 + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) ((void)m, PyType_FromSpecWithBases(s, b)) + typedef PyObject *(*__Pyx_PyCMethod)(PyObject *, PyTypeObject *, PyObject *const *, size_t, PyObject *); +#else + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) PyType_FromModuleAndSpec(m, s, b) + #define __Pyx_PyCMethod PyCMethod +#endif +#ifndef METH_METHOD + #define METH_METHOD 0x200 +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) + #define PyObject_Malloc(s) PyMem_Malloc(s) + #define PyObject_Free(p) PyMem_Free(p) + #define PyObject_Realloc(p) PyMem_Realloc(p) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) +#else + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyThreadState_Current PyThreadState_Get() +#elif !CYTHON_FAST_THREAD_STATE + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#elif PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyThreadState_Current PyThreadState_GetUnchecked() +#elif PY_VERSION_HEX >= 0x03060000 + #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() +#elif PY_VERSION_HEX >= 0x03000000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#else + #define __Pyx_PyThreadState_Current _PyThreadState_Current +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE void *__Pyx_PyModule_GetState(PyObject *op) +{ + void *result; + result = PyModule_GetState(op); + if (!result) + Py_FatalError("Couldn't find the module state"); + return result; +} +#endif +#define __Pyx_PyObject_GetSlot(obj, name, func_ctype) __Pyx_PyType_GetSlot(Py_TYPE(obj), name, func_ctype) +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((func_ctype) PyType_GetSlot((type), Py_##name)) +#else + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((type)->name) +#endif +#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) +#include "pythread.h" +#define Py_tss_NEEDS_INIT 0 +typedef int Py_tss_t; +static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { + *key = PyThread_create_key(); + return 0; +} +static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { + Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); + *key = Py_tss_NEEDS_INIT; + return key; +} +static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { + PyObject_Free(key); +} +static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { + return *key != Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { + PyThread_delete_key(*key); + *key = Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { + return PyThread_set_key_value(*key, value); +} +static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { + return PyThread_get_key_value(*key); +} +#endif +#if PY_MAJOR_VERSION < 3 + #if CYTHON_COMPILING_IN_PYPY + #if PYPY_VERSION_NUM < 0x07030600 + #if defined(__cplusplus) && __cplusplus >= 201402L + [[deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")]] + #elif defined(__GNUC__) || defined(__clang__) + __attribute__ ((__deprecated__("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6"))) + #elif defined(_MSC_VER) + __declspec(deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")) + #endif + static CYTHON_INLINE int PyGILState_Check(void) { + return 0; + } + #else // PYPY_VERSION_NUM < 0x07030600 + #endif // PYPY_VERSION_NUM < 0x07030600 + #else + static CYTHON_INLINE int PyGILState_Check(void) { + PyThreadState * tstate = _PyThreadState_Current; + return tstate && (tstate == PyGILState_GetThisThreadState()); + } + #endif +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030d0000 || defined(_PyDict_NewPresized) +#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) +#else +#define __Pyx_PyDict_NewPresized(n) PyDict_New() +#endif +#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION + #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) +#else + #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX > 0x030600B4 && PY_VERSION_HEX < 0x030d0000 && CYTHON_USE_UNICODE_INTERNALS +#define __Pyx_PyDict_GetItemStrWithError(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStr(PyObject *dict, PyObject *name) { + PyObject *res = __Pyx_PyDict_GetItemStrWithError(dict, name); + if (res == NULL) PyErr_Clear(); + return res; +} +#elif PY_MAJOR_VERSION >= 3 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07020000) +#define __Pyx_PyDict_GetItemStrWithError PyDict_GetItemWithError +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#else +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStrWithError(PyObject *dict, PyObject *name) { +#if CYTHON_COMPILING_IN_PYPY + return PyDict_GetItem(dict, name); +#else + PyDictEntry *ep; + PyDictObject *mp = (PyDictObject*) dict; + long hash = ((PyStringObject *) name)->ob_shash; + assert(hash != -1); + ep = (mp->ma_lookup)(mp, name, hash); + if (ep == NULL) { + return NULL; + } + return ep->me_value; +#endif +} +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#endif +#if CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyType_GetFlags(tp) (((PyTypeObject *)tp)->tp_flags) + #define __Pyx_PyType_HasFeature(type, feature) ((__Pyx_PyType_GetFlags(type) & (feature)) != 0) + #define __Pyx_PyObject_GetIterNextFunc(obj) (Py_TYPE(obj)->tp_iternext) +#else + #define __Pyx_PyType_GetFlags(tp) (PyType_GetFlags((PyTypeObject *)tp)) + #define __Pyx_PyType_HasFeature(type, feature) PyType_HasFeature(type, feature) + #define __Pyx_PyObject_GetIterNextFunc(obj) PyIter_Next +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyObject_GenericSetAttr((PyObject*)tp, k, v) +#else + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyDict_SetItem(tp->tp_dict, k, v) +#endif +#if CYTHON_USE_TYPE_SPECS && PY_VERSION_HEX >= 0x03080000 +#define __Pyx_PyHeapTypeObject_GC_Del(obj) {\ + PyTypeObject *type = Py_TYPE((PyObject*)obj);\ + assert(__Pyx_PyType_HasFeature(type, Py_TPFLAGS_HEAPTYPE));\ + PyObject_GC_Del(obj);\ + Py_DECREF(type);\ +} +#else +#define __Pyx_PyHeapTypeObject_GC_Del(obj) PyObject_GC_Del(obj) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define CYTHON_PEP393_ENABLED 1 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GetLength(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_ReadChar(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((void)u, 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((void)u, (0)) + #define __Pyx_PyUnicode_DATA(u) ((void*)u) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)k, PyUnicode_ReadChar((PyObject*)(d), i)) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GetLength(u)) +#elif PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) + #define CYTHON_PEP393_ENABLED 1 + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_READY(op) (0) + #else + #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ + 0 : _PyUnicode_Ready((PyObject *)(op))) + #endif + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) + #define __Pyx_PyUnicode_KIND(u) ((int)PyUnicode_KIND(u)) + #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) + #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, (Py_UCS4) ch) + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) + #else + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) + #endif + #endif +#else + #define CYTHON_PEP393_ENABLED 0 + #define PyUnicode_1BYTE_KIND 1 + #define PyUnicode_2BYTE_KIND 2 + #define PyUnicode_4BYTE_KIND 4 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535U : 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((int)sizeof(Py_UNICODE)) + #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = (Py_UNICODE) ch) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) +#else + #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ + PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #if !defined(PyUnicode_DecodeUnicodeEscape) + #define PyUnicode_DecodeUnicodeEscape(s, size, errors) PyUnicode_Decode(s, size, "unicode_escape", errors) + #endif + #if !defined(PyUnicode_Contains) || (PY_MAJOR_VERSION == 2 && PYPY_VERSION_NUM < 0x07030500) + #undef PyUnicode_Contains + #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) + #endif + #if !defined(PyByteArray_Check) + #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) + #endif + #if !defined(PyObject_Format) + #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) + #endif +#endif +#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) +#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) +#else + #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) +#endif +#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) + #define PyObject_ASCII(o) PyObject_Repr(o) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBaseString_Type PyUnicode_Type + #define PyStringObject PyUnicodeObject + #define PyString_Type PyUnicode_Type + #define PyString_Check PyUnicode_Check + #define PyString_CheckExact PyUnicode_CheckExact +#ifndef PyObject_Unicode + #define PyObject_Unicode PyObject_Str +#endif +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) + #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) +#else + #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) + #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) +#endif +#if CYTHON_COMPILING_IN_CPYTHON + #define __Pyx_PySequence_ListKeepNew(obj)\ + (likely(PyList_CheckExact(obj) && Py_REFCNT(obj) == 1) ? __Pyx_NewRef(obj) : PySequence_List(obj)) +#else + #define __Pyx_PySequence_ListKeepNew(obj) PySequence_List(obj) +#endif +#ifndef PySet_CheckExact + #define PySet_CheckExact(obj) __Pyx_IS_TYPE(obj, &PySet_Type) +#endif +#if PY_VERSION_HEX >= 0x030900A4 + #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) +#else + #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) +#endif +#if CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_PySequence_ITEM(o, i) PySequence_ITEM(o, i) + #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) (PyTuple_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyList_SET_ITEM(o, i, v) (PyList_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_GET_SIZE(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_GET_SIZE(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_GET_SIZE(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_GET_SIZE(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_GET_SIZE(o) +#else + #define __Pyx_PySequence_ITEM(o, i) PySequence_GetItem(o, i) + #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) PyTuple_SetItem(o, i, v) + #define __Pyx_PyList_SET_ITEM(o, i, v) PyList_SetItem(o, i, v) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_Size(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_Size(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_Size(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_Size(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_Size(o) +#endif +#if PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyImport_AddModuleRef(name) PyImport_AddModuleRef(name) +#else + static CYTHON_INLINE PyObject *__Pyx_PyImport_AddModuleRef(const char *name) { + PyObject *module = PyImport_AddModule(name); + Py_XINCREF(module); + return module; + } +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyIntObject PyLongObject + #define PyInt_Type PyLong_Type + #define PyInt_Check(op) PyLong_Check(op) + #define PyInt_CheckExact(op) PyLong_CheckExact(op) + #define __Pyx_Py3Int_Check(op) PyLong_Check(op) + #define __Pyx_Py3Int_CheckExact(op) PyLong_CheckExact(op) + #define PyInt_FromString PyLong_FromString + #define PyInt_FromUnicode PyLong_FromUnicode + #define PyInt_FromLong PyLong_FromLong + #define PyInt_FromSize_t PyLong_FromSize_t + #define PyInt_FromSsize_t PyLong_FromSsize_t + #define PyInt_AsLong PyLong_AsLong + #define PyInt_AS_LONG PyLong_AS_LONG + #define PyInt_AsSsize_t PyLong_AsSsize_t + #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask + #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask + #define PyNumber_Int PyNumber_Long +#else + #define __Pyx_Py3Int_Check(op) (PyLong_Check(op) || PyInt_Check(op)) + #define __Pyx_Py3Int_CheckExact(op) (PyLong_CheckExact(op) || PyInt_CheckExact(op)) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBoolObject PyLongObject +#endif +#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY + #ifndef PyUnicode_InternFromString + #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) + #endif +#endif +#if PY_VERSION_HEX < 0x030200A4 + typedef long Py_hash_t; + #define __Pyx_PyInt_FromHash_t PyInt_FromLong + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t +#else + #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t +#endif +#if CYTHON_USE_ASYNC_SLOTS + #if PY_VERSION_HEX >= 0x030500B1 + #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods + #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) + #else + #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) + #endif +#else + #define __Pyx_PyType_AsAsync(obj) NULL +#endif +#ifndef __Pyx_PyAsyncMethodsStruct + typedef struct { + unaryfunc am_await; + unaryfunc am_aiter; + unaryfunc am_anext; + } __Pyx_PyAsyncMethodsStruct; +#endif + +#if defined(_WIN32) || defined(WIN32) || defined(MS_WINDOWS) + #if !defined(_USE_MATH_DEFINES) + #define _USE_MATH_DEFINES + #endif +#endif +#include +#ifdef NAN +#define __PYX_NAN() ((float) NAN) +#else +static CYTHON_INLINE float __PYX_NAN() { + float value; + memset(&value, 0xFF, sizeof(value)); + return value; +} +#endif +#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) +#define __Pyx_truncl trunc +#else +#define __Pyx_truncl truncl +#endif + +#define __PYX_MARK_ERR_POS(f_index, lineno) \ + { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } +#define __PYX_ERR(f_index, lineno, Ln_error) \ + { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } + +#ifdef CYTHON_EXTERN_C + #undef __PYX_EXTERN_C + #define __PYX_EXTERN_C CYTHON_EXTERN_C +#elif defined(__PYX_EXTERN_C) + #ifdef _MSC_VER + #pragma message ("Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead.") + #else + #warning Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead. + #endif +#else + #define __PYX_EXTERN_C extern "C++" +#endif + +#define __PYX_HAVE__opendbc__can__parser_pyx +#define __PYX_HAVE_API__opendbc__can__parser_pyx +/* Early includes */ +#include "ios" +#include "new" +#include "stdexcept" +#include "typeinfo" +#include + + #if __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600) + // move should be defined for these versions of MSVC, but __cplusplus isn't set usefully + #include + + namespace cython_std { + template typename std::remove_reference::type&& move(T& t) noexcept { return std::move(t); } + template typename std::remove_reference::type&& move(T&& t) noexcept { return std::move(t); } + } + + #endif + +#include +#include +#include +#include +#include +#include "common_dbc.h" +#include "common.h" +#ifdef _OPENMP +#include +#endif /* _OPENMP */ + +#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) +#define CYTHON_WITHOUT_ASSERTIONS +#endif + +typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; + const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; + +#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 1 +#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) +#define __PYX_DEFAULT_STRING_ENCODING "ascii" +#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString +#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#define __Pyx_uchar_cast(c) ((unsigned char)c) +#define __Pyx_long_cast(x) ((long)x) +#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ + (sizeof(type) < sizeof(Py_ssize_t)) ||\ + (sizeof(type) > sizeof(Py_ssize_t) &&\ + likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX) &&\ + (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ + v == (type)PY_SSIZE_T_MIN))) ||\ + (sizeof(type) == sizeof(Py_ssize_t) &&\ + (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX))) ) +static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { + return (size_t) i < (size_t) limit; +} +#if defined (__cplusplus) && __cplusplus >= 201103L + #include + #define __Pyx_sst_abs(value) std::abs(value) +#elif SIZEOF_INT >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) abs(value) +#elif SIZEOF_LONG >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) labs(value) +#elif defined (_MSC_VER) + #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) +#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define __Pyx_sst_abs(value) llabs(value) +#elif defined (__GNUC__) + #define __Pyx_sst_abs(value) __builtin_llabs(value) +#else + #define __Pyx_sst_abs(value) ((value<0) ? -value : value) +#endif +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s); +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char*); +#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) +#define __Pyx_PyBytes_FromString PyBytes_FromString +#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); +#if PY_MAJOR_VERSION < 3 + #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#else + #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize +#endif +#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyObject_AsWritableString(s) ((char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableSString(s) ((signed char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) +#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) +#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) +#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) +#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const wchar_t *u) +{ + const wchar_t *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#else +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) +{ + const Py_UNICODE *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#endif +#define __Pyx_PyUnicode_FromOrdinal(o) PyUnicode_FromOrdinal((int)o) +#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) +#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode +#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode +#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) +#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); +#define __Pyx_PySequence_Tuple(obj)\ + (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); +#if CYTHON_ASSUME_SAFE_MACROS +#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) +#else +#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) +#endif +#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) +#else +#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) +#endif +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_VERSION_HEX >= 0x030C00A7 + #ifndef _PyLong_SIGN_MASK + #define _PyLong_SIGN_MASK 3 + #endif + #ifndef _PyLong_NON_SIZE_BITS + #define _PyLong_NON_SIZE_BITS 3 + #endif + #define __Pyx_PyLong_Sign(x) (((PyLongObject*)x)->long_value.lv_tag & _PyLong_SIGN_MASK) + #define __Pyx_PyLong_IsNeg(x) ((__Pyx_PyLong_Sign(x) & 2) != 0) + #define __Pyx_PyLong_IsNonNeg(x) (!__Pyx_PyLong_IsNeg(x)) + #define __Pyx_PyLong_IsZero(x) (__Pyx_PyLong_Sign(x) & 1) + #define __Pyx_PyLong_IsPos(x) (__Pyx_PyLong_Sign(x) == 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) (__Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) ((Py_ssize_t) (((PyLongObject*)x)->long_value.lv_tag >> _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_SignedDigitCount(x)\ + ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * __Pyx_PyLong_DigitCount(x)) + #if defined(PyUnstable_Long_IsCompact) && defined(PyUnstable_Long_CompactValue) + #define __Pyx_PyLong_IsCompact(x) PyUnstable_Long_IsCompact((PyLongObject*) x) + #define __Pyx_PyLong_CompactValue(x) PyUnstable_Long_CompactValue((PyLongObject*) x) + #else + #define __Pyx_PyLong_IsCompact(x) (((PyLongObject*)x)->long_value.lv_tag < (2 << _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_CompactValue(x) ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * (Py_ssize_t) __Pyx_PyLong_Digits(x)[0]) + #endif + typedef Py_ssize_t __Pyx_compact_pylong; + typedef size_t __Pyx_compact_upylong; + #else + #define __Pyx_PyLong_IsNeg(x) (Py_SIZE(x) < 0) + #define __Pyx_PyLong_IsNonNeg(x) (Py_SIZE(x) >= 0) + #define __Pyx_PyLong_IsZero(x) (Py_SIZE(x) == 0) + #define __Pyx_PyLong_IsPos(x) (Py_SIZE(x) > 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) ((Py_SIZE(x) == 0) ? 0 : __Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) __Pyx_sst_abs(Py_SIZE(x)) + #define __Pyx_PyLong_SignedDigitCount(x) Py_SIZE(x) + #define __Pyx_PyLong_IsCompact(x) (Py_SIZE(x) == 0 || Py_SIZE(x) == 1 || Py_SIZE(x) == -1) + #define __Pyx_PyLong_CompactValue(x)\ + ((Py_SIZE(x) == 0) ? (sdigit) 0 : ((Py_SIZE(x) < 0) ? -(sdigit)__Pyx_PyLong_Digits(x)[0] : (sdigit)__Pyx_PyLong_Digits(x)[0])) + typedef sdigit __Pyx_compact_pylong; + typedef digit __Pyx_compact_upylong; + #endif + #if PY_VERSION_HEX >= 0x030C00A5 + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->long_value.ob_digit) + #else + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->ob_digit) + #endif +#endif +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII +#include +static int __Pyx_sys_getdefaultencoding_not_ascii; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + PyObject* ascii_chars_u = NULL; + PyObject* ascii_chars_b = NULL; + const char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + if (strcmp(default_encoding_c, "ascii") == 0) { + __Pyx_sys_getdefaultencoding_not_ascii = 0; + } else { + char ascii_chars[128]; + int c; + for (c = 0; c < 128; c++) { + ascii_chars[c] = (char) c; + } + __Pyx_sys_getdefaultencoding_not_ascii = 1; + ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); + if (!ascii_chars_u) goto bad; + ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); + if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { + PyErr_Format( + PyExc_ValueError, + "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", + default_encoding_c); + goto bad; + } + Py_DECREF(ascii_chars_u); + Py_DECREF(ascii_chars_b); + } + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + Py_XDECREF(ascii_chars_u); + Py_XDECREF(ascii_chars_b); + return -1; +} +#endif +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3 +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL) +#else +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL) +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#include +static char* __PYX_DEFAULT_STRING_ENCODING; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1); + if (!__PYX_DEFAULT_STRING_ENCODING) goto bad; + strcpy(__PYX_DEFAULT_STRING_ENCODING, default_encoding_c); + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + return -1; +} +#endif +#endif + + +/* Test for GCC > 2.95 */ +#if defined(__GNUC__) && (__GNUC__ > 2 || (__GNUC__ == 2 && (__GNUC_MINOR__ > 95))) + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#else /* !__GNUC__ or GCC < 2.95 */ + #define likely(x) (x) + #define unlikely(x) (x) +#endif /* __GNUC__ */ +static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void)ptr; } + +#if !CYTHON_USE_MODULE_STATE +static PyObject *__pyx_m = NULL; +#endif +static int __pyx_lineno; +static int __pyx_clineno = 0; +static const char * __pyx_cfilenm = __FILE__; +static const char *__pyx_filename; + +/* #### Code section: filename_table ### */ + +static const char *__pyx_f[] = { + "opendbc/can/parser_pyx.pyx", + "", +}; +/* #### Code section: utility_code_proto_before_types ### */ +/* ForceInitThreads.proto */ +#ifndef __PYX_FORCE_INIT_THREADS + #define __PYX_FORCE_INIT_THREADS 0 +#endif + +/* #### Code section: numeric_typedefs ### */ +/* #### Code section: complex_type_declarations ### */ +/* #### Code section: type_declarations ### */ + +/*--- Type declarations ---*/ +struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser; +struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine; + +/* "common.pxd":12 + * + * + * ctypedef unsigned int (*calc_checksum_type)(uint32_t, const Signal&, const vector[uint8_t] &) # <<<<<<<<<<<<<< + * + * cdef extern from "common_dbc.h": + */ +typedef unsigned int (*__pyx_t_7opendbc_3can_6common_calc_checksum_type)(uint32_t, struct Signal const &, std::vector const &); + +/* "opendbc/can/parser_pyx.pyx":17 + * + * + * cdef class CANParser: # <<<<<<<<<<<<<< + * cdef: + * cpp_CANParser *can + */ +struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser { + PyObject_HEAD + CANParser *can; + struct DBC const *dbc; + std::vector addresses; + PyObject *vl; + PyObject *vl_all; + PyObject *ts_nanos; + std::string dbc_name; +}; + + +/* "opendbc/can/parser_pyx.pyx":135 + * + * + * cdef class CANDefine(): # <<<<<<<<<<<<<< + * cdef: + * const DBC *dbc + */ +struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine { + PyObject_HEAD + struct DBC const *dbc; + PyObject *dv; + std::string dbc_name; +}; + +/* #### Code section: utility_code_proto ### */ + +/* --- Runtime support code (head) --- */ +/* Refnanny.proto */ +#ifndef CYTHON_REFNANNY + #define CYTHON_REFNANNY 0 +#endif +#if CYTHON_REFNANNY + typedef struct { + void (*INCREF)(void*, PyObject*, Py_ssize_t); + void (*DECREF)(void*, PyObject*, Py_ssize_t); + void (*GOTREF)(void*, PyObject*, Py_ssize_t); + void (*GIVEREF)(void*, PyObject*, Py_ssize_t); 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else {__Pyx_INCREF(r); }} while(0) + #define __Pyx_XDECREF(r) do { if((r) == NULL); else {__Pyx_DECREF(r); }} while(0) + #define __Pyx_XGOTREF(r) do { if((r) == NULL); else {__Pyx_GOTREF(r); }} while(0) + #define __Pyx_XGIVEREF(r) do { if((r) == NULL); else {__Pyx_GIVEREF(r);}} while(0) +#else + #define __Pyx_RefNannyDeclarations + #define __Pyx_RefNannySetupContext(name, acquire_gil) + #define __Pyx_RefNannyFinishContextNogil() + #define __Pyx_RefNannyFinishContext() + #define __Pyx_INCREF(r) Py_INCREF(r) + #define __Pyx_DECREF(r) Py_DECREF(r) + #define __Pyx_GOTREF(r) + #define __Pyx_GIVEREF(r) + #define __Pyx_XINCREF(r) Py_XINCREF(r) + #define __Pyx_XDECREF(r) Py_XDECREF(r) + #define __Pyx_XGOTREF(r) + #define __Pyx_XGIVEREF(r) +#endif +#define __Pyx_Py_XDECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; Py_XDECREF(tmp);\ + } while (0) +#define __Pyx_XDECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_XDECREF(tmp);\ + } while (0) +#define __Pyx_DECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_DECREF(tmp);\ + } while (0) +#define __Pyx_CLEAR(r) do { PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);} while(0) +#define __Pyx_XCLEAR(r) do { if((r) != NULL) {PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);}} while(0) + +/* PyErrExceptionMatches.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_ExceptionMatches(err) __Pyx_PyErr_ExceptionMatchesInState(__pyx_tstate, err) +static CYTHON_INLINE int __Pyx_PyErr_ExceptionMatchesInState(PyThreadState* tstate, PyObject* err); +#else +#define __Pyx_PyErr_ExceptionMatches(err) PyErr_ExceptionMatches(err) +#endif + +/* PyThreadStateGet.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyThreadState_declare PyThreadState *__pyx_tstate; +#define __Pyx_PyThreadState_assign __pyx_tstate = __Pyx_PyThreadState_Current; +#if PY_VERSION_HEX >= 0x030C00A6 +#define __Pyx_PyErr_Occurred() (__pyx_tstate->current_exception != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->current_exception ? (PyObject*) Py_TYPE(__pyx_tstate->current_exception) : (PyObject*) NULL) +#else +#define __Pyx_PyErr_Occurred() (__pyx_tstate->curexc_type != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->curexc_type) +#endif +#else +#define __Pyx_PyThreadState_declare +#define __Pyx_PyThreadState_assign +#define __Pyx_PyErr_Occurred() (PyErr_Occurred() != NULL) +#define __Pyx_PyErr_CurrentExceptionType() PyErr_Occurred() +#endif + +/* PyErrFetchRestore.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_Clear() __Pyx_ErrRestore(NULL, NULL, NULL) +#define __Pyx_ErrRestoreWithState(type, value, tb) __Pyx_ErrRestoreInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) __Pyx_ErrFetchInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) __Pyx_ErrRestoreInState(__pyx_tstate, type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) __Pyx_ErrFetchInState(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A6 +#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) +#else +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#endif +#else +#define __Pyx_PyErr_Clear() PyErr_Clear() +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) +#endif + +/* PyObjectGetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n) +#endif + +/* PyObjectGetAttrStrNoError.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); + +/* GetBuiltinName.proto */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name); + +/* RaiseTooManyValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected); + +/* RaiseNeedMoreValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index); + +/* IterFinish.proto */ +static CYTHON_INLINE int __Pyx_IterFinish(void); + +/* UnpackItemEndCheck.proto */ +static int __Pyx_IternextUnpackEndCheck(PyObject *retval, Py_ssize_t expected); + +/* TupleAndListFromArray.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n); +static CYTHON_INLINE PyObject* __Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n); +#endif + +/* IncludeStringH.proto */ +#include + +/* BytesEquals.proto */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals); + +/* UnicodeEquals.proto */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals); + +/* fastcall.proto */ +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_VARARGS(args, i) PySequence_GetItem(args, i) +#elif CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GET_ITEM(args, i) +#else + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GetItem(args, i) +#endif +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_NewRef_VARARGS(arg) __Pyx_NewRef(arg) + #define __Pyx_Arg_XDECREF_VARARGS(arg) Py_XDECREF(arg) +#else + #define __Pyx_Arg_NewRef_VARARGS(arg) arg + #define __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#define __Pyx_NumKwargs_VARARGS(kwds) PyDict_Size(kwds) +#define __Pyx_KwValues_VARARGS(args, nargs) NULL +#define __Pyx_GetKwValue_VARARGS(kw, kwvalues, s) __Pyx_PyDict_GetItemStrWithError(kw, s) +#define __Pyx_KwargsAsDict_VARARGS(kw, kwvalues) PyDict_Copy(kw) +#if CYTHON_METH_FASTCALL + #define __Pyx_Arg_FASTCALL(args, i) args[i] + #define __Pyx_NumKwargs_FASTCALL(kwds) PyTuple_GET_SIZE(kwds) + #define __Pyx_KwValues_FASTCALL(args, nargs) ((args) + (nargs)) + static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); + #else + #define __Pyx_KwargsAsDict_FASTCALL(kw, kwvalues) _PyStack_AsDict(kwvalues, kw) + #endif + #define __Pyx_Arg_NewRef_FASTCALL(arg) arg /* no-op, __Pyx_Arg_FASTCALL is direct and this needs + to have the same reference counting */ + #define __Pyx_Arg_XDECREF_FASTCALL(arg) +#else + #define __Pyx_Arg_FASTCALL __Pyx_Arg_VARARGS + #define __Pyx_NumKwargs_FASTCALL __Pyx_NumKwargs_VARARGS + #define __Pyx_KwValues_FASTCALL __Pyx_KwValues_VARARGS + #define __Pyx_GetKwValue_FASTCALL __Pyx_GetKwValue_VARARGS + #define __Pyx_KwargsAsDict_FASTCALL __Pyx_KwargsAsDict_VARARGS + #define __Pyx_Arg_NewRef_FASTCALL(arg) __Pyx_Arg_NewRef_VARARGS(arg) + #define __Pyx_Arg_XDECREF_FASTCALL(arg) __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_VARARGS(args, start), stop - start) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_FASTCALL(args, start), stop - start) +#else +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) PyTuple_GetSlice(args, start, stop) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) PyTuple_GetSlice(args, start, stop) +#endif + +/* RaiseArgTupleInvalid.proto */ +static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, + Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); + +/* RaiseDoubleKeywords.proto */ +static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); + +/* ParseKeywords.proto */ +static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args, + const char* function_name); + +/* MoveIfSupported.proto */ +#if CYTHON_USE_CPP_STD_MOVE + #include + #define __PYX_STD_MOVE_IF_SUPPORTED(x) std::move(x) +#else + #define __PYX_STD_MOVE_IF_SUPPORTED(x) x +#endif + +/* PyObjectFormatSimple.proto */ +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#elif PY_MAJOR_VERSION < 3 + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyString_CheckExact(s)) ? PyUnicode_FromEncodedObject(s, NULL, "strict") :\ + PyObject_Format(s, f)) +#elif CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyLong_CheckExact(s)) ? PyLong_Type.tp_repr(s) :\ + likely(PyFloat_CheckExact(s)) ? PyFloat_Type.tp_repr(s) :\ + PyObject_Format(s, f)) +#else + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#endif + +/* PyFunctionFastCall.proto */ +#if CYTHON_FAST_PYCALL +#if !CYTHON_VECTORCALL +#define __Pyx_PyFunction_FastCall(func, args, nargs)\ + __Pyx_PyFunction_FastCallDict((func), (args), (nargs), NULL) +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs); +#endif +#define __Pyx_BUILD_ASSERT_EXPR(cond)\ + (sizeof(char [1 - 2*!(cond)]) - 1) +#ifndef Py_MEMBER_SIZE +#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member) +#endif +#if !CYTHON_VECTORCALL +#if PY_VERSION_HEX >= 0x03080000 + #include "frameobject.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif + #define __Pxy_PyFrame_Initialize_Offsets() + #define __Pyx_PyFrame_GetLocalsplus(frame) ((frame)->f_localsplus) +#else + static size_t __pyx_pyframe_localsplus_offset = 0; + #include "frameobject.h" + #define __Pxy_PyFrame_Initialize_Offsets()\ + ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\ + (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus))) + #define __Pyx_PyFrame_GetLocalsplus(frame)\ + (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset)) +#endif +#endif +#endif + +/* PyObjectCall.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw); +#else +#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw) +#endif + +/* PyObjectCallMethO.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg); +#endif + +/* PyObjectFastCall.proto */ +#define __Pyx_PyObject_FastCall(func, args, nargs) __Pyx_PyObject_FastCallDict(func, args, (size_t)(nargs), NULL) +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs); + +/* PyObjectCallOneArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg); + +/* RaiseException.proto */ +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause); + +/* GetItemInt.proto */ +#define __Pyx_GetItemInt(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Fast(o, (Py_ssize_t)i, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\ + __Pyx_GetItemInt_Generic(o, to_py_func(i)))) +#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j); +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, + int is_list, int wraparound, int boundscheck); + +/* PyDictVersioning.proto */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) +#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ + (version_var) = __PYX_GET_DICT_VERSION(dict);\ + (cache_var) = (value); +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ + (VAR) = __pyx_dict_cached_value;\ + } else {\ + (VAR) = __pyx_dict_cached_value = (LOOKUP);\ + __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ + }\ +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); +#else +#define __PYX_GET_DICT_VERSION(dict) (0) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); +#endif + +/* GetModuleGlobalName.proto */ +#if CYTHON_USE_DICT_VERSIONS +#define __Pyx_GetModuleGlobalName(var, name) do {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + (var) = (likely(__pyx_dict_version == __PYX_GET_DICT_VERSION(__pyx_d))) ?\ + (likely(__pyx_dict_cached_value) ? __Pyx_NewRef(__pyx_dict_cached_value) : __Pyx_GetBuiltinName(name)) :\ + __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +#define __Pyx_GetModuleGlobalNameUncached(var, name) do {\ + PY_UINT64_T __pyx_dict_version;\ + PyObject *__pyx_dict_cached_value;\ + (var) = __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value); +#else +#define __Pyx_GetModuleGlobalName(var, name) (var) = __Pyx__GetModuleGlobalName(name) +#define __Pyx_GetModuleGlobalNameUncached(var, name) (var) = __Pyx__GetModuleGlobalName(name) +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name); +#endif + +/* GetTopmostException.proto */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * __Pyx_PyErr_GetTopmostException(PyThreadState *tstate); +#endif + +/* SaveResetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSave(type, value, tb) __Pyx__ExceptionSave(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#define __Pyx_ExceptionReset(type, value, tb) __Pyx__ExceptionReset(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +#else +#define __Pyx_ExceptionSave(type, value, tb) PyErr_GetExcInfo(type, value, tb) +#define __Pyx_ExceptionReset(type, value, tb) PyErr_SetExcInfo(type, value, tb) +#endif + +/* GetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_GetException(type, value, tb) __Pyx__GetException(__pyx_tstate, type, value, tb) +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* JoinPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char); + +/* IncludeCppStringH.proto */ +#include + +/* decode_c_string_utf16.proto */ +static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16(const char *s, Py_ssize_t size, const char *errors) { + int byteorder = 0; + return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); +} +static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16LE(const char *s, Py_ssize_t size, const char *errors) { + int byteorder = -1; + return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); +} +static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16BE(const char *s, Py_ssize_t size, const char *errors) { + int byteorder = 1; + return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); +} + +/* decode_c_bytes.proto */ +static CYTHON_INLINE PyObject* __Pyx_decode_c_bytes( + const char* cstring, Py_ssize_t length, Py_ssize_t start, Py_ssize_t stop, + const char* encoding, const char* errors, + PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)); + +/* decode_cpp_string.proto */ +static CYTHON_INLINE PyObject* __Pyx_decode_cpp_string( + std::string cppstring, Py_ssize_t start, Py_ssize_t stop, + const char* encoding, const char* errors, + PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)) { + return __Pyx_decode_c_bytes( + cppstring.data(), cppstring.size(), start, stop, encoding, errors, decode_func); +} + +/* DictGetItem.proto */ +#if PY_MAJOR_VERSION >= 3 && !CYTHON_COMPILING_IN_PYPY +static PyObject *__Pyx_PyDict_GetItem(PyObject *d, PyObject* key); +#define __Pyx_PyObject_Dict_GetItem(obj, name)\ + (likely(PyDict_CheckExact(obj)) ?\ + __Pyx_PyDict_GetItem(obj, name) : PyObject_GetItem(obj, name)) +#else +#define __Pyx_PyDict_GetItem(d, key) PyObject_GetItem(d, key) +#define __Pyx_PyObject_Dict_GetItem(obj, name) PyObject_GetItem(obj, name) +#endif + +/* KeywordStringCheck.proto */ +static int __Pyx_CheckKeywordStrings(PyObject *kw, const char* function_name, int kw_allowed); + +/* ObjectGetItem.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key); +#else +#define __Pyx_PyObject_GetItem(obj, key) PyObject_GetItem(obj, key) +#endif + +/* ListCompAppend.proto */ +#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS +static CYTHON_INLINE int __Pyx_ListComp_Append(PyObject* list, PyObject* x) { + PyListObject* L = (PyListObject*) list; + Py_ssize_t len = Py_SIZE(list); + if (likely(L->allocated > len)) { + Py_INCREF(x); + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + L->ob_item[len] = x; + #else + PyList_SET_ITEM(list, len, x); + #endif + __Pyx_SET_SIZE(list, len + 1); + return 0; + } + return PyList_Append(list, x); +} +#else +#define __Pyx_ListComp_Append(L,x) PyList_Append(L,x) +#endif + +/* RaiseUnexpectedTypeError.proto */ +static int __Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj); + +/* IncludeStructmemberH.proto */ +#include + +/* FixUpExtensionType.proto */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type); +#endif + +/* PyObjectCallNoArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func); + +/* PyObjectGetMethod.proto */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method); + +/* PyObjectCallMethod0.proto */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name); + +/* ValidateBasesTuple.proto */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases); +#endif + +/* PyType_Ready.proto */ +CYTHON_UNUSED static int __Pyx_PyType_Ready(PyTypeObject *t); + +/* PyObject_GenericGetAttrNoDict.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr +#endif + +/* PyObject_GenericGetAttr.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr +#endif + +/* SetupReduce.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce(PyObject* type_obj); +#endif + +/* Import.proto */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level); + +/* ImportDottedModule.proto */ +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple); +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple); +#endif + +/* ImportFrom.proto */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name); + +/* FetchSharedCythonModule.proto */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void); + +/* FetchCommonType.proto */ +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type); +#else +static PyTypeObject* __Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases); +#endif + +/* PyMethodNew.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + PyObject *typesModule=NULL, *methodType=NULL, *result=NULL; + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + typesModule = PyImport_ImportModule("types"); + if (!typesModule) return NULL; + methodType = PyObject_GetAttrString(typesModule, "MethodType"); + Py_DECREF(typesModule); + if (!methodType) return NULL; + result = PyObject_CallFunctionObjArgs(methodType, func, self, NULL); + Py_DECREF(methodType); + return result; +} +#elif PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + return PyMethod_New(func, self); +} +#else + #define __Pyx_PyMethod_New PyMethod_New +#endif + +/* PyVectorcallFastCallDict.proto */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw); +#endif + +/* CythonFunctionShared.proto */ +#define __Pyx_CyFunction_USED +#define __Pyx_CYFUNCTION_STATICMETHOD 0x01 +#define __Pyx_CYFUNCTION_CLASSMETHOD 0x02 +#define __Pyx_CYFUNCTION_CCLASS 0x04 +#define __Pyx_CYFUNCTION_COROUTINE 0x08 +#define __Pyx_CyFunction_GetClosure(f)\ + (((__pyx_CyFunctionObject *) (f))->func_closure) +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_CyFunction_GetClassObj(f)\ + (((__pyx_CyFunctionObject *) (f))->func_classobj) +#else + #define __Pyx_CyFunction_GetClassObj(f)\ + ((PyObject*) ((PyCMethodObject *) (f))->mm_class) +#endif +#define __Pyx_CyFunction_SetClassObj(f, classobj)\ + __Pyx__CyFunction_SetClassObj((__pyx_CyFunctionObject *) (f), (classobj)) +#define __Pyx_CyFunction_Defaults(type, f)\ + ((type *)(((__pyx_CyFunctionObject *) (f))->defaults)) +#define __Pyx_CyFunction_SetDefaultsGetter(f, g)\ + ((__pyx_CyFunctionObject *) (f))->defaults_getter = (g) +typedef struct { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject_HEAD + PyObject *func; +#elif PY_VERSION_HEX < 0x030900B1 + PyCFunctionObject func; +#else + PyCMethodObject func; +#endif +#if CYTHON_BACKPORT_VECTORCALL + __pyx_vectorcallfunc func_vectorcall; +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_weakreflist; +#endif + PyObject *func_dict; + PyObject *func_name; + PyObject *func_qualname; + PyObject *func_doc; + PyObject *func_globals; + PyObject *func_code; + PyObject *func_closure; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_classobj; +#endif + void *defaults; + int defaults_pyobjects; + size_t defaults_size; + int flags; + PyObject *defaults_tuple; + PyObject *defaults_kwdict; + PyObject *(*defaults_getter)(PyObject *); + PyObject *func_annotations; + PyObject *func_is_coroutine; +} __pyx_CyFunctionObject; +#undef __Pyx_CyOrPyCFunction_Check +#define __Pyx_CyFunction_Check(obj) __Pyx_TypeCheck(obj, __pyx_CyFunctionType) +#define __Pyx_CyOrPyCFunction_Check(obj) __Pyx_TypeCheck2(obj, __pyx_CyFunctionType, &PyCFunction_Type) +#define __Pyx_CyFunction_CheckExact(obj) __Pyx_IS_TYPE(obj, __pyx_CyFunctionType) +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc); +#undef __Pyx_IsSameCFunction +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCyOrCFunction(func, cfunc) +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject* op, PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj); +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *m, + size_t size, + int pyobjects); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *m, + PyObject *tuple); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *m, + PyObject *dict); +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *m, + PyObject *dict); +static int __pyx_CyFunction_init(PyObject *module); +#if CYTHON_METH_FASTCALL +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +#if CYTHON_BACKPORT_VECTORCALL +#define __Pyx_CyFunction_func_vectorcall(f) (((__pyx_CyFunctionObject*)f)->func_vectorcall) +#else +#define __Pyx_CyFunction_func_vectorcall(f) (((PyCFunctionObject*)f)->vectorcall) +#endif +#endif + +/* CythonFunction.proto */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); + +/* CLineInTraceback.proto */ +#ifdef CYTHON_CLINE_IN_TRACEBACK +#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) +#else +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); +#endif + +/* CodeObjectCache.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +typedef struct { + PyCodeObject* code_object; + int code_line; +} __Pyx_CodeObjectCacheEntry; +struct __Pyx_CodeObjectCache { + int count; + int max_count; + __Pyx_CodeObjectCacheEntry* entries; +}; +static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); +static PyCodeObject *__pyx_find_code_object(int code_line); +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); +#endif + +/* AddTraceback.proto */ +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename); + +/* None.proto */ +#include + +/* CppExceptionConversion.proto */ +#ifndef __Pyx_CppExn2PyErr +#include +#include +#include +#include +static void __Pyx_CppExn2PyErr() { + try { + if (PyErr_Occurred()) + ; // let the latest Python exn pass through and ignore the current one + else + throw; + } catch (const std::bad_alloc& exn) { + PyErr_SetString(PyExc_MemoryError, exn.what()); + } catch (const std::bad_cast& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::bad_typeid& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::domain_error& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::invalid_argument& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::ios_base::failure& exn) { + PyErr_SetString(PyExc_IOError, exn.what()); + } catch (const std::out_of_range& exn) { + PyErr_SetString(PyExc_IndexError, exn.what()); + } catch (const std::overflow_error& exn) { + PyErr_SetString(PyExc_OverflowError, exn.what()); + } catch (const std::range_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::underflow_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::exception& exn) { + PyErr_SetString(PyExc_RuntimeError, exn.what()); + } + catch (...) + { + PyErr_SetString(PyExc_RuntimeError, "Unknown exception"); + } +} +#endif + +/* GCCDiagnostics.proto */ +#if !defined(__INTEL_COMPILER) && defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) +#define __Pyx_HAS_GCC_DIAGNOSTIC +#endif + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE uint32_t __Pyx_PyInt_As_uint32_t(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_uint32_t(uint32_t value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); + +/* CIntFromPy.proto */ +static CYTHON_INLINE uint64_t __Pyx_PyInt_As_uint64_t(PyObject *); + +/* CIntFromPy.proto */ +static CYTHON_INLINE uint8_t __Pyx_PyInt_As_uint8_t(PyObject *); + +/* CIntFromPy.proto */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_uint64_t(uint64_t value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE size_t __Pyx_PyInt_As_size_t(PyObject *); + +/* FormatTypeName.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +typedef PyObject *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%U" +static __Pyx_TypeName __Pyx_PyType_GetName(PyTypeObject* tp); +#define __Pyx_DECREF_TypeName(obj) Py_XDECREF(obj) +#else +typedef const char *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%.200s" +#define __Pyx_PyType_GetName(tp) ((tp)->tp_name) +#define __Pyx_DECREF_TypeName(obj) +#endif + +/* FastTypeChecks.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) __Pyx_IsAnySubtype2(Py_TYPE(obj), (PyTypeObject *)type1, (PyTypeObject *)type2) +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); +#else +#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) (PyObject_TypeCheck(obj, (PyTypeObject *)type1) || PyObject_TypeCheck(obj, (PyTypeObject *)type2)) +#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) +#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) +#endif +#define __Pyx_PyErr_ExceptionMatches2(err1, err2) __Pyx_PyErr_GivenExceptionMatches2(__Pyx_PyErr_CurrentExceptionType(), err1, err2) +#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) + +/* CheckBinaryVersion.proto */ +static unsigned long __Pyx_get_runtime_version(void); +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer); + +/* InitStrings.proto */ +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); + +/* #### Code section: module_declarations ### */ + +/* Module declarations from "libcpp.utility" */ + +/* Module declarations from "libcpp.pair" */ + +/* Module declarations from "libc.string" */ + +/* Module declarations from "libcpp.string" */ + +/* Module declarations from "libcpp.vector" */ + +/* Module declarations from "libc.stdint" */ + +/* Module declarations from "libcpp" */ + +/* Module declarations from "libcpp.unordered_map" */ + +/* Module declarations from "opendbc.can.common" */ + +/* Module declarations from "opendbc.can.parser_pyx" */ +static std::string __pyx_convert_string_from_py_std__in_string(PyObject *); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyObject_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyUnicode_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyStr_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyBytes_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyByteArray_string_to_py_std__in_string(std::string const &); /*proto*/ +static std::pair __pyx_convert_pair_from_py_uint32_t__and_int(PyObject *); /*proto*/ +static std::vector __pyx_convert_vector_from_py_uint8_t(PyObject *); /*proto*/ +static PyObject *__pyx_convert_vector_to_py_double(std::vector const &); /*proto*/ +/* #### Code section: typeinfo ### */ +/* #### Code section: before_global_var ### */ +#define __Pyx_MODULE_NAME "opendbc.can.parser_pyx" +extern int __pyx_module_is_main_opendbc__can__parser_pyx; +int __pyx_module_is_main_opendbc__can__parser_pyx = 0; + +/* Implementation of "opendbc.can.parser_pyx" */ +/* #### Code section: global_var ### */ +static PyObject *__pyx_builtin_RuntimeError; +static PyObject *__pyx_builtin_range; +static PyObject *__pyx_builtin_IndexError; +static PyObject *__pyx_builtin_TypeError; +static PyObject *__pyx_builtin_KeyError; +static PyObject *__pyx_builtin_zip; +static PyObject *__pyx_builtin_MemoryError; +/* #### Code section: string_decls ### */ +static const char __pyx_k_f[] = "f"; +static const char __pyx_k_s[] = "s"; +static const char __pyx_k__2[] = "'"; +static const char __pyx_k__5[] = "*"; +static const char __pyx_k__6[] = "."; +static const char __pyx_k_cv[] = "cv"; +static const char __pyx_k_gc[] = "gc"; +static const char __pyx_k_it[] = "it"; +static const char __pyx_k_vl[] = "vl"; +static const char __pyx_k__16[] = "?"; +static const char __pyx_k_bus[] = "bus"; +static const char __pyx_k_zip[] = "zip"; +static const char __pyx_k_main[] = "__main__"; +static const char __pyx_k_name[] = "__name__"; +static const char __pyx_k_self[] = "self"; +static const char __pyx_k_spec[] = "__spec__"; +static const char __pyx_k_test[] = "__test__"; +static const char __pyx_k_clear[] = "clear"; +static const char __pyx_k_frame[] = "frame"; +static const char __pyx_k_range[] = "range"; +static const char __pyx_k_split[] = "split"; +static const char __pyx_k_Number[] = "Number"; +static const char __pyx_k_enable[] = "enable"; +static const char __pyx_k_import[] = "__import__"; +static const char __pyx_k_in_DBC[] = " in DBC "; +static const char __pyx_k_reduce[] = "__reduce__"; +static const char __pyx_k_vl_all[] = "vl_all"; +static const char __pyx_k_address[] = "address"; +static const char __pyx_k_cv_name[] = "cv_name"; +static const char __pyx_k_disable[] = "disable"; +static const char __pyx_k_numbers[] = "numbers"; +static const char __pyx_k_sendcan[] = "sendcan"; +static const char __pyx_k_strings[] = "strings"; +static const char __pyx_k_KeyError[] = "KeyError"; +static const char __pyx_k_can_data[] = "can_data"; +static const char __pyx_k_dbc_name[] = "dbc_name"; +static const char __pyx_k_getstate[] = "__getstate__"; +static const char __pyx_k_messages[] = "messages"; +static const char __pyx_k_new_vals[] = "new_vals"; +static const char __pyx_k_setstate[] = "__setstate__"; +static const char __pyx_k_ts_nanos[] = "ts_nanos"; +static const char __pyx_k_CANDefine[] = "CANDefine"; +static const char __pyx_k_CANParser[] = "CANParser"; +static const char __pyx_k_TypeError[] = "TypeError"; +static const char __pyx_k_isenabled[] = "isenabled"; +static const char __pyx_k_pyx_state[] = "__pyx_state"; +static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; +static const char __pyx_k_IndexError[] = "IndexError"; +static const char __pyx_k_MemoryError[] = "MemoryError"; +static const char __pyx_k_collections[] = "collections"; +static const char __pyx_k_cur_address[] = "cur_address"; +static const char __pyx_k_defaultdict[] = "defaultdict"; +static const char __pyx_k_RuntimeError[] = "RuntimeError"; +static const char __pyx_k_initializing[] = "_initializing"; +static const char __pyx_k_is_coroutine[] = "_is_coroutine"; +static const char __pyx_k_stringsource[] = ""; +static const char __pyx_k_class_getitem[] = "__class_getitem__"; +static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; +static const char __pyx_k_updated_addrs[] = "updated_addrs"; +static const char __pyx_k_Can_t_find_DBC[] = "Can't find DBC: "; +static const char __pyx_k_can_data_array[] = "can_data_array"; +static const char __pyx_k_update_strings[] = "update_strings"; +static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; +static const char __pyx_k_Can_t_find_DBC_2[] = "Can't find DBC: '"; +static const char __pyx_k_invalid_parameter[] = "invalid parameter"; +static const char __pyx_k_asyncio_coroutines[] = "asyncio.coroutines"; +static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; +static const char __pyx_k_could_not_find_message[] = "could not find message "; +static const char __pyx_k_opendbc_can_parser_pyx[] = "opendbc.can.parser_pyx"; +static const char __pyx_k_CANParser_update_strings[] = "CANParser.update_strings"; +static const char __pyx_k_CANDefine___reduce_cython[] = "CANDefine.__reduce_cython__"; +static const char __pyx_k_CANParser___reduce_cython[] = "CANParser.__reduce_cython__"; +static const char __pyx_k_opendbc_can_parser_pyx_pyx[] = "opendbc/can/parser_pyx.pyx"; +static const char __pyx_k_CANDefine___setstate_cython[] = "CANDefine.__setstate_cython__"; +static const char __pyx_k_CANParser___setstate_cython[] = "CANParser.__setstate_cython__"; +static const char __pyx_k_self_dbc_cannot_be_converted_to[] = "self.dbc cannot be converted to a Python object for pickling"; +static const char __pyx_k_self_can_self_dbc_cannot_be_conv[] = "self.can,self.dbc cannot be converted to a Python object for pickling"; +/* #### Code section: decls ### */ +static int __pyx_pf_7opendbc_3can_10parser_pyx_9CANParser___init__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self, PyObject *__pyx_v_dbc_name, PyObject *__pyx_v_messages, PyObject *__pyx_v_bus); /* proto */ +static void __pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_2__dealloc__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_4update_strings(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self, PyObject *__pyx_v_strings, CYTHON_UNUSED PyObject *__pyx_v_sendcan); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_9can_valid___get__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_11bus_timeout___get__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_2vl___get__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_6vl_all___get__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_8ts_nanos___get__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_8dbc_name___get__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_6__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_8__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_pf_7opendbc_3can_10parser_pyx_9CANDefine___init__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine *__pyx_v_self, PyObject *__pyx_v_dbc_name); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANDefine_2dv___get__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine *__pyx_v_self); /* proto */ +static int __pyx_pf_7opendbc_3can_10parser_pyx_9CANDefine_2dv_2__set__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine *__pyx_v_self, PyObject *__pyx_v_value); /* proto */ +static int __pyx_pf_7opendbc_3can_10parser_pyx_9CANDefine_2dv_4__del__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANDefine_8dbc_name___get__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine *__pyx_v_self); /* proto */ +static int __pyx_pf_7opendbc_3can_10parser_pyx_9CANDefine_8dbc_name_2__set__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine *__pyx_v_self, PyObject *__pyx_v_value); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANDefine_2__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANDefine_4__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_tp_new_7opendbc_3can_10parser_pyx_CANParser(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_7opendbc_3can_10parser_pyx_CANDefine(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +/* #### Code section: late_includes ### */ +/* #### Code section: module_state ### */ +typedef struct { + PyObject *__pyx_d; + PyObject *__pyx_b; + PyObject *__pyx_cython_runtime; + PyObject *__pyx_empty_tuple; + PyObject *__pyx_empty_bytes; + PyObject *__pyx_empty_unicode; + #ifdef __Pyx_CyFunction_USED + PyTypeObject *__pyx_CyFunctionType; + #endif + #ifdef __Pyx_FusedFunction_USED + PyTypeObject *__pyx_FusedFunctionType; + #endif + #ifdef __Pyx_Generator_USED + PyTypeObject *__pyx_GeneratorType; + #endif + #ifdef __Pyx_IterableCoroutine_USED + PyTypeObject *__pyx_IterableCoroutineType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineAwaitType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineType; + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + PyObject *__pyx_type_7opendbc_3can_10parser_pyx_CANParser; + PyObject *__pyx_type_7opendbc_3can_10parser_pyx_CANDefine; + #endif + PyTypeObject *__pyx_ptype_7opendbc_3can_10parser_pyx_CANParser; + PyTypeObject *__pyx_ptype_7opendbc_3can_10parser_pyx_CANDefine; + PyObject *__pyx_n_s_CANDefine; + PyObject *__pyx_n_s_CANDefine___reduce_cython; + PyObject *__pyx_n_s_CANDefine___setstate_cython; + PyObject *__pyx_n_s_CANParser; + PyObject *__pyx_n_s_CANParser___reduce_cython; + PyObject *__pyx_n_s_CANParser___setstate_cython; + PyObject *__pyx_n_s_CANParser_update_strings; + PyObject *__pyx_kp_u_Can_t_find_DBC; + PyObject *__pyx_kp_u_Can_t_find_DBC_2; + PyObject *__pyx_n_s_IndexError; + PyObject *__pyx_n_s_KeyError; + PyObject *__pyx_n_s_MemoryError; + PyObject *__pyx_n_s_Number; + PyObject *__pyx_n_s_RuntimeError; + PyObject *__pyx_n_s_TypeError; + PyObject *__pyx_n_s__16; + PyObject *__pyx_kp_u__2; + PyObject *__pyx_n_s__5; + PyObject *__pyx_kp_u__6; + PyObject *__pyx_n_s_address; + PyObject *__pyx_n_s_asyncio_coroutines; + PyObject *__pyx_n_s_bus; + PyObject *__pyx_n_s_can_data; + PyObject *__pyx_n_s_can_data_array; + PyObject *__pyx_n_s_class_getitem; + PyObject *__pyx_n_s_clear; + PyObject *__pyx_n_s_cline_in_traceback; + PyObject *__pyx_n_s_collections; + PyObject *__pyx_kp_u_could_not_find_message; + PyObject *__pyx_n_s_cur_address; + PyObject *__pyx_n_s_cv; + PyObject *__pyx_n_s_cv_name; + PyObject *__pyx_n_s_dbc_name; + PyObject *__pyx_n_s_defaultdict; + PyObject *__pyx_kp_u_disable; + PyObject *__pyx_kp_u_enable; + PyObject *__pyx_n_s_f; + PyObject *__pyx_n_s_frame; + PyObject *__pyx_kp_u_gc; + PyObject *__pyx_n_s_getstate; + PyObject *__pyx_n_s_import; + PyObject *__pyx_kp_u_in_DBC; + PyObject *__pyx_n_s_initializing; + PyObject *__pyx_kp_u_invalid_parameter; + PyObject *__pyx_n_s_is_coroutine; + PyObject *__pyx_kp_u_isenabled; + PyObject *__pyx_n_s_it; + PyObject *__pyx_n_s_main; + PyObject *__pyx_n_s_messages; + PyObject *__pyx_n_s_name; + PyObject *__pyx_n_s_new_vals; + PyObject *__pyx_n_s_numbers; + PyObject *__pyx_n_s_opendbc_can_parser_pyx; + PyObject *__pyx_kp_s_opendbc_can_parser_pyx_pyx; + PyObject *__pyx_n_s_pyx_state; + PyObject *__pyx_n_s_range; + PyObject *__pyx_n_s_reduce; + PyObject *__pyx_n_s_reduce_cython; + PyObject *__pyx_n_s_reduce_ex; + PyObject *__pyx_n_s_s; + PyObject *__pyx_n_s_self; + PyObject *__pyx_kp_s_self_can_self_dbc_cannot_be_conv; + PyObject *__pyx_kp_s_self_dbc_cannot_be_converted_to; + PyObject *__pyx_n_s_sendcan; + PyObject *__pyx_n_s_setstate; + PyObject *__pyx_n_s_setstate_cython; + PyObject *__pyx_n_s_spec; + PyObject *__pyx_n_s_split; + PyObject *__pyx_n_s_strings; + PyObject *__pyx_kp_s_stringsource; + PyObject *__pyx_n_s_test; + PyObject *__pyx_n_s_ts_nanos; + PyObject *__pyx_n_s_update_strings; + PyObject *__pyx_n_s_updated_addrs; + PyObject *__pyx_n_s_vl; + PyObject *__pyx_n_s_vl_all; + PyObject *__pyx_n_s_zip; + PyObject *__pyx_int_0; + PyObject *__pyx_int_1; + PyObject *__pyx_int_2; + PyObject *__pyx_tuple_; + PyObject *__pyx_slice__3; + PyObject *__pyx_slice__4; + PyObject *__pyx_tuple__7; + PyObject *__pyx_tuple__9; + PyObject *__pyx_tuple__10; + PyObject *__pyx_tuple__12; + PyObject *__pyx_codeobj__8; + PyObject *__pyx_codeobj__11; + PyObject *__pyx_codeobj__13; + PyObject *__pyx_codeobj__14; + PyObject *__pyx_codeobj__15; +} __pyx_mstate; + +#if CYTHON_USE_MODULE_STATE +#ifdef __cplusplus +namespace { + extern struct PyModuleDef __pyx_moduledef; +} /* anonymous namespace */ +#else +static struct PyModuleDef __pyx_moduledef; +#endif + +#define __pyx_mstate(o) ((__pyx_mstate *)__Pyx_PyModule_GetState(o)) + +#define __pyx_mstate_global (__pyx_mstate(PyState_FindModule(&__pyx_moduledef))) + +#define __pyx_m (PyState_FindModule(&__pyx_moduledef)) +#else +static __pyx_mstate __pyx_mstate_global_static = +#ifdef __cplusplus + {}; +#else + {0}; +#endif +static __pyx_mstate *__pyx_mstate_global = &__pyx_mstate_global_static; +#endif +/* #### Code section: module_state_clear ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_clear(PyObject *m) { + __pyx_mstate *clear_module_state = __pyx_mstate(m); + if (!clear_module_state) return 0; + Py_CLEAR(clear_module_state->__pyx_d); + Py_CLEAR(clear_module_state->__pyx_b); + Py_CLEAR(clear_module_state->__pyx_cython_runtime); + Py_CLEAR(clear_module_state->__pyx_empty_tuple); + Py_CLEAR(clear_module_state->__pyx_empty_bytes); + Py_CLEAR(clear_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_CLEAR(clear_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_CLEAR(clear_module_state->__pyx_FusedFunctionType); + #endif + Py_CLEAR(clear_module_state->__pyx_ptype_7opendbc_3can_10parser_pyx_CANParser); + Py_CLEAR(clear_module_state->__pyx_type_7opendbc_3can_10parser_pyx_CANParser); + Py_CLEAR(clear_module_state->__pyx_ptype_7opendbc_3can_10parser_pyx_CANDefine); + Py_CLEAR(clear_module_state->__pyx_type_7opendbc_3can_10parser_pyx_CANDefine); + Py_CLEAR(clear_module_state->__pyx_n_s_CANDefine); + Py_CLEAR(clear_module_state->__pyx_n_s_CANDefine___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_CANDefine___setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_CANParser); + Py_CLEAR(clear_module_state->__pyx_n_s_CANParser___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_CANParser___setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_CANParser_update_strings); + Py_CLEAR(clear_module_state->__pyx_kp_u_Can_t_find_DBC); + Py_CLEAR(clear_module_state->__pyx_kp_u_Can_t_find_DBC_2); + Py_CLEAR(clear_module_state->__pyx_n_s_IndexError); + Py_CLEAR(clear_module_state->__pyx_n_s_KeyError); + Py_CLEAR(clear_module_state->__pyx_n_s_MemoryError); + Py_CLEAR(clear_module_state->__pyx_n_s_Number); + Py_CLEAR(clear_module_state->__pyx_n_s_RuntimeError); + Py_CLEAR(clear_module_state->__pyx_n_s_TypeError); + Py_CLEAR(clear_module_state->__pyx_n_s__16); + Py_CLEAR(clear_module_state->__pyx_kp_u__2); + Py_CLEAR(clear_module_state->__pyx_n_s__5); + Py_CLEAR(clear_module_state->__pyx_kp_u__6); + Py_CLEAR(clear_module_state->__pyx_n_s_address); + Py_CLEAR(clear_module_state->__pyx_n_s_asyncio_coroutines); + Py_CLEAR(clear_module_state->__pyx_n_s_bus); + Py_CLEAR(clear_module_state->__pyx_n_s_can_data); + Py_CLEAR(clear_module_state->__pyx_n_s_can_data_array); + Py_CLEAR(clear_module_state->__pyx_n_s_class_getitem); + Py_CLEAR(clear_module_state->__pyx_n_s_clear); + Py_CLEAR(clear_module_state->__pyx_n_s_cline_in_traceback); + Py_CLEAR(clear_module_state->__pyx_n_s_collections); + Py_CLEAR(clear_module_state->__pyx_kp_u_could_not_find_message); + Py_CLEAR(clear_module_state->__pyx_n_s_cur_address); + Py_CLEAR(clear_module_state->__pyx_n_s_cv); + Py_CLEAR(clear_module_state->__pyx_n_s_cv_name); + Py_CLEAR(clear_module_state->__pyx_n_s_dbc_name); + Py_CLEAR(clear_module_state->__pyx_n_s_defaultdict); + Py_CLEAR(clear_module_state->__pyx_kp_u_disable); + Py_CLEAR(clear_module_state->__pyx_kp_u_enable); + Py_CLEAR(clear_module_state->__pyx_n_s_f); + Py_CLEAR(clear_module_state->__pyx_n_s_frame); + Py_CLEAR(clear_module_state->__pyx_kp_u_gc); + Py_CLEAR(clear_module_state->__pyx_n_s_getstate); + Py_CLEAR(clear_module_state->__pyx_n_s_import); + Py_CLEAR(clear_module_state->__pyx_kp_u_in_DBC); + Py_CLEAR(clear_module_state->__pyx_n_s_initializing); + Py_CLEAR(clear_module_state->__pyx_kp_u_invalid_parameter); + Py_CLEAR(clear_module_state->__pyx_n_s_is_coroutine); + Py_CLEAR(clear_module_state->__pyx_kp_u_isenabled); + Py_CLEAR(clear_module_state->__pyx_n_s_it); + Py_CLEAR(clear_module_state->__pyx_n_s_main); + Py_CLEAR(clear_module_state->__pyx_n_s_messages); + Py_CLEAR(clear_module_state->__pyx_n_s_name); + Py_CLEAR(clear_module_state->__pyx_n_s_new_vals); + Py_CLEAR(clear_module_state->__pyx_n_s_numbers); + Py_CLEAR(clear_module_state->__pyx_n_s_opendbc_can_parser_pyx); + Py_CLEAR(clear_module_state->__pyx_kp_s_opendbc_can_parser_pyx_pyx); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_state); + Py_CLEAR(clear_module_state->__pyx_n_s_range); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_ex); + Py_CLEAR(clear_module_state->__pyx_n_s_s); + Py_CLEAR(clear_module_state->__pyx_n_s_self); + Py_CLEAR(clear_module_state->__pyx_kp_s_self_can_self_dbc_cannot_be_conv); + Py_CLEAR(clear_module_state->__pyx_kp_s_self_dbc_cannot_be_converted_to); + Py_CLEAR(clear_module_state->__pyx_n_s_sendcan); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_spec); + Py_CLEAR(clear_module_state->__pyx_n_s_split); + Py_CLEAR(clear_module_state->__pyx_n_s_strings); + Py_CLEAR(clear_module_state->__pyx_kp_s_stringsource); + Py_CLEAR(clear_module_state->__pyx_n_s_test); + Py_CLEAR(clear_module_state->__pyx_n_s_ts_nanos); + Py_CLEAR(clear_module_state->__pyx_n_s_update_strings); + Py_CLEAR(clear_module_state->__pyx_n_s_updated_addrs); + Py_CLEAR(clear_module_state->__pyx_n_s_vl); + Py_CLEAR(clear_module_state->__pyx_n_s_vl_all); + Py_CLEAR(clear_module_state->__pyx_n_s_zip); + Py_CLEAR(clear_module_state->__pyx_int_0); + Py_CLEAR(clear_module_state->__pyx_int_1); + Py_CLEAR(clear_module_state->__pyx_int_2); + Py_CLEAR(clear_module_state->__pyx_tuple_); + Py_CLEAR(clear_module_state->__pyx_slice__3); + Py_CLEAR(clear_module_state->__pyx_slice__4); + Py_CLEAR(clear_module_state->__pyx_tuple__7); + Py_CLEAR(clear_module_state->__pyx_tuple__9); + Py_CLEAR(clear_module_state->__pyx_tuple__10); + Py_CLEAR(clear_module_state->__pyx_tuple__12); + Py_CLEAR(clear_module_state->__pyx_codeobj__8); + Py_CLEAR(clear_module_state->__pyx_codeobj__11); + Py_CLEAR(clear_module_state->__pyx_codeobj__13); + Py_CLEAR(clear_module_state->__pyx_codeobj__14); + Py_CLEAR(clear_module_state->__pyx_codeobj__15); + return 0; +} +#endif +/* #### Code section: module_state_traverse ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_traverse(PyObject *m, visitproc visit, void *arg) { + __pyx_mstate *traverse_module_state = __pyx_mstate(m); + if (!traverse_module_state) return 0; + Py_VISIT(traverse_module_state->__pyx_d); + Py_VISIT(traverse_module_state->__pyx_b); + Py_VISIT(traverse_module_state->__pyx_cython_runtime); + Py_VISIT(traverse_module_state->__pyx_empty_tuple); + Py_VISIT(traverse_module_state->__pyx_empty_bytes); + Py_VISIT(traverse_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_VISIT(traverse_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_VISIT(traverse_module_state->__pyx_FusedFunctionType); + #endif + Py_VISIT(traverse_module_state->__pyx_ptype_7opendbc_3can_10parser_pyx_CANParser); + Py_VISIT(traverse_module_state->__pyx_type_7opendbc_3can_10parser_pyx_CANParser); + Py_VISIT(traverse_module_state->__pyx_ptype_7opendbc_3can_10parser_pyx_CANDefine); + Py_VISIT(traverse_module_state->__pyx_type_7opendbc_3can_10parser_pyx_CANDefine); + Py_VISIT(traverse_module_state->__pyx_n_s_CANDefine); + Py_VISIT(traverse_module_state->__pyx_n_s_CANDefine___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_CANDefine___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_CANParser); + Py_VISIT(traverse_module_state->__pyx_n_s_CANParser___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_CANParser___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_CANParser_update_strings); + Py_VISIT(traverse_module_state->__pyx_kp_u_Can_t_find_DBC); + Py_VISIT(traverse_module_state->__pyx_kp_u_Can_t_find_DBC_2); + Py_VISIT(traverse_module_state->__pyx_n_s_IndexError); + Py_VISIT(traverse_module_state->__pyx_n_s_KeyError); + Py_VISIT(traverse_module_state->__pyx_n_s_MemoryError); + Py_VISIT(traverse_module_state->__pyx_n_s_Number); + Py_VISIT(traverse_module_state->__pyx_n_s_RuntimeError); + Py_VISIT(traverse_module_state->__pyx_n_s_TypeError); + Py_VISIT(traverse_module_state->__pyx_n_s__16); + Py_VISIT(traverse_module_state->__pyx_kp_u__2); + Py_VISIT(traverse_module_state->__pyx_n_s__5); + Py_VISIT(traverse_module_state->__pyx_kp_u__6); + Py_VISIT(traverse_module_state->__pyx_n_s_address); + Py_VISIT(traverse_module_state->__pyx_n_s_asyncio_coroutines); + Py_VISIT(traverse_module_state->__pyx_n_s_bus); + Py_VISIT(traverse_module_state->__pyx_n_s_can_data); + Py_VISIT(traverse_module_state->__pyx_n_s_can_data_array); + Py_VISIT(traverse_module_state->__pyx_n_s_class_getitem); + Py_VISIT(traverse_module_state->__pyx_n_s_clear); + Py_VISIT(traverse_module_state->__pyx_n_s_cline_in_traceback); + Py_VISIT(traverse_module_state->__pyx_n_s_collections); + Py_VISIT(traverse_module_state->__pyx_kp_u_could_not_find_message); + Py_VISIT(traverse_module_state->__pyx_n_s_cur_address); + Py_VISIT(traverse_module_state->__pyx_n_s_cv); + Py_VISIT(traverse_module_state->__pyx_n_s_cv_name); + Py_VISIT(traverse_module_state->__pyx_n_s_dbc_name); + Py_VISIT(traverse_module_state->__pyx_n_s_defaultdict); + Py_VISIT(traverse_module_state->__pyx_kp_u_disable); + Py_VISIT(traverse_module_state->__pyx_kp_u_enable); + Py_VISIT(traverse_module_state->__pyx_n_s_f); + Py_VISIT(traverse_module_state->__pyx_n_s_frame); + Py_VISIT(traverse_module_state->__pyx_kp_u_gc); + Py_VISIT(traverse_module_state->__pyx_n_s_getstate); + Py_VISIT(traverse_module_state->__pyx_n_s_import); + Py_VISIT(traverse_module_state->__pyx_kp_u_in_DBC); + Py_VISIT(traverse_module_state->__pyx_n_s_initializing); + Py_VISIT(traverse_module_state->__pyx_kp_u_invalid_parameter); + Py_VISIT(traverse_module_state->__pyx_n_s_is_coroutine); + Py_VISIT(traverse_module_state->__pyx_kp_u_isenabled); + Py_VISIT(traverse_module_state->__pyx_n_s_it); + Py_VISIT(traverse_module_state->__pyx_n_s_main); + Py_VISIT(traverse_module_state->__pyx_n_s_messages); + Py_VISIT(traverse_module_state->__pyx_n_s_name); + Py_VISIT(traverse_module_state->__pyx_n_s_new_vals); + Py_VISIT(traverse_module_state->__pyx_n_s_numbers); + Py_VISIT(traverse_module_state->__pyx_n_s_opendbc_can_parser_pyx); + Py_VISIT(traverse_module_state->__pyx_kp_s_opendbc_can_parser_pyx_pyx); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_state); + Py_VISIT(traverse_module_state->__pyx_n_s_range); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_ex); + Py_VISIT(traverse_module_state->__pyx_n_s_s); + Py_VISIT(traverse_module_state->__pyx_n_s_self); + Py_VISIT(traverse_module_state->__pyx_kp_s_self_can_self_dbc_cannot_be_conv); + Py_VISIT(traverse_module_state->__pyx_kp_s_self_dbc_cannot_be_converted_to); + Py_VISIT(traverse_module_state->__pyx_n_s_sendcan); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_spec); + Py_VISIT(traverse_module_state->__pyx_n_s_split); + Py_VISIT(traverse_module_state->__pyx_n_s_strings); + Py_VISIT(traverse_module_state->__pyx_kp_s_stringsource); + Py_VISIT(traverse_module_state->__pyx_n_s_test); + Py_VISIT(traverse_module_state->__pyx_n_s_ts_nanos); + Py_VISIT(traverse_module_state->__pyx_n_s_update_strings); + Py_VISIT(traverse_module_state->__pyx_n_s_updated_addrs); + Py_VISIT(traverse_module_state->__pyx_n_s_vl); + Py_VISIT(traverse_module_state->__pyx_n_s_vl_all); + Py_VISIT(traverse_module_state->__pyx_n_s_zip); + Py_VISIT(traverse_module_state->__pyx_int_0); + Py_VISIT(traverse_module_state->__pyx_int_1); + Py_VISIT(traverse_module_state->__pyx_int_2); + Py_VISIT(traverse_module_state->__pyx_tuple_); + Py_VISIT(traverse_module_state->__pyx_slice__3); + Py_VISIT(traverse_module_state->__pyx_slice__4); + Py_VISIT(traverse_module_state->__pyx_tuple__7); + Py_VISIT(traverse_module_state->__pyx_tuple__9); + Py_VISIT(traverse_module_state->__pyx_tuple__10); + Py_VISIT(traverse_module_state->__pyx_tuple__12); + Py_VISIT(traverse_module_state->__pyx_codeobj__8); + Py_VISIT(traverse_module_state->__pyx_codeobj__11); + Py_VISIT(traverse_module_state->__pyx_codeobj__13); + Py_VISIT(traverse_module_state->__pyx_codeobj__14); + Py_VISIT(traverse_module_state->__pyx_codeobj__15); + return 0; +} +#endif +/* #### Code section: module_state_defines ### */ +#define __pyx_d __pyx_mstate_global->__pyx_d +#define __pyx_b __pyx_mstate_global->__pyx_b +#define __pyx_cython_runtime __pyx_mstate_global->__pyx_cython_runtime +#define __pyx_empty_tuple __pyx_mstate_global->__pyx_empty_tuple +#define __pyx_empty_bytes __pyx_mstate_global->__pyx_empty_bytes +#define __pyx_empty_unicode __pyx_mstate_global->__pyx_empty_unicode +#ifdef __Pyx_CyFunction_USED +#define __pyx_CyFunctionType __pyx_mstate_global->__pyx_CyFunctionType +#endif +#ifdef __Pyx_FusedFunction_USED +#define __pyx_FusedFunctionType __pyx_mstate_global->__pyx_FusedFunctionType +#endif +#ifdef __Pyx_Generator_USED +#define __pyx_GeneratorType __pyx_mstate_global->__pyx_GeneratorType +#endif +#ifdef __Pyx_IterableCoroutine_USED +#define __pyx_IterableCoroutineType __pyx_mstate_global->__pyx_IterableCoroutineType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineAwaitType __pyx_mstate_global->__pyx_CoroutineAwaitType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineType __pyx_mstate_global->__pyx_CoroutineType +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#define __pyx_type_7opendbc_3can_10parser_pyx_CANParser __pyx_mstate_global->__pyx_type_7opendbc_3can_10parser_pyx_CANParser +#define __pyx_type_7opendbc_3can_10parser_pyx_CANDefine __pyx_mstate_global->__pyx_type_7opendbc_3can_10parser_pyx_CANDefine +#endif +#define __pyx_ptype_7opendbc_3can_10parser_pyx_CANParser __pyx_mstate_global->__pyx_ptype_7opendbc_3can_10parser_pyx_CANParser +#define __pyx_ptype_7opendbc_3can_10parser_pyx_CANDefine __pyx_mstate_global->__pyx_ptype_7opendbc_3can_10parser_pyx_CANDefine +#define __pyx_n_s_CANDefine __pyx_mstate_global->__pyx_n_s_CANDefine +#define __pyx_n_s_CANDefine___reduce_cython __pyx_mstate_global->__pyx_n_s_CANDefine___reduce_cython +#define __pyx_n_s_CANDefine___setstate_cython __pyx_mstate_global->__pyx_n_s_CANDefine___setstate_cython +#define __pyx_n_s_CANParser __pyx_mstate_global->__pyx_n_s_CANParser +#define __pyx_n_s_CANParser___reduce_cython __pyx_mstate_global->__pyx_n_s_CANParser___reduce_cython +#define __pyx_n_s_CANParser___setstate_cython __pyx_mstate_global->__pyx_n_s_CANParser___setstate_cython +#define __pyx_n_s_CANParser_update_strings __pyx_mstate_global->__pyx_n_s_CANParser_update_strings +#define __pyx_kp_u_Can_t_find_DBC __pyx_mstate_global->__pyx_kp_u_Can_t_find_DBC +#define __pyx_kp_u_Can_t_find_DBC_2 __pyx_mstate_global->__pyx_kp_u_Can_t_find_DBC_2 +#define __pyx_n_s_IndexError __pyx_mstate_global->__pyx_n_s_IndexError +#define __pyx_n_s_KeyError __pyx_mstate_global->__pyx_n_s_KeyError +#define __pyx_n_s_MemoryError __pyx_mstate_global->__pyx_n_s_MemoryError +#define __pyx_n_s_Number __pyx_mstate_global->__pyx_n_s_Number +#define __pyx_n_s_RuntimeError __pyx_mstate_global->__pyx_n_s_RuntimeError +#define __pyx_n_s_TypeError __pyx_mstate_global->__pyx_n_s_TypeError +#define __pyx_n_s__16 __pyx_mstate_global->__pyx_n_s__16 +#define __pyx_kp_u__2 __pyx_mstate_global->__pyx_kp_u__2 +#define __pyx_n_s__5 __pyx_mstate_global->__pyx_n_s__5 +#define __pyx_kp_u__6 __pyx_mstate_global->__pyx_kp_u__6 +#define __pyx_n_s_address __pyx_mstate_global->__pyx_n_s_address +#define __pyx_n_s_asyncio_coroutines __pyx_mstate_global->__pyx_n_s_asyncio_coroutines +#define __pyx_n_s_bus __pyx_mstate_global->__pyx_n_s_bus +#define __pyx_n_s_can_data __pyx_mstate_global->__pyx_n_s_can_data +#define __pyx_n_s_can_data_array __pyx_mstate_global->__pyx_n_s_can_data_array +#define __pyx_n_s_class_getitem __pyx_mstate_global->__pyx_n_s_class_getitem +#define __pyx_n_s_clear __pyx_mstate_global->__pyx_n_s_clear +#define __pyx_n_s_cline_in_traceback __pyx_mstate_global->__pyx_n_s_cline_in_traceback +#define __pyx_n_s_collections __pyx_mstate_global->__pyx_n_s_collections +#define __pyx_kp_u_could_not_find_message __pyx_mstate_global->__pyx_kp_u_could_not_find_message +#define __pyx_n_s_cur_address __pyx_mstate_global->__pyx_n_s_cur_address +#define __pyx_n_s_cv __pyx_mstate_global->__pyx_n_s_cv +#define __pyx_n_s_cv_name __pyx_mstate_global->__pyx_n_s_cv_name +#define __pyx_n_s_dbc_name __pyx_mstate_global->__pyx_n_s_dbc_name +#define __pyx_n_s_defaultdict __pyx_mstate_global->__pyx_n_s_defaultdict +#define __pyx_kp_u_disable __pyx_mstate_global->__pyx_kp_u_disable +#define __pyx_kp_u_enable __pyx_mstate_global->__pyx_kp_u_enable +#define __pyx_n_s_f __pyx_mstate_global->__pyx_n_s_f +#define __pyx_n_s_frame __pyx_mstate_global->__pyx_n_s_frame +#define __pyx_kp_u_gc __pyx_mstate_global->__pyx_kp_u_gc +#define __pyx_n_s_getstate __pyx_mstate_global->__pyx_n_s_getstate +#define __pyx_n_s_import __pyx_mstate_global->__pyx_n_s_import +#define __pyx_kp_u_in_DBC __pyx_mstate_global->__pyx_kp_u_in_DBC +#define __pyx_n_s_initializing __pyx_mstate_global->__pyx_n_s_initializing +#define __pyx_kp_u_invalid_parameter __pyx_mstate_global->__pyx_kp_u_invalid_parameter +#define __pyx_n_s_is_coroutine __pyx_mstate_global->__pyx_n_s_is_coroutine +#define __pyx_kp_u_isenabled __pyx_mstate_global->__pyx_kp_u_isenabled +#define __pyx_n_s_it __pyx_mstate_global->__pyx_n_s_it +#define __pyx_n_s_main __pyx_mstate_global->__pyx_n_s_main +#define __pyx_n_s_messages __pyx_mstate_global->__pyx_n_s_messages +#define __pyx_n_s_name __pyx_mstate_global->__pyx_n_s_name +#define __pyx_n_s_new_vals __pyx_mstate_global->__pyx_n_s_new_vals +#define __pyx_n_s_numbers __pyx_mstate_global->__pyx_n_s_numbers +#define __pyx_n_s_opendbc_can_parser_pyx __pyx_mstate_global->__pyx_n_s_opendbc_can_parser_pyx +#define __pyx_kp_s_opendbc_can_parser_pyx_pyx __pyx_mstate_global->__pyx_kp_s_opendbc_can_parser_pyx_pyx +#define __pyx_n_s_pyx_state __pyx_mstate_global->__pyx_n_s_pyx_state +#define __pyx_n_s_range __pyx_mstate_global->__pyx_n_s_range +#define __pyx_n_s_reduce __pyx_mstate_global->__pyx_n_s_reduce +#define __pyx_n_s_reduce_cython __pyx_mstate_global->__pyx_n_s_reduce_cython +#define __pyx_n_s_reduce_ex __pyx_mstate_global->__pyx_n_s_reduce_ex +#define __pyx_n_s_s __pyx_mstate_global->__pyx_n_s_s +#define __pyx_n_s_self __pyx_mstate_global->__pyx_n_s_self +#define __pyx_kp_s_self_can_self_dbc_cannot_be_conv __pyx_mstate_global->__pyx_kp_s_self_can_self_dbc_cannot_be_conv +#define __pyx_kp_s_self_dbc_cannot_be_converted_to __pyx_mstate_global->__pyx_kp_s_self_dbc_cannot_be_converted_to +#define __pyx_n_s_sendcan __pyx_mstate_global->__pyx_n_s_sendcan +#define __pyx_n_s_setstate __pyx_mstate_global->__pyx_n_s_setstate +#define __pyx_n_s_setstate_cython __pyx_mstate_global->__pyx_n_s_setstate_cython +#define __pyx_n_s_spec __pyx_mstate_global->__pyx_n_s_spec +#define __pyx_n_s_split __pyx_mstate_global->__pyx_n_s_split +#define __pyx_n_s_strings __pyx_mstate_global->__pyx_n_s_strings +#define __pyx_kp_s_stringsource __pyx_mstate_global->__pyx_kp_s_stringsource +#define __pyx_n_s_test __pyx_mstate_global->__pyx_n_s_test +#define __pyx_n_s_ts_nanos __pyx_mstate_global->__pyx_n_s_ts_nanos +#define __pyx_n_s_update_strings __pyx_mstate_global->__pyx_n_s_update_strings +#define __pyx_n_s_updated_addrs 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__pyx_pw_7opendbc_3can_10parser_pyx_9CANParser_2vl_1__get__(o); +} + +static PyObject *__pyx_getprop_7opendbc_3can_10parser_pyx_9CANParser_vl_all(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_7opendbc_3can_10parser_pyx_9CANParser_6vl_all_1__get__(o); +} + +static PyObject *__pyx_getprop_7opendbc_3can_10parser_pyx_9CANParser_ts_nanos(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_7opendbc_3can_10parser_pyx_9CANParser_8ts_nanos_1__get__(o); +} + +static PyObject *__pyx_getprop_7opendbc_3can_10parser_pyx_9CANParser_dbc_name(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_7opendbc_3can_10parser_pyx_9CANParser_8dbc_name_1__get__(o); +} + +static PyMethodDef __pyx_methods_7opendbc_3can_10parser_pyx_CANParser[] = { + {"update_strings", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7opendbc_3can_10parser_pyx_9CANParser_5update_strings, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7opendbc_3can_10parser_pyx_9CANParser_7__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7opendbc_3can_10parser_pyx_9CANParser_9__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_7opendbc_3can_10parser_pyx_CANParser[] = { + {(char *)"can_valid", __pyx_getprop_7opendbc_3can_10parser_pyx_9CANParser_can_valid, 0, (char *)0, 0}, + {(char *)"bus_timeout", __pyx_getprop_7opendbc_3can_10parser_pyx_9CANParser_bus_timeout, 0, (char *)0, 0}, + {(char *)"vl", __pyx_getprop_7opendbc_3can_10parser_pyx_9CANParser_vl, 0, (char *)0, 0}, + {(char *)"vl_all", __pyx_getprop_7opendbc_3can_10parser_pyx_9CANParser_vl_all, 0, (char *)0, 0}, + {(char *)"ts_nanos", __pyx_getprop_7opendbc_3can_10parser_pyx_9CANParser_ts_nanos, 0, (char *)0, 0}, + {(char *)"dbc_name", __pyx_getprop_7opendbc_3can_10parser_pyx_9CANParser_dbc_name, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_7opendbc_3can_10parser_pyx_CANParser_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_7opendbc_3can_10parser_pyx_CANParser}, + {Py_tp_traverse, (void *)__pyx_tp_traverse_7opendbc_3can_10parser_pyx_CANParser}, + {Py_tp_clear, (void *)__pyx_tp_clear_7opendbc_3can_10parser_pyx_CANParser}, + {Py_tp_methods, (void *)__pyx_methods_7opendbc_3can_10parser_pyx_CANParser}, + {Py_tp_getset, (void *)__pyx_getsets_7opendbc_3can_10parser_pyx_CANParser}, + {Py_tp_init, (void *)__pyx_pw_7opendbc_3can_10parser_pyx_9CANParser_1__init__}, + {Py_tp_new, (void *)__pyx_tp_new_7opendbc_3can_10parser_pyx_CANParser}, + {0, 0}, +}; +static PyType_Spec __pyx_type_7opendbc_3can_10parser_pyx_CANParser_spec = { + "opendbc.can.parser_pyx.CANParser", + sizeof(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type_7opendbc_3can_10parser_pyx_CANParser_slots, +}; +#else + +static PyTypeObject __pyx_type_7opendbc_3can_10parser_pyx_CANParser = { + PyVarObject_HEAD_INIT(0, 0) + "opendbc.can.parser_pyx.""CANParser", /*tp_name*/ + sizeof(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_7opendbc_3can_10parser_pyx_CANParser, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_7opendbc_3can_10parser_pyx_CANParser, /*tp_traverse*/ + __pyx_tp_clear_7opendbc_3can_10parser_pyx_CANParser, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_7opendbc_3can_10parser_pyx_CANParser, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_7opendbc_3can_10parser_pyx_CANParser, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + __pyx_pw_7opendbc_3can_10parser_pyx_9CANParser_1__init__, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_7opendbc_3can_10parser_pyx_CANParser, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyObject *__pyx_tp_new_7opendbc_3can_10parser_pyx_CANDefine(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine *)o); + new((void*)&(p->dbc_name)) std::string(); + p->dv = ((PyObject*)Py_None); Py_INCREF(Py_None); + return o; +} + +static void __pyx_tp_dealloc_7opendbc_3can_10parser_pyx_CANDefine(PyObject *o) { + struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine *p = (struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_7opendbc_3can_10parser_pyx_CANDefine) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + __Pyx_call_destructor(p->dbc_name); + Py_CLEAR(p->dv); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_7opendbc_3can_10parser_pyx_CANDefine(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine *p = (struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine *)o; + if (p->dv) { + e = (*v)(p->dv, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_7opendbc_3can_10parser_pyx_CANDefine(PyObject *o) { + PyObject* tmp; + struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine *p = (struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine *)o; + tmp = ((PyObject*)p->dv); + p->dv = ((PyObject*)Py_None); Py_INCREF(Py_None); + Py_XDECREF(tmp); + return 0; +} + +static PyObject *__pyx_getprop_7opendbc_3can_10parser_pyx_9CANDefine_dv(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_7opendbc_3can_10parser_pyx_9CANDefine_2dv_1__get__(o); +} + +static int __pyx_setprop_7opendbc_3can_10parser_pyx_9CANDefine_dv(PyObject *o, PyObject *v, CYTHON_UNUSED void *x) { + if (v) { + return __pyx_pw_7opendbc_3can_10parser_pyx_9CANDefine_2dv_3__set__(o, v); + } + else { + return __pyx_pw_7opendbc_3can_10parser_pyx_9CANDefine_2dv_5__del__(o); + } +} + +static PyObject *__pyx_getprop_7opendbc_3can_10parser_pyx_9CANDefine_dbc_name(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_7opendbc_3can_10parser_pyx_9CANDefine_8dbc_name_1__get__(o); +} + +static int __pyx_setprop_7opendbc_3can_10parser_pyx_9CANDefine_dbc_name(PyObject *o, PyObject *v, CYTHON_UNUSED void *x) { + if (v) { + return __pyx_pw_7opendbc_3can_10parser_pyx_9CANDefine_8dbc_name_3__set__(o, v); + } + else { + PyErr_SetString(PyExc_NotImplementedError, "__del__"); + return -1; + } +} + +static PyMethodDef __pyx_methods_7opendbc_3can_10parser_pyx_CANDefine[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7opendbc_3can_10parser_pyx_9CANDefine_3__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7opendbc_3can_10parser_pyx_9CANDefine_5__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_7opendbc_3can_10parser_pyx_CANDefine[] = { + {(char *)"dv", __pyx_getprop_7opendbc_3can_10parser_pyx_9CANDefine_dv, __pyx_setprop_7opendbc_3can_10parser_pyx_9CANDefine_dv, (char *)0, 0}, + {(char *)"dbc_name", __pyx_getprop_7opendbc_3can_10parser_pyx_9CANDefine_dbc_name, __pyx_setprop_7opendbc_3can_10parser_pyx_9CANDefine_dbc_name, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_7opendbc_3can_10parser_pyx_CANDefine_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_7opendbc_3can_10parser_pyx_CANDefine}, + {Py_tp_traverse, (void *)__pyx_tp_traverse_7opendbc_3can_10parser_pyx_CANDefine}, + {Py_tp_clear, (void *)__pyx_tp_clear_7opendbc_3can_10parser_pyx_CANDefine}, + {Py_tp_methods, (void *)__pyx_methods_7opendbc_3can_10parser_pyx_CANDefine}, + {Py_tp_getset, (void *)__pyx_getsets_7opendbc_3can_10parser_pyx_CANDefine}, + {Py_tp_init, (void *)__pyx_pw_7opendbc_3can_10parser_pyx_9CANDefine_1__init__}, + {Py_tp_new, (void *)__pyx_tp_new_7opendbc_3can_10parser_pyx_CANDefine}, + {0, 0}, +}; +static PyType_Spec __pyx_type_7opendbc_3can_10parser_pyx_CANDefine_spec = { + "opendbc.can.parser_pyx.CANDefine", + sizeof(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type_7opendbc_3can_10parser_pyx_CANDefine_slots, +}; +#else + +static PyTypeObject __pyx_type_7opendbc_3can_10parser_pyx_CANDefine = { + PyVarObject_HEAD_INIT(0, 0) + "opendbc.can.parser_pyx.""CANDefine", /*tp_name*/ + sizeof(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_7opendbc_3can_10parser_pyx_CANDefine, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_7opendbc_3can_10parser_pyx_CANDefine, /*tp_traverse*/ + __pyx_tp_clear_7opendbc_3can_10parser_pyx_CANDefine, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_7opendbc_3can_10parser_pyx_CANDefine, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_7opendbc_3can_10parser_pyx_CANDefine, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + __pyx_pw_7opendbc_3can_10parser_pyx_9CANDefine_1__init__, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_7opendbc_3can_10parser_pyx_CANDefine, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyMethodDef __pyx_methods[] = { + {0, 0, 0, 0} +}; +#ifndef CYTHON_SMALL_CODE +#if defined(__clang__) + #define CYTHON_SMALL_CODE +#elif defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 3)) + #define CYTHON_SMALL_CODE __attribute__((cold)) +#else + #define CYTHON_SMALL_CODE +#endif +#endif +/* #### Code section: pystring_table ### */ + +static int __Pyx_CreateStringTabAndInitStrings(void) { + __Pyx_StringTabEntry __pyx_string_tab[] = { + {&__pyx_n_s_CANDefine, __pyx_k_CANDefine, sizeof(__pyx_k_CANDefine), 0, 0, 1, 1}, + {&__pyx_n_s_CANDefine___reduce_cython, __pyx_k_CANDefine___reduce_cython, sizeof(__pyx_k_CANDefine___reduce_cython), 0, 0, 1, 1}, + {&__pyx_n_s_CANDefine___setstate_cython, __pyx_k_CANDefine___setstate_cython, sizeof(__pyx_k_CANDefine___setstate_cython), 0, 0, 1, 1}, + {&__pyx_n_s_CANParser, __pyx_k_CANParser, sizeof(__pyx_k_CANParser), 0, 0, 1, 1}, + {&__pyx_n_s_CANParser___reduce_cython, __pyx_k_CANParser___reduce_cython, sizeof(__pyx_k_CANParser___reduce_cython), 0, 0, 1, 1}, + {&__pyx_n_s_CANParser___setstate_cython, __pyx_k_CANParser___setstate_cython, sizeof(__pyx_k_CANParser___setstate_cython), 0, 0, 1, 1}, + {&__pyx_n_s_CANParser_update_strings, __pyx_k_CANParser_update_strings, sizeof(__pyx_k_CANParser_update_strings), 0, 0, 1, 1}, + {&__pyx_kp_u_Can_t_find_DBC, __pyx_k_Can_t_find_DBC, sizeof(__pyx_k_Can_t_find_DBC), 0, 1, 0, 0}, + {&__pyx_kp_u_Can_t_find_DBC_2, __pyx_k_Can_t_find_DBC_2, sizeof(__pyx_k_Can_t_find_DBC_2), 0, 1, 0, 0}, + {&__pyx_n_s_IndexError, __pyx_k_IndexError, sizeof(__pyx_k_IndexError), 0, 0, 1, 1}, + {&__pyx_n_s_KeyError, __pyx_k_KeyError, sizeof(__pyx_k_KeyError), 0, 0, 1, 1}, + {&__pyx_n_s_MemoryError, __pyx_k_MemoryError, sizeof(__pyx_k_MemoryError), 0, 0, 1, 1}, + {&__pyx_n_s_Number, __pyx_k_Number, sizeof(__pyx_k_Number), 0, 0, 1, 1}, + {&__pyx_n_s_RuntimeError, __pyx_k_RuntimeError, sizeof(__pyx_k_RuntimeError), 0, 0, 1, 1}, + {&__pyx_n_s_TypeError, __pyx_k_TypeError, sizeof(__pyx_k_TypeError), 0, 0, 1, 1}, + {&__pyx_n_s__16, __pyx_k__16, sizeof(__pyx_k__16), 0, 0, 1, 1}, + {&__pyx_kp_u__2, __pyx_k__2, sizeof(__pyx_k__2), 0, 1, 0, 0}, + {&__pyx_n_s__5, __pyx_k__5, sizeof(__pyx_k__5), 0, 0, 1, 1}, + {&__pyx_kp_u__6, __pyx_k__6, sizeof(__pyx_k__6), 0, 1, 0, 0}, + {&__pyx_n_s_address, __pyx_k_address, sizeof(__pyx_k_address), 0, 0, 1, 1}, + {&__pyx_n_s_asyncio_coroutines, __pyx_k_asyncio_coroutines, sizeof(__pyx_k_asyncio_coroutines), 0, 0, 1, 1}, + {&__pyx_n_s_bus, __pyx_k_bus, sizeof(__pyx_k_bus), 0, 0, 1, 1}, + {&__pyx_n_s_can_data, __pyx_k_can_data, 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+} +#endif + +/* PyErrFetchRestore */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { +#if PY_VERSION_HEX >= 0x030C00A6 + PyObject *tmp_value; + assert(type == NULL || (value != NULL && type == (PyObject*) Py_TYPE(value))); + if (value) { + #if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(((PyBaseExceptionObject*) value)->traceback != tb)) + #endif + PyException_SetTraceback(value, tb); + } + tmp_value = tstate->current_exception; + tstate->current_exception = value; + Py_XDECREF(tmp_value); + Py_XDECREF(type); + Py_XDECREF(tb); +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + tmp_type = tstate->curexc_type; + tmp_value = tstate->curexc_value; + tmp_tb = tstate->curexc_traceback; + tstate->curexc_type = type; + tstate->curexc_value = value; + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#endif +} +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { +#if PY_VERSION_HEX >= 0x030C00A6 + PyObject* exc_value; + exc_value = tstate->current_exception; + tstate->current_exception = 0; + *value = exc_value; + *type = NULL; + *tb = NULL; + if (exc_value) { + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + #if CYTHON_COMPILING_IN_CPYTHON + *tb = ((PyBaseExceptionObject*) exc_value)->traceback; + Py_XINCREF(*tb); + #else + *tb = PyException_GetTraceback(exc_value); + #endif + } +#else + *type = tstate->curexc_type; + *value = tstate->curexc_value; + *tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; +#endif +} +#endif + +/* PyObjectGetAttrStr */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name) { + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro)) + return tp->tp_getattro(obj, attr_name); +#if PY_MAJOR_VERSION < 3 + if (likely(tp->tp_getattr)) + return tp->tp_getattr(obj, PyString_AS_STRING(attr_name)); +#endif + return PyObject_GetAttr(obj, attr_name); +} +#endif + +/* PyObjectGetAttrStrNoError */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + __Pyx_PyErr_Clear(); +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { + PyObject *result; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + (void) PyObject_GetOptionalAttr(obj, attr_name, &result); + return result; +#else +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { + return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); + } +#endif + result = __Pyx_PyObject_GetAttrStr(obj, attr_name); + if (unlikely(!result)) { + __Pyx_PyObject_GetAttrStr_ClearAttributeError(); + } + return result; +#endif +} + +/* GetBuiltinName */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name) { + PyObject* result = __Pyx_PyObject_GetAttrStrNoError(__pyx_b, name); + if (unlikely(!result) && !PyErr_Occurred()) { + PyErr_Format(PyExc_NameError, +#if PY_MAJOR_VERSION >= 3 + "name '%U' is not defined", name); +#else + "name '%.200s' is not defined", PyString_AS_STRING(name)); +#endif + } + return result; +} + +/* RaiseTooManyValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected) { + PyErr_Format(PyExc_ValueError, + "too many values to unpack (expected %" CYTHON_FORMAT_SSIZE_T "d)", expected); +} + +/* RaiseNeedMoreValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index) { + PyErr_Format(PyExc_ValueError, + "need more than %" CYTHON_FORMAT_SSIZE_T "d value%.1s to unpack", + index, (index == 1) ? "" : "s"); +} + +/* IterFinish */ +static CYTHON_INLINE int __Pyx_IterFinish(void) { + PyObject* exc_type; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + exc_type = __Pyx_PyErr_CurrentExceptionType(); + if (unlikely(exc_type)) { + if (unlikely(!__Pyx_PyErr_GivenExceptionMatches(exc_type, PyExc_StopIteration))) + return -1; + __Pyx_PyErr_Clear(); + return 0; + } + return 0; +} + +/* UnpackItemEndCheck */ +static int __Pyx_IternextUnpackEndCheck(PyObject *retval, Py_ssize_t expected) { + if (unlikely(retval)) { + Py_DECREF(retval); + __Pyx_RaiseTooManyValuesError(expected); + return -1; + } + return __Pyx_IterFinish(); +} + +/* TupleAndListFromArray */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE void __Pyx_copy_object_array(PyObject *const *CYTHON_RESTRICT src, PyObject** CYTHON_RESTRICT dest, Py_ssize_t length) { + PyObject *v; + Py_ssize_t i; + for (i = 0; i < length; i++) { + v = dest[i] = src[i]; + Py_INCREF(v); + } +} +static CYTHON_INLINE PyObject * +__Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + Py_INCREF(__pyx_empty_tuple); + return __pyx_empty_tuple; + } + res = PyTuple_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyTupleObject*)res)->ob_item, n); + return res; +} +static CYTHON_INLINE PyObject * +__Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + return PyList_New(0); + } + res = PyList_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyListObject*)res)->ob_item, n); + return res; +} +#endif + +/* BytesEquals */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else + if (s1 == s2) { + return (equals == Py_EQ); + } else if (PyBytes_CheckExact(s1) & PyBytes_CheckExact(s2)) { + const char *ps1, *ps2; + Py_ssize_t length = PyBytes_GET_SIZE(s1); + if (length != PyBytes_GET_SIZE(s2)) + return (equals == Py_NE); + ps1 = PyBytes_AS_STRING(s1); + ps2 = PyBytes_AS_STRING(s2); + if (ps1[0] != ps2[0]) { + return (equals == Py_NE); + } else if (length == 1) { + return (equals == Py_EQ); + } else { + int result; +#if CYTHON_USE_UNICODE_INTERNALS && (PY_VERSION_HEX < 0x030B0000) + Py_hash_t hash1, hash2; + hash1 = ((PyBytesObject*)s1)->ob_shash; + hash2 = ((PyBytesObject*)s2)->ob_shash; + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + return (equals == Py_NE); + } +#endif + result = memcmp(ps1, ps2, (size_t)length); + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { + return (equals == Py_NE); + } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { + return (equals == Py_NE); + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +#endif +} + +/* UnicodeEquals */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else +#if PY_MAJOR_VERSION < 3 + PyObject* owned_ref = NULL; +#endif + int s1_is_unicode, s2_is_unicode; + if (s1 == s2) { + goto return_eq; + } + s1_is_unicode = PyUnicode_CheckExact(s1); + s2_is_unicode = PyUnicode_CheckExact(s2); +#if PY_MAJOR_VERSION < 3 + if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { + owned_ref = PyUnicode_FromObject(s2); + if (unlikely(!owned_ref)) + return -1; + s2 = owned_ref; + s2_is_unicode = 1; + } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { + owned_ref = PyUnicode_FromObject(s1); + if (unlikely(!owned_ref)) + return -1; + s1 = owned_ref; + s1_is_unicode = 1; + } else if (((!s2_is_unicode) & (!s1_is_unicode))) { + return __Pyx_PyBytes_Equals(s1, s2, equals); + } +#endif + if (s1_is_unicode & s2_is_unicode) { + Py_ssize_t length; + int kind; + void *data1, *data2; + if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) + return -1; + length = __Pyx_PyUnicode_GET_LENGTH(s1); + if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { + goto return_ne; + } +#if CYTHON_USE_UNICODE_INTERNALS + { + Py_hash_t hash1, hash2; + #if CYTHON_PEP393_ENABLED + hash1 = ((PyASCIIObject*)s1)->hash; + hash2 = ((PyASCIIObject*)s2)->hash; + #else + hash1 = ((PyUnicodeObject*)s1)->hash; + hash2 = ((PyUnicodeObject*)s2)->hash; + #endif + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + goto return_ne; + } + } +#endif + kind = __Pyx_PyUnicode_KIND(s1); + if (kind != __Pyx_PyUnicode_KIND(s2)) { + goto return_ne; + } + data1 = __Pyx_PyUnicode_DATA(s1); + data2 = __Pyx_PyUnicode_DATA(s2); + if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { + goto return_ne; + } else if (length == 1) { + goto return_eq; + } else { + int result = memcmp(data1, data2, (size_t)(length * kind)); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & s2_is_unicode) { + goto return_ne; + } else if ((s2 == Py_None) & s1_is_unicode) { + goto return_ne; + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +return_eq: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ); +return_ne: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_NE); +#endif +} + +/* fastcall */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s) +{ + Py_ssize_t i, n = PyTuple_GET_SIZE(kwnames); + for (i = 0; i < n; i++) + { + if (s == PyTuple_GET_ITEM(kwnames, i)) return kwvalues[i]; + } + for (i = 0; i < n; i++) + { + int eq = __Pyx_PyUnicode_Equals(s, PyTuple_GET_ITEM(kwnames, i), Py_EQ); + if (unlikely(eq != 0)) { + if (unlikely(eq < 0)) return NULL; + return kwvalues[i]; + } + } + return NULL; +} +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 +CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { + Py_ssize_t i, nkwargs = PyTuple_GET_SIZE(kwnames); + PyObject *dict; + dict = PyDict_New(); + if (unlikely(!dict)) + return NULL; + for (i=0; i= 3 + "%s() got multiple values for keyword argument '%U'", func_name, kw_name); + #else + "%s() got multiple values for keyword argument '%s'", func_name, + PyString_AsString(kw_name)); + #endif +} + +/* ParseKeywords */ +static int __Pyx_ParseOptionalKeywords( + PyObject *kwds, + PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, + PyObject *values[], + Py_ssize_t num_pos_args, + const char* function_name) +{ + PyObject *key = 0, *value = 0; + Py_ssize_t pos = 0; + PyObject*** name; + PyObject*** first_kw_arg = argnames + num_pos_args; + int kwds_is_tuple = CYTHON_METH_FASTCALL && likely(PyTuple_Check(kwds)); + while (1) { + Py_XDECREF(key); key = NULL; + Py_XDECREF(value); value = NULL; + if (kwds_is_tuple) { + Py_ssize_t size; +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(kwds); +#else + size = PyTuple_Size(kwds); + if (size < 0) goto bad; +#endif + if (pos >= size) break; +#if CYTHON_AVOID_BORROWED_REFS + key = __Pyx_PySequence_ITEM(kwds, pos); + if (!key) goto bad; +#elif CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kwds, pos); +#else + key = PyTuple_GetItem(kwds, pos); + if (!key) goto bad; +#endif + value = kwvalues[pos]; + pos++; + } + else + { + if (!PyDict_Next(kwds, &pos, &key, &value)) break; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + } + name = first_kw_arg; + while (*name && (**name != key)) name++; + if (*name) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(value); + Py_DECREF(key); +#endif + key = NULL; + value = NULL; + continue; + } +#if !CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + Py_INCREF(value); + name = first_kw_arg; + #if PY_MAJOR_VERSION < 3 + if (likely(PyString_Check(key))) { + while (*name) { + if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) + && _PyString_Eq(**name, key)) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + if ((**argname == key) || ( + (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) + && _PyString_Eq(**argname, key))) { + goto arg_passed_twice; + } + argname++; + } + } + } else + #endif + if (likely(PyUnicode_Check(key))) { + while (*name) { + int cmp = ( + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**name, key) + ); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + int cmp = (**argname == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**argname, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) goto arg_passed_twice; + argname++; + } + } + } else + goto invalid_keyword_type; + if (kwds2) { + if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; + } else { + goto invalid_keyword; + } + } + Py_XDECREF(key); + Py_XDECREF(value); + return 0; +arg_passed_twice: + __Pyx_RaiseDoubleKeywordsError(function_name, key); + goto bad; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + goto bad; +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif +bad: + Py_XDECREF(key); + Py_XDECREF(value); + return -1; +} + +/* PyFunctionFastCall */ +#if CYTHON_FAST_PYCALL && !CYTHON_VECTORCALL +static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, + PyObject *globals) { + PyFrameObject *f; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject **fastlocals; + Py_ssize_t i; + PyObject *result; + assert(globals != NULL); + /* XXX Perhaps we should create a specialized + PyFrame_New() that doesn't take locals, but does + take builtins without sanity checking them. + */ + assert(tstate != NULL); + f = PyFrame_New(tstate, co, globals, NULL); + if (f == NULL) { + return NULL; + } + fastlocals = __Pyx_PyFrame_GetLocalsplus(f); + for (i = 0; i < na; i++) { + Py_INCREF(*args); + fastlocals[i] = *args++; + } + result = PyEval_EvalFrameEx(f,0); + ++tstate->recursion_depth; + Py_DECREF(f); + --tstate->recursion_depth; + return result; +} +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { + PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); + PyObject *globals = PyFunction_GET_GLOBALS(func); + PyObject *argdefs = PyFunction_GET_DEFAULTS(func); + PyObject *closure; +#if PY_MAJOR_VERSION >= 3 + PyObject *kwdefs; +#endif + PyObject *kwtuple, **k; + PyObject **d; + Py_ssize_t nd; + Py_ssize_t nk; + PyObject *result; + assert(kwargs == NULL || PyDict_Check(kwargs)); + nk = kwargs ? PyDict_Size(kwargs) : 0; + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) { + return NULL; + } + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) { + return NULL; + } + #endif + if ( +#if PY_MAJOR_VERSION >= 3 + co->co_kwonlyargcount == 0 && +#endif + likely(kwargs == NULL || nk == 0) && + co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { + if (argdefs == NULL && co->co_argcount == nargs) { + result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); + goto done; + } + else if (nargs == 0 && argdefs != NULL + && co->co_argcount == Py_SIZE(argdefs)) { + /* function called with no arguments, but all parameters have + a default value: use default values as arguments .*/ + args = &PyTuple_GET_ITEM(argdefs, 0); + result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); + goto done; + } + } + if (kwargs != NULL) { + Py_ssize_t pos, i; + kwtuple = PyTuple_New(2 * nk); + if (kwtuple == NULL) { + result = NULL; + goto done; + } + k = &PyTuple_GET_ITEM(kwtuple, 0); + pos = i = 0; + while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { + Py_INCREF(k[i]); + Py_INCREF(k[i+1]); + i += 2; + } + nk = i / 2; + } + else { + kwtuple = NULL; + k = NULL; + } + closure = PyFunction_GET_CLOSURE(func); +#if PY_MAJOR_VERSION >= 3 + kwdefs = PyFunction_GET_KW_DEFAULTS(func); +#endif + if (argdefs != NULL) { + d = &PyTuple_GET_ITEM(argdefs, 0); + nd = Py_SIZE(argdefs); + } + else { + d = NULL; + nd = 0; + } +#if PY_MAJOR_VERSION >= 3 + result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, kwdefs, closure); +#else + result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, closure); +#endif + Py_XDECREF(kwtuple); +done: + Py_LeaveRecursiveCall(); + return result; +} +#endif + +/* PyObjectCall */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *result; + ternaryfunc call = Py_TYPE(func)->tp_call; + if (unlikely(!call)) + return PyObject_Call(func, arg, kw); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = (*call)(func, arg, kw); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCallMethO */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { + PyObject *self, *result; + PyCFunction cfunc; + cfunc = __Pyx_CyOrPyCFunction_GET_FUNCTION(func); + self = __Pyx_CyOrPyCFunction_GET_SELF(func); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = cfunc(self, arg); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectFastCall */ +#if PY_VERSION_HEX < 0x03090000 || CYTHON_COMPILING_IN_LIMITED_API +static PyObject* __Pyx_PyObject_FastCall_fallback(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs) { + PyObject *argstuple; + PyObject *result = 0; + size_t i; + argstuple = PyTuple_New((Py_ssize_t)nargs); + if (unlikely(!argstuple)) return NULL; + for (i = 0; i < nargs; i++) { + Py_INCREF(args[i]); + if (__Pyx_PyTuple_SET_ITEM(argstuple, (Py_ssize_t)i, args[i]) < 0) goto bad; + } + result = __Pyx_PyObject_Call(func, argstuple, kwargs); + bad: + Py_DECREF(argstuple); + return result; +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t _nargs, PyObject *kwargs) { + Py_ssize_t nargs = __Pyx_PyVectorcall_NARGS(_nargs); +#if CYTHON_COMPILING_IN_CPYTHON + if (nargs == 0 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_NOARGS)) + return __Pyx_PyObject_CallMethO(func, NULL); + } + else if (nargs == 1 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_O)) + return __Pyx_PyObject_CallMethO(func, args[0]); + } +#endif + #if PY_VERSION_HEX < 0x030800B1 + #if CYTHON_FAST_PYCCALL + if (PyCFunction_Check(func)) { + if (kwargs) { + return _PyCFunction_FastCallDict(func, args, nargs, kwargs); + } else { + return _PyCFunction_FastCallKeywords(func, args, nargs, NULL); + } + } + #if PY_VERSION_HEX >= 0x030700A1 + if (!kwargs && __Pyx_IS_TYPE(func, &PyMethodDescr_Type)) { + return _PyMethodDescr_FastCallKeywords(func, args, nargs, NULL); + } + #endif + #endif + #if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs); + } + #endif + #endif + if (kwargs == NULL) { + #if CYTHON_VECTORCALL + #if PY_VERSION_HEX < 0x03090000 + vectorcallfunc f = _PyVectorcall_Function(func); + #else + vectorcallfunc f = PyVectorcall_Function(func); + #endif + if (f) { + return f(func, args, (size_t)nargs, NULL); + } + #elif defined(__Pyx_CyFunction_USED) && CYTHON_BACKPORT_VECTORCALL + if (__Pyx_CyFunction_CheckExact(func)) { + __pyx_vectorcallfunc f = __Pyx_CyFunction_func_vectorcall(func); + if (f) return f(func, args, (size_t)nargs, NULL); + } + #endif + } + if (nargs == 0) { + return __Pyx_PyObject_Call(func, __pyx_empty_tuple, kwargs); + } + #if PY_VERSION_HEX >= 0x03090000 && !CYTHON_COMPILING_IN_LIMITED_API + return PyObject_VectorcallDict(func, args, (size_t)nargs, kwargs); + #else + return __Pyx_PyObject_FastCall_fallback(func, args, (size_t)nargs, kwargs); + #endif +} + +/* PyObjectCallOneArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *args[2] = {NULL, arg}; + return __Pyx_PyObject_FastCall(func, args+1, 1 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* RaiseException */ +#if PY_MAJOR_VERSION < 3 +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + __Pyx_PyThreadState_declare + CYTHON_UNUSED_VAR(cause); + Py_XINCREF(type); + if (!value || value == Py_None) + value = NULL; + else + Py_INCREF(value); + if (!tb || tb == Py_None) + tb = NULL; + else { + Py_INCREF(tb); + if (!PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto raise_error; + } + } + if (PyType_Check(type)) { +#if CYTHON_COMPILING_IN_PYPY + if (!value) { + Py_INCREF(Py_None); + value = Py_None; + } +#endif + PyErr_NormalizeException(&type, &value, &tb); + } else { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto raise_error; + } + value = type; + type = (PyObject*) Py_TYPE(type); + Py_INCREF(type); + if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto raise_error; + } + } + __Pyx_PyThreadState_assign + __Pyx_ErrRestore(type, value, tb); + return; +raise_error: + Py_XDECREF(value); + Py_XDECREF(type); + Py_XDECREF(tb); + return; +} +#else +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + PyObject* owned_instance = NULL; + if (tb == Py_None) { + tb = 0; + } else if (tb && !PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto bad; + } + if (value == Py_None) + value = 0; + if (PyExceptionInstance_Check(type)) { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto bad; + } + value = type; + type = (PyObject*) Py_TYPE(value); + } else if (PyExceptionClass_Check(type)) { + PyObject *instance_class = NULL; + if (value && PyExceptionInstance_Check(value)) { + instance_class = (PyObject*) Py_TYPE(value); + if (instance_class != type) { + int is_subclass = PyObject_IsSubclass(instance_class, type); + if (!is_subclass) { + instance_class = NULL; + } else if (unlikely(is_subclass == -1)) { + goto bad; + } else { + type = instance_class; + } + } + } + if (!instance_class) { + PyObject *args; + if (!value) + args = PyTuple_New(0); + else if (PyTuple_Check(value)) { + Py_INCREF(value); + args = value; + } else + args = PyTuple_Pack(1, value); + if (!args) + goto bad; + owned_instance = PyObject_Call(type, args, NULL); + Py_DECREF(args); + if (!owned_instance) + goto bad; + value = owned_instance; + if (!PyExceptionInstance_Check(value)) { + PyErr_Format(PyExc_TypeError, + "calling %R should have returned an instance of " + "BaseException, not %R", + type, Py_TYPE(value)); + goto bad; + } + } + } else { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto bad; + } + if (cause) { + PyObject *fixed_cause; + if (cause == Py_None) { + fixed_cause = NULL; + } else if (PyExceptionClass_Check(cause)) { + fixed_cause = PyObject_CallObject(cause, NULL); + if (fixed_cause == NULL) + goto bad; + } else if (PyExceptionInstance_Check(cause)) { + fixed_cause = cause; + Py_INCREF(fixed_cause); + } else { + PyErr_SetString(PyExc_TypeError, + "exception causes must derive from " + "BaseException"); + goto bad; + } + PyException_SetCause(value, fixed_cause); + } + PyErr_SetObject(type, value); + if (tb) { + #if PY_VERSION_HEX >= 0x030C00A6 + PyException_SetTraceback(value, tb); + #elif CYTHON_FAST_THREAD_STATE + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* tmp_tb = tstate->curexc_traceback; + if (tb != tmp_tb) { + Py_INCREF(tb); + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_tb); + } +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); + Py_INCREF(tb); + PyErr_Restore(tmp_type, tmp_value, tb); + Py_XDECREF(tmp_tb); +#endif + } +bad: + Py_XDECREF(owned_instance); + return; +} +#endif + +/* GetItemInt */ +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { + PyObject *r; + if (unlikely(!j)) return NULL; + r = PyObject_GetItem(o, j); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyList_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { + PyObject *r = PyList_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyTuple_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); + if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { + PyObject *r = PyList_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } + else if (PyTuple_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_subscript) { + PyObject *r, *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return NULL; + r = mm->mp_subscript(o, key); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return NULL; + PyErr_Clear(); + } + } + return sm->sq_item(o, i); + } + } +#else + if (is_list || !PyMapping_Check(o)) { + return PySequence_GetItem(o, i); + } +#endif + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +} + +/* PyDictVersioning */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { + PyObject **dictptr = NULL; + Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; + if (offset) { +#if CYTHON_COMPILING_IN_CPYTHON + dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); +#else + dictptr = _PyObject_GetDictPtr(obj); +#endif + } + return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; +} +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) + return 0; + return obj_dict_version == __Pyx_get_object_dict_version(obj); +} +#endif + +/* GetModuleGlobalName */ +#if CYTHON_USE_DICT_VERSIONS +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) +#else +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) +#endif +{ + PyObject *result; +#if !CYTHON_AVOID_BORROWED_REFS +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && PY_VERSION_HEX < 0x030d0000 + result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } else if (unlikely(PyErr_Occurred())) { + return NULL; + } +#elif CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(!__pyx_m)) { + return NULL; + } + result = PyObject_GetAttr(__pyx_m, name); + if (likely(result)) { + return result; + } +#else + result = PyDict_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } +#endif +#else + result = PyObject_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } + PyErr_Clear(); +#endif + return __Pyx_GetBuiltinName(name); +} + +/* GetTopmostException */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * +__Pyx_PyErr_GetTopmostException(PyThreadState *tstate) +{ + _PyErr_StackItem *exc_info = tstate->exc_info; + while ((exc_info->exc_value == NULL || exc_info->exc_value == Py_None) && + exc_info->previous_item != NULL) + { + exc_info = exc_info->previous_item; + } + return exc_info; +} +#endif + +/* SaveResetException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + PyObject *exc_value = exc_info->exc_value; + if (exc_value == NULL || exc_value == Py_None) { + *value = NULL; + *type = NULL; + *tb = NULL; + } else { + *value = exc_value; + Py_INCREF(*value); + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + *tb = PyException_GetTraceback(exc_value); + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + *type = exc_info->exc_type; + *value = exc_info->exc_value; + *tb = exc_info->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #else + *type = tstate->exc_type; + *value = tstate->exc_value; + *tb = tstate->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #endif +} +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + PyObject *tmp_value = exc_info->exc_value; + exc_info->exc_value = value; + Py_XDECREF(tmp_value); + Py_XDECREF(type); + Py_XDECREF(tb); + #else + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = type; + exc_info->exc_value = value; + exc_info->exc_traceback = tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = type; + tstate->exc_value = value; + tstate->exc_traceback = tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); + #endif +} +#endif + +/* GetException */ +#if CYTHON_FAST_THREAD_STATE +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb) +#endif +{ + PyObject *local_type = NULL, *local_value, *local_tb = NULL; +#if CYTHON_FAST_THREAD_STATE + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if PY_VERSION_HEX >= 0x030C00A6 + local_value = tstate->current_exception; + tstate->current_exception = 0; + if (likely(local_value)) { + local_type = (PyObject*) Py_TYPE(local_value); + Py_INCREF(local_type); + local_tb = PyException_GetTraceback(local_value); + } + #else + local_type = tstate->curexc_type; + local_value = tstate->curexc_value; + local_tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; + #endif +#else + PyErr_Fetch(&local_type, &local_value, &local_tb); +#endif + PyErr_NormalizeException(&local_type, &local_value, &local_tb); +#if CYTHON_FAST_THREAD_STATE && PY_VERSION_HEX >= 0x030C00A6 + if (unlikely(tstate->current_exception)) +#elif CYTHON_FAST_THREAD_STATE + if (unlikely(tstate->curexc_type)) +#else + if (unlikely(PyErr_Occurred())) +#endif + goto bad; + #if PY_MAJOR_VERSION >= 3 + if (local_tb) { + if (unlikely(PyException_SetTraceback(local_value, local_tb) < 0)) + goto bad; + } + #endif + Py_XINCREF(local_tb); + Py_XINCREF(local_type); + Py_XINCREF(local_value); + *type = local_type; + *value = local_value; + *tb = local_tb; +#if CYTHON_FAST_THREAD_STATE + #if CYTHON_USE_EXC_INFO_STACK + { + _PyErr_StackItem *exc_info = tstate->exc_info; + #if PY_VERSION_HEX >= 0x030B00a4 + tmp_value = exc_info->exc_value; + exc_info->exc_value = local_value; + tmp_type = NULL; + tmp_tb = NULL; + Py_XDECREF(local_type); + Py_XDECREF(local_tb); + #else + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = local_type; + exc_info->exc_value = local_value; + exc_info->exc_traceback = local_tb; + #endif + } + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = local_type; + tstate->exc_value = local_value; + tstate->exc_traceback = local_tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#else + PyErr_SetExcInfo(local_type, local_value, local_tb); +#endif + return 0; +bad: + *type = 0; + *value = 0; + *tb = 0; + Py_XDECREF(local_type); + Py_XDECREF(local_value); + Py_XDECREF(local_tb); + return -1; +} + +/* JoinPyUnicode */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char) { +#if CYTHON_USE_UNICODE_INTERNALS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + PyObject *result_uval; + int result_ukind, kind_shift; + Py_ssize_t i, char_pos; + void *result_udata; + CYTHON_MAYBE_UNUSED_VAR(max_char); +#if CYTHON_PEP393_ENABLED + result_uval = PyUnicode_New(result_ulength, max_char); + if (unlikely(!result_uval)) return NULL; + result_ukind = (max_char <= 255) ? PyUnicode_1BYTE_KIND : (max_char <= 65535) ? PyUnicode_2BYTE_KIND : PyUnicode_4BYTE_KIND; + kind_shift = (result_ukind == PyUnicode_4BYTE_KIND) ? 2 : result_ukind - 1; + result_udata = PyUnicode_DATA(result_uval); +#else + result_uval = PyUnicode_FromUnicode(NULL, result_ulength); + if (unlikely(!result_uval)) return NULL; + result_ukind = sizeof(Py_UNICODE); + kind_shift = (result_ukind == 4) ? 2 : result_ukind - 1; + result_udata = PyUnicode_AS_UNICODE(result_uval); +#endif + assert(kind_shift == 2 || kind_shift == 1 || kind_shift == 0); + char_pos = 0; + for (i=0; i < value_count; i++) { + int ukind; + Py_ssize_t ulength; + void *udata; + PyObject *uval = PyTuple_GET_ITEM(value_tuple, i); + if (unlikely(__Pyx_PyUnicode_READY(uval))) + goto bad; + ulength = __Pyx_PyUnicode_GET_LENGTH(uval); + if (unlikely(!ulength)) + continue; + if (unlikely((PY_SSIZE_T_MAX >> kind_shift) - ulength < char_pos)) + goto overflow; + ukind = __Pyx_PyUnicode_KIND(uval); + udata = __Pyx_PyUnicode_DATA(uval); + if (!CYTHON_PEP393_ENABLED || ukind == result_ukind) { + memcpy((char *)result_udata + (char_pos << kind_shift), udata, (size_t) (ulength << kind_shift)); + } else { + #if PY_VERSION_HEX >= 0x030d0000 + if (unlikely(PyUnicode_CopyCharacters(result_uval, char_pos, uval, 0, ulength) < 0)) goto bad; + #elif CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030300F0 || defined(_PyUnicode_FastCopyCharacters) + _PyUnicode_FastCopyCharacters(result_uval, char_pos, uval, 0, ulength); + #else + Py_ssize_t j; + for (j=0; j < ulength; j++) { + Py_UCS4 uchar = __Pyx_PyUnicode_READ(ukind, udata, j); + __Pyx_PyUnicode_WRITE(result_ukind, result_udata, char_pos+j, uchar); + } + #endif + } + char_pos += ulength; + } + return result_uval; +overflow: + PyErr_SetString(PyExc_OverflowError, "join() result is too long for a Python string"); +bad: + Py_DECREF(result_uval); + return NULL; +#else + CYTHON_UNUSED_VAR(max_char); + CYTHON_UNUSED_VAR(result_ulength); + CYTHON_UNUSED_VAR(value_count); + return PyUnicode_Join(__pyx_empty_unicode, value_tuple); +#endif +} + +/* decode_c_bytes */ +static CYTHON_INLINE PyObject* __Pyx_decode_c_bytes( + const char* cstring, Py_ssize_t length, Py_ssize_t start, Py_ssize_t stop, + const char* encoding, const char* errors, + PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)) { + if (unlikely((start < 0) | (stop < 0))) { + if (start < 0) { + start += length; + if (start < 0) + start = 0; + } + if (stop < 0) + stop += length; + } + if (stop > length) + stop = length; + if (unlikely(stop <= start)) + return __Pyx_NewRef(__pyx_empty_unicode); + length = stop - start; + cstring += start; + if (decode_func) { + return decode_func(cstring, length, errors); + } else { + return PyUnicode_Decode(cstring, length, encoding, errors); + } +} + +/* DictGetItem */ +#if PY_MAJOR_VERSION >= 3 && !CYTHON_COMPILING_IN_PYPY +static PyObject *__Pyx_PyDict_GetItem(PyObject *d, PyObject* key) { + PyObject *value; + value = PyDict_GetItemWithError(d, key); + if (unlikely(!value)) { + if (!PyErr_Occurred()) { + if (unlikely(PyTuple_Check(key))) { + PyObject* args = PyTuple_Pack(1, key); + if (likely(args)) { + PyErr_SetObject(PyExc_KeyError, args); + Py_DECREF(args); + } + } else { + PyErr_SetObject(PyExc_KeyError, key); + } + } + return NULL; + } + Py_INCREF(value); + return value; +} +#endif + +/* KeywordStringCheck */ +static int __Pyx_CheckKeywordStrings( + PyObject *kw, + const char* function_name, + int kw_allowed) +{ + PyObject* key = 0; + Py_ssize_t pos = 0; +#if CYTHON_COMPILING_IN_PYPY + if (!kw_allowed && PyDict_Next(kw, &pos, &key, 0)) + goto invalid_keyword; + return 1; +#else + if (CYTHON_METH_FASTCALL && likely(PyTuple_Check(kw))) { + Py_ssize_t kwsize; +#if CYTHON_ASSUME_SAFE_MACROS + kwsize = PyTuple_GET_SIZE(kw); +#else + kwsize = PyTuple_Size(kw); + if (kwsize < 0) return 0; +#endif + if (unlikely(kwsize == 0)) + return 1; + if (!kw_allowed) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, 0); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + goto invalid_keyword; + } +#if PY_VERSION_HEX < 0x03090000 + for (pos = 0; pos < kwsize; pos++) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, pos); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } +#endif + return 1; + } + while (PyDict_Next(kw, &pos, &key, 0)) { + #if PY_MAJOR_VERSION < 3 + if (unlikely(!PyString_Check(key))) + #endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } + if (!kw_allowed && unlikely(key)) + goto invalid_keyword; + return 1; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + return 0; +#endif +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif + return 0; +} + +/* ObjectGetItem */ +#if CYTHON_USE_TYPE_SLOTS +static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject *index) { + PyObject *runerr = NULL; + Py_ssize_t key_value; + key_value = __Pyx_PyIndex_AsSsize_t(index); + if (likely(key_value != -1 || !(runerr = PyErr_Occurred()))) { + return __Pyx_GetItemInt_Fast(obj, key_value, 0, 1, 1); + } + if (PyErr_GivenExceptionMatches(runerr, PyExc_OverflowError)) { + __Pyx_TypeName index_type_name = __Pyx_PyType_GetName(Py_TYPE(index)); + PyErr_Clear(); + PyErr_Format(PyExc_IndexError, + "cannot fit '" __Pyx_FMT_TYPENAME "' into an index-sized integer", index_type_name); + __Pyx_DECREF_TypeName(index_type_name); + } + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem_Slow(PyObject *obj, PyObject *key) { + __Pyx_TypeName obj_type_name; + if (likely(PyType_Check(obj))) { + PyObject *meth = __Pyx_PyObject_GetAttrStrNoError(obj, __pyx_n_s_class_getitem); + if (!meth) { + PyErr_Clear(); + } else { + PyObject *result = __Pyx_PyObject_CallOneArg(meth, key); + Py_DECREF(meth); + return result; + } + } + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' object is not subscriptable", obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key) { + PyTypeObject *tp = Py_TYPE(obj); + PyMappingMethods *mm = tp->tp_as_mapping; + PySequenceMethods *sm = tp->tp_as_sequence; + if (likely(mm && mm->mp_subscript)) { + return mm->mp_subscript(obj, key); + } + if (likely(sm && sm->sq_item)) { + return __Pyx_PyObject_GetIndex(obj, key); + } + return __Pyx_PyObject_GetItem_Slow(obj, key); +} +#endif + +/* RaiseUnexpectedTypeError */ +static int +__Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj) +{ + __Pyx_TypeName obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, "Expected %s, got " __Pyx_FMT_TYPENAME, + expected, obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* FixUpExtensionType */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type) { +#if PY_VERSION_HEX > 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + CYTHON_UNUSED_VAR(spec); + CYTHON_UNUSED_VAR(type); +#else + const PyType_Slot *slot = spec->slots; + while (slot && slot->slot && slot->slot != Py_tp_members) + slot++; + if (slot && slot->slot == Py_tp_members) { + int changed = 0; +#if !(PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON) + const +#endif + PyMemberDef *memb = (PyMemberDef*) slot->pfunc; + while (memb && memb->name) { + if (memb->name[0] == '_' && memb->name[1] == '_') { +#if PY_VERSION_HEX < 0x030900b1 + if (strcmp(memb->name, "__weaklistoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_weaklistoffset = memb->offset; + changed = 1; + } + else if (strcmp(memb->name, "__dictoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_dictoffset = memb->offset; + changed = 1; + } +#if CYTHON_METH_FASTCALL + else if (strcmp(memb->name, "__vectorcalloffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); +#if PY_VERSION_HEX >= 0x030800b4 + type->tp_vectorcall_offset = memb->offset; +#else + type->tp_print = (printfunc) memb->offset; +#endif + changed = 1; + } +#endif +#else + if ((0)); +#endif +#if PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON + else if (strcmp(memb->name, "__module__") == 0) { + PyObject *descr; + assert(memb->type == T_OBJECT); + assert(memb->flags == 0 || memb->flags == READONLY); + descr = PyDescr_NewMember(type, memb); + if (unlikely(!descr)) + return -1; + if (unlikely(PyDict_SetItem(type->tp_dict, PyDescr_NAME(descr), descr) < 0)) { + Py_DECREF(descr); + return -1; + } + Py_DECREF(descr); + changed = 1; + } +#endif + } + memb++; + } + if (changed) + PyType_Modified(type); + } +#endif + return 0; +} +#endif + +/* PyObjectCallNoArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { + PyObject *arg[2] = {NULL, NULL}; + return __Pyx_PyObject_FastCall(func, arg + 1, 0 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* PyObjectGetMethod */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method) { + PyObject *attr; +#if CYTHON_UNPACK_METHODS && CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_PYTYPE_LOOKUP + __Pyx_TypeName type_name; + PyTypeObject *tp = Py_TYPE(obj); + PyObject *descr; + descrgetfunc f = NULL; + PyObject **dictptr, *dict; + int meth_found = 0; + assert (*method == NULL); + if (unlikely(tp->tp_getattro != PyObject_GenericGetAttr)) { + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; + } + if (unlikely(tp->tp_dict == NULL) && unlikely(PyType_Ready(tp) < 0)) { + return 0; + } + descr = _PyType_Lookup(tp, name); + if (likely(descr != NULL)) { + Py_INCREF(descr); +#if defined(Py_TPFLAGS_METHOD_DESCRIPTOR) && Py_TPFLAGS_METHOD_DESCRIPTOR + if (__Pyx_PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_METHOD_DESCRIPTOR)) +#elif PY_MAJOR_VERSION >= 3 + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type))) + #endif +#else + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr))) + #endif +#endif + { + meth_found = 1; + } else { + f = Py_TYPE(descr)->tp_descr_get; + if (f != NULL && PyDescr_IsData(descr)) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + } + } + dictptr = _PyObject_GetDictPtr(obj); + if (dictptr != NULL && (dict = *dictptr) != NULL) { + Py_INCREF(dict); + attr = __Pyx_PyDict_GetItemStr(dict, name); + if (attr != NULL) { + Py_INCREF(attr); + Py_DECREF(dict); + Py_XDECREF(descr); + goto try_unpack; + } + Py_DECREF(dict); + } + if (meth_found) { + *method = descr; + return 1; + } + if (f != NULL) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + if (likely(descr != NULL)) { + *method = descr; + return 0; + } + type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return 0; +#else + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; +#endif +try_unpack: +#if CYTHON_UNPACK_METHODS + if (likely(attr) && PyMethod_Check(attr) && likely(PyMethod_GET_SELF(attr) == obj)) { + PyObject *function = PyMethod_GET_FUNCTION(attr); + Py_INCREF(function); + Py_DECREF(attr); + *method = function; + return 1; + } +#endif + *method = attr; + return 0; +} + +/* PyObjectCallMethod0 */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name) { + PyObject *method = NULL, *result = NULL; + int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); + if (likely(is_method)) { + result = __Pyx_PyObject_CallOneArg(method, obj); + Py_DECREF(method); + return result; + } + if (unlikely(!method)) goto bad; + result = __Pyx_PyObject_CallNoArg(method); + Py_DECREF(method); +bad: + return result; +} + +/* ValidateBasesTuple */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases) { + Py_ssize_t i, n; +#if CYTHON_ASSUME_SAFE_MACROS + n = PyTuple_GET_SIZE(bases); +#else + n = PyTuple_Size(bases); + if (n < 0) return -1; +#endif + for (i = 1; i < n; i++) + { +#if CYTHON_AVOID_BORROWED_REFS + PyObject *b0 = PySequence_GetItem(bases, i); + if (!b0) return -1; +#elif CYTHON_ASSUME_SAFE_MACROS + PyObject *b0 = PyTuple_GET_ITEM(bases, i); +#else + PyObject *b0 = PyTuple_GetItem(bases, i); + if (!b0) return -1; +#endif + PyTypeObject *b; +#if PY_MAJOR_VERSION < 3 + if (PyClass_Check(b0)) + { + PyErr_Format(PyExc_TypeError, "base class '%.200s' is an old-style class", + PyString_AS_STRING(((PyClassObject*)b0)->cl_name)); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } +#endif + b = (PyTypeObject*) b0; + if (!__Pyx_PyType_HasFeature(b, Py_TPFLAGS_HEAPTYPE)) + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "base class '" __Pyx_FMT_TYPENAME "' is not a heap type", b_name); + __Pyx_DECREF_TypeName(b_name); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + if (dictoffset == 0) + { + Py_ssize_t b_dictoffset = 0; +#if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + b_dictoffset = b->tp_dictoffset; +#else + PyObject *py_b_dictoffset = PyObject_GetAttrString((PyObject*)b, "__dictoffset__"); + if (!py_b_dictoffset) goto dictoffset_return; + b_dictoffset = PyLong_AsSsize_t(py_b_dictoffset); + Py_DECREF(py_b_dictoffset); + if (b_dictoffset == -1 && PyErr_Occurred()) goto dictoffset_return; +#endif + if (b_dictoffset) { + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "extension type '%.200s' has no __dict__ slot, " + "but base type '" __Pyx_FMT_TYPENAME "' has: " + "either add 'cdef dict __dict__' to the extension type " + "or add '__slots__ = [...]' to the base type", + type_name, b_name); + __Pyx_DECREF_TypeName(b_name); + } +#if !(CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY) + dictoffset_return: +#endif +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + } +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + } + return 0; +} +#endif + +/* PyType_Ready */ +static int __Pyx_PyType_Ready(PyTypeObject *t) { +#if CYTHON_USE_TYPE_SPECS || !(CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API) || defined(PYSTON_MAJOR_VERSION) + (void)__Pyx_PyObject_CallMethod0; +#if CYTHON_USE_TYPE_SPECS + (void)__Pyx_validate_bases_tuple; +#endif + return PyType_Ready(t); +#else + int r; + PyObject *bases = __Pyx_PyType_GetSlot(t, tp_bases, PyObject*); + if (bases && unlikely(__Pyx_validate_bases_tuple(t->tp_name, t->tp_dictoffset, bases) == -1)) + return -1; +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + { + int gc_was_enabled; + #if PY_VERSION_HEX >= 0x030A00b1 + gc_was_enabled = PyGC_Disable(); + (void)__Pyx_PyObject_CallMethod0; + #else + PyObject *ret, *py_status; + PyObject *gc = NULL; + #if PY_VERSION_HEX >= 0x030700a1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM+0 >= 0x07030400) + gc = PyImport_GetModule(__pyx_kp_u_gc); + #endif + if (unlikely(!gc)) gc = PyImport_Import(__pyx_kp_u_gc); + if (unlikely(!gc)) return -1; + py_status = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_isenabled); + if (unlikely(!py_status)) { + Py_DECREF(gc); + return -1; + } + gc_was_enabled = __Pyx_PyObject_IsTrue(py_status); + Py_DECREF(py_status); + if (gc_was_enabled > 0) { + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_disable); + if (unlikely(!ret)) { + Py_DECREF(gc); + return -1; + } + Py_DECREF(ret); + } else if (unlikely(gc_was_enabled == -1)) { + Py_DECREF(gc); + return -1; + } + #endif + t->tp_flags |= Py_TPFLAGS_HEAPTYPE; +#if PY_VERSION_HEX >= 0x030A0000 + t->tp_flags |= Py_TPFLAGS_IMMUTABLETYPE; +#endif +#else + (void)__Pyx_PyObject_CallMethod0; +#endif + r = PyType_Ready(t); +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + t->tp_flags &= ~Py_TPFLAGS_HEAPTYPE; + #if PY_VERSION_HEX >= 0x030A00b1 + if (gc_was_enabled) + PyGC_Enable(); + #else + if (gc_was_enabled) { + PyObject *tp, *v, *tb; + PyErr_Fetch(&tp, &v, &tb); + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_enable); + if (likely(ret || r == -1)) { + Py_XDECREF(ret); + PyErr_Restore(tp, v, tb); + } else { + Py_XDECREF(tp); + Py_XDECREF(v); + Py_XDECREF(tb); + r = -1; + } + } + Py_DECREF(gc); + #endif + } +#endif + return r; +#endif +} + +/* PyObject_GenericGetAttrNoDict */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { + __Pyx_TypeName type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, attr_name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(attr_name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { + PyObject *descr; + PyTypeObject *tp = Py_TYPE(obj); + if (unlikely(!PyString_Check(attr_name))) { + return PyObject_GenericGetAttr(obj, attr_name); + } + assert(!tp->tp_dictoffset); + descr = _PyType_Lookup(tp, attr_name); + if (unlikely(!descr)) { + return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); + } + Py_INCREF(descr); + #if PY_MAJOR_VERSION < 3 + if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) + #endif + { + descrgetfunc f = Py_TYPE(descr)->tp_descr_get; + if (unlikely(f)) { + PyObject *res = f(descr, obj, (PyObject *)tp); + Py_DECREF(descr); + return res; + } + } + return descr; +} +#endif + +/* PyObject_GenericGetAttr */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { + if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { + return PyObject_GenericGetAttr(obj, attr_name); + } + return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); +} +#endif + +/* SetupReduce */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { + int ret; + PyObject *name_attr; + name_attr = __Pyx_PyObject_GetAttrStrNoError(meth, __pyx_n_s_name); + if (likely(name_attr)) { + ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); + } else { + ret = -1; + } + if (unlikely(ret < 0)) { + PyErr_Clear(); + ret = 0; + } + Py_XDECREF(name_attr); + return ret; +} +static int __Pyx_setup_reduce(PyObject* type_obj) { + int ret = 0; + PyObject *object_reduce = NULL; + PyObject *object_getstate = NULL; + PyObject *object_reduce_ex = NULL; + PyObject *reduce = NULL; + PyObject *reduce_ex = NULL; + PyObject *reduce_cython = NULL; + PyObject *setstate = NULL; + PyObject *setstate_cython = NULL; + PyObject *getstate = NULL; +#if CYTHON_USE_PYTYPE_LOOKUP + getstate = _PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate); +#else + getstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_getstate); + if (!getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (getstate) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_getstate = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_getstate); +#else + object_getstate = __Pyx_PyObject_GetAttrStrNoError((PyObject*)&PyBaseObject_Type, __pyx_n_s_getstate); + if (!object_getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (object_getstate != getstate) { + goto __PYX_GOOD; + } + } +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#else + object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#endif + reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; + if (reduce_ex == object_reduce_ex) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#else + object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#endif + reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; + if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { + reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); + if (likely(reduce_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (reduce == object_reduce || PyErr_Occurred()) { + goto __PYX_BAD; + } + setstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate); + if (!setstate) PyErr_Clear(); + if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { + setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); + if (likely(setstate_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (!setstate || PyErr_Occurred()) { + goto __PYX_BAD; + } + } + PyType_Modified((PyTypeObject*)type_obj); + } + } + goto __PYX_GOOD; +__PYX_BAD: + if (!PyErr_Occurred()) { + __Pyx_TypeName type_obj_name = + __Pyx_PyType_GetName((PyTypeObject*)type_obj); + PyErr_Format(PyExc_RuntimeError, + "Unable to initialize pickling for " __Pyx_FMT_TYPENAME, type_obj_name); + __Pyx_DECREF_TypeName(type_obj_name); + } + ret = -1; +__PYX_GOOD: +#if !CYTHON_USE_PYTYPE_LOOKUP + Py_XDECREF(object_reduce); + Py_XDECREF(object_reduce_ex); + Py_XDECREF(object_getstate); + Py_XDECREF(getstate); +#endif + Py_XDECREF(reduce); + Py_XDECREF(reduce_ex); + Py_XDECREF(reduce_cython); + Py_XDECREF(setstate); + Py_XDECREF(setstate_cython); + return ret; +} +#endif + +/* Import */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { + PyObject *module = 0; + PyObject *empty_dict = 0; + PyObject *empty_list = 0; + #if PY_MAJOR_VERSION < 3 + PyObject *py_import; + py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); + if (unlikely(!py_import)) + goto bad; + if (!from_list) { + empty_list = PyList_New(0); + if (unlikely(!empty_list)) + goto bad; + from_list = empty_list; + } + #endif + empty_dict = PyDict_New(); + if (unlikely(!empty_dict)) + goto bad; + { + #if PY_MAJOR_VERSION >= 3 + if (level == -1) { + if (strchr(__Pyx_MODULE_NAME, '.') != NULL) { + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, 1); + if (unlikely(!module)) { + if (unlikely(!PyErr_ExceptionMatches(PyExc_ImportError))) + goto bad; + PyErr_Clear(); + } + } + level = 0; + } + #endif + if (!module) { + #if PY_MAJOR_VERSION < 3 + PyObject *py_level = PyInt_FromLong(level); + if (unlikely(!py_level)) + goto bad; + module = PyObject_CallFunctionObjArgs(py_import, + name, __pyx_d, empty_dict, from_list, py_level, (PyObject *)NULL); + Py_DECREF(py_level); + #else + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, level); + #endif + } + } +bad: + Py_XDECREF(empty_dict); + Py_XDECREF(empty_list); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_import); + #endif + return module; +} + +/* ImportDottedModule */ +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Error(PyObject *name, PyObject *parts_tuple, Py_ssize_t count) { + PyObject *partial_name = NULL, *slice = NULL, *sep = NULL; + if (unlikely(PyErr_Occurred())) { + PyErr_Clear(); + } + if (likely(PyTuple_GET_SIZE(parts_tuple) == count)) { + partial_name = name; + } else { + slice = PySequence_GetSlice(parts_tuple, 0, count); + if (unlikely(!slice)) + goto bad; + sep = PyUnicode_FromStringAndSize(".", 1); + if (unlikely(!sep)) + goto bad; + partial_name = PyUnicode_Join(sep, slice); + } + PyErr_Format( +#if PY_MAJOR_VERSION < 3 + PyExc_ImportError, + "No module named '%s'", PyString_AS_STRING(partial_name)); +#else +#if PY_VERSION_HEX >= 0x030600B1 + PyExc_ModuleNotFoundError, +#else + PyExc_ImportError, +#endif + "No module named '%U'", partial_name); +#endif +bad: + Py_XDECREF(sep); + Py_XDECREF(slice); + Py_XDECREF(partial_name); + return NULL; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Lookup(PyObject *name) { + PyObject *imported_module; +#if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + return NULL; + imported_module = __Pyx_PyDict_GetItemStr(modules, name); + Py_XINCREF(imported_module); +#else + imported_module = PyImport_GetModule(name); +#endif + return imported_module; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple) { + Py_ssize_t i, nparts; + nparts = PyTuple_GET_SIZE(parts_tuple); + for (i=1; i < nparts && module; i++) { + PyObject *part, *submodule; +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + part = PyTuple_GET_ITEM(parts_tuple, i); +#else + part = PySequence_ITEM(parts_tuple, i); +#endif + submodule = __Pyx_PyObject_GetAttrStrNoError(module, part); +#if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(part); +#endif + Py_DECREF(module); + module = submodule; + } + if (unlikely(!module)) { + return __Pyx__ImportDottedModule_Error(name, parts_tuple, i); + } + return module; +} +#endif +static PyObject *__Pyx__ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if PY_MAJOR_VERSION < 3 + PyObject *module, *from_list, *star = __pyx_n_s__5; + CYTHON_UNUSED_VAR(parts_tuple); + from_list = PyList_New(1); + if (unlikely(!from_list)) + return NULL; + Py_INCREF(star); + PyList_SET_ITEM(from_list, 0, star); + module = __Pyx_Import(name, from_list, 0); + Py_DECREF(from_list); + return module; +#else + PyObject *imported_module; + PyObject *module = __Pyx_Import(name, NULL, 0); + if (!parts_tuple || unlikely(!module)) + return module; + imported_module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(imported_module)) { + Py_DECREF(module); + return imported_module; + } + PyErr_Clear(); + return __Pyx_ImportDottedModule_WalkParts(module, name, parts_tuple); +#endif +} +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030400B1 + PyObject *module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(module)) { + PyObject *spec = __Pyx_PyObject_GetAttrStrNoError(module, __pyx_n_s_spec); + if (likely(spec)) { + PyObject *unsafe = __Pyx_PyObject_GetAttrStrNoError(spec, __pyx_n_s_initializing); + if (likely(!unsafe || !__Pyx_PyObject_IsTrue(unsafe))) { + Py_DECREF(spec); + spec = NULL; + } + Py_XDECREF(unsafe); + } + if (likely(!spec)) { + PyErr_Clear(); + return module; + } + Py_DECREF(spec); + Py_DECREF(module); + } else if (PyErr_Occurred()) { + PyErr_Clear(); + } +#endif + return __Pyx__ImportDottedModule(name, parts_tuple); +} + +/* ImportFrom */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name) { + PyObject* value = __Pyx_PyObject_GetAttrStr(module, name); + if (unlikely(!value) && PyErr_ExceptionMatches(PyExc_AttributeError)) { + const char* module_name_str = 0; + PyObject* module_name = 0; + PyObject* module_dot = 0; + PyObject* full_name = 0; + PyErr_Clear(); + module_name_str = PyModule_GetName(module); + if (unlikely(!module_name_str)) { goto modbad; } + module_name = PyUnicode_FromString(module_name_str); + if (unlikely(!module_name)) { goto modbad; } + module_dot = PyUnicode_Concat(module_name, __pyx_kp_u__6); + if (unlikely(!module_dot)) { goto modbad; } + full_name = PyUnicode_Concat(module_dot, name); + if (unlikely(!full_name)) { goto modbad; } + #if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + { + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + goto modbad; + value = PyObject_GetItem(modules, full_name); + } + #else + value = PyImport_GetModule(full_name); + #endif + modbad: + Py_XDECREF(full_name); + Py_XDECREF(module_dot); + Py_XDECREF(module_name); + } + if (unlikely(!value)) { + PyErr_Format(PyExc_ImportError, + #if PY_MAJOR_VERSION < 3 + "cannot import name %.230s", PyString_AS_STRING(name)); + #else + "cannot import name %S", name); + #endif + } + return value; +} + +/* FetchSharedCythonModule */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void) { + return __Pyx_PyImport_AddModuleRef((char*) __PYX_ABI_MODULE_NAME); +} + +/* FetchCommonType */ +static int __Pyx_VerifyCachedType(PyObject *cached_type, + const char *name, + Py_ssize_t basicsize, + Py_ssize_t expected_basicsize) { + if (!PyType_Check(cached_type)) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s is not a type object", name); + return -1; + } + if (basicsize != expected_basicsize) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s has the wrong size, try recompiling", + name); + return -1; + } + return 0; +} +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) { + PyObject* abi_module; + const char* object_name; + PyTypeObject *cached_type = NULL; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + object_name = strrchr(type->tp_name, '.'); + object_name = object_name ? object_name+1 : type->tp_name; + cached_type = (PyTypeObject*) PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + if (__Pyx_VerifyCachedType( + (PyObject *)cached_type, + object_name, + cached_type->tp_basicsize, + type->tp_basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + if (PyType_Ready(type) < 0) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, (PyObject *)type) < 0) + goto bad; + Py_INCREF(type); + cached_type = type; +done: + Py_DECREF(abi_module); + return cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#else +static PyTypeObject *__Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases) { + PyObject *abi_module, *cached_type = NULL; + const char* object_name = strrchr(spec->name, '.'); + object_name = object_name ? object_name+1 : spec->name; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + cached_type = PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + Py_ssize_t basicsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + py_basicsize = PyObject_GetAttrString(cached_type, "__basicsize__"); + if (unlikely(!py_basicsize)) goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (unlikely(basicsize == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; +#else + basicsize = likely(PyType_Check(cached_type)) ? ((PyTypeObject*) cached_type)->tp_basicsize : -1; +#endif + if (__Pyx_VerifyCachedType( + cached_type, + object_name, + basicsize, + spec->basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + CYTHON_UNUSED_VAR(module); + cached_type = __Pyx_PyType_FromModuleAndSpec(abi_module, spec, bases); + if (unlikely(!cached_type)) goto bad; + if (unlikely(__Pyx_fix_up_extension_type_from_spec(spec, (PyTypeObject *) cached_type) < 0)) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, cached_type) < 0) goto bad; +done: + Py_DECREF(abi_module); + assert(cached_type == NULL || PyType_Check(cached_type)); + return (PyTypeObject *) cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#endif + +/* PyVectorcallFastCallDict */ +#if CYTHON_METH_FASTCALL +static PyObject *__Pyx_PyVectorcall_FastCallDict_kw(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + PyObject *res = NULL; + PyObject *kwnames; + PyObject **newargs; + PyObject **kwvalues; + Py_ssize_t i, pos; + size_t j; + PyObject *key, *value; + unsigned long keys_are_strings; + Py_ssize_t nkw = PyDict_GET_SIZE(kw); + newargs = (PyObject **)PyMem_Malloc((nargs + (size_t)nkw) * sizeof(args[0])); + if (unlikely(newargs == NULL)) { + PyErr_NoMemory(); + return NULL; + } + for (j = 0; j < nargs; j++) newargs[j] = args[j]; + kwnames = PyTuple_New(nkw); + if (unlikely(kwnames == NULL)) { + PyMem_Free(newargs); + return NULL; + } + kwvalues = newargs + nargs; + pos = i = 0; + keys_are_strings = Py_TPFLAGS_UNICODE_SUBCLASS; + while (PyDict_Next(kw, &pos, &key, &value)) { + keys_are_strings &= Py_TYPE(key)->tp_flags; + Py_INCREF(key); + Py_INCREF(value); + PyTuple_SET_ITEM(kwnames, i, key); + kwvalues[i] = value; + i++; + } + if (unlikely(!keys_are_strings)) { + PyErr_SetString(PyExc_TypeError, "keywords must be strings"); + goto cleanup; + } + res = vc(func, newargs, nargs, kwnames); +cleanup: + Py_DECREF(kwnames); + for (i = 0; i < nkw; i++) + Py_DECREF(kwvalues[i]); + PyMem_Free(newargs); + return res; +} +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + if (likely(kw == NULL) || PyDict_GET_SIZE(kw) == 0) { + return vc(func, args, nargs, NULL); + } + return __Pyx_PyVectorcall_FastCallDict_kw(func, vc, args, nargs, kw); +} +#endif + +/* CythonFunctionShared */ +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + if (__Pyx_CyFunction_Check(func)) { + return PyCFunction_GetFunction(((__pyx_CyFunctionObject*)func)->func) == (PyCFunction) cfunc; + } else if (PyCFunction_Check(func)) { + return PyCFunction_GetFunction(func) == (PyCFunction) cfunc; + } + return 0; +} +#else +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + return __Pyx_CyOrPyCFunction_Check(func) && __Pyx_CyOrPyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +} +#endif +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj) { +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + __Pyx_Py_XDECREF_SET( + __Pyx_CyFunction_GetClassObj(f), + ((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#else + __Pyx_Py_XDECREF_SET( + ((PyCMethodObject *) (f))->mm_class, + (PyTypeObject*)((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#endif +} +static PyObject * +__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, void *closure) +{ + CYTHON_UNUSED_VAR(closure); + if (unlikely(op->func_doc == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_doc = PyObject_GetAttrString(op->func, "__doc__"); + if (unlikely(!op->func_doc)) return NULL; +#else + if (((PyCFunctionObject*)op)->m_ml->ml_doc) { +#if PY_MAJOR_VERSION >= 3 + op->func_doc = PyUnicode_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#else + op->func_doc = PyString_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#endif + if (unlikely(op->func_doc == NULL)) + return NULL; + } else { + Py_INCREF(Py_None); + return Py_None; + } +#endif + } + Py_INCREF(op->func_doc); + return op->func_doc; +} +static int +__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (value == NULL) { + value = Py_None; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_doc, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_name == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_name = PyObject_GetAttrString(op->func, "__name__"); +#elif PY_MAJOR_VERSION >= 3 + op->func_name = PyUnicode_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#else + op->func_name = PyString_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#endif + if (unlikely(op->func_name == NULL)) + return NULL; + } + Py_INCREF(op->func_name); + return op->func_name; +} +static int +__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__name__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_name, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_qualname); + return op->func_qualname; +} +static int +__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__qualname__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_qualname, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_dict(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_dict == NULL)) { + op->func_dict = PyDict_New(); + if (unlikely(op->func_dict == NULL)) + return NULL; + } + Py_INCREF(op->func_dict); + return op->func_dict; +} +static int +__Pyx_CyFunction_set_dict(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(value == NULL)) { + PyErr_SetString(PyExc_TypeError, + "function's dictionary may not be deleted"); + return -1; + } + if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "setting function's dictionary to a non-dict"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_dict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_globals(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_globals); + return op->func_globals; +} +static PyObject * +__Pyx_CyFunction_get_closure(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(op); + CYTHON_UNUSED_VAR(context); + Py_INCREF(Py_None); + return Py_None; +} +static PyObject * +__Pyx_CyFunction_get_code(__pyx_CyFunctionObject *op, void *context) +{ + PyObject* result = (op->func_code) ? op->func_code : Py_None; + CYTHON_UNUSED_VAR(context); + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_init_defaults(__pyx_CyFunctionObject *op) { + int result = 0; + PyObject *res = op->defaults_getter((PyObject *) op); + if (unlikely(!res)) + return -1; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + op->defaults_tuple = PyTuple_GET_ITEM(res, 0); + Py_INCREF(op->defaults_tuple); + op->defaults_kwdict = PyTuple_GET_ITEM(res, 1); + Py_INCREF(op->defaults_kwdict); + #else + op->defaults_tuple = __Pyx_PySequence_ITEM(res, 0); + if (unlikely(!op->defaults_tuple)) result = -1; + else { + op->defaults_kwdict = __Pyx_PySequence_ITEM(res, 1); + if (unlikely(!op->defaults_kwdict)) result = -1; + } + #endif + Py_DECREF(res); + return result; +} +static int +__Pyx_CyFunction_set_defaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyTuple_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__defaults__ must be set to a tuple object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__defaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_tuple, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_defaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_tuple; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_tuple; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_kwdefaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__kwdefaults__ must be set to a dict object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__kwdefaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_kwdict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_kwdefaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_kwdict; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_kwdict; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_annotations(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value || value == Py_None) { + value = NULL; + } else if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__annotations__ must be set to a dict object"); + return -1; + } + Py_XINCREF(value); + __Pyx_Py_XDECREF_SET(op->func_annotations, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_annotations(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->func_annotations; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + result = PyDict_New(); + if (unlikely(!result)) return NULL; + op->func_annotations = result; + } + Py_INCREF(result); + return result; +} +static PyObject * +__Pyx_CyFunction_get_is_coroutine(__pyx_CyFunctionObject *op, void *context) { + int is_coroutine; + CYTHON_UNUSED_VAR(context); + if (op->func_is_coroutine) { + return __Pyx_NewRef(op->func_is_coroutine); + } + is_coroutine = op->flags & __Pyx_CYFUNCTION_COROUTINE; +#if PY_VERSION_HEX >= 0x03050000 + if (is_coroutine) { + PyObject *module, *fromlist, *marker = __pyx_n_s_is_coroutine; + fromlist = PyList_New(1); + if (unlikely(!fromlist)) return NULL; + Py_INCREF(marker); +#if CYTHON_ASSUME_SAFE_MACROS + PyList_SET_ITEM(fromlist, 0, marker); +#else + if (unlikely(PyList_SetItem(fromlist, 0, marker) < 0)) { + Py_DECREF(marker); + Py_DECREF(fromlist); + return NULL; + } +#endif + module = PyImport_ImportModuleLevelObject(__pyx_n_s_asyncio_coroutines, NULL, NULL, fromlist, 0); + Py_DECREF(fromlist); + if (unlikely(!module)) goto ignore; + op->func_is_coroutine = __Pyx_PyObject_GetAttrStr(module, marker); + Py_DECREF(module); + if (likely(op->func_is_coroutine)) { + return __Pyx_NewRef(op->func_is_coroutine); + } +ignore: + PyErr_Clear(); + } +#endif + op->func_is_coroutine = __Pyx_PyBool_FromLong(is_coroutine); + return __Pyx_NewRef(op->func_is_coroutine); +} +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject * +__Pyx_CyFunction_get_module(__pyx_CyFunctionObject *op, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_GetAttrString(op->func, "__module__"); +} +static int +__Pyx_CyFunction_set_module(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_SetAttrString(op->func, "__module__", value); +} +#endif +static PyGetSetDef __pyx_CyFunction_getsets[] = { + {(char *) "func_doc", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "__doc__", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "func_name", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__name__", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__qualname__", (getter)__Pyx_CyFunction_get_qualname, (setter)__Pyx_CyFunction_set_qualname, 0, 0}, + {(char *) "func_dict", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "__dict__", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "func_globals", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "__globals__", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "func_closure", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "__closure__", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "func_code", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "__code__", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "func_defaults", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__defaults__", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__kwdefaults__", (getter)__Pyx_CyFunction_get_kwdefaults, (setter)__Pyx_CyFunction_set_kwdefaults, 0, 0}, + {(char *) "__annotations__", (getter)__Pyx_CyFunction_get_annotations, (setter)__Pyx_CyFunction_set_annotations, 0, 0}, + {(char *) "_is_coroutine", (getter)__Pyx_CyFunction_get_is_coroutine, 0, 0, 0}, +#if CYTHON_COMPILING_IN_LIMITED_API + {"__module__", (getter)__Pyx_CyFunction_get_module, (setter)__Pyx_CyFunction_set_module, 0, 0}, +#endif + {0, 0, 0, 0, 0} +}; +static PyMemberDef __pyx_CyFunction_members[] = { +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__module__", T_OBJECT, offsetof(PyCFunctionObject, m_module), 0, 0}, +#endif +#if CYTHON_USE_TYPE_SPECS + {(char *) "__dictoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_dict), READONLY, 0}, +#if CYTHON_METH_FASTCALL +#if CYTHON_BACKPORT_VECTORCALL + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_vectorcall), READONLY, 0}, +#else +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(PyCFunctionObject, vectorcall), READONLY, 0}, +#endif +#endif +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_weakreflist), READONLY, 0}, +#else + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(PyCFunctionObject, m_weakreflist), READONLY, 0}, +#endif +#endif + {0, 0, 0, 0, 0} +}; +static PyObject * +__Pyx_CyFunction_reduce(__pyx_CyFunctionObject *m, PyObject *args) +{ + CYTHON_UNUSED_VAR(args); +#if PY_MAJOR_VERSION >= 3 + Py_INCREF(m->func_qualname); + return m->func_qualname; +#else + return PyString_FromString(((PyCFunctionObject*)m)->m_ml->ml_name); +#endif +} +static PyMethodDef __pyx_CyFunction_methods[] = { + {"__reduce__", (PyCFunction)__Pyx_CyFunction_reduce, METH_VARARGS, 0}, + {0, 0, 0, 0} +}; +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func_weakreflist) +#else +#define __Pyx_CyFunction_weakreflist(cyfunc) (((PyCFunctionObject*)cyfunc)->m_weakreflist) +#endif +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject *op, PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { +#if !CYTHON_COMPILING_IN_LIMITED_API + PyCFunctionObject *cf = (PyCFunctionObject*) op; +#endif + if (unlikely(op == NULL)) + return NULL; +#if CYTHON_COMPILING_IN_LIMITED_API + op->func = PyCFunction_NewEx(ml, (PyObject*)op, module); + if (unlikely(!op->func)) return NULL; +#endif + op->flags = flags; + __Pyx_CyFunction_weakreflist(op) = NULL; +#if !CYTHON_COMPILING_IN_LIMITED_API + cf->m_ml = ml; + cf->m_self = (PyObject *) op; +#endif + Py_XINCREF(closure); + op->func_closure = closure; +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_XINCREF(module); + cf->m_module = module; +#endif + op->func_dict = NULL; + op->func_name = NULL; + Py_INCREF(qualname); + op->func_qualname = qualname; + op->func_doc = NULL; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + op->func_classobj = NULL; +#else + ((PyCMethodObject*)op)->mm_class = NULL; +#endif + op->func_globals = globals; + Py_INCREF(op->func_globals); + Py_XINCREF(code); + op->func_code = code; + op->defaults_pyobjects = 0; + op->defaults_size = 0; + op->defaults = NULL; + op->defaults_tuple = NULL; + op->defaults_kwdict = NULL; + op->defaults_getter = NULL; + op->func_annotations = NULL; + op->func_is_coroutine = NULL; +#if CYTHON_METH_FASTCALL + switch (ml->ml_flags & (METH_VARARGS | METH_FASTCALL | METH_NOARGS | METH_O | METH_KEYWORDS | METH_METHOD)) { + case METH_NOARGS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_NOARGS; + break; + case METH_O: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_O; + break; + case METH_METHOD | METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD; + break; + case METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS; + break; + case METH_VARARGS | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = NULL; + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + Py_DECREF(op); + return NULL; + } +#endif + return (PyObject *) op; +} +static int +__Pyx_CyFunction_clear(__pyx_CyFunctionObject *m) +{ + Py_CLEAR(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_CLEAR(m->func); +#else + Py_CLEAR(((PyCFunctionObject*)m)->m_module); +#endif + Py_CLEAR(m->func_dict); + Py_CLEAR(m->func_name); + Py_CLEAR(m->func_qualname); + Py_CLEAR(m->func_doc); + Py_CLEAR(m->func_globals); + Py_CLEAR(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API +#if PY_VERSION_HEX < 0x030900B1 + Py_CLEAR(__Pyx_CyFunction_GetClassObj(m)); +#else + { + PyObject *cls = (PyObject*) ((PyCMethodObject *) (m))->mm_class; + ((PyCMethodObject *) (m))->mm_class = NULL; + Py_XDECREF(cls); + } +#endif +#endif + Py_CLEAR(m->defaults_tuple); + Py_CLEAR(m->defaults_kwdict); + Py_CLEAR(m->func_annotations); + Py_CLEAR(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_XDECREF(pydefaults[i]); + PyObject_Free(m->defaults); + m->defaults = NULL; + } + return 0; +} +static void __Pyx__CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + if (__Pyx_CyFunction_weakreflist(m) != NULL) + PyObject_ClearWeakRefs((PyObject *) m); + __Pyx_CyFunction_clear(m); + __Pyx_PyHeapTypeObject_GC_Del(m); +} +static void __Pyx_CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + PyObject_GC_UnTrack(m); + __Pyx__CyFunction_dealloc(m); +} +static int __Pyx_CyFunction_traverse(__pyx_CyFunctionObject *m, visitproc visit, void *arg) +{ + Py_VISIT(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(m->func); +#else + Py_VISIT(((PyCFunctionObject*)m)->m_module); +#endif + Py_VISIT(m->func_dict); + Py_VISIT(m->func_name); + Py_VISIT(m->func_qualname); + Py_VISIT(m->func_doc); + Py_VISIT(m->func_globals); + Py_VISIT(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(__Pyx_CyFunction_GetClassObj(m)); +#endif + Py_VISIT(m->defaults_tuple); + Py_VISIT(m->defaults_kwdict); + Py_VISIT(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_VISIT(pydefaults[i]); + } + return 0; +} +static PyObject* +__Pyx_CyFunction_repr(__pyx_CyFunctionObject *op) +{ +#if PY_MAJOR_VERSION >= 3 + return PyUnicode_FromFormat("", + op->func_qualname, (void *)op); +#else + return PyString_FromFormat("", + PyString_AsString(op->func_qualname), (void *)op); +#endif +} +static PyObject * __Pyx_CyFunction_CallMethod(PyObject *func, PyObject *self, PyObject *arg, PyObject *kw) { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *f = ((__pyx_CyFunctionObject*)func)->func; + PyObject *py_name = NULL; + PyCFunction meth; + int flags; + meth = PyCFunction_GetFunction(f); + if (unlikely(!meth)) return NULL; + flags = PyCFunction_GetFlags(f); + if (unlikely(flags < 0)) return NULL; +#else + PyCFunctionObject* f = (PyCFunctionObject*)func; + PyCFunction meth = f->m_ml->ml_meth; + int flags = f->m_ml->ml_flags; +#endif + Py_ssize_t size; + switch (flags & (METH_VARARGS | METH_KEYWORDS | METH_NOARGS | METH_O)) { + case METH_VARARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) + return (*meth)(self, arg); + break; + case METH_VARARGS | METH_KEYWORDS: + return (*(PyCFunctionWithKeywords)(void*)meth)(self, arg, kw); + case METH_NOARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 0)) + return (*meth)(self, NULL); +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + case METH_O: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 1)) { + PyObject *result, *arg0; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + arg0 = PyTuple_GET_ITEM(arg, 0); + #else + arg0 = __Pyx_PySequence_ITEM(arg, 0); if (unlikely(!arg0)) return NULL; + #endif + result = (*meth)(self, arg0); + #if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(arg0); + #endif + return result; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + return NULL; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, "%.200S() takes no keyword arguments", + py_name); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, "%.200s() takes no keyword arguments", + f->m_ml->ml_name); +#endif + return NULL; +} +static CYTHON_INLINE PyObject *__Pyx_CyFunction_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *self, *result; +#if CYTHON_COMPILING_IN_LIMITED_API + self = PyCFunction_GetSelf(((__pyx_CyFunctionObject*)func)->func); + if (unlikely(!self) && PyErr_Occurred()) return NULL; +#else + self = ((PyCFunctionObject*)func)->m_self; +#endif + result = __Pyx_CyFunction_CallMethod(func, self, arg, kw); + return result; +} +static PyObject *__Pyx_CyFunction_CallAsMethod(PyObject *func, PyObject *args, PyObject *kw) { + PyObject *result; + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *) func; +#if CYTHON_METH_FASTCALL + __pyx_vectorcallfunc vc = __Pyx_CyFunction_func_vectorcall(cyfunc); + if (vc) { +#if CYTHON_ASSUME_SAFE_MACROS + return __Pyx_PyVectorcall_FastCallDict(func, vc, &PyTuple_GET_ITEM(args, 0), (size_t)PyTuple_GET_SIZE(args), kw); +#else + (void) &__Pyx_PyVectorcall_FastCallDict; + return PyVectorcall_Call(func, args, kw); +#endif + } +#endif + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + Py_ssize_t argc; + PyObject *new_args; + PyObject *self; +#if CYTHON_ASSUME_SAFE_MACROS + argc = PyTuple_GET_SIZE(args); +#else + argc = PyTuple_Size(args); + if (unlikely(!argc) < 0) return NULL; +#endif + new_args = PyTuple_GetSlice(args, 1, argc); + if (unlikely(!new_args)) + return NULL; + self = PyTuple_GetItem(args, 0); + if (unlikely(!self)) { + Py_DECREF(new_args); +#if PY_MAJOR_VERSION > 2 + PyErr_Format(PyExc_TypeError, + "unbound method %.200S() needs an argument", + cyfunc->func_qualname); +#else + PyErr_SetString(PyExc_TypeError, + "unbound method needs an argument"); +#endif + return NULL; + } + result = __Pyx_CyFunction_CallMethod(func, self, new_args, kw); + Py_DECREF(new_args); + } else { + result = __Pyx_CyFunction_Call(func, args, kw); + } + return result; +} +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE int __Pyx_CyFunction_Vectorcall_CheckArgs(__pyx_CyFunctionObject *cyfunc, Py_ssize_t nargs, PyObject *kwnames) +{ + int ret = 0; + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + if (unlikely(nargs < 1)) { + PyErr_Format(PyExc_TypeError, "%.200s() needs an argument", + ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + ret = 1; + } + if (unlikely(kwnames) && unlikely(PyTuple_GET_SIZE(kwnames))) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no keyword arguments", ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + return ret; +} +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 0)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, NULL); +} +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 1)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, args[0]); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((_PyCFunctionFastWithKeywords)(void(*)(void))def->ml_meth)(self, args, nargs, kwnames); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; + PyTypeObject *cls = (PyTypeObject *) __Pyx_CyFunction_GetClassObj(cyfunc); +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((__Pyx_PyCMethod)(void(*)(void))def->ml_meth)(self, cls, args, (size_t)nargs, kwnames); +} +#endif +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_CyFunctionType_slots[] = { + {Py_tp_dealloc, (void *)__Pyx_CyFunction_dealloc}, + {Py_tp_repr, (void *)__Pyx_CyFunction_repr}, + {Py_tp_call, (void *)__Pyx_CyFunction_CallAsMethod}, + {Py_tp_traverse, (void *)__Pyx_CyFunction_traverse}, + {Py_tp_clear, (void *)__Pyx_CyFunction_clear}, + {Py_tp_methods, (void *)__pyx_CyFunction_methods}, + {Py_tp_members, (void *)__pyx_CyFunction_members}, + {Py_tp_getset, (void *)__pyx_CyFunction_getsets}, + {Py_tp_descr_get, (void *)__Pyx_PyMethod_New}, + {0, 0}, +}; +static PyType_Spec __pyx_CyFunctionType_spec = { + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if (defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL) + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + __pyx_CyFunctionType_slots +}; +#else +static PyTypeObject __pyx_CyFunctionType_type = { + PyVarObject_HEAD_INIT(0, 0) + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, + (destructor) __Pyx_CyFunction_dealloc, +#if !CYTHON_METH_FASTCALL + 0, +#elif CYTHON_BACKPORT_VECTORCALL + (printfunc)offsetof(__pyx_CyFunctionObject, func_vectorcall), +#else + offsetof(PyCFunctionObject, vectorcall), +#endif + 0, + 0, +#if PY_MAJOR_VERSION < 3 + 0, +#else + 0, +#endif + (reprfunc) __Pyx_CyFunction_repr, + 0, + 0, + 0, + 0, + __Pyx_CyFunction_CallAsMethod, + 0, + 0, + 0, + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + 0, + (traverseproc) __Pyx_CyFunction_traverse, + (inquiry) __Pyx_CyFunction_clear, + 0, +#if PY_VERSION_HEX < 0x030500A0 + offsetof(__pyx_CyFunctionObject, func_weakreflist), +#else + offsetof(PyCFunctionObject, m_weakreflist), +#endif + 0, + 0, + __pyx_CyFunction_methods, + __pyx_CyFunction_members, + __pyx_CyFunction_getsets, + 0, + 0, + __Pyx_PyMethod_New, + 0, + offsetof(__pyx_CyFunctionObject, func_dict), + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, +#if PY_VERSION_HEX >= 0x030400a1 + 0, +#endif +#if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, +#endif +#if __PYX_NEED_TP_PRINT_SLOT + 0, +#endif +#if PY_VERSION_HEX >= 0x030C0000 + 0, +#endif +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, +#endif +}; +#endif +static int __pyx_CyFunction_init(PyObject *module) { +#if CYTHON_USE_TYPE_SPECS + __pyx_CyFunctionType = __Pyx_FetchCommonTypeFromSpec(module, &__pyx_CyFunctionType_spec, NULL); +#else + CYTHON_UNUSED_VAR(module); + __pyx_CyFunctionType = __Pyx_FetchCommonType(&__pyx_CyFunctionType_type); +#endif + if (unlikely(__pyx_CyFunctionType == NULL)) { + return -1; + } + return 0; +} +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *func, size_t size, int pyobjects) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults = PyObject_Malloc(size); + if (unlikely(!m->defaults)) + return PyErr_NoMemory(); + memset(m->defaults, 0, size); + m->defaults_pyobjects = pyobjects; + m->defaults_size = size; + return m->defaults; +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *func, PyObject *tuple) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_tuple = tuple; + Py_INCREF(tuple); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_kwdict = dict; + Py_INCREF(dict); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->func_annotations = dict; + Py_INCREF(dict); +} + +/* CythonFunction */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { + PyObject *op = __Pyx_CyFunction_Init( + PyObject_GC_New(__pyx_CyFunctionObject, __pyx_CyFunctionType), + ml, flags, qualname, closure, module, globals, code + ); + if (likely(op)) { + PyObject_GC_Track(op); + } + return op; +} + +/* CLineInTraceback */ +#ifndef CYTHON_CLINE_IN_TRACEBACK +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line) { + PyObject *use_cline; + PyObject *ptype, *pvalue, *ptraceback; +#if CYTHON_COMPILING_IN_CPYTHON + PyObject **cython_runtime_dict; +#endif + CYTHON_MAYBE_UNUSED_VAR(tstate); + if (unlikely(!__pyx_cython_runtime)) { + return c_line; + } + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); +#if CYTHON_COMPILING_IN_CPYTHON + cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); + if (likely(cython_runtime_dict)) { + __PYX_PY_DICT_LOOKUP_IF_MODIFIED( + use_cline, *cython_runtime_dict, + __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) + } else +#endif + { + PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStrNoError(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); + if (use_cline_obj) { + use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; +} +#endif + +/* CodeObjectCache */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; + } + } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } +} +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; + } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; +} +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; + } + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; + } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); +} +#endif + +/* AddTraceback */ +#include "compile.h" +#include "frameobject.h" +#include "traceback.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyCode_Replace_For_AddTraceback(PyObject *code, PyObject *scratch_dict, + PyObject *firstlineno, PyObject *name) { + PyObject *replace = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_firstlineno", firstlineno))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_name", name))) return NULL; + replace = PyObject_GetAttrString(code, "replace"); + if (likely(replace)) { + PyObject *result; + result = PyObject_Call(replace, __pyx_empty_tuple, scratch_dict); + Py_DECREF(replace); + return result; + } + PyErr_Clear(); + #if __PYX_LIMITED_VERSION_HEX < 0x030780000 + { + PyObject *compiled = NULL, *result = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "code", code))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "type", (PyObject*)(&PyType_Type)))) return NULL; + compiled = Py_CompileString( + "out = type(code)(\n" + " code.co_argcount, code.co_kwonlyargcount, code.co_nlocals, code.co_stacksize,\n" + " code.co_flags, code.co_code, code.co_consts, code.co_names,\n" + " code.co_varnames, code.co_filename, co_name, co_firstlineno,\n" + " code.co_lnotab)\n", "", Py_file_input); + if (!compiled) return NULL; + result = PyEval_EvalCode(compiled, scratch_dict, scratch_dict); + Py_DECREF(compiled); + if (!result) PyErr_Print(); + Py_DECREF(result); + result = PyDict_GetItemString(scratch_dict, "out"); + if (result) Py_INCREF(result); + return result; + } + #else + return NULL; + #endif +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyObject *code_object = NULL, *py_py_line = NULL, *py_funcname = NULL, *dict = NULL; + PyObject *replace = NULL, *getframe = NULL, *frame = NULL; + PyObject *exc_type, *exc_value, *exc_traceback; + int success = 0; + if (c_line) { + (void) __pyx_cfilenm; + (void) __Pyx_CLineForTraceback(__Pyx_PyThreadState_Current, c_line); + } + PyErr_Fetch(&exc_type, &exc_value, &exc_traceback); + code_object = Py_CompileString("_getframe()", filename, Py_eval_input); + if (unlikely(!code_object)) goto bad; + py_py_line = PyLong_FromLong(py_line); + if (unlikely(!py_py_line)) goto bad; + py_funcname = PyUnicode_FromString(funcname); + if (unlikely(!py_funcname)) goto bad; + dict = PyDict_New(); + if (unlikely(!dict)) goto bad; + { + PyObject *old_code_object = code_object; + code_object = __Pyx_PyCode_Replace_For_AddTraceback(code_object, dict, py_py_line, py_funcname); + Py_DECREF(old_code_object); + } + if (unlikely(!code_object)) goto bad; + getframe = PySys_GetObject("_getframe"); + if (unlikely(!getframe)) goto bad; + if (unlikely(PyDict_SetItemString(dict, "_getframe", getframe))) goto bad; + frame = PyEval_EvalCode(code_object, dict, dict); + if (unlikely(!frame) || frame == Py_None) goto bad; + success = 1; + bad: + PyErr_Restore(exc_type, exc_value, exc_traceback); + Py_XDECREF(code_object); + Py_XDECREF(py_py_line); + Py_XDECREF(py_funcname); + Py_XDECREF(dict); + Py_XDECREF(replace); + if (success) { + PyTraceBack_Here( + (struct _frame*)frame); + } + Py_XDECREF(frame); +} +#else +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = NULL; + PyObject *py_funcname = NULL; + #if PY_MAJOR_VERSION < 3 + PyObject *py_srcfile = NULL; + py_srcfile = PyString_FromString(filename); + if (!py_srcfile) goto bad; + #endif + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + funcname = PyUnicode_AsUTF8(py_funcname); + if (!funcname) goto bad; + #endif + } + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + if (!py_funcname) goto bad; + #endif + } + #if PY_MAJOR_VERSION < 3 + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + #else + py_code = PyCode_NewEmpty(filename, funcname, py_line); + #endif + Py_XDECREF(py_funcname); + return py_code; +bad: + Py_XDECREF(py_funcname); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_srcfile); + #endif + return NULL; +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject *ptype, *pvalue, *ptraceback; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); + } + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) { + /* If the code object creation fails, then we should clear the + fetched exception references and propagate the new exception */ + Py_XDECREF(ptype); + Py_XDECREF(pvalue); + Py_XDECREF(ptraceback); + goto bad; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + } + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} +#endif + +/* CIntFromPyVerify */ +#define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* CIntToPy */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(long)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPy */ +static CYTHON_INLINE uint32_t __Pyx_PyInt_As_uint32_t(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const uint32_t neg_one = (uint32_t) -1, const_zero = (uint32_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(uint32_t) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(uint32_t, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (uint32_t) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(uint32_t, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(uint32_t) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) >= 2 * PyLong_SHIFT)) { + return (uint32_t) (((((uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(uint32_t) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) >= 3 * PyLong_SHIFT)) { + return (uint32_t) (((((((uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(uint32_t) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) >= 4 * PyLong_SHIFT)) { + return (uint32_t) (((((((((uint32_t)digits[3]) << PyLong_SHIFT) | (uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (uint32_t) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(uint32_t) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(uint32_t, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(uint32_t) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(uint32_t, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(uint32_t, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(uint32_t) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) - 1 > 2 * PyLong_SHIFT)) { + return (uint32_t) (((uint32_t)-1)*(((((uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(uint32_t) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) - 1 > 2 * PyLong_SHIFT)) { + return (uint32_t) ((((((uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(uint32_t) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) - 1 > 3 * PyLong_SHIFT)) { + return (uint32_t) (((uint32_t)-1)*(((((((uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(uint32_t) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) - 1 > 3 * PyLong_SHIFT)) { + return (uint32_t) ((((((((uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(uint32_t) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) - 1 > 4 * PyLong_SHIFT)) { + return (uint32_t) (((uint32_t)-1)*(((((((((uint32_t)digits[3]) << PyLong_SHIFT) | (uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(uint32_t) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) - 1 > 4 * PyLong_SHIFT)) { + return (uint32_t) ((((((((((uint32_t)digits[3]) << PyLong_SHIFT) | (uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(uint32_t) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(uint32_t, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(uint32_t) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(uint32_t, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + uint32_t val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (uint32_t) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (uint32_t) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (uint32_t) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (uint32_t) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (uint32_t) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(uint32_t) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((uint32_t) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(uint32_t) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((uint32_t) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((uint32_t) 1) << (sizeof(uint32_t) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (uint32_t) -1; + } + } else { + uint32_t val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (uint32_t) -1; + val = __Pyx_PyInt_As_uint32_t(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to uint32_t"); + return (uint32_t) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to uint32_t"); + return (uint32_t) -1; +} + +/* CIntToPy */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_uint32_t(uint32_t value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const uint32_t neg_one = (uint32_t) -1, const_zero = (uint32_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(uint32_t) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(uint32_t) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(uint32_t) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(uint32_t) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(uint32_t) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(uint32_t), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(uint32_t)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPy */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(int) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (int) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 2 * PyLong_SHIFT)) { + return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 3 * PyLong_SHIFT)) { + return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 4 * PyLong_SHIFT)) { + return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(int) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(int) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(int) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + int val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (int) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (int) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (int) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (int) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(int) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(int) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((int) 1) << (sizeof(int) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (int) -1; + } + } else { + int val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (int) -1; + val = __Pyx_PyInt_As_int(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to int"); + return (int) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to int"); + return (int) -1; +} + +/* CIntFromPy */ +static CYTHON_INLINE uint64_t __Pyx_PyInt_As_uint64_t(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const uint64_t neg_one = (uint64_t) -1, const_zero = (uint64_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(uint64_t) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(uint64_t, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (uint64_t) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(uint64_t, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(uint64_t) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint64_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint64_t) >= 2 * PyLong_SHIFT)) { + return (uint64_t) (((((uint64_t)digits[1]) << PyLong_SHIFT) | (uint64_t)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(uint64_t) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint64_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint64_t) >= 3 * PyLong_SHIFT)) { + return (uint64_t) (((((((uint64_t)digits[2]) << PyLong_SHIFT) | (uint64_t)digits[1]) << PyLong_SHIFT) | (uint64_t)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(uint64_t) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint64_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint64_t) >= 4 * PyLong_SHIFT)) { + return (uint64_t) (((((((((uint64_t)digits[3]) << PyLong_SHIFT) | (uint64_t)digits[2]) << PyLong_SHIFT) | (uint64_t)digits[1]) << PyLong_SHIFT) | (uint64_t)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (uint64_t) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(uint64_t) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(uint64_t, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(uint64_t) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(uint64_t, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(uint64_t, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(uint64_t) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint64_t, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint64_t) - 1 > 2 * PyLong_SHIFT)) { + return (uint64_t) (((uint64_t)-1)*(((((uint64_t)digits[1]) << PyLong_SHIFT) | (uint64_t)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(uint64_t) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint64_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint64_t) - 1 > 2 * PyLong_SHIFT)) { + return (uint64_t) ((((((uint64_t)digits[1]) << PyLong_SHIFT) | (uint64_t)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(uint64_t) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint64_t, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint64_t) - 1 > 3 * PyLong_SHIFT)) { + return (uint64_t) (((uint64_t)-1)*(((((((uint64_t)digits[2]) << PyLong_SHIFT) | (uint64_t)digits[1]) << PyLong_SHIFT) | (uint64_t)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(uint64_t) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint64_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint64_t) - 1 > 3 * PyLong_SHIFT)) { + return (uint64_t) ((((((((uint64_t)digits[2]) << PyLong_SHIFT) | (uint64_t)digits[1]) << PyLong_SHIFT) | (uint64_t)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(uint64_t) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint64_t, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint64_t) - 1 > 4 * PyLong_SHIFT)) { + return (uint64_t) (((uint64_t)-1)*(((((((((uint64_t)digits[3]) << PyLong_SHIFT) | (uint64_t)digits[2]) << PyLong_SHIFT) | (uint64_t)digits[1]) << PyLong_SHIFT) | (uint64_t)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(uint64_t) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint64_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint64_t) - 1 > 4 * PyLong_SHIFT)) { + return (uint64_t) ((((((((((uint64_t)digits[3]) << PyLong_SHIFT) | (uint64_t)digits[2]) << PyLong_SHIFT) | (uint64_t)digits[1]) << PyLong_SHIFT) | (uint64_t)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(uint64_t) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(uint64_t, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(uint64_t) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(uint64_t, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + uint64_t val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (uint64_t) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (uint64_t) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (uint64_t) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (uint64_t) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (uint64_t) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(uint64_t) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((uint64_t) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(uint64_t) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((uint64_t) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((uint64_t) 1) << (sizeof(uint64_t) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (uint64_t) -1; + } + } else { + uint64_t val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (uint64_t) -1; + val = __Pyx_PyInt_As_uint64_t(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to uint64_t"); + return (uint64_t) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to uint64_t"); + return (uint64_t) -1; +} + +/* CIntFromPy */ +static CYTHON_INLINE uint8_t __Pyx_PyInt_As_uint8_t(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const uint8_t neg_one = (uint8_t) -1, const_zero = (uint8_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(uint8_t) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(uint8_t, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (uint8_t) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(uint8_t, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(uint8_t) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint8_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint8_t) >= 2 * PyLong_SHIFT)) { + return (uint8_t) (((((uint8_t)digits[1]) << PyLong_SHIFT) | (uint8_t)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(uint8_t) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint8_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint8_t) >= 3 * PyLong_SHIFT)) { + return (uint8_t) (((((((uint8_t)digits[2]) << PyLong_SHIFT) | (uint8_t)digits[1]) << PyLong_SHIFT) | (uint8_t)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(uint8_t) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint8_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint8_t) >= 4 * PyLong_SHIFT)) { + return (uint8_t) (((((((((uint8_t)digits[3]) << PyLong_SHIFT) | (uint8_t)digits[2]) << PyLong_SHIFT) | (uint8_t)digits[1]) << PyLong_SHIFT) | (uint8_t)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (uint8_t) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(uint8_t) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(uint8_t, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(uint8_t) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(uint8_t, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(uint8_t, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(uint8_t) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint8_t, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint8_t) - 1 > 2 * PyLong_SHIFT)) { + return (uint8_t) (((uint8_t)-1)*(((((uint8_t)digits[1]) << PyLong_SHIFT) | (uint8_t)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(uint8_t) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint8_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint8_t) - 1 > 2 * PyLong_SHIFT)) { + return (uint8_t) ((((((uint8_t)digits[1]) << PyLong_SHIFT) | (uint8_t)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(uint8_t) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint8_t, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint8_t) - 1 > 3 * PyLong_SHIFT)) { + return (uint8_t) (((uint8_t)-1)*(((((((uint8_t)digits[2]) << PyLong_SHIFT) | (uint8_t)digits[1]) << PyLong_SHIFT) | (uint8_t)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(uint8_t) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint8_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint8_t) - 1 > 3 * PyLong_SHIFT)) { + return (uint8_t) ((((((((uint8_t)digits[2]) << PyLong_SHIFT) | (uint8_t)digits[1]) << PyLong_SHIFT) | (uint8_t)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(uint8_t) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint8_t, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint8_t) - 1 > 4 * PyLong_SHIFT)) { + return (uint8_t) (((uint8_t)-1)*(((((((((uint8_t)digits[3]) << PyLong_SHIFT) | (uint8_t)digits[2]) << PyLong_SHIFT) | (uint8_t)digits[1]) << PyLong_SHIFT) | (uint8_t)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(uint8_t) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint8_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint8_t) - 1 > 4 * PyLong_SHIFT)) { + return (uint8_t) ((((((((((uint8_t)digits[3]) << PyLong_SHIFT) | (uint8_t)digits[2]) << PyLong_SHIFT) | (uint8_t)digits[1]) << PyLong_SHIFT) | (uint8_t)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(uint8_t) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(uint8_t, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(uint8_t) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(uint8_t, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + uint8_t val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (uint8_t) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (uint8_t) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (uint8_t) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (uint8_t) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (uint8_t) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(uint8_t) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((uint8_t) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(uint8_t) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((uint8_t) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((uint8_t) 1) << (sizeof(uint8_t) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (uint8_t) -1; + } + } else { + uint8_t val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (uint8_t) -1; + val = __Pyx_PyInt_As_uint8_t(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to uint8_t"); + return (uint8_t) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to uint8_t"); + return (uint8_t) -1; +} + +/* CIntFromPy */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(long) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (long) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 2 * PyLong_SHIFT)) { + return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 3 * PyLong_SHIFT)) { + return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 4 * PyLong_SHIFT)) { + return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(long) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(long) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(long) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + long val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (long) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (long) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (long) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (long) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(long) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(long) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((long) 1) << (sizeof(long) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (long) -1; + } + } else { + long val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (long) -1; + val = __Pyx_PyInt_As_long(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to long"); + return (long) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to long"); + return (long) -1; +} + +/* CIntToPy */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_uint64_t(uint64_t value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const uint64_t neg_one = (uint64_t) -1, const_zero = (uint64_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(uint64_t) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(uint64_t) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(uint64_t) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(uint64_t) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(uint64_t) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(uint64_t), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(uint64_t)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPy */ +static CYTHON_INLINE size_t __Pyx_PyInt_As_size_t(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const size_t neg_one = (size_t) -1, const_zero = (size_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(size_t) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(size_t, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (size_t) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(size_t, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(size_t) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) >= 2 * PyLong_SHIFT)) { + return (size_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(size_t) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) >= 3 * PyLong_SHIFT)) { + return (size_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(size_t) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) >= 4 * PyLong_SHIFT)) { + return (size_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (size_t) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(size_t) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(size_t) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(size_t, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(size_t) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT)) { + return (size_t) (((size_t)-1)*(((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(size_t) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT)) { + return (size_t) ((((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT)) { + return (size_t) (((size_t)-1)*(((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(size_t) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT)) { + return (size_t) ((((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 4 * PyLong_SHIFT)) { + return (size_t) (((size_t)-1)*(((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(size_t) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 4 * PyLong_SHIFT)) { + return (size_t) ((((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(size_t) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(size_t) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + size_t val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (size_t) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (size_t) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (size_t) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (size_t) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (size_t) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(size_t) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((size_t) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(size_t) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((size_t) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((size_t) 1) << (sizeof(size_t) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (size_t) -1; + } + } else { + size_t val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (size_t) -1; + val = __Pyx_PyInt_As_size_t(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to size_t"); + return (size_t) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to size_t"); + return (size_t) -1; +} + +/* FormatTypeName */ +#if CYTHON_COMPILING_IN_LIMITED_API +static __Pyx_TypeName +__Pyx_PyType_GetName(PyTypeObject* tp) +{ + PyObject *name = __Pyx_PyObject_GetAttrStr((PyObject *)tp, + __pyx_n_s_name); + if (unlikely(name == NULL) || unlikely(!PyUnicode_Check(name))) { + PyErr_Clear(); + Py_XDECREF(name); + name = __Pyx_NewRef(__pyx_n_s__16); + } + return name; +} +#endif + +/* FastTypeChecks */ +#if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = __Pyx_PyType_GetSlot(a, tp_base, PyTypeObject*); + if (a == b) + return 1; + } + return b == &PyBaseObject_Type; +} +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(a, b); +} +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (cls == a || cls == b) return 1; + mro = cls->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + PyObject *base = PyTuple_GET_ITEM(mro, i); + if (base == (PyObject *)a || base == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(cls, a) || __Pyx_InBases(cls, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + } + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + if (exc_type1) { + return __Pyx_IsAnySubtype2((PyTypeObject*)err, (PyTypeObject*)exc_type1, (PyTypeObject*)exc_type2); + } else { + return __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } +} +#endif +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; i= 0x030B00A4 + return Py_Version & ~0xFFUL; +#else + const char* rt_version = Py_GetVersion(); + unsigned long version = 0; + unsigned long factor = 0x01000000UL; + unsigned int digit = 0; + int i = 0; + while (factor) { + while ('0' <= rt_version[i] && rt_version[i] <= '9') { + digit = digit * 10 + (unsigned int) (rt_version[i] - '0'); + ++i; + } + version += factor * digit; + if (rt_version[i] != '.') + break; + digit = 0; + factor >>= 8; + ++i; + } + return version; +#endif +} +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer) { + const unsigned long MAJOR_MINOR = 0xFFFF0000UL; + if ((rt_version & MAJOR_MINOR) == (ct_version & MAJOR_MINOR)) + return 0; + if (likely(allow_newer && (rt_version & MAJOR_MINOR) > (ct_version & MAJOR_MINOR))) + return 1; + { + char message[200]; + PyOS_snprintf(message, sizeof(message), + "compile time Python version %d.%d " + "of module '%.100s' " + "%s " + "runtime version %d.%d", + (int) (ct_version >> 24), (int) ((ct_version >> 16) & 0xFF), + __Pyx_MODULE_NAME, + (allow_newer) ? "was newer than" : "does not match", + (int) (rt_version >> 24), (int) ((rt_version >> 16) & 0xFF) + ); + return PyErr_WarnEx(NULL, message, 1); + } +} + +/* InitStrings */ +#if PY_MAJOR_VERSION >= 3 +static int __Pyx_InitString(__Pyx_StringTabEntry t, PyObject **str) { + if (t.is_unicode | t.is_str) { + if (t.intern) { + *str = PyUnicode_InternFromString(t.s); + } else if (t.encoding) { + *str = PyUnicode_Decode(t.s, t.n - 1, t.encoding, NULL); + } else { + *str = PyUnicode_FromStringAndSize(t.s, t.n - 1); + } + } else { + *str = PyBytes_FromStringAndSize(t.s, t.n - 1); + } + if (!*str) + return -1; + if (PyObject_Hash(*str) == -1) + return -1; + return 0; +} +#endif +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t) { + while (t->p) { + #if PY_MAJOR_VERSION >= 3 + __Pyx_InitString(*t, t->p); + #else + if (t->is_unicode) { + *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); + } else if (t->intern) { + *t->p = PyString_InternFromString(t->s); + } else { + *t->p = PyString_FromStringAndSize(t->s, t->n - 1); + } + if (!*t->p) + return -1; + if (PyObject_Hash(*t->p) == -1) + return -1; + #endif + ++t; + } + return 0; +} + +#include +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s) { + size_t len = strlen(s); + if (unlikely(len > (size_t) PY_SSIZE_T_MAX)) { + PyErr_SetString(PyExc_OverflowError, "byte string is too long"); + return -1; + } + return (Py_ssize_t) len; +} +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return __Pyx_PyUnicode_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return PyByteArray_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { + Py_ssize_t ignore; + return __Pyx_PyObject_AsStringAndSize(o, &ignore); +} +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#if !CYTHON_PEP393_ENABLED +static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + char* defenc_c; + PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); + if (!defenc) return NULL; + defenc_c = PyBytes_AS_STRING(defenc); +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + { + char* end = defenc_c + PyBytes_GET_SIZE(defenc); + char* c; + for (c = defenc_c; c < end; c++) { + if ((unsigned char) (*c) >= 128) { + PyUnicode_AsASCIIString(o); + return NULL; + } + } + } +#endif + *length = PyBytes_GET_SIZE(defenc); + return defenc_c; +} +#else +static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + if (likely(PyUnicode_IS_ASCII(o))) { + *length = PyUnicode_GET_LENGTH(o); + return PyUnicode_AsUTF8(o); + } else { + PyUnicode_AsASCIIString(o); + return NULL; + } +#else + return PyUnicode_AsUTF8AndSize(o, length); +#endif +} +#endif +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT + if ( +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + __Pyx_sys_getdefaultencoding_not_ascii && +#endif + PyUnicode_Check(o)) { + return __Pyx_PyUnicode_AsStringAndSize(o, length); + } else +#endif +#if (!CYTHON_COMPILING_IN_PYPY && !CYTHON_COMPILING_IN_LIMITED_API) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) + if (PyByteArray_Check(o)) { + *length = PyByteArray_GET_SIZE(o); + return PyByteArray_AS_STRING(o); + } else +#endif + { + char* result; + int r = PyBytes_AsStringAndSize(o, &result, length); + if (unlikely(r < 0)) { + return NULL; + } else { + return result; + } + } +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { + int is_true = x == Py_True; + if (is_true | (x == Py_False) | (x == Py_None)) return is_true; + else return PyObject_IsTrue(x); +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { + int retval; + if (unlikely(!x)) return -1; + retval = __Pyx_PyObject_IsTrue(x); + Py_DECREF(x); + return retval; +} +static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { + __Pyx_TypeName result_type_name = __Pyx_PyType_GetName(Py_TYPE(result)); +#if PY_MAJOR_VERSION >= 3 + if (PyLong_Check(result)) { + if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, + "__int__ returned non-int (type " __Pyx_FMT_TYPENAME "). " + "The ability to return an instance of a strict subclass of int is deprecated, " + "and may be removed in a future version of Python.", + result_type_name)) { + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; + } + __Pyx_DECREF_TypeName(result_type_name); + return result; + } +#endif + PyErr_Format(PyExc_TypeError, + "__%.4s__ returned non-%.4s (type " __Pyx_FMT_TYPENAME ")", + type_name, type_name, result_type_name); + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { +#if CYTHON_USE_TYPE_SLOTS + PyNumberMethods *m; +#endif + const char *name = NULL; + PyObject *res = NULL; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x) || PyLong_Check(x))) +#else + if (likely(PyLong_Check(x))) +#endif + return __Pyx_NewRef(x); +#if CYTHON_USE_TYPE_SLOTS + m = Py_TYPE(x)->tp_as_number; + #if PY_MAJOR_VERSION < 3 + if (m && m->nb_int) { + name = "int"; + res = m->nb_int(x); + } + else if (m && m->nb_long) { + name = "long"; + res = m->nb_long(x); + } + #else + if (likely(m && m->nb_int)) { + name = "int"; + res = m->nb_int(x); + } + #endif +#else + if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { + res = PyNumber_Int(x); + } +#endif + if (likely(res)) { +#if PY_MAJOR_VERSION < 3 + if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { +#else + if (unlikely(!PyLong_CheckExact(res))) { +#endif + return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); + } + } + else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_TypeError, + "an integer is required"); + } + return res; +} +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { + Py_ssize_t ival; + PyObject *x; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(b))) { + if (sizeof(Py_ssize_t) >= sizeof(long)) + return PyInt_AS_LONG(b); + else + return PyInt_AsSsize_t(b); + } +#endif + if (likely(PyLong_CheckExact(b))) { + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(__Pyx_PyLong_IsCompact(b))) { + return __Pyx_PyLong_CompactValue(b); + } else { + const digit* digits = __Pyx_PyLong_Digits(b); + const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(b); + switch (size) { + case 2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + } + } + #endif + return PyLong_AsSsize_t(b); + } + x = PyNumber_Index(b); + if (!x) return -1; + ival = PyInt_AsSsize_t(x); + Py_DECREF(x); + return ival; +} +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { + if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { + return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); +#if PY_MAJOR_VERSION < 3 + } else if (likely(PyInt_CheckExact(o))) { + return PyInt_AS_LONG(o); +#endif + } else { + Py_ssize_t ival; + PyObject *x; + x = PyNumber_Index(o); + if (!x) return -1; + ival = PyInt_AsLong(x); + Py_DECREF(x); + return ival; + } +} +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { + return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); +} +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { + return PyInt_FromSize_t(ival); +} + + +/* #### Code section: utility_code_pragmas_end ### */ +#ifdef _MSC_VER +#pragma warning( pop ) +#endif + + + +/* #### Code section: end ### */ +#endif /* Py_PYTHON_H */ diff --git a/opendbc_repo/opendbc/can/parser_pyx.pyx b/opendbc_repo/opendbc/can/parser_pyx.pyx new file mode 100644 index 0000000000..9fb0c9f021 --- /dev/null +++ b/opendbc_repo/opendbc/can/parser_pyx.pyx @@ -0,0 +1,172 @@ +# distutils: language = c++ +# cython: c_string_encoding=ascii, language_level=3 + +from cython.operator cimport dereference as deref, preincrement as preinc +from libcpp.pair cimport pair +from libcpp.string cimport string +from libcpp.vector cimport vector +from libc.stdint cimport uint32_t + +from .common cimport CANParser as cpp_CANParser +from .common cimport dbc_lookup, SignalValue, DBC, CanData, CanFrame + +import numbers +from collections import defaultdict + + +cdef class CANParser: + cdef: + cpp_CANParser *can + const DBC *dbc + vector[uint32_t] addresses + + cdef readonly: + dict vl + dict vl_all + dict ts_nanos + string dbc_name + + def __init__(self, dbc_name, messages, bus=0): + self.dbc_name = dbc_name + self.dbc = dbc_lookup(dbc_name) + if not self.dbc: + raise RuntimeError(f"Can't find DBC: {dbc_name}") + + self.vl = {} + self.vl_all = {} + self.ts_nanos = {} + + # Convert message names into addresses and check existence in DBC + cdef vector[pair[uint32_t, int]] message_v + for i in range(len(messages)): + c = messages[i] + try: + m = self.dbc.addr_to_msg.at(c[0]) if isinstance(c[0], numbers.Number) else self.dbc.name_to_msg.at(c[0]) + except IndexError: + raise RuntimeError(f"could not find message {repr(c[0])} in DBC {self.dbc_name}") + + address = m.address + message_v.push_back((address, c[1])) + self.addresses.push_back(address) + + name = m.name.decode("utf8") + self.vl[address] = {} + self.vl[name] = self.vl[address] + self.vl_all[address] = defaultdict(list) + self.vl_all[name] = self.vl_all[address] + self.ts_nanos[address] = {} + self.ts_nanos[name] = self.ts_nanos[address] + + self.can = new cpp_CANParser(bus, dbc_name, message_v) + self.update_strings([]) + + def __dealloc__(self): + if self.can: + del self.can + + def update_strings(self, strings, sendcan=False): + # input format: + # [nanos, [[address, data, src], ...]] + # [[nanos, [[address, data, src], ...], ...]] + for address in self.addresses: + self.vl_all[address].clear() + + cur_address = -1 + vl = {} + vl_all = {} + ts_nanos = {} + updated_addrs = set() + + cdef vector[SignalValue] new_vals + cdef CanFrame* frame + cdef CanData* can_data + cdef vector[CanData] can_data_array + + try: + if len(strings) and not isinstance(strings[0], (list, tuple)): + strings = [strings] + + can_data_array.reserve(len(strings)) + for s in strings: + can_data = &(can_data_array.emplace_back()) + can_data.nanos = s[0] + can_data.frames.reserve(len(s[1])) + for f in s[1]: + frame = &(can_data.frames.emplace_back()) + frame.address = f[0] + frame.dat = f[1] + frame.src = f[2] + except TypeError: + raise RuntimeError("invalid parameter") + + self.can.update(can_data_array, new_vals) + + cdef vector[SignalValue].iterator it = new_vals.begin() + cdef SignalValue* cv + while it != new_vals.end(): + cv = &deref(it) + + # Check if the address has changed + if cv.address != cur_address: + cur_address = cv.address + vl = self.vl[cur_address] + vl_all = self.vl_all[cur_address] + ts_nanos = self.ts_nanos[cur_address] + updated_addrs.add(cur_address) + + # Cast char * directly to unicode + cv_name = cv.name + vl[cv_name] = cv.value + vl_all[cv_name] = cv.all_values + ts_nanos[cv_name] = cv.ts_nanos + preinc(it) + + return updated_addrs + + @property + def can_valid(self): + return self.can.can_valid + + @property + def bus_timeout(self): + return self.can.bus_timeout + + +cdef class CANDefine(): + cdef: + const DBC *dbc + + cdef public: + dict dv + string dbc_name + + def __init__(self, dbc_name): + self.dbc_name = dbc_name + self.dbc = dbc_lookup(dbc_name) + if not self.dbc: + raise RuntimeError(f"Can't find DBC: '{dbc_name}'") + + dv = defaultdict(dict) + + for i in range(self.dbc[0].vals.size()): + val = self.dbc[0].vals[i] + + sgname = val.name.decode("utf8") + def_val = val.def_val.decode("utf8") + address = val.address + try: + m = self.dbc.addr_to_msg.at(address) + except IndexError: + raise KeyError(address) + msgname = m.name.decode("utf-8") + + # separate definition/value pairs + def_val = def_val.split() + values = [int(v) for v in def_val[::2]] + defs = def_val[1::2] + + # two ways to lookup: address or msg name + dv[address][sgname] = dict(zip(values, defs)) + dv[msgname][sgname] = dv[address][sgname] + + self.dv = dict(dv) diff --git a/opendbc_repo/opendbc/can/parser_pyx.so b/opendbc_repo/opendbc/can/parser_pyx.so new file mode 100755 index 0000000000..bf6a0efcea Binary files /dev/null and b/opendbc_repo/opendbc/can/parser_pyx.so differ diff --git a/opendbc_repo/opendbc/can/tests/test.dbc b/opendbc_repo/opendbc/can/tests/test.dbc new file mode 100644 index 0000000000..05104fb068 --- /dev/null +++ b/opendbc_repo/opendbc/can/tests/test.dbc @@ -0,0 +1,27 @@ +CM_ "This DBC is used for the CAN parser and packer tests."; + +BO_ 228 STEERING_CONTROL: 5 EON + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS + SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS + +BO_ 316 Brake_Status: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|46@1+ (1,0) [0|1] "" XXX + SG_ ES_Brake : 58|1@1+ (1,0) [0|1] "" XXX + SG_ Signal2 : 59|3@1+ (1,0) [0|1] "" XXX + SG_ Brake : 62|1@1+ (1,0) [0|1] "" XXX + SG_ Signal3 : 63|1@1+ (1,0) [0|1] "" XXX + +BO_ 245 CAN_FD_MESSAGE: 32 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|1] "" XXX + SG_ SIGNED : 22|16@0- (1,0) [0|1] "" XXX + SG_ 64_BIT_LE : 159|64@1+ (1,0) [0|1] "" XXX + SG_ 64_BIT_BE : 80|64@0+ (1,0) [0|1] "" XXX + +VAL_ 80 NON_EXISTENT_ADDR 0 "test"; diff --git a/opendbc_repo/opendbc/can/tests/test_dbc_exceptions.py b/opendbc_repo/opendbc/can/tests/test_dbc_exceptions.py new file mode 100644 index 0000000000..b765d27fb2 --- /dev/null +++ b/opendbc_repo/opendbc/can/tests/test_dbc_exceptions.py @@ -0,0 +1,30 @@ +import pytest + +from opendbc.can.parser import CANParser, CANDefine +from opendbc.can.packer import CANPacker +from opendbc.can.tests import TEST_DBC + + +class TestCanParserPackerExceptions: + def test_civic_exceptions(self): + dbc_file = "honda_civic_touring_2016_can_generated" + dbc_invalid = dbc_file + "abcdef" + msgs = [("STEERING_CONTROL", 50)] + with pytest.raises(RuntimeError): + CANParser(dbc_invalid, msgs, 0) + with pytest.raises(RuntimeError): + CANPacker(dbc_invalid) + with pytest.raises(RuntimeError): + CANDefine(dbc_invalid) + with pytest.raises(KeyError): + CANDefine(TEST_DBC) + + parser = CANParser(dbc_file, msgs, 0) + with pytest.raises(RuntimeError): + parser.update_strings([b'']) + + # Everything is supposed to work below + CANParser(dbc_file, msgs, 0) + CANParser(dbc_file, [], 0) + CANPacker(dbc_file) + CANDefine(dbc_file) diff --git a/opendbc_repo/opendbc/can/tests/test_dbc_parser.py b/opendbc_repo/opendbc/can/tests/test_dbc_parser.py new file mode 100644 index 0000000000..4e9bb34f20 --- /dev/null +++ b/opendbc_repo/opendbc/can/tests/test_dbc_parser.py @@ -0,0 +1,21 @@ +from opendbc.can.parser import CANParser +from opendbc.can.tests import ALL_DBCS + + +class TestDBCParser: + def test_enough_dbcs(self): + # sanity check that we're running on the real DBCs + assert len(ALL_DBCS) > 20 + + def test_parse_all_dbcs(self, subtests): + """ + Dynamic DBC parser checks: + - Checksum and counter length, start bit, endianness + - Duplicate message addresses and names + - Signal out of bounds + - All BO_, SG_, VAL_ lines for syntax errors + """ + + for dbc in ALL_DBCS: + with subtests.test(dbc=dbc): + CANParser(dbc, [], 0) diff --git a/opendbc_repo/opendbc/dbc/ESR.dbc b/opendbc_repo/opendbc/dbc/ESR.dbc new file mode 100644 index 0000000000..e3837a68b2 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/ESR.dbc @@ -0,0 +1,1080 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: Gateway ESR +VAL_TABLE_ ForwardReverse 1 "Reverse" 0 "Forward" ; +VAL_TABLE_ LeftRight 1 "Right Clockwise" 0 "Left CounterClockwise" ; +VAL_TABLE_ ValidInvalid 1 "Valid" 0 "Invalid" ; +VAL_TABLE_ TrueFalse 1 "True" 0 "False" ; + + +BO_ 1343 Target64: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1342 Target63: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1341 Target62: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1340 Target61: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1339 Target60: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1338 Target59: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1337 Target58: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1336 Target57: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1335 Target56: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1334 Target55: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1333 Target54: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1332 Target53: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1331 Target52: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1330 Target51: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1329 Target50: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1328 Target49: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1327 Target48: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1326 Target47: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1325 Target46: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1324 Target45: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1323 Target44: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1322 Target43: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1321 Target42: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1320 Target41: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1319 Target40: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1318 Target39: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1317 Target38: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1316 Target37: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1315 Target36: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1314 Target35: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1313 Target34: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1312 Target33: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1311 Target32: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1310 Target31: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1309 Target30: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1308 Target29: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1307 Target28: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1306 Target27: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1305 Target26: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1304 Target25: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1303 Target24: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1302 Target23: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1301 Target22: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1300 Target21: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1299 Target20: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1298 Target19: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1297 Target18: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1296 Target17: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1295 Target16: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1294 Target15: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1293 Target14: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1292 Target13: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1291 Target12: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1290 Target11: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1289 Target10: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1288 Target9: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1287 Target8: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1285 Target6: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1286 Target7: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1284 Target5: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1283 Target4: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1282 Target3: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1281 Target2: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1524 VehicleData3: 8 Gateway + SG_ CAN_RX_YAW_RATE_BIAS_SHIFT : 15|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_RX_WHEELBASE : 55|8@0+ (2,200) [200|710] "cm" Vector__XXX + SG_ CAN_RX_STEERING_GEAR_RATIO : 63|8@0+ (0.125,0) [0|31.875] "" Vector__XXX + SG_ CAN_RX_OVERSTEER_UNDERSTEER : 7|8@0- (1,0) [-128|127] "%" Vector__XXX + SG_ CAN_RX_FUNNEL_OFFSET_RIGHT : 31|8@0- (0.1,0) [-12.8|12.7] "m" Vector__XXX + SG_ CAN_RX_FUNNEL_OFFSET_LEFT : 23|8@0- (0.1,0) [-12.8|12.7] "m" Vector__XXX + SG_ CAN_RX_DISTANCE_REAR_AXLE : 47|8@0+ (2,200) [200|710] "cm" Vector__XXX + SG_ CAN_RX_CW_BLOCKAGE_TRESHOLD : 39|8@0+ (0.0078125,0) [0|1.9921875] "" Vector__XXX + SG_ CAN_RX_BEAMWIDTH_VERT : 14|7@0+ (0.0625,0) [0|7.9375] "deg" Vector__XXX + +BO_ 1523 FactoryAlignment: 8 Gateway + +BO_ 1522 Vehicle_Data2: 8 Gateway + SG_ CAN_RX_WHEEL_SLIP : 41|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_RX_SERV_ALIGN_UPDATES_NEED : 55|8@0+ (1,0) [0|255] "" Vector__XXX + SG_ CAN_RX_SERV_ALIGN_TYPE : 47|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_RX_RADAR_HEIGHT : 38|7@0+ (1,0) [0|127] "cm" Vector__XXX + SG_ CAN_RX_RADAR_FOV_MR : 30|7@0+ (1,0) [0|127] "deg" Vector__XXX + SG_ CAN_RX_RADAR_FOV_LR : 19|5@0+ (1,0) [0|31] "deg" Vector__XXX + SG_ CAN_RX_LONG_ACCEL_VALIDITY : 7|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_RX_LONG_ACCEL : 12|9@0- (0.03125,0) [-8|7.96875] "m/s^2" Vector__XXX + SG_ CAN_RX_LAT_ACCEL_VALIDITY : 6|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_RX_LAT_ACCEL : 5|9@0- (0.03125,0) [-8|7.96875] "m/s^2" Vector__XXX + SG_ CAN_RX_AUTO_ALIGN_DISABLE : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_RX_AUTO_ALIGN_CONVERGED : 42|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_RX_ANGLE_MOUNTING_OFFSET : 63|8@0- (0.0625,0) [-8|7.9375] "deg" Vector__XXX + SG_ CAN_RX_AALIGN_AVG_CTR_TOTAL : 45|3@0+ (250,250) [250|2000] "" Vector__XXX + +BO_ 1512 CIPV_Targets_Etc: 8 ESR + +BO_ 1511 ESR_History_Fault: 8 ESR + +BO_ 1510 ESR_Active_Fault: 8 ESR + +BO_ 1508 AD_Data: 8 ESR + +BO_ 1489 SensorValidation2: 8 ESR + SG_ CAN_TX_VALID_MR_SN : 7|8@0+ (1,0) [0|255] "" Vector__XXX + SG_ CAN_TX_VALID_MR_RANGE_RATE : 31|16@0- (0.0078125,0) [-256|255.9921875] "m/s" Vector__XXX + SG_ CAN_TX_VALID_MR_RANGE : 15|16@0+ (0.0078125,0) [0|511.9921875] "m" Vector__XXX + SG_ CAN_TX_VALID_MR_POWER : 63|8@0- (1,0) [-128|127] "db" Vector__XXX + SG_ CAN_TX_VALID_MR_ANGLE : 40|16@1- (0.0625,0) [-2048|2047.9375] "deg" Vector__XXX + +BO_ 1488 SensorValidation: 8 ESR + SG_ CAN_TX_VALID_LR_SN : 7|8@0+ (1,0) [0|255] "" Vector__XXX + SG_ CAN_TX_VALID_LR_RANGE_RATE : 31|16@0- (0.0078125,0) [-256|255.9921875] "m/s" Vector__XXX + SG_ CAN_TX_VALID_LR_RANGE : 15|16@0+ (0.0078125,0) [0|511.9921875] "m" Vector__XXX + SG_ CAN_TX_VALID_LR_POWER : 63|8@0- (1,0) [-128|127] "db" Vector__XXX + SG_ CAN_TX_VALID_LR_ANGLE : 47|16@0- (0.0625,0) [-2048|2047.9375] "deg" Vector__XXX + +BO_ 1344 Track_Sensor: 1 ESR + SG_ CAN_TX_TRACK_ROLLING_COUNT_2 : 4|1@0+ (1,0) [0|1] "" Vector__XXX + +BO_ 1280 Target1: 8 ESR + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1265 SensorInput: 8 Gateway + SG_ CAN_RX_USE_ANGLE_MISALIGNMENT : 23|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CAN_RX_SCAN_INDEX_ACK : 7|16@0+ (1,0) [0|65535] "" Vector__XXX + SG_ CAN_RX_LATERAL_MOUNTING_OFFSET : 47|8@0- (0.01563,0) [-2.00064|1.98501] "m" Vector__XXX + SG_ CAN_RX_WIPER_STATUS : 57|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_RX_VOLVO_SHORT_TRACK_ROC : 31|4@0- (500,0) [-4000|3500] "m" Vector__XXX + SG_ CAN_RX_VEHICLE_SPEED_VALIDITY : 61|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_RX_TURN_SIGNAL_STATUS : 63|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_RX_RAW_DATA_ENABLE : 56|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_RX_RADAR_CMD_RADIATE : 55|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_RX_MR_ONLY_TRANSMIT : 25|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CAN_RX_MMR_UPSIDE_DOWN : 60|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_RX_MAXIMUM_TRACKS : 53|6@0+ (1,0) [0|63] "" Vector__XXX + SG_ CAN_RX_LR_ONLY_TRANSMIT : 24|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CAN_RX_HIGH_YAW_ANGLE : 21|6@0- (1,0) [-32|31] "deg" Vector__XXX + SG_ CAN_RX_GROUPING_MODE : 59|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_RX_CLEAR_FAULTS : 22|1@0- (1,0) [0|0] "" Vector__XXX + SG_ CAN_RX_BLOCKAGE_DISABLE : 54|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_RX_ANGLE_MISALIGNMENT : 39|8@0- (0.0625,0) [-8|7.9375] "deg" Vector__XXX + +BO_ 1264 Vehicle_Data: 8 Gateway + SG_ CAN_RX_YAW_RATE_VALIDITY : 31|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CAN_RX_YAW_RATE : 11|12@0- (0.0625,0) [-128|127.9375] "deg/s" Vector__XXX + SG_ CAN_RX_VEHICLE_SPEED_DIRECTION : 12|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_RX_VEHICLE_SPEED : 7|11@0+ (0.0625,0) [0|127.9375] "m/s" Vector__XXX + SG_ CAN_RX_RADIUS_CURVATURE : 29|14@0- (1,0) [-8192|8191] "m" Vector__XXX + SG_ CAN_RX_STEERING_VALIDITY : 47|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_RX_STEERING_ANGLE_SIGN : 46|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_RX_STEERING_ANGLE_RATE_SIGN : 30|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_RX_STEERING_ANGLE_RATE : 50|11@0+ (1,0) [0|2047] "deg/s" Vector__XXX + SG_ CAN_RX_STEERING_ANGLE : 45|11@0+ (1,0) [0|2047] "deg" Vector__XXX + +BO_ 1251 ESR_Output_InPath: 8 ESR + SG_ CAN_TX_PATH_ID_ACC_MOVE : 15|8@0+ (1,0) [0|255] "" Vector__XXX + SG_ CAN_TX_TRUCK_TARGET_DET : 7|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_SIDELOBE_BLOCKATE : 5|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_ROLLING_COUNT_3 : 1|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_PATH_ID_FCW_STAT : 47|8@0+ (1,0) [0|255] "" Vector__XXX + SG_ CAN_TX_PATH_ID_FCW_MOVE : 39|8@0+ (1,0) [0|255] "" Vector__XXX + SG_ CAN_TX_PATH_ID_CMBB_STAT : 31|8@0+ (1,0) [0|255] "" Vector__XXX + SG_ CAN_TX_PATH_ID_CMBB_MOVE : 23|8@0+ (1,0) [0|255] "" Vector__XXX + SG_ CAN_TX_PATH_ID_ACC_STAT : 63|8@0+ (1,0) [0|255] "" Vector__XXX + SG_ CAN_TX_PARTIAL_BLOCKAGE : 4|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_LR_ONLY_GRATING_LOBE_DET : 6|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_LMR_LR_MODE : 3|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_AUTO_ALIGN_ANGLE : 55|8@0- (0.0625,0) [-8|7.9375] "" Vector__XXX + +BO_ 1250 ESR_SW: 8 ESR + SG_ CAN_TX_SW_VERSION_PLD : 63|8@0+ (1,0) [0|255] "" Vector__XXX + SG_ CAN_TX_SW_VERSION_HOST : 15|24@0+ (1,0) [0|16777215] "" Vector__XXX + SG_ CAN_TX_SERIAL_NUM : 39|24@0+ (1,0) [0|16777215] "" Vector__XXX + SG_ CAN_TX_INTERFACE_VERSION : 7|4@0+ (1,0) [0|15] "" Vector__XXX + SG_ CAN_TX_HW_VERSION : 3|4@0+ (1,0) [0|15] "" Vector__XXX + +BO_ 1249 ESR_Status2: 8 ESR + SG_ CAN_TX_YAW_RATE_BIAS : 47|8@0- (0.125,0) [-16|15.875] "" Vector__XXX + SG_ CAN_TX_XCVR_OPERATIONAL : 12|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_VEH_SPD_COMP_FACTOR : 39|6@0- (0.00195,1) [0.9376|1.06045] "" Vector__XXX + SG_ CAN_TX_TEMPERATURE : 31|8@0- (1,0) [-128|127] "degC" Vector__XXX + SG_ CAN_TX_SW_VERSION_DSP : 55|16@0+ (1,0) [0|65535] "" Vector__XXX + SG_ CAN_TX_STEERING_ANGLE_ACK : 10|11@0+ (1,0) [0|2047] "deg" Vector__XXX + SG_ CAN_TX_ROLLING_COUNT_2 : 1|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_RAW_DATA_MODE : 11|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_RANGE_PERF_ERROR : 14|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_OVERHEAT_ERROR : 15|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_MAXIMUM_TRACKS_ACK : 7|6@0+ (1,1) [1|64] "" Vector__XXX + SG_ CAN_TX_INTERNAL_ERROR : 13|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_GROUPING_MODE : 33|2@0+ (1,0) [0|3] "" Vector__XXX + +BO_ 1248 ESR_Status: 8 ESR + SG_ CAN_TX_COMM_ERROR : 14|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CAN_TX_RADIUS_CURVATURE_CALC : 13|14@0- (1,0) [-8192|8191] "" Vector__XXX + SG_ CAN_TX_YAW_RATE_CALC : 47|12@0- (0.0625,0) [-128|127.9375] "deg/s" Vector__XXX + SG_ CAN_TX_VEHICLE_SPEED_CALC : 50|11@0+ (0.0625,0) [0|127.9375] "m/s" Vector__XXX + SG_ CAN_TX_DSP_TIMESTAMP : 5|7@0+ (2,0) [0|254] "ms" Vector__XXX + SG_ CAN_TX_SCAN_INDEX : 31|16@0+ (1,0) [0|65535] "" Vector__XXX + SG_ CAN_TX_ROLLING_COUNT_1 : 6|2@1+ (1,0) [0|3] "" Vector__XXX + + + +BA_DEF_ "BusType" STRING ; +BA_DEF_DEF_ "BusType" "CAN"; +VAL_ 1264 CAN_RX_YAW_RATE_VALIDITY 1 "Valid" 0 "Invalid" ; +VAL_ 1264 CAN_RX_VEHICLE_SPEED_DIRECTION 1 "Reverse" 0 "Forward" ; +VAL_ 1264 CAN_RX_STEERING_VALIDITY 1 "True" 0 "False" ; +VAL_ 1264 CAN_RX_STEERING_ANGLE_SIGN 1 "Right Clockwise" 0 "Left CounterClockwise" ; +VAL_ 1264 CAN_RX_STEERING_ANGLE_RATE_SIGN 1 "Right Clockwise" 0 "Left CounterClockwise" ; + diff --git a/opendbc_repo/opendbc/dbc/FORD_CADS.dbc b/opendbc_repo/opendbc/dbc/FORD_CADS.dbc new file mode 100644 index 0000000000..aab4b8d282 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/FORD_CADS.dbc @@ -0,0 +1,3544 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: +BU_: MRR +BO_ 1073741824 VECTOR__INDEPENDENT_SIG_MSG: 0 Vector__XXX + SG_ New_Signal_943 : 0|8@1+ (1,0) [0|0] "" Vector__XXX + SG_ CAN_SENSOR_VANGLE_OFFSET : 0|8@0+ (0.0625,-8) [-8|7.9375] "deg" Vector__XXX + SG_ CAN_SENSOR_FOV_VER : 0|8@0+ (1,0) [0|255] "deg" Vector__XXX + SG_ CAN_AUTO_ALIGN_VANGLE_QF : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_AUTO_ALIGN_VANGLE_REF : 0|10@0+ (0.03125,-10) [-10|21.9688] "deg" Vector__XXX + SG_ CAN_AUTO_ALIGN_VANGLE : 0|10@0+ (0.03125,-10) [-10|21.9688] "deg" Vector__XXX + SG_ CAN_MMIC_Temp4 : 0|8@0+ (1,-50) [-50|205] "C" Vector__XXX + SG_ CAN_MMIC_Temp3 : 0|8@0+ (1,-50) [-50|205] "C" Vector__XXX + SG_ CAN_MMIC_Temp2 : 0|8@0+ (1,-50) [-50|205] "C" Vector__XXX + SG_ CAN_Processor_Temp2 : 0|8@0+ (1,-50) [-50|205] "C" Vector__XXX + SG_ CAN_CHECKSUM : 0|8@0+ (1,0) [0|255] "" Vector__XXX + SG_ CAN_COUNTER : 0|4@0+ (1,0) [0|15] "" Vector__XXX + SG_ CAN_VEHICLE_MODE : 0|4@0+ (1,0) [0|15] "" Vector__XXX + SG_ CAN_USC_CAL_VER_MAJOR : 0|16@0+ (1,0) [0|65535] "" Vector__XXX + SG_ CAN_USC_CAL_VER_MINOR : 0|16@0+ (1,0) [0|65535] "" Vector__XXX + SG_ CAN_SMC_CAL_VER_MAJOR : 0|16@0+ (1,0) [0|65535] "" Vector__XXX + SG_ CAN_HW_VERSION : 0|32@0+ (1,0) [0|4.29497e+09] "" Vector__XXX + SG_ CAN_FAC_TGT_MTG_SPACE_VER : 0|8@0+ (1,-128) [-128|127] "cm" Vector__XXX + SG_ CAN_ANGLE_MISALIGNMENT_VER : 0|10@0+ (0.03125,-10) [-10|21.9688] "deg" Vector__XXX + SG_ CAN_ANGLE_MOUNTING_VOFFSET : 0|8@0+ (0.0625,-8) [-8|7.9375] "deg" Vector__XXX + SG_ CAN_LATCH_FAULTS : 0|64@0+ (1,0) [0|100] "" Vector__XXX + SG_ CAN_ACTIVE_FAULTS : 0|64@0+ (1,0) [0|1.84467e+19] "" Vector__XXX + SG_ CAN_HISTORY_FAULTS : 0|64@0+ (1,0) [0|1.84467e+19] "" Vector__XXX + SG_ CAN_SERV_ALIGN_ENABLE : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_LONG_MOUNTING_OFFSET : 0|8@0+ (0.015625,-2) [-2|1.98438] "" Vector__XXX + SG_ CAN_BEAMWIDTH_VERT : 0|7@0+ (0.125,0) [0|15.875] "deg" Vector__XXX + SG_ CAN_VEHICLE_SPEED_CALC_QF : 0|2@0+ (1,0) [0|3] "" Vector__XXX + +BO_ 34 Active_Fault_Latched_2: 8 MRR + SG_ IPMA_PCAN_DataRangeCheck : 4|1@1+ (1,0) [0|1] "" External_Tool + SG_ IPMA_PCAN_MissingMsg : 3|1@1+ (1,0) [0|1] "" External_Tool + SG_ VINSignalCompareFailure : 2|1@1+ (1,0) [0|1] "" External_Tool + SG_ ModuleNotConfiguredError : 1|1@1+ (1,0) [0|1] "" External_Tool + SG_ CarCfgNotConfiguredError : 0|1@1+ (1,0) [0|1] "" External_Tool + +BO_ 33 Active_Fault_Latched_1: 8 MRR + SG_ Active_Flt_Latched_byte7_bit7 : 63|1@1+ (1,0) [0|1] "" External_Tool + SG_ Active_Flt_Latched_byte7_bit6 : 62|1@1+ (1,0) [0|1] "" External_Tool + SG_ Active_Flt_Latched_byte7_bit5 : 61|1@1+ (1,0) [0|1] "" External_Tool + SG_ Active_Flt_Latched_byte7_bit4 : 60|1@1+ (1,0) [0|1] "" External_Tool + SG_ ARMtoDSPChksumFault : 59|1@1+ (1,0) [0|1] "" External_Tool + SG_ DSPtoArmChksumFault : 58|1@1+ (1,0) [0|1] "" External_Tool + SG_ HostToArmChksumFault : 57|1@1+ (1,0) [0|1] "" External_Tool + SG_ ARMtoHostChksumFault : 56|1@1+ (1,0) [0|1] "" External_Tool + SG_ LoopBWOutOfRange : 55|1@1+ (1,0) [0|1] "" External_Tool + SG_ DSPOverrunFault : 54|1@1+ (1,0) [0|1] "" External_Tool + SG_ Active_Flt_Latched_byte6_bit5 : 53|1@1+ (1,0) [0|1] "" External_Tool + SG_ TuningSensitivityFault : 52|1@1+ (1,0) [0|1] "" External_Tool + SG_ SaturatedTuningFreqFault : 51|1@1+ (1,0) [0|1] "" External_Tool + SG_ LocalOscPowerFault : 50|1@1+ (1,0) [0|1] "" External_Tool + SG_ TransmitterPowerFault : 49|1@1+ (1,0) [0|1] "" External_Tool + SG_ Active_Flt_Latched_byte6_bit0 : 48|1@1+ (1,0) [0|1] "" External_Tool + SG_ Active_Flt_Latched_byte5_bit7 : 47|1@1+ (1,0) [0|1] "" External_Tool + SG_ Active_Flt_Latched_byte5_bit6 : 46|1@1+ (1,0) [0|1] "" External_Tool + SG_ XCVRDeviceSPIFault : 45|1@1+ (1,0) [0|1] "" External_Tool + SG_ FreqSynthesizerSPIFault : 44|1@1+ (1,0) [0|1] "" External_Tool + SG_ AnalogConverterDevicSPIFault : 43|1@1+ (1,0) [0|1] "" External_Tool + SG_ SidelobeBlockage : 42|1@1+ (1,0) [0|1] "" External_Tool + SG_ Active_Flt_Latched_byte5_bit1 : 41|1@1+ (1,0) [0|1] "" External_Tool + SG_ MNRBlocked : 40|1@1+ (1,0) [0|1] "" External_Tool + SG_ ECUTempHighFault : 39|1@1+ (1,0) [0|1] "" External_Tool + SG_ TransmitterTempHighFault : 38|1@1+ (1,0) [0|1] "" External_Tool + SG_ AlignmentRoutineFailedFault : 37|1@1+ (1,0) [0|1] "" External_Tool + SG_ UnreasonableRadarData : 36|1@1+ (1,0) [0|1] "" External_Tool + SG_ MicroprocessorTempHighFault : 35|1@1+ (1,0) [0|1] "" External_Tool + SG_ VerticalAlignmentOutOfRange : 34|1@1+ (1,0) [0|1] "" External_Tool + SG_ HorizontalAlignmentOutOfRange : 33|1@1+ (1,0) [0|1] "" External_Tool + SG_ FactoryAlignmentMode : 32|1@1+ (1,0) [0|1] "" External_Tool + SG_ BatteryLowFault : 31|1@1+ (1,0) [0|1] "" External_Tool + SG_ BatteryHighFault : 30|1@1+ (1,0) [0|1] "" External_Tool + SG_ v_1p25SupplyOutOfRange : 29|1@1+ (1,0) [0|1] "" External_Tool + SG_ Active_Flt_Latched_byte3_bit4 : 28|1@1+ (1,0) [0|1] "" External_Tool + SG_ ThermistorOutOfRange : 27|1@1+ (1,0) [0|1] "" External_Tool + SG_ v_3p3DACSupplyOutOfRange : 26|1@1+ (1,0) [0|1] "" External_Tool + SG_ v_3p3RAWSupplyOutOfRange : 25|1@1+ (1,0) [0|1] "" External_Tool + SG_ v_5_SupplyOutOfRange : 24|1@1+ (1,0) [0|1] "" External_Tool + SG_ TransmitterIDFault : 23|1@1+ (1,0) [0|1] "" External_Tool + SG_ Active_Flt_Latched_byte2_bit6 : 22|1@1+ (1,0) [0|1] "" External_Tool + SG_ Active_Flt_Latched_byte2_bit5 : 21|1@1+ (1,0) [0|1] "" External_Tool + SG_ Active_Flt_Latched_byte2_bit4 : 20|1@1+ (1,0) [0|1] "" External_Tool + SG_ Active_Flt_Latched_byte2_bit3 : 19|1@1+ (1,0) [0|1] "" External_Tool + SG_ Active_Flt_Latched_byte2_bit2 : 18|1@1+ (1,0) [0|1] "" External_Tool + SG_ PCANMissingMsgFault : 17|1@1+ (1,0) [0|1] "" External_Tool + SG_ PCANBusOff : 16|1@1+ (1,0) [0|1] "" External_Tool + SG_ Active_Flt_Latched_byte1_bit7 : 15|1@1+ (1,0) [0|1] "" External_Tool + SG_ Active_Flt_Latched_byte1_bit6 : 14|1@1+ (1,0) [0|1] "" External_Tool + SG_ InstructionSetCheckFault : 13|1@1+ (1,0) [0|1] "" External_Tool + SG_ StackOverflowFault : 12|1@1+ (1,0) [0|1] "" External_Tool + SG_ WatchdogFault : 11|1@1+ (1,0) [0|1] "" External_Tool + SG_ PLLLockFault : 10|1@1+ (1,0) [0|1] "" External_Tool + SG_ Active_Flt_Latched_byte1_bit1 : 9|1@1+ (1,0) [0|1] "" External_Tool + SG_ RAMMemoryTestFault : 8|1@1+ (1,0) [0|1] "" External_Tool + SG_ USCValidationFault : 7|1@1+ (1,0) [0|1] "" External_Tool + SG_ Active_Flt_Latched_byte0_bit6 : 6|1@1+ (1,0) [0|1] "" External_Tool + SG_ Active_Flt_Latched_byte0_bit5 : 5|1@1+ (1,0) [0|1] "" External_Tool + SG_ Active_Flt_Latched_byte0_bit4 : 4|1@1+ (1,0) [0|1] "" External_Tool + SG_ Active_Flt_Latched_byte0_bit3 : 3|1@1+ (1,0) [0|1] "" External_Tool + SG_ KeepAliveChecksumFault : 2|1@1+ (1,0) [0|1] "" External_Tool + SG_ ProgramCalibrationFlashChecksum : 1|1@1+ (1,0) [0|1] "" External_Tool + SG_ ApplicationFlashChecksumFault : 0|1@1+ (1,0) [0|1] "" External_Tool + +BO_ 500 XCP_MRR_DAQ_RESP: 8 MRR + SG_ MRR_xcp_daq_resp_byte7 : 63|8@0+ (1,0) [0|255] "" External_Tool + SG_ MRR_xcp_daq_resp_byte6 : 55|8@0+ (1,0) [0|255] "" External_Tool + SG_ MRR_xcp_daq_resp_byte5 : 47|8@0+ (1,0) [0|255] "" External_Tool + SG_ MRR_xcp_daq_resp_byte4 : 39|8@0+ (1,0) [0|255] "" External_Tool + SG_ MRR_xcp_daq_resp_byte3 : 31|8@0+ (1,0) [0|255] "" External_Tool + SG_ MRR_xcp_daq_resp_byte2 : 23|8@0+ (1,0) [0|255] "" External_Tool + SG_ MRR_xcp_daq_resp_byte1 : 15|8@0+ (1,0) [0|255] "" External_Tool + SG_ MRR_xcp_daq_resp_byte0 : 7|8@0+ (1,0) [0|255] "" External_Tool + +BO_ 499 XCP_MRR_DTO_RESP: 8 MRR + SG_ MRR_xcp_dto_resp_byte7 : 63|8@0+ (1,0) [0|255] "" External_Tool + SG_ MRR_xcp_dto_resp_byte6 : 55|8@0+ (1,0) [0|255] "" External_Tool + SG_ MRR_xcp_dto_resp_byte5 : 47|8@0+ (1,0) [0|255] "" External_Tool + SG_ MRR_xcp_dto_resp_byte4 : 39|8@0+ (1,0) [0|255] "" External_Tool + SG_ MRR_xcp_dto_resp_byte3 : 31|8@0+ (1,0) [0|255] "" External_Tool + SG_ MRR_xcp_dto_resp_byte2 : 23|8@0+ (1,0) [0|255] "" External_Tool + SG_ MRR_xcp_dto_resp_byte1 : 15|8@0+ (1,0) [0|255] "" External_Tool + SG_ MRR_xcp_dto_resp_byte0 : 7|8@0+ (1,0) [0|255] "" External_Tool + +BO_ 497 XCP_MRR_CTO_RESP: 8 MRR + SG_ MRR_xcp_cto_resp_byte7 : 63|8@0+ (1,0) [0|255] "" External_Tool + SG_ MRR_xcp_cto_resp_byte6 : 55|8@0+ (1,0) [0|255] "" External_Tool + SG_ MRR_xcp_cto_resp_byte5 : 47|8@0+ (1,0) [0|255] "" External_Tool + SG_ MRR_xcp_cto_resp_byte4 : 39|8@0+ (1,0) [0|255] "" External_Tool + SG_ MRR_xcp_cto_resp_byte3 : 31|8@0+ (1,0) [0|255] "" External_Tool + SG_ MRR_xcp_cto_resp_byte2 : 23|8@0+ (1,0) [0|255] "" External_Tool + SG_ MRR_xcp_cto_resp_byte1 : 15|8@0+ (1,0) [0|255] "" External_Tool + SG_ MRR_xcp_cto_resp_byte0 : 7|8@0+ (1,0) [0|255] "" External_Tool + +BO_ 1900 Ford_Diag_Resp_Phys: 8 MRR + SG_ TesterPhysicalResCCM : 7|64@0+ (1,0) [0|1.84467e+19] "" IFV_Host + +BO_ 261 MRR_Status_SerialNumber: 8 MRR + SG_ CAN_SEQUENCE_NUMBER : 55|16@0+ (1,0) [0|65535] "" External_Tool + SG_ CAN_SERIAL_NUMBER : 7|40@0+ (1,0) [0|1.09951e+12] "" External_Tool + +BO_ 264 MRR_Status_SwVersion: 8 MRR + SG_ CAN_PBL_Field_Revision : 47|8@0+ (1,0) [0|255] "" External_Tool + SG_ CAN_PBL_Promote_Revision : 39|8@0+ (1,0) [0|255] "" External_Tool + SG_ CAN_SW_Field_Revision : 23|8@0+ (1,0) [0|255] "" External_Tool + SG_ CAN_SW_Promote_Revision : 15|8@0+ (1,0) [0|255] "" External_Tool + SG_ CAN_SW_Release_Revision : 7|8@0+ (1,0) [0|255] "" External_Tool + SG_ CAN_PBL_Release_Revision : 31|8@0+ (1,0) [0|255] "" External_Tool + +BO_ 373 MRR_Header_SensorPosition: 8 MRR + SG_ CAN_SENSOR_POLARITY : 55|1@0+ (1,0) [0|1] "" External_Tool + SG_ CAN_SENSOR_LAT_OFFSET : 39|16@0+ (0.01,0) [0|655.35] "cm" External_Tool + SG_ CAN_SENSOR_LONG_OFFSET : 23|16@0+ (0.01,0) [0|655.35] "cm" External_Tool + SG_ CAN_SENSOR_HANGLE_OFFSET : 7|8@0+ (0.0625,-8) [-8|7.9375] "deg" External_Tool + +BO_ 372 MRR_Header_SensorCoverage: 8 MRR + SG_ CAN_SENSOR_FOV_HOR : 39|8@0+ (1,0) [0|255] "deg" IFV_VFP + SG_ CAN_DOPPLER_COVERAGE : 23|8@0+ (1,-128) [-128|127] "m/s" IFV_VFP + SG_ CAN_RANGE_COVERAGE : 7|8@0+ (1,0) [0|255] "m" IFV_VFP + +BO_ 371 MRR_Header_AlignmentState: 8 MRR + SG_ CAN_AUTO_ALIGN_HANGLE_QF : 13|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_ALIGNMENT_STATUS : 51|4@0+ (1,0) [0|11] "" IFV_VFP + SG_ CAN_ALIGNMENT_STATE : 55|3@0+ (1,0) [0|7] "" IFV_VFP + SG_ CAN_AUTO_ALIGN_HANGLE_REF : 11|10@0+ (0.000341218,-0.174533) [-0.174533|0.174533] "rad" IFV_VFP + SG_ CAN_AUTO_ALIGN_HANGLE : 7|10@0+ (0.000341218,-0.174533) [-0.174533|0.174533] "rad" IFV_VFP + +BO_ 369 MRR_Header_Timestamps: 8 MRR + SG_ CAN_DET_TIME_SINCE_MEAS : 39|11@0+ (0.1,0) [0|204.7] "ms" IFV_Host + SG_ CAN_SENSOR_TIME_STAMP : 7|32@0+ (0.1,0) [0|4.29497e+08] "ms" IFV_VFP + +BO_ 368 MRR_Header_InformationDetections: 8 MRR + SG_ CAN_ALIGN_UPDATES_DONE : 55|16@0+ (1,0) [0|65535] "" IFV_VFP + SG_ CAN_SCAN_INDEX : 31|16@0+ (1,0) [0|65535] "" IFV_VFP + SG_ CAN_NUMBER_OF_DET : 47|8@0+ (1,0) [0|255] "" External_Tool + SG_ CAN_LOOK_ID : 23|2@0+ (1,0) [0|3] "" External_Tool + SG_ CAN_LOOK_INDEX : 7|16@0+ (1,0) [0|65535] "" External_Tool + +BO_ 265 MRR_Status_Temp_Volt: 8 MRR + SG_ CAN_BATT_VOLTS : 63|8@0+ (0.08,0) [0|20.4] "V" External_Tool + SG_ CAN_1_25_V : 55|8@0+ (0.08,0) [0|20.4] "V" External_Tool + SG_ CAN_5_V : 47|8@0+ (0.08,0) [0|20.4] "V" External_Tool + SG_ CAN_3_3_V_RAW : 31|8@0+ (0.08,0) [0|20.4] "V" External_Tool + SG_ CAN_3_3_V_DAC : 15|8@0+ (0.08,0) [0|20.4] "V" External_Tool + SG_ CAN_MMIC_Temp1 : 39|8@0+ (1,-50) [-50|205] "C" External_Tool + SG_ CAN_Processor_Thermistor : 23|8@0+ (1,-50) [-50|205] "C" External_Tool + SG_ CAN_Processor_Temp1 : 7|8@0+ (1,-50) [-50|205] "C" External_Tool + +BO_ 291 MRR_Detection_004: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_04 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_04 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_04 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_04 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_04 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_04 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_04 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_04 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_04 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_04 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 351 MRR_Detection_064: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_64 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_64 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_64 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_64 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_64 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_64 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_64 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_64 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_64 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_64 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 350 MRR_Detection_063: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_63 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_63 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_63 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_63 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_63 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_63 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_63 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_63 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_63 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_63 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 349 MRR_Detection_062: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_62 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_62 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_62 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_62 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_62 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_62 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_62 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_62 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_62 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_62 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 348 MRR_Detection_061: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_61 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_61 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_61 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_61 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_61 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_61 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_61 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_61 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_61 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_61 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 347 MRR_Detection_060: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_60 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_60 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_60 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_60 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_60 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_60 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_60 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_60 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_60 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_60 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 346 MRR_Detection_059: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_59 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_59 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_59 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_59 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_59 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_59 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_59 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_59 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_59 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_59 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 345 MRR_Detection_058: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_58 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_58 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_58 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_58 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_58 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_58 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_58 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_58 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_58 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_58 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 344 MRR_Detection_057: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_57 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_57 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_57 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_57 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_57 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_57 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_57 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_57 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_57 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_57 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 343 MRR_Detection_056: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_56 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_56 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_56 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_56 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_56 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_56 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_56 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_56 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_56 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_56 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 342 MRR_Detection_055: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_55 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_55 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_55 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_55 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_55 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_55 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_55 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_55 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_55 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_55 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 335 MRR_Detection_048: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_48 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_48 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_48 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_48 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_48 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_48 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_48 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_48 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_48 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_48 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 334 MRR_Detection_047: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_47 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_47 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_47 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_47 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_47 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_47 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_47 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_47 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_47 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_47 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 333 MRR_Detection_046: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_46 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_46 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_46 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_46 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_46 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_46 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_46 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_46 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_46 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_46 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 332 MRR_Detection_045: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_45 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_45 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_45 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_45 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_45 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_45 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_45 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_45 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_45 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_45 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 331 MRR_Detection_044: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_44 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_44 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_44 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_44 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_44 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_44 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_44 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_44 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_44 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_44 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 330 MRR_Detection_043: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_43 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_43 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_43 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_43 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_43 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_43 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_43 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_43 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_43 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_43 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 329 MRR_Detection_042: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_42 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_42 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_42 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_42 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_42 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_42 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_42 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_42 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_42 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_42 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 328 MRR_Detection_041: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_41 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_41 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_41 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_41 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_41 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_41 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_41 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_41 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_41 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_41 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 327 MRR_Detection_040: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_40 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_40 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_40 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_40 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_40 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_40 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_40 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_40 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_40 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_40 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 325 MRR_Detection_038: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_38 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_38 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_38 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_38 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_38 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_38 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_38 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_38 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_38 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_38 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 324 MRR_Detection_037: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_37 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_37 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_37 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_37 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_37 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_37 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_37 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_37 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_37 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_37 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 323 MRR_Detection_036: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_36 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_36 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_36 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_36 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_36 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_36 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_36 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_36 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_36 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_36 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 322 MRR_Detection_035: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_35 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_35 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_35 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_35 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_35 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_35 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_35 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_35 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_35 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_35 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 321 MRR_Detection_034: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_34 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_34 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_34 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_34 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_34 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_34 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_34 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_34 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_34 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_34 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 320 MRR_Detection_033: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_33 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_33 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_33 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_33 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_33 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_33 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_33 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_33 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_33 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_33 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 319 MRR_Detection_032: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_32 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_32 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_32 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_32 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_32 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_32 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_32 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_32 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_32 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_32 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 318 MRR_Detection_031: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_31 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_31 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_31 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_31 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_31 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_31 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_31 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_31 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_31 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_31 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 317 MRR_Detection_030: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_30 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_30 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_30 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_30 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_30 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_30 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_30 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_30 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_30 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_30 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 316 MRR_Detection_029: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_29 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_29 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_29 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_29 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_29 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_29 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_29 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_29 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_29 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_29 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 314 MRR_Detection_027: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_27 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_27 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_27 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_27 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_27 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_27 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_27 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_27 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_27 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_27 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 313 MRR_Detection_026: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_26 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_26 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_26 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_26 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_26 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_26 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_26 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_26 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_26 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_26 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 312 MRR_Detection_025: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_25 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_25 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_25 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_25 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_25 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_25 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_25 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_25 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_25 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_25 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 311 MRR_Detection_024: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_24 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_24 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_24 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_24 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_24 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_24 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_24 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_24 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_24 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_24 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 310 MRR_Detection_023: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_23 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_23 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_23 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_23 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_23 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_23 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_23 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_23 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_23 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_23 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 309 MRR_Detection_022: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_22 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_22 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_22 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_22 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_22 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_22 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_22 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_22 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_22 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_22 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 308 MRR_Detection_021: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_21 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_21 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_21 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_21 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_21 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_21 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_21 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_21 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_21 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_21 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 307 MRR_Detection_020: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_20 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_20 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_20 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_20 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_20 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_20 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_20 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_20 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_20 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_20 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 306 MRR_Detection_019: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_19 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_19 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_19 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_19 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_19 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_19 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_19 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_19 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_19 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_19 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 305 MRR_Detection_018: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_18 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_18 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_18 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_18 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_18 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_18 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_18 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_18 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_18 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_18 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 341 MRR_Detection_054: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_54 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_54 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_54 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_54 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_54 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_54 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_54 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_54 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_54 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_54 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 340 MRR_Detection_053: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_53 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_53 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_53 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_53 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_53 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_53 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_53 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_53 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_53 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_53 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 339 MRR_Detection_052: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_52 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_52 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_52 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_52 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_52 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_52 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_52 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_52 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_52 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_52 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 338 MRR_Detection_051: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_51 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_51 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_51 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_51 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_51 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_51 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_51 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_51 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_51 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_51 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 337 MRR_Detection_050: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_50 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_50 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_50 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_50 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_50 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_50 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_50 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_50 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_50 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_50 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 336 MRR_Detection_049: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_49 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_49 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_49 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_49 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_49 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_49 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_49 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_49 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_49 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_49 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 326 MRR_Detection_039: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_39 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_39 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_39 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_39 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_39 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_39 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_39 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_39 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_39 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_39 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 315 MRR_Detection_028: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_28 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_28 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_28 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_28 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_28 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_28 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_28 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_28 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_28 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_28 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 304 MRR_Detection_017: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_17 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_17 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_17 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_17 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_17 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_17 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_17 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_17 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_17 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_17 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 303 MRR_Detection_016: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_16 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_16 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_16 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_16 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_16 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_16 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_16 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_16 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_16 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_16 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 302 MRR_Detection_015: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_15 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_15 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_15 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_15 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_15 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_15 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_15 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_15 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_15 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_15 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 301 MRR_Detection_014: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_14 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_14 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_14 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_14 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_14 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_14 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_14 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_14 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_14 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_14 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 300 MRR_Detection_013: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_13 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_13 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_13 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_13 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_13 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_13 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_13 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_13 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_13 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_13 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 299 MRR_Detection_012: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_12 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_12 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_12 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_12 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_12 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_12 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_12 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_12 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_12 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_12 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 298 MRR_Detection_011: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_11 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_11 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_11 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_11 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_11 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_11 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_11 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_11 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_11 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_11 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 297 MRR_Detection_010: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_10 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_10 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_10 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_10 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_10 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_10 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_10 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_10 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_10 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_10 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 296 MRR_Detection_009: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_09 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_09 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_09 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_09 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_09 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_09 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_09 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_09 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_09 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_09 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 295 MRR_Detection_008: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_08 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_08 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_08 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_08 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_08 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_08 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_08 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_08 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_08 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_08 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 294 MRR_Detection_007: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_07 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_07 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_07 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_07 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_07 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_07 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_07 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_07 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_07 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_07 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 293 MRR_Detection_006: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_06 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_06 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_06 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_06 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_06 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_06 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_06 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_06 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_06 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_06 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 292 MRR_Detection_005: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_05 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_05 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_05 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_05 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_05 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_05 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_05 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_05 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_05 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_05 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 290 MRR_Detection_003: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_03 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_03 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_03 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_03 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_03 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_03 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_03 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_03 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_03 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_03 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 289 MRR_Detection_002: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_02 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_02 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_02 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_02 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_02 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_02 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_02 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_02 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_02 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_02 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 256 MRR_Status_CANVersion: 8 MRR + SG_ CAN_USC_SECTION_COMPATIBILITY : 23|16@0+ (1,0) [0|65535] "" External_Tool + SG_ CAN_PCAN_MINOR_MRR : 7|8@0+ (1,0) [0|255] "" IFV_VFP + SG_ CAN_PCAN_MAJOR_MRR : 15|8@0+ (1,0) [0|255] "" IFV_VFP + +BO_ 257 MRR_Status_Radar: 8 MRR + SG_ CAN_INTERFERENCE_TYPE : 11|2@0+ (1,0) [0|3] "" IFV_Host + SG_ CAN_RECOMMEND_UNCONVERGE : 9|1@0+ (1,0) [0|1] "" IFV_Host + SG_ CAN_BLOCKAGE_SIDELOBE_FILTER_VAL : 15|4@0+ (1,0) [0|15] "" IFV_Host + SG_ CAN_RADAR_ALIGN_INCOMPLETE : 8|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_BLOCKAGE_SIDELOBE : 4|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_BLOCKAGE_MNR : 5|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_RADAR_EXT_COND_NOK : 1|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_RADAR_ALIGN_OUT_RANGE : 2|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_RADAR_ALIGN_NOT_START : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_RADAR_OVERHEAT_ERROR : 3|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_RADAR_NOT_OP : 6|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_XCVR_OPERATIONAL : 7|1@0+ (1,0) [0|1] "" IFV_VFP + +BO_ 288 MRR_Detection_001: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_01 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_01 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_01 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_01 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_01 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_01 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_01 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_01 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_01 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_01 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BA_DEF_ SG_ "CrossOver_InfoCAN" ENUM "No","Yes"; +BA_DEF_ SG_ "CrossOver_LIN" ENUM "No","Yes","No","Yes"; +BA_DEF_ SG_ "UsedOnPgmDBC" ENUM "No","Yes","No","Yes","No","Yes"; +BA_DEF_ SG_ "ContentDependant" ENUM "No","Yes","No","Yes","No","Yes","No","Yes"; +BA_DEF_ SG_ "GenSigTimeoutTime_RCM" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_GWM" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_OCS" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_ABS_ESC" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_CCM" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_IPMA" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_TSTR" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_SCCM" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_PSCM" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime__delete" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_Generic_BCM" INT 0 100000; +BA_DEF_ BO_ "NmMessage" ENUM "No","Yes","No","Yes","No","Yes","No","Yes","No","Yes"; +BA_DEF_ BO_ "DiagResponse" ENUM "No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes"; +BA_DEF_ BO_ "DiagRequest" ENUM "No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes"; +BA_DEF_ BO_ "TpTxIndex" INT 0 255; +BA_DEF_ BO_ "DiagState" ENUM "No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes"; +BA_DEF_ BO_ "TpApplType" STRING ; +BA_DEF_ BO_ "NmAsrMessage" ENUM "No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes"; +BA_DEF_ BO_ "Mulitplexer" ENUM "No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes"; +BA_DEF_ BO_ "ConfiguredTransmitter" ENUM "No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes"; +BA_DEF_ BO_ "EventRateOfChange" INT 10 10000; +BA_DEF_ BO_ "GenMsgHandlingTypeDoc" STRING ; +BA_DEF_ BO_ "GenMsgHandlingTypeCode" STRING ; +BA_DEF_ BO_ "GenMsgMarked" STRING ; +BA_DEF_ SG_ "GenSigMarked" STRING ; +BA_DEF_ SG_ "GenSigVtIndex" STRING ; +BA_DEF_ SG_ "GenSigVtName" STRING ; +BA_DEF_ SG_ "GenSigVtEn" STRING ; +BA_DEF_ SG_ "GenSigSNA" STRING ; +BA_DEF_ SG_ "GenSigCmt" STRING ; +BA_DEF_ BO_ "GenMsgCmt" STRING ; +BA_DEF_ SG_ "GenSigSendType" ENUM "No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","Cyclic","OnWrite","vector_leerstring","OnChange","vector_leerstring","IfActive","vector_leerstring","NoSigSendType"; +BA_DEF_ SG_ "GenSigInactiveValue" INT 0 100000; +BA_DEF_ SG_ "GenSigMissingSourceValue" INT 0 1e+09; +BA_DEF_ SG_ "WakeupSignal" ENUM "No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","Cyclic","OnWrite","vector_leerstring","OnChange","vector_leerstring","IfActive","vector_leerstring","NoSigSendType","No","Yes"; +BA_DEF_ SG_ "GenSigStartValue" INT 0 1e+09; +BA_DEF_ BO_ "GenMsgILSupport" ENUM "No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","Cyclic","OnWrite","vector_leerstring","OnChange","vector_leerstring","IfActive","vector_leerstring","NoSigSendType","No","Yes","No","Yes"; +BA_DEF_ BO_ "NetworkInitializationCommand" ENUM "No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","Cyclic","OnWrite","vector_leerstring","OnChange","vector_leerstring","IfActive","vector_leerstring","NoSigSendType","No","Yes","No","Yes","No","Yes"; +BA_DEF_ BO_ "GenMsgSendType" ENUM "No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","Cyclic","OnWrite","vector_leerstring","OnChange","vector_leerstring","IfActive","vector_leerstring","NoSigSendType","No","Yes","No","Yes","No","Yes","FixedPeriodic","Event","EnabledPeriodic","NotUsed","NotUsed","EventPeriodic","NotUsed","NotUsed","NoMsgSendType"; +BA_DEF_ BO_ "GenMsgCycleTime" INT 0 100000; +BA_DEF_ BO_ "GenMsgCycleTimeFast" INT 0 100000; +BA_DEF_ BO_ "GenMsgDelayTime" INT 0 1000; +BA_DEF_ BO_ "GenMsgNrOfRepetition" INT 0 100; +BA_DEF_ BO_ "GenMsgStartDelayTime" INT 0 10000; +BA_DEF_ BO_ "NetworkInitialization" ENUM "No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","Cyclic","OnWrite","vector_leerstring","OnChange","vector_leerstring","IfActive","vector_leerstring","NoSigSendType","No","Yes","No","Yes","No","Yes","FixedPeriodic","Event","EnabledPeriodic","NotUsed","NotUsed","EventPeriodic","NotUsed","NotUsed","NoMsgSendType","No","Yes"; +BA_DEF_ BO_ "MessageGateway" ENUM "No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","Cyclic","OnWrite","vector_leerstring","OnChange","vector_leerstring","IfActive","vector_leerstring","NoSigSendType","No","Yes","No","Yes","No","Yes","FixedPeriodic","Event","EnabledPeriodic","NotUsed","NotUsed","EventPeriodic","NotUsed","NotUsed","NoMsgSendType","No","Yes","No","Yes"; +BA_DEF_ BU_ "ILUsed" ENUM "No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","Cyclic","OnWrite","vector_leerstring","OnChange","vector_leerstring","IfActive","vector_leerstring","NoSigSendType","No","Yes","No","Yes","No","Yes","FixedPeriodic","Event","EnabledPeriodic","NotUsed","NotUsed","EventPeriodic","NotUsed","NotUsed","NoMsgSendType","No","Yes","No","Yes","No","Yes"; +BA_DEF_ BU_ "NetworkInitializationUsed" ENUM "No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","Cyclic","OnWrite","vector_leerstring","OnChange","vector_leerstring","IfActive","vector_leerstring","NoSigSendType","No","Yes","No","Yes","No","Yes","FixedPeriodic","Event","EnabledPeriodic","NotUsed","NotUsed","EventPeriodic","NotUsed","NotUsed","NoMsgSendType","No","Yes","No","Yes","No","Yes","No","Yes"; +BA_DEF_ BU_ "PowerType" ENUM "No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","Cyclic","OnWrite","vector_leerstring","OnChange","vector_leerstring","IfActive","vector_leerstring","NoSigSendType","No","Yes","No","Yes","No","Yes","FixedPeriodic","Event","EnabledPeriodic","NotUsed","NotUsed","EventPeriodic","NotUsed","NotUsed","NoMsgSendType","No","Yes","No","Yes","No","Yes","No","Yes","Switched","Latched","Sleep","vector_leerstring","vector_leerstring"; +BA_DEF_ BU_ "NodeStartUpTime" INT 0 10000; +BA_DEF_ BU_ "NodeWakeUpTime" INT 0 10000; +BA_DEF_ BO_ "GenMsgBackgroundColor" STRING ; +BA_DEF_ BO_ "GenMsgForegroundColor" STRING ; +BA_ "GenMsgCycleTime" BO_ 34 1000; +BA_ "GenMsgSendType" BO_ 34 0; +BA_ "GenSigVtEn" SG_ 34 IPMA_PCAN_DataRangeCheck "IPMA_PCAN_DataRangeCheck"; +BA_ "GenSigVtName" SG_ 34 IPMA_PCAN_DataRangeCheck "IPMA_PCAN_DataRangeCheck"; +BA_ "GenSigVtEn" SG_ 34 IPMA_PCAN_MissingMsg "IPMA_PCAN_MissingMsg"; +BA_ "GenSigVtName" SG_ 34 IPMA_PCAN_MissingMsg "IPMA_PCAN_MissingMsg"; +BA_ "GenSigVtEn" SG_ 34 VINSignalCompareFailure "VINSignalCompareFailure"; +BA_ "GenSigVtName" SG_ 34 VINSignalCompareFailure "VINSignalCompareFailure"; +BA_ "GenSigVtEn" SG_ 34 ModuleNotConfiguredError "ModuleNotConfiguredError"; +BA_ "GenSigVtName" SG_ 34 ModuleNotConfiguredError "ModuleNotConfiguredError"; +BA_ "GenSigVtEn" SG_ 34 CarCfgNotConfiguredError "CarCfgNotConfiguredError"; +BA_ "GenSigVtName" SG_ 34 CarCfgNotConfiguredError "CarCfgNotConfiguredError"; +BA_ "GenMsgCycleTime" BO_ 33 1000; +BA_ "GenMsgSendType" BO_ 33 0; +BA_ "GenSigVtEn" SG_ 33 Active_Flt_Latched_byte7_bit7 "Active_Flt_Latched_byte7_bit7"; +BA_ "GenSigVtName" SG_ 33 Active_Flt_Latched_byte7_bit7 "Active_Flt_Latched_byte7_bit7"; +BA_ "GenSigVtEn" SG_ 33 Active_Flt_Latched_byte7_bit6 "Active_Flt_Latched_byte7_bit6"; +BA_ "GenSigVtName" SG_ 33 Active_Flt_Latched_byte7_bit6 "Active_Flt_Latched_byte7_bit6"; +BA_ "GenSigVtEn" SG_ 33 Active_Flt_Latched_byte7_bit5 "Active_Flt_Latched_byte7_bit5"; +BA_ "GenSigVtName" SG_ 33 Active_Flt_Latched_byte7_bit5 "Active_Flt_Latched_byte7_bit5"; +BA_ "GenSigVtEn" SG_ 33 Active_Flt_Latched_byte7_bit4 "Active_Flt_Latched_byte7_bit4"; +BA_ "GenSigVtName" SG_ 33 Active_Flt_Latched_byte7_bit4 "Active_Flt_Latched_byte7_bit4"; +BA_ "GenSigVtEn" SG_ 33 ARMtoDSPChksumFault "ARMtoDSPChksumFault"; +BA_ "GenSigVtName" SG_ 33 ARMtoDSPChksumFault "ARMtoDSPChksumFault"; +BA_ "GenSigVtEn" SG_ 33 DSPtoArmChksumFault "DSPtoArmChksumFault"; +BA_ "GenSigVtName" SG_ 33 DSPtoArmChksumFault "DSPtoArmChksumFault"; +BA_ "GenSigVtEn" SG_ 33 HostToArmChksumFault "HostToArmChksumFault"; +BA_ "GenSigVtName" SG_ 33 HostToArmChksumFault "HostToArmChksumFault"; +BA_ "GenSigVtEn" SG_ 33 ARMtoHostChksumFault "ARMtoHostChksumFault"; +BA_ "GenSigVtName" SG_ 33 ARMtoHostChksumFault "ARMtoHostChksumFault"; +BA_ "GenSigVtEn" SG_ 33 LoopBWOutOfRange "LoopBWOutOfRange"; +BA_ "GenSigVtName" SG_ 33 LoopBWOutOfRange "LoopBWOutOfRange"; +BA_ "GenSigVtEn" SG_ 33 DSPOverrunFault "DSPOverrunFault"; +BA_ "GenSigVtName" SG_ 33 DSPOverrunFault "DSPOverrunFault"; +BA_ "GenSigVtEn" SG_ 33 Active_Flt_Latched_byte6_bit5 "Active_Flt_Latched_byte6_bit5"; +BA_ "GenSigVtName" SG_ 33 Active_Flt_Latched_byte6_bit5 "Active_Flt_Latched_byte6_bit5"; +BA_ "GenSigVtEn" SG_ 33 TuningSensitivityFault "TuningSensitivityFault"; +BA_ "GenSigVtName" SG_ 33 TuningSensitivityFault "TuningSensitivityFault"; +BA_ "GenSigVtEn" SG_ 33 SaturatedTuningFreqFault "SaturatedTuningFreqFault"; +BA_ "GenSigVtName" SG_ 33 SaturatedTuningFreqFault "SaturatedTuningFreqFault"; +BA_ "GenSigVtEn" SG_ 33 LocalOscPowerFault "LocalOscPowerFault"; +BA_ "GenSigVtName" SG_ 33 LocalOscPowerFault "LocalOscPowerFault"; +BA_ "GenSigVtEn" SG_ 33 TransmitterPowerFault "TransmitterPowerFault"; +BA_ "GenSigVtName" SG_ 33 TransmitterPowerFault "TransmitterPowerFault"; +BA_ "GenSigVtEn" SG_ 33 Active_Flt_Latched_byte6_bit0 "Active_Flt_Latched_byte6_bit0"; +BA_ "GenSigVtName" SG_ 33 Active_Flt_Latched_byte6_bit0 "Active_Flt_Latched_byte6_bit0"; +BA_ "GenSigVtEn" SG_ 33 Active_Flt_Latched_byte5_bit7 "Active_Flt_Latched_byte5_bit7"; +BA_ "GenSigVtName" SG_ 33 Active_Flt_Latched_byte5_bit7 "Active_Flt_Latched_byte5_bit7"; +BA_ "GenSigVtEn" SG_ 33 Active_Flt_Latched_byte5_bit6 "Active_Flt_Latched_byte5_bit6"; +BA_ "GenSigVtName" SG_ 33 Active_Flt_Latched_byte5_bit6 "Active_Flt_Latched_byte5_bit6"; +BA_ "GenSigVtEn" SG_ 33 XCVRDeviceSPIFault "XCVRDeviceSPIFault"; +BA_ "GenSigVtName" SG_ 33 XCVRDeviceSPIFault "XCVRDeviceSPIFault"; +BA_ "GenSigVtEn" SG_ 33 FreqSynthesizerSPIFault "FreqSynthesizerSPIFault"; +BA_ "GenSigVtName" SG_ 33 FreqSynthesizerSPIFault "FreqSynthesizerSPIFault"; +BA_ "GenSigVtEn" SG_ 33 AnalogConverterDevicSPIFault "AnalogConverterDevicSPIFault"; +BA_ "GenSigVtName" SG_ 33 AnalogConverterDevicSPIFault "AnalogConverterDevicSPIFault"; +BA_ "GenSigVtEn" SG_ 33 SidelobeBlockage "SidelobeBlockage"; +BA_ "GenSigVtName" SG_ 33 SidelobeBlockage "SidelobeBlockage"; +BA_ "GenSigVtEn" SG_ 33 Active_Flt_Latched_byte5_bit1 "Active_Flt_Latched_byte5_bit1"; +BA_ "GenSigVtName" SG_ 33 Active_Flt_Latched_byte5_bit1 "Active_Flt_Latched_byte5_bit1"; +BA_ "GenSigVtEn" SG_ 33 MNRBlocked "MNRBlocked"; +BA_ "GenSigVtName" SG_ 33 MNRBlocked "MNRBlocked"; +BA_ "GenSigVtEn" SG_ 33 ECUTempHighFault "ECUTempHighFault"; +BA_ "GenSigVtName" SG_ 33 ECUTempHighFault "ECUTempHighFault"; +BA_ "GenSigVtEn" SG_ 33 TransmitterTempHighFault "TransmitterTempHighFault"; +BA_ "GenSigVtName" SG_ 33 TransmitterTempHighFault "TransmitterTempHighFault"; +BA_ "GenSigVtEn" SG_ 33 AlignmentRoutineFailedFault "AlignmentRoutineFailedFault"; +BA_ "GenSigVtName" SG_ 33 AlignmentRoutineFailedFault "AlignmentRoutineFailedFault"; +BA_ "GenSigVtEn" SG_ 33 UnreasonableRadarData "UnreasonableRadarData"; +BA_ "GenSigVtName" SG_ 33 UnreasonableRadarData "UnreasonableRadarData"; +BA_ "GenSigVtEn" SG_ 33 MicroprocessorTempHighFault "MicroprocessorTempHighFault"; +BA_ "GenSigVtName" SG_ 33 MicroprocessorTempHighFault "MicroprocessorTempHighFault"; +BA_ "GenSigVtEn" SG_ 33 VerticalAlignmentOutOfRange "VerticalAlignmentOutOfRange"; +BA_ "GenSigVtName" SG_ 33 VerticalAlignmentOutOfRange "VerticalAlignmentOutOfRange"; +BA_ "GenSigVtEn" SG_ 33 HorizontalAlignmentOutOfRange "HorizontalAlignmentOutOfRange"; +BA_ "GenSigVtName" SG_ 33 HorizontalAlignmentOutOfRange "HorizontalAlignmentOutOfRange"; +BA_ "GenSigVtEn" SG_ 33 FactoryAlignmentMode "FactoryAlignmentMode"; +BA_ "GenSigVtName" SG_ 33 FactoryAlignmentMode "FactoryAlignmentMode"; +BA_ "GenSigVtEn" SG_ 33 BatteryLowFault "BatteryLowFault"; +BA_ "GenSigVtName" SG_ 33 BatteryLowFault "BatteryLowFault"; +BA_ "GenSigVtEn" SG_ 33 BatteryHighFault "BatteryHighFault"; +BA_ "GenSigVtName" SG_ 33 BatteryHighFault "BatteryHighFault"; +BA_ "GenSigVtEn" SG_ 33 v_1p25SupplyOutOfRange "v_1p25SupplyOutOfRange"; +BA_ "GenSigVtName" SG_ 33 v_1p25SupplyOutOfRange "v_1p25SupplyOutOfRange"; +BA_ "GenSigVtEn" SG_ 33 Active_Flt_Latched_byte3_bit4 "Active_Flt_Latched_byte3_bit4"; +BA_ "GenSigVtName" SG_ 33 Active_Flt_Latched_byte3_bit4 "Active_Flt_Latched_byte3_bit4"; +BA_ "GenSigVtEn" SG_ 33 ThermistorOutOfRange "ThermistorOutOfRange"; +BA_ "GenSigVtName" SG_ 33 ThermistorOutOfRange "ThermistorOutOfRange"; +BA_ "GenSigVtEn" SG_ 33 v_3p3DACSupplyOutOfRange "v_3p3DACSupplyOutOfRange"; +BA_ "GenSigVtName" SG_ 33 v_3p3DACSupplyOutOfRange "v_3p3DACSupplyOutOfRange"; +BA_ "GenSigVtEn" SG_ 33 v_3p3RAWSupplyOutOfRange "v_3p3RAWSupplyOutOfRange"; +BA_ "GenSigVtName" SG_ 33 v_3p3RAWSupplyOutOfRange "v_3p3RAWSupplyOutOfRange"; +BA_ "GenSigVtEn" SG_ 33 v_5_SupplyOutOfRange "v_5_SupplyOutOfRange"; +BA_ "GenSigVtName" SG_ 33 v_5_SupplyOutOfRange "v_5_SupplyOutOfRange"; +BA_ "GenSigVtEn" SG_ 33 TransmitterIDFault "TransmitterIDFault"; +BA_ "GenSigVtName" SG_ 33 TransmitterIDFault "TransmitterIDFault"; +BA_ "GenSigVtEn" SG_ 33 Active_Flt_Latched_byte2_bit6 "Active_Flt_Latched_byte2_bit6"; +BA_ "GenSigVtName" SG_ 33 Active_Flt_Latched_byte2_bit6 "Active_Flt_Latched_byte2_bit6"; +BA_ "GenSigVtEn" SG_ 33 Active_Flt_Latched_byte2_bit5 "Active_Flt_Latched_byte2_bit5"; +BA_ "GenSigVtName" SG_ 33 Active_Flt_Latched_byte2_bit5 "Active_Flt_Latched_byte2_bit5"; +BA_ "GenSigVtEn" SG_ 33 Active_Flt_Latched_byte2_bit4 "Active_Flt_Latched_byte2_bit4"; +BA_ "GenSigVtName" SG_ 33 Active_Flt_Latched_byte2_bit4 "Active_Flt_Latched_byte2_bit4"; +BA_ "GenSigVtEn" SG_ 33 Active_Flt_Latched_byte2_bit3 "Active_Flt_Latched_byte2_bit3"; +BA_ "GenSigVtName" SG_ 33 Active_Flt_Latched_byte2_bit3 "Active_Flt_Latched_byte2_bit3"; +BA_ "GenSigVtEn" SG_ 33 Active_Flt_Latched_byte2_bit2 "Active_Flt_Latched_byte2_bit2"; +BA_ "GenSigVtName" SG_ 33 Active_Flt_Latched_byte2_bit2 "Active_Flt_Latched_byte2_bit2"; +BA_ "GenSigVtEn" SG_ 33 PCANMissingMsgFault "PCANMissingMsgFault"; +BA_ "GenSigVtName" SG_ 33 PCANMissingMsgFault "PCANMissingMsgFault"; +BA_ "GenSigVtEn" SG_ 33 PCANBusOff "PCANBusOff"; +BA_ "GenSigVtName" SG_ 33 PCANBusOff "PCANBusOff"; +BA_ "GenSigVtEn" SG_ 33 Active_Flt_Latched_byte1_bit7 "Active_Flt_Latched_byte1_bit7"; +BA_ "GenSigVtName" SG_ 33 Active_Flt_Latched_byte1_bit7 "Active_Flt_Latched_byte1_bit7"; +BA_ "GenSigVtEn" SG_ 33 Active_Flt_Latched_byte1_bit6 "Active_Flt_Latched_byte1_bit6"; +BA_ "GenSigVtName" SG_ 33 Active_Flt_Latched_byte1_bit6 "Active_Flt_Latched_byte1_bit6"; +BA_ "GenSigVtEn" SG_ 33 InstructionSetCheckFault "InstructionSetCheckFault"; +BA_ "GenSigVtName" SG_ 33 InstructionSetCheckFault "InstructionSetCheckFault"; +BA_ "GenSigVtEn" SG_ 33 StackOverflowFault "StackOverflowFault"; +BA_ "GenSigVtName" SG_ 33 StackOverflowFault "StackOverflowFault"; +BA_ "GenSigVtEn" SG_ 33 WatchdogFault "WatchdogFault"; +BA_ "GenSigVtName" SG_ 33 WatchdogFault "WatchdogFault"; +BA_ "GenSigVtEn" SG_ 33 PLLLockFault "PLLLockFault"; +BA_ "GenSigVtName" SG_ 33 PLLLockFault "PLLLockFault"; +BA_ "GenSigVtEn" SG_ 33 Active_Flt_Latched_byte1_bit1 "Active_Flt_Latched_byte1_bit1"; +BA_ "GenSigVtName" SG_ 33 Active_Flt_Latched_byte1_bit1 "Active_Flt_Latched_byte1_bit1"; +BA_ "GenSigVtEn" SG_ 33 RAMMemoryTestFault "RAMMemoryTestFault"; +BA_ "GenSigVtName" SG_ 33 RAMMemoryTestFault "RAMMemoryTestFault"; +BA_ "GenSigVtName" SG_ 33 USCValidationFault "USCValidationFault"; +BA_ "GenSigVtEn" SG_ 33 USCValidationFault "USCValidationFault"; +BA_ "GenSigVtEn" SG_ 33 Active_Flt_Latched_byte0_bit6 "Active_Flt_Latched_byte0_bit6"; +BA_ "GenSigVtName" SG_ 33 Active_Flt_Latched_byte0_bit6 "Active_Flt_Latched_byte0_bit6"; +BA_ "GenSigVtEn" SG_ 33 Active_Flt_Latched_byte0_bit5 "Active_Flt_Latched_byte0_bit5"; +BA_ "GenSigVtName" SG_ 33 Active_Flt_Latched_byte0_bit5 "Active_Flt_Latched_byte0_bit5"; +BA_ "GenSigVtEn" SG_ 33 Active_Flt_Latched_byte0_bit4 "Active_Flt_Latched_byte0_bit4"; +BA_ "GenSigVtName" SG_ 33 Active_Flt_Latched_byte0_bit4 "Active_Flt_Latched_byte0_bit4"; +BA_ "GenSigVtEn" SG_ 33 Active_Flt_Latched_byte0_bit3 "Active_Flt_Latched_byte0_bit3"; +BA_ "GenSigVtName" SG_ 33 Active_Flt_Latched_byte0_bit3 "Active_Flt_Latched_byte0_bit3"; +BA_ "GenSigVtEn" SG_ 33 KeepAliveChecksumFault "KeepAliveChecksumFault"; +BA_ "GenSigVtName" SG_ 33 KeepAliveChecksumFault "KeepAliveChecksumFault"; +BA_ "GenSigVtEn" SG_ 33 ProgramCalibrationFlashChecksum "ProgramCalibrationFlashChecksum"; +BA_ "GenSigVtName" SG_ 33 ProgramCalibrationFlashChecksum "ProgramCalibrationFlashChecksum"; +BA_ "GenSigVtEn" SG_ 33 ApplicationFlashChecksumFault "ApplicationFlashChecksumFault"; +BA_ "GenSigVtName" SG_ 33 ApplicationFlashChecksumFault "ApplicationFlashChecksumFault"; +BA_ "GenMsgNrOfRepetition" BO_ 500 0; +BA_ "GenMsgSendType" BO_ 500 1; +BA_ "GenSigSendType" SG_ 500 MRR_xcp_daq_resp_byte7 0; +BA_ "GenSigCmt" SG_ 500 MRR_xcp_daq_resp_byte7 "MRR_xcp_daq_resp_byte7"; +BA_ "GenSigSendType" SG_ 500 MRR_xcp_daq_resp_byte6 0; +BA_ "GenSigCmt" SG_ 500 MRR_xcp_daq_resp_byte6 "MRR_xcp_daq_resp_byte6"; +BA_ "GenSigSendType" SG_ 500 MRR_xcp_daq_resp_byte5 0; +BA_ "GenSigCmt" SG_ 500 MRR_xcp_daq_resp_byte5 "MRR_xcp_daq_resp_byte5"; +BA_ "GenSigSendType" SG_ 500 MRR_xcp_daq_resp_byte4 0; +BA_ "GenSigCmt" SG_ 500 MRR_xcp_daq_resp_byte4 "MRR_xcp_daq_resp_byte4"; +BA_ "GenSigSendType" SG_ 500 MRR_xcp_daq_resp_byte3 0; +BA_ "GenSigCmt" SG_ 500 MRR_xcp_daq_resp_byte3 "MRR_xcp_daq_resp_byte3"; +BA_ "GenSigSendType" SG_ 500 MRR_xcp_daq_resp_byte2 0; +BA_ "GenSigCmt" SG_ 500 MRR_xcp_daq_resp_byte2 "MRR_xcp_daq_resp_byte2"; +BA_ "GenSigSendType" SG_ 500 MRR_xcp_daq_resp_byte1 0; +BA_ "GenSigCmt" SG_ 500 MRR_xcp_daq_resp_byte1 "MRR_xcp_daq_resp_byte1"; +BA_ "GenSigSendType" SG_ 500 MRR_xcp_daq_resp_byte0 0; +BA_ "GenSigCmt" SG_ 500 MRR_xcp_daq_resp_byte0 "MRR_xcp_daq_resp_byte0"; +BA_ "GenMsgNrOfRepetition" BO_ 499 0; +BA_ "GenMsgSendType" BO_ 499 1; +BA_ "GenSigSendType" SG_ 499 MRR_xcp_dto_resp_byte7 0; +BA_ "GenSigCmt" SG_ 499 MRR_xcp_dto_resp_byte7 "MRR_xcp_dto_resp_byte7"; +BA_ "GenSigSendType" SG_ 499 MRR_xcp_dto_resp_byte6 0; +BA_ "GenSigCmt" SG_ 499 MRR_xcp_dto_resp_byte6 "MRR_xcp_dto_resp_byte6"; +BA_ "GenSigSendType" SG_ 499 MRR_xcp_dto_resp_byte5 0; +BA_ "GenSigCmt" SG_ 499 MRR_xcp_dto_resp_byte5 "MRR_xcp_dto_resp_byte5"; +BA_ "GenSigSendType" SG_ 499 MRR_xcp_dto_resp_byte4 0; +BA_ "GenSigCmt" SG_ 499 MRR_xcp_dto_resp_byte4 "MRR_xcp_dto_resp_byte4"; +BA_ "GenSigSendType" SG_ 499 MRR_xcp_dto_resp_byte3 0; +BA_ "GenSigCmt" SG_ 499 MRR_xcp_dto_resp_byte3 "MRR_xcp_dto_resp_byte3"; +BA_ "GenSigSendType" SG_ 499 MRR_xcp_dto_resp_byte2 0; +BA_ "GenSigCmt" SG_ 499 MRR_xcp_dto_resp_byte2 "MRR_xcp_dto_resp_byte2"; +BA_ "GenSigSendType" SG_ 499 MRR_xcp_dto_resp_byte1 0; +BA_ "GenSigCmt" SG_ 499 MRR_xcp_dto_resp_byte1 "MRR_xcp_dto_resp_byte1"; +BA_ "GenSigSendType" SG_ 499 MRR_xcp_dto_resp_byte0 0; +BA_ "GenSigCmt" SG_ 499 MRR_xcp_dto_resp_byte0 "MRR_xcp_dto_resp_byte0"; +BA_ "GenMsgNrOfRepetition" BO_ 497 0; +BA_ "GenMsgSendType" BO_ 497 1; +BA_ "GenSigSendType" SG_ 497 MRR_xcp_cto_resp_byte7 0; +BA_ "GenSigCmt" SG_ 497 MRR_xcp_cto_resp_byte7 "MRR_xcp_cto_resp_byte7"; +BA_ "GenSigSendType" SG_ 497 MRR_xcp_cto_resp_byte6 0; +BA_ "GenSigCmt" SG_ 497 MRR_xcp_cto_resp_byte6 "MRR_xcp_cto_resp_byte6"; +BA_ "GenSigSendType" SG_ 497 MRR_xcp_cto_resp_byte5 0; +BA_ "GenSigCmt" SG_ 497 MRR_xcp_cto_resp_byte5 "MRR_xcp_cto_resp_byte5"; +BA_ "GenSigSendType" SG_ 497 MRR_xcp_cto_resp_byte4 0; +BA_ "GenSigCmt" SG_ 497 MRR_xcp_cto_resp_byte4 "MRR_xcp_cto_resp_byte4"; +BA_ "GenSigSendType" SG_ 497 MRR_xcp_cto_resp_byte3 0; +BA_ "GenSigCmt" SG_ 497 MRR_xcp_cto_resp_byte3 "MRR_xcp_cto_resp_byte3"; +BA_ "GenSigSendType" SG_ 497 MRR_xcp_cto_resp_byte2 0; +BA_ "GenSigCmt" SG_ 497 MRR_xcp_cto_resp_byte2 "MRR_xcp_cto_resp_byte2"; +BA_ "GenSigSendType" SG_ 497 MRR_xcp_cto_resp_byte1 0; +BA_ "GenSigCmt" SG_ 497 MRR_xcp_cto_resp_byte1 "MRR_xcp_cto_resp_byte1"; +BA_ "GenSigSendType" SG_ 497 MRR_xcp_cto_resp_byte0 0; +BA_ "GenSigCmt" SG_ 497 MRR_xcp_cto_resp_byte0 "MRR_xcp_cto_resp_byte0"; +BA_ "GenMsgSendType" BO_ 1900 1; +BA_ "GenMsgNrOfRepetition" BO_ 1900 0; +BA_ "DiagResponse" BO_ 1900 1; +BA_ "GenSigCmt" SG_ 1900 TesterPhysicalResCCM "TesterPhysicalResCCM"; +BA_ "GenSigSendType" SG_ 1900 TesterPhysicalResCCM 0; +BA_ "GenMsgSendType" BO_ 261 0; +BA_ "GenMsgCycleTime" BO_ 261 1000; +BA_ "GenMsgNrOfRepetition" BO_ 261 0; +BA_ "GenSigCmt" SG_ 261 CAN_SEQUENCE_NUMBER "CAN_SEQUENCE_NUMBER"; +BA_ "GenSigCmt" SG_ 261 CAN_SERIAL_NUMBER "CAN_SERIAL_NUMBER"; +BA_ "GenSigSendType" SG_ 261 CAN_SERIAL_NUMBER 0; +BA_ "GenMsgSendType" BO_ 264 1; +BA_ "GenMsgNrOfRepetition" BO_ 264 0; +BA_ "GenSigSendType" SG_ 264 CAN_PBL_Field_Revision 0; +BA_ "GenSigSendType" SG_ 264 CAN_PBL_Promote_Revision 0; +BA_ "GenSigSendType" SG_ 264 CAN_SW_Field_Revision 0; +BA_ "GenSigSendType" SG_ 264 CAN_SW_Promote_Revision 0; +BA_ "GenSigSendType" SG_ 264 CAN_SW_Release_Revision 0; +BA_ "GenSigSendType" SG_ 264 CAN_PBL_Release_Revision 0; +BA_ "GenMsgSendType" BO_ 373 1; +BA_ "NetworkInitialization" BO_ 373 0; +BA_ "GenMsgNrOfRepetition" BO_ 373 0; +BA_ "GenSigSendType" SG_ 373 CAN_SENSOR_POLARITY 0; +BA_ "GenSigCmt" SG_ 373 CAN_SENSOR_POLARITY "CAN_SENSOR_POLARITY"; +BA_ "GenSigSendType" SG_ 373 CAN_SENSOR_LAT_OFFSET 0; +BA_ "GenSigCmt" SG_ 373 CAN_SENSOR_LAT_OFFSET "CAN_SENSOR_LAT_OFFSET"; +BA_ "GenSigSendType" SG_ 373 CAN_SENSOR_LONG_OFFSET 0; +BA_ "GenSigCmt" SG_ 373 CAN_SENSOR_LONG_OFFSET "CAN_SENSOR_LONG_OFFSET"; +BA_ "GenSigSendType" SG_ 373 CAN_SENSOR_HANGLE_OFFSET 0; +BA_ "GenSigCmt" SG_ 373 CAN_SENSOR_HANGLE_OFFSET "CAN_SENSOR_HANGLE_OFFSET"; +BA_ "GenSigStartValue" SG_ 373 CAN_SENSOR_HANGLE_OFFSET 0; +BA_ "GenMsgSendType" BO_ 372 1; +BA_ "NetworkInitialization" BO_ 372 0; +BA_ "GenMsgNrOfRepetition" BO_ 372 0; +BA_ "GenSigSendType" SG_ 372 CAN_SENSOR_FOV_HOR 0; +BA_ "GenSigCmt" SG_ 372 CAN_SENSOR_FOV_HOR "CAN_SENSOR_FOV_HOR"; +BA_ "GenSigStartValue" SG_ 372 CAN_SENSOR_FOV_HOR 0; +BA_ "GenSigSendType" SG_ 372 CAN_DOPPLER_COVERAGE 0; +BA_ "GenSigCmt" SG_ 372 CAN_DOPPLER_COVERAGE "CAN_DOPPLER_COVERAGE"; +BA_ "GenSigStartValue" SG_ 372 CAN_DOPPLER_COVERAGE 0; +BA_ "GenSigSendType" SG_ 372 CAN_RANGE_COVERAGE 0; +BA_ "GenSigCmt" SG_ 372 CAN_RANGE_COVERAGE "CAN_RANGE_COVERAGE"; +BA_ "GenMsgSendType" BO_ 371 1; +BA_ "NetworkInitialization" BO_ 371 0; +BA_ "GenMsgNrOfRepetition" BO_ 371 0; +BA_ "GenSigVtEn" SG_ 371 CAN_AUTO_ALIGN_HANGLE_QF "CAN_AUTO_ALIGN_HANGLE_QF"; +BA_ "GenSigVtName" SG_ 371 CAN_AUTO_ALIGN_HANGLE_QF "CAN_AUTO_ALIGN_HANGLE_QF"; +BA_ "GenSigSendType" SG_ 371 CAN_AUTO_ALIGN_HANGLE_QF 0; +BA_ "GenSigCmt" SG_ 371 CAN_AUTO_ALIGN_HANGLE_QF "CAN_AUTO_ALIGN_HANGLE_QF"; +BA_ "GenSigVtEn" SG_ 371 CAN_ALIGNMENT_STATUS "CAN_ALIGNMENT_STATUS"; +BA_ "GenSigVtName" SG_ 371 CAN_ALIGNMENT_STATUS "CAN_ALIGNMENT_STATUS"; +BA_ "GenSigSendType" SG_ 371 CAN_ALIGNMENT_STATUS 0; +BA_ "GenSigCmt" SG_ 371 CAN_ALIGNMENT_STATUS "CAN_ALIGNMENT_STATUS"; +BA_ "GenSigVtEn" SG_ 371 CAN_ALIGNMENT_STATE "CAN_ALIGNMENT_STATE"; +BA_ "GenSigVtName" SG_ 371 CAN_ALIGNMENT_STATE "CAN_ALIGNMENT_STATE"; +BA_ "GenSigSendType" SG_ 371 CAN_ALIGNMENT_STATE 0; +BA_ "GenSigCmt" SG_ 371 CAN_ALIGNMENT_STATE "CAN_ALIGNMENT_STATE"; +BA_ "GenSigSendType" SG_ 371 CAN_AUTO_ALIGN_HANGLE_REF 0; +BA_ "GenSigStartValue" SG_ 371 CAN_AUTO_ALIGN_HANGLE_REF 0; +BA_ "GenSigCmt" SG_ 371 CAN_AUTO_ALIGN_HANGLE_REF "CAN_AUTO_ALIGN_HANGLE_REF"; +BA_ "GenSigStartValue" SG_ 371 CAN_AUTO_ALIGN_HANGLE 0; +BA_ "GenSigSendType" SG_ 371 CAN_AUTO_ALIGN_HANGLE 0; +BA_ "GenSigCmt" SG_ 371 CAN_AUTO_ALIGN_HANGLE "CAN_AUTO_ALIGN_HANGLE"; +BA_ "GenMsgSendType" BO_ 369 1; +BA_ "NetworkInitialization" BO_ 369 0; +BA_ "GenMsgNrOfRepetition" BO_ 369 0; +BA_ "GenSigCmt" SG_ 369 CAN_DET_TIME_SINCE_MEAS "CAN_DET_TIME_SINCE_MEAS"; +BA_ "GenSigSendType" SG_ 369 CAN_DET_TIME_SINCE_MEAS 0; +BA_ "GenSigSendType" SG_ 369 CAN_SENSOR_TIME_STAMP 0; +BA_ "GenSigCmt" SG_ 369 CAN_SENSOR_TIME_STAMP "CAN_SENSOR_TIME_STAMP"; +BA_ "GenMsgSendType" BO_ 368 1; +BA_ "NetworkInitialization" BO_ 368 0; +BA_ "GenMsgNrOfRepetition" BO_ 368 0; +BA_ "GenSigSendType" SG_ 368 CAN_ALIGN_UPDATES_DONE 0; +BA_ "GenSigCmt" SG_ 368 CAN_ALIGN_UPDATES_DONE "CAN_ALIGN_UPDATES_DONE"; +BA_ "GenSigSendType" SG_ 368 CAN_SCAN_INDEX 0; +BA_ "GenSigCmt" SG_ 368 CAN_SCAN_INDEX "CAN_SCAN_INDEX"; +BA_ "GenSigSendType" SG_ 368 CAN_NUMBER_OF_DET 0; +BA_ "GenSigCmt" SG_ 368 CAN_NUMBER_OF_DET "CAN_NUMBER_OF_DET"; +BA_ "GenSigSendType" SG_ 368 CAN_LOOK_ID 0; +BA_ "GenSigCmt" SG_ 368 CAN_LOOK_ID "CAN_LOOK_ID"; +BA_ "GenSigSendType" SG_ 368 CAN_LOOK_INDEX 0; +BA_ "GenSigCmt" SG_ 368 CAN_LOOK_INDEX "CAN_LOOK_INDEX"; +BA_ "GenMsgSendType" BO_ 265 1; +BA_ "NetworkInitialization" BO_ 265 0; +BA_ "GenMsgNrOfRepetition" BO_ 265 0; +BA_ "GenSigCmt" SG_ 265 CAN_BATT_VOLTS "CAN_BATT_VOLTS"; +BA_ "GenSigCmt" SG_ 265 CAN_1_25_V "CAN_1_25_V"; +BA_ "GenSigCmt" SG_ 265 CAN_5_V "CAN_5_V"; +BA_ "GenSigCmt" SG_ 265 CAN_3_3_V_RAW "CAN_3_3_V_RAW"; +BA_ "GenSigCmt" SG_ 265 CAN_3_3_V_DAC "CAN_3_3_V_DAC"; +BA_ "GenSigSendType" SG_ 265 CAN_MMIC_Temp1 0; +BA_ "GenSigCmt" SG_ 265 CAN_MMIC_Temp1 "CAN_MMIC_Temp1"; +BA_ "GenSigStartValue" SG_ 265 CAN_MMIC_Temp1 0; +BA_ "GenSigSendType" SG_ 265 CAN_Processor_Thermistor 0; +BA_ "GenSigCmt" SG_ 265 CAN_Processor_Thermistor "CAN_Processor_Thermistor"; +BA_ "GenSigStartValue" SG_ 265 CAN_Processor_Thermistor 0; +BA_ "GenSigSendType" SG_ 265 CAN_Processor_Temp1 0; +BA_ "GenSigCmt" SG_ 265 CAN_Processor_Temp1 "CAN_Processor_Temp1"; +BA_ "GenSigStartValue" SG_ 265 CAN_Processor_Temp1 0; +BA_ "GenMsgSendType" BO_ 291 1; +BA_ "GenMsgILSupport" BO_ 291 1; +BA_ "GenMsgNrOfRepetition" BO_ 291 0; +BA_ "GenMsgCycleTime" BO_ 291 0; +BA_ "NetworkInitialization" BO_ 291 0; +BA_ "GenMsgDelayTime" BO_ 291 0; +BA_ "GenSigVtEn" SG_ 291 CAN_DET_CONFID_AZIMUTH_04 "CAN_DET_CONFID_AZIMUTH_04"; +BA_ "GenSigVtName" SG_ 291 CAN_DET_CONFID_AZIMUTH_04 "CAN_DET_CONFID_AZIMUTH_04"; +BA_ "GenSigSendType" SG_ 291 CAN_DET_CONFID_AZIMUTH_04 0; +BA_ "GenSigCmt" SG_ 291 CAN_DET_CONFID_AZIMUTH_04 "CAN_DET_CONFID_AZIMUTH_04"; +BA_ "GenSigSendType" SG_ 291 CAN_DET_SUPER_RES_TARGET_04 0; +BA_ "GenSigCmt" SG_ 291 CAN_DET_SUPER_RES_TARGET_04 "CAN_DET_SUPER_RES_TARGET_04"; +BA_ "GenSigSendType" SG_ 291 CAN_DET_ND_TARGET_04 0; +BA_ "GenSigCmt" SG_ 291 CAN_DET_ND_TARGET_04 "CAN_DET_ND_TARGET_04"; +BA_ "GenSigSendType" SG_ 291 CAN_DET_HOST_VEH_CLUTTER_04 0; +BA_ "GenSigCmt" SG_ 291 CAN_DET_HOST_VEH_CLUTTER_04 "CAN_DET_HOST_VEH_CLUTTER_04"; +BA_ "GenSigSendType" SG_ 291 CAN_DET_VALID_LEVEL_04 0; +BA_ "GenSigCmt" SG_ 291 CAN_DET_VALID_LEVEL_04 "CAN_DET_VALID_LEVEL_04"; +BA_ "GenSigStartValue" SG_ 291 CAN_DET_AZIMUTH_04 0; +BA_ "GenSigSendType" SG_ 291 CAN_DET_AZIMUTH_04 0; +BA_ "GenSigCmt" SG_ 291 CAN_DET_AZIMUTH_04 "CAN_DET_AZIMUTH_04"; +BA_ "GenSigSendType" SG_ 291 CAN_DET_RANGE_04 0; +BA_ "GenSigCmt" SG_ 291 CAN_DET_RANGE_04 "CAN_DET_RANGE_04"; +BA_ "GenSigStartValue" SG_ 291 CAN_DET_RANGE_RATE_04 0; +BA_ "GenSigSendType" SG_ 291 CAN_DET_RANGE_RATE_04 0; +BA_ "GenSigCmt" SG_ 291 CAN_DET_RANGE_RATE_04 "CAN_DET_RANGE_RATE_04"; +BA_ "GenSigSendType" SG_ 291 CAN_DET_AMPLITUDE_04 0; +BA_ "GenSigCmt" SG_ 291 CAN_DET_AMPLITUDE_04 "CAN_DET_AMPLITUDE_04"; +BA_ "GenSigSendType" SG_ 291 CAN_SCAN_INDEX_2LSB_04 0; +BA_ "GenSigCmt" SG_ 291 CAN_SCAN_INDEX_2LSB_04 "CAN_SCAN_INDEX_2LSB_04"; +BA_ "GenMsgSendType" BO_ 351 1; +BA_ "GenMsgILSupport" BO_ 351 1; +BA_ "GenMsgNrOfRepetition" BO_ 351 0; +BA_ "GenMsgCycleTime" BO_ 351 0; +BA_ "NetworkInitialization" BO_ 351 0; +BA_ "GenMsgDelayTime" BO_ 351 0; +BA_ "GenSigVtEn" SG_ 351 CAN_DET_CONFID_AZIMUTH_64 "CAN_DET_CONFID_AZIMUTH_64"; +BA_ "GenSigVtName" SG_ 351 CAN_DET_CONFID_AZIMUTH_64 "CAN_DET_CONFID_AZIMUTH_64"; +BA_ "GenSigSendType" SG_ 351 CAN_DET_CONFID_AZIMUTH_64 0; +BA_ "GenSigCmt" SG_ 351 CAN_DET_CONFID_AZIMUTH_64 "CAN_DET_CONFID_AZIMUTH_64"; +BA_ "GenSigSendType" SG_ 351 CAN_DET_SUPER_RES_TARGET_64 0; +BA_ "GenSigCmt" SG_ 351 CAN_DET_SUPER_RES_TARGET_64 "CAN_DET_SUPER_RES_TARGET_64"; +BA_ "GenSigSendType" SG_ 351 CAN_DET_ND_TARGET_64 0; +BA_ "GenSigCmt" SG_ 351 CAN_DET_ND_TARGET_64 "CAN_DET_ND_TARGET_64"; +BA_ "GenSigSendType" SG_ 351 CAN_DET_HOST_VEH_CLUTTER_64 0; +BA_ "GenSigCmt" SG_ 351 CAN_DET_HOST_VEH_CLUTTER_64 "CAN_DET_HOST_VEH_CLUTTER_64"; +BA_ "GenSigSendType" SG_ 351 CAN_DET_VALID_LEVEL_64 0; +BA_ "GenSigCmt" SG_ 351 CAN_DET_VALID_LEVEL_64 "CAN_DET_VALID_LEVEL_64"; +BA_ "GenSigStartValue" SG_ 351 CAN_DET_AZIMUTH_64 0; +BA_ "GenSigSendType" SG_ 351 CAN_DET_AZIMUTH_64 0; +BA_ "GenSigCmt" SG_ 351 CAN_DET_AZIMUTH_64 "CAN_DET_AZIMUTH_64"; +BA_ "GenSigSendType" SG_ 351 CAN_DET_RANGE_64 0; +BA_ "GenSigCmt" SG_ 351 CAN_DET_RANGE_64 "CAN_DET_RANGE_64"; +BA_ "GenSigStartValue" SG_ 351 CAN_DET_RANGE_RATE_64 0; +BA_ "GenSigSendType" SG_ 351 CAN_DET_RANGE_RATE_64 0; +BA_ "GenSigCmt" SG_ 351 CAN_DET_RANGE_RATE_64 "CAN_DET_RANGE_RATE_64"; +BA_ "GenSigSendType" SG_ 351 CAN_DET_AMPLITUDE_64 0; +BA_ "GenSigCmt" SG_ 351 CAN_DET_AMPLITUDE_64 "CAN_DET_AMPLITUDE_64"; +BA_ "GenSigSendType" SG_ 351 CAN_SCAN_INDEX_2LSB_64 0; +BA_ "GenSigCmt" SG_ 351 CAN_SCAN_INDEX_2LSB_64 "CAN_SCAN_INDEX_2LSB_64"; +BA_ "GenMsgSendType" BO_ 350 1; +BA_ "GenMsgILSupport" BO_ 350 1; +BA_ "GenMsgNrOfRepetition" BO_ 350 0; +BA_ "GenMsgCycleTime" BO_ 350 0; +BA_ "NetworkInitialization" BO_ 350 0; +BA_ "GenMsgDelayTime" BO_ 350 0; +BA_ "GenSigVtEn" SG_ 350 CAN_DET_CONFID_AZIMUTH_63 "CAN_DET_CONFID_AZIMUTH_63"; +BA_ "GenSigVtName" SG_ 350 CAN_DET_CONFID_AZIMUTH_63 "CAN_DET_CONFID_AZIMUTH_63"; +BA_ "GenSigSendType" SG_ 350 CAN_DET_CONFID_AZIMUTH_63 0; +BA_ "GenSigCmt" SG_ 350 CAN_DET_CONFID_AZIMUTH_63 "CAN_DET_CONFID_AZIMUTH_63"; +BA_ "GenSigSendType" SG_ 350 CAN_DET_SUPER_RES_TARGET_63 0; +BA_ "GenSigCmt" SG_ 350 CAN_DET_SUPER_RES_TARGET_63 "CAN_DET_SUPER_RES_TARGET_63"; +BA_ "GenSigSendType" SG_ 350 CAN_DET_ND_TARGET_63 0; +BA_ "GenSigCmt" SG_ 350 CAN_DET_ND_TARGET_63 "CAN_DET_ND_TARGET_63"; +BA_ "GenSigSendType" SG_ 350 CAN_DET_HOST_VEH_CLUTTER_63 0; +BA_ "GenSigCmt" SG_ 350 CAN_DET_HOST_VEH_CLUTTER_63 "CAN_DET_HOST_VEH_CLUTTER_63"; +BA_ "GenSigSendType" SG_ 350 CAN_DET_VALID_LEVEL_63 0; +BA_ "GenSigCmt" SG_ 350 CAN_DET_VALID_LEVEL_63 "CAN_DET_VALID_LEVEL_63"; +BA_ "GenSigStartValue" SG_ 350 CAN_DET_AZIMUTH_63 0; +BA_ "GenSigSendType" SG_ 350 CAN_DET_AZIMUTH_63 0; +BA_ "GenSigCmt" SG_ 350 CAN_DET_AZIMUTH_63 "CAN_DET_AZIMUTH_63"; +BA_ "GenSigSendType" SG_ 350 CAN_DET_RANGE_63 0; +BA_ "GenSigCmt" SG_ 350 CAN_DET_RANGE_63 "CAN_DET_RANGE_63"; +BA_ "GenSigStartValue" SG_ 350 CAN_DET_RANGE_RATE_63 0; +BA_ "GenSigSendType" SG_ 350 CAN_DET_RANGE_RATE_63 0; +BA_ "GenSigCmt" SG_ 350 CAN_DET_RANGE_RATE_63 "CAN_DET_RANGE_RATE_63"; +BA_ "GenSigSendType" SG_ 350 CAN_DET_AMPLITUDE_63 0; +BA_ "GenSigCmt" SG_ 350 CAN_DET_AMPLITUDE_63 "CAN_DET_AMPLITUDE_63"; +BA_ "GenSigSendType" SG_ 350 CAN_SCAN_INDEX_2LSB_63 0; +BA_ "GenSigCmt" SG_ 350 CAN_SCAN_INDEX_2LSB_63 "CAN_SCAN_INDEX_2LSB_63"; +BA_ "GenMsgSendType" BO_ 349 1; +BA_ "GenMsgILSupport" BO_ 349 1; +BA_ "GenMsgNrOfRepetition" BO_ 349 0; +BA_ "GenMsgCycleTime" BO_ 349 0; +BA_ "NetworkInitialization" BO_ 349 0; +BA_ "GenMsgDelayTime" BO_ 349 0; +BA_ "GenSigVtEn" SG_ 349 CAN_DET_CONFID_AZIMUTH_62 "CAN_DET_CONFID_AZIMUTH_62"; +BA_ "GenSigVtName" SG_ 349 CAN_DET_CONFID_AZIMUTH_62 "CAN_DET_CONFID_AZIMUTH_62"; +BA_ "GenSigSendType" SG_ 349 CAN_DET_CONFID_AZIMUTH_62 0; +BA_ "GenSigCmt" SG_ 349 CAN_DET_CONFID_AZIMUTH_62 "CAN_DET_CONFID_AZIMUTH_62"; +BA_ "GenSigSendType" SG_ 349 CAN_DET_SUPER_RES_TARGET_62 0; +BA_ "GenSigCmt" SG_ 349 CAN_DET_SUPER_RES_TARGET_62 "CAN_DET_SUPER_RES_TARGET_62"; +BA_ "GenSigSendType" SG_ 349 CAN_DET_ND_TARGET_62 0; +BA_ "GenSigCmt" SG_ 349 CAN_DET_ND_TARGET_62 "CAN_DET_ND_TARGET_62"; +BA_ "GenSigSendType" SG_ 349 CAN_DET_HOST_VEH_CLUTTER_62 0; +BA_ "GenSigCmt" SG_ 349 CAN_DET_HOST_VEH_CLUTTER_62 "CAN_DET_HOST_VEH_CLUTTER_62"; +BA_ "GenSigSendType" SG_ 349 CAN_DET_VALID_LEVEL_62 0; +BA_ "GenSigCmt" SG_ 349 CAN_DET_VALID_LEVEL_62 "CAN_DET_VALID_LEVEL_62"; +BA_ "GenSigStartValue" SG_ 349 CAN_DET_AZIMUTH_62 0; +BA_ "GenSigSendType" SG_ 349 CAN_DET_AZIMUTH_62 0; +BA_ "GenSigCmt" SG_ 349 CAN_DET_AZIMUTH_62 "CAN_DET_AZIMUTH_62"; +BA_ "GenSigSendType" SG_ 349 CAN_DET_RANGE_62 0; +BA_ "GenSigCmt" SG_ 349 CAN_DET_RANGE_62 "CAN_DET_RANGE_62"; +BA_ "GenSigStartValue" SG_ 349 CAN_DET_RANGE_RATE_62 0; +BA_ "GenSigSendType" SG_ 349 CAN_DET_RANGE_RATE_62 0; +BA_ "GenSigCmt" SG_ 349 CAN_DET_RANGE_RATE_62 "CAN_DET_RANGE_RATE_62"; +BA_ "GenSigSendType" SG_ 349 CAN_DET_AMPLITUDE_62 0; +BA_ "GenSigCmt" SG_ 349 CAN_DET_AMPLITUDE_62 "CAN_DET_AMPLITUDE_62"; +BA_ "GenSigSendType" SG_ 349 CAN_SCAN_INDEX_2LSB_62 0; +BA_ "GenSigCmt" SG_ 349 CAN_SCAN_INDEX_2LSB_62 "CAN_SCAN_INDEX_2LSB_62"; +BA_ "GenMsgSendType" BO_ 348 1; +BA_ "GenMsgILSupport" BO_ 348 1; +BA_ "GenMsgNrOfRepetition" BO_ 348 0; +BA_ "GenMsgCycleTime" BO_ 348 0; +BA_ "NetworkInitialization" BO_ 348 0; +BA_ "GenMsgDelayTime" BO_ 348 0; +BA_ "GenSigVtEn" SG_ 348 CAN_DET_CONFID_AZIMUTH_61 "CAN_DET_CONFID_AZIMUTH_61"; +BA_ "GenSigVtName" SG_ 348 CAN_DET_CONFID_AZIMUTH_61 "CAN_DET_CONFID_AZIMUTH_61"; +BA_ "GenSigSendType" SG_ 348 CAN_DET_CONFID_AZIMUTH_61 0; +BA_ "GenSigCmt" SG_ 348 CAN_DET_CONFID_AZIMUTH_61 "CAN_DET_CONFID_AZIMUTH_61"; +BA_ "GenSigSendType" SG_ 348 CAN_DET_SUPER_RES_TARGET_61 0; +BA_ "GenSigCmt" SG_ 348 CAN_DET_SUPER_RES_TARGET_61 "CAN_DET_SUPER_RES_TARGET_61"; +BA_ "GenSigSendType" SG_ 348 CAN_DET_ND_TARGET_61 0; +BA_ "GenSigCmt" SG_ 348 CAN_DET_ND_TARGET_61 "CAN_DET_ND_TARGET_61"; +BA_ "GenSigSendType" SG_ 348 CAN_DET_HOST_VEH_CLUTTER_61 0; +BA_ "GenSigCmt" SG_ 348 CAN_DET_HOST_VEH_CLUTTER_61 "CAN_DET_HOST_VEH_CLUTTER_61"; +BA_ "GenSigSendType" SG_ 348 CAN_DET_VALID_LEVEL_61 0; +BA_ "GenSigCmt" SG_ 348 CAN_DET_VALID_LEVEL_61 "CAN_DET_VALID_LEVEL_61"; +BA_ "GenSigStartValue" SG_ 348 CAN_DET_AZIMUTH_61 0; +BA_ "GenSigSendType" SG_ 348 CAN_DET_AZIMUTH_61 0; +BA_ "GenSigCmt" SG_ 348 CAN_DET_AZIMUTH_61 "CAN_DET_AZIMUTH_61"; +BA_ "GenSigSendType" SG_ 348 CAN_DET_RANGE_61 0; +BA_ "GenSigCmt" SG_ 348 CAN_DET_RANGE_61 "CAN_DET_RANGE_61"; +BA_ "GenSigStartValue" SG_ 348 CAN_DET_RANGE_RATE_61 0; +BA_ "GenSigSendType" SG_ 348 CAN_DET_RANGE_RATE_61 0; +BA_ "GenSigCmt" SG_ 348 CAN_DET_RANGE_RATE_61 "CAN_DET_RANGE_RATE_61"; +BA_ "GenSigSendType" SG_ 348 CAN_DET_AMPLITUDE_61 0; +BA_ "GenSigCmt" SG_ 348 CAN_DET_AMPLITUDE_61 "CAN_DET_AMPLITUDE_61"; +BA_ "GenSigSendType" SG_ 348 CAN_SCAN_INDEX_2LSB_61 0; +BA_ "GenSigCmt" SG_ 348 CAN_SCAN_INDEX_2LSB_61 "CAN_SCAN_INDEX_2LSB_61"; +BA_ "GenMsgSendType" BO_ 347 1; +BA_ "GenMsgILSupport" BO_ 347 1; +BA_ "GenMsgNrOfRepetition" BO_ 347 0; +BA_ "GenMsgCycleTime" BO_ 347 0; +BA_ "NetworkInitialization" BO_ 347 0; +BA_ "GenMsgDelayTime" BO_ 347 0; +BA_ "GenSigVtEn" SG_ 347 CAN_DET_CONFID_AZIMUTH_60 "CAN_DET_CONFID_AZIMUTH_60"; +BA_ "GenSigVtName" SG_ 347 CAN_DET_CONFID_AZIMUTH_60 "CAN_DET_CONFID_AZIMUTH_60"; +BA_ "GenSigSendType" SG_ 347 CAN_DET_CONFID_AZIMUTH_60 0; +BA_ "GenSigCmt" SG_ 347 CAN_DET_CONFID_AZIMUTH_60 "CAN_DET_CONFID_AZIMUTH_60"; +BA_ "GenSigSendType" SG_ 347 CAN_DET_SUPER_RES_TARGET_60 0; +BA_ "GenSigCmt" SG_ 347 CAN_DET_SUPER_RES_TARGET_60 "CAN_DET_SUPER_RES_TARGET_60"; +BA_ "GenSigSendType" SG_ 347 CAN_DET_ND_TARGET_60 0; +BA_ "GenSigCmt" SG_ 347 CAN_DET_ND_TARGET_60 "CAN_DET_ND_TARGET_60"; +BA_ "GenSigSendType" SG_ 347 CAN_DET_HOST_VEH_CLUTTER_60 0; +BA_ "GenSigCmt" SG_ 347 CAN_DET_HOST_VEH_CLUTTER_60 "CAN_DET_HOST_VEH_CLUTTER_60"; +BA_ "GenSigSendType" SG_ 347 CAN_DET_VALID_LEVEL_60 0; +BA_ "GenSigCmt" SG_ 347 CAN_DET_VALID_LEVEL_60 "CAN_DET_VALID_LEVEL_60"; +BA_ "GenSigStartValue" SG_ 347 CAN_DET_AZIMUTH_60 0; +BA_ "GenSigSendType" SG_ 347 CAN_DET_AZIMUTH_60 0; +BA_ "GenSigCmt" SG_ 347 CAN_DET_AZIMUTH_60 "CAN_DET_AZIMUTH_60"; +BA_ "GenSigSendType" SG_ 347 CAN_DET_RANGE_60 0; +BA_ "GenSigCmt" SG_ 347 CAN_DET_RANGE_60 "CAN_DET_RANGE_60"; +BA_ "GenSigStartValue" SG_ 347 CAN_DET_RANGE_RATE_60 0; +BA_ "GenSigSendType" SG_ 347 CAN_DET_RANGE_RATE_60 0; +BA_ "GenSigCmt" SG_ 347 CAN_DET_RANGE_RATE_60 "CAN_DET_RANGE_RATE_60"; +BA_ "GenSigSendType" SG_ 347 CAN_DET_AMPLITUDE_60 0; +BA_ "GenSigCmt" SG_ 347 CAN_DET_AMPLITUDE_60 "CAN_DET_AMPLITUDE_60"; +BA_ "GenSigSendType" SG_ 347 CAN_SCAN_INDEX_2LSB_60 0; +BA_ "GenSigCmt" SG_ 347 CAN_SCAN_INDEX_2LSB_60 "CAN_SCAN_INDEX_2LSB_60"; +BA_ "GenMsgSendType" BO_ 346 1; +BA_ "GenMsgILSupport" BO_ 346 1; +BA_ "GenMsgNrOfRepetition" BO_ 346 0; +BA_ "GenMsgCycleTime" BO_ 346 0; +BA_ "NetworkInitialization" BO_ 346 0; +BA_ "GenMsgDelayTime" BO_ 346 0; +BA_ "GenSigVtEn" SG_ 346 CAN_DET_CONFID_AZIMUTH_59 "CAN_DET_CONFID_AZIMUTH_59"; +BA_ "GenSigVtName" SG_ 346 CAN_DET_CONFID_AZIMUTH_59 "CAN_DET_CONFID_AZIMUTH_59"; +BA_ "GenSigSendType" SG_ 346 CAN_DET_CONFID_AZIMUTH_59 0; +BA_ "GenSigCmt" SG_ 346 CAN_DET_CONFID_AZIMUTH_59 "CAN_DET_CONFID_AZIMUTH_59"; +BA_ "GenSigSendType" SG_ 346 CAN_DET_SUPER_RES_TARGET_59 0; +BA_ "GenSigCmt" SG_ 346 CAN_DET_SUPER_RES_TARGET_59 "CAN_DET_SUPER_RES_TARGET_59"; +BA_ "GenSigSendType" SG_ 346 CAN_DET_ND_TARGET_59 0; +BA_ "GenSigCmt" SG_ 346 CAN_DET_ND_TARGET_59 "CAN_DET_ND_TARGET_59"; +BA_ "GenSigSendType" SG_ 346 CAN_DET_HOST_VEH_CLUTTER_59 0; +BA_ "GenSigCmt" SG_ 346 CAN_DET_HOST_VEH_CLUTTER_59 "CAN_DET_HOST_VEH_CLUTTER_59"; +BA_ "GenSigSendType" SG_ 346 CAN_DET_VALID_LEVEL_59 0; +BA_ "GenSigCmt" SG_ 346 CAN_DET_VALID_LEVEL_59 "CAN_DET_VALID_LEVEL_59"; +BA_ "GenSigStartValue" SG_ 346 CAN_DET_AZIMUTH_59 0; +BA_ "GenSigSendType" SG_ 346 CAN_DET_AZIMUTH_59 0; +BA_ "GenSigCmt" SG_ 346 CAN_DET_AZIMUTH_59 "CAN_DET_AZIMUTH_59"; +BA_ "GenSigSendType" SG_ 346 CAN_DET_RANGE_59 0; +BA_ "GenSigCmt" SG_ 346 CAN_DET_RANGE_59 "CAN_DET_RANGE_59"; +BA_ "GenSigStartValue" SG_ 346 CAN_DET_RANGE_RATE_59 0; +BA_ "GenSigSendType" SG_ 346 CAN_DET_RANGE_RATE_59 0; +BA_ "GenSigCmt" SG_ 346 CAN_DET_RANGE_RATE_59 "CAN_DET_RANGE_RATE_59"; +BA_ "GenSigSendType" SG_ 346 CAN_DET_AMPLITUDE_59 0; +BA_ "GenSigCmt" SG_ 346 CAN_DET_AMPLITUDE_59 "CAN_DET_AMPLITUDE_59"; +BA_ "GenSigSendType" SG_ 346 CAN_SCAN_INDEX_2LSB_59 0; +BA_ "GenSigCmt" SG_ 346 CAN_SCAN_INDEX_2LSB_59 "CAN_SCAN_INDEX_2LSB_59"; +BA_ "GenMsgSendType" BO_ 345 1; +BA_ "GenMsgILSupport" BO_ 345 1; +BA_ "GenMsgNrOfRepetition" BO_ 345 0; +BA_ "GenMsgCycleTime" BO_ 345 0; +BA_ "NetworkInitialization" BO_ 345 0; +BA_ "GenMsgDelayTime" BO_ 345 0; +BA_ "GenSigVtEn" SG_ 345 CAN_DET_CONFID_AZIMUTH_58 "CAN_DET_CONFID_AZIMUTH_58"; +BA_ "GenSigVtName" SG_ 345 CAN_DET_CONFID_AZIMUTH_58 "CAN_DET_CONFID_AZIMUTH_58"; +BA_ "GenSigSendType" SG_ 345 CAN_DET_CONFID_AZIMUTH_58 0; +BA_ "GenSigCmt" SG_ 345 CAN_DET_CONFID_AZIMUTH_58 "CAN_DET_CONFID_AZIMUTH_58"; +BA_ "GenSigSendType" SG_ 345 CAN_DET_SUPER_RES_TARGET_58 0; +BA_ "GenSigCmt" SG_ 345 CAN_DET_SUPER_RES_TARGET_58 "CAN_DET_SUPER_RES_TARGET_58"; +BA_ "GenSigSendType" SG_ 345 CAN_DET_ND_TARGET_58 0; +BA_ "GenSigCmt" SG_ 345 CAN_DET_ND_TARGET_58 "CAN_DET_ND_TARGET_58"; +BA_ "GenSigSendType" SG_ 345 CAN_DET_HOST_VEH_CLUTTER_58 0; +BA_ "GenSigCmt" SG_ 345 CAN_DET_HOST_VEH_CLUTTER_58 "CAN_DET_HOST_VEH_CLUTTER_58"; +BA_ "GenSigSendType" SG_ 345 CAN_DET_VALID_LEVEL_58 0; +BA_ "GenSigCmt" SG_ 345 CAN_DET_VALID_LEVEL_58 "CAN_DET_VALID_LEVEL_58"; +BA_ "GenSigStartValue" SG_ 345 CAN_DET_AZIMUTH_58 0; +BA_ "GenSigSendType" SG_ 345 CAN_DET_AZIMUTH_58 0; +BA_ "GenSigCmt" SG_ 345 CAN_DET_AZIMUTH_58 "CAN_DET_AZIMUTH_58"; +BA_ "GenSigSendType" SG_ 345 CAN_DET_RANGE_58 0; +BA_ "GenSigCmt" SG_ 345 CAN_DET_RANGE_58 "CAN_DET_RANGE_58"; +BA_ "GenSigStartValue" SG_ 345 CAN_DET_RANGE_RATE_58 0; +BA_ "GenSigSendType" SG_ 345 CAN_DET_RANGE_RATE_58 0; +BA_ "GenSigCmt" SG_ 345 CAN_DET_RANGE_RATE_58 "CAN_DET_RANGE_RATE_58"; +BA_ "GenSigSendType" SG_ 345 CAN_DET_AMPLITUDE_58 0; +BA_ "GenSigCmt" SG_ 345 CAN_DET_AMPLITUDE_58 "CAN_DET_AMPLITUDE_58"; +BA_ "GenSigSendType" SG_ 345 CAN_SCAN_INDEX_2LSB_58 0; +BA_ "GenSigCmt" SG_ 345 CAN_SCAN_INDEX_2LSB_58 "CAN_SCAN_INDEX_2LSB_58"; +BA_ "GenMsgSendType" BO_ 344 1; +BA_ "GenMsgILSupport" BO_ 344 1; +BA_ "GenMsgNrOfRepetition" BO_ 344 0; +BA_ "GenMsgCycleTime" BO_ 344 0; +BA_ "NetworkInitialization" BO_ 344 0; +BA_ "GenMsgDelayTime" BO_ 344 0; +BA_ "GenSigVtEn" SG_ 344 CAN_DET_CONFID_AZIMUTH_57 "CAN_DET_CONFID_AZIMUTH_57"; +BA_ "GenSigVtName" SG_ 344 CAN_DET_CONFID_AZIMUTH_57 "CAN_DET_CONFID_AZIMUTH_57"; +BA_ "GenSigSendType" SG_ 344 CAN_DET_CONFID_AZIMUTH_57 0; +BA_ "GenSigCmt" SG_ 344 CAN_DET_CONFID_AZIMUTH_57 "CAN_DET_CONFID_AZIMUTH_57"; +BA_ "GenSigSendType" SG_ 344 CAN_DET_SUPER_RES_TARGET_57 0; +BA_ "GenSigCmt" SG_ 344 CAN_DET_SUPER_RES_TARGET_57 "CAN_DET_SUPER_RES_TARGET_57"; +BA_ "GenSigSendType" SG_ 344 CAN_DET_ND_TARGET_57 0; +BA_ "GenSigCmt" SG_ 344 CAN_DET_ND_TARGET_57 "CAN_DET_ND_TARGET_57"; +BA_ "GenSigSendType" SG_ 344 CAN_DET_HOST_VEH_CLUTTER_57 0; +BA_ "GenSigCmt" SG_ 344 CAN_DET_HOST_VEH_CLUTTER_57 "CAN_DET_HOST_VEH_CLUTTER_57"; +BA_ "GenSigSendType" SG_ 344 CAN_DET_VALID_LEVEL_57 0; +BA_ "GenSigCmt" SG_ 344 CAN_DET_VALID_LEVEL_57 "CAN_DET_VALID_LEVEL_57"; +BA_ "GenSigStartValue" SG_ 344 CAN_DET_AZIMUTH_57 0; +BA_ "GenSigSendType" SG_ 344 CAN_DET_AZIMUTH_57 0; +BA_ "GenSigCmt" SG_ 344 CAN_DET_AZIMUTH_57 "CAN_DET_AZIMUTH_57"; +BA_ "GenSigSendType" SG_ 344 CAN_DET_RANGE_57 0; +BA_ "GenSigCmt" SG_ 344 CAN_DET_RANGE_57 "CAN_DET_RANGE_57"; +BA_ "GenSigStartValue" SG_ 344 CAN_DET_RANGE_RATE_57 0; +BA_ "GenSigSendType" SG_ 344 CAN_DET_RANGE_RATE_57 0; +BA_ "GenSigCmt" SG_ 344 CAN_DET_RANGE_RATE_57 "CAN_DET_RANGE_RATE_57"; +BA_ "GenSigSendType" SG_ 344 CAN_DET_AMPLITUDE_57 0; +BA_ "GenSigCmt" SG_ 344 CAN_DET_AMPLITUDE_57 "CAN_DET_AMPLITUDE_57"; +BA_ "GenSigSendType" SG_ 344 CAN_SCAN_INDEX_2LSB_57 0; +BA_ "GenSigCmt" SG_ 344 CAN_SCAN_INDEX_2LSB_57 "CAN_SCAN_INDEX_2LSB_57"; +BA_ "GenMsgSendType" BO_ 343 1; +BA_ "GenMsgILSupport" BO_ 343 1; +BA_ "GenMsgNrOfRepetition" BO_ 343 0; +BA_ "GenMsgCycleTime" BO_ 343 0; +BA_ "NetworkInitialization" BO_ 343 0; +BA_ "GenMsgDelayTime" BO_ 343 0; +BA_ "GenSigVtEn" SG_ 343 CAN_DET_CONFID_AZIMUTH_56 "CAN_DET_CONFID_AZIMUTH_56"; +BA_ "GenSigVtName" SG_ 343 CAN_DET_CONFID_AZIMUTH_56 "CAN_DET_CONFID_AZIMUTH_56"; +BA_ "GenSigSendType" SG_ 343 CAN_DET_CONFID_AZIMUTH_56 0; +BA_ "GenSigCmt" SG_ 343 CAN_DET_CONFID_AZIMUTH_56 "CAN_DET_CONFID_AZIMUTH_56"; +BA_ "GenSigSendType" SG_ 343 CAN_DET_SUPER_RES_TARGET_56 0; +BA_ "GenSigCmt" SG_ 343 CAN_DET_SUPER_RES_TARGET_56 "CAN_DET_SUPER_RES_TARGET_56"; +BA_ "GenSigSendType" SG_ 343 CAN_DET_ND_TARGET_56 0; +BA_ "GenSigCmt" SG_ 343 CAN_DET_ND_TARGET_56 "CAN_DET_ND_TARGET_56"; +BA_ "GenSigSendType" SG_ 343 CAN_DET_HOST_VEH_CLUTTER_56 0; +BA_ "GenSigCmt" SG_ 343 CAN_DET_HOST_VEH_CLUTTER_56 "CAN_DET_HOST_VEH_CLUTTER_56"; +BA_ "GenSigSendType" SG_ 343 CAN_DET_VALID_LEVEL_56 0; +BA_ "GenSigCmt" SG_ 343 CAN_DET_VALID_LEVEL_56 "CAN_DET_VALID_LEVEL_56"; +BA_ "GenSigStartValue" SG_ 343 CAN_DET_AZIMUTH_56 0; +BA_ "GenSigSendType" SG_ 343 CAN_DET_AZIMUTH_56 0; +BA_ "GenSigCmt" SG_ 343 CAN_DET_AZIMUTH_56 "CAN_DET_AZIMUTH_56"; +BA_ "GenSigSendType" SG_ 343 CAN_DET_RANGE_56 0; +BA_ "GenSigCmt" SG_ 343 CAN_DET_RANGE_56 "CAN_DET_RANGE_56"; +BA_ "GenSigStartValue" SG_ 343 CAN_DET_RANGE_RATE_56 0; +BA_ "GenSigSendType" SG_ 343 CAN_DET_RANGE_RATE_56 0; +BA_ "GenSigCmt" SG_ 343 CAN_DET_RANGE_RATE_56 "CAN_DET_RANGE_RATE_56"; +BA_ "GenSigSendType" SG_ 343 CAN_DET_AMPLITUDE_56 0; +BA_ "GenSigCmt" SG_ 343 CAN_DET_AMPLITUDE_56 "CAN_DET_AMPLITUDE_56"; +BA_ "GenSigSendType" SG_ 343 CAN_SCAN_INDEX_2LSB_56 0; +BA_ "GenSigCmt" SG_ 343 CAN_SCAN_INDEX_2LSB_56 "CAN_SCAN_INDEX_2LSB_56"; +BA_ "GenMsgSendType" BO_ 342 1; +BA_ "GenMsgILSupport" BO_ 342 1; +BA_ "GenMsgNrOfRepetition" BO_ 342 0; +BA_ "GenMsgCycleTime" BO_ 342 0; +BA_ "NetworkInitialization" BO_ 342 0; +BA_ "GenMsgDelayTime" BO_ 342 0; +BA_ "GenSigVtEn" SG_ 342 CAN_DET_CONFID_AZIMUTH_55 "CAN_DET_CONFID_AZIMUTH_55"; +BA_ "GenSigVtName" SG_ 342 CAN_DET_CONFID_AZIMUTH_55 "CAN_DET_CONFID_AZIMUTH_55"; +BA_ "GenSigSendType" SG_ 342 CAN_DET_CONFID_AZIMUTH_55 0; +BA_ "GenSigCmt" SG_ 342 CAN_DET_CONFID_AZIMUTH_55 "CAN_DET_CONFID_AZIMUTH_55"; +BA_ "GenSigSendType" SG_ 342 CAN_DET_SUPER_RES_TARGET_55 0; +BA_ "GenSigCmt" SG_ 342 CAN_DET_SUPER_RES_TARGET_55 "CAN_DET_SUPER_RES_TARGET_55"; +BA_ "GenSigSendType" SG_ 342 CAN_DET_ND_TARGET_55 0; +BA_ "GenSigCmt" SG_ 342 CAN_DET_ND_TARGET_55 "CAN_DET_ND_TARGET_55"; +BA_ "GenSigSendType" SG_ 342 CAN_DET_HOST_VEH_CLUTTER_55 0; +BA_ "GenSigCmt" SG_ 342 CAN_DET_HOST_VEH_CLUTTER_55 "CAN_DET_HOST_VEH_CLUTTER_55"; +BA_ "GenSigSendType" SG_ 342 CAN_DET_VALID_LEVEL_55 0; +BA_ "GenSigCmt" SG_ 342 CAN_DET_VALID_LEVEL_55 "CAN_DET_VALID_LEVEL_55"; +BA_ "GenSigStartValue" SG_ 342 CAN_DET_AZIMUTH_55 0; +BA_ "GenSigSendType" SG_ 342 CAN_DET_AZIMUTH_55 0; +BA_ "GenSigCmt" SG_ 342 CAN_DET_AZIMUTH_55 "CAN_DET_AZIMUTH_55"; +BA_ "GenSigSendType" SG_ 342 CAN_DET_RANGE_55 0; +BA_ "GenSigCmt" SG_ 342 CAN_DET_RANGE_55 "CAN_DET_RANGE_55"; +BA_ "GenSigStartValue" SG_ 342 CAN_DET_RANGE_RATE_55 0; +BA_ "GenSigSendType" SG_ 342 CAN_DET_RANGE_RATE_55 0; +BA_ "GenSigCmt" SG_ 342 CAN_DET_RANGE_RATE_55 "CAN_DET_RANGE_RATE_55"; +BA_ "GenSigSendType" SG_ 342 CAN_DET_AMPLITUDE_55 0; +BA_ "GenSigCmt" SG_ 342 CAN_DET_AMPLITUDE_55 "CAN_DET_AMPLITUDE_55"; +BA_ "GenSigSendType" SG_ 342 CAN_SCAN_INDEX_2LSB_55 0; +BA_ "GenSigCmt" SG_ 342 CAN_SCAN_INDEX_2LSB_55 "CAN_SCAN_INDEX_2LSB_55"; +BA_ "GenMsgSendType" BO_ 335 1; +BA_ "GenMsgILSupport" BO_ 335 1; +BA_ "GenMsgNrOfRepetition" BO_ 335 0; +BA_ "GenMsgCycleTime" BO_ 335 0; +BA_ "NetworkInitialization" BO_ 335 0; +BA_ "GenMsgDelayTime" BO_ 335 0; +BA_ "GenSigVtEn" SG_ 335 CAN_DET_CONFID_AZIMUTH_48 "CAN_DET_CONFID_AZIMUTH_48"; +BA_ "GenSigVtName" SG_ 335 CAN_DET_CONFID_AZIMUTH_48 "CAN_DET_CONFID_AZIMUTH_48"; +BA_ "GenSigSendType" SG_ 335 CAN_DET_CONFID_AZIMUTH_48 0; +BA_ "GenSigCmt" SG_ 335 CAN_DET_CONFID_AZIMUTH_48 "CAN_DET_CONFID_AZIMUTH_48"; +BA_ "GenSigSendType" SG_ 335 CAN_DET_SUPER_RES_TARGET_48 0; +BA_ "GenSigCmt" SG_ 335 CAN_DET_SUPER_RES_TARGET_48 "CAN_DET_SUPER_RES_TARGET_48"; +BA_ "GenSigSendType" SG_ 335 CAN_DET_ND_TARGET_48 0; +BA_ "GenSigCmt" SG_ 335 CAN_DET_ND_TARGET_48 "CAN_DET_ND_TARGET_48"; +BA_ "GenSigSendType" SG_ 335 CAN_DET_HOST_VEH_CLUTTER_48 0; +BA_ "GenSigCmt" SG_ 335 CAN_DET_HOST_VEH_CLUTTER_48 "CAN_DET_HOST_VEH_CLUTTER_48"; +BA_ "GenSigSendType" SG_ 335 CAN_DET_VALID_LEVEL_48 0; +BA_ "GenSigCmt" SG_ 335 CAN_DET_VALID_LEVEL_48 "CAN_DET_VALID_LEVEL_48"; +BA_ "GenSigStartValue" SG_ 335 CAN_DET_AZIMUTH_48 0; +BA_ "GenSigSendType" SG_ 335 CAN_DET_AZIMUTH_48 0; +BA_ "GenSigCmt" SG_ 335 CAN_DET_AZIMUTH_48 "CAN_DET_AZIMUTH_48"; +BA_ "GenSigSendType" SG_ 335 CAN_DET_RANGE_48 0; +BA_ "GenSigCmt" SG_ 335 CAN_DET_RANGE_48 "CAN_DET_RANGE_48"; +BA_ "GenSigStartValue" SG_ 335 CAN_DET_RANGE_RATE_48 0; +BA_ "GenSigSendType" SG_ 335 CAN_DET_RANGE_RATE_48 0; +BA_ "GenSigCmt" SG_ 335 CAN_DET_RANGE_RATE_48 "CAN_DET_RANGE_RATE_48"; +BA_ "GenSigSendType" SG_ 335 CAN_DET_AMPLITUDE_48 0; +BA_ "GenSigCmt" SG_ 335 CAN_DET_AMPLITUDE_48 "CAN_DET_AMPLITUDE_48"; +BA_ "GenSigSendType" SG_ 335 CAN_SCAN_INDEX_2LSB_48 0; +BA_ "GenSigCmt" SG_ 335 CAN_SCAN_INDEX_2LSB_48 "CAN_SCAN_INDEX_2LSB_48"; +BA_ "GenMsgSendType" BO_ 334 1; +BA_ "GenMsgILSupport" BO_ 334 1; +BA_ "GenMsgNrOfRepetition" BO_ 334 0; +BA_ "GenMsgCycleTime" BO_ 334 0; +BA_ "NetworkInitialization" BO_ 334 0; +BA_ "GenMsgDelayTime" BO_ 334 0; +BA_ "GenSigVtEn" SG_ 334 CAN_DET_CONFID_AZIMUTH_47 "CAN_DET_CONFID_AZIMUTH_47"; +BA_ "GenSigVtName" SG_ 334 CAN_DET_CONFID_AZIMUTH_47 "CAN_DET_CONFID_AZIMUTH_47"; +BA_ "GenSigSendType" SG_ 334 CAN_DET_CONFID_AZIMUTH_47 0; +BA_ "GenSigCmt" SG_ 334 CAN_DET_CONFID_AZIMUTH_47 "CAN_DET_CONFID_AZIMUTH_47"; +BA_ "GenSigSendType" SG_ 334 CAN_DET_SUPER_RES_TARGET_47 0; +BA_ "GenSigCmt" SG_ 334 CAN_DET_SUPER_RES_TARGET_47 "CAN_DET_SUPER_RES_TARGET_47"; +BA_ "GenSigSendType" SG_ 334 CAN_DET_ND_TARGET_47 0; +BA_ "GenSigCmt" SG_ 334 CAN_DET_ND_TARGET_47 "CAN_DET_ND_TARGET_47"; +BA_ "GenSigSendType" SG_ 334 CAN_DET_HOST_VEH_CLUTTER_47 0; +BA_ "GenSigCmt" SG_ 334 CAN_DET_HOST_VEH_CLUTTER_47 "CAN_DET_HOST_VEH_CLUTTER_47"; +BA_ "GenSigSendType" SG_ 334 CAN_DET_VALID_LEVEL_47 0; +BA_ "GenSigCmt" SG_ 334 CAN_DET_VALID_LEVEL_47 "CAN_DET_VALID_LEVEL_47"; +BA_ "GenSigStartValue" SG_ 334 CAN_DET_AZIMUTH_47 0; +BA_ "GenSigSendType" SG_ 334 CAN_DET_AZIMUTH_47 0; +BA_ "GenSigCmt" SG_ 334 CAN_DET_AZIMUTH_47 "CAN_DET_AZIMUTH_47"; +BA_ "GenSigSendType" SG_ 334 CAN_DET_RANGE_47 0; +BA_ "GenSigCmt" SG_ 334 CAN_DET_RANGE_47 "CAN_DET_RANGE_47"; +BA_ "GenSigStartValue" SG_ 334 CAN_DET_RANGE_RATE_47 0; +BA_ "GenSigSendType" SG_ 334 CAN_DET_RANGE_RATE_47 0; +BA_ "GenSigCmt" SG_ 334 CAN_DET_RANGE_RATE_47 "CAN_DET_RANGE_RATE_47"; +BA_ "GenSigSendType" SG_ 334 CAN_DET_AMPLITUDE_47 0; +BA_ "GenSigCmt" SG_ 334 CAN_DET_AMPLITUDE_47 "CAN_DET_AMPLITUDE_47"; +BA_ "GenSigSendType" SG_ 334 CAN_SCAN_INDEX_2LSB_47 0; +BA_ "GenSigCmt" SG_ 334 CAN_SCAN_INDEX_2LSB_47 "CAN_SCAN_INDEX_2LSB_47"; +BA_ "GenMsgSendType" BO_ 333 1; +BA_ "GenMsgILSupport" BO_ 333 1; +BA_ "GenMsgNrOfRepetition" BO_ 333 0; +BA_ "GenMsgCycleTime" BO_ 333 0; +BA_ "NetworkInitialization" BO_ 333 0; +BA_ "GenMsgDelayTime" BO_ 333 0; +BA_ "GenSigVtEn" SG_ 333 CAN_DET_CONFID_AZIMUTH_46 "CAN_DET_CONFID_AZIMUTH_46"; +BA_ "GenSigVtName" SG_ 333 CAN_DET_CONFID_AZIMUTH_46 "CAN_DET_CONFID_AZIMUTH_46"; +BA_ "GenSigSendType" SG_ 333 CAN_DET_CONFID_AZIMUTH_46 0; +BA_ "GenSigCmt" SG_ 333 CAN_DET_CONFID_AZIMUTH_46 "CAN_DET_CONFID_AZIMUTH_46"; +BA_ "GenSigSendType" SG_ 333 CAN_DET_SUPER_RES_TARGET_46 0; +BA_ "GenSigCmt" SG_ 333 CAN_DET_SUPER_RES_TARGET_46 "CAN_DET_SUPER_RES_TARGET_46"; +BA_ "GenSigSendType" SG_ 333 CAN_DET_ND_TARGET_46 0; +BA_ "GenSigCmt" SG_ 333 CAN_DET_ND_TARGET_46 "CAN_DET_ND_TARGET_46"; +BA_ "GenSigSendType" SG_ 333 CAN_DET_HOST_VEH_CLUTTER_46 0; +BA_ "GenSigCmt" SG_ 333 CAN_DET_HOST_VEH_CLUTTER_46 "CAN_DET_HOST_VEH_CLUTTER_46"; +BA_ "GenSigSendType" SG_ 333 CAN_DET_VALID_LEVEL_46 0; +BA_ "GenSigCmt" SG_ 333 CAN_DET_VALID_LEVEL_46 "CAN_DET_VALID_LEVEL_46"; +BA_ "GenSigStartValue" SG_ 333 CAN_DET_AZIMUTH_46 0; +BA_ "GenSigSendType" SG_ 333 CAN_DET_AZIMUTH_46 0; +BA_ "GenSigCmt" SG_ 333 CAN_DET_AZIMUTH_46 "CAN_DET_AZIMUTH_46"; +BA_ "GenSigSendType" SG_ 333 CAN_DET_RANGE_46 0; +BA_ "GenSigCmt" SG_ 333 CAN_DET_RANGE_46 "CAN_DET_RANGE_46"; +BA_ "GenSigStartValue" SG_ 333 CAN_DET_RANGE_RATE_46 0; +BA_ "GenSigSendType" SG_ 333 CAN_DET_RANGE_RATE_46 0; +BA_ "GenSigCmt" SG_ 333 CAN_DET_RANGE_RATE_46 "CAN_DET_RANGE_RATE_46"; +BA_ "GenSigSendType" SG_ 333 CAN_DET_AMPLITUDE_46 0; +BA_ "GenSigCmt" SG_ 333 CAN_DET_AMPLITUDE_46 "CAN_DET_AMPLITUDE_46"; +BA_ "GenSigSendType" SG_ 333 CAN_SCAN_INDEX_2LSB_46 0; +BA_ "GenSigCmt" SG_ 333 CAN_SCAN_INDEX_2LSB_46 "CAN_SCAN_INDEX_2LSB_46"; +BA_ "GenMsgSendType" BO_ 332 1; +BA_ "GenMsgILSupport" BO_ 332 1; +BA_ "GenMsgNrOfRepetition" BO_ 332 0; +BA_ "GenMsgCycleTime" BO_ 332 0; +BA_ "NetworkInitialization" BO_ 332 0; +BA_ "GenMsgDelayTime" BO_ 332 0; +BA_ "GenSigVtEn" SG_ 332 CAN_DET_CONFID_AZIMUTH_45 "CAN_DET_CONFID_AZIMUTH_45"; +BA_ "GenSigVtName" SG_ 332 CAN_DET_CONFID_AZIMUTH_45 "CAN_DET_CONFID_AZIMUTH_45"; +BA_ "GenSigSendType" SG_ 332 CAN_DET_CONFID_AZIMUTH_45 0; +BA_ "GenSigCmt" SG_ 332 CAN_DET_CONFID_AZIMUTH_45 "CAN_DET_CONFID_AZIMUTH_45"; +BA_ "GenSigSendType" SG_ 332 CAN_DET_SUPER_RES_TARGET_45 0; +BA_ "GenSigCmt" SG_ 332 CAN_DET_SUPER_RES_TARGET_45 "CAN_DET_SUPER_RES_TARGET_45"; +BA_ "GenSigSendType" SG_ 332 CAN_DET_ND_TARGET_45 0; +BA_ "GenSigCmt" SG_ 332 CAN_DET_ND_TARGET_45 "CAN_DET_ND_TARGET_45"; +BA_ "GenSigSendType" SG_ 332 CAN_DET_HOST_VEH_CLUTTER_45 0; +BA_ "GenSigCmt" SG_ 332 CAN_DET_HOST_VEH_CLUTTER_45 "CAN_DET_HOST_VEH_CLUTTER_45"; +BA_ "GenSigSendType" SG_ 332 CAN_DET_VALID_LEVEL_45 0; +BA_ "GenSigCmt" SG_ 332 CAN_DET_VALID_LEVEL_45 "CAN_DET_VALID_LEVEL_45"; +BA_ "GenSigStartValue" SG_ 332 CAN_DET_AZIMUTH_45 0; +BA_ "GenSigSendType" SG_ 332 CAN_DET_AZIMUTH_45 0; +BA_ "GenSigCmt" SG_ 332 CAN_DET_AZIMUTH_45 "CAN_DET_AZIMUTH_45"; +BA_ "GenSigSendType" SG_ 332 CAN_DET_RANGE_45 0; +BA_ "GenSigCmt" SG_ 332 CAN_DET_RANGE_45 "CAN_DET_RANGE_45"; +BA_ "GenSigStartValue" SG_ 332 CAN_DET_RANGE_RATE_45 0; +BA_ "GenSigSendType" SG_ 332 CAN_DET_RANGE_RATE_45 0; +BA_ "GenSigCmt" SG_ 332 CAN_DET_RANGE_RATE_45 "CAN_DET_RANGE_RATE_45"; +BA_ "GenSigSendType" SG_ 332 CAN_DET_AMPLITUDE_45 0; +BA_ "GenSigCmt" SG_ 332 CAN_DET_AMPLITUDE_45 "CAN_DET_AMPLITUDE_45"; +BA_ "GenSigSendType" SG_ 332 CAN_SCAN_INDEX_2LSB_45 0; +BA_ "GenSigCmt" SG_ 332 CAN_SCAN_INDEX_2LSB_45 "CAN_SCAN_INDEX_2LSB_45"; +BA_ "GenMsgSendType" BO_ 331 1; +BA_ "GenMsgILSupport" BO_ 331 1; +BA_ "GenMsgNrOfRepetition" BO_ 331 0; +BA_ "GenMsgCycleTime" BO_ 331 0; +BA_ "NetworkInitialization" BO_ 331 0; +BA_ "GenMsgDelayTime" BO_ 331 0; +BA_ "GenSigVtEn" SG_ 331 CAN_DET_CONFID_AZIMUTH_44 "CAN_DET_CONFID_AZIMUTH_44"; +BA_ "GenSigVtName" SG_ 331 CAN_DET_CONFID_AZIMUTH_44 "CAN_DET_CONFID_AZIMUTH_44"; +BA_ "GenSigSendType" SG_ 331 CAN_DET_CONFID_AZIMUTH_44 0; +BA_ "GenSigCmt" SG_ 331 CAN_DET_CONFID_AZIMUTH_44 "CAN_DET_CONFID_AZIMUTH_44"; +BA_ "GenSigSendType" SG_ 331 CAN_DET_SUPER_RES_TARGET_44 0; +BA_ "GenSigCmt" SG_ 331 CAN_DET_SUPER_RES_TARGET_44 "CAN_DET_SUPER_RES_TARGET_44"; +BA_ "GenSigSendType" SG_ 331 CAN_DET_ND_TARGET_44 0; +BA_ "GenSigCmt" SG_ 331 CAN_DET_ND_TARGET_44 "CAN_DET_ND_TARGET_44"; +BA_ "GenSigSendType" SG_ 331 CAN_DET_HOST_VEH_CLUTTER_44 0; +BA_ "GenSigCmt" SG_ 331 CAN_DET_HOST_VEH_CLUTTER_44 "CAN_DET_HOST_VEH_CLUTTER_44"; +BA_ "GenSigSendType" SG_ 331 CAN_DET_VALID_LEVEL_44 0; +BA_ "GenSigCmt" SG_ 331 CAN_DET_VALID_LEVEL_44 "CAN_DET_VALID_LEVEL_44"; +BA_ "GenSigStartValue" SG_ 331 CAN_DET_AZIMUTH_44 0; +BA_ "GenSigSendType" SG_ 331 CAN_DET_AZIMUTH_44 0; +BA_ "GenSigCmt" SG_ 331 CAN_DET_AZIMUTH_44 "CAN_DET_AZIMUTH_44"; +BA_ "GenSigSendType" SG_ 331 CAN_DET_RANGE_44 0; +BA_ "GenSigCmt" SG_ 331 CAN_DET_RANGE_44 "CAN_DET_RANGE_44"; +BA_ "GenSigStartValue" SG_ 331 CAN_DET_RANGE_RATE_44 0; +BA_ "GenSigSendType" SG_ 331 CAN_DET_RANGE_RATE_44 0; +BA_ "GenSigCmt" SG_ 331 CAN_DET_RANGE_RATE_44 "CAN_DET_RANGE_RATE_44"; +BA_ "GenSigSendType" SG_ 331 CAN_DET_AMPLITUDE_44 0; +BA_ "GenSigCmt" SG_ 331 CAN_DET_AMPLITUDE_44 "CAN_DET_AMPLITUDE_44"; +BA_ "GenSigSendType" SG_ 331 CAN_SCAN_INDEX_2LSB_44 0; +BA_ "GenSigCmt" SG_ 331 CAN_SCAN_INDEX_2LSB_44 "CAN_SCAN_INDEX_2LSB_44"; +BA_ "GenMsgSendType" BO_ 330 1; +BA_ "GenMsgILSupport" BO_ 330 1; +BA_ "GenMsgNrOfRepetition" BO_ 330 0; +BA_ "GenMsgCycleTime" BO_ 330 0; +BA_ "NetworkInitialization" BO_ 330 0; +BA_ "GenMsgDelayTime" BO_ 330 0; +BA_ "GenSigVtEn" SG_ 330 CAN_DET_CONFID_AZIMUTH_43 "CAN_DET_CONFID_AZIMUTH_43"; +BA_ "GenSigVtName" SG_ 330 CAN_DET_CONFID_AZIMUTH_43 "CAN_DET_CONFID_AZIMUTH_43"; +BA_ "GenSigSendType" SG_ 330 CAN_DET_CONFID_AZIMUTH_43 0; +BA_ "GenSigCmt" SG_ 330 CAN_DET_CONFID_AZIMUTH_43 "CAN_DET_CONFID_AZIMUTH_43"; +BA_ "GenSigSendType" SG_ 330 CAN_DET_SUPER_RES_TARGET_43 0; +BA_ "GenSigCmt" SG_ 330 CAN_DET_SUPER_RES_TARGET_43 "CAN_DET_SUPER_RES_TARGET_43"; +BA_ "GenSigSendType" SG_ 330 CAN_DET_ND_TARGET_43 0; +BA_ "GenSigCmt" SG_ 330 CAN_DET_ND_TARGET_43 "CAN_DET_ND_TARGET_43"; +BA_ "GenSigSendType" SG_ 330 CAN_DET_HOST_VEH_CLUTTER_43 0; +BA_ "GenSigCmt" SG_ 330 CAN_DET_HOST_VEH_CLUTTER_43 "CAN_DET_HOST_VEH_CLUTTER_43"; +BA_ "GenSigSendType" SG_ 330 CAN_DET_VALID_LEVEL_43 0; +BA_ "GenSigCmt" SG_ 330 CAN_DET_VALID_LEVEL_43 "CAN_DET_VALID_LEVEL_43"; +BA_ "GenSigStartValue" SG_ 330 CAN_DET_AZIMUTH_43 0; +BA_ "GenSigSendType" SG_ 330 CAN_DET_AZIMUTH_43 0; +BA_ "GenSigCmt" SG_ 330 CAN_DET_AZIMUTH_43 "CAN_DET_AZIMUTH_43"; +BA_ "GenSigSendType" SG_ 330 CAN_DET_RANGE_43 0; +BA_ "GenSigCmt" SG_ 330 CAN_DET_RANGE_43 "CAN_DET_RANGE_43"; +BA_ "GenSigStartValue" SG_ 330 CAN_DET_RANGE_RATE_43 0; +BA_ "GenSigSendType" SG_ 330 CAN_DET_RANGE_RATE_43 0; +BA_ "GenSigCmt" SG_ 330 CAN_DET_RANGE_RATE_43 "CAN_DET_RANGE_RATE_43"; +BA_ "GenSigSendType" SG_ 330 CAN_DET_AMPLITUDE_43 0; +BA_ "GenSigCmt" SG_ 330 CAN_DET_AMPLITUDE_43 "CAN_DET_AMPLITUDE_43"; +BA_ "GenSigSendType" SG_ 330 CAN_SCAN_INDEX_2LSB_43 0; +BA_ "GenSigCmt" SG_ 330 CAN_SCAN_INDEX_2LSB_43 "CAN_SCAN_INDEX_2LSB_43"; +BA_ "GenMsgSendType" BO_ 329 1; +BA_ "GenMsgILSupport" BO_ 329 1; +BA_ "GenMsgNrOfRepetition" BO_ 329 0; +BA_ "GenMsgCycleTime" BO_ 329 0; +BA_ "NetworkInitialization" BO_ 329 0; +BA_ "GenMsgDelayTime" BO_ 329 0; +BA_ "GenSigVtEn" SG_ 329 CAN_DET_CONFID_AZIMUTH_42 "CAN_DET_CONFID_AZIMUTH_42"; +BA_ "GenSigVtName" SG_ 329 CAN_DET_CONFID_AZIMUTH_42 "CAN_DET_CONFID_AZIMUTH_42"; +BA_ "GenSigSendType" SG_ 329 CAN_DET_CONFID_AZIMUTH_42 0; +BA_ "GenSigCmt" SG_ 329 CAN_DET_CONFID_AZIMUTH_42 "CAN_DET_CONFID_AZIMUTH_42"; +BA_ "GenSigSendType" SG_ 329 CAN_DET_SUPER_RES_TARGET_42 0; +BA_ "GenSigCmt" SG_ 329 CAN_DET_SUPER_RES_TARGET_42 "CAN_DET_SUPER_RES_TARGET_42"; +BA_ "GenSigSendType" SG_ 329 CAN_DET_ND_TARGET_42 0; +BA_ "GenSigCmt" SG_ 329 CAN_DET_ND_TARGET_42 "CAN_DET_ND_TARGET_42"; +BA_ "GenSigSendType" SG_ 329 CAN_DET_HOST_VEH_CLUTTER_42 0; +BA_ "GenSigCmt" SG_ 329 CAN_DET_HOST_VEH_CLUTTER_42 "CAN_DET_HOST_VEH_CLUTTER_42"; +BA_ "GenSigSendType" SG_ 329 CAN_DET_VALID_LEVEL_42 0; +BA_ "GenSigCmt" SG_ 329 CAN_DET_VALID_LEVEL_42 "CAN_DET_VALID_LEVEL_42"; +BA_ "GenSigStartValue" SG_ 329 CAN_DET_AZIMUTH_42 0; +BA_ "GenSigSendType" SG_ 329 CAN_DET_AZIMUTH_42 0; +BA_ "GenSigCmt" SG_ 329 CAN_DET_AZIMUTH_42 "CAN_DET_AZIMUTH_42"; +BA_ "GenSigSendType" SG_ 329 CAN_DET_RANGE_42 0; +BA_ "GenSigCmt" SG_ 329 CAN_DET_RANGE_42 "CAN_DET_RANGE_42"; +BA_ "GenSigStartValue" SG_ 329 CAN_DET_RANGE_RATE_42 0; +BA_ "GenSigSendType" SG_ 329 CAN_DET_RANGE_RATE_42 0; +BA_ "GenSigCmt" SG_ 329 CAN_DET_RANGE_RATE_42 "CAN_DET_RANGE_RATE_42"; +BA_ "GenSigSendType" SG_ 329 CAN_DET_AMPLITUDE_42 0; +BA_ "GenSigCmt" SG_ 329 CAN_DET_AMPLITUDE_42 "CAN_DET_AMPLITUDE_42"; +BA_ "GenSigSendType" SG_ 329 CAN_SCAN_INDEX_2LSB_42 0; +BA_ "GenSigCmt" SG_ 329 CAN_SCAN_INDEX_2LSB_42 "CAN_SCAN_INDEX_2LSB_42"; +BA_ "GenMsgSendType" BO_ 328 1; +BA_ "GenMsgILSupport" BO_ 328 1; +BA_ "GenMsgNrOfRepetition" BO_ 328 0; +BA_ "GenMsgCycleTime" BO_ 328 0; +BA_ "NetworkInitialization" BO_ 328 0; +BA_ "GenMsgDelayTime" BO_ 328 0; +BA_ "GenSigVtEn" SG_ 328 CAN_DET_CONFID_AZIMUTH_41 "CAN_DET_CONFID_AZIMUTH_41"; +BA_ "GenSigVtName" SG_ 328 CAN_DET_CONFID_AZIMUTH_41 "CAN_DET_CONFID_AZIMUTH_41"; +BA_ "GenSigSendType" SG_ 328 CAN_DET_CONFID_AZIMUTH_41 0; +BA_ "GenSigCmt" SG_ 328 CAN_DET_CONFID_AZIMUTH_41 "CAN_DET_CONFID_AZIMUTH_41"; +BA_ "GenSigSendType" SG_ 328 CAN_DET_SUPER_RES_TARGET_41 0; +BA_ "GenSigCmt" SG_ 328 CAN_DET_SUPER_RES_TARGET_41 "CAN_DET_SUPER_RES_TARGET_41"; +BA_ "GenSigSendType" SG_ 328 CAN_DET_ND_TARGET_41 0; +BA_ "GenSigCmt" SG_ 328 CAN_DET_ND_TARGET_41 "CAN_DET_ND_TARGET_41"; +BA_ "GenSigSendType" SG_ 328 CAN_DET_HOST_VEH_CLUTTER_41 0; +BA_ "GenSigCmt" SG_ 328 CAN_DET_HOST_VEH_CLUTTER_41 "CAN_DET_HOST_VEH_CLUTTER_41"; +BA_ "GenSigSendType" SG_ 328 CAN_DET_VALID_LEVEL_41 0; +BA_ "GenSigCmt" SG_ 328 CAN_DET_VALID_LEVEL_41 "CAN_DET_VALID_LEVEL_41"; +BA_ "GenSigStartValue" SG_ 328 CAN_DET_AZIMUTH_41 0; +BA_ "GenSigSendType" SG_ 328 CAN_DET_AZIMUTH_41 0; +BA_ "GenSigCmt" SG_ 328 CAN_DET_AZIMUTH_41 "CAN_DET_AZIMUTH_41"; +BA_ "GenSigSendType" SG_ 328 CAN_DET_RANGE_41 0; +BA_ "GenSigCmt" SG_ 328 CAN_DET_RANGE_41 "CAN_DET_RANGE_41"; +BA_ "GenSigStartValue" SG_ 328 CAN_DET_RANGE_RATE_41 0; +BA_ "GenSigSendType" SG_ 328 CAN_DET_RANGE_RATE_41 0; +BA_ "GenSigCmt" SG_ 328 CAN_DET_RANGE_RATE_41 "CAN_DET_RANGE_RATE_41"; +BA_ "GenSigSendType" SG_ 328 CAN_DET_AMPLITUDE_41 0; +BA_ "GenSigCmt" SG_ 328 CAN_DET_AMPLITUDE_41 "CAN_DET_AMPLITUDE_41"; +BA_ "GenSigSendType" SG_ 328 CAN_SCAN_INDEX_2LSB_41 0; +BA_ "GenSigCmt" SG_ 328 CAN_SCAN_INDEX_2LSB_41 "CAN_SCAN_INDEX_2LSB_41"; +BA_ "GenMsgSendType" BO_ 327 1; +BA_ "GenMsgILSupport" BO_ 327 1; +BA_ "GenMsgNrOfRepetition" BO_ 327 0; +BA_ "GenMsgCycleTime" BO_ 327 0; +BA_ "NetworkInitialization" BO_ 327 0; +BA_ "GenMsgDelayTime" BO_ 327 0; +BA_ "GenSigVtEn" SG_ 327 CAN_DET_CONFID_AZIMUTH_40 "CAN_DET_CONFID_AZIMUTH_40"; +BA_ "GenSigVtName" SG_ 327 CAN_DET_CONFID_AZIMUTH_40 "CAN_DET_CONFID_AZIMUTH_40"; +BA_ "GenSigSendType" SG_ 327 CAN_DET_CONFID_AZIMUTH_40 0; +BA_ "GenSigCmt" SG_ 327 CAN_DET_CONFID_AZIMUTH_40 "CAN_DET_CONFID_AZIMUTH_40"; +BA_ "GenSigSendType" SG_ 327 CAN_DET_SUPER_RES_TARGET_40 0; +BA_ "GenSigCmt" SG_ 327 CAN_DET_SUPER_RES_TARGET_40 "CAN_DET_SUPER_RES_TARGET_40"; +BA_ "GenSigSendType" SG_ 327 CAN_DET_ND_TARGET_40 0; +BA_ "GenSigCmt" SG_ 327 CAN_DET_ND_TARGET_40 "CAN_DET_ND_TARGET_40"; +BA_ "GenSigSendType" SG_ 327 CAN_DET_HOST_VEH_CLUTTER_40 0; +BA_ "GenSigCmt" SG_ 327 CAN_DET_HOST_VEH_CLUTTER_40 "CAN_DET_HOST_VEH_CLUTTER_40"; +BA_ "GenSigSendType" SG_ 327 CAN_DET_VALID_LEVEL_40 0; +BA_ "GenSigCmt" SG_ 327 CAN_DET_VALID_LEVEL_40 "CAN_DET_VALID_LEVEL_40"; +BA_ "GenSigStartValue" SG_ 327 CAN_DET_AZIMUTH_40 0; +BA_ "GenSigSendType" SG_ 327 CAN_DET_AZIMUTH_40 0; +BA_ "GenSigCmt" SG_ 327 CAN_DET_AZIMUTH_40 "CAN_DET_AZIMUTH_40"; +BA_ "GenSigSendType" SG_ 327 CAN_DET_RANGE_40 0; +BA_ "GenSigCmt" SG_ 327 CAN_DET_RANGE_40 "CAN_DET_RANGE_40"; +BA_ "GenSigStartValue" SG_ 327 CAN_DET_RANGE_RATE_40 0; +BA_ "GenSigSendType" SG_ 327 CAN_DET_RANGE_RATE_40 0; +BA_ "GenSigCmt" SG_ 327 CAN_DET_RANGE_RATE_40 "CAN_DET_RANGE_RATE_40"; +BA_ "GenSigSendType" SG_ 327 CAN_DET_AMPLITUDE_40 0; +BA_ "GenSigCmt" SG_ 327 CAN_DET_AMPLITUDE_40 "CAN_DET_AMPLITUDE_40"; +BA_ "GenSigSendType" SG_ 327 CAN_SCAN_INDEX_2LSB_40 0; +BA_ "GenSigCmt" SG_ 327 CAN_SCAN_INDEX_2LSB_40 "CAN_SCAN_INDEX_2LSB_40"; +BA_ "GenMsgSendType" BO_ 325 1; +BA_ "GenMsgILSupport" BO_ 325 1; +BA_ "GenMsgNrOfRepetition" BO_ 325 0; +BA_ "GenMsgCycleTime" BO_ 325 0; +BA_ "NetworkInitialization" BO_ 325 0; +BA_ "GenMsgDelayTime" BO_ 325 0; +BA_ "GenSigVtEn" SG_ 325 CAN_DET_CONFID_AZIMUTH_38 "CAN_DET_CONFID_AZIMUTH_38"; +BA_ "GenSigVtName" SG_ 325 CAN_DET_CONFID_AZIMUTH_38 "CAN_DET_CONFID_AZIMUTH_38"; +BA_ "GenSigSendType" SG_ 325 CAN_DET_CONFID_AZIMUTH_38 0; +BA_ "GenSigCmt" SG_ 325 CAN_DET_CONFID_AZIMUTH_38 "CAN_DET_CONFID_AZIMUTH_38"; +BA_ "GenSigSendType" SG_ 325 CAN_DET_SUPER_RES_TARGET_38 0; +BA_ "GenSigCmt" SG_ 325 CAN_DET_SUPER_RES_TARGET_38 "CAN_DET_SUPER_RES_TARGET_38"; +BA_ "GenSigSendType" SG_ 325 CAN_DET_ND_TARGET_38 0; +BA_ "GenSigCmt" SG_ 325 CAN_DET_ND_TARGET_38 "CAN_DET_ND_TARGET_38"; +BA_ "GenSigSendType" SG_ 325 CAN_DET_HOST_VEH_CLUTTER_38 0; +BA_ "GenSigCmt" SG_ 325 CAN_DET_HOST_VEH_CLUTTER_38 "CAN_DET_HOST_VEH_CLUTTER_38"; +BA_ "GenSigSendType" SG_ 325 CAN_DET_VALID_LEVEL_38 0; +BA_ "GenSigCmt" SG_ 325 CAN_DET_VALID_LEVEL_38 "CAN_DET_VALID_LEVEL_38"; +BA_ "GenSigStartValue" SG_ 325 CAN_DET_AZIMUTH_38 0; +BA_ "GenSigSendType" SG_ 325 CAN_DET_AZIMUTH_38 0; +BA_ "GenSigCmt" SG_ 325 CAN_DET_AZIMUTH_38 "CAN_DET_AZIMUTH_38"; +BA_ "GenSigSendType" SG_ 325 CAN_DET_RANGE_38 0; +BA_ "GenSigCmt" SG_ 325 CAN_DET_RANGE_38 "CAN_DET_RANGE_38"; +BA_ "GenSigStartValue" SG_ 325 CAN_DET_RANGE_RATE_38 0; +BA_ "GenSigSendType" SG_ 325 CAN_DET_RANGE_RATE_38 0; +BA_ "GenSigCmt" SG_ 325 CAN_DET_RANGE_RATE_38 "CAN_DET_RANGE_RATE_38"; +BA_ "GenSigSendType" SG_ 325 CAN_DET_AMPLITUDE_38 0; +BA_ "GenSigCmt" SG_ 325 CAN_DET_AMPLITUDE_38 "CAN_DET_AMPLITUDE_38"; +BA_ "GenSigSendType" SG_ 325 CAN_SCAN_INDEX_2LSB_38 0; +BA_ "GenSigCmt" SG_ 325 CAN_SCAN_INDEX_2LSB_38 "CAN_SCAN_INDEX_2LSB_38"; +BA_ "GenMsgSendType" BO_ 324 1; +BA_ "GenMsgILSupport" BO_ 324 1; +BA_ "GenMsgNrOfRepetition" BO_ 324 0; +BA_ "GenMsgCycleTime" BO_ 324 0; +BA_ "NetworkInitialization" BO_ 324 0; +BA_ "GenMsgDelayTime" BO_ 324 0; +BA_ "GenSigVtEn" SG_ 324 CAN_DET_CONFID_AZIMUTH_37 "CAN_DET_CONFID_AZIMUTH_37"; +BA_ "GenSigVtName" SG_ 324 CAN_DET_CONFID_AZIMUTH_37 "CAN_DET_CONFID_AZIMUTH_37"; +BA_ "GenSigSendType" SG_ 324 CAN_DET_CONFID_AZIMUTH_37 0; +BA_ "GenSigCmt" SG_ 324 CAN_DET_CONFID_AZIMUTH_37 "CAN_DET_CONFID_AZIMUTH_37"; +BA_ "GenSigSendType" SG_ 324 CAN_DET_SUPER_RES_TARGET_37 0; +BA_ "GenSigCmt" SG_ 324 CAN_DET_SUPER_RES_TARGET_37 "CAN_DET_SUPER_RES_TARGET_37"; +BA_ "GenSigSendType" SG_ 324 CAN_DET_ND_TARGET_37 0; +BA_ "GenSigCmt" SG_ 324 CAN_DET_ND_TARGET_37 "CAN_DET_ND_TARGET_37"; +BA_ "GenSigSendType" SG_ 324 CAN_DET_HOST_VEH_CLUTTER_37 0; +BA_ "GenSigCmt" SG_ 324 CAN_DET_HOST_VEH_CLUTTER_37 "CAN_DET_HOST_VEH_CLUTTER_37"; +BA_ "GenSigSendType" SG_ 324 CAN_DET_VALID_LEVEL_37 0; +BA_ "GenSigCmt" SG_ 324 CAN_DET_VALID_LEVEL_37 "CAN_DET_VALID_LEVEL_37"; +BA_ "GenSigStartValue" SG_ 324 CAN_DET_AZIMUTH_37 0; +BA_ "GenSigSendType" SG_ 324 CAN_DET_AZIMUTH_37 0; +BA_ "GenSigCmt" SG_ 324 CAN_DET_AZIMUTH_37 "CAN_DET_AZIMUTH_37"; +BA_ "GenSigSendType" SG_ 324 CAN_DET_RANGE_37 0; +BA_ "GenSigCmt" SG_ 324 CAN_DET_RANGE_37 "CAN_DET_RANGE_37"; +BA_ "GenSigStartValue" SG_ 324 CAN_DET_RANGE_RATE_37 0; +BA_ "GenSigSendType" SG_ 324 CAN_DET_RANGE_RATE_37 0; +BA_ "GenSigCmt" SG_ 324 CAN_DET_RANGE_RATE_37 "CAN_DET_RANGE_RATE_37"; +BA_ "GenSigSendType" SG_ 324 CAN_DET_AMPLITUDE_37 0; +BA_ "GenSigCmt" SG_ 324 CAN_DET_AMPLITUDE_37 "CAN_DET_AMPLITUDE_37"; +BA_ "GenSigSendType" SG_ 324 CAN_SCAN_INDEX_2LSB_37 0; +BA_ "GenSigCmt" SG_ 324 CAN_SCAN_INDEX_2LSB_37 "CAN_SCAN_INDEX_2LSB_37"; +BA_ "GenMsgSendType" BO_ 323 1; +BA_ "GenMsgILSupport" BO_ 323 1; +BA_ "GenMsgNrOfRepetition" BO_ 323 0; +BA_ "GenMsgCycleTime" BO_ 323 0; +BA_ "NetworkInitialization" BO_ 323 0; +BA_ "GenMsgDelayTime" BO_ 323 0; +BA_ "GenSigVtEn" SG_ 323 CAN_DET_CONFID_AZIMUTH_36 "CAN_DET_CONFID_AZIMUTH_36"; +BA_ "GenSigVtName" SG_ 323 CAN_DET_CONFID_AZIMUTH_36 "CAN_DET_CONFID_AZIMUTH_36"; +BA_ "GenSigSendType" SG_ 323 CAN_DET_CONFID_AZIMUTH_36 0; +BA_ "GenSigCmt" SG_ 323 CAN_DET_CONFID_AZIMUTH_36 "CAN_DET_CONFID_AZIMUTH_36"; +BA_ "GenSigSendType" SG_ 323 CAN_DET_SUPER_RES_TARGET_36 0; +BA_ "GenSigCmt" SG_ 323 CAN_DET_SUPER_RES_TARGET_36 "CAN_DET_SUPER_RES_TARGET_36"; +BA_ "GenSigSendType" SG_ 323 CAN_DET_ND_TARGET_36 0; +BA_ "GenSigCmt" SG_ 323 CAN_DET_ND_TARGET_36 "CAN_DET_ND_TARGET_36"; +BA_ "GenSigSendType" SG_ 323 CAN_DET_HOST_VEH_CLUTTER_36 0; +BA_ "GenSigCmt" SG_ 323 CAN_DET_HOST_VEH_CLUTTER_36 "CAN_DET_HOST_VEH_CLUTTER_36"; +BA_ "GenSigSendType" SG_ 323 CAN_DET_VALID_LEVEL_36 0; +BA_ "GenSigCmt" SG_ 323 CAN_DET_VALID_LEVEL_36 "CAN_DET_VALID_LEVEL_36"; +BA_ "GenSigStartValue" SG_ 323 CAN_DET_AZIMUTH_36 0; +BA_ "GenSigSendType" SG_ 323 CAN_DET_AZIMUTH_36 0; +BA_ "GenSigCmt" SG_ 323 CAN_DET_AZIMUTH_36 "CAN_DET_AZIMUTH_36"; +BA_ "GenSigSendType" SG_ 323 CAN_DET_RANGE_36 0; +BA_ "GenSigCmt" SG_ 323 CAN_DET_RANGE_36 "CAN_DET_RANGE_36"; +BA_ "GenSigStartValue" SG_ 323 CAN_DET_RANGE_RATE_36 0; +BA_ "GenSigSendType" SG_ 323 CAN_DET_RANGE_RATE_36 0; +BA_ "GenSigCmt" SG_ 323 CAN_DET_RANGE_RATE_36 "CAN_DET_RANGE_RATE_36"; +BA_ "GenSigSendType" SG_ 323 CAN_DET_AMPLITUDE_36 0; +BA_ "GenSigCmt" SG_ 323 CAN_DET_AMPLITUDE_36 "CAN_DET_AMPLITUDE_36"; +BA_ "GenSigSendType" SG_ 323 CAN_SCAN_INDEX_2LSB_36 0; +BA_ "GenSigCmt" SG_ 323 CAN_SCAN_INDEX_2LSB_36 "CAN_SCAN_INDEX_2LSB_36"; +BA_ "GenMsgSendType" BO_ 322 1; +BA_ "GenMsgILSupport" BO_ 322 1; +BA_ "GenMsgNrOfRepetition" BO_ 322 0; +BA_ "GenMsgCycleTime" BO_ 322 0; +BA_ "NetworkInitialization" BO_ 322 0; +BA_ "GenMsgDelayTime" BO_ 322 0; +BA_ "GenSigVtEn" SG_ 322 CAN_DET_CONFID_AZIMUTH_35 "CAN_DET_CONFID_AZIMUTH_35"; +BA_ "GenSigVtName" SG_ 322 CAN_DET_CONFID_AZIMUTH_35 "CAN_DET_CONFID_AZIMUTH_35"; +BA_ "GenSigSendType" SG_ 322 CAN_DET_CONFID_AZIMUTH_35 0; +BA_ "GenSigCmt" SG_ 322 CAN_DET_CONFID_AZIMUTH_35 "CAN_DET_CONFID_AZIMUTH_35"; +BA_ "GenSigSendType" SG_ 322 CAN_DET_SUPER_RES_TARGET_35 0; +BA_ "GenSigCmt" SG_ 322 CAN_DET_SUPER_RES_TARGET_35 "CAN_DET_SUPER_RES_TARGET_35"; +BA_ "GenSigSendType" SG_ 322 CAN_DET_ND_TARGET_35 0; +BA_ "GenSigCmt" SG_ 322 CAN_DET_ND_TARGET_35 "CAN_DET_ND_TARGET_35"; +BA_ "GenSigSendType" SG_ 322 CAN_DET_HOST_VEH_CLUTTER_35 0; +BA_ "GenSigCmt" SG_ 322 CAN_DET_HOST_VEH_CLUTTER_35 "CAN_DET_HOST_VEH_CLUTTER_35"; +BA_ "GenSigSendType" SG_ 322 CAN_DET_VALID_LEVEL_35 0; +BA_ "GenSigCmt" SG_ 322 CAN_DET_VALID_LEVEL_35 "CAN_DET_VALID_LEVEL_35"; +BA_ "GenSigStartValue" SG_ 322 CAN_DET_AZIMUTH_35 0; +BA_ "GenSigSendType" SG_ 322 CAN_DET_AZIMUTH_35 0; +BA_ "GenSigCmt" SG_ 322 CAN_DET_AZIMUTH_35 "CAN_DET_AZIMUTH_35"; +BA_ "GenSigSendType" SG_ 322 CAN_DET_RANGE_35 0; +BA_ "GenSigCmt" SG_ 322 CAN_DET_RANGE_35 "CAN_DET_RANGE_35"; +BA_ "GenSigStartValue" SG_ 322 CAN_DET_RANGE_RATE_35 0; +BA_ "GenSigSendType" SG_ 322 CAN_DET_RANGE_RATE_35 0; +BA_ "GenSigCmt" SG_ 322 CAN_DET_RANGE_RATE_35 "CAN_DET_RANGE_RATE_35"; +BA_ "GenSigSendType" SG_ 322 CAN_DET_AMPLITUDE_35 0; +BA_ "GenSigCmt" SG_ 322 CAN_DET_AMPLITUDE_35 "CAN_DET_AMPLITUDE_35"; +BA_ "GenSigSendType" SG_ 322 CAN_SCAN_INDEX_2LSB_35 0; +BA_ "GenSigCmt" SG_ 322 CAN_SCAN_INDEX_2LSB_35 "CAN_SCAN_INDEX_2LSB_35"; +BA_ "GenMsgSendType" BO_ 321 1; +BA_ "GenMsgILSupport" BO_ 321 1; +BA_ "GenMsgNrOfRepetition" BO_ 321 0; +BA_ "GenMsgCycleTime" BO_ 321 0; +BA_ "NetworkInitialization" BO_ 321 0; +BA_ "GenMsgDelayTime" BO_ 321 0; +BA_ "GenSigVtEn" SG_ 321 CAN_DET_CONFID_AZIMUTH_34 "CAN_DET_CONFID_AZIMUTH_34"; +BA_ "GenSigVtName" SG_ 321 CAN_DET_CONFID_AZIMUTH_34 "CAN_DET_CONFID_AZIMUTH_34"; +BA_ "GenSigSendType" SG_ 321 CAN_DET_CONFID_AZIMUTH_34 0; +BA_ "GenSigCmt" SG_ 321 CAN_DET_CONFID_AZIMUTH_34 "CAN_DET_CONFID_AZIMUTH_34"; +BA_ "GenSigSendType" SG_ 321 CAN_DET_SUPER_RES_TARGET_34 0; +BA_ "GenSigCmt" SG_ 321 CAN_DET_SUPER_RES_TARGET_34 "CAN_DET_SUPER_RES_TARGET_34"; +BA_ "GenSigSendType" SG_ 321 CAN_DET_ND_TARGET_34 0; +BA_ "GenSigCmt" SG_ 321 CAN_DET_ND_TARGET_34 "CAN_DET_ND_TARGET_34"; +BA_ "GenSigSendType" SG_ 321 CAN_DET_HOST_VEH_CLUTTER_34 0; +BA_ "GenSigCmt" SG_ 321 CAN_DET_HOST_VEH_CLUTTER_34 "CAN_DET_HOST_VEH_CLUTTER_34"; +BA_ "GenSigSendType" SG_ 321 CAN_DET_VALID_LEVEL_34 0; +BA_ "GenSigCmt" SG_ 321 CAN_DET_VALID_LEVEL_34 "CAN_DET_VALID_LEVEL_34"; +BA_ "GenSigStartValue" SG_ 321 CAN_DET_AZIMUTH_34 0; +BA_ "GenSigSendType" SG_ 321 CAN_DET_AZIMUTH_34 0; +BA_ "GenSigCmt" SG_ 321 CAN_DET_AZIMUTH_34 "CAN_DET_AZIMUTH_34"; +BA_ "GenSigSendType" SG_ 321 CAN_DET_RANGE_34 0; +BA_ "GenSigCmt" SG_ 321 CAN_DET_RANGE_34 "CAN_DET_RANGE_34"; +BA_ "GenSigStartValue" SG_ 321 CAN_DET_RANGE_RATE_34 0; +BA_ "GenSigSendType" SG_ 321 CAN_DET_RANGE_RATE_34 0; +BA_ "GenSigCmt" SG_ 321 CAN_DET_RANGE_RATE_34 "CAN_DET_RANGE_RATE_34"; +BA_ "GenSigSendType" SG_ 321 CAN_DET_AMPLITUDE_34 0; +BA_ "GenSigCmt" SG_ 321 CAN_DET_AMPLITUDE_34 "CAN_DET_AMPLITUDE_34"; +BA_ "GenSigSendType" SG_ 321 CAN_SCAN_INDEX_2LSB_34 0; +BA_ "GenSigCmt" SG_ 321 CAN_SCAN_INDEX_2LSB_34 "CAN_SCAN_INDEX_2LSB_34"; +BA_ "GenMsgSendType" BO_ 320 1; +BA_ "GenMsgILSupport" BO_ 320 1; +BA_ "GenMsgNrOfRepetition" BO_ 320 0; +BA_ "GenMsgCycleTime" BO_ 320 0; +BA_ "NetworkInitialization" BO_ 320 0; +BA_ "GenMsgDelayTime" BO_ 320 0; +BA_ "GenSigVtEn" SG_ 320 CAN_DET_CONFID_AZIMUTH_33 "CAN_DET_CONFID_AZIMUTH_33"; +BA_ "GenSigVtName" SG_ 320 CAN_DET_CONFID_AZIMUTH_33 "CAN_DET_CONFID_AZIMUTH_33"; +BA_ "GenSigSendType" SG_ 320 CAN_DET_CONFID_AZIMUTH_33 0; +BA_ "GenSigCmt" SG_ 320 CAN_DET_CONFID_AZIMUTH_33 "CAN_DET_CONFID_AZIMUTH_33"; +BA_ "GenSigSendType" SG_ 320 CAN_DET_SUPER_RES_TARGET_33 0; +BA_ "GenSigCmt" SG_ 320 CAN_DET_SUPER_RES_TARGET_33 "CAN_DET_SUPER_RES_TARGET_33"; +BA_ "GenSigSendType" SG_ 320 CAN_DET_ND_TARGET_33 0; +BA_ "GenSigCmt" SG_ 320 CAN_DET_ND_TARGET_33 "CAN_DET_ND_TARGET_33"; +BA_ "GenSigSendType" SG_ 320 CAN_DET_HOST_VEH_CLUTTER_33 0; +BA_ "GenSigCmt" SG_ 320 CAN_DET_HOST_VEH_CLUTTER_33 "CAN_DET_HOST_VEH_CLUTTER_33"; +BA_ "GenSigSendType" SG_ 320 CAN_DET_VALID_LEVEL_33 0; +BA_ "GenSigCmt" SG_ 320 CAN_DET_VALID_LEVEL_33 "CAN_DET_VALID_LEVEL_33"; +BA_ "GenSigStartValue" SG_ 320 CAN_DET_AZIMUTH_33 0; +BA_ "GenSigSendType" SG_ 320 CAN_DET_AZIMUTH_33 0; +BA_ "GenSigCmt" SG_ 320 CAN_DET_AZIMUTH_33 "CAN_DET_AZIMUTH_33"; +BA_ "GenSigSendType" SG_ 320 CAN_DET_RANGE_33 0; +BA_ "GenSigCmt" SG_ 320 CAN_DET_RANGE_33 "CAN_DET_RANGE_33"; +BA_ "GenSigStartValue" SG_ 320 CAN_DET_RANGE_RATE_33 0; +BA_ "GenSigSendType" SG_ 320 CAN_DET_RANGE_RATE_33 0; +BA_ "GenSigCmt" SG_ 320 CAN_DET_RANGE_RATE_33 "CAN_DET_RANGE_RATE_33"; +BA_ "GenSigSendType" SG_ 320 CAN_DET_AMPLITUDE_33 0; +BA_ "GenSigCmt" SG_ 320 CAN_DET_AMPLITUDE_33 "CAN_DET_AMPLITUDE_33"; +BA_ "GenSigSendType" SG_ 320 CAN_SCAN_INDEX_2LSB_33 0; +BA_ "GenSigCmt" SG_ 320 CAN_SCAN_INDEX_2LSB_33 "CAN_SCAN_INDEX_2LSB_33"; +BA_ "GenMsgSendType" BO_ 319 1; +BA_ "GenMsgILSupport" BO_ 319 1; +BA_ "GenMsgNrOfRepetition" BO_ 319 0; +BA_ "GenMsgCycleTime" BO_ 319 0; +BA_ "NetworkInitialization" BO_ 319 0; +BA_ "GenMsgDelayTime" BO_ 319 0; +BA_ "GenSigVtEn" SG_ 319 CAN_DET_CONFID_AZIMUTH_32 "CAN_DET_CONFID_AZIMUTH_32"; +BA_ "GenSigVtName" SG_ 319 CAN_DET_CONFID_AZIMUTH_32 "CAN_DET_CONFID_AZIMUTH_32"; +BA_ "GenSigSendType" SG_ 319 CAN_DET_CONFID_AZIMUTH_32 0; +BA_ "GenSigCmt" SG_ 319 CAN_DET_CONFID_AZIMUTH_32 "CAN_DET_CONFID_AZIMUTH_32"; +BA_ "GenSigSendType" SG_ 319 CAN_DET_SUPER_RES_TARGET_32 0; +BA_ "GenSigCmt" SG_ 319 CAN_DET_SUPER_RES_TARGET_32 "CAN_DET_SUPER_RES_TARGET_32"; +BA_ "GenSigSendType" SG_ 319 CAN_DET_ND_TARGET_32 0; +BA_ "GenSigCmt" SG_ 319 CAN_DET_ND_TARGET_32 "CAN_DET_ND_TARGET_32"; +BA_ "GenSigSendType" SG_ 319 CAN_DET_HOST_VEH_CLUTTER_32 0; +BA_ "GenSigCmt" SG_ 319 CAN_DET_HOST_VEH_CLUTTER_32 "CAN_DET_HOST_VEH_CLUTTER_32"; +BA_ "GenSigSendType" SG_ 319 CAN_DET_VALID_LEVEL_32 0; +BA_ "GenSigCmt" SG_ 319 CAN_DET_VALID_LEVEL_32 "CAN_DET_VALID_LEVEL_32"; +BA_ "GenSigStartValue" SG_ 319 CAN_DET_AZIMUTH_32 0; +BA_ "GenSigSendType" SG_ 319 CAN_DET_AZIMUTH_32 0; +BA_ "GenSigCmt" SG_ 319 CAN_DET_AZIMUTH_32 "CAN_DET_AZIMUTH_32"; +BA_ "GenSigSendType" SG_ 319 CAN_DET_RANGE_32 0; +BA_ "GenSigCmt" SG_ 319 CAN_DET_RANGE_32 "CAN_DET_RANGE_32"; +BA_ "GenSigStartValue" SG_ 319 CAN_DET_RANGE_RATE_32 0; +BA_ "GenSigSendType" SG_ 319 CAN_DET_RANGE_RATE_32 0; +BA_ "GenSigCmt" SG_ 319 CAN_DET_RANGE_RATE_32 "CAN_DET_RANGE_RATE_32"; +BA_ "GenSigSendType" SG_ 319 CAN_DET_AMPLITUDE_32 0; +BA_ "GenSigCmt" SG_ 319 CAN_DET_AMPLITUDE_32 "CAN_DET_AMPLITUDE_32"; +BA_ "GenSigSendType" SG_ 319 CAN_SCAN_INDEX_2LSB_32 0; +BA_ "GenSigCmt" SG_ 319 CAN_SCAN_INDEX_2LSB_32 "CAN_SCAN_INDEX_2LSB_32"; +BA_ "GenMsgSendType" BO_ 318 1; +BA_ "GenMsgILSupport" BO_ 318 1; +BA_ "GenMsgNrOfRepetition" BO_ 318 0; +BA_ "GenMsgCycleTime" BO_ 318 0; +BA_ "NetworkInitialization" BO_ 318 0; +BA_ "GenMsgDelayTime" BO_ 318 0; +BA_ "GenSigVtEn" SG_ 318 CAN_DET_CONFID_AZIMUTH_31 "CAN_DET_CONFID_AZIMUTH_31"; +BA_ "GenSigVtName" SG_ 318 CAN_DET_CONFID_AZIMUTH_31 "CAN_DET_CONFID_AZIMUTH_31"; +BA_ "GenSigSendType" SG_ 318 CAN_DET_CONFID_AZIMUTH_31 0; +BA_ "GenSigCmt" SG_ 318 CAN_DET_CONFID_AZIMUTH_31 "CAN_DET_CONFID_AZIMUTH_31"; +BA_ "GenSigSendType" SG_ 318 CAN_DET_SUPER_RES_TARGET_31 0; +BA_ "GenSigCmt" SG_ 318 CAN_DET_SUPER_RES_TARGET_31 "CAN_DET_SUPER_RES_TARGET_31"; +BA_ "GenSigSendType" SG_ 318 CAN_DET_ND_TARGET_31 0; +BA_ "GenSigCmt" SG_ 318 CAN_DET_ND_TARGET_31 "CAN_DET_ND_TARGET_31"; +BA_ "GenSigSendType" SG_ 318 CAN_DET_HOST_VEH_CLUTTER_31 0; +BA_ "GenSigCmt" SG_ 318 CAN_DET_HOST_VEH_CLUTTER_31 "CAN_DET_HOST_VEH_CLUTTER_31"; +BA_ "GenSigSendType" SG_ 318 CAN_DET_VALID_LEVEL_31 0; +BA_ "GenSigCmt" SG_ 318 CAN_DET_VALID_LEVEL_31 "CAN_DET_VALID_LEVEL_31"; +BA_ "GenSigStartValue" SG_ 318 CAN_DET_AZIMUTH_31 0; +BA_ "GenSigSendType" SG_ 318 CAN_DET_AZIMUTH_31 0; +BA_ "GenSigCmt" SG_ 318 CAN_DET_AZIMUTH_31 "CAN_DET_AZIMUTH_31"; +BA_ "GenSigSendType" SG_ 318 CAN_DET_RANGE_31 0; +BA_ "GenSigCmt" SG_ 318 CAN_DET_RANGE_31 "CAN_DET_RANGE_31"; +BA_ "GenSigStartValue" SG_ 318 CAN_DET_RANGE_RATE_31 0; +BA_ "GenSigSendType" SG_ 318 CAN_DET_RANGE_RATE_31 0; +BA_ "GenSigCmt" SG_ 318 CAN_DET_RANGE_RATE_31 "CAN_DET_RANGE_RATE_31"; +BA_ "GenSigSendType" SG_ 318 CAN_DET_AMPLITUDE_31 0; +BA_ "GenSigCmt" SG_ 318 CAN_DET_AMPLITUDE_31 "CAN_DET_AMPLITUDE_31"; +BA_ "GenSigSendType" SG_ 318 CAN_SCAN_INDEX_2LSB_31 0; +BA_ "GenSigCmt" SG_ 318 CAN_SCAN_INDEX_2LSB_31 "CAN_SCAN_INDEX_2LSB_31"; +BA_ "GenMsgSendType" BO_ 317 1; +BA_ "GenMsgILSupport" BO_ 317 1; +BA_ "GenMsgNrOfRepetition" BO_ 317 0; +BA_ "GenMsgCycleTime" BO_ 317 0; +BA_ "NetworkInitialization" BO_ 317 0; +BA_ "GenMsgDelayTime" BO_ 317 0; +BA_ "GenSigVtEn" SG_ 317 CAN_DET_CONFID_AZIMUTH_30 "CAN_DET_CONFID_AZIMUTH_30"; +BA_ "GenSigVtName" SG_ 317 CAN_DET_CONFID_AZIMUTH_30 "CAN_DET_CONFID_AZIMUTH_30"; +BA_ "GenSigSendType" SG_ 317 CAN_DET_CONFID_AZIMUTH_30 0; +BA_ "GenSigCmt" SG_ 317 CAN_DET_CONFID_AZIMUTH_30 "CAN_DET_CONFID_AZIMUTH_30"; +BA_ "GenSigSendType" SG_ 317 CAN_DET_SUPER_RES_TARGET_30 0; +BA_ "GenSigCmt" SG_ 317 CAN_DET_SUPER_RES_TARGET_30 "CAN_DET_SUPER_RES_TARGET_30"; +BA_ "GenSigSendType" SG_ 317 CAN_DET_ND_TARGET_30 0; +BA_ "GenSigCmt" SG_ 317 CAN_DET_ND_TARGET_30 "CAN_DET_ND_TARGET_30"; +BA_ "GenSigSendType" SG_ 317 CAN_DET_HOST_VEH_CLUTTER_30 0; +BA_ "GenSigCmt" SG_ 317 CAN_DET_HOST_VEH_CLUTTER_30 "CAN_DET_HOST_VEH_CLUTTER_30"; +BA_ "GenSigSendType" SG_ 317 CAN_DET_VALID_LEVEL_30 0; +BA_ "GenSigCmt" SG_ 317 CAN_DET_VALID_LEVEL_30 "CAN_DET_VALID_LEVEL_30"; +BA_ "GenSigStartValue" SG_ 317 CAN_DET_AZIMUTH_30 0; +BA_ "GenSigSendType" SG_ 317 CAN_DET_AZIMUTH_30 0; +BA_ "GenSigCmt" SG_ 317 CAN_DET_AZIMUTH_30 "CAN_DET_AZIMUTH_30"; +BA_ "GenSigSendType" SG_ 317 CAN_DET_RANGE_30 0; +BA_ "GenSigCmt" SG_ 317 CAN_DET_RANGE_30 "CAN_DET_RANGE_30"; +BA_ "GenSigStartValue" SG_ 317 CAN_DET_RANGE_RATE_30 0; +BA_ "GenSigSendType" SG_ 317 CAN_DET_RANGE_RATE_30 0; +BA_ "GenSigCmt" SG_ 317 CAN_DET_RANGE_RATE_30 "CAN_DET_RANGE_RATE_30"; +BA_ "GenSigSendType" SG_ 317 CAN_DET_AMPLITUDE_30 0; +BA_ "GenSigCmt" SG_ 317 CAN_DET_AMPLITUDE_30 "CAN_DET_AMPLITUDE_30"; +BA_ "GenSigSendType" SG_ 317 CAN_SCAN_INDEX_2LSB_30 0; +BA_ "GenSigCmt" SG_ 317 CAN_SCAN_INDEX_2LSB_30 "CAN_SCAN_INDEX_2LSB_30"; +BA_ "GenMsgSendType" BO_ 316 1; +BA_ "GenMsgILSupport" BO_ 316 1; +BA_ "GenMsgNrOfRepetition" BO_ 316 0; +BA_ "GenMsgCycleTime" BO_ 316 0; +BA_ "NetworkInitialization" BO_ 316 0; +BA_ "GenMsgDelayTime" BO_ 316 0; +BA_ "GenSigVtEn" SG_ 316 CAN_DET_CONFID_AZIMUTH_29 "CAN_DET_CONFID_AZIMUTH_29"; +BA_ "GenSigVtName" SG_ 316 CAN_DET_CONFID_AZIMUTH_29 "CAN_DET_CONFID_AZIMUTH_29"; +BA_ "GenSigSendType" SG_ 316 CAN_DET_CONFID_AZIMUTH_29 0; +BA_ "GenSigCmt" SG_ 316 CAN_DET_CONFID_AZIMUTH_29 "CAN_DET_CONFID_AZIMUTH_29"; +BA_ "GenSigSendType" SG_ 316 CAN_DET_SUPER_RES_TARGET_29 0; +BA_ "GenSigCmt" SG_ 316 CAN_DET_SUPER_RES_TARGET_29 "CAN_DET_SUPER_RES_TARGET_29"; +BA_ "GenSigSendType" SG_ 316 CAN_DET_ND_TARGET_29 0; +BA_ "GenSigCmt" SG_ 316 CAN_DET_ND_TARGET_29 "CAN_DET_ND_TARGET_29"; +BA_ "GenSigSendType" SG_ 316 CAN_DET_HOST_VEH_CLUTTER_29 0; +BA_ "GenSigCmt" SG_ 316 CAN_DET_HOST_VEH_CLUTTER_29 "CAN_DET_HOST_VEH_CLUTTER_29"; +BA_ "GenSigSendType" SG_ 316 CAN_DET_VALID_LEVEL_29 0; +BA_ "GenSigCmt" SG_ 316 CAN_DET_VALID_LEVEL_29 "CAN_DET_VALID_LEVEL_29"; +BA_ "GenSigStartValue" SG_ 316 CAN_DET_AZIMUTH_29 0; +BA_ "GenSigSendType" SG_ 316 CAN_DET_AZIMUTH_29 0; +BA_ "GenSigCmt" SG_ 316 CAN_DET_AZIMUTH_29 "CAN_DET_AZIMUTH_29"; +BA_ "GenSigSendType" SG_ 316 CAN_DET_RANGE_29 0; +BA_ "GenSigCmt" SG_ 316 CAN_DET_RANGE_29 "CAN_DET_RANGE_29"; +BA_ "GenSigStartValue" SG_ 316 CAN_DET_RANGE_RATE_29 0; +BA_ "GenSigSendType" SG_ 316 CAN_DET_RANGE_RATE_29 0; +BA_ "GenSigCmt" SG_ 316 CAN_DET_RANGE_RATE_29 "CAN_DET_RANGE_RATE_29"; +BA_ "GenSigSendType" SG_ 316 CAN_DET_AMPLITUDE_29 0; +BA_ "GenSigCmt" SG_ 316 CAN_DET_AMPLITUDE_29 "CAN_DET_AMPLITUDE_29"; +BA_ "GenSigSendType" SG_ 316 CAN_SCAN_INDEX_2LSB_29 0; +BA_ "GenSigCmt" SG_ 316 CAN_SCAN_INDEX_2LSB_29 "CAN_SCAN_INDEX_2LSB_29"; +BA_ "GenMsgSendType" BO_ 314 1; +BA_ "GenMsgILSupport" BO_ 314 1; +BA_ "GenMsgNrOfRepetition" BO_ 314 0; +BA_ "GenMsgCycleTime" BO_ 314 0; +BA_ "NetworkInitialization" BO_ 314 0; +BA_ "GenMsgDelayTime" BO_ 314 0; +BA_ "GenSigVtEn" SG_ 314 CAN_DET_CONFID_AZIMUTH_27 "CAN_DET_CONFID_AZIMUTH_27"; +BA_ "GenSigVtName" SG_ 314 CAN_DET_CONFID_AZIMUTH_27 "CAN_DET_CONFID_AZIMUTH_27"; +BA_ "GenSigSendType" SG_ 314 CAN_DET_CONFID_AZIMUTH_27 0; +BA_ "GenSigCmt" SG_ 314 CAN_DET_CONFID_AZIMUTH_27 "CAN_DET_CONFID_AZIMUTH_27"; +BA_ "GenSigSendType" SG_ 314 CAN_DET_SUPER_RES_TARGET_27 0; +BA_ "GenSigCmt" SG_ 314 CAN_DET_SUPER_RES_TARGET_27 "CAN_DET_SUPER_RES_TARGET_27"; +BA_ "GenSigSendType" SG_ 314 CAN_DET_ND_TARGET_27 0; +BA_ "GenSigCmt" SG_ 314 CAN_DET_ND_TARGET_27 "CAN_DET_ND_TARGET_27"; +BA_ "GenSigSendType" SG_ 314 CAN_DET_HOST_VEH_CLUTTER_27 0; +BA_ "GenSigCmt" SG_ 314 CAN_DET_HOST_VEH_CLUTTER_27 "CAN_DET_HOST_VEH_CLUTTER_27"; +BA_ "GenSigSendType" SG_ 314 CAN_DET_VALID_LEVEL_27 0; +BA_ "GenSigCmt" SG_ 314 CAN_DET_VALID_LEVEL_27 "CAN_DET_VALID_LEVEL_27"; +BA_ "GenSigStartValue" SG_ 314 CAN_DET_AZIMUTH_27 0; +BA_ "GenSigSendType" SG_ 314 CAN_DET_AZIMUTH_27 0; +BA_ "GenSigCmt" SG_ 314 CAN_DET_AZIMUTH_27 "CAN_DET_AZIMUTH_27"; +BA_ "GenSigSendType" SG_ 314 CAN_DET_RANGE_27 0; +BA_ "GenSigCmt" SG_ 314 CAN_DET_RANGE_27 "CAN_DET_RANGE_27"; +BA_ "GenSigStartValue" SG_ 314 CAN_DET_RANGE_RATE_27 0; +BA_ "GenSigSendType" SG_ 314 CAN_DET_RANGE_RATE_27 0; +BA_ "GenSigCmt" SG_ 314 CAN_DET_RANGE_RATE_27 "CAN_DET_RANGE_RATE_27"; +BA_ "GenSigSendType" SG_ 314 CAN_DET_AMPLITUDE_27 0; +BA_ "GenSigCmt" SG_ 314 CAN_DET_AMPLITUDE_27 "CAN_DET_AMPLITUDE_27"; +BA_ "GenSigSendType" SG_ 314 CAN_SCAN_INDEX_2LSB_27 0; +BA_ "GenSigCmt" SG_ 314 CAN_SCAN_INDEX_2LSB_27 "CAN_SCAN_INDEX_2LSB_27"; +BA_ "GenMsgSendType" BO_ 313 1; +BA_ "GenMsgILSupport" BO_ 313 1; +BA_ "GenMsgNrOfRepetition" BO_ 313 0; +BA_ "GenMsgCycleTime" BO_ 313 0; +BA_ "NetworkInitialization" BO_ 313 0; +BA_ "GenMsgDelayTime" BO_ 313 0; +BA_ "GenSigVtEn" SG_ 313 CAN_DET_CONFID_AZIMUTH_26 "CAN_DET_CONFID_AZIMUTH_26"; +BA_ "GenSigVtName" SG_ 313 CAN_DET_CONFID_AZIMUTH_26 "CAN_DET_CONFID_AZIMUTH_26"; +BA_ "GenSigSendType" SG_ 313 CAN_DET_CONFID_AZIMUTH_26 0; +BA_ "GenSigCmt" SG_ 313 CAN_DET_CONFID_AZIMUTH_26 "CAN_DET_CONFID_AZIMUTH_26"; +BA_ "GenSigSendType" SG_ 313 CAN_DET_SUPER_RES_TARGET_26 0; +BA_ "GenSigCmt" SG_ 313 CAN_DET_SUPER_RES_TARGET_26 "CAN_DET_SUPER_RES_TARGET_26"; +BA_ "GenSigSendType" SG_ 313 CAN_DET_ND_TARGET_26 0; +BA_ "GenSigCmt" SG_ 313 CAN_DET_ND_TARGET_26 "CAN_DET_ND_TARGET_26"; +BA_ "GenSigSendType" SG_ 313 CAN_DET_HOST_VEH_CLUTTER_26 0; +BA_ "GenSigCmt" SG_ 313 CAN_DET_HOST_VEH_CLUTTER_26 "CAN_DET_HOST_VEH_CLUTTER_26"; +BA_ "GenSigSendType" SG_ 313 CAN_DET_VALID_LEVEL_26 0; +BA_ "GenSigCmt" SG_ 313 CAN_DET_VALID_LEVEL_26 "CAN_DET_VALID_LEVEL_26"; +BA_ "GenSigStartValue" SG_ 313 CAN_DET_AZIMUTH_26 0; +BA_ "GenSigSendType" SG_ 313 CAN_DET_AZIMUTH_26 0; +BA_ "GenSigCmt" SG_ 313 CAN_DET_AZIMUTH_26 "CAN_DET_AZIMUTH_26"; +BA_ "GenSigSendType" SG_ 313 CAN_DET_RANGE_26 0; +BA_ "GenSigCmt" SG_ 313 CAN_DET_RANGE_26 "CAN_DET_RANGE_26"; +BA_ "GenSigStartValue" SG_ 313 CAN_DET_RANGE_RATE_26 0; +BA_ "GenSigSendType" SG_ 313 CAN_DET_RANGE_RATE_26 0; +BA_ "GenSigCmt" SG_ 313 CAN_DET_RANGE_RATE_26 "CAN_DET_RANGE_RATE_26"; +BA_ "GenSigSendType" SG_ 313 CAN_DET_AMPLITUDE_26 0; +BA_ "GenSigCmt" SG_ 313 CAN_DET_AMPLITUDE_26 "CAN_DET_AMPLITUDE_26"; +BA_ "GenSigSendType" SG_ 313 CAN_SCAN_INDEX_2LSB_26 0; +BA_ "GenSigCmt" SG_ 313 CAN_SCAN_INDEX_2LSB_26 "CAN_SCAN_INDEX_2LSB_26"; +BA_ "GenMsgSendType" BO_ 312 1; +BA_ "GenMsgILSupport" BO_ 312 1; +BA_ "GenMsgNrOfRepetition" BO_ 312 0; +BA_ "GenMsgCycleTime" BO_ 312 0; +BA_ "NetworkInitialization" BO_ 312 0; +BA_ "GenMsgDelayTime" BO_ 312 0; +BA_ "GenSigVtEn" SG_ 312 CAN_DET_CONFID_AZIMUTH_25 "CAN_DET_CONFID_AZIMUTH_25"; +BA_ "GenSigVtName" SG_ 312 CAN_DET_CONFID_AZIMUTH_25 "CAN_DET_CONFID_AZIMUTH_25"; +BA_ "GenSigSendType" SG_ 312 CAN_DET_CONFID_AZIMUTH_25 0; +BA_ "GenSigCmt" SG_ 312 CAN_DET_CONFID_AZIMUTH_25 "CAN_DET_CONFID_AZIMUTH_25"; +BA_ "GenSigSendType" SG_ 312 CAN_DET_SUPER_RES_TARGET_25 0; +BA_ "GenSigCmt" SG_ 312 CAN_DET_SUPER_RES_TARGET_25 "CAN_DET_SUPER_RES_TARGET_25"; +BA_ "GenSigSendType" SG_ 312 CAN_DET_ND_TARGET_25 0; +BA_ "GenSigCmt" SG_ 312 CAN_DET_ND_TARGET_25 "CAN_DET_ND_TARGET_25"; +BA_ "GenSigSendType" SG_ 312 CAN_DET_HOST_VEH_CLUTTER_25 0; +BA_ "GenSigCmt" SG_ 312 CAN_DET_HOST_VEH_CLUTTER_25 "CAN_DET_HOST_VEH_CLUTTER_25"; +BA_ "GenSigSendType" SG_ 312 CAN_DET_VALID_LEVEL_25 0; +BA_ "GenSigCmt" SG_ 312 CAN_DET_VALID_LEVEL_25 "CAN_DET_VALID_LEVEL_25"; +BA_ "GenSigStartValue" SG_ 312 CAN_DET_AZIMUTH_25 0; +BA_ "GenSigSendType" SG_ 312 CAN_DET_AZIMUTH_25 0; +BA_ "GenSigCmt" SG_ 312 CAN_DET_AZIMUTH_25 "CAN_DET_AZIMUTH_25"; +BA_ "GenSigSendType" SG_ 312 CAN_DET_RANGE_25 0; +BA_ "GenSigCmt" SG_ 312 CAN_DET_RANGE_25 "CAN_DET_RANGE_25"; +BA_ "GenSigStartValue" SG_ 312 CAN_DET_RANGE_RATE_25 0; +BA_ "GenSigSendType" SG_ 312 CAN_DET_RANGE_RATE_25 0; +BA_ "GenSigCmt" SG_ 312 CAN_DET_RANGE_RATE_25 "CAN_DET_RANGE_RATE_25"; +BA_ "GenSigSendType" SG_ 312 CAN_DET_AMPLITUDE_25 0; +BA_ "GenSigCmt" SG_ 312 CAN_DET_AMPLITUDE_25 "CAN_DET_AMPLITUDE_25"; +BA_ "GenSigSendType" SG_ 312 CAN_SCAN_INDEX_2LSB_25 0; +BA_ "GenSigCmt" SG_ 312 CAN_SCAN_INDEX_2LSB_25 "CAN_SCAN_INDEX_2LSB_25"; +BA_ "GenMsgSendType" BO_ 311 1; +BA_ "GenMsgILSupport" BO_ 311 1; +BA_ "GenMsgNrOfRepetition" BO_ 311 0; +BA_ "GenMsgCycleTime" BO_ 311 0; +BA_ "NetworkInitialization" BO_ 311 0; +BA_ "GenMsgDelayTime" BO_ 311 0; +BA_ "GenSigVtEn" SG_ 311 CAN_DET_CONFID_AZIMUTH_24 "CAN_DET_CONFID_AZIMUTH_24"; +BA_ "GenSigVtName" SG_ 311 CAN_DET_CONFID_AZIMUTH_24 "CAN_DET_CONFID_AZIMUTH_24"; +BA_ "GenSigSendType" SG_ 311 CAN_DET_CONFID_AZIMUTH_24 0; +BA_ "GenSigCmt" SG_ 311 CAN_DET_CONFID_AZIMUTH_24 "CAN_DET_CONFID_AZIMUTH_24"; +BA_ "GenSigSendType" SG_ 311 CAN_DET_SUPER_RES_TARGET_24 0; +BA_ "GenSigCmt" SG_ 311 CAN_DET_SUPER_RES_TARGET_24 "CAN_DET_SUPER_RES_TARGET_24"; +BA_ "GenSigSendType" SG_ 311 CAN_DET_ND_TARGET_24 0; +BA_ "GenSigCmt" SG_ 311 CAN_DET_ND_TARGET_24 "CAN_DET_ND_TARGET_24"; +BA_ "GenSigSendType" SG_ 311 CAN_DET_HOST_VEH_CLUTTER_24 0; +BA_ "GenSigCmt" SG_ 311 CAN_DET_HOST_VEH_CLUTTER_24 "CAN_DET_HOST_VEH_CLUTTER_24"; +BA_ "GenSigSendType" SG_ 311 CAN_DET_VALID_LEVEL_24 0; +BA_ "GenSigCmt" SG_ 311 CAN_DET_VALID_LEVEL_24 "CAN_DET_VALID_LEVEL_24"; +BA_ "GenSigStartValue" SG_ 311 CAN_DET_AZIMUTH_24 0; +BA_ "GenSigSendType" SG_ 311 CAN_DET_AZIMUTH_24 0; +BA_ "GenSigCmt" SG_ 311 CAN_DET_AZIMUTH_24 "CAN_DET_AZIMUTH_24"; +BA_ "GenSigSendType" SG_ 311 CAN_DET_RANGE_24 0; +BA_ "GenSigCmt" SG_ 311 CAN_DET_RANGE_24 "CAN_DET_RANGE_24"; +BA_ "GenSigStartValue" SG_ 311 CAN_DET_RANGE_RATE_24 0; +BA_ "GenSigSendType" SG_ 311 CAN_DET_RANGE_RATE_24 0; +BA_ "GenSigCmt" SG_ 311 CAN_DET_RANGE_RATE_24 "CAN_DET_RANGE_RATE_24"; +BA_ "GenSigSendType" SG_ 311 CAN_DET_AMPLITUDE_24 0; +BA_ "GenSigCmt" SG_ 311 CAN_DET_AMPLITUDE_24 "CAN_DET_AMPLITUDE_24"; +BA_ "GenSigSendType" SG_ 311 CAN_SCAN_INDEX_2LSB_24 0; +BA_ "GenSigCmt" SG_ 311 CAN_SCAN_INDEX_2LSB_24 "CAN_SCAN_INDEX_2LSB_24"; +BA_ "GenMsgSendType" BO_ 310 1; +BA_ "GenMsgILSupport" BO_ 310 1; +BA_ "GenMsgNrOfRepetition" BO_ 310 0; +BA_ "GenMsgCycleTime" BO_ 310 0; +BA_ "NetworkInitialization" BO_ 310 0; +BA_ "GenMsgDelayTime" BO_ 310 0; +BA_ "GenSigVtEn" SG_ 310 CAN_DET_CONFID_AZIMUTH_23 "CAN_DET_CONFID_AZIMUTH_23"; +BA_ "GenSigVtName" SG_ 310 CAN_DET_CONFID_AZIMUTH_23 "CAN_DET_CONFID_AZIMUTH_23"; +BA_ "GenSigSendType" SG_ 310 CAN_DET_CONFID_AZIMUTH_23 0; +BA_ "GenSigCmt" SG_ 310 CAN_DET_CONFID_AZIMUTH_23 "CAN_DET_CONFID_AZIMUTH_23"; +BA_ "GenSigSendType" SG_ 310 CAN_DET_SUPER_RES_TARGET_23 0; +BA_ "GenSigCmt" SG_ 310 CAN_DET_SUPER_RES_TARGET_23 "CAN_DET_SUPER_RES_TARGET_23"; +BA_ "GenSigSendType" SG_ 310 CAN_DET_ND_TARGET_23 0; +BA_ "GenSigCmt" SG_ 310 CAN_DET_ND_TARGET_23 "CAN_DET_ND_TARGET_23"; +BA_ "GenSigSendType" SG_ 310 CAN_DET_HOST_VEH_CLUTTER_23 0; +BA_ "GenSigCmt" SG_ 310 CAN_DET_HOST_VEH_CLUTTER_23 "CAN_DET_HOST_VEH_CLUTTER_23"; +BA_ "GenSigSendType" SG_ 310 CAN_DET_VALID_LEVEL_23 0; +BA_ "GenSigCmt" SG_ 310 CAN_DET_VALID_LEVEL_23 "CAN_DET_VALID_LEVEL_23"; +BA_ "GenSigStartValue" SG_ 310 CAN_DET_AZIMUTH_23 0; +BA_ "GenSigSendType" SG_ 310 CAN_DET_AZIMUTH_23 0; +BA_ "GenSigCmt" SG_ 310 CAN_DET_AZIMUTH_23 "CAN_DET_AZIMUTH_23"; +BA_ "GenSigSendType" SG_ 310 CAN_DET_RANGE_23 0; +BA_ "GenSigCmt" SG_ 310 CAN_DET_RANGE_23 "CAN_DET_RANGE_23"; +BA_ "GenSigStartValue" SG_ 310 CAN_DET_RANGE_RATE_23 0; +BA_ "GenSigSendType" SG_ 310 CAN_DET_RANGE_RATE_23 0; +BA_ "GenSigCmt" SG_ 310 CAN_DET_RANGE_RATE_23 "CAN_DET_RANGE_RATE_23"; +BA_ "GenSigSendType" SG_ 310 CAN_DET_AMPLITUDE_23 0; +BA_ "GenSigCmt" SG_ 310 CAN_DET_AMPLITUDE_23 "CAN_DET_AMPLITUDE_23"; +BA_ "GenSigSendType" SG_ 310 CAN_SCAN_INDEX_2LSB_23 0; +BA_ "GenSigCmt" SG_ 310 CAN_SCAN_INDEX_2LSB_23 "CAN_SCAN_INDEX_2LSB_23"; +BA_ "GenMsgSendType" BO_ 309 1; +BA_ "GenMsgILSupport" BO_ 309 1; +BA_ "GenMsgNrOfRepetition" BO_ 309 0; +BA_ "GenMsgCycleTime" BO_ 309 0; +BA_ "NetworkInitialization" BO_ 309 0; +BA_ "GenMsgDelayTime" BO_ 309 0; +BA_ "GenSigVtEn" SG_ 309 CAN_DET_CONFID_AZIMUTH_22 "CAN_DET_CONFID_AZIMUTH_22"; +BA_ "GenSigVtName" SG_ 309 CAN_DET_CONFID_AZIMUTH_22 "CAN_DET_CONFID_AZIMUTH_22"; +BA_ "GenSigSendType" SG_ 309 CAN_DET_CONFID_AZIMUTH_22 0; +BA_ "GenSigCmt" SG_ 309 CAN_DET_CONFID_AZIMUTH_22 "CAN_DET_CONFID_AZIMUTH_22"; +BA_ "GenSigSendType" SG_ 309 CAN_DET_SUPER_RES_TARGET_22 0; +BA_ "GenSigCmt" SG_ 309 CAN_DET_SUPER_RES_TARGET_22 "CAN_DET_SUPER_RES_TARGET_22"; +BA_ "GenSigSendType" SG_ 309 CAN_DET_ND_TARGET_22 0; +BA_ "GenSigCmt" SG_ 309 CAN_DET_ND_TARGET_22 "CAN_DET_ND_TARGET_22"; +BA_ "GenSigSendType" SG_ 309 CAN_DET_HOST_VEH_CLUTTER_22 0; +BA_ "GenSigCmt" SG_ 309 CAN_DET_HOST_VEH_CLUTTER_22 "CAN_DET_HOST_VEH_CLUTTER_22"; +BA_ "GenSigSendType" SG_ 309 CAN_DET_VALID_LEVEL_22 0; +BA_ "GenSigCmt" SG_ 309 CAN_DET_VALID_LEVEL_22 "CAN_DET_VALID_LEVEL_22"; +BA_ "GenSigStartValue" SG_ 309 CAN_DET_AZIMUTH_22 0; +BA_ "GenSigSendType" SG_ 309 CAN_DET_AZIMUTH_22 0; +BA_ "GenSigCmt" SG_ 309 CAN_DET_AZIMUTH_22 "CAN_DET_AZIMUTH_22"; +BA_ "GenSigSendType" SG_ 309 CAN_DET_RANGE_22 0; +BA_ "GenSigCmt" SG_ 309 CAN_DET_RANGE_22 "CAN_DET_RANGE_22"; +BA_ "GenSigStartValue" SG_ 309 CAN_DET_RANGE_RATE_22 0; +BA_ "GenSigSendType" SG_ 309 CAN_DET_RANGE_RATE_22 0; +BA_ "GenSigCmt" SG_ 309 CAN_DET_RANGE_RATE_22 "CAN_DET_RANGE_RATE_22"; +BA_ "GenSigSendType" SG_ 309 CAN_DET_AMPLITUDE_22 0; +BA_ "GenSigCmt" SG_ 309 CAN_DET_AMPLITUDE_22 "CAN_DET_AMPLITUDE_22"; +BA_ "GenSigSendType" SG_ 309 CAN_SCAN_INDEX_2LSB_22 0; +BA_ "GenSigCmt" SG_ 309 CAN_SCAN_INDEX_2LSB_22 "CAN_SCAN_INDEX_2LSB_22"; +BA_ "GenMsgSendType" BO_ 308 1; +BA_ "GenMsgILSupport" BO_ 308 1; +BA_ "GenMsgNrOfRepetition" BO_ 308 0; +BA_ "GenMsgCycleTime" BO_ 308 0; +BA_ "NetworkInitialization" BO_ 308 0; +BA_ "GenMsgDelayTime" BO_ 308 0; +BA_ "GenSigVtEn" SG_ 308 CAN_DET_CONFID_AZIMUTH_21 "CAN_DET_CONFID_AZIMUTH_21"; +BA_ "GenSigVtName" SG_ 308 CAN_DET_CONFID_AZIMUTH_21 "CAN_DET_CONFID_AZIMUTH_21"; +BA_ "GenSigSendType" SG_ 308 CAN_DET_CONFID_AZIMUTH_21 0; +BA_ "GenSigCmt" SG_ 308 CAN_DET_CONFID_AZIMUTH_21 "CAN_DET_CONFID_AZIMUTH_21"; +BA_ "GenSigSendType" SG_ 308 CAN_DET_SUPER_RES_TARGET_21 0; +BA_ "GenSigCmt" SG_ 308 CAN_DET_SUPER_RES_TARGET_21 "CAN_DET_SUPER_RES_TARGET_21"; +BA_ "GenSigSendType" SG_ 308 CAN_DET_ND_TARGET_21 0; +BA_ "GenSigCmt" SG_ 308 CAN_DET_ND_TARGET_21 "CAN_DET_ND_TARGET_21"; +BA_ "GenSigSendType" SG_ 308 CAN_DET_HOST_VEH_CLUTTER_21 0; +BA_ "GenSigCmt" SG_ 308 CAN_DET_HOST_VEH_CLUTTER_21 "CAN_DET_HOST_VEH_CLUTTER_21"; +BA_ "GenSigSendType" SG_ 308 CAN_DET_VALID_LEVEL_21 0; +BA_ "GenSigCmt" SG_ 308 CAN_DET_VALID_LEVEL_21 "CAN_DET_VALID_LEVEL_21"; +BA_ "GenSigStartValue" SG_ 308 CAN_DET_AZIMUTH_21 0; +BA_ "GenSigSendType" SG_ 308 CAN_DET_AZIMUTH_21 0; +BA_ "GenSigCmt" SG_ 308 CAN_DET_AZIMUTH_21 "CAN_DET_AZIMUTH_21"; +BA_ "GenSigSendType" SG_ 308 CAN_DET_RANGE_21 0; +BA_ "GenSigCmt" SG_ 308 CAN_DET_RANGE_21 "CAN_DET_RANGE_21"; +BA_ "GenSigStartValue" SG_ 308 CAN_DET_RANGE_RATE_21 0; +BA_ "GenSigSendType" SG_ 308 CAN_DET_RANGE_RATE_21 0; +BA_ "GenSigCmt" SG_ 308 CAN_DET_RANGE_RATE_21 "CAN_DET_RANGE_RATE_21"; +BA_ "GenSigSendType" SG_ 308 CAN_DET_AMPLITUDE_21 0; +BA_ "GenSigCmt" SG_ 308 CAN_DET_AMPLITUDE_21 "CAN_DET_AMPLITUDE_21"; +BA_ "GenSigSendType" SG_ 308 CAN_SCAN_INDEX_2LSB_21 0; +BA_ "GenSigCmt" SG_ 308 CAN_SCAN_INDEX_2LSB_21 "CAN_SCAN_INDEX_2LSB_21"; +BA_ "GenMsgSendType" BO_ 307 1; +BA_ "GenMsgILSupport" BO_ 307 1; +BA_ "GenMsgNrOfRepetition" BO_ 307 0; +BA_ "GenMsgCycleTime" BO_ 307 0; +BA_ "NetworkInitialization" BO_ 307 0; +BA_ "GenMsgDelayTime" BO_ 307 0; +BA_ "GenSigVtEn" SG_ 307 CAN_DET_CONFID_AZIMUTH_20 "CAN_DET_CONFID_AZIMUTH_20"; +BA_ "GenSigVtName" SG_ 307 CAN_DET_CONFID_AZIMUTH_20 "CAN_DET_CONFID_AZIMUTH_20"; +BA_ "GenSigSendType" SG_ 307 CAN_DET_CONFID_AZIMUTH_20 0; +BA_ "GenSigCmt" SG_ 307 CAN_DET_CONFID_AZIMUTH_20 "CAN_DET_CONFID_AZIMUTH_20"; +BA_ "GenSigSendType" SG_ 307 CAN_DET_SUPER_RES_TARGET_20 0; +BA_ "GenSigCmt" SG_ 307 CAN_DET_SUPER_RES_TARGET_20 "CAN_DET_SUPER_RES_TARGET_20"; +BA_ "GenSigSendType" SG_ 307 CAN_DET_ND_TARGET_20 0; +BA_ "GenSigCmt" SG_ 307 CAN_DET_ND_TARGET_20 "CAN_DET_ND_TARGET_20"; +BA_ "GenSigSendType" SG_ 307 CAN_DET_HOST_VEH_CLUTTER_20 0; +BA_ "GenSigCmt" SG_ 307 CAN_DET_HOST_VEH_CLUTTER_20 "CAN_DET_HOST_VEH_CLUTTER_20"; +BA_ "GenSigSendType" SG_ 307 CAN_DET_VALID_LEVEL_20 0; +BA_ "GenSigCmt" SG_ 307 CAN_DET_VALID_LEVEL_20 "CAN_DET_VALID_LEVEL_20"; +BA_ "GenSigStartValue" SG_ 307 CAN_DET_AZIMUTH_20 0; +BA_ "GenSigSendType" SG_ 307 CAN_DET_AZIMUTH_20 0; +BA_ "GenSigCmt" SG_ 307 CAN_DET_AZIMUTH_20 "CAN_DET_AZIMUTH_20"; +BA_ "GenSigSendType" SG_ 307 CAN_DET_RANGE_20 0; +BA_ "GenSigCmt" SG_ 307 CAN_DET_RANGE_20 "CAN_DET_RANGE_20"; +BA_ "GenSigStartValue" SG_ 307 CAN_DET_RANGE_RATE_20 0; +BA_ "GenSigSendType" SG_ 307 CAN_DET_RANGE_RATE_20 0; +BA_ "GenSigCmt" SG_ 307 CAN_DET_RANGE_RATE_20 "CAN_DET_RANGE_RATE_20"; +BA_ "GenSigSendType" SG_ 307 CAN_DET_AMPLITUDE_20 0; +BA_ "GenSigCmt" SG_ 307 CAN_DET_AMPLITUDE_20 "CAN_DET_AMPLITUDE_20"; +BA_ "GenSigSendType" SG_ 307 CAN_SCAN_INDEX_2LSB_20 0; +BA_ "GenSigCmt" SG_ 307 CAN_SCAN_INDEX_2LSB_20 "CAN_SCAN_INDEX_2LSB_20"; +BA_ "GenMsgSendType" BO_ 306 1; +BA_ "GenMsgILSupport" BO_ 306 1; +BA_ "GenMsgNrOfRepetition" BO_ 306 0; +BA_ "GenMsgCycleTime" BO_ 306 0; +BA_ "NetworkInitialization" BO_ 306 0; +BA_ "GenMsgDelayTime" BO_ 306 0; +BA_ "GenSigVtEn" SG_ 306 CAN_DET_CONFID_AZIMUTH_19 "CAN_DET_CONFID_AZIMUTH_19"; +BA_ "GenSigVtName" SG_ 306 CAN_DET_CONFID_AZIMUTH_19 "CAN_DET_CONFID_AZIMUTH_19"; +BA_ "GenSigSendType" SG_ 306 CAN_DET_CONFID_AZIMUTH_19 0; +BA_ "GenSigCmt" SG_ 306 CAN_DET_CONFID_AZIMUTH_19 "CAN_DET_CONFID_AZIMUTH_19"; +BA_ "GenSigSendType" SG_ 306 CAN_DET_SUPER_RES_TARGET_19 0; +BA_ "GenSigCmt" SG_ 306 CAN_DET_SUPER_RES_TARGET_19 "CAN_DET_SUPER_RES_TARGET_19"; +BA_ "GenSigSendType" SG_ 306 CAN_DET_ND_TARGET_19 0; +BA_ "GenSigCmt" SG_ 306 CAN_DET_ND_TARGET_19 "CAN_DET_ND_TARGET_19"; +BA_ "GenSigSendType" SG_ 306 CAN_DET_HOST_VEH_CLUTTER_19 0; +BA_ "GenSigCmt" SG_ 306 CAN_DET_HOST_VEH_CLUTTER_19 "CAN_DET_HOST_VEH_CLUTTER_19"; +BA_ "GenSigSendType" SG_ 306 CAN_DET_VALID_LEVEL_19 0; +BA_ "GenSigCmt" SG_ 306 CAN_DET_VALID_LEVEL_19 "CAN_DET_VALID_LEVEL_19"; +BA_ "GenSigStartValue" SG_ 306 CAN_DET_AZIMUTH_19 0; +BA_ "GenSigSendType" SG_ 306 CAN_DET_AZIMUTH_19 0; +BA_ "GenSigCmt" SG_ 306 CAN_DET_AZIMUTH_19 "CAN_DET_AZIMUTH_19"; +BA_ "GenSigSendType" SG_ 306 CAN_DET_RANGE_19 0; +BA_ "GenSigCmt" SG_ 306 CAN_DET_RANGE_19 "CAN_DET_RANGE_19"; +BA_ "GenSigStartValue" SG_ 306 CAN_DET_RANGE_RATE_19 0; +BA_ "GenSigSendType" SG_ 306 CAN_DET_RANGE_RATE_19 0; +BA_ "GenSigCmt" SG_ 306 CAN_DET_RANGE_RATE_19 "CAN_DET_RANGE_RATE_19"; +BA_ "GenSigSendType" SG_ 306 CAN_DET_AMPLITUDE_19 0; +BA_ "GenSigCmt" SG_ 306 CAN_DET_AMPLITUDE_19 "CAN_DET_AMPLITUDE_19"; +BA_ "GenSigSendType" SG_ 306 CAN_SCAN_INDEX_2LSB_19 0; +BA_ "GenSigCmt" SG_ 306 CAN_SCAN_INDEX_2LSB_19 "CAN_SCAN_INDEX_2LSB_19"; +BA_ "GenMsgSendType" BO_ 305 1; +BA_ "GenMsgILSupport" BO_ 305 1; +BA_ "GenMsgNrOfRepetition" BO_ 305 0; +BA_ "GenMsgCycleTime" BO_ 305 0; +BA_ "NetworkInitialization" BO_ 305 0; +BA_ "GenMsgDelayTime" BO_ 305 0; +BA_ "GenSigVtEn" SG_ 305 CAN_DET_CONFID_AZIMUTH_18 "CAN_DET_CONFID_AZIMUTH_18"; +BA_ "GenSigVtName" SG_ 305 CAN_DET_CONFID_AZIMUTH_18 "CAN_DET_CONFID_AZIMUTH_18"; +BA_ "GenSigSendType" SG_ 305 CAN_DET_CONFID_AZIMUTH_18 0; +BA_ "GenSigCmt" SG_ 305 CAN_DET_CONFID_AZIMUTH_18 "CAN_DET_CONFID_AZIMUTH_18"; +BA_ "GenSigSendType" SG_ 305 CAN_DET_SUPER_RES_TARGET_18 0; +BA_ "GenSigCmt" SG_ 305 CAN_DET_SUPER_RES_TARGET_18 "CAN_DET_SUPER_RES_TARGET_18"; +BA_ "GenSigSendType" SG_ 305 CAN_DET_ND_TARGET_18 0; +BA_ "GenSigCmt" SG_ 305 CAN_DET_ND_TARGET_18 "CAN_DET_ND_TARGET_18"; +BA_ "GenSigSendType" SG_ 305 CAN_DET_HOST_VEH_CLUTTER_18 0; +BA_ "GenSigCmt" SG_ 305 CAN_DET_HOST_VEH_CLUTTER_18 "CAN_DET_HOST_VEH_CLUTTER_18"; +BA_ "GenSigSendType" SG_ 305 CAN_DET_VALID_LEVEL_18 0; +BA_ "GenSigCmt" SG_ 305 CAN_DET_VALID_LEVEL_18 "CAN_DET_VALID_LEVEL_18"; +BA_ "GenSigStartValue" SG_ 305 CAN_DET_AZIMUTH_18 0; +BA_ "GenSigSendType" SG_ 305 CAN_DET_AZIMUTH_18 0; +BA_ "GenSigCmt" SG_ 305 CAN_DET_AZIMUTH_18 "CAN_DET_AZIMUTH_18"; +BA_ "GenSigSendType" SG_ 305 CAN_DET_RANGE_18 0; +BA_ "GenSigCmt" SG_ 305 CAN_DET_RANGE_18 "CAN_DET_RANGE_18"; +BA_ "GenSigStartValue" SG_ 305 CAN_DET_RANGE_RATE_18 0; +BA_ "GenSigSendType" SG_ 305 CAN_DET_RANGE_RATE_18 0; +BA_ "GenSigCmt" SG_ 305 CAN_DET_RANGE_RATE_18 "CAN_DET_RANGE_RATE_18"; +BA_ "GenSigSendType" SG_ 305 CAN_DET_AMPLITUDE_18 0; +BA_ "GenSigCmt" SG_ 305 CAN_DET_AMPLITUDE_18 "CAN_DET_AMPLITUDE_18"; +BA_ "GenSigSendType" SG_ 305 CAN_SCAN_INDEX_2LSB_18 0; +BA_ "GenSigCmt" SG_ 305 CAN_SCAN_INDEX_2LSB_18 "CAN_SCAN_INDEX_2LSB_18"; +BA_ "GenMsgSendType" BO_ 341 1; +BA_ "GenMsgILSupport" BO_ 341 1; +BA_ "GenMsgNrOfRepetition" BO_ 341 0; +BA_ "GenMsgCycleTime" BO_ 341 0; +BA_ "NetworkInitialization" BO_ 341 0; +BA_ "GenMsgDelayTime" BO_ 341 0; +BA_ "GenSigVtEn" SG_ 341 CAN_DET_CONFID_AZIMUTH_54 "CAN_DET_CONFID_AZIMUTH_54"; +BA_ "GenSigVtName" SG_ 341 CAN_DET_CONFID_AZIMUTH_54 "CAN_DET_CONFID_AZIMUTH_54"; +BA_ "GenSigSendType" SG_ 341 CAN_DET_CONFID_AZIMUTH_54 0; +BA_ "GenSigCmt" SG_ 341 CAN_DET_CONFID_AZIMUTH_54 "CAN_DET_CONFID_AZIMUTH_54"; +BA_ "GenSigSendType" SG_ 341 CAN_DET_SUPER_RES_TARGET_54 0; +BA_ "GenSigCmt" SG_ 341 CAN_DET_SUPER_RES_TARGET_54 "CAN_DET_SUPER_RES_TARGET_54"; +BA_ "GenSigSendType" SG_ 341 CAN_DET_ND_TARGET_54 0; +BA_ "GenSigCmt" SG_ 341 CAN_DET_ND_TARGET_54 "CAN_DET_ND_TARGET_54"; +BA_ "GenSigSendType" SG_ 341 CAN_DET_HOST_VEH_CLUTTER_54 0; +BA_ "GenSigCmt" SG_ 341 CAN_DET_HOST_VEH_CLUTTER_54 "CAN_DET_HOST_VEH_CLUTTER_54"; +BA_ "GenSigSendType" SG_ 341 CAN_DET_VALID_LEVEL_54 0; +BA_ "GenSigCmt" SG_ 341 CAN_DET_VALID_LEVEL_54 "CAN_DET_VALID_LEVEL_54"; +BA_ "GenSigStartValue" SG_ 341 CAN_DET_AZIMUTH_54 0; +BA_ "GenSigSendType" SG_ 341 CAN_DET_AZIMUTH_54 0; +BA_ "GenSigCmt" SG_ 341 CAN_DET_AZIMUTH_54 "CAN_DET_AZIMUTH_54"; +BA_ "GenSigSendType" SG_ 341 CAN_DET_RANGE_54 0; +BA_ "GenSigCmt" SG_ 341 CAN_DET_RANGE_54 "CAN_DET_RANGE_54"; +BA_ "GenSigStartValue" SG_ 341 CAN_DET_RANGE_RATE_54 0; +BA_ "GenSigSendType" SG_ 341 CAN_DET_RANGE_RATE_54 0; +BA_ "GenSigCmt" SG_ 341 CAN_DET_RANGE_RATE_54 "CAN_DET_RANGE_RATE_54"; +BA_ "GenSigSendType" SG_ 341 CAN_DET_AMPLITUDE_54 0; +BA_ "GenSigCmt" SG_ 341 CAN_DET_AMPLITUDE_54 "CAN_DET_AMPLITUDE_54"; +BA_ "GenSigSendType" SG_ 341 CAN_SCAN_INDEX_2LSB_54 0; +BA_ "GenSigCmt" SG_ 341 CAN_SCAN_INDEX_2LSB_54 "CAN_SCAN_INDEX_2LSB_54"; +BA_ "GenMsgSendType" BO_ 340 1; +BA_ "GenMsgILSupport" BO_ 340 1; +BA_ "GenMsgNrOfRepetition" BO_ 340 0; +BA_ "GenMsgCycleTime" BO_ 340 0; +BA_ "NetworkInitialization" BO_ 340 0; +BA_ "GenMsgDelayTime" BO_ 340 0; +BA_ "GenSigVtEn" SG_ 340 CAN_DET_CONFID_AZIMUTH_53 "CAN_DET_CONFID_AZIMUTH_53"; +BA_ "GenSigVtName" SG_ 340 CAN_DET_CONFID_AZIMUTH_53 "CAN_DET_CONFID_AZIMUTH_53"; +BA_ "GenSigSendType" SG_ 340 CAN_DET_CONFID_AZIMUTH_53 0; +BA_ "GenSigCmt" SG_ 340 CAN_DET_CONFID_AZIMUTH_53 "CAN_DET_CONFID_AZIMUTH_53"; +BA_ "GenSigSendType" SG_ 340 CAN_DET_SUPER_RES_TARGET_53 0; +BA_ "GenSigCmt" SG_ 340 CAN_DET_SUPER_RES_TARGET_53 "CAN_DET_SUPER_RES_TARGET_53"; +BA_ "GenSigSendType" SG_ 340 CAN_DET_ND_TARGET_53 0; +BA_ "GenSigCmt" SG_ 340 CAN_DET_ND_TARGET_53 "CAN_DET_ND_TARGET_53"; +BA_ "GenSigSendType" SG_ 340 CAN_DET_HOST_VEH_CLUTTER_53 0; +BA_ "GenSigCmt" SG_ 340 CAN_DET_HOST_VEH_CLUTTER_53 "CAN_DET_HOST_VEH_CLUTTER_53"; +BA_ "GenSigSendType" SG_ 340 CAN_DET_VALID_LEVEL_53 0; +BA_ "GenSigCmt" SG_ 340 CAN_DET_VALID_LEVEL_53 "CAN_DET_VALID_LEVEL_53"; +BA_ "GenSigStartValue" SG_ 340 CAN_DET_AZIMUTH_53 0; +BA_ "GenSigSendType" SG_ 340 CAN_DET_AZIMUTH_53 0; +BA_ "GenSigCmt" SG_ 340 CAN_DET_AZIMUTH_53 "CAN_DET_AZIMUTH_53"; +BA_ "GenSigSendType" SG_ 340 CAN_DET_RANGE_53 0; +BA_ "GenSigCmt" SG_ 340 CAN_DET_RANGE_53 "CAN_DET_RANGE_53"; +BA_ "GenSigStartValue" SG_ 340 CAN_DET_RANGE_RATE_53 0; +BA_ "GenSigSendType" SG_ 340 CAN_DET_RANGE_RATE_53 0; +BA_ "GenSigCmt" SG_ 340 CAN_DET_RANGE_RATE_53 "CAN_DET_RANGE_RATE_53"; +BA_ "GenSigSendType" SG_ 340 CAN_DET_AMPLITUDE_53 0; +BA_ "GenSigCmt" SG_ 340 CAN_DET_AMPLITUDE_53 "CAN_DET_AMPLITUDE_53"; +BA_ "GenSigSendType" SG_ 340 CAN_SCAN_INDEX_2LSB_53 0; +BA_ "GenSigCmt" SG_ 340 CAN_SCAN_INDEX_2LSB_53 "CAN_SCAN_INDEX_2LSB_53"; +BA_ "GenMsgSendType" BO_ 339 1; +BA_ "GenMsgILSupport" BO_ 339 1; +BA_ "GenMsgNrOfRepetition" BO_ 339 0; +BA_ "GenMsgCycleTime" BO_ 339 0; +BA_ "NetworkInitialization" BO_ 339 0; +BA_ "GenMsgDelayTime" BO_ 339 0; +BA_ "GenSigVtEn" SG_ 339 CAN_DET_CONFID_AZIMUTH_52 "CAN_DET_CONFID_AZIMUTH_52"; +BA_ "GenSigVtName" SG_ 339 CAN_DET_CONFID_AZIMUTH_52 "CAN_DET_CONFID_AZIMUTH_52"; +BA_ "GenSigSendType" SG_ 339 CAN_DET_CONFID_AZIMUTH_52 0; +BA_ "GenSigCmt" SG_ 339 CAN_DET_CONFID_AZIMUTH_52 "CAN_DET_CONFID_AZIMUTH_52"; +BA_ "GenSigSendType" SG_ 339 CAN_DET_SUPER_RES_TARGET_52 0; +BA_ "GenSigCmt" SG_ 339 CAN_DET_SUPER_RES_TARGET_52 "CAN_DET_SUPER_RES_TARGET_52"; +BA_ "GenSigSendType" SG_ 339 CAN_DET_ND_TARGET_52 0; +BA_ "GenSigCmt" SG_ 339 CAN_DET_ND_TARGET_52 "CAN_DET_ND_TARGET_52"; +BA_ "GenSigSendType" SG_ 339 CAN_DET_HOST_VEH_CLUTTER_52 0; +BA_ "GenSigCmt" SG_ 339 CAN_DET_HOST_VEH_CLUTTER_52 "CAN_DET_HOST_VEH_CLUTTER_52"; +BA_ "GenSigSendType" SG_ 339 CAN_DET_VALID_LEVEL_52 0; +BA_ "GenSigCmt" SG_ 339 CAN_DET_VALID_LEVEL_52 "CAN_DET_VALID_LEVEL_52"; +BA_ "GenSigStartValue" SG_ 339 CAN_DET_AZIMUTH_52 0; +BA_ "GenSigSendType" SG_ 339 CAN_DET_AZIMUTH_52 0; +BA_ "GenSigCmt" SG_ 339 CAN_DET_AZIMUTH_52 "CAN_DET_AZIMUTH_52"; +BA_ "GenSigSendType" SG_ 339 CAN_DET_RANGE_52 0; +BA_ "GenSigCmt" SG_ 339 CAN_DET_RANGE_52 "CAN_DET_RANGE_52"; +BA_ "GenSigStartValue" SG_ 339 CAN_DET_RANGE_RATE_52 0; +BA_ "GenSigSendType" SG_ 339 CAN_DET_RANGE_RATE_52 0; +BA_ "GenSigCmt" SG_ 339 CAN_DET_RANGE_RATE_52 "CAN_DET_RANGE_RATE_52"; +BA_ "GenSigSendType" SG_ 339 CAN_DET_AMPLITUDE_52 0; +BA_ "GenSigCmt" SG_ 339 CAN_DET_AMPLITUDE_52 "CAN_DET_AMPLITUDE_52"; +BA_ "GenSigSendType" SG_ 339 CAN_SCAN_INDEX_2LSB_52 0; +BA_ "GenSigCmt" SG_ 339 CAN_SCAN_INDEX_2LSB_52 "CAN_SCAN_INDEX_2LSB_52"; +BA_ "GenMsgSendType" BO_ 338 1; +BA_ "GenMsgILSupport" BO_ 338 1; +BA_ "GenMsgNrOfRepetition" BO_ 338 0; +BA_ "GenMsgCycleTime" BO_ 338 0; +BA_ "NetworkInitialization" BO_ 338 0; +BA_ "GenMsgDelayTime" BO_ 338 0; +BA_ "GenSigVtEn" SG_ 338 CAN_DET_CONFID_AZIMUTH_51 "CAN_DET_CONFID_AZIMUTH_51"; +BA_ "GenSigVtName" SG_ 338 CAN_DET_CONFID_AZIMUTH_51 "CAN_DET_CONFID_AZIMUTH_51"; +BA_ "GenSigSendType" SG_ 338 CAN_DET_CONFID_AZIMUTH_51 0; +BA_ "GenSigCmt" SG_ 338 CAN_DET_CONFID_AZIMUTH_51 "CAN_DET_CONFID_AZIMUTH_51"; +BA_ "GenSigSendType" SG_ 338 CAN_DET_SUPER_RES_TARGET_51 0; +BA_ "GenSigCmt" SG_ 338 CAN_DET_SUPER_RES_TARGET_51 "CAN_DET_SUPER_RES_TARGET_51"; +BA_ "GenSigSendType" SG_ 338 CAN_DET_ND_TARGET_51 0; +BA_ "GenSigCmt" SG_ 338 CAN_DET_ND_TARGET_51 "CAN_DET_ND_TARGET_51"; +BA_ "GenSigSendType" SG_ 338 CAN_DET_HOST_VEH_CLUTTER_51 0; +BA_ "GenSigCmt" SG_ 338 CAN_DET_HOST_VEH_CLUTTER_51 "CAN_DET_HOST_VEH_CLUTTER_51"; +BA_ "GenSigSendType" SG_ 338 CAN_DET_VALID_LEVEL_51 0; +BA_ "GenSigCmt" SG_ 338 CAN_DET_VALID_LEVEL_51 "CAN_DET_VALID_LEVEL_51"; +BA_ "GenSigStartValue" SG_ 338 CAN_DET_AZIMUTH_51 0; +BA_ "GenSigSendType" SG_ 338 CAN_DET_AZIMUTH_51 0; +BA_ "GenSigCmt" SG_ 338 CAN_DET_AZIMUTH_51 "CAN_DET_AZIMUTH_51"; +BA_ "GenSigSendType" SG_ 338 CAN_DET_RANGE_51 0; +BA_ "GenSigCmt" SG_ 338 CAN_DET_RANGE_51 "CAN_DET_RANGE_51"; +BA_ "GenSigStartValue" SG_ 338 CAN_DET_RANGE_RATE_51 0; +BA_ "GenSigSendType" SG_ 338 CAN_DET_RANGE_RATE_51 0; +BA_ "GenSigCmt" SG_ 338 CAN_DET_RANGE_RATE_51 "CAN_DET_RANGE_RATE_51"; +BA_ "GenSigSendType" SG_ 338 CAN_DET_AMPLITUDE_51 0; +BA_ "GenSigCmt" SG_ 338 CAN_DET_AMPLITUDE_51 "CAN_DET_AMPLITUDE_51"; +BA_ "GenSigSendType" SG_ 338 CAN_SCAN_INDEX_2LSB_51 0; +BA_ "GenSigCmt" SG_ 338 CAN_SCAN_INDEX_2LSB_51 "CAN_SCAN_INDEX_2LSB_51"; +BA_ "GenMsgSendType" BO_ 337 1; +BA_ "GenMsgILSupport" BO_ 337 1; +BA_ "GenMsgNrOfRepetition" BO_ 337 0; +BA_ "GenMsgCycleTime" BO_ 337 0; +BA_ "NetworkInitialization" BO_ 337 0; +BA_ "GenMsgDelayTime" BO_ 337 0; +BA_ "GenSigVtEn" SG_ 337 CAN_DET_CONFID_AZIMUTH_50 "CAN_DET_CONFID_AZIMUTH_50"; +BA_ "GenSigVtName" SG_ 337 CAN_DET_CONFID_AZIMUTH_50 "CAN_DET_CONFID_AZIMUTH_50"; +BA_ "GenSigSendType" SG_ 337 CAN_DET_CONFID_AZIMUTH_50 0; +BA_ "GenSigCmt" SG_ 337 CAN_DET_CONFID_AZIMUTH_50 "CAN_DET_CONFID_AZIMUTH_50"; +BA_ "GenSigSendType" SG_ 337 CAN_DET_SUPER_RES_TARGET_50 0; +BA_ "GenSigCmt" SG_ 337 CAN_DET_SUPER_RES_TARGET_50 "CAN_DET_SUPER_RES_TARGET_50"; +BA_ "GenSigSendType" SG_ 337 CAN_DET_ND_TARGET_50 0; +BA_ "GenSigCmt" SG_ 337 CAN_DET_ND_TARGET_50 "CAN_DET_ND_TARGET_50"; +BA_ "GenSigSendType" SG_ 337 CAN_DET_HOST_VEH_CLUTTER_50 0; +BA_ "GenSigCmt" SG_ 337 CAN_DET_HOST_VEH_CLUTTER_50 "CAN_DET_HOST_VEH_CLUTTER_50"; +BA_ "GenSigSendType" SG_ 337 CAN_DET_VALID_LEVEL_50 0; +BA_ "GenSigCmt" SG_ 337 CAN_DET_VALID_LEVEL_50 "CAN_DET_VALID_LEVEL_50"; +BA_ "GenSigStartValue" SG_ 337 CAN_DET_AZIMUTH_50 0; +BA_ "GenSigSendType" SG_ 337 CAN_DET_AZIMUTH_50 0; +BA_ "GenSigCmt" SG_ 337 CAN_DET_AZIMUTH_50 "CAN_DET_AZIMUTH_50"; +BA_ "GenSigSendType" SG_ 337 CAN_DET_RANGE_50 0; +BA_ "GenSigCmt" SG_ 337 CAN_DET_RANGE_50 "CAN_DET_RANGE_50"; +BA_ "GenSigStartValue" SG_ 337 CAN_DET_RANGE_RATE_50 0; +BA_ "GenSigSendType" SG_ 337 CAN_DET_RANGE_RATE_50 0; +BA_ "GenSigCmt" SG_ 337 CAN_DET_RANGE_RATE_50 "CAN_DET_RANGE_RATE_50"; +BA_ "GenSigSendType" SG_ 337 CAN_DET_AMPLITUDE_50 0; +BA_ "GenSigCmt" SG_ 337 CAN_DET_AMPLITUDE_50 "CAN_DET_AMPLITUDE_50"; +BA_ "GenSigSendType" SG_ 337 CAN_SCAN_INDEX_2LSB_50 0; +BA_ "GenSigCmt" SG_ 337 CAN_SCAN_INDEX_2LSB_50 "CAN_SCAN_INDEX_2LSB_50"; +BA_ "GenMsgSendType" BO_ 336 1; +BA_ "GenMsgILSupport" BO_ 336 1; +BA_ "GenMsgNrOfRepetition" BO_ 336 0; +BA_ "GenMsgCycleTime" BO_ 336 0; +BA_ "NetworkInitialization" BO_ 336 0; +BA_ "GenMsgDelayTime" BO_ 336 0; +BA_ "GenSigVtEn" SG_ 336 CAN_DET_CONFID_AZIMUTH_49 "CAN_DET_CONFID_AZIMUTH_49"; +BA_ "GenSigVtName" SG_ 336 CAN_DET_CONFID_AZIMUTH_49 "CAN_DET_CONFID_AZIMUTH_49"; +BA_ "GenSigSendType" SG_ 336 CAN_DET_CONFID_AZIMUTH_49 0; +BA_ "GenSigCmt" SG_ 336 CAN_DET_CONFID_AZIMUTH_49 "CAN_DET_CONFID_AZIMUTH_49"; +BA_ "GenSigSendType" SG_ 336 CAN_DET_SUPER_RES_TARGET_49 0; +BA_ "GenSigCmt" SG_ 336 CAN_DET_SUPER_RES_TARGET_49 "CAN_DET_SUPER_RES_TARGET_49"; +BA_ "GenSigSendType" SG_ 336 CAN_DET_ND_TARGET_49 0; +BA_ "GenSigCmt" SG_ 336 CAN_DET_ND_TARGET_49 "CAN_DET_ND_TARGET_49"; +BA_ "GenSigSendType" SG_ 336 CAN_DET_HOST_VEH_CLUTTER_49 0; +BA_ "GenSigCmt" SG_ 336 CAN_DET_HOST_VEH_CLUTTER_49 "CAN_DET_HOST_VEH_CLUTTER_49"; +BA_ "GenSigSendType" SG_ 336 CAN_DET_VALID_LEVEL_49 0; +BA_ "GenSigCmt" SG_ 336 CAN_DET_VALID_LEVEL_49 "CAN_DET_VALID_LEVEL_49"; +BA_ "GenSigStartValue" SG_ 336 CAN_DET_AZIMUTH_49 0; +BA_ "GenSigSendType" SG_ 336 CAN_DET_AZIMUTH_49 0; +BA_ "GenSigCmt" SG_ 336 CAN_DET_AZIMUTH_49 "CAN_DET_AZIMUTH_49"; +BA_ "GenSigSendType" SG_ 336 CAN_DET_RANGE_49 0; +BA_ "GenSigCmt" SG_ 336 CAN_DET_RANGE_49 "CAN_DET_RANGE_49"; +BA_ "GenSigStartValue" SG_ 336 CAN_DET_RANGE_RATE_49 0; +BA_ "GenSigSendType" SG_ 336 CAN_DET_RANGE_RATE_49 0; +BA_ "GenSigCmt" SG_ 336 CAN_DET_RANGE_RATE_49 "CAN_DET_RANGE_RATE_49"; +BA_ "GenSigSendType" SG_ 336 CAN_DET_AMPLITUDE_49 0; +BA_ "GenSigCmt" SG_ 336 CAN_DET_AMPLITUDE_49 "CAN_DET_AMPLITUDE_49"; +BA_ "GenSigSendType" SG_ 336 CAN_SCAN_INDEX_2LSB_49 0; +BA_ "GenSigCmt" SG_ 336 CAN_SCAN_INDEX_2LSB_49 "CAN_SCAN_INDEX_2LSB_49"; +BA_ "GenMsgSendType" BO_ 326 1; +BA_ "GenMsgILSupport" BO_ 326 1; +BA_ "GenMsgNrOfRepetition" BO_ 326 0; +BA_ "GenMsgCycleTime" BO_ 326 0; +BA_ "NetworkInitialization" BO_ 326 0; +BA_ "GenMsgDelayTime" BO_ 326 0; +BA_ "GenSigVtEn" SG_ 326 CAN_DET_CONFID_AZIMUTH_39 "CAN_DET_CONFID_AZIMUTH_39"; +BA_ "GenSigVtName" SG_ 326 CAN_DET_CONFID_AZIMUTH_39 "CAN_DET_CONFID_AZIMUTH_39"; +BA_ "GenSigSendType" SG_ 326 CAN_DET_CONFID_AZIMUTH_39 0; +BA_ "GenSigCmt" SG_ 326 CAN_DET_CONFID_AZIMUTH_39 "CAN_DET_CONFID_AZIMUTH_39"; +BA_ "GenSigSendType" SG_ 326 CAN_DET_SUPER_RES_TARGET_39 0; +BA_ "GenSigCmt" SG_ 326 CAN_DET_SUPER_RES_TARGET_39 "CAN_DET_SUPER_RES_TARGET_39"; +BA_ "GenSigSendType" SG_ 326 CAN_DET_ND_TARGET_39 0; +BA_ "GenSigCmt" SG_ 326 CAN_DET_ND_TARGET_39 "CAN_DET_ND_TARGET_39"; +BA_ "GenSigSendType" SG_ 326 CAN_DET_HOST_VEH_CLUTTER_39 0; +BA_ "GenSigCmt" SG_ 326 CAN_DET_HOST_VEH_CLUTTER_39 "CAN_DET_HOST_VEH_CLUTTER_39"; +BA_ "GenSigSendType" SG_ 326 CAN_DET_VALID_LEVEL_39 0; +BA_ "GenSigCmt" SG_ 326 CAN_DET_VALID_LEVEL_39 "CAN_DET_VALID_LEVEL_39"; +BA_ "GenSigStartValue" SG_ 326 CAN_DET_AZIMUTH_39 0; +BA_ "GenSigSendType" SG_ 326 CAN_DET_AZIMUTH_39 0; +BA_ "GenSigCmt" SG_ 326 CAN_DET_AZIMUTH_39 "CAN_DET_AZIMUTH_39"; +BA_ "GenSigSendType" SG_ 326 CAN_DET_RANGE_39 0; +BA_ "GenSigCmt" SG_ 326 CAN_DET_RANGE_39 "CAN_DET_RANGE_39"; +BA_ "GenSigStartValue" SG_ 326 CAN_DET_RANGE_RATE_39 0; +BA_ "GenSigSendType" SG_ 326 CAN_DET_RANGE_RATE_39 0; +BA_ "GenSigCmt" SG_ 326 CAN_DET_RANGE_RATE_39 "CAN_DET_RANGE_RATE_39"; +BA_ "GenSigSendType" SG_ 326 CAN_DET_AMPLITUDE_39 0; +BA_ "GenSigCmt" SG_ 326 CAN_DET_AMPLITUDE_39 "CAN_DET_AMPLITUDE_39"; +BA_ "GenSigSendType" SG_ 326 CAN_SCAN_INDEX_2LSB_39 0; +BA_ "GenSigCmt" SG_ 326 CAN_SCAN_INDEX_2LSB_39 "CAN_SCAN_INDEX_2LSB_39"; +BA_ "GenMsgSendType" BO_ 315 1; +BA_ "GenMsgILSupport" BO_ 315 1; +BA_ "GenMsgNrOfRepetition" BO_ 315 0; +BA_ "GenMsgCycleTime" BO_ 315 0; +BA_ "NetworkInitialization" BO_ 315 0; +BA_ "GenMsgDelayTime" BO_ 315 0; +BA_ "GenSigVtEn" SG_ 315 CAN_DET_CONFID_AZIMUTH_28 "CAN_DET_CONFID_AZIMUTH_28"; +BA_ "GenSigVtName" SG_ 315 CAN_DET_CONFID_AZIMUTH_28 "CAN_DET_CONFID_AZIMUTH_28"; +BA_ "GenSigSendType" SG_ 315 CAN_DET_CONFID_AZIMUTH_28 0; +BA_ "GenSigCmt" SG_ 315 CAN_DET_CONFID_AZIMUTH_28 "CAN_DET_CONFID_AZIMUTH_28"; +BA_ "GenSigSendType" SG_ 315 CAN_DET_SUPER_RES_TARGET_28 0; +BA_ "GenSigCmt" SG_ 315 CAN_DET_SUPER_RES_TARGET_28 "CAN_DET_SUPER_RES_TARGET_28"; +BA_ "GenSigSendType" SG_ 315 CAN_DET_ND_TARGET_28 0; +BA_ "GenSigCmt" SG_ 315 CAN_DET_ND_TARGET_28 "CAN_DET_ND_TARGET_28"; +BA_ "GenSigSendType" SG_ 315 CAN_DET_HOST_VEH_CLUTTER_28 0; +BA_ "GenSigCmt" SG_ 315 CAN_DET_HOST_VEH_CLUTTER_28 "CAN_DET_HOST_VEH_CLUTTER_28"; +BA_ "GenSigSendType" SG_ 315 CAN_DET_VALID_LEVEL_28 0; +BA_ "GenSigCmt" SG_ 315 CAN_DET_VALID_LEVEL_28 "CAN_DET_VALID_LEVEL_28"; +BA_ "GenSigStartValue" SG_ 315 CAN_DET_AZIMUTH_28 0; +BA_ "GenSigSendType" SG_ 315 CAN_DET_AZIMUTH_28 0; +BA_ "GenSigCmt" SG_ 315 CAN_DET_AZIMUTH_28 "CAN_DET_AZIMUTH_28"; +BA_ "GenSigSendType" SG_ 315 CAN_DET_RANGE_28 0; +BA_ "GenSigCmt" SG_ 315 CAN_DET_RANGE_28 "CAN_DET_RANGE_28"; +BA_ "GenSigStartValue" SG_ 315 CAN_DET_RANGE_RATE_28 0; +BA_ "GenSigSendType" SG_ 315 CAN_DET_RANGE_RATE_28 0; +BA_ "GenSigCmt" SG_ 315 CAN_DET_RANGE_RATE_28 "CAN_DET_RANGE_RATE_28"; +BA_ "GenSigSendType" SG_ 315 CAN_DET_AMPLITUDE_28 0; +BA_ "GenSigCmt" SG_ 315 CAN_DET_AMPLITUDE_28 "CAN_DET_AMPLITUDE_28"; +BA_ "GenSigSendType" SG_ 315 CAN_SCAN_INDEX_2LSB_28 0; +BA_ "GenSigCmt" SG_ 315 CAN_SCAN_INDEX_2LSB_28 "CAN_SCAN_INDEX_2LSB_28"; +BA_ "GenMsgSendType" BO_ 304 1; +BA_ "GenMsgILSupport" BO_ 304 1; +BA_ "GenMsgNrOfRepetition" BO_ 304 0; +BA_ "GenMsgCycleTime" BO_ 304 0; +BA_ "NetworkInitialization" BO_ 304 0; +BA_ "GenMsgDelayTime" BO_ 304 0; +BA_ "GenSigVtEn" SG_ 304 CAN_DET_CONFID_AZIMUTH_17 "CAN_DET_CONFID_AZIMUTH_17"; +BA_ "GenSigVtName" SG_ 304 CAN_DET_CONFID_AZIMUTH_17 "CAN_DET_CONFID_AZIMUTH_17"; +BA_ "GenSigSendType" SG_ 304 CAN_DET_CONFID_AZIMUTH_17 0; +BA_ "GenSigCmt" SG_ 304 CAN_DET_CONFID_AZIMUTH_17 "CAN_DET_CONFID_AZIMUTH_17"; +BA_ "GenSigSendType" SG_ 304 CAN_DET_SUPER_RES_TARGET_17 0; +BA_ "GenSigCmt" SG_ 304 CAN_DET_SUPER_RES_TARGET_17 "CAN_DET_SUPER_RES_TARGET_17"; +BA_ "GenSigSendType" SG_ 304 CAN_DET_ND_TARGET_17 0; +BA_ "GenSigCmt" SG_ 304 CAN_DET_ND_TARGET_17 "CAN_DET_ND_TARGET_17"; +BA_ "GenSigSendType" SG_ 304 CAN_DET_HOST_VEH_CLUTTER_17 0; +BA_ "GenSigCmt" SG_ 304 CAN_DET_HOST_VEH_CLUTTER_17 "CAN_DET_HOST_VEH_CLUTTER_17"; +BA_ "GenSigSendType" SG_ 304 CAN_DET_VALID_LEVEL_17 0; +BA_ "GenSigCmt" SG_ 304 CAN_DET_VALID_LEVEL_17 "CAN_DET_VALID_LEVEL_17"; +BA_ "GenSigStartValue" SG_ 304 CAN_DET_AZIMUTH_17 0; +BA_ "GenSigSendType" SG_ 304 CAN_DET_AZIMUTH_17 0; +BA_ "GenSigCmt" SG_ 304 CAN_DET_AZIMUTH_17 "CAN_DET_AZIMUTH_17"; +BA_ "GenSigSendType" SG_ 304 CAN_DET_RANGE_17 0; +BA_ "GenSigCmt" SG_ 304 CAN_DET_RANGE_17 "CAN_DET_RANGE_17"; +BA_ "GenSigStartValue" SG_ 304 CAN_DET_RANGE_RATE_17 0; +BA_ "GenSigSendType" SG_ 304 CAN_DET_RANGE_RATE_17 0; +BA_ "GenSigCmt" SG_ 304 CAN_DET_RANGE_RATE_17 "CAN_DET_RANGE_RATE_17"; +BA_ "GenSigSendType" SG_ 304 CAN_DET_AMPLITUDE_17 0; +BA_ "GenSigCmt" SG_ 304 CAN_DET_AMPLITUDE_17 "CAN_DET_AMPLITUDE_17"; +BA_ "GenSigSendType" SG_ 304 CAN_SCAN_INDEX_2LSB_17 0; +BA_ "GenSigCmt" SG_ 304 CAN_SCAN_INDEX_2LSB_17 "CAN_SCAN_INDEX_2LSB_17"; +BA_ "GenMsgSendType" BO_ 303 1; +BA_ "GenMsgILSupport" BO_ 303 1; +BA_ "GenMsgNrOfRepetition" BO_ 303 0; +BA_ "GenMsgCycleTime" BO_ 303 0; +BA_ "NetworkInitialization" BO_ 303 0; +BA_ "GenMsgDelayTime" BO_ 303 0; +BA_ "GenSigVtEn" SG_ 303 CAN_DET_CONFID_AZIMUTH_16 "CAN_DET_CONFID_AZIMUTH_16"; +BA_ "GenSigVtName" SG_ 303 CAN_DET_CONFID_AZIMUTH_16 "CAN_DET_CONFID_AZIMUTH_16"; +BA_ "GenSigSendType" SG_ 303 CAN_DET_CONFID_AZIMUTH_16 0; +BA_ "GenSigCmt" SG_ 303 CAN_DET_CONFID_AZIMUTH_16 "CAN_DET_CONFID_AZIMUTH_16"; +BA_ "GenSigSendType" SG_ 303 CAN_DET_SUPER_RES_TARGET_16 0; +BA_ "GenSigCmt" SG_ 303 CAN_DET_SUPER_RES_TARGET_16 "CAN_DET_SUPER_RES_TARGET_16"; +BA_ "GenSigSendType" SG_ 303 CAN_DET_ND_TARGET_16 0; +BA_ "GenSigCmt" SG_ 303 CAN_DET_ND_TARGET_16 "CAN_DET_ND_TARGET_16"; +BA_ "GenSigSendType" SG_ 303 CAN_DET_HOST_VEH_CLUTTER_16 0; +BA_ "GenSigCmt" SG_ 303 CAN_DET_HOST_VEH_CLUTTER_16 "CAN_DET_HOST_VEH_CLUTTER_16"; +BA_ "GenSigSendType" SG_ 303 CAN_DET_VALID_LEVEL_16 0; +BA_ "GenSigCmt" SG_ 303 CAN_DET_VALID_LEVEL_16 "CAN_DET_VALID_LEVEL_16"; +BA_ "GenSigStartValue" SG_ 303 CAN_DET_AZIMUTH_16 0; +BA_ "GenSigSendType" SG_ 303 CAN_DET_AZIMUTH_16 0; +BA_ "GenSigCmt" SG_ 303 CAN_DET_AZIMUTH_16 "CAN_DET_AZIMUTH_16"; +BA_ "GenSigSendType" SG_ 303 CAN_DET_RANGE_16 0; +BA_ "GenSigCmt" SG_ 303 CAN_DET_RANGE_16 "CAN_DET_RANGE_16"; +BA_ "GenSigStartValue" SG_ 303 CAN_DET_RANGE_RATE_16 0; +BA_ "GenSigSendType" SG_ 303 CAN_DET_RANGE_RATE_16 0; +BA_ "GenSigCmt" SG_ 303 CAN_DET_RANGE_RATE_16 "CAN_DET_RANGE_RATE_16"; +BA_ "GenSigSendType" SG_ 303 CAN_DET_AMPLITUDE_16 0; +BA_ "GenSigCmt" SG_ 303 CAN_DET_AMPLITUDE_16 "CAN_DET_AMPLITUDE_16"; +BA_ "GenSigSendType" SG_ 303 CAN_SCAN_INDEX_2LSB_16 0; +BA_ "GenSigCmt" SG_ 303 CAN_SCAN_INDEX_2LSB_16 "CAN_SCAN_INDEX_2LSB_16"; +BA_ "GenMsgSendType" BO_ 302 1; +BA_ "GenMsgILSupport" BO_ 302 1; +BA_ "GenMsgNrOfRepetition" BO_ 302 0; +BA_ "GenMsgCycleTime" BO_ 302 0; +BA_ "NetworkInitialization" BO_ 302 0; +BA_ "GenMsgDelayTime" BO_ 302 0; +BA_ "GenSigVtEn" SG_ 302 CAN_DET_CONFID_AZIMUTH_15 "CAN_DET_CONFID_AZIMUTH_15"; +BA_ "GenSigVtName" SG_ 302 CAN_DET_CONFID_AZIMUTH_15 "CAN_DET_CONFID_AZIMUTH_15"; +BA_ "GenSigSendType" SG_ 302 CAN_DET_CONFID_AZIMUTH_15 0; +BA_ "GenSigCmt" SG_ 302 CAN_DET_CONFID_AZIMUTH_15 "CAN_DET_CONFID_AZIMUTH_15"; +BA_ "GenSigSendType" SG_ 302 CAN_DET_SUPER_RES_TARGET_15 0; +BA_ "GenSigCmt" SG_ 302 CAN_DET_SUPER_RES_TARGET_15 "CAN_DET_SUPER_RES_TARGET_15"; +BA_ "GenSigSendType" SG_ 302 CAN_DET_ND_TARGET_15 0; +BA_ "GenSigCmt" SG_ 302 CAN_DET_ND_TARGET_15 "CAN_DET_ND_TARGET_15"; +BA_ "GenSigSendType" SG_ 302 CAN_DET_HOST_VEH_CLUTTER_15 0; +BA_ "GenSigCmt" SG_ 302 CAN_DET_HOST_VEH_CLUTTER_15 "CAN_DET_HOST_VEH_CLUTTER_15"; +BA_ "GenSigSendType" SG_ 302 CAN_DET_VALID_LEVEL_15 0; +BA_ "GenSigCmt" SG_ 302 CAN_DET_VALID_LEVEL_15 "CAN_DET_VALID_LEVEL_15"; +BA_ "GenSigStartValue" SG_ 302 CAN_DET_AZIMUTH_15 0; +BA_ "GenSigSendType" SG_ 302 CAN_DET_AZIMUTH_15 0; +BA_ "GenSigCmt" SG_ 302 CAN_DET_AZIMUTH_15 "CAN_DET_AZIMUTH_15"; +BA_ "GenSigSendType" SG_ 302 CAN_DET_RANGE_15 0; +BA_ "GenSigCmt" SG_ 302 CAN_DET_RANGE_15 "CAN_DET_RANGE_15"; +BA_ "GenSigStartValue" SG_ 302 CAN_DET_RANGE_RATE_15 0; +BA_ "GenSigSendType" SG_ 302 CAN_DET_RANGE_RATE_15 0; +BA_ "GenSigCmt" SG_ 302 CAN_DET_RANGE_RATE_15 "CAN_DET_RANGE_RATE_15"; +BA_ "GenSigSendType" SG_ 302 CAN_DET_AMPLITUDE_15 0; +BA_ "GenSigCmt" SG_ 302 CAN_DET_AMPLITUDE_15 "CAN_DET_AMPLITUDE_15"; +BA_ "GenSigSendType" SG_ 302 CAN_SCAN_INDEX_2LSB_15 0; +BA_ "GenSigCmt" SG_ 302 CAN_SCAN_INDEX_2LSB_15 "CAN_SCAN_INDEX_2LSB_15"; +BA_ "GenMsgSendType" BO_ 301 1; +BA_ "GenMsgILSupport" BO_ 301 1; +BA_ "GenMsgNrOfRepetition" BO_ 301 0; +BA_ "GenMsgCycleTime" BO_ 301 0; +BA_ "NetworkInitialization" BO_ 301 0; +BA_ "GenMsgDelayTime" BO_ 301 0; +BA_ "GenSigVtEn" SG_ 301 CAN_DET_CONFID_AZIMUTH_14 "CAN_DET_CONFID_AZIMUTH_14"; +BA_ "GenSigVtName" SG_ 301 CAN_DET_CONFID_AZIMUTH_14 "CAN_DET_CONFID_AZIMUTH_14"; +BA_ "GenSigSendType" SG_ 301 CAN_DET_CONFID_AZIMUTH_14 0; +BA_ "GenSigCmt" SG_ 301 CAN_DET_CONFID_AZIMUTH_14 "CAN_DET_CONFID_AZIMUTH_14"; +BA_ "GenSigSendType" SG_ 301 CAN_DET_SUPER_RES_TARGET_14 0; +BA_ "GenSigCmt" SG_ 301 CAN_DET_SUPER_RES_TARGET_14 "CAN_DET_SUPER_RES_TARGET_14"; +BA_ "GenSigSendType" SG_ 301 CAN_DET_ND_TARGET_14 0; +BA_ "GenSigCmt" SG_ 301 CAN_DET_ND_TARGET_14 "CAN_DET_ND_TARGET_14"; +BA_ "GenSigSendType" SG_ 301 CAN_DET_HOST_VEH_CLUTTER_14 0; +BA_ "GenSigCmt" SG_ 301 CAN_DET_HOST_VEH_CLUTTER_14 "CAN_DET_HOST_VEH_CLUTTER_14"; +BA_ "GenSigSendType" SG_ 301 CAN_DET_VALID_LEVEL_14 0; +BA_ "GenSigCmt" SG_ 301 CAN_DET_VALID_LEVEL_14 "CAN_DET_VALID_LEVEL_14"; +BA_ "GenSigStartValue" SG_ 301 CAN_DET_AZIMUTH_14 0; +BA_ "GenSigSendType" SG_ 301 CAN_DET_AZIMUTH_14 0; +BA_ "GenSigCmt" SG_ 301 CAN_DET_AZIMUTH_14 "CAN_DET_AZIMUTH_14"; +BA_ "GenSigSendType" SG_ 301 CAN_DET_RANGE_14 0; +BA_ "GenSigCmt" SG_ 301 CAN_DET_RANGE_14 "CAN_DET_RANGE_14"; +BA_ "GenSigStartValue" SG_ 301 CAN_DET_RANGE_RATE_14 0; +BA_ "GenSigSendType" SG_ 301 CAN_DET_RANGE_RATE_14 0; +BA_ "GenSigCmt" SG_ 301 CAN_DET_RANGE_RATE_14 "CAN_DET_RANGE_RATE_14"; +BA_ "GenSigSendType" SG_ 301 CAN_DET_AMPLITUDE_14 0; +BA_ "GenSigCmt" SG_ 301 CAN_DET_AMPLITUDE_14 "CAN_DET_AMPLITUDE_14"; +BA_ "GenSigSendType" SG_ 301 CAN_SCAN_INDEX_2LSB_14 0; +BA_ "GenSigCmt" SG_ 301 CAN_SCAN_INDEX_2LSB_14 "CAN_SCAN_INDEX_2LSB_14"; +BA_ "GenMsgSendType" BO_ 300 1; +BA_ "GenMsgILSupport" BO_ 300 1; +BA_ "GenMsgNrOfRepetition" BO_ 300 0; +BA_ "GenMsgCycleTime" BO_ 300 0; +BA_ "NetworkInitialization" BO_ 300 0; +BA_ "GenMsgDelayTime" BO_ 300 0; +BA_ "GenSigVtEn" SG_ 300 CAN_DET_CONFID_AZIMUTH_13 "CAN_DET_CONFID_AZIMUTH_13"; +BA_ "GenSigVtName" SG_ 300 CAN_DET_CONFID_AZIMUTH_13 "CAN_DET_CONFID_AZIMUTH_13"; +BA_ "GenSigSendType" SG_ 300 CAN_DET_CONFID_AZIMUTH_13 0; +BA_ "GenSigCmt" SG_ 300 CAN_DET_CONFID_AZIMUTH_13 "CAN_DET_CONFID_AZIMUTH_13"; +BA_ "GenSigSendType" SG_ 300 CAN_DET_SUPER_RES_TARGET_13 0; +BA_ "GenSigCmt" SG_ 300 CAN_DET_SUPER_RES_TARGET_13 "CAN_DET_SUPER_RES_TARGET_13"; +BA_ "GenSigSendType" SG_ 300 CAN_DET_ND_TARGET_13 0; +BA_ "GenSigCmt" SG_ 300 CAN_DET_ND_TARGET_13 "CAN_DET_ND_TARGET_13"; +BA_ "GenSigSendType" SG_ 300 CAN_DET_HOST_VEH_CLUTTER_13 0; +BA_ "GenSigCmt" SG_ 300 CAN_DET_HOST_VEH_CLUTTER_13 "CAN_DET_HOST_VEH_CLUTTER_13"; +BA_ "GenSigSendType" SG_ 300 CAN_DET_VALID_LEVEL_13 0; +BA_ "GenSigCmt" SG_ 300 CAN_DET_VALID_LEVEL_13 "CAN_DET_VALID_LEVEL_13"; +BA_ "GenSigStartValue" SG_ 300 CAN_DET_AZIMUTH_13 0; +BA_ "GenSigSendType" SG_ 300 CAN_DET_AZIMUTH_13 0; +BA_ "GenSigCmt" SG_ 300 CAN_DET_AZIMUTH_13 "CAN_DET_AZIMUTH_13"; +BA_ "GenSigSendType" SG_ 300 CAN_DET_RANGE_13 0; +BA_ "GenSigCmt" SG_ 300 CAN_DET_RANGE_13 "CAN_DET_RANGE_13"; +BA_ "GenSigStartValue" SG_ 300 CAN_DET_RANGE_RATE_13 0; +BA_ "GenSigSendType" SG_ 300 CAN_DET_RANGE_RATE_13 0; +BA_ "GenSigCmt" SG_ 300 CAN_DET_RANGE_RATE_13 "CAN_DET_RANGE_RATE_13"; +BA_ "GenSigSendType" SG_ 300 CAN_DET_AMPLITUDE_13 0; +BA_ "GenSigCmt" SG_ 300 CAN_DET_AMPLITUDE_13 "CAN_DET_AMPLITUDE_13"; +BA_ "GenSigSendType" SG_ 300 CAN_SCAN_INDEX_2LSB_13 0; +BA_ "GenSigCmt" SG_ 300 CAN_SCAN_INDEX_2LSB_13 "CAN_SCAN_INDEX_2LSB_13"; +BA_ "GenMsgSendType" BO_ 299 1; +BA_ "GenMsgILSupport" BO_ 299 1; +BA_ "GenMsgNrOfRepetition" BO_ 299 0; +BA_ "GenMsgCycleTime" BO_ 299 0; +BA_ "NetworkInitialization" BO_ 299 0; +BA_ "GenMsgDelayTime" BO_ 299 0; +BA_ "GenSigVtEn" SG_ 299 CAN_DET_CONFID_AZIMUTH_12 "CAN_DET_CONFID_AZIMUTH_12"; +BA_ "GenSigVtName" SG_ 299 CAN_DET_CONFID_AZIMUTH_12 "CAN_DET_CONFID_AZIMUTH_12"; +BA_ "GenSigSendType" SG_ 299 CAN_DET_CONFID_AZIMUTH_12 0; +BA_ "GenSigCmt" SG_ 299 CAN_DET_CONFID_AZIMUTH_12 "CAN_DET_CONFID_AZIMUTH_12"; +BA_ "GenSigSendType" SG_ 299 CAN_DET_SUPER_RES_TARGET_12 0; +BA_ "GenSigCmt" SG_ 299 CAN_DET_SUPER_RES_TARGET_12 "CAN_DET_SUPER_RES_TARGET_12"; +BA_ "GenSigSendType" SG_ 299 CAN_DET_ND_TARGET_12 0; +BA_ "GenSigCmt" SG_ 299 CAN_DET_ND_TARGET_12 "CAN_DET_ND_TARGET_12"; +BA_ "GenSigSendType" SG_ 299 CAN_DET_HOST_VEH_CLUTTER_12 0; +BA_ "GenSigCmt" SG_ 299 CAN_DET_HOST_VEH_CLUTTER_12 "CAN_DET_HOST_VEH_CLUTTER_12"; +BA_ "GenSigSendType" SG_ 299 CAN_DET_VALID_LEVEL_12 0; +BA_ "GenSigCmt" SG_ 299 CAN_DET_VALID_LEVEL_12 "CAN_DET_VALID_LEVEL_12"; +BA_ "GenSigStartValue" SG_ 299 CAN_DET_AZIMUTH_12 0; +BA_ "GenSigSendType" SG_ 299 CAN_DET_AZIMUTH_12 0; +BA_ "GenSigCmt" SG_ 299 CAN_DET_AZIMUTH_12 "CAN_DET_AZIMUTH_12"; +BA_ "GenSigSendType" SG_ 299 CAN_DET_RANGE_12 0; +BA_ "GenSigCmt" SG_ 299 CAN_DET_RANGE_12 "CAN_DET_RANGE_12"; +BA_ "GenSigStartValue" SG_ 299 CAN_DET_RANGE_RATE_12 0; +BA_ "GenSigSendType" SG_ 299 CAN_DET_RANGE_RATE_12 0; +BA_ "GenSigCmt" SG_ 299 CAN_DET_RANGE_RATE_12 "CAN_DET_RANGE_RATE_12"; +BA_ "GenSigSendType" SG_ 299 CAN_DET_AMPLITUDE_12 0; +BA_ "GenSigCmt" SG_ 299 CAN_DET_AMPLITUDE_12 "CAN_DET_AMPLITUDE_12"; +BA_ "GenSigSendType" SG_ 299 CAN_SCAN_INDEX_2LSB_12 0; +BA_ "GenSigCmt" SG_ 299 CAN_SCAN_INDEX_2LSB_12 "CAN_SCAN_INDEX_2LSB_12"; +BA_ "GenMsgSendType" BO_ 298 1; +BA_ "GenMsgILSupport" BO_ 298 1; +BA_ "GenMsgNrOfRepetition" BO_ 298 0; +BA_ "GenMsgCycleTime" BO_ 298 0; +BA_ "NetworkInitialization" BO_ 298 0; +BA_ "GenMsgDelayTime" BO_ 298 0; +BA_ "GenSigVtEn" SG_ 298 CAN_DET_CONFID_AZIMUTH_11 "CAN_DET_CONFID_AZIMUTH_11"; +BA_ "GenSigVtName" SG_ 298 CAN_DET_CONFID_AZIMUTH_11 "CAN_DET_CONFID_AZIMUTH_11"; +BA_ "GenSigSendType" SG_ 298 CAN_DET_CONFID_AZIMUTH_11 0; +BA_ "GenSigCmt" SG_ 298 CAN_DET_CONFID_AZIMUTH_11 "CAN_DET_CONFID_AZIMUTH_11"; +BA_ "GenSigSendType" SG_ 298 CAN_DET_SUPER_RES_TARGET_11 0; +BA_ "GenSigCmt" SG_ 298 CAN_DET_SUPER_RES_TARGET_11 "CAN_DET_SUPER_RES_TARGET_11"; +BA_ "GenSigSendType" SG_ 298 CAN_DET_ND_TARGET_11 0; +BA_ "GenSigCmt" SG_ 298 CAN_DET_ND_TARGET_11 "CAN_DET_ND_TARGET_11"; +BA_ "GenSigSendType" SG_ 298 CAN_DET_HOST_VEH_CLUTTER_11 0; +BA_ "GenSigCmt" SG_ 298 CAN_DET_HOST_VEH_CLUTTER_11 "CAN_DET_HOST_VEH_CLUTTER_11"; +BA_ "GenSigSendType" SG_ 298 CAN_DET_VALID_LEVEL_11 0; +BA_ "GenSigCmt" SG_ 298 CAN_DET_VALID_LEVEL_11 "CAN_DET_VALID_LEVEL_11"; +BA_ "GenSigStartValue" SG_ 298 CAN_DET_AZIMUTH_11 0; +BA_ "GenSigSendType" SG_ 298 CAN_DET_AZIMUTH_11 0; +BA_ "GenSigCmt" SG_ 298 CAN_DET_AZIMUTH_11 "CAN_DET_AZIMUTH_11"; +BA_ "GenSigSendType" SG_ 298 CAN_DET_RANGE_11 0; +BA_ "GenSigCmt" SG_ 298 CAN_DET_RANGE_11 "CAN_DET_RANGE_11"; +BA_ "GenSigStartValue" SG_ 298 CAN_DET_RANGE_RATE_11 0; +BA_ "GenSigSendType" SG_ 298 CAN_DET_RANGE_RATE_11 0; +BA_ "GenSigCmt" SG_ 298 CAN_DET_RANGE_RATE_11 "CAN_DET_RANGE_RATE_11"; +BA_ "GenSigSendType" SG_ 298 CAN_DET_AMPLITUDE_11 0; +BA_ "GenSigCmt" SG_ 298 CAN_DET_AMPLITUDE_11 "CAN_DET_AMPLITUDE_11"; +BA_ "GenSigSendType" SG_ 298 CAN_SCAN_INDEX_2LSB_11 0; +BA_ "GenSigCmt" SG_ 298 CAN_SCAN_INDEX_2LSB_11 "CAN_SCAN_INDEX_2LSB_11"; +BA_ "GenMsgSendType" BO_ 297 1; +BA_ "GenMsgILSupport" BO_ 297 1; +BA_ "GenMsgNrOfRepetition" BO_ 297 0; +BA_ "GenMsgCycleTime" BO_ 297 0; +BA_ "NetworkInitialization" BO_ 297 0; +BA_ "GenMsgDelayTime" BO_ 297 0; +BA_ "GenSigVtEn" SG_ 297 CAN_DET_CONFID_AZIMUTH_10 "CAN_DET_CONFID_AZIMUTH_10"; +BA_ "GenSigVtName" SG_ 297 CAN_DET_CONFID_AZIMUTH_10 "CAN_DET_CONFID_AZIMUTH_10"; +BA_ "GenSigSendType" SG_ 297 CAN_DET_CONFID_AZIMUTH_10 0; +BA_ "GenSigCmt" SG_ 297 CAN_DET_CONFID_AZIMUTH_10 "CAN_DET_CONFID_AZIMUTH_10"; +BA_ "GenSigSendType" SG_ 297 CAN_DET_SUPER_RES_TARGET_10 0; +BA_ "GenSigCmt" SG_ 297 CAN_DET_SUPER_RES_TARGET_10 "CAN_DET_SUPER_RES_TARGET_10"; +BA_ "GenSigSendType" SG_ 297 CAN_DET_ND_TARGET_10 0; +BA_ "GenSigCmt" SG_ 297 CAN_DET_ND_TARGET_10 "CAN_DET_ND_TARGET_10"; +BA_ "GenSigSendType" SG_ 297 CAN_DET_HOST_VEH_CLUTTER_10 0; +BA_ "GenSigCmt" SG_ 297 CAN_DET_HOST_VEH_CLUTTER_10 "CAN_DET_HOST_VEH_CLUTTER_10"; +BA_ "GenSigSendType" SG_ 297 CAN_DET_VALID_LEVEL_10 0; +BA_ "GenSigCmt" SG_ 297 CAN_DET_VALID_LEVEL_10 "CAN_DET_VALID_LEVEL_10"; +BA_ "GenSigStartValue" SG_ 297 CAN_DET_AZIMUTH_10 0; +BA_ "GenSigSendType" SG_ 297 CAN_DET_AZIMUTH_10 0; +BA_ "GenSigCmt" SG_ 297 CAN_DET_AZIMUTH_10 "CAN_DET_AZIMUTH_10"; +BA_ "GenSigSendType" SG_ 297 CAN_DET_RANGE_10 0; +BA_ "GenSigCmt" SG_ 297 CAN_DET_RANGE_10 "CAN_DET_RANGE_10"; +BA_ "GenSigStartValue" SG_ 297 CAN_DET_RANGE_RATE_10 0; +BA_ "GenSigSendType" SG_ 297 CAN_DET_RANGE_RATE_10 0; +BA_ "GenSigCmt" SG_ 297 CAN_DET_RANGE_RATE_10 "CAN_DET_RANGE_RATE_10"; +BA_ "GenSigSendType" SG_ 297 CAN_DET_AMPLITUDE_10 0; +BA_ "GenSigCmt" SG_ 297 CAN_DET_AMPLITUDE_10 "CAN_DET_AMPLITUDE_10"; +BA_ "GenSigSendType" SG_ 297 CAN_SCAN_INDEX_2LSB_10 0; +BA_ "GenSigCmt" SG_ 297 CAN_SCAN_INDEX_2LSB_10 "CAN_SCAN_INDEX_2LSB_10"; +BA_ "GenMsgSendType" BO_ 296 1; +BA_ "GenMsgILSupport" BO_ 296 1; +BA_ "GenMsgNrOfRepetition" BO_ 296 0; +BA_ "GenMsgCycleTime" BO_ 296 0; +BA_ "NetworkInitialization" BO_ 296 0; +BA_ "GenMsgDelayTime" BO_ 296 0; +BA_ "GenSigVtEn" SG_ 296 CAN_DET_CONFID_AZIMUTH_09 "CAN_DET_CONFID_AZIMUTH_09"; +BA_ "GenSigVtName" SG_ 296 CAN_DET_CONFID_AZIMUTH_09 "CAN_DET_CONFID_AZIMUTH_09"; +BA_ "GenSigSendType" SG_ 296 CAN_DET_CONFID_AZIMUTH_09 0; +BA_ "GenSigCmt" SG_ 296 CAN_DET_CONFID_AZIMUTH_09 "CAN_DET_CONFID_AZIMUTH_09"; +BA_ "GenSigSendType" SG_ 296 CAN_DET_SUPER_RES_TARGET_09 0; +BA_ "GenSigCmt" SG_ 296 CAN_DET_SUPER_RES_TARGET_09 "CAN_DET_SUPER_RES_TARGET_09"; +BA_ "GenSigSendType" SG_ 296 CAN_DET_ND_TARGET_09 0; +BA_ "GenSigCmt" SG_ 296 CAN_DET_ND_TARGET_09 "CAN_DET_ND_TARGET_09"; +BA_ "GenSigSendType" SG_ 296 CAN_DET_HOST_VEH_CLUTTER_09 0; +BA_ "GenSigCmt" SG_ 296 CAN_DET_HOST_VEH_CLUTTER_09 "CAN_DET_HOST_VEH_CLUTTER_09"; +BA_ "GenSigSendType" SG_ 296 CAN_DET_VALID_LEVEL_09 0; +BA_ "GenSigCmt" SG_ 296 CAN_DET_VALID_LEVEL_09 "CAN_DET_VALID_LEVEL_09"; +BA_ "GenSigStartValue" SG_ 296 CAN_DET_AZIMUTH_09 0; +BA_ "GenSigSendType" SG_ 296 CAN_DET_AZIMUTH_09 0; +BA_ "GenSigCmt" SG_ 296 CAN_DET_AZIMUTH_09 "CAN_DET_AZIMUTH_09"; +BA_ "GenSigSendType" SG_ 296 CAN_DET_RANGE_09 0; +BA_ "GenSigCmt" SG_ 296 CAN_DET_RANGE_09 "CAN_DET_RANGE_09"; +BA_ "GenSigStartValue" SG_ 296 CAN_DET_RANGE_RATE_09 0; +BA_ "GenSigSendType" SG_ 296 CAN_DET_RANGE_RATE_09 0; +BA_ "GenSigCmt" SG_ 296 CAN_DET_RANGE_RATE_09 "CAN_DET_RANGE_RATE_09"; +BA_ "GenSigSendType" SG_ 296 CAN_DET_AMPLITUDE_09 0; +BA_ "GenSigCmt" SG_ 296 CAN_DET_AMPLITUDE_09 "CAN_DET_AMPLITUDE_09"; +BA_ "GenSigSendType" SG_ 296 CAN_SCAN_INDEX_2LSB_09 0; +BA_ "GenSigCmt" SG_ 296 CAN_SCAN_INDEX_2LSB_09 "CAN_SCAN_INDEX_2LSB_09"; +BA_ "GenMsgSendType" BO_ 295 1; +BA_ "GenMsgILSupport" BO_ 295 1; +BA_ "GenMsgNrOfRepetition" BO_ 295 0; +BA_ "GenMsgCycleTime" BO_ 295 0; +BA_ "NetworkInitialization" BO_ 295 0; +BA_ "GenMsgDelayTime" BO_ 295 0; +BA_ "GenSigVtEn" SG_ 295 CAN_DET_CONFID_AZIMUTH_08 "CAN_DET_CONFID_AZIMUTH_08"; +BA_ "GenSigVtName" SG_ 295 CAN_DET_CONFID_AZIMUTH_08 "CAN_DET_CONFID_AZIMUTH_08"; +BA_ "GenSigSendType" SG_ 295 CAN_DET_CONFID_AZIMUTH_08 0; +BA_ "GenSigCmt" SG_ 295 CAN_DET_CONFID_AZIMUTH_08 "CAN_DET_CONFID_AZIMUTH_08"; +BA_ "GenSigSendType" SG_ 295 CAN_DET_SUPER_RES_TARGET_08 0; +BA_ "GenSigCmt" SG_ 295 CAN_DET_SUPER_RES_TARGET_08 "CAN_DET_SUPER_RES_TARGET_08"; +BA_ "GenSigSendType" SG_ 295 CAN_DET_ND_TARGET_08 0; +BA_ "GenSigCmt" SG_ 295 CAN_DET_ND_TARGET_08 "CAN_DET_ND_TARGET_08"; +BA_ "GenSigSendType" SG_ 295 CAN_DET_HOST_VEH_CLUTTER_08 0; +BA_ "GenSigCmt" SG_ 295 CAN_DET_HOST_VEH_CLUTTER_08 "CAN_DET_HOST_VEH_CLUTTER_08"; +BA_ "GenSigSendType" SG_ 295 CAN_DET_VALID_LEVEL_08 0; +BA_ "GenSigCmt" SG_ 295 CAN_DET_VALID_LEVEL_08 "CAN_DET_VALID_LEVEL_08"; +BA_ "GenSigStartValue" SG_ 295 CAN_DET_AZIMUTH_08 0; +BA_ "GenSigSendType" SG_ 295 CAN_DET_AZIMUTH_08 0; +BA_ "GenSigCmt" SG_ 295 CAN_DET_AZIMUTH_08 "CAN_DET_AZIMUTH_08"; +BA_ "GenSigSendType" SG_ 295 CAN_DET_RANGE_08 0; +BA_ "GenSigCmt" SG_ 295 CAN_DET_RANGE_08 "CAN_DET_RANGE_08"; +BA_ "GenSigStartValue" SG_ 295 CAN_DET_RANGE_RATE_08 0; +BA_ "GenSigSendType" SG_ 295 CAN_DET_RANGE_RATE_08 0; +BA_ "GenSigCmt" SG_ 295 CAN_DET_RANGE_RATE_08 "CAN_DET_RANGE_RATE_08"; +BA_ "GenSigSendType" SG_ 295 CAN_DET_AMPLITUDE_08 0; +BA_ "GenSigCmt" SG_ 295 CAN_DET_AMPLITUDE_08 "CAN_DET_AMPLITUDE_08"; +BA_ "GenSigSendType" SG_ 295 CAN_SCAN_INDEX_2LSB_08 0; +BA_ "GenSigCmt" SG_ 295 CAN_SCAN_INDEX_2LSB_08 "CAN_SCAN_INDEX_2LSB_08"; +BA_ "GenMsgSendType" BO_ 294 1; +BA_ "GenMsgILSupport" BO_ 294 1; +BA_ "GenMsgNrOfRepetition" BO_ 294 0; +BA_ "GenMsgCycleTime" BO_ 294 0; +BA_ "NetworkInitialization" BO_ 294 0; +BA_ "GenMsgDelayTime" BO_ 294 0; +BA_ "GenSigVtEn" SG_ 294 CAN_DET_CONFID_AZIMUTH_07 "CAN_DET_CONFID_AZIMUTH_07"; +BA_ "GenSigVtName" SG_ 294 CAN_DET_CONFID_AZIMUTH_07 "CAN_DET_CONFID_AZIMUTH_07"; +BA_ "GenSigSendType" SG_ 294 CAN_DET_CONFID_AZIMUTH_07 0; +BA_ "GenSigCmt" SG_ 294 CAN_DET_CONFID_AZIMUTH_07 "CAN_DET_CONFID_AZIMUTH_07"; +BA_ "GenSigSendType" SG_ 294 CAN_DET_SUPER_RES_TARGET_07 0; +BA_ "GenSigCmt" SG_ 294 CAN_DET_SUPER_RES_TARGET_07 "CAN_DET_SUPER_RES_TARGET_07"; +BA_ "GenSigSendType" SG_ 294 CAN_DET_ND_TARGET_07 0; +BA_ "GenSigCmt" SG_ 294 CAN_DET_ND_TARGET_07 "CAN_DET_ND_TARGET_07"; +BA_ "GenSigSendType" SG_ 294 CAN_DET_HOST_VEH_CLUTTER_07 0; +BA_ "GenSigCmt" SG_ 294 CAN_DET_HOST_VEH_CLUTTER_07 "CAN_DET_HOST_VEH_CLUTTER_07"; +BA_ "GenSigSendType" SG_ 294 CAN_DET_VALID_LEVEL_07 0; +BA_ "GenSigCmt" SG_ 294 CAN_DET_VALID_LEVEL_07 "CAN_DET_VALID_LEVEL_07"; +BA_ "GenSigStartValue" SG_ 294 CAN_DET_AZIMUTH_07 0; +BA_ "GenSigSendType" SG_ 294 CAN_DET_AZIMUTH_07 0; +BA_ "GenSigCmt" SG_ 294 CAN_DET_AZIMUTH_07 "CAN_DET_AZIMUTH_07"; +BA_ "GenSigSendType" SG_ 294 CAN_DET_RANGE_07 0; +BA_ "GenSigCmt" SG_ 294 CAN_DET_RANGE_07 "CAN_DET_RANGE_07"; +BA_ "GenSigStartValue" SG_ 294 CAN_DET_RANGE_RATE_07 0; +BA_ "GenSigSendType" SG_ 294 CAN_DET_RANGE_RATE_07 0; +BA_ "GenSigCmt" SG_ 294 CAN_DET_RANGE_RATE_07 "CAN_DET_RANGE_RATE_07"; +BA_ "GenSigSendType" SG_ 294 CAN_DET_AMPLITUDE_07 0; +BA_ "GenSigCmt" SG_ 294 CAN_DET_AMPLITUDE_07 "CAN_DET_AMPLITUDE_07"; +BA_ "GenSigSendType" SG_ 294 CAN_SCAN_INDEX_2LSB_07 0; +BA_ "GenSigCmt" SG_ 294 CAN_SCAN_INDEX_2LSB_07 "CAN_SCAN_INDEX_2LSB_07"; +BA_ "GenMsgSendType" BO_ 293 1; +BA_ "GenMsgILSupport" BO_ 293 1; +BA_ "GenMsgNrOfRepetition" BO_ 293 0; +BA_ "GenMsgCycleTime" BO_ 293 0; +BA_ "NetworkInitialization" BO_ 293 0; +BA_ "GenMsgDelayTime" BO_ 293 0; +BA_ "GenSigVtEn" SG_ 293 CAN_DET_CONFID_AZIMUTH_06 "CAN_DET_CONFID_AZIMUTH_06"; +BA_ "GenSigVtName" SG_ 293 CAN_DET_CONFID_AZIMUTH_06 "CAN_DET_CONFID_AZIMUTH_06"; +BA_ "GenSigSendType" SG_ 293 CAN_DET_CONFID_AZIMUTH_06 0; +BA_ "GenSigCmt" SG_ 293 CAN_DET_CONFID_AZIMUTH_06 "CAN_DET_CONFID_AZIMUTH_06"; +BA_ "GenSigSendType" SG_ 293 CAN_DET_SUPER_RES_TARGET_06 0; +BA_ "GenSigCmt" SG_ 293 CAN_DET_SUPER_RES_TARGET_06 "CAN_DET_SUPER_RES_TARGET_06"; +BA_ "GenSigSendType" SG_ 293 CAN_DET_ND_TARGET_06 0; +BA_ "GenSigCmt" SG_ 293 CAN_DET_ND_TARGET_06 "CAN_DET_ND_TARGET_06"; +BA_ "GenSigSendType" SG_ 293 CAN_DET_HOST_VEH_CLUTTER_06 0; +BA_ "GenSigCmt" SG_ 293 CAN_DET_HOST_VEH_CLUTTER_06 "CAN_DET_HOST_VEH_CLUTTER_06"; +BA_ "GenSigSendType" SG_ 293 CAN_DET_VALID_LEVEL_06 0; +BA_ "GenSigCmt" SG_ 293 CAN_DET_VALID_LEVEL_06 "CAN_DET_VALID_LEVEL_06"; +BA_ "GenSigStartValue" SG_ 293 CAN_DET_AZIMUTH_06 0; +BA_ "GenSigSendType" SG_ 293 CAN_DET_AZIMUTH_06 0; +BA_ "GenSigCmt" SG_ 293 CAN_DET_AZIMUTH_06 "CAN_DET_AZIMUTH_06"; +BA_ "GenSigSendType" SG_ 293 CAN_DET_RANGE_06 0; +BA_ "GenSigCmt" SG_ 293 CAN_DET_RANGE_06 "CAN_DET_RANGE_06"; +BA_ "GenSigStartValue" SG_ 293 CAN_DET_RANGE_RATE_06 0; +BA_ "GenSigSendType" SG_ 293 CAN_DET_RANGE_RATE_06 0; +BA_ "GenSigCmt" SG_ 293 CAN_DET_RANGE_RATE_06 "CAN_DET_RANGE_RATE_06"; +BA_ "GenSigSendType" SG_ 293 CAN_DET_AMPLITUDE_06 0; +BA_ "GenSigCmt" SG_ 293 CAN_DET_AMPLITUDE_06 "CAN_DET_AMPLITUDE_06"; +BA_ "GenSigSendType" SG_ 293 CAN_SCAN_INDEX_2LSB_06 0; +BA_ "GenSigCmt" SG_ 293 CAN_SCAN_INDEX_2LSB_06 "CAN_SCAN_INDEX_2LSB_06"; +BA_ "GenMsgSendType" BO_ 292 1; +BA_ "GenMsgILSupport" BO_ 292 1; +BA_ "GenMsgNrOfRepetition" BO_ 292 0; +BA_ "GenMsgCycleTime" BO_ 292 0; +BA_ "NetworkInitialization" BO_ 292 0; +BA_ "GenMsgDelayTime" BO_ 292 0; +BA_ "GenSigVtEn" SG_ 292 CAN_DET_CONFID_AZIMUTH_05 "CAN_DET_CONFID_AZIMUTH_05"; +BA_ "GenSigVtName" SG_ 292 CAN_DET_CONFID_AZIMUTH_05 "CAN_DET_CONFID_AZIMUTH_05"; +BA_ "GenSigSendType" SG_ 292 CAN_DET_CONFID_AZIMUTH_05 0; +BA_ "GenSigCmt" SG_ 292 CAN_DET_CONFID_AZIMUTH_05 "CAN_DET_CONFID_AZIMUTH_05"; +BA_ "GenSigSendType" SG_ 292 CAN_DET_SUPER_RES_TARGET_05 0; +BA_ "GenSigCmt" SG_ 292 CAN_DET_SUPER_RES_TARGET_05 "CAN_DET_SUPER_RES_TARGET_05"; +BA_ "GenSigSendType" SG_ 292 CAN_DET_ND_TARGET_05 0; +BA_ "GenSigCmt" SG_ 292 CAN_DET_ND_TARGET_05 "CAN_DET_ND_TARGET_05"; +BA_ "GenSigSendType" SG_ 292 CAN_DET_HOST_VEH_CLUTTER_05 0; +BA_ "GenSigCmt" SG_ 292 CAN_DET_HOST_VEH_CLUTTER_05 "CAN_DET_HOST_VEH_CLUTTER_05"; +BA_ "GenSigSendType" SG_ 292 CAN_DET_VALID_LEVEL_05 0; +BA_ "GenSigCmt" SG_ 292 CAN_DET_VALID_LEVEL_05 "CAN_DET_VALID_LEVEL_05"; +BA_ "GenSigStartValue" SG_ 292 CAN_DET_AZIMUTH_05 0; +BA_ "GenSigSendType" SG_ 292 CAN_DET_AZIMUTH_05 0; +BA_ "GenSigCmt" SG_ 292 CAN_DET_AZIMUTH_05 "CAN_DET_AZIMUTH_05"; +BA_ "GenSigSendType" SG_ 292 CAN_DET_RANGE_05 0; +BA_ "GenSigCmt" SG_ 292 CAN_DET_RANGE_05 "CAN_DET_RANGE_05"; +BA_ "GenSigStartValue" SG_ 292 CAN_DET_RANGE_RATE_05 0; +BA_ "GenSigSendType" SG_ 292 CAN_DET_RANGE_RATE_05 0; +BA_ "GenSigCmt" SG_ 292 CAN_DET_RANGE_RATE_05 "CAN_DET_RANGE_RATE_05"; +BA_ "GenSigSendType" SG_ 292 CAN_DET_AMPLITUDE_05 0; +BA_ "GenSigCmt" SG_ 292 CAN_DET_AMPLITUDE_05 "CAN_DET_AMPLITUDE_05"; +BA_ "GenSigSendType" SG_ 292 CAN_SCAN_INDEX_2LSB_05 0; +BA_ "GenSigCmt" SG_ 292 CAN_SCAN_INDEX_2LSB_05 "CAN_SCAN_INDEX_2LSB_05"; +BA_ "GenMsgSendType" BO_ 290 1; +BA_ "GenMsgILSupport" BO_ 290 1; +BA_ "GenMsgNrOfRepetition" BO_ 290 0; +BA_ "GenMsgCycleTime" BO_ 290 0; +BA_ "NetworkInitialization" BO_ 290 0; +BA_ "GenMsgDelayTime" BO_ 290 0; +BA_ "GenSigVtEn" SG_ 290 CAN_DET_CONFID_AZIMUTH_03 "CAN_DET_CONFID_AZIMUTH_03"; +BA_ "GenSigVtName" SG_ 290 CAN_DET_CONFID_AZIMUTH_03 "CAN_DET_CONFID_AZIMUTH_03"; +BA_ "GenSigSendType" SG_ 290 CAN_DET_CONFID_AZIMUTH_03 0; +BA_ "GenSigCmt" SG_ 290 CAN_DET_CONFID_AZIMUTH_03 "CAN_DET_CONFID_AZIMUTH_03"; +BA_ "GenSigSendType" SG_ 290 CAN_DET_SUPER_RES_TARGET_03 0; +BA_ "GenSigCmt" SG_ 290 CAN_DET_SUPER_RES_TARGET_03 "CAN_DET_SUPER_RES_TARGET_03"; +BA_ "GenSigSendType" SG_ 290 CAN_DET_ND_TARGET_03 0; +BA_ "GenSigCmt" SG_ 290 CAN_DET_ND_TARGET_03 "CAN_DET_ND_TARGET_03"; +BA_ "GenSigSendType" SG_ 290 CAN_DET_HOST_VEH_CLUTTER_03 0; +BA_ "GenSigCmt" SG_ 290 CAN_DET_HOST_VEH_CLUTTER_03 "CAN_DET_HOST_VEH_CLUTTER_03"; +BA_ "GenSigSendType" SG_ 290 CAN_DET_VALID_LEVEL_03 0; +BA_ "GenSigCmt" SG_ 290 CAN_DET_VALID_LEVEL_03 "CAN_DET_VALID_LEVEL_03"; +BA_ "GenSigStartValue" SG_ 290 CAN_DET_AZIMUTH_03 0; +BA_ "GenSigSendType" SG_ 290 CAN_DET_AZIMUTH_03 0; +BA_ "GenSigCmt" SG_ 290 CAN_DET_AZIMUTH_03 "CAN_DET_AZIMUTH_03"; +BA_ "GenSigSendType" SG_ 290 CAN_DET_RANGE_03 0; +BA_ "GenSigCmt" SG_ 290 CAN_DET_RANGE_03 "CAN_DET_RANGE_03"; +BA_ "GenSigStartValue" SG_ 290 CAN_DET_RANGE_RATE_03 0; +BA_ "GenSigSendType" SG_ 290 CAN_DET_RANGE_RATE_03 0; +BA_ "GenSigCmt" SG_ 290 CAN_DET_RANGE_RATE_03 "CAN_DET_RANGE_RATE_03"; +BA_ "GenSigSendType" SG_ 290 CAN_DET_AMPLITUDE_03 0; +BA_ "GenSigCmt" SG_ 290 CAN_DET_AMPLITUDE_03 "CAN_DET_AMPLITUDE_03"; +BA_ "GenSigSendType" SG_ 290 CAN_SCAN_INDEX_2LSB_03 0; +BA_ "GenSigCmt" SG_ 290 CAN_SCAN_INDEX_2LSB_03 "CAN_SCAN_INDEX_2LSB_03"; +BA_ "GenMsgSendType" BO_ 289 1; +BA_ "GenMsgILSupport" BO_ 289 1; +BA_ "GenMsgNrOfRepetition" BO_ 289 0; +BA_ "GenMsgCycleTime" BO_ 289 0; +BA_ "NetworkInitialization" BO_ 289 0; +BA_ "GenMsgDelayTime" BO_ 289 0; +BA_ "GenSigVtEn" SG_ 289 CAN_DET_CONFID_AZIMUTH_02 "CAN_DET_CONFID_AZIMUTH_02"; +BA_ "GenSigVtName" SG_ 289 CAN_DET_CONFID_AZIMUTH_02 "CAN_DET_CONFID_AZIMUTH_02"; +BA_ "GenSigSendType" SG_ 289 CAN_DET_CONFID_AZIMUTH_02 0; +BA_ "GenSigCmt" SG_ 289 CAN_DET_CONFID_AZIMUTH_02 "CAN_DET_CONFID_AZIMUTH_02"; +BA_ "GenSigSendType" SG_ 289 CAN_DET_SUPER_RES_TARGET_02 0; +BA_ "GenSigCmt" SG_ 289 CAN_DET_SUPER_RES_TARGET_02 "CAN_DET_SUPER_RES_TARGET_02"; +BA_ "GenSigSendType" SG_ 289 CAN_DET_ND_TARGET_02 0; +BA_ "GenSigCmt" SG_ 289 CAN_DET_ND_TARGET_02 "CAN_DET_ND_TARGET_02"; +BA_ "GenSigSendType" SG_ 289 CAN_DET_HOST_VEH_CLUTTER_02 0; +BA_ "GenSigCmt" SG_ 289 CAN_DET_HOST_VEH_CLUTTER_02 "CAN_DET_HOST_VEH_CLUTTER_02"; +BA_ "GenSigSendType" SG_ 289 CAN_DET_VALID_LEVEL_02 0; +BA_ "GenSigCmt" SG_ 289 CAN_DET_VALID_LEVEL_02 "CAN_DET_VALID_LEVEL_02"; +BA_ "GenSigStartValue" SG_ 289 CAN_DET_AZIMUTH_02 0; +BA_ "GenSigSendType" SG_ 289 CAN_DET_AZIMUTH_02 0; +BA_ "GenSigCmt" SG_ 289 CAN_DET_AZIMUTH_02 "CAN_DET_AZIMUTH_02"; +BA_ "GenSigSendType" SG_ 289 CAN_DET_RANGE_02 0; +BA_ "GenSigCmt" SG_ 289 CAN_DET_RANGE_02 "CAN_DET_RANGE_02"; +BA_ "GenSigStartValue" SG_ 289 CAN_DET_RANGE_RATE_02 0; +BA_ "GenSigSendType" SG_ 289 CAN_DET_RANGE_RATE_02 0; +BA_ "GenSigCmt" SG_ 289 CAN_DET_RANGE_RATE_02 "CAN_DET_RANGE_RATE_02"; +BA_ "GenSigSendType" SG_ 289 CAN_DET_AMPLITUDE_02 0; +BA_ "GenSigCmt" SG_ 289 CAN_DET_AMPLITUDE_02 "CAN_DET_AMPLITUDE_02"; +BA_ "GenSigSendType" SG_ 289 CAN_SCAN_INDEX_2LSB_02 0; +BA_ "GenSigCmt" SG_ 289 CAN_SCAN_INDEX_2LSB_02 "CAN_SCAN_INDEX_2LSB_02"; +BA_ "GenMsgSendType" BO_ 256 1; +BA_ "GenMsgILSupport" BO_ 256 1; +BA_ "GenMsgNrOfRepetition" BO_ 256 0; +BA_ "NetworkInitialization" BO_ 256 0; +BA_ "GenSigCmt" SG_ 256 CAN_PCAN_MINOR_MRR "CAN_PCAN_MINOR_MRR"; +BA_ "GenSigSendType" SG_ 256 CAN_PCAN_MINOR_MRR 0; +BA_ "GenSigCmt" SG_ 256 CAN_PCAN_MAJOR_MRR "CAN_PCAN_MAJOR_MRR"; +BA_ "GenSigSendType" SG_ 256 CAN_PCAN_MAJOR_MRR 0; +BA_ "GenMsgCycleTime" BO_ 257 30; +BA_ "GenMsgSendType" BO_ 257 0; +BA_ "GenMsgILSupport" BO_ 257 1; +BA_ "GenMsgNrOfRepetition" BO_ 257 0; +BA_ "NetworkInitialization" BO_ 257 0; +BA_ "GenSigCmt" SG_ 257 CAN_INTERFERENCE_TYPE "CAN_INTERFERENCE_TYPE"; +BA_ "GenSigVtEn" SG_ 257 CAN_INTERFERENCE_TYPE "CAN_INTERFERENCE_TYPE"; +BA_ "GenSigVtName" SG_ 257 CAN_INTERFERENCE_TYPE "CAN_INTERFERENCE_TYPE"; +BA_ "GenSigVtName" SG_ 257 CAN_RECOMMEND_UNCONVERGE "CAN_RECOMMEND_UNCONVERGE"; +BA_ "GenSigVtEn" SG_ 257 CAN_RECOMMEND_UNCONVERGE "CAN_RECOMMEND_UNCONVERGE"; +BA_ "GenSigCmt" SG_ 257 CAN_RECOMMEND_UNCONVERGE "CAN_RECOMMEND_UNCONVERGE"; +BA_ "GenSigStartValue" SG_ 257 CAN_BLOCKAGE_SIDELOBE_FILTER_VAL 0; +BA_ "GenSigSendType" SG_ 257 CAN_BLOCKAGE_SIDELOBE_FILTER_VAL 0; +BA_ "GenSigCmt" SG_ 257 CAN_BLOCKAGE_SIDELOBE_FILTER_VAL "CAN_BLOCKAGE_SIDELOBE_FILTER_VAL"; +BA_ "GenSigVtEn" SG_ 257 CAN_BLOCKAGE_SIDELOBE_FILTER_VAL "CAN_BLOCKAGE_SIDELOBE_FILTER_VAL"; +BA_ "GenSigVtName" SG_ 257 CAN_BLOCKAGE_SIDELOBE_FILTER_VAL "CAN_BLOCKAGE_SIDELOBE_FILTER_VAL"; +BA_ "GenSigCmt" SG_ 257 CAN_RADAR_ALIGN_INCOMPLETE "CAN_RADAR_ALIGN_INCOMPLETE"; +BA_ "GenSigVtEn" SG_ 257 CAN_RADAR_ALIGN_INCOMPLETE "CAN_RADAR_ALIGN_INCOMPLETE"; +BA_ "GenSigVtName" SG_ 257 CAN_RADAR_ALIGN_INCOMPLETE "CAN_RADAR_ALIGN_INCOMPLETE"; +BA_ "GenSigCmt" SG_ 257 CAN_BLOCKAGE_SIDELOBE "CAN_BLOCKAGE_SIDELOBE"; +BA_ "GenSigVtEn" SG_ 257 CAN_BLOCKAGE_SIDELOBE "CAN_BLOCKAGE_SIDELOBE"; +BA_ "GenSigVtName" SG_ 257 CAN_BLOCKAGE_SIDELOBE "CAN_BLOCKAGE_SIDELOBE"; +BA_ "GenSigSendType" SG_ 257 CAN_BLOCKAGE_SIDELOBE 0; +BA_ "GenSigCmt" SG_ 257 CAN_BLOCKAGE_MNR "CAN_BLOCKAGE_MNR"; +BA_ "GenSigVtEn" SG_ 257 CAN_BLOCKAGE_MNR "CAN_BLOCKAGE_MNR"; +BA_ "GenSigVtName" SG_ 257 CAN_BLOCKAGE_MNR "CAN_BLOCKAGE_MNR"; +BA_ "GenSigSendType" SG_ 257 CAN_BLOCKAGE_MNR 0; +BA_ "GenSigCmt" SG_ 257 CAN_RADAR_EXT_COND_NOK "CAN_RADAR_EXT_COND_NOK"; +BA_ "GenSigVtEn" SG_ 257 CAN_RADAR_EXT_COND_NOK "CAN_RADAR_EXT_COND_NOK"; +BA_ "GenSigVtName" SG_ 257 CAN_RADAR_EXT_COND_NOK "CAN_RADAR_EXT_COND_NOK"; +BA_ "GenSigSendType" SG_ 257 CAN_RADAR_EXT_COND_NOK 0; +BA_ "GenSigCmt" SG_ 257 CAN_RADAR_ALIGN_OUT_RANGE "CAN_RADAR_ALIGN_OUT_RANGE"; +BA_ "GenSigVtEn" SG_ 257 CAN_RADAR_ALIGN_OUT_RANGE "CAN_RADAR_ALIGN_OUT_RANGE"; +BA_ "GenSigVtName" SG_ 257 CAN_RADAR_ALIGN_OUT_RANGE "CAN_RADAR_ALIGN_OUT_RANGE"; +BA_ "GenSigSendType" SG_ 257 CAN_RADAR_ALIGN_OUT_RANGE 0; +BA_ "GenSigCmt" SG_ 257 CAN_RADAR_ALIGN_NOT_START "CAN_RADAR_ALIGN_NOT_START"; +BA_ "GenSigVtEn" SG_ 257 CAN_RADAR_ALIGN_NOT_START "CAN_RADAR_ALIGN_NOT_START"; +BA_ "GenSigVtName" SG_ 257 CAN_RADAR_ALIGN_NOT_START "CAN_RADAR_ALIGN_NOT_START"; +BA_ "GenSigSendType" SG_ 257 CAN_RADAR_ALIGN_NOT_START 0; +BA_ "GenSigCmt" SG_ 257 CAN_RADAR_OVERHEAT_ERROR "CAN_RADAR_OVERHEAT_ERROR"; +BA_ "GenSigVtEn" SG_ 257 CAN_RADAR_OVERHEAT_ERROR "CAN_RADAR_OVERHEAT_ERROR"; +BA_ "GenSigVtName" SG_ 257 CAN_RADAR_OVERHEAT_ERROR "CAN_RADAR_OVERHEAT_ERROR"; +BA_ "GenSigSendType" SG_ 257 CAN_RADAR_OVERHEAT_ERROR 0; +BA_ "GenSigCmt" SG_ 257 CAN_RADAR_NOT_OP "CAN_RADAR_NOT_OP"; +BA_ "GenSigVtEn" SG_ 257 CAN_RADAR_NOT_OP "CAN_RADAR_NOT_OP"; +BA_ "GenSigVtName" SG_ 257 CAN_RADAR_NOT_OP "CAN_RADAR_NOT_OP"; +BA_ "GenSigSendType" SG_ 257 CAN_RADAR_NOT_OP 0; +BA_ "GenSigCmt" SG_ 257 CAN_XCVR_OPERATIONAL "CAN_XCVR_OPERATIONAL"; +BA_ "GenSigVtEn" SG_ 257 CAN_XCVR_OPERATIONAL "CAN_XCVR_OPERATIONAL"; +BA_ "GenSigVtName" SG_ 257 CAN_XCVR_OPERATIONAL "CAN_XCVR_OPERATIONAL"; +BA_ "GenSigSendType" SG_ 257 CAN_XCVR_OPERATIONAL 0; +BA_ "GenMsgSendType" BO_ 288 1; +BA_ "GenMsgILSupport" BO_ 288 1; +BA_ "GenMsgNrOfRepetition" BO_ 288 0; +BA_ "GenMsgCycleTime" BO_ 288 0; +BA_ "NetworkInitialization" BO_ 288 0; +BA_ "GenMsgDelayTime" BO_ 288 0; +BA_ "GenSigVtEn" SG_ 288 CAN_DET_CONFID_AZIMUTH_01 "CAN_DET_CONFID_AZIMUTH_01"; +BA_ "GenSigVtName" SG_ 288 CAN_DET_CONFID_AZIMUTH_01 "CAN_DET_CONFID_AZIMUTH_01"; +BA_ "GenSigSendType" SG_ 288 CAN_DET_CONFID_AZIMUTH_01 0; +BA_ "GenSigCmt" SG_ 288 CAN_DET_CONFID_AZIMUTH_01 "CAN_DET_CONFID_AZIMUTH_01"; +BA_ "GenSigSendType" SG_ 288 CAN_DET_SUPER_RES_TARGET_01 0; +BA_ "GenSigCmt" SG_ 288 CAN_DET_SUPER_RES_TARGET_01 "CAN_DET_SUPER_RES_TARGET_01"; +BA_ "GenSigSendType" SG_ 288 CAN_DET_ND_TARGET_01 0; +BA_ "GenSigCmt" SG_ 288 CAN_DET_ND_TARGET_01 "CAN_DET_ND_TARGET_01"; +BA_ "GenSigSendType" SG_ 288 CAN_DET_HOST_VEH_CLUTTER_01 0; +BA_ "GenSigCmt" SG_ 288 CAN_DET_HOST_VEH_CLUTTER_01 "CAN_DET_HOST_VEH_CLUTTER_01"; +BA_ "GenSigSendType" SG_ 288 CAN_DET_VALID_LEVEL_01 0; +BA_ "GenSigCmt" SG_ 288 CAN_DET_VALID_LEVEL_01 "CAN_DET_VALID_LEVEL_01"; +BA_ "GenSigStartValue" SG_ 288 CAN_DET_AZIMUTH_01 0; +BA_ "GenSigSendType" SG_ 288 CAN_DET_AZIMUTH_01 0; +BA_ "GenSigCmt" SG_ 288 CAN_DET_AZIMUTH_01 "CAN_DET_AZIMUTH_01"; +BA_ "GenSigSendType" SG_ 288 CAN_DET_RANGE_01 0; +BA_ "GenSigCmt" SG_ 288 CAN_DET_RANGE_01 "CAN_DET_RANGE_01"; +BA_ "GenSigStartValue" SG_ 288 CAN_DET_RANGE_RATE_01 0; +BA_ "GenSigSendType" SG_ 288 CAN_DET_RANGE_RATE_01 0; +BA_ "GenSigCmt" SG_ 288 CAN_DET_RANGE_RATE_01 "CAN_DET_RANGE_RATE_01"; +BA_ "GenSigSendType" SG_ 288 CAN_DET_AMPLITUDE_01 0; +BA_ "GenSigCmt" SG_ 288 CAN_DET_AMPLITUDE_01 "CAN_DET_AMPLITUDE_01"; +BA_ "GenSigSendType" SG_ 288 CAN_SCAN_INDEX_2LSB_01 0; +BA_ "GenSigCmt" SG_ 288 CAN_SCAN_INDEX_2LSB_01 "CAN_SCAN_INDEX_2LSB_01"; +BA_DEF_DEF_ "CrossOver_InfoCAN" "No"; +BA_DEF_DEF_ "CrossOver_LIN" "No"; +BA_DEF_DEF_ "UsedOnPgmDBC" "Yes"; +BA_DEF_DEF_ "ContentDependant" "No"; +BA_DEF_DEF_ "GenSigTimeoutTime_RCM" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_GWM" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_OCS" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_ABS_ESC" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_CCM" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_IPMA" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_TSTR" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_SCCM" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_PSCM" 0; +BA_DEF_DEF_ "GenSigTimeoutTime__delete" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_Generic_BCM" 0; +BA_DEF_DEF_ "NmMessage" "No"; +BA_DEF_DEF_ "DiagResponse" "No"; +BA_DEF_DEF_ "DiagRequest" "No"; +BA_DEF_DEF_ "TpTxIndex" 0; +BA_DEF_DEF_ "DiagState" "No"; +BA_DEF_DEF_ "TpApplType" ""; +BA_DEF_DEF_ "NmAsrMessage" "No"; +BA_DEF_DEF_ "Mulitplexer" "No"; +BA_DEF_DEF_ "ConfiguredTransmitter" "No"; +BA_DEF_DEF_ "EventRateOfChange" 10000; +BA_DEF_DEF_ "GenMsgHandlingTypeDoc" ""; +BA_DEF_DEF_ "GenMsgHandlingTypeCode" ""; +BA_DEF_DEF_ "GenMsgMarked" ""; +BA_DEF_DEF_ "GenSigMarked" ""; +BA_DEF_DEF_ "GenSigVtIndex" ""; +BA_DEF_DEF_ "GenSigVtName" ""; +BA_DEF_DEF_ "GenSigVtEn" ""; +BA_DEF_DEF_ "GenSigSNA" ""; +BA_DEF_DEF_ "GenSigCmt" ""; +BA_DEF_DEF_ "GenMsgCmt" ""; +BA_DEF_DEF_ "GenSigSendType" "NoSigSendType"; +BA_DEF_DEF_ "GenSigInactiveValue" 0; +BA_DEF_DEF_ "GenSigMissingSourceValue" 0; +BA_DEF_DEF_ "WakeupSignal" "No"; +BA_DEF_DEF_ "GenSigStartValue" 0; +BA_DEF_DEF_ "GenMsgILSupport" "Yes"; +BA_DEF_DEF_ "NetworkInitializationCommand" "No"; +BA_DEF_DEF_ "GenMsgSendType" "NoMsgSendType"; +BA_DEF_DEF_ "GenMsgCycleTime" 0; +BA_DEF_DEF_ "GenMsgCycleTimeFast" 0; +BA_DEF_DEF_ "GenMsgDelayTime" 0; +BA_DEF_DEF_ "GenMsgNrOfRepetition" 0; +BA_DEF_DEF_ "GenMsgStartDelayTime" 0; +BA_DEF_DEF_ "NetworkInitialization" "No"; +BA_DEF_DEF_ "MessageGateway" "No"; +BA_DEF_DEF_ "ILUsed" "Yes"; +BA_DEF_DEF_ "NetworkInitializationUsed" "No"; +BA_DEF_DEF_ "PowerType" "Switched"; +BA_DEF_DEF_ "NodeStartUpTime" 250; +BA_DEF_DEF_ "NodeWakeUpTime" 10; +BA_DEF_DEF_ "GenMsgBackgroundColor" "#ffffff"; +BA_DEF_DEF_ "GenMsgForegroundColor" "#000000"; +VAL_ 34 IPMA_PCAN_DataRangeCheck 1 "Fault Present" 0 "No Fault"; +VAL_ 34 IPMA_PCAN_MissingMsg 1 "Fault Present" 0 "No Fault "; +VAL_ 34 VINSignalCompareFailure 1 "Fault Present" 0 "No Fault"; +VAL_ 34 ModuleNotConfiguredError 1 "Fault Present" 0 "No Fault"; +VAL_ 34 CarCfgNotConfiguredError 1 "Fault Present" 0 "No Fault"; +VAL_ 33 Active_Flt_Latched_byte7_bit7 1 "Fault Present" 0 "No Fault"; +VAL_ 33 Active_Flt_Latched_byte7_bit6 1 "Fault Present" 0 "No Fault"; +VAL_ 33 Active_Flt_Latched_byte7_bit5 1 "Fault Present" 0 "No Fault"; +VAL_ 33 Active_Flt_Latched_byte7_bit4 1 "Fault Present" 0 "No Fault"; +VAL_ 33 ARMtoDSPChksumFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 DSPtoArmChksumFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 HostToArmChksumFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 ARMtoHostChksumFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 LoopBWOutOfRange 1 "Fault Present" 0 "No Fault"; +VAL_ 33 DSPOverrunFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 Active_Flt_Latched_byte6_bit5 1 "Fault Present" 0 "No Fault"; +VAL_ 33 TuningSensitivityFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 SaturatedTuningFreqFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 LocalOscPowerFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 TransmitterPowerFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 Active_Flt_Latched_byte6_bit0 1 "Fault Present" 0 "No Fault"; +VAL_ 33 Active_Flt_Latched_byte5_bit7 1 "Fault Present" 0 "No Fault"; +VAL_ 33 Active_Flt_Latched_byte5_bit6 1 "Fault Present" 0 "No Fault"; +VAL_ 33 XCVRDeviceSPIFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 FreqSynthesizerSPIFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 AnalogConverterDevicSPIFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 SidelobeBlockage 1 "Fault Present" 0 "No Fault"; +VAL_ 33 Active_Flt_Latched_byte5_bit1 1 "Fault Present" 0 "No Fault"; +VAL_ 33 MNRBlocked 1 "Fault Present" 0 "No Fault"; +VAL_ 33 ECUTempHighFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 TransmitterTempHighFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 AlignmentRoutineFailedFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 UnreasonableRadarData 1 "Fault Present" 0 "No Fault"; +VAL_ 33 MicroprocessorTempHighFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 VerticalAlignmentOutOfRange 1 "Fault Present" 0 "No Fault"; +VAL_ 33 HorizontalAlignmentOutOfRange 1 "Fault Present" 0 "No Fault"; +VAL_ 33 FactoryAlignmentMode 1 "Fault Present" 0 "No Fault"; +VAL_ 33 BatteryLowFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 BatteryHighFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 v_1p25SupplyOutOfRange 1 "Fault Present" 0 "No Fault"; +VAL_ 33 Active_Flt_Latched_byte3_bit4 1 "Fault Present" 0 "No Fault"; +VAL_ 33 ThermistorOutOfRange 1 "Fault Present" 0 "No Fault"; +VAL_ 33 v_3p3DACSupplyOutOfRange 1 "Fault Present" 0 "No Fault"; +VAL_ 33 v_3p3RAWSupplyOutOfRange 1 "Fault Present" 0 "No Fault"; +VAL_ 33 v_5_SupplyOutOfRange 1 "Fault Present" 0 "No Fault"; +VAL_ 33 TransmitterIDFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 Active_Flt_Latched_byte2_bit6 1 "Fault Present" 0 "No Fault"; +VAL_ 33 Active_Flt_Latched_byte2_bit5 1 "Fault Present" 0 "No Fault"; +VAL_ 33 Active_Flt_Latched_byte2_bit4 1 "Fault Present" 0 "No Fault"; +VAL_ 33 Active_Flt_Latched_byte2_bit3 1 "Fault Present" 0 "No Fault"; +VAL_ 33 Active_Flt_Latched_byte2_bit2 1 "Fault Present" 0 "No Fault"; +VAL_ 33 PCANMissingMsgFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 PCANBusOff 1 "Fault Present" 0 "No Fault"; +VAL_ 33 Active_Flt_Latched_byte1_bit7 1 "Fault Present" 0 "No Fault"; +VAL_ 33 Active_Flt_Latched_byte1_bit6 1 "Fault Present" 0 "No Fault"; +VAL_ 33 InstructionSetCheckFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 StackOverflowFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 WatchdogFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 PLLLockFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 Active_Flt_Latched_byte1_bit1 1 "Fault Present" 0 "No Fault"; +VAL_ 33 RAMMemoryTestFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 USCValidationFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 Active_Flt_Latched_byte0_bit6 1 "Fault Present" 0 "No Fault"; +VAL_ 33 Active_Flt_Latched_byte0_bit5 1 "Fault Present" 0 "No Fault"; +VAL_ 33 Active_Flt_Latched_byte0_bit4 1 "Fault Present" 0 "No Fault"; +VAL_ 33 Active_Flt_Latched_byte0_bit3 1 "Fault Present" 0 "No Fault"; +VAL_ 33 KeepAliveChecksumFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 ProgramCalibrationFlashChecksum 1 "Fault Present" 0 "No Fault"; +VAL_ 33 ApplicationFlashChecksumFault 1 "Fault Present" 0 "No Fault"; +VAL_ 371 CAN_AUTO_ALIGN_HANGLE_QF 3 "Accurate" 2 "Innacurate" 1 "Temporarily undefined" 0 "Undefined"; +VAL_ 371 CAN_ALIGNMENT_STATUS 15 "Undefined_2" 14 "Undefined_1" 13 "Low Amplitude (Flat-plate only)" 12 "No Peak (Flat-plate only)" 11 "Fail Ver and Hor OutOfRange" 10 "Fail Vertical Align OutOfRange" 9 "Fail Horizontal Align OutOfRange" 8 "Fail Time Out" 7 "Fail Only Right Target Found" 6 "Fail Only Left Target Found" 5 "Fail Variance Too Large" 4 "Fail Deviation Too Large" 3 "Fail No Target" 2 "Success" 1 "Busy" 0 "Off"; +VAL_ 371 CAN_ALIGNMENT_STATE 6 "Static alignment flat-plate" 5 "Static alignment 2-target" 4 "Static alignment 1-target" 3 "Service alignment" 2 "Short track alignment" 1 "Auto alignment" 0 "Off"; +VAL_ 291 CAN_DET_CONFID_AZIMUTH_04 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 351 CAN_DET_CONFID_AZIMUTH_64 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 350 CAN_DET_CONFID_AZIMUTH_63 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 349 CAN_DET_CONFID_AZIMUTH_62 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 348 CAN_DET_CONFID_AZIMUTH_61 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 347 CAN_DET_CONFID_AZIMUTH_60 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 346 CAN_DET_CONFID_AZIMUTH_59 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 345 CAN_DET_CONFID_AZIMUTH_58 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 344 CAN_DET_CONFID_AZIMUTH_57 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 343 CAN_DET_CONFID_AZIMUTH_56 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 342 CAN_DET_CONFID_AZIMUTH_55 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 335 CAN_DET_CONFID_AZIMUTH_48 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 334 CAN_DET_CONFID_AZIMUTH_47 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 333 CAN_DET_CONFID_AZIMUTH_46 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 332 CAN_DET_CONFID_AZIMUTH_45 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 331 CAN_DET_CONFID_AZIMUTH_44 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 330 CAN_DET_CONFID_AZIMUTH_43 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 329 CAN_DET_CONFID_AZIMUTH_42 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 328 CAN_DET_CONFID_AZIMUTH_41 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 327 CAN_DET_CONFID_AZIMUTH_40 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 325 CAN_DET_CONFID_AZIMUTH_38 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 324 CAN_DET_CONFID_AZIMUTH_37 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 323 CAN_DET_CONFID_AZIMUTH_36 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 322 CAN_DET_CONFID_AZIMUTH_35 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 321 CAN_DET_CONFID_AZIMUTH_34 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 320 CAN_DET_CONFID_AZIMUTH_33 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 319 CAN_DET_CONFID_AZIMUTH_32 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 318 CAN_DET_CONFID_AZIMUTH_31 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 317 CAN_DET_CONFID_AZIMUTH_30 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 316 CAN_DET_CONFID_AZIMUTH_29 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 314 CAN_DET_CONFID_AZIMUTH_27 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 313 CAN_DET_CONFID_AZIMUTH_26 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 312 CAN_DET_CONFID_AZIMUTH_25 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 311 CAN_DET_CONFID_AZIMUTH_24 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 310 CAN_DET_CONFID_AZIMUTH_23 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 309 CAN_DET_CONFID_AZIMUTH_22 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 308 CAN_DET_CONFID_AZIMUTH_21 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 307 CAN_DET_CONFID_AZIMUTH_20 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 306 CAN_DET_CONFID_AZIMUTH_19 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 305 CAN_DET_CONFID_AZIMUTH_18 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 341 CAN_DET_CONFID_AZIMUTH_54 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 340 CAN_DET_CONFID_AZIMUTH_53 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 339 CAN_DET_CONFID_AZIMUTH_52 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 338 CAN_DET_CONFID_AZIMUTH_51 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 337 CAN_DET_CONFID_AZIMUTH_50 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 336 CAN_DET_CONFID_AZIMUTH_49 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 326 CAN_DET_CONFID_AZIMUTH_39 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 315 CAN_DET_CONFID_AZIMUTH_28 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 304 CAN_DET_CONFID_AZIMUTH_17 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 303 CAN_DET_CONFID_AZIMUTH_16 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 302 CAN_DET_CONFID_AZIMUTH_15 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 301 CAN_DET_CONFID_AZIMUTH_14 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 300 CAN_DET_CONFID_AZIMUTH_13 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 299 CAN_DET_CONFID_AZIMUTH_12 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 298 CAN_DET_CONFID_AZIMUTH_11 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 297 CAN_DET_CONFID_AZIMUTH_10 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 296 CAN_DET_CONFID_AZIMUTH_09 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 295 CAN_DET_CONFID_AZIMUTH_08 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 294 CAN_DET_CONFID_AZIMUTH_07 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 293 CAN_DET_CONFID_AZIMUTH_06 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 292 CAN_DET_CONFID_AZIMUTH_05 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 290 CAN_DET_CONFID_AZIMUTH_03 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 289 CAN_DET_CONFID_AZIMUTH_02 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 257 CAN_INTERFERENCE_TYPE 2 "Star PD-Like" 1 "Slow FMCW" 0 "No Interference"; +VAL_ 257 CAN_RECOMMEND_UNCONVERGE 1 "Recommended" 0 "Not Recommended"; +VAL_ 257 CAN_RADAR_ALIGN_INCOMPLETE 1 "Alignment Incomplete" 0 "Alignment Completed"; +VAL_ 257 CAN_BLOCKAGE_SIDELOBE 1 "Radar Blockage" 0 "No Radar Blockage"; +VAL_ 257 CAN_BLOCKAGE_MNR 1 "Radar Blockage" 0 "No Radar Blockage"; +VAL_ 257 CAN_RADAR_EXT_COND_NOK 1 "Too high temp or insufficient pw" 0 "External conditions OK"; +VAL_ 257 CAN_RADAR_ALIGN_OUT_RANGE 1 "Radar out of range" 0 "Radar within range"; +VAL_ 257 CAN_RADAR_ALIGN_NOT_START 1 "Radar align not started" 0 "Radar align started"; +VAL_ 257 CAN_RADAR_OVERHEAT_ERROR 1 "Radar overheat condition" 0 "No Overheat"; +VAL_ 257 CAN_RADAR_NOT_OP 1 "Radar not operational" 0 "Radar operational"; +VAL_ 257 CAN_XCVR_OPERATIONAL 1 "On" 0 "Off "; +VAL_ 288 CAN_DET_CONFID_AZIMUTH_01 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; diff --git a/opendbc_repo/opendbc/dbc/__init__.py b/opendbc_repo/opendbc/dbc/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/opendbc_repo/opendbc/dbc/acura_ilx_2016_can_generated.dbc b/opendbc_repo/opendbc/dbc/acura_ilx_2016_can_generated.dbc new file mode 100644 index 0000000000..24c8f67892 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/acura_ilx_2016_can_generated.dbc @@ -0,0 +1,338 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _community.dbc starts here"; +BO_ 512 GAS_COMMAND: 6 EON + SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR + SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR + SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR + +BO_ 513 GAS_SENSOR: 6 INTERCEPTOR + SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON + SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON + SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON + +VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; + + +CM_ "Imported file _honda_common.dbc starts here"; +BO_ 304 GAS_PEDAL_2: 8 PCM + SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 316 GAS_PEDAL: 8 PCM + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 344 ENGINE_DATA: 8 PCM + SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 380 POWERTRAIN_DATA: 8 PCM + SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON + SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON + SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON + SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON + SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON + SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON + SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 420 VSA_STATUS: 8 VSA + SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON + SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON + SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 427 STEER_MOTOR_TORQUE: 3 EPS + SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON + SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON + SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON + +BO_ 464 WHEEL_SPEEDS: 8 VSA + SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 490 VEHICLE_DYNAMICS: 8 VSA + SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 773 SEATBELT_STATUS: 7 BDY + SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 777 CAR_SPEED: 8 PCM + SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX + SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 780 ACC_HUD: 8 ADAS + SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY + SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY + SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY + SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF_2 : 36|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY + SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY + SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY + SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY + SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY + SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY + SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY + SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY + SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" BDY + SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY + SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY + +BO_ 804 CRUISE: 8 PCM + SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON + SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON + SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON + SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON + SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 884 STALK_STATUS: 8 XXX + SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON + SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON + SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON + SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 891 STALK_STATUS_2: 8 XXX + SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON + SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX + SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 1029 DOORS_STATUS: 8 BDY + SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON + SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 304 "Seems to be platform-agnostic"; +CM_ SG_ 316 "Should exist on Nidec"; +CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged"; +CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping"; +CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light"; +CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light"; +CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; +CM_ SG_ 780 PCM_SPEED "Used by Nidec"; +CM_ SG_ 780 PCM_GAS "Used by Nidec"; +CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed"; + +VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped"; +VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car"; +VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"; +VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off"; + + +CM_ "Imported file _nidec_common.dbc starts here"; +BO_ 145 KINEMATICS: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 148 KINEMATICS_ALT: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-20|20] "m/s2" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON + SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 487 BRAKE_PRESSURE: 4 VSA + SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + +BO_ 506 BRAKE_COMMAND: 8 ADAS + SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST_ALT : 11|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00 : 23|3@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00_2 : 19|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM + SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM + SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX + SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM + SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM + SG_ SET_ME_X00_3 : 44|1@0+ (1,0) [0|1] "" EBCM + SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM + SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX + SG_ COMPUTER_BRAKE_ALT : 55|10@0+ (1,0) [0|0] "" EBCM + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM + +BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA + SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON + SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON + SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 829 LKAS_HUD: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +BO_ 892 CRUISE_PARAMS: 8 PCM + SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event"; +CM_ SG_ 506 COMPUTER_BRAKE_ALT "Used by dual-can Nidec"; +CM_ SG_ 506 BRAKE_PUMP_REQUEST_ALT "Used by dual-can Nidec"; +CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc..."; + +VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw"; +VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime"; +VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb"; +VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep"; + + +CM_ "Imported file _steering_sensors_b.dbc starts here"; +BO_ 342 STEERING_SENSORS: 6 EPS + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON + +CM_ "acura_ilx_2016_can.dbc starts here"; + +BO_ 228 STEERING_CONTROL: 5 ADAS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EPS + +BO_ 399 STEER_STATUS: 7 EPS + SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON + SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 419 GEARBOX: 8 PCM + SG_ GEAR : 7|8@0+ (1,0) [0|256] "" EON + SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 422 SCM_BUTTONS: 8 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON + SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON + SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 660 SCM_FEEDBACK: 8 SCM + SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON + SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON + +CM_ SG_ 419 GEAR "10 = reverse, 11 = transition"; +CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; + +VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ; +VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; +VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ; +VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; +VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ; +VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ; +VAL_ 780 HUD_LEAD 3 "no_car" 2 "solid_car" 1 "dashed_car" 0 "no_car" ; diff --git a/opendbc_repo/opendbc/dbc/acura_ilx_2016_nidec.dbc b/opendbc_repo/opendbc/dbc/acura_ilx_2016_nidec.dbc new file mode 100644 index 0000000000..e73fcc4221 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/acura_ilx_2016_nidec.dbc @@ -0,0 +1,185 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: ADAS RADAR NEO XXX + + +BO_ 768 VEHICLE_STATE: 8 ADAS + SG_ SET_ME_XF9 : 7|8@0+ (1,0) [0|255] "" Vector__XXX + SG_ VEHICLE_SPEED : 15|8@0+ (1,0) [0|255] "kph" Vector__XXX + +BO_ 769 VEHICLE_STATE2: 8 ADAS + SG_ SET_ME_0F18510 : 7|28@0+ (1,0) [0|268435455] "" Vector__XXX + SG_ SET_ME_25A0000 : 27|28@0+ (1,0) [0|268435455] "" Vector__XXX + +BO_ 1024 RADAR_DIAGNOSTIC: 8 RADAR + SG_ RADAR_STATE : 7|8@0+ (1,0) [0|255] "" NEO + +BO_ 1040 XXX_101: 8 RADAR + +BO_ 1041 XXX_102: 8 RADAR + +BO_ 1042 XXX_103: 8 RADAR + +BO_ 1043 XXX_104: 8 RADAR + +BO_ 1044 XXX_105: 8 RADAR + +BO_ 1045 XXX_106: 8 RADAR + +BO_ 1046 XXX_107: 8 RADAR + +BO_ 1047 XXX_108: 8 RADAR + +BO_ 1056 XXX_109: 8 RADAR + +BO_ 1057 XXX_110: 8 RADAR + +BO_ 1058 XXX_111: 8 RADAR + +BO_ 1059 XXX_112: 8 RADAR + +BO_ 1060 XXX_113: 8 RADAR + +BO_ 1072 TRACK_0: 8 RADAR + SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO + SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO + SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO + SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO + +BO_ 1073 TRACK_1: 8 RADAR + SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO + SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO + SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO + SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO + +BO_ 1074 TRACK_2: 8 RADAR + SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO + SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO + SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO + SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO + +BO_ 1075 TRACK_3: 8 RADAR + SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO + SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO + SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO + SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO + +BO_ 1076 TRACK_4: 8 RADAR + SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO + SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO + SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO + SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO + +BO_ 1077 TRACK_5: 8 RADAR + SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO + SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO + SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO + SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO + +BO_ 1078 TRACK_6: 8 RADAR + SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO + SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO + SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO + SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO + +BO_ 1079 TRACK_7: 8 RADAR + SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO + SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO + SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO + SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO + +BO_ 1080 TRACK_8: 8 RADAR + SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO + SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO + SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO + SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO + +BO_ 1081 TRACK_9: 8 RADAR + SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO + SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO + SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO + SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO + +BO_ 1088 TRACK_10: 8 RADAR + SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO + SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO + SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO + SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO + +BO_ 1089 TRACK_11: 8 RADAR + SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO + SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO + SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO + SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO + +BO_ 1090 TRACK_12: 8 RADAR + SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO + SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO + SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO + SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO + +BO_ 1091 TRACK_13: 8 RADAR + SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO + SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO + SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO + SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO + +BO_ 1092 TRACK_14: 8 RADAR + SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO + SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO + SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO + SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO + +BO_ 1093 TRACK_15: 8 RADAR + SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO + SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO + SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO + SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO + +BO_ 1279 XXX_114: 8 RADAR + +BO_ 1280 XXX_115: 8 RADAR + +BO_ 1296 XXX_116: 8 RADAR + +BO_ 1297 XXX_117: 8 RADAR + +BO_TX_BU_ 768 : NEO,ADAS; +BO_TX_BU_ 769 : NEO,ADAS; + + +CM_ SG_ 1024 RADAR_STATE "need to find out more diagnostic values"; +VAL_ 1024 RADAR_STATE 121 "ok" 110 "faulted" 105 "wrong_config"; diff --git a/opendbc_repo/opendbc/dbc/acura_rdx_2018_can_generated.dbc b/opendbc_repo/opendbc/dbc/acura_rdx_2018_can_generated.dbc new file mode 100644 index 0000000000..4c23725176 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/acura_rdx_2018_can_generated.dbc @@ -0,0 +1,334 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _community.dbc starts here"; +BO_ 512 GAS_COMMAND: 6 EON + SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR + SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR + SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR + +BO_ 513 GAS_SENSOR: 6 INTERCEPTOR + SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON + SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON + SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON + +VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; + + +CM_ "Imported file _honda_common.dbc starts here"; +BO_ 304 GAS_PEDAL_2: 8 PCM + SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 316 GAS_PEDAL: 8 PCM + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 344 ENGINE_DATA: 8 PCM + SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 380 POWERTRAIN_DATA: 8 PCM + SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON + SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON + SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON + SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON + SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON + SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON + SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 420 VSA_STATUS: 8 VSA + SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON + SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON + SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 427 STEER_MOTOR_TORQUE: 3 EPS + SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON + SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON + SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON + +BO_ 464 WHEEL_SPEEDS: 8 VSA + SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 490 VEHICLE_DYNAMICS: 8 VSA + SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 773 SEATBELT_STATUS: 7 BDY + SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 777 CAR_SPEED: 8 PCM + SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX + SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 780 ACC_HUD: 8 ADAS + SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY + SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY + SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY + SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF_2 : 36|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY + SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY + SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY + SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY + SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY + SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY + SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY + SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY + SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" BDY + SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY + SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY + +BO_ 804 CRUISE: 8 PCM + SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON + SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON + SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON + SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON + SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 884 STALK_STATUS: 8 XXX + SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON + SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON + SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON + SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 891 STALK_STATUS_2: 8 XXX + SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON + SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX + SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 1029 DOORS_STATUS: 8 BDY + SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON + SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 304 "Seems to be platform-agnostic"; +CM_ SG_ 316 "Should exist on Nidec"; +CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged"; +CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping"; +CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light"; +CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light"; +CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; +CM_ SG_ 780 PCM_SPEED "Used by Nidec"; +CM_ SG_ 780 PCM_GAS "Used by Nidec"; +CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed"; + +VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped"; +VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car"; +VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"; +VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off"; + + +CM_ "Imported file _nidec_common.dbc starts here"; +BO_ 145 KINEMATICS: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 148 KINEMATICS_ALT: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-20|20] "m/s2" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON + SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 487 BRAKE_PRESSURE: 4 VSA + SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + +BO_ 506 BRAKE_COMMAND: 8 ADAS + SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST_ALT : 11|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00 : 23|3@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00_2 : 19|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM + SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM + SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX + SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM + SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM + SG_ SET_ME_X00_3 : 44|1@0+ (1,0) [0|1] "" EBCM + SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM + SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX + SG_ COMPUTER_BRAKE_ALT : 55|10@0+ (1,0) [0|0] "" EBCM + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM + +BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA + SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON + SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON + SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 829 LKAS_HUD: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +BO_ 892 CRUISE_PARAMS: 8 PCM + SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event"; +CM_ SG_ 506 COMPUTER_BRAKE_ALT "Used by dual-can Nidec"; +CM_ SG_ 506 BRAKE_PUMP_REQUEST_ALT "Used by dual-can Nidec"; +CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc..."; + +VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw"; +VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime"; +VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb"; +VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep"; + + +CM_ "Imported file _steering_sensors_b.dbc starts here"; +BO_ 342 STEERING_SENSORS: 6 EPS + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON + +CM_ "acura_rdx_2018_can.dbc starts here"; + +BO_ 392 GEARBOX: 6 XXX + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" XXX + SG_ GEAR_SHIFTER : 27|4@0+ (1,0) [0|15] "" EON + SG_ GEAR : 36|5@0+ (1,0) [0|31] "" EON + +BO_ 399 STEER_STATUS: 6 EPS + SG_ STEER_TORQUE_SENSOR : 7|12@0- (-1,0) [-2047.5|2047.5] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 35|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 36|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON + +BO_ 404 STEERING_CONTROL: 4 EON + SG_ STEER_TORQUE : 7|12@0- (1,0) [-768|768] "" EPS + SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS + SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS + +BO_ 422 SCM_BUTTONS: 8 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON + SG_ PARKING_BRAKE_LIGHT : 2|1@0+ (1,0) [0|1] "" EON + SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON + SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 660 SCM_FEEDBACK: 8 SCM + SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON + SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 422 PARKING_BRAKE_LIGHT "Believe this is just the dash light for the parking break"; +VAL_ 392 GEAR_SHIFTER 0 "S" 1 "P" 2 "R" 4 "N" 8 "D" ; +VAL_ 392 GEAR 26 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; +VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ; +VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; diff --git a/opendbc_repo/opendbc/dbc/acura_rdx_2020_can_generated.dbc b/opendbc_repo/opendbc/dbc/acura_rdx_2020_can_generated.dbc new file mode 100644 index 0000000000..c6149921dc --- /dev/null +++ b/opendbc_repo/opendbc/dbc/acura_rdx_2020_can_generated.dbc @@ -0,0 +1,493 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _honda_common.dbc starts here"; +BO_ 304 GAS_PEDAL_2: 8 PCM + SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 316 GAS_PEDAL: 8 PCM + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 344 ENGINE_DATA: 8 PCM + SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 380 POWERTRAIN_DATA: 8 PCM + SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON + SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON + SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON + SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON + SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON + SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON + SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 420 VSA_STATUS: 8 VSA + SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON + SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON + SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 427 STEER_MOTOR_TORQUE: 3 EPS + SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON + SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON + SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON + +BO_ 464 WHEEL_SPEEDS: 8 VSA + SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 490 VEHICLE_DYNAMICS: 8 VSA + SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 773 SEATBELT_STATUS: 7 BDY + SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 777 CAR_SPEED: 8 PCM + SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX + SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 780 ACC_HUD: 8 ADAS + SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY + SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY + SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY + SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF_2 : 36|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY + SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY + SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY + SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY + SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY + SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY + SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY + SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY + SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" BDY + SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY + SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY + +BO_ 804 CRUISE: 8 PCM + SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON + SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON + SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON + SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON + SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 884 STALK_STATUS: 8 XXX + SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON + SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON + SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON + SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 891 STALK_STATUS_2: 8 XXX + SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON + SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX + SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 1029 DOORS_STATUS: 8 BDY + SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON + SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 304 "Seems to be platform-agnostic"; +CM_ SG_ 316 "Should exist on Nidec"; +CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged"; +CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping"; +CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light"; +CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light"; +CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; +CM_ SG_ 780 PCM_SPEED "Used by Nidec"; +CM_ SG_ 780 PCM_GAS "Used by Nidec"; +CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed"; + +VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped"; +VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car"; +VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"; +VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off"; + + +CM_ "Imported file _bosch_2018.dbc starts here"; +BO_ 148 KINEMATICS: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +BO_ 228 STEERING_CONTROL: 5 EON + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS + SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS + +BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX + SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 232 BRAKE_HOLD: 7 XXX + SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX + SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX + SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX + +BO_ 399 STEER_STATUS: 7 EPS + SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON + SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + +BO_ 450 EPB_STATUS: 8 EPB + SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON + SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 545 XXX_16: 6 SCM + SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX + SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY + +BO_ 576 LEFT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 577 LEFT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 579 RIGHT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 580 RIGHT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA + SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON + SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON + SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 662 SCM_BUTTONS: 4 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON + +BO_ 806 SCM_FEEDBACK: 8 SCM + SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX + SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON + SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON + SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 862 CAMERA_MESSAGES: 8 CAM + SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY + SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX + SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX + SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 927 RADAR_HUD: 8 RADAR + SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY + SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY + SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX + SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY + SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX + SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY + SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX + SG_ HUD_LEAD : 40|1@0+ (1,0) [0|1] "" XXX + SG_ SET_TO_64 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH3 : 47|7@0+ (1,0) [0|127] "" XXX + SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 13274 LKAS_HUD_A: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +BO_ 13275 LKAS_HUD_B: 8 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY + +CM_ SG_ 450 EPB_STATE "3: On, 2: Disengaging, 1: Engaging, 0: Off"; +CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded"; +CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded"; +CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded"; +CM_ SG_ 577 LINE_DASHED "1 = line is dashed"; +CM_ SG_ 577 LINE_SOLID "1 = line is solid"; + +VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal"; + + +CM_ "Imported file _bosch_adas_2018.dbc starts here"; +BO_ 479 ACC_CONTROL: 8 EON + SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX + SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX + SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX + SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX + SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX + SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX + SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 495 ACC_CONTROL_ON: 8 XXX + SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX + SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 829 LKAS_HUD: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +CM_ SG_ 479 CONTROL_ON "Set to 5 when car is being controlled"; +CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event"; +CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event"; +CM_ SG_ 479 AEB_PREPARE "set 1s before AEB"; +CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc..."; + +VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep"; + + +CM_ "Imported file _steering_sensors_b.dbc starts here"; +BO_ 342 STEERING_SENSORS: 6 EPS + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON + +CM_ "acura_rdx_2020_can.dbc starts here"; + +BO_ 419 GEARBOX: 8 PCM + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON + SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + +BO_ 446 BRAKE_MODULE: 3 VSA + SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX + +BO_ 1302 ODOMETER: 8 XXX + SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +VAL_ 419 GEAR_SHIFTER 32 "D" 8 "R" 4 "P" ; +VAL_ 545 ECON_ON_2 0 "off" 3 "on" ; +VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; +VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ; diff --git a/opendbc_repo/opendbc/dbc/bmw_e9x_e8x.dbc b/opendbc_repo/opendbc/dbc/bmw_e9x_e8x.dbc new file mode 100644 index 0000000000..7ec95c0b19 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/bmw_e9x_e8x.dbc @@ -0,0 +1,913 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: EON XXX RDC SZL VGSG JBBF RFK FLA RAD1 CAS CID AHM HKL HUD EKP DWA DSC SM_BF GWS VDM DDE1 ACI CCC DSC SM_FA CTM LDM RSE MRSZ VDA EDCK ZBE EGS ACC_Sensor Kombi IHKA ARS ACSM FZD PGS NVC AFS DME FRMFA EMF FKA VSW EPS PDC DKG EHC Diagnosetool_PT_CAN Diagnosetool_K_CAN_System Vector__XXX + + +BO_ 170 AccPedal: 8 DME + SG_ KickDownPressed : 53|1@0+ (1,0) [0|3] "" XXX + SG_ CruisePedalActive : 54|1@0+ (1,0) [0|1] "" XXX + SG_ CruisePedalInactive : 55|1@0+ (1,0) [0|1] "" XXX + SG_ ThrottlelPressed : 50|1@0+ (1,0) [0|1] "" XXX + SG_ AcceleratorPedalPressed : 52|1@0+ (1,0) [0|7] "" XXX + SG_ AcceleratorPedalPercentage : 16|16@1+ (0.04,0) [0|100] "" XXX + SG_ Counter_170 : 8|4@1+ (1,0) [0|15] "" XXX + SG_ EngineSpeed : 32|16@1+ (0.25,0) [0|8000] "rpm" XXX + SG_ Checksum_170 : 0|8@1- (1,0) [0|65535] "" XXX + +BO_ 404 CruiseControl: 4 SZL + SG_ plus1mph_request : 16|1@0+ (1,0) [0|1] "" XXX + SG_ minus1mph_request : 18|1@0+ (1,0) [0|1] "" XXX + SG_ Cancel_request_up_stalk : 23|1@0+ (1,0) [0|1] "" XXX + SG_ Cancel_request_up_or_down_stalk : 20|1@0+ (1,0) [0|1] "" XXX + SG_ Resume_request : 22|1@0+ (1,0) [0|1] "" XXX + SG_ setMe_0xFC : 31|8@0+ (1,0) [0|255] "" XXX + SG_ plus5mph_request : 17|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ minus5mph_request : 19|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ requests_0xF : 15|4@0+ (1,0) [0|15] "" XXX + SG_ Counter_404 : 11|4@0+ (1,0) [0|15] "" XXX + SG_ Checksum_404 : 7|8@0+ (1,0) [0|15] "" XXX + +BO_ 512 CruiseControlStatus: 8 DME + SG_ CruiseControlInactiveFlag : 12|1@0+ (1,0) [0|1] "" XXX + SG_ CruiseCoontrolActiveFlag : 13|1@0+ (1,0) [0|1] "" XXX + SG_ CruiseControlSetpointSpeed : 7|8@0+ (0.25,0) [0|255] "mph" XXX + +BO_ 168 EngineAndBrake: 8 DME + SG_ Checksum_EngineAndBrake : 0|8@1+ (1,0) [0|0] "" XXX + SG_ BrakePressed : 61|1@0+ (1,0) [0|1] "" XXX + SG_ Brake_active2 : 62|1@0+ (1,0) [0|1] "" XXX + SG_ ST_RCPT_ENG_DSC : 52|2@1+ (1,0) [0|0] "" XXX + SG_ ST_RCPT_ENG_ARS : 50|2@1+ (1,0) [0|0] "" XXX + SG_ ST_RCPT_ENG_ACC : 48|2@1+ (1,0) [0|0] "" XXX + SG_ ST_RCPT_ENG_EGS : 54|2@1+ (1,0) [0|0] "" XXX + SG_ ST_DMEA_SWO : 44|2@1+ (1,0) [0|0] "" XXX + SG_ EngineTorque : 12|12@1- (0.03125,0) [-1024|1023] "" XXX + SG_ ALIV_TORQ_1_DME : 8|4@1+ (1,0) [0|15] "" XXX + SG_ EngineTorqueWoInterv : 24|16@1- (0.03125,0) [-1024|1023.96875] "" XXX + +BO_ 470 SteeringButtons: 2 SZL + SG_ Volume_DOWN : 2|1@0+ (1,0) [0|1] "" XXX + SG_ Volume_UP : 3|1@0+ (1,0) [0|1] "" XXX + SG_ VoiceControl : 8|1@0+ (1,0) [0|1] "" XXX + SG_ Telephone : 0|1@0+ (1,0) [0|1] "" XXX + SG_ Next_up : 5|1@0+ (1,0) [0|1] "" XXX + SG_ Previous_down : 4|1@0+ (1,0) [0|1] "" XXX + +BO_ 403 DynamicCruiseControlStatus: 8 DSC + SG_ Counter_403 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ CruiseActive : 43|1@0+ (1,0) [0|1] "" XXX + SG_ CruiseSpeedChangeRequest : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CruiseControlSetpointSpeed : 15|8@0+ (1,-2) [0|255] "kph/mph" XXX + +BO_ 201 SteeringWheelAngle_DSC: 8 SZL + SG_ Counter_201 : 20|4@1+ (1,0) [0|15] "" DSC + SG_ SteeringPositionComplementLow : 24|11@1- (1,0) [0|1] "" DSC + SG_ SteeringPosition : 0|16@1- (0.0428316886,0) [-600|600] "deg" DSC + +BO_ 206 WheelSpeeds: 8 DSC + SG_ Wheel_FL : 0|16@1- (0.0625,0) [0|255] "kph" XXX + SG_ Wheel_FR : 16|16@1- (0.0625,0) [0|255] "kph" XXX + SG_ Wheel_RL : 32|16@1- (0.0625,0) [0|255] "kph" XXX + SG_ Wheel_RR : 48|16@1- (0.0625,0) [0|255] "kph" XXX + +BO_ 884 WheelToleranceAdjustment: 8 DSC + +BO_ 678 WiperSwitch: 8 SZL + SG_ AutoWipersOn : 0|1@1+ (1,0) [0|3] "" XXX + +BO_ 304 TerminalStatus: 8 CAS + SG_ AccOn : 23|1@1+ (1,0) [0|255] "" XXX + SG_ IgnitionOff : 22|1@1+ (1,0) [0|3] "" XXX + SG_ Counter_304 : 32|4@1+ (1,0) [0|15] "" XXX + SG_ Checksum_304 : 36|4@1+ (1,0) [0|255] "" XXX + +BO_ 169 Torque2: 8 DME + SG_ TORQ_AVL_SPAR_POS : 52|12@1- (0.5,0) [-1023.5|1023.5] "Nm" XXX + SG_ TORQ_AVL_SPAR_NEG : 40|12@1- (0.5,0) [-1023.5|1023.5] "Nm" XXX + SG_ TORQ_AVL_MAX : 28|12@1- (0.5,0) [-1023.5|1023.5] "Nm" XXX + SG_ TORQ_AVL_MIN : 16|12@1- (0.5,0) [-1023.5|1023.5] "Nm" XXX + SG_ ST_INFS : 14|2@1+ (1,0) [0|0] "" XXX + SG_ ST_SW_LEV_RPM : 12|2@1+ (1,0) [0|0] "" XXX + SG_ ALIV_TORQ_2_DME : 8|4@1+ (1,0) [0|0] "" XXX + SG_ CHKSM_TORQ_2_DME : 0|8@1+ (1,0) [0|0] "" Vector__XXX + +BO_ 184 TorqueTransmisionRequest: 8 LDM + SG_ Checksum_184 : 0|8@1+ (1,0) [0|15] "" XXX + SG_ Counter_184 : 8|4@1+ (1,0) [0|15] "" XXX + +BO_ 196 SteeringWheelAngle: 7 DSC + SG_ SteeringSpeed : 24|16@1- (0.0428316886,0) [0|255] "degree/s" XXX + SG_ SteeringPosition : 0|16@1- (0.0428316886,0) [-600|600] "degree" XXX + +BO_ 180 WheelTorqueDriveTrain1: 8 DME + +BO_ 182 DynamicCruiseControlTorqueDemand: 8 DSC + SG_ TORQ_TAR_DSC : 12|12@1- (0.5,0) [0|1000] "" XXX + SG_ Counter_182 : 8|4@1+ (1,0) [0|14] "" XXX + SG_ Checksum_182 : 0|8@1+ (1,0) [0|15] "" XXX + +BO_ 186 TransmissionData: 8 EGS + SG_ Counter_186 : 48|4@1+ (1,0) [0|14] "" XXX + SG_ Shifting : 4|1@1+ (1,0) [0|15] "" XXX + SG_ OutputShaftSpeed : 24|16@1- (0.125,0) [0|255] "rpm" XXX + SG_ GearRatio : 8|8@1+ (0.05,0) [0|255] "" XXX + SG_ GearTar : 0|4@1+ (1,-4) [0|255] "" XXX + SG_ Checksum_186 : 40|8@1+ (1,0) [0|15] "" XXX + +BO_ 191 RequestedWheelTorqueDriveTrain: 8 LDM + SG_ Checksum_191 : 0|8@1+ (1,0) [0|19] "" XXX + SG_ Counter_191 : 8|4@1- (1,0) [0|255] "" XXX + SG_ TorqueReq : 16|12@1- (0.5,350) [-1024|1023.96875] "" XXX + +BO_ 414 StatusDSC_KCAN: 8 DSC + SG_ BrakePressure : 48|8@1- (1,0) [0|255] "" XXX + SG_ BrakeStates : 40|8@1+ (1,0) [0|255] "" XXX + SG_ Checksum_414 : 56|8@1+ (1,0) [0|15] "" XXX + SG_ Counter_414 : 20|4@1+ (1,0) [0|15] "" XXX + SG_ DTC_on : 12|1@1+ (1,0) [0|3] "" XXX + SG_ DSC_full_off : 8|4@1+ (1,0) [0|15] "" XXX + +BO_ 416 Speed: 8 DSC + SG_ AccX : 28|12@1- (1,0) [0|15] "" XXX + SG_ YawRate : 40|12@1- (1,0) [0|255] "" XXX + SG_ VehicleSpeed : 0|12@1- (0.103,0) [0|255] "kph" XXX + SG_ MovingReverse : 13|1@1+ (1,0) [0|3] "" XXX + SG_ AccY : 16|12@1- (1,0) [0|255] "" XXX + SG_ Counter_416 : 52|4@1+ (1,0) [0|14] "" XXX + SG_ Checksum_416 : 56|8@1+ (1,0) [0|15] "" XXX + SG_ MovingForward : 12|1@1+ (1,0) [0|15] "" XXX + +BO_ 418 TransimissionData2: 8 EGS + SG_ ManualMode : 50|1@0+ (1,0) [0|255] "" XXX + SG_ Counter_418 : 28|4@1+ (1,0) [0|14] "" XXX + SG_ Checksum_418 : 56|8@1+ (1,0) [0|15] "" XXX + +BO_ 690 WheelPressure_KCAN: 8 DSC + +BO_ 691 AccelerationData: 8 DSC + +BO_ 402 GearSelectorSwitch_1: 4 XXX + SG_ Counter_402 : 24|4@1+ (1,0) [0|14] "" XXX + +BO_ 408 GearSelectorSwitch: 8 GWS + SG_ ParkButtonSecond : 26|2@1+ (1,0) [0|3] "" XXX + SG_ SideButton : 28|2@1+ (1,0) [0|3] "" XXX + SG_ SportButtonPressed : 34|2@1+ (1,0) [0|255] "" XXX + SG_ M3_button : 36|2@1+ (1,0) [0|3] "" XXX + SG_ SideButtonXOR11 : 30|2@1+ (1,0) [0|3] "" XXX + SG_ param1XOR11 : 22|2@1+ (1,0) [0|3] "" XXX + SG_ m3ShifterPositionXOR1111 : 8|4@1+ (1,0) [0|15] "" XXX + SG_ always11 : 38|2@1+ (1,0) [0|3] "" XXX + SG_ m3ShifterPosition : 4|4@1+ (1,0) [0|15] "" XXX + SG_ param1 : 20|2@1+ (1,0) [0|3] "" XXX + SG_ param5 : 32|2@1+ (1,0) [0|3] "" XXX + SG_ Counter_408 : 0|4@1+ (1,0) [0|14] "" XXX + SG_ ParkButtonFirst : 24|2@1+ (1,0) [0|3] "" XXX + SG_ ShifterPositionXOR1111 : 16|4@1+ (1,0) [0|15] "" XXX + SG_ ShifterPosition : 12|4@1+ (1,0) [0|0] "" Vector__XXX + +BO_ 422 DistanceRoute: 8 DSC + +BO_ 436 InstrumentClusterStatus_KOMBI: 8 CCC + SG_ HandbrakeActive : 41|1@1+ (1,0) [0|3] "" XXX + +BO_ 464 EngineData: 8 DME + SG_ RPM_IDLG_TAR : 56|8@1+ (5,0) [0|1270] "1/min" XXX + SG_ CTR_SLCK : 48|2@1+ (1,0) [0|0] "" XXX + SG_ IJV_FU : 32|16@1+ (1,-48) [0|0] "C" XXX + SG_ AIP_ENG : 24|8@1+ (2,598) [600|1106] "hPa" XXX + SG_ ST_SW_WAUP : 22|2@1+ (1,0) [0|0] "" XXX + SG_ ST_ENG_RUN : 20|2@1+ (1,0) [0|0] "" XXX + SG_ Counter_464 : 16|4@1+ (1,0) [0|14] "" XXX + SG_ TEMP_EOI : 8|8@1+ (1,-48) [0|0] "C" XXX + SG_ TEMP_ENG : 0|8@1+ (1,-48) [0|0] "C" XXX + +BO_ 945 TransmissionData3: 8 DKG + SG_ Checksum_946 : 0|8@1+ (1,0) [0|19] "" XXX + SG_ Counter_945 : 8|4@1+ (1,0) [0|14] "" XXX + +BO_ 200 SteeringWheelAngle_slow: 6 SZL + SG_ SteeringPosition : 0|16@1- (0.0428316886,0) [-600|600] "degree" XXX + SG_ SteeringSpeed : 24|16@1- (0.0428316886,0) [-65535|65535] "degree/s" XXX + SG_ Counter_200 : 20|4@1+ (1,0) [0|15] "" XXX + +BO_ 466 TransmissionDataDisplay: 8 EGS + SG_ ShiftLeverMode : 32|2@1+ (1,0) [0|3] "" XXX + SG_ GearAct : 12|4@1+ (1,-4) [0|15] "" XXX + SG_ Counter_466 : 28|4@1+ (1,0) [0|14] "" XXX + SG_ ShiftLeverPosition : 0|4@1+ (1,0) [0|8] "" XXX + SG_ xFF : 40|8@1+ (1,0) [0|255] "" XXX + SG_ ShiftLeverPositionXOR : 4|4@1+ (1,0) [0|0] "" Vector__XXX + SG_ SportButtonState : 26|1@1+ (1,0) [0|1] "" XXX + +BO_ 437 HeatFlow_LoadTorqueClimate: 8 IHKA + +BO_ 1152 NetworkManagment1: 8 XXX + +BO_ 1170 NetworkManagment2: 8 XXX + +BO_ 1175 NetworkManagment3: 8 XXX + +BO_ 1176 NetworkManagment4: 8 XXX + +BO_ 1193 NetworkManagment5: 8 XXX + +BO_ 1246 GWS_ShiftLeverHeartbeat: 8 XXX + SG_ IgnOff : 12|1@0+ (1,0) [0|3] "" XXX + +BO_ 438 HeatFlowEngine: 8 DME + +BO_ 784 AmbientTemperature_RelativeTime: 8 Kombi + +BO_ 821 ElectricFuelPumpStatus: 8 EKP + +BO_ 1007 EngineOBD_data: 8 DME + +BO_ 1432 ServicesDKG: 8 XXX + +BO_ 309 CrashDisconnectControl: 8 ACSM + +BO_ 502 TurnSignals: 2 FRMFA + SG_ TurnSignalIdle : 9|1@0+ (1,0) [0|1] "" XXX + SG_ TurnSignalActive : 8|1@0+ (1,0) [0|1] "" XXX + SG_ RightTurn : 5|1@0+ (1,0) [0|1] "" XXX + SG_ LeftTurn : 4|1@1+ (1,0) [0|1] "" XXX + SG_ HoldActivated : 0|1@1+ (1,0) [0|1] "" XXX + +BO_ 514 Dimming: 8 FRMFA + +BO_ 538 LampStatus: 8 FRMFA + +BO_ 550 RainSensorWiperSpeed: 8 FZD + +BO_ 578 ClimateFrontStatus: 8 IHKA + +BO_ 704 LCD_lighting: 8 Kombi + +BO_ 758 LightControl: 8 FRMFA + +BO_ 760 Time_Date: 8 Kombi + +BO_ 762 OccupancySeatBeltContact: 8 ACSM + SG_ NEW_SIGNAL_1 : 8|8@1+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 0|8@1+ (1,0) [0|15] "" XXX + +BO_ 764 TrunkStatus: 8 CAS + +BO_ 797 TirePressureStatus: 8 DSC + +BO_ 816 Range_Mileage: 8 Kombi + +BO_ 823 StatusFuelControl: 8 DME + +BO_ 897 EngineOilLevel: 8 DME + +BO_ 940 RunOnTimeTerminal30: 8 JBBF + +BO_ 947 PowerManagmentConsumptionControl: 8 DME + +BO_ 948 PowerBatteryVoltage: 8 DME + SG_ BatteryVoltage : 7|24@0+ (0.001,0) [0|65535] "" XXX + +BO_ 958 PowerRunningTime: 8 CAS + +BO_ 1408 ServicesKGM: 8 XXX + +BO_ 1426 ServicesDME: 8 XXX + +BO_ 1449 ServicesDSC: 8 XXX + +BO_ 1504 ServicesKOMBI: 8 XXX + +BO_ 1522 ServicesKBM: 8 XXX + +BO_ 209 Accelerometer1: 8 XXX + SG_ Counter_209 : 52|4@1+ (1,0) [0|255] "" XXX + SG_ Unknown : 16|16@1- (1,0) [0|65535] "" XXX + SG_ YawRate : 0|16@1- (1,0) [0|7] "" XXX + SG_ PitchRate : 32|16@1- (1,0) [0|65535] "" XXX + SG_ CRC8_209 : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 172 WheelTorqueDrivetrain2: 8 DME + +BO_ 128 SYNC: 5 XXX + SG_ State2 : 24|4@1+ (1,0) [0|15] "" XXX + SG_ State1 : 16|8@1+ (1,0) [0|255] "" XXX + SG_ Counter_128 : 28|4@1+ (1,0) [0|15] "" XXX + +BO_ 320 Unknown140: 2 XXX + SG_ State : 7|8@0+ (1,0) [0|255] "" XXX + +BO_ 212 Unknown_d4: 8 XXX + SG_ State1 : 40|8@1+ (1,0) [0|255] "" XXX + SG_ Counter_212 : 52|4@1+ (1,0) [0|255] "" XXX + SG_ Checksum_212 : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 205 Accelerometer2: 8 XXX + SG_ Counter_205 : 52|4@1+ (1,0) [0|255] "" XXX + SG_ LateralAcceleration : 32|16@1- (1,0) [0|255] "" XXX + SG_ YawRate : 0|16@1- (1,0) [0|255] "" XXX + SG_ CRC8_205 : 16|16@1- (1,0) [0|65535] "" XXX + +BO_ 790 OperationPushButtonDTC: 2 JBBF + SG_ setMe_0x3FFF : 2|14@1+ (1,0) [0|63] "" DSC + SG_ DTC_pressed : 0|1@1+ (1,0) [0|3] "" DSC + +BO_ 1577 Unknown_629: 8 XXX + +BO_ 133 Synchronization_SC_VDA: 8 DSC + +BO_ 173 Delay_request_ACC: 8 LDM + +BO_ 177 Torque_request_steering: 8 DSC + +BO_ 181 Torque_request_EGS: 8 EGS + SG_ Checksum_Torque_request_EGS : 0|8@1+ (1,0) [0|0] "" XXX + SG_ Gearbox_temperature : 56|8@1+ (1,0) [0|0] "C" XXX + +BO_ 183 Torque_request_ACC: 8 LDM + +BO_ 187 Target_torque_request: 8 DSC + +BO_ 188 Status_target_torque_conversion: 8 VGSG + +BO_ 190 Alive_Counter: 8 ARS + +BO_ 192 Alive_Central_Gateway: 8 JBBF + +BO_ 193 Alive_counter_telephone: 8 CCC + +BO_ 213 Request_wheel_torque_brake: 8 DSC + +BO_ 215 Alive_Counter_Security: 8 ACSM + +BO_ 216 CLU1_VDA: 8 VDA + +BO_ 225 Wheel_torque_brake: 8 DSC + +BO_ 226 Status_central_locking_BFT: 8 JBBF + +BO_ 227 CLU2_VDA: 8 VDA + +BO_ 230 Status_central_locking_BFTH: 8 JBBF + +BO_ 234 Status_central_locking_FAT: 8 JBBF + +BO_ 238 Central_locking_status_FATH: 8 JBBF + +BO_ 242 Status_central_locking_HK: 8 JBBF + +BO_ 244 CLU3_VDA: 8 VDA + +BO_ 247 lateral_dynamics_ARS_VDM: 8 ARS + +BO_ 249 Vertical_dynamics_VDM_ARS: 8 VDM + +BO_ 250 Control_window_lifter_FAT: 8 FRMFA + +BO_ 251 Control_window_lifter_BFT: 8 JBBF + +BO_ 252 Control_window_lifter_FATH: 8 JBBF + +BO_ 253 Control_window_lifter_BFTH: 8 JBBF + +BO_ 254 Voltage_level_sensors: 8 VDM + +BO_ 280 Exchange_AFS_DSC: 8 AFS + +BO_ 286 Control_interventions_DSC_AFS: 8 DSC + +BO_ 288 Status_partial_setpoints_AFS_DSC_2: 8 AFS + +BO_ 298 Sensor_data_ROSE: 8 ASCM + +BO_ 300 input_data_ROSE: 8 DSC + +BO_ 336 Request_1_ACC: 8 LDM + +BO_ 339 Request_2_ACC: 8 LDM + +BO_ 345 Object_data_ACC: 8 ACC_Sensor + +BO_ 348 Status_ACC: 8 ACC_Sensor + +BO_ 351 Requirement_angle_FFP: 8 LDM + +BO_ 357 CLU_Status_VDA: 8 VDA + +BO_ 370 Acknowledgment_request_Kombination: 8 CCC + +BO_ 373 Display_motor_data: 8 DME + +BO_ 400 display_ACC: 8 LDM + +BO_ 405 Operation_push_button_MSA: 8 IHKA + +BO_ 419 Raw_data_longitudinal_acceleration: 8 DSC + +BO_ 423 actuation_request_EMF: 8 DSC + +BO_ 426 Effect_ErgoCommander: 8 CCC + +BO_ 428 Status_ARS_module: 8 ARS + +BO_ 440 Operation_ErgoCommander: 8 ZBE + +BO_ 450 Distance_message_PDC: 8 PDC + +BO_ 451 Distance_message_2_PDC: 8 PDC + +BO_ 454 Acoustic_message_PDC: 8 PDC + +BO_ 472 Operation_air_conditioning_air_distribution_FA: 8 CCC + +BO_ 473 Operation_pushbutton_MDrive: 8 SZL + +BO_ 474 Climate_control_remote_control: 8 CAS + +BO_ 476 Operation_stratification_seat_heating: 8 CCC + +BO_ 478 Air_conditioning_controls_rear: 8 CCC + +BO_ 480 Operation_air_conditioning_air_distribution_BF: 8 CCC + +BO_ 482 Operation_air_conditioning_front: 8 CCC + +BO_ 483 Operation_pushbutton_interior_lighting: 8 FZD + +BO_ 487 Operation_seat_heating_seat_climate_FA: 8 IHKA + +BO_ 488 Operation_seat_heating_seat_climate_BF: 8 IHKA + +BO_ 490 Steering_column_adjustment_control: 8 IHKA + +BO_ 491 Operation_active_seat_FA: 8 IHKA + +BO_ 492 Operation_active_seat_BF: 8 IHKA + +BO_ 494 Steering_column_switch_operation: 8 FRMFA + +BO_ 499 Operation_seat_memory_FA: 8 XXX + +BO_ 504 Operation_SHD_MDS: 8 FZD + +BO_ 507 Status_EPS: 8 EPS + +BO_ 508 Status_AFS: 8 AFS + +BO_ 509 Status_request_EMF_KCAN: 8 EMF + +BO_ 510 Crash: 8 ACSM + +BO_ 513 Status_EMF_KCAN: 8 EMF + +BO_ 517 Acoustic_request_Kombi: 8 Kombi + +BO_ 518 Control_Display_Shiftlights: 8 DME + +BO_ 523 Memory_adjustment: 8 SM_FA + +BO_ 524 Steering_column_control: 8 SM_FA + +BO_ 525 Position_steering_column: 8 IHKA + +BO_ 528 Operation_HUD: 8 CCC + +BO_ 529 Status_HUD: 8 HUD + +BO_ 530 Height_levels_air_spring: 8 EHC + +BO_ 540 Operation_NightVision: 8 CCC + +BO_ 542 Status_NightVision: 8 NVC + +BO_ 548 Operation_push_button_NSW: 8 FRMFA + +BO_ 552 Operation_special_function: 8 CCC + +BO_ 554 Status_BFS: 8 JBBF + +BO_ 556 Operation_push_button_NSL: 8 FRMFA + +BO_ 558 Status_BFSH: 8 XXX + +BO_ 562 Status_FAS: 8 JBBF + +BO_ 566 Status_FASH: 8 XXX + +BO_ 570 Status_radio_key: 8 CAS + +BO_ 571 Status_climate_front_extended: 8 IHKA + +BO_ 573 Request_display_climate: 8 IHKA + +BO_ 574 Status_Klima_Fond: 8 FKA + +BO_ 582 Status_air_conditioning_front_control_unit: 8 IHKA + +BO_ 584 Status_rear_view_camera: 8 RFK + +BO_ 585 Control_rear_view_camera: 8 CCC + +BO_ 586 Status_PDC: 8 PDC + +BO_ 587 Status_door_sensors: 8 FRMFA + +BO_ 594 Wiper_status: 8 JBBF + +BO_ 598 Challenge_Passive_Access: 8 CAS + +BO_ 600 Status_Transmission_Passive_Access: 8 PGS + +BO_ 604 Operation_of_climate_additional_programs: 8 CCC + +BO_ 621 Operation_blinds_MK: 8 IHKA + +BO_ 622 Control_FH_SHD_central_comfort: 8 CAS + +BO_ 635 Status_Shiftlights: 8 Kombi + +BO_ 637 Status_convertible_top_manual_convertible: 8 CAS + +BO_ 638 Status_convertible_top_convertible: 8 CTM + +BO_ 639 Status_central_locking_convertible_top: 8 JBBF + +BO_ 642 Control_security_vehicle_2: 8 XXX + +BO_ 644 Control_remote_start_safety_vehicle: 8 CAS + +BO_ 646 Electrochromic_control: 8 FZD + +BO_ 652 Pushbutton_vertical_dynamics: 8 GWS + +BO_ 653 Operation_pushbutton_sport: 8 GWS + +BO_ 656 Control_response_hydrogen_vehicle: 8 XXX + +BO_ 658 Control_high_beam_assistant: 8 FLA + +BO_ 670 Central_locking_control_for_security_vehicle: 8 XXX + +BO_ 671 Remote_control_FondCommander: 8 CAS + +BO_ 672 Central_locking_control: 8 CAS + +BO_ 674 Operation_of_climate_stand_functions: 8 CCC + +BO_ 676 Operation_personalization: 8 Kombi + +BO_ 692 DWA_Alarm: 8 DWA + +BO_ 694 Control_horn_DWA: 8 DWA + +BO_ 696 Operation_onboard_computer: 8 CCC + +BO_ 697 Operation_RSE: 8 CCC + +BO_ 698 Stopwatch: 8 Kombi + +BO_ 701 Request_switching_display: 8 CCC + +BO_ 702 Switch_status_display: 8 VSW + +BO_ 703 Water_valve_control: 8 IHKA + +BO_ 706 Temperatur_Ist_Fond: 8 FKA + +BO_ 711 Display_Kombination_extended: 8 DME + +BO_ 714 Outside_temperature: 8 Kombi + +BO_ 716 Control_monitor_rear: 8 RSE + +BO_ 718 Control_monitor: 8 CCC + +BO_ 719 Status_of_auxiliary_water_pump: 8 JBBF + +BO_ 720 Status_Sensor_AUC: 8 JBBF + +BO_ 721 Status_fitting_window_V: 8 FZD + +BO_ 722 Status_pressure_refrigeration_circuit: 8 JBBF + +BO_ 723 Status_stratification_rear: 8 JBBF + +BO_ 725 Status_heating_rear_window: 8 JBBF + +BO_ 726 Status_valve_air_conditioning_compressor: 8 JBBF + +BO_ 730 Status_tailgate_lift: 8 HKL + +BO_ 734 Switch_control_display: 8 VSW + +BO_ 738 Status_setting_video_night_vision: 8 NVC + +BO_ 739 Status_setting_video_rear_view_camera: 8 RFK + +BO_ 740 Status_trailer: 8 AHM + +BO_ 742 Status_of_air_distribution_FA: 8 IHKA + +BO_ 746 Status_air_distribution_BF: 8 IHKA + +BO_ 750 Status_climate_additional_programs: 8 IHKA + +BO_ 752 Status_air_condition_functions: 8 IHKA + +BO_ 753 Status_driver_detection: 8 MRSZ + +BO_ 755 Display_switching_instruction: 8 DME + +BO_ 756 Air_conditioning_control_SH_ZH_auxiliary_water_pump: 8 IHKA + +BO_ 759 Units: 8 Kombi + +BO_ 768 Status_RSE: 8 RSE + +BO_ 772 Status_Gang: 8 EGS + +BO_ 773 Operation_button_convertible_top: 8 IHKA + +BO_ 774 Vehicle_tilt: 8 FRMFA + +BO_ 775 Operation_button_flap_convertible_top: 8 IHKA + +BO_ 776 Status_MSA: 8 DME + +BO_ 785 Refill_quantity: 8 Kombi + +BO_ 786 Service_Call_Teleservice: 8 Kombi + +BO_ 787 Status_Service_Call_Teleservice: 8 CCC + +BO_ 788 Status_driving_light: 8 FZD + +BO_ 789 Vehicle_mode: 8 JBBF + +BO_ 791 Operation_button_parking_aids: 8 IHKA + +BO_ 792 Status_antennas_Passive_Access: 8 PGS + +BO_ 793 Operation_push_button_RDC: 8 JBBF + +BO_ 794 Operation_button_HDC: 8 IHKA + +BO_ 795 Operation_of_tailgate_interior_button: 8 IHKA + +BO_ 796 Status_tire_pressure: 8 RDC + +BO_ 801 Operation_button_camera_BF: 8 IHKA + +BO_ 802 Damper_current: 8 EDCK + +BO_ 806 Status_damper_program: 8 VDM + +BO_ 808 Relativzeit: 8 Kombi + +BO_ 813 Display_HDC: 8 DSC + +BO_ 814 Status_climate_internal_control_info: 8 IHKA + +BO_ 817 Programming_of_step_cruise_control: 8 CCC + +BO_ 818 Driver_display_speed_range: 8 DME + +BO_ 822 Display_check_control_message_role: 8 Kombi + +BO_ 824 Control_display_check_control_message: 8 Kombi + +BO_ 825 Status_display_climate: 8 CCC + +BO_ 826 Status_Monitor_Front: 8 CID + +BO_ 828 Status_Monitor_Fond_1: 8 CID + +BO_ 830 Status_Monitor_Fond_2: 8 CID + +BO_ 841 Raw_data_level_tank: 8 JBBF + +BO_ 843 Seat_back_lock_status_FA: 8 SM_FA + +BO_ 845 Status_seat_back_lock_BF: 8 SM_BF + +BO_ 847 Status_contact_handbrake: 8 JBBF + SG_ Handbrake_push : 0|2@1+ (1,0) [0|3] "" XXX + +BO_ 858 Appointment_Condition_Based_Service: 8 CCC + +BO_ 860 Status_onboard_computer: 8 Kombi + +BO_ 862 Onboard_computer_data_trip_data: 8 Kombi + +BO_ 864 Data_onboard_computer_start_of_journey: 8 Kombi + +BO_ 866 Data_onboard_computer_average_values: 8 Kombi + +BO_ 868 Data_onboard_computer_arrival: 8 Kombi + +BO_ 869 Status_terminal_request: 8 CAS + +BO_ 870 Display_Kombination_external_display: 8 Kombi + +BO_ 871 Control_display_of_demand_oriented_service: 8 Kombi + +BO_ 877 Setting_the_driving_dynamics_switch: 8 JBBF + +BO_ 886 Status_wear_lamella: 8 VGSG + +BO_ 893 Status_DKG: 8 DKG + +BO_ 894 Temperatur_Bremse: 8 DSC + +BO_ 895 Range_of_diesel_exhaust_gas_additive: 8 DDE1 + +BO_ 896 chassis_number: 8 CAS + +BO_ 898 Electronic_engine_oil_dipstick_M: 8 DME + +BO_ 899 Motor_data_2: 8 DME + +BO_ 904 Vehicle_type: 8 CAS + +BO_ 907 Status_battery: 8 DME + +BO_ 910 Start_speed: 8 DME + +BO_ 914 Status_System_AFS: 8 AFS + +BO_ 916 RDA_request_data_storage: 8 Kombi + +BO_ 917 Coding_power_management: 8 CAS + +BO_ 920 Operation_chassis: 8 CCC + +BO_ 921 Status_MDrive: 6 DME + +BO_ 926 Operation_time_date: 8 CCC + +BO_ 928 Vehicle_state: 8 JBBF + +BO_ 931 Request_Remote_Services: 8 CCC + +BO_ 937 Status_motor_control_CKM: 8 DME + +BO_ 939 Status_Shiftlights_CKM: 8 Kombi + +BO_ 944 Status_gear_reverse: 8 FRMFA + +BO_ 949 Status_water_valve: 8 JBBF + +BO_ 950 Position_window_lifter_FAT: 8 FRMFA + +BO_ 951 Position_window_lifter_FATH: 8 JBBF + +BO_ 952 Position_window_regulator_BFT: 8 FRMFA + +BO_ 953 Position_window_regulator_BFTH: 8 JBBF + +BO_ 954 Position_SHD: 8 FZD + +BO_ 956 Position_window_lifter_security_vehicle: 8 XXX + +BO_ 957 Status_consumer_shutdown: 8 FRMFA + +BO_ 959 Position_window_rear_window: 8 CTM + +BO_ 960 Configuration_FAS: 8 SM_FA + +BO_ 961 Configuration_BFS: 8 SM_BF + +BO_ 964 Status_EDCK_CKM: 8 JBBF + +BO_ 967 Access_radio: 8 RAD1 + +BO_ 968 Operation_push_button_radio: 8 RAD1 + +BO_ 974 Radio_audio_control_interface_display: 8 ACI + +BO_ 975 Acknowledgment_access_radio_audio_control_interface: 8 ACI + +BO_ 979 Status_solar_sensor: 8 FZD + +BO_ 980 Configuration_of_central_locking_CKM: 8 Kombi + +BO_ 981 Status_central_locking_CKM: 8 CAS + +BO_ 982 Configuration_DWA_CKM: 8 Kombi + +BO_ 983 Status_DWA_CKM: 8 FZD + +BO_ 984 Configuration_RLS_CKM: 8 Kombi + +BO_ 985 Status_RLS_CKM: 8 FZD + +BO_ 986 Configuration_of_memory_positions_CKM: 8 Kombi + +BO_ 987 Status_memory_positions_CKM: 8 SM_FA + +BO_ 988 Configuration_light_CKM: 8 Kombi + +BO_ 989 Status_light_CKM: 8 FRMFA + +BO_ 990 Configuration_Climate_CKM: 8 CCC + +BO_ 991 Status_Klima_CKM: 8 IHKA + +BO_ 994 Configuration_of_tailgate_CKM: 8 CCC + +BO_ 995 Status_tailgate_CKM: 8 HKL + +BO_ 996 Configuration_rear_view_camera_CKM: 8 CCC + + + + +CM_ SG_ 170 ThrottlelPressed "Active when accelerator pedal pressed or cruise control: drives"; +CM_ SG_ 170 AcceleratorPedalPressed "Active only when driver actually presses the pedal"; +CM_ SG_ 170 AcceleratorPedalPercentage "ToDo Factor to be adjusted"; +CM_ SG_ 404 plus1mph_request "Appears when +1mph/kph stalk is depressed"; +CM_ SG_ 404 minus1mph_request "Appears when -1mph/kph stalk is depressed"; +CM_ SG_ 404 Cancel_request_up_stalk "Appears when cancel stalk (up) is depressed"; +CM_ SG_ 404 Cancel_request_up_or_down_stalk "Appears when cancel stalk (up or down) is depressed"; +CM_ SG_ 404 Resume_request "It appears when resume stalk button is depressed"; +CM_ SG_ 404 Counter_404 "Message is sent at higher rate when cruise stalk is pressed"; + +CM_ SG_ 168 BrakePressed "Brake when driver presses the brake or hill hold"; +CM_ SG_ 168 EngineTorque "Engine torque without inertia - combustion torque"; +CM_ SG_ 168 EngineTorqueWoInterv "Engine torque without inertia and without shift intervention"; +CM_ SG_ 168 ALIV_TORQ_1_DME "Counter TORQ_1"; + +CM_ SG_ 169 ALIV_TORQ_2_DME "Counter TORQ_2"; + +CM_ SG_ 182 TORQ_TAR_DSC "torque target DSC"; + +CM_ SG_ 403 CruiseControlSetpointSpeed "Speed target - unit depends on locale"; +CM_ SG_ 186 GearTar "Values corresponds to forward gears. TBD Add enums for park, reverse"; +CM_ SG_ 466 GearAct "TransmissionDataDisplay"; +CM_ SG_ 414 DSC_full_off "0x4 enabling, 0xA enabled. TBD"; + +CM_ SG_ 416 YawRate "Lateral Acceleration"; + +CM_ SG_ 408 ParkButtonSecond "Redundant buton. 0x1 = pressed;"; +CM_ SG_ 408 SideButton "0x1 = pressed;"; +CM_ SG_ 408 SportButtonPressed "0x1 = pressed;"; +CM_ SG_ 408 M3_button "M3 POWER (?)"; +CM_ SG_ 408 SideButtonXOR11 "Complement value"; +CM_ SG_ 408 param1 "can not be 0x03. Always 0 in 135i."; +CM_ SG_ 408 param5 "Always 0 in 135i."; +CM_ SG_ 408 ParkButtonFirst "0x1 = pressed"; +CM_ SG_ 408 ShifterPosition "0001 = N|R, 0010 = R, 0011 = N|D, 0100 = D, 0101 = -1, 0110 = +1, 0111 = ManualMode, 1000 = inBetween,"; + +CM_ SG_ 466 ShiftLeverMode "On the dashboard, there are displayed: D1...D7 in Normal. S1...S6 in Sport. M1..M7 in Manual"; + +CM_ SG_ 502 TurnSignalIdle "Turn signal off"; +CM_ SG_ 502 TurnSignalActive "Turn signal on or transitioning"; +CM_ SG_ 502 RightTurn "Indicates right blinker or when steering returning right clears left blinker"; +CM_ SG_ 502 LeftTurn "Indicates left blinker or when steering returning left clears right blinker"; +CM_ SG_ 502 HoldActivated "Spikes down if blinker cleared with timeout or turn. Stays off if blinker cleared with stalk"; + +CM_ SG_ 790 setMe_0x3FFF "All ones"; +CM_ SG_ 790 DTC_pressed "Traction control off. Message transmitted when pressed. Few presses may be required followed by off."; + +VAL_ 408 ShifterPosition 1 "D" 2 "S" 3 "N" 4 "R" 5 "P" ; + +VAL_ 464 ST_SW_WAUP 3 "signal invalid" 2 "EGS forced switching active" 1 "engine warm" 0 "warming up" ; +VAL_ 464 ST_ENG_RUN 3 "signal invalid" 2 "engine running" 1 "engine starting" 0 "engine off" ; +VAL_ 464 CTR_SLCK 3 "signal invalid" 2 "requirement Shiftlock" 1 "no requirement Shiftlock" 0 "not allowed" ; + +VAL_ 466 ShiftLeverMode 0 "Normal" 1 "Sport" 2 "Manual" ; +VAL_ 466 ShiftLeverPosition 0 "Off" 1 "P" 2 "R" 4 "N" 8 "D" ; diff --git a/opendbc_repo/opendbc/dbc/cadillac_ct6_chassis.dbc b/opendbc_repo/opendbc/dbc/cadillac_ct6_chassis.dbc new file mode 100644 index 0000000000..9de969d762 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/cadillac_ct6_chassis.dbc @@ -0,0 +1,95 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: K182_PACM K43_PSCM K17_EBCM NEO K124_ASCM + + + +BO_ 823 PACMParkAssitCmd: 7 NEO + SG_ RollingCounter : 35|2@0+ (1,0) [0|0] "" NEO + SG_ SteeringWheelChecksum : 47|16@0+ (1,0) [0|0] "" NEO + SG_ SteeringWheelCmd : 23|16@0+ (1,0) [0|0] "" NEO + +BO_ 560 EBCMRegen: 6 K17_EBCM + SG_ Regen : 1|10@0+ (1,0) [0|0] "" NEO + +BO_ 338 ASCMLKASteeringCmd: 6 NEO + SG_ LKASteeringCmdActive : 7|1@0+ (1,0) [0|0] "" NEO + SG_ LKASteeringCmd : 5|14@0- (1,0) [0|0] "" NEO + SG_ RollingCounter : 23|2@0+ (1,0) [0|0] "" NEO + SG_ SetMe1 : 21|1@0+ (1,0) [0|0] "" NEO + SG_ LKASVehicleSpeed : 20|13@0+ (0.22,0) [0|0] "kph" NEO + SG_ LKASMode : 36|2@0+ (1,0) [0|0] "" NEO + SG_ LKASteeringCmdChecksum : 33|10@0+ (1,0) [0|0] "" NEO + +BO_ 340 ASCMBLKASteeringCmd: 6 NEO + SG_ LKASteeringCmdActive : 7|1@0+ (1,0) [0|0] "" NEO + SG_ LKASteeringCmd : 5|14@0- (1,0) [0|0] "" NEO + SG_ RollingCounter : 23|2@0+ (1,0) [0|0] "" NEO + SG_ SetMe1 : 21|1@0+ (1,0) [0|0] "" NEO + SG_ LKASVehicleSpeed : 20|13@0+ (0.22,0) [0|0] "kph" NEO + SG_ LKASteeringCmdActive2 : 35|1@0+ (1,0) [0|0] "" NEO + SG_ LKASteeringCmdChecksum : 33|10@0+ (1,0) [0|0] "" NEO + +BO_ 368 EBCMFrictionBrakeStatus: 8 K17_EBCM + SG_ FrictionBrakePressure : 23|16@0+ (1,0) [0|0] "" NEO + +BO_ 789 EBCMFrictionBrakeCmd: 5 K17_EBCM + SG_ RollingCounter : 37|6@0+ (1,0) [0|0] "" NEO + SG_ FrictionBrakeMode : 7|4@0+ (1,0) [0|0] "" NEO + SG_ FrictionBrakeChecksum : 23|16@0+ (1,0) [0|0] "" NEO + SG_ FrictionBrakeCmd : 3|12@0- (1,0) [0|0] "" NEO + +BO_TX_BU_ 823 : K43_PSCM,NEO; +BO_TX_BU_ 789 : NEO,K17_EBCM; + + +CM_ BU_ K182_PACM "Parking Assist Control Module"; +CM_ BU_ K43_PSCM "Power Steering Control Module"; +CM_ BU_ K17_EBCM "Electronic Brake Control Module"; +CM_ BU_ NEO "Comma NEO"; +CM_ BU_ K124_ASCM "Active Safety Control Module"; +BA_DEF_ "UseGMParameterIDs" INT 0 0; +BA_DEF_ "ProtocolType" STRING ; +BA_DEF_ "BusType" STRING ; +BA_DEF_DEF_ "UseGMParameterIDs" 1; +BA_DEF_DEF_ "ProtocolType" "GMLAN"; +BA_DEF_DEF_ "BusType" ""; +BA_ "UseGMParameterIDs" 0; +BA_ "BusType" "CAN"; +BA_ "ProtocolType" "GMLAN"; + +VAL_ 338 LKASteeringCmdActive 1 "Active" 0 "Inactive" ; +VAL_ 338 LKASMode 2 "supercruise" 1 "lkas" 0 "Inactive" ; diff --git a/opendbc_repo/opendbc/dbc/cadillac_ct6_object.dbc b/opendbc_repo/opendbc/dbc/cadillac_ct6_object.dbc new file mode 100644 index 0000000000..3f7cf64cdc --- /dev/null +++ b/opendbc_repo/opendbc/dbc/cadillac_ct6_object.dbc @@ -0,0 +1,3470 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: RRSRR_FO LRSRR_FO CIPM_FO _DOFIMU2_FO _DOFIMU1_FO DMS_FO AMM_FO EOCM2B_IMX6_FO EOCM2B_K2_FO EOCM2B_K1_FO EOCM2A_IMX6_FO EOCM2A_K2_FO EOCM2A_K1_FO NVS_FO Dummy_FO TestTool_FO LRR_FO RFSRR_FO LFSRR_FO RSRR_FO VIS_FO EOCM_F_FO VIS2_FO +VAL_TABLE_ vt_BooleanValues 1 "true" 0 "false" ; +VAL_TABLE_ FrntVsnInPthVehBrkNwSt 10 "Active" 5 "Inactive" ; +VAL_TABLE_ FrntVsnClostPedBrkNwSt 10 "Active" 5 "Inactive" ; +VAL_TABLE_ DrvrMonSysEngSt 7 "Unused and Reserved 1" 6 "Recovering" 5 "Tracking" 4 "Searching" 3 "Video test port only" 2 "Idle" 1 "Invalid state" 0 "Does not exist or DME" ; +VAL_TABLE_ DrvrMonEngUnrecvrFltCod 7 "Unused and Reserved 3" 6 "Unused and Reserved 2" 5 "Unused and Reserved 1" 4 "Vehicle power supply Errors" 3 "Problem with LED illuminators" 2 "Vehicle input signals Errors" 1 "Problem with imager" 0 "Ok" ; +VAL_TABLE_ DrvrMonEngRecvrFltCod 3 "Engine is unable to find a face" 2 "Input Images too dark" 1 "Input images too bright" 0 "Ok" ; +VAL_TABLE_ DrvrMntrSysVTP 1 "Video test port active" 0 "Video test port inactive" ; +VAL_TABLE_ DrvrAttnStatCnfdc 3 "High" 2 "Medium" 1 "Low" 0 "Lowest" ; +VAL_TABLE_ DrvrAttnStat 7 "Invalid" 6 "Driver is exhibiting sleep" 5 "Driver is exhibiting microsleep" 4 "Attention is Center Console" 3 "Attention is Drivers Lap" 2 "Attention is Off Road" 1 "Attention is On Road" 0 "Unknown" ; +VAL_TABLE_ PPSMd 7 "GNSS and RTX and DR and MM" 6 "DR ONLY" 5 "GNSS and RTX and DR" 4 "GNSS and SBAS and DR" 3 "GNSS and DR" 2 "GNSS and RTX" 1 "GNSS and SBAS" 0 "GNSS Standalone" ; +VAL_TABLE_ AdvDrvAstMpPrfShrtAcur 3 "Accuracy Is Unknown" 2 "Lowest Accuracy" 1 "Medium Accuracy" 0 "Highest Accuracy" ; +VAL_TABLE_ AdvDrAstMpStbRtOfWay 3 "Not Applicable" 2 "Unknown" 1 "Sub Path Has Right Of Way Over Path" 0 "Path Has Right Of Way Over Sub Path" ; +VAL_TABLE_ AdvDrAstMpStbPrtCalRut 3 "Not Applicable" 2 "Unknown" 1 "Path From This Point On Is Part Of Calculated Route" 0 "Path From This Point On Is Not Part Of Calculated Route" ; +VAL_TABLE_ AdvDrAstMpStbMsgTyp 7 "Unused and Reserved 2" 6 "Metadata" 5 "Profile Long" 4 "Profile Short" 3 "Stub" 2 "Segment" 1 "Position" 0 "Unused and Reserved 1" ; +VAL_TABLE_ AdvDrAstMpStbFmOfWay 15 "Not Applicable" 14 "Pedestrian Zone" 13 "Entrance To Or Exit To Service" 12 "Entrance To Or Exit Of A Car Park" 11 "Service Road Or Frontage Road" 10 "Slip Road per Ramp" 9 "Slip Road per Ramp On A Freeway Or Controlled Access Road" 8 "Parallel Road" 7 "Unused and Reserved 2" 6 "Unused and Reserved 1" 5 "Traffic Square per Special Traffic Figure" 4 "Roundabout Circle" 3 "Single Carriageway" 2 "Multiple Carriageway Or Multiply Digitized Road" 1 "Freeway Or Controlled Access Road That Is Not A Slip Road Or Ramp" 0 "Unknown" ; +VAL_TABLE_ AdvDrAstMpStbCmplxInsct 3 "Not Applicable" 2 "Unknown" 1 "Stub Is Part Of Complex Intersection" 0 "Stub Is Not Part Of Complex Intersection" ; +VAL_TABLE_ AdvDrAstMpSegTunl 3 "Not Applicable" 2 "Unknown" 1 "Segment Is Part Of Tunnel" 0 "Segment Is Not A Part Of Tunnel" ; +VAL_TABLE_ AdvDrAstMpSegPrtCalRut 3 "Not Applicable" 2 "Unknown" 1 "Segment Is Part Of Calculated Route" 0 "Segment Is Not Part Of Calculated Route" ; +VAL_TABLE_ AdvDrAstMpSegMsgTyp 7 "Unused and Reserved 2" 6 "Metadata" 5 "Profile Long" 4 "Profile Short" 3 "Stub" 2 "Segment" 1 "Position" 0 "Unused and Reserved 1" ; +VAL_TABLE_ AdvDrAstMpSegFrmOfWay 15 "Not Applicable" 14 "Pedestrian Zone" 13 "Entrance To Or Exit To Service" 12 "Entrance To Or Exit Of A Car Park" 11 "Service Road Or Frontage Road" 10 "Slip Road per Ramp" 9 "Slip Road per Ramp On A Freeway Or Controlled Access Road" 8 "Parallel Road" 7 "Unused and Reserved 2" 6 "Unused and Reserved 1" 5 "Traffic Square per Special Traffic Figure" 4 "Roundabout Circle" 3 "Single Carriageway" 2 "Multiple Carriageway Or Multiply Digitized Road" 1 "Freeway Or Controlled Access Road That Is Not A Slip Road or Ramp" 0 "Unknown" ; +VAL_TABLE_ AdvDrAstMpSegEffSdLmtTp 7 "Not Applicable" 6 "Explicit Snow" 5 "Explicit Rain" 4 "Explicit Time Of Day" 3 "Explicit By Day" 2 "Explicit By Night" 1 "Explicit On Traffic Sign" 0 "Implicit" ; +VAL_TABLE_ AdvDrAstMpSegDivdRd 3 "Not Applicable" 2 "Unknown" 1 "Segment Is Part Of Divided Road" 0 "Segment Is Not Part Of Divided Road" ; +VAL_TABLE_ AdvDrAstMpSegCmplxInsct 3 "Not Applicable" 2 "Unknown" 1 "Segment Is Part Of Complex Intersection" 0 "Segment Is Not Part Of Complex Intersection" ; +VAL_TABLE_ AdvDrAstMpSegBrdg 3 "Not Applicable" 2 "Unknown" 1 "Segment Is Part Of Bridge" 0 "Segment Not Part Of Bridge" ; +VAL_TABLE_ AdvDrAstMpSegBldUpAra 3 "Not Applicable" 2 "Unknown" 1 "Segment Is Part Of Built Up Area" 0 "Segment Is Not Part Of Built Up Area" ; +VAL_TABLE_ AdvDrAstMpMtdtSpdUnt 1 "Miles Per Hour" 0 "Kilometers Per Hour" ; +VAL_TABLE_ AdvDrAstMpMtdtDrvSd 1 "Driving Side Right" 0 "Driving Side Left" ; +VAL_TABLE_ WSMR_WiFiAssnReq 3 "Unexpected Undefined Connection Behavior" 2 "Wi Fi association failed with available credentials" 1 "Failed to receive Wi Fi credentials after 255 attempts" 0 "SSID and Passphrase Request" ; +VAL_TABLE_ StrgColCommsFlt 2 "Disabled Communications DTC" 1 "No Communications Fault" 0 "Communications Fault" ; +VAL_TABLE_ CPMAPINFO4 1 "Hardware Or Software Error" 0 "No Hardware Or Software Error" ; +VAL_TABLE_ AdvDrvAstMpPrfShrt2Acur 3 "Accuracy Is Unknown" 2 "Lowest Accuracy" 1 "Medium Accuracy" 0 "Highest Accuracy" ; +VAL_TABLE_ InterLghtStat 1 "Interior Lights On" 0 "Interior Light Off" ; +VAL_TABLE_ VehLnStatConf 2 "High Confidence" 1 "Low Confidence" 0 "No Confidence" 3 "Very High Confidence" ; +VAL_TABLE_ VehLnStat 3 "Lane Change To Right" 2 "Lane Change To Left" 1 "Staying in Lane" 0 "Unknown" ; +VAL_TABLE_ HrznPrvdRstRq 1 "Reset Not Required" 0 "Reset Required" ; +VAL_TABLE_ ExptNxtTrnstnDirConf 3 "Very High Confidence" 2 "High Confidence" 1 "Low Confidence" 0 "No Confidence" ; +VAL_TABLE_ ExptNxtTrnstnDir 7 "Reserved4" 6 "Reserved3" 5 "Reserved2" 4 "Reserved1" 3 "Traversing Middle Transition" 2 "Traversing Next Transition Right" 1 "Traversing Next Transition Left" 0 "Unknown" ; +VAL_TABLE_ ADASISMsgTypRetrans 7 "GM System Specific" 6 "Meta Data" 5 "Profile Long" 4 "Profile Short" 3 "Stub" 2 "Segment" 1 "Position" 0 "Checksum" ; +VAL_TABLE_ NVSysStat 7 "Needs Headlights" 6 "Temporarily Unavailable" 5 "Not Dark" 4 "Needs Service" 3 "Active" 2 "Inactive" 1 "Initializing" 0 "Unknown" ; +VAL_TABLE_ NVSysPedWrnIndReq 3 "Unused & Reserved" 2 "Pedestrian Alert" 1 "Pedestrian Detected" 0 "None" ; +VAL_TABLE_ NVSysPedDetCstReq 2 "On" 1 "Off" 0 "No Value" ; +VAL_TABLE_ NVSysPedDetCsCrStVal 2 "On" 1 "Off" 0 "No Value" ; +VAL_TABLE_ FwVsnCinCoutPotT9Rev 2 "Right" 1 "Left" 0 "None" ; +VAL_TABLE_ FwVsnCinCoutPotT8Rev 2 "Right" 1 "Left" 0 "None" ; +VAL_TABLE_ FwVsnCinCoutPotT7Rev 2 "Right" 1 "Left" 0 "None" ; +VAL_TABLE_ FwVsnCinCoutPotT6Rev 2 "Right" 1 "Left" 0 "None" ; +VAL_TABLE_ FwVsnCinCoutPotT5Rev 2 "Right" 1 "Left" 0 "None" ; +VAL_TABLE_ FwVsnCinCoutPotT4Rev 2 "Right" 1 "Left" 0 "None" ; +VAL_TABLE_ FwVsnCinCoutPotT3Rev 2 "Right" 1 "Left" 0 "None" ; +VAL_TABLE_ FwVsnCinCoutPotT2Rev 2 "Right" 1 "Left" 0 "None" ; +VAL_TABLE_ FwVsnCinCoutPotT1Rev 2 "Right" 1 "Left" 0 "None" ; +VAL_TABLE_ FwVsnCinCoutPotT12Rev 2 "Right" 1 "Left" 0 "None" ; +VAL_TABLE_ FwVsnCinCoutPotT11Rev 2 "Right" 1 "Left" 0 "None" ; +VAL_TABLE_ FwVsnCinCoutPotT10Rev 2 "Right" 1 "Left" 0 "None" ; +VAL_TABLE_ GFHBObjDirTrk8 1 "Ahead Traffic" 0 "Incoming Traffic" ; +VAL_TABLE_ GFHBObjDirTrk7 1 "Ahead Traffic" 0 "Incoming Traffic" ; +VAL_TABLE_ GFHBObjDirTrk6 1 "Ahead Traffic" 0 "Incoming Traffic" ; +VAL_TABLE_ GFHBObjDirTrk5 1 "Ahead Traffic" 0 "Incoming Traffic" ; +VAL_TABLE_ GFHBObjDirTrk4 1 "Ahead Traffic" 0 "Incoming Traffic" ; +VAL_TABLE_ GFHBObjDirTrk3 1 "Ahead Traffic" 0 "Incoming Traffic" ; +VAL_TABLE_ GFHBObjDirTrk2 1 "Ahead Traffic" 0 "Incoming Traffic" ; +VAL_TABLE_ GFHBObjDirTrk1 1 "Ahead Traffic" 0 "Incoming Traffic" ; +VAL_TABLE_ GFHBFwVsnRelLaneTrk8 3 "Left Lane" 2 "Right Lane" 1 "Host Lane" 0 "Unknown" ; +VAL_TABLE_ GFHBFwVsnRelLaneTrk7 3 "Left Lane" 2 "Right Lane" 1 "Host Lane" 0 "Unknown" ; +VAL_TABLE_ GFHBFwVsnRelLaneTrk6 3 "Left Lane" 2 "Right Lane" 1 "Host Lane" 0 "Unknown" ; +VAL_TABLE_ GFHBFwVsnRelLaneTrk5 3 "Left Lane" 2 "Right Lane" 1 "Host Lane" 0 "Unknown" ; +VAL_TABLE_ GFHBFwVsnRelLaneTrk4 3 "Left Lane" 2 "Right Lane" 1 "Host Lane" 0 "Unknown" ; +VAL_TABLE_ GFHBFwVsnRelLaneTrk3 3 "Left Lane" 2 "Right Lane" 1 "Host Lane" 0 "Unknown" ; +VAL_TABLE_ GFHBFwVsnRelLaneTrk2 3 "Left Lane" 2 "Right Lane" 1 "Host Lane" 0 "Unknown" ; +VAL_TABLE_ GFHBFwVsnRelLaneTrk1 3 "Left Lane" 2 "Right Lane" 1 "Host Lane" 0 "Unknown" ; +VAL_TABLE_ GFHBFwVsnMesStatTrk8 3 "Measured this cycle" 2 "Latent track not detected this cycle" 1 "New Object" 0 "No Object" ; +VAL_TABLE_ GFHBFwVsnMesStatTrk7 3 "Measured this cycle" 2 "Latent track not detected this cycle" 1 "New Object" 0 "No Object" ; +VAL_TABLE_ GFHBFwVsnMesStatTrk6 3 "Measured this cycle" 2 "Latent track not detected this cycle" 1 "New Object" 0 "No Object" ; +VAL_TABLE_ GFHBFwVsnMesStatTrk5 3 "Measured this cycle" 2 "Latent track not detected this cycle" 1 "New Object" 0 "No Object" ; +VAL_TABLE_ GFHBFwVsnMesStatTrk4 3 "Measured this cycle" 2 "Latent track not detected this cycle" 1 "New Object" 0 "No Object" ; +VAL_TABLE_ GFHBFwVsnMesStatTrk3 3 "Measured this cycle" 2 "Latent track not detected this cycle" 1 "New Object" 0 "No Object" ; +VAL_TABLE_ GFHBFwVsnMesStatTrk2 3 "Measured this cycle" 2 "Latent track not detected this cycle" 1 "New Object" 0 "No Object" ; +VAL_TABLE_ GFHBFwVsnMesStatTrk1 3 "Measured this cycle" 2 "Latent track not detected this cycle" 1 "New Object" 0 "No Object" ; +VAL_TABLE_ GFHBFwVsnCnfdncTrk8 3 "Confident" 2 "Speculative" 1 "Highly Speculative" 0 "Invalid" ; +VAL_TABLE_ GFHBFwVsnCnfdncTrk7 3 "Confident" 2 "Speculative" 1 "Highly Speculative" 0 "Invalid" ; +VAL_TABLE_ GFHBFwVsnCnfdncTrk6 3 "Confident" 2 "Speculative" 1 "Highly Speculative" 0 "Invalid" ; +VAL_TABLE_ GFHBFwVsnCnfdncTrk5 3 "Confident" 2 "Speculative" 1 "Highly Speculative" 0 "Invalid" ; +VAL_TABLE_ GFHBFwVsnCnfdncTrk4 3 "Confident" 2 "Speculative" 1 "Highly Speculative" 0 "Invalid" ; +VAL_TABLE_ GFHBFwVsnCnfdncTrk3 3 "Confident" 2 "Speculative" 1 "Highly Speculative" 0 "Invalid" ; +VAL_TABLE_ GFHBFwVsnCnfdncTrk2 3 "Confident" 2 "Speculative" 1 "Highly Speculative" 0 "Invalid" ; +VAL_TABLE_ GFHBFwVsnCnfdncTrk1 0 "Invalid" 3 "Confident" 2 "Speculative" 1 "Highly Speculative" ; +VAL_TABLE_ GFHBFVsnObjTypTrkRev8 12 "Cluster Object" 11 "Child Close to Danger Zone" 10 "Pedestrian Moving Out of Danger Zone" 9 "Pedestrian Moving Into Danger Zone" 8 "Pedestrian Standing Outside Danger Zone" 7 "No Object Present" 6 "Fixed Roadside Object" 5 "Fixed Overhead Object" 4 "Pedestrian" 3 "Motorcycle/ Bicycle" 2 "Large Vehicle (Semi)" 1 "4 Wheel Vehicle (Car)" 0 "Unknown" ; +VAL_TABLE_ GFHBFVsnObjTypTrkRev7 12 "Cluster Object" 11 "Child Close to Danger Zone" 10 "Pedestrian Moving Out of Danger Zone" 9 "Pedestrian Moving Into Danger Zone" 8 "Pedestrian Standing Outside Danger Zone" 7 "No Object Present" 6 "Fixed Roadside Object" 5 "Fixed Overhead Object" 4 "Pedestrian" 3 "Motorcycle/ Bicycle" 2 "Large Vehicle (Semi)" 1 "4 Wheel Vehicle (Car)" 0 "Unknown" ; +VAL_TABLE_ GFHBFVsnObjTypTrkRev6 12 "Cluster Object" 11 "Child Close to Danger Zone" 10 "Pedestrian Moving Out of Danger Zone" 9 "Pedestrian Moving Into Danger Zone" 8 "Pedestrian Standing Outside Danger Zone" 7 "No Object Present" 6 "Fixed Roadside Object" 5 "Fixed Overhead Object" 4 "Pedestrian" 3 "Motorcycle/ Bicycle" 2 "Large Vehicle (Semi)" 1 "4 Wheel Vehicle (Car)" 0 "Unknown" ; +VAL_TABLE_ GFHBFVsnObjTypTrkRev5 12 "Cluster Object" 11 "Child Close to Danger Zone" 10 "Pedestrian Moving Out of Danger Zone" 9 "Pedestrian Moving Into Danger Zone" 8 "Pedestrian Standing Outside Danger Zone" 7 "No Object Present" 6 "Fixed Roadside Object" 5 "Fixed Overhead Object" 4 "Pedestrian" 3 "Motorcycle/ Bicycle" 2 "Large Vehicle (Semi)" 1 "4 Wheel Vehicle (Car)" 0 "Unknown" ; +VAL_TABLE_ GFHBFVsnObjTypTrkRev4 12 "Cluster Object" 11 "Child Close to Danger Zone" 10 "Pedestrian Moving Out of Danger Zone" 9 "Pedestrian Moving Into Danger Zone" 8 "Pedestrian Standing Outside Danger Zone" 7 "No Object Present" 6 "Fixed Roadside Object" 5 "Fixed Overhead Object" 4 "Pedestrian" 3 "Motorcycle/ Bicycle" 2 "Large Vehicle (Semi)" 1 "4 Wheel Vehicle (Car)" 0 "Unknown" ; +VAL_TABLE_ GFHBFVsnObjTypTrkRev3 12 "Cluster Object" 11 "Child Close to Danger Zone" 10 "Pedestrian Moving Out of Danger Zone" 9 "Pedestrian Moving Into Danger Zone" 8 "Pedestrian Standing Outside Danger Zone" 7 "No Object Present" 6 "Fixed Roadside Object" 5 "Fixed Overhead Object" 4 "Pedestrian" 3 "Motorcycle/ Bicycle" 2 "Large Vehicle (Semi)" 1 "4 Wheel Vehicle (Car)" 0 "Unknown" ; +VAL_TABLE_ GFHBFVsnObjTypTrkRev2 12 "Cluster Object" 11 "Child Close to Danger Zone" 10 "Pedestrian Moving Out of Danger Zone" 9 "Pedestrian Moving Into Danger Zone" 8 "Pedestrian Standing Outside Danger Zone" 7 "No Object Present" 6 "Fixed Roadside Object" 5 "Fixed Overhead Object" 4 "Pedestrian" 3 "Motorcycle/ Bicycle" 2 "Large Vehicle (Semi)" 1 "4 Wheel Vehicle (Car)" 0 "Unknown" ; +VAL_TABLE_ GFHBFVsnObjTypTrkRev1 12 "Cluster Object" 11 "Child Close to Danger Zone" 10 "Pedestrian Moving Out of Danger Zone" 9 "Pedestrian Moving Into Danger Zone" 8 "Pedestrian Standing Outside Danger Zone" 7 "No Object Present" 6 "Fixed Roadside Object" 5 "Fixed Overhead Object" 4 "Pedestrian" 3 "Motorcycle/ Bicycle" 2 "Large Vehicle (Semi)" 1 "4 Wheel Vehicle (Car" 0 "Unknown" ; +VAL_TABLE_ CRL_Cnfdnc 7 "Reserved4" 6 "Reserved3" 5 "Reserved2" 4 "Reserved1" 3 "Best" 2 "Marking Present" 1 "Weak Marking" 0 "No Lane" ; +VAL_TABLE_ CLL_Cnfdnc 7 "Reserved4" 6 "Reserved3" 5 "Reserved2" 4 "Reserved1" 3 "Best" 2 "Marking Present" 1 "Weak Marking" 0 "No Lane" ; +VAL_TABLE_ VBBrkCtrlSt 4 "Release Control" 3 "Hold Vehicle" 2 "Apply Brake" 1 "Decrease Torque" 0 "No Action" ; +VAL_TABLE_ ObstacleType 6 "NO_OBJECT" 5 "OBJ_GUARDRAIL" 4 "OBJ_TUNNEL " 3 "OBJ_TRAFFIC_SIGN" 2 "OBJ_VEHICLE" 1 "OBJ_BRIDGE " 0 "OBJ_UNKNOWN" ; +VAL_TABLE_ VpathMode 2 "Mid Hi Speed" 1 "Low Speed" 0 "Disabled" ; +VAL_TABLE_ LaneChngStatus 2 "Lane Change Right" 1 "Lane Change Left" 0 "Idle" ; +VAL_TABLE_ TravelDirection 3 "Other (excessive side slip)" 2 "reverse / stopped in rvrs gear" 1 "Forward / stopped in frwd gear" 0 "Unknown" ; +VAL_TABLE_ TrueOrFalse 1 "true" 0 "false" ; +VAL_TABLE_ ModeCommand 5 "Sensing with Reduced Power" 4 "Undefined" 3 "Radio Silent" 2 "Sensing" 1 "Not Sensing" 0 "Undefined" ; +VAL_TABLE_ LaneSnsLLnPosValid 1 "Invalid" 0 "Valid" ; +VAL_TABLE_ LnSnsRLnPosValid 1 "Invalid" 0 "Valid" ; +VAL_TABLE_ Elevation 3 "Low " 2 "mid (reserved)" 1 "high " 0 "Unknown" ; +VAL_TABLE_ ModeCommandFdbk 5 "Sensing with reduced power" 4 "Undefined" 3 "Radio Silent" 2 "Sensing" 1 "Not Sensing" 0 "Undefined" ; +VAL_TABLE_ relativeLane 3 "Left Lane" 2 "Right Lane" 1 "Host Lane" 0 "Unknown" ; +VAL_TABLE_ RoadTypeInfo 5 "Constiction Zone Exit" 4 "Construction Zone Entry" 3 "Highway" 2 "Secondary Road" 1 "City" 0 "Unknown" ; +VAL_TABLE_ ObjectLossInfo 2 "elevation conditions" 1 "tight curve" 0 "not lost" ; +VAL_TABLE_ MeasurementStatus 3 "Measured this cycle" 2 "Latent track not detctd this cyc" 1 "New Object" 0 "No Object" ; +VAL_TABLE_ ObjectType 7 "no object present" 6 "fixed roadside object" 5 "fixed overhead object" 4 "pedestrian" 3 "motocycle / bicycle" 2 "Large vehicle (semi)" 1 "4 Wheel Vehicle (car, small trk)" 0 "Unknown" ; +VAL_TABLE_ Confidence 3 "confident" 2 "speculative" 1 "highly speculative" 0 "invalid" ; +VAL_TABLE_ DynamicProp 4 "Moving in opposite direction" 3 "Moving in same direction as host" 2 "Has moved but currently stopped" 1 "Has never moved" 0 "Unknown" ; +VAL_TABLE_ DrvWndPosSt 6 "Fully Opened" 5 "Open More Than C" 4 "Position C" 3 "Position B" 2 "Position A" 1 "Open Less Than A" 0 "Fully Closed" ; +VAL_TABLE_ VehMovSta 4 "Invalid" 3 "Reverse" 2 "Forward" 1 "Neutral" 0 "Parked" ; +VAL_TABLE_ OtsdAmbtLtLvlStat 2 "Day" 1 "Night" 0 "Unknown" ; +VAL_TABLE_ RtTrnLmpAtv 2 "On with telltale" 1 "On without telltale" 0 "Off" ; +VAL_TABLE_ LftTrnLmpAtv 2 "On with telltale" 1 "On without telltale" 0 "Off" ; +VAL_TABLE_ HdlmpBmSelectStat 2 "High Beams" 1 "Low Beams" 0 "Unknown" ; +VAL_TABLE_ DTCI_DTCFaultType 3 "Type C" 2 "Type B" 1 "Type A" 0 "Not Supported" ; +VAL_TABLE_ TrnsShftLvrPos 13 "Forward Range J" 12 "Forward Range I" 15 "Lever Position Unknown" 11 "Forward Range H" 10 "Forward Range G" 9 "Forward Range F" 8 "Forward Range E" 7 "Forward Range D" 6 "Forward Range C" 5 "Forward Range B" 4 "Forward Range A" 3 "Neutral Range" 2 "Reverse Range" 1 "Park Range" 0 "Between Ranges" ; +VAL_TABLE_ SysPwrMd 3 "Crank Request" 2 "Run" 1 "Accessory" 0 "Off" ; +VAL_TABLE_ ValidityStates 1 "Invalid" 0 "Valid" ; + + +BO_ 1548 ADAS_Profile_Short2_FO: 8 AMM_FO + SG_ AdvDrvAstMpPrfShrt2Val1 : 1|10@0+ (1,0) [0|1023] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrvAstMpPrfShrt2Val0 : 33|10@0+ (1,0) [0|1023] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrvAstMpPrfShrt2Updt : 39|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrvAstMpPrfShrt2RTrns : 3|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrvAstMpPrfShrt2Typ : 38|5@0+ (1,0) [0|31] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrvAstMpPrfShrt2PthIdx : 23|6@0+ (1,0) [0|63] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrvAstMpPrfShrt2Ofst : 52|13@0+ (1,0) [0|8191] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrvAstMpPrfShrt2MsgTp : 55|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrvAstMpPrfShrt2Dist1 : 17|10@0+ (1,0) [0|1023] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrvAstMpPrfShrt2CycCnt : 7|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrvAstMpPrfShrt2CtlPt : 2|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrvAstMpPrfShrt2Acur : 5|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + +BO_ 1547 ADAS_Profile_Long2_FO: 8 AMM_FO + SG_ AdvDrAstMpProfLng2Val : 39|32@0+ (1,0) [0|4294967295] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrAstMpPrfLng2Updt : 7|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrAstMpPrfLng2RTrns : 6|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrAstMpPrfLng2PrfTyp : 4|5@0+ (1,0) [0|31] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrAstMpPrfLng2PthIdx : 13|6@0+ (1,0) [0|63] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrAstMpPrfLng2Ofst : 20|13@0+ (1,0) [0|8191] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrAstMpPrfLng2MgTyp : 23|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrAstMpPrfLng2CycCt : 15|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrAstMpPrfLng2CtrlPt : 5|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + +BO_ 1630 USDT_Resp_From_EOCM2B_K2_FO: 8 EOCM2B_K2_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1374 UUDT_Resp_From_EOCM2B_K2_FO: 8 EOCM2B_K2_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 606 USDT_Req_to_EOCM2B_K2_FO: 8 TestTool_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" EOCM2B_K2_FO + +BO_ 328 Vehicle_Info_FO: 5 EOCM2A_K1_FO + SG_ StrWhAngGrd : 27|12@0- (1,0) [-2048|2047] "deg/sec" DMS_FO + SG_ TrnsShftLvrPos : 31|4@0+ (1,0) [0|15] "" DMS_FO + SG_ StrWhAng_148 : 15|16@0- (0.0625,0) [-2048|2047.9375] "deg" DMS_FO + SG_ TrnsShftLvrPosV : 3|1@0+ (1,0) [0|1] "" DMS_FO + SG_ StrWhAngV_148 : 4|1@0+ (1,0) [0|1] "" DMS_FO + SG_ StrWhAngMsk_148 : 5|1@0+ (1,0) [0|1] "" DMS_FO + SG_ StrWhAngGrdV : 6|1@0+ (1,0) [0|1] "" DMS_FO + SG_ StrWhAngGrdMsk : 7|1@0+ (1,0) [0|1] "" DMS_FO + +BO_ 1930 DTC_Triggered_78A_FO: 7 LRSRR_FO + SG_ DTCI_CodeSupported_78A : 40|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_CurrentStatus_78A : 41|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_DTCFailType_78A : 39|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCFaultType_78A : 55|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCNumber_78A : 23|16@0+ (1,0) [0|65535] "" TestTool_FO + SG_ DTCI_DTCSource_78A : 15|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCTriggered_78A : 0|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_HistStat_78A : 44|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldCdClrdStat_78A : 43|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldPwrUpSt_78A : 46|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdCdClrdSt_78A : 42|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdPwrUpSt_78A : 45|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused1_78A : 7|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused2_78A : 6|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused3_78A : 5|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused4_78A : 4|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused5_78A : 3|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused6_78A : 2|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused7_78A : 1|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_WrnIndRqdSt_78A : 47|1@0+ (1,0) [0|1] "" TestTool_FO + +BO_ 1624 USDT_Resp_From_LRSRR: 8 LRSRR_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1368 UUDT_Resp_From_LRSRR: 8 LRSRR_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 600 USDT_Req_to_LRSRR: 8 TestTool_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" LRSRR_FO + +BO_ 613 PPS_QualMetrics_FO: 8 EOCM2A_K1_FO + SG_ PPSPstnDilPrcs : 47|10@0+ (0.1,0) [0|102.3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSMd : 53|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPS3DAbsPosErrEstmt : 9|10@0+ (0.1,0) [0|102.3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSAbsHdngErrEstmt : 0|7@0+ (0.5,0) [0|63.5] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSAbsVelErrEstmt : 30|5@0+ (1,0) [0|31] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSPosQltyMtrcsChksm : 50|11@0+ (1,0) [0|2047] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPS2DAbsPosErrEstmt : 25|10@0+ (0.1,0) [0|102.3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSPosQltyMtcBrstID : 2|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPS2DAbsPosErrEstmtV : 5|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPS3DAbsPosErrEstmtV : 4|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSAbsHdngErrEstmtV : 3|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSAbsVelErrEstmtV : 31|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSMdV : 7|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSPstnDilPrcsV : 6|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + +BO_ 612 PPS_Time_FO: 8 EOCM2A_K1_FO + SG_ PPSTmdayV : 2|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSCldrDayV : 0|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSCldrDay : 8|9@0+ (1,0) [0|511] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSTmBrstID : 52|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSTmday : 31|27@0+ (1,0) [0|134217727] "ms" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSTmChksm : 50|11@0+ (1,0) [0|2047] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSCldrYrV : 1|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSCldrYr : 15|7@0+ (1,2014) [2014|2141] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + +BO_ 611 PPS_SigAcqTime_FO: 6 EOCM2A_K1_FO + SG_ PPSSigAqTmBrstID : 38|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSSigAcqTmV : 39|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSSigAcqTm : 7|32@0+ (1,0) [0|4294967295] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSSigAqTmChksm : 34|11@0+ (1,0) [0|2047] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + +BO_ 610 PPS_PosLong_FO: 6 EOCM2A_K1_FO + SG_ PPSLongBrstID : 39|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSLong : 6|31@0- (1,0) [-1073741824|1073741823] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSLongV : 7|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSLongChksm : 34|11@0+ (1,0) [0|2047] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + +BO_ 609 PPS_PosLat_FO: 6 EOCM2A_K1_FO + SG_ PPSLatV : 7|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSLatChksm : 34|11@0+ (1,0) [0|2047] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSLatBrstID : 36|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSLat : 5|30@0- (1,0) [-536870912|536870911] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + +BO_ 1160 PassPhrase_3_AMM_FO: 8 EOCM2A_K1_FO + SG_ WiFiPssPhrsDgts17to24_Mp : 7|64@0+ (1,0) [0|0] "" EOCM2B_K1_FO,AMM_FO + +BO_ 1159 PassPhrase_2_AMM_FO: 8 EOCM2A_K1_FO + SG_ WiFiPssPhrsDgts9to16_Mp : 7|64@0+ (1,0) [0|0] "" EOCM2B_K1_FO,AMM_FO + +BO_ 1158 PassPhrase_1_AMM_FO: 8 EOCM2A_K1_FO + SG_ WiFiPssPhrsDgts1to8_Mp : 7|64@0+ (1,0) [0|0] "" EOCM2B_K1_FO,AMM_FO + +BO_ 1546 ADAS_Protection_FO: 4 AMM_FO + SG_ AdvDrAstMpPrfLng2Avbl : 11|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrAstMpPosAvbl : 15|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrvAstMpHwFlt : 7|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpMtdtAvbl : 8|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrAstMpProtChksm : 23|16@0+ (1,0) [0|65535] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrAstMpProtRTrns : 0|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpProtCycCtMsg : 2|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpStbAvbl : 9|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrAstMpSegAvbl : 10|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrAstMpPrfShrtAvbl : 14|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrAstMpPrfShrt2Avbl : 13|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrAstMpPrfLngAvbl : 12|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrvAstMpInpSigFld : 6|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + +BO_ 1545 ADAS_Metadata_FO: 8 AMM_FO + SG_ AdvDrAstMpMtdtVerYrQtr : 60|2@0+ (1,1) [1|4] "Qtr" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpMtdtVerYr : 53|6@0+ (1,2000) [2000|2063] "Year" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpMtdtSpdUnt : 39|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpMtdtPrvdr : 7|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpMtdtMsgTyp : 58|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpMtdtMnrPrtVr : 23|4@0+ (1,0) [0|15] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpMtdtCycCnt : 18|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpMtdtRgnCd : 38|15@0+ (1,0) [0|32767] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpMtdtHwVer : 16|9@0+ (1,0) [0|511] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpMtdtMnrPrtSbVr : 4|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpMtdtMjrPrtVr : 55|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpMtdtDrvSd : 19|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpMtdtCntryCd : 1|10@0+ (1,0) [0|1023] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + +BO_ 1543 ADAS_Profile_Long_FO: 8 AMM_FO + SG_ AdvDrAstMpPrfLngUpdt : 7|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpPrfLngRTrns : 6|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpPrfLngCtlPt : 5|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpPrfLngTyp : 4|5@0+ (1,0) [0|31] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpPrfLngCycCt : 15|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpPrfLngPthIdx : 13|6@0+ (1,0) [0|63] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpPrfLngMsgTp : 23|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpPrfLngOfst : 20|13@0+ (1,0) [0|8191] "m" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpPrfLngVal : 39|32@0+ (1,0) [0|4294967295] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + +BO_ 1544 ADAS_Profile_Short_FO: 8 AMM_FO + SG_ AdvDrvAstMpPrfShrtVal1 : 1|10@0+ (1,0) [0|1023] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrvAstMpPrfShrtVal0 : 33|10@0+ (1,0) [0|1023] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrvAstMpPrfShrtDist1 : 17|10@0+ (1,0) [0|1023] "m" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrvAstMpPrfShrtCycCnt : 7|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrvAstMpPrfShrtAcur : 5|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrvAstMpPrfShrtCtlPt : 2|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrvAstMpPrfShrtRetr : 3|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrvAstMpPrfShrtTyp : 38|5@0+ (1,0) [0|31] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrvAstMpPrfShrtUpdt : 39|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrvAstMpPrfShrtPthIdx : 23|6@0+ (1,0) [0|63] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrvAstMpPrfShrtMsgTp : 55|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrvAstMpPrfShrtOfst : 52|13@0+ (1,0) [0|8191] "m" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + +BO_ 1542 ADAS_Stub_FO: 8 AMM_FO + SG_ AdvDrAstMpStbSubPthIdx : 63|6@0+ (1,0) [0|63] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpStbUpdt : 55|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpStbPrtCalRut : 57|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpStbNmLnDrvDir : 54|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpStbCycCnt : 51|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpStbCmplxInsct : 49|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpStbTrnAngl : 47|8@0+ (1.417,0) [0|361.335] "deg" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpStbRtOfWay : 38|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpStbRelProb : 36|5@0+ (3.333,0) [0|103.323] "%" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpStbRetr : 39|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpStbNmLnOppDir : 31|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpStbPathIdx : 29|6@0+ (1,0) [0|63] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpStbLstStbOfst : 23|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpStbMsgTyp : 22|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpStbFmOfWay : 19|4@0+ (1,0) [0|15] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpStbFuncRdCls : 7|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpStbOfst : 4|13@0+ (1,0) [0|8191] "m" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + +BO_ 1541 ADAS_Segment_FO: 8 AMM_FO + SG_ AdvDrAstMpSegRelProb : 12|5@0+ (3.333,0) [0|103.323] "%" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpSegUpdt : 0|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpSegTunl : 25|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpSegCycCnt : 39|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpSegCmplxInsct : 37|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpSegBldUpAra : 43|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpSegBrdg : 41|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpSegRTrns : 1|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpSegDivdRd : 31|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpSegPthIdx : 7|6@0+ (1,0) [0|63] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpSegPrtCalRut : 27|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpSegNmLnOppDir : 29|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpSegNmLnDrvDir : 55|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpSegMsgTyp : 46|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpSegFunRdCls : 23|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpSegFrmOfWay : 35|4@0+ (1,0) [0|15] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpSegEffSpdLmt : 20|5@0+ (1,0) [0|31] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpSegEffSdLmtTp : 15|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpSegOffset : 52|13@0+ (1,0) [0|8191] "m" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + +BO_ 608 PPS_ElevHdSpd_FO: 8 EOCM2A_K1_FO + SG_ PPSVel : 31|8@0+ (1,0) [0|255] "km / h" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSVelV : 3|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSElvHedngSpdBrstID : 5|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSElvHdengSpdChksm : 50|11@0+ (1,0) [0|2047] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSHedngV : 6|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSHedng : 2|19@0+ (0.001,0) [0|524.287] "deg" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSElvtnV : 7|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSElvtn : 39|21@0+ (1,-100000) [-100000|1997151] "cm" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + +BO_ 1168 WiFi_Station_AMM_FO: 5 AMM_FO + SG_ WSMR_WiFiStnMpMACAddr : 15|32@0+ (1,0) [0|4294967295] "" EOCM2B_K1_FO,EOCM2A_K1_FO + SG_ WSMR_WiFiAssnReq : 1|2@0+ (1,0) [0|3] "" EOCM2B_K1_FO,EOCM2A_K1_FO + +BO_ 1161 WiFi_AP_Data_AMM_FO: 2 EOCM2A_K1_FO + SG_ WAPDM_SecurityType : 15|4@0+ (1,0) [0|15] "" EOCM2B_K1_FO,AMM_FO + SG_ WAPDM_WiFiEnStat : 0|1@0+ (1,0) [0|1] "" EOCM2B_K1_FO,AMM_FO + SG_ WAPDM_EncrptnType : 11|4@0+ (1,0) [0|15] "" EOCM2B_K1_FO,AMM_FO + +BO_ 1157 SSID_AMM_3_FO: 8 EOCM2A_K1_FO + SG_ WiFiSSIDDgts17to24_Mp : 7|64@0+ (1,0) [0|0] "" EOCM2B_K1_FO,AMM_FO + +BO_ 326 DMS_Eye_AOI_Info_FO: 6 DMS_FO + SG_ DrvrMontSysInit : 1|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrMontSysAvlbl : 3|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrMontMdlDatFlshProgrs : 2|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrMonEngRecvrFltCodARC : 36|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrAttnStatChksm : 34|11@0+ (1,0) [0|2047] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrAttnStat : 39|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrAttnStatPrd : 22|15@0+ (0.025,0) [0|819.175] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrMonEngRecvrFltCodV : 23|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrMonEngUnrecvrFltCod : 10|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrMonEngUnrecvrFltCodV : 11|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrAttnStatCnfdc : 13|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrMonEngRecvrFltCod : 15|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrAttnStatV : 0|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + +BO_ 324 DMS_RawMeasurement_Info2_FO: 8 DMS_FO + SG_ DrvrMonFrmNum : 47|8@0+ (1,0) [0|255] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrMntrSysVTP : 29|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrMonSysEngStV : 2|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrMonSysEngSt : 28|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrMonFrmNumV : 3|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrHeadRotAngZV : 4|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrHeadRotAngYV : 5|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrHeadRotAngXV : 6|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrHeadRotAngARC : 52|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrMonLatV : 7|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrMonLat : 50|11@0+ (0.001,0) [0|2.047] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvHeadRotAngZ : 25|10@0- (0.00625,0) [-3.2|3.19375] "rad" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ DrvHeadRotAngY : 23|10@0- (0.00625,0) [-3.2|3.19375] "rad" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ DrvrHeadRotAngX : 1|10@0- (0.00625,0) [-3.2|3.19375] "rad" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + +BO_ 322 DMS_RawMeasurement_Info1_FO: 8 DMS_FO + SG_ DrvrEyeClosrRt : 47|8@0+ (0.005,0) [0|1.275] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrEyeClosrLft : 39|8@0+ (0.005,0) [0|1.275] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvHeadPosZV : 3|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvHeadPosYV : 4|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvHeadPosXV : 5|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrEyeClosrRtV : 6|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrEyeClosrLftV : 7|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrEyeClosrARC : 52|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvHeadPosZ : 50|11@0- (0.005,0) [-5.12|5.115] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ DrvHeadPosY : 18|11@0- (0.005,0) [-5.12|5.115] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ DrvHeadPosX : 2|11@0- (0.005,0) [-5.12|5.115] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + +BO_ 320 Inertial2_Rates_FO: 8 _DOFIMU2_FO + SG_ MstrTgrSyncInrtl2Rte : 55|5@0+ (1,0) [0|31] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ Inertial2YawRteV : 5|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ Inertial2YawRte : 36|13@0- (0.024,0) [-98.304|98.28] "deg/s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ Inertial2RollRteV : 6|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ Inertial2RollRte : 20|13@0- (0.024,0) [-98.304|98.28] "deg/s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ Inertial2RteChksum : 50|11@0+ (1,0) [0|2047] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ Inertial2PitchRteV : 7|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ Inertial2PitchRte : 4|13@0- (0.024,0) [-98.304|98.28] "deg/s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + +BO_ 308 Inertial1_Rates_FO: 8 _DOFIMU1_FO + SG_ MstrTrgrSyncInrtl1Rte : 55|5@0+ (1,0) [0|31] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ Inertial1YawRteV : 5|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ Inertial1YawRte : 36|13@0- (0.024,0) [-98.304|98.28] "deg/s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ Inertial1RollRteV : 6|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ Inertial1RollRte : 20|13@0- (0.024,0) [-98.304|98.28] "deg/s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ Inertial1RteChksum : 50|11@0+ (1,0) [0|2047] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ Inertial1PitchRteV : 7|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ Inertial1PitchRte : 4|13@0- (0.024,0) [-98.304|98.28] "deg/s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + +BO_ 312 Inertial2_Accel2_FO: 8 _DOFIMU2_FO + SG_ MstrTrigSyncInrtl22 : 55|5@0+ (1,0) [0|31] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ InrtlSns2AccFrm2Chksm : 50|11@0+ (1,0) [0|2047] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ InrtlSnsr2YawAccV : 5|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ InrtlSnsr2YawAcc : 36|13@0- (0.024,0) [-98.304|98.28] "deg/s^2" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ InrtlSnsr2RollAccV : 6|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ InrtlSnsr2RollAcc : 20|13@0- (0.024,0) [-98.304|98.28] "deg/s^2" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ InrtlSnsr2PtchAccV : 7|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ InrtlSnsr2PtchAcc : 4|13@0- (0.024,0) [-98.304|98.28] "deg/s^2" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + +BO_ 306 Inertial1_Accel2_FO: 8 _DOFIMU1_FO + SG_ MstrTrigSyncInrtl12 : 55|5@0+ (1,0) [0|31] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ InrtlSnsr1AccelFrm2Chksm : 50|11@0+ (1,0) [0|2047] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ InrtlSnsr1YawAccV : 5|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ InrtlSnsr1YawAcc : 36|13@0- (0.024,0) [-98.304|98.28] "deg/s^2" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ InrtlSnsr1RollAccV : 6|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ InrtlSnsr1RollAcc : 20|13@0- (0.024,0) [-98.304|98.28] "deg/s^2" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ InrtlSnsr1PtchAccV : 7|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ InrtlSnsr1PtchAcc : 4|13@0- (0.024,0) [-98.304|98.28] "deg/s^2" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + +BO_ 310 Inertial2_Accel1_FO: 8 _DOFIMU2_FO + SG_ MstrTrigSyncInrtl21 : 7|5@0+ (1,0) [0|31] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ Inertial2VertAccV : 34|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ Inertial2VertAcc : 33|10@0- (0.0625,0) [-32|31.9375] "m/s^2" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ Inertial2LonAccV : 2|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ Inertial2LonAcc : 1|10@0- (0.0625,0) [-32|31.9375] "m/s^2" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ Inertial2LatAccV : 18|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ Inertial2LatAcc : 17|10@0- (0.0625,0) [-32|31.9375] "m/s^2" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ IntlSnsr2AcelFm1Chksm : 50|11@0+ (1,0) [0|2047] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + +BO_ 304 Inertial1_Accel1_FO: 8 _DOFIMU1_FO + SG_ MstrTrigSyncInrtl11 : 7|5@0+ (1,0) [0|31] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ InrtlSnsr1VertAccV : 34|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ InrtlSnsr1VertAcc : 33|10@0- (0.0625,0) [-32|31.9375] "m/s^2" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ InrtlSnsr1LonAccV : 2|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ InrtlSnsr1LonAcc : 1|10@0- (0.0625,0) [-32|31.9375] "m/s^2" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ InrtlSnsr1LatAccV : 18|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ InrtlSnsr1LatAcc : 17|10@0- (0.0625,0) [-32|31.9375] "m/s^2" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ IntlSnsr1AcelFm1Chksm : 50|11@0+ (1,0) [0|2047] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + +BO_ 356 Map_Pos_Correction_FO: 4 EOCM2A_K1_FO + SG_ LongErrPstn : 7|8@0- (0.5,0) [-64|63.5] "m" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ LatErrPstn : 15|8@0- (0.5,0) [-64|63.5] "m" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ PstnErrChcksm : 18|11@0+ (1,0) [0|2047] "" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ PstnErrARC : 20|2@0+ (1,0) [0|3] "" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + +BO_ 354 Map_Retrans_Request_FO: 1 EOCM2A_K1_FO + SG_ HrznPrvdRstRq : 2|1@0+ (1,0) [0|1] "" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ ADASISRwDtMplxdCycCnt : 7|2@0+ (1,0) [0|3] "" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ ADASISMsgTypRetrans : 5|3@0+ (1,0) [0|7] "" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + +BO_ 352 Map_Path_Correction_FO: 6 EOCM2A_K1_FO + SG_ ExptNxtTrnstnDir : 37|3@0+ (1,0) [0|7] "" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ MstProbLnV : 15|1@0+ (1,0) [0|1] "" AMM_FO + SG_ MstProbLn : 14|5@0+ (1,0) [0|31] "" AMM_FO + SG_ PathCrtnChcksm : 34|11@0+ (1,0) [0|2047] "" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ PathCrtnARC : 4|2@0+ (1,0) [0|3] "" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ EgoLnCurvV : 2|1@0+ (1,0) [0|1] "" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ EgoLnCurv : 23|16@0- (9.53E-007,0) [-0.031227904|0.031226951] "1/m^2" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ VehLnStatV : 1|1@0+ (1,0) [0|1] "" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ VehLnStatConf : 6|2@0+ (1,0) [0|3] "" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ VehLnStat : 9|2@0+ (1,0) [0|3] "" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ ExptNxtTransDirV : 0|1@0+ (1,0) [0|1] "" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ ExptNxtTrnstnDirConf : 39|2@0+ (1,0) [0|3] "" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + +BO_ 264 Inertial_Trigger_FO: 1 EOCM2A_K1_FO + SG_ InrtlSnsrMstrTrgrSync : 7|5@0+ (1,0) [0|31] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,_DOFIMU2_FO,_DOFIMU1_FO + +BO_ 1156 SSID_AMM_2_FO: 8 EOCM2A_K1_FO + SG_ WiFiSSIDDgts9to16_Mp : 7|64@0+ (1,0) [0|0] "" EOCM2B_K1_FO,AMM_FO + +BO_ 1155 SSID_AMM_1_FO: 8 EOCM2A_K1_FO + SG_ WiFiSSIDDgts1to8_Mp : 7|64@0+ (1,0) [0|0] "" EOCM2B_K1_FO,AMM_FO + +BO_ 1927 DTC_Triggered_787_FO: 7 DMS_FO + SG_ DTCI_CodeSupported_787 : 40|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_CurrentStatus_787 : 41|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_DTCFailType_787 : 39|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCFaultType_787 : 55|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCNumber_787 : 23|16@0+ (1,0) [0|65535] "" TestTool_FO + SG_ DTCI_DTCSource_787 : 15|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCTriggered_787 : 0|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_HistStat_787 : 44|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldCdClrdStat_787 : 43|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldPwrUpSt_787 : 46|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdCdClrdSt_787 : 42|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdPwrUpSt_787 : 45|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused1_787 : 7|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused2_787 : 6|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused3_787 : 5|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused4_787 : 4|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused5_787 : 3|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused6_787 : 2|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused7_787 : 1|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_WrnIndRqdSt_787 : 47|1@0+ (1,0) [0|1] "" TestTool_FO + +BO_ 1926 DTC_Triggered_786_FO: 7 AMM_FO + SG_ DTCI_CodeSupported_786 : 40|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_CurrentStatus_786 : 41|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_DTCFailType_786 : 39|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCFaultType_786 : 55|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCNumber_786 : 23|16@0+ (1,0) [0|65535] "" TestTool_FO + SG_ DTCI_DTCSource_786 : 15|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCTriggered_786 : 0|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_HistStat_786 : 44|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldCdClrdStat_786 : 43|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldPwrUpSt_786 : 46|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdCdClrdSt_786 : 42|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdPwrUpSt_786 : 45|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused1_786 : 7|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused2_786 : 6|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused3_786 : 5|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused4_786 : 4|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused5_786 : 3|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused6_786 : 2|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused7_786 : 1|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_WrnIndRqdSt_786 : 47|1@0+ (1,0) [0|1] "" TestTool_FO + +BO_ 1928 DTC_Triggered_788_FO: 7 _DOFIMU1_FO + SG_ DTCI_CodeSupported_788 : 40|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_CurrentStatus_788 : 41|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_DTCFailType_788 : 39|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCFaultType_788 : 55|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCNumber_788 : 23|16@0+ (1,0) [0|65535] "" TestTool_FO + SG_ DTCI_DTCSource_788 : 15|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCTriggered_788 : 0|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_HistStat_788 : 44|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldCdClrdStat_788 : 42|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldPwrUpSt_788 : 46|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdCdClrdSt_788 : 43|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdPwrUpSt_788 : 45|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused1_788 : 7|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused2_788 : 6|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused3_788 : 5|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused4_788 : 4|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused5_788 : 3|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused6_788 : 2|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused7_788 : 1|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_WrnIndRqdSt_788 : 47|1@0+ (1,0) [0|1] "" TestTool_FO + +BO_ 1929 DTC_Triggered_789_FO: 7 _DOFIMU2_FO + SG_ DTCI_CodeSupported_789 : 40|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_CurrentStatus_789 : 41|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_DTCFailType_789 : 39|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCFaultType_789 : 55|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCNumber_789 : 23|16@0+ (1,0) [0|65535] "" TestTool_FO + SG_ DTCI_DTCSource_789 : 15|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCTriggered_789 : 0|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_HistStat_789 : 44|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldCdClrdStat_789 : 43|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldPwrUpSt_789 : 46|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdCdClrdSt_789 : 42|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdPwrUpSt_789 : 45|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused1_789 : 7|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused2_789 : 6|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused3_789 : 5|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused4_789 : 4|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused5_789 : 3|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused6_789 : 2|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused7_789 : 1|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_WrnIndRqdSt_789 : 47|1@0+ (1,0) [0|1] "" TestTool_FO + +BO_ 1352 UUDT_Resp_From_6DOFIMU2_FO: 8 _DOFIMU2_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 588 USDT_Req_to_EOCM2B_K1_FO: 8 TestTool_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" EOCM2B_K1_FO + +BO_ 1356 UUDT_Resp_From_EOCM2B_K1_FO: 8 EOCM2B_K1_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1612 USDT_Resp_From_EOCM2B_K1_FO: 8 EOCM2B_K1_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1616 USDT_Resp_From_EOCM2A_IMX6_FO: 8 EOCM2A_IMX6_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1360 UUDT_Resp_From_EOCM2A_IMX6_FO: 8 EOCM2A_IMX6_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 592 USDT_Req_to_EOCM2A_IMX6_FO: 8 TestTool_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" EOCM2A_IMX6_FO + +BO_ 1610 USDT_Resp_From_EOCM2A_K1_FO: 8 EOCM2A_K1_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1354 UUDT_Resp_From_EOCM2A_K1_FO: 8 EOCM2A_K1_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 586 USDT_Req_to_EOCM2A_K1_FO: 8 TestTool_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" EOCM2A_K1_FO + +BO_ 1925 DTC_Triggered_785_FO: 7 NVS_FO + SG_ DTCI_CodeSupported_785 : 40|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_CurrentStatus_785 : 41|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_DTCFailType_785 : 39|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCFaultType_785 : 55|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCNumber_785 : 23|16@0+ (1,0) [0|65535] "" TestTool_FO + SG_ DTCI_DTCSource_785 : 15|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCTriggered_785 : 0|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_HistStat_785 : 44|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldCdClrdStat_785 : 43|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldPwrUpSt_785 : 46|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdCdClrdSt_785 : 42|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdPwrUpSt_785 : 45|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused1_785 : 7|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused2_785 : 6|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused3_785 : 5|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused4_785 : 4|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused5_785 : 3|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused6_785 : 2|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused7_785 : 1|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_WrnIndRqdSt_785 : 47|1@0+ (1,0) [0|1] "" TestTool_FO + +BO_ 1859 VIN_Digits_10_to_17_FO: 8 EOCM_F_FO + SG_ VehIdNmDig10_17 : 7|64@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,NVS_FO + +BO_ 1857 VIN_Digits_2_to_9_FO: 8 EOCM_F_FO + SG_ VehIdNmDig2_9 : 7|64@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,NVS_FO + +BO_ 771 Outside_Air_Temperature_FO: 2 EOCM_F_FO + SG_ OtsAirTmpCrValV : 0|1@0+ (1,0) [0|1] "" NVS_FO + SG_ OtsAirTmpCrVal : 15|8@0+ (0.5,-40) [-40|87.5] "deg C" NVS_FO + +BO_ 777 Night_Vision_System_Ped_FO: 1 NVS_FO + SG_ NVSysStat : 3|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ NVSysPedWrnIndReq : 7|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ NVSysPedDetCsCrStVal : 5|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ NVSysPedDetCstStAvl : 0|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + +BO_ 607 USDT_Req_to_NVS_FO: 8 TestTool_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" NVS_FO + +BO_ 1631 USDT_Resp_From_NVS_FO: 8 NVS_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1375 UUDT_Resp_From_NVS_FO: 8 NVS_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1540 ADAS_Position_FO: 8 AMM_FO + SG_ AdvDrAstMpLatOffst : 40|9@0+ (1,-256) [-256|255] "m" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpPstnIndx : 63|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpPstnCnf : 61|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpPsnIdxCrLn : 58|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpPstnPthIndx : 46|6@0+ (1,0) [0|63] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpPstnProb : 31|5@0+ (3.333,0) [0|103.323] "%" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpPstnCycCnt : 26|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpPstnAge : 24|9@0+ (5,0) [0|2555] "ms" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpPstnRelHd : 23|8@0+ (1.417,0) [0|361.335] "deg" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpPstnMsgTyp : 7|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpPstnOfst : 4|13@0+ (1,0) [0|8191] "m" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + +BO_ 1608 USDT_Resp_From_6DOFIMU2_FO: 8 _DOFIMU2_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 871 LGT_ObjectDetect_Info_8_FO: 8 VIS2_FO + SG_ GFHBFwVsnWidthTrk8 : 62|7@0+ (0.1,0) [0|12.7] "deg" EOCM_F_FO + SG_ GFHBFwVsnVertPosTrk8 : 53|6@0+ (0.25,-3) [-3|12.75] "deg" EOCM_F_FO + SG_ GFHBFwVsnRelLaneTrk8 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBFwVsnAzmthRtTrk8 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ GFHBFwVsnCnfdncTrk8 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBFwVsnRngTrkRev8 : 16|12@0+ (0.2,0) [0|819] "m" EOCM_F_FO + SG_ GFHBFwVsnAzmthTrkRev8 : 10|10@0- (0.05,0) [-25.6|25.55] "deg" EOCM_F_FO + SG_ GFHBFVsnObjTypTrkRev8 : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ GFHBObjDirTrk8 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ GFHBFwVsnMesStatTrk8 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBFwVsnObjIDTrk8 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 870 LGT_ObjectDetect_Info_7_FO: 8 VIS2_FO + SG_ GFHBFwVsnWidthTrk7 : 62|7@0+ (0.1,0) [0|12.7] "deg" EOCM_F_FO + SG_ GFHBFwVsnVertPosTrk7 : 53|6@0+ (0.25,-3) [-3|12.75] "deg" EOCM_F_FO + SG_ GFHBFwVsnRelLaneTrk7 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBFwVsnAzmthRtTrk7 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ GFHBFwVsnCnfdncTrk7 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBFwVsnRngTrkRev7 : 16|12@0+ (0.2,0) [0|819] "m" EOCM_F_FO + SG_ GFHBFwVsnAzmthTrkRev7 : 10|10@0- (0.05,0) [-25.6|25.55] "deg" EOCM_F_FO + SG_ GFHBFVsnObjTypTrkRev7 : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ GFHBObjDirTrk7 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ GFHBFwVsnMesStatTrk7 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBFwVsnObjIDTrk7 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 869 LGT_ObjectDetect_Info_6_FO: 8 VIS2_FO + SG_ GFHBFwVsnWidthTrk6 : 62|7@0+ (0.1,0) [0|12.7] "deg" EOCM_F_FO + SG_ GFHBFwVsnVertPosTrk6 : 53|6@0+ (0.25,-3) [-3|12.75] "deg" EOCM_F_FO + SG_ GFHBFwVsnRelLaneTrk6 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBFwVsnAzmthRtTrk6 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ GFHBFwVsnCnfdncTrk6 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBFwVsnRngTrkRev6 : 16|12@0+ (0.2,0) [0|819] "m" EOCM_F_FO + SG_ GFHBFwVsnAzmthTrkRev6 : 10|10@0- (0.05,0) [-25.6|25.55] "deg" EOCM_F_FO + SG_ GFHBFVsnObjTypTrkRev6 : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ GFHBObjDirTrk6 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ GFHBFwVsnMesStatTrk6 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBFwVsnObjIDTrk6 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 868 LGT_ObjectDetect_Info_5_FO: 8 VIS2_FO + SG_ GFHBFwVsnWidthTrk5 : 62|7@0+ (0.1,0) [0|12.7] "deg" EOCM_F_FO + SG_ GFHBFwVsnVertPosTrk5 : 53|6@0+ (0.25,-3) [-3|12.75] "deg" EOCM_F_FO + SG_ GFHBFwVsnRelLaneTrk5 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBFwVsnAzmthRtTrk5 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ GFHBFwVsnCnfdncTrk5 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBFwVsnRngTrkRev5 : 16|12@0+ (0.2,0) [0|819] "m" EOCM_F_FO + SG_ GFHBFwVsnAzmthTrkRev5 : 10|10@0- (0.05,0) [-25.6|25.55] "deg" EOCM_F_FO + SG_ GFHBFVsnObjTypTrkRev5 : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ GFHBObjDirTrk5 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ GFHBFwVsnMesStatTrk5 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBFwVsnObjIDTrk5 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 867 LGT_ObjectDetect_Info_4_FO: 8 VIS2_FO + SG_ GFHBFwVsnWidthTrk4 : 62|7@0+ (0.1,0) [0|12.7] "deg" EOCM_F_FO + SG_ GFHBFwVsnVertPosTrk4 : 53|6@0+ (0.25,-3) [-3|12.75] "deg" EOCM_F_FO + SG_ GFHBFwVsnRelLaneTrk4 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBFwVsnAzmthRtTrk4 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ GFHBFwVsnCnfdncTrk4 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBFwVsnRngTrkRev4 : 16|12@0+ (0.2,0) [0|819] "m" EOCM_F_FO + SG_ GFHBFwVsnAzmthTrkRev4 : 10|10@0- (0.05,0) [-25.6|25.55] "deg" EOCM_F_FO + SG_ GFHBFVsnObjTypTrkRev4 : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ GFHBObjDirTrk4 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ GFHBFwVsnMesStatTrk4 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBFwVsnObjIDTrk4 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 866 LGT_ObjectDetect_Info_3_FO: 8 VIS2_FO + SG_ GFHBFwVsnWidthTrk3 : 62|7@0+ (0.1,0) [0|12.7] "deg" EOCM_F_FO + SG_ GFHBFwVsnVertPosTrk3 : 53|6@0+ (0.25,-3) [-3|12.75] "deg" EOCM_F_FO + SG_ GFHBFwVsnRelLaneTrk3 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBFwVsnAzmthRtTrk3 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ GFHBFwVsnCnfdncTrk3 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBFwVsnRngTrkRev3 : 16|12@0+ (0.2,0) [0|819] "m" EOCM_F_FO + SG_ GFHBFwVsnAzmthTrkRev3 : 10|10@0- (0.05,0) [-25.6|25.55] "deg" EOCM_F_FO + SG_ GFHBFVsnObjTypTrkRev3 : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ GFHBObjDirTrk3 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ GFHBFwVsnMesStatTrk3 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBFwVsnObjIDTrk3 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 865 LGT_ObjectDetect_Info_2_FO: 8 VIS2_FO + SG_ GFHBFwVsnWidthTrk2 : 62|7@0+ (0.1,0) [0|12.7] "deg" EOCM_F_FO + SG_ GFHBFwVsnVertPosTrk2 : 53|6@0+ (0.25,-3) [-3|12.75] "deg" EOCM_F_FO + SG_ GFHBFwVsnRelLaneTrk2 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBFwVsnAzmthRtTrk2 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ GFHBFwVsnCnfdncTrk2 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBFwVsnRngTrkRev2 : 16|12@0+ (0.2,0) [0|819] "m" EOCM_F_FO + SG_ GFHBFwVsnAzmthTrkRev2 : 10|10@0- (0.05,0) [-25.6|25.55] "deg" EOCM_F_FO + SG_ GFHBFVsnObjTypTrkRev2 : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ GFHBFwVsnMesStatTrk2 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBObjDirTrk2 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ GFHBFwVsnObjIDTrk2 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 864 LGT_ObjectDetect_Info_1_FO: 8 VIS2_FO + SG_ GFHBFwVsnWidthTrk1 : 62|7@0+ (0.1,0) [0|12.7] "deg" EOCM_F_FO + SG_ GFHBFwVsnVertPosTrk1 : 53|6@0+ (0.25,-3) [-3|12.75] "deg" EOCM_F_FO + SG_ GFHBFwVsnRelLaneTrk1 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBFwVsnAzmthRtTrk1 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ GFHBFwVsnCnfdncTrk1 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBFwVsnRngTrkRev1 : 16|12@0+ (0.2,0) [0|819] "m" EOCM_F_FO + SG_ GFHBFwVsnAzmthTrkRev1 : 10|10@0- (0.05,0) [-25.6|25.55] "deg" EOCM_F_FO + SG_ GFHBFVsnObjTypTrkRev1 : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ GFHBObjDirTrk1 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ GFHBFwVsnMesStatTrk1 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBFwVsnObjIDTrk1 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 1915 DTC_Triggered_77B_FO: 7 VIS_FO + SG_ DTCI_DTCFaultType_77B : 55|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_CodeSupported_77B : 40|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_CurrentStatus_77B : 41|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdCdClrdSt_77B : 42|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldCdClrdStat_77B : 43|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_HistStat_77B : 44|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdPwrUpSt_77B : 45|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldPwrUpSt_77B : 46|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_WrnIndRqdSt_77B : 47|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_DTCFailType_77B : 39|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCNumber_77B : 23|16@0+ (1,0) [0|65535] "" TestTool_FO + SG_ DTCI_DTCSource_77B : 15|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCTriggered_77B : 0|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused7_77B : 1|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused6_77B : 2|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused5_77B : 3|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused4_77B : 4|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused3_77B : 5|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused2_77B : 6|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused1_77B : 7|1@0+ (1,0) [0|1] "" TestTool_FO + +BO_ 1923 DTC_Triggered_783_FO: 7 RSRR_FO + SG_ DTCI_WrnIndRqdSt_783 : 47|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdPwrUpSt_783 : 45|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdCdClrdSt_783 : 42|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldPwrUpSt_783 : 46|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldCdClrdStat_783 : 43|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_HistStat_783 : 44|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_DTCTriggered_783 : 0|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_DTCSource_783 : 15|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCNumber_783 : 23|16@0+ (1,0) [0|65535] "" TestTool_FO + SG_ DTCI_DTCFaultType_783 : 55|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCFailType_783 : 39|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_CurrentStatus_783 : 41|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_CodeSupported_783 : 40|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused7_783 : 1|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused6_783 : 2|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused5_783 : 3|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused4_783 : 4|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused3_783 : 5|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused2_783 : 6|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused1_783 : 7|1@0+ (1,0) [0|1] "" TestTool_FO + +BO_ 1924 DTC_Triggered_784_FO: 7 RRSRR_FO + SG_ DTCI_HistStat_784 : 44|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldCdClrdStat_784 : 43|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldPwrUpSt_784 : 46|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdCdClrdSt_784 : 42|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdPwrUpSt_784 : 45|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused1_784 : 7|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused2_784 : 6|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused3_784 : 5|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused4_784 : 4|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused5_784 : 3|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused6_784 : 2|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused7_784 : 1|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_WrnIndRqdSt_784 : 47|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_CodeSupported_784 : 40|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_CurrentStatus_784 : 41|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_DTCFailType_784 : 39|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCFaultType_784 : 55|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCNumber_784 : 23|16@0+ (1,0) [0|65535] "" TestTool_FO + SG_ DTCI_DTCSource_784 : 15|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCTriggered_784 : 0|1@0+ (1,0) [0|1] "" TestTool_FO + +BO_ 1922 DTC_Triggered_782_FO: 7 RFSRR_FO + SG_ DTCI_WrnIndRqdSt_782 : 47|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused7_782 : 1|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused6_782 : 2|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused5_782 : 3|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused4_782 : 4|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused3_782 : 5|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused2_782 : 6|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused1_782 : 7|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdPwrUpSt_782 : 45|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdCdClrdSt_782 : 42|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldPwrUpSt_782 : 46|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldCdClrdStat_782 : 43|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_HistStat_782 : 44|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_DTCTriggered_782 : 0|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_DTCSource_782 : 15|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCNumber_782 : 23|16@0+ (1,0) [0|65535] "" TestTool_FO + SG_ DTCI_DTCFaultType_782 : 55|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCFailType_782 : 39|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_CurrentStatus_782 : 41|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_CodeSupported_782 : 40|1@0+ (1,0) [0|1] "" TestTool_FO + +BO_ 1920 DTC_Triggered_780_FO: 7 LRR_FO + SG_ DTCI_CurrentStatus_780 : 41|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_WrnIndRqdSt_780 : 47|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused7_780 : 1|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused6_780 : 2|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused5_780 : 3|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused4_780 : 4|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused3_780 : 5|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused2_780 : 6|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused1_780 : 7|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdPwrUpSt_780 : 45|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdCdClrdSt_780 : 42|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldPwrUpSt_780 : 46|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldCdClrdStat_780 : 43|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_HistStat_780 : 44|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_DTCTriggered_780 : 0|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_DTCSource_780 : 15|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCNumber_780 : 23|16@0+ (1,0) [0|65535] "" TestTool_FO + SG_ DTCI_DTCFaultType_780 : 55|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCFailType_780 : 39|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_CodeSupported_780 : 40|1@0+ (1,0) [0|1] "" TestTool_FO + +BO_ 1921 DTC_Triggered_781_FO: 7 LFSRR_FO + SG_ DTCI_CurrentStatus_781 : 41|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_WrnIndRqdSt_781 : 47|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused7_781 : 1|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused6_781 : 2|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused5_781 : 3|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused4_781 : 4|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused3_781 : 5|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused2_781 : 6|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused1_781 : 7|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdPwrUpSt_781 : 45|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdCdClrdSt_781 : 42|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldPwrUpSt_781 : 46|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldCdClrdStat_781 : 43|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_HistStat_781 : 44|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_DTCTriggered_781 : 0|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_DTCSource_781 : 15|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCNumber_781 : 23|16@0+ (1,0) [0|65535] "" TestTool_FO + SG_ DTCI_DTCFaultType_781 : 55|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCFailType_781 : 39|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_CodeSupported_781 : 40|1@0+ (1,0) [0|1] "" TestTool_FO + +BO_ 1034 Curvature_Right_Line_FO: 7 VIS2_FO + SG_ CRL_Cnfdnc : 50|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM_F_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ CRL_ViewRng : 33|15@0+ (0.0039064,0) [0|128.0010088] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM_F_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ CRL_CoefdA : 17|16@0- (3.6622E-009,0) [-0.0001200029696|0.0001199993074] "1/m^2" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM_F_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ CRL_CoefA : 1|16@0- (6.1036E-007,0) [-0.02000027648|0.01999966612] "1/m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM_F_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + +BO_ 1033 Curvature_Left_Line_FO: 7 VIS2_FO + SG_ CLL_Cnfdnc : 50|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM_F_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ CLL_ViewRng : 33|15@0+ (0.0039064,0) [0|128.0010088] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM_F_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ CLL_CoefdA : 17|16@0- (3.6622E-009,0) [-0.0001200029696|0.0001199993074] "1/m^2" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM_F_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ CLL_CoefA : 1|16@0- (6.1036E-007,0) [-0.02000027648|0.01999966612] "1/m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM_F_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + +BO_ 1365 UUDT_Resp_From_VIS2_FO: 8 VIS2_FO + SG_ DgnInf_OBJ555 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1621 USDT_Resp_From_VIS2_FO: 8 VIS2_FO + SG_ DgnInf_OBJ655 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1094 F_Vision_Obj_Track_12: 8 VIS2_FO + SG_ FwdVsnObjTypTr12Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ FwdVsnAzmthTrk12Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ FwdVsnRngTrk12Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FVisionWidthTrk12 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FVisionMeasStatTrk12 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnVertPosTrk12 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ FVisionRelLaneTrk12 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk12 : 34|11@0- (0.125,0) [-128|127.875] "deg/sec" EOCM_F_FO + SG_ FVisionConfTrk12 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ ObjDirTrk12 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FVisBurstIDTrk12 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk12 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 1093 F_Vision_Obj_Track_11: 8 VIS2_FO + SG_ FwdVsnObjTypTr11Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ FwdVsnAzmthTrk11Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ FwdVsnRngTrk11Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FVisionWidthTrk11 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FVisionMeasStatTrk11 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnVertPosTrk11 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ FVisionRelLaneTrk11 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk11 : 34|11@0- (0.125,0) [-128|127.875] "deg/sec" EOCM_F_FO + SG_ FVisionConfTrk11 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ ObjDirTrk11 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FVisBurstIDTrk11 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk11 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 1100 F_Vision_Obj_Track_12_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT12Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjAgeTrk12 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk12 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk12 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk12 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr12 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk12 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo12 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1099 F_Vision_Obj_Track_11_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT11Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjAgeTrk11 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk11 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk11 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk11 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr11 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk11 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo11 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1098 F_Vision_Obj_Track_10_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT10Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjAgeTrk10 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk10 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk10 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk10 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr10 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk10 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo10 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1097 F_Vision_Obj_Track_9_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT9Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjAgeTrk9 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk9 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk9 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk9 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr9 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk9 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo9 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1096 F_Vision_Obj_Track_8_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT8Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjAgeTrk8 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk8 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk8 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk8 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr8 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk8 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo8 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1095 F_Vision_Obj_Track_7_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT7Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjAgeTrk7 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk7 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk7 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk7 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr7 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk7 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo7 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 863 F_Vision_GFHB_Data_FO: 8 VIS2_FO + SG_ RgDtLgtSrcHrtAngl : 49|10@0- (0.04,0) [-20.48|20.44] "deg" EOCM_F_FO + SG_ RgDtLgtSrcHrtAngVcty : 55|6@0- (1,0) [-32|31] "deg/sec" EOCM_F_FO + SG_ LfDtLgtSrcHrtAngl : 33|10@0- (0.04,0) [-20.48|20.44] "deg" EOCM_F_FO + SG_ LfDtLgtSrcHrtAnVcty : 39|6@0- (1,0) [-32|31] "deg/sec" EOCM_F_FO + SG_ AdvWthrStat : 25|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ DtctdLghtSrcDstnc : 22|7@0+ (10,0) [0|1270] "m" EOCM_F_FO + SG_ DtctdLghtSrcVrtclAngl : 1|10@0- (0.04,0) [-20.48|20.44] "deg" EOCM_F_FO + SG_ IntLghtRngAct : 2|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ DtctdLghtSrcDstncV : 3|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ TwnDtctnSts : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ DtctdLghtSrcDrvngDrctn : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 862 LGT_ControlHighBeamGlare_FO: 2 VIS2_FO + SG_ FwdCamSysOpStat : 10|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ EnvIllum : 2|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RdTyp : 5|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ AutoHgBmSts : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1068 F_Vision_Obj_Track_6_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT6Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjAgeTrk6 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk6 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk6 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk6 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr6 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk6 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo6 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1067 F_Vision_Obj_Track_5_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT5Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjAgeTrk5 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk5 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk5 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk5 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr5 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk5 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo5 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1066 F_Vision_Obj_Track_4_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT4Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjAgeTrk4 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk4 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk4 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk4 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr4 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk4 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo4 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1065 F_Vision_Obj_Track_3_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT3Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjAgeTrk3 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk3 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk3 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk3 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr3 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk3 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo3 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1064 F_Vision_Obj_Track_2_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT2Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjAgeTrk2 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk2 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk2 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk2 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr2 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk2 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo2 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1063 F_Vision_Obj_Track_1_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT1Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk1 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FwdVsnObjAgeTrk1 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk1 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk1 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk1 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr1 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo1 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1151 Long_Range_Radar_add_Info_5_FO: 8 LRR_FO + SG_ FrtRdrRdEdgLtLatRdEdgDst : 63|8@0- (0.1,0) [-12.8|12.7] "m/m" EOCM_F_FO + SG_ FrtRdrRdEdgLtCrvtPrvDst : 5|4@0+ (10,0) [0|150] "" EOCM_F_FO + SG_ FrtRdrRdEdgLtTanHdgAng : 15|8@0- (0.002,0) [-0.256|0.254] "m/m" EOCM_F_FO + SG_ FrtRdrRdEdgLtCrvtV : 48|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FrtRdrRdEdgLtCrvtGradV : 0|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FrtRdrRdEdgLtCrvtGrad : 39|16@0- (5.96E-008,0) [-0.0019529728|0.0019529132] "1/(m*sec)" EOCM_F_FO + SG_ FrtRdrRdEdgLtCrvtConf : 55|7@0+ (0.7874016,0) [0|100.0000032] "%" EOCM_F_FO + SG_ FrtRdrRdEdgLtCrvt : 23|16@0- (9.53E-007,0) [-0.031227904|0.031226951] "1/m" EOCM_F_FO + SG_ FrtRdrRdEdgLtTanHdgAngV : 1|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRAddInfo5BurstID : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1150 Long_Range_Radar_add_Info_4_FO: 8 LRR_FO + SG_ FrtRdrRdEdgRtLatRdEdgDst : 63|8@0- (0.1,0) [-12.8|12.7] "m/m" EOCM_F_FO + SG_ FrtRdrRdEdgRtCrvtPrvDst : 5|4@0+ (10,0) [0|150] "" EOCM_F_FO + SG_ FrtRdrRdEdgRtTanHdgAngV : 1|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FrtRdrRdEdgRtTanHdgAng : 15|8@0- (0.002,0) [-0.256|0.254] "m/m" EOCM_F_FO + SG_ FrtRdrRdEdgRtCrvtV : 48|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FrtRdrRdEdgRtCrvtGradV : 0|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FrtRdrRdEdgRtCrvtGrad : 39|16@0- (5.96E-008,0) [-0.0019529728|0.0019529132] "1/(m*sec)" EOCM_F_FO + SG_ FrtRdrRdEdgRtCrvtConf : 55|7@0+ (0.7874016,0) [0|100.0000032] "%" EOCM_F_FO + SG_ FrtRdrRdEdgRtCrvt : 23|16@0- (9.53E-007,0) [-0.031227904|0.031226951] "1/m" EOCM_F_FO + SG_ FLRRAddInfo4BurstID : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1088 F_Vision_Obj_Header_2: 8 VIS2_FO + SG_ FrntVsnInPthVehBrkNwSt : 35|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ FrntVsnClostPedBrkNwSt : 39|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ FrntVsnClostPedObjID : 29|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FrntVsnClostPedAlrtNwFlg : 30|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FrntVsnClostPedNotftnFlg : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FrntVsnInPthVehAlrtNwFlg : 2|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FrtVsnVldTgtNum2 : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ FrtVsnTmStmp2V : 31|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FrtVsnTmStmp2 : 10|11@0+ (1,0) [0|2047] "" EOCM_F_FO + SG_ FrtVsnRollCnt2 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FrtVsnBrstChksum2 : 55|16@0+ (1,0) [0|65535] "" EOCM_F_FO + +BO_ 854 F_Vision_Environment_7: 3 VIS2_FO + SG_ FwdVsnCnstrctAreaDst : 13|4@0+ (10,0) [0|150] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ FwdVsnCnstrctZnDet : 15|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ FwdVsnEgoVehLnPos : 17|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ FwdVsnRdTypDet : 9|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ FwdVsnTunnlDetd : 23|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ FwdVsnTunnlDst : 21|4@0+ (10,0) [0|150] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsBrstID5 : 1|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + +BO_ 853 F_Vision_Environment_6: 8 VIS2_FO + SG_ LnMrkg4LnSnsLnHdngTngtV : 7|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnSnsLnHdngTngt : 23|8@0- (0.002,0) [-0.256|0.254] "m/m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnSnsLnDstV : 56|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnSnsLnDst : 15|8@0- (0.1,0) [-12.8|12.7] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnSnsLnCrvtV : 6|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnSnsLnCrvtGradV : 5|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnSnsLnCrvtGrad : 47|16@0- (5.96E-008,0) [-0.0019529728|0.0019529132] "1/(m*sec)" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnSnsLnCrvt : 31|16@0- (9.53E-007,0) [-0.031227904|0.031226951] "1/m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnQltyConfLvl : 63|7@0+ (0.7874016,0) [0|100.0000032] "%" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnMrkrTyp : 4|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsBrstID4 : 1|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + +BO_ 852 F_Vision_Environment_5: 8 VIS2_FO + SG_ LnMrkg3LnSnsLnHdngTngtV : 7|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnSnsLnHdngTngt : 23|8@0- (0.002,0) [-0.256|0.254] "m/m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnSnsLnDstV : 56|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnSnsLnDst : 15|8@0- (0.1,0) [-12.8|12.7] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnSnsLnCrvtV : 6|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnSnsLnCrvtGradV : 5|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnSnsLnCrvtGrad : 47|16@0- (5.96E-008,0) [-0.0019529728|0.0019529132] "1/(m*sec)" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnSnsLnCrvt : 31|16@0- (9.53E-007,0) [-0.031227904|0.031226951] "1/m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnQltyConfLvl : 63|7@0+ (0.7874016,0) [0|100.0000032] "%" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnMrkrTyp : 4|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsBrstID3 : 1|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + +BO_ 602 USDT_Req_to_RRSRR: 8 TestTool_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" RRSRR_FO + +BO_ 1626 USDT_Resp_From_RRSRR: 8 RRSRR_FO + SG_ DgnInf_OBJ65A : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1370 UUDT_Resp_From_RRSRR: 8 RRSRR_FO + SG_ DgnInf_OBJ55A : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1536 RR_SRR_Trace_data: 8 RRSRR_FO + SG_ RRSRRYear : 7|8@0+ (1,0) [0|0] "" EOCM_F_FO + SG_ RRSRRSerialNmbr : 39|32@0+ (1,0) [0|0] "" EOCM_F_FO + SG_ RRSRRJulianDate : 15|24@0+ (1,0) [0|0] "" EOCM_F_FO + +BO_ 1210 RR_SRR_Object_Track10: 8 RRSRR_FO + SG_ RRSrrTrkRawAzimuth10 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + SG_ RRSrrTrkRRate10 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RRSrrTrkRange10 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RRSrrTrkObsRange10 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RRSrrTrkObjID10 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RRSrrTrkObjElevation10 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RRSrrTrkMeasStatus10 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RRSrrTrkDynamProp10 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RRSrrTrkAzimuth10 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RRSrrBurstID10 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1209 RR_SRR_Object_Track9: 8 RRSRR_FO + SG_ RRSrrTrkRawAzimuth9 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + SG_ RRSrrTrkRRate9 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RRSrrTrkRange9 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RRSrrTrkObsRange9 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RRSrrTrkObjID9 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RRSrrTrkObjElevation9 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RRSrrTrkMeasStatus9 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RRSrrTrkDynamProp9 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RRSrrTrkAzimuth9 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RRSrrBurstID9 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1208 RR_SRR_Object_Track8: 8 RRSRR_FO + SG_ RRSrrTrkRawAzimuth8 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + SG_ RRSrrTrkRRate8 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RRSrrTrkRange8 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RRSrrTrkObsRange8 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RRSrrTrkObjID8 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RRSrrTrkObjElevation8 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RRSrrTrkMeasStatus8 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RRSrrTrkDynamProp8 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RRSrrTrkAzimuth8 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RRSrrBurstID8 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1207 RR_SRR_Object_Track7: 8 RRSRR_FO + SG_ RRSrrTrkRawAzimuth7 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + SG_ RRSrrTrkRRate7 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RRSrrTrkRange7 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RRSrrTrkObsRange7 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RRSrrTrkObjID7 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RRSrrTrkObjElevation7 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RRSrrTrkMeasStatus7 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RRSrrTrkDynamProp7 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RRSrrTrkAzimuth7 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RRSrrBurstID7 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1206 RR_SRR_Object_Track6: 8 RRSRR_FO + SG_ RRSrrTrkRawAzimuth6 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + SG_ RRSrrTrkRRate6 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RRSrrTrkRange6 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RRSrrTrkObsRange6 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RRSrrTrkObjID6 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RRSrrTrkObjElevation6 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RRSrrTrkMeasStatus6 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RRSrrTrkDynamProp6 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RRSrrTrkAzimuth6 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RRSrrBurstID6 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1205 RR_SRR_Object_Track5: 8 RRSRR_FO + SG_ RRSrrTrkRawAzimuth5 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + SG_ RRSrrTrkRRate5 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RRSrrTrkRange5 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RRSrrTrkObsRange5 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RRSrrTrkObjID5 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RRSrrTrkObjElevation5 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RRSrrTrkMeasStatus5 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RRSrrTrkDynamProp5 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RRSrrTrkAzimuth5 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RRSrrBurstID5 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 262 LHT_AutoHighBeamAssistStatus_FO: 5 EOCM_F_FO + SG_ NtVsnSysEnbld : 6|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,NVS_FO + SG_ VehMovState : 5|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,NVS_FO + SG_ NVSysPedDetCstReq : 2|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,NVS_FO + SG_ StrWhAngV : 8|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,NVS_FO,VIS_FO + SG_ StrWhAngMsk : 9|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO + SG_ StrWhAng : 23|16@0- (0.0625,0) [-2048|2047.9375] "deg" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,NVS_FO,VIS_FO + SG_ RtTrnLmpAtv : 13|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO + SG_ MpDataAvlbl : 0|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO + SG_ LftTrnLmpAtv : 11|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO + SG_ HdlmpBmSelectStat : 33|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO + SG_ BldUpArDet : 14|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO + SG_ FrFogLmpsAct : 15|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,NVS_FO,VIS_FO + +BO_ 309 LHT_CameraObjConfirmation_FO: 1 VIS_FO + SG_ HiBmRecmnd : 1|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ CtLghtDet : 0|1@0+ (1,0) [0|1] "" EOCM_F_FO + +BO_ 2034 CCP_Data_Transmission_Object_FO: 8 VIS2_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 2032 CCP_Command_Receive_Object_FO: 8 TestTool_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" VIS2_FO + +BO_ 1362 F_Vis_Obj_Conf_CPS_1B: 8 EOCM_F_FO + SG_ FObjConfCPSTrkObjectIDB : 7|6@0+ (1,0) [0|63] "" VIS_FO + SG_ CPSVisConfLonPos1 : 20|12@0- (0.125,0) [-256|255.875] "m" VIS_FO + SG_ CPSVisConfLatPos1 : 15|10@0- (0.125,0) [-64|63.875] "m" VIS_FO + SG_ CPSVisConfChecksum : 50|11@0+ (1,0) [0|2047] "" VIS_FO + SG_ FObjConfCPSTrkRangeRate : 45|11@0- (0.125,0) [-128|127.875] "m/s" VIS_FO + SG_ CPSConfTimeStamp : 24|11@0+ (1,0) [0|2047] "ms" VIS_FO + SG_ CPSConfTimeStampV : 21|1@0+ (1,0) [0|1] "" VIS_FO + SG_ FObjConfCPSRollingTrkCnt : 1|2@0+ (1,0) [0|3] "" VIS_FO + +BO_ 1413 TOS_ACC_IDS: 5 EOCM_F_FO + SG_ TOS_ACC_IDSRollCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ TOS_ACC_IDSFuncState : 5|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ TOS_ACC_ID1 : 3|6@0+ (1,0) [0|63] "" Dummy_FO + SG_ TOS_ACC_ID2 : 13|6@0+ (1,0) [0|63] "" Dummy_FO + SG_ TOS_ACC_ID3 : 23|6@0+ (1,0) [0|63] "" Dummy_FO + SG_ TOS_ACC_ID4 : 17|6@0+ (1,0) [0|63] "" Dummy_FO + SG_ TOS_ACC_ID5 : 27|6@0+ (1,0) [0|63] "" Dummy_FO + SG_ TOS_ACC_ID6 : 37|6@0+ (1,0) [0|63] "" Dummy_FO + +BO_ 1412 F_ACC_Target: 8 EOCM_F_FO + SG_ FACCTOSRollCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FACCTOSFuncState : 5|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FACCTOSLongPos : 3|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO + SG_ FACCTOSLatPos : 23|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO + SG_ FACCTOSMeasStat : 28|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FACCTOSLongVel : 26|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FACCTOSTrgtDecelFlg : 47|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FACCTOSDynProp : 46|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FACCTOSLatVel : 42|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FACCTOSRelLane : 63|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FACCTOSHiThrtID : 61|6@0+ (1,0) [0|63] "" Dummy_FO + +BO_ 1409 F_CPS_TOS_B: 8 EOCM_F_FO + SG_ CPSTOSObjType : 7|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ CPSTOSHiThrtPriNo : 60|5@0+ (1,0) [0|31] "" Dummy_FO + SG_ CPSTOSRelLongAcc : 53|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO + SG_ CPSTOSConfAsmt : 21|12@0+ (1,0) [0|4095] "" Dummy_FO + SG_ CPSTOSNumCycTrkd : 4|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ CPSTOSTimeToColl : 1|12@0+ (0.025,0) [0|102.375] "s" Dummy_FO + SG_ CPSTOSClosestInPthVehRng : 47|10@0+ (0.25,0) [0|255.75] "m" Dummy_FO + SG_ CPSTOSClosestInPthObID : 37|6@0+ (1,0) [0|63] "m" Dummy_FO + SG_ CPSTOSMeasStat : 39|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ CPSTOSFuncState : 25|2@0+ (1,0) [0|3] "" Dummy_FO + +BO_ 1408 F_CPS_TOS_A: 8 EOCM_F_FO + SG_ CPSTOSLongPos : 7|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO + SG_ CPSTOSLatPos : 11|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO + SG_ CPSTOSLongVel : 16|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ CPSTOSDynProp : 37|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ CPSTOSLatVel : 34|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ CPSTOSARelLane : 63|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ CPSTOSHiThrtID : 61|6@0+ (1,0) [0|63] "" Dummy_FO + SG_ CPSTOSHighestThreatObAsmt : 55|8@0+ (1,0) [0|255] "" Dummy_FO + +BO_ 1344 FLPEstimate: 8 EOCM_F_FO + SG_ FLPRollCount : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ NewLaneIndex : 5|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ VehPathInOK : 3|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ LaneSnsInOK : 2|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ MapInOK : 1|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FWDObjFusInOK : 0|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ LngthFrstSeg : 15|4@0+ (10,0) [0|150] "m" Dummy_FO + SG_ LngthScndSeg : 11|4@0+ (10,0) [0|150] "m" Dummy_FO + SG_ CurvFrstSeg : 23|13@0- (5E-005,0) [-0.2048|0.20475] "1/m" Dummy_FO + SG_ CurvScndSeg : 26|3@0- (0.001,0) [-0.004|0.003] "1/m" Dummy_FO + SG_ OffstLaneCntr : 39|8@0- (0.05,0) [-6.4|6.35] "m" Dummy_FO + SG_ TngntLaneHead : 47|8@0- (0.002,0) [-0.256|0.254] "m/m" Dummy_FO + SG_ LaneWidth : 55|8@0+ (0.05,0) [0|12.75] "m" Dummy_FO + SG_ FLPDataTimeStampV : 63|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FLPDataTimeStamp : 62|7@0+ (16,0) [0|2032] "ms" Dummy_FO + +BO_ 770 F_Fwd_Collision_Alert: 8 EOCM_F_FO + SG_ Vpath_Accel : 51|11@0- (0.125,0) [-128|127.875] "m/s^2" NVS_FO,Dummy_FO + SG_ FCA_Ra : 7|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO + SG_ FCA_Range : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO + SG_ FCA_AlertLevel : 44|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FCA_Alert_Sup : 31|16@0+ (1,0) [0|65535] "" Dummy_FO + SG_ FCAStatus : 46|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FCA_VehAhead : 47|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FCA_CPS_Alert : 42|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FCAChime : 41|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FCADiagOK : 40|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ NBSMS_Alert : 55|1@0+ (1,0) [0|1] "" Dummy_FO + +BO_ 1601 USDT_Resp_From_VIS: 8 VIS_FO + SG_ DgnInf_OBJ641 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1606 USDT_Resp_From_RFSRR: 8 RFSRR_FO + SG_ DgnInf_OBJ646 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1603 USDT_Resp_From_LFSRR: 8 LFSRR_FO + SG_ DgnInf_OBJ643 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1602 USDT_Resp_From_LRR: 8 LRR_FO + SG_ DgnInf_OBJ642 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1625 USDT_Resp_From_RSRR: 8 RSRR_FO + SG_ DgnInf_OBJ644 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1611 USDT_Resp_From_FEOCM_FO: 8 EOCM_F_FO + SG_ DgnInf_OBJ64B : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 768 F_Smgr_Vehicle_Motion: 8 EOCM_F_FO + SG_ SmgrMotRollAngle : 44|10@0- (0.1,0) [-51.2|51.1] "deg" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO + SG_ SmgrMotRollAngleV : 0|1@0+ (1,0) [0|1] "" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO + SG_ SmgrMotChecksum : 50|11@0+ (1,0) [0|2047] "" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO + SG_ SmgrMotPitchAngle : 39|11@0- (0.1,0) [-102.4|102.3] "deg" CIPM_FO,NVS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO + SG_ SmgrMotPitchAngleV : 1|1@0+ (1,0) [0|1] "" CIPM_FO,NVS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO + SG_ SmgrMotLongSpeedV : 2|1@0+ (1,0) [0|1] " " CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO + SG_ SmgrMotLongSpeed : 18|11@0- (0.1,0) [-102.4|102.3] "m/s" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO + SG_ SmgrMotYawRate : 14|12@0- (0.05,0) [-102.4|102.35] "deg/s" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO + SG_ SmgrMotYawRateV : 15|1@0+ (1,0) [0|1] "" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO + SG_ SmgrMotRollingCnt : 4|2@0+ (1,0) [0|3] "" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO + +BO_ 1350 UUDT_Resp_From_RFSRR: 8 RFSRR_FO + SG_ DgnInf_OBJ546 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1369 UUDT_Resp_From_RSRR: 8 RSRR_FO + SG_ DgnInf_OBJ544 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1347 UUDT_Resp_From_LFSRR: 8 LFSRR_FO + SG_ DgnInf_OBJ543 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1346 UUDT_Resp_From_LRR: 8 LRR_FO + SG_ DgnInf_OBJ542 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1345 UUDT_Resp_From_VIS: 8 VIS_FO + SG_ DgnInf_OBJ541 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 579 USDT_Req_to_LFSRR: 8 TestTool_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" LFSRR_FO + +BO_ 577 USDT_Req_to_VIS: 8 TestTool_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" VIS_FO + +BO_ 578 USDT_Req_to_LRR: 8 TestTool_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" LRR_FO + +BO_ 582 USDT_Req_to_RFSRR: 8 TestTool_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" RFSRR_FO + +BO_ 601 USDT_Req_to_RSRR: 8 TestTool_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" RSRR_FO + +BO_ 1355 UUDT_Resp_From_FEOCM_FO: 8 EOCM_F_FO + SG_ DgnInf_OBJ54B : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 587 USDT_Req_to_FEOCM_obj: 8 TestTool_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" EOCM2A_K2_FO,EOCM_F_FO + +BO_ 784 Body_Info_FOB: 6 EOCM_F_FO + SG_ StrgColUpDwnPos : 39|8@0+ (1,0) [0|255] "" DMS_FO + SG_ CPMAPINFO4 : 47|1@0+ (1,0) [0|1] "" DMS_FO + SG_ StrgColInOutPos : 31|8@0+ (1,0) [0|255] "" DMS_FO + SG_ StrgColCommsFlt : 19|2@0+ (1,0) [0|3] "" DMS_FO + SG_ DrDoorOpenSwActV : 16|1@0+ (1,0) [0|1] "" DMS_FO + SG_ DrDoorOpenSwAct : 17|1@0+ (1,0) [0|1] "" DMS_FO + SG_ DrvWndPosStat : 22|3@0+ (1,0) [0|7] "" CIPM_FO,DMS_FO,VIS2_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ InterLghtStat : 23|1@0+ (1,0) [0|1] "" CIPM_FO,DMS_FO,VIS2_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ DrvrHndsOnWhlZn3 : 13|1@0+ (1,0) [0|1] "" CIPM_FO,AMM_FO,DMS_FO,VIS2_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ DrvrHndsOnWhlZn2 : 14|1@0+ (1,0) [0|1] "" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,DMS_FO,VIS2_FO + SG_ DrvrHndsOnWhlZn1 : 15|1@0+ (1,0) [0|1] "" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,DMS_FO,VIS2_FO + SG_ WSWshSwAtv : 11|1@0+ (1,0) [0|1] "" CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,DMS_FO,AMM_FO,VIS_FO,VIS2_FO + SG_ SysPwrMdV : 8|1@0+ (1,0) [0|1] "" NVS_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO,LRSRR_FO,CIPM_FO,_DOFIMU2_FO,_DOFIMU1_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,VIS2_FO + SG_ SysPwrMd : 10|2@0+ (1,0) [0|3] "" NVS_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO,LRSRR_FO,CIPM_FO,_DOFIMU2_FO,_DOFIMU1_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,VIS2_FO + SG_ WSWprAct : 2|1@0+ (1,0) [0|1] "" CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,DMS_FO,AMM_FO,NVS_FO,VIS_FO,VIS2_FO + SG_ RtLwBmFld : 4|1@0+ (1,0) [0|1] "" CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,DMS_FO,AMM_FO,NVS_FO,VIS_FO,VIS2_FO + SG_ OtsdAmbtLtLvlStatV : 5|1@0+ (1,0) [0|1] "" CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,DMS_FO,AMM_FO,NVS_FO,VIS_FO,VIS2_FO + SG_ OtsdAmbtLtLvlStat : 7|2@0+ (1,0) [0|3] "" CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,DMS_FO,AMM_FO,NVS_FO,VIS_FO,VIS2_FO + SG_ LowBmAct : 1|1@0+ (1,0) [0|1] "" CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,DMS_FO,AMM_FO,NVS_FO,VIS_FO,VIS2_FO + SG_ LftLwBmFld : 3|1@0+ (1,0) [0|1] "" CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,DMS_FO,AMM_FO,NVS_FO,VIS_FO,VIS2_FO + SG_ HighBmAct : 0|1@0+ (1,0) [0|1] "" CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,DMS_FO,AMM_FO,NVS_FO,VIS_FO,VIS2_FO + SG_ TrStLgMdAtv : 12|1@0+ (1,0) [0|1] "" CIPM_FO,NVS_FO,RRSRR_FO,LRSRR_FO,_DOFIMU2_FO,_DOFIMU1_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,LRR_FO,RFSRR_FO,LFSRR_FO,RSRR_FO,VIS_FO,VIS2_FO + +BO_ 1539 RF_SRR_Trace_Data: 8 RFSRR_FO + SG_ RFSRRYear : 7|8@0+ (1,0) [0|0] "" EOCM_F_FO + SG_ RFSRRSerialNmbr : 39|32@0+ (1,0) [0|0] "" EOCM_F_FO + SG_ RFSRRJulianDate : 15|24@0+ (1,0) [0|0] "" EOCM_F_FO + +BO_ 776 F_Vehicle_Path_Data_2: 7 EOCM_F_FO + SG_ Vpath_Data2ModeInfo : 44|2@0+ (1,0) [0|3] "" CIPM_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO + SG_ Vpath2_Checksum : 42|11@0+ (1,0) [0|2047] "" CIPM_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RFSRR_FO,LFSRR_FO,RSRR_FO,LRR_FO + SG_ Vpath_Data2RollCnt : 46|2@0+ (1,0) [0|3] "" CIPM_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO + SG_ Vpath_Data2YawRateV : 2|1@0+ (1,0) [0|1] "" CIPM_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,NVS_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO + SG_ Vpath_Data2LongVelV : 1|1@0+ (1,0) [0|1] "" CIPM_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,NVS_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO + SG_ Vpath_Data2LatVelV : 47|1@0+ (1,0) [0|1] "" CIPM_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO + SG_ Vpath_Data2TravlDirctn : 4|2@0+ (1,0) [0|3] "" CIPM_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO + SG_ Vpath_Data2LongVel : 15|12@0- (0.0625,0) [-128|127.9375] "m/s" CIPM_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,NVS_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO + SG_ Vpath_Data2YawRate : 19|12@0- (0.0625,0) [-128|127.9375] "deg/s" CIPM_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,NVS_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO + SG_ Vpath_Data2LatVel : 39|8@0- (0.05,0) [-6.4|6.35] "m/s" CIPM_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO + +BO_ 161 F_Master_Time_Sync: 7 EOCM_F_FO + SG_ FTimeSyncMstrChksm : 35|12@0+ (1,0) [0|4095] "" AMM_FO,CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO + SG_ FTimeSyncMstrClock : 7|32@0+ (1,0) [0|4294967295] "ms" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO + SG_ SensorModeCmdLRR : 39|3@0+ (1,0) [0|7] "" CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO + SG_ SensorModeCmdSRR : 50|3@0+ (1,0) [0|7] "" CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO + SG_ SensorModeCmdFCamera : 53|3@0+ (1,0) [0|7] "" CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO + SG_ FTimeSyncMstrClockV : 36|1@0+ (1,0) [0|1] "" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,LRR_FO,RFSRR_FO,LFSRR_FO + +BO_ 774 F_Vehicle_Path_Estimate: 8 EOCM_F_FO + SG_ Vpath_RollingCount : 7|2@0+ (1,0) [0|3] "" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO + SG_ Vpath_TrnCtrLngOfstV : 1|1@0+ (1,0) [0|1] "" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,LRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LFSRR_FO + SG_ Vpath_Checksum : 50|11@0+ (1,0) [0|2047] "" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO + SG_ Vpath_TrnCtrLngOfst : 15|8@0- (0.1,0) [-12.8|12.7] "m" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,LRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LFSRR_FO + SG_ Vpath_TrnCtrLatOfst : 21|14@0- (1,0) [-8192|8191] "m" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,LRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LFSRR_FO + SG_ Vpath_Curvature : 39|16@0- (1E-005,0) [-0.32768|0.32767] "1/m" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO + SG_ Vpath_CurvatureV : 0|1@0+ (1,0) [0|1] "" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,LRR_FO,RSRR_FO,RFSRR_FO,LFSRR_FO + +BO_ 848 F_Vision_Environment: 8 VIS_FO + SG_ FwdVsnEnvIllum : 37|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsTngtOfHdngLnRtV : 1|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsTngtOfHdngLnRt : 31|8@0- (0.002,0) [-0.256|0.254] "m/m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsLnChngStatus : 39|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsBurstChecksum : 55|16@0+ (1,0) [0|65535] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LaneSenseRollingCount : 7|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LaneSenseSystemOK : 4|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LaneSnsLLnPosValid : 2|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSenseDistToLLnEdge : 14|7@0+ (0.05,0) [0|6.35] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsRLnPosValid : 0|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsDistToRLnEdge : 22|7@0+ (0.05,0) [0|6.35] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LaneSenseTimeStampV : 5|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LaneSenseTimeStamp : 34|11@0+ (1,0) [0|2047] "ms" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LaneSenseSystemOKV : 3|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + +BO_ 849 F_Vision_Environment_2: 8 VIS_FO + SG_ LnSnsLatVRelToRgtMrkg : 23|8@0- (0.02,0) [-2.56|2.54] "m/s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM_F_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ LnSnsRtLnMrkgTypChgDst : 61|4@0+ (10,0) [0|150] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsCrvtGrdntRtV : 63|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsLnMrkgWdthRt : 62|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsRtAnchrLn : 57|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsLtAnchrLn : 56|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsLnCrvtrRghtV : 0|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsLnCrvtrRght : 47|16@0- (9.53E-007,0) [-0.031227904|0.031226951] "1/m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsCrvtGrdntRt : 31|16@0- (5.96E-008,0) [-0.0019529728|0.0019529132] "1/rad/s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsBurstID : 2|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsLatVRelToLftMrkg : 15|8@0- (0.02,0) [-2.56|2.54] "m/s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + +BO_ 1184 R_SRR_Object_Header: 8 RSRR_FO + SG_ RSRRNumValidTargets : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ RSrrRollingCnt : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSRRModeCmdFdbk : 4|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RSrrTimeStampV : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RSrrTimeStamp : 10|11@0+ (1,0) [0|2047] "ms" EOCM_F_FO + SG_ RSrrBurstChecksum : 55|16@0+ (1,0) [0|65535] "" EOCM_F_FO + SG_ RSRRSnstvFltPrsntInt : 24|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RSRRPlntAlgnInProc : 37|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RSRRMsalgnYawRt : 47|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RSRRMsalgnYawLt : 46|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RSRRMsalgnRllRt : 35|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RSRRMsalgnRllLt : 34|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RSRRMsalgnPtchUp : 32|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RSRRMsalgnPtchDn : 33|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RSRRInitDiagCmplt : 40|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RSRRHWFltPrsntInt : 25|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RSRRExtIntrfrnc : 36|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RSRRDiagSpare : 30|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RSRRCANSgnlSpvFld : 29|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RSRRCANRxErr : 28|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RSRRCANIDAddrsUnsbl : 27|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RSRRAntTngFltPrsnt : 26|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RSRRAmbTmpOutRngLw : 42|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RSRRAmbTmpOutRngHi : 41|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RSRRAlgnFltPrsnt : 39|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RSRRVltgOutRngLo : 44|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RSRRVltgOutRngHi : 43|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RSRRSvcAlgnInPrcs : 38|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RSRRSnsrBlckd : 45|1@0+ (1,0) [0|1] "" EOCM_F_FO + +BO_ 1185 R_SRR_Object_Track1: 8 RSRR_FO + SG_ RSrrBurstID1 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkRange1 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RSrrTrkRRate1 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RSrrTrkAzimuth1 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RSrrTrkObjID1 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RSrrTrkObjElevation1 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkDynamProp1 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RSrrTrkMeasStatus1 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkObsRange1 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RSrrTrkRawAzimuth1 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + +BO_ 1186 R_SRR_Object_Track2: 8 RSRR_FO + SG_ RSrrBurstID2 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkRange2 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RSrrTrkRRate2 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RSrrTrkAzimuth2 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RSrrTrkObjID2 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RSrrTrkObjElevation2 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkDynamProp2 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RSrrTrkMeasStatus2 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkObsRange2 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RSrrTrkRawAzimuth2 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + +BO_ 1187 R_SRR_Object_Track3: 8 RSRR_FO + SG_ RSrrBurstID3 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkRange3 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RSrrTrkRRate3 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RSrrTrkAzimuth3 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RSrrTrkObjID3 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RSrrTrkObjElevation3 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkDynamProp3 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RSrrTrkMeasStatus3 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkObsRange3 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RSrrTrkRawAzimuth3 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + +BO_ 1188 R_SRR_Object_Track4: 8 RSRR_FO + SG_ RSrrBurstID4 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkRange4 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RSrrTrkRRate4 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RSrrTrkAzimuth4 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RSrrTrkObjID4 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RSrrTrkObjElevation4 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkDynamProp4 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RSrrTrkMeasStatus4 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkObsRange4 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RSrrTrkRawAzimuth4 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + +BO_ 1189 R_SRR_Object_Track5: 8 RSRR_FO + SG_ RSrrBurstID5 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkRange5 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RSrrTrkRRate5 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RSrrTrkAzimuth5 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RSrrTrkObjID5 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RSrrTrkObjElevation5 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkDynamProp5 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RSrrTrkMeasStatus5 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkObsRange5 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RSrrTrkRawAzimuth5 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + +BO_ 1190 R_SRR_Object_Track6: 8 RSRR_FO + SG_ RSrrBurstID6 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkRange6 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RSrrTrkRRate6 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RSrrTrkAzimuth6 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RSrrTrkObjID6 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RSrrTrkObjElevation6 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkDynamProp6 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RSrrTrkMeasStatus6 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkObsRange6 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RSrrTrkRawAzimuth6 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + +BO_ 1191 R_SRR_Object_Track7: 8 RSRR_FO + SG_ RSrrBurstID7 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkRange7 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RSrrTrkRRate7 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RSrrTrkAzimuth7 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RSrrTrkObjID7 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RSrrTrkObjElevation7 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkDynamProp7 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RSrrTrkMeasStatus7 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkObsRange7 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RSrrTrkRawAzimuth7 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + +BO_ 1192 R_SRR_Object_Track8: 8 RSRR_FO + SG_ RSrrBurstID8 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkRange8 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RSrrTrkRRate8 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RSrrTrkAzimuth8 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RSrrTrkObjID8 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RSrrTrkObjElevation8 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkDynamProp8 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RSrrTrkMeasStatus8 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkObsRange8 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RSrrTrkRawAzimuth8 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + +BO_ 1193 R_SRR_Object_Track9: 8 RSRR_FO + SG_ RSrrBurstID9 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkRange9 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RSrrTrkRRate9 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RSrrTrkAzimuth9 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RSrrTrkObjID9 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RSrrTrkObjElevation9 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkDynamProp9 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RSrrTrkMeasStatus9 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkObsRange9 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RSrrTrkRawAzimuth9 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + +BO_ 1194 R_SRR_Object_Track10: 8 RSRR_FO + SG_ RSrrBurstID10 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkRange10 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RSrrTrkRRate10 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RSrrTrkAzimuth10 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RSrrTrkObjID10 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RSrrTrkObjElevation10 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkDynamProp10 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RSrrTrkMeasStatus10 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkObsRange10 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RSrrTrkRawAzimuth10 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + +BO_ 1410 RVB_TVR_Debug: 6 EOCM_F_FO + SG_ VBBrkRqActv : 7|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ PATOSTTC : 37|12@0+ (0.025,0) [0|102.375] "s" Dummy_FO + SG_ BWTOSObjID : 27|6@0+ (1,0) [0|63] "" Dummy_FO + SG_ BWTOSLonPstn : 23|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO + SG_ VBSwInd : 10|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ VBBrkCtrlSt : 15|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ BrkPlsRqst : 6|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VBOpSt : 12|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ VBAccelOvrrd : 0|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VBUnavail : 1|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VBFld : 2|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VBDisbld : 3|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VBEnbl : 4|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VBBrkPrfReq : 5|1@0+ (1,0) [0|1] "" Dummy_FO + +BO_ 1216 LF_SRR_Object_Header: 8 LFSRR_FO + SG_ LFSRRNumValidTargets : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ LFSrrRollingCnt : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSRRModeCmdFdbk : 4|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ LFSrrTimeStampV : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ LFSrrTimeStamp : 10|11@0+ (1,0) [0|2047] "ms" EOCM_F_FO + SG_ LFSrrBurstChecksum : 55|16@0+ (1,0) [0|65535] "" EOCM_F_FO + SG_ LFSRRVltgOutRngLo : 44|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ LFSRRVltgOutRngHi : 43|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ LFSRRSvcAlgnInPrcs : 38|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ LFSRRSnsrBlckd : 45|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ LFSRRSnstvFltPrsntInt : 24|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ LFSRRPlntAlgnInProc : 37|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ LFSRRMsalgnYawRt : 47|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ LFSRRMsalgnYawLt : 46|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ LFSRRMsalgnRllRt : 35|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ LFSRRMsalgnRllLt : 34|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ LFSRRMsalgnPtchUp : 32|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ LFSRRMsalgnPtchDn : 33|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ LFSRRInitDiagCmplt : 40|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ LFSRRHWFltPrsntInt : 25|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ LFSRRExtIntrfrnc : 36|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ LFSRRDiagSpare : 30|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ LFSRRCANSgnlSpvFld : 29|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ LFSRRCANRxErr : 28|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ LFSRRCANIDAddrsUnsbl : 27|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ LFSRRAntTngFltPrsnt : 26|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ LFSRRAmbTmpOutRngLw : 42|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ LFSRRAmbTmpOutRngHi : 41|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ LFSRRAlgnFltPrsnt : 39|1@0+ (1,0) [0|1] "" EOCM_F_FO + +BO_ 1217 LF_SRR_Object_Track1: 8 LFSRR_FO + SG_ LFSrrBurstID1 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkRange1 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ LFSrrTrkRRate1 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ LFSrrTrkAzimuth1 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ LFSrrTrkObjID1 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ LFSrrTrkObjElevation1 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkDynamProp1 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ LFSrrTrkMeasStatus1 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkObsRange1 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ LFSrrTrkRawAzimuth1 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + +BO_ 1218 LF_SRR_Object_Track2: 8 LFSRR_FO + SG_ LFSrrBurstID2 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkRange2 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ LFSrrTrkRRate2 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ LFSrrTrkAzimuth2 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ LFSrrTrkObjID2 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ LFSrrTrkObjElevation2 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkDynamProp2 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ LFSrrTrkMeasStatus2 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkObsRange2 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ LFSrrTrkRawAzimuth2 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + +BO_ 1219 LF_SRR_Object_Track3: 8 LFSRR_FO + SG_ LFSrrBurstID3 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkRange3 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ LFSrrTrkRRate3 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ LFSrrTrkAzimuth3 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ LFSrrTrkObjID3 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ LFSrrTrkObjElevation3 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkDynamProp3 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ LFSrrTrkMeasStatus3 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkObsRange3 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ LFSrrTrkRawAzimuth3 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + +BO_ 1220 LF_SRR_Object_Track4: 8 LFSRR_FO + SG_ LFSrrBurstID4 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkRange4 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ LFSrrTrkRRate4 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ LFSrrTrkObsRange4 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ LFSrrTrkAzimuth4 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ LFSrrTrkObjID4 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ LFSrrTrkObjElevation4 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkDynamProp4 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ LFSrrTrkMeasStatus4 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkRawAzimuth4 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + +BO_ 1221 LF_SRR_Object_Track5: 8 LFSRR_FO + SG_ LFSrrTrkObsRange5 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ LFSrrBurstID5 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkRange5 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ LFSrrTrkRRate5 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ LFSrrTrkAzimuth5 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ LFSrrTrkObjID5 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ LFSrrTrkObjElevation5 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkDynamProp5 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ LFSrrTrkMeasStatus5 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkRawAzimuth5 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + +BO_ 1222 LF_SRR_Object_Track6: 8 LFSRR_FO + SG_ LFSrrTrkObsRange6 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ LFSrrBurstID6 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkRange6 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ LFSrrTrkRRate6 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ LFSrrTrkAzimuth6 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ LFSrrTrkObjID6 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ LFSrrTrkObjElevation6 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkDynamProp6 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ LFSrrTrkMeasStatus6 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkRawAzimuth6 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + +BO_ 1223 LF_SRR_Object_Track7: 8 LFSRR_FO + SG_ LFSrrTrkObsRange7 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ LFSrrBurstID7 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkRange7 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ LFSrrTrkRRate7 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ LFSrrTrkAzimuth7 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ LFSrrTrkObjID7 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ LFSrrTrkObjElevation7 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkDynamProp7 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ LFSrrTrkMeasStatus7 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkRawAzimuth7 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + +BO_ 1224 LF_SRR_Object_Track8: 8 LFSRR_FO + SG_ LFSrrTrkObsRange8 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ LFSrrBurstID8 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkRange8 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ LFSrrTrkRRate8 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ LFSrrTrkAzimuth8 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ LFSrrTrkObjID8 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ LFSrrTrkObjElevation8 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkDynamProp8 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ LFSrrTrkMeasStatus8 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkRawAzimuth8 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + +BO_ 1225 LF_SRR_Object_Track9: 8 LFSRR_FO + SG_ LFSrrTrkObsRange9 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ LFSrrBurstID9 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkRange9 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ LFSrrTrkRRate9 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ LFSrrTrkAzimuth9 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ LFSrrTrkObjID9 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ LFSrrTrkObjElevation9 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkDynamProp9 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ LFSrrTrkMeasStatus9 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkRawAzimuth9 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + +BO_ 1226 LF_SRR_Object_Track10: 8 LFSRR_FO + SG_ LFSrrTrkObsRange10 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ LFSrrBurstID10 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkRange10 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ LFSrrTrkRRate10 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ LFSrrTrkAzimuth10 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ LFSrrTrkObjID10 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ LFSrrTrkObjElevation10 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkDynamProp10 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ LFSrrTrkMeasStatus10 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkRawAzimuth10 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + +BO_ 1232 RF_SRR_Object_Header: 8 RFSRR_FO + SG_ RFSRRVltgOutRngLo : 44|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RFSRRVltgOutRngHi : 43|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RFSRRSvcAlgnInPrcs : 38|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RFSRRSnsrBlckd : 45|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RFSRRSnstvFltPrsntInt : 24|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RFSRRPlntAlgnInProc : 37|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RFSRRMsalgnYawRt : 47|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RFSRRMsalgnYawLt : 46|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RFSRRMsalgnRllRt : 35|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RFSRRMsalgnRllLt : 34|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RFSRRMsalgnPtchUp : 32|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RFSRRMsalgnPtchDn : 33|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RFSRRInitDiagCmplt : 40|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RFSRRHWFltPrsntInt : 25|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RFSRRExtIntrfrnc : 36|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RFSRRDiagSpare : 30|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RFSRRCANSgnlSpvFld : 29|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RFSRRCANRxErr : 28|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RFSRRCANIDAddrsUnsbl : 27|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RFSRRAntTngFltPrsnt : 26|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RFSRRAmbTmpOutRngLw : 42|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RFSRRAmbTmpOutRngHi : 41|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RFSRRAlgnFltPrsnt : 39|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RFSRRNumValidTargets : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ RFSrrRollingCnt : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RFSRRModeCmdFdbk : 4|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RFSrrTimeStamp : 10|11@0+ (1,0) [0|2047] "ms" EOCM_F_FO + SG_ RFSrrBurstChecksum : 55|16@0+ (1,0) [0|65535] "" EOCM_F_FO + SG_ RFSrrTimeStampV : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + +BO_ 1233 RF_SRR_Object_Track1: 8 RFSRR_FO + SG_ RFSrrTrkObsRange1 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RFSrrTrkRawAzimuth1 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + SG_ RFSrrBurstID1 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RFSrrTrkRange1 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RFSrrTrkRRate1 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RFSrrTrkAzimuth1 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RFSrrTrkObjID1 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RFSrrTrkObjElevation1 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RFSrrTrkDynamProp1 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RFSrrTrkMeasStatus1 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1234 RF_SRR_Object_Track2: 8 RFSRR_FO + SG_ RFSrrTrkObsRange2 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RFSrrTrkRawAzimuth2 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + SG_ RFSrrBurstID2 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RFSrrTrkRange2 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RFSrrTrkRRate2 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RFSrrTrkAzimuth2 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RFSrrTrkObjID2 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RFSrrTrkObjElevation2 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RFSrrTrkDynamProp2 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RFSrrTrkMeasStatus2 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1235 RF_SRR_Object_Track3: 8 RFSRR_FO + SG_ RFSrrTrkObsRange3 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RFSrrTrkRawAzimuth3 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + SG_ RFSrrBurstID3 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RFSrrTrkRange3 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RFSrrTrkRRate3 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RFSrrTrkAzimuth3 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RFSrrTrkObjID3 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RFSrrTrkObjElevation3 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RFSrrTrkDynamProp3 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RFSrrTrkMeasStatus3 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1236 RF_SRR_Object_Track4: 8 RFSRR_FO + SG_ RFSrrTrkObsRange4 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RFSrrTrkRawAzimuth4 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + SG_ RFSrrBurstID4 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RFSrrTrkRange4 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RFSrrTrkRRate4 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RFSrrTrkAzimuth4 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RFSrrTrkObjID4 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RFSrrTrkObjElevation4 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RFSrrTrkDynamProp4 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RFSrrTrkMeasStatus4 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1237 RF_SRR_Object_Track5: 8 RFSRR_FO + SG_ RFSrrTrkObsRange5 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RFSrrTrkRawAzimuth5 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + SG_ RFSrrBurstID5 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RFSrrTrkRange5 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RFSrrTrkRRate5 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RFSrrTrkAzimuth5 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RFSrrTrkObjID5 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RFSrrTrkObjElevation5 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RFSrrTrkDynamProp5 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RFSrrTrkMeasStatus5 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1238 RF_SRR_Object_Track6: 8 RFSRR_FO + SG_ RFSrrTrkObsRange6 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RFSrrTrkRawAzimuth6 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + SG_ RFSrrBurstID6 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RFSrrTrkRange6 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RFSrrTrkRRate6 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RFSrrTrkAzimuth6 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RFSrrTrkObjID6 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RFSrrTrkObjElevation6 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RFSrrTrkDynamProp6 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RFSrrTrkMeasStatus6 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1239 RF_SRR_Object_Track7: 8 RFSRR_FO + SG_ RFSrrTrkObsRange7 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RFSrrTrkRawAzimuth7 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + SG_ RFSrrBurstID7 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RFSrrTrkRange7 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RFSrrTrkRRate7 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RFSrrTrkAzimuth7 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RFSrrTrkObjID7 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RFSrrTrkObjElevation7 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RFSrrTrkDynamProp7 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RFSrrTrkMeasStatus7 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1240 RF_SRR_Object_Track8: 8 RFSRR_FO + SG_ RFSrrTrkObsRange8 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RFSrrTrkRawAzimuth8 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + SG_ RFSrrBurstID8 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RFSrrTrkRange8 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RFSrrTrkRRate8 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RFSrrTrkAzimuth8 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RFSrrTrkObjID8 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RFSrrTrkObjElevation8 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RFSrrTrkDynamProp8 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RFSrrTrkMeasStatus8 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1241 RF_SRR_Object_Track9: 8 RFSRR_FO + SG_ RFSrrTrkObsRange9 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RFSrrTrkRawAzimuth9 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + SG_ RFSrrBurstID9 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RFSrrTrkRange9 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RFSrrTrkRRate9 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RFSrrTrkAzimuth9 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RFSrrTrkObjID9 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RFSrrTrkObjElevation9 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RFSrrTrkDynamProp9 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RFSrrTrkMeasStatus9 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1242 RF_SRR_Object_Track10: 8 RFSRR_FO + SG_ RFSrrTrkObsRange10 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RFSrrTrkRawAzimuth10 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + SG_ RFSrrBurstID10 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RFSrrTrkRange10 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RFSrrTrkRRate10 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RFSrrTrkAzimuth10 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RFSrrTrkObjID10 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RFSrrTrkObjElevation10 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RFSrrTrkDynamProp10 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RFSrrTrkMeasStatus10 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1056 F_Vision_Obj_Header: 6 VIS_FO + SG_ FVsnSnsrBlckd : 24|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ ClstInPathVehObjID : 30|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FrtVsnFld : 6|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FrtVsnIniDiagSuccCmpt : 5|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FrtVsnSrvAlgnInPrcs : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FrtVsnUnvlbl : 7|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FVisionRollingCnt : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVISModeCmdFdbk : 4|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FVisionNumValidTrgts : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ FVisionTimeStampV : 31|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FVisionTimeStamp : 10|11@0+ (1,0) [0|2047] "ms" EOCM_F_FO + SG_ VISBurstChecksum : 39|16@0+ (1,0) [0|65535] "" EOCM_F_FO + +BO_ 1057 F_Vision_Obj_Track_1: 8 VIS_FO + SG_ FwdVsnRngTrk1Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FwdVsnAzmthTrk1Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ FwdVsnObjTypTr1Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ FwdVsnVertPosTrk1 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ FVisBurstIDTrk1 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk1 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FVisionConfTrk1 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk1 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FVisionRelLaneTrk1 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionMeasStatTrk1 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionWidthTrk1 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ ObjDirTrk1 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + +BO_ 1058 F_Vision_Obj_Track_2: 8 VIS_FO + SG_ FwdVsnVertPosTrk2 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ FwdVsnRngTrk2Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FwdVsnAzmthTrk2Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ ObjDirTrk2 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FwdVsnObjTypTr2Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ FVisBurstIDTrk2 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk2 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FVisionConfTrk2 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk2 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FVisionRelLaneTrk2 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionMeasStatTrk2 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionWidthTrk2 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + +BO_ 1059 F_Vision_Obj_Track_3: 8 VIS_FO + SG_ FwdVsnVertPosTrk3 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ FwdVsnRngTrk3Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FwdVsnAzmthTrk3Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ FwdVsnObjTypTr3Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ ObjDirTrk3 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FVisBurstIDTrk3 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk3 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FVisionConfTrk3 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk3 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FVisionRelLaneTrk3 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionMeasStatTrk3 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionWidthTrk3 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + +BO_ 1060 F_Vision_Obj_Track_4: 8 VIS_FO + SG_ FwdVsnVertPosTrk4 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ FVisionMeasStatTrk4 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionWidthTrk4 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FwdVsnRngTrk4Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FwdVsnAzmthTrk4Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ FwdVsnObjTypTr4Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ FVisBurstIDTrk4 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk4 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ ObjDirTrk4 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FVisionConfTrk4 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk4 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FVisionRelLaneTrk4 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1061 F_Vision_Obj_Track_5: 8 VIS_FO + SG_ FwdVsnVertPosTrk5 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ FwdVsnRngTrk5Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FwdVsnAzmthTrk5Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ FwdVsnObjTypTr5Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ ObjDirTrk5 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FVisBurstIDTrk5 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk5 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FVisionConfTrk5 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk5 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FVisionRelLaneTrk5 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionMeasStatTrk5 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionWidthTrk5 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + +BO_ 1062 F_Vision_Obj_Track_6: 8 VIS_FO + SG_ FwdVsnVertPosTrk6 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ FwdVsnRngTrk6Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FwdVsnAzmthTrk6Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ FwdVsnObjTypTr6Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ ObjDirTrk6 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FVisBurstIDTrk6 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk6 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FVisionConfTrk6 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk6 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FVisionRelLaneTrk6 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionMeasStatTrk6 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionWidthTrk6 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + +BO_ 1538 LF_SRR_Trace_Data: 8 LFSRR_FO + SG_ LFSRRYear : 7|8@0+ (1,0) [0|0] "" EOCM_F_FO + SG_ LFSRRSerialNmbr : 39|32@0+ (1,0) [0|0] "" EOCM_F_FO + SG_ LFSRRJulianDate : 15|24@0+ (1,0) [0|0] "" EOCM_F_FO + +BO_ 1537 R_SRR_Trace_data: 8 RSRR_FO + SG_ RSRRYear : 7|8@0+ (1,0) [0|0] "" EOCM_F_FO + SG_ RSRRSerialNmbr : 39|32@0+ (1,0) [0|0] "" EOCM_F_FO + SG_ RSRRJulianDate : 15|24@0+ (1,0) [0|0] "" EOCM_F_FO + +BO_ 1089 F_Vision_Obj_Track_7: 8 VIS2_FO + SG_ FVisBurstIDTrk7 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk7 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FVisionConfTrk7 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk7 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FVisionRelLaneTrk7 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionMeasStatTrk7 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionWidthTrk7 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FwdVsnRngTrk7Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FwdVsnObjTypTr7Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ FwdVsnAzmthTrk7Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ FwdVsnVertPosTrk7 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ ObjDirTrk7 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + +BO_ 1090 F_Vision_Obj_Track_8: 8 VIS2_FO + SG_ FVisBurstIDTrk8 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk8 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FwdVsnAzmthTrk8Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ FwdVsnVertPosTrk8 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ FwdVsnRngTrk8Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FwdVsnObjTypTr8Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ ObjDirTrk8 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FVisionConfTrk8 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk8 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FVisionRelLaneTrk8 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionMeasStatTrk8 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionWidthTrk8 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + +BO_ 1091 F_Vision_Obj_Track_9: 8 VIS2_FO + SG_ FwdVsnVertPosTrk9 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ FwdVsnRngTrk9Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FwdVsnAzmthTrk9Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ FwdVsnObjTypTr9Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ ObjDirTrk9 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FVisBurstIDTrk9 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk9 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FVisionConfTrk9 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk9 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FVisionRelLaneTrk9 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionMeasStatTrk9 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionWidthTrk9 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + +BO_ 1092 F_Vision_Obj_Track_10: 8 VIS2_FO + SG_ FwdVsnRngTrk10Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FwdVsnAzmthTrk10Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ FwdVsnObjTypTr10Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ FwdVsnVertPosTrk10 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ ObjDirTrk10 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FVisBurstIDTrk10 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk10 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FVisionConfTrk10 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk10 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FVisionRelLaneTrk10 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionMeasStatTrk10 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionWidthTrk10 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + +BO_ 1120 F_LRR_Obj_Header: 8 LRR_FO + SG_ FLRRRollingCount : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRModeCmdFdbk : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRNumValidTargets : 20|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ FLRRTimeStampV : 31|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRTimeStamp : 2|11@0+ (1,0) [0|2047] "ms" EOCM_F_FO + SG_ FLRRRoadTypeInfo : 5|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRBurstChecksum : 55|16@0+ (1,0) [0|65535] "" EOCM_F_FO + SG_ FLRRDiagSpare : 30|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRVltgOutRngLo : 44|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRVltgOutRngHi : 43|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRSvcAlgnInPrcs : 38|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRSnsrBlckd : 45|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRSnstvFltPrsntInt : 24|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRPlntAlgnInProc : 37|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRMsalgnYawRt : 47|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRMsalgnYawLt : 46|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRLonVelPlsblityFlt : 35|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRYawRtPlsblityFlt : 34|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRMsalgnPtchUp : 32|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRMsalgnPtchDn : 33|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRInitDiagCmplt : 40|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRHWFltPrsntInt : 25|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRExtIntrfrnc : 36|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRCANSgnlSpvFld : 29|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRCANRxErr : 28|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRTunlDtctd : 27|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRAmbTmpOutRngLw : 42|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRAmbTmpOutRngHi : 41|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRAntTngFltPrsnt : 26|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRAlgnFltPrsnt : 39|1@0+ (1,0) [0|1] "" EOCM_F_FO + +BO_ 1121 F_LRR_Obj_Track_1: 8 LRR_FO + SG_ FLRRTrk1BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk1Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO + SG_ FLRRTrk1RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ FLRRTrk1RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO + SG_ FLRRTrk1DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk1Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO + SG_ FLRRTrk1Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FLRRTrk1MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk1ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FLRRTrk1Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1122 F_LRR_Obj_Track_2: 8 LRR_FO + SG_ FLRRTrk2BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk2Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO + SG_ FLRRTrk2RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ FLRRTrk2RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO + SG_ FLRRTrk2DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk2Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO + SG_ FLRRTrk2Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FLRRTrk2MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk2ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FLRRTrk2Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1123 F_LRR_Obj_Track_3: 8 LRR_FO + SG_ FLRRTrk3BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk3Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO + SG_ FLRRTrk3RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ FLRRTrk3RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO + SG_ FLRRTrk3DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk3Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO + SG_ FLRRTrk3Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FLRRTrk3MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk3ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FLRRTrk3Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1124 F_LRR_Obj_Track_4: 8 LRR_FO + SG_ FLRRTrk4BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk4Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO + SG_ FLRRTrk4RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ FLRRTrk4RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO + SG_ FLRRTrk4DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk4Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO + SG_ FLRRTrk4Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FLRRTrk4MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk4ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FLRRTrk4Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1125 F_LRR_Obj_Track_5: 8 LRR_FO + SG_ FLRRTrk5BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk5Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO + SG_ FLRRTrk5RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ FLRRTrk5RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO + SG_ FLRRTrk5DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk5Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO + SG_ FLRRTrk5Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FLRRTrk5MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk5ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FLRRTrk5Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1126 F_LRR_Obj_Track_6: 8 LRR_FO + SG_ FLRRTrk6BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk6Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO + SG_ FLRRTrk6RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ FLRRTrk6Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk6RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO + SG_ FLRRTrk6DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk6Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO + SG_ FLRRTrk6Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FLRRTrk6MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk6ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 1127 F_LRR_Obj_Track_7: 8 LRR_FO + SG_ FLRRTrk7Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk7BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk7Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO + SG_ FLRRTrk7RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ FLRRTrk7RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO + SG_ FLRRTrk7DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk7Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO + SG_ FLRRTrk7Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FLRRTrk7MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk7ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 1128 F_LRR_Obj_Track_8: 8 LRR_FO + SG_ FLRRTrk8Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk8BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk8Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO + SG_ FLRRTrk8RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ FLRRTrk8RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO + SG_ FLRRTrk8DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk8Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO + SG_ FLRRTrk8Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FLRRTrk8MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk8ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 1129 F_LRR_Obj_Track_9: 8 LRR_FO + SG_ FLRRTrk9Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk9BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk9Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO + SG_ FLRRTrk9RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ FLRRTrk9RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO + SG_ FLRRTrk9DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk9Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO + SG_ FLRRTrk9Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FLRRTrk9MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk9ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 1130 F_LRR_Obj_Track_10: 8 LRR_FO + SG_ FLRRTrk10Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk10BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk10Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO + SG_ FLRRTrk10RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ FLRRTrk10RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO + SG_ FLRRTrk10DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk10Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO + SG_ FLRRTrk10Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FLRRTrk10MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk10ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 1131 F_LRR_Obj_Track_11: 8 LRR_FO + SG_ FLRRTrk11Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk11BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk11Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO + SG_ FLRRTrk11RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ FLRRTrk11RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO + SG_ FLRRTrk11DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk11Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO + SG_ FLRRTrk11Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FLRRTrk11MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk11ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 1132 F_LRR_Obj_Track_12: 8 LRR_FO + SG_ FLRRTrk12Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk12BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk12Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO + SG_ FLRRTrk12RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ FLRRTrk12RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO + SG_ FLRRTrk12DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk12Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO + SG_ FLRRTrk12Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FLRRTrk12MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk12ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 1133 F_LRR_Obj_Track_13: 8 LRR_FO + SG_ FLRRTrk13Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk13BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk13Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO + SG_ FLRRTrk13RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ FLRRTrk13RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO + SG_ FLRRTrk13DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk13Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO + SG_ FLRRTrk13Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FLRRTrk13MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk13ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 1134 F_LRR_Obj_Track_14: 8 LRR_FO + SG_ FLRRTrk14Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk14BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk14Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO + SG_ FLRRTrk14RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ FLRRTrk14RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO + SG_ FLRRTrk14DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk14Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO + SG_ FLRRTrk14Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FLRRTrk14MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk14ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 1135 F_LRR_Obj_Track_15: 8 LRR_FO + SG_ FLRRTrk15Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FLRRTrk15MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk15Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk15ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FLRRTrk15BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk15Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO + SG_ FLRRTrk15RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ FLRRTrk15RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO + SG_ FLRRTrk15DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk15Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO + +BO_ 1136 F_LRR_Obj_Track_16: 8 LRR_FO + SG_ FLRRTrk16Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk16BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk16Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO + SG_ FLRRTrk16RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ FLRRTrk16RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO + SG_ FLRRTrk16DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk16Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO + SG_ FLRRTrk16Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FLRRTrk16MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk16ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 1137 F_LRR_Obj_Track_17: 8 LRR_FO + SG_ FLRRTrk17Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk17BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk17Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO + SG_ FLRRTrk17RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ FLRRTrk17RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO + SG_ FLRRTrk17DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk17Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO + SG_ FLRRTrk17Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FLRRTrk17MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk17ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 1138 F_LRR_Obj_Track_18: 8 LRR_FO + SG_ FLRRTrk18Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk18BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk18Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO + SG_ FLRRTrk18RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ FLRRTrk18RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO + SG_ FLRRTrk18DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk18Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO + SG_ FLRRTrk18Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FLRRTrk18MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk18ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 1139 F_LRR_Obj_Track_19: 8 LRR_FO + SG_ FLRRTrk19Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk19BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk19Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO + SG_ FLRRTrk19RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ FLRRTrk19RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO + SG_ FLRRTrk19DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk19Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO + SG_ FLRRTrk19Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FLRRTrk19MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk19ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 1140 F_LRR_Obj_Track_20: 8 LRR_FO + SG_ FLRRTrk20Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk20BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk20Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO + SG_ FLRRTrk20RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ FLRRTrk20RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO + SG_ FLRRTrk20DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk20Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO + SG_ FLRRTrk20Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FLRRTrk20MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk20ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 1141 Long_Range_Radar_add_Info_1: 8 LRR_FO + SG_ FLRRAddInfo1BurstID : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ Cut_In_Out_Pot_Objtrk1 : 15|6@0+ (0.02,0) [0|1.26] "" EOCM_F_FO + SG_ ObjLossInfoObjTrk1 : 9|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ Cut_In_Out_Pot_Objtrk2 : 23|6@0+ (0.02,0) [0|1.26] "" EOCM_F_FO + SG_ ObjLossInfoObjTrk2 : 17|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ Cut_In_Out_Pot_Objtrk3 : 31|6@0+ (0.02,0) [0|1.26] "" EOCM_F_FO + SG_ ObjLossInfoObjTrk3 : 25|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ Cut_In_Out_Pot_Objtrk4 : 39|6@0+ (0.02,0) [0|1.26] "" EOCM_F_FO + SG_ ObjLossInfoObjTrk4 : 33|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ Cut_In_Out_Pot_Objtrk5 : 47|6@0+ (0.02,0) [0|1.26] "" EOCM_F_FO + SG_ ObjLossInfoObjTrk5 : 41|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ Cut_In_Out_Pot_Objtrk6 : 55|6@0+ (0.02,0) [0|1.26] "" EOCM_F_FO + SG_ ObjLossInfoObjTrk6 : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1321 F_Fwd_Fus_Obj_TrackB_9: 7 EOCM_F_FO + SG_ FwdFusTrkBAnlgRlLn9 : 46|8@0- (0.1,0) [-12.8|12.7] "" Dummy_FO + SG_ FwdFusTrkB9RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB9Width : 5|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FwdFusTrkB9MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkB9DynProp : 11|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB9RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO + SG_ FwdFusTrkB9RelLane : 31|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB9Height : 54|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FFusTrkB9ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB9ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB9ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB9ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB9ObjSrcVIs : 25|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB9ObjSrcLrr : 24|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB9NmCycTrkd : 39|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB9LatPosDev : 36|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB9LngPosDev : 33|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1320 F_Fwd_Fus_Obj_TrackB_8: 7 EOCM_F_FO + SG_ FwdFusTrkBAnlgRlLn8 : 46|8@0- (0.1,0) [-12.8|12.7] "" Dummy_FO + SG_ FwdFusTrkB8RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB8Width : 5|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FwdFusTrkB8MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkB8DynProp : 11|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB8RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO + SG_ FwdFusTrkB8RelLane : 31|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB8Height : 54|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FFusTrkB8ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB8ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB8ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB8ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB8ObjSrcVIs : 25|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB8ObjSrcLrr : 24|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB8NmCycTrkd : 39|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB8LatPosDev : 36|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB8LngPosDev : 33|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1319 F_Fwd_Fus_Obj_TrackB_7: 7 EOCM_F_FO + SG_ FwdFusTrkBAnlgRlLn7 : 46|8@0- (0.1,0) [-12.8|12.7] "" Dummy_FO + SG_ FwdFusTrkB7RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB7Width : 5|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FwdFusTrkB7MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkB7DynProp : 11|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB7RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO + SG_ FwdFusTrkB7RelLane : 31|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB7Height : 54|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FFusTrkB7ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB7ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB7ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB7ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB7ObjSrcVIs : 25|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB7ObjSrcLrr : 24|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB7NmCycTrkd : 39|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB7LatPosDev : 36|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB7LngPosDev : 33|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1318 F_Fwd_Fus_Obj_TrackB_6: 7 EOCM_F_FO + SG_ FwdFusTrkBAnlgRlLn6 : 46|8@0- (0.1,0) [-12.8|12.7] "" Dummy_FO + SG_ FwdFusTrkB6RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB6Width : 5|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FwdFusTrkB6MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkB6DynProp : 11|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB6RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO + SG_ FwdFusTrkB6RelLane : 31|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB6Height : 54|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FFusTrkB6ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB6ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB6ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB6ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB6ObjSrcVIs : 25|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB6ObjSrcLrr : 24|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB6NmCycTrkd : 39|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB6LatPosDev : 36|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB6LngPosDev : 33|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1317 F_Fwd_Fus_Obj_TrackB_5: 7 EOCM_F_FO + SG_ FwdFusTrkBAnlgRlLn5 : 46|8@0- (0.1,0) [-12.8|12.7] "" Dummy_FO + SG_ FwdFusTrkB5RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB5Width : 5|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FwdFusTrkB5MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkB5DynProp : 11|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB5RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO + SG_ FwdFusTrkB5RelLane : 31|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB5Height : 54|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FFusTrkB5ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB5ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB5ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB5ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB5ObjSrcVIs : 25|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB5ObjSrcLrr : 24|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB5NmCycTrkd : 39|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB5LatPosDev : 36|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB5LngPosDev : 33|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1316 F_Fwd_Fus_Obj_TrackB_4: 7 EOCM_F_FO + SG_ FwdFusTrkBAnlgRlLn4 : 46|8@0- (0.1,0) [-12.8|12.7] "" Dummy_FO + SG_ FwdFusTrkB4RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB4Width : 5|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FwdFusTrkB4MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkB4DynProp : 11|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB4RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO + SG_ FwdFusTrkB4RelLane : 31|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB4Height : 54|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FFusTrkB4ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB4ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB4ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB4ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB4ObjSrcVIs : 25|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB4ObjSrcLrr : 24|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB4NmCycTrkd : 39|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB4LatPosDev : 36|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB4LngPosDev : 33|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1315 F_Fwd_Fus_Obj_TrackB_3: 7 EOCM_F_FO + SG_ FwdFusTrkBAnlgRlLn3 : 46|8@0- (0.1,0) [-12.8|12.7] "" Dummy_FO + SG_ FwdFusTrkB3RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB3Width : 5|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FwdFusTrkB3MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkB3DynProp : 11|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB3RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO + SG_ FwdFusTrkB3RelLane : 31|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB3Height : 54|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FFusTrkB3ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB3ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB3ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB3ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB3ObjSrcVIs : 25|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB3ObjSrcLrr : 24|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB3NmCycTrkd : 39|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB3LatPosDev : 36|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB3LngPosDev : 33|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1314 F_Fwd_Fus_Obj_TrackB_2: 7 EOCM_F_FO + SG_ FwdFusTrkBAnlgRlLn2 : 46|8@0- (0.1,0) [-12.8|12.7] "" Dummy_FO + SG_ FwdFusTrkB2RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB2Width : 5|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FwdFusTrkB2MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkB2DynProp : 11|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB2RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO + SG_ FwdFusTrkB2RelLane : 31|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB2Height : 54|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FFusTrkB2ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB2ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB2ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB2ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB2ObjSrcVIs : 25|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB2ObjSrcLrr : 24|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB2NmCycTrkd : 39|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB2LatPosDev : 36|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB2LngPosDev : 33|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1327 F_Fwd_Fus_Obj_TrackB_15: 7 EOCM_F_FO + SG_ FwdFusTrkBAnlgRlLn15 : 46|8@0- (0.1,0) [-12.8|12.7] "" Dummy_FO + SG_ FwdFusTrkB15RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB15Width : 5|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FwdFusTrkB15MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkB15DynProp : 11|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB15RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO + SG_ FwdFusTrkB15RelLane : 31|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB15Height : 54|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FFusTrkB15ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB15ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB15ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB15ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTkB15ObjSrcVIs : 25|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB15ObjSrcLrr : 24|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB15NmCycTrkd : 39|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB15LatPosDev : 36|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB15LngPosDev : 33|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1326 F_Fwd_Fus_Obj_TrackB_14: 7 EOCM_F_FO + SG_ FwdFusTrkBAnlgRlLn14 : 46|8@0- (0.1,0) [-12.8|12.7] "" Dummy_FO + SG_ FwdFusTrkB14RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB14Width : 5|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FwdFusTrkB14MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkB14DynProp : 11|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB14RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO + SG_ FwdFusTrkB14RelLane : 31|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB14Height : 54|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FFusTrkB14ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB14ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB14ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB14ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB14ObjSrcVIs : 25|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB14ObjSrcLrr : 24|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB14NmCycTrkd : 39|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB14LatPosDev : 36|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB14LngPosDev : 33|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1325 F_Fwd_Fus_Obj_TrackB_13: 7 EOCM_F_FO + SG_ FwdFusTrkBAnlgRlLn13 : 46|8@0- (0.1,0) [-12.8|12.7] "" Dummy_FO + SG_ FwdFusTrkB13RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB13Width : 5|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FwdFusTrkB13MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkB13DynProp : 11|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB13RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO + SG_ FwdFusTrkB13RelLane : 31|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB13Height : 54|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FFusTrkB13ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB13ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB13ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB13ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB13ObjSrcVIs : 25|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB13ObjSrcLrr : 24|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB13NmCycTrkd : 39|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB13LatPosDev : 36|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB13LngPosDev : 33|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1324 F_Fwd_Fus_Obj_TrackB_12: 7 EOCM_F_FO + SG_ FwdFusTrkBAnlgRlLn12 : 46|8@0- (0.1,0) [-12.8|12.7] "" Dummy_FO + SG_ FwdFusTrkB12RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB12Width : 5|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FwdFusTrkB12MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkB12DynProp : 11|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB12RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO + SG_ FwdFusTrkB12RelLane : 31|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB12Height : 54|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FFusTrkB12ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB12ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB12ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB12ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB12ObjSrcVIs : 25|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB12ObjSrcLrr : 24|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB12NmCycTrkd : 39|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB12LatPosDev : 36|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB12LngPosDev : 33|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1323 F_Fwd_Fus_Obj_TrackB_11: 7 EOCM_F_FO + SG_ FwdFusTrkB11DynProp : 11|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB11RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO + SG_ FwdFusTrkB11RelLane : 31|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB11Height : 54|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FFusTrkB11ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB11ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB11ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB11ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB11ObjSrcVIs : 25|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB11ObjSrcLrr : 24|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB11NmCycTrkd : 39|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB11LatPosDev : 36|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB11LngPosDev : 33|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkBAnlgRlLn11 : 46|8@0- (0.1,0) [-12.8|12.7] "" Dummy_FO + SG_ FwdFusTrkB11RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB11Width : 5|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FwdFusTrkB11MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + +BO_ 1322 F_Fwd_Fus_Obj_TrackB_10: 7 EOCM_F_FO + SG_ FwdFusTrkBAnlgRlLn10 : 46|8@0- (0.1,0) [-12.8|12.7] "" Dummy_FO + SG_ FwdFusTrkB10RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB10Width : 5|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FwdFusTrkB10MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkB10DynProp : 11|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB10RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO + SG_ FwdFusTrkB10RelLane : 31|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB10Height : 54|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FFusTrkB10ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB10ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB10ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB10ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB10ObjSrcVIs : 25|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB10ObjSrcLrr : 24|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB10NmCycTrkd : 39|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB10LatPosDev : 36|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB10LngPosDev : 33|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1313 F_Fwd_Fus_Obj_TrackB_1: 7 EOCM_F_FO + SG_ FwdFusTrkBAnlgRlLn1 : 46|8@0- (0.1,0) [-12.8|12.7] "" Dummy_FO + SG_ FwdFusTrkB1RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB1Width : 5|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FwdFusTrkB1MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkB1DynProp : 11|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB1RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO + SG_ FwdFusTrkB1RelLane : 31|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB1Height : 54|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FFusTrkB1ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB1ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB1ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB1ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB1ObjSrcVIs : 25|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB1ObjSrcLrr : 24|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB1NmCycTrkd : 39|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB1LatPosDev : 36|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB1LngPosDev : 33|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1305 F_Fwd_Fus_Obj_TrackA_9: 8 EOCM_F_FO + SG_ FwdFusTrkA9RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA9ObjectID : 5|6@0+ (1,0) [0|63] "" Dummy_FO + SG_ FwdFusTrkA9MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkA9LongPos : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO + SG_ FwdFusTrkA9RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA9Confidence : 36|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA9LatPos : 34|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO + SG_ FwdFusTrkA9RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA9MeasStatus : 60|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA9ObjType : 58|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1304 F_Fwd_Fus_Obj_TrackA_8: 8 EOCM_F_FO + SG_ FwdFusTrkA8RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA8ObjectID : 5|6@0+ (1,0) [0|63] "" Dummy_FO + SG_ FwdFusTrkA8MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkA8LongPos : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO + SG_ FwdFusTrkA8RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA8Confidence : 36|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA8LatPos : 34|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO + SG_ FwdFusTrkA8RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA8MeasStatus : 60|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA8ObjType : 58|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1303 F_Fwd_Fus_Obj_TrackA_7: 8 EOCM_F_FO + SG_ FwdFusTrkA7RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA7ObjectID : 5|6@0+ (1,0) [0|63] "" Dummy_FO + SG_ FwdFusTrkA7MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkA7LongPos : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO + SG_ FwdFusTrkA7RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA7Confidence : 36|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA7LatPos : 34|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO + SG_ FwdFusTrkA7RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA7MeasStatus : 60|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA7ObjType : 58|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1302 F_Fwd_Fus_Obj_TrackA_6: 8 EOCM_F_FO + SG_ FwdFusTrkA6RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA6ObjectID : 5|6@0+ (1,0) [0|63] "" Dummy_FO + SG_ FwdFusTrkA6MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkA6LongPos : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO + SG_ FwdFusTrkA6RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA6Confidence : 36|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA6LatPos : 34|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO + SG_ FwdFusTrkA6RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA6MeasStatus : 60|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA6ObjType : 58|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1301 F_Fwd_Fus_Obj_TrackA_5: 8 EOCM_F_FO + SG_ FwdFusTrkA5RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA5ObjectID : 5|6@0+ (1,0) [0|63] "" Dummy_FO + SG_ FwdFusTrkA5MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkA5LongPos : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO + SG_ FwdFusTrkA5RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA5Confidence : 36|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA5LatPos : 34|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO + SG_ FwdFusTrkA5RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA5MeasStatus : 60|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA5ObjType : 58|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1300 F_Fwd_Fus_Obj_TrackA_4: 8 EOCM_F_FO + SG_ FwdFusTrkA4RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA4ObjectID : 5|6@0+ (1,0) [0|63] "" Dummy_FO + SG_ FwdFusTrkA4MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkA4LongPos : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO + SG_ FwdFusTrkA4RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA4Confidence : 36|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA4LatPos : 34|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO + SG_ FwdFusTrkA4RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA4MeasStatus : 60|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA4ObjType : 58|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1299 F_Fwd_Fus_Obj_TrackA_3: 8 EOCM_F_FO + SG_ FwdFusTrkA3RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA3ObjectID : 5|6@0+ (1,0) [0|63] "" Dummy_FO + SG_ FwdFusTrkA3MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkA3LongPos : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO + SG_ FwdFusTrkA3RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA3Confidence : 36|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA3LatPos : 34|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO + SG_ FwdFusTrkA3RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA3MeasStatus : 60|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA3ObjType : 58|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1298 F_Fwd_Fus_Obj_TrackA_2: 8 EOCM_F_FO + SG_ FwdFusTrkA2RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA2ObjectID : 5|6@0+ (1,0) [0|63] "" Dummy_FO + SG_ FwdFusTrkA2MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkA2LongPos : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO + SG_ FwdFusTrkA2RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA2Confidence : 36|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA2LatPos : 34|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO + SG_ FwdFusTrkA2RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA2MeasStatus : 60|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA2ObjType : 58|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1311 F_Fwd_Fus_Obj_TrackA_15: 8 EOCM_F_FO + SG_ FwdFusTrkA15RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA15ObjectID : 5|6@0+ (1,0) [0|63] "" Dummy_FO + SG_ FwdFusTrkA15MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkA15LongPos : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO + SG_ FwdFusTrkA15RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA15Confidence : 36|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA15LatPos : 34|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO + SG_ FwdFusTrkA15RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA15MeasStatus : 60|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA15ObjType : 58|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1310 F_Fwd_Fus_Obj_TrackA_14: 8 EOCM_F_FO + SG_ FwdFusTrkA14RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA14ObjectID : 5|6@0+ (1,0) [0|63] "" Dummy_FO + SG_ FwdFusTrkA14MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkA14LongPos : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO + SG_ FwdFusTrkA14RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA14Confidence : 36|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA14LatPos : 34|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO + SG_ FwdFusTrkA14RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA14MeasStatus : 60|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA14ObjType : 58|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1309 F_Fwd_Fus_Obj_TrackA_13: 8 EOCM_F_FO + SG_ FwdFusTrkA13RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA13ObjectID : 5|6@0+ (1,0) [0|63] "" Dummy_FO + SG_ FwdFusTrkA13MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkA13LongPos : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO + SG_ FwdFusTrkA13RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA13Confidence : 36|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA13LatPos : 34|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO + SG_ FwdFusTrkA13RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA13MeasStatus : 60|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA13ObjType : 58|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1308 F_Fwd_Fus_Obj_TrackA_12: 8 EOCM_F_FO + SG_ FwdFusTrkA12RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA12ObjectID : 5|6@0+ (1,0) [0|63] "" Dummy_FO + SG_ FwdFusTrkA12MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkA12LongPos : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO + SG_ FwdFusTrkA12RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA12Confidence : 36|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA12LatPos : 34|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO + SG_ FwdFusTrkA12RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA12MeasStatus : 60|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA12ObjType : 58|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1307 F_Fwd_Fus_Obj_TrackA_11: 8 EOCM_F_FO + SG_ FwdFusTrkA11ObjectID : 5|6@0+ (1,0) [0|63] "" Dummy_FO + SG_ FwdFusTrkA11MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkA11LongPos : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO + SG_ FwdFusTrkA11RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA11Confidence : 36|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA11LatPos : 34|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO + SG_ FwdFusTrkA11RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA11MeasStatus : 60|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA11ObjType : 58|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkA11RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + +BO_ 1306 F_Fwd_Fus_Obj_TrackA_10: 8 EOCM_F_FO + SG_ FwdFusTrkA10RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA10ObjectID : 5|6@0+ (1,0) [0|63] "" Dummy_FO + SG_ FwdFusTrkA10MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkA10LongPos : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO + SG_ FwdFusTrkA10RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA10Confidence : 36|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA10LatPos : 34|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO + SG_ FwdFusTrkA10RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA10MeasStatus : 60|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA10ObjType : 58|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1297 F_Fwd_Fus_Obj_TrackA_1: 8 EOCM_F_FO + SG_ FwdFusTrkA1RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA1ObjectID : 5|6@0+ (1,0) [0|63] "" Dummy_FO + SG_ FwdFusTrkA1MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkA1LongPos : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO + SG_ FwdFusTrkA1RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA1Confidence : 36|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA1LatPos : 34|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO + SG_ FwdFusTrkA1RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA1MeasStatus : 60|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA1ObjType : 58|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1296 F_Fwd_Fus_Obj_Header: 7 EOCM_F_FO + SG_ F_FusHeadRollingCount : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ F_FusHeadFuncState : 5|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ F_FusHedNmValTargts : 3|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ F_FusHead_LrrOK : 15|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ F_FusHead_LFSRROK : 14|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ F_FusHead_VIsOK : 13|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ F_FusHead_MapDataOK : 12|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ F_FusHeadTimStmpV : 11|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ F_FusHeadTimStmp : 10|11@0+ (1,0) [0|2047] "ms" Dummy_FO + SG_ F_FusHead_LCSRROK : 31|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ F_FusHead_RCSRROK : 30|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ F_FusHead_RFSRROK : 29|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ F_FusHed_ObjClstrCurv : 28|13@0- (5E-005,0) [-0.2048|0.20475] "1/m" Dummy_FO + SG_ F_FusHdObjClstTanHdng : 47|8@0- (0.002,0) [-0.256|0.254] "m/m" Dummy_FO + SG_ RoadTypeInfo : 55|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 257 USDT_Req_to_All_FO_ECUs: 8 TestTool_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" LRSRR_FO,_DOFIMU2_FO,_DOFIMU1_FO,DMS_FO,AMM_FO,EOCM2A_K2_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K1_FO,NVS_FO,CIPM_FO,VIS2_FO,RRSRR_FO,VIS_FO,RFSRR_FO,LRR_FO,LFSRR_FO,RSRR_FO,EOCM_F_FO + +BO_ 584 USDT_Req_to_6DOFIMU2_FO: 8 TestTool_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" _DOFIMU2_FO + +BO_ 1348 UUDT_Resp_From_6DOFIMU1_FO: 8 _DOFIMU1_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1604 USDT_Resp_From_6DOFIMU1_FO: 8 _DOFIMU1_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 580 USDT_Req_to_6DOFIMU1_FO: 8 TestTool_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" _DOFIMU1_FO + +BO_ 1349 UUDT_Resp_From_DMS_FO: 8 DMS_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1605 USDT_Resp_From_DMS_FO: 8 DMS_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 581 USDT_Req_to_DMS_FO: 8 TestTool_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" DMS_FO + +BO_ 1372 UUDT_Resp_From_AMM_FO: 8 AMM_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1628 USDT_Resp_From_AMM_FO: 8 AMM_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 604 USDT_Req_to_AMM_FO: 8 TestTool_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" AMM_FO + +BO_ 1622 USDT_Resp_From_EOCM2B_IMX6_FO: 8 EOCM2B_IMX6_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1366 UUDT_Resp_From_EOCM2B_IMX6_FO: 8 EOCM2B_IMX6_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 598 USDT_Req_to_EOCM2B_IMX6_FO: 8 TestTool_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" EOCM2B_IMX6_FO + +BO_ 590 USDT_Req_to_Free_4E_FO: 8 TestTool_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" Vector__XXX + +BO_ 1338 VPDR_Debug: 8 EOCM_F_FO + SG_ FrtRWARateDiagFA : 43|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FrtRWABiasDiagFA : 42|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ HWAFrtVal : 41|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ HWADotValFrt : 40|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S2VehAxRangeFA : 39|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S2VehAxRateFA : 38|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S2VehAxBiasFA : 37|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VehAxCompFA : 36|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S1VehAxVal : 35|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S2VehAxVal : 34|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FrtRWACorrFA : 33|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FrtRWARangeDiagFA : 32|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S2VehAyBiasFA : 31|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VehAyCompFA : 30|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S1VehAyVal : 29|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S2VehAyVal : 28|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VehAxCorrFA : 27|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S1VehAxRangeFA : 26|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S1VehAxRateFA : 25|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S1VehAxBiasFA : 24|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S1VehWzVal : 23|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S2VehWzVal : 22|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VehAyCorrDiagFA : 21|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S1VehAyRangeFA : 20|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S1VehAyRateFA : 19|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S1VehAyBiasFA : 18|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S2VehAyRangeFA : 17|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S2VehAyRateFA : 16|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VehWzCorrDiagFA : 15|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S1VehWzRangeFA : 14|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S1VehWzRateFA : 13|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S1VehWzBiasFA : 12|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S2VehWzRangeFA : 11|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S2VehWzRateFA : 10|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S2VehWzBiasFA : 9|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VehWzCompFA : 8|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ WhlVxLFCorrDiagFA : 7|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ WhlVxRFCorrDiagFA : 6|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ WhlVxLRCorrDiagFA : 5|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ WhlVxRRCorrDiagFA : 4|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ WhlLFVal : 3|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ WhlRFVal : 2|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ WhlLRVal : 1|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ WhlRRVal : 0|1@0+ (1,0) [0|1] "" Dummy_FO + +BO_ 1328 Diag_Debug1: 8 EOCM_F_FO + SG_ AlrtWrnIndReqFP : 1|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ AlrtWrnIndReqFA : 0|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ILRSRRSnsr_FP : 24|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ILRSRRSnsr_FA : 23|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ILRSRRFrehns_FA : 22|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VehPathEstCrvCSFP : 21|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VehPathEstCrvCSFA : 20|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VehPathWzEstCSFP : 19|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VehPathWzEstCSFA : 18|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VehPathVyEstCSFP : 17|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VehPathVyEstCSFA : 16|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VehPathVxEstCSFP : 15|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VehPathVxEstCSFA : 14|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtTTCCSFP : 13|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtTTCCSFA : 12|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtLyCSFP : 11|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtLyCSFA : 10|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThLxVxAxCSFP : 9|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThLxVxAxCSFA : 8|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ CurSetValDiagFP : 7|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ CurSetValDiagFA : 6|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ CrsAltDvrSlTpDiagFP : 5|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ CrsAltDvrSlTpDiagFA : 4|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FCAStatDiagFP : 3|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FCAStatDiagFA : 2|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ RVBBrkCtrlStFP : 62|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ RVBBrkCtrlStFA : 61|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ RVBOpStFP : 60|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ RVBOpStFA : 59|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ RVBBrkCtrlAccFP : 58|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ RVBBrkCtrlAccFA : 57|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ RVBAxlTrqRqFP : 56|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ RVBAxlTrqRqFA : 55|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TVRUPATTCFP : 54|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TVRUPATTCFA : 53|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TVRHiThrtObjIDFP : 52|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TVRHiThrtObjIDFA : 51|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TVRHiThrtTTCFP : 50|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TVRHiThrtTTCFA : 49|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TVRHiThrtLxFP : 48|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TVRHiThrtLxFA : 47|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TVRHiThrtLyFP : 46|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TVRHiThrtLyFA : 45|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ROFFuncStFP : 44|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ROFFuncStFA : 43|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ROFObjIDFP : 42|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ROFObjIDFA : 41|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ROFLatPstnVelRatFP : 40|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ROFLatPstnVelRatFA : 39|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ROFLonPstnVelFP : 38|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ROFLonPstnVelFA : 37|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ROFRltvLatVelDiagFP : 36|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ROFRltvLatVelDiagFA : 35|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ROFRltvLatPstnDiagFP : 34|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ROFRltvLatPstnDiagFA : 33|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ROFNrRltvLonPstnFP : 32|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ROFNrRltvLonPstnFA : 31|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ROFLonPstnVelRatFP : 30|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ROFLonPstnVelRatFA : 29|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ROFConfDiagFP : 28|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ROFConfDiagFA : 27|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ROFRltvLnDiagFP : 26|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ROFRltvLnDiagFA : 25|1@0+ (1,0) [0|1] "" Dummy_FO + +BO_ 1335 Diag_Debug3: 8 EOCM_F_FO + SG_ BrkSysCmdAxDiagFPQ : 63|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ BrkSysCmdAxDiagFAQ : 62|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ AxleTorqReqDiagFPQ : 61|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ AxleTorqReqDiagFAQ : 60|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ AutoBrkTypeDiagFPQ : 59|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ AutoBrkTypeDiagFAQ : 58|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtTTCFPQ : 57|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtTTCFAQ : 56|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtTmpMemFPQ : 55|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtTmpMemFAQ : 54|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtLxVxAxFPQ : 53|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtLxVxAxFAQ : 52|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtVyFPQ : 51|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtVyFAQ : 50|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtLyFPQ : 49|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtLyFAQ : 48|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtConPriFPQ : 47|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtConPriFAQ : 46|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtCJLFPQ : 45|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtCJLFAQ : 44|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPDynPropDiagFPQ : 43|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPDynPropDiagFAQ : 42|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFRdTypInfoFPQ : 41|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFRdTypInfoFAQ : 40|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFRltvLnDiagFPQ : 39|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFRltvLnDiagFAQ : 38|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFNumCycDiagFPQ : 37|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFNumCycDiagFAQ : 36|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFNumFusCyclsFPQ : 35|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFNumFusCyclsFAQ : 34|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFNrRltvLonPstnFPQ : 33|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFNrRltvLonPstnFAQ : 32|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFLonVelAccRatFPQ : 31|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFLonVelAccRatFAQ : 30|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFLonPstnVelRatFPQ : 29|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFLonPstnVelRatFAQ : 28|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFLonPosVelAccFPQ : 27|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFLonPosVelAccFAQ : 26|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFLatVelDiagFPQ : 25|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFLatVelDiagFAQ : 24|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFLatPstnDiagFPQ : 23|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFLatPstnDiagFAQ : 22|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFConfDiagFPQ : 21|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFConfDiagFAQ : 20|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ILFOvrlpRtlChk_FAQ : 19|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ IRFOvrlpRtlChk_FAQ : 18|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ LRROvrlpRtlChk_FAQ : 17|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VISOvrlpRtlChk_FAQ : 16|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VISAlign_FAQ : 15|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VISSnsr_FAQ : 14|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VISSnsr_FPQ : 13|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VISFrshns_FAQ : 12|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ LRRAlign_FAQ : 11|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ LRRFrshns_FAQ : 10|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ LRRSnsr_FAQ : 9|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ LRRSnsr_FPQ : 8|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ IRFSRRAlign_FAQ : 7|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ IRFSRRFrehns_FAQ : 6|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ IRFSRRSnsr_FAQ : 5|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ IRFSRRSnsr_FPQ : 4|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ILFSRRSnsr_FPQ : 3|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ILFSRRSnsr_FAQ : 2|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ILFSRRFrshns_FAQ : 1|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ILFSRRAlign_FAQ : 0|1@0+ (1,0) [0|1] "" Dummy_FO + +BO_ 1331 Diag_Debug2: 8 EOCM_F_FO + SG_ TCPHiThrtTmpMemFP : 63|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtTmpMemFA : 62|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtConPriFP : 61|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtConPriFA : 60|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtCJLFP : 59|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtTTCFP : 58|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtTTCFA : 57|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtVyFP : 56|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtVyFA : 55|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtLyFP : 54|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtLyFA : 53|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtLxVxAxFP : 52|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtLxVxAxFA : 51|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFRdTypInfoFP : 50|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFRdTypInfoFA : 49|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ AutoBrkTypeDiagFA : 48|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ BrkSysCmdAxDiagFP : 47|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ BrkSysCmdAxDiagFA : 46|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ AxleTorqReqDiagFP : 45|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ AxleTorqReqDiagFA : 44|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPDynPropDiagFP : 43|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPDynPropDiagFA : 42|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtCJLFA : 41|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFNumFusCyclsFP : 40|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ AutoBrkTypeDiagFP : 39|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFNumFusCyclsFA : 38|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFLatVelDiagFP : 37|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFLatVelDiagFA : 36|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFLatPstnDiagFP : 35|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFLatPstnDiagFA : 34|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFNumCycDiagFP : 33|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFNumCycDiagFA : 32|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFRltvLnDiagFP : 31|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFRltvLnDiagFA : 30|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFConfDiagFP : 29|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFConfDiagFA : 28|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFLonVelAccRatFP : 27|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFLonVelAccRatFA : 26|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFLonPstnVelRatFP : 25|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFLonPstnVelRatFA : 24|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFNrRltvLonPstnFP : 23|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFNrRltvLonPstnFA : 22|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFLonPosVelAccFP : 21|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFLonPosVelAccFA : 20|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VISOvrlpRtlChk_FA : 19|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ LRROvrlpRtlChk_FA : 18|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ IRFOvrlpRtlChk_FA : 17|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ILFOvrlpRtlChk_FA : 16|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VISAlign_FA : 15|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VISFrshns_FA : 14|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VISSnsr_FP : 13|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VISSnsr_FA : 12|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ LRRAlign_FA : 11|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ LRRFrshns_FA : 10|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ LRRSnsr_FP : 9|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ LRRSnsr_FA : 8|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ IRFSRRAlign_FA : 7|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ IRFSRRFrehns_FA : 6|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ IRFSRRSnsr_FP : 5|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ IRFSRRSnsr_FA : 4|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ILFSRRAlign_FA : 3|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ILFSRRFrshns_FA : 2|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ILFSRRSnsr_FP : 1|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ILFSRRSnsr_FA : 0|1@0+ (1,0) [0|1] "" Dummy_FO + +BO_ 1787 AL_Test_Tool_Rsp_RFSRR: 8 RFSRR_FO + SG_ RFSRREngRspDta : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" Dummy_FO + +BO_ 1788 AL_Test_Tool_Rsp_LFSRR: 8 LFSRR_FO + SG_ LFSRREngRspDta : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" Dummy_FO + +BO_ 1790 AL_Test_Tool_Req_RFSRR: 8 Dummy_FO + SG_ RFSRREngCmdDta : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" RFSRR_FO + +BO_ 1791 AL_Test_Tool_Req_LFSRR: 8 Dummy_FO + SG_ LFSRREngCmdDta : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" LFSRR_FO + +BO_ 1786 AL_Test_Tool_Rsp_RSRR: 8 RSRR_FO + SG_ RSRREngRspDta : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" Dummy_FO + +BO_ 1789 AL_Test_Tool_Req_RSRR: 8 Dummy_FO + SG_ RSRREngCmdDta : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" RSRR_FO + +BO_ 1149 F_LRR_Azmth_Rate_Info_4: 8 LRR_FO + SG_ FLRRTrk20AzmthRate : 50|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FLRRTrk19AzmthRate : 45|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FLRRTrk18AzmthRate : 24|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FLRRTrk17AzmthRate : 19|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FLRRTrk16AzmthRate : 14|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FLRRAzRtInf4BurstID : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1148 F_LRR_Azmth_Rate_Info_3: 8 LRR_FO + SG_ FLRRTrk15AzmthRate : 50|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FLRRTrk14AzmthRate : 45|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FLRRTrk13AzmthRate : 24|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FLRRTrk12AzmthRate : 19|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FLRRTrk11AzmthRate : 14|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FLRRAzRtInf3BurstID : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1147 F_LRR_Azmth_Rate_Info_2: 8 LRR_FO + SG_ FLRRTrk9AzmthRate : 45|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FLRRTrk8AzmthRate : 24|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FLRRTrk7AzmthRate : 19|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FLRRTrk6AzmthRate : 14|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FLRRTrk10AzmthRate : 50|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FLRRAzRtInf2BurstID : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1146 F_LRR_Azmth_Rate_Info_1: 8 LRR_FO + SG_ FLRRTrk5AzmthRate : 50|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FLRRTrk4AzmthRate : 45|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FLRRTrk3AzmthRate : 24|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FLRRTrk2AzmthRate : 19|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FLRRTrk1AzmthRate : 14|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FLRRAzRtInf1BurstID : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1143 Long_Range_Radar_add_Info_3: 8 LRR_FO + SG_ FLRRAddInfo3BurstID : 57|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk13ObstType : 60|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk20ObstTypeConf : 52|5@0+ (0.0323,0) [0|1.0013] "" EOCM_F_FO + SG_ FLRRTrk20ObstType : 55|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk19ObstTypeConf : 44|5@0+ (0.0323,0) [0|1.0013] "" EOCM_F_FO + SG_ FLRRTrk19ObstType : 47|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk18ObstTypeConf : 36|5@0+ (0.0323,0) [0|1.0013] "" EOCM_F_FO + SG_ FLRRTrk18ObstType : 39|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk17ObstTypeConf : 28|5@0+ (0.0323,0) [0|1.0013] "" EOCM_F_FO + SG_ FLRRTrk17ObstType : 31|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk16ObstTypeConf : 20|5@0+ (0.0323,0) [0|1.0013] "" EOCM_F_FO + SG_ FLRRTrk16ObstType : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk15ObstTypeConf : 12|5@0+ (0.0323,0) [0|1.0013] "" EOCM_F_FO + SG_ FLRRTrk15ObstType : 15|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk14ObstTypeConf : 4|5@0+ (0.0323,0) [0|1.0013] "" EOCM_F_FO + SG_ FLRRTrk14ObstType : 7|3@0+ (1,0) [0|7] "" EOCM_F_FO + +BO_ 1142 Long_Range_Radar_add_Info_2: 8 LRR_FO + SG_ FLRRAddInfo2BurstID : 62|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk13ObstTypeConf : 60|5@0+ (0.0323,0) [0|1.0013] "" EOCM_F_FO + SG_ FLRRTrk12ObstTypeConf : 52|5@0+ (0.0323,0) [0|1.0013] "" EOCM_F_FO + SG_ FLRRTrk12ObstType : 55|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk11ObstTypeConf : 44|5@0+ (0.0323,0) [0|1.0013] "" EOCM_F_FO + SG_ FLRRTrk11ObstType : 47|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk10ObstTypeConf : 36|5@0+ (0.0323,0) [0|1.0013] "" EOCM_F_FO + SG_ FLRRTrk10ObstType : 39|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk9ObstTypeConf : 28|5@0+ (0.0323,0) [0|1.0013] "" EOCM_F_FO + SG_ FLRRTrk9ObstType : 31|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk8ObstTypeConf : 20|5@0+ (0.0323,0) [0|1.0013] "" EOCM_F_FO + SG_ FLRRTrk8ObstType : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk7ObstTypeConf : 12|5@0+ (0.0323,0) [0|1.0013] "" EOCM_F_FO + SG_ FLRRTrk7ObstType : 15|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk1ObstTypeConf : 4|5@0+ (0.0323,0) [0|1.0013] "" EOCM_F_FO + SG_ FLRRTrk1ObstType : 7|3@0+ (1,0) [0|7] "" EOCM_F_FO + +BO_ 851 F_Vision_Environment_4: 8 VIS_FO + SG_ LnMrkg3LnPrvwDst : 45|4@0+ (10,0) [0|150] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsTtlNmLnMrkgDetRt : 4|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsRtLinCrsTm : 25|5@0+ (0.1,0) [0|3.1] "s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsNumPrlLnsDetRt : 33|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsNumPrlLnsDetLt : 36|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsCrvtGrdntLftV : 31|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsLtLinCrsTm : 30|5@0+ (0.1,0) [0|3.1] "s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnPrvwDst : 50|4@0+ (10,0) [0|150] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnMrkgTypChgDst : 61|4@0+ (10,0) [0|150] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnMrkgTypChgDst : 40|4@0+ (10,0) [0|150] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnMrkgWdth : 62|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnMarkrElvtd : 51|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4AnchrLnLin : 57|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnMrkgWdth : 41|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnMarkrElvtd : 46|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3AnchrLnLin : 52|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsBurstID2 : 1|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsCrvtGrdntLft : 15|16@0- (5.96E-008,0) [-0.0019529728|0.0019529132] "1/rad/s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + +BO_ 597 USDT_Req_to_VIS2_FO: 8 TestTool_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" CIPM_FO,VIS2_FO + +BO_ 1204 RR_SRR_Object_Track4: 8 RRSRR_FO + SG_ RRSrrTrkRawAzimuth4 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + SG_ RRSrrTrkRRate4 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RRSrrTrkRange4 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RRSrrTrkObsRange4 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RRSrrTrkObjID4 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RRSrrTrkObjElevation4 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RRSrrTrkMeasStatus4 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RRSrrTrkDynamProp4 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RRSrrTrkAzimuth4 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RRSrrBurstID4 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1203 RR_SRR_Object_Track3: 8 RRSRR_FO + SG_ RRSrrTrkRawAzimuth3 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + SG_ RRSrrTrkRRate3 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RRSrrTrkRange3 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RRSrrTrkObsRange3 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RRSrrTrkObjID3 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RRSrrTrkObjElevation3 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RRSrrTrkMeasStatus3 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RRSrrTrkDynamProp3 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RRSrrTrkAzimuth3 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RRSrrBurstID3 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1202 RR_SRR_Object_Track2: 8 RRSRR_FO + SG_ RRSrrBurstID2 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RRSrrTrkRawAzimuth2 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + SG_ RRSrrTrkRRate2 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RRSrrTrkRange2 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RRSrrTrkObsRange2 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RRSrrTrkObjID2 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RRSrrTrkObjElevation2 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RRSrrTrkMeasStatus2 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RRSrrTrkDynamProp2 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RRSrrTrkAzimuth2 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + +BO_ 1201 RR_SRR_Object_Track1: 8 RRSRR_FO + SG_ RRSrrBurstID1 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RRSrrTrkRawAzimuth1 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + SG_ RRSrrTrkRRate1 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RRSrrTrkRange1 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RRSrrTrkObsRange1 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RRSrrTrkObjID1 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RRSrrTrkObjElevation1 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RRSrrTrkMeasStatus1 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RRSrrTrkDynamProp1 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RRSrrTrkAzimuth1 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + +BO_ 1200 RR_SRR_Object_Header: 8 RRSRR_FO + SG_ RRSrrTimeStampV : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSrrTimeStamp : 10|11@0+ (1,0) [0|2047] "" EOCM_F_FO + SG_ RRSrrRollingCnt : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RRSRRNumValidTargets : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ RRSRRModeCmdFdbk : 4|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RRSRRVltgOutRngLo : 44|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSRRVltgOutRngHi : 43|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSRRSvcAlgnInPrcs : 38|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSRRSnsrBlckd : 45|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSRRSnstvFltPrsntInt : 24|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSRRPlntAlgnInProc : 37|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSRRMsalgnYawRt : 47|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSRRMsalgnYawLt : 46|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSRRMsalgnRllRt : 35|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSRRMsalgnRllLt : 34|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSRRMsalgnPtchUp : 32|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSRRMsalgnPtchDn : 33|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSRRInitDiagCmplt : 40|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSRRHWFltPrsntInt : 25|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSRRExtIntrfrnc : 36|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSRRDiagSpare : 30|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSRRCANSgnlSpvFld : 29|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSRRCANRxErr : 28|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSRRCANIDAddrsUnsbl : 27|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSRRAntTngFltPrsnt : 26|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSRRAmbTmpOutRngLw : 42|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSRRAmbTmpOutRngHi : 41|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSRRAlgnFltPrsnt : 39|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSrrBurstChecksum : 55|16@0+ (1,0) [0|65535] "" EOCM_F_FO + +BO_ 850 F_Vision_Environment_3: 8 VIS_FO + SG_ LnSnsTtlNmLnMrkgDetLt : 58|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsLtLnMrkgWdth : 63|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsLtLnMrkgTypChgDst : 62|4@0+ (10,0) [0|150] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsTngtOfHdngLnLftV : 23|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsTngtOfHdngLnLft : 31|8@0- (0.002,0) [-0.256|0.254] "m/m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsLnCrvtrLftV : 15|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsLnCrvtrLft : 39|16@0- (9.53E-007,0) [-0.031227904|0.031226951] "1/m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkrTypRght : 50|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkrTypLft : 53|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkrElvtdRght : 54|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkrElvtdLft : 55|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsBurstID1 : 7|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnQltyCnfdncLvlRght : 22|7@0+ (0.7874016,0) [0|100.0000032] "%" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnQltyCnfdncLvlLft : 14|7@0+ (0.7874016,0) [0|100.0000032] "%" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnPrvwDstncRght : 2|3@0+ (10,0) [0|70] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnPrvwDstncLft : 5|3@0+ (10,0) [0|70] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + +BO_ 1414 RVB_TVR_Debug2_FO: 7 EOCM_F_FO + SG_ VBBrkCntlAccel : 45|12@0- (0.01,0) [-20.48|20.47] "m/s^2" Dummy_FO + SG_ VBTOSObjID : 35|6@0+ (1,0) [0|63] "" Dummy_FO + SG_ VBTOSTTC : 31|12@0+ (0.025,0) [0|102.375] "s" Dummy_FO + SG_ VBTOSLatPstn : 11|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO + SG_ VBTOSLonPstn : 7|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO + diff --git a/opendbc_repo/opendbc/dbc/cadillac_ct6_powertrain.dbc b/opendbc_repo/opendbc/dbc/cadillac_ct6_powertrain.dbc new file mode 100644 index 0000000000..2d0bb12174 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/cadillac_ct6_powertrain.dbc @@ -0,0 +1,248 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: K16_BECM K73_TCIC K9_BCM K43_PSCM K17_EBCM K20_ECM K114B_HPCM NEO K124_ASCM +VAL_TABLE_ TurnSignals 2 "Right Turn" 1 "Left Turn" 0 "None" ; +VAL_TABLE_ ACCLeadCar 1 "Present" 0 "Not Present" ; +VAL_TABLE_ ACCCmdActive 1 "Active" 0 "Inactive" ; +VAL_TABLE_ BrakePedalPressed 1 "Pressed" 0 "Depressed" ; +VAL_TABLE_ DistanceButton 1 "Active" 0 "Inactive" ; +VAL_TABLE_ LKAButton 1 "Active" 0 "Inactive" ; +VAL_TABLE_ ACCButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ; +VAL_TABLE_ PRNDL 3 "Reverse" 2 "Drive" 1 "Neutral" 0 "Park" ; +VAL_TABLE_ DoorStatus 1 "Opened" 0 "Closed" ; +VAL_TABLE_ SeatBeltStatus 1 "Latched" 0 "Unlatched" ; +VAL_TABLE_ LKASteeringCmdActive 1 "Active" 0 "Inactive" ; +VAL_TABLE_ ACCGapLevel 3 "Far" 2 "Med" 1 "Near" 0 "Inactive" ; +VAL_TABLE_ GasRegenCmdActiveInv 1 "Inactive" 0 "Active" ; +VAL_TABLE_ GasRegenCmdActive 1 "Active" 0 "Inactive" ; +VAL_TABLE_ LKATorqueDeliveredStatus 3 "Failed" 2 "Temp. Limited" 1 "Active" 0 "Inactive" ; +VAL_TABLE_ HandsOffSWDetectionStatus 1 "Hands On" 0 "Hands Off" ; +VAL_TABLE_ HandsOffSWDetectionMode 2 "Failed" 1 "Enabled" 0 "Disabled" ; + + +BO_ 717 ASCM_2CD: 5 K124_ASCM + +BO_ 869 ASCM_365: 4 K124_ASCM + +BO_ 1034 ASCM_40A: 7 K124_ASCM + +BO_ 1296 ASCM_510: 4 K124_ASCM + +BO_ 1930 ASCM_78A: 7 K124_ASCM + +BO_ 190 ECMAcceleratorPos: 6 K20_ECM + SG_ BrakePedalPos : 15|8@0+ (1,0) [0|0] "sticky" NEO + SG_ GasPedalAndAcc : 23|8@0+ (1,0) [0|0] "" NEO + +BO_ 201 ECMEngineStatus: 8 K20_ECM + SG_ EngineTPS : 39|8@0+ (0.392156863,0) [0|100.000000065] "%" NEO + SG_ EngineRPM : 15|16@0+ (0.25,0) [0|0] "RPM" NEO + +BO_ 209 EBCMBrakePedalSensors: 7 K17_EBCM + SG_ Counter1 : 7|2@0+ (1,0) [0|3] "" XXX + SG_ Counter2 : 23|2@0+ (1,0) [0|3] "" XXX + SG_ BrakePedalPosition1 : 5|14@0+ (1,0) [0|16383] "" XXX + SG_ BrakePedalPosition2 : 21|14@0- (-1,0) [0|16383] "" XXX + SG_ BrakeNormalized1 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ BrakeNormalized2 : 47|8@0- (-1,0) [0|255] "" XXX + +BO_ 241 EBCMBrakePedalPosition: 6 K17_EBCM + SG_ BrakePedalPosition : 15|8@0+ (1,0) [0|255] "" NEO + +BO_ 298 BCMDoorBeltStatus: 8 K9_BCM + SG_ RearLeftDoor : 8|1@0+ (1,0) [0|0] "" NEO + SG_ FrontLeftDoor : 9|1@0+ (1,0) [0|0] "" NEO + SG_ FrontRightDoor : 10|1@0+ (1,0) [0|0] "" NEO + SG_ RearRightDoor : 23|1@0+ (1,0) [0|0] "" NEO + SG_ LeftSeatBelt : 12|1@0+ (1,0) [0|0] "" NEO + SG_ RightSeatBelt : 53|1@0+ (1,0) [0|0] "" NEO + +BO_ 309 ECMPRDNL: 8 K20_ECM + SG_ PRNDL : 2|3@0+ (1,0) [0|0] "" NEO + +BO_ 320 BCMTurnSignals: 3 K9_BCM + SG_ TurnSignals : 19|2@0+ (1,0) [0|0] "" NEO + +BO_ 336 ASCMLKASStatus: 1 NEO + SG_ Available : 7|1@0+ (1,0) [0|0] "" NEO + +BO_ 338 ASCMLKASteeringCmd: 6 NEO + SG_ LKASteeringCmdActive : 7|1@0+ (1,0) [0|0] "" NEO + SG_ LKASteeringCmd : 5|14@0- (1,0) [0|0] "" NEO + SG_ RollingCounter : 23|2@0+ (1,0) [0|0] "" NEO + SG_ SetMe1 : 21|1@0+ (1,0) [0|0] "" NEO + SG_ LKASVehicleSpeed : 20|13@0+ (0.22,0) [0|0] "kph" NEO + SG_ LKASMode : 36|2@0+ (1,0) [0|0] "" NEO + SG_ LKASteeringCmdChecksum : 33|10@0+ (1,0) [0|0] "" NEO + +BO_ 340 ASCMBLKASteeringCmd: 6 NEO + SG_ LKASteeringCmdActive : 7|1@0+ (1,0) [0|0] "" NEO + SG_ LKASteeringCmd : 5|14@0- (1,0) [0|0] "" NEO + SG_ RollingCounter : 23|2@0+ (1,0) [0|0] "" NEO + SG_ SetMe1 : 21|1@0+ (1,0) [0|0] "" NEO + SG_ LKASVehicleSpeed : 20|13@0+ (0.22,0) [0|0] "kph" NEO + SG_ LKASMode : 36|2@0+ (1,0) [0|0] "" NEO + SG_ LKASteeringCmdChecksum : 33|10@0+ (1,0) [0|0] "" NEO + +BO_ 381 MSG_17D: 8 K20_ECM + SG_ MSG17D_AccPower : 35|12@0- (1,0) [0|0] "" NEO + +BO_ 356 PSCMStatus: 8 K43_PSCM + SG_ LKATorqueDeliveredStatus : 7|3@0+ (1,0) [0|7] "" NEO + SG_ LKADriverAppldTrq : 2|11@0- (0.01,0) [-10.24|10.23] "Nm" NEO + SG_ LKATBDTorque : 21|14@0- (-0.005,0) [-10.24|10.23] "Nm" NEO + SG_ RollingCounter : 39|2@0+ (1,0) [0|0] "" NEO + SG_ LKATotalTorqueDelivered : 37|14@0- (0.01,0) [-10.24|10.23] "Nm" NEO + +BO_ 417 AcceleratorPedal: 7 XXX + SG_ AcceleratorPedal : 55|8@0+ (1,0) [0|0] "" NEO + +BO_ 451 GasAndAcc: 8 XXX + SG_ GasPedalAndAcc2 : 55|8@0+ (1,0) [0|0] "" NEO + +BO_ 452 AcceleratorPedal2: 8 XXX + SG_ AcceleratorPedal2 : 47|8@0+ (1,0) [0|0] "" NEO + +BO_ 481 ASCMSteeringButton: 7 K124_ASCM + SG_ DistanceButton : 22|1@0+ (1,0) [0|0] "" NEO + SG_ LKAButton : 23|1@0+ (1,0) [0|0] "" NEO + SG_ ACCButtons : 46|3@0+ (1,0) [0|0] "" NEO + +BO_ 485 PSCMSteeringAngle: 8 K43_PSCM + SG_ SteeringWheelAngle : 15|16@0- (0.0625,0) [-2047|2047] "deg" NEO + SG_ SteeringWheelRate : 27|12@0- (1,0) [-2047|2047] "deg/s" NEO + +BO_ 489 EBCMVehicleDynamic: 8 K17_EBCM + SG_ YawRate : 51|12@0- (0.0625,0) [-2047|2047] "grad/s" NEO + SG_ LateralAcceleration : 3|12@0- (0.0161,0) [-2047|2047] "m/s2" NEO + SG_ BrakePedalPressed : 6|1@0+ (1,0) [0|0] "" NEO + +BO_ 711 BECMBatteryVoltageCurrent: 6 K17_EBCM + SG_ HVBatteryVoltage : 31|12@0+ (0.125,0) [0|511.875] "V" NEO + SG_ HVBatteryCurrent : 12|13@0- (0.15,0) [-614.4|614.25] "A" NEO + +BO_ 715 ASCMGasRegenCmd: 8 K124_ASCM + SG_ GasRegenAlwaysOne : 9|1@0+ (1,1) [1|1] "" NEO + SG_ GasRegenAlwaysThree : 15|2@0+ (1,1) [1|1] "" NEO + SG_ GasRegenChecksum : 47|24@0+ (1,0) [0|0] "" NEO + SG_ GasRegenCmdActiveInv : 32|1@0+ (1,0) [0|0] "" NEO + SG_ GasRegenFullStopActive : 13|1@0+ (1,0) [0|0] "" NEO + SG_ GasRegenCmdActive : 0|1@0+ (1,0) [0|0] "" NEO + SG_ RollingCounter : 7|2@0+ (1,0) [0|0] "" NEO + SG_ RollingCounter2 : 36|4@0+ (1,0) [0|0] "" NEO + SG_ GasRegenAlwaysOne2 : 23|1@0+ (1,0) [0|1] "" NEO + SG_ GasRegenCmd : 22|15@0+ (1,0) [0|0] "" NEO + +BO_ 810 TCICOnStarGPSPosition: 8 K73_TCIC + SG_ GPSLongitude : 39|32@0+ (1,-2147483648) [0|0] "milliarcsecond" NEO + SG_ GPSLatitude : 7|32@0+ (1,0) [0|0] "milliarcsecond" NEO + +BO_ 840 EBCMWheelSpdFront: 4 K17_EBCM + SG_ FLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h" NEO + SG_ FRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h" NEO + +BO_ 842 EBCMWheelSpdRear: 4 K17_EBCM + SG_ RLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h" NEO + SG_ RRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h" NEO + +BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM + SG_ ACCLeadCar : 44|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ACCAlwaysOne2 : 32|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ACCAlwaysOne : 0|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ACCSpeedSetpoint : 19|12@0+ (0.0625,0) [0|255.9375] "km/h" NEO + SG_ ACCGapLevel : 21|2@0+ (1,0) [0|0] "" NEO + SG_ ACCResumeButton : 1|1@0+ (1,0) [0|0] "" NEO + SG_ ACCCmdActive : 23|1@0+ (1,0) [0|0] "" NEO + +BO_ 1001 ECMVehicleSpeed: 8 K20_ECM + SG_ VehicleSpeed : 7|16@0+ (0.01,0) [0|0] "mph" NEO + +BO_ 1033 ASCMKeepAlive: 7 NEO + SG_ ASCMKeepAliveAllZero : 7|56@0+ (1,0) [0|0] "" NEO + +BO_ 1217 ECMEngineCoolantTemp: 8 K20_ECM + SG_ EngineCoolantTemp : 23|8@0+ (1,-40) [0|0] "C" NEO + +BO_ 1249 VIN_Part2: 8 K20_ECM + SG_ VINPart2 : 7|64@0+ (1,0) [0|0] "" NEO + +BO_ 1300 VIN_Part1: 8 K20_ECM + SG_ VINPart1 : 7|64@0+ (1,0) [0|0] "" NEO + +BO_ 1912 PSCM_778: 8 K43_PSCM + +BO_TX_BU_ 338 : K124_ASCM,NEO; +BO_TX_BU_ 880 : NEO,K124_ASCM; +BO_TX_BU_ 1033 : K124_ASCM,NEO; +BO_TX_BU_ 715 : NEO,K124_ASCM; + + +CM_ BU_ K16_BECM "Battery Energy Control Module"; +CM_ BU_ K73_TCIC "Telematics Communication Control Module"; +CM_ BU_ K9_BCM "Body Control Module"; +CM_ BU_ K43_PSCM "Power Steering Control Module"; +CM_ BU_ K17_EBCM "Electronic Brake Control Module"; +CM_ BU_ K20_ECM "Engine Control Module"; +CM_ BU_ K114B_HPCM "Hybrid Powertrain Control Module"; +CM_ BU_ NEO "Comma NEO"; +CM_ BU_ K124_ASCM "Active Safety Control Module"; +CM_ SG_ 381 MSG17D_AccPower "Need to investigate"; +CM_ SG_ 190 GasPedalAndAcc "ACC baseline is 62"; +CM_ SG_ 451 GasPedalAndAcc2 "ACC baseline is 62"; +CM_ SG_ 715 RollingCounter2 "Values cycle between 0, 7, 10, 13"; +BA_DEF_ "UseGMParameterIDs" INT 0 0; +BA_DEF_ "ProtocolType" STRING ; +BA_DEF_ "BusType" STRING ; +BA_DEF_DEF_ "UseGMParameterIDs" 1; +BA_DEF_DEF_ "ProtocolType" "GMLAN"; +BA_DEF_DEF_ "BusType" ""; +BA_ "BusType" "CAN"; +BA_ "ProtocolType" "GMLAN"; +BA_ "UseGMParameterIDs" 0; +VAL_ 481 DistanceButton 1 "Active" 0 "Inactive" ; +VAL_ 481 LKAButton 1 "Active" 0 "Inactive" ; +VAL_ 481 ACCButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ; +VAL_ 309 PRNDL 3 "Reverse" 2 "Drive" 1 "Neutral" 0 "Park" ; +VAL_ 338 LKASteeringCmdActive 1 "Active" 0 "Inactive" ; +VAL_ 338 LKASMode 2 "supercruise" 1 "lkas" 0 "Inactive" ; +VAL_ 880 ACCLeadCar 1 "Present" 0 "Not Present" ; +VAL_ 880 ACCGapLevel 3 "Far" 2 "Med" 1 "Near" 0 "Inactive" ; +VAL_ 880 ACCResumeButton 1 "Pressed" 0 "Depressed" ; +VAL_ 880 ACCCmdActive 1 "Active" 0 "Inactive" ; +VAL_ 356 LKATorqueDeliveredStatus 7 "Override Fault" 6 "LKAS Fault but Responsive" 5 "TBD but Responsive" 4 "TBD but Responsive" 3 "Fault" 1 "Active" 0 "Inactive" ; +VAL_ 489 BrakePedalPressed 1 "Pressed" 0 "Depressed" ; +VAL_ 715 GasRegenCmdActiveInv 1 "Inactive" 0 "Active" ; +VAL_ 715 GasRegenCmdActive 1 "Active" 0 "Inactive" ; diff --git a/opendbc_repo/opendbc/dbc/chrysler_cusw.dbc b/opendbc_repo/opendbc/dbc/chrysler_cusw.dbc new file mode 100644 index 0000000000..880f6e7255 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/chrysler_cusw.dbc @@ -0,0 +1,192 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX + + +BO_ 492 EPS_STATUS: 8 XXX + SG_ TORQUE_DRIVER : 3|12@0+ (1,-1024) [0|2048] "Nm" XXX + SG_ LKAS_STATE : 16|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_FAULT : 17|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_HIGH_TORQUE : 19|1@0+ (1,0) [0|1] "" XXX + SG_ TORQUE_MOTOR : 27|12@0+ (1,-2048) [0|1] "" XXX + SG_ LAT_TORQUE_REQUEST : 47|12@0+ (1,-2048) [0|4095] "" XXX + SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 1250 DOORS: 8 XXX + SG_ DOOR_OPEN_FL : 10|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FR : 11|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RL : 12|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RR : 13|1@0+ (1,0) [0|1] "" XXX + SG_ TRUNK : 14|1@0+ (1,0) [0|1] "" XXX + +BO_ 1262 GEAR: 8 XXX + SG_ PRNDL : 11|4@0+ (1,0) [0|15] "" XXX + +BO_ 875 SEATBELT_STATUS: 8 XXX + SG_ SEATBELT_DRIVER_UNLATCHED : 16|1@0+ (1,0) [0|1] "" XXX + +BO_ 1264 STEERING_LEVERS: 7 XXX + SG_ TURN_SIGNALS : 3|4@0+ (1,0) [0|15] "" XXX + SG_ HIGH_BEAM_FLASH : 15|1@0+ (1,0) [0|1] "" XXX + +BO_ 480 TRACTION_BUTTON: 8 XXX + SG_ TRACTION_OFF : 3|1@0+ (1,0) [0|1] "" XXX + +BO_ 740 WHEEL_SPEEDS_REAR: 8 XXX + SG_ WHEEL_SPEED_RL : 5|13@0+ (0.0087,0) [0|1] "" XXX + SG_ WHEEL_SPEED_RR : 20|13@0+ (0.0087,0) [0|1] "" XXX + SG_ COUNTER : 51|4@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|1] "" XXX + +BO_ 520 EPS_STATUS_2: 7 XXX + SG_ NEW_SIGNAL_1 : 3|12@0+ (1,-2048) [0|1] "" XXX + SG_ NEW_SIGNAL_2 : 19|12@0+ (1,-2048) [0|1] "" XXX + SG_ NEW_SIGNAL_3 : 39|12@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 43|4@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 55|8@0+ (1,0) [0|1] "" XXX + +BO_ 494 STEERING: 6 XXX + SG_ STEER_ANGLE : 5|14@0+ (0.1,-720) [0|1] "deg" XXX + SG_ STEERING_RATE : 19|12@0+ (1,-2000) [0|1] "" XXX + SG_ COUNTER : 35|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX + +BO_ 738 BRAKE_2: 8 XXX + SG_ BRAKE_TORQUE : 7|12@0+ (1,0) [0|15] "" XXX + SG_ BRAKE_LIGHTS : 8|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HUMAN : 9|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 51|4@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|1] "" XXX + +BO_ 742 WHEEL_SPEEDS_FRONT: 8 XXX + SG_ WHEEL_SPEED_FL : 5|13@0+ (0.0087,0) [0|1] "" XXX + SG_ WHEEL_SPEED_FR : 20|13@0+ (0.0087,0) [0|1] "" XXX + SG_ COUNTER : 51|4@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|1] "" XXX + +BO_ 502 LKAS_COMMAND: 4 XXX + SG_ STEERING_TORQUE : 7|11@0+ (1,-1024) [0|4087] "" XXX + SG_ LKAS_CONTROL_BIT : 12|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 19|4@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 31|8@0+ (1,0) [0|1] "" XXX + +BO_ 1498 LKAS_1: 2 XXX + +BO_ 1500 DAS_6: 4 XXX + SG_ LKAS_ICON_COLOR : 1|2@0+ (1,0) [0|1] "" XXX + SG_ SET_ME_0XAC : 15|8@0+ (1,0) [0|255] "" XXX + SG_ LKAS_LANE_LINES : 19|4@0+ (1,0) [0|15] "" XXX + +BO_ 1508 LKAS_HEARTBIT: 8 XXX + SG_ LKAS_STATUS_OK : 28|1@0+ (1,0) [0|1] "" XXX + +BO_ 762 CRUISE_BUTTONS: 3 XXX + SG_ ACC_Cancel : 0|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_Distance_Dec : 1|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_Accel : 2|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_Decel : 3|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_Resume : 4|1@0+ (1,0) [0|1] "" XXX + SG_ Cruise_OnOff : 6|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_OnOff : 7|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_Distance_Inc : 8|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 15|4@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 23|8@0+ (1,0) [0|1] "" XXX + +BO_ 484 BRAKE_1: 8 XXX + SG_ BRAKE_PSI : 7|12@0+ (1,0) [0|1] "" XXX + SG_ VEHICLE_SPEED : 35|12@0+ (0.0174,0) [0|4095] "m/s" XXX + SG_ COUNTER : 51|4@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|1] "" XXX + +BO_ 500 GEARBOX_1: 7 XXX + SG_ DESIRED_GEAR : 35|4@0+ (1,0) [0|1] "" XXX + SG_ ACTUAL_GEAR : 39|4@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 43|4@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 55|8@0+ (1,0) [0|1] "" XXX + +BO_ 510 ACCEL_GAS: 5 XXX + SG_ ACC_ACTIVE : 2|1@0+ (1,0) [0|1] "" XXX + SG_ GAS_HUMAN : 15|8@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 27|4@0+ (1,0) [0|1] "" XXX + SG_ GAS_ACC : 28|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 39|8@0+ (1,0) [0|1] "" XXX + +BO_ 490 DASHBOARD: 4 XXX + SG_ ACC_SPEED_CONFIG_KPH : 7|8@0+ (0.1625,0) [0|1] "m/s" XXX + +BO_ 1006 ACC_HUD: 7 XXX + SG_ ACC_STATE : 7|3@0+ (1,0) [0|15] "" XXX + SG_ ACC_SET_SPEED_KMH : 14|8@0+ (1,0) [0|255] "km/h" XXX + SG_ DISTANCE_SETTING : 33|2@0+ (1,0) [0|3] "" XXX + SG_ DISTANCE_TO_LEAD : 47|8@0+ (1,0) [0|255] "" XXX + +BO_ 748 ACC_CONTROL: 8 XXX + SG_ ACC_MAIN_ON : 6|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_ACTIVE : 7|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_VALUE : 13|10@0+ (1,0) [0|1023] "" XXX + SG_ GAS_VALID : 15|1@0+ (1,0) [0|1] "" XXX + SG_ GAS_VALUE : 28|10@0+ (1,0) [0|1023] "" XXX + SG_ BRAKE_VALID : 30|1@0+ (1,0) [0|1] "" XXX + SG_ UNKNOWN_1 : 33|1@0+ (1,0) [0|1] "" XXX + SG_ UNKNOWN_2 : 46|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 496 CLUSTER_1: 8 XXX + SG_ TACHOMETER : 3|12@0+ (1.024,0) [0|3] "" XXX + SG_ SPEEDOMETER : 19|12@0+ (0.01065,0) [0|1] "m/s" XXX + SG_ COUNTER : 51|4@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|1] "" XXX + + +CM_ SG_ 1250 TRUNK "1 = open, 0 = closed"; +CM_ SG_ 1250 DOOR_OPEN_FL "1 = open, 0 = closed"; +CM_ SG_ 1250 DOOR_OPEN_FR "1 = open, 0 = closed"; +CM_ SG_ 1250 DOOR_OPEN_RL "1 = open, 0 = closed"; +CM_ SG_ 1250 DOOR_OPEN_RR "1 = open, 0 = closed"; +CM_ SG_ 1262 PRNDL "1 = park, 2 = reverse, 3 = neutral, 4 = drive, 5 = sport (snicker... sport)"; +CM_ SG_ 875 SEATBELT_DRIVER_UNLATCHED "1 = unlatched, 0 = safety first"; +CM_ SG_ 1264 TURN_SIGNALS "0 = off, 1 = left blinker, 2 = right blinker"; +CM_ SG_ 480 TRACTION_OFF "0 = TCS on, 1 = TCS off (light on dash ON)"; +CM_ SG_ 1500 LKAS_LANE_LINES "0x01 transparent lines, 0x02 left white, 0x03 right white, 0x04 left yellow with car on top, 0x05 left yellow with car on top, 0x06 both white, 0x07 left yellow, 0x08 left yellow right white, 0x09 right yellow, 0x0a right yellow left white, 0x0b left yellow with car on top right white, 0x0c right yellow with car on top left white, (0x00, 0x0d, 0x0e, 0x0f) null"; +CM_ SG_ 1492 LEAD_CAR "lead car present = 4, no car = 2 "; +CM_ SG_ 498 ACC_STATUS_2 "1 no ACC, 3 icpno "; +CM_ SG_ 498 ACC_STATUS_1 "0x00 = acc off, 0x03 = acc on, green, 0x02 acc on, white"; +CM_ SG_ 1006 ACC_STATE "0 = ACC off, 6 = ACC active (white), 8 = ACC engaged (green)"; +CM_ SG_ 502 LKAS_STATE "2 = active (green), 1 = error"; +CM_ SG_ 1006 ACC_SET_SPEED_KMH "min set appears to be 68 km/h, errors below 59 km/h "; +VAL_ 1262 PRNDL 1 "P" 2 "R" 3 "N" 4 "D" 5 "S"; diff --git a/opendbc_repo/opendbc/dbc/chrysler_pacifica_2017_hybrid_generated.dbc b/opendbc_repo/opendbc/dbc/chrysler_pacifica_2017_hybrid_generated.dbc new file mode 100644 index 0000000000..e9766b508a --- /dev/null +++ b/opendbc_repo/opendbc/dbc/chrysler_pacifica_2017_hybrid_generated.dbc @@ -0,0 +1,367 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _stellantis_common.dbc starts here"; +BO_ 258 STEERING: 8 XXX + SG_ STEERING_ANGLE : 5|14@0+ (0.5,-2048) [-2048|2047] "deg" XXX + SG_ STEERING_RATE : 21|14@0+ (0.5,-2048) [-2048|2047] "deg/s" XXX + SG_ STEERING_ANGLE_HP : 48|4@1+ (0.1,-0.4) [-0.4|0.4] "deg" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 264 ECM_1: 8 XXX + SG_ ENGINE_RPM : 7|16@0+ (1,0) [0|65535] "" XXX + SG_ ENGINE_TORQUE : 20|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX + SG_ EXPECTED_ENGINE_TORQUE : 36|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 280 ECM_TRQ: 8 XXX + SG_ ENGINE_TORQ_MAX : 4|13@0+ (.25,-500) [-500|1547.5] "NM" XXX + SG_ ENGINE_TORQ_MIN : 20|13@0+ (.25,-500) [-500|1547.5] "NM" XXX + +BO_ 284 ESP_8: 8 XXX + SG_ BRK_PRESSURE : 3|12@0+ (1,0) [0|1] "" XXX + SG_ Vehicle_Stopped : 7|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_PEDAL : 19|12@0+ (1,0) [0|1] "" XXX + SG_ Vehicle_Speed : 39|16@0+ (0.0078125,0) [0|511.984375] "km/h" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 288 ECM_2: 7 XXX + SG_ ACC_TORQUE_REQ_ENABLE : 5|1@1+ (1,0) [0|0] "" XXX + SG_ ESC_TORQUE_REQ_ENABLE : 6|1@1+ (1,0) [0|0] "" XXX + SG_ TCM_TORQUE_REQ_ENABLE : 7|1@1+ (1,0) [0|0] "" XXX + SG_ Accelerator_Position : 16|8@1+ (0.4,0) [0|100] "%" XXX + SG_ CRUISE_OVERRIDE : 31|1@1+ (1,0) [0|0] "" XXX + SG_ COUNTER : 47|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 55|8@0+ (1,0) [0|0] "" XXX + +BO_ 320 ESP_1: 8 XXX + SG_ Brake_State : 0|2@1+ (1,0) [0|0] "" XXX + SG_ Brake_Pedal_State : 2|2@1+ (1,0) [0|0] "" XXX + SG_ ACC_Engaged : 15|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_Enabled : 23|1@0+ (1,0) [0|1] "" XXX + SG_ Vehicle_Speed : 33|10@0+ (0.5,0) [0|511] "km/h" XXX + SG_ ACC_OFF_REQ : 39|2@0+ (1,0) [0|0] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ BRAKE_PRESSED_ACC : 6|1@0+ (1,0) [0|3] "" XXX + +BO_ 268 ESP_2: 8 ESC + SG_ ESC_TORQUE_REQ : 4|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX + SG_ ACC_TORQUE_REQ_ENABLE : 5|1@1+ (1,0) [0|0] "" XXX + SG_ ESC_TORQUE_REQ_MAX : 6|1@1+ (1,0) [0|0] "" XXX + SG_ ESC_TORQUE_REQ_MIN : 7|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_TORQUE_REQ : 20|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX + SG_ TCS_ACTIVE : 21|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_TORQUE_REQ_MAX : 22|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_BRK_PREP : 40|1@1+ (1,0) [0|0] "" XXX + SG_ DISABLE_FUEL_SHUTOFF : 47|1@1+ (1,0) [0|0] "" XXX + SG_ DAS_REQ_ACTIVE : 48|3@1+ (1,0) [0|0] "" XXX + SG_ COLLISION_BRK_PREP : 51|1@1+ (1,0) [0|0] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX + +BO_ 344 ESP_6: 8 XXX + SG_ WHEEL_SPEED_FL : 5|14@0+ (0.5,0) [0|8191] "rpm" XXX + SG_ WHEEL_SPEED_FR : 21|14@0+ (0.5,0) [0|8191] "rpm" XXX + SG_ WHEEL_SPEED_RL : 37|14@0+ (0.5,0) [0|8191] "rpm" XXX + SG_ WHEEL_SPEED_RR : 53|14@0+ (0.5,0) [0|8191] "rpm" XXX + +BO_ 368 Transmission_Status: 8 XXX + SG_ Gear_State : 2|3@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 464 ORC_1: 8 XXX + SG_ SEATBELT_DRIVER_UNLATCHED : 13|1@0+ (1,0) [0|1] "" XXX + +BO_ 500 DAS_3: 8 XXX + SG_ ENGINE_TORQUE_REQUEST : 4|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX + SG_ ENGINE_TORQUE_REQUEST_MAX : 7|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_STANDSTILL : 5|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_GO : 6|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_DECEL : 19|12@0+ (0.004885,-16) [-16|4] "m/s2" XXX + SG_ ACC_AVAILABLE : 20|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_ACTIVE : 21|1@0+ (1,0) [0|1] "" XXX + SG_ DISABLE_FUEL_SHUTOFF : 23|1@1+ (1,0) [0|0] "" XXX + SG_ GR_MAX_REQ : 32|4@1+ (1,0) [0|0] "" XXX + SG_ ACC_DECEL_REQ : 36|3@1+ (1,0) [0|0] "" XXX + SG_ ACC_FAULTED : 46|2@1+ (1,0) [0|0] "" XXX + SG_ COLLISION_BRK_PREP : 48|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_BRK_PREP : 49|1@1+ (1,0) [0|0] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 501 DAS_4: 8 XXX + SG_ ACC_SET_SPEED_KPH : 15|8@0+ (1,0) [0|3] "km/h" XXX + SG_ ACC_SET_SPEED_MPH : 23|8@0+ (1,0) [0|3] "mph" XXX + SG_ ACC_DISTANCE_CONFIG_1 : 1|2@0+ (1,0) [0|3] "" XXX + SG_ ACC_DISTANCE_CONFIG_2 : 41|2@0+ (1,0) [0|3] "" XXX + SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX + SG_ ACC_STATE : 38|3@0+ (1,0) [0|7] "" XXX + SG_ FCW_OFF : 25|2@0+ (1,0) [0|3] "" XXX + SG_ FCW_ERROR : 27|2@0+ (1,0) [0|3] "" XXX + SG_ FCW_BRAKE_ENABLED : 29|1@0+ (1,0) [0|1] "" XXX + SG_ FCW_BRAKE_DISABLED : 47|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_FAULTED : 50|1@0+ (1,0) [0|1] "" XXX + +BO_ 544 EPS_2: 8 XXX + SG_ LKAS_STATE : 23|4@0+ (1,0) [0|15] "" XXX + SG_ COLUMN_TORQUE : 2|11@0+ (1,-1024) [-1024|1023] "" XXX + SG_ TORQUE_OVERLAY_STATUS : 6|4@0+ (1,0) [0|15] "" XXX + SG_ EPS_TORQUE_MOTOR_RAW : 19|12@0+ (1,-2048) [-2048|2047] "" XXX + SG_ EPS_TORQUE_MOTOR : 34|11@0+ (1,-1024) [-1024|1023] "" XXX + SG_ LKAS_TEMPORARY_FAULT : 38|1@0+ (1,0) [0|1] "" XXX + SG_ AUTO_PARK_HAS_CONTROL_2 : 51|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 559 ECM_5: 8 XXX + SG_ Accelerator_Position : 0|8@1+ (0.4,0) [0|100] "%" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 571 CRUISE_BUTTONS: 3 XXX + SG_ ACC_Cancel : 0|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_Distance_Dec : 1|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_Accel : 2|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_Decel : 3|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_Resume : 4|1@0+ (1,0) [0|1] "" XXX + SG_ Cruise_OnOff : 6|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_OnOff : 7|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_Distance_Inc : 8|1@1+ (1,0) [0|0] "" XXX + SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX + +BO_ 625 DAS_5: 8 XXX + SG_ FCW_STATE : 2|1@1+ (1,0) [0|0] "" XXX + SG_ FCW_DISTANCE : 3|2@1+ (1,0) [0|0] "" XXX + SG_ ACCFCW_MESSAGE : 12|4@1+ (1,0) [0|0] "" XXX + SG_ SET_SPEED_KPH : 24|8@1+ (1,0) [0|250] "km/h" XXX + SG_ WHEEL_TORQUE_REQUEST : 38|15@0+ (1,-7767) [-7767|24999] "Nm" XXX + SG_ WHEEL_TORQUE_REQUEST_ACTIVE : 39|1@1+ (1,0) [0|0] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 669 EPB_1: 3 XXX + SG_ PARKING_BRAKE_STATUS : 11|3@0+ (1,0) [0|7] "" XXX + SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX + +BO_ 678 DAS_6: 8 XXX + SG_ LKAS_ICON_COLOR : 1|2@0+ (1,0) [0|3] "" XXX + SG_ LKAS_LANE_LINES : 19|4@0+ (1,0) [0|1] "" XXX + SG_ LKAS_ALERTS : 27|4@0+ (1,0) [0|1] "" XXX + SG_ CAR_MODEL : 15|8@0+ (1,0) [0|255] "" XXX + SG_ AUTO_HIGH_BEAM_ON : 47|1@1+ (1,0) [0|0] "" XXX + SG_ LKAS_DISABLED : 56|1@1+ (1,0) [0|0] "" XXX + +BO_ 720 BSM_1: 6 XXX + SG_ RIGHT_STATUS : 5|1@0+ (1,0) [0|1] "" XXX + SG_ LEFT_STATUS : 2|1@0+ (1,0) [0|1] "" XXX + +BO_ 792 STEERING_LEVERS: 8 XXX + SG_ TURN_SIGNALS : 0|2@1+ (1,0) [0|3] "" XXX + SG_ HIGH_BEAM_PRESSED : 2|1@0+ (1,0) [0|3] "" XXX + +BO_ 820 BCM_1: 8 XXX + SG_ DOOR_OPEN_FL : 17|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FR : 18|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RL : 19|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RR : 20|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_TRUNK : 22|1@0+ (1,0) [0|1] "" XXX + SG_ PARKING_BRAKE_SWITCH : 23|1@0+ (1,0) [0|1] "" XXX + SG_ TURN_LIGHT_LEFT : 31|1@0+ (1,0) [0|1] "" XXX + SG_ TURN_LIGHT_RIGHT : 30|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAM_DISPLAY : 58|1@0+ (1,0) [0|1] "" XXX + +VAL_ 320 ACC_OFF_REQ 2 "PERMANENT" 1 "TEMPORARY" 0 "NONE" +VAL_ 368 Gear_State 4 "D" 2 "N" 1 "R" 0 "P" ; +VAL_ 669 PARKING_BRAKE_STATUS 3 "RELEASING" 2 "APPLYING" 1 "APPLIED" 0 "OFF" ; + +CM_ SG_ 258 STEERING_ANGLE_HP "Steering angle high precision"; +CM_ SG_ 264 ENGINE_TORQUE "Effective engine torque"; +CM_ SG_ 264 EXPECTED_ENGINE_TORQUE "Expected Engine Torque based on target engine speed"; +CM_ SG_ 678 LKAS_ICON_COLOR "3 is yellow, 2 is green, 1 is white, 0 is null"; +CM_ SG_ 678 LKAS_LANE_LINES "0x01 transparent lines, 0x02 left white, 0x03 right white, 0x04 left yellow with car on top, 0x05 left yellow with car on top, 0x06 both white, 0x07 left yellow, 0x08 left yellow right white, 0x09 right yellow, 0x0a right yellow left white, 0x0b left yellow with car on top right white, 0x0c right yellow with car on top left white, (0x00, 0x0d, 0x0e, 0x0f) null"; +CM_ SG_ 678 LKAS_ALERTS "(0x01, 0x02) lane sense off, (0x03, 0x04, 0x06) place hands on steering wheel, 0x07 lane departure detected + place hands on steering wheel, (0x08, 0x09) lane sense unavailable + clean front windshield, 0x0b lane sense and auto high beam unavailable + clean front windshield, 0x0c lane sense unavailable + service required, (0x00, 0x05, 0x0a, 0x0d, 0x0e, 0x0f) null"; + +CM_ "chrysler_pacifica_2017_hybrid.dbc starts here"; + +BO_ 514 SPEED_1: 8 XXX + SG_ SPEED_LEFT : 7|12@0+ (0.071028,0) [0|65535] "m/s" XXX + SG_ SPEED_RIGHT : 23|12@0+ (0.071028,0) [0|1023] "m/s" XXX + +BO_ 653 BRAKE_MODULE: 2 XXX + SG_ BRAKE_PRESSURE : 15|8@0+ (1,0) [0|255] "" XXX + SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|4] "" XXX + +BO_ 746 GEAR: 5 XXX + SG_ PRNDL : 2|3@0+ (1,0) [0|7] "" XXX + SG_ GEAR_CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 31|4@0+ (1,0) [0|15] "" XXX + +BO_ 736 TRIP: 8 XXX + SG_ COUNTER : 7|16@0+ (1,0) [0|65535] "Meters" XXX + SG_ COUNTER_2 : 23|16@0+ (1,0) [0|65535] "Meters" XXX + +BO_ 658 LKAS_COMMAND: 6 XXX + SG_ COUNTER : 39|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX + SG_ STEERING_TORQUE : 2|11@0+ (1,-1024) [0|1] "" XXX + SG_ LKAS_CONTROL_BIT : 4|1@0+ (1,0) [0|1] "" XXX + +BO_ 705 AUTO_PARK_BUTTON: 8 XXX + SG_ AUTO_PARK_TOGGLE_2 : 8|1@0+ (1,0) [0|1] "" XXX + SG_ AUTO_PARK_TOGGLE_1 : 11|1@0+ (1,0) [0|1] "" XXX + SG_ INCREASING_UNKNOWN : 38|7@0+ (1,0) [0|15] "" XXX + +BO_ 719 AUTO_PARK_SIGNALS_1: 8 XXX + SG_ AUTO_PARK_UNKNOWN_1 : 7|16@0+ (1,0) [0|31] "" XXX + +BO_ 671 AUTO_PARK_REQUEST: 8 XXX + SG_ AUTO_PARK_CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ AUTO_PARK_STATUS : 7|5@0+ (1,0) [0|15] "" XXX + SG_ AUTO_PARK_COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ AUTO_PARK_MODE : 22|2@0+ (1,0) [0|3] "" XXX + SG_ AUTO_PARK_CMD : 2|11@0+ (1,-1024) [0|1] "NM" XXX + +BO_ 784 AUTO_PARK_LESS_INTERESTING: 8 XXX + SG_ INCREASING_UNKNOWN : 55|8@0+ (1,0) [0|7] "" XXX + SG_ AUTO_PARK_PERPENDICULAR_2 : 61|1@0+ (1,0) [0|255] "" XXX + +BO_ 826 AUTO_PARK_SIGNALS_3: 8 XXX + SG_ AUTO_PARK_HAS_CONTROL_3 : 1|1@0+ (1,0) [0|1] "" XXX + SG_ HUMAN_HAS_CONTROL : 2|1@0+ (1,0) [0|1] "" XXX + SG_ AUTO_PARK_GEAR_1 : 27|4@0+ (1,0) [0|255] "" XXX + SG_ AUTO_PARK_GEAR_2 : 35|4@0+ (1,0) [0|15] "" XXX + SG_ AUTO_PARK_GEAR_3 : 51|4@0+ (1,0) [0|15] "" XXX + +BO_ 332 STEERING_2: 8 XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ ENERGY_RELATED : 39|16@0+ (1,0) [0|65535] "" XXX + SG_ STEER_ANGLE_2 : 7|13@0+ (0.3187251,-1307.888) [-360|360] "deg" XXX + +BO_ 331 BRAKE_3: 8 XXX + SG_ BRAKE_RELATED_3 : 7|16@0+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 608 PARKSENSE_SIGNAL: 8 XXX + SG_ PARKSENSE_DISABLED : 34|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ IN_REVERSE : 10|1@0+ (1,0) [0|255] "" XXX + SG_ AUTO_PARK_HAS_CONTROL_1 : 16|1@0+ (1,0) [0|255] "" XXX + SG_ HUMAN_HAS_CONTROL : 17|1@0+ (1,0) [0|3] "" XXX + +BO_ 729 LKAS_HEARTBIT: 5 XXX + SG_ LKAS_DISABLED : 24|1@0+ (1,0) [0|1] "" XXX + SG_ AUTO_HIGH_BEAM : 31|1@0+ (1,0) [0|1] "" XXX + SG_ FORWARD_1 : 7|24@0+ (1,0) [0|255] "" XXX + SG_ FORWARD_2 : 30|6@0+ (1,0) [0|127] "" XXX + SG_ FORWARD_3 : 39|8@0+ (1,0) [0|255] "" XXX + +BO_ 257 ACCEL_RELATED_101: 5 XXX + SG_ ENERGY_OR_RPM : 31|8@0+ (1,0) [0|255] "" XXX + +BO_ 825 AUDIBLE_BEEP_339: 2 XXX + SG_ BEEP_339 : 7|16@0+ (1,0) [0|65535] "" XXX + +BO_ 168 ACCEL_RELATED_a8: 8 XXX + SG_ ACCEL_RELATED : 23|16@0+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 270 ACCEL_RELATED_10e: 8 XXX + SG_ ACCEL_OR_RPM : 7|16@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ ELECTRIC_MOTOR : 23|16@0+ (1,0) [0|65535] "" XXX + +BO_ 291 ENERGY_RELATED_123: 8 XXX + SG_ ENERGY_GAIN_LOSS : 18|11@0- (1,0) [0|255] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ ENERGY_SMOOTHER_CURVE : 35|12@0+ (1,0) [0|2047] "" XXX + +BO_ 294 ENERGY_RELATED_126: 8 XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ UNKNOWN_126_1 : 3|12@0+ (1,0) [0|4095] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ UNKNOWN_126_2 : 35|12@0+ (1,0) [0|4095] "" XXX + SG_ ENERGY_GAIN_LOSS_NOISY : 19|12@0+ (1,0) [0|2047] "" XXX + +BO_ 308 ACCEL_GAS_134: 8 XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ ACCEL_134 : 46|7@0+ (1,0) [0|127] "" XXX + +BO_ 532 ENERGY_RELATED_214: 8 XXX + SG_ NOISY_SLOWLY_DECREASING : 16|9@0+ (1,0) [0|255] "" XXX + SG_ ENERGY_RELATED : 0|9@0+ (1,0) [0|255] "" XXX + +BO_ 655 CHARGING_MAYBE_28F: 8 XXX + SG_ CHARGING : 1|2@0+ (1,0) [0|3] "" XXX + +BO_ 660 BRAKE_RELATED_294: 8 XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ BRAKE_PERHAPS_294 : 31|8@0+ (1,0) [0|255] "" XXX + +BO_ 764 ACCEL_RELATED_2FC: 8 XXX + SG_ ACCEL_2FC : 13|6@0+ (1,0) [0|255] "" XXX + +BO_ 816 TRACTION_BUTTON: 8 XXX + SG_ TRACTION_OFF : 19|1@0+ (1,0) [0|3] "" XXX + SG_ TOGGLE_PARKSENSE : 52|1@0+ (1,0) [0|3] "" XXX + SG_ TOGGLE_LKAS : 53|1@0+ (1,0) [0|1] "" XXX + +BO_ 878 ACCEL_RELATED_36E: 8 XXX + SG_ ACCEL_OR_RPM_2 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ ACCEL_OR_RPM_1 : 7|8@0+ (1,0) [0|255] "" XXX + +BO_ 324 SPEED_2: 8 XXX + SG_ SPEED_2 : 31|16@0+ (0.01,0) [0|255] "m/s" XXX + +BO_ 832 UNKNOWN_340: 8 XXX + SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX + +CM_ SG_ 653 BRAKE_PRESSURE "max seems to be 148"; +CM_ SG_ 746 PRNDL "5=L, 4=D, 3=N, 2=R, 1=P"; +CM_ SG_ 320 BRAKE_PRESSED_2 "Value is 5 when brake is pressed by human, 1 when ACC brake"; +CM_ SG_ 320 BRAKE_PRESSED_ACC "set when ACC brakes"; +CM_ SG_ 792 TURN_SIGNALS "1=Left, 2=Right"; +CM_ SG_ 264 ACCEL_PEDAL "not in ACC so seems to be actual pedal. Use for gasPressed"; +CM_ SG_ 544 LKAS_STATE "2 when autopark has control, 8 when is actuatable by lkas, 4 when there is a fault"; +CM_ SG_ 658 LKAS_STEERING_TORQUE "Most sent by stock system is 1024+-230. + is left. typically changes by 2 or 3 each 0.01s"; +CM_ SG_ 678 LKAS_ICON_COLOR "3 is yellow, 2 is green, 1 is white, 0 is null"; +CM_ SG_ 678 LKAS_LANE_LINES "0x01 transparent lines, 0x02 left white, 0x03 right white, 0x04 left yellow with car on top, 0x05 left yellow with car on top, 0x06 both white, 0x07 left yellow, 0x08 left yellow right white, 0x09 right yellow, 0x0a right yellow left white, 0x0b left yellow with car on top right white, 0x0c right yellow with car on top left white, (0x00, 0x0d, 0x0e, 0x0f) null"; +CM_ SG_ 678 LKAS_ALERTS "(0x01, 0x02) lane sense off, (0x03, 0x04, 0x06) place hands on steering wheel, 0x07 lane departure detected + place hands on steering wheel, (0x08, 0x09) lane sense unavailable + clean front windshield, 0x0b lane sense and auto high beam unavailable + clean front windshield, 0x0c lane sense unavailable + service required, (0x00, 0x05, 0x0a, 0x0d, 0x0e, 0x0f) null"; +CM_ SG_ 705 AUTO_PARK_TOGGLE_1 "set briefly when turning on or off self-parking"; +CM_ SG_ 671 AUTO_PARK_CMD "Request Appears to be in NM"; +CM_ SG_ 671 AUTO_PARK_STATUS "1 = IDLE / NO REQUEST 9 = START REQUEST 10 = REQUEST MODE 11 = REQUEST MODE"; +CM_ SG_ 826 AUTO_PARK_GEAR_1 "Reverse=0, Forward=f"; +CM_ SG_ 826 AUTO_PARK_GEAR_2 "Reverse=0, Forward=f"; +CM_ SG_ 826 AUTO_PARK_GEAR_3 "Reverse=0, Forward=f"; +CM_ SG_ 332 STEER_ANGLE_2 "slightly lags the other steer_angle signal. also more noisy."; +CM_ SG_ 608 PARKSENSE_DISABLED "set if parksense is disabled"; +CM_ SG_ 729 LKAS_STATUS_OK "Set to 0x0820 when LKAS system is plugged in."; +CM_ SG_ 825 BEEP_339 "sent every 0.5s. 0050 is no beep. To beep send 4355 or 4155. Used by ParkSense warning."; +CM_ SG_ 270 ELECTRIC_MOTOR "0x7fff indicates electric motor not in use"; +CM_ SG_ 291 ENERGY_GAIN_LOSS "unsure what this actually is"; +CM_ SG_ 291 ENERGY_SMOOTHER_CURVE "unsure what it is, but smoother"; +CM_ SG_ 308 ACCEL_134 "only set when human presses accel pedal"; +CM_ SG_ 532 NOISY_SLOWLY_DECREASING "perhaps battery but do not know"; +CM_ SG_ 816 TRACTION_OFF "set when traction off button is enabled"; +CM_ SG_ 816 TOGGLE_PARKSENSE "sending 3000071ec0ff9000 enables or disables parksense"; +CM_ SG_ 324 SPEED_2 "signal is approx half other speeds"; +CM_ SG_ 501 ACC_SPEED_CONFIG_KPH "speed configured for ACC"; +CM_ SG_ 501 ACC_SPEED_CONFIG_MPH "speed configured for ACC"; +CM_ SG_ 501 CRUISE_STATE "may just be an icon, but seems to indicate different cruise modes: ACC and Non-ACC and engaged state for both."; +CM_ SG_ 625 SPEED "zero on non-acc drives"; + +VAL_ 501 CRUISE_STATE 0 "Off" 1 "CC On" 2 "CC Engaged" 3 "ACC On" 4 "ACC Engaged"; +VAL_ 746 PRNDL 5 "L" 4 "D" 3 "N" 2 "R" 1 "P"; +VAL_ 792 TURN_SIGNALS 2 "Right" 1 "Left"; diff --git a/opendbc_repo/opendbc/dbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc b/opendbc_repo/opendbc/dbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc new file mode 100644 index 0000000000..07c37e1fa2 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc @@ -0,0 +1,230 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX + + +BO_ 544 a_1: 8 XXX + SG_ track_id : 7|4@0+ (1,0) [0|15] "" XXX + SG_ REL_ACCEL : 3|12@0+ (1,0) [0|31] "" XXX + SG_ status1 : 23|4@0+ (1,0) [0|15] "" XXX + SG_ REL_SPEED : 19|12@0+ (1,0) [0|65535] "" XXX + SG_ status2 : 39|6@0+ (1,0) [0|15] "" XXX + SG_ sig2 : 33|10@0+ (1,0) [0|255] "" XXX + SG_ zeros : 55|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 576 b_1: 8 XXX + SG_ sig0 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ sig1 : 15|16@0+ (1,0) [0|65535] "" XXX + SG_ sig2 : 31|16@0+ (1,0) [0|255] "" XXX + SG_ zeros : 47|12@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 608 a_2: 8 XXX + SG_ track_id : 7|4@0+ (1,0) [0|15] "" XXX + SG_ REL_ACCEL : 3|12@0+ (1,0) [0|31] "" XXX + SG_ status1 : 23|4@0+ (1,0) [0|15] "" XXX + SG_ REL_SPEED : 19|12@0+ (1,0) [0|65535] "" XXX + SG_ status2 : 39|6@0+ (1,0) [0|15] "" XXX + SG_ sig2 : 33|10@0+ (1,0) [0|255] "" XXX + SG_ zeros : 55|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 640 b_2: 8 XXX + SG_ sig0 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ sig1 : 15|16@0+ (1,0) [0|65535] "" XXX + SG_ sig2 : 31|16@0+ (1,0) [0|255] "" XXX + SG_ zeros : 47|12@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 644 a_3: 8 XXX + SG_ track_id : 7|4@0+ (1,0) [0|15] "" XXX + SG_ REL_ACCEL : 3|12@0+ (1,0) [0|31] "" XXX + SG_ status1 : 23|4@0+ (1,0) [0|15] "" XXX + SG_ REL_SPEED : 19|12@0+ (1,0) [0|65535] "" XXX + SG_ status2 : 39|6@0+ (1,0) [0|15] "" XXX + SG_ sig2 : 33|10@0+ (1,0) [0|255] "" XXX + SG_ zeros : 55|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 648 b_3: 8 XXX + SG_ sig0 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ sig1 : 15|16@0+ (1,0) [0|65535] "" XXX + SG_ sig2 : 31|16@0+ (1,0) [0|255] "" XXX + SG_ zeros : 47|12@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 652 a_4: 8 XXX + SG_ track_id : 7|4@0+ (1,0) [0|15] "" XXX + SG_ REL_ACCEL : 3|12@0+ (1,0) [0|31] "" XXX + SG_ status1 : 23|4@0+ (1,0) [0|15] "" XXX + SG_ REL_SPEED : 19|12@0+ (1,0) [0|65535] "" XXX + SG_ status2 : 39|6@0+ (1,0) [0|15] "" XXX + SG_ sig2 : 33|10@0+ (1,0) [0|255] "" XXX + SG_ zeros : 55|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 656 b_4: 8 XXX + SG_ sig0 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ sig1 : 15|16@0+ (1,0) [0|65535] "" XXX + SG_ sig2 : 31|16@0+ (1,0) [0|255] "" XXX + SG_ zeros : 47|12@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 512 unknown_200: 8 XXX + SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ increasing : 31|16@0+ (1,0) [0|255] "" XXX + SG_ zeros_0 : 3|12@0+ (1,0) [0|63] "" XXX + SG_ zeros_1 : 47|12@0+ (1,0) [0|63] "" XXX + SG_ status0 : 7|4@0+ (1,0) [0|15] "" XXX + SG_ unknown_0 : 23|8@0+ (1,0) [0|255] "" XXX + +BO_ 514 unknown_202: 8 XXX + SG_ COUNTER : 43|4@0+ (1,0) [0|15] "" XXX + SG_ sig3 : 31|8@0+ (1,0) [0|65535] "" XXX + SG_ increasing : 39|12@0+ (1,0) [0|15] "" XXX + +BO_ 706 c_1: 8 XXX + SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX + +BO_ 708 c_2: 8 XXX + SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX + SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 710 c_3: 8 XXX + SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX + SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 712 c_4: 8 XXX + SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX + SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 714 c_5: 8 XXX + SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX + SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 716 c_6: 8 XXX + SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX + SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 718 c_7: 8 XXX + SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX + SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 720 c_8: 8 XXX + SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX + SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 722 c_9: 8 XXX + SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX + SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 724 c_10: 8 XXX + SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX + SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 674 d_1: 8 XXX + SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX + +BO_ 676 d_2: 8 XXX + SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX + +BO_ 678 d_3: 8 XXX + SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX + +BO_ 680 d_4: 8 XXX + SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX + +BO_ 682 d_5: 8 XXX + SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX + +BO_ 684 d_6: 8 XXX + SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX + +BO_ 686 d_7: 8 XXX + SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX + +BO_ 688 d_8: 8 XXX + SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX + +BO_ 690 d_9: 8 XXX + SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX + +BO_ 692 d_10: 8 XXX + SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX + +BO_ 672 NEW_MSG_5: 8 XXX + SG_ NEW_SIGNAL_1 : 9|10@0+ (1,0) [0|1023] "" XXX + SG_ NEW_SIGNAL_2 : 45|10@0+ (1,0) [0|1023] "" XXX + + + + +CM_ SG_ 544 track_id "for message a_1 track_id is always 1, similar for other messages and track_id"; +CM_ SG_ 544 REL_ACCEL "perhaps REL_ACCEL because it responds faster and before REL_SPEED"; +CM_ SG_ 544 sig2 "perhaps distance to object. LONG_DIST or REL_ACCEL or REL_SPEED"; +CM_ SG_ 576 zeros "not always zero, sometimes has value when another car changes lanes"; +CM_ SG_ 706 LAT_DIST "positive is to the right, negative is to the left"; diff --git a/opendbc_repo/opendbc/dbc/chrysler_ram_dt_generated.dbc b/opendbc_repo/opendbc/dbc/chrysler_ram_dt_generated.dbc new file mode 100644 index 0000000000..b502c15bee --- /dev/null +++ b/opendbc_repo/opendbc/dbc/chrysler_ram_dt_generated.dbc @@ -0,0 +1,249 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _stellantis_common_ram_dt_generated.dbc starts here"; +CM_ "Generated from _stellantis_common.dbc" + +BO_ 35 STEERING: 8 XXX + SG_ STEERING_ANGLE : 5|14@0+ (0.5,-2048) [-2048|2047] "deg" XXX + SG_ STEERING_RATE : 21|14@0+ (0.5,-2048) [-2048|2047] "deg/s" XXX + SG_ STEERING_ANGLE_HP : 48|4@1+ (0.1,-0.4) [-0.4|0.4] "deg" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 37 ECM_1: 8 XXX + SG_ ENGINE_RPM : 7|16@0+ (1,0) [0|65535] "" XXX + SG_ ENGINE_TORQUE : 20|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX + SG_ EXPECTED_ENGINE_TORQUE : 36|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 181 ECM_TRQ: 8 XXX + SG_ ENGINE_TORQ_MAX : 4|13@0+ (.25,-500) [-500|1547.5] "NM" XXX + SG_ ENGINE_TORQ_MIN : 20|13@0+ (.25,-500) [-500|1547.5] "NM" XXX + +BO_ 121 ESP_8: 8 XXX + SG_ BRK_PRESSURE : 3|12@0+ (1,0) [0|1] "" XXX + SG_ Vehicle_Stopped : 7|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_PEDAL : 19|12@0+ (1,0) [0|1] "" XXX + SG_ Vehicle_Speed : 39|16@0+ (0.0078125,0) [0|511.984375] "km/h" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 123 ECM_2: 7 XXX + SG_ ACC_TORQUE_REQ_ENABLE : 5|1@1+ (1,0) [0|0] "" XXX + SG_ ESC_TORQUE_REQ_ENABLE : 6|1@1+ (1,0) [0|0] "" XXX + SG_ TCM_TORQUE_REQ_ENABLE : 7|1@1+ (1,0) [0|0] "" XXX + SG_ Accelerator_Position : 16|8@1+ (0.4,0) [0|100] "%" XXX + SG_ CRUISE_OVERRIDE : 31|1@1+ (1,0) [0|0] "" XXX + SG_ COUNTER : 47|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 55|8@0+ (1,0) [0|0] "" XXX + +BO_ 131 ESP_1: 8 XXX + SG_ Brake_State : 0|2@1+ (1,0) [0|0] "" XXX + SG_ Brake_Pedal_State : 2|2@1+ (1,0) [0|0] "" XXX + SG_ ACC_Engaged : 15|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_Enabled : 23|1@0+ (1,0) [0|1] "" XXX + SG_ Vehicle_Speed : 33|10@0+ (0.5,0) [0|511] "km/h" XXX + SG_ ACC_OFF_REQ : 39|2@0+ (1,0) [0|0] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ BRAKE_PRESSED_ACC : 6|1@0+ (1,0) [0|3] "" XXX + +BO_ 113 ESP_2: 8 ESC + SG_ ESC_TORQUE_REQ : 4|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX + SG_ ACC_TORQUE_REQ_ENABLE : 5|1@1+ (1,0) [0|0] "" XXX + SG_ ESC_TORQUE_REQ_MAX : 6|1@1+ (1,0) [0|0] "" XXX + SG_ ESC_TORQUE_REQ_MIN : 7|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_TORQUE_REQ : 20|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX + SG_ TCS_ACTIVE : 21|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_TORQUE_REQ_MAX : 22|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_BRK_PREP : 40|1@1+ (1,0) [0|0] "" XXX + SG_ DISABLE_FUEL_SHUTOFF : 47|1@1+ (1,0) [0|0] "" XXX + SG_ DAS_REQ_ACTIVE : 48|3@1+ (1,0) [0|0] "" XXX + SG_ COLLISION_BRK_PREP : 51|1@1+ (1,0) [0|0] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX + +BO_ 139 ESP_6: 8 XXX + SG_ WHEEL_SPEED_FL : 5|14@0+ (0.5,0) [0|8191] "rpm" XXX + SG_ WHEEL_SPEED_FR : 21|14@0+ (0.5,0) [0|8191] "rpm" XXX + SG_ WHEEL_SPEED_RL : 37|14@0+ (0.5,0) [0|8191] "rpm" XXX + SG_ WHEEL_SPEED_RR : 53|14@0+ (0.5,0) [0|8191] "rpm" XXX + +BO_ 147 Transmission_Status: 8 XXX + SG_ Gear_State : 2|3@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 464 ORC_1: 8 XXX + SG_ SEATBELT_DRIVER_UNLATCHED : 13|1@0+ (1,0) [0|1] "" XXX + +BO_ 153 DAS_3: 8 XXX + SG_ ENGINE_TORQUE_REQUEST : 4|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX + SG_ ENGINE_TORQUE_REQUEST_MAX : 7|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_STANDSTILL : 5|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_GO : 6|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_DECEL : 19|12@0+ (0.004885,-16) [-16|4] "m/s2" XXX + SG_ ACC_AVAILABLE : 20|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_ACTIVE : 21|1@0+ (1,0) [0|1] "" XXX + SG_ DISABLE_FUEL_SHUTOFF : 23|1@1+ (1,0) [0|0] "" XXX + SG_ GR_MAX_REQ : 32|4@1+ (1,0) [0|0] "" XXX + SG_ ACC_DECEL_REQ : 36|3@1+ (1,0) [0|0] "" XXX + SG_ ACC_FAULTED : 46|2@1+ (1,0) [0|0] "" XXX + SG_ COLLISION_BRK_PREP : 48|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_BRK_PREP : 49|1@1+ (1,0) [0|0] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 232 DAS_4: 8 XXX + SG_ ACC_SET_SPEED_KPH : 15|8@0+ (1,0) [0|3] "km/h" XXX + SG_ ACC_SET_SPEED_MPH : 23|8@0+ (1,0) [0|3] "mph" XXX + SG_ ACC_DISTANCE_CONFIG_1 : 1|2@0+ (1,0) [0|3] "" XXX + SG_ ACC_DISTANCE_CONFIG_2 : 41|2@0+ (1,0) [0|3] "" XXX + SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX + SG_ ACC_STATE : 38|3@0+ (1,0) [0|7] "" XXX + SG_ FCW_OFF : 25|2@0+ (1,0) [0|3] "" XXX + SG_ FCW_ERROR : 27|2@0+ (1,0) [0|3] "" XXX + SG_ FCW_BRAKE_ENABLED : 29|1@0+ (1,0) [0|1] "" XXX + SG_ FCW_BRAKE_DISABLED : 47|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_FAULTED : 50|1@0+ (1,0) [0|1] "" XXX + +BO_ 49 EPS_2: 8 XXX + SG_ LKAS_STATE : 23|4@0+ (1,0) [0|15] "" XXX + SG_ COLUMN_TORQUE : 2|11@0+ (1,-1024) [-1024|1023] "" XXX + SG_ TORQUE_OVERLAY_STATUS : 6|4@0+ (1,0) [0|15] "" XXX + SG_ EPS_TORQUE_MOTOR_RAW : 19|12@0+ (1,-2048) [-2048|2047] "" XXX + SG_ EPS_TORQUE_MOTOR : 34|11@0+ (1,-1024) [-1024|1023] "" XXX + SG_ LKAS_TEMPORARY_FAULT : 38|1@0+ (1,0) [0|1] "" XXX + SG_ AUTO_PARK_HAS_CONTROL_2 : 51|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 157 ECM_5: 8 XXX + SG_ Accelerator_Position : 0|8@1+ (0.4,0) [0|100] "%" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 177 CRUISE_BUTTONS: 3 XXX + SG_ ACC_Cancel : 0|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_Distance_Dec : 1|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_Accel : 2|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_Decel : 3|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_Resume : 4|1@0+ (1,0) [0|1] "" XXX + SG_ Cruise_OnOff : 6|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_OnOff : 7|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_Distance_Inc : 8|1@1+ (1,0) [0|0] "" XXX + SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX + +BO_ 163 DAS_5: 8 XXX + SG_ FCW_STATE : 2|1@1+ (1,0) [0|0] "" XXX + SG_ FCW_DISTANCE : 3|2@1+ (1,0) [0|0] "" XXX + SG_ ACCFCW_MESSAGE : 12|4@1+ (1,0) [0|0] "" XXX + SG_ SET_SPEED_KPH : 24|8@1+ (1,0) [0|250] "km/h" XXX + SG_ WHEEL_TORQUE_REQUEST : 38|15@0+ (1,-7767) [-7767|24999] "Nm" XXX + SG_ WHEEL_TORQUE_REQUEST_ACTIVE : 39|1@1+ (1,0) [0|0] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 213 EPB_1: 3 XXX + SG_ PARKING_BRAKE_STATUS : 11|3@0+ (1,0) [0|7] "" XXX + SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX + +BO_ 250 DAS_6: 8 XXX + SG_ LKAS_ICON_COLOR : 1|2@0+ (1,0) [0|3] "" XXX + SG_ LKAS_LANE_LINES : 19|4@0+ (1,0) [0|1] "" XXX + SG_ LKAS_ALERTS : 27|4@0+ (1,0) [0|1] "" XXX + SG_ CAR_MODEL : 15|8@0+ (1,0) [0|255] "" XXX + SG_ AUTO_HIGH_BEAM_ON : 47|1@1+ (1,0) [0|0] "" XXX + SG_ LKAS_DISABLED : 56|1@1+ (1,0) [0|0] "" XXX + +BO_ 720 BSM_1: 6 XXX + SG_ RIGHT_STATUS : 5|1@0+ (1,0) [0|1] "" XXX + SG_ LEFT_STATUS : 2|1@0+ (1,0) [0|1] "" XXX + +BO_ 792 STEERING_LEVERS: 8 XXX + SG_ TURN_SIGNALS : 0|2@1+ (1,0) [0|3] "" XXX + SG_ HIGH_BEAM_PRESSED : 2|1@0+ (1,0) [0|3] "" XXX + +BO_ 657 BCM_1: 8 XXX + SG_ DOOR_OPEN_FL : 17|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FR : 18|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RL : 19|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RR : 20|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_TRUNK : 22|1@0+ (1,0) [0|1] "" XXX + SG_ PARKING_BRAKE_SWITCH : 23|1@0+ (1,0) [0|1] "" XXX + SG_ TURN_LIGHT_LEFT : 31|1@0+ (1,0) [0|1] "" XXX + SG_ TURN_LIGHT_RIGHT : 30|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAM_DISPLAY : 58|1@0+ (1,0) [0|1] "" XXX + +VAL_ 131 ACC_OFF_REQ 2 "PERMANENT" 1 "TEMPORARY" 0 "NONE" +VAL_ 147 Gear_State 4 "D" 2 "N" 1 "R" 0 "P" ; +VAL_ 213 PARKING_BRAKE_STATUS 3 "RELEASING" 2 "APPLYING" 1 "APPLIED" 0 "OFF" ; + +CM_ SG_ 258 STEERING_ANGLE_HP "Steering angle high precision"; +CM_ SG_ 264 ENGINE_TORQUE "Effective engine torque"; +CM_ SG_ 264 EXPECTED_ENGINE_TORQUE "Expected Engine Torque based on target engine speed"; +CM_ SG_ 678 LKAS_ICON_COLOR "3 is yellow, 2 is green, 1 is white, 0 is null"; +CM_ SG_ 678 LKAS_LANE_LINES "0x01 transparent lines, 0x02 left white, 0x03 right white, 0x04 left yellow with car on top, 0x05 left yellow with car on top, 0x06 both white, 0x07 left yellow, 0x08 left yellow right white, 0x09 right yellow, 0x0a right yellow left white, 0x0b left yellow with car on top right white, 0x0c right yellow with car on top left white, (0x00, 0x0d, 0x0e, 0x0f) null"; +CM_ SG_ 678 LKAS_ALERTS "(0x01, 0x02) lane sense off, (0x03, 0x04, 0x06) place hands on steering wheel, 0x07 lane departure detected + place hands on steering wheel, (0x08, 0x09) lane sense unavailable + clean front windshield, 0x0b lane sense and auto high beam unavailable + clean front windshield, 0x0c lane sense unavailable + service required, (0x00, 0x05, 0x0a, 0x0d, 0x0e, 0x0f) null"; + +CM_ "chrysler_ram_dt.dbc starts here"; + +BO_ 53 PCM_2: 8 XXX + SG_ ENG_TORQUE_REQ : 3|12@0+ (1,0) [0|7] "" XXX + SG_ ENG_TORQUE_OUT : 19|12@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + +BO_ 133 TCM_1: 8 XXX + SG_ SHIFT_PENDING : 2|1@0+ (1,0) [0|1] "" XXX + SG_ ACTUAL_GEAR : 11|4@0+ (1,0) [0|15] "" XXX + SG_ DESIRED_GEAR : 15|4@0+ (1,0) [0|1] "" XXX + SG_ TC_LOCKED : 17|1@1+ (1,0) [0|0] "" XXX + SG_ OUTPUT_SPEED : 31|16@0+ (1,0) [0|65534] "rpm" XXX + SG_ INPUT_SPEED : 47|16@0+ (1,0) [0|65534] "rpm" XXX + SG_ OUTPUT_SPEED_SIGN : 57|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|4@0+ (1,0) [0|15] "" XXX + +BO_ 135 ABS_2: 8 XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|1] "" XXX + SG_ DRIVER_BRAKE : 15|8@0+ (1,0) [0|1] "" XXX + +BO_ 137 ESP_4: 8 XXX + SG_ Yaw_Rate : 7|16@0+ (0.01,-327.68) [-327.68|327.66] "deg/s" XXX + SG_ Acceleration : 32|8@1+ (0.08,-10.24) [-10.24|10.08] "m/s2" XXX + +BO_ 164 EPS_3: 8 XXX + SG_ DASM_FAULT : 34|1@0+ (1,0) [0|1] "" XXX + SG_ Activation_Status : 48|3@1+ (1,0) [0|1] "" XXX + SG_ Driver_Override : 35|1@0+ (1,0) [0|1] "" XXX + SG_ Hands_on_Wheel : 51|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 166 LKAS_COMMAND: 8 XXX + SG_ STEERING_TORQUE : 10|11@0+ (1,-1024) [0|1] "" XXX + SG_ LKAS_CONTROL_BIT : 24|3@1+ (1,0) [0|1] "" XXX + SG_ DASM_FAULT : 51|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 221 Center_Stack_1: 8 XXX + SG_ LKAS_Button : 53|1@1+ (1,0) [0|0] "" XXX + SG_ Traction_Button : 54|1@0+ (1,0) [0|1] "" XXX + +BO_ 650 Center_Stack_2: 8 XXX + SG_ LKAS_Button : 57|1@1+ (1,0) [0|0] "" XXX + + +CM_ SG_ 133 ACTUAL_GEAR "0xd = P, 0x1-8 = D (actual gear), 0xb = R or N?? TODO find R vs N"; +CM_ SG_ 153 ACC_Engaged "SENT BY FORWARD CAMERA 1 = ACTIVE, 3 = ENGAGED, 0 = DISENGAGED/OFF"; +CM_ SG_ 166 LKAS_CONTROL_BIT "0=IDLE, 1=HAS 2=LKAS 3=ABSD, 4=TJA, 7=SNA"; +CM_ SG_ 250 Auto_High_Beam "1 = HIGH BEAMS OK 0 = HIGH BEAMS OFF "; +CM_ SG_ 250 LKAS_LANE_LINES "9 = LEFT CAUTION, 11 = VERY LEFT CAUTION 10 = RIGHT CAUTION, 14 = VERY RIGHT, 4 = NO LINES DETECTED, 3 = LINES DETECTED, SYSTEM ACTIVE"; +CM_ SG_ 464 Driver_Seatbelt_Status "1 unbuckled 0 buckled"; +CM_ SG_ 792 High_Beam_Lever_Status "1 is high beam, 0 reg"; diff --git a/opendbc_repo/opendbc/dbc/chrysler_ram_hd_generated.dbc b/opendbc_repo/opendbc/dbc/chrysler_ram_hd_generated.dbc new file mode 100644 index 0000000000..b636b73164 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/chrysler_ram_hd_generated.dbc @@ -0,0 +1,215 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _stellantis_common_ram_hd_generated.dbc starts here"; +CM_ "Generated from _stellantis_common.dbc" + +BO_ 258 STEERING: 8 XXX + SG_ STEERING_ANGLE : 5|14@0+ (0.5,-2048) [-2048|2047] "deg" XXX + SG_ STEERING_RATE : 21|14@0+ (0.5,-2048) [-2048|2047] "deg/s" XXX + SG_ STEERING_ANGLE_HP : 48|4@1+ (0.1,-0.4) [-0.4|0.4] "deg" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 264 ECM_1: 8 XXX + SG_ ENGINE_RPM : 7|16@0+ (1,0) [0|65535] "" XXX + SG_ ENGINE_TORQUE : 20|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX + SG_ EXPECTED_ENGINE_TORQUE : 36|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 280 ECM_TRQ: 8 XXX + SG_ ENGINE_TORQ_MAX : 4|13@0+ (.25,-500) [-500|1547.5] "NM" XXX + SG_ ENGINE_TORQ_MIN : 20|13@0+ (.25,-500) [-500|1547.5] "NM" XXX + +BO_ 284 ESP_8: 8 XXX + SG_ BRK_PRESSURE : 3|12@0+ (1,0) [0|1] "" XXX + SG_ Vehicle_Stopped : 7|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_PEDAL : 19|12@0+ (1,0) [0|1] "" XXX + SG_ Vehicle_Speed : 39|16@0+ (0.0078125,0) [0|511.984375] "km/h" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 288 ECM_2: 7 XXX + SG_ ACC_TORQUE_REQ_ENABLE : 5|1@1+ (1,0) [0|0] "" XXX + SG_ ESC_TORQUE_REQ_ENABLE : 6|1@1+ (1,0) [0|0] "" XXX + SG_ TCM_TORQUE_REQ_ENABLE : 7|1@1+ (1,0) [0|0] "" XXX + SG_ Accelerator_Position : 16|8@1+ (0.4,0) [0|100] "%" XXX + SG_ CRUISE_OVERRIDE : 31|1@1+ (1,0) [0|0] "" XXX + SG_ COUNTER : 47|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 55|8@0+ (1,0) [0|0] "" XXX + +BO_ 320 ESP_1: 8 XXX + SG_ Brake_State : 0|2@1+ (1,0) [0|0] "" XXX + SG_ Brake_Pedal_State : 2|2@1+ (1,0) [0|0] "" XXX + SG_ ACC_Engaged : 15|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_Enabled : 23|1@0+ (1,0) [0|1] "" XXX + SG_ Vehicle_Speed : 33|10@0+ (0.5,0) [0|511] "km/h" XXX + SG_ ACC_OFF_REQ : 39|2@0+ (1,0) [0|0] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ BRAKE_PRESSED_ACC : 6|1@0+ (1,0) [0|3] "" XXX + +BO_ 268 ESP_2: 8 ESC + SG_ ESC_TORQUE_REQ : 4|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX + SG_ ACC_TORQUE_REQ_ENABLE : 5|1@1+ (1,0) [0|0] "" XXX + SG_ ESC_TORQUE_REQ_MAX : 6|1@1+ (1,0) [0|0] "" XXX + SG_ ESC_TORQUE_REQ_MIN : 7|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_TORQUE_REQ : 20|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX + SG_ TCS_ACTIVE : 21|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_TORQUE_REQ_MAX : 22|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_BRK_PREP : 40|1@1+ (1,0) [0|0] "" XXX + SG_ DISABLE_FUEL_SHUTOFF : 47|1@1+ (1,0) [0|0] "" XXX + SG_ DAS_REQ_ACTIVE : 48|3@1+ (1,0) [0|0] "" XXX + SG_ COLLISION_BRK_PREP : 51|1@1+ (1,0) [0|0] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX + +BO_ 344 ESP_6: 8 XXX + SG_ WHEEL_SPEED_FL : 5|14@0+ (0.5,0) [0|8191] "rpm" XXX + SG_ WHEEL_SPEED_FR : 21|14@0+ (0.5,0) [0|8191] "rpm" XXX + SG_ WHEEL_SPEED_RL : 37|14@0+ (0.5,0) [0|8191] "rpm" XXX + SG_ WHEEL_SPEED_RR : 53|14@0+ (0.5,0) [0|8191] "rpm" XXX + +BO_ 368 Transmission_Status: 8 XXX + SG_ Gear_State : 2|3@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 464 ORC_1: 8 XXX + SG_ SEATBELT_DRIVER_UNLATCHED : 13|1@0+ (1,0) [0|1] "" XXX + +BO_ 500 DAS_3: 8 XXX + SG_ ENGINE_TORQUE_REQUEST : 4|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX + SG_ ENGINE_TORQUE_REQUEST_MAX : 7|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_STANDSTILL : 5|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_GO : 6|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_DECEL : 19|12@0+ (0.004885,-16) [-16|4] "m/s2" XXX + SG_ ACC_AVAILABLE : 20|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_ACTIVE : 21|1@0+ (1,0) [0|1] "" XXX + SG_ DISABLE_FUEL_SHUTOFF : 23|1@1+ (1,0) [0|0] "" XXX + SG_ GR_MAX_REQ : 32|4@1+ (1,0) [0|0] "" XXX + SG_ ACC_DECEL_REQ : 36|3@1+ (1,0) [0|0] "" XXX + SG_ ACC_FAULTED : 46|2@1+ (1,0) [0|0] "" XXX + SG_ COLLISION_BRK_PREP : 48|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_BRK_PREP : 49|1@1+ (1,0) [0|0] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 501 DAS_4: 8 XXX + SG_ ACC_SET_SPEED_KPH : 15|8@0+ (1,0) [0|3] "km/h" XXX + SG_ ACC_SET_SPEED_MPH : 23|8@0+ (1,0) [0|3] "mph" XXX + SG_ ACC_DISTANCE_CONFIG_1 : 1|2@0+ (1,0) [0|3] "" XXX + SG_ ACC_DISTANCE_CONFIG_2 : 41|2@0+ (1,0) [0|3] "" XXX + SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX + SG_ ACC_STATE : 38|3@0+ (1,0) [0|7] "" XXX + SG_ FCW_OFF : 25|2@0+ (1,0) [0|3] "" XXX + SG_ FCW_ERROR : 27|2@0+ (1,0) [0|3] "" XXX + SG_ FCW_BRAKE_ENABLED : 29|1@0+ (1,0) [0|1] "" XXX + SG_ FCW_BRAKE_DISABLED : 47|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_FAULTED : 50|1@0+ (1,0) [0|1] "" XXX + +BO_ 544 EPS_2: 8 XXX + SG_ LKAS_STATE : 23|4@0+ (1,0) [0|15] "" XXX + SG_ COLUMN_TORQUE : 2|11@0+ (1,-1024) [-1024|1023] "" XXX + SG_ TORQUE_OVERLAY_STATUS : 6|4@0+ (1,0) [0|15] "" XXX + SG_ EPS_TORQUE_MOTOR_RAW : 19|12@0+ (1,-2048) [-2048|2047] "" XXX + SG_ EPS_TORQUE_MOTOR : 34|11@0+ (1,-1024) [-1024|1023] "" XXX + SG_ LKAS_TEMPORARY_FAULT : 38|1@0+ (1,0) [0|1] "" XXX + SG_ AUTO_PARK_HAS_CONTROL_2 : 51|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 559 ECM_5: 8 XXX + SG_ Accelerator_Position : 0|8@1+ (0.4,0) [0|100] "%" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 570 CRUISE_BUTTONS: 3 XXX + SG_ ACC_Cancel : 0|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_Distance_Dec : 1|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_Accel : 2|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_Decel : 3|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_Resume : 4|1@0+ (1,0) [0|1] "" XXX + SG_ Cruise_OnOff : 6|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_OnOff : 7|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_Distance_Inc : 8|1@1+ (1,0) [0|0] "" XXX + SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX + +BO_ 625 DAS_5: 8 XXX + SG_ FCW_STATE : 2|1@1+ (1,0) [0|0] "" XXX + SG_ FCW_DISTANCE : 3|2@1+ (1,0) [0|0] "" XXX + SG_ ACCFCW_MESSAGE : 12|4@1+ (1,0) [0|0] "" XXX + SG_ SET_SPEED_KPH : 24|8@1+ (1,0) [0|250] "km/h" XXX + SG_ WHEEL_TORQUE_REQUEST : 38|15@0+ (1,-7767) [-7767|24999] "Nm" XXX + SG_ WHEEL_TORQUE_REQUEST_ACTIVE : 39|1@1+ (1,0) [0|0] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 669 EPB_1: 3 XXX + SG_ PARKING_BRAKE_STATUS : 11|3@0+ (1,0) [0|7] "" XXX + SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX + +BO_ 629 DAS_6: 8 XXX + SG_ LKAS_ICON_COLOR : 1|2@0+ (1,0) [0|3] "" XXX + SG_ LKAS_LANE_LINES : 19|4@0+ (1,0) [0|1] "" XXX + SG_ LKAS_ALERTS : 27|4@0+ (1,0) [0|1] "" XXX + SG_ CAR_MODEL : 15|8@0+ (1,0) [0|255] "" XXX + SG_ AUTO_HIGH_BEAM_ON : 47|1@1+ (1,0) [0|0] "" XXX + SG_ LKAS_DISABLED : 56|1@1+ (1,0) [0|0] "" XXX + +BO_ 720 BSM_1: 6 XXX + SG_ RIGHT_STATUS : 5|1@0+ (1,0) [0|1] "" XXX + SG_ LEFT_STATUS : 2|1@0+ (1,0) [0|1] "" XXX + +BO_ 792 STEERING_LEVERS: 8 XXX + SG_ TURN_SIGNALS : 0|2@1+ (1,0) [0|3] "" XXX + SG_ HIGH_BEAM_PRESSED : 2|1@0+ (1,0) [0|3] "" XXX + +BO_ 820 BCM_1: 8 XXX + SG_ DOOR_OPEN_FL : 17|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FR : 18|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RL : 19|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RR : 20|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_TRUNK : 22|1@0+ (1,0) [0|1] "" XXX + SG_ PARKING_BRAKE_SWITCH : 23|1@0+ (1,0) [0|1] "" XXX + SG_ TURN_LIGHT_LEFT : 31|1@0+ (1,0) [0|1] "" XXX + SG_ TURN_LIGHT_RIGHT : 30|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAM_DISPLAY : 58|1@0+ (1,0) [0|1] "" XXX + +VAL_ 320 ACC_OFF_REQ 2 "PERMANENT" 1 "TEMPORARY" 0 "NONE" +VAL_ 368 Gear_State 4 "D" 2 "N" 1 "R" 0 "P" ; +VAL_ 669 PARKING_BRAKE_STATUS 3 "RELEASING" 2 "APPLYING" 1 "APPLIED" 0 "OFF" ; + +CM_ SG_ 258 STEERING_ANGLE_HP "Steering angle high precision"; +CM_ SG_ 264 ENGINE_TORQUE "Effective engine torque"; +CM_ SG_ 264 EXPECTED_ENGINE_TORQUE "Expected Engine Torque based on target engine speed"; +CM_ SG_ 678 LKAS_ICON_COLOR "3 is yellow, 2 is green, 1 is white, 0 is null"; +CM_ SG_ 678 LKAS_LANE_LINES "0x01 transparent lines, 0x02 left white, 0x03 right white, 0x04 left yellow with car on top, 0x05 left yellow with car on top, 0x06 both white, 0x07 left yellow, 0x08 left yellow right white, 0x09 right yellow, 0x0a right yellow left white, 0x0b left yellow with car on top right white, 0x0c right yellow with car on top left white, (0x00, 0x0d, 0x0e, 0x0f) null"; +CM_ SG_ 678 LKAS_ALERTS "(0x01, 0x02) lane sense off, (0x03, 0x04, 0x06) place hands on steering wheel, 0x07 lane departure detected + place hands on steering wheel, (0x08, 0x09) lane sense unavailable + clean front windshield, 0x0b lane sense and auto high beam unavailable + clean front windshield, 0x0c lane sense unavailable + service required, (0x00, 0x05, 0x0a, 0x0d, 0x0e, 0x0f) null"; + +CM_ "chrysler_ram_hd.dbc starts here"; + +BO_ 545 EPS_3: 8 XXX + SG_ DASM_FAULT : 34|1@0+ (1,0) [0|1] "" XXX + SG_ Activation_Status : 48|3@1+ (1,0) [0|1] "" XXX + SG_ Driver_Override : 35|1@0+ (1,0) [0|1] "" XXX + SG_ Hands_on_Wheel : 51|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 630 LKAS_COMMAND: 8 XXX + SG_ STEERING_TORQUE : 10|11@0+ (1,-1024) [0|1] "" XXX + SG_ LKAS_CONTROL_BIT : 24|3@1+ (1,0) [0|1] "" XXX + SG_ DASM_FAULT : 51|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 650 Center_Stack_2: 8 XXX + SG_ LKAS_Button : 57|1@1+ (1,0) [0|0] "" XXX + +BO_ 816 Center_Stack_1: 8 XXX + SG_ LKAS_Button : 53|1@1+ (1,0) [0|0] "" XXX + SG_ Traction_Button : 54|1@0+ (1,0) [0|1] "" XXX diff --git a/opendbc_repo/opendbc/dbc/comma_body.dbc b/opendbc_repo/opendbc/dbc/comma_body.dbc new file mode 100644 index 0000000000..2b89f3a74a --- /dev/null +++ b/opendbc_repo/opendbc/dbc/comma_body.dbc @@ -0,0 +1,89 @@ +VERSION "0.0.02" + +BO_ 513 MOTORS_DATA: 8 XXX + SG_ SPEED_L : 7|16@0- (1,0) [-1000|1000] "" XXX + SG_ SPEED_R : 23|16@0- (1,0) [-1000|1000] "" XXX + SG_ ELEC_ANGLE_L : 39|8@0+ (1,0) [0|0] "deprecated" XXX + SG_ ELEC_ANGLE_R : 47|8@0+ (1,0) [0|0] "deprecated" XXX + SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 514 VAR_VALUES: 3 XXX + SG_ IGNITION : 0|1@0+ (1,0) [0|1] "" XXX + SG_ ENABLE_MOTORS : 1|1@0+ (1,0) [0|1] "" XXX + SG_ FAULT : 7|6@0+ (1,0) [0|63] "" XXX + SG_ MOTOR_ERR_L : 15|8@0+ (1,0) [0|255] "" XXX + SG_ MOTOR_ERR_R : 23|8@0+ (1,0) [0|255] "" XXX + +BO_ 515 BODY_DATA: 4 XXX + SG_ MCU_TEMP : 7|8@0+ (0.1,0) [0|125] "" XXX + SG_ BATT_VOLTAGE : 15|16@0+ (0.01,0) [0|60] "" XXX + SG_ BATT_PERCENTAGE : 31|7@0+ (1,0) [0|100] "" XXX + SG_ CHARGER_CONNECTED : 24|1@0+ (1,0) [0|1] "" XXX + +BO_ 516 MOTORS_CURRENT: 8 XXX + SG_ LEFT_PHA_AB : 7|16@0- (1,0) [-32768|32767] "" XXX + SG_ LEFT_PHA_BC : 23|16@0- (1,0) [-32768|32767] "" XXX + SG_ RIGHT_PHA_AB : 39|16@0- (1,0) [-32768|32767] "" XXX + SG_ RIGHT_PHA_BC : 55|16@0- (1,0) [-32768|32767] "" XXX + +BO_ 517 MOTORS_ANGLE: 8 XXX + SG_ LEFT_ANGLE_SENSOR : 7|16@0+ (1,0) [0|16384] "" XXX + SG_ RIGHT_ANGLE_SENSOR : 23|16@0+ (1,0) [0|16384] "" XXX + SG_ LEFT_HALL_SENSOR : 39|16@0+ (1,0) [0|360] "" XXX + SG_ RIGHT_HALL_SENSOR : 55|16@0+ (1,0) [0|360] "" XXX + +BO_ 592 TORQUE_CMD: 6 XXX + SG_ TORQUE_L : 7|16@0- (1,0) [-1000|1000] "" XXX + SG_ TORQUE_R : 23|16@0- (1,0) [-1000|1000] "" XXX + SG_ COUNTER : 35|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX + +BO_ 593 MAX_MOTOR_RPM_CMD: 5 XXX + SG_ MAX_RPM_L : 7|16@0+ (1,0) [0|1000] "" XXX + SG_ MAX_RPM_R : 23|16@0+ (1,0) [0|1000] "" XXX + SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX + +BO_ 769 KNEE_MOTORS_DATA: 8 XXX + SG_ SPEED_L : 7|16@0- (1,0) [-1000|1000] "" XXX + SG_ SPEED_R : 23|16@0- (1,0) [-1000|1000] "" XXX + SG_ ELEC_ANGLE_L : 39|8@0+ (1,0) [0|0] "deprecated" XXX + SG_ ELEC_ANGLE_R : 47|8@0+ (1,0) [0|0] "deprecated" XXX + SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 770 KNEE_VAR_VALUES: 3 XXX + SG_ IGNITION : 0|1@0+ (1,0) [0|1] "" XXX + SG_ ENABLE_MOTORS : 1|1@0+ (1,0) [0|1] "" XXX + SG_ FAULT : 7|6@0+ (1,0) [0|63] "" XXX + SG_ MOTOR_ERR_L : 15|8@0+ (1,0) [0|255] "" XXX + SG_ MOTOR_ERR_R : 23|8@0+ (1,0) [0|255] "" XXX + +BO_ 771 KNEE_DATA: 4 XXX + SG_ MCU_TEMP : 7|8@0+ (0.1,0) [0|125] "" XXX + SG_ BATT_VOLTAGE : 15|16@0+ (0.01,0) [0|60] "" XXX + SG_ BATT_PERCENTAGE : 31|7@0+ (1,0) [0|100] "" XXX + SG_ CHARGER_CONNECTED : 24|1@0+ (1,0) [0|1] "" XXX + +BO_ 772 KNEE_MOTORS_CURRENT: 8 XXX + SG_ LEFT_PHA_AB : 7|16@0- (1,0) [-32768|32767] "" XXX + SG_ LEFT_PHA_BC : 23|16@0- (1,0) [-32768|32767] "" XXX + SG_ RIGHT_PHA_AB : 39|16@0- (1,0) [-32768|32767] "" XXX + SG_ RIGHT_PHA_BC : 55|16@0- (1,0) [-32768|32767] "" XXX + +BO_ 773 KNEE_MOTORS_ANGLE: 8 XXX + SG_ LEFT_ANGLE_SENSOR : 7|16@0+ (1,0) [0|16384] "" XXX + SG_ RIGHT_ANGLE_SENSOR : 23|16@0+ (1,0) [0|16384] "" XXX + SG_ LEFT_HALL_SENSOR : 39|16@0+ (1,0) [0|360] "" XXX + SG_ RIGHT_HALL_SENSOR : 55|16@0+ (1,0) [0|360] "" XXX + +BO_ 848 KNEE_TORQUE_CMD: 6 XXX + SG_ TORQUE_L : 7|16@0- (1,0) [-1000|1000] "" XXX + SG_ TORQUE_R : 23|16@0- (1,0) [-1000|1000] "" XXX + SG_ COUNTER : 35|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX + +BO_ 849 KNEE_MAX_MOTOR_RPM_CMD: 5 XXX + SG_ MAX_RPM_L : 7|16@0+ (1,0) [0|1000] "" XXX + SG_ MAX_RPM_R : 23|16@0+ (1,0) [0|1000] "" XXX + SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX diff --git a/opendbc_repo/opendbc/dbc/ford_cgea1_2_bodycan_2011.dbc b/opendbc_repo/opendbc/dbc/ford_cgea1_2_bodycan_2011.dbc new file mode 100644 index 0000000000..49fcae19c2 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/ford_cgea1_2_bodycan_2011.dbc @@ -0,0 +1,1070 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX + + +BO_ 58 BCM_m_FrP01: 8 XXX + SG_ ChildLockCmd : 13|1@0+ (1,0) [0|0] "" XXX + SG_ ChildLockCmd_UB : 12|1@0+ (1,0) [0|0] "" XXX + SG_ CLockCmd : 31|8@0+ (1,0) [0|0] "" XXX + SG_ CLockCmd_UB : 14|1@0+ (1,0) [0|0] "" XXX + SG_ DDShortDrop : 3|2@0+ (1,0) [0|0] "" XXX + SG_ DDShortDrop_UB : 4|1@0+ (1,0) [0|0] "" XXX + SG_ DirectionIndication : 11|2@0+ (1,0) [0|0] "" XXX + SG_ DirectionIndication_UB : 0|1@0+ (1,0) [0|0] "" XXX + SG_ EpsDrvInfo_D_Dsply : 36|4@0+ (1,0) [0|0] "" XXX + SG_ EpsDrvInfo_D_Dsply_UB : 39|1@0+ (1,0) [0|0] "" XXX + SG_ GearRvrseActv_D_Actl : 38|2@0+ (1,0) [0|0] "" XXX + SG_ GearRvrseActv_D_Actl_UB : 15|1@0+ (1,0) [0|0] "" XXX + SG_ VehVActlEng_D_Qf_3A : 9|2@0+ (1,0) [0|0] "" XXX + SG_ Veh_V_ActlEng_UB_3A : 1|1@0+ (1,0) [0|0] "" XXX + SG_ Veh_V_ActlEng_3A : 55|16@0+ (0.01,0) [0|0] "kph" XXX + SG_ Veh_V_DsplyCcSet : 23|8@0+ (1,0) [0|0] "" XXX + SG_ Veh_V_RqCcSet : 32|9@0+ (0.5,0) [0|0] "kph" XXX + SG_ WasherFluidLevelLow : 5|1@0+ (1,0) [0|0] "" XXX + +BO_ 64 BCM_m_FrP02: 8 XXX + SG_ FuelCutoffReq : 7|4@0+ (1,0) [0|0] "" XXX + SG_ FuelCutoffReq_UB : 8|1@0+ (1,0) [0|0] "" XXX + SG_ KVRFRSettings : 54|15@0+ (1,0) [0|0] "" XXX + SG_ KVRFRSettings_UB : 10|1@0+ (1,0) [0|0] "" XXX + SG_ PsngrFrntDetct_D_Actl : 23|2@0+ (1,0) [0|0] "" XXX + SG_ PsngrFrntDetct_D_Actl_UB : 3|1@0+ (1,0) [0|0] "" XXX + SG_ RILReq : 21|2@0+ (1,0) [0|0] "" XXX + SG_ RILReq_UB : 55|1@0+ (1,0) [0|0] "" XXX + SG_ SecondRowBuckleDriver : 31|2@0+ (1,0) [0|0] "" XXX + SG_ SecondRowBuckleDriver_UB : 0|1@0+ (1,0) [0|0] "" XXX + SG_ SecondRowBuckleMid : 29|2@0+ (1,0) [0|0] "" XXX + SG_ SecondRowBuckleMid_UB : 15|1@0+ (1,0) [0|0] "" XXX + SG_ SecondRowBucklePsngr : 27|2@0+ (1,0) [0|0] "" XXX + SG_ SecondRowBucklePsngr_UB : 14|1@0+ (1,0) [0|0] "" XXX + SG_ ThirdRowBuckleDriver : 25|2@0+ (1,0) [0|0] "" XXX + SG_ ThirdRowBuckleDriver_UB : 13|1@0+ (1,0) [0|0] "" XXX + SG_ ThirdRowBucklePsngr : 37|2@0+ (1,0) [0|0] "" XXX + SG_ ThirdRowBucklePsngr_UB : 11|1@0+ (1,0) [0|0] "" XXX + SG_ WheelRotationCnt : 47|8@0+ (1,0) [0|0] "" XXX + SG_ WheelRotationCnt_UB : 9|1@0+ (1,0) [0|0] "" XXX + SG_ WheelRotationCntQF : 35|2@0+ (1,0) [0|0] "" XXX + SG_ WhlDirRr_D_Actl_UB_40 : 2|1@0+ (1,0) [0|0] "" XXX + SG_ WhlDirRr_D_Actl_40 : 39|2@0+ (1,0) [0|0] "" XXX + SG_ WhlDirRl_D_Actl_UB_40 : 1|1@0+ (1,0) [0|0] "" XXX + SG_ WhlDirRl_D_Actl_40 : 33|2@0+ (1,0) [0|0] "" XXX + +BO_ 131 MS_Steering_Data: 8 XXX + SG_ SteColumn_Status_UB : 28|1@0+ (1,0) [0|0] "" XXX + SG_ SteColumn_Status : 31|3@0+ (1,0) [0|0] "" XXX + SG_ SteCol_Manual_Override_UB : 26|1@0+ (1,0) [0|0] "" XXX + SG_ SteCol_Manual_Override : 27|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Send_UB : 20|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Send : 6|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Phone_UB : 17|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Phone : 3|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_OK_UB : 16|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_OK : 2|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Volume_Up_UB : 23|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Volume_Down_UB : 22|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Voice_PTT_UB : 21|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Seek_Right_UB : 19|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Seek_Left_UB : 18|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Mode_UB : 11|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Mode : 13|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Media_UB : 9|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Volume_Up : 15|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Volume_Down : 14|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Voice_PTT : 7|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Seek_Right : 5|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Seek_Left : 4|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Media : 1|1@0+ (1,0) [0|0] "" XXX + SG_ VehYaw_W_Actl : 55|16@0+ (0.0002,-6.5) [0|0] "rad/s" XXX + SG_ SteWhlCtl_End_UB : 8|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_End : 0|1@0+ (1,0) [0|0] "" XXX + SG_ VehYaw_W_Actl_UB : 40|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Mute_UB : 10|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Mute : 12|1@0+ (1,0) [0|0] "" XXX + +BO_ 257 Driver_Seat_Information: 8 XXX + SG_ Reverse_Mirror_Stat : 3|2@0+ (1,0) [0|0] "" XXX + SG_ Memory_Feedback_Rqst : 5|1@0+ (1,0) [0|0] "" XXX + SG_ Easy_Entry_Exit_Stat : 7|2@0+ (1,0) [0|0] "" XXX + +BO_ 260 Driver_Seat_Information_2: 8 XXX + SG_ Memory_Cmd : 15|4@0+ (1,0) [0|0] "" XXX + SG_ Easy_Entry_Rqst : 4|2@0+ (1,0) [0|0] "" XXX + SG_ DrvSeat_Stat : 7|3@0+ (1,0) [0|0] "" XXX + SG_ Cancel_Auto_Movement : 1|1@0+ (1,0) [0|0] "" XXX + +BO_ 269 IdleShutdown_Legacy: 8 XXX + SG_ IDLE_ENGINE_SHUTDOWN : 23|2@0+ (1,0) [0|0] "" XXX + +BO_ 272 Keyfob_Pad_Stat: 8 XXX + SG_ L_Pwr_Sliding_Dr_Rqst : 28|1@0+ (1,0) [0|0] "" XXX + SG_ Power_Decklid_Rqst : 31|1@0+ (1,0) [0|0] "" XXX + SG_ R_Pwr_Sliding_Dr_Rqst : 29|1@0+ (1,0) [0|0] "" XXX + SG_ Keyfob_Pad_Msg_Count : 23|8@0+ (1,0) [0|0] "Counts" XXX + SG_ Keyfob_Pad_Id_Number : 15|8@0+ (1,0) [0|0] "" XXX + SG_ Keyfob_Pad_Button_Pressed : 7|8@0+ (1,0) [0|0] "" XXX + SG_ Power_Liftgate_Rqst : 30|1@0+ (1,0) [0|0] "" XXX + SG_ Keycode_Status : 27|20@0+ (1,0) [0|0] "" XXX + +BO_ 275 Power_Liftgate_Mode_StatM: 8 XXX + SG_ Power_Liftgate_Mode_Stat : 7|2@0+ (1,0) [0|0] "" XXX + SG_ DrTgateChime_D_Rq : 5|2@0+ (1,0) [0|0] "" XXX + +BO_ 276 Running_Board_CmdM: 8 XXX + SG_ Running_Board_Cmd : 7|2@0+ (1,0) [0|0] "" XXX + +BO_ 277 Running_Board_StatM: 8 XXX + SG_ Running_Board_Stat : 7|2@0+ (1,0) [0|0] "" XXX + +BO_ 288 ClmtCtrlSeat_SetCmdlegacy1: 8 XXX + SG_ ClmtCtrlSeat_SetCmd_Dvr : 7|8@0+ (1,0) [0|0] "" XXX + +BO_ 289 ClmtCtrlSeat_SetStat_DvrM: 8 XXX + SG_ ClmtCtrlSeat_SetStat_Dvr : 7|8@0+ (1,0) [0|0] "" XXX + +BO_ 290 ClmtCtrlSeat_SetCmdlegacy2: 8 XXX + SG_ ClmtCtrlSeat_SetCmd_Psgr : 7|8@0+ (1,0) [0|0] "" XXX + +BO_ 291 ClmtCtrlSeat_SetStat_PsgrM: 8 XXX + SG_ ClmtCtrlSeat_SetStat_Psgr : 7|8@0+ (1,0) [0|0] "" XXX + +BO_ 292 ClmtCtrlSeatSet_Cmd_v2_MS: 8 XXX + SG_ ClmtCtrlSeat_SetCmd_Psgr : 15|8@0+ (1,0) [0|0] "" XXX + SG_ ClmtCtrlSeat_SetCmd_Dvr : 7|8@0+ (1,0) [0|0] "" XXX + +BO_ 293 ClmtCtrlSeatSet_Stat_v2: 8 XXX + SG_ ClmtCtrlSeat_SetStat_Psgr : 15|8@0+ (1,0) [0|0] "" XXX + SG_ ClmtCtrlSeat_SetStat_Dvr : 7|8@0+ (1,0) [0|0] "" XXX + +BO_ 304 Mirror_Manual_Override_M: 8 XXX + SG_ Mirror_Manual_Override : 7|1@0+ (1,0) [0|0] "Binary" XXX + +BO_ 305 Memory_Sw_StatM: 8 XXX + SG_ Memory_Sw_Message_Count : 15|8@0+ (1,0) [0|0] "Counts" XXX + SG_ Memory_Set_Sw_Stat : 7|1@0+ (1,0) [0|0] "Binary" XXX + SG_ Memory_Set_Cancel : 3|1@0+ (1,0) [0|0] "Binary" XXX + SG_ Memory_3_Sw_Stat : 4|1@0+ (1,0) [0|0] "Binary" XXX + SG_ Memory_2_Sw_Stat : 5|1@0+ (1,0) [0|0] "Binary" XXX + SG_ Memory_1_Sw_Stat : 6|1@0+ (1,0) [0|0] "Binary" XXX + +BO_ 306 Driver_Lock_Sw_StatM: 8 XXX + SG_ Driver_Door_Key_Unlock : 12|1@0+ (1,0) [0|0] "" XXX + SG_ Driver_Door_Key_Lock : 13|1@0+ (1,0) [0|0] "" XXX + SG_ Driver_Lock_Sw_Message_Cnt : 7|8@0+ (1,0) [0|0] "Counts" XXX + SG_ Driver_Lock_Sw_Stat : 15|2@0+ (1,0) [0|0] "" XXX + +BO_ 309 Memory_Cancel_Cmd_M: 8 XXX + SG_ Memory_Cancel_Cmd : 7|1@0+ (1,0) [0|0] "Binary" XXX + +BO_ 310 Driver_Door_Lock_CmdM: 8 XXX + SG_ Driver_Door_Lock_Msg_Cnt : 7|8@0+ (1,0) [0|0] "Counts" XXX + SG_ Driver_Door_Lock_Cmd : 15|4@0+ (1,0) [0|0] "" XXX + +BO_ 311 Pass_Mirror_Sw_StatM: 8 XXX + SG_ Pass_Mirror_Sw_UD_Stat : 7|2@0+ (1,0) [0|0] "" XXX + SG_ Pass_Mirror_Sw_LR_Stat : 5|2@0+ (1,0) [0|0] "" XXX + +BO_ 313 RPwrSlideDr_Unlock_RqstM: 8 XXX + SG_ RPwrSlideDr_Unlock_Rqst : 7|1@0+ (1,0) [0|0] "" XXX + +BO_ 320 LPwrSlideDr_Unlock_RqstM: 8 XXX + SG_ LPwrSlideDr_Unlock_Rqst : 7|1@0+ (1,0) [0|0] "" XXX + +BO_ 321 Passive_Entry_Ctrl_Data: 8 XXX + SG_ PE_Control_Data_1 : 23|8@0+ (1,0) [0|0] "" XXX + SG_ PE_Control_Cmd : 7|3@0+ (1,0) [0|0] "" XXX + SG_ PK_SearchResults_Prog : 63|4@0+ (1,0) [0|0] "" XXX + SG_ PK_SearchResults_MyKey : 4|4@0+ (1,0) [0|0] "" XXX + SG_ PK_SearchResults_Found : 59|4@0+ (1,0) [0|0] "" XXX + SG_ PK_Search_EvNum : 15|8@0+ (1,0) [0|0] "Counts" XXX + SG_ PE_Control_Data_5 : 55|8@0+ (1,0) [0|0] "" XXX + SG_ PE_Control_Data_4 : 47|8@0+ (1,0) [0|0] "" XXX + SG_ PE_Control_Data_3 : 39|8@0+ (1,0) [0|0] "" XXX + SG_ PE_Control_Data_2 : 31|8@0+ (1,0) [0|0] "" XXX + +BO_ 322 Passive_Entry_Target_Data: 8 XXX + SG_ PE_Target_Data_5 : 47|8@0+ (1,0) [0|0] "" XXX + SG_ PE_Target_Cmd : 7|2@0+ (1,0) [0|0] "" XXX + SG_ PE_Target_Status : 5|1@0+ (1,0) [0|0] "" XXX + SG_ PE_Target_Data_1 : 15|8@0+ (1,0) [0|0] "" XXX + SG_ PE_Search_Rqst : 4|2@0+ (1,0) [0|0] "" XXX + SG_ PE_Target_Data_4 : 39|8@0+ (1,0) [0|0] "" XXX + SG_ PE_Target_Data_3 : 31|8@0+ (1,0) [0|0] "" XXX + SG_ PE_Target_Data_2 : 23|8@0+ (1,0) [0|0] "" XXX + +BO_ 577 BCM_m_FrP28: 8 XXX + SG_ WheelRotToothCntFrL : 15|8@0+ (1,0) [0|0] "" XXX + SG_ WheelRotToothCntFrL_UB : 42|1@0+ (1,0) [0|0] "" XXX + SG_ WheelRotToothCntFrR : 23|8@0+ (1,0) [0|0] "" XXX + SG_ WheelRotToothCntFrR_UB : 41|1@0+ (1,0) [0|0] "" XXX + SG_ WheelRotToothCntReL : 31|8@0+ (1,0) [0|0] "" XXX + SG_ WheelRotToothCntReL_UB : 40|1@0+ (1,0) [0|0] "" XXX + SG_ WheelRotToothCntReR : 39|8@0+ (1,0) [0|0] "" XXX + SG_ WheelRotToothCntReR_UB : 43|1@0+ (1,0) [0|0] "" XXX + +BO_ 736 FCIM_Button_Press: 8 XXX + SG_ FCIM_Target_ID : 13|4@0+ (1,0) [0|0] "" XXX + SG_ FCIM_Button_Type : 7|8@0+ (1,0) [0|0] "" XXX + SG_ FCIM_Button_State : 15|2@0+ (1,0) [0|0] "" XXX + +BO_ 806 Compressor_Req: 8 XXX + SG_ HvacEvap_Te_Rq : 33|10@0+ (0.125,-50.0) [0|0] "Degrees C" XXX + SG_ HvacEvap_Te_Actl : 17|10@0+ (0.125,-50.0) [0|0] "Degrees C" XXX + SG_ HvacAirCond_B_Rq : 7|1@0+ (1,0) [0|0] "" XXX + SG_ HvacEvap_Te_Offst : 1|10@0+ (0.125,-50.0) [0|0] "Degrees C" XXX + +BO_ 842 MassageSeat_Data1: 8 XXX + SG_ SeatLmbrUpDrv_Pc_Actl : 38|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatLmbrMidDrv_Pc_Actl : 30|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatLmbrLoDrv_Pc_Actl : 22|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatBlUpDrv_Pc_Actl : 14|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatBlLoDrv_Pc_Actl : 6|7@0+ (1,0) [0|0] "%" XXX + +BO_ 843 MassageSeat_Data2: 8 XXX + SG_ SeatLmbrUpPsgr_Pc_Actl : 38|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatLmbrMidPsgr_Pc_Actl : 30|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatLmbrLoPsgr_Pc_Actl : 22|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatBlUpPsgr_Pc_Actl : 14|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatBlLoPsgr_Pc_Actl : 6|7@0+ (1,0) [0|0] "%" XXX + +BO_ 844 MassageSeat_Stat1: 8 XXX + SG_ StmsLmbrDrv_D_Stat : 17|2@0+ (1,0) [0|0] "" XXX + SG_ StmsCshnDrv_D_Stat : 19|2@0+ (1,0) [0|0] "" XXX + SG_ SeatSwtchDrv_B_Stat : 31|1@0+ (1,0) [0|0] "" XXX + SG_ SeatFnDrv_D_Stat : 23|3@0+ (1,0) [0|0] "" XXX + SG_ SeatAirAmb_P_Actl : 7|16@0+ (0.01,0) [0|0] "KiloPascal" XXX + SG_ SeatPDrv_B_Stat : 20|1@0+ (1,0) [0|0] "" XXX + +BO_ 845 MassageSeat_Stat2: 8 XXX + SG_ StmsLmbrPsgr_D_Stat : 15|2@0+ (1,0) [0|0] "" XXX + SG_ StmsCshnPsgr_D_Stat : 13|2@0+ (1,0) [0|0] "" XXX + SG_ SeatSwtchPsgr_B_Stat : 11|1@0+ (1,0) [0|0] "" XXX + SG_ SeatPPsgr_B_Stat : 7|1@0+ (1,0) [0|0] "" XXX + SG_ SeatFnPsgr_D_Stat : 6|3@0+ (1,0) [0|0] "" XXX + SG_ PsgrMemFeedback_Rsp : 3|4@0+ (1,0) [0|0] "" XXX + +BO_ 846 MassageSeat_Req_MS: 8 XXX + SG_ SeatFnPsgr_D_Rq : 15|3@0+ (1,0) [0|0] "" XXX + SG_ SeatFnDrv_D_Rq : 12|3@0+ (1,0) [0|0] "" XXX + SG_ SeatFnDfaltPsgr_B_Rq : 9|1@0+ (1,0) [0|0] "" XXX + SG_ SeatFnDfaltDrv_B_Rq : 8|1@0+ (1,0) [0|0] "" XXX + SG_ SeatFnChngPsgr_D_Rq : 7|2@0+ (1,0) [0|0] "" XXX + SG_ SeatFnChngDrv_D_Rq : 5|2@0+ (1,0) [0|0] "" XXX + SG_ PsgrMemory_Rq : 3|4@0+ (1,0) [0|0] "" XXX + +BO_ 849 MassageSeat_Data3: 8 XXX + SG_ SeatCshnDrvRR_Pc_Actl : 30|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatCshnDrvRL_Pc_Actl : 22|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatCshnDrvFR_Pc_Actl : 14|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatCshnDrvFL_Pc_Actl : 6|7@0+ (1,0) [0|0] "%" XXX + +BO_ 850 MassageSeat_Data4: 8 XXX + SG_ SeatCshnPsgrRR_Pc_Actl : 30|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatCshnPsgrRL_Pc_Actl : 22|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatCshnPsgrFR_Pc_Actl : 14|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatCshnPsgrFL_Pc_Actl : 6|7@0+ (1,0) [0|0] "%" XXX + +BO_ 853 EFP_CC_Status_MS: 8 XXX + SG_ Save_My_Temp : 59|1@0+ (1,0) [0|0] "" XXX + SG_ Front_Left_Temp_Setpt : 31|8@0+ (1,0) [0|0] "Mixed" XXX + SG_ RrDefrost_HtdMirrorReq : 60|1@0+ (1,0) [0|0] "" XXX + SG_ Rear_Control_Status : 16|1@0+ (1,0) [0|0] "" XXX + SG_ MultipleButtonPressReq : 63|3@0+ (1,0) [0|0] "" XXX + SG_ Rear_System_Mode_Req : 19|3@0+ (1,0) [0|0] "" XXX + SG_ Recirc_Request : 23|2@0+ (1,0) [0|0] "" XXX + SG_ Front_Rt_Temp_Setpt : 39|8@0+ (1,0) [0|0] "Mixed" XXX + SG_ AC_Request : 21|2@0+ (1,0) [0|0] "" XXX + SG_ Windshield_ModeRequest : 15|4@0+ (8.33,0) [0|0] "%" XXX + SG_ Panel_Mode_Request : 7|4@0+ (8.33,0) [0|0] "%" XXX + SG_ Overriding_ModeReq : 10|3@0+ (1,0) [0|0] "" XXX + SG_ Floor_Mode_Request : 3|4@0+ (8.33,0) [0|0] "%" XXX + SG_ Rear_Right_Temp_Setpt : 55|8@0+ (1,0) [0|0] "Mixed" XXX + SG_ Forced_Recirc_Req : 11|1@0+ (1,0) [0|0] "" XXX + SG_ Rear_Left_Temp_Setpt : 47|8@0+ (1,0) [0|0] "Mixed" XXX + +BO_ 854 EFP_CC_Seat_Req_Stat_MS: 8 XXX + SG_ Front_Rear_Blower_Req : 31|6@0+ (1,0) [0|0] "Detents" XXX + SG_ Pass_Rr_Cond_Seat_Req : 21|2@0+ (1,0) [0|0] "" XXX + SG_ Pass_Rr_Cond_Seat_Lvl : 8|3@0+ (1,0) [0|0] "" XXX + SG_ Pass_Fr_Cond_Seat_Req : 13|2@0+ (1,0) [0|0] "" XXX + SG_ Pass_Fr_Cond_Seat_Lvl : 11|3@0+ (1,0) [0|0] "" XXX + SG_ Drvr_Rr_Cond_Seat_Req : 15|2@0+ (1,0) [0|0] "" XXX + SG_ Drvr_Rr_Cond_Seat_Lvl : 2|3@0+ (1,0) [0|0] "" XXX + SG_ Drvr_Fr_Cond_Seat_Req : 7|2@0+ (1,0) [0|0] "" XXX + SG_ Drvr_Fr_Cond_Seat_Lvl : 5|3@0+ (1,0) [0|0] "" XXX + +BO_ 855 RCCM_CC_Status: 8 XXX + SG_ RrBlwrCondStLdShedStat : 25|2@0+ (1,0) [0|0] "" XXX + SG_ FrBlwrCondStLdShedStat : 20|2@0+ (1,0) [0|0] "" XXX + SG_ RCCM_Rr_Rt_TempSetpt : 63|8@0+ (1,0) [0|0] "Mixed" XXX + SG_ RCCM_Rr_Left_TempSetpt : 55|8@0+ (1,0) [0|0] "Mixed" XXX + SG_ RCCM_Fr_Rt_TempSetpt : 47|8@0+ (1,0) [0|0] "Mixed" XXX + SG_ RCCM_Fr_Left_TempSetpt : 39|8@0+ (1,0) [0|0] "Mixed" XXX + SG_ RCCM_Fr_Rr_Blower_Req : 31|6@0+ (1,0) [0|0] "Detents" XXX + SG_ Panel_Mode_State : 7|4@0+ (8.33,0) [0|0] "%" XXX + SG_ RrDefHtdMirrLdShedStat : 18|2@0+ (1,0) [0|0] "" XXX + SG_ Windshield_Mode_State : 15|4@0+ (8.33,0) [0|0] "%" XXX + SG_ Recirc_Door_State : 11|2@0+ (1,0) [0|0] "" XXX + SG_ Rear_System_Mode_State : 23|3@0+ (1,0) [0|0] "" XXX + SG_ Default_Defrost_State : 9|1@0+ (1,0) [0|0] "" XXX + SG_ Auto_AC_Indicator_Temp : 16|1@0+ (1,0) [0|0] "" XXX + SG_ Floor_Mode_State : 3|4@0+ (8.33,0) [0|0] "%" XXX + SG_ RrDefrost_HtdMirrState : 8|1@0+ (1,0) [0|0] "" XXX + +BO_ 856 RCCM_CC_Seat_Status: 8 XXX + SG_ Active_My_Temp : 2|1@0+ (1,0) [0|0] "" XXX + SG_ CC_HtdStrWhl_Req : 24|1@0+ (1,0) [0|0] "" XXX + SG_ RCCM_PR_Cond_Seat_Lvl : 31|3@0+ (1,0) [0|0] "" XXX + SG_ RCCM_PR_Cond_Seat_Req : 28|2@0+ (1,0) [0|0] "" XXX + SG_ RCCM_PF_Cond_Seat_Req : 20|2@0+ (1,0) [0|0] "" XXX + SG_ RCCM_PF_Cond_Seat_Lvl : 23|3@0+ (1,0) [0|0] "" XXX + SG_ RCCM_DR_Cond_Seat_Req : 12|2@0+ (1,0) [0|0] "" XXX + SG_ RCCM_DR_Cond_Seat_Lvl : 15|3@0+ (1,0) [0|0] "" XXX + SG_ RCCM_DF_Cond_Seat_Req : 4|2@0+ (1,0) [0|0] "" XXX + SG_ RCCM_DF_Cond_Seat_Lvl : 7|3@0+ (1,0) [0|0] "" XXX + SG_ PassRrCondStLdShedStat : 26|2@0+ (1,0) [0|0] "" XXX + SG_ PassFrCondStLdShedStat : 18|2@0+ (1,0) [0|0] "" XXX + SG_ DrvRrCondStLdShedStat : 10|2@0+ (1,0) [0|0] "" XXX + SG_ DrvFrCondStLdShedStat : 1|2@0+ (1,0) [0|0] "" XXX + +BO_ 857 RCCM_CC_MBP_Press_Stat: 8 XXX + SG_ Report_Active : 33|2@0+ (1,0) [0|0] "" XXX + SG_ Pass_Temp_Units : 35|1@0+ (1,0) [0|0] "" XXX + SG_ Front_Fan_Bars_Disply : 39|3@0+ (1,0) [0|0] "" XXX + SG_ Drvr_Temp_Units : 36|1@0+ (1,0) [0|0] "" XXX + SG_ MultBtnPushDsplyPass10 : 23|8@0+ (1,0) [0|0] "" XXX + SG_ MultBtnPushDsplyPass1 : 31|8@0+ (1,0) [0|0] "" XXX + SG_ MultBtnPushDsplyDrvr10 : 7|8@0+ (1,0) [0|0] "" XXX + SG_ MultBtnPushDsplyDrvr1 : 15|8@0+ (1,0) [0|0] "" XXX + +BO_ 859 MFD_CC_Status_MS: 8 XXX + SG_ Rear_Mode_Bttn_Status : 38|1@0+ (1,0) [0|0] "" XXX + +BO_ 860 EFP_CC_Info_Status_MS: 8 XXX + SG_ Rear_Panel_Btn_State : 41|1@0+ (1,0) [0|0] "" XXX + SG_ Rear_Floor_Btn_State : 40|1@0+ (1,0) [0|0] "" XXX + SG_ HtdStrWhl_SftBtt_Stt : 39|2@0+ (1,0) [0|0] "" XXX + SG_ AC_Sft_Button_State : 23|2@0+ (1,0) [0|0] "" XXX + SG_ DrvRrCondSeatSftBttnSt : 47|3@0+ (1,0) [0|0] "" XXX + SG_ DrvFrCondSeatSftBtnStt : 37|3@0+ (1,0) [0|0] "" XXX + SG_ CC_RecircSBtn_St : 27|2@0+ (1,0) [0|0] "" XXX + SG_ CC_RrDefrSBtn_St : 24|1@0+ (1,0) [0|0] "" XXX + SG_ PasRrCondSeatSftBttnSt : 44|3@0+ (1,0) [0|0] "" XXX + SG_ PasFrCondSeatSftBtnStt : 34|3@0+ (1,0) [0|0] "" XXX + SG_ MyTemp_Soft_Bttn_State : 25|1@0+ (1,0) [0|0] "" XXX + SG_ CC_MaxACSBtn_St : 28|1@0+ (1,0) [0|0] "" XXX + SG_ RearPowerButtonState : 16|1@0+ (1,0) [0|0] "" XXX + SG_ RearCoolBarsDisplayed : 11|3@0+ (1,0) [0|0] "Bars_On" XXX + SG_ Rear_Sft_Control_Stat : 7|2@0+ (1,0) [0|0] "" XXX + SG_ CC_RrNeutralBarDsp_St : 8|1@0+ (1,0) [0|0] "" XXX + SG_ CC_RrHeatBarsDsp_St : 31|3@0+ (1,0) [0|0] "Bars_On" XXX + SG_ Rear_Fan_Bars_Displayed : 19|3@0+ (1,0) [0|0] "" XXX + SG_ CC_RrCtrlBtn_St : 20|1@0+ (1,0) [0|0] "" XXX + SG_ Rear_Auto_Button_State : 21|1@0+ (1,0) [0|0] "" XXX + SG_ CC_FrPowerSBtn_St : 14|1@0+ (1,0) [0|0] "" XXX + SG_ CC_FrDefrostSBtn_St : 15|1@0+ (1,0) [0|0] "" XXX + SG_ Front_AUTO_Soft_Btn_Stt : 13|1@0+ (1,0) [0|0] "" XXX + SG_ Front_AUTO_MODE_State : 1|1@0+ (1,0) [0|0] "" XXX + SG_ Front_AUTO_FAN_State : 0|1@0+ (1,0) [0|0] "" XXX + SG_ Dual_Button_State : 12|1@0+ (1,0) [0|0] "" XXX + SG_ CC_BarPnlSBtn_St : 5|1@0+ (1,0) [0|0] "" XXX + SG_ CC_BarPnFlrSBtn_St : 4|1@0+ (1,0) [0|0] "" XXX + SG_ CC_BarFlrWsSBtn_St : 2|1@0+ (1,0) [0|0] "" XXX + SG_ CC_BarDrvFlrSBtn_St : 3|1@0+ (1,0) [0|0] "" XXX + +BO_ 861 HSWheel_CC_Info_Stat: 8 XXX + SG_ HtdStrWhl_SftBtt_State : 57|2@0+ (1,0) [0|0] "" XXX + +BO_ 862 Climate_Control_Data_2: 8 XXX + SG_ HvacRec_Pc_Est : 31|7@0+ (1,0) [0|0] "%" XXX + SG_ HvacEngIdleInc_B_Rq : 24|1@0+ (1,0) [0|0] "" XXX + SG_ HvacAir_Flw_Est : 13|9@0+ (0.5,0) [0|0] "liter/second" XXX + SG_ AmbTempImpr : 7|10@0+ (0.25,-128.0) [0|0] "degreesC" XXX + +BO_ 900 Vehicle_Access_RqstM: 8 XXX + SG_ PE_AssocConfirm_D_Actl : 63|3@0+ (1,0) [0|0] "" XXX + SG_ DrTgateOpen_D_RqRfa : 51|2@0+ (1,0) [0|0] "" XXX + SG_ PE_Decklid_Inhibit_Rqst : 53|2@0+ (1,0) [0|0] "" XXX + SG_ PK_Program : 45|2@0+ (1,0) [0|0] "" XXX + SG_ PE_Packet_Cnt : 31|8@0+ (1,0) [0|0] "Counts" XXX + SG_ PE_Control_Status : 33|2@0+ (1,0) [0|0] "" XXX + SG_ PE_Control_Code : 7|8@0+ (1,0) [0|0] "" XXX + SG_ PE_Perimeter_Lighting_Stat : 15|2@0+ (1,0) [0|0] "" XXX + SG_ PE_RKE_Flash_Rqst : 34|1@0+ (1,0) [0|0] "" XXX + SG_ PE_Lock_EvNum : 23|8@0+ (1,0) [0|0] "Counts" XXX + SG_ PE_Lock_Requestor : 39|5@0+ (1,0) [0|0] "" XXX + SG_ PE_Lock_Sub_Id : 11|4@0+ (1,0) [0|0] "" XXX + SG_ PE_Lock_Status : 13|2@0+ (1,0) [0|0] "" XXX + SG_ PE_DrvCfg_Horn_Rqst : 47|2@0+ (1,0) [0|0] "" XXX + SG_ PEBackupSlot_Stats : 55|2@0+ (1,0) [0|0] "" XXX + SG_ PE_Fob_Number : 43|4@0+ (1,0) [0|0] "Number" XXX + SG_ PE_Keypad_LiftGlass_Rqst : 49|1@0+ (1,0) [0|0] "" XXX + +BO_ 901 Vehicle_Lock_Status: 8 XXX + SG_ CntrStkKeycodeActl : 55|16@0+ (1,0) [0|0] "" XXX + SG_ CntrStk_D_RqAssoc_UB : 40|1@0+ (1,0) [0|0] "" XXX + SG_ CntrStk_D_RqAssoc : 43|3@0+ (1,0) [0|0] "" XXX + SG_ KeyTypeChngMykey_D_Rq : 45|2@0+ (1,0) [0|0] "" XXX + SG_ Veh_Lock_Sub_Id : 21|4@0+ (1,0) [0|0] "" XXX + SG_ Veh_Lock_Status : 17|2@0+ (1,0) [0|0] "" XXX + SG_ Veh_Lock_Requestor : 39|5@0+ (1,0) [0|0] "" XXX + SG_ Veh_Lock_EvNum : 31|8@0+ (1,0) [0|0] "Counts" XXX + SG_ Trim_Switch_Status_Count : 15|8@0+ (1,0) [0|0] "Counts" XXX + SG_ Trim_Switch_Status : 23|2@0+ (1,0) [0|0] "" XXX + SG_ DF_KeyCyl_Switch_Stat_Cnt : 7|8@0+ (1,0) [0|0] "Counts" XXX + SG_ DF_KeyCyl_Switch_Stat : 34|2@0+ (1,0) [0|0] "" XXX + SG_ Perimeter_Alarm_Status : 47|2@0+ (1,0) [0|0] "" XXX + SG_ KeyTypeChngMykey_D_Rq_UB : 32|1@0+ (1,0) [0|0] "" XXX + +BO_ 902 Remote_Start: 8 XXX + SG_ Remote_Start_Req : 7|2@0+ (1,0) [0|0] "" XXX + +BO_ 903 CC_FCIM_Update: 8 XXX + SG_ Rr_Temp_M_H_Heat_Ind : 30|1@0+ (1,0) [0|0] "" XXX + SG_ Rr_Fan_7_Indicator : 45|1@0+ (1,0) [0|0] "" XXX + SG_ Rr_Fan_6_Indicator : 46|1@0+ (1,0) [0|0] "" XXX + SG_ Rr_Fan_5_Indicator : 47|1@0+ (1,0) [0|0] "" XXX + SG_ Rr_Fan_4_Indicator : 32|1@0+ (1,0) [0|0] "" XXX + SG_ Rr_Fan_3_Indicator : 33|1@0+ (1,0) [0|0] "" XXX + SG_ Rr_Fan_2_Indicator : 34|1@0+ (1,0) [0|0] "" XXX + SG_ Rr_Fan_Low_Indicator : 35|1@0+ (1,0) [0|0] "" XXX + SG_ AC_Indicator : 36|1@0+ (1,0) [0|0] "" XXX + SG_ Floor_Mode_Indicator : 37|1@0+ (1,0) [0|0] "" XXX + SG_ Panel_Mode_Indicator : 38|1@0+ (1,0) [0|0] "" XXX + SG_ Windshield_Mode_Indicator : 39|1@0+ (1,0) [0|0] "" XXX + SG_ Rr_Temp_High_Cool_Ind : 24|1@0+ (1,0) [0|0] "" XXX + SG_ Rr_Temp_M_H_Cool_Ind : 25|1@0+ (1,0) [0|0] "" XXX + SG_ Rr_Temp_M_L_Cool_Ind : 26|1@0+ (1,0) [0|0] "" XXX + SG_ Rr_Temp_Low_Cool_Ind : 27|1@0+ (1,0) [0|0] "" XXX + SG_ Rr_Temp_Center_Ind_On : 28|1@0+ (1,0) [0|0] "" XXX + SG_ Rr_Temp_High_Heat_Ind : 29|1@0+ (1,0) [0|0] "" XXX + SG_ Rr_Temp_M_L_Heat_Ind : 31|1@0+ (1,0) [0|0] "" XXX + SG_ Rr_Temp_Low_Heat_Ind : 16|1@0+ (1,0) [0|0] "" XXX + SG_ Rear_Control_Indicator : 17|1@0+ (1,0) [0|0] "" XXX + SG_ Auto_Indicator_Rear : 18|1@0+ (1,0) [0|0] "" XXX + SG_ Power_Indicator_Rear : 19|1@0+ (1,0) [0|0] "" XXX + SG_ Rt_Side_U_R_Seat_Cool_Ind : 20|1@0+ (1,0) [0|0] "" XXX + SG_ Rt_Side_M_Seat_Cool_Ind : 21|1@0+ (1,0) [0|0] "" XXX + SG_ Rt_Side_L_L_Seat_Cool_Ind : 22|1@0+ (1,0) [0|0] "" XXX + SG_ Rt_Side_U_R_Seat_Heat_Ind : 23|1@0+ (1,0) [0|0] "" XXX + SG_ Rt_Side_M_Seat_Heat_Ind : 8|1@0+ (1,0) [0|0] "" XXX + SG_ Rt_Side_L_L_Seat_Heat_Ind : 9|1@0+ (1,0) [0|0] "" XXX + SG_ Lft_Side_U_R_Seat_Cool_Ind : 10|1@0+ (1,0) [0|0] "" XXX + SG_ Lft_Side_M_Seat_Cool_Ind : 11|1@0+ (1,0) [0|0] "" XXX + SG_ Lft_Side_L_L_Seat_Cool_Ind : 12|1@0+ (1,0) [0|0] "" XXX + SG_ Lft_Side_U_R_Seat_Heat_Ind : 13|1@0+ (1,0) [0|0] "" XXX + SG_ Lft_Side_M_Seat_Heat_Ind : 14|1@0+ (1,0) [0|0] "" XXX + SG_ Lft_Side_L_L_Seat_Heat_Ind : 15|1@0+ (1,0) [0|0] "" XXX + SG_ Single_Mode_Indicator : 0|1@0+ (1,0) [0|0] "" XXX + SG_ Auto_Indicator : 1|1@0+ (1,0) [0|0] "" XXX + SG_ Recirc_Indicator : 2|1@0+ (1,0) [0|0] "" XXX + SG_ Max_AC_Econ_Indicator : 3|1@0+ (1,0) [0|0] "" XXX + SG_ Rear_DefHtd_Mirr_Indicator : 4|1@0+ (1,0) [0|0] "" XXX + SG_ Defrost_Indicator : 5|1@0+ (1,0) [0|0] "" XXX + SG_ Rt_Temp_Dual_Indicator : 6|1@0+ (1,0) [0|0] "" XXX + SG_ Power_Indicator_Front : 7|1@0+ (1,0) [0|0] "" XXX + +BO_ 904 CC_NavChassis_Info_Status: 8 XXX + SG_ Rear_Defrost_Soft_Bttn_Stt : 52|1@0+ (1,0) [0|0] "" XXX + SG_ Recirc_Soft_Button_State : 54|2@0+ (1,0) [0|0] "" XXX + SG_ Max_AC_Soft_Button_State : 55|1@0+ (1,0) [0|0] "" XXX + SG_ Front_AUTO_Soft_Btn_Stt : 24|1@0+ (1,0) [0|0] "" XXX + SG_ Front_Power_Soft_Btn_State : 25|1@0+ (1,0) [0|0] "" XXX + SG_ Front_Defrost_Soft_Btn_Stt : 26|1@0+ (1,0) [0|0] "" XXX + SG_ Rear_Power_Button_State : 33|1@0+ (1,0) [0|0] "" XXX + SG_ Front_AUTO_FAN_Indicator : 27|1@0+ (1,0) [0|0] "" XXX + SG_ Front_AUTO_MODE_Indicator : 28|1@0+ (1,0) [0|0] "" XXX + SG_ CC_Bar_Rear_Set_Temp_Display : 17|1@0+ (1,0) [0|0] "" XXX + SG_ CC_Bar_Rear_Set_Temp_Units : 19|2@0+ (1,0) [0|0] "" XXX + SG_ Rear_Heat_Bars_Displayed : 42|3@0+ (1,0) [0|0] "Bars_On" XXX + SG_ CC_Bar_Rear_Set_Temp_Dig3 : 21|2@0+ (1,0) [0|0] "" XXX + SG_ CC_Bar_Rear_Set_Temp_Dig2 : 15|8@0+ (1,0) [0|0] "ASCII" XXX + SG_ CC_Bar_Rear_Set_Temp_Dig1 : 7|8@0+ (1,0) [0|0] "ASCII" XXX + SG_ Rear_Neutral_Bar_Displayed : 43|1@0+ (1,0) [0|0] "" XXX + SG_ Rear_Fan_Bars_Displayed : 46|3@0+ (1,0) [0|0] "" XXX + SG_ Rear_Control_Button_State : 47|1@0+ (1,0) [0|0] "" XXX + SG_ Rear_Auto_Button_State : 32|1@0+ (1,0) [0|0] "" XXX + SG_ AC_Sft_Button_State : 35|2@0+ (1,0) [0|0] "" XXX + SG_ Rear_Cool_Bars_Displayed : 38|3@0+ (1,0) [0|0] "Bars_On" XXX + SG_ Dual_Button_State : 39|1@0+ (1,0) [0|0] "" XXX + SG_ CC_Bar_Sft_Btn_FlrWs_State : 29|1@0+ (1,0) [0|0] "" XXX + SG_ CC_Bar_Sft_Btn_Floor_State : 30|1@0+ (1,0) [0|0] "" XXX + SG_ CC_Bar_Sft_Btn_PnFlr_State : 31|1@0+ (1,0) [0|0] "" XXX + SG_ CC_Bar_Sft_Btn_Pnl_State : 16|1@0+ (1,0) [0|0] "" XXX + SG_ Rear_Sft_Control_Status : 23|2@0+ (1,0) [0|0] "" XXX + +BO_ 920 FCIM_CC_Status: 8 XXX + SG_ Manual_Temp_Knob_Pos : 8|9@0+ (1,0) [0|0] "Degrees CW" XXX + SG_ Manual_Blower_Knob_Pos : 24|9@0+ (1,0) [0|0] "Degrees CW" XXX + SG_ Rear_Blower_IncreaseButton : 40|1@0+ (1,0) [0|0] "" XXX + SG_ Rear_Blower_DecreaseButton : 55|1@0+ (1,0) [0|0] "" XXX + SG_ Rear_Temp_Decrease_Button : 41|1@0+ (1,0) [0|0] "" XXX + SG_ Rear_Temp_Increase_Button : 42|1@0+ (1,0) [0|0] "" XXX + SG_ Rear_Control_Button : 43|1@0+ (1,0) [0|0] "" XXX + SG_ Auto_Button_Rear : 44|1@0+ (1,0) [0|0] "" XXX + SG_ Power_Button_Rear : 45|1@0+ (1,0) [0|0] "" XXX + SG_ Rt_Side_Heated_Seat_Btn : 47|1@0+ (1,0) [0|0] "" XXX + SG_ Rt_Side_Cooled_Seat_Btn : 46|1@0+ (1,0) [0|0] "" XXX + SG_ Lft_Side_Cooled_Seat_Btn : 9|1@0+ (1,0) [0|0] "" XXX + SG_ Lft_Side_Heated_Seat_Btn : 10|1@0+ (1,0) [0|0] "" XXX + SG_ Blower_Decrease_Button : 25|1@0+ (1,0) [0|0] "" XXX + SG_ Blower_Increase_Button : 26|1@0+ (1,0) [0|0] "" XXX + SG_ Floor_Defrost_Mode_Button : 27|1@0+ (1,0) [0|0] "" XXX + SG_ Floor_Mode_Button : 28|1@0+ (1,0) [0|0] "" XXX + SG_ Panel_Floor_Mode_Button : 29|1@0+ (1,0) [0|0] "" XXX + SG_ Panel_Mode_Button : 30|1@0+ (1,0) [0|0] "" XXX + SG_ Mode_Change_Button : 31|1@0+ (1,0) [0|0] "" XXX + SG_ Rt_Side_Temp_Increase : 12|1@0+ (1,0) [0|0] "" XXX + SG_ Rt_Side_Temp_Decrease : 11|1@0+ (1,0) [0|0] "" XXX + SG_ Lft_Side_Temp_Decrease : 13|1@0+ (1,0) [0|0] "" XXX + SG_ Lft_Side_Temp_Increase : 14|1@0+ (1,0) [0|0] "" XXX + SG_ Auto_Button_Front : 15|1@0+ (1,0) [0|0] "" XXX + SG_ Recirc_Button : 0|1@0+ (1,0) [0|0] "" XXX + SG_ Max_AC_Econ_Button : 1|1@0+ (1,0) [0|0] "" XXX + SG_ AC_Button : 2|1@0+ (1,0) [0|0] "" XXX + SG_ Rr_Def_Htd_Mirr_Button : 3|1@0+ (1,0) [0|0] "" XXX + SG_ Front_Defrost_Button : 4|1@0+ (1,0) [0|0] "" XXX + SG_ Rt_Side_Temp_Dual_Button : 5|1@0+ (1,0) [0|0] "" XXX + SG_ Power_Button_Front : 6|1@0+ (1,0) [0|0] "" XXX + SG_ Climate_Button : 7|1@0+ (1,0) [0|0] "" XXX + SG_ CcdMde_D_Rq : 54|2@0+ (1,0) [0|0] "" XXX + +BO_ 921 Nav_CC_Status: 8 XXX + SG_ Front_System_Button_Status : 7|5@0+ (1,0) [0|0] "" XXX + SG_ Rear_Temp_Button_Status : 23|2@0+ (1,0) [0|0] "" XXX + SG_ Rear_Man_Temp_Bar_Status : 11|4@0+ (1,0) [0|0] "" XXX + SG_ Rear_Fan_Button_Status : 13|2@0+ (1,0) [0|0] "" XXX + SG_ Rear_Man_ATC_Button_Status : 15|2@0+ (1,0) [0|0] "" XXX + SG_ Rear_Blower_Bar_Status : 2|3@0+ (1,0) [0|0] "# of Bars" XXX + +BO_ 922 VoiceRec_CC_Request: 8 XXX + SG_ Recirculate_On : 10|1@0+ (1,0) [0|0] "" XXX + SG_ Recirculate_Off : 9|1@0+ (1,0) [0|0] "" XXX + SG_ Rear_Defrost_On : 12|1@0+ (1,0) [0|0] "" XXX + SG_ Rear_Defrost_Off : 11|1@0+ (1,0) [0|0] "" XXX + SG_ Max_AC_On : 0|1@0+ (1,0) [0|0] "" XXX + SG_ Max_AC_Off : 15|1@0+ (1,0) [0|0] "" XXX + SG_ Front_Defrost_On : 14|1@0+ (1,0) [0|0] "" XXX + SG_ Front_Defrost_Off : 13|1@0+ (1,0) [0|0] "" XXX + SG_ Front_Blower_Increment : 8|1@0+ (1,0) [0|0] "" XXX + SG_ Front_Blower_Decrement : 23|1@0+ (1,0) [0|0] "" XXX + SG_ Dual_Zone_Off : 5|1@0+ (1,0) [0|0] "" XXX + SG_ Driver_Temp_Increment : 22|1@0+ (1,0) [0|0] "" XXX + SG_ Driver_Temp_Decrement : 21|1@0+ (1,0) [0|0] "" XXX + SG_ Climate_On : 4|1@0+ (1,0) [0|0] "" XXX + SG_ Climate_Off : 3|1@0+ (1,0) [0|0] "" XXX + SG_ Automatic_Mode : 6|1@0+ (1,0) [0|0] "" XXX + SG_ AC_On : 2|1@0+ (1,0) [0|0] "" XXX + SG_ AC_Off : 1|1@0+ (1,0) [0|0] "" XXX + SG_ Voice_Blower_Limit : 7|1@0+ (1,0) [0|0] "" XXX + SG_ Driver_Set_Temp : 31|8@0+ (0.5,0) [0|0] "Degrees" XXX + +BO_ 928 Ignition_Switch_PositionM: 8 XXX + SG_ AirAmb_Te_ActlFilt_UB : 14|1@0+ (1,0) [0|0] "" XXX + SG_ AirAmb_Te_ActlFilt : 49|10@0+ (0.25,-128.0) [0|0] "deg C" XXX + SG_ OdometerMasterValue_UB : 15|1@0+ (1,0) [0|0] "" XXX + SG_ OdometerMasterValue : 31|24@0+ (1,0) [0|0] "km" XXX + SG_ Remote_Start_Status : 13|2@0+ (1,0) [0|0] "" XXX + SG_ Key_In_Ignition_Stat : 3|2@0+ (1,0) [0|0] "" XXX + SG_ Ignition_Switch_Stable : 1|2@0+ (1,0) [0|0] "" XXX + SG_ Ignition_Status : 7|4@0+ (1,0) [0|0] "" XXX + SG_ BOO_Switch_Status : 9|2@0+ (1,0) [0|0] "" XXX + SG_ Remote_Device_Feedback : 23|3@0+ (1,0) [0|0] "" XXX + +BO_ 934 Side_Detect_L_StatusM: 8 XXX + SG_ Cross_Traffic_L_SnState : 23|2@0+ (1,0) [0|0] "" XXX + SG_ SideDetect_L_SysOpState : 3|2@0+ (1,0) [0|0] "" XXX + SG_ SideDetect_L_SnsrState : 1|2@0+ (1,0) [0|0] "" XXX + SG_ Side_Detect_L_Illum : 15|8@0+ (1,0) [0|0] "%" XXX + SG_ Side_Detect_L_Detect : 7|2@0+ (1,0) [0|0] "" XXX + SG_ Cross_Traffic_L_Op_State : 21|2@0+ (1,0) [0|0] "" XXX + SG_ Cross_Traffic_L_Alert : 19|2@0+ (1,0) [0|0] "" XXX + SG_ Side_Detect_L_Alert : 5|2@0+ (1,0) [0|0] "" XXX + +BO_ 935 Side_Detect_R_StatusM: 8 XXX + SG_ Cross_Traffic_R_Alert : 23|2@0+ (1,0) [0|0] "" XXX + SG_ Cross_Traffic_R_SnState : 19|2@0+ (1,0) [0|0] "" XXX + SG_ Cross_Traffic_R_Op_State : 21|2@0+ (1,0) [0|0] "" XXX + SG_ Side_Detect_R_Detect : 7|2@0+ (1,0) [0|0] "" XXX + SG_ Side_Detect_R_Illum : 15|8@0+ (1,0) [0|0] "%" XXX + SG_ SideDetect_R_SnsrState : 1|2@0+ (1,0) [0|0] "" XXX + SG_ SideDetect_R_SysOpState : 3|2@0+ (1,0) [0|0] "" XXX + SG_ Side_Detect_R_Alert : 5|2@0+ (1,0) [0|0] "" XXX + +BO_ 944 Body_Information_6_MS: 8 XXX + SG_ DRV_SELECT_STAT : 3|4@0+ (1,0) [0|0] "" XXX + SG_ reserve_2bits : 7|2@0+ (1,0) [0|0] "" XXX + SG_ reserve_2 : 5|1@0+ (1,0) [0|0] "" XXX + SG_ reserve_3 : 4|1@0+ (1,0) [0|0] "" XXX + +BO_ 945 Ajar_Stat: 8 XXX + SG_ Decklid_Ajar_Status : 3|1@0+ (1,0) [0|0] "" XXX + SG_ Hood_Ajar_Status : 0|1@0+ (1,0) [0|0] "" XXX + SG_ LG_Glass_Ajar_Status : 2|1@0+ (1,0) [0|0] "" XXX + SG_ DF_Door_Ajar_Status : 7|1@0+ (1,0) [0|0] "" XXX + SG_ PF_Door_Ajar_Status : 6|1@0+ (1,0) [0|0] "" XXX + SG_ DR_Door_Ajar_Status : 5|1@0+ (1,0) [0|0] "" XXX + SG_ PR_Door_Ajar_Status : 4|1@0+ (1,0) [0|0] "" XXX + SG_ LG_Door_Ajar_Status : 1|1@0+ (1,0) [0|0] "" XXX + +BO_ 946 Body_Information_5_MS: 8 XXX + SG_ CoolantFanStepAct_UB : 8|1@0+ (1,0) [0|0] "" XXX + SG_ AirCondRec_B_Rq_UB : 38|1@0+ (1,0) [0|0] "" XXX + SG_ AirCondRec_B_Rq : 39|1@0+ (1,0) [0|0] "" XXX + SG_ AirCondEvdc_D_Stats_UB : 34|1@0+ (1,0) [0|0] "" XXX + SG_ AirCondEvdc_D_Stats : 37|3@0+ (1,0) [0|0] "" XXX + SG_ AirCondClutch_B_Stats_UB : 19|1@0+ (1,0) [0|0] "" XXX + SG_ AirCondClutch_B_Stats : 20|1@0+ (1,0) [0|0] "" XXX + SG_ CoolantFanStepAct : 47|5@0+ (1,0) [0|0] "Steps" XXX + SG_ AirCondFluidHi_P_Actl_UB : 18|1@0+ (1,0) [0|0] "" XXX + SG_ AirCondFluidHi_P_Actl : 31|8@0+ (0.125,0) [0|0] "bar" XXX + SG_ SECONDARY_HEATER_STAT_UB : 63|1@0+ (1,0) [0|0] "" XXX + SG_ CURRENT_DRAW_UB : 62|1@0+ (1,0) [0|0] "" XXX + SG_ SECONDARY_HEATER_STAT : 40|1@0+ (1,0) [0|0] "" XXX + SG_ CURRENT_DRAW : 55|8@0+ (0.5,0) [0|0] "Amps" XXX + +BO_ 947 BodyInformation_3_MS: 8 XXX + SG_ CamraDefog_B_Req_UB : 58|1@0+ (1,0) [0|0] "" XXX + SG_ TrStats_D_Actl_UB : 48|1@0+ (1,0) [0|0] "" XXX + SG_ RearFog_Lamp_Dbnce_UB : 49|1@0+ (1,0) [0|0] "" XXX + SG_ TrStats_D_Actl : 13|2@0+ (1,0) [0|0] "" XXX + SG_ CamraDefog_B_Req : 40|1@0+ (1,0) [0|0] "" XXX + SG_ RearFog_Lamp_Dbnce : 0|1@0+ (1,0) [0|0] "" XXX + SG_ CarMode : 53|4@0+ (1,0) [0|0] "" XXX + SG_ Day_Night_Status : 15|2@0+ (1,0) [0|0] "" XXX + SG_ Parklamp_Status : 3|2@0+ (1,0) [0|0] "" XXX + SG_ Dimming_Lvl : 31|8@0+ (1,0) [0|0] "" XXX + SG_ Litval : 23|8@0+ (1,0) [0|0] "" XXX + SG_ Mfs_Turn_Stalk_SW_Status : 11|2@0+ (1,0) [0|0] "" XXX + SG_ PwMdeExten_D_Actl : 63|5@0+ (1,0) [0|0] "" XXX + SG_ STR_WHL_ANGLE : 39|15@0+ (0.1,-1000.0) [0|0] "Degrees" XXX + SG_ Turn_Seq_Cmd_Right : 7|2@0+ (1,0) [0|0] "" XXX + SG_ Turn_Seq_Cmd_Left : 5|2@0+ (1,0) [0|0] "" XXX + SG_ Smart_Wiper_Motor_Stat_UB : 8|1@0+ (1,0) [0|0] "" XXX + SG_ Smart_Wiper_Motor_Stat : 55|2@0+ (1,0) [0|0] "" XXX + SG_ Mfs_Turn_Stalk_SW_Status_UB : 9|1@0+ (1,0) [0|0] "" XXX + SG_ reserve : 1|1@0+ (1,0) [0|0] "" XXX + +BO_ 950 RKE_Packet: 8 XXX + SG_ RemoteKey_Packet_TIC : 7|32@0+ (1,0) [0|0] "" XXX + SG_ RemoteKey_Packet_RollB : 55|8@0+ (1,0) [0|0] "" XXX + SG_ RemoteKey_Packet_RollA : 47|8@0+ (1,0) [0|0] "" XXX + SG_ RemoteKey_Packet_Ctrl : 39|8@0+ (1,0) [0|0] "" XXX + SG_ RemoteKey_Packet_CkSum : 63|8@0+ (1,0) [0|0] "" XXX + +BO_ 951 TPM_Frame: 8 XXX + SG_ TirePress_Frame_Temp : 47|8@0+ (1,0) [0|0] "" XXX + SG_ TirePress_Frame_Status : 55|8@0+ (1,0) [0|0] "" XXX + SG_ TirePress_Frame_Press : 39|8@0+ (1,0) [0|0] "" XXX + SG_ TirePress_Frame_ID : 7|32@0+ (1,0) [0|0] "" XXX + SG_ TirePress_Frame_CkSum : 63|8@0+ (1,0) [0|0] "" XXX + +BO_ 952 RKE_TPM_Info: 8 XXX + SG_ TirePress_HitRate_Ctrl : 15|1@0+ (1,0) [0|0] "" XXX + SG_ RemoteKey_HitRate_Ctrl : 14|1@0+ (1,0) [0|0] "" XXX + SG_ RemoteKey_Antenna_Ctrl : 7|2@0+ (1,0) [0|0] "" XXX + SG_ TirePress_Filter_Ctrl : 5|2@0+ (1,0) [0|0] "" XXX + SG_ RemoteKey_Filter_Ctrl : 3|2@0+ (1,0) [0|0] "" XXX + SG_ Modulation_Ctrl : 1|2@0+ (1,0) [0|0] "" XXX + +BO_ 953 RKE_Info: 8 XXX + SG_ RemoteKey_Info_TIC : 7|32@0+ (1,0) [0|0] "" XXX + SG_ RemoteKey_Info_RollB : 55|8@0+ (1,0) [0|0] "" XXX + SG_ RemoteKey_Info_RollA : 47|8@0+ (1,0) [0|0] "" XXX + SG_ RemoteKey_Info_Ctrl : 39|8@0+ (1,0) [0|0] "" XXX + SG_ RemoteKey_Info_CkSum : 63|8@0+ (1,0) [0|0] "" XXX + +BO_ 954 Tire_Pressure_Info: 8 XXX + SG_ TirePress_Info_MaxInd : 47|8@0+ (1,0) [0|0] "" XXX + SG_ TirePress_Info_Index : 39|8@0+ (1,0) [0|0] "" XXX + SG_ TirePress_Info_ID : 7|32@0+ (1,0) [0|0] "" XXX + +BO_ 956 Body_Information_7_MS: 8 XXX + SG_ GearLvrPos_D_Actl_UB : 21|1@0+ (1,0) [0|0] "" XXX + SG_ PrplWhlTot_Tq_Actl : 31|16@0+ (4.0,-131072.0) [0|0] "Nm" XXX + SG_ GearLvrPos_D_Actl : 7|4@0+ (1,0) [0|0] "" XXX + SG_ ApedPos_Pc_ActlArb : 15|10@0+ (0.1,0) [0|0] "%" XXX + SG_ PrplWhlTot_Tq_Actl_UB : 17|1@0+ (1,0) [0|0] "" XXX + SG_ EngOff_T_Actl : 47|16@0+ (1,0) [0|0] "seconds" XXX + SG_ ApedPos_Pc_ActlArb_UB : 20|1@0+ (1,0) [0|0] "" XXX + +BO_ 958 Rear_FoglampStat: 8 XXX + SG_ RearFog_Lamp_Ind : 7|1@0+ (1,0) [0|0] "" XXX + +BO_ 963 BCM_to_MS_Body: 8 XXX + SG_ LF_Low_Beam_CKT_CAN : 2|1@0+ (1,0) [0|0] "" XXX + SG_ IKT_Program_Status : 51|2@0+ (1,0) [0|0] "" XXX + SG_ Veh_Spd_Slow_Puddle_Status : 41|2@0+ (1,0) [0|0] "" XXX + SG_ Illuminated_Exit_Status : 43|2@0+ (1,0) [0|0] "" XXX + SG_ Illuminated_Entry_Status : 45|2@0+ (1,0) [0|0] "" XXX + SG_ Door_Courtesy_Light_Status : 47|2@0+ (1,0) [0|0] "" XXX + SG_ Courtesy_Demand_BSave_Stat : 33|2@0+ (1,0) [0|0] "" XXX + SG_ Alarm_Lights_Courtesy_Stat : 35|2@0+ (1,0) [0|0] "" XXX + SG_ Courtesy_Delay_Status : 37|2@0+ (1,0) [0|0] "" XXX + SG_ Courtesy_Mode_Status : 39|2@0+ (1,0) [0|0] "" XXX + SG_ Front_Fog_Light_SW_Status : 22|2@0+ (1,0) [0|0] "" XXX + SG_ Brake_Lamp_On_Status : 23|1@0+ (1,0) [0|0] "" XXX + SG_ ParkLamps_CKT_CAN : 8|1@0+ (1,0) [0|0] "" XXX + SG_ RF_Low_Beam_CKT_CAN : 13|1@0+ (1,0) [0|0] "" XXX + SG_ Brk_Fluid_Lvl_Low : 15|2@0+ (1,0) [0|0] "" XXX + SG_ Park_Brake_Status : 4|1@0+ (1,0) [0|0] "" XXX + SG_ High_Beam_Indicator_Rqst : 1|1@0+ (1,0) [0|0] "" XXX + SG_ Headlamp_On_Wrning_Cmd : 6|1@0+ (1,0) [0|0] "" XXX + SG_ Key_In_Ignition_Warn_Cmd : 5|1@0+ (1,0) [0|0] "" XXX + SG_ Park_Brake_Chime_Rqst : 3|1@0+ (1,0) [0|0] "" XXX + SG_ Daytime_Running_Lamps : 0|1@0+ (1,0) [0|0] "" XXX + SG_ AutoHighBeam_Cmd : 18|2@0+ (1,0) [0|0] "" XXX + SG_ Perimeter_Alarm_Chime_Rqst : 20|2@0+ (1,0) [0|0] "" XXX + SG_ OCSSensrDataUpperLim_UB : 11|1@0+ (1,0) [0|0] "" XXX + SG_ OCSSensrDataLowerLim_UB : 12|1@0+ (1,0) [0|0] "" XXX + SG_ OCSSensrDataUpperLim : 63|8@0+ (1,0) [0|0] "" XXX + SG_ OCSSensrDataLowerLim : 31|8@0+ (1,0) [0|0] "" XXX + SG_ AutoHighBeam_Cmd_UB : 16|1@0+ (1,0) [0|0] "" XXX + SG_ PrkBrkActv_B_Actl : 7|1@0+ (1,0) [0|0] "" XXX + SG_ Headlamp_Switch_Stat : 49|2@0+ (1,0) [0|0] "" XXX + SG_ Perimeter_Alarm_Inclin_Cmd : 53|2@0+ (1,0) [0|0] "" XXX + SG_ Perimeter_Alarm_Intrus_Cmd : 55|2@0+ (1,0) [0|0] "" XXX + +BO_ 964 BodyInformation_2_MS: 8 XXX + SG_ LockInhibit : 41|1@0+ (1,0) [0|0] "" XXX + SG_ MetricActvTe_B_Actl_UB : 12|1@0+ (1,0) [0|0] "" XXX + SG_ MetricActvTe_B_Actl : 14|1@0+ (1,0) [0|0] "" XXX + SG_ Power_Liftgate_Mode_Cmd : 42|1@0+ (1,0) [0|0] "" XXX + SG_ AirAmb_Te_Actl : 55|10@0+ (0.25,-128.0) [0|0] "degC" XXX + SG_ EngClntTe_D_Qf : 47|2@0+ (1,0) [0|0] "" XXX + SG_ Cross_Traffic_Cmd : 26|2@0+ (1,0) [0|0] "" XXX + SG_ Side_Detect_Cmd : 28|2@0+ (1,0) [0|0] "" XXX + SG_ SAPPStatusCoding : 39|8@0+ (1,0) [0|0] "" XXX + SG_ Delay_Accy : 31|1@0+ (1,0) [0|0] "" XXX + SG_ Volume_Cutback : 7|1@0+ (1,0) [0|0] "" XXX + SG_ MetricActv_B_Actl : 0|1@0+ (1,0) [0|0] "" XXX + SG_ DrStatTgate_B_Actl : 1|1@0+ (1,0) [0|0] "" XXX + SG_ DrStatRr_B_Actl : 2|1@0+ (1,0) [0|0] "" XXX + SG_ DrStatRl_B_Actl : 3|1@0+ (1,0) [0|0] "" XXX + SG_ DrStatPsngr_B_Actl : 4|1@0+ (1,0) [0|0] "" XXX + SG_ DrStatInnrTgate_B_Actl : 5|1@0+ (1,0) [0|0] "" XXX + SG_ DrStatHood_B_Actl : 6|1@0+ (1,0) [0|0] "" XXX + SG_ DrStatDrv_B_Actl : 10|1@0+ (1,0) [0|0] "" XXX + SG_ EngClnt_Te_Actl : 23|8@0+ (1,-60.0) [0|0] "degC" XXX + SG_ AirAmbTe_D_Qf_UB : 59|1@0+ (1,0) [0|0] "" XXX + SG_ Volume_Cutback_UB : 58|1@0+ (1,0) [0|0] "" XXX + SG_ Side_Detect_Cmd_UB : 57|1@0+ (1,0) [0|0] "" XXX + SG_ SAPPStatusCoding_UB : 56|1@0+ (1,0) [0|0] "" XXX + SG_ Power_Liftgate_Mode_Cmd_UB : 15|1@0+ (1,0) [0|0] "" XXX + SG_ MetricActv_B_Actl_UB : 13|1@0+ (1,0) [0|0] "" XXX + SG_ Cross_Traffic_Cmd_UB : 11|1@0+ (1,0) [0|0] "" XXX + SG_ AirAmbTe_D_Qf : 61|2@0+ (1,0) [0|0] "" XXX + SG_ AirAmb_Te_Actl_UB : 40|1@0+ (1,0) [0|0] "" XXX + SG_ EngClnt_Te_Actl_UB : 24|1@0+ (1,0) [0|0] "" XXX + +BO_ 966 Delay_AccyM_for_P473: 8 XXX + SG_ Delay_Accy : 7|1@0+ (1,0) [0|0] "" XXX + +BO_ 967 CMPS_FDM_Info_StatusMS: 8 XXX + SG_ Segment_MSD_UB : 37|1@0+ (1,0) [0|0] "" XXX + SG_ Segment_LSD_UB : 36|1@0+ (1,0) [0|0] "" XXX + SG_ Compass_Display_UB : 35|1@0+ (1,0) [0|0] "" XXX + SG_ Segment_LSD : 15|8@0+ (1,0) [0|0] "" XXX + SG_ Segment_MSD : 7|8@0+ (1,0) [0|0] "" XXX + SG_ Cal_Icon : 21|1@0+ (1,0) [0|0] "" XXX + SG_ Zone_Icon : 22|1@0+ (1,0) [0|0] "" XXX + SG_ Compass_Display : 23|1@0+ (1,0) [0|0] "" XXX + SG_ Zone_Icon_UB : 34|1@0+ (1,0) [0|0] "" XXX + SG_ Cal_Icon_UB : 33|1@0+ (1,0) [0|0] "" XXX + +BO_ 968 EATC_FDM_Info_Status: 8 XXX + SG_ Outside_Rear_Temp_Digit3 : 47|4@0+ (1,0) [0|0] "BCD" XXX + SG_ Outside_Rear_Temp_Digit2 : 35|4@0+ (1,0) [0|0] "BCD" XXX + SG_ Outside_Rear_Temp_Digit1 : 39|4@0+ (1,0) [0|0] "BCD" XXX + SG_ EATC_Out_Rear_Units : 58|2@0+ (1,0) [0|0] "" XXX + SG_ Outside_Rear_Temp_Digit4 : 55|2@0+ (1,0) [0|0] "" XXX + SG_ EATC_RHS_Units : 60|2@0+ (1,0) [0|0] "" XXX + SG_ EATC_Fan_Speed : 51|3@0+ (1,0) [0|0] "" XXX + SG_ EATC_Outside_Rear_Display : 62|2@0+ (1,0) [0|0] "" XXX + SG_ RHS_Temp_Display_Digit2 : 31|8@0+ (1,0) [0|0] "ASCII" XXX + SG_ RHS_Temp_Display_Digit3 : 41|2@0+ (1,0) [0|0] "" XXX + SG_ RHS_Temp_Display_Digit1 : 23|8@0+ (1,0) [0|0] "ASCII" XXX + SG_ EATC_RHS_Display : 63|1@0+ (1,0) [0|0] "" XXX + SG_ LHS_Temp_Display_Digit3 : 43|2@0+ (1,0) [0|0] "" XXX + SG_ LHS_Temp_Display_Digit2 : 15|8@0+ (1,0) [0|0] "ASCII" XXX + SG_ LHS_Temp_Display_Digit1 : 7|8@0+ (1,0) [0|0] "ASCII" XXX + SG_ EATC_LHS_Display : 48|1@0+ (1,0) [0|0] "" XXX + SG_ EATC_LHS_Units : 53|2@0+ (1,0) [0|0] "" XXX + +BO_ 969 Aux_Body_Ctrl_Mod_Status: 8 XXX + SG_ Perimeter_Alrm_Intrus_Stat : 7|2@0+ (1,0) [0|0] "" XXX + SG_ Turn_Outage_Stat_Rt_Rear : 15|2@0+ (1,0) [0|0] "" XXX + SG_ Turn_Outage_Stat_Left_Rear : 1|2@0+ (1,0) [0|0] "" XXX + SG_ Perimeter_Alrm_Inclin_Stat : 5|2@0+ (1,0) [0|0] "" XXX + +BO_ 976 Veh_Characteristic_Set_2: 8 XXX + SG_ VehMykey_Vl_LimRq_UB : 8|1@0+ (1,0) [0|0] "" XXX + SG_ CamraFrntStat_D_Stat : 21|2@0+ (1,0) [0|0] "" XXX + SG_ CamraZoomMan_D_Actl : 12|3@0+ (1,0) [0|0] "" XXX + SG_ CamZoomActiveState : 17|2@0+ (1,0) [0|0] "" XXX + SG_ CamraOvrlStat_D_Actl : 19|2@0+ (1,0) [0|0] "" XXX + SG_ CamraOvrlDyn_D_Actl : 39|2@0+ (1,0) [0|0] "" XXX + SG_ CamPDCGuidStat : 31|2@0+ (1,0) [0|0] "" XXX + SG_ VehMykey_Vl_LimRq : 14|1@0+ (1,0) [0|0] "" XXX + SG_ IgnKeyType_D_Actl : 4|4@0+ (1,0) [0|0] "" XXX + SG_ New_Module_Attn_Event : 0|1@0+ (1,0) [0|0] "" XXX + SG_ Beltminder_Warn_Stats : 9|1@0+ (1,0) [0|0] "" XXX + SG_ Attn_Info_Audio : 7|3@0+ (1,0) [0|0] "" XXX + +BO_ 977 ClmtCtrlSeat_SetCmd_LRPM: 8 XXX + SG_ ClmtCtrlSeat_SetCmd_LRP : 7|8@0+ (1,0) [0|0] "" XXX + +BO_ 978 ClmtCtrlSeat_SetStat_LRPM: 8 XXX + SG_ ClmtCtrlSeat_SetStat_LRP : 7|8@0+ (1,0) [0|0] "" XXX + +BO_ 979 ClmtCtrlSeat_SetCmd_RRPM: 8 XXX + SG_ ClmtCtrlSeat_SetCmd_RRP : 7|8@0+ (1,0) [0|0] "" XXX + +BO_ 980 ClmtCtrlSeat_SetStat_RRPM: 8 XXX + SG_ ClmtCtrlSeat_SetStat_RRP : 7|8@0+ (1,0) [0|0] "" XXX + +BO_ 981 Rear_HVAC_Control_Status: 8 XXX + SG_ Temp_Knob_Position : 23|9@0+ (1,0) [0|0] "Degrees CW" XXX + SG_ Rear_Lock_Ind_State : 13|1@0+ (1,0) [0|0] "" XXX + SG_ Blower_Knob_Position : 7|9@0+ (1,0) [0|0] "Degrees CW" XXX + SG_ AUTO_Ind_State : 12|1@0+ (1,0) [0|0] "" XXX + SG_ Panel_Mode_Ind_State : 11|1@0+ (1,0) [0|0] "" XXX + SG_ Panel_Floor_Md_Ind_State : 10|2@0+ (1,0) [0|0] "" XXX + SG_ Floor_Mode_Ind_State : 8|1@0+ (1,0) [0|0] "" XXX + SG_ Power_Status : 14|1@0+ (1,0) [0|0] "" XXX + +BO_ 982 Rear_HVAC_Control_Update: 8 XXX + SG_ Power_State_Commanded : 7|2@0+ (1,0) [0|0] "" XXX + SG_ Rear_Lock_Indicator : 15|1@0+ (1,0) [0|0] "" XXX + SG_ Panel_Floor_Mode_Indicator : 4|2@0+ (1,0) [0|0] "" XXX + SG_ R_Floor_Mode_Indicator : 2|1@0+ (1,0) [0|0] "" XXX + SG_ AUTO_Mode_Indicator : 1|2@0+ (1,0) [0|0] "" XXX + SG_ F_Panel_Mode_Indicator : 13|1@0+ (1,0) [0|0] "" XXX + SG_ R_Panel_Mode_Indicator : 12|2@0+ (1,0) [0|0] "" XXX + +BO_ 986 Personality_APIM_Data3_MS: 8 XXX + SG_ LightAmbIntSwtchInc_B : 22|1@0+ (1,0) [0|0] "" XXX + SG_ LightAmbIntSwtchDec_B : 21|1@0+ (1,0) [0|0] "" XXX + SG_ LightAmbIntsty_No_Rq : 15|8@0+ (1,0) [0|0] "% Intensity" XXX + SG_ LightAmbColor_No_Rq : 7|8@0+ (1,0) [0|0] "Color Index" XXX + SG_ LightAmbClrSwtchInc_B : 20|1@0+ (1,0) [0|0] "" XXX + SG_ LightAmbClrSwtchDec_B : 23|1@0+ (1,0) [0|0] "" XXX + +BO_ 987 RHVAC_Data: 8 XXX + SG_ CamraDefog_B_Actl : 7|1@0+ (1,0) [0|0] "" XXX + +BO_ 992 Personality_Data_MS: 8 XXX + SG_ PersSetupRestr_D_Actl : 45|2@0+ (1,0) [0|0] "" XXX + SG_ PersSetupAccessCtrl : 43|1@0+ (1,0) [0|0] "SES" XXX + SG_ PersSetup_No_Actl : 55|16@0+ (1,0) [0|0] "Number" XXX + SG_ MsgCntrPersIndex_D_Rq_UB : 47|1@0+ (1,0) [0|0] "" XXX + SG_ MsgCntrFeatNoRq_UB : 46|1@0+ (1,0) [0|0] "" XXX + SG_ MsgCntrFeatConfigRq_UB : 33|1@0+ (1,0) [0|0] "" XXX + SG_ MsgCntrDsplyOp_D_Rq_UB : 32|1@0+ (1,0) [0|0] "" XXX + SG_ MsgCntrPersIndex_D_Rq : 39|3@0+ (1,0) [0|0] "" XXX + SG_ MsgCntrFeatConfigRq : 23|16@0+ (1,0) [0|0] "" XXX + SG_ MsgCntrFeatNoRq : 7|16@0+ (1,0) [0|0] "Number" XXX + SG_ MsgCntrDsplyOp_D_Rq : 36|3@0+ (1,0) [0|0] "" XXX + +BO_ 993 Personality_DSM_Data: 8 XXX + SG_ PersIndexDsm_D_Actl : 47|3@0+ (1,0) [0|0] "" XXX + SG_ FeatNoDsmActl : 31|16@0+ (1,0) [0|0] "Number" XXX + SG_ FeatConfigDsmActl : 15|16@0+ (1,0) [0|0] "" XXX + SG_ PersStore_D_Actl : 7|2@0+ (1,0) [0|0] "" XXX + SG_ MemSwtch_D_RqRecall : 5|3@0+ (1,0) [0|0] "" XXX + SG_ MemSwtch_D_RqAssoc : 2|3@0+ (1,0) [0|0] "" XXX + +BO_ 994 Personality_Data_MS_2: 8 XXX + SG_ RecallEvent_No_Cnt : 63|8@0+ (1,0) [0|0] "Counts" XXX + SG_ PersNo_D_Actl : 55|3@0+ (1,0) [0|0] "" XXX + SG_ PersNoPos_D_Actl : 44|3@0+ (1,0) [0|0] "" XXX + SG_ PersStore_D_Rq_UB : 41|1@0+ (1,0) [0|0] "" XXX + SG_ CtrStkPersIndex_D_Actl_UB : 40|1@0+ (1,0) [0|0] "" XXX + SG_ CtrStkFeatNoActl_UB : 52|1@0+ (1,0) [0|0] "" XXX + SG_ CtrStkFeatConfigActl_UB : 33|1@0+ (1,0) [0|0] "" XXX + SG_ CtrStkDsplyOp_D_Rq_UB : 32|1@0+ (1,0) [0|0] "" XXX + SG_ CtrStkPersIndex_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX + SG_ CtrStkFeatNoActl : 23|16@0+ (1,0) [0|0] "" XXX + SG_ PersStore_D_Rq : 36|3@0+ (1,0) [0|0] "" XXX + SG_ CtrStkFeatConfigActl : 7|16@0+ (1,0) [0|0] "" XXX + SG_ CtrStkDsplyOp_D_Rq : 47|3@0+ (1,0) [0|0] "" XXX + +BO_ 996 Personality_HCMB_Data: 8 XXX + SG_ PersIndexHcmb_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX + SG_ FeatNoHcmbActl : 23|16@0+ (1,0) [0|0] "Number" XXX + SG_ FeatConfigHcmbActl : 7|16@0+ (1,0) [0|0] "" XXX + +BO_ 999 Personality_HVAC_Data: 8 XXX + SG_ LightAmbIntsty_No_Actl : 55|8@0+ (1,0) [0|0] "% Intensity" XXX + SG_ LightAmbColor_No_Actl : 47|8@0+ (1,0) [0|0] "Color Index" XXX + SG_ PersIndexHvac_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX + SG_ FeatNoHvacActl : 23|16@0+ (1,0) [0|0] "Number" XXX + SG_ FeatConfigHvacActl : 7|16@0+ (1,0) [0|0] "" XXX + +BO_ 1000 ACM_Status_Message: 8 XXX + SG_ Multimedia_System : 26|1@0+ (1,0) [0|0] "" XXX + +BO_ 1001 Personality_RFA_Data: 8 XXX + SG_ PersIndexRfa_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX + SG_ FeatNoRfaActl : 23|16@0+ (1,0) [0|0] "Number" XXX + SG_ FeatConfigRfaActl : 7|16@0+ (1,0) [0|0] "" XXX + +BO_ 1005 Personality_RHVAC_Data: 8 XXX + SG_ PersIndexRhvac_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX + SG_ FeatNoRhvacActl : 23|16@0+ (1,0) [0|0] "Number" XXX + SG_ FeatConfigRhvacActl : 7|16@0+ (1,0) [0|0] "" XXX + +BO_ 1006 Nav_HMI_Status: 8 XXX + SG_ Nav_Unit_Setting : 14|1@0+ (1,0) [0|0] "" XXX + SG_ Fuel_Econ_AFE_Reset_Req : 15|1@0+ (1,0) [0|0] "" XXX + SG_ DistanceBarSetting : 23|1@0+ (1,0) [0|0] "" XXX + SG_ CamraZoomMan_D_Rq : 22|3@0+ (1,0) [0|0] "" XXX + SG_ CamraOvrlStat_D_Rq : 19|1@0+ (1,0) [0|0] "" XXX + SG_ CamraOvrlDyn_D_Rq : 18|1@0+ (1,0) [0|0] "" XXX + SG_ CamAutoTowbarZoom : 17|1@0+ (1,0) [0|0] "" XXX + +BO_ 1023 Reserve_3FF_MKX_Audio: 8 XXX + SG_ reserve : 7|1@0+ (1,0) [0|0] "" XXX + +BO_ 1034 GGCC_Config_Mgmt_ID_1: 8 XXX + SG_ VehicleGGCCData : 7|64@0+ (1,0) [0|0] "mixed" XXX + +BO_ 1050 Climate_Control_Data: 8 XXX + SG_ SecondaryHeater_Rqst : 31|1@0+ (1,0) [0|0] "" XXX + SG_ Passenger_Sunload_Raw : 15|8@0+ (5.0,0) [0|0] "W/m^2" XXX + SG_ Driver_Sunload_Raw : 7|8@0+ (5.0,0) [0|0] "W/m^2" XXX + SG_ HvacEvap_Te_Rq : 43|10@0+ (0.125,-50.0) [0|0] "Degrees C" XXX + SG_ HvacRemoteStrt_N_Rq : 47|4@0+ (100.0,450.0) [0|0] "RPM" XXX + SG_ Remote_Start_QuietMode : 28|1@0+ (1,0) [0|0] "" XXX + SG_ InCarTempQF : 30|2@0+ (1,0) [0|0] "" XXX + SG_ HvacAirCond_B_Rq : 27|1@0+ (1,0) [0|0] "" XXX + SG_ InCarTemp : 39|8@0+ (0.5,-57.0) [0|0] "degreesC" XXX + SG_ Outside_Air_Temp_Stat : 23|8@0+ (0.5,-40.0) [0|0] "Degrees C" XXX + SG_ HvacEvap_Te_Actl : 49|10@0+ (0.125,-50.0) [0|0] "Degrees C" XXX + +BO_ 1059 Engine_Data_MS: 8 XXX + SG_ Res_UreaLvlLo_B_Dsply_UB : 35|1@0+ (1,0) [0|0] "" XXX + SG_ Res_UreaLvlLo_B_Dsply : 36|1@0+ (1,0) [0|0] "" XXX + SG_ Fuel_Level_State : 47|2@0+ (1,0) [0|0] "" XXX + SG_ AwdOffRoadMode_D_Stats_UB : 55|1@0+ (1,0) [0|0] "" XXX + SG_ AwdRnge_D_Actl_UB : 42|1@0+ (1,0) [0|0] "" XXX + SG_ RearDiffLckLamp_D_Rq_UB : 32|1@0+ (1,0) [0|0] "" XXX + SG_ AwdOffRoadMode_D_Stats : 41|2@0+ (1,0) [0|0] "" XXX + SG_ AwdRnge_D_Actl : 45|3@0+ (1,0) [0|0] "" XXX + SG_ RearDiffLckLamp_D_Rq : 34|2@0+ (1,0) [0|0] "" XXX + SG_ VEH_SPD : 7|16@0+ (0.01,-100.0) [0|0] "KPH" XXX + SG_ ENG_SPD : 23|16@0+ (0.25,0) [0|0] "RPM" XXX + SG_ Fuel_Level_State_UB : 37|1@0+ (1,0) [0|0] "" XXX + +BO_ 1061 Engine_Data_2_MS: 8 XXX + SG_ RstrnImpactEvntStatus_UB : 56|1@0+ (1,0) [0|0] "" XXX + SG_ EngAirIn_Te_Actl_UB : 60|1@0+ (1,0) [0|0] "" XXX + SG_ EngAirIn_Te_Actl : 55|10@0+ (0.25,-128.0) [0|0] "degC" XXX + SG_ ACCompressorDisp_UB : 61|1@0+ (1,0) [0|0] "" XXX + SG_ ACCompressorDisp : 46|7@0+ (1,0) [0|0] "%" XXX + SG_ RstrnImpactEvntStatus : 59|3@0+ (1,0) [0|0] "" XXX + SG_ EngAout_N_Actl_UB : 47|1@0+ (1,0) [0|0] "" XXX + SG_ EngAout_N_Actl : 28|13@0+ (2.0,0) [0|0] "rpm" XXX + SG_ VehVActlEng_D_Qf : 31|2@0+ (1,0) [0|0] "" XXX + SG_ Veh_V_ActlEng_UB : 29|1@0+ (1,0) [0|0] "" XXX + SG_ Veh_V_ActlEng : 15|16@0+ (0.01,0) [0|0] "kph" XXX + SG_ PwPck_D_Stat_UB : 3|1@0+ (1,0) [0|0] "" XXX + SG_ PwPck_D_Stat : 7|4@0+ (1,0) [0|0] "" XXX + +BO_ 1062 ACM_NAV_WHEEL_INFO: 8 XXX + SG_ WhlRotatRr_No_Cnt_UB : 63|1@0+ (1,0) [0|0] "" XXX + SG_ WhlRotatRl_No_Cnt_UB : 40|1@0+ (1,0) [0|0] "" XXX + SG_ WhlRotatFr_No_Cnt_UB : 41|1@0+ (1,0) [0|0] "" XXX + SG_ WhlRotatFl_No_Cnt_UB : 42|1@0+ (1,0) [0|0] "" XXX + SG_ WhlDirRr_D_Actl_UB : 44|1@0+ (1,0) [0|0] "" XXX + SG_ WhlDirRl_D_Actl_UB : 45|1@0+ (1,0) [0|0] "" XXX + SG_ WhlDirFr_D_Actl_UB : 46|1@0+ (1,0) [0|0] "" XXX + SG_ WhlDirFl_D_Actl_UB : 47|1@0+ (1,0) [0|0] "" XXX + SG_ WHEEL_ROLLING_TIMESTAMP_UB : 62|1@0+ (1,0) [0|0] "" XXX + SG_ ACM_NAV_WHEEL_INFO_RESET : 43|1@0+ (1,0) [0|0] "" XXX + SG_ WhlRotatRr_No_Cnt : 39|8@0+ (1,0) [0|0] "" XXX + SG_ WhlRotatRl_No_Cnt : 31|8@0+ (1,0) [0|0] "" XXX + SG_ WhlRotatFr_No_Cnt : 23|8@0+ (1,0) [0|0] "" XXX + SG_ WhlRotatFl_No_Cnt : 15|8@0+ (1,0) [0|0] "" XXX + SG_ WhlDirRr_D_Actl : 1|2@0+ (1,0) [0|0] "" XXX + SG_ WhlDirRl_D_Actl : 3|2@0+ (1,0) [0|0] "" XXX + SG_ WhlDirFr_D_Actl : 5|2@0+ (1,0) [0|0] "" XXX + SG_ WhlDirFl_D_Actl : 7|2@0+ (1,0) [0|0] "" XXX + SG_ WHEEL_ROLLING_TIMESTAMP : 55|8@0+ (1,0) [0|0] "" XXX + +BO_ 1068 Battery_Mgmt_2_MS: 8 XXX + SG_ Shed_T_Eng_Off_B : 12|1@0+ (1,0) [0|0] "" XXX + SG_ Shed_Level_Req : 15|3@0+ (1,0) [0|0] "" XXX + SG_ Shed_Feature_Group_ID : 7|5@0+ (1,0) [0|0] "" XXX + SG_ Shed_Drain_Eng_Off_B : 2|1@0+ (1,0) [0|0] "" XXX + SG_ Batt_Lo_SoC_B : 1|1@0+ (1,0) [0|0] "" XXX + SG_ Batt_Crit_SoC_B : 0|1@0+ (1,0) [0|0] "" XXX + +BO_ 1125 GPS_Data_Nav_1: 8 XXX + SG_ GpsHsphLattSth_D_Actl : 25|2@0+ (1,0) [0|0] "" XXX + SG_ GpsHsphLongEast_D_Actl : 9|2@0+ (1,0) [0|0] "" XXX + SG_ GPS_Longitude_Minutes : 46|6@0+ (1,0) [0|0] "Minutes" XXX + SG_ GPS_Longitude_Min_dec : 55|14@0+ (0.0001,0) [0|0] "Minutes" XXX + SG_ GPS_Longitude_Degrees : 39|9@0+ (1,-179.0) [0|0] "Degrees" XXX + SG_ GPS_Latitude_Minutes : 15|6@0+ (1,0) [0|0] "Minutes" XXX + SG_ GPS_Latitude_Min_dec : 23|14@0+ (0.0001,0) [0|0] "Minutes" XXX + SG_ GPS_Latitude_Degrees : 7|8@0+ (1,-89.0) [0|0] "Degrees" XXX + +BO_ 1126 GPS_Data_Nav_2: 8 XXX + SG_ Gps_B_Falt : 2|1@0+ (1,0) [0|0] "" XXX + SG_ GpsUtcYr_No_Actl : 55|5@0+ (1,1.0) [0|0] "Year" XXX + SG_ GpsUtcMnth_No_Actl : 47|4@0+ (1,1.0) [0|0] "Month" XXX + SG_ GpsUtcDay_No_Actl : 37|5@0+ (1,1.0) [0|0] "Day" XXX + SG_ GPS_UTC_seconds : 23|6@0+ (1,0) [0|0] "seconds" XXX + SG_ GPS_UTC_minutes : 15|6@0+ (1,0) [0|0] "Minutes" XXX + SG_ GPS_UTC_hours : 7|5@0+ (1,0) [0|0] "Hours" XXX + SG_ GPS_Pdop : 31|5@0+ (0.2,0) [0|0] "" XXX + SG_ GPS_Compass_direction : 26|4@0+ (1,0) [0|0] "" XXX + SG_ GPS_Actual_vs_Infer_pos : 38|1@0+ (1,0) [0|0] "" XXX + +BO_ 1127 GPS_Data_Nav_3: 8 XXX + SG_ GPS_Vdop : 63|5@0+ (0.2,0) [0|0] "" XXX + SG_ GPS_Speed : 47|8@0+ (1,0) [0|0] "MPH" XXX + SG_ GPS_Sat_num_in_view : 7|5@0+ (1,0) [0|0] "" XXX + SG_ GPS_MSL_altitude : 15|12@0+ (10.0,-20460.0) [0|0] "feet" XXX + SG_ GPS_Heading : 31|16@0+ (0.01,0) [0|0] "Degrees" XXX + SG_ GPS_Hdop : 55|5@0+ (0.2,0) [0|0] "" XXX + SG_ GPS_dimension : 2|3@0+ (1,0) [0|0] "" XXX + +BO_ 1144 GPS_Data_Nav_4: 8 XXX + SG_ VehPos_L_Est : 39|32@0+ (0.01,0) [0|0] "meter" XXX + SG_ VehHead_W_Actl : 23|16@0+ (0.01,-327.68) [0|0] "degrees/second" XXX + SG_ VehHead_An_Est : 7|16@0+ (0.01,0) [0|0] "degrees" XXX diff --git a/opendbc_repo/opendbc/dbc/ford_cgea1_2_ptcan_2011.dbc b/opendbc_repo/opendbc/dbc/ford_cgea1_2_ptcan_2011.dbc new file mode 100644 index 0000000000..128721cbbf --- /dev/null +++ b/opendbc_repo/opendbc/dbc/ford_cgea1_2_ptcan_2011.dbc @@ -0,0 +1,1487 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX + + +BO_ 65 Global_PATS_Control_Info: 8 XXX + SG_ immoControlData_T1 : 15|40@0+ (1,0) [0|0] "" XXX + SG_ immoControlCmd_T1 : 7|3@0+ (1,0) [0|0] "" XXX + +BO_ 66 Global_PATS_Control_Info2: 8 XXX + SG_ immoControlData_T2 : 15|40@0+ (1,0) [0|0] "" XXX + SG_ immoControlCmd_T2 : 7|3@0+ (1,0) [0|0] "" XXX + +BO_ 71 Global_PATS_Target_Info: 8 XXX + SG_ immoTarget1Status : 7|3@0+ (1,0) [0|0] "" XXX + SG_ immoTarget1Data : 15|40@0+ (1,0) [0|0] "" XXX + SG_ immoTarget1Cmd : 4|3@0+ (1,0) [0|0] "" XXX + +BO_ 72 Global_PATS_Target_Info_2: 8 XXX + SG_ immoTarget2Status : 7|3@0+ (1,0) [0|0] "" XXX + SG_ immoTarget2Data : 15|40@0+ (1,0) [0|0] "" XXX + SG_ immoTarget2Cmd : 4|3@0+ (1,0) [0|0] "" XXX + +BO_ 73 Global_PATS_SubTarget_FoE: 8 XXX + SG_ immoSubTarget1Data_T1 : 15|40@0+ (1,0) [0|0] "" XXX + SG_ immoSubTarget1Cmd_T1 : 7|3@0+ (1,0) [0|0] "" XXX + +BO_ 74 VehEmergencyData1: 8 XXX + SG_ VedsPasSideBag_D_Ltchd : 60|3@0+ (1,0) [0|0] "" XXX + SG_ VedsPasCrtnBag_D_Ltchd : 55|3@0+ (1,0) [0|0] "" XXX + SG_ VedsPasBelt_D_Ltchd : 52|3@0+ (1,0) [0|0] "" XXX + SG_ VedsPasBag_D_Ltchd : 47|3@0+ (1,0) [0|0] "" XXX + SG_ VedsMultiEvnt_D_Ltchd : 44|3@0+ (1,0) [0|0] "" XXX + SG_ VedsMaxDeltaV_D_Ltchd : 39|8@0+ (1,0) [0|0] "" XXX + SG_ VedsKneeBag_D_Ltchd : 63|3@0+ (1,0) [0|0] "" XXX + SG_ VedsEvntType_D_Ltchd : 31|3@0+ (1,0) [0|0] "" XXX + SG_ VedsEvntRoll_D_Ltchd : 28|3@0+ (1,0) [0|0] "" XXX + SG_ VedsDrvSideBag_D_Ltchd : 23|3@0+ (1,0) [0|0] "" XXX + SG_ VedsDrvCrtnBag_D_Ltchd : 20|3@0+ (1,0) [0|0] "" XXX + SG_ VedsDrvBelt_D_Ltchd : 15|3@0+ (1,0) [0|0] "" XXX + SG_ VedsDrvBag_D_Ltchd : 12|3@0+ (1,0) [0|0] "" XXX + SG_ eCallNotification : 2|2@0+ (1,0) [0|0] "" XXX + +BO_ 75 VehEmergencyData2: 8 XXX + SG_ VedsRw3rBckl_D_Ltchd : 39|3@0+ (1,0) [0|0] "" XXX + SG_ VedsRw3mBckl_D_Ltchd : 31|3@0+ (1,0) [0|0] "" XXX + SG_ VedsRw3lBckl_D_Ltchd : 28|3@0+ (1,0) [0|0] "" XXX + SG_ VedsRw2rBckl_D_Ltchd : 23|3@0+ (1,0) [0|0] "" XXX + SG_ VedsRw2mBckl_D_Ltchd : 20|3@0+ (1,0) [0|0] "" XXX + SG_ VedsRw2lBckl_D_Ltchd : 15|3@0+ (1,0) [0|0] "" XXX + SG_ VedsRw1PasChld_D_Ltchd : 12|3@0+ (1,0) [0|0] "" XXX + SG_ VedsRw1PasBckl_D_Ltchd : 7|3@0+ (1,0) [0|0] "" XXX + SG_ VedsRw1DrvBckl_D_Ltchd : 4|3@0+ (1,0) [0|0] "" XXX + SG_ VedsRw2rRib_D_Ltchd : 47|3@0+ (1,0) [0|0] "" XXX + SG_ VedsRw2lRib_D_Ltchd : 36|3@0+ (1,0) [0|0] "" XXX + +BO_ 116 BrakeSnData_2_CG1: 8 XXX + SG_ VehDynamicsSOS : 55|1@0+ (1,0) [0|0] "" XXX + SG_ AwdLck_Tq_RqMx : 27|12@0+ (1,0) [0|0] "Nm" XXX + SG_ AwdLck_Tq_RqMn : 23|12@0+ (1,0) [0|0] "Nm" XXX + SG_ SteWhlComp_An_Est : 7|15@0+ (0.1,-1600.0) [0|0] "deg" XXX + SG_ StopLamp_B_RqBrk : 8|1@0+ (1,0) [0|0] "" XXX + SG_ BrkTerrMdeChng_D_Rdy : 45|3@0+ (1,0) [0|0] "" XXX + SG_ BrkTerrMde_D_Actl : 42|3@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCompAnEst_D_Qf : 47|2@0+ (1,0) [0|0] "" XXX + +BO_ 117 BrakeSnData_3_CG1: 8 XXX + SG_ HsaStat_D_Dsply : 35|3@0+ (1,0) [0|0] "" XXX + SG_ HsaTrnAout_Tq_Rq : 55|16@0+ (4.0,-131072.0) [0|0] "Nm" XXX + SG_ HsaStat_D_Actl : 38|3@0+ (1,0) [0|0] "" XXX + SG_ HsaRoad_Grad_Est : 32|9@0+ (0.5,-127.0) [0|0] "%" XXX + SG_ VehYawComp_W_Actl : 7|12@0+ (0.03663,-75.0) [0|0] "deg/s" XXX + SG_ VehYaw_W_Rq : 11|12@0+ (0.03663,-75.0) [0|0] "deg/s" XXX + SG_ VehSideSlip_An_Est : 31|9@0+ (0.002,-0.5) [0|0] "rad" XXX + +BO_ 124 BrakeSnData_4_CG1: 8 XXX + SG_ EngRun_D_ReqBrk : 10|2@0+ (1,0) [0|0] "" XXX + SG_ BrkTotTqRqArb_No_Cs : 23|8@0+ (1,0) [0|0] "" XXX + SG_ BrkTotTqRqArb_No_Cnt : 31|4@0+ (1,0) [0|0] "" XXX + SG_ BrkTot_Tq_RqArb : 7|13@0+ (4.0,0) [0|0] "Nm" XXX + SG_ BrkTot_Tq_Actl : 39|13@0+ (4.0,0) [0|0] "Nm" XXX + SG_ VehOverGnd_V_Est : 55|16@0+ (0.01,0) [0|0] "kph" XXX + +BO_ 129 Steering_Wheel_Data2: 8 XXX + SG_ SteWhlCtl_RSide_OK : 9|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_RSide_CursorUp : 8|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_RSide_CursorRt : 7|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_RSide_CursorLeft : 6|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_RSide_CursorDown : 5|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_LSide_OK : 4|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_LSide_CursorUp : 3|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_LSide_CursorRt : 2|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_LSide_CursorLeft : 1|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_LSide_CursorDown : 0|1@0+ (1,0) [0|0] "" XXX + +BO_ 130 EPAS_INFO: 8 XXX + SG_ SteMdule_U_Meas : 39|8@0+ (0.05,6.0) [0|0] "Volts" XXX + SG_ SteMdule_I_Est : 21|12@0+ (0.05,-64.0) [0|0] "Amps" XXX + SG_ EPAS_FAILURE : 9|2@0+ (1,0) [0|0] "" XXX + SG_ SteeringColumnTorque : 7|8@0+ (0.0625,-8.0) [0|0] "Nm" XXX + SG_ SAPPAngleControlStat6 : 15|1@0+ (1,0) [0|0] "" XXX + SG_ SAPPAngleControlStat5 : 14|1@0+ (1,0) [0|0] "" XXX + SG_ SAPPAngleControlStat4 : 13|1@0+ (1,0) [0|0] "" XXX + SG_ SAPPAngleControlStat3 : 12|1@0+ (1,0) [0|0] "" XXX + SG_ SAPPAngleControlStat2 : 11|1@0+ (1,0) [0|0] "" XXX + SG_ SAPPAngleControlStat1 : 23|2@0+ (1,0) [0|0] "" XXX + +BO_ 131 Steering_Data: 8 XXX + SG_ SteWhlCtl_Mute : 38|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Mode : 24|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_OK : 23|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Phone : 22|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_End : 21|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Send : 20|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Voice_PTT : 19|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Seek_Left : 10|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Seek_Right : 9|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Media : 8|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Volume_Down : 6|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Volume_Up : 7|1@0+ (1,0) [0|0] "" XXX + SG_ Smart_Wiper_Motor_Stat : 15|2@0+ (1,0) [0|0] "" XXX + SG_ Mfs_Turn_Stalk_SW_Status : 1|2@0+ (1,0) [0|0] "" XXX + SG_ HighBeam_FlashToPassSw : 3|2@0+ (1,0) [0|0] "" XXX + SG_ SteColumn_Status : 13|3@0+ (1,0) [0|0] "" XXX + SG_ SteCol_Manual_Override : 4|1@0+ (1,0) [0|0] "" XXX + SG_ CcButtnStat_D_Actl : 34|11@0+ (1,0) [0|0] "" XXX + SG_ HeatedWash_Mode_Stat : 55|3@0+ (1,0) [0|0] "" XXX + SG_ LaSwtchPos_D_Stat : 18|2@0+ (1,0) [0|0] "" XXX + +BO_ 132 Steering_Wheel_Data_CG1: 8 XXX + SG_ SteWhlRelInit_An_Sns : 7|15@0+ (0.1,-1600.0) [0|0] "deg" XXX + SG_ SteWhlRelCalib_An_Sns : 23|15@0+ (0.1,-1600.0) [0|0] "deg" XXX + SG_ SteWhlRelInit2_An_Sns : 55|16@0+ (0.1,-3200.0) [0|0] "deg" XXX + SG_ SteWhlAn_No_Cs : 39|8@0+ (1,0) [0|0] "" XXX + SG_ SteWhlAn_No_Cnt : 47|4@0+ (1,0) [0|0] "Counts" XXX + +BO_ 145 Yaw_Data: 8 XXX + SG_ VehYaw_W_Actl : 39|16@0+ (0.0002,-6.5) [0|0] "rad/s" XXX + SG_ VehRol_W_Actl : 23|16@0+ (0.0002,-6.5) [0|0] "rad/s" XXX + SG_ VehPtch_W_Actl : 7|16@0+ (0.0002,-6.5) [0|0] "rad/s" XXX + +BO_ 146 Accel_Data: 8 XXX + SG_ VehVertAActl_D_Qf : 38|2@0+ (1,0) [0|0] "" XXX + SG_ VehLongAActl_D_Qf : 22|2@0+ (1,0) [0|0] "" XXX + SG_ VehLatAActl_D_Qf : 6|2@0+ (1,0) [0|0] "" XXX + SG_ VehVert_A_Actl : 36|13@0+ (0.01,-40.0) [0|0] "m/s^2" XXX + SG_ VehLong_A_Actl : 20|13@0+ (0.01,-40.0) [0|0] "m/s^2" XXX + SG_ VehLat_A_Actl : 4|13@0+ (0.01,-40.0) [0|0] "m/s^2" XXX + +BO_ 258 Cluster_Legacy: 8 XXX + SG_ Veh_V_CompLimMx : 27|12@0+ (0.1,0) [0|0] "km/h" XXX + SG_ DISPLAY_SPEED_SCALING : 20|4@0+ (0.5,100.0) [0|0] "%" XXX + SG_ DISPLAY_SPEED_OFFSET : 23|3@0+ (0.5,0) [0|0] "kph" XXX + SG_ Reverse_Mirror_Cmd : 10|1@0+ (1,0) [0|0] "" XXX + SG_ Autolamp_Delay_Cmd : 7|8@0+ (1,0) [0|0] "Seconds" XXX + SG_ Running_Board_Cmd : 13|2@0+ (1,0) [0|0] "" XXX + SG_ Power_Liftgate_Mode_Cmd : 11|1@0+ (1,0) [0|0] "" XXX + +BO_ 259 Body_MsgCntr_Stat_CG1: 8 XXX + SG_ PE_PEPS_System_Stat : 47|8@0+ (1,0) [0|0] "" XXX + SG_ Keycode_Status : 11|20@0+ (1,0) [0|0] "" XXX + SG_ Autolamp_Delay_Stat : 7|8@0+ (1,0) [0|0] "Seconds" XXX + SG_ HvacEvap_Te_Rq_UB : 61|1@0+ (1,0) [0|0] "" XXX + SG_ HvacEvap_Te_Rq : 55|10@0+ (0.125,-50.0) [0|0] "Degrees C" XXX + SG_ Remote_Start_QuietMode_UB : 33|1@0+ (1,0) [0|0] "" XXX + SG_ Remote_Start_QuietMode : 32|1@0+ (1,0) [0|0] "" XXX + +BO_ 264 Side_Detect_CmdM: 8 XXX + SG_ Cross_Traffic_Cmd : 5|2@0+ (1,0) [0|0] "" XXX + SG_ Side_Detect_Cmd : 7|2@0+ (1,0) [0|0] "" XXX + +BO_ 266 ParkAid_Audible_Warn_CmdM: 8 XXX + SG_ AutoPark_Cancel_Request : 15|2@0+ (1,0) [0|0] "" XXX + SG_ ParkAid_Audible_Warn_Cmd : 7|2@0+ (1,0) [0|0] "" XXX + SG_ ParkAid_Aud_Frt_Warn_Cmd : 5|2@0+ (1,0) [0|0] "" XXX + +BO_ 267 ParkAid_Audible_Warn_Stat: 8 XXX + SG_ RpaChime_D_Rq : 31|4@0+ (1,0) [0|0] "" XXX + SG_ FpaChime_D_Rq : 12|4@0+ (1,0) [0|0] "" XXX + SG_ SAPPStatusCoding : 23|8@0+ (1,0) [0|0] "" XXX + SG_ Volume_Cutback : 1|1@0+ (1,0) [0|0] "" XXX + SG_ ParkAid_Fault_Condition : 15|3@0+ (1,0) [0|0] "" XXX + SG_ ParkAid_Audible_Warn_Stat : 7|2@0+ (1,0) [0|0] "" XXX + SG_ ParkAid_Aud_Frt_Trgt_Warn : 3|2@0+ (1,0) [0|0] "" XXX + SG_ ParkAid_Aud_Frt_Warn_Stat : 5|2@0+ (1,0) [0|0] "" XXX + +BO_ 292 ClmtCtrlSeatSet_Cmd_v2: 8 XXX + SG_ ClmtCtrlSeat_SetCmd_Dvr : 7|8@0+ (1,0) [0|0] "" XXX + SG_ ClmtCtrlSeat_SetCmd_Psgr : 15|8@0+ (1,0) [0|0] "" XXX + +BO_ 293 ClmtCtrlSeatSetStat_v2_HS: 8 XXX + SG_ ClmtCtrlSeat_SetStat_Psgr : 15|8@0+ (1,0) [0|0] "" XXX + SG_ ClmtCtrlSeat_SetStat_Dvr : 7|8@0+ (1,0) [0|0] "" XXX + +BO_ 336 TransData_1_CG1: 8 XXX + SG_ TrnAinIdl_N_RqMn : 34|11@0+ (2.0,0) [0|0] "rpm" XXX + SG_ TrnAin_N_RqMxPrtct : 23|10@0+ (25.0,0) [0|0] "rpm" XXX + SG_ TrnAin_Tq_RqFstMx : 29|11@0+ (1,-500.0) [0|0] "Nm" XXX + SG_ TrnAin_Tq_RqSlwMxPrs : 7|11@0+ (1,-500.0) [0|0] "Nm" XXX + +BO_ 337 EngineData_1_CG1: 8 XXX + SG_ TrnEngBrk_B_Allw : 24|1@0+ (1,0) [0|0] "" XXX + SG_ TrnAout_W_ActlUnfilt : 23|15@0+ (0.1,0) [0|0] "rad/s" XXX + SG_ TrnIpcDsplyGear_D_Actl : 7|4@0+ (1,0) [0|0] "" XXX + SG_ TrnIpcDsplyMde_D_Stat : 13|2@0+ (1,0) [0|0] "" XXX + SG_ TrnIpcDsplyMde_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX + SG_ TrnIpcDsplyGear_D_Stat : 9|2@0+ (1,0) [0|0] "" XXX + SG_ TurboBoostPressure : 55|16@0+ (0.01,0) [0|0] "bar" XXX + +BO_ 338 TransData_2_CG1: 8 XXX + SG_ GearPos_D_Actl : 55|4@0+ (1,0) [0|0] "" XXX + SG_ TrnAout2_Tq_Actl : 39|16@0+ (4.0,-131072.0) [0|0] "Nm" XXX + SG_ TrnTotTq_Rt_Actl : 23|16@0+ (0.001,0) [0|0] "" XXX + SG_ TrnGbox_Rt_Pred : 7|16@0+ (0.001,0) [0|0] "" XXX + +BO_ 339 EngineData_2_CG1: 8 XXX + SG_ TrnAin_Tq_MxSpcPdlEngN : 55|11@0+ (1,-500.0) [0|0] "Nm" XXX + SG_ TrnAin_Tq_MnSpcEngN : 31|11@0+ (1,-500.0) [0|0] "Nm" XXX + SG_ EngPtoEngag_B_Actl : 60|1@0+ (1,0) [0|0] "" XXX + SG_ TrnAin_N_SpcEcho : 4|13@0+ (2.0,0) [0|0] "rpm" XXX + +BO_ 340 EngineData_3_CG1: 8 XXX + SG_ AirAmb_Te_ActlFilt : 33|10@0+ (0.25,-128.0) [0|0] "deg C" XXX + SG_ EngAout_N_RqMxPrtct : 12|13@0+ (2.0,0) [0|0] "rpm" XXX + SG_ TqmTerrMdeChng_D_Rdy : 39|3@0+ (1,0) [0|0] "" XXX + SG_ EngAoutIdl_N_RqVsc : 7|11@0+ (2.0,0) [0|0] "rpm" XXX + SG_ TqmTerrMde_D_Actl : 36|3@0+ (1,0) [0|0] "" XXX + SG_ PrplWhlTotVrt_Tq_RqArb : 55|16@0+ (4.0,-131072.0) [0|0] "Nm" XXX + +BO_ 341 EngineData_11_CG1: 8 XXX + SG_ DieslPrtc_D_RqDsply : 42|3@0+ (1,0) [0|0] "" XXX + SG_ EngPullUpPullDown_D_Rq : 20|4@0+ (1,0) [0|0] "" XXX + SG_ TrnAin_Tq_RqDrv : 15|11@0+ (1,-500.0) [0|0] "Nm" XXX + SG_ DieslPrtcRgen_D_Actl : 4|2@0+ (1,0) [0|0] "" XXX + SG_ DieslPrtcRgen_D_Rq : 7|3@0+ (1,0) [0|0] "" XXX + SG_ EngAout_Aa_Actl : 39|10@0+ (0.05,-25.6) [0|0] "rpm/ms" XXX + SG_ EngIgnIndTq_Rt_MnEc : 31|8@0+ (0.005,0) [0|0] "" XXX + SG_ EngFuelCutFull_B_Allw : 45|1@0+ (1,0) [0|0] "" XXX + SG_ EngStrtStopDis_B_Rq : 0|1@0+ (1,0) [0|0] "" XXX + SG_ PrplTqSys_D_Stat : 2|2@0+ (1,0) [0|0] "" XXX + SG_ EngAoutTqDtrb_B_Actl : 16|1@0+ (1,0) [0|0] "" XXX + SG_ EngTurboMde_D_Actl : 44|2@0+ (1,0) [0|0] "" XXX + SG_ EngTeColdPrtct_D_Stats : 54|2@0+ (1,0) [0|0] "" XXX + SG_ EXHAUST_OVERTEMP_PROTECT : 63|1@0+ (1,0) [0|0] "" XXX + SG_ EngExhOvrTe_B_RqDsply : 55|1@0+ (1,0) [0|0] "" XXX + +BO_ 342 Engine_Data_6: 8 XXX + SG_ EngOvrhtMitgActv_D_Ind : 36|2@0+ (1,0) [0|0] "" XXX + SG_ Res_UreaLvlLo_B_Dsply : 34|1@0+ (1,0) [0|0] "" XXX + SG_ EngClntTe_D_Qf : 33|2@0+ (1,0) [0|0] "" XXX + SG_ EngAcsyArcPmp_Tq_Actl : 63|8@0+ (0.5,0) [0|0] "Nm" XXX + SG_ EngOilLvlDsply_D_Rq : 43|4@0+ (1,0) [0|0] "" XXX + SG_ EngCtlAlive_No_Cnt : 47|4@0+ (1,0) [0|0] "" XXX + SG_ EngCtl_No_Cs : 55|8@0+ (1,0) [0|0] "" XXX + SG_ EngOil_Te_Actl : 15|8@0+ (1,-60.0) [0|0] "degC" XXX + SG_ EngClnt_Te_Actl : 7|8@0+ (1,-60.0) [0|0] "degC" XXX + +BO_ 343 EngineData_13_CG1: 8 XXX + SG_ EngStrtFail_B_Actl : 40|1@0+ (1,0) [0|0] "" XXX + SG_ EngStrt_B_Complt : 24|1@0+ (1,0) [0|0] "" XXX + SG_ EngStrtSpin_B_Rdy : 58|1@0+ (1,0) [0|0] "" XXX + SG_ EngWarmUp_B_Complt : 41|1@0+ (1,0) [0|0] "" XXX + SG_ EngAoutTqCtl_B_Falt : 8|1@0+ (1,0) [0|0] "" XXX + SG_ EngAoutActl_No_Cs : 23|8@0+ (1,0) [0|0] "" XXX + SG_ EngAoutActl_No_Cnt : 45|4@0+ (1,0) [0|0] "" XXX + SG_ VehVLim_V_RqArb : 39|9@0+ (0.5,0) [0|0] "kph" XXX + +BO_ 344 EngineData_14: 8 XXX + SG_ ApedPosScal_Pc_Actl : 9|10@0+ (0.1,0) [0|0] "%" XXX + SG_ ApedPosPcActl_No_Cs : 39|8@0+ (1,0) [0|0] "" XXX + SG_ ApedPosPcActl_No_Cnt : 13|4@0+ (1,0) [0|0] "" XXX + +BO_ 345 Engine_Data_7_CG1: 8 XXX + SG_ EngDecelFuelCut_B_Allw : 25|1@0+ (1,0) [0|0] "" XXX + SG_ FuelFlw_Vl_Dsply : 55|10@0+ (25.0,0) [0|0] "Micro_Liter" XXX + SG_ FuelFillInlet_B_Dsply : 32|1@0+ (1,0) [0|0] "" XXX + SG_ EngSrvcRqd_B_Rq : 24|1@0+ (1,0) [0|0] "" XXX + SG_ OdoCount : 47|8@0+ (0.2,0) [0|0] "Meters" XXX + SG_ EngOilLife_Pc_Actl : 39|7@0+ (1,0) [0|0] "%" XXX + SG_ AirAmbTe_D_Qf : 28|2@0+ (1,0) [0|0] "" XXX + SG_ EngTqSlwDly_T_Est : 23|11@0+ (1,0) [0|0] "ms" XXX + SG_ TrnKickDown_B_RqDrv : 26|1@0+ (1,0) [0|0] "" XXX + SG_ AirAmb_Te_Actl : 1|10@0+ (0.25,-128.0) [0|0] "degC" XXX + SG_ AirAmb_P_Actl : 7|6@0+ (10.0,500.0) [0|0] "mbar" XXX + SG_ FuelFilterLamp_B_Dsply : 56|1@0+ (1,0) [0|0] "" XXX + SG_ AirCondRec_B_Rq : 61|1@0+ (1,0) [0|0] "" XXX + SG_ AirCondEvdc_D_Stats : 60|3@0+ (1,0) [0|0] "" XXX + SG_ AirCondClutch_B_Stats : 57|1@0+ (1,0) [0|0] "" XXX + +BO_ 346 EngineData_4_CG1: 8 XXX + SG_ TrnAin_Tq_Rq : 12|11@0+ (1,-500.0) [0|0] "Nm" XXX + SG_ TrnAin_Tq_RqWoMdfy : 55|11@0+ (1,-500.0) [0|0] "Nm" XXX + SG_ TrnAin_Tq_ActlWoMdfy : 36|11@0+ (1,-500.0) [0|0] "Nm" XXX + SG_ TrnAin_Tq_Actl : 7|11@0+ (1,-500.0) [0|0] "Nm" XXX + SG_ TrnAinCtlN_B_Allw : 41|1@0+ (1,0) [0|0] "" XXX + SG_ TrnAinTq_D_Qf : 17|2@0+ (1,0) [0|0] "" XXX + +BO_ 348 EngineData_16_CG1: 8 XXX + SG_ EngOilLvlWarn_D_Rq1 : 50|3@0+ (1,0) [0|0] "" XXX + SG_ EngExhBrkOnLamp_B_Rq : 51|1@0+ (1,0) [0|0] "" XXX + SG_ EngExhBrkAutoLamp_B_Rq : 8|1@0+ (1,0) [0|0] "" XXX + SG_ EngAout_N_MxAllw : 36|13@0+ (2.0,0) [0|0] "rpm" XXX + SG_ EngAoutIdl_N_MnAllw : 31|11@0+ (1,0) [0|0] "rpm" XXX + SG_ EngAoutIdlRqEc_No_Cs : 23|8@0+ (1,0) [0|0] "" XXX + SG_ EngAoutIdlRqEc_No_Cnt : 12|4@0+ (1,0) [0|0] "" XXX + SG_ EngAoutIdl_N_RqEc : 7|11@0+ (2.0,0) [0|0] "rpm" XXX + SG_ EngExhBrkMde_D_Actl : 55|4@0+ (1,0) [0|0] "" XXX + +BO_ 349 EngineData_17_CG1: 8 XXX + SG_ EngResv_Tq_Actl : 52|11@0+ (1,-500.0) [0|0] "Nm" XXX + SG_ EngAout_Tq_ActlSlw : 47|11@0+ (1,-500.0) [0|0] "Nm" XXX + SG_ EngExhCat_Te_Est : 13|10@0+ (2.0,-60.0) [0|0] "degC" XXX + SG_ EngCylCutIndTq_Rt_Actl : 39|8@0+ (0.005,0) [0|0] "Nm" XXX + SG_ Eng_Aa_CalcEvntCyc : 7|10@0+ (0.05,-25.6) [0|0] "rpm/ms" XXX + SG_ Eng_Aa_CalcEvntCbust : 19|10@0+ (0.05,-25.6) [0|0] "rpm/ms" XXX + SG_ WaterInFuel : 25|1@0+ (1,0) [0|0] "" XXX + SG_ GlowIndication : 24|1@0+ (1,0) [0|0] "" XXX + +BO_ 350 EngineData_18_CG1: 8 XXX + SG_ EngAoutTqActl_D_Qf : 17|2@0+ (1,0) [0|0] "" XXX + SG_ EngAout_Tq_MnSpcNRtrd : 36|11@0+ (1,-500.0) [0|0] "Nm" XXX + SG_ EngAout_Tq_Actl : 31|11@0+ (1,-500.0) [0|0] "Nm" XXX + SG_ EngAoutLss_Tq_EstSpcN : 12|11@0+ (1,-500.0) [0|0] "Nm" XXX + SG_ EngAout_Tq_MnSpcN : 7|11@0+ (1,-500.0) [0|0] "Nm" XXX + +BO_ 351 EngineData_19: 8 XXX + SG_ VehPreDelvr_V_LimMx : 15|16@0+ (0.01,0) [0|0] "kph" XXX + SG_ BattLo_U_MeasEngMdule : 7|8@0+ (0.1,0) [0|0] "V" XXX + SG_ EngStall_B_Actl : 47|1@0+ (1,0) [0|0] "" XXX + SG_ EngDashPotActv_B_Actl : 46|1@0+ (1,0) [0|0] "" XXX + SG_ EngAout_Tq_MnAllw : 42|11@0+ (1,-500.0) [0|0] "Nm" XXX + +BO_ 352 TransData_3_CG1: 8 XXX + SG_ TrnAinCtlN_N_RqMx : 7|13@0+ (2.0,0) [0|0] "rpm" XXX + SG_ TrnAin_Tq_RqSlwMxShif : 42|11@0+ (1,-500.0) [0|0] "Nm" XXX + SG_ TrnAinCtlN_B_RqEnbl : 10|1@0+ (1,0) [0|0] "" XXX + SG_ TrnGboxIn_N_Actl : 23|13@0+ (2.0,0) [0|0] "rpm" XXX + +BO_ 353 Engine_Data_8: 8 XXX + SG_ TrnAinTqDtrb_B_Actl : 5|1@0+ (1,0) [0|0] "" XXX + SG_ TrnAin_Tq_MnSpcEngN : 34|11@0+ (1,-500.0) [0|0] "Nm" XXX + SG_ EngAout_N_RqMnPrtct : 20|13@0+ (2.0,0) [0|0] "rpm" XXX + SG_ EngAout_N_MnAllw : 4|13@0+ (2.0,0) [0|0] "rpm" XXX + +BO_ 354 CGEA_Urea_Strategy_CG1: 8 XXX + SG_ UreaQltySys_D_RqDsply : 27|3@0+ (1,0) [0|0] "" XXX + SG_ UreaLvlTxt_D_RqDsply : 31|4@0+ (1,0) [0|0] "" XXX + SG_ VehUreaImmo_No_DsplyMx : 12|3@0+ (1,0) [0|0] "Counts" XXX + SG_ VehUreaWarn_V_DsplyMx : 23|7@0+ (1,0) [0|0] "km/h" XXX + SG_ VehUreaRnge_L_DsplyMx : 7|11@0+ (1,0) [0|0] "km" XXX + +BO_ 355 EngineData_10: 8 XXX + SG_ WhlRearDual_D_Stat : 57|2@0+ (1,0) [0|0] "" XXX + SG_ EngPtoMde_D_Actl : 60|3@0+ (1,0) [0|0] "" XXX + SG_ ManRgenVeh_V_MinAllw : 55|7@0+ (1,0) [0|0] "kilometer/hour" XXX + SG_ ManRgenTxt_D_RqDsply : 63|3@0+ (1,0) [0|0] "" XXX + SG_ ManRgenSoot_Pc_RqDsply : 39|7@0+ (1,0) [0|0] "%" XXX + SG_ ManRgenInhbt_T_RqDsply : 23|16@0+ (1,0) [0|0] "Minutes" XXX + SG_ ManRgenInhbt_Pc_Soot : 47|7@0+ (1,0) [0|0] "%" XXX + SG_ ManRgenInhbt_L_RqDsply : 7|16@0+ (1,0) [0|0] "kilometer" XXX + +BO_ 357 EngBrakeData: 8 XXX + SG_ CmbbDeny_B_ActlPrpl : 3|1@0+ (1,0) [0|0] "" XXX + SG_ BpedDrvAppl_No_Cs : 39|8@0+ (1,0) [0|0] "" XXX + SG_ BpedDrvAppl_No_Cnt : 27|4@0+ (1,0) [0|0] "" XXX + SG_ BpedDrvAppl_D_Actl : 31|2@0+ (1,0) [0|0] "" XXX + SG_ CmbbEngTqMn_B_Actl : 7|1@0+ (1,0) [0|0] "" XXX + SG_ Veh_V_DsplyCcSet : 23|8@0+ (1,0) [0|0] "" XXX + SG_ AccEngStat_D_Actl : 2|3@0+ (1,0) [0|0] "" XXX + SG_ CcMde_D_Actl : 13|3@0+ (1,0) [0|0] "" XXX + SG_ TrnAinTqDtrb_B_Actl : 6|1@0+ (1,0) [0|0] "" XXX + SG_ CcStat_D_Actl : 10|3@0+ (1,0) [0|0] "" XXX + SG_ CcOvrrdActv_B_Actl : 15|1@0+ (1,0) [0|0] "" XXX + SG_ PwPck_D_Stat : 59|4@0+ (1,0) [0|0] "" XXX + +BO_ 389 ACCDATA_CG1: 8 XXX + SG_ AccPrpl_A_Pred : 14|10@0+ (0.01,-5.0) [0|0] "m/s^2" XXX + SG_ AccBrkPrkEl_B_Rq : 41|1@0+ (1,0) [0|0] "" XXX + SG_ Cmbb_B_Enbl : 56|1@0+ (1,0) [0|0] "" XXX + SG_ CmbbOvrrd_B_RqDrv : 57|1@0+ (1,0) [0|0] "" XXX + SG_ CmbbDeny_B_Actl : 40|1@0+ (1,0) [0|0] "" XXX + SG_ AccVeh_V_Trg : 7|9@0+ (0.5,0) [0|0] "kph" XXX + SG_ CmbbEngTqMn_B_Rq : 58|1@0+ (1,0) [0|0] "" XXX + SG_ AccPrpl_A_Rq : 55|10@0+ (0.01,-5.0) [0|0] "m/s^2" XXX + SG_ AccDeny_B_Rq : 59|1@0+ (1,0) [0|0] "" XXX + SG_ AccCancl_B_Rq : 42|1@0+ (1,0) [0|0] "" XXX + SG_ AccBrkTot_A_Rq : 39|13@0+ (0.0039,-20.0) [0|0] "m/s^2" XXX + SG_ AccBrkPrchg_B_Rq : 60|1@0+ (1,0) [0|0] "" XXX + SG_ AccBrkDecel_B_Rq : 61|1@0+ (1,0) [0|0] "" XXX + +BO_ 392 HeadUpDisplayStat: 8 XXX + SG_ Hud_B_Falt : 5|1@0+ (1,0) [0|0] "" XXX + SG_ HudActv_B_Actl : 7|1@0+ (1,0) [0|0] "" XXX + SG_ Hud_B_Avail : 6|1@0+ (1,0) [0|0] "" XXX + +BO_ 393 ACCDATA_2_CG1: 8 XXX + SG_ ACC_AUTOBRAKE_CANCEL : 56|1@0+ (1,0) [0|0] "" XXX + SG_ ACC_RESUME_ACTIVE : 57|1@0+ (1,0) [0|0] "" XXX + SG_ FcwAudioWarn_B_Rq : 58|1@0+ (1,0) [0|0] "" XXX + SG_ CadsAudioMute_D_Rq : 61|2@0+ (1,0) [0|0] "" XXX + SG_ AccWarn_D_Dsply : 63|2@0+ (1,0) [0|0] "" XXX + SG_ HudDsplyIntns_No_Actl : 55|8@0+ (0.5,0) [0|0] "%" XXX + SG_ FcwVisblWarn_B_Rq : 40|1@0+ (1,0) [0|0] "" XXX + SG_ HudBlk3_B_Rq : 41|1@0+ (1,0) [0|0] "" XXX + SG_ HudBlk2_B_Rq : 43|1@0+ (1,0) [0|0] "" XXX + SG_ HudBlk1_B_Rq : 42|1@0+ (1,0) [0|0] "" XXX + SG_ HudFlashRate_D_Actl : 45|2@0+ (1,0) [0|0] "" XXX + SG_ CmbbBrkDecel_No_Cs : 39|8@0+ (1,0) [0|0] "" XXX + SG_ CmbbBrkDecel_A_Rq : 23|13@0+ (0.0039,-20.0) [0|0] "m/s^2" XXX + SG_ CmbbBrkPrchg_D_Rq : 47|2@0+ (1,0) [0|0] "" XXX + SG_ CmbbBrkDecel_B_Rq : 26|1@0+ (1,0) [0|0] "" XXX + SG_ CmbbBaSens_D_Rq : 25|2@0+ (1,0) [0|0] "" XXX + SG_ AccPrpl_V_Rq : 7|16@0+ (0.01,0) [0|0] "kph" XXX + +BO_ 394 ACCDATA_3: 8 XXX + SG_ CadsMntr_No_Chk : 55|8@0+ (1,0) [0|0] "" XXX + SG_ FcwDeny_B_Dsply : 10|1@0+ (1,0) [0|0] "" XXX + SG_ FdaWarn_B_Rq : 21|1@0+ (1,0) [0|0] "" XXX + SG_ FcwMemStat_B_Actl : 30|1@0+ (1,0) [0|0] "" XXX + SG_ AccTGap_B_Dsply : 35|1@0+ (1,0) [0|0] "" XXX + SG_ AccMsgTxt_D_Rq : 39|4@0+ (1,0) [0|0] "" XXX + SG_ CadsAlignIncplt_B_Actl : 29|1@0+ (1,0) [0|0] "" XXX + SG_ AccLowVMde_B_Dsply : 16|1@0+ (1,0) [0|0] "" XXX + SG_ AccFllwMde_B_Dsply : 17|1@0+ (1,0) [0|0] "" XXX + SG_ CadsRadrBlck_B_Actl : 22|1@0+ (1,0) [0|0] "" XXX + SG_ FdaStat_D_Dsply : 3|3@0+ (1,0) [0|0] "" XXX + SG_ FdaDeny_B_Dsply : 4|1@0+ (1,0) [0|0] "" XXX + SG_ AccTrgDist_D_Dsply : 28|4@0+ (1,0) [0|0] "" XXX + SG_ CadsChime_B_Rq : 24|1@0+ (1,0) [0|0] "" XXX + SG_ CmbbPostEvnt_B_Dsply : 15|1@0+ (1,0) [0|0] "" XXX + SG_ FcwCmbbSrvcRqd_B_Rq : 12|1@0+ (1,0) [0|0] "" XXX + SG_ AccStopMde_B_Dsply : 0|1@0+ (1,0) [0|0] "" XXX + SG_ CadsCamraBlck_B_Actl : 23|1@0+ (1,0) [0|0] "" XXX + SG_ FcwMemSens_D_Actl : 20|2@0+ (1,0) [0|0] "" XXX + SG_ FcwMemDfaltOn_B_Actl : 18|1@0+ (1,0) [0|0] "" XXX + SG_ AccSrvcRqd_B_Rq : 14|1@0+ (1,0) [0|0] "" XXX + SG_ FcwMsgTxt_D_Rq : 7|3@0+ (1,0) [0|0] "" XXX + SG_ FcwMemAudioOn_B_Actl : 9|1@0+ (1,0) [0|0] "" XXX + SG_ AccTGap_D_Dsply : 34|3@0+ (1,0) [0|0] "" XXX + SG_ AccMemEnbl_B_RqDrv : 42|1@0+ (1,0) [0|0] "" XXX + SG_ FdaMem_B_Stat : 41|1@0+ (1,0) [0|0] "" XXX + +BO_ 512 TorqueDataEngFlags: 8 XXX + SG_ BrkOnOffSwtch_D_Actl : 54|2@0+ (1,0) [0|0] "" XXX + SG_ PrplTqMnSat_B_Actl : 55|1@0+ (1,0) [0|0] "" XXX + SG_ PrplWhlTot_Tq_Rq : 39|16@0+ (4.0,-131072.0) [0|0] "Nm" XXX + SG_ PrplWhlTot_Tq_LimMn : 23|16@0+ (4.0,-131072.0) [0|0] "Nm" XXX + SG_ PrplWhlTot_Tq_Actl : 7|16@0+ (4.0,-131072.0) [0|0] "Nm" XXX + SG_ ACCompressorDisp : 63|7@0+ (1,0) [0|0] "%" XXX + +BO_ 513 EngVehicleSpThrottle_CG1: 8 XXX + SG_ ApedPos_PcRate_ActlArb : 63|8@0+ (0.04,-5.0) [0|0] "%/ms" XXX + SG_ Veh_V_RqCcSet : 45|9@0+ (0.5,0) [0|0] "kph" XXX + SG_ VehVActlEng_D_Qf : 9|2@0+ (1,0) [0|0] "" XXX + SG_ reserve : 10|1@0+ (1,0) [0|0] "" XXX + SG_ EngAout_N_Actl : 7|13@0+ (2.0,0) [0|0] "rpm" XXX + SG_ Veh_V_ActlEng : 23|16@0+ (0.01,0) [0|0] "kph" XXX + SG_ ApedPos_Pc_ActlArb : 39|10@0+ (0.1,0) [0|0] "%" XXX + SG_ ApedPosPcActl_D_Qf : 52|2@0+ (1,0) [0|0] "" XXX + SG_ Autostart_B_Stat : 50|1@0+ (1,0) [0|0] "" XXX + +BO_ 529 DesiredTorqBrk_CG1: 8 XXX + SG_ CmbbBrkDis_B_Actl : 56|1@0+ (1,0) [0|0] "" XXX + SG_ CMbbDeny_B_ActlBrk : 60|1@0+ (1,0) [0|0] "" XXX + SG_ RgenTqLimActv_B_Actl : 32|1@0+ (1,0) [0|0] "" XXX + SG_ CcDis_B_Cmd : 53|1@0+ (1,0) [0|0] "" XXX + SG_ TrlrBrk_Pc_Rq : 39|7@0+ (1,0) [0|0] "%" XXX + SG_ RearDiffLck_Tq_RqMx : 23|12@0+ (1,0) [0|0] "Nm" XXX + SG_ VehLongOvrGnd_A_Est : 47|10@0+ (0.035,-17.9) [0|0] "m/s^2" XXX + SG_ StabCtlBrkActv_B_Actl : 27|1@0+ (1,0) [0|0] "" XXX + SG_ CmbbBrkPrchg_B_Actl : 59|1@0+ (1,0) [0|0] "" XXX + SG_ CmbbBrkDecel_B_Actl : 58|1@0+ (1,0) [0|0] "" XXX + SG_ CmbbBaSensInc_B_Actl : 57|1@0+ (1,0) [0|0] "" XXX + SG_ AccBrkWarm_B_Actl : 63|1@0+ (1,0) [0|0] "" XXX + SG_ AccBrkTotTqMn_B_Actl : 62|1@0+ (1,0) [0|0] "" XXX + SG_ AccBrkPrchgActv_B_Actl : 61|1@0+ (1,0) [0|0] "" XXX + SG_ AccBrkDis_B_Actl : 50|1@0+ (1,0) [0|0] "" XXX + SG_ AccBrkDeny_B_Actl : 49|1@0+ (1,0) [0|0] "" XXX + SG_ AccBrkActv_B_Actl : 48|1@0+ (1,0) [0|0] "" XXX + SG_ PrplDrgCtlActv_B_Actl : 52|1@0+ (1,0) [0|0] "" XXX + SG_ PrplWhlTot_Tq_RqMx : 7|16@0+ (4.0,-131072.0) [0|0] "Nm" XXX + SG_ AbsActv_B_Actl : 51|1@0+ (1,0) [0|0] "" XXX + +BO_ 533 WheelSpeed_CG1: 8 XXX + SG_ WhlRr_W_Meas : 55|15@0+ (0.01,0) [0|0] "rad/s" XXX + SG_ WhlRl_W_Meas : 39|15@0+ (0.01,0) [0|0] "rad/s" XXX + SG_ WhlFr_W_Meas : 23|15@0+ (0.01,0) [0|0] "rad/s" XXX + SG_ WhlFl_W_Meas : 7|15@0+ (0.01,0) [0|0] "rad/s" XXX + +BO_ 534 WheelData: 8 XXX + SG_ WhlRotatRr_No_Cnt : 23|8@0+ (1,0) [0|0] "" XXX + SG_ WhlDirRr_D_Actl : 33|2@0+ (1,0) [0|0] "" XXX + SG_ WhlDirRl_D_Actl : 39|2@0+ (1,0) [0|0] "" XXX + SG_ WhlDirFr_D_Actl : 37|2@0+ (1,0) [0|0] "" XXX + SG_ WhlDirFl_D_Actl : 35|2@0+ (1,0) [0|0] "" XXX + SG_ WhlRotatRl_No_Cnt : 31|8@0+ (1,0) [0|0] "" XXX + SG_ WhlRotatFr_No_Cnt : 7|8@0+ (1,0) [0|0] "" XXX + SG_ WhlRotatFl_No_Cnt : 15|8@0+ (1,0) [0|0] "" XXX + SG_ WHEEL_ROLLING_TIMESTAMP : 47|8@0+ (1,0) [0|0] "" XXX + +BO_ 557 InfoCAN_22D: 8 XXX + SG_ Multimedia_System : 7|1@0+ (1,0) [0|0] "" XXX + +BO_ 560 TransGearData: 8 XXX + SG_ TrnIpcDsplyRng_D_Actl : 14|3@0+ (1,0) [0|0] "" XXX + SG_ TrnGbox_Rt_Actl : 47|16@0+ (0.001,0) [0|0] "" XXX + SG_ TrnShifMde_D_RqDrv : 3|3@0+ (1,0) [0|0] "" XXX + SG_ TrnSrvcRqd_B_Rq : 63|1@0+ (1,0) [0|0] "" XXX + SG_ GearPos_D_Trg : 7|4@0+ (1,0) [0|0] "" XXX + SG_ TrnCnvtClu_D_Actl : 11|2@0+ (1,0) [0|0] "" XXX + SG_ TrnShifActv_B_Actl : 0|1@0+ (1,0) [0|0] "" XXX + SG_ RtmTerrMdeChng_D_Rdy : 58|3@0+ (1,0) [0|0] "" XXX + SG_ RtmTerrMde_D_Actl : 61|3@0+ (1,0) [0|0] "" XXX + SG_ GearRvrseActv_B_Actl : 62|1@0+ (1,0) [0|0] "" XXX + SG_ GearLvrPos_D_Actl : 23|4@0+ (1,0) [0|0] "" XXX + SG_ GboxOil_Te_Actl : 31|8@0+ (1,-60.0) [0|0] "degC" XXX + +BO_ 561 TransGearData_2: 8 XXX + SG_ MtrGen1Aout_Tq_Rq : 53|14@0+ (0.1,-800.0) [0|0] "Nm" XXX + SG_ MtrGen1AoutTqRq_No_Cs : 7|8@0+ (1,0) [0|0] "" XXX + SG_ MtrGen1AoutTqRq_No_Cnt : 15|4@0+ (1,0) [0|0] "" XXX + SG_ CoolFanTrn_D_Rq : 31|5@0+ (1,0) [0|0] "" XXX + SG_ TrnMsgTxt_D_Rq : 39|4@0+ (1,0) [0|0] "" XXX + SG_ TrnMil_D_Rq : 26|2@0+ (1,0) [0|0] "" XXX + SG_ EngExhBrkTq_Pc_Rq : 23|7@0+ (1,0) [0|0] "%" XXX + +BO_ 562 TransGearData_3_CG1: 8 XXX + SG_ TrnPto_D_Rdy : 12|2@0+ (1,0) [0|0] "" XXX + SG_ TipInMgrInhbt_B_RqTrn : 41|1@0+ (1,0) [0|0] "" XXX + SG_ TrnAinIdl_Tq_Actl : 39|11@0+ (1,-500.0) [0|0] "Nm" XXX + SG_ TrnAinLss_Tq_Est : 7|11@0+ (1,-500.0) [0|0] "Nm" XXX + SG_ TrnAin_Tq_RqSlwMn : 23|11@0+ (1,-500.0) [0|0] "Nm" XXX + SG_ GearEngag_D_Actl : 10|3@0+ (1,0) [0|0] "" XXX + SG_ TrnAinTqDtrb_B_Rq : 40|1@0+ (1,0) [0|0] "" XXX + SG_ TrnTotLss_Tq_Actl : 55|8@0+ (0.5,0) [0|0] "Nm" XXX + +BO_ 563 TransGearData_4_CG1: 8 XXX + SG_ TrnAinCtlN_N_RqMn : 20|13@0+ (2.0,0) [0|0] "rpm" XXX + SG_ TrnAinTqMn_No_Cs : 63|8@0+ (1,0) [0|0] "" XXX + SG_ TrnAinTqMn_No_Cnt : 11|4@0+ (1,0) [0|0] "" XXX + SG_ TrnAinRq_Pc_SpcPdl : 7|10@0+ (0.1,0) [0|0] "%" XXX + SG_ TrnAin_Tq_RqFstMn : 42|11@0+ (1,-500.0) [0|0] "Nm" XXX + SG_ TrnAin_N_SpcEng : 39|13@0+ (2.0,0) [0|0] "rpm" XXX + +BO_ 570 Suspension_Stat: 8 XXX + SG_ CcdMsgTxt_D_RqDsply : 7|4@0+ (1,0) [0|0] "" XXX + SG_ SuspRear_L_Prev : 48|9@0+ (0.782779,-200.0) [0|0] "millimeter" XXX + SG_ SuspRear_L_Actl : 32|9@0+ (0.782779,-200.0) [0|0] "millimeter" XXX + SG_ SuspFrnt_L_Prev : 16|9@0+ (0.782779,-200.0) [0|0] "millimeter" XXX + SG_ SuspFrnt_L_Actl : 0|9@0+ (0.782779,-200.0) [0|0] "millimeter" XXX + +BO_ 571 ColumnLockData: 8 XXX + SG_ SteWhlLckMsgTxt_D_Rq : 7|2@0+ (1,0) [0|0] "" XXX + +BO_ 576 Body_Information_4_CG1: 8 XXX + SG_ HvacRec_Pc_Est_UB : 51|1@0+ (1,0) [0|0] "" XXX + SG_ HvacRec_Pc_Est : 38|7@0+ (1,0) [0|0] "%" XXX + SG_ HvacEngIdleInc_B_Rq_UB : 49|1@0+ (1,0) [0|0] "" XXX + SG_ HvacEngIdleInc_B_Rq : 53|1@0+ (1,0) [0|0] "" XXX + SG_ HvacAir_Flw_Est_UB : 52|1@0+ (1,0) [0|0] "" XXX + SG_ HvacAir_Flw_Est : 31|9@0+ (0.5,0) [0|0] "liter/second" XXX + SG_ AmbTempImpr_UB : 50|1@0+ (1,0) [0|0] "" XXX + SG_ AmbTempImpr : 47|10@0+ (0.25,-128.0) [0|0] "degreesC" XXX + SG_ DriverCrankingReq : 16|1@0+ (1,0) [0|0] "" XXX + SG_ Fcw_B_DenyMntr : 23|1@0+ (1,0) [0|0] "" XXX + SG_ EngOff_T_Actl : 7|16@0+ (1,0) [0|0] "seconds" XXX + SG_ CmbbMntr_B_Err : 22|1@0+ (1,0) [0|0] "" XXX + SG_ CmbbDeny_B_RqMntr : 21|1@0+ (1,0) [0|0] "" XXX + SG_ AccMntr_B_Err : 20|1@0+ (1,0) [0|0] "" XXX + SG_ AccDeny_B_RqMntr : 19|1@0+ (1,0) [0|0] "" XXX + +BO_ 592 EONV_Status: 8 XXX + SG_ EONV_FAULT : 59|1@0+ (1,0) [0|0] "" XXX + SG_ EONV_KAL_IC_RQST : 53|1@0+ (1,0) [0|0] "" XXX + SG_ EONV_T_STATUS : 61|2@0+ (1,0) [0|0] "" XXX + SG_ EONV_VREF_FLT : 62|1@0+ (1,0) [0|0] "" XXX + SG_ EONV_VBATT_FLT : 63|1@0+ (1,0) [0|0] "" XXX + SG_ EONV_CANISTER_VENT_FLT : 54|1@0+ (1,0) [0|0] "" XXX + SG_ EONV_CVS_CLOSED : 55|1@0+ (1,0) [0|0] "" XXX + SG_ EONV_BATT_VOLT : 23|16@0+ (0.0009765625,0) [0|0] "volts" XXX + SG_ EONV_TANK_FLT : 48|1@0+ (1,0) [0|0] "" XXX + SG_ EONV_TANK_PRESS : 7|16@0+ (0.001953125,-64.0) [0|0] "inches H2O" XXX + +BO_ 597 EONV_Control: 8 XXX + SG_ EONV_POS_DET_THRESHOLD : 23|16@0+ (0.001953125,-64.0) [0|0] "inches H2O" XXX + SG_ EONV_STAY_ALIVE : 15|1@0+ (1,0) [0|0] "" XXX + SG_ EONV_CVS_MODE : 7|3@0+ (1,0) [0|0] "" XXX + SG_ EONV_NEG_DET_THRESHOLD : 39|16@0+ (0.001953125,-64.0) [0|0] "inches H2O" XXX + SG_ EONV_MIL_ON : 14|1@0+ (1,0) [0|0] "" XXX + SG_ EonvMsgTxOff_B_Rq : 4|1@0+ (1,0) [0|0] "" XXX + +BO_ 608 Information4x4_CG1: 8 XXX + SG_ AwdRngeShifActv_B_Actl : 0|1@0+ (1,0) [0|0] "" XXX + SG_ TrnAout_Tq_RqMx : 47|13@0+ (1,-1250.0) [0|0] "Nm" XXX + SG_ AwdRngeFalt_D_Stat : 4|2@0+ (1,0) [0|0] "" XXX + SG_ AwdLck_Tq_Actl : 15|12@0+ (1,0) [0|0] "Nm" XXX + SG_ AwdRnge_D_Actl : 7|3@0+ (1,0) [0|0] "" XXX + SG_ AwdTerrMdeChng_D_Rdy : 50|3@0+ (1,0) [0|0] "" XXX + SG_ AwdTerrMde_D_Actl : 58|3@0+ (1,0) [0|0] "" XXX + SG_ AwdOffRoadMode_D_Stats : 25|2@0+ (1,0) [0|0] "" XXX + SG_ AwdStat_D_RqDsply : 63|5@0+ (1,0) [0|0] "" XXX + SG_ AwdLoLamp_D_RqDsply : 35|2@0+ (1,0) [0|0] "" XXX + SG_ AwdHiLamp_D_RqDsply : 19|2@0+ (1,0) [0|0] "" XXX + SG_ AwdAutoLamp_D_RqDsply : 17|2@0+ (1,0) [0|0] "" XXX + SG_ AwdLckLamp_D_RqDsply : 27|2@0+ (1,0) [0|0] "" XXX + SG_ AwdLck_D_Stat : 31|4@0+ (1,0) [0|0] "" XXX + SG_ Awd2wdLamp_D_RqDsply : 2|2@0+ (1,0) [0|0] "" XXX + +BO_ 609 AWD_4x4_Data: 8 XXX + SG_ AwdLck_Tq_Rq : 27|12@0+ (1,0) [0|0] "Nm" XXX + SG_ AwdSrvcRqd_B_Rq : 44|1@0+ (1,0) [0|0] "" XXX + +BO_ 613 PassengerSeatOCSInfo: 8 XXX + SG_ VehicleMYCalibrationId : 39|8@0+ (1,0) [0|0] "" XXX + SG_ VehicleCalibrationId : 31|8@0+ (1,0) [0|0] "" XXX + SG_ OCSSensrDataUpperLim : 15|8@0+ (1,0) [0|0] "" XXX + SG_ OCSSensrDataLowerLim : 23|8@0+ (1,0) [0|0] "" XXX + SG_ OCSLevel2Error : 0|1@0+ (1,0) [0|0] "" XXX + SG_ ObjectEntrapped : 2|1@0+ (1,0) [0|0] "" XXX + SG_ OCSLevel1Error : 7|1@0+ (1,0) [0|0] "" XXX + +BO_ 736 FCIM_Button_Press_HS: 8 XXX + SG_ FCIM_Target_ID : 13|4@0+ (1,0) [0|0] "" XXX + SG_ FCIM_Button_Type : 7|8@0+ (1,0) [0|0] "" XXX + SG_ FCIM_Button_State : 15|2@0+ (1,0) [0|0] "" XXX + SG_ FCIM_Target_ID_UB : 23|1@0+ (1,0) [0|0] "" XXX + SG_ FCIM_Button_Type_UB : 9|1@0+ (1,0) [0|0] "" XXX + SG_ FCIM_Button_State_UB : 8|1@0+ (1,0) [0|0] "" XXX + +BO_ 806 Compressor_Req_HS: 8 XXX + SG_ HvacEvap_Te_Rq : 33|10@0+ (0.125,-50.0) [0|0] "Degrees C" XXX + SG_ HvacEvap_Te_Actl : 17|10@0+ (0.125,-50.0) [0|0] "Degrees C" XXX + SG_ HvacAirCond_B_Rq : 7|1@0+ (1,0) [0|0] "" XXX + SG_ HvacEvap_Te_Offst : 1|10@0+ (0.125,-50.0) [0|0] "Degrees C" XXX + +BO_ 832 RCMStatusMessage: 8 XXX + SG_ eCallNotification : 2|2@0+ (1,0) [0|0] "" XXX + SG_ CrashNotification : 5|1@0+ (1,0) [0|0] "" XXX + SG_ ThirdRowBucklePsngr : 57|2@0+ (1,0) [0|0] "" XXX + SG_ ThirdRowBuckleMid : 59|2@0+ (1,0) [0|0] "" XXX + SG_ ThirdRowBuckleDriver : 61|2@0+ (1,0) [0|0] "" XXX + SG_ SecondRowBucklePsngr : 63|2@0+ (1,0) [0|0] "" XXX + SG_ SecondRowBuckleMid : 49|2@0+ (1,0) [0|0] "" XXX + SG_ SecondRowBuckleDriver : 51|2@0+ (1,0) [0|0] "" XXX + SG_ FirstRowBuckleDriver : 55|2@0+ (1,0) [0|0] "" XXX + SG_ RstrnTotalEvntCnt : 43|4@0+ (1,0) [0|0] "" XXX + SG_ RstrnCurrentEvntCnt : 39|8@0+ (1,0) [0|0] "" XXX + SG_ RILReq : 15|2@0+ (1,0) [0|0] "" XXX + SG_ FuelCutoffReq : 13|4@0+ (1,0) [0|0] "" XXX + SG_ SeatbeltIndicatorReq : 9|1@0+ (1,0) [0|0] "" XXX + SG_ SeatbeltChimeReq : 8|1@0+ (1,0) [0|0] "" XXX + SG_ BeltMinderProgConfReq : 21|2@0+ (1,0) [0|0] "" XXX + SG_ BeltMinderLevelReq : 19|4@0+ (1,0) [0|0] "" XXX + SG_ FirstRowBucklePsngr : 53|2@0+ (1,0) [0|0] "" XXX + SG_ InfoLampReq : 29|1@0+ (1,0) [0|0] "" XXX + SG_ GenRedLampReq : 28|1@0+ (1,0) [0|0] "" XXX + SG_ RstrnTextMsgReq : 27|2@0+ (1,0) [0|0] "" XXX + SG_ OCSSerialNumRcvd : 3|1@0+ (1,0) [0|0] "" XXX + SG_ RstrnStatDeployEnbld : 6|1@0+ (1,0) [0|0] "" XXX + SG_ RstrnImpactEvntStatus : 46|3@0+ (1,0) [0|0] "" XXX + SG_ PassRstrnInd_Req : 25|2@0+ (1,0) [0|0] "" XXX + SG_ RstrnStatTrigEvnt : 7|1@0+ (1,0) [0|0] "" XXX + SG_ PsngrFrntDetct_D_Actl : 31|2@0+ (1,0) [0|0] "" XXX + SG_ Beltminder_Warn_Stats : 22|1@0+ (1,0) [0|0] "" XXX + SG_ EDRTriggerEvntSync : 47|1@0+ (1,0) [0|0] "" XXX + +BO_ 842 MassageSeat_Data1_HS: 8 XXX + SG_ SeatLmbrUpDrv_Pc_Actl : 38|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatLmbrMidDrv_Pc_Actl : 30|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatLmbrLoDrv_Pc_Actl : 22|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatBlUpDrv_Pc_Actl : 14|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatBlLoDrv_Pc_Actl : 6|7@0+ (1,0) [0|0] "%" XXX + +BO_ 843 MassageSeat_Data2_HS: 8 XXX + SG_ SeatLmbrUpPsgr_Pc_Actl : 38|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatLmbrMidPsgr_Pc_Actl : 30|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatLmbrLoPsgr_Pc_Actl : 22|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatBlUpPsgr_Pc_Actl : 14|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatBlLoPsgr_Pc_Actl : 6|7@0+ (1,0) [0|0] "%" XXX + +BO_ 844 MassageSeat_Stat1_HS: 8 XXX + SG_ StmsLmbrDrv_D_Stat : 17|2@0+ (1,0) [0|0] "" XXX + SG_ StmsCshnDrv_D_Stat : 19|2@0+ (1,0) [0|0] "" XXX + SG_ SeatSwtchDrv_B_Stat : 31|1@0+ (1,0) [0|0] "" XXX + SG_ SeatFnDrv_D_Stat : 23|3@0+ (1,0) [0|0] "" XXX + SG_ SeatAirAmb_P_Actl : 7|16@0+ (0.01,0) [0|0] "KiloPascal" XXX + SG_ SeatPDrv_B_Stat : 20|1@0+ (1,0) [0|0] "" XXX + +BO_ 845 MassageSeat_Stat2_HS: 8 XXX + SG_ StmsLmbrPsgr_D_Stat : 15|2@0+ (1,0) [0|0] "" XXX + SG_ StmsCshnPsgr_D_Stat : 13|2@0+ (1,0) [0|0] "" XXX + SG_ SeatSwtchPsgr_B_Stat : 11|1@0+ (1,0) [0|0] "" XXX + SG_ SeatPPsgr_B_Stat : 7|1@0+ (1,0) [0|0] "" XXX + SG_ SeatFnPsgr_D_Stat : 6|3@0+ (1,0) [0|0] "" XXX + SG_ PsgrMemFeedback_Rsp : 3|4@0+ (1,0) [0|0] "" XXX + +BO_ 846 MassageSeat_Req: 8 XXX + SG_ SeatFnPsgr_D_Rq : 15|3@0+ (1,0) [0|0] "" XXX + SG_ SeatFnDrv_D_Rq : 12|3@0+ (1,0) [0|0] "" XXX + SG_ SeatFnDfaltPsgr_B_Rq : 9|1@0+ (1,0) [0|0] "" XXX + SG_ SeatFnDfaltDrv_B_Rq : 8|1@0+ (1,0) [0|0] "" XXX + SG_ SeatFnChngPsgr_D_Rq : 7|2@0+ (1,0) [0|0] "" XXX + SG_ SeatFnChngDrv_D_Rq : 5|2@0+ (1,0) [0|0] "" XXX + SG_ PsgrMemory_Rq : 3|4@0+ (1,0) [0|0] "" XXX + +BO_ 848 RestraintsData: 8 XXX + SG_ PassRstrnInd_Stat_UB : 9|1@0+ (1,0) [0|0] "" XXX + SG_ SeatBltWrnChmeStat : 1|1@0+ (1,0) [0|0] "" XXX + SG_ Seatbelt_IndctrStat : 4|3@0+ (1,0) [0|0] "" XXX + SG_ RILStat : 7|2@0+ (1,0) [0|0] "" XXX + SG_ PassRstrnInd_Stat : 15|4@0+ (1,0) [0|0] "" XXX + +BO_ 849 MassageSeat_Data3_HS: 8 XXX + SG_ SeatCshnDrvRR_Pc_Actl : 30|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatCshnDrvRL_Pc_Actl : 22|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatCshnDrvFR_Pc_Actl : 14|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatCshnDrvFL_Pc_Actl : 6|7@0+ (1,0) [0|0] "%" XXX + +BO_ 850 MassageSeat_Data4_HS: 8 XXX + SG_ SeatCshnPsgrRR_Pc_Actl : 30|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatCshnPsgrRL_Pc_Actl : 22|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatCshnPsgrFR_Pc_Actl : 14|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatCshnPsgrFL_Pc_Actl : 6|7@0+ (1,0) [0|0] "%" XXX + +BO_ 853 EFP_CC_Status: 8 XXX + SG_ Save_My_Temp : 59|1@0+ (1,0) [0|0] "" XXX + SG_ Front_Left_Temp_Setpt : 31|8@0+ (1,0) [0|0] "Mixed" XXX + SG_ RrDefrost_HtdMirrorReq : 60|1@0+ (1,0) [0|0] "" XXX + SG_ Rear_Control_Status : 16|1@0+ (1,0) [0|0] "" XXX + SG_ MultipleButtonPressReq : 63|3@0+ (1,0) [0|0] "" XXX + SG_ Rear_System_Mode_Req : 19|3@0+ (1,0) [0|0] "" XXX + SG_ Rear_Left_Temp_Setpt : 47|8@0+ (1,0) [0|0] "Mixed" XXX + SG_ Recirc_Request : 23|2@0+ (1,0) [0|0] "" XXX + SG_ Front_Rt_Temp_Setpt : 39|8@0+ (1,0) [0|0] "Mixed" XXX + SG_ AC_Request : 21|2@0+ (1,0) [0|0] "" XXX + SG_ Windshield_ModeRequest : 15|4@0+ (8.33,0) [0|0] "%" XXX + SG_ Panel_Mode_Request : 7|4@0+ (8.33,0) [0|0] "%" XXX + SG_ Overriding_ModeReq : 10|3@0+ (1,0) [0|0] "" XXX + SG_ Forced_Recirc_Req : 11|1@0+ (1,0) [0|0] "" XXX + SG_ Floor_Mode_Request : 3|4@0+ (8.33,0) [0|0] "%" XXX + SG_ Rear_Right_Temp_Setpt : 55|8@0+ (1,0) [0|0] "Mixed" XXX + +BO_ 854 EFP_CC_Seat_Req_Stat: 8 XXX + SG_ Front_Rear_Blower_Req : 31|6@0+ (1,0) [0|0] "Detents" XXX + SG_ Pass_Rr_Cond_Seat_Req : 21|2@0+ (1,0) [0|0] "" XXX + SG_ Pass_Rr_Cond_Seat_Lvl : 8|3@0+ (1,0) [0|0] "" XXX + SG_ Pass_Fr_Cond_Seat_Req : 13|2@0+ (1,0) [0|0] "" XXX + SG_ Pass_Fr_Cond_Seat_Lvl : 11|3@0+ (1,0) [0|0] "" XXX + SG_ Drvr_Rr_Cond_Seat_Req : 15|2@0+ (1,0) [0|0] "" XXX + SG_ Drvr_Rr_Cond_Seat_Lvl : 2|3@0+ (1,0) [0|0] "" XXX + SG_ Drvr_Fr_Cond_Seat_Req : 7|2@0+ (1,0) [0|0] "" XXX + SG_ Drvr_Fr_Cond_Seat_Lvl : 5|3@0+ (1,0) [0|0] "" XXX + +BO_ 855 RCCM_CC_Status_HS: 8 XXX + SG_ RrBlwrCondStLdShedStat : 25|2@0+ (1,0) [0|0] "" XXX + SG_ FrBlwrCondStLdShedStat : 20|2@0+ (1,0) [0|0] "" XXX + SG_ RCCM_Rr_Rt_TempSetpt : 63|8@0+ (1,0) [0|0] "Mixed" XXX + SG_ RCCM_Rr_Left_TempSetpt : 55|8@0+ (1,0) [0|0] "Mixed" XXX + SG_ RCCM_Fr_Rt_TempSetpt : 47|8@0+ (1,0) [0|0] "Mixed" XXX + SG_ RCCM_Fr_Rr_Blower_Req : 31|6@0+ (1,0) [0|0] "Detents" XXX + SG_ Panel_Mode_State : 7|4@0+ (8.33,0) [0|0] "%" XXX + SG_ RrDefHtdMirrLdShedStat : 18|2@0+ (1,0) [0|0] "" XXX + SG_ Windshield_Mode_State : 15|4@0+ (8.33,0) [0|0] "%" XXX + SG_ Recirc_Door_State : 11|2@0+ (1,0) [0|0] "" XXX + SG_ Rear_System_Mode_State : 23|3@0+ (1,0) [0|0] "" XXX + SG_ Default_Defrost_State : 9|1@0+ (1,0) [0|0] "" XXX + SG_ Auto_AC_Indicator_Temp : 16|1@0+ (1,0) [0|0] "" XXX + SG_ Floor_Mode_State : 3|4@0+ (8.33,0) [0|0] "%" XXX + SG_ RCCM_Fr_Left_TempSetpt : 39|8@0+ (1,0) [0|0] "Mixed" XXX + SG_ RrDefrost_HtdMirrState : 8|1@0+ (1,0) [0|0] "" XXX + +BO_ 856 RCCM_CC_Seat_Status_HS: 8 XXX + SG_ Active_My_Temp : 2|1@0+ (1,0) [0|0] "" XXX + SG_ CC_HtdStrWhl_Req : 24|1@0+ (1,0) [0|0] "" XXX + SG_ RCCM_PR_Cond_Seat_Lvl : 31|3@0+ (1,0) [0|0] "" XXX + SG_ RCCM_PR_Cond_Seat_Req : 28|2@0+ (1,0) [0|0] "" XXX + SG_ RCCM_PF_Cond_Seat_Req : 20|2@0+ (1,0) [0|0] "" XXX + SG_ RCCM_PF_Cond_Seat_Lvl : 23|3@0+ (1,0) [0|0] "" XXX + SG_ RCCM_DR_Cond_Seat_Req : 12|2@0+ (1,0) [0|0] "" XXX + SG_ RCCM_DR_Cond_Seat_Lvl : 15|3@0+ (1,0) [0|0] "" XXX + SG_ RCCM_DF_Cond_Seat_Req : 4|2@0+ (1,0) [0|0] "" XXX + SG_ RCCM_DF_Cond_Seat_Lvl : 7|3@0+ (1,0) [0|0] "" XXX + SG_ PassRrCondStLdShedStat : 26|2@0+ (1,0) [0|0] "" XXX + SG_ PassFrCondStLdShedStat : 18|2@0+ (1,0) [0|0] "" XXX + SG_ DrvRrCondStLdShedStat : 10|2@0+ (1,0) [0|0] "" XXX + SG_ DrvFrCondStLdShedStat : 1|2@0+ (1,0) [0|0] "" XXX + +BO_ 857 RCCM_CC_MBP_Press_Stat_HS: 8 XXX + SG_ MultBtnPushDsplyPass10 : 23|8@0+ (1,0) [0|0] "" XXX + SG_ MultBtnPushDsplyPass1 : 31|8@0+ (1,0) [0|0] "" XXX + SG_ Report_Active : 33|2@0+ (1,0) [0|0] "" XXX + SG_ Pass_Temp_Units : 35|1@0+ (1,0) [0|0] "" XXX + SG_ Front_Fan_Bars_Disply : 39|3@0+ (1,0) [0|0] "" XXX + SG_ Drvr_Temp_Units : 36|1@0+ (1,0) [0|0] "" XXX + SG_ MultBtnPushDsplyDrvr10 : 7|8@0+ (1,0) [0|0] "" XXX + SG_ MultBtnPushDsplyDrvr1 : 15|8@0+ (1,0) [0|0] "" XXX + +BO_ 859 MFD_CC_Status_HS: 8 XXX + SG_ Rear_Mode_Bttn_Status : 38|1@0+ (1,0) [0|0] "" XXX + SG_ ConditionSt_ButtonStat : 20|5@0+ (1,0) [0|0] "" XXX + SG_ Driver_Set_Temp : 31|8@0+ (0.5,0) [0|0] "Degrees" XXX + SG_ Frt_System_Button_Stat : 7|5@0+ (1,0) [0|0] "" XXX + SG_ Rear_Blower_Bar_Status : 2|3@0+ (1,0) [0|0] "# of Bars" XXX + SG_ Rear_Fan_Button_Status : 13|2@0+ (1,0) [0|0] "" XXX + SG_ Rear_Man_Temp_Bar_Stat : 11|4@0+ (1,0) [0|0] "" XXX + SG_ Rear_Temp_Button_Status : 23|2@0+ (1,0) [0|0] "" XXX + SG_ Voice_Blower_Limit : 21|1@0+ (1,0) [0|0] "" XXX + +BO_ 860 EFP_CC_Info_Status: 8 XXX + SG_ Rear_Panel_Btn_State : 41|1@0+ (1,0) [0|0] "" XXX + SG_ Rear_Floor_Btn_State : 40|1@0+ (1,0) [0|0] "" XXX + SG_ HtdStrWhl_SftBtt_Stt : 39|2@0+ (1,0) [0|0] "" XXX + SG_ AC_Sft_Button_State : 23|2@0+ (1,0) [0|0] "" XXX + SG_ DrvRrCondSeatSftBttnSt : 47|3@0+ (1,0) [0|0] "" XXX + SG_ DrvFrCondSeatSftBtnStt : 37|3@0+ (1,0) [0|0] "" XXX + SG_ CC_RecircSBtn_St : 27|2@0+ (1,0) [0|0] "" XXX + SG_ CC_RrDefrSBtn_St : 24|1@0+ (1,0) [0|0] "" XXX + SG_ PasRrCondSeatSftBttnSt : 44|3@0+ (1,0) [0|0] "" XXX + SG_ PasFrCondSeatSftBtnStt : 34|3@0+ (1,0) [0|0] "" XXX + SG_ MyTemp_Soft_Bttn_State : 25|1@0+ (1,0) [0|0] "" XXX + SG_ CC_MaxACSBtn_St : 28|1@0+ (1,0) [0|0] "" XXX + SG_ RearPowerButtonState : 16|1@0+ (1,0) [0|0] "" XXX + SG_ RearCoolBarsDisplayed : 11|3@0+ (1,0) [0|0] "Bars_On" XXX + SG_ Rear_Sft_Control_Stat : 7|2@0+ (1,0) [0|0] "" XXX + SG_ CC_RrNeutralBarDsp_St : 8|1@0+ (1,0) [0|0] "" XXX + SG_ CC_RrHeatBarsDsp_St : 31|3@0+ (1,0) [0|0] "Bars_On" XXX + SG_ Rear_Fan_Bars_Displayed : 19|3@0+ (1,0) [0|0] "" XXX + SG_ CC_RrCtrlBtn_St : 20|1@0+ (1,0) [0|0] "" XXX + SG_ Rear_Auto_Button_State : 21|1@0+ (1,0) [0|0] "" XXX + SG_ CC_FrPowerSBtn_St : 14|1@0+ (1,0) [0|0] "" XXX + SG_ CC_FrDefrostSBtn_St : 15|1@0+ (1,0) [0|0] "" XXX + SG_ Front_AUTO_Soft_Btn_Stt : 13|1@0+ (1,0) [0|0] "" XXX + SG_ Front_AUTO_MODE_State : 1|1@0+ (1,0) [0|0] "" XXX + SG_ Front_AUTO_FAN_State : 0|1@0+ (1,0) [0|0] "" XXX + SG_ Dual_Button_State : 12|1@0+ (1,0) [0|0] "" XXX + SG_ CC_BarPnlSBtn_St : 5|1@0+ (1,0) [0|0] "" XXX + SG_ CC_BarPnFlrSBtn_St : 4|1@0+ (1,0) [0|0] "" XXX + SG_ CC_BarFlrWsSBtn_St : 2|1@0+ (1,0) [0|0] "" XXX + SG_ CC_BarDrvFlrSBtn_St : 3|1@0+ (1,0) [0|0] "" XXX + +BO_ 890 Active_Noise: 8 XXX + SG_ ANC_Chime_Supported : 4|2@0+ (1,0) [0|0] "" XXX + SG_ ActvNseAudio_D_Stat : 7|2@0+ (1,0) [0|0] "" XXX + SG_ ActvNse_B_Actv : 5|1@0+ (1,0) [0|0] "" XXX + +BO_ 891 Active_Noise_Data: 8 XXX + SG_ CabnSndAmb_Db_Actl : 7|8@0+ (1,30.0) [0|0] "decibel" XXX + +BO_ 906 Body_Information_1: 8 XXX + SG_ CcdMde_D_Rq_UB : 0|1@0+ (1,0) [0|0] "" XXX + SG_ CcdMde_D_Rq : 7|2@0+ (1,0) [0|0] "" XXX + SG_ CarMode : 5|4@0+ (1,0) [0|0] "" XXX + SG_ SecondaryHeater_Rqst : 55|1@0+ (1,0) [0|0] "" XXX + SG_ Passenger_Sunload_Raw : 47|8@0+ (5.0,0) [0|0] "W/m^2" XXX + SG_ Driver_Sunload_Raw : 39|8@0+ (5.0,0) [0|0] "W/m^2" XXX + SG_ HvacEvap_Te_Actl_UB : 1|1@0+ (1,0) [0|0] "" XXX + SG_ HvacEvap_Te_Actl : 17|10@0+ (0.125,-50.0) [0|0] "Degrees C" XXX + SG_ SecondaryHeater_Rqst_UB : 18|1@0+ (1,0) [0|0] "" XXX + SG_ Outside_Air_Temp_Stat_UB : 23|1@0+ (1,0) [0|0] "" XXX + SG_ Outside_Air_Temp_Stat : 15|8@0+ (0.5,-40.0) [0|0] "Degrees C" XXX + SG_ Veh_Lock_Status : 54|2@0+ (1,0) [0|0] "" XXX + SG_ Veh_Lock_Requestor : 52|5@0+ (1,0) [0|0] "" XXX + SG_ Veh_Lock_EvNum : 63|8@0+ (1,0) [0|0] "Counts" XXX + SG_ immoIndicatorCmd : 22|4@0+ (1,0) [0|0] "" XXX + +BO_ 909 Body_Information_6: 8 XXX + SG_ PEBackupSlot_Stats_UB : 43|1@0+ (1,0) [0|0] "" XXX + SG_ PEBackupSlot_Stats : 25|2@0+ (1,0) [0|0] "" XXX + SG_ KeyMykeyTot_No_Cnt : 47|4@0+ (1,0) [0|0] "Counts" XXX + SG_ SideDetect_R_SysOpState_UB : 26|1@0+ (1,0) [0|0] "" XXX + SG_ SideDetect_R_SysOpState : 28|2@0+ (1,0) [0|0] "" XXX + SG_ SideDetect_R_SnsrState_UB : 29|1@0+ (1,0) [0|0] "" XXX + SG_ SideDetect_R_SnsrState : 31|2@0+ (1,0) [0|0] "" XXX + SG_ SideDetect_L_SysOpState_UB : 16|1@0+ (1,0) [0|0] "" XXX + SG_ SideDetect_L_SysOpState : 18|2@0+ (1,0) [0|0] "" XXX + SG_ SideDetect_L_SnsrState_UB : 19|1@0+ (1,0) [0|0] "" XXX + SG_ SideDetect_L_SnsrState : 21|2@0+ (1,0) [0|0] "" XXX + SG_ Cross_Traffic_R_SnState_UB : 8|1@0+ (1,0) [0|0] "" XXX + SG_ Cross_Traffic_R_SnState : 23|2@0+ (1,0) [0|0] "" XXX + SG_ Cross_Traffic_R_Op_State_UB : 9|1@0+ (1,0) [0|0] "" XXX + SG_ Cross_Traffic_R_Op_State : 11|2@0+ (1,0) [0|0] "" XXX + SG_ Cross_Traffic_R_Alert_UB : 12|1@0+ (1,0) [0|0] "" XXX + SG_ Cross_Traffic_R_Alert : 14|2@0+ (1,0) [0|0] "" XXX + SG_ Cross_Traffic_L_SnState_UB : 15|1@0+ (1,0) [0|0] "" XXX + SG_ Cross_Traffic_L_SnState : 1|2@0+ (1,0) [0|0] "" XXX + SG_ Cross_Traffic_L_Op_State_UB : 2|1@0+ (1,0) [0|0] "" XXX + SG_ Cross_Traffic_L_Op_State : 4|2@0+ (1,0) [0|0] "" XXX + SG_ Cross_Traffic_L_Alert_UB : 5|1@0+ (1,0) [0|0] "" XXX + SG_ Cross_Traffic_L_Alert : 7|2@0+ (1,0) [0|0] "" XXX + SG_ IgnKeyType_D_Actl : 39|4@0+ (1,0) [0|0] "" XXX + SG_ KeyAdmnTot_No_Cnt : 35|4@0+ (1,0) [0|0] "Counts" XXX + +BO_ 936 ParkAid_Data: 8 XXX + SG_ SAPPErrorCoding : 23|8@0+ (1,0) [0|0] "" XXX + SG_ ExtSteeringAngleReq : 7|15@0+ (0.1,-1000.0) [0|0] "Degrees" XXX + SG_ EPASExtAngleStatReq : 8|1@0+ (1,0) [0|0] "" XXX + +BO_ 937 ParkAid_Range_to_Target: 8 XXX + SG_ RangeToClosestObstacle : 55|12@0+ (1,0) [0|0] "cm" XXX + SG_ RangeRearCornerRtSn : 35|12@0+ (1,0) [0|0] "cm" XXX + SG_ RangeRearCornerLeftSn : 31|12@0+ (1,0) [0|0] "cm" XXX + SG_ RangeRearCenterRtSn : 11|12@0+ (1,0) [0|0] "cm" XXX + SG_ RangeRearCenterLeftSn : 7|12@0+ (1,0) [0|0] "cm" XXX + +BO_ 939 ParkAid_Data_CG1: 8 XXX + SG_ EPASExtAngleStatReq : 7|1@0+ (1,0) [0|0] "" XXX + SG_ ExtSteeringAngleReq : 6|15@0+ (0.1,-1000.0) [0|0] "Degrees" XXX + SG_ SAPPErrorCoding : 23|8@0+ (1,0) [0|0] "" XXX + SG_ RangeToClosestObstacle : 27|12@0+ (1,0) [0|0] "cm" XXX + +BO_ 942 BodyInformation_2: 8 XXX + SG_ Easy_Entry_Exit_Stat : 14|2@0+ (1,0) [0|0] "" XXX + SG_ Memory_Feedback_Rqst : 15|1@0+ (1,0) [0|0] "" XXX + SG_ Delay_Accy : 41|1@0+ (1,0) [0|0] "" XXX + SG_ Fuel_Econ_AFE_Reset_Req_UB : 43|1@0+ (1,0) [0|0] "" XXX + SG_ Multimedia_System : 42|1@0+ (1,0) [0|0] "" XXX + SG_ DrStatDrv_B_Actl : 7|1@0+ (1,0) [0|0] "" XXX + SG_ DrStatHood_B_Actl : 6|1@0+ (1,0) [0|0] "" XXX + SG_ DrStatInnrTgate_B_Actl : 5|1@0+ (1,0) [0|0] "" XXX + SG_ DrStatPsngr_B_Actl : 4|1@0+ (1,0) [0|0] "" XXX + SG_ DrStatRl_B_Actl : 3|1@0+ (1,0) [0|0] "" XXX + SG_ DrStatRr_B_Actl : 2|1@0+ (1,0) [0|0] "" XXX + SG_ DrStatTgate_B_Actl : 1|1@0+ (1,0) [0|0] "" XXX + SG_ Fuel_Econ_AFE_Reset_Req : 0|1@0+ (1,0) [0|0] "" XXX + SG_ Nav_Unit_Setting : 11|1@0+ (1,0) [0|0] "" XXX + SG_ Cancel_Auto_Movement : 9|1@0+ (1,0) [0|0] "" XXX + SG_ Cancel_Auto_Movement_UB : 8|1@0+ (1,0) [0|0] "" XXX + SG_ DrvSeat_Stat : 34|3@0+ (1,0) [0|0] "" XXX + SG_ DrvSeat_Stat_UB : 10|1@0+ (1,0) [0|0] "" XXX + SG_ Easy_Entry_Rqst : 47|2@0+ (1,0) [0|0] "" XXX + SG_ Easy_Entry_Rqst_UB : 12|1@0+ (1,0) [0|0] "" XXX + SG_ Multimedia_System_UB : 40|1@0+ (1,0) [0|0] "" XXX + SG_ Memory_Cmd : 39|4@0+ (1,0) [0|0] "" XXX + SG_ Memory_Cmd_UB : 35|1@0+ (1,0) [0|0] "" XXX + SG_ Memory_Feedback_Rqst_UB : 45|1@0+ (1,0) [0|0] "" XXX + SG_ Decklid_Ajar_Status : 44|1@0+ (1,0) [0|0] "" XXX + +BO_ 947 BodyInformation_3: 8 XXX + SG_ RearFog_Lamp_Ind_UB : 49|1@0+ (1,0) [0|0] "" XXX + SG_ RearFog_Lamp_Ind : 50|1@0+ (1,0) [0|0] "" XXX + SG_ PwMdeExten_D_Actl : 63|5@0+ (1,0) [0|0] "" XXX + SG_ Turn_Ind_Cmd_Right : 8|1@0+ (1,0) [0|0] "" XXX + SG_ Turn_Ind_Cmd_Left : 9|1@0+ (1,0) [0|0] "" XXX + SG_ Ignition_Switch_Stable : 1|2@0+ (1,0) [0|0] "" XXX + SG_ Parklamp_Status : 3|2@0+ (1,0) [0|0] "" XXX + SG_ Litval : 47|8@0+ (1,0) [0|0] "" XXX + SG_ Key_In_Ignition_Stat : 11|2@0+ (1,0) [0|0] "" XXX + SG_ Ignition_Status : 7|4@0+ (1,0) [0|0] "" XXX + SG_ Dimming_Lvl : 31|8@0+ (1,0) [0|0] "" XXX + SG_ Day_Night_Status : 15|2@0+ (1,0) [0|0] "" XXX + SG_ Remote_Start_Status : 13|2@0+ (1,0) [0|0] "" XXX + SG_ DRV_SELECT_STAT : 19|4@0+ (1,0) [0|0] "" XXX + SG_ PrkBrkActv_B_Actl : 55|1@0+ (1,0) [0|0] "" XXX + SG_ HtdStrWhl_SftBtt_State_UB : 51|1@0+ (1,0) [0|0] "" XXX + SG_ HtdStrWhl_SftBtt_State : 53|2@0+ (1,0) [0|0] "" XXX + SG_ HvacRemoteStrt_N_Rq_UB : 56|1@0+ (1,0) [0|0] "" XXX + SG_ HvacRemoteStrt_N_Rq : 23|4@0+ (100.0,450.0) [0|0] "RPM" XXX + SG_ HvacAirCond_B_Rq_UB : 57|1@0+ (1,0) [0|0] "" XXX + SG_ Remote_Start_Warn_Req : 54|1@0+ (1,0) [0|0] "" XXX + SG_ HvacAirCond_B_Rq : 58|1@0+ (1,0) [0|0] "" XXX + +BO_ 948 Tire_Pressure_Status: 8 XXX + SG_ Tire_Press_ILR_Stat2 : 27|4@0+ (1,0) [0|0] "" XXX + SG_ Tire_Press_IRR_Stat2 : 31|4@0+ (1,0) [0|0] "" XXX + SG_ Tire_Press_LR_OLR_Stat2 : 19|4@0+ (1,0) [0|0] "" XXX + SG_ Tire_Press_RR_ORR_Stat2 : 23|4@0+ (1,0) [0|0] "" XXX + SG_ Tire_Press_RF_Stat2 : 11|4@0+ (1,0) [0|0] "" XXX + SG_ Tire_Press_LF_Stat2 : 15|4@0+ (1,0) [0|0] "" XXX + SG_ Tire_Press_System_Stat2 : 7|4@0+ (1,0) [0|0] "" XXX + SG_ Tire_Press_Telltale : 3|2@0+ (1,0) [0|0] "" XXX + +BO_ 949 Tire_Pressure_Data: 8 XXX + SG_ Tire_Press_RR_ORR_Data : 23|8@0+ (1,0) [0|0] "Psi" XXX + SG_ Tire_Press_RF_Data : 15|8@0+ (1,0) [0|0] "Psi" XXX + SG_ Tire_Press_LR_OLR_Data : 31|8@0+ (1,0) [0|0] "Psi" XXX + SG_ Tire_Press_IRR_Data : 39|8@0+ (1,0) [0|0] "Psi" XXX + SG_ Tire_Press_ILR_Data : 47|8@0+ (1,0) [0|0] "Psi" XXX + SG_ Tire_Press_LF_Data : 7|8@0+ (1,0) [0|0] "Psi" XXX + +BO_ 955 Smart_Headlamp_Stat: 8 XXX + SG_ Headlamp_Switch_Stat : 7|2@0+ (1,0) [0|0] "" XXX + SG_ Fog_Lamp_Dbnce : 5|2@0+ (1,0) [0|0] "" XXX + SG_ Digital_Dimmer_Sw_Stat : 3|3@0+ (1,0) [0|0] "" XXX + +BO_ 957 Rear_FogLamp: 8 XXX + SG_ RearFog_Lamp_Dbnce : 7|1@0+ (1,0) [0|0] "" XXX + +BO_ 963 BCM_to_HS_Body: 8 XXX + SG_ DrTgateChime_D_Rq_UB : 9|1@0+ (1,0) [0|0] "" XXX + SG_ DrTgateChime_D_Rq : 17|2@0+ (1,0) [0|0] "" XXX + SG_ CamraDefog_B_Actl : 4|1@0+ (1,0) [0|0] "" XXX + SG_ Reverse_Mirror_Stat : 61|2@0+ (1,0) [0|0] "" XXX + SG_ Power_Liftgate_Mode_Stat : 63|2@0+ (1,0) [0|0] "" XXX + SG_ IKT_Program_Status : 51|2@0+ (1,0) [0|0] "" XXX + SG_ Veh_Spd_Slow_Puddle_Status : 41|2@0+ (1,0) [0|0] "" XXX + SG_ Illuminated_Exit_Status : 43|2@0+ (1,0) [0|0] "" XXX + SG_ Illuminated_Entry_Status : 45|2@0+ (1,0) [0|0] "" XXX + SG_ Door_Courtesy_Light_Status : 47|2@0+ (1,0) [0|0] "" XXX + SG_ Courtesy_Demand_BSave_Stat : 33|2@0+ (1,0) [0|0] "" XXX + SG_ Alarm_Lights_Courtesy_Stat : 35|2@0+ (1,0) [0|0] "" XXX + SG_ Courtesy_Delay_Status : 37|2@0+ (1,0) [0|0] "" XXX + SG_ Courtesy_Mode_Status : 39|2@0+ (1,0) [0|0] "" XXX + SG_ Front_Fog_Light_SW_Status : 22|2@0+ (1,0) [0|0] "" XXX + SG_ Brake_Lamp_On_Status : 23|1@0+ (1,0) [0|0] "" XXX + SG_ LowBeam_CKT_CAN : 11|1@0+ (1,0) [0|0] "" XXX + SG_ ParkLamps_CKT_CAN : 8|1@0+ (1,0) [0|0] "" XXX + SG_ RF_Low_Beam_CKT_CAN : 13|1@0+ (1,0) [0|0] "" XXX + SG_ Brk_Fluid_Lvl_Low : 15|2@0+ (1,0) [0|0] "" XXX + SG_ LF_Low_Beam_CKT_CAN : 12|1@0+ (1,0) [0|0] "" XXX + SG_ High_Beam_Indicator_Rqst : 1|1@0+ (1,0) [0|0] "" XXX + SG_ Brake_Warn_Indicator_Rqst : 2|1@0+ (1,0) [0|0] "" XXX + SG_ Headlamp_On_Wrning_Cmd : 6|1@0+ (1,0) [0|0] "" XXX + SG_ Key_In_Ignition_Warn_Cmd : 5|1@0+ (1,0) [0|0] "" XXX + SG_ Fog_Lamps_Rly_Ckt_CAN : 10|1@0+ (1,0) [0|0] "" XXX + SG_ Power_Liftgate_Mode_Stat_UB : 18|1@0+ (1,0) [0|0] "" XXX + SG_ Reverse_Mirror_Stat_UB : 7|1@0+ (1,0) [0|0] "" XXX + SG_ Park_Brake_Chime_Rqst : 3|1@0+ (1,0) [0|0] "" XXX + SG_ Daytime_Running_Lamps : 0|1@0+ (1,0) [0|0] "" XXX + SG_ Running_Board_Stat_UB : 56|1@0+ (1,0) [0|0] "" XXX + SG_ Running_Board_Stat : 58|2@0+ (1,0) [0|0] "" XXX + SG_ Perimeter_Alarm_Chime_Rqst : 20|2@0+ (1,0) [0|0] "" XXX + +BO_ 967 CMPS_FDM_Info_Status: 8 XXX + SG_ CamraFrntStat_D_Stat : 41|2@0+ (1,0) [0|0] "" XXX + SG_ Zone_Icon_UB : 34|1@0+ (1,0) [0|0] "" XXX + SG_ GPS_Compass_direction : 47|4@0+ (1,0) [0|0] "" XXX + SG_ Segment_MSD_UB : 37|1@0+ (1,0) [0|0] "" XXX + SG_ Segment_LSD_UB : 36|1@0+ (1,0) [0|0] "" XXX + SG_ ExcessiveMagnetism : 32|1@0+ (1,0) [0|0] "" XXX + SG_ Compass_Display_UB : 35|1@0+ (1,0) [0|0] "" XXX + SG_ Segment_LSD : 15|8@0+ (1,0) [0|0] "" XXX + SG_ Segment_MSD : 7|8@0+ (1,0) [0|0] "" XXX + SG_ Cal_Icon : 21|1@0+ (1,0) [0|0] "" XXX + SG_ Zone_Icon : 22|1@0+ (1,0) [0|0] "" XXX + SG_ Compass_Display : 23|1@0+ (1,0) [0|0] "" XXX + SG_ Cal_Icon_UB : 33|1@0+ (1,0) [0|0] "" XXX + SG_ RearCameraDelayStat : 39|2@0+ (1,0) [0|0] "" XXX + SG_ CamraOvrlTow_D_Actl : 25|2@0+ (1,0) [0|0] "SE" XXX + SG_ CamZoomActiveState : 29|2@0+ (1,0) [0|0] "" XXX + SG_ CamraZoomMan_D_Actl : 18|3@0+ (1,0) [0|0] "" XXX + SG_ CamraOvrlStat_D_Actl : 27|2@0+ (1,0) [0|0] "" XXX + SG_ CamraOvrlDyn_D_Actl : 20|2@0+ (1,0) [0|0] "" XXX + SG_ CamPDCGuidStat : 31|2@0+ (1,0) [0|0] "" XXX + +BO_ 970 Lane_Assist_Data1: 8 XXX + SG_ LkaActvStats_D_Req : 7|3@0+ (1,0) [0|0] "" XXX + SG_ LdwActvStats_D_Req : 4|3@0+ (1,0) [0|0] "" XXX + SG_ LdwActvIntns_D_Req : 1|2@0+ (1,0) [0|0] "" XXX + +BO_ 971 Lane_Assist_Data2: 8 XXX + SG_ LaRefAng_No_Req : 19|12@0+ (0.05,-102.4) [0|0] "mrad" XXX + SG_ LaRampType_B_Req : 4|1@0+ (1,0) [0|0] "" XXX + SG_ LaCurvature_No_Calc : 3|12@0+ (5e-06,-0.01) [0|0] "1/m" XXX + +BO_ 972 Lane_Assist_Data3: 8 XXX + SG_ LaHandsOff_B_Actl : 7|1@0+ (1,0) [0|0] "" XXX + SG_ LaActDeny_B_Actl : 6|1@0+ (1,0) [0|0] "" XXX + SG_ LaActAvail_D_Actl : 5|2@0+ (1,0) [0|0] "" XXX + +BO_ 984 IPMA_Data: 8 XXX + SG_ LaSwtch_D_RqDrv : 45|1@0+ (1,0) [0|0] "" XXX + SG_ DasWarn_D_Dsply : 44|2@0+ (1,0) [0|0] "" XXX + SG_ DasStats_D_Dsply : 47|2@0+ (1,0) [0|0] "" XXX + SG_ DasAlrtLvl_D_Dsply : 55|3@0+ (1,0) [0|0] "" XXX + SG_ CamraStats_D_Dsply : 35|2@0+ (1,0) [0|0] "" XXX + SG_ CamraDefog_B_Req : 36|1@0+ (1,0) [0|0] "" XXX + SG_ LaSwtchStat_No_Actl : 63|1@0+ (1,0) [0|0] "" XXX + SG_ LaHandsOff_D_Dsply : 42|2@0+ (1,0) [0|0] "" XXX + SG_ LaDenyStats_B_Dsply : 40|1@0+ (1,0) [0|0] "" XXX + SG_ LaActvStats_D_Dsply : 52|5@0+ (1,0) [0|0] "" XXX + SG_ AhbcHiBeam_D_Rq : 33|2@0+ (1,0) [0|0] "" XXX + SG_ PersIndexIpma_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX + SG_ FeatNoIpmaActl : 23|16@0+ (1,0) [0|0] "Number" XXX + SG_ FeatConfigIpmaActl : 7|16@0+ (1,0) [0|0] "" XXX + +BO_ 986 Personality_APIM_Data3: 8 XXX + SG_ LightAmbIntSwtchInc_B : 22|1@0+ (1,0) [0|0] "" XXX + SG_ LightAmbIntSwtchDec_B : 21|1@0+ (1,0) [0|0] "" XXX + SG_ LightAmbIntsty_No_Rq : 15|8@0+ (1,0) [0|0] "% Intensity" XXX + SG_ LightAmbColor_No_Rq : 7|8@0+ (1,0) [0|0] "Color Index" XXX + SG_ LightAmbClrSwtchInc_B : 20|1@0+ (1,0) [0|0] "" XXX + SG_ LightAmbClrSwtchDec_B : 23|1@0+ (1,0) [0|0] "" XXX + +BO_ 991 Personality_VDM_Data: 8 XXX + SG_ PersIndexVdm_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX + SG_ FeatNoVdmActl : 23|16@0+ (1,0) [0|0] "Number" XXX + SG_ FeatConfigVdmActl : 7|16@0+ (1,0) [0|0] "" XXX + +BO_ 992 Personality_IPC_Data: 8 XXX + SG_ MsgCntrPersIndex_D_Rq : 39|3@0+ (1,0) [0|0] "" XXX + SG_ MsgCntrFeatConfigRq : 23|16@0+ (1,0) [0|0] "" XXX + SG_ MsgCntrFeatNoRq : 7|16@0+ (1,0) [0|0] "Number" XXX + SG_ MsgCntrDsplyOp_D_Rq : 36|3@0+ (1,0) [0|0] "" XXX + +BO_ 993 Personality_Data_HS: 8 XXX + SG_ PersSetupRestr_D_Actl : 21|2@0+ (1,0) [0|0] "" XXX + SG_ PersSetupAccessCtrl : 19|1@0+ (1,0) [0|0] "SES" XXX + SG_ PersSetup_No_Actl : 31|16@0+ (1,0) [0|0] "Number" XXX + SG_ PersConflict_D_Actl : 22|1@0+ (1,0) [0|0] "" XXX + SG_ AssocConfirm_D_Actl : 15|3@0+ (1,0) [0|0] "" XXX + SG_ RecallEvent_No_Cnt : 7|8@0+ (1,0) [0|0] "Counts" XXX + SG_ PersNo_D_Actl : 10|3@0+ (1,0) [0|0] "" XXX + SG_ PersStore_D_Actl_UB : 23|1@0+ (1,0) [0|0] "" XXX + SG_ PersStore_D_Actl : 12|2@0+ (1,0) [0|0] "" XXX + +BO_ 994 Personality_APIM_Data: 8 XXX + SG_ CamraOvrlTow_D_Rq : 42|1@0+ (1,0) [0|0] "" XXX + SG_ Pers4OptIn_B_Stats : 43|1@0+ (1,0) [0|0] "" XXX + SG_ Pers3OptIn_B_Stats : 33|1@0+ (1,0) [0|0] "" XXX + SG_ Pers2OptIn_B_Stats : 32|1@0+ (1,0) [0|0] "" XXX + SG_ Pers1OptIn_B_Stats : 44|1@0+ (1,0) [0|0] "" XXX + SG_ CtrStkPersIndex_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX + SG_ CtrStkFeatNoActl : 23|16@0+ (1,0) [0|0] "" XXX + SG_ PersStore_D_Rq : 36|3@0+ (1,0) [0|0] "" XXX + SG_ CtrStkFeatConfigActl : 7|16@0+ (1,0) [0|0] "" XXX + SG_ CtrStkDsplyOp_D_Rq : 47|3@0+ (1,0) [0|0] "" XXX + +BO_ 995 Personality_BCM_Data: 8 XXX + SG_ PersIndexBcm_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX + SG_ FeatNoBcm_No_Actl : 23|16@0+ (1,0) [0|0] "Number" XXX + SG_ FeatConfigBcmActl : 7|16@0+ (1,0) [0|0] "" XXX + +BO_ 996 Personality_HCMB_Data_HS: 8 XXX + SG_ PersIndexHcmb_D_Actl_UB : 34|1@0+ (1,0) [0|0] "" XXX + SG_ PersIndexHcmb_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX + SG_ FeatNoHcmbActl_UB : 35|1@0+ (1,0) [0|0] "" XXX + SG_ FeatNoHcmbActl : 23|16@0+ (1,0) [0|0] "Number" XXX + SG_ FeatConfigHcmbActl_UB : 36|1@0+ (1,0) [0|0] "" XXX + SG_ FeatConfigHcmbActl : 7|16@0+ (1,0) [0|0] "" XXX + +BO_ 997 Personality_CCM_Data: 8 XXX + SG_ PersIndexCcm_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX + SG_ FeatNoCcmActl : 23|16@0+ (1,0) [0|0] "Number" XXX + SG_ FeatConfigCcmActl : 7|16@0+ (1,0) [0|0] "" XXX + +BO_ 998 Personality_SCCM_Data: 8 XXX + SG_ PersIndexSccm_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX + SG_ FeatNoSccmActl : 23|16@0+ (1,0) [0|0] "Number" XXX + SG_ FeatConfigSccmActl : 7|16@0+ (1,0) [0|0] "" XXX + +BO_ 999 Personality_HVAC_Data_HS: 8 XXX + SG_ LightAmbIntsty_No_Actl_UB : 33|1@0+ (1,0) [0|0] "" XXX + SG_ LightAmbIntsty_No_Actl : 55|8@0+ (1,0) [0|0] "% Intensity" XXX + SG_ LightAmbColor_No_Actl_UB : 32|1@0+ (1,0) [0|0] "" XXX + SG_ LightAmbColor_No_Actl : 47|8@0+ (1,0) [0|0] "Color Index" XXX + SG_ PersIndexHvac_D_Actl_UB : 34|1@0+ (1,0) [0|0] "" XXX + SG_ FeatNoHvacActl_UB : 35|1@0+ (1,0) [0|0] "" XXX + SG_ FeatConfigHvacActl_UB : 36|1@0+ (1,0) [0|0] "" XXX + SG_ PersIndexHvac_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX + SG_ FeatNoHvacActl : 23|16@0+ (1,0) [0|0] "Number" XXX + SG_ FeatConfigHvacActl : 7|16@0+ (1,0) [0|0] "" XXX + +BO_ 1001 Personality_RFA_Data_HS: 8 XXX + SG_ PersIndexRfa_D_Actl_UB : 34|1@0+ (1,0) [0|0] "" XXX + SG_ FeatNoRfaActl_UB : 35|1@0+ (1,0) [0|0] "" XXX + SG_ FeatConfigRfaActl_UB : 36|1@0+ (1,0) [0|0] "" XXX + SG_ PersIndexRfa_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX + SG_ FeatNoRfaActl : 23|16@0+ (1,0) [0|0] "Number" XXX + SG_ FeatConfigRfaActl : 7|16@0+ (1,0) [0|0] "" XXX + +BO_ 1002 Personality_APIM_Data2: 8 XXX + SG_ PersIndexApim_D_Actl : 63|3@0+ (1,0) [0|0] "" XXX + SG_ FeatNoApimActl : 39|16@0+ (1,0) [0|0] "Number" XXX + SG_ FeatConfigApimActl : 23|16@0+ (1,0) [0|0] "Number" XXX + SG_ CntrStkKeycodeActl : 7|16@0+ (1,0) [0|0] "" XXX + SG_ CntrStk_D_RqRecall : 52|3@0+ (1,0) [0|0] "" XXX + SG_ CntrStk_D_RqAssoc : 55|3@0+ (1,0) [0|0] "" XXX + +BO_ 1003 Personality_IPC_Data_2: 8 XXX + SG_ PersIndexIpc_D_Actl : 34|3@0+ (1,0) [0|0] "" XXX + SG_ FeatNoIpcActl : 23|16@0+ (1,0) [0|0] "Number" XXX + SG_ FeatConfigIpcActl : 7|16@0+ (1,0) [0|0] "" XXX + +BO_ 1004 Personality_DSM_Data_HS: 8 XXX + SG_ PersIndexDsm_D_Actl_UB : 34|1@0+ (1,0) [0|0] "" XXX + SG_ PersIndexDsm_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX + SG_ FeatNoDsmActl_UB : 35|1@0+ (1,0) [0|0] "" XXX + SG_ FeatNoDsmActl : 23|16@0+ (1,0) [0|0] "Number" XXX + SG_ FeatConfigDsmActl_UB : 36|1@0+ (1,0) [0|0] "" XXX + SG_ FeatConfigDsmActl : 7|16@0+ (1,0) [0|0] "" XXX + +BO_ 1005 Personality_RHVAC_Data_HS: 8 XXX + SG_ PersIndexRhvac_D_Actl_UB : 34|1@0+ (1,0) [0|0] "" XXX + SG_ FeatNoRhvacActl_UB : 33|1@0+ (1,0) [0|0] "" XXX + SG_ FeatConfigRhvacActl_UB : 32|1@0+ (1,0) [0|0] "" XXX + SG_ PersIndexRhvac_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX + SG_ FeatNoRhvacActl : 23|16@0+ (1,0) [0|0] "Number" XXX + SG_ FeatConfigRhvacActl : 7|16@0+ (1,0) [0|0] "" XXX + +BO_ 1031 Diesel_Data_Legacy_1: 8 XXX + SG_ W2S_COMMAND : 7|1@0+ (1,0) [0|0] "" XXX + SG_ TURBO_BOOST : 1|10@0+ (0.1,-30.0) [0|0] "PSI" XXX + SG_ IDLE_ENGINE_SHUTDOWN : 42|2@0+ (1,0) [0|0] "" XXX + +BO_ 1034 GGCC_Config_Mgmt_ID_1: 8 XXX + SG_ VehicleGGCCData : 7|64@0+ (1,0) [0|0] "mixed" XXX + +BO_ 1036 Desired_Torq_BrkSys_Stat: 8 XXX + SG_ BRK_TC_TEMPORARILY_UNAVAIL : 47|1@0+ (1,0) [0|0] "" XXX + SG_ TRLR_SWAY_EVNT_IN_PROGRESS : 22|1@0+ (1,0) [0|0] "" XXX + +BO_ 1043 ADAPTIVE_HEADLAMP_STAT: 8 XXX + SG_ ADAPTIVE_HEADLAMP_FAILURE : 7|1@0+ (1,0) [0|0] "" XXX + +BO_ 1044 AccelerationData: 8 XXX + SG_ VehVertComp_A_Actl : 1|10@0+ (0.01,-0.4) [0|0] "m/s^2" XXX + SG_ VehRolComp_W_Actl : 19|12@0+ (0.0002,-0.82) [0|0] "rad/s" XXX + SG_ VehYawNonLin_W_Rq : 51|12@0+ (0.03663,-75.0) [0|0] "deg/s" XXX + SG_ VehYawLin_W_Rq : 35|12@0+ (0.03663,-75.0) [0|0] "deg/s" XXX + +BO_ 1045 BrakeSysFeatures: 8 XXX + SG_ TCMode : 34|1@0+ (1,0) [0|0] "" XXX + SG_ DrvSlipCtlLamp_D_Rq : 63|2@0+ (1,0) [0|0] "" XXX + SG_ RSCMode : 48|1@0+ (1,0) [0|0] "" XXX + SG_ EBAMode : 40|1@0+ (1,0) [0|0] "" XXX + SG_ DrvAntiLckLamp_D_Rq : 17|2@0+ (1,0) [0|0] "" XXX + SG_ ChimeBrk_B_Rq : 38|1@0+ (1,0) [0|0] "" XXX + SG_ BrkLamp_B_Rq : 39|1@0+ (1,0) [0|0] "" XXX + SG_ VehVActlBrk_No_Cs : 31|8@0+ (1,0) [0|0] "" XXX + SG_ VehVActlBrk_No_Cnt : 23|4@0+ (1,0) [0|0] "" XXX + SG_ Veh_V_ActlBrk : 7|16@0+ (0.01,0) [0|0] "kph" XXX + SG_ DrvSlipCtlMde_D_Ind : 33|2@0+ (1,0) [0|0] "" XXX + SG_ VehRol_An_Dsply : 55|7@0+ (1,-64.0) [0|0] "Degrees" XXX + SG_ VehPtch_An_Dsply : 47|7@0+ (1,-64.0) [0|0] "Degrees" XXX + SG_ VehVActlBrk_D_Qf : 19|2@0+ (1,0) [0|0] "" XXX + SG_ HILL_DESC_MC : 37|3@0+ (1,0) [0|0] "" XXX + +BO_ 1046 BrakeSysFeatures_2: 8 XXX + SG_ BpedMove_No_Cs : 23|8@0+ (1,0) [0|0] "" XXX + SG_ BpedMove_No_Cnt : 3|4@0+ (1,0) [0|0] "" XXX + SG_ BpedMove_D_Actl : 7|2@0+ (1,0) [0|0] "" XXX + SG_ AbsMduleAlive_No_Cnt : 39|4@0+ (1,0) [0|0] "" XXX + SG_ Abs_No_Cs : 31|8@0+ (1,0) [0|0] "" XXX + SG_ BrkAsst_B_Actl : 33|1@0+ (1,0) [0|0] "" XXX + SG_ StabCtlBrk_B_Avail : 4|1@0+ (1,0) [0|0] "" XXX + SG_ DrvHdcWarnInfo_D_Rq : 35|2@0+ (1,0) [0|0] "" XXX + SG_ DrvHdcMsg_D_Rq : 10|3@0+ (1,0) [0|0] "" XXX + SG_ DrvHdcLampInfo_D_Rq : 12|2@0+ (1,0) [0|0] "" XXX + SG_ Abs_B_Falt : 5|1@0+ (1,0) [0|0] "" XXX + SG_ VehLongComp_A_Actl : 49|10@0+ (0.035,-17.9) [0|0] "m/s^2" XXX + SG_ TRAILER_SWAY_CONFIG_STAT : 32|1@0+ (1,0) [0|0] "" XXX + SG_ VehLatComp_A_Actl : 47|10@0+ (0.035,-17.9) [0|0] "m/s^2" XXX + +BO_ 1047 TractionCtrlStatus_CG1: 8 XXX + SG_ EngEotcCtlMde_B_Ind : 3|1@0+ (1,0) [0|0] "" XXX + SG_ YawStabilityIndex : 48|9@0+ (1,-256.0) [0|0] "%" XXX + SG_ TCS_ENG_FAILD : 0|1@0+ (1,0) [0|0] "" XXX + SG_ TCS_ENG_ONLY_PRESENT : 1|1@0+ (1,0) [0|0] "" XXX + SG_ TCS_BRK_FAILD : 2|1@0+ (1,0) [0|0] "" XXX + SG_ PrplWhlTqRqMn_No_Cnt : 47|4@0+ (1,0) [0|0] "" XXX + SG_ PrplWhlTot_Tq_RqMn : 23|16@0+ (4.0,-131072.0) [0|0] "Nm" XXX + SG_ EngEotcCtlLamp_D_Rq : 9|2@0+ (1,0) [0|0] "" XXX + SG_ PrplWhlTqRqMn_No_Cs : 39|8@0+ (1,0) [0|0] "" XXX + SG_ HdcMde_D_Actl : 12|3@0+ (1,0) [0|0] "" XXX + SG_ VehicleDir_D_Est : 5|2@0+ (1,0) [0|0] "" XXX + SG_ TracCtlPtActv_B_Actl : 6|1@0+ (1,0) [0|0] "" XXX + +BO_ 1056 PowertrainData_1_CG1: 8 XXX + SG_ FUEL_ALCOHOL_PERCNT : 63|8@0+ (0.3937008,0) [0|0] "%" XXX + SG_ TrnTotTq_Rt_Est : 39|16@0+ (0.001,0) [0|0] "" XXX + SG_ TrnTotLss_Tq_Est : 31|8@0+ (0.5,0) [0|0] "Nm" XXX + SG_ ECMMILRequest : 9|2@0+ (1,0) [0|0] "" XXX + SG_ AirCondFluidHi_P_Actl : 55|8@0+ (0.125,0) [0|0] "bar" XXX + SG_ OilPressureWarning : 18|1@0+ (1,0) [0|0] "" XXX + SG_ CluPdlPos_Pc_Meas : 7|10@0+ (0.1,0) [0|0] "%" XXX + SG_ VehVLimStat_D_Actl : 12|3@0+ (1,0) [0|0] "" XXX + SG_ VehVLimActv_B_Actl : 13|1@0+ (1,0) [0|0] "" XXX + SG_ CluPdlPosPcMeas_D_Qf : 17|2@0+ (1,0) [0|0] "" XXX + SG_ CoolantFanStepAct : 23|5@0+ (1,0) [0|0] "Steps" XXX + +BO_ 1058 PowertrainData_2_CG1: 8 XXX + SG_ EngIdlShutDown_D_Stat : 19|2@0+ (1,0) [0|0] "" XXX + SG_ EngAout2_Tq_Actl : 55|11@0+ (1,-500.0) [0|0] "Nm" XXX + SG_ EngMsgTxt_D_Rq : 21|2@0+ (1,0) [0|0] "" XXX + SG_ EngClnt_Te_ActlDiag : 39|8@0+ (1,-40.0) [0|0] "degC" XXX + SG_ ThrPos_Pc_CalcDiag : 7|8@0+ (0.392157,0) [0|0] "%" XXX + SG_ EngLoad_Pc_CalcDiag : 47|8@0+ (0.392157,0) [0|0] "%" XXX + SG_ EngAirIn_Te_Actl : 15|10@0+ (0.25,-128.0) [0|0] "degC" XXX + SG_ ApedPos_Pc_ActlDiag : 31|8@0+ (0.392157,0) [0|0] "%" XXX + +BO_ 1064 StrgWheel_PolicePkg: 8 XXX + SG_ PoliceAux4Lamp_B_Rq : 4|1@0+ (1,0) [0|0] "" XXX + SG_ PoliceAux3Lamp_B_Rq : 5|1@0+ (1,0) [0|0] "" XXX + SG_ PoliceAux2Lamp_B_Rq : 6|1@0+ (1,0) [0|0] "" XXX + SG_ PoliceAux1Lamp_B_Rq : 7|1@0+ (1,0) [0|0] "" XXX + +BO_ 1067 Battery_Mgmt_1: 8 XXX + SG_ AlternatorExcDutyCycle : 31|5@0+ (3.22581,0) [0|0] "%" XXX + SG_ EngineEffStatus : 39|2@0+ (1,0) [0|0] "" XXX + SG_ AvailableCurrentAtIdle : 23|8@0+ (1,0) [0|0] "Amps" XXX + SG_ AvailableCurrent : 15|8@0+ (1,0) [0|0] "Amps" XXX + SG_ ActualCurrent : 7|8@0+ (1,0) [0|0] "Amps" XXX + SG_ NoAlternatorResponse : 26|1@0+ (1,0) [0|0] "" XXX + SG_ AlternatorTempFault : 25|1@0+ (1,0) [0|0] "" XXX + SG_ AlternatorMechFault : 24|1@0+ (1,0) [0|0] "" XXX + SG_ AlternatorElFault : 37|1@0+ (1,0) [0|0] "" XXX + +BO_ 1068 Battery_Mgmt_2: 8 XXX + SG_ ChargeMode : 39|3@0+ (1,0) [0|0] "" XXX + SG_ ChargeVoltageReq : 7|6@0+ (0.1,10.6) [0|0] "Volts" XXX + SG_ ChargeVoltageReqMax : 23|6@0+ (0.1,10.6) [0|0] "Volts" XXX + SG_ FrontBatteryTemp : 47|8@0+ (1,-60.0) [0|0] "DegC" XXX + SG_ IBoost_Msg : 52|4@0+ (1,0) [0|0] "" XXX + SG_ IdleSpeedIncrease_El : 8|1@0+ (1,0) [0|0] "" XXX + SG_ MaxLashStep : 11|3@0+ (0.1,0) [0|0] "Volts" XXX + SG_ PowerSystemStatus : 15|4@0+ (1,0) [0|0] "" XXX + SG_ Shed_T_Eng_Off_B : 17|1@0+ (1,0) [0|0] "" XXX + SG_ Shed_Level_Req : 55|3@0+ (1,0) [0|0] "" XXX + SG_ Shed_Feature_Group_ID : 36|5@0+ (1,0) [0|0] "" XXX + SG_ Shed_Drain_Eng_Off_B : 16|1@0+ (1,0) [0|0] "" XXX + SG_ Batt_Lo_SoC_B : 25|1@0+ (1,0) [0|0] "" XXX + SG_ VoltageRampRateUpMax : 31|6@0+ (0.1,0) [0|0] "Volts/sec" XXX + SG_ Batt_Crit_SoC_B : 24|1@0+ (1,0) [0|0] "" XXX + +BO_ 1069 Battery_Mgmt_3: 8 XXX + SG_ BSFault : 23|1@0+ (1,0) [0|0] "" XXX + SG_ BSBattSOC : 30|7@0+ (1,0) [0|0] "%" XXX + SG_ BSBattQDeltaRideAh : 38|15@0+ (0.0078125,-100.0) [0|0] "Ah" XXX + SG_ BSBattQCapAh : 22|7@0+ (1,0) [0|0] "Ah" XXX + SG_ BSBattCurrent : 5|14@0+ (0.0625,-512.0) [0|0] "Amps" XXX + SG_ BattULoState_D_Qlty : 7|2@0+ (1,0) [0|0] "" XXX + +BO_ 1072 Cluster_Information: 8 XXX + SG_ ManRgen_D_Rq : 5|2@0+ (1,0) [0|0] "" XXX + SG_ Easy_Entry_Exit_Cmd : 49|1@0+ (1,0) [0|0] "" XXX + SG_ KeyTypeChngMykey_D_Rq : 53|2@0+ (1,0) [0|0] "" XXX + SG_ DrvSlipCtlMde_B_Rq : 19|1@0+ (1,0) [0|0] "" XXX + SG_ MetricActv_B_Actl : 6|1@0+ (1,0) [0|0] "" XXX + SG_ LdwDfaltOn_B_Actl : 0|1@0+ (1,0) [0|0] "" XXX + SG_ Fda_B_Stat : 9|1@0+ (1,0) [0|0] "" XXX + SG_ ePRNDL_MODE : 8|1@0+ (1,0) [0|0] "" XXX + SG_ AccDeny_B_RqIpc : 7|1@0+ (1,0) [0|0] "" XXX + SG_ MetricActvTe_B_Actl : 23|1@0+ (1,0) [0|0] "" XXX + SG_ EngOilLife_B_RqReset : 18|1@0+ (1,0) [0|0] "" XXX + SG_ OdometerMasterValue : 31|24@0+ (1,0) [0|0] "km" XXX + SG_ New_Module_Attn_Event : 56|1@0+ (1,0) [0|0] "" XXX + SG_ TRAILER_SWAY_CONFIG_CMD : 60|1@0+ (1,0) [0|0] "" XXX + SG_ ParkDetect_Stat : 62|1@0+ (1,0) [0|0] "" XXX + SG_ Attn_Info_Audio : 59|3@0+ (1,0) [0|0] "" XXX + SG_ TrlrBrkMde_D_Rq : 61|1@0+ (1,0) [0|0] "" XXX + SG_ TRAILER_BRAKE_CONFIG : 48|1@0+ (1,0) [0|0] "" XXX + SG_ VehMykey_Vl_LimRq : 63|1@0+ (1,0) [0|0] "" XXX + SG_ VehMykey_V_LimRqMx : 51|1@0+ (1,0) [0|0] "" XXX + SG_ EmgcyCallAsstMykey_Rq : 50|1@0+ (1,0) [0|0] "" XXX + SG_ DrvSlipCtlMde_D_Rq : 17|2@0+ (1,0) [0|0] "" XXX + SG_ AccEnbl_B_RqDrv : 20|1@0+ (1,0) [0|0] "" XXX + SG_ AutoHighBeam_Cmd : 55|2@0+ (1,0) [0|0] "" XXX + +BO_ 1075 Cluster_Information_3_CG1: 8 XXX + SG_ CamraFrntStat_D_Rq : 58|1@0+ (1,0) [0|0] "" XXX + SG_ DieslFuelBio_B_ActlDrv : 56|1@0+ (1,0) [0|0] "" XXX + SG_ RearCameraDelayCmd : 59|1@0+ (1,0) [0|0] "" XXX + SG_ UreaWarnReset : 60|1@0+ (1,0) [0|0] "" XXX + SG_ DistanceBarSetting : 49|1@0+ (1,0) [0|0] "" XXX + SG_ CamraZoomMan_D_Rq : 63|3@0+ (1,0) [0|0] "" XXX + SG_ CamraOvrlStat_D_Rq : 48|1@0+ (1,0) [0|0] "" XXX + SG_ CamraOvrlDyn_D_Rq : 25|1@0+ (1,0) [0|0] "" XXX + SG_ CamAutoTowbarZoom : 24|1@0+ (1,0) [0|0] "" XXX + SG_ FuelSecndActv_B_Actl : 39|1@0+ (1,0) [0|0] "" XXX + SG_ HILL_DESC_SW : 38|1@0+ (1,0) [0|0] "" XXX + SG_ FuelLvlPssvSide_No_Raw : 19|10@0+ (1,0) [0|0] "" XXX + SG_ SPDJBCompassCMDDecalibrate : 50|1@0+ (1,0) [0|0] "" XXX + SG_ SPDJBCompassCMDChangeZone : 51|1@0+ (1,0) [0|0] "" XXX + SG_ SPDJBCompassCmdDesiredZone : 55|4@0+ (1,0) [0|0] "" XXX + SG_ FUEL_SENSOR_NUM : 35|1@0+ (1,0) [0|0] "" XXX + SG_ W2S_LAMP_OK : 37|1@0+ (1,0) [0|0] "" XXX + SG_ Beltminder_Warn_Stats_IPC : 32|1@0+ (1,0) [0|0] "" XXX + SG_ FuelLvlActvSide_No_Raw : 13|10@0+ (1,0) [0|0] "" XXX + SG_ FuelLvl_Pc_Dsply : 7|10@0+ (0.108696,-5.22) [0|0] "%" XXX + SG_ FUEL_LVL_PER_MEAN : 47|8@0+ (0.434783,-5.22) [0|0] "% Indication" XXX + SG_ Fuel_Level_State : 34|2@0+ (1,0) [0|0] "" XXX + SG_ H2O_IN_FUEL_LAMP_OK_OBD : 36|1@0+ (1,0) [0|0] "" XXX + +BO_ 1093 TrailerBrakeInfo: 8 XXX + SG_ TrlrLampCnnct_B_Actl : 22|1@0+ (1,0) [0|0] "" XXX + SG_ TrlrBrkActCnnct_B_Actl : 16|1@0+ (1,0) [0|0] "" XXX + SG_ StopLamp_B_RqTrlrBrk : 7|1@0+ (1,0) [0|0] "" XXX + SG_ TrlrBrkOut_No_Dsply : 3|4@0+ (1,0) [0|0] "" XXX + SG_ TrlrBrkGain_No_Actl : 21|5@0+ (0.5,0) [0|0] "" XXX + SG_ TrlrBrkDsply_B_Rq : 6|1@0+ (1,0) [0|0] "" XXX + SG_ TrlrBrkDcnnt_B_Actl : 5|1@0+ (1,0) [0|0] "" XXX + SG_ TrlrBrkCtl_B_Falt : 4|1@0+ (1,0) [0|0] "" XXX + SG_ TrlrBrkActCirct_B_Falt : 39|1@0+ (1,0) [0|0] "" XXX + SG_ TrlrBrkMde_D_Actl : 23|1@0+ (1,0) [0|0] "" XXX + +BO_ 1104 SHCM_Status: 8 XXX + SG_ CURRENT_DRAW : 15|8@0+ (0.5,0) [0|0] "Amps" XXX + SG_ SECONDARY_HEATER_STAT : 7|1@0+ (1,0) [0|0] "" XXX + +BO_ 1107 PassengerOCSSerialNum: 8 XXX + SG_ OCSSerialNoByte8 : 63|8@0+ (1,0) [0|0] "" XXX + SG_ OCSSerialNoByte7 : 55|8@0+ (1,0) [0|0] "" XXX + SG_ OCSSerialNoByte6 : 47|8@0+ (1,0) [0|0] "" XXX + SG_ OCSSerialNoByte5 : 39|8@0+ (1,0) [0|0] "" XXX + SG_ OCSSerialNoByte4 : 31|8@0+ (1,0) [0|0] "" XXX + SG_ OCSSerialNoByte3 : 23|8@0+ (1,0) [0|0] "" XXX + SG_ OCSSerialNoByte2 : 15|8@0+ (1,0) [0|0] "" XXX + SG_ OCSSerialNoByte1 : 7|8@0+ (1,0) [0|0] "" XXX + +BO_ 1108 RCMSerialNumber: 8 XXX + SG_ RCMSerialNoByte8 : 63|8@0+ (1,0) [0|0] "" XXX + SG_ RCMSerialNoByte7 : 55|8@0+ (1,0) [0|0] "" XXX + SG_ RCMSerialNoByte6 : 47|8@0+ (1,0) [0|0] "" XXX + SG_ RCMSerialNoByte5 : 39|8@0+ (1,0) [0|0] "" XXX + SG_ RCMSerialNoByte4 : 31|8@0+ (1,0) [0|0] "" XXX + SG_ RCMSerialNoByte3 : 23|8@0+ (1,0) [0|0] "" XXX + SG_ RCMSerialNoByte2 : 15|8@0+ (1,0) [0|0] "" XXX + SG_ RCMSerialNoByte1 : 7|8@0+ (1,0) [0|0] "" XXX + +BO_ 1109 eCall_Info: 8 XXX + SG_ eCallConfirmation : 7|3@0+ (1,0) [0|0] "" XXX + +BO_ 1125 GPS_Data_Nav_1_HS: 8 XXX + SG_ GpsHsphLattSth_D_Actl : 25|2@0+ (1,0) [0|0] "" XXX + SG_ GpsHsphLongEast_D_Actl : 9|2@0+ (1,0) [0|0] "" XXX + SG_ GPS_Longitude_Minutes : 46|6@0+ (1,0) [0|0] "Minutes" XXX + SG_ GPS_Longitude_Min_dec : 55|14@0+ (0.0001,0) [0|0] "Minutes" XXX + SG_ GPS_Longitude_Degrees : 39|9@0+ (1,-179.0) [0|0] "Degrees" XXX + SG_ GPS_Latitude_Minutes : 15|6@0+ (1,0) [0|0] "Minutes" XXX + SG_ GPS_Latitude_Min_dec : 23|14@0+ (0.0001,0) [0|0] "Minutes" XXX + SG_ GPS_Latitude_Degrees : 7|8@0+ (1,-89.0) [0|0] "Degrees" XXX + +BO_ 1126 GPS_Data_Nav_2_HS: 8 XXX + SG_ Gps_B_Falt : 2|1@0+ (1,0) [0|0] "" XXX + SG_ GpsUtcYr_No_Actl : 55|5@0+ (1,1.0) [0|0] "Year" XXX + SG_ GpsUtcMnth_No_Actl : 47|4@0+ (1,1.0) [0|0] "Month" XXX + SG_ GpsUtcDay_No_Actl : 37|5@0+ (1,1.0) [0|0] "Day" XXX + SG_ GPS_UTC_seconds : 23|6@0+ (1,0) [0|0] "seconds" XXX + SG_ GPS_UTC_minutes : 15|6@0+ (1,0) [0|0] "Minutes" XXX + SG_ GPS_UTC_hours : 7|5@0+ (1,0) [0|0] "Hours" XXX + SG_ GPS_Pdop : 31|5@0+ (0.2,0) [0|0] "" XXX + SG_ GPS_Compass_direction : 26|4@0+ (1,0) [0|0] "" XXX + SG_ GPS_Actual_vs_Infer_pos : 38|1@0+ (1,0) [0|0] "" XXX + +BO_ 1127 GPS_Data_Nav_3_HS: 8 XXX + SG_ GPS_Vdop : 63|5@0+ (0.2,0) [0|0] "" XXX + SG_ GPS_Speed : 47|8@0+ (1,0) [0|0] "MPH" XXX + SG_ GPS_Sat_num_in_view : 7|5@0+ (1,0) [0|0] "" XXX + SG_ GPS_MSL_altitude : 15|12@0+ (10.0,-20460.0) [0|0] "feet" XXX + SG_ GPS_Heading : 31|16@0+ (0.01,0) [0|0] "Degrees" XXX + SG_ GPS_Hdop : 55|5@0+ (0.2,0) [0|0] "" XXX + SG_ GPS_dimension : 2|3@0+ (1,0) [0|0] "" XXX + +BO_ 1152 All_Terrain_Data: 8 XXX + SG_ HdcSwitchPos_B_Actl : 0|1@0+ (1,0) [0|0] "" XXX + SG_ TerrStat_D_RqDsply : 7|4@0+ (1,0) [0|0] "" XXX + SG_ TerrMde_D_RqDrv : 3|3@0+ (1,0) [0|0] "" XXX + +BO_ 1186 Information_4x4_2_CG1: 8 XXX + SG_ RearDiffFalt_D_Stat : 23|2@0+ (1,0) [0|0] "" XXX + SG_ RearDiffLck_Tq_Actl : 7|12@0+ (1,0) [0|0] "Nm" XXX + SG_ RearDiffLckMsg_D_Rq : 20|3@0+ (1,0) [0|0] "" XXX + SG_ AwdSrvcRqd_B_Rq : 21|1@0+ (1,0) [0|0] "" XXX + SG_ RearDiffLckLamp_D_Rq : 11|2@0+ (1,0) [0|0] "" XXX diff --git a/opendbc_repo/opendbc/dbc/ford_fusion_2018_adas.dbc b/opendbc_repo/opendbc/dbc/ford_fusion_2018_adas.dbc new file mode 100644 index 0000000000..2e1647b3d8 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/ford_fusion_2018_adas.dbc @@ -0,0 +1,421 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX + +BO_ 1280 Object_00: 8 XXX + SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX + SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX + SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX + SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX + +BO_ 1281 Object_01: 8 XXX + SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX + SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX + SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX + SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX + +BO_ 1282 Object_02: 8 XXX + SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX + SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX + SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX + SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX + +BO_ 1283 Object_03: 8 XXX + SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX + SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX + SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX + SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX + +BO_ 1284 Object_04: 8 XXX + SG_ 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"m" XXX + SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX + SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX + SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX + +BO_ 1335 Object_55: 8 XXX + SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX + SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX + SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX + SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX + +BO_ 1336 Object_56: 8 XXX + SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX + SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX + SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX + SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX + +BO_ 1337 Object_57: 8 XXX + SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX + SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX + SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX + SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX + +BO_ 1338 Object_58: 8 XXX + SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX + SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX + SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX + SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX + +BO_ 1339 Object_59: 8 XXX + SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX + SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX + SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX + SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX + +BO_ 1340 Object_60: 8 XXX + SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX + SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX + SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX + SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX + +BO_ 1341 Object_61: 8 XXX + SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX + SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX + SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX + SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX + +BO_ 1342 Object_62: 8 XXX + SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX + SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX + SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX + SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX + +BO_ 1343 Object_63: 8 XXX + SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX + SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX + SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX + SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX + diff --git a/opendbc_repo/opendbc/dbc/ford_fusion_2018_pt.dbc b/opendbc_repo/opendbc/dbc/ford_fusion_2018_pt.dbc new file mode 100644 index 0000000000..c4b706d064 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/ford_fusion_2018_pt.dbc @@ -0,0 +1,139 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX + +BO_ 130 EPAS_INFO: 8 XXX + SG_ SteMdule_U_Meas : 39|8@0+ (0.05,6.0) [0|0] "Volts" XXX + SG_ SteMdule_I_Est : 21|12@0+ (0.05,-64.0) [0|0] "Amps" XXX + SG_ EPAS_FAILURE : 9|2@0+ (1,0) [0|0] "" XXX + SG_ SteeringColumnTorque : 7|8@0+ (0.0625,-8.0) [0|0] "Nm" XXX + SG_ SAPPAngleControlStat6 : 15|1@0+ (1,0) [0|0] "" XXX + SG_ SAPPAngleControlStat5 : 14|1@0+ (1,0) [0|0] "" XXX + SG_ SAPPAngleControlStat4 : 13|1@0+ (1,0) [0|0] "" XXX + SG_ SAPPAngleControlStat3 : 12|1@0+ (1,0) [0|0] "" XXX + SG_ SAPPAngleControlStat2 : 11|1@0+ (1,0) [0|0] "" XXX + SG_ SAPPAngleControlStat1 : 23|2@0+ (1,0) [0|0] "" XXX + +BO_ 118 Steering_Wheel_Data_CG1: 8 XXX + SG_ SteWhlRelInit_An_Sns : 6|15@0+ (0.1,-1600.0) [0|0] "deg" XXX + SG_ SteWhlRelCalib_An_Sns : 23|15@0+ (0.1,-1600.0) [0|0] "deg" XXX + SG_ SteWhlRelInit2_An_Sns : 55|16@0+ (0.1,-3200.0) [0|0] "deg" XXX + SG_ SteWhlAn_No_Cs : 39|8@0+ (1,0) [0|0] "" XXX + SG_ SteWhlAn_No_Cnt : 47|4@0+ (1,0) [0|0] "Counts" XXX + +BO_ 131 Steering_Buttons: 8 XXX + SG_ Right_Turn_Light : 5|1@0+ (1,0) [0|0] "" XXX + SG_ Left_Turn_Light : 4|1@0+ (1,0) [0|0] "" XXX + SG_ Dist_Decr : 12|1@0+ (1,0) [0|0] "" XXX + SG_ Dist_Incr : 11|1@0+ (1,0) [0|0] "" XXX + SG_ Cancel : 8|1@0+ (1,0) [0|0] "" XXX + SG_ Resume : 29|1@0+ (1,0) [0|0] "" XXX + SG_ Set : 28|1@0+ (1,0) [0|0] "" XXX + SG_ Main : 38|1@0+ (1,0) [0|0] "" XXX + +BO_ 145 Yaw_Data: 8 XXX + SG_ VehYaw_W_Actl : 39|16@0+ (0.0002,-6.5) [0|0] "rad/s" XXX + SG_ VehRol_W_Actl : 23|16@0+ (0.0002,-6.5) [0|0] "rad/s" XXX + SG_ VehPtch_W_Actl : 7|16@0+ (0.0002,-6.5) [0|0] "rad/s" XXX + +BO_ 146 Accel_Data: 8 XXX + SG_ VehVertAActl_D_Qf : 38|2@0+ (1,0) [0|0] "" XXX + SG_ VehLongAActl_D_Qf : 22|2@0+ (1,0) [0|0] "" XXX + SG_ VehLatAActl_D_Qf : 6|2@0+ (1,0) [0|0] "" XXX + SG_ VehVert_A_Actl : 36|13@0+ (0.01,-40.0) [0|0] "m/s^2" XXX + SG_ VehLong_A_Actl : 20|13@0+ (0.01,-40.0) [0|0] "m/s^2" XXX + SG_ VehLat_A_Actl : 4|13@0+ (0.01,-40.0) [0|0] "m/s^2" XXX + +BO_ 357 Cruise_Status: 8 XXX + SG_ Brake_Drv_Appl : 5|1@0+ (1,0) [0|0] "" XXX + SG_ Cruise_State : 11|4@0+ (1,0) [0|0] "" XXX + SG_ Set_Speed : 23|8@0+ (1,0) [0|0] "" XXX + +BO_ 516 EngineData_14: 8 XXX + SG_ ApedPosScal_Pc_Actl : 1|10@0+ (0.1,0) [0|0] "%" XXX + +BO_ 535 WheelSpeed_CG1: 8 XXX + SG_ WhlRr_W_Meas : 55|14@0+ (0.04,0) [0|0] "rad/s" XXX + SG_ WhlRl_W_Meas : 39|14@0+ (0.04,0) [0|0] "rad/s" XXX + SG_ WhlFr_W_Meas : 23|14@0+ (0.04,0) [0|0] "rad/s" XXX + SG_ WhlFl_W_Meas : 7|14@0+ (0.04,0) [0|0] "rad/s" XXX + +BO_ 534 WheelData: 8 XXX + SG_ WhlRotatRr_No_Cnt : 23|8@0+ (1,0) [0|0] "" XXX + SG_ WhlDirRr_D_Actl : 33|2@0+ (1,0) [0|0] "" XXX + SG_ WhlDirRl_D_Actl : 39|2@0+ (1,0) [0|0] "" XXX + SG_ WhlDirFr_D_Actl : 37|2@0+ (1,0) [0|0] "" XXX + SG_ WhlDirFl_D_Actl : 35|2@0+ (1,0) [0|0] "" XXX + SG_ WhlRotatRl_No_Cnt : 31|8@0+ (1,0) [0|0] "" XXX + SG_ WhlRotatFr_No_Cnt : 7|8@0+ (1,0) [0|0] "" XXX + SG_ WhlRotatFl_No_Cnt : 15|8@0+ (1,0) [0|0] "" XXX + SG_ WHEEL_ROLLING_TIMESTAMP : 47|8@0+ (1,0) [0|0] "" XXX + +BO_ 947 Doors: 8 XXX + SG_ Door_FL_Open : 61|1@0+ (1,0) [0|0] "" XXX + SG_ Door_FR_Open : 60|1@0+ (1,0) [0|0] "" XXX + SG_ Door_RL_Open : 48|1@0+ (1,0) [0|0] "" XXX + SG_ Door_RR_Open : 49|1@0+ (1,0) [0|0] "" XXX + +BO_ 963 BCM_to_HS_Body: 8 XXX + SG_ Brake_Lights : 8|1@0+ (1,0) [0|0] "" XXX + +BO_ 970 Lane_Keep_Assist_Control: 8 XXX + SG_ Lkas_Action : 7|4@0+ (1,0) [0|15] "" XXX + SG_ Lkas_Alert : 3|4@0+ (1,0) [0|15] "" XXX + SG_ Lane_Curvature : 15|12@0+ (5e-06,-0.01) [0|0] "1/m" XXX + SG_ Steer_Angle_Req : 19|12@0+ (0.04297,-88.00445) [0|0] "deg" XXX + +BO_ 972 Lane_Keep_Assist_Status: 8 XXX + SG_ LaHandsOff_B_Actl : 7|1@0+ (1,0) [0|0] "" XXX + SG_ LaActDeny_B_Actl : 6|1@0+ (1,0) [0|0] "" XXX + SG_ LaActAvail_D_Actl : 5|2@0+ (1,0) [0|0] "" XXX + +BO_ 984 Lane_Keep_Assist_Ui: 8 XXX + SG_ Set_Me_X80 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ Set_Me_X45 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ Lines_Hud : 55|4@0+ (1,0) [0|15] "" XXX + SG_ Hands_Warning_W_Chime : 50|1@0+ (1,0) [0|1] "" XXX + SG_ Hands_Warning : 49|1@0+ (1,0) [0|1] "" XXX + SG_ Set_Me_X30 : 63|8@0+ (1,0) [0|255] "" XXX + +CM_ SG_ 970 Lkas_Action "only vals 4, 5, 8, 9 seem to work. 4 and 5 are a bit smoother" ; + +VAL_ 357 Cruise_State 4 "active" 3 "standby" 0 "off" ; +VAL_ 970 Lkas_Action 15 "off" 9 "abrupt" 8 "abrupt2" 5 "smooth" 4 "smooth2" ; +VAL_ 970 Lkas_Alert 15 "no_alert" 3 "high_intensity" 2 "mid_intensity" 1 "low_intensity" ; +VAL_ 972 LaActAvail_D_Actl 3 "available" 2 "tbd" 1 "not_available" 0 "fault" ; +VAL_ 984 Lines_Hud 15 "none" 11 "grey_yellow" 8 "green_red" 7 "yellow_grey" 6 "grey_grey" 4 "red_green" 3 "green_green" ; diff --git a/opendbc_repo/opendbc/dbc/ford_lincoln_base_pt.dbc b/opendbc_repo/opendbc/dbc/ford_lincoln_base_pt.dbc new file mode 100644 index 0000000000..828e4118ee --- /dev/null +++ b/opendbc_repo/opendbc/dbc/ford_lincoln_base_pt.dbc @@ -0,0 +1,12717 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: VDM CMR_DSMC SOBDMC_HPCM_FD1 IPMA_ADAS PSCM ABS_ESC TCCM TCM_DSL PCM_HEV PCM ECM_Diesel GENERIC_GWMWakeup GWM _delete TSTR + +VAL_TABLE_ DcacRdy_D_Stat 7 "NotUsed_2" 6 "NotUsed_1" 5 "Faulted" 4 "ProtectionTempearture" 3 "ProtectionOverload" 2 "ProtectionGfci" 1 "Active" 0 "Idle"; +VAL_TABLE_ HvacCmprLim_D_Stat 7 "NotUsed_2" 6 "NotUsed_1" 5 "CompressorHeadPressure" 4 "AvailableTorque" 3 "PedalPosition" 2 "RPM" 1 "ECT" 0 "NoLimit"; +VAL_TABLE_ AdvStrt_D_Stat 15 "NotUsed_15" 14 "NotUsed_14" 13 "NotUsed_13" 12 "NotUsed_12" 11 "NotUsed_11" 10 "NotUsed_10" 9 "NotUsed_9" 8 "NotUsed_8" 7 "NotUsed_7" 6 "NotUsed_6" 5 "NotUsed_5" 4 "NotUsed_4" 3 "NotUsed_3" 2 "NotUsed_2" 1 "NotUsed_1" 0 "NoAction"; +VAL_TABLE_ VehOnSrc_D_Stat 15 "NotUsed_11" 14 "NotUsed_10" 13 "NotUsed_9" 12 "NotUsed_8" 11 "NotUsed_7" 10 "NotUsed_6" 9 "NotUsed_5" 8 "NotUsed_4" 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "OverTheAir" 3 "RemoteParkAssist" 2 "RemoteStart" 1 "Manual" 0 "Off"; +VAL_TABLE_ NoMessage_Msg1_63 31 "Message31" 30 "Message30" 29 "Message29" 28 "Message28" 27 "Message27" 26 "Message26" 25 "Message25" 24 "Message24" 23 "Message23" 22 "Message22" 21 "Message21" 20 "Message20" 19 "Message19" 18 "Message18" 17 "Message17" 16 "Message16" 15 "Message15" 14 "Message14" 13 "Message13" 12 "Message12" 11 "Message11" 10 "Message10" 9 "Message9" 8 "Message8" 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage"; +VAL_TABLE_ TrlrRvrseEnbl_D2_Stat 7 "NotUsed" 6 "TbaActiveExpertActive" 5 "TbaActiveExpertAvail" 4 "TbaOffTrgActive" 3 "TbaOffTrgSetup" 2 "TbaSetup" 1 "TbaActive" 0 "Inactive"; +VAL_TABLE_ Off_On_FlashChime 7 "NotUsed_5" 6 "NotUsed_4" 5 "NotUsed_3" 4 "NotUsed_2" 3 "NotUsed_1" 2 "FlashChime" 1 "On" 0 "Off"; +VAL_TABLE_ DieslPrtcWarn_D_Rq 15 "NotUsed_4" 14 "NotUsed_3" 13 "NotUsed_2" 12 "NotUsed_1" 11 "OCR_ExhFilterClean_Stopped" 10 "OCR_ExhFilterCleaned" 9 "RgnOff_AtLimit" 8 "RgnOff_OverLoaded" 7 "RgnOff_Loaded" 6 "Exhaust_Filter_Full" 5 "DPF_OverLimit" 4 "DPF_AtLimit" 3 "ExhFilter_Drive_Completed" 2 "Cleaning_Exhaust_Filter" 1 "DPF_OverLoaded" 0 "DPF_Normal_Operation"; +VAL_TABLE_ StrtrMtrCtlMsgTxt_D2_Rq 3 "NotUsed" 2 "ShiftToNeutralToStart" 1 "ShiftToParkToStart" 0 "NoRequest"; +VAL_TABLE_ PaakMyKey_D_Rq 3 "NotUsed" 2 "ConfirmNewPaakMyKey" 1 "RequestNewPaakMyKey" 0 "None"; +VAL_TABLE_ PaakMyKeySearch_D_Stat 7 "PhoneErased" 6 "LockButtonTimeOut" 5 "PressLockButton" 4 "ConfirmHmi" 3 "MyKeyPaakFound" 2 "StandardPaakFound" 1 "NoValidPaakFound" 0 "Null"; +VAL_TABLE_ TrlrIdType_D_Stat 3 "Gooseneck" 2 "FifthWheel" 1 "Conventional" 0 "Null"; +VAL_TABLE_ TrlrAidSetup_D2_Rq 15 "NotUsed_9" 14 "NotUsed_8" 13 "NotUsed_7" 12 "NotUsed_6" 11 "NotUsed_5" 10 "NotUsed_4" 9 "NotUsed_3" 8 "NotUsed_2" 7 "NotUsed_1" 6 "CompleteSetup" 5 "ReturnToSetup" 4 "StickerNotCircled" 3 "ConfirmSetup" 2 "EndSetup" 1 "BeginSetup" 0 "Inactive"; +VAL_TABLE_ TrlrAidEnbl_D2_Rq 7 "NotUsed_4" 6 "NotUsed_3" 5 "NotUsed_2" 4 "NotUsed_1" 3 "Deactivate" 2 "ActivateTrg" 1 "ActivateTba" 0 "Inactive"; +VAL_TABLE_ BattChrgMde_D_Actl 3 "NotUsed" 2 "ConstantCurrent" 1 "ConstantVoltage" 0 "NotCharging"; +VAL_TABLE_ LcwaLeft_D_Stat 7 "Faulty" 6 "NotUsed_3" 5 "NotUsed_2" 4 "NotUsed_1" 3 "Disabled" 2 "TemporaryUnavailable" 1 "SensorBlocked" 0 "Available"; +VAL_TABLE_ LcwaMsgTxt_D_Stat 3 "SodXFaulty" 2 "SodXBlocked" 1 "TrailerConnected" 0 "NoMessage"; +VAL_TABLE_ Level_0_3 3 "Level_3" 2 "Level_2" 1 "Level_1" 0 "Level_0"; +VAL_TABLE_ SteWhlSwtchMde_D_Stat 3 "NotUsed_2" 2 "NotUsed_1" 1 "Dialog" 0 "Domain"; +VAL_TABLE_ TrlrRvrse_D_Stat 3 "Faulty" 2 "TrailerReverseGuidanceLite" 1 "On" 0 "Off"; +VAL_TABLE_ TrlrAid_D2_Stat 15 "Faulty" 14 "NotUsed_4" 13 "NotUsed_3" 12 "NotUsed_2" 11 "NotUsed_1" 10 "DirtyCamera" 9 "IncorrectLighting" 8 "TrackingLost" 7 "TrackingUnknownConfidence" 6 "TrackingHighConfidence" 5 "TrackingMediumConfidence" 4 "TrackingLowConfidence" 3 "TurnRequested" 2 "DriveStraighRequested" 1 "Initializing" 0 "NotTracking"; +VAL_TABLE_ AwdDrvMde_D2 15 "Faulty" 14 "NotUsed_7" 13 "NotUsed_6" 12 "NotUsed_5" 11 "NotUsed_4" 10 "NotUsed_3" 9 "NotUsed_2" 8 "NotUsed_1" 7 "NotAvailable" 6 "TowHaul" 5 "RockCrawl" 4 "Baja" 3 "MudAndSand" 2 "Weather" 1 "Sport" 0 "Normal"; +VAL_TABLE_ TrlrAidSetup_D2_Stat 7 "NotUsed_2" 6 "NotUsed_1" 5 "SetupAcquisitionSuccess" 4 "TbaTadMonitor" 3 "SetupStartAcquisition" 2 "SetupPrepForAcquisition" 1 "TbaActive" 0 "Null"; +VAL_TABLE_ CamraRearOn_D2_Stat2 7 "Faulty" 6 "NotUsed_3" 5 "NotUsed_2" 4 "NotUsed_1" 3 "Decommission" 2 "Activate" 1 "Deactivate" 0 "Null"; +VAL_TABLE_ AirCondClu_D_Stat 7 "NotUsed" 6 "FetLifeLimitReached" 5 "FetOpenCircuit" 4 "FetOutputShortToPower" 3 "FetOutputShortToGround" 2 "FetNotControlled" 1 "OnPowerToLoad" 0 "OffNoPowerToLoad"; +VAL_TABLE_ BattChrgTrgtSoC_D_Rq 7 "Percent_50" 6 "Percent_60" 5 "Percent_70" 4 "Percent_80" 3 "Percent_85" 2 "Percent_90" 1 "Percent_95" 0 "Percent_100"; +VAL_TABLE_ OffNormalSoft 3 "NotUsed" 2 "Soft" 1 "Normal" 0 "Off"; +VAL_TABLE_ OffOnDisabledInhibited 3 "Inhibited" 2 "Disabled" 1 "On" 0 "Off"; +VAL_TABLE_ DgtlCommGtwyMde_D_Rq 15 "NotUsed_10" 14 "NotUsed_9" 13 "NotUsed_8" 12 "NotUsed_7" 11 "NotUsed_6" 10 "NotUsed_5" 9 "NotUsed_4" 8 "NotUsed_3" 7 "NotUsed_2" 6 "NotUsed_1" 5 "AcPnC" 4 "AcEIM" 3 "DcPnC" 2 "DcEIM" 1 "AttemptDgtlComm" 0 "NoDgtlComm"; +VAL_TABLE_ BattDcCnnct_D_Cmd 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "WeldCheck" 3 "OkToDischarge" 2 "Closed" 1 "Precharge" 0 "Open"; +VAL_TABLE_ Null_NoFault_Fault 3 "NotUsed" 2 "Fault" 1 "NoFault" 0 "Null"; +VAL_TABLE_ ModemReset_D_Rq 15 "NotUsed_11" 14 "NotUsed_10" 13 "NotUsed_9" 12 "NotUsed_8" 11 "NotUsed_7" 10 "NotUsed_6" 9 "NotUsed_5" 8 "NotUsed_4" 7 "NotUsed_3" 6 "BrandConnectReset2" 5 "BrandConnectReset1" 4 "CcsReset" 3 "OnlineTrafficReset" 2 "PaakReset" 1 "WifiHotspotReset" 0 "Null"; +VAL_TABLE_ PrkAsstSlotId_D_Stat 7 "Faulty" 6 "Slot6" 5 "Slot5" 4 "Slot4" 3 "Slot3" 2 "Slot2" 1 "Slot1" 0 "NoSlotFound"; +VAL_TABLE_ RstrnOnPsngr_D_RqMnu 15 "Faulty" 14 "NotUsed_11" 13 "NotUsed_10" 12 "ConfiguredOff" 11 "NotUsed_9" 10 "On" 9 "NotUsed_8" 8 "NotUsed_7" 7 "NotUsed_6" 6 "NotUsed_5" 5 "Off" 4 "NotUsed_4" 3 "NotUsed_3" 2 "NotUsed_2" 1 "NotUsed_1" 0 "NoAction"; +VAL_TABLE_ BalrInnrLeft_D_Stat 3 "Reporting" 2 "NotReporting" 1 "SystemStandby" 0 "Initialization"; +VAL_TABLE_ Zero_1_2_4 3 "Four" 2 "Two" 1 "One" 0 "Zero"; +VAL_TABLE_ NoReq_AutoUp_Stop 3 "NotUsed" 2 "Stop" 1 "AutoUp" 0 "NoRequest"; +VAL_TABLE_ BalrSnsLeft_D_Falt 3 "Invalid" 2 "SystemFailure" 1 "Blocked" 0 "Clear"; +VAL_TABLE_ Null_Low_Med_High 3 "High" 2 "Medium" 1 "Low" 0 "Null"; +VAL_TABLE_ Null_NotPressed_Pressed 3 "NotUsed" 2 "Pressed" 1 "NotPressed" 0 "Null"; +VAL_TABLE_ Low_Med_High 3 "NotUsed" 2 "High" 1 "Medium" 0 "Low"; +VAL_TABLE_ Null_NotAvail_Avail 3 "NotUsed" 2 "Available" 1 "NotAvailable" 0 "Null"; +VAL_TABLE_ ChrgGoTMnte_D_Stat 15 "NotUsed_4" 14 "NotUsed_3" 13 "NotUsed_2" 12 "NotUsed_1" 11 "Minute_55" 10 "Minute_50" 9 "Minute_45" 8 "Minute_40" 7 "Minute_35" 6 "Minute_30" 5 "Minute_25" 4 "Minute_20" 3 "Minute_15" 2 "Minute_10" 1 "Minute_5" 0 "Minute_0"; +VAL_TABLE_ NoData_Faulty_1E_1F 31 "Faulty" 30 "NoDataExists"; +VAL_TABLE_ PwFlwBatt_D_Dsply 15 "NotUsed_8" 14 "NotUsed_7" 13 "NotUsed_6" 12 "NotUsed_5" 11 "NotUsed_4" 10 "NotUsed_3" 9 "NotUsed_2" 8 "NotUsed_1" 7 "FlwFromWallToBatt" 6 "FlwFromAllWhlsToBatt" 5 "FlwFromBattToAllWhls" 4 "FlwFromFrontWhlsToBatt" 3 "FlwFromBattToFrontWhls" 2 "FlwFromRearWhlsToBatt" 1 "FlwFromBattToRearWhls" 0 "NoFlow"; +VAL_TABLE_ PwFlwFuelDrv_D_Dsply 7 "NotUsed_4" 6 "NotUsed_3" 5 "NotUsed_2" 4 "NotUsed_1" 3 "FlwFromFuelToAllWhls" 2 "FlwFromFuelToFrontWhls" 1 "FlwFromFuelToRearWhls" 0 "NoFlow"; +VAL_TABLE_ TrlrAidMsgTxt_D2_Rq 63 "Message63" 62 "Message62" 61 "Message61" 60 "Message60" 55 "Message55" 50 "Message50" 45 "Message45" 40 "Message40" 35 "Message35" 31 "Message31" 30 "Message30" 29 "Message29" 28 "Message28" 27 "Message27" 26 "Message26" 25 "Message25" 24 "Message24" 23 "Message23" 22 "Message22" 21 "Message21" 20 "Message20" 19 "Message19" 18 "Message18" 17 "Message17" 16 "Message16" 15 "Message15" 14 "Message14" 13 "Message13" 12 "Message12" 11 "Message11" 10 "Message10" 9 "Message9" 8 "Message8" 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage"; +VAL_TABLE_ TrlrAidEnbl_D2_Stat 7 "NotUsed_1" 6 "TbaActiveExpertActive" 5 "TbaActiveExpertAvail" 4 "TbaOffTrgActive" 3 "TbaOffTrgSetup" 2 "TbaSetup" 1 "TbaActive" 0 "Inactive"; +VAL_TABLE_ RbaCta_D_Stat 7 "Faulty" 6 "NotUsed_2" 5 "NotUsed_1" 4 "Invalid" 3 "Disabled" 2 "On" 1 "Trailer_Tow_Off" 0 "Off"; +VAL_TABLE_ NoRequest_Mode1_2_3 3 "Mode_3" 2 "Mode_2" 1 "Mode_1" 0 "NoRequest"; +VAL_TABLE_ RvltnMatchAllw_D_Stat 3 "RevolutionMatchDisabled" 2 "RevolutionMatchEnabled" 1 "ChangeWithDriveMode" 0 "NoSelection"; +VAL_TABLE_ BattTracCnnct_D_Cmd 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "WeldCheck" 3 "OkToDischarge" 2 "Closed" 1 "Precharge" 0 "Open"; +VAL_TABLE_ NotDiagnose_FailPass 3 "NotUsed" 2 "Pass" 1 "Fail" 0 "Not_Diagnose_Yet"; +VAL_TABLE_ Null_Off_UnavailFaulty 3 "Faulty" 2 "Unavailable" 1 "Off" 0 "Null"; +VAL_TABLE_ OffOnDisabledNotUsed 3 "NotUsed" 2 "Disabled" 1 "On" 0 "Off"; +VAL_TABLE_ OffGraphicTextBoth 3 "Both" 2 "Text" 1 "Graphic" 0 "Off"; +VAL_TABLE_ NoneInactiveActive_NotUsed 3 "NotUsed" 2 "Active" 1 "Inactive" 0 "None"; +VAL_TABLE_ Off_On_NotUsed 3 "NotUsed_2" 2 "NotUsed_1" 1 "On" 0 "Off"; +VAL_TABLE_ RbaSys_D_Stat 3 "Faulty" 2 "Available" 1 "Suspended" 0 "Disabled"; +VAL_TABLE_ BrkAppl_D_RqPt 3 "BrakesSlowRelease" 2 "BrakesFastRelease" 1 "BrakesEngage" 0 "NotActive"; +VAL_TABLE_ Mtr2State_D_ActlMntr 7 "Faulty" 6 "NoDataExists" 5 "NotUsed_1" 4 "ReadinessState" 3 "DeactivationState" 2 "PowerGeneration" 1 "PowerConsumption" 0 "Null"; +VAL_TABLE_ HybVehMde_D_ActlMntr 7 "Faulty" 6 "NoDataExists" 5 "NotUsed_2" 4 "NotUsed_1" 3 "Fuel" 2 "HybridElectric" 1 "AllElectric" 0 "Null"; +VAL_TABLE_ ChrgStat_D_ActlMntr 7 "Faulty" 6 "NoDataExists" 5 "NotUsed" 4 "ChargingCompleted" 3 "NotCharging" 2 "ChargingInDrivingState" 1 "ChargingInParkingState" 0 "Null"; +VAL_TABLE_ Null_HiPower_Low_Med 3 "MediumPower" 2 "LowPower" 1 "HighPower" 0 "Null"; +VAL_TABLE_ Inactive_Enable_Disable_NotUsed 0 "Inactive" 2 "Disable" 1 "Enable"; +VAL_TABLE_ Inactive_OffOn_NotUsed 0 "Inactive" 1 "On" 2 "Off" 3 "NotUsed"; +VAL_TABLE_ Null_NotPressed_Faulty 3 "Faulty" 2 "Pressed" 1 "NotPressed" 0 "Null"; +VAL_TABLE_ TrailCtl_D_Stat 7 "Faulty" 6 "DescentOnly" 5 "EnabledDeny" 4 "StandbyOverThreshold" 3 "StandbyOverride" 2 "Active" 1 "EnabledDescent" 0 "Off"; +VAL_TABLE_ Faulty_3F 63 "Faulty"; +VAL_TABLE_ ChrgOvrdExitScrn_D_Rq 3 "NotUsed_1" 2 "Request_override" 1 "Do_not_request_override" 0 "Inactive"; +VAL_TABLE_ Quality_Data_Faulty 3 "OK" 2 "Not_Within_Specifications" 1 "Eval_In_Progress" 0 "Faulty"; +VAL_TABLE_ TrlrHitchYaw_D_Stat 15 "Faulty" 14 "NotUsed_4" 13 "NotUsed_3" 12 "NotUsed_2" 11 "NotUsed_1" 10 "FaultyYrsuConnection" 9 "FaultyYrsu" 8 "HiConfdLrndAngle" 7 "LowConfdLrndAngle" 6 "HiConfdAngleMem" 5 "LowConfdAngleMem" 4 "InitNoTadAngle" 3 "InitInputs" 2 "TadTrlrDataOutOfRange" 1 "TadNotWithinSpecification" 0 "NoConnectionWithYrsu"; +VAL_TABLE_ NoData_Faulty_FFFFFFFFFFFE_FF -1 "Faulty_FFFFFFFFFFFF" -2 "NoDataExists_FFFFFFFFFFFE"; +VAL_TABLE_ NoFault_Fault 1 "Fault" 0 "No_Fault"; +VAL_TABLE_ OtaTrg_D_Stat 3 "NotUsed_1" 2 "Accepted" 1 "NotAccepted" 0 "Null"; +VAL_TABLE_ EdmMsgTxt_D_Rq 15 "NotUsed_4" 14 "NotUsed_3" 13 "NotUsed_2" 12 "NotUsed_1" 11 "OverallGoodScore" 10 "WorkOnCompliance" 9 "GoodCompliance" 8 "WorkOnGearShifting" 7 "GoodGearShifting" 6 "WorkOnEfficientSpeed" 5 "GoodEfficientSpeed" 4 "WorkOnDeceleration" 3 "GoodDeceleration" 2 "WorkOnAcceleration" 1 "GoodAcceleration" 0 "NoMessage"; +VAL_TABLE_ EdmLamp_D_Dsply 15 "NotUsed_7" 14 "NotUsed_6" 13 "NotUsed_5" 12 "NotUsed_4" 11 "NotUsed_3" 10 "NotUsed_2" 9 "NotUsed_1" 8 "CoastingEngineBrake" 7 "CoastingShiftToNeutral" 6 "FreewayJunction" 5 "Curve2" 4 "Curve1" 3 "SpeedLimit" 2 "Crossing" 1 "FreewayExit" 0 "NoRecommendation"; +VAL_TABLE_ AwdCnnct_D_Stat 3 "Connecting" 2 "Disconnecting" 1 "Connected" 0 "Disconnected"; +VAL_TABLE_ EngAirFiltMsgTxt_D_Rq 7 "NotUsed_2" 6 "NotUsed_1" 5 "EngineAirFilterMonitorFalt" 4 "ResetComplete" 3 "Clogged" 2 "ReplaceNow" 1 "ReplaceSoon" 0 "NoMessage"; +VAL_TABLE_ ElPwPoint_D_Rq 3 "On" 2 "Off2" 1 "Off1" 0 "Null"; +VAL_TABLE_ EngExhMdeQuiet_D2_Rq 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "Track" 3 "Sport" 2 "Normal" 1 "Stealth" 0 "Null"; +VAL_TABLE_ RearDiffThrml_D_Stat 3 "NotUsed_1" 2 "AboveThermalLimit" 1 "ThermalLimit" 0 "Normal"; +VAL_TABLE_ NoInhibit_Inhibit 1 "Inhibit" 0 "NoInhibit"; +VAL_TABLE_ PersRecallSrc_D_Actl 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "MemorySwitch" 3 "RemoteStart" 2 "KeyFob" 1 "CenterStack" 0 "Null"; +VAL_TABLE_ BattTracChiller_D_Stat 3 "NotUsed" 2 "ChillerNotAvailable" 1 "ChillerBrieflyAvailable" 0 "ChillerAvailable"; +VAL_TABLE_ SelDrvMdeChassis2_D_Rq 31 "Faulty" 30 "NotUsed17" 29 "NotUsed16" 28 "NotUsed15" 27 "NotUsed14" 26 "NotUsed13" 25 "NotUsed12" 24 "NotUsed11" 23 "NotUsed10" 22 "NotUsed9" 21 "NotUsed8" 20 "NotUsed7" 19 "NotUsed6" 18 "NotUsed5" 17 "NotUsed4" 16 "NotUsed3" 15 "NotUsed2" 14 "RoughRoadMode" 13 "TrackMode" 12 "HighSpeedDesertMode" 11 "TowHaulMode" 10 "RockCrawlMode" 9 "SandMode" 8 "MudAndRutsMode" 7 "LowMuMode" 6 "ComfortAdaptiveMode" 5 "ComfortMode" 4 "SportAdaptiveMode" 3 "SportMode" 2 "EconomyMode" 1 "NormalAdaptiveMode" 0 "NormalMode"; +VAL_TABLE_ TrnFaltOpenClu_B_Stat 1 "MayOpenClutch" 0 "Normal"; +VAL_TABLE_ UrbanAreaDetct_D_Stat 3 "NotUsed_1" 2 "City" 1 "Subdivision" 0 "None"; +VAL_TABLE_ Closed_Open 1 "Open" 0 "Closed"; +VAL_TABLE_ AdbBrdrDist 15 "DistGreater800m" 14 "Dist700mTo800m" 13 "Dist600mTo700m" 12 "Dist500mTo600m" 11 "Dist400mTo500m" 10 "Dist300mTo400m" 9 "Dist200mTo300m" 8 "Dist175mTo200m" 7 "Dist150mTo175m" 6 "Dist125mTo150m" 5 "Dist100mTo125m" 4 "Dist75mTo100m" 3 "Dist50mTo75m" 2 "Dist25mTo50m" 1 "Dist15mTo25m" 0 "Dist0mTo15m"; +VAL_TABLE_ TCU_ESN_D_Rq 3 "NotUsed" 2 "TCU_ESN_Request" 1 "NoRequest" 0 "Inactive"; +VAL_TABLE_ FactoryReset_Rq 1 "ResetFactoryDefaults" 0 "Inactive"; +VAL_TABLE_ TCU_Init_Actvtn_St 3 "NotUsed" 2 "InitialActivateDeny" 1 "InitialActivateAccept" 0 "Invalid"; +VAL_TABLE_ TCU_Final_Actvtn_St 3 "NotUsed" 2 "FinalActivateDeny" 1 "FinalActivateAccept" 0 "Invalid"; +VAL_TABLE_ WaitToStartLamp_D_Falt 3 "NotUsed" 2 "Wait_to_start_lamp_failed" 1 "Diagnosis_not_ready" 0 "Wait_to_start_lamp_OK"; +VAL_TABLE_ BattTracCoolLvl_D_Rq 7 "Faulty" 6 "NotUsed" 5 "ChillerCoolingBattFirst" 4 "ChillerCoolingCabinFirst" 3 "ForcedCoolingRadiator" 2 "OpportunisticCoolingRad" 1 "CoolantFlowBypassLine" 0 "Off"; +VAL_TABLE_ BattClntVlvOvrrd_D_Rq 3 "NotUsed" 2 "OverrideTbcvToChiller" 1 "OverrideTbcvToRadiator" 0 "NoOverrideToTbcvCLogic"; +VAL_TABLE_ NonMagnetic_Magnetic 1 "Magnetic" 0 "NonMagnetic"; +VAL_TABLE_ RideHghtMde_D_Stat 15 "Faulty" 14 "NotUsed_5" 13 "NotUsed_4" 12 "NotUsed_3" 11 "NotUsed_2" 10 "NotUsed_1" 9 "AdjUpAero" 8 "AdjUpOffRoad" 7 "AdjUpNormal" 6 "AdjDownKneel" 5 "AdjDownAero" 4 "AdjDownNormal" 3 "OffRoad" 2 "Kneel" 1 "Aero" 0 "Normal"; +VAL_TABLE_ AutoTowAllw_D_StatMnu 3 "TowHaulCommandedOn" 2 "AutoTowHaulEnabled" 1 "AutoTowHaulDisabled" 0 "NoSelection"; +VAL_TABLE_ SrpEventRight_D_Stat 3 "Faulty" 2 "Bump" 1 "Pothole" 0 "NoEvent"; +VAL_TABLE_ RearDiff_D_Stat 15 "NotUsed_7" 14 "NotUsed_6" 13 "NotUsed_5" 12 "NotUsed_4" 11 "NotUsed_3" 10 "NotUsed_2" 9 "NotUsed_1" 8 "TorqueReqNotHonored" 7 "MissingSignal" 6 "ModuleFault" 5 "HydroTempSensorFault" 4 "ClutchPressSensorFault" 3 "AccumPressSensorFault" 2 "ControlValveFault" 1 "MotorFault" 0 "Normal"; +VAL_TABLE_ NotAllowed_Allowed 1 "Allowed" 0 "NotAllowed"; +VAL_TABLE_ EngTrlrCnnct_D_Stat 3 "NotUsed_1" 2 "UnverifiedTrailer" 1 "HeavyTrailer" 0 "NoTrailer"; +VAL_TABLE_ Faulty_FFFF 65535 "Faulty"; +VAL_TABLE_ NoData_Faulty_3FFE_3FFF 16383 "Faulty" 16382 "NoDataExists"; +VAL_TABLE_ Faulty_3FFF 16383 "Faulty"; +VAL_TABLE_ NotExceeded_Exceeded 1 "Exceeded" 0 "NotExceeded"; +VAL_TABLE_ EmgcyCall_D_Stat 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "ManualEmergencyCall" 3 "AutoEmergencyCall" 2 "NoEvent" 1 "EmergencyCallNotSupported" 0 "Null"; +VAL_TABLE_ NotAsserted_Asserted 1 "Asserted" 0 "NotAsserted"; +VAL_TABLE_ AirSprngRate_D_Stat 3 "Faulty" 2 "Firm" 1 "Medium" 0 "Soft"; +VAL_TABLE_ AirSprngRate_D_Rq 3 "NoRequest" 2 "Firm" 1 "Medium" 0 "Soft"; +VAL_TABLE_ GearLvr_D_ActlDrv 15 "Fault" 14 "Unknown_Position" 13 "NotUsed_2" 12 "NotUsed_1" 11 "Range6" 10 "Range5" 9 "Range4" 8 "Range3_M3_L3" 7 "Range2_M2_L2" 6 "Range1_M1_L1" 5 "Low" 4 "Sport_DriveSport_Mposition" 3 "Drive" 2 "Neutral" 1 "Reverse" 0 "Park"; +VAL_TABLE_ ChrgrInPwMde_D_Actl 15 "NotUsed_9" 14 "NotUsed_8" 13 "NotUsed_7" 12 "NotUsed_6" 11 "NotUsed_5" 10 "NotUsed_4" 9 "NotUsed_3" 8 "EvseFault" 7 "EvseNotCompatible" 6 "IcCharging" 5 "DcCharging" 4 "AcDigital" 3 "AcBasic" 2 "DigitalCommDetected" 1 "EvsePaused" 0 "EvseNotDetected"; +VAL_TABLE_ ChrgCordLck_D_Stat 7 "Faulty" 6 "LockFail" 5 "UnlockFail" 4 "LockInProgress" 3 "UnlockInProgress" 2 "Lock" 1 "Unlock" 0 "Retain"; +VAL_TABLE_ LkaActvStats_D2_Req 7 "NotUsed" 6 "LkaIncrIntervRight" 5 "LkaSupprRight" 4 "LkaStandIntervRight" 3 "LkaSupprLeft" 2 "LkaStandIntervLeft" 1 "LkaIncrIntervLeft" 0 "LkaNoInterv"; +VAL_TABLE_ OffOnNoDataFaulty 3 "Faulty" 2 "No_Data_Exists" 1 "On" 0 "Off"; +VAL_TABLE_ NoMessage_Msg1_3 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage"; +VAL_TABLE_ TrnRng_D_RqGsm 15 "Fault" 14 "UnknownPosition" 13 "Undefined_2" 12 "Undefined_1" 11 "_6" 10 "_5" 9 "_4" 8 "_3" 7 "_2" 6 "_1" 5 "Low" 4 "Sport" 3 "Drive" 2 "Neutral" 1 "Reverse" 0 "Park"; +VAL_TABLE_ PrkBrkActv_D_RqGsmGear 3 "NotUsed" 2 "RequestParkBrakeEngage" 1 "NoRequest" 0 "Null"; +VAL_TABLE_ TrnPrkSys_D_Actl 15 "Faulty" 14 "NotUsed_5" 13 "NotUsed_4" 12 "NotUsed_3" 11 "NotUsed_2" 10 "NotUsed_1" 9 "FrequencyError" 8 "OutOfRangeHigh" 7 "OutOfRangeLow" 6 "Override" 5 "OutOfPark" 4 "TransitionCloseToOutOfPark" 3 "AtNoSpring" 2 "TransitionCloseToPark" 1 "Park" 0 "NotKnown"; +VAL_TABLE_ OKLowUnknownInvalid 3 "Invalid" 2 "Unknown" 1 "Low" 0 "OK"; +VAL_TABLE_ Dsp_RotAddrBtnEv_St 15 "NotUsed_1" 14 "Pos_7Steps" 13 "Pos_6Steps" 12 "Pos_5Steps" 11 "Pos_4Steps" 10 "Pos_3Steps" 9 "Pos_2Steps" 8 "Pos_1Step" 7 "NotPressed" 6 "Neg_1Steps" 5 "Neg_2Steps" 4 "Neg_3Steps" 3 "Neg_4Steps" 2 "Neg_5Steps" 1 "Neg_6Steps" 0 "Neg_7Steps"; +VAL_TABLE_ PrkAidDrvDir_D_Stat 7 "NotUsed_2" 6 "NotUsed_1" 5 "BackwardNegative" 4 "ForwardNegative" 3 "BackwardPositive" 2 "ForwardPositive" 1 "NoMotion" 0 "DirectionNotKnown"; +VAL_TABLE_ EngExhMdeQuiet_D2_Stat 7 "Faulty" 6 "NotUsed_2" 5 "NotUsed_1" 4 "Track" 3 "Sport" 2 "Normal" 1 "Stealth" 0 "Null"; +VAL_TABLE_ GasPrtc_D_RqDsply 7 "NotUsed_5" 6 "NotUsed_4" 5 "NotUsed_3" 4 "NotUsed_2" 3 "NotUsed_1" 2 "GpfOverLimit" 1 "GpfAtLimit" 0 "NormalOperation"; +VAL_TABLE_ TjaWarn_D_Rq 7 "NotUsed_4" 6 "NotUsed_3" 5 "NotUsed_2" 4 "NotUsed_1" 3 "HardTakeOverLevel2" 2 "HardTakeOverLevel1" 1 "TrafficJamAssistCancel" 0 "NoWarning"; +VAL_TABLE_ Faulty_7FF 2047 "Faulty"; +VAL_TABLE_ Tja_D_Stat 7 "NotUsed_1" 6 "ActiveWarningRight" 5 "ActiveWarningLeft" 4 "ActiveInterventionRight" 3 "ActiveInterventionLeft" 2 "Active" 1 "Standby" 0 "Off"; +VAL_TABLE_ TjaMsgTxt_D_Dsply 7 "NotUsed_4" 6 "NotUsed_3" 5 "NotUsed_2" 4 "NotUsed_1" 3 "TurnOnAdaptCruiseControl" 2 "TrafficJamAssistSelected" 1 "TrafficJamAssistUnavailabl" 0 "NoMessage"; +VAL_TABLE_ PwSrcULowMde_D_Actl 3 "NotUsed_1" 2 "ReverseBoost" 1 "ForwardBuck" 0 "Standby"; +VAL_TABLE_ ApaTrgtDist_D_Stat 15 "Step15" 14 "Step14" 13 "Step13" 12 "Step12" 11 "Step11" 10 "Step10" 9 "Step9" 8 "Step8" 7 "Step7" 6 "Step6" 5 "Step5" 4 "Step4" 3 "Step3" 2 "Step2" 1 "Step1" 0 "Off"; +VAL_TABLE_ Memory_2_SwPsngr_Stat 1 "Pressed" 0 "Null"; +VAL_TABLE_ Pers3Key_D_Stat 3 "NotUsed_1" 2 "KeyUnAssociated" 1 "KeyAssociated" 0 "Null"; +VAL_TABLE_ PwSrcULoMde_D_Rq 3 "NotUsed_1" 2 "ReverseBoost" 1 "ForwardBuck" 0 "Standby"; +VAL_TABLE_ AccMsgTxt_D2_Rq 15 "NotUsed_1" 14 "NCC_Enabled_Warning" 13 "IACC_TJA_Selected" 12 "ACC_TJA_Selected" 11 "IACC_Selected" 10 "Press_Brake_To_Hold" 9 "Only_Following_In_Low_Spd" 8 "TJA_Unavailable" 7 "Shift_Down" 6 "IACC_Unavailable" 5 "ACC_Selected" 4 "ACC_Overridden" 3 "Brake_Capacity_Warning" 2 "ACC_Cancelled" 1 "ACC_Unavailable" 0 "No_Text"; +VAL_TABLE_ WakeAlarm0_B_Typ 1 "CanAndEcuDriveCircuit" 0 "CanOnly"; +VAL_TABLE_ WakeAlarm0_D_Stat 3 "PublisherReset" 2 "Wake" 1 "AlarmRunning" 0 "AlarmOff"; +VAL_TABLE_ EmPrflNo_D_Rq 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "Pers4" 3 "Pers3" 2 "Pers2" 1 "Pers1" 0 "Null"; +VAL_TABLE_ EmPrflKeyAssoc_D_Rq 7 "NotUsed_3" 6 "DisassociatePhone" 5 "EnterPhoneAssociation" 4 "OverwriteKey" 3 "DisassociateKey" 2 "ExitKeyAssociation" 1 "EnterKeyAssociation" 0 "Null"; +VAL_TABLE_ Em_D_Stat 3 "NotSupported" 2 "ProfilesOff" 1 "ProfilesOn" 0 "Null"; +VAL_TABLE_ EmPrflButtnAssoc_D_Rq 3 "NotUsed" 2 "ExitButtonAssociation" 1 "EnterButtonAssociation" 0 "Null"; +VAL_TABLE_ EmPrflNo_D_Stat 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "Pers4" 3 "Pers3" 2 "Pers2" 1 "Pers1" 0 "Null"; +VAL_TABLE_ EmPrflKeyAssoc_D_Stat 7 "WrongDevice" 6 "KeyAssociateFailed" 5 "KeyAssociateSuccess" 4 "KeyAlreadyInUse" 3 "KeyDisassociated" 2 "KeyAssociationExited" 1 "KeyAssociationEntered" 0 "Null"; +VAL_TABLE_ EsaEnbl_D2_Rq 3 "NotConfigured" 2 "Enabled" 1 "Pending" 0 "Disabled"; +VAL_TABLE_ PersNo_D_Actl 7 "Unused_3" 6 "Unused_2" 5 "NotDetermined" 4 "Vehicle" 3 "PERS_4" 2 "PERS_3" 1 "PERS_2" 0 "PERS_1"; +VAL_TABLE_ WiprFront_D_Stat2 15 "NO_DATA_EXISTS" 14 "STALLED" 13 "NotUsed" 12 "AUTO_ADJUST" 11 "COURTESYWIPE" 10 "AUTO_HIGH" 9 "AUTO_LOW" 8 "WASH" 7 "MIST_FLICK" 6 "MAN_HIGH" 5 "MAN_LOW" 4 "MAN_INT_ON" 3 "MAN_INT_OFF" 2 "OFF_MOVING" 1 "AUTO_OFF" 0 "OFF"; +VAL_TABLE_ TurnLghtSwtch_D_Stat2 3 "NotUsed" 2 "Right" 1 "Left" 0 "Off"; +VAL_TABLE_ CcButtnOnOffCnclPress3 1 "Pressed" 0 "Not pressed"; +VAL_TABLE_ SelDrvMdePos01_B_Avail 1 "Available" 0 "NotAvailable"; +VAL_TABLE_ SelDrvMdePos01_D_Stat 31 "Faulty" 30 "SelDrvMde31" 29 "SelDrvMde30" 28 "SelDrvMde29" 27 "SelDrvMde28" 26 "SelDrvMde27" 25 "SelDrvMde26" 24 "SelDrvMde25" 23 "SelDrvMde24" 22 "SelDrvMde23" 21 "SelDrvMde22" 20 "SelDrvMde21" 19 "SelDrvMde20" 18 "SelDrvMde19" 17 "SelDrvMde18" 16 "SelDrvMde17" 15 "SelDrvMde16" 14 "SelDrvMde15" 13 "SelDrvMde14" 12 "SelDrvMde13" 11 "SelDrvMde12" 10 "SelDrvMde11" 9 "SelDrvMde10" 8 "SelDrvMde09" 7 "SelDrvMde08" 6 "SelDrvMde07" 5 "SelDrvMde06" 4 "SelDrvMde05" 3 "SelDrvMde04" 2 "SelDrvMde03" 1 "SelDrvMde02" 0 "SelDrvMde01"; +VAL_TABLE_ ImmedFastMediumSlow 3 "Slow" 2 "Medium" 1 "Fast" 0 "Immediately"; +VAL_TABLE_ AdbHiBeamKeepOff_D_Rq 3 "KeepBothOff" 2 "KeepLeftOff" 1 "KeepRightOff" 0 "BothFreeRunning"; +VAL_TABLE_ AdbLampOnOff_D_Rq 3 "BothOn" 2 "LeftOnRightOff" 1 "RightOnLeftOff" 0 "BothOff"; +VAL_TABLE_ AdbMde1_D_Rq 3 "MarkerLightFlashing" 2 "MarkerLightConstant" 1 "Spot" 0 "None"; +VAL_TABLE_ Closed_Open_Active_Denied 3 "Denied" 2 "Active" 1 "Open" 0 "Closed"; +VAL_TABLE_ OffLowMedMax 3 "Maximum" 2 "Medium" 1 "Low" 0 "Off"; +VAL_TABLE_ IaccLamp_D_Rq 3 "NotUsed_2" 2 "NotUsed_1" 1 "DisplayIaccIcon" 0 "DoNotDisplayIaccIcon"; +VAL_TABLE_ Low_High_Confidence 1 "High_Confidence" 0 "Low_Confidence"; +VAL_TABLE_ Fault_Occupied_Empty_Un 3 "Unknown" 2 "Empty" 1 "Occupied" 0 "Fault"; +VAL_TABLE_ Off_On_Flash_Triggered 3 "Triggered" 2 "Flash" 1 "On" 0 "Off"; +VAL_TABLE_ IaccVLim_D_Rq 252 "NotUsed_2" 250 "LimitSpeed_250" 240 "LimitSpeed_240" 230 "LimitSpeed_230" 220 "LimitSpeed_220" 210 "LimitSpeed_210" 200 "LimitSpeed_200" 190 "LimitSpeed_190" 150 "LimitSpeed_150" 140 "LimitSpeed_140" 130 "LimitSpeed_130" 120 "LimitSpeed_120" 110 "LimitSpeed_110" 100 "LimitSpeed_100" 90 "LimitSpeed_90" 80 "LimitSpeed_80" 70 "LimitSpeed_70" 60 "LimitSpeed_60" 50 "LimitSpeed_50" 40 "LimitSpeed_40" 30 "LimitSpeed_30" 20 "LimtSpeed_20" 251 "NotUsed_1" 255 "Faulty" 254 "NoDataExists" 253 "NotUsed_3" 180 "LimitSpeed_180" 179 "LimitSpeed_179" 178 "LimitSpeed_178" 177 "LimitSpeed_177" 176 "LimitSpeed_176" 175 "LimitSpeed_175" 174 "LimitSpeed_174" 173 "LimitSpeed_173" 172 "LimitSpeed_172" 171 "LimitSpeed_171" 170 "LimitSpeed_170" 169 "LimitSpeed_169" 168 "LimitSpeed_168" 167 "LimitSpeed_167" 166 "LimitSpeed_166" 165 "LimitSpeed_165" 164 "LimitSpeed_164" 163 "LimitSpeed_163" 162 "LimitSpeed_162" 161 "LimitSpeed_161" 160 "LimitSpeed_160" 15 "LimitSpeed_15" 14 "LimitSpeed_14" 13 "LimitSpeed_13" 12 "LimitSpeed_12" 11 "LimitSpeed_11" 10 "LimitSpeed_10" 9 "LimitSpeed_9" 8 "LimitSpeed_8" 7 "LimitSpeed_7" 6 "LimitSpeed_6" 5 "LimitSpeed_5" 4 "LimitSpeed_4" 3 "LimitSpeed_3" 2 "LimitSpeed_2" 1 "LimitSpeed_1" 0 "LimitSpeed_0"; +VAL_TABLE_ IaccVLimUnit_D_Rq 3 "NoDataExists" 2 "Mph" 1 "Kph" 0 "Null"; +VAL_TABLE_ SelDrvMdeAwd_D_Rq 31 "Faulty" 30 "NotUsed_17" 29 "NotUsed_16" 28 "NotUsed_15" 27 "NotUsed_14" 26 "NotUsed_13" 25 "NotUsed_12" 24 "NotUsed_11" 23 "NotUsed_10" 22 "NotUsed_9" 21 "NotUsed_8" 20 "NotUsed_7" 19 "NotUsed_6" 18 "NotUsed_5" 17 "EvLaterChargeMode" 16 "EvNowMode" 15 "TrackMode" 14 "RoughRoadMode" 13 "NotAvailable" 12 "HighSpeedDesertMode_Baja" 11 "SportAdaptiveMode" 10 "RockCrawlMode" 9 "MudRutsMode" 8 "SandMode" 7 "EconomyMode" 6 "GrassGravelSnow" 5 "TowHaulMode" 4 "SportMode" 3 "Normal_4L" 2 "Normal_4A" 1 "Normal_2H" 0 "NormalMode"; +VAL_TABLE_ SelDrvMdeAwd_D_Stat 0 "NotAvailable" 1 "Available" 2 "TemporarilyNotAvailable" 3 "Faulty"; +VAL_TABLE_ SelDrvMdeAwd2_D_Stat 31 "Faulty" 30 "NotUsed_17" 29 "NotUsed_16" 28 "NotUsed_15" 27 "NotUsed_14" 26 "NotUsed_13" 25 "NotUsed_12" 24 "NotUsed_11" 23 "NotUsed_10" 22 "NotUsed_9" 21 "NotUsed_8" 20 "NotUsed_7" 19 "NotUsed_6" 18 "NotUsed_5" 17 "EvLaterChargeMode" 16 "EvNowMode" 15 "TrackMode" 14 "RoughRoadMode" 13 "NotAvailable" 12 "HighSpeedDesertMode_Baja" 11 "SportAdaptiveMode" 10 "RockCrawlMode" 9 "MudRutsMode" 8 "SandMode" 7 "EconomyMode" 6 "GrassGravelSnow" 5 "TowHaulMode" 4 "SportMode" 3 "Normal_4L" 2 "Normal_4A" 1 "Normal_2H" 0 "NormalMode"; +VAL_TABLE_ RearDiffLckMsg2_D_Rq 15 "NotUsed_3" 14 "NotUsed_2" 13 "NotUsed_1" 12 "ElsdReduced" 11 "LockingFeatureNotAvailable" 10 "EsldOff" 9 "ElsdRestored" 8 "ElsdOverheated" 7 "Locker_Disabled" 6 "Locker_Enabled" 5 "LockerSpeed5" 4 "LockerSpeed4" 3 "LockerSpeed3" 2 "LockerSpeed2" 1 "LockerSpeed1" 0 "NormalNoMessage "; +VAL_TABLE_ Counts_ZeroToSeven 4 "FourCounts" 3 "ThreeCounts" 2 "TwoCounts" 1 "OneCount" 0 "ZeroCounts" 7 "SevenOrMoreCounts" 6 "SixCounts" 5 "FiveCounts"; +VAL_TABLE_ HeadLghtHiPrmsn_D_Stat 3 "CancelAndSuppress" 2 "Cancel" 1 "Hold" 0 "AllowChange"; +VAL_TABLE_ SelDrvMdeSwtch 3 "Faulty" 2 "SwitchState2" 1 "SwitchState1" 0 "NotPressed"; +VAL_TABLE_ NotAvail_Temp_Faulty 3 "Faulty" 2 "TemporarilyNotAvailable" 1 "Available" 0 "NotAvailable"; +VAL_TABLE_ AwdDrvMde 7 "Faulty" 6 "NotAvailable" 5 "RockCrawl" 4 "Baja" 3 "MudAndSand" 2 "Weather" 1 "Sport" 0 "Normal"; +VAL_TABLE_ SelDrvMdePt_D_Rq 31 "Faulty" 30 "NotUsed15" 29 "NotUsed14" 28 "NotUsed13" 27 "NotUsed12" 26 "NotUsed11" 25 "NotUsed10" 24 "NotUsed9" 23 "NotUsed8" 22 "NotUsed7" 21 "NotUsed6" 20 "NotUsed5" 19 "NotUsed4" 18 "EvLaterChargerMode" 17 "EvNowMode" 16 "DragMode" 15 "HighSpeedDesertMode_Baja" 14 "SportAdaptiveMode" 13 "NotAvailable_13" 12 "NotAvailable_12" 11 "NotAvailable_11" 10 "NotAvailable_10" 9 "RockCrawlMode" 8 "MudRutsMode" 7 "SandMode" 6 "EconomyMode" 5 "GrassGravelSnow" 4 "NotAvailable_04" 3 "TowHaulMode" 2 "NotAvailable_02" 1 "SportMode" 0 "NormalMode"; +VAL_TABLE_ SelDrvMde_D_Stat 3 "NotUsed" 2 "DriveModeChangeRequest" 1 "DriveModeChangeSelection" 0 "NoDriveModeChangeRequest"; +VAL_TABLE_ NoMessage_Msg1_15 15 "Message15" 14 "Message14" 13 "Message13" 12 "Message12" 11 "Message11" 10 "Message10" 9 "Message9" 8 "Message8" 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage"; +VAL_TABLE_ SelDrvMdeChassis_D_Rq 31 "Faulty" 30 "NotUsed17" 29 "NotUsed16" 28 "NotUsed15" 27 "NotUsed14" 26 "NotUsed13" 25 "NotUsed12" 24 "NotUsed11" 23 "NotUsed10" 22 "NotUsed9" 21 "NotUsed8" 20 "NotUsed7" 19 "NotUsed6" 18 "NotUsed5" 17 "NotUsed4" 16 "NotUsed3" 15 "NotUsed2" 14 "NotUsed1" 13 "TrackMode" 12 "HighSpeedDesertMode" 11 "TowHaulMode" 10 "RockCrawlMode" 9 "SandMode" 8 "MudAndRutsMode" 7 "LowMuMode" 6 "ComfortAdaptiveMode" 5 "ComfortMode" 4 "SportAdaptiveMode" 3 "SportMode" 2 "EconomyMode" 1 "NormalAdaptiveMode" 0 "NormalMode"; +VAL_TABLE_ NotAvailable_Available 1 "Available" 0 "NotAvailable"; +VAL_TABLE_ PwStep_D_Stat 3 "PositionNotKnown" 2 "StepsNotStowed" 1 "StepsStowed" 0 "Off"; +VAL_TABLE_ PwStep_D_DrvInhbt 3 "NotUsed" 2 "DriveInhibitMalfunction" 1 "DriveInhibited" 0 "DriveNotInhibited"; +VAL_TABLE_ NoMessage_Msg1_31 31 "Message31" 30 "Message30" 29 "Message29" 28 "Message28" 27 "Message27" 26 "Message26" 25 "Message25" 24 "Message24" 23 "Message23" 22 "Message22" 21 "Message21" 20 "Message20" 19 "Message19" 18 "Message18" 17 "Message17" 16 "Message16" 15 "Message15" 14 "Message14" 13 "Message13" 12 "Message12" 11 "Message11" 10 "Message10" 9 "Message9" 8 "Message8" 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage"; +VAL_TABLE_ VehTrvlDir_D_Stat 7 "Faulty" 6 "NoDataExists" 5 "NotUsed2" 4 "NotUsed1" 3 "Reverse" 2 "LikelyReverse" 1 "Forward" 0 "LikelyForward"; +VAL_TABLE_ TrnRng_D_RqFap 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "Backwards" 3 "Forwards" 2 "NoMotion" 1 "Immobilize" 0 "NoRequest"; +VAL_TABLE_ SelDrvMdeSusp_D_Stat 3 "Faulty" 2 "TemporarilyNotAvailable" 1 "Available" 0 "NotAvailable"; +VAL_TABLE_ OffOnNoReqFaulty 3 "Faulty" 2 "NoRequest" 1 "On" 0 "Off"; +VAL_TABLE_ LatCtl_D_Rq 7 "NotUsed4" 6 "NotUsed3" 5 "NotUsed2" 4 "NotUsed1" 3 "InterventionRight" 2 "InterventionLeft" 1 "ContinuousPathFollowing" 0 "NoLateralControl"; +VAL_TABLE_ LatCtlSte_D_Stat 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "Denied" 3 "RampOut" 2 "ContLatControlInProgress" 1 "Available" 0 "Unavailable"; +VAL_TABLE_ SlowMedFastImmed 3 "Immediately" 2 "Fast" 1 "Medium" 0 "Slow"; +VAL_TABLE_ ComfortablePreciseNotUsed 3 "NotUsed2" 2 "NotUsed1" 1 "Precise" 0 "Comfortable"; +VAL_TABLE_ LatCtlLim_D_Stat 3 "LimitWithDriverActive" 2 "LimitReached" 1 "LimitClose" 0 "LimitNotReached"; +VAL_TABLE_ FuelLvlWarn_D_ActlEng 7 "DteLevel5Lowest" 6 "DteLevel4" 5 "DteLevel3" 4 "DteLevel2NonMyKey" 3 "DteLevel1MyKey" 2 "VeryLow" 1 "Low" 0 "OK"; +VAL_TABLE_ AwdMde_D_RqDrv 7 "Faulty" 6 "NotUsed2" 5 "NoRequest" 4 "Neutral" 3 "FourByFourLow" 2 "FourByFourHigh" 1 "FourByFourAuto" 0 "FourByTwo"; +VAL_TABLE_ ApaBrk_D_Stat 3 "Denied" 2 "Active" 1 "Open" 0 "Closed"; +VAL_TABLE_ AdptDrvMdePt_D_Rq 7 "Faulty" 6 "NotUsed3" 5 "NotUsed2" 4 "NotUsed1" 3 "Powertrain2Sport" 2 "Powertrain2Normal" 1 "Powertrain2Comfort" 0 "AdaptiveNotActive"; +VAL_TABLE_ AdptDrvMdeChassis_D_Rq 7 "Faulty" 6 "NotUsed3" 5 "NotUsed2" 4 "NotUsed1" 3 "Chassis2Sport" 2 "Chassis2Normal" 1 "Chassis2Comfort" 0 "AdaptiveNotActive"; +VAL_TABLE_ PwStepMsgTxt_D_Rq 1 "DriveInhibited" 0 "NoMessage" 3 "NotUsed" 2 "Malfunction"; +VAL_TABLE_ OffLowMedHigh 3 "High" 2 "Medium" 1 "Low" 0 "Off"; +VAL_TABLE_ NotDeterminedLowMedHigh 3 "High" 2 "Medium" 1 "Low" 0 "NotDetermined"; +VAL_TABLE_ CmbbObjClass_D_Stat 15 "NotUsed_9" 14 "NotUsed_8" 13 "NotUsed_7" 12 "NotUsed_6" 11 "NotUsed_5" 10 "NotUsed_4" 9 "NotUsed_3" 8 "NotUsed_2" 7 "NotUsed_1" 6 "Unclassified_Vehicle" 5 "Bicycle" 4 "Pedestrian" 3 "Truck" 2 "Motorcycle" 1 "Vehicle" 0 "Undetermined"; +VAL_TABLE_ HeadLghtHiCtrl_D_RqAhb 7 "NotUsed2" 6 "NotUsed1" 5 "Auto_HiBeam" 4 "Auto_LoBeam" 3 "Flash" 2 "Man_HiBeam" 1 "Man_LoBeam" 0 "Null"; +VAL_TABLE_ AhbHiBeam_D_Rq 3 "NotUsed" 2 "HighBeamRecommended" 1 "LowBeamRecommended" 0 "DeactivatedUnavailable"; +VAL_TABLE_ AhbStatGfhbFdbk_D_Actl 3 "GfhbHighBeamFullyOn" 2 "GfhbHighBeamPartlyOn" 1 "GfhbHighBeamOff" 0 "GfhbUnavailable"; +VAL_TABLE_ AhbcRampingV_D_Rq 3 "Slow" 2 "Medium" 1 "Fast" 0 "Immediately"; +VAL_TABLE_ ApaGearShif_D_RqDrv 7 "NotUSed2" 6 "NotUsed1" 5 "ShiftToP" 4 "ShiftToN" 3 "ShiftToD" 2 "ShiftToR" 1 "NoRequest" 0 "Null"; +VAL_TABLE_ ApaLongCtl_D_RqDrv 7 "NotUsed3" 6 "NotUsed2" 5 "ReleaseBrake" 4 "DriveBackward" 3 "DriveForward" 2 "Stop" 1 "NoRequest" 0 "Null"; +VAL_TABLE_ ApaActvSide2_D_Stat 3 "NoSide" 2 "Right" 1 "Left" 0 "Null"; +VAL_TABLE_ ApaScan_D_Stat 3 "ParkSlotReady" 2 "ParkSlotFound" 1 "NoParkSlot" 0 "Null"; +VAL_TABLE_ ApaSelSapp_D_Stat 3 "NotConfigured" 2 "NotSelectable" 1 "Selectable" 0 "Null"; +VAL_TABLE_ ApaSys_D_Stat 7 "Faulty" 6 "Finished" 5 "NotAccessible" 4 "ApaCancelled" 3 "Overspeed" 2 "On" 1 "Off" 0 "Null"; +VAL_TABLE_ ApaSteScanMde_D_Stat 3 "Steering" 2 "Scanning" 1 "NotScanning" 0 "Null"; +VAL_TABLE_ ApaAcsy_D_RqDrv 7 "CloseDoor" 6 "SelectSideRight" 5 "SelectSideLeft" 4 "CheckForObject" 3 "PressApaButton" 2 "SelectSide" 1 "NoRequest" 0 "Null"; +VAL_TABLE_ ApaSteWhl_D_RqDrv 3 "TakeControl" 2 "RemoveHands" 1 "NoRequest" 0 "Null"; +VAL_TABLE_ WiprFrontSwtch_D_Stat 15 "NotUsed6" 14 "NotUsed5" 13 "NotUsed4" 12 "NotUsed3" 11 "NotUsed2" 10 "NotUsed1" 9 "PositionNotDetermined" 8 "High" 7 "Low" 6 "Position6" 5 "Position5" 4 "Position4" 3 "Position3" 2 "Position2" 1 "Position1" 0 "Off"; +VAL_TABLE_ Off_On_Unknown_Invalid 3 "Invalid" 2 "Unknown" 1 "On" 0 "Off"; +VAL_TABLE_ Unknown_7FFE_Invalid_7FFF 32767 "Invalid" 32766 "Unknown"; +VAL_TABLE_ OffOnNotUsedFaulty 3 "Faulty" 2 "NotUsed" 1 "On" 0 "Off"; +VAL_TABLE_ BrkBstrVac_D_Stat 3 "NotUsed" 2 "BoosterVacEstimator" 1 "BoosterVacSensor" 0 "NoBoosterVacuumMonitor"; +VAL_TABLE_ AwdMde_D_RqArb 7 "Faulty" 6 "NotUsed2" 5 "NoRequest" 4 "Neutral" 3 "FourByFourLow" 2 "FourByFourHigh" 1 "FourByFourAuto" 0 "FourByTwo"; +VAL_TABLE_ CtaAlrt2_D_Stat 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "AlertZone4" 3 "AlertZone3" 2 "AlertZone2" 1 "AlertZone1" 0 "Off"; +VAL_TABLE_ BttRightLeft_D_Stat 7 "NotUsed" 6 "Disabled" 5 "Off" 4 "OffTemp" 3 "NotConnected" 2 "Pending" 1 "Connected" 0 "NotDetermined"; +VAL_TABLE_ Null_NoRequest_Request 3 "NotUsed" 2 "Request" 1 "NoRequest" 0 "Null"; +VAL_TABLE_ PoliceIdlMde_D_Stat 15 "NotUsed_7" 14 "NotUsed_6" 13 "NotUsed_5" 12 "NotUsed_4" 11 "NotUsed_3" 10 "NotUsed_2" 9 "PepsActive" 8 "Decommissioned" 7 "ActiveFault" 6 "ArmFault" 5 "PrearmedFault" 4 "OffFault" 3 "Active" 2 "Arm" 1 "Prearmed" 0 "Off"; +VAL_TABLE_ TripComputerMetricImperial 0 "TripComputer_metric" 1 "TripComputer_imperial"; +VAL_TABLE_ GrdAsstAllw_D_DsplyPt 3 "NotUsed" 2 "On" 1 "Off" 0 "NoModeSelected"; +VAL_TABLE_ PrkBrkMsgTxt_D_Rq 15 "Message15" 14 "Message14" 13 "Message13" 12 "Message12" 11 "Message11" 10 "Message10" 9 "Message9" 8 "Message8" 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "No_Message"; +VAL_TABLE_ AutoHoldMsgTxt_D_Rq 15 "Message15" 14 "Message14" 13 "Message13" 12 "Message12" 11 "Message11" 10 "Message10" 9 "Message9" 8 "Message8" 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage"; +VAL_TABLE_ AutoHoldMde_D_Ind 3 "Indication_3" 2 "Indication_2" 1 "Indication_1" 0 "Off"; +VAL_TABLE_ AutoRgenTxt_B_RqDsply 1 "AutExhFilterCleanOFF" 0 "AutExhFilterCleanON"; +VAL_TABLE_ TrnMsgTxt2_D_Rq 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "TransTooHot_LoudChime" 3 "PressBrake_LoudChime" 2 "PressBrake_SoftChime" 1 "PressBrake_NoChime" 0 "NoText_NoChime"; +VAL_TABLE_ TrnGearMsgTxt_D_Rq 15 "Message_15" 14 "Message_14" 13 "Message_13" 12 "Message_12" 11 "Message_11" 10 "Message_10" 9 "Message_9" 8 "Message_8" 7 "Message_7" 6 "Message_6" 5 "Message_5" 4 "Message_4" 3 "Message_3" 2 "Message_2" 1 "Message_1" 0 "NoMessage"; +VAL_TABLE_ ChargeProfIDPref_Rq 3 "NotUsed" 2 "Value" 1 "ChargeNow" 0 "Inactive"; +VAL_TABLE_ EngExhMdeQuiet_D_Stat 3 "Faulty" 2 "QuietExhaust" 1 "LoudExhaust" 0 "Null"; +VAL_TABLE_ ConsAvgTrip_No_Dsply 4095 "Faulty" 4094 "No_Data_Exists"; +VAL_TABLE_ ElTrip_L_Dsply 65535 "Fault" 65534 "No_Data_Exists"; +VAL_TABLE_ ElLongTerm_L_Dsply 16777215 "Fault" 16777214 "No_Data_Exists"; +VAL_TABLE_ GearSelLck_D_Rq 3 "PreventionBlocker" 2 "Unlock" 1 "Lock" 0 "Null"; +VAL_TABLE_ BrkPadMsgTxt_D_Rq 3 "Faulty" 2 "PadsOk" 1 "ReplacePads" 0 "Null"; +VAL_TABLE_ BrkAutoHold_D_Stat 7 "Faulty" 6 "NotUsed" 5 "Releasing" 4 "HeldSecondary" 3 "HeldSecure" 2 "Held" 1 "Inactive" 0 "Off"; +VAL_TABLE_ SuspDrvMde_D_Rq 7 "Faulty" 6 "NotUsed2" 5 "NotUsed1" 4 "Drag" 3 "Track" 2 "Snow_Wet" 1 "Sport" 0 "Normal"; +VAL_TABLE_ NotPressed_PressedNotUsed 3 "NotUsed2" 2 "NotUsed1" 1 "Pressed" 0 "Not_Pressed"; +VAL_TABLE_ WhlRearDual_D_Stat 3 "NotUsed" 2 "Dual" 1 "Single" 0 "NoDataExists"; +VAL_TABLE_ TracKeyMde_D_Stat 3 "NotUsed" 2 "NotActive" 1 "Active" 0 "ModeNotDetermined"; +VAL_TABLE_ HudMde_D_Stat 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "Manual" 3 "Drag" 2 "RoadCourse" 1 "Tach" 0 "Off"; +VAL_TABLE_ TrnManShifGear_D_IndDrv 7 "Indicate_Reverse_Gear" 6 "Indicate_Gear6" 5 "Indicate_Gear5" 4 "Indicate_Gear4" 3 "Indicate_Gear3" 2 "Indicate_Gear2" 1 "Indicate_Gear1" 0 "No_Indication"; +VAL_TABLE_ TrnStrtStop_D_Stat 3 "NotUsed_2" 2 "NotUsed_1" 1 "LowTransmissionTemperature" 0 "NoDriverIndicationRequired"; +VAL_TABLE_ LsmcBrkDecel_D_Stat 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "Denied" 3 "FaultDegraded" 2 "FaultExt" 1 "On" 0 "Off"; +VAL_TABLE_ StePinOffst_D_Stat 3 "FineOffset" 2 "CoarseOffset" 1 "StoredOffset" 0 "OffsetNotCalculated"; +VAL_TABLE_ NoMessage_Override_Faulty 3 "NotUsed" 2 "Faulty" 1 "Override" 0 "NoMessage"; +VAL_TABLE_ TrnIpcDsplyRng2_D_Actl 15 "No_Range_Selected" 14 "Range_14" 13 "Range_13" 12 "Range_12" 11 "Range_11" 10 "Range_10" 9 "Range_9" 8 "Range_8" 7 "Range_7" 6 "Range_6" 5 "Range_5" 4 "Range_4" 3 "Range_3" 2 "Range_2" 1 "Range_1" 0 "NotUsed"; +VAL_TABLE_ OffOn_RampUpDown 3 "Ramp_Down" 2 "Ramp_Up" 1 "On" 0 "Off"; +VAL_TABLE_ DieslMsgTxt_D_Rq 3 "NotUsed2" 2 "NotUsed1" 1 "ReducedEnginePower" 0 "NoMessage"; +VAL_TABLE_ NoMessage_Msg1_7 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage"; +VAL_TABLE_ TrnAltShifMde_D_Rdy 3 "Faulty" 2 "NotUsed" 1 "UnavailDueToDynCond" 0 "ModeChangeAvailable"; +VAL_TABLE_ LnchCtl 3 "NotUsed2" 2 "NotUsed1" 1 "LC_On" 0 "LC_Off"; +VAL_TABLE_ BrkLineLck_D_Rq 3 "Off" 2 "Engage" 1 "Initiate" 0 "NoRequest"; +VAL_TABLE_ BrkLineLck_D_Stat 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "NotAvailable" 3 "Off" 2 "Engaged" 1 "Initiated" 0 "Available"; +VAL_TABLE_ LnchCtlSys_D_Stat 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "On_LC_Unavailable_TC_On" 3 "On_LC_Unavailable" 2 "On_LC_Available" 1 "On_LC_Active" 0 "LC_OFF"; +VAL_TABLE_ ActvFrontSteLck_D_Stat 3 "Test_passed" 2 "Test_failed" 1 "Test_cannot_run" 0 "Test_incomplete"; +VAL_TABLE_ Rght_Lefthand_Traffic 1 "Left_Hand_Traffic" 0 "Right_Hand_Traffic"; +VAL_TABLE_ NotPressed_Pressed_Faulty 3 "Faulty" 2 "NotUsed" 1 "Pressed" 0 "Not_Pressed"; +VAL_TABLE_ TrlrTrgtAcquire_D_Rq 7 "NotUsed_2" 6 "NotUsed_1" 5 "ActivateRVCforTBA" 4 "CancelAcquisition" 3 "RetryAcquisition" 2 "AcquisitionSuccessful" 1 "StartAcquisition" 0 "Inactive"; +VAL_TABLE_ TrlrTrgtAcquire_D_Stat 7 "Faulty" 6 "NotUsed_2" 5 "NotUsed_1" 4 "RVCforTBA_Activated" 3 "Processing" 2 "TargetNotAcquired" 1 "TargetAcquired" 0 "Null"; +VAL_TABLE_ TrlrAidSetup_D_Rq 3 "ConfirmSetup" 2 "EndSetup" 1 "BeginSetup" 0 "Inactive"; +VAL_TABLE_ TrlBrkInitOut 3 "Heavy" 2 "Medium" 1 "Light" 0 "Null"; +VAL_TABLE_ IsaOffst_D_Stat 15 "Faulty" 14 "Null" 13 "Thirteen" 12 "Twelve" 11 "Eleven" 10 "Ten" 9 "Nine" 8 "Eight" 7 "Seven" 6 "Six" 5 "Five" 4 "Four" 3 "Three" 2 "Two" 1 "One" 0 "Zero"; +VAL_TABLE_ IsaVLimUnit_D_Rq 3 "NoDataExists" 2 "Mph" 1 "Kph" 0 "Null"; +VAL_TABLE_ ApaChime_D_Rq 7 "NotUsed2" 6 "NotUsed1" 5 "Warning_Chime" 4 "Finish_Chime" 3 "Stop_Now_Chime" 2 "Spot_Ready_Chime" 1 "Spot_Found_Chime" 0 "No_Chime"; +VAL_TABLE_ SlMde_D_RqDsply 3 "NotUsed" 2 "ManualSpeed_LimiterSymbol" 1 "AutoSpeed_LimiterSymbol" 0 "NoSpeed_LimiterSymbol"; +VAL_TABLE_ SlMde_D_Rq 3 "IsaNotConfigured" 2 "Manual_Mode" 1 "Auto_Mode" 0 "Null"; +VAL_TABLE_ NotSupported_Supported 1 "Supported" 0 "NotSupported"; +VAL_TABLE_ OffOn_NotUsed_NoData 3 "No_Data_Present" 2 "NotUsed" 1 "On" 0 "Off"; +VAL_TABLE_ Faulty_FF 255 "Faulty"; +VAL_TABLE_ BrkDrvMde_D_Rq 7 "Faulty" 6 "RockCrawl" 5 "Baja" 4 "DragOrMudAndSand" 3 "Track" 2 "Snow_Wet" 1 "Sport" 0 "Normal"; +VAL_TABLE_ TrnIpcDsplyRng_D_Stat 3 "NotUsed" 2 "Flash" 1 "On" 0 "Blank_No_Display"; +VAL_TABLE_ NoYesNoDataFaulty 3 "Faulty" 2 "NoDataExists" 1 "Yes" 0 "No"; +VAL_TABLE_ SidePrkSnsR4_D_Stat 15 "NotUsed" 14 "NotFullyScannedYet" 13 "NoObjectInSector" 12 "Zone12" 11 "Zone11" 10 "Zone10" 9 "Zone9" 8 "Zone8" 7 "Zone7" 6 "Zone6" 5 "Zone5" 4 "Zone4" 3 "Zone3" 2 "Zone2" 1 "Zone1" 0 "Off"; +VAL_TABLE_ TsrVlPrmntMsgTxt_D_Rq 3 "NotUsed" 2 "ShowPermanentlyWithSupp" 1 "ShowPermanentlyWithoutSupp" 0 "DoNotShowSignPermanent"; +VAL_TABLE_ TsrVl1RstrcMsgTxt2_D_Rq 7 "NotUsed" 6 "Time" 5 "Trailer" 4 "Snow" 3 "RainWet" 2 "NoRecognizableRestrictn" 1 "NoSpeedLimitRestrictn" 0 "Null"; +VAL_TABLE_ PtDrvMde_D_Rq 15 "Faulty" 14 "NotUsed11" 13 "NotUsed10" 12 "NotUsed9" 11 "NotUsed8" 10 "NotUsed7" 9 "NotUsed6" 8 "NotUsed5" 7 "Drag" 6 "Rock" 5 "Baja" 4 "Sand" 3 "TowHaulGradeAssist" 2 "SnowWet" 1 "Sport" 0 "Normal"; +VAL_TABLE_ SteEffort_D_Stat 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "SpecialMode_2" 3 "SpecialMode_1" 2 "Comfort" 1 "Sport" 0 "Normal"; +VAL_TABLE_ TsrOvtkMsgTxt2_D_Rq 15 "NotUsed5" 14 "NotUsed4" 13 "NotUsed3" 12 "NotUsed2" 11 "NotUsed1" 10 "LimForTrucksCancelled" 9 "LimForTrucksWoQlfdRstrc" 8 "LimForTrucksWithoutRstrc" 7 "LimAllCancelled" 6 "LimAllWithRstrcTime" 5 "LimAllWithRstrcTrailer" 4 "LimAllWithRstrcSnow" 3 "LimAllWithRstrcRain" 2 "LimAllWithoutQlfdRstrc" 1 "LimAllWithoutRestriction" 0 "OvertakingAllowed"; +VAL_TABLE_ TrlrAnOffstDir 3 "NotUSed" 2 "Right" 1 "Left_or_Center" 0 "Null"; +VAL_TABLE_ Null_Off_On 3 "NotUsed" 2 "On" 1 "Off" 0 "Null"; +VAL_TABLE_ TrlrBrkMde_D_Rq 1 "ElectricOverHydraulic" 0 "Electric"; +VAL_TABLE_ TrlrAidSetup_D_Stat 7 "Faulty" 6 "NotUsed_3" 5 "NotUsed_2" 4 "NotUsed_1" 3 "EnterParameters" 2 "EndSetup" 1 "BeginSetup" 0 "Null"; +VAL_TABLE_ TrlrAidMsgTxt_D_Rq 31 "Message31" 30 "Message30" 29 "Message29" 28 "Message28" 27 "Message27" 26 "Message26" 25 "Message25" 24 "Message24" 23 "Message23" 22 "Message22" 21 "Message21" 20 "Message20" 19 "Message19" 18 "Message18" 17 "Message17" 16 "Message16" 15 "Message15" 14 "Message14" 13 "Message13" 12 "Message12" 11 "Message11" 10 "Message10" 9 "Message9" 8 "Message8" 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage"; +VAL_TABLE_ Invalid_7F 127 "Invalid"; +VAL_TABLE_ Faulty_1FFF 8191 "Faulty"; +VAL_TABLE_ VehStab_D_Stat 15 "Faulty" 14 "No_Data_Exists" 13 "NotUsed6" 12 "NotUsed5" 11 "NotUsed4" 10 "NotUsed3" 9 "NotUsed2" 8 "NotUsed1" 7 "High_SSRA_no_OS" 6 "Straight" 5 "Post_Oversteer" 4 "Post_Transition" 3 "Countersteer" 2 "Understeer" 1 "Oversteer" 0 "Linear"; +VAL_TABLE_ NoData_Faulty_1FF_1FE 511 "Faulty" 510 "NoDataExists"; +VAL_TABLE_ TrlrAidEnbl_D_Rq 3 "NotAvailable" 2 "DeactivateTba" 1 "ActivateTba" 0 "Inactive"; +VAL_TABLE_ FohEng_D_Rq 3 "AutoEnable_ParkEnable" 2 "AutoDisable_ParkEnable" 1 "AutoEnable_ParkDisable" 0 "Disable_Stop"; +VAL_TABLE_ Null_Hi_NotUsed_Low 3 "Low" 2 "Not_Used" 1 "High" 0 "Null"; +VAL_TABLE_ Current_Color 15 "NotUsed7" 14 "NotUsed6" 13 "NotUsed5" 12 "NotUsed4" 11 "NotUsed3" 10 "NotUsed2" 9 "NotUsed1" 8 "Null" 7 "Color7" 6 "Color6" 5 "Color5" 4 "Color4" 3 "Color3" 2 "Color2" 1 "Color1" 0 "Off"; +VAL_TABLE_ Blended_Color 15 "NotUsed10" 14 "NotUsed9" 13 "NotUsed8" 12 "NotUsed7" 11 "NotUsed6" 10 "NotUsed5" 9 "NotUsed4" 8 "NotUsed3" 7 "NotUsed2" 6 "NotUsed1" 5 "_5" 4 "_4" 3 "_3" 2 "_2" 1 "_1" 0 "Null"; +VAL_TABLE_ OffOn_Null_NotUsed 3 "NotUsed" 2 "Null" 1 "On" 0 "Off"; +VAL_TABLE_ DieslPrtc2_D_RqDsply 15 "NotUsed4" 14 "NotUsed3" 13 "NotUsed2" 12 "NotUsed1" 11 "OCR_ExhFilterClean_Stopped" 10 "OCR_ExhFilterCleaned" 9 "RgnOff_AtLimit" 8 "RgnOff_Overloaded" 7 "RgnOff_Loaded" 6 "Exhaust_Filter_Full" 5 "DPF_Overlimit" 4 "DPF_AtLimit" 3 "ExhFilter_Drive_Completed" 2 "Cleaning_Exhaust_Filter" 1 "DPF_Overloaded" 0 "DPF_Normal_Operation"; +VAL_TABLE_ Null_Pers1_4_Vehicle 7 "Unused_2" 6 "Unused_1" 5 "Vehicle" 4 "PERS_4" 3 "PERS_3" 2 "PERS_2" 1 "PERS_1" 0 "Null"; +VAL_TABLE_ PrkLckCtlEnbl_D_RqIpc 3 "Rq_Towing" 2 "Rq_Enable" 1 "Rq_Disable" 0 "Null"; +VAL_TABLE_ PrkLckCtlUnlck_D_Stat 3 "Trans_And_Steer_Unlckd" 2 "Steering_Unlckd" 1 "Transmission_Unlckd" 0 "Null"; +VAL_TABLE_ VehKeyActv_D_Stat 15 "NotUsed7" 14 "NotUsed6" 13 "NotUsed5" 12 "NotUsed4" 11 "NotUsed3" 10 "NotUsed2" 9 "NotUsed1" 8 "Key8Active" 7 "Key7Active" 6 "Key6Active" 5 "Key5Active" 4 "Key4Active" 3 "Key3Active" 2 "Key2Active" 1 "Key1Active" 0 "NoKeyActive"; +VAL_TABLE_ VehLckInd_D_Rq 3 "NotUsed" 2 "On_Day" 1 "On_Night" 0 "Off"; +VAL_TABLE_ PrkBrkDynmc_D_Allw 3 "NotUsed" 2 "EPB_ECD_NotPossible" 1 "EPB_ECD_Possible" 0 "Used_at_Start_Up"; +VAL_TABLE_ TowBarMsgTxt_D_Rq 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "TowBar_Ext_No_Trlr" 3 "Error_Dealer_Fix" 2 "Start_Engine_Swivel" 1 "Check_Tow_Bar" 0 "Null"; +VAL_TABLE_ PrkBrk_D_Stat 7 "Gen_Faults_or_Maint_Mode" 6 "ECD_by_Brake_ECU_Active" 5 "EPB_Limphome_Active" 4 "Rear_Caliper_Open" 3 "RWU_by_EPB_Active" 2 "Rear_Caliper_Transition" 1 "Rear_Caliper_Closed" 0 "Not_Supported"; +VAL_TABLE_ NoData_Faulty_3E_3F 63 "Faulty" 62 "NoDataExists"; +VAL_TABLE_ Unknown_Invalid_1FE_1FF 511 "Invalid" 510 "Unknown"; +VAL_TABLE_ Invalid_0x0 0 "Invalid"; +VAL_TABLE_ Unknown_Invalid_3E_3F 63 "Invalid" 62 "Unknown"; +VAL_TABLE_ Faulty_1FF 511 "Faulty"; +VAL_TABLE_ NoData_Faulty_1FFF_1FFE 8191 "Faulty" 8190 "NoDataExists"; +VAL_TABLE_ Null_Off_On_Faulty 3 "Faulty" 2 "On" 1 "Off" 0 "Null"; +VAL_TABLE_ EngOilSrvcMsgTxt_D_Rq 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "ResetComplete" 3 "ResetInProgress" 2 "ChangeOilNow" 1 "ChangeOilSoon" 0 "NoText"; +VAL_TABLE_ AirSusp_D_RqDrv 3 "NotUsed" 2 "On" 1 "Off" 0 "NoModeSelected"; +VAL_TABLE_ AwdSys_D_Stat 3 "Faulty" 2 "NotUsed" 1 "_4x4_L_H_Active" 0 "_4x4_L_H_Inactive"; +VAL_TABLE_ EmotiveType_D_Dsply 3 "EmotiveDisplay_3" 2 "EmotiveDisplay_2" 1 "EmotiveDisplay_1" 0 "Null"; +VAL_TABLE_ AutoRgen_D_Rq 3 "NotUsed" 2 "AutExhFilterCleanOFF" 1 "AutExhFilterCleanON" 0 "No_Mode_Selected"; +VAL_TABLE_ TrnSrvcRqd_B_Rq 1 "On" 0 "Off"; +VAL_TABLE_ PlgOvrrdStrt_D_Cmd 3 "NotUsed" 2 "Override_Plug_Status" 1 "Dont_Override_Plug_Status" 0 "Null_State"; +VAL_TABLE_ immoSecureIdleMode 3 "NotUsed2" 2 "NotUsed1" 1 "Active" 0 "Inactive"; +VAL_TABLE_ SteWhlOffstRq_D_Stat 3 "Faulty" 2 "NoDataExists" 1 "Allow_External_Angle_Req" 0 "Deny_External_Angle_Req"; +VAL_TABLE_ SteMdule_D_Stat 7 "NotUsed" 6 "EPAS_Failure3" 5 "EPAS_Failure2" 4 "System_Failure" 3 "EPAS_Shutdown" 2 "Normal_Op_Full_Assist" 1 "Normal_Op_Limited_Assist" 0 "EPAS_Initialization"; +VAL_TABLE_ Faulty_FFF 4095 "Faulty"; +VAL_TABLE_ Faulty_3FF 1023 "Faulty"; +VAL_TABLE_ NoData_Faulty_FE_FF 255 "Faulty" 254 "NoDataExists"; +VAL_TABLE_ ChkPlgtoStrt_D_Dsply 3 "NotUsed" 2 "Is_VehicleUnplugged_Prompt" 1 "Check_Plug_to_Start" 0 "No_Message_Display"; +VAL_TABLE_ PwrFlowTxt_D_Dsply 15 "NotUsed7" 14 "NotUsed6" 13 "NotUsed5" 12 "NotUsed4" 11 "Disply_Rgen_Chrg_Txt" 10 "Disp_Fast_Charge_Txt" 9 "Disp_Fast_Charge_Cmplt_Txt" 8 "Disp_Charge_Cmplt_Txt" 7 "Disp_Remote_Start_Txt" 6 "Disp_Eng_Drv_Txt" 5 "Disp_Elec_Drv_Txt" 4 "Disp_Idle_with_Chrg_Txt" 3 "Disp_Idle_Txt" 2 "Disp_Charg_HV_Batt_Txt" 1 "Disp_Hyb_Drive_Txt" 0 "No_Text"; +VAL_TABLE_ EngOnMsg_D_Dsply 14 "_0xE_to_1F_NotUsed" 12 "Battery_Temperature" 11 "Hill_Decent_Control" 10 "Fuel_Maintenance" 9 "Oil_Maintenance" 8 "Normal_Operation" 7 "Low_Gear" 6 "Batt_Charging" 5 "Engine_Cold" 4 "Neutral_Gear" 3 "Heater_Setting" 2 "High_Speed" 1 "Acceleration" 0 "No_Display" 13 "Drive_Mode_Selection"; +VAL_TABLE_ PtDataKeyId_D_Stat 15 "NotUsed5" 14 "NotUsed4" 13 "NotUsed3" 12 "NotUsed2" 11 "NotUsed1" 10 "Tot_Veh_NUT" 9 "Cust_4_NUT" 8 "Cust_3_NUT" 7 "Cust_2_NUT" 6 "Cust_1_NUT" 5 "Tot_Veh_Stat" 4 "Cust_4_Stat" 3 "Cust_3_Stat" 2 "Cust_2_Stat" 1 "Cust_1_Stat" 0 "Null"; +VAL_TABLE_ ChrgStat_D_Dsply 7 "NotUsed" 6 "Complete" 5 "Scheduled" 4 "In_Progress" 3 "Fault_Outside_Car" 2 "Fault_Inside_Car" 1 "Fault_Unknown_Location" 0 "Not_Ready"; +VAL_TABLE_ TrnLvrV_D_Rq 3 "Full_Speed" 2 "Aggressive" 1 "Normal" 0 "Quiet"; +VAL_TABLE_ EngStrtStop_B_SrcOil 1 "Eng_start_stop_for_oilmnt" 0 "Not_Requested"; +VAL_TABLE_ FuelMaintMde_D_Rq 3 "Feature_Not_Present" 2 "Fuel_Maint_Req_Now" 1 "Fuel_Maint_Req_Soon" 0 "NoRequest"; +VAL_TABLE_ FuelMaintMde_D_Dsply 3 "Feature_Not_Present" 2 "In_Fuel_Maint_Mode" 1 "Close_to_Fuel_Maint" 0 "OK"; +VAL_TABLE_ DynoMde_B_Cmd 1 "Two_Wheel_Dyno" 0 "Normal_Operation"; +VAL_TABLE_ HvacPrecondRecirc_D_Rq 3 "Last_User_Setting" 2 "Auto" 1 "Recirc" 0 "Outside"; +VAL_TABLE_ HvacPrecondAC_D_Rq 3 "Last_User_Setting" 2 "Auto" 1 "On" 0 "Off"; +VAL_TABLE_ HybMdeStat_D_Dsply 7 "NotUsed2" 6 "EV_Charge" 5 "EV_Override" 4 "Forced_EV_Mode" 3 "Forced_Charge_Sustain_Mode" 2 "Auto_Charge_Sustain_Mode" 1 "Auto_Charge_Deplete_Mode" 0 "Null_State"; +VAL_TABLE_ PwFlowPlgBatt_D_Dsply 3 "NotUsed" 2 "Flow_from_Plug_to_Batt" 1 "Flow_from_Batt_to_Plug" 0 "No_Flow"; +VAL_TABLE_ PwFlowEngMtr_D_Dsply 3 "NotUsed" 2 "Flow_from_Eng_to_Mtr" 1 "Flow_from_Mtr_to_Eng" 0 "No_Flow"; +VAL_TABLE_ PwFlowEngFuel_D_Dsply 3 "NotUsed" 2 "Flow_from_Eng_to_Fuel" 1 "Flow_from_Fuel_to_Eng" 0 "No_Flow"; +VAL_TABLE_ PwFlowMtrDrv_D_Dsply 3 "NotUsed" 2 "Flow_from_Mtr_to_Axle" 1 "Flow_from_Axle_to_Mtr" 0 "No_FLow"; +VAL_TABLE_ PwFlowEngDrv_D_Dsply 3 "NotUsed" 2 "Flow_from_Eng_to_Axle" 1 "Flow_from_Axle_to_Eng" 0 "No_Flow"; +VAL_TABLE_ PwFlowBattMtr_D_Dsply 3 "NotUsed" 2 "Flow_from_Batt_to_Mtr" 1 "Flow_from_Mtr_to_Batt" 0 "No_Flow"; +VAL_TABLE_ Null_Override_Invalid 3 "NotUsed" 2 "Invalid" 1 "Override" 0 "Null"; +VAL_TABLE_ HybMdeMsgTxt_D_Rq 7 "NotUsed2" 6 "NotUsed1" 5 "EV_Not_Avail_Message" 4 "EV_Mode_Message" 3 "Delayed_Discharge_Message" 2 "Override_Available_Message" 1 "AutoMode_Message" 0 "Null_NoMessage_Request"; +VAL_TABLE_ HybMdeLimMsgTxt_D_Rq 3 "Limited_Req_Full_Defrost" 2 "Limited_Climate_Defrost" 1 "Limited_System_Performance" 0 "Null"; +VAL_TABLE_ CenterStackRing_D_Actl 3 "LimitedOn" 2 "On" 1 "Off" 0 "Null"; +VAL_TABLE_ NoData_Faulty_FFFE_FFFF 65535 "Faulty" 65534 "NoDataExists"; +VAL_TABLE_ NoData_Faulty_FFE_FFF 4095 "Faulty" 4094 "NoDataExists"; +VAL_TABLE_ NoData_Faulty_7FFE_7FFF 32767 "Faulty" 32766 "NoDataExists"; +VAL_TABLE_ NoData_Faulty_3FE_3FF 1023 "Faulty" 1022 "NoDataExists"; +VAL_TABLE_ ReFuelSysStat_D_Dsply 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "Refuel_Err" 3 "Close_Fuel_Door" 2 "Refuel_Ready" 1 "Wait_To_Fuel" 0 "Null"; +VAL_TABLE_ OffOn_NotUsed 3 "NotUsed2" 2 "NotUsed1" 1 "On" 0 "Off"; +VAL_TABLE_ DrQltyDrv_D_StatGsm 7 "Faulty" 6 "NoDataExists" 5 "NotUsed2" 4 "NotUsed1" 3 "ClosedDegraded" 2 "OpenDegraded" 1 "ClosedOkay" 0 "OpenOkay"; +VAL_TABLE_ ChrgrInPwType_D_Actl 6 "NotUsed3" 5 "NotUsed2" 4 "NotUsed1" 3 "DC_Fast_Charging" 2 "AC_Level2_240v" 1 "AC_Level1_120v" 0 "EVSE_Not_Detected"; +VAL_TABLE_ ChrgCrdLck_D_Falt 3 "NotUsed" 2 "HardwareFault" 1 "CsiFault" 0 "NoFault"; +VAL_TABLE_ ChrgStat_D2_Dsply 15 "NotUsed_2" 14 "NotUsed_1" 13 "ChargeTargetReached" 12 "DriveConditioning" 11 "CabinPreconditioning" 10 "ChargingSystemMaintain" 9 "ChargingInductive" 8 "ChargingDCFastChange" 7 "ChargingAC" 6 "ChargeScheduled" 5 "EvsePaused" 4 "EvseNotDetected" 3 "EvseNotCompatible" 2 "FaultOutsideCar" 1 "FaultInsideCar" 0 "NotReady"; +VAL_TABLE_ EngMdeMsgTxt_D_Rq 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "Charge" 3 "GlowingCharge" 2 "Hybrid" 1 "Ev" 0 "NoMessage"; +VAL_TABLE_ BattRgenLoStat_D_Qlty 3 "OK" 2 "Not_Within_Spec" 1 "Eval_In_Progress" 0 "Faulty"; +VAL_TABLE_ OpenClosedRetainDisable 3 "Disable" 2 "Retain" 1 "Closed" 0 "Open"; +VAL_TABLE_ OpenClosedStuckOpenClosed 3 "StuckClosed" 2 "StuckOpen" 1 "Closed" 0 "Open"; +VAL_TABLE_ NoData_Faulty_7FE_7FF 2047 "Faulty" 2046 "NoDataExists"; +VAL_TABLE_ DrTgateChime2_D_Rq 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "Long_Repeated" 3 "Fast" 2 "Short" 1 "Long" 0 "Off"; +VAL_TABLE_ EngIdlShutDwnTxt_D_Rq 3 "NotUsed" 2 "EngineShutdownOnPrevDrive" 1 "FeatureDisabledDueToFault" 0 "NoMessage"; +VAL_TABLE_ DrvPerfMde 3 "Sport" 2 "Normal" 1 "NotUsed" 0 "NoModeSelected"; +VAL_TABLE_ NoData_Fault_1FF_1FE 511 "Fault" 510 "NoDataExists"; +VAL_TABLE_ NoData_Fault_FFE_FFF 4095 "Fault" 4094 "NoDataExists"; +VAL_TABLE_ WeekdayEndHR_St 31 "Invalid" 30 "Unknown" 29 "Reserved_29" 28 "Reserved_28" 27 "Reserved_27" 26 "Reserved_26" 25 "Reserved_25" 24 "Reserved_24"; +VAL_TABLE_ WeekdayEndMin_St 63 "Faulty" 62 "No_data_exists" 61 "Reserverd" 60 "Reserverd"; +VAL_TABLE_ WeekdayStartHR_St 31 "Invalid" 30 "Unknown" 29 "Reserved_29" 28 "Reserved_28" 27 "Reserved_27" 26 "Reserved_26" 25 "Reserved_25" 24 "Reserved_24"; +VAL_TABLE_ WeekdayStartMin_St 63 "Faulty" 62 "No_data_exists" 61 "Reserverd" 60 "Reserverd"; +VAL_TABLE_ EngIdlShutDown_D_Stat 3 "Not_used" 2 "Engine_Shutdown" 1 "Initiated_Countdown" 0 "Normal_Operation"; +VAL_TABLE_ StopStrtDrvMde_D_Indic 3 "NotUsed" 2 "StartStop_IndirectDeselect" 1 "StopStart_Deselected" 0 "StopStart_Selected"; +VAL_TABLE_ StopStrtDrvMde_D_RqMnu 3 "NotUsed2" 2 "NotUsed1" 1 "StopStart_Deselected" 0 "StopStart_Selected"; +VAL_TABLE_ StopStrtStdby_D_Indic 6 "NotUsed2" 5 "Telltale_Struck_Out" 4 "Telltale_Flashing_Amber" 3 "Telltale_On_Amber" 2 "Telltale_Flashing_Green" 1 "Telltale_On_Green" 0 "Telltale_Off" 7 "NotUsed3"; +VAL_TABLE_ Quality_Faulty 3 "OK" 2 "Degraded" 1 "No_Data_Exists" 0 "Faulty"; +VAL_TABLE_ TrnDtpCmd_D_Actl 7 "NotUsed4" 6 "NotUsed3" 5 "NotUsed2" 4 "Relatch" 3 "Deploy" 2 "Self_Test" 1 "No_Command" 0 "NotUsed1"; +VAL_TABLE_ TrnGsmNtmState_D_Actl 3 "Faulty" 2 "Neutral_Tow_Mode" 1 "Car_Wash_Mode" 0 "None"; +VAL_TABLE_ TrnTrcmPwmSig_D_Actl 15 "Faulty" 14 "NoDataExists" 13 "NotUsed5" 12 "NotUsed4" 11 "NotUsed3" 10 "NotUsed2" 9 "NotUsed1" 8 "Default_To_Park" 7 "Neutral_Tow" 6 "Car_Wash_Mode" 5 "Manual" 4 "Drive" 3 "Neutral" 2 "Reverse" 1 "Park" 0 "No_Gear"; +VAL_TABLE_ RgenBrkDynoMde_B_Actl 1 "TwoWheelDyno" 0 "NormalOperation"; +VAL_TABLE_ Fault_3FFF 16383 "Fault"; +VAL_TABLE_ CtaInnr_D_Stat 3 "Reporting" 2 "Not_Reporting" 1 "System_Standby" 0 "Initialization"; +VAL_TABLE_ PrkBrkActv_D_RqTrnGear 3 "NotUsed2" 2 "RequestParkBrakeEngage" 1 "NoRequest" 0 "NotUsed1"; +VAL_TABLE_ NoRequest_Request 1 "Request" 0 "NoRequest"; +VAL_TABLE_ Fault_FFF_NoData 4094 "NoDataExists" 4095 "Fault"; +VAL_TABLE_ Fault_3FF_NoData 1022 "NoDataExists" 1023 "Fault"; +VAL_TABLE_ Foh_D_Stat 7 "Unused3" 6 "Unused2" 5 "Unused1" 4 "Stopping" 3 "Running" 2 "Starting" 1 "Prestart" 0 "Off"; +VAL_TABLE_ OffOnNoDataUnused 3 "Unused" 2 "NoDataExists" 1 "On" 0 "Off"; +VAL_TABLE_ FohFalt_D_Stat 15 "NotUsed4" 14 "NotUsed3" 13 "NotUsed2" 12 "NotUsed1" 11 "FuelTypeDoesNotMatchFOH" 10 "Lifecycle_ModeNotSet" 9 "AuxElectricCoolantPumpInop" 8 "TimeDelayAvoidExcessCycl" 7 "Fuel_Level_OutofRange" 6 "External_Fault" 5 "Internal_Fault" 4 "Voltage_limitation" 3 "Impact_Event" 2 "CoolantTemp_OutofRange" 1 "AmbientTemp_OutofRange" 0 "No_Disable"; +VAL_TABLE_ FohRqRun_B_Rq 1 "SubmitRequest_toRun" 0 "DoesNotSubmitRequest_toRun"; +VAL_TABLE_ OKLowVeryLow 3 "NotUsed" 2 "VeryLow" 1 "Low" 0 "OK"; +VAL_TABLE_ Fault_1FF 511 "Fault"; +VAL_TABLE_ SteWhlHeat 15 "NotUsed6" 14 "NotUsed5" 13 "NotUsed4" 12 "NotUsed3" 11 "NotUsed2" 10 "NotUsed1" 9 "Reserved_3" 8 "Reserved_2" 7 "Reserved_1" 6 "Level_3_Heating" 5 "Level_3_Heating_LS" 4 "Level_2_Heating" 3 "Level_2_Heating_LS" 2 "Level_1_Heating" 1 "Level_1_Heating_LS" 0 "Off"; +VAL_TABLE_ OffOnUnusedFault 3 "Fault" 2 "Unused" 1 "On" 0 "Off"; +VAL_TABLE_ NullKphMph 3 "NoDataExists" 2 "Mph" 1 "Kph" 0 "Null"; +VAL_TABLE_ TsrVLim1MsgTxt_D_Rq 255 "NoLimit" 254 "NotUsed2" 253 "NotUsed1" 252 "NotToBeDisplayed" 251 "LimitCancelled" 31 "1F_FA_Message31_250" 30 "Message30" 29 "Message29" 28 "Message28" 27 "Message27" 26 "Message26" 25 "Message25" 24 "Message24" 23 "Message23" 22 "Message22" 21 "Message21" 20 "Message20" 19 "Message19" 18 "Message18" 17 "Message17" 16 "Message16" 15 "Message15" 14 "Message14" 13 "Message13" 12 "Message12" 11 "Message11" 10 "Message10" 9 "Message9" 8 "Message8" 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "Null"; +VAL_TABLE_ TsrVl1RstrcMsgTxt_D_Rq 3 "NotUsed" 2 "NoRecognizableRestriction" 1 "NoSpeedLimitRestriction" 0 "Null"; +VAL_TABLE_ TsrMsgTxt_D_Rq 15 "NotUsed6" 14 "NotUsed5" 13 "NotUsed4" 12 "NotUsed3" 11 "NotUsed2" 10 "NotUsed1" 9 "RecgnzdSignNotUsblForDsply" 8 "LimitedSystemPerformance" 7 "OffRoad" 6 "RegionNotSupported" 5 "CountryNotSupported" 4 "WrngNavDatIncompDatCarrier" 3 "NoNavDataAvailable" 2 "NoNavAvailableSwitchedOff" 1 "NoInformationAllOK" 0 "Null"; +VAL_TABLE_ TsrOvtkTypeMsgTxt_D_Rq 3 "NotUsed" 2 "Explicit" 1 "Implicit" 0 "Null"; +VAL_TABLE_ TsrOvtkStatMsgTxt_D_Rq 3 "LimitOutdated" 2 "LimitReiable" 1 "LimitChanged" 0 "Null"; +VAL_TABLE_ TsrOvtkMsgTxt_D_Rq 7 "LimForTrucksCancelled" 6 "LimForTrucksWoQlfdRstrc" 5 "LimForTrucksWithoutRstrc" 4 "LimAllCancelled" 3 "LimAllWithoutQlfdRstrc" 2 "LimAllWithoutRestriction" 1 "OvertakingAllowed" 0 "Null"; +VAL_TABLE_ Null_False_True 3 "NotUsed" 2 "True" 1 "False" 0 "Null"; +VAL_TABLE_ TsrStatMsgTxt_D_Rq 7 "NotUsed" 6 "NoDataExists" 5 "TSR_Error" 4 "Available_NavigationOnly" 3 "Available_CameraOnly" 2 "Available_FusionMode" 1 "TSR_Off" 0 "Null"; +VAL_TABLE_ NoMessage_DisplayMessage 1 "DisplayMessage" 0 "NoMessage"; +VAL_TABLE_ FdsmTrgRight 1 "Object_in_Right_Lobe" 0 "No_Object"; +VAL_TABLE_ FdsmTrgCntr 1 "Object_in_Center_Lobe" 0 "No_Object"; +VAL_TABLE_ FdsmTrgLeft 1 "Object_in_Left_Lobe" 0 "No_Object"; +VAL_TABLE_ EngineBrakeOff_Active 1 "Engine_Braking_Activated" 0 "Engine_Braking_Off"; +VAL_TABLE_ NoEngineBrake_Brake 1 "Engine_Braking" 0 "No_Engine_Braking"; +VAL_TABLE_ PlgActv_D_ActlChrgr 3 "Faulty" 2 "Not used_2" 1 "On_Plug__Connected_" 0 "Off_Plug__Disconnected_"; +VAL_TABLE_ EngSrvcRqd_B_Rq 1 "Engine_Service_Required" 0 "No_engine_service_required"; +VAL_TABLE_ WeekendEndHR_St 31 "Invalid" 30 "Unknown" 29 "Reserved_29" 28 "Reserved_28" 27 "Reserved_27" 26 "Reserved_26" 25 "Reserved_25" 24 "Reserved_24"; +VAL_TABLE_ WeekendEndMin_St 63 "Faulty" 62 "No_data_exists" 61 "Reserverd" 60 "Reserverd"; +VAL_TABLE_ WeekendStartHR_St 31 "Invalid" 30 "Unknown" 29 "Reserved_29" 28 "Reserved_28" 27 "Reserved_27" 26 "Reserved_26" 25 "Reserved_25" 24 "Reserved_24"; +VAL_TABLE_ WeekendStartMin_St 63 "Faulty" 62 "No_data_exists" 61 "Reserverd" 60 "Reserverd"; +VAL_TABLE_ LscmbbBaSens_D_Rq 3 "Level3_EBA" 2 "Level2_EBA" 1 "Level1_EBA" 0 "Norman_EBA"; +VAL_TABLE_ Allowed_Denied 1 "Denied" 0 "Allowed"; +VAL_TABLE_ LscmbbBrkPrchg_D_Rq 3 "NotUsed" 2 "Level2_PreCharge" 1 "Level1_PreCharge" 0 "No_Precharge"; +VAL_TABLE_ LscmbbBrkDecel_B_Enabl 1 "ConductLSCMbBDecelReq" 0 "DoNotConductLSCMbBDecelReq"; +VAL_TABLE_ PrkAidMsgTxt_D_Rq 15 "All_Sns_Blk" 14 "R_Sns_ON_F_Sns_Blk" 13 "R_Sns_Blk_F_Sns_ON" 12 "R_Sns_Inactive_Trlr_atch" 11 "Not_Avail_Trlr_attchd" 10 "Fail_Mode_no_Chime" 9 "Fail_Mode_with_Chime" 8 "R_Sns_Trlr_F_Sns_Blk" 7 "NotUsed3" 6 "Park_Sys_Alternate_Mode" 5 "R_Snsrs_On_F_Snsrs_On" 4 "NotUsed2" 3 "Reset_Message_Warn" 2 "R_Snsrs_Off_F_Snsrs_On" 1 "R_Snsrs_On_F_Snsrs_Off" 0 "All_Park_Sensors_Off"; +VAL_TABLE_ PrkAidSns_D_Stat 15 "Zone_15" 14 "Zone_14" 13 "Zone_13" 12 "Zone_12" 11 "Zone_11" 10 "Zone_10" 9 "Zone_9" 8 "Zone_8" 7 "Zone_7" 6 "Zone_6" 5 "Zone_5" 4 "Zone_4" 3 "Zone_3" 2 "Zone_2" 1 "Zone_1" 0 "Off"; +VAL_TABLE_ PrkAid_D_Falt 7 "NotUsed2" 6 "NotUsed1" 5 "Failure_Front_PSM_Sensors" 4 "No_Data_Exists" 3 "Failure_Rear_Sensors" 2 "Speaker_Fault" 1 "ECU_Fault" 0 "No_Fault"; +VAL_TABLE_ OffOnNoDataFault 3 "Fault" 2 "No_Data_Exists" 1 "On" 0 "Off"; +VAL_TABLE_ ApaActvSd_D_Actl 3 "Dirver_Side" 2 "Passenger_Side" 1 "No_Side" 0 "Null"; +VAL_TABLE_ ApaMdeStat_D_RqDrv 7 "Faulty" 6 "Off" 5 "NotUsed2" 4 "NotUsed1" 3 "POA" 2 "PPA" 1 "SAPP" 0 "Inactive"; +VAL_TABLE_ ApaMde_D_Avail 15 "NotUsed7" 14 "NotUsed6" 13 "NotUsed5" 12 "NotUsed4" 11 "NotUsed3" 10 "NotUsed2" 9 "NotUsed1" 8 "PPA_POA" 7 "SAPP_POA" 6 "POA" 5 "PPA" 4 "SAPP" 3 "SAPP_PPA_POA" 2 "SAPP_PPA" 1 "None" 0 "Null"; +VAL_TABLE_ ApaMde_D_Stat 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "POA" 3 "PPA" 2 "SAPP" 1 "Off" 0 "Null"; +VAL_TABLE_ FrostWarn_D_Stat 3 "NotUsed" 2 "On_Amber" 1 "On_Red" 0 "Off"; +VAL_TABLE_ SteWhlLckMsgTxt_D_Rq 3 "NotUsed" 2 "Message_2" 1 "Message_1" 0 "No_Message"; +VAL_TABLE_ GearRvrse_D_Actl 7 "Fault" 6 "NotUsed_3" 5 "NotUsed_2" 4 "NotUsed_1" 3 "Active_confirmed" 2 "Active_not_confirmed" 1 "Inactive_confirmed" 0 "Inactive_not_confirmed"; +VAL_TABLE_ SideDetect_SnStat_Invalid 3 "Invalid" 2 "System_Failure" 1 "Blocked" 0 "Clear"; +VAL_TABLE_ SideDetect_OpStat 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "Invalid" 3 "Disabled" 2 "On" 1 "Trailer_Tow_Off" 0 "Off"; +VAL_TABLE_ SideDetect_Present 4 "Sensor_Blocked" 3 "Sensor_Fault" 2 "Flash_On" 1 "Alert_On" 0 "AlertOff_FlashOff_SensrClr"; +VAL_TABLE_ Off_On_Flash_BulbProveout 3 "Bulb_Proveout" 2 "Flash" 1 "On" 0 "Off"; +VAL_TABLE_ SideDetect_BLIS_Off_On 2 "BLIS_On_Second_Warning_ON" 1 "BLIS_On_Second_Warning_OFF" 0 "Off"; +VAL_TABLE_ SideDetect_report 3 "Reporting" 2 "Not_Reporting" 1 "System_Standby" 0 "Initialization"; +VAL_TABLE_ DrTGate_D_Rq 3 "NotUsed" 2 "Closing" 1 "Opening" 0 "Not_Moving"; +VAL_TABLE_ WndwSide_D_Stat 3 "BothWindow_Operating" 2 "RearWindow_Operating" 1 "FrontWindow_Operating" 0 "NoWindows_Operating"; +VAL_TABLE_ DcacElPw_D_Rq 3 "NotUsed" 2 "AC_HighPower_Requested" 1 "AC_LowPower_Requested" 0 "AC_Power_NotRequested"; +VAL_TABLE_ False_True 1 "True" 0 "False"; +VAL_TABLE_ Null_Reset 1 "Reset" 0 "Null"; +VAL_TABLE_ HvacBlwrFront_D_Stat 31 "Not_Used" 20 "Full_On" 19 "95_Percent" 18 "90_Percent" 17 "85_Percent" 16 "80_Percent" 15 "75_Percent" 14 "70_Percent" 13 "65_Percent" 12 "60_Percent" 11 "55_Percent" 10 "50_Percent" 9 "45_Percent" 8 "40_Percent" 7 "35_Percent" 6 "30_Percent" 5 "25_Percent" 4 "20_Percent" 3 "15_Percent" 2 "10_Percent" 1 "5_Percent" 0 "Off"; +VAL_TABLE_ immoMsgTxt_D_Rq 15 "Immo_Msg_15" 14 "Immo_Msg_14" 13 "Immo_Msg_13" 12 "Immo_Msg_12" 11 "Immo_Msg_11" 10 "Immo_Msg_10" 9 "Immo_Msg_9" 8 "Immo_Msg_8" 7 "Immo_Msg_7" 6 "Immo_Msg_6" 5 "Immo_Msg_5" 4 "Immo_Msg_4" 3 "Immo_Msg_3" 2 "Immo_Msg_2" 1 "Immo_Msg_1" 0 "Immo_Msg_0_Null"; +VAL_TABLE_ BattTracWarnLamp_B_Rq 1 "On" 0 "Off"; +VAL_TABLE_ BattTracSrvcRqd_B_Rq 1 "On" 0 "Off"; +VAL_TABLE_ HtrnWarnLamp_B_Dsply 1 "On" 0 "Off"; +VAL_TABLE_ HtrnSrvcRqd_B_Dsply 1 "On" 0 "Off"; +VAL_TABLE_ NoData_Faulty_7E_7F 127 "Faulty" 126 "NoDataExists"; +VAL_TABLE_ PreCondACSet_D_Actl 3 "Last_User_Setting" 2 "Auto" 1 "On" 0 "Off"; +VAL_TABLE_ PreCondFanSet_D_Actl 15 "Not_used" 14 "Not_used" 13 "Not_used" 12 "Not_used" 11 "Not_used" 10 "Not_used" 9 "Last_user_setting" 8 "Auto" 7 "Speed_7" 6 "Speed_6" 5 "Speed_5" 4 "Speed_4" 3 "Speed_3" 2 "Speed_2" 1 "Speed_1" 0 "OFF"; +VAL_TABLE_ PreCondID_No_Actl 0 "Invalid"; +VAL_TABLE_ PreCondRecrcSet_D_Actl 3 "Last_User_Setting" 2 "Auto" 1 "Recirc" 0 "Outside/Fresh"; +VAL_TABLE_ PreCondTeSet_Te_Actl 31 "HI" 1 "LO" 0 "Last_driver_setting"; +VAL_TABLE_ PreCondTPRDef_D_Actl 3 "NotUsed" 2 "On" 1 "Off" 0 "Null"; +VAL_TABLE_ PreCondModeSet_D_Actl 15 "Not_used" 14 "Not_used" 13 "Not_used" 12 "Not_used" 11 "LastUserSetting" 10 "Auto" 9 "Max_Defrost" 8 "Windshield_Panel_Floor" 7 "Windshield_Panel" 6 "Windshield_(Defrost)" 5 "Windshield_Floor" 4 "Floor" 3 "Panel_Floor" 2 "Panel_(Vent)" 1 "Max_A/C" 0 "Off"; +VAL_TABLE_ ChargePortPwr_St 2 "LowPower" 1 "HighPower" 0 "Null"; +VAL_TABLE_ ChargeProfIDPref_St 3 "NotUsed" 2 "Value" 1 "ChargeNow" 0 "Null"; +VAL_TABLE_ ChrgGlobSched_D_Actl 3 "NotUsed" 2 "On" 1 "Off" 0 "Null"; +VAL_TABLE_ ChrgLocEndHr_No_Actl 31 "Invalid" 30 "Unknown"; +VAL_TABLE_ ChrgLocEndMin_No_Actl 63 "Invalid" 62 "Unknown"; +VAL_TABLE_ ChrgLocProgram_D_Actl 7 "Not_used" 6 "Not_used" 5 "Not_used" 4 "Manual" 3 "TimeofUse" 2 "SmMet" 1 "ChargeImm" 0 "Null"; +VAL_TABLE_ ChrgLocSchedCat_D_Actl 11 "Reserved" 10 "Window_10" 9 "Window_9" 8 "Window_8" 7 "Window_7" 6 "Window_6" 5 "Window_5" 4 "Window_4" 3 "Window_3" 2 "Window_2" 1 "Window_1" 0 "Null"; +VAL_TABLE_ ChrgLocHsphs_D_Actl 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "SouthEast_Lat-_Long+" 3 "SouthWest_Lat-_Long-" 2 "NorthEast_Lat+_Long+" 1 "NorthWest_Lat+_Long-" 0 "NoDataExists"; +VAL_TABLE_ FuelPumpPwr_D_Stat 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "Power_Off_Default" 3 "Power_Off_Command" 2 "Power_Off_Service" 1 "Power_Off_Impact" 0 "Power_On"; +VAL_TABLE_ ChrgrRdyStat_D_Actl 7 "NotUsed4" 6 "NotUsed3" 5 "NotUsed2" 4 "NotUsed1" 3 "Charging" 2 "ChargerFault" 1 "ChargerReady" 0 "NotReady"; +VAL_TABLE_ PrmtrAlrmEvnt_D_Stat 15 "Diag_Tamper" 14 "Trailer" 13 "Shock_Sensor" 12 "Post_Crash" 11 "Panic" 10 "Intrusion" 9 "Inclination" 8 "Ign_Tamper" 7 "LG_Door" 6 "Decklid" 5 "Hood" 4 "PR_Door" 3 "PF_Door" 2 "DR_Door" 1 "DF_Door" 0 "Null"; +VAL_TABLE_ SecurityMsgTxt_D_Rq 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage"; +VAL_TABLE_ BattChrgRdyStat_D_Actl 7 "NotUsed2" 6 "NotUsed1" 5 "Faulted" 4 "ChargeComplete" 3 "Charging" 2 "BatteryChargeReady" 1 "ChargeWait" 0 "NotReady"; +VAL_TABLE_ BattChrgInhbt_D_Rq 3 "MaintainTargetSoc" 2 "NotUsed" 1 "InhibitChargingThermal" 0 "Enable_Charging"; +VAL_TABLE_ Fault_7FF_NoData 2047 "Fault" 2046 "NoDataExists"; +VAL_TABLE_ Deactivate_Activate 1 "Activate" 0 "Deactivate"; +VAL_TABLE_ PtcHtr_D_Stat 3 "Faulty" 2 "NotUsed" 1 "On" 0 "Off"; +VAL_TABLE_ PtcHtr_D_Cmd 3 "TurnOn" 2 "AutoMode" 1 "TurnOff" 0 "NoDecision_Initializing"; +VAL_TABLE_ Fault_FFFFFF 16777215 "Fault"; +VAL_TABLE_ NoData_Fault_FFFE_FFFF 65535 "Fault" 65534 "NoDataExists"; +VAL_TABLE_ EngOffTe_B_Dsply 1 "Eng_warm_engh_for_pd" 0 "Eng_not_warm_engh_for_pd"; +VAL_TABLE_ Fault_FFFF_NoData_FFFE 65535 "Fault" 65534 "NoDataExists"; +VAL_TABLE_ Fault_1FFF 8191 "Fault"; +VAL_TABLE_ TrlrBattChrg_D_Stat 3 "Reverse" 2 "Normal" 1 "Low" 0 "Null"; +VAL_TABLE_ TrlrLampCtl_D_Stat 3 "NotUsed" 2 "TrlrLampCnnctDrvFailure" 1 "TrlrLampNotCnnctDrvFailure" 0 "Null"; +VAL_TABLE_ ElPw_D_StatStrtStop 15 "NotUsed6" 14 "NotUsed5" 13 "NotUsed4" 12 "NotUsed3" 11 "NotUsed2" 10 "NotUsed1" 9 "Supported_Level_4" 8 "Supported_Level_3" 7 "Supported_Level_2" 6 "Supported_Level_1" 5 "Limited_Support" 4 "Fault_Limited" 3 "LV_Event_in_Progress" 2 "Not_Supported_Imminent" 1 "Supported_All" 0 "Not_Supported"; +VAL_TABLE_ ImpactEvntFdbck_D_Stat 3 "NotUsed" 2 "EventComplete" 1 "EventInProgress" 0 "Normal"; +VAL_TABLE_ StopStrtIODTxt_D_Rq 31 "Message31" 30 "Message30" 29 "Message29" 28 "Message28" 27 "Message27" 26 "Message26" 25 "Message25" 24 "Message24" 23 "Message23" 22 "Message22" 21 "Message21" 20 "Message20" 19 "Message19" 18 "Message18" 17 "Message17" 16 "Message16" 15 "Message15" 14 "Message14" 13 "Message13" 12 "Message12" 11 "Message11" 10 "Message10" 9 "Message9" 8 "Message8" 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage"; +VAL_TABLE_ NoData_Fault_7FFE_7FFF 32767 "Fault" 32766 "NoDataExists"; +VAL_TABLE_ NoData_Fault_3E_3F 63 "Fault" 62 "NoDataExists"; +VAL_TABLE_ DrvSte_D_Stat 15 "NotUsed10" 14 "NotUsed9" 13 "NotUsed8" 12 "NotUsed7" 11 "NotUsed6" 10 "NotUsed5" 9 "NotUsed4" 8 "NotUsed3" 7 "NotUsed2" 6 "NotUsed1" 5 "Request_Active" 4 "Ignition_Off" 3 "DSR_in_Normal_Idle_Mode" 2 "EPAS_Comm_Disturbed" 1 "DSR_Request_Not_Applicable" 0 "DSR_Deactivated"; +VAL_TABLE_ StrtrMtrCtlMsgTxt_D_Rq 7 "Start_In_Gear_Allowed" 6 "Pending_Start_Cancelled" 5 "Start_Pending_Please_Wait" 4 "Cranking_Limit_Exceeded" 3 "Press_Brk_and_Shift_to_P_N" 2 "Press_Clutch_and_Brake" 1 "Press_Clutch_To_Start" 0 "No_Display"; +VAL_TABLE_ Null_Open 1 "Open" 0 "Null"; +VAL_TABLE_ Invalid_OffOn 0 "Invalid" 1 "Off" 2 "On"; +VAL_TABLE_ TempDegreesC_DegreesF 0 "Temperature_deg_c" 1 "Temperature_deg_f"; +VAL_TABLE_ BeltminderAudioMute 2 "On" 1 "Off" 0 "Invalid"; +VAL_TABLE_ Chime_Source 2 "Cluster" 1 "Infotainment_Sys" 0 "Invalid"; +VAL_TABLE_ Invalid_DayNight 2 "Night" 1 "Day" 0 "Invalid"; +VAL_TABLE_ Invalid_12h_24h 2 "24h_mode" 1 "12h_mode" 0 "Invalid"; +VAL_TABLE_ Invalid_Theme1_2 2 "Theme_2" 1 "Theme_1" 0 "Invalid"; +VAL_TABLE_ LanguageSelect_St 30 "Slovak" 29 "Arabic" 28 "Cantonese" 27 "Mandarin_Chinese" 26 "Korean" 25 "Japanese_Kanji" 24 "Japanese_Katakana" 23 "Braz_Portuguese" 22 "EU_Portuguese" 21 "Finish" 20 "Norwegian" 19 "Danish" 18 "Swedish" 17 "Hungarian" 16 "Greek" 15 "Czech" 14 "Polish" 13 "Flemish" 12 "Dutch" 11 "Russian" 10 "Turkish" 9 "Mex_Spanish" 8 "EU_Spanish" 7 "Cana_French" 6 "EU_French" 5 "Italian" 4 "German" 3 "NA_English" 2 "UK_English" 1 "Unknown" 0 "Invalid"; +VAL_TABLE_ Blower_Indicate 15 "Display_Blank" 14 "14_Indicators_On" 13 "13_Indicators_On" 12 "12_Indicators_On" 11 "11_Indicators_On" 10 "10_Indicators_On" 9 "9_Indicators_On" 8 "8_Indicators_On" 7 "7_Indicators_On" 6 "6_Indicators_On" 5 "5_Indicators_On" 4 "4_Indicators_On" 3 "3_Indicators_On" 2 "2_Indicators_On" 1 "1_Indicator_On" 0 "Indicators_Off"; +VAL_TABLE_ CC_Fr_Stat_User_Adj 7 "Unused4" 6 "Unused3" 5 "Unused2" 4 "Unused1" 3 "Fr_Blwr_Spd_Selection" 2 "FRHS_SetPt_Selection" 1 "FLHS_SetPt_Selection" 0 "None"; +VAL_TABLE_ HeadLghtHiFdbck_D_Stat 3 "NotUsed" 2 "Cancel" 1 "Hold" 0 "Allow_Change"; +VAL_TABLE_ Backlit_LED_Status 15 "Unused3" 14 "Unused2" 13 "Unused1" 12 "Night_12" 11 "Night_11" 10 "Night_10" 9 "Night_9" 8 "Night_8" 7 "Night_7" 6 "Night_6" 5 "Night_5" 4 "Night_4" 3 "Night_3" 2 "Night_2" 1 "Night_1" 0 "Off"; +VAL_TABLE_ Veh_Lock_Status 3 "UNLOCK_DRV" 2 "UNLOCK_ALL" 1 "LOCK_ALL" 0 "LOCK_DBL"; +VAL_TABLE_ PrkLckCtlMsgTxt_D_Rq 3 "BTSI_DI_3" 2 "BTSI_DI_2" 1 "BTSI_DI_1" 0 "Null_BTSI_DI"; +VAL_TABLE_ NoShift_Shift 1 "Shift" 0 "NoShift"; +VAL_TABLE_ CcdMsgTxt_D_RqDsply 15 "Unused8" 14 "Unused7" 13 "Unused6" 12 "Unused5" 11 "Unused4" 10 "Unused3" 9 "Unused2" 8 "StationaryMode" 7 "Mode_Change_Unavailable" 6 "CCD_Temporarily_Off" 5 "CCD_Service_Required" 4 "Faulty" 3 "Sport" 2 "Normal" 1 "Comfort" 0 "No_Mode_Selected"; +VAL_TABLE_ CrashEvnt_D_Stat 3 "Invalid" 2 "Fuel_Cutoff_Event" 1 "Deploy_Event" 0 "No_Event"; +VAL_TABLE_ ReducedGuard_D_Stat 3 "NotUsed" 2 "Alarm_On" 1 "Alarm_Off_Previously_On" 0 "Alarm_Off"; +VAL_TABLE_ HvacPrecondBlwr_D_Rq 15 "NotUsed6" 14 "NotUsed5" 13 "NotUsed4" 12 "NotUsed3" 11 "NotUsed2" 10 "NotUsed1" 9 "Last_User_Setting" 8 "Auto" 7 "Speed7" 6 "Speed6" 5 "Speed5" 4 "Speed4" 3 "Speed3" 2 "Speed2" 1 "Speed1" 0 "Off"; +VAL_TABLE_ HvacPrecondMode_D_Rq 15 "NotUsed4" 14 "NotUsed3" 13 "NotUsed2" 12 "NotUsed1" 11 "Last_User_Settings" 10 "Auto" 9 "Max_Defrost" 8 "Windshield_Panel_Floor" 7 "Windshield_Panel" 6 "Windshield" 5 "Windshield_Floor" 4 "Floor" 3 "Panel_Floor" 2 "Panel" 1 "MAX_AC" 0 "Off"; +VAL_TABLE_ ButtonNotPressed 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_TABLE_ Null_Pressed 1 "Pressed" 0 "Null"; +VAL_TABLE_ FobComm_D_Stat 3 "NotUsed" 2 "RemEngStartOK" 1 "RemEngStartFail" 0 "Null"; +VAL_TABLE_ PudLamp_D_Rq 3 "RAMP_DOWN" 2 "RAMP_UP" 1 "ON" 0 "OFF"; +VAL_TABLE_ WndwGlbl_D_Cmd 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "GLEARN" 3 "GCLOSE" 2 "GOPEN" 1 "GSTOP" 0 "Null"; +VAL_TABLE_ LockMsg 7 "MSG7" 6 "MSG6" 5 "MSG5" 4 "MSG4" 3 "MSG3" 2 "MSG2" 1 "MSG1" 0 "NO_WARNING"; +VAL_TABLE_ ChildLockDisplay 3 "NOT_SUPPORTED" 2 "ERROR" 1 "CHILD_UNLOCK" 0 "CHILD_LOCK"; +VAL_TABLE_ Null_Lock_Unlock 3 "NotUsed" 2 "Unlock" 1 "Lock" 0 "Null"; +VAL_TABLE_ Wiper 15 "NO_DATA_EXISTS" 14 "STALLED" 13 "RESERVED" 12 "AUTO_ADJUST" 11 "COURTESYWIPE" 10 "AUTO_HIGH" 9 "AUTO_LOW" 8 "WASH" 7 "MIST_FLICK" 6 "MAN_HIGH" 5 "MAN_LOW" 4 "MAN_INT_ON" 3 "MAN_INT_OFF" 2 "OFF_MOVING" 1 "AUTO_OFF" 0 "OFF"; +VAL_TABLE_ Turn_switch 3 "Unused_Treat_As_Off" 2 "Right" 1 "Left" 0 "Off"; +VAL_TABLE_ PrkLght_D_Stat 3 "Park_Both" 2 "Park_Right" 1 "Park_Left" 0 "Off"; +VAL_TABLE_ LghtAmb_D_Sns 7 "No_Data_Exists" 6 "Unused2" 5 "Unused1" 4 "Tunnel_Off" 3 "Tunnel_On" 2 "Twilight" 1 "Light" 0 "Dark"; +VAL_TABLE_ HeadLghtSwtch_D_Stat 3 "Autolamp" 2 "Headlamp" 1 "Parklamp" 0 "Off"; +VAL_TABLE_ EmgcyBrkLamp_D_Rq 3 "NotUsed" 2 "Active_at_standstill" 1 "Active_at_speed" 0 "Inactive"; +VAL_TABLE_ GearLvrPos_D_Unfilt 7 "Invalid" 6 "NotUsed" 5 "In_between" 4 "Low" 3 "Drive" 2 "Neutral" 1 "Reverse" 0 "Park"; +VAL_TABLE_ EDrvTqMntrRconfg_D_Cmd 7 "OK" 6 "Disable_Cruise" 5 "NotUsed4" 4 "Supercreep" 3 "NotUsed3" 2 "NotUsed2" 1 "Engine_shutdown" 0 "NotUsed"; +VAL_TABLE_ OpenPressedFault 3 "Fault" 2 "Unused" 1 "Pressed" 0 "Open"; +VAL_TABLE_ LaHandsOff_D_Dsply 3 "Suppressed" 2 "Level2" 1 "Level1" 0 "HandsOn"; +VAL_TABLE_ Avail_Unavail 1 "Unavailable" 0 "Available"; +VAL_TABLE_ LaActvStats_D_Dsply 31 "Unused7" 30 "LA_Off" 29 "Unused5" 28 "Unused4" 27 "Unused3" 26 "Unused2" 25 "Unused1" 24 "InerveneLeft_InterveneRght" 23 "WarnLeft_InterveneRight" 22 "SuppressLeft_InterveneRght" 21 "AvailLeft_InterveneRhtt" 20 "NoLeft_InterveneRight" 19 "InterveneLeft_WarnRight" 18 "WarnLeft_WarnRight" 17 "SuppressLeft_WarnRight" 16 "AvailableLeft_WarnRight" 15 "NoLeft_WarnRight" 14 "InterveneLeft_SuppressRght" 13 "WarnLeft_SuppressRight" 12 "SuppressLeft_SuppressRight" 11 "AvailLeft_SuppressRight" 10 "NoLeft_SuppressRight" 9 "InterveneLeft_AvailRight" 8 "WarnLeft_AvailRight" 7 "SuppressLeft_AvailRight" 6 "AvailableLeft_AvailRight" 5 "NoLeft_AvailableRight" 4 "InterveneLeft_NoRight" 3 "WarnLeft_NoRight" 2 "SuppressLeft_NoRight" 1 "AvailableLeft_NoRight" 0 "NoLeft_NoRight"; +VAL_TABLE_ AhbcHiBeam_D_Rq 3 "Deactivated_Unavailabl" 2 "Unused" 1 "Main_HighBeamRecommend" 0 "Dipped_LowBeamRecommend"; +VAL_TABLE_ GrllShtrPos_D_Cmd 15 "Fully_Open" 14 "Position14" 13 "Position13" 12 "Position12" 11 "Position11" 10 "Position10" 9 "Position9" 8 "Position8" 7 "Position7" 6 "Position6" 5 "Position5" 4 "Position4" 3 "Position3" 2 "Position2" 1 "Position1" 0 "Fully_Closed"; +VAL_TABLE_ LifeCycMde_D_Actl 3 "Transport" 2 "NotUsed" 1 "Factory" 0 "Normal"; +VAL_TABLE_ TrnMsgTxt_D_Rq 15 "Message_15" 14 "Message_14" 13 "Message_13" 12 "Message_12" 11 "Message_11" 10 "Message_10" 9 "Message_9" 8 "Message_8" 7 "Message_7" 6 "Message_6" 5 "Message_5" 4 "Message_4" 3 "Message_3" 2 "Message_2" 1 "Message_1" 0 "NoMessage"; +VAL_TABLE_ DieslPrtcRgen_D_Rq 7 "Unused_2" 6 "Unused_1" 5 "Full_Regen_2" 4 "Full_Regen_1" 3 "HeatUp_3" 2 "HeatUp_2" 1 "HeatUp_1" 0 "Normal_Mode_NoRegen"; +VAL_TABLE_ ClimtHeat_D_Rq 7 "NotUsed4" 6 "NotUsed3" 5 "NotUsed2" 4 "PtcHtrTestMde" 3 "Defrost_Defog" 2 "FastTempPullDownHeatingReq" 1 "OpportunisticHeatingReq" 0 "NoHeatingRequest"; +VAL_TABLE_ TrnCapHlth_Actl 3 "Capacitor_OK" 2 "Degraded_Capacitor" 1 "Capacitor_State_Unknown" 0 "Capacitor_Fault"; +VAL_TABLE_ TrnSecPrkStat_D_Actl 7 "Faulty" 6 "Fault_Released" 5 "Fault_Latched" 4 "Recouple_in_Progress" 3 "Mechanism_Released" 2 "RTP_in_Progress" 1 "Pending" 0 "Latched"; +VAL_TABLE_ TrnGear_D_Actl 7 "Fault" 6 "NotUsed" 5 "Manual" 4 "Drive" 3 "Neutral" 2 "Reverse" 1 "Park" 0 "Transition_State"; +VAL_TABLE_ TrnNtrlTowCmd_D_Actl 3 "NotUsed" 2 "Neutral_Tow_Entry" 1 "Car_Wash_Mode" 0 "Normal_Mode"; +VAL_TABLE_ TrnValidGear_D_Cnfm 3 "Accept" 2 "Reject" 1 "Internal_Request" 0 "No_Command"; +VAL_TABLE_ TrnGear_D_RqPt 7 "Fault" 6 "NotUsed" 5 "Manual" 4 "Drive" 3 "Neutral" 2 "Reverse" 1 "Park" 0 "No_Gear"; +VAL_TABLE_ TrnValidGearRq_D_Stat 3 "Valid_Request" 2 "Valid_Degraded_Request" 1 "Invalid_Request" 0 "No_Request"; +VAL_TABLE_ NoData_Fault_3FE_3FF 1023 "Fault" 1022 "NoDataExists"; +VAL_TABLE_ ClimtCool_D_Rq 7 "NotUsed4" 6 "NotUsed3" 5 "NotUsed2" 4 "ElACTestMde" 3 "Defrost_Defog" 2 "FastTempPullDownCoolReq" 1 "OpportunisticCoolingReq" 0 "NoCoolingRequest"; +VAL_TABLE_ HtrnHvilOpen_B_Actl 1 "HVIL_is_Open" 0 "Normal_Operation"; +VAL_TABLE_ EngTeHi_B_Actl 1 "EngineTempHigh" 0 "Normal"; +VAL_TABLE_ Eng_D_StatPwPck 7 "NotUsed3" 6 "NotUsed2" 5 "Engine_Start_Cold_Cat" 4 "Engine_Disabled" 3 "Engine_Running" 2 "Engine_Run_CSER" 1 "Engine_Start" 0 "Off"; +VAL_TABLE_ EngFuelCutFull_B_Inhbt 1 "Inhibit_DFSO" 0 "Normal"; +VAL_TABLE_ EngFuelCutFull_B_Rq 1 "FuelCutRequest" 0 "NormalOperation"; +VAL_TABLE_ Fault_7FF 2047 "Fault"; +VAL_TABLE_ EngStopFst_B_Rq 1 "FastEngineShutdown" 0 "NormalOperation"; +VAL_TABLE_ EngStrtCold_B_Rq 1 "ExtremeColdStart" 0 "NormalStart"; +VAL_TABLE_ EngStrtSmooth_D_Rq 7 "NotUsed" 6 "Smooth_NoPedal" 5 "Smooth_LightPedal" 4 "Smooth_MediumPedal" 3 "Smooth_HeavyPedal" 2 "Smooth_WOP" 1 "Smooth_Cold" 0 "Smooth_ExtremeCold"; +VAL_TABLE_ Fault_FFF 4095 "Fault"; +VAL_TABLE_ VehStrtStop_D_Rq 3 "NotUsed" 2 "Vehicle_Start_Request" 1 "Vehicle_Stop_Request" 0 "NoRequest"; +VAL_TABLE_ HvacRec_D_RqMxBatt 15 "NotUsed5" 14 "NotUsed4" 13 "NotUsed3" 12 "NotUsed2" 11 "NotUsed1" 10 "No_Override" 9 "90Percent_RecircMax" 8 "80Percent_RecircMax" 7 "70Percent_RecircMax" 6 "60Percent_RecircMax" 5 "50Percent_RecircMax" 4 "40Percent_RecircMax" 3 "30Percent_RecircMax" 2 "20Percent_RecircMax" 1 "10Percent_RecircMax" 0 "0Percent_RecircFullOpen"; +VAL_TABLE_ FuelCtlOpenLp_B_Inhbt 1 " Inhibit_FullPedal_Actions" 0 "Normal_Operation"; +VAL_TABLE_ EngStrtStop_B_SrcSrvc 1 "Eng_StartStop_for_Service" 0 "Not_Requested"; +VAL_TABLE_ EngStrtStop_B_SrcCat 1 "Eng_StartStop_for_Catalyst" 0 "Not_Requested"; +VAL_TABLE_ PrkBrkStatus 7 "GeneralFault_MaintenceMode" 6 "ECD_by_Brake_ECU_Active" 5 "EPB_Limphome_Active" 4 "Rear_Caliper_Open" 3 "RWU_By_EPB_Active" 2 "Rear_Caliper_Transition" 1 "Rear_Caliper_Closed" 0 "Not_Supported"; +VAL_TABLE_ ElLoadCtl_D_Rq 7 "Unused3" 6 "Unused2" 5 "Unused1" 4 "HoldAllDrvrInvisibleLoads" 3 "StdDriverInvisibleLoadsOn" 2 "AllDriverInvisibleLoadsOn" 1 "All_Possible_Loads_Off" 0 "No_Request"; +VAL_TABLE_ BattTracCool 3 "NotUsed" 2 "DCDC_Overtemperature" 1 "CoolingRequiredbyDCDC" 0 "NoCoolingRequiredbyDCDC"; +VAL_TABLE_ NotReady_Active_Fault 3 "Fault" 2 "Active" 1 "Ready" 0 "Not_Ready"; +VAL_TABLE_ Quality_Data 3 "OK" 2 "Not_Within_Specifications" 1 "Eval_In_Progress" 0 "Fault"; +VAL_TABLE_ PwSrcULoFalt_D_Stat 3 "Fault_No_Output" 2 "Fault_Reduced_Output" 1 "Fault_NonSpecific" 0 "No_Fault"; +VAL_TABLE_ Connect_Discon_Loose 1 "Loose_or_Disconnected" 0 "Connected"; +VAL_TABLE_ DontCare_StartInhibit 1 "Start_Inhibit" 0 "Dont_Care"; +VAL_TABLE_ BattULoChrg_D_Rq 3 "Low_Battery_Temperature" 2 "Charging_Requested" 1 "Chrg_Requested_HighCurrent" 0 "No_Request"; +VAL_TABLE_ PwSysULoFalt_D_Stat 15 "Not_Used_6" 14 "LowBatterySOC" 13 "PSS_Shed2_Contin" 12 "Not_Used_4" 11 "Not_Used_3" 10 "Not_Used_2" 9 "BattMonitoringSensorFault" 8 "LowBattVoltDuringPwSrcOn" 7 "LowBatt2_PowerSaveMode" 6 "LowBatt1_Warning" 5 "Overvoltage" 4 "Fault_NoOutput" 3 "Fault_ReducedOutput" 2 "Fault_Nonspecific" 1 "Cluster_Proveout" 0 "No_Fault"; +VAL_TABLE_ AccStopMde_D_Rq 3 "Stop_Mode_Active" 2 "EPBApplyOrBrakeReleaseWarn" 1 "Limit_Rolling_Speed" 0 "Stop_Mode_Not_Active"; +VAL_TABLE_ EngFuelCutFull_B_Sched 1 "DFSO_Event_Scheduled" 0 "Normal"; +VAL_TABLE_ Eng_D_Stat 3 "NotUsed" 2 "EngAutoStopped" 1 "EngOn" 0 "EngOff"; +VAL_TABLE_ ElPw_D_Stat 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "Fault_Limited" 3 "LV_Event_In_Progress" 2 "Not_Supported_Imminent" 1 "Supported" 0 "Not_Supported"; +VAL_TABLE_ PwPckTq_D_Stat 3 "PwPckOn_TqAvailable" 2 "StartInPrgrss_TqNotAvail" 1 "PwPckOn_TqNotAvailable" 0 "PwPckOff_TqNotAvailable"; +VAL_TABLE_ BattTracCool_D_Falt 3 "NotUsed" 2 "CoolSysPartialyOperational" 1 "Cooling_System_Faulted" 0 "Cooling_System_Operational"; +VAL_TABLE_ Fault_FF 255 "Fault"; +VAL_TABLE_ ElCmprOverTe_D_Stat 3 "OverTempStop" 2 "OverTempWarning" 1 "Normal" 0 "Undefined"; +VAL_TABLE_ ElCmprUHi_D_Stat 3 "Overvoltage" 2 "Undervoltage" 1 "InRange" 0 "Undetermined"; +VAL_TABLE_ ElCmpr_D_Stat 7 "Signal_Invalid" 6 "Comp_Off_ActlSpd_Abnormal" 5 "Comp_Off_TrgtSpd_OutRange" 4 "Comp_Shutdown" 3 "Comp_Stopped_Self_Protect" 2 "Comp_Degraded" 1 "Comp_On" 0 "Comp_Off"; +VAL_TABLE_ Southern_Northern 3 "Fault" 2 "Northern" 1 "Southern" 0 "Invalid"; +VAL_TABLE_ PsngrFrntDetct_D_Actl 3 "Unknown" 2 "Empty" 0 "Faulty" 1 "Occupied"; +VAL_TABLE_ Normal_Mode1_2 3 "Undefined" 2 "Mode2" 1 "Mode1" 0 "Normal_Mode"; +VAL_TABLE_ LaActvAvail 3 "LKA_LCA_LDW_Avail" 2 "LCA_LKA_Avail_LDW_Suppress" 1 "LCA_LKA_Suppress_LDW_Avail" 0 "LCA_LKA_LDW_Suppress"; +VAL_TABLE_ LA_NotDenied 1 "LA_Denied" 0 "LA_Not_Denied"; +VAL_TABLE_ HandsOn_Off 1 "Hands_Off" 0 "Hands_On"; +VAL_TABLE_ Smooth_Quick 1 "Quick" 0 "Smooth"; +VAL_TABLE_ None_Low_Med_High 3 "High" 2 "Medium" 1 "Low" 0 "None"; +VAL_TABLE_ LdwActvStats 7 "LDW_Suppress_Right_Left" 6 "Not_Used2" 5 "LDW_Suppress_Right" 4 "LDW_Warning_Right" 3 "LDW_Suppress_Left" 2 "LDW_Warning_Left" 1 "LDW_DemoVibration" 0 "LDW_Idle"; +VAL_TABLE_ Fault_3FF 1023 "Fault"; +VAL_TABLE_ EngStrtStop 15 "Unused_7" 14 "Unused_6" 13 "Unused_5" 12 "Unused_4" 11 "Unused_3" 10 "Unused_2" 9 "Unused_1" 8 "Force_Pull_Down" 7 "Force_Pull_Up" 6 "Pull_Down_Inhibit_Pull_Up" 5 "Inhibit_Change" 4 "Inhibit_Pull_Up" 3 "Pull_Down" 2 "Inhibit_Pull_Down" 1 "Pull_Up" 0 "No_Request"; +VAL_TABLE_ TrnMde_D_Rq 15 "Unused_4" 14 "Unused_3" 13 "Unused_2" 12 "Unused_1" 11 "InOutLckedHydStandby" 10 "InputOutputLocked" 9 "OutputLockedHydStandby" 8 "OutputLocked" 7 "ReducedOutTqHydStandby" 6 "Reduced_Output_Torque" 5 "TransInTqHydStandby" 4 "Transmit_Input_Torque" 3 "ActNeutralHydStandby" 2 "Active_Neutral" 1 "NeutralHydraulicStdby" 0 "Neutral"; +VAL_TABLE_ Fault_F 15 "Fault"; +VAL_TABLE_ Fault_1F 31 "Fault"; +VAL_TABLE_ TmsStatRqDsply 15 "Reserved4" 14 "Reserved3" 13 "Reserved2" 12 "Crawl_Mode_4LOW_Reqd" 11 "Economy_Mode_Select" 10 "ModeChangeNotAvailable" 9 "Terrain_Sys_Not_Avail" 8 "Terrain_System_Fault" 7 "Mode_Change_InProgress" 6 "Dynamics_Mode_Select" 5 "Rock_Crawl_Mode_Select" 4 "Sand_Mode_Select" 3 "Mud_Ruts_Mode_Select" 2 "Low_Mu_Mode_Select" 1 "Special_Modes_Off" 0 "No_Message"; +VAL_TABLE_ LockInhibit 1 "Inhibit" 0 "No_Inhibit"; +VAL_TABLE_ DieslFuelBio_B_ActlDrv 1 "Biodiesel_User" 0 "Non_Biodiesel_User"; +VAL_TABLE_ Invalid_FFF 4095 "Invalid"; +VAL_TABLE_ ParkAid_Chime 15 "Zone15_Chime" 14 "Zone14_Chime" 13 "Zone13_Chime" 12 "Zone12_Chime" 11 "Zone11_Chime" 10 "Zone10_Chime" 9 "Zone9_Chime" 8 "Zone8_Chime" 7 "Zone7_Chime" 6 "Zone6_Chime" 5 "Zone5_Chime" 4 "Zone4_Chime" 3 "Zone3_Chime" 2 "Zone2_Chime" 1 "Zone1_Chime" 0 "No_Chime"; +VAL_TABLE_ Shed_Feature_Group_ID 16 "PtcHeater" 14 "HtdMirr" 13 "HvacRearBlwr_Third" 12 "HvacRearBlwr_Second" 11 "HvacRearBlwr_First" 31 "All LSHED1 Features" 10 "Htd_Windscrn" 9 "SpltHtdBcklight_HtdMirr" 8 "HtdBcklight_HtdMirr" 7 "HtdCoolSeat_FrtDriver" 6 "HtdCoolSeat_FrtPass" 5 "HtdCoolSeat_RearPass" 4 "HtdCoolSeat_RearDriver" 3 "SmartTrlrTowBattCharge" 2 "Htd_StrWhl" 1 "Htd_Washer_Fluid" 0 "No_LSHED1_Features" 15 "Engine_Coolant_Fan"; +VAL_TABLE_ CoolantFanStepAct 31 "Unused7" 30 "Unused6" 29 "Unused5" 28 "Unused4" 27 "Unused3" 26 "Unused2" 25 "Unused1" 23 "Step23" 22 "Step22" 21 "Step21" 20 "Step20" 19 "Step19" 18 "Step18" 17 "Step17" 16 "Step16" 15 "Step15" 14 "Step14" 13 "Step13" 12 "Step12" 11 "Step11" 10 "Step10" 9 "Step9" 8 "Step8" 7 "Step7" 6 "Step6" 5 "Step5" 4 "Step4" 3 "Step3" 2 "Step2" 1 "Step1" 24 "Max_Fan_Speed_Req" 0 "Fan_Cmd_Off"; +VAL_TABLE_ Null_Cancel 1 "Cancel" 0 "Null"; +VAL_TABLE_ Veh_Lock_Requestor 31 "Unused8" 30 "Unused7" 29 "Unused6" 28 "Rgtm_Shutlock_Switch" 27 "Boundary_Alert" 26 "Transit_Vehicle_Relock" 25 "Transit_Cargo_Relock" 24 "Transit_Ajar_Lock" 23 "Diagnostics" 22 "Console_Lock" 21 "Child_Lock" 20 "Double_Lock" 19 "Passive_Pasenger" 18 "Passive_Driver" 17 "Slam_Lock_Protect" 16 "SYNC" 15 "Passport" 14 "Passive_Smart_Unlock" 13 "Autorelock" 12 "RemoteStart" 0 "Null" 1 "Autolock" 11 "Smart_Unlock" 10 "Sliding_Door" 9 "Passive" 8 "Remote" 7 "Programming" 6 "Powerslide" 5 "Keypad" 4 "Key_Cylinder" 3 "Interior" 2 "Auto_Unlock"; +VAL_TABLE_ EPAS_FAILURE 3 "SERVICE_POWER_STEERING_NOW" 2 "SERVICE_POWER_STEERING" 1 "POWER_STRG_ASSIST_FAULT" 0 "EPAS_OK_NO_MESSAGE"; +VAL_TABLE_ Perimeter_Alarm_Mode 3 "Activated" 2 "Armed" 1 "Prearmed" 0 "Disarmed"; +VAL_TABLE_ Invalid_FFFF 65535 "Invalid"; +VAL_TABLE_ FdaStat_D_Dsply 7 "Undefined_3" 6 "Undefined_2" 5 "Undefined_1" 4 "Distance_Alert_Unavailable" 3 "DistanceAlertUnavail_Low" 2 "DistanceAlertUnavailActive" 1 "Distance_Alert_Available" 0 "Distance_Alert_Off"; +VAL_TABLE_ OilPressureWarning 1 "Low_Pressure_Lamp_On" 0 "Normal_Pressure_Lamp_Off"; +VAL_TABLE_ MyKey_KeyTypeChangeReq 3 "Search_PE_BackupSlot" 2 "Clear_All_MyKeys" 1 "Request_New_MyKey" 0 "None"; +VAL_TABLE_ MyKey_Key_Count 13 "Thirteen" 12 "Twelve" 11 "Eleven" 10 "Ten" 9 "Nine" 8 "Eight" 7 "Seven" 6 "Six" 5 "Five" 4 "Four" 3 "Three" 2 "Two" 1 "One" 0 "Zero" 15 "Invalid" 14 "Unlimited"; +VAL_TABLE_ GearEngag_D_Actl 7 "Undefined" 6 "Fwd_Clutch_Fully_Engaged" 5 "Neutral_Idle" 4 "Disengaged_to_Neutral_Idle" 3 "Disengaged_to_Neutral_Park" 2 "Engagement_in_Progress" 1 "InitializeFwdClutchEngagmt" 0 "Park_Neutral"; +VAL_TABLE_ Shed_Level_Req 7 "Unused_2" 6 "Loads_On" 5 "SHED_ENG_OFF" 4 "SOON_ENG_OFF" 3 "SHED2_CONTIN" 2 "SHED2_TRANS" 1 "SHED1" 0 "NO_SHED"; +VAL_TABLE_ BpedMove_D_Actl 3 "Unknown" 2 "DriverApplyingBrakePedal" 1 "NoAutonomousBrkPdlMovement" 0 "AutonomousBrkPedalMove"; +VAL_TABLE_ Eastern_Western 0 "Invalid" 1 "Eastern" 2 "Western" 3 "Fault"; +VAL_TABLE_ EATC_Temp_Digit3 2 "_5" 1 "_0" 0 "OFF"; +VAL_TABLE_ EATC_Units 2 "Fahrenheit" 1 "Celsius" 0 "Off"; +VAL_TABLE_ BattTracOffFst_D_Actl 3 "Unexpected_Contactor_Open" 2 "Restraints_Impact_Event" 1 "Interlock_Open" 0 "Normal"; +VAL_TABLE_ Invalid_1FF 511 "Invalid"; +VAL_TABLE_ ChargeMode 7 "Undefined_2" 6 "Undefined_1" 5 "Battery_Identify" 4 "Battery_Refresh" 3 "SlowRegenAllowNoDischarge" 2 "Fast_Regen_Allowed" 1 "Slow_Regen_Allowed" 0 "Conventional_Charging"; +VAL_TABLE_ Unknown_FFFE_Invalid_FFFF 65535 "Invalid" 65534 "Unknown"; +VAL_TABLE_ SAPPAngleControlStat5 1 "StrgColTorqueExceed_EAROn" 0 "ExternalSigContentOKforEAC"; +VAL_TABLE_ Closed_Open_Active_Fault 3 "Fault" 2 "Active" 1 "Open" 0 "Closed"; +VAL_TABLE_ SAPPAngleControlStat2 1 "Rel_ExtSteeringAngleReqx" 0 "NoRel_ExtSteeringAngleReqx"; +VAL_TABLE_ SAPPAngleControlStat3 1 "EARactiveNoReverseEngage" 0 "ExternalSigContentOKforEAC"; +VAL_TABLE_ RstrnImpactEvntStatus 7 "Invalid" 6 "Not_Used_4" 5 "Threshold_2_Exceeded" 4 "Not_Used_3" 3 "Threshold_1_Exceeded" 2 "Not_Used_2" 1 "Not_Used_1" 0 "Normal"; +VAL_TABLE_ EDRTriggerEvntSync 1 "Threshold_Exceeded" 0 "Normal"; +VAL_TABLE_ EngTeColdPrtct_D_Stats 3 "Engine_Warm_RdcPwr" 2 "OK_to_Drive" 1 "Engine_Warm_PlsWait" 0 "Normal_Operation"; +VAL_TABLE_ HILL_DESC_MC 7 "Fault_Detected" 6 "Cooling_Down" 5 "Abort_Apply_Brakes" 4 "Active" 3 "Disabled" 2 "Enabled" 1 "Off_Road" 0 "Normal"; +VAL_TABLE_ Closed_Ajar 1 "Ajar" 0 "Closed"; +VAL_TABLE_ CADS_Autio_Mute 7 "Unknown" 6 "Attenuation_6" 5 "Attenuation_5" 4 "Attenuation_4" 3 "Attenuation_3" 2 "Attenuation_2" 1 "Attenuation_1" 0 "No_Attenuation_of_Audio"; +VAL_TABLE_ Quality_Factor 3 "OK" 2 "Not_Within_Specifications" 1 "No_Data_Exists" 0 "Faulty"; +VAL_TABLE_ Null_Day_Night 3 "NotUsed" 2 "Night" 1 "Day" 0 "Null"; +VAL_TABLE_ Null_Flash_High 3 "NotUsed" 2 "High" 1 "Flash_to_Pass" 0 "Null"; +VAL_TABLE_ GearPos_D_Actl 15 "Unknown" 14 "Reverse" 13 "Undefined_5" 12 "Undefined_4" 11 "Undefined_3" 10 "Tenth" 9 "Ninth" 8 "Eighth" 7 "Seventh" 6 "Sixth" 5 "Fifth" 4 "Fourth" 3 "Third" 2 "Second" 1 "First" 0 "Neutral"; +VAL_TABLE_ OffOn_SlowFast_Flash 3 "Fast_Flash" 2 "Slow_Flash" 1 "On" 0 "Off"; +VAL_TABLE_ AwdStat_D_RqDsply 31 "NotUsed9" 30 "NotUsed8" 29 "NotUsed7" 28 "To_Engage_4x4_Release_Aped" 27 "To_Engage_4x4_Slow_To_3MPH" 26 "Shift_To_Neutral" 25 "Lkr_Mode_Unavail_TMS" 24 " _4x4_Mode_Unavail_TMS" 23 "Out_of_4Low_Crawl" 22 "AWD_PTU_Oil_Changed" 21 "Change_AWD_PTU_Oil" 20 "Neutral_Tow_Disabled" 19 "Neutral_Tow_Enabled" 18 "AWD_OFF" 17 "_4x4_Off_Road_Speed" 16 "_4x4_Extreme_Off_Road_Mode" 15 "_4x4_Exiting_Off_Road" 14 "_4x4_Off_Road_Mode" 10 "_4x4_Locked_Temporarily" 9 "Shift_In_Progress" 13 "Blocked_Shift_Assist" 12 "_4x4_Auto_Restored" 11 "_4x4_Disabled_Temporarily" 7 "Out_of_4Low__Neutral" 6 "Out_of_4Low__Brake" 5 "Out_of_4Low__Speed" 4 "Into_4Low__Clutch" 3 "Into_4Low__Neutral" 2 "Into_4Low__Brake" 1 "Into_4Low__Speed" 0 "Normal__No_Message" 8 "Out_of_4Low__Clutch"; +VAL_TABLE_ AngleReached 1 "RequestedAngleNotReached" 0 "RequestedAngleCanBeReached"; +VAL_TABLE_ WhlDir 3 "Failed" 2 "Unknown" 1 "Backward" 0 "Forward"; +VAL_TABLE_ VehVLimStat_D_Actl 7 "Undefined_3" 6 "Undefined_2" 5 "Undefined_1" 4 "ASL_Fault_Condition" 3 "Active_and_Limiting" 2 "Active_but_Not_Limiting" 1 "Standby" 0 "Off"; +VAL_TABLE_ Unknown_Fault_1FE_1FF 511 "Fault" 510 "Unknown"; +VAL_TABLE_ Fault_NoFault 1 "Fault" 0 "No_Fault"; +VAL_TABLE_ TrnIpcDsplyMde_D_Actl 7 "Manual_3" 6 "Manual_2" 5 "Manual_1_Low" 4 "Sport" 3 "Drive" 2 "Neutral" 1 "Reverse" 0 "Park"; +VAL_TABLE_ TrnIpcDsplyMde_D_Stat 3 "Reserved_Blank_No_Display" 2 "Flash" 1 "On" 0 "Blank_No_Display"; +VAL_TABLE_ TrnIpcDsplyGear_D_Actl 15 "No_Gear_Selected" 14 "_14th_Gear" 13 "_13th_Gear" 12 "_12th_Gear" 11 "_11th_Gear" 10 "_10th_Gear" 9 "_9th_Gear" 8 "_8th_Gear" 7 "_7th_Gear" 6 "_6th_Gear" 5 "_5th_Gear" 4 "_4th_Gear" 3 "_3rd_Gear" 2 "_2nd_Gear" 1 "_1st_Gear" 0 "Neutral"; +VAL_TABLE_ TerrMde_D_Actl 7 "Fail_Safe_Default" 6 "Dynamic_Mode" 5 "Rock_Crawl_Mode" 4 "Mud_Ruts_Mode" 3 "Sand_Mode" 2 "Undefined" 1 "Low_Mu_Mode" 0 "Special_Operating_Mode_Off"; +VAL_TABLE_ TerrMdeChng_D_Rdy 7 "Fault" 6 "Undefined_2" 5 "Undefined_1" 4 "ModeUnavailDrInputRqd" 3 "SpOpModes_NotSupported" 2 "ModeUnavailDynamicCond" 1 "Module_In_Initialization" 0 "Mode_Change_Available"; +VAL_TABLE_ Unknown_Fault_FFFE_FFFF 65535 "Fault" 65534 "Unknown"; +VAL_TABLE_ Invalid_FFFFFF 16777215 "Invalid"; +VAL_TABLE_ AutoParkSpdExitCond 1 "SpeedLimitExceededEAROn" 0 "ExternalSigContentOKforEAC"; +VAL_TABLE_ EngOilLvlDsply_D_Rq 15 "EngOil_LevelSys_CheckFault" 14 "Reserved_2" 13 "Reserved_1" 12 "Conditions_Unsuitable" 11 "Dipstick_Below_Minimum" 10 "Dipstick_Above_Maximum" 9 "Dipstick_Minimum" 8 "Dipstick_12_5_MinMaxRange" 7 "Dipstick_25_MinMaxRange" 6 "Dipstick_37_5_MinMaxRange" 5 "Dipstick_50_MinMaxRange" 4 "Dipstick_62_5_MinMaxRange" 3 "Dipstick_75_MinMaxRange" 2 "Dipstick_87_5_MinMaxRange" 1 "Dipstick_Maximum_Displayed" 0 "No_Message"; +VAL_TABLE_ HdcMde_D_Actl 7 "Fault" 6 "Temporarily_Unavailable" 5 "NotEnabled_WrongGearSel" 4 "NotEnabled_SpdLimitExceed" 3 "Active_Braking" 2 "Not_Active_Braking" 1 "Off" 0 "Undefined"; +VAL_TABLE_ GearLvrPos_D_Actl 15 "Fault" 14 "Unknown_Position" 13 "Undefined_Treat_as__Fault" 12 "Undefined_Treat_as_Fault" 11 "sixth" 10 "fifth" 9 "fourth" 8 "third" 7 "second" 6 "first" 5 "Low" 4 "Sport_DriveSport" 3 "Drive" 2 "Neutral" 1 "Reverse" 0 "Park"; +VAL_TABLE_ FcwMsgTxt_D_Rq 7 "Undefined_3" 6 "Undefined_2" 5 "Low_Visibility" 4 "Unavailable_DueTo_LowSpeed" 3 "Available" 2 "Unavailable" 1 "Off" 0 "No_Text"; +VAL_TABLE_ FcwSens_B_Actl 3 "FCW_Sensitivity_3" 2 "FCW_Sensitivity_2" 1 "FCW_Sensitivity_1" 0 "Not_Used"; +VAL_TABLE_ LastSettind_DefaultOn 1 "Default_On" 0 "Last_Setting"; +VAL_TABLE_ EngTurboMde_D_Actl 3 "Fault" 2 "One_Turbo_Active" 1 "Two_Turbos_Active" 0 "Initializing"; +VAL_TABLE_ EngPullUpPullDown 15 "Undefined_7" 14 "Undefined_6" 13 "Undefined_5" 12 "Undefined_4" 8 "Force_Pull_Down" 7 "Force_Pull_Up" 6 "PullDown_Inhibit_PullUp" 5 "Inhibit_Change" 4 "Inhibit_Pull_Up" 3 "Pull_Down" 2 "Inhibit_Pull_Down" 1 "Pull_Up" 0 "No_Request" 11 "Undefined_3" 10 "Undefined_2" 9 "Undefined_1"; +VAL_TABLE_ EngMde_D_Rq 8 "VSC_Sets_Speed_Type_3" 7 "VSC_Sets_Speed_Type_2" 6 "VSC_Sets_Torque_Type_2" 5 "Dependability_Shutdown" 4 "Dependability_Follow" 3 "Start" 2 "VSC_Sets_Torque_Type_1" 1 "VSC_Sets_Speed_Type_1" 0 "Off" 15 "Undefined_7" 14 "Undefined_6" 13 "Undefined_5" 12 "Undefined_4" 11 "Undefined_3" 10 "Undefined_2" 9 "Undefined_1"; +VAL_TABLE_ DrvHdcMsg_D_Rq 7 "Undefined" 6 "Speed_too_High" 5 "Temporarily_Unavailable" 4 "System_Fault" 3 "Select_Gear" 2 "Off" 1 "On" 0 "No_Message"; +VAL_TABLE_ CmbbBrkPrchg_B_Rq 3 "Undefined" 2 "Level_2_PreCharge_Request" 1 "Level_1_PreCharge_Request" 0 "No_PreCharge_Request"; +VAL_TABLE_ CmbbBaSens_D_Rq 3 "Level_3" 2 "Level_2" 1 "Level_1" 0 "Normal"; +VAL_TABLE_ CcStat_D_Actl 7 "Undefined_2" 6 "Undefined_1" 5 "Active" 4 "Active_Que_Assist" 3 "Standby" 2 "Standby_Denied" 1 "Denied" 0 "Off"; +VAL_TABLE_ CadsAudioMute_D_Rq 3 "Reserved" 2 "Partial_Audio_Mute" 1 "Full_Audio_Mute" 0 "No_Audio_Mute"; +VAL_TABLE_ BpedDrvAppl_D_Actl 3 "_Not_Allowed" 2 "Driver_Braking" 1 "Driver_Not_Braking" 0 "Not_Allowed"; +VAL_TABLE_ AslIconDsply_D_Rq 3 "On_Passive_Overridden" 2 "On_Active" 1 "On_Passive" 0 "Off"; +VAL_TABLE_ Unknown_Fault_3E_3F 63 "Fault" 62 "Unknown"; +VAL_TABLE_ AccWarn_D_Dsply 3 "BrakeReleaseWarn_In_StopMd" 2 "Brake_Capacity_Warning" 1 "Cancel_Warning" 0 "No_Warning"; +VAL_TABLE_ AccTrgDist2_D_Dsply 15 "DIST_ACTIVE_13_Farthest" 14 "DIST_ACTIVE_12" 13 "DIST_ACTIVE_11" 12 "DIST_ACTIVE_10" 11 "DIST_ACTIVE_9" 10 "DIST_ACTIVE_8" 9 "DIST_ACTIVE_7" 8 "DIST_ACTIVE_6" 7 "DIST_ACTIVE_5" 6 "DIST_ACTIVE_4" 5 "DIST_ACTIVE_3" 4 "DIST_ACTIVE_2" 3 "DIST_ACTIVE_1_Closest" 2 "DIST_ACTIVE_No_Target" 1 "DIST_STANDBY" 0 "DIST_OFF"; +VAL_TABLE_ AccTGap_D_Dsply 7 "Undefined_2" 6 "Undefined_1" 5 "Time_Gap_5" 4 "Time_Gap_4" 3 "Time_Gap_3" 2 "Time_Gap_2" 1 "Time_Gap_1" 0 "Not_Used"; +VAL_TABLE_ AccEngStat_D_Actl 7 "Undefined_2" 6 "Undefined_1" 5 "ACCSoonCancel_due_Low_Spd" 4 "Shift_Down_Recommendation" 3 "Shift_Up_Recommendation" 2 "ACCNotAllowedToBeActivated" 1 "ACCStandby_due_Auto_Cancel" 0 "Normal_Operation"; +VAL_TABLE_ NotPressed_Pressed 1 "Pressed" 0 "Not_Pressed"; +VAL_TABLE_ TrnGear_D_RqDrv 31 "Fault" 30 "NotUsed_25" 29 "NotUsed_24" 28 "NotUsed_23" 27 "NotUsed_22" 26 "Return_to_Park" 25 "NotUsed_20" 24 "NotUsed_19" 23 "NotUsed_18" 22 "NotUsed_17" 21 "Return_To_Park" 20 "NotUsed_15" 19 "NotUsed_14" 18 "NotUsed_13" 17 "NotUsed_12" 16 "Manual" 15 "Not_Used11" 14 "Not_Used10" 13 "NotUsed_9" 12 "NotUsed_8" 11 "NotUsed_7" 10 "NotUsed_6" 9 "NotUsed_5" 8 "Drive" 7 "NotUsed_4" 6 "NotUsed_3" 5 "NotUsed_2" 4 "Neutral" 3 "NotUsed_1" 2 "Reverse" 1 "Park" 0 "No_Gear"; +VAL_TABLE_ Open_Close 1 "Close" 0 "Open"; +VAL_TABLE_ OpenCloseRetainUndef 3 "Undefined" 2 "Retain" 1 "Close" 0 "Open"; +VAL_TABLE_ DasWarn 3 "Undefined" 2 "Warning_Level_2" 1 "Warning_Level_1" 0 "No_Warning"; +VAL_TABLE_ DasAlert 5 "Alertness_Level_5" 4 "Alertness_Level_4" 3 "Alertness_Level_3" 2 "Alertness_Level_2" 1 "Alertness_Level_1" 0 "Undefined"; +VAL_TABLE_ DasStat 3 "Available" 2 "Unavailable_Other" 1 "Feedback_due_to_Speed" 0 "Off"; +VAL_TABLE_ No_Crank_Req 1 "Crank_Request" 0 "No_Crank_Request"; +VAL_TABLE_ DrvSlipCtlMde_D_Rq 3 "App_Specific_Off_Mode_3" 2 "App_Specific_Off_Mode_2" 1 "App_Specific_Off_Mode_1" 0 "Default_Mode"; +VAL_TABLE_ AwdOffRoadMode 3 "Invalid" 2 "Extreme_Off_Road" 1 "Off_Road" 0 "Normal_Mode"; +VAL_TABLE_ NotQuiet_Quiet 1 "Quiet" 0 "Not_Quiet"; +VAL_TABLE_ Normal_AdaptiveCruise 1 "Adaptive_Cruise" 0 "Normal_Cruise"; +VAL_TABLE_ Remote_Device_Feedback 7 "Unused3" 6 "Unused2" 5 "Unused1" 4 "Shutdown" 3 "Running" 2 "Starting" 1 "Acknowledge" 0 "Null"; +VAL_TABLE_ TrnManShif_D_IndDrv 7 "Undefined_3" 6 "Undefined_2" 5 "Shift_to_Neutral" 4 "Downshift_Recommendation" 3 "Upshift_Warning" 2 "Upshift_Performance" 1 "Upshift_Fuel_Economy" 0 "No_Indication"; +VAL_TABLE_ Unlock_Lock 1 "Locked" 0 "Unlock"; +VAL_TABLE_ DieslPrtc_D_RqDsply 7 "Unused_2" 6 "Unused_1" 5 "DPF_SOOT_Level3_Blocked" 4 "DPFSootLvl2_SevereOverload" 3 "DPFRegen_ExhFilterComplete" 2 "DPFRegen_CleanExhFilter" 1 "DPF_Soot_Level1_Overloaded" 0 "DPF_OK_Normal_Operation"; +VAL_TABLE_ PE_BackupSlot_Status 3 "No_Valid_FOB_In_Slot" 2 "MyKey_FOB_In_Slot" 1 "Standard_FOB_In_Slot" 0 "Null"; +VAL_TABLE_ Unknown_Fault_FFE_FFF 4095 "Fault" 4094 "Unknown"; +VAL_TABLE_ Unknown_Fault_1FFE_1FFF 8191 "Fault" 8190 "Unknown"; +VAL_TABLE_ TrnCnvtClu_D_Actl 3 "Transition_or_Micro_Slip" 2 "Lock_Up_Fixed" 1 "Lock_Up_Slip" 0 "No_Lock_Up"; +VAL_TABLE_ InhibitNoinhibit 1 "Inhibit" 0 "No_Inibit"; +VAL_TABLE_ DisableEnable 1 "Enable" 0 "Disable"; +VAL_TABLE_ Unknown_Fault_7FFE_7FFF 32767 "Fault" 32766 "Unknown"; +VAL_TABLE_ Side_Detect_Sn_State 3 "Second_Warning_Audio" 2 "System_Failure" 1 "Blocked" 0 "Clear"; +VAL_TABLE_ Litval_values 255 "Invalid" 254 "Unknown" 5 "Day" 4 "Twilight_4" 3 "Twilight_3" 2 "Twilight_2" 1 "Twilight_1" 0 "Night"; +VAL_TABLE_ Dimming_Lvl 255 "Invalid" 254 "Unknown" 18 "Day_6" 17 "Day_5" 16 "Day_4" 15 "Day_3" 14 "Day_2" 13 "Day_1" 12 "Night_12" 11 "Night_11" 10 "Night_10" 9 "Night_9" 8 "Night_8" 7 "Night_7" 6 "Night_6" 5 "Night_5" 4 "Night_4" 3 "Night_3" 2 "Night_2" 1 "Night_1" 0 "Off"; +VAL_TABLE_ EngStrtStop_B_SrcChtLo 1 "Eng_StartStop_for_CHT_Low" 0 "Not_Requested"; +VAL_TABLE_ EngStrtStop_B_SrcChtHi 1 "Eng_StartStop_for_CHT_Hi" 0 "Not_Requested"; +VAL_TABLE_ EngDiag_D_RqHtrn 7 "NotUsed4" 6 "NotUsed3" 5 "NotUsed2" 4 "NoUsed1" 3 "Eng_Diag_Cstdn" 2 "Eng_Diag_Run" 1 "Eng_Diag_Crank" 0 "Eng_Diag_Normal"; +VAL_TABLE_ NotOperating 1 "Operating" 0 "Not_Operating"; +VAL_TABLE_ CamraStat 3 "FrtCam_TempUnavailOther" 2 "FrtCam_TempUnavailVisibile" 1 "Front_Camera_Service_Reqd" 0 "Front_Camera_OK"; +VAL_TABLE_ EngPtoMde_D_Actl 7 "Undefined" 6 "Split_Shaft_Stationary" 5 "Not_Used_2" 4 "PTO_Mobile" 3 "Not_Used_1" 2 "PTO_Stationary" 1 "BCP" 0 "Off"; +VAL_TABLE_ ManRgen_D_Rq 3 "NotUsed2" 2 "NotUsed1" 1 "CustInitManExhFilterClean" 0 "No_Customer_Request"; +VAL_TABLE_ Remote_Start_Status 3 "Invalid" 2 "Unknown" 1 "Remote" 0 "Null"; +VAL_TABLE_ Lock_Subld 15 "Unused7" 14 "Unused6" 13 "Unused5" 12 "Unused4" 11 "Unused3" 10 "Unused2" 9 "Unused1" 8 "Customer_8" 7 "Customer_7" 6 "Customer_6" 5 "Customer_5" 4 "Customer_4" 3 "Customer_3" 2 "Customer_2" 1 "Customer_1" 0 "Null"; +VAL_TABLE_ Brake_Fluid 3 "Invalid" 2 "Unknown" 1 "Low" 0 "OK"; +VAL_TABLE_ Unknown_Invalid_FE_FF 255 "Invalid" 254 "Unknown"; +VAL_TABLE_ Invalid_FF 255 "Invalid"; +VAL_TABLE_ NotLow_Low 1 "Low" 0 "Not_Low"; +VAL_TABLE_ Disabled_Enabled_Status 2 "Status" 3 "NotUsed" 1 "Enabled" 0 "Disabled"; +VAL_TABLE_ Key_In_Ignition_Status 1 "In" 0 "Out"; +VAL_TABLE_ Ignition_Status 0 "Unknown" 1 "Off" 15 "Invalid" 8 "Start" 4 "Run" 2 "Accessory"; +VAL_TABLE_ Disabled_Enabled_Faulted 3 "Faulted" 2 "Unused" 1 "Enabled" 0 "Disabled"; +VAL_TABLE_ Disabled_Enabled_NoSupport 2 "Unused" 3 "Not_Supported" 1 "Enabled" 0 "Disabled"; +VAL_TABLE_ Unknown_Fault_FE_FF 255 "Fault" 254 "Unknown"; +VAL_TABLE_ Null_Unlock 1 "Unlock" 0 "Null"; +VAL_TABLE_ Null_Active 1 "Active" 0 "Null"; +VAL_TABLE_ HsaStat_D_Actl 7 "Faulty" 6 "FaultyWithDriverIndication" 5 "SlowRelease" 4 "FastRelease" 3 "ActiveBrakePedalReleased" 2 "ActiveBrakePedalPressed" 1 "FindingGradient" 0 "Inactive"; +VAL_TABLE_ Off_Auto_Manual 3 "Undefined" 2 "Manual" 1 "Automatic" 0 "Off"; +VAL_TABLE_ HsaStat_D_Dsply 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "NotAvailable" 3 "SlowReleaseWithChime" 2 "SlowReleaseWithoutChime" 1 "Active" 0 "Inactive"; +VAL_TABLE_ EngMsgTxt_D_Rq 3 "Undefined_2" 2 "Undefined_1" 1 "Power_Reduced_to_LowerTemp" 0 "No_Message"; +VAL_TABLE_ PassRstrnInd_Req 3 "ABOnNotIllum_OffNotIllum" 2 "AirbagOnNot_Illum_OffIllum" 1 "AirbagOn_Illum_OffNotIllum" 0 "AirbagOn_Illum_Off_Illum"; +VAL_TABLE_ RearDiffLckMsg_D_Rq 7 "Locker_Disabled" 6 "Locker_Enabled" 5 "Locker_Accel_Pedal" 4 "Speed4" 3 "Speed3" 2 "Spee2" 1 "Speed1" 0 "Normal__No_Message "; +VAL_TABLE_ GPS_Compass_dirctn 7 "NorthWest" 6 "West" 5 "SouthWest" 4 "South" 3 "SouthEast" 2 "East" 1 "NorthEast" 0 "North"; +VAL_TABLE_ GPS_Actual_Infer 1 "Inferred_Position" 0 "Actual_Postition"; +VAL_TABLE_ DrvHdcWarnInfo_D_Rq 3 "Undefined" 2 "Lamp_On_Continuously" 1 "Lamp_Flashing" 0 "Lamp_Off_Continuously"; +VAL_TABLE_ DieslPrtcRgen_D_Actl 3 "Undefined" 2 "Regen_Level_2" 1 "Regen_Level_1" 0 "No_regen"; +VAL_TABLE_ Off_On 1 "On" 0 "Off"; +VAL_TABLE_ CcMde_D_Actl 7 "TapDownWaiting" 6 "TapUpWaiting" 5 "Resuming_Low" 4 "Resuming_High" 3 "Decelerating" 2 "Accelerating" 1 "Keeping_Speed" 0 "Not_Active"; +VAL_TABLE_ InactiveActive 1 "Active" 0 "Inactive"; +VAL_TABLE_ ManRgenTxt_D_RqDsply 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "Cleaning_Aborted_Stopped" 3 "Cleaning_Completed" 2 "Cleaning_In_Progress" 1 "Cleaning_Allowed" 0 "Cleaning_Not_Allowed"; +VAL_TABLE_ Fault_FFFF 65535 "Fault"; +VAL_TABLE_ Fault_7F 127 "Fault"; +VAL_TABLE_ EngOilLvlWarn_D_Rq 7 "Undefined_3" 6 "Undefined_2" 5 "Engine_Oil_Monitor_Fault" 3 "Engine_Oil_High" 2 "Engine_Oil_Critical_Low" 1 "Engine_Oil_Low" 0 "No_Message" 4 "Engine_Oil_Critical_High"; +VAL_TABLE_ UreaQltySys_D_RqDsply 7 "Undefined" 6 "ZZ_Overrides" 5 "EngineIdled" 4 "Engine_Idle_Upon_Refuel" 3 "SPEED_LIMITED_to_YY_mph" 2 "YY_MPH_MAX_UPON_Restart" 1 "CONTAMINATED_ExhFluid" 0 "NoQualityProblem"; +VAL_TABLE_ Unknown_Invalid_1E_1F 31 "Invalid" 30 "Unknown"; +VAL_TABLE_ Unknown_Invalid_3FFE_3FFF 16383 "Invalid" 16382 "Unknown"; +VAL_TABLE_ NoYes 1 "Yes" 0 "No"; +VAL_TABLE_ AwdRnge_D_Actl 7 "Unknown" 6 "High_Range_2wd" 5 "High_Range_Auto" 4 "High_Range_Locked" 3 "Neutral" 2 "Low_Range_2wd" 1 "Low_Range_Auto" 0 "Low_Range_Locked"; +VAL_TABLE_ AwdLck_D_Stat 9 "Undefined" 8 "Under_External_Torque_Ctrl" 7 "Torque_Limited_by_Cmd" 6 "Fully_Locked_by_Cmd" 5 "Disabled" 4 "Warning" 3 "Fault" 2 "Inactive" 1 "Completely_Opened_by_Cmd" 0 "OK"; +VAL_TABLE_ Unknown_Fault_3FE_3FF 1023 "Fault" 1022 "Unknown"; +VAL_TABLE_ LockSwStat 3 "Invalid" 2 "Unlock" 1 "Lock" 0 "Null"; +VAL_TABLE_ Null_Override 1 "Override" 0 "Null"; +VAL_TABLE_ Off_On_Flash 3 "Not_Used" 2 "Flash" 1 "On" 0 "Off"; +VAL_TABLE_ immoTargetStatCoding 7 "Unused4" 6 "Unused3" 5 "Unused2" 4 "Unused1" 3 "DISABLED_RESET " 2 "ENABLED_NONMOTIVE_START" 1 "ENABLED_MOTIVE_START" 0 "DISABLED"; +VAL_TABLE_ BeltBuckle 3 "Unknown" 2 "Unbelted" 1 "Belted" 0 "Faulty"; +VAL_TABLE_ RILReqCoding 3 "Not_Used" 2 "Plant_Mode" 1 "On" 0 "Off"; +VAL_TABLE_ Update_Bit 1 "Fresh_data" 0 "Unchanged_data"; +VAL_TABLE_ Running_Board 3 "Unused" 2 "Manually_Deployed" 1 "All_Enabled" 0 "All_Disabled"; +VAL_TABLE_ HudFlashRate 3 "Unused" 2 "Flash_4Hz_50Prct_DutyCycle" 1 "On" 0 "Off"; +VAL_TABLE_ Turn_Seq 3 "Seq" 2 "On" 1 "Off" 0 "Null"; +VAL_TABLE_ immoTargetCmdCoding 7 "Unused4" 6 "Unused3" 5 "Unused2" 4 "Unused1" 3 "TARGET1_IDBLOCK2" 2 "TARGET1_IDBLOCK1" 1 "CHALLENGE" 0 "IDLE"; +VAL_TABLE_ immoSubTargetCmdCoding 7 "Unused3" 6 "Unused2" 5 "ECHO_TARGET1_IDBLOCK2" 4 "Unused1" 3 "RQST_TARGET1_IDBLOCK2" 2 "RQST_TARGET1_IDBLOCK1" 1 "RESPONSE" 0 "IDLE"; +VAL_TABLE_ immoCtrlCmdCoding 0 "IDLE" 1 "MOTIVE_START_RQST" 2 "NONMOTIVE_START_RQST" 3 "RQST_TARGET1_IDBLOCK1" 4 "RQST_TARGET1_IDBLOCK2" 5 "Unused" 6 "ECHO_TARGET1_IDBLOCK2" 7 "SHUTDOWN"; +VAL_TABLE_ Rvc_Zoom 7 "Unknown" 6 "Invalid" 5 "Zoom_Level_V" 4 "Zoom_Level_IV" 3 "Zoom_Level_III" 2 "Zoom_Level_II" 1 "Zoom_Level_I" 0 "Off"; +VAL_TABLE_ NotPark 1 "Park" 0 "Not_Park"; +VAL_TABLE_ Electric_EOH 1 "Electric_Over_Hydraulic" 0 "Electric"; +VAL_TABLE_ PersOptIn 1 "OPTED_IN" 0 "NOT_OPTED_IN"; +VAL_TABLE_ PersonalSetUp 3 "Non_Moveable_Person" 2 "Moveable_Person" 1 "Vehicle" 0 "Factory"; +VAL_TABLE_ Full_Limited 1 "Limited" 0 "Full"; +VAL_TABLE_ NoConflict_Conflict 1 "Conflict" 0 "No_Conflict"; +VAL_TABLE_ Assoc_Confirm 0 "None" 7 "Associate" 6 "Keycode_Rejected" 5 "Keycode_Accepted" 4 "In_Progress" 3 "Erase" 2 "Duplicate" 1 "Disassociate"; +VAL_TABLE_ Pers1_4 7 "Unused_3" 6 "Unused_2" 5 "Unused_1" 4 "Vehicle" 3 "PERS_4" 2 "PERS_3" 1 "PERS_2" 0 "PERS_1"; +VAL_TABLE_ Null_Query 7 "Unused_2" 6 "Unused_1" 5 "Copy" 4 "Restore" 3 "Upload" 2 "Set" 1 "Query" 0 "Null"; +VAL_TABLE_ EngExhBrkMde_D_Actl 6 "ExhBrkDisable_NoError" 5 "ExhBrkActive_AUTO" 4 "ExhBrkActive_ON" 3 "ExhBrkRequest_AUTO" 2 "ExhBrkRequest_ON" 1 "ExhBrkNoRequest_OFF" 0 "ExhBrkUnavailable_Error"; +VAL_TABLE_ UreaLvlTxt_D_RqDsply 15 "NotUsed_4" 14 "NotUsed_3" 13 "NotUsed_2" 12 "NotUsed_1" 11 "System_Error" 10 "Engine_Idled_See_Manual" 9 "Engine_Idled_Upon_Refuel" 8 "Speed_Limited_To_XX_mph" 7 "XXmph_Max_Upon_Restart" 6 "Speed_Limited_To_YY_mph" 5 "YYmph_Max_Upon_Restart" 4 "SpdLimtd_YYmph_In_XXmiles" 3 "ExFlRange_XXMiles_ScndWarn" 2 "Exh_Fluid_Range_XX_Miles" 1 "Exh_Fluid_Under_Half_Full" 0 "Exh_Fluid_Over_Half_Full"; +VAL_TABLE_ RearDiffFalt_D_Stat 3 "Diff_Failed_Closed" 2 "Diff_Failed_Open" 1 "Fault_Non_Specific" 0 "No_Fault"; +VAL_TABLE_ CCOverridden 1 "Cruise_Overridden" 0 "Cruise_Req_Not_Overridden"; +VAL_TABLE_ Ign_Key_Device_Type 15 "Invalid" 14 "Unknown" 3 "Key_Not_Prgrm_Read_Failure" 2 "Key_In_Ign_My_Key" 1 "Key_In_Ign_Standard_Key" 0 "Key_Read_In_Progress"; +VAL_TABLE_ Off_No_Eff_Unknown_Invalid 3 "Invalid" 2 "Unknown" 1 "No_Effect" 0 "Off"; +VAL_TABLE_ Null_Out 1 "Out" 0 "Null"; +VAL_TABLE_ FUEL_SENSORS 1 "Dual_Sensors" 0 "Single_Sensor"; + + +BO_ 823 DTE_HPCMtoECG: 8 Vector__XXX + SG_ DteVehPwId_No_Actl : 47|5@0+ (1,0) [0|31] "unitless" GWM + SG_ DteVehEId_No_Actl : 39|8@0+ (1,0) [0|255] "unitless" GWM + SG_ DteVehEffId_No_Actl : 6|7@0+ (1,0) [0|127] "unitless" GWM + SG_ DteVeh_Pw_Actl : 31|8@0+ (50,0) [0|12750] "watts" GWM + SG_ DteVeh_Eff_Actl : 23|8@0+ (10,-1000) [-1000|1550] "watt*hour/km" GWM + SG_ DteVeh_E_Actl : 15|8@0+ (100,0) [0|25500] "watt*hour" GWM + SG_ DteAcceptNew_B_Rq : 7|1@0+ (1,0) [0|1] "SED" GWM + +BO_ 824 DTE_ECGtoHPCM: 8 GWM + SG_ DteCldTrlrOn_B_Stat : 51|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ DteCldTrlrOff_B_Stat : 52|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ DteCldTrip_L_Actl : 47|8@0+ (10,-1000) [-1000|1550] "watt*hour/km" Vector__XXX + SG_ DteCldTraffic_B_Stat : 53|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ DteCldTerrain_B_Stat : 54|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ DteCldRoute_B_Stat : 55|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ DteCldPayload_B_Stat : 16|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ DteCldId_No_Actl : 21|5@0+ (1,0) [0|31] "unitless" Vector__XXX + SG_ DteCldExtTe_B_Stat : 22|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ DteCldExt_Eff_Actl : 39|8@0+ (10,-1000) [-1000|1550] "watt*hour/km" Vector__XXX + SG_ DteCldDrv_Eff_Actl : 31|8@0+ (10,-1000) [-1000|1550] "watt*hour/km" Vector__XXX + SG_ DteCldDcac_B_Stat : 23|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ DteCldClimt_Eff_Actl : 15|8@0+ (10,-1000) [-1000|1550] "watt*hour/km" Vector__XXX + SG_ DteCldBattULo_Eff_Actl : 7|8@0+ (10,-1000) [-1000|1550] "watt*hour/km" Vector__XXX + +BO_ 949 Tire_Pressure_Data_FD1: 8 GWM + SG_ Tire_Press_RR_ORR_Data : 39|16@0+ (1,0) [0|65533] "kilopascal" VDM + SG_ Tire_Press_LR_OLR_Data : 55|16@0+ (1,0) [0|65533] "kilopascal" VDM + SG_ Tire_Press_LF_Data : 7|16@0+ (1,0) [0|65533] "kilopascal" VDM + SG_ Tire_Press_RF_Data : 23|16@0+ (1,0) [0|65533] "kilopascal" VDM + +BO_ 1825 TesterPhysicalReqVDM_FD1: 64 GWM + SG_ TesterPhysicalReqVDM : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" VDM + +BO_ 524 AWD_Torque_Data: 8 TCCM + SG_ PrplWhlTotTqRqMxAwd_No_Cs : 23|8@0+ (1,0) [0|255] "Unitless" ECM_Diesel + SG_ PrplWhlTot_Tq_RqMxAwd : 7|16@0+ (4,-131072) [-131072|131068] "Nm" ECM_Diesel + SG_ PrplWhlTotTqRqMxAwd_No_Cnt : 31|4@0+ (1,0) [0|15] "Unitless" ECM_Diesel + +BO_ 740 PHEV_Battery_Data1_FD1: 8 GWM + SG_ BattAuxCnnct_B_Cmd : 53|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1 + +BO_ 1160 ECG_Data2_FD1: 8 GWM + SG_ DgtlCommPncReset_B_Req : 62|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ DataMntrSustn_B_Rq : 63|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ PwSustnRdata_B_RqTelem : 60|1@0+ (1,0) [0|1] "SED" Vector__XXX + +BO_ 776 SmartChargingData_ECG_3: 8 GWM + SG_ ScMnSoc_Pc_RqCld : 55|7@0+ (1,0) [0|127] "percent" Vector__XXX + SG_ ScChrgrPwMax_Pw_RqCld : 39|12@0+ (50,0) [0|204700] "watts" Vector__XXX + SG_ ScLocPwId_No_RqCld : 43|3@0+ (1,0) [0|7] "unitless" Vector__XXX + SG_ PrcondEdit_D_RqCld : 10|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ GoTEditMnte_T_RqCld : 29|4@0+ (1,0) [0|15] "SED" Vector__XXX + SG_ GoTEditHr_T_RqCld : 15|5@0+ (1,0) [0|29] "SED" Vector__XXX + SG_ ChrgToPcEdit_Pc_RqCld : 7|7@0+ (1,0) [0|125] "percent" Vector__XXX + SG_ AirAmb_Te_ActlCld : 23|10@0+ (0.25,-128) [-128|127.75] "degC" Vector__XXX + SG_ ScFreshDataEnbl_B_Rq : 0|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ ScEnbl_D_RqCld : 25|2@0+ (1,0) [0|3] "SED" Vector__XXX + +BO_ 775 SmartChargingData_ECG_2: 8 GWM + SG_ ScDayOfWeekId_D_RqCld : 63|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ ScLocSetId_No_RqCld : 10|3@0+ (1,0) [0|7] "unitless" Vector__XXX + SG_ ScLocRdius_L_RqCld : 55|7@0+ (100,0) [0|12700] "meter" Vector__XXX + SG_ ScChrgToPc_Pc_RqCld : 47|7@0+ (1,0) [0|127] "percent" Vector__XXX + SG_ ScChrgPrfl_No_RqCld : 23|24@0+ (1,0) [0|16777215] "unitless" Vector__XXX + SG_ ScChrgDurSet_D_RqCld : 12|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ ScChrgDur_T_RqCld : 7|11@0+ (1,0) [0|2045] "minute" Vector__XXX + +BO_ 774 SmartChargingData_ECG_1: 8 GWM + SG_ ScLocLongPostv_B_RqCld : 8|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ ScLocLongFrct_An_RqCld : 35|20@0+ (1E-006,0) [0|1.048575] "degrees" Vector__XXX + SG_ ScLocLongDeg_An_RqCld : 63|8@0+ (1,0) [0|255] "degrees" Vector__XXX + SG_ ScLocLattPostv_B_RqCld : 3|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ ScLocLattFrct_An_RqCld : 23|20@0+ (1E-006,0) [0|1.048575] "degrees" Vector__XXX + SG_ ScLocLattDeg_An_RqCld : 15|7@0+ (1,0) [0|127] "percent" Vector__XXX + SG_ ScLocId_No_RqCld : 6|3@0+ (1,0) [0|7] "unitless" Vector__XXX + SG_ ScLocDelete_B_RqCld : 7|1@0+ (1,0) [0|1] "SED" Vector__XXX + +BO_ 811 APIM_Data_FD1: 8 GWM + SG_ DistToStopover_L_Actl : 31|16@0+ (0.1,0) [0|6553.4] "kilometer" Vector__XXX + SG_ StopoverType_D_Stat : 47|3@0+ (1,0) [0|0] "SED" Vector__XXX + SG_ ExtLghtDsply_D_Stat : 7|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ ExtLghtRight_D_RqMnu : 11|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ AutoLghtOvrrd_B_RqDrv : 8|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ ExtLghtRear_D_RqMnu : 14|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ ExtLghtLeft_D_RqMnu : 1|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ ExtLghtFront_D_RqMnu : 4|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ GoTEditMnte_T_RqMnu : 63|4@0+ (1,0) [0|15] "SED" Vector__XXX + SG_ GoTEditHr_T_RqMnu : 44|5@0+ (1,0) [0|29] "SED" Vector__XXX + +BO_ 850 HEV_ChargeStat_FD1: 8 SOBDMC_HPCM_FD1 + SG_ VehElRngeNut_L_Dsply : 11|12@0+ (0.1,0) [0|409.3] "km" GWM + SG_ NxtUsgSocEst_Pc_Dsply : 7|8@0+ (0.5,0) [0|126.5] "unitless" GWM + SG_ EstmChrgTimeLP_St : 39|8@0+ (0.1,0) [0|25.4] "hour" GWM + SG_ EstmChrgTimeHP_St : 47|8@0+ (0.1,0) [0|25.4] "hour" GWM + SG_ ChargeNowDuration_St : 31|8@0+ (0.1,0) [0|25.4] "hour" GWM + +BO_ 563 MasterReset_HS3_ECGDat_FD1: 8 GWM + SG_ DrvBhavWarn_B_Rq : 12|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ OfbChrgSetSync_D_Rq : 1|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ KeyOffPwMde_D_Stat : 15|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ ModemReset_D_Stat : 5|4@0+ (1,0) [0|15] "SED" Vector__XXX + SG_ FactoryReset_St : 7|2@0+ (1,0) [0|3] "SED" Vector__XXX + +BO_ 1833 TesterPhysicalResVDM: 64 VDM + SG_ TesterPhysicalResVDM : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" TSTR + +BO_ 570 Suspension_Data: 8 VDM + SG_ SuspClkSync_No_Rq : 63|8@0+ (1,0) [0|253] "unitless" GWM + SG_ SuspRearRight_L_Actl : 42|9@0+ (0.782779,-200) [-200|199.21729] "millimeter" GWM + SG_ SuspFrntRight_L_Actl : 35|9@0+ (0.782779,-200) [-200|199.21729] "millimeter" GWM + SG_ SuspRear_L_Prev : 28|9@0+ (0.782779,-200) [-200|199.21729] "millimeter" GWM + SG_ SuspRear_L_Actl : 21|9@0+ (0.782779,-200) [-200|199.21729] "millimeter" GWM + SG_ SuspFrnt_L_Prev : 14|9@0+ (0.782779,-200) [-200|199.21729] "millimeter" GWM + SG_ SuspFrnt_L_Actl : 7|9@0+ (0.782779,-200) [-200|199.21729] "millimeter" GWM + +BO_ 837 VeyDynamics_Data: 8 VDM + SG_ Ccd_B_Falt : 24|1@0+ (1,0) [0|1] "SED" GWM + SG_ SelDrvMdeSusp_D_Stat : 20|2@0+ (1,0) [0|3] "SED" GWM + SG_ AdptDrvMdePt_D_Rq : 23|3@0+ (1,0) [0|7] "SED" GWM + SG_ AdptDrvMdeChassis_D_Rq : 10|3@0+ (1,0) [0|7] "SED" GWM + SG_ CcdMsgTxt_D_RqDsply : 7|4@0+ (1,0) [0|15] "SED" ECM_Diesel,GWM + +BO_ 885 ECG_Data3_FD1: 8 GWM + SG_ BattULoChrg_D_RqOta : 55|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ VehStrtInhbt_T_Dsply : 39|16@0+ (1,0) [0|65535] "second" Vector__XXX + SG_ VehStrtInhbt_D_Dsply : 27|4@0+ (1,0) [0|15] "SED" Vector__XXX + SG_ VehOnRqstr_D_Stat : 21|4@0+ (1,0) [0|15] "SED" Vector__XXX + SG_ VehStrtInhbt_D_RqCld : 23|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ VehOn_D_RqCld : 17|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ CanMsg375_No_Cnt : 11|4@0+ (1,0) [0|15] "unitless" Vector__XXX + SG_ CanMsg375_No_Crc : 7|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ OtaActv_D_Stat : 31|4@0+ (1,0) [0|15] "SED" Vector__XXX + +BO_ 1150 LocationServices_Data1_FD1: 8 GWM + SG_ LocationServices_1 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "unitless" SOBDMC_HPCM_FD1,IPMA_ADAS + +BO_ 542 LocationServices_3_FD1: 8 GWM + SG_ LocationServices_3 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "unitless" Vector__XXX + +BO_ 2612224016 PARSEDPushPCMtoGWM_ECG: 8 PCM_HEV + SG_ PARSEDPushPCMtoGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 810 ECG_Data_FD1: 8 GWM + SG_ OBCCSerial_D_Rq : 45|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ TlghtTest_D_RqArb : 47|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ ChrgrPncSustn_B_Rq : 0|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ NtfyDrvTrgtDist_L_Rq : 23|12@0+ (0.1,0) [0.1|409.4] "Km" SOBDMC_HPCM_FD1 + SG_ NtfyDrvSocLvl1_Pc_Rq : 39|7@0+ (1,0) [1|100] "%" SOBDMC_HPCM_FD1 + SG_ PtRmtRprt_D_Stat : 27|4@0+ (1,0) [0|15] "SED" Vector__XXX + SG_ ChrgrPncEnbl_D_Rq : 9|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ ExtLghtDsply_B_StatArb : 7|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ ExtLghtRight_D_RqOta : 12|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ ExtLghtRear_D_RqOta : 15|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ ExtLghtLeft_D_RqOta : 3|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ ExtLghtFront_D_RqOta : 6|3@0+ (1,0) [0|7] "SED" Vector__XXX + +BO_ 550 ECG_Data4_FD1: 8 GWM + SG_ PtWakeupActv1_B_Rq : 7|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1 + +BO_ 639 OffBrdChrg_Signals2: 8 GWM + SG_ OfbChrgPrflUpdate_B_Rq : 31|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1 + SG_ OfbChrgClearAll_B_Rq : 7|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1 + SG_ OfbChrgGoTTouch_D_Rq : 17|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ OfbChrgGoTPrcond_D_Rq : 19|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ OfbChrgGoTOn_D_Rq : 10|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ OfbChrgGoTMnte_D_Rq : 23|4@0+ (1,0) [0|15] "minute" SOBDMC_HPCM_FD1 + SG_ OfbChrgGoTHr_T_Rq : 15|5@0+ (1,0) [0|29] "hour" SOBDMC_HPCM_FD1 + SG_ OfbChrgGoTExtHtr_D_Rq : 1|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ OfbChrgGoTElement_D_Rq : 5|4@0+ (1,0) [0|15] "Unitless" SOBDMC_HPCM_FD1 + SG_ OfbChrgGoTDelete_B_Rq : 6|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1 + SG_ OfbChrgGoTUpdate_B_Rq : 8|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1 + +BO_ 530 OffBrdChrg_Signals: 8 GWM + SG_ OfbChrgLocIdTrgt_No_Rq : 7|4@0+ (1,0) [0|15] "Unitless" SOBDMC_HPCM_FD1 + SG_ OfbChrgToPcWknd_D_Actl : 58|3@0+ (1,0) [0|7] "percent" SOBDMC_HPCM_FD1 + SG_ OfbChrgToPcWkdy_D_Actl : 61|3@0+ (1,0) [0|7] "percent" SOBDMC_HPCM_FD1 + SG_ OfbChrgSetNow_D_Rq : 63|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ OfbChrgSetDelete_B_Rq : 2|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1 + SG_ OfbChrgPrflWknd_No_Rq : 39|24@0+ (1,0) [0|16777215] "unitless" SOBDMC_HPCM_FD1 + SG_ OfbChrgPrflWkdy_No_Rq : 15|24@0+ (1,0) [0|16777215] "unitless" SOBDMC_HPCM_FD1 + SG_ OfbChrgLocIdUns_B_Rq : 3|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1 + +BO_ 1142 ConsTip_Data_FD1: 8 SOBDMC_HPCM_FD1 + SG_ ConsTipV_No_Dsply : 49|10@0+ (0.1,0) [0|102.1] "percent" GWM + +BO_ 817 Locking_Systems_2_FD1: 8 GWM + SG_ ChildLckMde_B_Stat : 56|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ VehLckInd_D_Rq : 58|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ DrTgateOpen_B_Rq : 59|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ DrTgateExtSwMde_B_Stat : 32|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ Remote_Device_Feedback : 50|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ Veh_Lock_Requestor : 55|5@0+ (1,0) [0|31] "SED" Vector__XXX + SG_ R_Pwr_Sliding_Dr_Rqst : 36|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ Power_Liftgate_Rqst : 0|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ Veh_Lock_EvNum : 47|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ Power_Decklid_Rqst : 1|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ L_Pwr_Sliding_Dr_Rqst : 3|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ Keyfob_Pad_Msg_Count : 15|8@0+ (1,0) [0|255] "Counts" Vector__XXX + SG_ Veh_Lock_Sub_Id : 63|4@0+ (1,0) [0|15] "SED" Vector__XXX + SG_ Veh_Lock_Status : 34|2@0+ (1,0) [0|3] "SED" CMR_DSMC + SG_ ChildLck_D_Dsply : 7|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ WindowLockout_B_Stat : 35|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ RollCodeUnlock : 23|16@0+ (1,0) [0|65535] "Unitless" Vector__XXX + SG_ Lockmsgtxt_D_Rq : 39|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ FobComm_D_Stat : 5|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ LockInhibit : 2|1@0+ (1,0) [0|1] "SED" Vector__XXX + +BO_ 879 BCMC_Data_FD1: 8 GWM + SG_ WndwRearHeat_I_Actl : 7|11@0+ (0.1,0) [0|204.6] "ampere" ECM_Diesel + SG_ WndwRearHeat_D_Stat : 12|3@0+ (1,0) [0|7] "SED" ECM_Diesel + +BO_ 878 DCACA_Data4: 8 PCM_HEV + SG_ DcacGfciTest_B_Rq : 0|1@0+ (1,0) [0|1] "SED" GWM + SG_ DcacOut_Pw_DsplyMx : 23|10@0+ (10,0) [0|10220] "watts" GWM + SG_ DcacOut1_Pw_Dsply : 39|7@0+ (100,0) [0|12600] "watts" GWM + SG_ DcacOut2_Pw_Dsply : 47|7@0+ (100,0) [0|12600] "watts" GWM + SG_ DcacHw_D_Confg : 11|4@0+ (1,0) [0|15] "SED" GWM + SG_ DcacFaltMsgTxt_D_Rq : 15|4@0+ (1,0) [0|15] "SED" GWM + SG_ DcacLoFuelMsgTxt_D_Rq : 29|5@0+ (1,0) [0|31] "SED" GWM + SG_ DcacEngOnMsgTxt_D_Rq : 55|2@0+ (1,0) [0|3] "SED" GWM + SG_ DcacElPw_D_Stat : 2|2@0+ (1,0) [0|3] "SED" GWM + SG_ PwBedPnlEnbl_B_Rq : 3|1@0+ (1,0) [0|1] "SED" GWM + SG_ DcacOn_B_Rq : 4|1@0+ (1,0) [0|1] "SED" GWM + SG_ DcacSys_B_Falt : 5|1@0+ (1,0) [0|1] "SED" GWM + SG_ DcacLedCtl_D_Rq : 7|2@0+ (1,0) [0|3] "SED" GWM + +BO_ 395 HeadUpDisplayReq_FD1: 8 GWM + SG_ SelDrvMdeCnfm_D_Stat : 35|2@0+ (1,0) [0|3] "SED" ABS_ESC + +BO_ 2611055832 PARSEDPhysGWM_ECGtoSODR: 8 GWM + SG_ PARSEDPhysGWM_ECGtoSODR : 7|29@0+ (1,0) [0|536870911] "unitless" IPMA_ADAS + +BO_ 2611054808 PARSEDPhysGWM_ECGtoSODL: 8 GWM + SG_ PARSEDPhysGWM_ECGtoSODL : 7|29@0+ (1,0) [0|536870911] "unitless" IPMA_ADAS + +BO_ 2611026136 PARSEDPhysGWM_ECGtoSODCMD: 8 GWM + SG_ PARSEDPhysGWM_ECGtoSODCMD : 7|29@0+ (1,0) [0|536870911] "unitless" IPMA_ADAS + +BO_ 2611025112 PARSEDPhysGWM_ECGtoSODCMC: 8 GWM + SG_ PARSEDPhysGWM_ECGtoSODCMC : 7|29@0+ (1,0) [0|536870911] "unitless" IPMA_ADAS + +BO_ 2610975960 PARSEDPhysGWM_ECGtoCCM: 8 GWM + SG_ PARSEDPhysGWM_ECGtoCCM : 7|29@0+ (1,0) [0|536870911] "unitless" IPMA_ADAS + +BO_ 2610007256 OTAPhysGWM_ECGtoSODR: 8 GWM + SG_ OTAPhysGWM_ECGtoSODR : 7|29@0+ (1,0) [0|536870911] "unitless" IPMA_ADAS + +BO_ 2610006232 OTAPhysGWM_ECGtoSODL: 8 GWM + SG_ OTAPhysGWM_ECGtoSODL : 7|29@0+ (1,0) [0|536870911] "unitless" IPMA_ADAS + +BO_ 2609977560 OTAPhysGWM_ECGtoSODCMD: 8 GWM + SG_ OTAPhysGWM_ECGtoSODCMD : 7|29@0+ (1,0) [0|536870911] "unitless" IPMA_ADAS + +BO_ 2609976536 OTAPhysGWM_ECGtoSODCMC: 8 GWM + SG_ OTAPhysGWM_ECGtoSODCMC : 7|29@0+ (1,0) [0|536870911] "unitless" IPMA_ADAS + +BO_ 2609927384 OTAPhysGWM_ECGtoCCM: 8 GWM + SG_ OTAPhysGWM_ECGtoCCM : 7|29@0+ (1,0) [0|536870911] "unitless" IPMA_ADAS + +BO_ 2611175523 PARSEDPhysSODRtoGWM_ECG: 8 IPMA_ADAS + SG_ PARSEDPhysSODRtoGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 2612224099 PARSEDPushSODRtoGWM_ECG: 8 IPMA_ADAS + SG_ PARSEDPhysSODR2toGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 2611175522 PARSEDPhysSODLtoGWM_ECG: 8 IPMA_ADAS + SG_ PARSEDPhysSODLtoGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 2612224098 PARSEDPushSODLtoGWM_ECG: 8 IPMA_ADAS + SG_ PARSEDPhysSODL2toGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 2611175494 PARSEDPhysSODCMDtoGWM_ECG: 8 IPMA_ADAS + SG_ PARSEDPhysSODCMDtoGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 2612224070 PARSEDPushSODCMDtoGWM: 8 IPMA_ADAS + SG_ PARSEDPhysSODCMD2toGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 2611175493 PARSEDPhysSODCMCtoGWM_ECG: 8 IPMA_ADAS + SG_ PARSEDPhysSODCMCtoGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 2612224069 PARSEDPushSODCMCtoGWM: 8 IPMA_ADAS + SG_ PARSEDPhysSODCMC2toGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 2611175445 PARSEDPhysCCMtoGWM_ECG: 8 IPMA_ADAS + SG_ PARSEDPhysCCMtoGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 2612224021 PARSEDPushCCMtoGWM_ECG: 8 IPMA_ADAS + SG_ PARSEDPhysCCM2toGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 2610126947 OTAPhysSODRtoGWM_ECG: 8 IPMA_ADAS + SG_ OTAPhysSODRtoGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 2610126946 OTAPhysSODLtoGWM_ECG: 8 IPMA_ADAS + SG_ OTAPhysSODLtoGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 2610126918 OTAPhysSODCMDtoGWM_ECG: 8 IPMA_ADAS + SG_ OTAPhysSODCMDtoGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 2610126917 OTAPhysSODCMCtoGWM_ECG: 8 IPMA_ADAS + SG_ OTAPhysSODCMCtoGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 2610126869 OTAPhysCCMtoGWM_ECG: 8 IPMA_ADAS + SG_ OTAPhysCCMtoGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 984 IPMA_Data: 8 IPMA_ADAS + SG_ FeatConfigIpmaActl : 7|16@0+ (1,0) [0|65535] "Undefined" GWM + SG_ FeatNoIpmaActl : 23|16@0+ (1,0) [0|65535] "Number" GWM + SG_ PersIndexIpma_D_Actl : 39|3@0+ (1,0) [0|7] "SED" GWM + SG_ AhbcRampingV_D_Rq : 57|2@0+ (1,0) [0|3] "SED" GWM + SG_ LaActvStats_D_Dsply : 55|5@0+ (1,0) [0|31] "SED" GWM + SG_ LaDenyStats_B_Dsply : 32|1@0+ (1,0) [0|1] "SED" GWM + SG_ LaHandsOff_D_Dsply : 50|2@0+ (1,0) [0|3] "SED" GWM + SG_ CamraDefog_B_Req : 36|1@0+ (1,0) [0|1] "SED" GWM + SG_ CamraStats_D_Dsply : 35|2@0+ (1,0) [0|3] "SED" GWM + SG_ DasAlrtLvl_D_Dsply : 42|3@0+ (1,0) [0|7] "SED" GWM + SG_ DasStats_D_Dsply : 47|2@0+ (1,0) [0|3] "SED" GWM + SG_ DasWarn_D_Dsply : 44|2@0+ (1,0) [0|3] "SED" GWM + SG_ AhbHiBeam_D_Rq : 59|2@0+ (1,0) [0|3] "SED" GWM + SG_ Passthru_63 : 63|4@0+ (1,0) [0|15] "" XXX + SG_ Passthru_48 : 48|1@0+ (1,0) [0|1] "" XXX + +BO_ 985 IPMA_Data2: 8 IPMA_ADAS + SG_ LdwChime_B_Rq : 34|1@0+ (1,0) [0|1] "SED" GWM + SG_ TsrRegionTxt_D_Stat : 47|5@0+ (1,0) [0|31] "SED" GWM + SG_ SblmPedCrossScnr_B_Stat : 33|1@0+ (1,0) [0|1] "SED" GWM + SG_ LongCtrlEnbl_D_Rq : 42|3@0+ (1,0) [0|7] "SED" ECM_Diesel,PCM,PCM_HEV,GWM + SG_ SblmRndAbtScnr_B_Stat : 9|1@0+ (1,0) [0|1] "SED" GWM + SG_ DasAlrtInfo_D_Dsply : 13|2@0+ (1,0) [0|3] "SED" GWM + SG_ IaccVLim_D_Rq : 23|8@0+ (1,0) [0|255] "SED" ECM_Diesel,GWM + SG_ IaccVLimUnit_D_Rq : 11|2@0+ (1,0) [0|3] "SED" ECM_Diesel,GWM + SG_ IsaVLim_D_Rq : 7|8@0+ (1,0) [0|255] "SED" ECM_Diesel,GWM + SG_ SblmStopScnr_B_Stat : 8|1@0+ (1,0) [0|1] "SED" GWM + SG_ SblmYieldScnr_B_Stat : 31|1@0+ (1,0) [0|1] "SED" GWM + SG_ IsaVLimUnit_D_Rq : 15|2@0+ (1,0) [0|3] "SED" ECM_Diesel,GWM + SG_ AdbDividedRoad_B_Stat : 30|1@0+ (1,0) [0|1] "SED" GWM + SG_ LcwaMsgTxt_D_Stat : 37|2@0+ (1,0) [0|3] "SED" GWM + SG_ AdbDrvSide_B_Stat : 35|1@0+ (1,0) [0|1] "SED" GWM + +BO_ 992 Personality_Data_FD1: 8 GWM + SG_ MsgCntrDsplyOp_D_Rq : 36|3@0+ (1,0) [0|7] "SED" IPMA_ADAS + SG_ MsgCntrFeatNoRq : 7|16@0+ (1,0) [0|65535] "Number" IPMA_ADAS + SG_ MsgCntrFeatConfigRq : 23|16@0+ (1,0) [0|65535] "unitless" IPMA_ADAS + SG_ MsgCntrPersIndex_D_Rq : 39|3@0+ (1,0) [0|7] "SED" IPMA_ADAS + +BO_ 2612019416 PARSEDPushFcGWM_ECGtoPCM: 8 GWM + SG_ PARSEDPhysGWM_ECG2toPCM : 7|29@0+ (1,0) [0|536870911] "unitless" PCM,PCM_HEV,ECM_Diesel + +BO_ 943 IPMA_Data4: 8 IPMA_ADAS + SG_ VehVActlAdas_D_Qf : 9|2@0+ (1,0) [0|3] "SED" PCM,PCM_HEV,ECM_Diesel + SG_ Veh_V_RqLsc : 23|14@0+ (0.01,0) [0|163.83] "kph" PCM,PCM_HEV,ECM_Diesel + SG_ Veh_V_ActlAdas : 7|14@0+ (0.01,0) [0|163.83] "kph" PCM,PCM_HEV,ECM_Diesel + SG_ AdasLcDistToObj_L_Actl : 39|12@0+ (0.002,0) [0|8.186] "meter" PCM,PCM_HEV,ECM_Diesel + +BO_ 515 PowertrainData_12: 8 ECM_Diesel + SG_ PtIgnSwtch_No_Cs : 15|8@0+ (1,0) [0|255] "Unitless" GWM + SG_ PtIgnSwtch_No_Cnt : 5|4@0+ (1,0) [0|15] "Unitless" GWM + SG_ PtIgnSwtch_D_Stat : 7|2@0+ (1,0) [0|3] "SED" GWM + +BO_ 1111 TrailerAid_Stat2_FD1: 8 GWM + SG_ TrlrYawWActl_D_Qf : 43|2@0+ (1,0) [0|3] "SED" IPMA_ADAS,PSCM + SG_ TrlrYaw_W_Actl : 7|16@0+ (0.0002,-6.5) [-6.5|6.6066] "radians/second" IPMA_ADAS,PSCM + SG_ TrlrHitYaw_AnRate_Actl : 27|12@0+ (0.1,-50) [-50|359.3] "degrees/second" IPMA_ADAS,PSCM + SG_ TrlrHitchYaw_D_Stat : 47|4@0+ (1,0) [0|15] "SED" IPMA_ADAS,PSCM + SG_ TrlrHitchYaw_An_Actl : 23|12@0+ (0.1,-90) [-90|319.3] "degrees" IPMA_ADAS,PSCM + +BO_ 1106 TrailerAid_Stat1_FD1: 8 GWM + SG_ TrlrSnsId_No_Actl : 7|48@0+ (1,0) [0|281474976710653] "unitless" IPMA_ADAS,PSCM + +BO_ 1985 TesterPhysicalReqCMR_DSMC: 64 TSTR + SG_ TesterPhysicalReqCMR_DSMC : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" CMR_DSMC + +BO_ 1993 TesterPhysicalResCMR_DSMC: 64 CMR_DSMC + SG_ TesterPhysicalResCMR_DSMC : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" TSTR + +BO_ 1104 DrvStatMonData: 8 CMR_DSMC + SG_ DrvEngageLevel_No_Cs : 31|8@0+ (1,0) [0|255] "Unitless" IPMA_ADAS + SG_ DrvEngageLevel_No_Cnt : 19|4@0+ (1,0) [0|15] "Unitless" IPMA_ADAS + SG_ DrvEngageLevel_D_Stat : 13|3@0+ (1,0) [0|7] "SED" IPMA_ADAS + SG_ DrvImpLvlConfid_D_Stat : 39|3@0+ (1,0) [0|7] "SED" IPMA_ADAS + SG_ DrvImpairLvl_D_Stat : 23|4@0+ (1,0) [0|15] "SED" IPMA_ADAS + SG_ DrvEngLvlConfid_D_Stat : 10|3@0+ (1,0) [0|7] "SED" IPMA_ADAS + SG_ DrvCamPassIR_D_Stat : 36|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + SG_ DrvCamera_D_Stat : 15|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + SG_ DrvCamDrvIR_D_Stat : 1|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + SG_ DrvAttentZone_D_Stat : 5|4@0+ (1,0) [0|15] "SED" IPMA_ADAS + SG_ DrvAlertSt_D_Stat : 7|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + +BO_ 1503 CMR_DSMC_AutoSar_NetwrkMgt: 8 CMR_DSMC + SG_ CMR_DSMC_GWOnBoardTester : 39|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ CMR_DSMC_GWNMProxY : 47|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ CMR_DSMC_AutoSarNMReserved : 63|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ CMR_DSMC_AutoSarNMReserve4 : 55|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ CMR_DSMC_AutoSarNMReserve3 : 31|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ CMR_DSMC_AutoSarNMReserve2 : 23|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ CMR_DSMC_AutoSarNMNodeId : 7|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ CMR_DSMC_AutoSarNMControl : 15|8@0+ (1,0) [0|255] "unitless" Vector__XXX + +BO_ 2610995416 PARSEDPhysGWM_ECGtoABS: 8 GWM + SG_ PARSEDPhysGWM_ECGtoABS : 7|29@0+ (1,0) [0|536870911] "unitless" ABS_ESC + +BO_ 2612043992 PARSEDPushFcGWM_ECGtoABS: 8 GWM + SG_ PARSEDPhysGWM_ECG2toABS : 7|29@0+ (1,0) [0|536870911] "unitless" ABS_ESC + +BO_ 2609946840 OTAPhysGWM_ECGtoABS: 8 GWM + SG_ OTAPhysGWM_ECGtoABS : 7|29@0+ (1,0) [0|536870911] "unitless" ABS_ESC + +BO_ 2611175464 PARSEDPhysABStoGWM_ECG: 8 ABS_ESC + SG_ PARSEDPhysABStoGWM_ECG : 7|29@0+ (1,0) [0|536870911] "Unitless" GWM + +BO_ 2612224040 PARSEDPushABStoGWM_ECG: 8 ABS_ESC + SG_ PARSEDPhysABS2toGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 2610126888 OTAPhysABStoGWM_ECG: 8 ABS_ESC + SG_ OTAPhysABStoGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 2610988248 PARSEDPhysGWM_ECGtoIPMA: 8 GWM + SG_ PARSEDPhysGWM_ECGtoIPMA : 7|29@0+ (1,0) [0|536870911] "unitless" IPMA_ADAS + +BO_ 2609939672 OTAPhysGWM_ECGtoIPMA: 8 GWM + SG_ OTAPhysGWM_ECGtoIPMA : 7|29@0+ (1,0) [0|536870911] "unitless" IPMA_ADAS + +BO_ 1114 TrailerAid_Data_FD1: 8 GWM + SG_ TrailCtlSwtch_B_Stat2 : 16|1@0+ (1,0) [0|1] "SED" ABS_ESC + SG_ TrlBrkInitOut_D_Rq : 60|2@0+ (1,0) [0|3] "SED" Vector__XXX + +BO_ 1116 TrailerAid_Data3_FD1: 8 GWM + SG_ TrlrAidSetup_D2_Rq : 4|4@0+ (1,0) [0|15] "SED" IPMA_ADAS,PSCM + SG_ TrlrAidEnbl_D2_Rq : 7|3@0+ (1,0) [0|7] "SED" IPMA_ADAS,PSCM + SG_ TrlrTrgtToBmpr_L_Actl : 38|7@0+ (0.0127,0) [0|1.6129] "meter" IPMA_ADAS + SG_ TrlrTrgtPtrnId_No_Mem : 45|6@0+ (1,0) [0|63] "unitless" IPMA_ADAS + SG_ TrlrRvrseCancl_B_Rq : 0|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,PSCM + SG_ TrlrIdType_D_Stat : 51|2@0+ (1,0) [0|3] "SED" IPMA_ADAS,PSCM + SG_ TrlrId_No_Actl : 55|4@0+ (1,0) [0|15] "unitless" IPMA_ADAS,PSCM + SG_ TrlrBallToBmpr_L_Actl : 22|7@0+ (0.0127,0) [0|1.6129] "meter" IPMA_ADAS,PSCM + SG_ TrlrAxleToBmpr_L_Actl : 31|9@0+ (0.0254,0) [0|12.9794] "meter" IPMA_ADAS,PSCM + SG_ TrlrAnOffstDir_D_Mem : 47|2@0+ (1,0) [0|3] "SED" IPMA_ADAS,PSCM + SG_ TrlrAnOffst_An_Mem : 15|9@0+ (0.1,0) [0|51.1] "degrees" IPMA_ADAS + SG_ TrlrTrgtOffst_L_Actl : 63|7@0+ (0.0127,0) [0|1.6129] "meter" IPMA_ADAS + +BO_ 2611175457 PARSEDPhysIPMAtoGWM_ECG: 8 IPMA_ADAS + SG_ PARSEDPhysIPMAtoGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 2612224033 PARSEDPushIPMAtoGWM_ECG: 8 IPMA_ADAS + SG_ PARSEDPhysIPMA2toGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 2610126881 OTAPhysIPMAtoGWM_ECG: 8 IPMA_ADAS + SG_ OTAPhysIPMAtoGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 1085 Low_Voltage_Power_Data_FD1: 8 PCM + SG_ ULoRgenTestMde_B_Stat : 50|1@0+ (1,0) [0|1] "SED" GWM + SG_ PwSrcULoOvrTe_B_Actl : 7|1@0+ (1,0) [0|1] "SED" GWM + SG_ PwSrcULoFalt_D_Stat : 5|2@0+ (1,0) [0|3] "SED" GWM + SG_ PwSrcULoDcnnt_B_Stat : 3|1@0+ (1,0) [0|1] "SED" GWM + SG_ PwSrcULo_Pc_Mx : 31|8@0+ (0.4,0) [0|101.6] "%" GWM + SG_ PwSrcULoComm_B_Falt : 2|1@0+ (1,0) [0|1] "SED" GWM + SG_ PwSrcULo_I_Mx : 23|8@0+ (1,0) [0|254] "ampere" PCM_HEV,GWM + SG_ PwSrcULo_I_Actl : 15|8@0+ (1,0) [0|254] "ampere" PCM_HEV,GWM + +BO_ 791 Cluster_HEV_Data8_FD1: 8 GWM + SG_ EngAirFilt_B_RqReset : 48|1@0+ (1,0) [0|1] "SED" ECM_Diesel + SG_ GpsElMdeSel_B_Rq : 50|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ LongTermReset_B_Rq : 49|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ DrvEffLvl_No_Stat : 61|6@0+ (1,0) [0|61] "unitless" Vector__XXX + SG_ ConsAvgTrip_Fe_Dsply : 31|24@0+ (0.0001,0) [0|1677.7215] "litre/100km" Vector__XXX + +BO_ 2610970840 PARSEDPhysGWM_ECGtoPCM: 8 GWM + SG_ PARSEDPhysGWM_ECGtoPCM : 7|29@0+ (1,0) [0|536870911] "unitless" ECM_Diesel,PCM_HEV,PCM + +BO_ 2609922264 OTAPhysGWM_ECGtoPCM: 8 GWM + SG_ OTAPhysGWM_ECGtoPCM : 7|29@0+ (1,0) [0|536870911] "unitless" ECM_Diesel,PCM_HEV,PCM + +BO_ 868 BattRgenLo_4_FD1: 8 GWM + SG_ BattRgenLoStat_D_Qlty : 25|2@0+ (1,0) [0|3] "SED" PCM_HEV,PCM + SG_ BattRgenLoSoc_Pc_Actl : 23|7@0+ (1,0) [0|100] "percent" PCM_HEV,PCM + SG_ BattRgenLoPulse_U_Pred : 15|8@0+ (0.0625,0) [0|15.9375] "volt" PCM_HEV,PCM + SG_ BattRgenLoPrtct_B_Stat : 39|1@0+ (1,0) [0|1] "SED" PCM_HEV,PCM + SG_ BattRgenLoDChrg_D_Stat : 27|2@0+ (1,0) [0|3] "SED" PCM_HEV,PCM + SG_ BattRgenLoDchrg_B_Rq : 28|1@0+ (1,0) [0|1] "SED" PCM_HEV,PCM + SG_ BattRgenLoChrg_D_Stat : 30|2@0+ (1,0) [0|3] "SED" PCM_HEV,PCM + SG_ BattRgenLoChrg_B_Rq : 31|1@0+ (1,0) [0|1] "SED" PCM_HEV,PCM + SG_ BattRgenLo_T_Est : 7|8@0+ (8,0) [0|2040] "second" PCM_HEV,PCM + SG_ BattRgenLo_B_Falt : 16|1@0+ (1,0) [0|1] "SED" PCM_HEV,PCM + +BO_ 867 BattRgenLo_3_FD1: 8 GWM + SG_ BattRgenLoBalnc_B_Rq : 16|1@0+ (1,0) [0|1] "SED" PCM_HEV,PCM + SG_ BattRgenLo_Te_Hi : 55|8@0+ (1,-20) [-20|235] "degC" PCM_HEV,PCM + SG_ BattRgenLo_Te_Actl : 47|8@0+ (1,-60) [-60|194] "degC" PCM_HEV,PCM + SG_ BattRgenLo_R_Actl : 31|9@0+ (0.0625,0) [0|31.9375] "milliohm" PCM_HEV,PCM + SG_ BattRgenLo_AhRide_Actl : 15|15@0+ (0.0078125,-100) [-100|155.9921875] "amperehour" PCM_HEV,PCM + SG_ BattRgenLo_Ah_Actl : 7|8@0+ (0.1,0) [0|25.5] "amperehour" PCM_HEV,PCM + +BO_ 866 BattRgenLo_2_FD1: 8 GWM + SG_ BattRgenLoOpen_U_Actl : 55|9@0+ (0.025,8.5) [8.5|21.275] "volt" PCM_HEV,PCM + SG_ BattRgenLoDchrg_U_Mn : 39|9@0+ (0.025,4) [4|16.775] "volt" PCM_HEV,PCM + SG_ BattRgenLoDchrg_I_Mx : 31|8@0+ (2,0) [0|510] "ampere" PCM_HEV,PCM + SG_ BattRgenLoChrg_U_Mx : 15|9@0+ (0.025,10.6) [10.6|23.375] "volt" PCM_HEV,PCM + SG_ BattRgenLoChrg_I_Mx : 7|8@0+ (2,0) [0|510] "ampere" PCM_HEV,PCM + +BO_ 865 BattRgenLo_1_FD1: 8 GWM + SG_ BattRgenLo_U_Actl : 23|11@0+ (0.015625,0) [0|31.96875] "volt" PCM_HEV,PCM + SG_ BattRgenLo_I_Actl : 7|16@0+ (0.015625,-512) [-512|511.96875] "ampere" PCM_HEV,PCM + +BO_ 2611175440 PARSEDPhysPCMtoGWM_ECG: 8 PCM + SG_ PARSEDPhysPCMtoGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 2610126864 OTAPhysPCMtoGWM_ECG: 8 PCM + SG_ OTAPhysPCMtoGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 2611175441 PARSEDHPCMtoGWM_ECG_FD1: 8 SOBDMC_HPCM_FD1 + SG_ PARSEDPhysHPCMtoGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 2612224017 PARSEDPushSOBDMCtoGWM_FD1: 8 SOBDMC_HPCM_FD1 + SG_ PARSEDPhysHPCM2toGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 2610126865 OTAPhysSOBDMCtoGWM_FD1: 8 SOBDMC_HPCM_FD1 + SG_ OTAPhysHPCMtoGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 1679 SOBDMC_RapidData_Resp4_FD1: 8 SOBDMC_HPCM_FD1 + SG_ UUDTSOBDMCResponse4 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "unitless" TSTR + +BO_ 1678 SOBDMC_RapidData_Resp3_FD1: 8 SOBDMC_HPCM_FD1 + SG_ UUDTSOBDMCResponse3 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "unitless" TSTR + +BO_ 1677 SOBDMC_RapidData_Resp2_FD1: 8 SOBDMC_HPCM_FD1 + SG_ UUDTSOBDMCResponse2 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "unitless" TSTR + +BO_ 1676 SOBDMC_RapidData_Resp1_FD1: 8 SOBDMC_HPCM_FD1 + SG_ UUDTSOBDMCResponse1 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "unitless" TSTR + +BO_ 1445 SOBDMC_AutoSar_NetMgmt_FD1: 8 SOBDMC_HPCM_FD1 + SG_ SOBDMC_AutoSarNMReserved4 : 63|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ SOBDMC_AutoSarNMReserved3 : 55|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ SOBDMC_AutoSarNMReserved2 : 31|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ SOBDMC_AutoSarNMReserved1 : 23|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ SOBDMC_AutoSarNMNodeId : 7|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ SOBDMC_AutoSarNMControl : 15|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ SOBDMC_GWOnBoardTester : 39|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ SOBDMC_GWNMProxy : 47|8@0+ (1,0) [0|255] "unitless" Vector__XXX + +BO_ 1144 MHT_EV_Wakeup_FD1: 8 SOBDMC_HPCM_FD1 + SG_ WakeAlarm0_T_Rq : 7|15@0+ (1,0) [0|32767] "minute" GWM + SG_ WakeAlarm0_B_Typ : 21|1@0+ (1,0) [0|1] "SED" GWM + SG_ PreCondBatt_B_Actl : 32|1@0+ (1,0) [0|1] "SED" GWM + SG_ HtrnDcdcDis_B_Rq : 26|1@0+ (1,0) [0|1] "SED" GWM + SG_ ChrgNowEvnt_B_Stat : 22|1@0+ (1,0) [0|1] "SED" GWM + SG_ CabinDrvSustn_B_Rq : 23|1@0+ (1,0) [0|1] "SED" GWM + SG_ BattChrgTrgtSoC_D_Rq : 35|3@0+ (1,0) [0|7] "Percent" GWM + SG_ CabnEvapSovFront_B_Rq : 38|1@0+ (1,0) [0|1] "SED" GWM + SG_ HeatCoreSovRear_B_Rq : 36|1@0+ (1,0) [0|1] "SED" GWM + SG_ BattChlrSov_B_Rq : 39|1@0+ (1,0) [0|1] "SED" GWM + SG_ CabnEvapSovRear_B_Rq : 37|1@0+ (1,0) [0|1] "SED" GWM + SG_ BrkAppl_D_RqPt : 25|2@0+ (1,0) [0|3] "SED" GWM + SG_ HtrnCnnctPwr_B_Stat : 16|1@0+ (1,0) [0|1] "SED" GWM + SG_ PtcHtr_D_Stat : 18|2@0+ (1,0) [0|3] "SED" GWM,PCM_HEV + SG_ HtrnClntFlw_D_Rq : 20|2@0+ (1,0) [0|3] "SED" GWM + SG_ BattTracDrvSustn_B_Rq : 8|1@0+ (1,0) [0|1] "SED" GWM + SG_ BattTracClntVlv_B_Rq : 47|1@0+ (1,0) [0|1] "SED" GWM + +BO_ 1141 Cluster_HEV_Data9_FD1: 8 SOBDMC_HPCM_FD1 + SG_ OfbChrgSetSync_D_Stat : 31|2@0+ (1,0) [0|3] "SED" GWM + SG_ PtRmtRprt_D_Rq : 59|4@0+ (1,0) [0|15] "SED" GWM + SG_ MtrTrac2_Tq_Actl : 29|12@0+ (1,-2047) [-2047|2048] "Nm" GWM + SG_ NtfctnConflict1_D_Rq : 53|3@0+ (1,0) [0|7] "SED" GWM + +BO_ 1140 Cluster_HEV_Data7_FD1: 8 SOBDMC_HPCM_FD1 + SG_ RgenEvntLvl_Pc_Dsply : 9|10@0+ (0.1,0) [0|102.1] "percent" GWM + SG_ BrkEvntComplt_B_Dsply : 31|1@0+ (1,0) [0|1] "SED" GWM + SG_ PreCondStat_D_Dsply : 12|3@0+ (1,0) [0|7] "SED" GWM + +BO_ 1139 GWM_HPCM_i_FrP11_FD1: 8 SOBDMC_HPCM_FD1 + SG_ ActChrgStrtYr_No2_Actl : 7|7@0+ (1,2017) [2017|2144] "year" GWM + SG_ BattChrgTrgtLMax_T_Est : 10|11@0+ (1,0) [0|2045] "minute" GWM + SG_ ActChrgStrtYr_No_Actl : 60|5@0+ (1,2010) [2010|2040] "year" GWM + SG_ ActChrgStrtMin_No_Actl : 29|6@0+ (1,0) [0|61] "minute" GWM + SG_ ActChrgStrtHr_No_Actl : 36|5@0+ (1,0) [0|29] "hour" GWM + SG_ ActChrgStrtDay_No_Actl : 44|5@0+ (1,1) [1|31] "days" GWM + SG_ ActChrgStrMnth_No_Actl : 51|4@0+ (1,1) [1|15] "month" GWM + +BO_ 1138 GWM_HPCM_i_FrP10_FD1: 8 SOBDMC_HPCM_FD1 + SG_ ActChrgEndYr_No2_Actl : 7|7@0+ (1,2017) [2017|2144] "year" GWM + SG_ BattChrgTrgtLMin_T_Est : 10|11@0+ (1,0) [0|2045] "minute" GWM + SG_ ActChrgEndYr_No_Actl : 60|5@0+ (1,2010) [2010|2040] "year" GWM + SG_ ActChrgEndMnth_No_Actl : 51|4@0+ (1,1) [1|15] "month" GWM + SG_ ActChrgEndMin_No_Actl : 29|6@0+ (1,0) [0|61] "minute" GWM + SG_ ActChrgEndHr_No_Actl : 36|5@0+ (1,0) [0|29] "hour" GWM + SG_ ActChrgEndDay_No_Actl : 44|5@0+ (1,1) [1|31] "days" GWM + +BO_ 1089 MtrTracData_1_FD1: 8 SOBDMC_HPCM_FD1 + SG_ Mtr2Aout_W_ActlMntr : 45|10@0+ (6.28,-3209) [-3209|3209.16] "radians/sec" GWM + SG_ Inv1_Te_Actl : 63|8@0+ (1,-40) [-40|213] "degC" GWM + SG_ MtrTrac2Coil_Te_Actl : 23|8@0+ (1,-40) [-40|213] "degC" GWM + SG_ MtrTrac2_U_Actl : 39|10@0+ (1,0) [0|1023] "volt" GWM + SG_ MtrTrac2Falt_B_Stat : 50|1@0+ (1,0) [0|1] "SED" GWM + SG_ MtrTrac2TeAlrm_B_Stat : 49|1@0+ (1,0) [0|1] "SED" GWM + SG_ Mtr2CntlTeAlrm_B_Stat : 51|1@0+ (1,0) [0|1] "SED" GWM + SG_ MtrTrac2Inv_Te_Actl : 31|8@0+ (1,-40) [-40|213] "degC" GWM + SG_ MtrTrac2_I_Actl : 7|16@0+ (0.1,-1000) [-1000|5553.4] "ampere" GWM + +BO_ 1088 PreCond_Hev_Data1_FD1: 8 SOBDMC_HPCM_FD1 + SG_ ChrgTMatch_B_Stat : 55|1@0+ (1,0) [0|1] "SED" GWM + SG_ ChrgStat_D2_Dsply : 7|4@0+ (1,0) [0|15] "SED" GWM + SG_ HvacPrecondRecirc_D_Rq : 63|2@0+ (1,0) [0|3] "SED" GWM + SG_ HvacPrecondMode2_D_Rq : 51|4@0+ (1,0) [0|15] "SED" GWM + SG_ HvacPrecondBlwr2_D_Rq : 61|4@0+ (1,0) [0|15] "SED" GWM + SG_ HvacPrecondAC_D_Rq : 57|2@0+ (1,0) [0|3] "SED" GWM + SG_ HvacPrecond_Te_Rq : 44|5@0+ (0.5,14.5) [14.5|30] "deg C" GWM + SG_ BattChrgInhbt_D_Rq : 53|2@0+ (1,0) [0|3] "SED" GWM + +BO_ 1040 AC_Compressor_Req_FD1: 8 SOBDMC_HPCM_FD1 + SG_ ElCmprEnbl_B_Rq : 23|1@0+ (1,0) [0|1] "SED" GWM,PCM_HEV + SG_ ElCmpr_N_Rq : 15|8@0+ (50,0) [0|12750] "RPM" GWM + +BO_ 1016 GoTimeSettings_FD1: 8 SOBDMC_HPCM_FD1 + SG_ ChrgGoTElement_B_Dsply : 27|1@0+ (1,0) [0|1] "SED" GWM + SG_ ChrgLocIdCurnt_D_Uns : 31|4@0+ (1,0) [0|15] "unitless" GWM + SG_ ChrgGoTTouchEnbl_B_Rq : 8|1@0+ (1,0) [0|1] "SED" GWM + SG_ ChrgGoTTouch_B_Stat : 0|1@0+ (1,0) [0|1] "SED" GWM + SG_ ChrgGoTPrcond_D_Stat : 10|2@0+ (1,0) [0|3] "SED" GWM + SG_ ChrgGoTNext_D_Stat : 19|4@0+ (1,0) [0|15] "Unitless" GWM + SG_ ChrgGoTMnte_D_Stat : 23|4@0+ (1,0) [0|15] "SED" GWM + SG_ ChrgGoTHr_T_Stat : 15|5@0+ (1,0) [0|29] "hour" GWM + SG_ ChrgGoTExtHtrEnbl_B_Rq : 1|1@0+ (1,0) [0|1] "SED" GWM + SG_ ChrgGoTExtHtr_B_Stat : 2|1@0+ (1,0) [0|1] "SED" GWM + SG_ ChrgGoTElement_D_Stat : 6|4@0+ (1,0) [0|15] "Unitless" GWM + SG_ ChrgGoTAllOn_B_Stat : 7|1@0+ (1,0) [0|1] "SED" GWM + +BO_ 1013 ChargeSettings_FD1: 8 SOBDMC_HPCM_FD1 + SG_ ChrgToPcWkndSav_D_Stat : 60|3@0+ (1,0) [0|7] "SED" GWM + SG_ ChrgToPcWkdySav_D_Stat : 63|3@0+ (1,0) [0|7] "SED" GWM + SG_ ChrgProgIdSaved_D_Stat : 51|4@0+ (1,0) [0|15] "Unitless" GWM + SG_ ChrgNowEnbl_B_Saved : 56|1@0+ (1,0) [0|1] "SED" GWM + SG_ ChrgLocIdUnsAck_B_Stat : 57|1@0+ (1,0) [0|1] "SED" GWM + SG_ ChrgLocIdCurnt_D_Sav : 55|4@0+ (1,0) [0|15] "unitless" GWM + SG_ ChrgPrflWknd_No_Actl : 31|24@0+ (1,0) [0|16777215] "unitless" GWM + SG_ ChrgPrflWkdy_No_Actl : 7|24@0+ (1,0) [0|16777215] "unitless" GWM + +BO_ 1012 Saved_Charge_Location_FD1: 8 SOBDMC_HPCM_FD1 + SG_ ChrgNowCurnt_B_Dsply : 58|1@0+ (1,0) [0|1] "SED" GWM + SG_ ChrgLocSaved_B_Dsply : 57|1@0+ (1,0) [0|1] "SED" GWM + SG_ ChrgLocLongPostv_B_Sav : 59|1@0+ (1,0) [0|1] "SED" GWM + SG_ ChrgLocLongFrct_An_Sav : 47|20@0+ (1E-006,0) [0|1.048575] "degrees" GWM + SG_ ChrgLocLongDeg_An_Sav : 39|8@0+ (1,0) [0|255] "degrees" GWM + SG_ ChrgLocLattPostv_B_Sav : 24|1@0+ (1,0) [0|1] "SED" GWM + SG_ ChrgLocLattFrct_An_Sav : 7|20@0+ (1E-006,0) [0|1.048575] "degrees" GWM + SG_ ChrgLocLattDeg_An_Sav : 31|7@0+ (1,0) [0|127] "unitless" GWM + SG_ ChrgLocId_D_Sav : 19|4@0+ (1,0) [0|15] "unitless" GWM + +BO_ 1011 Unsaved_Charge_LocationFD1: 8 SOBDMC_HPCM_FD1 + SG_ ChrgLocLongPostv_B_Uns : 59|1@0+ (1,0) [0|1] "SED" GWM + SG_ ChrgLocLongFrct_An_Uns : 47|20@0+ (1E-006,0) [0|1.048575] "degrees" GWM + SG_ ChrgLocLongDeg_An_Uns : 39|8@0+ (1,0) [0|255] "degrees" GWM + SG_ ChrgLocLattPostv_B_Uns : 24|1@0+ (1,0) [0|1] "SED" GWM + SG_ ChrgLocLattFrct_An_Uns : 7|20@0+ (1E-006,0) [0|1.048575] "degrees" GWM + SG_ ChrgLocLattDeg_An_Uns : 31|7@0+ (1,0) [0|127] "unitless" GWM + SG_ ChrgLocId_D_Uns : 19|4@0+ (1,0) [0|15] "unitless" GWM + +BO_ 871 Cluster_HEV_Data4_FD1: 8 SOBDMC_HPCM_FD1 + SG_ BattElecPerf_D_Actl : 55|3@0+ (1,0) [0|7] "SED" GWM + SG_ BattChrgTrgtLPt_T_Est : 2|11@0+ (1,0) [0|2045] "minute" GWM + SG_ BattChrgTrgSocPt_T_Est : 18|11@0+ (1,0) [0|2045] "minute" GWM + SG_ BattChrgCmpltPt_T_Est : 34|11@0+ (1,0) [0|2045] "minute" GWM + +BO_ 786 Cluster_HEV_Data1_FD1: 8 SOBDMC_HPCM_FD1 + SG_ RgenTrip_Pc_Dsply : 33|10@0+ (0.1,0) [0|102.3] "percent" GWM + SG_ RgenTrip_L_Dsply : 55|16@0+ (0.1,0) [0|6553.3] "kilometer" GWM + SG_ ChrgStat_D_Dsply : 36|3@0+ (1,0) [0|7] "SED" GWM + +BO_ 72 Global_PATS_Target2_FD1: 8 SOBDMC_HPCM_FD1 + SG_ immoTarget2Status : 7|3@0+ (1,0) [0|7] "SED" GWM + SG_ immoTarget2Data : 15|40@0+ (1,0) [0|1099511627775] "Encrypted" GWM + SG_ immoTarget2Cmd : 4|3@0+ (1,0) [0|7] "SED" GWM + +BO_ 912 PowerDist_Data1_FD1: 8 GWM + SG_ CabnEvapSovFront_D_Stat : 15|3@0+ (1,0) [0|7] "SED" SOBDMC_HPCM_FD1 + SG_ BattChlrSov_D_Stat : 7|3@0+ (1,0) [0|7] "SED" SOBDMC_HPCM_FD1 + SG_ BattTracClntVlv_D_Stat : 28|3@0+ (1,0) [0|7] "SED" SOBDMC_HPCM_FD1 + +BO_ 874 PowerDistData_2_FD1: 8 GWM + SG_ AirCondCluOpen_D_Falt : 17|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ AirCondCluLife_D_Falt : 19|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ AirCondCluGnd_D_Falt : 21|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ AirCondClu_D_Stat : 31|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ AirCondCluBatt_D_Falt : 23|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ BattTracShrtGrnd_D_Falt : 9|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ BattTracShrtBatt_D_Falt : 11|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ BattTracOpnCirct_D_Falt : 13|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ BattTracLifeLim_D_Falt : 15|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ BattChlrShrtGrnd_D_Falt : 1|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ BattChlrShrtBatt_D_Falt : 3|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ BattChlrOpnCirct_D_Falt : 5|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ BattChlrLifeLim_D_Falt : 7|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ BattTracLow_D_Falt : 28|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + +BO_ 651 TCU_Send_Signals_FD1: 8 GWM + SG_ TelematicsSrvc_D_St : 47|3@0+ (1,0) [0|7] "SED" SOBDMC_HPCM_FD1 + SG_ EmgcyCallMute_D_Stat : 39|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ OfbChrgSetSync_D_Rq : 3|2@0+ (1,0) [0|3] "SED" Vector__XXX + +BO_ 529 APIM_Request_Signals_5_FD1: 8 GWM + SG_ OnbChrgToPcWknd_D_Actl : 2|3@0+ (1,0) [0|7] "percent" SOBDMC_HPCM_FD1 + SG_ OnbChrgToPcWkdy_D_Actl : 60|3@0+ (1,0) [0|7] "percent" SOBDMC_HPCM_FD1 + SG_ OnbChrgSetNow_D_Rq : 63|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ OnbChrgSetDelete_B_Rq : 3|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1 + SG_ OnbChrgPrflWknd_No_Rq : 39|24@0+ (1,0) [0|16777215] "unitless" SOBDMC_HPCM_FD1 + SG_ OnbChrgPrflWkdy_No_Rq : 15|24@0+ (1,0) [0|16777215] "unitless" SOBDMC_HPCM_FD1 + SG_ OnbChrgPrflUpdate_B_Rq : 56|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1 + SG_ OnbChrgLocIdUns_B_Rq : 57|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1 + SG_ OnbChrgLocIdTrgt_No_Rq : 7|4@0+ (1,0) [0|15] "Unitless" SOBDMC_HPCM_FD1 + +BO_ 66 Global_PATS_Ctrl_Info2_FD1: 8 GWM + SG_ immoControlData_T2 : 15|40@0+ (1,0) [0|1099511627775] "Encrypted" SOBDMC_HPCM_FD1 + SG_ immoControlCmd_T2 : 7|3@0+ (1,0) [0|7] "SED" SOBDMC_HPCM_FD1 + +BO_ 2610971864 PARSEDPhysGWMtoSOBDMC_FD1: 8 GWM + SG_ PARSEDPhysGWM_ECGtoHPCM : 7|29@0+ (1,0) [0|536870911] "unitless" SOBDMC_HPCM_FD1 + +BO_ 2612002008 PARSEDFuncGWM_ECG_FD1: 8 GWM + SG_ PARSEDFuncGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" ABS_ESC,IPMA_ADAS,ECM_Diesel,PCM_HEV,PCM,SOBDMC_HPCM_FD1 + +BO_ 2609923288 OTAPhysGWM_ECGtoSOBDMC_FD1: 8 GWM + SG_ OTAPhysGWM_ECGtoHPCM : 7|29@0+ (1,0) [0|536870911] "unitless" SOBDMC_HPCM_FD1 + +BO_ 2610953432 OTAFuncGWM_ECG_FD1: 8 GWM + SG_ OTAFuncGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" ABS_ESC,IPMA_ADAS,ECM_Diesel,PCM_HEV,PCM,SOBDMC_HPCM_FD1 + +BO_ 2022 TesterPhysicalReqSOBDMC_FD: 64 TSTR + SG_ TesterPhysicalReqSOBDMC : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" SOBDMC_HPCM_FD1 + +BO_ 1124 APIMGPS_Data_Nav_3_FD1: 8 GWM + SG_ GPS_Vdop : 63|5@0+ (0.2,0) [0|5.8] "unitless" IPMA_ADAS + SG_ GPS_Speed : 47|8@0+ (1,0) [0|253] "MPH" Vector__XXX + SG_ GPS_Sat_num_in_view : 7|5@0+ (1,0) [0|29] "unitless" SOBDMC_HPCM_FD1 + SG_ GPS_MSL_altitude : 15|12@0+ (10,-20460) [-20460|20470] "feet" Vector__XXX + SG_ GPS_Heading : 31|16@0+ (0.01,0) [0|655.33] "Degrees" IPMA_ADAS + SG_ GPS_Hdop : 55|5@0+ (0.2,0) [0|5.8] "unitless" IPMA_ADAS + SG_ GPS_dimension : 2|3@0+ (1,0) [0|7] "SED" SOBDMC_HPCM_FD1 + +BO_ 1119 Voltage_Power_Data2_FD1: 8 GWM + SG_ CoolFanDcdc_D_Rq : 5|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ DcdcClntFlw_D_Rq : 7|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + +BO_ 132 GlobalClock_Data_FD1: 8 GWM + SG_ GlblClkYr_No_Actl : 7|8@0+ (1,2000) [2000|2255] "year" CMR_DSMC,SOBDMC_HPCM_FD1,IPMA_ADAS + SG_ GlblClkScnd_No_Actl : 47|8@0+ (1,0) [0|255] "second" CMR_DSMC,SOBDMC_HPCM_FD1,IPMA_ADAS + SG_ GlblClkMnte_No_Actl : 39|8@0+ (1,0) [0|255] "minute" CMR_DSMC,SOBDMC_HPCM_FD1,IPMA_ADAS + SG_ GlblClkHr_No_Actl : 55|8@0+ (1,0) [0|255] "hour" CMR_DSMC,SOBDMC_HPCM_FD1,IPMA_ADAS + SG_ GlblClkDay_No_Actl : 23|16@0+ (1,0) [0|65535] "julian day" CMR_DSMC,SOBDMC_HPCM_FD1,IPMA_ADAS + +BO_ 1990 TesterPhysicalReqSODR: 64 TSTR + SG_ TesterPhysicalReqSODR : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" IPMA_ADAS + +BO_ 1892 TesterPhysicalReqCCM: 64 TSTR + SG_ TesterPhysicalReqCCM : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" IPMA_ADAS + +BO_ 1798 TesterPhysicalReqIPMA: 64 TSTR + SG_ TesterPhysicalReqIPMA : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" IPMA_ADAS + +BO_ 1123 APIMGPS_Data_Nav_2_FD1: 8 GWM + SG_ GpsUtcYr_No_Actl : 55|5@0+ (1,2010) [2010|2040] "Year" IPMA_ADAS + SG_ GpsUtcMnth_No_Actl : 47|4@0+ (1,1) [1|15] "Month" IPMA_ADAS + SG_ GpsUtcDay_No_Actl : 37|5@0+ (1,1) [1|32] "Day" IPMA_ADAS + SG_ GPS_UTC_seconds : 23|6@0+ (1,0) [0|59] "seconds" SOBDMC_HPCM_FD1,IPMA_ADAS + SG_ GPS_UTC_minutes : 15|6@0+ (1,0) [0|59] "Minutes" IPMA_ADAS + SG_ GPS_UTC_hours : 7|5@0+ (1,0) [0|23] "Hours" IPMA_ADAS + SG_ GPS_Pdop : 31|5@0+ (0.2,0) [0|5.8] "unitless" IPMA_ADAS + SG_ GPS_Compass_direction : 26|4@0+ (1,0) [0|15] "SED" IPMA_ADAS + SG_ GPS_Actual_vs_Infer_pos : 38|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1,IPMA_ADAS + SG_ Gps_B_Falt : 2|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1,IPMA_ADAS + +BO_ 1122 APIMGPS_Data_Nav_1_FD1: 8 GWM + SG_ GpsHsphLongEast_D_Actl : 9|2@0+ (1,0) [0|3] "SED" IPMA_ADAS,SOBDMC_HPCM_FD1 + SG_ GpsHsphLattSth_D_Actl : 25|2@0+ (1,0) [0|3] "SED" IPMA_ADAS,SOBDMC_HPCM_FD1 + SG_ GPS_Longitude_Minutes : 46|6@0+ (1,0) [0|61] "Minutes" SOBDMC_HPCM_FD1,IPMA_ADAS + SG_ GPS_Longitude_Min_dec : 55|14@0+ (0.0001,0) [0|1.6381] "Minutes" SOBDMC_HPCM_FD1,IPMA_ADAS + SG_ GPS_Longitude_Degrees : 39|9@0+ (1,-179) [-179|330] "Degrees" SOBDMC_HPCM_FD1,IPMA_ADAS + SG_ GPS_Latitude_Minutes : 15|6@0+ (1,0) [0|61] "Minutes" SOBDMC_HPCM_FD1,IPMA_ADAS + SG_ GPS_Latitude_Min_dec : 23|14@0+ (0.0001,0) [0|1.6381] "Minutes" SOBDMC_HPCM_FD1,IPMA_ADAS + SG_ GPS_Latitude_Degrees : 7|8@0+ (1,-89) [-89|164] "Degrees" SOBDMC_HPCM_FD1,IPMA_ADAS + +BO_ 1003 Personality_BCM2_Data_FD1: 8 GWM + SG_ PersRecallSrc_D_Actl : 63|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ Pers4Key_D_Stat : 49|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ Pers3Key_D_Stat : 41|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ Pers2Key_D_Stat : 43|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ Pers1Key_D_Stat : 12|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ EmPrflNo_D_Stat : 52|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ EmPrflKeyAssoc_D_Stat : 55|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ VehKeyActv_D_Stat : 47|4@0+ (1,0) [0|15] "SED" Vector__XXX + SG_ PersNoPos_D_Actl : 18|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ PersSetupRestr_D_Actl : 21|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ PersSetupAccessCtrl : 19|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ PersSetup_No_Actl : 31|16@0+ (1,0) [0|65535] "Number" Vector__XXX + SG_ PersConflict_D_Actl : 22|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ AssocConfirm_D_Actl : 15|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ RecallEvent_No_Cnt : 7|8@0+ (1,0) [0|255] "Counts" IPMA_ADAS + SG_ PersNo_D_Actl : 10|3@0+ (1,0) [0|7] "SED" ABS_ESC,IPMA_ADAS + +BO_ 994 Personality_APIM_Data_FD1: 8 GWM + SG_ PersStore_D_Rq : 36|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ Pers4OptIn_B_Stats : 43|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ Pers3OptIn_B_Stats : 33|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ Pers2OptIn_B_Stats : 32|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ Pers1OptIn_B_Stats : 44|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CtrStkPersIndex_D_Actl : 39|3@0+ (1,0) [0|7] "SED" ABS_ESC,IPMA_ADAS + SG_ CtrStkFeatNoActl : 23|16@0+ (1,0) [0|65535] "Undefined" ABS_ESC,IPMA_ADAS + SG_ CtrStkFeatConfigActl : 7|16@0+ (1,0) [0|65535] "Undefined" ABS_ESC,IPMA_ADAS + SG_ CtrStkDsplyOp_D_Rq : 47|3@0+ (1,0) [0|7] "SED" ABS_ESC,IPMA_ADAS + +BO_ 778 ParkAid_Aud_Warn_CmdM_FD1: 8 GWM + SG_ PrkAidFront_D_RqDrv : 5|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + SG_ PrkAidAcsyRear_D_RqDrv : 13|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + SG_ PrkAidAcsyFront_D_RqDrv : 15|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + SG_ Cta_D_Rq : 1|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + SG_ PrkAidRear_D_RqDrv : 3|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + SG_ SteEffort_D_Rq : 10|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ Sod_D_Rq : 7|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + +BO_ 549 IPC_Infotainment_FD1: 8 GWM + SG_ Veh_V2_Dsply : 39|9@0+ (1,0) [0|511] "unitless" IPMA_ADAS + SG_ IPC_MyKeyVolLimit_St : 9|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ HdcOn_B_Rq : 19|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ IPC_Attn_Info_Audio : 4|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ BeltminderAudioMute : 6|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ Power_Up_Chime_Modules : 23|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ Chime_Source : 15|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ IPC_New_Attn_Event : 0|1@0+ (1,0) [0|1] "SED" Vector__XXX + +BO_ 551 APIM_Request_Signals_1_FD1: 8 GWM + SG_ PmCabnLvl_D_Stat : 36|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ PmCabn_D_Stat : 38|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ Cntr_Plg_Mode_Cmd : 39|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ ChrgCrdLckEnbl_B_Stat : 47|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ PwRnngBoardT_D_Rq : 25|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ PwRnngBoardSwtch_D_Rq : 27|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ PwRnngBoardMde_D_Rq : 29|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ Btt_L_Actl2 : 55|7@0+ (0.1,0) [0|12.5] "meter" IPMA_ADAS + SG_ Rba_D_Rq : 31|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + SG_ EmPrflNo_D_Rq : 61|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ EmPrflButtnAssoc_D_Rq : 33|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ EmPrflKeyAssoc_D_Rq : 46|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ Em_D_Stat : 63|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ ChrgOvrdExitScrn_D_Rq : 58|2@0+ (1,0) [0|3] "SED" Vector__XXX + +BO_ 1010 IPMA_Data3: 8 IPMA_ADAS + SG_ MbdblActv_B_RqAdas : 48|1@0+ (1,0) [0|1] "SED" GWM + SG_ CbdblActv_B_RqAdas : 49|1@0+ (1,0) [0|1] "SED" GWM + SG_ AdbUrbanArea_B_Stat : 40|1@0+ (1,0) [0|1] "SED" GWM + SG_ LightRng_L_Max : 55|6@0+ (2,0) [0|126] "meter" GWM + SG_ LightPathOffst_L_Actl : 31|10@0+ (0.01,-5.12) [-5.12|5.11] "meter" GWM + SG_ LightPath_An_Actl : 12|11@0+ (0.0005,-0.5) [-0.5|0.5235] "radians" GWM + SG_ LightCurv_NoRate_Actl : 37|13@0+ (2.5E-007,-0.001024) [-0.001024|0.00102375] "1/meter" GWM + SG_ LightCurv_No_Actl : 7|11@0+ (2E-005,-0.02) [-0.02|0.02094] "1/meter" GWM + +BO_ 1070 Battery_Mgmt_24V_FD1: 8 GWM + SG_ BattULo24_D_Falt : 55|2@0+ (1,0) [0|3] "SED" PCM + SG_ BattULo24_Te_Actl : 47|7@0+ (1,-40) [-40|86] "degC" PCM + SG_ BattULo24State_D_Qlty : 25|2@0+ (1,0) [0|3] "SED" PCM + SG_ BattULo24Soc_Pc_Actl : 39|7@0+ (1,0) [0|127] "percent" PCM + SG_ BattULo24_I_Actl : 23|14@0+ (0.0625,-512) [-512|511.875] "ampere" PCM + SG_ BattULo24_B_Falt : 8|1@0+ (1,0) [0|1] "SED" PCM + SG_ BattULo24_Ah_DeltaRide : 7|15@0+ (0.0078125,-100) [-100|155.9921875] "amperehour" PCM + +BO_ 1186 Driveline_Data_2: 8 TCCM + SG_ SelDrvMdeAwd2_D_Stat : 31|5@0+ (1,0) [0|31] "SED" ABS_ESC,GWM + SG_ RearDiffLckMsg_D_Rq : 20|3@0+ (1,0) [0|7] "SED" GWM + SG_ RearDiffLckLamp_D_Rq : 11|2@0+ (1,0) [0|3] "SED" VDM,GWM,ABS_ESC + SG_ RearDiffLck_Tq_Actl : 7|12@0+ (1,0) [0|4093] "Nm" ABS_ESC,ECM_Diesel,PCM,PCM_HEV,GWM + SG_ RearDiffFalt_D_Stat : 23|2@0+ (1,0) [0|3] "SED" ABS_ESC,GWM + SG_ LsdSrvcRqd_B_Rq : 21|1@0+ (1,0) [0|1] "SED" GWM + +BO_ 611 Driveline_Data_1: 8 TCCM + SG_ AwdSys_D_Stat : 27|2@0+ (1,0) [0|3] "SED" GWM,ECM_Diesel,PCM,PCM_HEV + SG_ AwdStat_D_RqDsply : 63|5@0+ (1,0) [0|31] "SED" TCM_DSL,ABS_ESC,GWM + SG_ AwdLck_D_Stat : 31|4@0+ (1,0) [0|15] "SED" TCM_DSL,GWM,ABS_ESC + SG_ AwdSrvcRqd_B_Rq : 0|1@0+ (1,0) [0|1] "SED" GWM,PCM,PCM_HEV,TCM_DSL,ABS_ESC + SG_ NtrlTowAvail_B_Stat : 4|1@0+ (1,0) [0|1] "SED" GWM + SG_ AwdLck_Tq_Rq : 15|12@0+ (1,0) [0|4093] "Nm" PCM_HEV,GWM,ABS_ESC + SG_ TrnAout_Tq_RqMx : 47|13@0+ (1,-1250) [-1250|6941] "Nm" GWM,ECM_Diesel,PCM,PCM_HEV + SG_ AwdOffRoadMode_D_Stats : 25|2@0+ (1,0) [0|3] "SED" IPMA_ADAS,GWM + SG_ AwdLoLamp_D_RqDsply : 35|2@0+ (1,0) [0|3] "SED" GWM + SG_ AwdHiLamp_D_RqDsply : 19|2@0+ (1,0) [0|3] "SED" GWM,ABS_ESC + SG_ AwdAutoLamp_D_RqDsply : 17|2@0+ (1,0) [0|3] "SED" GWM,ABS_ESC + SG_ Awd2wdLamp_D_RqDsply : 2|2@0+ (1,0) [0|3] "SED" GWM + SG_ AwdRnge_D_Actl : 7|3@0+ (1,0) [0|7] "SED" VDM,ECM_Diesel,PCM,PCM_HEV,TCM_DSL,ABS_ESC,GWM,IPMA_ADAS + +BO_ 1461 PSCM_AutoSar_NetwrkMgmt: 8 PSCM + SG_ PSCM_GWOnBoardTester : 39|8@0+ (1,0) [0|255] "unitless" GWM,ABS_ESC + SG_ PSCM_GWNMProxy : 47|8@0+ (1,0) [0|255] "unitless" GWM,ABS_ESC + SG_ PSCM_AutoSarNMReserved4 : 63|8@0+ (1,0) [0|255] "unitless" GWM,ABS_ESC + SG_ PSCM_AutoSarNMReserved3 : 55|8@0+ (1,0) [0|255] "unitless" GWM,ABS_ESC + SG_ PSCM_AutoSarNMReserved2 : 31|8@0+ (1,0) [0|255] "unitless" GWM,ABS_ESC + SG_ PSCM_AutoSarNMReserved1 : 23|8@0+ (1,0) [0|255] "unitless" GWM,ABS_ESC + SG_ PSCM_AutoSarNMNodeId : 7|8@0+ (1,0) [0|255] "unitless" GWM,ABS_ESC + SG_ PSCM_AutoSarNMControl : 15|8@0+ (1,0) [0|255] "unitless" GWM,ABS_ESC + +BO_ 1047 TrailerAid_Data2: 8 PSCM + SG_ TrlrAnOffst_An2_Calc : 39|8@0+ (0.5,-64) [-64|63.5] "degrees" IPMA_ADAS + SG_ TrlrAn_An_WarnCalc : 28|5@0+ (1,0) [0|31] "degrees" IPMA_ADAS + SG_ TrlrAn_An_MxCalc : 55|7@0+ (1,0) [0|127] "degrees" IPMA_ADAS + SG_ TrlrAidTrlrId_No_Rq : 63|4@0+ (1,0) [0|15] "unitless" GWM + SG_ TrlrAidTrgtId_No_Rq : 44|5@0+ (1,0) [0|31] "unitless" IPMA_ADAS + SG_ TrlrAidSetup_D2_Stat : 47|3@0+ (1,0) [0|7] "SED" IPMA_ADAS + SG_ TrlrAidEnbl_D2_Stat : 31|3@0+ (1,0) [0|7] "SED" ABS_ESC,IPMA_ADAS,GWM,PCM,ECM_Diesel + SG_ TrlrAidMsgTxt_D2_Rq : 14|6@0+ (1,0) [0|63] "SED" IPMA_ADAS,GWM,ABS_ESC + SG_ EsaOn_B_Stat : 23|1@0+ (1,0) [0|1] "SED" GWM + SG_ HitchToTrlrAxle_L_Calc : 7|9@0+ (0.0254,0) [0|12.9794] "meter" IPMA_ADAS + SG_ SelDrvMdeSte_D_Stat : 17|2@0+ (1,0) [0|3] "SED" ABS_ESC + +BO_ 972 Lane_Assist_Data3_FD1: 8 PSCM + SG_ LatCtlSte_D_Stat : 18|3@0+ (1,0) [0|7] "SED" IPMA_ADAS,GWM + SG_ LatCtlLim_D_Stat : 33|2@0+ (1,0) [0|3] "SED" IPMA_ADAS,GWM + SG_ LatCtlCpblty_D_Stat : 39|2@0+ (1,0) [0|3] "SED" IPMA_ADAS,GWM + SG_ LatCtlCpbltyDStat_No_Cnt : 37|4@0+ (1,0) [0|15] "Unitless" IPMA_ADAS,GWM + SG_ LatCtlCpbltyDStat_No_Cs : 47|8@0+ (1,0) [0|255] "Unitless" IPMA_ADAS,GWM + SG_ TrlrAn_An_TrgtCalc : 31|8@0+ (1,-128) [-128|127] "degrees" IPMA_ADAS + SG_ LsmcBrkDecelEnbl_D_Rq : 1|2@0+ (1,0) [0|3] "SED" ABS_ESC + SG_ TjaHandsOnCnfdnc_B_Est : 3|1@0+ (1,0) [0|1] "SED" IPMA_ADAS + SG_ LaHandsOff_B_Actl : 7|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,GWM + SG_ LaActDeny_B_Actl : 6|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,GWM + SG_ LaActAvail_D_Actl : 5|2@0+ (1,0) [0|3] "SED" IPMA_ADAS,GWM + SG_ LsmcBrk_Tq_Rq : 15|13@0+ (4,0) [0|32764] "Nm" ABS_ESC + +BO_ 130 EPAS_INFO: 8 PSCM + SG_ TrlrHitchLamp_D_Rqst : 24|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,GWM + SG_ VehVTrlrAid_B_Rq : 25|1@0+ (1,0) [0|1] "SED" PCM_HEV,GWM,ECM_Diesel,PCM + SG_ Veh_V_RqMxTrlrAid : 63|8@0+ (0.1,0) [0|25.5] "km/h" PCM_HEV,GWM,ECM_Diesel,PCM + SG_ DrvSteActv_B_Stat : 10|1@0+ (1,0) [0|1] "SED" GWM,ABS_ESC + SG_ DrvSte_Tq_Actl : 47|8@0+ (0.0625,-8) [-8|7.8125] "Nm" GWM,ABS_ESC + SG_ SteMdule_D_Stat : 55|3@0+ (1,0) [0|7] "SED" GWM + SG_ SteMdule_U_Meas : 39|8@0+ (0.05,6) [6|18.7] "Volts" GWM + SG_ SteMdule_I_Est : 21|12@0+ (0.05,-64) [-64|140.7] "Amps" GWM + SG_ EPAS_Failure : 9|2@0+ (1,0) [0|3] "SED" IPMA_ADAS,GWM + SG_ SteeringColumnTorque : 7|8@0+ (0.0625,-8) [-8|7.8125] "Nm" GWM,IPMA_ADAS,ABS_ESC + SG_ SAPPAngleControlStat6 : 15|1@0+ (1,0) [0|1] "SED" GWM,IPMA_ADAS + SG_ SAPPAngleControlStat5 : 14|1@0+ (1,0) [0|1] "SED" GWM,IPMA_ADAS + SG_ SAPPAngleControlStat4 : 13|1@0+ (1,0) [0|1] "SED" GWM,IPMA_ADAS + SG_ SAPPAngleControlStat3 : 12|1@0+ (1,0) [0|1] "SED" GWM,IPMA_ADAS + SG_ SAPPAngleControlStat2 : 11|1@0+ (1,0) [0|1] "SED" GWM,IPMA_ADAS + SG_ SAPPAngleControlStat1 : 23|2@0+ (1,0) [0|3] "SED" GWM,IPMA_ADAS + +BO_ 126 SteeringPinion_Data: 8 PSCM + SG_ StePw_B_Rq : 23|1@0+ (1,0) [0|1] "SED" GWM,ECM_Diesel,PCM + SG_ StePinRelInit_An_Sns : 7|16@0+ (0.1,-3200) [-3200|3353.3] "degrees" VDM,IPMA_ADAS,GWM,ECM_Diesel,PCM,PCM_HEV,ABS_ESC,TCCM + SG_ StePinCompAnEst_D_Qf : 43|2@0+ (1,0) [0|3] "SED" VDM,CMR_DSMC,IPMA_ADAS,TCM_DSL,ECM_Diesel,PCM,PCM_HEV,ABS_ESC,TCCM,GWM + SG_ StePinComp_An_Est : 22|15@0+ (0.1,-1600) [-1600|1676.7] "degrees" VDM,CMR_DSMC,IPMA_ADAS,TCM_DSL,ECM_Diesel,PCM,PCM_HEV,ABS_ESC,TCCM,GWM + SG_ StePinAn_No_Cs : 39|8@0+ (1,0) [0|255] "Unitless" VDM,ABS_ESC,TCCM,GWM + SG_ StePinAn_No_Cnt : 47|4@0+ (1,0) [0|15] "unitless" VDM,TCCM,GWM,ABS_ESC + +BO_ 133 SteeringPinion_Data_Alt: 8 PSCM + SG_ StePw_B_Rq : 23|1@0+ (1,0) [0|1] "SED" GWM,ECM_Diesel,PCM + SG_ StePinRelInit_An_Sns : 7|16@0+ (0.1,-3200) [-3200|3353.3] "degrees" VDM,IPMA_ADAS,GWM,ECM_Diesel,PCM,PCM_HEV,ABS_ESC,TCCM + SG_ StePinCompAnEst_D_Qf : 43|2@0+ (1,0) [0|3] "SED" VDM,CMR_DSMC,IPMA_ADAS,TCM_DSL,ECM_Diesel,PCM,PCM_HEV,ABS_ESC,TCCM,GWM + SG_ StePinComp_An_Est : 22|15@0+ (0.1,-1600) [-1600|1676.7] "degrees" VDM,CMR_DSMC,IPMA_ADAS,TCM_DSL,ECM_Diesel,PCM,PCM_HEV,ABS_ESC,TCCM,GWM + SG_ StePinAn_No_Cs : 39|8@0+ (1,0) [0|255] "Unitless" VDM,ABS_ESC,TCCM,GWM + SG_ StePinAn_No_Cnt : 47|4@0+ (1,0) [0|15] "unitless" VDM,TCCM,GWM,ABS_ESC + +BO_ 1430 ABS_AutoSar_NetworkMgt: 8 ABS_ESC + SG_ ABS_GWOnBoardTester : 39|8@0+ (1,0) [0|255] "unitless" GWM + SG_ ABS_GWNMProxy : 47|8@0+ (1,0) [0|255] "unitless" GWM + SG_ ABS_AutoSarNMReserved4 : 63|8@0+ (1,0) [0|255] "unitless" GWM + SG_ ABS_AutoSarNMReserved3 : 55|8@0+ (1,0) [0|255] "unitless" GWM + SG_ ABS_AutoSarNMReserved2 : 31|8@0+ (1,0) [0|255] "unitless" GWM + SG_ ABS_AutoSarNMReserved1 : 23|8@0+ (1,0) [0|255] "unitless" GWM + SG_ ABS_AutoSarNMNodeId : 7|8@0+ (1,0) [0|255] "unitless" GWM + SG_ ABS_AutoSarNMControl : 15|8@0+ (1,0) [0|255] "unitless" GWM + +BO_ 1200 ABS_BrkBst_Data: 8 ABS_ESC + SG_ BrkHold_D_Stat : 34|3@0+ (1,0) [0|7] "SED" ECM_Diesel,GWM,IPMA_ADAS,PCM,PCM_HEV + SG_ HsaTrnAout_Tq_Rq : 23|16@0+ (4,-131072) [-131072|131060] "Nm" GWM + SG_ BrkBstrVac_P_Actl : 7|7@0+ (8,0) [0|1008] "Millibar" ECM_Diesel,PCM,PCM_HEV,GWM + SG_ YawStabilityIndex : 0|9@0+ (1,-256) [-256|255] "%" VDM,IPMA_ADAS,PSCM,GWM + SG_ BrkTot_Tq_RqDrv : 47|13@0+ (4,0) [0|32760] "Nm" IPMA_ADAS,ECM_Diesel,PCM,PCM_HEV,GWM,TCCM,PSCM + SG_ BrkTotTqRqDrv_No_Cnt : 39|4@0+ (1,0) [0|15] "unitless" ECM_Diesel,PCM,PCM_HEV,GWM + SG_ BrkTotTqRqDrv_No_Cs : 63|8@0+ (1,0) [0|255] "unitless" ECM_Diesel,PCM,PCM_HEV,GWM + SG_ HsaStat_D_Dsply : 50|3@0+ (1,0) [0|7] "SED" GWM + +BO_ 1102 SelectDriveModeData2: 8 ABS_ESC + SG_ SelDrvMdePos12_D_Stat : 34|5@0+ (1,0) [0|31] "SED" GWM + SG_ SelDrvMdePos11_D_Stat : 45|5@0+ (1,0) [0|31] "SED" GWM + SG_ SelDrvMdePos10_D_Stat : 55|5@0+ (1,0) [0|31] "SED" GWM + SG_ SelDrvMdePos09_D_Stat : 50|5@0+ (1,0) [0|31] "SED" GWM + SG_ SelDrvMdePos08_D_Stat : 61|5@0+ (1,0) [0|31] "SED" GWM + SG_ SelDrvMdePos07_D_Stat : 39|5@0+ (1,0) [0|31] "SED" GWM + SG_ SelDrvMdePos06_D_Stat : 29|5@0+ (1,0) [0|31] "SED" GWM + SG_ SelDrvMdePos05_D_Stat : 18|5@0+ (1,0) [0|31] "SED" GWM + SG_ SelDrvMdePos04_D_Stat : 23|5@0+ (1,0) [0|31] "SED" GWM + SG_ SelDrvMdePos03_D_Stat : 13|5@0+ (1,0) [0|31] "SED" GWM + SG_ SelDrvMdePos02_D_Stat : 2|5@0+ (1,0) [0|31] "SED" GWM + SG_ SelDrvMdePos01_D_Stat : 7|5@0+ (1,0) [0|31] "SED" GWM + +BO_ 1056 SelectDriveModeData: 8 ABS_ESC + SG_ AutoEpbMsgTxt_D_Rq : 58|3@0+ (1,0) [0|7] "SED" GWM + SG_ AutoEpbDsply_D_Stat : 37|2@0+ (1,0) [0|3] "SED" GWM + SG_ AutoEpbButtnOn_B_Stat : 48|1@0+ (1,0) [0|1] "SED" GWM + SG_ SelDrvMdePos12_B_Avail : 54|1@0+ (1,0) [0|1] "SED" GWM + SG_ SelDrvMdePos11_B_Avail : 55|1@0+ (1,0) [0|1] "SED" GWM + SG_ SelDrvMdePos10_B_Avail : 40|1@0+ (1,0) [0|1] "SED" GWM + SG_ SelDrvMdePos09_B_Avail : 41|1@0+ (1,0) [0|1] "SED" GWM + SG_ SelDrvMdePos08_B_Avail : 42|1@0+ (1,0) [0|1] "SED" GWM + SG_ SelDrvMdePos07_B_Avail : 43|1@0+ (1,0) [0|1] "SED" GWM + SG_ SelDrvMdePos06_B_Avail : 44|1@0+ (1,0) [0|1] "SED" GWM + SG_ SelDrvMdePos05_B_Avail : 45|1@0+ (1,0) [0|1] "SED" GWM + SG_ SelDrvMdePos04_B_Avail : 46|1@0+ (1,0) [0|1] "SED" GWM + SG_ SelDrvMdePos03_B_Avail : 47|1@0+ (1,0) [0|1] "SED" GWM + SG_ SelDrvMdePos02_B_Avail : 32|1@0+ (1,0) [0|1] "SED" GWM + SG_ SelDrvMdePos01_B_Avail : 24|1@0+ (1,0) [0|1] "SED" GWM + SG_ ActvDrvMde_D2_Stat : 53|5@0+ (1,0) [0|31] "SED" IPMA_ADAS,GWM + SG_ SelDrvMde_D2_Rq : 63|5@0+ (1,0) [0|31] "SED" GWM + SG_ SelDrvMdePt_D_Rq : 31|5@0+ (1,0) [0|31] "SED" ECM_Diesel,PCM,PCM_HEV,GWM + SG_ SelDrvMdeMsgTxt_D_Rq : 19|4@0+ (1,0) [0|15] "SED" GWM + SG_ SelDrvMde_D_Stat : 26|2@0+ (1,0) [0|3] "SED" GWM + SG_ AwdMde_D_RqBrk : 35|3@0+ (1,0) [0|7] "SED" GWM + +BO_ 1054 BrakeSysFeatures_3: 8 ABS_ESC + SG_ AirDamUp_B_RqBrk : 32|1@0+ (1,0) [0|1] "SED" ECM_Diesel,PCM_HEV,PCM + SG_ RbaBrk_D_Stat : 63|2@0+ (1,0) [0|3] "SED" IPMA_ADAS,GWM + SG_ SelDrvMdeChassis2_D_Rq : 45|5@0+ (1,0) [0|31] "SED" PSCM,GWM + SG_ TrailCtl_D_Stat : 55|3@0+ (1,0) [0|7] "SED" TCCM,PCM,GWM + SG_ TrailCtlMsgTxt_D_Rq : 52|4@0+ (1,0) [0|15] "SED" GWM + SG_ BrkBstrVac_D_Stat : 18|2@0+ (1,0) [0|3] "SED" ECM_Diesel,PCM,PCM_HEV,GWM + SG_ DrvSlipCtlOffLamp_D_Rq : 23|2@0+ (1,0) [0|3] "SED" GWM + SG_ DrvSlipCtlMdeMsg_D_Rq : 13|5@0+ (1,0) [0|31] "SED" GWM + SG_ AutoHoldMsgTxt_D_Rq : 4|4@0+ (1,0) [0|15] "SED" GWM + SG_ CtaBrk_D_Stat : 47|2@0+ (1,0) [0|3] "SED" IPMA_ADAS,GWM + SG_ SelDrvMdeAwd_D_Rq : 29|5@0+ (1,0) [0|31] "SED" TCCM,GWM + SG_ AutoHoldSwMde_B_Ind : 0|1@0+ (1,0) [0|1] "SED" GWM + SG_ AutoHoldMde_D_Ind : 15|2@0+ (1,0) [0|3] "SED" GWM + SG_ SelDrvMdeChassis_D_Rq : 39|5@0+ (1,0) [0|31] "SED" VDM,GWM + SG_ ApaBrk_D_Stat : 34|2@0+ (1,0) [0|3] "SED" ECM_Diesel,IPMA_ADAS,PCM,PCM_HEV,GWM + +BO_ 1046 BrakeSysFeatures_2: 8 ABS_ESC + SG_ HsaMde_D_Mem : 33|2@0+ (1,0) [0|3] "SED" GWM + SG_ BrkBstrVac_B_Rq : 27|1@0+ (1,0) [0|1] "Discrete" ECM_Diesel,PCM,PCM_HEV,GWM + SG_ HdcMde_D_Actl : 31|3@0+ (1,0) [0|7] "SED" GWM + SG_ RearDiffLck_Tq2_RqMx : 51|12@0+ (4,0) [0|16376] "Nm" GWM + SG_ TRLR_SWAY_EVNT_IN_PROG : 25|1@0+ (1,0) [0|1] "SED" GWM + SG_ TRLR_SWAY_CONFIG_STAT : 26|1@0+ (1,0) [0|1] "SED" GWM + SG_ TCMode : 15|1@0+ (1,0) [0|1] "SED" VDM,IPMA_ADAS,ECM_Diesel,PCM,PCM_HEV,GWM + SG_ DrvSlipCtlLamp_D_Rq : 42|2@0+ (1,0) [0|3] "SED" VDM,IPMA_ADAS,ECM_Diesel,PCM,PCM_HEV,GWM + SG_ Abs_B_Falt : 5|1@0+ (1,0) [0|1] "SED" ECM_Diesel,PCM,PCM_HEV,GWM + SG_ DrvSlipCtlMde_D_Ind : 44|2@0+ (1,0) [0|3] "SED" TCCM,IPMA_ADAS,ECM_Diesel,PCM,PCM_HEV,GWM + SG_ DrvAntiLckLamp_D_Rq : 55|2@0+ (1,0) [0|3] "SED" ECM_Diesel,GWM,IPMA_ADAS + SG_ BpedMove_No_Cnt : 3|4@0+ (1,0) [0|15] "Unitless" ECM_Diesel,GWM + SG_ StabCtlBrk_B_Avail : 4|1@0+ (1,0) [0|1] "SED" VDM,TCCM,GWM + SG_ DrvHdcWarnInfo_D_Rq : 35|2@0+ (1,0) [0|3] "SED" GWM + SG_ DrvHdcMsg_D_Rq : 10|3@0+ (1,0) [0|7] "SED" GWM + SG_ DrvHdcLampInfo_D_Rq : 12|2@0+ (1,0) [0|3] "SED" GWM + SG_ BpedMove_D_Actl : 7|2@0+ (1,0) [0|3] "SED" ECM_Diesel,GWM + SG_ ChimeBrk_B_Rq : 14|1@0+ (1,0) [0|1] "SED" GWM + SG_ BrkLamp_B_Rq : 13|1@0+ (1,0) [0|1] "SED" GWM + SG_ HILL_DESC_MC : 47|3@0+ (1,0) [0|7] "SED" GWM + SG_ RearDiffElckrOpen_B_Rq : 40|1@0+ (1,0) [0|1] "SED" GWM,TCCM + +BO_ 1045 BrakeSysFeatures: 8 ABS_ESC + SG_ VehStab_D_Stat : 55|4@0+ (1,0) [0|15] "SED" TCCM,PCM_HEV,PCM,GWM + SG_ BrkFluidLvl_D_Stat : 17|2@0+ (1,0) [0|3] "SED" GWM + SG_ LsmcBrkDecel_D_Stat : 39|3@0+ (1,0) [0|7] "SED" PSCM,GWM + SG_ VehYawNonLin_W_Rq : 51|12@0+ (0.03663,-75) [-75|74.92659] "deg/s" ECM_Diesel,GWM + SG_ VehYawLin_W_Rq : 35|12@0+ (0.03663,-75) [-75|74.92659] "deg/s" ECM_Diesel,GWM + SG_ VehVActlBrk_No_Cs : 31|8@0+ (1,0) [0|255] "Unitless" TCCM,CMR_DSMC,SOBDMC_HPCM_FD1,ECM_Diesel,PCM,PCM_HEV,PSCM,TCM_DSL,GWM,IPMA_ADAS + SG_ Veh_V_ActlBrk : 7|16@0+ (0.01,0) [0|655.35] "kph" TCCM,CMR_DSMC,SOBDMC_HPCM_FD1,IPMA_ADAS,ECM_Diesel,PCM,PCM_HEV,PSCM,TCM_DSL,GWM + SG_ VehVActlBrk_No_Cnt : 21|4@0+ (1,0) [0|15] "Unitless" TCCM,CMR_DSMC,SOBDMC_HPCM_FD1,ECM_Diesel,PCM,PCM_HEV,PSCM,TCM_DSL,GWM,IPMA_ADAS + SG_ VehVActlBrk_D_Qf : 23|2@0+ (1,0) [0|3] "SED" TCCM,CMR_DSMC,SOBDMC_HPCM_FD1,IPMA_ADAS,ECM_Diesel,PCM,PCM_HEV,PSCM,TCM_DSL,GWM + +BO_ 1044 BrakeSnData_6: 8 ABS_ESC + SG_ StePinOffst_An_Est : 7|16@0+ (0.1,-3200) [-3200|3353.3] "degrees" GWM,PSCM + SG_ StePinOffst_No_Cs : 31|8@0+ (1,0) [0|255] "Unitless" GWM,PSCM + SG_ StePinOffst_No_Cnt : 21|4@0+ (1,0) [0|15] "unitless" GWM,PSCM + SG_ StePinOffst_D_Stat : 23|2@0+ (1,0) [0|3] "SED" GWM,PSCM + +BO_ 1042 TrailerBrakeData: 8 ABS_ESC + SG_ VehRol_An_Dsply : 31|7@0+ (1,-64) [-64|61] "degrees" GWM + SG_ VehPtch_An_Dsply : 23|7@0+ (1,-64) [-64|61] "degrees" GWM,TCCM + SG_ TrlrBrk_Pc_Rq : 14|7@0+ (1,0) [0|127] "percent" GWM + +BO_ 535 WheelSpeed: 8 ABS_ESC + SG_ WhlRr_W_Meas : 54|15@0+ (0.01,0) [0|327.65] "rad/s" VDM,IPMA_ADAS,GWM,ECM_Diesel,PCM,PCM_HEV,PSCM,TCCM,TCM_DSL + SG_ WhlRl_W_Meas : 38|15@0+ (0.01,0) [0|327.65] "rad/s" VDM,IPMA_ADAS,GWM,ECM_Diesel,PCM,PCM_HEV,PSCM,TCCM,TCM_DSL + SG_ WhlFr_W_Meas : 22|15@0+ (0.01,0) [0|327.65] "rad/s" VDM,IPMA_ADAS,GWM,ECM_Diesel,PCM,PCM_HEV,PSCM,TCCM,TCM_DSL + SG_ WhlFl_W_Meas : 6|15@0+ (0.01,0) [0|327.65] "rad/s" VDM,IPMA_ADAS,GWM,ECM_Diesel,PCM,PCM_HEV,PSCM,TCCM,TCM_DSL + +BO_ 534 WheelData: 8 ABS_ESC + SG_ BrkObdData_No_Actl : 63|8@0+ (1,0) [0|255] "unitless" SOBDMC_HPCM_FD1,GWM + SG_ BrkObdIndex_No_Actl : 53|6@0+ (1,0) [0|63] "unitless" SOBDMC_HPCM_FD1,GWM + SG_ WhlRotatRr_No_Cnt : 23|8@0+ (1,0) [0|255] "Unitless" IPMA_ADAS,GWM,PSCM + SG_ WhlDirRr_D_Actl : 33|2@0+ (1,0) [0|3] "SED" IPMA_ADAS,GWM,ECM_Diesel,PCM_HEV,PSCM + SG_ WhlDirRl_D_Actl : 39|2@0+ (1,0) [0|3] "SED" IPMA_ADAS,GWM,PSCM,ECM_Diesel,PCM_HEV + SG_ WhlDirFr_D_Actl : 37|2@0+ (1,0) [0|3] "SED" IPMA_ADAS,GWM,ECM_Diesel,PCM_HEV,PSCM + SG_ WhlDirFl_D_Actl : 35|2@0+ (1,0) [0|3] "SED" IPMA_ADAS,GWM,ECM_Diesel,PCM_HEV,PSCM + SG_ WhlRotatRl_No_Cnt : 31|8@0+ (1,0) [0|255] "Unitless" IPMA_ADAS,GWM,PSCM + SG_ WhlRotatFr_No_Cnt : 7|8@0+ (1,0) [0|255] "Unitless" IPMA_ADAS,GWM,PSCM + SG_ WhlRotatFl_No_Cnt : 15|8@0+ (1,0) [0|255] "Unitless" IPMA_ADAS,GWM,PSCM + +BO_ 532 DesiredTorqBrk_2: 8 ABS_ESC + SG_ RgenTqFalt_B_Actl : 59|1@0+ (1,0) [0|1] "SED" GWM,PCM_HEV + SG_ RgenBrkDynoMde_B_Actl : 58|1@0+ (1,0) [0|1] "SED" GWM,PCM_HEV + SG_ PrplWhlTqRqMn_No_Cs : 55|8@0+ (1,0) [0|255] "Unitless" GWM,ECM_Diesel,PCM,PCM_HEV + SG_ PrplWhlTot_Tq_RqMn : 7|16@0+ (4,-131072) [-131072|131068] "Nm" GWM,ECM_Diesel,PCM,PCM_HEV + SG_ PrplWhlTqRqMn_No_Cnt : 63|4@0+ (1,0) [0|15] "Unitless" GWM,ECM_Diesel,PCM,PCM_HEV + +BO_ 531 DesiredTorqBrk: 8 ABS_ESC + SG_ VehStop_D_Stat : 28|2@0+ (1,0) [0|3] "SED" IPMA_ADAS,GWM + SG_ TracCtlPtActv_B_Actl : 31|1@0+ (1,0) [0|1] "SED" VDM,IPMA_ADAS,TCCM,ECM_Diesel,PCM,PCM_HEV,TCM_DSL,GWM + SG_ LscmbbMntr_B_Err : 17|1@0+ (1,0) [0|1] "SED" GWM + SG_ LscmbbBrkDis_B_Actl : 19|1@0+ (1,0) [0|1] "SED" GWM + SG_ LscmbbDeny_B_ActlBrk : 18|1@0+ (1,0) [0|1] "SED" GWM + SG_ PrkBrkYwLamp_D_Rq : 38|2@0+ (1,0) [0|3] "SED" GWM + SG_ PrkBrkRedLamp_D_Rq : 30|2@0+ (1,0) [0|3] "SED" GWM + SG_ LscmbbBrkDecel_B_Actl : 20|1@0+ (1,0) [0|1] "SED" GWM + SG_ AbsActv_B_Actl : 45|1@0+ (1,0) [0|1] "SED" VDM,SOBDMC_HPCM_FD1,IPMA_ADAS,ECM_Diesel,PCM,PCM_HEV,TCM_DSL,PSCM,GWM + SG_ StabCtlBrkActv_B_Actl : 23|1@0+ (1,0) [0|1] "SED" VDM,IPMA_ADAS,PCM,PCM_HEV,TCM_DSL,PSCM,TCCM,ECM_Diesel,GWM + SG_ CmbbBrkPrchg_B_Actl : 59|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,GWM + SG_ CmbbBrkDecel_B_Actl : 58|1@0+ (1,0) [0|1] "SED" CMR_DSMC,IPMA_ADAS,GWM + SG_ CmbbBaSensInc_B_Actl : 57|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,GWM + SG_ AccBrkWarm_B_Actl : 63|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,GWM + SG_ AccBrkTotTqMn_B_Actl : 62|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,GWM + SG_ AccBrkPrchgActv_B_Actl : 61|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,GWM + SG_ AccBrkDis_B_Actl : 44|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,GWM + SG_ AccBrkDeny_B_Actl : 42|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,ECM_Diesel,PCM,PCM_HEV,GWM + SG_ AccBrkActv_B_Actl : 43|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,ECM_Diesel,GWM + SG_ PrplDrgCtlActv_B_Actl : 46|1@0+ (1,0) [0|1] "SED" ECM_Diesel,PCM,PCM_HEV,TCM_DSL,GWM + SG_ PrplWhlTot_Tq_RqMx : 7|16@0+ (4,-131072) [-131072|131068] "Nm" ECM_Diesel,PCM,PCM_HEV,TCCM,GWM + SG_ LscmbbBaSensInc_B_Actl : 21|1@0+ (1,0) [0|1] "SED" GWM + SG_ CmbbBrkDis_B_Actl : 56|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,PSCM,GWM + SG_ CmbbDeny_B_ActlBrk : 60|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,PSCM,ECM_Diesel,PCM,PCM_HEV,GWM + SG_ CcDis_B_Cmd : 47|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV,GWM + SG_ VehLongOvrGnd_A_Est : 41|10@0+ (0.035,-17.9) [-17.9|17.835] "m/s^2" VDM,IPMA_ADAS,TCCM,GWM + SG_ LscmbBrkPrchg_B_Actl : 16|1@0+ (1,0) [0|1] "SED" GWM + SG_ AccStopActv_B_ActlBrk : 22|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,ECM_Diesel,PCM,PCM_HEV,GWM + SG_ AccDis_B_ActlEpb : 32|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,GWM + SG_ PrkBrkMsgTxt_D_Rq : 36|4@0+ (1,0) [0|15] "SED" GWM + SG_ PrkBrkStatus : 26|3@0+ (1,0) [0|7] "SED" IPMA_ADAS,ECM_Diesel,PCM,PCM_HEV,TCM_DSL,GWM + +BO_ 136 ActiveFronSteering_Req: 8 ABS_ESC + SG_ SteWhlBrkOffst_An_Rq : 7|15@0+ (0.1,-1600) [-1600|1676.5] "degrees" GWM + SG_ SteWhlBrkAnRq_No_Cs : 23|8@0+ (1,0) [0|255] "Unitless" GWM + SG_ SteWhlBrkAnRq_No_Cnt : 31|4@0+ (1,0) [0|15] "Unitless" GWM + +BO_ 125 BrakeSnData_4: 8 ABS_ESC + SG_ VehRolComp_W_Actl : 51|12@0+ (0.03663,-75) [-75|74.92659] "degrees/sec" VDM,GWM + SG_ VehVertComp_A_Actl : 45|10@0+ (0.035,-17.9) [-17.9|17.835] "m/s^2" VDM,PSCM,GWM + SG_ BrkTotTqRqArb_No_Cs : 23|8@0+ (1,0) [0|255] "Unitless" ECM_Diesel,PCM,PCM_HEV,GWM + SG_ BrkTotTqRqArb_No_Cnt : 31|4@0+ (1,0) [0|15] "Unitless" ECM_Diesel,PCM,PCM_HEV,GWM + SG_ BrkTot_Tq_RqArb : 4|13@0+ (4,0) [0|32756] "Nm" VDM,IPMA_ADAS,ECM_Diesel,PCM,PCM_HEV,TCM_DSL,PSCM,GWM + SG_ BrkTot_Tq_Actl : 27|13@0+ (4,0) [0|32756] "Nm" ECM_Diesel,PCM,PCM_HEV,PSCM,GWM,TCCM + SG_ HsaStat_D_Actl : 7|3@0+ (1,0) [0|7] "SED" ECM_Diesel,PCM,PCM_HEV,TCM_DSL,GWM + +BO_ 119 BrakeSnData_3: 8 ABS_ESC + SG_ VehTrvlDir_D_Stat : 23|3@0+ (1,0) [0|7] "SED" GWM + SG_ VehOverGnd_V_Est : 7|16@0+ (0.01,0) [0|655.33] "kph" VDM,IPMA_ADAS,TCCM,PSCM,GWM + SG_ VehLongComp_A_Actl : 49|10@0+ (0.035,-17.9) [-17.9|17.835] "m/s^2" VDM,ECM_Diesel,PCM,PCM_HEV,TCM_DSL,PSCM,GWM + SG_ VehLatComp_A_Actl : 43|10@0+ (0.035,-17.9) [-17.9|17.835] "m/s^2" VDM,ECM_Diesel,PCM,PCM_HEV,TCM_DSL,PSCM,TCCM,GWM + SG_ VehYawComp_W_Actl : 19|12@0+ (0.03663,-75) [-75|74.92659] "deg/s" VDM,TCCM,IPMA_ADAS,ECM_Diesel,PCM,PCM_HEV,TCM_DSL,PSCM,GWM + +BO_ 118 BrakeSnData_5: 8 ABS_ESC + SG_ BrkCtrFnd_B_Stat : 39|1@0+ (1,0) [0|1] "SED" GWM + SG_ AwdLck_Tq_RqMx : 35|12@0+ (1,0) [0|4095] "Nm" GWM,TCCM + SG_ AwdLck_Tq_RqMn : 51|12@0+ (1,0) [0|4095] "Nm" GWM,TCCM + SG_ DrvSte_D_Stat : 19|4@0+ (1,0) [0|15] "SED" PSCM,GWM + SG_ DrvSte_Tq_Rq : 31|8@0+ (0.0625,-8) [-8|7.8125] "Nm" PSCM,GWM + SG_ EmgcyBrkLamp_D_Rq : 21|2@0+ (1,0) [0|3] "SED" GWM + SG_ StopLamp_B_RqBrk : 7|1@0+ (1,0) [0|1] "SED" GWM + +BO_ 73 Global_PATS_SubTarget: 8 ABS_ESC + SG_ immoSubTarget1Data_T1 : 15|40@0+ (1,0) [0|1099511627775] "Encrypted" ECM_Diesel,GWM,PCM,PCM_HEV + SG_ immoSubTarget1Cmd_T1 : 7|3@0+ (1,0) [0|7] "SED" ECM_Diesel,GWM,PCM,PCM_HEV + +BO_ 1034 GGCC_Config_Mgmt_ID_1_FD1: 8 GWM + SG_ VehicleGGCCData : 7|64@0+ (1,0) [0|1.84467E+019] "mixed" VDM,CMR_DSMC,SOBDMC_HPCM_FD1,IPMA_ADAS,ABS_ESC,ECM_Diesel,PCM,PCM_HEV,PSCM,TCCM,TCM_DSL + +BO_ 1440 TCM_AutoSar_NetworkMgt: 8 TCM_DSL + SG_ TCM_GWOnBoardTester : 39|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ TCM_GWNMProxy : 47|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ TCM_AutoSarNMReserved4 : 63|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ TCM_AutoSarNMReserved3 : 55|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ TCM_AutoSarNMReserved2 : 31|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ TCM_AutoSarNMReserved1 : 23|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ TCM_AutoSarNMNodeId : 7|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ TCM_AutoSarNMControl : 15|8@0+ (1,0) [0|255] "unitless" Vector__XXX + +BO_ 561 TransGearData_2: 8 TCM_DSL + SG_ TrnMsgTxt2_D_Rq : 39|3@0+ (1,0) [0|7] "SED" GWM + SG_ TrnMsgTxt_D_Rq : 23|4@0+ (1,0) [0|15] "SED" GWM + +BO_ 330 TransData_3: 8 TCM_DSL + SG_ TrnAout_W_ActlUnfilt : 22|15@0+ (0.1,0) [0|3276.5] "rad/s" ECM_Diesel,GWM + +BO_ 1090 MtrTrac_Data2_FD1: 8 PCM_HEV + SG_ Mtr2State_D_ActlMntr : 31|3@0+ (1,0) [0|7] "SED" GWM + SG_ Inv1Ain_I_ActlMntr : 7|15@0+ (0.1,-1000) [-1000|2276.5] "ampere" GWM + SG_ HybVehMde_D_ActlMntr : 20|3@0+ (1,0) [0|7] "SED" GWM + SG_ ChrgStat_D_ActlMntr : 23|3@0+ (1,0) [0|7] "SED" GWM + SG_ VehElRnge_L_Dsply : 28|12@0+ (0.1,0) [0|409.3] "kilometer" GWM + +BO_ 870 Cluster_HEV_Data3_FD1: 8 PCM_HEV + SG_ EngMdeMsgTxt_D_Rq : 12|3@0+ (1,0) [0|7] "SED" GWM + SG_ EffRgenThres_Pc_Dsply : 9|10@0+ (0.1,-102.3) [-102.3|0] "percent" GWM + SG_ RngPerChrgInst_L_Dsply : 45|12@0+ (0.1,0) [0|409.3] "km" GWM + +BO_ 869 Cluster_HEV_Data2: 8 PCM_HEV + SG_ PwrFlowTxt_D_Dsply : 21|4@0+ (1,0) [0|15] "SED" GWM + SG_ EngOnMsg2_D_Dsply : 54|5@0+ (1,0) [0|31] "SED" GWM + SG_ EngOnMsg1_D_Dsply : 38|5@0+ (1,0) [0|31] "SED" GWM + SG_ FuelMaintMde_D_Dsply : 23|2@0+ (1,0) [0|3] "SED" GWM + SG_ EffWhlLvl2_Pc_Dsply : 17|10@0+ (0.2,-102.2) [-102.2|102.4] "percent" GWM + SG_ EffWhlThres_Pc_Dsply : 49|10@0+ (0.1,0) [0|102.3] "percent" GWM + SG_ EngPwLvl_Pc_Dsply : 1|10@0+ (0.1,0) [0|102.3] "percent" GWM + SG_ EngActv_B_Dsply : 2|1@0+ (1,0) [0|1] "SED" GWM + SG_ EffWhlThresOn_B_Dsply : 3|1@0+ (1,0) [0|1] "SED" GWM + +BO_ 606 HEV_Powertrain_Data8_FD1: 8 PCM_HEV + SG_ ElVehLaterMde_D_Stat : 7|2@0+ (1,0) [0|3] "SED" GWM + SG_ ElVehNowMde_D_Stat : 5|2@0+ (1,0) [0|3] "SED" GWM + +BO_ 374 PowertrainData_10: 8 PCM + SG_ GearEngag_D_Actl : 47|3@0+ (1,0) [0|7] "SED" GWM + SG_ TrnRng_D_Rq : 27|4@0+ (1,0) [0|15] "SED" SOBDMC_HPCM_FD1,ABS_ESC,IPMA_ADAS,PSCM,ECM_Diesel,GWM + SG_ TrnPrkSys_D_Actl : 31|4@0+ (1,0) [0|15] "SED" SOBDMC_HPCM_FD1,ABS_ESC,IPMA_ADAS,ECM_Diesel,GWM + SG_ GearLvr_D_ActlDrv : 7|4@0+ (1,0) [0|15] "SED" SOBDMC_HPCM_FD1,ABS_ESC,IPMA_ADAS,TCCM,ECM_Diesel,GWM + SG_ GearPos_No_Cs : 23|8@0+ (1,0) [0|255] "unitless" SOBDMC_HPCM_FD1,IPMA_ADAS,ABS_ESC,ECM_Diesel,GWM + SG_ GearPos_D_Trg : 15|4@0+ (1,0) [0|15] "SED" SOBDMC_HPCM_FD1,IPMA_ADAS,ABS_ESC,TCCM,ECM_Diesel,GWM + SG_ GearPos_No_Cnt : 11|4@0+ (1,0) [0|15] "unitless" SOBDMC_HPCM_FD1,IPMA_ADAS,ABS_ESC,ECM_Diesel,GWM + SG_ TrnIgnOffDly_T_Rq : 39|8@0+ (4,0) [0|1020] "ms" GWM + SG_ GearPos_D_Actl : 3|4@0+ (1,0) [0|15] "SED" SOBDMC_HPCM_FD1,PSCM,IPMA_ADAS,ABS_ESC,ECM_Diesel,GWM + +BO_ 603 HEV_Powertrain_Data2: 8 PCM_HEV + SG_ WhlDirAvgDrv_D_Actl : 6|2@0+ (1,0) [0|3] "SED" ABS_ESC,IPMA_ADAS,GWM + SG_ PrplTqMnRgen_B_Actl : 7|1@0+ (1,0) [0|1] "SED" ABS_ESC,GWM + SG_ BattTracCnnct_D_Rq : 20|2@0+ (1,0) [0|3] "SED" GWM + +BO_ 602 HEV_Powertrain_Data: 8 PCM_HEV + SG_ HtrnWarnLamp_B_Dsply : 3|1@0+ (1,0) [0|1] "SED" GWM + SG_ HybPwLimOn_B_Stat : 7|1@0+ (1,0) [0|1] "SED" GWM + SG_ PwPckTqRdy_B_Dsply : 31|1@0+ (1,0) [0|1] "SED" GWM + +BO_ 1152 HEV_Powertrain_Data6: 8 PCM_HEV + SG_ BattTracDiagClr_B_Stat : 2|1@0+ (1,0) [0|1] "SED" GWM + SG_ EngTeHi_B_Actl : 5|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1,GWM + SG_ DcdcOn_B_Rq : 6|1@0+ (1,0) [0|1] "SED" GWM + SG_ ULoBattSpprtSustn_B_Rq : 7|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1,GWM + SG_ VehElEff_No_Avg : 15|7@0+ (10,-100) [-100|1150] "watt*hr/km" SOBDMC_HPCM_FD1,GWM + +BO_ 872 Cluster_HEV_Data5: 8 PCM_HEV + SG_ PlgActvArb_B_Dsply : 51|1@0+ (1,0) [0|1] "SED" GWM + SG_ HybMdeStat_D_Dsply : 39|3@0+ (1,0) [0|7] "SED" SOBDMC_HPCM_FD1,GWM + +BO_ 560 TransGearData: 8 TCM_DSL + SG_ SelDrvMdeSwtch_D_Stat3 : 15|2@0+ (1,0) [0|3] "SED" GWM,ABS_ESC + SG_ TrnSrvcRqd_B_Rq : 8|1@0+ (1,0) [0|1] "SED" GWM + SG_ TrnShifActv_B_Actl : 0|1@0+ (1,0) [0|1] "SED" GWM,ABS_ESC,ECM_Diesel + SG_ GearLvrPos_D_Actl : 12|4@0+ (1,0) [0|15] "SED" VDM,IPMA_ADAS,GWM,ABS_ESC,PSCM,TCCM,ECM_Diesel + SG_ GboxOil_Te_Actl : 39|8@0+ (1,-60) [-60|193] "degC" SOBDMC_HPCM_FD1,GWM,TCCM,ECM_Diesel + +BO_ 369 EngineData_1: 8 PCM + SG_ SeatWorkSrfc_B_Falt : 12|1@0+ (1,0) [0|1] "SED" GWM + SG_ TrnIpcDsplyRng2_D_Actl : 23|4@0+ (1,0) [0|15] "SED" GWM + SG_ TrnIpcDsplyRng_D_Stat : 9|2@0+ (1,0) [0|3] "SED" GWM + SG_ TrnIpcDsplyGear_D_Actl : 7|4@0+ (1,0) [0|15] "SED" GWM + SG_ TrnIpcDsplyMde_D_Stat : 3|2@0+ (1,0) [0|3] "SED" GWM + SG_ TrnIpcDsplyMde_D_Actl : 15|3@0+ (1,0) [0|7] "SED" GWM + SG_ TrnIpcDsplyGear_D_Stat : 1|2@0+ (1,0) [0|3] "SED" GWM + +BO_ 92 Gear_Shift_by_Wire_3: 8 PCM_HEV + SG_ TrnLvrV_D_Rq : 43|2@0+ (1,0) [0|3] "SED" GWM + SG_ TrnSbwSysHlth_D_Actl : 1|2@0+ (1,0) [0|3] "SED" GWM + SG_ TrnGearNtmAllow_B_Stat : 47|1@0+ (1,0) [0|1] "SED" GWM + SG_ TrnDtpCmd_D_Actl : 46|3@0+ (1,0) [0|7] "SED" GWM + SG_ GearSelLck_D_Rq : 41|2@0+ (1,0) [0|3] "SED" GWM + SG_ TrnGearCmd_No_Cs : 31|8@0+ (1,0) [0|255] "Unitless" GWM + SG_ TrnValidGear_D_Cnfm : 11|2@0+ (1,0) [0|3] "SED" GWM + SG_ TrnNtrlTowCmd_D_Actl : 6|2@0+ (1,0) [0|3] "SED" IPMA_ADAS,GWM,ABS_ESC + SG_ TrnGearCmd_Pc_ActlPt : 9|10@0+ (0.1,0) [0|102.2] "percent duty cycle" GWM + SG_ TrnGear_D_RqPt : 4|3@0+ (1,0) [0|7] "SED" GWM + SG_ TrnCmdState_B_Actl : 39|1@0+ (1,0) [0|1] "SED" GWM + SG_ TrnCmdCnt_B_Actl : 7|1@0+ (1,0) [0|1] "unitless" GWM + SG_ PrkBrkActv_D_RqTrnGear : 38|2@0+ (1,0) [0|3] "SED" GWM,ABS_ESC + SG_ TrnGearMsgTxt_D_Rq : 36|5@0+ (1,0) [0|31] "SED" GWM + SG_ TrnGearCmd_No_Cnt : 15|4@0+ (1,0) [0|15] "Unitless" GWM + +BO_ 2030 TesterPhysicalResSOBDMCFD1: 64 ECM_Diesel + SG_ TesterPhysicalResSOBDMC : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" TSTR + +BO_ 1087 Powertrain_Data_5: 8 PCM_HEV + SG_ BattRgenLoChrg_D_RqEng : 15|2@0+ (1,0) [0|3] "SED" GWM + SG_ AdasLcObtclAbrt_B_Stat : 0|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,GWM + SG_ BattRgenLoDChrg_D_RqEng : 13|2@0+ (1,0) [0|3] "SED" GWM + SG_ AirDamPos_D_Stat : 11|2@0+ (1,0) [0|3] "SED" GWM,ABS_ESC + SG_ FapLcInhbt_B_Rq : 1|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,GWM + SG_ FapLcStopHold_B_Rq : 2|1@0+ (1,0) [0|1] "SED" GWM,ABS_ESC + SG_ FapLcPrchgBrk_B_Rq : 3|1@0+ (1,0) [0|1] "SED" GWM,ABS_ESC + SG_ FapLcObstcl_B_Stat : 4|1@0+ (1,0) [0|1] "SED" GWM,IPMA_ADAS + SG_ FapLcMaxGrdInhbt_B_Stat : 5|1@0+ (1,0) [0|1] "SED" GWM,IPMA_ADAS + SG_ FapLcMaxGrdAbrt_B_Stat : 6|1@0+ (1,0) [0|1] "SED" GWM,IPMA_ADAS + SG_ FapLcActv_B_Stat : 7|1@0+ (1,0) [0|1] "SED" GWM,IPMA_ADAS + +BO_ 332 CGEA_Urea_Strategy: 8 ECM_Diesel + SG_ UreaLvlQlty_D_RqDsply : 51|3@0+ (1,0) [0|7] "SED" GWM + SG_ UreaLvlTxtWarn_D_Rq : 63|4@0+ (1,0) [0|15] "SED" GWM + SG_ UreaQltySysWarn_D_Rq : 59|3@0+ (1,0) [0|7] "SED" GWM + SG_ DieslPrtcWarn_D_Rq : 55|4@0+ (1,0) [0|15] "SED" GWM + SG_ UreaQltyFlg_B_RqDsply : 24|1@0+ (1,0) [0|1] "SED" GWM + SG_ UreaLvl_Pc_Actl : 47|8@0+ (0.4,0) [0|102] "percent" GWM + SG_ VehUreaRnge2_L_DsplyMx : 3|12@0+ (1,0) [0|4095] "kilometer" GWM + SG_ UreaQltySys_D_RqDsply : 27|3@0+ (1,0) [0|7] "SED" GWM + SG_ UreaLvlTxt_D_RqDsply : 31|4@0+ (1,0) [0|15] "SED" GWM + SG_ VehUreaWarn_V_DsplyMx : 23|7@0+ (1,0) [0|127] "km/h" GWM + +BO_ 1896 TesterPhysicalResABS: 64 ABS_ESC + SG_ TesterPhysicalResABS : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" TSTR + +BO_ 1889 TesterPhysicalReqTCCM: 64 TSTR + SG_ TesterPhysicalReqTCCM : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" TCCM + +BO_ 1888 TesterPhysicalReqABS: 64 TSTR + SG_ TesterPhysicalReqABS : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" ABS_ESC + +BO_ 1848 TesterPhysicalResPSCM: 64 PSCM + SG_ TesterPhysicalResPSCM : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" TSTR + +BO_ 1840 TesterPhysicalReqPSCM: 64 TSTR + SG_ TesterPhysicalReqPSCM : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" PSCM + +BO_ 1713 ABS_Rapid_Data_Response_2: 8 ABS_ESC + SG_ UUDTABSResponse2 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "unitless" TSTR + +BO_ 1712 ABS_Rapid_Data_Response_1: 8 ABS_ESC + SG_ UUDTABSResponse1 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "unitless" TSTR + +BO_ 2025 TesterPhysicalResTCM: 64 TCM_DSL + SG_ TesterPhysicalResTCM : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" TSTR + +BO_ 2024 TesterPhysicalResPCM: 64 PCM_HEV + SG_ TesterPhysicalResPCM : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" TSTR + +BO_ 2017 TesterPhysicalReqTCM: 64 TSTR + SG_ TesterPhysicalReqTCM : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" TCM_DSL + +BO_ 2016 TesterPhysicalReqPCM: 64 TSTR + SG_ TesterPhysicalReqPCM : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" ECM_Diesel,PCM,PCM_HEV + +BO_ 2015 TesterFunctionalReq_FD1: 64 TSTR + SG_ TesterFunctionalReq : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" VDM,CMR_DSMC,SOBDMC_HPCM_FD1,IPMA_ADAS,ECM_Diesel,PCM,PCM_HEV,TCCM,TCM_DSL,PSCM,ABS_ESC,GWM + +BO_ 1897 TesterPhysicalResTCCM: 64 TCCM + SG_ TesterPhysicalResTCCM : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" TSTR + +BO_ 1814 TesterPhysicalReqGWM_FD1: 64 TSTR + SG_ TesterPhysicalReqGWM_F1 : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" GWM + +BO_ 1701 TCM_Rapid_Data_Response_2: 8 TCM_DSL + SG_ UUDTTCMResponse2 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "unitless" TSTR + +BO_ 1700 TCM_Rapid_Data_Response_1: 8 TCM_DSL + SG_ UUDTTCMResponse1 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "unitless" TSTR + +BO_ 1697 PCM_Rapid_Data_Response_2: 8 PCM_HEV + SG_ UUDTPCMResponse2 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "unitless" TSTR + +BO_ 1696 PCM_Rapid_Data_Response_1: 8 PCM_HEV + SG_ UUDTPCMResponse1 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "unitless" TSTR + +BO_ 1429 PCM_AutoSar_NetworkMgmt: 8 PCM_HEV + SG_ PCM_GWOnBoardTester : 39|8@0+ (1,0) [0|255] "unitless" TCM_DSL + SG_ PCM_GWNMProxy : 47|8@0+ (1,0) [0|255] "unitless" TCM_DSL + SG_ PCM_AutoSarNMReserved4 : 63|8@0+ (1,0) [0|255] "unitless" TCM_DSL + SG_ PCM_AutoSarNMReserved3 : 55|8@0+ (1,0) [0|255] "unitless" TCM_DSL + SG_ PCM_AutoSarNMReserved2 : 31|8@0+ (1,0) [0|255] "unitless" TCM_DSL + SG_ PCM_AutoSarNMReserved1 : 23|8@0+ (1,0) [0|255] "unitless" TCM_DSL + SG_ PCM_AutoSarNMNodeId : 7|8@0+ (1,0) [0|255] "unitless" TCM_DSL + SG_ PCM_AutoSarNMControl : 15|8@0+ (1,0) [0|255] "unitless" TCM_DSL + +BO_ 1100 PowertrainData_9: 8 PCM_HEV + SG_ EngExhMdeQuiet_D2_Stat : 28|3@0+ (1,0) [0|7] "SED" GWM + SG_ HvacCmprLim_D_Stat : 34|3@0+ (1,0) [0|7] "SED" GWM + SG_ WakeAlarm1_T_Rq : 55|15@0+ (1,0) [0|32767] "minute" GWM + SG_ WakeAlarm1_B_Typ : 56|1@0+ (1,0) [0|1] "SED" GWM + SG_ Veh_V_DsplyTrailCtlSet : 47|6@0+ (0.5,0) [0|31] "unitless" GWM + SG_ TrailCtlPt_B_Falt : 36|2@0+ (1,0) [0|3] "SED" ABS_ESC,GWM + SG_ AutoTowAllw_D_StatMnu : 25|2@0+ (1,0) [0|3] "SED" GWM + SG_ AutoTowActv_B_Stat : 39|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,GWM + SG_ GrossTrainWeight_M_Est : 7|8@0+ (100,0) [0|25300] "kilogram" VDM,ABS_ESC,PSCM,IPMA_ADAS,TCCM,TCM_DSL,GWM + +BO_ 1098 EffDrvModeData: 8 ECM_Diesel + SG_ EdmVeh_V_Dsply : 31|5@0+ (5,0) [0|155] "km/h" GWM + SG_ EdmSailMdeOn_B_Stat : 25|1@0+ (1,0) [0|1] "SED" GWM + SG_ EdmPrev_Fe_Dsply : 23|8@0+ (0.1,0) [0|25.5] "litre/100km" GWM + SG_ EdmMsgTxt_D_Rq : 11|4@0+ (1,0) [0|15] "SED" GWM + SG_ EdmLamp_D_Dsply : 15|4@0+ (1,0) [0|15] "SED" GWM + SG_ EdmCurrent_Fe_Dsply : 7|8@0+ (0.1,0) [0|25.5] "litre/100km" GWM + SG_ EdmCmplnc_B_Dsply : 26|1@0+ (1,0) [0|1] "SED" GWM + SG_ EdmCmplnc_Pc_Dsply : 24|8@0+ (0.392157,0) [0|100.000035] "percent" GWM + +BO_ 1086 PowertrainData_3: 8 PCM_HEV + SG_ EngMnfld_P_Actl : 47|13@0+ (0.1,-206.8) [-206.8|612.3] "kilopascal" GWM + SG_ FuelPumpPwr_B_Rq : 20|1@0+ (1,0) [0|1] "SED" GWM + SG_ BattULoChrg_U_Cmd : 15|8@0+ (0.025,10.6) [10.6|16.975] "volt" GWM + SG_ ElLoadCtl_D_Rq : 23|3@0+ (1,0) [0|7] "SED" GWM + +BO_ 1071 Engine_Clutch_Data: 8 PCM_HEV + SG_ EngAout_N_Dsply : 52|13@0+ (2,0) [0|16382] "rpm" GWM + SG_ CluPdl_PcRate_Actl : 7|8@0+ (0.04,-5) [-5|5.2] "%/ms" GWM + SG_ CluPdlPosPcMeas_D_Qf : 11|2@0+ (1,0) [0|3] "SED" ABS_ESC,GWM + SG_ CluPdlPos_Pc_Meas : 9|10@0+ (0.1,0) [0|102.3] "%" ABS_ESC,GWM + SG_ EngAoutIdl_N_Ntrl : 31|11@0+ (2,0) [0|4094] "rpm" ABS_ESC,GWM + +BO_ 1069 PowertrainData_2: 8 PCM_HEV + SG_ SlMde_D_Stat : 57|2@0+ (1,0) [0|3] "SED" GWM + SG_ SlMde_D_RqDsply : 59|2@0+ (1,0) [0|3] "SED" GWM + SG_ IsaOffst_D_Stat : 63|4@0+ (1,0) [0|15] "SED" GWM + SG_ GrllShtrPos_D_Cmd : 55|4@0+ (1,0) [0|15] "SED" GWM + SG_ GrllShtrPos_B_Falt : 51|1@0+ (1,0) [0|1] "SED" GWM + SG_ ObdWarmUp_B_Complt : 12|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1,GWM + SG_ EngMsgTxt_D_Rq : 11|2@0+ (1,0) [0|3] "SED" GWM + SG_ EngClnt_Te_ActlDiag : 39|8@0+ (1,-40) [-40|215] "degC" SOBDMC_HPCM_FD1,TCM_DSL,GWM + SG_ EngLoad_Pc_CalcDiag : 47|8@0+ (0.392157,0) [0|100.000035] "%" SOBDMC_HPCM_FD1,TCM_DSL,GWM + SG_ EngAirIn_Te_Actl : 9|10@0+ (0.25,-128) [-128|127.25] "degC" GWM,TCM_DSL + SG_ ApedPos_Pc_ActlDiag : 31|8@0+ (0.392157,0) [0|100.000035] "%" SOBDMC_HPCM_FD1,TCM_DSL,GWM + +BO_ 1060 Powertrain_Data_4: 8 PCM_HEV + SG_ RearDiffOilTeWarn_B_Rq : 20|1@0+ (1,0) [0|1] "SED" GWM + SG_ RearDiffOil_Te_Actl : 15|9@0+ (1,-40) [-40|470] "degC" GWM + SG_ BpedDrvMsgTxt_B_Dsply : 0|1@0+ (1,0) [0|1] "SED" GWM + SG_ FuelLvl_Pc_DsplyEng : 41|10@0+ (0.108696,-5.217408) [-5.217408|105.9786] "percent" GWM + SG_ FuelLvlWarn_D_ActlEng : 19|3@0+ (1,0) [0|7] "SED" GWM + SG_ FuelRange_L_DsplyEng : 39|14@0+ (0.1,0) [0|1638.3] "kilometer" GWM + SG_ SelDrvMdePt_D_Stat : 25|2@0+ (1,0) [0|3] "SED" ABS_ESC,GWM + +BO_ 1057 PowertrainData_1: 8 PCM_HEV + SG_ FohEng_D_Rq : 1|2@0+ (1,0) [0|3] "SED" GWM + SG_ EngIdlShutDwnTxt_D_Rq : 17|2@0+ (1,0) [0|3] "SED" GWM + SG_ EngIdlShutDown_D_Stat : 9|2@0+ (1,0) [0|3] "SED" GWM + SG_ FUEL_ALCOHOL_PERCNT : 63|8@0+ (0.393700787,0) [0|99.999899898] "Percent" GWM + SG_ TrnTotTq_Rt_Est : 39|16@0+ (0.001,0) [0|65.533] "Unitless" GWM + SG_ TrnTotLss_Tq_Est : 31|8@0+ (0.5,0) [0|126.5] "Nm" GWM + SG_ ECMMILRequest : 3|2@0+ (1,0) [0|3] "SED" GWM + SG_ AirCondFluidHi_P_Actl : 55|8@0+ (0.125,0) [0|31.625] "bar" SOBDMC_HPCM_FD1,GWM + SG_ OilPressureWarning : 18|1@0+ (1,0) [0|1] "SED" GWM + SG_ VehVLimStat_D_Actl : 6|3@0+ (1,0) [0|7] "SED" GWM,TCM_DSL + SG_ VehVLimActv_B_Actl : 7|1@0+ (1,0) [0|1] "SED" GWM,TCM_DSL + SG_ CoolantFanStepAct : 23|5@0+ (1,0) [0|31] "Steps" GWM + +BO_ 1055 PowertrainData_7: 8 PCM_HEV + SG_ EcoCochInstNeg_B_Dsply : 53|1@0+ (1,0) [0|1] "SED" GWM + SG_ EcoCochShif_Pc_Dsply : 39|8@0+ (0.392157,0) [0|100.000035] "percent" GWM + SG_ EcoCochInst_Pc_Dsply : 47|10@0+ (0.1,0) [0|102.3] "percent" GWM + SG_ EcoCochIdlFuel_Pc_Dsply : 31|8@0+ (0.392157,0) [0|100.000035] "percent" GWM + SG_ EcoCochDecel_Pc_Dsply : 23|8@0+ (0.392157,0) [0|100.000035] "percent" GWM + SG_ EcoCochCrus_Pc_Dsply : 15|8@0+ (0.392157,0) [0|100.000035] "percent" GWM + SG_ EcoCochA_Pc_Dsply : 7|8@0+ (0.392157,0) [0|100.000035] "percent" GWM + +BO_ 562 PowertrainData_11: 8 ECM_Diesel + SG_ GearNtrl_No_Cs : 15|8@0+ (1,0) [0|255] "unitless" GWM + SG_ GearNtrl_No_Cnt : 5|4@0+ (1,0) [0|15] "unitless" GWM + SG_ GearNtrl_D_Stat : 7|2@0+ (1,0) [0|3] "SED" ABS_ESC,GWM + +BO_ 523 Engine_Data_18: 8 ECM_Diesel + SG_ EngAirFiltMsgTxt_D_Rq : 2|3@0+ (1,0) [0|7] "SED" GWM + SG_ WaterInFuel_B_Falt : 8|1@0+ (1,0) [0|1] "SED" GWM + SG_ UreaMnAdd_L2_Actl : 23|8@0+ (0.1,0) [0|25.4] "litre" GWM + SG_ VehUreaRnge3_L_DsplyMx : 31|16@0+ (1,0) [0|65535] "unitless" GWM + SG_ UreaMxAdd_L2_Actl : 47|9@0+ (0.1,0) [0|51] "litre" GWM + +BO_ 517 PowertrainData_6: 8 PCM_HEV + SG_ FapLc_B_Err : 10|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,GWM + SG_ BrkTot_Tq_RqFapLc : 7|13@0+ (4,0) [0|32764] "Nm" ABS_ESC,GWM + SG_ TrnAin_Pc_RqDrv : 9|10@0+ (0.1,0) [0|102.3] "percent" TCCM,GWM + +BO_ 516 EngVehicleSpThrottle: 8 PCM_HEV + SG_ EngAoutNActl_D_QF : 31|2@0+ (1,0) [0|3] "SED" TCM_DSL,GWM + SG_ EngAout3_N_Actl : 55|16@0+ (0.25,0) [0|16383.5] "RPM" SOBDMC_HPCM_FD1,GWM + SG_ ApedPos_PcRate_ActlArb : 23|8@0+ (0.04,-5) [-5|5.12] "%/ms" TCM_DSL,GWM + SG_ ApedPos_Pc_ActlArb : 1|10@0+ (0.1,0) [0|102.3] "%" VDM,CMR_DSMC,SOBDMC_HPCM_FD1,IPMA_ADAS,TCCM,ABS_ESC,PSCM,TCM_DSL,GWM + SG_ ApedPosPcActl_D_Qf : 7|2@0+ (1,0) [0|3] "SED" VDM,CMR_DSMC,IPMA_ADAS,SOBDMC_HPCM_FD1,ABS_ESC,PSCM,TCM_DSL,GWM + SG_ EngAout_N_Actl : 28|13@0+ (2,0) [0|16382] "rpm" VDM,ABS_ESC,PSCM,TCCM,TCM_DSL,GWM + SG_ ApedPosPcActl_No_Cnt : 5|4@0+ (1,0) [0|15] "Unitless" ABS_ESC,SOBDMC_HPCM_FD1,GWM + SG_ ApedPosPcActl_No_Cs : 47|8@0+ (1,0) [0|255] "Unitless" ABS_ESC,SOBDMC_HPCM_FD1,GWM + +BO_ 514 EngVehicleSpThrottle2: 8 PCM_HEV + SG_ StrtrMtrDlyStrt_B_Stat : 39|1@0+ (1,0) [0|1] "SED" GWM + SG_ VehVTrlrAid_B_Avail : 23|1@0+ (1,0) [0|1] "SED" PSCM,GWM + SG_ StrtrMtrCtlMsgTxt_D_Rq : 7|3@0+ (1,0) [0|7] "SED" GWM + SG_ VehVActlEng_No_Cs : 15|8@0+ (1,0) [0|255] "Unitless" PSCM,GWM + SG_ VehVActlEng_No_Cnt : 22|4@0+ (1,0) [0|15] "Unitless" PSCM,GWM + SG_ Veh_V_RqCcSet : 32|9@0+ (0.5,0) [0|255.5] "kph" IPMA_ADAS,ABS_ESC,TCM_DSL,GWM + SG_ VehVActlEng_D_Qf : 38|2@0+ (1,0) [0|3] "SED" VDM,IPMA_ADAS,ABS_ESC,PSCM,TCM_DSL,GWM + SG_ Veh_V_ActlEng : 55|16@0+ (0.01,0) [0|655.35] "kph" VDM,SOBDMC_HPCM_FD1,IPMA_ADAS,ABS_ESC,PSCM,TCM_DSL,GWM + SG_ GearRvrse_D_Actl : 4|3@0+ (1,0) [0|7] "SED" CMR_DSMC,IPMA_ADAS,ABS_ESC,PSCM,GWM + SG_ StrtrMtrCtlMsgTxt_D2_Rq : 1|2@0+ (1,0) [0|3] "SED" GWM + +BO_ 512 TorqueDataEngFlags: 8 PCM_HEV + SG_ PrplWhlTotTqRq_No_Cs : 63|8@0+ (1,0) [0|255] "Unitless" ABS_ESC,GWM + SG_ PrplWhlTotTqRq_No_Cnt : 51|4@0+ (1,0) [0|15] "Unitless" ABS_ESC,GWM + SG_ PrplWhlTot_Tq_Rq : 39|16@0+ (4,-131072) [-131072|131068] "Nm" VDM,TCCM,ABS_ESC,GWM + SG_ PrplWhlTot_Tq_LimMn : 23|16@0+ (4,-131072) [-131072|131068] "Nm" ABS_ESC,GWM + SG_ PtDrvMde_D_Stat : 55|4@0+ (1,0) [0|15] "SED" IPMA_ADAS,GWM + +BO_ 381 EngineData_17: 8 ECM_Diesel + SG_ EngOilLife_T_Actl : 23|11@0+ (1,0) [0|2047] "days" GWM + SG_ EngOilSrvcMsgTxt_D_Rq : 55|3@0+ (1,0) [0|7] "SED" GWM + SG_ DistToNextOilChange : 7|16@0+ (1,0) [0|65535] "unitless" GWM + SG_ RunDryPrevent_B_Stat : 28|1@0+ (1,0) [0|1] "SED" GWM + SG_ WaterInFuel : 52|1@0+ (1,0) [0|1] "SED" GWM + SG_ GlowIndication : 51|1@0+ (1,0) [0|1] "SED" GWM + +BO_ 380 EngineData_16: 8 PCM + SG_ EngOilLvlWarn_D_Rq1 : 55|3@0+ (1,0) [0|7] "SED" GWM + SG_ EngExhBrkOnLamp_B_Rq : 27|1@0+ (1,0) [0|1] "SED" GWM + SG_ EngExhBrkAutoLamp_B_Rq : 3|1@0+ (1,0) [0|1] "SED" GWM + SG_ EngAout_N_MxAllw : 52|13@0+ (2,0) [0|16382] "rpm" SOBDMC_HPCM_FD1,GWM + SG_ EngExhBrkMde_D_Actl : 31|4@0+ (1,0) [0|15] "SED" TCM_DSL,GWM + +BO_ 377 EngineData_7: 8 PCM_HEV + SG_ HvacAirFullOut_B_Rq : 23|1@0+ (1,0) [0|1] "SED" GWM + SG_ FuelFlw_Vl_Dsply : 49|10@0+ (25,0) [0|25575] "Micro_Liter" GWM + SG_ FuelFillInlet_B_Dsply : 32|1@0+ (1,0) [0|1] "SED" GWM + SG_ EngSrvcRqd_B_Rq : 19|1@0+ (1,0) [0|1] "SED" GWM + SG_ OdoCount : 47|8@0+ (0.2,0) [0|50.8] "Meters" GWM + SG_ EngOilLife_Pc_Actl : 39|7@0+ (1,0) [0|100] "Percent" GWM + SG_ FuelFilterLamp_B_Dsply : 50|1@0+ (1,0) [0|1] "SED" GWM + SG_ AirCondRec_B_Rq : 55|1@0+ (1,0) [0|1] "SED" GWM + SG_ AirCondClutch_B_Stats : 51|1@0+ (1,0) [0|1] "SED" GWM + +BO_ 376 EngineClimateData: 8 PCM_HEV + SG_ GasPrtc_D_RqDsply : 22|3@0+ (1,0) [0|7] "SED" GWM + SG_ EngAout_Aa_Actl : 17|10@0+ (0.05,-25.6) [-25.6|25.55] "rpm/ms" ABS_ESC,GWM + SG_ DynoMde_B_Cmd : 4|1@0+ (1,0) [0|1] "SED" TCM_DSL,ABS_ESC,GWM + SG_ AslIconDsply_D_Rq : 3|2@0+ (1,0) [0|3] "SED" GWM + SG_ AslChime_B_Rq : 39|1@0+ (1,0) [0|1] "SED" GWM + SG_ HvacHtrCore2_Te_Actl : 1|10@0+ (0.25,-50) [-50|205.5] "degC" SOBDMC_HPCM_FD1,GWM + SG_ EcssLamp_D_RqDsply : 19|2@0+ (1,0) [0|3] "SED" GWM + SG_ AirAmbTe_D_Qf : 35|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1,IPMA_ADAS,ABS_ESC,TCCM,GWM + SG_ AirAmb_Te_ActlFilt : 49|10@0+ (0.25,-128) [-128|127.75] "deg C" SOBDMC_HPCM_FD1,IPMA_ADAS,GWM + SG_ AirAmb_Te_Actl : 33|10@0+ (0.25,-128) [-128|127.75] "degC" ABS_ESC,TCCM,GWM + SG_ AirAmb_P_Actl : 55|6@0+ (10,500) [500|1110] "mbar" ABS_ESC,TCM_DSL,GWM + +BO_ 373 EngineData_11: 8 ECM_Diesel + SG_ DieslPrtc2_D_RqDsply : 47|4@0+ (1,0) [0|15] "SED" GWM + SG_ DieslPrtcRgen_D_Actl : 38|2@0+ (1,0) [0|3] "SED" TCM_DSL,GWM + SG_ EngTeColdPrtct_D_Stats : 4|2@0+ (1,0) [0|3] "SED" GWM + SG_ EngExhOvrTe_B_RqDsply : 39|1@0+ (1,0) [0|1] "SED" GWM + +BO_ 359 VehicleOperatingModes: 8 PCM_HEV + SG_ PrplWhlRgenMn_Tq_Actl : 25|13@0+ (4,-16380) [-16380|16380] "Nm" ABS_ESC,GWM + SG_ ElPw_D_StatStrtStop : 31|4@0+ (1,0) [0|15] "SED" ABS_ESC,PSCM,GWM + SG_ TrnAin_Tq_Actl : 42|11@0+ (1,-500) [-500|1547] "Nm" ABS_ESC,GWM + SG_ PrplWhlTot2_Tq_Actl : 15|16@0+ (4,-131072) [-131072|131060] "Nm" ABS_ESC,PSCM,TCCM,GWM + SG_ PwPckTq_D_Stat : 5|2@0+ (1,0) [0|3] "SED" VDM,CMR_DSMC,IPMA_ADAS,ABS_ESC,PSCM,TCCM,TCM_DSL,GWM + SG_ Eng_D_Stat : 7|2@0+ (1,0) [0|3] "SED" ABS_ESC,GWM + SG_ PlgActvArb_B_Actl : 0|1@0+ (1,0) [0|1] "SED" GWM + SG_ ElPw_D_Stat : 3|3@0+ (1,0) [0|7] "SED" VDM,CMR_DSMC,IPMA_ADAS,ABS_ESC,PSCM,TCCM,TCM_DSL,GWM + SG_ TrnAinTq_D_Qf : 44|2@0+ (1,0) [0|3] "SED" ABS_ESC,GWM + +BO_ 358 Stop_Start: 8 PCM_HEV + SG_ StopStrtStdby_D_Indic : 55|3@0+ (1,0) [0|7] "SED" GWM + SG_ StopStrtIODTxt_D_Rq : 52|5@0+ (1,0) [0|31] "SED" GWM + SG_ StopStrtDrvMde_D_Indic : 13|2@0+ (1,0) [0|3] "SED" GWM + SG_ StopStrtMsgTxt_D_Rq : 11|4@0+ (1,0) [0|15] "SED" GWM + SG_ OdoTripVerify_L_Actl : 31|24@0+ (0.1,0) [0|1677721.4] "km" GWM + SG_ HiElPwInhbt_B_Stat : 15|1@0+ (1,0) [0|1] "SED" GWM + SG_ AutoStopPtDelta_I_Est : 7|8@0+ (1,-127) [-127|127] "Amps" GWM + +BO_ 357 EngBrakeData: 8 PCM_HEV + SG_ BPedDrvAppl_D_QF : 15|2@0+ (1,0) [0|3] "SED" CMR_DSMC,SOBDMC_HPCM_FD1,IPMA_ADAS,ABS_ESC,PSCM,TCM_DSL,GWM + SG_ CmbbDeny_B_ActlPrpl : 3|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,GWM + SG_ PrplTqMnSat_B_Actl : 41|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,GWM + SG_ BpedDrvAppl_D_Actl : 5|2@0+ (1,0) [0|3] "SED" CMR_DSMC,SOBDMC_HPCM_FD1,IPMA_ADAS,ABS_ESC,PSCM,TCCM,TCM_DSL,GWM + SG_ CmbbEngTqMn_B_Actl : 7|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,GWM + SG_ Veh_V_DsplyCcSet : 23|8@0+ (1,0) [0|253] "Unitless" GWM,IPMA_ADAS + SG_ AccEngStat_D_Actl : 2|3@0+ (1,0) [0|7] "SED" IPMA_ADAS,GWM + SG_ CcMde_D_Actl : 13|3@0+ (1,0) [0|7] "SED" VDM,TCM_DSL,ABS_ESC,GWM + SG_ CcStat_D_Actl : 10|3@0+ (1,0) [0|7] "SED" CMR_DSMC,SOBDMC_HPCM_FD1,IPMA_ADAS,ABS_ESC,TCCM,TCM_DSL,GWM + SG_ EngAout_N_MnAllw : 52|13@0+ (2,0) [0|16382] "rpm" SOBDMC_HPCM_FD1,GWM + SG_ CcOvrrdActv_B_Actl : 6|1@0+ (1,0) [0|1] "SED" VDM,IPMA_ADAS,ABS_ESC,TCCM,TCM_DSL,GWM + SG_ AccStopMde_D_Rq : 39|2@0+ (1,0) [0|3] "SED" IPMA_ADAS,ABS_ESC,GWM + +BO_ 355 EngineData_10: 8 ECM_Diesel + SG_ AutoRgenTxt_B_RqDsply : 48|1@0+ (1,0) [0|1] "SED" GWM + SG_ AccFllwMdeActv_B_Actl : 32|1@0+ (1,0) [0|1] "SED" GWM + SG_ EngPtoMde_D_Actl : 60|3@0+ (1,0) [0|7] "SED" GWM + SG_ ManRgenTxt_D_RqDsply : 63|3@0+ (1,0) [0|7] "SED" GWM + SG_ ManRgenSoot_Pc_RqDsply : 39|7@0+ (1,0) [0|126] "%" GWM + SG_ DieslMsgTxt_D_Rq : 57|2@0+ (1,0) [0|3] "SED" GWM + +BO_ 342 EngineData_6: 8 PCM_HEV + SG_ EngOvrhtMitgActv_D_Ind : 36|2@0+ (1,0) [0|3] "SED" GWM + SG_ EngClntTe_D_Qf : 33|2@0+ (1,0) [0|3] "SED" VDM,SOBDMC_HPCM_FD1,TCM_DSL,GWM + SG_ EngGoutLss_Tq_Est : 31|8@0+ (1,0) [0|255] "Nm" SOBDMC_HPCM_FD1,GWM + SG_ EngOil_Te_Actl : 15|8@0+ (1,-60) [-60|193] "degC" GWM + SG_ EngClnt_Te_Actl : 7|8@0+ (1,-60) [-60|195] "degC" VDM,SOBDMC_HPCM_FD1,TCM_DSL,GWM + +BO_ 71 Global_PATS_TargetInfo: 8 PCM_HEV + SG_ immoTarget1Status : 7|3@0+ (1,0) [0|7] "SED" ABS_ESC,TCM_DSL,GWM + SG_ immoTarget1Data : 15|40@0+ (1,0) [0|1099511627775] "Encrypted" ABS_ESC,GWM + SG_ immoTarget1Cmd : 4|3@0+ (1,0) [0|7] "SED" ABS_ESC,GWM + +BO_ 1822 TesterPhysicalResGWM_FD1: 64 GWM + SG_ TesterPhysicalResGWM_F1 : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" TSTR + +BO_ 1438 GWM_AutoSar_NetMgmt_FD1: 8 GWM + SG_ GWM_GWOnBoardTester : 39|8@0+ (1,0) [0|255] "unitless" PCM_HEV,PCM,SOBDMC_HPCM_FD1,PSCM,ABS_ESC + SG_ GWM_GWNMProxy : 47|8@0+ (1,0) [0|255] "unitless" PCM_HEV,PCM,SOBDMC_HPCM_FD1,PSCM,ABS_ESC + SG_ GWM_AutoSarNMReserved4 : 63|8@0+ (1,0) [0|255] "unitless" PCM_HEV,PCM,SOBDMC_HPCM_FD1,PSCM,ABS_ESC + SG_ GWM_AutoSarNMReserved3 : 55|8@0+ (1,0) [0|255] "unitless" PCM_HEV,PCM,SOBDMC_HPCM_FD1,PSCM,ABS_ESC + SG_ GWM_AutoSarNMReserved2 : 31|8@0+ (1,0) [0|255] "unitless" PCM_HEV,PCM,SOBDMC_HPCM_FD1,PSCM,ABS_ESC + SG_ GWM_AutoSarNMReserved1 : 23|8@0+ (1,0) [0|255] "unitless" PCM_HEV,PCM,SOBDMC_HPCM_FD1,PSCM,ABS_ESC + SG_ GWM_AutoSarNMNodeId : 7|8@0+ (1,0) [0|255] "unitless" PCM_HEV,PCM,SOBDMC_HPCM_FD1,PSCM,ABS_ESC + SG_ GWM_AutoSarNMControl : 15|8@0+ (1,0) [0|255] "unitless" PCM_HEV,PCM,SOBDMC_HPCM_FD1,PSCM,ABS_ESC + +BO_ 954 Body_Info_10_FD1: 8 GWM + SG_ GenericSwtch3_No_Actl : 15|3@0+ (1,0) [0|7] "unitless" Vector__XXX + SG_ GenericSwtch2_No_Actl : 4|3@0+ (1,0) [0|7] "unitless" Vector__XXX + SG_ GenericSwtch1_No_Actl : 7|3@0+ (1,0) [0|7] "unitless" Vector__XXX + +BO_ 1006 Personality_IPMB_Data: 8 IPMA_ADAS + SG_ PersIndexIpmb_D_Actl : 39|3@0+ (1,0) [0|7] "SED" GWM + SG_ FeatNoIpmbActl : 23|16@0+ (1,0) [0|65535] "Number" GWM + SG_ FeatConfigIpmbActl : 7|16@0+ (1,0) [0|65535] "Undefined" GWM + +BO_ 820 Adaptive_Headlamp_Stat: 8 GWM + SG_ AhbStatGfhbFdbk_D_Actl : 53|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + SG_ HeadLghtDrvSide_B_Stat : 33|1@0+ (1,0) [0|1] "SED" IPMA_ADAS + SG_ HeadLghtHiOn_B_StatHcm : 0|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ Adaptive_Hdlmp_Fault : 7|1@0+ (1,0) [0|1] "SED" Vector__XXX + +BO_ 137 ActiveFrontStrg_Stat_FD1: 8 GWM + SG_ SteWhlOffstRq_D_Stat : 43|2@0+ (1,0) [0|3] "SED" ABS_ESC + SG_ SteWhlOffst_An_TotActl : 23|15@0+ (0.1,-1600) [-1600|1676.5] "degrees" ABS_ESC + SG_ SteWhlBrkOffst_An_Actl : 7|15@0+ (0.1,-1600) [-1600|1676.5] "degrees" ABS_ESC + SG_ SteWhlBrkAnActl_No_Cs : 39|8@0+ (1,0) [0|255] "Unitless" ABS_ESC + SG_ SteWhlBrkAnActl_No_Cnt : 47|4@0+ (1,0) [0|15] "Unitless" ABS_ESC + +BO_ 129 Steering_Wheel_Data2_FD1: 8 GWM + SG_ SelDrvMdeSwtch_D_Stat4 : 21|2@0+ (1,0) [0|3] "SED" ABS_ESC + SG_ SteWhlSwtchView_B_Stat : 23|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ SteWhlSwtchSet_B_Stat : 8|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ SteWhlSwtchPhon_B_Stat : 9|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ SteWhlSwtchNav_B_Stat : 10|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ SteWhlSwtchMed_B_Stat : 11|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ SteWhlSwtchIod_B_Stat : 12|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ SteWhlSwtchHud_B_Stat : 13|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ SteWhlSwtchBack_B_Stat : 14|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ SteWhlSwtchMenu_B_Stat : 22|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ SteEffortInc_B_RqDrv : 5|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ SelDrvMdeInc_B_RqDrv : 6|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ SelDrvMdeDec_B_RqDrv : 7|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ SuspDampInc_B_RqDrv : 15|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ SteWhlSwtchUp_B_Stat : 3|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ SteWhlSwtchRght_B_Stat : 2|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ SteWhlSwtchOk_B_Stat : 4|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ SteWhlSwtchLeft_B_Stat : 1|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ SteWhlSwtchDown_B_Stat : 0|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ SteWhlSwtchHome_B_Stat : 19|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ SteWhlSwtchInfo_B_Stat : 18|1@0+ (1,0) [0|1] "SED" Vector__XXX + +BO_ 935 Side_Detect_R_Stat: 8 IPMA_ADAS + SG_ SodRight_D_Stat : 15|3@0+ (1,0) [0|7] "SED" GWM + SG_ CtaAlrtRight2_D_Stat : 30|3@0+ (1,0) [0|7] "SED" GWM + SG_ BttRight_D_Stat : 45|3@0+ (1,0) [0|7] "SED" GWM + SG_ BttRight_D_RqDrv : 47|2@0+ (1,0) [0|3] "SED" GWM + SG_ CtaBrkRightMsgTxt_B_Rq : 42|1@0+ (1,0) [0|1] "SED" GWM + SG_ CtaRightBrkEnbl_B_Rq : 31|1@0+ (1,0) [0|1] "SED" GWM,ABS_ESC + SG_ CtaRightBrkDecel_B_Rq : 7|1@0+ (1,0) [0|1] "SED" GWM,ABS_ESC + SG_ Side_Detect_R_Illum : 39|8@0+ (1,0) [0|255] "Percent" GWM + SG_ CtaSnsRight_D_Stat : 25|2@0+ (1,0) [0|3] "SED" GWM + SG_ CtaAlrtRight_D_Stat : 8|1@0+ (1,0) [0|1] "SED" GWM + SG_ CtaRight_D_Stat : 18|3@0+ (1,0) [0|7] "SED" GWM + SG_ SodSnsRight_D_Stat : 12|2@0+ (1,0) [0|3] "SED" GWM + SG_ SodAlrtRight_D_Stat : 10|2@0+ (1,0) [0|3] "SED" GWM + SG_ SodDetctRight_D_Stat : 23|3@0+ (1,0) [0|7] "SED" GWM + SG_ SodWarnRight_Prd_Rq : 6|7@0+ (1,0) [0|127] "millisecond" GWM + +BO_ 1108 RCMSerialNumber_FD1: 8 GWM + SG_ RCMSerialNoByte8 : 63|8@0+ (1,0) [0|253] "Unitless" ABS_ESC + SG_ RCMSerialNoByte7 : 55|8@0+ (1,0) [0|253] "Unitless" ABS_ESC + SG_ RCMSerialNoByte6 : 47|8@0+ (1,0) [0|253] "Unitless" ABS_ESC + SG_ RCMSerialNoByte5 : 39|8@0+ (1,0) [0|253] "Unitless" ABS_ESC + SG_ RCMSerialNoByte4 : 31|8@0+ (1,0) [0|253] "Unitless" ABS_ESC + SG_ RCMSerialNoByte3 : 23|8@0+ (1,0) [0|253] "Unitless" ABS_ESC + SG_ RCMSerialNoByte2 : 15|8@0+ (1,0) [0|253] "Unitless" ABS_ESC + SG_ RCMSerialNoByte1 : 7|8@0+ (1,0) [0|253] "Unitless" ABS_ESC + +BO_ 261 APIM_Request_Signals_FD1: 8 GWM + SG_ ChrgStatDsply_D_Rq : 47|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ OffPeakTimeSetMin_Rq : 13|6@0+ (1,0) [0|63] "unitless" Vector__XXX + SG_ OffPeakTimeSetHR_Rq : 7|5@0+ (1,0) [0|31] "unitless" Vector__XXX + SG_ NextUsageTimeToggle_Rq : 15|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ LongTermParking_Rq : 17|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ CbnCmrtPrefLstNmItm_Rq : 31|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ CbnCmrtPrefListIndx_Rq : 39|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ ModemReset_D_Rq : 45|4@0+ (1,0) [0|15] "SED" SOBDMC_HPCM_FD1 + SG_ StopStrtDrvMde_B_RqBtn3 : 23|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ TCU_ESN_D_Rq : 22|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ FactoryReset_Rq : 18|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1 + +BO_ 1146 TrailerInfo_2_FD1: 8 GWM + SG_ TrlrAidSwtch_D_RqDrv : 35|2@0+ (1,0) [0|3] "SED" PSCM,IPMA_ADAS + SG_ TrlrAidCtl_U_RqDrv : 31|12@0+ (0.00125,0) [0|5.11625] "volt" PSCM + +BO_ 533 APIM_Send_Signals_2_FD1: 8 GWM + SG_ DcacGfciTestBttn_B_Stat : 9|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV + SG_ TrlrBrkGain_No_Rq : 55|5@0+ (0.5,0) [0|15.5] "unitless" Vector__XXX + SG_ DcacPwResetButtn_B_Stat : 11|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV + SG_ DcacPwOffButtn_B_Stat : 12|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV + SG_ DcacPwLoButtn_B_Stat : 13|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV + SG_ DcacPwHiButtn_B_Stat : 14|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV + SG_ DcacPwButtn_B_Falt : 15|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV + SG_ TrlrHitch_D_RqMnu : 23|4@0+ (1,0) [0|15] "SED" IPMA_ADAS + SG_ AutoEpbZoomView_B_Stat : 32|1@0+ (1,0) [0|1] "SED" ABS_ESC + SG_ AutoEpbButtn_B_Stat : 19|1@0+ (1,0) [0|1] "SED" ABS_ESC + SG_ TrlrAidMde_D_Rq : 5|2@0+ (1,0) [0|3] "SED" PSCM + SG_ TCU_Init_Actvtn_St : 1|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ TCU_Final_Actvtn_St : 3|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ OtaTrg_D_Stat : 41|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ OnbChrgGoTTouch_D_Rq : 43|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ OnbChrgGoTPrcond_D_Rq : 34|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ OnbChrgGoTOn_D_Rq : 25|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ OnbChrgGoTMnte_D_Rq : 47|4@0+ (1,0) [0|15] "minute" SOBDMC_HPCM_FD1 + SG_ OnbChrgGoTHr_T_Rq : 39|5@0+ (1,0) [0|29] "hour" SOBDMC_HPCM_FD1 + SG_ OnbChrgGoTExtHtr_D_Rq : 27|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ OnbChrgGoTElement_D_Rq : 31|4@0+ (1,0) [0|15] "Unitless" SOBDMC_HPCM_FD1 + SG_ OnbChrgGoTDelete_B_Rq : 17|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1 + SG_ OnbChrgClearAll_B_Rq : 18|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1 + SG_ PaakMyKey_D_Rq : 7|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ OnbChrgGoTUpdate_B_Rq : 16|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1 + +BO_ 1041 AC_Compressor_Data_FD1: 8 GWM + SG_ ElCmprUHi_U_Actl : 31|8@0+ (2,0) [0|510] "volt" SOBDMC_HPCM_FD1 + SG_ ElCmprUHi_D_Stat : 23|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ ElCmprOverTe_D_Stat : 21|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ ElCmpr_N_Actl : 15|8@0+ (50,0) [0|12700] "RPM" SOBDMC_HPCM_FD1 + SG_ ElCmpr_Pw_Actl : 7|8@0+ (40,0) [0|10160] "watts" SOBDMC_HPCM_FD1,PCM_HEV + SG_ ElCmpr_D_Stat : 19|3@0+ (1,0) [0|7] "SED" SOBDMC_HPCM_FD1 + SG_ ElCmprPerfErr_D_Falt : 43|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ ElCmprInnrErr_D_Falt : 35|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ ElCmprLostComm_D_Falt : 33|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ ElCmprOverLoad_D_Falt : 47|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ ElCmprOverTe_D_Falt : 45|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ ElCmprBattURng_D_Falt : 37|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ ElCmprBattSysU_D_Falt : 39|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ ElCmprSysU_D_Falt : 41|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + +BO_ 1067 Battery_Mgmt_4_FD1: 8 GWM + SG_ BattULoAuxIsol_D_Rq : 25|2@0+ (1,0) [0|3] "SED" PCM_HEV + SG_ BattULoAux_U_Rq : 55|12@0+ (0.00390625,0) [0|15.9921875] "volt" PCM_HEV + SG_ BattULoAuxSoc_Pc_Actl : 15|7@0+ (1,0) [0|127] "percent" PCM_HEV + SG_ BattULoAux_I_Actl : 23|12@0+ (0.0625,-128) [-128|127.875] "ampere" PCM_HEV + SG_ BattULoAux_D_Qlty : 27|2@0+ (1,0) [0|3] "SED" PCM_HEV + SG_ BattULoCrnkStrt_U_Pred : 47|7@0+ (0.1,0) [0|12.7] "volt" PCM_HEV + SG_ BattULoCrnkBelt_U_Pred : 39|7@0+ (0.1,0) [0|12.7] "volt" PCM_HEV + SG_ BattULoAux_U_Actl : 7|8@0+ (0.0625,0) [0|15.875] "volt" PCM_HEV + SG_ BattULoAux_B_Falt : 8|1@0+ (1,0) [0|1] "SED" PCM_HEV + +BO_ 1112 Battery_Traction_6_FD1: 8 GWM + SG_ BattTracChrgSustn_B_Rq : 4|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1 + SG_ BattTracCnnct_D_Cmd : 18|3@0+ (1,0) [0|7] "SED" SOBDMC_HPCM_FD1,PCM_HEV + SG_ BattTracHvilOpen_B_Stat : 8|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1,PCM_HEV + SG_ BattTracDcdcDis_B_Rq : 7|1@0+ (1,0) [0|1] "SED" PCM_HEV + SG_ HtrnClntPump_D_Stat : 6|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ BattTracDelta_Te_Actl : 63|8@0+ (0.5,-60) [-60|67.5] "degC" SOBDMC_HPCM_FD1 + SG_ BattTracClntPmp_D_Stat : 33|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + +BO_ 139 CruiseCtrl_Strg_Data_FD1: 8 GWM + SG_ AfsPw_B_Rq : 24|1@0+ (1,0) [0|1] "SED" PCM + SG_ AccButtnGpTogglePress2 : 25|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ TjaButtnOnOffPress2 : 26|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ ActvFrontSteMsgTxt_D_Rq : 31|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ ActvFrontSteLck_D_Stat : 17|2@0+ (1,0) [0|3] "SED" ECM_Diesel,PCM,PCM_HEV + SG_ SelDrvMdeAdptSte_D_Stat : 28|2@0+ (1,0) [0|3] "SED" ABS_ESC + SG_ AslButtnOnOffPress2 : 4|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ AslButtnOnOffCnclPres2 : 5|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CcButtnOnPress2 : 18|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CcButtnOnOffPress2 : 19|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CcButtnOnOffCnclPress2 : 20|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CcButtnOffPress2 : 21|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CcAsllButtnResPress2 : 22|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CcAslButtnSetPress2 : 23|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CcAslButtnSetIncPress2 : 8|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CcAslButtnSetDecPress2 : 9|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CcAslButtnResIncPress2 : 10|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CcAslButtnResDecPress2 : 11|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CcAslButtnOnPress2 : 12|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CcAslButtnOnOffCncl2 : 13|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CcAslButtnOffCnclPres2 : 14|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CcAslButtnIndxIncPres2 : 15|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CcAslButtnIndxDecPres2 : 0|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CcAslButtnDeny_B_Actl2 : 1|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CcAslButtnCnclResPres2 : 2|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CcAslButtnCnclPress2 : 3|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ AccButtnGapIncPress2 : 6|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ AccButtnGapDecPress2 : 7|1@0+ (1,0) [0|1] "SED" Vector__XXX + +BO_ 1121 AllTerrainControlData_FD1: 8 GWM + SG_ SelDrvMdeSwtch_No_Actl : 2|2@0+ (1,0) [0|3] "unitless" ABS_ESC + SG_ SelDrvMdeSwtch_D_Stat : 4|2@0+ (1,0) [0|3] "SED" ABS_ESC + SG_ SelDrvMdeCnt_D_Stat : 7|3@0+ (1,0) [0|7] "Counts" ABS_ESC + +BO_ 1120 FourByFourSwitchData_FD1: 8 GWM + SG_ DrvSlipCtlMde_B_Rq3 : 14|1@0+ (1,0) [0|1] "SED" ABS_ESC + SG_ HybMdeSwtch_B_Rq : 13|1@0+ (1,0) [0|1] "SED" PCM_HEV + SG_ TrailCtlSwtch_B_Stat3 : 15|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ RearDiffLck_D_RqDrv : 4|2@0+ (1,0) [0|3] "SED" PCM,TCCM + SG_ AwdMde_D_RqDrv : 7|3@0+ (1,0) [0|7] "SED" TCCM + SG_ HdcSwtchPos_B_Actl : 0|1@0+ (1,0) [0|1] "SED" ABS_ESC + +BO_ 1050 Climate_Control_Data_FD1: 8 GWM + SG_ AutoHoldSwtch_D_Stat : 20|2@0+ (1,0) [0|3] "SED" ABS_ESC + SG_ LpdbPtc3_B_Rq : 36|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ LpdbPtc2_B_Rq : 37|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ LpdbPtc1_B_Rq : 38|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ LpdbHeatWiprPrk_B_Rq : 39|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ LpdbDfrstRearOn_B_Rq : 24|1@0+ (1,0) [0|1] "SED" ECM_Diesel + SG_ SteWhlHeat_D_Rq : 13|4@0+ (1,0) [0|15] "SED" Vector__XXX + SG_ MirrorHeatOn_B_Rq : 14|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ Remote_Start_QuietMode : 15|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ Outside_Air_Temp_Stat : 7|8@0+ (0.5,-40) [-40|86.5] "Degrees C" VDM,ECM_Diesel,IPMA_ADAS,PCM,PCM_HEV,PSCM + +BO_ 1137 Cluster_HEV_Data10_FD1: 8 PCM_HEV + SG_ RngPerChrgAvg_L_Dsply : 7|12@0+ (0.1,0) [0|409.3] "km" GWM + +BO_ 1255 BoundaryAlert_Right_4: 8 IPMA_ADAS + SG_ BalrRight4Threat_D_Stat : 16|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrRight4Prev3Y_L_Actl : 51|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight4Prev3X_L_Actl : 42|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight4Prev2Y_L_Actl : 33|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight4Prev2X_L_Actl : 24|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight4Prev1Y_L_Actl : 31|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight4Prev1X_L_Actl : 23|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight4Fast_B_Stat : 8|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrRight4Dsply_B_Stat : 0|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrRight4CurntY_L_Actl : 15|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight4CurntX_L_Actl : 7|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + +BO_ 1254 BoundaryAlert_Right_3: 8 IPMA_ADAS + SG_ BalrRight3Threat_D_Stat : 16|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrRight3Prev3Y_L_Actl : 51|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight3Prev3X_L_Actl : 42|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight3Prev2Y_L_Actl : 33|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight3Prev2X_L_Actl : 24|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight3Prev1Y_L_Actl : 31|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight3Prev1X_L_Actl : 23|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight3Fast_B_Stat : 8|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrRight3Dsply_B_Stat : 0|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrRight3CurntY_L_Actl : 15|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight3CurntX_L_Actl : 7|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + +BO_ 1253 BoundaryAlert_Right_2: 8 IPMA_ADAS + SG_ BalrRight2Prev3Y_L_Actl : 51|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight2Prev3X_L_Actl : 42|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight2Threat_D_Stat : 16|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrRight2Prev2Y_L_Actl : 33|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight2Prev2X_L_Actl : 24|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight2Prev1Y_L_Actl : 31|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight2Prev1X_L_Actl : 23|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight2Fast_B_Stat : 8|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrRight2Dsply_B_Stat : 0|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrRight2CurntY_L_Actl : 15|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight2CurntX_L_Actl : 7|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + +BO_ 1252 BoundaryAlert_Right_1: 8 IPMA_ADAS + SG_ BalrRight1Prev3Y_L_Actl : 51|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight1Prev3X_L_Actl : 42|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight1Threat_D_Stat : 16|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrRight1Prev2Y_L_Actl : 33|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight1Prev2X_L_Actl : 24|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight1Prev1Y_L_Actl : 31|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight1Prev1X_L_Actl : 23|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight1Fast_B_Stat : 8|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrRight1Dsply_B_Stat : 0|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrRight1CurntY_L_Actl : 15|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight1CurntX_L_Actl : 7|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + +BO_ 1251 BoundaryAlert_Left_4: 8 IPMA_ADAS + SG_ BalrLeft4Threat_D_Stat : 16|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrLeft4Prev3Y_L_Actl : 51|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft4Prev3X_L_Actl : 42|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft4Prev2Y_L_Actl : 33|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft4Prev2X_L_Actl : 24|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft4Prev1Y_L_Actl : 31|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft4Prev1X_L_Actl : 23|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft4Fast_B_Stat : 8|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrLeft4Dsply_B_Stat : 0|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrLeft4CurntY_L_Actl : 15|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft4CurntX_L_Actl : 7|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + +BO_ 1250 BoundaryAlert_Left_3: 8 IPMA_ADAS + SG_ BalrLeft3Threat_D_Stat : 16|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrLeft3Prev3Y_L_Actl : 51|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft3Prev3X_L_Actl : 42|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft3Prev2Y_L_Actl : 33|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft3Prev2X_L_Actl : 24|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft3Prev1Y_L_Actl : 31|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft3Prev1X_L_Actl : 23|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft3Fast_B_Stat : 8|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrLeft3Dsply_B_Stat : 0|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrLeft3CurntY_L_Actl : 15|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft3CurntX_L_Actl : 7|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + +BO_ 1249 BoundaryAlert_Left_2: 8 IPMA_ADAS + SG_ BalrLeft2Prev3Y_L_Actl : 51|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft2Prev3X_L_Actl : 42|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft2Threat_D_Stat : 16|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrLeft2Prev2Y_L_Actl : 33|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft2Prev2X_L_Actl : 24|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft2Prev1Y_L_Actl : 31|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft2Prev1X_L_Actl : 23|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft2Fast_B_Stat : 8|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrLeft2Dsply_B_Stat : 0|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrLeft2CurntY_L_Actl : 15|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft2CurntX_L_Actl : 7|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + +BO_ 1248 BoundaryAlert_Left_1: 8 IPMA_ADAS + SG_ BalrLeft1Threat_D_Stat : 16|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrLeft1Prev3Y_L_Actl : 51|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft1Prev3X_L_Actl : 42|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft1Prev2Y_L_Actl : 33|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft1Prev2X_L_Actl : 24|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft1Prev1Y_L_Actl : 31|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft1Prev1X_L_Actl : 23|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft1Fast_B_Stat : 8|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrLeft1Dsply_B_Stat : 0|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrLeft1CurntY_L_Actl : 15|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft1CurntX_L_Actl : 7|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + +BO_ 1113 TrailerAid_Stat3: 8 IPMA_ADAS + SG_ TrlrTrgtAcquire_D_Stat : 51|3@0+ (1,0) [0|7] "SED" PSCM,GWM + SG_ TrlrAnOffst_An_Calc : 48|9@0+ (0.1,0) [0|51.1] "degrees" GWM + SG_ TrlrAnOffstDir_D_Calc : 33|2@0+ (1,0) [0|3] "SED" GWM + SG_ TrlrAnCalib_B_Complt : 40|1@0+ (1,0) [0|1] "SED" GWM + SG_ TrlrRvrse_D_Stat : 42|2@0+ (1,0) [0|3] "SED" GWM,PSCM + SG_ TrlrAid_D2_Stat : 55|4@0+ (1,0) [0|15] "SED" GWM,PSCM + SG_ TrlrAidTrgtId_No_Actl : 47|5@0+ (1,0) [0|31] "unitless" GWM,PSCM + SG_ TrlrAid_An3_Actl : 28|11@0+ (0.125,-90) [-90|165.75] "degrees" PSCM,GWM + SG_ TrlrAid_AnRate2_Actl : 22|10@0+ (0.125,-50) [-50|77.75] "degrees/second" PSCM,GWM + SG_ HitchToVehAxle_L_Calc : 7|8@0+ (0.0127,-0.508) [-0.508|2.7178] "meter" PSCM,GWM + SG_ HitchToTrlrAxle_L_Calc2 : 15|9@0+ (0.0254,0) [0|12.9794] "meter" GWM + +BO_ 1105 Image_Processing_Data: 8 IPMA_ADAS + SG_ TrlrAidSwtchLamp_B_Rq : 32|1@0+ (1,0) [0|1] "SED" GWM + SG_ TrlrHitchMsgTxt_D_Rq : 47|6@0+ (1,0) [0|63] "SED" GWM + SG_ TrlrHitchIcon_D_Rq : 36|4@0+ (1,0) [0|15] "SED" GWM + SG_ TrlrHitchChime_D_Rq : 39|3@0+ (1,0) [0|7] "SED" GWM + SG_ TrlrAidEnbl_D_RqAdas : 5|3@0+ (1,0) [0|7] "SED" GWM,PSCM + SG_ TrlrRvrseMsgTxt_D2_Rq : 31|6@0+ (1,0) [0|63] "SED" PSCM,GWM + SG_ TrlrRvrseEnbl_D2_Stat : 18|3@0+ (1,0) [0|7] "SED" PSCM,GWM + SG_ RbaMsg_D_Rq : 22|2@0+ (1,0) [0|3] "SED" GWM + SG_ BrkDecel_B_RqRba : 8|1@0+ (1,0) [0|1] "SED" GWM,ABS_ESC + SG_ BrkEnbl_B_RqRba : 23|1@0+ (1,0) [0|1] "SED" GWM,ABS_ESC + SG_ Rba_D_Stat : 14|2@0+ (1,0) [0|3] "SED" GWM + SG_ RbaAlrt_D_Dsply : 12|2@0+ (1,0) [0|3] "SED" GWM + SG_ RbaMnu_D_Rq : 10|2@0+ (1,0) [0|3] "SED" GWM + SG_ CamraFrntStat_D_Stat : 7|2@0+ (1,0) [0|3] "SED" GWM + SG_ TrlrHitchLamp_D_Rq2 : 15|1@0+ (1,0) [0|1] "SED" GWM + +BO_ 938 ParkAid_Aud_Warn_Stat: 8 IPMA_ADAS + SG_ SidePrkSnsR2_D_Stat : 59|4@0+ (1,0) [0|15] "SED" GWM + SG_ SidePrkSnsR1_D_Stat : 63|4@0+ (1,0) [0|15] "SED" GWM + SG_ SidePrkSnsL2_D_Stat : 51|4@0+ (1,0) [0|15] "SED" GWM + SG_ ApaMde_D_Stat : 23|3@0+ (1,0) [0|7] "SED" GWM + SG_ ApaActvSd_D_Actl : 14|2@0+ (1,0) [0|3] "SED" GWM + SG_ PrkAidSwtch_B_Stat : 8|1@0+ (1,0) [0|1] "SED" GWM + SG_ ApaMde_D_Avail : 12|4@0+ (1,0) [0|15] "SED" GWM + SG_ PrkAidSnsFrCrnr_D_Stat : 47|4@0+ (1,0) [0|15] "SED" GWM + SG_ PrkAidSnsFrCntr_D_Stat : 35|4@0+ (1,0) [0|15] "SED" GWM + SG_ PrkAidSnsFlCrnr_D_Stat : 27|4@0+ (1,0) [0|15] "SED" GWM + SG_ PrkAidSnsFlCntr_D_Stat : 31|4@0+ (1,0) [0|15] "SED" GWM + SG_ PrkBrkEl_B_RqFap : 20|1@0+ (1,0) [0|1] "SED" GWM,ABS_ESC + SG_ RpaChime_D_Rq : 7|4@0+ (1,0) [0|15] "SED" GWM + SG_ FpaChime_D_Rq : 3|4@0+ (1,0) [0|15] "SED" GWM + SG_ PrkAidMsgTxt_D_Rq : 19|4@0+ (1,0) [0|15] "SED" GWM,PSCM + SG_ SidePrkSnsL1_D_Stat : 55|4@0+ (1,0) [0|15] "SED" GWM + SG_ PrkAidAudioMute_B_Rq : 15|1@0+ (1,0) [0|1] "SED" GWM + +BO_ 939 ParkAid_Aud_Warn_Stat2: 8 IPMA_ADAS + SG_ ApaBrk_D_Rq : 51|2@0+ (1,0) [0|3] "SED" GWM + SG_ SidePrkSnsR4_D_Stat : 55|4@0+ (1,0) [0|15] "SED" GWM + SG_ SidePrkSnsR3_D_Stat : 47|4@0+ (1,0) [0|15] "SED" GWM + SG_ SidePrkSnsL4_D_Stat : 43|4@0+ (1,0) [0|15] "SED" GWM + SG_ SidePrkSnsL3_D_Stat : 37|4@0+ (1,0) [0|15] "SED" GWM + SG_ PrkAidChime_D_Stat : 4|2@0+ (1,0) [0|3] "SED" GWM + SG_ PrkAidSnsRlCntr_D_Stat : 15|4@0+ (1,0) [0|15] "SED" GWM + SG_ PrkAidSnsRrCrnr_D_Stat : 31|4@0+ (1,0) [0|15] "SED" GWM + SG_ PrkAidSnsRrCntr_D_Stat : 19|4@0+ (1,0) [0|15] "SED" GWM + SG_ PrkAidSnsRlCrnr_D_Stat : 11|4@0+ (1,0) [0|15] "SED" GWM + SG_ PrkAidRear_D_Stat : 39|2@0+ (1,0) [0|3] "SED" GWM + SG_ PrkAidFront_D_Stat : 2|2@0+ (1,0) [0|3] "SED" GWM + SG_ PrkAid_D_Falt : 7|3@0+ (1,0) [0|7] "SED" GWM + SG_ ApaLongCtrlEnbl_D_Rq : 0|1@0+ (1,0) [0|1] "SED" ABS_ESC,ECM_Diesel,PCM,PCM_HEV,TCM_DSL,GWM + SG_ ApaBrk_A_Rq : 63|8@0+ (0.05,-12.75) [-12.75|0] "m/sec^2" ABS_ESC,ECM_Diesel,PCM,PCM_HEV,GWM + SG_ PrkAidLamp_D_Rq : 33|2@0+ (1,0) [0|3] "SED" GWM + +BO_ 937 ParkAid_Data_2: 8 IPMA_ADAS + SG_ Veh_V_RqFap : 31|8@0+ (0.1,0) [0|25.5] "km/h" ECM_Diesel,PCM,PCM_HEV + SG_ TrnRngDRqFap_No_Cs : 23|8@0+ (1,0) [0|255] "unitless" PCM,PCM_HEV,TCM_DSL + SG_ TrnRngDRqFap_No_Cnt : 15|4@0+ (1,0) [0|15] "unitless" PCM,PCM_HEV,TCM_DSL + SG_ TrnRng_D_RqFap : 11|3@0+ (1,0) [0|7] "SED" ECM_Diesel,PCM,PCM_HEV,TCM_DSL,GWM + SG_ FapLcDistToObj_L_Actl : 7|8@0+ (0.01,0) [0|2.53] "meter" ECM_Diesel,PCM,PCM_HEV + +BO_ 936 ParkAid_Data: 8 IPMA_ADAS + SG_ ApaButtnPrssd_B_Stat : 58|1@0+ (1,0) [0|1] "SED" PSCM + SG_ SAPPStatusCoding : 7|8@0+ (1,0) [0|255] "unitless" GWM + SG_ ApaSys_D_Stat : 61|3@0+ (1,0) [0|7] "SED" PSCM,GWM,ECM_Diesel,PCM,PCM_HEV + SG_ ApaSteWhl_D_RqDrv : 63|2@0+ (1,0) [0|3] "SED" GWM + SG_ ApaSteScanMde_D_Stat : 49|2@0+ (1,0) [0|3] "SED" GWM + SG_ ApaSelSapp_D_Stat : 51|2@0+ (1,0) [0|3] "SED" GWM + SG_ ApaSelPpa_D_Stat : 53|2@0+ (1,0) [0|3] "SED" GWM + SG_ ApaSelPoa_D_Stat : 55|2@0+ (1,0) [0|3] "SED" GWM + SG_ ApaScan_D_Stat : 41|2@0+ (1,0) [0|3] "SED" GWM + SG_ ApaLongCtl_D_RqDrv : 44|3@0+ (1,0) [0|7] "SED" GWM + SG_ ApaGearShif_D_RqDrv : 47|3@0+ (1,0) [0|7] "SED" GWM + SG_ ApaActvSide2_D_Stat : 33|2@0+ (1,0) [0|3] "SED" GWM + SG_ ApaAcsy_D_RqDrv : 36|3@0+ (1,0) [0|7] "SED" GWM + SG_ ApaTrgtDist_D_Stat : 11|4@0+ (1,0) [0|15] "SED" GWM + SG_ ApaMsgTxt_D_Rq : 15|4@0+ (1,0) [0|15] "SED" GWM + SG_ ApaChime_D_Rq : 39|3@0+ (1,0) [0|7] "SED" GWM + SG_ EPASExtAngleStatReq : 23|1@0+ (1,0) [0|1] "SED" PSCM,GWM,ABS_ESC + SG_ ExtSteeringAngleReq2 : 22|15@0+ (0.1,-1000) [-1000|2276.5] "Degrees" GWM,PSCM + +BO_ 877 HEV_Powertrain_Data7_FD1: 8 PCM_HEV + SG_ RngImpctDrv_L_Dsply : 39|9@0+ (1,-255) [-255|256] "km" GWM + SG_ RngImpctClim_L_Dsply : 16|9@0+ (1,-255) [-255|256] "km" GWM + SG_ VehElEffAvg_No_Dsply : 23|7@0+ (10,-100) [-100|1150] "wattHr/km" GWM + SG_ PwFlwFuelDrv_D_Dsply : 15|3@0+ (1,0) [0|7] "SED" GWM + SG_ PwFlwFuelClimt_B_Dsply : 0|1@0+ (1,0) [0|1] "SED" GWM + SG_ PwFlwFuelBatt_B_Dsply : 1|1@0+ (1,0) [0|1] "SED" GWM + SG_ PwFlwBattClimt_B_Dsply : 3|1@0+ (1,0) [0|1] "SED" GWM + SG_ PwFlwBatt_D_Dsply : 7|4@0+ (1,0) [0|15] "SED" GWM + +BO_ 589 Battery_Traction_5_FD1: 8 GWM + SG_ BattTrac2_Pw_LimChrg : 31|13@0+ (50,0) [0|409550] "watts" PCM_HEV + SG_ BattTrac2_Pw_LimDchrg : 34|13@0+ (50,0) [0|409550] "watts" PCM_HEV + SG_ BattTrac2_Pw_DchrgInst : 53|13@0+ (50,0) [0|409550] "watts" PCM_HEV + SG_ BattTrac2_Pw_ChrgInst : 7|13@0+ (50,0) [0|409550] "watts" PCM_HEV + +BO_ 588 Battery_Traction_4_FD1: 8 GWM + SG_ BattTracSoc2_Pc_Actl : 29|14@0+ (0.01,0) [0|163.81] "%" SOBDMC_HPCM_FD1,PCM_HEV + SG_ BattTrac_Te_Actl : 9|10@0+ (0.5,-50) [-50|460.5] "degC" SOBDMC_HPCM_FD1,PCM_HEV + SG_ BattTracDiagClr_B_Rq : 30|1@0+ (1,0) [0|1] "SED" Vector__XXX + +BO_ 587 Battery_Traction_3_FD1: 8 GWM + SG_ BattTracClnt_Te_Actl : 41|8@0+ (0.5,-60) [-60|67.5] "degC" SOBDMC_HPCM_FD1 + SG_ BattTracWarnLamp_B_Rq : 3|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ BattTracSrvcRqd_B_Rq : 2|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ BattTracSoc_Pc_MxPrtct : 35|10@0+ (0.1,0) [0|100] "%" SOBDMC_HPCM_FD1,PCM_HEV + SG_ BattTracSoc_Pc_MnPrtct : 29|10@0+ (0.1,0) [0|100] "%" PCM_HEV + SG_ BattTracSoc_Pc_LimLo : 23|10@0+ (0.1,0) [0|100] "%" PCM_HEV + SG_ BattTracSoc_Pc_LimHi : 1|10@0+ (0.1,0) [0|100] "%" PCM_HEV + +BO_ 389 PreCond_Hev_Data2_FD1: 8 SOBDMC_HPCM_FD1 + SG_ BattTracClntFlw_Pc_Rq : 63|7@0+ (1,0) [0|127] "percent" GWM + SG_ HtrnOvrTeLamp_B_Dsply : 5|1@0+ (1,0) [0|1] "SED" GWM + SG_ HtrnMil_D_Rq : 7|2@0+ (1,0) [0|3] "SED" GWM + SG_ HtrnAin_UHi_Actl : 39|10@0+ (0.5,0) [0|510.5] "volt" GWM,PCM_HEV + SG_ HtrnSrvcRqd_B_Dsply : 3|1@0+ (1,0) [0|1] "SED" GWM + SG_ HtrnHvilOpen_B_Actl : 24|1@0+ (1,0) [0|1] "SED" GWM,PCM_HEV + SG_ PtWakeupDeltaT_T_Rq : 2|11@0+ (1,0) [0|2045] "minute" GWM + SG_ PreCondActv_B_Actl : 50|1@0+ (1,0) [0|1] "SED" GWM + SG_ DrvCondTpRrDefrs_B_Rq : 49|1@0+ (1,0) [0|1] "SED" GWM + SG_ BattTrac_I_EstVsc : 23|15@0+ (0.05,-750) [-750|888.25] "Amps" GWM + +BO_ 1009 APIM_Send_Signals1_FD1: 8 GWM + SG_ ChrgCordUnlock_B_Rq : 60|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ AutoHoldSwtch_D_Stat3 : 50|2@0+ (1,0) [0|3] "SED" ABS_ESC + SG_ TrlrTrgtAcquire_D_Rq : 63|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ TrlrAidCancl_B_Rq : 48|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,PSCM + SG_ CenterStackRing_D_Actl : 59|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ APIM_NumberofTracks_St : 39|16@0+ (1,0) [0|65535] "unitless" Vector__XXX + SG_ APIM_ActiveTrackNum_St : 7|32@0+ (1,0) [0|4294967295] "unitless" Vector__XXX + SG_ ValetMode_D_Stat : 57|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ TrlrAidSetup_D_Stat : 55|3@0+ (1,0) [0|7] "SED" Vector__XXX + +BO_ 360 Gear_Shift_by_Wire_2_FD1: 8 GWM + SG_ GsmSrvcRqd_B_Rq : 23|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ TrnGearPwmFalt_B_Actl : 15|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV + SG_ GearButtnStuck_B_Actl : 14|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV,TCM_DSL + +BO_ 122 Battery_Traction_1_FD1: 8 GWM + SG_ BattTrac_U_LimLo : 47|8@0+ (2,0) [0|510] "volt" SOBDMC_HPCM_FD1,PCM_HEV + SG_ BattTrac_U_LimHi : 39|8@0+ (2,0) [0|510] "volt" SOBDMC_HPCM_FD1,PCM_HEV + SG_ VehStrtInhbt_B_RqBatt : 23|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1,PCM_HEV + SG_ BattTracOffFst_D_Actl : 22|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1,PCM_HEV + SG_ BattTracOff_B_Actl : 20|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1,PCM_HEV + SG_ BattTracMil_D_Rq : 19|2@0+ (1,0) [0|3] "SED" PCM_HEV + SG_ BattTrac_U_Actl : 17|10@0+ (0.5,0) [0|510.5] "Volts" SOBDMC_HPCM_FD1,PCM_HEV + SG_ BattTrac_I_Actl : 6|15@0+ (0.05,-750) [-750|888.25] "Amps" SOBDMC_HPCM_FD1,PCM_HEV + +BO_ 90 Gear_Shift_by_Wire_FD1: 8 GWM + SG_ TrnGsmNtmState_D_Actl : 55|2@0+ (1,0) [0|3] "SED" ABS_ESC,PCM,PCM_HEV,TCM_DSL + SG_ DrQltyDrv_D_StatGsm : 42|3@0+ (1,0) [0|7] "SED" ABS_ESC,PCM,PCM_HEV,TCM_DSL,IPMA_ADAS + SG_ TrnBtsiOvrrd_B_Stat : 43|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV,TCM_DSL + SG_ GsmGearMsgTxt_D_Rq : 63|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ TrnRng_D_RqGsm : 51|4@0+ (1,0) [0|15] "SED" PCM,TCM_DSL + SG_ PrkBrkActv_D_RqGsmGear : 53|2@0+ (1,0) [0|3] "SED" ABS_ESC + SG_ TrnValidGearRq_D_Stat : 25|2@0+ (1,0) [0|3] "SED" PCM,PCM_HEV,TCM_DSL + SG_ TrnGearRqCnt_B_Actl : 26|1@0+ (1,0) [0|1] "unitless" PCM,PCM_HEV,TCM_DSL + SG_ TrnGearButtn_U_Actl : 23|8@0+ (0.05,0) [0|12.7] "VOLT" TCM_DSL + SG_ TrnGearButtn_B_ActlR2 : 8|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV,TCM_DSL + SG_ TrnGearButtn_B_ActlR1 : 9|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV,TCM_DSL + SG_ TrnGearButtn_B_ActlR0 : 10|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV,TCM_DSL + SG_ TrnGearButtn_B_ActlP2 : 11|1@0+ (1,0) [0|1] "SED" TCM_DSL,PCM,PCM_HEV + SG_ TrnGearButtn_B_ActlP1 : 12|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV,TCM_DSL + SG_ TrnGearButtn_B_ActlP0 : 13|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV,TCM_DSL + SG_ TrnGearButtn_B_ActlN2 : 14|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV,TCM_DSL + SG_ TrnGearButtn_B_ActlN1 : 15|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV,TCM_DSL + SG_ TrnGearButtn_B_ActlN0 : 0|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV,TCM_DSL + SG_ TrnGearButtn_B_ActlM2 : 1|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV,TCM_DSL + SG_ TrnGearButtn_B_ActlM1 : 2|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV,TCM_DSL + SG_ TrnGearButtn_B_ActlM0 : 3|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV,TCM_DSL + SG_ TrnGearButtn_B_ActlD2 : 4|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV,TCM_DSL + SG_ TrnGearButtn_B_ActlD1 : 5|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV,TCM_DSL + SG_ TrnGearButtn_B_ActlD0 : 6|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV,TCM_DSL + SG_ TrnGear_No_Cs : 39|8@0+ (1,0) [0|255] "Unitless" SOBDMC_HPCM_FD1,PCM,PCM_HEV,TCM_DSL + SG_ TrnGear_No_Cnt : 47|4@0+ (1,0) [0|15] "Unitless" SOBDMC_HPCM_FD1,PCM,PCM_HEV,TCM_DSL + SG_ TrnGear_D_RqDrv : 31|5@0+ (1,0) [0|31] "SED" SOBDMC_HPCM_FD1,PCM,PCM_HEV,TCM_DSL + SG_ BrkSwtchPos_B_ActlGsm : 7|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV,TCM_DSL + +BO_ 1091 TrailerInfo_FD1: 8 GWM + SG_ ParkLampTrlrOut_B_Stat : 15|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ TrlrLampCtl_D_Stat : 4|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ TrlrBattChrg_D_Stat : 2|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ StopLampTrlrOut_B_Stat : 0|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ TurnLampTrlrRr_B_Stat : 5|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ TurnLampTrlrRl_B_Stat : 6|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ TrlrLampCnnct_B_Actl : 7|1@0+ (1,0) [0|1] "SED" VDM,PCM_HEV,ECM_Diesel,PCM,TCM_DSL,ABS_ESC,IPMA_ADAS,PSCM + +BO_ 138 ActiveFrontStrg_Stat2_FD1: 8 GWM + SG_ SteWhlRelCalib_T_Actl : 7|8@0+ (1,0) [0|255] "ms" ABS_ESC + SG_ SteWhlRelCalib_An_Sns : 15|15@0+ (0.1,-1600) [-1600|1676.5] "deg" CMR_DSMC,PSCM,TCCM + +BO_ 131 Steering_Data_FD1: 8 GWM + SG_ HeadLghtHiFlash_D_Stat : 7|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ TurnLghtSwtch_D_Stat : 5|2@0+ (1,0) [0|3] "SED" IPMA_ADAS,PSCM + SG_ WiprFront_D_Stat : 3|4@0+ (1,0) [0|15] "SED" ABS_ESC,IPMA_ADAS,PCM,PCM_HEV + SG_ LghtAmb_D_Sns : 15|3@0+ (1,0) [0|7] "SED" IPMA_ADAS + SG_ AccButtnGapDecPress : 12|1@0+ (1,0) [0|1] "SED" IPMA_ADAS + SG_ AccButtnGapIncPress : 11|1@0+ (1,0) [0|1] "SED" IPMA_ADAS + SG_ AslButtnOnOffCnclPress : 10|1@0+ (1,0) [0|1] "SED" ECM_Diesel,PCM,PCM_HEV + SG_ AslButtnOnOffPress : 9|1@0+ (1,0) [0|1] "SED" ECM_Diesel,PCM,PCM_HEV + SG_ CcAslButtnCnclPress : 8|1@0+ (1,0) [0|1] "SED" ECM_Diesel,IPMA_ADAS,PCM,PCM_HEV + SG_ LaSwtchPos_D_Stat : 23|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + SG_ CcAslButtnCnclResPress : 21|1@0+ (1,0) [0|1] "SED" ECM_Diesel,IPMA_ADAS,PCM,PCM_HEV + SG_ CcAslButtnDeny_B_Actl : 20|1@0+ (1,0) [0|1] "SED" ECM_Diesel,IPMA_ADAS,PCM,PCM_HEV + SG_ CcAslButtnIndxDecPress : 19|1@0+ (1,0) [0|1] "SED" ECM_Diesel,PCM,PCM_HEV + SG_ CcAslButtnIndxIncPress : 18|1@0+ (1,0) [0|1] "SED" ECM_Diesel,PCM,PCM_HEV + SG_ CcAslButtnOffCnclPress : 17|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CcAslButtnOnOffCncl : 16|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CcAslButtnOnPress : 31|1@0+ (1,0) [0|1] "SED" ECM_Diesel,IPMA_ADAS,PCM,PCM_HEV + SG_ CcAslButtnResDecPress : 30|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CcAslButtnResIncPress : 29|1@0+ (1,0) [0|1] "SED" ABS_ESC,ECM_Diesel,IPMA_ADAS,PCM,PCM_HEV + SG_ CcAslButtnSetDecPress : 28|1@0+ (1,0) [0|1] "SED" ABS_ESC,ECM_Diesel,IPMA_ADAS,PCM,PCM_HEV + SG_ CcAslButtnSetIncPress : 27|1@0+ (1,0) [0|1] "SED" ABS_ESC,ECM_Diesel,IPMA_ADAS,PCM,PCM_HEV + SG_ CcAslButtnSetPress : 26|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CcAsllButtnResPress : 25|1@0+ (1,0) [0|1] "SED" ECM_Diesel,IPMA_ADAS,PCM,PCM_HEV + SG_ CcButtnOffPress : 24|1@0+ (1,0) [0|1] "SED" ECM_Diesel,IPMA_ADAS,PCM,PCM_HEV + SG_ CcButtnOnOffCnclPress : 39|1@0+ (1,0) [0|1] "SED" ECM_Diesel,IPMA_ADAS,PCM,PCM_HEV + SG_ CcButtnOnOffPress : 38|1@0+ (1,0) [0|1] "SED" ECM_Diesel,IPMA_ADAS,PCM,PCM_HEV + SG_ CcButtnOnPress : 37|1@0+ (1,0) [0|1] "SED" ECM_Diesel,IPMA_ADAS,PCM,PCM_HEV + SG_ HeadLghtHiFlash_D_Actl : 36|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + SG_ HeadLghtHiOn_B_StatAhb : 34|1@0+ (1,0) [0|1] "SED" IPMA_ADAS + SG_ AhbStat_B_Dsply : 33|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ AccButtnGapTogglePress : 32|1@0+ (1,0) [0|1] "SED" IPMA_ADAS + SG_ WiprFrontSwtch_D_Stat : 47|4@0+ (1,0) [0|15] "SED" Vector__XXX + SG_ HeadLghtHiCtrl_D_RqAhb : 43|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ TjaButtnOnOffPress : 40|1@0+ (1,0) [0|1] "SED" IPMA_ADAS + +BO_ 787 Power_Liftgate_Stat_FD1: 8 GWM + SG_ DrLckCnt_No_ActlTgate : 12|4@0+ (1,0) [0|15] "unitless" Vector__XXX + SG_ DrTgateChime2_D_Rq : 15|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ DrTGate_D_Rq : 2|2@0+ (1,0) [0|3] "SED" ECM_Diesel + SG_ PwLftgtIntSw_B_Stat : 5|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ Power_Liftgate_Mode_Stt : 4|2@0+ (1,0) [0|3] "SED" Vector__XXX + +BO_ 953 Body_Info_8_FD1: 8 GWM + SG_ BattRgenLoDChrg_D_Rq : 27|2@0+ (1,0) [0|3] "SED" PCM_HEV,PCM + SG_ BattRgenLoChrg_D_Rq : 25|2@0+ (1,0) [0|3] "SED" PCM_HEV,PCM + SG_ ChrgCordLck_B_Stat : 31|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ ChrgCordResp2_No_Actl : 23|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ ChrgCordResp1_No_Actl : 15|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ WakeAlarm3_D_Stat : 1|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ WakeAlarm2_D_Stat : 3|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ WakeAlarm1_D_Stat : 5|2@0+ (1,0) [0|3] "SED" ECM_Diesel,PCM_HEV + SG_ WakeAlarm0_D_Stat : 7|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + +BO_ 1093 TrailerBrakeInfo_FD1: 8 GWM + SG_ TrlBrkInitOut_D_Stat : 10|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ TrlrBrkOut_No_Dsply : 23|4@0+ (1,0) [0|15] "unitless" Vector__XXX + SG_ TrlrBrkMde_D_Actl : 2|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ TrlrBrkGain_No_Actl : 15|5@0+ (0.5,0) [0|15.5] "unitless" Vector__XXX + SG_ TrlrBrkDsply_B_Rq : 3|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ TrlrBrkDcnnt_B_Actl : 5|1@0+ (1,0) [0|1] "SED" VDM + SG_ TrlrBrkActCnnct_B_Actl : 6|1@0+ (1,0) [0|1] "SED" VDM,ECM_Diesel,PCM,TCM_DSL,ABS_ESC,PSCM,TCCM,IPMA_ADAS + SG_ StopLamp_B_RqTrlrBrk : 7|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ TrlrBrkCtl_B_Falt : 4|1@0+ (1,0) [0|1] "SED" IPMA_ADAS + SG_ TrlrBrkActCirct_B_Falt : 1|1@0+ (1,0) [0|1] "SED" IPMA_ADAS + +BO_ 792 IPC_Send_Signals_2_FD1: 8 GWM + SG_ FuelRange_L_Dsply : 45|14@0+ (0.1,0) [0|1638.3] "km" ECM_Diesel + SG_ ElTrip_L_Dsply : 31|16@0+ (0.1,0) [0|6553.3] "unitless" Vector__XXX + SG_ ElLongTerm_L_Dsply : 7|24@0+ (0.1,0) [0|1677721.3] "unitless" Vector__XXX + +BO_ 968 Cluster_Lighting_Rq_FD1: 8 GWM + SG_ SlMde_D_Rq : 27|2@0+ (1,0) [0|3] "SED" ECM_Diesel + SG_ IsaOffst_D_Rq : 31|4@0+ (1,0) [0|15] "SED" ECM_Diesel + +BO_ 819 Pass_Dr_Stat_FD1: 8 GWM + SG_ RollCode_No_ActlPdm : 31|16@0+ (1,0) [0|65535] "Unitless" Vector__XXX + SG_ Memory_3_SwPsngr_Stat : 22|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ Memory_2_SwPsngr_Stat : 23|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ Memory_1_SwPsngr_Stat : 0|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ BLISLEDStatPassSide : 2|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + SG_ WndwPsngrSide_D_Stat : 4|2@0+ (1,0) [0|3] "SED" ECM_Diesel,PCM + SG_ Pasngr_Lock_Sw_Stat : 6|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ Pasngr_Lock_Sw_Cnt : 15|8@0+ (1,0) [0|255] "Cnt" Vector__XXX + SG_ ChildLckFdbckRp_B_Stat : 7|1@0+ (1,0) [0|1] "SED" Vector__XXX + +BO_ 818 Driver_Dr_Stat_FD1: 8 GWM + SG_ BLISLEDStatDriverSide : 47|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + SG_ ChildLckPw_N_Cnt : 39|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ WndwDrvSide_D_Stat : 1|2@0+ (1,0) [0|3] "SED" ECM_Diesel,PCM + SG_ RollCodeDrvDrKeyCyl : 23|16@0+ (1,0) [0|65535] "Unitless" Vector__XXX + SG_ KeyCylSwDrvDr_D_Stat : 3|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ Driver_Lock_Sw_Stat : 5|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ Driver_Lock_Sw_Cnt : 15|8@0+ (1,0) [0|255] "Cnt" Vector__XXX + SG_ ChildLckPw_D_Rq : 6|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ ChildLckFdbckRd_B_Stat : 7|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ RvrseMirrorChime_B_Rq : 45|1@0+ (1,0) [0|1] "SED" Vector__XXX + +BO_ 806 Compressor_Req_FD1: 8 GWM + SG_ SnowPlowMde_B_Enbl : 2|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ StopStrtDrvMde_B_RqBtn : 3|1@0+ (1,0) [0|1] "SED" ECM_Diesel,PCM + SG_ HvacHtrCore_Te_Rq : 49|10@0+ (0.25,-50) [-50|205.75] "degC" PCM_HEV,SOBDMC_HPCM_FD1,ECM_Diesel + SG_ ClimtHeat_D_Rq : 20|3@0+ (1,0) [0|7] "SED" SOBDMC_HPCM_FD1,ECM_Diesel,PCM,PCM_HEV + SG_ ClimtCool_D_Rq : 23|3@0+ (1,0) [0|7] "SED" SOBDMC_HPCM_FD1,ECM_Diesel,PCM,PCM_HEV + SG_ HvacEvap_Te_Rq : 33|10@0+ (0.125,-50) [-50|77.875] "Degrees C" SOBDMC_HPCM_FD1,ECM_Diesel,PCM,PCM_HEV + SG_ HvacEvap_Te_Actl : 17|10@0+ (0.125,-50) [-50|77.75] "Degrees C" SOBDMC_HPCM_FD1,ECM_Diesel,PCM,PCM_HEV + SG_ HvacAirCond_B_Rq : 7|1@0+ (1,0) [0|1] "SED" ECM_Diesel,PCM,PCM_HEV + SG_ HvacEvap_Te_Offst : 1|10@0+ (0.125,-50) [-50|77.875] "Degrees C" ECM_Diesel,PCM,PCM_HEV + SG_ ClimtPw_B_Rq : 5|1@0+ (1,0) [0|1] "SED" ECM_Diesel,PCM + +BO_ 765 Mc_Send_Signals_2_FD1: 8 GWM + SG_ Mc_VehTimeFrmtUsrSel_St : 1|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ Running_Board_Cmd : 21|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ EngExhMdeQuiet_D2_Rq : 55|3@0+ (1,0) [0|7] "SED" PCM + SG_ EdmSailMde_B_RqDrv : 48|1@0+ (1,0) [0|1] "SED" ECM_Diesel + SG_ DrvInputRequired_B_Rq : 32|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ AwdRnge_D_ActlIpc : 29|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ BalrSwtch_D_Stat : 57|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + SG_ BalrMde_D_Rq : 59|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + SG_ WaitToStartLamp_D_Falt : 50|2@0+ (1,0) [0|3] "SED" ECM_Diesel + SG_ EsaOn_B_Rq : 15|1@0+ (1,0) [0|1] "SED" PSCM + SG_ BttOn_B_Rq : 26|1@0+ (1,0) [0|1] "SED" IPMA_ADAS + SG_ Btt_L_Actl : 39|7@0+ (0.1,0) [0|12.5] "meter" IPMA_ADAS + SG_ SelDrvMdeTxtReset_B_Rq : 40|1@0+ (1,0) [0|1] "SED" ABS_ESC + SG_ SelDrvMdeDsply_B_Avail : 41|1@0+ (1,0) [0|1] "SED" ABS_ESC + SG_ Mc_VehUntTrpCoUsrSel_St : 23|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ Mc_VehUnitTempUsrSel_St : 22|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ Mc_VehLangUsrSel_St : 7|6@0+ (1,0) [0|63] "SED" Vector__XXX + +BO_ 559 ElecHorizon_Data2_FD1: 8 GWM + SG_ EhData2_No_Actl : 7|64@0+ (1,0) [0|1.84467440737096E+019] "unitless" IPMA_ADAS,ECM_Diesel + +BO_ 558 ElecHorizon_Data1_FD1: 8 GWM + SG_ EhData1_No_Actl : 7|64@0+ (1,0) [0|1.84467440737096E+019] "unitless" IPMA_ADAS,ECM_Diesel + +BO_ 934 Side_Detect_L_Stat: 8 IPMA_ADAS + SG_ CtaAlrtLeft2_D_Stat : 30|3@0+ (1,0) [0|7] "SED" GWM + SG_ CtaBrkLeftMsgTxt_B_Rq : 42|1@0+ (1,0) [0|1] "SED" GWM + SG_ CtaLeftBrkDecel_B_Rq : 7|1@0+ (1,0) [0|1] "SED" GWM,ABS_ESC + SG_ CtaLeftBrkEnbl_B_Rq : 31|1@0+ (1,0) [0|1] "SED" GWM,ABS_ESC + SG_ Side_Detect_L_Illum : 39|8@0+ (1,0) [0|255] "Percent" GWM + SG_ BttLeft_D_Stat : 45|3@0+ (1,0) [0|7] "SED" GWM + SG_ BttLeft_D_RqDrv : 47|2@0+ (1,0) [0|3] "SED" GWM + SG_ CtaSnsLeft_D_Stat : 25|2@0+ (1,0) [0|3] "SED" GWM + SG_ SodDetctLeft_D_Stat : 23|3@0+ (1,0) [0|7] "SED" GWM + SG_ CtaLeft_D_Stat : 18|3@0+ (1,0) [0|7] "SED" GWM + SG_ CtaAlrtLeft_D_Stat : 8|1@0+ (1,0) [0|1] "SED" GWM + SG_ SodLeft_D_Stat : 15|3@0+ (1,0) [0|7] "SED" GWM + SG_ SodSnsLeft_D_Stat : 12|2@0+ (1,0) [0|3] "SED" GWM + SG_ SodAlrtLeft_D_Stat : 10|2@0+ (1,0) [0|3] "SED" GWM + SG_ SodWarnLeft_Prd_Rq : 6|7@0+ (1,0) [0|127] "millisecond" GWM + +BO_ 1072 Cluster_Info1_FD1: 8 GWM + SG_ LscmbbStat_B_Actl : 2|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ HaDsplyCpblty_B_Stat : 42|1@0+ (1,0) [0|1] "SED" IPMA_ADAS + SG_ AccDeny_B_RqIpc : 7|1@0+ (1,0) [0|1] "SED" IPMA_ADAS + SG_ DrvSlipCtlMde_D_Rq : 33|2@0+ (1,0) [0|3] "SED" ABS_ESC + SG_ EngIdlShutDown_B_RqDrv : 3|1@0+ (1,0) [0|1] "SED" ECM_Diesel,PCM,PCM_HEV + SG_ HsaMde_D_Rq : 54|2@0+ (1,0) [0|3] "SED" ABS_ESC + SG_ NtrlTowMdeEnbl_B_RqDrv : 1|1@0+ (1,0) [0|1] "SED" TCCM,TCM_DSL,PCM_HEV,PCM + SG_ BulbChkActv_B_Stat : 55|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ ParkDetect_Stat : 52|1@0+ (1,0) [0|1] "SED" PCM_HEV,PCM + SG_ ReducedGuard_D_Rq : 51|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ TrlrBrkMde_D_Rq : 57|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ TRLR_SWAY_CONFIG_CMD : 56|1@0+ (1,0) [0|1] "SED" ABS_ESC + SG_ TRAILER_BRAKE_CONFIG : 37|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ Power_Liftgate_Mode_Cmd : 39|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ AccEnbl_B_RqDrv : 35|1@0+ (1,0) [0|1] "SED" IPMA_ADAS + SG_ OdometerMasterValue : 15|24@0+ (1,0) [0|16777214] "km" VDM,SOBDMC_HPCM_FD1,TCCM,CMR_DSMC,ABS_ESC,ECM_Diesel,IPMA_ADAS,PCM,PCM_HEV,PSCM,TCM_DSL + SG_ EngOilLife_B_RqReset : 43|1@0+ (1,0) [0|1] "SED" ECM_Diesel,PCM,PCM_HEV + SG_ ePRNDL_MODE : 0|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV,TCM_DSL + SG_ DrvSlipCtlMde_B_Rq2 : 34|1@0+ (1,0) [0|1] "SED" ABS_ESC + SG_ MetricActv_B_Actl : 6|1@0+ (1,0) [0|1] "SED" ECM_Diesel,IPMA_ADAS,PCM,PCM_HEV + SG_ KeyTypeChngMykey_D_Rq : 41|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ ManRgen_D_Rq : 5|2@0+ (1,0) [0|3] "SED" ECM_Diesel + +BO_ 909 Body_Info_6_FD1: 8 GWM + SG_ IgnPsswrdDsply_B_Rq : 57|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ ElPwPoint_D_Rq : 59|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ PoliceIdlMde_D_Stat : 55|4@0+ (1,0) [0|15] "SED" Vector__XXX + SG_ DrLatchMsgTxt_D_Rq : 43|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ SecurityMsgTxt_D_Rq : 47|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ PrmtrAlrmEvnt_D_Stat : 35|4@0+ (1,0) [0|15] "SED" Vector__XXX + SG_ HeadLghtHiPrmsn_D_Stat : 51|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + SG_ SteWhlLckMsgTxt_D_Rq : 25|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ immoMsgTxt_D_Rq : 39|4@0+ (1,0) [0|15] "SED" Vector__XXX + SG_ PrsnlDevcChrgEnbl_B_Rq : 40|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ TracKeyMde_D_Stat : 45|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ PEBackupSlot_Stats : 27|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ KeyMykeyTot_No_Cnt : 3|4@0+ (1,0) [0|15] "Counts" Vector__XXX + SG_ Keycode_Status : 15|20@0+ (1,0) [0|1048575] "unitless" Vector__XXX + SG_ KeyAdmnTot_No_Cnt : 7|4@0+ (1,0) [0|15] "Counts" Vector__XXX + +BO_ 963 BCM_Lamp_Stat_FD1: 8 GWM + SG_ Illuminated_Entry_Stat : 63|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ Dr_Courtesy_Light_Stat : 49|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ Courtesy_Delay_Status : 51|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ ImpactEvntFdbck_D_Stat : 53|2@0+ (1,0) [0|3] "SED" CMR_DSMC + SG_ WrlssAcsyChrgInhbt_B_Rq : 40|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ PudLampPsngr_D_Rq : 57|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ HeadLampLoOut_B_Stat : 32|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CrnrLghtRight_Pc_Rq : 47|7@0+ (1,0) [0|100] "percent" Vector__XXX + SG_ CrnrLghtLeft_Pc_Rq : 39|7@0+ (1,0) [0|100] "percent" Vector__XXX + SG_ HeadLghtHiFdbck_D_Stat : 55|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ PudLampDrv_D_Rq : 59|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ TrnNotInPrkChime_B_Rq : 24|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ PrkLightChime_B_Rq : 25|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ KeyInIgnWarn_B_Cmd : 27|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ HomeSafeLtChime_B_Rq : 28|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ StopLghtOn_B_Stat : 8|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ RvrseLghtOn_B_Stat : 9|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ PrkLght_D_Stat : 13|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ HeadLghtSwtch_D_Stat : 15|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + SG_ HeadLampLoFrOn_B_Stat : 2|1@0+ (1,0) [0|1] "SED" IPMA_ADAS + SG_ HeadLampLoFlOn_B_Stat : 3|1@0+ (1,0) [0|1] "SED" IPMA_ADAS + SG_ HeadLampLoActv_B_Stat : 4|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,PCM,ECM_Diesel + SG_ Headlamp_On_Wrning_Cmd : 29|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ Park_Brake_Chime_Rqst : 26|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ HeadLghtHiOn_B_Stat : 1|1@0+ (1,0) [0|1] "SED" ECM_Diesel,IPMA_ADAS,PCM + SG_ BrkWarnInd_B_Rq : 20|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ Brk_Fluid_Lvl_Low : 31|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ ReducedGuard_D_Stat : 19|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ Perimeter_Alarm_Status : 17|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ Courtesy_BSave_Stat : 7|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ DrTgateLck_D_Stat : 61|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ WndwGlbl_D_Cmd : 23|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ PudLamp_D_Rq : 11|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ DayRnngLampOn_B_Stat : 5|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ PerimeterAlarmChimeRq : 0|1@0+ (1,0) [0|1] "SED" Vector__XXX + +BO_ 145 Yaw_Data_FD1: 8 GWM + SG_ VehYawWActl_D_Qf : 53|2@0+ (1,0) [0|3] "SED" VDM,IPMA_ADAS,ABS_ESC + SG_ VehRolWActl_D_Qf : 55|2@0+ (1,0) [0|3] "SED" VDM,IPMA_ADAS,ABS_ESC + SG_ VehRollYawW_No_Cs : 39|8@0+ (1,0) [0|255] "Unitless" IPMA_ADAS,ABS_ESC + SG_ VehRollYaw_No_Cnt : 47|8@0+ (1,0) [0|255] "Unitless" VDM,IPMA_ADAS,ABS_ESC + SG_ VehYaw_W_Actl : 23|16@0+ (0.0002,-6.5) [-6.5|6.6066] "rad/s" VDM,ABS_ESC,PSCM,IPMA_ADAS + SG_ VehRol_W_Actl : 7|16@0+ (0.0002,-6.5) [-6.5|6.6066] "rad/s" VDM,ABS_ESC,IPMA_ADAS + +BO_ 76 RCMStatusMessage2_FD1: 8 GWM + SG_ FirstRowBuckleMid : 28|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + SG_ SecondRowBucklePsngr : 23|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ SecondRowBuckleMid : 9|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ SecondRowBuckleDriver : 11|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ FirstRowBuckleDriver : 15|2@0+ (1,0) [0|3] "SED" CMR_DSMC,ABS_ESC,IPMA_ADAS,ECM_Diesel,PCM,PCM_HEV,TCM_DSL + SG_ RILReq : 7|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ FirstRowBucklePsngr : 13|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + SG_ RstrnImpactEvntStatus : 3|3@0+ (1,0) [0|7] "SED" CMR_DSMC,SOBDMC_HPCM_FD1,ABS_ESC,IPMA_ADAS,ECM_Diesel,PCM,PCM_HEV,TCM_DSL + SG_ PsngrFrntDetct_D_Actl : 5|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ EDRTriggerEvntSync : 29|1@0+ (1,0) [0|1] "SED" IPMA_ADAS + SG_ PassRstrnInd_Req : 31|2@0+ (1,0) [0|3] "SED" Vector__XXX + +BO_ 65 Global_PATS_Cntrl_Info_FD1: 8 GWM + SG_ immoControlData_T1 : 15|40@0+ (1,0) [0|1099511627775] "Encrypted" ECM_Diesel,PCM,PCM_HEV + SG_ immoControlCmd_T1 : 7|3@0+ (1,0) [0|7] "SED" ECM_Diesel,PCM,PCM_HEV + +BO_ 1076 Cluster_Info_3_FD1: 8 GWM + SG_ HILL_DESC_SW : 32|1@0+ (1,0) [0|1] "SED" ABS_ESC + SG_ AutoRgen_D_Rq : 34|2@0+ (1,0) [0|3] "SED" ECM_Diesel + SG_ W2S_LAMP_OK : 37|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ OdoTripRx_B_Actl : 2|1@0+ (1,0) [0|1] "SED" ECM_Diesel,PCM,PCM_HEV + SG_ Veh_V_CompLimMx : 47|12@0+ (0.1,0) [0|409.5] "km/h" ECM_Diesel,PCM,PCM_HEV + SG_ DrvSlipCtlMde_B_RqMyKey : 38|1@0+ (1,0) [0|1] "SED" ABS_ESC + SG_ FuelLvlWarn_D_Actl : 51|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ FuelSecndActv_B_Actl : 39|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ FuelLvlPssvSide_No_Raw : 17|10@0+ (1,0) [0|1023] "Unitless" ECM_Diesel,PCM,PCM_HEV + SG_ FUEL_SENSOR_NUM : 35|1@0+ (1,0) [0|1] "SED" ECM_Diesel,PCM,PCM_HEV + SG_ FuelLvlActvSide_No_Raw : 49|10@0+ (1,0) [0|1023] "Unitless" ECM_Diesel,PCM,PCM_HEV + SG_ FuelLvl_Pc_Dsply : 1|10@0+ (0.108696,-5.217408) [-5.217408|105.9786] "Percent" VDM,ECM_Diesel + SG_ DISPLAY_SPEED_SCALING : 23|4@0+ (0.5,100) [100|107.5] "%" IPMA_ADAS,ECM_Diesel,PCM,PCM_HEV + SG_ DISPLAY_SPEED_OFFSET : 7|3@0+ (0.5,0) [0|3.5] "kph" IPMA_ADAS,ECM_Diesel,PCM,PCM_HEV + +BO_ 862 Climate_Cntrl_Data_2_FD1: 8 GWM + SG_ AutoStpHvacDelta_I_Est : 15|8@0+ (1,-192) [-192|62] "ampere" Vector__XXX + SG_ HvacBlwrFront_D_Stat : 55|5@0+ (1,0) [0|31] "SED" ECM_Diesel,PCM,PCM_HEV + SG_ CabnAmb_Te_Actl : 39|8@0+ (0.5,-57) [-57|70] "degreesC" SOBDMC_HPCM_FD1,PCM_HEV + SG_ HvacRemoteStrt_N_Rq : 7|4@0+ (100,450) [450|1950] "RPM" ECM_Diesel,PCM,PCM_HEV + SG_ ClimtThrmlLoad_No_Actl : 47|8@0+ (1,0) [0|254] "unitless" SOBDMC_HPCM_FD1,PCM_HEV + SG_ HvacRec_Pc_Est : 23|7@0+ (1,0) [0|127] "Percent" PCM_HEV,SOBDMC_HPCM_FD1 + SG_ HvacAir_Flw_Est : 16|9@0+ (0.5,0) [0|255.5] "liter/second" SOBDMC_HPCM_FD1 + +BO_ 931 Body_Info_9_FD1: 8 GWM + SG_ PtWakeReas_D_Stat : 38|4@0+ (1,0) [0|15] "SED" PCM_HEV + SG_ VehOnSrc_D_Stat : 19|4@0+ (1,0) [0|15] "SED" ABS_ESC,PCM_HEV,ECM_Diesel,PCM + SG_ StrtrMtrCtlDStat_No_Cs : 31|8@0+ (1,0) [0|255] "unitless" PCM_HEV,ECM_Diesel,PCM + SG_ EngStrtActv_B_Stat : 39|1@0+ (1,0) [0|1] "SED" PCM_HEV,ECM_Diesel,PCM + SG_ EngStrt_B_Rq : 0|1@0+ (1,0) [0|1] "SED" PCM_HEV,ECM_Diesel,PCM + SG_ DrvInCtl_B_Stat : 1|1@0+ (1,0) [0|1] "SED" ECM_Diesel,PCM,PCM_HEV + SG_ AdvStrt_D_Stat : 23|4@0+ (1,0) [0|15] "SED" PCM_HEV,ECM_Diesel,PCM + SG_ CrnkInhbt_No_Cs : 15|8@0+ (1,0) [0|255] "Unitless" ECM_Diesel,PCM,PCM_HEV + SG_ CrnkInhbt_No_Cnt : 6|4@0+ (1,0) [0|15] "Unitless" ECM_Diesel,PCM,PCM_HEV + SG_ CrnkInhbt_B_Stat : 7|1@0+ (1,0) [0|1] "SED" ECM_Diesel,PCM,PCM_HEV + SG_ IgnPreOffActv_B_Stat : 2|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV,TCM_DSL + +BO_ 578 Body_Info_4_FD1: 8 GWM + SG_ PtLatchActv_B_RqBcm : 56|1@0+ (1,0) [0|1] "SED" ECM_Diesel,PCM,PCM_HEV,TCM_DSL + SG_ immoSecureIdleMode : 61|2@0+ (1,0) [0|3] "SED" ECM_Diesel,PCM,PCM_HEV + SG_ ReFuelSwtchStat_D_Actl : 63|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ FuelPumpPwr_D_Stat : 50|3@0+ (1,0) [0|7] "SED" ECM_Diesel,PCM,PCM_HEV + SG_ BattULo_U_Actl : 39|8@0+ (0.0625,0) [0|15.875] "volt" CMR_DSMC,SOBDMC_HPCM_FD1,ABS_ESC,IPMA_ADAS,PSCM,ECM_Diesel,PCM,PCM_HEV + SG_ PrkLckCtl_B_Enbl : 22|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ PrkLckCtlMsgTxt_D_Rq : 55|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ PrkLckCtlAvail_T_Stat : 47|8@0+ (1,0) [0|255] "second" Vector__XXX + SG_ BrkTrnShifLck_B_Stat : 23|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV,TCM_DSL + SG_ PrkLckCtlUnlck_D_Stat : 58|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ PrkLckCtlTow_B_Enbl : 59|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ DriverCrankingReq : 51|1@0+ (1,0) [0|1] "SED" ECM_Diesel,PCM,PCM_HEV + SG_ EngOff_T_Actl : 7|16@0+ (1,0) [0|65534] "second^0.5" ABS_ESC,IPMA_ADAS,TCCM,ECM_Diesel,PCM,PCM_HEV,TCM_DSL + SG_ DcacElPw_D_Rq : 53|2@0+ (1,0) [0|3] "SED" ECM_Diesel,PCM + SG_ BattULo_I_Actl : 21|14@0+ (0.0625,-512) [-512|511.875] "ampere" ECM_Diesel,PCM,PCM_HEV + +BO_ 947 BodyInfo_3_FD1: 8 GWM + SG_ ValetMode_D_Mem : 16|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ DimmingLvlEvnt_No_Actl : 18|2@0+ (1,0) [0|3] "unitless" Vector__XXX + SG_ DrStatDrvErrCnt_B_Stat : 19|1@0+ (1,0) [0|1] "SED" ECM_Diesel,PCM,PCM_HEV + SG_ TurnLghtRight_D_Rq : 63|2@0+ (1,0) [0|3] "SED" CMR_DSMC,IPMA_ADAS + SG_ TurnLghtRightOn_B_Stat : 35|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ TurnLghtLeftOn_B_Stat : 54|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ FogLghtRearOn_B_Stat : 1|1@0+ (1,0) [0|1] "SED" IPMA_ADAS + SG_ Backlit_LED_Status : 23|4@0+ (1,0) [0|15] "SED" Vector__XXX + SG_ TurnLghtLeft_D_Rq : 9|2@0+ (1,0) [0|3] "SED" CMR_DSMC,IPMA_ADAS + SG_ FogLghtFrontOn_B_Stat : 56|1@0+ (1,0) [0|1] "SED" IPMA_ADAS + SG_ IgnKeyType_D_Actl : 39|4@0+ (1,0) [0|15] "SED" ABS_ESC,ECM_Diesel,IPMA_ADAS,PCM,PCM_HEV + SG_ Parklamp_Status : 3|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + SG_ Litval : 47|8@0+ (1,0) [0|253] "SED" IPMA_ADAS + SG_ Key_In_Ignition_Stat : 11|1@0+ (1,0) [0|1] "SED" ABS_ESC + SG_ Ignition_Status : 7|4@0+ (1,0) [0|15] "SED" VDM,CMR_DSMC,SOBDMC_HPCM_FD1,ABS_ESC,ECM_Diesel,IPMA_ADAS,PCM,PCM_HEV,PSCM,TCCM,TCM_DSL + SG_ Dimming_Lvl : 31|8@0+ (1,0) [0|253] "SED" IPMA_ADAS + SG_ Day_Night_Status : 15|2@0+ (1,0) [0|3] "SED" CMR_DSMC,ECM_Diesel,IPMA_ADAS,PCM + SG_ Remote_Start_Status : 13|2@0+ (1,0) [0|3] "SED" CMR_DSMC,IPMA_ADAS + SG_ DrStatTgate_B_Actl : 0|1@0+ (1,0) [0|1] "SED" IPMA_ADAS + SG_ DrStatRr_B_Actl : 49|1@0+ (1,0) [0|1] "SED" ABS_ESC,IPMA_ADAS + SG_ DrStatRl_B_Actl : 48|1@0+ (1,0) [0|1] "SED" ABS_ESC,IPMA_ADAS + SG_ DrStatPsngr_B_Actl : 60|1@0+ (1,0) [0|1] "SED" CMR_DSMC,ABS_ESC,IPMA_ADAS + SG_ DrStatInnrTgate_B_Actl : 58|1@0+ (1,0) [0|1] "SED" IPMA_ADAS + SG_ DrStatHood_B_Actl : 59|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ DrStatDrv_B_Actl : 61|1@0+ (1,0) [0|1] "SED" CMR_DSMC,ABS_ESC,ECM_Diesel,IPMA_ADAS,PCM,PCM_HEV,TCCM + SG_ PrkBrkActv_B_Actl : 55|1@0+ (1,0) [0|1] "SED" ABS_ESC,ECM_Diesel,IPMA_ADAS,PCM,PCM_HEV,TCCM,TCM_DSL + SG_ LifeCycMde_D_Actl : 53|4@0+ (1,0) [0|15] "SED" VDM,SOBDMC_HPCM_FD1,ABS_ESC,ECM_Diesel,IPMA_ADAS,PCM,PCM_HEV,PSCM,TCM_DSL + SG_ Delay_Accy : 57|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CrashEvnt_D_Stat : 34|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ FuelPmpInhbt_B_Stat : 32|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ BodySrvcRqd_B_Rq : 10|1@0+ (1,0) [0|1] "SED" Vector__XXX + +BO_ 1084 Battery_Mgmt_3_FD1: 8 GWM + SG_ BattULoChrg_URate_RqMx : 63|6@0+ (0.1,0) [0|6.3] "volts/second" ECM_Diesel,PCM,PCM_HEV + SG_ BattULoChrg_U_RqMx : 55|6@0+ (0.1,10.6) [10.6|16.9] "volt" ECM_Diesel,PCM,PCM_HEV + SG_ BattULoChrg_U_RqMn : 45|6@0+ (0.1,10.6) [10.6|16.9] "volt" ECM_Diesel,PCM,PCM_HEV + SG_ BattULoState_D_Qlty : 47|2@0+ (1,0) [0|3] "SED" ECM_Diesel,PCM,PCM_HEV + SG_ BSFault : 7|1@0+ (1,0) [0|1] "SED" ECM_Diesel,PCM,PCM_HEV + SG_ BattULo2_Te_Actl : 30|7@0+ (1,-40) [-40|86] "degC" ECM_Diesel,PCM,PCM_HEV + SG_ BSBattSOC : 22|7@0+ (1,0) [0|127] "%" ECM_Diesel,PCM,PCM_HEV + SG_ BSBattQDeltaRideAh : 6|15@0+ (0.0078125,-100) [-100|155.9921875] "ampere*hour" ECM_Diesel,PCM,PCM_HEV + SG_ BSBattQCapAh : 38|7@0+ (1,0) [0|127] "ampere*hour" ECM_Diesel,PCM,PCM_HEV + +BO_ 1068 Battery_Mgmt_2_FD1: 8 GWM + SG_ EngStrtInhbt_B_RqBatt : 2|1@0+ (1,0) [0|1] "SED" ECM_Diesel,PCM + SG_ BattULoChrg_D_Rq : 7|2@0+ (1,0) [0|3] "SED" ECM_Diesel,PCM + SG_ PwSysULoFalt_D_Stat : 12|4@0+ (1,0) [0|15] "SED" Vector__XXX + SG_ Shed_T_Eng_Off_B : 8|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ Shed_Feature_Group_ID : 20|5@0+ (1,0) [0|31] "SED" ECM_Diesel,PCM,PCM_HEV,IPMA_ADAS + SG_ Shed_Drain_Eng_Off_B : 0|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ Shed_Level_Req : 23|3@0+ (1,0) [0|7] "SED" ECM_Diesel,PCM,PCM_HEV,IPMA_ADAS + SG_ BattULoSrvc_T_Actl : 39|12@0+ (1,0) [0|4095] "days" Vector__XXX + SG_ ULoRgenTestMde_B_Rq : 31|1@0+ (1,0) [0|1] "SED" ECM_Diesel,PCM + SG_ ChargeMode : 15|3@0+ (1,0) [0|7] "SED" ECM_Diesel,PCM + SG_ IdleSpeedIncrease_El : 3|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ Batt_Lo_SoC_B : 5|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ PeriodicElLoad_B_Stat : 1|1@0+ (1,0) [0|1] "SED" ECM_Diesel + SG_ Batt_Crit_SoC_B : 4|1@0+ (1,0) [0|1] "SED" Vector__XXX + +BO_ 146 Accel_Data_FD1: 8 GWM + SG_ VehVert2_A_Actl : 36|13@0+ (0.01,-40) [-40|41.89] "m/s^2" VDM,TCCM,IPMA_ADAS,ABS_ESC,ECM_Diesel + SG_ VehLatLongVertA_No_Cs : 55|8@0+ (1,0) [0|255] "Unitless" TCCM,IPMA_ADAS,ABS_ESC + SG_ VehLatLongVert_No_Cnt : 63|8@0+ (1,0) [0|255] "Unitless" VDM,TCCM,IPMA_ADAS,ABS_ESC + SG_ VehLong2_A_Actl : 20|13@0+ (0.01,-40) [-40|41.89] "m/s^2" VDM,TCCM,ABS_ESC,ECM_Diesel,IPMA_ADAS + SG_ VehLat2_A_Actl : 4|13@0+ (0.01,-40) [-40|41.89] "m/s^2" VDM,TCCM,ABS_ESC,ECM_Diesel,IPMA_ADAS + SG_ VehVertAActl_D_Qf : 38|2@0+ (1,0) [0|3] "SED" VDM,TCCM,IPMA_ADAS,ABS_ESC + SG_ VehLongAActl_D_Qf : 22|2@0+ (1,0) [0|3] "SED" VDM,TCCM,ABS_ESC,ECM_Diesel + SG_ VehLatAActl_D_Qf : 6|2@0+ (1,0) [0|3] "SED" VDM,TCCM,ABS_ESC + +BO_ 1900 TesterPhysicalResCCM: 64 IPMA_ADAS + SG_ TesterPhysicalResCCM : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" TSTR + +BO_ 1806 TesterPhysicalResIPMA: 64 IPMA_ADAS + SG_ TesterPhysicalResIPMA : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" TSTR + +BO_ 997 Personality_CCM_Data: 8 IPMA_ADAS + SG_ PersIndexCcm_D_Actl : 39|3@0+ (1,0) [0|7] "SED" GWM + SG_ FeatNoCcmActl : 23|16@0+ (1,0) [0|65535] "Number" GWM + SG_ FeatConfigCcmActl : 7|16@0+ (1,0) [0|65535] "Undefined" GWM + +BO_ 983 Steer_Assist_Data: 8 IPMA_ADAS + SG_ CmbbObjRelLong_V_Actl : 39|10@0+ (0.1,-102.1) [-102.1|0] "meters/sec" PSCM + SG_ CmbbObjRelLat_V_Actl : 23|9@0+ (0.1,-25.5) [-25.5|25.4] "meters/sec" PSCM + SG_ CmbbObjDistLong_L_Actl : 7|10@0+ (0.1,0) [0|102.1] "meter" PSCM + SG_ CmbbObjDistLat_L_Actl : 45|9@0+ (0.1,-25.5) [-25.5|25.4] "meter" PSCM + SG_ CmbbObjConfdnc_D_Stat : 9|2@0+ (1,0) [0|3] "SED" PSCM + SG_ CmbbObjColl_T_Actl : 30|7@0+ (0.05,0) [0|6.25] "second" PSCM + SG_ CmbbObjClass_D_Stat : 13|4@0+ (1,0) [0|15] "SED" PSCM + SG_ EsaEnbl_D2_Rq : 52|2@0+ (1,0) [0|3] "SED" PSCM + +BO_ 982 LateralMotionControl2: 8 IPMA_ADAS + SG_ LatCtlCrv_NoRate2_Actl : 55|11@0+ (1E-006,-0.001024) [-0.001024|0.001023] "meter^2" PSCM + SG_ LatCtlPath_No_Cnt : 60|4@0+ (1,0) [0|15] "Unitless" PSCM + SG_ LatCtlPath_No_Cs : 15|8@0+ (1,0) [0|255] "Unitless" PSCM + SG_ LatCtl_D2_Rq : 6|3@0+ (1,0) [0|7] "SED" PSCM + SG_ HandsOffCnfm_B_Rq : 7|1@0+ (1,0) [0|1] "SED" PSCM + SG_ LatCtlRampType_D_Rq : 1|2@0+ (1,0) [0|3] "SED" PSCM + SG_ LatCtlPrecision_D_Rq : 3|2@0+ (1,0) [0|3] "SED" PSCM + SG_ LatCtlPathOffst_L_Actl : 33|10@0+ (0.01,-5.12) [-5.12|5.11] "meter" PSCM + SG_ LatCtlPath_An_Actl : 28|11@0+ (0.0005,-0.5) [-0.5|0.5235] "radians" PSCM + SG_ LatCtlCurv_No_Actl : 23|11@0+ (2E-005,-0.02) [-0.02|0.02094] "1/meter" PSCM + +BO_ 981 GlareFreeBeam: 8 IPMA_ADAS + SG_ AdbRamping_T_Rq : 44|4@0+ (200,0) [0|3000] "millisecond" GWM + SG_ AdbBrdrTop_An_Rq : 7|8@0+ (0.04,-9.54) [-9.54|0.58] "degrees" GWM + SG_ AdbBrdrRight_L_Stat : 37|9@0+ (2,0) [0|1018] "meter" GWM + SG_ AdbBrdrRight_An_Rq : 31|10@0+ (0.04,-20.4) [-20.4|20.44] "degrees" GWM + SG_ AdbBrdrLeft_L_Stat : 40|9@0+ (2,0) [0|1018] "meter" GWM + SG_ AdbBrdrLeft_An_Rq : 9|10@0+ (0.04,-20.4) [-20.4|20.44] "degrees" GWM + SG_ AdbBrdrBottom_An_Rq : 15|6@0+ (0.04,-1.86) [-1.86|0.58] "degrees" GWM + SG_ AdbBeam_D_Rq : 63|3@0+ (1,0) [0|7] "SED" GWM + +BO_ 980 AutoDriveBeam_Data1: 8 IPMA_ADAS + SG_ AdbBrdr1DistRigh_D_Stat : 59|4@0+ (1,0) [0|15] "SED" GWM + SG_ AdbBrdr1DistLeft_D_Stat : 63|4@0+ (1,0) [0|15] "SED" GWM + SG_ AdbMde1_D_Rq : 10|2@0+ (1,0) [0|3] "SED" GWM + SG_ AdbIntns1_D_Rq : 12|2@0+ (1,0) [0|3] "SED" GWM + SG_ AdbBrdr1Up_An_Rq : 36|9@0+ (0.02,-8) [-8|2.18] "degrees" GWM + SG_ AdbBrdr1Right_An_Rq : 31|11@0+ (0.02,-20) [-20|20.9] "degrees" GWM + SG_ AdbBrdr1Low_An_Rq : 8|9@0+ (0.02,-8) [-8|2.18] "degrees" GWM + SG_ AdbBrdr1Left_An_Rq : 7|11@0+ (0.02,-20) [-20|20.9] "degrees" GWM + SG_ AdbBrdr1CritRigh_T_Stat : 43|4@0+ (100,0) [0|1500] "millisecond" GWM + SG_ AdbBrdr1CritLeft_T_Stat : 55|4@0+ (100,0) [0|1500] "millisecond" GWM + +BO_ 979 LateralMotionControl: 8 IPMA_ADAS + SG_ LatCtlRng_L_Max : 63|6@0+ (2,0) [0|126] "meter" GWM + SG_ HandsOffCnfm_B_Rq : 51|1@0+ (1,0) [0|1] "SED" GWM + SG_ LatCtl_D_Rq : 36|3@0+ (1,0) [0|7] "SED" GWM + SG_ LatCtlRampType_D_Rq : 53|2@0+ (1,0) [0|3] "SED" GWM + SG_ LatCtlPrecision_D_Rq : 33|2@0+ (1,0) [0|3] "SED" GWM + SG_ LatCtlPathOffst_L_Actl : 47|10@0+ (0.01,-5.12) [-5.12|5.11] "meter" GWM + SG_ LatCtlPath_An_Actl : 31|11@0+ (0.0005,-0.5) [-0.5|0.5235] "radians" GWM + SG_ LatCtlCurv_NoRate_Actl : 12|13@0+ (2.5E-007,-0.001024) [-0.001024|0.00102375] "1/meter" GWM + SG_ LatCtlCurv_No_Actl : 7|11@0+ (2E-005,-0.02) [-0.02|0.02094] "1/meter" GWM + +BO_ 976 SuspensionRoad_Data: 8 IPMA_ADAS + SG_ SuspClkSync_No_Actl : 55|8@0+ (1,0) [0|253] "unitless" GWM + SG_ SrpSigValid_B_Stat : 47|1@0+ (1,0) [0|1] "SED" GWM + SG_ SrpHghtRight_L_Actl : 24|9@0+ (0.000625,-0.16) [-0.16|0.158125] "meter" GWM + SG_ SrpHghtLeft_L_Actl : 17|9@0+ (0.000625,-0.16) [-0.16|0.158125] "meter" GWM + SG_ SrpEventRight_D_Stat : 19|2@0+ (1,0) [0|3] "SED" GWM + SG_ SrpEventLeft_D_Stat : 21|2@0+ (1,0) [0|3] "SED" GWM + SG_ SrpDistRight_L_Actl : 14|9@0+ (0.02,0) [0|10.18] "meter" GWM + SG_ SrpDistLeft_L_Actl : 7|9@0+ (0.02,0) [0|10.18] "meter" GWM + +BO_ 973 Traffic_RecognitnData: 8 IPMA_ADAS + SG_ TsrVl2PrmntMsgTxt_D_Rq : 60|2@0+ (1,0) [0|3] "SED" GWM + SG_ TsrVl1PrmntMsgTxt_D_Rq : 41|2@0+ (1,0) [0|3] "SED" GWM + SG_ TsrVl2RstrcMsgTxt2_D_Rq : 63|3@0+ (1,0) [0|7] "SED" GWM + SG_ TsrVl1RstrcMsgTxt2_D_Rq : 51|3@0+ (1,0) [0|7] "SED" GWM + SG_ TsrOvtkMsgTxt2_D_Rq : 55|4@0+ (1,0) [0|15] "SED" GWM + SG_ WwaWarn_B_Rq : 48|1@0+ (1,0) [0|1] "SED" GWM + SG_ TsrVlUnitMsgTxt_D_Rq : 43|2@0+ (1,0) [0|3] "SED" GWM + SG_ TsrVLim2MsgTxt_D_Rq : 39|8@0+ (1,0) [0|255] "SED" GWM + SG_ TsrVLim1MsgTxt_D_Rq : 31|8@0+ (1,0) [0|255] "SED" GWM + SG_ TsrVl2StatMsgTxt_D_Rq : 47|2@0+ (1,0) [0|3] "SED" GWM + SG_ TsrVl2RstrcMsgTxt_D_Rq : 17|2@0+ (1,0) [0|3] "SED" GWM + SG_ TsrVl1StatMsgTxt_D_Rq : 21|2@0+ (1,0) [0|3] "SED" GWM + SG_ TsrVl1RstrcMsgTxt_D_Rq : 23|2@0+ (1,0) [0|3] "SED" GWM + SG_ TsrStatMsgTxt_D_Rq : 10|3@0+ (1,0) [0|7] "SED" GWM + SG_ TsrOvtkStatMsgTxt_D_Rq : 1|2@0+ (1,0) [0|3] "SED" GWM + SG_ TsrOvtkMsgTxt_D_Rq : 15|3@0+ (1,0) [0|7] "SED" GWM + SG_ TsrOswWarnMsgTxt_D_Rq : 3|2@0+ (1,0) [0|3] "SED" GWM + SG_ TsrMsgTxt_D_Rq : 7|4@0+ (1,0) [0|15] "SED" GWM + +BO_ 970 Lane_Assist_Data1: 8 IPMA_ADAS + SG_ LkaDrvOvrrd_D_Rq : 38|2@0+ (1,0) [0|3] "SED" PSCM + SG_ LkaActvStats_D2_Req : 7|3@0+ (1,0) [0|7] "SED" PSCM + SG_ LaRefAng_No_Req : 19|12@0+ (0.05,-102.4) [-102.4|102.3] "mrad" PSCM + SG_ LaRampType_B_Req : 39|1@0+ (1,0) [0|1] "SED" PSCM + SG_ LaCurvature_No_Calc : 15|12@0+ (5E-006,-0.01024) [-0.01024|0.01023] "1/m" PSCM + SG_ LdwActvStats_D_Req : 4|3@0+ (1,0) [0|7] "SED" PSCM + SG_ LdwActvIntns_D_Req : 1|2@0+ (1,0) [0|3] "SED" PSCM + +BO_ 962 AutoDriveBeam_Data3: 8 IPMA_ADAS + SG_ AdbBrdr3DistRigh_D_Stat : 59|4@0+ (1,0) [0|15] "SED" GWM + SG_ AdbBrdr3DistLeft_D_Stat : 63|4@0+ (1,0) [0|15] "SED" GWM + SG_ AdbMde3_D_Rq : 10|2@0+ (1,0) [0|3] "SED" GWM + SG_ AdbIntns3_D_Rq : 12|2@0+ (1,0) [0|3] "SED" GWM + SG_ AdbBrdr3Up_An_Rq : 36|9@0+ (0.02,-8) [-8|2.18] "degrees" GWM + SG_ AdbBrdr3Right_An_Rq : 31|11@0+ (0.02,-20) [-20|20.9] "degrees" GWM + SG_ AdbBrdr3Low_An_Rq : 8|9@0+ (0.02,-8) [-8|2.18] "degrees" GWM + SG_ AdbBrdr3Left_An_Rq : 7|11@0+ (0.02,-20) [-20|20.9] "degrees" GWM + SG_ AdbBrdr3CritRigh_T_Stat : 43|4@0+ (100,0) [0|1500] "millisecond" GWM + SG_ AdbBrdr3CritLeft_T_Stat : 55|4@0+ (100,0) [0|1500] "millisecond" GWM + +BO_ 961 AutoDriveBeam_Data2: 8 IPMA_ADAS + SG_ AdbBrdr2DistRigh_D_Stat : 59|4@0+ (1,0) [0|15] "SED" GWM + SG_ AdbBrdr2DistLeft_D_Stat : 63|4@0+ (1,0) [0|15] "SED" GWM + SG_ AdbMde2_D_Rq : 10|2@0+ (1,0) [0|3] "SED" GWM + SG_ AdbIntns2_D_Rq : 12|2@0+ (1,0) [0|3] "SED" GWM + SG_ AdbBrdr2Up_An_Rq : 36|9@0+ (0.02,-8) [-8|2.18] "degrees" GWM + SG_ AdbBrdr2Right_An_Rq : 31|11@0+ (0.02,-20) [-20|20.9] "degrees" GWM + SG_ AdbBrdr2Low_An_Rq : 8|9@0+ (0.02,-8) [-8|2.18] "degrees" GWM + SG_ AdbBrdr2Left_An_Rq : 7|11@0+ (0.02,-20) [-20|20.9] "degrees" GWM + SG_ AdbBrdr2CritRigh_T_Stat : 43|4@0+ (100,0) [0|1500] "millisecond" GWM + SG_ AdbBrdr2CritLeft_T_Stat : 55|4@0+ (100,0) [0|1500] "millisecond" GWM + +BO_ 394 ACCDATA_3: 8 IPMA_ADAS + SG_ HaDsply_No_Cs : 63|8@0+ (1,0) [0|255] "Unitless" GWM + SG_ HaDsply_No_Cnt : 4|4@0+ (1,0) [0|15] "Unitless" GWM + SG_ AccStopStat_D_Dsply : 41|2@0+ (1,0) [0|3] "SED" GWM + SG_ AccTrgDist2_D_Dsply : 27|4@0+ (1,0) [0|15] "SED" GWM + SG_ AccStopRes_B_Dsply : 54|1@0+ (1,0) [0|1] "SED" GWM + SG_ TjaWarn_D_Rq : 50|3@0+ (1,0) [0|7] "SED" GWM + SG_ Tja_D_Stat : 44|3@0+ (1,0) [0|7] "SED" GWM + SG_ TjaMsgTxt_D_Dsply : 53|3@0+ (1,0) [0|7] "SED" GWM + SG_ IaccLamp_D_Rq : 46|2@0+ (1,0) [0|3] "SED" GWM + SG_ AccMsgTxt_D2_Rq : 31|4@0+ (1,0) [0|15] "SED" GWM + SG_ FcwDeny_B_Dsply : 10|1@0+ (1,0) [0|1] "SED" GWM + SG_ FcwMemStat_B_Actl : 13|1@0+ (1,0) [0|1] "SED" GWM + SG_ AccTGap_B_Dsply : 35|1@0+ (1,0) [0|1] "SED" GWM + SG_ CadsAlignIncplt_B_Actl : 11|1@0+ (1,0) [0|1] "SED" GWM + SG_ AccFllwMde_B_Dsply : 17|1@0+ (1,0) [0|1] "SED" GWM + SG_ CadsRadrBlck_B_Actl : 22|1@0+ (1,0) [0|1] "SED" GWM + SG_ CmbbPostEvnt_B_Dsply : 15|1@0+ (1,0) [0|1] "SED" GWM + SG_ AccStopMde_B_Dsply : 0|1@0+ (1,0) [0|1] "SED" GWM + SG_ FcwMemSens_D_Actl : 20|2@0+ (1,0) [0|3] "SED" GWM + SG_ FcwMsgTxt_D_Rq : 7|3@0+ (1,0) [0|7] "SED" GWM + SG_ AccWarn_D_Dsply : 39|2@0+ (1,0) [0|3] "SED" GWM + SG_ FcwVisblWarn_B_Rq : 47|1@0+ (1,0) [0|1] "SED" GWM + SG_ FcwAudioWarn_B_Rq : 8|1@0+ (1,0) [0|1] "SED" GWM + SG_ AccTGap_D_Dsply : 34|3@0+ (1,0) [0|7] "SED" GWM + SG_ AccMemEnbl_B_RqDrv : 36|1@0+ (1,0) [0|1] "SED" GWM + SG_ FdaMem_B_Stat : 37|1@0+ (1,0) [0|1] "SED" GWM + +BO_ 391 ACCDATA_2: 8 IPMA_ADAS + SG_ CmbbBrkDecel_No_Cnt : 47|4@0+ (1,0) [0|15] "Unitless" GWM,ABS_ESC + SG_ HudDsplyIntns_No_Actl : 31|8@0+ (0.5,0) [0|100] "%" GWM + SG_ HudBlk3_B_Rq : 37|1@0+ (1,0) [0|1] "SED" GWM + SG_ HudBlk2_B_Rq : 51|1@0+ (1,0) [0|1] "SED" GWM + SG_ HudBlk1_B_Rq : 50|1@0+ (1,0) [0|1] "SED" GWM + SG_ HudFlashRate_D_Actl : 53|2@0+ (1,0) [0|3] "SED" GWM + SG_ CmbbBrkDecel_No_Cs : 7|8@0+ (1,0) [0|255] "Unitless" GWM,ABS_ESC + SG_ CmbbBrkDecel_A_Rq : 12|13@0+ (0.0039,-20) [-20|11.9449] "m/s^2" ABS_ESC,GWM + SG_ CmbbBrkPrchg_D_Rq : 55|2@0+ (1,0) [0|3] "SED" ABS_ESC,GWM + SG_ CmbbBrkDecel_B_Rq : 15|1@0+ (1,0) [0|1] "SED" ABS_ESC,GWM + SG_ CmbbBaSens_D_Rq : 14|2@0+ (1,0) [0|3] "SED" ABS_ESC,GWM + +BO_ 390 ACCDATA: 8 IPMA_ADAS + SG_ AccBrkPulse_B_Rq : 36|1@0+ (1,0) [0|1] "SED" ABS_ESC,GWM + SG_ AccAutoResum_D_Rq : 7|2@0+ (1,0) [0|3] "SED" PCM_HEV,PCM,ECM_Diesel + SG_ AccBrkTot_A_Rq : 4|13@0+ (0.0039,-20) [-20|11.9449] "m/s^2" GWM,ABS_ESC + SG_ AccPrpl_A_Pred : 17|10@0+ (0.01,-5) [-5|5.23] "m/s^2" GWM,ECM_Diesel,PCM,PCM_HEV + SG_ AccVeh_V_Trg : 32|9@0+ (0.5,0) [0|255.5] "kph" GWM,ECM_Diesel,PCM,PCM_HEV,TCM_DSL + SG_ AccBrkPrkEl_B_Rq : 38|1@0+ (1,0) [0|1] "SED" GWM,ABS_ESC + SG_ Cmbb_B_Enbl : 50|1@0+ (1,0) [0|1] "SED" GWM + SG_ CmbbOvrrd_B_RqDrv : 51|1@0+ (1,0) [0|1] "SED" GWM + SG_ CmbbDeny_B_Actl : 37|1@0+ (1,0) [0|1] "SED" GWM,ABS_ESC + SG_ CmbbEngTqMn_B_Rq : 52|1@0+ (1,0) [0|1] "SED" ECM_Diesel,PCM,PCM_HEV,GWM + SG_ AccPrpl_A_Rq : 49|10@0+ (0.01,-5) [-5|5.23] "m/s^2" GWM,ECM_Diesel,PCM,PCM_HEV + SG_ AccDeny_B_Rq : 53|1@0+ (1,0) [0|1] "SED" GWM,ECM_Diesel,PCM,PCM_HEV + SG_ AccResumEnbl_B_Rq : 33|1@0+ (1,0) [0|1] "SED" GWM,ECM_Diesel,PCM,PCM_HEV + SG_ AccCancl_B_Rq : 39|1@0+ (1,0) [0|1] "SED" GWM,ABS_ESC,ECM_Diesel,PCM,PCM_HEV + SG_ AccBrkPrchg_B_Rq : 54|1@0+ (1,0) [0|1] "SED" GWM,ABS_ESC + SG_ AccBrkDecel_B_Rq : 55|1@0+ (1,0) [0|1] "SED" GWM,ABS_ESC + SG_ AccStopStat_B_Rq : 34|1@0+ (1,0) [0|1] "SED" GWM,ECM_Diesel,PCM,PCM_HEV,ABS_ESC + +BO_ 1441 TCCM_AutoSar_NetwkMgmt: 8 TCCM + SG_ TCCM_GWOnBoardTester : 39|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ TCCM_GWNMProxy : 47|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ TCCM_AutoSarNMReserved4 : 63|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ TCCM_AutoSarNMReserved3 : 55|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ TCCM_AutoSarNMReserved2 : 31|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ TCCM_AutoSarNMReserved1 : 23|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ TCCM_AutoSarNMNodeId : 7|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ TCCM_AutoSarNMControl : 15|8@0+ (1,0) [0|255] "unitless" Vector__XXX + +BO_ 1787 TesterPhysicalResSODCMD: 64 IPMA_ADAS + SG_ TesterPhysicalResSODCMD : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" TSTR + +BO_ 1779 TesterPhysicalReqSODCMD: 64 TSTR + SG_ TesterPhysicalReqSODCMD : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" IPMA_ADAS + +BO_ 1786 TesterPhysicalResSODCMC: 64 IPMA_ADAS + SG_ TesterPhysicalResSODCMC : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" TSTR + +BO_ 1778 TesterPhysicalReqSODCMC: 64 TSTR + SG_ TesterPhysicalReqSODCMC : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" IPMA_ADAS + +BO_ 1153 All_Terrain_Data_FD1: 8 GWM + SG_ TerrMde_D_RqDrv : 3|3@0+ (1,0) [0|7] "SED" Vector__XXX + +BO_ 942 ParkAid_Data2: 8 IPMA_ADAS + SG_ PrkAidRdiusRight_L_Dsply : 15|8@0+ (1,0) [0|255] "unitless" GWM + SG_ PrkAidRdiusLeft_L_Dsply : 7|8@0+ (1,0) [0|255] "unitless" GWM + SG_ PrkAidDrvDir_D_Stat : 23|3@0+ (1,0) [0|7] "SED" GWM + SG_ PrkAidAcsyRear_D_Stat : 18|2@0+ (1,0) [0|3] "SED" GWM + SG_ PrkAidAcsyFront_D_Stat : 20|2@0+ (1,0) [0|3] "SED" GWM + +BO_ 930 Bndry_Alert_R_Data: 8 IPMA_ADAS + SG_ BalrWndwRight_B_Stat : 19|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrSnsRight_D_Falt : 21|2@0+ (1,0) [0|3] "SED" GWM + SG_ WndwPsngrRear_D_RqBalrr : 25|2@0+ (1,0) [0|3] "SED" GWM + SG_ WndwPsngr_D_RqBalrr : 27|2@0+ (1,0) [0|3] "SED" GWM + SG_ WndwDrvRear_D_RqBalrr : 29|2@0+ (1,0) [0|3] "SED" GWM + SG_ WndwDrv_D_RqBalrr : 31|2@0+ (1,0) [0|3] "SED" GWM + SG_ BalrRight_D_Stat : 10|2@0+ (1,0) [0|3] "SED" GWM + SG_ BalrMdeSelRight_B_Stat : 8|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrMdeRight_D_Stat : 23|2@0+ (1,0) [0|3] "SED" GWM + SG_ BalrLckRight_B_Stat : 11|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrChimeRight_D_Rq : 2|2@0+ (1,0) [0|3] "SED" GWM + SG_ CamraRearOn_B_RqBalrr : 7|1@0+ (1,0) [0|1] "SED" GWM + SG_ DrLckCnt_No_ActlBalrr : 5|3@0+ (1,0) [0|7] "unitless" GWM + SG_ DrLckActv_B_RqBalrr : 6|1@0+ (1,0) [0|1] "SED" GWM + +BO_ 929 Bndry_Alert_L_Data: 8 IPMA_ADAS + SG_ BalrChimeLeft_D_Rq : 2|2@0+ (1,0) [0|3] "SED" GWM + SG_ BalrLeft_D_Stat : 10|2@0+ (1,0) [0|3] "SED" GWM + SG_ BalrWndwLeft_B_Stat : 0|1@0+ (1,0) [0|1] "SED" GWM + SG_ WndwPsngrRear_D_RqBalrl : 25|2@0+ (1,0) [0|3] "SED" GWM + SG_ WndwPsngr_D_RqBalrl : 27|2@0+ (1,0) [0|3] "SED" GWM + SG_ WndwDrvRear_D_RqBalrl : 29|2@0+ (1,0) [0|3] "SED" GWM + SG_ WndwDrv_D_RqBalrl : 31|2@0+ (1,0) [0|3] "SED" GWM + SG_ BalrSnsLeft_D_Falt : 21|2@0+ (1,0) [0|3] "SED" GWM + SG_ BalrMdeSelLeft_B_Stat : 8|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrMdeLeft_D_Stat : 23|2@0+ (1,0) [0|3] "SED" GWM + SG_ BalrLckLeft_B_Stat : 11|1@0+ (1,0) [0|1] "SED" GWM + SG_ CamraRearOn_B_RqBalrl : 7|1@0+ (1,0) [0|1] "SED" GWM + SG_ DrLckCnt_No_ActlBalrl : 5|3@0+ (1,0) [0|7] "unitless" GWM + SG_ DrLckActv_B_RqBalrl : 6|1@0+ (1,0) [0|1] "SED" GWM + +BO_ 402 Dsp_Request_Signals11_FD1: 8 GWM + SG_ PrkAidSwtch_D_RqMnu : 11|1@0+ (1,0) [0|1] "SED" IPMA_ADAS + SG_ ApaSwtch_D_RqMnu : 10|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + SG_ ApaMdeStat_D_RqDrv : 2|3@0+ (1,0) [0|7] "SED" IPMA_ADAS + SG_ CamraViewSplit_B_Rq : 3|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CamraZoomMan_D_Rq : 15|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ CamraOvrlStat_D_Rq : 4|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CamraOvrlDyn_D_Rq : 7|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CamAutoTowbarZoom : 6|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ DistanceBarSetting : 5|1@0+ (1,0) [0|1] "SED" Vector__XXX + +BO_ 924 DCACA_Data3_FD1: 8 GWM + SG_ DcacOut_Pw_Mx : 34|11@0+ (5,0) [0|10225] "watts" PCM,PCM_HEV + SG_ DcacOut2_Pw_Actl : 31|13@0+ (1,0) [0|8189] "watts" PCM_HEV + SG_ DcacOut1_Pw_Actl : 12|13@0+ (1,0) [0|8189] "watts" PCM,PCM_HEV + SG_ DcacIn_Pw_Mx : 7|11@0+ (5,0) [0|10225] "watts" PCM,PCM_HEV + +BO_ 923 DCACA_Data2_FD1: 8 GWM + SG_ DcacIn_U2_Actl : 39|12@0+ (0.01,0) [0|40.93] "volt" PCM + SG_ DcacIn_U_Actl : 19|12@0+ (0.1,0) [0|409.3] "volt" PCM,PCM_HEV + SG_ DcacIn_I_Actl : 15|11@0+ (0.1,0) [0|204.5] "Amps" PCM,PCM_HEV + SG_ Dcac_Te_Actl : 7|8@0+ (1,-60) [-60|193] "degC" PCM + +BO_ 1998 TesterPhysicalResSODR: 64 IPMA_ADAS + SG_ TesterPhysicalResSODR : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" TSTR + +BO_ 1996 TesterPhysicalResSODL: 64 IPMA_ADAS + SG_ TesterPhysicalResSODL : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" TSTR + +BO_ 1988 TesterPhysicalReqSODL: 64 TSTR + SG_ TesterPhysicalReqSODL : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" IPMA_ADAS + +BO_ 922 DCACA_Data1_FD1: 8 GWM + SG_ DcacBp2BrkrOpn_B_Falt : 13|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV + SG_ DcacBp1BrkrOpn_B_Falt : 14|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV + SG_ DcacIpRcBrkrOpn_B_Falt : 10|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV + SG_ DcacRdy_D2_Stat : 23|2@0+ (1,0) [0|3] "SED" PCM,PCM_HEV + SG_ DcacOvrld_B_Falt : 8|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV + SG_ DcacOverTe_B_Falt : 9|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV + SG_ DcacGfci_B_Falt : 11|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV + SG_ DcacErr_B_Stat : 12|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV + SG_ DcacAcUDetct_B_Falt : 15|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV + SG_ DcacRdy_D_Stat : 2|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ DcacPlugPrsnt_B_Stat : 3|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV + SG_ DcacClntFlw_D_Rq : 5|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ CoolFanDcac_D_Rq : 7|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + +BO_ 1082 INSTRUMENT_PANEL: 8 GWM + SG_ METRIC_UNITS : 54|1@0+ (1,0) [0|1] "SED" IPMA,PCM,PCM_HEV + +BO_TX_BU_ 2612224016 : ECM_Diesel,PCM,PCM_HEV; +BO_TX_BU_ 878 : PCM,PCM_HEV; +BO_TX_BU_ 1085 : ECM_Diesel,PCM; +BO_TX_BU_ 2611175440 : ECM_Diesel,PCM_HEV,PCM; +BO_TX_BU_ 2610126864 : ECM_Diesel,PCM_HEV,PCM; +BO_TX_BU_ 786 : PCM_HEV,SOBDMC_HPCM_FD1; +BO_TX_BU_ 1090 : SOBDMC_HPCM_FD1,PCM_HEV; +BO_TX_BU_ 374 : PCM_HEV,TCM_DSL,PCM; +BO_TX_BU_ 872 : SOBDMC_HPCM_FD1,PCM_HEV; +BO_TX_BU_ 560 : PCM,PCM_HEV,TCM_DSL; +BO_TX_BU_ 369 : PCM_HEV,TCM_DSL,PCM; +BO_TX_BU_ 92 : PCM,TCM_DSL,PCM_HEV; +BO_TX_BU_ 2030 : SOBDMC_HPCM_FD1,ECM_Diesel; +BO_TX_BU_ 1087 : ECM_Diesel,PCM,PCM_HEV; +BO_TX_BU_ 2024 : ECM_Diesel,PCM,PCM_HEV; +BO_TX_BU_ 1697 : ECM_Diesel,PCM,PCM_HEV; +BO_TX_BU_ 1696 : ECM_Diesel,PCM,PCM_HEV; +BO_TX_BU_ 1429 : ECM_Diesel,PCM,PCM_HEV; +BO_TX_BU_ 1100 : ECM_Diesel,PCM,PCM_HEV; +BO_TX_BU_ 1086 : ECM_Diesel,PCM,PCM_HEV; +BO_TX_BU_ 1071 : ECM_Diesel,PCM,PCM_HEV; +BO_TX_BU_ 1069 : ECM_Diesel,PCM,PCM_HEV; +BO_TX_BU_ 1060 : ECM_Diesel,PCM,PCM_HEV; +BO_TX_BU_ 1057 : ECM_Diesel,PCM,PCM_HEV; +BO_TX_BU_ 1055 : ECM_Diesel,PCM,PCM_HEV; +BO_TX_BU_ 517 : ECM_Diesel,PCM,PCM_HEV; +BO_TX_BU_ 516 : ECM_Diesel,PCM,PCM_HEV; +BO_TX_BU_ 514 : ECM_Diesel,PCM,PCM_HEV; +BO_TX_BU_ 512 : ECM_Diesel,PCM,PCM_HEV; +BO_TX_BU_ 380 : ECM_Diesel,PCM; +BO_TX_BU_ 377 : ECM_Diesel,PCM,PCM_HEV; +BO_TX_BU_ 376 : ECM_Diesel,PCM,PCM_HEV; +BO_TX_BU_ 359 : ECM_Diesel,PCM,PCM_HEV; +BO_TX_BU_ 358 : ECM_Diesel,PCM,PCM_HEV; +BO_TX_BU_ 357 : ECM_Diesel,PCM,PCM_HEV; +BO_TX_BU_ 342 : ECM_Diesel,PCM,PCM_HEV; +BO_TX_BU_ 71 : ECM_Diesel,PCM,PCM_HEV; + +CM_ "New CAN FD network"; +CM_ BU_ CMR_DSMC "Driver Status Monitor Camera"; +CM_ BU_ IPMA_ADAS "Assist Driving Alert System"; +CM_ BU_ PSCM "Passenger Front Climate Control Seat Module"; +CM_ BU_ ABS_ESC "Anti-lock Brake / Traction Control Module"; +CM_ BU_ TCCM "Transfer Case Control Module, 4x4 Control Module"; +CM_ BU_ TCM_DSL "Transmission Control Module"; +CM_ BU_ PCM "Powertrain Control Module"; +CM_ BU_ ECM_Diesel "Diesel"; +CM_ BU_ GWM "Gateway Module CGEA1.3(Star Architecture)"; +CM_ BU_ TSTR "Diagnostic Tester"; + +CM_ SG_ 524 PrplWhlTotTqRqMxAwd_No_Cs "Signal not transmitted on gas variants."; +CM_ SG_ 524 PrplWhlTotTqRqMxAwd_No_Cnt "Signal not transmitted on gas variants."; +CM_ SG_ 1150 LocationServices_1 "Tx by HS3 APIM"; +CM_ SG_ 542 LocationServices_3 "Tx by HS3 APIM"; +CM_ SG_ 810 NtfyDrvTrgtDist_L_Rq "Object.SetTripRangeAlert_Rq This signal is meant to provide the customer settings for the target distance remote notification"; +CM_ SG_ 810 NtfyDrvSocLvl1_Pc_Rq "Object.SetCustomerLevelAlert_Rq This signal is meant to provide the customer settings for the SOC remote notification."; +CM_ SG_ 810 PtRmtRprt_D_Stat "Object.RemoteDataReport_St"; +CM_ SG_ 550 PtWakeupActv1_B_Rq "ECG Application signal"; +CM_ SG_ 982 LatCtlPath_No_Cnt "Signal not transmitted on gas variants."; +CM_ SG_ 982 LatCtlPath_No_Cs "Signal not transmitted on gas variants."; +CM_ SG_ 1104 DrvEngageLevel_No_Cs "Signal not transmitted on gas variants."; +CM_ SG_ 1104 DrvEngageLevel_No_Cnt "Signal not transmitted on gas variants."; +CM_ SG_ 1085 ULoRgenTestMde_B_Stat "Signal not transmitted on HEV variants."; +CM_ SG_ 1085 PwSrcULoComm_B_Falt "Signal not transmitted on HEV variants."; +CM_ SG_ 1445 SOBDMC_AutoSarNMReserved4 "Signal not transmitted on gas and diesel variants."; +CM_ SG_ 1445 SOBDMC_AutoSarNMReserved3 "Signal not transmitted on gas and diesel variants."; +CM_ SG_ 1445 SOBDMC_AutoSarNMReserved2 "Signal not transmitted on gas and diesel variants."; +CM_ SG_ 1445 SOBDMC_AutoSarNMReserved1 "Signal not transmitted on gas and diesel variants."; +CM_ SG_ 1445 SOBDMC_AutoSarNMNodeId "Signal not transmitted on gas and diesel variants."; +CM_ SG_ 1445 SOBDMC_AutoSarNMControl "Signal not transmitted on gas and diesel variants."; +CM_ SG_ 1088 HvacPrecondMode2_D_Rq "Signal not transmitted on vehicles that do not have the Fuel operated heater feature."; +CM_ SG_ 1088 HvacPrecondBlwr2_D_Rq "Signal not transmitted on vehicles that do not have the Fuel operated heater feature."; +CM_ SG_ 786 ChrgStat_D_Dsply "Signal not transmitted by PCM_HEV"; +CM_ SG_ 66 immoControlData_T2 "Not transmitted on all vehicle variants"; +CM_ SG_ 66 immoControlCmd_T2 "Not transmitted on all vehicle variants"; +CM_ SG_ 549 BeltminderAudioMute "Object.MyKey.BeltMinderAudioMute.St"; +CM_ SG_ 549 Power_Up_Chime_Modules "Object.AlertMethod.IPC _Infotainment"; +CM_ SG_ 549 Chime_Source "Object.AlertMethod.IPC_infotainment"; +CM_ SG_ 611 AwdStat_D_RqDsply "Signal not transmitted on programs that do not have AWD."; +CM_ SG_ 611 AwdSrvcRqd_B_Rq "Signal not transmitted on programs that do not have AWD."; +CM_ SG_ 611 AwdLck_Tq_Rq "Signal not transmitted on programs that do not have AWD."; +CM_ SG_ 130 VehVTrlrAid_B_Rq "VR session start- req. limit blower speed no more than X volts. CC restriction on time msg. will be honored.Double Event msg1st event to request limit, 2nd event to release limit, No msg. CC Grammar v7.xls"; +CM_ SG_ 130 SteMdule_U_Meas "DCR 1745 to update Tx from GWM to EP100ms. SteMdule_I_Est & SteMdule_U_Meas are used by BMS system & filtered. The filter uses standard periodic rate & changing to EP would adversely affect the filter.(jweinfur)"; +CM_ SG_ 130 SteMdule_I_Est "DCR 1745 to update Tx from GWM to EP100ms. SteMdule_I_Est & SteMdule_U_Meas are used by BMS system & filtered. The filter uses standard periodic rate & changing to EP would adversely affect the filter.(jweinfur)"; +CM_ SG_ 126 StePinRelInit_An_Sns "SASM will transmit these signals on vehicles with SASM and without PSCM. SCCM will not Tx this signal when SASM is present."; +CM_ SG_ 126 StePinAn_No_Cs "Signal not transmitted on gas variants."; +CM_ BO_ 133 "Seen on Ford Edge MK2"; +CM_ SG_ 133 StePinRelInit_An_Sns "SASM will transmit these signals on vehicles with SASM and without PSCM. SCCM will not Tx this signal when SASM is present."; +CM_ SG_ 133 StePinAn_No_Cs "Signal not transmitted on gas variants."; +CM_ SG_ 1200 BrkTot_Tq_RqDrv "DCR 1836 to update Tx from GWM to EP100ms rejected due MPS6 TCM requires BrkTot_Tq_RqDrv at 20ms (bshu1)."; +CM_ SG_ 1046 TCMode "Signal data set to 0x0 for ABS only vehicle option content"; +CM_ SG_ 1046 DrvAntiLckLamp_D_Rq "update value table v8.34, not align w/GSDB, need etracker. ABS & IPC implemented as updated."; +CM_ SG_ 1046 BpedMove_D_Actl "CCMGenSigTimeoutTime=1000"; +CM_ SG_ 1044 StePinOffst_An_Est "SASM will transmit these signals on vehicles with SASM and without PSCM. SCCM will not Tx this signal when SASM is present."; +CM_ SG_ 1044 StePinOffst_No_Cs "Signal not transmitted on gas variants."; +CM_ SG_ 534 BrkObdData_No_Actl "Signal not transmitted on gas, diesel and HEV. Only supported on PHEV."; +CM_ SG_ 534 BrkObdIndex_No_Actl "Signal not transmitted on gas, diesel and HEV. Only supported on PHEV."; +CM_ SG_ 534 WhlRotatRr_No_Cnt "DCR 1833 to update Tx from GWM to EP100ms. Wheel Count signals are used by complex algorithm to determine Tire Pressure by Location & can't change from 20msec. (jweinfur)"; +CM_ SG_ 534 WhlRotatRl_No_Cnt "DCR 1833 to update Tx from GWM to EP100ms. Wheel Count signals are used by complex algorithm to determine Tire Pressure by Location & can't change from 20msec. (jweinfur)"; +CM_ SG_ 534 WhlRotatFr_No_Cnt "DCR 1833 to update Tx from GWM to EP100ms. Wheel Count signals are used by complex algorithm to determine Tire Pressure by Location & can't change from 20msec. (jweinfur)"; +CM_ SG_ 534 WhlRotatFl_No_Cnt "DCR 1833 to update Tx from GWM to EP100ms. Wheel Count signals are used by complex algorithm to determine Tire Pressure by Location & can't change from 20msec. (jweinfur)"; +CM_ SG_ 531 VehLongOvrGnd_A_Est "CCMGenSigTimeoutTime=1000"; +CM_ SG_ 1034 VehicleGGCCData "RCMGenSigTimeout=6000"; +CM_ SG_ 1090 Mtr2State_D_ActlMntr "Signal Not transmitted on PCM_HEV variant"; +CM_ SG_ 1090 Inv1Ain_I_ActlMntr "Signal Not transmitted on PCM_HEV variant"; +CM_ SG_ 1090 VehElRnge_L_Dsply "Signal Not transmitted on HPCM variant"; +CM_ SG_ 374 TrnRng_D_Rq "Powersplit HEVs with HF45, HPCM will Tx this message. For all other programs it will be Tx by PCM or TCM. "; +CM_ SG_ 374 TrnPrkSys_D_Actl "Powersplit HEVs with HF45, HPCM will Tx this message. For all other programs it will be Tx by PCM or TCM. "; +CM_ SG_ 374 GearLvr_D_ActlDrv "Powersplit HEVs with HF45, HPCM will Tx this message. For all other programs it will be Tx by PCM or TCM. "; +CM_ SG_ 374 GearPos_No_Cs "Powersplit HEVs with HF45, HPCM will Tx this message. For all other programs it will be Tx by PCM or TCM. "; +CM_ SG_ 374 GearPos_D_Trg "Powersplit HEVs with HF45, HPCM will Tx this message. For all other programs it will be Tx by PCM or TCM. "; +CM_ SG_ 374 GearPos_No_Cnt "Powersplit HEVs with HF45, HPCM will Tx this message. For all other programs it will be Tx by PCM or TCM. "; +CM_ SG_ 374 GearPos_D_Actl "Powersplit HEVs with HF45, HPCM will Tx this message. For all other programs it will be Tx by PCM or TCM. "; +CM_ SG_ 603 WhlDirAvgDrv_D_Actl "48V mHEV: ECM_HEVDSL is Tx, MHT HEV: PCM_HEV is Tx, Powersplit HEV: SOBDMC_HPCM is Tx"; +CM_ SG_ 603 PrplTqMnRgen_B_Actl "48V mHEV: ECM_HEVDSL is Tx, MHT HEV: PCM_HEV is Tx, Powersplit HEV: SOBDMC_HPCM is Tx"; +CM_ SG_ 603 BattTracCnnct_D_Rq "48V mHEV: ECM_HEVDSL is Tx, MHT HEV: PCM_HEV is Tx, Powersplit HEV: SOBDMC_HPCM is Tx"; +CM_ SG_ 872 HybMdeStat_D_Dsply "Signal not transmitted by HPCM"; +CM_ SG_ 560 SelDrvMdeSwtch_D_Stat3 "ECM_HEV, PCM & PCM_HEV do not support or Transmit signal."; +CM_ SG_ 560 TrnSrvcRqd_B_Rq "Signal not transmitted on Diesel & HEV variants. MHT(U611/625) HPCM Rx 0x230 from PCM_HEV. Powersplit FWD HEVs(Cx482/3 430) HPCM Tx 0x230."; +CM_ SG_ 560 TrnShifActv_B_Actl "Signal not transmitted on HEV variants. MHT(U611/625) HPCM Rx 0x230 from PCM_HEV. Powersplit FWD HEVs(Cx482/3 430) HPCM Tx 0x230."; +CM_ SG_ 560 GboxOil_Te_Actl "Signal not transmitted on HEV variants. MHT(U611/625) HPCM Rx 0x230 from PCM_HEV. Powersplit FWD HEVs(Cx482/3 430) HPCM Tx 0x230."; +CM_ SG_ 369 SeatWorkSrfc_B_Falt "Signal Not transmitted by TCM_DSL"; +CM_ SG_ 369 TrnIpcDsplyRng2_D_Actl "Signal not transmitted on HEV variants."; +CM_ SG_ 369 TrnIpcDsplyRng_D_Stat "Signal not transmitted on HEV variants."; +CM_ SG_ 92 TrnLvrV_D_Rq "Signal not transmitted on vehicles with PCM_HEV"; +CM_ SG_ 92 TrnSbwSysHlth_D_Actl "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 92 TrnGearNtmAllow_B_Stat "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 92 TrnDtpCmd_D_Actl "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 92 TrnGearCmd_No_Cs "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 92 TrnValidGear_D_Cnfm "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 92 TrnNtrlTowCmd_D_Actl "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 92 TrnGearCmd_Pc_ActlPt "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 92 TrnGear_D_RqPt "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 92 TrnCmdState_B_Actl "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 92 TrnCmdCnt_B_Actl "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 92 PrkBrkActv_D_RqTrnGear "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 92 TrnGearMsgTxt_D_Rq "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 92 TrnGearCmd_No_Cnt "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 1087 BattRgenLoChrg_D_RqEng "Signal not transmitted on diesel variant"; +CM_ SG_ 1087 BattRgenLoDChrg_D_RqEng "Signal not transmitted on diesel variant"; +CM_ SG_ 1087 FapLcInhbt_B_Rq "Signal not transmitted on diesel variant"; +CM_ SG_ 1100 EngExhMdeQuiet_D2_Stat "Signal not transmitted on HEV & Diesel programs"; +CM_ SG_ 1100 HvacCmprLim_D_Stat "Signal not transmitted on Diesel variants"; +CM_ SG_ 1100 WakeAlarm1_T_Rq "Signal not transmitted on Gas variants"; +CM_ SG_ 1100 WakeAlarm1_B_Typ "Signal not transmitted on Gas variants"; +CM_ SG_ 1100 Veh_V_DsplyTrailCtlSet "Signal not transmitted on HEV & Diesel programs"; +CM_ SG_ 1100 TrailCtlPt_B_Falt "Signal not transmitted on HEV & Diesel programs"; +CM_ SG_ 1100 AutoTowAllw_D_StatMnu "Signal not transmitted on Gas & Diesel variants"; +CM_ SG_ 1100 AutoTowActv_B_Stat "Signal not transmitted on Gas & Diesel variants"; +CM_ SG_ 1086 EngMnfld_P_Actl "Signal not transmitted on HEV & Diesel programs"; +CM_ SG_ 1086 ElLoadCtl_D_Rq "Signal not transmitted on HEV variants."; +CM_ SG_ 1071 CluPdl_PcRate_Actl "Signal not transmitted on HEV and Gas variants."; +CM_ SG_ 1071 CluPdlPosPcMeas_D_Qf "Signal not transmitted on HEV and Gas variants."; +CM_ SG_ 1071 CluPdlPos_Pc_Meas "Signal not transmitted on HEV and Gas variants."; +CM_ SG_ 1071 EngAoutIdl_N_Ntrl "Signal not transmitted on HEV variants and diesel."; +CM_ SG_ 1069 SlMde_D_Stat "IPC and HUD_ADV Receve from HS3 FGW 0x42D, not HS3 0x38A, MSG DCR 506. Signal not transmitted on Gas & HEV variants"; +CM_ SG_ 1069 SlMde_D_RqDsply "IPC and HUD_ADV Receve from HS3 FGW 0x42D, not HS3 0x38A, MSG DCR 506. Signal not transmitted on Gas & HEV variants"; +CM_ SG_ 1069 IsaOffst_D_Stat "Signal not transmitted on Gas & HEV variants"; +CM_ SG_ 1069 ObdWarmUp_B_Complt "Signal not transmitted on diesel variants."; +CM_ SG_ 1069 EngMsgTxt_D_Rq "Signal not transmitted on diesel variants."; +CM_ SG_ 1069 EngClnt_Te_ActlDiag "Signal not transmitted on gas variants."; +CM_ SG_ 1069 EngLoad_Pc_CalcDiag "Signal not transmitted on gas variants."; +CM_ SG_ 1069 ApedPos_Pc_ActlDiag "Signal not transmitted on gas variants."; +CM_ SG_ 1060 RearDiffOilTeWarn_B_Rq "Signal not transmitted on HEV & Diesel programs"; +CM_ SG_ 1060 RearDiffOil_Te_Actl "Signal not transmitted on HEV & Diesel programs"; +CM_ SG_ 1057 FohEng_D_Rq "Signal not transmitted on vehicles that do not have the fuel operated heater feature. Signal not transmitted on HEV programs"; +CM_ SG_ 1057 EngIdlShutDown_D_Stat "Signal not transmitted on diesel variants."; +CM_ SG_ 1057 FUEL_ALCOHOL_PERCNT "signal not transmitted on diesel and HEV variants."; +CM_ SG_ 1057 TrnTotTq_Rt_Est "Signal not transmitted on gas and HEV variants."; +CM_ SG_ 1057 TrnTotLss_Tq_Est "Signal not transmitted on gas and HEV variants."; +CM_ SG_ 1057 VehVLimStat_D_Actl "Signal not transmitted on gas and HEV variants."; +CM_ SG_ 1057 VehVLimActv_B_Actl "Signal not transmitted on gas and HEV variants."; +CM_ SG_ 562 GearNtrl_No_Cs "Powersplit HEVs with HF45, HPCM will Tx this message. For all other programs it will be Tx by PCM or TCM. "; +CM_ SG_ 562 GearNtrl_No_Cnt "Powersplit HEVs with HF45, HPCM will Tx this message. For all other programs it will be Tx by PCM or TCM. "; +CM_ SG_ 516 EngAoutNActl_D_QF "Signal not transmitted on Gas & HEV variants"; +CM_ SG_ 516 EngAout3_N_Actl "Signal not transmitted on gas and diesel variants."; +CM_ SG_ 516 ApedPos_Pc_ActlArb "ABSGenSigTimeoutTime=1000"; +CM_ SG_ 516 ApedPosPcActl_No_Cnt "Signal not transmitted on gas and diesel variants."; +CM_ SG_ 516 ApedPosPcActl_No_Cs "Signal not transmitted on gas and diesel variants."; +CM_ SG_ 514 VehVTrlrAid_B_Avail "Signal not transmitted on HEV variants."; +CM_ SG_ 514 GearRvrse_D_Actl "Do not implement GearRvrse_D_Actl until eTracker 8804151 is approved, 11/24/09"; +CM_ SG_ 512 PrplWhlTotTqRq_No_Cs "Signal not transmitted on gas & Diesel variants."; +CM_ SG_ 512 PrplWhlTotTqRq_No_Cnt "Signal not transmitted on gas & Diesel variants."; +CM_ SG_ 512 PtDrvMde_D_Stat "Signal not transmitted on Gas & HEV variants."; +CM_ SG_ 380 EngExhBrkOnLamp_B_Rq "Signal not transmitted on Gas variants"; +CM_ SG_ 380 EngExhBrkAutoLamp_B_Rq "Signal not transmitted on Gas variants"; +CM_ SG_ 380 EngAout_N_MxAllw "Signal not transmitted on Gas variants"; +CM_ SG_ 380 EngExhBrkMde_D_Actl "Signal not transmitted on Gas variants"; +CM_ SG_ 377 HvacAirFullOut_B_Rq "Signal not transmitted on diesel variant"; +CM_ SG_ 377 FuelFlw_Vl_Dsply "Signal not transmitted on diesel variants."; +CM_ SG_ 377 FuelFillInlet_B_Dsply "Signal not transmitted on diesel variants."; +CM_ SG_ 377 OdoCount "Signal not transmitted on diesel variants."; +CM_ SG_ 377 EngOilLife_Pc_Actl "Signal not transmitted on diesel variants."; +CM_ SG_ 377 FuelFilterLamp_B_Dsply "Signal not transmitted on Gas & HEV variants"; +CM_ SG_ 377 AirCondRec_B_Rq "Signal not transmitted on diesel variants."; +CM_ SG_ 377 AirCondClutch_B_Stats "Signal not transmitted on diesel variants."; +CM_ SG_ 376 GasPrtc_D_RqDsply "Signal not transmitted on HEV & Diesel variants."; +CM_ SG_ 376 EngAout_Aa_Actl "Signal not transmitted on HEV variants."; +CM_ SG_ 376 AslIconDsply_D_Rq "Signal not transmitted on HEV variants."; +CM_ SG_ 376 AslChime_B_Rq "Signal not transmitted on HEV variants."; +CM_ SG_ 376 HvacHtrCore2_Te_Actl "Signal not transmitted on Gas & Diesel variants"; +CM_ SG_ 376 EcssLamp_D_RqDsply "Signal not transmitted on Gas & HEV variants"; +CM_ SG_ 376 AirAmb_Te_Actl "Signal not transmitted on Gas variants"; +CM_ SG_ 359 PrplWhlRgenMn_Tq_Actl "Signal not transmitted on Gas & Diesel variants"; +CM_ SG_ 359 ElPw_D_StatStrtStop "Signal not transmitted on HEV variants."; +CM_ SG_ 359 TrnAin_Tq_Actl "Signal not transmitted on HEV variances."; +CM_ SG_ 359 PlgActvArb_B_Actl "Only supported on PHEV programs. PlgActvArb_B_Actl HPCM will Tx on Powersplit PHEVs, On MHT PHEVs the PCM_HEV will Tx and HPCM will Rx."; +CM_ SG_ 359 TrnAinTq_D_Qf "Signal not transmitted on HEV variances."; +CM_ SG_ 358 StopStrtStdby_D_Indic "Signal not transmitted on HEV variants."; +CM_ SG_ 358 StopStrtIODTxt_D_Rq "Signal not transmitted on HEV variants."; +CM_ SG_ 358 StopStrtDrvMde_D_Indic "Signal not transmitted on HEV variants."; +CM_ SG_ 358 StopStrtMsgTxt_D_Rq "Signal not transmitted on HEV variants."; +CM_ SG_ 358 HiElPwInhbt_B_Stat "Signal not transmitted on HEV programs"; +CM_ SG_ 358 AutoStopPtDelta_I_Est "Signal not transmitted on HEV variants. "; +CM_ SG_ 357 BpedDrvAppl_D_Actl "CCMGenSigTimeoutTime=1000"; +CM_ SG_ 357 CcStat_D_Actl "ABSGenSigTimeoutTime=1000"; +CM_ SG_ 357 EngAout_N_MnAllw "Signal not transmitted on Gas & Diesel variants."; +CM_ SG_ 357 AccStopMde_D_Rq "ABSGenSigTimeoutTime=1000"; +CM_ SG_ 342 EngOvrhtMitgActv_D_Ind "Signal not transmitted on diesel."; +CM_ SG_ 342 EngGoutLss_Tq_Est "Signal not transmitted on gas and diesel variants."; +CM_ SG_ 342 EngOil_Te_Actl "Signal not transmitted on Gas & HEV variants. "; +CM_ SG_ 954 GenericSwtch2_No_Actl "U625 Police Wig Wag feature"; +CM_ SG_ 935 SodRight_D_Stat "IPCGenSigTimeoutTime=1600"; +CM_ SG_ 935 Side_Detect_R_Illum "DDMGenSigTimeoutTime=2000"; +CM_ SG_ 935 SodSnsRight_D_Stat "IPCGenSigTimeoutTime=1600"; +CM_ SG_ 935 SodAlrtRight_D_Stat "DDMGenSigTimeoutTime=2000"; +CM_ SG_ 1112 BattTracClntPmp_D_Stat "48V mHEV: ECM_HEVDSL is Tx, MHT HEV: PCM_HEV is Tx, Powersplit HEV: SOBDMC_HPCM is Tx"; +CM_ SG_ 1050 Outside_Air_Temp_Stat "Filtered value, i.e. same as disply for customer"; +CM_ SG_ 1009 CenterStackRing_D_Actl "The Center Stack sends the CPLR a signal to turn On or Off the light Ring, This is a customer selectable preference switch"; +CM_ SG_ 1009 APIM_NumberofTracks_St "Object NumberofTracks"; +CM_ SG_ 1009 APIM_ActiveTrackNum_St "Object.ActiveTrackNum"; +CM_ SG_ 360 GsmSrvcRqd_B_Rq "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 360 TrnGearPwmFalt_B_Actl "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 360 GearButtnStuck_B_Actl "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 TrnGsmNtmState_D_Actl "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 DrQltyDrv_D_StatGsm "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 TrnBtsiOvrrd_B_Stat "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 TrnValidGearRq_D_Stat "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 TrnGearRqCnt_B_Actl "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 TrnGearButtn_U_Actl "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 TrnGearButtn_B_ActlR2 "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 TrnGearButtn_B_ActlR1 "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 TrnGearButtn_B_ActlR0 "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 TrnGearButtn_B_ActlP2 "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 TrnGearButtn_B_ActlP1 "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 TrnGearButtn_B_ActlP0 "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 TrnGearButtn_B_ActlN2 "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 TrnGearButtn_B_ActlN1 "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 TrnGearButtn_B_ActlN0 "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 TrnGearButtn_B_ActlM2 "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 TrnGearButtn_B_ActlM1 "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 TrnGearButtn_B_ActlM0 "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 TrnGearButtn_B_ActlD2 "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 TrnGearButtn_B_ActlD1 "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 TrnGearButtn_B_ActlD0 "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 TrnGear_No_Cs "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 TrnGear_No_Cnt "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 TrnGear_D_RqDrv "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 BrkSwtchPos_B_ActlGsm "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 138 SteWhlRelCalib_An_Sns "Signal is not transmitted on vehicles where PSCM is transmitting the message that contains this signal. Signal data set to 0x0 for ABS only vehicle option content"; +CM_ SG_ 1093 StopLamp_B_RqTrlrBrk "Signal not transmitted on all variants."; +CM_ SG_ 792 ElTrip_L_Dsply "Key cycle trip distance driven with the engine off (Trip EV Miles)"; +CM_ SG_ 792 ElLongTerm_L_Dsply "Long term distance distance driven with the engine off since the last long term reset (Long Term EV Miles)."; +CM_ SG_ 765 Mc_VehTimeFrmtUsrSel_St "Object.BodyInterface.Settings.VehicleTimeFormatUserSelection"; +CM_ SG_ 765 Mc_VehUntTrpCoUsrSel_St "Object.VehicleSettings.Disp_Miles_Kilometers.Rq"; +CM_ SG_ 765 Mc_VehUnitTempUsrSel_St "Object.VehicleSettings.Disp_Temperature.Rq"; +CM_ SG_ 765 Mc_VehLangUsrSel_St "Object.BodyInterface.Settings.VehicleLanguageUserSelection Object Vehicle Settings.Disp_LangSel"; +CM_ SG_ 934 Side_Detect_L_Illum "DDMGenSigTimeoutTime=2000"; +CM_ SG_ 934 SodLeft_D_Stat "IPCGenSigTimeoutTime=1600"; +CM_ SG_ 934 SodSnsLeft_D_Stat "IPCGenSigTimeoutTime=1600"; +CM_ SG_ 934 SodAlrtLeft_D_Stat "DDMGenSigTimeoutTime=2000"; +CM_ SG_ 1072 MetricActv_B_Actl "0 =Inactive(English), 1=Active(Metric)"; +CM_ SG_ 145 VehYaw_W_Actl "CCMGenSigTimeoutTime=1000"; +CM_ SG_ 931 CrnkInhbt_No_Cs "Signal not transmitted on gas and HEV variants."; +CM_ SG_ 931 CrnkInhbt_No_Cnt "Signal not transmitted on gas and HEV variants."; +CM_ SG_ 947 Dimming_Lvl "Refer to Vehicle Interior Illum Dimming Ctrl Sys Eng Spec, Table 2"; +CM_ SG_ 947 PrkBrkActv_B_Actl "Signal not transmitted on vehicles with electric park brake. "; +CM_ SG_ 394 HaDsply_No_Cs "Signal not transmitted on gas variants."; +CM_ SG_ 394 HaDsply_No_Cnt "Signal not transmitted on gas variants."; +CM_ SG_ 391 CmbbBrkDecel_A_Rq "ABSGenSigTimeoutTime=1000"; +CM_ SG_ 391 CmbbBrkPrchg_D_Rq "ABSGenSigTimeoutTime=1000"; +CM_ SG_ 391 CmbbBrkDecel_B_Rq "ABSGenSigTimeoutTime=1000"; +CM_ SG_ 391 CmbbBaSens_D_Rq "ABSGenSigTimeoutTime=1000"; +CM_ SG_ 390 AccBrkTot_A_Rq "ABSGenSigTimeoutTime=1000"; +CM_ SG_ 390 AccBrkPrkEl_B_Rq "ABSGenSigTimeoutTime=1000"; +CM_ SG_ 390 AccPrpl_A_Rq "PCMGenSigTimeoutTime=1000"; +CM_ SG_ 390 AccBrkPrchg_B_Rq "ABSGenSigTimeoutTime=1000"; +CM_ SG_ 390 AccBrkDecel_B_Rq "ABSGenSigTimeoutTime=1000"; +CM_ SG_ 390 AccStopStat_B_Rq "ABSGenSigTimeoutTime=1000"; +CM_ SG_ 942 PrkAidRdiusRight_L_Dsply "MSGDCR 679, set all signals to OnChange"; +CM_ SG_ 942 PrkAidRdiusLeft_L_Dsply "MSGDCR 679, set all signals to OnChange"; +CM_ SG_ 942 PrkAidDrvDir_D_Stat "MSGDCR 679, set all signals to OnChange"; + +BA_DEF_ BO_ "OvtpPushApplication" ENUM "FALSE","TRUE"; +BA_DEF_ BU_ "OvtpOperationMode" ENUM "SERVER","CLIENT"; +BA_DEF_ BU_ "OvtpEcuAddress" INT 0 1022; +BA_DEF_ SG_ "ECGUsedRxSignal" ENUM "No","Yes"; +BA_DEF_ SG_ "U_S650_MY2022_Rx" ENUM "No","Yes"; +BA_DEF_ SG_ "ECGUsedTxSignal" ENUM "No","Yes"; +BA_DEF_ SG_ "U_S650_MY2022_Tx" ENUM "No","Yes"; +BA_DEF_ SG_ "GenSigTimeoutTime_CHCM" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_SOBDMC_HPCM_F" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_CMR_DSMC" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_ECM" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_TCM" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_ECM_HEVDSL" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_AWD_DLCM" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_ECM_HEV" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_GENERIC" INT 0 100000; +BA_DEF_ BO_ "VFrameFormat" ENUM "StandardCAN","ExtendedCAN","reserved","reserved","reserved","reserved","reserved","reserved","reserved","reserved","reserved","reserved","reserved","reserved","StandardCAN_FD","ExtendedCAN_FD"; +BA_DEF_ SG_ "GenSigTimeoutTime_PSCM" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_HCM" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_ABS_ESC" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_ECM_Diesel" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_TCCM" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime__delete" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_TCM_DSL" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_TSTR" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_IPMA_ADAS" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_GWM" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_PCM" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_PCM_HEV" INT 0 100000; +BA_DEF_ "BusType" STRING; +BA_DEF_ BO_ "FrameRouting" STRING; +BA_DEF_ BO_ "FrameGatewayNetwork" STRING; +BA_DEF_ BO_ "FrameGateway_LC1" HEX 0 1407; +BA_DEF_ BO_ "FrameGatewayLC1_HS3" HEX 0 1407; +BA_DEF_ BO_ "FrameGatewayMS1" HEX 0 1407; +BA_DEF_ BO_ "FrameGatewayHS3" HEX 0 1407; +BA_DEF_ BO_ "FrameGatewayHS2" HEX 0 1407; +BA_DEF_ BO_ "FrameGatewayHS1" HEX 0 1407; +BA_DEF_ BO_ "NetworkInitialization" ENUM "No","Yes"; +BA_DEF_ BO_ "FrameGatewayId" HEX 0 1407; +BA_DEF_ BO_ "EventRateOfChange" INT 10 10000; +BA_DEF_ BO_ "ConfiguredTransmitter" ENUM "No","Yes"; +BA_DEF_ BO_ "GenMsgStartDelayTime" INT 0 10000; +BA_DEF_ BO_ "GenMsgNrOfRepetition" INT 0 100; +BA_DEF_ BO_ "GenMsgDelayTime" INT 0 1000; +BA_DEF_ BO_ "GenMsgCycleTimeFast" INT 0 100000; +BA_DEF_ BO_ "GenMsgCycleTime" INT 0 100000; +BA_DEF_ BO_ "GenMsgSendType" ENUM "FixedPeriodic","Event","EnabledPeriodic","NotUsed","NotUsed","EventPeriodic","NotUsed","NotUsed","NoMsgSendType"; +BA_DEF_ SG_ "U_T6_MCA_MY2020_Tx" ENUM "No","Yes"; +BA_DEF_ SG_ "U_P702_MY2021_Tx" ENUM "No","Yes"; +BA_DEF_ SG_ "U_CX727_MY2021_Tx" ENUM "No","Yes"; +BA_DEF_ SG_ "U_F5X_MY20_Tx" ENUM "No","Yes"; +BA_DEF_ SG_ "U_Commodity_MYXX_Tx" ENUM "No","Yes"; +BA_DEF_ SG_ "U_T6_MCA_MY2020_Rx" ENUM "No","Yes"; +BA_DEF_ SG_ "U_P702_MY2021_Rx" ENUM "No","Yes"; +BA_DEF_ SG_ "U_CX727_MY2021_Rx" ENUM "No","Yes"; +BA_DEF_ SG_ "U_F5X_MY20_Rx" ENUM "No","Yes"; +BA_DEF_ SG_ "U_Commodity_MYXX_Rx" ENUM "No","Yes"; +BA_DEF_ SG_ "GenSigStartValue" HEX 0 268435455; +BA_DEF_ SG_ "MetaData" ENUM "No","Yes"; +BA_DEF_ SG_ "ApprovedOrphan" ENUM "No","Yes"; +BA_DEF_ SG_ "ContentDependant" ENUM "No","Yes"; +BA_DEF_ SG_ "GenSigStartValueInteger" INT 0 1000000000; +BA_DEF_ SG_ "UsedOnPgmDBC" ENUM "No","Yes"; +BA_DEF_ SG_ "CrossOver_InfoCAN" ENUM "No","Yes"; +BA_DEF_ SG_ "WakeupSignal" ENUM "No","Yes"; +BA_DEF_ SG_ "GenSigInactiveValue" INT 0 100000; +BA_DEF_ SG_ "GenSigSendType" ENUM "Cyclic","OnWrite","vector_leerstring","OnChange","vector_leerstring","IfActive","vector_leerstring","NoSigSendType"; +BA_DEF_ BO_ "SCP_FreshnessValueLength" INT 0 512; +BA_DEF_ BO_ "AuthFreshnessCounterSyncAttempt" INT 0 512; +BA_DEF_ BO_ "SCP_DataID" INT 0 65535; +BA_DEF_ BO_ "SCP_FreshnessValueTxLength" INT 0 512; +BA_DEF_ BO_ "SCP_AuthInfoTxLength" INT 0 512; +BA_DEF_ BO_ "SC_Message" ENUM "No","Yes"; +BA_DEF_ BO_ "ProgBWConditional" STRING; +BA_DEF_ BO_ "GenMsgRoutingTimeoutTime" INT 0 5000; +BA_DEF_ BO_ "MessageGateway" ENUM "No","Yes"; +BA_DEF_ BO_ "NmAsrMessage" ENUM "No","Yes"; +BA_DEF_ BO_ "TpApplType" STRING; +BA_DEF_ BO_ "DiagState" ENUM "No","Yes"; +BA_DEF_ BO_ "TpTxIndex" INT 0 536870911; +BA_DEF_ BO_ "NetworkInitializationCommand" ENUM "No","Yes"; +BA_DEF_ BO_ "DiagRequest" ENUM "No","Yes"; +BA_DEF_ BO_ "DiagResponse" ENUM "No","Yes"; +BA_DEF_ BO_ "NmMessage" ENUM "No","Yes"; +BA_DEF_ BO_ "GenMsgILSupport" ENUM "No","Yes"; +BA_DEF_ BU_ "Terminator" ENUM "No","Yes"; +BA_DEF_ BU_ "NodeWakeUpTime" INT 0 10000; +BA_DEF_ BU_ "NodeStartUpTime" INT 0 10000; +BA_DEF_ BU_ "NmAsrNodeIdentifier" HEX 128 255; +BA_DEF_ BU_ "NmAsrNode" ENUM "No","Yes"; +BA_DEF_ BU_ "PowerType" ENUM "Switched","Latched","Sleep","vector_leerstring","vector_leerstring"; +BA_DEF_ BU_ "DiagNode" ENUM "GGDS","GDS","NONE"; +BA_DEF_ BU_ "EOL_SB_Flash" ENUM "GGDS","GDS","NONE","vector_leerstring"; +BA_DEF_ BU_ "NetworkInitializationUsed" ENUM "No","Yes"; +BA_DEF_ BU_ "NmNode" ENUM "No","Yes"; +BA_DEF_ BU_ "NmStationAddress" INT 0 255; +BA_DEF_ BU_ "ILUsed" ENUM "No","Yes"; +BA_DEF_ BU_ "NosPackage" ENUM "None","I3_1","I3_2","1.0.1","RP","EuCD","Volcano","I3_3","FNOS_Autosar"; +BA_DEF_ BU_ "LIN_Master" ENUM "No","Yes"; +BA_DEF_ BU_ "PackageID" STRING; +BA_DEF_ BU_ "GatewayECU" ENUM "No","Yes"; +BA_DEF_ "NetworkSpeed" ENUM "500kBits/s","125kBit/s"; +BA_DEF_ "VersionNumber" INT 0 10000; +BA_DEF_ "StarNetworkGwType" ENUM "0=NotDefined","1=HS1","2=HS2","3=HS3","4=HS4","5=HS5","6=MS1","7=HS6","8=HS7","9=MS2","10=FD1","11=FD2","12=FD3","13=FD4","14=FD5","15=FD6","16=FD7","17=FD8"; +BA_DEF_ "CMDB_Version" STRING; +BA_DEF_ "NmType" STRING; +BA_DEF_ "NmAsrMessageCount" INT 128 128; +BA_DEF_ "NmAsrBaseAddress" HEX 1408 1408; +BA_DEF_ "DBName" STRING; +BA_DEF_ "VersionDay" INT 1 31; +BA_DEF_ "Manufacturer" STRING; +BA_DEF_ "VersionMonth" INT 1 12; +BA_DEF_ "VersionYear" INT 2000 3000; +BA_DEF_ "NmBaseAddress" HEX 1280 1280; +BA_DEF_ "NmMessageCount" INT 0 128; +BA_DEF_DEF_ "OvtpPushApplication" "FALSE"; +BA_DEF_DEF_ "OvtpOperationMode" "SERVER"; +BA_DEF_DEF_ "OvtpEcuAddress" 0; +BA_DEF_DEF_ "ECGUsedRxSignal" "No"; +BA_DEF_DEF_ "U_S650_MY2022_Rx" "No"; +BA_DEF_DEF_ "ECGUsedTxSignal" "No"; +BA_DEF_DEF_ "U_S650_MY2022_Tx" "No"; +BA_DEF_DEF_ "GenSigTimeoutTime_CHCM" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_SOBDMC_HPCM_F" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_CMR_DSMC" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_ECM" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_TCM" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_ECM_HEVDSL" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_AWD_DLCM" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_ECM_HEV" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_GENERIC" 0; +BA_DEF_DEF_ "VFrameFormat" "ExtendedCAN_FD"; +BA_DEF_DEF_ "GenSigTimeoutTime_PSCM" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_HCM" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_ABS_ESC" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_ECM_Diesel" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_TCCM" 0; +BA_DEF_DEF_ "GenSigTimeoutTime__delete" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_TCM_DSL" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_TSTR" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_IPMA_ADAS" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_GWM" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_PCM" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_PCM_HEV" 0; +BA_DEF_DEF_ "BusType" ""; +BA_DEF_DEF_ "FrameRouting" "NONE"; +BA_DEF_DEF_ "FrameGatewayNetwork" "NONE"; +BA_DEF_DEF_ "FrameGateway_LC1" 0; +BA_DEF_DEF_ "FrameGatewayLC1_HS3" 0; +BA_DEF_DEF_ "FrameGatewayMS1" 0; +BA_DEF_DEF_ "FrameGatewayHS3" 0; +BA_DEF_DEF_ "FrameGatewayHS2" 0; +BA_DEF_DEF_ "FrameGatewayHS1" 0; +BA_DEF_DEF_ "NetworkInitialization" "Yes"; +BA_DEF_DEF_ "FrameGatewayId" 0; +BA_DEF_DEF_ "EventRateOfChange" 10000; +BA_DEF_DEF_ "ConfiguredTransmitter" "No"; +BA_DEF_DEF_ "GenMsgStartDelayTime" 0; +BA_DEF_DEF_ "GenMsgNrOfRepetition" 1; +BA_DEF_DEF_ "GenMsgDelayTime" 20; +BA_DEF_DEF_ "GenMsgCycleTimeFast" 0; +BA_DEF_DEF_ "GenMsgCycleTime" 0; +BA_DEF_DEF_ "GenMsgSendType" "NoMsgSendType"; +BA_DEF_DEF_ "U_T6_MCA_MY2020_Tx" "No"; +BA_DEF_DEF_ "U_P702_MY2021_Tx" "No"; +BA_DEF_DEF_ "U_CX727_MY2021_Tx" "No"; +BA_DEF_DEF_ "U_F5X_MY20_Tx" "No"; +BA_DEF_DEF_ "U_Commodity_MYXX_Tx" "No"; +BA_DEF_DEF_ "U_T6_MCA_MY2020_Rx" "No"; +BA_DEF_DEF_ "U_P702_MY2021_Rx" "No"; +BA_DEF_DEF_ "U_CX727_MY2021_Rx" "No"; +BA_DEF_DEF_ "U_F5X_MY20_Rx" "No"; +BA_DEF_DEF_ "U_Commodity_MYXX_Rx" "No"; +BA_DEF_DEF_ "GenSigStartValue" 0; +BA_DEF_DEF_ "MetaData" "No"; +BA_DEF_DEF_ "ApprovedOrphan" "No"; +BA_DEF_DEF_ "ContentDependant" "No"; +BA_DEF_DEF_ "GenSigStartValueInteger" 0; +BA_DEF_DEF_ "UsedOnPgmDBC" "Yes"; +BA_DEF_DEF_ "CrossOver_InfoCAN" "No"; +BA_DEF_DEF_ "WakeupSignal" "No"; +BA_DEF_DEF_ "GenSigInactiveValue" 0; +BA_DEF_DEF_ "GenSigSendType" "NoSigSendType"; +BA_DEF_DEF_ "SCP_FreshnessValueLength" 64; +BA_DEF_DEF_ "AuthFreshnessCounterSyncAttempt" 2; +BA_DEF_DEF_ "SCP_DataID" 0; +BA_DEF_DEF_ "SCP_FreshnessValueTxLength" 8; +BA_DEF_DEF_ "SCP_AuthInfoTxLength" 56; +BA_DEF_DEF_ "SC_Message" "No"; +BA_DEF_DEF_ "ProgBWConditional" "NONE"; +BA_DEF_DEF_ "GenMsgRoutingTimeoutTime" 0; +BA_DEF_DEF_ "MessageGateway" "No"; +BA_DEF_DEF_ "NmAsrMessage" "No"; +BA_DEF_DEF_ "TpApplType" ""; +BA_DEF_DEF_ "DiagState" "No"; +BA_DEF_DEF_ "TpTxIndex" 0; +BA_DEF_DEF_ "NetworkInitializationCommand" "No"; +BA_DEF_DEF_ "DiagRequest" "No"; +BA_DEF_DEF_ "DiagResponse" "No"; +BA_DEF_DEF_ "NmMessage" "No"; +BA_DEF_DEF_ "GenMsgILSupport" "Yes"; +BA_DEF_DEF_ "Terminator" "No"; +BA_DEF_DEF_ "NodeWakeUpTime" 10; +BA_DEF_DEF_ "NodeStartUpTime" 250; +BA_DEF_DEF_ "NmAsrNodeIdentifier" 128; +BA_DEF_DEF_ "NmAsrNode" "No"; +BA_DEF_DEF_ "PowerType" "Switched"; +BA_DEF_DEF_ "DiagNode" "GGDS"; +BA_DEF_DEF_ "EOL_SB_Flash" "GGDS"; +BA_DEF_DEF_ "NetworkInitializationUsed" "No"; +BA_DEF_DEF_ "NmNode" "No"; +BA_DEF_DEF_ "NmStationAddress" 0; +BA_DEF_DEF_ "ILUsed" "Yes"; +BA_DEF_DEF_ "NosPackage" "I3_3"; +BA_DEF_DEF_ "LIN_Master" "No"; +BA_DEF_DEF_ "PackageID" "08.05.00.00.71.xx.xx.rr.00.00"; +BA_DEF_DEF_ "GatewayECU" "No"; +BA_DEF_DEF_ "NetworkSpeed" "500kBits/s"; +BA_DEF_DEF_ "VersionNumber" 1; +BA_DEF_DEF_ "StarNetworkGwType" "0=NotDefined"; +BA_DEF_DEF_ "CMDB_Version" "v11.01"; +BA_DEF_DEF_ "NmType" "Ford-OSEK"; +BA_DEF_DEF_ "NmAsrMessageCount" 128; +BA_DEF_DEF_ "NmAsrBaseAddress" 1408; +BA_DEF_DEF_ "DBName" ""; +BA_DEF_DEF_ "VersionDay" 1; +BA_DEF_DEF_ "Manufacturer" "Ford"; +BA_DEF_DEF_ "VersionMonth" 1; +BA_DEF_DEF_ "VersionYear" 2011; +BA_DEF_DEF_ "NmBaseAddress" 1280; +BA_DEF_DEF_ "NmMessageCount" 128; +BA_ "BusType" "CAN FD"; +BA_ "VersionYear" 2019; +BA_ "VersionMonth" 4; +BA_ "Manufacturer" "Ford"; +BA_ "VersionDay" 11; +BA_ "CMDB_Version" "FNV2_v18.07"; +BA_ "StarNetworkGwType" 10; +BA_ "VersionNumber" 6; +BA_ "NmType" "Ford-OSEK"; +BA_ "DBName" "FD1_CAN"; +BA_ "NmStationAddress" BU_ VDM 48; +BA_ "OvtpEcuAddress" BU_ VDM 32; +BA_ "OvtpEcuAddress" BU_ CMR_DSMC 187; +BA_ "NmStationAddress" BU_ CMR_DSMC 95; +BA_ "PowerType" BU_ CMR_DSMC 2; +BA_ "NmAsrNode" BU_ CMR_DSMC 1; +BA_ "NmAsrNodeIdentifier" BU_ CMR_DSMC 223; +BA_ "OvtpEcuAddress" BU_ SOBDMC_HPCM_FD1 17; +BA_ "NmStationAddress" BU_ SOBDMC_HPCM_FD1 37; +BA_ "OvtpEcuAddress" BU_ IPMA_ADAS 33; +BA_ "NmStationAddress" BU_ IPMA_ADAS 28; +BA_ "NodeStartUpTime" BU_ IPMA_ADAS 300; +BA_ "OvtpEcuAddress" BU_ PSCM 48; +BA_ "NmStationAddress" BU_ PSCM 53; +BA_ "PowerType" BU_ PSCM 1; +BA_ "NmAsrNode" BU_ PSCM 1; +BA_ "NmAsrNodeIdentifier" BU_ PSCM 181; +BA_ "Terminator" BU_ PSCM 1; +BA_ "OvtpEcuAddress" BU_ ABS_ESC 40; +BA_ "NmStationAddress" BU_ ABS_ESC 22; +BA_ "PowerType" BU_ ABS_ESC 2; +BA_ "NmAsrNode" BU_ ABS_ESC 1; +BA_ "NmAsrNodeIdentifier" BU_ ABS_ESC 150; +BA_ "NodeStartUpTime" BU_ ABS_ESC 1000; +BA_ "NodeWakeUpTime" BU_ ABS_ESC 300; +BA_ "OvtpEcuAddress" BU_ TCCM 25; +BA_ "NmStationAddress" BU_ TCCM 33; +BA_ "NmAsrNode" BU_ TCCM 1; +BA_ "NmAsrNodeIdentifier" BU_ TCCM 161; +BA_ "NodeStartUpTime" BU_ TCCM 1000; +BA_ "NodeWakeUpTime" BU_ TCCM 25; +BA_ "OvtpEcuAddress" BU_ TCM_DSL 24; +BA_ "NmStationAddress" BU_ TCM_DSL 32; +BA_ "PowerType" BU_ TCM_DSL 1; +BA_ "NmAsrNode" BU_ TCM_DSL 1; +BA_ "NmAsrNodeIdentifier" BU_ TCM_DSL 160; +BA_ "NodeWakeUpTime" BU_ TCM_DSL 200; +BA_ "NosPackage" BU_ TCM_DSL 4; +BA_ "OvtpEcuAddress" BU_ PCM_HEV 16; +BA_ "NmStationAddress" BU_ PCM_HEV 21; +BA_ "PowerType" BU_ PCM_HEV 1; +BA_ "NmAsrNode" BU_ PCM_HEV 1; +BA_ "NmAsrNodeIdentifier" BU_ PCM_HEV 149; +BA_ "NodeStartUpTime" BU_ PCM_HEV 350; +BA_ "OvtpEcuAddress" BU_ PCM 16; +BA_ "NmStationAddress" BU_ PCM 21; +BA_ "PowerType" BU_ PCM 1; +BA_ "NmAsrNode" BU_ PCM 1; +BA_ "NmAsrNodeIdentifier" BU_ PCM 149; +BA_ "NodeStartUpTime" BU_ PCM 350; +BA_ "OvtpEcuAddress" BU_ ECM_Diesel 16; +BA_ "NmStationAddress" BU_ ECM_Diesel 21; +BA_ "PowerType" BU_ ECM_Diesel 1; +BA_ "NmAsrNode" BU_ ECM_Diesel 1; +BA_ "NmAsrNodeIdentifier" BU_ ECM_Diesel 149; +BA_ "OvtpEcuAddress" BU_ GWM 216; +BA_ "OvtpOperationMode" BU_ GWM 1; +BA_ "NmStationAddress" BU_ GWM 30; +BA_ "PowerType" BU_ GWM 2; +BA_ "NmAsrNode" BU_ GWM 1; +BA_ "NmAsrNodeIdentifier" BU_ GWM 158; +BA_ "NodeStartUpTime" BU_ GWM 100; +BA_ "Terminator" BU_ GWM 1; +BA_ "GatewayECU" BU_ GWM 1; +BA_ "NosPackage" BU_ GWM 4; +BA_ "GenMsgSendType" BO_ 823 5; +BA_ "GenMsgCycleTime" BO_ 823 1000; +BA_ "VFrameFormat" BO_ 823 14; +BA_ "GenMsgSendType" BO_ 824 5; +BA_ "GenMsgCycleTime" BO_ 824 1000; +BA_ "VFrameFormat" BO_ 824 14; +BA_ "FrameGatewayId" BO_ 949 949; +BA_ "FrameGatewayNetwork" BO_ 949 "HS1_CAN"; +BA_ "FrameRouting" BO_ 949 ""; +BA_ "VFrameFormat" BO_ 949 14; +BA_ "GenMsgILSupport" BO_ 1825 0; +BA_ "DiagRequest" BO_ 1825 1; +BA_ "GenMsgSendType" BO_ 1825 1; +BA_ "GenMsgDelayTime" BO_ 1825 0; +BA_ "NetworkInitialization" BO_ 1825 0; +BA_ "VFrameFormat" BO_ 1825 14; +BA_ "GenMsgDelayTime" BO_ 524 0; +BA_ "GenMsgCycleTime" BO_ 524 10; +BA_ "GenMsgSendType" BO_ 524 0; +BA_ "ProgBWConditional" BO_ 524 "MSGDCR1008_CX48X_V03_HS1D_56.84_mHEV_54.89"; +BA_ "VFrameFormat" BO_ 524 14; +BA_ "FrameRouting" BO_ 740 ""; +BA_ "FrameGatewayNetwork" BO_ 740 "HS1_CAN"; +BA_ "FrameGatewayId" BO_ 740 740; +BA_ "VFrameFormat" BO_ 740 14; +BA_ "GenMsgCycleTime" BO_ 1160 1000; +BA_ "GenMsgSendType" BO_ 1160 5; +BA_ "VFrameFormat" BO_ 1160 14; +BA_ "GenMsgCycleTime" BO_ 776 1000; +BA_ "GenMsgSendType" BO_ 776 5; +BA_ "VFrameFormat" BO_ 776 14; +BA_ "GenMsgCycleTime" BO_ 775 1000; +BA_ "GenMsgSendType" BO_ 775 5; +BA_ "VFrameFormat" BO_ 775 14; +BA_ "GenMsgCycleTime" BO_ 774 1000; +BA_ "GenMsgSendType" BO_ 774 5; +BA_ "VFrameFormat" BO_ 774 14; +BA_ "FrameGatewayId" BO_ 811 811; +BA_ "FrameGatewayNetwork" BO_ 811 "HS3_CAN"; +BA_ "FrameRouting" BO_ 811 ""; +BA_ "VFrameFormat" BO_ 811 14; +BA_ "GenMsgSendType" BO_ 850 0; +BA_ "GenMsgCycleTime" BO_ 850 150; +BA_ "VFrameFormat" BO_ 850 14; +BA_ "GenMsgCycleTime" BO_ 563 1000; +BA_ "GenMsgSendType" 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"FrameRouting" BO_ 2612224016 ""; +BA_ "TpTxIndex" BO_ 2612224016 464535768; +BA_ "GenMsgSendType" BO_ 2612224016 1; +BA_ "GenMsgCycleTime" BO_ 2612224016 0; +BA_ "GenMsgDelayTime" BO_ 2612224016 0; +BA_ "NetworkInitialization" BO_ 2612224016 0; +BA_ "OvtpPushApplication" BO_ 2612224016 1; +BA_ "VFrameFormat" BO_ 2612224016 15; +BA_ "FrameRouting" BO_ 810 ""; +BA_ "GenMsgCycleTime" BO_ 810 1000; +BA_ "GenMsgSendType" BO_ 810 5; +BA_ "VFrameFormat" BO_ 810 14; +BA_ "FrameRouting" BO_ 550 ""; +BA_ "GenMsgCycleTime" BO_ 550 1000; +BA_ "GenMsgSendType" BO_ 550 5; +BA_ "VFrameFormat" BO_ 550 14; +BA_ "FrameRouting" BO_ 639 ""; +BA_ "GenMsgCycleTime" BO_ 639 1000; +BA_ "GenMsgSendType" BO_ 639 5; +BA_ "VFrameFormat" BO_ 639 14; +BA_ "FrameRouting" BO_ 530 ""; +BA_ "GenMsgCycleTime" BO_ 530 1000; +BA_ "GenMsgSendType" BO_ 530 5; +BA_ "VFrameFormat" BO_ 530 14; +BA_ "FrameRouting" BO_ 1142 ""; +BA_ "GenMsgSendType" BO_ 1142 0; +BA_ "GenMsgCycleTime" BO_ 1142 500; +BA_ "VFrameFormat" BO_ 1142 14; +BA_ "FrameRouting" BO_ 817 ""; +BA_ "FrameGatewayId" BO_ 817 817; +BA_ "FrameGatewayNetwork" BO_ 817 "HS1_CAN"; +BA_ "VFrameFormat" BO_ 817 14; +BA_ "FrameRouting" BO_ 879 ""; +BA_ "FrameGatewayNetwork" BO_ 879 "HS1_CAN"; +BA_ "FrameGatewayId" BO_ 879 879; +BA_ "VFrameFormat" BO_ 879 14; +BA_ "FrameRouting" BO_ 878 ""; +BA_ "GenMsgSendType" BO_ 878 5; +BA_ "GenMsgCycleTime" BO_ 878 1000; +BA_ "VFrameFormat" BO_ 878 14; +BA_ "FrameRouting" BO_ 395 ""; +BA_ "FrameGatewayNetwork" BO_ 395 "HS3_CAN"; +BA_ "FrameGatewayId" BO_ 395 395; +BA_ "VFrameFormat" BO_ 395 14; +BA_ "TpTxIndex" BO_ 2611055832 463572184; +BA_ "FrameRouting" BO_ 2611055832 ""; +BA_ "NetworkInitialization" BO_ 2611055832 0; +BA_ "GenMsgDelayTime" BO_ 2611055832 0; +BA_ "GenMsgSendType" BO_ 2611055832 1; +BA_ "VFrameFormat" BO_ 2611055832 15; +BA_ "TpTxIndex" BO_ 2611054808 463571160; +BA_ "FrameRouting" BO_ 2611054808 ""; +BA_ "NetworkInitialization" BO_ 2611054808 0; +BA_ "GenMsgDelayTime" BO_ 2611054808 0; +BA_ "GenMsgSendType" BO_ 2611054808 1; +BA_ "VFrameFormat" BO_ 2611054808 15; +BA_ "TpTxIndex" BO_ 2611026136 463542488; +BA_ "FrameRouting" BO_ 2611026136 ""; +BA_ "NetworkInitialization" BO_ 2611026136 0; +BA_ "GenMsgDelayTime" BO_ 2611026136 0; +BA_ "GenMsgSendType" BO_ 2611026136 1; +BA_ "VFrameFormat" BO_ 2611026136 15; +BA_ "TpTxIndex" BO_ 2611025112 463541464; +BA_ "FrameRouting" BO_ 2611025112 ""; +BA_ "NetworkInitialization" BO_ 2611025112 0; +BA_ "GenMsgDelayTime" BO_ 2611025112 0; +BA_ "GenMsgSendType" BO_ 2611025112 1; +BA_ "VFrameFormat" BO_ 2611025112 15; +BA_ "TpTxIndex" BO_ 2610975960 463492312; +BA_ "FrameRouting" BO_ 2610975960 ""; +BA_ "NetworkInitialization" BO_ 2610975960 0; +BA_ "GenMsgDelayTime" BO_ 2610975960 0; +BA_ "GenMsgSendType" BO_ 2610975960 1; +BA_ "VFrameFormat" BO_ 2610975960 15; +BA_ "FrameRouting" BO_ 2610007256 ""; +BA_ "NetworkInitialization" BO_ 2610007256 0; +BA_ "GenMsgDelayTime" BO_ 2610007256 0; +BA_ "GenMsgSendType" BO_ 2610007256 1; +BA_ "TpTxIndex" BO_ 2610007256 462523608; +BA_ "VFrameFormat" BO_ 2610007256 15; +BA_ "FrameRouting" BO_ 2610006232 ""; +BA_ "NetworkInitialization" BO_ 2610006232 0; +BA_ "GenMsgDelayTime" BO_ 2610006232 0; +BA_ "GenMsgSendType" BO_ 2610006232 1; +BA_ "TpTxIndex" BO_ 2610006232 462522584; +BA_ "VFrameFormat" BO_ 2610006232 15; +BA_ "FrameRouting" BO_ 2609977560 ""; +BA_ "NetworkInitialization" BO_ 2609977560 0; +BA_ "GenMsgDelayTime" BO_ 2609977560 0; +BA_ "GenMsgSendType" BO_ 2609977560 1; +BA_ "TpTxIndex" BO_ 2609977560 462493912; +BA_ "VFrameFormat" BO_ 2609977560 15; +BA_ "FrameRouting" BO_ 2609976536 ""; +BA_ "NetworkInitialization" BO_ 2609976536 0; +BA_ "GenMsgDelayTime" BO_ 2609976536 0; +BA_ "GenMsgSendType" BO_ 2609976536 1; +BA_ "TpTxIndex" BO_ 2609976536 462492888; +BA_ "VFrameFormat" BO_ 2609976536 15; +BA_ "FrameRouting" BO_ 2609927384 ""; +BA_ "NetworkInitialization" BO_ 2609927384 0; +BA_ "GenMsgDelayTime" BO_ 2609927384 0; +BA_ "GenMsgSendType" BO_ 2609927384 1; +BA_ "TpTxIndex" BO_ 2609927384 462443736; +BA_ "VFrameFormat" BO_ 2609927384 15; +BA_ "TpTxIndex" BO_ 2611175523 463572184; +BA_ "FrameRouting" BO_ 2611175523 ""; +BA_ "NetworkInitialization" BO_ 2611175523 0; +BA_ "GenMsgDelayTime" BO_ 2611175523 0; +BA_ "GenMsgSendType" BO_ 2611175523 1; +BA_ "VFrameFormat" BO_ 2611175523 15; +BA_ "TpTxIndex" BO_ 2612224099 464620760; +BA_ "OvtpPushApplication" BO_ 2612224099 1; +BA_ "FrameRouting" BO_ 2612224099 ""; +BA_ "NetworkInitialization" BO_ 2612224099 0; +BA_ "GenMsgDelayTime" BO_ 2612224099 0; +BA_ "GenMsgSendType" BO_ 2612224099 1; +BA_ "VFrameFormat" BO_ 2612224099 15; +BA_ "TpTxIndex" BO_ 2611175522 463571160; +BA_ "FrameRouting" BO_ 2611175522 ""; +BA_ "NetworkInitialization" BO_ 2611175522 0; +BA_ "GenMsgDelayTime" BO_ 2611175522 0; +BA_ "GenMsgSendType" BO_ 2611175522 1; +BA_ "VFrameFormat" BO_ 2611175522 15; +BA_ "TpTxIndex" BO_ 2612224098 464619736; +BA_ "OvtpPushApplication" BO_ 2612224098 1; +BA_ "FrameRouting" BO_ 2612224098 ""; +BA_ 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1; +BA_ "VFrameFormat" BO_ 2610126947 15; +BA_ "TpTxIndex" BO_ 2610126946 462522584; +BA_ "FrameRouting" BO_ 2610126946 ""; +BA_ "NetworkInitialization" BO_ 2610126946 0; +BA_ "GenMsgDelayTime" BO_ 2610126946 0; +BA_ "GenMsgSendType" BO_ 2610126946 1; +BA_ "VFrameFormat" BO_ 2610126946 15; +BA_ "TpTxIndex" BO_ 2610126918 462493912; +BA_ "FrameRouting" BO_ 2610126918 ""; +BA_ "NetworkInitialization" BO_ 2610126918 0; +BA_ "GenMsgDelayTime" BO_ 2610126918 0; +BA_ "GenMsgSendType" BO_ 2610126918 1; +BA_ "VFrameFormat" BO_ 2610126918 15; +BA_ "TpTxIndex" BO_ 2610126917 462492888; +BA_ "FrameRouting" BO_ 2610126917 ""; +BA_ "NetworkInitialization" BO_ 2610126917 0; +BA_ "GenMsgDelayTime" BO_ 2610126917 0; +BA_ "GenMsgSendType" BO_ 2610126917 1; +BA_ "VFrameFormat" BO_ 2610126917 15; +BA_ "FrameRouting" BO_ 2610126869 ""; +BA_ "NetworkInitialization" BO_ 2610126869 0; +BA_ "GenMsgDelayTime" BO_ 2610126869 0; +BA_ "GenMsgSendType" BO_ 2610126869 1; +BA_ "TpTxIndex" BO_ 2610126869 462443736; 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+BA_ "VFrameFormat" BO_ 587 14; +BA_ "FrameRouting" BO_ 389 ""; +BA_ "GenMsgSendType" BO_ 389 0; +BA_ "GenMsgCycleTime" BO_ 389 100; +BA_ "VFrameFormat" BO_ 389 14; +BA_ "FrameRouting" BO_ 1009 ""; +BA_ "FrameGatewayId" BO_ 1009 1009; +BA_ "FrameGatewayNetwork" BO_ 1009 "HS3_CAN"; +BA_ "VFrameFormat" BO_ 1009 14; +BA_ "FrameRouting" BO_ 360 ""; +BA_ "FrameGatewayId" BO_ 360 360; +BA_ "FrameGatewayNetwork" BO_ 360 "HS2_CAN"; +BA_ "VFrameFormat" BO_ 360 14; +BA_ "FrameRouting" BO_ 122 ""; +BA_ "FrameGatewayId" BO_ 122 122; +BA_ "FrameGatewayNetwork" BO_ 122 "HS1_CAN"; +BA_ "VFrameFormat" BO_ 122 14; +BA_ "FrameRouting" BO_ 90 ""; +BA_ "FrameGatewayId" BO_ 90 90; +BA_ "FrameGatewayNetwork" BO_ 90 "HS2_CAN"; +BA_ "VFrameFormat" BO_ 90 14; +BA_ "FrameRouting" BO_ 1091 ""; +BA_ "FrameGatewayId" BO_ 1091 1091; +BA_ "FrameGatewayNetwork" BO_ 1091 "HS3_CAN"; +BA_ "VFrameFormat" BO_ 1091 14; +BA_ "FrameRouting" BO_ 138 ""; +BA_ "FrameGatewayId" BO_ 138 138; +BA_ "FrameGatewayNetwork" BO_ 138 "HS2_CAN"; +BA_ "VFrameFormat" BO_ 138 14; +BA_ "FrameRouting" BO_ 131 ""; +BA_ "FrameGatewayId" BO_ 131 131; +BA_ "FrameGatewayNetwork" BO_ 131 "HS2_CAN"; +BA_ "VFrameFormat" BO_ 131 14; +BA_ "FrameRouting" BO_ 787 ""; +BA_ "FrameGatewayId" BO_ 787 787; +BA_ "FrameGatewayNetwork" BO_ 787 "MS2_CAN"; +BA_ "VFrameFormat" BO_ 787 14; +BA_ "FrameRouting" BO_ 953 ""; +BA_ "FrameGatewayId" BO_ 953 953; +BA_ "FrameGatewayNetwork" BO_ 953 "HS1_CAN"; +BA_ "VFrameFormat" BO_ 953 14; +BA_ "FrameRouting" BO_ 1093 ""; +BA_ "FrameGatewayId" BO_ 1093 1093; +BA_ "FrameGatewayNetwork" BO_ 1093 "HS3_CAN"; +BA_ "VFrameFormat" BO_ 1093 14; +BA_ "FrameRouting" BO_ 792 ""; +BA_ "FrameGatewayId" BO_ 792 792; +BA_ "FrameGatewayNetwork" BO_ 792 "HS3_CAN"; +BA_ "VFrameFormat" BO_ 792 14; +BA_ "FrameRouting" BO_ 968 ""; +BA_ "FrameGatewayId" BO_ 968 968; +BA_ "FrameGatewayNetwork" BO_ 968 "HS3_CAN"; +BA_ "VFrameFormat" BO_ 968 14; +BA_ "FrameRouting" BO_ 819 ""; +BA_ "FrameGatewayId" BO_ 819 819; +BA_ "FrameGatewayNetwork" BO_ 819 "MS1_CAN"; +BA_ "VFrameFormat" BO_ 819 14; +BA_ "FrameRouting" BO_ 818 ""; +BA_ "FrameGatewayId" BO_ 818 818; +BA_ "FrameGatewayNetwork" BO_ 818 "MS1_CAN"; +BA_ "VFrameFormat" BO_ 818 14; +BA_ "FrameRouting" BO_ 806 ""; +BA_ "FrameGatewayId" BO_ 806 806; +BA_ "FrameGatewayNetwork" BO_ 806 "MS1_CAN"; +BA_ "VFrameFormat" BO_ 806 14; +BA_ "FrameRouting" BO_ 765 ""; +BA_ "FrameGatewayId" BO_ 765 765; +BA_ "FrameGatewayNetwork" BO_ 765 "HS3_CAN"; +BA_ "VFrameFormat" BO_ 765 14; +BA_ "FrameRouting" BO_ 559 ""; +BA_ "FrameGatewayId" BO_ 559 559; +BA_ "FrameGatewayNetwork" BO_ 559 "HS3_CAN"; +BA_ "VFrameFormat" BO_ 559 14; +BA_ "FrameRouting" BO_ 558 ""; +BA_ "FrameGatewayId" BO_ 558 558; +BA_ "FrameGatewayNetwork" BO_ 558 "HS3_CAN"; +BA_ "VFrameFormat" BO_ 558 14; +BA_ "FrameRouting" BO_ 934 ""; +BA_ "GenMsgSendType" BO_ 934 5; +BA_ "GenMsgCycleTime" BO_ 934 200; +BA_ "VFrameFormat" BO_ 934 14; +BA_ "FrameRouting" BO_ 1072 ""; +BA_ "FrameGatewayId" BO_ 1072 1072; +BA_ "FrameGatewayNetwork" BO_ 1072 "HS3_CAN"; +BA_ "VFrameFormat" BO_ 1072 14; +BA_ "FrameRouting" BO_ 909 ""; +BA_ "FrameGatewayId" BO_ 909 909; +BA_ "FrameGatewayNetwork" BO_ 909 "HS1_CAN"; +BA_ "VFrameFormat" BO_ 909 14; +BA_ "FrameRouting" BO_ 963 ""; +BA_ "FrameGatewayId" BO_ 963 963; +BA_ "FrameGatewayNetwork" BO_ 963 "HS1_CAN"; +BA_ "VFrameFormat" BO_ 963 14; +BA_ "FrameRouting" BO_ 145 ""; +BA_ "FrameGatewayId" BO_ 145 145; +BA_ "FrameGatewayNetwork" BO_ 145 "HS2_CAN"; +BA_ "VFrameFormat" BO_ 145 14; +BA_ "FrameRouting" BO_ 76 ""; +BA_ "FrameGatewayId" BO_ 76 76; +BA_ "FrameGatewayNetwork" BO_ 76 "HS2_CAN"; +BA_ "VFrameFormat" BO_ 76 14; +BA_ "FrameRouting" BO_ 65 ""; +BA_ "DiagResponse" BO_ 65 0; +BA_ "FrameGatewayId" BO_ 65 65; +BA_ "FrameGatewayNetwork" BO_ 65 "HS1_CAN"; +BA_ "VFrameFormat" BO_ 65 14; +BA_ "FrameRouting" BO_ 1076 ""; +BA_ "FrameGatewayId" BO_ 1076 1076; +BA_ "FrameGatewayNetwork" BO_ 1076 "HS3_CAN"; +BA_ "VFrameFormat" BO_ 1076 14; +BA_ "FrameRouting" BO_ 862 ""; +BA_ "FrameGatewayId" BO_ 862 862; +BA_ "FrameGatewayNetwork" BO_ 862 "MS1_CAN"; +BA_ "VFrameFormat" BO_ 862 14; +BA_ "FrameRouting" BO_ 931 ""; +BA_ "FrameGatewayId" BO_ 931 931; +BA_ "FrameGatewayNetwork" BO_ 931 "HS1_CAN"; +BA_ "VFrameFormat" BO_ 931 14; +BA_ "FrameRouting" BO_ 578 ""; +BA_ "FrameGatewayId" BO_ 578 578; +BA_ "FrameGatewayNetwork" BO_ 578 "HS1_CAN"; +BA_ "VFrameFormat" BO_ 578 14; +BA_ "FrameRouting" BO_ 947 ""; +BA_ "FrameGatewayId" BO_ 947 947; +BA_ "FrameGatewayNetwork" BO_ 947 "HS1_CAN"; +BA_ "VFrameFormat" BO_ 947 14; +BA_ "FrameRouting" BO_ 1084 ""; +BA_ "FrameGatewayId" BO_ 1084 1084; +BA_ "FrameGatewayNetwork" BO_ 1084 "HS1_CAN"; +BA_ "VFrameFormat" BO_ 1084 14; +BA_ "FrameRouting" BO_ 1068 ""; +BA_ "FrameGatewayId" BO_ 1068 1068; +BA_ "FrameGatewayNetwork" BO_ 1068 "HS1_CAN"; +BA_ "VFrameFormat" BO_ 1068 14; +BA_ "FrameRouting" BO_ 146 ""; +BA_ "FrameGatewayId" BO_ 146 146; +BA_ "FrameGatewayNetwork" BO_ 146 "HS2_CAN"; +BA_ "VFrameFormat" BO_ 146 14; +BA_ "FrameRouting" BO_ 1900 ""; +BA_ "GenMsgILSupport" BO_ 1900 0; +BA_ "DiagResponse" BO_ 1900 1; +BA_ "GenMsgSendType" BO_ 1900 1; +BA_ "GenMsgDelayTime" BO_ 1900 0; +BA_ "NetworkInitialization" BO_ 1900 0; +BA_ "VFrameFormat" BO_ 1900 14; +BA_ "FrameRouting" BO_ 1806 ""; +BA_ "GenMsgILSupport" BO_ 1806 0; +BA_ "DiagResponse" BO_ 1806 1; +BA_ "GenMsgSendType" BO_ 1806 1; +BA_ "GenMsgDelayTime" BO_ 1806 0; +BA_ "NetworkInitialization" BO_ 1806 0; +BA_ "VFrameFormat" BO_ 1806 14; +BA_ "FrameRouting" BO_ 997 ""; +BA_ "GenMsgSendType" BO_ 997 5; +BA_ "GenMsgCycleTime" BO_ 997 1000; +BA_ "VFrameFormat" BO_ 997 14; +BA_ "FrameRouting" BO_ 983 ""; +BA_ "GenMsgSendType" BO_ 983 0; +BA_ "GenMsgCycleTime" BO_ 983 50; +BA_ "VFrameFormat" BO_ 983 14; +BA_ "FrameRouting" BO_ 980 ""; +BA_ "GenMsgSendType" BO_ 980 0; +BA_ "GenMsgCycleTime" BO_ 980 30; +BA_ "GenMsgDelayTime" BO_ 980 10; +BA_ "VFrameFormat" BO_ 980 14; +BA_ "FrameRouting" BO_ 979 ""; +BA_ "GenMsgSendType" BO_ 979 0; +BA_ "GenMsgCycleTime" BO_ 979 50; +BA_ "VFrameFormat" BO_ 979 14; +BA_ "FrameRouting" BO_ 976 ""; +BA_ "GenMsgSendType" BO_ 976 0; +BA_ "GenMsgCycleTime" BO_ 976 100; +BA_ "VFrameFormat" BO_ 976 14; +BA_ "FrameRouting" BO_ 973 ""; +BA_ "GenMsgSendType" BO_ 973 5; +BA_ "GenMsgCycleTime" BO_ 973 1000; +BA_ "VFrameFormat" BO_ 973 14; +BA_ "FrameRouting" BO_ 970 ""; +BA_ "GenMsgSendType" BO_ 970 0; +BA_ "GenMsgCycleTime" BO_ 970 30; +BA_ "GenMsgDelayTime" BO_ 970 10; +BA_ "VFrameFormat" BO_ 970 14; +BA_ "FrameRouting" BO_ 962 ""; +BA_ "GenMsgSendType" BO_ 962 5; +BA_ "GenMsgCycleTime" BO_ 962 1000; +BA_ "VFrameFormat" BO_ 962 14; +BA_ "FrameRouting" BO_ 961 ""; +BA_ "GenMsgSendType" BO_ 961 5; +BA_ "GenMsgCycleTime" BO_ 961 1000; +BA_ "VFrameFormat" BO_ 961 14; +BA_ "FrameRouting" BO_ 394 ""; +BA_ "GenMsgSendType" BO_ 394 5; +BA_ "GenMsgCycleTime" BO_ 394 200; +BA_ "VFrameFormat" BO_ 394 14; +BA_ "FrameRouting" BO_ 391 ""; +BA_ "GenMsgSendType" BO_ 391 0; +BA_ "GenMsgCycleTime" BO_ 391 20; +BA_ "GenMsgDelayTime" BO_ 391 10; +BA_ "VFrameFormat" BO_ 391 14; +BA_ "FrameRouting" BO_ 390 ""; +BA_ "GenMsgSendType" BO_ 390 0; +BA_ "GenMsgCycleTime" BO_ 390 20; +BA_ "GenMsgDelayTime" BO_ 390 10; +BA_ "VFrameFormat" BO_ 390 14; +BA_ "FrameRouting" BO_ 1441 ""; +BA_ "GenMsgILSupport" BO_ 1441 0; +BA_ "NmAsrMessage" BO_ 1441 1; +BA_ "GenMsgSendType" BO_ 1441 0; +BA_ "GenMsgCycleTime" BO_ 1441 1000; +BA_ "NetworkInitialization" BO_ 1441 0; +BA_ "VFrameFormat" BO_ 1441 14; +BA_ "FrameRouting" BO_ 1787 ""; +BA_ "GenMsgILSupport" BO_ 1787 0; +BA_ "DiagResponse" BO_ 1787 1; +BA_ "GenMsgSendType" BO_ 1787 1; +BA_ "GenMsgDelayTime" BO_ 1787 0; +BA_ "VFrameFormat" BO_ 1787 14; +BA_ "FrameRouting" BO_ 1779 ""; +BA_ "GenMsgILSupport" BO_ 1779 0; +BA_ "DiagRequest" BO_ 1779 1; +BA_ "GenMsgSendType" BO_ 1779 1; +BA_ "GenMsgDelayTime" BO_ 1779 0; +BA_ "VFrameFormat" BO_ 1779 14; +BA_ "FrameRouting" BO_ 1786 ""; +BA_ "GenMsgILSupport" BO_ 1786 0; +BA_ "DiagResponse" BO_ 1786 1; +BA_ "GenMsgSendType" BO_ 1786 1; +BA_ "GenMsgDelayTime" BO_ 1786 0; +BA_ "VFrameFormat" BO_ 1786 14; +BA_ "FrameRouting" BO_ 1778 ""; +BA_ "GenMsgILSupport" BO_ 1778 0; +BA_ "DiagRequest" BO_ 1778 1; +BA_ "GenMsgSendType" BO_ 1778 1; +BA_ "GenMsgDelayTime" BO_ 1778 0; +BA_ "VFrameFormat" BO_ 1778 14; +BA_ "FrameRouting" BO_ 1153 ""; +BA_ "FrameGatewayId" BO_ 1153 1152; +BA_ "FrameGatewayNetwork" BO_ 1153 "HS2_CAN"; +BA_ "VFrameFormat" BO_ 1153 14; +BA_ "FrameRouting" BO_ 942 ""; +BA_ "GenMsgSendType" BO_ 942 5; +BA_ "GenMsgCycleTime" BO_ 942 1000; +BA_ "VFrameFormat" BO_ 942 14; +BA_ "FrameRouting" BO_ 930 ""; +BA_ "GenMsgSendType" BO_ 930 5; +BA_ "GenMsgCycleTime" BO_ 930 1000; +BA_ "VFrameFormat" BO_ 930 14; +BA_ "FrameRouting" BO_ 929 ""; +BA_ "GenMsgSendType" BO_ 929 5; +BA_ "GenMsgCycleTime" BO_ 929 1000; +BA_ "VFrameFormat" BO_ 929 14; +BA_ "FrameRouting" BO_ 402 ""; +BA_ "FrameGatewayId" BO_ 402 402; +BA_ "FrameGatewayNetwork" BO_ 402 "HS3_CAN"; +BA_ "VFrameFormat" BO_ 402 14; +BA_ "FrameRouting" BO_ 924 ""; +BA_ "FrameGatewayId" BO_ 924 924; +BA_ "FrameGatewayNetwork" BO_ 924 "HS1_CAN"; +BA_ "VFrameFormat" BO_ 924 14; +BA_ "FrameRouting" BO_ 923 ""; +BA_ "FrameGatewayId" BO_ 923 923; +BA_ "FrameGatewayNetwork" BO_ 923 "HS1_CAN"; +BA_ "VFrameFormat" BO_ 923 14; +BA_ "FrameRouting" BO_ 1998 ""; +BA_ "GenMsgILSupport" BO_ 1998 0; +BA_ "DiagResponse" BO_ 1998 1; +BA_ "GenMsgSendType" BO_ 1998 1; +BA_ "GenMsgDelayTime" BO_ 1998 0; +BA_ "NetworkInitialization" BO_ 1998 0; +BA_ "VFrameFormat" BO_ 1998 14; +BA_ "FrameRouting" BO_ 1996 ""; +BA_ "GenMsgILSupport" BO_ 1996 0; +BA_ "DiagResponse" BO_ 1996 1; +BA_ "GenMsgSendType" BO_ 1996 1; +BA_ "GenMsgDelayTime" BO_ 1996 0; +BA_ "NetworkInitialization" BO_ 1996 0; +BA_ "VFrameFormat" BO_ 1996 14; +BA_ "FrameRouting" BO_ 1988 ""; +BA_ "GenMsgILSupport" BO_ 1988 0; +BA_ "DiagRequest" BO_ 1988 1; +BA_ "GenMsgSendType" BO_ 1988 1; +BA_ "GenMsgDelayTime" BO_ 1988 0; +BA_ "NetworkInitialization" BO_ 1988 0; +BA_ "VFrameFormat" BO_ 1988 14; +BA_ "FrameRouting" BO_ 922 ""; +BA_ "FrameGatewayId" BO_ 922 922; +BA_ "FrameGatewayNetwork" BO_ 922 "HS1_CAN"; +BA_ "VFrameFormat" BO_ 922 14; +BA_ "GenSigSendType" SG_ 823 DteVehPwId_No_Actl 3; +BA_ "ECGUsedRxSignal" SG_ 823 DteVehPwId_No_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 823 DteVehEId_No_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 823 DteVehEffId_No_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 823 DteVeh_Pw_Actl 1; +BA_ "GenSigStartValue" SG_ 823 DteVeh_Eff_Actl 100; +BA_ "ECGUsedRxSignal" SG_ 823 DteVeh_Eff_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 823 DteVeh_E_Actl 1; +BA_ "GenSigSendType" SG_ 823 DteAcceptNew_B_Rq 3; +BA_ "ECGUsedRxSignal" SG_ 823 DteAcceptNew_B_Rq 1; +BA_ "GenSigSendType" SG_ 824 DteCldTrlrOn_B_Stat 3; +BA_ "ECGUsedTxSignal" SG_ 824 DteCldTrlrOn_B_Stat 1; +BA_ "GenSigSendType" SG_ 824 DteCldTrlrOff_B_Stat 3; +BA_ "ECGUsedTxSignal" SG_ 824 DteCldTrlrOff_B_Stat 1; +BA_ "GenSigStartValue" SG_ 824 DteCldTrip_L_Actl 100; +BA_ "ECGUsedTxSignal" SG_ 824 DteCldTrip_L_Actl 1; +BA_ "GenSigSendType" SG_ 824 DteCldTraffic_B_Stat 3; +BA_ "ECGUsedTxSignal" SG_ 824 DteCldTraffic_B_Stat 1; +BA_ "GenSigSendType" SG_ 824 DteCldTerrain_B_Stat 3; +BA_ "ECGUsedTxSignal" SG_ 824 DteCldTerrain_B_Stat 1; +BA_ "GenSigSendType" SG_ 824 DteCldRoute_B_Stat 3; +BA_ "ECGUsedTxSignal" SG_ 824 DteCldRoute_B_Stat 1; +BA_ "GenSigSendType" SG_ 824 DteCldPayload_B_Stat 3; +BA_ "ECGUsedTxSignal" SG_ 824 DteCldPayload_B_Stat 1; +BA_ "GenSigSendType" SG_ 824 DteCldId_No_Actl 3; +BA_ "ECGUsedTxSignal" SG_ 824 DteCldId_No_Actl 1; +BA_ "GenSigSendType" SG_ 824 DteCldExtTe_B_Stat 3; +BA_ "ECGUsedTxSignal" SG_ 824 DteCldExtTe_B_Stat 1; +BA_ "GenSigStartValue" SG_ 824 DteCldExt_Eff_Actl 100; +BA_ "ECGUsedTxSignal" SG_ 824 DteCldExt_Eff_Actl 1; +BA_ "GenSigStartValue" SG_ 824 DteCldDrv_Eff_Actl 100; +BA_ "ECGUsedTxSignal" SG_ 824 DteCldDrv_Eff_Actl 1; +BA_ "GenSigSendType" SG_ 824 DteCldDcac_B_Stat 3; +BA_ "ECGUsedTxSignal" SG_ 824 DteCldDcac_B_Stat 1; +BA_ "GenSigStartValue" SG_ 824 DteCldClimt_Eff_Actl 100; +BA_ "ECGUsedTxSignal" SG_ 824 DteCldClimt_Eff_Actl 1; +BA_ "GenSigStartValue" SG_ 824 DteCldBattULo_Eff_Actl 100; +BA_ "ECGUsedTxSignal" SG_ 824 DteCldBattULo_Eff_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 949 Tire_Press_RR_ORR_Data 65533; +BA_ "GenSigStartValue" SG_ 949 Tire_Press_RR_ORR_Data 65533; +BA_ "GenSigStartValueInteger" SG_ 949 Tire_Press_LR_OLR_Data 65533; +BA_ "GenSigStartValue" SG_ 949 Tire_Press_LR_OLR_Data 65533; +BA_ "GenSigStartValueInteger" SG_ 949 Tire_Press_LF_Data 65533; +BA_ "GenSigStartValue" SG_ 949 Tire_Press_LF_Data 65533; +BA_ "GenSigStartValueInteger" SG_ 949 Tire_Press_RF_Data 65533; +BA_ "GenSigStartValue" SG_ 949 Tire_Press_RF_Data 65533; +BA_ "GenSigSendType" SG_ 1825 TesterPhysicalReqVDM 3; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 524 PrplWhlTotTqRqMxAwd_No_Cs 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 524 PrplWhlTotTqRqMxAwd_No_Cs 1; +BA_ "MetaData" SG_ 524 PrplWhlTotTqRqMxAwd_No_Cs 1; +BA_ "ContentDependant" SG_ 524 PrplWhlTotTqRqMxAwd_No_Cs 1; +BA_ "UsedOnPgmDBC" SG_ 524 PrplWhlTotTqRqMxAwd_No_Cs 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 524 PrplWhlTot_Tq_RqMxAwd 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 524 PrplWhlTot_Tq_RqMxAwd 1; +BA_ "GenSigStartValue" SG_ 524 PrplWhlTot_Tq_RqMxAwd 65535; +BA_ "GenSigStartValueInteger" SG_ 524 PrplWhlTot_Tq_RqMxAwd 65535; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 524 PrplWhlTotTqRqMxAwd_No_Cnt 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 524 PrplWhlTotTqRqMxAwd_No_Cnt 1; +BA_ "MetaData" SG_ 524 PrplWhlTotTqRqMxAwd_No_Cnt 1; +BA_ "ContentDependant" SG_ 524 PrplWhlTotTqRqMxAwd_No_Cnt 1; +BA_ "UsedOnPgmDBC" SG_ 524 PrplWhlTotTqRqMxAwd_No_Cnt 1; +BA_ "U_CX727_MY2021_Rx" SG_ 740 BattAuxCnnct_B_Cmd 1; +BA_ "GenSigSendType" SG_ 1160 DgtlCommPncReset_B_Req 3; +BA_ "ECGUsedTxSignal" SG_ 1160 DgtlCommPncReset_B_Req 1; +BA_ "ECGUsedTxSignal" SG_ 1160 DataMntrSustn_B_Rq 1; +BA_ "GenSigSendType" SG_ 1160 DataMntrSustn_B_Rq 3; +BA_ "ECGUsedTxSignal" SG_ 1160 PwSustnRdata_B_RqTelem 1; +BA_ "GenSigSendType" SG_ 1160 PwSustnRdata_B_RqTelem 3; +BA_ "ECGUsedTxSignal" SG_ 776 ScMnSoc_Pc_RqCld 1; +BA_ "GenSigStartValue" SG_ 776 ScMnSoc_Pc_RqCld 100; +BA_ "GenSigSendType" SG_ 776 ScMnSoc_Pc_RqCld 3; +BA_ "ECGUsedTxSignal" SG_ 776 ScChrgrPwMax_Pw_RqCld 1; +BA_ "GenSigSendType" SG_ 776 ScChrgrPwMax_Pw_RqCld 3; +BA_ "ECGUsedTxSignal" SG_ 776 ScLocPwId_No_RqCld 1; +BA_ "GenSigSendType" SG_ 776 ScLocPwId_No_RqCld 3; +BA_ "ECGUsedTxSignal" SG_ 776 PrcondEdit_D_RqCld 1; +BA_ "GenSigSendType" SG_ 776 PrcondEdit_D_RqCld 3; +BA_ "ECGUsedTxSignal" SG_ 776 GoTEditMnte_T_RqCld 1; +BA_ "GenSigStartValue" SG_ 776 GoTEditMnte_T_RqCld 14; +BA_ "GenSigSendType" SG_ 776 GoTEditMnte_T_RqCld 3; +BA_ "ECGUsedTxSignal" SG_ 776 GoTEditHr_T_RqCld 1; +BA_ "GenSigStartValue" SG_ 776 GoTEditHr_T_RqCld 30; +BA_ "GenSigSendType" SG_ 776 GoTEditHr_T_RqCld 3; +BA_ "ECGUsedTxSignal" SG_ 776 ChrgToPcEdit_Pc_RqCld 1; +BA_ "GenSigStartValue" SG_ 776 ChrgToPcEdit_Pc_RqCld 126; +BA_ "GenSigSendType" SG_ 776 ChrgToPcEdit_Pc_RqCld 3; +BA_ "ECGUsedTxSignal" SG_ 776 AirAmb_Te_ActlCld 1; +BA_ "GenSigStartValueInteger" SG_ 776 AirAmb_Te_ActlCld 512; +BA_ "UsedOnPgmDBC" SG_ 776 AirAmb_Te_ActlCld 1; +BA_ "GenSigSendType" SG_ 776 AirAmb_Te_ActlCld 3; +BA_ "ECGUsedTxSignal" SG_ 776 ScFreshDataEnbl_B_Rq 1; +BA_ "GenSigSendType" SG_ 776 ScFreshDataEnbl_B_Rq 3; +BA_ "ECGUsedTxSignal" SG_ 776 ScEnbl_D_RqCld 1; +BA_ "GenSigStartValue" SG_ 776 ScEnbl_D_RqCld 1; +BA_ "GenSigSendType" SG_ 776 ScEnbl_D_RqCld 3; +BA_ "ECGUsedTxSignal" SG_ 775 ScDayOfWeekId_D_RqCld 1; +BA_ "GenSigStartValue" SG_ 775 ScDayOfWeekId_D_RqCld 1; +BA_ "GenSigSendType" SG_ 775 ScDayOfWeekId_D_RqCld 3; +BA_ "ECGUsedTxSignal" SG_ 775 ScLocSetId_No_RqCld 1; +BA_ "GenSigSendType" SG_ 775 ScLocSetId_No_RqCld 3; +BA_ "ECGUsedTxSignal" SG_ 775 ScLocRdius_L_RqCld 1; +BA_ "GenSigStartValue" SG_ 775 ScLocRdius_L_RqCld 1; +BA_ "GenSigSendType" SG_ 775 ScLocRdius_L_RqCld 3; +BA_ "ECGUsedTxSignal" SG_ 775 ScChrgToPc_Pc_RqCld 1; +BA_ "GenSigStartValue" SG_ 775 ScChrgToPc_Pc_RqCld 100; +BA_ "GenSigSendType" SG_ 775 ScChrgToPc_Pc_RqCld 3; +BA_ "ECGUsedTxSignal" SG_ 775 ScChrgPrfl_No_RqCld 1; +BA_ "GenSigSendType" SG_ 775 ScChrgPrfl_No_RqCld 3; +BA_ "ECGUsedTxSignal" SG_ 775 ScChrgDurSet_D_RqCld 1; +BA_ "GenSigStartValue" SG_ 775 ScChrgDurSet_D_RqCld 1; +BA_ "GenSigSendType" SG_ 775 ScChrgDurSet_D_RqCld 3; +BA_ "ECGUsedTxSignal" SG_ 775 ScChrgDur_T_RqCld 1; +BA_ "GenSigSendType" SG_ 775 ScChrgDur_T_RqCld 3; +BA_ "ECGUsedTxSignal" SG_ 774 ScLocLongPostv_B_RqCld 1; +BA_ "GenSigSendType" SG_ 774 ScLocLongPostv_B_RqCld 3; +BA_ "ECGUsedTxSignal" SG_ 774 ScLocLongFrct_An_RqCld 1; +BA_ "GenSigStartValue" SG_ 774 ScLocLongFrct_An_RqCld 1048575; +BA_ "GenSigSendType" SG_ 774 ScLocLongFrct_An_RqCld 3; +BA_ "ECGUsedTxSignal" SG_ 774 ScLocLongDeg_An_RqCld 1; +BA_ "GenSigSendType" SG_ 774 ScLocLongDeg_An_RqCld 3; +BA_ "ECGUsedTxSignal" SG_ 774 ScLocLattPostv_B_RqCld 1; +BA_ "GenSigSendType" SG_ 774 ScLocLattPostv_B_RqCld 3; +BA_ "ECGUsedTxSignal" SG_ 774 ScLocLattFrct_An_RqCld 1; +BA_ "GenSigStartValue" SG_ 774 ScLocLattFrct_An_RqCld 1048575; +BA_ "GenSigSendType" SG_ 774 ScLocLattFrct_An_RqCld 3; +BA_ "ECGUsedTxSignal" SG_ 774 ScLocLattDeg_An_RqCld 1; +BA_ "GenSigSendType" SG_ 774 ScLocLattDeg_An_RqCld 3; +BA_ "ECGUsedTxSignal" SG_ 774 ScLocId_No_RqCld 1; +BA_ "GenSigSendType" SG_ 774 ScLocId_No_RqCld 3; +BA_ "ECGUsedTxSignal" SG_ 774 ScLocDelete_B_RqCld 1; +BA_ "GenSigSendType" SG_ 774 ScLocDelete_B_RqCld 3; +BA_ "GenSigStartValue" SG_ 811 DistToStopover_L_Actl 65535; +BA_ "WakeupSignal" SG_ 811 ExtLghtRight_D_RqMnu 1; +BA_ "WakeupSignal" SG_ 811 AutoLghtOvrrd_B_RqDrv 1; +BA_ "WakeupSignal" SG_ 811 ExtLghtRear_D_RqMnu 1; +BA_ "WakeupSignal" SG_ 811 ExtLghtLeft_D_RqMnu 1; +BA_ "WakeupSignal" SG_ 811 ExtLghtFront_D_RqMnu 1; +BA_ "GenSigStartValue" SG_ 811 GoTEditMnte_T_RqMnu 14; +BA_ "GenSigStartValue" SG_ 811 GoTEditHr_T_RqMnu 30; +BA_ "U_CX727_MY2021_Tx" SG_ 850 VehElRngeNut_L_Dsply 1; +BA_ "U_CX727_MY2021_Tx" SG_ 850 NxtUsgSocEst_Pc_Dsply 1; +BA_ "ECGUsedRxSignal" SG_ 850 EstmChrgTimeLP_St 1; +BA_ "U_CX727_MY2021_Tx" SG_ 850 EstmChrgTimeLP_St 1; +BA_ "ECGUsedRxSignal" SG_ 850 EstmChrgTimeHP_St 1; +BA_ "U_CX727_MY2021_Tx" SG_ 850 EstmChrgTimeHP_St 1; +BA_ "ECGUsedRxSignal" SG_ 850 ChargeNowDuration_St 1; +BA_ "U_CX727_MY2021_Tx" SG_ 850 ChargeNowDuration_St 1; +BA_ "ECGUsedTxSignal" SG_ 563 DrvBhavWarn_B_Rq 1; +BA_ "GenSigSendType" SG_ 563 DrvBhavWarn_B_Rq 3; +BA_ "ECGUsedTxSignal" SG_ 563 OfbChrgSetSync_D_Rq 1; +BA_ "ECGUsedTxSignal" SG_ 563 KeyOffPwMde_D_Stat 1; +BA_ "GenSigSendType" SG_ 563 KeyOffPwMde_D_Stat 3; +BA_ "ECGUsedTxSignal" SG_ 563 ModemReset_D_Stat 1; +BA_ "GenSigSendType" SG_ 563 ModemReset_D_Stat 3; +BA_ "ECGUsedTxSignal" SG_ 563 FactoryReset_St 1; +BA_ "GenSigSendType" SG_ 563 FactoryReset_St 3; +BA_ "GenSigSendType" SG_ 1833 TesterPhysicalResVDM 3; +BA_ "GenSigStartValueInteger" SG_ 570 SuspRearRight_L_Actl 511; +BA_ "GenSigStartValue" SG_ 570 SuspRearRight_L_Actl 511; +BA_ "U_CX727_MY2021_Rx" SG_ 570 SuspRearRight_L_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 570 SuspFrntRight_L_Actl 511; +BA_ "GenSigStartValue" SG_ 570 SuspFrntRight_L_Actl 511; +BA_ "U_CX727_MY2021_Rx" SG_ 570 SuspFrntRight_L_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 570 SuspRear_L_Prev 511; +BA_ "GenSigStartValue" SG_ 570 SuspRear_L_Prev 511; +BA_ "U_CX727_MY2021_Rx" SG_ 570 SuspRear_L_Prev 1; +BA_ "U_P702_MY2021_Rx" SG_ 570 SuspRear_L_Prev 1; +BA_ "GenSigStartValueInteger" SG_ 570 SuspRear_L_Actl 511; +BA_ "GenSigStartValue" SG_ 570 SuspRear_L_Actl 511; +BA_ "U_CX727_MY2021_Rx" SG_ 570 SuspRear_L_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 570 SuspRear_L_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 570 SuspFrnt_L_Prev 511; +BA_ "GenSigStartValue" SG_ 570 SuspFrnt_L_Prev 511; +BA_ "U_CX727_MY2021_Rx" SG_ 570 SuspFrnt_L_Prev 1; +BA_ "U_P702_MY2021_Rx" SG_ 570 SuspFrnt_L_Prev 1; +BA_ "GenSigStartValueInteger" SG_ 570 SuspFrnt_L_Actl 511; +BA_ "GenSigStartValue" SG_ 570 SuspFrnt_L_Actl 511; +BA_ "U_CX727_MY2021_Rx" SG_ 570 SuspFrnt_L_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 570 SuspFrnt_L_Actl 1; +BA_ "GenSigSendType" SG_ 837 Ccd_B_Falt 3; +BA_ "GenSigInactiveValue" SG_ 837 Ccd_B_Falt 0; +BA_ "GenSigSendType" SG_ 837 SelDrvMdeSusp_D_Stat 3; +BA_ "GenSigInactiveValue" SG_ 837 SelDrvMdeSusp_D_Stat 0; +BA_ "U_CX727_MY2021_Rx" SG_ 837 SelDrvMdeSusp_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 837 SelDrvMdeSusp_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 837 SelDrvMdeSusp_D_Stat 1; +BA_ "GenSigSendType" SG_ 837 AdptDrvMdePt_D_Rq 3; +BA_ "GenSigInactiveValue" SG_ 837 AdptDrvMdePt_D_Rq 0; +BA_ "U_CX727_MY2021_Rx" SG_ 837 AdptDrvMdePt_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 837 AdptDrvMdePt_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 837 AdptDrvMdePt_D_Rq 1; +BA_ "GenSigSendType" SG_ 837 AdptDrvMdeChassis_D_Rq 3; +BA_ "GenSigInactiveValue" SG_ 837 AdptDrvMdeChassis_D_Rq 0; +BA_ "U_CX727_MY2021_Rx" SG_ 837 AdptDrvMdeChassis_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 837 AdptDrvMdeChassis_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 837 AdptDrvMdeChassis_D_Rq 1; +BA_ "GenSigSendType" SG_ 837 CcdMsgTxt_D_RqDsply 3; +BA_ "GenSigInactiveValue" SG_ 837 CcdMsgTxt_D_RqDsply 0; +BA_ "UsedOnPgmDBC" SG_ 837 CcdMsgTxt_D_RqDsply 1; +BA_ "U_P702_MY2021_Rx" SG_ 837 CcdMsgTxt_D_RqDsply 1; +BA_ "ECGUsedTxSignal" SG_ 885 BattULoChrg_D_RqOta 1; +BA_ "ECGUsedTxSignal" SG_ 885 VehStrtInhbt_T_Dsply 1; +BA_ "ECGUsedTxSignal" SG_ 885 VehStrtInhbt_D_Dsply 1; +BA_ "ECGUsedTxSignal" SG_ 885 VehOnRqstr_D_Stat 1; +BA_ "ECGUsedTxSignal" SG_ 885 VehStrtInhbt_D_RqCld 1; +BA_ "ECGUsedTxSignal" SG_ 885 VehOn_D_RqCld 1; +BA_ "ECGUsedTxSignal" SG_ 885 CanMsg375_No_Cnt 1; +BA_ "ECGUsedTxSignal" SG_ 885 CanMsg375_No_Crc 1; +BA_ "ECGUsedTxSignal" SG_ 885 OtaActv_D_Stat 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1150 LocationServices_1 1; +BA_ "GenSigSendType" SG_ 2612224016 PARSEDPushPCMtoGWM_ECG 3; +BA_ "U_P702_MY2021_Tx" SG_ 2612224016 PARSEDPushPCMtoGWM_ECG 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 2612224016 PARSEDPushPCMtoGWM_ECG 1; +BA_ "ECGUsedRxSignal" SG_ 2612224016 PARSEDPushPCMtoGWM_ECG 1; +BA_ "GenSigSendType" SG_ 810 OBCCSerial_D_Rq 3; +BA_ "ECGUsedTxSignal" SG_ 810 OBCCSerial_D_Rq 1; +BA_ "ECGUsedTxSignal" SG_ 810 TlghtTest_D_RqArb 1; +BA_ "GenSigSendType" SG_ 810 TlghtTest_D_RqArb 3; +BA_ "ECGUsedTxSignal" SG_ 810 ChrgrPncSustn_B_Rq 1; +BA_ "GenSigStartValue" SG_ 810 ChrgrPncSustn_B_Rq 0; +BA_ "GenSigStartValueInteger" SG_ 810 ChrgrPncSustn_B_Rq 3; +BA_ "ECGUsedTxSignal" SG_ 810 NtfyDrvTrgtDist_L_Rq 1; +BA_ "GenSigStartValue" SG_ 810 NtfyDrvTrgtDist_L_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 810 NtfyDrvTrgtDist_L_Rq 1; +BA_ "WakeupSignal" SG_ 810 NtfyDrvTrgtDist_L_Rq 1; +BA_ "GenSigSendType" SG_ 810 NtfyDrvTrgtDist_L_Rq 3; +BA_ "ECGUsedTxSignal" SG_ 810 NtfyDrvSocLvl1_Pc_Rq 1; +BA_ "GenSigStartValue" SG_ 810 NtfyDrvSocLvl1_Pc_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 810 NtfyDrvSocLvl1_Pc_Rq 1; +BA_ "WakeupSignal" SG_ 810 NtfyDrvSocLvl1_Pc_Rq 1; +BA_ "GenSigSendType" SG_ 810 NtfyDrvSocLvl1_Pc_Rq 3; +BA_ "ECGUsedTxSignal" SG_ 810 PtRmtRprt_D_Stat 1; +BA_ "WakeupSignal" SG_ 810 PtRmtRprt_D_Stat 1; +BA_ "GenSigSendType" SG_ 810 PtRmtRprt_D_Stat 3; +BA_ "ECGUsedTxSignal" SG_ 810 ChrgrPncEnbl_D_Rq 1; +BA_ "GenSigStartValue" SG_ 810 ChrgrPncEnbl_D_Rq 3; +BA_ "GenSigStartValueInteger" SG_ 810 ChrgrPncEnbl_D_Rq 3; +BA_ "GenSigSendType" SG_ 810 ChrgrPncEnbl_D_Rq 3; +BA_ "ECGUsedTxSignal" SG_ 810 ExtLghtDsply_B_StatArb 1; +BA_ "WakeupSignal" SG_ 810 ExtLghtDsply_B_StatArb 1; +BA_ "GenSigSendType" SG_ 810 ExtLghtDsply_B_StatArb 3; +BA_ "ECGUsedTxSignal" SG_ 810 ExtLghtRight_D_RqOta 1; +BA_ "WakeupSignal" SG_ 810 ExtLghtRight_D_RqOta 1; +BA_ "GenSigSendType" SG_ 810 ExtLghtRight_D_RqOta 3; +BA_ "ECGUsedTxSignal" SG_ 810 ExtLghtRear_D_RqOta 1; +BA_ "WakeupSignal" SG_ 810 ExtLghtRear_D_RqOta 1; +BA_ "GenSigSendType" SG_ 810 ExtLghtRear_D_RqOta 3; +BA_ "ECGUsedTxSignal" SG_ 810 ExtLghtLeft_D_RqOta 1; +BA_ "WakeupSignal" SG_ 810 ExtLghtLeft_D_RqOta 1; +BA_ "GenSigSendType" SG_ 810 ExtLghtLeft_D_RqOta 3; +BA_ "ECGUsedTxSignal" SG_ 810 ExtLghtFront_D_RqOta 1; +BA_ "WakeupSignal" SG_ 810 ExtLghtFront_D_RqOta 1; +BA_ "GenSigSendType" SG_ 810 ExtLghtFront_D_RqOta 3; +BA_ "ECGUsedTxSignal" SG_ 550 PtWakeupActv1_B_Rq 1; +BA_ "WakeupSignal" SG_ 550 PtWakeupActv1_B_Rq 1; +BA_ "GenSigSendType" SG_ 550 PtWakeupActv1_B_Rq 3; +BA_ "ECGUsedTxSignal" SG_ 639 OfbChrgPrflUpdate_B_Rq 1; +BA_ "GenSigSendType" SG_ 639 OfbChrgPrflUpdate_B_Rq 3; +BA_ "ECGUsedTxSignal" SG_ 639 OfbChrgClearAll_B_Rq 1; +BA_ "GenSigSendType" SG_ 639 OfbChrgClearAll_B_Rq 3; +BA_ "ECGUsedTxSignal" SG_ 639 OfbChrgGoTTouch_D_Rq 1; +BA_ "GenSigSendType" SG_ 639 OfbChrgGoTTouch_D_Rq 3; +BA_ "ECGUsedTxSignal" SG_ 639 OfbChrgGoTPrcond_D_Rq 1; +BA_ "ECGUsedTxSignal" SG_ 639 OfbChrgGoTOn_D_Rq 1; +BA_ "GenSigStartValue" SG_ 639 OfbChrgGoTOn_D_Rq 2; +BA_ "GenSigStartValueInteger" SG_ 639 OfbChrgGoTOn_D_Rq 2; +BA_ "GenSigSendType" SG_ 639 OfbChrgGoTOn_D_Rq 3; +BA_ "ECGUsedTxSignal" SG_ 639 OfbChrgGoTMnte_D_Rq 1; +BA_ "MetaData" SG_ 639 OfbChrgGoTMnte_D_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 639 OfbChrgGoTMnte_D_Rq 1; +BA_ "ECGUsedTxSignal" SG_ 639 OfbChrgGoTHr_T_Rq 1; +BA_ "GenSigStartValue" SG_ 639 OfbChrgGoTHr_T_Rq 30; +BA_ "GenSigStartValueInteger" SG_ 639 OfbChrgGoTHr_T_Rq 30; +BA_ "ECGUsedTxSignal" SG_ 639 OfbChrgGoTExtHtr_D_Rq 1; +BA_ "GenSigSendType" SG_ 639 OfbChrgGoTExtHtr_D_Rq 3; +BA_ "ECGUsedTxSignal" SG_ 639 OfbChrgGoTElement_D_Rq 1; +BA_ "MetaData" SG_ 639 OfbChrgGoTElement_D_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 639 OfbChrgGoTElement_D_Rq 1; +BA_ "GenSigSendType" SG_ 639 OfbChrgGoTElement_D_Rq 3; +BA_ "ECGUsedTxSignal" SG_ 639 OfbChrgGoTDelete_B_Rq 1; +BA_ "ECGUsedTxSignal" SG_ 639 OfbChrgGoTUpdate_B_Rq 1; +BA_ "GenSigSendType" SG_ 639 OfbChrgGoTUpdate_B_Rq 3; +BA_ "ECGUsedTxSignal" SG_ 530 OfbChrgLocIdTrgt_No_Rq 1; +BA_ "MetaData" SG_ 530 OfbChrgLocIdTrgt_No_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 530 OfbChrgLocIdTrgt_No_Rq 1; +BA_ "GenSigSendType" SG_ 530 OfbChrgLocIdTrgt_No_Rq 3; +BA_ "ECGUsedTxSignal" SG_ 530 OfbChrgToPcWknd_D_Actl 1; +BA_ "ECGUsedTxSignal" SG_ 530 OfbChrgToPcWkdy_D_Actl 1; +BA_ "ECGUsedTxSignal" SG_ 530 OfbChrgSetNow_D_Rq 1; +BA_ "ECGUsedTxSignal" SG_ 530 OfbChrgSetDelete_B_Rq 1; +BA_ "ECGUsedTxSignal" SG_ 530 OfbChrgPrflWknd_No_Rq 1; +BA_ "ECGUsedTxSignal" SG_ 530 OfbChrgPrflWkdy_No_Rq 1; +BA_ "ECGUsedTxSignal" SG_ 530 OfbChrgLocIdUns_B_Rq 1; +BA_ "ECGUsedRxSignal" SG_ 1142 ConsTipV_No_Dsply 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1142 ConsTipV_No_Dsply 1; +BA_ "WakeupSignal" SG_ 817 DrTgateOpen_B_Rq 1; +BA_ "WakeupSignal" SG_ 817 DrTgateExtSwMde_B_Stat 1; +BA_ "WakeupSignal" SG_ 817 Remote_Device_Feedback 1; +BA_ "WakeupSignal" SG_ 817 Veh_Lock_Requestor 1; +BA_ "WakeupSignal" SG_ 817 R_Pwr_Sliding_Dr_Rqst 1; +BA_ "WakeupSignal" SG_ 817 Power_Liftgate_Rqst 1; +BA_ "WakeupSignal" SG_ 817 Veh_Lock_EvNum 1; +BA_ "WakeupSignal" SG_ 817 Power_Decklid_Rqst 1; +BA_ "WakeupSignal" SG_ 817 L_Pwr_Sliding_Dr_Rqst 1; +BA_ "WakeupSignal" SG_ 817 Keyfob_Pad_Msg_Count 1; +BA_ "WakeupSignal" SG_ 817 Veh_Lock_Status 1; +BA_ "GenSigStartValueInteger" SG_ 817 Veh_Lock_Status 1; +BA_ "GenSigStartValue" SG_ 817 Veh_Lock_Status 1; +BA_ "WakeupSignal" SG_ 817 ChildLck_D_Dsply 1; +BA_ "GenSigStartValueInteger" SG_ 817 ChildLck_D_Dsply 1; +BA_ "GenSigStartValue" SG_ 817 ChildLck_D_Dsply 1; +BA_ "WakeupSignal" SG_ 817 Lockmsgtxt_D_Rq 1; +BA_ "WakeupSignal" SG_ 817 LockInhibit 1; +BA_ "GenSigSendType" SG_ 878 DcacGfciTest_B_Rq 3; +BA_ "GenSigStartValue" SG_ 878 DcacOut_Pw_DsplyMx 0; +BA_ "GenSigStartValue" SG_ 878 DcacOut1_Pw_Dsply 0; +BA_ "GenSigStartValue" SG_ 878 DcacOut2_Pw_Dsply 0; +BA_ "GenSigSendType" SG_ 878 DcacHw_D_Confg 3; +BA_ "UsedOnPgmDBC" SG_ 878 DcacHw_D_Confg 1; +BA_ "GenSigStartValueInteger" SG_ 878 DcacHw_D_Confg 1; +BA_ "GenSigStartValue" SG_ 878 DcacHw_D_Confg 1; +BA_ "GenSigSendType" SG_ 878 DcacFaltMsgTxt_D_Rq 3; +BA_ "UsedOnPgmDBC" SG_ 878 DcacFaltMsgTxt_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 878 DcacFaltMsgTxt_D_Rq 1; +BA_ "GenSigStartValue" SG_ 878 DcacFaltMsgTxt_D_Rq 1; +BA_ "GenSigSendType" SG_ 878 DcacLoFuelMsgTxt_D_Rq 3; +BA_ "GenSigSendType" SG_ 878 DcacEngOnMsgTxt_D_Rq 3; +BA_ "GenSigSendType" SG_ 878 DcacElPw_D_Stat 3; +BA_ "UsedOnPgmDBC" SG_ 878 DcacElPw_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 878 DcacElPw_D_Stat 1; +BA_ "GenSigStartValue" SG_ 878 DcacElPw_D_Stat 1; +BA_ "GenSigSendType" SG_ 878 PwBedPnlEnbl_B_Rq 3; +BA_ "GenSigSendType" SG_ 878 DcacOn_B_Rq 3; +BA_ "U_P702_MY2021_Tx" SG_ 878 DcacOn_B_Rq 1; +BA_ "GenSigSendType" SG_ 878 DcacSys_B_Falt 3; +BA_ "U_P702_MY2021_Tx" SG_ 878 DcacSys_B_Falt 1; +BA_ "GenSigSendType" SG_ 878 DcacLedCtl_D_Rq 3; +BA_ "U_P702_MY2021_Tx" SG_ 878 DcacLedCtl_D_Rq 1; +BA_ "ECGUsedTxSignal" SG_ 2611055832 PARSEDPhysGWM_ECGtoSODR 1; +BA_ "GenSigSendType" SG_ 2611055832 PARSEDPhysGWM_ECGtoSODR 3; +BA_ "ECGUsedTxSignal" SG_ 2611054808 PARSEDPhysGWM_ECGtoSODL 1; +BA_ "GenSigSendType" SG_ 2611054808 PARSEDPhysGWM_ECGtoSODL 3; +BA_ "ECGUsedTxSignal" SG_ 2611026136 PARSEDPhysGWM_ECGtoSODCMD 1; +BA_ "GenSigSendType" SG_ 2611026136 PARSEDPhysGWM_ECGtoSODCMD 3; +BA_ "ECGUsedTxSignal" SG_ 2611025112 PARSEDPhysGWM_ECGtoSODCMC 1; +BA_ "GenSigSendType" SG_ 2611025112 PARSEDPhysGWM_ECGtoSODCMC 3; +BA_ "ECGUsedTxSignal" SG_ 2610975960 PARSEDPhysGWM_ECGtoCCM 1; +BA_ "GenSigSendType" SG_ 2610975960 PARSEDPhysGWM_ECGtoCCM 3; +BA_ "ECGUsedTxSignal" SG_ 2610007256 OTAPhysGWM_ECGtoSODR 1; +BA_ "GenSigSendType" SG_ 2610007256 OTAPhysGWM_ECGtoSODR 3; +BA_ "ECGUsedTxSignal" SG_ 2610006232 OTAPhysGWM_ECGtoSODL 1; +BA_ "GenSigSendType" SG_ 2610006232 OTAPhysGWM_ECGtoSODL 3; +BA_ "ECGUsedTxSignal" SG_ 2609977560 OTAPhysGWM_ECGtoSODCMD 1; +BA_ "GenSigSendType" SG_ 2609977560 OTAPhysGWM_ECGtoSODCMD 3; +BA_ "ECGUsedTxSignal" SG_ 2609976536 OTAPhysGWM_ECGtoSODCMC 1; +BA_ "GenSigSendType" SG_ 2609976536 OTAPhysGWM_ECGtoSODCMC 3; +BA_ "ECGUsedTxSignal" SG_ 2609927384 OTAPhysGWM_ECGtoCCM 1; +BA_ "GenSigSendType" SG_ 2609927384 OTAPhysGWM_ECGtoCCM 3; +BA_ "ECGUsedRxSignal" SG_ 2611175523 PARSEDPhysSODRtoGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2611175523 PARSEDPhysSODRtoGWM_ECG 3; +BA_ "ECGUsedRxSignal" SG_ 2612224099 PARSEDPhysSODR2toGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2612224099 PARSEDPhysSODR2toGWM_ECG 3; +BA_ "ECGUsedRxSignal" SG_ 2611175522 PARSEDPhysSODLtoGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2611175522 PARSEDPhysSODLtoGWM_ECG 3; +BA_ "ECGUsedRxSignal" SG_ 2612224098 PARSEDPhysSODL2toGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2612224098 PARSEDPhysSODL2toGWM_ECG 3; +BA_ "ECGUsedRxSignal" SG_ 2611175494 PARSEDPhysSODCMDtoGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2611175494 PARSEDPhysSODCMDtoGWM_ECG 3; +BA_ "ECGUsedRxSignal" SG_ 2612224070 PARSEDPhysSODCMD2toGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2612224070 PARSEDPhysSODCMD2toGWM_ECG 3; +BA_ "ECGUsedRxSignal" SG_ 2611175493 PARSEDPhysSODCMCtoGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2611175493 PARSEDPhysSODCMCtoGWM_ECG 3; +BA_ "ECGUsedRxSignal" SG_ 2612224069 PARSEDPhysSODCMC2toGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2612224069 PARSEDPhysSODCMC2toGWM_ECG 3; +BA_ "ECGUsedRxSignal" SG_ 2611175445 PARSEDPhysCCMtoGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2611175445 PARSEDPhysCCMtoGWM_ECG 3; +BA_ "ECGUsedRxSignal" SG_ 2612224021 PARSEDPhysCCM2toGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2612224021 PARSEDPhysCCM2toGWM_ECG 3; +BA_ "ECGUsedRxSignal" SG_ 2610126947 OTAPhysSODRtoGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2610126947 OTAPhysSODRtoGWM_ECG 3; +BA_ "ECGUsedRxSignal" SG_ 2610126946 OTAPhysSODLtoGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2610126946 OTAPhysSODLtoGWM_ECG 3; +BA_ "ECGUsedRxSignal" SG_ 2610126918 OTAPhysSODCMDtoGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2610126918 OTAPhysSODCMDtoGWM_ECG 3; +BA_ "ECGUsedRxSignal" SG_ 2610126917 OTAPhysSODCMCtoGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2610126917 OTAPhysSODCMCtoGWM_ECG 3; +BA_ "ECGUsedRxSignal" SG_ 2610126869 OTAPhysCCMtoGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2610126869 OTAPhysCCMtoGWM_ECG 3; +BA_ "CrossOver_InfoCAN" SG_ 984 FeatConfigIpmaActl 1; +BA_ "CrossOver_InfoCAN" SG_ 984 FeatNoIpmaActl 1; +BA_ "GenSigStartValue" SG_ 984 PersIndexIpma_D_Actl 4; +BA_ "GenSigStartValueInteger" SG_ 984 PersIndexIpma_D_Actl 4; +BA_ "CrossOver_InfoCAN" SG_ 984 PersIndexIpma_D_Actl 1; +BA_ "GenSigSendType" SG_ 984 PersIndexIpma_D_Actl 3; +BA_ "U_P702_MY2021_Rx" SG_ 984 AhbcRampingV_D_Rq 1; +BA_ "GenSigSendType" SG_ 984 AhbcRampingV_D_Rq 3; +BA_ "CrossOver_InfoCAN" SG_ 984 LaActvStats_D_Dsply 1; +BA_ "GenSigSendType" SG_ 984 LaActvStats_D_Dsply 3; +BA_ "CrossOver_InfoCAN" SG_ 984 LaDenyStats_B_Dsply 1; +BA_ "GenSigSendType" SG_ 984 LaDenyStats_B_Dsply 3; +BA_ "CrossOver_InfoCAN" SG_ 984 LaHandsOff_D_Dsply 1; +BA_ "GenSigSendType" SG_ 984 LaHandsOff_D_Dsply 3; +BA_ "CrossOver_InfoCAN" SG_ 984 CamraDefog_B_Req 1; +BA_ "GenSigSendType" SG_ 984 CamraDefog_B_Req 3; +BA_ "CrossOver_InfoCAN" SG_ 984 CamraStats_D_Dsply 1; +BA_ "GenSigSendType" SG_ 984 CamraStats_D_Dsply 3; +BA_ "CrossOver_InfoCAN" SG_ 984 DasAlrtLvl_D_Dsply 1; +BA_ "GenSigSendType" SG_ 984 DasAlrtLvl_D_Dsply 3; +BA_ "CrossOver_InfoCAN" SG_ 984 DasStats_D_Dsply 1; +BA_ "GenSigSendType" SG_ 984 DasStats_D_Dsply 3; +BA_ "CrossOver_InfoCAN" SG_ 984 DasWarn_D_Dsply 1; +BA_ "GenSigSendType" SG_ 984 DasWarn_D_Dsply 3; +BA_ "GenSigSendType" SG_ 984 AhbHiBeam_D_Rq 3; +BA_ "GenSigSendType" SG_ 985 LdwChime_B_Rq 3; +BA_ "GenSigSendType" SG_ 985 TsrRegionTxt_D_Stat 3; +BA_ "GenSigSendType" SG_ 985 SblmPedCrossScnr_B_Stat 3; +BA_ "GenSigSendType" SG_ 985 LongCtrlEnbl_D_Rq 3; +BA_ "GenSigSendType" SG_ 985 SblmRndAbtScnr_B_Stat 3; +BA_ "GenSigSendType" SG_ 985 DasAlrtInfo_D_Dsply 3; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 985 IaccVLim_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 985 IaccVLim_D_Rq 1; +BA_ "GenSigStartValue" SG_ 985 IaccVLim_D_Rq 254; +BA_ "GenSigStartValueInteger" SG_ 985 IaccVLim_D_Rq 254; +BA_ "GenSigSendType" SG_ 985 IaccVLim_D_Rq 3; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 985 IaccVLimUnit_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 985 IaccVLimUnit_D_Rq 1; +BA_ "GenSigStartValue" SG_ 985 IaccVLimUnit_D_Rq 3; +BA_ "GenSigStartValueInteger" SG_ 985 IaccVLimUnit_D_Rq 3; +BA_ "GenSigSendType" SG_ 985 IaccVLimUnit_D_Rq 3; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 985 IsaVLim_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 985 IsaVLim_D_Rq 1; +BA_ "GenSigStartValue" SG_ 985 IsaVLim_D_Rq 254; +BA_ "GenSigStartValueInteger" SG_ 985 IsaVLim_D_Rq 254; +BA_ "GenSigSendType" SG_ 985 IsaVLim_D_Rq 3; +BA_ "GenSigSendType" SG_ 985 SblmStopScnr_B_Stat 3; +BA_ "GenSigSendType" SG_ 985 SblmYieldScnr_B_Stat 3; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 985 IsaVLimUnit_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 985 IsaVLimUnit_D_Rq 1; +BA_ "GenSigSendType" SG_ 985 IsaVLimUnit_D_Rq 3; +BA_ "GenSigSendType" SG_ 985 AdbDividedRoad_B_Stat 3; +BA_ "GenSigSendType" SG_ 985 LcwaMsgTxt_D_Stat 3; +BA_ "GenSigSendType" SG_ 985 AdbDrvSide_B_Stat 3; +BA_ "U_P702_MY2021_Rx" SG_ 992 MsgCntrDsplyOp_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 992 MsgCntrDsplyOp_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 992 MsgCntrFeatNoRq 1; +BA_ "CrossOver_InfoCAN" SG_ 992 MsgCntrFeatNoRq 1; +BA_ "U_P702_MY2021_Rx" SG_ 992 MsgCntrFeatConfigRq 1; +BA_ "CrossOver_InfoCAN" SG_ 992 MsgCntrFeatConfigRq 1; +BA_ "U_P702_MY2021_Rx" SG_ 992 MsgCntrPersIndex_D_Rq 1; +BA_ "GenSigStartValue" SG_ 992 MsgCntrPersIndex_D_Rq 4; +BA_ "GenSigStartValueInteger" SG_ 992 MsgCntrPersIndex_D_Rq 4; +BA_ "CrossOver_InfoCAN" SG_ 992 MsgCntrPersIndex_D_Rq 1; +BA_ "GenSigSendType" SG_ 2612019416 PARSEDPhysGWM_ECG2toPCM 3; +BA_ "ECGUsedTxSignal" SG_ 2612019416 PARSEDPhysGWM_ECG2toPCM 1; +BA_ "UsedOnPgmDBC" SG_ 943 VehVActlAdas_D_Qf 1; +BA_ "MetaData" SG_ 943 VehVActlAdas_D_Qf 1; +BA_ "GenSigStartValue" SG_ 943 VehVActlAdas_D_Qf 1; +BA_ "UsedOnPgmDBC" SG_ 943 Veh_V_RqLsc 1; +BA_ "UsedOnPgmDBC" SG_ 943 Veh_V_ActlAdas 1; +BA_ "GenSigStartValue" SG_ 943 AdasLcDistToObj_L_Actl 4094; +BA_ "UsedOnPgmDBC" SG_ 515 PtIgnSwtch_No_Cs 1; +BA_ "MetaData" SG_ 515 PtIgnSwtch_No_Cs 1; +BA_ "UsedOnPgmDBC" SG_ 515 PtIgnSwtch_No_Cnt 1; +BA_ "MetaData" SG_ 515 PtIgnSwtch_No_Cnt 1; +BA_ "GenSigSendType" SG_ 515 PtIgnSwtch_D_Stat 3; +BA_ "GenSigStartValue" SG_ 515 PtIgnSwtch_D_Stat 2; +BA_ "GenSigStartValueInteger" SG_ 1111 TrlrYawWActl_D_Qf 1; +BA_ "GenSigStartValue" SG_ 1111 TrlrYawWActl_D_Qf 1; +BA_ "U_P702_MY2021_Rx" SG_ 1111 TrlrYawWActl_D_Qf 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1111 TrlrYawWActl_D_Qf 1; +BA_ "GenSigStartValueInteger" SG_ 1111 TrlrYaw_W_Actl 65534; +BA_ "GenSigStartValue" SG_ 1111 TrlrYaw_W_Actl 65534; +BA_ "U_P702_MY2021_Rx" SG_ 1111 TrlrYaw_W_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1111 TrlrYaw_W_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1111 TrlrHitYaw_AnRate_Actl 4094; +BA_ "GenSigStartValue" SG_ 1111 TrlrHitYaw_AnRate_Actl 4093; +BA_ "U_P702_MY2021_Rx" SG_ 1111 TrlrHitYaw_AnRate_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1111 TrlrHitYaw_AnRate_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 1111 TrlrHitchYaw_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1111 TrlrHitchYaw_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 1111 TrlrHitchYaw_An_Actl 4094; +BA_ "GenSigStartValue" SG_ 1111 TrlrHitchYaw_An_Actl 4093; +BA_ "U_P702_MY2021_Rx" SG_ 1111 TrlrHitchYaw_An_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1111 TrlrHitchYaw_An_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 1106 TrlrSnsId_No_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1106 TrlrSnsId_No_Actl 1; +BA_ "GenSigStartValue" SG_ 982 LatCtlCrv_NoRate2_Actl 1024; +BA_ "UsedOnPgmDBC" SG_ 982 LatCtlPath_No_Cnt 1; +BA_ "ContentDependant" SG_ 982 LatCtlPath_No_Cnt 1; +BA_ "MetaData" SG_ 982 LatCtlPath_No_Cnt 1; +BA_ "UsedOnPgmDBC" SG_ 982 LatCtlPath_No_Cs 1; +BA_ "ContentDependant" SG_ 982 LatCtlPath_No_Cs 1; +BA_ "MetaData" SG_ 982 LatCtlPath_No_Cs 1; +BA_ "U_CX727_MY2021_Rx" SG_ 982 HandsOffCnfm_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 982 HandsOffCnfm_B_Rq 1; +BA_ "U_CX727_MY2021_Rx" SG_ 982 LatCtlRampType_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 982 LatCtlRampType_D_Rq 1; +BA_ "U_CX727_MY2021_Rx" SG_ 982 LatCtlPrecision_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 982 LatCtlPrecision_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 982 LatCtlPathOffst_L_Actl 512; +BA_ "U_CX727_MY2021_Rx" SG_ 982 LatCtlPathOffst_L_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 982 LatCtlPathOffst_L_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 982 LatCtlPath_An_Actl 1000; +BA_ "U_CX727_MY2021_Rx" SG_ 982 LatCtlPath_An_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 982 LatCtlPath_An_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 982 LatCtlCurv_No_Actl 1000; +BA_ "U_CX727_MY2021_Rx" SG_ 982 LatCtlCurv_No_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 982 LatCtlCurv_No_Actl 1; +BA_ "GenSigSendType" SG_ 1985 TesterPhysicalReqCMR_DSMC 3; +BA_ "GenSigSendType" SG_ 1993 TesterPhysicalResCMR_DSMC 3; +BA_ "MetaData" SG_ 1104 DrvEngageLevel_No_Cs 1; +BA_ "ContentDependant" SG_ 1104 DrvEngageLevel_No_Cs 1; +BA_ "UsedOnPgmDBC" SG_ 1104 DrvEngageLevel_No_Cs 1; +BA_ "MetaData" SG_ 1104 DrvEngageLevel_No_Cnt 1; +BA_ "ContentDependant" SG_ 1104 DrvEngageLevel_No_Cnt 1; +BA_ "UsedOnPgmDBC" SG_ 1104 DrvEngageLevel_No_Cnt 1; +BA_ "GenSigStartValue" SG_ 1503 CMR_DSMC_GWOnBoardTester 255; +BA_ "ContentDependant" SG_ 1503 CMR_DSMC_GWOnBoardTester 1; +BA_ "GenSigStartValueInteger" SG_ 1503 CMR_DSMC_GWOnBoardTester 255; +BA_ "GenSigStartValue" SG_ 1503 CMR_DSMC_GWNMProxY 255; +BA_ "ContentDependant" SG_ 1503 CMR_DSMC_GWNMProxY 1; +BA_ "GenSigStartValueInteger" SG_ 1503 CMR_DSMC_GWNMProxY 255; +BA_ "GenSigStartValue" SG_ 1503 CMR_DSMC_AutoSarNMReserved 255; +BA_ "ContentDependant" SG_ 1503 CMR_DSMC_AutoSarNMReserved 1; +BA_ "GenSigStartValueInteger" SG_ 1503 CMR_DSMC_AutoSarNMReserved 255; +BA_ "GenSigStartValue" SG_ 1503 CMR_DSMC_AutoSarNMReserve4 255; +BA_ "ContentDependant" SG_ 1503 CMR_DSMC_AutoSarNMReserve4 1; +BA_ "GenSigStartValueInteger" SG_ 1503 CMR_DSMC_AutoSarNMReserve4 255; +BA_ "GenSigStartValue" SG_ 1503 CMR_DSMC_AutoSarNMReserve3 255; +BA_ "ContentDependant" SG_ 1503 CMR_DSMC_AutoSarNMReserve3 1; +BA_ "GenSigStartValueInteger" SG_ 1503 CMR_DSMC_AutoSarNMReserve3 255; +BA_ "GenSigStartValue" SG_ 1503 CMR_DSMC_AutoSarNMReserve2 255; +BA_ "ContentDependant" SG_ 1503 CMR_DSMC_AutoSarNMReserve2 1; +BA_ "GenSigStartValueInteger" SG_ 1503 CMR_DSMC_AutoSarNMReserve2 255; +BA_ "GenSigStartValue" SG_ 1503 CMR_DSMC_AutoSarNMNodeId 223; +BA_ "ContentDependant" SG_ 1503 CMR_DSMC_AutoSarNMNodeId 1; +BA_ "GenSigStartValueInteger" SG_ 1503 CMR_DSMC_AutoSarNMNodeId 222; +BA_ "ContentDependant" SG_ 1503 CMR_DSMC_AutoSarNMControl 1; +BA_ "ECGUsedTxSignal" SG_ 2610995416 PARSEDPhysGWM_ECGtoABS 1; +BA_ "GenSigSendType" SG_ 2610995416 PARSEDPhysGWM_ECGtoABS 3; +BA_ "ECGUsedTxSignal" SG_ 2612043992 PARSEDPhysGWM_ECG2toABS 1; +BA_ "GenSigSendType" SG_ 2612043992 PARSEDPhysGWM_ECG2toABS 3; +BA_ "ECGUsedTxSignal" SG_ 2609946840 OTAPhysGWM_ECGtoABS 1; +BA_ "GenSigSendType" SG_ 2609946840 OTAPhysGWM_ECGtoABS 3; +BA_ "ECGUsedRxSignal" SG_ 2611175464 PARSEDPhysABStoGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2611175464 PARSEDPhysABStoGWM_ECG 3; +BA_ "ECGUsedRxSignal" SG_ 2612224040 PARSEDPhysABS2toGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2612224040 PARSEDPhysABS2toGWM_ECG 3; +BA_ "ECGUsedRxSignal" SG_ 2610126888 OTAPhysABStoGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2610126888 OTAPhysABStoGWM_ECG 3; +BA_ "ECGUsedTxSignal" SG_ 2610988248 PARSEDPhysGWM_ECGtoIPMA 1; +BA_ "ECGUsedTxSignal" SG_ 2609939672 OTAPhysGWM_ECGtoIPMA 1; +BA_ "GenSigSendType" SG_ 2609939672 OTAPhysGWM_ECGtoIPMA 3; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1114 TrailCtlSwtch_B_Stat2 1; +BA_ "U_P702_MY2021_Rx" SG_ 1114 TrailCtlSwtch_B_Stat2 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1116 TrlrAidSetup_D2_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 1116 TrlrAidSetup_D2_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1116 TrlrAidEnbl_D2_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 1116 TrlrAidEnbl_D2_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 1116 TrlrTrgtToBmpr_L_Actl 0; +BA_ "U_P702_MY2021_Rx" SG_ 1116 TrlrIdType_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1116 TrlrIdType_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 1116 TrlrBallToBmpr_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1116 TrlrAxleToBmpr_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1116 TrlrAnOffst_An_Mem 0; +BA_ "GenSigStartValueInteger" SG_ 1116 TrlrTrgtOffst_L_Actl 0; +BA_ "ECGUsedRxSignal" SG_ 2611175457 PARSEDPhysIPMAtoGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2611175457 PARSEDPhysIPMAtoGWM_ECG 3; +BA_ "ECGUsedRxSignal" SG_ 2612224033 PARSEDPhysIPMA2toGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2612224033 PARSEDPhysIPMA2toGWM_ECG 3; +BA_ "ECGUsedRxSignal" SG_ 2610126881 OTAPhysIPMAtoGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2610126881 OTAPhysIPMAtoGWM_ECG 3; +BA_ "UsedOnPgmDBC" SG_ 1085 ULoRgenTestMde_B_Stat 1; +BA_ "ContentDependant" SG_ 1085 ULoRgenTestMde_B_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1085 ULoRgenTestMde_B_Stat 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1085 ULoRgenTestMde_B_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 1085 PwSrcULoOvrTe_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1085 PwSrcULoOvrTe_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1085 PwSrcULoOvrTe_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 1085 PwSrcULoFalt_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1085 PwSrcULoFalt_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1085 PwSrcULoFalt_D_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 1085 PwSrcULoDcnnt_B_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1085 PwSrcULoDcnnt_B_Stat 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1085 PwSrcULoDcnnt_B_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1085 PwSrcULo_Pc_Mx 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1085 PwSrcULo_Pc_Mx 1; +BA_ "UsedOnPgmDBC" SG_ 1085 PwSrcULoComm_B_Falt 1; +BA_ "ContentDependant" SG_ 1085 PwSrcULoComm_B_Falt 1; +BA_ "U_P702_MY2021_Tx" SG_ 1085 PwSrcULoComm_B_Falt 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1085 PwSrcULoComm_B_Falt 1; +BA_ "U_P702_MY2021_Rx" SG_ 1085 PwSrcULo_I_Mx 1; +BA_ "U_P702_MY2021_Tx" SG_ 1085 PwSrcULo_I_Mx 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1085 PwSrcULo_I_Mx 1; +BA_ "U_P702_MY2021_Rx" SG_ 1085 PwSrcULo_I_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1085 PwSrcULo_I_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1085 PwSrcULo_I_Actl 1; +BA_ "GenSigStartValue" SG_ 981 AdbBrdrTop_An_Rq 254; +BA_ "GenSigStartValue" SG_ 981 AdbBrdrRight_L_Stat 510; +BA_ "GenSigStartValue" SG_ 981 AdbBrdrRight_An_Rq 1022; +BA_ "GenSigStartValue" SG_ 981 AdbBrdrLeft_L_Stat 510; +BA_ "GenSigStartValue" SG_ 981 AdbBrdrLeft_An_Rq 1022; +BA_ "GenSigStartValue" SG_ 981 AdbBrdrBottom_An_Rq 62; +BA_ "U_P702_MY2021_Rx" SG_ 791 EngAirFilt_B_RqReset 1; +BA_ "CrossOver_InfoCAN" SG_ 791 GpsElMdeSel_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 791 LongTermReset_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 791 DrvEffLvl_No_Stat 1; +BA_ "ECGUsedTxSignal" SG_ 2610970840 PARSEDPhysGWM_ECGtoPCM 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 2610970840 PARSEDPhysGWM_ECGtoPCM 1; +BA_ "U_P702_MY2021_Rx" SG_ 2610970840 PARSEDPhysGWM_ECGtoPCM 1; +BA_ "GenSigSendType" SG_ 2610970840 PARSEDPhysGWM_ECGtoPCM 3; +BA_ "ECGUsedTxSignal" SG_ 2609922264 OTAPhysGWM_ECGtoPCM 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 2609922264 OTAPhysGWM_ECGtoPCM 1; +BA_ "U_P702_MY2021_Rx" SG_ 2609922264 OTAPhysGWM_ECGtoPCM 1; +BA_ "GenSigSendType" SG_ 2609922264 OTAPhysGWM_ECGtoPCM 3; +BA_ "U_P702_MY2021_Rx" SG_ 868 BattRgenLoStat_D_Qlty 1; +BA_ "GenSigStartValue" SG_ 868 BattRgenLoStat_D_Qlty 1; +BA_ "U_P702_MY2021_Rx" SG_ 868 BattRgenLoSoc_Pc_Actl 1; +BA_ "GenSigStartValue" SG_ 868 BattRgenLoSoc_Pc_Actl 50; +BA_ "U_P702_MY2021_Rx" SG_ 868 BattRgenLoPulse_U_Pred 1; +BA_ "GenSigStartValue" SG_ 868 BattRgenLoPulse_U_Pred 216; +BA_ "U_P702_MY2021_Rx" SG_ 868 BattRgenLoPrtct_B_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 868 BattRgenLoDChrg_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 868 BattRgenLoDchrg_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 868 BattRgenLoChrg_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 868 BattRgenLoChrg_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 868 BattRgenLo_T_Est 1; +BA_ "U_P702_MY2021_Rx" SG_ 868 BattRgenLo_B_Falt 1; +BA_ "U_P702_MY2021_Rx" SG_ 867 BattRgenLoBalnc_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 867 BattRgenLo_Te_Hi 1; +BA_ "GenSigStartValue" SG_ 867 BattRgenLo_Te_Hi 45; +BA_ "U_P702_MY2021_Rx" SG_ 867 BattRgenLo_Te_Actl 1; +BA_ "GenSigStartValue" SG_ 867 BattRgenLo_Te_Actl 85; +BA_ "U_P702_MY2021_Rx" SG_ 867 BattRgenLo_R_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 867 BattRgenLo_AhRide_Actl 1; +BA_ "GenSigStartValue" SG_ 867 BattRgenLo_AhRide_Actl 12800; +BA_ "U_P702_MY2021_Rx" SG_ 867 BattRgenLo_Ah_Actl 1; +BA_ "GenSigStartValue" SG_ 867 BattRgenLo_Ah_Actl 50; +BA_ "U_P702_MY2021_Rx" SG_ 866 BattRgenLoOpen_U_Actl 1; +BA_ "GenSigStartValue" SG_ 866 BattRgenLoOpen_U_Actl 180; +BA_ "U_P702_MY2021_Rx" SG_ 866 BattRgenLoDchrg_U_Mn 1; +BA_ "GenSigStartValue" SG_ 866 BattRgenLoDchrg_U_Mn 280; +BA_ "U_P702_MY2021_Rx" SG_ 866 BattRgenLoDchrg_I_Mx 1; +BA_ "U_P702_MY2021_Rx" SG_ 866 BattRgenLoChrg_U_Mx 1; +BA_ "GenSigStartValue" SG_ 866 BattRgenLoChrg_U_Mx 96; +BA_ "U_P702_MY2021_Rx" SG_ 866 BattRgenLoChrg_I_Mx 1; +BA_ "U_P702_MY2021_Rx" SG_ 865 BattRgenLo_U_Actl 1; +BA_ "GenSigStartValue" SG_ 865 BattRgenLo_U_Actl 768; +BA_ "U_P702_MY2021_Rx" SG_ 865 BattRgenLo_I_Actl 1; +BA_ "GenSigStartValue" SG_ 865 BattRgenLo_I_Actl 32768; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 2611175440 PARSEDPhysPCMtoGWM_ECG 1; +BA_ "U_P702_MY2021_Tx" SG_ 2611175440 PARSEDPhysPCMtoGWM_ECG 1; +BA_ "ECGUsedRxSignal" SG_ 2611175440 PARSEDPhysPCMtoGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2611175440 PARSEDPhysPCMtoGWM_ECG 3; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 2610126864 OTAPhysPCMtoGWM_ECG 1; +BA_ "U_P702_MY2021_Tx" SG_ 2610126864 OTAPhysPCMtoGWM_ECG 1; +BA_ "ECGUsedRxSignal" SG_ 2610126864 OTAPhysPCMtoGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2610126864 OTAPhysPCMtoGWM_ECG 3; +BA_ "GenSigSendType" SG_ 2611175441 PARSEDPhysHPCMtoGWM_ECG 3; +BA_ "GenSigSendType" SG_ 2612224017 PARSEDPhysHPCM2toGWM_ECG 3; +BA_ "U_P702_MY2021_Tx" SG_ 2610126865 OTAPhysHPCMtoGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2610126865 OTAPhysHPCMtoGWM_ECG 3; +BA_ "U_P702_MY2021_Tx" SG_ 1679 UUDTSOBDMCResponse4 1; +BA_ "UsedOnPgmDBC" SG_ 1679 UUDTSOBDMCResponse4 1; +BA_ "GenSigSendType" SG_ 1679 UUDTSOBDMCResponse4 3; +BA_ "U_P702_MY2021_Tx" SG_ 1678 UUDTSOBDMCResponse3 1; +BA_ "UsedOnPgmDBC" SG_ 1678 UUDTSOBDMCResponse3 1; +BA_ "GenSigSendType" SG_ 1678 UUDTSOBDMCResponse3 3; +BA_ "U_P702_MY2021_Tx" SG_ 1677 UUDTSOBDMCResponse2 1; +BA_ "UsedOnPgmDBC" SG_ 1677 UUDTSOBDMCResponse2 1; +BA_ "GenSigSendType" SG_ 1677 UUDTSOBDMCResponse2 3; +BA_ "U_P702_MY2021_Tx" SG_ 1676 UUDTSOBDMCResponse1 1; +BA_ "UsedOnPgmDBC" SG_ 1676 UUDTSOBDMCResponse1 1; +BA_ "GenSigSendType" SG_ 1676 UUDTSOBDMCResponse1 3; +BA_ "GenSigStartValueInteger" SG_ 1445 SOBDMC_AutoSarNMReserved4 255; +BA_ "ContentDependant" SG_ 1445 SOBDMC_AutoSarNMReserved4 1; +BA_ "GenSigStartValue" SG_ 1445 SOBDMC_AutoSarNMReserved4 255; +BA_ "U_P702_MY2021_Tx" SG_ 1445 SOBDMC_AutoSarNMReserved4 1; +BA_ "GenSigStartValueInteger" SG_ 1445 SOBDMC_AutoSarNMReserved3 255; +BA_ "ContentDependant" SG_ 1445 SOBDMC_AutoSarNMReserved3 1; +BA_ "GenSigStartValue" SG_ 1445 SOBDMC_AutoSarNMReserved3 255; +BA_ "U_P702_MY2021_Tx" SG_ 1445 SOBDMC_AutoSarNMReserved3 1; +BA_ "GenSigStartValueInteger" SG_ 1445 SOBDMC_AutoSarNMReserved2 255; +BA_ "ContentDependant" SG_ 1445 SOBDMC_AutoSarNMReserved2 1; +BA_ "GenSigStartValue" SG_ 1445 SOBDMC_AutoSarNMReserved2 255; +BA_ "U_P702_MY2021_Tx" SG_ 1445 SOBDMC_AutoSarNMReserved2 1; +BA_ "GenSigStartValueInteger" SG_ 1445 SOBDMC_AutoSarNMReserved1 255; +BA_ "ContentDependant" SG_ 1445 SOBDMC_AutoSarNMReserved1 1; +BA_ "GenSigStartValue" SG_ 1445 SOBDMC_AutoSarNMReserved1 255; +BA_ "U_P702_MY2021_Tx" SG_ 1445 SOBDMC_AutoSarNMReserved1 1; +BA_ "GenSigStartValueInteger" SG_ 1445 SOBDMC_AutoSarNMNodeId 165; +BA_ "ContentDependant" SG_ 1445 SOBDMC_AutoSarNMNodeId 1; +BA_ "GenSigStartValue" SG_ 1445 SOBDMC_AutoSarNMNodeId 165; +BA_ "U_P702_MY2021_Tx" SG_ 1445 SOBDMC_AutoSarNMNodeId 1; +BA_ "ContentDependant" SG_ 1445 SOBDMC_AutoSarNMControl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1445 SOBDMC_AutoSarNMControl 1; +BA_ "GenSigStartValueInteger" SG_ 1445 SOBDMC_GWOnBoardTester 255; +BA_ "ContentDependant" SG_ 1445 SOBDMC_GWOnBoardTester 1; +BA_ "GenSigStartValue" SG_ 1445 SOBDMC_GWOnBoardTester 255; +BA_ "U_P702_MY2021_Tx" SG_ 1445 SOBDMC_GWOnBoardTester 1; +BA_ "GenSigStartValueInteger" SG_ 1445 SOBDMC_GWNMProxy 255; +BA_ "ContentDependant" SG_ 1445 SOBDMC_GWNMProxy 1; +BA_ "GenSigStartValue" SG_ 1445 SOBDMC_GWNMProxy 255; +BA_ "U_P702_MY2021_Tx" SG_ 1445 SOBDMC_GWNMProxy 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1144 WakeAlarm0_T_Rq 1; +BA_ "GenSigStartValue" SG_ 1144 WakeAlarm0_T_Rq 32767; +BA_ "GenSigStartValueInteger" SG_ 1144 WakeAlarm0_T_Rq 32767; +BA_ "U_CX727_MY2021_Tx" SG_ 1144 WakeAlarm0_B_Typ 1; +BA_ "GenSigSendType" SG_ 1144 WakeAlarm0_B_Typ 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1144 PreCondBatt_B_Actl 1; +BA_ "GenSigSendType" SG_ 1144 PreCondBatt_B_Actl 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1144 HtrnDcdcDis_B_Rq 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1144 HtrnDcdcDis_B_Rq 1; +BA_ "GenSigSendType" SG_ 1144 HtrnDcdcDis_B_Rq 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1144 ChrgNowEvnt_B_Stat 1; +BA_ "GenSigSendType" SG_ 1144 ChrgNowEvnt_B_Stat 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1144 CabinDrvSustn_B_Rq 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1144 CabinDrvSustn_B_Rq 1; +BA_ "GenSigSendType" SG_ 1144 CabinDrvSustn_B_Rq 3; +BA_ "U_P702_MY2021_Tx" SG_ 1144 BattChrgTrgtSoC_D_Rq 1; +BA_ "GenSigSendType" SG_ 1144 CabnEvapSovFront_B_Rq 3; +BA_ "WakeupSignal" SG_ 1144 CabnEvapSovFront_B_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1144 CabnEvapSovFront_B_Rq 1; +BA_ "GenSigSendType" SG_ 1144 HeatCoreSovRear_B_Rq 3; +BA_ "WakeupSignal" SG_ 1144 HeatCoreSovRear_B_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1144 HeatCoreSovRear_B_Rq 1; +BA_ "GenSigSendType" SG_ 1144 BattChlrSov_B_Rq 3; +BA_ "WakeupSignal" SG_ 1144 BattChlrSov_B_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1144 BattChlrSov_B_Rq 1; +BA_ "GenSigSendType" SG_ 1144 CabnEvapSovRear_B_Rq 3; +BA_ "WakeupSignal" SG_ 1144 CabnEvapSovRear_B_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1144 CabnEvapSovRear_B_Rq 1; +BA_ "GenSigSendType" SG_ 1144 BrkAppl_D_RqPt 3; +BA_ "U_CX727_MY2021_Rx" SG_ 1144 BrkAppl_D_RqPt 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1144 BrkAppl_D_RqPt 1; +BA_ "U_P702_MY2021_Tx" SG_ 1144 BrkAppl_D_RqPt 1; +BA_ "GenSigSendType" SG_ 1144 HtrnCnnctPwr_B_Stat 3; +BA_ "U_P702_MY2021_Tx" SG_ 1144 HtrnCnnctPwr_B_Stat 1; +BA_ "GenSigSendType" SG_ 1144 PtcHtr_D_Stat 3; +BA_ "U_CX727_MY2021_Rx" SG_ 1144 PtcHtr_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 1144 PtcHtr_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1144 PtcHtr_D_Stat 1; +BA_ "GenSigSendType" SG_ 1144 HtrnClntFlw_D_Rq 3; +BA_ "U_P702_MY2021_Tx" SG_ 1144 HtrnClntFlw_D_Rq 1; +BA_ "GenSigSendType" SG_ 1144 BattTracDrvSustn_B_Rq 3; +BA_ "U_CX727_MY2021_Rx" SG_ 1144 BattTracDrvSustn_B_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1144 BattTracDrvSustn_B_Rq 1; +BA_ "GenSigSendType" SG_ 1144 BattTracClntVlv_B_Rq 3; +BA_ "U_P702_MY2021_Tx" SG_ 1144 BattTracClntVlv_B_Rq 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1141 OfbChrgSetSync_D_Stat 1; +BA_ "ECGUsedRxSignal" SG_ 1141 OfbChrgSetSync_D_Stat 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1141 PtRmtRprt_D_Rq 1; +BA_ "ECGUsedRxSignal" SG_ 1141 PtRmtRprt_D_Rq 1; +BA_ "WakeupSignal" SG_ 1141 PtRmtRprt_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 1141 MtrTrac2_Tq_Actl 4095; +BA_ "GenSigStartValue" SG_ 1141 MtrTrac2_Tq_Actl 4095; +BA_ "U_P702_MY2021_Tx" SG_ 1141 MtrTrac2_Tq_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 1141 MtrTrac2_Tq_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 1141 NtfctnConflict1_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1141 NtfctnConflict1_D_Rq 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1140 RgenEvntLvl_Pc_Dsply 1; +BA_ "GenSigStartValue" SG_ 1140 RgenEvntLvl_Pc_Dsply 1022; +BA_ "GenSigStartValueInteger" SG_ 1140 RgenEvntLvl_Pc_Dsply 1023; +BA_ "U_CX727_MY2021_Tx" SG_ 1140 BrkEvntComplt_B_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 1140 PreCondStat_D_Dsply 1; +BA_ "ECGUsedRxSignal" SG_ 1140 PreCondStat_D_Dsply 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1139 ActChrgStrtYr_No2_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 1139 ActChrgStrtYr_No2_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1139 ActChrgStrtYr_No2_Actl 0; +BA_ "U_P702_MY2021_Tx" SG_ 1139 BattChrgTrgtLMax_T_Est 1; +BA_ "U_P702_MY2021_Tx" SG_ 1139 ActChrgStrtYr_No_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1139 ActChrgStrtYr_No_Actl 0; +BA_ "ECGUsedRxSignal" SG_ 1139 ActChrgStrtYr_No_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1139 ActChrgStrtMin_No_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 1139 ActChrgStrtMin_No_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1139 ActChrgStrtHr_No_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 1139 ActChrgStrtHr_No_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1139 ActChrgStrtDay_No_Actl 1; +BA_ "GenSigStartValue" SG_ 1139 ActChrgStrtDay_No_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1139 ActChrgStrtDay_No_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 1139 ActChrgStrtDay_No_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1139 ActChrgStrMnth_No_Actl 1; +BA_ "GenSigStartValue" SG_ 1139 ActChrgStrMnth_No_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1139 ActChrgStrMnth_No_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 1139 ActChrgStrMnth_No_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1138 ActChrgEndYr_No2_Actl 0; +BA_ "ECGUsedRxSignal" SG_ 1138 ActChrgEndYr_No2_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1138 ActChrgEndYr_No2_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1138 BattChrgTrgtLMin_T_Est 1; +BA_ "U_P702_MY2021_Tx" SG_ 1138 ActChrgEndYr_No_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1138 ActChrgEndYr_No_Actl 0; +BA_ "ECGUsedRxSignal" SG_ 1138 ActChrgEndYr_No_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1138 ActChrgEndMnth_No_Actl 1; +BA_ "GenSigStartValue" SG_ 1138 ActChrgEndMnth_No_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1138 ActChrgEndMnth_No_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 1138 ActChrgEndMnth_No_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1138 ActChrgEndMin_No_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 1138 ActChrgEndMin_No_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1138 ActChrgEndHr_No_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 1138 ActChrgEndHr_No_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1138 ActChrgEndDay_No_Actl 1; +BA_ "GenSigStartValue" SG_ 1138 ActChrgEndDay_No_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1138 ActChrgEndDay_No_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 1138 ActChrgEndDay_No_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1089 Mtr2Aout_W_ActlMntr 1; +BA_ "GenSigStartValue" SG_ 1089 Mtr2Aout_W_ActlMntr 1023; +BA_ "GenSigStartValueInteger" SG_ 1089 Mtr2Aout_W_ActlMntr 1023; +BA_ "ECGUsedRxSignal" SG_ 1089 Mtr2Aout_W_ActlMntr 1; +BA_ "U_P702_MY2021_Tx" SG_ 1089 Inv1_Te_Actl 1; +BA_ "GenSigStartValue" SG_ 1089 Inv1_Te_Actl 254; +BA_ "GenSigStartValueInteger" SG_ 1089 Inv1_Te_Actl 254; +BA_ "U_P702_MY2021_Tx" SG_ 1089 MtrTrac2Coil_Te_Actl 1; +BA_ "GenSigStartValue" SG_ 1089 MtrTrac2Coil_Te_Actl 254; +BA_ "GenSigStartValueInteger" SG_ 1089 MtrTrac2Coil_Te_Actl 254; +BA_ "ECGUsedRxSignal" SG_ 1089 MtrTrac2Coil_Te_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1089 MtrTrac2_U_Actl 1; +BA_ "GenSigStartValue" SG_ 1089 MtrTrac2_U_Actl 1023; +BA_ "GenSigStartValueInteger" SG_ 1089 MtrTrac2_U_Actl 1023; +BA_ "U_P702_MY2021_Tx" SG_ 1089 MtrTrac2Falt_B_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1089 MtrTrac2TeAlrm_B_Stat 1; +BA_ "ECGUsedRxSignal" SG_ 1089 MtrTrac2TeAlrm_B_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1089 Mtr2CntlTeAlrm_B_Stat 1; +BA_ "ECGUsedRxSignal" SG_ 1089 Mtr2CntlTeAlrm_B_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1089 MtrTrac2Inv_Te_Actl 1; +BA_ "GenSigStartValue" SG_ 1089 MtrTrac2Inv_Te_Actl 214; +BA_ "GenSigStartValueInteger" SG_ 1089 MtrTrac2Inv_Te_Actl 214; +BA_ "ECGUsedRxSignal" SG_ 1089 MtrTrac2Inv_Te_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1089 MtrTrac2_I_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1089 MtrTrac2_I_Actl 10000; +BA_ "U_CX727_MY2021_Tx" SG_ 1088 ChrgTMatch_B_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1088 ChrgStat_D2_Dsply 1; +BA_ "ECGUsedRxSignal" SG_ 1088 ChrgStat_D2_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 1088 HvacPrecondRecirc_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1088 HvacPrecondMode2_D_Rq 1; +BA_ "ContentDependant" SG_ 1088 HvacPrecondMode2_D_Rq 1; +BA_ "WakeupSignal" SG_ 1088 HvacPrecondMode2_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1088 HvacPrecondBlwr2_D_Rq 1; +BA_ "ContentDependant" SG_ 1088 HvacPrecondBlwr2_D_Rq 1; +BA_ "WakeupSignal" SG_ 1088 HvacPrecondBlwr2_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1088 HvacPrecondAC_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1088 HvacPrecond_Te_Rq 1; +BA_ "GenSigStartValue" SG_ 1088 HvacPrecond_Te_Rq 2; +BA_ "GenSigStartValueInteger" SG_ 1088 HvacPrecond_Te_Rq 2; +BA_ "U_P702_MY2021_Tx" SG_ 1088 BattChrgInhbt_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1040 ElCmprEnbl_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 1040 ElCmprEnbl_B_Rq 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1040 ElCmprEnbl_B_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1040 ElCmpr_N_Rq 1; +BA_ "GenSigSendType" SG_ 1016 ChrgGoTElement_B_Dsply 3; +BA_ "ECGUsedRxSignal" SG_ 1016 ChrgGoTElement_B_Dsply 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1016 ChrgGoTElement_B_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 1016 ChrgLocIdCurnt_D_Uns 1; +BA_ "GenSigSendType" SG_ 1016 ChrgLocIdCurnt_D_Uns 3; +BA_ "ECGUsedRxSignal" SG_ 1016 ChrgLocIdCurnt_D_Uns 1; +BA_ "U_P702_MY2021_Tx" SG_ 1016 ChrgGoTTouchEnbl_B_Rq 1; +BA_ "GenSigSendType" SG_ 1016 ChrgGoTTouchEnbl_B_Rq 3; +BA_ "U_P702_MY2021_Tx" SG_ 1016 ChrgGoTTouch_B_Stat 1; +BA_ "GenSigSendType" SG_ 1016 ChrgGoTTouch_B_Stat 3; +BA_ "ECGUsedRxSignal" SG_ 1016 ChrgGoTTouch_B_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1016 ChrgGoTPrcond_D_Stat 1; +BA_ "ECGUsedRxSignal" SG_ 1016 ChrgGoTPrcond_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1016 ChrgGoTNext_D_Stat 1; +BA_ "MetaData" SG_ 1016 ChrgGoTNext_D_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 1016 ChrgGoTNext_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1016 ChrgGoTNext_D_Stat 1; +BA_ "GenSigSendType" SG_ 1016 ChrgGoTNext_D_Stat 3; +BA_ "ECGUsedRxSignal" SG_ 1016 ChrgGoTNext_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1016 ChrgGoTMnte_D_Stat 1; +BA_ "MetaData" SG_ 1016 ChrgGoTMnte_D_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 1016 ChrgGoTMnte_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1016 ChrgGoTMnte_D_Stat 1; +BA_ "ECGUsedRxSignal" SG_ 1016 ChrgGoTMnte_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1016 ChrgGoTHr_T_Stat 1; +BA_ "GenSigStartValue" SG_ 1016 ChrgGoTHr_T_Stat 30; +BA_ "GenSigStartValueInteger" SG_ 1016 ChrgGoTHr_T_Stat 30; +BA_ "ECGUsedRxSignal" SG_ 1016 ChrgGoTHr_T_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1016 ChrgGoTExtHtrEnbl_B_Rq 1; +BA_ "GenSigSendType" SG_ 1016 ChrgGoTExtHtrEnbl_B_Rq 3; +BA_ "U_P702_MY2021_Tx" SG_ 1016 ChrgGoTExtHtr_B_Stat 1; +BA_ "GenSigSendType" SG_ 1016 ChrgGoTExtHtr_B_Stat 3; +BA_ "ECGUsedRxSignal" SG_ 1016 ChrgGoTExtHtr_B_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1016 ChrgGoTElement_D_Stat 1; +BA_ "MetaData" SG_ 1016 ChrgGoTElement_D_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 1016 ChrgGoTElement_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1016 ChrgGoTElement_D_Stat 1; +BA_ "GenSigSendType" SG_ 1016 ChrgGoTElement_D_Stat 3; +BA_ "ECGUsedRxSignal" SG_ 1016 ChrgGoTElement_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1016 ChrgGoTAllOn_B_Stat 1; +BA_ "GenSigSendType" SG_ 1016 ChrgGoTAllOn_B_Stat 3; +BA_ "ECGUsedRxSignal" SG_ 1016 ChrgGoTAllOn_B_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1013 ChrgToPcWkndSav_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1013 ChrgToPcWkndSav_D_Stat 1; +BA_ "ECGUsedRxSignal" SG_ 1013 ChrgToPcWkndSav_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1013 ChrgToPcWkdySav_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1013 ChrgToPcWkdySav_D_Stat 1; +BA_ "ECGUsedRxSignal" SG_ 1013 ChrgToPcWkdySav_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1013 ChrgProgIdSaved_D_Stat 1; +BA_ "MetaData" SG_ 1013 ChrgProgIdSaved_D_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 1013 ChrgProgIdSaved_D_Stat 1; +BA_ "GenSigSendType" SG_ 1013 ChrgProgIdSaved_D_Stat 3; +BA_ "ECGUsedRxSignal" SG_ 1013 ChrgProgIdSaved_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1013 ChrgNowEnbl_B_Saved 1; +BA_ "ECGUsedRxSignal" SG_ 1013 ChrgNowEnbl_B_Saved 1; +BA_ "U_P702_MY2021_Tx" SG_ 1013 ChrgLocIdUnsAck_B_Stat 1; +BA_ "GenSigSendType" SG_ 1013 ChrgLocIdUnsAck_B_Stat 3; +BA_ "ECGUsedRxSignal" SG_ 1013 ChrgLocIdUnsAck_B_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1013 ChrgLocIdCurnt_D_Sav 1; +BA_ "MetaData" SG_ 1013 ChrgLocIdCurnt_D_Sav 1; +BA_ "GenSigSendType" SG_ 1013 ChrgLocIdCurnt_D_Sav 3; +BA_ "ECGUsedRxSignal" SG_ 1013 ChrgLocIdCurnt_D_Sav 1; +BA_ "U_P702_MY2021_Tx" SG_ 1013 ChrgPrflWknd_No_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 1013 ChrgPrflWknd_No_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1013 ChrgPrflWkdy_No_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 1013 ChrgPrflWkdy_No_Actl 1; +BA_ "GenSigSendType" SG_ 1012 ChrgNowCurnt_B_Dsply 3; +BA_ "ECGUsedRxSignal" SG_ 1012 ChrgNowCurnt_B_Dsply 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1012 ChrgNowCurnt_B_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 1012 ChrgNowCurnt_B_Dsply 1; +BA_ "GenSigSendType" SG_ 1012 ChrgLocSaved_B_Dsply 3; +BA_ "UsedOnPgmDBC" SG_ 1012 ChrgLocSaved_B_Dsply 1; +BA_ "ECGUsedRxSignal" SG_ 1012 ChrgLocSaved_B_Dsply 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1012 ChrgLocSaved_B_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 1012 ChrgLocSaved_B_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 1012 ChrgLocLongPostv_B_Sav 1; +BA_ "UsedOnPgmDBC" SG_ 1012 ChrgLocLongPostv_B_Sav 1; +BA_ "CrossOver_InfoCAN" SG_ 1012 ChrgLocLongPostv_B_Sav 1; +BA_ "ECGUsedRxSignal" SG_ 1012 ChrgLocLongPostv_B_Sav 1; +BA_ "U_P702_MY2021_Tx" SG_ 1012 ChrgLocLongFrct_An_Sav 1; +BA_ "GenSigStartValue" SG_ 1012 ChrgLocLongFrct_An_Sav 1048575; +BA_ "GenSigStartValueInteger" SG_ 1012 ChrgLocLongFrct_An_Sav 1048575; +BA_ "ECGUsedRxSignal" SG_ 1012 ChrgLocLongFrct_An_Sav 1; +BA_ "U_P702_MY2021_Tx" SG_ 1012 ChrgLocLongDeg_An_Sav 1; +BA_ "ECGUsedRxSignal" SG_ 1012 ChrgLocLongDeg_An_Sav 1; +BA_ "U_P702_MY2021_Tx" SG_ 1012 ChrgLocLattPostv_B_Sav 1; +BA_ "UsedOnPgmDBC" SG_ 1012 ChrgLocLattPostv_B_Sav 1; +BA_ "CrossOver_InfoCAN" SG_ 1012 ChrgLocLattPostv_B_Sav 1; +BA_ "ECGUsedRxSignal" SG_ 1012 ChrgLocLattPostv_B_Sav 1; +BA_ "U_P702_MY2021_Tx" SG_ 1012 ChrgLocLattFrct_An_Sav 1; +BA_ "GenSigStartValue" SG_ 1012 ChrgLocLattFrct_An_Sav 1048575; +BA_ "GenSigStartValueInteger" SG_ 1012 ChrgLocLattFrct_An_Sav 1048575; +BA_ "ECGUsedRxSignal" SG_ 1012 ChrgLocLattFrct_An_Sav 1; +BA_ "U_P702_MY2021_Tx" SG_ 1012 ChrgLocLattDeg_An_Sav 1; +BA_ "ECGUsedRxSignal" SG_ 1012 ChrgLocLattDeg_An_Sav 1; +BA_ "U_P702_MY2021_Tx" SG_ 1012 ChrgLocId_D_Sav 1; +BA_ "GenSigSendType" SG_ 1012 ChrgLocId_D_Sav 3; +BA_ "ECGUsedRxSignal" SG_ 1012 ChrgLocId_D_Sav 1; +BA_ "U_P702_MY2021_Tx" SG_ 1011 ChrgLocLongPostv_B_Uns 1; +BA_ "UsedOnPgmDBC" SG_ 1011 ChrgLocLongPostv_B_Uns 1; +BA_ "CrossOver_InfoCAN" SG_ 1011 ChrgLocLongPostv_B_Uns 1; +BA_ "ECGUsedRxSignal" SG_ 1011 ChrgLocLongPostv_B_Uns 1; +BA_ "U_P702_MY2021_Tx" SG_ 1011 ChrgLocLongFrct_An_Uns 1; +BA_ "GenSigStartValue" SG_ 1011 ChrgLocLongFrct_An_Uns 1048575; +BA_ "GenSigStartValueInteger" SG_ 1011 ChrgLocLongFrct_An_Uns 1048575; +BA_ "ECGUsedRxSignal" SG_ 1011 ChrgLocLongFrct_An_Uns 1; +BA_ "U_P702_MY2021_Tx" SG_ 1011 ChrgLocLongDeg_An_Uns 1; +BA_ "ECGUsedRxSignal" SG_ 1011 ChrgLocLongDeg_An_Uns 1; +BA_ "U_P702_MY2021_Tx" SG_ 1011 ChrgLocLattPostv_B_Uns 1; +BA_ "UsedOnPgmDBC" SG_ 1011 ChrgLocLattPostv_B_Uns 1; +BA_ "CrossOver_InfoCAN" SG_ 1011 ChrgLocLattPostv_B_Uns 1; +BA_ "ECGUsedRxSignal" SG_ 1011 ChrgLocLattPostv_B_Uns 1; +BA_ "U_P702_MY2021_Tx" SG_ 1011 ChrgLocLattFrct_An_Uns 1; +BA_ "GenSigStartValue" SG_ 1011 ChrgLocLattFrct_An_Uns 1048575; +BA_ "GenSigStartValueInteger" SG_ 1011 ChrgLocLattFrct_An_Uns 1048575; +BA_ "ECGUsedRxSignal" SG_ 1011 ChrgLocLattFrct_An_Uns 1; +BA_ "U_P702_MY2021_Tx" SG_ 1011 ChrgLocLattDeg_An_Uns 1; +BA_ "ECGUsedRxSignal" SG_ 1011 ChrgLocLattDeg_An_Uns 1; +BA_ "U_P702_MY2021_Tx" SG_ 1011 ChrgLocId_D_Uns 1; +BA_ "GenSigSendType" SG_ 1011 ChrgLocId_D_Uns 3; +BA_ "ECGUsedRxSignal" SG_ 1011 ChrgLocId_D_Uns 1; +BA_ "U_P702_MY2021_Tx" SG_ 871 BattElecPerf_D_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 871 BattElecPerf_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 871 BattChrgTrgtLPt_T_Est 1; +BA_ "ECGUsedRxSignal" SG_ 871 BattChrgTrgtLPt_T_Est 1; +BA_ "U_P702_MY2021_Tx" SG_ 871 BattChrgTrgSocPt_T_Est 1; +BA_ "ECGUsedRxSignal" SG_ 871 BattChrgTrgSocPt_T_Est 1; +BA_ "U_P702_MY2021_Tx" SG_ 871 BattChrgCmpltPt_T_Est 1; +BA_ "ECGUsedRxSignal" SG_ 871 BattChrgCmpltPt_T_Est 1; +BA_ "U_P702_MY2021_Tx" SG_ 786 RgenTrip_Pc_Dsply 1; +BA_ "CrossOver_InfoCAN" SG_ 786 RgenTrip_Pc_Dsply 1; +BA_ "ECGUsedRxSignal" SG_ 786 RgenTrip_Pc_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 786 RgenTrip_L_Dsply 1; +BA_ "GenSigStartValue" SG_ 786 RgenTrip_L_Dsply 65535; +BA_ "GenSigStartValueInteger" SG_ 786 RgenTrip_L_Dsply 65535; +BA_ "CrossOver_InfoCAN" SG_ 786 RgenTrip_L_Dsply 1; +BA_ "ECGUsedRxSignal" SG_ 786 RgenTrip_L_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 786 ChrgStat_D_Dsply 1; +BA_ "ECGUsedRxSignal" SG_ 786 ChrgStat_D_Dsply 1; +BA_ "UsedOnPgmDBC" SG_ 72 immoTarget2Status 1; +BA_ "UsedOnPgmDBC" SG_ 72 immoTarget2Data 1; +BA_ "UsedOnPgmDBC" SG_ 72 immoTarget2Cmd 1; +BA_ "U_P702_MY2021_Rx" SG_ 912 CabnEvapSovFront_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 912 BattChlrSov_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 912 BattTracClntVlv_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 874 BattTracShrtGrnd_D_Falt 1; +BA_ "U_P702_MY2021_Rx" SG_ 874 BattTracShrtBatt_D_Falt 1; +BA_ "U_P702_MY2021_Rx" SG_ 874 BattTracOpnCirct_D_Falt 1; +BA_ "U_P702_MY2021_Rx" SG_ 874 BattChlrShrtGrnd_D_Falt 1; +BA_ "U_P702_MY2021_Rx" SG_ 874 BattChlrShrtBatt_D_Falt 1; +BA_ "U_P702_MY2021_Rx" SG_ 874 BattChlrOpnCirct_D_Falt 1; +BA_ "U_P702_MY2021_Rx" SG_ 651 TelematicsSrvc_D_St 1; +BA_ "ECGUsedTxSignal" SG_ 651 OfbChrgSetSync_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 529 OnbChrgToPcWknd_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 529 OnbChrgToPcWknd_D_Actl 1; +BA_ "ECGUsedTxSignal" SG_ 529 OnbChrgToPcWknd_D_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 529 OnbChrgToPcWkdy_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 529 OnbChrgToPcWkdy_D_Actl 1; +BA_ "ECGUsedTxSignal" SG_ 529 OnbChrgToPcWkdy_D_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 529 OnbChrgSetNow_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 529 OnbChrgSetDelete_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 529 OnbChrgSetDelete_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 529 OnbChrgPrflWknd_No_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 529 OnbChrgPrflWkdy_No_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 529 OnbChrgPrflUpdate_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 529 OnbChrgPrflUpdate_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 529 OnbChrgLocIdUns_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 529 OnbChrgLocIdUns_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 529 OnbChrgLocIdTrgt_No_Rq 1; +BA_ "MetaData" SG_ 529 OnbChrgLocIdTrgt_No_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 529 OnbChrgLocIdTrgt_No_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 529 OnbChrgLocIdTrgt_No_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 66 immoControlData_T2 1; +BA_ "ContentDependant" SG_ 66 immoControlData_T2 1; +BA_ "U_P702_MY2021_Rx" SG_ 66 immoControlCmd_T2 1; +BA_ "ContentDependant" SG_ 66 immoControlCmd_T2 1; +BA_ "U_P702_MY2021_Rx" SG_ 2610971864 PARSEDPhysGWM_ECGtoHPCM 1; +BA_ "GenSigSendType" SG_ 2610971864 PARSEDPhysGWM_ECGtoHPCM 3; +BA_ "ECGUsedTxSignal" SG_ 2610971864 PARSEDPhysGWM_ECGtoHPCM 1; +BA_ "ECGUsedTxSignal" SG_ 2612002008 PARSEDFuncGWM_ECG 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 2612002008 PARSEDFuncGWM_ECG 1; +BA_ "U_P702_MY2021_Rx" SG_ 2612002008 PARSEDFuncGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2612002008 PARSEDFuncGWM_ECG 3; +BA_ "U_P702_MY2021_Rx" SG_ 2609923288 OTAPhysGWM_ECGtoHPCM 1; +BA_ "GenSigSendType" SG_ 2609923288 OTAPhysGWM_ECGtoHPCM 3; +BA_ "ECGUsedTxSignal" SG_ 2609923288 OTAPhysGWM_ECGtoHPCM 1; +BA_ "ECGUsedTxSignal" SG_ 2610953432 OTAFuncGWM_ECG 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 2610953432 OTAFuncGWM_ECG 1; +BA_ "U_P702_MY2021_Rx" SG_ 2610953432 OTAFuncGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2610953432 OTAFuncGWM_ECG 3; +BA_ "GenSigSendType" SG_ 2022 TesterPhysicalReqSOBDMC 3; +BA_ "U_P702_MY2021_Rx" SG_ 2022 TesterPhysicalReqSOBDMC 1; +BA_ "CrossOver_InfoCAN" SG_ 1124 GPS_Vdop 1; +BA_ "CrossOver_InfoCAN" SG_ 1124 GPS_Speed 1; +BA_ "CrossOver_InfoCAN" SG_ 1124 GPS_Sat_num_in_view 1; +BA_ "U_P702_MY2021_Rx" SG_ 1124 GPS_Sat_num_in_view 1; +BA_ "CrossOver_InfoCAN" SG_ 1124 GPS_MSL_altitude 1; +BA_ "CrossOver_InfoCAN" SG_ 1124 GPS_Heading 1; +BA_ "CrossOver_InfoCAN" SG_ 1124 GPS_Hdop 1; +BA_ "CrossOver_InfoCAN" SG_ 1124 GPS_dimension 1; +BA_ "U_P702_MY2021_Rx" SG_ 1124 GPS_dimension 1; +BA_ "U_P702_MY2021_Rx" SG_ 1119 CoolFanDcdc_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 1119 DcdcClntFlw_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 132 GlblClkYr_No_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 132 GlblClkScnd_No_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 132 GlblClkMnte_No_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 132 GlblClkHr_No_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 132 GlblClkDay_No_Actl 1; +BA_ "GenSigSendType" SG_ 1990 TesterPhysicalReqSODR 3; +BA_ "GenSigSendType" SG_ 1892 TesterPhysicalReqCCM 3; +BA_ "GenSigSendType" SG_ 1798 TesterPhysicalReqIPMA 3; +BA_ "GenSigStartValueInteger" SG_ 1123 GpsUtcYr_No_Actl 0; +BA_ "CrossOver_InfoCAN" SG_ 1123 GpsUtcYr_No_Actl 1; +BA_ "GenSigStartValue" SG_ 1123 GpsUtcMnth_No_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1123 GpsUtcMnth_No_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 1123 GpsUtcMnth_No_Actl 1; +BA_ "GenSigStartValue" SG_ 1123 GpsUtcDay_No_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1123 GpsUtcDay_No_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 1123 GpsUtcDay_No_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 1123 GPS_UTC_seconds 1; +BA_ "CrossOver_InfoCAN" SG_ 1123 GPS_UTC_minutes 1; +BA_ "CrossOver_InfoCAN" SG_ 1123 GPS_UTC_hours 1; +BA_ "CrossOver_InfoCAN" SG_ 1123 GPS_Pdop 1; +BA_ "CrossOver_InfoCAN" SG_ 1123 GPS_Compass_direction 1; +BA_ "CrossOver_InfoCAN" SG_ 1123 GPS_Actual_vs_Infer_pos 1; +BA_ "CrossOver_InfoCAN" SG_ 1123 Gps_B_Falt 1; +BA_ "CrossOver_InfoCAN" SG_ 1122 GpsHsphLongEast_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 1122 GpsHsphLattSth_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 1122 GPS_Longitude_Minutes 1; +BA_ "CrossOver_InfoCAN" SG_ 1122 GPS_Longitude_Min_dec 1; +BA_ "GenSigStartValueInteger" SG_ 1122 GPS_Longitude_Degrees 179; +BA_ "CrossOver_InfoCAN" SG_ 1122 GPS_Longitude_Degrees 1; +BA_ "CrossOver_InfoCAN" SG_ 1122 GPS_Latitude_Minutes 1; +BA_ "CrossOver_InfoCAN" SG_ 1122 GPS_Latitude_Min_dec 1; +BA_ "CrossOver_InfoCAN" SG_ 1122 GPS_Latitude_Degrees 1; +BA_ "GenSigStartValue" SG_ 1003 PersNoPos_D_Actl 4; +BA_ "GenSigStartValueInteger" SG_ 1003 PersNoPos_D_Actl 4; +BA_ "CrossOver_InfoCAN" SG_ 1003 PersNoPos_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 1003 PersSetupRestr_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 1003 PersSetupAccessCtrl 1; +BA_ "CrossOver_InfoCAN" SG_ 1003 PersSetup_No_Actl 1; +BA_ "GenSigStartValue" SG_ 1003 PersConflict_D_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1003 PersConflict_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 1003 PersConflict_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 1003 AssocConfirm_D_Actl 1; +BA_ "MetaData" SG_ 1003 RecallEvent_No_Cnt 1; +BA_ "CrossOver_InfoCAN" SG_ 1003 RecallEvent_No_Cnt 1; +BA_ "GenSigStartValue" SG_ 1003 PersNo_D_Actl 4; +BA_ "GenSigStartValueInteger" SG_ 1003 PersNo_D_Actl 4; +BA_ "CrossOver_InfoCAN" SG_ 1003 PersNo_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 994 PersStore_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 994 Pers4OptIn_B_Stats 1; +BA_ "WakeupSignal" SG_ 994 Pers4OptIn_B_Stats 1; +BA_ "CrossOver_InfoCAN" SG_ 994 Pers3OptIn_B_Stats 1; +BA_ "WakeupSignal" SG_ 994 Pers3OptIn_B_Stats 1; +BA_ "CrossOver_InfoCAN" SG_ 994 Pers2OptIn_B_Stats 1; +BA_ "WakeupSignal" SG_ 994 Pers2OptIn_B_Stats 1; +BA_ "CrossOver_InfoCAN" SG_ 994 Pers1OptIn_B_Stats 1; +BA_ "WakeupSignal" SG_ 994 Pers1OptIn_B_Stats 1; +BA_ "GenSigStartValue" SG_ 994 CtrStkPersIndex_D_Actl 4; +BA_ "GenSigStartValueInteger" SG_ 994 CtrStkPersIndex_D_Actl 4; +BA_ "CrossOver_InfoCAN" SG_ 994 CtrStkPersIndex_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 994 CtrStkFeatNoActl 1; +BA_ "CrossOver_InfoCAN" SG_ 994 CtrStkFeatConfigActl 1; +BA_ "CrossOver_InfoCAN" SG_ 994 CtrStkDsplyOp_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 778 PrkAidFront_D_RqDrv 1; +BA_ "CrossOver_InfoCAN" SG_ 778 Cta_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 778 Cta_D_Rq 1; +BA_ "GenSigStartValue" SG_ 778 Cta_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 778 PrkAidRear_D_RqDrv 1; +BA_ "CrossOver_InfoCAN" SG_ 778 Sod_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 778 Sod_D_Rq 2; +BA_ "GenSigStartValue" SG_ 778 Sod_D_Rq 2; +BA_ "WakeupSignal" SG_ 549 Power_Up_Chime_Modules 1; +BA_ "WakeupSignal" SG_ 551 Cntr_Plg_Mode_Cmd 1; +BA_ "GenSigStartValue" SG_ 551 Btt_L_Actl2 30; +BA_ "GenSigStartValueInteger" SG_ 551 Btt_L_Actl2 126; +BA_ "WakeupSignal" SG_ 551 Em_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1010 CbdblActv_B_RqAdas 1; +BA_ "UsedOnPgmDBC" SG_ 1010 CbdblActv_B_RqAdas 1; +BA_ "U_P702_MY2021_Rx" SG_ 1010 LightRng_L_Max 1; +BA_ "U_P702_MY2021_Rx" SG_ 1010 LightPathOffst_L_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1010 LightPathOffst_L_Actl 512; +BA_ "U_P702_MY2021_Rx" SG_ 1010 LightPath_An_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1010 LightPath_An_Actl 1000; +BA_ "U_P702_MY2021_Rx" SG_ 1010 LightCurv_NoRate_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1010 LightCurv_NoRate_Actl 4096; +BA_ "U_P702_MY2021_Rx" SG_ 1010 LightCurv_No_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1010 LightCurv_No_Actl 1000; +BA_ "GenSigStartValue" SG_ 1070 BattULo24_Te_Actl 127; +BA_ "GenSigStartValueInteger" SG_ 1070 BattULo24_Te_Actl 127; +BA_ "UsedOnPgmDBC" SG_ 1070 BattULo24_Te_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 1070 BattULo24State_D_Qlty 1; +BA_ "GenSigStartValue" SG_ 1070 BattULo24State_D_Qlty 1; +BA_ "U_P702_MY2021_Rx" SG_ 1070 BattULo24Soc_Pc_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1070 BattULo24Soc_Pc_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 1070 BattULo24_I_Actl 1; +BA_ "GenSigStartValue" SG_ 1070 BattULo24_I_Actl 8192; +BA_ "U_P702_MY2021_Rx" SG_ 1070 BattULo24_B_Falt 1; +BA_ "U_P702_MY2021_Rx" SG_ 1070 BattULo24_Ah_DeltaRide 1; +BA_ "GenSigStartValue" SG_ 1070 BattULo24_Ah_DeltaRide 12800; +BA_ "GenSigStartValueInteger" SG_ 1186 SelDrvMdeAwd2_D_Stat 31; +BA_ "GenSigStartValue" SG_ 1186 SelDrvMdeAwd2_D_Stat 31; +BA_ "U_CX727_MY2021_Rx" SG_ 1186 SelDrvMdeAwd2_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 1186 SelDrvMdeAwd2_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1186 SelDrvMdeAwd2_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1186 RearDiffLckMsg_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 1186 RearDiffLckLamp_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1186 RearDiffLckLamp_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 1186 RearDiffLck_Tq_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1186 RearDiffLck_Tq_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1186 RearDiffLck_Tq_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 1186 RearDiffFalt_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1186 RearDiffFalt_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1186 LsdSrvcRqd_B_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1186 LsdSrvcRqd_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 611 AwdSys_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 611 AwdSys_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 611 AwdSys_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 611 AwdStat_D_RqDsply 1; +BA_ "ContentDependant" SG_ 611 AwdStat_D_RqDsply 1; +BA_ "U_P702_MY2021_Rx" SG_ 611 AwdStat_D_RqDsply 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 611 AwdStat_D_RqDsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 611 AwdStat_D_RqDsply 1; +BA_ "CrossOver_InfoCAN" SG_ 611 AwdLck_D_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 611 AwdLck_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 611 AwdLck_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 611 AwdLck_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 611 AwdLck_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 611 AwdSrvcRqd_B_Rq 1; +BA_ "ContentDependant" SG_ 611 AwdSrvcRqd_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 611 AwdSrvcRqd_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 611 AwdSrvcRqd_B_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 611 AwdSrvcRqd_B_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 611 NtrlTowAvail_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 611 AwdLck_Tq_Rq 1; +BA_ "ContentDependant" SG_ 611 AwdLck_Tq_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 611 AwdLck_Tq_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 611 AwdLck_Tq_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 611 TrnAout_Tq_RqMx 1; +BA_ "GenSigStartValueInteger" SG_ 611 TrnAout_Tq_RqMx 8191; +BA_ "GenSigStartValue" SG_ 611 TrnAout_Tq_RqMx 8191; +BA_ "U_P702_MY2021_Rx" SG_ 611 TrnAout_Tq_RqMx 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 611 TrnAout_Tq_RqMx 1; +BA_ "U_P702_MY2021_Tx" SG_ 611 TrnAout_Tq_RqMx 1; +BA_ "CrossOver_InfoCAN" SG_ 611 AwdOffRoadMode_D_Stats 1; +BA_ "UsedOnPgmDBC" SG_ 611 AwdOffRoadMode_D_Stats 1; +BA_ "U_P702_MY2021_Tx" SG_ 611 AwdOffRoadMode_D_Stats 1; +BA_ "CrossOver_InfoCAN" SG_ 611 AwdLoLamp_D_RqDsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 611 AwdLoLamp_D_RqDsply 1; +BA_ "CrossOver_InfoCAN" SG_ 611 AwdHiLamp_D_RqDsply 1; +BA_ "U_P702_MY2021_Rx" SG_ 611 AwdHiLamp_D_RqDsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 611 AwdHiLamp_D_RqDsply 1; +BA_ "CrossOver_InfoCAN" SG_ 611 AwdAutoLamp_D_RqDsply 1; +BA_ "U_P702_MY2021_Rx" SG_ 611 AwdAutoLamp_D_RqDsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 611 AwdAutoLamp_D_RqDsply 1; +BA_ "CrossOver_InfoCAN" SG_ 611 Awd2wdLamp_D_RqDsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 611 Awd2wdLamp_D_RqDsply 1; +BA_ "CrossOver_InfoCAN" SG_ 611 AwdRnge_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 611 AwdRnge_D_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 611 AwdRnge_D_Actl 7; +BA_ "GenSigStartValue" SG_ 611 AwdRnge_D_Actl 7; +BA_ "U_P702_MY2021_Rx" SG_ 611 AwdRnge_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 611 AwdRnge_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 611 AwdRnge_D_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 611 AwdRnge_D_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1461 PSCM_GWOnBoardTester 255; +BA_ "ContentDependant" SG_ 1461 PSCM_GWOnBoardTester 1; +BA_ "GenSigStartValue" SG_ 1461 PSCM_GWOnBoardTester 255; +BA_ "U_P702_MY2021_Rx" SG_ 1461 PSCM_GWOnBoardTester 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1461 PSCM_GWOnBoardTester 1; +BA_ "U_P702_MY2021_Tx" SG_ 1461 PSCM_GWOnBoardTester 1; +BA_ "GenSigStartValueInteger" SG_ 1461 PSCM_GWNMProxy 255; +BA_ "ContentDependant" SG_ 1461 PSCM_GWNMProxy 1; +BA_ "GenSigStartValue" SG_ 1461 PSCM_GWNMProxy 255; +BA_ "U_P702_MY2021_Rx" SG_ 1461 PSCM_GWNMProxy 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1461 PSCM_GWNMProxy 1; +BA_ "U_P702_MY2021_Tx" SG_ 1461 PSCM_GWNMProxy 1; +BA_ "GenSigStartValueInteger" SG_ 1461 PSCM_AutoSarNMReserved4 255; +BA_ "ContentDependant" SG_ 1461 PSCM_AutoSarNMReserved4 1; +BA_ "GenSigStartValue" SG_ 1461 PSCM_AutoSarNMReserved4 255; +BA_ "U_P702_MY2021_Rx" SG_ 1461 PSCM_AutoSarNMReserved4 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1461 PSCM_AutoSarNMReserved4 1; +BA_ "U_P702_MY2021_Tx" SG_ 1461 PSCM_AutoSarNMReserved4 1; +BA_ "GenSigStartValueInteger" SG_ 1461 PSCM_AutoSarNMReserved3 255; +BA_ "ContentDependant" SG_ 1461 PSCM_AutoSarNMReserved3 1; +BA_ "GenSigStartValue" SG_ 1461 PSCM_AutoSarNMReserved3 255; +BA_ "U_P702_MY2021_Rx" SG_ 1461 PSCM_AutoSarNMReserved3 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1461 PSCM_AutoSarNMReserved3 1; +BA_ "U_P702_MY2021_Tx" SG_ 1461 PSCM_AutoSarNMReserved3 1; +BA_ "GenSigStartValueInteger" SG_ 1461 PSCM_AutoSarNMReserved2 255; +BA_ "ContentDependant" SG_ 1461 PSCM_AutoSarNMReserved2 1; +BA_ "GenSigStartValue" SG_ 1461 PSCM_AutoSarNMReserved2 255; +BA_ "U_CX727_MY2021_Tx" SG_ 1461 PSCM_AutoSarNMReserved2 1; +BA_ "U_P702_MY2021_Tx" SG_ 1461 PSCM_AutoSarNMReserved2 1; +BA_ "GenSigStartValueInteger" SG_ 1461 PSCM_AutoSarNMReserved1 255; +BA_ "ContentDependant" SG_ 1461 PSCM_AutoSarNMReserved1 1; +BA_ "GenSigStartValue" SG_ 1461 PSCM_AutoSarNMReserved1 255; +BA_ "U_CX727_MY2021_Tx" SG_ 1461 PSCM_AutoSarNMReserved1 1; +BA_ "U_P702_MY2021_Tx" SG_ 1461 PSCM_AutoSarNMReserved1 1; +BA_ "GenSigStartValueInteger" SG_ 1461 PSCM_AutoSarNMNodeId 181; +BA_ "ContentDependant" SG_ 1461 PSCM_AutoSarNMNodeId 1; +BA_ "GenSigStartValue" SG_ 1461 PSCM_AutoSarNMNodeId 181; +BA_ "U_CX727_MY2021_Tx" SG_ 1461 PSCM_AutoSarNMNodeId 1; +BA_ "U_P702_MY2021_Tx" SG_ 1461 PSCM_AutoSarNMNodeId 1; +BA_ "ContentDependant" SG_ 1461 PSCM_AutoSarNMControl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1461 PSCM_AutoSarNMControl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1461 PSCM_AutoSarNMControl 1; +BA_ "GenSigStartValueInteger" SG_ 1047 TrlrAnOffst_An2_Calc 128; +BA_ "U_P702_MY2021_Tx" SG_ 1047 TrlrAnOffst_An2_Calc 1; +BA_ "U_P702_MY2021_Tx" SG_ 1047 TrlrAn_An_WarnCalc 1; +BA_ "U_P702_MY2021_Tx" SG_ 1047 TrlrAn_An_MxCalc 1; +BA_ "U_P702_MY2021_Tx" SG_ 1047 TrlrAidTrlrId_No_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1047 TrlrAidTrgtId_No_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1047 TrlrAidSetup_D2_Stat 1; +BA_ "GenSigSendType" SG_ 1047 TrlrAidEnbl_D2_Stat 3; +BA_ "U_P702_MY2021_Rx" SG_ 1047 TrlrAidEnbl_D2_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1047 TrlrAidEnbl_D2_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1047 TrlrAidEnbl_D2_Stat 1; +BA_ "GenSigSendType" SG_ 1047 TrlrAidMsgTxt_D2_Rq 3; +BA_ "U_P702_MY2021_Rx" SG_ 1047 TrlrAidMsgTxt_D2_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1047 TrlrAidMsgTxt_D2_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 1047 EsaOn_B_Stat 1; +BA_ "GenSigStartValue" SG_ 1047 EsaOn_B_Stat 1; +BA_ "GenSigSendType" SG_ 1047 EsaOn_B_Stat 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1047 EsaOn_B_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1047 EsaOn_B_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1047 HitchToTrlrAxle_L_Calc 1; +BA_ "GenSigSendType" SG_ 1047 SelDrvMdeSte_D_Stat 3; +BA_ "U_CX727_MY2021_Rx" SG_ 1047 SelDrvMdeSte_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 1047 SelDrvMdeSte_D_Stat 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1047 SelDrvMdeSte_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1047 SelDrvMdeSte_D_Stat 1; +BA_ "GenSigSendType" SG_ 972 LatCtlSte_D_Stat 3; +BA_ "U_CX727_MY2021_Tx" SG_ 972 LatCtlSte_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 972 LatCtlSte_D_Stat 1; +BA_ "GenSigSendType" SG_ 972 LatCtlLim_D_Stat 3; +BA_ "U_CX727_MY2021_Tx" SG_ 972 LatCtlLim_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 972 LatCtlLim_D_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 972 LatCtlCpbltyDStat_No_Cnt 1; +BA_ "MetaData" SG_ 972 LatCtlCpbltyDStat_No_Cnt 1; +BA_ "UsedOnPgmDBC" SG_ 972 LatCtlCpbltyDStat_No_Cs 1; +BA_ "MetaData" SG_ 972 LatCtlCpbltyDStat_No_Cs 1; +BA_ "GenSigStartValueInteger" SG_ 972 TrlrAn_An_TrgtCalc 128; +BA_ "U_P702_MY2021_Tx" SG_ 972 TrlrAn_An_TrgtCalc 1; +BA_ "U_P702_MY2021_Rx" SG_ 972 LsmcBrkDecelEnbl_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 972 LsmcBrkDecelEnbl_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 972 TjaHandsOnCnfdnc_B_Est 1; +BA_ "GenSigStartValue" SG_ 972 TjaHandsOnCnfdnc_B_Est 1; +BA_ "U_CX727_MY2021_Tx" SG_ 972 TjaHandsOnCnfdnc_B_Est 1; +BA_ "U_P702_MY2021_Tx" SG_ 972 TjaHandsOnCnfdnc_B_Est 1; +BA_ "CrossOver_InfoCAN" SG_ 972 LaHandsOff_B_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 972 LaHandsOff_B_Actl 1; +BA_ "GenSigStartValue" SG_ 972 LaHandsOff_B_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 972 LaHandsOff_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 972 LaHandsOff_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 972 LaActDeny_B_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 972 LaActDeny_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 972 LaActDeny_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 972 LaActAvail_D_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 972 LaActAvail_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 972 LaActAvail_D_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 972 LsmcBrk_Tq_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 972 LsmcBrk_Tq_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 130 TrlrHitchLamp_D_Rqst 1; +BA_ "UsedOnPgmDBC" SG_ 130 TrlrHitchLamp_D_Rqst 1; +BA_ "U_P702_MY2021_Tx" SG_ 130 TrlrHitchLamp_D_Rqst 1; +BA_ "CrossOver_InfoCAN" SG_ 130 VehVTrlrAid_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 130 VehVTrlrAid_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 130 VehVTrlrAid_B_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 130 VehVTrlrAid_B_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 130 Veh_V_RqMxTrlrAid 255; +BA_ "GenSigStartValue" SG_ 130 Veh_V_RqMxTrlrAid 255; +BA_ "U_P702_MY2021_Rx" SG_ 130 Veh_V_RqMxTrlrAid 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 130 Veh_V_RqMxTrlrAid 1; +BA_ "U_P702_MY2021_Tx" SG_ 130 Veh_V_RqMxTrlrAid 1; +BA_ "UsedOnPgmDBC" SG_ 130 DrvSteActv_B_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 130 DrvSteActv_B_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 130 DrvSteActv_B_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 130 DrvSte_Tq_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 130 DrvSte_Tq_Actl 128; +BA_ "U_P702_MY2021_Rx" SG_ 130 DrvSte_Tq_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 130 DrvSte_Tq_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 130 SteMdule_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 130 SteMdule_D_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 130 SteMdule_U_Meas 1; +BA_ "GenSigStartValueInteger" SG_ 130 SteMdule_U_Meas 255; +BA_ "GenSigStartValue" SG_ 130 SteMdule_U_Meas 255; +BA_ "U_CX727_MY2021_Tx" SG_ 130 SteMdule_U_Meas 1; +BA_ "U_P702_MY2021_Tx" SG_ 130 SteMdule_U_Meas 1; +BA_ "UsedOnPgmDBC" SG_ 130 SteMdule_I_Est 1; +BA_ "GenSigStartValueInteger" SG_ 130 SteMdule_I_Est 4095; +BA_ "GenSigStartValue" SG_ 130 SteMdule_I_Est 4095; +BA_ "U_CX727_MY2021_Tx" SG_ 130 SteMdule_I_Est 1; +BA_ "U_P702_MY2021_Tx" SG_ 130 SteMdule_I_Est 1; +BA_ "CrossOver_InfoCAN" SG_ 130 EPAS_Failure 1; +BA_ "UsedOnPgmDBC" SG_ 130 EPAS_Failure 1; +BA_ "U_CX727_MY2021_Tx" SG_ 130 EPAS_Failure 1; +BA_ "U_P702_MY2021_Tx" SG_ 130 EPAS_Failure 1; +BA_ "UsedOnPgmDBC" SG_ 130 SteeringColumnTorque 1; +BA_ "GenSigStartValueInteger" SG_ 130 SteeringColumnTorque 254; +BA_ "GenSigStartValue" SG_ 130 SteeringColumnTorque 254; +BA_ "U_CX727_MY2021_Rx" SG_ 130 SteeringColumnTorque 1; +BA_ "U_P702_MY2021_Rx" SG_ 130 SteeringColumnTorque 1; +BA_ "U_CX727_MY2021_Tx" SG_ 130 SteeringColumnTorque 1; +BA_ "U_P702_MY2021_Tx" SG_ 130 SteeringColumnTorque 1; +BA_ "UsedOnPgmDBC" SG_ 130 SAPPAngleControlStat6 1; +BA_ "U_CX727_MY2021_Tx" SG_ 130 SAPPAngleControlStat6 1; +BA_ "U_P702_MY2021_Tx" SG_ 130 SAPPAngleControlStat6 1; +BA_ "UsedOnPgmDBC" SG_ 130 SAPPAngleControlStat5 1; +BA_ "U_CX727_MY2021_Tx" SG_ 130 SAPPAngleControlStat5 1; +BA_ "U_P702_MY2021_Tx" SG_ 130 SAPPAngleControlStat5 1; +BA_ "UsedOnPgmDBC" SG_ 130 SAPPAngleControlStat4 1; +BA_ "U_CX727_MY2021_Tx" SG_ 130 SAPPAngleControlStat4 1; +BA_ "U_P702_MY2021_Tx" SG_ 130 SAPPAngleControlStat4 1; +BA_ "UsedOnPgmDBC" SG_ 130 SAPPAngleControlStat3 1; +BA_ "U_CX727_MY2021_Tx" SG_ 130 SAPPAngleControlStat3 1; +BA_ "U_P702_MY2021_Tx" SG_ 130 SAPPAngleControlStat3 1; +BA_ "UsedOnPgmDBC" SG_ 130 SAPPAngleControlStat2 1; +BA_ "U_CX727_MY2021_Tx" SG_ 130 SAPPAngleControlStat2 1; +BA_ "U_P702_MY2021_Tx" SG_ 130 SAPPAngleControlStat2 1; +BA_ "UsedOnPgmDBC" SG_ 130 SAPPAngleControlStat1 1; +BA_ "U_CX727_MY2021_Tx" SG_ 130 SAPPAngleControlStat1 1; +BA_ "U_P702_MY2021_Tx" SG_ 130 SAPPAngleControlStat1 1; +BA_ "UsedOnPgmDBC" SG_ 126 StePw_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 126 StePw_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 126 StePw_B_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 126 StePw_B_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 126 StePinRelInit_An_Sns 1; +BA_ "GenSigStartValueInteger" SG_ 126 StePinRelInit_An_Sns 65535; +BA_ "ContentDependant" SG_ 126 StePinRelInit_An_Sns 1; +BA_ "GenSigStartValue" SG_ 126 StePinRelInit_An_Sns 65535; +BA_ "U_P702_MY2021_Rx" SG_ 126 StePinRelInit_An_Sns 1; +BA_ "U_CX727_MY2021_Rx" SG_ 126 StePinRelInit_An_Sns 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 126 StePinRelInit_An_Sns 1; +BA_ "U_CX727_MY2021_Tx" SG_ 126 StePinRelInit_An_Sns 1; +BA_ "U_P702_MY2021_Tx" SG_ 126 StePinRelInit_An_Sns 1; +BA_ "CrossOver_InfoCAN" SG_ 126 StePinCompAnEst_D_Qf 1; +BA_ "UsedOnPgmDBC" SG_ 126 StePinCompAnEst_D_Qf 1; +BA_ "GenSigStartValueInteger" SG_ 126 StePinCompAnEst_D_Qf 1; +BA_ "GenSigStartValue" SG_ 126 StePinCompAnEst_D_Qf 1; +BA_ "U_P702_MY2021_Rx" SG_ 126 StePinCompAnEst_D_Qf 1; +BA_ "U_CX727_MY2021_Rx" SG_ 126 StePinCompAnEst_D_Qf 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 126 StePinCompAnEst_D_Qf 1; +BA_ "U_CX727_MY2021_Tx" SG_ 126 StePinCompAnEst_D_Qf 1; +BA_ "U_P702_MY2021_Tx" SG_ 126 StePinCompAnEst_D_Qf 1; +BA_ "ECGUsedRxSignal" SG_ 126 StePinCompAnEst_D_Qf 1; +BA_ "GenSigStartValueInteger" SG_ 126 StePinComp_An_Est 16000; +BA_ "U_P702_MY2021_Rx" SG_ 126 StePinComp_An_Est 1; +BA_ "U_CX727_MY2021_Rx" SG_ 126 StePinComp_An_Est 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 126 StePinComp_An_Est 1; +BA_ "U_CX727_MY2021_Tx" SG_ 126 StePinComp_An_Est 1; +BA_ "U_P702_MY2021_Tx" SG_ 126 StePinComp_An_Est 1; +BA_ "ECGUsedRxSignal" SG_ 126 StePinComp_An_Est 1; +BA_ "UsedOnPgmDBC" SG_ 126 StePinAn_No_Cs 1; +BA_ "ContentDependant" SG_ 126 StePinAn_No_Cs 1; +BA_ "MetaData" SG_ 126 StePinAn_No_Cs 1; +BA_ "U_P702_MY2021_Rx" SG_ 126 StePinAn_No_Cs 1; +BA_ "U_CX727_MY2021_Rx" SG_ 126 StePinAn_No_Cs 1; +BA_ "U_CX727_MY2021_Tx" SG_ 126 StePinAn_No_Cs 1; +BA_ "U_P702_MY2021_Tx" SG_ 126 StePinAn_No_Cs 1; +BA_ "CrossOver_InfoCAN" SG_ 126 StePinAn_No_Cnt 1; +BA_ "MetaData" SG_ 126 StePinAn_No_Cnt 1; +BA_ "U_P702_MY2021_Rx" SG_ 126 StePinAn_No_Cnt 1; +BA_ "U_CX727_MY2021_Rx" SG_ 126 StePinAn_No_Cnt 1; +BA_ "U_CX727_MY2021_Tx" SG_ 126 StePinAn_No_Cnt 1; +BA_ "U_P702_MY2021_Tx" SG_ 126 StePinAn_No_Cnt 1; +BA_ "GenSigStartValueInteger" SG_ 1430 ABS_GWOnBoardTester 255; +BA_ "ContentDependant" SG_ 1430 ABS_GWOnBoardTester 1; +BA_ "GenSigStartValue" SG_ 1430 ABS_GWOnBoardTester 255; +BA_ "U_CX727_MY2021_Tx" SG_ 1430 ABS_GWOnBoardTester 1; +BA_ "U_P702_MY2021_Tx" SG_ 1430 ABS_GWOnBoardTester 1; +BA_ "GenSigStartValueInteger" SG_ 1430 ABS_GWNMProxy 255; +BA_ "ContentDependant" SG_ 1430 ABS_GWNMProxy 1; +BA_ "GenSigStartValue" SG_ 1430 ABS_GWNMProxy 255; +BA_ "U_CX727_MY2021_Tx" SG_ 1430 ABS_GWNMProxy 1; +BA_ "U_P702_MY2021_Tx" SG_ 1430 ABS_GWNMProxy 1; +BA_ "GenSigStartValueInteger" SG_ 1430 ABS_AutoSarNMReserved4 255; +BA_ "ContentDependant" SG_ 1430 ABS_AutoSarNMReserved4 1; +BA_ "GenSigStartValue" SG_ 1430 ABS_AutoSarNMReserved4 255; +BA_ "U_CX727_MY2021_Tx" SG_ 1430 ABS_AutoSarNMReserved4 1; +BA_ "U_P702_MY2021_Tx" SG_ 1430 ABS_AutoSarNMReserved4 1; +BA_ "GenSigStartValueInteger" SG_ 1430 ABS_AutoSarNMReserved3 255; +BA_ "ContentDependant" SG_ 1430 ABS_AutoSarNMReserved3 1; +BA_ "GenSigStartValue" SG_ 1430 ABS_AutoSarNMReserved3 255; +BA_ "U_CX727_MY2021_Tx" SG_ 1430 ABS_AutoSarNMReserved3 1; +BA_ "U_P702_MY2021_Tx" SG_ 1430 ABS_AutoSarNMReserved3 1; +BA_ "GenSigStartValueInteger" SG_ 1430 ABS_AutoSarNMReserved2 255; +BA_ "ContentDependant" SG_ 1430 ABS_AutoSarNMReserved2 1; +BA_ "GenSigStartValue" SG_ 1430 ABS_AutoSarNMReserved2 255; +BA_ "U_CX727_MY2021_Tx" SG_ 1430 ABS_AutoSarNMReserved2 1; +BA_ "U_P702_MY2021_Tx" SG_ 1430 ABS_AutoSarNMReserved2 1; +BA_ "GenSigStartValueInteger" SG_ 1430 ABS_AutoSarNMReserved1 255; +BA_ "ContentDependant" SG_ 1430 ABS_AutoSarNMReserved1 1; +BA_ "GenSigStartValue" SG_ 1430 ABS_AutoSarNMReserved1 255; +BA_ "U_CX727_MY2021_Tx" SG_ 1430 ABS_AutoSarNMReserved1 1; +BA_ "U_P702_MY2021_Tx" SG_ 1430 ABS_AutoSarNMReserved1 1; +BA_ "GenSigStartValueInteger" SG_ 1430 ABS_AutoSarNMNodeId 150; +BA_ "ContentDependant" SG_ 1430 ABS_AutoSarNMNodeId 1; +BA_ "GenSigStartValue" SG_ 1430 ABS_AutoSarNMNodeId 150; +BA_ "U_CX727_MY2021_Tx" SG_ 1430 ABS_AutoSarNMNodeId 1; +BA_ "U_P702_MY2021_Tx" SG_ 1430 ABS_AutoSarNMNodeId 1; +BA_ "ContentDependant" SG_ 1430 ABS_AutoSarNMControl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1430 ABS_AutoSarNMControl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1430 ABS_AutoSarNMControl 1; +BA_ "GenSigStartValueInteger" SG_ 1200 HsaTrnAout_Tq_Rq 32768; +BA_ "U_CX727_MY2021_Tx" SG_ 1200 HsaTrnAout_Tq_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1200 HsaTrnAout_Tq_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 1200 BrkBstrVac_P_Actl 127; +BA_ "GenSigStartValue" SG_ 1200 BrkBstrVac_P_Actl 127; +BA_ "U_P702_MY2021_Rx" SG_ 1200 BrkBstrVac_P_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1200 BrkBstrVac_P_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1200 BrkBstrVac_P_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1200 BrkBstrVac_P_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1200 YawStabilityIndex 256; +BA_ "U_CX727_MY2021_Rx" SG_ 1200 YawStabilityIndex 1; +BA_ "U_P702_MY2021_Rx" SG_ 1200 YawStabilityIndex 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1200 YawStabilityIndex 1; +BA_ "U_P702_MY2021_Tx" SG_ 1200 YawStabilityIndex 1; +BA_ "U_P702_MY2021_Rx" SG_ 1200 BrkTot_Tq_RqDrv 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1200 BrkTot_Tq_RqDrv 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1200 BrkTot_Tq_RqDrv 1; +BA_ "U_P702_MY2021_Tx" SG_ 1200 BrkTot_Tq_RqDrv 1; +BA_ "MetaData" SG_ 1200 BrkTotTqRqDrv_No_Cnt 1; +BA_ "U_P702_MY2021_Rx" SG_ 1200 BrkTotTqRqDrv_No_Cnt 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1200 BrkTotTqRqDrv_No_Cnt 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1200 BrkTotTqRqDrv_No_Cnt 1; +BA_ "U_P702_MY2021_Tx" SG_ 1200 BrkTotTqRqDrv_No_Cnt 1; +BA_ "MetaData" SG_ 1200 BrkTotTqRqDrv_No_Cs 1; +BA_ "U_P702_MY2021_Rx" SG_ 1200 BrkTotTqRqDrv_No_Cs 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1200 BrkTotTqRqDrv_No_Cs 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1200 BrkTotTqRqDrv_No_Cs 1; +BA_ "U_P702_MY2021_Tx" SG_ 1200 BrkTotTqRqDrv_No_Cs 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1200 HsaStat_D_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 1200 HsaStat_D_Dsply 1; +BA_ "GenSigStartValueInteger" SG_ 1102 SelDrvMdePos12_D_Stat 31; +BA_ "GenSigStartValue" SG_ 1102 SelDrvMdePos12_D_Stat 31; +BA_ "GenSigSendType" SG_ 1102 SelDrvMdePos12_D_Stat 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1102 SelDrvMdePos12_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1102 SelDrvMdePos12_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 1102 SelDrvMdePos11_D_Stat 31; +BA_ "GenSigStartValue" SG_ 1102 SelDrvMdePos11_D_Stat 31; +BA_ "GenSigSendType" SG_ 1102 SelDrvMdePos11_D_Stat 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1102 SelDrvMdePos11_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1102 SelDrvMdePos11_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 1102 SelDrvMdePos10_D_Stat 31; +BA_ "GenSigStartValue" SG_ 1102 SelDrvMdePos10_D_Stat 31; +BA_ "GenSigSendType" SG_ 1102 SelDrvMdePos10_D_Stat 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1102 SelDrvMdePos10_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1102 SelDrvMdePos10_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 1102 SelDrvMdePos09_D_Stat 31; +BA_ "GenSigStartValue" SG_ 1102 SelDrvMdePos09_D_Stat 31; +BA_ "GenSigSendType" SG_ 1102 SelDrvMdePos09_D_Stat 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1102 SelDrvMdePos09_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1102 SelDrvMdePos09_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 1102 SelDrvMdePos08_D_Stat 31; +BA_ "GenSigStartValue" SG_ 1102 SelDrvMdePos08_D_Stat 31; +BA_ "GenSigSendType" SG_ 1102 SelDrvMdePos08_D_Stat 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1102 SelDrvMdePos08_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1102 SelDrvMdePos08_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 1102 SelDrvMdePos07_D_Stat 31; +BA_ "GenSigStartValue" SG_ 1102 SelDrvMdePos07_D_Stat 31; +BA_ "GenSigSendType" SG_ 1102 SelDrvMdePos07_D_Stat 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1102 SelDrvMdePos07_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1102 SelDrvMdePos07_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 1102 SelDrvMdePos06_D_Stat 31; +BA_ "GenSigStartValue" SG_ 1102 SelDrvMdePos06_D_Stat 31; +BA_ "GenSigSendType" SG_ 1102 SelDrvMdePos06_D_Stat 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1102 SelDrvMdePos06_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1102 SelDrvMdePos06_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 1102 SelDrvMdePos05_D_Stat 31; +BA_ "GenSigStartValue" SG_ 1102 SelDrvMdePos05_D_Stat 31; +BA_ "GenSigSendType" SG_ 1102 SelDrvMdePos05_D_Stat 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1102 SelDrvMdePos05_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1102 SelDrvMdePos05_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 1102 SelDrvMdePos04_D_Stat 31; +BA_ "GenSigStartValue" SG_ 1102 SelDrvMdePos04_D_Stat 31; +BA_ "GenSigSendType" SG_ 1102 SelDrvMdePos04_D_Stat 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1102 SelDrvMdePos04_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1102 SelDrvMdePos04_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 1102 SelDrvMdePos03_D_Stat 31; +BA_ "GenSigStartValue" SG_ 1102 SelDrvMdePos03_D_Stat 31; +BA_ "GenSigSendType" SG_ 1102 SelDrvMdePos03_D_Stat 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1102 SelDrvMdePos03_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1102 SelDrvMdePos03_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 1102 SelDrvMdePos02_D_Stat 31; +BA_ "GenSigStartValue" SG_ 1102 SelDrvMdePos02_D_Stat 31; +BA_ "GenSigSendType" SG_ 1102 SelDrvMdePos02_D_Stat 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1102 SelDrvMdePos02_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1102 SelDrvMdePos02_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 1102 SelDrvMdePos01_D_Stat 31; +BA_ "GenSigStartValue" SG_ 1102 SelDrvMdePos01_D_Stat 31; +BA_ "GenSigSendType" SG_ 1102 SelDrvMdePos01_D_Stat 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1102 SelDrvMdePos01_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1102 SelDrvMdePos01_D_Stat 1; +BA_ "GenSigSendType" SG_ 1056 AutoEpbMsgTxt_D_Rq 3; +BA_ "GenSigSendType" SG_ 1056 AutoEpbDsply_D_Stat 3; +BA_ "GenSigSendType" SG_ 1056 AutoEpbButtnOn_B_Stat 3; +BA_ "GenSigSendType" SG_ 1056 SelDrvMdePos12_B_Avail 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1056 SelDrvMdePos12_B_Avail 1; +BA_ "U_P702_MY2021_Tx" SG_ 1056 SelDrvMdePos12_B_Avail 1; +BA_ "GenSigSendType" SG_ 1056 SelDrvMdePos11_B_Avail 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1056 SelDrvMdePos11_B_Avail 1; +BA_ "U_P702_MY2021_Tx" SG_ 1056 SelDrvMdePos11_B_Avail 1; +BA_ "GenSigSendType" SG_ 1056 SelDrvMdePos10_B_Avail 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1056 SelDrvMdePos10_B_Avail 1; +BA_ "U_P702_MY2021_Tx" SG_ 1056 SelDrvMdePos10_B_Avail 1; +BA_ "GenSigSendType" SG_ 1056 SelDrvMdePos09_B_Avail 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1056 SelDrvMdePos09_B_Avail 1; +BA_ "U_P702_MY2021_Tx" SG_ 1056 SelDrvMdePos09_B_Avail 1; +BA_ "GenSigSendType" SG_ 1056 SelDrvMdePos08_B_Avail 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1056 SelDrvMdePos08_B_Avail 1; +BA_ "U_P702_MY2021_Tx" SG_ 1056 SelDrvMdePos08_B_Avail 1; +BA_ "GenSigSendType" SG_ 1056 SelDrvMdePos07_B_Avail 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1056 SelDrvMdePos07_B_Avail 1; +BA_ "U_P702_MY2021_Tx" SG_ 1056 SelDrvMdePos07_B_Avail 1; +BA_ "GenSigSendType" SG_ 1056 SelDrvMdePos06_B_Avail 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1056 SelDrvMdePos06_B_Avail 1; +BA_ "U_P702_MY2021_Tx" SG_ 1056 SelDrvMdePos06_B_Avail 1; +BA_ "GenSigSendType" SG_ 1056 SelDrvMdePos05_B_Avail 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1056 SelDrvMdePos05_B_Avail 1; +BA_ "U_P702_MY2021_Tx" SG_ 1056 SelDrvMdePos05_B_Avail 1; +BA_ "GenSigSendType" SG_ 1056 SelDrvMdePos04_B_Avail 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1056 SelDrvMdePos04_B_Avail 1; +BA_ "U_P702_MY2021_Tx" SG_ 1056 SelDrvMdePos04_B_Avail 1; +BA_ "GenSigSendType" SG_ 1056 SelDrvMdePos03_B_Avail 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1056 SelDrvMdePos03_B_Avail 1; +BA_ "U_P702_MY2021_Tx" SG_ 1056 SelDrvMdePos03_B_Avail 1; +BA_ "GenSigSendType" SG_ 1056 SelDrvMdePos02_B_Avail 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1056 SelDrvMdePos02_B_Avail 1; +BA_ "U_P702_MY2021_Tx" SG_ 1056 SelDrvMdePos02_B_Avail 1; +BA_ "GenSigSendType" SG_ 1056 SelDrvMdePos01_B_Avail 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1056 SelDrvMdePos01_B_Avail 1; +BA_ "U_P702_MY2021_Tx" SG_ 1056 SelDrvMdePos01_B_Avail 1; +BA_ "GenSigStartValueInteger" SG_ 1056 ActvDrvMde_D2_Stat 31; +BA_ "GenSigStartValue" SG_ 1056 ActvDrvMde_D2_Stat 31; +BA_ "GenSigSendType" SG_ 1056 ActvDrvMde_D2_Stat 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1056 ActvDrvMde_D2_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1056 ActvDrvMde_D2_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 1056 SelDrvMde_D2_Rq 31; +BA_ "GenSigStartValue" SG_ 1056 SelDrvMde_D2_Rq 31; +BA_ "GenSigSendType" SG_ 1056 SelDrvMde_D2_Rq 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1056 SelDrvMde_D2_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1056 SelDrvMde_D2_Rq 1; +BA_ "GenSigSendType" SG_ 1056 SelDrvMdePt_D_Rq 3; +BA_ "U_P702_MY2021_Rx" SG_ 1056 SelDrvMdePt_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1056 SelDrvMdePt_D_Rq 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1056 SelDrvMdePt_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1056 SelDrvMdePt_D_Rq 1; +BA_ "GenSigSendType" SG_ 1056 SelDrvMdeMsgTxt_D_Rq 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1056 SelDrvMdeMsgTxt_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1056 SelDrvMdeMsgTxt_D_Rq 1; +BA_ "GenSigSendType" SG_ 1056 SelDrvMde_D_Stat 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1056 SelDrvMde_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1056 SelDrvMde_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 1056 AwdMde_D_RqBrk 5; +BA_ "GenSigStartValue" SG_ 1056 AwdMde_D_RqBrk 5; +BA_ "GenSigSendType" SG_ 1056 AwdMde_D_RqBrk 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1056 AwdMde_D_RqBrk 1; +BA_ "U_P702_MY2021_Tx" SG_ 1056 AwdMde_D_RqBrk 1; +BA_ "U_P702_MY2021_Tx" SG_ 1054 AirDamUp_B_RqBrk 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1054 AirDamUp_B_RqBrk 1; +BA_ "U_P702_MY2021_Rx" SG_ 1054 AirDamUp_B_RqBrk 1; +BA_ "GenSigSendType" SG_ 1054 AirDamUp_B_RqBrk 3; +BA_ "GenSigSendType" SG_ 1054 RbaBrk_D_Stat 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1054 RbaBrk_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1054 RbaBrk_D_Stat 1; +BA_ "GenSigSendType" SG_ 1054 SelDrvMdeChassis2_D_Rq 3; +BA_ "U_CX727_MY2021_Rx" SG_ 1054 SelDrvMdeChassis2_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 1054 SelDrvMdeChassis2_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1054 SelDrvMdeChassis2_D_Rq 1; +BA_ "GenSigSendType" SG_ 1054 TrailCtl_D_Stat 3; +BA_ "U_P702_MY2021_Rx" SG_ 1054 TrailCtl_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1054 TrailCtl_D_Stat 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1054 TrailCtl_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1054 TrailCtl_D_Stat 1; +BA_ "GenSigSendType" SG_ 1054 TrailCtlMsgTxt_D_Rq 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1054 TrailCtlMsgTxt_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1054 TrailCtlMsgTxt_D_Rq 1; +BA_ "GenSigSendType" SG_ 1054 BrkBstrVac_D_Stat 3; +BA_ "U_P702_MY2021_Rx" SG_ 1054 BrkBstrVac_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1054 BrkBstrVac_D_Stat 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1054 BrkBstrVac_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1054 BrkBstrVac_D_Stat 1; +BA_ "GenSigSendType" SG_ 1054 DrvSlipCtlOffLamp_D_Rq 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1054 DrvSlipCtlOffLamp_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1054 DrvSlipCtlOffLamp_D_Rq 1; +BA_ "GenSigSendType" SG_ 1054 DrvSlipCtlMdeMsg_D_Rq 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1054 DrvSlipCtlMdeMsg_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1054 DrvSlipCtlMdeMsg_D_Rq 1; +BA_ "ECGUsedRxSignal" SG_ 1054 DrvSlipCtlMdeMsg_D_Rq 1; +BA_ "GenSigSendType" SG_ 1054 AutoHoldMsgTxt_D_Rq 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1054 AutoHoldMsgTxt_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1054 AutoHoldMsgTxt_D_Rq 1; +BA_ "GenSigSendType" SG_ 1054 CtaBrk_D_Stat 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1054 CtaBrk_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1054 CtaBrk_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 1054 SelDrvMdeAwd_D_Rq 31; +BA_ "GenSigStartValue" SG_ 1054 SelDrvMdeAwd_D_Rq 31; +BA_ "GenSigSendType" SG_ 1054 SelDrvMdeAwd_D_Rq 3; +BA_ "U_P702_MY2021_Rx" SG_ 1054 SelDrvMdeAwd_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1054 SelDrvMdeAwd_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 1054 AutoHoldSwMde_B_Ind 1; +BA_ "ContentDependant" SG_ 1054 AutoHoldSwMde_B_Ind 1; +BA_ "GenSigSendType" SG_ 1054 AutoHoldSwMde_B_Ind 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1054 AutoHoldSwMde_B_Ind 1; +BA_ "U_P702_MY2021_Tx" SG_ 1054 AutoHoldSwMde_B_Ind 1; +BA_ "GenSigSendType" SG_ 1054 AutoHoldMde_D_Ind 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1054 AutoHoldMde_D_Ind 1; +BA_ "U_P702_MY2021_Tx" SG_ 1054 AutoHoldMde_D_Ind 1; +BA_ "GenSigSendType" SG_ 1054 SelDrvMdeChassis_D_Rq 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1054 SelDrvMdeChassis_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1054 SelDrvMdeChassis_D_Rq 1; +BA_ "GenSigSendType" SG_ 1054 ApaBrk_D_Stat 3; +BA_ "U_P702_MY2021_Rx" SG_ 1054 ApaBrk_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1054 ApaBrk_D_Stat 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1054 ApaBrk_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1054 ApaBrk_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1046 HsaMde_D_Mem 1; +BA_ "UsedOnPgmDBC" SG_ 1046 HsaMde_D_Mem 1; +BA_ "GenSigStartValueInteger" SG_ 1046 HsaMde_D_Mem 1; +BA_ "GenSigStartValue" SG_ 1046 HsaMde_D_Mem 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1046 HsaMde_D_Mem 1; +BA_ "U_P702_MY2021_Tx" SG_ 1046 HsaMde_D_Mem 1; +BA_ "CrossOver_InfoCAN" SG_ 1046 BrkBstrVac_B_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 1046 BrkBstrVac_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 1046 BrkBstrVac_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1046 BrkBstrVac_B_Rq 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1046 BrkBstrVac_B_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1046 BrkBstrVac_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 1046 HdcMde_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 1046 HdcMde_D_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1046 HdcMde_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1046 HdcMde_D_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1046 RearDiffLck_Tq2_RqMx 4094; +BA_ "GenSigStartValue" SG_ 1046 RearDiffLck_Tq2_RqMx 4094; +BA_ "U_CX727_MY2021_Tx" SG_ 1046 RearDiffLck_Tq2_RqMx 1; +BA_ "U_P702_MY2021_Tx" SG_ 1046 RearDiffLck_Tq2_RqMx 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1046 TRLR_SWAY_EVNT_IN_PROG 1; +BA_ "U_P702_MY2021_Tx" SG_ 1046 TRLR_SWAY_EVNT_IN_PROG 1; +BA_ "ECGUsedRxSignal" SG_ 1046 TRLR_SWAY_EVNT_IN_PROG 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1046 TRLR_SWAY_CONFIG_STAT 1; +BA_ "U_P702_MY2021_Tx" SG_ 1046 TRLR_SWAY_CONFIG_STAT 1; +BA_ "CrossOver_InfoCAN" SG_ 1046 TCMode 1; +BA_ "UsedOnPgmDBC" SG_ 1046 TCMode 1; +BA_ "ContentDependant" SG_ 1046 TCMode 1; +BA_ "U_P702_MY2021_Rx" SG_ 1046 TCMode 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1046 TCMode 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1046 TCMode 1; +BA_ "U_P702_MY2021_Tx" SG_ 1046 TCMode 1; +BA_ "ECGUsedRxSignal" SG_ 1046 TCMode 1; +BA_ "CrossOver_InfoCAN" SG_ 1046 DrvSlipCtlLamp_D_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 1046 DrvSlipCtlLamp_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 1046 DrvSlipCtlLamp_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1046 DrvSlipCtlLamp_D_Rq 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1046 DrvSlipCtlLamp_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1046 DrvSlipCtlLamp_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 1046 Abs_B_Falt 1; +BA_ "UsedOnPgmDBC" SG_ 1046 Abs_B_Falt 1; +BA_ "U_P702_MY2021_Rx" SG_ 1046 Abs_B_Falt 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1046 Abs_B_Falt 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1046 Abs_B_Falt 1; +BA_ "U_P702_MY2021_Tx" SG_ 1046 Abs_B_Falt 1; +BA_ "ECGUsedRxSignal" SG_ 1046 Abs_B_Falt 1; +BA_ "CrossOver_InfoCAN" SG_ 1046 DrvSlipCtlMde_D_Ind 1; +BA_ "UsedOnPgmDBC" SG_ 1046 DrvSlipCtlMde_D_Ind 1; +BA_ "U_P702_MY2021_Rx" SG_ 1046 DrvSlipCtlMde_D_Ind 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1046 DrvSlipCtlMde_D_Ind 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1046 DrvSlipCtlMde_D_Ind 1; +BA_ "U_P702_MY2021_Tx" SG_ 1046 DrvSlipCtlMde_D_Ind 1; +BA_ "ECGUsedRxSignal" SG_ 1046 DrvSlipCtlMde_D_Ind 1; +BA_ "CrossOver_InfoCAN" SG_ 1046 DrvAntiLckLamp_D_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 1046 DrvAntiLckLamp_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 1046 DrvAntiLckLamp_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1046 DrvAntiLckLamp_D_Rq 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1046 DrvAntiLckLamp_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1046 DrvAntiLckLamp_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 1046 BpedMove_No_Cnt 1; +BA_ "UsedOnPgmDBC" SG_ 1046 BpedMove_No_Cnt 1; +BA_ "MetaData" SG_ 1046 BpedMove_No_Cnt 1; +BA_ "U_P702_MY2021_Rx" SG_ 1046 BpedMove_No_Cnt 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1046 BpedMove_No_Cnt 1; +BA_ "U_P702_MY2021_Tx" SG_ 1046 BpedMove_No_Cnt 1; +BA_ "CrossOver_InfoCAN" SG_ 1046 StabCtlBrk_B_Avail 1; +BA_ "UsedOnPgmDBC" SG_ 1046 StabCtlBrk_B_Avail 1; +BA_ "GenSigStartValueInteger" SG_ 1046 StabCtlBrk_B_Avail 1; +BA_ "GenSigStartValue" SG_ 1046 StabCtlBrk_B_Avail 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1046 StabCtlBrk_B_Avail 1; +BA_ "U_P702_MY2021_Tx" SG_ 1046 StabCtlBrk_B_Avail 1; +BA_ "CrossOver_InfoCAN" SG_ 1046 DrvHdcWarnInfo_D_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 1046 DrvHdcWarnInfo_D_Rq 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1046 DrvHdcWarnInfo_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1046 DrvHdcWarnInfo_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 1046 DrvHdcMsg_D_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 1046 DrvHdcMsg_D_Rq 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1046 DrvHdcMsg_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1046 DrvHdcMsg_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 1046 DrvHdcLampInfo_D_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 1046 DrvHdcLampInfo_D_Rq 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1046 DrvHdcLampInfo_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1046 DrvHdcLampInfo_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 1046 BpedMove_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 1046 BpedMove_D_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1046 BpedMove_D_Actl 3; +BA_ "GenSigStartValue" SG_ 1046 BpedMove_D_Actl 3; +BA_ "U_P702_MY2021_Rx" SG_ 1046 BpedMove_D_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1046 BpedMove_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1046 BpedMove_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 1046 ChimeBrk_B_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 1046 ChimeBrk_B_Rq 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1046 ChimeBrk_B_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1046 ChimeBrk_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 1046 BrkLamp_B_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 1046 BrkLamp_B_Rq 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1046 BrkLamp_B_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1046 BrkLamp_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 1046 HILL_DESC_MC 1; +BA_ "UsedOnPgmDBC" SG_ 1046 HILL_DESC_MC 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1046 HILL_DESC_MC 1; +BA_ "U_P702_MY2021_Tx" SG_ 1046 HILL_DESC_MC 1; +BA_ "U_P702_MY2021_Tx" SG_ 1046 RearDiffElckrOpen_B_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 1045 VehStab_D_Stat 14; +BA_ "GenSigStartValue" SG_ 1045 VehStab_D_Stat 14; +BA_ "U_P702_MY2021_Rx" SG_ 1045 VehStab_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1045 VehStab_D_Stat 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1045 VehStab_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1045 VehStab_D_Stat 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1045 BrkFluidLvl_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1045 BrkFluidLvl_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 1045 LsmcBrkDecel_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1045 LsmcBrkDecel_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1045 VehYawNonLin_W_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 1045 VehYawNonLin_W_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 1045 VehYawNonLin_W_Rq 4094; +BA_ "GenSigStartValue" SG_ 1045 VehYawNonLin_W_Rq 4094; +BA_ "U_P702_MY2021_Rx" SG_ 1045 VehYawNonLin_W_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1045 VehYawNonLin_W_Rq 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1045 VehYawNonLin_W_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1045 VehYawNonLin_W_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 1045 VehYawLin_W_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 1045 VehYawLin_W_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 1045 VehYawLin_W_Rq 4094; +BA_ "GenSigStartValue" SG_ 1045 VehYawLin_W_Rq 4094; +BA_ "U_P702_MY2021_Rx" SG_ 1045 VehYawLin_W_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1045 VehYawLin_W_Rq 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1045 VehYawLin_W_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1045 VehYawLin_W_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 1045 VehVActlBrk_No_Cs 1; +BA_ "UsedOnPgmDBC" SG_ 1045 VehVActlBrk_No_Cs 1; +BA_ "MetaData" SG_ 1045 VehVActlBrk_No_Cs 1; +BA_ "U_P702_MY2021_Rx" SG_ 1045 VehVActlBrk_No_Cs 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1045 VehVActlBrk_No_Cs 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1045 VehVActlBrk_No_Cs 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1045 VehVActlBrk_No_Cs 1; +BA_ "U_P702_MY2021_Tx" SG_ 1045 VehVActlBrk_No_Cs 1; +BA_ "CrossOver_InfoCAN" SG_ 1045 Veh_V_ActlBrk 1; +BA_ "UsedOnPgmDBC" SG_ 1045 Veh_V_ActlBrk 1; +BA_ "U_P702_MY2021_Rx" SG_ 1045 Veh_V_ActlBrk 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1045 Veh_V_ActlBrk 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1045 Veh_V_ActlBrk 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1045 Veh_V_ActlBrk 1; +BA_ "U_P702_MY2021_Tx" SG_ 1045 Veh_V_ActlBrk 1; +BA_ "CrossOver_InfoCAN" SG_ 1045 VehVActlBrk_No_Cnt 1; +BA_ "UsedOnPgmDBC" SG_ 1045 VehVActlBrk_No_Cnt 1; +BA_ "MetaData" SG_ 1045 VehVActlBrk_No_Cnt 1; +BA_ "U_P702_MY2021_Rx" SG_ 1045 VehVActlBrk_No_Cnt 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1045 VehVActlBrk_No_Cnt 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1045 VehVActlBrk_No_Cnt 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1045 VehVActlBrk_No_Cnt 1; +BA_ "U_P702_MY2021_Tx" SG_ 1045 VehVActlBrk_No_Cnt 1; +BA_ "CrossOver_InfoCAN" SG_ 1045 VehVActlBrk_D_Qf 1; +BA_ "UsedOnPgmDBC" SG_ 1045 VehVActlBrk_D_Qf 1; +BA_ "MetaData" SG_ 1045 VehVActlBrk_D_Qf 1; +BA_ "U_P702_MY2021_Rx" SG_ 1045 VehVActlBrk_D_Qf 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1045 VehVActlBrk_D_Qf 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1045 VehVActlBrk_D_Qf 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1045 VehVActlBrk_D_Qf 1; +BA_ "U_P702_MY2021_Tx" SG_ 1045 VehVActlBrk_D_Qf 1; +BA_ "UsedOnPgmDBC" SG_ 1044 StePinOffst_An_Est 1; +BA_ "GenSigStartValueInteger" SG_ 1044 StePinOffst_An_Est 65534; +BA_ "ContentDependant" SG_ 1044 StePinOffst_An_Est 1; +BA_ "GenSigStartValue" SG_ 1044 StePinOffst_An_Est 65533; +BA_ "U_CX727_MY2021_Rx" SG_ 1044 StePinOffst_An_Est 1; +BA_ "U_P702_MY2021_Rx" SG_ 1044 StePinOffst_An_Est 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1044 StePinOffst_An_Est 1; +BA_ "U_P702_MY2021_Tx" SG_ 1044 StePinOffst_An_Est 1; +BA_ "UsedOnPgmDBC" SG_ 1044 StePinOffst_No_Cs 1; +BA_ "ContentDependant" SG_ 1044 StePinOffst_No_Cs 1; +BA_ "MetaData" SG_ 1044 StePinOffst_No_Cs 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1044 StePinOffst_No_Cs 1; +BA_ "U_P702_MY2021_Rx" SG_ 1044 StePinOffst_No_Cs 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1044 StePinOffst_No_Cs 1; +BA_ "U_P702_MY2021_Tx" SG_ 1044 StePinOffst_No_Cs 1; +BA_ "CrossOver_InfoCAN" SG_ 1044 StePinOffst_No_Cnt 1; +BA_ "MetaData" SG_ 1044 StePinOffst_No_Cnt 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1044 StePinOffst_No_Cnt 1; +BA_ "U_P702_MY2021_Rx" SG_ 1044 StePinOffst_No_Cnt 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1044 StePinOffst_No_Cnt 1; +BA_ "U_P702_MY2021_Tx" SG_ 1044 StePinOffst_No_Cnt 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1044 StePinOffst_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 1044 StePinOffst_D_Stat 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1044 StePinOffst_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1044 StePinOffst_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 1042 VehRol_An_Dsply 64; +BA_ "GenSigStartValue" SG_ 1042 VehRol_An_Dsply 0; +BA_ "U_P702_MY2021_Tx" SG_ 1042 VehRol_An_Dsply 1; +BA_ "GenSigStartValueInteger" SG_ 1042 VehPtch_An_Dsply 64; +BA_ "GenSigStartValue" SG_ 1042 VehPtch_An_Dsply 0; +BA_ "U_P702_MY2021_Rx" SG_ 1042 VehPtch_An_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 1042 VehPtch_An_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 1042 TrlrBrk_Pc_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 535 WhlRr_W_Meas 1; +BA_ "U_P702_MY2021_Rx" SG_ 535 WhlRr_W_Meas 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 535 WhlRr_W_Meas 1; +BA_ "U_CX727_MY2021_Rx" SG_ 535 WhlRr_W_Meas 1; +BA_ "U_CX727_MY2021_Tx" SG_ 535 WhlRr_W_Meas 1; +BA_ "U_P702_MY2021_Tx" SG_ 535 WhlRr_W_Meas 1; +BA_ "UsedOnPgmDBC" SG_ 535 WhlRl_W_Meas 1; +BA_ "U_P702_MY2021_Rx" SG_ 535 WhlRl_W_Meas 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 535 WhlRl_W_Meas 1; +BA_ "U_CX727_MY2021_Rx" SG_ 535 WhlRl_W_Meas 1; +BA_ "U_CX727_MY2021_Tx" SG_ 535 WhlRl_W_Meas 1; +BA_ "U_P702_MY2021_Tx" SG_ 535 WhlRl_W_Meas 1; +BA_ "UsedOnPgmDBC" SG_ 535 WhlFr_W_Meas 1; +BA_ "U_P702_MY2021_Rx" SG_ 535 WhlFr_W_Meas 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 535 WhlFr_W_Meas 1; +BA_ "U_CX727_MY2021_Rx" SG_ 535 WhlFr_W_Meas 1; +BA_ "U_CX727_MY2021_Tx" SG_ 535 WhlFr_W_Meas 1; +BA_ "U_P702_MY2021_Tx" SG_ 535 WhlFr_W_Meas 1; +BA_ "UsedOnPgmDBC" SG_ 535 WhlFl_W_Meas 1; +BA_ "U_P702_MY2021_Rx" SG_ 535 WhlFl_W_Meas 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 535 WhlFl_W_Meas 1; +BA_ "U_CX727_MY2021_Rx" SG_ 535 WhlFl_W_Meas 1; +BA_ "U_CX727_MY2021_Tx" SG_ 535 WhlFl_W_Meas 1; +BA_ "U_P702_MY2021_Tx" SG_ 535 WhlFl_W_Meas 1; +BA_ "ContentDependant" SG_ 534 BrkObdData_No_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 534 BrkObdData_No_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 534 BrkObdData_No_Actl 1; +BA_ "ContentDependant" SG_ 534 BrkObdIndex_No_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 534 BrkObdIndex_No_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 534 BrkObdIndex_No_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 534 WhlRotatRr_No_Cnt 1; +BA_ "UsedOnPgmDBC" SG_ 534 WhlRotatRr_No_Cnt 1; +BA_ "U_P702_MY2021_Rx" SG_ 534 WhlRotatRr_No_Cnt 1; +BA_ "U_CX727_MY2021_Tx" SG_ 534 WhlRotatRr_No_Cnt 1; +BA_ "U_P702_MY2021_Tx" SG_ 534 WhlRotatRr_No_Cnt 1; +BA_ "CrossOver_InfoCAN" SG_ 534 WhlDirRr_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 534 WhlDirRr_D_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 534 WhlDirRr_D_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 534 WhlDirRr_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 534 WhlDirRr_D_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 534 WhlDirRr_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 534 WhlDirRr_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 534 WhlDirRl_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 534 WhlDirRl_D_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 534 WhlDirRl_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 534 WhlDirRl_D_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 534 WhlDirRl_D_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 534 WhlDirRl_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 534 WhlDirRl_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 534 WhlDirFr_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 534 WhlDirFr_D_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 534 WhlDirFr_D_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 534 WhlDirFr_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 534 WhlDirFr_D_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 534 WhlDirFr_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 534 WhlDirFr_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 534 WhlDirFl_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 534 WhlDirFl_D_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 534 WhlDirFl_D_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 534 WhlDirFl_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 534 WhlDirFl_D_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 534 WhlDirFl_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 534 WhlDirFl_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 534 WhlRotatRl_No_Cnt 1; +BA_ "UsedOnPgmDBC" SG_ 534 WhlRotatRl_No_Cnt 1; +BA_ "U_P702_MY2021_Rx" SG_ 534 WhlRotatRl_No_Cnt 1; +BA_ "U_CX727_MY2021_Tx" SG_ 534 WhlRotatRl_No_Cnt 1; +BA_ "U_P702_MY2021_Tx" SG_ 534 WhlRotatRl_No_Cnt 1; +BA_ "CrossOver_InfoCAN" SG_ 534 WhlRotatFr_No_Cnt 1; +BA_ "UsedOnPgmDBC" SG_ 534 WhlRotatFr_No_Cnt 1; +BA_ "U_P702_MY2021_Rx" SG_ 534 WhlRotatFr_No_Cnt 1; +BA_ "U_CX727_MY2021_Tx" SG_ 534 WhlRotatFr_No_Cnt 1; +BA_ "U_P702_MY2021_Tx" SG_ 534 WhlRotatFr_No_Cnt 1; +BA_ "CrossOver_InfoCAN" SG_ 534 WhlRotatFl_No_Cnt 1; +BA_ "UsedOnPgmDBC" SG_ 534 WhlRotatFl_No_Cnt 1; +BA_ "U_P702_MY2021_Rx" SG_ 534 WhlRotatFl_No_Cnt 1; +BA_ "U_CX727_MY2021_Tx" SG_ 534 WhlRotatFl_No_Cnt 1; +BA_ "U_P702_MY2021_Tx" SG_ 534 WhlRotatFl_No_Cnt 1; +BA_ "UsedOnPgmDBC" SG_ 532 RgenTqFalt_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 532 RgenTqFalt_B_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 532 RgenTqFalt_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 532 RgenTqFalt_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 532 RgenBrkDynoMde_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 532 RgenBrkDynoMde_B_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 532 RgenBrkDynoMde_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 532 RgenBrkDynoMde_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 532 PrplWhlTqRqMn_No_Cs 1; +BA_ "MetaData" SG_ 532 PrplWhlTqRqMn_No_Cs 1; +BA_ "U_P702_MY2021_Rx" SG_ 532 PrplWhlTqRqMn_No_Cs 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 532 PrplWhlTqRqMn_No_Cs 1; +BA_ "U_CX727_MY2021_Tx" SG_ 532 PrplWhlTqRqMn_No_Cs 1; +BA_ "U_P702_MY2021_Tx" SG_ 532 PrplWhlTqRqMn_No_Cs 1; +BA_ "UsedOnPgmDBC" SG_ 532 PrplWhlTot_Tq_RqMn 1; +BA_ "U_P702_MY2021_Rx" SG_ 532 PrplWhlTot_Tq_RqMn 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 532 PrplWhlTot_Tq_RqMn 1; +BA_ "U_CX727_MY2021_Tx" SG_ 532 PrplWhlTot_Tq_RqMn 1; +BA_ "U_P702_MY2021_Tx" SG_ 532 PrplWhlTot_Tq_RqMn 1; +BA_ "UsedOnPgmDBC" SG_ 532 PrplWhlTqRqMn_No_Cnt 1; +BA_ "MetaData" SG_ 532 PrplWhlTqRqMn_No_Cnt 1; +BA_ "U_P702_MY2021_Rx" SG_ 532 PrplWhlTqRqMn_No_Cnt 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 532 PrplWhlTqRqMn_No_Cnt 1; +BA_ "U_CX727_MY2021_Tx" SG_ 532 PrplWhlTqRqMn_No_Cnt 1; +BA_ "U_P702_MY2021_Tx" SG_ 532 PrplWhlTqRqMn_No_Cnt 1; +BA_ "GenSigStartValueInteger" SG_ 531 VehStop_D_Stat 2; +BA_ "GenSigStartValue" SG_ 531 VehStop_D_Stat 2; +BA_ "U_CX727_MY2021_Tx" SG_ 531 VehStop_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 VehStop_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 531 TracCtlPtActv_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 531 TracCtlPtActv_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 531 TracCtlPtActv_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 531 TracCtlPtActv_B_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 TracCtlPtActv_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 TracCtlPtActv_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 531 LscmbbMntr_B_Err 1; +BA_ "UsedOnPgmDBC" SG_ 531 LscmbbMntr_B_Err 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 LscmbbMntr_B_Err 1; +BA_ "CrossOver_InfoCAN" SG_ 531 LscmbbBrkDis_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 531 LscmbbBrkDis_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 LscmbbBrkDis_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 531 LscmbbDeny_B_ActlBrk 1; +BA_ "UsedOnPgmDBC" SG_ 531 LscmbbDeny_B_ActlBrk 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 LscmbbDeny_B_ActlBrk 1; +BA_ "WakeupSignal" SG_ 531 PrkBrkYwLamp_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 531 PrkBrkYwLamp_D_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 531 PrkBrkYwLamp_D_Rq 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 PrkBrkYwLamp_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 PrkBrkYwLamp_D_Rq 1; +BA_ "WakeupSignal" SG_ 531 PrkBrkRedLamp_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 531 PrkBrkRedLamp_D_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 531 PrkBrkRedLamp_D_Rq 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 PrkBrkRedLamp_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 PrkBrkRedLamp_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 531 LscmbbBrkDecel_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 531 LscmbbBrkDecel_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 LscmbbBrkDecel_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 531 AbsActv_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 531 AbsActv_B_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 531 AbsActv_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 531 AbsActv_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 531 AbsActv_B_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 AbsActv_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 AbsActv_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 531 StabCtlBrkActv_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 531 StabCtlBrkActv_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 531 StabCtlBrkActv_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 531 StabCtlBrkActv_B_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 531 StabCtlBrkActv_B_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 StabCtlBrkActv_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 StabCtlBrkActv_B_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 531 StabCtlBrkActv_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 531 CmbbBrkPrchg_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 531 CmbbBrkPrchg_B_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 CmbbBrkPrchg_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 CmbbBrkPrchg_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 531 CmbbBrkDecel_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 531 CmbbBrkDecel_B_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 CmbbBrkDecel_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 CmbbBrkDecel_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 531 CmbbBaSensInc_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 531 CmbbBaSensInc_B_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 CmbbBaSensInc_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 CmbbBaSensInc_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 531 AccBrkWarm_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 531 AccBrkWarm_B_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 AccBrkWarm_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 AccBrkWarm_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 531 AccBrkTotTqMn_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 531 AccBrkTotTqMn_B_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 AccBrkTotTqMn_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 AccBrkTotTqMn_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 531 AccBrkPrchgActv_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 531 AccBrkPrchgActv_B_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 AccBrkPrchgActv_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 AccBrkPrchgActv_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 531 AccBrkDis_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 531 AccBrkDis_B_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 AccBrkDis_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 AccBrkDis_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 531 AccBrkDeny_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 531 AccBrkDeny_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 531 AccBrkDeny_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 531 AccBrkDeny_B_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 AccBrkDeny_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 AccBrkDeny_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 531 AccBrkActv_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 531 AccBrkActv_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 531 AccBrkActv_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 531 AccBrkActv_B_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 AccBrkActv_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 AccBrkActv_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 531 PrplDrgCtlActv_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 531 PrplDrgCtlActv_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 531 PrplDrgCtlActv_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 531 PrplDrgCtlActv_B_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 PrplDrgCtlActv_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 PrplDrgCtlActv_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 531 PrplWhlTot_Tq_RqMx 1; +BA_ "UsedOnPgmDBC" SG_ 531 PrplWhlTot_Tq_RqMx 1; +BA_ "U_P702_MY2021_Rx" SG_ 531 PrplWhlTot_Tq_RqMx 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 531 PrplWhlTot_Tq_RqMx 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 PrplWhlTot_Tq_RqMx 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 PrplWhlTot_Tq_RqMx 1; +BA_ "CrossOver_InfoCAN" SG_ 531 LscmbbBaSensInc_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 531 LscmbbBaSensInc_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 LscmbbBaSensInc_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 531 CmbbBrkDis_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 531 CmbbBrkDis_B_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 531 CmbbBrkDis_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 531 CmbbBrkDis_B_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 CmbbBrkDis_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 CmbbBrkDis_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 531 CmbbDeny_B_ActlBrk 1; +BA_ "UsedOnPgmDBC" SG_ 531 CmbbDeny_B_ActlBrk 1; +BA_ "U_P702_MY2021_Rx" SG_ 531 CmbbDeny_B_ActlBrk 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 531 CmbbDeny_B_ActlBrk 1; +BA_ "U_CX727_MY2021_Rx" SG_ 531 CmbbDeny_B_ActlBrk 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 CmbbDeny_B_ActlBrk 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 CmbbDeny_B_ActlBrk 1; +BA_ "CrossOver_InfoCAN" SG_ 531 CcDis_B_Cmd 1; +BA_ "UsedOnPgmDBC" SG_ 531 CcDis_B_Cmd 1; +BA_ "U_P702_MY2021_Rx" SG_ 531 CcDis_B_Cmd 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 531 CcDis_B_Cmd 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 CcDis_B_Cmd 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 CcDis_B_Cmd 1; +BA_ "CrossOver_InfoCAN" SG_ 531 VehLongOvrGnd_A_Est 1; +BA_ "UsedOnPgmDBC" SG_ 531 VehLongOvrGnd_A_Est 1; +BA_ "GenSigStartValueInteger" SG_ 531 VehLongOvrGnd_A_Est 511; +BA_ "U_P702_MY2021_Rx" SG_ 531 VehLongOvrGnd_A_Est 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 VehLongOvrGnd_A_Est 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 VehLongOvrGnd_A_Est 1; +BA_ "CrossOver_InfoCAN" SG_ 531 LscmbBrkPrchg_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 531 LscmbBrkPrchg_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 LscmbBrkPrchg_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 531 AccStopActv_B_ActlBrk 1; +BA_ "UsedOnPgmDBC" SG_ 531 AccStopActv_B_ActlBrk 1; +BA_ "U_P702_MY2021_Rx" SG_ 531 AccStopActv_B_ActlBrk 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 531 AccStopActv_B_ActlBrk 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 AccStopActv_B_ActlBrk 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 AccStopActv_B_ActlBrk 1; +BA_ "CrossOver_InfoCAN" SG_ 531 AccDis_B_ActlEpb 1; +BA_ "UsedOnPgmDBC" SG_ 531 AccDis_B_ActlEpb 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 AccDis_B_ActlEpb 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 AccDis_B_ActlEpb 1; +BA_ "WakeupSignal" SG_ 531 PrkBrkMsgTxt_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 531 PrkBrkMsgTxt_D_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 531 PrkBrkMsgTxt_D_Rq 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 PrkBrkMsgTxt_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 PrkBrkMsgTxt_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 531 PrkBrkStatus 1; +BA_ "UsedOnPgmDBC" SG_ 531 PrkBrkStatus 1; +BA_ "GenSigStartValueInteger" SG_ 531 PrkBrkStatus 7; +BA_ "GenSigStartValue" SG_ 531 PrkBrkStatus 7; +BA_ "U_P702_MY2021_Rx" SG_ 531 PrkBrkStatus 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 531 PrkBrkStatus 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 PrkBrkStatus 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 PrkBrkStatus 1; +BA_ "ECGUsedRxSignal" SG_ 531 PrkBrkStatus 1; +BA_ "GenSigStartValueInteger" SG_ 136 SteWhlBrkOffst_An_Rq 32766; +BA_ "GenSigStartValue" SG_ 136 SteWhlBrkOffst_An_Rq 32765; +BA_ "U_P702_MY2021_Tx" SG_ 136 SteWhlBrkOffst_An_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 136 SteWhlBrkAnRq_No_Cs 1; +BA_ "MetaData" SG_ 136 SteWhlBrkAnRq_No_Cs 1; +BA_ "U_P702_MY2021_Tx" SG_ 136 SteWhlBrkAnRq_No_Cs 1; +BA_ "CrossOver_InfoCAN" SG_ 136 SteWhlBrkAnRq_No_Cnt 1; +BA_ "MetaData" SG_ 136 SteWhlBrkAnRq_No_Cnt 1; +BA_ "U_P702_MY2021_Tx" SG_ 136 SteWhlBrkAnRq_No_Cnt 1; +BA_ "UsedOnPgmDBC" SG_ 125 VehRolComp_W_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 125 VehRolComp_W_Actl 4094; +BA_ "GenSigStartValue" SG_ 125 VehRolComp_W_Actl 4094; +BA_ "U_CX727_MY2021_Tx" SG_ 125 VehRolComp_W_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 125 VehRolComp_W_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 125 VehVertComp_A_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 125 VehVertComp_A_Actl 1022; +BA_ "GenSigStartValue" SG_ 125 VehVertComp_A_Actl 1022; +BA_ "U_P702_MY2021_Rx" SG_ 125 VehVertComp_A_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 125 VehVertComp_A_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 125 VehVertComp_A_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 125 BrkTotTqRqArb_No_Cs 1; +BA_ "MetaData" SG_ 125 BrkTotTqRqArb_No_Cs 1; +BA_ "U_P702_MY2021_Rx" SG_ 125 BrkTotTqRqArb_No_Cs 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 125 BrkTotTqRqArb_No_Cs 1; +BA_ "U_CX727_MY2021_Tx" SG_ 125 BrkTotTqRqArb_No_Cs 1; +BA_ "U_P702_MY2021_Tx" SG_ 125 BrkTotTqRqArb_No_Cs 1; +BA_ "UsedOnPgmDBC" SG_ 125 BrkTotTqRqArb_No_Cnt 1; +BA_ "MetaData" SG_ 125 BrkTotTqRqArb_No_Cnt 1; +BA_ "U_P702_MY2021_Rx" SG_ 125 BrkTotTqRqArb_No_Cnt 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 125 BrkTotTqRqArb_No_Cnt 1; +BA_ "U_CX727_MY2021_Tx" SG_ 125 BrkTotTqRqArb_No_Cnt 1; +BA_ "U_P702_MY2021_Tx" SG_ 125 BrkTotTqRqArb_No_Cnt 1; +BA_ "UsedOnPgmDBC" SG_ 125 BrkTot_Tq_RqArb 1; +BA_ "U_P702_MY2021_Rx" SG_ 125 BrkTot_Tq_RqArb 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 125 BrkTot_Tq_RqArb 1; +BA_ "U_CX727_MY2021_Tx" SG_ 125 BrkTot_Tq_RqArb 1; +BA_ "U_P702_MY2021_Tx" SG_ 125 BrkTot_Tq_RqArb 1; +BA_ "ECGUsedRxSignal" SG_ 125 BrkTot_Tq_RqArb 1; +BA_ "UsedOnPgmDBC" SG_ 125 BrkTot_Tq_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 125 BrkTot_Tq_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 125 BrkTot_Tq_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 125 BrkTot_Tq_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 125 BrkTot_Tq_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 125 BrkTot_Tq_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 125 HsaStat_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 125 HsaStat_D_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 125 HsaStat_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 125 HsaStat_D_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 125 HsaStat_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 125 HsaStat_D_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 119 VehTrvlDir_D_Stat 6; +BA_ "GenSigStartValue" SG_ 119 VehTrvlDir_D_Stat 6; +BA_ "U_P702_MY2021_Tx" SG_ 119 VehTrvlDir_D_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 119 VehOverGnd_V_Est 1; +BA_ "U_CX727_MY2021_Rx" SG_ 119 VehOverGnd_V_Est 1; +BA_ "U_P702_MY2021_Rx" SG_ 119 VehOverGnd_V_Est 1; +BA_ "U_CX727_MY2021_Tx" SG_ 119 VehOverGnd_V_Est 1; +BA_ "U_P702_MY2021_Tx" SG_ 119 VehOverGnd_V_Est 1; +BA_ "UsedOnPgmDBC" SG_ 119 VehLongComp_A_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 119 VehLongComp_A_Actl 1022; +BA_ "GenSigStartValue" SG_ 119 VehLongComp_A_Actl 1022; +BA_ "U_P702_MY2021_Rx" SG_ 119 VehLongComp_A_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 119 VehLongComp_A_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 119 VehLongComp_A_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 119 VehLongComp_A_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 119 VehLongComp_A_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 119 VehLatComp_A_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 119 VehLatComp_A_Actl 1022; +BA_ "GenSigStartValue" SG_ 119 VehLatComp_A_Actl 1022; +BA_ "U_P702_MY2021_Rx" SG_ 119 VehLatComp_A_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 119 VehLatComp_A_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 119 VehLatComp_A_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 119 VehLatComp_A_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 119 VehLatComp_A_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 119 VehLatComp_A_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 119 VehYawComp_W_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 119 VehYawComp_W_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 119 VehYawComp_W_Actl 4094; +BA_ "GenSigStartValue" SG_ 119 VehYawComp_W_Actl 4094; +BA_ "U_CX727_MY2021_Rx" SG_ 119 VehYawComp_W_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 119 VehYawComp_W_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 119 VehYawComp_W_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 119 VehYawComp_W_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 119 VehYawComp_W_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 119 VehYawComp_W_Actl 1; +BA_ "GenSigSendType" SG_ 118 BrkCtrFnd_B_Stat 3; +BA_ "U_P702_MY2021_Tx" SG_ 118 BrkCtrFnd_B_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 118 AwdLck_Tq_RqMx 1; +BA_ "U_P702_MY2021_Rx" SG_ 118 AwdLck_Tq_RqMx 1; +BA_ "U_P702_MY2021_Tx" SG_ 118 AwdLck_Tq_RqMx 1; +BA_ "UsedOnPgmDBC" SG_ 118 AwdLck_Tq_RqMn 1; +BA_ "U_P702_MY2021_Rx" SG_ 118 AwdLck_Tq_RqMn 1; +BA_ "U_P702_MY2021_Tx" SG_ 118 AwdLck_Tq_RqMn 1; +BA_ "UsedOnPgmDBC" SG_ 118 DrvSte_D_Stat 1; +BA_ "GenSigSendType" SG_ 118 DrvSte_D_Stat 3; +BA_ "U_CX727_MY2021_Rx" SG_ 118 DrvSte_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 118 DrvSte_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 118 DrvSte_D_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 118 DrvSte_Tq_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 118 DrvSte_Tq_Rq 128; +BA_ "U_CX727_MY2021_Rx" SG_ 118 DrvSte_Tq_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 118 DrvSte_Tq_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 118 DrvSte_Tq_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 118 EmgcyBrkLamp_D_Rq 1; +BA_ "GenSigSendType" SG_ 118 EmgcyBrkLamp_D_Rq 3; +BA_ "U_CX727_MY2021_Tx" SG_ 118 EmgcyBrkLamp_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 118 EmgcyBrkLamp_D_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 118 StopLamp_B_RqBrk 1; +BA_ "GenSigSendType" SG_ 118 StopLamp_B_RqBrk 3; +BA_ "U_CX727_MY2021_Tx" SG_ 118 StopLamp_B_RqBrk 1; +BA_ "U_P702_MY2021_Tx" SG_ 118 StopLamp_B_RqBrk 1; +BA_ "UsedOnPgmDBC" SG_ 73 immoSubTarget1Data_T1 1; +BA_ "U_P702_MY2021_Rx" SG_ 73 immoSubTarget1Data_T1 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 73 immoSubTarget1Data_T1 1; +BA_ "U_CX727_MY2021_Tx" SG_ 73 immoSubTarget1Data_T1 1; +BA_ "U_P702_MY2021_Tx" SG_ 73 immoSubTarget1Data_T1 1; +BA_ "UsedOnPgmDBC" SG_ 73 immoSubTarget1Cmd_T1 1; +BA_ "U_P702_MY2021_Rx" SG_ 73 immoSubTarget1Cmd_T1 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 73 immoSubTarget1Cmd_T1 1; +BA_ "U_CX727_MY2021_Tx" SG_ 73 immoSubTarget1Cmd_T1 1; +BA_ "U_P702_MY2021_Tx" SG_ 73 immoSubTarget1Cmd_T1 1; +BA_ "CrossOver_InfoCAN" SG_ 1034 VehicleGGCCData 1; +BA_ "UsedOnPgmDBC" SG_ 1034 VehicleGGCCData 1; +BA_ "U_P702_MY2021_Rx" SG_ 1034 VehicleGGCCData 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1034 VehicleGGCCData 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1034 VehicleGGCCData 1; +BA_ "GenSigStartValueInteger" SG_ 1440 TCM_GWOnBoardTester 255; +BA_ "ContentDependant" SG_ 1440 TCM_GWOnBoardTester 1; +BA_ "GenSigStartValue" SG_ 1440 TCM_GWOnBoardTester 255; +BA_ "U_P702_MY2021_Tx" SG_ 1440 TCM_GWOnBoardTester 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1440 TCM_GWOnBoardTester 1; +BA_ "GenSigStartValueInteger" SG_ 1440 TCM_GWNMProxy 255; +BA_ "ContentDependant" SG_ 1440 TCM_GWNMProxy 1; +BA_ "GenSigStartValue" SG_ 1440 TCM_GWNMProxy 255; +BA_ "U_P702_MY2021_Tx" SG_ 1440 TCM_GWNMProxy 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1440 TCM_GWNMProxy 1; +BA_ "GenSigStartValueInteger" SG_ 1440 TCM_AutoSarNMReserved4 255; +BA_ "ContentDependant" SG_ 1440 TCM_AutoSarNMReserved4 1; +BA_ "GenSigStartValue" SG_ 1440 TCM_AutoSarNMReserved4 255; +BA_ "U_P702_MY2021_Tx" SG_ 1440 TCM_AutoSarNMReserved4 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1440 TCM_AutoSarNMReserved4 1; +BA_ "GenSigStartValueInteger" SG_ 1440 TCM_AutoSarNMReserved3 255; +BA_ "ContentDependant" SG_ 1440 TCM_AutoSarNMReserved3 1; +BA_ "GenSigStartValue" SG_ 1440 TCM_AutoSarNMReserved3 255; +BA_ "U_P702_MY2021_Tx" SG_ 1440 TCM_AutoSarNMReserved3 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1440 TCM_AutoSarNMReserved3 1; +BA_ "GenSigStartValueInteger" SG_ 1440 TCM_AutoSarNMReserved2 255; +BA_ "ContentDependant" SG_ 1440 TCM_AutoSarNMReserved2 1; +BA_ "GenSigStartValue" SG_ 1440 TCM_AutoSarNMReserved2 255; +BA_ "U_P702_MY2021_Tx" SG_ 1440 TCM_AutoSarNMReserved2 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1440 TCM_AutoSarNMReserved2 1; +BA_ "GenSigStartValueInteger" SG_ 1440 TCM_AutoSarNMReserved1 255; +BA_ "ContentDependant" SG_ 1440 TCM_AutoSarNMReserved1 1; +BA_ "GenSigStartValue" SG_ 1440 TCM_AutoSarNMReserved1 255; +BA_ "U_P702_MY2021_Tx" SG_ 1440 TCM_AutoSarNMReserved1 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1440 TCM_AutoSarNMReserved1 1; +BA_ "GenSigStartValueInteger" SG_ 1440 TCM_AutoSarNMNodeId 160; +BA_ "ContentDependant" SG_ 1440 TCM_AutoSarNMNodeId 1; +BA_ "GenSigStartValue" SG_ 1440 TCM_AutoSarNMNodeId 160; +BA_ "U_P702_MY2021_Tx" SG_ 1440 TCM_AutoSarNMNodeId 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1440 TCM_AutoSarNMNodeId 1; +BA_ "ContentDependant" SG_ 1440 TCM_AutoSarNMControl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1440 TCM_AutoSarNMControl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1440 TCM_AutoSarNMControl 1; +BA_ "CrossOver_InfoCAN" SG_ 561 TrnMsgTxt2_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 561 TrnMsgTxt2_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 561 TrnMsgTxt2_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 561 TrnMsgTxt_D_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 561 TrnMsgTxt_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 561 TrnMsgTxt_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 561 TrnMsgTxt_D_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 330 TrnAout_W_ActlUnfilt 1; +BA_ "U_P702_MY2021_Rx" SG_ 330 TrnAout_W_ActlUnfilt 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 330 TrnAout_W_ActlUnfilt 1; +BA_ "U_P702_MY2021_Tx" SG_ 330 TrnAout_W_ActlUnfilt 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 330 TrnAout_W_ActlUnfilt 1; +BA_ "ECGUsedRxSignal" SG_ 1090 Mtr2State_D_ActlMntr 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1090 Mtr2State_D_ActlMntr 1; +BA_ "GenSigStartValueInteger" SG_ 1090 Inv1Ain_I_ActlMntr 32766; +BA_ "GenSigStartValue" SG_ 1090 Inv1Ain_I_ActlMntr 32765; +BA_ "ECGUsedRxSignal" SG_ 1090 Inv1Ain_I_ActlMntr 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1090 Inv1Ain_I_ActlMntr 1; +BA_ "ECGUsedRxSignal" SG_ 1090 HybVehMde_D_ActlMntr 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1090 HybVehMde_D_ActlMntr 1; +BA_ "ECGUsedRxSignal" SG_ 1090 ChrgStat_D_ActlMntr 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1090 ChrgStat_D_ActlMntr 1; +BA_ "CrossOver_InfoCAN" SG_ 1090 VehElRnge_L_Dsply 1; +BA_ "GenSigStartValueInteger" SG_ 1090 VehElRnge_L_Dsply 4095; +BA_ "GenSigStartValue" SG_ 1090 VehElRnge_L_Dsply 4093; +BA_ "U_P702_MY2021_Tx" SG_ 1090 VehElRnge_L_Dsply 1; +BA_ "ECGUsedRxSignal" SG_ 1090 VehElRnge_L_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 870 EngMdeMsgTxt_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 870 EffRgenThres_Pc_Dsply 1; +BA_ "GenSigStartValue" SG_ 870 EffRgenThres_Pc_Dsply 1023; +BA_ "CrossOver_InfoCAN" SG_ 870 EffRgenThres_Pc_Dsply 1; +BA_ "GenSigStartValueInteger" SG_ 870 RngPerChrgInst_L_Dsply 4094; +BA_ "GenSigStartValue" SG_ 870 RngPerChrgInst_L_Dsply 4093; +BA_ "U_P702_MY2021_Tx" SG_ 870 RngPerChrgInst_L_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 869 PwrFlowTxt_D_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 869 EngOnMsg2_D_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 869 EngOnMsg1_D_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 869 FuelMaintMde_D_Dsply 1; +BA_ "CrossOver_InfoCAN" SG_ 869 EffWhlLvl2_Pc_Dsply 1; +BA_ "GenSigStartValueInteger" SG_ 869 EffWhlLvl2_Pc_Dsply 511; +BA_ "U_P702_MY2021_Tx" SG_ 869 EffWhlLvl2_Pc_Dsply 1; +BA_ "CrossOver_InfoCAN" SG_ 869 EffWhlThres_Pc_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 869 EffWhlThres_Pc_Dsply 1; +BA_ "CrossOver_InfoCAN" SG_ 869 EngPwLvl_Pc_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 869 EngPwLvl_Pc_Dsply 1; +BA_ "CrossOver_InfoCAN" SG_ 869 EngActv_B_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 869 EngActv_B_Dsply 1; +BA_ "CrossOver_InfoCAN" SG_ 869 EffWhlThresOn_B_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 869 EffWhlThresOn_B_Dsply 1; +BA_ "GenSigSendType" SG_ 606 ElVehLaterMde_D_Stat 3; +BA_ "U_P702_MY2021_Tx" SG_ 606 ElVehLaterMde_D_Stat 1; +BA_ "GenSigSendType" SG_ 606 ElVehNowMde_D_Stat 3; +BA_ "U_P702_MY2021_Tx" SG_ 606 ElVehNowMde_D_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 374 GearEngag_D_Actl 1; +BA_ "GenSigSendType" SG_ 374 GearEngag_D_Actl 3; +BA_ "U_P702_MY2021_Tx" SG_ 374 GearEngag_D_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 374 TrnRng_D_Rq 14; +BA_ "ContentDependant" SG_ 374 TrnRng_D_Rq 1; +BA_ "GenSigStartValue" SG_ 374 TrnRng_D_Rq 14; +BA_ "GenSigSendType" SG_ 374 TrnRng_D_Rq 3; +BA_ "U_P702_MY2021_Rx" SG_ 374 TrnRng_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 374 TrnRng_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 374 TrnRng_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 374 TrnRng_D_Rq 1; +BA_ "ContentDependant" SG_ 374 TrnPrkSys_D_Actl 1; +BA_ "GenSigSendType" SG_ 374 TrnPrkSys_D_Actl 3; +BA_ "U_P702_MY2021_Rx" SG_ 374 TrnPrkSys_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 374 TrnPrkSys_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 374 TrnPrkSys_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 374 TrnPrkSys_D_Actl 1; +BA_ "ContentDependant" SG_ 374 GearLvr_D_ActlDrv 1; +BA_ "GenSigSendType" SG_ 374 GearLvr_D_ActlDrv 3; +BA_ "U_P702_MY2021_Rx" SG_ 374 GearLvr_D_ActlDrv 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 374 GearLvr_D_ActlDrv 1; +BA_ "U_P702_MY2021_Tx" SG_ 374 GearLvr_D_ActlDrv 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 374 GearLvr_D_ActlDrv 1; +BA_ "ContentDependant" SG_ 374 GearPos_No_Cs 1; +BA_ "MetaData" SG_ 374 GearPos_No_Cs 1; +BA_ "U_P702_MY2021_Rx" SG_ 374 GearPos_No_Cs 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 374 GearPos_No_Cs 1; +BA_ "U_CX727_MY2021_Rx" SG_ 374 GearPos_No_Cs 1; +BA_ "U_P702_MY2021_Tx" SG_ 374 GearPos_No_Cs 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 374 GearPos_No_Cs 1; +BA_ "CrossOver_InfoCAN" SG_ 374 GearPos_D_Trg 1; +BA_ "UsedOnPgmDBC" SG_ 374 GearPos_D_Trg 1; +BA_ "GenSigStartValueInteger" SG_ 374 GearPos_D_Trg 15; +BA_ "ContentDependant" SG_ 374 GearPos_D_Trg 1; +BA_ "GenSigStartValue" SG_ 374 GearPos_D_Trg 15; +BA_ "GenSigSendType" SG_ 374 GearPos_D_Trg 3; +BA_ "U_P702_MY2021_Rx" SG_ 374 GearPos_D_Trg 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 374 GearPos_D_Trg 1; +BA_ "U_CX727_MY2021_Rx" SG_ 374 GearPos_D_Trg 1; +BA_ "U_P702_MY2021_Tx" SG_ 374 GearPos_D_Trg 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 374 GearPos_D_Trg 1; +BA_ "ContentDependant" SG_ 374 GearPos_No_Cnt 1; +BA_ "MetaData" SG_ 374 GearPos_No_Cnt 1; +BA_ "U_P702_MY2021_Rx" SG_ 374 GearPos_No_Cnt 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 374 GearPos_No_Cnt 1; +BA_ "U_CX727_MY2021_Rx" SG_ 374 GearPos_No_Cnt 1; +BA_ "U_P702_MY2021_Tx" SG_ 374 GearPos_No_Cnt 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 374 GearPos_No_Cnt 1; +BA_ "U_P702_MY2021_Tx" SG_ 374 TrnIgnOffDly_T_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 374 TrnIgnOffDly_T_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 374 GearPos_D_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 374 GearPos_D_Actl 15; +BA_ "ContentDependant" SG_ 374 GearPos_D_Actl 1; +BA_ "GenSigStartValue" SG_ 374 GearPos_D_Actl 15; +BA_ "GenSigSendType" SG_ 374 GearPos_D_Actl 3; +BA_ "U_P702_MY2021_Rx" SG_ 374 GearPos_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 374 GearPos_D_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 374 GearPos_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 374 GearPos_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 374 GearPos_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 603 WhlDirAvgDrv_D_Actl 1; +BA_ "ContentDependant" SG_ 603 WhlDirAvgDrv_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 603 WhlDirAvgDrv_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 603 PrplTqMnRgen_B_Actl 1; +BA_ "ContentDependant" SG_ 603 PrplTqMnRgen_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 603 PrplTqMnRgen_B_Actl 1; +BA_ "ContentDependant" SG_ 603 BattTracCnnct_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 603 BattTracCnnct_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 602 HtrnWarnLamp_B_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 602 HtrnWarnLamp_B_Dsply 1; +BA_ "ECGUsedRxSignal" SG_ 602 HtrnWarnLamp_B_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 602 HybPwLimOn_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 602 PwPckTqRdy_B_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 602 PwPckTqRdy_B_Dsply 1; +BA_ "GenSigSendType" SG_ 1152 BattTracDiagClr_B_Stat 3; +BA_ "GenSigSendType" SG_ 1152 EngTeHi_B_Actl 3; +BA_ "U_P702_MY2021_Tx" SG_ 1152 EngTeHi_B_Actl 1; +BA_ "GenSigSendType" SG_ 1152 DcdcOn_B_Rq 3; +BA_ "U_P702_MY2021_Tx" SG_ 1152 DcdcOn_B_Rq 1; +BA_ "GenSigSendType" SG_ 1152 ULoBattSpprtSustn_B_Rq 3; +BA_ "U_P702_MY2021_Tx" SG_ 1152 ULoBattSpprtSustn_B_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 1152 VehElEff_No_Avg 126; +BA_ "GenSigStartValue" SG_ 1152 VehElEff_No_Avg 126; +BA_ "U_P702_MY2021_Tx" SG_ 1152 VehElEff_No_Avg 1; +BA_ "CrossOver_InfoCAN" SG_ 872 PlgActvArb_B_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 872 PlgActvArb_B_Dsply 1; +BA_ "ECGUsedRxSignal" SG_ 872 PlgActvArb_B_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 872 HybMdeStat_D_Dsply 1; +BA_ "ECGUsedRxSignal" SG_ 872 HybMdeStat_D_Dsply 1; +BA_ "ContentDependant" SG_ 560 SelDrvMdeSwtch_D_Stat3 1; +BA_ "U_P702_MY2021_Rx" SG_ 560 SelDrvMdeSwtch_D_Stat3 1; +BA_ "U_P702_MY2021_Tx" SG_ 560 SelDrvMdeSwtch_D_Stat3 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 560 SelDrvMdeSwtch_D_Stat3 1; +BA_ "CrossOver_InfoCAN" SG_ 560 TrnSrvcRqd_B_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 560 TrnSrvcRqd_B_Rq 1; +BA_ "ContentDependant" SG_ 560 TrnSrvcRqd_B_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 560 TrnSrvcRqd_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 560 TrnSrvcRqd_B_Rq 1; +BA_ "ECGUsedRxSignal" SG_ 560 TrnSrvcRqd_B_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 560 TrnShifActv_B_Actl 1; +BA_ "ContentDependant" SG_ 560 TrnShifActv_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 560 TrnShifActv_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 560 TrnShifActv_B_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 560 TrnShifActv_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 560 TrnShifActv_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 560 TrnShifActv_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 560 GearLvrPos_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 560 GearLvrPos_D_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 560 GearLvrPos_D_Actl 14; +BA_ "GenSigStartValue" SG_ 560 GearLvrPos_D_Actl 14; +BA_ "U_P702_MY2021_Rx" SG_ 560 GearLvrPos_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 560 GearLvrPos_D_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 560 GearLvrPos_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 560 GearLvrPos_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 560 GearLvrPos_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 560 GboxOil_Te_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 560 GboxOil_Te_Actl 254; +BA_ "ContentDependant" SG_ 560 GboxOil_Te_Actl 1; +BA_ "GenSigStartValue" SG_ 560 GboxOil_Te_Actl 254; +BA_ "U_P702_MY2021_Rx" SG_ 560 GboxOil_Te_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 560 GboxOil_Te_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 560 GboxOil_Te_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 560 GboxOil_Te_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 369 TrnIpcDsplyRng2_D_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 369 TrnIpcDsplyRng2_D_Actl 15; +BA_ "GenSigStartValue" SG_ 369 TrnIpcDsplyRng2_D_Actl 15; +BA_ "U_P702_MY2021_Tx" SG_ 369 TrnIpcDsplyRng2_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 369 TrnIpcDsplyRng2_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 369 TrnIpcDsplyRng_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 369 TrnIpcDsplyRng_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 369 TrnIpcDsplyGear_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 369 TrnIpcDsplyGear_D_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 369 TrnIpcDsplyGear_D_Actl 15; +BA_ "GenSigStartValue" SG_ 369 TrnIpcDsplyGear_D_Actl 15; +BA_ "U_P702_MY2021_Tx" SG_ 369 TrnIpcDsplyGear_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 369 TrnIpcDsplyGear_D_Actl 1; +BA_ "WakeupSignal" SG_ 369 TrnIpcDsplyMde_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 369 TrnIpcDsplyMde_D_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 369 TrnIpcDsplyMde_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 369 TrnIpcDsplyMde_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 369 TrnIpcDsplyMde_D_Stat 1; +BA_ "WakeupSignal" SG_ 369 TrnIpcDsplyMde_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 369 TrnIpcDsplyMde_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 369 TrnIpcDsplyMde_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 369 TrnIpcDsplyMde_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 369 TrnIpcDsplyMde_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 369 TrnIpcDsplyGear_D_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 369 TrnIpcDsplyGear_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 369 TrnIpcDsplyGear_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 369 TrnIpcDsplyGear_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 92 TrnLvrV_D_Rq 1; +BA_ "GenSigStartValue" SG_ 92 TrnLvrV_D_Rq 1; +BA_ "GenSigSendType" SG_ 92 TrnLvrV_D_Rq 3; +BA_ "U_P702_MY2021_Tx" SG_ 92 TrnLvrV_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 92 TrnLvrV_D_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 92 TrnSbwSysHlth_D_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 92 TrnSbwSysHlth_D_Actl 1; +BA_ "ContentDependant" SG_ 92 TrnSbwSysHlth_D_Actl 1; +BA_ "GenSigStartValue" SG_ 92 TrnSbwSysHlth_D_Actl 1; +BA_ "GenSigSendType" SG_ 92 TrnSbwSysHlth_D_Actl 3; +BA_ "U_P702_MY2021_Tx" SG_ 92 TrnSbwSysHlth_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 92 TrnSbwSysHlth_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 92 TrnGearNtmAllow_B_Stat 1; +BA_ "ContentDependant" SG_ 92 TrnGearNtmAllow_B_Stat 1; +BA_ "GenSigSendType" SG_ 92 TrnGearNtmAllow_B_Stat 3; +BA_ "U_P702_MY2021_Tx" SG_ 92 TrnGearNtmAllow_B_Stat 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 92 TrnGearNtmAllow_B_Stat 1; +BA_ "WakeupSignal" SG_ 92 TrnDtpCmd_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 92 TrnDtpCmd_D_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 92 TrnDtpCmd_D_Actl 1; +BA_ "ContentDependant" SG_ 92 TrnDtpCmd_D_Actl 1; +BA_ "GenSigStartValue" SG_ 92 TrnDtpCmd_D_Actl 1; +BA_ "GenSigSendType" SG_ 92 TrnDtpCmd_D_Actl 3; +BA_ "U_P702_MY2021_Tx" SG_ 92 TrnDtpCmd_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 92 TrnDtpCmd_D_Actl 1; +BA_ "GenSigSendType" SG_ 92 GearSelLck_D_Rq 3; +BA_ "U_P702_MY2021_Tx" SG_ 92 GearSelLck_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 92 GearSelLck_D_Rq 1; +BA_ "ContentDependant" SG_ 92 TrnGearCmd_No_Cs 1; +BA_ "MetaData" SG_ 92 TrnGearCmd_No_Cs 1; +BA_ "U_P702_MY2021_Tx" SG_ 92 TrnGearCmd_No_Cs 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 92 TrnGearCmd_No_Cs 1; +BA_ "ContentDependant" SG_ 92 TrnValidGear_D_Cnfm 1; +BA_ "GenSigSendType" SG_ 92 TrnValidGear_D_Cnfm 3; +BA_ "U_P702_MY2021_Tx" SG_ 92 TrnValidGear_D_Cnfm 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 92 TrnValidGear_D_Cnfm 1; +BA_ "ContentDependant" SG_ 92 TrnNtrlTowCmd_D_Actl 1; +BA_ "GenSigSendType" SG_ 92 TrnNtrlTowCmd_D_Actl 3; +BA_ "U_CX727_MY2021_Rx" SG_ 92 TrnNtrlTowCmd_D_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 92 TrnNtrlTowCmd_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 92 TrnNtrlTowCmd_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 92 TrnNtrlTowCmd_D_Actl 1; +BA_ "ContentDependant" SG_ 92 TrnGearCmd_Pc_ActlPt 1; +BA_ "U_P702_MY2021_Tx" SG_ 92 TrnGearCmd_Pc_ActlPt 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 92 TrnGearCmd_Pc_ActlPt 1; +BA_ "ContentDependant" SG_ 92 TrnGear_D_RqPt 1; +BA_ "GenSigSendType" SG_ 92 TrnGear_D_RqPt 3; +BA_ "U_P702_MY2021_Tx" SG_ 92 TrnGear_D_RqPt 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 92 TrnGear_D_RqPt 1; +BA_ "ContentDependant" SG_ 92 TrnCmdState_B_Actl 1; +BA_ "GenSigSendType" SG_ 92 TrnCmdState_B_Actl 3; +BA_ "U_P702_MY2021_Tx" SG_ 92 TrnCmdState_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 92 TrnCmdState_B_Actl 1; +BA_ "ContentDependant" SG_ 92 TrnCmdCnt_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 92 TrnCmdCnt_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 92 TrnCmdCnt_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 92 PrkBrkActv_D_RqTrnGear 1; +BA_ "GenSigStartValueInteger" SG_ 92 PrkBrkActv_D_RqTrnGear 1; +BA_ "ContentDependant" SG_ 92 PrkBrkActv_D_RqTrnGear 1; +BA_ "GenSigStartValue" SG_ 92 PrkBrkActv_D_RqTrnGear 1; +BA_ "GenSigSendType" SG_ 92 PrkBrkActv_D_RqTrnGear 3; +BA_ "U_CX727_MY2021_Rx" SG_ 92 PrkBrkActv_D_RqTrnGear 1; +BA_ "U_P702_MY2021_Rx" SG_ 92 PrkBrkActv_D_RqTrnGear 1; +BA_ "U_P702_MY2021_Tx" SG_ 92 PrkBrkActv_D_RqTrnGear 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 92 PrkBrkActv_D_RqTrnGear 1; +BA_ "CrossOver_InfoCAN" SG_ 92 TrnGearMsgTxt_D_Rq 1; +BA_ "ContentDependant" SG_ 92 TrnGearMsgTxt_D_Rq 1; +BA_ "GenSigSendType" SG_ 92 TrnGearMsgTxt_D_Rq 3; +BA_ "U_P702_MY2021_Tx" SG_ 92 TrnGearMsgTxt_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 92 TrnGearMsgTxt_D_Rq 1; +BA_ "ContentDependant" SG_ 92 TrnGearCmd_No_Cnt 1; +BA_ "MetaData" SG_ 92 TrnGearCmd_No_Cnt 1; +BA_ "U_P702_MY2021_Tx" SG_ 92 TrnGearCmd_No_Cnt 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 92 TrnGearCmd_No_Cnt 1; +BA_ "U_P702_MY2021_Tx" SG_ 2030 TesterPhysicalResSOBDMC 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 2030 TesterPhysicalResSOBDMC 1; +BA_ "U_P702_MY2021_Tx" SG_ 1087 BattRgenLoChrg_D_RqEng 1; +BA_ "GenSigSendType" SG_ 1087 BattRgenLoChrg_D_RqEng 3; +BA_ "GenSigSendType" SG_ 1087 AdasLcObtclAbrt_B_Stat 3; +BA_ "U_P702_MY2021_Tx" SG_ 1087 BattRgenLoDChrg_D_RqEng 1; +BA_ "GenSigSendType" SG_ 1087 BattRgenLoDChrg_D_RqEng 3; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1087 AirDamPos_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1087 AirDamPos_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 1087 AirDamPos_D_Stat 1; +BA_ "GenSigSendType" SG_ 1087 FapLcInhbt_B_Rq 3; +BA_ "U_P702_MY2021_Tx" SG_ 1087 FapLcInhbt_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1087 FapLcInhbt_B_Rq 1; +BA_ "GenSigSendType" SG_ 1087 FapLcStopHold_B_Rq 3; +BA_ "U_CX727_MY2021_Rx" SG_ 1087 FapLcStopHold_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 1087 FapLcStopHold_B_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1087 FapLcStopHold_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1087 FapLcStopHold_B_Rq 1; +BA_ "GenSigSendType" SG_ 1087 FapLcPrchgBrk_B_Rq 3; +BA_ "U_CX727_MY2021_Rx" SG_ 1087 FapLcPrchgBrk_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 1087 FapLcPrchgBrk_B_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1087 FapLcPrchgBrk_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1087 FapLcPrchgBrk_B_Rq 1; +BA_ "GenSigSendType" SG_ 1087 FapLcObstcl_B_Stat 3; +BA_ "U_P702_MY2021_Tx" SG_ 1087 FapLcObstcl_B_Stat 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1087 FapLcObstcl_B_Stat 1; +BA_ "GenSigSendType" SG_ 1087 FapLcMaxGrdInhbt_B_Stat 3; +BA_ "U_P702_MY2021_Tx" SG_ 1087 FapLcMaxGrdInhbt_B_Stat 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1087 FapLcMaxGrdInhbt_B_Stat 1; +BA_ "GenSigSendType" SG_ 1087 FapLcMaxGrdAbrt_B_Stat 3; +BA_ "U_P702_MY2021_Tx" SG_ 1087 FapLcMaxGrdAbrt_B_Stat 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1087 FapLcMaxGrdAbrt_B_Stat 1; +BA_ "GenSigSendType" SG_ 1087 FapLcActv_B_Stat 3; +BA_ "U_P702_MY2021_Tx" SG_ 1087 FapLcActv_B_Stat 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1087 FapLcActv_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 332 UreaLvlQlty_D_RqDsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 332 UreaLvlQlty_D_RqDsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 332 UreaLvlQlty_D_RqDsply 1; +BA_ "CrossOver_InfoCAN" SG_ 332 UreaLvlTxtWarn_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 332 UreaLvlTxtWarn_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 332 UreaLvlTxtWarn_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 332 UreaQltySysWarn_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 332 UreaQltySysWarn_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 332 UreaQltySysWarn_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 332 DieslPrtcWarn_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 332 DieslPrtcWarn_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 332 UreaQltyFlg_B_RqDsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 332 UreaQltyFlg_B_RqDsply 1; +BA_ "ECGUsedRxSignal" SG_ 332 UreaQltyFlg_B_RqDsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 332 UreaLvl_Pc_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 332 UreaLvl_Pc_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 332 UreaLvl_Pc_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 332 VehUreaRnge2_L_DsplyMx 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 332 VehUreaRnge2_L_DsplyMx 1; +BA_ "ECGUsedRxSignal" SG_ 332 VehUreaRnge2_L_DsplyMx 1; +BA_ "CrossOver_InfoCAN" SG_ 332 UreaQltySys_D_RqDsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 332 UreaQltySys_D_RqDsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 332 UreaQltySys_D_RqDsply 1; +BA_ "ECGUsedRxSignal" SG_ 332 UreaQltySys_D_RqDsply 1; +BA_ "CrossOver_InfoCAN" SG_ 332 UreaLvlTxt_D_RqDsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 332 UreaLvlTxt_D_RqDsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 332 UreaLvlTxt_D_RqDsply 1; +BA_ "ECGUsedRxSignal" SG_ 332 UreaLvlTxt_D_RqDsply 1; +BA_ "CrossOver_InfoCAN" SG_ 332 VehUreaWarn_V_DsplyMx 1; +BA_ "U_P702_MY2021_Tx" SG_ 332 VehUreaWarn_V_DsplyMx 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 332 VehUreaWarn_V_DsplyMx 1; +BA_ "ECGUsedRxSignal" SG_ 332 VehUreaWarn_V_DsplyMx 1; +BA_ "UsedOnPgmDBC" SG_ 1896 TesterPhysicalResABS 1; +BA_ "GenSigSendType" SG_ 1896 TesterPhysicalResABS 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1896 TesterPhysicalResABS 1; +BA_ "U_P702_MY2021_Tx" SG_ 1896 TesterPhysicalResABS 1; +BA_ "GenSigSendType" SG_ 1889 TesterPhysicalReqTCCM 3; +BA_ "U_P702_MY2021_Rx" SG_ 1889 TesterPhysicalReqTCCM 1; +BA_ "UsedOnPgmDBC" SG_ 1888 TesterPhysicalReqABS 1; +BA_ "GenSigSendType" SG_ 1888 TesterPhysicalReqABS 3; +BA_ "U_CX727_MY2021_Rx" SG_ 1888 TesterPhysicalReqABS 1; +BA_ "U_P702_MY2021_Rx" SG_ 1888 TesterPhysicalReqABS 1; +BA_ "UsedOnPgmDBC" SG_ 1848 TesterPhysicalResPSCM 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1848 TesterPhysicalResPSCM 1; +BA_ "U_P702_MY2021_Tx" SG_ 1848 TesterPhysicalResPSCM 1; +BA_ "UsedOnPgmDBC" SG_ 1840 TesterPhysicalReqPSCM 1; +BA_ "GenSigSendType" SG_ 1840 TesterPhysicalReqPSCM 3; +BA_ "U_CX727_MY2021_Rx" SG_ 1840 TesterPhysicalReqPSCM 1; +BA_ "U_P702_MY2021_Rx" SG_ 1840 TesterPhysicalReqPSCM 1; +BA_ "UsedOnPgmDBC" SG_ 1713 UUDTABSResponse2 1; +BA_ "U_P702_MY2021_Tx" SG_ 1713 UUDTABSResponse2 1; +BA_ "UsedOnPgmDBC" SG_ 1712 UUDTABSResponse1 1; +BA_ "U_P702_MY2021_Tx" SG_ 1712 UUDTABSResponse1 1; +BA_ "UsedOnPgmDBC" SG_ 2025 TesterPhysicalResTCM 1; +BA_ "U_P702_MY2021_Tx" SG_ 2025 TesterPhysicalResTCM 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 2025 TesterPhysicalResTCM 1; +BA_ "UsedOnPgmDBC" SG_ 2024 TesterPhysicalResPCM 1; +BA_ "U_P702_MY2021_Tx" SG_ 2024 TesterPhysicalResPCM 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 2024 TesterPhysicalResPCM 1; +BA_ "UsedOnPgmDBC" SG_ 2017 TesterPhysicalReqTCM 1; +BA_ "GenSigSendType" SG_ 2017 TesterPhysicalReqTCM 3; +BA_ "U_P702_MY2021_Rx" SG_ 2017 TesterPhysicalReqTCM 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 2017 TesterPhysicalReqTCM 1; +BA_ "UsedOnPgmDBC" SG_ 2016 TesterPhysicalReqPCM 1; +BA_ "GenSigSendType" SG_ 2016 TesterPhysicalReqPCM 3; +BA_ "U_P702_MY2021_Rx" SG_ 2016 TesterPhysicalReqPCM 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 2016 TesterPhysicalReqPCM 1; +BA_ "CrossOver_InfoCAN" SG_ 2015 TesterFunctionalReq 1; +BA_ "UsedOnPgmDBC" SG_ 2015 TesterFunctionalReq 1; +BA_ "GenSigSendType" SG_ 2015 TesterFunctionalReq 3; +BA_ "U_CX727_MY2021_Rx" SG_ 2015 TesterFunctionalReq 1; +BA_ "U_P702_MY2021_Rx" SG_ 2015 TesterFunctionalReq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 2015 TesterFunctionalReq 1; +BA_ "ECGUsedRxSignal" SG_ 2015 TesterFunctionalReq 1; +BA_ "GenSigSendType" SG_ 1897 TesterPhysicalResTCCM 3; +BA_ "U_P702_MY2021_Tx" SG_ 1897 TesterPhysicalResTCCM 1; +BA_ "GenSigSendType" SG_ 1814 TesterPhysicalReqGWM_F1 3; +BA_ "ECGUsedRxSignal" SG_ 1814 TesterPhysicalReqGWM_F1 1; +BA_ "UsedOnPgmDBC" SG_ 1701 UUDTTCMResponse2 1; +BA_ "U_P702_MY2021_Tx" SG_ 1701 UUDTTCMResponse2 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1701 UUDTTCMResponse2 1; +BA_ "UsedOnPgmDBC" SG_ 1700 UUDTTCMResponse1 1; +BA_ "U_P702_MY2021_Tx" SG_ 1700 UUDTTCMResponse1 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1700 UUDTTCMResponse1 1; +BA_ "UsedOnPgmDBC" SG_ 1697 UUDTPCMResponse2 1; +BA_ "U_P702_MY2021_Tx" SG_ 1697 UUDTPCMResponse2 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1697 UUDTPCMResponse2 1; +BA_ "UsedOnPgmDBC" SG_ 1696 UUDTPCMResponse1 1; +BA_ "U_P702_MY2021_Tx" SG_ 1696 UUDTPCMResponse1 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1696 UUDTPCMResponse1 1; +BA_ "GenSigStartValueInteger" SG_ 1429 PCM_GWOnBoardTester 255; +BA_ "ContentDependant" SG_ 1429 PCM_GWOnBoardTester 1; +BA_ "GenSigStartValue" SG_ 1429 PCM_GWOnBoardTester 255; +BA_ "U_P702_MY2021_Rx" SG_ 1429 PCM_GWOnBoardTester 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1429 PCM_GWOnBoardTester 1; +BA_ "U_P702_MY2021_Tx" SG_ 1429 PCM_GWOnBoardTester 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1429 PCM_GWOnBoardTester 1; +BA_ "GenSigStartValueInteger" SG_ 1429 PCM_GWNMProxy 255; +BA_ "ContentDependant" SG_ 1429 PCM_GWNMProxy 1; +BA_ "GenSigStartValue" SG_ 1429 PCM_GWNMProxy 255; +BA_ "U_P702_MY2021_Rx" SG_ 1429 PCM_GWNMProxy 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1429 PCM_GWNMProxy 1; +BA_ "U_P702_MY2021_Tx" SG_ 1429 PCM_GWNMProxy 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1429 PCM_GWNMProxy 1; +BA_ "GenSigStartValueInteger" SG_ 1429 PCM_AutoSarNMReserved4 255; +BA_ "ContentDependant" SG_ 1429 PCM_AutoSarNMReserved4 1; +BA_ "GenSigStartValue" SG_ 1429 PCM_AutoSarNMReserved4 255; +BA_ "U_P702_MY2021_Rx" SG_ 1429 PCM_AutoSarNMReserved4 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1429 PCM_AutoSarNMReserved4 1; +BA_ "U_P702_MY2021_Tx" SG_ 1429 PCM_AutoSarNMReserved4 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1429 PCM_AutoSarNMReserved4 1; +BA_ "GenSigStartValueInteger" SG_ 1429 PCM_AutoSarNMReserved3 255; +BA_ "ContentDependant" SG_ 1429 PCM_AutoSarNMReserved3 1; +BA_ "GenSigStartValue" SG_ 1429 PCM_AutoSarNMReserved3 255; +BA_ "U_P702_MY2021_Rx" SG_ 1429 PCM_AutoSarNMReserved3 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1429 PCM_AutoSarNMReserved3 1; +BA_ "U_P702_MY2021_Tx" SG_ 1429 PCM_AutoSarNMReserved3 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1429 PCM_AutoSarNMReserved3 1; +BA_ "GenSigStartValueInteger" SG_ 1429 PCM_AutoSarNMReserved2 255; +BA_ "ContentDependant" SG_ 1429 PCM_AutoSarNMReserved2 1; +BA_ "GenSigStartValue" SG_ 1429 PCM_AutoSarNMReserved2 255; +BA_ "U_P702_MY2021_Rx" SG_ 1429 PCM_AutoSarNMReserved2 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1429 PCM_AutoSarNMReserved2 1; +BA_ "U_P702_MY2021_Tx" SG_ 1429 PCM_AutoSarNMReserved2 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1429 PCM_AutoSarNMReserved2 1; +BA_ "GenSigStartValueInteger" SG_ 1429 PCM_AutoSarNMReserved1 255; +BA_ "ContentDependant" SG_ 1429 PCM_AutoSarNMReserved1 1; +BA_ "GenSigStartValue" SG_ 1429 PCM_AutoSarNMReserved1 255; +BA_ "U_P702_MY2021_Rx" SG_ 1429 PCM_AutoSarNMReserved1 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1429 PCM_AutoSarNMReserved1 1; +BA_ "U_P702_MY2021_Tx" SG_ 1429 PCM_AutoSarNMReserved1 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1429 PCM_AutoSarNMReserved1 1; +BA_ "GenSigStartValueInteger" SG_ 1429 PCM_AutoSarNMNodeId 149; +BA_ "ContentDependant" SG_ 1429 PCM_AutoSarNMNodeId 1; +BA_ "GenSigStartValue" SG_ 1429 PCM_AutoSarNMNodeId 149; +BA_ "U_P702_MY2021_Rx" SG_ 1429 PCM_AutoSarNMNodeId 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1429 PCM_AutoSarNMNodeId 1; +BA_ "U_P702_MY2021_Tx" SG_ 1429 PCM_AutoSarNMNodeId 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1429 PCM_AutoSarNMNodeId 1; +BA_ "ContentDependant" SG_ 1429 PCM_AutoSarNMControl 1; +BA_ "U_P702_MY2021_Rx" SG_ 1429 PCM_AutoSarNMControl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1429 PCM_AutoSarNMControl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1429 PCM_AutoSarNMControl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1429 PCM_AutoSarNMControl 1; +BA_ "GenSigStartValueInteger" SG_ 1100 EngExhMdeQuiet_D2_Stat 0; +BA_ "GenSigSendType" SG_ 1100 EngExhMdeQuiet_D2_Stat 3; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1100 HvacCmprLim_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1100 HvacCmprLim_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 1100 WakeAlarm1_T_Rq 32767; +BA_ "GenSigStartValue" SG_ 1100 WakeAlarm1_T_Rq 32767; +BA_ "U_P702_MY2021_Tx" SG_ 1100 WakeAlarm1_T_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1100 WakeAlarm1_T_Rq 1; +BA_ "WakeupSignal" SG_ 1100 WakeAlarm1_B_Typ 1; +BA_ "GenSigSendType" SG_ 1100 WakeAlarm1_B_Typ 3; +BA_ "U_P702_MY2021_Tx" SG_ 1100 WakeAlarm1_B_Typ 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1100 WakeAlarm1_B_Typ 1; +BA_ "GenSigSendType" SG_ 1100 Veh_V_DsplyTrailCtlSet 3; +BA_ "U_P702_MY2021_Tx" SG_ 1100 Veh_V_DsplyTrailCtlSet 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1100 Veh_V_DsplyTrailCtlSet 1; +BA_ "GenSigSendType" SG_ 1100 TrailCtlPt_B_Falt 3; +BA_ "U_P702_MY2021_Rx" SG_ 1100 TrailCtlPt_B_Falt 1; +BA_ "U_P702_MY2021_Tx" SG_ 1100 TrailCtlPt_B_Falt 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1100 TrailCtlPt_B_Falt 1; +BA_ "GenSigSendType" SG_ 1100 AutoTowAllw_D_StatMnu 3; +BA_ "U_P702_MY2021_Tx" SG_ 1100 AutoTowAllw_D_StatMnu 1; +BA_ "GenSigSendType" SG_ 1100 AutoTowActv_B_Stat 3; +BA_ "U_P702_MY2021_Tx" SG_ 1100 AutoTowActv_B_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 1100 GrossTrainWeight_M_Est 254; +BA_ "GenSigStartValue" SG_ 1100 GrossTrainWeight_M_Est 254; +BA_ "U_P702_MY2021_Rx" SG_ 1100 GrossTrainWeight_M_Est 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1100 GrossTrainWeight_M_Est 1; +BA_ "U_P702_MY2021_Tx" SG_ 1100 GrossTrainWeight_M_Est 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1100 GrossTrainWeight_M_Est 1; +BA_ "U_P702_MY2021_Tx" SG_ 1098 EdmVeh_V_Dsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1098 EdmVeh_V_Dsply 1; +BA_ "GenSigSendType" SG_ 1098 EdmSailMdeOn_B_Stat 3; +BA_ "U_P702_MY2021_Tx" SG_ 1098 EdmSailMdeOn_B_Stat 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1098 EdmSailMdeOn_B_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1098 EdmPrev_Fe_Dsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1098 EdmPrev_Fe_Dsply 1; +BA_ "GenSigSendType" SG_ 1098 EdmMsgTxt_D_Rq 3; +BA_ "U_P702_MY2021_Tx" SG_ 1098 EdmMsgTxt_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1098 EdmMsgTxt_D_Rq 1; +BA_ "GenSigSendType" SG_ 1098 EdmLamp_D_Dsply 3; +BA_ "U_P702_MY2021_Tx" SG_ 1098 EdmLamp_D_Dsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1098 EdmLamp_D_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 1098 EdmCurrent_Fe_Dsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1098 EdmCurrent_Fe_Dsply 1; +BA_ "GenSigSendType" SG_ 1098 EdmCmplnc_B_Dsply 3; +BA_ "U_P702_MY2021_Tx" SG_ 1098 EdmCmplnc_B_Dsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1098 EdmCmplnc_B_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 1098 EdmCmplnc_Pc_Dsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1098 EdmCmplnc_Pc_Dsply 1; +BA_ "GenSigStartValueInteger" SG_ 1086 EngMnfld_P_Actl 2068; +BA_ "U_P702_MY2021_Tx" SG_ 1086 EngMnfld_P_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1086 EngMnfld_P_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1086 FuelPumpPwr_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1086 FuelPumpPwr_B_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 1086 BattULoChrg_U_Cmd 1; +BA_ "U_P702_MY2021_Tx" SG_ 1086 BattULoChrg_U_Cmd 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1086 BattULoChrg_U_Cmd 1; +BA_ "UsedOnPgmDBC" SG_ 1086 ElLoadCtl_D_Rq 1; +BA_ "ContentDependant" SG_ 1086 ElLoadCtl_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1086 ElLoadCtl_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1086 ElLoadCtl_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1071 EngAout_N_Dsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1071 EngAout_N_Dsply 1; +BA_ "CrossOver_InfoCAN" SG_ 1071 CluPdl_PcRate_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 1071 CluPdl_PcRate_Actl 1; +BA_ "ContentDependant" SG_ 1071 CluPdl_PcRate_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1071 CluPdl_PcRate_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1071 CluPdl_PcRate_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 1071 CluPdlPosPcMeas_D_Qf 1; +BA_ "UsedOnPgmDBC" SG_ 1071 CluPdlPosPcMeas_D_Qf 1; +BA_ "GenSigStartValueInteger" SG_ 1071 CluPdlPosPcMeas_D_Qf 1; +BA_ "ContentDependant" SG_ 1071 CluPdlPosPcMeas_D_Qf 1; +BA_ "MetaData" SG_ 1071 CluPdlPosPcMeas_D_Qf 1; +BA_ "GenSigStartValue" SG_ 1071 CluPdlPosPcMeas_D_Qf 1; +BA_ "U_P702_MY2021_Rx" SG_ 1071 CluPdlPosPcMeas_D_Qf 1; +BA_ "U_P702_MY2021_Tx" SG_ 1071 CluPdlPosPcMeas_D_Qf 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1071 CluPdlPosPcMeas_D_Qf 1; +BA_ "CrossOver_InfoCAN" SG_ 1071 CluPdlPos_Pc_Meas 1; +BA_ "UsedOnPgmDBC" SG_ 1071 CluPdlPos_Pc_Meas 1; +BA_ "ContentDependant" SG_ 1071 CluPdlPos_Pc_Meas 1; +BA_ "U_P702_MY2021_Rx" SG_ 1071 CluPdlPos_Pc_Meas 1; +BA_ "U_P702_MY2021_Tx" SG_ 1071 CluPdlPos_Pc_Meas 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1071 CluPdlPos_Pc_Meas 1; +BA_ "CrossOver_InfoCAN" SG_ 1071 EngAoutIdl_N_Ntrl 1; +BA_ "UsedOnPgmDBC" SG_ 1071 EngAoutIdl_N_Ntrl 1; +BA_ "ContentDependant" SG_ 1071 EngAoutIdl_N_Ntrl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1071 EngAoutIdl_N_Ntrl 1; +BA_ "U_P702_MY2021_Rx" SG_ 1071 EngAoutIdl_N_Ntrl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1071 EngAoutIdl_N_Ntrl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1071 EngAoutIdl_N_Ntrl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1069 SlMde_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1069 SlMde_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1069 SlMde_D_RqDsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 1069 SlMde_D_RqDsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1069 IsaOffst_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1069 IsaOffst_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1069 GrllShtrPos_D_Cmd 1; +BA_ "U_P702_MY2021_Tx" SG_ 1069 GrllShtrPos_D_Cmd 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1069 GrllShtrPos_D_Cmd 1; +BA_ "CrossOver_InfoCAN" SG_ 1069 GrllShtrPos_B_Falt 1; +BA_ "U_P702_MY2021_Tx" SG_ 1069 GrllShtrPos_B_Falt 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1069 GrllShtrPos_B_Falt 1; +BA_ "CrossOver_InfoCAN" SG_ 1069 ObdWarmUp_B_Complt 1; +BA_ "ContentDependant" SG_ 1069 ObdWarmUp_B_Complt 1; +BA_ "U_P702_MY2021_Tx" SG_ 1069 ObdWarmUp_B_Complt 1; +BA_ "CrossOver_InfoCAN" SG_ 1069 EngMsgTxt_D_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 1069 EngMsgTxt_D_Rq 1; +BA_ "ContentDependant" SG_ 1069 EngMsgTxt_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1069 EngMsgTxt_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1069 EngMsgTxt_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 1069 EngClnt_Te_ActlDiag 1; +BA_ "ContentDependant" SG_ 1069 EngClnt_Te_ActlDiag 1; +BA_ "U_P702_MY2021_Rx" SG_ 1069 EngClnt_Te_ActlDiag 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1069 EngClnt_Te_ActlDiag 1; +BA_ "U_P702_MY2021_Tx" SG_ 1069 EngClnt_Te_ActlDiag 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1069 EngClnt_Te_ActlDiag 1; +BA_ "CrossOver_InfoCAN" SG_ 1069 EngLoad_Pc_CalcDiag 1; +BA_ "ContentDependant" SG_ 1069 EngLoad_Pc_CalcDiag 1; +BA_ "U_P702_MY2021_Rx" SG_ 1069 EngLoad_Pc_CalcDiag 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1069 EngLoad_Pc_CalcDiag 1; +BA_ "U_P702_MY2021_Tx" SG_ 1069 EngLoad_Pc_CalcDiag 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1069 EngLoad_Pc_CalcDiag 1; +BA_ "CrossOver_InfoCAN" SG_ 1069 EngAirIn_Te_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 1069 EngAirIn_Te_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 1069 EngAirIn_Te_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1069 EngAirIn_Te_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1069 EngAirIn_Te_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1069 EngAirIn_Te_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 1069 ApedPos_Pc_ActlDiag 1; +BA_ "ContentDependant" SG_ 1069 ApedPos_Pc_ActlDiag 1; +BA_ "U_P702_MY2021_Rx" SG_ 1069 ApedPos_Pc_ActlDiag 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1069 ApedPos_Pc_ActlDiag 1; +BA_ "U_P702_MY2021_Tx" SG_ 1069 ApedPos_Pc_ActlDiag 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1069 ApedPos_Pc_ActlDiag 1; +BA_ "U_P702_MY2021_Tx" SG_ 1060 RearDiffOilTeWarn_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1060 RearDiffOilTeWarn_B_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 1060 RearDiffOil_Te_Actl 77; +BA_ "GenSigStartValue" SG_ 1060 RearDiffOil_Te_Actl 77; +BA_ "U_P702_MY2021_Tx" SG_ 1060 RearDiffOil_Te_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1060 RearDiffOil_Te_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1060 BpedDrvMsgTxt_B_Dsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1060 BpedDrvMsgTxt_B_Dsply 1; +BA_ "GenSigStartValueInteger" SG_ 1060 FuelLvl_Pc_DsplyEng 48; +BA_ "GenSigStartValue" SG_ 1060 FuelLvl_Pc_DsplyEng 0; +BA_ "U_P702_MY2021_Tx" SG_ 1060 FuelLvl_Pc_DsplyEng 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1060 FuelLvl_Pc_DsplyEng 1; +BA_ "U_P702_MY2021_Tx" SG_ 1060 FuelLvlWarn_D_ActlEng 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1060 FuelLvlWarn_D_ActlEng 1; +BA_ "U_P702_MY2021_Tx" SG_ 1060 FuelRange_L_DsplyEng 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1060 FuelRange_L_DsplyEng 1; +BA_ "U_P702_MY2021_Rx" SG_ 1060 SelDrvMdePt_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1060 SelDrvMdePt_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1060 SelDrvMdePt_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1057 FohEng_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 1057 FohEng_D_Rq 2; +BA_ "ContentDependant" SG_ 1057 FohEng_D_Rq 1; +BA_ "GenSigStartValue" SG_ 1057 FohEng_D_Rq 2; +BA_ "U_P702_MY2021_Tx" SG_ 1057 FohEng_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1057 FohEng_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1057 EngIdlShutDwnTxt_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1057 EngIdlShutDwnTxt_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 1057 EngIdlShutDown_D_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 1057 EngIdlShutDown_D_Stat 1; +BA_ "ContentDependant" SG_ 1057 EngIdlShutDown_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1057 EngIdlShutDown_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1057 EngIdlShutDown_D_Stat 1; +BA_ "ECGUsedRxSignal" SG_ 1057 EngIdlShutDown_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1057 FUEL_ALCOHOL_PERCNT 1; +BA_ "GenSigStartValueInteger" SG_ 1057 FUEL_ALCOHOL_PERCNT 255; +BA_ "ContentDependant" SG_ 1057 FUEL_ALCOHOL_PERCNT 1; +BA_ "GenSigStartValue" SG_ 1057 FUEL_ALCOHOL_PERCNT 255; +BA_ "U_P702_MY2021_Tx" SG_ 1057 FUEL_ALCOHOL_PERCNT 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1057 FUEL_ALCOHOL_PERCNT 1; +BA_ "CrossOver_InfoCAN" SG_ 1057 TrnTotTq_Rt_Est 1; +BA_ "UsedOnPgmDBC" SG_ 1057 TrnTotTq_Rt_Est 1; +BA_ "ContentDependant" SG_ 1057 TrnTotTq_Rt_Est 1; +BA_ "U_P702_MY2021_Tx" SG_ 1057 TrnTotTq_Rt_Est 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1057 TrnTotTq_Rt_Est 1; +BA_ "CrossOver_InfoCAN" SG_ 1057 TrnTotLss_Tq_Est 1; +BA_ "UsedOnPgmDBC" SG_ 1057 TrnTotLss_Tq_Est 1; +BA_ "ContentDependant" SG_ 1057 TrnTotLss_Tq_Est 1; +BA_ "U_P702_MY2021_Tx" SG_ 1057 TrnTotLss_Tq_Est 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1057 TrnTotLss_Tq_Est 1; +BA_ "CrossOver_InfoCAN" SG_ 1057 ECMMILRequest 1; +BA_ "UsedOnPgmDBC" SG_ 1057 ECMMILRequest 1; +BA_ "U_P702_MY2021_Tx" SG_ 1057 ECMMILRequest 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1057 ECMMILRequest 1; +BA_ "CrossOver_InfoCAN" SG_ 1057 AirCondFluidHi_P_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 1057 AirCondFluidHi_P_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1057 AirCondFluidHi_P_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1057 AirCondFluidHi_P_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 1057 OilPressureWarning 1; +BA_ "UsedOnPgmDBC" SG_ 1057 OilPressureWarning 1; +BA_ "U_P702_MY2021_Tx" SG_ 1057 OilPressureWarning 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1057 OilPressureWarning 1; +BA_ "CrossOver_InfoCAN" SG_ 1057 VehVLimStat_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 1057 VehVLimStat_D_Actl 1; +BA_ "ContentDependant" SG_ 1057 VehVLimStat_D_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 1057 VehVLimStat_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1057 VehVLimStat_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1057 VehVLimStat_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1057 VehVLimStat_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 1057 VehVLimActv_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 1057 VehVLimActv_B_Actl 1; +BA_ "ContentDependant" SG_ 1057 VehVLimActv_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 1057 VehVLimActv_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1057 VehVLimActv_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1057 VehVLimActv_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1057 VehVLimActv_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 1057 CoolantFanStepAct 1; +BA_ "UsedOnPgmDBC" SG_ 1057 CoolantFanStepAct 1; +BA_ "U_P702_MY2021_Tx" SG_ 1057 CoolantFanStepAct 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1057 CoolantFanStepAct 1; +BA_ "CrossOver_InfoCAN" SG_ 1055 EcoCochInstNeg_B_Dsply 1; +BA_ "UsedOnPgmDBC" SG_ 1055 EcoCochInstNeg_B_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 1055 EcoCochInstNeg_B_Dsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1055 EcoCochInstNeg_B_Dsply 1; +BA_ "ECGUsedRxSignal" SG_ 1055 EcoCochInstNeg_B_Dsply 1; +BA_ "GenSigStartValueInteger" SG_ 1055 EcoCochShif_Pc_Dsply 255; +BA_ "GenSigStartValue" SG_ 1055 EcoCochShif_Pc_Dsply 255; +BA_ "U_P702_MY2021_Tx" SG_ 1055 EcoCochShif_Pc_Dsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1055 EcoCochShif_Pc_Dsply 1; +BA_ "ECGUsedRxSignal" SG_ 1055 EcoCochShif_Pc_Dsply 1; +BA_ "GenSigStartValueInteger" SG_ 1055 EcoCochInst_Pc_Dsply 1000; +BA_ "GenSigStartValue" SG_ 1055 EcoCochInst_Pc_Dsply 100; +BA_ "U_P702_MY2021_Tx" SG_ 1055 EcoCochInst_Pc_Dsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1055 EcoCochInst_Pc_Dsply 1; +BA_ "ECGUsedRxSignal" SG_ 1055 EcoCochInst_Pc_Dsply 1; +BA_ "GenSigStartValueInteger" SG_ 1055 EcoCochIdlFuel_Pc_Dsply 255; +BA_ "GenSigStartValue" SG_ 1055 EcoCochIdlFuel_Pc_Dsply 255; +BA_ "U_P702_MY2021_Tx" SG_ 1055 EcoCochIdlFuel_Pc_Dsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1055 EcoCochIdlFuel_Pc_Dsply 1; +BA_ "ECGUsedRxSignal" SG_ 1055 EcoCochIdlFuel_Pc_Dsply 1; +BA_ "GenSigStartValueInteger" SG_ 1055 EcoCochDecel_Pc_Dsply 255; +BA_ "GenSigStartValue" SG_ 1055 EcoCochDecel_Pc_Dsply 255; +BA_ "U_P702_MY2021_Tx" SG_ 1055 EcoCochDecel_Pc_Dsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1055 EcoCochDecel_Pc_Dsply 1; +BA_ "ECGUsedRxSignal" SG_ 1055 EcoCochDecel_Pc_Dsply 1; +BA_ "GenSigStartValueInteger" SG_ 1055 EcoCochCrus_Pc_Dsply 255; +BA_ "GenSigStartValue" SG_ 1055 EcoCochCrus_Pc_Dsply 255; +BA_ "U_P702_MY2021_Tx" SG_ 1055 EcoCochCrus_Pc_Dsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1055 EcoCochCrus_Pc_Dsply 1; +BA_ "ECGUsedRxSignal" SG_ 1055 EcoCochCrus_Pc_Dsply 1; +BA_ "GenSigStartValueInteger" SG_ 1055 EcoCochA_Pc_Dsply 255; +BA_ "GenSigStartValue" SG_ 1055 EcoCochA_Pc_Dsply 255; +BA_ "U_P702_MY2021_Tx" SG_ 1055 EcoCochA_Pc_Dsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1055 EcoCochA_Pc_Dsply 1; +BA_ "ECGUsedRxSignal" SG_ 1055 EcoCochA_Pc_Dsply 1; +BA_ "ContentDependant" SG_ 562 GearNtrl_No_Cs 1; +BA_ "MetaData" SG_ 562 GearNtrl_No_Cs 1; +BA_ "U_P702_MY2021_Tx" SG_ 562 GearNtrl_No_Cs 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 562 GearNtrl_No_Cs 1; +BA_ "ContentDependant" SG_ 562 GearNtrl_No_Cnt 1; +BA_ "MetaData" SG_ 562 GearNtrl_No_Cnt 1; +BA_ "U_P702_MY2021_Tx" SG_ 562 GearNtrl_No_Cnt 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 562 GearNtrl_No_Cnt 1; +BA_ "GenSigStartValueInteger" SG_ 562 GearNtrl_D_Stat 2; +BA_ "GenSigStartValue" SG_ 562 GearNtrl_D_Stat 2; +BA_ "GenSigSendType" SG_ 562 GearNtrl_D_Stat 3; +BA_ "U_P702_MY2021_Tx" SG_ 562 GearNtrl_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 562 GearNtrl_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 523 EngAirFiltMsgTxt_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 523 EngAirFiltMsgTxt_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 523 WaterInFuel_B_Falt 1; +BA_ "UsedOnPgmDBC" SG_ 523 WaterInFuel_B_Falt 1; +BA_ "U_P702_MY2021_Tx" SG_ 523 WaterInFuel_B_Falt 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 523 WaterInFuel_B_Falt 1; +BA_ "U_P702_MY2021_Tx" SG_ 523 UreaMnAdd_L2_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 523 UreaMnAdd_L2_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 523 VehUreaRnge3_L_DsplyMx 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 523 VehUreaRnge3_L_DsplyMx 1; +BA_ "ECGUsedRxSignal" SG_ 523 VehUreaRnge3_L_DsplyMx 1; +BA_ "GenSigStartValueInteger" SG_ 523 UreaMxAdd_L2_Actl 510; +BA_ "GenSigStartValue" SG_ 523 UreaMxAdd_L2_Actl 510; +BA_ "U_P702_MY2021_Tx" SG_ 523 UreaMxAdd_L2_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 523 UreaMxAdd_L2_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 517 FapLc_B_Err 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 517 FapLc_B_Err 1; +BA_ "U_CX727_MY2021_Rx" SG_ 517 BrkTot_Tq_RqFapLc 1; +BA_ "U_P702_MY2021_Rx" SG_ 517 BrkTot_Tq_RqFapLc 1; +BA_ "U_P702_MY2021_Tx" SG_ 517 BrkTot_Tq_RqFapLc 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 517 BrkTot_Tq_RqFapLc 1; +BA_ "U_P702_MY2021_Tx" SG_ 517 TrnAin_Pc_RqDrv 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 517 TrnAin_Pc_RqDrv 1; +BA_ "CrossOver_InfoCAN" SG_ 516 EngAoutNActl_D_QF 1; +BA_ "UsedOnPgmDBC" SG_ 516 EngAoutNActl_D_QF 1; +BA_ "GenSigStartValueInteger" SG_ 516 EngAoutNActl_D_QF 1; +BA_ "MetaData" SG_ 516 EngAoutNActl_D_QF 1; +BA_ "GenSigStartValue" SG_ 516 EngAoutNActl_D_QF 1; +BA_ "U_P702_MY2021_Rx" SG_ 516 EngAoutNActl_D_QF 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 516 EngAoutNActl_D_QF 1; +BA_ "U_P702_MY2021_Tx" SG_ 516 EngAoutNActl_D_QF 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 516 EngAoutNActl_D_QF 1; +BA_ "CrossOver_InfoCAN" SG_ 516 EngAout3_N_Actl 1; +BA_ "ContentDependant" SG_ 516 EngAout3_N_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 516 EngAout3_N_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 516 ApedPos_PcRate_ActlArb 1; +BA_ "UsedOnPgmDBC" SG_ 516 ApedPos_PcRate_ActlArb 1; +BA_ "U_P702_MY2021_Rx" SG_ 516 ApedPos_PcRate_ActlArb 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 516 ApedPos_PcRate_ActlArb 1; +BA_ "U_P702_MY2021_Tx" SG_ 516 ApedPos_PcRate_ActlArb 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 516 ApedPos_PcRate_ActlArb 1; +BA_ "CrossOver_InfoCAN" SG_ 516 ApedPos_Pc_ActlArb 1; +BA_ "UsedOnPgmDBC" SG_ 516 ApedPos_Pc_ActlArb 1; +BA_ "U_P702_MY2021_Rx" SG_ 516 ApedPos_Pc_ActlArb 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 516 ApedPos_Pc_ActlArb 1; +BA_ "U_CX727_MY2021_Rx" SG_ 516 ApedPos_Pc_ActlArb 1; +BA_ "U_P702_MY2021_Tx" SG_ 516 ApedPos_Pc_ActlArb 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 516 ApedPos_Pc_ActlArb 1; +BA_ "ECGUsedRxSignal" SG_ 516 ApedPos_Pc_ActlArb 1; +BA_ "CrossOver_InfoCAN" SG_ 516 ApedPosPcActl_D_Qf 1; +BA_ "UsedOnPgmDBC" SG_ 516 ApedPosPcActl_D_Qf 1; +BA_ "GenSigStartValueInteger" SG_ 516 ApedPosPcActl_D_Qf 1; +BA_ "MetaData" SG_ 516 ApedPosPcActl_D_Qf 1; +BA_ "GenSigStartValue" SG_ 516 ApedPosPcActl_D_Qf 1; +BA_ "U_P702_MY2021_Rx" SG_ 516 ApedPosPcActl_D_Qf 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 516 ApedPosPcActl_D_Qf 1; +BA_ "U_CX727_MY2021_Rx" SG_ 516 ApedPosPcActl_D_Qf 1; +BA_ "U_P702_MY2021_Tx" SG_ 516 ApedPosPcActl_D_Qf 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 516 ApedPosPcActl_D_Qf 1; +BA_ "CrossOver_InfoCAN" SG_ 516 EngAout_N_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 516 EngAout_N_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 516 EngAout_N_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 516 EngAout_N_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 516 EngAout_N_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 516 EngAout_N_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 516 EngAout_N_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 516 EngAout_N_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 516 ApedPosPcActl_No_Cnt 1; +BA_ "UsedOnPgmDBC" SG_ 516 ApedPosPcActl_No_Cnt 1; +BA_ "ContentDependant" SG_ 516 ApedPosPcActl_No_Cnt 1; +BA_ "MetaData" SG_ 516 ApedPosPcActl_No_Cnt 1; +BA_ "U_P702_MY2021_Tx" SG_ 516 ApedPosPcActl_No_Cnt 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 516 ApedPosPcActl_No_Cnt 1; +BA_ "CrossOver_InfoCAN" SG_ 516 ApedPosPcActl_No_Cs 1; +BA_ "UsedOnPgmDBC" SG_ 516 ApedPosPcActl_No_Cs 1; +BA_ "ContentDependant" SG_ 516 ApedPosPcActl_No_Cs 1; +BA_ "MetaData" SG_ 516 ApedPosPcActl_No_Cs 1; +BA_ "U_P702_MY2021_Tx" SG_ 516 ApedPosPcActl_No_Cs 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 516 ApedPosPcActl_No_Cs 1; +BA_ "U_P702_MY2021_Tx" SG_ 514 StrtrMtrDlyStrt_B_Stat 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 514 StrtrMtrDlyStrt_B_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 514 VehVTrlrAid_B_Avail 1; +BA_ "U_P702_MY2021_Tx" SG_ 514 VehVTrlrAid_B_Avail 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 514 VehVTrlrAid_B_Avail 1; +BA_ "CrossOver_InfoCAN" SG_ 514 StrtrMtrCtlMsgTxt_D_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 514 StrtrMtrCtlMsgTxt_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 514 StrtrMtrCtlMsgTxt_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 514 StrtrMtrCtlMsgTxt_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 514 VehVActlEng_No_Cs 1; +BA_ "UsedOnPgmDBC" SG_ 514 VehVActlEng_No_Cs 1; +BA_ "MetaData" SG_ 514 VehVActlEng_No_Cs 1; +BA_ "U_CX727_MY2021_Rx" SG_ 514 VehVActlEng_No_Cs 1; +BA_ "U_P702_MY2021_Rx" SG_ 514 VehVActlEng_No_Cs 1; +BA_ "U_P702_MY2021_Tx" SG_ 514 VehVActlEng_No_Cs 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 514 VehVActlEng_No_Cs 1; +BA_ "CrossOver_InfoCAN" SG_ 514 VehVActlEng_No_Cnt 1; +BA_ "UsedOnPgmDBC" SG_ 514 VehVActlEng_No_Cnt 1; +BA_ "MetaData" SG_ 514 VehVActlEng_No_Cnt 1; +BA_ "U_CX727_MY2021_Rx" SG_ 514 VehVActlEng_No_Cnt 1; +BA_ "U_P702_MY2021_Rx" SG_ 514 VehVActlEng_No_Cnt 1; +BA_ "U_P702_MY2021_Tx" SG_ 514 VehVActlEng_No_Cnt 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 514 VehVActlEng_No_Cnt 1; +BA_ "CrossOver_InfoCAN" SG_ 514 Veh_V_RqCcSet 1; +BA_ "UsedOnPgmDBC" SG_ 514 Veh_V_RqCcSet 1; +BA_ "U_P702_MY2021_Rx" SG_ 514 Veh_V_RqCcSet 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 514 Veh_V_RqCcSet 1; +BA_ "U_CX727_MY2021_Rx" SG_ 514 Veh_V_RqCcSet 1; +BA_ "U_P702_MY2021_Tx" SG_ 514 Veh_V_RqCcSet 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 514 Veh_V_RqCcSet 1; +BA_ "CrossOver_InfoCAN" SG_ 514 VehVActlEng_D_Qf 1; +BA_ "UsedOnPgmDBC" SG_ 514 VehVActlEng_D_Qf 1; +BA_ "MetaData" SG_ 514 VehVActlEng_D_Qf 1; +BA_ "U_P702_MY2021_Rx" SG_ 514 VehVActlEng_D_Qf 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 514 VehVActlEng_D_Qf 1; +BA_ "U_CX727_MY2021_Rx" SG_ 514 VehVActlEng_D_Qf 1; +BA_ "U_P702_MY2021_Tx" SG_ 514 VehVActlEng_D_Qf 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 514 VehVActlEng_D_Qf 1; +BA_ "CrossOver_InfoCAN" SG_ 514 Veh_V_ActlEng 1; +BA_ "UsedOnPgmDBC" SG_ 514 Veh_V_ActlEng 1; +BA_ "U_P702_MY2021_Rx" SG_ 514 Veh_V_ActlEng 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 514 Veh_V_ActlEng 1; +BA_ "U_CX727_MY2021_Rx" SG_ 514 Veh_V_ActlEng 1; +BA_ "U_P702_MY2021_Tx" SG_ 514 Veh_V_ActlEng 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 514 Veh_V_ActlEng 1; +BA_ "ECGUsedRxSignal" SG_ 514 Veh_V_ActlEng 1; +BA_ "CrossOver_InfoCAN" SG_ 514 GearRvrse_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 514 GearRvrse_D_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 514 GearRvrse_D_Actl 7; +BA_ "GenSigStartValue" SG_ 514 GearRvrse_D_Actl 7; +BA_ "U_CX727_MY2021_Rx" SG_ 514 GearRvrse_D_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 514 GearRvrse_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 514 GearRvrse_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 514 GearRvrse_D_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 514 GearRvrse_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 514 StrtrMtrCtlMsgTxt_D2_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 514 StrtrMtrCtlMsgTxt_D2_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 512 PrplWhlTotTqRq_No_Cs 1; +BA_ "ContentDependant" SG_ 512 PrplWhlTotTqRq_No_Cs 1; +BA_ "MetaData" SG_ 512 PrplWhlTotTqRq_No_Cs 1; +BA_ "U_P702_MY2021_Rx" SG_ 512 PrplWhlTotTqRq_No_Cs 1; +BA_ "U_P702_MY2021_Tx" SG_ 512 PrplWhlTotTqRq_No_Cs 1; +BA_ "UsedOnPgmDBC" SG_ 512 PrplWhlTotTqRq_No_Cnt 1; +BA_ "ContentDependant" SG_ 512 PrplWhlTotTqRq_No_Cnt 1; +BA_ "MetaData" SG_ 512 PrplWhlTotTqRq_No_Cnt 1; +BA_ "U_P702_MY2021_Rx" SG_ 512 PrplWhlTotTqRq_No_Cnt 1; +BA_ "U_P702_MY2021_Tx" SG_ 512 PrplWhlTotTqRq_No_Cnt 1; +BA_ "UsedOnPgmDBC" SG_ 512 PrplWhlTot_Tq_Rq 1; +BA_ "U_CX727_MY2021_Rx" SG_ 512 PrplWhlTot_Tq_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 512 PrplWhlTot_Tq_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 512 PrplWhlTot_Tq_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 512 PrplWhlTot_Tq_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 512 PrplWhlTot_Tq_LimMn 1; +BA_ "U_CX727_MY2021_Rx" SG_ 512 PrplWhlTot_Tq_LimMn 1; +BA_ "U_P702_MY2021_Rx" SG_ 512 PrplWhlTot_Tq_LimMn 1; +BA_ "U_P702_MY2021_Tx" SG_ 512 PrplWhlTot_Tq_LimMn 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 512 PrplWhlTot_Tq_LimMn 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 512 PtDrvMde_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 512 PtDrvMde_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 381 EngOilLife_T_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 381 EngOilLife_T_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 381 EngOilSrvcMsgTxt_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 381 EngOilSrvcMsgTxt_D_Rq 1; +BA_ "ECGUsedRxSignal" SG_ 381 EngOilSrvcMsgTxt_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 381 DistToNextOilChange 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 381 DistToNextOilChange 1; +BA_ "U_P702_MY2021_Tx" SG_ 381 RunDryPrevent_B_Stat 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 381 RunDryPrevent_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 381 WaterInFuel 1; +BA_ "UsedOnPgmDBC" SG_ 381 WaterInFuel 1; +BA_ "U_P702_MY2021_Tx" SG_ 381 WaterInFuel 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 381 WaterInFuel 1; +BA_ "ECGUsedRxSignal" SG_ 381 WaterInFuel 1; +BA_ "CrossOver_InfoCAN" SG_ 381 GlowIndication 1; +BA_ "UsedOnPgmDBC" SG_ 381 GlowIndication 1; +BA_ "U_P702_MY2021_Tx" SG_ 381 GlowIndication 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 381 GlowIndication 1; +BA_ "WakeupSignal" SG_ 380 EngOilLvlWarn_D_Rq1 1; +BA_ "CrossOver_InfoCAN" SG_ 380 EngOilLvlWarn_D_Rq1 1; +BA_ "U_P702_MY2021_Tx" SG_ 380 EngOilLvlWarn_D_Rq1 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 380 EngOilLvlWarn_D_Rq1 1; +BA_ "CrossOver_InfoCAN" SG_ 380 EngExhBrkOnLamp_B_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 380 EngExhBrkOnLamp_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 380 EngExhBrkOnLamp_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 380 EngExhBrkAutoLamp_B_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 380 EngExhBrkAutoLamp_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 380 EngExhBrkAutoLamp_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 380 EngAout_N_MxAllw 1; +BA_ "UsedOnPgmDBC" SG_ 380 EngAout_N_MxAllw 1; +BA_ "U_P702_MY2021_Tx" SG_ 380 EngAout_N_MxAllw 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 380 EngAout_N_MxAllw 1; +BA_ "CrossOver_InfoCAN" SG_ 380 EngExhBrkMde_D_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 380 EngExhBrkMde_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 380 EngExhBrkMde_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 380 EngExhBrkMde_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 380 EngExhBrkMde_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 377 HvacAirFullOut_B_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 377 HvacAirFullOut_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 377 FuelFlw_Vl_Dsply 1; +BA_ "UsedOnPgmDBC" SG_ 377 FuelFlw_Vl_Dsply 1; +BA_ "ContentDependant" SG_ 377 FuelFlw_Vl_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 377 FuelFlw_Vl_Dsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 377 FuelFlw_Vl_Dsply 1; +BA_ "ECGUsedRxSignal" SG_ 377 FuelFlw_Vl_Dsply 1; +BA_ "CrossOver_InfoCAN" SG_ 377 FuelFillInlet_B_Dsply 1; +BA_ "UsedOnPgmDBC" SG_ 377 FuelFillInlet_B_Dsply 1; +BA_ "ContentDependant" SG_ 377 FuelFillInlet_B_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 377 FuelFillInlet_B_Dsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 377 FuelFillInlet_B_Dsply 1; +BA_ "CrossOver_InfoCAN" SG_ 377 EngSrvcRqd_B_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 377 EngSrvcRqd_B_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 377 EngSrvcRqd_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 377 EngSrvcRqd_B_Rq 1; +BA_ "ECGUsedRxSignal" SG_ 377 EngSrvcRqd_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 377 OdoCount 1; +BA_ "UsedOnPgmDBC" SG_ 377 OdoCount 1; +BA_ "ContentDependant" SG_ 377 OdoCount 1; +BA_ "U_P702_MY2021_Tx" SG_ 377 OdoCount 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 377 OdoCount 1; +BA_ "CrossOver_InfoCAN" SG_ 377 EngOilLife_Pc_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 377 EngOilLife_Pc_Actl 1; +BA_ "ContentDependant" SG_ 377 EngOilLife_Pc_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 377 EngOilLife_Pc_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 377 EngOilLife_Pc_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 377 EngOilLife_Pc_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 377 FuelFilterLamp_B_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 377 FuelFilterLamp_B_Dsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 377 FuelFilterLamp_B_Dsply 1; +BA_ "ECGUsedRxSignal" SG_ 377 FuelFilterLamp_B_Dsply 1; +BA_ "CrossOver_InfoCAN" SG_ 377 AirCondRec_B_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 377 AirCondRec_B_Rq 1; +BA_ "ContentDependant" SG_ 377 AirCondRec_B_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 377 AirCondRec_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 377 AirCondRec_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 377 AirCondClutch_B_Stats 1; +BA_ "UsedOnPgmDBC" SG_ 377 AirCondClutch_B_Stats 1; +BA_ "ContentDependant" SG_ 377 AirCondClutch_B_Stats 1; +BA_ "U_P702_MY2021_Tx" SG_ 377 AirCondClutch_B_Stats 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 377 AirCondClutch_B_Stats 1; +BA_ "U_P702_MY2021_Tx" SG_ 376 GasPrtc_D_RqDsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 376 GasPrtc_D_RqDsply 1; +BA_ "CrossOver_InfoCAN" SG_ 376 EngAout_Aa_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 376 EngAout_Aa_Actl 1; +BA_ "ContentDependant" SG_ 376 EngAout_Aa_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 376 EngAout_Aa_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 376 EngAout_Aa_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 376 EngAout_Aa_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 376 EngAout_Aa_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 376 DynoMde_B_Cmd 1; +BA_ "U_P702_MY2021_Rx" SG_ 376 DynoMde_B_Cmd 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 376 DynoMde_B_Cmd 1; +BA_ "U_P702_MY2021_Tx" SG_ 376 DynoMde_B_Cmd 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 376 DynoMde_B_Cmd 1; +BA_ "U_P702_MY2021_Tx" SG_ 376 AslIconDsply_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 376 AslIconDsply_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 376 AslChime_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 376 AslChime_B_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 376 HvacHtrCore2_Te_Actl 200; +BA_ "U_P702_MY2021_Tx" SG_ 376 HvacHtrCore2_Te_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 376 EcssLamp_D_RqDsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 376 EcssLamp_D_RqDsply 1; +BA_ "CrossOver_InfoCAN" SG_ 376 AirAmbTe_D_Qf 1; +BA_ "UsedOnPgmDBC" SG_ 376 AirAmbTe_D_Qf 1; +BA_ "GenSigStartValueInteger" SG_ 376 AirAmbTe_D_Qf 1; +BA_ "MetaData" SG_ 376 AirAmbTe_D_Qf 1; +BA_ "GenSigStartValue" SG_ 376 AirAmbTe_D_Qf 1; +BA_ "U_P702_MY2021_Rx" SG_ 376 AirAmbTe_D_Qf 1; +BA_ "U_CX727_MY2021_Rx" SG_ 376 AirAmbTe_D_Qf 1; +BA_ "U_P702_MY2021_Tx" SG_ 376 AirAmbTe_D_Qf 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 376 AirAmbTe_D_Qf 1; +BA_ "CrossOver_InfoCAN" SG_ 376 AirAmb_Te_ActlFilt 1; +BA_ "UsedOnPgmDBC" SG_ 376 AirAmb_Te_ActlFilt 1; +BA_ "GenSigStartValueInteger" SG_ 376 AirAmb_Te_ActlFilt 512; +BA_ "U_P702_MY2021_Tx" SG_ 376 AirAmb_Te_ActlFilt 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 376 AirAmb_Te_ActlFilt 1; +BA_ "ECGUsedRxSignal" SG_ 376 AirAmb_Te_ActlFilt 1; +BA_ "CrossOver_InfoCAN" SG_ 376 AirAmb_Te_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 376 AirAmb_Te_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 376 AirAmb_Te_Actl 512; +BA_ "U_P702_MY2021_Rx" SG_ 376 AirAmb_Te_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 376 AirAmb_Te_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 376 AirAmb_Te_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 376 AirAmb_Te_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 376 AirAmb_P_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 376 AirAmb_P_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 376 AirAmb_P_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 376 AirAmb_P_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 376 AirAmb_P_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 373 DieslPrtc2_D_RqDsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 373 DieslPrtc2_D_RqDsply 1; +BA_ "ECGUsedRxSignal" SG_ 373 DieslPrtc2_D_RqDsply 1; +BA_ "CrossOver_InfoCAN" SG_ 373 DieslPrtcRgen_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 373 DieslPrtcRgen_D_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 373 DieslPrtcRgen_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 373 DieslPrtcRgen_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 373 DieslPrtcRgen_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 373 DieslPrtcRgen_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 373 EngTeColdPrtct_D_Stats 1; +BA_ "UsedOnPgmDBC" SG_ 373 EngTeColdPrtct_D_Stats 1; +BA_ "U_P702_MY2021_Tx" SG_ 373 EngTeColdPrtct_D_Stats 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 373 EngTeColdPrtct_D_Stats 1; +BA_ "CrossOver_InfoCAN" SG_ 373 EngExhOvrTe_B_RqDsply 1; +BA_ "UsedOnPgmDBC" SG_ 373 EngExhOvrTe_B_RqDsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 373 EngExhOvrTe_B_RqDsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 373 EngExhOvrTe_B_RqDsply 1; +BA_ "ECGUsedRxSignal" SG_ 373 EngExhOvrTe_B_RqDsply 1; +BA_ "GenSigStartValueInteger" SG_ 359 PrplWhlRgenMn_Tq_Actl 4095; +BA_ "U_CX727_MY2021_Rx" SG_ 359 PrplWhlRgenMn_Tq_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 359 PrplWhlRgenMn_Tq_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 359 PrplWhlRgenMn_Tq_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 359 ElPw_D_StatStrtStop 1; +BA_ "U_P702_MY2021_Rx" SG_ 359 ElPw_D_StatStrtStop 1; +BA_ "U_P702_MY2021_Tx" SG_ 359 ElPw_D_StatStrtStop 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 359 ElPw_D_StatStrtStop 1; +BA_ "CrossOver_InfoCAN" SG_ 359 TrnAin_Tq_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 359 TrnAin_Tq_Actl 1; +BA_ "ContentDependant" SG_ 359 TrnAin_Tq_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 359 TrnAin_Tq_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 359 TrnAin_Tq_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 359 TrnAin_Tq_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 359 TrnAin_Tq_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 359 PrplWhlTot2_Tq_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 359 PrplWhlTot2_Tq_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 359 PrplWhlTot2_Tq_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 359 PrplWhlTot2_Tq_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 359 PrplWhlTot2_Tq_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 359 PrplWhlTot2_Tq_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 359 PrplWhlTot2_Tq_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 359 PwPckTq_D_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 359 PwPckTq_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 359 PwPckTq_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 359 PwPckTq_D_Stat 1; +BA_ "U_CX727_MY2021_Rx" SG_ 359 PwPckTq_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 359 PwPckTq_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 359 PwPckTq_D_Stat 1; +BA_ "ECGUsedRxSignal" SG_ 359 PwPckTq_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 359 Eng_D_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 359 Eng_D_Stat 1; +BA_ "U_CX727_MY2021_Rx" SG_ 359 Eng_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 359 Eng_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 359 Eng_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 359 Eng_D_Stat 1; +BA_ "ECGUsedRxSignal" SG_ 359 Eng_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 359 PlgActvArb_B_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 359 PlgActvArb_B_Actl 1; +BA_ "ContentDependant" SG_ 359 PlgActvArb_B_Actl 1; +BA_ "GenSigStartValue" SG_ 359 PlgActvArb_B_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 359 PlgActvArb_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 359 ElPw_D_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 359 ElPw_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 359 ElPw_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 359 ElPw_D_Stat 1; +BA_ "U_CX727_MY2021_Rx" SG_ 359 ElPw_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 359 ElPw_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 359 ElPw_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 359 TrnAinTq_D_Qf 1; +BA_ "UsedOnPgmDBC" SG_ 359 TrnAinTq_D_Qf 1; +BA_ "ContentDependant" SG_ 359 TrnAinTq_D_Qf 1; +BA_ "MetaData" SG_ 359 TrnAinTq_D_Qf 1; +BA_ "U_CX727_MY2021_Rx" SG_ 359 TrnAinTq_D_Qf 1; +BA_ "U_P702_MY2021_Rx" SG_ 359 TrnAinTq_D_Qf 1; +BA_ "U_P702_MY2021_Tx" SG_ 359 TrnAinTq_D_Qf 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 359 TrnAinTq_D_Qf 1; +BA_ "CrossOver_InfoCAN" SG_ 358 StopStrtStdby_D_Indic 1; +BA_ "GenSigStartValueInteger" SG_ 358 StopStrtStdby_D_Indic 0; +BA_ "U_P702_MY2021_Tx" SG_ 358 StopStrtStdby_D_Indic 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 358 StopStrtStdby_D_Indic 1; +BA_ "CrossOver_InfoCAN" SG_ 358 StopStrtIODTxt_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 358 StopStrtIODTxt_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 358 StopStrtIODTxt_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 358 StopStrtDrvMde_D_Indic 1; +BA_ "U_P702_MY2021_Tx" SG_ 358 StopStrtDrvMde_D_Indic 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 358 StopStrtDrvMde_D_Indic 1; +BA_ "CrossOver_InfoCAN" SG_ 358 StopStrtMsgTxt_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 358 StopStrtMsgTxt_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 358 StopStrtMsgTxt_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 358 OdoTripVerify_L_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 358 OdoTripVerify_L_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 358 OdoTripVerify_L_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 358 HiElPwInhbt_B_Stat 1; +BA_ "ContentDependant" SG_ 358 HiElPwInhbt_B_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 358 HiElPwInhbt_B_Stat 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 358 HiElPwInhbt_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 358 AutoStopPtDelta_I_Est 1; +BA_ "GenSigStartValueInteger" SG_ 358 AutoStopPtDelta_I_Est 127; +BA_ "ContentDependant" SG_ 358 AutoStopPtDelta_I_Est 1; +BA_ "U_P702_MY2021_Tx" SG_ 358 AutoStopPtDelta_I_Est 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 358 AutoStopPtDelta_I_Est 1; +BA_ "UsedOnPgmDBC" SG_ 357 BPedDrvAppl_D_QF 1; +BA_ "GenSigStartValueInteger" SG_ 357 BPedDrvAppl_D_QF 1; +BA_ "MetaData" SG_ 357 BPedDrvAppl_D_QF 1; +BA_ "GenSigStartValue" SG_ 357 BPedDrvAppl_D_QF 1; +BA_ "U_P702_MY2021_Rx" SG_ 357 BPedDrvAppl_D_QF 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 357 BPedDrvAppl_D_QF 1; +BA_ "U_CX727_MY2021_Rx" SG_ 357 BPedDrvAppl_D_QF 1; +BA_ "U_P702_MY2021_Tx" SG_ 357 BPedDrvAppl_D_QF 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 357 BPedDrvAppl_D_QF 1; +BA_ "U_P702_MY2021_Tx" SG_ 357 CmbbDeny_B_ActlPrpl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 357 CmbbDeny_B_ActlPrpl 1; +BA_ "U_P702_MY2021_Tx" SG_ 357 PrplTqMnSat_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 357 PrplTqMnSat_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 357 BpedDrvAppl_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 357 BpedDrvAppl_D_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 357 BpedDrvAppl_D_Actl 1; +BA_ "GenSigStartValue" SG_ 357 BpedDrvAppl_D_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 357 BpedDrvAppl_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 357 BpedDrvAppl_D_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 357 BpedDrvAppl_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 357 BpedDrvAppl_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 357 BpedDrvAppl_D_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 357 BpedDrvAppl_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 357 CmbbEngTqMn_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 357 CmbbEngTqMn_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 357 Veh_V_DsplyCcSet 1; +BA_ "UsedOnPgmDBC" SG_ 357 Veh_V_DsplyCcSet 1; +BA_ "U_P702_MY2021_Tx" SG_ 357 Veh_V_DsplyCcSet 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 357 Veh_V_DsplyCcSet 1; +BA_ "U_P702_MY2021_Tx" SG_ 357 AccEngStat_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 357 AccEngStat_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 357 CcMde_D_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 357 CcMde_D_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 357 CcMde_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 357 CcMde_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 357 CcMde_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 357 CcMde_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 357 CcStat_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 357 CcStat_D_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 357 CcStat_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 357 CcStat_D_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 357 CcStat_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 357 CcStat_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 357 CcStat_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 357 EngAout_N_MnAllw 1; +BA_ "CrossOver_InfoCAN" SG_ 357 CcOvrrdActv_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 357 CcOvrrdActv_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 357 CcOvrrdActv_B_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 357 CcOvrrdActv_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 357 CcOvrrdActv_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 357 CcOvrrdActv_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 357 AccStopMde_D_Rq 1; +BA_ "U_CX727_MY2021_Rx" SG_ 357 AccStopMde_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 357 AccStopMde_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 357 AccStopMde_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 357 AccStopMde_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 355 AutoRgenTxt_B_RqDsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 355 AutoRgenTxt_B_RqDsply 1; +BA_ "ECGUsedRxSignal" SG_ 355 AutoRgenTxt_B_RqDsply 1; +BA_ "CrossOver_InfoCAN" SG_ 355 AccFllwMdeActv_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 355 AccFllwMdeActv_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 355 AccFllwMdeActv_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 355 EngPtoMde_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 355 EngPtoMde_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 355 EngPtoMde_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 355 ManRgenTxt_D_RqDsply 1; +BA_ "UsedOnPgmDBC" SG_ 355 ManRgenTxt_D_RqDsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 355 ManRgenTxt_D_RqDsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 355 ManRgenTxt_D_RqDsply 1; +BA_ "ECGUsedRxSignal" SG_ 355 ManRgenTxt_D_RqDsply 1; +BA_ "CrossOver_InfoCAN" SG_ 355 ManRgenSoot_Pc_RqDsply 1; +BA_ "UsedOnPgmDBC" SG_ 355 ManRgenSoot_Pc_RqDsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 355 ManRgenSoot_Pc_RqDsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 355 ManRgenSoot_Pc_RqDsply 1; +BA_ "ECGUsedRxSignal" SG_ 355 ManRgenSoot_Pc_RqDsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 355 DieslMsgTxt_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 355 DieslMsgTxt_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 342 EngOvrhtMitgActv_D_Ind 1; +BA_ "UsedOnPgmDBC" SG_ 342 EngOvrhtMitgActv_D_Ind 1; +BA_ "ContentDependant" SG_ 342 EngOvrhtMitgActv_D_Ind 1; +BA_ "U_P702_MY2021_Tx" SG_ 342 EngOvrhtMitgActv_D_Ind 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 342 EngOvrhtMitgActv_D_Ind 1; +BA_ "CrossOver_InfoCAN" SG_ 342 EngClntTe_D_Qf 1; +BA_ "UsedOnPgmDBC" SG_ 342 EngClntTe_D_Qf 1; +BA_ "MetaData" SG_ 342 EngClntTe_D_Qf 1; +BA_ "U_P702_MY2021_Rx" SG_ 342 EngClntTe_D_Qf 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 342 EngClntTe_D_Qf 1; +BA_ "U_P702_MY2021_Tx" SG_ 342 EngClntTe_D_Qf 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 342 EngClntTe_D_Qf 1; +BA_ "CrossOver_InfoCAN" SG_ 342 EngGoutLss_Tq_Est 1; +BA_ "ContentDependant" SG_ 342 EngGoutLss_Tq_Est 1; +BA_ "U_P702_MY2021_Tx" SG_ 342 EngGoutLss_Tq_Est 1; +BA_ "CrossOver_InfoCAN" SG_ 342 EngOil_Te_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 342 EngOil_Te_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 342 EngOil_Te_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 342 EngClnt_Te_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 342 EngClnt_Te_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 342 EngClnt_Te_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 342 EngClnt_Te_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 342 EngClnt_Te_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 342 EngClnt_Te_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 342 EngClnt_Te_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 71 immoTarget1Status 1; +BA_ "U_P702_MY2021_Rx" SG_ 71 immoTarget1Status 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 71 immoTarget1Status 1; +BA_ "U_CX727_MY2021_Rx" SG_ 71 immoTarget1Status 1; +BA_ "U_P702_MY2021_Tx" SG_ 71 immoTarget1Status 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 71 immoTarget1Status 1; +BA_ "UsedOnPgmDBC" SG_ 71 immoTarget1Data 1; +BA_ "U_CX727_MY2021_Rx" SG_ 71 immoTarget1Data 1; +BA_ "U_P702_MY2021_Rx" SG_ 71 immoTarget1Data 1; +BA_ "U_P702_MY2021_Tx" SG_ 71 immoTarget1Data 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 71 immoTarget1Data 1; +BA_ "UsedOnPgmDBC" SG_ 71 immoTarget1Cmd 1; +BA_ "U_CX727_MY2021_Rx" SG_ 71 immoTarget1Cmd 1; +BA_ "U_P702_MY2021_Rx" SG_ 71 immoTarget1Cmd 1; +BA_ "U_P702_MY2021_Tx" SG_ 71 immoTarget1Cmd 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 71 immoTarget1Cmd 1; +BA_ "GenSigSendType" SG_ 1822 TesterPhysicalResGWM_F1 3; +BA_ "ECGUsedTxSignal" SG_ 1822 TesterPhysicalResGWM_F1 1; +BA_ "GenSigStartValueInteger" SG_ 1438 GWM_GWOnBoardTester 255; +BA_ "ContentDependant" SG_ 1438 GWM_GWOnBoardTester 1; +BA_ "GenSigStartValue" SG_ 1438 GWM_GWOnBoardTester 255; +BA_ "ECGUsedTxSignal" SG_ 1438 GWM_GWOnBoardTester 1; +BA_ "GenSigStartValueInteger" SG_ 1438 GWM_GWNMProxy 255; +BA_ "ContentDependant" SG_ 1438 GWM_GWNMProxy 1; +BA_ "GenSigStartValue" SG_ 1438 GWM_GWNMProxy 255; +BA_ "ECGUsedTxSignal" SG_ 1438 GWM_GWNMProxy 1; +BA_ "GenSigStartValueInteger" SG_ 1438 GWM_AutoSarNMReserved4 255; +BA_ "ContentDependant" SG_ 1438 GWM_AutoSarNMReserved4 1; +BA_ "GenSigStartValue" SG_ 1438 GWM_AutoSarNMReserved4 255; +BA_ "ECGUsedTxSignal" SG_ 1438 GWM_AutoSarNMReserved4 1; +BA_ "GenSigStartValueInteger" SG_ 1438 GWM_AutoSarNMReserved3 255; +BA_ "ContentDependant" SG_ 1438 GWM_AutoSarNMReserved3 1; +BA_ "GenSigStartValue" SG_ 1438 GWM_AutoSarNMReserved3 255; +BA_ "ECGUsedTxSignal" SG_ 1438 GWM_AutoSarNMReserved3 1; +BA_ "GenSigStartValueInteger" SG_ 1438 GWM_AutoSarNMReserved2 255; +BA_ "ContentDependant" SG_ 1438 GWM_AutoSarNMReserved2 1; +BA_ "GenSigStartValue" SG_ 1438 GWM_AutoSarNMReserved2 255; +BA_ "ECGUsedTxSignal" SG_ 1438 GWM_AutoSarNMReserved2 1; +BA_ "GenSigStartValueInteger" SG_ 1438 GWM_AutoSarNMReserved1 255; +BA_ "ContentDependant" SG_ 1438 GWM_AutoSarNMReserved1 1; +BA_ "GenSigStartValue" SG_ 1438 GWM_AutoSarNMReserved1 255; +BA_ "ECGUsedTxSignal" SG_ 1438 GWM_AutoSarNMReserved1 1; +BA_ "GenSigStartValueInteger" SG_ 1438 GWM_AutoSarNMNodeId 158; +BA_ "ContentDependant" SG_ 1438 GWM_AutoSarNMNodeId 1; +BA_ "GenSigStartValue" SG_ 1438 GWM_AutoSarNMNodeId 158; +BA_ "ECGUsedTxSignal" SG_ 1438 GWM_AutoSarNMNodeId 1; +BA_ "ContentDependant" SG_ 1438 GWM_AutoSarNMControl 1; +BA_ "ECGUsedTxSignal" SG_ 1438 GWM_AutoSarNMControl 1; +BA_ "U_P702_MY2021_Rx" SG_ 954 GenericSwtch3_No_Actl 1; +BA_ "ContentDependant" SG_ 954 GenericSwtch2_No_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 954 GenericSwtch2_No_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 954 GenericSwtch1_No_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 1006 PersIndexIpmb_D_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1006 PersIndexIpmb_D_Actl 4; +BA_ "GenSigStartValue" SG_ 1006 PersIndexIpmb_D_Actl 4; +BA_ "GenSigSendType" SG_ 1006 PersIndexIpmb_D_Actl 3; +BA_ "CrossOver_InfoCAN" SG_ 1006 FeatNoIpmbActl 1; +BA_ "GenSigSendType" SG_ 1006 FeatNoIpmbActl 3; +BA_ "CrossOver_InfoCAN" SG_ 1006 FeatConfigIpmbActl 1; +BA_ "GenSigSendType" SG_ 1006 FeatConfigIpmbActl 3; +BA_ "GenSigSendType" SG_ 820 AhbStatGfhbFdbk_D_Actl 3; +BA_ "U_P702_MY2021_Tx" SG_ 820 AhbStatGfhbFdbk_D_Actl 1; +BA_ "GenSigSendType" SG_ 820 HeadLghtDrvSide_B_Stat 3; +BA_ "U_P702_MY2021_Tx" SG_ 820 HeadLghtDrvSide_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 820 HeadLghtHiOn_B_StatHcm 1; +BA_ "GenSigSendType" SG_ 820 HeadLghtHiOn_B_StatHcm 3; +BA_ "U_P702_MY2021_Tx" SG_ 820 HeadLghtHiOn_B_StatHcm 1; +BA_ "CrossOver_InfoCAN" SG_ 820 Adaptive_Hdlmp_Fault 1; +BA_ "GenSigSendType" SG_ 820 Adaptive_Hdlmp_Fault 3; +BA_ "U_P702_MY2021_Tx" SG_ 820 Adaptive_Hdlmp_Fault 1; +BA_ "GenSigStartValueInteger" SG_ 137 SteWhlOffstRq_D_Stat 2; +BA_ "GenSigStartValue" SG_ 137 SteWhlOffstRq_D_Stat 2; +BA_ "U_P702_MY2021_Rx" SG_ 137 SteWhlOffstRq_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 137 SteWhlOffst_An_TotActl 32766; +BA_ "GenSigStartValue" SG_ 137 SteWhlOffst_An_TotActl 32765; +BA_ "U_P702_MY2021_Rx" SG_ 137 SteWhlOffst_An_TotActl 1; +BA_ "GenSigStartValueInteger" SG_ 137 SteWhlBrkOffst_An_Actl 32766; +BA_ "GenSigStartValue" SG_ 137 SteWhlBrkOffst_An_Actl 32765; +BA_ "U_P702_MY2021_Rx" SG_ 137 SteWhlBrkOffst_An_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 137 SteWhlBrkAnActl_No_Cs 1; +BA_ "MetaData" SG_ 137 SteWhlBrkAnActl_No_Cs 1; +BA_ "U_P702_MY2021_Rx" SG_ 137 SteWhlBrkAnActl_No_Cs 1; +BA_ "CrossOver_InfoCAN" SG_ 137 SteWhlBrkAnActl_No_Cnt 1; +BA_ "MetaData" SG_ 137 SteWhlBrkAnActl_No_Cnt 1; +BA_ "U_P702_MY2021_Rx" SG_ 137 SteWhlBrkAnActl_No_Cnt 1; +BA_ "U_CX727_MY2021_Rx" SG_ 129 SelDrvMdeSwtch_D_Stat4 1; +BA_ "U_P702_MY2021_Rx" SG_ 129 SelDrvMdeSwtch_D_Stat4 1; +BA_ "WakeupSignal" SG_ 129 SteWhlSwtchView_B_Stat 1; +BA_ "WakeupSignal" SG_ 129 SteWhlSwtchSet_B_Stat 1; +BA_ "WakeupSignal" SG_ 129 SteWhlSwtchPhon_B_Stat 1; +BA_ "WakeupSignal" SG_ 129 SteWhlSwtchNav_B_Stat 1; +BA_ "WakeupSignal" SG_ 129 SteWhlSwtchMed_B_Stat 1; +BA_ "WakeupSignal" SG_ 129 SteWhlSwtchIod_B_Stat 1; +BA_ "WakeupSignal" SG_ 129 SteWhlSwtchHud_B_Stat 1; +BA_ "WakeupSignal" SG_ 129 SteWhlSwtchBack_B_Stat 1; +BA_ "WakeupSignal" SG_ 129 SteWhlSwtchMenu_B_Stat 1; +BA_ "WakeupSignal" SG_ 129 SteWhlSwtchUp_B_Stat 1; +BA_ "WakeupSignal" SG_ 129 SteWhlSwtchRght_B_Stat 1; +BA_ "WakeupSignal" SG_ 129 SteWhlSwtchOk_B_Stat 1; +BA_ "WakeupSignal" SG_ 129 SteWhlSwtchLeft_B_Stat 1; +BA_ "WakeupSignal" SG_ 129 SteWhlSwtchDown_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 935 SodRight_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 935 SodRight_D_Stat 2; +BA_ "GenSigStartValue" SG_ 935 SodRight_D_Stat 2; +BA_ "GenSigSendType" SG_ 935 SodRight_D_Stat 3; +BA_ "GenSigSendType" SG_ 935 CtaAlrtRight2_D_Stat 3; +BA_ "GenSigSendType" SG_ 935 BttRight_D_Stat 3; +BA_ "GenSigSendType" SG_ 935 BttRight_D_RqDrv 3; +BA_ "GenSigSendType" SG_ 935 CtaBrkRightMsgTxt_B_Rq 3; +BA_ "GenSigSendType" SG_ 935 CtaRightBrkEnbl_B_Rq 3; +BA_ "U_CX727_MY2021_Rx" SG_ 935 CtaRightBrkEnbl_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 935 CtaRightBrkEnbl_B_Rq 1; +BA_ "GenSigSendType" SG_ 935 CtaRightBrkDecel_B_Rq 3; +BA_ "U_CX727_MY2021_Rx" SG_ 935 CtaRightBrkDecel_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 935 CtaRightBrkDecel_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 935 Side_Detect_R_Illum 1; +BA_ "GenSigStartValueInteger" SG_ 935 Side_Detect_R_Illum 100; +BA_ "GenSigStartValue" SG_ 935 Side_Detect_R_Illum 100; +BA_ "CrossOver_InfoCAN" SG_ 935 CtaSnsRight_D_Stat 1; +BA_ "GenSigSendType" SG_ 935 CtaSnsRight_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 935 CtaAlrtRight_D_Stat 1; +BA_ "GenSigSendType" SG_ 935 CtaAlrtRight_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 935 CtaRight_D_Stat 1; +BA_ "GenSigSendType" SG_ 935 CtaRight_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 935 SodSnsRight_D_Stat 1; +BA_ "GenSigSendType" SG_ 935 SodSnsRight_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 935 SodAlrtRight_D_Stat 1; +BA_ "GenSigSendType" SG_ 935 SodAlrtRight_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 935 SodDetctRight_D_Stat 1; +BA_ "GenSigSendType" SG_ 935 SodDetctRight_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 935 SodWarnRight_Prd_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 935 SodWarnRight_Prd_Rq 14; +BA_ "GenSigStartValue" SG_ 935 SodWarnRight_Prd_Rq 14; +BA_ "UsedOnPgmDBC" SG_ 1108 RCMSerialNoByte8 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1108 RCMSerialNoByte8 1; +BA_ "U_P702_MY2021_Rx" SG_ 1108 RCMSerialNoByte8 1; +BA_ "UsedOnPgmDBC" SG_ 1108 RCMSerialNoByte7 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1108 RCMSerialNoByte7 1; +BA_ "U_P702_MY2021_Rx" SG_ 1108 RCMSerialNoByte7 1; +BA_ "UsedOnPgmDBC" SG_ 1108 RCMSerialNoByte6 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1108 RCMSerialNoByte6 1; +BA_ "U_P702_MY2021_Rx" SG_ 1108 RCMSerialNoByte6 1; +BA_ "UsedOnPgmDBC" SG_ 1108 RCMSerialNoByte5 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1108 RCMSerialNoByte5 1; +BA_ "U_P702_MY2021_Rx" SG_ 1108 RCMSerialNoByte5 1; +BA_ "UsedOnPgmDBC" SG_ 1108 RCMSerialNoByte4 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1108 RCMSerialNoByte4 1; +BA_ "U_P702_MY2021_Rx" SG_ 1108 RCMSerialNoByte4 1; +BA_ "UsedOnPgmDBC" SG_ 1108 RCMSerialNoByte3 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1108 RCMSerialNoByte3 1; +BA_ "U_P702_MY2021_Rx" SG_ 1108 RCMSerialNoByte3 1; +BA_ "UsedOnPgmDBC" SG_ 1108 RCMSerialNoByte2 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1108 RCMSerialNoByte2 1; +BA_ "U_P702_MY2021_Rx" SG_ 1108 RCMSerialNoByte2 1; +BA_ "UsedOnPgmDBC" SG_ 1108 RCMSerialNoByte1 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1108 RCMSerialNoByte1 1; +BA_ "U_P702_MY2021_Rx" SG_ 1108 RCMSerialNoByte1 1; +BA_ "GenSigStartValueInteger" SG_ 261 ChrgStatDsply_D_Rq 1; +BA_ "GenSigStartValue" SG_ 261 ChrgStatDsply_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 1146 TrlrAidSwtch_D_RqDrv 1; +BA_ "GenSigStartValueInteger" SG_ 1146 TrlrAidCtl_U_RqDrv 4094; +BA_ "GenSigStartValue" SG_ 1146 TrlrAidCtl_U_RqDrv 4093; +BA_ "U_P702_MY2021_Rx" SG_ 1146 TrlrAidCtl_U_RqDrv 1; +BA_ "U_P702_MY2021_Rx" SG_ 533 TrlrAidMde_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 533 OnbChrgGoTOn_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 533 OnbChrgGoTOn_D_Rq 2; +BA_ "GenSigStartValue" SG_ 533 OnbChrgGoTOn_D_Rq 2; +BA_ "CrossOver_InfoCAN" SG_ 533 OnbChrgGoTMnte_D_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 533 OnbChrgGoTMnte_D_Rq 1; +BA_ "MetaData" SG_ 533 OnbChrgGoTMnte_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 533 OnbChrgGoTHr_T_Rq 30; +BA_ "GenSigStartValue" SG_ 533 OnbChrgGoTHr_T_Rq 30; +BA_ "CrossOver_InfoCAN" SG_ 533 OnbChrgGoTElement_D_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 533 OnbChrgGoTElement_D_Rq 1; +BA_ "MetaData" SG_ 533 OnbChrgGoTElement_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 533 OnbChrgGoTDelete_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 533 OnbChrgClearAll_B_Rq 1; +BA_ "ECGUsedTxSignal" SG_ 533 OnbChrgClearAll_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 533 OnbChrgGoTUpdate_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 1041 ElCmpr_Pw_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 1067 BattULoAuxIsol_D_Rq 1; +BA_ "GenSigStartValue" SG_ 1067 BattULoAuxIsol_D_Rq 2; +BA_ "U_P702_MY2021_Rx" SG_ 1067 BattULoAux_U_Rq 1; +BA_ "GenSigStartValue" SG_ 1067 BattULoAux_U_Rq 3296; +BA_ "GenSigStartValueInteger" SG_ 1067 BattULoAuxSoc_Pc_Actl 95; +BA_ "GenSigStartValue" SG_ 1067 BattULoAuxSoc_Pc_Actl 95; +BA_ "U_P702_MY2021_Rx" SG_ 1067 BattULoAuxSoc_Pc_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1067 BattULoAux_I_Actl 2048; +BA_ "U_P702_MY2021_Rx" SG_ 1067 BattULoAux_I_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 1067 BattULoAux_D_Qlty 1; +BA_ "U_P702_MY2021_Rx" SG_ 1067 BattULoCrnkStrt_U_Pred 1; +BA_ "U_P702_MY2021_Rx" SG_ 1067 BattULoCrnkBelt_U_Pred 1; +BA_ "GenSigStartValueInteger" SG_ 1067 BattULoAux_U_Actl 203; +BA_ "GenSigStartValue" SG_ 1067 BattULoAux_U_Actl 203; +BA_ "U_P702_MY2021_Rx" SG_ 1067 BattULoAux_U_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 1067 BattULoAux_B_Falt 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1112 BattTracChrgSustn_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 1112 BattTracCnnct_D_Cmd 1; +BA_ "U_P702_MY2021_Rx" SG_ 1112 BattTracHvilOpen_B_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 1112 BattTracDcdcDis_B_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 1112 BattTracDelta_Te_Actl 164; +BA_ "GenSigStartValue" SG_ 1112 BattTracDelta_Te_Actl 120; +BA_ "ContentDependant" SG_ 1112 BattTracClntPmp_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 139 AfsPw_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 139 AfsPw_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 139 ActvFrontSteLck_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 139 ActvFrontSteLck_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 139 SelDrvMdeAdptSte_D_Stat 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1121 SelDrvMdeSwtch_No_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 1121 SelDrvMdeSwtch_No_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1121 SelDrvMdeSwtch_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 1121 SelDrvMdeSwtch_D_Stat 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1121 SelDrvMdeCnt_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 1121 SelDrvMdeCnt_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1120 DrvSlipCtlMde_B_Rq3 1; +BA_ "UsedOnPgmDBC" SG_ 1120 DrvSlipCtlMde_B_Rq3 1; +BA_ "U_P702_MY2021_Rx" SG_ 1120 DrvSlipCtlMde_B_Rq3 1; +BA_ "U_P702_MY2021_Rx" SG_ 1120 HybMdeSwtch_B_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 1120 RearDiffLck_D_RqDrv 2; +BA_ "GenSigStartValue" SG_ 1120 RearDiffLck_D_RqDrv 2; +BA_ "U_P702_MY2021_Rx" SG_ 1120 RearDiffLck_D_RqDrv 1; +BA_ "GenSigStartValueInteger" SG_ 1120 AwdMde_D_RqDrv 5; +BA_ "GenSigStartValue" SG_ 1120 AwdMde_D_RqDrv 5; +BA_ "U_P702_MY2021_Rx" SG_ 1120 AwdMde_D_RqDrv 1; +BA_ "UsedOnPgmDBC" SG_ 1120 HdcSwtchPos_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 1120 HdcSwtchPos_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 1050 Outside_Air_Temp_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 1050 Outside_Air_Temp_Stat 254; +BA_ "GenSigStartValue" SG_ 1050 Outside_Air_Temp_Stat 254; +BA_ "U_P702_MY2021_Rx" SG_ 1050 Outside_Air_Temp_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1050 Outside_Air_Temp_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 1137 RngPerChrgAvg_L_Dsply 4094; +BA_ "GenSigStartValue" SG_ 1137 RngPerChrgAvg_L_Dsply 4093; +BA_ "U_P702_MY2021_Tx" SG_ 1137 RngPerChrgAvg_L_Dsply 1; +BA_ "GenSigStartValueInteger" SG_ 1255 BalrRight4Prev3Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1255 BalrRight4Prev3Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1255 BalrRight4Prev3X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1255 BalrRight4Prev3X_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1255 BalrRight4Prev2Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1255 BalrRight4Prev2Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1255 BalrRight4Prev2X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1255 BalrRight4Prev2X_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1255 BalrRight4Prev1Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1255 BalrRight4Prev1Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1255 BalrRight4Prev1X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1255 BalrRight4Prev1X_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1255 BalrRight4CurntY_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1255 BalrRight4CurntY_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1255 BalrRight4CurntX_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1255 BalrRight4CurntX_L_Actl 0; +BA_ "GenSigSendType" SG_ 1254 BalrRight3Threat_D_Stat 3; +BA_ "GenSigStartValueInteger" SG_ 1254 BalrRight3Prev3Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1254 BalrRight3Prev3Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1254 BalrRight3Prev3X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1254 BalrRight3Prev3X_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1254 BalrRight3Prev2Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1254 BalrRight3Prev2Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1254 BalrRight3Prev2X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1254 BalrRight3Prev2X_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1254 BalrRight3Prev1Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1254 BalrRight3Prev1Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1254 BalrRight3Prev1X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1254 BalrRight3Prev1X_L_Actl 0; +BA_ "GenSigSendType" SG_ 1254 BalrRight3Fast_B_Stat 3; +BA_ "GenSigSendType" SG_ 1254 BalrRight3Dsply_B_Stat 3; +BA_ "GenSigStartValueInteger" SG_ 1254 BalrRight3CurntY_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1254 BalrRight3CurntY_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1254 BalrRight3CurntX_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1254 BalrRight3CurntX_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1253 BalrRight2Prev3Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1253 BalrRight2Prev3Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1253 BalrRight2Prev3X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1253 BalrRight2Prev3X_L_Actl 0; +BA_ "GenSigSendType" SG_ 1253 BalrRight2Threat_D_Stat 3; +BA_ "GenSigStartValueInteger" SG_ 1253 BalrRight2Prev2Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1253 BalrRight2Prev2Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1253 BalrRight2Prev2X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1253 BalrRight2Prev2X_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1253 BalrRight2Prev1Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1253 BalrRight2Prev1Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1253 BalrRight2Prev1X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1253 BalrRight2Prev1X_L_Actl 0; +BA_ "GenSigSendType" SG_ 1253 BalrRight2Fast_B_Stat 3; +BA_ "GenSigSendType" SG_ 1253 BalrRight2Dsply_B_Stat 3; +BA_ "GenSigStartValueInteger" SG_ 1253 BalrRight2CurntY_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1253 BalrRight2CurntY_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1253 BalrRight2CurntX_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1253 BalrRight2CurntX_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1252 BalrRight1Prev3Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1252 BalrRight1Prev3Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1252 BalrRight1Prev3X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1252 BalrRight1Prev3X_L_Actl 0; +BA_ "GenSigSendType" SG_ 1252 BalrRight1Threat_D_Stat 3; +BA_ "GenSigStartValueInteger" SG_ 1252 BalrRight1Prev2Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1252 BalrRight1Prev2Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1252 BalrRight1Prev2X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1252 BalrRight1Prev2X_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1252 BalrRight1Prev1Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1252 BalrRight1Prev1Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1252 BalrRight1Prev1X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1252 BalrRight1Prev1X_L_Actl 0; +BA_ "GenSigSendType" SG_ 1252 BalrRight1Fast_B_Stat 3; +BA_ "GenSigSendType" SG_ 1252 BalrRight1Dsply_B_Stat 3; +BA_ "GenSigStartValueInteger" SG_ 1252 BalrRight1CurntY_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1252 BalrRight1CurntY_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1252 BalrRight1CurntX_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1252 BalrRight1CurntX_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1251 BalrLeft4Prev3Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1251 BalrLeft4Prev3Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1251 BalrLeft4Prev3X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1251 BalrLeft4Prev3X_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1251 BalrLeft4Prev2Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1251 BalrLeft4Prev2Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1251 BalrLeft4Prev2X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1251 BalrLeft4Prev2X_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1251 BalrLeft4Prev1Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1251 BalrLeft4Prev1Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1251 BalrLeft4Prev1X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1251 BalrLeft4Prev1X_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1251 BalrLeft4CurntY_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1251 BalrLeft4CurntY_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1251 BalrLeft4CurntX_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1251 BalrLeft4CurntX_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1250 BalrLeft3Prev3Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1250 BalrLeft3Prev3Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1250 BalrLeft3Prev3X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1250 BalrLeft3Prev3X_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1250 BalrLeft3Prev2Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1250 BalrLeft3Prev2Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1250 BalrLeft3Prev2X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1250 BalrLeft3Prev2X_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1250 BalrLeft3Prev1Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1250 BalrLeft3Prev1Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1250 BalrLeft3Prev1X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1250 BalrLeft3Prev1X_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1250 BalrLeft3CurntY_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1250 BalrLeft3CurntY_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1250 BalrLeft3CurntX_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1250 BalrLeft3CurntX_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1249 BalrLeft2Prev3Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1249 BalrLeft2Prev3Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1249 BalrLeft2Prev3X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1249 BalrLeft2Prev3X_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1249 BalrLeft2Prev2Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1249 BalrLeft2Prev2Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1249 BalrLeft2Prev2X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1249 BalrLeft2Prev2X_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1249 BalrLeft2Prev1Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1249 BalrLeft2Prev1Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1249 BalrLeft2Prev1X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1249 BalrLeft2Prev1X_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1249 BalrLeft2CurntY_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1249 BalrLeft2CurntY_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1249 BalrLeft2CurntX_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1249 BalrLeft2CurntX_L_Actl 0; +BA_ "GenSigSendType" SG_ 1248 BalrLeft1Threat_D_Stat 3; +BA_ "GenSigStartValueInteger" SG_ 1248 BalrLeft1Prev3Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1248 BalrLeft1Prev3Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1248 BalrLeft1Prev3X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1248 BalrLeft1Prev3X_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1248 BalrLeft1Prev2Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1248 BalrLeft1Prev2Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1248 BalrLeft1Prev2X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1248 BalrLeft1Prev2X_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1248 BalrLeft1Prev1Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1248 BalrLeft1Prev1Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1248 BalrLeft1Prev1X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1248 BalrLeft1Prev1X_L_Actl 0; +BA_ "GenSigSendType" SG_ 1248 BalrLeft1Fast_B_Stat 3; +BA_ "GenSigSendType" SG_ 1248 BalrLeft1Dsply_B_Stat 3; +BA_ "GenSigStartValueInteger" SG_ 1248 BalrLeft1CurntY_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1248 BalrLeft1CurntY_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1248 BalrLeft1CurntX_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1248 BalrLeft1CurntX_L_Actl 0; +BA_ "U_P702_MY2021_Rx" SG_ 1113 TrlrTrgtAcquire_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 1113 TrlrRvrse_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 1113 TrlrAid_D2_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 1113 TrlrAidTrgtId_No_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1113 TrlrAid_An3_Actl 720; +BA_ "U_P702_MY2021_Rx" SG_ 1113 TrlrAid_An3_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1113 TrlrAid_AnRate2_Actl 400; +BA_ "U_P702_MY2021_Rx" SG_ 1113 TrlrAid_AnRate2_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1113 HitchToVehAxle_L_Calc 255; +BA_ "GenSigStartValue" SG_ 1113 HitchToVehAxle_L_Calc 255; +BA_ "U_P702_MY2021_Rx" SG_ 1113 HitchToVehAxle_L_Calc 1; +BA_ "GenSigSendType" SG_ 1105 TrlrAidSwtchLamp_B_Rq 3; +BA_ "GenSigSendType" SG_ 1105 TrlrHitchMsgTxt_D_Rq 3; +BA_ "GenSigSendType" SG_ 1105 TrlrHitchIcon_D_Rq 3; +BA_ "GenSigSendType" SG_ 1105 TrlrHitchChime_D_Rq 3; +BA_ "GenSigSendType" SG_ 1105 TrlrAidEnbl_D_RqAdas 3; +BA_ "U_P702_MY2021_Rx" SG_ 1105 TrlrAidEnbl_D_RqAdas 1; +BA_ "GenSigSendType" SG_ 1105 TrlrRvrseMsgTxt_D2_Rq 3; +BA_ "U_P702_MY2021_Rx" SG_ 1105 TrlrRvrseMsgTxt_D2_Rq 1; +BA_ "GenSigSendType" SG_ 1105 TrlrRvrseEnbl_D2_Stat 3; +BA_ "U_P702_MY2021_Rx" SG_ 1105 TrlrRvrseEnbl_D2_Stat 1; +BA_ "GenSigSendType" SG_ 1105 RbaMsg_D_Rq 3; +BA_ "WakeupSignal" SG_ 1105 BrkDecel_B_RqRba 1; +BA_ "CrossOver_InfoCAN" SG_ 1105 BrkDecel_B_RqRba 1; +BA_ "UsedOnPgmDBC" SG_ 1105 BrkDecel_B_RqRba 1; +BA_ "GenSigSendType" SG_ 1105 BrkDecel_B_RqRba 3; +BA_ "U_P702_MY2021_Rx" SG_ 1105 BrkDecel_B_RqRba 1; +BA_ "WakeupSignal" SG_ 1105 BrkEnbl_B_RqRba 1; +BA_ "CrossOver_InfoCAN" SG_ 1105 BrkEnbl_B_RqRba 1; +BA_ "UsedOnPgmDBC" SG_ 1105 BrkEnbl_B_RqRba 1; +BA_ "GenSigSendType" SG_ 1105 BrkEnbl_B_RqRba 3; +BA_ "U_P702_MY2021_Rx" SG_ 1105 BrkEnbl_B_RqRba 1; +BA_ "GenSigStartValueInteger" SG_ 1105 Rba_D_Stat 1; +BA_ "GenSigStartValue" SG_ 1105 Rba_D_Stat 1; +BA_ "GenSigSendType" SG_ 1105 Rba_D_Stat 3; +BA_ "GenSigSendType" SG_ 1105 RbaAlrt_D_Dsply 3; +BA_ "GenSigSendType" SG_ 1105 RbaMnu_D_Rq 3; +BA_ "GenSigSendType" SG_ 1105 CamraFrntStat_D_Stat 3; +BA_ "GenSigSendType" SG_ 1105 TrlrHitchLamp_D_Rq2 3; +BA_ "GenSigSendType" SG_ 938 SidePrkSnsR2_D_Stat 3; +BA_ "GenSigSendType" SG_ 938 SidePrkSnsR1_D_Stat 3; +BA_ "GenSigSendType" SG_ 938 SidePrkSnsL2_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 938 ApaMde_D_Stat 1; +BA_ "GenSigSendType" SG_ 938 ApaMde_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 938 ApaActvSd_D_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 938 ApaActvSd_D_Actl 1; +BA_ "GenSigStartValue" SG_ 938 ApaActvSd_D_Actl 1; +BA_ "GenSigSendType" SG_ 938 ApaActvSd_D_Actl 3; +BA_ "CrossOver_InfoCAN" SG_ 938 PrkAidSwtch_B_Stat 1; +BA_ "GenSigSendType" SG_ 938 PrkAidSwtch_B_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 938 ApaMde_D_Avail 1; +BA_ "GenSigSendType" SG_ 938 ApaMde_D_Avail 3; +BA_ "CrossOver_InfoCAN" SG_ 938 PrkAidSnsFrCrnr_D_Stat 1; +BA_ "GenSigSendType" SG_ 938 PrkAidSnsFrCrnr_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 938 PrkAidSnsFrCntr_D_Stat 1; +BA_ "GenSigSendType" SG_ 938 PrkAidSnsFrCntr_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 938 PrkAidSnsFlCrnr_D_Stat 1; +BA_ "GenSigSendType" SG_ 938 PrkAidSnsFlCrnr_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 938 PrkAidSnsFlCntr_D_Stat 1; +BA_ "GenSigSendType" SG_ 938 PrkAidSnsFlCntr_D_Stat 3; +BA_ "GenSigSendType" SG_ 938 PrkBrkEl_B_RqFap 3; +BA_ "U_CX727_MY2021_Rx" SG_ 938 PrkBrkEl_B_RqFap 1; +BA_ "U_P702_MY2021_Rx" SG_ 938 PrkBrkEl_B_RqFap 1; +BA_ "CrossOver_InfoCAN" SG_ 938 RpaChime_D_Rq 1; +BA_ "GenSigSendType" SG_ 938 RpaChime_D_Rq 3; +BA_ "CrossOver_InfoCAN" SG_ 938 FpaChime_D_Rq 1; +BA_ "GenSigSendType" SG_ 938 FpaChime_D_Rq 3; +BA_ "CrossOver_InfoCAN" SG_ 938 PrkAidMsgTxt_D_Rq 1; +BA_ "GenSigSendType" SG_ 938 PrkAidMsgTxt_D_Rq 3; +BA_ "U_P702_MY2021_Rx" SG_ 938 PrkAidMsgTxt_D_Rq 1; +BA_ "GenSigSendType" SG_ 938 SidePrkSnsL1_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 938 PrkAidAudioMute_B_Rq 1; +BA_ "GenSigSendType" SG_ 938 PrkAidAudioMute_B_Rq 3; +BA_ "GenSigSendType" SG_ 939 ApaBrk_D_Rq 3; +BA_ "GenSigSendType" SG_ 939 SidePrkSnsR4_D_Stat 3; +BA_ "GenSigSendType" SG_ 939 SidePrkSnsR3_D_Stat 3; +BA_ "GenSigSendType" SG_ 939 SidePrkSnsL4_D_Stat 3; +BA_ "GenSigSendType" SG_ 939 SidePrkSnsL3_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 939 PrkAidChime_D_Stat 1; +BA_ "GenSigSendType" SG_ 939 PrkAidChime_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 939 PrkAidSnsRlCntr_D_Stat 1; +BA_ "GenSigSendType" SG_ 939 PrkAidSnsRlCntr_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 939 PrkAidSnsRrCrnr_D_Stat 1; +BA_ "GenSigSendType" SG_ 939 PrkAidSnsRrCrnr_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 939 PrkAidSnsRrCntr_D_Stat 1; +BA_ "GenSigSendType" SG_ 939 PrkAidSnsRrCntr_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 939 PrkAidSnsRlCrnr_D_Stat 1; +BA_ "GenSigSendType" SG_ 939 PrkAidSnsRlCrnr_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 939 PrkAidRear_D_Stat 1; +BA_ "GenSigSendType" SG_ 939 PrkAidRear_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 939 PrkAidFront_D_Stat 1; +BA_ "GenSigSendType" SG_ 939 PrkAidFront_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 939 PrkAid_D_Falt 1; +BA_ "GenSigSendType" SG_ 939 PrkAid_D_Falt 3; +BA_ "GenSigSendType" SG_ 939 ApaLongCtrlEnbl_D_Rq 3; +BA_ "U_P702_MY2021_Rx" SG_ 939 ApaLongCtrlEnbl_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 939 ApaLongCtrlEnbl_D_Rq 1; +BA_ "U_CX727_MY2021_Rx" SG_ 939 ApaLongCtrlEnbl_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 939 ApaBrk_A_Rq 255; +BA_ "U_P702_MY2021_Rx" SG_ 939 ApaBrk_A_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 939 ApaBrk_A_Rq 1; +BA_ "U_CX727_MY2021_Rx" SG_ 939 ApaBrk_A_Rq 1; +BA_ "GenSigSendType" SG_ 939 PrkAidLamp_D_Rq 3; +BA_ "GenSigStartValueInteger" SG_ 937 Veh_V_RqFap 0; +BA_ "U_P702_MY2021_Rx" SG_ 937 Veh_V_RqFap 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 937 Veh_V_RqFap 1; +BA_ "MetaData" SG_ 937 TrnRngDRqFap_No_Cs 1; +BA_ "U_P702_MY2021_Rx" SG_ 937 TrnRngDRqFap_No_Cs 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 937 TrnRngDRqFap_No_Cs 1; +BA_ "MetaData" SG_ 937 TrnRngDRqFap_No_Cnt 1; +BA_ "U_P702_MY2021_Rx" SG_ 937 TrnRngDRqFap_No_Cnt 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 937 TrnRngDRqFap_No_Cnt 1; +BA_ "U_P702_MY2021_Rx" SG_ 937 TrnRng_D_RqFap 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 937 TrnRng_D_RqFap 1; +BA_ "GenSigStartValueInteger" SG_ 937 FapLcDistToObj_L_Actl 254; +BA_ "GenSigStartValue" SG_ 937 FapLcDistToObj_L_Actl 254; +BA_ "U_P702_MY2021_Rx" SG_ 937 FapLcDistToObj_L_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 937 FapLcDistToObj_L_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 936 ApaSys_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 936 ApaSys_D_Stat 1; +BA_ "U_CX727_MY2021_Rx" SG_ 936 EPASExtAngleStatReq 1; +BA_ "U_P702_MY2021_Rx" SG_ 936 EPASExtAngleStatReq 1; +BA_ "U_CX727_MY2021_Rx" SG_ 936 ExtSteeringAngleReq2 1; +BA_ "U_P702_MY2021_Rx" SG_ 936 ExtSteeringAngleReq2 1; +BA_ "GenSigStartValueInteger" SG_ 877 RngImpctDrv_L_Dsply 255; +BA_ "U_P702_MY2021_Tx" SG_ 877 RngImpctDrv_L_Dsply 1; +BA_ "GenSigStartValueInteger" SG_ 877 RngImpctClim_L_Dsply 255; +BA_ "U_P702_MY2021_Tx" SG_ 877 RngImpctClim_L_Dsply 1; +BA_ "GenSigStartValueInteger" SG_ 877 VehElEffAvg_No_Dsply 126; +BA_ "GenSigStartValue" SG_ 877 VehElEffAvg_No_Dsply 126; +BA_ "U_P702_MY2021_Tx" SG_ 877 VehElEffAvg_No_Dsply 1; +BA_ "CrossOver_InfoCAN" SG_ 877 PwFlwFuelDrv_D_Dsply 1; +BA_ "GenSigSendType" SG_ 877 PwFlwFuelDrv_D_Dsply 3; +BA_ "U_P702_MY2021_Tx" SG_ 877 PwFlwFuelDrv_D_Dsply 1; +BA_ "CrossOver_InfoCAN" SG_ 877 PwFlwFuelClimt_B_Dsply 1; +BA_ "GenSigSendType" SG_ 877 PwFlwFuelClimt_B_Dsply 3; +BA_ "U_P702_MY2021_Tx" SG_ 877 PwFlwFuelClimt_B_Dsply 1; +BA_ "CrossOver_InfoCAN" SG_ 877 PwFlwFuelBatt_B_Dsply 1; +BA_ "GenSigSendType" SG_ 877 PwFlwFuelBatt_B_Dsply 3; +BA_ "U_P702_MY2021_Tx" SG_ 877 PwFlwFuelBatt_B_Dsply 1; +BA_ "CrossOver_InfoCAN" SG_ 877 PwFlwBattClimt_B_Dsply 1; +BA_ "GenSigSendType" SG_ 877 PwFlwBattClimt_B_Dsply 3; +BA_ "U_P702_MY2021_Tx" SG_ 877 PwFlwBattClimt_B_Dsply 1; +BA_ "CrossOver_InfoCAN" SG_ 877 PwFlwBatt_D_Dsply 1; +BA_ "GenSigSendType" SG_ 877 PwFlwBatt_D_Dsply 3; +BA_ "U_P702_MY2021_Tx" SG_ 877 PwFlwBatt_D_Dsply 1; +BA_ "U_P702_MY2021_Rx" SG_ 589 BattTrac2_Pw_LimChrg 1; +BA_ "U_P702_MY2021_Rx" SG_ 589 BattTrac2_Pw_LimDchrg 1; +BA_ "U_P702_MY2021_Rx" SG_ 589 BattTrac2_Pw_DchrgInst 1; +BA_ "U_P702_MY2021_Rx" SG_ 589 BattTrac2_Pw_ChrgInst 1; +BA_ "GenSigStartValueInteger" SG_ 588 BattTracSoc2_Pc_Actl 16382; +BA_ "GenSigStartValue" SG_ 588 BattTracSoc2_Pc_Actl 16382; +BA_ "U_P702_MY2021_Rx" SG_ 588 BattTracSoc2_Pc_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 588 BattTrac_Te_Actl 150; +BA_ "GenSigStartValue" SG_ 588 BattTrac_Te_Actl 150; +BA_ "U_P702_MY2021_Rx" SG_ 588 BattTrac_Te_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 588 BattTracDiagClr_B_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 588 BattTracDiagClr_B_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 587 BattTracClnt_Te_Actl 164; +BA_ "GenSigStartValue" SG_ 587 BattTracClnt_Te_Actl 164; +BA_ "CrossOver_InfoCAN" SG_ 587 BattTracWarnLamp_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 587 BattTracSrvcRqd_B_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 587 BattTracSoc_Pc_MxPrtct 700; +BA_ "GenSigStartValue" SG_ 587 BattTracSoc_Pc_MxPrtct 700; +BA_ "U_P702_MY2021_Rx" SG_ 587 BattTracSoc_Pc_MxPrtct 1; +BA_ "GenSigStartValueInteger" SG_ 587 BattTracSoc_Pc_MnPrtct 300; +BA_ "GenSigStartValue" SG_ 587 BattTracSoc_Pc_MnPrtct 30; +BA_ "U_P702_MY2021_Rx" SG_ 587 BattTracSoc_Pc_MnPrtct 1; +BA_ "GenSigStartValueInteger" SG_ 587 BattTracSoc_Pc_LimLo 400; +BA_ "GenSigStartValue" SG_ 587 BattTracSoc_Pc_LimLo 400; +BA_ "U_P702_MY2021_Rx" SG_ 587 BattTracSoc_Pc_LimLo 1; +BA_ "GenSigStartValueInteger" SG_ 587 BattTracSoc_Pc_LimHi 600; +BA_ "GenSigStartValue" SG_ 587 BattTracSoc_Pc_LimHi 600; +BA_ "U_P702_MY2021_Rx" SG_ 587 BattTracSoc_Pc_LimHi 1; +BA_ "CrossOver_InfoCAN" SG_ 389 HtrnOvrTeLamp_B_Dsply 1; +BA_ "U_P702_MY2021_Rx" SG_ 389 HtrnAin_UHi_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 389 HtrnAin_UHi_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 389 HtrnSrvcRqd_B_Dsply 1; +BA_ "U_P702_MY2021_Rx" SG_ 389 HtrnHvilOpen_B_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 389 HtrnHvilOpen_B_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 389 BattTrac_I_EstVsc 15000; +BA_ "U_P702_MY2021_Rx" SG_ 1009 TrlrAidCancl_B_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 1009 CenterStackRing_D_Actl 2; +BA_ "GenSigStartValue" SG_ 1009 CenterStackRing_D_Actl 2; +BA_ "CrossOver_InfoCAN" SG_ 1009 ValetMode_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 360 GsmSrvcRqd_B_Rq 1; +BA_ "ContentDependant" SG_ 360 GsmSrvcRqd_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 360 TrnGearPwmFalt_B_Actl 1; +BA_ "ContentDependant" SG_ 360 TrnGearPwmFalt_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 360 TrnGearPwmFalt_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 360 TrnGearPwmFalt_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 360 GearButtnStuck_B_Actl 1; +BA_ "ContentDependant" SG_ 360 GearButtnStuck_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 360 GearButtnStuck_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 360 GearButtnStuck_B_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 122 BattTrac_U_LimLo 88; +BA_ "GenSigStartValue" SG_ 122 BattTrac_U_LimLo 88; +BA_ "U_P702_MY2021_Rx" SG_ 122 BattTrac_U_LimLo 1; +BA_ "GenSigStartValueInteger" SG_ 122 BattTrac_U_LimHi 163; +BA_ "GenSigStartValue" SG_ 122 BattTrac_U_LimHi 163; +BA_ "U_P702_MY2021_Rx" SG_ 122 BattTrac_U_LimHi 1; +BA_ "CrossOver_InfoCAN" SG_ 122 VehStrtInhbt_B_RqBatt 1; +BA_ "U_P702_MY2021_Rx" SG_ 122 VehStrtInhbt_B_RqBatt 1; +BA_ "U_P702_MY2021_Rx" SG_ 122 BattTracOffFst_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 122 BattTracOff_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 122 BattTracOff_B_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 122 BattTrac_U_Actl 1022; +BA_ "GenSigStartValue" SG_ 122 BattTrac_U_Actl 1022; +BA_ "U_P702_MY2021_Rx" SG_ 122 BattTrac_U_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 122 BattTrac_I_Actl 15000; +BA_ "U_P702_MY2021_Rx" SG_ 122 BattTrac_I_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 90 TrnGsmNtmState_D_Actl 1; +BA_ "ContentDependant" SG_ 90 TrnGsmNtmState_D_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnGsmNtmState_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnGsmNtmState_D_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 90 TrnGsmNtmState_D_Actl 1; +BA_ "ContentDependant" SG_ 90 DrQltyDrv_D_StatGsm 1; +BA_ "GenSigStartValue" SG_ 90 DrQltyDrv_D_StatGsm 6; +BA_ "U_P702_MY2021_Rx" SG_ 90 DrQltyDrv_D_StatGsm 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 DrQltyDrv_D_StatGsm 1; +BA_ "U_CX727_MY2021_Rx" SG_ 90 DrQltyDrv_D_StatGsm 1; +BA_ "ContentDependant" SG_ 90 TrnBtsiOvrrd_B_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnBtsiOvrrd_B_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnBtsiOvrrd_B_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 90 TrnRng_D_RqGsm 14; +BA_ "GenSigStartValue" SG_ 90 TrnRng_D_RqGsm 14; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnRng_D_RqGsm 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnRng_D_RqGsm 1; +BA_ "U_CX727_MY2021_Rx" SG_ 90 PrkBrkActv_D_RqGsmGear 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 PrkBrkActv_D_RqGsmGear 1; +BA_ "ContentDependant" SG_ 90 TrnValidGearRq_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnValidGearRq_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnValidGearRq_D_Stat 1; +BA_ "ContentDependant" SG_ 90 TrnGearRqCnt_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnGearRqCnt_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnGearRqCnt_B_Actl 1; +BA_ "WakeupSignal" SG_ 90 TrnGearButtn_U_Actl 1; +BA_ "ContentDependant" SG_ 90 TrnGearButtn_U_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnGearButtn_U_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnGearButtn_U_Actl 1; +BA_ "WakeupSignal" SG_ 90 TrnGearButtn_B_ActlR2 1; +BA_ "ContentDependant" SG_ 90 TrnGearButtn_B_ActlR2 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnGearButtn_B_ActlR2 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnGearButtn_B_ActlR2 1; +BA_ "WakeupSignal" SG_ 90 TrnGearButtn_B_ActlR1 1; +BA_ "ContentDependant" SG_ 90 TrnGearButtn_B_ActlR1 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnGearButtn_B_ActlR1 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnGearButtn_B_ActlR1 1; +BA_ "WakeupSignal" SG_ 90 TrnGearButtn_B_ActlR0 1; +BA_ "ContentDependant" SG_ 90 TrnGearButtn_B_ActlR0 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnGearButtn_B_ActlR0 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnGearButtn_B_ActlR0 1; +BA_ "WakeupSignal" SG_ 90 TrnGearButtn_B_ActlP2 1; +BA_ "ContentDependant" SG_ 90 TrnGearButtn_B_ActlP2 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnGearButtn_B_ActlP2 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnGearButtn_B_ActlP2 1; +BA_ "WakeupSignal" SG_ 90 TrnGearButtn_B_ActlP1 1; +BA_ "ContentDependant" SG_ 90 TrnGearButtn_B_ActlP1 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnGearButtn_B_ActlP1 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnGearButtn_B_ActlP1 1; +BA_ "WakeupSignal" SG_ 90 TrnGearButtn_B_ActlP0 1; +BA_ "ContentDependant" SG_ 90 TrnGearButtn_B_ActlP0 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnGearButtn_B_ActlP0 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnGearButtn_B_ActlP0 1; +BA_ "WakeupSignal" SG_ 90 TrnGearButtn_B_ActlN2 1; +BA_ "ContentDependant" SG_ 90 TrnGearButtn_B_ActlN2 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnGearButtn_B_ActlN2 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnGearButtn_B_ActlN2 1; +BA_ "WakeupSignal" SG_ 90 TrnGearButtn_B_ActlN1 1; +BA_ "ContentDependant" SG_ 90 TrnGearButtn_B_ActlN1 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnGearButtn_B_ActlN1 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnGearButtn_B_ActlN1 1; +BA_ "WakeupSignal" SG_ 90 TrnGearButtn_B_ActlN0 1; +BA_ "ContentDependant" SG_ 90 TrnGearButtn_B_ActlN0 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnGearButtn_B_ActlN0 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnGearButtn_B_ActlN0 1; +BA_ "WakeupSignal" SG_ 90 TrnGearButtn_B_ActlM2 1; +BA_ "ContentDependant" SG_ 90 TrnGearButtn_B_ActlM2 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnGearButtn_B_ActlM2 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnGearButtn_B_ActlM2 1; +BA_ "WakeupSignal" SG_ 90 TrnGearButtn_B_ActlM1 1; +BA_ "ContentDependant" SG_ 90 TrnGearButtn_B_ActlM1 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnGearButtn_B_ActlM1 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnGearButtn_B_ActlM1 1; +BA_ "WakeupSignal" SG_ 90 TrnGearButtn_B_ActlM0 1; +BA_ "ContentDependant" SG_ 90 TrnGearButtn_B_ActlM0 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnGearButtn_B_ActlM0 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnGearButtn_B_ActlM0 1; +BA_ "WakeupSignal" SG_ 90 TrnGearButtn_B_ActlD2 1; +BA_ "ContentDependant" SG_ 90 TrnGearButtn_B_ActlD2 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnGearButtn_B_ActlD2 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnGearButtn_B_ActlD2 1; +BA_ "WakeupSignal" SG_ 90 TrnGearButtn_B_ActlD1 1; +BA_ "ContentDependant" SG_ 90 TrnGearButtn_B_ActlD1 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnGearButtn_B_ActlD1 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnGearButtn_B_ActlD1 1; +BA_ "WakeupSignal" SG_ 90 TrnGearButtn_B_ActlD0 1; +BA_ "ContentDependant" SG_ 90 TrnGearButtn_B_ActlD0 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnGearButtn_B_ActlD0 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnGearButtn_B_ActlD0 1; +BA_ "ContentDependant" SG_ 90 TrnGear_No_Cs 1; +BA_ "MetaData" SG_ 90 TrnGear_No_Cs 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnGear_No_Cs 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnGear_No_Cs 1; +BA_ "ContentDependant" SG_ 90 TrnGear_No_Cnt 1; +BA_ "MetaData" SG_ 90 TrnGear_No_Cnt 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnGear_No_Cnt 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnGear_No_Cnt 1; +BA_ "WakeupSignal" SG_ 90 TrnGear_D_RqDrv 1; +BA_ "ContentDependant" SG_ 90 TrnGear_D_RqDrv 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnGear_D_RqDrv 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnGear_D_RqDrv 1; +BA_ "ContentDependant" SG_ 90 BrkSwtchPos_B_ActlGsm 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 BrkSwtchPos_B_ActlGsm 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 BrkSwtchPos_B_ActlGsm 1; +BA_ "CrossOver_InfoCAN" SG_ 1091 ParkLampTrlrOut_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1091 TrlrLampCtl_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1091 TrlrBattChrg_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1091 StopLampTrlrOut_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1091 TurnLampTrlrRr_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1091 TurnLampTrlrRl_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1091 TrlrLampCnnct_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 1091 TrlrLampCnnct_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 1091 TrlrLampCnnct_B_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1091 TrlrLampCnnct_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1091 TrlrLampCnnct_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 138 SteWhlRelCalib_T_Actl 1; +BA_ "ContentDependant" SG_ 138 SteWhlRelCalib_An_Sns 1; +BA_ "U_P702_MY2021_Rx" SG_ 138 SteWhlRelCalib_An_Sns 1; +BA_ "U_CX727_MY2021_Rx" SG_ 138 SteWhlRelCalib_An_Sns 1; +BA_ "WakeupSignal" SG_ 131 HeadLghtHiCtrl_D_RqAhb 1; +BA_ "U_P702_MY2021_Rx" SG_ 131 HeadLghtHiCtrl_D_RqAhb 1; +BA_ "GenSigStartValueInteger" SG_ 131 WiprFrontSwtch_D_Stat 9; +BA_ "GenSigStartValue" SG_ 131 WiprFrontSwtch_D_Stat 9; +BA_ "WakeupSignal" SG_ 131 HeadLghtHiOn_B_StatAhb 1; +BA_ "CrossOver_InfoCAN" SG_ 131 HeadLghtHiOn_B_StatAhb 1; +BA_ "WakeupSignal" SG_ 131 HeadLghtHiFlash_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 131 WiprFront_D_Stat 15; +BA_ "GenSigStartValue" SG_ 131 WiprFront_D_Stat 15; +BA_ "U_P702_MY2021_Rx" SG_ 131 WiprFront_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 131 WiprFront_D_Stat 1; +BA_ "U_CX727_MY2021_Rx" SG_ 131 WiprFront_D_Stat 1; +BA_ "WakeupSignal" SG_ 131 TurnLghtSwtch_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 131 TurnLghtSwtch_D_Stat 1; +BA_ "U_CX727_MY2021_Rx" SG_ 131 TurnLghtSwtch_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 131 TurnLghtSwtch_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 131 LghtAmb_D_Sns 7; +BA_ "GenSigStartValue" SG_ 131 LghtAmb_D_Sns 7; +BA_ "U_P702_MY2021_Rx" SG_ 131 LghtAmb_D_Sns 1; +BA_ "U_P702_MY2021_Rx" SG_ 131 AslButtnOnOffPress 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 131 AslButtnOnOffPress 1; +BA_ "U_P702_MY2021_Rx" SG_ 131 AslButtnOnOffCnclPress 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 131 AslButtnOnOffCnclPress 1; +BA_ "U_P702_MY2021_Rx" SG_ 131 CcButtnOnPress 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 131 CcButtnOnPress 1; +BA_ "U_P702_MY2021_Rx" SG_ 131 CcButtnOnOffPress 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 131 CcButtnOnOffPress 1; +BA_ "U_P702_MY2021_Rx" SG_ 131 CcButtnOnOffCnclPress 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 131 CcButtnOnOffCnclPress 1; +BA_ "U_P702_MY2021_Rx" SG_ 131 CcButtnOffPress 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 131 CcButtnOffPress 1; +BA_ "U_P702_MY2021_Rx" SG_ 131 CcAsllButtnResPress 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 131 CcAsllButtnResPress 1; +BA_ "U_P702_MY2021_Rx" SG_ 131 CcAslButtnSetIncPress 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 131 CcAslButtnSetIncPress 1; +BA_ "U_P702_MY2021_Rx" SG_ 131 CcAslButtnSetDecPress 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 131 CcAslButtnSetDecPress 1; +BA_ "U_P702_MY2021_Rx" SG_ 131 CcAslButtnResIncPress 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 131 CcAslButtnResIncPress 1; +BA_ "U_P702_MY2021_Rx" SG_ 131 CcAslButtnOnPress 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 131 CcAslButtnOnPress 1; +BA_ "U_P702_MY2021_Rx" SG_ 131 CcAslButtnIndxIncPress 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 131 CcAslButtnIndxIncPress 1; +BA_ "U_P702_MY2021_Rx" SG_ 131 CcAslButtnIndxDecPress 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 131 CcAslButtnIndxDecPress 1; +BA_ "U_P702_MY2021_Rx" SG_ 131 CcAslButtnDeny_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 131 CcAslButtnDeny_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 131 CcAslButtnCnclResPress 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 131 CcAslButtnCnclResPress 1; +BA_ "U_P702_MY2021_Rx" SG_ 131 CcAslButtnCnclPress 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 131 CcAslButtnCnclPress 1; +BA_ "WakeupSignal" SG_ 787 DrLckCnt_No_ActlTgate 1; +BA_ "WakeupSignal" SG_ 787 DrTgateChime2_D_Rq 1; +BA_ "WakeupSignal" SG_ 787 DrTGate_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 787 DrTGate_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 787 DrTGate_D_Rq 1; +BA_ "WakeupSignal" SG_ 787 PwLftgtIntSw_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 787 Power_Liftgate_Mode_Stt 1; +BA_ "U_P702_MY2021_Rx" SG_ 953 BattRgenLoDChrg_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 953 BattRgenLoChrg_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 953 WakeAlarm3_D_Stat 3; +BA_ "GenSigStartValue" SG_ 953 WakeAlarm3_D_Stat 3; +BA_ "GenSigStartValueInteger" SG_ 953 WakeAlarm2_D_Stat 3; +BA_ "GenSigStartValue" SG_ 953 WakeAlarm2_D_Stat 3; +BA_ "GenSigStartValueInteger" SG_ 953 WakeAlarm1_D_Stat 3; +BA_ "GenSigStartValue" SG_ 953 WakeAlarm1_D_Stat 3; +BA_ "U_P702_MY2021_Rx" SG_ 953 WakeAlarm1_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 953 WakeAlarm1_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 953 WakeAlarm0_D_Stat 3; +BA_ "GenSigStartValue" SG_ 953 WakeAlarm0_D_Stat 3; +BA_ "U_P702_MY2021_Rx" SG_ 1093 TrlrBrkActCnnct_B_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1093 TrlrBrkActCnnct_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1093 TrlrBrkActCnnct_B_Actl 1; +BA_ "ContentDependant" SG_ 1093 StopLamp_B_RqTrlrBrk 1; +BA_ "U_P702_MY2021_Rx" SG_ 792 FuelRange_L_Dsply 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 792 FuelRange_L_Dsply 1; +BA_ "ContentDependant" SG_ 792 ElTrip_L_Dsply 1; +BA_ "ContentDependant" SG_ 792 ElLongTerm_L_Dsply 1; +BA_ "GenSigStartValueInteger" SG_ 968 SlMde_D_Rq 2; +BA_ "GenSigStartValue" SG_ 968 SlMde_D_Rq 2; +BA_ "U_P702_MY2021_Rx" SG_ 968 SlMde_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 968 SlMde_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 968 IsaOffst_D_Rq 14; +BA_ "GenSigStartValue" SG_ 968 IsaOffst_D_Rq 14; +BA_ "U_P702_MY2021_Rx" SG_ 968 IsaOffst_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 968 IsaOffst_D_Rq 1; +BA_ "WakeupSignal" SG_ 819 Memory_3_SwPsngr_Stat 1; +BA_ "WakeupSignal" SG_ 819 Memory_2_SwPsngr_Stat 1; +BA_ "WakeupSignal" SG_ 819 Memory_1_SwPsngr_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 819 WndwPsngrSide_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 819 WndwPsngrSide_D_Stat 1; +BA_ "WakeupSignal" SG_ 819 Pasngr_Lock_Sw_Stat 1; +BA_ "WakeupSignal" SG_ 819 Pasngr_Lock_Sw_Cnt 1; +BA_ "MetaData" SG_ 819 Pasngr_Lock_Sw_Cnt 1; +BA_ "WakeupSignal" SG_ 819 ChildLckFdbckRp_B_Stat 1; +BA_ "WakeupSignal" SG_ 818 ChildLckPw_N_Cnt 1; +BA_ "U_P702_MY2021_Rx" SG_ 818 WndwDrvSide_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 818 WndwDrvSide_D_Stat 1; +BA_ "WakeupSignal" SG_ 818 KeyCylSwDrvDr_D_Stat 1; +BA_ "GenSigInactiveValue" SG_ 818 Driver_Lock_Sw_Stat 0; +BA_ "WakeupSignal" SG_ 818 Driver_Lock_Sw_Stat 1; +BA_ "WakeupSignal" SG_ 818 Driver_Lock_Sw_Cnt 1; +BA_ "MetaData" SG_ 818 Driver_Lock_Sw_Cnt 1; +BA_ "WakeupSignal" SG_ 818 ChildLckPw_D_Rq 1; +BA_ "WakeupSignal" SG_ 818 ChildLckFdbckRd_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 818 RvrseMirrorChime_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 806 StopStrtDrvMde_B_RqBtn 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 806 StopStrtDrvMde_B_RqBtn 1; +BA_ "GenSigStartValueInteger" SG_ 806 HvacHtrCore_Te_Rq 0; +BA_ "U_P702_MY2021_Rx" SG_ 806 HvacHtrCore_Te_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 806 HvacHtrCore_Te_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 806 ClimtHeat_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 806 ClimtHeat_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 806 ClimtCool_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 806 ClimtCool_D_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 806 HvacEvap_Te_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 806 HvacEvap_Te_Rq 400; +BA_ "U_P702_MY2021_Rx" SG_ 806 HvacEvap_Te_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 806 HvacEvap_Te_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 806 HvacEvap_Te_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 806 HvacEvap_Te_Actl 400; +BA_ "U_P702_MY2021_Rx" SG_ 806 HvacEvap_Te_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 806 HvacEvap_Te_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 806 HvacAirCond_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 806 HvacAirCond_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 806 HvacAirCond_B_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 806 HvacEvap_Te_Offst 1; +BA_ "GenSigStartValueInteger" SG_ 806 HvacEvap_Te_Offst 400; +BA_ "U_P702_MY2021_Rx" SG_ 806 HvacEvap_Te_Offst 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 806 HvacEvap_Te_Offst 1; +BA_ "U_P702_MY2021_Rx" SG_ 806 ClimtPw_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 806 ClimtPw_B_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 765 EngExhMdeQuiet_D2_Rq 0; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 765 EdmSailMde_B_RqDrv 1; +BA_ "WakeupSignal" SG_ 765 DrvInputRequired_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 765 AwdRnge_D_ActlIpc 1; +BA_ "UsedOnPgmDBC" SG_ 765 AwdRnge_D_ActlIpc 1; +BA_ "GenSigStartValueInteger" SG_ 765 AwdRnge_D_ActlIpc 7; +BA_ "GenSigStartValue" SG_ 765 AwdRnge_D_ActlIpc 7; +BA_ "U_P702_MY2021_Rx" SG_ 765 AwdRnge_D_ActlIpc 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 765 AwdRnge_D_ActlIpc 1; +BA_ "GenSigStartValueInteger" SG_ 765 BalrSwtch_D_Stat 1; +BA_ "GenSigStartValue" SG_ 765 BalrSwtch_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 765 BalrMde_D_Rq 0; +BA_ "GenSigStartValueInteger" SG_ 765 WaitToStartLamp_D_Falt 1; +BA_ "GenSigStartValue" SG_ 765 WaitToStartLamp_D_Falt 1; +BA_ "U_P702_MY2021_Rx" SG_ 765 WaitToStartLamp_D_Falt 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 765 WaitToStartLamp_D_Falt 1; +BA_ "GenSigStartValueInteger" SG_ 765 EsaOn_B_Rq 1; +BA_ "GenSigStartValue" SG_ 765 EsaOn_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 765 EsaOn_B_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 765 Btt_L_Actl 126; +BA_ "GenSigStartValue" SG_ 765 Btt_L_Actl 126; +BA_ "U_P702_MY2021_Rx" SG_ 765 SelDrvMdeTxtReset_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 765 SelDrvMdeDsply_B_Avail 1; +BA_ "CrossOver_InfoCAN" SG_ 765 Mc_VehUnitTempUsrSel_St 1; +BA_ "CrossOver_InfoCAN" SG_ 559 EhData2_No_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 559 EhData2_No_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 559 EhData2_No_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 558 EhData1_No_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 558 EhData1_No_Actl 0; +BA_ "U_P702_MY2021_Rx" SG_ 558 EhData1_No_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 558 EhData1_No_Actl 1; +BA_ "GenSigSendType" SG_ 934 CtaAlrtLeft2_D_Stat 3; +BA_ "GenSigSendType" SG_ 934 CtaBrkLeftMsgTxt_B_Rq 3; +BA_ "GenSigSendType" SG_ 934 CtaLeftBrkDecel_B_Rq 3; +BA_ "U_CX727_MY2021_Rx" SG_ 934 CtaLeftBrkDecel_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 934 CtaLeftBrkDecel_B_Rq 1; +BA_ "GenSigSendType" SG_ 934 CtaLeftBrkEnbl_B_Rq 3; +BA_ "U_CX727_MY2021_Rx" SG_ 934 CtaLeftBrkEnbl_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 934 CtaLeftBrkEnbl_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 934 Side_Detect_L_Illum 1; +BA_ "GenSigStartValueInteger" SG_ 934 Side_Detect_L_Illum 100; +BA_ "GenSigStartValue" SG_ 934 Side_Detect_L_Illum 100; +BA_ "GenSigSendType" SG_ 934 BttLeft_D_Stat 3; +BA_ "GenSigSendType" SG_ 934 BttLeft_D_RqDrv 3; +BA_ "CrossOver_InfoCAN" SG_ 934 CtaSnsLeft_D_Stat 1; +BA_ "GenSigSendType" SG_ 934 CtaSnsLeft_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 934 SodDetctLeft_D_Stat 1; +BA_ "GenSigSendType" SG_ 934 SodDetctLeft_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 934 CtaLeft_D_Stat 1; +BA_ "GenSigSendType" SG_ 934 CtaLeft_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 934 CtaAlrtLeft_D_Stat 1; +BA_ "GenSigSendType" SG_ 934 CtaAlrtLeft_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 934 SodLeft_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 934 SodLeft_D_Stat 2; +BA_ "GenSigStartValue" SG_ 934 SodLeft_D_Stat 2; +BA_ "GenSigSendType" SG_ 934 SodLeft_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 934 SodSnsLeft_D_Stat 1; +BA_ "GenSigSendType" SG_ 934 SodSnsLeft_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 934 SodAlrtLeft_D_Stat 1; +BA_ "GenSigSendType" SG_ 934 SodAlrtLeft_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 934 SodWarnLeft_Prd_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 934 SodWarnLeft_Prd_Rq 14; +BA_ "GenSigStartValue" SG_ 934 SodWarnLeft_Prd_Rq 14; +BA_ "CrossOver_InfoCAN" SG_ 1072 DrvSlipCtlMde_D_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 1072 DrvSlipCtlMde_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 1072 DrvSlipCtlMde_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 1072 EngIdlShutDown_B_RqDrv 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1072 EngIdlShutDown_B_RqDrv 1; +BA_ "CrossOver_InfoCAN" SG_ 1072 HsaMde_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 1072 HsaMde_D_Rq 1; +BA_ "GenSigStartValue" SG_ 1072 HsaMde_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 1072 NtrlTowMdeEnbl_B_RqDrv 1; +BA_ "U_P702_MY2021_Rx" SG_ 1072 NtrlTowMdeEnbl_B_RqDrv 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1072 NtrlTowMdeEnbl_B_RqDrv 1; +BA_ "CrossOver_InfoCAN" SG_ 1072 BulbChkActv_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1072 ParkDetect_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 1072 ParkDetect_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1072 ReducedGuard_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 1072 TRLR_SWAY_CONFIG_CMD 1; +BA_ "WakeupSignal" SG_ 1072 Power_Liftgate_Mode_Cmd 1; +BA_ "CrossOver_InfoCAN" SG_ 1072 Power_Liftgate_Mode_Cmd 1; +BA_ "CrossOver_InfoCAN" SG_ 1072 AccEnbl_B_RqDrv 1; +BA_ "GenSigStartValueInteger" SG_ 1072 AccEnbl_B_RqDrv 1; +BA_ "GenSigStartValue" SG_ 1072 AccEnbl_B_RqDrv 1; +BA_ "CrossOver_InfoCAN" SG_ 1072 OdometerMasterValue 1; +BA_ "UsedOnPgmDBC" SG_ 1072 OdometerMasterValue 1; +BA_ "U_P702_MY2021_Rx" SG_ 1072 OdometerMasterValue 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1072 OdometerMasterValue 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1072 OdometerMasterValue 1; +BA_ "CrossOver_InfoCAN" SG_ 1072 EngOilLife_B_RqReset 1; +BA_ "UsedOnPgmDBC" SG_ 1072 EngOilLife_B_RqReset 1; +BA_ "U_P702_MY2021_Rx" SG_ 1072 EngOilLife_B_RqReset 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1072 EngOilLife_B_RqReset 1; +BA_ "WakeupSignal" SG_ 1072 ePRNDL_MODE 1; +BA_ "CrossOver_InfoCAN" SG_ 1072 ePRNDL_MODE 1; +BA_ "U_P702_MY2021_Rx" SG_ 1072 ePRNDL_MODE 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1072 ePRNDL_MODE 1; +BA_ "CrossOver_InfoCAN" SG_ 1072 DrvSlipCtlMde_B_Rq2 1; +BA_ "UsedOnPgmDBC" SG_ 1072 DrvSlipCtlMde_B_Rq2 1; +BA_ "U_P702_MY2021_Rx" SG_ 1072 DrvSlipCtlMde_B_Rq2 1; +BA_ "CrossOver_InfoCAN" SG_ 1072 MetricActv_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 1072 MetricActv_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 1072 MetricActv_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1072 MetricActv_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 1072 KeyTypeChngMykey_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 1072 ManRgen_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 1072 ManRgen_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1072 ManRgen_D_Rq 1; +BA_ "WakeupSignal" SG_ 909 IgnPsswrdDsply_B_Rq 1; +BA_ "WakeupSignal" SG_ 909 ElPwPoint_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 909 SecurityMsgTxt_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 909 HeadLghtHiPrmsn_D_Stat 3; +BA_ "GenSigStartValue" SG_ 909 HeadLghtHiPrmsn_D_Stat 3; +BA_ "U_P702_MY2021_Rx" SG_ 909 HeadLghtHiPrmsn_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 909 SteWhlLckMsgTxt_D_Rq 1; +BA_ "WakeupSignal" SG_ 909 immoMsgTxt_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 909 immoMsgTxt_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 909 PEBackupSlot_Stats 1; +BA_ "CrossOver_InfoCAN" SG_ 909 KeyMykeyTot_No_Cnt 1; +BA_ "MetaData" SG_ 909 KeyMykeyTot_No_Cnt 1; +BA_ "CrossOver_InfoCAN" SG_ 909 Keycode_Status 1; +BA_ "CrossOver_InfoCAN" SG_ 909 KeyAdmnTot_No_Cnt 1; +BA_ "MetaData" SG_ 909 KeyAdmnTot_No_Cnt 1; +BA_ "WakeupSignal" SG_ 963 ImpactEvntFdbck_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 963 ImpactEvntFdbck_D_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 963 ImpactEvntFdbck_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 963 HeadLampLoOut_B_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 963 HeadLampLoOut_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 963 CrnrLghtRight_Pc_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 963 CrnrLghtRight_Pc_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 963 CrnrLghtLeft_Pc_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 963 CrnrLghtLeft_Pc_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 963 HeadLghtHiFdbck_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 963 TrnNotInPrkChime_B_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 963 TrnNotInPrkChime_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 963 PrkLightChime_B_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 963 PrkLightChime_B_Rq 1; +BA_ "WakeupSignal" SG_ 963 KeyInIgnWarn_B_Cmd 1; +BA_ "CrossOver_InfoCAN" SG_ 963 KeyInIgnWarn_B_Cmd 1; +BA_ "UsedOnPgmDBC" SG_ 963 KeyInIgnWarn_B_Cmd 1; +BA_ "WakeupSignal" SG_ 963 HomeSafeLtChime_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 963 HomeSafeLtChime_B_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 963 HomeSafeLtChime_B_Rq 1; +BA_ "WakeupSignal" SG_ 963 StopLghtOn_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 963 StopLghtOn_B_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 963 StopLghtOn_B_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 963 StopLghtOn_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 963 RvrseLghtOn_B_Stat 1; +BA_ "WakeupSignal" SG_ 963 PrkLght_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 963 PrkLght_D_Stat 1; +BA_ "WakeupSignal" SG_ 963 HeadLghtSwtch_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 963 HeadLghtSwtch_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 963 HeadLghtSwtch_D_Stat 2; +BA_ "GenSigStartValue" SG_ 963 HeadLghtSwtch_D_Stat 2; +BA_ "U_P702_MY2021_Rx" SG_ 963 HeadLghtSwtch_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 963 HeadLampLoFrOn_B_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 963 HeadLampLoFrOn_B_Stat 1; +BA_ "GenSigStartValue" SG_ 963 HeadLampLoFrOn_B_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 963 HeadLampLoFrOn_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 963 HeadLampLoFlOn_B_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 963 HeadLampLoFlOn_B_Stat 1; +BA_ "GenSigStartValue" SG_ 963 HeadLampLoFlOn_B_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 963 HeadLampLoFlOn_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 963 HeadLampLoActv_B_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 963 HeadLampLoActv_B_Stat 1; +BA_ "GenSigStartValue" SG_ 963 HeadLampLoActv_B_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 963 HeadLampLoActv_B_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 963 HeadLampLoActv_B_Stat 1; +BA_ "WakeupSignal" SG_ 963 Headlamp_On_Wrning_Cmd 1; +BA_ "CrossOver_InfoCAN" SG_ 963 Headlamp_On_Wrning_Cmd 1; +BA_ "UsedOnPgmDBC" SG_ 963 Headlamp_On_Wrning_Cmd 1; +BA_ "CrossOver_InfoCAN" SG_ 963 Park_Brake_Chime_Rqst 1; +BA_ "UsedOnPgmDBC" SG_ 963 Park_Brake_Chime_Rqst 1; +BA_ "WakeupSignal" SG_ 963 HeadLghtHiOn_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 963 HeadLghtHiOn_B_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 963 HeadLghtHiOn_B_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 963 HeadLghtHiOn_B_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 963 HeadLghtHiOn_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 963 BrkWarnInd_B_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 963 BrkWarnInd_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 963 Brk_Fluid_Lvl_Low 1; +BA_ "UsedOnPgmDBC" SG_ 963 Brk_Fluid_Lvl_Low 1; +BA_ "CrossOver_InfoCAN" SG_ 963 ReducedGuard_D_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 963 ReducedGuard_D_Stat 1; +BA_ "WakeupSignal" SG_ 963 Perimeter_Alarm_Status 1; +BA_ "CrossOver_InfoCAN" SG_ 963 Perimeter_Alarm_Status 1; +BA_ "WakeupSignal" SG_ 963 Courtesy_BSave_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 963 Courtesy_BSave_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 963 Courtesy_BSave_Stat 1; +BA_ "GenSigStartValue" SG_ 963 Courtesy_BSave_Stat 1; +BA_ "WakeupSignal" SG_ 963 WndwGlbl_D_Cmd 1; +BA_ "CrossOver_InfoCAN" SG_ 963 WndwGlbl_D_Cmd 1; +BA_ "WakeupSignal" SG_ 963 PudLamp_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 963 PudLamp_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 963 DayRnngLampOn_B_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 963 DayRnngLampOn_B_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 963 DayRnngLampOn_B_Stat 1; +BA_ "WakeupSignal" SG_ 963 PerimeterAlarmChimeRq 1; +BA_ "CrossOver_InfoCAN" SG_ 963 PerimeterAlarmChimeRq 1; +BA_ "UsedOnPgmDBC" SG_ 963 PerimeterAlarmChimeRq 1; +BA_ "UsedOnPgmDBC" SG_ 145 VehYawWActl_D_Qf 1; +BA_ "GenSigStartValueInteger" SG_ 145 VehYawWActl_D_Qf 1; +BA_ "MetaData" SG_ 145 VehYawWActl_D_Qf 1; +BA_ "GenSigStartValue" SG_ 145 VehYawWActl_D_Qf 1; +BA_ "U_CX727_MY2021_Rx" SG_ 145 VehYawWActl_D_Qf 1; +BA_ "U_P702_MY2021_Rx" SG_ 145 VehYawWActl_D_Qf 1; +BA_ "UsedOnPgmDBC" SG_ 145 VehRolWActl_D_Qf 1; +BA_ "GenSigStartValueInteger" SG_ 145 VehRolWActl_D_Qf 1; +BA_ "MetaData" SG_ 145 VehRolWActl_D_Qf 1; +BA_ "GenSigStartValue" SG_ 145 VehRolWActl_D_Qf 1; +BA_ "U_CX727_MY2021_Rx" SG_ 145 VehRolWActl_D_Qf 1; +BA_ "U_P702_MY2021_Rx" SG_ 145 VehRolWActl_D_Qf 1; +BA_ "UsedOnPgmDBC" SG_ 145 VehRollYawW_No_Cs 1; +BA_ "MetaData" SG_ 145 VehRollYawW_No_Cs 1; +BA_ "U_CX727_MY2021_Rx" SG_ 145 VehRollYawW_No_Cs 1; +BA_ "U_P702_MY2021_Rx" SG_ 145 VehRollYawW_No_Cs 1; +BA_ "UsedOnPgmDBC" SG_ 145 VehRollYaw_No_Cnt 1; +BA_ "MetaData" SG_ 145 VehRollYaw_No_Cnt 1; +BA_ "U_CX727_MY2021_Rx" SG_ 145 VehRollYaw_No_Cnt 1; +BA_ "U_P702_MY2021_Rx" SG_ 145 VehRollYaw_No_Cnt 1; +BA_ "UsedOnPgmDBC" SG_ 145 VehYaw_W_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 145 VehYaw_W_Actl 65534; +BA_ "GenSigStartValue" SG_ 145 VehYaw_W_Actl 65534; +BA_ "U_CX727_MY2021_Rx" SG_ 145 VehYaw_W_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 145 VehYaw_W_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 145 VehRol_W_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 145 VehRol_W_Actl 65534; +BA_ "GenSigStartValue" SG_ 145 VehRol_W_Actl 65534; +BA_ "U_CX727_MY2021_Rx" SG_ 145 VehRol_W_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 145 VehRol_W_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 76 FirstRowBuckleMid 1; +BA_ "UsedOnPgmDBC" SG_ 76 FirstRowBuckleMid 1; +BA_ "GenSigStartValueInteger" SG_ 76 FirstRowBuckleMid 3; +BA_ "GenSigStartValue" SG_ 76 FirstRowBuckleMid 3; +BA_ "CrossOver_InfoCAN" SG_ 76 SecondRowBucklePsngr 1; +BA_ "GenSigStartValueInteger" SG_ 76 SecondRowBucklePsngr 3; +BA_ "GenSigStartValue" SG_ 76 SecondRowBucklePsngr 3; +BA_ "CrossOver_InfoCAN" SG_ 76 SecondRowBuckleMid 1; +BA_ "GenSigStartValueInteger" SG_ 76 SecondRowBuckleMid 3; +BA_ "GenSigStartValue" SG_ 76 SecondRowBuckleMid 3; +BA_ "CrossOver_InfoCAN" SG_ 76 SecondRowBuckleDriver 1; +BA_ "GenSigStartValueInteger" SG_ 76 SecondRowBuckleDriver 3; +BA_ "GenSigStartValue" SG_ 76 SecondRowBuckleDriver 3; +BA_ "CrossOver_InfoCAN" SG_ 76 FirstRowBuckleDriver 1; +BA_ "UsedOnPgmDBC" SG_ 76 FirstRowBuckleDriver 1; +BA_ "GenSigStartValueInteger" SG_ 76 FirstRowBuckleDriver 3; +BA_ "GenSigStartValue" SG_ 76 FirstRowBuckleDriver 3; +BA_ "U_P702_MY2021_Rx" SG_ 76 FirstRowBuckleDriver 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 76 FirstRowBuckleDriver 1; +BA_ "U_CX727_MY2021_Rx" SG_ 76 FirstRowBuckleDriver 1; +BA_ "CrossOver_InfoCAN" SG_ 76 RILReq 1; +BA_ "UsedOnPgmDBC" SG_ 76 RILReq 1; +BA_ "CrossOver_InfoCAN" SG_ 76 FirstRowBucklePsngr 1; +BA_ "UsedOnPgmDBC" SG_ 76 FirstRowBucklePsngr 1; +BA_ "GenSigStartValueInteger" SG_ 76 FirstRowBucklePsngr 3; +BA_ "GenSigStartValue" SG_ 76 FirstRowBucklePsngr 3; +BA_ "WakeupSignal" SG_ 76 RstrnImpactEvntStatus 1; +BA_ "CrossOver_InfoCAN" SG_ 76 RstrnImpactEvntStatus 1; +BA_ "UsedOnPgmDBC" SG_ 76 RstrnImpactEvntStatus 1; +BA_ "U_P702_MY2021_Rx" SG_ 76 RstrnImpactEvntStatus 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 76 RstrnImpactEvntStatus 1; +BA_ "U_CX727_MY2021_Rx" SG_ 76 RstrnImpactEvntStatus 1; +BA_ "CrossOver_InfoCAN" SG_ 76 PsngrFrntDetct_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 76 PsngrFrntDetct_D_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 76 PsngrFrntDetct_D_Actl 3; +BA_ "GenSigStartValue" SG_ 76 PsngrFrntDetct_D_Actl 3; +BA_ "CrossOver_InfoCAN" SG_ 76 EDRTriggerEvntSync 1; +BA_ "CrossOver_InfoCAN" SG_ 76 PassRstrnInd_Req 1; +BA_ "GenSigStartValueInteger" SG_ 76 PassRstrnInd_Req 3; +BA_ "GenSigStartValue" SG_ 76 PassRstrnInd_Req 3; +BA_ "UsedOnPgmDBC" SG_ 65 immoControlData_T1 1; +BA_ "U_P702_MY2021_Rx" SG_ 65 immoControlData_T1 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 65 immoControlData_T1 1; +BA_ "UsedOnPgmDBC" SG_ 65 immoControlCmd_T1 1; +BA_ "U_P702_MY2021_Rx" SG_ 65 immoControlCmd_T1 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 65 immoControlCmd_T1 1; +BA_ "CrossOver_InfoCAN" SG_ 1076 HILL_DESC_SW 1; +BA_ "UsedOnPgmDBC" SG_ 1076 HILL_DESC_SW 1; +BA_ "U_P702_MY2021_Rx" SG_ 1076 HILL_DESC_SW 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1076 HILL_DESC_SW 1; +BA_ "U_P702_MY2021_Rx" SG_ 1076 AutoRgen_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1076 AutoRgen_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 1076 W2S_LAMP_OK 1; +BA_ "GenSigStartValue" SG_ 1076 W2S_LAMP_OK 1; +BA_ "CrossOver_InfoCAN" SG_ 1076 OdoTripRx_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 1076 OdoTripRx_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1076 OdoTripRx_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 1076 Veh_V_CompLimMx 1; +BA_ "GenSigStartValueInteger" SG_ 1076 Veh_V_CompLimMx 4095; +BA_ "GenSigStartValue" SG_ 1076 Veh_V_CompLimMx 4093; +BA_ "U_P702_MY2021_Rx" SG_ 1076 Veh_V_CompLimMx 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1076 Veh_V_CompLimMx 1; +BA_ "CrossOver_InfoCAN" SG_ 1076 DrvSlipCtlMde_B_RqMyKey 1; +BA_ "UsedOnPgmDBC" SG_ 1076 DrvSlipCtlMde_B_RqMyKey 1; +BA_ "CrossOver_InfoCAN" SG_ 1076 FuelLvlWarn_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 1076 FuelSecndActv_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 1076 FuelLvlPssvSide_No_Raw 1; +BA_ "UsedOnPgmDBC" SG_ 1076 FuelLvlPssvSide_No_Raw 1; +BA_ "U_P702_MY2021_Rx" SG_ 1076 FuelLvlPssvSide_No_Raw 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1076 FuelLvlPssvSide_No_Raw 1; +BA_ "CrossOver_InfoCAN" SG_ 1076 FUEL_SENSOR_NUM 1; +BA_ "UsedOnPgmDBC" SG_ 1076 FUEL_SENSOR_NUM 1; +BA_ "U_P702_MY2021_Rx" SG_ 1076 FUEL_SENSOR_NUM 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1076 FUEL_SENSOR_NUM 1; +BA_ "CrossOver_InfoCAN" SG_ 1076 FuelLvlActvSide_No_Raw 1; +BA_ "UsedOnPgmDBC" SG_ 1076 FuelLvlActvSide_No_Raw 1; +BA_ "U_P702_MY2021_Rx" SG_ 1076 FuelLvlActvSide_No_Raw 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1076 FuelLvlActvSide_No_Raw 1; +BA_ "CrossOver_InfoCAN" SG_ 1076 FuelLvl_Pc_Dsply 1; +BA_ "UsedOnPgmDBC" SG_ 1076 FuelLvl_Pc_Dsply 1; +BA_ "U_P702_MY2021_Rx" SG_ 1076 FuelLvl_Pc_Dsply 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1076 FuelLvl_Pc_Dsply 1; +BA_ "CrossOver_InfoCAN" SG_ 1076 DISPLAY_SPEED_SCALING 1; +BA_ "UsedOnPgmDBC" SG_ 1076 DISPLAY_SPEED_SCALING 1; +BA_ "U_P702_MY2021_Rx" SG_ 1076 DISPLAY_SPEED_SCALING 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1076 DISPLAY_SPEED_SCALING 1; +BA_ "CrossOver_InfoCAN" SG_ 1076 DISPLAY_SPEED_OFFSET 1; +BA_ "UsedOnPgmDBC" SG_ 1076 DISPLAY_SPEED_OFFSET 1; +BA_ "U_P702_MY2021_Rx" SG_ 1076 DISPLAY_SPEED_OFFSET 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1076 DISPLAY_SPEED_OFFSET 1; +BA_ "GenSigStartValueInteger" SG_ 862 AutoStpHvacDelta_I_Est 192; +BA_ "U_P702_MY2021_Rx" SG_ 862 HvacBlwrFront_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 862 HvacBlwrFront_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 862 CabnAmb_Te_Actl 114; +BA_ "GenSigStartValue" SG_ 862 CabnAmb_Te_Actl 0; +BA_ "U_P702_MY2021_Rx" SG_ 862 CabnAmb_Te_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 862 HvacRemoteStrt_N_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 862 HvacRemoteStrt_N_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 862 HvacRemoteStrt_N_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 862 ClimtThrmlLoad_No_Actl 255; +BA_ "GenSigStartValue" SG_ 862 ClimtThrmlLoad_No_Actl 255; +BA_ "U_P702_MY2021_Rx" SG_ 862 ClimtThrmlLoad_No_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 931 PtWakeReas_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 931 VehOnSrc_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 931 VehOnSrc_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 931 StrtrMtrCtlDStat_No_Cs 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 931 StrtrMtrCtlDStat_No_Cs 1; +BA_ "U_P702_MY2021_Rx" SG_ 931 EngStrtActv_B_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 931 EngStrtActv_B_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 931 EngStrt_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 931 EngStrt_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 931 DrvInCtl_B_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 931 DrvInCtl_B_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 931 AdvStrt_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 931 AdvStrt_D_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 931 CrnkInhbt_No_Cs 1; +BA_ "ContentDependant" SG_ 931 CrnkInhbt_No_Cs 1; +BA_ "MetaData" SG_ 931 CrnkInhbt_No_Cs 1; +BA_ "U_P702_MY2021_Rx" SG_ 931 CrnkInhbt_No_Cs 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 931 CrnkInhbt_No_Cs 1; +BA_ "UsedOnPgmDBC" SG_ 931 CrnkInhbt_No_Cnt 1; +BA_ "ContentDependant" SG_ 931 CrnkInhbt_No_Cnt 1; +BA_ "MetaData" SG_ 931 CrnkInhbt_No_Cnt 1; +BA_ "U_P702_MY2021_Rx" SG_ 931 CrnkInhbt_No_Cnt 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 931 CrnkInhbt_No_Cnt 1; +BA_ "GenSigStartValueInteger" SG_ 931 CrnkInhbt_B_Stat 1; +BA_ "GenSigStartValue" SG_ 931 CrnkInhbt_B_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 931 CrnkInhbt_B_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 931 CrnkInhbt_B_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 931 IgnPreOffActv_B_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 931 IgnPreOffActv_B_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 578 PtLatchActv_B_RqBcm 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 578 PtLatchActv_B_RqBcm 1; +BA_ "U_P702_MY2021_Rx" SG_ 578 immoSecureIdleMode 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 578 immoSecureIdleMode 1; +BA_ "WakeupSignal" SG_ 578 ReFuelSwtchStat_D_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 578 FuelPumpPwr_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 578 FuelPumpPwr_D_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 578 BattULo_U_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 578 BattULo_U_Actl 255; +BA_ "GenSigStartValue" SG_ 578 BattULo_U_Actl 255; +BA_ "U_P702_MY2021_Rx" SG_ 578 BattULo_U_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 578 BattULo_U_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 578 BattULo_U_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 578 PrkLckCtl_B_Enbl 1; +BA_ "WakeupSignal" SG_ 578 PrkLckCtlMsgTxt_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 578 PrkLckCtlMsgTxt_D_Rq 1; +BA_ "WakeupSignal" SG_ 578 PrkLckCtlAvail_T_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 578 PrkLckCtlAvail_T_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 578 BrkTrnShifLck_B_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 578 BrkTrnShifLck_B_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 578 DriverCrankingReq 1; +BA_ "U_P702_MY2021_Rx" SG_ 578 DriverCrankingReq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 578 DriverCrankingReq 1; +BA_ "UsedOnPgmDBC" SG_ 578 EngOff_T_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 578 EngOff_T_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 578 EngOff_T_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 578 EngOff_T_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 578 DcacElPw_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 578 DcacElPw_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 578 DcacElPw_D_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 578 BattULo_I_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 578 BattULo_I_Actl 16383; +BA_ "GenSigStartValue" SG_ 578 BattULo_I_Actl 16383; +BA_ "U_P702_MY2021_Rx" SG_ 578 BattULo_I_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 578 BattULo_I_Actl 1; +BA_ "WakeupSignal" SG_ 947 DimmingLvlEvnt_No_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 947 DrStatDrvErrCnt_B_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 947 DrStatDrvErrCnt_B_Stat 1; +BA_ "WakeupSignal" SG_ 947 TurnLghtRight_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 947 TurnLghtRight_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 947 TurnLghtRight_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 947 TurnLghtRightOn_B_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 947 TurnLghtRightOn_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 947 TurnLghtLeftOn_B_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 947 TurnLghtLeftOn_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 947 FogLghtRearOn_B_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 947 FogLghtRearOn_B_Stat 1; +BA_ "WakeupSignal" SG_ 947 Backlit_LED_Status 1; +BA_ "CrossOver_InfoCAN" SG_ 947 Backlit_LED_Status 1; +BA_ "WakeupSignal" SG_ 947 TurnLghtLeft_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 947 TurnLghtLeft_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 947 TurnLghtLeft_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 947 FogLghtFrontOn_B_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 947 FogLghtFrontOn_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 947 IgnKeyType_D_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 947 IgnKeyType_D_Actl 14; +BA_ "GenSigStartValue" SG_ 947 IgnKeyType_D_Actl 14; +BA_ "U_P702_MY2021_Rx" SG_ 947 IgnKeyType_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 947 IgnKeyType_D_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 947 IgnKeyType_D_Actl 1; +BA_ "WakeupSignal" SG_ 947 Parklamp_Status 1; +BA_ "CrossOver_InfoCAN" SG_ 947 Parklamp_Status 1; +BA_ "UsedOnPgmDBC" SG_ 947 Parklamp_Status 1; +BA_ "GenSigStartValueInteger" SG_ 947 Parklamp_Status 1; +BA_ "GenSigStartValue" SG_ 947 Parklamp_Status 1; +BA_ "WakeupSignal" SG_ 947 Litval 1; +BA_ "CrossOver_InfoCAN" SG_ 947 Litval 1; +BA_ "U_P702_MY2021_Rx" SG_ 947 Litval 1; +BA_ "WakeupSignal" SG_ 947 Key_In_Ignition_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 947 Key_In_Ignition_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 947 Key_In_Ignition_Stat 1; +BA_ "U_CX727_MY2021_Rx" SG_ 947 Key_In_Ignition_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 947 Key_In_Ignition_Stat 1; +BA_ "WakeupSignal" SG_ 947 Ignition_Status 1; +BA_ "CrossOver_InfoCAN" SG_ 947 Ignition_Status 1; +BA_ "UsedOnPgmDBC" SG_ 947 Ignition_Status 1; +BA_ "U_P702_MY2021_Rx" SG_ 947 Ignition_Status 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 947 Ignition_Status 1; +BA_ "U_CX727_MY2021_Rx" SG_ 947 Ignition_Status 1; +BA_ "WakeupSignal" SG_ 947 Dimming_Lvl 1; +BA_ "CrossOver_InfoCAN" SG_ 947 Dimming_Lvl 1; +BA_ "GenSigStartValueInteger" SG_ 947 Dimming_Lvl 12; +BA_ "GenSigStartValue" SG_ 947 Dimming_Lvl 12; +BA_ "WakeupSignal" SG_ 947 Day_Night_Status 1; +BA_ "CrossOver_InfoCAN" SG_ 947 Day_Night_Status 1; +BA_ "UsedOnPgmDBC" SG_ 947 Day_Night_Status 1; +BA_ "U_P702_MY2021_Rx" SG_ 947 Day_Night_Status 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 947 Day_Night_Status 1; +BA_ "WakeupSignal" SG_ 947 Remote_Start_Status 1; +BA_ "CrossOver_InfoCAN" SG_ 947 Remote_Start_Status 1; +BA_ "WakeupSignal" SG_ 947 DrStatTgate_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 947 DrStatTgate_B_Actl 1; +BA_ "WakeupSignal" SG_ 947 DrStatRr_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 947 DrStatRr_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 947 DrStatRr_B_Actl 1; +BA_ "WakeupSignal" SG_ 947 DrStatRl_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 947 DrStatRl_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 947 DrStatRl_B_Actl 1; +BA_ "WakeupSignal" SG_ 947 DrStatPsngr_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 947 DrStatPsngr_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 947 DrStatPsngr_B_Actl 1; +BA_ "WakeupSignal" SG_ 947 DrStatInnrTgate_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 947 DrStatInnrTgate_B_Actl 1; +BA_ "WakeupSignal" SG_ 947 DrStatHood_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 947 DrStatHood_B_Actl 1; +BA_ "WakeupSignal" SG_ 947 DrStatDrv_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 947 DrStatDrv_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 947 DrStatDrv_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 947 DrStatDrv_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 947 DrStatDrv_B_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 947 DrStatDrv_B_Actl 1; +BA_ "WakeupSignal" SG_ 947 PrkBrkActv_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 947 PrkBrkActv_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 947 PrkBrkActv_B_Actl 1; +BA_ "ContentDependant" SG_ 947 PrkBrkActv_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 947 PrkBrkActv_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 947 PrkBrkActv_B_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 947 PrkBrkActv_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 947 LifeCycMde_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 947 LifeCycMde_D_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 947 LifeCycMde_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 947 LifeCycMde_D_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 947 LifeCycMde_D_Actl 1; +BA_ "WakeupSignal" SG_ 947 Delay_Accy 1; +BA_ "CrossOver_InfoCAN" SG_ 947 Delay_Accy 1; +BA_ "WakeupSignal" SG_ 947 CrashEvnt_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 947 CrashEvnt_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 947 CrashEvnt_D_Stat 3; +BA_ "GenSigStartValue" SG_ 947 CrashEvnt_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 947 FuelPmpInhbt_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 947 BodySrvcRqd_B_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 1084 BattULoChrg_URate_RqMx 1; +BA_ "GenSigStartValueInteger" SG_ 1084 BattULoChrg_URate_RqMx 5; +BA_ "GenSigStartValue" SG_ 1084 BattULoChrg_URate_RqMx 5; +BA_ "U_P702_MY2021_Rx" SG_ 1084 BattULoChrg_URate_RqMx 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1084 BattULoChrg_URate_RqMx 1; +BA_ "UsedOnPgmDBC" SG_ 1084 BattULoChrg_U_RqMx 1; +BA_ "GenSigStartValueInteger" SG_ 1084 BattULoChrg_U_RqMx 34; +BA_ "GenSigStartValue" SG_ 1084 BattULoChrg_U_RqMx 34; +BA_ "U_P702_MY2021_Rx" SG_ 1084 BattULoChrg_U_RqMx 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1084 BattULoChrg_U_RqMx 1; +BA_ "UsedOnPgmDBC" SG_ 1084 BattULoChrg_U_RqMn 1; +BA_ "U_P702_MY2021_Rx" SG_ 1084 BattULoChrg_U_RqMn 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1084 BattULoChrg_U_RqMn 1; +BA_ "UsedOnPgmDBC" SG_ 1084 BattULoState_D_Qlty 1; +BA_ "U_P702_MY2021_Rx" SG_ 1084 BattULoState_D_Qlty 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1084 BattULoState_D_Qlty 1; +BA_ "UsedOnPgmDBC" SG_ 1084 BSFault 1; +BA_ "U_P702_MY2021_Rx" SG_ 1084 BSFault 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1084 BSFault 1; +BA_ "UsedOnPgmDBC" SG_ 1084 BattULo2_Te_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1084 BattULo2_Te_Actl 127; +BA_ "GenSigStartValue" SG_ 1084 BattULo2_Te_Actl 127; +BA_ "U_P702_MY2021_Rx" SG_ 1084 BattULo2_Te_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1084 BattULo2_Te_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 1084 BSBattSOC 1; +BA_ "U_P702_MY2021_Rx" SG_ 1084 BSBattSOC 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1084 BSBattSOC 1; +BA_ "UsedOnPgmDBC" SG_ 1084 BSBattQDeltaRideAh 1; +BA_ "GenSigStartValueInteger" SG_ 1084 BSBattQDeltaRideAh 12800; +BA_ "U_P702_MY2021_Rx" SG_ 1084 BSBattQDeltaRideAh 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1084 BSBattQDeltaRideAh 1; +BA_ "UsedOnPgmDBC" SG_ 1084 BSBattQCapAh 1; +BA_ "U_P702_MY2021_Rx" SG_ 1084 BSBattQCapAh 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1084 BSBattQCapAh 1; +BA_ "U_P702_MY2021_Rx" SG_ 1068 EngStrtInhbt_B_RqBatt 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1068 EngStrtInhbt_B_RqBatt 1; +BA_ "U_P702_MY2021_Rx" SG_ 1068 BattULoChrg_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1068 BattULoChrg_D_Rq 1; +BA_ "WakeupSignal" SG_ 1068 PwSysULoFalt_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1068 PwSysULoFalt_D_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 1068 PwSysULoFalt_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1068 Shed_T_Eng_Off_B 1; +BA_ "WakeupSignal" SG_ 1068 Shed_Feature_Group_ID 1; +BA_ "U_P702_MY2021_Rx" SG_ 1068 Shed_Feature_Group_ID 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1068 Shed_Feature_Group_ID 1; +BA_ "CrossOver_InfoCAN" SG_ 1068 Shed_Drain_Eng_Off_B 1; +BA_ "WakeupSignal" SG_ 1068 Shed_Level_Req 1; +BA_ "CrossOver_InfoCAN" SG_ 1068 Shed_Level_Req 1; +BA_ "UsedOnPgmDBC" SG_ 1068 Shed_Level_Req 1; +BA_ "U_P702_MY2021_Rx" SG_ 1068 Shed_Level_Req 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1068 Shed_Level_Req 1; +BA_ "UsedOnPgmDBC" SG_ 1068 ULoRgenTestMde_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 1068 ULoRgenTestMde_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1068 ULoRgenTestMde_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 1068 ChargeMode 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1068 ChargeMode 1; +BA_ "CrossOver_InfoCAN" SG_ 1068 Batt_Lo_SoC_B 1; +BA_ "UsedOnPgmDBC" SG_ 1068 PeriodicElLoad_B_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 1068 PeriodicElLoad_B_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1068 PeriodicElLoad_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1068 Batt_Crit_SoC_B 1; +BA_ "UsedOnPgmDBC" SG_ 146 VehVert2_A_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 146 VehVert2_A_Actl 8190; +BA_ "GenSigStartValue" SG_ 146 VehVert2_A_Actl 8190; +BA_ "U_P702_MY2021_Rx" SG_ 146 VehVert2_A_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 146 VehVert2_A_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 146 VehVert2_A_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 146 VehLatLongVertA_No_Cs 1; +BA_ "MetaData" SG_ 146 VehLatLongVertA_No_Cs 1; +BA_ "U_CX727_MY2021_Rx" SG_ 146 VehLatLongVertA_No_Cs 1; +BA_ "U_P702_MY2021_Rx" SG_ 146 VehLatLongVertA_No_Cs 1; +BA_ "UsedOnPgmDBC" SG_ 146 VehLatLongVert_No_Cnt 1; +BA_ "MetaData" SG_ 146 VehLatLongVert_No_Cnt 1; +BA_ "U_CX727_MY2021_Rx" SG_ 146 VehLatLongVert_No_Cnt 1; +BA_ "U_P702_MY2021_Rx" SG_ 146 VehLatLongVert_No_Cnt 1; +BA_ "UsedOnPgmDBC" SG_ 146 VehLong2_A_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 146 VehLong2_A_Actl 8190; +BA_ "GenSigStartValue" SG_ 146 VehLong2_A_Actl 8190; +BA_ "U_P702_MY2021_Rx" SG_ 146 VehLong2_A_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 146 VehLong2_A_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 146 VehLong2_A_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 146 VehLat2_A_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 146 VehLat2_A_Actl 8190; +BA_ "GenSigStartValue" SG_ 146 VehLat2_A_Actl 8190; +BA_ "U_P702_MY2021_Rx" SG_ 146 VehLat2_A_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 146 VehLat2_A_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 146 VehLat2_A_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 146 VehVertAActl_D_Qf 1; +BA_ "GenSigStartValueInteger" SG_ 146 VehVertAActl_D_Qf 1; +BA_ "MetaData" SG_ 146 VehVertAActl_D_Qf 1; +BA_ "GenSigStartValue" SG_ 146 VehVertAActl_D_Qf 1; +BA_ "U_CX727_MY2021_Rx" SG_ 146 VehVertAActl_D_Qf 1; +BA_ "U_P702_MY2021_Rx" SG_ 146 VehVertAActl_D_Qf 1; +BA_ "UsedOnPgmDBC" SG_ 146 VehLongAActl_D_Qf 1; +BA_ "GenSigStartValueInteger" SG_ 146 VehLongAActl_D_Qf 1; +BA_ "MetaData" SG_ 146 VehLongAActl_D_Qf 1; +BA_ "GenSigStartValue" SG_ 146 VehLongAActl_D_Qf 1; +BA_ "U_P702_MY2021_Rx" SG_ 146 VehLongAActl_D_Qf 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 146 VehLongAActl_D_Qf 1; +BA_ "U_CX727_MY2021_Rx" SG_ 146 VehLongAActl_D_Qf 1; +BA_ "UsedOnPgmDBC" SG_ 146 VehLatAActl_D_Qf 1; +BA_ "GenSigStartValueInteger" SG_ 146 VehLatAActl_D_Qf 1; +BA_ "MetaData" SG_ 146 VehLatAActl_D_Qf 1; +BA_ "GenSigStartValue" SG_ 146 VehLatAActl_D_Qf 1; +BA_ "U_CX727_MY2021_Rx" SG_ 146 VehLatAActl_D_Qf 1; +BA_ "U_P702_MY2021_Rx" SG_ 146 VehLatAActl_D_Qf 1; +BA_ "GenSigSendType" SG_ 1900 TesterPhysicalResCCM 3; +BA_ "GenSigSendType" SG_ 1806 TesterPhysicalResIPMA 3; +BA_ "CrossOver_InfoCAN" SG_ 997 PersIndexCcm_D_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 997 PersIndexCcm_D_Actl 4; +BA_ "GenSigStartValue" SG_ 997 PersIndexCcm_D_Actl 4; +BA_ "GenSigSendType" SG_ 997 PersIndexCcm_D_Actl 3; +BA_ "CrossOver_InfoCAN" SG_ 997 FeatNoCcmActl 1; +BA_ "GenSigSendType" SG_ 997 FeatNoCcmActl 3; +BA_ "CrossOver_InfoCAN" SG_ 997 FeatConfigCcmActl 1; +BA_ "GenSigSendType" SG_ 997 FeatConfigCcmActl 3; +BA_ "GenSigStartValueInteger" SG_ 983 CmbbObjRelLong_V_Actl 1022; +BA_ "U_CX727_MY2021_Rx" SG_ 983 CmbbObjRelLong_V_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 983 CmbbObjRelLong_V_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 983 CmbbObjRelLat_V_Actl 510; +BA_ "GenSigStartValue" SG_ 983 CmbbObjRelLat_V_Actl 510; +BA_ "U_CX727_MY2021_Rx" SG_ 983 CmbbObjRelLat_V_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 983 CmbbObjRelLat_V_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 983 CmbbObjDistLong_L_Actl 1022; +BA_ "GenSigStartValue" SG_ 983 CmbbObjDistLong_L_Actl 1022; +BA_ "U_CX727_MY2021_Rx" SG_ 983 CmbbObjDistLong_L_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 983 CmbbObjDistLong_L_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 983 CmbbObjDistLat_L_Actl 510; +BA_ "GenSigStartValue" SG_ 983 CmbbObjDistLat_L_Actl 510; +BA_ "U_CX727_MY2021_Rx" SG_ 983 CmbbObjDistLat_L_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 983 CmbbObjDistLat_L_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 983 CmbbObjConfdnc_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 983 CmbbObjConfdnc_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 983 CmbbObjColl_T_Actl 126; +BA_ "GenSigStartValue" SG_ 983 CmbbObjColl_T_Actl 125; +BA_ "U_CX727_MY2021_Rx" SG_ 983 CmbbObjColl_T_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 983 CmbbObjColl_T_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 983 CmbbObjClass_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 983 CmbbObjClass_D_Stat 1; +BA_ "U_CX727_MY2021_Rx" SG_ 983 EsaEnbl_D2_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 983 EsaEnbl_D2_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 980 AdbBrdr1DistRigh_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 980 AdbBrdr1DistLeft_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 980 AdbMde1_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 980 AdbIntns1_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 980 AdbBrdr1Up_An_Rq 510; +BA_ "GenSigStartValue" SG_ 980 AdbBrdr1Up_An_Rq 509; +BA_ "U_P702_MY2021_Rx" SG_ 980 AdbBrdr1Up_An_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 980 AdbBrdr1Right_An_Rq 2046; +BA_ "GenSigStartValue" SG_ 980 AdbBrdr1Right_An_Rq 2046; +BA_ "U_P702_MY2021_Rx" SG_ 980 AdbBrdr1Right_An_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 980 AdbBrdr1Low_An_Rq 510; +BA_ "GenSigStartValue" SG_ 980 AdbBrdr1Low_An_Rq 509; +BA_ "U_P702_MY2021_Rx" SG_ 980 AdbBrdr1Low_An_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 980 AdbBrdr1Left_An_Rq 2046; +BA_ "GenSigStartValue" SG_ 980 AdbBrdr1Left_An_Rq 2046; +BA_ "U_P702_MY2021_Rx" SG_ 980 AdbBrdr1Left_An_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 980 AdbBrdr1CritRigh_T_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 980 AdbBrdr1CritLeft_T_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 979 LatCtlRng_L_Max 1; +BA_ "U_CX727_MY2021_Rx" SG_ 979 LatCtlRng_L_Max 1; +BA_ "U_CX727_MY2021_Rx" SG_ 979 HandsOffCnfm_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 979 HandsOffCnfm_B_Rq 1; +BA_ "U_CX727_MY2021_Rx" SG_ 979 LatCtl_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 979 LatCtl_D_Rq 1; +BA_ "U_CX727_MY2021_Rx" SG_ 979 LatCtlRampType_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 979 LatCtlRampType_D_Rq 1; +BA_ "U_CX727_MY2021_Rx" SG_ 979 LatCtlPrecision_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 979 LatCtlPrecision_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 979 LatCtlPathOffst_L_Actl 512; +BA_ "U_CX727_MY2021_Rx" SG_ 979 LatCtlPathOffst_L_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 979 LatCtlPathOffst_L_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 979 LatCtlPath_An_Actl 1000; +BA_ "U_CX727_MY2021_Rx" SG_ 979 LatCtlPath_An_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 979 LatCtlPath_An_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 979 LatCtlCurv_NoRate_Actl 4096; +BA_ "U_CX727_MY2021_Rx" SG_ 979 LatCtlCurv_NoRate_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 979 LatCtlCurv_NoRate_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 979 LatCtlCurv_No_Actl 1000; +BA_ "U_CX727_MY2021_Rx" SG_ 979 LatCtlCurv_No_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 979 LatCtlCurv_No_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 976 SrpHghtRight_L_Actl 256; +BA_ "GenSigStartValueInteger" SG_ 976 SrpHghtLeft_L_Actl 256; +BA_ "GenSigSendType" SG_ 973 TsrVl2PrmntMsgTxt_D_Rq 3; +BA_ "GenSigSendType" SG_ 973 TsrVl1PrmntMsgTxt_D_Rq 3; +BA_ "GenSigStartValueInteger" SG_ 973 TsrVl2RstrcMsgTxt2_D_Rq 1; +BA_ "GenSigStartValue" SG_ 973 TsrVl2RstrcMsgTxt2_D_Rq 1; +BA_ "GenSigSendType" SG_ 973 TsrVl2RstrcMsgTxt2_D_Rq 3; +BA_ "GenSigStartValueInteger" SG_ 973 TsrVl1RstrcMsgTxt2_D_Rq 1; +BA_ "GenSigStartValue" SG_ 973 TsrVl1RstrcMsgTxt2_D_Rq 1; +BA_ "GenSigSendType" SG_ 973 TsrVl1RstrcMsgTxt2_D_Rq 3; +BA_ "GenSigSendType" SG_ 973 TsrOvtkMsgTxt2_D_Rq 3; +BA_ "GenSigSendType" SG_ 973 WwaWarn_B_Rq 3; +BA_ "CrossOver_InfoCAN" SG_ 973 TsrVlUnitMsgTxt_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 973 TsrVlUnitMsgTxt_D_Rq 2; +BA_ "GenSigStartValue" SG_ 973 TsrVlUnitMsgTxt_D_Rq 2; +BA_ "GenSigSendType" SG_ 973 TsrVlUnitMsgTxt_D_Rq 3; +BA_ "CrossOver_InfoCAN" SG_ 973 TsrVLim2MsgTxt_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 973 TsrVLim2MsgTxt_D_Rq 255; +BA_ "GenSigStartValue" SG_ 973 TsrVLim2MsgTxt_D_Rq 255; +BA_ "GenSigSendType" SG_ 973 TsrVLim2MsgTxt_D_Rq 3; +BA_ "CrossOver_InfoCAN" SG_ 973 TsrVLim1MsgTxt_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 973 TsrVLim1MsgTxt_D_Rq 255; +BA_ "GenSigStartValue" SG_ 973 TsrVLim1MsgTxt_D_Rq 255; +BA_ "GenSigSendType" SG_ 973 TsrVLim1MsgTxt_D_Rq 3; +BA_ "CrossOver_InfoCAN" SG_ 973 TsrVl2StatMsgTxt_D_Rq 1; +BA_ "GenSigSendType" SG_ 973 TsrVl2StatMsgTxt_D_Rq 3; +BA_ "CrossOver_InfoCAN" SG_ 973 TsrVl2RstrcMsgTxt_D_Rq 1; +BA_ "GenSigSendType" SG_ 973 TsrVl2RstrcMsgTxt_D_Rq 3; +BA_ "CrossOver_InfoCAN" SG_ 973 TsrVl1StatMsgTxt_D_Rq 1; +BA_ "GenSigSendType" SG_ 973 TsrVl1StatMsgTxt_D_Rq 3; +BA_ "CrossOver_InfoCAN" SG_ 973 TsrVl1RstrcMsgTxt_D_Rq 1; +BA_ "GenSigSendType" SG_ 973 TsrVl1RstrcMsgTxt_D_Rq 3; +BA_ "CrossOver_InfoCAN" SG_ 973 TsrStatMsgTxt_D_Rq 1; +BA_ "GenSigSendType" SG_ 973 TsrStatMsgTxt_D_Rq 3; +BA_ "CrossOver_InfoCAN" SG_ 973 TsrOvtkStatMsgTxt_D_Rq 1; +BA_ "GenSigSendType" SG_ 973 TsrOvtkStatMsgTxt_D_Rq 3; +BA_ "CrossOver_InfoCAN" SG_ 973 TsrOvtkMsgTxt_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 973 TsrOvtkMsgTxt_D_Rq 1; +BA_ "GenSigStartValue" SG_ 973 TsrOvtkMsgTxt_D_Rq 1; +BA_ "GenSigSendType" SG_ 973 TsrOvtkMsgTxt_D_Rq 3; +BA_ "CrossOver_InfoCAN" SG_ 973 TsrOswWarnMsgTxt_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 973 TsrOswWarnMsgTxt_D_Rq 1; +BA_ "GenSigStartValue" SG_ 973 TsrOswWarnMsgTxt_D_Rq 1; +BA_ "GenSigSendType" SG_ 973 TsrOswWarnMsgTxt_D_Rq 3; +BA_ "CrossOver_InfoCAN" SG_ 973 TsrMsgTxt_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 973 TsrMsgTxt_D_Rq 1; +BA_ "GenSigStartValue" SG_ 973 TsrMsgTxt_D_Rq 1; +BA_ "GenSigSendType" SG_ 973 TsrMsgTxt_D_Rq 3; +BA_ "U_P702_MY2021_Rx" SG_ 970 LkaDrvOvrrd_D_Rq 1; +BA_ "U_CX727_MY2021_Rx" SG_ 970 LkaActvStats_D2_Req 1; +BA_ "U_P702_MY2021_Rx" SG_ 970 LkaActvStats_D2_Req 1; +BA_ "GenSigStartValueInteger" SG_ 970 LaRefAng_No_Req 2048; +BA_ "U_CX727_MY2021_Rx" SG_ 970 LaRefAng_No_Req 1; +BA_ "U_P702_MY2021_Rx" SG_ 970 LaRefAng_No_Req 1; +BA_ "U_CX727_MY2021_Rx" SG_ 970 LaRampType_B_Req 1; +BA_ "U_P702_MY2021_Rx" SG_ 970 LaRampType_B_Req 1; +BA_ "GenSigStartValueInteger" SG_ 970 LaCurvature_No_Calc 2048; +BA_ "U_CX727_MY2021_Rx" SG_ 970 LaCurvature_No_Calc 1; +BA_ "U_P702_MY2021_Rx" SG_ 970 LaCurvature_No_Calc 1; +BA_ "U_CX727_MY2021_Rx" SG_ 970 LdwActvStats_D_Req 1; +BA_ "U_P702_MY2021_Rx" SG_ 970 LdwActvStats_D_Req 1; +BA_ "CrossOver_InfoCAN" SG_ 970 LdwActvIntns_D_Req 1; +BA_ "U_CX727_MY2021_Rx" SG_ 970 LdwActvIntns_D_Req 1; +BA_ "U_P702_MY2021_Rx" SG_ 970 LdwActvIntns_D_Req 1; +BA_ "U_P702_MY2021_Rx" SG_ 962 AdbBrdr3DistRigh_D_Stat 1; +BA_ "GenSigSendType" SG_ 962 AdbBrdr3DistRigh_D_Stat 3; +BA_ "U_P702_MY2021_Rx" SG_ 962 AdbBrdr3DistLeft_D_Stat 1; +BA_ "GenSigSendType" SG_ 962 AdbBrdr3DistLeft_D_Stat 3; +BA_ "GenSigSendType" SG_ 962 AdbMde3_D_Rq 3; +BA_ "U_P702_MY2021_Rx" SG_ 962 AdbMde3_D_Rq 1; +BA_ "GenSigSendType" SG_ 962 AdbIntns3_D_Rq 3; +BA_ "U_P702_MY2021_Rx" SG_ 962 AdbIntns3_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 962 AdbBrdr3Up_An_Rq 510; +BA_ "GenSigStartValue" SG_ 962 AdbBrdr3Up_An_Rq 509; +BA_ "U_P702_MY2021_Rx" SG_ 962 AdbBrdr3Up_An_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 962 AdbBrdr3Right_An_Rq 2046; +BA_ "GenSigStartValue" SG_ 962 AdbBrdr3Right_An_Rq 2046; +BA_ "U_P702_MY2021_Rx" SG_ 962 AdbBrdr3Right_An_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 962 AdbBrdr3Low_An_Rq 510; +BA_ "GenSigStartValue" SG_ 962 AdbBrdr3Low_An_Rq 509; +BA_ "U_P702_MY2021_Rx" SG_ 962 AdbBrdr3Low_An_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 962 AdbBrdr3Left_An_Rq 2046; +BA_ "GenSigStartValue" SG_ 962 AdbBrdr3Left_An_Rq 2046; +BA_ "U_P702_MY2021_Rx" SG_ 962 AdbBrdr3Left_An_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 962 AdbBrdr3CritRigh_T_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 962 AdbBrdr3CritLeft_T_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 961 AdbBrdr2DistRigh_D_Stat 1; +BA_ "GenSigSendType" SG_ 961 AdbBrdr2DistRigh_D_Stat 3; +BA_ "U_P702_MY2021_Rx" SG_ 961 AdbBrdr2DistLeft_D_Stat 1; +BA_ "GenSigSendType" SG_ 961 AdbBrdr2DistLeft_D_Stat 3; +BA_ "GenSigSendType" SG_ 961 AdbMde2_D_Rq 3; +BA_ "U_P702_MY2021_Rx" SG_ 961 AdbMde2_D_Rq 1; +BA_ "GenSigSendType" SG_ 961 AdbIntns2_D_Rq 3; +BA_ "U_P702_MY2021_Rx" SG_ 961 AdbIntns2_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 961 AdbBrdr2Up_An_Rq 510; +BA_ "GenSigStartValue" SG_ 961 AdbBrdr2Up_An_Rq 509; +BA_ "U_P702_MY2021_Rx" SG_ 961 AdbBrdr2Up_An_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 961 AdbBrdr2Right_An_Rq 2046; +BA_ "GenSigStartValue" SG_ 961 AdbBrdr2Right_An_Rq 2046; +BA_ "U_P702_MY2021_Rx" SG_ 961 AdbBrdr2Right_An_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 961 AdbBrdr2Low_An_Rq 510; +BA_ "GenSigStartValue" SG_ 961 AdbBrdr2Low_An_Rq 509; +BA_ "U_P702_MY2021_Rx" SG_ 961 AdbBrdr2Low_An_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 961 AdbBrdr2Left_An_Rq 2046; +BA_ "GenSigStartValue" SG_ 961 AdbBrdr2Left_An_Rq 2046; +BA_ "U_P702_MY2021_Rx" SG_ 961 AdbBrdr2Left_An_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 961 AdbBrdr2CritRigh_T_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 961 AdbBrdr2CritLeft_T_Stat 1; +BA_ "MetaData" SG_ 394 HaDsply_No_Cs 1; +BA_ "ContentDependant" SG_ 394 HaDsply_No_Cs 1; +BA_ "UsedOnPgmDBC" SG_ 394 HaDsply_No_Cs 1; +BA_ "GenSigSendType" SG_ 394 HaDsply_No_Cs 3; +BA_ "MetaData" SG_ 394 HaDsply_No_Cnt 1; +BA_ "ContentDependant" SG_ 394 HaDsply_No_Cnt 1; +BA_ "UsedOnPgmDBC" SG_ 394 HaDsply_No_Cnt 1; +BA_ "GenSigSendType" SG_ 394 HaDsply_No_Cnt 3; +BA_ "GenSigSendType" SG_ 394 AccStopStat_D_Dsply 3; +BA_ "CrossOver_InfoCAN" SG_ 394 AccTrgDist2_D_Dsply 1; +BA_ "GenSigSendType" SG_ 394 AccTrgDist2_D_Dsply 3; +BA_ "CrossOver_InfoCAN" SG_ 394 AccStopRes_B_Dsply 1; +BA_ "GenSigSendType" SG_ 394 AccStopRes_B_Dsply 3; +BA_ "GenSigSendType" SG_ 394 TjaWarn_D_Rq 3; +BA_ "GenSigSendType" SG_ 394 Tja_D_Stat 3; +BA_ "GenSigSendType" SG_ 394 TjaMsgTxt_D_Dsply 3; +BA_ "GenSigSendType" SG_ 394 IaccLamp_D_Rq 3; +BA_ "GenSigSendType" SG_ 394 AccMsgTxt_D2_Rq 3; +BA_ "CrossOver_InfoCAN" SG_ 394 FcwDeny_B_Dsply 1; +BA_ "GenSigSendType" SG_ 394 FcwDeny_B_Dsply 3; +BA_ "CrossOver_InfoCAN" SG_ 394 FcwMemStat_B_Actl 1; +BA_ "GenSigSendType" SG_ 394 FcwMemStat_B_Actl 3; +BA_ "ECGUsedRxSignal" SG_ 394 FcwMemStat_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 394 AccTGap_B_Dsply 1; +BA_ "GenSigSendType" SG_ 394 AccTGap_B_Dsply 3; +BA_ "CrossOver_InfoCAN" SG_ 394 CadsAlignIncplt_B_Actl 1; +BA_ "GenSigSendType" SG_ 394 CadsAlignIncplt_B_Actl 3; +BA_ "CrossOver_InfoCAN" SG_ 394 AccFllwMde_B_Dsply 1; +BA_ "GenSigSendType" SG_ 394 AccFllwMde_B_Dsply 3; +BA_ "CrossOver_InfoCAN" SG_ 394 CadsRadrBlck_B_Actl 1; +BA_ "GenSigSendType" SG_ 394 CadsRadrBlck_B_Actl 3; +BA_ "CrossOver_InfoCAN" SG_ 394 CmbbPostEvnt_B_Dsply 1; +BA_ "GenSigSendType" SG_ 394 CmbbPostEvnt_B_Dsply 3; +BA_ "CrossOver_InfoCAN" SG_ 394 AccStopMde_B_Dsply 1; +BA_ "GenSigSendType" SG_ 394 AccStopMde_B_Dsply 3; +BA_ "CrossOver_InfoCAN" SG_ 394 FcwMemSens_D_Actl 1; +BA_ "GenSigSendType" SG_ 394 FcwMemSens_D_Actl 3; +BA_ "ECGUsedRxSignal" SG_ 394 FcwMemSens_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 394 FcwMsgTxt_D_Rq 1; +BA_ "GenSigSendType" SG_ 394 FcwMsgTxt_D_Rq 3; +BA_ "CrossOver_InfoCAN" SG_ 394 AccWarn_D_Dsply 1; +BA_ "GenSigSendType" SG_ 394 AccWarn_D_Dsply 3; +BA_ "CrossOver_InfoCAN" SG_ 394 FcwVisblWarn_B_Rq 1; +BA_ "GenSigSendType" SG_ 394 FcwVisblWarn_B_Rq 3; +BA_ "CrossOver_InfoCAN" SG_ 394 FcwAudioWarn_B_Rq 1; +BA_ "GenSigSendType" SG_ 394 FcwAudioWarn_B_Rq 3; +BA_ "ECGUsedRxSignal" SG_ 394 FcwAudioWarn_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 394 AccTGap_D_Dsply 1; +BA_ "GenSigStartValueInteger" SG_ 394 AccTGap_D_Dsply 3; +BA_ "GenSigStartValue" SG_ 394 AccTGap_D_Dsply 3; +BA_ "GenSigSendType" SG_ 394 AccTGap_D_Dsply 3; +BA_ "CrossOver_InfoCAN" SG_ 394 AccMemEnbl_B_RqDrv 1; +BA_ "GenSigStartValueInteger" SG_ 394 AccMemEnbl_B_RqDrv 1; +BA_ "GenSigStartValue" SG_ 394 AccMemEnbl_B_RqDrv 1; +BA_ "GenSigSendType" SG_ 394 AccMemEnbl_B_RqDrv 3; +BA_ "CrossOver_InfoCAN" SG_ 394 FdaMem_B_Stat 1; +BA_ "GenSigSendType" SG_ 394 FdaMem_B_Stat 3; +BA_ "UsedOnPgmDBC" SG_ 391 CmbbBrkDecel_No_Cnt 1; +BA_ "MetaData" SG_ 391 CmbbBrkDecel_No_Cnt 1; +BA_ "U_CX727_MY2021_Rx" SG_ 391 CmbbBrkDecel_No_Cnt 1; +BA_ "U_P702_MY2021_Rx" SG_ 391 CmbbBrkDecel_No_Cnt 1; +BA_ "UsedOnPgmDBC" SG_ 391 CmbbBrkDecel_No_Cs 1; +BA_ "MetaData" SG_ 391 CmbbBrkDecel_No_Cs 1; +BA_ "U_CX727_MY2021_Rx" SG_ 391 CmbbBrkDecel_No_Cs 1; +BA_ "U_P702_MY2021_Rx" SG_ 391 CmbbBrkDecel_No_Cs 1; +BA_ "UsedOnPgmDBC" SG_ 391 CmbbBrkDecel_A_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 391 CmbbBrkDecel_A_Rq 5129; +BA_ "U_CX727_MY2021_Rx" SG_ 391 CmbbBrkDecel_A_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 391 CmbbBrkDecel_A_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 391 CmbbBrkPrchg_D_Rq 1; +BA_ "U_CX727_MY2021_Rx" SG_ 391 CmbbBrkPrchg_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 391 CmbbBrkPrchg_D_Rq 1; +BA_ "ECGUsedRxSignal" SG_ 391 CmbbBrkPrchg_D_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 391 CmbbBrkDecel_B_Rq 1; +BA_ "U_CX727_MY2021_Rx" SG_ 391 CmbbBrkDecel_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 391 CmbbBrkDecel_B_Rq 1; +BA_ "ECGUsedRxSignal" SG_ 391 CmbbBrkDecel_B_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 391 CmbbBaSens_D_Rq 1; +BA_ "U_CX727_MY2021_Rx" SG_ 391 CmbbBaSens_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 391 CmbbBaSens_D_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 390 AccBrkTot_A_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 390 AccBrkTot_A_Rq 5129; +BA_ "U_CX727_MY2021_Rx" SG_ 390 AccBrkTot_A_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 390 AccBrkTot_A_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 390 AccPrpl_A_Pred 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 390 AccPrpl_A_Pred 1; +BA_ "U_P702_MY2021_Rx" SG_ 390 AccVeh_V_Trg 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 390 AccVeh_V_Trg 1; +BA_ "UsedOnPgmDBC" SG_ 390 AccBrkPrkEl_B_Rq 1; +BA_ "U_CX727_MY2021_Rx" SG_ 390 AccBrkPrkEl_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 390 AccBrkPrkEl_B_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 390 CmbbDeny_B_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 390 CmbbDeny_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 390 CmbbDeny_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 390 CmbbEngTqMn_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 390 CmbbEngTqMn_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 390 AccPrpl_A_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 390 AccPrpl_A_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 390 AccDeny_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 390 AccDeny_B_Rq 1; +BA_ "WakeupSignal" SG_ 390 AccResumEnbl_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 390 AccResumEnbl_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 390 AccResumEnbl_B_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 390 AccCancl_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 390 AccCancl_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 390 AccCancl_B_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 390 AccBrkPrchg_B_Rq 1; +BA_ "U_CX727_MY2021_Rx" SG_ 390 AccBrkPrchg_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 390 AccBrkPrchg_B_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 390 AccBrkDecel_B_Rq 1; +BA_ "U_CX727_MY2021_Rx" SG_ 390 AccBrkDecel_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 390 AccBrkDecel_B_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 390 AccStopStat_B_Rq 1; +BA_ "U_CX727_MY2021_Rx" SG_ 390 AccStopStat_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 390 AccStopStat_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 390 AccStopStat_B_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 1441 TCCM_GWOnBoardTester 255; +BA_ "ContentDependant" SG_ 1441 TCCM_GWOnBoardTester 1; +BA_ "GenSigStartValue" SG_ 1441 TCCM_GWOnBoardTester 255; +BA_ "U_P702_MY2021_Tx" SG_ 1441 TCCM_GWOnBoardTester 1; +BA_ "GenSigStartValueInteger" SG_ 1441 TCCM_GWNMProxy 255; +BA_ "ContentDependant" SG_ 1441 TCCM_GWNMProxy 1; +BA_ "GenSigStartValue" SG_ 1441 TCCM_GWNMProxy 255; +BA_ "U_P702_MY2021_Tx" SG_ 1441 TCCM_GWNMProxy 1; +BA_ "GenSigStartValueInteger" SG_ 1441 TCCM_AutoSarNMReserved4 255; +BA_ "ContentDependant" SG_ 1441 TCCM_AutoSarNMReserved4 1; +BA_ "GenSigStartValue" SG_ 1441 TCCM_AutoSarNMReserved4 255; +BA_ "U_P702_MY2021_Tx" SG_ 1441 TCCM_AutoSarNMReserved4 1; +BA_ "GenSigStartValueInteger" SG_ 1441 TCCM_AutoSarNMReserved3 255; +BA_ "ContentDependant" SG_ 1441 TCCM_AutoSarNMReserved3 1; +BA_ "GenSigStartValue" SG_ 1441 TCCM_AutoSarNMReserved3 255; +BA_ "U_P702_MY2021_Tx" SG_ 1441 TCCM_AutoSarNMReserved3 1; +BA_ "GenSigStartValueInteger" SG_ 1441 TCCM_AutoSarNMReserved2 255; +BA_ "ContentDependant" SG_ 1441 TCCM_AutoSarNMReserved2 1; +BA_ "GenSigStartValue" SG_ 1441 TCCM_AutoSarNMReserved2 255; +BA_ "U_P702_MY2021_Tx" SG_ 1441 TCCM_AutoSarNMReserved2 1; +BA_ "GenSigStartValueInteger" SG_ 1441 TCCM_AutoSarNMReserved1 255; +BA_ "ContentDependant" SG_ 1441 TCCM_AutoSarNMReserved1 1; +BA_ "GenSigStartValue" SG_ 1441 TCCM_AutoSarNMReserved1 255; +BA_ "U_P702_MY2021_Tx" SG_ 1441 TCCM_AutoSarNMReserved1 1; +BA_ "GenSigStartValueInteger" SG_ 1441 TCCM_AutoSarNMNodeId 161; +BA_ "ContentDependant" SG_ 1441 TCCM_AutoSarNMNodeId 1; +BA_ "GenSigStartValue" SG_ 1441 TCCM_AutoSarNMNodeId 161; +BA_ "U_P702_MY2021_Tx" SG_ 1441 TCCM_AutoSarNMNodeId 1; +BA_ "ContentDependant" SG_ 1441 TCCM_AutoSarNMControl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1441 TCCM_AutoSarNMControl 1; +BA_ "GenSigSendType" SG_ 1787 TesterPhysicalResSODCMD 3; +BA_ "GenSigSendType" SG_ 1779 TesterPhysicalReqSODCMD 3; +BA_ "GenSigSendType" SG_ 1786 TesterPhysicalResSODCMC 3; +BA_ "GenSigSendType" SG_ 1778 TesterPhysicalReqSODCMC 3; +BA_ "CrossOver_InfoCAN" SG_ 1153 TerrMde_D_RqDrv 1; +BA_ "UsedOnPgmDBC" SG_ 1153 TerrMde_D_RqDrv 1; +BA_ "GenSigSendType" SG_ 942 PrkAidRdiusRight_L_Dsply 3; +BA_ "GenSigSendType" SG_ 942 PrkAidRdiusLeft_L_Dsply 3; +BA_ "GenSigSendType" SG_ 942 PrkAidDrvDir_D_Stat 3; +BA_ "GenSigSendType" SG_ 942 PrkAidAcsyRear_D_Stat 3; +BA_ "GenSigSendType" SG_ 942 PrkAidAcsyFront_D_Stat 3; +BA_ "GenSigSendType" SG_ 930 BalrWndwRight_B_Stat 3; +BA_ "GenSigStartValueInteger" SG_ 930 BalrSnsRight_D_Falt 0; +BA_ "GenSigSendType" SG_ 930 BalrSnsRight_D_Falt 3; +BA_ "GenSigStartValueInteger" SG_ 930 WndwPsngrRear_D_RqBalrr 0; +BA_ "GenSigSendType" SG_ 930 WndwPsngrRear_D_RqBalrr 3; +BA_ "GenSigStartValueInteger" SG_ 930 WndwPsngr_D_RqBalrr 0; +BA_ "GenSigSendType" SG_ 930 WndwPsngr_D_RqBalrr 3; +BA_ "GenSigStartValueInteger" SG_ 930 WndwDrvRear_D_RqBalrr 0; +BA_ "GenSigSendType" SG_ 930 WndwDrvRear_D_RqBalrr 3; +BA_ "GenSigStartValueInteger" SG_ 930 WndwDrv_D_RqBalrr 0; +BA_ "GenSigSendType" SG_ 930 WndwDrv_D_RqBalrr 3; +BA_ "GenSigStartValueInteger" SG_ 930 BalrRight_D_Stat 2; +BA_ "GenSigStartValue" SG_ 930 BalrRight_D_Stat 2; +BA_ "GenSigSendType" SG_ 930 BalrRight_D_Stat 3; +BA_ "GenSigSendType" SG_ 930 BalrMdeSelRight_B_Stat 3; +BA_ "GenSigStartValueInteger" SG_ 930 BalrMdeRight_D_Stat 1; +BA_ "GenSigStartValue" SG_ 930 BalrMdeRight_D_Stat 1; +BA_ "GenSigSendType" SG_ 930 BalrMdeRight_D_Stat 3; +BA_ "GenSigSendType" SG_ 930 BalrLckRight_B_Stat 3; +BA_ "GenSigSendType" SG_ 930 BalrChimeRight_D_Rq 3; +BA_ "GenSigSendType" SG_ 930 CamraRearOn_B_RqBalrr 3; +BA_ "GenSigSendType" SG_ 930 DrLckCnt_No_ActlBalrr 3; +BA_ "GenSigSendType" SG_ 930 DrLckActv_B_RqBalrr 3; +BA_ "GenSigSendType" SG_ 929 BalrChimeLeft_D_Rq 3; +BA_ "GenSigStartValueInteger" SG_ 929 BalrLeft_D_Stat 2; +BA_ "GenSigStartValue" SG_ 929 BalrLeft_D_Stat 2; +BA_ "GenSigSendType" SG_ 929 BalrLeft_D_Stat 3; +BA_ "GenSigSendType" SG_ 929 BalrWndwLeft_B_Stat 3; +BA_ "GenSigStartValueInteger" SG_ 929 WndwPsngrRear_D_RqBalrl 0; +BA_ "GenSigSendType" SG_ 929 WndwPsngrRear_D_RqBalrl 3; +BA_ "GenSigStartValueInteger" SG_ 929 WndwPsngr_D_RqBalrl 0; +BA_ "GenSigSendType" SG_ 929 WndwPsngr_D_RqBalrl 3; +BA_ "GenSigStartValueInteger" SG_ 929 WndwDrvRear_D_RqBalrl 0; +BA_ "GenSigSendType" SG_ 929 WndwDrvRear_D_RqBalrl 3; +BA_ "GenSigStartValueInteger" SG_ 929 WndwDrv_D_RqBalrl 0; +BA_ "GenSigSendType" SG_ 929 WndwDrv_D_RqBalrl 3; +BA_ "GenSigStartValueInteger" SG_ 929 BalrSnsLeft_D_Falt 0; +BA_ "GenSigSendType" SG_ 929 BalrSnsLeft_D_Falt 3; +BA_ "GenSigSendType" SG_ 929 BalrMdeSelLeft_B_Stat 3; +BA_ "GenSigStartValueInteger" SG_ 929 BalrMdeLeft_D_Stat 1; +BA_ "GenSigStartValue" SG_ 929 BalrMdeLeft_D_Stat 1; +BA_ "GenSigSendType" SG_ 929 BalrMdeLeft_D_Stat 3; +BA_ "GenSigSendType" SG_ 929 BalrLckLeft_B_Stat 3; +BA_ "GenSigSendType" SG_ 929 CamraRearOn_B_RqBalrl 3; +BA_ "GenSigSendType" SG_ 929 DrLckCnt_No_ActlBalrl 3; +BA_ "GenSigSendType" SG_ 929 DrLckActv_B_RqBalrl 3; +BA_ "CrossOver_InfoCAN" SG_ 402 ApaMdeStat_D_RqDrv 1; +BA_ "CrossOver_InfoCAN" SG_ 402 CamraZoomMan_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 402 CamraOvrlStat_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 402 CamraOvrlDyn_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 402 CamAutoTowbarZoom 1; +BA_ "CrossOver_InfoCAN" SG_ 402 DistanceBarSetting 1; +BA_ "GenSigStartValue" SG_ 924 DcacOut_Pw_Mx 2046; +BA_ "U_P702_MY2021_Rx" SG_ 924 DcacOut_Pw_Mx 1; +BA_ "GenSigStartValue" SG_ 924 DcacOut2_Pw_Actl 8190; +BA_ "U_P702_MY2021_Rx" SG_ 924 DcacOut2_Pw_Actl 1; +BA_ "GenSigStartValue" SG_ 924 DcacOut1_Pw_Actl 8190; +BA_ "U_P702_MY2021_Rx" SG_ 924 DcacOut1_Pw_Actl 1; +BA_ "GenSigStartValue" SG_ 924 DcacIn_Pw_Mx 2046; +BA_ "U_P702_MY2021_Rx" SG_ 924 DcacIn_Pw_Mx 1; +BA_ "GenSigStartValue" SG_ 923 DcacIn_U2_Actl 4094; +BA_ "GenSigStartValue" SG_ 923 DcacIn_U_Actl 4094; +BA_ "U_P702_MY2021_Rx" SG_ 923 DcacIn_U_Actl 1; +BA_ "GenSigStartValue" SG_ 923 DcacIn_I_Actl 2046; +BA_ "U_P702_MY2021_Rx" SG_ 923 DcacIn_I_Actl 1; +BA_ "GenSigStartValue" SG_ 923 Dcac_Te_Actl 254; +BA_ "U_P702_MY2021_Rx" SG_ 923 Dcac_Te_Actl 1; +BA_ "GenSigSendType" SG_ 1998 TesterPhysicalResSODR 3; +BA_ "GenSigSendType" SG_ 1996 TesterPhysicalResSODL 3; +BA_ "GenSigSendType" SG_ 1988 TesterPhysicalReqSODL 3; +BA_ "U_P702_MY2021_Rx" SG_ 922 DcacRdy_D_Stat 1; +BA_ "GenSigStartValue" SG_ 922 DcacPlugPrsnt_B_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 922 DcacPlugPrsnt_B_Stat 1; +VAL_ 823 DteAcceptNew_B_Rq 1 "Yes" 0 "No"; +VAL_ 824 DteCldTrlrOn_B_Stat 1 "Yes" 0 "No"; +VAL_ 824 DteCldTrlrOff_B_Stat 1 "Yes" 0 "No"; +VAL_ 824 DteCldTraffic_B_Stat 1 "Yes" 0 "No"; +VAL_ 824 DteCldTerrain_B_Stat 1 "Yes" 0 "No"; +VAL_ 824 DteCldRoute_B_Stat 1 "Yes" 0 "No"; +VAL_ 824 DteCldPayload_B_Stat 1 "Yes" 0 "No"; +VAL_ 824 DteCldExtTe_B_Stat 1 "Yes" 0 "No"; +VAL_ 824 DteCldDcac_B_Stat 1 "Yes" 0 "No"; +VAL_ 949 Tire_Press_RR_ORR_Data 65535 "Not_Supported" 65534 "Invalid" 65533 "Unknown"; +VAL_ 949 Tire_Press_LR_OLR_Data 65535 "Not_Supported" 65534 "Invalid" 65533 "Unknown"; +VAL_ 949 Tire_Press_LF_Data 65535 "Not_Supported" 65534 "Invalid" 65533 "Unknown"; +VAL_ 949 Tire_Press_RF_Data 65535 "Not_Supported" 65534 "Invalid" 65533 "Unknown"; +VAL_ 740 BattAuxCnnct_B_Cmd 1 "Close" 0 "Open"; +VAL_ 1160 DgtlCommPncReset_B_Req 1 "Yes" 0 "No"; +VAL_ 1160 DataMntrSustn_B_Rq 1 "Active" 0 "Inactive"; +VAL_ 1160 PwSustnRdata_B_RqTelem 1 "Active" 0 "Inactive"; +VAL_ 776 ScChrgrPwMax_Pw_RqCld 4095 "Faulty"; +VAL_ 776 PrcondEdit_D_RqCld 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "High" 3 "Medium" 2 "Low" 1 "Off" 0 "Null"; +VAL_ 776 GoTEditMnte_T_RqCld 15 "Faulty" 14 "NoDataExists" 13 "NotUsed_2" 12 "NotUsed_1" 11 "Minute_55" 10 "Minute_50" 9 "Minute_45" 8 "Minute_40" 7 "Minute_35" 6 "Minute_30" 5 "Minute_25" 4 "Minute_20" 3 "Minute_15" 2 "Minute_10" 1 "Minute_5" 0 "Minute_0"; +VAL_ 776 GoTEditHr_T_RqCld 31 "Faulty" 30 "NoDataExists"; +VAL_ 776 ChrgToPcEdit_Pc_RqCld 127 "Faulty" 126 "NoDataExists"; +VAL_ 776 ScFreshDataEnbl_B_Rq 1 "Yes" 0 "No"; +VAL_ 776 ScEnbl_D_RqCld 3 "NotUsed" 2 "On" 1 "Off" 0 "Null"; +VAL_ 775 ScDayOfWeekId_D_RqCld 7 "Sunday" 6 "Saturday" 5 "Friday" 4 "Thursday" 3 "Wednesday" 2 "Tuesday" 1 "Monday" 0 "NotUsed"; +VAL_ 775 ScChrgDurSet_D_RqCld 3 "NotUsed" 2 "On" 1 "Off" 0 "Null"; +VAL_ 775 ScChrgDur_T_RqCld 2047 "Faulty" 2046 "NoDataExists"; +VAL_ 774 ScLocLongPostv_B_RqCld 1 "Yes" 0 "No"; +VAL_ 774 ScLocLattPostv_B_RqCld 1 "Yes" 0 "No"; +VAL_ 774 ScLocDelete_B_RqCld 1 "Request" 0 "NoRequest"; +VAL_ 811 DistToStopover_L_Actl 65535 "Faulty"; +VAL_ 811 ExtLghtDsply_D_Stat 7 "NotUsed" 6 "PressToOn3" 5 "PressToOff3" 4 "PressToOn2" 3 "PressToOff2" 2 "PressToOn1" 1 "PressToOff1" 0 "Reset"; +VAL_ 811 ExtLghtRight_D_RqMnu 7 "NotUsed" 6 "PressToOn3" 5 "PressToOff3" 4 "PressToOn2" 3 "PressToOff2" 2 "PressToOn1" 1 "PressToOff1" 0 "Reset"; +VAL_ 811 AutoLghtOvrrd_B_RqDrv 1 "Allowed" 0 "NotAllowed"; +VAL_ 811 ExtLghtRear_D_RqMnu 7 "NotUsed" 6 "PressToOn3" 5 "PressToOff3" 4 "PressToOn2" 3 "PressToOff2" 2 "PressToOn1" 1 "PressToOff1" 0 "Reset"; +VAL_ 811 ExtLghtLeft_D_RqMnu 7 "NotUsed" 6 "PressToOn3" 5 "PressToOff3" 4 "PressToOn2" 3 "PressToOff2" 2 "PressToOn1" 1 "PressToOff1" 0 "Reset"; +VAL_ 811 ExtLghtFront_D_RqMnu 7 "NotUsed" 6 "PressToOn3" 5 "PressToOff3" 4 "PressToOn2" 3 "PressToOff2" 2 "PressToOn1" 1 "PressToOff1" 0 "Reset"; +VAL_ 811 GoTEditMnte_T_RqMnu 15 "Faulty" 14 "NoDataExists" 13 "NotUsed_2" 12 "NotUsed_1" 11 "Minute_55" 10 "Minute_50" 9 "Minute_45" 8 "Minute_40" 7 "Minute_35" 6 "Minute_30" 5 "Minute_25" 4 "Minute_20" 3 "Minute_15" 2 "Minute_10" 1 "Minute_5" 0 "Minute_0"; +VAL_ 811 GoTEditHr_T_RqMnu 31 "Faulty" 30 "NoDataExists"; +VAL_ 850 VehElRngeNut_L_Dsply 4095 "Faulty" 4094 "NoDataExists"; +VAL_ 850 NxtUsgSocEst_Pc_Dsply 255 "Faulty" 254 "NoDataExists"; +VAL_ 850 EstmChrgTimeLP_St 255 "Invalid"; +VAL_ 850 EstmChrgTimeHP_St 255 "Invalid"; +VAL_ 850 ChargeNowDuration_St 255 "Invalid"; +VAL_ 563 DrvBhavWarn_B_Rq 1 "On" 0 "Off"; +VAL_ 563 OfbChrgSetSync_D_Rq 3 "Fail" 2 "Success" 1 "InProgress" 0 "NoSyncInProgress"; +VAL_ 563 KeyOffPwMde_D_Stat 7 "NotUsed_6" 6 "NotUsed_5" 5 "NotUsed_4" 4 "NotUsed_3" 0 "Inactive" 1 "On" 2 "NotUsed_1" 3 "NotUsed_2"; +VAL_ 563 ModemReset_D_Stat 15 "NotUsed_10" 14 "NotUsed_9" 13 "NotUsed_8" 12 "NotUsed_7" 11 "NotUsed_6" 10 "NotUsed_5" 9 "NotUsed_4" 8 "NotUsed_3" 7 "NotUsed_2" 6 "NotUsed_1" 5 "WifiHotSpotResetComplete" 4 "CcsResetComplete" 3 "OnlineTrafficResetComplete" 2 "PaakResetComplete" 1 "ResetNotComplete" 0 "Null"; +VAL_ 563 FactoryReset_St 3 "NotUsed_2" 2 "NotUsed_1" 1 "FactoryDefaultsRestored" 0 "Null"; +VAL_ 570 SuspClkSync_No_Rq 255 "Faulty" 254 "NoDataExists"; +VAL_ 570 SuspRearRight_L_Actl 511 "Faulty"; +VAL_ 570 SuspFrntRight_L_Actl 511 "Faulty"; +VAL_ 570 SuspRear_L_Prev 511 "Fault"; +VAL_ 570 SuspRear_L_Actl 511 "Fault"; +VAL_ 570 SuspFrnt_L_Prev 511 "Fault"; +VAL_ 570 SuspFrnt_L_Actl 511 "Fault"; +VAL_ 837 Ccd_B_Falt 1 "Yes" 0 "No"; +VAL_ 837 SelDrvMdeSusp_D_Stat 3 "Faulty" 2 "TemporarilyNotAvailable" 1 "Available" 0 "NotAvailable"; +VAL_ 837 AdptDrvMdePt_D_Rq 7 "Faulty" 6 "NotUsed3" 5 "NotUsed2" 4 "NotUsed1" 3 "Powertrain2Sport" 2 "Powertrain2Normal" 1 "Powertrain2Comfort" 0 "AdaptiveNotActive"; +VAL_ 837 AdptDrvMdeChassis_D_Rq 7 "Faulty" 6 "NotUsed3" 5 "NotUsed2" 4 "NotUsed1" 3 "Chassis2Sport" 2 "Chassis2Normal" 1 "Chassis2Comfort" 0 "AdaptiveNotActive"; +VAL_ 837 CcdMsgTxt_D_RqDsply 15 "Unused8" 14 "Unused7" 13 "Unused6" 12 "Unused5" 11 "Unused4" 10 "Unused3" 9 "Unused2" 8 "StationaryMode" 7 "Mode_Change_Unavailable" 6 "CCD_Temporarily_Off" 5 "CCD_Service_Required" 4 "Faulty" 3 "Sport" 2 "Normal" 1 "Comfort" 0 "No_Mode_Selected"; +VAL_ 885 BattULoChrg_D_RqOta 1 "Yes" 0 "No"; +VAL_ 885 VehStrtInhbt_T_Dsply 15 "NotUsed_12" 14 "NotUsed_11" 13 "NotUsed_10" 12 "NotUsed_9" 11 "NotUsed_8" 10 "NotUsed_7" 9 "NotUsed_6" 8 "NotUsed_5" 7 "NotUsed_4" 6 "NotUsed_3" 5 "NotUsed_2" 4 "NotUsed_1" 3 "PostOtaActivatePermFail" 2 "PostOtaActivateWarning" 1 "DuringOtaActivate" 0 "NoMessage"; +VAL_ 885 VehStrtInhbt_D_Dsply 15 "NotUsed_12" 14 "NotUsed_11" 13 "NotUsed_10" 12 "NotUsed_9" 11 "NotUsed_8" 10 "NotUsed_7" 9 "NotUsed_6" 8 "NotUsed_5" 7 "NotUsed_4" 6 "NotUsed_3" 5 "NotUsed_2" 4 "NotUsed_1" 3 "PostOtaActivatePermFail" 2 "PostOtaActivateWarning" 1 "DuringOtaActivate" 0 "NoMessage"; +VAL_ 885 VehOnRqstr_D_Stat 11 "NotUsed_8" 10 "NotUsed_7" 9 "NotUsed_6" 8 "NotUsed_5" 7 "NotUsed_4" 6 "NotUsed_3" 5 "NotUsed_2" 4 "NotUsed_1" 3 "FleetVehInhbt" 2 "StolenVehInhbt" 1 "OverTheAir" 0 "NoRequestor" 15 "NotUsed_12" 14 "NotUsed_11" 13 "NotUsed_10" 12 "NotUsed_9"; +VAL_ 885 VehStrtInhbt_D_RqCld 3 "NotUsed" 2 "On" 1 "Off" 0 "Null"; +VAL_ 885 VehOn_D_RqCld 3 "NoControl" 2 "On" 1 "Off" 0 "Null"; +VAL_ 885 OtaActv_D_Stat 15 "NotUsed_10" 14 "NotUsed_9" 13 "NotUsed_8" 12 "NotUsed_7" 11 "NotUsed_6" 10 "NotUsed_5" 9 "NotUsed_4" 8 "NotUsed_3" 7 "NotUsed_2" 6 "NotUsed_1" 5 "NonInterruptible_Pending" 4 "NonInterruptible_Config" 3 "NonInterruptible_ER" 2 "NonInterruptible_AB" 1 "Interruptible_AB" 0 "NoInVehicleOta"; +VAL_ 810 OBCCSerial_D_Rq 3 "PresentAndProvisioned" 2 "PresentAndProvAlertAck" 1 "PresentAndUnprovisioned" 0 "NotPresent"; +VAL_ 810 TlghtTest_D_RqArb 3 "TestEndAcknowledge" 2 "StartTest" 1 "StopTest" 0 "Null"; +VAL_ 810 ChrgrPncSustn_B_Rq 1 "Active" 0 "Inactive"; +VAL_ 810 NtfyDrvTrgtDist_L_Rq 4095 "Trip_dist_alert_disabled" 0 "Inactive"; +VAL_ 810 NtfyDrvSocLvl1_Pc_Rq 127 "TargetSOCNotificationAlert" 0 "Inactive"; +VAL_ 810 PtRmtRprt_D_Stat 15 "NotUsed_4" 14 "NotUsed_3" 13 "NotUsed_2" 12 "NotUsed_1" 11 "SettingUpdated" 10 "FastChargeComplete" 9 "ChargeNotOccurring" 8 "OneTimeSocReached" 7 "BatteryTemperatureRemind" 6 "ReducedPerformance" 5 "LimitedPerformance" 4 "ChargeFault" 3 "ChargeComplete" 2 "VehiclePreconditioned" 1 "TripDistanceAchieved" 0 "NoReportRequest"; +VAL_ 810 ChrgrPncEnbl_D_Rq 3 "NotUsed" 2 "Enable" 1 "Disable" 0 "Null"; +VAL_ 810 ExtLghtDsply_B_StatArb 1 "On" 0 "Off"; +VAL_ 810 ExtLghtRight_D_RqOta 7 "NotUsed" 6 "PressToOn3" 5 "PressToOff3" 4 "PressToOn2" 3 "PressToOff2" 2 "PressToOn1" 1 "PressToOff1" 0 "Reset"; +VAL_ 810 ExtLghtRear_D_RqOta 7 "NotUsed" 6 "PressToOn3" 5 "PressToOff3" 4 "PressToOn2" 3 "PressToOff2" 2 "PressToOn1" 1 "PressToOff1" 0 "Reset"; +VAL_ 810 ExtLghtLeft_D_RqOta 7 "NotUsed" 6 "PressToOn3" 5 "PressToOff3" 4 "PressToOn2" 3 "PressToOff2" 2 "PressToOn1" 1 "PressToOff1" 0 "Reset"; +VAL_ 810 ExtLghtFront_D_RqOta 7 "NotUsed" 6 "PressToOn3" 5 "PressToOff3" 4 "PressToOn2" 3 "PressToOff2" 2 "PressToOn1" 1 "PressToOff1" 0 "Reset"; +VAL_ 550 PtWakeupActv1_B_Rq 1 "Wake_up_Powertrain_via_HW" 0 "Don_t_Wake_Up_Powertrain"; +VAL_ 639 OfbChrgPrflUpdate_B_Rq 1 "Request" 0 "NoRequest"; +VAL_ 639 OfbChrgClearAll_B_Rq 1 "Request" 0 "NoRequest"; +VAL_ 639 OfbChrgGoTTouch_D_Rq 3 "NotUsed" 2 "On" 1 "Off" 0 "Null"; +VAL_ 639 OfbChrgGoTPrcond_D_Rq 3 "High" 2 "Medium" 1 "Low" 0 "Off"; +VAL_ 639 OfbChrgGoTOn_D_Rq 3 "NotUsed" 2 "On" 1 "Off" 0 "Null"; +VAL_ 639 OfbChrgGoTMnte_D_Rq 15 "NotUsed_4" 14 "NotUsed_3" 13 "NotUsed_2" 12 "NotUsed_1" 11 "Minute_55" 10 "Minute_50" 9 "Minute_45" 8 "Minute_40" 7 "Minute_35" 6 "Minute_30" 5 "Minute_25" 4 "Minute_20" 3 "Minute_15" 2 "Minute_10" 1 "Minute_5" 0 "Minute_0"; +VAL_ 639 OfbChrgGoTHr_T_Rq 31 "Faulty" 30 "NoDataExists"; +VAL_ 639 OfbChrgGoTExtHtr_D_Rq 3 "NotUsed" 2 "On" 1 "Off" 0 "Null"; +VAL_ 639 OfbChrgGoTDelete_B_Rq 1 "Request" 0 "NoRequest"; +VAL_ 639 OfbChrgGoTUpdate_B_Rq 1 "Request" 0 "NoRequest"; +VAL_ 530 OfbChrgToPcWknd_D_Actl 7 "Percent_50" 6 "Percent_60" 5 "Percent_70" 4 "Percent_80" 3 "Percent_85" 2 "Percent_90" 1 "Percent_95" 0 "Percent_100"; +VAL_ 530 OfbChrgToPcWkdy_D_Actl 7 "Percent_50" 6 "Percent_60" 5 "Percent_70" 4 "Percent_80" 3 "Percent_85" 2 "Percent_90" 1 "Percent_95" 0 "Percent_100"; +VAL_ 530 OfbChrgSetNow_D_Rq 3 "NotUsed" 2 "On" 1 "Off" 0 "Null"; +VAL_ 530 OfbChrgSetDelete_B_Rq 1 "Request" 0 "NoRequest"; +VAL_ 530 OfbChrgLocIdUns_B_Rq 1 "Request" 0 "NoRequest"; +VAL_ 1142 ConsTipV_No_Dsply 1023 "Faulty" 1022 "NoDataExists"; +VAL_ 817 ChildLckMde_B_Stat 1 "Enable" 0 "Disable"; +VAL_ 817 VehLckInd_D_Rq 3 "NotUsed" 2 "On_Day" 1 "On_Night" 0 "Off"; +VAL_ 817 DrTgateOpen_B_Rq 1 "Open" 0 "Null"; +VAL_ 817 DrTgateExtSwMde_B_Stat 1 "Enable" 0 "Disable"; +VAL_ 817 Remote_Device_Feedback 7 "Unused3" 6 "Unused2" 5 "Unused1" 4 "Shutdown" 3 "Running" 2 "Starting" 1 "Acknowledge" 0 "Null"; +VAL_ 817 Veh_Lock_Requestor 31 "Unused8" 30 "Unused7" 29 "Unused6" 28 "Rgtm_Shutlock_Switch" 27 "Boundary_Alert" 26 "Transit_Vehicle_Relock" 25 "Transit_Cargo_Relock" 24 "Transit_Ajar_Lock" 23 "Diagnostics" 22 "Console_Lock" 21 "Child_Lock" 20 "Double_Lock" 19 "Passive_Pasenger" 18 "Passive_Driver" 17 "Slam_Lock_Protect" 16 "SYNC" 15 "Passport" 14 "Passive_Smart_Unlock" 13 "Autorelock" 12 "RemoteStart" 0 "Null" 1 "Autolock" 11 "Smart_Unlock" 10 "Sliding_Door" 9 "Passive" 8 "Remote" 7 "Programming" 6 "Powerslide" 5 "Keypad" 4 "Key_Cylinder" 3 "Interior" 2 "Auto_Unlock"; +VAL_ 817 R_Pwr_Sliding_Dr_Rqst 1 "Active" 0 "Null"; +VAL_ 817 Power_Liftgate_Rqst 1 "Active" 0 "Null"; +VAL_ 817 Power_Decklid_Rqst 1 "Active" 0 "Null"; +VAL_ 817 L_Pwr_Sliding_Dr_Rqst 1 "Active" 0 "Null"; +VAL_ 817 Veh_Lock_Sub_Id 15 "Unused7" 14 "Unused6" 13 "Unused5" 12 "Unused4" 11 "Unused3" 10 "Unused2" 9 "Unused1" 8 "Customer_8" 7 "Customer_7" 6 "Customer_6" 5 "Customer_5" 4 "Customer_4" 3 "Customer_3" 2 "Customer_2" 1 "Customer_1" 0 "Null"; +VAL_ 817 Veh_Lock_Status 3 "UNLOCK_DRV" 2 "UNLOCK_ALL" 1 "LOCK_ALL" 0 "LOCK_DBL"; +VAL_ 817 ChildLck_D_Dsply 3 "NOT_SUPPORTED" 2 "ERROR" 1 "CHILD_UNLOCK" 0 "CHILD_LOCK"; +VAL_ 817 WindowLockout_B_Stat 1 "Locked" 0 "Unlock"; +VAL_ 817 Lockmsgtxt_D_Rq 7 "MSG7" 6 "MSG6" 5 "MSG5" 4 "MSG4" 3 "MSG3" 2 "MSG2" 1 "MSG1" 0 "NO_WARNING"; +VAL_ 817 FobComm_D_Stat 3 "NotUsed" 2 "RemEngStartOK" 1 "RemEngStartFail" 0 "Null"; +VAL_ 817 LockInhibit 1 "Inhibit" 0 "No_Inhibit"; +VAL_ 879 WndwRearHeat_I_Actl 2047 "Faulty"; +VAL_ 879 WndwRearHeat_D_Stat 7 "NotUsed" 6 "FetLiftLimitReached" 5 "FetOpenCircuit" 4 "FetOutputShortToPower" 3 "FetOutputShortToGround" 2 "FetNotControlled" 1 "OnPowerToLoad" 0 "OffNoPowerToLoad"; +VAL_ 878 DcacGfciTest_B_Rq 1 "Pressed" 0 "Not_Pressed"; +VAL_ 878 DcacOut_Pw_DsplyMx 1023 "Faulty"; +VAL_ 878 DcacOut1_Pw_Dsply 63 "Faulty"; +VAL_ 878 DcacOut2_Pw_Dsply 63 "Faulty"; +VAL_ 878 DcacHw_D_Confg 15 "NotUsed_11" 14 "NotUsed_10" 13 "NotUsed_9" 12 "NotUsed_8" 11 "NotUsed_7" 10 "NotUsed_6" 9 "NotUsed_5" 8 "NotUsed_4" 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "Power_2300W" 3 "Power_7200W" 2 "Power_2400W" 1 "Power_2000W" 0 "NoDcacHardware"; +VAL_ 878 DcacFaltMsgTxt_D_Rq 15 "NotUsed" 14 "OvercurrentLP" 13 "EngineRun" 12 "Service" 11 "NotAvailable" 10 "PlugWarn" 9 "PlugWarnDrive" 8 "BreakerC" 7 "BreakerB" 6 "BreakerA" 5 "FuelLow" 4 "AcOnOutput" 3 "Temperature" 2 "Gfci" 1 "Overcurrent" 0 "Ok"; +VAL_ 878 DcacLoFuelMsgTxt_D_Rq 31 "Minute_31" 30 "Minute_30" 29 "Minute_29" 28 "Minute_28" 27 "Minute_27" 26 "Minute_26" 25 "Minute_25" 24 "Minute_24" 23 "Minute_23" 22 "Minute_22" 21 "Minute_21" 20 "Minute_20" 19 "Minute_19" 18 "Minute_18" 17 "Minute_17" 16 "Minute_16" 15 "Minute_15" 14 "Minute_14" 13 "Minute_13" 12 "Minute_12" 11 "Minute_11" 10 "Minute_10" 9 "Minute_9" 8 "Minute_8" 7 "Minute_7" 6 "Minute_6" 5 "Minute_5" 4 "Minute_4" 3 "Minute_3" 2 "Minute_2" 1 "Minute_1" 0 "Ok"; +VAL_ 878 DcacEngOnMsgTxt_D_Rq 3 "NotUsed" 2 "DisplayQuestion" 1 "DisplayWarning" 0 "Ok"; +VAL_ 878 DcacElPw_D_Stat 3 "NotUsed" 2 "High" 1 "Low" 0 "Off"; +VAL_ 878 PwBedPnlEnbl_B_Rq 1 "Enable" 0 "Disable"; +VAL_ 878 DcacOn_B_Rq 1 "Enable" 0 "Disable"; +VAL_ 878 DcacSys_B_Falt 1 "Yes" 0 "No"; +VAL_ 878 DcacLedCtl_D_Rq 3 "Fast_Flash" 2 "Slow_Flash" 1 "On" 0 "Off"; +VAL_ 395 SelDrvMdeCnfm_D_Stat 3 "NotUsed" 2 "Accepted" 1 "NotAccepted" 0 "Null"; +VAL_ 984 PersIndexIpma_D_Actl 7 "Unused_3" 6 "Unused_2" 5 "Unused_1" 4 "Vehicle" 3 "PERS_4" 2 "PERS_3" 1 "PERS_2" 0 "PERS_1"; +VAL_ 984 AhbcRampingV_D_Rq 3 "Slow" 2 "Medium" 1 "Fast" 0 "Immediately"; +VAL_ 984 LaActvStats_D_Dsply 31 "Unused7" 30 "LA_Off" 29 "Unused5" 28 "Unused4" 27 "Unused3" 26 "Unused2" 25 "Unused1" 24 "InerveneLeft_InterveneRght" 23 "WarnLeft_InterveneRight" 22 "SuppressLeft_InterveneRght" 21 "AvailLeft_InterveneRhtt" 20 "NoLeft_InterveneRight" 19 "InterveneLeft_WarnRight" 18 "WarnLeft_WarnRight" 17 "SuppressLeft_WarnRight" 16 "AvailableLeft_WarnRight" 15 "NoLeft_WarnRight" 14 "InterveneLeft_SuppressRght" 13 "WarnLeft_SuppressRight" 12 "SuppressLeft_SuppressRight" 11 "AvailLeft_SuppressRight" 10 "NoLeft_SuppressRight" 9 "InterveneLeft_AvailRight" 8 "WarnLeft_AvailRight" 7 "SuppressLeft_AvailRight" 6 "AvailableLeft_AvailRight" 5 "NoLeft_AvailableRight" 4 "InterveneLeft_NoRight" 3 "WarnLeft_NoRight" 2 "SuppressLeft_NoRight" 1 "AvailableLeft_NoRight" 0 "NoLeft_NoRight"; +VAL_ 984 LaDenyStats_B_Dsply 1 "Unavailable" 0 "Available"; +VAL_ 984 LaHandsOff_D_Dsply 3 "Suppressed" 2 "Level2" 1 "Level1" 0 "HandsOn"; +VAL_ 984 CamraDefog_B_Req 1 "On" 0 "Off"; +VAL_ 984 CamraStats_D_Dsply 3 "FrtCam_TempUnavailOther" 2 "FrtCam_TempUnavailVisibile" 1 "Front_Camera_Service_Reqd" 0 "Front_Camera_OK"; +VAL_ 984 DasAlrtLvl_D_Dsply 5 "Alertness_Level_5" 4 "Alertness_Level_4" 3 "Alertness_Level_3" 2 "Alertness_Level_2" 1 "Alertness_Level_1" 0 "Undefined"; +VAL_ 984 DasStats_D_Dsply 3 "Available" 2 "Unavailable_Other" 1 "Feedback_due_to_Speed" 0 "Off"; +VAL_ 984 DasWarn_D_Dsply 3 "Undefined" 2 "Warning_Level_2" 1 "Warning_Level_1" 0 "No_Warning"; +VAL_ 984 AhbHiBeam_D_Rq 3 "NotUsed" 2 "HighBeamRecommended" 1 "LowBeamRecommended" 0 "DeactivatedUnavailable"; +VAL_ 985 LdwChime_B_Rq 1 "On" 0 "Off"; +VAL_ 985 TsrRegionTxt_D_Stat 31 "Faulty" 30 "NotUsed_8" 29 "NotUsed_7" 28 "NotUsed_6" 27 "NotUsed_5" 26 "NotUsed_4" 25 "NotUsed_3" 24 "NotUsed_2" 23 "NotUsed_1" 22 "Region_22" 21 "Region_21" 20 "Region_20" 19 "Region_19" 18 "Region_18" 17 "Region_17" 16 "Region_16" 15 "Region_15" 14 "Region_14" 13 "Region_13" 12 "Region_12" 11 "Region_11" 10 "Region_10" 9 "Region_09" 8 "Region_08" 7 "Region_07" 6 "Region_06" 5 "Region_05" 4 "Region_04" 3 "Region_03" 2 "Region_02" 1 "Region_01" 0 "NotDetermined"; +VAL_ 985 SblmPedCrossScnr_B_Stat 1 "Yes" 0 "No"; +VAL_ 985 LongCtrlEnbl_D_Rq 7 "NotUsed_4" 6 "NotUsed_3" 5 "NotUsed_2" 4 "NotUsed_1" 3 "RemoteParking" 2 "Autohitch" 1 "AutomaticParking" 0 "None"; +VAL_ 985 SblmRndAbtScnr_B_Stat 1 "Yes" 0 "No"; +VAL_ 985 DasAlrtInfo_D_Dsply 3 "NotUsed" 2 "On" 1 "Off" 0 "Null"; +VAL_ 985 IaccVLim_D_Rq 252 "NotUsed_2" 250 "LimitSpeed_250" 240 "LimitSpeed_240" 230 "LimitSpeed_230" 220 "LimitSpeed_220" 210 "LimitSpeed_210" 200 "LimitSpeed_200" 190 "LimitSpeed_190" 150 "LimitSpeed_150" 140 "LimitSpeed_140" 130 "LimitSpeed_130" 120 "LimitSpeed_120" 110 "LimitSpeed_110" 100 "LimitSpeed_100" 90 "LimitSpeed_90" 80 "LimitSpeed_80" 70 "LimitSpeed_70" 60 "LimitSpeed_60" 50 "LimitSpeed_50" 40 "LimitSpeed_40" 30 "LimitSpeed_30" 20 "LimtSpeed_20" 251 "NotUsed_1" 255 "Faulty" 254 "NoDataExists" 253 "NotUsed_3" 180 "LimitSpeed_180" 179 "LimitSpeed_179" 178 "LimitSpeed_178" 177 "LimitSpeed_177" 176 "LimitSpeed_176" 175 "LimitSpeed_175" 174 "LimitSpeed_174" 173 "LimitSpeed_173" 172 "LimitSpeed_172" 171 "LimitSpeed_171" 170 "LimitSpeed_170" 169 "LimitSpeed_169" 168 "LimitSpeed_168" 167 "LimitSpeed_167" 166 "LimitSpeed_166" 165 "LimitSpeed_165" 164 "LimitSpeed_164" 163 "LimitSpeed_163" 162 "LimitSpeed_162" 161 "LimitSpeed_161" 160 "LimitSpeed_160" 15 "LimitSpeed_15" 14 "LimitSpeed_14" 13 "LimitSpeed_13" 12 "LimitSpeed_12" 11 "LimitSpeed_11" 10 "LimitSpeed_10" 9 "LimitSpeed_9" 8 "LimitSpeed_8" 7 "LimitSpeed_7" 6 "LimitSpeed_6" 5 "LimitSpeed_5" 4 "LimitSpeed_4" 3 "LimitSpeed_3" 2 "LimitSpeed_2" 1 "LimitSpeed_1" 0 "LimitSpeed_0"; +VAL_ 985 IaccVLimUnit_D_Rq 3 "NoDataExists" 2 "Mph" 1 "Kph" 0 "Null"; +VAL_ 985 IsaVLim_D_Rq 252 "NotUsed_2" 250 "LimitSpeed_250" 240 "LimitSpeed_240" 230 "LimitSpeed_230" 220 "LimitSpeed_220" 210 "LimitSpeed_210" 200 "LimitSpeed_200" 190 "LimitSpeed_190" 150 "LimitSpeed_150" 140 "LimitSpeed_140" 130 "LimitSpeed_130" 120 "LimitSpeed_120" 110 "LimitSpeed_110" 100 "LimitSpeed_100" 90 "LimitSpeed_90" 80 "LimitSpeed_80" 70 "LimitSpeed_70" 60 "LimitSpeed_60" 50 "LimitSpeed_50" 40 "LimitSpeed_40" 30 "LimitSpeed_30" 20 "LimtSpeed_20" 251 "NotUsed_1" 255 "Faulty" 254 "NoDataExists" 253 "NotUsed_3" 180 "LimitSpeed_180" 179 "LimitSpeed_179" 178 "LimitSpeed_178" 177 "LimitSpeed_177" 176 "LimitSpeed_176" 175 "LimitSpeed_175" 174 "LimitSpeed_174" 173 "LimitSpeed_173" 172 "LimitSpeed_172" 171 "LimitSpeed_171" 170 "LimitSpeed_170" 169 "LimitSpeed_169" 168 "LimitSpeed_168" 167 "LimitSpeed_167" 166 "LimitSpeed_166" 165 "LimitSpeed_165" 164 "LimitSpeed_164" 163 "LimitSpeed_163" 162 "LimitSpeed_162" 161 "LimitSpeed_161" 160 "LimitSpeed_160" 15 "LimitSpeed_15" 14 "LimitSpeed_14" 13 "LimitSpeed_13" 12 "LimitSpeed_12" 11 "LimitSpeed_11" 10 "LimitSpeed_10" 9 "LimitSpeed_9" 8 "LimitSpeed_8" 7 "LimitSpeed_7" 6 "LimitSpeed_6" 5 "LimitSpeed_5" 4 "LimitSpeed_4" 3 "LimitSpeed_3" 2 "LimitSpeed_2" 1 "LimitSpeed_1" 0 "LimitSpeed_0"; +VAL_ 985 SblmStopScnr_B_Stat 1 "Yes" 0 "No"; +VAL_ 985 SblmYieldScnr_B_Stat 1 "Yes" 0 "No"; +VAL_ 985 IsaVLimUnit_D_Rq 3 "NoDataExists" 2 "Mph" 1 "Kph" 0 "Null"; +VAL_ 985 AdbDividedRoad_B_Stat 1 "Yes" 0 "No"; +VAL_ 985 LcwaMsgTxt_D_Stat 3 "SodXFaulty" 2 "SodXBlocked" 1 "TrailerConnected" 0 "NoMessage"; +VAL_ 985 AdbDrvSide_B_Stat 1 "Left_Hand_Traffic" 0 "Right_Hand_Traffic"; +VAL_ 992 MsgCntrDsplyOp_D_Rq 7 "Unused_2" 6 "Unused_1" 5 "Copy" 4 "Restore" 3 "Upload" 2 "Set" 1 "Query" 0 "Null"; +VAL_ 992 MsgCntrPersIndex_D_Rq 7 "Unused_3" 6 "Unused_2" 5 "Unused_1" 4 "Vehicle" 3 "PERS_4" 2 "PERS_3" 1 "PERS_2" 0 "PERS_1"; +VAL_ 943 VehVActlAdas_D_Qf 3 "OK" 2 "Not_Within_Specifications" 1 "No_Data_Exists" 0 "Faulty"; +VAL_ 943 AdasLcDistToObj_L_Actl 4095 "Faulty" 4094 "NoDataExists"; +VAL_ 515 PtIgnSwtch_D_Stat 3 "Faulty" 2 "No_Data_Exists" 1 "On" 0 "Off"; +VAL_ 1111 TrlrYawWActl_D_Qf 3 "OK" 2 "Not_Within_Specifications" 1 "No_Data_Exists" 0 "Faulty"; +VAL_ 1111 TrlrYaw_W_Actl 65535 "Faulty" 65534 "NoDataExists"; +VAL_ 1111 TrlrHitYaw_AnRate_Actl 4095 "Fault" 4094 "NoDataExists"; +VAL_ 1111 TrlrHitchYaw_D_Stat 15 "Faulty" 14 "NotUsed_4" 13 "NotUsed_3" 12 "NotUsed_2" 11 "NotUsed_1" 10 "FaultyYrsuConnection" 9 "FaultyYrsu" 8 "HiConfdLrndAngle" 7 "LowConfdLrndAngle" 6 "HiConfdAngleMem" 5 "LowConfdAngleMem" 4 "InitNoTadAngle" 3 "InitInputs" 2 "TadTrlrDataOutOfRange" 1 "TadNotWithinSpecification" 0 "NoConnectionWithYrsu"; +VAL_ 1111 TrlrHitchYaw_An_Actl 4095 "Faulty" 4094 "NoDataExists"; +VAL_ 1106 TrlrSnsId_No_Actl -1 "Faulty_FFFFFFFFFFFF" -2 "NoDataExists_FFFFFFFFFFFE"; +VAL_ 982 LatCtl_D2_Rq 7 "NotUsed_5" 6 "NotUsed_4" 5 "NotUsed_3" 4 "NotUsed_2" 3 "SafeRampOut" 2 "PathFollowingExtendedMode" 1 "PathFollowingLimitedMode" 0 "NoLateralControl"; +VAL_ 982 HandsOffCnfm_B_Rq 1 "Active" 0 "Inactive"; +VAL_ 982 LatCtlRampType_D_Rq 3 "Immediately" 2 "Fast" 1 "Medium" 0 "Slow"; +VAL_ 982 LatCtlPrecision_D_Rq 3 "NotUsed2" 2 "NotUsed1" 1 "Precise" 0 "Comfortable"; +VAL_ 1104 DrvEngageLevel_D_Stat 7 "Faulty" 6 "NotUsed_2" 5 "NotUsed_1" 4 "Disengaged" 3 "Distracted" 2 "Attentive" 1 "Invalid" 0 "NotDetermined"; +VAL_ 1104 DrvImpLvlConfid_D_Stat 7 "Faulty" 6 "NotUsed" 5 "High" 4 "MediumHigh" 3 "Medium" 2 "LowMedium" 1 "Low" 0 "NotDetermined"; +VAL_ 1104 DrvImpairLvl_D_Stat 15 "Faulty" 14 "NotUsed_5" 13 "NotUsed_4" 12 "NotUsed_3" 11 "NotUsed_2" 10 "NotUsed_1" 9 "Incapacitated" 8 "Asleep" 7 "Microsleep" 6 "MostDrowsy" 5 "Drowsy_4" 4 "Drowsy_3" 3 "Drowsy_2" 2 "LeastDrowsy" 1 "Alert" 0 "NotDetermined"; +VAL_ 1104 DrvEngLvlConfid_D_Stat 7 "Faulty" 6 "NotUsed" 5 "High" 4 "MediumHigh" 3 "Medium" 2 "LowMedium" 1 "Low" 0 "NotDetermined"; +VAL_ 1104 DrvCamPassIR_D_Stat 3 "Faulty" 2 "Blocked" 1 "Ok" 0 "TemporaryUnavailable"; +VAL_ 1104 DrvCamera_D_Stat 3 "Faulty" 2 "Blocked" 1 "Ok" 0 "TemporaryUnavailable"; +VAL_ 1104 DrvCamDrvIR_D_Stat 3 "Faulty" 2 "Blocked" 1 "Ok" 0 "TemporaryUnavailable"; +VAL_ 1104 DrvAttentZone_D_Stat 15 "Faulty" 14 "NotUsed_5" 13 "NotUsed_4" 12 "NotUsed_3" 11 "NotUsed_2" 10 "NotUsed_1" 9 "PassengerSideWindow" 8 "DriverSideWindow" 7 "DriverSideMirror" 6 "RearviewMirror" 5 "PassengerSideMirror" 4 "Infotainment" 3 "Cluster" 2 "FrontWindshield" 1 "Other" 0 "NotDetermined"; +VAL_ 1104 DrvAlertSt_D_Stat 3 "Faulty" 2 "EyesOffRoad" 1 "EyesOnRoad" 0 "NotDetermined"; +VAL_ 1114 TrailCtlSwtch_B_Stat2 1 "Pressed" 0 "Not_Pressed"; +VAL_ 1114 TrlBrkInitOut_D_Rq 3 "Heavy" 2 "Medium" 1 "Light" 0 "Null"; +VAL_ 1116 TrlrAidSetup_D2_Rq 15 "NotUsed_9" 14 "NotUsed_8" 13 "NotUsed_7" 12 "NotUsed_6" 11 "NotUsed_5" 10 "NotUsed_4" 9 "NotUsed_3" 8 "NotUsed_2" 7 "NotUsed_1" 6 "CompleteSetup" 5 "ReturnToSetup" 4 "StickerNotCircled" 3 "ConfirmSetup" 2 "EndSetup" 1 "BeginSetup" 0 "Inactive"; +VAL_ 1116 TrlrAidEnbl_D2_Rq 7 "NotUsed_4" 6 "NotUsed_3" 5 "NotUsed_2" 4 "NotUsed_1" 3 "Deactivate" 2 "ActivateTrg" 1 "ActivateTba" 0 "Inactive"; +VAL_ 1116 TrlrRvrseCancl_B_Rq 1 "Cancel" 0 "Null"; +VAL_ 1116 TrlrIdType_D_Stat 3 "Gooseneck" 2 "FifthWheel" 1 "Conventional" 0 "Null"; +VAL_ 1116 TrlrAnOffstDir_D_Mem 3 "NotUSed" 2 "Right" 1 "Left_or_Center" 0 "Null"; +VAL_ 1085 ULoRgenTestMde_B_Stat 1 "Active" 0 "Inactive"; +VAL_ 1085 PwSrcULoOvrTe_B_Actl 1 "Yes" 0 "No"; +VAL_ 1085 PwSrcULoFalt_D_Stat 3 "Fault_No_Output" 2 "Fault_Reduced_Output" 1 "Fault_NonSpecific" 0 "No_Fault"; +VAL_ 1085 PwSrcULoDcnnt_B_Stat 1 "Loose_or_Disconnected" 0 "Connected"; +VAL_ 1085 PwSrcULo_Pc_Mx 255 "Fault"; +VAL_ 1085 PwSrcULoComm_B_Falt 1 "Fault" 0 "No_Fault"; +VAL_ 1085 PwSrcULo_I_Mx 255 "Fault"; +VAL_ 1085 PwSrcULo_I_Actl 255 "Fault"; +VAL_ 981 AdbBrdrTop_An_Rq 255 "Faulty" 254 "NoDataExists"; +VAL_ 981 AdbBrdrRight_L_Stat 511 "Faulty" 510 "NoDataExists"; +VAL_ 981 AdbBrdrRight_An_Rq 1023 "Faulty" 1022 "NoDataExists"; +VAL_ 981 AdbBrdrLeft_L_Stat 511 "Faulty" 510 "NoDataExists"; +VAL_ 981 AdbBrdrLeft_An_Rq 1023 "Faulty" 1022 "NoDataExists"; +VAL_ 981 AdbBrdrBottom_An_Rq 63 "Faulty" 62 "NoDataExists"; +VAL_ 981 AdbBeam_D_Rq 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "FullHighBeam" 3 "Spot_BothSide" 2 "Spot_OnlyRightSide" 1 "Spot_OnlyLeftSide" 0 "NoHighBeam"; +VAL_ 791 EngAirFilt_B_RqReset 1 "Yes" 0 "No"; +VAL_ 791 GpsElMdeSel_B_Rq 1 "On" 0 "Off"; +VAL_ 791 LongTermReset_B_Rq 1 "On" 0 "Off"; +VAL_ 791 DrvEffLvl_No_Stat 63 "Fault" 62 "NoDataExists"; +VAL_ 868 BattRgenLoStat_D_Qlty 3 "OK" 2 "Not_Within_Spec" 1 "Eval_In_Progress" 0 "Faulty"; +VAL_ 868 BattRgenLoPrtct_B_Stat 1 "Yes" 0 "No"; +VAL_ 868 BattRgenLoDChrg_D_Stat 3 "StuckClosed" 2 "StuckOpen" 1 "Closed" 0 "Open"; +VAL_ 868 BattRgenLoDchrg_B_Rq 1 "Yes" 0 "No"; +VAL_ 868 BattRgenLoChrg_D_Stat 3 "StuckClosed" 2 "StuckOpen" 1 "Closed" 0 "Open"; +VAL_ 868 BattRgenLoChrg_B_Rq 1 "Yes" 0 "No"; +VAL_ 868 BattRgenLo_B_Falt 1 "Yes" 0 "No"; +VAL_ 867 BattRgenLoBalnc_B_Rq 1 "Yes" 0 "No"; +VAL_ 867 BattRgenLo_Te_Actl 255 "Fault"; +VAL_ 865 BattRgenLo_U_Actl 2047 "Faulty"; +VAL_ 865 BattRgenLo_I_Actl 65535 "Faulty"; +VAL_ 1144 WakeAlarm0_B_Typ 1 "CanAndEcuDriveCircuit" 0 "CanOnly"; +VAL_ 1144 PreCondBatt_B_Actl 1 "On" 0 "Off"; +VAL_ 1144 HtrnDcdcDis_B_Rq 1 "Yes" 0 "No"; +VAL_ 1144 ChrgNowEvnt_B_Stat 1 "Active" 0 "Inactive"; +VAL_ 1144 CabinDrvSustn_B_Rq 1 "Active" 0 "Inactive"; +VAL_ 1144 BattChrgTrgtSoC_D_Rq 7 "Percent_50" 6 "Percent_60" 5 "Percent_70" 4 "Percent_80" 3 "Percent_85" 2 "Percent_90" 1 "Percent_95" 0 "Percent_100"; +VAL_ 1144 CabnEvapSovFront_B_Rq 1 "On" 0 "Off"; +VAL_ 1144 HeatCoreSovRear_B_Rq 1 "On" 0 "Off"; +VAL_ 1144 BattChlrSov_B_Rq 1 "On" 0 "Off"; +VAL_ 1144 CabnEvapSovRear_B_Rq 1 "On" 0 "Off"; +VAL_ 1144 BrkAppl_D_RqPt 3 "BrakesSlowRelease" 2 "BrakesFastRelease" 1 "BrakesEngage" 0 "NotActive"; +VAL_ 1144 HtrnCnnctPwr_B_Stat 1 "Asserted" 0 "NotAsserted"; +VAL_ 1144 PtcHtr_D_Stat 3 "Faulty" 2 "NotUsed" 1 "On" 0 "Off"; +VAL_ 1144 HtrnClntFlw_D_Rq 3 "High" 2 "Medium" 1 "Low" 0 "Off"; +VAL_ 1144 BattTracDrvSustn_B_Rq 1 "Active" 0 "Inactive"; +VAL_ 1144 BattTracClntVlv_B_Rq 1 "On" 0 "Off"; +VAL_ 1141 OfbChrgSetSync_D_Stat 3 "Fail" 2 "Success" 1 "InProgress" 0 "NoSyncInProgress"; +VAL_ 1141 PtRmtRprt_D_Rq 15 "NotUsed_4" 14 "NotUsed_3" 13 "NotUsed_2" 12 "PlugInToMaintain12vBattery" 11 "SettingUpdated" 10 "FastChargeComplete" 9 "ChargeNotOccurring" 8 "OneTimeSocReached" 7 "BatteryTemperatureReminder" 6 "ReducedPerformance" 5 "LimitedPerformance" 4 "ChargeFault" 3 "ChargeComplete" 2 "VehiclePreconditioned" 1 "TripDistanceAchieved" 0 "NoReportRequest"; +VAL_ 1141 NtfctnConflict1_D_Rq 7 "NotUsed5" 6 "NotUsed4" 5 "NotUsed3" 4 "NotUsed2" 3 "NotUsed1" 2 "Clonflict_Exists" 1 "No_Conflict" 0 "Invalid"; +VAL_ 1140 RgenEvntLvl_Pc_Dsply 1023 "Fault" 1022 "NoDataExists"; +VAL_ 1140 BrkEvntComplt_B_Dsply 1 "On" 0 "Off"; +VAL_ 1140 PreCondStat_D_Dsply 7 "Reserved3" 6 "Reserved2" 5 "Reserved1" 4 "Faulted" 3 "Complete" 2 "In_Progress" 1 "Scheduled" 0 "Not_Scheduled"; +VAL_ 1139 BattChrgTrgtLMax_T_Est 2047 "Faulty" 2046 "NoDataExists"; +VAL_ 1139 ActChrgStrtYr_No_Actl 31 "Invalid"; +VAL_ 1139 ActChrgStrtMin_No_Actl 63 "Invalid" 62 "Unknown"; +VAL_ 1139 ActChrgStrtHr_No_Actl 31 "Invalid" 30 "Unknown"; +VAL_ 1139 ActChrgStrtDay_No_Actl 31 "Invalid"; +VAL_ 1139 ActChrgStrMnth_No_Actl 15 "Invalid"; +VAL_ 1138 BattChrgTrgtLMin_T_Est 2047 "Faulty" 2046 "NoDataExists"; +VAL_ 1138 ActChrgEndYr_No_Actl 31 "Invalid"; +VAL_ 1138 ActChrgEndMnth_No_Actl 15 "Invalid"; +VAL_ 1138 ActChrgEndMin_No_Actl 63 "Invalid" 62 "Unknown"; +VAL_ 1138 ActChrgEndHr_No_Actl 31 "Invalid" 30 "Unknown"; +VAL_ 1138 ActChrgEndDay_No_Actl 31 "Invalid"; +VAL_ 1089 Mtr2Aout_W_ActlMntr 1023 "Faulty"; +VAL_ 1089 Inv1_Te_Actl 255 "Faulty" 254 "NoDataExists"; +VAL_ 1089 MtrTrac2Coil_Te_Actl 255 "Faulty" 254 "NoDataExists"; +VAL_ 1089 MtrTrac2Falt_B_Stat 1 "Active" 0 "Inactive"; +VAL_ 1089 MtrTrac2TeAlrm_B_Stat 1 "Active" 0 "Inactive"; +VAL_ 1089 Mtr2CntlTeAlrm_B_Stat 1 "Active" 0 "Inactive"; +VAL_ 1089 MtrTrac2Inv_Te_Actl 255 "Faulty" 254 "NoDataExists"; +VAL_ 1089 MtrTrac2_I_Actl 65535 "Faulty"; +VAL_ 1088 ChrgTMatch_B_Stat 1 "True" 0 "False"; +VAL_ 1088 ChrgStat_D2_Dsply 15 "NotUsed_2" 14 "NotUsed_1" 13 "ChargeTargetReached" 12 "DriveConditioning" 11 "CabinPreconditioning" 10 "ChargingSystemMaintain" 9 "ChargingInductive" 8 "ChargingDCFastChange" 7 "ChargingAC" 6 "ChargeScheduled" 5 "EvsePaused" 4 "EvseNotDetected" 3 "EvseNotCompatible" 2 "FaultOutsideCar" 1 "FaultInsideCar" 0 "NotReady"; +VAL_ 1088 HvacPrecondRecirc_D_Rq 3 "Last_User_Setting" 2 "Auto" 1 "Recirc" 0 "Outside"; +VAL_ 1088 HvacPrecondMode2_D_Rq 15 "NotUsed4" 14 "NotUsed3" 13 "NotUsed2" 12 "NotUsed1" 11 "Last_User_Settings" 10 "Auto" 9 "Max_Defrost" 8 "Windshield_Panel_Floor" 7 "Windshield_Panel" 6 "Windshield" 5 "Windshield_Floor" 4 "Floor" 3 "Panel_Floor" 2 "Panel" 1 "MAX_AC" 0 "Off"; +VAL_ 1088 HvacPrecondBlwr2_D_Rq 15 "NotUsed6" 14 "NotUsed5" 13 "NotUsed4" 12 "NotUsed3" 11 "NotUsed2" 10 "NotUsed1" 9 "Last_User_Setting" 8 "Auto" 7 "Speed7" 6 "Speed6" 5 "Speed5" 4 "Speed4" 3 "Speed3" 2 "Speed2" 1 "Speed1" 0 "Off"; +VAL_ 1088 HvacPrecondAC_D_Rq 3 "Last_User_Setting" 2 "Auto" 1 "On" 0 "Off"; +VAL_ 1088 BattChrgInhbt_D_Rq 3 "MaintainTargetSoc" 2 "NotUsed" 1 "InhibitChargingThermal" 0 "Enable_Charging"; +VAL_ 1040 ElCmprEnbl_B_Rq 1 "Enable" 0 "Disable"; +VAL_ 1016 ChrgGoTElement_B_Dsply 1 "Yes" 0 "No"; +VAL_ 1016 ChrgGoTTouchEnbl_B_Rq 1 "Request" 0 "NoRequest"; +VAL_ 1016 ChrgGoTTouch_B_Stat 1 "On" 0 "Off"; +VAL_ 1016 ChrgGoTPrcond_D_Stat 3 "High" 2 "Medium" 1 "Low" 0 "Off"; +VAL_ 1016 ChrgGoTMnte_D_Stat 15 "NotUsed_4" 14 "NotUsed_3" 13 "NotUsed_2" 12 "NotUsed_1" 11 "Minute_55" 10 "Minute_50" 9 "Minute_45" 8 "Minute_40" 7 "Minute_35" 6 "Minute_30" 5 "Minute_25" 4 "Minute_20" 3 "Minute_15" 2 "Minute_10" 1 "Minute_5" 0 "Minute_0"; +VAL_ 1016 ChrgGoTHr_T_Stat 31 "Faulty" 30 "NoDataExists"; +VAL_ 1016 ChrgGoTExtHtrEnbl_B_Rq 1 "Request" 0 "NoRequest"; +VAL_ 1016 ChrgGoTExtHtr_B_Stat 1 "On" 0 "Off"; +VAL_ 1016 ChrgGoTAllOn_B_Stat 1 "On" 0 "Off"; +VAL_ 1013 ChrgToPcWkndSav_D_Stat 7 "Percent_50" 6 "Percent_60" 5 "Percent_70" 4 "Percent_80" 3 "Percent_85" 2 "Percent_90" 1 "Percent_95" 0 "Percent_100"; +VAL_ 1013 ChrgToPcWkdySav_D_Stat 7 "Percent_50" 6 "Percent_60" 5 "Percent_70" 4 "Percent_80" 3 "Percent_85" 2 "Percent_90" 1 "Percent_95" 0 "Percent_100"; +VAL_ 1013 ChrgNowEnbl_B_Saved 1 "On" 0 "Off"; +VAL_ 1013 ChrgLocIdUnsAck_B_Stat 1 "Yes" 0 "No"; +VAL_ 1012 ChrgNowCurnt_B_Dsply 1 "On" 0 "Off"; +VAL_ 1012 ChrgLocSaved_B_Dsply 1 "Yes" 0 "No"; +VAL_ 1012 ChrgLocLongPostv_B_Sav 1 "Yes" 0 "No"; +VAL_ 1012 ChrgLocLattPostv_B_Sav 1 "Yes" 0 "No"; +VAL_ 1011 ChrgLocLongPostv_B_Uns 1 "Yes" 0 "No"; +VAL_ 1011 ChrgLocLattPostv_B_Uns 1 "Yes" 0 "No"; +VAL_ 871 BattElecPerf_D_Actl 7 "NotUsed" 6 "Hot_Batt_Severe_Lim_Perf" 5 "Hot_Batt_Reduced_Perf" 4 "Hot_Batt_Close_to_lim_Per" 3 "Cold_Batt_Severe_Lim_Perf" 2 "Cold_Batt_Reduced_Perf" 1 "Cold_Batt_Close_to_lim_Pe" 0 "Ok_no_message_displayed"; +VAL_ 871 BattChrgTrgtLPt_T_Est 2047 "Faulty" 2046 "NoDataExists"; +VAL_ 871 BattChrgTrgSocPt_T_Est 2047 "Faulty" 2046 "NoDataExists"; +VAL_ 871 BattChrgCmpltPt_T_Est 2047 "Faulty" 2046 "NoDataExists"; +VAL_ 786 RgenTrip_L_Dsply 65535 "Fault" 65534 "NoDataExists"; +VAL_ 786 ChrgStat_D_Dsply 7 "NotUsed" 6 "Complete" 5 "Scheduled" 4 "In_Progress" 3 "Fault_Outside_Car" 2 "Fault_Inside_Car" 1 "Fault_Unknown_Location" 0 "Not_Ready"; +VAL_ 72 immoTarget2Status 7 "Unused4" 6 "Unused3" 5 "Unused2" 4 "Unused1" 3 "DISABLED_RESET " 2 "ENABLED_NONMOTIVE_START" 1 "ENABLED_MOTIVE_START" 0 "DISABLED"; +VAL_ 72 immoTarget2Cmd 7 "Unused4" 6 "Unused3" 5 "Unused2" 4 "Unused1" 3 "TARGET1_IDBLOCK2" 2 "TARGET1_IDBLOCK1" 1 "CHALLENGE" 0 "IDLE"; +VAL_ 912 CabnEvapSovFront_D_Stat 7 "NotUsed_1" 6 "FetLifeLimitReached" 5 "FetOpenCircuit" 4 "FetOutputShortToPower" 3 "FetOutputShortToGround" 2 "FetNotControlled" 1 "OnPowerToLoad" 0 "OffNoPowerToLoad"; +VAL_ 912 BattChlrSov_D_Stat 7 "NotUsed_1" 6 "FetLifeLimitReached" 5 "FetOpenCircuit" 4 "FetOutputShortToPower" 3 "FetOutputShortToGround" 2 "FetNotControlled" 1 "OnPowerToLoad" 0 "OffNoPowerToLoad"; +VAL_ 912 BattTracClntVlv_D_Stat 7 "NotUsed" 6 "FetLifeLimitReached" 5 "FetOpenCircuit" 4 "FetOutputShortToPower" 3 "FetOutputShortToGround" 2 "FetNotControlled" 1 "OnPowerToLoad" 0 "OffNoPowerToLoad"; +VAL_ 874 AirCondCluOpen_D_Falt 3 "NotUsed" 2 "Pass" 1 "Fail" 0 "Not_Diagnose_Yet"; +VAL_ 874 AirCondCluLife_D_Falt 3 "NotUsed" 2 "Pass" 1 "Fail" 0 "Not_Diagnose_Yet"; +VAL_ 874 AirCondCluGnd_D_Falt 3 "NotUsed" 2 "Pass" 1 "Fail" 0 "Not_Diagnose_Yet"; +VAL_ 874 AirCondClu_D_Stat 7 "NotUsed" 6 "FetLifeLimitReached" 5 "FetOpenCircuit" 4 "FetOutputShortToPower" 3 "FetOutputShortToGround" 2 "FetNotControlled" 1 "OnPowerToLoad" 0 "OffNoPowerToLoad"; +VAL_ 874 AirCondCluBatt_D_Falt 3 "NotUsed" 2 "Pass" 1 "Fail" 0 "Not_Diagnose_Yet"; +VAL_ 874 BattTracShrtGrnd_D_Falt 3 "NotUsed" 2 "Pass" 1 "Fail" 0 "Not_Diagnose_Yet"; +VAL_ 874 BattTracShrtBatt_D_Falt 3 "NotUsed" 2 "Pass" 1 "Fail" 0 "Not_Diagnose_Yet"; +VAL_ 874 BattTracOpnCirct_D_Falt 3 "NotUsed" 2 "Pass" 1 "Fail" 0 "Not_Diagnose_Yet"; +VAL_ 874 BattTracLifeLim_D_Falt 3 "NotUsed" 2 "Pass" 1 "Fail" 0 "Not_Diagnose_Yet"; +VAL_ 874 BattChlrShrtGrnd_D_Falt 3 "NotUsed" 2 "Pass" 1 "Fail" 0 "Not_Diagnose_Yet"; +VAL_ 874 BattChlrShrtBatt_D_Falt 3 "NotUsed" 2 "Pass" 1 "Fail" 0 "Not_Diagnose_Yet"; +VAL_ 874 BattChlrOpnCirct_D_Falt 3 "NotUsed" 2 "Pass" 1 "Fail" 0 "Not_Diagnose_Yet"; +VAL_ 874 BattChlrLifeLim_D_Falt 3 "NotUsed" 2 "Pass" 1 "Fail" 0 "Not_Diagnose_Yet"; +VAL_ 874 BattTracLow_D_Falt 3 "NotUsed" 2 "Pass" 1 "Fail" 0 "Not_Diagnose_Yet"; +VAL_ 651 TelematicsSrvc_D_St 7 "NotUsed" 6 "NotifyNotActivatedYet" 5 "NotActivatedYet" 4 "NotifyExpired" 3 "Expired" 2 "ExpiringSoon" 1 "Active" 0 "Null"; +VAL_ 651 EmgcyCallMute_D_Stat 7 "NotUsed4" 6 "NotUsed3" 5 "NotUsed2" 4 "NotUsed1" 3 "ManualEmergencyCallMute" 2 "AutomaticEmergencyCallMute" 1 "EmergencyCallUnmute" 0 "Null"; +VAL_ 651 OfbChrgSetSync_D_Rq 3 "Fail" 2 "Success" 1 "InProgress" 0 "NoSyncInProgress"; +VAL_ 529 OnbChrgToPcWknd_D_Actl 7 "Percent_50" 6 "Percent_60" 5 "Percent_70" 4 "Percent_80" 3 "Percent_85" 2 "Percent_90" 1 "Percent_95" 0 "Percent_100"; +VAL_ 529 OnbChrgToPcWkdy_D_Actl 7 "Percent_50" 6 "Percent_60" 5 "Percent_70" 4 "Percent_80" 3 "Percent_85" 2 "Percent_90" 1 "Percent_95" 0 "Percent_100"; +VAL_ 529 OnbChrgSetNow_D_Rq 3 "NotUsed" 2 "On" 1 "Off" 0 "Null"; +VAL_ 529 OnbChrgSetDelete_B_Rq 1 "Request" 0 "NoRequest"; +VAL_ 529 OnbChrgPrflUpdate_B_Rq 1 "Request" 0 "NoRequest"; +VAL_ 529 OnbChrgLocIdUns_B_Rq 1 "Request" 0 "NoRequest"; +VAL_ 66 immoControlCmd_T2 0 "IDLE" 1 "MOTIVE_START_RQST" 2 "NONMOTIVE_START_RQST" 3 "RQST_TARGET2_IDBLOCK1" 4 "RQST_TARGET2_IDBLOCK2" 5 "Unused" 6 "ECHO_TARGET2_IDBLOCK2" 7 "SHUTDOWN"; +VAL_ 1124 GPS_Vdop 31 "Invalid" 30 "Unknown"; +VAL_ 1124 GPS_Speed 255 "Invalid" 254 "Unknown"; +VAL_ 1124 GPS_Sat_num_in_view 31 "Invalid" 30 "Unknown"; +VAL_ 1124 GPS_MSL_altitude 4095 "Fault" 4094 "Unknown"; +VAL_ 1124 GPS_Heading 65535 "Fault" 65534 "Unknown"; +VAL_ 1124 GPS_Hdop 31 "Invalid" 30 "Unknown"; +VAL_ 1124 GPS_dimension 2 "_3D" 1 "_2D" 0 "No_Fix"; +VAL_ 1119 CoolFanDcdc_D_Rq 3 "High" 2 "Medium" 1 "Low" 0 "Off"; +VAL_ 1119 DcdcClntFlw_D_Rq 3 "High" 2 "Medium" 1 "Low" 0 "Off"; +VAL_ 1123 GpsUtcYr_No_Actl 31 "Fault"; +VAL_ 1123 GpsUtcMnth_No_Actl 15 "Fault"; +VAL_ 1123 GPS_UTC_seconds 63 "Fault" 62 "Unknown"; +VAL_ 1123 GPS_UTC_minutes 63 "Fault" 62 "Unknown"; +VAL_ 1123 GPS_UTC_hours 31 "Invalid" 30 "Unknown"; +VAL_ 1123 GPS_Pdop 31 "Invalid" 30 "Unknown"; +VAL_ 1123 GPS_Compass_direction 7 "NorthWest" 6 "West" 5 "SouthWest" 4 "South" 3 "SouthEast" 2 "East" 1 "NorthEast" 0 "North"; +VAL_ 1123 GPS_Actual_vs_Infer_pos 1 "Inferred_Position" 0 "Actual_Postition"; +VAL_ 1123 Gps_B_Falt 1 "Yes" 0 "No"; +VAL_ 1122 GpsHsphLongEast_D_Actl 0 "Invalid" 1 "Eastern" 2 "Western" 3 "Fault"; +VAL_ 1122 GpsHsphLattSth_D_Actl 3 "Fault" 2 "Northern" 1 "Southern" 0 "Invalid"; +VAL_ 1122 GPS_Longitude_Minutes 63 "Fault" 62 "Unknown"; +VAL_ 1122 GPS_Longitude_Min_dec 16383 "Invalid" 16382 "Unknown"; +VAL_ 1122 GPS_Longitude_Degrees 511 "Fault" 510 "Unknown"; +VAL_ 1122 GPS_Latitude_Minutes 63 "Fault" 62 "Unknown"; +VAL_ 1122 GPS_Latitude_Min_dec 16383 "Invalid" 16382 "Unknown"; +VAL_ 1122 GPS_Latitude_Degrees 255 "Invalid" 254 "Unknown"; +VAL_ 1003 PersRecallSrc_D_Actl 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "MemorySwitch" 3 "RemoteStart" 2 "KeyFob" 1 "CenterStack" 0 "Null"; +VAL_ 1003 Pers4Key_D_Stat 3 "NotUsed_1" 2 "KeyUnAssociated" 1 "KeyAssociated" 0 "Null"; +VAL_ 1003 Pers3Key_D_Stat 3 "NotUsed_1" 2 "KeyUnAssociated" 1 "KeyAssociated" 0 "Null"; +VAL_ 1003 Pers2Key_D_Stat 3 "NotUsed_1" 2 "KeyUnAssociated" 1 "KeyAssociated" 0 "Null"; +VAL_ 1003 Pers1Key_D_Stat 3 "NotUsed_1" 2 "KeyUnAssociated" 1 "KeyAssociated" 0 "Null"; +VAL_ 1003 EmPrflNo_D_Stat 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "Pers4" 3 "Pers3" 2 "Pers2" 1 "Pers1" 0 "Null"; +VAL_ 1003 EmPrflKeyAssoc_D_Stat 7 "WrongDevice" 6 "KeyAssociateFailed" 5 "KeyAssociateSuccess" 4 "KeyAlreadyInUse" 3 "KeyDisassociated" 2 "KeyAssociationExited" 1 "KeyAssociationEntered" 0 "Null"; +VAL_ 1003 VehKeyActv_D_Stat 15 "NotUsed7" 14 "NotUsed6" 13 "NotUsed5" 12 "NotUsed4" 11 "NotUsed3" 10 "NotUsed2" 9 "NotUsed1" 8 "Key8Active" 7 "Key7Active" 6 "Key6Active" 5 "Key5Active" 4 "Key4Active" 3 "Key3Active" 2 "Key2Active" 1 "Key1Active" 0 "NoKeyActive"; +VAL_ 1003 PersNoPos_D_Actl 7 "Unused_3" 6 "Unused_2" 5 "Unused_1" 4 "Vehicle" 3 "PERS_4" 2 "PERS_3" 1 "PERS_2" 0 "PERS_1"; +VAL_ 1003 PersSetupRestr_D_Actl 3 "Non_Moveable_Person" 2 "Moveable_Person" 1 "Vehicle" 0 "Factory"; +VAL_ 1003 PersSetupAccessCtrl 1 "Limited" 0 "Full"; +VAL_ 1003 PersConflict_D_Actl 1 "Conflict" 0 "No_Conflict"; +VAL_ 1003 AssocConfirm_D_Actl 0 "None" 7 "Associate" 6 "Keycode_Rejected" 5 "Keycode_Accepted" 4 "In_Progress" 3 "Erase" 2 "Duplicate" 1 "Disassociate"; +VAL_ 1003 PersNo_D_Actl 7 "Unused_3" 6 "Unused_2" 5 "NotDetermined" 4 "Vehicle" 3 "PERS_4" 2 "PERS_3" 1 "PERS_2" 0 "PERS_1"; +VAL_ 994 PersStore_D_Rq 7 "Unused_2" 6 "Unused_1" 5 "Vehicle" 4 "PERS_4" 3 "PERS_3" 2 "PERS_2" 1 "PERS_1" 0 "Null"; +VAL_ 994 Pers4OptIn_B_Stats 1 "OPTED_IN" 0 "NOT_OPTED_IN"; +VAL_ 994 Pers3OptIn_B_Stats 1 "OPTED_IN" 0 "NOT_OPTED_IN"; +VAL_ 994 Pers2OptIn_B_Stats 1 "OPTED_IN" 0 "NOT_OPTED_IN"; +VAL_ 994 Pers1OptIn_B_Stats 1 "OPTED_IN" 0 "NOT_OPTED_IN"; +VAL_ 994 CtrStkPersIndex_D_Actl 7 "Unused_3" 6 "Unused_2" 5 "Unused_1" 4 "Vehicle" 3 "PERS_4" 2 "PERS_3" 1 "PERS_2" 0 "PERS_1"; +VAL_ 994 CtrStkDsplyOp_D_Rq 7 "Unused_2" 6 "Unused_1" 5 "Copy" 4 "Restore" 3 "Upload" 2 "Set" 1 "Query" 0 "Null"; +VAL_ 778 PrkAidFront_D_RqDrv 2 "Status" 3 "NotUsed" 1 "Enabled" 0 "Disabled"; +VAL_ 778 PrkAidAcsyRear_D_RqDrv 3 "NotUsed" 2 "On" 1 "Off" 0 "Null"; +VAL_ 778 PrkAidAcsyFront_D_RqDrv 3 "NotUsed" 2 "On" 1 "Off" 0 "Null"; +VAL_ 778 Cta_D_Rq 3 "Unused" 2 "NoDataExists" 1 "On" 0 "Off"; +VAL_ 778 PrkAidRear_D_RqDrv 2 "Status" 3 "NotUsed" 1 "Enabled" 0 "Disabled"; +VAL_ 778 SteEffort_D_Rq 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "SpecialMode_2" 3 "SpecialMode_1" 2 "Comfort" 1 "Sport" 0 "Normal"; +VAL_ 778 Sod_D_Rq 2 "BLIS_On_Second_Warning_ON" 1 "BLIS_On_Second_Warning_OFF" 0 "Off"; +VAL_ 549 IPC_MyKeyVolLimit_St 0 "Invalid" 1 "Off" 2 "On"; +VAL_ 549 HdcOn_B_Rq 1 "On" 0 "Off"; +VAL_ 549 IPC_Attn_Info_Audio 7 "Unknown" 6 "Attenuation_6" 5 "Attenuation_5" 4 "Attenuation_4" 3 "Attenuation_3" 2 "Attenuation_2" 1 "Attenuation_1" 0 "No_Attenuation_of_Audio"; +VAL_ 549 BeltminderAudioMute 2 "On" 1 "Off" 0 "Invalid"; +VAL_ 549 Power_Up_Chime_Modules 1 "Active" 0 "Inactive"; +VAL_ 549 Chime_Source 2 "Cluster" 1 "Infotainment_Sys" 0 "Invalid"; +VAL_ 549 IPC_New_Attn_Event 1 "Active" 0 "Inactive"; +VAL_ 551 PmCabnLvl_D_Stat 7 "NotUsed_1" 6 "Level_6_Worst" 5 "Level_5" 4 "Level_4" 3 "Level_3" 2 "Level_2" 1 "Level_1_Best" 0 "NotKnown"; +VAL_ 551 PmCabn_D_Stat 3 "FilteringComplete" 2 "FilteringOn" 1 "FilteringOff" 0 "NotKnown"; +VAL_ 551 Cntr_Plg_Mode_Cmd 1 "Enable" 0 "Disable"; +VAL_ 551 ChrgCrdLckEnbl_B_Stat 1 "Enable" 0 "Disable"; +VAL_ 551 PwRnngBoardT_D_Rq 3 "NotUsed" 2 "Timer2" 1 "Timer1" 0 "Inactive"; +VAL_ 551 PwRnngBoardSwtch_D_Rq 3 "NotUsed" 2 "DeployUnlocked" 1 "AlwaysActive" 0 "Inactive"; +VAL_ 551 PwRnngBoardMde_D_Rq 0 "Inactive" 1 "Off" 2 "Out" 3 "Auto"; +VAL_ 551 Btt_L_Actl2 127 "Faulty" 126 "NoDataExists"; +VAL_ 551 Rba_D_Rq 3 "NotUsed" 2 "On" 1 "Off" 0 "Null"; +VAL_ 551 EmPrflNo_D_Rq 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "Pers4" 3 "Pers3" 2 "Pers2" 1 "Pers1" 0 "Null"; +VAL_ 551 EmPrflButtnAssoc_D_Rq 3 "NotUsed" 2 "ExitButtonAssociation" 1 "EnterButtonAssociation" 0 "Null"; +VAL_ 551 EmPrflKeyAssoc_D_Rq 7 "NotUsed_3" 6 "DisassociatePhone" 5 "EnterPhoneAssociation" 4 "OverwriteKey" 3 "DisassociateKey" 2 "ExitKeyAssociation" 1 "EnterKeyAssociation" 0 "Null"; +VAL_ 551 Em_D_Stat 3 "NotSupported" 2 "ProfilesOff" 1 "ProfilesOn" 0 "Null"; +VAL_ 551 ChrgOvrdExitScrn_D_Rq 3 "NotUsed_1" 2 "Request_override" 1 "Do_not_request_override" 0 "Inactive"; +VAL_ 1010 MbdblActv_B_RqAdas 1 "Yes" 0 "No"; +VAL_ 1010 CbdblActv_B_RqAdas 1 "Yes" 0 "No"; +VAL_ 1010 AdbUrbanArea_B_Stat 1 "Yes" 0 "No"; +VAL_ 1070 BattULo24_D_Falt 3 "NotUsed" 2 "TemporaryFault" 1 "Fault" 0 "NoFault"; +VAL_ 1070 BattULo24_Te_Actl 127 "Fault"; +VAL_ 1070 BattULo24State_D_Qlty 3 "OK" 2 "Not_Within_Spec" 1 "Eval_In_Progress" 0 "Faulty"; +VAL_ 1070 BattULo24_I_Actl 16383 "Faulty"; +VAL_ 1070 BattULo24_B_Falt 1 "Yes" 0 "No"; +VAL_ 1186 SelDrvMdeAwd2_D_Stat 31 "Faulty" 30 "NotUsed_17" 29 "NotUsed_16" 28 "NotUsed_15" 27 "NotUsed_14" 26 "NotUsed_13" 25 "NotUsed_12" 24 "NotUsed_11" 23 "NotUsed_10" 22 "NotUsed_9" 21 "NotUsed_8" 20 "NotUsed_7" 19 "NotUsed_6" 18 "NotUsed_5" 17 "EvLaterChargeMode" 16 "EvNowMode" 15 "TrackMode" 14 "RoughRoadMode" 13 "NotAvailable" 12 "HighSpeedDesertMode_Baja" 11 "SportAdaptiveMode" 10 "RockCrawlMode" 9 "MudRutsMode" 8 "SandMode" 7 "EconomyMode" 6 "GrassGravelSnow" 5 "TowHaulMode" 4 "SportMode" 3 "Normal_4L" 2 "Normal_4A" 1 "Normal_2H" 0 "NormalMode"; +VAL_ 1186 RearDiffLckMsg_D_Rq 7 "Locker_Disabled" 6 "Locker_Enabled" 5 "Locker_Accel_Pedal" 4 "Speed4" 3 "Speed3" 2 "Spee2" 1 "Speed1" 0 "Normal__No_Message "; +VAL_ 1186 RearDiffLckLamp_D_Rq 3 "Not_Used" 2 "Flash" 1 "On" 0 "Off"; +VAL_ 1186 RearDiffLck_Tq_Actl 4095 "Fault" 4094 "Unknown"; +VAL_ 1186 RearDiffFalt_D_Stat 3 "Diff_Failed_Closed" 2 "Diff_Failed_Open" 1 "Fault_Non_Specific" 0 "No_Fault"; +VAL_ 1186 LsdSrvcRqd_B_Rq 1 "On" 0 "Off"; +VAL_ 611 AwdSys_D_Stat 3 "Faulty" 2 "NotUsed" 1 "_4x4_L_H_Active" 0 "_4x4_L_H_Inactive"; +VAL_ 611 AwdStat_D_RqDsply 31 "NotUsed9" 30 "NotUsed8" 29 "NotUsed7" 28 "To_Engage_4x4_Release_Aped" 27 "To_Engage_4x4_Slow_To_3MPH" 26 "Shift_To_Neutral" 25 "Lkr_Mode_Unavail_TMS" 24 " _4x4_Mode_Unavail_TMS" 23 "Out_of_4Low_Crawl" 22 "AWD_PTU_Oil_Changed" 21 "Change_AWD_PTU_Oil" 20 "Neutral_Tow_Disabled" 19 "Neutral_Tow_Enabled" 18 "AWD_OFF" 17 "_4x4_Off_Road_Speed" 16 "_4x4_Extreme_Off_Road_Mode" 15 "_4x4_Exiting_Off_Road" 14 "_4x4_Off_Road_Mode" 10 "_4x4_Locked_Temporarily" 9 "Shift_In_Progress" 13 "Blocked_Shift_Assist" 12 "_4x4_Auto_Restored" 11 "_4x4_Disabled_Temporarily" 7 "Out_of_4Low__Neutral" 6 "Out_of_4Low__Brake" 5 "Out_of_4Low__Speed" 4 "Into_4Low__Clutch" 3 "Into_4Low__Neutral" 2 "Into_4Low__Brake" 1 "Into_4Low__Speed" 0 "Normal__No_Message" 8 "Out_of_4Low__Clutch"; +VAL_ 611 AwdLck_D_Stat 9 "Undefined" 8 "Under_External_Torque_Ctrl" 7 "Torque_Limited_by_Cmd" 6 "Fully_Locked_by_Cmd" 5 "Disabled" 4 "Warning" 3 "Fault" 2 "Inactive" 1 "Completely_Opened_by_Cmd" 0 "OK"; +VAL_ 611 AwdSrvcRqd_B_Rq 1 "On" 0 "Off"; +VAL_ 611 NtrlTowAvail_B_Stat 1 "Available" 0 "NotAvailable"; +VAL_ 611 AwdLck_Tq_Rq 4095 "Fault" 4094 "Unknown"; +VAL_ 611 AwdOffRoadMode_D_Stats 3 "Invalid" 2 "Extreme_Off_Road" 1 "Off_Road" 0 "Normal_Mode"; +VAL_ 611 AwdLoLamp_D_RqDsply 3 "Not_Used" 2 "Flash" 1 "On" 0 "Off"; +VAL_ 611 AwdHiLamp_D_RqDsply 3 "Not_Used" 2 "Flash" 1 "On" 0 "Off"; +VAL_ 611 AwdAutoLamp_D_RqDsply 3 "Not_Used" 2 "Flash" 1 "On" 0 "Off"; +VAL_ 611 Awd2wdLamp_D_RqDsply 3 "Not_Used" 2 "Flash" 1 "On" 0 "Off"; +VAL_ 611 AwdRnge_D_Actl 7 "Unknown" 6 "High_Range_2wd" 5 "High_Range_Auto" 4 "High_Range_Locked" 3 "Neutral" 2 "Low_Range_2wd" 1 "Low_Range_Auto" 0 "Low_Range_Locked"; +VAL_ 1047 TrlrAidSetup_D2_Stat 7 "NotUsed_2" 6 "NotUsed_1" 5 "SetupAcquisitionSuccess" 4 "TbaTadMonitor" 3 "SetupStartAcquisition" 2 "SetupPrepForAcquisition" 1 "TbaActive" 0 "Null"; +VAL_ 1047 TrlrAidEnbl_D2_Stat 7 "NotUsed_1" 6 "TbaActiveExpertActive" 5 "TbaActiveExpertAvail" 4 "TbaOffTrgActive" 3 "TbaOffTrgSetup" 2 "TbaSetup" 1 "TbaActive" 0 "Inactive"; +VAL_ 1047 TrlrAidMsgTxt_D2_Rq 63 "Message63" 62 "Message62" 61 "Message61" 60 "Message60" 55 "Message55" 50 "Message50" 45 "Message45" 40 "Message40" 35 "Message35" 31 "Message31" 30 "Message30" 29 "Message29" 28 "Message28" 27 "Message27" 26 "Message26" 25 "Message25" 24 "Message24" 23 "Message23" 22 "Message22" 21 "Message21" 20 "Message20" 19 "Message19" 18 "Message18" 17 "Message17" 16 "Message16" 15 "Message15" 14 "Message14" 13 "Message13" 12 "Message12" 11 "Message11" 10 "Message10" 9 "Message9" 8 "Message8" 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage"; +VAL_ 1047 EsaOn_B_Stat 1 "On" 0 "Off"; +VAL_ 1047 SelDrvMdeSte_D_Stat 0 "NotAvailable" 1 "Available" 2 "TemporarilyNotAvailable" 3 "Faulty"; +VAL_ 972 LatCtlSte_D_Stat 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "Denied" 3 "RampOut" 2 "ContLatControlInProgress" 1 "Available" 0 "Unavailable"; +VAL_ 972 LatCtlLim_D_Stat 3 "LimitWithDriverActive" 2 "LimitReached" 1 "LimitClose" 0 "LimitNotReached"; +VAL_ 972 LatCtlCpblty_D_Stat 3 "Faulty" 2 "ExtendedModeAvailable" 1 "LimitedModeAvailable" 0 "NoModeAvailable"; +VAL_ 972 LsmcBrkDecelEnbl_D_Rq 3 "NotUsed2" 2 "NotUsed1" 1 "On" 0 "Off"; +VAL_ 972 TjaHandsOnCnfdnc_B_Est 1 "High_Confidence" 0 "Low_Confidence"; +VAL_ 972 LaHandsOff_B_Actl 1 "Hands_Off" 0 "Hands_On"; +VAL_ 972 LaActDeny_B_Actl 1 "LA_Denied" 0 "LA_Not_Denied"; +VAL_ 972 LaActAvail_D_Actl 3 "LKA_LCA_LDW_Avail" 2 "LCA_LKA_Avail_LDW_Suppress" 1 "LCA_LKA_Suppress_LDW_Avail" 0 "LCA_LKA_LDW_Suppress"; +VAL_ 130 TrlrHitchLamp_D_Rqst 1 "On" 0 "Off"; +VAL_ 130 VehVTrlrAid_B_Rq 1 "Request" 0 "NoRequest"; +VAL_ 130 DrvSteActv_B_Stat 1 "Active" 0 "Inactive"; +VAL_ 130 DrvSte_Tq_Actl 255 "Invalid" 254 "Unknown"; +VAL_ 130 SteMdule_D_Stat 7 "NotUsed" 6 "EPAS_Failure3" 5 "EPAS_Failure2" 4 "System_Failure" 3 "EPAS_Shutdown" 2 "Normal_Op_Full_Assist" 1 "Normal_Op_Limited_Assist" 0 "EPAS_Initialization"; +VAL_ 130 SteMdule_U_Meas 255 "Invalid"; +VAL_ 130 SteMdule_I_Est 4095 "Invalid"; +VAL_ 130 EPAS_Failure 3 "SERVICE_POWER_STEERING_NOW" 2 "SERVICE_POWER_STEERING" 1 "POWER_STRG_ASSIST_FAULT" 0 "EPAS_OK_NO_MESSAGE"; +VAL_ 130 SteeringColumnTorque 255 "Invalid" 254 "Unknown"; +VAL_ 130 SAPPAngleControlStat6 1 "RequestedAngleNotReached" 0 "RequestedAngleCanBeReached"; +VAL_ 130 SAPPAngleControlStat5 1 "StrgColTorqueExceed_EAROn" 0 "ExternalSigContentOKforEAC"; +VAL_ 130 SAPPAngleControlStat4 1 "SpeedLimitExceededEAROn" 0 "ExternalSigContentOKforEAC"; +VAL_ 130 SAPPAngleControlStat3 1 "EARactiveNoReverseEngage" 0 "ExternalSigContentOKforEAC"; +VAL_ 130 SAPPAngleControlStat2 1 "Rel_ExtSteeringAngleReqx" 0 "NoRel_ExtSteeringAngleReqx"; +VAL_ 130 SAPPAngleControlStat1 3 "Fault" 2 "Active" 1 "Open" 0 "Closed"; +VAL_ 126 StePw_B_Rq 1 "Yes" 0 "No"; +VAL_ 126 StePinRelInit_An_Sns 65535 "Faulty" 65534 "NoDataExists"; +VAL_ 126 StePinCompAnEst_D_Qf 3 "OK" 2 "Degraded" 1 "No_Data_Exists" 0 "Faulty"; +VAL_ 133 StePw_B_Rq 1 "Yes" 0 "No"; +VAL_ 133 StePinRelInit_An_Sns 65535 "Faulty" 65534 "NoDataExists"; +VAL_ 133 StePinCompAnEst_D_Qf 3 "OK" 2 "Degraded" 1 "No_Data_Exists" 0 "Faulty"; +VAL_ 1200 BrkHold_D_Stat 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "HeldSecondary" 3 "HeldSecure" 2 "Held" 1 "Inactive" 0 "Off"; +VAL_ 1200 HsaTrnAout_Tq_Rq 65535 "Fault" 65534 "Unknown"; +VAL_ 1200 BrkBstrVac_P_Actl 127 "Invalid"; +VAL_ 1200 YawStabilityIndex 511 "Fault" 510 "NoDataExists"; +VAL_ 1200 BrkTot_Tq_RqDrv 8191 "Fault"; +VAL_ 1200 HsaStat_D_Dsply 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "NotAvailable" 3 "SlowReleaseWithChime" 2 "SlowReleaseWithoutChime" 1 "Active" 0 "Inactive"; +VAL_ 1102 SelDrvMdePos12_D_Stat 31 "Faulty" 30 "SelDrvMde31" 29 "SelDrvMde30" 28 "SelDrvMde29" 27 "SelDrvMde28" 26 "SelDrvMde27" 25 "SelDrvMde26" 24 "SelDrvMde25" 23 "SelDrvMde24" 22 "SelDrvMde23" 21 "SelDrvMde22" 20 "SelDrvMde21" 19 "SelDrvMde20" 18 "SelDrvMde19" 17 "SelDrvMde18" 16 "SelDrvMde17" 15 "SelDrvMde16" 14 "SelDrvMde15" 13 "SelDrvMde14" 12 "SelDrvMde13" 11 "SelDrvMde12" 10 "SelDrvMde11" 9 "SelDrvMde10" 8 "SelDrvMde09" 7 "SelDrvMde08" 6 "SelDrvMde07" 5 "SelDrvMde06" 4 "SelDrvMde05" 3 "SelDrvMde04" 2 "SelDrvMde03" 1 "SelDrvMde02" 0 "SelDrvMde01"; +VAL_ 1102 SelDrvMdePos11_D_Stat 31 "Faulty" 30 "SelDrvMde31" 29 "SelDrvMde30" 28 "SelDrvMde29" 27 "SelDrvMde28" 26 "SelDrvMde27" 25 "SelDrvMde26" 24 "SelDrvMde25" 23 "SelDrvMde24" 22 "SelDrvMde23" 21 "SelDrvMde22" 20 "SelDrvMde21" 19 "SelDrvMde20" 18 "SelDrvMde19" 17 "SelDrvMde18" 16 "SelDrvMde17" 15 "SelDrvMde16" 14 "SelDrvMde15" 13 "SelDrvMde14" 12 "SelDrvMde13" 11 "SelDrvMde12" 10 "SelDrvMde11" 9 "SelDrvMde10" 8 "SelDrvMde09" 7 "SelDrvMde08" 6 "SelDrvMde07" 5 "SelDrvMde06" 4 "SelDrvMde05" 3 "SelDrvMde04" 2 "SelDrvMde03" 1 "SelDrvMde02" 0 "SelDrvMde01"; +VAL_ 1102 SelDrvMdePos10_D_Stat 31 "Faulty" 30 "SelDrvMde31" 29 "SelDrvMde30" 28 "SelDrvMde29" 27 "SelDrvMde28" 26 "SelDrvMde27" 25 "SelDrvMde26" 24 "SelDrvMde25" 23 "SelDrvMde24" 22 "SelDrvMde23" 21 "SelDrvMde22" 20 "SelDrvMde21" 19 "SelDrvMde20" 18 "SelDrvMde19" 17 "SelDrvMde18" 16 "SelDrvMde17" 15 "SelDrvMde16" 14 "SelDrvMde15" 13 "SelDrvMde14" 12 "SelDrvMde13" 11 "SelDrvMde12" 10 "SelDrvMde11" 9 "SelDrvMde10" 8 "SelDrvMde09" 7 "SelDrvMde08" 6 "SelDrvMde07" 5 "SelDrvMde06" 4 "SelDrvMde05" 3 "SelDrvMde04" 2 "SelDrvMde03" 1 "SelDrvMde02" 0 "SelDrvMde01"; +VAL_ 1102 SelDrvMdePos09_D_Stat 31 "Faulty" 30 "SelDrvMde31" 29 "SelDrvMde30" 28 "SelDrvMde29" 27 "SelDrvMde28" 26 "SelDrvMde27" 25 "SelDrvMde26" 24 "SelDrvMde25" 23 "SelDrvMde24" 22 "SelDrvMde23" 21 "SelDrvMde22" 20 "SelDrvMde21" 19 "SelDrvMde20" 18 "SelDrvMde19" 17 "SelDrvMde18" 16 "SelDrvMde17" 15 "SelDrvMde16" 14 "SelDrvMde15" 13 "SelDrvMde14" 12 "SelDrvMde13" 11 "SelDrvMde12" 10 "SelDrvMde11" 9 "SelDrvMde10" 8 "SelDrvMde09" 7 "SelDrvMde08" 6 "SelDrvMde07" 5 "SelDrvMde06" 4 "SelDrvMde05" 3 "SelDrvMde04" 2 "SelDrvMde03" 1 "SelDrvMde02" 0 "SelDrvMde01"; +VAL_ 1102 SelDrvMdePos08_D_Stat 31 "Faulty" 30 "SelDrvMde31" 29 "SelDrvMde30" 28 "SelDrvMde29" 27 "SelDrvMde28" 26 "SelDrvMde27" 25 "SelDrvMde26" 24 "SelDrvMde25" 23 "SelDrvMde24" 22 "SelDrvMde23" 21 "SelDrvMde22" 20 "SelDrvMde21" 19 "SelDrvMde20" 18 "SelDrvMde19" 17 "SelDrvMde18" 16 "SelDrvMde17" 15 "SelDrvMde16" 14 "SelDrvMde15" 13 "SelDrvMde14" 12 "SelDrvMde13" 11 "SelDrvMde12" 10 "SelDrvMde11" 9 "SelDrvMde10" 8 "SelDrvMde09" 7 "SelDrvMde08" 6 "SelDrvMde07" 5 "SelDrvMde06" 4 "SelDrvMde05" 3 "SelDrvMde04" 2 "SelDrvMde03" 1 "SelDrvMde02" 0 "SelDrvMde01"; +VAL_ 1102 SelDrvMdePos07_D_Stat 31 "Faulty" 30 "SelDrvMde31" 29 "SelDrvMde30" 28 "SelDrvMde29" 27 "SelDrvMde28" 26 "SelDrvMde27" 25 "SelDrvMde26" 24 "SelDrvMde25" 23 "SelDrvMde24" 22 "SelDrvMde23" 21 "SelDrvMde22" 20 "SelDrvMde21" 19 "SelDrvMde20" 18 "SelDrvMde19" 17 "SelDrvMde18" 16 "SelDrvMde17" 15 "SelDrvMde16" 14 "SelDrvMde15" 13 "SelDrvMde14" 12 "SelDrvMde13" 11 "SelDrvMde12" 10 "SelDrvMde11" 9 "SelDrvMde10" 8 "SelDrvMde09" 7 "SelDrvMde08" 6 "SelDrvMde07" 5 "SelDrvMde06" 4 "SelDrvMde05" 3 "SelDrvMde04" 2 "SelDrvMde03" 1 "SelDrvMde02" 0 "SelDrvMde01"; +VAL_ 1102 SelDrvMdePos06_D_Stat 31 "Faulty" 30 "SelDrvMde31" 29 "SelDrvMde30" 28 "SelDrvMde29" 27 "SelDrvMde28" 26 "SelDrvMde27" 25 "SelDrvMde26" 24 "SelDrvMde25" 23 "SelDrvMde24" 22 "SelDrvMde23" 21 "SelDrvMde22" 20 "SelDrvMde21" 19 "SelDrvMde20" 18 "SelDrvMde19" 17 "SelDrvMde18" 16 "SelDrvMde17" 15 "SelDrvMde16" 14 "SelDrvMde15" 13 "SelDrvMde14" 12 "SelDrvMde13" 11 "SelDrvMde12" 10 "SelDrvMde11" 9 "SelDrvMde10" 8 "SelDrvMde09" 7 "SelDrvMde08" 6 "SelDrvMde07" 5 "SelDrvMde06" 4 "SelDrvMde05" 3 "SelDrvMde04" 2 "SelDrvMde03" 1 "SelDrvMde02" 0 "SelDrvMde01"; +VAL_ 1102 SelDrvMdePos05_D_Stat 31 "Faulty" 30 "SelDrvMde31" 29 "SelDrvMde30" 28 "SelDrvMde29" 27 "SelDrvMde28" 26 "SelDrvMde27" 25 "SelDrvMde26" 24 "SelDrvMde25" 23 "SelDrvMde24" 22 "SelDrvMde23" 21 "SelDrvMde22" 20 "SelDrvMde21" 19 "SelDrvMde20" 18 "SelDrvMde19" 17 "SelDrvMde18" 16 "SelDrvMde17" 15 "SelDrvMde16" 14 "SelDrvMde15" 13 "SelDrvMde14" 12 "SelDrvMde13" 11 "SelDrvMde12" 10 "SelDrvMde11" 9 "SelDrvMde10" 8 "SelDrvMde09" 7 "SelDrvMde08" 6 "SelDrvMde07" 5 "SelDrvMde06" 4 "SelDrvMde05" 3 "SelDrvMde04" 2 "SelDrvMde03" 1 "SelDrvMde02" 0 "SelDrvMde01"; +VAL_ 1102 SelDrvMdePos04_D_Stat 31 "Faulty" 30 "SelDrvMde31" 29 "SelDrvMde30" 28 "SelDrvMde29" 27 "SelDrvMde28" 26 "SelDrvMde27" 25 "SelDrvMde26" 24 "SelDrvMde25" 23 "SelDrvMde24" 22 "SelDrvMde23" 21 "SelDrvMde22" 20 "SelDrvMde21" 19 "SelDrvMde20" 18 "SelDrvMde19" 17 "SelDrvMde18" 16 "SelDrvMde17" 15 "SelDrvMde16" 14 "SelDrvMde15" 13 "SelDrvMde14" 12 "SelDrvMde13" 11 "SelDrvMde12" 10 "SelDrvMde11" 9 "SelDrvMde10" 8 "SelDrvMde09" 7 "SelDrvMde08" 6 "SelDrvMde07" 5 "SelDrvMde06" 4 "SelDrvMde05" 3 "SelDrvMde04" 2 "SelDrvMde03" 1 "SelDrvMde02" 0 "SelDrvMde01"; +VAL_ 1102 SelDrvMdePos03_D_Stat 31 "Faulty" 30 "SelDrvMde31" 29 "SelDrvMde30" 28 "SelDrvMde29" 27 "SelDrvMde28" 26 "SelDrvMde27" 25 "SelDrvMde26" 24 "SelDrvMde25" 23 "SelDrvMde24" 22 "SelDrvMde23" 21 "SelDrvMde22" 20 "SelDrvMde21" 19 "SelDrvMde20" 18 "SelDrvMde19" 17 "SelDrvMde18" 16 "SelDrvMde17" 15 "SelDrvMde16" 14 "SelDrvMde15" 13 "SelDrvMde14" 12 "SelDrvMde13" 11 "SelDrvMde12" 10 "SelDrvMde11" 9 "SelDrvMde10" 8 "SelDrvMde09" 7 "SelDrvMde08" 6 "SelDrvMde07" 5 "SelDrvMde06" 4 "SelDrvMde05" 3 "SelDrvMde04" 2 "SelDrvMde03" 1 "SelDrvMde02" 0 "SelDrvMde01"; +VAL_ 1102 SelDrvMdePos02_D_Stat 31 "Faulty" 30 "SelDrvMde31" 29 "SelDrvMde30" 28 "SelDrvMde29" 27 "SelDrvMde28" 26 "SelDrvMde27" 25 "SelDrvMde26" 24 "SelDrvMde25" 23 "SelDrvMde24" 22 "SelDrvMde23" 21 "SelDrvMde22" 20 "SelDrvMde21" 19 "SelDrvMde20" 18 "SelDrvMde19" 17 "SelDrvMde18" 16 "SelDrvMde17" 15 "SelDrvMde16" 14 "SelDrvMde15" 13 "SelDrvMde14" 12 "SelDrvMde13" 11 "SelDrvMde12" 10 "SelDrvMde11" 9 "SelDrvMde10" 8 "SelDrvMde09" 7 "SelDrvMde08" 6 "SelDrvMde07" 5 "SelDrvMde06" 4 "SelDrvMde05" 3 "SelDrvMde04" 2 "SelDrvMde03" 1 "SelDrvMde02" 0 "SelDrvMde01"; +VAL_ 1102 SelDrvMdePos01_D_Stat 31 "Faulty" 30 "SelDrvMde31" 29 "SelDrvMde30" 28 "SelDrvMde29" 27 "SelDrvMde28" 26 "SelDrvMde27" 25 "SelDrvMde26" 24 "SelDrvMde25" 23 "SelDrvMde24" 22 "SelDrvMde23" 21 "SelDrvMde22" 20 "SelDrvMde21" 19 "SelDrvMde20" 18 "SelDrvMde19" 17 "SelDrvMde18" 16 "SelDrvMde17" 15 "SelDrvMde16" 14 "SelDrvMde15" 13 "SelDrvMde14" 12 "SelDrvMde13" 11 "SelDrvMde12" 10 "SelDrvMde11" 9 "SelDrvMde10" 8 "SelDrvMde09" 7 "SelDrvMde08" 6 "SelDrvMde07" 5 "SelDrvMde06" 4 "SelDrvMde05" 3 "SelDrvMde04" 2 "SelDrvMde03" 1 "SelDrvMde02" 0 "SelDrvMde01"; +VAL_ 1056 AutoEpbMsgTxt_D_Rq 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage"; +VAL_ 1056 AutoEpbDsply_D_Stat 1 "Available" 0 "NotAvailable"; +VAL_ 1056 AutoEpbButtnOn_B_Stat 1 "On" 0 "Off"; +VAL_ 1056 SelDrvMdePos12_B_Avail 1 "Available" 0 "NotAvailable"; +VAL_ 1056 SelDrvMdePos11_B_Avail 1 "Available" 0 "NotAvailable"; +VAL_ 1056 SelDrvMdePos10_B_Avail 1 "Available" 0 "NotAvailable"; +VAL_ 1056 SelDrvMdePos09_B_Avail 1 "Available" 0 "NotAvailable"; +VAL_ 1056 SelDrvMdePos08_B_Avail 1 "Available" 0 "NotAvailable"; +VAL_ 1056 SelDrvMdePos07_B_Avail 1 "Available" 0 "NotAvailable"; +VAL_ 1056 SelDrvMdePos06_B_Avail 1 "Available" 0 "NotAvailable"; +VAL_ 1056 SelDrvMdePos05_B_Avail 1 "Available" 0 "NotAvailable"; +VAL_ 1056 SelDrvMdePos04_B_Avail 1 "Available" 0 "NotAvailable"; +VAL_ 1056 SelDrvMdePos03_B_Avail 1 "Available" 0 "NotAvailable"; +VAL_ 1056 SelDrvMdePos02_B_Avail 1 "Available" 0 "NotAvailable"; +VAL_ 1056 SelDrvMdePos01_B_Avail 1 "Available" 0 "NotAvailable"; +VAL_ 1056 ActvDrvMde_D2_Stat 31 "Faulty" 30 "SelDrvMde31" 29 "SelDrvMde30" 28 "SelDrvMde29" 27 "SelDrvMde28" 26 "SelDrvMde27" 25 "SelDrvMde26" 24 "SelDrvMde25" 23 "SelDrvMde24" 22 "SelDrvMde23" 21 "SelDrvMde22" 20 "SelDrvMde21" 19 "SelDrvMde20" 18 "SelDrvMde19" 17 "SelDrvMde18" 16 "SelDrvMde17" 15 "SelDrvMde16" 14 "SelDrvMde15" 13 "SelDrvMde14" 12 "SelDrvMde13" 11 "SelDrvMde12" 10 "SelDrvMde11" 9 "SelDrvMde10" 8 "SelDrvMde09" 7 "SelDrvMde08" 6 "SelDrvMde07" 5 "SelDrvMde06" 4 "SelDrvMde05" 3 "SelDrvMde04" 2 "SelDrvMde03" 1 "SelDrvMde02" 0 "SelDrvMde01"; +VAL_ 1056 SelDrvMde_D2_Rq 31 "Faulty" 30 "SelDrvMde31" 29 "SelDrvMde30" 28 "SelDrvMde29" 27 "SelDrvMde28" 26 "SelDrvMde27" 25 "SelDrvMde26" 24 "SelDrvMde25" 23 "SelDrvMde24" 22 "SelDrvMde23" 21 "SelDrvMde22" 20 "SelDrvMde21" 19 "SelDrvMde20" 18 "SelDrvMde19" 17 "SelDrvMde18" 16 "SelDrvMde17" 15 "SelDrvMde16" 14 "SelDrvMde15" 13 "SelDrvMde14" 12 "SelDrvMde13" 11 "SelDrvMde12" 10 "SelDrvMde11" 9 "SelDrvMde10" 8 "SelDrvMde09" 7 "SelDrvMde08" 6 "SelDrvMde07" 5 "SelDrvMde06" 4 "SelDrvMde05" 3 "SelDrvMde04" 2 "SelDrvMde03" 1 "SelDrvMde02" 0 "SelDrvMde01"; +VAL_ 1056 SelDrvMdePt_D_Rq 31 "Faulty" 30 "NotUsed15" 29 "NotUsed14" 28 "NotUsed13" 27 "NotUsed12" 26 "NotUsed11" 25 "NotUsed10" 24 "NotUsed9" 23 "NotUsed8" 22 "NotUsed7" 21 "NotUsed6" 20 "NotUsed5" 19 "NotUsed4" 18 "EvLaterChargerMode" 17 "EvNowMode" 16 "DragMode" 15 "HighSpeedDesertMode_Baja" 14 "SportAdaptiveMode" 13 "NotAvailable_13" 12 "NotAvailable_12" 11 "NotAvailable_11" 10 "NotAvailable_10" 9 "RockCrawlMode" 8 "MudRutsMode" 7 "SandMode" 6 "EconomyMode" 5 "GrassGravelSnow" 4 "NotAvailable_04" 3 "TowHaulMode" 2 "NotAvailable_02" 1 "SportMode" 0 "NormalMode"; +VAL_ 1056 SelDrvMdeMsgTxt_D_Rq 15 "Message15" 14 "Message14" 13 "Message13" 12 "Message12" 11 "Message11" 10 "Message10" 9 "Message9" 8 "Message8" 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage"; +VAL_ 1056 SelDrvMde_D_Stat 3 "NotUsed" 2 "DriveModeChangeRequest" 1 "DriveModeChangeSelection" 0 "NoDriveModeChangeRequest"; +VAL_ 1056 AwdMde_D_RqBrk 7 "Faulty" 6 "NotUsed2" 5 "NoRequest" 4 "Neutral" 3 "FourByFourLow" 2 "FourByFourHigh" 1 "FourByFourAuto" 0 "FourByTwo"; +VAL_ 1054 AirDamUp_B_RqBrk 1 "Up" 0 "NoRequest"; +VAL_ 1054 RbaBrk_D_Stat 3 "Denied" 2 "Active" 1 "Open" 0 "Closed"; +VAL_ 1054 SelDrvMdeChassis2_D_Rq 31 "Faulty" 30 "NotUsed17" 29 "NotUsed16" 28 "NotUsed15" 27 "NotUsed14" 26 "NotUsed13" 25 "NotUsed12" 24 "NotUsed11" 23 "NotUsed10" 22 "NotUsed9" 21 "NotUsed8" 20 "NotUsed7" 19 "NotUsed6" 18 "NotUsed5" 17 "NotUsed4" 16 "NotUsed3" 15 "NotUsed2" 14 "RoughRoadMode" 13 "TrackMode" 12 "HighSpeedDesertMode" 11 "TowHaulMode" 10 "RockCrawlMode" 9 "SandMode" 8 "MudAndRutsMode" 7 "LowMuMode" 6 "ComfortAdaptiveMode" 5 "ComfortMode" 4 "SportAdaptiveMode" 3 "SportMode" 2 "EconomyMode" 1 "NormalAdaptiveMode" 0 "NormalMode"; +VAL_ 1054 TrailCtl_D_Stat 7 "Faulty" 6 "DescentOnly" 5 "EnabledDeny" 4 "StandbyOverThreshold" 3 "StandbyOverride" 2 "Active" 1 "EnabledDescent" 0 "Off"; +VAL_ 1054 TrailCtlMsgTxt_D_Rq 15 "Message15" 14 "Message14" 13 "Message13" 12 "Message12" 11 "Message11" 10 "Message10" 9 "Message9" 8 "Message8" 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage"; +VAL_ 1054 BrkBstrVac_D_Stat 3 "NotUsed" 2 "BoosterVacEstimator" 1 "BoosterVacSensor" 0 "NoBoosterVacuumMonitor"; +VAL_ 1054 DrvSlipCtlOffLamp_D_Rq 3 "Fast_Flash" 2 "Slow_Flash" 1 "On" 0 "Off"; +VAL_ 1054 DrvSlipCtlMdeMsg_D_Rq 31 "Message31" 30 "Message30" 29 "Message29" 28 "Message28" 27 "Message27" 26 "Message26" 25 "Message25" 24 "Message24" 23 "Message23" 22 "Message22" 21 "Message21" 20 "Message20" 19 "Message19" 18 "Message18" 17 "Message17" 16 "Message16" 15 "Message15" 14 "Message14" 13 "Message13" 12 "Message12" 11 "Message11" 10 "Message10" 9 "Message9" 8 "Message8" 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage"; +VAL_ 1054 AutoHoldMsgTxt_D_Rq 15 "Message15" 14 "Message14" 13 "Message13" 12 "Message12" 11 "Message11" 10 "Message10" 9 "Message9" 8 "Message8" 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage"; +VAL_ 1054 CtaBrk_D_Stat 3 "Denied" 2 "Active" 1 "Open" 0 "Closed"; +VAL_ 1054 SelDrvMdeAwd_D_Rq 31 "Faulty" 30 "NotUsed_17" 29 "NotUsed_16" 28 "NotUsed_15" 27 "NotUsed_14" 26 "NotUsed_13" 25 "NotUsed_12" 24 "NotUsed_11" 23 "NotUsed_10" 22 "NotUsed_9" 21 "NotUsed_8" 20 "NotUsed_7" 19 "NotUsed_6" 18 "NotUsed_5" 17 "EvLaterChargeMode" 16 "EvNowMode" 15 "TrackMode" 14 "RoughRoadMode" 13 "NotAvailable" 12 "HighSpeedDesertMode_Baja" 11 "SportAdaptiveMode" 10 "RockCrawlMode" 9 "MudRutsMode" 8 "SandMode" 7 "EconomyMode" 6 "GrassGravelSnow" 5 "TowHaulMode" 4 "SportMode" 3 "Normal_4L" 2 "Normal_4A" 1 "Normal_2H" 0 "NormalMode"; +VAL_ 1054 AutoHoldSwMde_B_Ind 1 "On" 0 "Off"; +VAL_ 1054 AutoHoldMde_D_Ind 3 "Indication_3" 2 "Indication_2" 1 "Indication_1" 0 "Off"; +VAL_ 1054 SelDrvMdeChassis_D_Rq 31 "Faulty" 30 "NotUsed17" 29 "NotUsed16" 28 "NotUsed15" 27 "NotUsed14" 26 "NotUsed13" 25 "NotUsed12" 24 "NotUsed11" 23 "NotUsed10" 22 "NotUsed9" 21 "NotUsed8" 20 "NotUsed7" 19 "NotUsed6" 18 "NotUsed5" 17 "NotUsed4" 16 "NotUsed3" 15 "NotUsed2" 14 "NotUsed1" 13 "TrackMode" 12 "HighSpeedDesertMode" 11 "TowHaulMode" 10 "RockCrawlMode" 9 "SandMode" 8 "MudAndRutsMode" 7 "LowMuMode" 6 "ComfortAdaptiveMode" 5 "ComfortMode" 4 "SportAdaptiveMode" 3 "SportMode" 2 "EconomyMode" 1 "NormalAdaptiveMode" 0 "NormalMode"; +VAL_ 1054 ApaBrk_D_Stat 3 "Denied" 2 "Active" 1 "Open" 0 "Closed"; +VAL_ 1046 HsaMde_D_Mem 3 "Undefined" 2 "Manual" 1 "Automatic" 0 "Off"; +VAL_ 1046 BrkBstrVac_B_Rq 1 "Yes" 0 "No"; +VAL_ 1046 HdcMde_D_Actl 7 "Fault" 6 "Temporarily_Unavailable" 5 "NotEnabled_WrongGearSel" 4 "NotEnabled_SpdLimitExceed" 3 "Active_Braking" 2 "Not_Active_Braking" 1 "Off" 0 "Undefined"; +VAL_ 1046 RearDiffLck_Tq2_RqMx 4095 "Faulty"; +VAL_ 1046 TRLR_SWAY_EVNT_IN_PROG 1 "Yes" 0 "No"; +VAL_ 1046 TRLR_SWAY_CONFIG_STAT 1 "On" 0 "Off"; +VAL_ 1046 TCMode 1 "Active" 0 "Inactive"; +VAL_ 1046 DrvSlipCtlLamp_D_Rq 3 "Fast_Flash" 2 "Slow_Flash" 1 "On" 0 "Off"; +VAL_ 1046 Abs_B_Falt 1 "Yes" 0 "No"; +VAL_ 1046 DrvSlipCtlMde_D_Ind 3 "App_Specific_Off_Mode_3" 2 "App_Specific_Off_Mode_2" 1 "App_Specific_Off_Mode_1" 0 "Default_Mode"; +VAL_ 1046 DrvAntiLckLamp_D_Rq 3 "Fast_Flash" 2 "Slow_Flash" 1 "On" 0 "Off"; +VAL_ 1046 StabCtlBrk_B_Avail 1 "Yes" 0 "No"; +VAL_ 1046 DrvHdcWarnInfo_D_Rq 3 "Undefined" 2 "Lamp_On_Continuously" 1 "Lamp_Flashing" 0 "Lamp_Off_Continuously"; +VAL_ 1046 DrvHdcMsg_D_Rq 7 "Undefined" 6 "Speed_too_High" 5 "Temporarily_Unavailable" 4 "System_Fault" 3 "Select_Gear" 2 "Off" 1 "On" 0 "No_Message"; +VAL_ 1046 DrvHdcLampInfo_D_Rq 3 "Fast_Flash" 2 "Slow_Flash" 1 "On" 0 "Off"; +VAL_ 1046 BpedMove_D_Actl 3 "Unknown" 2 "DriverApplyingBrakePedal" 1 "NoAutonomousBrkPdlMovement" 0 "AutonomousBrkPedalMove"; +VAL_ 1046 ChimeBrk_B_Rq 1 "Yes" 0 "No"; +VAL_ 1046 BrkLamp_B_Rq 1 "Yes" 0 "No"; +VAL_ 1046 HILL_DESC_MC 7 "Fault_Detected" 6 "Cooling_Down" 5 "Abort_Apply_Brakes" 4 "Active" 3 "Disabled" 2 "Enabled" 1 "Off_Road" 0 "Normal"; +VAL_ 1046 RearDiffElckrOpen_B_Rq 1 "Yes" 0 "No"; +VAL_ 1045 VehStab_D_Stat 15 "Faulty" 14 "No_Data_Exists" 13 "NotUsed6" 12 "NotUsed5" 11 "NotUsed4" 10 "NotUsed3" 9 "NotUsed2" 8 "NotUsed1" 7 "High_SSRA_no_OS" 6 "Straight" 5 "Post_Oversteer" 4 "Post_Transition" 3 "Countersteer" 2 "Understeer" 1 "Oversteer" 0 "Linear"; +VAL_ 1045 BrkFluidLvl_D_Stat 3 "Invalid" 2 "Unknown" 1 "Low" 0 "OK"; +VAL_ 1045 LsmcBrkDecel_D_Stat 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "Denied" 3 "FaultDegraded" 2 "FaultExt" 1 "On" 0 "Off"; +VAL_ 1045 VehYawNonLin_W_Rq 4095 "Fault" 4094 "Unknown"; +VAL_ 1045 VehYawLin_W_Rq 4095 "Fault" 4094 "Unknown"; +VAL_ 1045 VehVActlBrk_D_Qf 3 "OK" 2 "Not_Within_Specifications" 1 "No_Data_Exists" 0 "Faulty"; +VAL_ 1044 StePinOffst_An_Est 65535 "Faulty" 65534 "NoDataExists"; +VAL_ 1044 StePinOffst_D_Stat 3 "FineOffset" 2 "CoarseOffset" 1 "StoredOffset" 0 "OffsetNotCalculated"; +VAL_ 1042 VehRol_An_Dsply 127 "Faulty" 126 "NoDataExists"; +VAL_ 1042 VehPtch_An_Dsply 127 "Faulty" 126 "NoDataExists"; +VAL_ 535 WhlRr_W_Meas 32767 "Fault" 32766 "Unknown"; +VAL_ 535 WhlRl_W_Meas 32767 "Fault" 32766 "Unknown"; +VAL_ 535 WhlFr_W_Meas 32767 "Fault" 32766 "Unknown"; +VAL_ 535 WhlFl_W_Meas 32767 "Fault" 32766 "Unknown"; +VAL_ 534 WhlDirRr_D_Actl 3 "Faulty" 2 "NoDataExists" 1 "Backward" 0 "Forward"; +VAL_ 534 WhlDirRl_D_Actl 3 "Faulty" 2 "NoDataExists" 1 "Backward" 0 "Forward"; +VAL_ 534 WhlDirFr_D_Actl 3 "Faulty" 2 "NoDataExists" 1 "Backward" 0 "Forward"; +VAL_ 534 WhlDirFl_D_Actl 3 "Faulty" 2 "NoDataExists" 1 "Backward" 0 "Forward"; +VAL_ 532 RgenTqFalt_B_Actl 1 "Fault" 0 "No_Fault"; +VAL_ 532 RgenBrkDynoMde_B_Actl 1 "TwoWheelDyno" 0 "NormalOperation"; +VAL_ 531 VehStop_D_Stat 3 "Faulty" 2 "NoDataExists" 1 "Yes" 0 "No"; +VAL_ 531 TracCtlPtActv_B_Actl 1 "Active" 0 "Inactive"; +VAL_ 531 LscmbbMntr_B_Err 1 "DisplayMessage" 0 "NoMessage"; +VAL_ 531 LscmbbBrkDis_B_Actl 1 "Yes" 0 "No"; +VAL_ 531 LscmbbDeny_B_ActlBrk 1 "Yes" 0 "No"; +VAL_ 531 PrkBrkYwLamp_D_Rq 3 "Fast_Flash" 2 "Slow_Flash" 1 "On" 0 "Off"; +VAL_ 531 PrkBrkRedLamp_D_Rq 3 "Fast_Flash" 2 "Slow_Flash" 1 "On" 0 "Off"; +VAL_ 531 LscmbbBrkDecel_B_Actl 1 "Yes" 0 "No"; +VAL_ 531 AbsActv_B_Actl 1 "Yes" 0 "No"; +VAL_ 531 StabCtlBrkActv_B_Actl 1 "Yes" 0 "No"; +VAL_ 531 CmbbBrkPrchg_B_Actl 1 "Yes" 0 "No"; +VAL_ 531 CmbbBrkDecel_B_Actl 1 "Yes" 0 "No"; +VAL_ 531 CmbbBaSensInc_B_Actl 1 "Yes" 0 "No"; +VAL_ 531 AccBrkWarm_B_Actl 1 "Yes" 0 "No"; +VAL_ 531 AccBrkTotTqMn_B_Actl 1 "Yes" 0 "No"; +VAL_ 531 AccBrkPrchgActv_B_Actl 1 "Yes" 0 "No"; +VAL_ 531 AccBrkDis_B_Actl 1 "Yes" 0 "No"; +VAL_ 531 AccBrkDeny_B_Actl 1 "Yes" 0 "No"; +VAL_ 531 AccBrkActv_B_Actl 1 "Yes" 0 "No"; +VAL_ 531 PrplDrgCtlActv_B_Actl 1 "Active" 0 "Inactive"; +VAL_ 531 LscmbbBaSensInc_B_Actl 1 "Yes" 0 "No"; +VAL_ 531 CmbbBrkDis_B_Actl 1 "Yes" 0 "No"; +VAL_ 531 CmbbDeny_B_ActlBrk 1 "Yes" 0 "No"; +VAL_ 531 CcDis_B_Cmd 1 "Yes" 0 "No"; +VAL_ 531 VehLongOvrGnd_A_Est 1023 "Fault" 1022 "Unknown"; +VAL_ 531 LscmbBrkPrchg_B_Actl 1 "Active" 0 "Inactive"; +VAL_ 531 AccStopActv_B_ActlBrk 1 "Yes" 0 "No"; +VAL_ 531 AccDis_B_ActlEpb 1 "Yes" 0 "No"; +VAL_ 531 PrkBrkMsgTxt_D_Rq 15 "Message15" 14 "Message14" 13 "Message13" 12 "Message12" 11 "Message11" 10 "Message10" 9 "Message9" 8 "Message8" 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "No_Message"; +VAL_ 531 PrkBrkStatus 7 "GeneralFault_MaintenceMode" 6 "ECD_by_Brake_ECU_Active" 5 "EPB_Limphome_Active" 4 "Rear_Caliper_Open" 3 "RWU_By_EPB_Active" 2 "Rear_Caliper_Transition" 1 "Rear_Caliper_Closed" 0 "Not_Supported"; +VAL_ 136 SteWhlBrkOffst_An_Rq 32767 "Faulty" 32766 "NoDataExists"; +VAL_ 125 VehRolComp_W_Actl 4094 "NoDataExists" 4095 "Fault"; +VAL_ 125 VehVertComp_A_Actl 1022 "NoDataExists" 1023 "Fault"; +VAL_ 125 BrkTot_Tq_RqArb 8191 "Fault" 8190 "Unknown"; +VAL_ 125 BrkTot_Tq_Actl 8191 "Fault" 8190 "Unknown"; +VAL_ 125 HsaStat_D_Actl 7 "Faulty" 6 "FaultyWithDriverIndication" 5 "SlowRelease" 4 "FastRelease" 3 "ActiveBrakePedalReleased" 2 "ActiveBrakePedalPressed" 1 "FindingGradient" 0 "Inactive"; +VAL_ 119 VehTrvlDir_D_Stat 7 "Faulty" 6 "NoDataExists" 5 "NotUsed2" 4 "NotUsed1" 3 "Reverse" 2 "LikelyReverse" 1 "Forward" 0 "LikelyForward"; +VAL_ 119 VehOverGnd_V_Est 65535 "Invalid" 65534 "Unknown"; +VAL_ 119 VehLongComp_A_Actl 1023 "Fault" 1022 "NoDataExists"; +VAL_ 119 VehLatComp_A_Actl 1023 "Fault" 1022 "NoDataExists"; +VAL_ 119 VehYawComp_W_Actl 4095 "Fault" 4094 "NoDataExists"; +VAL_ 118 BrkCtrFnd_B_Stat 1 "Yes" 0 "No"; +VAL_ 118 DrvSte_D_Stat 15 "NotUsed10" 14 "NotUsed9" 13 "NotUsed8" 12 "NotUsed7" 11 "NotUsed6" 10 "NotUsed5" 9 "NotUsed4" 8 "NotUsed3" 7 "NotUsed2" 6 "NotUsed1" 5 "Request_Active" 4 "Ignition_Off" 3 "DSR_in_Normal_Idle_Mode" 2 "EPAS_Comm_Disturbed" 1 "DSR_Request_Not_Applicable" 0 "DSR_Deactivated"; +VAL_ 118 DrvSte_Tq_Rq 255 "Invalid" 254 "Unknown"; +VAL_ 118 EmgcyBrkLamp_D_Rq 3 "NotUsed" 2 "Active_at_standstill" 1 "Active_at_speed" 0 "Inactive"; +VAL_ 118 StopLamp_B_RqBrk 1 "Active" 0 "Inactive"; +VAL_ 73 immoSubTarget1Cmd_T1 7 "Unused3" 6 "Unused2" 5 "ECHO_TARGET1_IDBLOCK2" 4 "Unused1" 3 "RQST_TARGET1_IDBLOCK2" 2 "RQST_TARGET1_IDBLOCK1" 1 "RESPONSE" 0 "IDLE"; +VAL_ 561 TrnMsgTxt2_D_Rq 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "TransTooHot_LoudChime" 3 "PressBrake_LoudChime" 2 "PressBrake_SoftChime" 1 "PressBrake_NoChime" 0 "NoText_NoChime"; +VAL_ 561 TrnMsgTxt_D_Rq 15 "Message_15" 14 "Message_14" 13 "Message_13" 12 "Message_12" 11 "Message_11" 10 "Message_10" 9 "Message_9" 8 "Message_8" 7 "Message_7" 6 "Message_6" 5 "Message_5" 4 "Message_4" 3 "Message_3" 2 "Message_2" 1 "Message_1" 0 "NoMessage"; +VAL_ 330 TrnAout_W_ActlUnfilt 32767 "Fault" 32766 "Unknown"; +VAL_ 1090 Mtr2State_D_ActlMntr 7 "Faulty" 6 "NoDataExists" 5 "NotUsed_1" 4 "ReadinessState" 3 "DeactivationState" 2 "PowerGeneration" 1 "PowerConsumption" 0 "Null"; +VAL_ 1090 Inv1Ain_I_ActlMntr 32767 "Faulty" 32766 "NoDataExists"; +VAL_ 1090 HybVehMde_D_ActlMntr 7 "Faulty" 6 "NoDataExists" 5 "NotUsed_2" 4 "NotUsed_1" 3 "Fuel" 2 "HybridElectric" 1 "AllElectric" 0 "Null"; +VAL_ 1090 ChrgStat_D_ActlMntr 7 "Faulty" 6 "NoDataExists" 5 "NotUsed" 4 "ChargingCompleted" 3 "NotCharging" 2 "ChargingInDrivingState" 1 "ChargingInParkingState" 0 "Null"; +VAL_ 1090 VehElRnge_L_Dsply 4094 "NoDataExists" 4095 "Fault"; +VAL_ 870 EngMdeMsgTxt_D_Rq 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "Charge" 3 "GlowingCharge" 2 "Hybrid" 1 "Ev" 0 "NoMessage"; +VAL_ 870 RngPerChrgInst_L_Dsply 4095 "Faulty" 4094 "NoDataExists"; +VAL_ 869 PwrFlowTxt_D_Dsply 15 "NotUsed7" 14 "NotUsed6" 13 "NotUsed5" 12 "NotUsed4" 11 "Disply_Rgen_Chrg_Txt" 10 "Disp_Fast_Charge_Txt" 9 "Disp_Fast_Charge_Cmplt_Txt" 8 "Disp_Charge_Cmplt_Txt" 7 "Disp_Remote_Start_Txt" 6 "Disp_Eng_Drv_Txt" 5 "Disp_Elec_Drv_Txt" 4 "Disp_Idle_with_Chrg_Txt" 3 "Disp_Idle_Txt" 2 "Disp_Charg_HV_Batt_Txt" 1 "Disp_Hyb_Drive_Txt" 0 "No_Text"; +VAL_ 869 EngOnMsg2_D_Dsply 14 "_0xE_to_1F_NotUsed" 12 "Battery_Temperature" 11 "Hill_Decent_Control" 10 "Fuel_Maintenance" 9 "Oil_Maintenance" 8 "Normal_Operation" 7 "Low_Gear" 6 "Batt_Charging" 5 "Engine_Cold" 4 "Neutral_Gear" 3 "Heater_Setting" 2 "High_Speed" 1 "Acceleration" 0 "No_Display" 13 "Drive_Mode_Selection"; +VAL_ 869 EngOnMsg1_D_Dsply 14 "_0xE_to_1F_NotUsed" 12 "Battery_Temperature" 11 "Hill_Decent_Control" 10 "Fuel_Maintenance" 9 "Oil_Maintenance" 8 "Normal_Operation" 7 "Low_Gear" 6 "Batt_Charging" 5 "Engine_Cold" 4 "Neutral_Gear" 3 "Heater_Setting" 2 "High_Speed" 1 "Acceleration" 0 "No_Display" 13 "Drive_Mode_Selection"; +VAL_ 869 FuelMaintMde_D_Dsply 3 "Feature_Not_Present" 2 "In_Fuel_Maint_Mode" 1 "Close_to_Fuel_Maint" 0 "OK"; +VAL_ 869 EngActv_B_Dsply 1 "On" 0 "Off"; +VAL_ 869 EffWhlThresOn_B_Dsply 1 "On" 0 "Off"; +VAL_ 606 ElVehLaterMde_D_Stat 3 "NotUsed" 2 "Available" 1 "NotAvailable" 0 "Null"; +VAL_ 606 ElVehNowMde_D_Stat 3 "NotUsed" 2 "Available" 1 "NotAvailable" 0 "Null"; +VAL_ 374 GearEngag_D_Actl 7 "Undefined" 6 "Fwd_Clutch_Fully_Engaged" 5 "Neutral_Idle" 4 "Disengaged_to_Neutral_Idle" 3 "Disengaged_to_Neutral_Park" 2 "Engagement_in_Progress" 1 "InitializeFwdClutchEngagmt" 0 "Park_Neutral"; +VAL_ 374 TrnRng_D_Rq 15 "Fault" 14 "Unknown_Position" 13 "NotUsed_2" 12 "NotUsed_1" 11 "Range6" 10 "Range5" 9 "Range4" 8 "Range3_M3_L3" 7 "Range2_M2_L2" 6 "Range1_M1_L1" 5 "Low" 4 "Sport_DriveSport_Mposition" 3 "Drive" 2 "Neutral" 1 "Reverse" 0 "Park"; +VAL_ 374 TrnPrkSys_D_Actl 15 "Faulty" 14 "NotUsed_5" 13 "NotUsed_4" 12 "NotUsed_3" 11 "NotUsed_2" 10 "NotUsed_1" 9 "FrequencyError" 8 "OutOfRangeHigh" 7 "OutOfRangeLow" 6 "Override" 5 "OutOfPark" 4 "TransitionCloseToOutOfPark" 3 "AtNoSpring" 2 "TransitionCloseToPark" 1 "Park" 0 "NotKnown"; +VAL_ 374 GearLvr_D_ActlDrv 15 "Fault" 14 "Unknown_Position" 13 "NotUsed_2" 12 "NotUsed_1" 11 "Range6" 10 "Range5" 9 "Range4" 8 "Range3_M3_L3" 7 "Range2_M2_L2" 6 "Range1_M1_L1" 5 "Low" 4 "Sport_DriveSport_Mposition" 3 "Drive" 2 "Neutral" 1 "Reverse" 0 "Park"; +VAL_ 374 GearPos_D_Trg 15 "Unknown" 14 "Reverse" 13 "Undefined_5" 12 "Undefined_4" 11 "Undefined_3" 10 "Tenth" 9 "Ninth" 8 "Eighth" 7 "Seventh" 6 "Sixth" 5 "Fifth" 4 "Fourth" 3 "Third" 2 "Second" 1 "First" 0 "Neutral"; +VAL_ 374 GearPos_D_Actl 15 "Unknown" 14 "Reverse" 13 "Undefined_5" 12 "Undefined_4" 11 "Undefined_3" 10 "Tenth" 9 "Ninth" 8 "Eighth" 7 "Seventh" 6 "Sixth" 5 "Fifth" 4 "Fourth" 3 "Third" 2 "Second" 1 "First" 0 "Neutral"; +VAL_ 603 WhlDirAvgDrv_D_Actl 3 "Failed" 2 "Unknown" 1 "Backward" 0 "Forward"; +VAL_ 603 PrplTqMnRgen_B_Actl 1 "Yes" 0 "No"; +VAL_ 603 BattTracCnnct_D_Rq 3 "Undefined" 2 "Retain" 1 "Close" 0 "Open"; +VAL_ 602 HtrnWarnLamp_B_Dsply 1 "On" 0 "Off"; +VAL_ 602 HybPwLimOn_B_Stat 1 "Yes" 0 "No"; +VAL_ 602 PwPckTqRdy_B_Dsply 1 "On" 0 "Off"; +VAL_ 1152 BattTracDiagClr_B_Stat 1 "On" 0 "Off"; +VAL_ 1152 EngTeHi_B_Actl 1 "EngineTempHigh" 0 "Normal"; +VAL_ 1152 DcdcOn_B_Rq 1 "On" 0 "Off"; +VAL_ 1152 ULoBattSpprtSustn_B_Rq 1 "Active" 0 "Inactive"; +VAL_ 1152 VehElEff_No_Avg 127 "Faulty" 126 "NoDataExists"; +VAL_ 872 PlgActvArb_B_Dsply 1 "On" 0 "Off"; +VAL_ 872 HybMdeStat_D_Dsply 7 "NotUsed2" 6 "EV_Charge" 5 "EV_Override" 4 "Forced_EV_Mode" 3 "Forced_Charge_Sustain_Mode" 2 "Auto_Charge_Sustain_Mode" 1 "Auto_Charge_Deplete_Mode" 0 "Null_State"; +VAL_ 560 SelDrvMdeSwtch_D_Stat3 3 "Faulty" 2 "SwitchState2" 1 "SwitchState1" 0 "NotPressed"; +VAL_ 560 TrnSrvcRqd_B_Rq 1 "On" 0 "Off"; +VAL_ 560 TrnShifActv_B_Actl 1 "Active" 0 "Inactive"; +VAL_ 560 GearLvrPos_D_Actl 15 "Fault" 14 "Unknown_Position" 13 "Undefined_Treat_as__Fault" 12 "Undefined_Treat_as_Fault" 11 "sixth" 10 "fifth" 9 "fourth" 8 "third" 7 "second" 6 "first" 5 "Low" 4 "Sport_DriveSport" 3 "Drive" 2 "Neutral" 1 "Reverse" 0 "Park"; +VAL_ 560 GboxOil_Te_Actl 255 "Faulty" 254 "NoDataExists"; +VAL_ 369 SeatWorkSrfc_B_Falt 1 "Active" 0 "Inactive"; +VAL_ 369 TrnIpcDsplyRng2_D_Actl 15 "No_Range_Selected" 14 "Range_14" 13 "Range_13" 12 "Range_12" 11 "Range_11" 10 "Range_10" 9 "Range_9" 8 "Range_8" 7 "Range_7" 6 "Range_6" 5 "Range_5" 4 "Range_4" 3 "Range_3" 2 "Range_2" 1 "Range_1" 0 "NotUsed"; +VAL_ 369 TrnIpcDsplyRng_D_Stat 3 "NotUsed" 2 "Flash" 1 "On" 0 "Blank_No_Display"; +VAL_ 369 TrnIpcDsplyGear_D_Actl 15 "No_Gear_Selected" 14 "_14th_Gear" 13 "_13th_Gear" 12 "_12th_Gear" 11 "_11th_Gear" 10 "_10th_Gear" 9 "_9th_Gear" 8 "_8th_Gear" 7 "_7th_Gear" 6 "_6th_Gear" 5 "_5th_Gear" 4 "_4th_Gear" 3 "_3rd_Gear" 2 "_2nd_Gear" 1 "_1st_Gear" 0 "Neutral"; +VAL_ 369 TrnIpcDsplyMde_D_Stat 3 "Reserved_Blank_No_Display" 2 "Flash" 1 "On" 0 "Blank_No_Display"; +VAL_ 369 TrnIpcDsplyMde_D_Actl 7 "Manual_3" 6 "Manual_2" 5 "Manual_1_Low" 4 "Sport" 3 "Drive" 2 "Neutral" 1 "Reverse" 0 "Park"; +VAL_ 369 TrnIpcDsplyGear_D_Stat 3 "Reserved_Blank_No_Display" 2 "Flash" 1 "On" 0 "Blank_No_Display"; +VAL_ 92 TrnLvrV_D_Rq 3 "Full_Speed" 2 "Aggressive" 1 "Normal" 0 "Quiet"; +VAL_ 92 TrnSbwSysHlth_D_Actl 3 "OK" 2 "Degraded" 1 "No_Data_Exists" 0 "Faulty"; +VAL_ 92 TrnGearNtmAllow_B_Stat 1 "Yes" 0 "No"; +VAL_ 92 TrnDtpCmd_D_Actl 7 "NotUsed4" 6 "NotUsed3" 5 "NotUsed2" 4 "Relatch" 3 "Deploy" 2 "Self_Test" 1 "No_Command" 0 "NotUsed1"; +VAL_ 92 GearSelLck_D_Rq 3 "PreventionBlocker" 2 "Unlock" 1 "Lock" 0 "Null"; +VAL_ 92 TrnValidGear_D_Cnfm 3 "Accept" 2 "Reject" 1 "Internal_Request" 0 "No_Command"; +VAL_ 92 TrnNtrlTowCmd_D_Actl 3 "NotUsed" 2 "Neutral_Tow_Entry" 1 "Car_Wash_Mode" 0 "Normal_Mode"; +VAL_ 92 TrnGearCmd_Pc_ActlPt 1023 "Fault"; +VAL_ 92 TrnGear_D_RqPt 7 "Fault" 6 "NotUsed" 5 "Manual" 4 "Drive" 3 "Neutral" 2 "Reverse" 1 "Park" 0 "No_Gear"; +VAL_ 92 TrnCmdState_B_Actl 1 "Yes" 0 "No"; +VAL_ 92 PrkBrkActv_D_RqTrnGear 3 "NotUsed2" 2 "RequestParkBrakeEngage" 1 "NoRequest" 0 "NotUsed1"; +VAL_ 92 TrnGearMsgTxt_D_Rq 15 "Message_15" 14 "Message_14" 13 "Message_13" 12 "Message_12" 11 "Message_11" 10 "Message_10" 9 "Message_9" 8 "Message_8" 7 "Message_7" 6 "Message_6" 5 "Message_5" 4 "Message_4" 3 "Message_3" 2 "Message_2" 1 "Message_1" 0 "NoMessage"; +VAL_ 1087 BattRgenLoChrg_D_RqEng 3 "Disable" 2 "Retain" 1 "Closed" 0 "Open"; +VAL_ 1087 AdasLcObtclAbrt_B_Stat 1 "Yes" 0 "No"; +VAL_ 1087 BattRgenLoDChrg_D_RqEng 3 "Disable" 2 "Retain" 1 "Closed" 0 "Open"; +VAL_ 1087 AirDamPos_D_Stat 3 "Faulty" 2 "NotUsed" 1 "Down" 0 "Up"; +VAL_ 1087 FapLcInhbt_B_Rq 1 "Yes" 0 "No"; +VAL_ 1087 FapLcStopHold_B_Rq 1 "Yes" 0 "No"; +VAL_ 1087 FapLcPrchgBrk_B_Rq 1 "Yes" 0 "No"; +VAL_ 1087 FapLcObstcl_B_Stat 1 "Yes" 0 "No"; +VAL_ 1087 FapLcMaxGrdInhbt_B_Stat 1 "Yes" 0 "No"; +VAL_ 1087 FapLcMaxGrdAbrt_B_Stat 1 "Yes" 0 "No"; +VAL_ 1087 FapLcActv_B_Stat 1 "Yes" 0 "No"; +VAL_ 332 UreaLvlQlty_D_RqDsply 7 "NotUsed_5" 6 "NotUsed_4" 5 "NotUsed_3" 4 "NotUsed_2" 3 "NotUsed_1" 2 "FlashChime" 1 "On" 0 "Off"; +VAL_ 332 UreaLvlTxtWarn_D_Rq 15 "NotUsed_4" 14 "NotUsed_3" 13 "NotUsed_2" 12 "NotUsed_1" 11 "System_Error" 10 "Engine_Idled_See_Manual" 9 "Engine_Idled_Upon_Refuel" 8 "Speed_Limited_To_XX_mph" 7 "XXmph_Max_Upon_Restart" 6 "Speed_Limited_To_YY_mph" 5 "YYmph_Max_Upon_Restart" 4 "SpdLimtd_YYmph_In_XXmiles" 3 "ExFlRange_XXMiles_ScndWarn" 2 "Exh_Fluid_Range_XX_Miles" 1 "Exh_Fluid_Under_Half_Full" 0 "Exh_Fluid_Over_Half_Full"; +VAL_ 332 UreaQltySysWarn_D_Rq 7 "Undefined" 6 "ZZ_Overrides" 5 "EngineIdled" 4 "Engine_Idle_Upon_Refuel" 3 "SPEED_LIMITED_to_YY_mph" 2 "YY_MPH_MAX_UPON_Restart" 1 "CONTAMINATED_ExhFluid" 0 "NoQualityProblem"; +VAL_ 332 DieslPrtcWarn_D_Rq 15 "NotUsed_4" 14 "NotUsed_3" 13 "NotUsed_2" 12 "NotUsed_1" 11 "OCR_ExhFilterClean_Stopped" 10 "OCR_ExhFilterCleaned" 9 "RgnOff_AtLimit" 8 "RgnOff_OverLoaded" 7 "RgnOff_Loaded" 6 "Exhaust_Filter_Full" 5 "DPF_OverLimit" 4 "DPF_AtLimit" 3 "ExhFilter_Drive_Completed" 2 "Cleaning_Exhaust_Filter" 1 "DPF_OverLoaded" 0 "DPF_Normal_Operation"; +VAL_ 332 UreaQltyFlg_B_RqDsply 1 "True" 0 "False"; +VAL_ 332 UreaQltySys_D_RqDsply 7 "Undefined" 6 "ZZ_Overrides" 5 "EngineIdled" 4 "Engine_Idle_Upon_Refuel" 3 "SPEED_LIMITED_to_YY_mph" 2 "YY_MPH_MAX_UPON_Restart" 1 "CONTAMINATED_ExhFluid" 0 "NoQualityProblem"; +VAL_ 332 UreaLvlTxt_D_RqDsply 15 "NotUsed_4" 14 "NotUsed_3" 13 "NotUsed_2" 12 "NotUsed_1" 11 "System_Error" 10 "Engine_Idled_See_Manual" 9 "Engine_Idled_Upon_Refuel" 8 "Speed_Limited_To_XX_mph" 7 "XXmph_Max_Upon_Restart" 6 "Speed_Limited_To_YY_mph" 5 "YYmph_Max_Upon_Restart" 4 "SpdLimtd_YYmph_In_XXmiles" 3 "ExFlRange_XXMiles_ScndWarn" 2 "Exh_Fluid_Range_XX_Miles" 1 "Exh_Fluid_Under_Half_Full" 0 "Exh_Fluid_Over_Half_Full"; +VAL_ 1100 EngExhMdeQuiet_D2_Stat 7 "Faulty" 6 "NotUsed_2" 5 "NotUsed_1" 4 "Track" 3 "Sport" 2 "Normal" 1 "Stealth" 0 "Null"; +VAL_ 1100 HvacCmprLim_D_Stat 7 "NotUsed_2" 6 "NotUsed_1" 5 "CompressorHeadPressure" 4 "AvailableTorque" 3 "PedalPosition" 2 "RPM" 1 "ECT" 0 "NoLimit"; +VAL_ 1100 WakeAlarm1_B_Typ 1 "CanAndEcuDriveCircuit" 0 "CanOnly"; +VAL_ 1100 Veh_V_DsplyTrailCtlSet 63 "Faulty"; +VAL_ 1100 TrailCtlPt_B_Falt 1 "Fault" 0 "No_Fault"; +VAL_ 1100 AutoTowAllw_D_StatMnu 3 "TowHaulCommandedOn" 2 "AutoTowHaulEnabled" 1 "AutoTowHaulDisabled" 0 "NoSelection"; +VAL_ 1100 AutoTowActv_B_Stat 1 "Yes" 0 "No"; +VAL_ 1100 GrossTrainWeight_M_Est 255 "Faulty" 254 "NoDataExists"; +VAL_ 1098 EdmSailMdeOn_B_Stat 1 "On" 0 "Off"; +VAL_ 1098 EdmMsgTxt_D_Rq 15 "NotUsed_4" 14 "NotUsed_3" 13 "NotUsed_2" 12 "NotUsed_1" 11 "OverallGoodScore" 10 "WorkOnCompliance" 9 "GoodCompliance" 8 "WorkOnGearShifting" 7 "GoodGearShifting" 6 "WorkOnEfficientSpeed" 5 "GoodEfficientSpeed" 4 "WorkOnDeceleration" 3 "GoodDeceleration" 2 "WorkOnAcceleration" 1 "GoodAcceleration" 0 "NoMessage"; +VAL_ 1098 EdmLamp_D_Dsply 15 "NotUsed_7" 14 "NotUsed_6" 13 "NotUsed_5" 12 "NotUsed_4" 11 "NotUsed_3" 10 "NotUsed_2" 9 "NotUsed_1" 8 "CoastingEngineBrake" 7 "CoastingShiftToNeutral" 6 "FreewayJunction" 5 "Curve2" 4 "Curve1" 3 "SpeedLimit" 2 "Crossing" 1 "FreewayExit" 0 "NoRecommendation"; +VAL_ 1098 EdmCmplnc_B_Dsply 1 "Yes" 0 "No"; +VAL_ 1086 FuelPumpPwr_B_Rq 1 "On" 0 "Off"; +VAL_ 1086 ElLoadCtl_D_Rq 7 "Unused3" 6 "Unused2" 5 "Unused1" 4 "HoldAllDrvrInvisibleLoads" 3 "StdDriverInvisibleLoadsOn" 2 "AllDriverInvisibleLoadsOn" 1 "All_Possible_Loads_Off" 0 "No_Request"; +VAL_ 1071 CluPdlPosPcMeas_D_Qf 3 "OK" 2 "Not_Within_Specifications" 1 "No_Data_Exists" 0 "Faulty"; +VAL_ 1069 SlMde_D_Stat 3 "IsaNotConfigured" 2 "Manual_Mode" 1 "Auto_Mode" 0 "Null"; +VAL_ 1069 SlMde_D_RqDsply 3 "NotUsed" 2 "ManualSpeed_LimiterSymbol" 1 "AutoSpeed_LimiterSymbol" 0 "NoSpeed_LimiterSymbol"; +VAL_ 1069 IsaOffst_D_Stat 15 "Faulty" 14 "Null" 13 "Thirteen" 12 "Twelve" 11 "Eleven" 10 "Ten" 9 "Nine" 8 "Eight" 7 "Seven" 6 "Six" 5 "Five" 4 "Four" 3 "Three" 2 "Two" 1 "One" 0 "Zero"; +VAL_ 1069 GrllShtrPos_D_Cmd 15 "Fully_Open" 14 "Position14" 13 "Position13" 12 "Position12" 11 "Position11" 10 "Position10" 9 "Position9" 8 "Position8" 7 "Position7" 6 "Position6" 5 "Position5" 4 "Position4" 3 "Position3" 2 "Position2" 1 "Position1" 0 "Fully_Closed"; +VAL_ 1069 GrllShtrPos_B_Falt 1 "Fault" 0 "No_Fault"; +VAL_ 1069 ObdWarmUp_B_Complt 1 "Yes" 0 "No"; +VAL_ 1069 EngMsgTxt_D_Rq 3 "Undefined_2" 2 "Undefined_1" 1 "Power_Reduced_to_LowerTemp" 0 "No_Message"; +VAL_ 1069 EngAirIn_Te_Actl 1023 "Fault" 1022 "Unknown"; +VAL_ 1060 RearDiffOilTeWarn_B_Rq 1 "On" 0 "Off"; +VAL_ 1060 RearDiffOil_Te_Actl 511 "Faulty"; +VAL_ 1060 BpedDrvMsgTxt_B_Dsply 1 "On" 0 "Off"; +VAL_ 1060 FuelLvlWarn_D_ActlEng 7 "DteLevel5Lowest" 6 "DteLevel4" 5 "DteLevel3" 4 "DteLevel2NonMyKey" 3 "DteLevel1MyKey" 2 "VeryLow" 1 "Low" 0 "OK"; +VAL_ 1060 SelDrvMdePt_D_Stat 0 "NotAvailable" 1 "Available" 2 "TemporarilyNotAvailable" 3 "Faulty"; +VAL_ 1057 FohEng_D_Rq 3 "AutoEnable_ParkEnable" 2 "AutoDisable_ParkEnable" 1 "AutoEnable_ParkDisable" 0 "Disable_Stop"; +VAL_ 1057 EngIdlShutDwnTxt_D_Rq 3 "NotUsed" 2 "EngineShutdownOnPrevDrive" 1 "FeatureDisabledDueToFault" 0 "NoMessage"; +VAL_ 1057 EngIdlShutDown_D_Stat 3 "Not_used" 2 "Engine_Shutdown" 1 "Initiated_Countdown" 0 "Normal_Operation"; +VAL_ 1057 FUEL_ALCOHOL_PERCNT 255 "Invalid"; +VAL_ 1057 TrnTotTq_Rt_Est 65535 "Fault" 65534 "Unknown"; +VAL_ 1057 TrnTotLss_Tq_Est 255 "Fault" 254 "Unknown"; +VAL_ 1057 ECMMILRequest 3 "Not_Used" 2 "Flash" 1 "On" 0 "Off"; +VAL_ 1057 AirCondFluidHi_P_Actl 255 "Fault" 254 "Unknown"; +VAL_ 1057 OilPressureWarning 1 "Low_Pressure_Lamp_On" 0 "Normal_Pressure_Lamp_Off"; +VAL_ 1057 VehVLimStat_D_Actl 7 "Undefined_3" 6 "Undefined_2" 5 "Undefined_1" 4 "ASL_Fault_Condition" 3 "Active_and_Limiting" 2 "Active_but_Not_Limiting" 1 "Standby" 0 "Off"; +VAL_ 1057 VehVLimActv_B_Actl 1 "Active" 0 "Inactive"; +VAL_ 1057 CoolantFanStepAct 31 "Unused7" 30 "Unused6" 29 "Unused5" 28 "Unused4" 27 "Unused3" 26 "Unused2" 25 "Unused1" 23 "Step23" 22 "Step22" 21 "Step21" 20 "Step20" 19 "Step19" 18 "Step18" 17 "Step17" 16 "Step16" 15 "Step15" 14 "Step14" 13 "Step13" 12 "Step12" 11 "Step11" 10 "Step10" 9 "Step9" 8 "Step8" 7 "Step7" 6 "Step6" 5 "Step5" 4 "Step4" 3 "Step3" 2 "Step2" 1 "Step1" 24 "Max_Fan_Speed_Req" 0 "Fan_Cmd_Off"; +VAL_ 1055 EcoCochInstNeg_B_Dsply 1 "True" 0 "False"; +VAL_ 562 GearNtrl_D_Stat 3 "Faulty" 2 "NoDataExists" 1 "Yes" 0 "No"; +VAL_ 523 EngAirFiltMsgTxt_D_Rq 7 "NotUsed_2" 6 "NotUsed_1" 5 "EngineAirFilterMonitorFalt" 4 "ResetComplete" 3 "Clogged" 2 "ReplaceNow" 1 "ReplaceSoon" 0 "NoMessage"; +VAL_ 523 WaterInFuel_B_Falt 1 "Fault" 0 "No_Fault"; +VAL_ 523 UreaMnAdd_L2_Actl 255 "Faulty"; +VAL_ 523 UreaMxAdd_L2_Actl 511 "Faulty"; +VAL_ 517 FapLc_B_Err 1 "Yes" 0 "No"; +VAL_ 516 EngAoutNActl_D_QF 3 "OK" 2 "Not_Within_Specifications" 1 "No_Data_Exists" 0 "Faulty"; +VAL_ 516 EngAout3_N_Actl 65535 "Invalid"; +VAL_ 516 ApedPos_PcRate_ActlArb 255 "Fault" 254 "Unknown"; +VAL_ 516 ApedPosPcActl_D_Qf 3 "OK" 2 "Not_Within_Specifications" 1 "No_Data_Exists" 0 "Faulty"; +VAL_ 514 StrtrMtrDlyStrt_B_Stat 1 "Yes" 0 "No"; +VAL_ 514 VehVTrlrAid_B_Avail 1 "Yes" 0 "No"; +VAL_ 514 StrtrMtrCtlMsgTxt_D_Rq 7 "Start_In_Gear_Allowed" 6 "Pending_Start_Cancelled" 5 "Start_Pending_Please_Wait" 4 "Cranking_Limit_Exceeded" 3 "Press_Brk_and_Shift_to_P_N" 2 "Press_Clutch_and_Brake" 1 "Press_Clutch_To_Start" 0 "No_Display"; +VAL_ 514 VehVActlEng_D_Qf 3 "OK" 2 "Not_Within_Specifications" 1 "No_Data_Exists" 0 "Faulty"; +VAL_ 514 GearRvrse_D_Actl 7 "Fault" 6 "NotUsed_3" 5 "NotUsed_2" 4 "NotUsed_1" 3 "Active_confirmed" 2 "Active_not_confirmed" 1 "Inactive_confirmed" 0 "Inactive_not_confirmed"; +VAL_ 514 StrtrMtrCtlMsgTxt_D2_Rq 3 "NoRequestPcmStartingMsgCtl" 2 "ShiftToNeutralToStart" 1 "ShiftToParkToStart" 0 "NoRequestBcmStartingMsgCtl"; +VAL_ 512 PtDrvMde_D_Stat 15 "Faulty" 14 "NotUsed11" 13 "NotUsed10" 12 "NotUsed9" 11 "NotUsed8" 10 "NotUsed7" 9 "NotUsed6" 8 "NotUsed5" 7 "Drag" 6 "Rock" 5 "Baja" 4 "Sand" 3 "TowHaulGradeAssist" 2 "SnowWet" 1 "Sport" 0 "Normal"; +VAL_ 381 EngOilSrvcMsgTxt_D_Rq 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "ResetComplete" 3 "ResetInProgress" 2 "ChangeOilNow" 1 "ChangeOilSoon" 0 "NoText"; +VAL_ 381 RunDryPrevent_B_Stat 1 "True" 0 "False"; +VAL_ 381 WaterInFuel 1 "On" 0 "Off"; +VAL_ 381 GlowIndication 1 "On" 0 "Off"; +VAL_ 380 EngOilLvlWarn_D_Rq1 7 "Undefined_3" 6 "Undefined_2" 5 "Engine_Oil_Monitor_Fault" 3 "Engine_Oil_High" 2 "Engine_Oil_Critical_Low" 1 "Engine_Oil_Low" 0 "No_Message" 4 "Engine_Oil_Critical_High"; +VAL_ 380 EngExhBrkOnLamp_B_Rq 1 "On" 0 "Off"; +VAL_ 380 EngExhBrkAutoLamp_B_Rq 1 "On" 0 "Off"; +VAL_ 380 EngExhBrkMde_D_Actl 6 "ExhBrkDisable_NoError" 5 "ExhBrkActive_AUTO" 4 "ExhBrkActive_ON" 3 "ExhBrkRequest_AUTO" 2 "ExhBrkRequest_ON" 1 "ExhBrkNoRequest_OFF" 0 "ExhBrkUnavailable_Error"; +VAL_ 377 HvacAirFullOut_B_Rq 1 "Yes" 0 "No"; +VAL_ 377 FuelFillInlet_B_Dsply 1 "Yes" 0 "No"; +VAL_ 377 EngSrvcRqd_B_Rq 1 "Engine_Service_Required" 0 "No_engine_service_required"; +VAL_ 377 OdoCount 255 "Invalid"; +VAL_ 377 FuelFilterLamp_B_Dsply 1 "On" 0 "Off"; +VAL_ 377 AirCondRec_B_Rq 1 "Yes" 0 "No"; +VAL_ 377 AirCondClutch_B_Stats 1 "Yes" 0 "No"; +VAL_ 376 GasPrtc_D_RqDsply 7 "NotUsed_5" 6 "NotUsed_4" 5 "NotUsed_3" 4 "NotUsed_2" 3 "NotUsed_1" 2 "GpfOverLimit" 1 "GpfAtLimit" 0 "NormalOperation"; +VAL_ 376 DynoMde_B_Cmd 1 "Two_Wheel_Dyno" 0 "Normal_Operation"; +VAL_ 376 AslIconDsply_D_Rq 3 "On_Passive_Overridden" 2 "On_Active" 1 "On_Passive" 0 "Off"; +VAL_ 376 AslChime_B_Rq 1 "Yes" 0 "No"; +VAL_ 376 HvacHtrCore2_Te_Actl 1023 "Faulty"; +VAL_ 376 EcssLamp_D_RqDsply 3 "Not_Used" 2 "Flash" 1 "On" 0 "Off"; +VAL_ 376 AirAmbTe_D_Qf 3 "OK" 2 "Not_Within_Specifications" 1 "No_Data_Exists" 0 "Faulty"; +VAL_ 376 AirAmb_P_Actl 63 "Fault" 62 "NoDataExists"; +VAL_ 373 DieslPrtc2_D_RqDsply 15 "NotUsed4" 14 "NotUsed3" 13 "NotUsed2" 12 "NotUsed1" 11 "OCR_ExhFilterClean_Stopped" 10 "OCR_ExhFilterCleaned" 9 "RgnOff_AtLimit" 8 "RgnOff_Overloaded" 7 "RgnOff_Loaded" 6 "Exhaust_Filter_Full" 5 "DPF_Overlimit" 4 "DPF_AtLimit" 3 "ExhFilter_Drive_Completed" 2 "Cleaning_Exhaust_Filter" 1 "DPF_Overloaded" 0 "DPF_Normal_Operation"; +VAL_ 373 DieslPrtcRgen_D_Actl 3 "Undefined" 2 "Regen_Level_2" 1 "Regen_Level_1" 0 "No_regen"; +VAL_ 373 EngTeColdPrtct_D_Stats 3 "Engine_Warm_RdcPwr" 2 "OK_to_Drive" 1 "Engine_Warm_PlsWait" 0 "Normal_Operation"; +VAL_ 373 EngExhOvrTe_B_RqDsply 1 "Active" 0 "Inactive"; +VAL_ 359 PrplWhlRgenMn_Tq_Actl 8191 "Faulty"; +VAL_ 359 ElPw_D_StatStrtStop 15 "NotUsed6" 14 "NotUsed5" 13 "NotUsed4" 12 "NotUsed3" 11 "NotUsed2" 10 "NotUsed1" 9 "Supported_Level_4" 8 "Supported_Level_3" 7 "Supported_Level_2" 6 "Supported_Level_1" 5 "Limited_Support" 4 "Fault_Limited" 3 "LV_Event_in_Progress" 2 "Not_Supported_Imminent" 1 "Supported_All" 0 "Not_Supported"; +VAL_ 359 PrplWhlTot2_Tq_Actl 65535 "Fault" 65534 "NoDataExists"; +VAL_ 359 PwPckTq_D_Stat 3 "PwPckOn_TqAvailable" 2 "StartInPrgrss_TqNotAvail" 1 "PwPckOn_TqNotAvailable" 0 "PwPckOff_TqNotAvailable"; +VAL_ 359 Eng_D_Stat 3 "NotUsed" 2 "EngAutoStopped" 1 "EngOn" 0 "EngOff"; +VAL_ 359 PlgActvArb_B_Actl 1 "On" 0 "Off"; +VAL_ 359 ElPw_D_Stat 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "Fault_Limited" 3 "LV_Event_In_Progress" 2 "Not_Supported_Imminent" 1 "Supported" 0 "Not_Supported"; +VAL_ 359 TrnAinTq_D_Qf 3 "OK" 2 "Not_Within_Specifications" 1 "No_Data_Exists" 0 "Faulty"; +VAL_ 358 StopStrtStdby_D_Indic 6 "NotUsed2" 5 "Telltale_Struck_Out" 4 "Telltale_Flashing_Amber" 3 "Telltale_On_Amber" 2 "Telltale_Flashing_Green" 1 "Telltale_On_Green" 0 "Telltale_Off" 7 "NotUsed3"; +VAL_ 358 StopStrtIODTxt_D_Rq 31 "Message31" 30 "Message30" 29 "Message29" 28 "Message28" 27 "Message27" 26 "Message26" 25 "Message25" 24 "Message24" 23 "Message23" 22 "Message22" 21 "Message21" 20 "Message20" 19 "Message19" 18 "Message18" 17 "Message17" 16 "Message16" 15 "Message15" 14 "Message14" 13 "Message13" 12 "Message12" 11 "Message11" 10 "Message10" 9 "Message9" 8 "Message8" 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage"; +VAL_ 358 StopStrtDrvMde_D_Indic 3 "NotUsed" 2 "StartStop_IndirectDeselect" 1 "StopStart_Deselected" 0 "StopStart_Selected"; +VAL_ 358 StopStrtMsgTxt_D_Rq 15 "Message_15" 14 "Message_14" 13 "Message_13" 12 "Message_12" 11 "Message_11" 10 "Message_10" 9 "Message_9" 8 "Message_8" 7 "Message_7" 6 "Message_6" 5 "Message_5" 4 "Message_4" 3 "Message_3" 2 "Message_2" 1 "Message_1" 0 "NoMessage"; +VAL_ 358 OdoTripVerify_L_Actl 16777215 "Fault"; +VAL_ 358 HiElPwInhbt_B_Stat 1 "Inhibit" 0 "No_Inibit"; +VAL_ 358 AutoStopPtDelta_I_Est 255 "Fault"; +VAL_ 357 BPedDrvAppl_D_QF 3 "OK" 2 "Not_Within_Specifications" 1 "No_Data_Exists" 0 "Faulty"; +VAL_ 357 CmbbDeny_B_ActlPrpl 1 "Yes" 0 "No"; +VAL_ 357 PrplTqMnSat_B_Actl 1 "Yes" 0 "No"; +VAL_ 357 BpedDrvAppl_D_Actl 3 "_Not_Allowed" 2 "Driver_Braking" 1 "Driver_Not_Braking" 0 "Not_Allowed"; +VAL_ 357 CmbbEngTqMn_B_Actl 1 "Yes" 0 "No"; +VAL_ 357 Veh_V_DsplyCcSet 255 "Fault" 254 "Unknown"; +VAL_ 357 AccEngStat_D_Actl 7 "Undefined_2" 6 "Undefined_1" 5 "ACCSoonCancel_due_Low_Spd" 4 "Shift_Down_Recommendation" 3 "Shift_Up_Recommendation" 2 "ACCNotAllowedToBeActivated" 1 "ACCStandby_due_Auto_Cancel" 0 "Normal_Operation"; +VAL_ 357 CcMde_D_Actl 7 "TapDownWaiting" 6 "TapUpWaiting" 5 "Resuming_Low" 4 "Resuming_High" 3 "Decelerating" 2 "Accelerating" 1 "Keeping_Speed" 0 "Not_Active"; +VAL_ 357 CcStat_D_Actl 7 "Undefined_2" 6 "Undefined_1" 5 "Active" 4 "Active_Que_Assist" 3 "Standby" 2 "Standby_Denied" 1 "Denied" 0 "Off"; +VAL_ 357 CcOvrrdActv_B_Actl 1 "Cruise_Overridden" 0 "Cruise_Req_Not_Overridden"; +VAL_ 357 AccStopMde_D_Rq 3 "Stop_Mode_Active" 2 "EPBApplyOrBrakeReleaseWarn" 1 "Limit_Rolling_Speed" 0 "Stop_Mode_Not_Active"; +VAL_ 355 AutoRgenTxt_B_RqDsply 1 "AutExhFilterCleanOFF" 0 "AutExhFilterCleanON"; +VAL_ 355 AccFllwMdeActv_B_Actl 1 "Active" 0 "Inactive"; +VAL_ 355 EngPtoMde_D_Actl 7 "Undefined" 6 "Split_Shaft_Stationary" 5 "Not_Used_2" 4 "PTO_Mobile" 3 "Not_Used_1" 2 "PTO_Stationary" 1 "BCP" 0 "Off"; +VAL_ 355 ManRgenTxt_D_RqDsply 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "Cleaning_Aborted_Stopped" 3 "Cleaning_Completed" 2 "Cleaning_In_Progress" 1 "Cleaning_Allowed" 0 "Cleaning_Not_Allowed"; +VAL_ 355 ManRgenSoot_Pc_RqDsply 127 "Fault"; +VAL_ 355 DieslMsgTxt_D_Rq 3 "NotUsed2" 2 "NotUsed1" 1 "ReducedEnginePower" 0 "NoMessage"; +VAL_ 342 EngOvrhtMitgActv_D_Ind 3 "Undefined" 2 "Mode2" 1 "Mode1" 0 "Normal_Mode"; +VAL_ 342 EngClntTe_D_Qf 3 "OK" 2 "Not_Within_Specifications" 1 "No_Data_Exists" 0 "Faulty"; +VAL_ 342 EngOil_Te_Actl 255 "Fault" 254 "Unknown"; +VAL_ 71 immoTarget1Status 7 "Unused4" 6 "Unused3" 5 "Unused2" 4 "Unused1" 3 "DISABLED_RESET " 2 "ENABLED_NONMOTIVE_START" 1 "ENABLED_MOTIVE_START" 0 "DISABLED"; +VAL_ 71 immoTarget1Cmd 7 "Unused4" 6 "Unused3" 5 "Unused2" 4 "Unused1" 3 "TARGET1_IDBLOCK2" 2 "TARGET1_IDBLOCK1" 1 "CHALLENGE" 0 "IDLE"; +VAL_ 1006 PersIndexIpmb_D_Actl 7 "Unused_3" 6 "Unused_2" 5 "Unused_1" 4 "Vehicle" 3 "PERS_4" 2 "PERS_3" 1 "PERS_2" 0 "PERS_1"; +VAL_ 820 AhbStatGfhbFdbk_D_Actl 3 "GfhbHighBeamFullyOn" 2 "GfhbHighBeamPartlyOn" 1 "GfhbHighBeamOff" 0 "GfhbUnavailable"; +VAL_ 820 HeadLghtDrvSide_B_Stat 1 "Left_Hand_Traffic" 0 "Right_Hand_Traffic"; +VAL_ 820 HeadLghtHiOn_B_StatHcm 1 "On" 0 "Off"; +VAL_ 820 Adaptive_Hdlmp_Fault 1 "Yes" 0 "No"; +VAL_ 137 SteWhlOffstRq_D_Stat 3 "Faulty" 2 "NoDataExists" 1 "Allow_External_Angle_Req" 0 "Deny_External_Angle_Req"; +VAL_ 137 SteWhlOffst_An_TotActl 32767 "Faulty" 32766 "NoDataExists"; +VAL_ 137 SteWhlBrkOffst_An_Actl 32767 "Faulty" 32766 "NoDataExists"; +VAL_ 129 SelDrvMdeSwtch_D_Stat4 3 "Faulty" 2 "SwitchState2" 1 "SwitchState1" 0 "NotPressed"; +VAL_ 129 SteWhlSwtchView_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 129 SteWhlSwtchSet_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 129 SteWhlSwtchPhon_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 129 SteWhlSwtchNav_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 129 SteWhlSwtchMed_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 129 SteWhlSwtchIod_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 129 SteWhlSwtchHud_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 129 SteWhlSwtchBack_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 129 SteWhlSwtchMenu_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 129 SteEffortInc_B_RqDrv 1 "Pressed" 0 "Not_Pressed"; +VAL_ 129 SelDrvMdeInc_B_RqDrv 1 "Pressed" 0 "Not_Pressed"; +VAL_ 129 SelDrvMdeDec_B_RqDrv 1 "Pressed" 0 "Not_Pressed"; +VAL_ 129 SuspDampInc_B_RqDrv 1 "Pressed" 0 "Not_Pressed"; +VAL_ 129 SteWhlSwtchUp_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 129 SteWhlSwtchRght_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 129 SteWhlSwtchOk_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 129 SteWhlSwtchLeft_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 129 SteWhlSwtchDown_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 129 SteWhlSwtchHome_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 129 SteWhlSwtchInfo_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 935 SodRight_D_Stat 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "Invalid" 3 "Disabled" 2 "On" 1 "Trailer_Tow_Off" 0 "Off"; +VAL_ 935 CtaAlrtRight2_D_Stat 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "AlertZone4" 3 "AlertZone3" 2 "AlertZone2" 1 "AlertZone1" 0 "Off"; +VAL_ 935 BttRight_D_Stat 7 "NotUsed" 6 "Disabled" 5 "Off" 4 "OffTemp" 3 "NotConnected" 2 "Pending" 1 "Connected" 0 "NotDetermined"; +VAL_ 935 BttRight_D_RqDrv 3 "NotUsed" 2 "Request" 1 "NoRequest" 0 "Null"; +VAL_ 935 CtaBrkRightMsgTxt_B_Rq 1 "Enable" 0 "Disable"; +VAL_ 935 CtaRightBrkEnbl_B_Rq 1 "Enable" 0 "Disable"; +VAL_ 935 CtaRightBrkDecel_B_Rq 1 "Enable" 0 "Disable"; +VAL_ 935 CtaSnsRight_D_Stat 3 "Invalid" 2 "System_Failure" 1 "Blocked" 0 "Clear"; +VAL_ 935 CtaAlrtRight_D_Stat 1 "On" 0 "Off"; +VAL_ 935 CtaRight_D_Stat 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "Invalid" 3 "Disabled" 2 "On" 1 "Trailer_Tow_Off" 0 "Off"; +VAL_ 935 SodSnsRight_D_Stat 3 "Second_Warning_Audio" 2 "System_Failure" 1 "Blocked" 0 "Clear"; +VAL_ 935 SodAlrtRight_D_Stat 3 "Bulb_Proveout" 2 "Flash" 1 "On" 0 "Off"; +VAL_ 935 SodDetctRight_D_Stat 4 "Sensor_Blocked" 3 "Sensor_Fault" 2 "Flash_On" 1 "Alert_On" 0 "AlertOff_FlashOff_SensrClr"; +VAL_ 1108 RCMSerialNoByte8 255 "Invalid" 254 "Unknown"; +VAL_ 1108 RCMSerialNoByte7 255 "Invalid" 254 "Unknown"; +VAL_ 1108 RCMSerialNoByte6 255 "Invalid" 254 "Unknown"; +VAL_ 1108 RCMSerialNoByte5 255 "Invalid" 254 "Unknown"; +VAL_ 1108 RCMSerialNoByte4 255 "Invalid" 254 "Unknown"; +VAL_ 1108 RCMSerialNoByte3 255 "Invalid" 254 "Unknown"; +VAL_ 1108 RCMSerialNoByte2 255 "Invalid" 254 "Unknown"; +VAL_ 1108 RCMSerialNoByte1 255 "Invalid" 254 "Unknown"; +VAL_ 261 ChrgStatDsply_D_Rq 3 "NotUsed_2" 2 "NotUsed_1" 1 "On" 0 "Off"; +VAL_ 261 NextUsageTimeToggle_Rq 0 "Inactive" 2 "Disable" 1 "Enable"; +VAL_ 261 LongTermParking_Rq 0 "Inactive" 1 "On" 2 "Off" 3 "NotUsed"; +VAL_ 261 ModemReset_D_Rq 15 "NotUsed_11" 14 "NotUsed_10" 13 "NotUsed_9" 12 "NotUsed_8" 11 "NotUsed_7" 10 "NotUsed_6" 9 "NotUsed_5" 8 "NotUsed_4" 7 "NotUsed_3" 6 "BrandConnectReset2" 5 "BrandConnectReset1" 4 "CcsReset" 3 "OnlineTrafficReset" 2 "PaakReset" 1 "WifiHotspotReset" 0 "Null"; +VAL_ 261 StopStrtDrvMde_B_RqBtn3 1 "Pressed" 0 "Not_Pressed"; +VAL_ 261 TCU_ESN_D_Rq 3 "NotUsed" 2 "TCU_ESN_Request" 1 "NoRequest" 0 "Inactive"; +VAL_ 261 FactoryReset_Rq 1 "ResetFactoryDefaults" 0 "Inactive"; +VAL_ 1146 TrlrAidSwtch_D_RqDrv 3 "Faulty" 2 "NotUsed" 1 "Pressed" 0 "Not_Pressed"; +VAL_ 1146 TrlrAidCtl_U_RqDrv 4095 "Faulty" 4094 "NoDataExists"; +VAL_ 533 DcacGfciTestBttn_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 533 DcacPwResetButtn_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 533 DcacPwOffButtn_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 533 DcacPwLoButtn_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 533 DcacPwHiButtn_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 533 DcacPwButtn_B_Falt 1 "Faulted" 0 "NotFaulted"; +VAL_ 533 TrlrHitch_D_RqMnu 15 "NotUsed_10" 14 "NotUsed_9" 13 "NotUsed_8" 12 "NotUsed_7" 11 "NotUsed_6" 10 "NotUsed_5" 9 "NotUsed_4" 8 "NotUsed_3" 7 "NotUsed_2" 6 "NotUsed_1" 5 "GoToTraileringDomain" 4 "Confirm" 3 "TurnOnTba" 2 "TurnOnAutohitch" 1 "CancelAutohitch" 0 "NoRequest"; +VAL_ 533 AutoEpbZoomView_B_Stat 1 "Active" 0 "Inactive"; +VAL_ 533 AutoEpbButtn_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 533 TrlrAidMde_D_Rq 3 "Mode_3" 2 "Mode_2" 1 "Mode_1" 0 "NoRequest"; +VAL_ 533 TCU_Init_Actvtn_St 3 "NotUsed" 2 "InitialActivateDeny" 1 "InitialActivateAccept" 0 "Invalid"; +VAL_ 533 TCU_Final_Actvtn_St 3 "NotUsed" 2 "FinalActivateDeny" 1 "FinalActivateAccept" 0 "Invalid"; +VAL_ 533 OtaTrg_D_Stat 3 "NotUsed_1" 2 "Accepted" 1 "NotAccepted" 0 "Null"; +VAL_ 533 OnbChrgGoTTouch_D_Rq 3 "NotUsed" 2 "On" 1 "Off" 0 "Null"; +VAL_ 533 OnbChrgGoTPrcond_D_Rq 3 "High" 2 "Medium" 1 "Low" 0 "Off"; +VAL_ 533 OnbChrgGoTOn_D_Rq 3 "NotUsed" 2 "On" 1 "Off" 0 "Null"; +VAL_ 533 OnbChrgGoTMnte_D_Rq 15 "NotUsed_4" 14 "NotUsed_3" 13 "NotUsed_2" 12 "NotUsed_1" 11 "Minute_55" 10 "Minute_50" 9 "Minute_45" 8 "Minute_40" 7 "Minute_35" 6 "Minute_30" 5 "Minute_25" 4 "Minute_20" 3 "Minute_15" 2 "Minute_10" 1 "Minute_5" 0 "Minute_0"; +VAL_ 533 OnbChrgGoTHr_T_Rq 31 "Faulty" 30 "NoDataExists"; +VAL_ 533 OnbChrgGoTExtHtr_D_Rq 3 "NotUsed" 2 "On" 1 "Off" 0 "Null"; +VAL_ 533 OnbChrgGoTDelete_B_Rq 1 "Request" 0 "NoRequest"; +VAL_ 533 OnbChrgClearAll_B_Rq 1 "Request" 0 "NoRequest"; +VAL_ 533 PaakMyKey_D_Rq 3 "NotUsed" 2 "ConfirmNewPaakMyKey" 1 "RequestNewPaakMyKey" 0 "None"; +VAL_ 533 OnbChrgGoTUpdate_B_Rq 1 "Request" 0 "NoRequest"; +VAL_ 1041 ElCmprUHi_D_Stat 3 "Overvoltage" 2 "Undervoltage" 1 "InRange" 0 "Undetermined"; +VAL_ 1041 ElCmprOverTe_D_Stat 3 "OverTempStop" 2 "OverTempWarning" 1 "Normal" 0 "Undefined"; +VAL_ 1041 ElCmpr_N_Actl 255 "Invalid"; +VAL_ 1041 ElCmpr_Pw_Actl 255 "Invalid"; +VAL_ 1041 ElCmpr_D_Stat 7 "Signal_Invalid" 6 "Comp_Off_ActlSpd_Abnormal" 5 "Comp_Off_TrgtSpd_OutRange" 4 "Comp_Shutdown" 3 "Comp_Stopped_Self_Protect" 2 "Comp_Degraded" 1 "Comp_On" 0 "Comp_Off"; +VAL_ 1041 ElCmprPerfErr_D_Falt 3 "NotUsed" 2 "Pass" 1 "Fail" 0 "Not_Diagnose_Yet"; +VAL_ 1041 ElCmprInnrErr_D_Falt 3 "NotUsed" 2 "Pass" 1 "Fail" 0 "Not_Diagnose_Yet"; +VAL_ 1041 ElCmprLostComm_D_Falt 3 "NotUsed" 2 "Pass" 1 "Fail" 0 "Not_Diagnose_Yet"; +VAL_ 1041 ElCmprOverLoad_D_Falt 3 "NotUsed" 2 "Pass" 1 "Fail" 0 "Not_Diagnose_Yet"; +VAL_ 1041 ElCmprOverTe_D_Falt 3 "NotUsed" 2 "Pass" 1 "Fail" 0 "Not_Diagnose_Yet"; +VAL_ 1041 ElCmprBattURng_D_Falt 3 "NotUsed" 2 "Pass" 1 "Fail" 0 "Not_Diagnose_Yet"; +VAL_ 1041 ElCmprBattSysU_D_Falt 3 "NotUsed" 2 "Pass" 1 "Fail" 0 "Not_Diagnose_Yet"; +VAL_ 1041 ElCmprSysU_D_Falt 3 "NotUsed" 2 "Pass" 1 "Fail" 0 "Not_Diagnose_Yet"; +VAL_ 1067 BattULoAuxIsol_D_Rq 3 "Undefined" 2 "Retain" 1 "Close" 0 "Open"; +VAL_ 1067 BattULoAux_U_Rq 4095 "Faulty"; +VAL_ 1067 BattULoAux_I_Actl 4095 "Faulty"; +VAL_ 1067 BattULoAux_D_Qlty 3 "OK" 2 "Not_Within_Specifications" 1 "Eval_In_Progress" 0 "Faulty"; +VAL_ 1067 BattULoAux_U_Actl 255 "Faulty"; +VAL_ 1067 BattULoAux_B_Falt 1 "Fault" 0 "No_Fault"; +VAL_ 1112 BattTracChrgSustn_B_Rq 1 "Active" 0 "Inactive"; +VAL_ 1112 BattTracCnnct_D_Cmd 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "WeldCheck" 3 "OkToDischarge" 2 "Closed" 1 "Precharge" 0 "Open"; +VAL_ 1112 BattTracHvilOpen_B_Stat 1 "Open" 0 "Closed"; +VAL_ 1112 BattTracDcdcDis_B_Rq 1 "Yes" 0 "No"; +VAL_ 1112 HtrnClntPump_D_Stat 3 "Faulty" 2 "No_Data_Exists" 1 "On" 0 "Off"; +VAL_ 1112 BattTracClntPmp_D_Stat 3 "Faulty" 2 "No_Data_Exists" 1 "On" 0 "Off"; +VAL_ 139 AfsPw_B_Rq 1 "Yes" 0 "No"; +VAL_ 139 AccButtnGpTogglePress2 1 "Pressed" 0 "Not_Pressed"; +VAL_ 139 TjaButtnOnOffPress2 1 "Pressed" 0 "Not_Pressed"; +VAL_ 139 ActvFrontSteMsgTxt_D_Rq 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage"; +VAL_ 139 ActvFrontSteLck_D_Stat 3 "Test_passed" 2 "Test_failed" 1 "Test_cannot_run" 0 "Test_incomplete"; +VAL_ 139 SelDrvMdeAdptSte_D_Stat 3 "Faulty" 2 "TemporarilyNotAvailable" 1 "Available" 0 "NotAvailable"; +VAL_ 139 AslButtnOnOffPress2 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 139 AslButtnOnOffCnclPres2 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 139 CcButtnOnPress2 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 139 CcButtnOnOffPress2 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 139 CcButtnOnOffCnclPress2 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 139 CcButtnOffPress2 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 139 CcAsllButtnResPress2 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 139 CcAslButtnSetPress2 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 139 CcAslButtnSetIncPress2 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 139 CcAslButtnSetDecPress2 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 139 CcAslButtnResIncPress2 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 139 CcAslButtnResDecPress2 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 139 CcAslButtnOnPress2 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 139 CcAslButtnOnOffCncl2 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 139 CcAslButtnOffCnclPres2 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 139 CcAslButtnIndxIncPres2 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 139 CcAslButtnIndxDecPres2 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 139 CcAslButtnDeny_B_Actl2 1 "Yes" 0 "No"; +VAL_ 139 CcAslButtnCnclResPres2 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 139 CcAslButtnCnclPress2 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 139 AccButtnGapIncPress2 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 139 AccButtnGapDecPress2 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 1121 SelDrvMdeSwtch_D_Stat 3 "Faulty" 2 "SwitchState2" 1 "SwitchState1" 0 "NotPressed"; +VAL_ 1121 SelDrvMdeCnt_D_Stat 4 "FourCounts" 3 "ThreeCounts" 2 "TwoCounts" 1 "OneCount" 0 "ZeroCounts" 7 "SevenOrMoreCounts" 6 "SixCounts" 5 "FiveCounts"; +VAL_ 1120 DrvSlipCtlMde_B_Rq3 1 "Pressed" 0 "Not_Pressed"; +VAL_ 1120 HybMdeSwtch_B_Rq 1 "Pressed" 0 "Not_Pressed"; +VAL_ 1120 TrailCtlSwtch_B_Stat3 1 "Pressed" 0 "Not_Pressed"; +VAL_ 1120 RearDiffLck_D_RqDrv 3 "Faulty" 2 "NoRequest" 1 "On" 0 "Off"; +VAL_ 1120 AwdMde_D_RqDrv 7 "Faulty" 6 "NotUsed2" 5 "NoRequest" 4 "Neutral" 3 "FourByFourLow" 2 "FourByFourHigh" 1 "FourByFourAuto" 0 "FourByTwo"; +VAL_ 1120 HdcSwtchPos_B_Actl 1 "Pressed" 0 "Not_Pressed"; +VAL_ 1050 AutoHoldSwtch_D_Stat 3 "Faulty" 2 "NotUsed" 1 "Pressed" 0 "Not_Pressed"; +VAL_ 1050 LpdbPtc3_B_Rq 1 "On" 0 "Off"; +VAL_ 1050 LpdbPtc2_B_Rq 1 "On" 0 "Off"; +VAL_ 1050 LpdbPtc1_B_Rq 1 "On" 0 "Off"; +VAL_ 1050 LpdbHeatWiprPrk_B_Rq 1 "On" 0 "Off"; +VAL_ 1050 LpdbDfrstRearOn_B_Rq 1 "On" 0 "Off"; +VAL_ 1050 SteWhlHeat_D_Rq 15 "NotUsed6" 14 "NotUsed5" 13 "NotUsed4" 12 "NotUsed3" 11 "NotUsed2" 10 "NotUsed1" 9 "Reserved_3" 8 "Reserved_2" 7 "Reserved_1" 6 "Level_3_Heating" 5 "Level_3_Heating_LS" 4 "Level_2_Heating" 3 "Level_2_Heating_LS" 2 "Level_1_Heating" 1 "Level_1_Heating_LS" 0 "Off"; +VAL_ 1050 MirrorHeatOn_B_Rq 1 "True" 0 "False"; +VAL_ 1050 Remote_Start_QuietMode 1 "Quiet" 0 "Not_Quiet"; +VAL_ 1050 Outside_Air_Temp_Stat 255 "Invalid" 254 "Unknown"; +VAL_ 1137 RngPerChrgAvg_L_Dsply 4095 "Faulty" 4094 "NoDataExists"; +VAL_ 1255 BalrRight4Threat_D_Stat 1 "Yes" 0 "No"; +VAL_ 1255 BalrRight4Fast_B_Stat 1 "Yes" 0 "No"; +VAL_ 1255 BalrRight4Dsply_B_Stat 1 "Yes" 0 "No"; +VAL_ 1254 BalrRight3Threat_D_Stat 1 "Yes" 0 "No"; +VAL_ 1254 BalrRight3Fast_B_Stat 1 "Yes" 0 "No"; +VAL_ 1254 BalrRight3Dsply_B_Stat 1 "Yes" 0 "No"; +VAL_ 1253 BalrRight2Threat_D_Stat 1 "Yes" 0 "No"; +VAL_ 1253 BalrRight2Fast_B_Stat 1 "Yes" 0 "No"; +VAL_ 1253 BalrRight2Dsply_B_Stat 1 "Yes" 0 "No"; +VAL_ 1252 BalrRight1Threat_D_Stat 1 "Yes" 0 "No"; +VAL_ 1252 BalrRight1Fast_B_Stat 1 "Yes" 0 "No"; +VAL_ 1252 BalrRight1Dsply_B_Stat 1 "Yes" 0 "No"; +VAL_ 1251 BalrLeft4Threat_D_Stat 1 "Yes" 0 "No"; +VAL_ 1251 BalrLeft4Fast_B_Stat 1 "Yes" 0 "No"; +VAL_ 1251 BalrLeft4Dsply_B_Stat 1 "Yes" 0 "No"; +VAL_ 1250 BalrLeft3Threat_D_Stat 1 "Yes" 0 "No"; +VAL_ 1250 BalrLeft3Fast_B_Stat 1 "Yes" 0 "No"; +VAL_ 1250 BalrLeft3Dsply_B_Stat 1 "Yes" 0 "No"; +VAL_ 1249 BalrLeft2Threat_D_Stat 1 "Yes" 0 "No"; +VAL_ 1249 BalrLeft2Fast_B_Stat 1 "Yes" 0 "No"; +VAL_ 1249 BalrLeft2Dsply_B_Stat 1 "Yes" 0 "No"; +VAL_ 1248 BalrLeft1Threat_D_Stat 1 "Yes" 0 "No"; +VAL_ 1248 BalrLeft1Fast_B_Stat 1 "Yes" 0 "No"; +VAL_ 1248 BalrLeft1Dsply_B_Stat 1 "Yes" 0 "No"; +VAL_ 1113 TrlrTrgtAcquire_D_Stat 7 "Faulty" 6 "NotUsed_2" 5 "NotUsed_1" 4 "RVCforTBA_Activated" 3 "Processing" 2 "TargetNotAcquired" 1 "TargetAcquired" 0 "Null"; +VAL_ 1113 TrlrAnOffstDir_D_Calc 3 "NotUSed" 2 "Right" 1 "Left_or_Center" 0 "Null"; +VAL_ 1113 TrlrAnCalib_B_Complt 1 "Yes" 0 "No"; +VAL_ 1113 TrlrRvrse_D_Stat 3 "Faulty" 2 "TrailerReverseGuidanceLite" 1 "On" 0 "Off"; +VAL_ 1113 TrlrAid_D2_Stat 15 "Faulty" 14 "NotUsed_4" 13 "NotUsed_3" 12 "NotUsed_2" 11 "NotUsed_1" 10 "DirtyCamera" 9 "IncorrectLighting" 8 "TrackingLost" 7 "TrackingUnknownConfidence" 6 "TrackingHighConfidence" 5 "TrackingMediumConfidence" 4 "TrackingLowConfidence" 3 "TurnRequested" 2 "DriveStraighRequested" 1 "Initializing" 0 "NotTracking"; +VAL_ 1113 TrlrAid_An3_Actl 2047 "Faulty"; +VAL_ 1113 TrlrAid_AnRate2_Actl 1023 "Faulty"; +VAL_ 1113 HitchToVehAxle_L_Calc 255 "Faulty"; +VAL_ 1105 TrlrAidSwtchLamp_B_Rq 1 "On" 0 "Off"; +VAL_ 1105 TrlrHitchMsgTxt_D_Rq 31 "Message31" 30 "Message30" 29 "Message29" 28 "Message28" 27 "Message27" 26 "Message26" 25 "Message25" 24 "Message24" 23 "Message23" 22 "Message22" 21 "Message21" 20 "Message20" 19 "Message19" 18 "Message18" 17 "Message17" 16 "Message16" 15 "Message15" 14 "Message14" 13 "Message13" 12 "Message12" 11 "Message11" 10 "Message10" 9 "Message9" 8 "Message8" 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage" 63 "Message63" 47 "Message47"; +VAL_ 1105 TrlrHitchIcon_D_Rq 15 "Icon15" 14 "Icon14" 13 "Icon13" 12 "Icon12" 11 "Icon11" 10 "Icon10" 9 "Icon9" 8 "Icon8" 7 "Icon7" 6 "Icon6" 5 "Icon5" 4 "Icon4" 3 "Icon3" 2 "Icon2" 1 "Icon1" 0 "NoIcon"; +VAL_ 1105 TrlrHitchChime_D_Rq 7 "NotUsed_1" 6 "NotUsed_1" 5 "WarningChime" 4 "NonCriticalAlertChime" 3 "StopNowChime" 2 "ManeuveringReadyChime" 1 "TrailerFoundChime" 0 "NoChime"; +VAL_ 1105 TrlrAidEnbl_D_RqAdas 7 "NotUsed_4" 6 "NotUsed_3" 5 "NotUsed_2" 4 "NotUsed_1" 3 "Deactivate" 2 "NotAvailable" 1 "ActiveTba" 0 "Inactive"; +VAL_ 1105 TrlrRvrseMsgTxt_D2_Rq 31 "Message31" 30 "Message30" 29 "Message29" 28 "Message28" 27 "Message27" 26 "Message26" 25 "Message25" 24 "Message24" 23 "Message23" 22 "Message22" 21 "Message21" 20 "Message20" 19 "Message19" 18 "Message18" 17 "Message17" 16 "Message16" 15 "Message15" 14 "Message14" 13 "Message13" 12 "Message12" 11 "Message11" 10 "Message10" 9 "Message9" 8 "Message8" 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage"; +VAL_ 1105 TrlrRvrseEnbl_D2_Stat 7 "NotUsed" 6 "TbaActiveExpertActive" 5 "TbaActiveExpertAvail" 4 "TbaOffTrgActive" 3 "TbaOffTrgSetup" 2 "TbaSetup" 1 "TbaActive" 0 "Inactive"; +VAL_ 1105 RbaMsg_D_Rq 3 "Faulty" 2 "Unavailable" 1 "Off" 0 "Null"; +VAL_ 1105 BrkDecel_B_RqRba 1 "Enable" 0 "Disable"; +VAL_ 1105 BrkEnbl_B_RqRba 1 "Enable" 0 "Disable"; +VAL_ 1105 Rba_D_Stat 3 "NotUsed" 2 "Disabled" 1 "On" 0 "Off"; +VAL_ 1105 RbaAlrt_D_Dsply 3 "Both" 2 "Text" 1 "Graphic" 0 "Off"; +VAL_ 1105 RbaMnu_D_Rq 3 "NotUsed" 2 "Active" 1 "Inactive" 0 "None"; +VAL_ 1105 CamraFrntStat_D_Stat 3 "No_Data_Present" 2 "NotUsed" 1 "On" 0 "Off"; +VAL_ 1105 TrlrHitchLamp_D_Rq2 1 "On" 0 "Off"; +VAL_ 938 SidePrkSnsR2_D_Stat 15 "NotUsed" 14 "NotFullyScannedYet" 13 "NoObjectInSector" 12 "Zone12" 11 "Zone11" 10 "Zone10" 9 "Zone9" 8 "Zone8" 7 "Zone7" 6 "Zone6" 5 "Zone5" 4 "Zone4" 3 "Zone3" 2 "Zone2" 1 "Zone1" 0 "Off"; +VAL_ 938 SidePrkSnsR1_D_Stat 15 "NotUsed" 14 "NotFullyScannedYet" 13 "NoObjectInSector" 12 "Zone12" 11 "Zone11" 10 "Zone10" 9 "Zone9" 8 "Zone8" 7 "Zone7" 6 "Zone6" 5 "Zone5" 4 "Zone4" 3 "Zone3" 2 "Zone2" 1 "Zone1" 0 "Off"; +VAL_ 938 SidePrkSnsL2_D_Stat 15 "NotUsed" 14 "NotFullyScannedYet" 13 "NoObjectInSector" 12 "Zone12" 11 "Zone11" 10 "Zone10" 9 "Zone9" 8 "Zone8" 7 "Zone7" 6 "Zone6" 5 "Zone5" 4 "Zone4" 3 "Zone3" 2 "Zone2" 1 "Zone1" 0 "Off"; +VAL_ 938 ApaMde_D_Stat 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "POA" 3 "PPA" 2 "SAPP" 1 "Off" 0 "Null"; +VAL_ 938 ApaActvSd_D_Actl 3 "Dirver_Side" 2 "Passenger_Side" 1 "No_Side" 0 "Null"; +VAL_ 938 PrkAidSwtch_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 938 ApaMde_D_Avail 15 "NotUsed7" 14 "NotUsed6" 13 "NotUsed5" 12 "NotUsed4" 11 "NotUsed3" 10 "NotUsed2" 9 "NotUsed1" 8 "PPA_POA" 7 "SAPP_POA" 6 "POA" 5 "PPA" 4 "SAPP" 3 "SAPP_PPA_POA" 2 "SAPP_PPA" 1 "None" 0 "Null"; +VAL_ 938 PrkAidSnsFrCrnr_D_Stat 15 "Zone_15" 14 "Zone_14" 13 "Zone_13" 12 "Zone_12" 11 "Zone_11" 10 "Zone_10" 9 "Zone_9" 8 "Zone_8" 7 "Zone_7" 6 "Zone_6" 5 "Zone_5" 4 "Zone_4" 3 "Zone_3" 2 "Zone_2" 1 "Zone_1" 0 "Off"; +VAL_ 938 PrkAidSnsFrCntr_D_Stat 15 "Zone_15" 14 "Zone_14" 13 "Zone_13" 12 "Zone_12" 11 "Zone_11" 10 "Zone_10" 9 "Zone_9" 8 "Zone_8" 7 "Zone_7" 6 "Zone_6" 5 "Zone_5" 4 "Zone_4" 3 "Zone_3" 2 "Zone_2" 1 "Zone_1" 0 "Off"; +VAL_ 938 PrkAidSnsFlCrnr_D_Stat 15 "Zone_15" 14 "Zone_14" 13 "Zone_13" 12 "Zone_12" 11 "Zone_11" 10 "Zone_10" 9 "Zone_9" 8 "Zone_8" 7 "Zone_7" 6 "Zone_6" 5 "Zone_5" 4 "Zone_4" 3 "Zone_3" 2 "Zone_2" 1 "Zone_1" 0 "Off"; +VAL_ 938 PrkAidSnsFlCntr_D_Stat 15 "Zone_15" 14 "Zone_14" 13 "Zone_13" 12 "Zone_12" 11 "Zone_11" 10 "Zone_10" 9 "Zone_9" 8 "Zone_8" 7 "Zone_7" 6 "Zone_6" 5 "Zone_5" 4 "Zone_4" 3 "Zone_3" 2 "Zone_2" 1 "Zone_1" 0 "Off"; +VAL_ 938 PrkBrkEl_B_RqFap 1 "Yes" 0 "No"; +VAL_ 938 RpaChime_D_Rq 15 "Zone15_Chime" 14 "Zone14_Chime" 13 "Zone13_Chime" 12 "Zone12_Chime" 11 "Zone11_Chime" 10 "Zone10_Chime" 9 "Zone9_Chime" 8 "Zone8_Chime" 7 "Zone7_Chime" 6 "Zone6_Chime" 5 "Zone5_Chime" 4 "Zone4_Chime" 3 "Zone3_Chime" 2 "Zone2_Chime" 1 "Zone1_Chime" 0 "No_Chime"; +VAL_ 938 FpaChime_D_Rq 15 "Zone15_Chime" 14 "Zone14_Chime" 13 "Zone13_Chime" 12 "Zone12_Chime" 11 "Zone11_Chime" 10 "Zone10_Chime" 9 "Zone9_Chime" 8 "Zone8_Chime" 7 "Zone7_Chime" 6 "Zone6_Chime" 5 "Zone5_Chime" 4 "Zone4_Chime" 3 "Zone3_Chime" 2 "Zone2_Chime" 1 "Zone1_Chime" 0 "No_Chime"; +VAL_ 938 PrkAidMsgTxt_D_Rq 15 "All_Sns_Blk" 14 "R_Sns_ON_F_Sns_Blk" 13 "R_Sns_Blk_F_Sns_ON" 12 "R_Sns_Inactive_Trlr_atch" 11 "Not_Avail_Trlr_attchd" 10 "Fail_Mode_no_Chime" 9 "Fail_Mode_with_Chime" 8 "R_Sns_Trlr_F_Sns_Blk" 7 "NotUsed3" 6 "Park_Sys_Alternate_Mode" 5 "R_Snsrs_On_F_Snsrs_On" 4 "NotUsed2" 3 "Reset_Message_Warn" 2 "R_Snsrs_Off_F_Snsrs_On" 1 "R_Snsrs_On_F_Snsrs_Off" 0 "All_Park_Sensors_Off"; +VAL_ 938 SidePrkSnsL1_D_Stat 15 "NotUsed" 14 "NotFullyScannedYet" 13 "NoObjectInSector" 12 "Zone12" 11 "Zone11" 10 "Zone10" 9 "Zone9" 8 "Zone8" 7 "Zone7" 6 "Zone6" 5 "Zone5" 4 "Zone4" 3 "Zone3" 2 "Zone2" 1 "Zone1" 0 "Off"; +VAL_ 938 PrkAidAudioMute_B_Rq 1 "Enable" 0 "Disable"; +VAL_ 939 ApaBrk_D_Rq 3 "NotUsed" 2 "LowDecel" 1 "HighDecel" 0 "NoRequest"; +VAL_ 939 SidePrkSnsR4_D_Stat 15 "NotUsed" 14 "NotFullyScannedYet" 13 "NoObjectInSector" 12 "Zone12" 11 "Zone11" 10 "Zone10" 9 "Zone9" 8 "Zone8" 7 "Zone7" 6 "Zone6" 5 "Zone5" 4 "Zone4" 3 "Zone3" 2 "Zone2" 1 "Zone1" 0 "Off"; +VAL_ 939 SidePrkSnsR3_D_Stat 15 "NotUsed" 14 "NotFullyScannedYet" 13 "NoObjectInSector" 12 "Zone12" 11 "Zone11" 10 "Zone10" 9 "Zone9" 8 "Zone8" 7 "Zone7" 6 "Zone6" 5 "Zone5" 4 "Zone4" 3 "Zone3" 2 "Zone2" 1 "Zone1" 0 "Off"; +VAL_ 939 SidePrkSnsL4_D_Stat 15 "NotUsed" 14 "NotFullyScannedYet" 13 "NoObjectInSector" 12 "Zone12" 11 "Zone11" 10 "Zone10" 9 "Zone9" 8 "Zone8" 7 "Zone7" 6 "Zone6" 5 "Zone5" 4 "Zone4" 3 "Zone3" 2 "Zone2" 1 "Zone1" 0 "Off"; +VAL_ 939 SidePrkSnsL3_D_Stat 15 "NotUsed" 14 "NotFullyScannedYet" 13 "NoObjectInSector" 12 "Zone12" 11 "Zone11" 10 "Zone10" 9 "Zone9" 8 "Zone8" 7 "Zone7" 6 "Zone6" 5 "Zone5" 4 "Zone4" 3 "Zone3" 2 "Zone2" 1 "Zone1" 0 "Off"; +VAL_ 939 PrkAidChime_D_Stat 3 "Fault" 2 "No_Data_Exists" 1 "On" 0 "Off"; +VAL_ 939 PrkAidSnsRlCntr_D_Stat 15 "Zone_15" 14 "Zone_14" 13 "Zone_13" 12 "Zone_12" 11 "Zone_11" 10 "Zone_10" 9 "Zone_9" 8 "Zone_8" 7 "Zone_7" 6 "Zone_6" 5 "Zone_5" 4 "Zone_4" 3 "Zone_3" 2 "Zone_2" 1 "Zone_1" 0 "Off"; +VAL_ 939 PrkAidSnsRrCrnr_D_Stat 15 "Zone_15" 14 "Zone_14" 13 "Zone_13" 12 "Zone_12" 11 "Zone_11" 10 "Zone_10" 9 "Zone_9" 8 "Zone_8" 7 "Zone_7" 6 "Zone_6" 5 "Zone_5" 4 "Zone_4" 3 "Zone_3" 2 "Zone_2" 1 "Zone_1" 0 "Off"; +VAL_ 939 PrkAidSnsRrCntr_D_Stat 15 "Zone_15" 14 "Zone_14" 13 "Zone_13" 12 "Zone_12" 11 "Zone_11" 10 "Zone_10" 9 "Zone_9" 8 "Zone_8" 7 "Zone_7" 6 "Zone_6" 5 "Zone_5" 4 "Zone_4" 3 "Zone_3" 2 "Zone_2" 1 "Zone_1" 0 "Off"; +VAL_ 939 PrkAidSnsRlCrnr_D_Stat 15 "Zone_15" 14 "Zone_14" 13 "Zone_13" 12 "Zone_12" 11 "Zone_11" 10 "Zone_10" 9 "Zone_9" 8 "Zone_8" 7 "Zone_7" 6 "Zone_6" 5 "Zone_5" 4 "Zone_4" 3 "Zone_3" 2 "Zone_2" 1 "Zone_1" 0 "Off"; +VAL_ 939 PrkAidRear_D_Stat 3 "Faulted" 2 "Unused" 1 "Enabled" 0 "Disabled"; +VAL_ 939 PrkAidFront_D_Stat 3 "Faulted" 2 "Unused" 1 "Enabled" 0 "Disabled"; +VAL_ 939 PrkAid_D_Falt 7 "NotUsed2" 6 "NotUsed1" 5 "Failure_Front_PSM_Sensors" 4 "No_Data_Exists" 3 "Failure_Rear_Sensors" 2 "Speaker_Fault" 1 "ECU_Fault" 0 "No_Fault"; +VAL_ 939 ApaLongCtrlEnbl_D_Rq 1 "Enable" 0 "Disable"; +VAL_ 939 PrkAidLamp_D_Rq 3 "Not_Used" 2 "Flash" 1 "On" 0 "Off"; +VAL_ 937 TrnRng_D_RqFap 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "Backwards" 3 "Forwards" 2 "NoMotion" 1 "Immobilize" 0 "NoRequest"; +VAL_ 937 FapLcDistToObj_L_Actl 255 "Faulty" 254 "NoDataExists"; +VAL_ 936 ApaButtnPrssd_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 936 ApaSys_D_Stat 7 "Faulty" 6 "Finished" 5 "NotAccessible" 4 "ApaCancelled" 3 "Overspeed" 2 "On" 1 "Off" 0 "Null"; +VAL_ 936 ApaSteWhl_D_RqDrv 3 "TakeControl" 2 "RemoveHands" 1 "NoRequest" 0 "Null"; +VAL_ 936 ApaSteScanMde_D_Stat 3 "Steering" 2 "Scanning" 1 "NotScanning" 0 "Null"; +VAL_ 936 ApaSelSapp_D_Stat 3 "NotConfigured" 2 "NotSelectable" 1 "Selectable" 0 "Null"; +VAL_ 936 ApaSelPpa_D_Stat 3 "NotConfigured" 2 "NotSelectable" 1 "Selectable" 0 "Null"; +VAL_ 936 ApaSelPoa_D_Stat 3 "NotConfigured" 2 "NotSelectable" 1 "Selectable" 0 "Null"; +VAL_ 936 ApaScan_D_Stat 3 "ParkSlotReady" 2 "ParkSlotFound" 1 "NoParkSlot" 0 "Null"; +VAL_ 936 ApaLongCtl_D_RqDrv 7 "NotUsed3" 6 "NotUsed2" 5 "ReleaseBrake" 4 "DriveBackward" 3 "DriveForward" 2 "Stop" 1 "NoRequest" 0 "Null"; +VAL_ 936 ApaGearShif_D_RqDrv 7 "NotUSed2" 6 "NotUsed1" 5 "ShiftToP" 4 "ShiftToN" 3 "ShiftToD" 2 "ShiftToR" 1 "NoRequest" 0 "Null"; +VAL_ 936 ApaActvSide2_D_Stat 3 "NoSide" 2 "Right" 1 "Left" 0 "Null"; +VAL_ 936 ApaAcsy_D_RqDrv 7 "CloseDoor" 6 "SelectSideRight" 5 "SelectSideLeft" 4 "CheckForObject" 3 "PressApaButton" 2 "SelectSide" 1 "NoRequest" 0 "Null"; +VAL_ 936 ApaTrgtDist_D_Stat 15 "Step15" 14 "Step14" 13 "Step13" 12 "Step12" 11 "Step11" 10 "Step10" 9 "Step9" 8 "Step8" 7 "Step7" 6 "Step6" 5 "Step5" 4 "Step4" 3 "Step3" 2 "Step2" 1 "Step1" 0 "Off"; +VAL_ 936 ApaChime_D_Rq 7 "NotUsed2" 6 "NotUsed1" 5 "Warning_Chime" 4 "Finish_Chime" 3 "Stop_Now_Chime" 2 "Spot_Ready_Chime" 1 "Spot_Found_Chime" 0 "No_Chime"; +VAL_ 936 EPASExtAngleStatReq 1 "Request" 0 "NoRequest"; +VAL_ 936 ExtSteeringAngleReq2 32767 "Invalid" 32766 "Unknown"; +VAL_ 877 VehElEffAvg_No_Dsply 127 "Faulty" 126 "NoDataExists"; +VAL_ 877 PwFlwFuelDrv_D_Dsply 7 "NotUsed_4" 6 "NotUsed_3" 5 "NotUsed_2" 4 "NotUsed_1" 3 "FlwFromFuelToAllWhls" 2 "FlwFromFuelToFrontWhls" 1 "FlwFromFuelToRearWhls" 0 "NoFlow"; +VAL_ 877 PwFlwFuelClimt_B_Dsply 1 "On" 0 "Off"; +VAL_ 877 PwFlwFuelBatt_B_Dsply 1 "On" 0 "Off"; +VAL_ 877 PwFlwBattClimt_B_Dsply 1 "On" 0 "Off"; +VAL_ 877 PwFlwBatt_D_Dsply 15 "NotUsed_8" 14 "NotUsed_7" 13 "NotUsed_6" 12 "NotUsed_5" 11 "NotUsed_4" 10 "NotUsed_3" 9 "NotUsed_2" 8 "NotUsed_1" 7 "FlwFromWallToBatt" 6 "FlwFromAllWhlsToBatt" 5 "FlwFromBattToAllWhls" 4 "FlwFromFrontWhlsToBatt" 3 "FlwFromBattToFrontWhls" 2 "FlwFromRearWhlsToBatt" 1 "FlwFromBattToRearWhls" 0 "NoFlow"; +VAL_ 588 BattTracSoc2_Pc_Actl 16383 "Faulty" 16382 "NoDataExists"; +VAL_ 588 BattTrac_Te_Actl 1023 "Fault" 1022 "Unknown"; +VAL_ 588 BattTracDiagClr_B_Rq 1 "On" 0 "Off"; +VAL_ 587 BattTracWarnLamp_B_Rq 1 "On" 0 "Off"; +VAL_ 587 BattTracSrvcRqd_B_Rq 1 "On" 0 "Off"; +VAL_ 389 HtrnOvrTeLamp_B_Dsply 1 "On" 0 "Off"; +VAL_ 389 HtrnMil_D_Rq 3 "Not_Used" 2 "Flash" 1 "On" 0 "Off"; +VAL_ 389 HtrnAin_UHi_Actl 1023 "Fault" 1022 "Unknown"; +VAL_ 389 HtrnSrvcRqd_B_Dsply 1 "On" 0 "Off"; +VAL_ 389 HtrnHvilOpen_B_Actl 1 "HVIL_is_Open" 0 "Normal_Operation"; +VAL_ 389 PtWakeupDeltaT_T_Rq 2047 "Fault" 2046 "NoDataExists"; +VAL_ 389 PreCondActv_B_Actl 1 "On" 0 "Off"; +VAL_ 389 DrvCondTpRrDefrs_B_Rq 1 "On" 0 "Off"; +VAL_ 389 BattTrac_I_EstVsc 32767 "Fault" 32766 "NoDataExists"; +VAL_ 1009 ChrgCordUnlock_B_Rq 1 "Request" 0 "NoRequest"; +VAL_ 1009 AutoHoldSwtch_D_Stat3 3 "Faulty" 2 "NotUsed" 1 "Pressed" 0 "Not_Pressed"; +VAL_ 1009 TrlrTrgtAcquire_D_Rq 7 "NotUsed_2" 6 "NotUsed_1" 5 "ActivateRVCforTBA" 4 "CancelAcquisition" 3 "RetryAcquisition" 2 "AcquisitionSuccessful" 1 "StartAcquisition" 0 "Inactive"; +VAL_ 1009 TrlrAidCancl_B_Rq 1 "Cancel" 0 "Null"; +VAL_ 1009 CenterStackRing_D_Actl 3 "LimitedOn" 2 "On" 1 "Off" 0 "Null"; +VAL_ 1009 ValetMode_D_Stat 3 "NotUsed" 2 "On" 1 "Off" 0 "Null"; +VAL_ 1009 TrlrAidSetup_D_Stat 7 "Faulty" 6 "NotUsed_3" 5 "NotUsed_2" 4 "NotUsed_1" 3 "EnterParameters" 2 "EndSetup" 1 "BeginSetup" 0 "Null"; +VAL_ 360 GsmSrvcRqd_B_Rq 1 "Yes" 0 "No"; +VAL_ 360 TrnGearPwmFalt_B_Actl 1 "Yes" 0 "No"; +VAL_ 360 GearButtnStuck_B_Actl 1 "Yes" 0 "No"; +VAL_ 122 VehStrtInhbt_B_RqBatt 1 "Yes" 0 "No"; +VAL_ 122 BattTracOffFst_D_Actl 3 "Unexpected_Contactor_Open" 2 "Restraints_Impact_Event" 1 "Interlock_Open" 0 "Normal"; +VAL_ 122 BattTracOff_B_Actl 1 "Yes" 0 "No"; +VAL_ 122 BattTracMil_D_Rq 3 "Not_Used" 2 "Flash" 1 "On" 0 "Off"; +VAL_ 122 BattTrac_U_Actl 1023 "Fault" 1022 "Unknown"; +VAL_ 122 BattTrac_I_Actl 32767 "Fault" 32766 "Unknown"; +VAL_ 90 TrnGsmNtmState_D_Actl 3 "Faulty" 2 "Neutral_Tow_Mode" 1 "Car_Wash_Mode" 0 "None"; +VAL_ 90 DrQltyDrv_D_StatGsm 7 "Faulty" 6 "NoDataExists" 5 "NotUsed2" 4 "NotUsed1" 3 "ClosedDegraded" 2 "OpenDegraded" 1 "ClosedOkay" 0 "OpenOkay"; +VAL_ 90 TrnBtsiOvrrd_B_Stat 1 "Override" 0 "Null"; +VAL_ 90 GsmGearMsgTxt_D_Rq 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage"; +VAL_ 90 TrnRng_D_RqGsm 15 "Fault" 14 "UnknownPosition" 13 "Undefined_2" 12 "Undefined_1" 11 "_6" 10 "_5" 9 "_4" 8 "_3" 7 "_2" 6 "_1" 5 "Low" 4 "Sport_DriveSport" 3 "Drive" 2 "Neutral" 1 "Reverse" 0 "Park"; +VAL_ 90 PrkBrkActv_D_RqGsmGear 3 "NotUsed" 2 "RequestParkBrakeEngage" 1 "NoRequest" 0 "Null"; +VAL_ 90 TrnValidGearRq_D_Stat 3 "Valid_Request" 2 "Valid_Degraded_Request" 1 "Invalid_Request" 0 "No_Request"; +VAL_ 90 TrnGearButtn_U_Actl 255 "Fault"; +VAL_ 90 TrnGearButtn_B_ActlR2 1 "Yes" 0 "No"; +VAL_ 90 TrnGearButtn_B_ActlR1 1 "Yes" 0 "No"; +VAL_ 90 TrnGearButtn_B_ActlR0 1 "Yes" 0 "No"; +VAL_ 90 TrnGearButtn_B_ActlP2 1 "Yes" 0 "No"; +VAL_ 90 TrnGearButtn_B_ActlP1 1 "Yes" 0 "No"; +VAL_ 90 TrnGearButtn_B_ActlP0 1 "Yes" 0 "No"; +VAL_ 90 TrnGearButtn_B_ActlN2 1 "Yes" 0 "No"; +VAL_ 90 TrnGearButtn_B_ActlN1 1 "Yes" 0 "No"; +VAL_ 90 TrnGearButtn_B_ActlN0 1 "Yes" 0 "No"; +VAL_ 90 TrnGearButtn_B_ActlM2 1 "Yes" 0 "No"; +VAL_ 90 TrnGearButtn_B_ActlM1 1 "Yes" 0 "No"; +VAL_ 90 TrnGearButtn_B_ActlM0 1 "Yes" 0 "No"; +VAL_ 90 TrnGearButtn_B_ActlD2 1 "Yes" 0 "No"; +VAL_ 90 TrnGearButtn_B_ActlD1 1 "Yes" 0 "No"; +VAL_ 90 TrnGearButtn_B_ActlD0 1 "Yes" 0 "No"; +VAL_ 90 TrnGear_D_RqDrv 31 "Fault" 30 "NotUsed_25" 29 "NotUsed_24" 28 "NotUsed_23" 27 "NotUsed_22" 26 "Return_to_Park" 25 "NotUsed_20" 24 "NotUsed_19" 23 "NotUsed_18" 22 "NotUsed_17" 21 "Return_To_Park" 20 "NotUsed_15" 19 "NotUsed_14" 18 "NotUsed_13" 17 "NotUsed_12" 16 "Manual" 15 "Not_Used11" 14 "Not_Used10" 13 "NotUsed_9" 12 "NotUsed_8" 11 "NotUsed_7" 10 "NotUsed_6" 9 "NotUsed_5" 8 "Drive" 7 "NotUsed_4" 6 "NotUsed_3" 5 "NotUsed_2" 4 "Neutral" 3 "NotUsed_1" 2 "Reverse" 1 "Park" 0 "No_Gear"; +VAL_ 90 BrkSwtchPos_B_ActlGsm 1 "Yes" 0 "No"; +VAL_ 1091 ParkLampTrlrOut_B_Stat 1 "Out" 0 "Null"; +VAL_ 1091 TrlrLampCtl_D_Stat 3 "NotUsed" 2 "TrlrLampCnnctDrvFailure" 1 "TrlrLampNotCnnctDrvFailure" 0 "Null"; +VAL_ 1091 TrlrBattChrg_D_Stat 3 "Reverse" 2 "Normal" 1 "Low" 0 "Null"; +VAL_ 1091 StopLampTrlrOut_B_Stat 1 "Out" 0 "Null"; +VAL_ 1091 TurnLampTrlrRr_B_Stat 1 "Out" 0 "Null"; +VAL_ 1091 TurnLampTrlrRl_B_Stat 1 "Out" 0 "Null"; +VAL_ 1091 TrlrLampCnnct_B_Actl 1 "Yes" 0 "No"; +VAL_ 138 SteWhlRelCalib_An_Sns 32767 "Fault" 32766 "NoDataExists"; +VAL_ 131 AccButtnGapDecPress 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 131 HeadLghtHiCtrl_D_RqAhb 7 "NotUsed2" 6 "NotUsed1" 5 "Auto_HiBeam" 4 "Auto_LoBeam" 3 "Flash" 2 "Man_HiBeam" 1 "Man_LoBeam" 0 "Null"; +VAL_ 131 AhbStat_B_Dsply 1 "On" 0 "Off"; +VAL_ 131 WiprFrontSwtch_D_Stat 15 "NotUsed6" 14 "NotUsed5" 13 "NotUsed4" 12 "NotUsed3" 11 "NotUsed2" 10 "NotUsed1" 9 "PositionNotDetermined" 8 "High" 7 "Low" 6 "Position6" 5 "Position5" 4 "Position4" 3 "Position3" 2 "Position2" 1 "Position1" 0 "Off"; +VAL_ 131 HeadLghtHiOn_B_StatAhb 1 "On" 0 "Off"; +VAL_ 131 HeadLghtHiFlash_D_Actl 3 "NotUsed" 2 "High" 1 "Flash_to_Pass" 0 "Null"; +VAL_ 131 TjaButtnOnOffPress 1 "Pressed" 0 "Not_Pressed"; +VAL_ 131 AccButtnGapTogglePress 1 "Pressed" 0 "Not_Pressed"; +VAL_ 131 HeadLghtHiFlash_D_Stat 3 "NotUsed" 2 "High" 1 "Flash_to_Pass" 0 "Null"; +VAL_ 131 WiprFront_D_Stat 15 "NO_DATA_EXISTS" 14 "STALLED" 13 "RESERVED" 12 "AUTO_ADJUST" 11 "COURTESYWIPE" 10 "AUTO_HIGH" 9 "AUTO_LOW" 8 "WASH" 7 "MIST_FLICK" 6 "MAN_HIGH" 5 "MAN_LOW" 4 "MAN_INT_ON" 3 "MAN_INT_OFF" 2 "OFF_MOVING" 1 "AUTO_OFF" 0 "OFF"; +VAL_ 131 TurnLghtSwtch_D_Stat 3 "Unused_Treat_As_Off" 2 "Right" 1 "Left" 0 "Off"; +VAL_ 131 LghtAmb_D_Sns 7 "No_Data_Exists" 6 "Unused2" 5 "Unused1" 4 "Tunnel_Off" 3 "Tunnel_On" 2 "Twilight" 1 "Light" 0 "Dark"; +VAL_ 131 AccButtnGapIncPress 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 131 AslButtnOnOffPress 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 131 AslButtnOnOffCnclPress 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 131 CcButtnOnPress 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 131 CcButtnOnOffPress 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 131 CcButtnOnOffCnclPress 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 131 CcButtnOffPress 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 131 CcAsllButtnResPress 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 131 CcAslButtnSetPress 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 131 CcAslButtnSetIncPress 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 131 CcAslButtnSetDecPress 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 131 CcAslButtnResIncPress 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 131 CcAslButtnResDecPress 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 131 CcAslButtnOnPress 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 131 CcAslButtnOnOffCncl 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 131 CcAslButtnOffCnclPress 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 131 CcAslButtnIndxIncPress 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 131 CcAslButtnIndxDecPress 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 131 CcAslButtnDeny_B_Actl 1 "Yes" 0 "No"; +VAL_ 131 CcAslButtnCnclResPress 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 131 CcAslButtnCnclPress 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 131 LaSwtchPos_D_Stat 3 "Fault" 2 "Unused" 1 "Pressed" 0 "Open"; +VAL_ 787 DrTgateChime2_D_Rq 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "Long_Repeated" 3 "Fast" 2 "Short" 1 "Long" 0 "Off"; +VAL_ 787 DrTGate_D_Rq 3 "NotUsed" 2 "Closing" 1 "Opening" 0 "Not_Moving"; +VAL_ 787 PwLftgtIntSw_B_Stat 1 "Pressed" 0 "Null"; +VAL_ 787 Power_Liftgate_Mode_Stt 2 "Unused" 3 "Not_Supported" 1 "Enabled" 0 "Disabled"; +VAL_ 953 BattRgenLoDChrg_D_Rq 3 "DoNotCare" 2 "Retain" 1 "Closed" 0 "Open"; +VAL_ 953 BattRgenLoChrg_D_Rq 3 "DoNotCare" 2 "Retain" 1 "Closed" 0 "Open"; +VAL_ 953 ChrgCordLck_B_Stat 1 "Unlock" 0 "Null"; +VAL_ 953 WakeAlarm3_D_Stat 3 "PublisherReset" 2 "Wake" 1 "AlarmRunning" 0 "AlarmOff"; +VAL_ 953 WakeAlarm2_D_Stat 3 "PublisherReset" 2 "Wake" 1 "AlarmRunning" 0 "AlarmOff"; +VAL_ 953 WakeAlarm1_D_Stat 3 "PublisherReset" 2 "Wake" 1 "AlarmRunning" 0 "AlarmOff"; +VAL_ 953 WakeAlarm0_D_Stat 3 "PublisherReset" 2 "Wake" 1 "AlarmRunning" 0 "AlarmOff"; +VAL_ 1093 TrlBrkInitOut_D_Stat 3 "Heavy" 2 "Medium" 1 "Light" 0 "Null"; +VAL_ 1093 TrlrBrkMde_D_Actl 1 "Electric_Over_Hydraulic" 0 "Electric"; +VAL_ 1093 TrlrBrkDsply_B_Rq 1 "Yes" 0 "No"; +VAL_ 1093 TrlrBrkDcnnt_B_Actl 1 "Yes" 0 "No"; +VAL_ 1093 TrlrBrkActCnnct_B_Actl 1 "Yes" 0 "No"; +VAL_ 1093 StopLamp_B_RqTrlrBrk 1 "Yes" 0 "No"; +VAL_ 1093 TrlrBrkCtl_B_Falt 1 "Yes" 0 "No"; +VAL_ 1093 TrlrBrkActCirct_B_Falt 1 "Yes" 0 "No"; +VAL_ 792 ElTrip_L_Dsply 65535 "Fault" 65534 "No_Data_Exists"; +VAL_ 792 ElLongTerm_L_Dsply 16777215 "Fault" 16777214 "No_Data_Exists"; +VAL_ 968 SlMde_D_Rq 3 "IsaNotConfigured" 2 "Manual_Mode" 1 "Auto_Mode" 0 "Null"; +VAL_ 968 IsaOffst_D_Rq 15 "Faulty" 14 "Null" 13 "Thirteen" 12 "Twelve" 11 "Eleven" 10 "Ten" 9 "Nine" 8 "Eight" 7 "Seven" 6 "Six" 5 "Five" 4 "Four" 3 "Three" 2 "Two" 1 "One" 0 "Zero"; +VAL_ 819 Memory_3_SwPsngr_Stat 1 "Pressed" 0 "Null"; +VAL_ 819 Memory_2_SwPsngr_Stat 1 "Pressed" 0 "Null"; +VAL_ 819 Memory_1_SwPsngr_Stat 1 "Pressed" 0 "Null"; +VAL_ 819 BLISLEDStatPassSide 3 "Fault" 2 "Unused" 1 "On" 0 "Off"; +VAL_ 819 WndwPsngrSide_D_Stat 3 "BothWindow_Operating" 2 "RearWindow_Operating" 1 "FrontWindow_Operating" 0 "NoWindows_Operating"; +VAL_ 819 Pasngr_Lock_Sw_Stat 3 "Invalid" 2 "Unlock" 1 "Lock" 0 "Null"; +VAL_ 819 ChildLckFdbckRp_B_Stat 1 "Locked" 0 "Unlock"; +VAL_ 818 BLISLEDStatDriverSide 3 "Fault" 2 "Unused" 1 "On" 0 "Off"; +VAL_ 818 WndwDrvSide_D_Stat 3 "BothWindow_Operating" 2 "RearWindow_Operating" 1 "FrontWindow_Operating" 0 "NoWindows_Operating"; +VAL_ 818 KeyCylSwDrvDr_D_Stat 3 "NotUsed" 2 "Unlock" 1 "Lock" 0 "Null"; +VAL_ 818 Driver_Lock_Sw_Stat 3 "Invalid" 2 "Unlock" 1 "Lock" 0 "Null"; +VAL_ 818 ChildLckPw_D_Rq 1 "Active" 0 "Null"; +VAL_ 818 ChildLckFdbckRd_B_Stat 1 "Locked" 0 "Unlock"; +VAL_ 818 RvrseMirrorChime_B_Rq 1 "Yes" 0 "No"; +VAL_ 806 SnowPlowMde_B_Enbl 1 "Enable" 0 "Disable"; +VAL_ 806 StopStrtDrvMde_B_RqBtn 1 "Pressed" 0 "Not_Pressed"; +VAL_ 806 ClimtHeat_D_Rq 7 "NotUsed4" 6 "NotUsed3" 5 "NotUsed2" 4 "PtcHtrTestMde" 3 "Defrost_Defog" 2 "FastTempPullDownHeatingReq" 1 "OpportunisticHeatingReq" 0 "NoHeatingRequest"; +VAL_ 806 ClimtCool_D_Rq 7 "NotUsed4" 6 "NotUsed3" 5 "NotUsed2" 4 "ElACTestMde" 3 "Defrost_Defog" 2 "FastTempPullDownCoolReq" 1 "OpportunisticCoolingReq" 0 "NoCoolingRequest"; +VAL_ 806 HvacEvap_Te_Actl 1023 "Fault"; +VAL_ 806 HvacAirCond_B_Rq 1 "Yes" 0 "No"; +VAL_ 806 ClimtPw_B_Rq 1 "Yes" 0 "No"; +VAL_ 765 Mc_VehTimeFrmtUsrSel_St 2 "24h_mode" 1 "12h_mode" 0 "Invalid"; +VAL_ 765 Running_Board_Cmd 3 "Unused" 2 "Manually_Deployed" 1 "All_Enabled" 0 "All_Disabled"; +VAL_ 765 EngExhMdeQuiet_D2_Rq 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "Track" 3 "Sport" 2 "Normal" 1 "Stealth" 0 "Null"; +VAL_ 765 EdmSailMde_B_RqDrv 1 "On" 0 "Off"; +VAL_ 765 DrvInputRequired_B_Rq 1 "Yes" 0 "No"; +VAL_ 765 AwdRnge_D_ActlIpc 7 "Unknown" 6 "High_Range_2wd" 5 "High_Range_Auto" 4 "High_Range_Locked" 3 "Neutral" 2 "Low_Range_2wd" 1 "Low_Range_Auto" 0 "Low_Range_Locked"; +VAL_ 765 BalrSwtch_D_Stat 3 "NotUsed" 2 "Pressed" 1 "NotPressed" 0 "Null"; +VAL_ 765 BalrMde_D_Rq 3 "High" 2 "Medium" 1 "Low" 0 "Null"; +VAL_ 765 WaitToStartLamp_D_Falt 3 "NotUsed" 2 "Wait_to_start_lamp_failed" 1 "Diagnosis_not_ready" 0 "Wait_to_start_lamp_OK"; +VAL_ 765 EsaOn_B_Rq 1 "On" 0 "Off"; +VAL_ 765 BttOn_B_Rq 1 "On" 0 "Off"; +VAL_ 765 Btt_L_Actl 127 "Faulty" 126 "NoDataExists"; +VAL_ 765 SelDrvMdeTxtReset_B_Rq 1 "Yes" 0 "No"; +VAL_ 765 SelDrvMdeDsply_B_Avail 1 "Available" 0 "NotAvailable"; +VAL_ 765 Mc_VehUntTrpCoUsrSel_St 0 "TripComputer_metric" 1 "TripComputer_imperial"; +VAL_ 765 Mc_VehUnitTempUsrSel_St 0 "Temperature_deg_c" 1 "Temperature_deg_f"; +VAL_ 765 Mc_VehLangUsrSel_St 30 "Slovak" 29 "Arabic" 28 "Cantonese" 27 "Mandarin_Chinese" 26 "Korean" 25 "Japanese_Kanji" 24 "Japanese_Katakana" 23 "Braz_Portuguese" 22 "EU_Portuguese" 21 "Finish" 20 "Norwegian" 19 "Danish" 18 "Swedish" 17 "Hungarian" 16 "Greek" 15 "Czech" 14 "Polish" 13 "Flemish" 12 "Dutch" 11 "Russian" 10 "Turkish" 9 "Mex_Spanish" 8 "EU_Spanish" 7 "Cana_French" 6 "EU_French" 5 "Italian" 4 "German" 3 "NA_English" 2 "UK_English" 1 "Unknown" 0 "Invalid"; +VAL_ 934 CtaAlrtLeft2_D_Stat 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "AlertZone4" 3 "AlertZone3" 2 "AlertZone2" 1 "AlertZone1" 0 "Off"; +VAL_ 934 CtaBrkLeftMsgTxt_B_Rq 1 "Enable" 0 "Disable"; +VAL_ 934 CtaLeftBrkDecel_B_Rq 1 "Enable" 0 "Disable"; +VAL_ 934 CtaLeftBrkEnbl_B_Rq 1 "Enable" 0 "Disable"; +VAL_ 934 BttLeft_D_Stat 7 "NotUsed" 6 "Disabled" 5 "Off" 4 "OffTemp" 3 "NotConnected" 2 "Pending" 1 "Connected" 0 "NotDetermined"; +VAL_ 934 BttLeft_D_RqDrv 3 "NotUsed" 2 "Request" 1 "NoRequest" 0 "Null"; +VAL_ 934 CtaSnsLeft_D_Stat 3 "Invalid" 2 "System_Failure" 1 "Blocked" 0 "Clear"; +VAL_ 934 SodDetctLeft_D_Stat 4 "Sensor_Blocked" 3 "Sensor_Fault" 2 "Flash_On" 1 "Alert_On" 0 "AlertOff_FlashOff_SensrClr"; +VAL_ 934 CtaLeft_D_Stat 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "Invalid" 3 "Disabled" 2 "On" 1 "Trailer_Tow_Off" 0 "Off"; +VAL_ 934 CtaAlrtLeft_D_Stat 1 "On" 0 "Off"; +VAL_ 934 SodLeft_D_Stat 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "Invalid" 3 "Disabled" 2 "On" 1 "Trailer_Tow_Off" 0 "Off"; +VAL_ 934 SodSnsLeft_D_Stat 3 "Second_Warning_Audio" 2 "System_Failure" 1 "Blocked" 0 "Clear"; +VAL_ 934 SodAlrtLeft_D_Stat 3 "Bulb_Proveout" 2 "Flash" 1 "On" 0 "Off"; +VAL_ 1072 LscmbbStat_B_Actl 1 "On" 0 "Off"; +VAL_ 1072 HaDsplyCpblty_B_Stat 1 "Available" 0 "NotAvailable"; +VAL_ 1072 AccDeny_B_RqIpc 1 "Yes" 0 "No"; +VAL_ 1072 DrvSlipCtlMde_D_Rq 3 "App_Specific_Off_Mode_3" 2 "App_Specific_Off_Mode_2" 1 "App_Specific_Off_Mode_1" 0 "Default_Mode"; +VAL_ 1072 EngIdlShutDown_B_RqDrv 1 "Inhibit" 0 "No_Inibit"; +VAL_ 1072 HsaMde_D_Rq 3 "Undefined" 2 "Manual" 1 "Automatic" 0 "Off"; +VAL_ 1072 NtrlTowMdeEnbl_B_RqDrv 1 "Yes" 0 "No"; +VAL_ 1072 BulbChkActv_B_Stat 1 "Active" 0 "Inactive"; +VAL_ 1072 ParkDetect_Stat 1 "Park" 0 "Not_Park"; +VAL_ 1072 ReducedGuard_D_Rq 3 "NotUsed" 2 "On" 1 "Off" 0 "Null"; +VAL_ 1072 TrlrBrkMde_D_Rq 1 "ElectricOverHydraulic" 0 "Electric"; +VAL_ 1072 TRLR_SWAY_CONFIG_CMD 1 "On" 0 "Off"; +VAL_ 1072 TRAILER_BRAKE_CONFIG 1 "Yes" 0 "No"; +VAL_ 1072 Power_Liftgate_Mode_Cmd 1 "Enable" 0 "Disable"; +VAL_ 1072 AccEnbl_B_RqDrv 1 "Adaptive_Cruise" 0 "Normal_Cruise"; +VAL_ 1072 OdometerMasterValue 16777215 "Invalid"; +VAL_ 1072 EngOilLife_B_RqReset 1 "Yes" 0 "No"; +VAL_ 1072 ePRNDL_MODE 1 "On" 0 "Off"; +VAL_ 1072 DrvSlipCtlMde_B_Rq2 1 "Pressed" 0 "Not_Pressed"; +VAL_ 1072 MetricActv_B_Actl 1 "Active" 0 "Inactive"; +VAL_ 1072 KeyTypeChngMykey_D_Rq 3 "Search_PE_BackupSlot" 2 "Clear_All_MyKeys" 1 "Request_New_MyKey" 0 "None"; +VAL_ 1072 ManRgen_D_Rq 3 "NotUsed2" 2 "NotUsed1" 1 "CustInitManExhFilterClean" 0 "No_Customer_Request"; +VAL_ 909 IgnPsswrdDsply_B_Rq 1 "Active" 0 "Inactive"; +VAL_ 909 ElPwPoint_D_Rq 3 "On" 2 "Off2" 1 "Off1" 0 "Null"; +VAL_ 909 PoliceIdlMde_D_Stat 15 "NotUsed_7" 14 "NotUsed_6" 13 "NotUsed_5" 12 "NotUsed_4" 11 "NotUsed_3" 10 "NotUsed_2" 9 "PepsActive" 8 "Decommissioned" 7 "ActiveFault" 6 "ArmFault" 5 "PrearmedFault" 4 "OffFault" 3 "Active" 2 "Arm" 1 "Prearmed" 0 "Off"; +VAL_ 909 DrLatchMsgTxt_D_Rq 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage"; +VAL_ 909 SecurityMsgTxt_D_Rq 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage"; +VAL_ 909 PrmtrAlrmEvnt_D_Stat 15 "Diag_Tamper" 14 "Trailer" 13 "Shock_Sensor" 12 "Post_Crash" 11 "Panic" 10 "Intrusion" 9 "Inclination" 8 "Ign_Tamper" 7 "LG_Door" 6 "Decklid" 5 "Hood" 4 "PR_Door" 3 "PF_Door" 2 "DR_Door" 1 "DF_Door" 0 "Null"; +VAL_ 909 HeadLghtHiPrmsn_D_Stat 3 "CancelAndSuppress" 2 "Cancel" 1 "Hold" 0 "AllowChange"; +VAL_ 909 SteWhlLckMsgTxt_D_Rq 3 "NotUsed" 2 "Message_2" 1 "Message_1" 0 "No_Message"; +VAL_ 909 immoMsgTxt_D_Rq 15 "Immo_Msg_15" 14 "Immo_Msg_14" 13 "Immo_Msg_13" 12 "Immo_Msg_12" 11 "Immo_Msg_11" 10 "Immo_Msg_10" 9 "Immo_Msg_9" 8 "Immo_Msg_8" 7 "Immo_Msg_7" 6 "Immo_Msg_6" 5 "Immo_Msg_5" 4 "Immo_Msg_4" 3 "Immo_Msg_3" 2 "Immo_Msg_2" 1 "Immo_Msg_1" 0 "Immo_Msg_0_Null"; +VAL_ 909 PrsnlDevcChrgEnbl_B_Rq 1 "Active" 0 "Inactive"; +VAL_ 909 TracKeyMde_D_Stat 3 "NotUsed" 2 "NotActive" 1 "Active" 0 "ModeNotDetermined"; +VAL_ 909 PEBackupSlot_Stats 3 "No_Valid_FOB_In_Slot" 2 "MyKey_FOB_In_Slot" 1 "Standard_FOB_In_Slot" 0 "Null"; +VAL_ 909 KeyMykeyTot_No_Cnt 13 "Thirteen" 12 "Twelve" 11 "Eleven" 10 "Ten" 9 "Nine" 8 "Eight" 7 "Seven" 6 "Six" 5 "Five" 4 "Four" 3 "Three" 2 "Two" 1 "One" 0 "Zero" 15 "Invalid" 14 "Unlimited"; +VAL_ 909 KeyAdmnTot_No_Cnt 13 "Thirteen" 12 "Twelve" 11 "Eleven" 10 "Ten" 9 "Nine" 8 "Eight" 7 "Seven" 6 "Six" 5 "Five" 4 "Four" 3 "Three" 2 "Two" 1 "One" 0 "Zero" 15 "Invalid" 14 "Unlimited"; +VAL_ 963 Illuminated_Entry_Stat 3 "Invalid" 2 "Unknown" 1 "On" 0 "Off"; +VAL_ 963 Dr_Courtesy_Light_Stat 3 "Invalid" 2 "Unknown" 1 "On" 0 "Off"; +VAL_ 963 Courtesy_Delay_Status 3 "Invalid" 2 "Unknown" 1 "On" 0 "Off"; +VAL_ 963 ImpactEvntFdbck_D_Stat 3 "NotUsed" 2 "EventComplete" 1 "EventInProgress" 0 "Normal"; +VAL_ 963 WrlssAcsyChrgInhbt_B_Rq 1 "Yes" 0 "No"; +VAL_ 963 PudLampPsngr_D_Rq 3 "Ramp_Down" 2 "Ramp_Up" 1 "On" 0 "Off"; +VAL_ 963 HeadLampLoOut_B_Stat 1 "Out" 0 "Null"; +VAL_ 963 HeadLghtHiFdbck_D_Stat 3 "NotUsed" 2 "Cancel" 1 "Hold" 0 "Allow_Change"; +VAL_ 963 PudLampDrv_D_Rq 3 "Ramp_Down" 2 "Ramp_Up" 1 "On" 0 "Off"; +VAL_ 963 TrnNotInPrkChime_B_Rq 1 "On" 0 "Off"; +VAL_ 963 PrkLightChime_B_Rq 1 "On" 0 "Off"; +VAL_ 963 KeyInIgnWarn_B_Cmd 1 "On" 0 "Off"; +VAL_ 963 HomeSafeLtChime_B_Rq 1 "On" 0 "Off"; +VAL_ 963 StopLghtOn_B_Stat 1 "On" 0 "Off"; +VAL_ 963 RvrseLghtOn_B_Stat 1 "On" 0 "Off"; +VAL_ 963 PrkLght_D_Stat 3 "Park_Both" 2 "Park_Right" 1 "Park_Left" 0 "Off"; +VAL_ 963 HeadLghtSwtch_D_Stat 3 "Autolamp" 2 "Headlamp" 1 "Parklamp" 0 "Off"; +VAL_ 963 HeadLampLoFrOn_B_Stat 1 "Low" 0 "Not_Low"; +VAL_ 963 HeadLampLoFlOn_B_Stat 1 "Low" 0 "Not_Low"; +VAL_ 963 HeadLampLoActv_B_Stat 1 "On" 0 "Off"; +VAL_ 963 Headlamp_On_Wrning_Cmd 1 "On" 0 "Off"; +VAL_ 963 Park_Brake_Chime_Rqst 1 "On" 0 "Off"; +VAL_ 963 HeadLghtHiOn_B_Stat 1 "On" 0 "Off"; +VAL_ 963 BrkWarnInd_B_Rq 1 "On" 0 "Off"; +VAL_ 963 Brk_Fluid_Lvl_Low 3 "Invalid" 2 "Unknown" 1 "Low" 0 "OK"; +VAL_ 963 ReducedGuard_D_Stat 3 "NotUsed" 2 "Alarm_On" 1 "Alarm_Off_Previously_On" 0 "Alarm_Off"; +VAL_ 963 Perimeter_Alarm_Status 3 "Activated" 2 "Armed" 1 "Prearmed" 0 "Disarmed"; +VAL_ 963 Courtesy_BSave_Stat 3 "Invalid" 2 "Unknown" 1 "No_Effect" 0 "Off"; +VAL_ 963 DrTgateLck_D_Stat 3 "NotUsed" 2 "Unlock" 1 "Lock" 0 "Null"; +VAL_ 963 WndwGlbl_D_Cmd 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "GLEARN" 3 "GCLOSE" 2 "GOPEN" 1 "GSTOP" 0 "Null"; +VAL_ 963 PudLamp_D_Rq 3 "RAMP_DOWN" 2 "RAMP_UP" 1 "ON" 0 "OFF"; +VAL_ 963 DayRnngLampOn_B_Stat 1 "On" 0 "Off"; +VAL_ 963 PerimeterAlarmChimeRq 1 "On" 0 "Off"; +VAL_ 145 VehYawWActl_D_Qf 3 "OK" 2 "Not_Within_Specifications" 1 "No_Data_Exists" 0 "Faulty"; +VAL_ 145 VehRolWActl_D_Qf 3 "OK" 2 "Not_Within_Specifications" 1 "No_Data_Exists" 0 "Faulty"; +VAL_ 145 VehYaw_W_Actl 65535 "Faulty" 65534 "NoDataExists"; +VAL_ 145 VehRol_W_Actl 65535 "Faulty" 65534 "NoDataExists"; +VAL_ 76 FirstRowBuckleMid 3 "Unknown" 2 "Unbelted" 1 "Belted" 0 "Faulty"; +VAL_ 76 SecondRowBucklePsngr 3 "Unknown" 2 "Unbelted" 1 "Belted" 0 "Faulty"; +VAL_ 76 SecondRowBuckleMid 3 "Unknown" 2 "Unbelted" 1 "Belted" 0 "Faulty"; +VAL_ 76 SecondRowBuckleDriver 3 "Unknown" 2 "Unbelted" 1 "Belted" 0 "Faulty"; +VAL_ 76 FirstRowBuckleDriver 3 "Unknown" 2 "Unbelted" 1 "Belted" 0 "Faulty"; +VAL_ 76 RILReq 3 "Not_Used" 2 "Plant_Mode" 1 "On" 0 "Off"; +VAL_ 76 FirstRowBucklePsngr 3 "Unknown" 2 "Unbelted" 1 "Belted" 0 "Faulty"; +VAL_ 76 RstrnImpactEvntStatus 7 "Invalid" 6 "Not_Used_4" 5 "Threshold_2_Exceeded" 4 "Not_Used_3" 3 "Threshold_1_Exceeded" 2 "Not_Used_2" 1 "Not_Used_1" 0 "Normal"; +VAL_ 76 PsngrFrntDetct_D_Actl 3 "Unknown" 2 "Empty" 0 "Faulty" 1 "Occupied"; +VAL_ 76 EDRTriggerEvntSync 1 "Threshold_Exceeded" 0 "Normal"; +VAL_ 76 PassRstrnInd_Req 3 "ABOnNotIllum_OffNotIllum" 2 "AirbagOnNot_Illum_OffIllum" 1 "AirbagOn_Illum_OffNotIllum" 0 "AirbagOn_Illum_Off_Illum"; +VAL_ 65 immoControlCmd_T1 0 "IDLE" 1 "MOTIVE_START_RQST" 2 "NONMOTIVE_START_RQST" 3 "RQST_TARGET1_IDBLOCK1" 4 "RQST_TARGET1_IDBLOCK2" 5 "Unused" 6 "ECHO_TARGET1_IDBLOCK2" 7 "SHUTDOWN"; +VAL_ 1076 HILL_DESC_SW 1 "On" 0 "Off"; +VAL_ 1076 AutoRgen_D_Rq 3 "NotUsed" 2 "AutExhFilterCleanOFF" 1 "AutExhFilterCleanON" 0 "No_Mode_Selected"; +VAL_ 1076 W2S_LAMP_OK 1 "Yes" 0 "No"; +VAL_ 1076 OdoTripRx_B_Actl 1 "Yes" 0 "No"; +VAL_ 1076 DrvSlipCtlMde_B_RqMyKey 1 "On" 0 "Off"; +VAL_ 1076 FuelLvlWarn_D_Actl 3 "NotUsed" 2 "VeryLow" 1 "Low" 0 "OK"; +VAL_ 1076 FuelSecndActv_B_Actl 1 "Yes" 0 "No"; +VAL_ 1076 FUEL_SENSOR_NUM 1 "Dual_Sensors" 0 "Single_Sensor"; +VAL_ 862 AutoStpHvacDelta_I_Est 255 "Fault"; +VAL_ 862 HvacBlwrFront_D_Stat 31 "Not_Used" 20 "Full_On" 19 "95_Percent" 18 "90_Percent" 17 "85_Percent" 16 "80_Percent" 15 "75_Percent" 14 "70_Percent" 13 "65_Percent" 12 "60_Percent" 11 "55_Percent" 10 "50_Percent" 9 "45_Percent" 8 "40_Percent" 7 "35_Percent" 6 "30_Percent" 5 "25_Percent" 4 "20_Percent" 3 "15_Percent" 2 "10_Percent" 1 "5_Percent" 0 "Off"; +VAL_ 862 CabnAmb_Te_Actl 255 "Fault"; +VAL_ 862 ClimtThrmlLoad_No_Actl 255 "Fault"; +VAL_ 931 PtWakeReas_D_Stat 15 "NotUsed_9" 14 "NotUsed_8" 13 "NotUsed_7" 12 "NotUsed_6" 11 "NotUsed_5" 10 "NotUsed_4" 9 "NotUsed_3" 8 "NotUsed_2" 7 "NotUsed_1" 6 "ElapsedTime" 5 "ThirdPartyWakeup" 4 "DoorAjar" 3 "EarlyWake" 2 "NonMotiveStart" 1 "MotiveStart" 0 "Null"; +VAL_ 931 VehOnSrc_D_Stat 15 "NotUsed_11" 14 "NotUsed_10" 13 "NotUsed_9" 12 "NotUsed_8" 11 "NotUsed_7" 10 "NotUsed_6" 9 "NotUsed_5" 8 "NotUsed_4" 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "OverTheAir" 3 "RemoteParkAssist" 2 "RemoteStart" 1 "Manual" 0 "Off"; +VAL_ 931 EngStrtActv_B_Stat 1 "Active" 0 "Inactive"; +VAL_ 931 EngStrt_B_Rq 1 "Request" 0 "NoRequest"; +VAL_ 931 DrvInCtl_B_Stat 1 "Yes" 0 "No"; +VAL_ 931 AdvStrt_D_Stat 15 "NotUsed_15" 14 "NotUsed_14" 13 "NotUsed_13" 12 "NotUsed_12" 11 "NotUsed_11" 10 "NotUsed_10" 9 "NotUsed_9" 8 "NotUsed_8" 7 "NotUsed_7" 6 "NotUsed_6" 5 "NotUsed_5" 4 "NotUsed_4" 3 "NotUsed_3" 2 "NotUsed_2" 1 "NotUsed_1" 0 "NoAction"; +VAL_ 931 CrnkInhbt_B_Stat 1 "Inhibit" 0 "NoInhibit"; +VAL_ 931 IgnPreOffActv_B_Stat 1 "Active" 0 "Inactive"; +VAL_ 578 PtLatchActv_B_RqBcm 1 "On" 0 "Off"; +VAL_ 578 immoSecureIdleMode 3 "NotUsed2" 2 "NotUsed1" 1 "Active" 0 "Inactive"; +VAL_ 578 ReFuelSwtchStat_D_Actl 3 "NotUsed2" 2 "NotUsed1" 1 "On" 0 "Off"; +VAL_ 578 FuelPumpPwr_D_Stat 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "Power_Off_Default" 3 "Power_Off_Command" 2 "Power_Off_Service" 1 "Power_Off_Impact" 0 "Power_On"; +VAL_ 578 BattULo_U_Actl 255 "Fault"; +VAL_ 578 PrkLckCtl_B_Enbl 1 "Enable" 0 "Disable"; +VAL_ 578 PrkLckCtlMsgTxt_D_Rq 3 "BTSI_DI_3" 2 "BTSI_DI_2" 1 "BTSI_DI_1" 0 "Null_BTSI_DI"; +VAL_ 578 BrkTrnShifLck_B_Stat 1 "Shift" 0 "NoShift"; +VAL_ 578 PrkLckCtlUnlck_D_Stat 3 "Trans_And_Steer_Unlckd" 2 "Steering_Unlckd" 1 "Transmission_Unlckd" 0 "Null"; +VAL_ 578 PrkLckCtlTow_B_Enbl 1 "Enable" 0 "Disable"; +VAL_ 578 DriverCrankingReq 1 "Crank_Request" 0 "No_Crank_Request"; +VAL_ 578 EngOff_T_Actl 65535 "Invalid"; +VAL_ 578 DcacElPw_D_Rq 3 "NotUsed" 2 "AC_HighPower_Requested" 1 "AC_LowPower_Requested" 0 "AC_Power_NotRequested"; +VAL_ 578 BattULo_I_Actl 16383 "Fault"; +VAL_ 947 ValetMode_D_Mem 1 "On" 0 "Off"; +VAL_ 947 DrStatDrvErrCnt_B_Stat 1 "Yes" 0 "No"; +VAL_ 947 TurnLghtRight_D_Rq 3 "Seq" 2 "On" 1 "Off" 0 "Null"; +VAL_ 947 TurnLghtRightOn_B_Stat 1 "On" 0 "Off"; +VAL_ 947 TurnLghtLeftOn_B_Stat 1 "On" 0 "Off"; +VAL_ 947 FogLghtRearOn_B_Stat 1 "On" 0 "Off"; +VAL_ 947 Backlit_LED_Status 15 "Unused3" 14 "Unused2" 13 "Unused1" 12 "Night_12" 11 "Night_11" 10 "Night_10" 9 "Night_9" 8 "Night_8" 7 "Night_7" 6 "Night_6" 5 "Night_5" 4 "Night_4" 3 "Night_3" 2 "Night_2" 1 "Night_1" 0 "Off"; +VAL_ 947 TurnLghtLeft_D_Rq 3 "Seq" 2 "On" 1 "Off" 0 "Null"; +VAL_ 947 FogLghtFrontOn_B_Stat 1 "On" 0 "Off"; +VAL_ 947 IgnKeyType_D_Actl 15 "Invalid" 14 "Unknown" 3 "Key_Not_Prgrm_Read_Failure" 2 "Key_In_Ign_My_Key" 1 "Key_In_Ign_Standard_Key" 0 "Key_Read_In_Progress"; +VAL_ 947 Parklamp_Status 3 "Invalid" 2 "Unknown" 1 "On" 0 "Off"; +VAL_ 947 Litval 255 "Invalid" 254 "Unknown" 5 "Day" 4 "Twilight_4" 3 "Twilight_3" 2 "Twilight_2" 1 "Twilight_1" 0 "Night"; +VAL_ 947 Key_In_Ignition_Stat 1 "In" 0 "Out"; +VAL_ 947 Ignition_Status 0 "Unknown" 1 "Off" 15 "Invalid" 8 "Start" 4 "Run" 2 "Accessory"; +VAL_ 947 Dimming_Lvl 255 "Invalid" 254 "Unknown" 18 "Day_6" 17 "Day_5" 16 "Day_4" 15 "Day_3" 14 "Day_2" 13 "Day_1" 12 "Night_12" 11 "Night_11" 10 "Night_10" 9 "Night_9" 8 "Night_8" 7 "Night_7" 6 "Night_6" 5 "Night_5" 4 "Night_4" 3 "Night_3" 2 "Night_2" 1 "Night_1" 0 "Off"; +VAL_ 947 Day_Night_Status 3 "NotUsed" 2 "Night" 1 "Day" 0 "Null"; +VAL_ 947 Remote_Start_Status 3 "Invalid" 2 "Unknown" 1 "Remote" 0 "Null"; +VAL_ 947 DrStatTgate_B_Actl 1 "Ajar" 0 "Closed"; +VAL_ 947 DrStatRr_B_Actl 1 "Ajar" 0 "Closed"; +VAL_ 947 DrStatRl_B_Actl 1 "Ajar" 0 "Closed"; +VAL_ 947 DrStatPsngr_B_Actl 1 "Ajar" 0 "Closed"; +VAL_ 947 DrStatInnrTgate_B_Actl 1 "Ajar" 0 "Closed"; +VAL_ 947 DrStatHood_B_Actl 1 "Ajar" 0 "Closed"; +VAL_ 947 DrStatDrv_B_Actl 1 "Ajar" 0 "Closed"; +VAL_ 947 PrkBrkActv_B_Actl 1 "Active" 0 "Inactive"; +VAL_ 947 LifeCycMde_D_Actl 3 "Transport" 2 "NotUsed" 1 "Factory" 0 "Normal"; +VAL_ 947 Delay_Accy 1 "On" 0 "Off"; +VAL_ 947 CrashEvnt_D_Stat 3 "Invalid" 2 "Fuel_Cutoff_Event" 1 "Deploy_Event" 0 "No_Event"; +VAL_ 947 FuelPmpInhbt_B_Stat 1 "Inhibit" 0 "No_Inibit"; +VAL_ 947 BodySrvcRqd_B_Rq 1 "Yes" 0 "No"; +VAL_ 1084 BattULoState_D_Qlty 3 "OK" 2 "Not_Within_Specifications" 1 "Eval_In_Progress" 0 "Fault"; +VAL_ 1084 BSFault 1 "Fault" 0 "No_Fault"; +VAL_ 1084 BattULo2_Te_Actl 127 "Fault"; +VAL_ 1068 EngStrtInhbt_B_RqBatt 1 "Start_Inhibit" 0 "Dont_Care"; +VAL_ 1068 BattULoChrg_D_Rq 3 "Low_Battery_Temperature" 2 "Charging_Requested" 1 "Chrg_Requested_HighCurrent" 0 "No_Request"; +VAL_ 1068 PwSysULoFalt_D_Stat 15 "Not_Used_6" 14 "LowBatterySOC" 13 "PSS_Shed2_Contin" 12 "Not_Used_4" 11 "Not_Used_3" 10 "Not_Used_2" 9 "BattMonitoringSensorFault" 8 "LowBattVoltDuringPwSrcOn" 7 "LowBatt2_PowerSaveMode" 6 "LowBatt1_Warning" 5 "Overvoltage" 4 "Fault_NoOutput" 3 "Fault_ReducedOutput" 2 "Fault_Nonspecific" 1 "Cluster_Proveout" 0 "No_Fault"; +VAL_ 1068 Shed_T_Eng_Off_B 1 "Active" 0 "Inactive"; +VAL_ 1068 Shed_Feature_Group_ID 16 "PtcHeater" 14 "HtdMirr" 13 "HvacRearBlwr_Third" 12 "HvacRearBlwr_Second" 11 "HvacRearBlwr_First" 31 "All LSHED1 Features" 10 "Htd_Windscrn" 9 "SpltHtdBcklight_HtdMirr" 8 "HtdBcklight_HtdMirr" 7 "HtdCoolSeat_FrtDriver" 6 "HtdCoolSeat_FrtPass" 5 "HtdCoolSeat_RearPass" 4 "HtdCoolSeat_RearDriver" 3 "SmartTrlrTowBattCharge" 2 "Htd_StrWhl" 1 "Htd_Washer_Fluid" 0 "No_LSHED1_Features" 15 "Engine_Coolant_Fan"; +VAL_ 1068 Shed_Drain_Eng_Off_B 1 "Active" 0 "Inactive"; +VAL_ 1068 Shed_Level_Req 7 "Unused_2" 6 "Loads_On" 5 "SHED_ENG_OFF" 4 "SOON_ENG_OFF" 3 "SHED2_CONTIN" 2 "SHED2_TRANS" 1 "SHED1" 0 "NO_SHED"; +VAL_ 1068 ULoRgenTestMde_B_Rq 1 "Request" 0 "NoRequest"; +VAL_ 1068 ChargeMode 7 "Undefined_2" 6 "Undefined_1" 5 "Battery_Identify" 4 "Battery_Refresh" 3 "SlowRegenAllowNoDischarge" 2 "Fast_Regen_Allowed" 1 "Slow_Regen_Allowed" 0 "Conventional_Charging"; +VAL_ 1068 IdleSpeedIncrease_El 1 "Yes" 0 "No"; +VAL_ 1068 Batt_Lo_SoC_B 1 "Active" 0 "Inactive"; +VAL_ 1068 PeriodicElLoad_B_Stat 1 "Active" 0 "Inactive"; +VAL_ 1068 Batt_Crit_SoC_B 1 "Active" 0 "Inactive"; +VAL_ 146 VehVert2_A_Actl 8191 "Faulty" 8190 "NoDataExists"; +VAL_ 146 VehLong2_A_Actl 8191 "Faulty" 8190 "NoDataExists"; +VAL_ 146 VehLat2_A_Actl 8191 "Faulty" 8190 "NoDataExists"; +VAL_ 146 VehVertAActl_D_Qf 3 "OK" 2 "Not_Within_Specifications" 1 "No_Data_Exists" 0 "Faulty"; +VAL_ 146 VehLongAActl_D_Qf 3 "OK" 2 "Not_Within_Specifications" 1 "No_Data_Exists" 0 "Faulty"; +VAL_ 146 VehLatAActl_D_Qf 3 "OK" 2 "Not_Within_Specifications" 1 "No_Data_Exists" 0 "Faulty"; +VAL_ 997 PersIndexCcm_D_Actl 7 "Unused_3" 6 "Unused_2" 5 "Unused_1" 4 "Vehicle" 3 "PERS_4" 2 "PERS_3" 1 "PERS_2" 0 "PERS_1"; +VAL_ 983 CmbbObjRelLong_V_Actl 1023 "Faulty" 1022 "NoDataExists"; +VAL_ 983 CmbbObjRelLat_V_Actl 511 "Faulty" 510 "NoDataExists"; +VAL_ 983 CmbbObjDistLong_L_Actl 1023 "Faulty" 1022 "NoDataExists"; +VAL_ 983 CmbbObjDistLat_L_Actl 511 "Faulty" 510 "NoDataExists"; +VAL_ 983 CmbbObjConfdnc_D_Stat 3 "High" 2 "Medium" 1 "Low" 0 "NotDetermined"; +VAL_ 983 CmbbObjColl_T_Actl 127 "Faulty" 126 "NoDataExists"; +VAL_ 983 CmbbObjClass_D_Stat 15 "NotUsed_9" 14 "NotUsed_8" 13 "NotUsed_7" 12 "NotUsed_6" 11 "NotUsed_5" 10 "NotUsed_4" 9 "NotUsed_3" 8 "NotUsed_2" 7 "NotUsed_1" 6 "Unclassified_Vehicle" 5 "Bicycle" 4 "Pedestrian" 3 "Truck" 2 "Motorcycle" 1 "Vehicle" 0 "Undetermined"; +VAL_ 983 EsaEnbl_D2_Rq 3 "NotConfigured" 2 "Enabled" 1 "Pending" 0 "Disabled"; +VAL_ 980 AdbBrdr1DistRigh_D_Stat 15 "DistGreater800m" 14 "Dist700mTo800m" 13 "Dist600mTo700m" 12 "Dist500mTo600m" 11 "Dist400mTo500m" 10 "Dist300mTo400m" 9 "Dist200mTo300m" 8 "Dist175mTo200m" 7 "Dist150mTo175m" 6 "Dist125mTo150m" 5 "Dist100mTo125m" 4 "Dist75mTo100m" 3 "Dist50mTo75m" 2 "Dist25mTo50m" 1 "Dist15mTo25m" 0 "Dist0mTo15m"; +VAL_ 980 AdbBrdr1DistLeft_D_Stat 15 "DistGreater800m" 14 "Dist700mTo800m" 13 "Dist600mTo700m" 12 "Dist500mTo600m" 11 "Dist400mTo500m" 10 "Dist300mTo400m" 9 "Dist200mTo300m" 8 "Dist175mTo200m" 7 "Dist150mTo175m" 6 "Dist125mTo150m" 5 "Dist100mTo125m" 4 "Dist75mTo100m" 3 "Dist50mTo75m" 2 "Dist25mTo50m" 1 "Dist15mTo25m" 0 "Dist0mTo15m"; +VAL_ 980 AdbMde1_D_Rq 3 "MarkerLightFlashing" 2 "MarkerLightConstant" 1 "Spot" 0 "None"; +VAL_ 980 AdbIntns1_D_Rq 3 "Maximum" 2 "Medium" 1 "Low" 0 "Off"; +VAL_ 980 AdbBrdr1Up_An_Rq 511 "Faulty" 510 "NoDataExists"; +VAL_ 980 AdbBrdr1Right_An_Rq 2047 "Faulty" 2046 "NoDataExists"; +VAL_ 980 AdbBrdr1Low_An_Rq 511 "Faulty" 510 "NoDataExists"; +VAL_ 980 AdbBrdr1Left_An_Rq 2047 "Faulty" 2046 "NoDataExists"; +VAL_ 979 HandsOffCnfm_B_Rq 1 "Active" 0 "Inactive"; +VAL_ 979 LatCtl_D_Rq 7 "NotUsed4" 6 "NotUsed3" 5 "NotUsed2" 4 "NotUsed1" 3 "InterventionRight" 2 "InterventionLeft" 1 "ContinuousPathFollowing" 0 "NoLateralControl"; +VAL_ 979 LatCtlRampType_D_Rq 3 "Immediately" 2 "Fast" 1 "Medium" 0 "Slow"; +VAL_ 979 LatCtlPrecision_D_Rq 3 "NotUsed2" 2 "NotUsed1" 1 "Precise" 0 "Comfortable"; +VAL_ 976 SuspClkSync_No_Actl 255 "Faulty" 254 "NoDataExists"; +VAL_ 976 SrpSigValid_B_Stat 1 "True" 0 "False"; +VAL_ 976 SrpHghtRight_L_Actl 511 "Faulty" 510 "NoDataExists"; +VAL_ 976 SrpHghtLeft_L_Actl 511 "Faulty" 510 "NoDataExists"; +VAL_ 976 SrpEventRight_D_Stat 3 "Faulty" 2 "Bump" 1 "Pothole" 0 "NoEvent"; +VAL_ 976 SrpEventLeft_D_Stat 3 "Faulty" 2 "Bump" 1 "Pothole" 0 "NoEvent"; +VAL_ 976 SrpDistRight_L_Actl 511 "Faulty" 510 "NoDataExists"; +VAL_ 976 SrpDistLeft_L_Actl 511 "Faulty" 510 "NoDataExists"; +VAL_ 973 TsrVl2PrmntMsgTxt_D_Rq 3 "NotUsed" 2 "ShowPermanentlyWithSupp" 1 "ShowPermanentlyWithoutSupp" 0 "DoNotShowSignPermanent"; +VAL_ 973 TsrVl1PrmntMsgTxt_D_Rq 3 "NotUsed" 2 "ShowPermanentlyWithSupp" 1 "ShowPermanentlyWithoutSupp" 0 "DoNotShowSignPermanent"; +VAL_ 973 TsrVl2RstrcMsgTxt2_D_Rq 7 "NotUsed" 6 "Time" 5 "Trailer" 4 "Snow" 3 "RainWet" 2 "NoRecognizableRestrictn" 1 "NoSpeedLimitRestrictn" 0 "Null"; +VAL_ 973 TsrVl1RstrcMsgTxt2_D_Rq 7 "NotUsed" 6 "Time" 5 "Trailer" 4 "Snow" 3 "RainWet" 2 "NoRecognizableRestrictn" 1 "NoSpeedLimitRestrictn" 0 "Null"; +VAL_ 973 TsrOvtkMsgTxt2_D_Rq 15 "NotUsed5" 14 "NotUsed4" 13 "NotUsed3" 12 "NotUsed2" 11 "NotUsed1" 10 "LimForTrucksCancelled" 9 "LimForTrucksWoQlfdRstrc" 8 "LimForTrucksWithoutRstrc" 7 "LimAllCancelled" 6 "LimAllWithRstrcTime" 5 "LimAllWithRstrcTrailer" 4 "LimAllWithRstrcSnow" 3 "LimAllWithRstrcRain" 2 "LimAllWithoutQlfdRstrc" 1 "LimAllWithoutRestriction" 0 "OvertakingAllowed"; +VAL_ 973 WwaWarn_B_Rq 1 "On" 0 "Off"; +VAL_ 973 TsrVlUnitMsgTxt_D_Rq 3 "NoDataExists" 2 "Mph" 1 "Kph" 0 "Null"; +VAL_ 973 TsrVLim2MsgTxt_D_Rq 255 "NoLimit" 254 "NotUsed2" 253 "NotUsed1" 252 "NotToBeDisplayed" 251 "LimitCancelled" 31 "1F_FA_Message31_250" 30 "Message30" 29 "Message29" 28 "Message28" 27 "Message27" 26 "Message26" 25 "Message25" 24 "Message24" 23 "Message23" 22 "Message22" 21 "Message21" 20 "Message20" 19 "Message19" 18 "Message18" 17 "Message17" 16 "Message16" 15 "Message15" 14 "Message14" 13 "Message13" 12 "Message12" 11 "Message11" 10 "Message10" 9 "Message9" 8 "Message8" 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "Null"; +VAL_ 973 TsrVLim1MsgTxt_D_Rq 255 "NoLimit" 254 "NotUsed2" 253 "NotUsed1" 252 "NotToBeDisplayed" 251 "LimitCancelled" 31 "1F_FA_Message31_250" 30 "Message30" 29 "Message29" 28 "Message28" 27 "Message27" 26 "Message26" 25 "Message25" 24 "Message24" 23 "Message23" 22 "Message22" 21 "Message21" 20 "Message20" 19 "Message19" 18 "Message18" 17 "Message17" 16 "Message16" 15 "Message15" 14 "Message14" 13 "Message13" 12 "Message12" 11 "Message11" 10 "Message10" 9 "Message9" 8 "Message8" 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "Null"; +VAL_ 973 TsrVl2StatMsgTxt_D_Rq 3 "LimitOutdated" 2 "LimitReiable" 1 "LimitChanged" 0 "Null"; +VAL_ 973 TsrVl2RstrcMsgTxt_D_Rq 3 "NotUsed" 2 "NoRecognizableRestriction" 1 "NoSpeedLimitRestriction" 0 "Null"; +VAL_ 973 TsrVl1StatMsgTxt_D_Rq 3 "LimitOutdated" 2 "LimitReiable" 1 "LimitChanged" 0 "Null"; +VAL_ 973 TsrVl1RstrcMsgTxt_D_Rq 3 "NotUsed" 2 "NoRecognizableRestriction" 1 "NoSpeedLimitRestriction" 0 "Null"; +VAL_ 973 TsrStatMsgTxt_D_Rq 7 "NotUsed" 6 "NoDataExists" 5 "TSR_Error" 4 "Available_NavigationOnly" 3 "Available_CameraOnly" 2 "Available_FusionMode" 1 "TSR_Off" 0 "Null"; +VAL_ 973 TsrOvtkStatMsgTxt_D_Rq 3 "LimitOutdated" 2 "LimitReiable" 1 "LimitChanged" 0 "Null"; +VAL_ 973 TsrOvtkMsgTxt_D_Rq 7 "LimForTrucksCancelled" 6 "LimForTrucksWoQlfdRstrc" 5 "LimForTrucksWithoutRstrc" 4 "LimAllCancelled" 3 "LimAllWithoutQlfdRstrc" 2 "LimAllWithoutRestriction" 1 "OvertakingAllowed" 0 "Null"; +VAL_ 973 TsrOswWarnMsgTxt_D_Rq 3 "NotUsed" 2 "True" 1 "False" 0 "Null"; +VAL_ 973 TsrMsgTxt_D_Rq 15 "NotUsed6" 14 "NotUsed5" 13 "NotUsed4" 12 "NotUsed3" 11 "NotUsed2" 10 "NotUsed1" 9 "RecgnzdSignNotUsblForDsply" 8 "LimitedSystemPerformance" 7 "OffRoad" 6 "RegionNotSupported" 5 "CountryNotSupported" 4 "WrngNavDatIncompDatCarrier" 3 "NoNavDataAvailable" 2 "NoNavAvailableSwitchedOff" 1 "NoInformationAllOK" 0 "Null"; +VAL_ 970 LkaDrvOvrrd_D_Rq 3 "Level_3" 2 "Level_2" 1 "Level_1" 0 "Level_0"; +VAL_ 970 LkaActvStats_D2_Req 7 "NotUsed" 6 "LkaIncrIntervRight" 5 "LkaSupprRight" 4 "LkaStandIntervRight" 3 "LkaSupprLeft" 2 "LkaStandIntervLeft" 1 "LkaIncrIntervLeft" 0 "LkaNoInterv"; +VAL_ 970 LaRefAng_No_Req 4095 "Fault"; +VAL_ 970 LaRampType_B_Req 1 "Quick" 0 "Smooth"; +VAL_ 970 LaCurvature_No_Calc 4095 "Fault"; +VAL_ 970 LdwActvStats_D_Req 7 "LDW_Suppress_Right_Left" 6 "Not_Used2" 5 "LDW_Suppress_Right" 4 "LDW_Warning_Right" 3 "LDW_Suppress_Left" 2 "LDW_Warning_Left" 1 "LDW_DemoVibration" 0 "LDW_Idle"; +VAL_ 970 LdwActvIntns_D_Req 3 "High" 2 "Medium" 1 "Low" 0 "None"; +VAL_ 962 AdbBrdr3DistRigh_D_Stat 15 "DistGreater800m" 14 "Dist700mTo800m" 13 "Dist600mTo700m" 12 "Dist500mTo600m" 11 "Dist400mTo500m" 10 "Dist300mTo400m" 9 "Dist200mTo300m" 8 "Dist175mTo200m" 7 "Dist150mTo175m" 6 "Dist125mTo150m" 5 "Dist100mTo125m" 4 "Dist75mTo100m" 3 "Dist50mTo75m" 2 "Dist25mTo50m" 1 "Dist15mTo25m" 0 "Dist0mTo15m"; +VAL_ 962 AdbBrdr3DistLeft_D_Stat 15 "DistGreater800m" 14 "Dist700mTo800m" 13 "Dist600mTo700m" 12 "Dist500mTo600m" 11 "Dist400mTo500m" 10 "Dist300mTo400m" 9 "Dist200mTo300m" 8 "Dist175mTo200m" 7 "Dist150mTo175m" 6 "Dist125mTo150m" 5 "Dist100mTo125m" 4 "Dist75mTo100m" 3 "Dist50mTo75m" 2 "Dist25mTo50m" 1 "Dist15mTo25m" 0 "Dist0mTo15m"; +VAL_ 962 AdbMde3_D_Rq 3 "MarkerLightFlashing" 2 "MarkerLightConstant" 1 "Spot" 0 "None"; +VAL_ 962 AdbIntns3_D_Rq 3 "Maximum" 2 "Medium" 1 "Low" 0 "Off"; +VAL_ 962 AdbBrdr3Up_An_Rq 511 "Faulty" 510 "NoDataExists"; +VAL_ 962 AdbBrdr3Right_An_Rq 2047 "Faulty" 2046 "NoDataExists"; +VAL_ 962 AdbBrdr3Low_An_Rq 511 "Faulty" 510 "NoDataExists"; +VAL_ 962 AdbBrdr3Left_An_Rq 2047 "Faulty" 2046 "NoDataExists"; +VAL_ 961 AdbBrdr2DistRigh_D_Stat 15 "DistGreater800m" 14 "Dist700mTo800m" 13 "Dist600mTo700m" 12 "Dist500mTo600m" 11 "Dist400mTo500m" 10 "Dist300mTo400m" 9 "Dist200mTo300m" 8 "Dist175mTo200m" 7 "Dist150mTo175m" 6 "Dist125mTo150m" 5 "Dist100mTo125m" 4 "Dist75mTo100m" 3 "Dist50mTo75m" 2 "Dist25mTo50m" 1 "Dist15mTo25m" 0 "Dist0mTo15m"; +VAL_ 961 AdbBrdr2DistLeft_D_Stat 15 "DistGreater800m" 14 "Dist700mTo800m" 13 "Dist600mTo700m" 12 "Dist500mTo600m" 11 "Dist400mTo500m" 10 "Dist300mTo400m" 9 "Dist200mTo300m" 8 "Dist175mTo200m" 7 "Dist150mTo175m" 6 "Dist125mTo150m" 5 "Dist100mTo125m" 4 "Dist75mTo100m" 3 "Dist50mTo75m" 2 "Dist25mTo50m" 1 "Dist15mTo25m" 0 "Dist0mTo15m"; +VAL_ 961 AdbMde2_D_Rq 3 "MarkerLightFlashing" 2 "MarkerLightConstant" 1 "Spot" 0 "None"; +VAL_ 961 AdbIntns2_D_Rq 3 "Maximum" 2 "Medium" 1 "Low" 0 "Off"; +VAL_ 961 AdbBrdr2Up_An_Rq 511 "Faulty" 510 "NoDataExists"; +VAL_ 961 AdbBrdr2Right_An_Rq 2047 "Faulty" 2046 "NoDataExists"; +VAL_ 961 AdbBrdr2Low_An_Rq 511 "Faulty" 510 "NoDataExists"; +VAL_ 961 AdbBrdr2Left_An_Rq 2047 "Faulty" 2046 "NoDataExists"; +VAL_ 394 AccStopStat_D_Dsply 3 "PressResume" 2 "Stopped" 1 "ResumeReady" 0 "NoDisplay"; +VAL_ 394 AccTrgDist2_D_Dsply 15 "DIST_ACTIVE_13_Farthest" 14 "DIST_ACTIVE_12" 13 "DIST_ACTIVE_11" 12 "DIST_ACTIVE_10" 11 "DIST_ACTIVE_9" 10 "DIST_ACTIVE_8" 9 "DIST_ACTIVE_7" 8 "DIST_ACTIVE_6" 7 "DIST_ACTIVE_5" 6 "DIST_ACTIVE_4" 5 "DIST_ACTIVE_3" 4 "DIST_ACTIVE_2" 3 "DIST_ACTIVE_1_Closest" 2 "DIST_ACTIVE_No_Target" 1 "DIST_STANDBY" 0 "DIST_OFF"; +VAL_ 394 AccStopRes_B_Dsply 1 "Yes" 0 "No"; +VAL_ 394 TjaWarn_D_Rq 7 "NotUsed_4" 6 "NotUsed_3" 5 "NotUsed_2" 4 "NotUsed_1" 3 "HardTakeOverLevel2" 2 "HardTakeOverLevel1" 1 "TrafficJamAssistCancel" 0 "NoWarning"; +VAL_ 394 Tja_D_Stat 7 "NotUsed_1" 6 "ActiveWarningRight" 5 "ActiveWarningLeft" 4 "ActiveInterventionRight" 3 "ActiveInterventionLeft" 2 "Active" 1 "Standby" 0 "Off"; +VAL_ 394 TjaMsgTxt_D_Dsply 7 "NotUsed_4" 6 "NotUsed_3" 5 "NotUsed_2" 4 "NotUsed_1" 3 "TurnOnAdaptCruiseControl" 2 "TrafficJamAssistSelected" 1 "TrafficJamAssistUnavailabl" 0 "NoMessage"; +VAL_ 394 IaccLamp_D_Rq 3 "NotUsed_2" 2 "NotUsed_1" 1 "DisplayIaccIcon" 0 "DoNotDisplayIaccIcon"; +VAL_ 394 AccMsgTxt_D2_Rq 15 "NotUsed_1" 14 "NCC_Enabled_Warning" 13 "IACC_TJA_Selected" 12 "ACC_TJA_Selected" 11 "IACC_Selected" 10 "Press_Brake_To_Hold" 9 "Only_Following_In_Low_Spd" 8 "TJA_Unavailable" 7 "Shift_Down" 6 "IACC_Unavailable" 5 "ACC_Selected" 4 "ACC_Overridden" 3 "Brake_Capacity_Warning" 2 "ACC_Cancelled" 1 "ACC_Unavailable" 0 "No_Text"; +VAL_ 394 FcwDeny_B_Dsply 1 "Yes" 0 "No"; +VAL_ 394 FcwMemStat_B_Actl 1 "On" 0 "Off"; +VAL_ 394 AccTGap_B_Dsply 1 "Yes" 0 "No"; +VAL_ 394 CadsAlignIncplt_B_Actl 1 "Yes" 0 "No"; +VAL_ 394 AccFllwMde_B_Dsply 1 "Yes" 0 "No"; +VAL_ 394 CadsRadrBlck_B_Actl 1 "Yes" 0 "No"; +VAL_ 394 CmbbPostEvnt_B_Dsply 1 "Yes" 0 "No"; +VAL_ 394 AccStopMde_B_Dsply 1 "Yes" 0 "No"; +VAL_ 394 FcwMemSens_D_Actl 3 "FCW_Sensitivity_3" 2 "FCW_Sensitivity_2" 1 "FCW_Sensitivity_1" 0 "Not_Used"; +VAL_ 394 FcwMsgTxt_D_Rq 7 "Undefined_3" 6 "Undefined_2" 5 "Low_Visibility" 4 "Unavailable_DueTo_LowSpeed" 3 "Available" 2 "Unavailable" 1 "Off" 0 "No_Text"; +VAL_ 394 AccWarn_D_Dsply 3 "BrakeReleaseWarn_In_StopMd" 2 "Brake_Capacity_Warning" 1 "Cancel_Warning" 0 "No_Warning"; +VAL_ 394 FcwVisblWarn_B_Rq 1 "On" 0 "Off"; +VAL_ 394 FcwAudioWarn_B_Rq 1 "On" 0 "Off"; +VAL_ 394 AccTGap_D_Dsply 7 "Undefined_2" 6 "Undefined_1" 5 "Time_Gap_5" 4 "Time_Gap_4" 3 "Time_Gap_3" 2 "Time_Gap_2" 1 "Time_Gap_1" 0 "Not_Used"; +VAL_ 394 AccMemEnbl_B_RqDrv 1 "Adaptive_Cruise" 0 "Normal_Cruise"; +VAL_ 394 FdaMem_B_Stat 1 "On" 0 "Off"; +VAL_ 391 HudBlk3_B_Rq 1 "Yes" 0 "No"; +VAL_ 391 HudBlk2_B_Rq 1 "Yes" 0 "No"; +VAL_ 391 HudBlk1_B_Rq 1 "Yes" 0 "No"; +VAL_ 391 HudFlashRate_D_Actl 3 "Unused" 2 "Flash_4Hz_50Prct_DutyCycle" 1 "On" 0 "Off"; +VAL_ 391 CmbbBrkPrchg_D_Rq 3 "Undefined" 2 "Level_2_PreCharge_Request" 1 "Level_1_PreCharge_Request" 0 "No_PreCharge_Request"; +VAL_ 391 CmbbBrkDecel_B_Rq 1 "Yes" 0 "No"; +VAL_ 391 CmbbBaSens_D_Rq 3 "Level_3" 2 "Level_2" 1 "Level_1" 0 "Normal"; +VAL_ 390 AccBrkPulse_B_Rq 1 "True" 0 "False"; +VAL_ 390 AccAutoResum_D_Rq 3 "NotUsed" 2 "Active" 1 "Pending" 0 "Off"; +VAL_ 390 AccBrkPrkEl_B_Rq 1 "Yes" 0 "No"; +VAL_ 390 Cmbb_B_Enbl 1 "Yes" 0 "No"; +VAL_ 390 CmbbOvrrd_B_RqDrv 1 "Yes" 0 "No"; +VAL_ 390 CmbbDeny_B_Actl 1 "Yes" 0 "No"; +VAL_ 390 CmbbEngTqMn_B_Rq 1 "Yes" 0 "No"; +VAL_ 390 AccDeny_B_Rq 1 "Yes" 0 "No"; +VAL_ 390 AccResumEnbl_B_Rq 1 "Yes" 0 "No"; +VAL_ 390 AccCancl_B_Rq 1 "Yes" 0 "No"; +VAL_ 390 AccBrkPrchg_B_Rq 1 "Yes" 0 "No"; +VAL_ 390 AccBrkDecel_B_Rq 1 "Active" 0 "Inactive"; +VAL_ 390 AccStopStat_B_Rq 1 "Yes" 0 "No"; +VAL_ 1153 TerrMde_D_RqDrv 7 "Fail_Safe_Default" 6 "Dynamic_Mode" 5 "Rock_Crawl_Mode" 4 "Mud_Ruts_Mode" 3 "Sand_Mode" 2 "Undefined" 1 "Low_Mu_Mode" 0 "Special_Operating_Mode_Off"; +VAL_ 942 PrkAidDrvDir_D_Stat 7 "NotUsed_2" 6 "NotUsed_1" 5 "BackwardNegative" 4 "ForwardNegative" 3 "BackwardPositive" 2 "ForwardPositive" 1 "NoMotion" 0 "DirectionNotKnown"; +VAL_ 942 PrkAidAcsyRear_D_Stat 3 "NotUsed" 2 "On" 1 "Off" 0 "Null"; +VAL_ 942 PrkAidAcsyFront_D_Stat 3 "NotUsed" 2 "On" 1 "Off" 0 "Null"; +VAL_ 930 BalrWndwRight_B_Stat 1 "Enable" 0 "Disable"; +VAL_ 930 BalrSnsRight_D_Falt 3 "Invalid" 2 "SystemFailure" 1 "Blocked" 0 "Clear"; +VAL_ 930 WndwPsngrRear_D_RqBalrr 3 "NotUsed" 2 "Stop" 1 "AutoUp" 0 "NoRequest"; +VAL_ 930 WndwPsngr_D_RqBalrr 3 "NotUsed" 2 "Stop" 1 "AutoUp" 0 "NoRequest"; +VAL_ 930 WndwDrvRear_D_RqBalrr 3 "NotUsed" 2 "Stop" 1 "AutoUp" 0 "NoRequest"; +VAL_ 930 WndwDrv_D_RqBalrr 3 "NotUsed" 2 "Stop" 1 "AutoUp" 0 "NoRequest"; +VAL_ 930 BalrRight_D_Stat 3 "Inhibited" 2 "Disabled" 1 "On" 0 "Off"; +VAL_ 930 BalrMdeSelRight_B_Stat 1 "Enable" 0 "Disable"; +VAL_ 930 BalrMdeRight_D_Stat 3 "NotUsed" 2 "High" 1 "Medium" 0 "Low"; +VAL_ 930 BalrLckRight_B_Stat 1 "Enable" 0 "Disable"; +VAL_ 930 BalrChimeRight_D_Rq 3 "NotUsed" 2 "Soft" 1 "Normal" 0 "Off"; +VAL_ 930 CamraRearOn_B_RqBalrr 1 "Active" 0 "Inactive"; +VAL_ 930 DrLckActv_B_RqBalrr 1 "Active" 0 "Null"; +VAL_ 929 BalrChimeLeft_D_Rq 3 "NotUsed" 2 "Soft" 1 "Normal" 0 "Off"; +VAL_ 929 BalrLeft_D_Stat 3 "Inhibited" 2 "Disabled" 1 "On" 0 "Off"; +VAL_ 929 BalrWndwLeft_B_Stat 1 "Enable" 0 "Disable"; +VAL_ 929 WndwPsngrRear_D_RqBalrl 3 "NotUsed" 2 "Stop" 1 "AutoUp" 0 "NoRequest"; +VAL_ 929 WndwPsngr_D_RqBalrl 3 "NotUsed" 2 "Stop" 1 "AutoUp" 0 "NoRequest"; +VAL_ 929 WndwDrvRear_D_RqBalrl 3 "NotUsed" 2 "Stop" 1 "AutoUp" 0 "NoRequest"; +VAL_ 929 WndwDrv_D_RqBalrl 3 "NotUsed" 2 "Stop" 1 "AutoUp" 0 "NoRequest"; +VAL_ 929 BalrSnsLeft_D_Falt 3 "Invalid" 2 "SystemFailure" 1 "Blocked" 0 "Clear"; +VAL_ 929 BalrMdeSelLeft_B_Stat 1 "Enable" 0 "Disable"; +VAL_ 929 BalrMdeLeft_D_Stat 3 "NotUsed" 2 "High" 1 "Medium" 0 "Low"; +VAL_ 929 BalrLckLeft_B_Stat 1 "Enable" 0 "Disable"; +VAL_ 929 CamraRearOn_B_RqBalrl 1 "Active" 0 "Inactive"; +VAL_ 929 DrLckActv_B_RqBalrl 1 "Active" 0 "Null"; +VAL_ 402 PrkAidSwtch_D_RqMnu 1 "Pressed" 0 "Not_Pressed"; +VAL_ 402 ApaSwtch_D_RqMnu 3 "NotUsed2" 2 "NotUsed1" 1 "Pressed" 0 "Not_Pressed"; +VAL_ 402 ApaMdeStat_D_RqDrv 7 "Faulty" 6 "Off" 5 "NotUsed2" 4 "NotUsed1" 3 "POA" 2 "PPA" 1 "SAPP" 0 "Inactive"; +VAL_ 402 CamraViewSplit_B_Rq 1 "On" 0 "Off"; +VAL_ 402 CamraZoomMan_D_Rq 7 "Unknown" 6 "Invalid" 5 "Zoom_Level_V" 4 "Zoom_Level_IV" 3 "Zoom_Level_III" 2 "Zoom_Level_II" 1 "Zoom_Level_I" 0 "Off"; +VAL_ 402 CamraOvrlStat_D_Rq 1 "On" 0 "Off"; +VAL_ 402 CamraOvrlDyn_D_Rq 1 "On" 0 "Off"; +VAL_ 402 CamAutoTowbarZoom 1 "On" 0 "Off"; +VAL_ 402 DistanceBarSetting 1 "On" 0 "Off"; +VAL_ 924 DcacOut_Pw_Mx 2047 "Faulty" 2046 "NoDataExists"; +VAL_ 924 DcacOut2_Pw_Actl 8191 "Faulty" 8190 "NoDataExists"; +VAL_ 924 DcacOut1_Pw_Actl 8191 "Faulty" 8190 "NoDataExists"; +VAL_ 924 DcacIn_Pw_Mx 2047 "Faulty" 2046 "NoDataExists"; +VAL_ 923 DcacIn_U2_Actl 4095 "Faulty" 4094 "NoDataExists"; +VAL_ 923 DcacIn_U_Actl 4095 "Fault" 4094 "NoDataExists"; +VAL_ 923 DcacIn_I_Actl 2047 "Faulty" 2046 "NoDataExists"; +VAL_ 923 Dcac_Te_Actl 255 "Faulty" 254 "NoDataExists"; +VAL_ 922 DcacBp2BrkrOpn_B_Falt 1 "Faulted" 0 "NotFaulted"; +VAL_ 922 DcacBp1BrkrOpn_B_Falt 1 "Faulted" 0 "NotFaulted"; +VAL_ 922 DcacIpRcBrkrOpn_B_Falt 1 "Faulted" 0 "NotFaulted"; +VAL_ 922 DcacRdy_D2_Stat 3 "Faulted" 2 "RecoverableFault" 1 "Active" 0 "Idle"; +VAL_ 922 DcacOvrld_B_Falt 1 "Faulted" 0 "NotFaulted"; +VAL_ 922 DcacOverTe_B_Falt 1 "Faulted" 0 "NotFaulted"; +VAL_ 922 DcacGfci_B_Falt 1 "Faulted" 0 "NotFaulted"; +VAL_ 922 DcacErr_B_Stat 1 "Faulted" 0 "NotFaulted"; +VAL_ 922 DcacAcUDetct_B_Falt 1 "Faulted" 0 "NotFaulted"; +VAL_ 922 DcacRdy_D_Stat 7 "NotUsed_2" 6 "NotUsed_1" 5 "Faulted" 4 "ProtectionTempearture" 3 "ProtectionOverload" 2 "ProtectionGfci" 1 "Active" 0 "Idle"; +VAL_ 922 DcacPlugPrsnt_B_Stat 1 "Yes" 0 "No"; +VAL_ 922 DcacClntFlw_D_Rq 3 "High" 2 "Medium" 1 "Low" 0 "Off"; +VAL_ 922 CoolFanDcac_D_Rq 3 "High" 2 "Medium" 1 "Low" 0 "Off"; diff --git a/opendbc_repo/opendbc/dbc/generator/chrysler/.gitignore b/opendbc_repo/opendbc/dbc/generator/chrysler/.gitignore new file mode 100644 index 0000000000..46fc4e0d88 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/chrysler/.gitignore @@ -0,0 +1 @@ +_*generated.dbc diff --git a/opendbc_repo/opendbc/dbc/generator/chrysler/_stellantis_common.dbc b/opendbc_repo/opendbc/dbc/generator/chrysler/_stellantis_common.dbc new file mode 100644 index 0000000000..df913561de --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/chrysler/_stellantis_common.dbc @@ -0,0 +1,185 @@ +BO_ 258 STEERING: 8 XXX + SG_ STEERING_ANGLE : 5|14@0+ (0.5,-2048) [-2048|2047] "deg" XXX + SG_ STEERING_RATE : 21|14@0+ (0.5,-2048) [-2048|2047] "deg/s" XXX + SG_ STEERING_ANGLE_HP : 48|4@1+ (0.1,-0.4) [-0.4|0.4] "deg" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 264 ECM_1: 8 XXX + SG_ ENGINE_RPM : 7|16@0+ (1,0) [0|65535] "" XXX + SG_ ENGINE_TORQUE : 20|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX + SG_ EXPECTED_ENGINE_TORQUE : 36|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 280 ECM_TRQ: 8 XXX + SG_ ENGINE_TORQ_MAX : 4|13@0+ (.25,-500) [-500|1547.5] "NM" XXX + SG_ ENGINE_TORQ_MIN : 20|13@0+ (.25,-500) [-500|1547.5] "NM" XXX + +BO_ 284 ESP_8: 8 XXX + SG_ BRK_PRESSURE : 3|12@0+ (1,0) [0|1] "" XXX + SG_ Vehicle_Stopped : 7|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_PEDAL : 19|12@0+ (1,0) [0|1] "" XXX + SG_ Vehicle_Speed : 39|16@0+ (0.0078125,0) [0|511.984375] "km/h" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 288 ECM_2: 7 XXX + SG_ ACC_TORQUE_REQ_ENABLE : 5|1@1+ (1,0) [0|0] "" XXX + SG_ ESC_TORQUE_REQ_ENABLE : 6|1@1+ (1,0) [0|0] "" XXX + SG_ TCM_TORQUE_REQ_ENABLE : 7|1@1+ (1,0) [0|0] "" XXX + SG_ Accelerator_Position : 16|8@1+ (0.4,0) [0|100] "%" XXX + SG_ CRUISE_OVERRIDE : 31|1@1+ (1,0) [0|0] "" XXX + SG_ COUNTER : 47|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 55|8@0+ (1,0) [0|0] "" XXX + +BO_ 320 ESP_1: 8 XXX + SG_ Brake_State : 0|2@1+ (1,0) [0|0] "" XXX + SG_ Brake_Pedal_State : 2|2@1+ (1,0) [0|0] "" XXX + SG_ ACC_Engaged : 15|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_Enabled : 23|1@0+ (1,0) [0|1] "" XXX + SG_ Vehicle_Speed : 33|10@0+ (0.5,0) [0|511] "km/h" XXX + SG_ ACC_OFF_REQ : 39|2@0+ (1,0) [0|0] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ BRAKE_PRESSED_ACC : 6|1@0+ (1,0) [0|3] "" XXX + +BO_ 268 ESP_2: 8 ESC + SG_ ESC_TORQUE_REQ : 4|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX + SG_ ACC_TORQUE_REQ_ENABLE : 5|1@1+ (1,0) [0|0] "" XXX + SG_ ESC_TORQUE_REQ_MAX : 6|1@1+ (1,0) [0|0] "" XXX + SG_ ESC_TORQUE_REQ_MIN : 7|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_TORQUE_REQ : 20|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX + SG_ TCS_ACTIVE : 21|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_TORQUE_REQ_MAX : 22|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_BRK_PREP : 40|1@1+ (1,0) [0|0] "" XXX + SG_ DISABLE_FUEL_SHUTOFF : 47|1@1+ (1,0) [0|0] "" XXX + SG_ DAS_REQ_ACTIVE : 48|3@1+ (1,0) [0|0] "" XXX + SG_ COLLISION_BRK_PREP : 51|1@1+ (1,0) [0|0] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX + +BO_ 344 ESP_6: 8 XXX + SG_ WHEEL_SPEED_FL : 5|14@0+ (0.5,0) [0|8191] "rpm" XXX + SG_ WHEEL_SPEED_FR : 21|14@0+ (0.5,0) [0|8191] "rpm" XXX + SG_ WHEEL_SPEED_RL : 37|14@0+ (0.5,0) [0|8191] "rpm" XXX + SG_ WHEEL_SPEED_RR : 53|14@0+ (0.5,0) [0|8191] "rpm" XXX + +BO_ 368 Transmission_Status: 8 XXX + SG_ Gear_State : 2|3@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 464 ORC_1: 8 XXX + SG_ SEATBELT_DRIVER_UNLATCHED : 13|1@0+ (1,0) [0|1] "" XXX + +BO_ 500 DAS_3: 8 XXX + SG_ ENGINE_TORQUE_REQUEST : 4|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX + SG_ ENGINE_TORQUE_REQUEST_MAX : 7|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_STANDSTILL : 5|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_GO : 6|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_DECEL : 19|12@0+ (0.004885,-16) [-16|4] "m/s2" XXX + SG_ ACC_AVAILABLE : 20|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_ACTIVE : 21|1@0+ (1,0) [0|1] "" XXX + SG_ DISABLE_FUEL_SHUTOFF : 23|1@1+ (1,0) [0|0] "" XXX + SG_ GR_MAX_REQ : 32|4@1+ (1,0) [0|0] "" XXX + SG_ ACC_DECEL_REQ : 36|3@1+ (1,0) [0|0] "" XXX + SG_ ACC_FAULTED : 46|2@1+ (1,0) [0|0] "" XXX + SG_ COLLISION_BRK_PREP : 48|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_BRK_PREP : 49|1@1+ (1,0) [0|0] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 501 DAS_4: 8 XXX + SG_ ACC_SET_SPEED_KPH : 15|8@0+ (1,0) [0|3] "km/h" XXX + SG_ ACC_SET_SPEED_MPH : 23|8@0+ (1,0) [0|3] "mph" XXX + SG_ ACC_DISTANCE_CONFIG_1 : 1|2@0+ (1,0) [0|3] "" XXX + SG_ ACC_DISTANCE_CONFIG_2 : 41|2@0+ (1,0) [0|3] "" XXX + SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX + SG_ ACC_STATE : 38|3@0+ (1,0) [0|7] "" XXX + SG_ FCW_OFF : 25|2@0+ (1,0) [0|3] "" XXX + SG_ FCW_ERROR : 27|2@0+ (1,0) [0|3] "" XXX + SG_ FCW_BRAKE_ENABLED : 29|1@0+ (1,0) [0|1] "" XXX + SG_ FCW_BRAKE_DISABLED : 47|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_FAULTED : 50|1@0+ (1,0) [0|1] "" XXX + +BO_ 544 EPS_2: 8 XXX + SG_ LKAS_STATE : 23|4@0+ (1,0) [0|15] "" XXX + SG_ COLUMN_TORQUE : 2|11@0+ (1,-1024) [-1024|1023] "" XXX + SG_ TORQUE_OVERLAY_STATUS : 6|4@0+ (1,0) [0|15] "" XXX + SG_ EPS_TORQUE_MOTOR_RAW : 19|12@0+ (1,-2048) [-2048|2047] "" XXX + SG_ EPS_TORQUE_MOTOR : 34|11@0+ (1,-1024) [-1024|1023] "" XXX + SG_ LKAS_TEMPORARY_FAULT : 38|1@0+ (1,0) [0|1] "" XXX + SG_ AUTO_PARK_HAS_CONTROL_2 : 51|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 559 ECM_5: 8 XXX + SG_ Accelerator_Position : 0|8@1+ (0.4,0) [0|100] "%" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 571 CRUISE_BUTTONS: 3 XXX + SG_ ACC_Cancel : 0|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_Distance_Dec : 1|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_Accel : 2|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_Decel : 3|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_Resume : 4|1@0+ (1,0) [0|1] "" XXX + SG_ Cruise_OnOff : 6|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_OnOff : 7|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_Distance_Inc : 8|1@1+ (1,0) [0|0] "" XXX + SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX + +BO_ 625 DAS_5: 8 XXX + SG_ FCW_STATE : 2|1@1+ (1,0) [0|0] "" XXX + SG_ FCW_DISTANCE : 3|2@1+ (1,0) [0|0] "" XXX + SG_ ACCFCW_MESSAGE : 12|4@1+ (1,0) [0|0] "" XXX + SG_ SET_SPEED_KPH : 24|8@1+ (1,0) [0|250] "km/h" XXX + SG_ WHEEL_TORQUE_REQUEST : 38|15@0+ (1,-7767) [-7767|24999] "Nm" XXX + SG_ WHEEL_TORQUE_REQUEST_ACTIVE : 39|1@1+ (1,0) [0|0] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 669 EPB_1: 3 XXX + SG_ PARKING_BRAKE_STATUS : 11|3@0+ (1,0) [0|7] "" XXX + SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX + +BO_ 678 DAS_6: 8 XXX + SG_ LKAS_ICON_COLOR : 1|2@0+ (1,0) [0|3] "" XXX + SG_ LKAS_LANE_LINES : 19|4@0+ (1,0) [0|1] "" XXX + SG_ LKAS_ALERTS : 27|4@0+ (1,0) [0|1] "" XXX + SG_ CAR_MODEL : 15|8@0+ (1,0) [0|255] "" XXX + SG_ AUTO_HIGH_BEAM_ON : 47|1@1+ (1,0) [0|0] "" XXX + SG_ LKAS_DISABLED : 56|1@1+ (1,0) [0|0] "" XXX + +BO_ 720 BSM_1: 6 XXX + SG_ RIGHT_STATUS : 5|1@0+ (1,0) [0|1] "" XXX + SG_ LEFT_STATUS : 2|1@0+ (1,0) [0|1] "" XXX + +BO_ 792 STEERING_LEVERS: 8 XXX + SG_ TURN_SIGNALS : 0|2@1+ (1,0) [0|3] "" XXX + SG_ HIGH_BEAM_PRESSED : 2|1@0+ (1,0) [0|3] "" XXX + +BO_ 820 BCM_1: 8 XXX + SG_ DOOR_OPEN_FL : 17|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FR : 18|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RL : 19|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RR : 20|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_TRUNK : 22|1@0+ (1,0) [0|1] "" XXX + SG_ PARKING_BRAKE_SWITCH : 23|1@0+ (1,0) [0|1] "" XXX + SG_ TURN_LIGHT_LEFT : 31|1@0+ (1,0) [0|1] "" XXX + SG_ TURN_LIGHT_RIGHT : 30|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAM_DISPLAY : 58|1@0+ (1,0) [0|1] "" XXX + +VAL_ 320 ACC_OFF_REQ 2 "PERMANENT" 1 "TEMPORARY" 0 "NONE" +VAL_ 368 Gear_State 4 "D" 2 "N" 1 "R" 0 "P" ; +VAL_ 669 PARKING_BRAKE_STATUS 3 "RELEASING" 2 "APPLYING" 1 "APPLIED" 0 "OFF" ; + +CM_ SG_ 258 STEERING_ANGLE_HP "Steering angle high precision"; +CM_ SG_ 264 ENGINE_TORQUE "Effective engine torque"; +CM_ SG_ 264 EXPECTED_ENGINE_TORQUE "Expected Engine Torque based on target engine speed"; +CM_ SG_ 678 LKAS_ICON_COLOR "3 is yellow, 2 is green, 1 is white, 0 is null"; +CM_ SG_ 678 LKAS_LANE_LINES "0x01 transparent lines, 0x02 left white, 0x03 right white, 0x04 left yellow with car on top, 0x05 left yellow with car on top, 0x06 both white, 0x07 left yellow, 0x08 left yellow right white, 0x09 right yellow, 0x0a right yellow left white, 0x0b left yellow with car on top right white, 0x0c right yellow with car on top left white, (0x00, 0x0d, 0x0e, 0x0f) null"; +CM_ SG_ 678 LKAS_ALERTS "(0x01, 0x02) lane sense off, (0x03, 0x04, 0x06) place hands on steering wheel, 0x07 lane departure detected + place hands on steering wheel, (0x08, 0x09) lane sense unavailable + clean front windshield, 0x0b lane sense and auto high beam unavailable + clean front windshield, 0x0c lane sense unavailable + service required, (0x00, 0x05, 0x0a, 0x0d, 0x0e, 0x0f) null"; diff --git a/opendbc_repo/opendbc/dbc/generator/chrysler/_stellantis_common_ram.py b/opendbc_repo/opendbc/dbc/generator/chrysler/_stellantis_common_ram.py new file mode 100755 index 0000000000..fa408f1315 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/chrysler/_stellantis_common_ram.py @@ -0,0 +1,54 @@ +#!/usr/bin/env python3 +import os + +chrysler_to_ram = { + "_stellantis_common_ram_dt_generated.dbc": { + 258: 35, + 264: 37, + 268: 113, + 280: 181, + 284: 121, + 288: 123, + 320: 131, + 344: 139, + 368: 147, + 464: 464, + 500: 153, + 501: 232, + 544: 49, + 571: 177, + 559: 157, + 625: 163, + 669: 213, + 678: 250, + 720: 720, + 792: 792, + 820: 657, + }, + "_stellantis_common_ram_hd_generated.dbc": { + 571: 570, + 678: 629, + }, +} + +if __name__ == "__main__": + src = '_stellantis_common.dbc' + chrysler_path = os.path.dirname(os.path.realpath(__file__)) + + for out, addr_lookup in chrysler_to_ram.items(): + with open(os.path.join(chrysler_path, src), encoding='utf-8') as in_f, open(os.path.join(chrysler_path, out), 'w', encoding='utf-8') as out_f: + out_f.write(f'CM_ "Generated from {src}"\n\n') + + wrote_addrs = set() + for line in in_f.readlines(): + if line.startswith(('BO_', 'VAL_')): + sl = line.split(' ') + addr = int(sl[1]) + wrote_addrs.add(addr) + + sl[1] = str(addr_lookup.get(addr, addr)) + line = ' '.join(sl) + out_f.write(line) + + missing_addrs = set(addr_lookup.keys()) - wrote_addrs + assert len(missing_addrs) == 0, f"Missing addrs from {src}: {missing_addrs}" diff --git a/opendbc_repo/opendbc/dbc/generator/chrysler/chrysler_pacifica_2017_hybrid.dbc b/opendbc_repo/opendbc/dbc/generator/chrysler/chrysler_pacifica_2017_hybrid.dbc new file mode 100644 index 0000000000..3f4b373843 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/chrysler/chrysler_pacifica_2017_hybrid.dbc @@ -0,0 +1,172 @@ +CM_ "IMPORT _stellantis_common.dbc"; + +BO_ 514 SPEED_1: 8 XXX + SG_ SPEED_LEFT : 7|12@0+ (0.071028,0) [0|65535] "m/s" XXX + SG_ SPEED_RIGHT : 23|12@0+ (0.071028,0) [0|1023] "m/s" XXX + +BO_ 653 BRAKE_MODULE: 2 XXX + SG_ BRAKE_PRESSURE : 15|8@0+ (1,0) [0|255] "" XXX + SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|4] "" XXX + +BO_ 746 GEAR: 5 XXX + SG_ PRNDL : 2|3@0+ (1,0) [0|7] "" XXX + SG_ GEAR_CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 31|4@0+ (1,0) [0|15] "" XXX + +BO_ 736 TRIP: 8 XXX + SG_ COUNTER : 7|16@0+ (1,0) [0|65535] "Meters" XXX + SG_ COUNTER_2 : 23|16@0+ (1,0) [0|65535] "Meters" XXX + +BO_ 658 LKAS_COMMAND: 6 XXX + SG_ COUNTER : 39|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX + SG_ STEERING_TORQUE : 2|11@0+ (1,-1024) [0|1] "" XXX + SG_ LKAS_CONTROL_BIT : 4|1@0+ (1,0) [0|1] "" XXX + +BO_ 705 AUTO_PARK_BUTTON: 8 XXX + SG_ AUTO_PARK_TOGGLE_2 : 8|1@0+ (1,0) [0|1] "" XXX + SG_ AUTO_PARK_TOGGLE_1 : 11|1@0+ (1,0) [0|1] "" XXX + SG_ INCREASING_UNKNOWN : 38|7@0+ (1,0) [0|15] "" XXX + +BO_ 719 AUTO_PARK_SIGNALS_1: 8 XXX + SG_ AUTO_PARK_UNKNOWN_1 : 7|16@0+ (1,0) [0|31] "" XXX + +BO_ 671 AUTO_PARK_REQUEST: 8 XXX + SG_ AUTO_PARK_CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ AUTO_PARK_STATUS : 7|5@0+ (1,0) [0|15] "" XXX + SG_ AUTO_PARK_COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ AUTO_PARK_MODE : 22|2@0+ (1,0) [0|3] "" XXX + SG_ AUTO_PARK_CMD : 2|11@0+ (1,-1024) [0|1] "NM" XXX + +BO_ 784 AUTO_PARK_LESS_INTERESTING: 8 XXX + SG_ INCREASING_UNKNOWN : 55|8@0+ (1,0) [0|7] "" XXX + SG_ AUTO_PARK_PERPENDICULAR_2 : 61|1@0+ (1,0) [0|255] "" XXX + +BO_ 826 AUTO_PARK_SIGNALS_3: 8 XXX + SG_ AUTO_PARK_HAS_CONTROL_3 : 1|1@0+ (1,0) [0|1] "" XXX + SG_ HUMAN_HAS_CONTROL : 2|1@0+ (1,0) [0|1] "" XXX + SG_ AUTO_PARK_GEAR_1 : 27|4@0+ (1,0) [0|255] "" XXX + SG_ AUTO_PARK_GEAR_2 : 35|4@0+ (1,0) [0|15] "" XXX + SG_ AUTO_PARK_GEAR_3 : 51|4@0+ (1,0) [0|15] "" XXX + +BO_ 332 STEERING_2: 8 XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ ENERGY_RELATED : 39|16@0+ (1,0) [0|65535] "" XXX + SG_ STEER_ANGLE_2 : 7|13@0+ (0.3187251,-1307.888) [-360|360] "deg" XXX + +BO_ 331 BRAKE_3: 8 XXX + SG_ BRAKE_RELATED_3 : 7|16@0+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 608 PARKSENSE_SIGNAL: 8 XXX + SG_ PARKSENSE_DISABLED : 34|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ IN_REVERSE : 10|1@0+ (1,0) [0|255] "" XXX + SG_ AUTO_PARK_HAS_CONTROL_1 : 16|1@0+ (1,0) [0|255] "" XXX + SG_ HUMAN_HAS_CONTROL : 17|1@0+ (1,0) [0|3] "" XXX + +BO_ 729 LKAS_HEARTBIT: 5 XXX + SG_ LKAS_STATUS_OK : 31|16@0+ (1,0) [0|65535] "" XXX + +BO_ 257 ACCEL_RELATED_101: 5 XXX + SG_ ENERGY_OR_RPM : 31|8@0+ (1,0) [0|255] "" XXX + +BO_ 825 AUDIBLE_BEEP_339: 2 XXX + SG_ BEEP_339 : 7|16@0+ (1,0) [0|65535] "" XXX + +BO_ 168 ACCEL_RELATED_a8: 8 XXX + SG_ ACCEL_RELATED : 23|16@0+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 270 ACCEL_RELATED_10e: 8 XXX + SG_ ACCEL_OR_RPM : 7|16@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ ELECTRIC_MOTOR : 23|16@0+ (1,0) [0|65535] "" XXX + +BO_ 291 ENERGY_RELATED_123: 8 XXX + SG_ ENERGY_GAIN_LOSS : 18|11@0- (1,0) [0|255] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ ENERGY_SMOOTHER_CURVE : 35|12@0+ (1,0) [0|2047] "" XXX + +BO_ 294 ENERGY_RELATED_126: 8 XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ UNKNOWN_126_1 : 3|12@0+ (1,0) [0|4095] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ UNKNOWN_126_2 : 35|12@0+ (1,0) [0|4095] "" XXX + SG_ ENERGY_GAIN_LOSS_NOISY : 19|12@0+ (1,0) [0|2047] "" XXX + +BO_ 308 ACCEL_GAS_134: 8 XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ ACCEL_134 : 46|7@0+ (1,0) [0|127] "" XXX + +BO_ 532 ENERGY_RELATED_214: 8 XXX + SG_ NOISY_SLOWLY_DECREASING : 16|9@0+ (1,0) [0|255] "" XXX + SG_ ENERGY_RELATED : 0|9@0+ (1,0) [0|255] "" XXX + +BO_ 655 CHARGING_MAYBE_28F: 8 XXX + SG_ CHARGING : 1|2@0+ (1,0) [0|3] "" XXX + +BO_ 660 BRAKE_RELATED_294: 8 XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ BRAKE_PERHAPS_294 : 31|8@0+ (1,0) [0|255] "" XXX + +BO_ 764 ACCEL_RELATED_2FC: 8 XXX + SG_ ACCEL_2FC : 13|6@0+ (1,0) [0|255] "" XXX + +BO_ 816 TRACTION_BUTTON: 8 XXX + SG_ TRACTION_OFF : 19|1@0+ (1,0) [0|3] "" XXX + SG_ TOGGLE_PARKSENSE : 52|1@0+ (1,0) [0|3] "" XXX + +BO_ 878 ACCEL_RELATED_36E: 8 XXX + SG_ ACCEL_OR_RPM_2 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ ACCEL_OR_RPM_1 : 7|8@0+ (1,0) [0|255] "" XXX + +BO_ 324 SPEED_2: 8 XXX + SG_ SPEED_2 : 31|16@0+ (0.01,0) [0|255] "m/s" XXX + +BO_ 832 UNKNOWN_340: 8 XXX + SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX + +CM_ SG_ 653 BRAKE_PRESSURE "max seems to be 148"; +CM_ SG_ 746 PRNDL "5=L, 4=D, 3=N, 2=R, 1=P"; +CM_ SG_ 320 BRAKE_PRESSED_2 "Value is 5 when brake is pressed by human, 1 when ACC brake"; +CM_ SG_ 320 BRAKE_PRESSED_ACC "set when ACC brakes"; +CM_ SG_ 792 TURN_SIGNALS "1=Left, 2=Right"; +CM_ SG_ 264 ACCEL_PEDAL "not in ACC so seems to be actual pedal. Use for gasPressed"; +CM_ SG_ 544 LKAS_STATE "2 when autopark has control, 8 when is actuatable by lkas, 4 when there is a fault"; +CM_ SG_ 658 LKAS_STEERING_TORQUE "Most sent by stock system is 1024+-230. + is left. typically changes by 2 or 3 each 0.01s"; +CM_ SG_ 678 LKAS_ICON_COLOR "3 is yellow, 2 is green, 1 is white, 0 is null"; +CM_ SG_ 678 LKAS_LANE_LINES "0x01 transparent lines, 0x02 left white, 0x03 right white, 0x04 left yellow with car on top, 0x05 left yellow with car on top, 0x06 both white, 0x07 left yellow, 0x08 left yellow right white, 0x09 right yellow, 0x0a right yellow left white, 0x0b left yellow with car on top right white, 0x0c right yellow with car on top left white, (0x00, 0x0d, 0x0e, 0x0f) null"; +CM_ SG_ 678 LKAS_ALERTS "(0x01, 0x02) lane sense off, (0x03, 0x04, 0x06) place hands on steering wheel, 0x07 lane departure detected + place hands on steering wheel, (0x08, 0x09) lane sense unavailable + clean front windshield, 0x0b lane sense and auto high beam unavailable + clean front windshield, 0x0c lane sense unavailable + service required, (0x00, 0x05, 0x0a, 0x0d, 0x0e, 0x0f) null"; +CM_ SG_ 705 AUTO_PARK_TOGGLE_1 "set briefly when turning on or off self-parking"; +CM_ SG_ 671 AUTO_PARK_CMD "Request Appears to be in NM"; +CM_ SG_ 671 AUTO_PARK_STATUS "1 = IDLE / NO REQUEST 9 = START REQUEST 10 = REQUEST MODE 11 = REQUEST MODE"; +CM_ SG_ 826 AUTO_PARK_GEAR_1 "Reverse=0, Forward=f"; +CM_ SG_ 826 AUTO_PARK_GEAR_2 "Reverse=0, Forward=f"; +CM_ SG_ 826 AUTO_PARK_GEAR_3 "Reverse=0, Forward=f"; +CM_ SG_ 332 STEER_ANGLE_2 "slightly lags the other steer_angle signal. also more noisy."; +CM_ SG_ 608 PARKSENSE_DISABLED "set if parksense is disabled"; +CM_ SG_ 729 LKAS_STATUS_OK "Set to 0x0820 when LKAS system is plugged in."; +CM_ SG_ 825 BEEP_339 "sent every 0.5s. 0050 is no beep. To beep send 4355 or 4155. Used by ParkSense warning."; +CM_ SG_ 270 ELECTRIC_MOTOR "0x7fff indicates electric motor not in use"; +CM_ SG_ 291 ENERGY_GAIN_LOSS "unsure what this actually is"; +CM_ SG_ 291 ENERGY_SMOOTHER_CURVE "unsure what it is, but smoother"; +CM_ SG_ 308 ACCEL_134 "only set when human presses accel pedal"; +CM_ SG_ 532 NOISY_SLOWLY_DECREASING "perhaps battery but do not know"; +CM_ SG_ 816 TRACTION_OFF "set when traction off button is enabled"; +CM_ SG_ 816 TOGGLE_PARKSENSE "sending 3000071ec0ff9000 enables or disables parksense"; +CM_ SG_ 324 SPEED_2 "signal is approx half other speeds"; +CM_ SG_ 501 ACC_SPEED_CONFIG_KPH "speed configured for ACC"; +CM_ SG_ 501 ACC_SPEED_CONFIG_MPH "speed configured for ACC"; +CM_ SG_ 501 CRUISE_STATE "may just be an icon, but seems to indicate different cruise modes: ACC and Non-ACC and engaged state for both."; +CM_ SG_ 625 SPEED "zero on non-acc drives"; + +VAL_ 501 CRUISE_STATE 0 "Off" 1 "CC On" 2 "CC Engaged" 3 "ACC On" 4 "ACC Engaged"; +VAL_ 746 PRNDL 5 "L" 4 "D" 3 "N" 2 "R" 1 "P"; +VAL_ 792 TURN_SIGNALS 2 "Right" 1 "Left"; diff --git a/opendbc_repo/opendbc/dbc/generator/chrysler/chrysler_ram_dt.dbc b/opendbc_repo/opendbc/dbc/generator/chrysler/chrysler_ram_dt.dbc new file mode 100644 index 0000000000..c9be635e10 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/chrysler/chrysler_ram_dt.dbc @@ -0,0 +1,57 @@ +CM_ "IMPORT _stellantis_common_ram_dt_generated.dbc"; + +BO_ 53 PCM_2: 8 XXX + SG_ ENG_TORQUE_REQ : 3|12@0+ (1,0) [0|7] "" XXX + SG_ ENG_TORQUE_OUT : 19|12@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + +BO_ 133 TCM_1: 8 XXX + SG_ SHIFT_PENDING : 2|1@0+ (1,0) [0|1] "" XXX + SG_ ACTUAL_GEAR : 11|4@0+ (1,0) [0|15] "" XXX + SG_ DESIRED_GEAR : 15|4@0+ (1,0) [0|1] "" XXX + SG_ TC_LOCKED : 17|1@1+ (1,0) [0|0] "" XXX + SG_ OUTPUT_SPEED : 31|16@0+ (1,0) [0|65534] "rpm" XXX + SG_ INPUT_SPEED : 47|16@0+ (1,0) [0|65534] "rpm" XXX + SG_ OUTPUT_SPEED_SIGN : 57|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|4@0+ (1,0) [0|15] "" XXX + +BO_ 135 ABS_2: 8 XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|1] "" XXX + SG_ DRIVER_BRAKE : 15|8@0+ (1,0) [0|1] "" XXX + +BO_ 137 ESP_4: 8 XXX + SG_ Yaw_Rate : 7|16@0+ (0.01,-327.68) [-327.68|327.66] "deg/s" XXX + SG_ Acceleration : 32|8@1+ (0.08,-10.24) [-10.24|10.08] "m/s2" XXX + +BO_ 164 EPS_3: 8 XXX + SG_ DASM_FAULT : 34|1@0+ (1,0) [0|1] "" XXX + SG_ Activation_Status : 48|3@1+ (1,0) [0|1] "" XXX + SG_ Driver_Override : 35|1@0+ (1,0) [0|1] "" XXX + SG_ Hands_on_Wheel : 51|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 166 LKAS_COMMAND: 8 XXX + SG_ STEERING_TORQUE : 10|11@0+ (1,-1024) [0|1] "" XXX + SG_ LKAS_CONTROL_BIT : 24|3@1+ (1,0) [0|1] "" XXX + SG_ DASM_FAULT : 51|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 221 Center_Stack_1: 8 XXX + SG_ LKAS_Button : 53|1@1+ (1,0) [0|0] "" XXX + SG_ Traction_Button : 54|1@0+ (1,0) [0|1] "" XXX + +BO_ 650 Center_Stack_2: 8 XXX + SG_ LKAS_Button : 57|1@1+ (1,0) [0|0] "" XXX + + +CM_ SG_ 133 ACTUAL_GEAR "0xd = P, 0x1-8 = D (actual gear), 0xb = R or N?? TODO find R vs N"; +CM_ SG_ 153 ACC_Engaged "SENT BY FORWARD CAMERA 1 = ACTIVE, 3 = ENGAGED, 0 = DISENGAGED/OFF"; +CM_ SG_ 166 LKAS_CONTROL_BIT "0=IDLE, 1=HAS 2=LKAS 3=ABSD, 4=TJA, 7=SNA"; +CM_ SG_ 250 Auto_High_Beam "1 = HIGH BEAMS OK 0 = HIGH BEAMS OFF "; +CM_ SG_ 250 LKAS_LANE_LINES "9 = LEFT CAUTION, 11 = VERY LEFT CAUTION 10 = RIGHT CAUTION, 14 = VERY RIGHT, 4 = NO LINES DETECTED, 3 = LINES DETECTED, SYSTEM ACTIVE"; +CM_ SG_ 464 Driver_Seatbelt_Status "1 unbuckled 0 buckled"; +CM_ SG_ 792 High_Beam_Lever_Status "1 is high beam, 0 reg"; diff --git a/opendbc_repo/opendbc/dbc/generator/chrysler/chrysler_ram_hd.dbc b/opendbc_repo/opendbc/dbc/generator/chrysler/chrysler_ram_hd.dbc new file mode 100644 index 0000000000..373c041667 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/chrysler/chrysler_ram_hd.dbc @@ -0,0 +1,17 @@ +CM_ "IMPORT _stellantis_common_ram_hd_generated.dbc"; + +BO_ 545 EPS_3: 8 XXX + SG_ DASM_FAULT : 34|1@0+ (1,0) [0|1] "" XXX + SG_ Activation_Status : 48|3@1+ (1,0) [0|1] "" XXX + SG_ Driver_Override : 35|1@0+ (1,0) [0|1] "" XXX + SG_ Hands_on_Wheel : 51|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 630 LKAS_COMMAND: 8 XXX + SG_ STEERING_TORQUE : 10|11@0+ (1,-1024) [0|1] "" XXX + SG_ LKAS_CONTROL_BIT : 24|3@1+ (1,0) [0|1] "" XXX + SG_ DASM_FAULT : 51|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + diff --git a/opendbc_repo/opendbc/dbc/generator/generator.py b/opendbc_repo/opendbc/dbc/generator/generator.py new file mode 100755 index 0000000000..214c8fb1a5 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/generator.py @@ -0,0 +1,64 @@ +#!/usr/bin/env python3 +import os +import re +import glob +import subprocess + +generator_path = os.path.dirname(os.path.realpath(__file__)) +opendbc_root = os.path.join(generator_path, '../') +include_pattern = re.compile(r'CM_ "IMPORT (.*?)";\n') +generated_suffix = '_generated.dbc' + + +def read_dbc(src_dir: str, filename: str) -> str: + with open(os.path.join(src_dir, filename), encoding='utf-8') as file_in: + return file_in.read() + + +def create_dbc(src_dir: str, filename: str, output_path: str): + dbc_file_in = read_dbc(src_dir, filename) + + includes = include_pattern.findall(dbc_file_in) + + output_filename = filename.replace('.dbc', generated_suffix) + output_file_location = os.path.join(output_path, output_filename) + + with open(output_file_location, 'w', encoding='utf-8') as dbc_file_out: + dbc_file_out.write('CM_ "AUTOGENERATED FILE, DO NOT EDIT";\n') + + for include_filename in includes: + include_file_header = '\n\nCM_ "Imported file %s starts here";\n' % include_filename + dbc_file_out.write(include_file_header) + + include_file = read_dbc(src_dir, include_filename) + dbc_file_out.write(include_file) + + dbc_file_out.write('\nCM_ "%s starts here";\n' % filename) + + core_dbc = include_pattern.sub('', dbc_file_in) + dbc_file_out.write(core_dbc) + + +def create_all(output_path: str): + # clear out old DBCs + for f in glob.glob(f"{output_path}/*{generated_suffix}"): + os.remove(f) + + # run python generator scripts first + for f in glob.glob(f"{generator_path}/*/*.py"): + subprocess.check_call(f) + + for src_dir, _, filenames in os.walk(generator_path): + if src_dir == generator_path: + continue + + #print(src_dir) + for filename in filenames: + if filename.startswith('_') or not filename.endswith('.dbc'): + continue + + #print(filename) + create_dbc(src_dir, filename, output_path) + +if __name__ == "__main__": + create_all(opendbc_root) diff --git a/opendbc_repo/opendbc/dbc/generator/gm/_community.dbc b/opendbc_repo/opendbc/dbc/generator/gm/_community.dbc new file mode 100644 index 0000000000..d8855b3594 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/gm/_community.dbc @@ -0,0 +1,15 @@ +BO_ 512 GAS_COMMAND: 6 NEO + SG_ GAS_COMMAND : 7|16@0+ (0.125677,-75.909) [0|1] "" INTERCEPTOR + SG_ GAS_COMMAND2 : 23|16@0+ (0.251976,-76.601) [0|1] "" INTERCEPTOR + SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR + +BO_ 513 GAS_SENSOR: 6 INTERCEPTOR + SG_ INTERCEPTOR_GAS : 7|16@0+ (0.125677,-75.909) [0|1] "" NEO + SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.251976,-76.601) [0|1] "" NEO + SG_ STATE : 39|4@0+ (1,0) [0|15] "" NEO + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" NEO + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" NEO + +VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; diff --git a/opendbc_repo/opendbc/dbc/generator/gm/gm_global_a_powertrain.dbc b/opendbc_repo/opendbc/dbc/generator/gm/gm_global_a_powertrain.dbc new file mode 100644 index 0000000000..e4315be99f --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/gm/gm_global_a_powertrain.dbc @@ -0,0 +1,355 @@ +CM_ "IMPORT _community.dbc"; + +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: K16_BECM K73_TCIC K9_BCM K43_PSCM K17_EBCM K20_ECM K114B_HPCM NEO K124_ASCM EPB +VAL_TABLE_ TurnSignals 2 "Right Turn" 1 "Left Turn" 0 "None" ; +VAL_TABLE_ Intellibeam 1 "Active" 0 "Inactive" ; +VAL_TABLE_ HighBeamsActive 1 "Active" 0 "Inactive" ; +VAL_TABLE_ HighBeamsTemporary 1 "Active" 0 "Inactive" ; +VAL_TABLE_ ACCLeadCar 1 "Present" 0 "Not Present" ; +VAL_TABLE_ ACCCmdActive 1 "Active" 0 "Inactive" ; +VAL_TABLE_ BrakePedalPressed 1 "Pressed" 0 "Depressed" ; +VAL_TABLE_ DistanceButton 1 "Active" 0 "Inactive" ; +VAL_TABLE_ LKAButton 1 "Active" 0 "Inactive" ; +VAL_TABLE_ ACCButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ; +VAL_TABLE_ DriveModeButton 1 "Active" 0 "Inactive" ; +VAL_TABLE_ PRNDL 3 "Reverse" 2 "Drive" 1 "Neutral" 0 "Park" ; +VAL_TABLE_ ESPButton 1 "Active" 0 "Inactive" ; +VAL_TABLE_ DoorStatus 1 "Opened" 0 "Closed" ; +VAL_TABLE_ SeatBeltStatus 1 "Latched" 0 "Unlatched" ; +VAL_TABLE_ LKASteeringCmdActive 1 "Active" 0 "Inactive" ; +VAL_TABLE_ ACCGapLevel 3 "Far" 2 "Med" 1 "Near" 0 "Inactive" ; +VAL_TABLE_ GasRegenCmdActiveInv 1 "Inactive" 0 "Active" ; +VAL_TABLE_ GasRegenCmdActive 1 "Active" 0 "Inactive" ; +VAL_TABLE_ LKATorqueDeliveredStatus 3 "Failed" 2 "Temp. Limited" 1 "Active" 0 "Inactive" ; +VAL_TABLE_ HandsOffSWDetectionStatus 1 "Hands On" 0 "Hands Off" ; +VAL_TABLE_ HandsOffSWDetectionMode 2 "Failed" 1 "Enabled" 0 "Disabled" ; + + +BO_ 189 EBCMRegenPaddle: 7 K17_EBCM + SG_ RegenPaddle : 7|4@0+ (1,0) [0|0] "" NEO + +BO_ 190 ECMAcceleratorPos: 6 K20_ECM + SG_ BrakePedalPos : 15|8@0+ (1,0) [0|0] "sticky" NEO + SG_ GasPedalAndAcc : 23|8@0+ (1,0) [0|0] "" NEO + +BO_ 201 ECMEngineStatus: 8 K20_ECM + SG_ EngineTPS : 39|8@0+ (0.392156863,0) [0|100.000000065] "%" NEO + SG_ EngineRPM : 15|16@0+ (0.25,0) [0|0] "RPM" NEO + SG_ CruiseMainOn : 29|1@0+ (1,0) [0|1] "" NEO + SG_ BrakePressed : 40|1@0+ (1,0) [0|1] "" NEO + SG_ Standstill : 2|1@0+ (1,0) [0|1] "" NEO + SG_ CruiseActive : 31|2@0+ (1,0) [0|3] "" NEO + +BO_ 209 EBCMBrakePedalSensors: 7 K17_EBCM + SG_ Counter1 : 7|2@0+ (1,0) [0|3] "" XXX + SG_ Counter2 : 23|2@0+ (1,0) [0|3] "" XXX + SG_ BrakePedalPosition1 : 5|14@0+ (1,0) [0|16383] "" XXX + SG_ BrakePedalPosition2 : 21|14@0- (-1,0) [0|16383] "" XXX + SG_ BrakeNormalized1 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ BrakeNormalized2 : 47|8@0- (-1,0) [0|255] "" XXX + +BO_ 241 EBCMBrakePedalPosition: 6 K17_EBCM + SG_ BrakePressed : 1|1@0+ (1,0) [0|1] "" XXX + SG_ BrakePedalPosition : 15|8@0+ (1,0) [0|255] "" NEO + +BO_ 298 BCMDoorBeltStatus: 8 K9_BCM + SG_ RearLeftDoor : 8|1@0+ (1,0) [0|0] "" NEO + SG_ FrontLeftDoor : 9|1@0+ (1,0) [0|0] "" NEO + SG_ FrontRightDoor : 10|1@0+ (1,0) [0|0] "" NEO + SG_ RearRightDoor : 23|1@0+ (1,0) [0|0] "" NEO + SG_ LeftSeatBelt : 12|1@0+ (1,0) [0|0] "" NEO + SG_ RightSeatBelt : 53|1@0+ (1,0) [0|0] "" NEO + +BO_ 309 ECMPRDNL: 8 K20_ECM + SG_ PRNDL : 2|3@0+ (1,0) [0|0] "" NEO + SG_ ESPButton : 4|1@0+ (1,0) [0|1] "" XXX + +BO_ 320 BCMTurnSignals: 3 K9_BCM + SG_ TurnSignals : 19|2@0+ (1,0) [0|0] "" NEO + SG_ Intellibeam : 13|1@0+ (1,0) [0|1] "" XXX + SG_ HighBeamsActive : 7|1@0+ (1,0) [0|1] "" XXX + SG_ HighBeamsTemporary : 5|1@0+ (1,0) [0|1] "" XXX + +BO_ 322 BCMBlindSpotMonitor: 7 K9_BCM + SG_ LeftBSM : 6|1@0+ (1,0) [0|1] "" XXX + SG_ RightBSM : 7|1@0+ (1,0) [0|1] "" XXX + +BO_ 328 PSCM_148: 1 K43_PSCM + +BO_ 381 ESPStatus: 6 K20_ECM + SG_ TractionControlOn : 5|1@0+ (1,0) [0|0] "" NEO + SG_ MSG17D_AccPower : 35|12@0- (1,0) [0|0] "" NEO + +BO_ 384 ASCMLKASteeringCmd: 4 NEO + SG_ RollingCounter : 5|2@0+ (1,0) [0|0] "" NEO + SG_ LKASteeringCmdChecksum : 19|12@0+ (1,0) [0|0] "" NEO + SG_ LKASteeringCmdActive : 3|1@0+ (1,0) [0|0] "" NEO + SG_ LKASteeringCmd : 2|11@0- (1,0) [0|0] "" NEO + +BO_ 388 PSCMStatus: 8 K43_PSCM + SG_ HandsOffSWDetectionMode : 20|2@0+ (1,0) [0|3] "" NEO + SG_ HandsOffSWlDetectionStatus : 21|1@0+ (1,0) [0|1] "" NEO + SG_ LKATorqueDeliveredStatus : 5|3@0+ (1,0) [0|7] "" NEO + SG_ LKADriverAppldTrq : 50|11@0- (0.01,0) [-10.24|10.23] "Nm" NEO + SG_ LKATorqueDelivered : 18|11@0- (0.01,0) [0|1] "" NEO + SG_ LKATotalTorqueDelivered : 2|11@0- (0.01,0) [-10.24|10.23] "Nm" NEO + SG_ RollingCounter : 38|4@0+ (1,0) [0|15] "" XXX + SG_ PSCMStatusChecksum : 33|10@0+ (1,0) [0|1023] "" XXX + +BO_ 417 AcceleratorPedal: 7 XXX + SG_ AcceleratorPedal : 55|8@0+ (1,0) [0|0] "" NEO + +BO_ 451 GasAndAcc: 8 XXX + SG_ GasPedalAndAcc2 : 55|8@0+ (1,0) [0|0] "" NEO + +BO_ 452 AcceleratorPedal2: 8 XXX + SG_ CruiseState : 15|3@0+ (1,0) [0|7] "" NEO + SG_ AcceleratorPedal2 : 47|8@0+ (1,0) [0|0] "" NEO + +BO_ 481 ASCMSteeringButton: 7 K124_ASCM + SG_ DistanceButton : 22|1@0+ (1,0) [0|0] "" NEO + SG_ LKAButton : 23|1@0+ (1,0) [0|0] "" NEO + SG_ ACCAlwaysOne : 24|1@0+ (1,0) [0|1] "" XXX + SG_ ACCButtons : 46|3@0+ (1,0) [0|0] "" NEO + SG_ DriveModeButton : 39|1@0+ (1,0) [0|1] "" XXX + SG_ RollingCounter : 33|2@0+ (1,0) [0|3] "" NEO + SG_ SteeringButtonChecksum : 43|12@0+ (1,0) [0|255] "" NEO + +BO_ 485 PSCMSteeringAngle: 8 K43_PSCM + SG_ SteeringWheelAngle : 15|16@0- (0.0625,0) [-2047|2047] "deg" NEO + SG_ SteeringWheelRate : 27|12@0- (1,0) [-2047|2047] "deg/s" NEO + +BO_ 489 EBCMVehicleDynamic: 8 K17_EBCM + SG_ BrakePedalPressed : 6|1@0+ (1,0) [0|0] "" NEO + SG_ LateralAcceleration : 3|10@0- (0.161,0) [-2047|2047] "m/s2" NEO + SG_ YawRate : 35|12@0- (0.625,0) [0|1] "" NEO + SG_ YawRate2 : 51|12@0- (0.0625,0) [-2047|2047] "grad/s" NEO + +BO_ 352 BCMImmobilizer: 5 K9_BCM + SG_ ImmobilizerInfo : 7|32@0+ (1,0) [0|4294967295] "" XXX + +BO_ 497 BCMGeneralPlatformStatus: 8 K9_BCM + SG_ SystemPowerMode : 1|2@0+ (1,0) [0|3] "" XXX + SG_ SystemBackUpPowerMode : 5|2@0+ (1,0) [0|3] "" XXX + SG_ ParkBrakeSwActive : 36|1@0+ (1,0) [0|3] "" XXX + +BO_ 500 SportMode: 6 XXX + SG_ SportMode : 15|1@0+ (1,0) [0|1] "" XXX + +BO_ 501 ECMPRDNL2: 8 K20_ECM + SG_ TransmissionState : 48|4@1+ (1,0) [0|7] "" NEO + SG_ PRNDL2 : 27|4@0+ (1,0) [0|255] "" NEO + SG_ ManualMode : 41|1@0+ (1,0) [0|1] "" NEO + +BO_ 532 BRAKE_RELATED: 6 XXX + SG_ UserBrakePressure : 0|9@0+ (1,0) [0|511] "" XXX + +BO_ 560 EPBStatus: 8 EPB + SG_ EPBClosed : 12|1@0+ (1,0) [0|1] "" NEO + +BO_ 562 EBCMFrictionBrakeStatus: 8 K17_EBCM + SG_ FrictionBrakeUnavailable : 46|1@0+ (1,0) [0|1] "" XXX + +BO_ 608 SPEED_RELATED: 8 XXX + SG_ RollingCounter : 5|2@0+ (1,0) [0|0] "" XXX + SG_ ClusterSpeed : 31|8@0+ (1,0) [0|0] "" XXX + +BO_ 711 BECMBatteryVoltageCurrent: 6 K17_EBCM + SG_ HVBatteryVoltage : 31|12@0+ (0.125,0) [0|511.875] "V" NEO + SG_ HVBatteryCurrent : 12|13@0- (0.15,0) [-614.4|614.25] "A" NEO + +BO_ 715 ASCMGasRegenCmd: 8 K124_ASCM + SG_ GasRegenAlwaysOne2 : 9|1@0+ (1,0) [0|1] "" NEO + SG_ GasRegenAlwaysOne : 14|1@0+ (1,0) [0|1] "" NEO + SG_ GasRegenChecksum : 47|24@0+ (1,0) [0|0] "" NEO + SG_ GasRegenCmdActiveInv : 32|1@0+ (1,0) [0|0] "" NEO + SG_ GasRegenFullStopActive : 13|1@0+ (1,0) [0|0] "" NEO + SG_ GasRegenCmdActive : 0|1@0+ (1,0) [0|0] "" NEO + SG_ RollingCounter : 7|2@0+ (1,0) [0|0] "" NEO + SG_ GasRegenAlwaysOne3 : 23|1@0+ (1,0) [0|1] "" NEO + SG_ GasRegenCmd : 22|12@0+ (1,0) [0|0] "" NEO + +BO_ 717 ASCM_2CD: 5 K124_ASCM + +BO_ 761 BRAKE_RELATED_2: 7 XXX + SG_ UserBrakePressure2 : 47|9@0+ (1,0) [0|511] "" XXX + +BO_ 789 EBCMFrictionBrakeCmd: 5 K124_ASCM + SG_ RollingCounter : 33|2@0+ (1,0) [0|0] "" NEO + SG_ FrictionBrakeMode : 7|4@0+ (1,0) [0|0] "" NEO + SG_ FrictionBrakeChecksum : 23|16@0+ (1,0) [0|0] "" NEO + SG_ FrictionBrakeCmd : 3|12@0- (1,0) [0|0] "" NEO + +BO_ 800 AEBCmd: 6 K124_ASCM + SG_ RollingCounter : 5|2@0+ (1,0) [0|3] "" NEO + SG_ AEBChecksum : 27|20@0+ (1,0) [0|0] "" NEO + SG_ AEBCmdActive : 3|1@1+ (1,0) [0|1] "" NEO + SG_ AEBCmd : 2|11@0+ (1,0) [0|0] "" NEO + SG_ AEBCmd2 : 23|8@0+ (1,0) [0|0] "" NEO + +BO_ 810 TCICOnStarGPSPosition: 8 K73_TCIC + SG_ GPSLongitude : 39|32@0+ (1,-2147483648) [0|0] "milliarcsecond" NEO + SG_ GPSLatitude : 7|32@0+ (1,0) [0|0] "milliarcsecond" NEO + +BO_ 840 EBCMWheelSpdFront: 5 K17_EBCM + SG_ FLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h" NEO + SG_ FRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h" NEO + +BO_ 842 EBCMWheelSpdRear: 5 K17_EBCM + SG_ RLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h" NEO + SG_ RRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h" NEO + SG_ RRWheelDir : 34|3@0+ (1,0) [0|7] "" NEO + SG_ RLWheelDir : 37|3@0+ (1,0) [0|7] "" NEO + +BO_ 869 ASCM_365: 4 K124_ASCM + +BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM + SG_ ACCCruiseState : 8|3@1+ (1,0) [0|7] "" XXX + SG_ ACCLeadCar : 44|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ACCAlwaysOne2 : 32|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ACCAlwaysOne : 0|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ACCSpeedSetpoint : 19|12@0+ (0.0625,0) [0|255.9375] "km/h" NEO + SG_ ACCGapLevel : 21|2@0+ (1,0) [0|0] "" NEO + SG_ ACCResumeButton : 1|1@0+ (1,0) [0|0] "" NEO + SG_ ACCCmdActive : 23|1@0+ (1,0) [0|0] "" NEO + SG_ FCWAlert : 41|2@0+ (1,0) [0|3] "" XXX + +BO_ 967 EVDriveMode: 4 XXX + SG_ SinglePedalModeActive : 7|1@0+ (1,0) [0|1] "" XXX + SG_ SinglePedalModeRisingEdge : 21|1@0+ (1,0) [0|1] "" XXX + SG_ SinglePedalModeFallingEdge : 22|1@0+ (1,0) [0|1] "" XXX + +BO_ 977 ECMCruiseControl: 8 K20_ECM + SG_ CruiseActive : 39|1@0+ (1,0) [0|3] "" NEO + SG_ CruiseSetSpeed : 19|12@0+ (0.0625,0) [0|0] "km/h" NEO + +BO_ 1001 ECMVehicleSpeed: 8 K20_ECM + SG_ VehicleSpeed : 7|16@0+ (0.01,0) [0|0] "mph" NEO + SG_ VehicleSpeedLeft : 39|16@0+ (0.01,0) [0|0] "mph" NEO + +BO_ 1033 ASCMKeepAlive: 7 NEO + SG_ ASCMKeepAliveAllZero : 7|56@0+ (1,0) [0|0] "" NEO + +BO_ 1034 ASCM_40A: 7 K124_ASCM + +BO_ 1217 ECMEngineCoolantTemp: 8 K20_ECM + SG_ EngineCoolantTemp : 23|8@0+ (1,-40) [0|0] "C" NEO + +BO_ 1249 VIN_Part2: 8 K20_ECM + SG_ VINPart2 : 7|64@0+ (1,0) [0|0] "" NEO + +BO_ 1296 ASCM_510: 4 K124_ASCM + +BO_ 1300 VIN_Part1: 8 K20_ECM + SG_ VINPart1 : 7|64@0+ (1,0) [0|0] "" NEO + +BO_ 1912 PSCM_778: 8 K43_PSCM + +BO_ 1930 ASCM_78A: 7 K124_ASCM + +BO_TX_BU_ 384 : K124_ASCM,NEO; +BO_TX_BU_ 880 : NEO,K124_ASCM; +BO_TX_BU_ 1033 : K124_ASCM,NEO; +BO_TX_BU_ 715 : NEO,K124_ASCM; +BO_TX_BU_ 789 : NEO,K124_ASCM; +BO_TX_BU_ 800 : NEO,K124_ASCM; + + +CM_ BU_ K16_BECM "Battery Energy Control Module"; +CM_ BU_ K73_TCIC "Telematics Communication Control Module"; +CM_ BU_ K9_BCM "Body Control Module"; +CM_ BU_ K43_PSCM "Power Steering Control Module"; +CM_ BU_ K17_EBCM "Electronic Brake Control Module"; +CM_ BU_ K20_ECM "Engine Control Module"; +CM_ BU_ K114B_HPCM "Hybrid Powertrain Control Module"; +CM_ BU_ NEO "Comma NEO"; +CM_ BU_ K124_ASCM "Active Safety Control Module"; +CM_ SG_ 381 MSG17D_AccPower "Need to investigate"; +CM_ BO_ 190 "Length varies from 6 to 8 bytes by car"; +CM_ SG_ 190 GasPedalAndAcc "ACC baseline is 62"; +CM_ SG_ 322 LeftBSM "For some cars, this can only be when the blinker is also active"; +CM_ SG_ 322 RightBSM "For some cars, this can only be when the blinker is also active"; +CM_ SG_ 352 ImmobilizerInfo "Non-zero when ignition or accessory mode"; +CM_ SG_ 451 GasPedalAndAcc2 "ACC baseline is 62"; +CM_ SG_ 481 ACCAlwaysOne "Usually 1 if the car is equipped with ACC"; +CM_ SG_ 562 FrictionBrakeUnavailable "1 when ACC brake control is unavailable. Stays high if brake command messages are blocked for a period of time"; +CM_ SG_ 497 SystemPowerMode "Describes ignition"; +CM_ SG_ 497 SystemBackUpPowerMode "Describes ignition + preconditioning mode, noisy"; +CM_ SG_ 501 PRNDL2 "When ManualMode is Active, Value is 13=L1 12=L2 11=L3 ... 4=L10"; +CM_ SG_ 532 UserBrakePressure "can be lower than other brake position signals when the brakes are pre-filled from ACC braking and the user presses on the brakes. user-only pressure?"; +CM_ SG_ 608 ClusterSpeed "Cluster speed signal seems to match dash on newer cars, but is a lower rate and can be noisier."; +CM_ SG_ 761 UserBrakePressure2 "Similar to BRAKE_RELATED->UserBrakePressure"; +CM_ SG_ 1001 VehicleSpeed "Spinouts show here on 2wd. Speed derived from right front wheel (drive tire)"; +BA_DEF_ "UseGMParameterIDs" INT 0 0; +BA_DEF_ "ProtocolType" STRING ; +BA_DEF_ "BusType" STRING ; +BA_DEF_DEF_ "UseGMParameterIDs" 1; +BA_DEF_DEF_ "ProtocolType" "GMLAN"; +BA_DEF_DEF_ "BusType" ""; +BA_ "BusType" "CAN"; +BA_ "ProtocolType" "GMLAN"; +BA_ "UseGMParameterIDs" 0; +VAL_ 497 SystemPowerMode 3 "Crank Request" 2 "Run" 1 "Accessory" 0 "Off"; +VAL_ 497 SystemBackUpPowerMode 3 "Crank Request" 2 "Run" 1 "Accessory" 0 "Off"; +VAL_ 481 DistanceButton 1 "Active" 0 "Inactive" ; +VAL_ 481 LKAButton 1 "Active" 0 "Inactive" ; +VAL_ 481 ACCButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ; +VAL_ 481 DriveModeButton 1 "Active" 0 "Inactive" ; +VAL_ 452 CruiseState 4 "Standstill" 3 "Faulted" 1 "Active" 0 "Off" ; +VAL_ 309 PRNDL 3 "R" 2 "D" 1 "N" 0 "P" ; +VAL_ 309 ESPButton 1 "Active" 0 "Inactive" ; +VAL_ 384 LKASteeringCmdActive 1 "Active" 0 "Inactive" ; +VAL_ 842 RRWheelDir 0 "Stationary" 1 "Forward" 2 "Reverse" 3 "Unsupported" 4 "Fault"; +VAL_ 842 RLWheelDir 0 "Stationary" 1 "Forward" 2 "Reverse" 3 "Unsupported" 4 "Fault"; +VAL_ 880 ACCCruiseState 2 "Adaptive" 3 "Adaptive" 4 "Non-adaptive" 5 "Non-adaptive" ; +VAL_ 880 ACCLeadCar 1 "Present" 0 "Not Present" ; +VAL_ 880 ACCGapLevel 3 "Far" 2 "Med" 1 "Near" 0 "Inactive" ; +VAL_ 880 ACCResumeButton 1 "Pressed" 0 "Depressed" ; +VAL_ 880 ACCCmdActive 1 "Active" 0 "Inactive" ; +VAL_ 388 HandsOffSWDetectionMode 2 "Failed" 1 "Enabled" 0 "Disabled" ; +VAL_ 388 HandsOffSWlDetectionStatus 1 "Hands On" 0 "Hands Off" ; +VAL_ 388 LKATorqueDeliveredStatus 3 "Failed" 2 "Temp. Limited" 1 "Active" 0 "Inactive" ; +VAL_ 489 BrakePedalPressed 1 "Pressed" 0 "Depressed" ; +VAL_ 715 GasRegenCmdActiveInv 1 "Inactive" 0 "Active" ; +VAL_ 715 GasRegenCmdActive 1 "Active" 0 "Inactive" ; +VAL_ 320 Intellibeam 1 "Active" 0 "Inactive" ; +VAL_ 320 HighBeamsActive 1 "Active" 0 "Inactive" ; +VAL_ 320 HighBeamsTemporary 1 "Active" 0 "Inactive" ; +VAL_ 501 PRNDL2 6 "L" 4 "D" 3 "N" 2 "R" 1 "P" 0 "Shifting"; +VAL_ 501 TransmissionState 11 "Shifting" 10 "Reverse" 9 "Forward" 8 "Disengaged"; +VAL_ 501 ManualMode 1 "Active" 0 "Inactive" diff --git a/opendbc_repo/opendbc/dbc/generator/honda/_bosch_2018.dbc b/opendbc_repo/opendbc/dbc/generator/honda/_bosch_2018.dbc new file mode 100644 index 0000000000..bf981781d0 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/honda/_bosch_2018.dbc @@ -0,0 +1,228 @@ +BO_ 148 KINEMATICS: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +BO_ 228 STEERING_CONTROL: 5 EON + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS + SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS + +BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX + SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 232 BRAKE_HOLD: 7 XXX + SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX + SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX + SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX + +BO_ 399 STEER_STATUS: 7 EPS + SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON + SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + +BO_ 450 EPB_STATUS: 8 EPB + SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON + SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 545 XXX_16: 6 SCM + SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX + SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY + +BO_ 576 LEFT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 577 LEFT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 579 RIGHT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 580 RIGHT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA + SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON + SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON + SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 662 SCM_BUTTONS: 4 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON + +BO_ 806 SCM_FEEDBACK: 8 SCM + SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX + SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON + SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON + SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 862 CAMERA_MESSAGES: 8 CAM + SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY + SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX + SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX + SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 927 RADAR_HUD: 8 RADAR + SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY + SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY + SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX + SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY + SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX + SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY + SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX + SG_ HUD_LEAD : 40|1@0+ (1,0) [0|1] "" XXX + SG_ SET_TO_64 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH3 : 47|7@0+ (1,0) [0|127] "" XXX + SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 13274 LKAS_HUD_A: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +BO_ 13275 LKAS_HUD_B: 8 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY + +CM_ SG_ 450 EPB_STATE "3: On, 2: Disengaging, 1: Engaging, 0: Off"; +CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded"; +CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded"; +CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded"; +CM_ SG_ 577 LINE_DASHED "1 = line is dashed"; +CM_ SG_ 577 LINE_SOLID "1 = line is solid"; + +VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal"; diff --git a/opendbc_repo/opendbc/dbc/generator/honda/_bosch_adas_2018.dbc b/opendbc_repo/opendbc/dbc/generator/honda/_bosch_adas_2018.dbc new file mode 100644 index 0000000000..dc8def55cb --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/honda/_bosch_adas_2018.dbc @@ -0,0 +1,54 @@ +BO_ 479 ACC_CONTROL: 8 EON + SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX + SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX + SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX + SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX + SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX + SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX + SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 495 ACC_CONTROL_ON: 8 XXX + SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX + SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 829 LKAS_HUD: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +CM_ SG_ 479 CONTROL_ON "Set to 5 when car is being controlled"; +CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event"; +CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event"; +CM_ SG_ 479 AEB_PREPARE "set 1s before AEB"; +CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc..."; + +VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep"; diff --git a/opendbc_repo/opendbc/dbc/generator/honda/_community.dbc b/opendbc_repo/opendbc/dbc/generator/honda/_community.dbc new file mode 100644 index 0000000000..8be69203ef --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/honda/_community.dbc @@ -0,0 +1,15 @@ +BO_ 512 GAS_COMMAND: 6 EON + SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR + SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR + SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR + +BO_ 513 GAS_SENSOR: 6 INTERCEPTOR + SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON + SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON + SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON + +VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; diff --git a/opendbc_repo/opendbc/dbc/generator/honda/_dual_nidec_common.dbc b/opendbc_repo/opendbc/dbc/generator/honda/_dual_nidec_common.dbc new file mode 100644 index 0000000000..09bb629b30 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/honda/_dual_nidec_common.dbc @@ -0,0 +1,93 @@ +BO_ 145 KINEMATICS: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 148 KINEMATICS_ALT: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-20|20] "m/s2" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON + SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 487 BRAKE_PRESSURE: 4 VSA + SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + +BO_ 506 BRAKE_COMMAND: 8 ADAS + SG_ COMPUTER_BRAKE_DEFAULT : 7|10@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST_DEFAULT : 8|1@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST : 11|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00 : 23|3@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00_2 : 19|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM + SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM + SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX + SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM + SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM + SG_ SET_ME_X00_3 : 44|1@0+ (1,0) [0|1] "" EBCM + SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM + SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX + SG_ COMPUTER_BRAKE : 55|10@0+ (1,0) [0|0] "" EBCM + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM + +BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA + SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON + SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON + SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 829 LKAS_HUD: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +BO_ 892 CRUISE_PARAMS: 8 PCM + SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event"; +CM_ SG_ 506 COMPUTER_BRAKE_ALT "Used by dual-can Nidec"; +CM_ SG_ 506 BRAKE_PUMP_REQUEST_ALT "Used by dual-can Nidec"; +CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc..."; + +VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw"; +VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime"; +VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb"; +VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep"; diff --git a/opendbc_repo/opendbc/dbc/generator/honda/_honda_common.dbc b/opendbc_repo/opendbc/dbc/generator/honda/_honda_common.dbc new file mode 100644 index 0000000000..d9feb98dc8 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/honda/_honda_common.dbc @@ -0,0 +1,163 @@ +BO_ 304 GAS_PEDAL_2: 8 PCM + SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 316 GAS_PEDAL: 8 PCM + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 344 ENGINE_DATA: 8 PCM + SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 380 POWERTRAIN_DATA: 8 PCM + SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON + SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON + SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON + SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON + SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON + SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON + SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 420 VSA_STATUS: 8 VSA + SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON + SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON + SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 427 STEER_MOTOR_TORQUE: 3 EPS + SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON + SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON + SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON + +BO_ 464 WHEEL_SPEEDS: 8 VSA + SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 490 VEHICLE_DYNAMICS: 8 VSA + SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 773 SEATBELT_STATUS: 7 BDY + SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 777 CAR_SPEED: 8 PCM + SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX + SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 780 ACC_HUD: 8 ADAS + SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY + SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY + SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY + SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF_2 : 36|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY + SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY + SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY + SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY + SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY + SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY + SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY + SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY + SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" BDY + SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY + SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY + +BO_ 804 CRUISE: 8 PCM + SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON + SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON + SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON + SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON + SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 884 STALK_STATUS: 8 XXX + SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON + SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON + SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON + SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 891 STALK_STATUS_2: 8 XXX + SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON + SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX + SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 1029 DOORS_STATUS: 8 BDY + SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON + SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 304 "Seems to be platform-agnostic"; +CM_ SG_ 316 "Should exist on Nidec"; +CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged"; +CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping"; +CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light"; +CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light"; +CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; +CM_ SG_ 780 PCM_SPEED "Used by Nidec"; +CM_ SG_ 780 PCM_GAS "Used by Nidec"; +CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed"; + +VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped"; +VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car"; +VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"; +VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off"; diff --git a/opendbc_repo/opendbc/dbc/generator/honda/_nidec_common.dbc b/opendbc_repo/opendbc/dbc/generator/honda/_nidec_common.dbc new file mode 100644 index 0000000000..142508911d --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/honda/_nidec_common.dbc @@ -0,0 +1,93 @@ +BO_ 145 KINEMATICS: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 148 KINEMATICS_ALT: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-20|20] "m/s2" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON + SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 487 BRAKE_PRESSURE: 4 VSA + SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + +BO_ 506 BRAKE_COMMAND: 8 ADAS + SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST_ALT : 11|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00 : 23|3@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00_2 : 19|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM + SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM + SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX + SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM + SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM + SG_ SET_ME_X00_3 : 44|1@0+ (1,0) [0|1] "" EBCM + SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM + SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX + SG_ COMPUTER_BRAKE_ALT : 55|10@0+ (1,0) [0|0] "" EBCM + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM + +BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA + SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON + SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON + SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 829 LKAS_HUD: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +BO_ 892 CRUISE_PARAMS: 8 PCM + SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event"; +CM_ SG_ 506 COMPUTER_BRAKE_ALT "Used by dual-can Nidec"; +CM_ SG_ 506 BRAKE_PUMP_REQUEST_ALT "Used by dual-can Nidec"; +CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc..."; + +VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw"; +VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime"; +VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb"; +VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep"; diff --git a/opendbc_repo/opendbc/dbc/generator/honda/_steering_sensors_a.dbc b/opendbc_repo/opendbc/dbc/generator/honda/_steering_sensors_a.dbc new file mode 100644 index 0000000000..52805d6227 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/honda/_steering_sensors_a.dbc @@ -0,0 +1,9 @@ +BO_ 330 STEERING_SENSORS: 8 EPS + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON + SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON + SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON + SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON + SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON diff --git a/opendbc_repo/opendbc/dbc/generator/honda/_steering_sensors_b.dbc b/opendbc_repo/opendbc/dbc/generator/honda/_steering_sensors_b.dbc new file mode 100644 index 0000000000..35e9b27520 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/honda/_steering_sensors_b.dbc @@ -0,0 +1,5 @@ +BO_ 342 STEERING_SENSORS: 6 EPS + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON diff --git a/opendbc_repo/opendbc/dbc/generator/honda/acura_ilx_2016_can.dbc b/opendbc_repo/opendbc/dbc/generator/honda/acura_ilx_2016_can.dbc new file mode 100644 index 0000000000..11e1d9ecf3 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/honda/acura_ilx_2016_can.dbc @@ -0,0 +1,51 @@ +CM_ "IMPORT _community.dbc"; +CM_ "IMPORT _honda_common.dbc"; +CM_ "IMPORT _nidec_common.dbc"; +CM_ "IMPORT _steering_sensors_b.dbc"; + +BO_ 228 STEERING_CONTROL: 5 ADAS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EPS + +BO_ 399 STEER_STATUS: 7 EPS + SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON + SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 419 GEARBOX: 8 PCM + SG_ GEAR : 7|8@0+ (1,0) [0|256] "" EON + SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 422 SCM_BUTTONS: 8 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON + SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON + SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 660 SCM_FEEDBACK: 8 SCM + SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON + SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON + +CM_ SG_ 419 GEAR "10 = reverse, 11 = transition"; +CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; + +VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ; +VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; +VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ; +VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; +VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ; +VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ; +VAL_ 780 HUD_LEAD 3 "no_car" 2 "solid_car" 1 "dashed_car" 0 "no_car" ; diff --git a/opendbc_repo/opendbc/dbc/generator/honda/acura_rdx_2018_can.dbc b/opendbc_repo/opendbc/dbc/generator/honda/acura_rdx_2018_can.dbc new file mode 100644 index 0000000000..e83429e592 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/honda/acura_rdx_2018_can.dbc @@ -0,0 +1,47 @@ +CM_ "IMPORT _community.dbc"; +CM_ "IMPORT _honda_common.dbc"; +CM_ "IMPORT _nidec_common.dbc"; +CM_ "IMPORT _steering_sensors_b.dbc"; + +BO_ 392 GEARBOX: 6 XXX + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" XXX + SG_ GEAR_SHIFTER : 27|4@0+ (1,0) [0|15] "" EON + SG_ GEAR : 36|5@0+ (1,0) [0|31] "" EON + +BO_ 399 STEER_STATUS: 6 EPS + SG_ STEER_TORQUE_SENSOR : 7|12@0- (-1,0) [-2047.5|2047.5] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 35|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 36|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON + +BO_ 404 STEERING_CONTROL: 4 EON + SG_ STEER_TORQUE : 7|12@0- (1,0) [-768|768] "" EPS + SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS + SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS + +BO_ 422 SCM_BUTTONS: 8 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON + SG_ PARKING_BRAKE_LIGHT : 2|1@0+ (1,0) [0|1] "" EON + SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON + SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 660 SCM_FEEDBACK: 8 SCM + SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON + SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 422 PARKING_BRAKE_LIGHT "Believe this is just the dash light for the parking break"; +VAL_ 392 GEAR_SHIFTER 0 "S" 1 "P" 2 "R" 4 "N" 8 "D" ; +VAL_ 392 GEAR 26 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; +VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ; +VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; diff --git a/opendbc_repo/opendbc/dbc/generator/honda/acura_rdx_2020_can.dbc b/opendbc_repo/opendbc/dbc/generator/honda/acura_rdx_2020_can.dbc new file mode 100644 index 0000000000..38a312c311 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/honda/acura_rdx_2020_can.dbc @@ -0,0 +1,32 @@ +CM_ "IMPORT _honda_common.dbc"; +CM_ "IMPORT _bosch_2018.dbc"; +CM_ "IMPORT _bosch_adas_2018.dbc"; +CM_ "IMPORT _steering_sensors_b.dbc"; + +BO_ 419 GEARBOX: 8 PCM + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON + SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + +BO_ 446 BRAKE_MODULE: 3 VSA + SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX + +BO_ 1302 ODOMETER: 8 XXX + SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +VAL_ 419 GEAR_SHIFTER 32 "D" 8 "R" 4 "P" ; +VAL_ 545 ECON_ON_2 0 "off" 3 "on" ; +VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; +VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ; diff --git a/opendbc_repo/opendbc/dbc/generator/honda/honda_accord_2018_can.dbc b/opendbc_repo/opendbc/dbc/generator/honda/honda_accord_2018_can.dbc new file mode 100644 index 0000000000..e9f2fb41aa --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/honda/honda_accord_2018_can.dbc @@ -0,0 +1,55 @@ +CM_ "IMPORT _honda_common.dbc"; +CM_ "IMPORT _bosch_2018.dbc"; +CM_ "IMPORT _bosch_adas_2018.dbc"; +CM_ "IMPORT _steering_sensors_a.dbc"; + +BO_ 401 GEARBOX_15T: 8 PCM + SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON + SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX + SG_ GEAR2 : 31|8@0+ (1,0) [0|1] "" XXX + SG_ GEAR : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH : 47|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 419 GEARBOX: 8 XXX + SG_ GEAR_SHIFTER : 24|8@1+ (1,0) [0|255] "" XXX + SG_ GEAR : 32|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 432 STANDSTILL: 7 VSA + SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + +BO_ 446 BRAKE_MODULE: 3 VSA + SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX + +BO_ 506 LEGACY_BRAKE_COMMAND: 8 ADAS + SG_ CHIME : 40|8@1+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 892 CRUISE_PARAMS: 8 PCM + SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|15] "" EON + +BO_ 1302 ODOMETER: 8 XXX + SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P"; +VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P"; +VAL_ 419 GEAR_SHIFTER 2 "S" 32 "D" 16 "N" 8 "R" 4 "P"; +VAL_ 419 GEAR 26 "S" 20 "D" 19 "N" 18 "R" 17 "P"; +VAL_ 545 ECON_ON_2 0 "off" 3 "on"; +VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none"; +VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none"; +VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released"; diff --git a/opendbc_repo/opendbc/dbc/generator/honda/honda_accord_touring_2016_can.dbc b/opendbc_repo/opendbc/dbc/generator/honda/honda_accord_touring_2016_can.dbc new file mode 100644 index 0000000000..5a33d419ae --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/honda/honda_accord_touring_2016_can.dbc @@ -0,0 +1,78 @@ +CM_ "IMPORT _comma.dbc"; +CM_ "IMPORT _honda_common.dbc"; +CM_ "IMPORT _nidec_common.dbc"; +CM_ "IMPORT _steering_sensors_b.dbc"; + +BO_ 228 STEERING_CONTROL: 5 ADAS + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EPS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS + SG_ TORQUE_BLEND_DISABLE : 16|1@0+ (1,0) [0|1] "" XXX + SG_ TX_ALL_LKAS_DATA : 17|1@0+ (1,0) [0|1] "" XXX + +BO_ 400 STEER_STATUS: 5 EPS + SG_ STEER_TORQUE_SENSOR : 0|9@1- (1,0) [-256|256] "" XXX + SG_ LIN_INTERFACE_FATAL_ERROR : 10|1@0+ (1,0) [0|1] "" XXX + SG_ LATE_MESSAGE : 11|1@0+ (1,0) [0|1] "" XXX + SG_ STEER_STATUS : 12|4@1+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX + SG_ LKAS_ALLOWED : 9|1@0+ (1,0) [0|1] "" XXX + SG_ STEER_APPLIED : 23|16@0- (1,0) [0|511] "" XXX + +BO_ 401 GEARBOX: 8 PCM + SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" NEO + SG_ GEAR : 35|4@0+ (1,0) [0|15] "" NEO + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO + +BO_ 422 SCM_BUTTONS: 8 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" NEO + SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" NEO + SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" NEO + SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" NEO + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO + +BO_ 520 SS_STATUS: 3 XXX + SG_ VERSION_NUM : 0|4@1+ (1,0) [0|15] "" XXX + SG_ HARDWARE_REV : 7|4@0+ (1,0) [0|15] "" XXX + SG_ LATE_SERIAL_MSG : 8|1@0+ (1,0) [0|1] "" XXX + SG_ LATE_CAN_MSG : 9|1@0+ (1,0) [0|1] "" XXX + SG_ INVALID_COUNTER : 10|1@0+ (1,0) [0|1] "" XXX + SG_ INVALID_CHECKSUM : 11|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_ALLOWED : 12|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX + +BO_ 660 SCM_FEEDBACK: 8 SCM + SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" NEO + SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" NEO + SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" NEO + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 662 CRUISE_BUTTONS: 4 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" NEO + SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" NEO + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" XXX + +BO_ 927 ACC_HUD_2: 8 ADAS + SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY + SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY + SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY + SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY + SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY + SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY + SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY + SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY + SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +VAL_ 400 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ; +VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ; +CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0"; diff --git a/opendbc_repo/opendbc/dbc/generator/honda/honda_accord_touring_V6_2016_can.dbc b/opendbc_repo/opendbc/dbc/generator/honda/honda_accord_touring_V6_2016_can.dbc new file mode 100644 index 0000000000..2833dac817 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/honda/honda_accord_touring_V6_2016_can.dbc @@ -0,0 +1,78 @@ +CM_ "IMPORT _comma.dbc"; +CM_ "IMPORT _honda_common.dbc"; +CM_ "IMPORT _nidec_common.dbc"; +CM_ "IMPORT _steering_sensors_b.dbc"; + +BO_ 228 STEERING_CONTROL: 5 ADAS + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EPS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS + SG_ TORQUE_BLEND_DISABLE : 16|1@0+ (1,0) [0|1] "" XXX + SG_ TX_ALL_LKAS_DATA : 17|1@0+ (1,0) [0|1] "" XXX + +BO_ 392 GEARBOX: 6 PCM + SG_ GEAR : 5|6@0+ (1,0) [0|63] "" NEO + SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] "" NEO + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" NEO + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" NEO + +BO_ 400 STEER_STATUS: 5 EPS + SG_ STEER_TORQUE_SENSOR : 0|9@1- (1,0) [-256|256] "" XXX + SG_ LIN_INTERFACE_FATAL_ERROR : 10|1@0+ (1,0) [0|1] "" XXX + SG_ LATE_MESSAGE : 11|1@0+ (1,0) [0|1] "" XXX + SG_ STEER_STATUS : 12|4@1+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX + SG_ LKAS_ALLOWED : 9|1@0+ (1,0) [0|1] "" XXX + SG_ STEER_APPLIED : 23|16@0- (1,0) [0|511] "" XXX + +BO_ 422 SCM_BUTTONS: 8 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" NEO + SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" NEO + SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" NEO + SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" NEO + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO + +BO_ 520 SS_STATUS: 3 XXX + SG_ VERSION_NUM : 0|4@1+ (1,0) [0|15] "" XXX + SG_ HARDWARE_REV : 7|4@0+ (1,0) [0|15] "" XXX + SG_ LATE_SERIAL_MSG : 8|1@0+ (1,0) [0|1] "" XXX + SG_ LATE_CAN_MSG : 9|1@0+ (1,0) [0|1] "" XXX + SG_ INVALID_COUNTER : 10|1@0+ (1,0) [0|1] "" XXX + SG_ INVALID_CHECKSUM : 11|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_ALLOWED : 12|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX + +BO_ 660 SCM_FEEDBACK: 8 SCM + SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" NEO + SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" NEO + SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" NEO + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 662 CRUISE_BUTTONS: 4 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" NEO + SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" NEO + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" XXX + +BO_ 927 ACC_HUD_2: 8 ADAS + SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY + SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY + SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY + SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY + SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY + SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY + SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY + SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY + SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +VAL_ 400 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ; +VAL_ 392 GEAR_SHIFTER 6 "L" 5 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; +CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0"; diff --git a/opendbc_repo/opendbc/dbc/generator/honda/honda_accord_touring_hybrid_2017_can.dbc b/opendbc_repo/opendbc/dbc/generator/honda/honda_accord_touring_hybrid_2017_can.dbc new file mode 100644 index 0000000000..49d083cc44 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/honda/honda_accord_touring_hybrid_2017_can.dbc @@ -0,0 +1,78 @@ +CM_ "IMPORT _comma.dbc"; +CM_ "IMPORT _honda_common.dbc"; +CM_ "IMPORT _dual_nidec_common.dbc"; +CM_ "IMPORT _steering_sensors_b.dbc"; + +BO_ 228 STEERING_CONTROL: 5 ADAS + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EPS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS + SG_ TORQUE_BLEND_DISABLE : 16|1@0+ (1,0) [0|1] "" XXX + SG_ TX_ALL_LKAS_DATA : 17|1@0+ (1,0) [0|1] "" XXX + +BO_ 392 GEARBOX: 6 PCM + SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" NEO + SG_ GEAR : 35|4@0+ (1,0) [0|15] "" NEO + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" NEO + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" NEO + +BO_ 400 STEER_STATUS: 5 EPS + SG_ STEER_TORQUE_SENSOR : 0|9@1- (1,0) [-256|256] "" XXX + SG_ LIN_INTERFACE_FATAL_ERROR : 10|1@0+ (1,0) [0|1] "" XXX + SG_ LATE_MESSAGE : 11|1@0+ (1,0) [0|1] "" XXX + SG_ STEER_STATUS : 12|4@1+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX + SG_ LKAS_ALLOWED : 9|1@0+ (1,0) [0|1] "" XXX + SG_ STEER_APPLIED : 23|16@0- (1,0) [0|511] "" XXX + +BO_ 422 SCM_BUTTONS: 8 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" NEO + SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" NEO + SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" NEO + SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" NEO + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO + +BO_ 520 SS_STATUS: 3 XXX + SG_ VERSION_NUM : 0|4@1+ (1,0) [0|15] "" XXX + SG_ HARDWARE_REV : 7|4@0+ (1,0) [0|15] "" XXX + SG_ LATE_SERIAL_MSG : 8|1@0+ (1,0) [0|1] "" XXX + SG_ LATE_CAN_MSG : 9|1@0+ (1,0) [0|1] "" XXX + SG_ INVALID_COUNTER : 10|1@0+ (1,0) [0|1] "" XXX + SG_ INVALID_CHECKSUM : 11|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_ALLOWED : 12|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX + +BO_ 660 SCM_FEEDBACK: 8 SCM + SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" NEO + SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" NEO + SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" NEO + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 662 CRUISE_BUTTONS: 4 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" NEO + SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" NEO + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" XXX + +BO_ 927 ACC_HUD_2: 8 ADAS + SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY + SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY + SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY + SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY + SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY + SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY + SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY + SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY + SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +VAL_ 392 GEAR_SHIFTER 1 "D" 6 "R" 0 "P" ; +VAL_ 400 STEER_STATUS 6 "UNKNOWN" 5 "UNKNOWN" 4 "UNKNOWN" 3 "UNKNOWN" 2 "no_torque_alert_1" 0 "normal" 1 "UNKNOWN" ; +CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0"; diff --git a/opendbc_repo/opendbc/dbc/generator/honda/honda_civic_ex_2022_can.dbc b/opendbc_repo/opendbc/dbc/generator/honda/honda_civic_ex_2022_can.dbc new file mode 100644 index 0000000000..8ca13746ea --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/honda/honda_civic_ex_2022_can.dbc @@ -0,0 +1,96 @@ +CM_ "IMPORT _community.dbc"; +CM_ "IMPORT _honda_common.dbc"; +CM_ "IMPORT _bosch_2018.dbc"; +CM_ "IMPORT _steering_sensors_a.dbc"; + +BO_ 401 GEARBOX: 8 PCM + SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON + SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX + SG_ GEAR2 : 31|8@0+ (1,0) [0|1] "" XXX + SG_ GEAR : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH : 47|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 419 GEARBOX_ALT: 8 PCM + SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON + SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + +BO_ 446 BRAKE_MODULE: 3 VSA + SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX + SG_ CRUISE_FAULT : 22|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX + +BO_ 456 ACC_CONTROL: 8 XXX + SG_ ACCEL_COMMAND : 7|12@0- (0.01,0) [0|0] "m/s^2" XXX + SG_ IDLESTOP_ALLOW : 8|1@0+ (1,0) [0|1] "" XXX + SG_ STANDSTILL : 9|1@0+ (1,0) [0|1] "" XXX + SG_ CONTROL_ON : 10|1@0+ (1,0) [0|1] "" XXX + SG_ BOH : 23|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_STATUS : 33|1@1+ (1,0) [0|7] "" XXX + SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX + SG_ FCW_1 : 24|1@1+ (1,0) [0|3] "" XXX + SG_ FCW_2 : 54|1@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 467 CRUISE_FAULT_STATUS: 8 XXX + SG_ CRUISE_FAULT : 3|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 829 LKAS_HUD: 8 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY + SG_ LANE_LINES : 36|2@0+ (1,0) [0|3] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY + +BO_ 882 CRUISE_PARAMS: 8 PCM + SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|15] "" EON + +BO_ 254913108 LKAS_HUD_2: 8 ADAS + SG_ COUNTER_2 : 7|2@0+ (1,0) [0|3] "" XXX + SG_ SET_ME_X01 : 5|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_BOH_1 : 15|6@0+ (1,0) [0|63] "" XXX + SG_ LEFT_LANE : 23|2@0+ (1,0) [0|3] "" XXX + SG_ RIGHT_LANE : 21|2@0+ (1,0) [0|3] "" XXX + SG_ LKAS_BOH_2 : 30|5@0+ (1,0) [0|31] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +CM_ 446 "If exists, describes cruise faults and what the PCM uses for brake press detection."; +CM_ SG_ 456 IDLESTOP_ALLOW "allows car to turn off engine at a standstill"; +CM_ SG_ 456 STANDSTILL "set to 1 when camera requests -4.0 m/s^2"; + +VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P"; +VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P"; +VAL_ 419 GEAR_SHIFTER 32 "D" 16 "N" 8 "R" 4 "P" 0 "B" ; diff --git a/opendbc_repo/opendbc/dbc/generator/honda/honda_civic_hatchback_ex_2017_can.dbc b/opendbc_repo/opendbc/dbc/generator/honda/honda_civic_hatchback_ex_2017_can.dbc new file mode 100644 index 0000000000..dc14d2968a --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/honda/honda_civic_hatchback_ex_2017_can.dbc @@ -0,0 +1,37 @@ +CM_ "IMPORT _honda_common.dbc"; +CM_ "IMPORT _bosch_2018.dbc"; +CM_ "IMPORT _bosch_adas_2018.dbc"; +CM_ "IMPORT _steering_sensors_a.dbc"; + +BO_ 401 GEARBOX: 8 PCM + SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON + SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX + SG_ GEAR2 : 31|8@0+ (1,0) [0|1] "" XXX + SG_ GEAR : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH : 47|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + +BO_ 506 LEGACY_BRAKE_COMMAND: 8 ADAS + SG_ CHIME : 40|8@1+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 892 CRUISE_PARAMS: 8 PCM + SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|15] "" EON + +VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ; +VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; +VAL_ 545 ECON_ON_2 0 "off" 3 "on" ; +VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; +VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ; diff --git a/opendbc_repo/opendbc/dbc/generator/honda/honda_civic_touring_2016_can.dbc b/opendbc_repo/opendbc/dbc/generator/honda/honda_civic_touring_2016_can.dbc new file mode 100644 index 0000000000..9346f5f881 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/honda/honda_civic_touring_2016_can.dbc @@ -0,0 +1,96 @@ +CM_ "IMPORT _community.dbc"; +CM_ "IMPORT _honda_common.dbc"; +CM_ "IMPORT _nidec_common.dbc"; +CM_ "IMPORT _steering_sensors_a.dbc"; + +BO_ 228 STEERING_CONTROL: 5 ADAS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS + +BO_ 399 STEER_STATUS: 7 EPS + SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON + SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 401 GEARBOX: 8 PCM + SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON + SG_ GEAR : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 450 EPB_STATUS: 8 EPB + SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON + SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 493 HUD_SETTING: 5 XXX + SG_ IMPERIAL_UNIT : 5|1@0+ (1,0) [0|1] "" EON + +BO_ 545 ECON_STATUS: 6 XXX + SG_ ECON_ON_2 : 37|2@0+ (1,0) [0|3] "" EON + SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + +BO_ 662 SCM_BUTTONS: 4 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + +BO_ 806 SCM_FEEDBACK: 8 SCM + SG_ CMBS_BUTTON : 22|2@0+ (1,0) [0|3] "" EON + SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON + SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON + SG_ REVERSE_LIGHT : 18|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 862 HIGHBEAM_CONTROL: 8 ADAS + SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY + SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX + SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX + SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 927 RADAR_HUD: 8 ADAS + SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY + SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY + SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY + SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY + SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY + SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY + SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY + SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY + SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY + +BO_ 1302 ODOMETER: 8 XXX + SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +CM_ SG_ 401 GEAR "10 = reverse, 11 = transition"; +CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights"; + +VAL_ 399 STEER_STATUS 7 "permanent_fault" 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ; +VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ; +VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; +VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ; +VAL_ 545 ECON_ON_2 0 "off" 3 "on" ; +VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; +VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ; +VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ; diff --git a/opendbc_repo/opendbc/dbc/generator/honda/honda_clarity_hybrid_2018_can.dbc b/opendbc_repo/opendbc/dbc/generator/honda/honda_clarity_hybrid_2018_can.dbc new file mode 100644 index 0000000000..2d1ec35f20 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/honda/honda_clarity_hybrid_2018_can.dbc @@ -0,0 +1,114 @@ +CM_ "IMPORT _community.dbc"; +CM_ "IMPORT _honda_common.dbc"; +CM_ "IMPORT _nidec_common.dbc"; +CM_ "IMPORT _steering_sensors_a.dbc"; + +BO_ 228 STEERING_CONTROL: 5 ADAS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS + +BO_ 388 BRAKE_ERROR: 8 XXX + SG_ BRAKE_ERROR_1 : 32|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 34|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 399 STEER_STATUS: 7 EPS + SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON + SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 419 GEARBOX: 8 PCM + SG_ GEAR : 7|8@0+ (1,0) [0|256] "" EON + SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 450 EPB_STATUS: 8 EPB + SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON + SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 545 ECON_STATUS: 6 XXX + SG_ ECON_ON_2 : 37|2@0+ (1,0) [0|3] "" EON + SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + +BO_ 662 SCM_BUTTONS: 4 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + +BO_ 768 VEHICLE_STATE: 8 ADAS + SG_ SET_ME_XF9 : 7|8@0+ (1,0) [0|255] "" Vector__XXX + SG_ VEHICLE_SPEED : 15|8@0+ (1,0) [0|255] "kph" Vector__XXX + SG_ SET_ME_X8A : 23|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_XD0 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ SALTED_WITH_IDX : 39|8@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 769 VEHICLE_STATE2: 8 ADAS + SG_ SET_ME_X5D : 23|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X02 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X5F : 39|8@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 806 SCM_FEEDBACK: 8 SCM + SG_ CMBS_BUTTON : 22|2@0+ (1,0) [0|3] "" EON + SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON + SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON + SG_ REVERSE_LIGHT : 18|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 862 HIGHBEAM_CONTROL: 8 ADAS + SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY + SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX + SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX + SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 927 RADAR_HUD: 8 ADAS + SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY + SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY + SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY + SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY + SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY + SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY + SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY + SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY + SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY + +BO_ 1302 XXX_27: 8 XXX + SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 419 GEAR "10 = reverse, 11 = transition"; +CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights"; + +VAL_ 399 STEER_STATUS 5 "tmp_fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ; +VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; +VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ; +VAL_ 545 ECON_ON_2 0 "off" 3 "on" ; +VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; +VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ; +VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ; diff --git a/opendbc_repo/opendbc/dbc/generator/honda/honda_crv_ex_2017_body.dbc b/opendbc_repo/opendbc/dbc/generator/honda/honda_crv_ex_2017_body.dbc new file mode 100644 index 0000000000..363b595817 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/honda/honda_crv_ex_2017_body.dbc @@ -0,0 +1,10 @@ +BO_ 318291879 BSM_STATUS_RIGHT: 8 XXX + SG_ BSM_ALERT : 4|1@0+ (1,0) [0|1] "" XXX + SG_ BSM_MODE : 6|2@0+ (1,0) [0|3] "" XXX + +BO_ 318291615 BSM_STATUS_LEFT: 8 XXX + SG_ BSM_ALERT : 4|1@0+ (1,0) [0|1] "" XXX + SG_ BSM_MODE : 6|2@0+ (1,0) [0|3] "" XXX + +VAL_ 318291879 BSM_MODE 2 "blind_spot" 1 "cross_traffic" 0 "off"; +VAL_ 318291615 BSM_MODE 2 "blind_spot" 1 "cross_traffic" 0 "off"; diff --git a/opendbc_repo/opendbc/dbc/generator/honda/honda_crv_ex_2017_can.dbc b/opendbc_repo/opendbc/dbc/generator/honda/honda_crv_ex_2017_can.dbc new file mode 100644 index 0000000000..fe2ae8f940 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/honda/honda_crv_ex_2017_can.dbc @@ -0,0 +1,40 @@ +CM_ "IMPORT _honda_common.dbc"; +CM_ "IMPORT _bosch_2018.dbc"; +CM_ "IMPORT _bosch_adas_2018.dbc"; +CM_ "IMPORT _steering_sensors_a.dbc"; + +BO_ 401 GEARBOX: 8 PCM + SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON + SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX + SG_ GEAR2 : 31|8@0+ (1,0) [0|1] "" XXX + SG_ GEAR : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH : 47|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + +BO_ 446 BRAKE_MODULE: 3 VSA + SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX + +BO_ 1302 ODOMETER: 8 XXX + SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +CM_ SG_ 479 RELATED_TO_GAS "bits 7, 3, and 1 set to 1 when gas not applied"; +CM_ SG_ 479 GAS_BRAKE "Signed value, negative when braking and positive when applying gas"; + +VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ; +VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; +VAL_ 545 ECON_ON_2 0 "off" 3 "on" ; +VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; +VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ; diff --git a/opendbc_repo/opendbc/dbc/generator/honda/honda_crv_executive_2016_can.dbc b/opendbc_repo/opendbc/dbc/generator/honda/honda_crv_executive_2016_can.dbc new file mode 100644 index 0000000000..291795b9ee --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/honda/honda_crv_executive_2016_can.dbc @@ -0,0 +1,52 @@ +CM_ "IMPORT _community.dbc"; +CM_ "IMPORT _honda_common.dbc"; +CM_ "IMPORT _nidec_common.dbc"; + +BO_ 342 STEERING_SENSORS: 6 EPS + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON + +BO_ 399 STEER_STATUS: 6 EPS + SG_ STEER_TORQUE_SENSOR : 7|12@0- (-1,0) [-2047.5|2047.5] "tbd" EON + SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON + SG_ STEER_CONTROL_ACTIVE : 36|1@0+ (1,0) [0|1] "" EON + SG_ STEER_STATUS : 35|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON + +BO_ 419 GEARBOX: 8 PCM + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON + SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON + +BO_ 404 STEERING_CONTROL: 4 EON + SG_ STEER_TORQUE : 7|12@0- (1,0) [-768|768] "" EPS + SG_ SET_ME_X00 : 11|4@0+ (1,0) [0|15] "" EPS + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00_2 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS + SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS + +BO_ 422 SCM_BUTTONS: 8 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON + SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON + SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 660 SCM_FEEDBACK: 8 SCM + SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON + SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ; +VAL_ 419 GEAR_SHIFTER 32 "D" 8 "R" 4 "P" ; +VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ; +VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; diff --git a/opendbc_repo/opendbc/dbc/generator/honda/honda_crv_touring_2016_can.dbc b/opendbc_repo/opendbc/dbc/generator/honda/honda_crv_touring_2016_can.dbc new file mode 100644 index 0000000000..9e33720b26 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/honda/honda_crv_touring_2016_can.dbc @@ -0,0 +1,50 @@ +CM_ "IMPORT _community.dbc"; +CM_ "IMPORT _honda_common.dbc"; +CM_ "IMPORT _nidec_common.dbc"; +CM_ "IMPORT _steering_sensors_b.dbc"; + +BO_ 399 STEER_STATUS: 6 EPS + SG_ STEER_TORQUE_SENSOR : 7|12@0- (-1,0) [-2047.5|2047.5] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_CONTROL_ACTIVE : 36|1@0+ (1,0) [0|1] "" EON + SG_ STEER_STATUS : 35|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON + +BO_ 401 GEARBOX: 8 PCM + SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON + SG_ GEAR : 35|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 404 STEERING_CONTROL: 4 EON + SG_ STEER_TORQUE : 7|12@0- (1,0) [-768|768] "" EPS + SG_ SET_ME_X00 : 11|4@0+ (1,0) [0|15] "" EPS + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00_2 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS + SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS + +BO_ 422 SCM_BUTTONS: 8 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON + SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON + SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 660 SCM_FEEDBACK: 8 SCM + SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON + SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 401 GEAR "10 = reverse, 11 = transition"; + +VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ; +VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ; +VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; +VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ; +VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; diff --git a/opendbc_repo/opendbc/dbc/generator/honda/honda_fit_ex_2018_can.dbc b/opendbc_repo/opendbc/dbc/generator/honda/honda_fit_ex_2018_can.dbc new file mode 100644 index 0000000000..bb54f25850 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/honda/honda_fit_ex_2018_can.dbc @@ -0,0 +1,60 @@ +CM_ "IMPORT _community.dbc"; +CM_ "IMPORT _honda_common.dbc"; +CM_ "IMPORT _nidec_common.dbc"; +CM_ "IMPORT _steering_sensors_b.dbc"; + +BO_ 228 STEERING_CONTROL: 5 ADAS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS + +BO_ 399 STEER_STATUS: 7 EPS + SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON + SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 401 GEARBOX: 8 PCM + SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON + SG_ GEAR : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 422 SCM_BUTTONS: 8 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON + SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON + SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON + SG_ DRIVERS_DOOR_OPEN : 63|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 660 SCM_FEEDBACK: 8 SCM + SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON + SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 862 HIGHBEAM_CONTROL: 8 ADAS + SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY + SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX + SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX + SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +CM_ SG_ 401 GEAR "10 = reverse, 11 = transition"; + +VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ; +VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ; +VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; +VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ; +VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; diff --git a/opendbc_repo/opendbc/dbc/generator/honda/honda_fit_hybrid_2018_can.dbc b/opendbc_repo/opendbc/dbc/generator/honda/honda_fit_hybrid_2018_can.dbc new file mode 100644 index 0000000000..c6d4fdde56 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/honda/honda_fit_hybrid_2018_can.dbc @@ -0,0 +1,81 @@ +CM_ "IMPORT _community.dbc"; +CM_ "IMPORT _honda_common.dbc"; +CM_ "IMPORT _nidec_common.dbc"; + +BO_ 228 STEERING_CONTROL: 5 ADAS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS + +BO_ 342 STEERING_SENSORS: 6 EPS + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON + +BO_ 399 STEER_STATUS: 7 EPS + SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON + SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 419 GEARBOX: 8 PCM + SG_ GEAR : 7|8@0+ (1,0) [0|256] "" EON + SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 422 SCM_BUTTONS: 8 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON + SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON + SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 545 ECON_STATUS: 5 XXX + SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" EON + SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EON + +BO_ 660 SCM_FEEDBACK: 8 SCM + SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON + SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 862 HIGHBEAM_CONTROL: 8 ADAS + SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY + SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX + SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX + SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 927 RADAR_HUD: 8 ADAS + SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY + SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY + SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY + SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY + SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY + SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY + SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY + SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY + SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY + +CM_ SG_ 419 GEAR "10 = reverse, 11 = transition"; + +VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ; +VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; +VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ; +VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; diff --git a/opendbc_repo/opendbc/dbc/generator/honda/honda_insight_ex_2019_can.dbc b/opendbc_repo/opendbc/dbc/generator/honda/honda_insight_ex_2019_can.dbc new file mode 100644 index 0000000000..79c6dc1617 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/honda/honda_insight_ex_2019_can.dbc @@ -0,0 +1,19 @@ +CM_ "IMPORT _honda_common.dbc"; +CM_ "IMPORT _bosch_2018.dbc"; +CM_ "IMPORT _bosch_adas_2018.dbc"; +CM_ "IMPORT _steering_sensors_a.dbc"; + +BO_ 419 GEARBOX: 8 PCM + SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON + SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ BRAKE_ERROR_1 : 13|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 12|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + +VAL_ 419 GEAR 10 "R" 1 "D" 0 "P"; +VAL_ 419 GEAR_SHIFTER 32 "D" 16 "N" 8 "R" 4 "P"; diff --git a/opendbc_repo/opendbc/dbc/generator/honda/honda_odyssey_exl_2018.dbc b/opendbc_repo/opendbc/dbc/generator/honda/honda_odyssey_exl_2018.dbc new file mode 100644 index 0000000000..2b42d3e763 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/honda/honda_odyssey_exl_2018.dbc @@ -0,0 +1,87 @@ +CM_ "IMPORT _community.dbc"; +CM_ "IMPORT _honda_common.dbc"; +CM_ "IMPORT _nidec_common.dbc"; +CM_ "IMPORT _steering_sensors_b.dbc"; + +BO_ 228 STEERING_CONTROL: 5 ADAS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EPS + +BO_ 399 STEER_STATUS: 7 EPS + SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON + SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 419 GEARBOX: 8 PCM + SG_ GEAR : 7|8@0+ (1,0) [0|256] "" EON + SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 450 EPB_STATUS: 8 XXX + SG_ EPB_BRAKE_AND_PULL : 6|1@0+ (1,0) [0|1] "" XXX + SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX + SG_ EPB_STATE : 29|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 662 SCM_BUTTONS: 4 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + +BO_ 806 SCM_FEEDBACK: 8 SCM + SG_ CMBS_BUTTON : 22|2@0+ (1,0) [0|3] "" EON + SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON + SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON + SG_ REVERSE_LIGHT : 18|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 862 HIGHBEAM_CONTROL: 8 ADAS + SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY + SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX + SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX + SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 927 RADAR_HUD: 8 ADAS + SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY + SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY + SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY + SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY + SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY + SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY + SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY + SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY + SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY + +BO_ 1302 ODOMETER: 8 XXX + SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +CM_ SG_ 419 GEAR "10 = reverse, 11 = transition"; +CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; +CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights"; + +VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ; +VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; +VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ; +VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; +VAL_ 780 HUD_LEAD 3 "no_car" 2 "solid_car" 1 "dashed_car" 0 "no_car" ; +VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ; +VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ; diff --git a/opendbc_repo/opendbc/dbc/generator/honda/honda_odyssey_extreme_edition_2018_china_can.dbc b/opendbc_repo/opendbc/dbc/generator/honda/honda_odyssey_extreme_edition_2018_china_can.dbc new file mode 100644 index 0000000000..fc3c152f1b --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/honda/honda_odyssey_extreme_edition_2018_china_can.dbc @@ -0,0 +1,75 @@ +CM_ "IMPORT _community.dbc"; +CM_ "IMPORT _honda_common.dbc"; +CM_ "IMPORT _nidec_common.dbc"; + +BO_ 342 STEERING_SENSORS: 6 EPS + SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + +BO_ 399 STEER_STATUS: 7 EPS + SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-2985|2985] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 43|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON + SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + +BO_ 401 GEARBOX: 8 PCM + SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON + SG_ GEAR : 35|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 404 STEERING_CONTROL: 4 EON + SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS + SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS + SG_ STEER_TORQUE : 7|16@0- (-1,0) [-32767|32767] "" EPS + +BO_ 422 SCM_BUTTONS: 8 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON + SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON + SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON + SG_ DRIVERS_DOOR_OPEN : 63|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 450 EPB_STATUS: 8 XXX + SG_ EPB_BRAKE_AND_PULL : 6|1@0+ (1,0) [0|1] "" XXX + SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX + SG_ EPB_STATE : 29|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 660 SCM_FEEDBACK: 8 SCM + SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON + SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 862 HIGHBEAM_CONTROL: 8 ADAS + SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY + SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX + SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX + SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 1302 ODOMETER: 8 XXX + SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +CM_ SG_ 401 GEAR "10 = reverse, 11 = transition"; +VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ; +VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ; +VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; +VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ; +VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; diff --git a/opendbc_repo/opendbc/dbc/generator/honda/honda_pilot_2023_can.dbc b/opendbc_repo/opendbc/dbc/generator/honda/honda_pilot_2023_can.dbc new file mode 100644 index 0000000000..df84d623fb --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/honda/honda_pilot_2023_can.dbc @@ -0,0 +1,86 @@ +CM_ "IMPORT _honda_common.dbc"; +CM_ "IMPORT _bosch_2018.dbc"; +CM_ "IMPORT _steering_sensors_a.dbc"; + +BO_ 419 GEARBOX: 8 XXX + SG_ GEAR_SHIFTER : 24|8@1+ (1,0) [0|255] "" XXX + SG_ GEAR : 32|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 432 STANDSTILL: 7 VSA + SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + +BO_ 446 BRAKE_MODULE: 3 VSA + SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX + +BO_ 479 ACC_CONTROL: 8 EON + SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX + SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX + SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX + SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX + SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX + SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX + SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 495 ACC_CONTROL_ON: 8 XXX + SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX + SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 829 LKAS_HUD: 8 XXX + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" XXX + SG_ BOH : 6|7@0+ (1,0) [0|127] "" XXX + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" XXX + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" XXX + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" XXX + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" XXX + SG_ DTC : 13|1@0+ (1,0) [0|1] "" XXX + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" XXX + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" XXX + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" XXX + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" XXX + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" XXX + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" XXX + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" XXX + SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ LANE_LINES : 36|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 1302 ODOMETER: 8 XXX + SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +CM_ SG_ 479 CONTROL_ON "Set to 5 when car is being controlled"; +CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event"; +CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event"; +CM_ SG_ 479 AEB_PREPARE "set 1s before AEB"; +CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnings etc..."; +CM_ SG_ 829 LANE_LINES "related to lane lines on cluster, left/right white/green"; + +VAL_ 419 GEAR_SHIFTER 2 "S" 32 "D" 16 "N" 8 "R" 4 "P"; +VAL_ 419 GEAR 26 "S" 20 "D" 19 "N" 18 "R" 17 "P"; +VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep"; +VAL_ 829 LANE_LINES 7 "both_lines_green" 6 "both_lines_white" 2 "left_line_white" 0 "no_lines"; diff --git a/opendbc_repo/opendbc/dbc/generator/hyundai/.gitignore b/opendbc_repo/opendbc/dbc/generator/hyundai/.gitignore new file mode 100644 index 0000000000..81f73f3551 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/hyundai/.gitignore @@ -0,0 +1,2 @@ +hyundai_kia_mando_front_radar.dbc +hyundai_kia_mando_corner_radar.dbc diff --git a/opendbc_repo/opendbc/dbc/generator/hyundai/hyundai_kia_mando_corner_radar.py b/opendbc_repo/opendbc/dbc/generator/hyundai/hyundai_kia_mando_corner_radar.py new file mode 100755 index 0000000000..aad417e32a --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/hyundai/hyundai_kia_mando_corner_radar.py @@ -0,0 +1,170 @@ +#!/usr/bin/env python3 +from collections import namedtuple +import os + +if __name__ == "__main__": + dbc_name = os.path.basename(__file__).replace(".py", ".dbc") + hyundai_path = os.path.dirname(os.path.realpath(__file__)) + with open(os.path.join(hyundai_path, dbc_name), "w", encoding='utf-8') as f: + f.write(""" +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX +""") + + for a in [0x100, 0x200]: + f.write(f""" +BO_ {a} RADAR_POINTS_METADATA_0x{a:x}: 64 RADAR + SG_ SIGNAL_1 : 0|32@1+ (1,0) [0|255] "" XXX + SG_ SIGNAL_2 : 32|32@1+ (1,0) [0|65535] "" XXX + SG_ SIGNAL_3 : 64|4@1+ (1,0) [0|15] "" XXX + SG_ SIGNAL_4 : 68|4@1+ (1,0) [0|15] "" XXX + SG_ RADAR_POINT_COUNT : 72|8@1+ (1,0) [0|255] "" XXX + SG_ SIGNAL_6 : 80|7@1+ (0.015625,0) [0|3] "" XXX + SG_ SIGNAL_7 : 87|1@1+ (1,0) [0|1] "" XXX + SG_ SIGNAL_8 : 88|3@1+ (1,0) [0|7] "" XXX + SG_ SIGNAL_9 : 91|5@1+ (0.0625,0) [0|31] "" XXX + SG_ SIGNAL_10 : 96|8@1+ (1,0) [0|255] "" XXX + SG_ SIGNAL_11 : 104|7@1+ (0.015625,0) [0|127] "" XXX + SG_ SIGNAL_12 : 111|2@1+ (1,0) [0|65535] "" XXX + SG_ SIGNAL_13 : 113|7@1+ (0.015625,0) [0|127] "" XXX + SG_ SIGNAL_14 : 120|7@1+ (0.015625,0) [0|127] "" XXX + SG_ SIGNAL_15 : 127|3@1+ (1,0) [0|3] "" XXX + SG_ SIGNAL_16 : 130|2@1+ (1,0) [0|3] "" XXX + SG_ SIGNAL_17 : 133|2@0+ (1,0) [0|3] "" XXX + SG_ SIGNAL_18 : 134|1@0+ (1,0) [0|3] "" XXX + SG_ SIGNAL_19 : 135|3@1+ (1,0) [0|3] "" XXX + SG_ SIGNAL_20 : 138|8@1+ (1,0) [0|63] "" XXX + SG_ SIGNAL_21 : 146|2@1+ (1,0) [0|3] "" XXX + SG_ SIGNAL_22 : 148|1@1+ (1,0) [0|3] "" XXX + SG_ SIGNAL_23 : 149|4@1+ (1,0) [0|7] "" XXX + SG_ SIGNAL_24 : 153|1@1+ (1,0) [0|3] "" XXX + SG_ SIGNAL_25 : 154|2@1+ (1,0) [0|3] "" XXX + SG_ SIGNAL_26 : 157|2@0+ (1,0) [0|3] "" XXX + SG_ SIGNAL_27 : 158|7@1+ (0.125,0) [0|3] "" XXX + SG_ SIGNAL_28 : 165|7@1+ (0.015625,0) [0|31] "" XXX + SG_ SIGNAL_29 : 172|7@1+ (0.125,0) [0|3] "" XXX + SG_ SIGNAL_30 : 179|7@1+ (0.015625,0) [0|1] "" XXX + SG_ SIGNAL_31 : 186|4@1+ (1,0) [0|7] "" XXX + SG_ SIGNAL_32 : 190|14@1+ (0.015625,0) [0|15] "" XXX + SG_ SIGNAL_33 : 204|11@1+ (0.03125,0) [0|8191] "" XXX + SG_ SIGNAL_34 : 215|2@1+ (1,0) [0|3] "" XXX + SG_ SIGNAL_35 : 217|7@1+ (1,0) [0|127] "" XXX + SG_ SIGNAL_36 : 224|6@1+ (1,0) [0|63] "" XXX + SG_ SIGNAL_37 : 230|6@1+ (0.2,0) [0|31] "" XXX + SG_ SIGNAL_38 : 236|6@1+ (0.2,0) [0|7] "" XXX + SG_ SIGNAL_39 : 242|8@1+ (1,-90) [0|255] "" XXX + SG_ SIGNAL_40 : 250|6@1+ (1,0) [0|63] "" XXX + SG_ SIGNAL_41 : 256|8@1+ (0.25,0) [0|255] "" XXX + SG_ SIGNAL_42 : 264|3@1+ (1,0) [0|3] "" XXX + SG_ SIGNAL_43 : 267|12@1+ (0.01,0) [0|31] "" XXX + SG_ SIGNAL_44 : 279|32@1+ (1,0) [0|63] "" XXX + SG_ SIGNAL_45 : 311|1@1+ (1,0) [0|1] "" XXX + SG_ SIGNAL_46 : 312|2@1+ (1,0) [0|3] "" XXX + SG_ SIGNAL_47 : 314|32@1+ (1,0) [0|255] "" XXX + SG_ SIGNAL_48 : 346|6@1+ (1,0) [0|63] "" XXX + SG_ SIGNAL_49 : 352|7@1+ (0.25,0) [0|127] "" XXX + SG_ SIGNAL_50 : 359|6@1+ (0.03125,0) [0|31] "" XXX + SG_ SIGNAL_51 : 365|10@1+ (0.125,0) [0|3] "" XXX + SG_ SIGNAL_52 : 375|10@1+ (0.125,0) [0|63] "" XXX + SG_ SIGNAL_53 : 385|7@1+ (1,0) [0|127] "" XXX + SG_ SIGNAL_54 : 392|7@1+ (1,0) [0|127] "" XXX + SG_ SIGNAL_55 : 399|8@1+ (0.00390625,0) [0|31] "" XXX + SG_ SIGNAL_56 : 407|10@1+ (0.125,0) [0|63] "" XXX + SG_ SIGNAL_57 : 417|1@1+ (1,0) [0|3] "" XXX + SG_ SIGNAL_58 : 418|1@1+ (1,0) [0|3] "" XXX +""") + + # radar points are sent at 20 Hz in groups of 1 to 13 messages + # each message has 5 radar points for a total of 65 points max + # each radar point is 101 bits so the alignment is not consistent + RadarPointSignal = namedtuple("RadarPointSignal", ["name", "start", "length", "scale", "offset"]) + radar_point_signals = ( + RadarPointSignal("DISTANCE", 7, 14, 1/64, 0), + RadarPointSignal("", 21, 2, 1, 0), + RadarPointSignal("", 23, 8, 1/512, -127/512), + RadarPointSignal("REL_VELOCITY", 31, 13, 1/32, -66), + RadarPointSignal("", 44, 2, 1, 0), + RadarPointSignal("", 46, 2, 1, 0), + RadarPointSignal("AZIMUTH", 48, 12, 1/512, -2047/512), + RadarPointSignal("", 60, 2, 1, 0), + RadarPointSignal("", 62, 1, 1, 0), + RadarPointSignal("", 63, 7, 1, 0), + RadarPointSignal("", 70, 1, 1, 0), + RadarPointSignal("", 71, 6, 1, 0), + RadarPointSignal("", 77, 2, 1, 0), + RadarPointSignal("", 79, 8, 1/512, -127/512), + RadarPointSignal("", 87, 1, 1, 0), + RadarPointSignal("", 88, 2, 1, 0), + RadarPointSignal("", 90, 3, 1, 0), + # last 15 bits are controlled by LAYOUT_ID (seems to always zero, so below is layout 0) + RadarPointSignal("", 93, 6, 1, 0), + RadarPointSignal("", 99, 8, 1, 0), + RadarPointSignal("", 107, 1, 1, 0), + ) + radar_point_bit_count = sum([s.length for s in radar_point_signals]) + + for a in [0x101, 0x201]: + f.write(f""" +BO_ {a} RADAR_POINTS_0x{a:x}: 64 RADAR + SG_ MESSAGE_ID : 0|5@1+ (1,0) [0|31] "" XXX + SG_ LAYOUT_ID : 5|2@1+ (1,0) [0|3] "" XXX +""") + bit_idx = radar_point_signals[0].start + for i in range(5): + signal_idx = 1 + for sig in radar_point_signals: + if sig.name: + sig_name = f"POINT_{i+1}_{sig.name}" + else: + sig_name = f"POINT_{i+1}_SIGNAL_{signal_idx}" + signal_idx += 1 + + sig_start_idx = i * radar_point_bit_count + sig.start + assert bit_idx == sig_start_idx, f"signal overlap or gap!!! {bit_idx} != {sig_start_idx}" + min_val = round(sig.offset, 10) + max_val = round((2**sig.length - 1) * sig.scale + sig.offset, 10) + + f.write(f" SG_ {sig_name} : {sig_start_idx}|{sig.length}@1+ ({sig.scale},{sig.offset}) [{min_val}|{max_val}] \"\" XXX\n") + bit_idx += sig.length + + # checksum is across a group of 0x100/200 and 0x101/201 messages (no checksums inside the other messages) + # ccitt_crc16 = mkCrcFun(0x11021, initCrc=0xffff, xorOut=0x0000, rev=False) + for a in [0x104, 0x204]: + f.write(f""" +BO_ {a} RADAR_POINTS_CHECKSUM_0x{a:x}: 3 RADAR + SG_ CRC16 : 0|16@1+ (1,0) [0|65535] "" XXX +""") diff --git a/opendbc_repo/opendbc/dbc/generator/hyundai/hyundai_kia_mando_front_radar.py b/opendbc_repo/opendbc/dbc/generator/hyundai/hyundai_kia_mando_front_radar.py new file mode 100755 index 0000000000..ee8dde64d4 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/hyundai/hyundai_kia_mando_front_radar.py @@ -0,0 +1,61 @@ +#!/usr/bin/env python3 +import os + +if __name__ == "__main__": + dbc_name = os.path.basename(__file__).replace(".py", ".dbc") + hyundai_path = os.path.dirname(os.path.realpath(__file__)) + with open(os.path.join(hyundai_path, dbc_name), "w", encoding='utf-8') as f: + f.write(""" +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX + """) + + # note: 0x501/0x502 seem to be special in 0x5XX range + for a in range(0x500, 0x500 + 32): + f.write(f""" +BO_ {a} RADAR_TRACK_{a:x}: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + """) diff --git a/opendbc_repo/opendbc/dbc/generator/nissan/_nissan_common.dbc b/opendbc_repo/opendbc/dbc/generator/nissan/_nissan_common.dbc new file mode 100644 index 0000000000..6300ea9425 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/nissan/_nissan_common.dbc @@ -0,0 +1,113 @@ +BO_ 2 STEER_ANGLE_SENSOR: 5 XXX + SG_ STEER_ANGLE_RATE : 16|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X07 : 24|8@1+ (1,0) [0|255] "" XXX + SG_ STEER_ANGLE : 0|16@1- (-0.1,0) [0|65535] "" XXX + SG_ COUNTER : 32|4@1+ (1,0) [0|15] "" XXX + +BO_ 361 LKAS: 8 XXX + SG_ MAX_TORQUE : 39|8@0+ (0.01,0) [0|255] "Nm" XXX + SG_ SET_0x80 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ LKA_ACTIVE : 52|1@0+ (1,0) [0|15] "" XXX + SG_ SET_0x80_2 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX + SG_ DESIRED_ANGLE : 7|18@0+ (-0.01,1310) [-1311.43|1310] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 389 STEER_TORQUE_SENSOR: 8 XXX + SG_ LKAS_ACTIVE : 37|1@0+ (1,0) [0|3] "" XXX + SG_ STEER_TORQUE_LKAS : 47|8@0+ (1,0) [0|255] "" XXX + SG_ STEER_ANGLE : 23|18@0+ (-0.01,1310) [0|262143] "" XXX + SG_ STEER_TORQUE_DRIVER : 7|12@0+ (-0.01,20.47) [0|4095] "Nm" XXX + SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|127] "" XXX + +BO_ 645 WHEEL_SPEEDS_REAR: 8 XXX + SG_ WHEEL_SPEED_RR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX + SG_ WHEEL_SPEED_RL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX + +BO_ 689 PROPILOT_HUD: 8 XXX + SG_ LARGE_WARNING_FLASHING : 9|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_RADAR_ERROR_FLASHING1 : 10|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_RADAR_ERROR_FLASHING2 : 11|1@0+ (1,0) [0|1] "" XXX + SG_ RIGHT_LANE_YELLOW_FLASH : 12|1@0+ (1,0) [0|1] "" XXX + SG_ LEFT_LANE_YELLOW_FLASH : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LEAD_CAR : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LEAD_CAR_ERROR : 15|1@0+ (1,0) [0|1] "" XXX + SG_ FRONT_RADAR_ERROR : 16|1@0+ (1,0) [0|1] "" XXX + SG_ FRONT_RADAR_ERROR_FLASHING : 17|1@0+ (1,0) [0|1] "" XXX + SG_ RIGHT_LANE_GREEN : 24|1@0+ (1,0) [0|1] "" XXX + SG_ LEFT_LANE_GREEN : 25|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_RADAR_ERROR_FLASHING3 : 27|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_ERROR_FLASHING : 29|1@0+ (1,0) [0|1] "" XXX + SG_ SAFETY_SHIELD_ACTIVE : 44|1@0+ (1,0) [0|1] "" XXX + SG_ LARGE_STEERING_WHEEL_ICON : 61|2@0+ (1,0) [0|3] "" XXX + SG_ RIGHT_LANE_GREEN_FLASH : 62|1@0+ (1,0) [0|1] "" XXX + SG_ LEFT_LANE_GREEN_FLASH : 63|1@0+ (1,0) [0|1] "" XXX + SG_ FOLLOW_DISTANCE : 3|2@0+ (1,0) [0|3] "" XXX + SG_ AUDIBLE_TONE : 47|3@0+ (1,0) [0|8] "" XXX + SG_ SPEED_SET_ICON : 7|2@0+ (1,0) [0|3] "" XXX + SG_ SMALL_STEERING_WHEEL_ICON : 42|3@0+ (1,0) [0|7] "" XXX + SG_ SET_SPEED : 39|8@0+ (1,0) [0|255] "" XXX + SG_ unknown02 : 1|2@0+ (1,0) [0|3] "" XXX + SG_ unknown05 : 5|2@0+ (1,0) [0|3] "" XXX + SG_ unknown08 : 8|7@0+ (1,0) [0|63] "" XXX + SG_ unknown26 : 26|1@0+ (1,0) [0|1] "" XXX + SG_ unknown28 : 28|1@0+ (1,0) [0|1] "" XXX + SG_ unknown31 : 31|2@0+ (1,0) [0|3] "" XXX + SG_ unknown43 : 43|1@0+ (1,0) [0|1] "" XXX + SG_ unknown55 : 55|8@0+ (1,0) [0|63] "" XXX + SG_ unknown59 : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 783 CRUISE_STATE: 3 XXX + SG_ CRUISE_ENABLED : 3|1@0+ (1,0) [0|1] "" XXX + +BO_ 1228 PROPILOT_HUD_INFO_MSG: 8 XXX + SG_ NA_HIGH_ACCEL_TEMP : 0|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_RADAR_NA_HIGH_CABIN_TEMP : 8|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_RADAR_MALFUNCTION : 11|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_MALFUNCTION : 12|1@0+ (1,0) [0|1] "" XXX + SG_ FRONT_RADAR_MALFUNCTION : 13|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_RADAR_NA_CLEAN_REAR_CAMERA : 14|1@0+ (1,0) [0|1] "" XXX + SG_ NA_POOR_ROAD_CONDITIONS : 16|1@0+ (1,0) [0|1] "" XXX + SG_ CURRENTLY_UNAVAILABLE : 17|1@0+ (1,0) [0|1] "" XXX + SG_ SAFETY_SHIELD_OFF : 18|1@0+ (1,0) [0|1] "" XXX + SG_ FRONT_COLLISION_NA_FRONT_RADAR_OBSTRUCTION : 20|1@0+ (1,0) [0|1] "" XXX + SG_ PEDAL_MISSAPPLICATION_SYSTEM_ACTIVATED : 24|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_IMPACT_NA_RADAR_OBSTRUCTION : 25|1@0+ (1,0) [0|1] "" XXX + SG_ WARNING_DO_NOT_ENTER : 33|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_IMPACT_SYSTEM_OFF : 34|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_IMPACT_MALFUNCTION : 35|1@0+ (1,0) [0|1] "" XXX + SG_ FRONT_COLLISION_MALFUNCTION : 36|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_RADAR_MALFUNCTION2 : 37|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_MALFUNCTION2 : 38|1@0+ (1,0) [0|1] "" XXX + SG_ FRONT_RADAR_MALFUNCTION2 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ PROPILOT_NA_MSGS : 42|3@0+ (1,0) [0|7] "" XXX + SG_ BOTTOM_MSG : 45|3@0+ (1,0) [0|7] "" XXX + SG_ HANDS_ON_WHEEL_WARNING : 47|1@0+ (1,0) [0|1] "" XXX + SG_ WARNING_STEP_ON_BRAKE_NOW : 51|1@0+ (1,0) [0|1] "" XXX + SG_ PROPILOT_NA_FRONT_CAMERA_OBSTRUCTED : 52|1@0+ (1,0) [0|1] "" XXX + SG_ PROPILOT_NA_HIGH_CABIN_TEMP : 53|1@0+ (1,0) [0|1] "" XXX + SG_ WARNING_PROPILOT_MALFUNCTION : 54|1@0+ (1,0) [0|3] "" XXX + SG_ ACC_UNAVAILABLE_HIGH_CABIN_TEMP : 62|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_NA_FRONT_CAMERA_IMPARED : 63|1@0+ (1,0) [0|1] "" XXX + SG_ unknown07 : 7|7@0+ (1,0) [0|127] "" XXX + SG_ unknown10 : 10|2@0+ (1,0) [0|3] "" XXX + SG_ unknown15 : 15|1@0+ (1,0) [0|1] "" XXX + SG_ unknown23 : 23|3@0+ (1,0) [0|7] "" XXX + SG_ unknown19 : 19|1@0+ (1,0) [0|1] "" XXX + SG_ unknown31 : 31|6@0+ (1,0) [0|63] "" XXX + SG_ unknown32 : 32|1@0+ (1,0) [0|1] "" XXX + SG_ unknown46 : 46|1@0+ (1,0) [0|1] "" XXX + SG_ unknown50 : 50|3@0+ (1,0) [0|7] "" XXX + SG_ unknown55 : 55|1@0+ (1,0) [0|1] "" XXX + SG_ unknown61 : 61|6@0+ (1,0) [0|63] "" XXX + +BO_ 1227 LKAS_SETTINGS: 8 XXX + SG_ LKAS_ENABLED : 51|1@0+ (1,0) [0|1] "" XXX + +VAL_ 1228 PROPILOT_NA_MSGS 0 "NO_MSG" 1 "NA_FRONT_CAMERA_IMPARED" 2 "STEERING_ASSIST_ON_STANDBY" 3 "NA_PARKING_ASSIST_ENABLED" 4 "STEER_ASSIST_CURRENTLY_NA" 5 "NA_BAD_WEATHER" 6 "NA_PARK_BRAKE_ON" 7 "NA_SEATBELT_NOT_FASTENED" ; +VAL_ 1228 BOTTOM_MSG 0 "OK_STEER_ASSIST_SETTINGS" 1 "NO_MSG" 2 "PRESS_SET_TO_SET_SPEED" 3 "PRESS_RES_SET_TO_CHANGE_SPEED" 4 "PRESS_RES_TO_RESTART" 5 "NO_MSG" 6 "CRUISE_NOT_AVAIL" 7 "NO_MSG" ; +VAL_ 689 FOLLOW_DISTANCE 0 "NO_FOLLOW_DISTANCE" 1 "FOLLOW_DISTANCE_1" 2 "FOLLOW_DISTANCE_2" 3 "FOLLOW_DISANCE_3" ; +VAL_ 689 AUDIBLE_TONE 0 "NO_TONE" 1 "CONT" 2 "FAST_BEEP_CONT" 3 "TRIPLE_FAST_BEEP_CONT" 4 "SLOW_BEEP_CONT" 5 "QUAD_SLOW_BEEP_CONT" 6 "SINGLE_BEEP_ONCE" 7 "DOUBLE_BEEP_ONCE" ; +VAL_ 689 SMALL_STEERING_WHEEL_ICON 0 "NO_ICON" 1 "GRAY_ICON" 2 "GRAY_ICON_FLASHING" 3 "GREEN_ICON" 4 "GREEN_ICON_FLASHING" 5 "RED_ICON" 6 "RED_ICON_FLASHING" 7 "YELLOW_ICON" ; +VAL_ 689 LARGE_STEERING_WHEEL_ICON 0 "NO_STEERINGWHEEL" 1 "GRAY_STEERINGWHEEL" 2 "GREEN_STEERINGWHEEL" 3 "GREEN_STEERINGWHEEL_FLASHING" ; diff --git a/opendbc_repo/opendbc/dbc/generator/nissan/nissan_leaf_2018.dbc b/opendbc_repo/opendbc/dbc/generator/nissan/nissan_leaf_2018.dbc new file mode 100644 index 0000000000..3376c3784c --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/nissan/nissan_leaf_2018.dbc @@ -0,0 +1,62 @@ +CM_ "IMPORT _nissan_common.dbc"; + +BO_ 42 SEATBELT: 8 XXX + SG_ SEATBELT_DRIVER_LATCHED : 27|1@1+ (1,0) [0|3] "" XXX + SG_ SEATBELT_DRIVER_UNLATCHED : 26|1@0+ (1,0) [0|1] "" XXX + SG_ unknown2 : 31|4@0+ (1,0) [0|15] "" XXX + SG_ unknown3 : 24|2@1+ (1,0) [0|3] "" XXX + SG_ unknown1 : 7|24@0+ (1,0) [0|16777215] "" XXX + SG_ unknown4 : 39|16@0+ (1,0) [0|65535] "" XXX + +BO_ 460 BRAKE_PEDAL: 8 XXX + SG_ BRAKE_PEDAL : 7|8@0+ (1,0) [0|256] "" XXX + +BO_ 569 CRUISE_THROTTLE: 8 XXX + SG_ GAS_PEDAL_INVERTED : 15|8@0+ (1,0) [0|255] "" XXX + SG_ GAS_PEDAL : 7|8@0+ (1,0) [0|255] "" XXX + SG_ CRUISE_AVAILABLE : 17|1@0+ (1,0) [0|1] "" XXX + SG_ unsure1 : 23|6@0+ (1,0) [0|63] "" XXX + SG_ unsure2 : 16|1@0+ (1,0) [0|1] "" XXX + SG_ unsure3 : 31|2@0+ (1,0) [0|3] "" XXX + SG_ NO_BUTTON_PRESSED : 29|1@0+ (1,0) [0|1] "" XXX + SG_ RES_BUTTON : 28|1@0+ (1,0) [0|1] "" XXX + SG_ SET_BUTTON : 27|1@0+ (1,0) [0|1] "" XXX + SG_ FOLLOW_DISTANCE_BUTTON : 26|1@0+ (1,0) [0|1] "" XXX + SG_ CANCEL_BUTTON : 25|1@0+ (1,0) [0|1] "" XXX + SG_ PROPILOT_BUTTON : 24|1@0+ (1,0) [0|1] "" XXX + SG_ USER_BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 32|2@1+ (1,0) [0|3] "" XXX + SG_ unsure5 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ unsure6 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ unsure7 : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 640 CANCEL_MSG: 8 XXX + SG_ CANCEL_SEATBELT : 1|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_1 : 7|6@0+ (1,0) [0|63] "" XXX + SG_ NEW_SIGNAL_2 : 0|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_3 : 15|56@0+ (1,0) [0|72057594037927940] "" XXX + +BO_ 644 WHEEL_SPEEDS_FRONT: 8 XXX + SG_ WHEEL_SPEED_FR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX + SG_ WHEEL_SPEED_FL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX + +BO_ 852 ESP: 8 XXX + SG_ ESP_DISABLED : 38|1@0+ (1,0) [0|1] "" XXX + +BO_ 853 HUD_SETTINGS: 8 XXX + SG_ SPEED_MPH : 37|1@0+ (1,0) [0|1] "" XXX + +BO_ 856 LIGHTS: 8 XXX + SG_ LEFT_BLINKER : 17|1@0+ (1,0) [0|1] "" XXX + SG_ RIGHT_BLINKER : 18|1@0+ (1,0) [0|1] "" XXX + +BO_ 1057 GEARBOX: 3 XXX + SG_ GEAR_SHIFTER : 5|3@0+ (1,0) [0|255] "" XXX + +BO_ 1549 DOORS_LIGHTS: 8 XXX + SG_ DOOR_OPEN_FL : 3|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FR : 4|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RL : 5|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RR : 6|1@0+ (1,0) [0|1] "" XXX + +VAL_ 1057 GEAR_SHIFTER 7 "B" 4 "D" 3 "N" 2 "R" 1 "P" ; diff --git a/opendbc_repo/opendbc/dbc/generator/nissan/nissan_x_trail_2017.dbc b/opendbc_repo/opendbc/dbc/generator/nissan/nissan_x_trail_2017.dbc new file mode 100644 index 0000000000..46e6f9c99a --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/nissan/nissan_x_trail_2017.dbc @@ -0,0 +1,69 @@ +CM_ "IMPORT _nissan_common.dbc"; + +BO_ 348 GAS_PEDAL: 8 XXX + SG_ GAS_PEDAL_RAW : 26|11@0+ (1,0) [0|2047] "" XXX + SG_ GAS_PEDAL : 47|10@0+ (1,0) [0|1023] "" XXX + +BO_ 438 PRO_PILOT: 8 XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X03 : 33|2@0+ (1,0) [0|15] "" XXX + SG_ CRUISE_ACTIVATED : 38|1@0+ (1,0) [0|3] "" XXX + SG_ CRUISE_ON : 36|1@0+ (1,0) [0|255] "" XXX + SG_ STEER_STATUS : 51|1@0+ (1,0) [0|3] "" XXX + +BO_ 523 CRUISE_THROTTLE: 6 XXX + SG_ PROPILOT_BUTTON : 8|1@0+ (1,0) [0|1] "" XXX + SG_ CANCEL_BUTTON : 9|1@0+ (1,0) [0|1] "" XXX + SG_ GAS_PEDAL_INVERTED : 37|10@0+ (1,0) [0|1023] "" XXX + SG_ SET_BUTTON : 11|1@0+ (1,0) [0|1] "" XXX + SG_ RES_BUTTON : 12|1@0+ (1,0) [0|1] "" XXX + SG_ FOLLOW_DISTANCE_BUTTON : 10|1@0+ (1,0) [0|1] "" XXX + SG_ NO_BUTTON_PRESSED : 13|1@0+ (1,0) [0|1] "" XXX + SG_ GAS_PEDAL : 31|10@0+ (1,0) [0|255] "" XXX + SG_ USER_BRAKE_PRESSED : 21|1@0+ (1,0) [0|1] "" XXX + SG_ USER_BRAKE_PRESSED_INVERTED : 22|1@0+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_2 : 23|1@0+ (1,0) [0|1] "" XXX + SG_ GAS_PRESSED_INVERTED : 20|1@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 17|2@0+ (1,0) [0|3] "" XXX + SG_ unsure1 : 7|10@0+ (1,0) [0|1023] "" XXX + SG_ unsure2 : 43|4@0+ (1,0) [0|1] "" XXX + SG_ unsure3 : 19|2@0+ (1,0) [0|3] "" XXX + +BO_ 665 ESP: 8 XXX + SG_ ESP_DISABLED : 24|1@0+ (1,0) [0|1] "" XXX + +BO_ 666 WHEEL_SPEEDS_FRONT: 8 XXX + SG_ WHEEL_SPEED_FR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX + SG_ WHEEL_SPEED_FL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX + +BO_ 768 STEER_TORQUE_SENSOR2: 2 XXX + SG_ STEERING_TORQUE : 6|7@0+ (1,0) [0|127] "" XXX + SG_ STEERING_PRESSED : 15|1@0+ (-1,1) [0|7] "" XXX + +BO_ 1055 GEARBOX: 2 XXX + SG_ SPORTS_MODE : 13|1@0+ (1,0) [0|1] "" XXX + SG_ GEAR_SHIFTER : 5|3@0+ (1,0) [0|255] "" XXX + +BO_ 1107 LIGHTS: 8 XXX + SG_ RIGHT_BLINKER : 12|1@0+ (1,0) [0|1] "" XXX + SG_ LEFT_BLINKER : 11|1@0+ (1,0) [0|1] "" XXX + SG_ HEADLIGHTS : 5|1@0+ (1,0) [0|1] "" XXX + +BO_ 1108 DOORS_LIGHTS: 8 XXX + SG_ DOOR_CLOSED_RR : 40|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RR : 41|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_CLOSED_RL : 42|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RL : 43|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_CLOSED_FL : 44|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_CLOSED_FR : 46|1@0+ (1,0) [0|3] "" XXX + SG_ DOOR_OPEN_FR : 47|1@0+ (1,0) [0|3] "" XXX + SG_ BOOT_OPEN : 55|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_LIGHT : 54|1@0+ (1,0) [0|1] "" XXX + SG_ USER_BRAKE_PRESSED : 23|1@0+ (1,0) [0|1] "" XXX + +BO_ 1273 HUD: 7 XXX + SG_ SEATBELT_DRIVER_LATCHED : 25|1@0+ (1,0) [0|1] "" XXX + SG_ SPEED_MPH : 5|1@0+ (1,0) [0|1] "" XXX + +VAL_ 1055 GEAR_SHIFTER 6 "L" 4 "D" 3 "N" 2 "R" 1 "P" ; diff --git a/opendbc_repo/opendbc/dbc/generator/subaru/_subaru_global.dbc b/opendbc_repo/opendbc/dbc/generator/subaru/_subaru_global.dbc new file mode 100644 index 0000000000..69c8361938 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/subaru/_subaru_global.dbc @@ -0,0 +1,302 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX X + + +BO_ 2 Steering: 8 XXX + SG_ Steering_Angle : 7|16@0- (0.1,0) [0|65535] "" XXX + SG_ COUNTER : 25|3@1+ (1,0) [0|7] "" XXX + SG_ CHECKSUM : 32|8@1+ (1,0) [0|255] "" XXX + +BO_ 64 Throttle: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX + SG_ Engine_RPM : 16|12@1+ (1,0) [0|4095] "" XXX + SG_ Signal2 : 28|4@1+ (1,0) [0|15] "" XXX + SG_ Throttle_Pedal : 32|8@1+ (1,0) [0|255] "" XXX + SG_ Throttle_Cruise : 40|8@1+ (1,0) [0|255] "" XXX + SG_ Throttle_Combo : 48|8@1+ (1,0) [0|255] "" XXX + SG_ Signal3 : 56|4@1+ (1,0) [0|15] "" XXX + SG_ Off_Accel : 60|4@1+ (1,0) [0|15] "" XXX + +BO_ 316 Brake_Status: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|46@1+ (1,0) [0|1] "" XXX + SG_ ES_Brake : 58|1@1+ (1,0) [0|1] "" XXX + SG_ Signal2 : 59|3@1+ (1,0) [0|1] "" XXX + SG_ Brake : 62|1@1+ (1,0) [0|1] "" XXX + SG_ Signal3 : 63|1@1+ (1,0) [0|1] "" XXX + +BO_ 326 Cruise_Buttons: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|30@1+ (1,0) [0|1073741823] "" XXX + SG_ Main : 42|1@1+ (1,0) [0|1] "" XXX + SG_ Set : 43|1@1+ (1,0) [0|1] "" XXX + SG_ Resume : 44|1@1+ (1,0) [0|1] "" XXX + SG_ Signal2 : 45|19@1+ (1,0) [0|524287] "" XXX + +BO_ 315 G_Sensor: 8 XXX + SG_ Lateral : 48|8@1- (-0.1,0) [0|255] "m/s2" XXX + SG_ Longitudinal : 56|8@1- (-0.1,0) [0|255] "m/s2" XXX + +BO_ 314 Wheel_Speeds: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ FR : 12|13@1+ (0.057,0) [0|255] "kph" XXX + SG_ RR : 25|13@1+ (0.057,0) [0|255] "kph" XXX + SG_ FL : 51|13@1+ (0.057,0) [0|255] "kph" XXX + SG_ RL : 38|13@1+ (0.057,0) [0|255] "kph" XXX + +BO_ 280 Steering_Torque_2: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Steer_Torque_Output : 13|11@1- (-10,0) [0|255] "" XXX + SG_ Signal1 : 24|8@1+ (1,0) [0|511] "" XXX + SG_ Steer_Torque_Sensor : 45|11@1- (-1,0) [0|255] "" XXX + SG_ Steering_Active : 61|1@0+ (1,0) [0|1] "" XXX + SG_ Steering_Disabled : 63|1@1+ (1,0) [0|1] "" XXX + +BO_ 281 Steering_Torque: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Steer_Error_1 : 12|1@0+ (1,0) [0|1] "" XXX + SG_ Steer_Torque_Sensor : 16|11@1- (-1,0) [-1000|1000] "" XXX + SG_ Steer_Error_2 : 28|1@1+ (1,0) [0|1] "" XXX + SG_ Steer_Warning : 29|1@1+ (1,0) [0|1] "" XXX + SG_ Steering_Angle : 32|16@1- (-0.0217,0) [-600|600] "" X + SG_ Steer_Torque_Output : 48|11@1- (-10,0) [-1000|1000] "" XXX + +BO_ 282 Steering_2: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|1] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|1] "" XXX + SG_ Steering_Angle : 24|17@1- (-0.01,0) [0|1] "" XXX + +BO_ 312 Brake_Pressure_L_R: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Brake_1 : 48|8@1+ (1,0) [0|255] "" XXX + SG_ Brake_2 : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 313 Brake_Pedal: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX + SG_ Speed : 16|12@1+ (0.05625,0) [0|255] "kph" XXX + SG_ Signal2 : 28|6@1+ (1,0) [0|63] "" XXX + SG_ Brake_Lights : 34|1@1+ (1,0) [0|1] "" XXX + SG_ Signal3 : 35|1@1+ (1,0) [0|1] "" XXX + SG_ Brake_Pedal : 36|12@1+ (1,0) [0|4095] "" XXX + SG_ Signal4 : 48|16@1+ (1,0) [0|65535] "" XXX + +BO_ 372 Engine_Stop_Start: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX + SG_ STOP_START_STATE : 39|2@0+ (1,0) [0|3] "" XXX + +BO_ 290 ES_LKAS: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ SET_1 : 12|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_Output : 16|13@1- (-1,0) [-8191|8191] "" XXX + SG_ LKAS_Request : 29|1@0+ (1,0) [0|1] "" XXX + +BO_ 292 ES_LKAS_ANGLE: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|1] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Request : 12|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Output : 40|17@1- (-0.01,0) [0|1] "deg" XXX + SG_ SET_3 : 60|2@1+ (1,0) [0|1] "" XXX + +BO_ 544 ES_Brake: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX + SG_ Brake_Pressure : 16|16@1+ (1,0) [0|65535] "" XXX + SG_ AEB_Status : 32|4@1+ (1,0) [0|15] "" XXX + SG_ Cruise_Brake_Lights : 36|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Brake_Fault : 37|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Brake_Active : 38|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 39|1@1+ (1,0) [0|1] "" XXX + SG_ Signal3 : 40|24@1+ (1,0) [0|16777215] "" XXX + +BO_ 577 Cruise_Status: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Cruise_Set_Speed : 51|12@0+ (1,0) [0|120] "" XXX + SG_ Cruise_On : 54|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 55|1@1+ (1,0) [0|1] "" XXX + +BO_ 552 BSD_RCTA: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ R_ADJACENT : 48|1@1+ (1,0) [0|1] "" XXX + SG_ L_ADJACENT : 49|1@1+ (1,0) [0|1] "" XXX + SG_ R_APPROACHING : 58|1@1+ (1,0) [0|1] "" XXX + SG_ L_APPROACHING : 59|1@1+ (1,0) [0|1] "" XXX + +BO_ 912 Dashlights: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ UNITS : 24|1@1+ (1,0) [0|1] "" XXX + SG_ ICY_ROAD : 32|2@1+ (1,0) [0|3] "" XXX + SG_ SEATBELT_FL : 48|1@1+ (1,0) [0|1] "" XXX + SG_ LEFT_BLINKER : 50|1@1+ (1,0) [0|1] "" XXX + SG_ RIGHT_BLINKER : 51|1@1+ (1,0) [0|1] "" XXX + SG_ STOP_START : 54|1@0+ (1,0) [0|1] "" XXX + +BO_ 940 BodyInfo: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ DOOR_OPEN_FL : 32|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FR : 33|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RL : 34|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RR : 35|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_TRUNK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE : 54|1@1+ (1,0) [0|1] "" XXX + SG_ DASH_BTN_LIGHTS : 56|1@0+ (1,0) [0|1] "" XXX + SG_ LOWBEAM : 57|1@1+ (1,0) [0|1] "" XXX + SG_ HIGHBEAM : 58|1@1+ (1,0) [0|1] "" XXX + SG_ FOG_LIGHTS : 60|1@1+ (1,0) [0|1] "" XXX + SG_ WIPERS : 62|1@0+ (1,0) [0|1] "" XXX + +BO_ 801 ES_DashStatus: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ PCB_Off : 12|1@1+ (1,0) [0|1] "" XXX + SG_ LDW_Off : 13|1@1+ (1,0) [0|1] "" XXX + SG_ Signal1 : 14|2@1+ (1,0) [0|3] "" XXX + SG_ Cruise_State_Msg : 16|4@1+ (1,0) [0|15] "" XXX + SG_ LKAS_State_Msg : 20|3@1+ (1,0) [0|7] "" XXX + SG_ Signal2 : 23|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Soft_Disable : 24|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Status_Msg : 25|2@1+ (1,0) [0|3] "" XXX + SG_ Signal3 : 27|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Distance : 28|3@1+ (1,0) [0|7] "" XXX + SG_ Signal4 : 31|1@1+ (1,0) [0|1] "" XXX + SG_ Conventional_Cruise : 32|1@1+ (1,0) [0|1] "" XXX + SG_ Signal5 : 33|2@1+ (1,0) [0|3] "" XXX + SG_ Cruise_Disengaged : 35|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 36|1@1+ (1,0) [0|1] "" XXX + SG_ Signal6 : 37|3@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Set_Speed : 40|8@1+ (1,0) [0|255] "" XXX + SG_ Cruise_Fault : 48|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_On : 49|1@1+ (1,0) [0|1] "" XXX + SG_ Display_Own_Car : 50|1@1+ (1,0) [0|1] "" XXX + SG_ Brake_Lights : 51|1@1+ (1,0) [0|1] "" XXX + SG_ Car_Follow : 52|1@1+ (1,0) [0|1] "" XXX + SG_ Signal7 : 53|3@1+ (1,0) [0|1] "" XXX + SG_ Far_Distance : 56|4@1+ (5,0) [0|75] "m" XXX + SG_ Cruise_State : 60|4@1+ (1,0) [0|15] "" XXX + +BO_ 802 ES_LKAS_State: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ LKAS_Alert_Msg : 12|3@1+ (1,0) [0|7] "" XXX + SG_ Signal1 : 15|2@1+ (1,0) [0|3] "" XXX + SG_ LKAS_ACTIVE : 17|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Dash_State : 18|2@1+ (1,0) [0|2] "" XXX + SG_ Signal2 : 20|3@1+ (1,0) [0|7] "" XXX + SG_ Backward_Speed_Limit_Menu : 23|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Left_Line_Enable : 24|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Left_Line_Light_Blink : 25|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Right_Line_Enable : 26|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Right_Line_Light_Blink : 27|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Left_Line_Visible : 28|2@1+ (1,0) [0|3] "" XXX + SG_ LKAS_Right_Line_Visible : 30|2@1+ (1,0) [0|3] "" XXX + SG_ LKAS_Alert : 32|5@1+ (1,0) [0|31] "" XXX + SG_ Signal3 : 37|27@1+ (1,0) [0|1] "" XXX + +BO_ 803 ES_Infotainment: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ LKAS_Blue_Lines : 15|4@0+ (1,0) [0|15] "" XXX + SG_ Signal1 : 19|4@0+ (1,0) [0|15] "" XXX + SG_ LKAS_State_Infotainment : 22|3@0+ (1,0) [0|7] "" XXX + SG_ Signal2 : 24|1@0+ (1,0) [0|1] "" XXX + +BO_ 722 AC_State: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ AC_Mode : 37|3@1+ (1,0) [0|1] "" XXX + SG_ AC_ON : 24|2@1+ (1,0) [0|1] "" XXX + +BO_ 1677 Dash_State: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Units : 29|3@1+ (1,0) [0|7] "" XXX + +BO_ 554 ES_HighBeamAssist: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ HBA_Available : 13|1@0+ (1,0) [0|1] "" XXX + +BO_ 805 ES_STATIC_1: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ SET_3 : 23|2@0+ (1,0) [0|3] "" XXX + +BO_ 289 ES_STATIC_2: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ SET_3 : 15|2@1+ (1,0) [0|3] "" XXX + SG_ Cruise_Fault : 18|1@0+ (1,0) [0|1] "" XXX + +CM_ SG_ 64 Throttle_Combo "Throttle Cruise + Pedal"; +CM_ SG_ 313 Brake_Lights "Driver or Cruise Brake on"; +CM_ SG_ 544 Cruise_Brake_Lights "1 = switch on brake lights"; +CM_ SG_ 544 Brake_Pressure "Winds down after cruise disabled. Also can be non-zero when likely preparing for AEB"; +CM_ SG_ 544 Signal3 "Usually goes to 2 if AEB_Status is 4"; +CM_ SG_ 544 AEB_Status "Occasionally is 4 instead of 8 while Brake_Pressure is non-zero, unsure why"; +CM_ SG_ 801 PCB_Off "Pre-Collision Braking off"; +CM_ SG_ 801 Brake_Lights "Driver or Cruise brake on"; +CM_ SG_ 801 Cruise_State "0 = Normal, 1 = Hold+User Brake, 2 = Ready, 3 = Hold"; +CM_ SG_ 801 Far_Distance "1=0-5m, 2=5-10m, 3=10-15m, 4=15-20m, 5=20-25m, 6=25-30m, 7=30-35m, 8=35-40m, 9=40-45m, 10=45-50m, 11=50-55m, 12=55-60m, 13=60-65m, 14=65-70m, 15=75m+"; +CM_ SG_ 801 LKAS_State_Msg "1 = LKAS_Off_Sharp_Curve, 2 = Keep_Hands_On_Steering_wheel_disabled, 3 = LKAS_Off, 4 = LKAS_Off_Too_Slow, 5 = LKAS_Off_Too_Fast"; +CM_ SG_ 801 Cruise_State_Msg "1 = Cruise_Off_Steep_Slope, 2 = Cruise_lvl1_eco, 3 = Cruise_lvl2_comfort, 4 = Cruise_off_empty_reason, 5 = Cruise_off, 6 = Cruise_Unable_to_set, 7 = Cruise_Unable_to_set_brakes_applied, 8 = Eyesight_not_ready, 9 = Cruise_lvl3_standard, 10 = Cruise_lvl4_dynamic, 11 = Cruise_Unable_to_set_steep_slope"; +CM_ SG_ 801 Cruise_Soft_Disable "Eyesight soft disable (eg direct sunlight)"; +CM_ SG_ 801 Cruise_Status_Msg "1 = Disabled_Bad_Visibility, 2 = Disabled_Check_Manual"; +CM_ SG_ 802 LKAS_ACTIVE "Turns on the full LKAS dash display"; +CM_ SG_ 802 LKAS_Alert_Msg "1 = Keep_Hands_On_Wheel, 6 = Pre_Collision_Braking, 7 = Keep_Hands_On_Wheel_Off"; +CM_ SG_ 802 LKAS_Alert "1 = FCW_Cont_Beep, 2 = FCW_Repeated_Beep, 3 = Throttle_Management_Activated_Warning, 4 = Throttle_Management_Activated_Alert, 5 = Pre_Collision_Activated_Alert, 8 = Traffic_Light_Ahead, 9 = Apply_Brake_to_Hold Position, 11 = LDW_Right, 12 = LDW_Left, 13 = Stay_Alert, 14 = Lead_Vehicle_Start_Alert, 18 = Keep_Hands_On_Steering_Alert, 24 = Audio_Beep, 25 = Audio_Lead_Car_Change, 26 = Audio_ACC_Disengaged, 27 = Audio_LKAS_disabled, 28 = Audio_Ding_Ding, 30 = Audio_Repeated_Beep"; +CM_ SG_ 802 LKAS_Left_Line_Visible "0 = Off, 1 = White, 2 = Green, 3 = Orange"; +CM_ SG_ 802 LKAS_Dash_State "0 = Off, 1 = Ready, 2 = Active"; +CM_ SG_ 802 LKAS_Right_Line_Visible "0 = Off, 1 = White, 2 = Green, 3 = Orange"; +CM_ SG_ 912 UNITS "0 = Metric, 1 = Imperial"; +CM_ SG_ 912 ICY_ROAD "1 = DASHLIGHT ON, 2 = WARNING, 3 = OFF"; +VAL_ 544 AEB_Status 12 "AEB related" 8 "AEB actuation" 4 "AEB related" 0 "No AEB actuation"; diff --git a/opendbc_repo/opendbc/dbc/generator/subaru/_subaru_preglobal_2015.dbc b/opendbc_repo/opendbc/dbc/generator/subaru/_subaru_preglobal_2015.dbc new file mode 100644 index 0000000000..2cc56e1d40 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/subaru/_subaru_preglobal_2015.dbc @@ -0,0 +1,245 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX X + + +BO_ 2 Steering: 8 XXX + SG_ Steering_Angle : 7|16@0- (0.1,0) [-500|500] "degree" XXX + SG_ COUNTER : 27|3@0+ (1,0) [0|7] "" XXX + SG_ Checksum : 39|8@0+ (1,0) [0|255] "" XXX + +BO_ 208 G_Sensor: 8 XXX + SG_ Steering_Angle : 0|16@1- (-0.1,0) [-500|500] "" XXX + SG_ Lateral : 16|16@1- (-0.0035,1) [-255|255] "" XXX + SG_ Longitudinal : 48|16@1- (-0.00035,0) [-255|255] "" XXX + +BO_ 209 Brake_Pedal: 8 XXX + SG_ Speed : 0|16@1+ (0.05625,0) [0|255] "KPH" XXX + SG_ Brake_Pedal : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 210 Brake_2: 8 XXX + SG_ Brake_Light : 35|1@1+ (1,0) [0|1] "" XXX + SG_ Brake_Related : 36|1@1+ (1,0) [0|1] "" XXX + SG_ Right_Brake : 48|8@1+ (1,0) [0|255] "" XXX + SG_ Left_Brake : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 211 Brake_Type: 8 XXX + SG_ Brake_Light : 21|1@1+ (1,0) [0|1] "" XXX + SG_ Speed_Counter : 32|8@1+ (1,0) [0|255] "" XXX + SG_ Brake_Cruise_On : 42|1@1+ (1,0) [0|1] "" XXX + SG_ Brake_Pedal_On : 46|1@1+ (1,0) [0|1] "" XXX + SG_ COUNTER : 48|8@1+ (1,0) [0|255] "" XXX + +BO_ 212 Wheel_Speeds: 8 XXX + SG_ FL : 0|16@1+ (0.0592,0) [0|255] "KPH" XXX + SG_ FR : 16|16@1+ (0.0592,0) [0|255] "KPH" XXX + SG_ RL : 32|16@1+ (0.0592,0) [0|255] "KPH" XXX + SG_ RR : 48|16@1+ (0.0592,0) [0|255] "KPH" XXX + +BO_ 320 Throttle: 8 XXX + SG_ Throttle_Pedal : 0|8@1+ (0.392157,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|2@1+ (1,0) [0|7] "" XXX + SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|1] "" XXX + SG_ Signal2 : 15|1@1+ (1,0) [0|1] "" XXX + SG_ Engine_RPM : 16|14@1+ (1,0) [0|32767] "" XXX + SG_ Off_Throttle : 30|1@1+ (1,0) [0|1] "" XXX + SG_ Signal3 : 31|1@1+ (1,0) [0|1] "" XXX + SG_ Throttle_Cruise : 32|8@1+ (1,0) [0|255] "" XXX + SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX + SG_ Throttle_Body : 48|8@1+ (1,0) [0|255] "" XXX + SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|1] "" XXX + SG_ Signal4 : 57|7@1+ (1,0) [0|127] "" XXX + +BO_ 321 Engine: 8 XXX + SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX + SG_ Engine_Stop : 15|1@1+ (1,0) [0|1] "" XXX + SG_ Wheel_Torque : 16|12@1+ (1,0) [0|4095] "" XXX + SG_ Engine_RPM : 32|12@1+ (1,0) [0|8191] "" XXX + +BO_ 324 CruiseControl: 8 XXX + SG_ OnOffButton : 2|1@1+ (1,0) [0|1] "" XXX + SG_ SET_BUTTON : 3|1@1+ (1,0) [0|1] "" XXX + SG_ RES_BUTTON : 4|1@1+ (1,0) [0|1] "" XXX + SG_ Button : 13|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_On : 48|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 49|1@1+ (1,0) [0|1] "" XXX + SG_ Brake_Pedal_On : 51|1@1+ (1,0) [0|1] "" XXX + +BO_ 328 Transmission: 8 XXX + SG_ Manual_Gear : 4|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Transmission_Engine : 16|15@1+ (1,0) [0|65535] "" XXX + SG_ Gear : 48|4@1+ (1,0) [0|15] "" XXX + SG_ Gear_2 : 52|4@1+ (1,0) [0|15] "" XXX + SG_ Paddle_Shift : 60|2@1+ (1,0) [0|3] "" XXX + +BO_ 329 CVT_Ratio: 8 XXX + +BO_ 336 Brake_Pressure: 8 XXX + SG_ Brake_Pressure_Right : 0|8@1+ (1,0) [0|255] "" XXX + SG_ Brake_Pressure_Left : 8|8@1+ (1,0) [0|255] "" XXX + +BO_ 338 Stalk: 8 XXX + SG_ COUNTER : 12|4@1+ (1,0) [0|15] "" XXX + SG_ Brake_Light : 52|1@1+ (1,0) [0|1] "" XXX + SG_ Runlights : 58|1@1+ (1,0) [0|1] "" XXX + SG_ Headlights : 59|1@1+ (1,0) [0|1] "" XXX + SG_ Highbeam : 60|1@1+ (1,0) [0|1] "" XXX + SG_ Wiper : 62|1@1+ (1,0) [0|1] "" XXX + +BO_ 352 ES_Brake: 8 XXX + SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX + SG_ Cruise_Brake_Lights : 20|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Fault : 21|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Brake_Active : 22|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX + SG_ SET_1 : 45|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 48|3@1+ (1,0) [0|7] "" XXX + SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 353 ES_Distance: 8 XXX + SG_ Cruise_Throttle : 0|12@1+ (1,0) [0|4095] "" XXX + SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX + SG_ Car_Follow : 16|1@1+ (1,0) [0|1] "" XXX + SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX + SG_ Cruise_Brake_Active : 20|1@1+ (1,0) [0|1] "" XXX + SG_ Distance_Swap : 21|1@1+ (1,0) [0|1] "" XXX + SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX + SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX + SG_ Close_Distance : 24|8@1+ (0.019607,0) [0|5] "m" XXX + SG_ Signal4 : 32|9@1+ (1,0) [0|255] "" XXX + SG_ Standstill_2 : 41|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Fault : 42|1@1+ (1,0) [0|1] "" XXX + SG_ Signal5 : 43|1@1+ (1,0) [0|1] "" XXX + SG_ COUNTER : 44|3@1+ (1,0) [0|7] "" XXX + SG_ Signal6 : 47|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Button : 48|3@1+ (1,0) [0|7] "" XXX + SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX + SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 354 ES_Status: 8 XXX + SG_ Brake : 8|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 9|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_RPM : 16|16@1+ (1,0) [0|65535] "" XXX + SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 48|3@1+ (1,0) [0|7] "" XXX + +BO_ 356 ES_LKAS: 8 XXX + SG_ COUNTER : 0|3@1+ (1,0) [0|7] "" XXX + SG_ LKAS_Command : 8|13@1- (-1,0) [-4096|4096] "" XXX + SG_ LKAS_Active : 24|1@1+ (1,0) [0|1] "" XXX + SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 359 ES_LDW: 8 XXX + SG_ All_depart_2015 : 0|1@1+ (1,0) [0|1] "" XXX + SG_ Right_Line_2017 : 24|1@1+ (1,0) [0|1] "" XXX + SG_ Left_Line_2017 : 25|1@1+ (1,0) [0|1] "" XXX + SG_ Sig1All_Depart : 28|1@1+ (1,0) [0|1] "" XXX + SG_ Sig2All_Depart : 31|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Inactive_2017 : 36|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Active : 37|1@1+ (1,0) [0|1] "" XXX + SG_ Sig1Right_Depart : 48|1@1+ (1,0) [0|1] "" XXX + SG_ Sig1Right_Depart_Front : 49|1@1+ (1,0) [0|1] "" XXX + SG_ Sig2Right_Depart : 50|1@1+ (1,0) [0|1] "" XXX + SG_ Left_Depart_Front : 51|1@1+ (1,0) [0|1] "" XXX + SG_ Sig3All_Depart : 52|1@1+ (1,0) [0|1] "" XXX + +BO_ 604 BSD_RCTA: 8 XXX + SG_ COUNTER : 0|3@1+ (1,0) [0|7] "" XXX + SG_ State : 5|1@1+ (1,0) [0|1] "" XXX + SG_ R_ADJACENT : 32|1@1+ (1,0) [0|1] "" XXX + SG_ L_ADJACENT : 33|1@1+ (1,0) [0|1] "" XXX + SG_ R_APPROACHING : 42|1@1+ (1,0) [0|1] "" XXX + SG_ L_APPROACHING : 43|1@1+ (1,0) [0|1] "" XXX + SG_ R_RCTA : 46|1@1+ (1,0) [0|1] "" XXX + SG_ L_RCTA : 47|1@1+ (1,0) [0|1] "" XXX + +BO_ 642 Dashlights: 8 XXX + SG_ COUNTER : 12|4@1+ (1,0) [0|15] "" XXX + SG_ SEATBELT_FL : 40|1@1+ (1,0) [0|1] "" XXX + SG_ LEFT_BLINKER : 44|1@1+ (1,0) [0|1] "" XXX + SG_ RIGHT_BLINKER : 45|1@1+ (1,0) [0|1] "" XXX + +BO_ 880 Steering_Torque_2: 8 XXX + SG_ Steering_Voltage_Flat : 0|8@1+ (1,0) [0|255] "" XXX + SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX + SG_ COUNTER : 40|4@1+ (1,0) [0|15] "" XXX + +BO_ 884 BodyInfo: 8 XXX + SG_ DOOR_OPEN_FR : 24|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FL : 25|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RL : 26|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RR : 27|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_Hatch : 28|1@1+ (1,0) [0|1] "" XXX + +BO_ 864 Engine_Temp: 8 XXX + SG_ Oil_Temp : 16|8@1+ (1,-40) [0|255] "" XXX + SG_ Coolant_Temp : 24|8@1+ (1,-40) [0|255] "" XXX + SG_ Cruise_Activated : 45|1@1+ (1,0) [0|1] "" XXX + SG_ Saved_Speed : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 866 Fuel: 8 XXX + +BO_ 977 Dash_State2: 8 XXX + SG_ UNITS : 15|1@1+ (1,0) [0|1] "" XXX + +BO_ 1745 Dash_State: 8 XXX + SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX + +CM_ SG_ 320 Off_Throttle_2 "Less sensitive"; +CM_ SG_ 320 Throttle_Body "Throttle related"; +CM_ SG_ 328 Gear "15 = P, 14 = R, 0 = N, 1-6=gear"; +CM_ SG_ 328 Gear_2 "15 = P, 14 = R, 0 = N, 1-6=gear"; +CM_ SG_ 353 Cruise_Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep"; +CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission"; +CM_ SG_ 359 Sig1Right_Depart "right depart, hill steep and seatbelt disengage"; +CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering"; +CM_ SG_ 359 Sig1Right_Depart_Front "object in front, right depart, hill steep and seatbelt disengage alert "; +CM_ SG_ 359 Left_Depart_Front "warning after acceleration into car in front and left depart"; +CM_ SG_ 359 Sig1All_Depart "Left and right depart"; +CM_ SG_ 359 Sig2All_Depart "Left and right depart"; +CM_ SG_ 359 All_depart_2015 "always 1 on 2017"; +CM_ SG_ 604 R_APPROACHING "Faster car approaching in far right lane"; +CM_ SG_ 604 L_APPROACHING "Faster car approaching in far left lane"; +CM_ SG_ 604 R_RCTA "Rear cross traffic alert, only when in R gear"; +CM_ SG_ 604 L_RCTA "Rear cross traffic alert, only when in R gear"; +CM_ SG_ 642 COUNTER "Affected by signals"; +CM_ SG_ 642 SEATBELT_FL "Driver seatbelt"; +CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371"; +CM_ SG_ 977 UNITS "0 = Metric, 1 = Imperial"; + +VAL_ 328 Gear 0 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 14 "R" 15 "P"; diff --git a/opendbc_repo/opendbc/dbc/generator/subaru/subaru_forester_2017.dbc b/opendbc_repo/opendbc/dbc/generator/subaru/subaru_forester_2017.dbc new file mode 100644 index 0000000000..6d5d46bc9a --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/subaru/subaru_forester_2017.dbc @@ -0,0 +1,18 @@ +CM_ "IMPORT _subaru_preglobal_2015.dbc"; + +BO_ 355 ES_DashStatus: 8 XXX + SG_ Not_Ready_Startup : 4|2@1+ (1,0) [0|3] "" XXX + SG_ Cruise_On : 16|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 17|1@0+ (1,0) [0|1] "" XXX + SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 40|3@1+ (1,0) [0|7] "" XXX + SG_ Brake : 43|1@1+ (1,0) [0|1] "" XXX + SG_ Car_Follow : 54|1@1+ (1,0) [0|1] "" XXX + SG_ Far_Distance : 56|4@1+ (5,0) [0|75] "m" XXX + +BO_ 881 Steering_Torque: 8 XXX + SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX + SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX + SG_ Steer_Error_1 : 27|1@1+ (1,0) [0|1] "" XXX + SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX + SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX diff --git a/opendbc_repo/opendbc/dbc/generator/subaru/subaru_global_2017.dbc b/opendbc_repo/opendbc/dbc/generator/subaru/subaru_global_2017.dbc new file mode 100644 index 0000000000..83a36ff8f7 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/subaru/subaru_global_2017.dbc @@ -0,0 +1,65 @@ +CM_ "IMPORT _subaru_global.dbc"; + +BO_ 72 Transmission: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Gear : 24|8@1+ (1,0) [0|255] "" XXX + SG_ RPM : 40|15@1+ (1,0) [0|65535] "" XXX + +BO_ 73 CVT: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ CVT_Gear : 24|8@1+ (1,0) [0|255] "" XXX + +BO_ 545 ES_Distance: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|3@1+ (1,0) [0|7] "" XXX + SG_ Cruise_Fault : 15|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Throttle : 16|13@1+ (1,0) [0|4095] "" XXX + SG_ Signal2 : 29|3@1+ (1,0) [0|15] "" XXX + SG_ Car_Follow : 32|1@1+ (1,0) [0|1] "" XXX + SG_ Low_Speed_Follow : 33|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Soft_Disable : 34|1@1+ (1,0) [0|1] "" XXX + SG_ Signal7 : 35|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Brake_Active : 36|1@1+ (1,0) [0|1] "" XXX + SG_ Distance_Swap : 37|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_EPB : 38|1@1+ (1,0) [0|1] "" XXX + SG_ Signal4 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ Close_Distance : 40|8@1+ (0.019607,0) [0|5] "m" XXX + SG_ Signal5 : 48|8@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Cancel : 56|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Set : 57|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Resume : 58|1@1+ (1,0) [0|1] "" XXX + SG_ Signal6 : 59|5@1+ (1,0) [0|1] "" XXX + +BO_ 546 ES_Status: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|3@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Fault : 15|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_RPM : 16|13@1+ (1,0) [0|4095] "" XXX + SG_ Cruise_Activated : 29|1@0+ (1,0) [0|1] "" XXX + SG_ Brake_Lights : 30|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Hold : 31|1@1+ (1,0) [0|1] "" XXX + SG_ Signal3 : 32|32@1+ (1,0) [0|1] "" XXX + +BO_ 576 CruiseControl: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|28@1+ (1,0) [0|268435455] "" XXX + SG_ Cruise_On : 40|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 41|1@1+ (1,0) [0|1] "" XXX + SG_ Signal2 : 42|22@1+ (1,0) [0|4194303] "" XXX + +CM_ SG_ 545 Cruise_Throttle "RPM-like output signal"; +CM_ SG_ 545 Cruise_EPB "1 = Electric Parking Brake set"; +CM_ SG_ 545 Distance_Swap "Switch from Close to Far distance"; +CM_ SG_ 545 Cruise_Soft_Disable "Eyesight Temporary disable, sets CruiseControl Activated = 0"; +CM_ SG_ 546 Cruise_RPM "ES RPM output for ECM and TCM"; +CM_ SG_ 546 Signal3 "0 when cruise_activated = 1"; +CM_ SG_ 803 Signal1 "Seems to be static, set only on some cars"; +CM_ SG_ 803 Signal2 "Seems to be static, set only on some cars"; +VAL_ 803 LKAS_Blue_Lines 0 "no modifier" 2 "changes lines to blue"; +VAL_ 803 LKAS_State_Infotainment 0 "none" 2 "Obstacle Detected" 3 "Keep Hands On Wheel" 4 "Keep Hands On Wheel Off"; +VAL_ 72 Gear 2 "N" 3 "R" 4 "P" 121 "D" 137 "1" 145 "2" 153 "3" 161 "4" 169 "5" 177 "6"; diff --git a/opendbc_repo/opendbc/dbc/generator/subaru/subaru_global_2020_hybrid.dbc b/opendbc_repo/opendbc/dbc/generator/subaru/subaru_global_2020_hybrid.dbc new file mode 100644 index 0000000000..a4dbe9c37d --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/subaru/subaru_global_2020_hybrid.dbc @@ -0,0 +1,18 @@ +CM_ "IMPORT _subaru_global.dbc"; + +BO_ 39 Cruise_Status_2: 8 XXX + SG_ Cruise_Activated : 37|1@0+ (1,0) [0|1] "" XXX + +BO_ 295 Transmission: 8 XXX + SG_ Gear : 44|4@1+ (1,0) [0|15] "" XXX + +BO_ 360 Throttle_Hybrid: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Throttle_Pedal : 32|8@1+ (1,0) [0|255] "" XXX + +BO_ 550 Brake_Hybrid: 8 XXX + SG_ Brake_Pedal : 24|8@1+ (1,0) [0|1] "" XXX + SG_ Brake : 37|1@1+ (1,0) [0|1] "" XXX + +VAL_ 295 Gear 0 "P" 1 "R" 3 "D"; diff --git a/opendbc_repo/opendbc/dbc/generator/subaru/subaru_outback_2015.dbc b/opendbc_repo/opendbc/dbc/generator/subaru/subaru_outback_2015.dbc new file mode 100644 index 0000000000..cc1fa16d19 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/subaru/subaru_outback_2015.dbc @@ -0,0 +1,30 @@ +CM_ "IMPORT _subaru_preglobal_2015.dbc"; + +BO_ 358 ES_DashStatus: 8 XXX + SG_ Not_Ready_Startup : 0|3@1+ (1,0) [0|7] "" XXX + SG_ Seatbelt_Disengage : 12|2@1+ (1,0) [0|3] "" XXX + SG_ Disengage_Alert : 14|2@1+ (1,0) [0|3] "" XXX + SG_ Cruise_On : 16|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 17|1@1+ (1,0) [0|1] "" XXX + SG_ Signal1 : 18|1@1+ (1,0) [0|1] "" XXX + SG_ WHEELS_MOVING_2015 : 19|1@1+ (1,0) [0|1] "" XXX + SG_ Driver_Input : 20|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Distance : 21|3@1+ (1,0) [0|7] "" XXX + SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX + SG_ Cruise_Fault : 32|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_On_2 : 34|1@1+ (1,0) [0|1] "" XXX + SG_ COUNTER : 37|3@1+ (1,0) [0|7] "" XXX + SG_ Steep_Hill_Disengage : 44|1@1+ (1,0) [0|3] "" XXX + SG_ Car_Follow : 46|1@1+ (1,0) [0|1] "" XXX + SG_ Far_Distance : 48|4@1+ (5,0) [0|75] "m" XXX + +BO_ 881 Steering_Torque: 8 XXX + SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX + SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX + SG_ Steer_Error_1 : 27|1@1+ (1,0) [0|1] "" XXX + SG_ Steer_Torque_Sensor : 29|11@1- (1,0) [-1000|1000] "" XXX + SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX + +CM_ SG_ 358 Disengage_Alert "seatbelt and steep hill disengage"; +CM_ SG_ 358 Cruise_Fault "No engagement until restart"; +CM_ SG_ 358 Car_Follow "lead car detected"; diff --git a/opendbc_repo/opendbc/dbc/generator/subaru/subaru_outback_2019.dbc b/opendbc_repo/opendbc/dbc/generator/subaru/subaru_outback_2019.dbc new file mode 100644 index 0000000000..d886954cfe --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/subaru/subaru_outback_2019.dbc @@ -0,0 +1,30 @@ +CM_ "IMPORT _subaru_preglobal_2015.dbc"; + +BO_ 358 ES_DashStatus: 8 XXX + SG_ Not_Ready_Startup : 0|3@1+ (1,0) [0|7] "" XXX + SG_ Seatbelt_Disengage : 12|2@1+ (1,0) [0|3] "" XXX + SG_ Disengage_Alert : 14|2@1+ (1,0) [0|3] "" XXX + SG_ Cruise_On : 16|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 17|1@1+ (1,0) [0|1] "" XXX + SG_ Signal1 : 18|1@1+ (1,0) [0|1] "" XXX + SG_ WHEELS_MOVING_2015 : 19|1@1+ (1,0) [0|1] "" XXX + SG_ Driver_Input : 20|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Distance : 21|3@1+ (1,0) [0|7] "" XXX + SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX + SG_ Cruise_Fault : 32|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_On_2 : 34|1@1+ (1,0) [0|1] "" XXX + SG_ COUNTER : 37|3@1+ (1,0) [0|7] "" XXX + SG_ Steep_Hill_Disengage : 44|1@1+ (1,0) [0|3] "" XXX + SG_ Car_Follow : 46|1@1+ (1,0) [0|1] "" XXX + SG_ Far_Distance : 48|4@1+ (5,0) [0|75] "m" XXX + +BO_ 881 Steering_Torque: 8 XXX + SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX + SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX + SG_ Steer_Error_1 : 27|1@1+ (1,0) [0|1] "" XXX + SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX + SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX + +CM_ SG_ 358 Disengage_Alert "seatbelt and steep hill disengage"; +CM_ SG_ 358 Cruise_Fault "No engagement until restart"; +CM_ SG_ 358 Car_Follow "lead car detected"; diff --git a/opendbc_repo/opendbc/dbc/generator/tesla/.gitignore b/opendbc_repo/opendbc/dbc/generator/tesla/.gitignore new file mode 100644 index 0000000000..554aeeaf24 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/tesla/.gitignore @@ -0,0 +1 @@ +*.dbc \ No newline at end of file diff --git a/opendbc_repo/opendbc/dbc/generator/tesla/radar_common.py b/opendbc_repo/opendbc/dbc/generator/tesla/radar_common.py new file mode 100755 index 0000000000..737c203b02 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/tesla/radar_common.py @@ -0,0 +1,38 @@ +#!/usr/bin/env python3 + +def get_radar_point_definition(base_id, base_name): + return f""" +BO_ {base_id} {base_name}_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ {base_id+1} {base_name}_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot +""" + +def get_val_definition(base_id): + return f""" +VAL_ {base_id+1} MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ {base_id+1} Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 \ +"RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ;""" \ No newline at end of file diff --git a/opendbc_repo/opendbc/dbc/generator/tesla/tesla_radar_bosch.py b/opendbc_repo/opendbc/dbc/generator/tesla/tesla_radar_bosch.py new file mode 100755 index 0000000000..6518c27436 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/tesla/tesla_radar_bosch.py @@ -0,0 +1,282 @@ +#!/usr/bin/env python3 + +import os +from opendbc.dbc.generator.tesla.radar_common import get_radar_point_definition, get_val_definition + +if __name__ == "__main__": + dbc_name = os.path.basename(__file__).replace(".py", ".dbc") + tesla_path = os.path.dirname(os.path.realpath(__file__)) + with open(os.path.join(tesla_path, dbc_name), "w", encoding='utf-8') as f: + f.write(""" +VERSION "" + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: Autopilot Radar Diag + + +BO_ 769 TeslaRadarSguInfo: 8 Radar + SG_ RADC_VerticalMisalignment : 0|8@1+ (1,0) [0|255] "" Autopilot + SG_ RADC_SCUTemperature : 8|8@1+ (1,-128) [-128|127] "" Autopilot + SG_ RADC_VMA_Plaus : 16|8@1+ (1,0) [0|255] "" Autopilot + SG_ RADC_SGU_ITC : 24|8@1+ (1,0) [0|255] "" Autopilot + SG_ RADC_HorizontMisalignment : 32|12@1+ (1,0) [0|4096] "" Autopilot + SG_ RADC_SensorDirty : 44|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_HWFail : 45|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_SGUFail : 46|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_SGUInfoConsistBit : 47|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 770 TeslaRadarTguInfo: 8 Radar + SG_ RADC_ACCTargObj1_sguIndex : 0|6@1+ (1,0) [0|63] "" Autopilot + SG_ RADC_ACCTargObj2_sguIndex : 6|6@1+ (1,0) [0|63] "" Autopilot + SG_ RADC_ACCTargObj3_sguIndex : 12|6@1+ (1,0) [0|63] "" Autopilot + SG_ RADC_ACCTargObj4_sguIndex : 18|6@1+ (1,0) [0|63] "" Autopilot + SG_ RADC_ACCTargObj5_sguIndex : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ unused30 : 30|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_TGUInfoConsistBit : 31|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_ACCTargObj1_dBPower : 32|16@1+ (1,0) [0|65535] "" Autopilot + SG_ RADC_ACCTargObj5_dBPower : 48|16@1+ (1,0) [0|65535] "" Autopilot + +BO_ 1281 TeslaRadarAlertMatrix: 8 Radar + SG_ RADC_a001_ecuInternalPerf : 0|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a002_flashPerformance : 1|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a003_vBatHigh : 2|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a004_adjustmentNotDone : 3|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a005_adjustmentReq : 4|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a006_adjustmentNotOk : 5|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a007_sensorBlinded : 6|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a008_plantModeActive : 7|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a009_configMismatch : 8|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a010_canBusOff : 9|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a011_bdyMIA : 10|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a012_espMIA : 11|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a013_gtwMIA : 12|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a014_sccmMIA : 13|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a015_adasMIA : 14|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a016_bdyInvalidCount : 15|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a017_adasInvalidCount : 16|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a018_espInvalidCount : 17|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a019_sccmInvalidCount : 18|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a020_bdyInvalidChkSm : 19|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a021_espInvalidChkSm : 20|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a022_sccmInvalidChkSm : 21|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a023_sccmInvalidChkSm : 22|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a024_absValidity : 23|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a025_ambTValidity : 24|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a026_brakeValidity : 25|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a027_CntryCdValidity : 26|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a028_espValidity : 27|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a029_longAccOffValidity : 28|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a030_longAccValidity : 29|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a031_odoValidity : 30|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a032_gearValidity : 31|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a033_steerAngValidity : 32|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a034_steerAngSpdValidity : 33|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a035_indctrValidity : 34|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a036_vehStandStillValidity : 35|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a037_vinValidity : 36|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a038_whlRotValidity : 37|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a039_whlSpdValidity : 38|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a040_whlStandStillValidity : 39|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a041_wiperValidity : 40|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a042_xwdValidity : 41|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a043_yawOffValidity : 42|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a044_yawValidity : 43|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a045_bsdSanity : 44|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a046_rctaSanity : 45|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a047_lcwSanity : 46|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a048_steerAngOffSanity : 47|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a049_tireSizeSanity : 48|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a050_velocitySanity : 49|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a051_yawSanity : 50|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a052_radomeHtrInop : 51|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a053_espmodValidity : 52|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a054_gtwmodValidity : 53|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a055_stwmodValidity : 54|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a056_bcmodValidity : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a057_dimodValidity : 56|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a058_opmodValidity : 57|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a059_drmiInvalidChkSm : 58|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a060_drmiInvalidCount : 59|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a061_radPositionMismatch : 60|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a062_strRackMismatch : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ unused62 : 62|2@1+ (1,0) [0|3] "" Autopilot +""") + + M_RANGE = range(0x310, 0x36D + 1, 3) + for i, base_id in enumerate(M_RANGE): + f.write(get_radar_point_definition(base_id, f"RadarPoint{i}")) + + L_RANGE = range(0x371, 0x37D + 1, 3) + for i, base_id in enumerate(L_RANGE): + f.write(get_radar_point_definition(base_id, f"ProcessedRadarPoint{i+1}")) + + f.write(""" +BO_ 697 VIN_VIP_405HS: 8 Autopilot + SG_ VIN_MuxID M : 0|8@1+ (1,0) [0|0] "" Radar + SG_ VIN_Part1 m16 : 47|24@0+ (1,0) [0|16777215] "" Radar + SG_ VIN_Part2 m17 : 15|56@0+ (1,0) [0|7.2057594038E+16] "" Radar + SG_ VIN_Part3 m18 : 15|56@0+ (1,0) [0|7.2057594038E+16] "" Radar + +BO_ 681 Msg2A9_GTW_carConfig: 8 Autopilot + SG_ Msg2A9_Always0x02 : 48|8@1+ (1,0) [0|0] "" Radar + SG_ Msg2A9_Always0x10 : 56|8@1+ (1,0) [0|0] "" Radar + SG_ Msg2A9_Always0x16 : 8|8@1+ (1,0) [0|0] "" Radar + SG_ Msg2A9_Always0x41 : 24|8@1+ (1,0) [0|0] "" Radar + SG_ Msg2A9_Value1_0x02 : 0|3@1+ (1,0) [0|0] "" Radar + SG_ Msg2A9_FourWheelDrive : 3|2@1+ (1,0) [0|0] "" Radar + SG_ Msg2A9_Value2_0x02 : 5|3@1+ (1,0) [0|0] "" Radar + SG_ Msg2A9_Always0x43 : 16|8@1+ (1,0) [0|0] "" Radar + +BO_ 409 Msg199_STW_ANGLHP_STAT: 8 Autopilot + SG_ Msg199Always0x04 : 32|8@1+ (1,0) [0|0] "" Radar + SG_ Msg199Always0x20 : 16|8@1+ (1,0) [0|0] "" Radar + SG_ Msg199Always0x2F : 0|8@1+ (1,0) [0|0] "" Radar + SG_ Msg199Always0x67 : 8|8@1+ (1,0) [0|0] "" Radar + SG_ Msg199Always0xFF : 40|8@1+ (1,0) [0|0] "" Radar + SG_ Msg199Checksum : 56|8@1+ (1,0) [0|0] "" Radar + SG_ Msg199Counter : 52|4@1+ (1,0) [0|0] "" Radar + +BO_ 361 Msg169_ESP_wheelSpeeds: 8 Autopilot + SG_ ESP_wheelSpeedFrL_HS : 0|13@1+ (0.04,0) [0|327.64] "km/h" Radar + SG_ ESP_wheelSpeedFrR_HS : 13|13@1+ (0.04,0) [0|327.64] "km/h" Radar + SG_ ESP_wheelSpeedReL_HS : 26|13@1+ (0.04,0) [0|327.64] "km/h" Radar + SG_ ESP_wheelSpeedReR_HS : 39|13@1+ (0.04,0) [0|327.64] "km/h" Radar + SG_ Msg169Checksum : 56|8@1+ (1,0) [0|0] "" Radar + SG_ Msg169Counter : 52|4@1+ (1,0) [0|0] "" Radar + +BO_ 345 Msg159_ESP_C: 8 Autopilot + SG_ Msg159Always0x3A : 16|8@1+ (1,0) [0|0] "" Radar + SG_ Msg159Always0xA5 : 0|8@1+ (1,0) [0|0] "" Radar + SG_ Msg159Always0xCF : 32|8@1+ (1,0) [0|0] "" Radar + SG_ Msg159Always0xF4 : 8|8@1+ (1,0) [0|0] "" Radar + SG_ Msg159Counter : 44|4@1+ (1,0) [0|0] "" Radar + SG_ Msg159Checksum : 24|8@1+ (1,0) [0|0] "" Radar + +BO_ 329 Msg149_ESP_145h: 8 Autopilot + SG_ Msg149Always0x02 : 16|8@1+ (1,0) [0|0] "" Radar + SG_ Msg149Always0x04 : 40|8@1+ (1,0) [0|0] "" Radar + SG_ Msg149Always0x26 : 8|8@1+ (1,0) [0|0] "" Radar + SG_ Msg149Always0x6A : 24|8@1+ (1,0) [0|0] "" Radar + SG_ Msg149Always0xAA : 32|8@1+ (1,0) [0|0] "" Radar + SG_ Msg149Always0xF : 48|4@1+ (1,0) [0|0] "" Radar + SG_ Msg149Checksum : 56|8@1+ (1,0) [0|0] "" Radar + SG_ Msg149Counter : 52|4@1+ (1,0) [0|0] "" Radar + +BO_ 297 Msg129_ESP_115h: 6 Autopilot + SG_ Msg129Always0x20 : 24|8@1+ (1,0) [0|0] "" Radar + SG_ Msg129Checksum : 40|8@1+ (1,0) [0|0] "" Radar + SG_ Msg129Counter : 36|4@1+ (1,0) [0|0] "" Radar + +BO_ 281 Msg119_DI_torque2: 6 Autopilot + SG_ Msg119Always0x11 : 24|8@1+ (1,0) [0|0] "" Radar + SG_ Msg119Always0x1F : 8|8@1+ (1,0) [0|0] "" Radar + SG_ Msg119Always0x8 : 36|4@1+ (1,0) [0|0] "" Radar + SG_ Msg119Always0xF4 : 16|8@1+ (1,0) [0|0] "" Radar + SG_ Msg119Always0xFF : 0|8@1+ (1,0) [0|0] "" Radar + SG_ Msg119Checksum : 40|8@1+ (1,0) [0|0] "" Radar + SG_ Msg119Counter : 32|4@1+ (1,0) [0|0] "" Radar + +BO_ 265 Msg109_DI_torque1: 8 Autopilot + SG_ Msg109Always0x80 : 24|8@1+ (1,0) [0|0] "" Radar + SG_ Msg109Checksum : 56|8@1+ (1,0) [0|0] "" Radar + SG_ Msg109Counter : 13|3@1+ (1,0) [0|0] "" Radar + +BO_ 521 Msg209_GTW_odo: 8 Autopilot + SG_ Msg209Always0x61 : 8|8@1+ (1,0) [0|0] "" Radar + SG_ Msg209Always0x94 : 16|8@1+ (1,0) [0|0] "" Radar + SG_ Msg209Always0x52 : 24|8@1+ (1,0) [0|0] "" Radar + SG_ Msg209Always0x13 : 32|8@1+ (1,0) [0|0] "" Radar + SG_ Msg209Always0x03 : 40|8@1+ (1,0) [0|0] "" Radar + SG_ Msg209Always0x80 : 48|8@1+ (1,0) [0|0] "" Radar + +BO_ 537 Msg219_STW_ACTN_RQ: 8 Autopilot + SG_ Msg219Counter : 52|4@1+ (1,0) [0|15] "" Radar + SG_ Msg219CRC : 56|8@1+ (1,0) [0|0] "" Radar + +BO_ 425 Msg1A9_DI_espControl: 5 Autopilot + SG_ Msg1A9Always0x0C : 16|8@1+ (1,0) [0|0] "" Radar + SG_ Msg1A9Counter : 28|4@1+ (1,0) [0|0] "" Radar + SG_ Msg1A9Checksum : 32|8@1+ (1,0) [0|0] "" Radar + +BO_ 729 Msg2D9_BC_status : 8 Autopilot + SG_ Msg2D9Always0x80 : 0|8@1+ (1,0) [0|0] "" Radar + SG_ Msg2D9Always0x40 : 8|8@1+ (1,0) [0|0] "" Radar + SG_ Msg2D9Always0x83 : 16|8@1+ (1,0) [0|0] "" Radar + +BO_ 1601 UDS_radarRequest: 8 Diag + SG_ UDS_radarRequestData : 7|64@0+ (1,0) [0|0] "" Radar + +BO_ 1617 Radar_udsResponse: 8 Radar + SG_ Radar_udsResponseData : 7|64@0+ (1,0) [0|0] "" Diag + +CM_ BO_ 697 "Start with MuxID 0x12, then 0x11 and finally 0x10 (VIN is then transmitted in the reverse order)"; +CM_ BO_ 681 "Message sent every 1000 ms. All fixed bytes, no checksum, the byte for RWD or AWD needs to match VIN config"; +CM_ BO_ 409 "Message sent every 10ms. Checksum : use all first 7 bytes with the SAE J1850 CRC algo"; +CM_ BO_ 361 "Message sent every 10ms. Checksum : Sum of all first 7 bytes + 0x76"; +CM_ BO_ 345 "Message sent every 20ms. Checksum : Sum of all first bytes + 0xc; place checksum in 4th octet"; +CM_ BO_ 329 "Message sent every 20ms. Checksum : Sum of all first 7 bytes + 0x46"; +CM_ BO_ 297 "Message sent every 20ms. Checksum : Sum of all first 5 bytes + 0x16"; +CM_ BO_ 281 "Message sent every 10ms. Checksum : Sum of all first 5 bytes + 0x17"; +CM_ BO_ 265 "Message sent every 10ms. Checksum : Sum of all first 7 bytes + 0x7"; +CM_ BO_ 521 "Message sent every 100ms. All fixed bytes, no checksum."; +CM_ BO_ 537 "Message sent every 100ms. Checksum : use all first 7 bytes with the SAE J1850 CRC algo"; +CM_ BO_ 425 "Message sent every 20ms. Checksum : Sum of all first 4 bytes + 0x38"; +CM_ BO_ 729 "Message sent every 1000ms. All fixed bytes, no checksum."; + +BA_DEF_ "BusType" STRING ; +BA_DEF_ BO_ "GenMsgCycleTime" INT 0 0; +BA_DEF_ SG_ "FieldType" STRING ; + +BA_DEF_DEF_ "BusType" "CAN"; +BA_DEF_DEF_ "FieldType" ""; +BA_DEF_DEF_ "GenMsgCycleTime" 0; + +BA_ "GenMsgCycleTime" BO_ 697 250; +BA_ "GenMsgCycleTime" BO_ 681 1000; +BA_ "GenMsgCycleTime" BO_ 409 10; +BA_ "GenMsgCycleTime" BO_ 361 10; +BA_ "GenMsgCycleTime" BO_ 345 20; +BA_ "GenMsgCycleTime" BO_ 329 20; +BA_ "GenMsgCycleTime" BO_ 297 20; +BA_ "GenMsgCycleTime" BO_ 281 10; +BA_ "GenMsgCycleTime" BO_ 265 10; +BA_ "GenMsgCycleTime" BO_ 521 100; +BA_ "GenMsgCycleTime" BO_ 537 100; +BA_ "GenMsgCycleTime" BO_ 425 20; +BA_ "GenMsgCycleTime" BO_ 729 1000; + +VAL_ 681 Msg2A9_FourWheelDrive 3 "SNA" 2 "UNUSED" 1 "4WD" 0 "2WD" ;""") + + for base_id in list(M_RANGE) + list(L_RANGE): + f.write(get_val_definition(base_id)) diff --git a/opendbc_repo/opendbc/dbc/generator/tesla/tesla_radar_continental.py b/opendbc_repo/opendbc/dbc/generator/tesla/tesla_radar_continental.py new file mode 100755 index 0000000000..1279bf1f21 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/tesla/tesla_radar_continental.py @@ -0,0 +1,77 @@ +#!/usr/bin/env python3 + +import os +from opendbc.dbc.generator.tesla.radar_common import get_radar_point_definition, get_val_definition + +if __name__ == "__main__": + dbc_name = os.path.basename(__file__).replace(".py", ".dbc") + tesla_path = os.path.dirname(os.path.realpath(__file__)) + with open(os.path.join(tesla_path, dbc_name), "w", encoding='utf-8') as f: + f.write(""" +VERSION "" + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: Autopilot Radar Diag + +BO_ 1025 RadarStatus: 8 Radar + SG_ carparkDetected : 29|1@1+ (1,0) [0|1] "" Autopilot + SG_ decreaseBlockage : 25|1@1+ (1,0) [0|1] "" Autopilot + SG_ horizontMisalignment : 8|12@1+ (0.00012207,-0.25) [-0.25|0.249878] "rad" Autopilot + SG_ increaseBlockage : 24|1@1+ (1,0) [0|1] "" Autopilot + SG_ lowPowerMode : 20|2@1+ (1,0) [0|3] "" Autopilot + SG_ powerOnSelfTest : 22|1@1+ (1,0) [0|1] "" Autopilot + SG_ sensorBlocked : 26|1@1+ (1,0) [0|1] "" Autopilot + SG_ sensorInfoConsistBit : 30|1@1+ (1,0) [0|1] "" Autopilot + SG_ sensorReplace : 31|1@1+ (1,0) [0|1] "" Autopilot + SG_ shortTermUnavailable : 23|1@1+ (1,0) [0|1] "" Autopilot + SG_ tunnelDetected : 28|1@1+ (1,0) [0|1] "" Autopilot + SG_ vehDynamicsError : 27|1@1+ (1,0) [0|1] "" Autopilot + SG_ verticalMisalignment : 0|8@1+ (0.00195313,-0.25) [-0.25|0.248047] "rad" Autopilot + +BO_ 1617 Radar_udsResponse: 8 Radar + SG_ Radar_udsResponseData : 7|64@0+ (1,0) [0|1.84467e+19] "" Diag + +BO_ 1601 UDS_radcRequest: 8 Diag + SG_ UDS_radcRequestData : 7|64@0+ (1,0) [0|1.84467e+19] "" Radar +""") + + POINT_RANGE = range(0x410, 0x45E + 1, 2) + for i, base_id in enumerate(POINT_RANGE): + f.write(get_radar_point_definition(base_id, f"RadarPoint{i}")) + + f.write(""" +VAL_ 1025 lowPowerMode 1 "COMMANDED_LOW_POWER" 0 "DEFAULT_LOW_POWER" 2 "NORMAL_POWER" 3 "SNA";""") + + for base_id in list(POINT_RANGE): + f.write(get_val_definition(base_id)) diff --git a/opendbc_repo/opendbc/dbc/generator/test_generator.py b/opendbc_repo/opendbc/dbc/generator/test_generator.py new file mode 100755 index 0000000000..1cfc70128b --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/test_generator.py @@ -0,0 +1,22 @@ +#!/usr/bin/env python3 +import os +import filecmp +import tempfile +from opendbc.dbc.generator.generator import create_all, opendbc_root + + +def test_generator(): + with tempfile.TemporaryDirectory() as d: + create_all(d) + + ignore = [f for f in os.listdir(opendbc_root) if not f.endswith('_generated.dbc')] + comp = filecmp.dircmp(opendbc_root, d, ignore=ignore) + + err = "Generated DBC mismatch\n\n" + err += f"Different files: {comp.diff_files}\n\n" + err += "Run opendbc/dbc/generator/generator.py to regenerate DBC files." + assert len(comp.diff_files) == 0, err + + +if __name__ == "__main__": + test_generator() diff --git a/opendbc_repo/opendbc/dbc/generator/toyota/_community.dbc b/opendbc_repo/opendbc/dbc/generator/toyota/_community.dbc new file mode 100644 index 0000000000..58bcfd3be4 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/toyota/_community.dbc @@ -0,0 +1,41 @@ +BO_ 359 STEERING_IPAS_COMMA: 8 IPAS + SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX + SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX + SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX + SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant"; + +BO_ 512 GAS_COMMAND: 6 EON + SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR + SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR + SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR + +BO_ 513 GAS_SENSOR: 6 INTERCEPTOR + SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON + SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON + SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON + +VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; + +BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX + SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX + +CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss"; + +BO_ 767 SDSU: 8 XXX + SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX + SG_ STATE : 23|4@0+ (1,0) [0|15] "" XXX + +CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS-P Toyotas. Learn more: https://github.com/RetroPilot/ocelot/tree/main/firmware/smart_dsu"; +CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu"; + +VAL_ 767 STATE 7 "STATE_AEB_CTRL" 6 "FAULT_INVALID" 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; diff --git a/opendbc_repo/opendbc/dbc/generator/toyota/_sp_debug_toyota.dbc b/opendbc_repo/opendbc/dbc/generator/toyota/_sp_debug_toyota.dbc new file mode 100644 index 0000000000..42bbee9b69 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/toyota/_sp_debug_toyota.dbc @@ -0,0 +1,27 @@ +BO_ 1880 DEBUG: 8 XXX + SG_ BLINDSPOTSIDE : 7|8@0+ (1,0) [0|255] "" XXX + SG_ BLINDSPOT : 38|1@0+ (1,0) [0|15] "" XXX + SG_ BLINDSPOTD1 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ BLINDSPOTD2 : 55|8@0+ (1,0) [0|255] "" XXX + +BO_ 836 PRE_COLLISION_2: 8 DSU + SG_ DSS1GDRV : 7|10@0- (0.1,0) [0|0] "m/s^2" Vector__XXX + SG_ DS1STAT2 : 13|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ DS1STBK2 : 10|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSWAR : 18|1@0+ (1,0) [0|0] "" FCM + SG_ PCSALM : 17|1@0+ (1,0) [0|0] "" FCM + SG_ PCSOPR : 16|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSABK : 31|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PBATRGR : 30|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ PPTRGR : 28|1@0+ (1,0) [0|0] "" FCM + SG_ IBTRGR : 27|1@0+ (1,0) [0|0] "" FCM + SG_ CLEXTRGR : 26|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ IRLT_REQ : 25|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ BRKHLD : 37|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ AVSTRGR : 36|1@0+ (1,0) [0|0] "" SCS + SG_ VGRSTRGR : 35|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ PREFILL : 33|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PBRTRGR : 32|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSDIS : 43|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PBPREPMP : 40|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX diff --git a/opendbc_repo/opendbc/dbc/generator/toyota/_toyota_2017.dbc b/opendbc_repo/opendbc/dbc/generator/toyota/_toyota_2017.dbc new file mode 100644 index 0000000000..ba9c71ad9e --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/toyota/_toyota_2017.dbc @@ -0,0 +1,512 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX DSU HCU EPS IPAS CGW BGM + +BO_ 36 KINEMATICS: 8 XXX + SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX + SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/s" XXX + SG_ ACCEL_X : 17|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX + +BO_ 37 STEER_ANGLE_SENSOR: 8 XXX + SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX + SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX + SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX + +BO_ 166 BRAKE: 8 XXX + SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX + SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX + +BO_ 170 WHEEL_SPEEDS: 8 XXX + SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "km/h" XXX + SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "km/h" XXX + SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "km/h" XXX + SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "km/h" XXX + +BO_ 180 SPEED: 8 XXX + SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX + SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "km/h" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 295 GEAR_PACKET_HYBRID: 8 XXX + SG_ CAR_MOVEMENT : 25|10@0- (1,0) [0|255] "" XXX + SG_ COUNTER : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ GEAR : 47|4@0+ (1,0) [0|15] "" XXX + +BO_ 353 DSU_SPEED: 7 XXX + SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "km/h" XXX + +BO_ 452 ENGINE_RPM: 8 CGW + SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS + +BO_ 466 PCM_CRUISE: 8 XXX + SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX + SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_BRAKING : 12|1@0+ (1,0) [0|1] "" XXX + SG_ ACCEL_NET : 23|16@0- (0.0009765625,0) [-20|20] "m/s^2" XXX + SG_ NEUTRAL_FORCE : 39|16@0- (2,0) [-65536|65534] "N" XXX + SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 467 PCM_CRUISE_2: 8 XXX + SG_ BRAKE_PRESSED : 3|1@0+ (1,0) [0|1] "" XXX + SG_ PCM_FOLLOW_DISTANCE : 12|2@0+ (1,0) [0|3] "" XXX + SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "" XXX + SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX + SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "km/h" XXX + SG_ ACC_FAULTED : 47|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 552 ACCELEROMETER: 8 XXX + SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "m/s^2" XXX + SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s^2" XXX + +BO_ 560 BRAKE_2: 7 XXX + SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX + +BO_ 581 GAS_PEDAL_HYBRID: 8 XXX + SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX + +BO_ 608 STEER_TORQUE_SENSOR: 8 XXX + SG_ STEER_TORQUE_EPS : 47|16@0- (1,0) [-32768|32767] "" XXX + SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX + SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX + SG_ STEER_ANGLE_INITIALIZING : 3|1@0+ (1,0) [0|1] "" XXX + SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 614 STEERING_IPAS: 8 IPAS + SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX + SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX + SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX + SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 643 PRE_COLLISION: 7 DSU + SG_ _COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX + SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX + SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX + SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX + SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX + +BO_ 705 GAS_PEDAL: 8 XXX + SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX + SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX + +BO_ 740 STEERING_LKA: 5 XXX + SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX + SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX + SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX + SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX + SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX + +BO_ 742 LEAD_INFO: 8 DSU + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU + SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU + SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU + +BO_ 835 ACC_CONTROL: 8 DSU + SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s^2" HCU + SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX + SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX + SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX + SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX + SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU + SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU + SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX + SG_ LEAD_VEHICLE_STOPPED : 29|1@0+ (1,0) [0|0] "" DSU + SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU + SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU + SG_ ITS_CONNECT_LEAD : 39|8@0+ (1,0) [0|1] "" Vector__XXX + SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 865 CLUTCH: 8 XXX + SG_ ACC_FAULTED : 32|1@0+ (1,0) [0|1] "" XXX + SG_ GAS_PEDAL_ALT : 23|8@0+ (0.005,0) [0|1] "" XXX + SG_ CLUTCH_RELEASED : 38|1@0+ (1,0) [0|1] "" XXX + +BO_ 869 DSU_CRUISE : 7 DSU + SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX + SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX + SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX + SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX + SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX + SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX + SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX + +BO_ 921 PCM_CRUISE_SM: 8 XXX + SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX + SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX + SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX + SG_ TEMP_ACC_FAULTED : 15|1@0+ (1,0) [0|1] "" XXX + SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX + +BO_ 951 ESP_CONTROL: 8 ESP + SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX + SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX + +BO_ 956 GEAR_PACKET: 8 XXX + SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX + SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX + SG_ SPORT_GEAR_ON : 33|1@0+ (1,0) [0|1] "" XXX + SG_ SPORT_GEAR : 38|3@0+ (1,0) [0|7] "" XXX + SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX + SG_ B_GEAR_ENGAGED : 41|1@0+ (1,0) [0|1] "" XXX + SG_ DRIVE_ENGAGED : 47|1@0+ (1,0) [0|1] "" XXX + +BO_ 1005 REVERSE_CAMERA_STATE: 2 BGM + SG_ REVERSE_CAMERA_GUIDELINES : 9|2@0+ (1,0) [1|3] "" XXX + +BO_ 1009 PCM_CRUISE_ALT: 8 XXX + SG_ PCM_FOLLOW_DISTANCE : 4|2@1+ (1,0) [0|3] "" XXX + SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX + SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX + SG_ UI_SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + +BO_ 1020 SOLAR_SENSOR: 8 XXX + SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX + +BO_ 1041 PCS_HUD: 8 DSU + SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX + SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX + SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX + SG_ PCS_DUST : 34|1@0+ (1,0) [0|0] "" XXX + SG_ PCS_TEMP : 35|1@0+ (1,0) [0|0] "" XXX + SG_ PCS_DUST2 : 41|1@0+ (1,0) [0|0] "" XXX + SG_ PCS_TEMP2 : 42|1@0+ (1,0) [0|0] "" XXX + SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX + SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX + SG_ FRD_ADJ : 53|3@0+ (1,0) [0|0] "" XXX + SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX + +BO_ 1042 LKAS_HUD: 8 DSU + SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX + SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX + SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX + SG_ LKAS_STATUS : 7|2@0+ (1,0) [0|3] "" XXX + SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX + SG_ LDW_EXIST : 10|1@0+ (1,0) [0|1] "" XXX + SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX + SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_UNAVAILABLE_QUIET : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_UNAVAILABLE : 16|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_SENSITIVITY : 18|2@0+ (1,0) [0|3] "" XXX + SG_ LDA_SA_TOGGLE : 20|2@0+ (1,0) [0|3] "" XXX + SG_ LDA_MESSAGES : 23|3@0+ (1,0) [0|1] "" XXX + SG_ LDA_ON_MESSAGE : 31|2@0+ (1,0) [0|3] "" XXX + SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX + SG_ LANE_SWAY_TOGGLE : 43|1@0+ (1,0) [0|1] "" XXX + SG_ LANE_SWAY_SENSITIVITY : 45|2@0+ (1,0) [0|3] "" XXX + SG_ TAKE_CONTROL : 46|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_FRONT_CAMERA_BLOCKED : 47|1@0+ (1,0) [0|1] "" XXX + SG_ LANE_SWAY_BUZZER : 50|2@0+ (1,0) [0|0] "" XXX + SG_ LANE_SWAY_FLD : 53|3@0+ (1,0) [0|7] "" XXX + SG_ LANE_SWAY_WARNING : 55|2@0+ (1,0) [0|3] "" XXX + SG_ SET_ME_X01 : 42|1@0+ (1,0) [0|1] "" XXX + SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX + +BO_ 1043 TIME : 8 CGW + SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX + SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX + SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX + SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX + SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX + SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX + SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX + SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX + SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX + +BO_ 1044 AUTO_HIGH_BEAM: 8 FCM + SG_ AHB_DUTY : 47|8@0+ (0.5,0) [0|0] "%" Vector__XXX + SG_ F_AHB : 55|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ C_AHB : 51|4@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1083 AUTOPARK_STATUS: 8 IPAS + SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX + +BO_ 1161 RSA1: 8 FCM + SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX + SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX + SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX + SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "km/h" XXX + SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX + SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX + SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX + SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX + SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX + SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX + SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX + SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX + SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX + +BO_ 1162 RSA2: 8 FCM + SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX + SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX + SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX + SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX + SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX + SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX + SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX + SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX + SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX + SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX + SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX + SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX + SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX + SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX + +BO_ 1163 RSA3: 8 FCM + SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX + SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX + SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX + SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX + SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX + SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX + SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX + SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX + SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX + +BO_ 1408 VIN_PART_1: 8 CGW + SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX + +BO_ 1409 VIN_PART_2: 8 CGW + SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX + +BO_ 1410 VIN_PART_3: 8 CGW + SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX + +BO_ 1552 BODY_CONTROL_STATE_2: 8 XXX + SG_ UI_SPEED : 23|8@0+ (1,0) [0|255] "" XXX + SG_ METER_SLIDER_BRIGHTNESS_PCT : 30|7@0+ (1,0) [12|100] "%" XXX + SG_ METER_SLIDER_LOW_BRIGHTNESS : 37|1@0+ (1,0) [0|1] "" XXX + SG_ METER_SLIDER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX + SG_ UNITS : 63|3@0+ (1,0) [1|4] "" XXX + +BO_ 1553 UI_SETTING: 8 XXX + SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX + SG_ ODOMETER : 39|32@0+ (1,0) [0|1048575] "" XXX +BO_ 1556 BLINKERS_STATE: 8 XXX + SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX + SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX + +BO_ 1568 BODY_CONTROL_STATE: 8 XXX + SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX + SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" XXX + SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX + +BO_ 1570 LIGHT_STALK: 8 SCM + SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX + SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX + SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX + SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX + SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX + +BO_ 1571 CERTIFICATION_ECU: 8 CGW + SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX + SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX + SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX + +BO_ 1592 DOOR_LOCKS: 8 XXX + SG_ LOCK_STATUS_CHANGED : 15|1@0+ (1,0) [0|1] "" XXX + SG_ LOCK_STATUS : 20|1@0+ (1,0) [0|1] "" XXX + SG_ LOCKED_VIA_KEYFOB : 23|1@0+ (1,0) [0|1] "" XXX + +CM_ SG_ 36 YAW_RATE "verify"; +CM_ SG_ 36 ACCEL_X "x-axis accel"; +CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set"; +CM_ SG_ 37 STEER_RATE "factor is tbd"; +CM_ SG_ 466 NEUTRAL_FORCE "force in newtons the engine/electric motors are applying without any acceleration commands or user input"; +CM_ SG_ 466 ACC_BRAKING "whether brakes are being actuated from ACC command"; +CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors"; +CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10"; +CM_ SG_ 467 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement"; +CM_ SG_ 467 SET_SPEED "43 km/h are shown as 28 mph, so conversion isn't perfect"; +CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph"; +CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?"; +CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered"; +CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque"; +CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value"; +CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active"; +CM_ SG_ 643 _COUNTER "only used on cars that use this msg for cruise control"; +CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control"; +CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking"; +CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok"; +CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD"; +CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1"; +CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1"; +CM_ SG_ 835 DISTANCE "Cycle through ACC following distance from long, mid, short when set to 1"; +CM_ SG_ 835 ITS_CONNECT_LEAD "Displayed when lead car is capable of ITS Connect"; +CM_ SG_ 835 LEAD_VEHICLE_STOPPED "Set to 1 when lead is stopped, likely only used in older TSS-P vehicles"; +CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars"; +CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG."; +CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file."; +CM_ SG_ 865 GAS_PEDAL_ALT "copy of main GAS_PEDAL. Both use 8 bits. Might indicate that this message is for pedals."; +CM_ SG_ 865 CLUTCH_RELEASED "boolean of clutch for 6MT."; +CM_ SG_ 865 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement. Also describes a lockout when the ACC_CONTROL->ACC_MALFUNCTION bit is set."; +CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit"; +CM_ SG_ 921 TEMP_ACC_FAULTED "1 when the UI is displaying or playing fault-related alerts or sounds. Also 1 when pressing main on."; +CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel"; +CM_ SG_ 956 GEAR "on 6MT, only R shows."; +CM_ SG_ 1009 UI_SET_SPEED "units seem to be whatever the car is set to"; +CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator"; +CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity"; +CM_ SG_ 1041 PCS_DUST "alert: Front Camera Low Visibility Unavailable See Owner's Manual"; +CM_ SG_ 1041 PCS_DUST2 "alert: Pre-Collision System Radar Sensor Blocked Unavailable Clean Radar Sensor"; +CM_ SG_ 1041 PCS_TEMP "alert: Front Camera Out of Temperature Range Unavailable Wait until Normal Temperature"; +CM_ SG_ 1041 PCS_TEMP2 "alert: Pre-Collision System Out of Temperature Range Unavailable See Owner's Manual"; +CM_ SG_ 1041 FRD_ADJ "alert: ERROR ADJUSTING FRONT RADAR BEAM"; +CM_ SG_ 1042 LDA_SA_TOGGLE "LDA Steering Assist Toggle"; +CM_ SG_ 1042 LDW_EXIST "Unclear what this is, it's usually set to 0"; +CM_ SG_ 1042 LDA_SENSITIVITY "LDA Sensitivity"; +CM_ SG_ 1042 LDA_ON_MESSAGE "Display LDA Turned ON message"; +CM_ SG_ 1042 REPEATED_BEEPS "LDA audible warning"; +CM_ SG_ 1042 LDA_UNAVAILABLE_QUIET "LDA toggles and sensitivity settings are greyed out if set to 1"; +CM_ SG_ 1042 LDA_MESSAGES "Various LDA Messages"; +CM_ SG_ 1042 LDA_FRONT_CAMERA_BLOCKED "originally LDAFCVB, LDA related settings are greyed out if set to 1"; +CM_ SG_ 1042 TAKE_CONTROL "Please Control Steering Wheel warning"; +CM_ SG_ 1042 LANE_SWAY_TOGGLE "Lane Sway Warning System SWS Switch"; +CM_ SG_ 1042 LANE_SWAY_WARNING "Lane Sway Warning System Triggered"; +CM_ SG_ 1042 LANE_SWAY_FLD "Unknown signal for Lane Sway Warning System, set to 7 on stock system when SWS is enabled, 0 when SWS is disabled"; +CM_ SG_ 1042 LANE_SWAY_BUZZER "Similar to TWO_BEEPS"; +CM_ SG_ 1042 SET_ME_X01 "empty bit on leaked dbc, always set to 1 during normal operations"; +CM_ SG_ 1042 SET_ME_X02 "empty bit on leaked dbc, always set to 2 during normal operations"; +CM_ SG_ 1083 STATE "when the dashboard button is pressed, the value changes from zero to non-zero"; +CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit."; +CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz"; +CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"; +CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0"; +CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz"; +CM_ SG_ 1163 TSREQPD "always 1"; +CM_ SG_ 1163 TSRMSW "always 1"; +CM_ SG_ 1163 OTSGNNTM "always 3"; +CM_ SG_ 1163 NTLVLSPD "always 3"; +CM_ SG_ 1163 OVSPNTM "always 3"; +CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds"; +CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds"; +CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds"; +CM_ SG_ 1163 TSRSPU "always 1"; +CM_ SG_ 1552 UI_SPEED "Does not appear to match dash"; +CM_ SG_ 1552 METER_SLIDER_BRIGHTNESS_PCT "Combination display brightness setting, scales from 12 per cent to 100 per cent, reflects combination meter settings only, not linked with headlight state"; +CM_ SG_ 1552 METER_SLIDER_LOW_BRIGHTNESS "Combination display low brightness mode, also controls footwell lighting"; +CM_ SG_ 1552 METER_SLIDER_DIMMED "Combination display slider not at max, reflects combination meter settings only, not linked with headlight state"; +CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal"; +CM_ SG_ 1592 LOCK_STATUS_CHANGED "1 on rising edge of lock/unlocking"; +CM_ SG_ 1592 LOCK_STATUS "The next 3 bits always seem to follow this signal."; +CM_ SG_ 1592 LOCKED_VIA_KEYFOB "1 for as long as car is locked with key fob or door handle touch"; + +VAL_ 295 GEAR 0 "P" 1 "R" 2 "N" 3 "D" 4 "B"; +VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off"; +VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok"; +VAL_ 467 PCM_FOLLOW_DISTANCE 1 "far" 2 "medium" 3 "close"; +VAL_ 614 STATE 3 "enabled" 1 "disabled"; +VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left"; +VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking"; +VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok"; +VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok"; +VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear"; +VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press"; +VAL_ 865 CLUTCH_RELEASED 0 "clutch pressed any amount" 1 "clutch released" +VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted"; +VAL_ 921 DISTANCE_LINES 0 "not displayed" 1 "close" 2 "medium" 3 "far"; +VAL_ 956 SPORT_ON 0 "off" 1 "on"; +VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P"; +VAL_ 956 SPORT_GEAR_ON 0 "off" 1 "on"; +VAL_ 956 SPORT_GEAR 1 "S1" 2 "S2" 3 "S3" 4 "S4" 5 "S5" 6 "S6"; +VAL_ 956 ECON_ON 0 "off" 1 "on"; +VAL_ 956 B_GEAR_ENGAGED 0 "off" 1 "on"; +VAL_ 956 DRIVE_ENGAGED 0 "off" 1 "on"; +VAL_ 1005 REVERSE_CAMERA_GUIDELINES 3 "No guidelines" 2 "Static guidelines" 1 "Active guidelines"; +VAL_ 1009 PCM_FOLLOW_DISTANCE 1 "far" 2 "medium" 3 "close"; +VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled"; +VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off"; +VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none"; +VAL_ 1042 BARRIERS 3 "left" 2 "right" 1 "both" 0 "none"; +VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none"; +VAL_ 1042 LKAS_STATUS 1 "on" 0 "off"; +VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none"; +VAL_ 1042 LDA_ON_MESSAGE 2 "Lane Departure Alert Turned ON, Steering Assist Inactive" 1 "Lane Departure Alert Turned ON, Steering Assist Active" 0 "clear"; +VAL_ 1042 LDA_SA_TOGGLE 2 "steering assist off" 1 "steering assist on"; +VAL_ 1042 LDA_SENSITIVITY 2 "standard" 1 "high" 0 "undefined"; +VAL_ 1042 LDA_MESSAGES 4 "lda unavailable at this speed" 1 "lda unavailable below approx 50km/h" 0 "ok"; +VAL_ 1042 LDA_FRONT_CAMERA_BLOCKED 1 "lda unavailable" 0 "ok"; +VAL_ 1042 TAKE_CONTROL 1 "take control" 0 "ok"; +VAL_ 1042 LANE_SWAY_WARNING 3 "ok" 2 "orange please take a break" 1 "prompt would you like to take a break" 0 "ok"; +VAL_ 1042 LANE_SWAY_BUZZER 3 "ok" 2 "beep twice" 1 "beep twice" 0 "ok"; +VAL_ 1161 TSGN1 1 "speed sign" 0 "none"; +VAL_ 1161 TSGN2 1 "speed sign" 0 "none"; +VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none"; +VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter"; +VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none"; +VAL_ 1552 METER_SLIDER_LOW_BRIGHTNESS 1 "Low brightness mode, footwell lights off" 0 "Normal mode, footwell lights on"; +VAL_ 1552 METER_SLIDER_DIMMED 1 "Dimmed" 0 "Not Dimmed"; +VAL_ 1552 UNITS 1 "km (km/L)" 2 "km (L/100km)" 3 "miles (MPG US)" 4 "miles (MPG Imperial)"; +VAL_ 1553 UNITS 1 "km" 2 "miles"; +VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left"; +VAL_ 1592 LOCK_STATUS 0 "locked" 1 "unlocked"; diff --git a/opendbc_repo/opendbc/dbc/generator/toyota/toyota_new_mc_pt.dbc b/opendbc_repo/opendbc/dbc/generator/toyota/toyota_new_mc_pt.dbc new file mode 100644 index 0000000000..8e342a64f8 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/toyota/toyota_new_mc_pt.dbc @@ -0,0 +1,23 @@ +CM_ "IMPORT _community.dbc"; +CM_ "IMPORT _toyota_2017.dbc"; +CM_ "IMPORT _sp_debug_toyota.dbc"; + +BO_ 548 BRAKE_MODULE: 8 XXX + SG_ BRAKE_PRESSURE : 43|12@0+ (1,0) [0|4047] "" XXX + SG_ BRAKE_PRESSED : 5|1@0+ (1,0) [0|1] "" XXX + +BO_ 610 EPS_STATUS: 5 EPS + SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX + SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX + SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX + +BO_ 1178 BRAKE_RELATED: 8 XXX + SG_ BRAKE_PRESSED : 48|1@0+ (1,0) [0|1] "" XXX + +CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force"; +CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8"; +CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others"; + +VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled"; +VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby"; diff --git a/opendbc_repo/opendbc/dbc/generator/toyota/toyota_nodsu_pt.dbc b/opendbc_repo/opendbc/dbc/generator/toyota/toyota_nodsu_pt.dbc new file mode 100644 index 0000000000..905b3f892b --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/toyota/toyota_nodsu_pt.dbc @@ -0,0 +1,79 @@ +CM_ "IMPORT _community.dbc"; +CM_ "IMPORT _toyota_2017.dbc"; +CM_ "IMPORT _sp_debug_toyota.dbc"; + +BO_ 401 STEERING_LTA: 8 XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ SETME_X3 : 29|2@0+ (1,0) [0|3] "" XXX + SG_ PERCENTAGE : 39|8@0+ (1,0) [0|255] "" XXX + SG_ TORQUE_WIND_DOWN : 47|8@0+ (1,0) [0|255] "" XXX + SG_ ANGLE : 55|8@0- (0.5,0) [0|255] "" XXX + SG_ STEER_ANGLE_CMD : 15|16@0- (0.0573,0) [-540|540] "" XXX + SG_ STEER_REQUEST_2 : 25|1@0+ (1,0) [0|1] "" XXX + SG_ LKA_ACTIVE : 26|1@0+ (1,0) [0|1] "" XXX + SG_ CLEAR_HOLD_STEERING_ALERT : 30|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 6|6@0+ (1,0) [0|255] "" XXX + SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX + SG_ SETME_X1 : 7|1@0+ (1,0) [0|1] "" XXX + +BO_ 550 BRAKE_MODULE: 8 XXX + SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX + SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX + SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX + +BO_ 610 EPS_STATUS: 8 EPS + SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX + SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX + SG_ LTA_STATE : 15|5@0+ (1,0) [0|31] "" XXX + SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 881 LTA_RELATED: 8 FCM + SG_ GAS_PEDAL : 15|8@0+ (0.005,0) [0|1] "" XXX + SG_ STEER_ANGLE : 23|16@0- (0.0573,0) [-500|500] "" XXX + SG_ TURN_SIGNALS : 35|2@0+ (1,0) [0|3] "" XXX + SG_ UNKNOWN_2 : 58|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_SA_TOGGLE : 59|1@0+ (1,0) [0|1] "" XXX + SG_ LTA_STEER_REQUEST : 60|1@0+ (1,0) [0|1] "" XXX + SG_ UNKNOWN : 61|1@0+ (1,0) [0|1] "" XXX + SG_ STEERING_PRESSED : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 1014 BSM: 8 XXX + SG_ L_ADJACENT : 0|1@0+ (1,0) [0|1] "" XXX + SG_ L_APPROACHING : 8|1@0+ (1,0) [0|1] "" XXX + SG_ R_ADJACENT : 1|1@0+ (1,0) [0|1] "" XXX + SG_ R_APPROACHING : 10|1@0+ (1,0) [0|1] "" XXX + SG_ ADJACENT_ENABLED : 7|1@0+ (1,0) [0|1] "" XXX + SG_ APPROACHING_ENABLED : 15|1@0+ (1,0) [0|1] "" XXX + +CM_ SG_ 401 PERCENTAGE "driver override percentage (0-100), very close to steeringPressed in OP"; +CM_ SG_ 401 TORQUE_WIND_DOWN "used to wind down torque on user override"; +CM_ SG_ 401 ANGLE "angle of car relative to lane center on LTA camera"; +CM_ SG_ 401 STEER_ANGLE_CMD "desired angle, OEM steers up to 95 degrees, no angle limit but torque will bottom out"; +CM_ SG_ 401 CLEAR_HOLD_STEERING_ALERT "set to 1 when user clears LKAS_HUD->LDA_ALERT ('Hold Steering') by applying torque to steering wheel"; +CM_ SG_ 401 STEER_REQUEST "enable bit for steering, 1 to steer, 0 to not"; +CM_ SG_ 401 STEER_REQUEST_2 "enable bit for steering, 1 to steer, 0 to not"; +CM_ SG_ 401 LKA_ACTIVE "1 when using LTA for LKA"; +CM_ SG_ 401 SETME_X1 "usually 1, seen at 0 on some South American Corollas indicating lack of stock Lane Tracing Assist"; +CM_ SG_ 401 SETME_X3 "almost completely correlates with Toyota Safety Sense version, but may instead describe max torque when using LTA. if TSS 2.5 or 2022 RAV4, this is always 1. if TSS 2.0 this is always 3 (or 0 on Alphard, Highlander, NX)"; +CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force"; +CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8"; +CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others"; +CM_ SG_ 881 GAS_PEDAL "not set on all cars, only seen on TSS 2.5 Camry Hybrid so far"; +CM_ SG_ 881 STEER_ANGLE "matches STEER_TORQUE_SENSOR->STEER_ANGLE"; +CM_ SG_ 881 TURN_SIGNALS "flipped on some cars"; +CM_ SG_ 881 LDA_SA_TOGGLE "not applicable for all cars"; +CM_ SG_ 881 LTA_STEER_REQUEST "only applicable for TSS 2.5: matches STEERING_LTA->STEER_REQUEST"; +CM_ SG_ 881 UNKNOWN "related to steering wheel angle"; +CM_ SG_ 881 STEERING_PRESSED "only applicable for TSS 2.5: low sensitivity steering wheel pressed by driver signal"; +CM_ SG_ 1014 L_ADJACENT "vehicle adjacent left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED"; +CM_ SG_ 1014 L_APPROACHING "vehicle approaching from left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED"; +CM_ SG_ 1014 R_ADJACENT "vehicle adjacent right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED"; +CM_ SG_ 1014 R_APPROACHING "vehicle approaching from right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED"; +CM_ SG_ 1014 ADJACENT_ENABLED "when BSM is enabled in settings, this is on along with APPROACHING_ENABLED. this controls bsm alert visibility"; +CM_ SG_ 1014 APPROACHING_ENABLED "when BSM is enabled in settings, this is on along with ADJACENT_ENABLED. this controls bsm alert visibility"; + +VAL_ 401 SETME_X3 3 "TSS 2.0" 1 "TSS 2.5 or 2022 RAV4" 0 "TSS 2.0 on Alphard, Highlander, NX"; +VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled"; +VAL_ 610 LKA_STATE 25 "temporary_fault" 17 "permanent_fault" 11 "lka_missing_unavailable2" 9 "temporary_fault2" 5 "active" 3 "lka_missing_unavailable" 1 "standby"; +VAL_ 610 LTA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 3 "lta_missing_unavailable" 1 "standby"; diff --git a/opendbc_repo/opendbc/dbc/generator/toyota/toyota_tnga_k_pt.dbc b/opendbc_repo/opendbc/dbc/generator/toyota/toyota_tnga_k_pt.dbc new file mode 100644 index 0000000000..a3192686cf --- /dev/null +++ b/opendbc_repo/opendbc/dbc/generator/toyota/toyota_tnga_k_pt.dbc @@ -0,0 +1,21 @@ +CM_ "IMPORT _community.dbc"; +CM_ "IMPORT _toyota_2017.dbc"; +CM_ "IMPORT _sp_debug_toyota.dbc"; + +BO_ 550 BRAKE_MODULE: 8 XXX + SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX + SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX + SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX + +BO_ 610 EPS_STATUS: 5 EPS + SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX + SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX + SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX + +CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force"; +CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8"; +CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others"; + +VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled"; +VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby"; diff --git a/opendbc_repo/opendbc/dbc/gm_global_a_chassis.dbc b/opendbc_repo/opendbc/dbc/gm_global_a_chassis.dbc new file mode 100644 index 0000000000..e1fc1ccbff --- /dev/null +++ b/opendbc_repo/opendbc/dbc/gm_global_a_chassis.dbc @@ -0,0 +1,75 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: K182_PACM K43_PSCM K17_EBCM NEO K124_ASCM + + + +BO_ 823 PACMParkAssitCmd: 7 NEO + SG_ RollingCounter : 35|2@0+ (1,0) [0|0] "" NEO + SG_ SteeringWheelChecksum : 47|16@0+ (1,0) [0|0] "" NEO + SG_ SteeringWheelCmd : 23|16@0+ (1,0) [0|0] "" NEO + +BO_ 560 EBCMRegen: 6 K17_EBCM + SG_ Regen : 1|10@0+ (1,0) [0|0] "" NEO + +BO_ 368 EBCMFrictionBrakeStatus: 8 K17_EBCM + SG_ FrictionBrakePressure : 23|16@0+ (1,0) [0|0] "" NEO + +BO_ 789 EBCMFrictionBrakeCmd: 5 K17_EBCM + SG_ RollingCounter : 33|2@0+ (1,0) [0|0] "" NEO + SG_ FrictionBrakeMode : 7|4@0+ (1,0) [0|0] "" NEO + SG_ FrictionBrakeChecksum : 23|16@0+ (1,0) [0|0] "" NEO + SG_ FrictionBrakeCmd : 3|12@0- (1,0) [0|0] "" NEO + +BO_TX_BU_ 823 : K43_PSCM,NEO; +BO_TX_BU_ 789 : NEO,K17_EBCM; + + +CM_ BU_ K182_PACM "Parking Assist Control Module"; +CM_ BU_ K43_PSCM "Power Steering Control Module"; +CM_ BU_ K17_EBCM "Electronic Brake Control Module"; +CM_ BU_ NEO "Comma NEO"; +CM_ BU_ K124_ASCM "Active Safety Control Module"; +BA_DEF_ "UseGMParameterIDs" INT 0 0; +BA_DEF_ "ProtocolType" STRING ; +BA_DEF_ "BusType" STRING ; +BA_DEF_DEF_ "UseGMParameterIDs" 1; +BA_DEF_DEF_ "ProtocolType" "GMLAN"; +BA_DEF_DEF_ "BusType" ""; +BA_ "UseGMParameterIDs" 0; +BA_ "BusType" "CAN"; +BA_ "ProtocolType" "GMLAN"; + diff --git a/opendbc_repo/opendbc/dbc/gm_global_a_high_voltage_management.dbc b/opendbc_repo/opendbc/dbc/gm_global_a_high_voltage_management.dbc new file mode 100644 index 0000000000..60729e5692 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/gm_global_a_high_voltage_management.dbc @@ -0,0 +1,196 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: +BU_: K16_BECM K114B_HPCM T18_BatteryCharger +BO_ 512 Battery_Module_1: 8 K16_BECM + SG_ Voltage_1_0_A m0 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_1_0_B m0 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_1_0_C m0 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_1_1_A m1 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_1_1_B m1 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_1_1_C m1 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_1_2_A m2 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_1_2_B m2 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_1_2_C m2 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_1_3_A m3 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_1_3_B m3 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_1_3_C m3 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_1_4_A m4 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_1_4_B m4 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_1_4_C m4 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_1_5_A m5 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_1_5_B m5 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_1_5_C m5 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_1_6_A m6 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_1_6_B m6 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_1_6_C m6 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_1_7_A m7 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_1_7_B m7 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_1_7_C m7 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Cell_Bank_Number_1 M : 55|3@0+ (1,0) [0|0] "" K16_BECM + +BO_ 514 Battery_Module_2: 8 K16_BECM + SG_ Voltage_2_0_A m0 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_2_0_B m0 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_2_0_C m0 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_2_1_A m1 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_2_1_B m1 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_2_1_C m1 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_2_2_A m2 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_2_2_B m2 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_2_2_C m2 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_2_3_A m3 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_2_3_B m3 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_2_3_C m3 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_2_4_A m4 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_2_4_B m4 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_2_4_C m4 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_2_5_A m5 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_2_5_B m5 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_2_5_C m5 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_2_6_A m6 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_2_6_B m6 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_2_6_C m6 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_2_7_A m7 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_2_7_B m7 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_2_7_C m7 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Cell_Bank_Number_2 M : 55|3@0+ (1,0) [0|0] "" K16_BECM + +BO_ 516 Battery_Module_3: 8 K16_BECM + SG_ Voltage_3_0_A m0 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_3_0_B m0 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_3_0_C m0 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_3_1_A m1 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_3_1_B m1 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_3_1_C m1 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_3_2_A m2 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_3_2_B m2 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_3_2_C m2 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_3_3_A m3 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_3_3_B m3 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_3_3_C m3 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_3_4_A m4 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_3_4_B m4 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_3_4_C m4 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_3_5_A m5 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_3_5_B m5 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_3_5_C m5 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_3_6_A m6 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_3_6_B m6 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_3_6_C m6 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_3_7_A m7 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_3_7_B m7 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_3_7_C m7 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Cell_Bank_Number_3 M : 55|3@0+ (1,0) [0|0] "" K16_BECM + +BO_ 518 Battery_Module_4: 8 K16_BECM + SG_ Voltage_4_0_A m0 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_4_0_B m0 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_4_0_C m0 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_4_1_A m1 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_4_1_B m1 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_4_1_C m1 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_4_2_A m2 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_4_2_B m2 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_4_2_C m2 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_4_3_A m3 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_4_3_B m3 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_4_3_C m3 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_4_4_A m4 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_4_4_B m4 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_4_4_C m4 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_4_5_A m5 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_4_5_B m5 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_4_5_C m5 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_4_6_A m6 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_4_6_B m6 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_4_6_C m6 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_4_7_A m7 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_4_7_B m7 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_4_7_C m7 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Cell_Bank_Number_4 M : 55|3@0+ (1,0) [0|0] "" K16_BECM + +BO_ 528 Pack_Stats: 8 K16_BECM + SG_ Pack_Voltage : 7|12@0+ (0.125,0) [0|0] "V" K16_BECM + SG_ Pack_Current : 23|8@0- (0.1,-0.1) [0|0] "A" K16_BECM + +BO_ 530 Charger_stats: 6 T18_BatteryCharger + SG_ Charger_HV_Current : 7|13@0+ (0.05,0) [0|0] "A" K16_BECM + SG_ HV_Voltage : 10|10@0+ (0.5,0) [0|0] "V" K16_BECM + SG_ LV_Current : 16|8@0+ (0.2,0) [0|0] "A" K16_BECM + SG_ LV_Voltage : 24|8@0+ (0.1,0) [0|0] "V" K16_BECM + +BO_ 770 Battery_temp: 8 K16_BECM + SG_ Temp_A m0 : 8|8@1+ (0.5,-40) [0|0] "C" K16_BECM + SG_ Temp_B m0 : 16|8@1+ (0.5,-40) [0|0] "C" K16_BECM + SG_ Temp_C m0 : 24|8@1+ (0.5,-40) [0|0] "C" K16_BECM + SG_ Temp_D m0 : 32|8@1+ (0.5,-40) [0|0] "C" K16_BECM + SG_ Temp_E m0 : 40|8@1+ (0.5,-40) [0|0] "C" K16_BECM + SG_ Temp_F m0 : 48|8@1+ (0.5,-40) [0|0] "C" K16_BECM + SG_ Temp_G m1 : 8|8@1+ (0.5,-40) [0|0] "C" K16_BECM + SG_ Temp_H m1 : 16|8@1+ (0.5,-40) [0|0] "C" K16_BECM + SG_ Temp_I m1 : 24|8@1+ (0.5,-40) [0|0] "C" K16_BECM + SG_ Switch M : 2|1@1+ (1,0) [0|0] "" K16_BECM + +BO_ 782 Charger_Command: 1 T18_BatteryCharger + SG_ Command : 0|8@1+ (1,0) [0|0] "" Vector__XXX + +BO_ 772 Charger_parameters: 4 T18_BatteryCharger + SG_ Unknown : 0|8@1+ (1,0) [0|0] "" Vector__XXX + SG_ Current : 8|8@1+ (0.05,0) [0|0] "A" Vector__XXX + SG_ Voltage : 23|16@0+ (0.5,0) [0|0] "V" Vector__XXX + +BO_ 1120 Coolant_Temp: 4 K16_BECM + SG_ Inlet_Coolant_Temp : 1|10@0+ (0.125,-40) [0|0] "" Vector__XXX + SG_ Outlet_Coolant_Temp : 17|10@0+ (0.125,-40) [0|0] "" Vector__XXX + +BO_ 778 AC_Stats: 7 T18_BatteryCharger + SG_ Mains_Voltage : 10|2@0+ (1,0) [0|0] "V" Vector__XXX + SG_ Total_Charge : 19|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 776 Charger_status: 5 T18_BatteryCharger + SG_ Status : 20|3@1+ (1,0) [0|0] "" Vector__XXX + +BA_DEF_ BO_ "GenMsgBackgroundColor" STRING ; +BA_DEF_ BO_ "GenMsgForegroundColor" STRING ; +BA_DEF_ BO_ "isj1939dbc" INT 0 0; +BA_DEF_DEF_ "GenMsgBackgroundColor" "#ffffff"; +BA_DEF_DEF_ "GenMsgForegroundColor" "#000000"; +BA_DEF_DEF_ "isj1939dbc" 0; +CM_ BU_ K16_BECM "Battery Energy Control Module"; +CM_ BU_ K114B_HPCM "Hybrid Powertrain Control Module"; +CM_ BU_ T18_BatteryCharger "Battery Charger"; +VAL_ 782 Command 1 "12V_Only" 2 "HV_Only" 3 "12V_and_HV"; +VAL_ 778 Mains_Voltage 0 "Unplugged" 1 "110V" 3 "220V"; +VAL_ 776 Status 0 "Off" 5 "LV_Only" 7 "HV_and_LV" 3 "HV_Only"; diff --git a/opendbc_repo/opendbc/dbc/gm_global_a_lowspeed.dbc b/opendbc_repo/opendbc/dbc/gm_global_a_lowspeed.dbc new file mode 100644 index 0000000000..524eeed8be --- /dev/null +++ b/opendbc_repo/opendbc/dbc/gm_global_a_lowspeed.dbc @@ -0,0 +1,118 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: GMLAN NEO +VAL_TABLE_ GearShifter 3 "Park" 0 "Drive/Low" ; +VAL_TABLE_ DriverDoorStatus 1 "Opened" 0 "Closed" ; +VAL_TABLE_ LKAGapButton 2 "???" 1 "??" 0 "None" ; +VAL_TABLE_ CruiseButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ; +VAL_TABLE_ CruiseControlActive 1 "Active" 0 "Inactive" ; +VAL_TABLE_ BlinkerStatus 1 "Active" 0 "Inactive" ; + + +BO_ 274923520 DriverDoorStatus: 1 GMLAN + SG_ DriverDoorOpened : 0|1@0+ (1,0) [0|0] "" NEO + +BO_ 272629760 Chime: 5 NEO + SG_ ChimeType : 7|8@0+ (1,0) [0|0] "" GMLAN + SG_ ChimeRepeat : 23|8@0+ (1,0) [0|0] "" GMLAN + SG_ ChimeDuration : 15|8@0+ (1,0) [0|0] "" GMLAN + SG_ ChimeByte5 : 39|8@0+ (1,0) [0|0] "" GMLAN + SG_ ChimeByte4 : 31|8@0+ (1,0) [0|0] "" GMLAN + +BO_ 270581760 BlinkerStatus: 5 GMLAN + SG_ RightBlinker : 6|1@0+ (1,0) [0|0] "" NEO + SG_ LeftBlinker : 7|1@0+ (1,0) [0|0] "" NEO + SG_ BlinkerLight : 25|1@0+ (1,0) [0|0] "" NEO + +BO_ 270794752 SteeringWheelAngle: 8 GMLAN + SG_ SteeringWheelAngle : 39|16@0- (0.0625,0) [-540|540] "deg" NEO + +BO_ 271368192 GearShifter: 8 GMLAN + SG_ GearShifter : 17|2@0+ (1,0) [0|3] "" NEO + +BO_ 271360000 GasPedalRegenCruise: 8 GMLAN + SG_ CruiseControlActive : 56|1@0+ (1,0) [0|0] "" GMLAN + SG_ MaxRegen : 12|1@0+ (1,0) [0|1] "" GMLAN,NEO + SG_ GasPedal : 47|8@0+ (1,0) [0|254] "" GMLAN,NEO + SG_ GearShifter2NotUsed : 55|8@0+ (1,0) [0|255] "" GMLAN,NEO + +BO_ 270860288 BrakePedal: 2 GMLAN + SG_ BrakeLevel : 2|2@0+ (1,0) [0|3] "" NEO + SG_ BrakeSensor : 15|8@0+ (1,0) [0|255] "" NEO + +BO_ 275480576 WheelSpeed: 8 GMLAN + SG_ WheelSpeedFL : 7|16@0+ (0.01,0) [0|70] "yd/s" NEO + SG_ WheelSpeedFR : 39|16@0+ (0.01,0) [0|70] "yd/s" NEO + SG_ WheelSpeedRL : 23|16@0+ (0.01,0) [0|70] "yd/s" NEO + SG_ WheelSpeedRR : 55|16@0+ (0.01,0) [0|70] "yd/s" NEO + +BO_ 270598144 VehicleSpeed: 8 GMLAN + SG_ VehicleSpeed1 : 7|16@0+ (0.01,0) [0|100] "mph" NEO + SG_ VehicleSpeed2 : 39|16@0+ (0.01,0) [0|100] "mph" NEO + +BO_ 276135936 CruiseButtons: 3 GMLAN + SG_ CruiseButtons : 3|3@0+ (1,0) [0|12] "" NEO + +BO_ 276127744 CruiseButtons2: 1 GMLAN + SG_ LKAGapButton : 1|2@0+ (1,0) [0|2] "" NEO + +BO_ 275955897 LeftRadar: 2 GMLAN + SG_ BSM_Indicator_Light : 4|1@0+ (1,0) [0|1] "" XXX + +BO_ 275980379 RightRadar: 2 GMLAN + SG_ BSM_Indicator_Light : 0|1@0+ (1,0) [0|1] "" XXX + + + +BA_DEF_ "UseGMParameterIDs" INT 0 0; +BA_DEF_ "ProtocolType" STRING ; +BA_DEF_ "BusType" STRING ; +BA_DEF_DEF_ "UseGMParameterIDs" 1; +BA_DEF_DEF_ "ProtocolType" "GMLAN"; +BA_DEF_DEF_ "BusType" ""; +BA_ "BusType" "CAN"; +BA_ "ProtocolType" "GMLAN"; +VAL_ 274923520 DriverDoorOpened 1 "Opened" 0 "Closed" ; +VAL_ 270581760 RightBlinker 1 "Active" 0 "Inactive" ; +VAL_ 270581760 LeftBlinker 1 "Active" 0 "Inactive" ; +VAL_ 270581760 BlinkerLight 1 "Active" 0 "Inactive" ; +VAL_ 271368192 GearShifter 3 "Park" 0 "Drive/Low" ; +VAL_ 271360000 CruiseControlActive 1 "Active" 0 "Inactive" ; +VAL_ 276135936 CruiseButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ; +VAL_ 276127744 LKAGapButton 2 "???" 1 "??" 0 "None" ; +VAL_ 275955897 BSM_Indicator_Light 0 "Disabled" 1 "Enabled"; +VAL_ 275980379 BSM_Indicator_Right 0 "Disabled" 1 "Enabled"; + diff --git a/opendbc_repo/opendbc/dbc/gm_global_a_lowspeed_1818125.dbc b/opendbc_repo/opendbc/dbc/gm_global_a_lowspeed_1818125.dbc new file mode 100644 index 0000000000..3f5b15e6f2 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/gm_global_a_lowspeed_1818125.dbc @@ -0,0 +1,3993 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX + + +BO_ 2152177664 OTA_Electric_Pwr_Readiness_LS: 1 XXX + SG_ RmtRflshElecPwrRdness : 7|8@0+ (0.025,0) [0|6.375] "AmpHour" XXX + +BO_ 2152013824 Smart_High_Beam_Cust_LS: 1 XXX + SG_ SmrtHgBmAstCstSetAvail : 4|1@0+ (1,0) [0|1] "" XXX + SG_ SmrtHgBmAstCstCurrSetVal : 7|3@0+ (1,0) [0|7] "" XXX + +BO_ 2159255552 ODI_CenterStack_2_BCM_LS: 8 XXX + SG_ ODI_CntrStck2BCM : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2159247360 ODI_BCM_2_CenterStack_LS: 8 XXX + SG_ ODI_BCM2CntrStck : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2152046592 Remote_Climate_Control_Req_LS: 5 XXX + SG_ RmClmCtrlHMIActIndReq : 0|1@0+ (1,0) [0|1] "" XXX + SG_ RmClmCtrlRcrcSetReq : 3|3@0+ (1,0) [0|7] "" XXX + SG_ RmClmCtrlACSetReq : 10|3@0+ (1,0) [0|7] "" XXX + SG_ RmClmCtrlFrntFanStReq : 15|5@0+ (1,0) [0|31] "" XXX + SG_ RmClmCtrlFLAirDtStReq : 19|4@0+ (1,0) [0|15] "" XXX + SG_ RmClmCtrlClmModSetReq : 23|4@0+ (1,0) [0|15] "" XXX + SG_ RmClmCtrlLtSTempStReq : 29|6@0+ (1,0) [0|63] "" XXX + SG_ RmClmCtrlRrDfgSetReq : 31|2@0+ (1,0) [0|3] "" XXX + SG_ RmClmCtrlRtSTempStReq : 37|6@0+ (1,0) [0|63] "" XXX + SG_ RmClmCtrlSyncSetReq : 39|2@0+ (1,0) [0|3] "" XXX + +BO_ 2152030208 Tuner_Frequency_Request_LS: 8 XXX + SG_ TnrFrqBndReq : 3|4@0+ (1,0) [0|15] "" XXX + SG_ TnrFrqChnlReq : 15|56@0+ (1,0) [0|1] "" XXX + +BO_ 2150531072 Regen_Power_Ind_LS: 4 XXX + SG_ RegPwrLmtdDspPrcnt : 0|9@0- (0.392157,0) [-100.392192|100.000035] "%" XXX + SG_ RegPwrLmtdDspPrcntVs : 1|1@0+ (1,0) [0|1] "" XXX + SG_ RegPwrLmtdIO : 2|1@0+ (1,0) [0|1] "" XXX + +BO_ 2151833600 Heated_Wndshild_CstmrIhbt_Req_LS: 1 XXX + SG_ HtdFrntWSCustRqIhbt : 5|1@0+ (1,0) [0|1] "" XXX + SG_ HtdFrntWSDispReq : 7|2@0+ (1,0) [0|3] "" XXX + +BO_ 2151817216 Heated_Wndshild_Cstmr_Req_LS: 1 XXX + SG_ HtdFrntWSCustRq : 7|1@0+ (1,0) [0|1] "" XXX + +BO_ 2151849984 Seat_Level_Setting_Request_LS: 2 XXX + SG_ AutoThrmlStPasLvlStRq : 2|3@0+ (1,0) [0|7] "" XXX + SG_ AutoThrmlStDrvLvStRq : 5|3@0+ (1,0) [0|7] "" XXX + SG_ AutoThrmlStPassMdStRq : 7|2@0+ (1,0) [0|3] "" XXX + SG_ AutoThrmlStDrvMdStRq : 15|2@0+ (1,0) [0|3] "" XXX + +BO_ 2153897984 ARB_OpMode_Customization_LS: 1 XXX + SG_ RunBrdExtdFtrAvail : 3|1@0+ (1,0) [0|1] "" XXX + SG_ RunBrdOpMdCstCurrStVal : 6|3@0+ (1,0) [0|7] "" XXX + SG_ RunBrdOpMdCstStAvail : 7|1@0+ (1,0) [0|1] "" XXX + +BO_ 2151702528 Lane_Keeping_Assist_LS: 2 XXX + SG_ LnKpngAstRecfblIndRq : 2|3@0+ (1,0) [0|7] "" XXX + SG_ LnMrkngIndLft : 4|2@0+ (1,0) [0|3] "" XXX + SG_ LnKepAsstStIndLft : 7|3@0+ (1,0) [0|7] "" XXX + SG_ LnMrkngIndRgt : 12|2@0+ (1,0) [0|3] "" XXX + SG_ LnKepAsstStIndRgt : 15|3@0+ (1,0) [0|7] "" XXX + +BO_ 2156986368 PassPhrase_3_AMM_LS: 8 XXX + SG_ WiFiPssPhrsDgts17to24_Mp : 7|64@0+ (1,0) [0|0] "" XXX + +BO_ 2156978176 PassPhrase_2_AMM_LS: 8 XXX + SG_ WiFiPssPhrsDgts9to16_Mp : 7|64@0+ (1,0) [0|0] "" XXX + +BO_ 2156969984 PassPhrase_1_AMM_LS: 8 XXX + SG_ WiFiPssPhrsDgts1to8_Mp : 7|64@0+ (1,0) [0|0] "" XXX + +BO_ 2150236160 Unlock_Key_Store_Crypt_2_LS: 8 XXX + SG_ UlckKyStrCrptoDt2Group : 4|61@0+ (1,0) [0|0] "" XXX + SG_ UlckKyStrCrptoDt2 : 3|60@0+ (1,0) [0|1.15292150460685E+018] "" XXX + SG_ UlckKyStrCrptoDt2M : 4|1@0+ (1,0) [0|1] "" XXX + +BO_ 2150170624 Unlock_Key_Store_Crypt_1_LS: 8 XXX + SG_ UlckKyStrCrptoDt1Group : 4|61@0+ (1,0) [0|0] "" XXX + SG_ UlckKyStrCrptoDt1 : 3|60@0+ (1,0) [0|1.15292150460685E+018] "" XXX + SG_ UlckKyStrCrptoDt1M : 4|1@0+ (1,0) [0|1] "" XXX + +BO_ 2155126784 Drvr_Seat_Rearward_Movmnt_LS: 1 XXX + SG_ DrvrSetRrwrdMvmnt : 7|3@0+ (1,0) [0|7] "" XXX + +BO_ 2154725376 Auxiliary_Heater_LS: 1 XXX + SG_ AuxHtrAtv378 : 6|1@0+ (1,0) [0|1] "" XXX + SG_ AuxHtrRq : 7|1@0+ (1,0) [0|1] "" XXX + +BO_ 2157051904 WiFi_Station_AMM_LS: 5 XXX + SG_ WiFiStatnMpReq : 1|34@0+ (1,0) [0|0] "" XXX + SG_ WSMR_WiFiAssnReq : 1|2@0+ (1,0) [0|3] "" XXX + SG_ WSMR_WiFiStnMpMACAddr : 15|32@0+ (1,0) [0|4294967295] "" XXX + +BO_ 2156994560 WiFi_AP_Data_AMM_LS: 2 XXX + SG_ WiFiAccsPntData_Mp : 0|9@0+ (1,0) [0|0] "" XXX + SG_ WAPDM_WiFiEnStat : 0|1@0+ (1,0) [0|1] "" XXX + SG_ WAPDM_EncrptnType : 11|4@0+ (1,0) [0|15] "" XXX + SG_ WAPDM_SecurityType : 15|4@0+ (1,0) [0|15] "" XXX + +BO_ 2158133248 Hill_Top_Customization_LS: 6 XXX + SG_ HTRCsStAvail : 0|1@0+ (1,0) [0|1] "" XXX + SG_ HTRCsAvail : 7|7@0+ (1,0) [0|0] "" XXX + SG_ HTRCA_Res3Avail : 1|1@0+ (1,0) [0|1] "" XXX + SG_ HTRCA_Res2Avail : 2|1@0+ (1,0) [0|1] "" XXX + SG_ HTRCA_Res1Avail : 3|1@0+ (1,0) [0|1] "" XXX + SG_ HTRCA_OnAwAvail : 4|1@0+ (1,0) [0|1] "" XXX + SG_ HTRCA_OnHmAvail : 5|1@0+ (1,0) [0|1] "" XXX + SG_ HTRCA_OnAvail : 6|1@0+ (1,0) [0|1] "" XXX + SG_ HTRCA_OffAvail : 7|1@0+ (1,0) [0|1] "" XXX + SG_ HTRCsCrStVal : 10|3@0+ (1,0) [0|7] "" XXX + SG_ HVDpltnMdMxCnfdcRgExt : 21|14@0+ (0.1,0) [0|1638.3] "km" XXX + SG_ HVDpltnMdMiCnfdcRgExt : 37|14@0+ (0.1,0) [0|1638.3] "km" XXX + +BO_ 2154651648 Telematics_Audio_Control_LS: 1 XXX + SG_ TeleAudCtl : 7|8@0+ (1,0) [0|0] "" XXX + SG_ TAC_AudConctOutcm : 3|4@0+ (1,0) [0|15] "" XXX + SG_ TAC_AudChConctStat : 7|4@0+ (1,0) [0|15] "" XXX + +BO_ 2154635264 Telematics_Audio_Request_LS: 1 XXX + SG_ TeleAudReq : 7|8@0+ (1,0) [0|0] "" XXX + SG_ TAR_AudSrcStat : 3|4@0+ (1,0) [0|15] "" XXX + SG_ TAR_AudConctReq : 7|4@0+ (1,0) [0|15] "" XXX + +BO_ 2152529920 LVM_Audio_Video_Command_LS: 2 XXX + SG_ LowVolModAudVidCmd : 5|14@0+ (1,0) [0|0] "" XXX + SG_ LVMAVC_StreoAudRsp : 0|2@0+ (1,0) [0|3] "" XXX + SG_ LVMAVC_PrmtAudRsp : 2|2@0+ (1,0) [0|3] "" XXX + SG_ LVMAVC_RemtEnbl : 5|3@0+ (1,0) [0|7] "" XXX + SG_ LVMAVC_SpchRcgnAval : 9|2@0+ (1,0) [0|3] "" XXX + SG_ LVMAVC_RemSpchRcgnActn : 11|2@0+ (1,0) [0|3] "" XXX + SG_ LVMAVC_RemSpchRcgnID : 14|3@0+ (1,0) [0|7] "" XXX + +BO_ 2152513536 LVM_Audio_Video_Req_LS: 2 XXX + SG_ LowVolModAudVidReq : 0|9@0+ (1,0) [0|0] "" XXX + SG_ LVMAVR_DispReq : 0|3@0+ (1,0) [0|7] "" XXX + SG_ LVMAVR_SpchRcgnAct : 9|2@0+ (1,0) [0|3] "" XXX + SG_ LVMAVR_PrmtAudReq : 11|2@0+ (1,0) [0|3] "" XXX + SG_ LVMAVR_StreoAudReq : 13|2@0+ (1,0) [0|3] "" XXX + +BO_ 2154889216 Cluster_HMI_Animation_Req_LS: 1 XXX + SG_ ClstrHMIAnmReq : 7|3@0+ (1,0) [0|7] "" XXX + +BO_ 2154872832 Infotainment_Activation_Req_LS: 1 XXX + SG_ RmRflshUpdtAvail : 6|1@0+ (1,0) [0|1] "" XXX + SG_ InfoActvnReq : 7|1@0+ (1,0) [0|1] "" XXX + +BO_ 2156961792 SSID_AMM_3_LS: 8 XXX + SG_ WiFiSSIDDgts17to24_Mp : 7|64@0+ (1,0) [0|0] "" XXX + +BO_ 2154569728 Infotainment_System_State_LS: 1 XXX + SG_ InfotnmntSysSt : 7|5@0+ (1,0) [0|31] "" XXX + +BO_ 2151931904 Custom_Launch_Ctrl_LS: 8 XXX + SG_ LnchCtrlMdStat : 2|3@0+ (1,0) [0|7] "" XXX + SG_ LnchCtrlWhlSlpStat : 7|5@0+ (1,0) [0|31] "" XXX + SG_ PTExPrtclFltWrng3IO : 8|1@0+ (1,0) [0|1] "" XXX + SG_ AWDRecmndIO : 9|1@0+ (1,0) [0|1] "" XXX + SG_ LnchCtrlEngRPMStat : 15|6@0+ (1,0) [0|63] "" XXX + SG_ ACCSysSltdMd : 17|2@0+ (1,0) [0|3] "" XXX + SG_ VehSpdCntlSystmType : 20|3@0+ (1,0) [0|7] "" XXX + SG_ PTExPartFltManRegStat : 23|3@0+ (1,0) [0|7] "" XXX + SG_ TCSTempDsblReqIO : 24|1@0+ (1,0) [0|1] "" XXX + SG_ VehStbCmptvMdCstAvl : 25|1@0+ (1,0) [0|1] "" XXX + SG_ VehStbEnmntCstAvl : 26|1@0+ (1,0) [0|1] "" XXX + SG_ TCSysCstAvl : 27|1@0+ (1,0) [0|1] "" XXX + SG_ VehStbCmptvMdCurSt : 28|1@0+ (1,0) [0|1] "" XXX + SG_ ElctShfPriLtdPerfMdIO : 29|1@0+ (1,0) [0|1] "" XXX + SG_ RegVltCtlEngyRcvryAct : 30|1@0+ (1,0) [0|1] "" XXX + SG_ ACCSysSltdMdDispIO : 31|1@0+ (1,0) [0|1] "" XXX + SG_ LnchCtrlTmrVal : 35|4@0+ (1,0) [0|15] "" XXX + SG_ VehStbEnhmntCurSt : 36|1@0+ (1,0) [0|1] "" XXX + SG_ TCSysCurSt : 37|1@0+ (1,0) [0|1] "" XXX + SG_ TracAndStbScrnCnfg : 39|2@0+ (1,0) [0|3] "" XXX + SG_ BiFuelRflGaslinIndReq : 42|3@0+ (1,0) [0|7] "" XXX + SG_ AutoShtdwnIO : 43|1@0+ (1,0) [0|1] "" XXX + SG_ LnchCtrlBrkPresVal : 47|4@0+ (10,0) [0|150] "%" XXX + SG_ AutoShtdwnTmr : 55|8@0+ (1,0) [0|255] "min" XXX + SG_ FuelMdTrnstnIndReq : 63|4@0+ (1,0) [0|15] "" XXX + +BO_ 2150244352 HMI_EngyConsmpHistGrph_1_LS: 8 XXX + SG_ EngyCnsHsGrphDspDtVal : 7|55@0+ (1,0) [0|0] "" XXX + SG_ ECHGDDV_Col1 : 2|5@0+ (1,0) [0|31] "" XXX + SG_ ECHGDDV_EngyConsAvg : 7|5@0+ (1,0) [0|31] "" XXX + SG_ ECHGDDV_Col3 : 8|5@0+ (1,0) [0|31] "" XXX + SG_ ECHGDDV_Col2 : 13|5@0+ (1,0) [0|31] "" XXX + SG_ ECHGDDV_Col4 : 19|5@0+ (1,0) [0|31] "" XXX + SG_ ECHGDDV_Col6 : 25|5@0+ (1,0) [0|31] "" XXX + SG_ ECHGDDV_Col5 : 30|5@0+ (1,0) [0|31] "" XXX + SG_ ECHGDDV_Col7 : 36|5@0+ (1,0) [0|31] "" XXX + SG_ ECHGDDV_Col9 : 42|5@0+ (1,0) [0|31] "" XXX + SG_ ECHGDDV_Col8 : 47|5@0+ (1,0) [0|31] "" XXX + SG_ ECHGDDV_Col10 : 53|5@0+ (1,0) [0|31] "" XXX + +BO_ 2156953600 SSID_AMM_2_LS: 8 XXX + SG_ WiFiSSIDDgts9to16_Mp : 7|64@0+ (1,0) [0|0] "" XXX + +BO_ 2151686144 SD_Card_LS: 2 XXX + SG_ SDCrdFullIO : 0|1@0+ (1,0) [0|1] "" XXX + SG_ SDCrdErrIO : 1|1@0+ (1,0) [0|1] "" XXX + SG_ NoSDCrdPrIO : 2|1@0+ (1,0) [0|1] "" XXX + +BO_ 2155028480 Lane_Change_Threat_LS: 2 XXX + SG_ RgtLnChgThrt : 0|1@0+ (1,0) [0|1] "" XXX + SG_ RtLnChngThrtAprchSpd : 15|8@0- (1,0) [-128|127] "km/h" XXX + +BO_ 2151915520 HMI_Display_LS: 8 XXX + SG_ AHDisbldDrOpnIO : 0|1@0+ (1,0) [0|1] "" XXX + SG_ AHDisbldStbltIO : 1|1@0+ (1,0) [0|1] "" XXX + SG_ AHAppBrkPedlIO : 2|1@0+ (1,0) [0|1] "" XXX + SG_ AHServcIO : 3|1@0+ (1,0) [0|1] "" XXX + SG_ ShfToPrkBfExtngIO : 4|1@0+ (1,0) [0|1] "" XXX + SG_ AHEnbld : 5|1@0+ (1,0) [0|1] "" XXX + SG_ AHAct : 6|1@0+ (1,0) [0|1] "" XXX + SG_ ESPDrvrIlkShfAtdIO : 7|1@0+ (1,0) [0|1] "" XXX + SG_ ESPTransMalfIO : 9|1@0+ (1,0) [0|1] "" XXX + SG_ ESPRngInvldReqIO : 10|1@0+ (1,0) [0|1] "" XXX + SG_ ESPPrkInvldReqIO : 11|1@0+ (1,0) [0|1] "" XXX + SG_ ESPHldShfLvrToEngRgIO : 12|1@0+ (1,0) [0|1] "" XXX + SG_ ESPDrvrPrkIlkSftAtdIO : 13|1@0+ (1,0) [0|1] "" XXX + SG_ EngIntkArBstPrExtRngGroup : 14|15@0+ (1,0) [0|0] "" XXX + SG_ EngIntkArBstPrExtRng : 8|9@0+ (1,-110) [-110|401] "kPa" XXX + SG_ EngIntkArBstPrExtRngV : 14|1@0+ (1,0) [0|1] "" XXX + SG_ ElcTransRngSlctVDA : 15|1@0+ (1,0) [0|1] "" XXX + SG_ ElecShfRngDispRCExtd : 27|4@0+ (1,0) [0|15] "" XXX + SG_ ElecShfRngDisp : 31|4@0+ (1,0) [0|15] "" XXX + SG_ DrvEffInd : 39|8@0- (0.78125,0) [-100|99.21875] "%" XXX + SG_ ESPShfToDrvTryAgnIO : 43|1@0+ (1,0) [0|1] "" XXX + SG_ ESPTrnVehOffFrPrkIO : 44|1@0+ (1,0) [0|1] "" XXX + SG_ ESPTrnsCtlrMalfIO : 45|1@0+ (1,0) [0|1] "" XXX + SG_ ElcShfPriTwoGrsSlInRq : 47|2@0+ (1,0) [0|3] "" XXX + +BO_ 2152153088 Right_Rear_Seat_Display_Stats_LS: 6 XXX + SG_ RRStCtlDispStat : 3|44@0+ (1,0) [0|0] "" XXX + SG_ RRSCDS_MassgTyp : 1|4@0+ (1,0) [0|15] "" XXX + SG_ RRSCDS_Massg : 3|2@0+ (1,0) [0|3] "" XXX + SG_ RRSCDS_HdrstFwdRrwd : 8|2@0+ (1,0) [0|3] "" XXX + SG_ RRSCDS_HdrstUpDn : 10|2@0+ (1,0) [0|3] "" XXX + SG_ RRSCDS_MassgIntsty : 13|3@0+ (1,0) [0|7] "" XXX + SG_ RRSCDS_HdrstTltFwdRr : 17|2@0+ (1,0) [0|3] "" XXX + SG_ RRSCDS_HdrstWngInOt : 19|2@0+ (1,0) [0|3] "" XXX + SG_ RRSCDS_HdrstFdRrUDn : 22|3@0+ (1,0) [0|7] "" XXX + SG_ RRSCDS_LmbrUDnFdRr : 25|3@0+ (1,0) [0|7] "" XXX + SG_ RRSCDS_LmbrFwdRr : 27|2@0+ (1,0) [0|3] "" XXX + SG_ RRSCDS_LmbrUpDwn : 29|2@0+ (1,0) [0|3] "" XXX + SG_ RRSCDS_UprShldrFdRr : 31|2@0+ (1,0) [0|3] "" XXX + SG_ RRSCDS_BkCshBlstInOt : 34|3@0+ (1,0) [0|7] "" XXX + SG_ RRSCDS_CshBlstrInOut : 36|2@0+ (1,0) [0|3] "" XXX + SG_ RRSCDS_BkBlstrInOut : 38|2@0+ (1,0) [0|3] "" XXX + SG_ RRSCDS_UnsdRsrvd : 42|3@0+ (1,0) [0|7] "" XXX + SG_ RRSCDS_DispReq : 43|1@0+ (1,0) [0|1] "" XXX + SG_ RRSCDS_DispSz : 45|2@0+ (1,0) [0|3] "" XXX + SG_ RRSCDS_CshLgAdjFdRr : 47|2@0+ (1,0) [0|3] "" XXX + +BO_ 2152136704 Right_Rear_Seat_Massage_LS: 8 XXX + SG_ RRStMassgPrty : 7|64@0+ (1,0) [0|0] "" XXX + SG_ RRSMP_Type2 : 3|4@0+ (1,0) [0|15] "" XXX + SG_ RRSMP_Type1 : 7|4@0+ (1,0) [0|15] "" XXX + SG_ RRSMP_Type4 : 11|4@0+ (1,0) [0|15] "" XXX + SG_ RRSMP_Type3 : 15|4@0+ (1,0) [0|15] "" XXX + SG_ RRSMP_Type6 : 19|4@0+ (1,0) [0|15] "" XXX + SG_ RRSMP_Type5 : 23|4@0+ (1,0) [0|15] "" XXX + SG_ RRSMP_Type8 : 27|4@0+ (1,0) [0|15] "" XXX + SG_ RRSMP_Type7 : 31|4@0+ (1,0) [0|15] "" XXX + SG_ RRSMP_Type10 : 35|4@0+ (1,0) [0|15] "" XXX + SG_ RRSMP_Type9 : 39|4@0+ (1,0) [0|15] "" XXX + SG_ RRSMP_Type12 : 43|4@0+ (1,0) [0|15] "" XXX + SG_ RRSMP_Type11 : 47|4@0+ (1,0) [0|15] "" XXX + SG_ RRSMP_Type14 : 51|4@0+ (1,0) [0|15] "" XXX + SG_ RRSMP_Type13 : 55|4@0+ (1,0) [0|15] "" XXX + SG_ RRSMP_UnsdRsrvd : 56|1@0+ (1,0) [0|1] "" XXX + SG_ RRSMP_MaxDispVal : 59|3@0+ (1,0) [0|7] "" XXX + SG_ RRSMP_Type15 : 63|4@0+ (1,0) [0|15] "" XXX + +BO_ 2152120320 Right_Rear_Seat_Actuator_LS: 8 XXX + SG_ RRStActPrty : 7|64@0+ (1,0) [0|0] "" XXX + SG_ RRSAP_HdrstUpDn : 3|4@0+ (1,0) [0|15] "" XXX + SG_ RRSAP_Massg : 7|4@0+ (1,0) [0|15] "" XXX + SG_ RRSAP_HdrstUpDnFdRr : 11|4@0+ (1,0) [0|15] "" XXX + SG_ RRSAP_HdrstFwdRrwd : 15|4@0+ (1,0) [0|15] "" XXX + SG_ RRSAP_HdrstTltFwdRr : 19|4@0+ (1,0) [0|15] "" XXX + SG_ RRSAP_HdrstWngsInOut : 23|4@0+ (1,0) [0|15] "" XXX + SG_ RRSAP_LmbrUpDwn : 27|4@0+ (1,0) [0|15] "" XXX + SG_ RRSAP_UprShldrFwdRr : 31|4@0+ (1,0) [0|15] "" XXX + SG_ RRSAP_LmbrUpDnFdRr : 35|4@0+ (1,0) [0|15] "" XXX + SG_ RRSAP_LmbrFwdRr : 39|4@0+ (1,0) [0|15] "" XXX + SG_ RRSAP_CshBlstrInOut : 43|4@0+ (1,0) [0|15] "" XXX + SG_ RRSAP_BkBlstrInOut : 47|4@0+ (1,0) [0|15] "" XXX + SG_ RRSAP_CshLgthAdjFdRr : 51|4@0+ (1,0) [0|15] "" XXX + SG_ RRSAP_BkCshBlstrInOut : 55|4@0+ (1,0) [0|15] "" XXX + SG_ RRSAP_UnsdRsrvd : 59|4@0+ (1,0) [0|15] "" XXX + SG_ RRSAP_DispSz : 63|4@0+ (1,0) [0|15] "" XXX + +BO_ 2152103936 Left_Rear_Seat_Display_Status_LS: 6 XXX + SG_ LRStCtlDispStat : 3|44@0+ (1,0) [0|0] "" XXX + SG_ LRSCDS_MassgTyp : 1|4@0+ (1,0) [0|15] "" XXX + SG_ LRSCDS_Massg : 3|2@0+ (1,0) [0|3] "" XXX + SG_ LRSCDS_HdrstFwdRrwd : 8|2@0+ (1,0) [0|3] "" XXX + SG_ LRSCDS_HdrstUpDn : 10|2@0+ (1,0) [0|3] "" XXX + SG_ LRSCDS_MassgIntsty : 13|3@0+ (1,0) [0|7] "" XXX + SG_ LRSCDS_HdrstTltFwdRr : 17|2@0+ (1,0) [0|3] "" XXX + SG_ LRSCDS_HdrstWngInOt : 19|2@0+ (1,0) [0|3] "" XXX + SG_ LRSCDS_HdrstFdRrUDn : 22|3@0+ (1,0) [0|7] "" XXX + SG_ LRSCDS_LmbrUDnFdRr : 25|3@0+ (1,0) [0|7] "" XXX + SG_ LRSCDS_LmbrFwdRr : 27|2@0+ (1,0) [0|3] "" XXX + SG_ LRSCDS_LmbrUpDwn : 29|2@0+ (1,0) [0|3] "" XXX + SG_ LRSCDS_UprShldrFdRr : 31|2@0+ (1,0) [0|3] "" XXX + SG_ LRSCDS_BkCshBlstInOt : 34|3@0+ (1,0) [0|7] "" XXX + SG_ LRSCDS_CshBlstrInOut : 36|2@0+ (1,0) [0|3] "" XXX + SG_ LRSCDS_BkBlstrInOut : 38|2@0+ (1,0) [0|3] "" XXX + SG_ LRSCDS_UnsdRsrvd : 42|3@0+ (1,0) [0|7] "" XXX + SG_ LRSCDS_DispReq : 43|1@0+ (1,0) [0|1] "" XXX + SG_ LRSCDS_DispSz : 45|2@0+ (1,0) [0|3] "" XXX + SG_ LRSCDS_CshLgAdjFdRr : 47|2@0+ (1,0) [0|3] "" XXX + +BO_ 2152087552 Left_Rear_Seat_Massage_LS: 8 XXX + SG_ LRStMassgPrty : 7|64@0+ (1,0) [0|0] "" XXX + SG_ LRSMP_Type2 : 3|4@0+ (1,0) [0|15] "" XXX + SG_ LRSMP_Type1 : 7|4@0+ (1,0) [0|15] "" XXX + SG_ LRSMP_Type4 : 11|4@0+ (1,0) [0|15] "" XXX + SG_ LRSMP_Type3 : 15|4@0+ (1,0) [0|15] "" XXX + SG_ LRSMP_Type6 : 19|4@0+ (1,0) [0|15] "" XXX + SG_ LRSMP_Type5 : 23|4@0+ (1,0) [0|15] "" XXX + SG_ LRSMP_Type8 : 27|4@0+ (1,0) [0|15] "" XXX + SG_ LRSMP_Type7 : 31|4@0+ (1,0) [0|15] "" XXX + SG_ LRSMP_Type10 : 35|4@0+ (1,0) [0|15] "" XXX + SG_ LRSMP_Type9 : 39|4@0+ (1,0) [0|15] "" XXX + SG_ LRSMP_Type12 : 43|4@0+ (1,0) [0|15] "" XXX + SG_ LRSMP_Type11 : 47|4@0+ (1,0) [0|15] "" XXX + SG_ LRSMP_Type14 : 51|4@0+ (1,0) [0|15] "" XXX + SG_ LRSMP_Type13 : 55|4@0+ (1,0) [0|15] "" XXX + SG_ LRSMP_UnsdRsrvd : 56|1@0+ (1,0) [0|1] "" XXX + SG_ LRSMP_MaxDispVal : 59|3@0+ (1,0) [0|7] "" XXX + SG_ LRSMP_Type15 : 63|4@0+ (1,0) [0|15] "" XXX + +BO_ 2152071168 Left_Rear_Seat_Actuator_LS: 8 XXX + SG_ LRStActPrty : 7|64@0+ (1,0) [0|0] "" XXX + SG_ LRSAP_HdrstUpDn : 3|4@0+ (1,0) [0|15] "" XXX + SG_ LRSAP_Massg : 7|4@0+ (1,0) [0|15] "" XXX + SG_ LRSAP_HdrstUpDnFdRr : 11|4@0+ (1,0) [0|15] "" XXX + SG_ LRSAP_HdrstFwdRrwd : 15|4@0+ (1,0) [0|15] "" XXX + SG_ LRSAP_HdrstTltFwdRr : 19|4@0+ (1,0) [0|15] "" XXX + SG_ LRSAP_HdrstWngsInOut : 23|4@0+ (1,0) [0|15] "" XXX + SG_ LRSAP_LmbrUpDwn : 27|4@0+ (1,0) [0|15] "" XXX + SG_ LRSAP_UprShldrFwdRr : 31|4@0+ (1,0) [0|15] "" XXX + SG_ LRSAP_LmbrUpDnFdRr : 35|4@0+ (1,0) [0|15] "" XXX + SG_ LRSAP_LmbrFwdRr : 39|4@0+ (1,0) [0|15] "" XXX + SG_ LRSAP_CshBlstrInOut : 43|4@0+ (1,0) [0|15] "" XXX + SG_ LRSAP_BkBlstrInOut : 47|4@0+ (1,0) [0|15] "" XXX + SG_ LRSAP_CshLgthAdjFdRr : 51|4@0+ (1,0) [0|15] "" XXX + SG_ LRSAP_BkCshBlstrInOut : 55|4@0+ (1,0) [0|15] "" XXX + SG_ LRSAP_UnsdRsrvd : 59|4@0+ (1,0) [0|15] "" XXX + SG_ LRSAP_DispSz : 63|4@0+ (1,0) [0|15] "" XXX + +BO_ 2153947136 Remote_Reflash_Stat_LS: 1 XXX + SG_ RmtRflshMdAct : 7|1@0+ (1,0) [0|1] "" XXX + +BO_ 2152628224 OnBoard_Tester_Response_LS: 2 XXX + SG_ OBTCResp : 2|11@0+ (1,0) [0|0] "" XXX + SG_ OBTCR_Stat : 2|3@0+ (1,0) [0|7] "" XXX + SG_ OBTCR_ReqstrID : 15|8@0+ (1,0) [0|255] "" XXX + SG_ OBTCMstrStat : 5|3@0+ (1,0) [0|7] "" XXX + +BO_ 2152112128 Performanc_Mode_Vis_Scrn_Stat_LS: 5 XXX + SG_ PerfMdVislztnScrnStat : 0|33@0+ (1,0) [0|0] "" XXX + SG_ PMVSS_Snd : 0|3@0+ (1,0) [0|7] "" XXX + SG_ PMVSS_Trans : 10|3@0+ (1,0) [0|7] "" XXX + SG_ PMVSS_Eng : 13|3@0+ (1,0) [0|7] "" XXX + SG_ PMVSS_Drvln : 17|3@0+ (1,0) [0|7] "" XXX + SG_ PMVSS_Susp : 20|3@0+ (1,0) [0|7] "" XXX + SG_ PMVSS_Strng : 23|3@0+ (1,0) [0|7] "" XXX + SG_ PMVSS_PsngrSeat : 24|3@0+ (1,0) [0|7] "" XXX + SG_ PMVSS_DrvrSeat : 27|3@0+ (1,0) [0|7] "" XXX + SG_ PMVSS_AdptCrsCnt : 30|3@0+ (1,0) [0|7] "" XXX + SG_ PMVSS_Disps : 34|3@0+ (1,0) [0|7] "" XXX + SG_ PMVSS_Exhst : 37|3@0+ (1,0) [0|7] "" XXX + SG_ PerfMdMainMenuType : 3|3@0+ (1,0) [0|7] "" XXX + +BO_ 2152775680 Front_360_Camera_On_LS: 3 XXX + SG_ DispFrt360CamOn : 0|1@0+ (1,0) [0|1] "" XXX + SG_ RrPedDetCstStAvl : 1|1@0+ (1,0) [0|1] "" XXX + SG_ RrPedDetCstStVal : 4|3@0+ (1,0) [0|7] "" XXX + SG_ RrPdDetHptcStVbRqSeqN : 6|2@0+ (1,0) [0|3] "" XXX + SG_ TrgdVidRecFetrPrsnt : 7|1@0+ (1,0) [0|1] "" XXX + SG_ RrPdDetHptcStVbRq : 13|6@0+ (1,0) [0|63] "Pulse" XXX + SG_ DispTrgdVidOn : 14|1@0+ (1,0) [0|1] "" XXX + SG_ a_360DegVidFetrPrsnt : 15|1@0+ (1,0) [0|1] "" XXX + SG_ DispSmrtTwVidOn : 16|1@0+ (1,0) [0|1] "" XXX + SG_ RrPedDetCstAvail : 23|7@0+ (1,0) [0|0] "" XXX + SG_ RPDCA_Resrv3Avail : 17|1@0+ (1,0) [0|1] "" XXX + SG_ RPDCA_Resrv2Avail : 18|1@0+ (1,0) [0|1] "" XXX + SG_ RPDCA_Resrv1Avail : 19|1@0+ (1,0) [0|1] "" XXX + SG_ RPDCA_AlrtBrkAvail : 20|1@0+ (1,0) [0|1] "" XXX + SG_ RPDCA_AlrtAvail : 21|1@0+ (1,0) [0|1] "" XXX + SG_ RPDCA_OnAvail : 22|1@0+ (1,0) [0|1] "" XXX + SG_ RPDCA_OfAvail : 23|1@0+ (1,0) [0|1] "" XXX + +BO_ 2153857024 Teen_Driver_Event_Report_2_LS: 8 XXX + SG_ TnDrvRptCrdAvlDspDat : 6|13@0+ (1,0) [0|0] "" XXX + SG_ TDRCADD_FCHdwyAlrt : 0|1@0+ (1,0) [0|1] "" XXX + SG_ TDRCADD_ABSAtvEvt : 1|1@0+ (1,0) [0|1] "" XXX + SG_ TDRCADD_StCtrlEvnts : 2|1@0+ (1,0) [0|1] "" XXX + SG_ TDRCADD_TrCtrlEvnts : 3|1@0+ (1,0) [0|1] "" XXX + SG_ TDRCADD_OvSpdEvnt : 4|1@0+ (1,0) [0|1] "" XXX + SG_ TDRCADD_DistDrvn : 5|1@0+ (1,0) [0|1] "" XXX + SG_ TDRCADD_MaxSpd : 6|1@0+ (1,0) [0|1] "" XXX + SG_ TDRCADD_LDWEvnts : 10|1@0+ (1,0) [0|1] "" XXX + SG_ TDRCADD_WOTEvnts : 11|1@0+ (1,0) [0|1] "" XXX + SG_ TDRCADD_DrwDrvAlrt : 12|1@0+ (1,0) [0|1] "" XXX + SG_ TDRCADD_FCMBrEvts : 13|1@0+ (1,0) [0|1] "" XXX + SG_ TDRCADD_RCMBrEvts : 14|1@0+ (1,0) [0|1] "" XXX + SG_ TDRCADD_FCImntAlrts : 15|1@0+ (1,0) [0|1] "" XXX + SG_ TeenDrvWOTEvntsRpt : 9|10@0+ (1,0) [0|1023] "counts" XXX + SG_ TnDrvABSAtvEvntsRpt : 31|10@0+ (1,0) [0|1023] "counts" XXX + SG_ TnDrvStblCtrlEvntsRpt : 37|10@0+ (1,0) [0|1023] "counts" XXX + SG_ TnDrvDrowDrvAlrtsRpt : 43|10@0+ (1,0) [0|1023] "counts" XXX + SG_ TnDrvTrCtrlEvntsRpt : 49|10@0+ (1,0) [0|1023] "counts" XXX + +BO_ 2153865216 Teen_Driver_Customization_Req_LS: 4 XXX + SG_ TeenDrvReq : 3|4@0+ (1,0) [0|15] "" XXX + SG_ TDOvSpdWrnCstStReq : 12|5@0+ (1,0) [0|0] "" XXX + SG_ TDOWCSR_DecSwAct : 8|1@0+ (1,0) [0|1] "" XXX + SG_ TDOWCSR_IncSwAct : 9|1@0+ (1,0) [0|1] "" XXX + SG_ TDOWCSR_StatReq : 12|3@0+ (1,0) [0|7] "" XXX + SG_ TnDrvSpdLmtCstStReq : 15|3@0+ (1,0) [0|7] "" XXX + SG_ TeenDrvPinCd : 23|16@0+ (1,0) [0|39321] "" XXX + +BO_ 2153840640 Teen_Driver_Event_Report_1_LS: 8 XXX + SG_ TDFwdClnHdwyAlrtsRpt : 5|10@0+ (1,0) [0|1023] "counts" XXX + SG_ TnDrvDRLOffUnbIO : 6|1@0+ (1,0) [0|1] "" XXX + SG_ TnDrvALCOffUnbIO : 7|1@0+ (1,0) [0|1] "" XXX + SG_ TDFwdClnImntAlrtsRpt : 11|10@0+ (1,0) [0|1023] "counts" XXX + SG_ TDFwdClnMtgnBrEvRpt : 17|10@0+ (1,0) [0|1023] "counts" XXX + SG_ TDRevClnMtgnBrEvRpt : 39|10@0+ (1,0) [0|1023] "counts" XXX + SG_ TeenDrvMaxSpdRpt : 45|12@0+ (0.0625,0) [0|255.9375] "km/h" XXX + SG_ TeenDrvLDWEvntsRpt : 49|10@0+ (1,0) [0|1023] "counts" XXX + +BO_ 2153824256 Teen_Driver_Control_Info_LS: 8 XXX + SG_ TnDrvSpdLmtCstCrStVl : 2|11@0+ (1,0) [0|0] "" XXX + SG_ TDSLCCSV_SpLmtStat : 2|3@0+ (1,0) [0|7] "" XXX + SG_ TDSLCCSV_SpLmDisVl : 15|8@0+ (2,0) [0|510] "km/h" XXX + SG_ TnDrvSpdLmtCstStAvl : 3|1@0+ (1,0) [0|1] "" XXX + SG_ TnDrvOvrSpdIO : 4|1@0+ (1,0) [0|1] "" XXX + SG_ TnDrvGapAdjUnbIO : 5|1@0+ (1,0) [0|1] "" XXX + SG_ TeenDrvPINStrd : 6|1@0+ (1,0) [0|1] "" XXX + SG_ TeenDrvFtrAvl : 7|1@0+ (1,0) [0|1] "" XXX + SG_ TDOvSpdWrnCstCrStVl : 22|15@0+ (1,0) [0|0] "" XXX + SG_ TDOWCCSV_CrStVl : 19|12@0+ (0.0625,0) [0|255.9375] "km/h" XXX + SG_ TDOWCCSV_CrStat : 22|3@0+ (1,0) [0|7] "" XXX + SG_ TDOvSpdWrnCstStAvl : 23|1@0+ (1,0) [0|1] "" XXX + SG_ TnDrvOvSpdEvntsRpt : 33|10@0+ (1,0) [0|1023] "counts" XXX + SG_ TeenDrvRsp : 37|4@0+ (1,0) [0|15] "" XXX + SG_ TeenDrvAct : 38|1@0+ (1,0) [0|1] "" XXX + SG_ TeenDrvAccelLimIO : 39|1@0+ (1,0) [0|1] "" XXX + SG_ TeenDrvDistDrvnRpt : 55|16@0+ (1,0) [0|65535] "km" XXX + +BO_ 2155151360 Psngr_Seat_Massage_Priority_LS: 8 XXX + SG_ PsngrStMassgPrty : 7|64@0+ (1,0) [0|0] "" XXX + SG_ PSMP_Type2 : 3|4@0+ (1,0) [0|15] "" XXX + SG_ PSMP_Type1 : 7|4@0+ (1,0) [0|15] "" XXX + SG_ PSMP_Type4 : 11|4@0+ (1,0) [0|15] "" XXX + SG_ PSMP_Type3 : 15|4@0+ (1,0) [0|15] "" XXX + SG_ PSMP_Type6 : 19|4@0+ (1,0) [0|15] "" XXX + SG_ PSMP_Type5 : 23|4@0+ (1,0) [0|15] "" XXX + SG_ PSMP_Type8 : 27|4@0+ (1,0) [0|15] "" XXX + SG_ PSMP_Type7 : 31|4@0+ (1,0) [0|15] "" XXX + SG_ PSMP_Type10 : 35|4@0+ (1,0) [0|15] "" XXX + SG_ PSMP_Type9 : 39|4@0+ (1,0) [0|15] "" XXX + SG_ PSMP_Type12 : 43|4@0+ (1,0) [0|15] "" XXX + SG_ PSMP_Type11 : 47|4@0+ (1,0) [0|15] "" XXX + SG_ PSMP_Type14 : 51|4@0+ (1,0) [0|15] "" XXX + SG_ PSMP_Type13 : 55|4@0+ (1,0) [0|15] "" XXX + SG_ PSMP_UnsdRsrvd : 56|1@0+ (1,0) [0|1] "" XXX + SG_ PSMP_MaxDispVal : 59|3@0+ (1,0) [0|7] "" XXX + SG_ PSMP_Type15 : 63|4@0+ (1,0) [0|15] "" XXX + +BO_ 2155134976 Psngr_Seat_Control_Disp_Stat_LS: 6 XXX + SG_ PsngrStCtlDispStat : 3|44@0+ (1,0) [0|0] "" XXX + SG_ PSCDS_MassgTyp : 1|4@0+ (1,0) [0|15] "" XXX + SG_ PSCDS_Massg : 3|2@0+ (1,0) [0|3] "" XXX + SG_ PSCDS_HdrstFwdRrwd : 8|2@0+ (1,0) [0|3] "" XXX + SG_ PSCDS_HdrstUpDn : 10|2@0+ (1,0) [0|3] "" XXX + SG_ PSCDS_MassgIntsty : 13|3@0+ (1,0) [0|7] "" XXX + SG_ PSCDS_HdrstTltFwdRr : 17|2@0+ (1,0) [0|3] "" XXX + SG_ PSCDS_HdrstWngInOt : 19|2@0+ (1,0) [0|3] "" XXX + SG_ PSCDS_HdrstUDnFdRr : 22|3@0+ (1,0) [0|7] "" XXX + SG_ PSCDS_LmbrUDnFdRr : 25|3@0+ (1,0) [0|7] "" XXX + SG_ PSCDS_LmbrFwdRr : 27|2@0+ (1,0) [0|3] "" XXX + SG_ PSCDS_LmbrUpDwn : 29|2@0+ (1,0) [0|3] "" XXX + SG_ PSCDS_UprShldrFdRr : 31|2@0+ (1,0) [0|3] "" XXX + SG_ PSCDS_BkCshBlstInOt : 34|3@0+ (1,0) [0|7] "" XXX + SG_ PSCDS_CshBlstrInOut : 36|2@0+ (1,0) [0|3] "" XXX + SG_ PSCDS_BkBlstrInOut : 38|2@0+ (1,0) [0|3] "" XXX + SG_ PSCDS_UnsdRsrvd : 42|3@0+ (1,0) [0|7] "" XXX + SG_ PSCDS_DispReq : 43|1@0+ (1,0) [0|1] "" XXX + SG_ PSCDS_DispSz : 45|2@0+ (1,0) [0|3] "" XXX + SG_ PSCDS_CshLgAdjFdRr : 47|2@0+ (1,0) [0|3] "" XXX + SG_ PsngrSetRrwdMvmnt : 6|3@0+ (1,0) [0|7] "" XXX + +BO_ 2155118592 Psngr_Seat_Actuator_Priority_LS: 8 XXX + SG_ PsngrStActPrty : 7|64@0+ (1,0) [0|0] "" XXX + SG_ PSAP_HdrstUpDn : 3|4@0+ (1,0) [0|15] "" XXX + SG_ PSAP_Massg : 7|4@0+ (1,0) [0|15] "" XXX + SG_ PSAP_HdrstUpDnFdRr : 11|4@0+ (1,0) [0|15] "" XXX + SG_ PSAP_HdrstFwdRrwd : 15|4@0+ (1,0) [0|15] "" XXX + SG_ PSAP_HdrstTltFwdRr : 19|4@0+ (1,0) [0|15] "" XXX + SG_ PSAP_HdrstWngsInOut : 23|4@0+ (1,0) [0|15] "" XXX + SG_ PSAP_LmbrUpDwn : 27|4@0+ (1,0) [0|15] "" XXX + SG_ PSAP_UprShldrFwdRr : 31|4@0+ (1,0) [0|15] "" XXX + SG_ PSAP_LmbrUpDnFdRr : 35|4@0+ (1,0) [0|15] "" XXX + SG_ PSAP_LmbrFwdRr : 39|4@0+ (1,0) [0|15] "" XXX + SG_ PSAP_CshBlstrInOut : 43|4@0+ (1,0) [0|15] "" XXX + SG_ PSAP_BkBlstrInOut : 47|4@0+ (1,0) [0|15] "" XXX + SG_ PSAP_CshLgthAdjFdRr : 51|4@0+ (1,0) [0|15] "" XXX + SG_ PSAP_BkCshBlstrInOut : 55|4@0+ (1,0) [0|15] "" XXX + SG_ PSAP_UnsdRsrvd : 59|4@0+ (1,0) [0|15] "" XXX + SG_ PSAP_DispSz : 63|4@0+ (1,0) [0|15] "" XXX + +BO_ 2155102208 Driver_Seat_Massage_Priority_LS: 8 XXX + SG_ DrvStMassgPrty : 7|64@0+ (1,0) [0|0] "" XXX + SG_ DSMP_Type2 : 3|4@0+ (1,0) [0|15] "" XXX + SG_ DSMP_Type1 : 7|4@0+ (1,0) [0|15] "" XXX + SG_ DSMP_Type4 : 11|4@0+ (1,0) [0|15] "" XXX + SG_ DSMP_Type3 : 15|4@0+ (1,0) [0|15] "" XXX + SG_ DSMP_Type6 : 19|4@0+ (1,0) [0|15] "" XXX + SG_ DSMP_Type5 : 23|4@0+ (1,0) [0|15] "" XXX + SG_ DSMP_Type8 : 27|4@0+ (1,0) [0|15] "" XXX + SG_ DSMP_Type7 : 31|4@0+ (1,0) [0|15] "" XXX + SG_ DSMP_Type10 : 35|4@0+ (1,0) [0|15] "" XXX + SG_ DSMP_Type9 : 39|4@0+ (1,0) [0|15] "" XXX + SG_ DSMP_Type12 : 43|4@0+ (1,0) [0|15] "" XXX + SG_ DSMP_Type11 : 47|4@0+ (1,0) [0|15] "" XXX + SG_ DSMP_Type14 : 51|4@0+ (1,0) [0|15] "" XXX + SG_ DSMP_Type13 : 55|4@0+ (1,0) [0|15] "" XXX + SG_ DSMP_UnsdRsrvd : 56|1@0+ (1,0) [0|1] "" XXX + SG_ DSMP_MaxDispVal : 59|3@0+ (1,0) [0|7] "" XXX + SG_ DSMP_Type15 : 63|4@0+ (1,0) [0|15] "" XXX + +BO_ 2155085824 Driver_Seat_Control_Disp_Stat_LS: 8 XXX + SG_ DrvStCtlDispStat : 3|44@0+ (1,0) [0|0] "" XXX + SG_ DSCDS_MassgTyp : 1|4@0+ (1,0) [0|15] "" XXX + SG_ DSCDS_Massg : 3|2@0+ (1,0) [0|3] "" XXX + SG_ DSCDS_HdrstFwdRrwd : 8|2@0+ (1,0) [0|3] "" XXX + SG_ DSCDS_HdrstUpDn : 10|2@0+ (1,0) [0|3] "" XXX + SG_ DSCDS_MassgIntsty : 13|3@0+ (1,0) [0|7] "" XXX + SG_ DSCDS_HdrstTltFwdRr : 17|2@0+ (1,0) [0|3] "" XXX + SG_ DSCDS_HdrstWngInOt : 19|2@0+ (1,0) [0|3] "" XXX + SG_ DSCDS_HdrstUDnFdRr : 22|3@0+ (1,0) [0|7] "" XXX + SG_ DSCDS_LmbrUDnFdRr : 25|3@0+ (1,0) [0|7] "" XXX + SG_ DSCDS_LmbrFwdRr : 27|2@0+ (1,0) [0|3] "" XXX + SG_ DSCDS_LmbrUpDwn : 29|2@0+ (1,0) [0|3] "" XXX + SG_ DSCDS_UprShldrFdRr : 31|2@0+ (1,0) [0|3] "" XXX + SG_ DSCDS_BkCshBlstInOt : 34|3@0+ (1,0) [0|7] "" XXX + SG_ DSCDS_CshBlstrInOut : 36|2@0+ (1,0) [0|3] "" XXX + SG_ DSCDS_BkBlstrInOut : 38|2@0+ (1,0) [0|3] "" XXX + SG_ DSCDS_UnsdRsrvd : 42|3@0+ (1,0) [0|7] "" XXX + SG_ DSCDS_DispReq : 43|1@0+ (1,0) [0|1] "" XXX + SG_ DSCDS_DispSz : 45|2@0+ (1,0) [0|3] "" XXX + SG_ DSCDS_CshLgAdjFdRr : 47|2@0+ (1,0) [0|3] "" XXX + SG_ CPMAPINFO4 : 5|1@0+ (1,0) [0|1] "" XXX + SG_ StrgColCommsFlt : 7|2@0+ (1,0) [0|3] "" XXX + SG_ StrgColInOutPos : 55|8@0+ (1,0) [0|255] "" XXX + SG_ StrgColUpDwnPos : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 2155069440 Driver_Seat_Actuator_Priority_LS: 8 XXX + SG_ DrvStActPrty : 7|64@0+ (1,0) [0|0] "" XXX + SG_ DSAP_HdrstUpDn : 3|4@0+ (1,0) [0|15] "" XXX + SG_ DSAP_Massg : 7|4@0+ (1,0) [0|15] "" XXX + SG_ DSAP_HdrstUpDnFdRr : 11|4@0+ (1,0) [0|15] "" XXX + SG_ DSAP_HdrstFwdRrwd : 15|4@0+ (1,0) [0|15] "" XXX + SG_ DSAP_HdrstTltFwdRr : 19|4@0+ (1,0) [0|15] "" XXX + SG_ DSAP_HdrstWngsInOut : 23|4@0+ (1,0) [0|15] "" XXX + SG_ DSAP_LmbrUpDwn : 27|4@0+ (1,0) [0|15] "" XXX + SG_ DSAP_UprShldrFwdRr : 31|4@0+ (1,0) [0|15] "" XXX + SG_ DSAP_LmbrUpDnFdRr : 35|4@0+ (1,0) [0|15] "" XXX + SG_ DSAP_LmbrFwdRr : 39|4@0+ (1,0) [0|15] "" XXX + SG_ DSAP_CshBlstrInOut : 43|4@0+ (1,0) [0|15] "" XXX + SG_ DSAP_BkBlstrInOut : 47|4@0+ (1,0) [0|15] "" XXX + SG_ DSAP_CshLgthAdjFdRr : 51|4@0+ (1,0) [0|15] "" XXX + SG_ DSAP_BkCshBlstrInOut : 55|4@0+ (1,0) [0|15] "" XXX + SG_ DSAP_UnsdRsrvd : 59|4@0+ (1,0) [0|15] "" XXX + SG_ DSAP_DispSz : 63|4@0+ (1,0) [0|15] "" XXX + +BO_ 2156937216 PassPhrase_Digits_17_to_24_LS: 8 XXX + SG_ WiFiPssPhrsDgts17to24 : 7|64@0+ (1,0) [0|0] "" XXX + +BO_ 2156929024 PassPhrase_Digits_9_to_16_LS: 8 XXX + SG_ WiFiPssPhrsDgts9to16 : 7|64@0+ (1,0) [0|0] "" XXX + +BO_ 2156920832 PassPhrase_Digits_1_to_8_LS: 8 XXX + SG_ WiFiPssPhrsDgts1to8 : 7|64@0+ (1,0) [0|0] "" XXX + +BO_ 2156871680 SSID_Digits_17_to_24_LS: 8 XXX + SG_ WiFiSSIDDgts17to24 : 7|64@0+ (1,0) [0|0] "" XXX + +BO_ 2156863488 SSID_Digits_9_to_16_LS: 8 XXX + SG_ WiFiSSIDDgts9to16 : 7|64@0+ (1,0) [0|0] "" XXX + +BO_ 2156855296 SSID_Digits_1_to_8_LS: 8 XXX + SG_ WiFiSSIDDgts1to8 : 7|64@0+ (1,0) [0|0] "" XXX + +BO_ 2152480768 Perfr_Data_Recorder_Lap_Info_LS: 6 XXX + SG_ PerfDatRecBstLpInfo : 2|19@0+ (1,0) [0|0] "" XXX + SG_ PDRBLI_BstLpTmMins : 2|6@0+ (1,0) [0|63] "min" XXX + SG_ PDRBLI_BstLpTmSecs : 12|6@0+ (1,0) [0|63] "sec" XXX + SG_ PDRBLI_BstLpTm100s : 22|7@0+ (0.01,0) [0|1.27] "sec" XXX + SG_ PerfDatRecLstLpInfo : 26|19@0+ (1,0) [0|0] "" XXX + SG_ PDRLLI_LstLpTmMins : 26|6@0+ (1,0) [0|63] "min" XXX + SG_ PDRLLI_LstLpTmSecs : 36|6@0+ (1,0) [0|63] "sec" XXX + SG_ PDRLLI_LstLpTm100s : 46|7@0+ (0.01,0) [0|1.27] "sec" XXX + +BO_ 2152497152 Perf_Data_Recroder_RT_Info_LS: 4 XXX + SG_ PerfDatRecRltmInfo : 1|26@0+ (1,0) [0|0] "" XXX + SG_ PDRRI_CrLpTmMins : 1|6@0+ (1,0) [0|63] "min" XXX + SG_ PDRRI_CrLpTmSecs : 11|6@0+ (1,0) [0|63] "" XXX + SG_ PDRRI_LpDiffTmSecs : 17|6@0+ (1,0) [0|63] "sec" XXX + SG_ PDRRI_CrLpTm10sSec : 21|4@0+ (0.1,0) [0|1.5] "sec" XXX + SG_ PDRRI_LpDiffTm10s : 27|4@0+ (0.1,0) [0|1.5] "sec" XXX + +BO_ 2153791488 ARB_State_LS: 1 XXX + SG_ ArtcldRngBrdSt : 2|3@0+ (1,0) [0|7] "" XXX + +BO_ 2149883904 BluetoothTetheringPairingRsp_LS: 7 XXX + SG_ BTTethrngPrngRsp : 4|53@0+ (1,0) [0|0] "" XXX + SG_ BTPR_RspInfoAvail : 0|1@0+ (1,0) [0|1] "" XXX + SG_ BTPR_RspStat : 4|4@0+ (1,0) [0|15] "" XXX + SG_ BTPR_RspVal : 15|48@0+ (1,0) [0|281474976710655] "" XXX + +BO_ 2150252544 HMI_EngyConsmpHistGrph_LS: 8 XXX + SG_ EngyConsmpHistGrph : 7|64@0+ (1,0) [0|0] "" XXX + SG_ ECHG_EngyCnsmdAvg : 4|5@0+ (1,0) [0|31] "" XXX + SG_ ECHG_MeasUnit : 7|3@0+ (1,0) [0|7] "" XXX + SG_ ECHG_Column02 : 10|5@0+ (1,0) [0|31] "" XXX + SG_ ECHG_Column01 : 15|5@0+ (1,0) [0|31] "" XXX + SG_ ECHG_Column04 : 16|5@0+ (1,0) [0|31] "" XXX + SG_ ECHG_Column03 : 21|5@0+ (1,0) [0|31] "" XXX + SG_ ECHG_Column05 : 27|5@0+ (1,0) [0|31] "" XXX + SG_ ECHG_Column07 : 33|5@0+ (1,0) [0|31] "" XXX + SG_ ECHG_Column06 : 38|5@0+ (1,0) [0|31] "" XXX + SG_ ECHG_Column08 : 44|5@0+ (1,0) [0|31] "" XXX + SG_ ECHG_Column10 : 50|5@0+ (1,0) [0|31] "" XXX + SG_ ECHG_Column09 : 55|5@0+ (1,0) [0|31] "" XXX + SG_ ECHG_YAxisMaxVal : 58|3@0+ (1,0) [0|7] "" XXX + SG_ ECHG_XAxisTkMrkIntvl : 61|3@0+ (1,0) [0|7] "" XXX + +BO_ 2150391808 HMI_Hourmeter_Data_LS: 6 XXX + SG_ EngIdlAtvTm : 7|24@0+ (1,0) [0|16777215] "min" XXX + SG_ EngRunAtvTm : 31|24@0+ (1,0) [0|16777215] "min" XXX + +BO_ 2155913216 Diesel_Information_2_LS: 7 XXX + SG_ DslExhFldRmngDstHRsGroup : 7|16@0+ (1,0) [0|0] "" XXX + SG_ DslExhFldRmngDstHRs : 6|15@0+ (2,0) [0|65534] "km" XXX + SG_ DslExhFldRmngDstHRsV : 7|1@0+ (1,0) [0|1] "" XXX + SG_ DslExhFluidLvlPrcntGroup : 16|9@0+ (1,0) [0|0] "" XXX + SG_ DslExhFluidLvlPrcntV : 16|1@0+ (1,0) [0|1] "" XXX + SG_ DslExhFluidLvlPrcnt : 31|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ DslEmnsOBDMrkt : 18|2@0+ (1,0) [0|3] "" XXX + SG_ PedFrndlyAlrtCsCrStVal : 21|3@0+ (1,0) [0|7] "" XXX + SG_ PedFrndlyAlrtCsSetAvl : 22|1@0+ (1,0) [0|1] "" XXX + SG_ PedFrndlyAlrtStat : 39|24@0+ (1,0) [0|0] "" XXX + SG_ PFAS_PFACrsOvrSpd : 34|8@0+ (1,0) [0|255] "km/h" XXX + SG_ PFAS_PFARevSnd : 36|2@0+ (1,0) [0|3] "" XXX + SG_ PFAS_PFAFwdSnd : 38|2@0+ (1,0) [0|3] "" XXX + SG_ PFAS_PFASndGenEn : 39|1@0+ (1,0) [0|1] "" XXX + SG_ PFAS_PFASndVolCtrl : 42|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ PFAS_SrvPedAlrtIO : 48|1@0+ (1,0) [0|1] "" XXX + SG_ PFAS_PFASysStat : 50|2@0+ (1,0) [0|3] "" XXX + +BO_ 2034 CCP_Data_Transmission_Object_LS: 8 XXX + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2032 CCP_Command_Receive_Object_LS: 8 XXX + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2152095744 HSGMLAN_Customization_Setings_LS: 5 XXX + SG_ DrvlnPerfMdCustAvl : 5|6@0+ (1,0) [0|0] "" XXX + SG_ DPMCA_DrvlPrfMd6Avl : 0|1@0+ (1,0) [0|1] "" XXX + SG_ DPMCA_DrvlPrfMd5Avl : 1|1@0+ (1,0) [0|1] "" XXX + SG_ DPMCA_DrvlPrfMd4Avl : 2|1@0+ (1,0) [0|1] "" XXX + SG_ DPMCA_DrvlPrfMd3Avl : 3|1@0+ (1,0) [0|1] "" XXX + SG_ DPMCA_DrvlPrfMd2Avl : 4|1@0+ (1,0) [0|1] "" XXX + SG_ DPMCA_DrvlPrfMd1Avl : 5|1@0+ (1,0) [0|1] "" XXX + SG_ DispPerfCustMdAvl : 13|6@0+ (1,0) [0|0] "" XXX + SG_ DPMCA_DispPrfMd6Avl : 8|1@0+ (1,0) [0|1] "" XXX + SG_ DPMCA_DispPrfMd5Avl : 9|1@0+ (1,0) [0|1] "" XXX + SG_ DPMCA_DispPrfMd4Avl : 10|1@0+ (1,0) [0|1] "" XXX + SG_ DPMCA_DispPrfMd3Avl : 11|1@0+ (1,0) [0|1] "" XXX + SG_ DPMCA_DispPrfMd2Avl : 12|1@0+ (1,0) [0|1] "" XXX + SG_ DPMCA_DispPrfMd1Avl : 13|1@0+ (1,0) [0|1] "" XXX + SG_ SndPerfMdCustAvl : 21|6@0+ (1,0) [0|0] "" XXX + SG_ SPMCA_SndPrfMd6Avl : 16|1@0+ (1,0) [0|1] "" XXX + SG_ SPMCA_SndPrfMd5Avl : 17|1@0+ (1,0) [0|1] "" XXX + SG_ SPMCA_SndPrfMd4Avl : 18|1@0+ (1,0) [0|1] "" XXX + SG_ SPMCA_SndPrfMd3Avl : 19|1@0+ (1,0) [0|1] "" XXX + SG_ SPMCA_SndPrfMd2Avl : 20|1@0+ (1,0) [0|1] "" XXX + SG_ SPMCA_SndPrfMd1Avl : 21|1@0+ (1,0) [0|1] "" XXX + SG_ StrPerfMdCustAvl : 29|6@0+ (1,0) [0|0] "" XXX + SG_ SPMCA_StrPrfMd6Avl : 24|1@0+ (1,0) [0|1] "" XXX + SG_ SPMCA_StrPrfMd5Avl : 25|1@0+ (1,0) [0|1] "" XXX + SG_ SPMCA_StrPrfMd4Avl : 26|1@0+ (1,0) [0|1] "" XXX + SG_ SPMCA_StrPrfMd3Avl : 27|1@0+ (1,0) [0|1] "" XXX + SG_ SPMCA_StrPrfMd2Avl : 28|1@0+ (1,0) [0|1] "" XXX + SG_ SPMCA_StrPrfMd1Avl : 29|1@0+ (1,0) [0|1] "" XXX + SG_ SusPerfMdCustAvl : 37|6@0+ (1,0) [0|0] "" XXX + SG_ SPMCA_SusPrfMd6Avl : 32|1@0+ (1,0) [0|1] "" XXX + SG_ SPMCA_SusPrfMd5Avl : 33|1@0+ (1,0) [0|1] "" XXX + SG_ SPMCA_SusPrfMd4Avl : 34|1@0+ (1,0) [0|1] "" XXX + SG_ SPMCA_SusPrfMd3Avl : 35|1@0+ (1,0) [0|1] "" XXX + SG_ SPMCA_SusPrfMd2Avl : 36|1@0+ (1,0) [0|1] "" XXX + SG_ SPMCA_SusPrfMd1Avl : 37|1@0+ (1,0) [0|1] "" XXX + +BO_ 2156945408 SSID_AMM_1_LS: 8 XXX + SG_ WiFiSSIDDgts1to8_Mp : 7|64@0+ (1,0) [0|0] "" XXX + +BO_ 2152611840 OnBoard_Tester_Request_LS: 2 XXX + SG_ OBTCReq : 4|5@0+ (1,0) [0|0] "" XXX + SG_ OBTCR_Prty : 3|4@0+ (1,0) [0|15] "" XXX + SG_ OBTCR_Actv : 4|1@0+ (1,0) [0|1] "" XXX + SG_ OBTCReqstrStat : 7|3@0+ (1,0) [0|7] "" XXX + SG_ OBTCReqstrID : 15|8@0+ (1,0) [0|255] "" XXX + +BO_ 2153308160 Hyb_Redundant_Batt_Data2_LS: 4 XXX + SG_ RdHVltBatPckCrntGroup : 6|15@0+ (1,0) [0|0] "" XXX + SG_ RdHVltBatPckCrnt : 4|13@0- (0.15,0) [-614.4|614.25] "A" XXX + SG_ RdHVltBatPckCrntV : 5|1@0+ (1,0) [0|1] "" XXX + SG_ RdHVltBatPckCrntM : 6|1@0+ (1,0) [0|1] "" XXX + SG_ RdHVltBatPckVltGroup : 21|14@0+ (1,0) [0|0] "" XXX + SG_ RdHVltBatPckVlt : 19|12@0+ (0.125,0) [0|511.875] "V" XXX + SG_ RdHVltBatPckVltV : 20|1@0+ (1,0) [0|1] "" XXX + SG_ RdHVltBatPckVltM : 21|1@0+ (1,0) [0|1] "" XXX + +BO_ 2155970560 HVAC_PowerManager_Status_LS: 1 XXX + SG_ ClmCntLdShdLvlRq : 3|4@0+ (1,0) [0|15] "" XXX + SG_ ClmCntBatSaverIO : 5|1@0+ (1,0) [0|1] "" XXX + +BO_ 2151178240 Lighting_Customization_Rqst_1_LS: 4 XXX + SG_ LtRtHnTrGPSCstStRq : 2|3@0+ (1,0) [0|7] "" XXX + SG_ LtRtHnTrCstStReq : 5|3@0+ (1,0) [0|7] "" XXX + SG_ AutHgBmAsSnCsStRq : 10|3@0+ (1,0) [0|7] "" XXX + SG_ AutHgBmAstCstStRq : 13|3@0+ (1,0) [0|7] "" XXX + SG_ AdpHgBmAsSnCsStRq : 18|3@0+ (1,0) [0|7] "" XXX + SG_ AdpHgBmAstCstStRq : 21|3@0+ (1,0) [0|7] "" XXX + SG_ AFLGPSCstStReq : 26|3@0+ (1,0) [0|7] "" XXX + SG_ AFLCstStReq : 29|3@0+ (1,0) [0|7] "" XXX + +BO_ 2154790912 Lighting_Customization_Info_2_LS: 2 XXX + SG_ AutHgBmAsCsCrStVal : 2|3@0+ (1,0) [0|7] "" XXX + SG_ AutHgBmAsSnCsCrStVa : 5|3@0+ (1,0) [0|7] "" XXX + SG_ AutHgBmAsCsStAvl : 6|1@0+ (1,0) [0|1] "" XXX + SG_ AutHgBmAsSnCsStAvl : 7|1@0+ (1,0) [0|1] "" XXX + SG_ AdpHgBmAsCsCrStVal : 10|3@0+ (1,0) [0|7] "" XXX + SG_ AdpHgBmAsSnCsCrStVal : 13|3@0+ (1,0) [0|7] "" XXX + SG_ AdpHgBmAsCsStAvl : 14|1@0+ (1,0) [0|1] "" XXX + SG_ AdpHgBmAsSnCsStAvl : 15|1@0+ (1,0) [0|1] "" XXX + +BO_ 2151292928 V2V_Customization_Menu_LS: 5 XXX + SG_ TrfRdsdInfCsStAvail : 0|1@0+ (1,0) [0|1] "" XXX + SG_ CntdVehBrkAltCsStAvl : 1|1@0+ (1,0) [0|1] "" XXX + SG_ IntrStopAlrtCsSetAvl : 2|1@0+ (1,0) [0|1] "" XXX + SG_ IntrStAlrtCsCrSetVal : 5|3@0+ (1,0) [0|7] "" XXX + SG_ TrfRdsdInfCsCrStVal : 10|3@0+ (1,0) [0|7] "" XXX + SG_ CntdVehBrAltCsCrStVal : 13|3@0+ (1,0) [0|7] "" XXX + SG_ IntrStAlrtCsAvail : 22|7@0+ (1,0) [0|0] "" XXX + SG_ ISACA_Resrv4Avail : 16|1@0+ (1,0) [0|1] "" XXX + SG_ ISACA_Resrv3Avail : 17|1@0+ (1,0) [0|1] "" XXX + SG_ ISACA_Resrv2Avail : 18|1@0+ (1,0) [0|1] "" XXX + SG_ ISACA_Resrv1Avail : 19|1@0+ (1,0) [0|1] "" XXX + SG_ ISACA_AlrtBrkAvail : 20|1@0+ (1,0) [0|1] "" XXX + SG_ ISACA_AlrtAvail : 21|1@0+ (1,0) [0|1] "" XXX + SG_ ISACA_OfAvail : 22|1@0+ (1,0) [0|1] "" XXX + SG_ CntdVehBrkAlrtCsAvail : 30|7@0+ (1,0) [0|0] "" XXX + SG_ CVBACA_Resrv5Avail : 24|1@0+ (1,0) [0|1] "" XXX + SG_ CVBACA_Resrv4Avail : 25|1@0+ (1,0) [0|1] "" XXX + SG_ CVBACA_Resrv3Avail : 26|1@0+ (1,0) [0|1] "" XXX + SG_ CVBACA_Resrv2Avail : 27|1@0+ (1,0) [0|1] "" XXX + SG_ CVBACA_Resrv1Avail : 28|1@0+ (1,0) [0|1] "" XXX + SG_ CVBACA_OnAvail : 29|1@0+ (1,0) [0|1] "" XXX + SG_ CVBACA_OfAvail : 30|1@0+ (1,0) [0|1] "" XXX + SG_ TrfRdsdInfCsAvail : 38|7@0+ (1,0) [0|0] "" XXX + SG_ TRICA_Resrv5Avail : 32|1@0+ (1,0) [0|1] "" XXX + SG_ TRICA_Resrv4Avail : 33|1@0+ (1,0) [0|1] "" XXX + SG_ TRICA_Resrv3Avail : 34|1@0+ (1,0) [0|1] "" XXX + SG_ TRICA_Resrv2Avail : 35|1@0+ (1,0) [0|1] "" XXX + SG_ TRICA_Resrv1Avail : 36|1@0+ (1,0) [0|1] "" XXX + SG_ TRICA_OnAvail : 37|1@0+ (1,0) [0|1] "" XXX + SG_ TRICA_OfAvail : 38|1@0+ (1,0) [0|1] "" XXX + +BO_ 2151464960 V2V_Warnings_LS: 5 XXX + SG_ V2VWrngIndReq : 4|5@0+ (1,0) [0|31] "" XXX + SG_ V2VWrngDirctn : 7|3@0+ (1,0) [0|7] "" XXX + SG_ V2VWrngDistRemng : 9|10@0+ (1,0) [0|1023] "" XXX + SG_ V2VTrfLghtInfo : 28|13@0+ (1,0) [0|0] "" XXX + SG_ V2VTLI_TrfLghtTmPhsSw : 28|6@0+ (1,0) [0|63] "" XXX + SG_ V2VTLI_TrfLghtMntngDirctn : 32|1@0+ (1,0) [0|1] "" XXX + SG_ V2VTLI_TrfLghtValDirctn : 34|2@0+ (1,0) [0|3] "" XXX + SG_ V2VTLI_TrfLghtPhsArivl : 36|2@0+ (1,0) [0|3] "" XXX + SG_ V2VTLI_TrfLghtActlPhs : 38|2@0+ (1,0) [0|3] "" XXX + SG_ V2VSrvIndReq : 30|2@0+ (1,0) [0|3] "" XXX + +BO_ 2151448576 V2V_Seat_Vib_Request_LS: 3 XXX + SG_ V2VSysHptcStVibReq : 5|6@0+ (1,0) [0|63] "" XXX + SG_ V2VSysHptStVibRqSN : 7|2@0+ (1,0) [0|3] "" XXX + SG_ V2VSyLftHptStVbRq : 13|6@0+ (1,0) [0|63] "" XXX + SG_ V2VSyLftHptStVbRqSN : 15|2@0+ (1,0) [0|3] "" XXX + SG_ V2VSyRghtHptStVbRq : 21|6@0+ (1,0) [0|63] "" XXX + SG_ V2VSyRghtHptStVbRqSN : 23|2@0+ (1,0) [0|3] "" XXX + +BO_ 2153930752 Lane_Centering_Convenience_LS: 3 XXX + SG_ LCWrnIndReq : 4|5@0+ (1,0) [0|31] "" XXX + SG_ LCCDrvrAwrnsIO : 5|1@0+ (1,0) [0|1] "" XXX + SG_ LnCntrVhlStpd : 6|1@0+ (1,0) [0|1] "" XXX + SG_ LnCntrNonRspDrvrCnd : 7|1@0+ (1,0) [0|1] "" XXX + SG_ LCConvMsgIndreq : 12|5@0+ (1,0) [0|31] "" XXX + SG_ LCCIndReq : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LnCntrEsclnStat : 17|2@0+ (1,0) [0|3] "" XXX + SG_ LnCntrSpchPrmtReq : 19|2@0+ (1,0) [0|3] "" XXX + SG_ LnCntrngCtlIcnLoctn : 23|4@0- (1,0) [-8|7] "" XXX + +BO_ 2153889792 Lane_Centering_Arrow_LS: 5 XXX + SG_ LCArrwBlk1Act : 0|1@0+ (1,0) [0|1] "" XXX + SG_ LCArrwBlk2Act : 1|1@0+ (1,0) [0|1] "" XXX + SG_ LCArrwBlk3Act : 2|1@0+ (1,0) [0|1] "" XXX + SG_ LCArrwBlk4Act : 3|1@0+ (1,0) [0|1] "" XXX + SG_ LCArrwBlk5Act : 4|1@0+ (1,0) [0|1] "" XXX + SG_ LCArrwBlk2Offst : 15|8@0- (1,0) [-128|127] "" XXX + SG_ LCArrwBlk3Offst : 23|8@0- (1,0) [-128|127] "" XXX + SG_ LCArrwBlk4Offst : 31|8@0- (1,0) [-128|127] "" XXX + SG_ LCArrwBlk5Offst : 39|8@0- (1,0) [-128|127] "" XXX + +BO_ 2153914368 Energy_Usage_LS: 7 XXX + SG_ EngyUsgScrScal : 7|56@0+ (1,0) [0|0] "" XXX + SG_ EUSS_OTEgUgScrMxScVal : 0|7@0- (0.1,0) [-5|5] "" XXX + SG_ EUSS_OTEgUgScrMnScVal : 7|7@0- (0.1,0) [-5|5] "" XXX + SG_ EUSS_ITEgUgScrMnScVal : 9|7@0- (0.1,0) [-5|5] "" XXX + SG_ EUSS_ITEgUgScrMxScVal : 18|7@0- (0.1,0) [-5|5] "" XXX + SG_ EUSS_TcEgUgScrMnScVal : 27|7@0- (0.1,0) [-5|5] "" XXX + SG_ EUSS_TcEgUgScrMxScVal : 36|7@0- (0.1,0) [-5|5] "" XXX + SG_ EUSS_TrEgUgScrMnScVal : 45|7@0- (0.1,0) [-5|5] "" XXX + SG_ EUSS_TrEgUgScrMxScVal : 54|7@0- (0.1,0) [-5|5] "" XXX + +BO_ 2151882752 PTO_Customization_Request_LS: 3 XXX + SG_ PTOTpStpSpdCsStReq : 2|3@0+ (1,0) [0|7] "" XXX + SG_ PTOEngRnTmrCsStRq : 11|4@0+ (1,0) [0|15] "" XXX + SG_ PTOStdbySpdCsStReq : 14|3@0+ (1,0) [0|7] "" XXX + SG_ PTOSet1SpdCsStReq : 19|4@0+ (1,0) [0|15] "" XXX + SG_ PTOSet2SpdCsStReq : 23|4@0+ (1,0) [0|15] "" XXX + +BO_ 2151899136 PTO_Status_LS: 5 XXX + SG_ PTORelBrkPedIO : 0|1@0+ (1,0) [0|1] "" XXX + SG_ PTORelAccPedIO : 1|1@0+ (1,0) [0|1] "" XXX + SG_ PTORedEngSpdIO : 2|1@0+ (1,0) [0|1] "" XXX + SG_ PTOPrsRelCltPedIO : 3|1@0+ (1,0) [0|1] "" XXX + SG_ PTOPrsRelBrkPedIO : 4|1@0+ (1,0) [0|1] "" XXX + SG_ PTOEngmntStatInd : 6|2@0+ (1,0) [0|3] "" XXX + SG_ PTODisengCrsCntlIO : 7|1@0+ (1,0) [0|1] "" XXX + SG_ PTOSet1SpdCsStAvl : 8|1@0+ (1,0) [0|1] "" XXX + SG_ PTOSet2SpdCsStAvl : 9|1@0+ (1,0) [0|1] "" XXX + SG_ PTOTpStpSpdCsStAvl : 10|1@0+ (1,0) [0|1] "" XXX + SG_ PTOEngRnTmrCsStAvl : 11|1@0+ (1,0) [0|1] "" XXX + SG_ PTOStdbySpdCsStAvl : 12|1@0+ (1,0) [0|1] "" XXX + SG_ PTOTransInGearIO : 13|1@0+ (1,0) [0|1] "" XXX + SG_ PTOSetPrkBrkIO : 14|1@0+ (1,0) [0|1] "" XXX + SG_ PTORelCltPedIO : 15|1@0+ (1,0) [0|1] "" XXX + SG_ PTOStdbSpdCsCrStVal : 18|3@0+ (1,0) [0|7] "" XXX + SG_ PTOGroup : 20|2@0+ (1,0) [0|0] "" XXX + SG_ PTOVDA : 19|1@0+ (1,0) [0|1] "" XXX + SG_ PTOVDM : 20|1@0+ (1,0) [0|1] "" XXX + SG_ PTOManTransInGrIO : 21|1@0+ (1,0) [0|1] "" XXX + SG_ PTOAccelUpnBrkRelIO : 22|1@0+ (1,0) [0|1] "" XXX + SG_ PTOEngUpnBrkRelIO : 23|1@0+ (1,0) [0|1] "" XXX + SG_ PTOTpStSpdCsCrStVal : 26|3@0+ (1,0) [0|7] "" XXX + SG_ PTOEnRnTmCsCrStVal : 30|4@0+ (1,0) [0|15] "" XXX + SG_ PTOServIndOn : 31|1@0+ (1,0) [0|1] "" XXX + SG_ PTOSet1SpdCsCrStVal : 35|4@0+ (1,0) [0|15] "" XXX + SG_ PTOSet2SpdCsCrStVal : 39|4@0+ (1,0) [0|15] "" XXX + +BO_ 2150580224 HMI_UtlChrgIntrfr_Indication_LS: 5 XXX + SG_ CstmrNonUsblSOCGroup : 1|10@0+ (1,0) [0|0] "" XXX + SG_ CstmrNonUsblSOCV : 1|1@0+ (1,0) [0|1] "" XXX + SG_ CstmrNonUsblSOC : 15|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ CstNonUsbSOCDspLvl : 23|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ PrpDspTtlPwrLvlPct : 24|9@0- (0.392157,0) [-100.392192|100.000035] "%" XXX + +BO_ 2151735296 Rear_Cross_Traffic_Alert_Ind_LS: 1 XXX + SG_ RrCrsTrfcAlrtOffIO : 0|1@0+ (1,0) [0|1] "" XXX + SG_ LnChgAlrtOffIndOn : 1|1@0+ (1,0) [0|1] "" XXX + SG_ RtRrCrsTrfcAlrtEnbld : 2|1@0+ (1,0) [0|1] "" XXX + SG_ RtSBZAlrtEnbld : 3|1@0+ (1,0) [0|1] "" XXX + SG_ RtLnChgAlrtEnbld : 4|1@0+ (1,0) [0|1] "" XXX + SG_ RtSdDetSysTmpDsbld : 5|1@0+ (1,0) [0|1] "" XXX + SG_ RtSdDetSysServDsbld : 6|1@0+ (1,0) [0|1] "" XXX + +BO_ 2151792640 Rear_Cross_Traffic_Alert_Rght_LS: 5 XXX + SG_ RrCTfcRHptcStRqSqN : 1|2@0+ (1,0) [0|3] "" XXX + SG_ RrCTfcRHptcStReq : 7|6@0+ (1,0) [0|63] "" XXX + SG_ RrCrsTrfAltRgtIndCtrl : 34|3@0+ (1,0) [0|0] "" XXX + SG_ RCTARIC_IndReq : 33|2@0+ (1,0) [0|3] "" XXX + SG_ RCTARIC_Indctr1Act : 34|1@0+ (1,0) [0|1] "" XXX + +BO_ 2149826560 FCA_VisionBased_Info_2_LS: 4 XXX + SG_ FCAGpStng : 2|3@0+ (1,0) [0|7] "" XXX + SG_ FCAHdwyStngIO : 3|1@0+ (1,0) [0|1] "" XXX + SG_ FCACrusCtrlCnclReqd : 4|1@0+ (1,0) [0|1] "" XXX + SG_ FCABrkPrflReq : 5|1@0+ (1,0) [0|1] "" XXX + SG_ FwdClnAlrtOffIO11E : 6|1@0+ (1,0) [0|1] "" XXX + SG_ FwdClnAlrtPr11E : 7|1@0+ (1,0) [0|1] "" XXX + SG_ SpdLmtVsnFsdSpdGroup : 15|15@0+ (1,0) [0|0] "" XXX + SG_ SpdLmtVsnFsdSpd : 15|8@0+ (1,0) [0|255] "" XXX + SG_ SpdLmtVsnFsdSpdM : 17|1@0+ (1,0) [0|1] "" XXX + SG_ FwdObjAlrtInd11E : 16|9@0+ (1,0) [0|0] "" XXX + SG_ FOAI_AlrtChmIhbRq11E : 16|1@0+ (1,0) [0|1] "" XXX + SG_ FOAI_VehAhdIndRq11E : 27|4@0+ (1,0) [0|15] "" XXX + SG_ FOAI_AlrtWrnIndRq11E : 31|4@0+ (1,0) [0|15] "" XXX + SG_ SpdLmtVnFsSpdNwDet : 18|1@0+ (1,0) [0|1] "" XXX + SG_ SpdLmtVsnFsdSpdUnt : 19|1@0+ (1,0) [0|1] "" XXX + +BO_ 2149957632 Park_Assist_ESSprocess_Info_LS: 1 XXX + SG_ ClsnMtgtnInhbtd : 0|1@0+ (1,0) [0|1] "" XXX + SG_ PrkAstInhbtReq : 1|1@0+ (1,0) [0|1] "" XXX + SG_ PrkAstRrObjSnsngRqAct : 2|1@0+ (1,0) [0|1] "" XXX + SG_ PrkAstOprtrDsrdStat : 4|2@0+ (1,0) [0|3] "" XXX + +BO_ 2149941248 Park_Assist_ESSbased_Info_LS: 5 XXX + SG_ PrkAstRrExtdDstUnfltd : 3|12@0+ (0.01,0) [0|40.95] "m" XXX + SG_ PrkAstRrSysStatUnfltd : 5|2@0+ (1,0) [0|3] "" XXX + SG_ PrkAstFntnSnsDstrbdIO : 16|1@0+ (1,0) [0|1] "" XXX + SG_ PrkAstFntnSnrsBlkd : 17|1@0+ (1,0) [0|1] "" XXX + SG_ PrkAstFntnFld : 18|1@0+ (1,0) [0|1] "" XXX + SG_ PrkAstFntnDsbldIO : 19|1@0+ (1,0) [0|1] "" XXX + SG_ PrkAstFntnClnPrkAstIO : 20|1@0+ (1,0) [0|1] "" XXX + SG_ ClsnMtgtnInhbtReqtd : 21|1@0+ (1,0) [0|1] "" XXX + SG_ PrkAstRrObjSnsngAct : 22|1@0+ (1,0) [0|1] "" XXX + SG_ PARrRgn3ObjStatUnfltd : 27|4@0+ (1,0) [0|15] "" XXX + SG_ PARrRgn4ObjStatUnfltd : 31|4@0+ (1,0) [0|15] "" XXX + SG_ PARrRgn1ObjStatUnfltd : 35|4@0+ (1,0) [0|15] "" XXX + SG_ PARrRgn2ObjStatUnfltd : 39|4@0+ (1,0) [0|15] "" XXX + +BO_ 2156314624 High_Volt_Time_Based_Chrg_LS: 8 XXX + SG_ TODCNxtPlnndDprtrTm : 5|14@0+ (1,0) [0|0] "" XXX + SG_ TODCNPDT_Hr : 2|5@0+ (1,0) [0|31] "Hour" XXX + SG_ TODCNPDT_DyOfWk : 5|3@0+ (1,0) [0|7] "" XXX + SG_ TODCNPDT_Min : 13|6@0+ (1,0) [0|63] "Minute" XXX + SG_ OffBrdCSFltDtctd : 6|1@0+ (1,0) [0|1] "" XXX + SG_ OBVhCsACChgRqBnVs : 7|1@0+ (1,0) [0|1] "" XXX + SG_ HVChgSyChgLvlPrfDt : 16|25@0+ (1,0) [0|0] "" XXX + SG_ HVCSCLPD_UsrIntTyp : 16|2@0+ (1,0) [0|3] "" XXX + SG_ HVCSCLPD_NrmChrgC : 27|5@0+ (1,0) [0|31] "A" XXX + SG_ HVCSCLPD_ChgLvlPfS : 30|3@0+ (1,0) [0|7] "" XXX + SG_ HVCSCLPD_RdCrntLv2 : 33|5@0+ (1,0) [0|31] "A" XXX + SG_ HVCSCLPD_RdCrntLv1 : 38|5@0+ (1,0) [0|31] "A" XXX + SG_ HVCSCLPD_RdCrntLv3 : 44|5@0+ (1,0) [0|31] "A" XXX + SG_ HVChrgAbrtRsn : 19|3@0+ (1,0) [0|7] "" XXX + SG_ TODCOpMd : 22|3@0+ (1,0) [0|7] "" XXX + SG_ HVChrgSysSplyFltIO : 23|1@0+ (1,0) [0|1] "" XXX + SG_ TODCDspMnPgTmpOr : 52|5@0+ (1,0) [0|0] "" XXX + SG_ TODCDMPTO_TpOvR : 51|4@0+ (1,0) [0|15] "" XXX + SG_ TODCDMPTO_CmPgR : 52|1@0+ (1,0) [0|1] "" XXX + SG_ HVChrgSysStNot : 55|3@0+ (1,0) [0|7] "" XXX + SG_ HVBatBlkSOC : 63|8@0+ (0.392157,0) [0|100.000035] "%" XXX + +BO_ 2150449152 Engine_Information_5_LS: 4 XXX + SG_ SrvcFlSysPrkInOpnArIO : 0|1@0+ (1,0) [0|1] "" XXX + SG_ TnDrvTrCtrlOffUnbIO : 1|1@0+ (1,0) [0|1] "" XXX + SG_ TnDrvStblCtrlOffUnbIO : 2|1@0+ (1,0) [0|1] "" XXX + SG_ InActFuelMdFuelLvlIO : 3|1@0+ (1,0) [0|1] "" XXX + SG_ FuelSysNEmsRltMalfAct : 4|1@0+ (1,0) [0|1] "" XXX + SG_ EngInltSpcfcHmdtyGroup : 7|16@0+ (1,0) [0|0] "" XXX + SG_ EngInltSpcfcHmdtyM : 6|1@0+ (1,0) [0|1] "" XXX + SG_ EngInltSpcfcHmdtyV : 7|1@0+ (1,0) [0|1] "" XXX + SG_ EngInltSpcfcHmdty : 15|8@0+ (0.0196078,0) [0|4.999989] "% water" XXX + SG_ AutoStpInhbtRsnInd : 23|8@0+ (1,0) [0|0] "" XXX + SG_ ASIRI_Indication08 : 16|1@0+ (1,0) [0|1] "" XXX + SG_ ASIRI_Indication07 : 17|1@0+ (1,0) [0|1] "" XXX + SG_ ASIRI_Indication06 : 18|1@0+ (1,0) [0|1] "" XXX + SG_ ASIRI_Indication05 : 19|1@0+ (1,0) [0|1] "" XXX + SG_ ASIRI_Indication04 : 20|1@0+ (1,0) [0|1] "" XXX + SG_ ASIRI_Indication03 : 21|1@0+ (1,0) [0|1] "" XXX + SG_ ASIRI_Indication02 : 22|1@0+ (1,0) [0|1] "" XXX + SG_ ASIRI_Indication01 : 23|1@0+ (1,0) [0|1] "" XXX + SG_ SpdLmtrSttngTypAct : 25|2@0+ (1,0) [0|3] "" XXX + SG_ ManTransIndReq : 28|3@0+ (1,0) [0|7] "" XXX + SG_ ESPDrvrExtIO : 29|1@0+ (1,0) [0|1] "" XXX + SG_ ESPDrvrDrStIndtrmntIO : 30|1@0+ (1,0) [0|1] "" XXX + SG_ ESPAutoPrkIO : 31|1@0+ (1,0) [0|1] "" XXX + +BO_ 2149810176 FCA_VisionBased_Info_1_LS: 1 XXX + SG_ FCAHptcStVbnRqSeqN : 1|2@0+ (1,0) [0|3] "" XXX + SG_ FCAHptcStVbnReq : 7|6@0+ (1,0) [0|63] "" XXX + +BO_ 2149793792 FCA_VisionBased_Info_LS: 6 XXX + SG_ FwdClnAlrtCustCrntSetngVal : 3|3@0+ (1,0) [0|7] "" XXX + SG_ FCACustStngAvlbl : 6|1@0+ (1,0) [0|1] "" XXX + SG_ VhlAhdDstIndReq : 26|19@0+ (1,0) [0|0] "" XXX + SG_ VADIR_IndLvl : 26|4@0+ (1,0) [0|15] "" XXX + SG_ VADIR_FlwTme : 38|7@0+ (0.1,0) [0|12.7] "s" XXX + SG_ VADIR_FlwDst : 47|8@0+ (1,0) [0|255] "m" XXX + +BO_ 2150080512 Aux_Coolant_Heater_Status_LS: 8 XXX + SG_ EngAstHtDfrdHtMdAct : 0|1@0+ (1,0) [0|1] "" XXX + SG_ LBCCsCrStVal : 2|2@0+ (1,0) [0|3] "" XXX + SG_ AuxClntHtrVlvStat : 5|3@0+ (1,0) [0|7] "" XXX + SG_ LBCChrgLvlPrfExpIO : 6|1@0+ (1,0) [0|1] "" XXX + SG_ LBCCsStAvl : 7|1@0+ (1,0) [0|1] "" XXX + SG_ LBCCstmrDaRstResp : 12|5@0+ (1,0) [0|0] "" XXX + SG_ LBCCDRR_PosNumbr : 10|3@0+ (1,0) [0|7] "" XXX + SG_ LBCCDRR_ClrStrdPosResp : 12|2@0+ (1,0) [0|3] "" XXX + SG_ LBCPosStgStat : 20|5@0+ (1,0) [0|0] "" XXX + SG_ LBCPSS_PosUpdtLct : 18|3@0+ (1,0) [0|7] "" XXX + SG_ LBCPSS_PosUpdtStat : 20|2@0+ (1,0) [0|3] "" XXX + SG_ LBCVehLctStat : 27|4@0+ (1,0) [0|0] "" XXX + SG_ LBCVLS_VehGPSLct : 26|3@0+ (1,0) [0|7] "" XXX + SG_ LBCVLS_VehGPSLctV : 27|1@0+ (1,0) [0|1] "" XXX + SG_ LBCCstmrFdbk : 31|4@0+ (1,0) [0|0] "" XXX + SG_ LBCCF_Lct4PosStrdIO : 28|1@0+ (1,0) [0|1] "" XXX + SG_ LBCCF_Lct3PosStrdIO : 29|1@0+ (1,0) [0|1] "" XXX + SG_ LBCCF_Lct2PosStrdIO : 30|1@0+ (1,0) [0|1] "" XXX + SG_ LBCCF_Lct1PosStrdIO : 31|1@0+ (1,0) [0|1] "" XXX + SG_ ChrgCyclElecEngyEcnEq : 35|12@0+ (0.1,0) [0|409.5] "km/l" XXX + SG_ ChrgCyclOvrlEngyEcnEq : 51|12@0+ (0.1,0) [0|409.5] "km/l" XXX + +BO_ 2153873408 Heated_Steering_Whl_Rqsted_LS: 1 XXX + SG_ MnlHtdStWhlRqstd : 7|1@0+ (1,0) [0|1] "" XXX + +BO_ 2152128512 Performance_Mode_Cust_Setings_LS: 4 XXX + SG_ ACCPerfMdCustAvl : 5|6@0+ (1,0) [0|0] "" XXX + SG_ ACCPMCA_ACCPrfMd6Avl : 0|1@0+ (1,0) [0|1] "" XXX + SG_ ACCPMCA_ACCPrfMd5Avl : 1|1@0+ (1,0) [0|1] "" XXX + SG_ ACCPMCA_ACCPrfMd4Avl : 2|1@0+ (1,0) [0|1] "" XXX + SG_ ACCPMCA_ACCPrfMd3Avl : 3|1@0+ (1,0) [0|1] "" XXX + SG_ ACCPMCA_ACCPrfMd2Avl : 4|1@0+ (1,0) [0|1] "" XXX + SG_ ACCPMCA_ACCPrfMd1Avl : 5|1@0+ (1,0) [0|1] "" XXX + SG_ DrvrStPerfMdCustAvl : 13|6@0+ (1,0) [0|0] "" XXX + SG_ DSPMCA_DrvrStPrfMd6Avl : 8|1@0+ (1,0) [0|1] "" XXX + SG_ DSPMCA_DrvrStPrfMd5Avl : 9|1@0+ (1,0) [0|1] "" XXX + SG_ DSPMCA_DrvrStPrfMd4Avl : 10|1@0+ (1,0) [0|1] "" XXX + SG_ DSPMCA_DrvrStPrfMd3Avl : 11|1@0+ (1,0) [0|1] "" XXX + SG_ DSPMCA_DrvrStPrfMd2Avl : 12|1@0+ (1,0) [0|1] "" XXX + SG_ DSPMCA_DrvrStPrfMd1Avl : 13|1@0+ (1,0) [0|1] "" XXX + SG_ PsngStPerfMdCustAvl : 21|6@0+ (1,0) [0|0] "" XXX + SG_ PSPMCA_PsngStPrfMd6Avl : 16|1@0+ (1,0) [0|1] "" XXX + SG_ PSPMCA_PsngStPrfMd5Avl : 17|1@0+ (1,0) [0|1] "" XXX + SG_ PSPMCA_PsngStPrfMd4Avl : 18|1@0+ (1,0) [0|1] "" XXX + SG_ PSPMCA_PsngStPrfMd3Avl : 19|1@0+ (1,0) [0|1] "" XXX + SG_ PSPMCA_PsngStPrfMd2Avl : 20|1@0+ (1,0) [0|1] "" XXX + SG_ PSPMCA_PsngStPrfMd1Avl : 21|1@0+ (1,0) [0|1] "" XXX + SG_ DrvStyPerfMdCustAvl : 30|7@0+ (1,0) [0|0] "" XXX + SG_ DSPMCA_DrvStyPrfMd7Avl : 24|1@0+ (1,0) [0|1] "" XXX + SG_ DSPMCA_DrvStyPrfMd6Avl : 25|1@0+ (1,0) [0|1] "" XXX + SG_ DSPMCA_DrvStyPrfMd5Avl : 26|1@0+ (1,0) [0|1] "" XXX + SG_ DSPMCA_DrvStyPrfMd4Avl : 27|1@0+ (1,0) [0|1] "" XXX + SG_ DSPMCA_DrvStyPrfMd3Avl : 28|1@0+ (1,0) [0|1] "" XXX + SG_ DSPMCA_DrvStyPrfMd2Avl : 29|1@0+ (1,0) [0|1] "" XXX + SG_ DSPMCA_DrvStyPrfMd1Avl : 30|1@0+ (1,0) [0|1] "" XXX + +BO_ 2151997440 Driver_Drowsiness_Dtctn_Stat_LS: 5 XXX + SG_ DrvDrowSysIndRq : 2|3@0+ (1,0) [0|7] "" XXX + SG_ DrvDrwDetCsCrStVal : 5|3@0+ (1,0) [0|7] "" XXX + SG_ DrvDrowDetCstStAvl : 6|1@0+ (1,0) [0|1] "" XXX + SG_ DrvDrsnHptcStRqSeqN : 9|2@0+ (1,0) [0|3] "" XXX + SG_ DrDrwSysHptcStVbnRq : 15|6@0+ (1,0) [0|63] "" XXX + +BO_ 2156331008 High_Voltage_EnergyMgmt_Ctrl_LS: 7 XXX + SG_ LwRngLVLdShdRq : 1|2@0+ (1,0) [0|3] "" XXX + SG_ HVDpltnMdMxCnfdcRg : 11|12@0+ (0.1,0) [0|409.5] "km" XXX + SG_ HVDpltnMdMiCnfdcRg : 27|12@0+ (0.1,0) [0|409.5] "km" XXX + SG_ HVDpltnMdMxGugRg : 43|12@0+ (0.1,0) [0|409.5] "km" XXX + +BO_ 2151776256 Rear_Cross_Traffic_Alert_Left_LS: 5 XXX + SG_ RrCTfcLHptcStRqSeqN : 1|2@0+ (1,0) [0|3] "" XXX + SG_ RrCTfcLHptcStReq : 7|6@0+ (1,0) [0|63] "" XXX + SG_ RrCrsTrfAltLftIndCtrl : 34|3@0+ (1,0) [0|0] "" XXX + SG_ RCTALIC_IndReq : 33|2@0+ (1,0) [0|3] "" XXX + SG_ RCTALIC_Indctr1Act : 34|1@0+ (1,0) [0|1] "" XXX + +BO_ 2154774528 Lighting_Customization_Info_1_LS: 1 XXX + SG_ LtRtHnTrCstStVal : 2|3@0+ (1,0) [0|7] "" XXX + SG_ LtRtHnTrGPCsCrStVal : 5|3@0+ (1,0) [0|7] "" XXX + SG_ LtRtHnTrCstStAvail : 6|1@0+ (1,0) [0|1] "" XXX + SG_ LtRtHnTrGPSCsStAvl : 7|1@0+ (1,0) [0|1] "" XXX + +BO_ 2150375424 Eng_Maintenance_Mode_Strt_Req_LS: 3 XXX + SG_ MntnceMdStEngRq : 0|1@0+ (1,0) [0|1] "" XXX + SG_ EngAstHtCstStRq : 3|3@0+ (1,0) [0|7] "" XXX + SG_ EngAstHtPlgInCstStRq : 6|3@0+ (1,0) [0|7] "" XXX + SG_ DsplTrnsShftLvrLckRqd : 7|1@0+ (1,0) [0|1] "" XXX + SG_ EngyCnsHistGrphRstRq : 8|1@0+ (1,0) [0|1] "" XXX + SG_ USBProgInPrgrs : 9|1@0+ (1,0) [0|1] "" XXX + SG_ LBCPosMdfcReq : 12|3@0+ (1,0) [0|7] "" XXX + SG_ LBCCsStReq : 14|2@0+ (1,0) [0|3] "" XXX + SG_ LBCCstmrDaRstReq : 20|5@0+ (1,0) [0|0] "" XXX + SG_ LBCCDRR_PosNum : 18|3@0+ (1,0) [0|7] "" XXX + SG_ LBCCDRR_ClrStrdPosReq : 20|2@0+ (1,0) [0|3] "" XXX + +BO_ 2150383616 Engine_Maintenance_Mode_Req_LS: 8 XXX + SG_ MntnceMdDsplyRq : 3|4@0+ (1,0) [0|15] "" XXX + SG_ EngMntnceMdAct : 4|1@0+ (1,0) [0|1] "" XXX + SG_ EngMntncePrcntCpl : 15|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ EngPrpDspPwrLvlPct : 23|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ EstElecPrpCap : 31|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ PrpCapDspOpPs : 39|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ PrpDspTtlPwr : 45|13@0+ (0.5,-326.6) [-326.6|3768.9] "kW" XXX + SG_ BatPrpDspPwrLvlPct : 48|9@0- (0.392157,0) [-100.392192|100.000035] "%" XXX + +BO_ 2151981056 Drive_Cycle_Efficiency_LS: 8 XXX + SG_ DstTrvldDt : 7|51@0+ (1,0) [0|0] "" XXX + SG_ DTD_BattPrpDstTrvld : 7|17@0+ (0.015625,0) [0|2047.984375] "km" XXX + SG_ DTD_FuelPrpDstTrvld : 22|17@0+ (0.015625,0) [0|2047.984375] "km" XXX + SG_ DTD_DrvCyclDstTrvld : 37|17@0+ (0.015625,0) [0|2047.984375] "km" XXX + SG_ DrvCyclBatPropRat : 50|11@0+ (0.048852,0) [0|100.000044] "%" XXX + +BO_ 2151964672 Drive_Cycle_Energy_Efficiency_LS: 8 XXX + SG_ DrvCyclBatCondEnrgEfncy : 7|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ DrvCyclCbnCondEnrgEfncy : 23|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ DrvCyclDrvStEnrgEfncy : 31|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ DrvCyclTtlEnrgEfncy : 39|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ DrvCyclFuelEnmy : 47|12@0+ (0.1,0) [0|409.5] "km/liters" XXX + SG_ DrvCyclFuelUsd : 51|12@0+ (0.125,0) [0|511.875] "liters" XXX + +BO_ 2156298240 High_Volt_Batt_Time_Pwr_Chrg_LS: 8 XXX + SG_ HVBatCmpltTmHghPwrChrg : 7|14@0+ (1,0) [0|0] "" XXX + SG_ HVBCTHPC_HrOfDy : 4|5@0+ (1,0) [0|31] "Hour" XXX + SG_ HVBCTHPC_DyOfWk : 7|3@0+ (1,0) [0|7] "" XXX + SG_ HVBCTHPC_MntOfHr : 15|6@0+ (1,0) [0|63] "Minute" XXX + SG_ HVBatCmpltTmLwPwrChrg : 9|14@0+ (1,0) [0|0] "" XXX + SG_ HVBCTLPC_DyOfWk : 9|3@0+ (1,0) [0|7] "" XXX + SG_ HVBCTLPC_MntOfHr : 17|6@0+ (1,0) [0|63] "Minute" XXX + SG_ HVBCTLPC_HrOfDy : 22|5@0+ (1,0) [0|31] "Hour" XXX + SG_ HVBatStrTmHghPwrChrg : 27|14@0+ (1,0) [0|0] "" XXX + SG_ HVBSTHPC_HrOfDy : 24|5@0+ (1,0) [0|31] "Hour" XXX + SG_ HVBSTHPC_DyOfWk : 27|3@0+ (1,0) [0|7] "" XXX + SG_ HVBSTHPC_MntOfHr : 35|6@0+ (1,0) [0|63] "Minute" XXX + SG_ HVBatStrTmLwPwrChrg : 45|14@0+ (1,0) [0|0] "" XXX + SG_ HVBSTLPC_HrOfDy : 42|5@0+ (1,0) [0|31] "Hour" XXX + SG_ HVBSTLPC_DyOfWk : 45|3@0+ (1,0) [0|7] "" XXX + SG_ HVBSTLPC_MntOfHr : 53|6@0+ (1,0) [0|63] "Minute" XXX + SG_ HVChrgSysDpTmExdSt : 58|3@0+ (1,0) [0|0] "" XXX + SG_ HVCSDTES_NPDTIO : 56|1@0+ (1,0) [0|1] "" XXX + SG_ HVCSDTES_HiPwrCIO : 57|1@0+ (1,0) [0|1] "" XXX + SG_ HVCSDTES_LoPwrCIO : 58|1@0+ (1,0) [0|1] "" XXX + SG_ HTRActvIndOn : 59|1@0+ (1,0) [0|1] "" XXX + SG_ InsfcntTmTFlChrgIO : 60|1@0+ (1,0) [0|1] "" XXX + SG_ InvldHMIEtrIO : 61|1@0+ (1,0) [0|1] "" XXX + SG_ HVBatChrgCrdAlrtReq : 63|2@0+ (1,0) [0|3] "" XXX + +BO_ 2149924864 Drv_Pref_Mode_Switch_Status_LS: 8 XXX + SG_ DrvSelMd1Stat : 0|1@0+ (1,0) [0|1] "" XXX + SG_ DrvSelMd1ReqDnd : 1|1@0+ (1,0) [0|1] "" XXX + SG_ DrvSelMd2Stat : 2|1@0+ (1,0) [0|1] "" XXX + SG_ DrvSelMd2ReqDnd : 3|1@0+ (1,0) [0|1] "" XXX + SG_ DrvSelMd3Stat : 4|1@0+ (1,0) [0|1] "" XXX + SG_ DrvSelMd3ReqDnd : 5|1@0+ (1,0) [0|1] "" XXX + SG_ HilRlbkCtrlActIO : 6|1@0+ (1,0) [0|1] "" XXX + SG_ FwdClnMtgnBrkReqAct : 7|1@0+ (1,0) [0|1] "" XXX + SG_ DrvSelMdSelnStat : 8|17@0+ (1,0) [0|0] "" XXX + SG_ DSMSS_DrvSelMd1Un : 8|1@0+ (1,0) [0|1] "" XXX + SG_ DSMSS_DrvSelMd1Pn : 16|1@0+ (1,0) [0|1] "" XXX + SG_ DSMSS_DrvSelMd8Un : 17|1@0+ (1,0) [0|1] "" XXX + SG_ DSMSS_DrvSelMd7Un : 18|1@0+ (1,0) [0|1] "" XXX + SG_ DSMSS_DrvSelMd6Un : 19|1@0+ (1,0) [0|1] "" XXX + SG_ DSMSS_DrvSelMd5Un : 20|1@0+ (1,0) [0|1] "" XXX + SG_ DSMSS_DrvSelMd4Un : 21|1@0+ (1,0) [0|1] "" XXX + SG_ DSMSS_DrvSelMd3Un : 22|1@0+ (1,0) [0|1] "" XXX + SG_ DSMSS_DrvSelMd2Un : 23|1@0+ (1,0) [0|1] "" XXX + SG_ DSMSS_DrvSelMd0Pn : 24|1@0+ (1,0) [0|1] "" XXX + SG_ DSMSS_DrvSelMd8Pn : 25|1@0+ (1,0) [0|1] "" XXX + SG_ DSMSS_DrvSelMd7Pn : 26|1@0+ (1,0) [0|1] "" XXX + SG_ DSMSS_DrvSelMd6Pn : 27|1@0+ (1,0) [0|1] "" XXX + SG_ DSMSS_DrvSelMd5Pn : 28|1@0+ (1,0) [0|1] "" XXX + SG_ DSMSS_DrvSelMd4Pn : 29|1@0+ (1,0) [0|1] "" XXX + SG_ DSMSS_DrvSelMd3Pn : 30|1@0+ (1,0) [0|1] "" XXX + SG_ DSMSS_DrvSelMd2Pn : 31|1@0+ (1,0) [0|1] "" XXX + SG_ DrvSelMd4Stat : 9|1@0+ (1,0) [0|1] "" XXX + SG_ DrvSelMd4ReqDnd : 10|1@0+ (1,0) [0|1] "" XXX + SG_ DrvSelMd5Stat : 11|1@0+ (1,0) [0|1] "" XXX + SG_ DrvSelMd5ReqDnd : 12|1@0+ (1,0) [0|1] "" XXX + SG_ DrvSelMd6Stat : 13|1@0+ (1,0) [0|1] "" XXX + SG_ DrvSelMd6ReqDnd : 14|1@0+ (1,0) [0|1] "" XXX + SG_ PTOMobModTrnsInGrIO : 15|1@0+ (1,0) [0|1] "" XXX + SG_ ECODrvAsstDsplyStat : 34|11@0+ (1,0) [0|0] "" XXX + SG_ EDADS_ShftIndStat : 33|2@0+ (1,0) [0|3] "" XXX + SG_ EDADS_EcoDrvShftIO : 34|1@0+ (1,0) [0|1] "" XXX + SG_ EDADS_RcmndtFwdGr : 43|4@0+ (1,0) [0|15] "" XXX + SG_ EDADS_CrntFwdMsdG : 47|4@0+ (1,0) [0|15] "" XXX + SG_ DrvSelMd7Stat : 35|1@0+ (1,0) [0|1] "" XXX + SG_ DrvSelMd7ReqDnd : 36|1@0+ (1,0) [0|1] "" XXX + SG_ DrvSelMd8Stat : 37|1@0+ (1,0) [0|1] "" XXX + SG_ DrvSelMd8ReqDnd : 38|1@0+ (1,0) [0|1] "" XXX + SG_ FstIdlMdAct : 39|1@0+ (1,0) [0|1] "" XXX + SG_ DsplyPerfMdRq : 50|3@0+ (1,0) [0|7] "" XXX + SG_ TireLFLowTracIO : 51|1@0+ (1,0) [0|1] "" XXX + SG_ TireLRLowTracIO : 52|1@0+ (1,0) [0|1] "" XXX + SG_ TireRFLowTracIO : 53|1@0+ (1,0) [0|1] "" XXX + SG_ TireRRLowTracIO : 54|1@0+ (1,0) [0|1] "" XXX + SG_ a_12VBatSysUnstab : 55|1@0+ (1,0) [0|1] "" XXX + SG_ ColPrepSysCustAvail : 62|7@0+ (1,0) [0|0] "" XXX + SG_ CPSCA_Resrv3Avail : 56|1@0+ (1,0) [0|1] "" XXX + SG_ CPSCA_Resrv2Avail : 57|1@0+ (1,0) [0|1] "" XXX + SG_ CPSCA_Resrv1Avail : 58|1@0+ (1,0) [0|1] "" XXX + SG_ CPSCA_AlrtBrkStrAvail : 59|1@0+ (1,0) [0|1] "" XXX + SG_ CPSCA_AlrtBrkAvail : 60|1@0+ (1,0) [0|1] "" XXX + SG_ CPSCA_AlrtAvail : 61|1@0+ (1,0) [0|1] "" XXX + SG_ CPSCA_OffAvail : 62|1@0+ (1,0) [0|1] "" XXX + +BO_ 2152054784 HMI_Disp_Hyb_Animation_Status_LS: 1 XXX + SG_ AnmStrtReq : 2|3@0+ (1,0) [0|7] "" XXX + SG_ IntPnlClstrAnmtStat : 5|3@0+ (1,0) [0|7] "" XXX + SG_ FuelEconMetDispUnts : 6|1@0+ (1,0) [0|1] "" XXX + +BO_ 2150301696 HMI_Animation_Initiator_LS: 1 XXX + SG_ WlcAnmReq : 0|1@0+ (1,0) [0|1] "" XXX + +BO_ 2150563840 HMI_AnimationHybridRadio_LS: 3 XXX + SG_ RadAnmtStat : 2|3@0+ (1,0) [0|7] "" XXX + SG_ RadAudQueStat : 5|3@0+ (1,0) [0|7] "" XXX + SG_ DrStStatDispAct : 6|1@0+ (1,0) [0|1] "" XXX + SG_ PsStStatDispAct : 7|1@0+ (1,0) [0|1] "" XXX + +BO_ 2154758144 Auxiliary_Heater_Active_LS: 1 XXX + SG_ ChldLckOtSwAct : 1|1@0+ (1,0) [0|1] "" XXX + +BO_ 2154577920 Amp_Sink_Stat_LS: 2 XXX + SG_ AmpSnkStat : 4|13@0+ (1,0) [0|0] "" XXX + SG_ ASS_SurndAvail : 0|1@0+ (1,0) [0|1] "" XXX + SG_ ASS_DSPAvail : 1|1@0+ (1,0) [0|1] "" XXX + SG_ ASS_VehNoisCmpnAvail : 2|1@0+ (1,0) [0|1] "" XXX + SG_ ASS_PhLckdLpLckd : 3|1@0+ (1,0) [0|1] "" XXX + SG_ ASS_MtxSnkMutStat : 4|1@0+ (1,0) [0|1] "" XXX + SG_ ASS_DSPMd7Prsnt : 8|1@0+ (1,0) [0|1] "" XXX + SG_ ASS_DSPMd6Prsnt : 9|1@0+ (1,0) [0|1] "" XXX + SG_ ASS_DSPMd5Prsnt : 10|1@0+ (1,0) [0|1] "" XXX + SG_ ASS_DSPMd4Prsnt : 11|1@0+ (1,0) [0|1] "" XXX + SG_ ASS_DSPMd3Prsnt : 12|1@0+ (1,0) [0|1] "" XXX + SG_ ASS_DSPMd2Prsnt : 13|1@0+ (1,0) [0|1] "" XXX + SG_ ASS_DSPMd1Prsnt : 14|1@0+ (1,0) [0|1] "" XXX + SG_ ASS_DSPMd0Prsnt : 15|1@0+ (1,0) [0|1] "" XXX + +BO_ 2154594304 Amp_Settings_Tone_Ctrl_LS: 5 XXX + SG_ AmpSetTonCtrl : 1|34@0+ (1,0) [0|0] "" XXX + SG_ ASTC_ChimSnkLvl : 1|8@0+ (0.5,-127.5) [-127.5|0] "dB" XXX + SG_ ASTC_ChimSnkSpkrPos : 9|4@0+ (1,0) [0|15] "" XXX + SG_ ASTC_SurndLvl : 21|6@0- (1,0) [-32|31] "" XXX + SG_ ASTC_MtxSnkMutRmpTm : 25|8@0+ (5,0) [0|1275] "ms" XXX + SG_ ASTC_MtxSnkMut : 26|1@0+ (1,0) [0|1] "" XXX + SG_ ASTC_DSPMd : 30|4@0+ (1,0) [0|15] "" XXX + SG_ ASTC_VehNoisCmpnAct : 31|1@0+ (1,0) [0|1] "" XXX + SG_ ASTC_GblAudSnkMut : 32|1@0+ (1,0) [0|1] "" XXX + SG_ ASTC_AmpLwPwrSt : 33|1@0+ (1,0) [0|1] "" XXX + SG_ InfotnBkltngConfigSt : 3|2@0+ (1,0) [0|3] "" XXX + +BO_ 2154586112 Amp_Settings_Sink_Lvl_Ctrl_LS: 8 XXX + SG_ AmpSetSnkLvlCtrl : 7|64@0+ (1,0) [0|0] "" XXX + SG_ ASSLC_MtxSnkLvl : 7|8@0+ (0.5,-127.5) [-127.5|0] "dB" XXX + SG_ ASSLC_MxPrmtSnkLvl : 15|8@0+ (0.5,-127.5) [-127.5|0] "dB" XXX + SG_ ASSLC_AudFdbkSnkLvl : 23|8@0+ (0.5,-127.5) [-127.5|0] "dB" XXX + SG_ ASSLC_FvSnkLvl : 31|8@0+ (0.5,-127.5) [-127.5|0] "dB" XXX + SG_ ASSLC_MtxSnkFd : 33|6@0- (1,0) [-32|31] "" XXX + SG_ ASSLC_MtxSnkBal : 39|6@0- (1,0) [-32|31] "" XXX + SG_ ASSLC_MtxSnkBass : 43|6@0- (1,0) [-32|31] "" XXX + SG_ ASSLC_MtxSnkMdrng : 53|6@0- (1,0) [-32|31] "" XXX + SG_ ASSLC_AutoLdnsCmpnAct : 56|1@0+ (1,0) [0|1] "" XXX + SG_ ASSLC_VcSrcActOnMtx : 57|1@0+ (1,0) [0|1] "" XXX + SG_ ASSLC_MtxSnkTrbl : 63|6@0- (1,0) [-32|31] "" XXX + +BO_ 2152857600 ACC_TrafficJam_RouteSpd_Stat_LS: 3 XXX + SG_ ACCRteSpdDrvIntvReq : 1|2@0+ (1,0) [0|3] "" XXX + SG_ ACCTrfcJamAstActStat : 10|3@0+ (1,0) [0|7] "" XXX + SG_ ACCRteSpdAdaptStat : 12|2@0+ (1,0) [0|3] "" XXX + SG_ ACCGrnMdStat : 14|2@0+ (1,0) [0|3] "" XXX + SG_ ACCTrfcJamAstRmnTm : 23|8@0+ (1,0) [0|255] "sec" XXX + +BO_ 2158149632 High_Volt_Bat_Time_Bsd_Rsp_1_LS: 7 XXX + SG_ HVBatTmBsSsnChRsp : 0|14@0+ (1,0) [0|0] "" XXX + SG_ HVBTBSCR_SsnStat : 0|2@0+ (1,0) [0|3] "" XXX + SG_ HVBTBSCR_SsnMthStat : 11|4@0+ (1,0) [0|15] "" XXX + SG_ HVBTBSCR_SsnSlctStat : 14|3@0+ (1,0) [0|7] "" XXX + SG_ HVBTBSCR_SsnDyStat : 23|5@0+ (1,0) [0|31] "day" XXX + SG_ HVBatTmBsChrgStRsp : 3|3@0+ (1,0) [0|7] "" XXX + SG_ HVBatCrgDspStat : 6|3@0+ (1,0) [0|7] "" XXX + SG_ HVBatTmBsChrgRtRsp : 17|10@0+ (1,0) [0|0] "" XXX + SG_ HVBTBCRS_ChRtEnblStat : 17|2@0+ (1,0) [0|3] "" XXX + SG_ HVBTBCRS_ChRtSlctStat : 27|4@0+ (1,0) [0|15] "" XXX + SG_ HVBTBCRS_ChRtDStat : 31|4@0+ (1,0) [0|15] "" XXX + SG_ EngyCnsHsGrphCnfgDt : 36|13@0+ (1,0) [0|0] "" XXX + SG_ ECHGCD_YAxMaxVal : 32|6@0+ (4,0) [0|252] "" XXX + SG_ ECHGCD_MeasUt : 36|4@0+ (1,0) [0|15] "" XXX + SG_ ECHGCD_XAxTkMrkInterv : 42|3@0+ (1,0) [0|7] "" XXX + SG_ EgyCnsHstGphInsEgyCns : 55|5@0+ (1,0) [0|31] "" XXX + +BO_ 2158116864 High_Volt_Bat_Time_Bsd_Rsp_LS: 8 XXX + SG_ OBHVBCMinsRmng : 5|6@0+ (1,0) [0|63] "" XXX + SG_ OBHVBCCompTmDispFrmt : 7|2@0+ (1,0) [0|3] "" XXX + SG_ HVBatTmBsDelChrgRsp : 12|21@0+ (1,0) [0|0] "" XXX + SG_ HVBTBDCRS_DlChHRsp : 12|5@0+ (1,0) [0|31] "hr" XXX + SG_ HVBTBDCRS_DlChSlctStat : 19|4@0+ (1,0) [0|15] "" XXX + SG_ HVBTBDCRS_DlChDStat : 23|4@0+ (1,0) [0|15] "" XXX + SG_ HVBTBDCRS_DlChMHRsp : 29|6@0+ (1,0) [0|63] "min" XXX + SG_ HVBTBDCRS_DlChSsnStat : 31|2@0+ (1,0) [0|3] "" XXX + SG_ HVBatTmBsRtChrgRsp : 34|27@0+ (1,0) [0|0] "" XXX + SG_ HVBTBRCR_RtChMHRsp : 32|6@0+ (1,0) [0|63] "min" XXX + SG_ HVBTBRCR_RtChSsnStat : 34|2@0+ (1,0) [0|3] "" XXX + SG_ HVBTBRCR_RtChSlctStat : 42|3@0+ (1,0) [0|7] "" XXX + SG_ HVBTBRCR_RtChDStat : 50|4@0+ (1,0) [0|15] "" XXX + SG_ HVBTBRCR_RtChHRsp : 55|5@0+ (1,0) [0|31] "hr" XXX + SG_ HVBTBRCR_RtCHSlctTblRwStat : 58|3@0+ (1,0) [0|7] "rows" XXX + SG_ HVBTBRCR_RtChSlRtStat : 62|4@0+ (1,0) [0|15] "" XXX + +BO_ 2156281856 High_Volt_Bat_Time_Bsd_Req_1_LS: 7 XXX + SG_ HVBatTmBsSsnChStReq : 0|14@0+ (1,0) [0|0] "" XXX + SG_ HVBTBSCSR_SsnStReq : 0|2@0+ (1,0) [0|3] "" XXX + SG_ HVBTBSCSR_SsnMthStReq : 11|4@0+ (1,0) [0|15] "" XXX + SG_ HVBTBSCSR_SsnSlStReq : 14|3@0+ (1,0) [0|7] "" XXX + SG_ HVBTBSCSR_SsnDayStReq : 23|5@0+ (1,0) [0|31] "day" XXX + SG_ HVBatTmBsChrgMdReq : 3|3@0+ (1,0) [0|7] "" XXX + SG_ HVChgSyChgLvlPrfSt : 6|3@0+ (1,0) [0|7] "" XXX + SG_ StTODChrgTmpOvrd : 7|1@0+ (1,0) [0|1] "" XXX + SG_ HVBatTmBsChrgRtStReq : 17|10@0+ (1,0) [0|0] "" XXX + SG_ HVBTBCRSR_ChRtEnblStReq : 17|2@0+ (1,0) [0|3] "" XXX + SG_ HVBTBCRSR_ChRtSlStReq : 27|4@0+ (1,0) [0|15] "" XXX + SG_ HVBTBCRSR_ChRtDStReq : 31|4@0+ (1,0) [0|15] "" XXX + SG_ TmpOvdNxtPlnDptTmRq : 32|17@0+ (1,0) [0|0] "" XXX + SG_ TONPDTR_StTmpOvrAtv : 32|2@0+ (1,0) [0|3] "" XXX + SG_ TONPDTR_HrOfDy : 42|5@0+ (1,0) [0|31] "Hour" XXX + SG_ TONPDTR_DyOfWk : 46|4@0+ (1,0) [0|15] "" XXX + SG_ TONPDTR_MntOfHr : 53|6@0+ (1,0) [0|63] "Minute" XXX + SG_ RtBsChrgCmplnTmPrfReq : 34|2@0+ (1,0) [0|3] "" XXX + SG_ HTRCsStReq : 37|3@0+ (1,0) [0|7] "" XXX + +BO_ 2156265472 High_Volt_Bat_Time_Bsd_Req_LS: 8 XXX + SG_ ChgCdTfAlCzStRq : 2|3@0+ (1,0) [0|7] "" XXX + SG_ ChgPwLsAlCzStRq : 5|3@0+ (1,0) [0|7] "" XXX + SG_ PrtyChrgRq : 7|2@0+ (1,0) [0|3] "" XXX + SG_ HVBatTmBsDlChStReq : 12|21@0+ (1,0) [0|0] "" XXX + SG_ HVBTBDCSRQ_DlChHStReq : 12|5@0+ (1,0) [0|31] "hr" XXX + SG_ HVBTBDCSRQ_DlChSlStReq : 19|4@0+ (1,0) [0|15] "" XXX + SG_ HVBTBDCSRQ_DlChDStReq : 23|4@0+ (1,0) [0|15] "" XXX + SG_ HVBTBDCSRQ_DlChMHStReq : 29|6@0+ (1,0) [0|63] "min" XXX + SG_ HVBTBDCSRQ_DlChSsnStReq : 31|2@0+ (1,0) [0|3] "" XXX + SG_ ChgSysAudInCsStReq : 15|3@0+ (1,0) [0|7] "" XXX + SG_ HVBatTmBsRtChrgStReq : 34|27@0+ (1,0) [0|0] "" XXX + SG_ HVBTBRCSR_RtChDStReq : 34|4@0+ (1,0) [0|15] "" XXX + SG_ HVBTBRCSR_RtChSlStReq : 42|3@0+ (1,0) [0|7] "" XXX + SG_ HVBTBRCSR_RtChSlRtStReq : 46|4@0+ (1,0) [0|15] "" XXX + SG_ HVBTBRCSR_RtChMHStReq : 48|6@0+ (1,0) [0|63] "min" XXX + SG_ HVBTBRCSR_RtChSsnStReq : 50|2@0+ (1,0) [0|3] "" XXX + SG_ HVBTBRCSR_RtChHStReq : 55|5@0+ (1,0) [0|31] "hr" XXX + SG_ HVBTBRCSR_RtChSlTbRwReq : 58|3@0+ (1,0) [0|7] "rows" XXX + SG_ OffBrdHVCVehCsChRq : 35|1@0+ (1,0) [0|1] "" XXX + SG_ EngyUsgScrnMeasUtStat : 39|4@0+ (1,0) [0|15] "" XXX + +BO_ 2150113280 Energy_Storage_System_LS: 8 XXX + SG_ EngyStgSysActCoolEnb : 0|1@0+ (1,0) [0|1] "" XXX + SG_ DrvCycElEnrgUsd : 21|14@0+ (0.36,0) [0|5897.88] "MJ" XXX + SG_ DrvCyclElecEngyEcon : 32|9@0+ (0.1,0) [0|51.1] "" XXX + SG_ HVChrgInhbRsn : 36|4@0+ (1,0) [0|15] "" XXX + SG_ DrvCyclTrpDstTrvld : 54|15@0+ (0.1,0) [0|3276.7] "km" XXX + +BO_ 2150055936 Climate_Control_Status_LS: 5 XXX + SG_ ClmtCtrlUpprPwrLmt : 7|8@0+ (0.1,0) [0|25.5] "kW" XXX + SG_ ClmtCtrlLwrPwrLmt : 15|8@0+ (0.1,0) [0|25.5] "kW" XXX + SG_ ClimCtrlHVDvcShtdwnCmd : 16|1@0+ (1,0) [0|1] "" XXX + SG_ ClmCntCmpPwrUsdClc : 39|8@0+ (0.04,0) [0|10.2] "kW" XXX + +BO_ 2150039552 Thrml_Ref_Compressor_Status_LS: 5 XXX + SG_ ThrmlRefCompStat : 3|4@0+ (1,0) [0|15] "" XXX + SG_ EvpCorOtltAirTmpCalcdGroup : 4|13@0+ (1,0) [0|0] "" XXX + SG_ EvpCorOtltAirTmpCalcdV : 4|1@0+ (1,0) [0|1] "" XXX + SG_ EvpCorOtltAirTmpCalcd : 15|8@0+ (0.5,-40) [-40|87.5] "deg C" XXX + SG_ ThrmlRefCompSpdGroup : 22|15@0+ (1,0) [0|0] "" XXX + SG_ ThrmlRefCompSpd : 21|14@0+ (1,0) [0|16383] "rpm" XXX + SG_ ThrmlRefCompSpdV : 22|1@0+ (1,0) [0|1] "" XXX + SG_ ThrmlRfCmpOvTmpFltPr : 23|1@0+ (1,0) [0|1] "" XXX + +BO_ 2154856448 Humidity_Sensor_Status_LS: 5 XXX + SG_ HmdtySnsrGlssTemp : 1|10@0+ (0.146628,-50) [-50|100.000444] "deg C" XXX + SG_ HmdtySnsrTemp : 17|10@0+ (0.146628,-50) [-50|100.000444] "deg C" XXX + SG_ HmdtySnsrRltvHmdty : 39|8@0+ (0.392157,0) [0|100.000035] "%" XXX + +BO_ 2151342080 Park_Assistant_Right_Status_LS: 2 XXX + SG_ PARtRgn1ObjStat : 3|4@0+ (1,0) [0|15] "" XXX + SG_ PrkAstRtSysStat : 5|2@0+ (1,0) [0|3] "" XXX + SG_ PARtRgn3ObjStat : 11|4@0+ (1,0) [0|15] "" XXX + SG_ PARtRgn2ObjStat : 15|4@0+ (1,0) [0|15] "" XXX + +BO_ 2151325696 Park_Assistant_Left_Status_LS: 2 XXX + SG_ PALtRgn1ObjStat : 3|4@0+ (1,0) [0|15] "" XXX + SG_ PrkAstLtSysStat : 5|2@0+ (1,0) [0|3] "" XXX + SG_ PALtRgn3ObjStat : 11|4@0+ (1,0) [0|15] "" XXX + SG_ PALtRgn2ObjStat : 15|4@0+ (1,0) [0|15] "" XXX + +BO_ 2151809024 Drv_Cycl_Elec_Enrgy_Consumd_LS: 8 XXX + SG_ DrvCycElecEngySt5 : 5|14@0+ (0.36,0) [0|5897.88] "MJ" XXX + SG_ DrvCycElecEngyCnsmd : 23|32@0+ (1,0) [0|0] "" XXX + SG_ DCEEC_EngyPct1 : 23|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ DCEEC_EngyPct2 : 31|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ DCEEC_EngyPct3 : 39|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ DCEEC_EngyPct4 : 47|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ ElecEngyEconAvg : 48|9@0+ (0.1,0) [0|51.1] "" XXX + +BO_ 2151858176 Drv_Cycl_Elec_Enrgy_States_LS: 8 XXX + SG_ DrvCycElecEngySt1 : 5|14@0+ (0.36,0) [0|5897.88] "MJ" XXX + SG_ DrvCycElecEngySt2 : 21|14@0+ (0.36,0) [0|5897.88] "MJ" XXX + SG_ DrvCycElecEngySt3 : 37|14@0+ (0.36,0) [0|5897.88] "MJ" XXX + SG_ DrvCycElecEngySt4 : 53|14@0+ (0.36,0) [0|5897.88] "MJ" XXX + +BO_ 2150547456 HMI_Hybrid_Vehicle_Status_LS: 8 XXX + SG_ HVDpltnMdRng : 0|16@0+ (0.015625,0) [0|1023.984375] "km" XXX + SG_ VehChrgMdSt : 3|3@0+ (1,0) [0|7] "" XXX + SG_ GrnAudQueReq : 4|1@0+ (1,0) [0|1] "" XXX + SG_ SvcHybChrgSysIO : 5|1@0+ (1,0) [0|1] "" XXX + SG_ HVBatChrgCrdConnIO : 6|1@0+ (1,0) [0|1] "" XXX + SG_ CntrsOpnUndrTmpIO : 7|1@0+ (1,0) [0|1] "" XXX + SG_ OffBrdHVCVehCplrLkd : 16|1@0+ (1,0) [0|1] "" XXX + SG_ HVBatLimDTmpInd : 25|2@0+ (1,0) [0|3] "" XXX + SG_ OffBrdHVCVehPwrDrtd : 26|1@0+ (1,0) [0|1] "" XXX + SG_ HVChrgrSysStat : 29|3@0+ (1,0) [0|7] "" XXX + SG_ HVChrgrCplrStat : 31|2@0+ (1,0) [0|3] "" XXX + SG_ ChgrSysAdblIndReq : 33|2@0+ (1,0) [0|3] "" XXX + SG_ HVBatOutOfEnrgyInd : 36|3@0+ (1,0) [0|7] "" XXX + SG_ OffBrdHVBlkChrgCmp : 37|1@0+ (1,0) [0|1] "" XXX + SG_ ElecPrplsnMtrOvrSpdIO : 38|1@0+ (1,0) [0|1] "" XXX + SG_ HVBatCntctrsOpnIO : 39|1@0+ (1,0) [0|1] "" XXX + SG_ HVDpltnMdCnfdcTrndg : 47|8@0- (0.787402,0) [-100.787456|100.000054] "%" XXX + SG_ OffBrdHVBlkChgCpltTm : 53|14@0+ (1,0) [0|0] "" XXX + SG_ OBHVBCCT_HrofDay : 50|5@0+ (1,0) [0|31] "" XXX + SG_ OBHVBCCT_DayofWk : 53|3@0+ (1,0) [0|7] "" XXX + SG_ OBHVBCCT_MinofHr : 61|6@0+ (1,0) [0|63] "" XXX + SG_ OffBrdHVCVehPwrLvl : 55|2@0+ (1,0) [0|3] "" XXX + +BO_ 2151489536 CSV_EOCM_R_Indications_LS: 1 XXX + SG_ RVBShtToPrkBfExtngVehIO : 0|1@0+ (1,0) [0|1] "" XXX + SG_ RVBAutoBrkRlsIO : 1|1@0+ (1,0) [0|1] "" XXX + SG_ NVSysStat : 4|3@0+ (1,0) [0|7] "" XXX + +BO_ 2149761024 Chassis_Information_2_LS: 6 XXX + SG_ PerfTrcCrnExStngVal : 4|5@0+ (1,0) [0|31] "" XXX + SG_ ActVehAccelGroup : 5|22@0+ (1,0) [0|0] "" XXX + SG_ ActVehAccelV : 5|1@0+ (1,0) [0|1] "" XXX + SG_ ActVehAccel : 11|12@0- (0.01,0) [-20.48|20.47] "m/s^2" XXX + SG_ TrlrStabAstActIO : 6|1@0+ (1,0) [0|1] "" XXX + SG_ ElvtdIdlCstStAvl : 7|1@0+ (1,0) [0|1] "" XXX + SG_ ElvtdIdlCstCrStVal : 13|2@0+ (1,0) [0|3] "" XXX + SG_ TrnsCltchThrmlProtIndR : 27|20@0+ (1,0) [0|0] "" XXX + SG_ TCTPIR_DrvNotfn : 27|4@0+ (1,0) [0|15] "" XXX + SG_ TCTPIR_TnsEsClTmpD : 39|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ TCTPIR_TnsEsClCDwT : 47|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ PsngStPerfMdCsCrStVal : 30|3@0+ (1,0) [0|7] "" XXX + SG_ PsngStPerfMdCsStAvl : 31|1@0+ (1,0) [0|1] "" XXX + +BO_ 2155012096 SBZA_Right_Status_LS: 1 XXX + SG_ SODTmpUnavlbleIO : 0|1@0+ (1,0) [0|1] "" XXX + SG_ SODSnsClnRqdIO : 1|1@0+ (1,0) [0|1] "" XXX + SG_ SODRtIndCntl : 6|5@0+ (1,0) [0|0] "" XXX + SG_ SODRIC_Ind3 : 2|1@0+ (1,0) [0|1] "" XXX + SG_ SODRIC_Ind2 : 3|1@0+ (1,0) [0|1] "" XXX + SG_ SODRIC_Ind1 : 4|1@0+ (1,0) [0|1] "" XXX + SG_ SODRIC_IndReq : 6|2@0+ (1,0) [0|3] "" XXX + SG_ SrvSODSysIO : 7|1@0+ (1,0) [0|1] "" XXX + +BO_ 2150514688 Power_Slidining_Door_Status_LS: 1 XXX + SG_ SldngDrRgtStat : 2|3@0+ (1,0) [0|7] "" XXX + SG_ SldngDrLftStat : 5|3@0+ (1,0) [0|7] "" XXX + SG_ PwrSldngDrUnavlblIO : 6|1@0+ (1,0) [0|1] "" XXX + SG_ SdClsrObstclDtctdStat : 7|1@0+ (1,0) [0|1] "" XXX + +BO_ 2158067712 Video_Master_Info_2_LS: 5 XXX + SG_ TchScnDsplUsrActnExt : 1|34@0+ (1,0) [0|0] "" XXX + SG_ TSDUAE_RotBtnPsh : 0|1@0+ (1,0) [0|1] "" XXX + SG_ TSDUAE_ScrnPrsdRq : 1|1@0+ (1,0) [0|1] "" XXX + SG_ TSDUAE_GrphStrkInfRq : 15|8@0+ (1,0) [0|255] "" XXX + SG_ TSDUAE_XCoOdntRq : 23|8@0+ (1,0) [0|255] "" XXX + SG_ TSDUAE_YCoOdntRq : 31|8@0+ (1,0) [0|255] "" XXX + SG_ TSDUAE_RotEnc : 39|8@0- (1,0) [-128|127] "Detentions" XXX + +BO_ 2158051328 Video_Master_Info_1_LS: 5 XXX + SG_ RemRcvrSrcInpCmd : 3|4@0+ (1,0) [0|15] "" XXX + SG_ VidMstrDsplyMd : 5|2@0+ (1,0) [0|3] "" XXX + SG_ VidSrcUICntrlStat : 6|1@0+ (1,0) [0|1] "" XXX + SG_ RmtRcvrTunCmnd : 12|5@0+ (1,0) [0|31] "" XXX + SG_ VidMstrArbCmd : 15|3@0+ (1,0) [0|7] "" XXX + SG_ RmtRcvrTunVal : 23|16@0- (1,0) [-32768|32767] "" XXX + SG_ VidMstrSrcType : 36|5@0+ (1,0) [0|31] "" XXX + SG_ TVDspCmd : 39|3@0+ (1,0) [0|7] "" XXX + +BO_ 2158034944 TV_Tuner_Info_LS: 6 XXX + SG_ VidSrcCompFormatER : 3|4@0+ (1,0) [0|15] "" XXX + SG_ CurntTVStnServc : 6|3@0+ (1,0) [0|7] "" XXX + SG_ CurntTVStnQual : 7|1@0+ (1,0) [0|1] "" XXX + SG_ RmtRcvrCmndStat : 10|3@0+ (1,0) [0|7] "" XXX + SG_ RmtRecvtDataTyp : 13|3@0+ (1,0) [0|7] "" XXX + SG_ RmtRcvrTunStat : 14|1@0+ (1,0) [0|1] "" XXX + SG_ TVTunerPres : 15|1@0+ (1,0) [0|1] "" XXX + SG_ RmtRcvrPrgrmServID : 23|16@0+ (1,0) [0|65535] "" XXX + SG_ VidSrcStatCode : 35|4@0+ (1,0) [0|15] "" XXX + SG_ RemRcvrSrcInpStat : 39|4@0+ (1,0) [0|15] "" XXX + SG_ VidSrcType : 44|5@0+ (1,0) [0|31] "" XXX + +BO_ 2158018560 TV_Station_Name_LS: 8 XXX + SG_ TVStatNmeChar1_8 : 7|64@0+ (1,0) [0|0] "" XXX + +BO_ 2156838912 WiFi_Station_LS: 7 XXX + SG_ WiFiStationResp : 3|52@0+ (1,0) [0|0] "" XXX + SG_ WSR_WiFiAssnStat : 3|4@0+ (1,0) [0|15] "" XXX + SG_ WSR_WiFiStnMACAddr : 15|48@0+ (1,0) [0|281474976710655] "" XXX + +BO_ 2156822528 WiFi_AP_Data_LS: 2 XXX + SG_ WiFiAccsPntData : 0|9@0+ (1,0) [0|0] "" XXX + SG_ WAPD_IHUWiFiEnStat : 0|1@0+ (1,0) [0|1] "" XXX + SG_ WAPD_EncrptnType : 11|4@0+ (1,0) [0|15] "" XXX + SG_ WAPD_SecurityType : 15|4@0+ (1,0) [0|15] "" XXX + +BO_ 2151948288 Driver_Drow_Det_Cst_Rqst_LS: 1 XXX + SG_ DrvDrowDetCstStRq : 2|3@0+ (1,0) [0|7] "" XXX + SG_ RunBrdOpMdCstStReq : 7|3@0+ (1,0) [0|7] "" XXX + +BO_ 2158002176 XM_Radio_Service_LS: 1 XXX + SG_ CurntStnServc : 2|3@0+ (1,0) [0|7] "" XXX + SG_ SrvcPrvdr : 5|3@0+ (1,0) [0|7] "" XXX + +BO_ 2149728256 Charging_Sys_Trans_Shift_Lock_LS: 5 XXX + SG_ ChrgSysTrnsShftLckRq : 0|1@0+ (1,0) [0|1] "" XXX + SG_ ChrgPrtDrStat : 2|2@0+ (1,0) [0|3] "" XXX + SG_ PrtyChrgActIO : 3|1@0+ (1,0) [0|1] "" XXX + SG_ PrtyChrgAct : 4|1@0+ (1,0) [0|1] "" XXX + SG_ HghVltgPropState : 7|3@0+ (1,0) [0|7] "" XXX + SG_ ChgCdTfAlCzCrStVal : 10|3@0+ (1,0) [0|7] "" XXX + SG_ ChgCdTfAlCzStAvbl : 11|1@0+ (1,0) [0|1] "" XXX + SG_ ChgPwLsAlCzCrStVal : 14|3@0+ (1,0) [0|7] "" XXX + SG_ ChgPwLsAlCzStAvbl : 15|1@0+ (1,0) [0|1] "" XXX + SG_ ChgSyAudInCsCrStVa : 18|3@0+ (1,0) [0|7] "" XXX + SG_ ChgSysAudInCsStAvl : 19|1@0+ (1,0) [0|1] "" XXX + SG_ HVChrgPwrLvl : 22|3@0+ (1,0) [0|7] "" XXX + SG_ EngAstHtCsCrStVal : 26|3@0+ (1,0) [0|7] "" XXX + SG_ EngAstHtCsStAvl : 27|1@0+ (1,0) [0|1] "" XXX + SG_ EngAstHtPlgInCsCrStVl : 30|3@0+ (1,0) [0|7] "" XXX + SG_ EngAstHtPlgInCsStAvl : 31|1@0+ (1,0) [0|1] "" XXX + SG_ PrtyChrgStPnt : 38|7@0+ (1,0) [0|127] "" XXX + +BO_ 2150023168 Hybrid_Information_LS: 5 XXX + SG_ HybChrgMdStat : 1|2@0+ (1,0) [0|3] "" XXX + SG_ HVInvRatVltGroup : 2|19@0+ (1,0) [0|0] "" XXX + SG_ HVInvRatVltV : 2|1@0+ (1,0) [0|1] "" XXX + SG_ HVInvRatVlt : 8|9@0+ (1,0) [0|511] "volts" XXX + SG_ OffBrdVehImmbNot : 5|3@0+ (1,0) [0|7] "" XXX + SG_ ElecPrplsnMtrTach : 28|13@0+ (1,0) [0|8191] "rpm" XXX + +BO_ 2153988096 Power_Elec_Info_LS: 7 XXX + SG_ PwrElecCoolLpTempGroup : 1|10@0+ (1,0) [0|0] "" XXX + SG_ PwrElecCoolLpTempV : 0|1@0+ (1,0) [0|1] "" XXX + SG_ PwrElecCoolLpTempM : 1|1@0+ (1,0) [0|1] "" XXX + SG_ PwrElecCoolLpTemp : 15|8@0+ (1,-40) [-40|215] "deg C" XXX + SG_ EngyUsgScr : 20|37@0+ (1,0) [0|0] "" XXX + SG_ EUS_TcEngyUsgScrAvVal : 20|7@0- (0.1,0) [-5|5] "" XXX + SG_ EUS_TrEngyUsgScrAvVal : 29|7@0- (0.1,0) [-5|5] "" XXX + SG_ EUS_OTEngyUsgScrAvVal : 38|7@0- (0.1,0) [-5|5] "" XXX + SG_ EUS_TtEngyUsgScrAvVal : 40|9@0- (0.1,0) [-20|20] "" XXX + SG_ EUS_ITEngyUsgScrAvVal : 47|7@0- (0.1,0) [-5|5] "" XXX + +BO_ 2155945984 Jump_Start_Req_LS: 1 XXX + SG_ JmpStrtReq : 0|1@0+ (1,0) [0|1] "" XXX + SG_ TCSysCurStReq : 2|2@0+ (1,0) [0|3] "" XXX + SG_ VehStbEnhmntCurStRq : 4|2@0+ (1,0) [0|3] "" XXX + SG_ VehStbCmptvMdCurStRq : 6|2@0+ (1,0) [0|3] "" XXX + +BO_ 2155585536 MSB_Customization_Setting_Req_LS: 1 XXX + SG_ StBltTgtCSRq : 2|3@0+ (1,0) [0|7] "" XXX + +BO_ 2155569152 CPS_Customization_Setting_Req_LS: 3 XXX + SG_ ColPrSysCustReq : 2|3@0+ (1,0) [0|7] "" XXX + SG_ ExtHlStrAssCsStRq : 5|3@0+ (1,0) [0|7] "" XXX + SG_ IntDimSeldClrTypStReq : 12|5@0+ (1,0) [0|31] "" XXX + SG_ HLOCCstSetReq : 15|3@0+ (1,0) [0|7] "" XXX + SG_ IntDimSeldAnmTypStReq : 19|4@0+ (1,0) [0|15] "" XXX + SG_ SmPhRmFunCstStReq : 22|3@0+ (1,0) [0|7] "" XXX + +BO_ 2155233280 VICM_Info_LS: 8 XXX + SG_ VehRefuelSt : 2|3@0+ (1,0) [0|7] "" XXX + SG_ FlDrOpenIndOn : 3|1@0+ (1,0) [0|1] "" XXX + SG_ UtlChrgPopUpAct : 4|1@0+ (1,0) [0|1] "" XXX + SG_ UtlChrgIntrfrIO : 5|1@0+ (1,0) [0|1] "" XXX + SG_ ShftPrkIO_3B2 : 6|1@0+ (1,0) [0|1] "" XXX + SG_ NtrlCstdwnCrtMdActvIO : 7|1@0+ (1,0) [0|1] "" XXX + SG_ RtBsChrgCmplnTmPrfRsp : 9|2@0+ (1,0) [0|3] "" XXX + SG_ EngRnngDutoVehSpdIO : 10|1@0+ (1,0) [0|1] "" XXX + SG_ NtrlGrWrngIO : 11|1@0+ (1,0) [0|1] "" XXX + SG_ LftmFuelEcon : 19|12@0+ (0.1,0) [0|409.5] "kilometers/liter" XXX + SG_ LiftimeFuelEcnEquiv : 35|12@0+ (0.1,0) [0|409.5] "km/l" XXX + SG_ ChrgCyclFuelEcn : 51|12@0+ (0.1,0) [0|409.5] "km/l" XXX + +BO_ 2152169472 Coolant_Heater_Status_LS: 3 XXX + SG_ ClntHtrSt : 1|2@0+ (1,0) [0|3] "" XXX + SG_ ClntHtrPCBOvTmpFlt : 2|1@0+ (1,0) [0|1] "" XXX + SG_ ClntHtrHtSnkOvTmpFlt : 3|1@0+ (1,0) [0|1] "" XXX + SG_ ClntHtrElecPwrGroup : 4|13@0+ (1,0) [0|0] "" XXX + SG_ ClntHtrElecPwrV : 4|1@0+ (1,0) [0|1] "" XXX + SG_ ClntHtrElecPwr : 15|8@0+ (0.04,0) [0|10.2] "kW" XXX + SG_ ClntHtrFlt : 7|3@0+ (1,0) [0|7] "" XXX + SG_ ClntHtrInltClntTmp : 23|8@0+ (1,-40) [-40|215] "deg C" XXX + +BO_ 2152759296 SITM_Front_Sensor_IO_LS: 1 XXX + SG_ FrtCmrBlckdIO : 0|1@0+ (1,0) [0|1] "" XXX + SG_ FrtEOCMMdlFldIO : 1|1@0+ (1,0) [0|1] "" XXX + SG_ FrtCmrFldIO : 2|1@0+ (1,0) [0|1] "" XXX + SG_ FrtRdrFldIO : 3|1@0+ (1,0) [0|1] "" XXX + SG_ PedWrnIndReq : 5|2@0+ (1,0) [0|3] "" XXX + +BO_ 2152742912 SITM_Rear_Sensor_IO_LS: 1 XXX + SG_ RrEOCMMdlFldIO : 0|1@0+ (1,0) [0|1] "" XXX + SG_ RrRdrBlckdIO : 1|1@0+ (1,0) [0|1] "" XXX + SG_ RrRdrFldIO : 2|1@0+ (1,0) [0|1] "" XXX + SG_ ShrtRngRdrOffIO : 3|1@0+ (1,0) [0|1] "" XXX + +BO_ 2150891520 Go_Notifier_Req_LS: 5 XXX + SG_ DgtlMapSpdCat : 2|3@0+ (1,0) [0|7] "" XXX + SG_ FwdClnAlrtCustStngReq : 5|3@0+ (1,0) [0|7] "" XXX + SG_ GNCustStngReq : 7|2@0+ (1,0) [0|3] "" XXX + SG_ DgtlMapDrvngSd : 8|1@0+ (1,0) [0|1] "" XXX + SG_ DgtlMapPsgRstrctn : 11|3@0+ (1,0) [0|7] "" XXX + SG_ RrStRmndrCstSetReq : 14|3@0+ (1,0) [0|7] "" XXX + SG_ DgtlMapEffSpdLmt : 20|5@0+ (1,0) [0|31] "" XXX + SG_ DgtlMapEffSpdLmtTyp : 23|3@0+ (1,0) [0|7] "" XXX + SG_ DgtlMapVerYr : 29|6@0+ (1,0) [0|63] "" XXX + SG_ DgtlMapVerQtr : 31|2@0+ (1,0) [0|3] "" XXX + SG_ DgtlMapCndlSpdLmt : 36|5@0+ (1,0) [0|31] "" XXX + SG_ DgtlMapCndlSpdLmtTyp : 39|3@0+ (1,0) [0|7] "" XXX + +BO_ 2151751680 Haptic_Seat_Status_LS: 3 XXX + SG_ CrshAlrtDrvrSlctdType : 0|1@0+ (1,0) [0|1] "" XXX + SG_ CrshAlrtStPrsnt : 1|1@0+ (1,0) [0|1] "" XXX + SG_ HptcStVbnStat : 3|2@0+ (1,0) [0|3] "" XXX + SG_ HptcStFldIO : 4|1@0+ (1,0) [0|1] "" XXX + +BO_ 2155536384 Rear_Virtual_Bmper_Indication_LS: 1 XXX + SG_ RVBDsbldIO : 0|1@0+ (1,0) [0|1] "" XXX + SG_ RVBEnbldIO : 1|1@0+ (1,0) [0|1] "" XXX + SG_ RVBFldIO : 2|1@0+ (1,0) [0|1] "" XXX + SG_ RVBUnblIO : 3|1@0+ (1,0) [0|1] "" XXX + SG_ TnDrvRIMOffUnbIO : 4|1@0+ (1,0) [0|1] "" XXX + SG_ RevClnMtgnBrkReqAct : 5|1@0+ (1,0) [0|1] "" XXX + +BO_ 2151481344 CSV_FSRACC_Indications_LS: 1 XXX + SG_ AutoBrkRlsIO : 0|1@0+ (1,0) [0|1] "" XXX + SG_ ShtToPrkBfExtngVehIO : 1|1@0+ (1,0) [0|1] "" XXX + SG_ HdUpDsplyUnblIO : 2|1@0+ (1,0) [0|1] "" XXX + SG_ FSRACCFrstRsmPrssIO : 3|1@0+ (1,0) [0|1] "" XXX + SG_ FrtRdrBlckdIO : 4|1@0+ (1,0) [0|1] "" XXX + +BO_ 2151432192 ACC_Drv_Seat_Vib_Req_IO_LS: 1 XXX + SG_ ACCHptcStVbnRqSeqN : 1|2@0+ (1,0) [0|3] "" XXX + SG_ ACCHptcStVbnReq : 7|6@0+ (1,0) [0|63] "" XXX + +BO_ 2151415808 Ln_Dep_Wrn_Drv_Seat_Vib_Req_LS: 5 XXX + SG_ LDWLftHptcStRqSN : 1|2@0+ (1,0) [0|3] "" XXX + SG_ LDWLftHptcStRq : 7|6@0+ (1,0) [0|63] "" XXX + SG_ LDWRghtHptcStRqSN : 9|2@0+ (1,0) [0|3] "" XXX + SG_ LDWRghtHptcStRq : 15|6@0+ (1,0) [0|63] "" XXX + SG_ LftLnChgThrtHptStRqSN : 17|2@0+ (1,0) [0|3] "" XXX + SG_ LftLnChgThrtHptStRq : 23|6@0+ (1,0) [0|63] "Pulse" XXX + SG_ RgtLnChgThrtHptStRqSN : 25|2@0+ (1,0) [0|3] "" XXX + SG_ RgtLnChgThrtHptStRq : 31|6@0+ (1,0) [0|63] "Pulse" XXX + SG_ FrPedDetCsStAvl : 32|1@0+ (1,0) [0|1] "" XXX + SG_ FrPedDetCsCrStVal : 35|3@0+ (1,0) [0|7] "" XXX + +BO_ 2151350272 Frnt_Prk_Ast_Drv_Seat_Vib_Req_LS: 3 XXX + SG_ FPAHptcStVbnRqSeqN : 1|2@0+ (1,0) [0|3] "" XXX + SG_ FPAHptcStVbnReq : 7|6@0+ (1,0) [0|63] "" XXX + SG_ APAIconDispRq : 10|3@0+ (1,0) [0|7] "" XXX + SG_ APAIconFilPctRq : 22|7@0+ (1,0) [0|127] "" XXX + +BO_ 2151333888 Rear_Prk_Ast_Drv_Seat_Vib_Req_LS: 1 XXX + SG_ RPAHptcStVbRqSeqN : 1|2@0+ (1,0) [0|3] "" XXX + SG_ RPAHptcStVbnReq : 7|6@0+ (1,0) [0|63] "" XXX + +BO_ 2151522304 Reset_FuelLife_Request_LS: 1 XXX + SG_ FuelFltLfRstRqd : 0|1@0+ (1,0) [0|1] "" XXX + SG_ ElEngyEconAvgRstRq : 1|1@0+ (1,0) [0|1] "" XXX + SG_ TCSTmpDsblReqConf : 3|2@0+ (1,0) [0|3] "" XXX + SG_ LnchCtrlRelLnLockReqd : 4|1@0+ (1,0) [0|1] "" XXX + +BO_ 2150629376 CV_System_Failure_LS: 1 XXX + SG_ CVSysFlrIO : 0|1@0+ (1,0) [0|1] "" XXX + +BO_ 2155929600 Diesel_Information_LS: 8 XXX + SG_ DslExFldTpWrngIndRq : 3|4@0+ (1,0) [0|15] "" XXX + SG_ DslExhFldDiagWrnIdRq : 6|3@0+ (1,0) [0|7] "" XXX + SG_ DslExhFldQlyWrngIReq : 11|4@0+ (1,0) [0|15] "" XXX + SG_ DslExhFldWrngIdRqER : 15|4@0+ (1,0) [0|15] "" XXX + SG_ DslExhFluidDistTIndcmt : 22|15@0+ (2,0) [0|65534] "km" XXX + SG_ DslExNxEmWrngIndRq : 35|4@0+ (1,0) [0|15] "" XXX + SG_ DslExFldCnWrngIndRq : 39|4@0+ (1,0) [0|15] "" XXX + SG_ DslExFldWrngVSpdLmt : 47|24@0+ (1,0) [0|0] "" XXX + SG_ DEFWVSL_S1SpdLmt : 47|8@0+ (1,0) [0|255] "km / h" XXX + SG_ DEFWVSL_S2SpdLmt : 55|8@0+ (1,0) [0|255] "km / h" XXX + SG_ DEFWVSL_S3SpdLmt : 63|8@0+ (1,0) [0|255] "km / h" XXX + +BO_ 2154741760 RSA_Status_LS: 1 XXX + SG_ RSAPrsnt : 0|1@0+ (1,0) [0|1] "" XXX + +BO_ 2154807296 Lighting_Customization_Info_3_LS: 4 XXX + SG_ AFLGPSCstCrStVal : 2|3@0+ (1,0) [0|7] "" XXX + SG_ AFLCstCrStVal : 5|3@0+ (1,0) [0|7] "" XXX + SG_ AFLGPSCstStAvl : 6|1@0+ (1,0) [0|1] "" XXX + SG_ AFLCstStAvl : 7|1@0+ (1,0) [0|1] "" XXX + SG_ AFLGPSMnu2CstStAvl : 8|1@0+ (1,0) [0|1] "" XXX + SG_ AFLMnu2CstStAvl : 9|1@0+ (1,0) [0|1] "" XXX + SG_ AFLMnu3CstStAvl : 10|1@0+ (1,0) [0|1] "" XXX + SG_ EngAutoStpNotProb : 11|1@0+ (1,0) [0|1] "" XXX + SG_ ESCMHiEleclLdReqAct : 12|1@0+ (1,0) [0|1] "" XXX + SG_ EngAutoStrtStpInfo : 17|10@0+ (1,0) [0|0] "" XXX + SG_ EASSI_StrtStpSt : 17|2@0+ (1,0) [0|3] "" XXX + SG_ EASSI_UnsdRsrvd2 : 24|1@0+ (1,0) [0|1] "" XXX + SG_ EASSI_TorqDetdIndet : 25|1@0+ (1,0) [0|1] "" XXX + SG_ EASSI_StlDetd : 26|1@0+ (1,0) [0|1] "" XXX + SG_ EASSI_TrqDetd : 27|1@0+ (1,0) [0|1] "" XXX + SG_ EASSI_FuelReqOn : 28|1@0+ (1,0) [0|1] "" XXX + SG_ EASSI_StrtTyp : 31|3@0+ (1,0) [0|7] "" XXX + +BO_ 2151079936 PDIM_Status_LS: 1 XXX + SG_ PDIMPrsnt : 0|1@0+ (1,0) [0|1] "" XXX + +BO_ 2155364352 Hybrid_Information_SuperSlow_LS: 5 XXX + SG_ SvcHybridSysIO : 0|1@0+ (1,0) [0|1] "" XXX + SG_ JmpStrtStat : 3|3@0+ (1,0) [0|7] "" XXX + SG_ HybMdDisp : 7|4@0+ (1,0) [0|15] "" XXX + SG_ CstmrUsblSOCGroup : 15|15@0+ (1,0) [0|0] "" XXX + SG_ CstmrUsblSOC : 15|8@0+ (0.39216,0) [0|100.0008] "%" XXX + SG_ CstmrUsblSOCV : 17|1@0+ (1,0) [0|1] "" XXX + SG_ BattCntrlPrcssrVDA : 16|1@0+ (1,0) [0|1] "" XXX + SG_ InstDrvEff : 31|8@0- (0.78125,0) [-100|99.21875] "%" XXX + SG_ ClntCrcFlwRtEst : 39|8@0+ (0.392157,0) [0|100.000035] "%" XXX + +BO_ 2154979328 Front_Seat_Heat_Cool_Req_LS: 1 XXX + SG_ FrntStVoltBstModReq : 0|1@0+ (1,0) [0|1] "" XXX + +BO_ 2155282432 RearSeat_HeatVent_Cool_LS: 1 XXX + SG_ RrStVoltBstModReq : 0|1@0+ (1,0) [0|1] "" XXX + +BO_ 2151505920 VehInfoTripComputer_LS: 7 XXX + SG_ SpdCurvAdvSysEnbld : 0|1@0+ (1,0) [0|1] "" XXX + SG_ TrlrBrkDsplyAct : 1|1@0+ (1,0) [0|1] "" XXX + SG_ ACCSettingType : 3|2@0+ (1,0) [0|3] "" XXX + SG_ AutoMdSpdLmtCnfrmd : 4|1@0+ (1,0) [0|1] "" XXX + SG_ PTExPrtclFltManRgnRqd : 5|1@0+ (1,0) [0|1] "" XXX + SG_ Trp2OdomtrGroup : 6|55@0+ (1,0) [0|0] "" XXX + SG_ Trp2OdomtrV : 6|1@0+ (1,0) [0|1] "" XXX + SG_ Trp2Odomtr : 38|23@0+ (0.015625,0) [0|131071.984375] "km" XXX + SG_ Trp1OdomtrGroup : 7|32@0+ (1,0) [0|0] "" XXX + SG_ Trp1OdomtrV : 7|1@0+ (1,0) [0|1] "" XXX + SG_ Trp1Odomtr : 14|23@0+ (0.015625,0) [0|131071.984375] "km" XXX + +BO_ 2155896832 Alternative_Fuel_Information_LS: 5 XXX + SG_ FuelMdStat : 2|3@0+ (1,0) [0|7] "" XXX + SG_ AltFuelMdReqDndIO : 3|1@0+ (1,0) [0|1] "" XXX + SG_ FlLvlTank2PctGroup : 4|13@0+ (1,0) [0|0] "" XXX + SG_ FlLvlTank2PctV : 4|1@0+ (1,0) [0|1] "" XXX + SG_ FlLvlTank2Pct : 15|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ AltFuelAccWrnngAct : 5|1@0+ (1,0) [0|1] "" XXX + SG_ AltFuelLvlLo : 6|1@0+ (1,0) [0|1] "" XXX + SG_ AltFuelPHeatAct : 7|1@0+ (1,0) [0|1] "" XXX + SG_ FuelTotCapTnk2 : 19|12@0+ (0.125,0) [0|511.875] "liters" XXX + SG_ FuelAlchlCompAdptnPrg : 20|1@0+ (1,0) [0|1] "" XXX + SG_ FuelAlcoholCompGroup : 21|22@0+ (1,0) [0|0] "" XXX + SG_ FuelAlcoholCompV : 21|1@0+ (1,0) [0|1] "" XXX + SG_ FuelAlcoholComp : 39|8@0+ (0.392157,0) [0|100.000035] "%" XXX + +BO_ 2155552768 Exterior_Lock_Switch_Req_LS: 1 XXX + SG_ PsvEntCmftWndRq : 1|2@0+ (1,0) [0|3] "" XXX + +BO_ 2154496000 Rear_Closure_Soft_Top_Info_LS: 1 XXX + SG_ CmpSftTopMotBfrOpTrnkIO : 0|1@0+ (1,0) [0|1] "" XXX + SG_ TargaTopStateGroup : 2|2@0+ (1,0) [0|0] "" XXX + SG_ TargaTopState : 1|1@0+ (1,0) [0|1] "" XXX + SG_ TargaTopStateV : 2|1@0+ (1,0) [0|1] "" XXX + +BO_ 2155208704 Power_Conv_Top_Info_LS: 3 XXX + SG_ SftTpAbvWrngSpdIndOn : 0|1@0+ (1,0) [0|1] "" XXX + SG_ SftTpFlrIO : 1|1@0+ (1,0) [0|1] "" XXX + SG_ SftTpLtcIO : 2|1@0+ (1,0) [0|1] "" XXX + SG_ SftTpMnlLtchIndOn : 3|1@0+ (1,0) [0|1] "" XXX + SG_ SftTpMchnOvhtIO : 4|1@0+ (1,0) [0|1] "" XXX + SG_ SftTpRmCrgCrrIO : 5|1@0+ (1,0) [0|1] "" XXX + SG_ SftTpStrIO : 6|1@0+ (1,0) [0|1] "" XXX + SG_ SftTpTmpLwIO : 7|1@0+ (1,0) [0|1] "" XXX + SG_ SftTpTneuCvrIO : 8|1@0+ (1,0) [0|1] "" XXX + SG_ SftTpVehOvSpdIndOn : 9|1@0+ (1,0) [0|1] "" XXX + SG_ SftTpVltLwIO : 10|1@0+ (1,0) [0|1] "" XXX + SG_ CkSoftTpIO : 11|1@0+ (1,0) [0|1] "" XXX + SG_ ClsTrnkLidIO : 12|1@0+ (1,0) [0|1] "" XXX + SG_ FTUpdWndPsLmtEnbld : 13|1@0+ (1,0) [0|1] "" XXX + SG_ VltSwAtvIndOn : 14|1@0+ (1,0) [0|1] "" XXX + SG_ SftTpTrnLmpsRqd : 15|1@0+ (1,0) [0|1] "" XXX + SG_ FldngTpSt : 18|3@0+ (1,0) [0|7] "" XXX + SG_ FldngTpWndCmftRq : 20|2@0+ (1,0) [0|3] "" XXX + SG_ SftTpPlsDnSrtdIndOn : 21|1@0+ (1,0) [0|1] "" XXX + SG_ SftTpPlsDnWrngIndOn : 22|1@0+ (1,0) [0|1] "" XXX + +BO_ 2153390080 Manual_Liftgate_Control_LS: 1 XXX + SG_ RrClosOpenSwAct_2D1Group : 3|3@0+ (1,0) [0|0] "" XXX + SG_ RrClosOpenSwAct_2D1 : 1|1@0+ (1,0) [0|1] "" XXX + SG_ RrClosOpenSwAct_2D1V : 3|1@0+ (1,0) [0|1] "" XXX + +BO_ 2155175936 CruiseControlGapSwitch_LS: 1 XXX + SG_ AdptCrsGapSwAct : 1|2@0+ (1,0) [0|3] "" XXX + SG_ AdptCrsLKALDWSwAct : 2|1@0+ (1,0) [0|1] "" XXX + +BO_ 2156806144 Cellular_Network_Date_and_Time: 6 XXX + SG_ CldrDayCmpstdVal : 4|5@0+ (1,0) [0|31] "days" XXX + SG_ HrsCmpstdValGroup : 5|30@0+ (1,0) [0|0] "" XXX + SG_ HrsCmpstdValV : 5|1@0+ (1,0) [0|1] "" XXX + SG_ HrsCmpstdVal : 28|5@0+ (1,0) [0|31] "h" XXX + SG_ MinsCmpstdValGroup : 6|39@0+ (1,0) [0|0] "" XXX + SG_ MinsCmpstdValV : 6|1@0+ (1,0) [0|1] "" XXX + SG_ MinsCmpstdVal : 37|6@0+ (1,0) [0|63] "min" XXX + SG_ SecCmpstdValGroup : 7|48@0+ (1,0) [0|0] "" XXX + SG_ SecCmpstdValV : 7|1@0+ (1,0) [0|1] "" XXX + SG_ SecCmpstdVal : 45|6@0+ (1,0) [0|63] "secs" XXX + SG_ CldrMthCmpstdVal : 11|4@0+ (1,0) [0|15] "" XXX + SG_ CellNtwrkDtTmAvl : 12|1@0+ (1,0) [0|1] "" XXX + SG_ CldrYrCmpstdVal : 23|8@0+ (1,2000) [2000|2255] "year" XXX + +BO_ 2154078208 Window_Position_Status_LS: 2 XXX + SG_ DrvWndPosStat : 2|3@0+ (1,0) [0|7] "" XXX + SG_ LRWndPosStat : 5|3@0+ (1,0) [0|7] "" XXX + SG_ PsWndPosStat : 10|3@0+ (1,0) [0|7] "" XXX + SG_ RRWndPosStat : 13|3@0+ (1,0) [0|7] "" XXX + +BO_ 2159058944 ODIEvent_IPC_LS: 3 XXX + SG_ ODIEvntPkt_IPC : 5|22@0+ (1,0) [0|0] "" XXX + SG_ ODIEI_EvID : 5|6@0+ (1,0) [0|63] "" XXX + SG_ ODIEI_FUCID : 15|8@0+ (1,0) [0|255] "" XXX + SG_ ODIEI_MultiFrRetCh : 23|8@0+ (1,0) [0|255] "" XXX + +BO_ 2159042560 ODI_DynData_IPC_LS: 8 XXX + SG_ ODIDynData_IPC : 14|55@0+ (1,0) [0|0] "" XXX + SG_ ODDI_InvldData : 8|1@0+ (1,0) [0|1] "" XXX + SG_ ODDI_DataType : 14|6@0+ (1,0) [0|63] "" XXX + SG_ ODDI_FUCID : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ODDI_DataId : 31|8@0+ (1,0) [0|255] "" XXX + SG_ ODDI_DataVal : 39|32@0+ (1,0) [0|4294967295] "" XXX + +BO_ 2150006784 System_Power_Mode_Pushbutton_LS: 1 XXX + SG_ SysPwrMdPshbtnActGroup : 1|2@0+ (1,0) [0|0] "" XXX + SG_ SysPwrMdPshbtnAct : 0|1@0+ (1,0) [0|1] "" XXX + SG_ SysPwrMdPshbtnActV : 1|1@0+ (1,0) [0|1] "" XXX + SG_ PEPSRunCrnkRlyDctd : 2|1@0+ (1,0) [0|1] "" XXX + +BO_ 2155216896 Road_Type_Information_LS: 6 XXX + SG_ MpDataAvlbl : 0|1@0+ (1,0) [0|1] "" XXX + SG_ BldUpArDet : 1|1@0+ (1,0) [0|1] "" XXX + SG_ SprtLnRd : 2|1@0+ (1,0) [0|1] "" XXX + SG_ CntrldAccRd : 3|1@0+ (1,0) [0|1] "" XXX + SG_ CurvAdvInd : 5|2@0+ (1,0) [0|3] "" XXX + SG_ SpdLmtPstdSpdGroup : 6|23@0+ (1,0) [0|0] "" XXX + SG_ SpdLmtPstdSpdM : 6|1@0+ (1,0) [0|1] "" XXX + SG_ SpdLmtPstdSpd : 23|8@0+ (1,0) [0|255] "" XXX + SG_ DgtlMapPstdSpdLimAsrd : 7|1@0+ (1,0) [0|1] "" XXX + SG_ FncRdClass : 10|3@0+ (1,0) [0|7] "" XXX + SG_ RdSpdCatType : 12|2@0+ (1,0) [0|3] "" XXX + SG_ LnCat : 14|2@0+ (1,0) [0|3] "" XXX + SG_ SpdLmtUnits : 15|1@0+ (1,0) [0|1] "" XXX + SG_ SpdLmtRecmndSpd : 31|8@0+ (1,0) [0|255] "" XXX + SG_ IntlStdAlph2CddCntryCd : 33|10@0+ (1,0) [0|0] "" XXX + SG_ ISA2CCC_FrstCdChr : 33|5@0+ (1,0) [0|31] "" XXX + SG_ ISA2CCC_ScndCdChr : 44|5@0+ (1,0) [0|31] "" XXX + +BO_ 2156216320 TTY_Status_LS: 1 XXX + SG_ TxtTelephoneDevPr : 0|1@0+ (1,0) [0|1] "" XXX + +BO_ 2158813184 ODIIndication_IPC_LS: 8 XXX + SG_ ODIInd_IPC : 7|64@0+ (1,0) [0|0] "" XXX + SG_ ODIIIPC_FUCID : 7|8@0+ (1,0) [0|255] "" XXX + SG_ ODIIIPC_ODIInd8 : 8|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd7 : 9|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd6 : 10|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd5 : 11|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd4 : 12|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd3 : 13|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd2 : 14|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd1 : 15|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd16 : 16|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd15 : 17|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd14 : 18|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd13 : 19|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd12 : 20|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd11 : 21|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd10 : 22|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd9 : 23|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd24 : 24|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd23 : 25|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd22 : 26|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd21 : 27|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd20 : 28|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd19 : 29|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd18 : 30|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd17 : 31|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd32 : 32|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd31 : 33|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd30 : 34|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd29 : 35|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd28 : 36|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd27 : 37|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd26 : 38|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd25 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd40 : 40|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd39 : 41|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd38 : 42|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd37 : 43|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd36 : 44|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd35 : 45|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd34 : 46|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd33 : 47|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd48 : 48|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd47 : 49|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd46 : 50|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd45 : 51|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd44 : 52|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd43 : 53|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd42 : 54|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd41 : 55|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd56 : 56|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd55 : 57|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd54 : 58|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd53 : 59|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd52 : 60|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd51 : 61|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd50 : 62|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd49 : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 2150277120 GPS_Geographical_Position_LS: 8 XXX + SG_ PsngSysLatGroup : 6|31@0+ (1,0) [0|0] "" XXX + SG_ PsngSysLat : 5|30@0- (1,0) [-536870912|536870911] "mas" XXX + SG_ PsngSysLatV : 6|1@0+ (1,0) [0|1] "" XXX + SG_ PsngSysLongGroup : 39|32@0+ (1,0) [0|0] "" XXX + SG_ PsngSysLong : 38|31@0- (1,0) [-1073741824|1073741823] "mas" XXX + SG_ PsngSysLongV : 39|1@0+ (1,0) [0|1] "" XXX + +BO_ 2150285312 GPS_Elevation_and_Heading_LS: 8 XXX + SG_ PsngSysHdingGroup : 3|37@0+ (1,0) [0|0] "" XXX + SG_ PsngSysHding : 3|12@0+ (0.1,0) [0|409.5] "deg" XXX + SG_ PsngSysHdingV : 47|1@0+ (1,0) [0|1] "" XXX + SG_ PsngSysDilPrcsGroup : 4|29@0+ (1,0) [0|0] "" XXX + SG_ PsngSysDilPrcsV : 4|1@0+ (1,0) [0|1] "" XXX + SG_ PsngSysDilPrcs : 17|10@0+ (0.1,0) [0|102.3] "" XXX + SG_ PsngSysCalcSpdGroup : 39|10@0+ (1,0) [0|0] "" XXX + SG_ PsngSysCalcSpd : 39|8@0+ (1,0) [0|255] "km / h" XXX + SG_ PsngSysCalcSpdV : 46|1@0+ (1,0) [0|1] "" XXX + SG_ PsngSysElvtnGroup : 45|22@0+ (1,0) [0|0] "" XXX + SG_ PsngSysElvtn : 44|21@0+ (1,-100000) [-100000|1997151] "cm" XXX + SG_ PsngSysElvtnV : 45|1@0+ (1,0) [0|1] "" XXX + +BO_ 2151890944 Telematics_Indication_Request_LS: 4 XXX + SG_ TlmtcsIndCntrlReq : 15|24@0+ (1,0) [0|0] "" XXX + SG_ TICR_Ind1Cnt : 11|4@0+ (1,0) [0|15] "" XXX + SG_ TICR_Ind1 : 13|2@0+ (1,0) [0|3] "" XXX + SG_ TICR_Ind1Req : 15|2@0+ (1,0) [0|3] "" XXX + SG_ TICR_Ind1FlshRtOff : 23|8@0+ (10,0) [0|2550] "ms" XXX + SG_ TICR_Ind1FlshRtOn : 31|8@0+ (10,0) [0|2550] "ms" XXX + +BO_ 2151251968 Telematics_Indication_Control_LS: 4 XXX + SG_ TlmtcsIndCntrlStat : 12|21@0+ (1,0) [0|0] "" XXX + SG_ TICS_Ind1V : 8|1@0+ (1,0) [0|1] "" XXX + SG_ TICS_Ind1 : 10|2@0+ (1,0) [0|3] "" XXX + SG_ TICS_Ind1Stat : 12|2@0+ (1,0) [0|3] "" XXX + SG_ TICS_Ind1FlshRtOffSt : 23|8@0+ (10,0) [0|2550] "ms" XXX + SG_ TICS_Ind1FlshRtOnSt : 31|8@0+ (10,0) [0|2550] "ms" XXX + +BO_ 2155495424 Remote_Start_Seat_Request_LS: 1 XXX + SG_ RmStrCldStEnReq : 0|1@0+ (1,0) [0|1] "" XXX + SG_ RmStrHtdStEnRq : 1|1@0+ (1,0) [0|1] "" XXX + +BO_ 2149990400 HS_Indications_Fast_LS: 8 XXX + SG_ ABSIO : 0|1@0+ (1,0) [0|1] "" XXX + SG_ StpOnBrkToRelPBIndOn : 1|1@0+ (1,0) [0|1] "" XXX + SG_ TrlrBrkngVDA : 2|1@0+ (1,0) [0|1] "" XXX + SG_ DrvThrtlOvrdIO : 3|1@0+ (1,0) [0|1] "" XXX + SG_ TreInfMonSysRstPrfmd : 4|1@0+ (1,0) [0|1] "" XXX + SG_ ACCHdwayStngIO : 5|1@0+ (1,0) [0|1] "" XXX + SG_ ACCDrvrSeltdSpdIO : 6|1@0+ (1,0) [0|1] "" XXX + SG_ TrlrWiringFltIO : 7|1@0+ (1,0) [0|1] "" XXX + SG_ AdvHlmpsVDA : 9|1@0+ (1,0) [0|1] "" XXX + SG_ SADmpVDA : 10|1@0+ (1,0) [0|1] "" XXX + SG_ ScndryAxleVDA : 11|1@0+ (1,0) [0|1] "" XXX + SG_ SrvTrlrBrkngSysIO : 12|1@0+ (1,0) [0|1] "" XXX + SG_ TrlrBrkngGainSetIO : 13|1@0+ (1,0) [0|1] "" XXX + SG_ TrlrCnctdIO : 14|1@0+ (1,0) [0|1] "" XXX + SG_ ChkTrlrIO : 15|1@0+ (1,0) [0|1] "" XXX + SG_ TrlrBrkngFrcOtpt : 23|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ TrlrBrkngGainSet : 31|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ TrlrHtchSwAtv_ITBC : 32|1@0+ (1,0) [0|1] "" XXX + SG_ TransNtrlCntrlMdStat : 34|2@0+ (1,0) [0|3] "" XXX + SG_ MotStBltFldIO : 35|1@0+ (1,0) [0|1] "" XXX + SG_ MotStBltUnblIO : 36|1@0+ (1,0) [0|1] "" XXX + SG_ TrnsfrCsRngShfSpdLmt : 47|8@0+ (1,0) [0|255] "km / h" XXX + SG_ InstFuelConsmpRate : 51|12@0+ (0.025,0) [0|102.375] "liters/hr" XXX + SG_ SecAxlOperMod : 55|4@0+ (1,0) [0|15] "" XXX + +BO_ 2155380736 HS_Indications_SuperSlow_LS: 6 XXX + SG_ VehOvrLdIndOn : 0|1@0+ (1,0) [0|1] "" XXX + SG_ SrvLevSysIO : 1|1@0+ (1,0) [0|1] "" XXX + SG_ HdLtLvlFlrIO : 2|1@0+ (1,0) [0|1] "" XXX + SG_ RrLevVDA : 3|1@0+ (1,0) [0|1] "" XXX + SG_ AirCndOffIO : 4|1@0+ (1,0) [0|1] "" XXX + SG_ EngOilHotIO : 5|1@0+ (1,0) [0|1] "" XXX + SG_ PTExPrtclFltrWrnIO : 6|1@0+ (1,0) [0|1] "" XXX + SG_ DslGlwPlgIO : 7|1@0+ (1,0) [0|1] "" XXX + SG_ EngHotFuelEnrchmntIO : 8|1@0+ (1,0) [0|1] "" XXX + SG_ EngOilChngIO : 9|1@0+ (1,0) [0|1] "" XXX + SG_ EngOilLvlLwIO : 10|1@0+ (1,0) [0|1] "" XXX + SG_ EngOilPrsLwIO : 11|1@0+ (1,0) [0|1] "" XXX + SG_ EngWtrInFlIO : 12|1@0+ (1,0) [0|1] "" XXX + SG_ RdcdPwrIO : 13|1@0+ (1,0) [0|1] "" XXX + SG_ CkFlFilrCapIO : 14|1@0+ (1,0) [0|1] "" XXX + SG_ EngHt_StpEngIO : 15|1@0+ (1,0) [0|1] "" XXX + SG_ StrAsstRdcdLvl2IO : 16|1@0+ (1,0) [0|1] "" XXX + SG_ PwrStrIO : 17|1@0+ (1,0) [0|1] "" XXX + SG_ PTExPrtclFltrWrn2IO : 18|1@0+ (1,0) [0|1] "" XXX + SG_ AdvFrntLghtSysIndRq : 21|3@0+ (1,0) [0|7] "" XXX + SG_ StrngAsstRdcdIO : 22|1@0+ (1,0) [0|1] "" XXX + SG_ StrAsstRdcdLvl3IO : 23|1@0+ (1,0) [0|1] "" XXX + SG_ PwrPckAirInTempFlt : 31|8@0+ (1,-40) [-40|215] "deg C" XXX + SG_ PwrPkFnSpd : 39|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ ARSFlrIO : 40|1@0+ (1,0) [0|1] "" XXX + +BO_ 2150498304 Analog_Values_Slow_LS: 8 XXX + SG_ EngCltTmpGroup : 0|57@0+ (1,0) [0|0] "" XXX + SG_ EngCltTmpV : 0|1@0+ (1,0) [0|1] "" XXX + SG_ EngCltTmp : 63|8@0+ (1,-40) [-40|215] "deg C" XXX + SG_ EngIntAirTmpGroup : 1|50@0+ (1,0) [0|0] "" XXX + SG_ EngIntAirTmpV : 1|1@0+ (1,0) [0|1] "" XXX + SG_ EngIntAirTmp : 55|8@0+ (1,-40) [-40|215] "deg C" XXX + SG_ EngOilTmpGroup : 2|43@0+ (1,0) [0|0] "" XXX + SG_ EngOilTmpV : 2|1@0+ (1,0) [0|1] "" XXX + SG_ EngOilTmp : 47|8@0+ (1,-40) [-40|215] "deg C" XXX + SG_ OAT_PT_EstGroup : 4|37@0+ (1,0) [0|0] "" XXX + SG_ OAT_PT_EstV : 3|1@0+ (1,0) [0|1] "" XXX + SG_ OAT_PT_EstM : 4|1@0+ (1,0) [0|1] "" XXX + SG_ OAT_PT_Est : 39|8@0+ (0.5,-40) [-40|87.5] "deg C" XXX + SG_ TrnOilTmpGroup : 5|30@0+ (1,0) [0|0] "" XXX + SG_ TrnOilTmpV : 5|1@0+ (1,0) [0|1] "" XXX + SG_ TrnOilTmp : 31|8@0+ (1,-40) [-40|215] "deg C" XXX + SG_ BarPrsAbsGroup : 6|23@0+ (1,0) [0|0] "" XXX + SG_ BarPrsAbsV : 6|1@0+ (1,0) [0|1] "" XXX + SG_ BarPrsAbs : 23|8@0+ (0.5,0) [0|127.5] "kPa" XXX + SG_ EngOilPrsGroup : 7|16@0+ (1,0) [0|0] "" XXX + SG_ EngOilPrsV : 7|1@0+ (1,0) [0|1] "" XXX + SG_ EngOilPrs : 15|8@0+ (4,0) [0|1020] "kPa" XXX + +BO_ 2151047168 HUD_Status_LS: 1 XXX + SG_ HUDActv : 0|1@0+ (1,0) [0|1] "" XXX + SG_ HdUpDspAnmtStat : 3|3@0+ (1,0) [0|7] "" XXX + +BO_ 2155331584 Wheel_Pulses_LS: 4 XXX + SG_ WhlPlsPerRevDrvn : 6|7@0+ (1,0) [0|127] "" XXX + SG_ WhlPlsPerRevNonDrvn : 14|7@0+ (1,0) [0|127] "" XXX + SG_ WhlRotStatTmstmpRes : 18|11@0+ (0.002,0) [0|4.094] "uSec" XXX + +BO_ 2154225664 Door_Handle_Switch_Status_LS: 1 XXX + SG_ DrvDrHndleSwAtv : 0|1@0+ (1,0) [0|1] "" XXX + SG_ PasDrHndleSwAtv : 1|1@0+ (1,0) [0|1] "" XXX + SG_ RCHndleSwAtv : 2|1@0+ (1,0) [0|1] "" XXX + SG_ RRDrHndleSwAtv : 3|1@0+ (1,0) [0|1] "" XXX + SG_ RLDrHndleSwAtv : 4|1@0+ (1,0) [0|1] "" XXX + +BO_ 2149900288 Telematics_Contol_LS: 3 XXX + SG_ EnhSrvRClsRlsRq : 1|1@0+ (1,0) [0|1] "" XXX + SG_ EnhSrvVisAlRq : 3|2@0+ (1,0) [0|3] "" XXX + SG_ EnhSrvAudAlRq : 5|2@0+ (1,0) [0|3] "" XXX + SG_ EnhSrvRmStrtRq : 7|2@0+ (1,0) [0|3] "" XXX + SG_ EnhSrvLckRq : 10|3@0+ (1,0) [0|7] "" XXX + SG_ BTTethrngPrngReq : 14|4@0+ (1,0) [0|15] "" XXX + SG_ EnhSvVehTopSpdLim : 23|8@0+ (2,0) [0|510] "km / h" XXX + +BO_ 2159001600 ODIEnumDynamicData_IPC_LS: 8 XXX + SG_ ODIEnmDynData_IPC : 5|62@0+ (1,0) [0|0] "" XXX + SG_ ODIEDDIPC_Data2Value : 2|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDIPC_Data1Value : 5|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDIPC_Data5Value : 9|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDIPC_Data4Value : 12|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDIPC_Data3Value : 15|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDIPC_Data8Value : 16|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDIPC_Data7Value : 19|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDIPC_Data6Value : 22|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDIPC_Data10Value : 26|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDIPC_Data9Value : 29|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDIPC_Data13Value : 33|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDIPC_Data12Value : 36|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDIPC_Data11Value : 39|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDIPC_Data16Value : 40|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDIPC_Data15Value : 43|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDIPC_Data14Value : 46|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDIPC_Data18Value : 50|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDIPC_Data17Value : 53|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDIPC_FUCID : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 2158993408 ODIEnumDynamicData_CntrStack_LS: 8 XXX + SG_ ODIEnmDynData_CenterStack : 5|62@0+ (1,0) [0|0] "" XXX + SG_ ODIEDDCS_Data2Value : 2|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDCS_Data1Value : 5|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDCS_Data5Value : 9|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDCS_Data4Value : 12|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDCS_Data3Value : 15|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDCS_Data8Value : 16|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDCS_Data7Value : 19|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDCS_Data6Value : 22|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDCS_Data10Value : 26|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDCS_Data9Value : 29|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDCS_Data13Value : 33|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDCS_Data12Value : 36|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDCS_Data11Value : 39|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDCS_Data16Value : 40|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDCS_Data15Value : 43|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDCS_Data14Value : 46|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDCS_Data18Value : 50|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDCS_Data17Value : 53|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDCS_FUCID : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 2154708992 Audio_Master_Source_Status_LS: 2 XXX + SG_ AudSrcStat2 : 3|12@0+ (1,0) [0|0] "" XXX + SG_ ASS2AudSrcType : 3|5@0+ (1,0) [0|31] "" XXX + SG_ ASS2AudSrcStatCode : 11|4@0+ (1,0) [0|15] "" XXX + SG_ ASS2AudSrcChType : 14|3@0+ (1,0) [0|7] "" XXX + +BO_ 2158985216 ODIDynDataMultiReq_OTIM_LS: 8 XXX + SG_ ODIDynDataMltRq_OTIM : 5|62@0+ (1,0) [0|0] "" XXX + SG_ ODDMO_DataID2Vld : 0|1@0+ (1,0) [0|1] "" XXX + SG_ ODDMO_DataID3Vld : 1|1@0+ (1,0) [0|1] "" XXX + SG_ ODDMO_DataID4Vld : 2|1@0+ (1,0) [0|1] "" XXX + SG_ ODDMO_DataID5Vld : 3|1@0+ (1,0) [0|1] "" XXX + SG_ ODDMO_ReqType : 5|2@0+ (1,0) [0|3] "" XXX + SG_ ODDMO_FUCID : 15|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMO_DispMID : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMO_DataID1 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMO_DataID2 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMO_DataID3 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMO_DataID4 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMO_DataID5 : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 2154471424 Rear_Closure_Ajar_Switch_Status: 1 XXX + SG_ RrClosAjarSwAct : 0|1@0+ (1,0) [0|1] "" XXX + SG_ RrClsrSnwLdIO : 1|1@0+ (1,0) [0|1] "" XXX + +BO_ 2159149056 ODI_TEL_2_CenterStack_LS: 8 XXX + SG_ ODI_TEL2CntrStck : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2159116288 ODI_TEL_2_AuxIP_LS: 8 XXX + SG_ ODI_TEL2AxIP : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2158796800 ODIIndication_LS: 8 XXX + SG_ ODIInd : 7|64@0+ (1,0) [0|0] "" XXX + SG_ ODII_FUCID : 7|8@0+ (1,0) [0|255] "" XXX + SG_ ODII_ODIInd8 : 8|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd7 : 9|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd6 : 10|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd5 : 11|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd4 : 12|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd3 : 13|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd2 : 14|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd1 : 15|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd16 : 16|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd15 : 17|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd14 : 18|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd13 : 19|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd12 : 20|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd11 : 21|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd10 : 22|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd9 : 23|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd24 : 24|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd23 : 25|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd22 : 26|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd21 : 27|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd20 : 28|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd19 : 29|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd18 : 30|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd17 : 31|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd32 : 32|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd31 : 33|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd30 : 34|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd29 : 35|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd28 : 36|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd27 : 37|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd26 : 38|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd25 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd40 : 40|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd39 : 41|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd38 : 42|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd37 : 43|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd36 : 44|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd35 : 45|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd34 : 46|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd33 : 47|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd48 : 48|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd47 : 49|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd46 : 50|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd45 : 51|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd44 : 52|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd43 : 53|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd42 : 54|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd41 : 55|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd56 : 56|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd55 : 57|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd54 : 58|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd53 : 59|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd52 : 60|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd51 : 61|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd50 : 62|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd49 : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 2158755840 ODIEvent_LS: 4 XXX + SG_ ODIEvntPkt : 13|22@0+ (1,0) [0|0] "" XXX + SG_ ODIE_EvID : 13|6@0+ (1,0) [0|63] "" XXX + SG_ ODIE_FUCID : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ODIE_MultiFrRetCh : 31|8@0+ (1,0) [0|255] "" XXX + +BO_ 2159157248 ODI_CenterStack_2_TEL_LS: 8 XXX + SG_ ODI_CntrStck2TEL : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2153955328 Infrastructure_Timer_Status_LS: 5 XXX + SG_ EngOffTmExtRngGroup : 0|33@0+ (1,0) [0|0] "" XXX + SG_ EngOffTmExtRngV : 0|1@0+ (1,0) [0|1] "" XXX + SG_ EngOffTmExtRng : 39|8@0+ (4,0) [0|1020] "min" XXX + SG_ ElpsdTimeCntRstOcc : 1|1@0+ (1,0) [0|1] "" XXX + SG_ ElpsdTimeCnt : 15|24@0+ (1,0) [0|16777215] "min" XXX + +BO_ 2151063552 Infotainment_Operation_LS: 7 XXX + SG_ InftnOprAlwd : 0|1@0+ (1,0) [0|1] "" XXX + SG_ ValetMdAct : 1|1@0+ (1,0) [0|1] "" XXX + SG_ Frnt360CamSwAct : 2|1@0+ (1,0) [0|1] "" XXX + SG_ CamVideoICSDispAct : 3|1@0+ (1,0) [0|1] "" XXX + SG_ LRStStatDispAct : 4|1@0+ (1,0) [0|1] "" XXX + SG_ RRStStatDispAct : 5|1@0+ (1,0) [0|1] "" XXX + SG_ TrgdVidRecSwAct : 6|1@0+ (1,0) [0|1] "" XXX + SG_ RrPedDetCstStReq : 10|3@0+ (1,0) [0|7] "" XXX + SG_ IntrStopAlrtCsSetReq : 13|3@0+ (1,0) [0|7] "" XXX + SG_ ICSTchStat : 17|34@0+ (1,0) [0|0] "" XXX + SG_ ICSTS_TchPrxmty : 17|2@0+ (1,0) [0|3] "" XXX + SG_ ICSTS_X1TchCrdnt : 31|16@0+ (0.001526,0) [0|100] "" XXX + SG_ ICSTS_Y1TchCrdnt : 47|16@0+ (0.001526,0) [0|100] "" XXX + SG_ TrfRdsdInfCsStReq : 20|3@0+ (1,0) [0|7] "" XXX + SG_ CntdVehBrAltCsStReq : 23|3@0+ (1,0) [0|7] "" XXX + +BO_ 2157985792 Fob_Programming_Request_LS: 1 XXX + SG_ FobProgEvntRqd : 0|1@0+ (1,0) [0|1] "" XXX + +BO_ 2151284736 Park_Assistant_General_Status: 1 XXX + SG_ PrkAsstClnPrkAstIO : 0|1@0+ (1,0) [0|1] "" XXX + SG_ PrkAsstDisablIO : 1|1@0+ (1,0) [0|1] "" XXX + SG_ PrkAstFld : 2|1@0+ (1,0) [0|1] "" XXX + SG_ PrkAstSnrsBlk : 3|1@0+ (1,0) [0|1] "" XXX + SG_ PrkAstSnsDistrbdIO : 4|1@0+ (1,0) [0|1] "" XXX + SG_ TnDrvPrkAstOffUnbIO : 5|1@0+ (1,0) [0|1] "" XXX + SG_ PrkAstOprtrDsrdStat_1D0 : 7|2@0+ (1,0) [0|3] "" XXX + +BO_ 2159099904 ODI_DAB_2_AuxIP_LS: 8 XXX + SG_ ODI_DAB2AxIP : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2159067136 ODI_DAB_2_IPC_LS: 8 XXX + SG_ ODI_DAB2IPC : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2159206400 ODI_AuxIP_2_IPC_LS: 8 XXX + SG_ ODI_AxIP2IPC : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2159198208 ODI_IPC_2_AuxIP_LS: 8 XXX + SG_ ODI_IPC2AxIP : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2159190016 ODI_AuxIP_2_CenterStack_LS: 8 XXX + SG_ ODI_AxIP2CntrStck : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2159181824 ODI_CenterStack_2_AuxIP_LS: 8 XXX + SG_ ODI_CntrStck2AxIP : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2159173632 ODI_IPC_2_CenterStack_LS: 8 XXX + SG_ ODI_IPC2CntrStck : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2159165440 ODI_CenterStack_2_IPC_LS: 8 XXX + SG_ ODI_CntrStck2IPC : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2159108096 ODI_AuxIP_2_DAB_LS: 8 XXX + SG_ ODI_AxIP2DAB : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2159075328 ODI_IPC_2_DAB_LS: 8 XXX + SG_ ODI_IPC2DAB : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2151718912 Chime_Active: 1 XXX + SG_ ChmAct : 0|1@0+ (1,0) [0|1] "" XXX + SG_ ChmVolSt : 2|2@0+ (1,0) [0|3] "" XXX + +BO_ 2155479040 Customization_Setting_Request_LS: 5 XXX + SG_ DrvlnCustStngReq : 2|3@0+ (1,0) [0|7] "" XXX + SG_ RstrCustFctrDef : 3|1@0+ (1,0) [0|1] "" XXX + SG_ PedFrndlyAlrtCsStReq : 6|3@0+ (1,0) [0|7] "" XXX + SG_ SusCustStngReq : 10|3@0+ (1,0) [0|7] "" XXX + SG_ StrCustStngReq : 13|3@0+ (1,0) [0|7] "" XXX + SG_ ElvtdIdlCstStReq : 15|2@0+ (1,0) [0|3] "" XXX + SG_ SndPerfMdCsStRq : 18|3@0+ (1,0) [0|7] "" XXX + SG_ DispPerfMdCsStRq : 21|3@0+ (1,0) [0|7] "" XXX + SG_ ACCPerfMdCsStReq : 26|3@0+ (1,0) [0|7] "" XXX + SG_ DrvrStPerfMdCsStReq : 29|3@0+ (1,0) [0|7] "" XXX + SG_ PsngStPerfMdCsStReq : 34|3@0+ (1,0) [0|7] "" XXX + SG_ DrvStyPerfMdCsStReq : 37|3@0+ (1,0) [0|7] "" XXX + +BO_ 2151383040 Reset_TP_request_LS: 1 XXX + SG_ TreInfMonSysRstReq : 0|1@0+ (1,0) [0|1] "" XXX + +BO_ 2155421696 Passive_Entry_Challenge_LS: 5 XXX + SG_ PsvEntChlng : 7|32@0+ (1,0) [0|4294967295] "passwrd" XXX + SG_ ServKylsStSysIO : 32|1@0+ (1,0) [0|1] "" XXX + SG_ PsvEntApprchDtcd : 33|1@0+ (1,0) [0|1] "" XXX + SG_ PsvEntAprchDrctn : 36|3@0+ (1,0) [0|7] "" XXX + SG_ PsvEntApprchCnfgReq : 39|3@0+ (1,0) [0|7] "" XXX + +BO_ 2155413504 Drv_Dr_Key_Cyl_Status_LS: 3 XXX + SG_ DrvrDrKeyCylUlkSwActGroup : 1|2@0+ (1,0) [0|0] "" XXX + SG_ DrvrDrKeyCylUlkSwAct : 0|1@0+ (1,0) [0|1] "" XXX + SG_ DrvrDrKeyCylUlkSwActV : 1|1@0+ (1,0) [0|1] "" XXX + SG_ PsvLckngReqd : 2|1@0+ (1,0) [0|1] "" XXX + SG_ PsvApprchVehId : 15|16@0+ (1,0) [0|65535] "" XXX + +BO_ 2159026176 ODIDynamicData_LS: 8 XXX + SG_ ODIDynData : 14|55@0+ (1,0) [0|0] "" XXX + SG_ ODD_InvldData : 8|1@0+ (1,0) [0|1] "" XXX + SG_ ODD_DataType : 14|6@0+ (1,0) [0|63] "" XXX + SG_ ODD_FUCID : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ODD_DataId : 31|8@0+ (1,0) [0|255] "" XXX + SG_ ODD_DataVal : 39|32@0+ (1,0) [0|4294967295] "" XXX + +BO_ 2158936064 ODIEnumDynamicData_LS: 8 XXX + SG_ ODIEnmDynData : 5|62@0+ (1,0) [0|0] "" XXX + SG_ ODIEDD_Data2Value : 2|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDD_Data1Value : 5|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDD_Data5Value : 9|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDD_Data4Value : 12|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDD_Data3Value : 15|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDD_Data8Value : 16|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDD_Data7Value : 19|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDD_Data6Value : 22|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDD_Data10Value : 26|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDD_Data9Value : 29|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDD_Data13Value : 33|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDD_Data12Value : 36|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDD_Data11Value : 39|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDD_Data16Value : 40|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDD_Data15Value : 43|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDD_Data14Value : 46|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDD_Data18Value : 50|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDD_Data17Value : 53|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDD_FUCID : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 2158845952 ODIAction_CntrStack_LS: 8 XXX + SG_ ODIActn_CntrStck : 5|62@0+ (1,0) [0|0] "" XXX + SG_ ODIAC_DaTy : 5|6@0+ (1,0) [0|63] "" XXX + SG_ ODIAC_FUCID : 15|8@0+ (1,0) [0|255] "" XXX + SG_ ODIAC_ActnID : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ODIAC_DspMID : 31|8@0+ (1,0) [0|255] "" XXX + SG_ ODIAC_ActnVal : 39|32@0+ (1,0) [0|4294967295] "" XXX + +BO_ 2158886912 ODIDynDataListRequest_IPC_LS: 8 XXX + SG_ ODIDynDataLstRq_IPC : 7|64@0+ (1,0) [0|0] "" XXX + SG_ ODDLI_FUCID : 7|8@0+ (1,0) [0|255] "" XXX + SG_ ODDLI_DataId : 15|8@0+ (1,0) [0|255] "" XXX + SG_ ODDLI_DspMID : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ODDLI_ReqDir : 24|1@0+ (1,0) [0|1] "" XXX + SG_ ODDLI_NmEntries : 31|7@0+ (1,0) [0|127] "" XXX + SG_ ODDLI_Idx : 39|16@0+ (1,0) [0|65535] "" XXX + SG_ ODDLI_SubIdReqM : 51|12@0+ (1,0) [0|4095] "" XXX + SG_ ODDLI_WrpArnd : 52|1@0+ (1,0) [0|1] "" XXX + SG_ ODDLI_BckgndFlag : 53|1@0+ (1,0) [0|1] "" XXX + SG_ ODDLI_ReqType : 55|2@0+ (1,0) [0|3] "" XXX + +BO_ 2151366656 Man_Prk_Brk_LS: 1 XXX + SG_ RrAxlLckIO : 0|1@0+ (1,0) [0|1] "" XXX + SG_ FrntAxlLckIO : 1|1@0+ (1,0) [0|1] "" XXX + SG_ PrkBrkSwAtv : 2|1@0+ (1,0) [0|1] "" XXX + SG_ AxlLcksServIO : 3|1@0+ (1,0) [0|1] "" XXX + SG_ AxlLckUnavailIndReq : 6|3@0+ (1,0) [0|7] "" XXX + SG_ AxlLcksVDA : 7|1@0+ (1,0) [0|1] "" XXX + +BO_ 2149842944 Vehicle_Stability_LS: 8 XXX + SG_ IMUProtLonAccGroup : 2|11@0+ (1,0) [0|0] "" XXX + SG_ IMUProtLonAcc : 1|10@0- (0.03,0) [-15.36|15.33] "m/s^2" XXX + SG_ IMUProtLonAccV : 2|1@0+ (1,0) [0|1] "" XXX + SG_ TCSysAtv : 3|1@0+ (1,0) [0|1] "" XXX + SG_ BrkSysAutBrkFld : 4|1@0+ (1,0) [0|1] "" XXX + SG_ VSEAct : 5|1@0+ (1,0) [0|1] "" XXX + SG_ StrWhAngGroup : 6|47@0+ (1,0) [0|0] "" XXX + SG_ StrWhAngV : 6|1@0+ (1,0) [0|1] "" XXX + SG_ StrWhAng : 39|16@0- (0.0625,0) [-2048|2047.9375] "deg" XXX + SG_ StWhAnVDA : 7|1@0+ (1,0) [0|1] "" XXX + SG_ VehStabEnhmntStat : 18|3@0+ (1,0) [0|7] "" XXX + SG_ VehStabEnhmntMd : 21|3@0+ (1,0) [0|7] "" XXX + SG_ StrWhlAngSenCalStat : 23|2@0+ (1,0) [0|3] "" XXX + SG_ TCSysOpMd : 26|3@0+ (1,0) [0|7] "" XXX + SG_ TCSysOpStat : 29|3@0+ (1,0) [0|7] "" XXX + SG_ VSELatAccGroup : 52|13@0+ (1,0) [0|0] "" XXX + SG_ VSELatAcc : 51|12@0- (0.015625,0) [-32|31.984375] "m/s^2" XXX + SG_ VSELatAccV : 52|1@0+ (1,0) [0|1] "" XXX + SG_ AdptDrvrSeatStng : 55|3@0+ (1,0) [0|7] "" XXX + +BO_ 2159132672 ODIAction_RearSeat_LS: 8 XXX + SG_ ODIActn_RSD : 5|62@0+ (1,0) [0|0] "" XXX + SG_ ODIAR_DaTy : 5|6@0+ (1,0) [0|63] "" XXX + SG_ ODIAR_FUCID : 15|8@0+ (1,0) [0|255] "" XXX + SG_ ODIAR_ActnID : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ODIAR_DspMID : 31|8@0+ (1,0) [0|255] "" XXX + SG_ ODIAR_ActnVal : 39|32@0+ (1,0) [0|4294967295] "" XXX + +BO_ 2158968832 ODI_RearSeat_2_Centerstack_LS: 8 XXX + SG_ ODI_RSD2CntrStck : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2158960640 ODIIndication_Centerstack_LS: 8 XXX + SG_ ODIInd_CntrStck : 7|64@0+ (1,0) [0|0] "" XXX + SG_ ODIIC_FUCID : 7|8@0+ (1,0) [0|255] "" XXX + SG_ ODIIC_ODIInd8 : 8|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd7 : 9|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd6 : 10|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd5 : 11|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd4 : 12|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd3 : 13|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd2 : 14|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd1 : 15|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd16 : 16|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd15 : 17|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd14 : 18|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd13 : 19|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd12 : 20|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd11 : 21|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd10 : 22|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd9 : 23|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd24 : 24|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd23 : 25|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd22 : 26|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd21 : 27|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd20 : 28|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd19 : 29|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd18 : 30|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd17 : 31|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd32 : 32|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd31 : 33|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd30 : 34|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd29 : 35|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd28 : 36|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd27 : 37|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd26 : 38|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd25 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd40 : 40|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd39 : 41|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd38 : 42|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd37 : 43|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd36 : 44|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd35 : 45|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd34 : 46|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd33 : 47|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd48 : 48|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd47 : 49|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd46 : 50|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd45 : 51|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd44 : 52|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd43 : 53|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd42 : 54|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd41 : 55|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd56 : 56|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd55 : 57|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd54 : 58|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd53 : 59|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd52 : 60|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd51 : 61|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd50 : 62|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd49 : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 2158977024 ODIEvent_Centerstack_LS: 4 XXX + SG_ ODIEvntPkt_CntrStck : 13|22@0+ (1,0) [0|0] "" XXX + SG_ ODIEC_EvID : 13|6@0+ (1,0) [0|63] "" XXX + SG_ ODIEC_FUCID : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ODIEC_MultiFrRetCh : 31|8@0+ (1,0) [0|255] "" XXX + +BO_ 2158952448 ODIDynDataMultiReq_RearSeat_LS: 8 XXX + SG_ ODIDynDataMltRq_RSD : 5|62@0+ (1,0) [0|0] "" XXX + SG_ ODDMR_DataID2Vld : 0|1@0+ (1,0) [0|1] "" XXX + SG_ ODDMR_DataID3Vld : 1|1@0+ (1,0) [0|1] "" XXX + SG_ ODDMR_DataID4Vld : 2|1@0+ (1,0) [0|1] "" XXX + SG_ ODDMR_DataID5Vld : 3|1@0+ (1,0) [0|1] "" XXX + SG_ ODDMR_ReqType : 5|2@0+ (1,0) [0|3] "" XXX + SG_ ODDMR_FUCID : 15|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMR_DispMID : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMR_DataID1 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMR_DataID2 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMR_DataID3 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMR_DataID4 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMR_DataID5 : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 2158944256 ODIDynDataListReq_RearSeat_LS: 8 XXX + SG_ ODIDynDataLstRq_RSD : 7|64@0+ (1,0) [0|0] "" XXX + SG_ ODDLR_FUCID : 7|8@0+ (1,0) [0|255] "" XXX + SG_ ODDLR_DataId : 15|8@0+ (1,0) [0|255] "" XXX + SG_ ODDLR_DspMID : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ODDLR_ReqDir : 24|1@0+ (1,0) [0|1] "" XXX + SG_ ODDLR_NmEntries : 31|7@0+ (1,0) [0|127] "" XXX + SG_ ODDLR_Idx : 39|16@0+ (1,0) [0|65535] "" XXX + SG_ ODDLR_SubIdReqM : 51|12@0+ (1,0) [0|4095] "" XXX + SG_ ODDLR_WrpArnd : 52|1@0+ (1,0) [0|1] "" XXX + SG_ ODDLR_BckgndFlag : 53|1@0+ (1,0) [0|1] "" XXX + SG_ ODDLR_ReqType : 55|2@0+ (1,0) [0|3] "" XXX + +BO_ 2158927872 ODI_DynData_CenterStack_LS: 8 XXX + SG_ ODIDynData_CntrStck : 14|55@0+ (1,0) [0|0] "" XXX + SG_ ODDC_InvldData : 8|1@0+ (1,0) [0|1] "" XXX + SG_ ODDC_DataType : 14|6@0+ (1,0) [0|63] "" XXX + SG_ ODDC_FUCID : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ODDC_DataId : 31|8@0+ (1,0) [0|255] "" XXX + SG_ ODDC_DataVal : 39|32@0+ (1,0) [0|4294967295] "" XXX + +BO_ 2158895104 ODI_CenterStack_2_RearSeat_LS: 8 XXX + SG_ ODI_CntrStck2RSD : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2152038400 Infomatics_Response_Payload_LS: 8 XXX + SG_ InfMdRspPld : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2152022016 Infomatics_Metadata_Response_LS: 7 XXX + SG_ InfMdRspCmplt : 7|16@0+ (1,0) [0|65535] "" XXX + SG_ InfMdRspInf : 23|16@0+ (1,0) [0|65535] "" XXX + SG_ InfMdStRsp : 35|4@0+ (1,0) [0|15] "" XXX + SG_ AudSelctdSrcReq : 44|5@0+ (1,0) [0|31] "" XXX + SG_ AudSysVolSetCtrl : 55|8@0+ (1,0) [0|0] "" XXX + SG_ ASVSC_ReqEnbld : 48|1@0+ (1,0) [0|1] "" XXX + SG_ ASVSC_VolReq : 55|7@0+ (0.787402,0) [0|100.000054] "" XXX + +BO_ 2152005632 Infomatics_Request_Payload_LS: 8 XXX + SG_ InfMdRqstPld : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2151989248 Infomatics_Metadata_Request_LS: 5 XXX + SG_ InfMdRqstCmplt : 7|16@0+ (1,0) [0|65535] "" XXX + SG_ InfMdRqstInt : 23|16@0+ (1,0) [0|65535] "" XXX + SG_ InfMdStReq : 35|4@0+ (1,0) [0|15] "" XXX + +BO_ 2151972864 Fuel_Level_Status_LS: 4 XXX + SG_ FuelLvlLwIO : 0|1@0+ (1,0) [0|1] "" XXX + SG_ LnchCtrlMdReq : 2|2@0+ (1,0) [0|3] "" XXX + SG_ LnchCtrlWhlSlpReq : 7|5@0+ (1,0) [0|31] "" XXX + SG_ VehFuelRngCalcGroup : 9|18@0+ (1,0) [0|0] "" XXX + SG_ VehFuelRngCalc : 8|17@0+ (0.015625,0) [0|2047.984375] "km" XXX + SG_ VehFuelRngCalcV : 9|1@0+ (1,0) [0|1] "" XXX + SG_ LnchCtrlEngRPMReq : 15|6@0+ (1,0) [0|63] "" XXX + +BO_ 2154528768 Wheel_Grnd_Velocity_LS: 8 XXX + SG_ WhlGrndVlctyLftDrvnGroup : 6|15@0+ (1,0) [0|0] "" XXX + SG_ WhlGrndVlctyLftDrvn : 5|14@0+ (0.03125,0) [0|511.96875] "km / h" XXX + SG_ WhlGrndVlctyLftDrvnV : 6|1@0+ (1,0) [0|1] "" XXX + SG_ WhlGrndVlctyLftNnDrvnGroup : 22|15@0+ (1,0) [0|0] "" XXX + SG_ WhlGrndVlctyLftNnDrvn : 21|14@0+ (0.03125,0) [0|511.96875] "km / h" XXX + SG_ WhlGrndVlctyLftNnDrvnV : 22|1@0+ (1,0) [0|1] "" XXX + SG_ WhlGrndVlctyRtDrvnGroup : 38|15@0+ (1,0) [0|0] "" XXX + SG_ WhlGrndVlctyRtDrvn : 37|14@0+ (0.03125,0) [0|511.96875] "km / h" XXX + SG_ WhlGrndVlctyRtDrvnV : 38|1@0+ (1,0) [0|1] "" XXX + SG_ WhlGrndVlctyRtNnDrvnGroup : 54|15@0+ (1,0) [0|0] "" XXX + SG_ WhlGrndVlctyRtNnDrvn : 53|14@0+ (0.03125,0) [0|511.96875] "km / h" XXX + SG_ WhlGrndVlctyRtNnDrvnV : 54|1@0+ (1,0) [0|1] "" XXX + +BO_ 2150916096 Park_Heater_Info_LS: 4 XXX + SG_ PrkHtrAtv : 0|1@0+ (1,0) [0|1] "" XXX + SG_ ClntCircPmpAct : 1|1@0+ (1,0) [0|1] "" XXX + SG_ PrkHtrCoolntTempGroup : 2|11@0+ (1,0) [0|0] "" XXX + SG_ PrkHtrCoolntTempV : 2|1@0+ (1,0) [0|1] "" XXX + SG_ PrkHtrCoolntTemp : 15|8@0+ (1,-40) [-40|215] "deg C" XXX + SG_ PrkHtrFlCsmdRlCntRsOc : 3|1@0+ (1,0) [0|1] "" XXX + SG_ PrkHtrFlCnsmdRolCntGroup : 4|29@0+ (1,0) [0|0] "" XXX + SG_ PrkHtrFlCnsmdRolCntV : 4|1@0+ (1,0) [0|1] "" XXX + SG_ PrkHtrFlCnsmdRolCnt : 23|16@0+ (3.05176E-006,0) [0|0.1999970916] "liters" XXX + SG_ PrkHtrPrhtAch : 5|1@0+ (1,0) [0|1] "" XXX + +BO_ 2150367232 Immobilizer_Identifier_LS: 5 XXX + SG_ ImoId : 7|16@0+ (1,0) [0|65535] "" XXX + SG_ LrnEnvId : 23|16@0+ (1,0) [0|65535] "" XXX + SG_ LrnEnvIdSt : 32|1@0+ (1,0) [0|1] "" XXX + SG_ ImoIdSt : 33|1@0+ (1,0) [0|1] "" XXX + +BO_ 2150621184 Keyless_Start_Auth_LS: 1 XXX + SG_ KylsStrAuthRslt : 7|8@0+ (1,0) [0|0] "" XXX + SG_ KSARUID8 : 0|1@0+ (1,0) [0|1] "" XXX + SG_ KSARUID7 : 1|1@0+ (1,0) [0|1] "" XXX + SG_ KSARUID6 : 2|1@0+ (1,0) [0|1] "" XXX + SG_ KSARUID5 : 3|1@0+ (1,0) [0|1] "" XXX + SG_ KSARUID4 : 4|1@0+ (1,0) [0|1] "" XXX + SG_ KSARUID3 : 5|1@0+ (1,0) [0|1] "" XXX + SG_ KSARUID2 : 6|1@0+ (1,0) [0|1] "" XXX + SG_ KSARUID1 : 7|1@0+ (1,0) [0|1] "" XXX + +BO_ 2151309312 Inflatable_Restraints_Key_Id_LS: 2 XXX + SG_ InflRestId : 7|16@0+ (1,0) [0|39321] "" XXX + +BO_ 2154061824 Window_Normalized_Indication_LS: 1 XXX + SG_ PsWndNtNrmIndOn : 0|1@0+ (1,0) [0|1] "" XXX + SG_ DrWndNtNrmIndOn : 1|1@0+ (1,0) [0|1] "" XXX + SG_ RLWndNtNrmIndOn : 2|1@0+ (1,0) [0|1] "" XXX + SG_ RRWndNtNrmIndOn : 3|1@0+ (1,0) [0|1] "" XXX + SG_ RmtWndMvmntAtv : 4|1@0+ (1,0) [0|1] "" XXX + SG_ WndOprAlwd : 5|1@0+ (1,0) [0|1] "" XXX + SG_ RrDrUnlckIO : 6|1@0+ (1,0) [0|1] "" XXX + +BO_ 2154512384 Rear_Closure_Rel_Sw_Sta_LS: 1 XXX + SG_ RrClosRelSwActGroup : 1|2@0+ (1,0) [0|0] "" XXX + SG_ RrClosRelSwAct : 0|1@0+ (1,0) [0|1] "" XXX + SG_ RrClosRelSwActV : 1|1@0+ (1,0) [0|1] "" XXX + +BO_ 2155347968 HS_Indications_Slow_LS: 8 XXX + SG_ ActVbnCtrlMlfIO : 0|1@0+ (1,0) [0|1] "" XXX + SG_ PedtrnProtSysDpl : 1|1@0+ (1,0) [0|1] "" XXX + SG_ TirePrsLowIO : 2|1@0+ (1,0) [0|1] "" XXX + SG_ ACCUnavlbleDTWthrIO : 3|1@0+ (1,0) [0|1] "" XXX + SG_ EngOilStrvtnIO : 5|1@0+ (1,0) [0|1] "" XXX + SG_ SecAxlNonEmMalfIO : 6|1@0+ (1,0) [0|1] "" XXX + SG_ BrkFldLvlLwGroup : 7|4@0+ (1,0) [0|0] "" XXX + SG_ BrkFldLvlLwV : 4|1@0+ (1,0) [0|1] "" XXX + SG_ BrkFldLvlLw : 7|1@0+ (1,0) [0|1] "" XXX + SG_ ACCSnsClnRqdIO : 8|1@0+ (1,0) [0|1] "" XXX + SG_ ACCTmpUnavlbleIO : 9|1@0+ (1,0) [0|1] "" XXX + SG_ EngRecmndUpshftIO : 10|1@0+ (1,0) [0|1] "" XXX + SG_ ServAdpCrsCtrlIndOn : 11|1@0+ (1,0) [0|1] "" XXX + SG_ SrvSuspSysIO : 12|1@0+ (1,0) [0|1] "" XXX + SG_ BrkPadWrnIO : 13|1@0+ (1,0) [0|1] "" XXX + SG_ BrkSysMalFuncIndOn : 15|1@0+ (1,0) [0|1] "" XXX + SG_ EngEmsRelMalfIndReq : 18|3@0+ (1,0) [0|7] "" XXX + SG_ RrAxlMalfIO : 19|1@0+ (1,0) [0|1] "" XXX + SG_ DrShftCntrlReqDndIO : 20|1@0+ (1,0) [0|1] "" XXX + SG_ CompOvrhtIndOn : 21|1@0+ (1,0) [0|1] "" XXX + SG_ TrnsSkpShftIO : 22|1@0+ (1,0) [0|1] "" XXX + SG_ RrAxlTmpInhIO : 23|1@0+ (1,0) [0|1] "" XXX + SG_ SecAxlTmpInhIO : 24|1@0+ (1,0) [0|1] "" XXX + SG_ CPSAlrtOnlIO : 25|1@0+ (1,0) [0|1] "" XXX + SG_ EPBSysStatIndReq : 27|2@0+ (1,0) [0|3] "" XXX + SG_ EPBSysWrnIndReq : 29|2@0+ (1,0) [0|3] "" XXX + SG_ CPSFldIO : 30|1@0+ (1,0) [0|1] "" XXX + SG_ CPSOffIO : 31|1@0+ (1,0) [0|1] "" XXX + SG_ CPSUnblIO : 32|1@0+ (1,0) [0|1] "" XXX + SG_ SrvPedtrnProtSysIO : 33|1@0+ (1,0) [0|1] "" XXX + SG_ PedtrnProtSysDisbld : 34|1@0+ (1,0) [0|1] "" XXX + SG_ PedtrnProtVDA : 35|1@0+ (1,0) [0|1] "" XXX + SG_ AppCltchAutSrtIO : 36|1@0+ (1,0) [0|1] "" XXX + SG_ StBltTgtSetAvl : 37|1@0+ (1,0) [0|1] "" XXX + SG_ FourWhlDrvIndReq : 42|3@0+ (1,0) [0|7] "" XXX + SG_ EngRecDwnshftIO : 43|1@0+ (1,0) [0|1] "" XXX + SG_ StBltTgtCrtSetVal : 46|3@0+ (1,0) [0|7] "" XXX + SG_ HillDesCtrlRedVehSpIO : 47|1@0+ (1,0) [0|1] "" XXX + SG_ VehRollAngleGroup : 55|8@0+ (1,0) [0|0] "" XXX + SG_ VehRollAngle : 54|7@0+ (0.703125,-45) [-45|44.296875] "deg" XXX + SG_ VehRollAngleV : 55|1@0+ (1,0) [0|1] "" XXX + SG_ ACCPerfMdCsCrStVal : 58|3@0+ (1,0) [0|7] "" XXX + SG_ ACCPerfMdCsStAvl : 59|1@0+ (1,0) [0|1] "" XXX + SG_ DrvrStPerfMdCsCrStVal : 62|3@0+ (1,0) [0|7] "" XXX + SG_ DrvrStPerfMdCsStAvl : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 2149777408 Non_Drvn_Whl_Rot_Status_LS: 8 XXX + SG_ WhlRotStatLftNDrvn : 7|32@0+ (1,0) [0|0] "" XXX + SG_ WRSLNDWhlDistPCntr : 1|10@0+ (1,0) [0|1023] "counts" XXX + SG_ WRSLNDWhlDistVal : 2|1@0+ (1,0) [0|1] "" XXX + SG_ WRSLNDWhlRotStRst : 3|1@0+ (1,0) [0|1] "" XXX + SG_ WRSLNDSeqNum : 5|2@0+ (1,0) [0|3] "counts" XXX + SG_ WRSLNDWhlDisTpRC : 7|2@0+ (1,0) [0|3] "counts" XXX + SG_ WRSLNDWhlDistTstm : 23|16@0+ (1,0) [0|65535] "counts" XXX + SG_ WhlRotStatRghtNDrvn : 39|32@0+ (1,0) [0|0] "" XXX + SG_ WRSRNDWhlDistPCntr : 33|10@0+ (1,0) [0|1023] "counts" XXX + SG_ WRSRNDWhlDistVal : 34|1@0+ (1,0) [0|1] "" XXX + SG_ WRSRNDWhlRotStRst : 35|1@0+ (1,0) [0|1] "" XXX + SG_ WRSRNDSeqNum : 37|2@0+ (1,0) [0|3] "counts" XXX + SG_ WRSRNDWhlDisTpRC : 39|2@0+ (1,0) [0|3] "counts" XXX + SG_ WRSRNDWhlDistTstm : 55|16@0+ (1,0) [0|65535] "counts" XXX + +BO_ 2149769216 Driven_Whl_Rotational_Stat_LS: 8 XXX + SG_ WhlRotatStatLftDrvn : 7|32@0+ (1,0) [0|0] "" XXX + SG_ WRSLDWhlDistPlsCntr : 1|10@0+ (1,0) [0|1023] "counts" XXX + SG_ WRSLDWhlDistVal : 2|1@0+ (1,0) [0|1] "" XXX + SG_ WRSLDWhlRotStatRst : 3|1@0+ (1,0) [0|1] "" XXX + SG_ WRSLDSeqNum : 5|2@0+ (1,0) [0|3] "counts" XXX + SG_ WRSLDWhlDisTpRC : 7|2@0+ (1,0) [0|3] "counts" XXX + SG_ WRSLDWhlDistTmstm : 23|16@0+ (1,0) [0|65535] "counts" XXX + SG_ WhlRotatStatRtDrvn : 39|32@0+ (1,0) [0|0] "" XXX + SG_ WRSRDWhlDistPlsCntr : 33|10@0+ (1,0) [0|1023] "counts" XXX + SG_ WRSRDWhlDistVal : 34|1@0+ (1,0) [0|1] "" XXX + SG_ WRSRDWhlRotStatRst : 35|1@0+ (1,0) [0|1] "" XXX + SG_ WRSRDSeqNum : 37|2@0+ (1,0) [0|3] "counts" XXX + SG_ WRSRDWhlDisTpRC : 39|2@0+ (1,0) [0|3] "counts" XXX + SG_ WRSRDWhlDistTmstm : 55|16@0+ (1,0) [0|65535] "counts" XXX + +BO_ 2156789760 Time_of_Day_LS: 6 XXX + SG_ CldrYr : 7|8@0+ (1,2000) [2000|2255] "year" XXX + SG_ CldrMth : 11|4@0+ (1,0) [0|15] "" XXX + SG_ FrPedDetCsStReq : 14|3@0+ (1,0) [0|7] "" XXX + SG_ CldrDay : 20|5@0+ (1,0) [0|31] "days" XXX + SG_ SmrtHgBmAstCstSetReq : 23|3@0+ (1,0) [0|7] "" XXX + SG_ TmofDay : 24|17@0+ (1,0) [0|0] "" XXX + SG_ TOD_HrofDay : 24|5@0+ (1,0) [0|31] "hr" XXX + SG_ TOD_MinofHr : 35|6@0+ (1,0) [0|63] "min" XXX + SG_ TOD_SecofMin : 45|6@0+ (1,0) [0|63] "s" XXX + SG_ TimeDispFormat : 25|1@0+ (1,0) [0|1] "" XXX + +BO_ 2155020288 Language_Selection_LS: 1 XXX + SG_ LngSelExt : 5|6@0+ (1,0) [0|63] "" XXX + SG_ ChVolRq2 : 7|2@0+ (1,0) [0|3] "" XXX + +BO_ 2150432768 Engine_Information_4_LS: 8 XXX + SG_ TransOilTempSensPres : 0|1@0+ (1,0) [0|1] "" XXX + SG_ GenFldDutCycGroup : 1|42@0+ (1,0) [0|0] "" XXX + SG_ GenFldDutCycV : 1|1@0+ (1,0) [0|1] "" XXX + SG_ GenFldDutCyc : 47|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ FuelFltLifRstPerf : 2|1@0+ (1,0) [0|1] "" XXX + SG_ TrnEmsMlfAtv : 3|1@0+ (1,0) [0|1] "" XXX + SG_ GrdBrkgAct : 4|1@0+ (1,0) [0|1] "" XXX + SG_ TrnsNEmsRltMalfActv : 5|1@0+ (1,0) [0|1] "" XXX + SG_ EngShtdwnPndgIO : 6|1@0+ (1,0) [0|1] "" XXX + SG_ EngManfldAirTempCrtdGroup : 7|16@0+ (1,0) [0|0] "" XXX + SG_ EngManfldAirTempCrtdV : 7|1@0+ (1,0) [0|1] "" XXX + SG_ EngManfldAirTempCrtd : 15|8@0+ (1,-40) [-40|215] "deg C" XXX + SG_ FuelTotCap : 19|12@0+ (0.125,0) [0|511.875] "liters" XXX + SG_ TrnsThrmlMngmntStat : 21|2@0+ (1,0) [0|3] "" XXX + SG_ PTHiElecLdReqd : 22|1@0+ (1,0) [0|1] "" XXX + SG_ EngOilRmnLf : 39|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ FuelFltRmnLf : 63|8@0+ (0.392157,0) [0|100.000035] "%" XXX + +BO_ 2155298816 Tire_Pressure_Sensor_Prog_Req_LS: 1 XXX + SG_ TrPrsSnsProgEvntRqd : 0|1@0+ (1,0) [0|1] "" XXX + SG_ TrPrsMntrTrLdRstRqstd : 2|2@0+ (1,0) [0|3] "" XXX + +BO_ 2158878720 ODIDynDataListReq_CntrStack_LS: 8 XXX + SG_ ODIDynDataLstRq_CntrStck : 7|64@0+ (1,0) [0|0] "" XXX + SG_ ODDLC_FUCID : 7|8@0+ (1,0) [0|255] "" XXX + SG_ ODDLC_DataId : 15|8@0+ (1,0) [0|255] "" XXX + SG_ ODDLC_DspMID : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ODDLC_ReqDir : 24|1@0+ (1,0) [0|1] "" XXX + SG_ ODDLC_NmEntries : 31|7@0+ (1,0) [0|127] "" XXX + SG_ ODDLC_Idx : 39|16@0+ (1,0) [0|65535] "" XXX + SG_ ODDLC_SubIdReqM : 51|12@0+ (1,0) [0|4095] "" XXX + SG_ ODDLC_WrpArnd : 52|1@0+ (1,0) [0|1] "" XXX + SG_ ODDLC_BckgndFlag : 53|1@0+ (1,0) [0|1] "" XXX + SG_ ODDLC_ReqType : 55|2@0+ (1,0) [0|3] "" XXX + +BO_ 2158870528 ODIDynDataListRequest_AuxIP_LS: 8 XXX + SG_ ODIDynDataLstRq_AxIP : 7|64@0+ (1,0) [0|0] "" XXX + SG_ ODDLA_FUCID : 7|8@0+ (1,0) [0|255] "" XXX + SG_ ODDLA_DataId : 15|8@0+ (1,0) [0|255] "" XXX + SG_ ODDLA_DspMID : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ODDLA_ReqDir : 24|1@0+ (1,0) [0|1] "" XXX + SG_ ODDLA_NmEntries : 31|7@0+ (1,0) [0|127] "" XXX + SG_ ODDLA_Idx : 39|16@0+ (1,0) [0|65535] "" XXX + SG_ ODDLA_SubIdReqM : 51|12@0+ (1,0) [0|4095] "" XXX + SG_ ODDLA_WrpArnd : 52|1@0+ (1,0) [0|1] "" XXX + SG_ ODDLA_BckgndFlag : 53|1@0+ (1,0) [0|1] "" XXX + SG_ ODDLA_ReqType : 55|2@0+ (1,0) [0|3] "" XXX + +BO_ 2154692608 Audio_Source_Status_LS: 2 XXX + SG_ AudSrcStat : 3|12@0+ (1,0) [0|0] "" XXX + SG_ ASSAudSrcType : 3|5@0+ (1,0) [0|31] "" XXX + SG_ ASSAudSrcStatCode : 11|4@0+ (1,0) [0|15] "" XXX + SG_ ASSAudSrcChType : 14|3@0+ (1,0) [0|7] "" XXX + SG_ LgclAVChnl : 7|4@0+ (1,0) [0|15] "" XXX + +BO_ 2154627072 Audio_Master_Arbitration_Command: 2 XXX + SG_ AudMstrArbCom : 3|4@0+ (1,0) [0|15] "" XXX + SG_ LgclAVChnl_368 : 7|4@0+ (1,0) [0|15] "" XXX + SG_ AudMstrSrcTyp : 12|5@0+ (1,0) [0|31] "" XXX + SG_ AudMstrChnnlTyp : 15|3@0+ (1,0) [0|7] "" XXX + +BO_ 2151112704 Occupant_Sensning_Status_LS: 2 XXX + SG_ FrntPassClass : 2|3@0+ (1,0) [0|7] "" XXX + SG_ FrPsSeatOccSnsOpMd : 5|3@0+ (1,0) [0|7] "N/A" XXX + SG_ FrPasSeatResCtrlOccStGroup : 7|14@0+ (1,0) [0|0] "" XXX + SG_ FrPasSeatResCtrlOccSt : 7|2@0+ (1,0) [0|3] "" XXX + SG_ FrPasSeatResCtrlOccStV : 10|1@0+ (1,0) [0|1] "" XXX + SG_ FrPsSeatOccFltSt : 9|2@0+ (1,0) [0|3] "N/A" XXX + SG_ FrPasSeatbltRemOccSt : 11|1@0+ (1,0) [0|1] "" XXX + +BO_ 2153938944 Remote_Reflash_Req_LS: 1 XXX + SG_ RmtRflshMdReqtd : 7|1@0+ (1,0) [0|1] "" XXX + +BO_ 2159239168 ODI_TEL_2_OTIM_LS: 8 XXX + SG_ ODI_TEL2OTIM : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2159230976 ODI_OTIM_2_TEL_LS: 8 XXX + SG_ ODI_OTIM2TEL : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2159222784 ODI_PDIM_2_CenterStack_LS: 8 XXX + SG_ ODI_PDIM2CntrStck : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2159214592 ODI_CenterStack_2_PDIM_LS: 8 XXX + SG_ ODI_CntrStck2PDIM : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2158862336 ODIAction_OTIM_LS: 8 XXX + SG_ ODIActn_OTIM : 5|62@0+ (1,0) [0|0] "" XXX + SG_ ODIAOT_DaTy : 5|6@0+ (1,0) [0|63] "" XXX + SG_ ODIAOT_FUCID : 15|8@0+ (1,0) [0|255] "" XXX + SG_ ODIAOT_ActnID : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ODIAOT_DspMID : 31|8@0+ (1,0) [0|255] "" XXX + SG_ ODIAOT_ActnVal : 39|32@0+ (1,0) [0|4294967295] "" XXX + +BO_ 2150662144 Environment_Id_Resp_3_LS: 3 XXX + SG_ EnvIdRsp3 : 7|16@0+ (1,0) [0|65535] "" XXX + SG_ EnvIdRspSt3 : 17|2@0+ (1,0) [0|3] "" XXX + +BO_ 2150653952 Environment_Id_Resp_2_LS: 3 XXX + SG_ EnvIdRsp2 : 7|16@0+ (1,0) [0|65535] "" XXX + SG_ EnvIdRspSt2 : 17|2@0+ (1,0) [0|3] "" XXX + +BO_ 2150850560 Seatbelt_Information_LS: 1 XXX + SG_ DrSbltAtcGroup : 1|2@0+ (1,0) [0|0] "" XXX + SG_ DrSbltAtc : 0|1@0+ (1,0) [0|1] "" XXX + SG_ DrSbltAtcV : 1|1@0+ (1,0) [0|1] "" XXX + SG_ PsSbltAtcGroup : 3|2@0+ (1,0) [0|0] "" XXX + SG_ PsSbltAtc : 2|1@0+ (1,0) [0|1] "" XXX + SG_ PsSbltAtcV : 3|1@0+ (1,0) [0|1] "" XXX + +BO_ 2154659840 Column_Lock_Status_2: 2 XXX + SG_ UnlckRtryRotIndOn : 2|1@0+ (1,0) [0|1] "" XXX + SG_ UnlockRtryPshIndOn : 3|1@0+ (1,0) [0|1] "" XXX + SG_ StrgClmnLckVisNot : 4|1@0+ (1,0) [0|1] "" XXX + SG_ ClmnLckStatGroup : 5|6@0+ (1,0) [0|0] "" XXX + SG_ ClmnLckStat : 1|2@0+ (1,0) [0|3] "" XXX + SG_ ClmnLckStatV : 5|1@0+ (1,0) [0|1] "" XXX + SG_ ClmSysFlrIndOn : 7|1@0+ (1,0) [0|1] "" XXX + SG_ StrngClmnLckTT : 9|2@0+ (1,0) [0|3] "" XXX + +BO_ 2154938368 Fob_Programming_Mode_Status_LS: 1 XXX + SG_ FobProgMdStat : 1|2@0+ (1,0) [0|3] "" XXX + +BO_ 2155266048 Rear_Seat_Heat_Cool_Switches_LS: 1 XXX + SG_ RLHCSeatSw1Act : 0|1@0+ (1,0) [0|1] "" XXX + SG_ RLHCSeatSw2Act : 1|1@0+ (1,0) [0|1] "" XXX + SG_ RLHCSeatSw3Act : 2|1@0+ (1,0) [0|1] "" XXX + SG_ RRHCSeatSw1Act : 3|1@0+ (1,0) [0|1] "" XXX + SG_ RRHCSeatSw2Act : 4|1@0+ (1,0) [0|1] "" XXX + SG_ RRHCSeatSw3Act : 5|1@0+ (1,0) [0|1] "" XXX + +BO_ 2155249664 Rear_Seat_Heat_Cool_Control_LS: 4 XXX + SG_ RLHCSModeIndCtrl : 4|5@0+ (1,0) [0|0] "" XXX + SG_ RLHCSMInd3 : 0|1@0+ (1,0) [0|1] "" XXX + SG_ RLHCSMInd2 : 1|1@0+ (1,0) [0|1] "" XXX + SG_ RLHCSMInd1 : 2|1@0+ (1,0) [0|1] "" XXX + SG_ RLHCSMIndReq : 4|2@0+ (1,0) [0|3] "" XXX + SG_ RRHCSModeIndCtrl : 12|5@0+ (1,0) [0|0] "" XXX + SG_ RRHCSMInd3 : 8|1@0+ (1,0) [0|1] "" XXX + SG_ RRHCSMInd2 : 9|1@0+ (1,0) [0|1] "" XXX + SG_ RRHCSMInd1 : 10|1@0+ (1,0) [0|1] "" XXX + SG_ RRHCSMIndReq : 12|2@0+ (1,0) [0|3] "" XXX + SG_ RLHCSeatLevIndCtrl : 22|7@0+ (1,0) [0|0] "" XXX + SG_ RLHCSLSeatLev5 : 16|1@0+ (1,0) [0|1] "" XXX + SG_ RLHCSLSeatLev4 : 17|1@0+ (1,0) [0|1] "" XXX + SG_ RLHCSLSeatLev3 : 18|1@0+ (1,0) [0|1] "" XXX + SG_ RLHCSLSeatLev2 : 19|1@0+ (1,0) [0|1] "" XXX + SG_ RLHCSLSeatLev1 : 20|1@0+ (1,0) [0|1] "" XXX + SG_ RLHCSLIndReq : 22|2@0+ (1,0) [0|3] "" XXX + SG_ RRHCSeatLevIndCtrl : 30|7@0+ (1,0) [0|0] "" XXX + SG_ RRHCSLSeatLev5 : 24|1@0+ (1,0) [0|1] "" XXX + SG_ RRHCSLSeatLev4 : 25|1@0+ (1,0) [0|1] "" XXX + SG_ RRHCSLSeatLev3 : 26|1@0+ (1,0) [0|1] "" XXX + SG_ RRHCSLSeatLev2 : 27|1@0+ (1,0) [0|1] "" XXX + SG_ RRHCSLSeatLev1 : 28|1@0+ (1,0) [0|1] "" XXX + SG_ RRHCSLIndReq : 30|2@0+ (1,0) [0|3] "" XXX + +BO_ 2155184128 CruiseControl_LS: 3 XXX + SG_ CrsCntAtv : 0|1@0+ (1,0) [0|1] "" XXX + SG_ CrsSpdLmtrSwStat : 4|4@0+ (1,0) [0|15] "" XXX + SG_ TrnsShftLvrLckStat : 5|1@0+ (1,0) [0|1] "" XXX + SG_ RrStRmndrIO : 6|1@0+ (1,0) [0|1] "" XXX + SG_ RrStRmndrCstSetAvail : 7|1@0+ (1,0) [0|1] "" XXX + SG_ CrsCntrlSwStat : 15|8@0+ (1,0) [0|0] "" XXX + SG_ CrsCntrlSwStSwDataIntgty : 9|2@0+ (1,0) [0|3] "" XXX + SG_ CrsCntrlSwStSpDcSwAct : 10|1@0+ (1,0) [0|1] "" XXX + SG_ CrsCntrlSwStSpdInSwAct : 11|1@0+ (1,0) [0|1] "" XXX + SG_ CrsCntrlSwStSetSwAct : 12|1@0+ (1,0) [0|1] "" XXX + SG_ CrsCntrlSwStResSwAct : 13|1@0+ (1,0) [0|1] "" XXX + SG_ CrsCntrlSwStOnSwAct : 14|1@0+ (1,0) [0|1] "" XXX + SG_ CrsCntrlSwStCanSwAct : 15|1@0+ (1,0) [0|1] "" XXX + SG_ SmPhRmFunCstCurStVal : 18|3@0+ (1,0) [0|7] "" XXX + SG_ SmPhRmFunCstStAval : 19|1@0+ (1,0) [0|1] "" XXX + SG_ IdlRecmndToClEngIO : 20|1@0+ (1,0) [0|1] "" XXX + SG_ RrStRmndrCstCurrSetVal : 23|3@0+ (1,0) [0|7] "" XXX + +BO_ 2155167744 Power_Mode_Info_LS: 3 XXX + SG_ ShftPrkIO : 0|1@0+ (1,0) [0|1] "" XXX + SG_ ShftToNtrlIO : 1|1@0+ (1,0) [0|1] "" XXX + SG_ Ky_IdDevPr : 2|1@0+ (1,0) [0|1] "" XXX + SG_ SecPwrMdPshBtnAtv : 3|1@0+ (1,0) [0|1] "" XXX + SG_ TransModActIO : 4|1@0+ (1,0) [0|1] "" XXX + SG_ TransModInactIO : 5|1@0+ (1,0) [0|1] "" XXX + SG_ KylsStrtUseTxPckIO : 6|1@0+ (1,0) [0|1] "" XXX + SG_ TrStLgMdAtv : 7|1@0+ (1,0) [0|1] "" XXX + SG_ VehMovState : 10|3@0+ (1,0) [0|7] "" XXX + SG_ AutoShtdwnDsblIO : 11|1@0+ (1,0) [0|1] "" XXX + SG_ AppPrkBrkIO : 12|1@0+ (1,0) [0|1] "" XXX + SG_ NRmtDtdPsCluRstIO : 13|1@0+ (1,0) [0|1] "" XXX + SG_ ApplyBrkPdlIO : 14|1@0+ (1,0) [0|1] "" XXX + SG_ ApplyCltPdlIO : 15|1@0+ (1,0) [0|1] "" XXX + SG_ NoReDetInOn : 16|1@0+ (1,0) [0|1] "" XXX + SG_ NRmtDtdPsBrkRstIO : 17|1@0+ (1,0) [0|1] "" XXX + SG_ PrsBtnAgnTTrnEngOffIO : 18|1@0+ (1,0) [0|1] "" XXX + SG_ TSLgMdPwrCtOWAtv : 19|1@0+ (1,0) [0|1] "" XXX + SG_ NRmtDtctdRstrtAllwd : 20|1@0+ (1,0) [0|1] "" XXX + SG_ PrsStrtAgnIO : 21|1@0+ (1,0) [0|1] "" XXX + SG_ PrsCltchPrsStrtAgnIO : 22|1@0+ (1,0) [0|1] "" XXX + +BO_ 2154921984 Fob_Status_LS: 2 XXX + SG_ RFAFnc : 1|10@0+ (1,0) [0|0] "" XXX + SG_ RFRmtCntFobNm : 1|3@0+ (1,0) [0|7] "" XXX + SG_ RFRmtCntFobBatLw : 8|1@0+ (1,0) [0|1] "" XXX + SG_ RFRmtCntrlFobFnc : 14|6@0+ (1,0) [0|63] "" XXX + SG_ FobPogLimRchdIndOn : 2|1@0+ (1,0) [0|1] "" XXX + +BO_ 2151317504 Park_Assistant_Rear_Status: 4 XXX + SG_ PrkAsstRrExtdDist : 3|12@0+ (0.01,0) [0|40.95] "m" XXX + SG_ PrkAstRrSysStat : 5|2@0+ (1,0) [0|3] "" XXX + SG_ PARrRgn1ObjStat : 19|4@0+ (1,0) [0|15] "" XXX + SG_ PARrRgn2ObjStat : 23|4@0+ (1,0) [0|15] "" XXX + SG_ PARrRgn3ObjStat : 27|4@0+ (1,0) [0|15] "" XXX + SG_ PARrRgn4ObjStat : 31|4@0+ (1,0) [0|15] "" XXX + +BO_ 2151301120 Park_Assistant_Front_Status: 4 XXX + SG_ PrkAsstFrtExtdDist : 3|12@0+ (0.01,0) [0|40.95] "m" XXX + SG_ PrkAstFrSysStat : 5|2@0+ (1,0) [0|3] "" XXX + SG_ PrkAstAdvSysAct : 6|1@0+ (1,0) [0|1] "" XXX + SG_ PrkAsstRrOffIO : 7|1@0+ (1,0) [0|1] "" XXX + SG_ PAFrtRgn1ObjStat : 19|4@0+ (1,0) [0|15] "" XXX + SG_ PAFrtRgn2ObjStat : 23|4@0+ (1,0) [0|15] "" XXX + SG_ PAFrtRgn3ObjStat : 27|4@0+ (1,0) [0|15] "" XXX + SG_ PAFrtRgn4ObjStat : 31|4@0+ (1,0) [0|15] "" XXX + +BO_ 2159083520 ODI_TEL_2_IPC_LS: 8 XXX + SG_ ODI_TEL2IPC : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2153922560 Climate_Control_Voltage_LS: 3 XXX + SG_ ClimCtrlVoltBstModReq : 0|1@0+ (1,0) [0|1] "" XXX + SG_ ClmtCtrlHtrEngRunRq : 1|1@0+ (1,0) [0|1] "" XXX + SG_ HtrVlvRqstdPstn : 3|2@0+ (1,0) [0|3] "" XXX + SG_ ClntHtrElecPwrRatGroup : 4|13@0+ (1,0) [0|0] "" XXX + SG_ ClntHtrElecPwrRatV : 4|1@0+ (1,0) [0|1] "" XXX + SG_ ClntHtrElecPwrRat : 15|8@0+ (0.04,0) [0|10.2] "kW" XXX + SG_ ClmCtrHiVltPwrRqtd : 23|8@0+ (0.1,0) [0|25.5] "kW" XXX + +BO_ 2153807872 Door_Open_Switch_Status_LS: 1 XXX + SG_ DrDoorOpenSwActGroup : 1|2@0+ (1,0) [0|0] "" XXX + SG_ DrDoorOpenSwAct : 0|1@0+ (1,0) [0|1] "" XXX + SG_ DrDoorOpenSwActV : 1|1@0+ (1,0) [0|1] "" XXX + SG_ PsDoorOpenSwActGroup : 3|2@0+ (1,0) [0|0] "" XXX + SG_ PsDoorOpenSwAct : 2|1@0+ (1,0) [0|1] "" XXX + SG_ PsDoorOpenSwActV : 3|1@0+ (1,0) [0|1] "" XXX + SG_ ClmSysAuxFlrIndOn : 4|1@0+ (1,0) [0|1] "" XXX + SG_ PsvStrtStrngClmnLckTT : 6|2@0+ (1,0) [0|3] "" XXX + +BO_ 2150703104 Audio_Amplifier_Status: 1 XXX + SG_ AudSysDigSigProcPres : 0|1@0+ (1,0) [0|1] "" XXX + SG_ AudSysSurSndSysPres : 1|1@0+ (1,0) [0|1] "" XXX + SG_ AudSysVNoisCompPres : 2|1@0+ (1,0) [0|1] "" XXX + +BO_ 2151399424 Wash_Level_LS: 1 XXX + SG_ WshFldLw : 0|1@0+ (1,0) [0|1] "" XXX + +BO_ 2151956480 Driver_Workload_LS: 2 XXX + SG_ DrvWrkldLvl : 3|4@0+ (1,0) [0|15] "" XXX + SG_ ClstrHMIAnmSt : 6|3@0+ (1,0) [0|7] "" XXX + SG_ ClstrHMIRdy : 7|1@0+ (1,0) [0|1] "" XXX + SG_ StrWhlThbwhlCnts : 13|6@0- (1,0) [-32|31] "counts" XXX + +BO_ 2151940096 Alarm_2_Request_LS: 7 XXX + SG_ Alrm2ExtRngReq : 1|26@0+ (1,0) [0|0] "" XXX + SG_ A2ERRAlrmReq : 1|2@0+ (1,0) [0|3] "" XXX + SG_ A2ERRAlrmTime : 15|24@0+ (1,0) [0|16777215] "min" XXX + SG_ EstBulkIntAirTmpGroup : 2|35@0+ (1,0) [0|0] "" XXX + SG_ EstBulkIntAirTmpV : 2|1@0+ (1,0) [0|1] "" XXX + SG_ EstBulkIntAirTmp : 39|8@0+ (0.5,-40) [-40|87.5] "deg C" XXX + SG_ EstIntRfSrfcTmpGroup : 3|44@0+ (1,0) [0|0] "" XXX + SG_ EstIntRfSrfcTmpV : 3|1@0+ (1,0) [0|1] "" XXX + SG_ EstIntRfSrfcTmp : 47|8@0+ (0.5,-40) [-40|87.5] "deg C" XXX + SG_ EstIntHorzDshSrfTmpGroup : 4|53@0+ (1,0) [0|0] "" XXX + SG_ EstIntHorzDshSrfTmpM : 4|1@0+ (1,0) [0|1] "" XXX + SG_ EstIntHorzDshSrfTmp : 55|8@0+ (1,-40) [-40|215] "deg C" XXX + +BO_ 2151923712 Alarm_1_Request_LS: 5 XXX + SG_ Alrm1ExtRngReq : 1|26@0+ (1,0) [0|0] "" XXX + SG_ A1ERRAlrmReq : 1|2@0+ (1,0) [0|3] "" XXX + SG_ A1ERRAlrmTime : 15|24@0+ (1,0) [0|16777215] "min" XXX + SG_ HLOCCstCurrSetVal : 6|3@0+ (1,0) [0|7] "" XXX + SG_ HLOCCstSetAvail : 7|1@0+ (1,0) [0|1] "" XXX + SG_ HLOCCstAvail : 39|7@0+ (1,0) [0|0] "" XXX + SG_ HLOCCA_Res4Avail : 33|1@0+ (1,0) [0|1] "" XXX + SG_ HLOCCA_Res3Avail : 34|1@0+ (1,0) [0|1] "" XXX + SG_ HLOCCA_Res2Avail : 35|1@0+ (1,0) [0|1] "" XXX + SG_ HLOCCA_Res1Avail : 36|1@0+ (1,0) [0|1] "" XXX + SG_ HLOCCA_OnOpnOnlyAvail : 37|1@0+ (1,0) [0|1] "" XXX + SG_ HLOCCA_OnAvail : 38|1@0+ (1,0) [0|1] "" XXX + SG_ HLOCCA_OffAvail : 39|1@0+ (1,0) [0|1] "" XXX + +BO_ 2150645760 Environment_Id_Resp_1_LS: 3 XXX + SG_ EnvIdRsp1 : 7|16@0+ (1,0) [0|65535] "" XXX + SG_ EnvIdRspSt1 : 17|2@0+ (1,0) [0|3] "" XXX + +BO_ 2152464384 Lane_Departure_Warning_LS: 3 XXX + SG_ LaneDepWrnDisbldIO : 0|1@0+ (1,0) [0|1] "" XXX + SG_ LnKpAstDisbldIO : 1|1@0+ (1,0) [0|1] "" XXX + SG_ SrvcLaneDepWrnSysIO : 2|1@0+ (1,0) [0|1] "" XXX + SG_ SrvcLnKpAstSysIO : 3|1@0+ (1,0) [0|1] "" XXX + SG_ HndsOffStrWhlDtIO : 4|1@0+ (1,0) [0|1] "" XXX + SG_ TnDrvLDWOffUnbIO : 5|1@0+ (1,0) [0|1] "" XXX + SG_ LftLnDepWrnSt : 7|2@0+ (1,0) [0|3] "" XXX + SG_ LaneDepWrnIndCntrl : 13|6@0+ (1,0) [0|0] "" XXX + SG_ LDWIC_LnDepWAWLn : 9|2@0+ (1,0) [0|3] "" XXX + SG_ LDWIC_Ind2 : 10|1@0+ (1,0) [0|1] "" XXX + SG_ LDWIC_Ind1 : 11|1@0+ (1,0) [0|1] "" XXX + SG_ LDWIC_IndReq : 13|2@0+ (1,0) [0|3] "" XXX + SG_ RtLnDepWrnSt : 15|2@0+ (1,0) [0|3] "" XXX + SG_ LnKpAstIndCntrl : 21|6@0+ (1,0) [0|0] "" XXX + SG_ LKAIC_AdbWngLn : 17|2@0+ (1,0) [0|3] "" XXX + SG_ LKAIC_Ind2 : 18|1@0+ (1,0) [0|1] "" XXX + SG_ LKAIC_Ind1 : 19|1@0+ (1,0) [0|1] "" XXX + SG_ LKAIC_IndReq : 21|2@0+ (1,0) [0|3] "" XXX + +BO_ 2154971136 Front_Seat_Heat_Cool_Switches_LS: 1 XXX + SG_ DrvHCSeatSw1Act : 0|1@0+ (1,0) [0|1] "" XXX + SG_ DrvHCSeatSw2Act : 1|1@0+ (1,0) [0|1] "" XXX + SG_ DrvHCSeatSw3Act : 2|1@0+ (1,0) [0|1] "" XXX + SG_ PassHCSeatSw1Act : 3|1@0+ (1,0) [0|1] "" XXX + SG_ PassHCSeatSw2Act : 4|1@0+ (1,0) [0|1] "" XXX + SG_ PassHCSeatSw3Act : 5|1@0+ (1,0) [0|1] "" XXX + +BO_ 2154962944 Front_Seat_Heat_Cool_Control_LS: 4 XXX + SG_ DrvHCSModeIndCtrl : 4|5@0+ (1,0) [0|0] "" XXX + SG_ DrvHCSMInd3 : 0|1@0+ (1,0) [0|1] "" XXX + SG_ DrvHCSMInd2 : 1|1@0+ (1,0) [0|1] "" XXX + SG_ DrvHCSMInd1 : 2|1@0+ (1,0) [0|1] "" XXX + SG_ DrvHCSMIndReq : 4|2@0+ (1,0) [0|3] "" XXX + SG_ PassHCSModeIndCtrl : 12|5@0+ (1,0) [0|0] "" XXX + SG_ PassHCSMInd3 : 8|1@0+ (1,0) [0|1] "" XXX + SG_ PassHCSMInd2 : 9|1@0+ (1,0) [0|1] "" XXX + SG_ PassHCSMInd1 : 10|1@0+ (1,0) [0|1] "" XXX + SG_ PassHCSMIndReq : 12|2@0+ (1,0) [0|3] "" XXX + SG_ DrvHCSLevIndCtrl : 22|7@0+ (1,0) [0|0] "" XXX + SG_ DrvHCSLSeatLev5 : 16|1@0+ (1,0) [0|1] "" XXX + SG_ DrvHCSLSeatLev4 : 17|1@0+ (1,0) [0|1] "" XXX + SG_ DrvHCSLSeatLev3 : 18|1@0+ (1,0) [0|1] "" XXX + SG_ DrvHCSLSeatLev2 : 19|1@0+ (1,0) [0|1] "" XXX + SG_ DrvHCSLSeatLev1 : 20|1@0+ (1,0) [0|1] "" XXX + SG_ DrvHCSLIndReq : 22|2@0+ (1,0) [0|3] "" XXX + SG_ PassHCSeatLevIndCtrl : 30|7@0+ (1,0) [0|0] "" XXX + SG_ PassHCSLSeatLev5 : 24|1@0+ (1,0) [0|1] "" XXX + SG_ PassHCSLSeatLev4 : 25|1@0+ (1,0) [0|1] "" XXX + SG_ PassHCSLSeatLev3 : 26|1@0+ (1,0) [0|1] "" XXX + SG_ PassHCSLSeatLev2 : 27|1@0+ (1,0) [0|1] "" XXX + SG_ PassHCSLSeatLev1 : 28|1@0+ (1,0) [0|1] "" XXX + SG_ PassHCSLIndReq : 30|2@0+ (1,0) [0|3] "" XXX + +BO_ 2156232704 Alarm_Clock_Status_LS: 4 XXX + SG_ AlrmClkStat : 7|32@0+ (1,0) [0|0] "" XXX + SG_ ACSAlarm3 : 1|2@0+ (1,0) [0|3] "" XXX + SG_ ACSAlarm2 : 3|2@0+ (1,0) [0|3] "" XXX + SG_ ACSAlarm1 : 5|2@0+ (1,0) [0|3] "" XXX + SG_ ACSAlarm0 : 7|2@0+ (1,0) [0|3] "" XXX + SG_ ACSAlarm7 : 9|2@0+ (1,0) [0|3] "" XXX + SG_ ACSAlarm6 : 11|2@0+ (1,0) [0|3] "" XXX + SG_ ACSAlarm5 : 13|2@0+ (1,0) [0|3] "" XXX + SG_ ACSAlarm4 : 15|2@0+ (1,0) [0|3] "" XXX + SG_ ACSAlarm11 : 17|2@0+ (1,0) [0|3] "" XXX + SG_ ACSAlarm10 : 19|2@0+ (1,0) [0|3] "" XXX + SG_ ACSAlarm9 : 21|2@0+ (1,0) [0|3] "" XXX + SG_ ACSAlarm8 : 23|2@0+ (1,0) [0|3] "" XXX + SG_ ACSAlarm15 : 25|2@0+ (1,0) [0|3] "" XXX + SG_ ACSAlarm14 : 27|2@0+ (1,0) [0|3] "" XXX + SG_ ACSAlarm13 : 29|2@0+ (1,0) [0|3] "" XXX + SG_ ACSAlarm12 : 31|2@0+ (1,0) [0|3] "" XXX + +BO_ 2154987520 Hood_Status_LS: 1 XXX + SG_ HdStGroup : 2|3@0+ (1,0) [0|0] "" XXX + SG_ HdSt : 1|2@0+ (1,0) [0|3] "" XXX + SG_ HdStV : 2|1@0+ (1,0) [0|1] "" XXX + SG_ WrlsChrgSysChrgStat : 5|3@0+ (1,0) [0|7] "" XXX + +BO_ 2154840064 Compass_Status_LS: 4 XXX + SG_ CmpsOctHdingDataSrc : 0|1@0+ (1,0) [0|1] "" XXX + SG_ CmpsModFltPrs : 1|1@0+ (1,0) [0|1] "" XXX + SG_ CmpsModManCalInPrc : 2|1@0+ (1,0) [0|1] "" XXX + SG_ CmpsZnNvrSet : 3|1@0+ (1,0) [0|1] "" XXX + SG_ CmpsDecZone : 11|4@0+ (1,0) [0|15] "" XXX + SG_ CmpsOctHding : 14|3@0+ (1,0) [0|7] "" XXX + SG_ CmpsSatrtd : 15|1@0+ (1,0) [0|1] "" XXX + SG_ CmpsCrHding : 23|16@0+ (0.0054932,0) [0|359.996862] "deg" XXX + +BO_ 2154676224 Compass_Request_LS: 1 XXX + SG_ CmpsDecZonCmndVal : 3|4@0+ (1,0) [0|15] "" XXX + SG_ CmpsDecZonSetReq : 4|1@0+ (1,0) [0|1] "" XXX + SG_ CmpsModManCalReq : 5|1@0+ (1,0) [0|1] "" XXX + SG_ CmpsModSlfTstReq : 6|1@0+ (1,0) [0|1] "" XXX + +BO_ 2154643456 Auxiliary_Heater_Status_LS: 3 XXX + SG_ AuxHtrAtv : 0|1@0+ (1,0) [0|1] "" XXX + SG_ HtrCoreInltClntTmpCalcGroup : 4|21@0+ (1,0) [0|0] "" XXX + SG_ HtrCoreInltClntTmpCalcV : 4|1@0+ (1,0) [0|1] "" XXX + SG_ HtrCoreInltClntTmpCalc : 23|8@0+ (1,-40) [-40|215] "deg C" XXX + SG_ CCClntCrcFlwRtReq : 15|8@0+ (0.392157,0) [0|100.000035] "%" XXX + +BO_ 2154905600 Driver_Identifier_LS: 1 XXX + SG_ DrId : 2|3@0+ (1,0) [0|7] "" XXX + SG_ DrvSeatPrsMemID : 5|3@0+ (1,0) [0|7] "" XXX + +BO_ 2154954752 High_Volt_Climate_Pwr_Status_LS: 5 XXX + SG_ ClmtHtPwrRqd : 0|1@0+ (1,0) [0|1] "" XXX + SG_ HtdStWhlCmd : 2|2@0+ (1,0) [0|3] "" XXX + SG_ HtdStWhlInd : 4|2@0+ (1,0) [0|3] "" XXX + SG_ HtdStWhlCtrlSrc : 5|1@0+ (1,0) [0|1] "" XXX + SG_ ClntHtrElecPwrReq : 15|8@0+ (0.04,0) [0|10.2] "kW" XXX + SG_ EstACCompPwrRchCbnCmf : 23|8@0+ (0.04,0) [0|10.2] "kw" XXX + SG_ EstACCompPwrMtnCbnCmf : 31|8@0+ (0.04,0) [0|10.2] "kW" XXX + +BO_ 2153381888 Control_Power_Liftgate_LS: 4 XXX + SG_ FnshRrClsrMtnBfrDrvIO : 0|1@0+ (1,0) [0|1] "" XXX + SG_ RrClsrObstclDtctd : 1|1@0+ (1,0) [0|1] "" XXX + SG_ RrClsrInMtn : 3|1@0+ (1,0) [0|1] "" XXX + SG_ RrClosOpenSwActGroup : 4|3@0+ (1,0) [0|0] "" XXX + SG_ RrClosOpenSwAct : 2|1@0+ (1,0) [0|1] "" XXX + SG_ RrClosOpenSwActV : 4|1@0+ (1,0) [0|1] "" XXX + SG_ RrWprInhbRq : 5|1@0+ (1,0) [0|1] "" XXX + SG_ GrgPrgMdCmpl : 6|1@0+ (1,0) [0|1] "" XXX + SG_ PwrLftgtInclAngGroup : 7|16@0+ (1,0) [0|0] "" XXX + SG_ PwrLftgtInclAngV : 7|1@0+ (1,0) [0|1] "" XXX + SG_ PwrLftgtInclAng : 15|8@0+ (1,0) [0|255] "" XXX + SG_ VehIncAngEst : 23|8@0+ (1,0) [0|255] "deg" XXX + SG_ PwrLftgtMotStat : 26|3@0+ (1,0) [0|7] "" XXX + SG_ VltActRrAccUnavlIO : 27|1@0+ (1,0) [0|1] "" XXX + +BO_ 2149752832 Chassis_Information_LS: 8 XXX + SG_ VehHghtStatGroup : 0|9@0+ (1,0) [0|0] "" XXX + SG_ VehHghtStatV : 0|1@0+ (1,0) [0|1] "" XXX + SG_ VehHghtStat : 11|4@0+ (1,0) [0|15] "" XXX + SG_ IntBrkAssPreFilReq : 1|1@0+ (1,0) [0|1] "N/A" XXX + SG_ BksOvht : 2|1@0+ (1,0) [0|1] "" XXX + SG_ HalfSysFail : 3|1@0+ (1,0) [0|1] "" XXX + SG_ BrkSysRedBrkTlltlReq : 4|1@0+ (1,0) [0|1] "" XXX + SG_ ABSAtv : 5|1@0+ (1,0) [0|1] "" XXX + SG_ DrvlnCustStngAvlbl : 6|1@0+ (1,0) [0|1] "" XXX + SG_ StrCustStngAvlbl : 7|1@0+ (1,0) [0|1] "" XXX + SG_ PrkBrkVDA : 12|1@0+ (1,0) [0|1] "" XXX + SG_ PowStVDA : 13|1@0+ (1,0) [0|1] "" XXX + SG_ RrDrCntVDA : 14|1@0+ (1,0) [0|1] "" XXX + SG_ BrkSysVDA : 15|1@0+ (1,0) [0|1] "" XXX + SG_ SprTireSt : 18|3@0+ (1,0) [0|7] "" XXX + SG_ EPBSysAudWarnReq : 20|2@0+ (1,0) [0|3] "" XXX + SG_ EPBSysDspMsgReq : 23|3@0+ (1,0) [0|7] "" XXX + SG_ DrvlnCustCurrStngVal : 26|3@0+ (1,0) [0|7] "" XXX + SG_ StrCustCurrStngVal : 29|3@0+ (1,0) [0|7] "" XXX + SG_ SusCustStngAvlbl : 30|1@0+ (1,0) [0|1] "" XXX + SG_ EBDFailed : 31|1@0+ (1,0) [0|1] "" XXX + SG_ SusCustCurrStngVal : 34|3@0+ (1,0) [0|7] "" XXX + SG_ HillDscntCntlSysStat : 37|3@0+ (1,0) [0|7] "" XXX + SG_ ElecPrkBrkStat : 39|2@0+ (1,0) [0|3] "" XXX + SG_ HlStrAssActIO : 41|1@0+ (1,0) [0|1] "" XXX + SG_ ColPrSysStngAvl : 42|1@0+ (1,0) [0|1] "" XXX + SG_ GNCustSetngAvlbl : 44|1@0+ (1,0) [0|1] "" XXX + SG_ GNCustCrntStngVal : 47|3@0+ (1,0) [0|7] "" XXX + SG_ CPSInfotmntMtReq : 49|2@0+ (1,0) [0|3] "" XXX + SG_ ColPrSysCrntStng : 52|3@0+ (1,0) [0|7] "" XXX + SG_ SndEnhcmtPerfMdRq : 55|3@0+ (1,0) [0|7] "" XXX + SG_ DispPerfMdCsCrStVal : 58|3@0+ (1,0) [0|7] "" XXX + SG_ DispPerfMdCsStAvl : 59|1@0+ (1,0) [0|1] "" XXX + SG_ SndPerfMdCsCrStVal : 62|3@0+ (1,0) [0|7] "" XXX + SG_ SndPerfMdCsStAvl : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 2151514112 Reset_OilLife_Request_LS: 1 XXX + SG_ EngOilLfRstRq : 0|1@0+ (1,0) [0|1] "" XXX + +BO_ 2158903296 ODIDynDataMultiRequest_AuxIP_LS: 8 XXX + SG_ ODIDynDataMltRq_AuxIP : 5|62@0+ (1,0) [0|0] "" XXX + SG_ ODDMA_DataID2Vld : 0|1@0+ (1,0) [0|1] "" XXX + SG_ ODDMA_DataID3Vld : 1|1@0+ (1,0) [0|1] "" XXX + SG_ ODDMA_DataID4Vld : 2|1@0+ (1,0) [0|1] "" XXX + SG_ ODDMA_DataID5Vld : 3|1@0+ (1,0) [0|1] "" XXX + SG_ ODDMA_ReqType : 5|2@0+ (1,0) [0|3] "" XXX + SG_ ODDMA_FUCID : 15|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMA_DispMID : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMA_DataID1 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMA_DataID2 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMA_DataID3 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMA_DataID4 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMA_DataID5 : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 2158911488 ODIDynDataMultiReq_CntrStack_LS: 8 XXX + SG_ ODIDynDataMltRq_CntrStck : 5|62@0+ (1,0) [0|0] "" XXX + SG_ ODDMC_DataID2Vld : 0|1@0+ (1,0) [0|1] "" XXX + SG_ ODDMC_DataID3Vld : 1|1@0+ (1,0) [0|1] "" XXX + SG_ ODDMC_DataID4Vld : 2|1@0+ (1,0) [0|1] "" XXX + SG_ ODDMC_DataID5Vld : 3|1@0+ (1,0) [0|1] "" XXX + SG_ ODDMC_ReqType : 5|2@0+ (1,0) [0|3] "" XXX + SG_ ODDMC_FUCID : 15|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMC_DispMID : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMC_DataID1 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMC_DataID2 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMC_DataID3 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMC_DataID4 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMC_DataID5 : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 2158919680 ODIDynDataMultiRequest_IPC_LS: 8 XXX + SG_ ODIDynDataMltRq_IPC : 5|62@0+ (1,0) [0|0] "" XXX + SG_ ODDMI_DataID2Vld : 0|1@0+ (1,0) [0|1] "" XXX + SG_ ODDMI_DataID3Vld : 1|1@0+ (1,0) [0|1] "" XXX + SG_ ODDMI_DataID4Vld : 2|1@0+ (1,0) [0|1] "" XXX + SG_ ODDMI_DataID5Vld : 3|1@0+ (1,0) [0|1] "" XXX + SG_ ODDMI_ReqType : 5|2@0+ (1,0) [0|3] "" XXX + SG_ ODDMI_FUCID : 15|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMI_DispMID : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMI_DataID1 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMI_DataID2 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMI_DataID3 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMI_DataID4 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMI_DataID5 : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 2151825408 Outside_Air_Temperature_LS: 3 XXX + SG_ OtsAirTmpCrValGroup : 0|9@0+ (1,0) [0|0] "" XXX + SG_ OtsAirTmpCrValV : 0|1@0+ (1,0) [0|1] "" XXX + SG_ OtsAirTmpCrVal : 15|8@0+ (0.5,-40) [-40|87.5] "deg C" XXX + SG_ OtsAirTmpGroup : 1|18@0+ (1,0) [0|0] "" XXX + SG_ OtsAirTmpV : 1|1@0+ (1,0) [0|1] "" XXX + SG_ OtsAirTmp : 23|8@0+ (0.5,-40) [-40|87.5] "deg C" XXX + SG_ OtsAirTmpCrValMsk : 2|1@0+ (1,0) [0|1] "" XXX + +BO_ 2151153664 Rear_Window_Defog_Status_LS: 1 XXX + SG_ RrWndDfgOn : 0|1@0+ (1,0) [0|1] "" XXX + +BO_ 2151170048 Trailer_Status_LS: 2 XXX + SG_ TrlrHtchSwAtv : 0|1@0+ (1,0) [0|1] "" XXX + SG_ TrlrBrkLtFld : 1|1@0+ (1,0) [0|1] "" XXX + SG_ TrlrFgLtFld : 2|1@0+ (1,0) [0|1] "" XXX + SG_ TrlrRvsLtFld : 3|1@0+ (1,0) [0|1] "" XXX + SG_ TrlrTlLtFld : 4|1@0+ (1,0) [0|1] "" XXX + SG_ TrlrFgLtPrs : 5|1@0+ (1,0) [0|1] "" XXX + SG_ TrlrRtTrInLtFld : 6|1@0+ (1,0) [0|1] "" XXX + SG_ TrlLfTrInLtFld : 7|1@0+ (1,0) [0|1] "" XXX + SG_ LftSecTrnIndFld : 8|1@0+ (1,0) [0|1] "" XXX + SG_ RtSecTrnIndFld : 9|1@0+ (1,0) [0|1] "" XXX + SG_ DisRrPrmryLmps : 10|1@0+ (1,0) [0|1] "" XXX + SG_ RLftPrkLmpFld : 11|1@0+ (1,0) [0|1] "" XXX + SG_ RRPrkLmpFld : 12|1@0+ (1,0) [0|1] "" XXX + SG_ RrEndCrrStat : 13|1@0+ (1,0) [0|1] "" XXX + +BO_ 2151841792 Wipe_Wash_Status_LS: 1 XXX + SG_ TurnWprIntIO : 0|1@0+ (1,0) [0|1] "" XXX + SG_ RnSnsActIO : 1|1@0+ (1,0) [0|1] "" XXX + SG_ RnSnsOffIO : 2|1@0+ (1,0) [0|1] "" XXX + SG_ WSWprAct : 3|1@0+ (1,0) [0|1] "" XXX + SG_ HtdFrntWSSt : 4|1@0+ (1,0) [0|1] "" XXX + +BO_ 2154995712 Air_Conditioning_Comp_Type_LS: 1 XXX + SG_ HVHtrOvrTmpIndOn : 3|1@0+ (1,0) [0|1] "" XXX + SG_ HVHtrFldIO : 4|1@0+ (1,0) [0|1] "" XXX + +BO_ 2154094592 Adjustable_Pedal_Motion_Inh_LS: 8 XXX + SG_ AdjPdlMotInhbtd : 0|1@0+ (1,0) [0|1] "" XXX + SG_ IntDimSeldAnmTypStVal : 4|4@0+ (1,0) [0|15] "" XXX + SG_ IntDimSeldClrTypStVal : 12|5@0+ (1,0) [0|31] "" XXX + SG_ IntDimAnmTypAvl : 22|15@0+ (1,0) [0|0] "" XXX + SG_ IDATA_AnmTyp6Avl : 16|1@0+ (1,0) [0|1] "" XXX + SG_ IDATA_AnmTyp5Avl : 17|1@0+ (1,0) [0|1] "" XXX + SG_ IDATA_AnmTyp4Avl : 18|1@0+ (1,0) [0|1] "" XXX + SG_ IDATA_AnmTyp3Avl : 19|1@0+ (1,0) [0|1] "" XXX + SG_ IDATA_AnmTyp2Avl : 20|1@0+ (1,0) [0|1] "" XXX + SG_ IDATA_AnmTyp1Avl : 21|1@0+ (1,0) [0|1] "" XXX + SG_ IDATA_OffAvl : 22|1@0+ (1,0) [0|1] "" XXX + SG_ IDATA_AnmTyp14Avl : 24|1@0+ (1,0) [0|1] "" XXX + SG_ IDATA_AnmTyp13Avl : 25|1@0+ (1,0) [0|1] "" XXX + SG_ IDATA_AnmTyp12Avl : 26|1@0+ (1,0) [0|1] "" XXX + SG_ IDATA_AnmTyp11Avl : 27|1@0+ (1,0) [0|1] "" XXX + SG_ IDATA_AnmTyp10Avl : 28|1@0+ (1,0) [0|1] "" XXX + SG_ IDATA_AnmTyp9Avl : 29|1@0+ (1,0) [0|1] "" XXX + SG_ IDATA_AnmTyp8Avl : 30|1@0+ (1,0) [0|1] "" XXX + SG_ IDATA_AnmTyp7Avl : 31|1@0+ (1,0) [0|1] "" XXX + SG_ IntDimClrTypAvl : 38|31@0+ (1,0) [0|0] "" XXX + SG_ IDCTA_ClrTyp6Avl : 32|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp5Avl : 33|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp4Avl : 34|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp3Avl : 35|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp2Avl : 36|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp1Avl : 37|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_OffAvl : 38|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp14Avl : 40|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp13Avl : 41|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp12Avl : 42|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp11Avl : 43|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp10Avl : 44|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp9Avl : 45|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp8Avl : 46|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp7Avl : 47|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp22Avl : 48|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp21Avl : 49|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp20Avl : 50|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp19Avl : 51|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp18Avl : 52|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp17Avl : 53|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp16Avl : 54|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp15Avl : 55|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp30Avl : 56|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp29Avl : 57|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp28Avl : 58|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp27Avl : 59|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp26Avl : 60|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp25Avl : 61|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp24Avl : 62|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp23Avl : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 2149711872 ACC_YawRate_Information_LS: 8 XXX + SG_ ACCDrvrSeltdSpd : 3|12@0+ (0.0625,0) [0|255.9375] "km / h" XXX + SG_ AdapCrsCntVDA : 4|1@0+ (1,0) [0|1] "" XXX + SG_ ACCAct370 : 6|1@0+ (1,0) [0|1] "" XXX + SG_ CrsCntlDrSelSpdAct : 7|1@0+ (1,0) [0|1] "" XXX + SG_ CrsSpdLmtrDrvSelSpd : 19|12@0+ (0.0625,0) [0|255.9375] "km / h" XXX + SG_ ACCHdwyStg : 22|3@0+ (1,0) [0|7] "" XXX + SG_ FwdClnAlrtPr : 23|1@0+ (1,0) [0|1] "" XXX + SG_ VehDynYawRateGroup : 36|13@0+ (1,0) [0|0] "" XXX + SG_ VehDynYawRate : 35|12@0- (0.0625,0) [-128|127.9375] "deg/sec" XXX + SG_ VehDynYawRateV : 36|1@0+ (1,0) [0|1] "" XXX + SG_ SpdLmtrSpdWrngEnbld : 37|1@0+ (1,0) [0|1] "" XXX + SG_ SpdLmtrSpdWrngAct : 38|1@0+ (1,0) [0|1] "" XXX + SG_ FwdClnAlrtOffIO : 39|1@0+ (1,0) [0|1] "" XXX + SG_ FwdObjAlrtInd : 48|9@0+ (1,0) [0|0] "" XXX + SG_ FOAI_AlrtChmIhbRq : 48|1@0+ (1,0) [0|1] "" XXX + SG_ FOAI_AlrtWrnIndRq : 59|4@0+ (1,0) [0|15] "" XXX + SG_ FOAI_VehAhdIndRq : 63|4@0+ (1,0) [0|15] "" XXX + SG_ AutoMdSpdLmtStat : 50|2@0+ (1,0) [0|3] "" XXX + SG_ ACCAutoSetSpdStat : 52|2@0+ (1,0) [0|3] "" XXX + SG_ SetSpdLmtRchd : 54|2@0+ (1,0) [0|3] "" XXX + +BO_ 2153979904 BulbOutage_LS: 2 XXX + SG_ CHMSLFld : 0|1@0+ (1,0) [0|1] "" XXX + SG_ FLTrnIndLtFld : 1|1@0+ (1,0) [0|1] "" XXX + SG_ FRTrnIndLtFld : 2|1@0+ (1,0) [0|1] "" XXX + SG_ LftBrkLtFld : 3|1@0+ (1,0) [0|1] "" XXX + SG_ LftLwBmFld : 4|1@0+ (1,0) [0|1] "" XXX + SG_ LftPrkLtFld : 5|1@0+ (1,0) [0|1] "" XXX + SG_ LicPltLtFld : 6|1@0+ (1,0) [0|1] "" XXX + SG_ RLTrnIndLtFld : 7|1@0+ (1,0) [0|1] "" XXX + SG_ RRTrnIndLtFld : 8|1@0+ (1,0) [0|1] "" XXX + SG_ RtBrkLtFld : 9|1@0+ (1,0) [0|1] "" XXX + SG_ RtLwBmFld : 10|1@0+ (1,0) [0|1] "" XXX + SG_ RtPrkLtFld : 11|1@0+ (1,0) [0|1] "" XXX + SG_ RFgLtFld : 12|1@0+ (1,0) [0|1] "" XXX + SG_ RvsLtFld : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LftDytmRunLmpFld : 14|1@0+ (1,0) [0|1] "" XXX + SG_ RtDytmRunLmpFld : 15|1@0+ (1,0) [0|1] "" XXX + +BO_ 2150154240 Passive_Entry_Reply_LS: 8 XXX + SG_ PsvEntVehIdExt : 7|32@0+ (1,0) [0|4294967295] "" XXX + SG_ PsvEntChlngRply : 39|32@0+ (1,0) [0|4294967295] "passwrd" XXX + +BO_ 2155003904 Side_Blind_Zone_Alert_Status: 2 XXX + SG_ SBZASysClnIndOn : 0|1@0+ (1,0) [0|1] "" XXX + SG_ SBZASysOffIndOn : 1|1@0+ (1,0) [0|1] "" XXX + SG_ SBZASysSrvIndOn : 2|1@0+ (1,0) [0|1] "" XXX + SG_ SBZATmpUnvIndOn : 3|1@0+ (1,0) [0|1] "" XXX + SG_ LftLnChgThrt : 4|1@0+ (1,0) [0|1] "" XXX + SG_ LfLnChngThrtAprchSpd : 15|8@0- (1,0) [-128|127] "km/h" XXX + +BO_ 2150817792 Airbag_Impact_Data_5: 3 XXX + SG_ ImpMaxLateralDeltaVel : 7|8@0- (1,0) [-128|127] "" XXX + SG_ ImpMaxLongDeltaVel : 15|8@0- (1,0) [-128|127] "" XXX + SG_ ImpTimeToMaxDeltaVel : 23|8@0+ (10,0) [0|2550] "ms" XXX + +BO_ 2150227968 Phone_Speech_Rec_Status_LS: 1 XXX + SG_ PhnSpRcgnApSt : 1|2@0+ (1,0) [0|3] "" XXX + +BO_ 2162982912 VIN_Digits_10_to_17: 8 XXX + SG_ VehIdNmDig10_17 : 7|64@0+ (1,0) [0|1] "" XXX + +BO_ 2162966528 VIN_Digits_2_to_9: 8 XXX + SG_ VehIdNmDig2_9 : 7|64@0+ (1,0) [0|1] "" XXX + +BO_ 2151497728 Tire_Pressure_Sensors_LS: 6 XXX + SG_ TireLFPrsGroup : 0|17@0+ (1,0) [0|0] "" XXX + SG_ TireLFPrsV : 0|1@0+ (1,0) [0|1] "" XXX + SG_ TireLFPrs : 23|8@0+ (4,0) [0|1020] "kPaG" XXX + SG_ TireRFPrsGroup : 1|34@0+ (1,0) [0|0] "" XXX + SG_ TireRFPrsV : 1|1@0+ (1,0) [0|1] "" XXX + SG_ TireRFPrs : 39|8@0+ (4,0) [0|1020] "kPaG" XXX + SG_ TireLFPrsStat : 4|3@0+ (1,0) [0|7] "" XXX + SG_ TireRFPrsStat : 7|3@0+ (1,0) [0|7] "" XXX + SG_ TireLRPrsGroup : 8|17@0+ (1,0) [0|0] "" XXX + SG_ TireLRPrsV : 8|1@0+ (1,0) [0|1] "" XXX + SG_ TireLRPrs : 31|8@0+ (4,0) [0|1020] "kPaG" XXX + SG_ TireRRPrsGroup : 9|34@0+ (1,0) [0|0] "" XXX + SG_ TireRRPrsV : 9|1@0+ (1,0) [0|1] "" XXX + SG_ TireRRPrs : 47|8@0+ (4,0) [0|1020] "kPaG" XXX + SG_ TireLRPrsStat : 12|3@0+ (1,0) [0|7] "" XXX + SG_ TireRRPrsStat : 15|3@0+ (1,0) [0|7] "" XXX + +BO_ 2151219200 Remote_Start_Status: 1 XXX + SG_ RemStrtSt : 0|1@0+ (1,0) [0|1] "" XXX + SG_ RmVehStrRq : 1|1@0+ (1,0) [0|1] "" XXX + +BO_ 2153775104 DTC_Triggered: 7 XXX + SG_ DTCInfo : 7|56@0+ (1,0) [0|0] "" XXX + SG_ DTCI_DTCTriggered : 0|1@0+ (1,0) [0|1] "" XXX + SG_ DTCIUnused1 : 1|1@0+ (1,0) [0|1] "" XXX + SG_ DTCIUnused2 : 2|1@0+ (1,0) [0|1] "" XXX + SG_ DTCIUnused3 : 3|1@0+ (1,0) [0|1] "" XXX + SG_ DTCIUnused4 : 4|1@0+ (1,0) [0|1] "" XXX + SG_ DTCIUnused5 : 5|1@0+ (1,0) [0|1] "" XXX + SG_ DTCIUnused6 : 6|1@0+ (1,0) [0|1] "" XXX + SG_ DTCIUnused7 : 7|1@0+ (1,0) [0|1] "" XXX + SG_ DTCI_DTCSource : 15|8@0+ (1,0) [0|255] "" XXX + SG_ DTCI_DTCNumber : 23|16@0+ (1,0) [0|65535] "" XXX + SG_ DTCI_DTCFailType : 39|8@0+ (1,0) [0|255] "" XXX + SG_ DTCI_CodeSupported : 40|1@0+ (1,0) [0|1] "" XXX + SG_ DTCI_CurrentStatus : 41|1@0+ (1,0) [0|1] "" XXX + SG_ DTCI_TstNPsdCdClrdSt : 42|1@0+ (1,0) [0|1] "" XXX + SG_ DTCI_TstFldCdClrdStat : 43|1@0+ (1,0) [0|1] "" XXX + SG_ DTCI_HistStat : 44|1@0+ (1,0) [0|1] "" XXX + SG_ DTCI_TstNPsdPwrUpSt : 45|1@0+ (1,0) [0|1] "" XXX + SG_ DTCI_TstFldPwrUpSt : 46|1@0+ (1,0) [0|1] "" XXX + SG_ DTCI_WrnIndRqdSt : 47|1@0+ (1,0) [0|1] "" XXX + SG_ DTCI_DTCFaultType : 55|8@0+ (1,0) [0|255] "" XXX + +BO_ 2151235584 Vehicle_Theft_Notification_Stat: 5 XXX + SG_ DrIdDevLrnd : 0|1@0+ (1,0) [0|1] "" XXX + SG_ VehSecSysFldIO : 1|1@0+ (1,0) [0|1] "" XXX + SG_ VTDTmprDetected : 2|1@0+ (1,0) [0|1] "" XXX + SG_ EhnSrvEngImmStat : 3|1@0+ (1,0) [0|1] "" XXX + SG_ IllDrIdDevDtctd : 4|1@0+ (1,0) [0|1] "" XXX + SG_ AlcKyIIncmIndOn : 5|1@0+ (1,0) [0|1] "" XXX + SG_ VehSecStrgColLckPwdGroup : 6|31@0+ (1,0) [0|0] "" XXX + SG_ VehSecStrgColLckPwdV : 6|1@0+ (1,0) [0|1] "" XXX + SG_ VehSecStrgColLckPwd : 23|16@0+ (1,0) [0|65535] "" XXX + SG_ VehSecAuthnSesComp : 7|1@0+ (1,0) [0|1] "" XXX + SG_ VhSecNImmoIndRq : 9|2@0+ (1,0) [0|3] "" XXX + SG_ StrgColLckCmd : 11|2@0+ (1,0) [0|3] "" XXX + SG_ NmofPrgKFbExtd : 15|4@0+ (1,0) [0|15] "" XXX + SG_ VehStatStAtv : 32|1@0+ (1,0) [0|1] "" XXX + SG_ EhnSrvImmbComRst : 33|1@0+ (1,0) [0|1] "" XXX + SG_ ClmSysBkupFlrIndOn : 34|1@0+ (1,0) [0|1] "" XXX + +BO_ 2150809600 Airbag_Impact_Data_4: 8 XXX + SG_ ImpDltVlcSamp12 : 7|16@0+ (1,0) [0|0] "" XXX + SG_ IDVS12_Axis1 : 7|8@0- (1,0) [-128|127] "counts" XXX + SG_ IDVS12_Axis2 : 15|8@0- (1,0) [-128|127] "counts" XXX + SG_ ImpDltVlcSamp13 : 23|16@0+ (1,0) [0|0] "" XXX + SG_ IDVS13_Axis1 : 23|8@0- (1,0) [-128|127] "counts" XXX + SG_ IDVS13_Axis2 : 31|8@0- (1,0) [-128|127] "counts" XXX + SG_ ImpDltVlcSamp14 : 39|16@0+ (1,0) [0|0] "" XXX + SG_ IDVS14_Axis1 : 39|8@0- (1,0) [-128|127] "counts" XXX + SG_ IDVS14_Axis2 : 47|8@0- (1,0) [-128|127] "counts" XXX + SG_ ImpDltVlcSamp15 : 55|16@0+ (1,0) [0|0] "" XXX + SG_ IDVS15_Axis1 : 55|8@0- (1,0) [-128|127] "counts" XXX + SG_ IDVS15_Axis2 : 63|8@0- (1,0) [-128|127] "counts" XXX + +BO_ 2150793216 Airbag_Impact_Data_2: 8 XXX + SG_ ImpDltVlcSamp4 : 7|16@0+ (1,0) [0|0] "" XXX + SG_ IDVS4_Axis1 : 7|8@0- (1,0) [-128|127] "counts" XXX + SG_ IDVS4_Axis2 : 15|8@0- (1,0) [-128|127] "counts" XXX + SG_ ImpDltVlcSamp5 : 23|16@0+ (1,0) [0|0] "" XXX + SG_ IDVS5_Axis1 : 23|8@0- (1,0) [-128|127] "counts" XXX + SG_ IDVS5_Axis2 : 31|8@0- (1,0) [-128|127] "counts" XXX + SG_ ImpDltVlcSamp6 : 39|16@0+ (1,0) [0|0] "" XXX + SG_ IDVS6_Axis1 : 39|8@0- (1,0) [-128|127] "counts" XXX + SG_ IDVS6_Axis2 : 47|8@0- (1,0) [-128|127] "counts" XXX + SG_ ImpDltVlcSamp7 : 55|16@0+ (1,0) [0|0] "" XXX + SG_ IDVS7_Axis1 : 55|8@0- (1,0) [-128|127] "counts" XXX + SG_ IDVS7_Axis2 : 63|8@0- (1,0) [-128|127] "counts" XXX + +BO_ 2150801408 Airbag_Impact_Data_3: 8 XXX + SG_ ImpDltVlcSamp8 : 7|16@0+ (1,0) [0|0] "" XXX + SG_ IDVS8_Axis1 : 7|8@0- (1,0) [-128|127] "counts" XXX + SG_ IDVS8_Axis2 : 15|8@0- (1,0) [-128|127] "counts" XXX + SG_ ImpDltVlcSamp9 : 23|16@0+ (1,0) [0|0] "" XXX + SG_ IDVS9_Axis1 : 23|8@0- (1,0) [-128|127] "counts" XXX + SG_ IDVS9_Axis2 : 31|8@0- (1,0) [-128|127] "counts" XXX + SG_ ImpDltVlcSamp10 : 39|16@0+ (1,0) [0|0] "" XXX + SG_ IDVS10_Axis1 : 39|8@0- (1,0) [-128|127] "counts" XXX + SG_ IDVS10_Axis2 : 47|8@0- (1,0) [-128|127] "counts" XXX + SG_ ImpDltVlcSamp11 : 55|16@0+ (1,0) [0|0] "" XXX + SG_ IDVS11_Axis1 : 55|8@0- (1,0) [-128|127] "counts" XXX + SG_ IDVS11_Axis2 : 63|8@0- (1,0) [-128|127] "counts" XXX + +BO_ 2150785024 Airbag_Impact_Data_1: 8 XXX + SG_ ImpDltVlcScal : 7|8@0+ (0.00245,0.706) [0.706|1.33075] "kph/cnt" XXX + SG_ AirbgAccelOrien : 10|3@0+ (45,0) [0|315] "deg" XXX + SG_ ImpDltVlcSamp1 : 23|16@0+ (1,0) [0|0] "" XXX + SG_ IDVS1_Axis1 : 23|8@0- (1,0) [-128|127] "counts" XXX + SG_ IDVS1_Axis2 : 31|8@0- (1,0) [-128|127] "counts" XXX + SG_ ImpDltVlcSamp2 : 39|16@0+ (1,0) [0|0] "" XXX + SG_ IDVS2_Axis1 : 39|8@0- (1,0) [-128|127] "counts" XXX + SG_ IDVS2_Axis2 : 47|8@0- (1,0) [-128|127] "counts" XXX + SG_ ImpDltVlcSamp3 : 55|16@0+ (1,0) [0|0] "" XXX + SG_ IDVS3_Axis1 : 55|8@0- (1,0) [-128|127] "counts" XXX + SG_ IDVS3_Axis2 : 63|8@0- (1,0) [-128|127] "counts" XXX + +BO_ 2151202816 Rear_Window_Defog_Inhibit: 5 XXX + SG_ RrWndDfgInhRq : 0|1@0+ (1,0) [0|1] "" XXX + SG_ RrWndDfgSwAtv : 1|1@0+ (1,0) [0|1] "" XXX + SG_ ILSSCommErr : 2|1@0+ (1,0) [0|1] "" XXX + SG_ IPSnsrRwSolrIntFltd : 3|1@0+ (1,0) [0|1] "" XXX + SG_ IPSnsrSolrAnglFltd : 4|1@0+ (1,0) [0|1] "" XXX + SG_ IPSnsrTpCvrTempFltd : 5|1@0+ (1,0) [0|1] "" XXX + SG_ AuxHtrAlwd : 6|1@0+ (1,0) [0|1] "" XXX + SG_ IPSnsrRwSolrInt : 15|8@0+ (3,0) [0|765] "W/m2" XXX + SG_ IPSnsrSolrAzmthAngl : 23|8@0+ (2,-180) [-180|330] "deg" XXX + SG_ IPSnsrSolrElvtnAngl : 31|8@0+ (1,0) [0|255] "deg" XXX + SG_ IPSnsrTpCvrTemp : 39|8@0+ (0.5,-40) [-40|87.5] "deg C" XXX + +BO_ 2150825984 Airbag_Indications: 6 XXX + SG_ FsnDrvStbltIC : 7|8@0+ (1,0) [0|0] "" XXX + SG_ FDSIC_IndPer : 3|4@0+ (1,0) [0|15] "" XXX + SG_ FDSIC_IndDC : 6|3@0+ (12.5,12.5) [12.5|100] "%" XXX + SG_ FDSIC_IO : 7|1@0+ (1,0) [0|1] "" XXX + SG_ FsnPsngStbltIC : 15|8@0+ (1,0) [0|0] "" XXX + SG_ FPSIC_IndPer : 11|4@0+ (1,0) [0|15] "" XXX + SG_ FPSIC_IndDtCyc : 14|3@0+ (12.5,12.5) [12.5|100] "%" XXX + SG_ FPSIC_IO : 15|1@0+ (1,0) [0|1] "" XXX + SG_ AirbgIC : 23|8@0+ (1,0) [0|0] "" XXX + SG_ AirbgICIndPer : 19|4@0+ (1,0) [0|15] "" XXX + SG_ AirbgICDutCyc : 22|3@0+ (12.5,12.5) [12.5|100] "%" XXX + SG_ AirbgICIO : 23|1@0+ (1,0) [0|1] "" XXX + SG_ FstnSndRwLtPsStbtInR : 25|2@0+ (1,0) [0|3] "" XXX + SG_ FstnSndRwCtPsStbtInR : 27|2@0+ (1,0) [0|3] "" XXX + SG_ FstnSndRwRtPsStbtInR : 29|2@0+ (1,0) [0|3] "" XXX + SG_ FsnDrStbAuxIR : 31|2@0+ (1,0) [0|3] "" XXX + SG_ FsnPsStbAuxIR : 34|3@0+ (1,0) [0|7] "" XXX + SG_ AirbgFldIO : 35|1@0+ (1,0) [0|1] "" XXX + SG_ SndRwStbltRdIndMd : 37|2@0+ (1,0) [0|3] "" XXX + SG_ FstnThrdRwCtPsStbtInR : 39|2@0+ (1,0) [0|3] "" XXX + SG_ FstnThrdRwRtPsStbtInR : 41|2@0+ (1,0) [0|3] "" XXX + SG_ FstnThrdRwLtPsStbtInR : 43|2@0+ (1,0) [0|3] "" XXX + SG_ SrvIntdPdstProtSysIO : 44|1@0+ (1,0) [0|1] "" XXX + SG_ PdstIntdProtSysDsbld : 45|1@0+ (1,0) [0|1] "" XXX + SG_ PdstIntdProtSysDplyd : 46|1@0+ (1,0) [0|1] "" XXX + +BO_ 2151759872 Door_Lock_Command: 4 XXX + SG_ CntrlLckRqwExtActFun : 9|18@0+ (1,0) [0|0] "" XXX + SG_ CLRAF_Unl_Lk : 9|3@0+ (1,0) [0|7] "" XXX + SG_ CLRAF_FuelD : 16|1@0+ (1,0) [0|1] "" XXX + SG_ CLRAF_RrCls : 17|1@0+ (1,0) [0|1] "" XXX + SG_ CLRAF_Hd : 18|1@0+ (1,0) [0|1] "" XXX + SG_ CLRAF_RLD : 19|1@0+ (1,0) [0|1] "" XXX + SG_ CLRAF_RRD : 20|1@0+ (1,0) [0|1] "" XXX + SG_ CLRAF_PD : 21|1@0+ (1,0) [0|1] "" XXX + SG_ CLRAF_DD : 22|1@0+ (1,0) [0|1] "" XXX + SG_ CLRAF_ActFunc : 28|5@0+ (1,0) [0|31] "" XXX + SG_ CLRAF_UnandRsv3 : 29|1@0+ (1,0) [0|1] "" XXX + SG_ CLRAF_UnandRsv2 : 30|1@0+ (1,0) [0|1] "" XXX + SG_ CLRAF_UnandRsv1 : 31|1@0+ (1,0) [0|1] "" XXX + SG_ RrClsRelRq : 10|1@0+ (1,0) [0|1] "" XXX + +BO_ 2149974016 Content_Theft_Sensor_Status: 3 XXX + SG_ SrvAlrmSysIO : 0|1@0+ (1,0) [0|1] "" XXX + SG_ IntrSnsDisbld : 1|1@0+ (1,0) [0|1] "" XXX + SG_ AlrmTrgDrvDr : 3|1@0+ (1,0) [0|1] "" XXX + SG_ AlrmTrgPsngDr : 4|1@0+ (1,0) [0|1] "" XXX + SG_ AlrmTrgRrRtDr : 5|1@0+ (1,0) [0|1] "" XXX + SG_ AlrmTrgRrLftDr : 6|1@0+ (1,0) [0|1] "" XXX + SG_ AlrmTrigTonn : 7|1@0+ (1,0) [0|1] "" XXX + SG_ AlrmTrgTrnk : 8|1@0+ (1,0) [0|1] "" XXX + SG_ AlrmTrgTltSns : 9|1@0+ (1,0) [0|1] "" XXX + SG_ AlrmTrgIntMvmntSns : 10|1@0+ (1,0) [0|1] "" XXX + SG_ AlrmTrggrdBattRcnctd : 11|1@0+ (1,0) [0|1] "" XXX + SG_ AlrmTrgGlsBrkSns : 12|1@0+ (1,0) [0|1] "" XXX + SG_ AlrmTrgNonOffPM : 13|1@0+ (1,0) [0|1] "" XXX + SG_ AlrmTrigMidClsr : 14|1@0+ (1,0) [0|1] "" XXX + SG_ AlrmTrgdIO : 15|1@0+ (1,0) [0|1] "" XXX + SG_ AlrmStat : 18|3@0+ (1,0) [0|7] "" XXX + SG_ AlrmTrgHd : 21|1@0+ (1,0) [0|1] "" XXX + +BO_ 2151907328 Steering_Wheel_Control_Switches: 1 XXX + SG_ StrgWhlUnit1SwStat : 3|4@0+ (1,0) [0|15] "" XXX + SG_ StrgWhlUnit2SwStat : 7|4@0+ (1,0) [0|15] "" XXX + +BO_ 2150219776 Voice_Recognition_Status: 1 XXX + SG_ PhnSpRcgnRq : 1|2@0+ (1,0) [0|3] "" XXX + SG_ VcRecVcFdbckSt : 3|2@0+ (1,0) [0|3] "" XXX + +BO_ 2152685568 Radiomarks_Response: 8 XXX + SG_ RadBrdcstSrc : 3|4@0+ (1,0) [0|15] "" XXX + SG_ RadConInfReqSrc : 7|4@0+ (1,0) [0|15] "" XXX + SG_ RadConInfCmd : 11|4@0+ (1,0) [0|15] "" XXX + SG_ RadConInfID : 31|40@0+ (1,0) [0|1099511627775] "" XXX + +BO_ 2151874560 Vehicle_Theft_Notify_Reset_Req: 8 XXX + SG_ EhnSrvEngImmbCom : 0|57@0+ (1,0) [0|0] "" XXX + SG_ ESEIC_EngImmbRq : 0|1@0+ (1,0) [0|1] "" XXX + SG_ ESEIC_EngImRqPsw : 15|56@0+ (1,0) [0|1] "" XXX + SG_ RstVTDTmprDtctd : 1|1@0+ (1,0) [0|1] "" XXX + SG_ RstIllDrIdDevDtctd : 2|1@0+ (1,0) [0|1] "" XXX + SG_ RstDrIdDevLrnd : 3|1@0+ (1,0) [0|1] "" XXX + +BO_ 2150268928 GPS_Date_and_Time_LS: 6 XXX + SG_ CldrYr_154 : 7|8@0+ (1,2000) [2000|2255] "year" XXX + SG_ CldrMth_154 : 11|4@0+ (1,0) [0|15] "" XXX + SG_ CldrDay_154 : 20|5@0+ (1,0) [0|31] "days" XXX + SG_ HrsGroup : 29|6@0+ (1,0) [0|0] "" XXX + SG_ Hrs : 28|5@0+ (1,0) [0|31] "h" XXX + SG_ HrsV : 29|1@0+ (1,0) [0|1] "" XXX + SG_ MinsGroup : 38|7@0+ (1,0) [0|0] "" XXX + SG_ Mins : 37|6@0+ (1,0) [0|63] "min" XXX + SG_ MinsV : 38|1@0+ (1,0) [0|1] "" XXX + SG_ SecGroup : 46|7@0+ (1,0) [0|0] "" XXX + SG_ Sec : 45|6@0+ (1,0) [0|63] "s" XXX + SG_ SecV : 46|1@0+ (1,0) [0|1] "" XXX + +BO_ 2150137856 RFA_Status_LS: 3 XXX + SG_ FobPrevLrndIndOn : 0|1@0+ (1,0) [0|1] "" XXX + SG_ Ky_IdDevNotPrIO : 1|1@0+ (1,0) [0|1] "" XXX + SG_ FbProgCustActRqd : 2|1@0+ (1,0) [0|1] "" XXX + SG_ KeyInWrnIO : 3|1@0+ (1,0) [0|1] "" XXX + SG_ VehSecAtoLrnAtv : 4|1@0+ (1,0) [0|1] "" XXX + SG_ Ky_IdDevPrgmAuthReq : 5|1@0+ (1,0) [0|1] "" XXX + SG_ LMTTCPrsnOffStat : 6|1@0+ (1,0) [0|1] "" XXX + SG_ VehSecAtoLrnDlyTmr : 12|5@0+ (1,0) [0|31] "min" XXX + SG_ FldTpMotReq : 15|3@0+ (1,0) [0|7] "" XXX + SG_ RemCtrlFobNumForProgER : 19|4@0+ (1,0) [0|15] "" XXX + +BO_ 2151677952 Chime_Command: 5 XXX + SG_ SndChrs : 3|28@0+ (1,0) [0|0] "" XXX + SG_ SC_SndTne : 3|4@0+ (1,0) [0|15] "" XXX + SG_ SC_SndCdnPrd : 15|8@0+ (10,0) [0|2550] "ms" XXX + SG_ SC_NmofRp : 23|8@0+ (1,0) [0|255] "reps" XXX + SG_ SC_SndDutCyc : 31|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ SndLoc : 7|4@0+ (1,0) [0|0] "" XXX + SG_ SndLocRtRr : 4|1@0+ (1,0) [0|1] "" XXX + SG_ SndLocLftRr : 5|1@0+ (1,0) [0|1] "" XXX + SG_ SndLocPasFr : 6|1@0+ (1,0) [0|1] "" XXX + SG_ SndLocDrFr : 7|1@0+ (1,0) [0|1] "" XXX + SG_ SndPriority : 39|8@0+ (1,0) [0|255] "" XXX + +BO_ 2150776832 Airbag_Status: 6 XXX + SG_ ShfUlkBrToShftIndCtrl : 0|1@0+ (1,0) [0|1] "" XXX + SG_ ShftLkdBuStbltIndCtrl : 1|1@0+ (1,0) [0|1] "" XXX + SG_ SbItlkTrnsShftLvLkRd : 2|1@0+ (1,0) [0|1] "" XXX + SG_ MmryRclImpctDisRq : 3|1@0+ (1,0) [0|1] "" XXX + SG_ EvntEnbld : 4|1@0+ (1,0) [0|1] "" XXX + SG_ SftyMuteRd : 5|1@0+ (1,0) [0|1] "" XXX + SG_ HybVehHiVltInvDisRqd : 6|1@0+ (1,0) [0|1] "" XXX + SG_ HybImpSnsDsbld : 7|1@0+ (1,0) [0|1] "" XXX + SG_ SIREvntSychCntr : 23|16@0+ (1,0) [0|65535] "" XXX + SG_ FrPsngrStOccSnsngPriDat : 39|16@0+ (1,0) [0|39321] "" XXX + +BO_ 2150760448 Airbag_Impact_Data: 8 XXX + SG_ SIRDpl : 1|1@0+ (1,0) [0|1] "" XXX + SG_ NotPsSeatStat : 5|2@0+ (1,0) [0|3] "" XXX + SG_ NotDrvSeatStat : 7|2@0+ (1,0) [0|3] "" XXX + SG_ NotSecRowRtSeaOccStat : 9|2@0+ (1,0) [0|3] "" XXX + SG_ NotSndRwMdlSeatStat : 11|2@0+ (1,0) [0|3] "" XXX + SG_ NotSndRwRtSeatStat : 13|2@0+ (1,0) [0|3] "" XXX + SG_ NotSndRwLtSeatStat : 15|2@0+ (1,0) [0|3] "" XXX + SG_ NotEventStat : 17|2@0+ (1,0) [0|3] "" XXX + SG_ NotSecRowLeSeaOccStat : 25|2@0+ (1,0) [0|3] "" XXX + SG_ NotSecRowCtSeaOccStat : 27|2@0+ (1,0) [0|3] "" XXX + SG_ NotiFrntPasSeatOccSta : 34|3@0+ (1,0) [0|7] "" XXX + SG_ NoEvDeLoSt : 46|7@0+ (1,0) [0|0] "" XXX + SG_ NEDLSSdCrtnArbgDpld : 40|1@0+ (1,0) [0|1] "" XXX + SG_ NEDLSRtSdArbgDld : 41|1@0+ (1,0) [0|1] "" XXX + SG_ NEDLSLtSdArbgDld : 42|1@0+ (1,0) [0|1] "" XXX + SG_ NEDLSPaFrSt2De : 43|1@0+ (1,0) [0|1] "" XXX + SG_ NEDLSPaFrSt1De : 44|1@0+ (1,0) [0|1] "" XXX + SG_ NEDLSDrFrSt2De : 45|1@0+ (1,0) [0|1] "" XXX + SG_ NEDLSDrFrSt1De : 46|1@0+ (1,0) [0|1] "" XXX + SG_ NoEvSevSt : 54|7@0+ (1,0) [0|0] "" XXX + SG_ NESSRoSevSt : 48|1@0+ (1,0) [0|1] "" XXX + SG_ NESSRiSiSevSt : 49|1@0+ (1,0) [0|1] "" XXX + SG_ NESSReImpSevSt : 50|1@0+ (1,0) [0|1] "" XXX + SG_ NESSLeSiSevSt : 51|1@0+ (1,0) [0|1] "" XXX + SG_ NESSFrImpSt2SevSt : 52|1@0+ (1,0) [0|1] "" XXX + SG_ NESSFrImpSt1SevSt : 53|1@0+ (1,0) [0|1] "" XXX + SG_ NESSFrImpPreSevSt : 54|1@0+ (1,0) [0|1] "" XXX + SG_ NotiEventCount : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 2155872256 Fuel_Information: 6 XXX + SG_ FlLvlPctGroup : 0|9@0+ (1,0) [0|0] "" XXX + SG_ FlLvlPctV : 0|1@0+ (1,0) [0|1] "" XXX + SG_ FlLvlPct : 15|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ FlInjRlCtRstOcc : 1|1@0+ (1,0) [0|1] "" XXX + SG_ FuelFltChgNwIO : 2|1@0+ (1,0) [0|1] "" XXX + SG_ DrvStyPerfMdCsCrStVal : 5|3@0+ (1,0) [0|7] "" XXX + SG_ DrvStyPerfMdCsStAvl : 6|1@0+ (1,0) [0|1] "" XXX + SG_ RdWhlAngGroup : 23|8@0+ (1,0) [0|0] "" XXX + SG_ RdWhlAng : 22|7@0+ (0.703125,-45) [-45|44.296875] "deg" XXX + SG_ RdWhlAngV : 23|1@0+ (1,0) [0|1] "" XXX + SG_ VehPitchAngleGroup : 31|8@0+ (1,0) [0|0] "" XXX + SG_ VehPitchAngle : 30|7@0+ (0.703125,-45) [-45|44.296875] "deg" XXX + SG_ VehPitchAngleV : 31|1@0+ (1,0) [0|1] "" XXX + SG_ FlInjRlCt : 39|16@0+ (3.05176E-005,0) [0|1.999970916] "liters" XXX + +BO_ 2156175360 Display_Measurement_System_LS: 1 XXX + SG_ DispMeasSysExt : 1|2@0+ (1,0) [0|3] "" XXX + SG_ DispMeasSys : 2|1@0+ (1,0) [0|1] "" XXX + SG_ NtVsnSysEnbld : 3|1@0+ (1,0) [0|1] "" XXX + +BO_ 2149859328 System_Power_Mode_Backup_LS: 1 XXX + SG_ SysBkupPwrMdEn : 2|1@0+ (1,0) [0|1] "" XXX + SG_ SysBkUpPwrMdGroup : 3|4@0+ (1,0) [0|0] "" XXX + SG_ SysBkUpPwrMd : 1|2@0+ (1,0) [0|3] "" XXX + SG_ SysBkUpPwrMdV : 3|1@0+ (1,0) [0|1] "" XXX + +BO_ 2158854144 ODIAction_IPC_LS: 8 XXX + SG_ ODIActn_IPC : 5|62@0+ (1,0) [0|0] "" XXX + SG_ ODIAI_DaTy : 5|6@0+ (1,0) [0|63] "" XXX + SG_ ODIAI_FUCID : 15|8@0+ (1,0) [0|255] "" XXX + SG_ ODIAI_ActnID : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ODIAI_DspMID : 31|8@0+ (1,0) [0|255] "" XXX + SG_ ODIAI_ActnVal : 39|32@0+ (1,0) [0|4294967295] "" XXX + +BO_ 2158837760 ODIAction_AuxIP_LS: 8 XXX + SG_ ODIActn_AxIP : 5|62@0+ (1,0) [0|0] "" XXX + SG_ ODIAA_DaTy : 5|6@0+ (1,0) [0|63] "" XXX + SG_ ODIAA_FUCID : 15|8@0+ (1,0) [0|255] "" XXX + SG_ ODIAA_ActnID : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ODIAA_DspMID : 31|8@0+ (1,0) [0|255] "" XXX + SG_ ODIAA_ActnVal : 39|32@0+ (1,0) [0|4294967295] "" XXX + +BO_ 2159091712 ODI_IPC_2_TEL_LS: 8 XXX + SG_ ODI_IPC2TEL : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2154561536 Vehicle_Odo_LS: 5 XXX + SG_ VehOdoGroup : 7|40@0+ (1,0) [0|0] "" XXX + SG_ VehOdo : 7|32@0+ (0.015625,0) [0|67108863.984375] "km" XXX + SG_ VehOdoV : 32|1@0+ (1,0) [0|1] "" XXX + +BO_ 2149908480 Brake_Pedal_Status_LS: 2 XXX + SG_ BrkPedInitTrvlAchvdStat : 1|2@0+ (1,0) [0|0] "" XXX + SG_ BrkPedTrvlAchvdV : 0|1@0+ (1,0) [0|1] "" XXX + SG_ BrkPedTrvlAchvd : 1|1@0+ (1,0) [0|1] "" XXX + SG_ BrkPdlModTrvlGroup : 3|2@0+ (1,0) [0|0] "" XXX + SG_ BrkPdlModTrvl : 2|1@0+ (1,0) [0|1] "" XXX + SG_ BrkPdlModTrvlV : 3|1@0+ (1,0) [0|1] "" XXX + SG_ BrkPdlPos : 15|8@0+ (0.392157,0) [0|100.000035] "% full" XXX + +BO_ 2151268352 Column_Lock_Status: 1 XXX + SG_ ClmnLckTT : 1|2@0+ (1,0) [0|3] "" XXX + +BO_ 2150604800 Right_Rear_Door_Status: 1 XXX + SG_ RRDoorAjarSwAct : 0|1@0+ (1,0) [0|1] "" XXX + +BO_ 2150588416 Passenger_Door_Status_LS: 1 XXX + SG_ PDAjrSwAtv : 0|1@0+ (1,0) [0|1] "" XXX + +BO_ 2150596608 Left_Rear_Door_Status: 1 XXX + SG_ RLDoorAjarSwAct : 0|1@0+ (1,0) [0|1] "" XXX + +BO_ 2155036672 Climate_Control_General_Status: 6 XXX + SG_ ACCompNormLdGroup : 0|9@0+ (1,0) [0|0] "" XXX + SG_ ACCompNormLdV : 0|1@0+ (1,0) [0|1] "" XXX + SG_ ACCompNormLd : 15|8@0+ (0.1,0) [0|25.5] "l/min" XXX + SG_ ACCmEngRunReq : 2|1@0+ (1,0) [0|1] "" XXX + SG_ ACCmpsrFldOn : 3|1@0+ (1,0) [0|1] "" XXX + SG_ ACCompModReq : 5|2@0+ (1,0) [0|3] "" XXX + SG_ ClmtCtrlTrgtTemp : 17|10@0+ (0.1,-10) [-10|92.3] "deg C" XXX + +BO_ 2150424576 Engine_Information_3_LS: 8 XXX + SG_ TrnsEngdStateGroup : 2|3@0+ (1,0) [0|0] "" XXX + SG_ TrnsEngdState : 1|2@0+ (1,0) [0|3] "" XXX + SG_ TrnsEngdStateV : 2|1@0+ (1,0) [0|1] "" XXX + SG_ ACRfHiSdFldPrsGroup : 3|20@0+ (1,0) [0|0] "" XXX + SG_ ACRfHiSdFldPrsV : 3|1@0+ (1,0) [0|1] "" XXX + SG_ ACRfHiSdFldPrs : 23|8@0+ (14,0) [0|3570] "kPaG" XXX + SG_ ACCompCmnd : 4|1@0+ (1,0) [0|1] "" XXX + SG_ RrAxlELSDCplLwResGroup : 5|46@0+ (1,0) [0|0] "" XXX + SG_ RrAxlELSDCplLwResV : 5|1@0+ (1,0) [0|1] "" XXX + SG_ RrAxlELSDCplLwRes : 47|8@0+ (10,0) [0|2550] "Nm" XXX + SG_ EngAirIntBstPrGroup : 6|39@0+ (1,0) [0|0] "" XXX + SG_ EngAirIntBstPrV : 6|1@0+ (1,0) [0|1] "" XXX + SG_ EngAirIntBstPr : 39|8@0- (1,0) [-128|127] "kPaG" XXX + SG_ ExtHlStrAssCsStAvl : 7|1@0+ (1,0) [0|1] "" XXX + SG_ TrnsRngInhbtStat : 10|3@0+ (1,0) [0|7] "" XXX + SG_ DrvtShftCntrlTrgtGear : 14|4@0+ (1,0) [0|15] "" XXX + SG_ ACCmpNrmLdGrdAld : 31|8@0+ (0.1,0) [0|25.5] "dm3/m/s" XXX + SG_ EngTrqDrRqdExtRngGroup : 52|13@0+ (1,0) [0|0] "" XXX + SG_ EngTrqDrRqdExtRng : 51|12@0+ (0.5,-848) [-848|1199.5] "Nm" XXX + SG_ EngTrqDrRqdExtRngV : 52|1@0+ (1,0) [0|1] "" XXX + SG_ ExtHlStrAssCsCrStVal : 55|3@0+ (1,0) [0|7] "" XXX + +BO_ 2150416384 Engine_Information_2_LS: 8 XXX + SG_ EngBstPrsIndGroup : 0|33@0+ (1,0) [0|0] "" XXX + SG_ EngBstPrsIndV : 0|1@0+ (1,0) [0|1] "" XXX + SG_ EngBstPrsInd : 39|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ VaccBoostFailure : 2|1@0+ (1,0) [0|1] "" XXX + SG_ GenFld : 3|1@0+ (1,0) [0|1] "" XXX + SG_ EngSpdLmtnMdAct : 4|1@0+ (1,0) [0|1] "" XXX + SG_ PTWrmgWtToShftIO : 5|1@0+ (1,0) [0|1] "" XXX + SG_ EngNEmsnsRelMalfAct : 6|1@0+ (1,0) [0|1] "" XXX + SG_ EngCstFlCutAct : 7|1@0+ (1,0) [0|1] "" XXX + SG_ EngRunAtv : 8|1@0+ (1,0) [0|1] "" XXX + SG_ EngIdlAtv : 11|1@0+ (1,0) [0|1] "" XXX + SG_ VehTopSpdLmtMdAct : 13|1@0+ (1,0) [0|1] "" XXX + SG_ EngCylDeactMd : 15|2@0+ (1,0) [0|3] "" XXX + SG_ TransEstGearGroup : 20|5@0+ (1,0) [0|0] "" XXX + SG_ TransEstGear : 19|4@0+ (1,0) [0|15] "" XXX + SG_ TransEstGearV : 20|1@0+ (1,0) [0|1] "" XXX + SG_ EngTrqActExtRngGroup : 21|46@0+ (1,0) [0|0] "" XXX + SG_ EngTrqActExtRngV : 21|1@0+ (1,0) [0|1] "" XXX + SG_ EngTrqActExtRng : 51|12@0+ (0.5,-848) [-848|1199.5] "Nm" XXX + SG_ EngVDA : 22|1@0+ (1,0) [0|1] "" XXX + SG_ TrnsVDA : 23|1@0+ (1,0) [0|1] "" XXX + SG_ EngCoolFanSpd : 31|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ VehTopSpdLmtArbVal : 47|8@0+ (2,0) [0|510] "km / h" XXX + SG_ EngSpdStat : 53|2@0+ (1,0) [0|3] "" XXX + SG_ RmVhStrtEngRng : 54|1@0+ (1,0) [0|1] "" XXX + SG_ TrnCrpMdAtv : 55|1@0+ (1,0) [0|1] "" XXX + +BO_ 2150408192 Engine_Information_1_LS: 8 XXX + SG_ TrnsSftMdStat : 2|3@0+ (1,0) [0|7] "" XXX + SG_ ThrPosGroup : 3|36@0+ (1,0) [0|0] "" XXX + SG_ ThrPosV : 3|1@0+ (1,0) [0|1] "" XXX + SG_ ThrPos : 39|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ AccActPosGroup : 4|45@0+ (1,0) [0|0] "" XXX + SG_ AccActPosV : 4|1@0+ (1,0) [0|1] "" XXX + SG_ AccActPos : 47|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ ElcRngSelDrvAct : 5|1@0+ (1,0) [0|1] "" XXX + SG_ TmpDrvrShftCtlAct : 6|1@0+ (1,0) [0|1] "" XXX + SG_ AccPdlOvrrdAtv : 7|1@0+ (1,0) [0|1] "" XXX + SG_ TrnShftPtrnActStat : 10|3@0+ (1,0) [0|7] "" XXX + SG_ TransTUDMdStat : 12|2@0+ (1,0) [0|3] "" XXX + SG_ Eng12vStrtrMtrCmmdOn : 13|1@0+ (1,0) [0|1] "" XXX + SG_ EngRunng : 14|1@0+ (1,0) [0|1] "" XXX + SG_ TrnsShftLvrPosGroup : 15|48@0+ (1,0) [0|0] "" XXX + SG_ TrnsShftLvrPosV : 15|1@0+ (1,0) [0|1] "" XXX + SG_ TrnsShftLvrPos : 51|4@0+ (1,0) [0|15] "" XXX + SG_ EngSpd : 23|16@0+ (0.25,0) [0|16383.75] "rpm" XXX + SG_ AutoTransComndGear : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CrsCntEnbld : 56|1@0+ (1,0) [0|1] "" XXX + SG_ CltStartSwAtvGroup : 58|2@0+ (1,0) [0|0] "" XXX + SG_ CltStartSwAtv : 57|1@0+ (1,0) [0|1] "" XXX + SG_ CltStartSwAtvV : 58|1@0+ (1,0) [0|1] "" XXX + SG_ TopTrvlCltchSwActGroup : 60|2@0+ (1,0) [0|0] "" XXX + SG_ TopTrvlCltchSwAct : 59|1@0+ (1,0) [0|1] "" XXX + SG_ TopTrvlCltchSwActV : 60|1@0+ (1,0) [0|1] "" XXX + SG_ AdptPsngrSeatStng : 63|3@0+ (1,0) [0|7] "" XXX + +BO_ 2155954176 Climate_Control_Basic_Status_LS: 4 XXX + SG_ ACHtIdleBstLevReq : 1|2@0+ (1,0) [0|3] "" XXX + SG_ ClimCtrlAftBlowModActv : 2|1@0+ (1,0) [0|1] "" XXX + SG_ AirCndActIO : 5|1@0+ (1,0) [0|1] "" XXX + SG_ ClmCntlExtDefActIO : 6|1@0+ (1,0) [0|1] "" XXX + SG_ ClntCircPmpRq : 7|1@0+ (1,0) [0|1] "" XXX + SG_ ClmCntFrBlwFnSp : 15|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ AirCndCmptLdEst : 23|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ ClmCntRrBlwFnSp : 31|8@0+ (0.392157,0) [0|100.000035] "%" XXX + +BO_ 2153971712 Driver_Door_Status: 1 XXX + SG_ LftglsAjrSwAct : 1|1@0+ (1,0) [0|1] "" XXX + SG_ LftglsRelSwAct : 2|1@0+ (1,0) [0|1] "" XXX + SG_ DDAjrSwAtvGroup : 7|8@0+ (1,0) [0|0] "" XXX + SG_ DDAjrSwAtv : 0|1@0+ (1,0) [0|1] "" XXX + SG_ DDAjrSwAtvM : 7|1@0+ (1,0) [0|1] "" XXX + +BO_ 2149875712 Battery_Voltage: 7 XXX + SG_ BatVltGroup : 0|17@0+ (1,0) [0|0] "" XXX + SG_ BatVltV : 0|1@0+ (1,0) [0|1] "" XXX + SG_ BatVlt : 23|8@0+ (0.1,3) [3|28.5] "volts" XXX + SG_ BatSaverIO : 1|1@0+ (1,0) [0|1] "" XXX + SG_ SrvBattChrgSysIO : 2|1@0+ (1,0) [0|1] "" XXX + SG_ BatSOCGroup : 3|28@0+ (1,0) [0|0] "" XXX + SG_ BatSOCV : 3|1@0+ (1,0) [0|1] "" XXX + SG_ BatSOC : 31|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ BattStOfChrgCrtyLow : 4|1@0+ (1,0) [0|1] "" XXX + SG_ IntlgntBattSnsFldIO : 5|1@0+ (1,0) [0|1] "" XXX + SG_ BattStOfChrgLowIO : 6|1@0+ (1,0) [0|1] "" XXX + SG_ DCCnvStblznErrIO : 7|1@0+ (1,0) [0|1] "" XXX + SG_ EnrgMgtLdShdRq : 11|4@0+ (1,0) [0|15] "" XXX + SG_ BattVltIRq : 13|2@0+ (1,0) [0|3] "" XXX + SG_ PwrMdOffBattSOC : 39|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ BattCrntFltrd : 47|8@0- (0.5,0) [-64|63.5] "A" XXX + SG_ BatSvrMdSevLvl : 55|8@0+ (1,0) [0|255] "" XXX + +BO_ 2151186432 Auto_High_Beam_Status: 1 XXX + SG_ AutoBmSlctStat : 1|2@0+ (1,0) [0|3] "" XXX + SG_ CtLghtDet : 2|1@0+ (1,0) [0|1] "" XXX + SG_ AutoHgBmCtrlInOn : 3|1@0+ (1,0) [0|1] "" XXX + +BO_ 2149629952 Lighting_Status_LS: 5 XXX + SG_ OtsdAmbtLtLvlStatGroup : 0|23@0+ (1,0) [0|0] "" XXX + SG_ OtsdAmbtLtLvlStatV : 0|1@0+ (1,0) [0|1] "" XXX + SG_ OtsdAmbtLtLvlStat : 27|2@0+ (1,0) [0|3] "" XXX + SG_ DRLAct : 1|1@0+ (1,0) [0|1] "" XXX + SG_ HazSwAtv : 2|1@0+ (1,0) [0|1] "" XXX + SG_ PrkLtLeftIO : 3|1@0+ (1,0) [0|1] "" XXX + SG_ PrkLtRightIO : 4|1@0+ (1,0) [0|1] "" XXX + SG_ TrnSwAct : 6|2@0+ (1,0) [0|3] "" XXX + SG_ FrFogLmpsAct : 7|1@0+ (1,0) [0|1] "" XXX + SG_ PrkLtLeftOn : 8|1@0+ (1,0) [0|1] "" XXX + SG_ FrFgLtIO : 9|1@0+ (1,0) [0|1] "" XXX + SG_ AutoLtsInactIO : 10|1@0+ (1,0) [0|1] "" XXX + SG_ AutoLtsActIO : 11|1@0+ (1,0) [0|1] "" XXX + SG_ RrFgLtIO : 12|1@0+ (1,0) [0|1] "" XXX + SG_ HiBmIO : 13|1@0+ (1,0) [0|1] "" XXX + SG_ PrkLtIO : 14|1@0+ (1,0) [0|1] "" XXX + SG_ BrkLtsAtv : 15|1@0+ (1,0) [0|1] "" XXX + SG_ FlToPsSwAtv : 16|1@0+ (1,0) [0|1] "" XXX + SG_ RevLmpAtv : 17|1@0+ (1,0) [0|1] "N/A" XXX + SG_ PrkngLtsAct : 18|1@0+ (1,0) [0|1] "" XXX + SG_ RrFogLmpsAct : 19|1@0+ (1,0) [0|1] "" XXX + SG_ HiBmReqd : 20|1@0+ (1,0) [0|1] "" XXX + SG_ AutoBmSlctAllwd : 21|1@0+ (1,0) [0|1] "" XXX + SG_ PrkLtRightOn : 22|1@0+ (1,0) [0|1] "" XXX + SG_ SrvlnceMdAct : 23|1@0+ (1,0) [0|1] "" XXX + SG_ RtTrnLmpAtv : 25|2@0+ (1,0) [0|3] "" XXX + SG_ LftTrnLmpAtv : 29|2@0+ (1,0) [0|3] "" XXX + SG_ MainLghtSw : 31|2@0+ (1,0) [0|3] "N/A" XXX + SG_ HdlmpBmSelectStat : 33|2@0+ (1,0) [0|3] "" XXX + +BO_ 2149646336 Vehicle_Speed_Information: 8 XXX + SG_ VehSpdAvgDrvnGroup : 7|16@0+ (1,0) [0|0] "" XXX + SG_ VehSpdAvgDrvn : 6|15@0+ (0.015625,0) [0|511.984375] "km / h" XXX + SG_ VehSpdAvgDrvnV : 7|1@0+ (1,0) [0|1] "" XXX + SG_ DstRolCntAvgDrnRstOc : 21|1@0+ (1,0) [0|1] "" XXX + SG_ DistRollCntAvgDrvnGroup : 22|15@0+ (1,0) [0|0] "" XXX + SG_ DistRollCntAvgDrvn : 20|13@0+ (0.125,0) [0|1023.875] "m" XXX + SG_ DistRollCntAvgDrvnV : 22|1@0+ (1,0) [0|1] "" XXX + SG_ VehSpdAvgDrvnSrc : 23|1@0+ (1,0) [0|1] "" XXX + SG_ VehSpdAvgNDrvnGroup : 38|17@0+ (1,0) [0|0] "" XXX + SG_ VehSpdAvgNDrvn : 38|15@0+ (0.015625,0) [0|511.984375] "km / h" XXX + SG_ VehSpdAvgNDrvnV : 54|1@0+ (1,0) [0|1] "" XXX + SG_ DstRolCntAvgNonDrvnGroup : 39|32@0+ (1,0) [0|0] "" XXX + SG_ DstRolCntAvgNonDrvnV : 39|1@0+ (1,0) [0|1] "" XXX + SG_ DstRolCntAvgNonDrvn : 52|13@0+ (0.125,0) [0|1023.875] "m" XXX + SG_ DstRolCntAvNDrRstOc : 53|1@0+ (1,0) [0|1] "" XXX + SG_ DistRollCntAvgDrvnSrc : 55|1@0+ (1,0) [0|1] "" XXX + +BO_ 2154053632 Dimming_Information_LS: 3 XXX + SG_ IntDimNtPnlAtv : 0|1@0+ (1,0) [0|1] "" XXX + SG_ DispNtSchmAtv : 1|1@0+ (1,0) [0|1] "" XXX + SG_ CargoLmpActIO : 2|1@0+ (1,0) [0|1] "" XXX + SG_ IntDimLvl : 15|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ IntDimDspLvl : 23|8@0+ (0.392157,0) [0|100.000035] "%" XXX + +BO_ 2149851136 System_Power_Mode_LS: 1 XXX + SG_ SysPwrMdGroup : 2|3@0+ (1,0) [0|0] "" XXX + SG_ SysPwrMd : 1|2@0+ (1,0) [0|3] "" XXX + SG_ SysPwrMdV : 2|1@0+ (1,0) [0|1] "" XXX + SG_ KylsStrtAuthRq : 3|1@0+ (1,0) [0|1] "" XXX + +BO_ 2159124480 ODI_AuxIP_2_TEL_LS: 8 XXX + SG_ ODI_AxIP2TEL : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2151530496 TPM_Display_Commands: 6 XXX + SG_ TPMTrLrnMdCmplt : 0|1@0+ (1,0) [0|1] "" XXX + SG_ TrPrsMntrAtLocFld : 1|1@0+ (1,0) [0|1] "" XXX + SG_ TrPrsMntrTrLdStat : 3|2@0+ (1,0) [0|3] "" XXX + SG_ TireTrdTmpStat : 6|3@0+ (1,0) [0|7] "" XXX + SG_ TrFrntAxlPresStat : 9|2@0+ (1,0) [0|3] "" XXX + SG_ TrRrAxlPresStat : 11|2@0+ (1,0) [0|3] "" XXX + SG_ WintTrRecIndOn : 12|1@0+ (1,0) [0|1] "" XXX + SG_ TrPrsMntrFld : 13|1@0+ (1,0) [0|1] "" XXX + SG_ TireLocatnWarnEn : 15|1@0+ (1,0) [0|1] "" XXX + SG_ HVChgSyChgLvPfStRmt1 : 18|3@0+ (1,0) [0|7] "" XXX + SG_ StTODChrgTmpOvrdRmt1 : 20|2@0+ (1,0) [0|3] "" XXX + SG_ PrtyChrgRqRmt1 : 22|2@0+ (1,0) [0|3] "" XXX + SG_ OfBrdHVCVhCsChRqRmt1 : 23|1@0+ (1,0) [0|1] "" XXX + SG_ HVBatTmBsDlChStRqRmt1 : 28|21@0+ (1,0) [0|0] "" XXX + SG_ HVBTBDCSRR1_DChHStRq : 28|5@0+ (1,0) [0|31] "hr" XXX + SG_ HVBTBDCSRR1_DChSlSRq : 35|4@0+ (1,0) [0|15] "" XXX + SG_ HVBTBDCSRR1_DChDStRq : 39|4@0+ (1,0) [0|15] "" XXX + SG_ HVBTBDCSRR1_DChMHSRq : 45|6@0+ (1,0) [0|63] "min" XXX + SG_ HVBTBDCSRR1_DChSnSRq : 47|2@0+ (1,0) [0|3] "" XXX + SG_ HVBatTmBsChgMdRqRmt1 : 31|3@0+ (1,0) [0|7] "" XXX + + + +BA_DEF_ "UseGMParameterIDs" INT 0 0; +BA_DEF_ "ProtocolType" STRING ; +BA_DEF_ "BusType" STRING ; +BA_DEF_DEF_ "UseGMParameterIDs" 1; +BA_DEF_DEF_ "ProtocolType" "GMLAN"; +BA_DEF_DEF_ "BusType" ""; +BA_ "ProtocolType" "GMLAN"; +BA_ "BusType" "CAN"; + diff --git a/opendbc_repo/opendbc/dbc/gm_global_a_object.dbc b/opendbc_repo/opendbc/dbc/gm_global_a_object.dbc new file mode 100644 index 0000000000..4643a640ac --- /dev/null +++ b/opendbc_repo/opendbc/dbc/gm_global_a_object.dbc @@ -0,0 +1,724 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: K109_FCM B233B_LRR NEO VIS_FO VIS2_FO K124_ASCM Vector__XXX EOCM_F_FO EOCM2A_IMX6_FO EOCM2A_K2_FO EOCM2A_K1_FO EOCM2B_IMX6_FO EOCM2B_K2_FO EOCM2B_K1_FO +VAL_TABLE_ RangeMode 1 "Active" 0 "Inactive" ; +VAL_TABLE_ TrkConf 3 "Confident" 2 "Speculative" 1 "Highly speculative" 0 "Invalid" ; +VAL_TABLE_ TrkMeasStatus 3 "Measured current cycle" 2 "Latent track not detected" 1 "New object" 0 "No object" ; +VAL_TABLE_ TrkDynProp 4 "Moving in opposite direction" 3 "Moving in same direction" 2 "Has moved but currently stopped" 1 "Has never moved," 0 "Unknown" ; +VAL_TABLE_ FrntVsnInPthVehBrkNwSt 10 "Active" 5 "Inactive" ; +VAL_TABLE_ FrntVsnClostPedBrkNwSt 10 "Active" 5 "Inactive" ; +VAL_TABLE_ LaneSnsLLnPosValid 1 "Invalid" 0 "Valid" ; +VAL_TABLE_ LnSnsRLnPosValid 1 "Invalid" 0 "Valid" ; +VAL_TABLE_ ObjectType 7 "no object present" 6 "fixed roadside object" 5 "fixed overhead object" 4 "pedestrian" 3 "motocycle / bicycle" 2 "Large vehicle (semi)" 1 "4 Wheel Vehicle (car, small trk)" 0 "Unknown" ; +VAL_TABLE_ FwVsnCinCoutPotT9Rev 2 "Right" 1 "Left" 0 "None" ; +VAL_TABLE_ FwVsnCinCoutPotT8Rev 2 "Right" 1 "Left" 0 "None" ; +VAL_TABLE_ FwVsnCinCoutPotT7Rev 2 "Right" 1 "Left" 0 "None" ; +VAL_TABLE_ FwVsnCinCoutPotT6Rev 2 "Right" 1 "Left" 0 "None" ; +VAL_TABLE_ FwVsnCinCoutPotT5Rev 2 "Right" 1 "Left" 0 "None" ; +VAL_TABLE_ FwVsnCinCoutPotT4Rev 2 "Right" 1 "Left" 0 "None" ; +VAL_TABLE_ FwVsnCinCoutPotT3Rev 2 "Right" 1 "Left" 0 "None" ; +VAL_TABLE_ FwVsnCinCoutPotT2Rev 2 "Right" 1 "Left" 0 "None" ; +VAL_TABLE_ FwVsnCinCoutPotT1Rev 2 "Right" 1 "Left" 0 "None" ; +VAL_TABLE_ FwVsnCinCoutPotT12Rev 2 "Right" 1 "Left" 0 "None" ; +VAL_TABLE_ FwVsnCinCoutPotT11Rev 2 "Right" 1 "Left" 0 "None" ; +VAL_TABLE_ FwVsnCinCoutPotT10Rev 2 "Right" 1 "Left" 0 "None" ; + + +BO_ 3221225472 VECTOR__INDEPENDENT_SIG_MSG: 0 Vector__XXX + SG_ Always12 : 0|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ TimeStatusChecksum : 0|12@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 161 ASCMTimeStatus: 7 NEO + SG_ TimeStatus : 7|28@0+ (1,0) [0|0] "" B233B_LRR + SG_ RollingCounter : 27|2@0+ (1,0) [0|0] "" B233B_LRR + +BO_ 774 ASCMSteeringStatus: 8 NEO + SG_ ASCMSterringStatusChecksum : 55|16@0+ (1,0) [0|0] "" B233B_LRR + SG_ AlwaysF0 : 15|8@0+ (1,0) [0|0] "" B233B_LRR + SG_ Always20 : 23|8@0+ (1,0) [0|0] "" B233B_LRR + SG_ RollingCounter : 7|2@0+ (1,0) [0|0] "" B233B_LRR + +BO_ 784 ASCMHeadlight: 2 NEO + SG_ Always42 : 7|8@0+ (1,0) [0|0] "" B233B_LRR + SG_ Always4 : 15|8@0+ (1,0) [0|0] "" B233B_LRR + +BO_ 776 ASCMAccSpeedStatus: 7 NEO + SG_ AccSpeedChecksum : 42|11@0+ (1,0) [0|0] "" B233B_LRR + SG_ RollingCounter : 46|2@0+ (1,0) [0|0] "" B233B_LRR + SG_ NearRangeMode : 43|1@0+ (1,0) [0|0] "" B233B_LRR + SG_ FarRangeMode : 44|1@0+ (1,0) [0|0] "" B233B_LRR + SG_ VehicleAcceleration : 19|12@0+ (1,0) [0|0] "" B233B_LRR + SG_ VehicleSpeed : 15|12@0+ (1,0) [0|0] "" B233B_LRR + SG_ AlwaysOne : 3|1@0+ (1,0) [0|0] "" B233B_LRR + +BO_ 1120 F_LRR_Obj_Header: 8 LRR_FO + SG_ FLRRRollingCount : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRModeCmdFdbk : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRNumValidTargets : 20|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ FLRRTimeStampV : 31|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRTimeStamp : 2|11@0+ (1,0) [0|2047] "ms" EOCM_F_FO + SG_ FLRRRoadTypeInfo : 5|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRBurstChecksum : 55|16@0+ (1,0) [0|65535] "" EOCM_F_FO + SG_ FLRRDiagSpare : 30|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRVltgOutRngLo : 44|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRVltgOutRngHi : 43|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRSvcAlgnInPrcs : 38|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRSnsrBlckd : 45|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRSnstvFltPrsntInt : 24|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRPlntAlgnInProc : 37|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRMsalgnYawRt : 47|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRMsalgnYawLt : 46|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRLonVelPlsblityFlt : 35|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRYawRtPlsblityFlt : 34|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRMsalgnPtchUp : 32|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRMsalgnPtchDn : 33|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRInitDiagCmplt : 40|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRHWFltPrsntInt : 25|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRExtIntrfrnc : 36|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRCANSgnlSpvFld : 29|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRCANRxErr : 28|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRTunlDtctd : 27|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRAmbTmpOutRngLw : 42|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRAmbTmpOutRngHi : 41|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRAntTngFltPrsnt : 26|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRAlgnFltPrsnt : 39|1@0+ (1,0) [0|1] "" EOCM_F_FO + +BO_ 1134 LRRObject14: 8 B233B_LRR + SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m" NEO + SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" NEO + SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" NEO + SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" NEO + SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m" NEO + SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] "" NEO + +BO_ 1132 LRRObject12: 8 B233B_LRR + SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m" NEO + SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" NEO + SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" NEO + SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" NEO + SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m" NEO + SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] "" NEO + +BO_ 1131 LRRObject11: 8 B233B_LRR + SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m" NEO + SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" NEO + SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" NEO + SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" NEO + SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m" NEO + SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] "" NEO + +BO_ 1130 LRRObject10: 8 B233B_LRR + SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m" NEO + SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" NEO + SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" NEO + SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" NEO + SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m" NEO + SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] "" NEO + +BO_ 1129 LRRObject09: 8 B233B_LRR + SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m" NEO + SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" NEO + SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" NEO + SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" NEO + SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m" NEO + SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] "" NEO + +BO_ 1128 LRRObject08: 8 B233B_LRR + SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m" NEO + SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" NEO + SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" NEO + SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" NEO + SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m" NEO + SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] "" NEO + +BO_ 1127 LRRObject07: 8 B233B_LRR + SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m" NEO + SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" NEO + SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" NEO + SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" NEO + SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m" NEO + SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] "" NEO + +BO_ 1126 LRRObject06: 8 B233B_LRR + SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m" NEO + SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" NEO + SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" NEO + SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" NEO + SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m" NEO + SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] "" NEO + +BO_ 1125 LRRObject05: 8 B233B_LRR + SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m" NEO + SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" NEO + SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" NEO + SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" NEO + SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m" NEO + SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] "" NEO + +BO_ 1124 LRRObject04: 8 B233B_LRR + SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m" NEO + SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" NEO + SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" NEO + SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" NEO + SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m" NEO + SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] "" NEO + +BO_ 1123 LRRObject03: 8 B233B_LRR + SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m" NEO + SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" NEO + SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" NEO + SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" NEO + SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m" NEO + SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] "" NEO + +BO_ 1140 LRRObject20: 8 B233B_LRR + SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m" NEO + SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" NEO + SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" NEO + SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" NEO + SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m" NEO + SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] "" NEO + +BO_ 1139 LRRObject19: 8 B233B_LRR + SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m" NEO + SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" NEO + SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" NEO + SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" NEO + SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m" NEO + SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] "" NEO + +BO_ 1138 LRRObject18: 8 B233B_LRR + SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m" NEO + SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" NEO + SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" NEO + SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" NEO + SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m" NEO + SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] "" NEO + +BO_ 1137 LRRObject17: 8 B233B_LRR + SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m" NEO + SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" NEO + SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" NEO + SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" NEO + SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m" NEO + SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] "" NEO + +BO_ 1136 LRRObject16: 8 B233B_LRR + SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m" NEO + SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" NEO + SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" NEO + SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" NEO + SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m" NEO + SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] "" NEO + +BO_ 1135 LRRObject15: 8 B233B_LRR + SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m" NEO + SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" NEO + SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" NEO + SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" NEO + SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m" NEO + SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] "" NEO + +BO_ 1133 LRRObject13: 8 B233B_LRR + SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m" NEO + SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" NEO + SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" NEO + SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" NEO + SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m" NEO + SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] "" NEO + +BO_ 1122 LRRObject02: 8 B233B_LRR + SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m" NEO + SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" NEO + SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" NEO + SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" NEO + SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m" NEO + SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] "" NEO + +BO_ 1121 LRRObject01: 8 B233B_LRR + SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m" NEO + SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" NEO + SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" NEO + SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" NEO + SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m" NEO + SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] "" NEO + + BO_ 1094 F_Vision_Obj_Track_12: 8 VIS2_FO + SG_ FwdVsnObjTypTr12Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ FwdVsnAzmthTrk12Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ FwdVsnRngTrk12Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FVisionWidthTrk12 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FVisionMeasStatTrk12 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnVertPosTrk12 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ FVisionRelLaneTrk12 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk12 : 34|11@0- (0.125,0) [-128|127.875] "deg/sec" EOCM_F_FO + SG_ FVisionConfTrk12 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ ObjDirTrk12 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FVisBurstIDTrk12 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk12 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 1093 F_Vision_Obj_Track_11: 8 VIS2_FO + SG_ FwdVsnObjTypTr11Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ FwdVsnAzmthTrk11Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ FwdVsnRngTrk11Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FVisionWidthTrk11 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FVisionMeasStatTrk11 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnVertPosTrk11 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ FVisionRelLaneTrk11 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk11 : 34|11@0- (0.125,0) [-128|127.875] "deg/sec" EOCM_F_FO + SG_ FVisionConfTrk11 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ ObjDirTrk11 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FVisBurstIDTrk11 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk11 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 1100 F_Vision_Obj_Track_12_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT12Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjAgeTrk12 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk12 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk12 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk12 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr12 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk12 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo12 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1099 F_Vision_Obj_Track_11_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT11Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjAgeTrk11 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk11 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk11 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk11 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr11 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk11 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo11 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1098 F_Vision_Obj_Track_10_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT10Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjAgeTrk10 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk10 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk10 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk10 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr10 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk10 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo10 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1097 F_Vision_Obj_Track_9_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT9Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjAgeTrk9 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk9 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk9 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk9 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr9 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk9 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo9 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1096 F_Vision_Obj_Track_8_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT8Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjAgeTrk8 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk8 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk8 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk8 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr8 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk8 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo8 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1095 F_Vision_Obj_Track_7_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT7Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjAgeTrk7 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk7 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk7 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk7 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr7 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk7 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo7 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1068 F_Vision_Obj_Track_6_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT6Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjAgeTrk6 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk6 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk6 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk6 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr6 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk6 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo6 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1067 F_Vision_Obj_Track_5_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT5Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjAgeTrk5 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk5 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk5 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk5 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr5 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk5 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo5 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1066 F_Vision_Obj_Track_4_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT4Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjAgeTrk4 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk4 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk4 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk4 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr4 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk4 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo4 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1065 F_Vision_Obj_Track_3_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT3Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjAgeTrk3 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk3 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk3 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk3 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr3 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk3 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo3 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1064 F_Vision_Obj_Track_2_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT2Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjAgeTrk2 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk2 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk2 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk2 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr2 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk2 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo2 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1063 F_Vision_Obj_Track_1_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT1Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk1 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FwdVsnObjAgeTrk1 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk1 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk1 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk1 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr1 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo1 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1088 F_Vision_Obj_Header_2: 8 VIS2_FO + SG_ FrntVsnInPthVehBrkNwSt : 35|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ FrntVsnClostPedBrkNwSt : 39|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ FrntVsnClostPedObjID : 29|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FrntVsnClostPedAlrtNwFlg : 30|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FrntVsnClostPedNotftnFlg : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FrntVsnInPthVehAlrtNwFlg : 2|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FrtVsnVldTgtNum2 : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ FrtVsnTmStmp2V : 31|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FrtVsnTmStmp2 : 10|11@0+ (1,0) [0|2047] "" EOCM_F_FO + SG_ FrtVsnRollCnt2 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FrtVsnBrstChksum2 : 55|16@0+ (1,0) [0|65535] "" EOCM_F_FO + +BO_ 854 F_Vision_Environment_7: 3 VIS2_FO + SG_ FwdVsnCnstrctAreaDst : 13|4@0+ (10,0) [0|150] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ FwdVsnCnstrctZnDet : 15|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ FwdVsnEgoVehLnPos : 17|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ FwdVsnRdTypDet : 9|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ FwdVsnTunnlDetd : 23|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ FwdVsnTunnlDst : 21|4@0+ (10,0) [0|150] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsBrstID5 : 1|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + +BO_ 853 F_Vision_Environment_6: 8 VIS2_FO + SG_ LnMrkg4LnSnsLnHdngTngtV : 7|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnSnsLnHdngTngt : 23|8@0- (0.002,0) [-0.256|0.254] "m/m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnSnsLnDstV : 56|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnSnsLnDst : 15|8@0- (0.1,0) [-12.8|12.7] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnSnsLnCrvtV : 6|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnSnsLnCrvtGradV : 5|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnSnsLnCrvtGrad : 47|16@0- (5.96e-8,0) [-0.0019529728|0.0019529132] "1/(m*sec)" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnSnsLnCrvt : 31|16@0- (9.53e-7,0) [-0.031227904|0.031226951] "1/m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnQltyConfLvl : 63|7@0+ (0.7874016,0) [0|100.0000032] "%" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnMrkrTyp : 4|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsBrstID4 : 1|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + +BO_ 852 F_Vision_Environment_5: 8 VIS2_FO + SG_ LnMrkg3LnSnsLnHdngTngtV : 7|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnSnsLnHdngTngt : 23|8@0- (0.002,0) [-0.256|0.254] "m/m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnSnsLnDstV : 56|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnSnsLnDst : 15|8@0- (0.1,0) [-12.8|12.7] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnSnsLnCrvtV : 6|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnSnsLnCrvtGradV : 5|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnSnsLnCrvtGrad : 47|16@0- (5.96e-8,0) [-0.0019529728|0.0019529132] "1/(m*sec)" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnSnsLnCrvt : 31|16@0- (9.53e-7,0) [-0.031227904|0.031226951] "1/m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnQltyConfLvl : 63|7@0+ (0.7874016,0) [0|100.0000032] "%" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnMrkrTyp : 4|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsBrstID3 : 1|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + +BO_ 309 LHT_CameraObjConfirmation_FO: 1 VIS_FO + SG_ HiBmRecmnd : 1|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ CtLghtDet : 0|1@0+ (1,0) [0|1] "" EOCM_F_FO + +BO_ 848 F_Vision_Environment: 8 VIS_FO + SG_ FwdVsnEnvIllum : 37|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsTngtOfHdngLnRtV : 1|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsTngtOfHdngLnRt : 31|8@0- (0.002,0) [-0.256|0.254] "m/m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsLnChngStatus : 39|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsBurstChecksum : 55|16@0+ (1,0) [0|65535] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LaneSenseRollingCount : 7|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LaneSenseSystemOK : 4|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LaneSnsLLnPosValid : 2|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSenseDistToLLnEdge : 14|7@0+ (0.05,0) [0|6.35] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsRLnPosValid : 0|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsDistToRLnEdge : 22|7@0+ (0.05,0) [0|6.35] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LaneSenseTimeStampV : 5|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LaneSenseTimeStamp : 34|11@0+ (1,0) [0|2047] "ms" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LaneSenseSystemOKV : 3|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + +BO_ 849 F_Vision_Environment_2: 8 VIS_FO + SG_ LnSnsLatVRelToRgtMrkg : 23|8@0- (0.02,0) [-2.56|2.54] "m/s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM_F_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ LnSnsRtLnMrkgTypChgDst : 61|4@0+ (10,0) [0|150] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsCrvtGrdntRtV : 63|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsLnMrkgWdthRt : 62|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsRtAnchrLn : 57|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsLtAnchrLn : 56|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsLnCrvtrRghtV : 0|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsLnCrvtrRght : 47|16@0- (9.53e-7,0) [-0.031227904|0.031226951] "1/m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsCrvtGrdntRt : 31|16@0- (5.96e-8,0) [-0.0019529728|0.0019529132] "1/rad/s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsBurstID : 2|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsLatVRelToLftMrkg : 15|8@0- (0.02,0) [-2.56|2.54] "m/s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + +BO_ 1056 F_Vision_Obj_Header: 6 VIS_FO + SG_ FVsnSnsrBlckd : 24|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ ClstInPathVehObjID : 30|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FrtVsnFld : 6|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FrtVsnIniDiagSuccCmpt : 5|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FrtVsnSrvAlgnInPrcs : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FrtVsnUnvlbl : 7|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FVisionRollingCnt : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVISModeCmdFdbk : 4|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FVisionNumValidTrgts : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ FVisionTimeStampV : 31|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FVisionTimeStamp : 10|11@0+ (1,0) [0|2047] "ms" EOCM_F_FO + SG_ VISBurstChecksum : 39|16@0+ (1,0) [0|65535] "" EOCM_F_FO + +BO_ 1057 F_Vision_Obj_Track_1: 8 VIS_FO + SG_ FwdVsnRngTrk1Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FwdVsnAzmthTrk1Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ FwdVsnObjTypTr1Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ FwdVsnVertPosTrk1 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ FVisBurstIDTrk1 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk1 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FVisionConfTrk1 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk1 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FVisionRelLaneTrk1 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionMeasStatTrk1 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionWidthTrk1 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ ObjDirTrk1 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + +BO_ 1058 F_Vision_Obj_Track_2: 8 VIS_FO + SG_ FwdVsnVertPosTrk2 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ FwdVsnRngTrk2Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FwdVsnAzmthTrk2Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ ObjDirTrk2 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FwdVsnObjTypTr2Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ FVisBurstIDTrk2 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk2 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FVisionConfTrk2 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk2 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FVisionRelLaneTrk2 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionMeasStatTrk2 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionWidthTrk2 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + +BO_ 1059 F_Vision_Obj_Track_3: 8 VIS_FO + SG_ FwdVsnVertPosTrk3 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ FwdVsnRngTrk3Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FwdVsnAzmthTrk3Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ FwdVsnObjTypTr3Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ ObjDirTrk3 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FVisBurstIDTrk3 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk3 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FVisionConfTrk3 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk3 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FVisionRelLaneTrk3 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionMeasStatTrk3 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionWidthTrk3 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + +BO_ 1060 F_Vision_Obj_Track_4: 8 VIS_FO + SG_ FwdVsnVertPosTrk4 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ FVisionMeasStatTrk4 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionWidthTrk4 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FwdVsnRngTrk4Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FwdVsnAzmthTrk4Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ FwdVsnObjTypTr4Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ FVisBurstIDTrk4 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk4 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ ObjDirTrk4 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FVisionConfTrk4 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk4 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FVisionRelLaneTrk4 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1061 F_Vision_Obj_Track_5: 8 VIS_FO + SG_ FwdVsnVertPosTrk5 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ FwdVsnRngTrk5Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FwdVsnAzmthTrk5Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ FwdVsnObjTypTr5Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ ObjDirTrk5 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FVisBurstIDTrk5 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk5 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FVisionConfTrk5 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk5 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FVisionRelLaneTrk5 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionMeasStatTrk5 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionWidthTrk5 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + +BO_ 1062 F_Vision_Obj_Track_6: 8 VIS_FO + SG_ FwdVsnVertPosTrk6 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ FwdVsnRngTrk6Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FwdVsnAzmthTrk6Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ FwdVsnObjTypTr6Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ ObjDirTrk6 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FVisBurstIDTrk6 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk6 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FVisionConfTrk6 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk6 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FVisionRelLaneTrk6 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionMeasStatTrk6 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionWidthTrk6 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + +BO_ 1089 F_Vision_Obj_Track_7: 8 VIS2_FO + SG_ FVisBurstIDTrk7 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk7 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FVisionConfTrk7 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk7 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FVisionRelLaneTrk7 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionMeasStatTrk7 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionWidthTrk7 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FwdVsnRngTrk7Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FwdVsnObjTypTr7Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ FwdVsnAzmthTrk7Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ FwdVsnVertPosTrk7 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ ObjDirTrk7 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + +BO_ 1090 F_Vision_Obj_Track_8: 8 VIS2_FO + SG_ FVisBurstIDTrk8 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk8 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FwdVsnAzmthTrk8Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ FwdVsnVertPosTrk8 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ FwdVsnRngTrk8Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FwdVsnObjTypTr8Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ ObjDirTrk8 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FVisionConfTrk8 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk8 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FVisionRelLaneTrk8 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionMeasStatTrk8 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionWidthTrk8 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + +BO_ 1091 F_Vision_Obj_Track_9: 8 VIS2_FO + SG_ FwdVsnVertPosTrk9 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ FwdVsnRngTrk9Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FwdVsnAzmthTrk9Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ FwdVsnObjTypTr9Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ ObjDirTrk9 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FVisBurstIDTrk9 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk9 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FVisionConfTrk9 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk9 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FVisionRelLaneTrk9 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionMeasStatTrk9 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionWidthTrk9 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + +BO_ 1092 F_Vision_Obj_Track_10: 8 VIS2_FO + SG_ FwdVsnRngTrk10Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FwdVsnAzmthTrk10Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ FwdVsnObjTypTr10Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ FwdVsnVertPosTrk10 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ ObjDirTrk10 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FVisBurstIDTrk10 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk10 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FVisionConfTrk10 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk10 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FVisionRelLaneTrk10 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionMeasStatTrk10 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionWidthTrk10 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + +BO_ 851 F_Vision_Environment_4: 8 VIS_FO + SG_ LnMrkg3LnPrvwDst : 45|4@0+ (10,0) [0|150] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsTtlNmLnMrkgDetRt : 4|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsRtLinCrsTm : 25|5@0+ (0.1,0) [0|3.1] "s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsNumPrlLnsDetRt : 33|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsNumPrlLnsDetLt : 36|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsCrvtGrdntLftV : 31|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsLtLinCrsTm : 30|5@0+ (0.1,0) [0|3.1] "s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnPrvwDst : 50|4@0+ (10,0) [0|150] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnMrkgTypChgDst : 61|4@0+ (10,0) [0|150] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnMrkgTypChgDst : 40|4@0+ (10,0) [0|150] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnMrkgWdth : 62|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnMarkrElvtd : 51|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4AnchrLnLin : 57|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnMrkgWdth : 41|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnMarkrElvtd : 46|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3AnchrLnLin : 52|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsBurstID2 : 1|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsCrvtGrdntLft : 15|16@0- (5.96e-8,0) [-0.0019529728|0.0019529132] "1/rad/s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + + BO_ 850 F_Vision_Environment_3: 8 VIS_FO + SG_ LnSnsTtlNmLnMrkgDetLt : 58|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsLtLnMrkgWdth : 63|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsLtLnMrkgTypChgDst : 62|4@0+ (10,0) [0|150] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsTngtOfHdngLnLftV : 23|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsTngtOfHdngLnLft : 31|8@0- (0.002,0) [-0.256|0.254] "m/m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsLnCrvtrLftV : 15|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsLnCrvtrLft : 39|16@0- (9.53e-7,0) [-0.031227904|0.031226951] "1/m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkrTypRght : 50|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkrTypLft : 53|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkrElvtdRght : 54|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkrElvtdLft : 55|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsBurstID1 : 7|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnQltyCnfdncLvlRght : 22|7@0+ (0.7874016,0) [0|100.0000032] "%" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnQltyCnfdncLvlLft : 14|7@0+ (0.7874016,0) [0|100.0000032] "%" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnPrvwDstncRght : 2|3@0+ (10,0) [0|70] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnPrvwDstncLft : 5|3@0+ (10,0) [0|70] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + + +BO_TX_BU_ 161 : K124_ASCM,NEO; +BO_TX_BU_ 774 : K124_ASCM,NEO; +BO_TX_BU_ 784 : K124_ASCM,NEO; +BO_TX_BU_ 776 : K124_ASCM,NEO; + + +CM_ BU_ K109_FCM "Frontview Camera Module"; +CM_ BU_ B233B_LRR "Radar Sensor Module Long Range"; +CM_ BU_ NEO "Comma NEO"; +CM_ BU_ VIS_FO "Front Camera Data"; +CM_ BU_ VIS2_FO "Front Camera Data2"; +CM_ BU_ K124_ASCM "Active Safety Control Module"; +CM_ BO_ 3221225472 "This is a message for not used signals, created by Vector CANdb++ DBC OLE DB Provider."; +BA_DEF_ "UseGMParameterIDs" INT 0 0; +BA_DEF_ "ProtocolType" STRING ; +BA_DEF_ "BusType" STRING ; +BA_DEF_DEF_ "UseGMParameterIDs" 1; +BA_DEF_DEF_ "ProtocolType" "GMLAN"; +BA_DEF_DEF_ "BusType" ""; +BA_ "BusType" "CAN"; +BA_ "ProtocolType" "GMLAN"; +BA_ "UseGMParameterIDs" 0; +VAL_ 776 NearRangeMode 1 "Active" 0 "Inactive"; +VAL_ 776 FarRangeMode 1 "Active" 0 "Inactive"; diff --git a/opendbc_repo/opendbc/dbc/gm_global_a_powertrain_expansion.dbc b/opendbc_repo/opendbc/dbc/gm_global_a_powertrain_expansion.dbc new file mode 100644 index 0000000000..b18ac6974d --- /dev/null +++ b/opendbc_repo/opendbc/dbc/gm_global_a_powertrain_expansion.dbc @@ -0,0 +1,56 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: +BU_: K1_APM +BO_ 470 APM_Stats: 7 K1_APM + SG_ APM_Low_Voltage_Sensed : 16|8@1+ (0.0787402,0) [0|0] "V" Vector__XXX + SG_ APM_Temperature_1 : 24|8@1+ (1,-40) [0|0] "C" Vector__XXX + SG_ APM_Temperature_2 : 32|8@1+ (1,-40) [0|0] "C" Vector__XXX + SG_ APM_Low_Voltage_Current_Output : 40|8@1- (1,0) [0|0] "A" Vector__XXX + SG_ APM_Status : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ APM_High_Voltage_Input_Current : 8|8@1- (0.15,-7) [0|0] "A" Vector__XXX + SG_ APM_Counter : 48|8@1+ (1,0) [0|0] "" Vector__XXX + +BO_ 468 APM_Command: 2 K1_APM + SG_ APM_Status : 0|8@1+ (1,0) [0|0] "" Vector__XXX + SG_ APM_Voltage_Requested : 8|8@1+ (0.0787402,0) [0|0] "V" Vector__XXX + +BA_DEF_ BO_ "GenMsgBackgroundColor" STRING ; +BA_DEF_ BO_ "GenMsgForegroundColor" STRING ; +BA_DEF_ BO_ "isj1939dbc" INT 0 0; +BA_DEF_DEF_ "GenMsgBackgroundColor" "#ffffff"; +BA_DEF_DEF_ "GenMsgForegroundColor" "#000000"; +BA_DEF_DEF_ "isj1939dbc" 0; +CM_ BU_ K1_APM "14V Power Module"; +VAL_ 468 APM_Status 0 "Off" 160 "On"; diff --git a/opendbc_repo/opendbc/dbc/gm_global_a_powertrain_generated.dbc b/opendbc_repo/opendbc/dbc/gm_global_a_powertrain_generated.dbc new file mode 100644 index 0000000000..1c78dd7b07 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/gm_global_a_powertrain_generated.dbc @@ -0,0 +1,375 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _community.dbc starts here"; +BO_ 512 GAS_COMMAND: 6 NEO + SG_ GAS_COMMAND : 7|16@0+ (0.125677,-75.909) [0|1] "" INTERCEPTOR + SG_ GAS_COMMAND2 : 23|16@0+ (0.251976,-76.601) [0|1] "" INTERCEPTOR + SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR + +BO_ 513 GAS_SENSOR: 6 INTERCEPTOR + SG_ INTERCEPTOR_GAS : 7|16@0+ (0.125677,-75.909) [0|1] "" NEO + SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.251976,-76.601) [0|1] "" NEO + SG_ STATE : 39|4@0+ (1,0) [0|15] "" NEO + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" NEO + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" NEO + +VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; + +CM_ "gm_global_a_powertrain.dbc starts here"; + +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: K16_BECM K73_TCIC K9_BCM K43_PSCM K17_EBCM K20_ECM K114B_HPCM NEO K124_ASCM EPB +VAL_TABLE_ TurnSignals 2 "Right Turn" 1 "Left Turn" 0 "None" ; +VAL_TABLE_ Intellibeam 1 "Active" 0 "Inactive" ; +VAL_TABLE_ HighBeamsActive 1 "Active" 0 "Inactive" ; +VAL_TABLE_ HighBeamsTemporary 1 "Active" 0 "Inactive" ; +VAL_TABLE_ ACCLeadCar 1 "Present" 0 "Not Present" ; +VAL_TABLE_ ACCCmdActive 1 "Active" 0 "Inactive" ; +VAL_TABLE_ BrakePedalPressed 1 "Pressed" 0 "Depressed" ; +VAL_TABLE_ DistanceButton 1 "Active" 0 "Inactive" ; +VAL_TABLE_ LKAButton 1 "Active" 0 "Inactive" ; +VAL_TABLE_ ACCButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ; +VAL_TABLE_ DriveModeButton 1 "Active" 0 "Inactive" ; +VAL_TABLE_ PRNDL 3 "Reverse" 2 "Drive" 1 "Neutral" 0 "Park" ; +VAL_TABLE_ ESPButton 1 "Active" 0 "Inactive" ; +VAL_TABLE_ DoorStatus 1 "Opened" 0 "Closed" ; +VAL_TABLE_ SeatBeltStatus 1 "Latched" 0 "Unlatched" ; +VAL_TABLE_ LKASteeringCmdActive 1 "Active" 0 "Inactive" ; +VAL_TABLE_ ACCGapLevel 3 "Far" 2 "Med" 1 "Near" 0 "Inactive" ; +VAL_TABLE_ GasRegenCmdActiveInv 1 "Inactive" 0 "Active" ; +VAL_TABLE_ GasRegenCmdActive 1 "Active" 0 "Inactive" ; +VAL_TABLE_ LKATorqueDeliveredStatus 3 "Failed" 2 "Temp. Limited" 1 "Active" 0 "Inactive" ; +VAL_TABLE_ HandsOffSWDetectionStatus 1 "Hands On" 0 "Hands Off" ; +VAL_TABLE_ HandsOffSWDetectionMode 2 "Failed" 1 "Enabled" 0 "Disabled" ; + + +BO_ 189 EBCMRegenPaddle: 7 K17_EBCM + SG_ RegenPaddle : 7|4@0+ (1,0) [0|0] "" NEO + +BO_ 190 ECMAcceleratorPos: 6 K20_ECM + SG_ BrakePedalPos : 15|8@0+ (1,0) [0|0] "sticky" NEO + SG_ GasPedalAndAcc : 23|8@0+ (1,0) [0|0] "" NEO + +BO_ 201 ECMEngineStatus: 8 K20_ECM + SG_ EngineTPS : 39|8@0+ (0.392156863,0) [0|100.000000065] "%" NEO + SG_ EngineRPM : 15|16@0+ (0.25,0) [0|0] "RPM" NEO + SG_ CruiseMainOn : 29|1@0+ (1,0) [0|1] "" NEO + SG_ BrakePressed : 40|1@0+ (1,0) [0|1] "" NEO + SG_ Standstill : 2|1@0+ (1,0) [0|1] "" NEO + SG_ CruiseActive : 31|2@0+ (1,0) [0|3] "" NEO + +BO_ 209 EBCMBrakePedalSensors: 7 K17_EBCM + SG_ Counter1 : 7|2@0+ (1,0) [0|3] "" XXX + SG_ Counter2 : 23|2@0+ (1,0) [0|3] "" XXX + SG_ BrakePedalPosition1 : 5|14@0+ (1,0) [0|16383] "" XXX + SG_ BrakePedalPosition2 : 21|14@0- (-1,0) [0|16383] "" XXX + SG_ BrakeNormalized1 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ BrakeNormalized2 : 47|8@0- (-1,0) [0|255] "" XXX + +BO_ 241 EBCMBrakePedalPosition: 6 K17_EBCM + SG_ BrakePressed : 1|1@0+ (1,0) [0|1] "" XXX + SG_ BrakePedalPosition : 15|8@0+ (1,0) [0|255] "" NEO + +BO_ 298 BCMDoorBeltStatus: 8 K9_BCM + SG_ RearLeftDoor : 8|1@0+ (1,0) [0|0] "" NEO + SG_ FrontLeftDoor : 9|1@0+ (1,0) [0|0] "" NEO + SG_ FrontRightDoor : 10|1@0+ (1,0) [0|0] "" NEO + SG_ RearRightDoor : 23|1@0+ (1,0) [0|0] "" NEO + SG_ LeftSeatBelt : 12|1@0+ (1,0) [0|0] "" NEO + SG_ RightSeatBelt : 53|1@0+ (1,0) [0|0] "" NEO + +BO_ 309 ECMPRDNL: 8 K20_ECM + SG_ PRNDL : 2|3@0+ (1,0) [0|0] "" NEO + SG_ ESPButton : 4|1@0+ (1,0) [0|1] "" XXX + +BO_ 320 BCMTurnSignals: 3 K9_BCM + SG_ TurnSignals : 19|2@0+ (1,0) [0|0] "" NEO + SG_ Intellibeam : 13|1@0+ (1,0) [0|1] "" XXX + SG_ HighBeamsActive : 7|1@0+ (1,0) [0|1] "" XXX + SG_ HighBeamsTemporary : 5|1@0+ (1,0) [0|1] "" XXX + +BO_ 322 BCMBlindSpotMonitor: 7 K9_BCM + SG_ LeftBSM : 6|1@0+ (1,0) [0|1] "" XXX + SG_ RightBSM : 7|1@0+ (1,0) [0|1] "" XXX + +BO_ 328 PSCM_148: 1 K43_PSCM + +BO_ 381 ESPStatus: 6 K20_ECM + SG_ TractionControlOn : 5|1@0+ (1,0) [0|0] "" NEO + SG_ MSG17D_AccPower : 35|12@0- (1,0) [0|0] "" NEO + +BO_ 384 ASCMLKASteeringCmd: 4 NEO + SG_ RollingCounter : 5|2@0+ (1,0) [0|0] "" NEO + SG_ LKASteeringCmdChecksum : 19|12@0+ (1,0) [0|0] "" NEO + SG_ LKASteeringCmdActive : 3|1@0+ (1,0) [0|0] "" NEO + SG_ LKASteeringCmd : 2|11@0- (1,0) [0|0] "" NEO + +BO_ 388 PSCMStatus: 8 K43_PSCM + SG_ HandsOffSWDetectionMode : 20|2@0+ (1,0) [0|3] "" NEO + SG_ HandsOffSWlDetectionStatus : 21|1@0+ (1,0) [0|1] "" NEO + SG_ LKATorqueDeliveredStatus : 5|3@0+ (1,0) [0|7] "" NEO + SG_ LKADriverAppldTrq : 50|11@0- (0.01,0) [-10.24|10.23] "Nm" NEO + SG_ LKATorqueDelivered : 18|11@0- (0.01,0) [0|1] "" NEO + SG_ LKATotalTorqueDelivered : 2|11@0- (0.01,0) [-10.24|10.23] "Nm" NEO + SG_ RollingCounter : 38|4@0+ (1,0) [0|15] "" XXX + SG_ PSCMStatusChecksum : 33|10@0+ (1,0) [0|1023] "" XXX + +BO_ 417 AcceleratorPedal: 7 XXX + SG_ AcceleratorPedal : 55|8@0+ (1,0) [0|0] "" NEO + +BO_ 451 GasAndAcc: 8 XXX + SG_ GasPedalAndAcc2 : 55|8@0+ (1,0) [0|0] "" NEO + +BO_ 452 AcceleratorPedal2: 8 XXX + SG_ CruiseState : 15|3@0+ (1,0) [0|7] "" NEO + SG_ AcceleratorPedal2 : 47|8@0+ (1,0) [0|0] "" NEO + +BO_ 481 ASCMSteeringButton: 7 K124_ASCM + SG_ DistanceButton : 22|1@0+ (1,0) [0|0] "" NEO + SG_ LKAButton : 23|1@0+ (1,0) [0|0] "" NEO + SG_ ACCAlwaysOne : 24|1@0+ (1,0) [0|1] "" XXX + SG_ ACCButtons : 46|3@0+ (1,0) [0|0] "" NEO + SG_ DriveModeButton : 39|1@0+ (1,0) [0|1] "" XXX + SG_ RollingCounter : 33|2@0+ (1,0) [0|3] "" NEO + SG_ SteeringButtonChecksum : 43|12@0+ (1,0) [0|255] "" NEO + +BO_ 485 PSCMSteeringAngle: 8 K43_PSCM + SG_ SteeringWheelAngle : 15|16@0- (0.0625,0) [-2047|2047] "deg" NEO + SG_ SteeringWheelRate : 27|12@0- (1,0) [-2047|2047] "deg/s" NEO + +BO_ 489 EBCMVehicleDynamic: 8 K17_EBCM + SG_ BrakePedalPressed : 6|1@0+ (1,0) [0|0] "" NEO + SG_ LateralAcceleration : 3|10@0- (0.161,0) [-2047|2047] "m/s2" NEO + SG_ YawRate : 35|12@0- (0.625,0) [0|1] "" NEO + SG_ YawRate2 : 51|12@0- (0.0625,0) [-2047|2047] "grad/s" NEO + +BO_ 352 BCMImmobilizer: 5 K9_BCM + SG_ ImmobilizerInfo : 7|32@0+ (1,0) [0|4294967295] "" XXX + +BO_ 497 BCMGeneralPlatformStatus: 8 K9_BCM + SG_ SystemPowerMode : 1|2@0+ (1,0) [0|3] "" XXX + SG_ SystemBackUpPowerMode : 5|2@0+ (1,0) [0|3] "" XXX + SG_ ParkBrakeSwActive : 36|1@0+ (1,0) [0|3] "" XXX + +BO_ 500 SportMode: 6 XXX + SG_ SportMode : 15|1@0+ (1,0) [0|1] "" XXX + +BO_ 501 ECMPRDNL2: 8 K20_ECM + SG_ TransmissionState : 48|4@1+ (1,0) [0|7] "" NEO + SG_ PRNDL2 : 27|4@0+ (1,0) [0|255] "" NEO + SG_ ManualMode : 41|1@0+ (1,0) [0|1] "" NEO + +BO_ 532 BRAKE_RELATED: 6 XXX + SG_ UserBrakePressure : 0|9@0+ (1,0) [0|511] "" XXX + +BO_ 560 EPBStatus: 8 EPB + SG_ EPBClosed : 12|1@0+ (1,0) [0|1] "" NEO + +BO_ 562 EBCMFrictionBrakeStatus: 8 K17_EBCM + SG_ FrictionBrakeUnavailable : 46|1@0+ (1,0) [0|1] "" XXX + +BO_ 608 SPEED_RELATED: 8 XXX + SG_ RollingCounter : 5|2@0+ (1,0) [0|0] "" XXX + SG_ ClusterSpeed : 31|8@0+ (1,0) [0|0] "" XXX + +BO_ 711 BECMBatteryVoltageCurrent: 6 K17_EBCM + SG_ HVBatteryVoltage : 31|12@0+ (0.125,0) [0|511.875] "V" NEO + SG_ HVBatteryCurrent : 12|13@0- (0.15,0) [-614.4|614.25] "A" NEO + +BO_ 715 ASCMGasRegenCmd: 8 K124_ASCM + SG_ GasRegenAlwaysOne2 : 9|1@0+ (1,0) [0|1] "" NEO + SG_ GasRegenAlwaysOne : 14|1@0+ (1,0) [0|1] "" NEO + SG_ GasRegenChecksum : 47|24@0+ (1,0) [0|0] "" NEO + SG_ GasRegenCmdActiveInv : 32|1@0+ (1,0) [0|0] "" NEO + SG_ GasRegenFullStopActive : 13|1@0+ (1,0) [0|0] "" NEO + SG_ GasRegenCmdActive : 0|1@0+ (1,0) [0|0] "" NEO + SG_ RollingCounter : 7|2@0+ (1,0) [0|0] "" NEO + SG_ GasRegenAlwaysOne3 : 23|1@0+ (1,0) [0|1] "" NEO + SG_ GasRegenCmd : 22|12@0+ (1,0) [0|0] "" NEO + +BO_ 717 ASCM_2CD: 5 K124_ASCM + +BO_ 761 BRAKE_RELATED_2: 7 XXX + SG_ UserBrakePressure2 : 47|9@0+ (1,0) [0|511] "" XXX + +BO_ 789 EBCMFrictionBrakeCmd: 5 K124_ASCM + SG_ RollingCounter : 33|2@0+ (1,0) [0|0] "" NEO + SG_ FrictionBrakeMode : 7|4@0+ (1,0) [0|0] "" NEO + SG_ FrictionBrakeChecksum : 23|16@0+ (1,0) [0|0] "" NEO + SG_ FrictionBrakeCmd : 3|12@0- (1,0) [0|0] "" NEO + +BO_ 800 AEBCmd: 6 K124_ASCM + SG_ RollingCounter : 5|2@0+ (1,0) [0|3] "" NEO + SG_ AEBChecksum : 27|20@0+ (1,0) [0|0] "" NEO + SG_ AEBCmdActive : 3|1@1+ (1,0) [0|1] "" NEO + SG_ AEBCmd : 2|11@0+ (1,0) [0|0] "" NEO + SG_ AEBCmd2 : 23|8@0+ (1,0) [0|0] "" NEO + +BO_ 810 TCICOnStarGPSPosition: 8 K73_TCIC + SG_ GPSLongitude : 39|32@0+ (1,-2147483648) [0|0] "milliarcsecond" NEO + SG_ GPSLatitude : 7|32@0+ (1,0) [0|0] "milliarcsecond" NEO + +BO_ 840 EBCMWheelSpdFront: 5 K17_EBCM + SG_ FLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h" NEO + SG_ FRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h" NEO + +BO_ 842 EBCMWheelSpdRear: 5 K17_EBCM + SG_ RLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h" NEO + SG_ RRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h" NEO + SG_ RRWheelDir : 34|3@0+ (1,0) [0|7] "" NEO + SG_ RLWheelDir : 37|3@0+ (1,0) [0|7] "" NEO + +BO_ 869 ASCM_365: 4 K124_ASCM + +BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM + SG_ ACCCruiseState : 8|3@1+ (1,0) [0|7] "" XXX + SG_ ACCLeadCar : 44|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ACCAlwaysOne2 : 32|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ACCAlwaysOne : 0|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ACCSpeedSetpoint : 19|12@0+ (0.0625,0) [0|255.9375] "km/h" NEO + SG_ ACCGapLevel : 21|2@0+ (1,0) [0|0] "" NEO + SG_ ACCResumeButton : 1|1@0+ (1,0) [0|0] "" NEO + SG_ ACCCmdActive : 23|1@0+ (1,0) [0|0] "" NEO + SG_ FCWAlert : 41|2@0+ (1,0) [0|3] "" XXX + +BO_ 967 EVDriveMode: 4 XXX + SG_ SinglePedalModeActive : 7|1@0+ (1,0) [0|1] "" XXX + SG_ SinglePedalModeRisingEdge : 21|1@0+ (1,0) [0|1] "" XXX + SG_ SinglePedalModeFallingEdge : 22|1@0+ (1,0) [0|1] "" XXX + +BO_ 977 ECMCruiseControl: 8 K20_ECM + SG_ CruiseActive : 39|1@0+ (1,0) [0|3] "" NEO + SG_ CruiseSetSpeed : 19|12@0+ (0.0625,0) [0|0] "km/h" NEO + +BO_ 1001 ECMVehicleSpeed: 8 K20_ECM + SG_ VehicleSpeed : 7|16@0+ (0.01,0) [0|0] "mph" NEO + SG_ VehicleSpeedLeft : 39|16@0+ (0.01,0) [0|0] "mph" NEO + +BO_ 1033 ASCMKeepAlive: 7 NEO + SG_ ASCMKeepAliveAllZero : 7|56@0+ (1,0) [0|0] "" NEO + +BO_ 1034 ASCM_40A: 7 K124_ASCM + +BO_ 1217 ECMEngineCoolantTemp: 8 K20_ECM + SG_ EngineCoolantTemp : 23|8@0+ (1,-40) [0|0] "C" NEO + +BO_ 1249 VIN_Part2: 8 K20_ECM + SG_ VINPart2 : 7|64@0+ (1,0) [0|0] "" NEO + +BO_ 1296 ASCM_510: 4 K124_ASCM + +BO_ 1300 VIN_Part1: 8 K20_ECM + SG_ VINPart1 : 7|64@0+ (1,0) [0|0] "" NEO + +BO_ 1912 PSCM_778: 8 K43_PSCM + +BO_ 1930 ASCM_78A: 7 K124_ASCM + +BO_TX_BU_ 384 : K124_ASCM,NEO; +BO_TX_BU_ 880 : NEO,K124_ASCM; +BO_TX_BU_ 1033 : K124_ASCM,NEO; +BO_TX_BU_ 715 : NEO,K124_ASCM; +BO_TX_BU_ 789 : NEO,K124_ASCM; +BO_TX_BU_ 800 : NEO,K124_ASCM; + + +CM_ BU_ K16_BECM "Battery Energy Control Module"; +CM_ BU_ K73_TCIC "Telematics Communication Control Module"; +CM_ BU_ K9_BCM "Body Control Module"; +CM_ BU_ K43_PSCM "Power Steering Control Module"; +CM_ BU_ K17_EBCM "Electronic Brake Control Module"; +CM_ BU_ K20_ECM "Engine Control Module"; +CM_ BU_ K114B_HPCM "Hybrid Powertrain Control Module"; +CM_ BU_ NEO "Comma NEO"; +CM_ BU_ K124_ASCM "Active Safety Control Module"; +CM_ SG_ 381 MSG17D_AccPower "Need to investigate"; +CM_ BO_ 190 "Length varies from 6 to 8 bytes by car"; +CM_ SG_ 190 GasPedalAndAcc "ACC baseline is 62"; +CM_ SG_ 322 LeftBSM "For some cars, this can only be when the blinker is also active"; +CM_ SG_ 322 RightBSM "For some cars, this can only be when the blinker is also active"; +CM_ SG_ 352 ImmobilizerInfo "Non-zero when ignition or accessory mode"; +CM_ SG_ 451 GasPedalAndAcc2 "ACC baseline is 62"; +CM_ SG_ 481 ACCAlwaysOne "Usually 1 if the car is equipped with ACC"; +CM_ SG_ 562 FrictionBrakeUnavailable "1 when ACC brake control is unavailable. Stays high if brake command messages are blocked for a period of time"; +CM_ SG_ 497 SystemPowerMode "Describes ignition"; +CM_ SG_ 497 SystemBackUpPowerMode "Describes ignition + preconditioning mode, noisy"; +CM_ SG_ 501 PRNDL2 "When ManualMode is Active, Value is 13=L1 12=L2 11=L3 ... 4=L10"; +CM_ SG_ 532 UserBrakePressure "can be lower than other brake position signals when the brakes are pre-filled from ACC braking and the user presses on the brakes. user-only pressure?"; +CM_ SG_ 608 ClusterSpeed "Cluster speed signal seems to match dash on newer cars, but is a lower rate and can be noisier."; +CM_ SG_ 761 UserBrakePressure2 "Similar to BRAKE_RELATED->UserBrakePressure"; +CM_ SG_ 1001 VehicleSpeed "Spinouts show here on 2wd. Speed derived from right front wheel (drive tire)"; +BA_DEF_ "UseGMParameterIDs" INT 0 0; +BA_DEF_ "ProtocolType" STRING ; +BA_DEF_ "BusType" STRING ; +BA_DEF_DEF_ "UseGMParameterIDs" 1; +BA_DEF_DEF_ "ProtocolType" "GMLAN"; +BA_DEF_DEF_ "BusType" ""; +BA_ "BusType" "CAN"; +BA_ "ProtocolType" "GMLAN"; +BA_ "UseGMParameterIDs" 0; +VAL_ 497 SystemPowerMode 3 "Crank Request" 2 "Run" 1 "Accessory" 0 "Off"; +VAL_ 497 SystemBackUpPowerMode 3 "Crank Request" 2 "Run" 1 "Accessory" 0 "Off"; +VAL_ 481 DistanceButton 1 "Active" 0 "Inactive" ; +VAL_ 481 LKAButton 1 "Active" 0 "Inactive" ; +VAL_ 481 ACCButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ; +VAL_ 481 DriveModeButton 1 "Active" 0 "Inactive" ; +VAL_ 452 CruiseState 4 "Standstill" 3 "Faulted" 1 "Active" 0 "Off" ; +VAL_ 309 PRNDL 3 "R" 2 "D" 1 "N" 0 "P" ; +VAL_ 309 ESPButton 1 "Active" 0 "Inactive" ; +VAL_ 384 LKASteeringCmdActive 1 "Active" 0 "Inactive" ; +VAL_ 842 RRWheelDir 0 "Stationary" 1 "Forward" 2 "Reverse" 3 "Unsupported" 4 "Fault"; +VAL_ 842 RLWheelDir 0 "Stationary" 1 "Forward" 2 "Reverse" 3 "Unsupported" 4 "Fault"; +VAL_ 880 ACCCruiseState 2 "Adaptive" 3 "Adaptive" 4 "Non-adaptive" 5 "Non-adaptive" ; +VAL_ 880 ACCLeadCar 1 "Present" 0 "Not Present" ; +VAL_ 880 ACCGapLevel 3 "Far" 2 "Med" 1 "Near" 0 "Inactive" ; +VAL_ 880 ACCResumeButton 1 "Pressed" 0 "Depressed" ; +VAL_ 880 ACCCmdActive 1 "Active" 0 "Inactive" ; +VAL_ 388 HandsOffSWDetectionMode 2 "Failed" 1 "Enabled" 0 "Disabled" ; +VAL_ 388 HandsOffSWlDetectionStatus 1 "Hands On" 0 "Hands Off" ; +VAL_ 388 LKATorqueDeliveredStatus 3 "Failed" 2 "Temp. Limited" 1 "Active" 0 "Inactive" ; +VAL_ 489 BrakePedalPressed 1 "Pressed" 0 "Depressed" ; +VAL_ 715 GasRegenCmdActiveInv 1 "Inactive" 0 "Active" ; +VAL_ 715 GasRegenCmdActive 1 "Active" 0 "Inactive" ; +VAL_ 320 Intellibeam 1 "Active" 0 "Inactive" ; +VAL_ 320 HighBeamsActive 1 "Active" 0 "Inactive" ; +VAL_ 320 HighBeamsTemporary 1 "Active" 0 "Inactive" ; +VAL_ 501 PRNDL2 6 "L" 4 "D" 3 "N" 2 "R" 1 "P" 0 "Shifting"; +VAL_ 501 TransmissionState 11 "Shifting" 10 "Reverse" 9 "Forward" 8 "Disengaged"; +VAL_ 501 ManualMode 1 "Active" 0 "Inactive" diff --git a/opendbc_repo/opendbc/dbc/honda_accord_2018_can_generated.dbc b/opendbc_repo/opendbc/dbc/honda_accord_2018_can_generated.dbc new file mode 100644 index 0000000000..85947333d5 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/honda_accord_2018_can_generated.dbc @@ -0,0 +1,520 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _honda_common.dbc starts here"; +BO_ 304 GAS_PEDAL_2: 8 PCM + SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 316 GAS_PEDAL: 8 PCM + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 344 ENGINE_DATA: 8 PCM + SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 380 POWERTRAIN_DATA: 8 PCM + SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON + SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON + SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON + SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON + SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON + SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON + SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 420 VSA_STATUS: 8 VSA + SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON + SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON + SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 427 STEER_MOTOR_TORQUE: 3 EPS + SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON + SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON + SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON + +BO_ 464 WHEEL_SPEEDS: 8 VSA + SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 490 VEHICLE_DYNAMICS: 8 VSA + SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 773 SEATBELT_STATUS: 7 BDY + SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 777 CAR_SPEED: 8 PCM + SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX + SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 780 ACC_HUD: 8 ADAS + SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY + SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY + SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY + SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF_2 : 36|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY + SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY + SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY + SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY + SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY + SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY + SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY + SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY + SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" BDY + SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY + SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY + +BO_ 804 CRUISE: 8 PCM + SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON + SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON + SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON + SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON + SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 884 STALK_STATUS: 8 XXX + SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON + SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON + SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON + SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 891 STALK_STATUS_2: 8 XXX + SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON + SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX + SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 1029 DOORS_STATUS: 8 BDY + SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON + SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 304 "Seems to be platform-agnostic"; +CM_ SG_ 316 "Should exist on Nidec"; +CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged"; +CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping"; +CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light"; +CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light"; +CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; +CM_ SG_ 780 PCM_SPEED "Used by Nidec"; +CM_ SG_ 780 PCM_GAS "Used by Nidec"; +CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed"; + +VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped"; +VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car"; +VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"; +VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off"; + + +CM_ "Imported file _bosch_2018.dbc starts here"; +BO_ 148 KINEMATICS: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +BO_ 228 STEERING_CONTROL: 5 EON + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS + SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS + +BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX + SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 232 BRAKE_HOLD: 7 XXX + SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX + SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX + SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX + +BO_ 399 STEER_STATUS: 7 EPS + SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON + SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + +BO_ 450 EPB_STATUS: 8 EPB + SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON + SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 545 XXX_16: 6 SCM + SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX + SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY + +BO_ 576 LEFT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 577 LEFT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 579 RIGHT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 580 RIGHT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA + SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON + SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON + SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 662 SCM_BUTTONS: 4 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON + +BO_ 806 SCM_FEEDBACK: 8 SCM + SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX + SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON + SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON + SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 862 CAMERA_MESSAGES: 8 CAM + SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY + SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX + SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX + SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 927 RADAR_HUD: 8 RADAR + SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY + SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY + SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX + SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY + SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX + SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY + SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX + SG_ HUD_LEAD : 40|1@0+ (1,0) [0|1] "" XXX + SG_ SET_TO_64 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH3 : 47|7@0+ (1,0) [0|127] "" XXX + SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 13274 LKAS_HUD_A: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +BO_ 13275 LKAS_HUD_B: 8 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY + +CM_ SG_ 450 EPB_STATE "3: On, 2: Disengaging, 1: Engaging, 0: Off"; +CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded"; +CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded"; +CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded"; +CM_ SG_ 577 LINE_DASHED "1 = line is dashed"; +CM_ SG_ 577 LINE_SOLID "1 = line is solid"; + +VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal"; + + +CM_ "Imported file _bosch_adas_2018.dbc starts here"; +BO_ 479 ACC_CONTROL: 8 EON + SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX + SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX + SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX + SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX + SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX + SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX + SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 495 ACC_CONTROL_ON: 8 XXX + SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX + SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 829 LKAS_HUD: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +CM_ SG_ 479 CONTROL_ON "Set to 5 when car is being controlled"; +CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event"; +CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event"; +CM_ SG_ 479 AEB_PREPARE "set 1s before AEB"; +CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc..."; + +VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep"; + + +CM_ "Imported file _steering_sensors_a.dbc starts here"; +BO_ 330 STEERING_SENSORS: 8 EPS + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON + SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON + SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON + SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON + SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ "honda_accord_2018_can.dbc starts here"; + +BO_ 401 GEARBOX_15T: 8 PCM + SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON + SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX + SG_ GEAR2 : 31|8@0+ (1,0) [0|1] "" XXX + SG_ GEAR : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH : 47|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 419 GEARBOX: 8 XXX + SG_ GEAR_SHIFTER : 24|8@1+ (1,0) [0|255] "" XXX + SG_ GEAR : 32|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 432 STANDSTILL: 7 VSA + SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + +BO_ 446 BRAKE_MODULE: 3 VSA + SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX + +BO_ 506 LEGACY_BRAKE_COMMAND: 8 ADAS + SG_ CHIME : 40|8@1+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 892 CRUISE_PARAMS: 8 PCM + SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|15] "" EON + +BO_ 1302 ODOMETER: 8 XXX + SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P"; +VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P"; +VAL_ 419 GEAR_SHIFTER 2 "S" 32 "D" 16 "N" 8 "R" 4 "P"; +VAL_ 419 GEAR 26 "S" 20 "D" 19 "N" 18 "R" 17 "P"; +VAL_ 545 ECON_ON_2 0 "off" 3 "on"; +VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none"; +VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none"; +VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released"; diff --git a/opendbc_repo/opendbc/dbc/honda_accord_touring_2016_can_generated.dbc b/opendbc_repo/opendbc/dbc/honda_accord_touring_2016_can_generated.dbc new file mode 100644 index 0000000000..843e7d7aa9 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/honda_accord_touring_2016_can_generated.dbc @@ -0,0 +1,365 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _comma.dbc starts here"; +BO_ 512 GAS_COMMAND: 6 EON + SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR + SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR + SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR + +BO_ 513 GAS_SENSOR: 6 INTERCEPTOR + SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON + SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON + SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON + +VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; + + +CM_ "Imported file _honda_common.dbc starts here"; +BO_ 304 GAS_PEDAL_2: 8 PCM + SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 316 GAS_PEDAL: 8 PCM + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 344 ENGINE_DATA: 8 PCM + SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 380 POWERTRAIN_DATA: 8 PCM + SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON + SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON + SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON + SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON + SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON + SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON + SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 420 VSA_STATUS: 8 VSA + SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON + SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON + SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 427 STEER_MOTOR_TORQUE: 3 EPS + SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON + SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON + SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON + +BO_ 464 WHEEL_SPEEDS: 8 VSA + SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 490 VEHICLE_DYNAMICS: 8 VSA + SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 773 SEATBELT_STATUS: 7 BDY + SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 777 CAR_SPEED: 8 PCM + SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX + SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 780 ACC_HUD: 8 ADAS + SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY + SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY + SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY + SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF_2 : 36|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY + SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY + SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY + SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY + SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY + SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY + SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY + SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY + SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" BDY + SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY + SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY + +BO_ 804 CRUISE: 8 PCM + SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON + SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON + SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON + SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON + SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 884 STALK_STATUS: 8 XXX + SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON + SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON + SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON + SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 891 STALK_STATUS_2: 8 XXX + SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON + SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX + SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 1029 DOORS_STATUS: 8 BDY + SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON + SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 304 "Seems to be platform-agnostic"; +CM_ SG_ 316 "Should exist on Nidec"; +CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged"; +CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping"; +CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light"; +CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light"; +CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; +CM_ SG_ 780 PCM_SPEED "Used by Nidec"; +CM_ SG_ 780 PCM_GAS "Used by Nidec"; +CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed"; + +VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped"; +VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car"; +VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"; +VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off"; + + +CM_ "Imported file _nidec_common.dbc starts here"; +BO_ 145 KINEMATICS: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 148 KINEMATICS_ALT: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-20|20] "m/s2" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON + SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 487 BRAKE_PRESSURE: 4 VSA + SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + +BO_ 506 BRAKE_COMMAND: 8 ADAS + SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST_ALT : 11|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00 : 23|3@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00_2 : 19|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM + SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM + SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX + SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM + SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM + SG_ SET_ME_X00_3 : 44|1@0+ (1,0) [0|1] "" EBCM + SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM + SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX + SG_ COMPUTER_BRAKE_ALT : 55|10@0+ (1,0) [0|0] "" EBCM + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM + +BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA + SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON + SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON + SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 829 LKAS_HUD: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +BO_ 892 CRUISE_PARAMS: 8 PCM + SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event"; +CM_ SG_ 506 COMPUTER_BRAKE_ALT "Used by dual-can Nidec"; +CM_ SG_ 506 BRAKE_PUMP_REQUEST_ALT "Used by dual-can Nidec"; +CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc..."; + +VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw"; +VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime"; +VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb"; +VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep"; + + +CM_ "Imported file _steering_sensors_b.dbc starts here"; +BO_ 342 STEERING_SENSORS: 6 EPS + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON + +CM_ "honda_accord_touring_2016_can.dbc starts here"; + +BO_ 228 STEERING_CONTROL: 5 ADAS + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EPS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS + SG_ TORQUE_BLEND_DISABLE : 16|1@0+ (1,0) [0|1] "" XXX + SG_ TX_ALL_LKAS_DATA : 17|1@0+ (1,0) [0|1] "" XXX + +BO_ 400 STEER_STATUS: 5 EPS + SG_ STEER_TORQUE_SENSOR : 0|9@1- (1,0) [-256|256] "" XXX + SG_ LIN_INTERFACE_FATAL_ERROR : 10|1@0+ (1,0) [0|1] "" XXX + SG_ LATE_MESSAGE : 11|1@0+ (1,0) [0|1] "" XXX + SG_ STEER_STATUS : 12|4@1+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX + SG_ LKAS_ALLOWED : 9|1@0+ (1,0) [0|1] "" XXX + SG_ STEER_APPLIED : 23|16@0- (1,0) [0|511] "" XXX + +BO_ 401 GEARBOX: 8 PCM + SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" NEO + SG_ GEAR : 35|4@0+ (1,0) [0|15] "" NEO + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO + +BO_ 422 SCM_BUTTONS: 8 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" NEO + SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" NEO + SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" NEO + SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" NEO + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO + +BO_ 520 SS_STATUS: 3 XXX + SG_ VERSION_NUM : 0|4@1+ (1,0) [0|15] "" XXX + SG_ HARDWARE_REV : 7|4@0+ (1,0) [0|15] "" XXX + SG_ LATE_SERIAL_MSG : 8|1@0+ (1,0) [0|1] "" XXX + SG_ LATE_CAN_MSG : 9|1@0+ (1,0) [0|1] "" XXX + SG_ INVALID_COUNTER : 10|1@0+ (1,0) [0|1] "" XXX + SG_ INVALID_CHECKSUM : 11|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_ALLOWED : 12|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX + +BO_ 660 SCM_FEEDBACK: 8 SCM + SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" NEO + SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" NEO + SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" NEO + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 662 CRUISE_BUTTONS: 4 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" NEO + SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" NEO + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" XXX + +BO_ 927 ACC_HUD_2: 8 ADAS + SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY + SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY + SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY + SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY + SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY + SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY + SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY + SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY + SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +VAL_ 400 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ; +VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ; +CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0"; diff --git a/opendbc_repo/opendbc/dbc/honda_accord_touring_V6_2016_can_generated.dbc b/opendbc_repo/opendbc/dbc/honda_accord_touring_V6_2016_can_generated.dbc new file mode 100644 index 0000000000..f0702b0a3e --- /dev/null +++ b/opendbc_repo/opendbc/dbc/honda_accord_touring_V6_2016_can_generated.dbc @@ -0,0 +1,365 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _comma.dbc starts here"; +BO_ 512 GAS_COMMAND: 6 EON + SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR + SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR + SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR + +BO_ 513 GAS_SENSOR: 6 INTERCEPTOR + SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON + SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON + SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON + +VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; + + +CM_ "Imported file _honda_common.dbc starts here"; +BO_ 304 GAS_PEDAL_2: 8 PCM + SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 316 GAS_PEDAL: 8 PCM + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 344 ENGINE_DATA: 8 PCM + SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 380 POWERTRAIN_DATA: 8 PCM + SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON + SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON + SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON + SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON + SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON + SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON + SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 420 VSA_STATUS: 8 VSA + SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON + SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON + SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 427 STEER_MOTOR_TORQUE: 3 EPS + SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON + SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON + SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON + +BO_ 464 WHEEL_SPEEDS: 8 VSA + SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 490 VEHICLE_DYNAMICS: 8 VSA + SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 773 SEATBELT_STATUS: 7 BDY + SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 777 CAR_SPEED: 8 PCM + SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX + SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 780 ACC_HUD: 8 ADAS + SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY + SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY + SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY + SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF_2 : 36|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY + SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY + SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY + SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY + SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY + SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY + SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY + SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY + SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" BDY + SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY + SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY + +BO_ 804 CRUISE: 8 PCM + SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON + SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON + SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON + SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON + SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 884 STALK_STATUS: 8 XXX + SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON + SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON + SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON + SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 891 STALK_STATUS_2: 8 XXX + SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON + SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX + SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 1029 DOORS_STATUS: 8 BDY + SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON + SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 304 "Seems to be platform-agnostic"; +CM_ SG_ 316 "Should exist on Nidec"; +CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged"; +CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping"; +CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light"; +CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light"; +CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; +CM_ SG_ 780 PCM_SPEED "Used by Nidec"; +CM_ SG_ 780 PCM_GAS "Used by Nidec"; +CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed"; + +VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped"; +VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car"; +VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"; +VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off"; + + +CM_ "Imported file _nidec_common.dbc starts here"; +BO_ 145 KINEMATICS: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 148 KINEMATICS_ALT: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-20|20] "m/s2" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON + SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 487 BRAKE_PRESSURE: 4 VSA + SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + +BO_ 506 BRAKE_COMMAND: 8 ADAS + SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST_ALT : 11|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00 : 23|3@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00_2 : 19|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM + SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM + SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX + SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM + SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM + SG_ SET_ME_X00_3 : 44|1@0+ (1,0) [0|1] "" EBCM + SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM + SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX + SG_ COMPUTER_BRAKE_ALT : 55|10@0+ (1,0) [0|0] "" EBCM + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM + +BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA + SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON + SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON + SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 829 LKAS_HUD: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +BO_ 892 CRUISE_PARAMS: 8 PCM + SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event"; +CM_ SG_ 506 COMPUTER_BRAKE_ALT "Used by dual-can Nidec"; +CM_ SG_ 506 BRAKE_PUMP_REQUEST_ALT "Used by dual-can Nidec"; +CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc..."; + +VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw"; +VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime"; +VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb"; +VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep"; + + +CM_ "Imported file _steering_sensors_b.dbc starts here"; +BO_ 342 STEERING_SENSORS: 6 EPS + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON + +CM_ "honda_accord_touring_V6_2016_can.dbc starts here"; + +BO_ 228 STEERING_CONTROL: 5 ADAS + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EPS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS + SG_ TORQUE_BLEND_DISABLE : 16|1@0+ (1,0) [0|1] "" XXX + SG_ TX_ALL_LKAS_DATA : 17|1@0+ (1,0) [0|1] "" XXX + +BO_ 392 GEARBOX: 6 PCM + SG_ GEAR : 5|6@0+ (1,0) [0|63] "" NEO + SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] "" NEO + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" NEO + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" NEO + +BO_ 400 STEER_STATUS: 5 EPS + SG_ STEER_TORQUE_SENSOR : 0|9@1- (1,0) [-256|256] "" XXX + SG_ LIN_INTERFACE_FATAL_ERROR : 10|1@0+ (1,0) [0|1] "" XXX + SG_ LATE_MESSAGE : 11|1@0+ (1,0) [0|1] "" XXX + SG_ STEER_STATUS : 12|4@1+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX + SG_ LKAS_ALLOWED : 9|1@0+ (1,0) [0|1] "" XXX + SG_ STEER_APPLIED : 23|16@0- (1,0) [0|511] "" XXX + +BO_ 422 SCM_BUTTONS: 8 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" NEO + SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" NEO + SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" NEO + SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" NEO + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO + +BO_ 520 SS_STATUS: 3 XXX + SG_ VERSION_NUM : 0|4@1+ (1,0) [0|15] "" XXX + SG_ HARDWARE_REV : 7|4@0+ (1,0) [0|15] "" XXX + SG_ LATE_SERIAL_MSG : 8|1@0+ (1,0) [0|1] "" XXX + SG_ LATE_CAN_MSG : 9|1@0+ (1,0) [0|1] "" XXX + SG_ INVALID_COUNTER : 10|1@0+ (1,0) [0|1] "" XXX + SG_ INVALID_CHECKSUM : 11|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_ALLOWED : 12|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX + +BO_ 660 SCM_FEEDBACK: 8 SCM + SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" NEO + SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" NEO + SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" NEO + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 662 CRUISE_BUTTONS: 4 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" NEO + SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" NEO + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" XXX + +BO_ 927 ACC_HUD_2: 8 ADAS + SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY + SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY + SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY + SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY + SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY + SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY + SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY + SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY + SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +VAL_ 400 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ; +VAL_ 392 GEAR_SHIFTER 6 "L" 5 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; +CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0"; diff --git a/opendbc_repo/opendbc/dbc/honda_accord_touring_hybrid_2017_can_generated.dbc b/opendbc_repo/opendbc/dbc/honda_accord_touring_hybrid_2017_can_generated.dbc new file mode 100644 index 0000000000..5e3b39565b --- /dev/null +++ b/opendbc_repo/opendbc/dbc/honda_accord_touring_hybrid_2017_can_generated.dbc @@ -0,0 +1,365 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _comma.dbc starts here"; +BO_ 512 GAS_COMMAND: 6 EON + SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR + SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR + SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR + +BO_ 513 GAS_SENSOR: 6 INTERCEPTOR + SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON + SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON + SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON + +VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; + + +CM_ "Imported file _honda_common.dbc starts here"; +BO_ 304 GAS_PEDAL_2: 8 PCM + SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 316 GAS_PEDAL: 8 PCM + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 344 ENGINE_DATA: 8 PCM + SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 380 POWERTRAIN_DATA: 8 PCM + SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON + SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON + SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON + SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON + SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON + SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON + SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 420 VSA_STATUS: 8 VSA + SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON + SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON + SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 427 STEER_MOTOR_TORQUE: 3 EPS + SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON + SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON + SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON + +BO_ 464 WHEEL_SPEEDS: 8 VSA + SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 490 VEHICLE_DYNAMICS: 8 VSA + SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 773 SEATBELT_STATUS: 7 BDY + SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 777 CAR_SPEED: 8 PCM + SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX + SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 780 ACC_HUD: 8 ADAS + SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY + SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY + SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY + SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF_2 : 36|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY + SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY + SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY + SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY + SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY + SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY + SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY + SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY + SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" BDY + SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY + SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY + +BO_ 804 CRUISE: 8 PCM + SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON + SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON + SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON + SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON + SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 884 STALK_STATUS: 8 XXX + SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON + SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON + SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON + SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 891 STALK_STATUS_2: 8 XXX + SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON + SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX + SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 1029 DOORS_STATUS: 8 BDY + SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON + SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 304 "Seems to be platform-agnostic"; +CM_ SG_ 316 "Should exist on Nidec"; +CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged"; +CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping"; +CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light"; +CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light"; +CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; +CM_ SG_ 780 PCM_SPEED "Used by Nidec"; +CM_ SG_ 780 PCM_GAS "Used by Nidec"; +CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed"; + +VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped"; +VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car"; +VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"; +VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off"; + + +CM_ "Imported file _dual_nidec_common.dbc starts here"; +BO_ 145 KINEMATICS: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 148 KINEMATICS_ALT: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-20|20] "m/s2" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON + SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 487 BRAKE_PRESSURE: 4 VSA + SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + +BO_ 506 BRAKE_COMMAND: 8 ADAS + SG_ COMPUTER_BRAKE_DEFAULT : 7|10@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST_DEFAULT : 8|1@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST : 11|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00 : 23|3@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00_2 : 19|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM + SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM + SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX + SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM + SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM + SG_ SET_ME_X00_3 : 44|1@0+ (1,0) [0|1] "" EBCM + SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM + SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX + SG_ COMPUTER_BRAKE : 55|10@0+ (1,0) [0|0] "" EBCM + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM + +BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA + SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON + SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON + SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 829 LKAS_HUD: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +BO_ 892 CRUISE_PARAMS: 8 PCM + SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event"; +CM_ SG_ 506 COMPUTER_BRAKE_ALT "Used by dual-can Nidec"; +CM_ SG_ 506 BRAKE_PUMP_REQUEST_ALT "Used by dual-can Nidec"; +CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc..."; + +VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw"; +VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime"; +VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb"; +VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep"; + + +CM_ "Imported file _steering_sensors_b.dbc starts here"; +BO_ 342 STEERING_SENSORS: 6 EPS + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON + +CM_ "honda_accord_touring_hybrid_2017_can.dbc starts here"; + +BO_ 228 STEERING_CONTROL: 5 ADAS + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EPS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS + SG_ TORQUE_BLEND_DISABLE : 16|1@0+ (1,0) [0|1] "" XXX + SG_ TX_ALL_LKAS_DATA : 17|1@0+ (1,0) [0|1] "" XXX + +BO_ 392 GEARBOX: 6 PCM + SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" NEO + SG_ GEAR : 35|4@0+ (1,0) [0|15] "" NEO + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" NEO + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" NEO + +BO_ 400 STEER_STATUS: 5 EPS + SG_ STEER_TORQUE_SENSOR : 0|9@1- (1,0) [-256|256] "" XXX + SG_ LIN_INTERFACE_FATAL_ERROR : 10|1@0+ (1,0) [0|1] "" XXX + SG_ LATE_MESSAGE : 11|1@0+ (1,0) [0|1] "" XXX + SG_ STEER_STATUS : 12|4@1+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX + SG_ LKAS_ALLOWED : 9|1@0+ (1,0) [0|1] "" XXX + SG_ STEER_APPLIED : 23|16@0- (1,0) [0|511] "" XXX + +BO_ 422 SCM_BUTTONS: 8 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" NEO + SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" NEO + SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" NEO + SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" NEO + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO + +BO_ 520 SS_STATUS: 3 XXX + SG_ VERSION_NUM : 0|4@1+ (1,0) [0|15] "" XXX + SG_ HARDWARE_REV : 7|4@0+ (1,0) [0|15] "" XXX + SG_ LATE_SERIAL_MSG : 8|1@0+ (1,0) [0|1] "" XXX + SG_ LATE_CAN_MSG : 9|1@0+ (1,0) [0|1] "" XXX + SG_ INVALID_COUNTER : 10|1@0+ (1,0) [0|1] "" XXX + SG_ INVALID_CHECKSUM : 11|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_ALLOWED : 12|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX + +BO_ 660 SCM_FEEDBACK: 8 SCM + SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" NEO + SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" NEO + SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" NEO + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 662 CRUISE_BUTTONS: 4 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" NEO + SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" NEO + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" XXX + +BO_ 927 ACC_HUD_2: 8 ADAS + SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY + SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY + SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY + SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY + SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY + SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY + SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY + SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY + SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +VAL_ 392 GEAR_SHIFTER 1 "D" 6 "R" 0 "P" ; +VAL_ 400 STEER_STATUS 6 "UNKNOWN" 5 "UNKNOWN" 4 "UNKNOWN" 3 "UNKNOWN" 2 "no_torque_alert_1" 0 "normal" 1 "UNKNOWN" ; +CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0"; diff --git a/opendbc_repo/opendbc/dbc/honda_civic_ex_2022_can_generated.dbc b/opendbc_repo/opendbc/dbc/honda_civic_ex_2022_can_generated.dbc new file mode 100644 index 0000000000..8433001dcf --- /dev/null +++ b/opendbc_repo/opendbc/dbc/honda_civic_ex_2022_can_generated.dbc @@ -0,0 +1,522 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _community.dbc starts here"; +BO_ 512 GAS_COMMAND: 6 EON + SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR + SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR + SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR + +BO_ 513 GAS_SENSOR: 6 INTERCEPTOR + SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON + SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON + SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON + +VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; + + +CM_ "Imported file _honda_common.dbc starts here"; +BO_ 304 GAS_PEDAL_2: 8 PCM + SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 316 GAS_PEDAL: 8 PCM + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 344 ENGINE_DATA: 8 PCM + SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 380 POWERTRAIN_DATA: 8 PCM + SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON + SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON + SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON + SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON + SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON + SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON + SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 420 VSA_STATUS: 8 VSA + SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON + SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON + SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 427 STEER_MOTOR_TORQUE: 3 EPS + SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON + SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON + SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON + +BO_ 464 WHEEL_SPEEDS: 8 VSA + SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 490 VEHICLE_DYNAMICS: 8 VSA + SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 773 SEATBELT_STATUS: 7 BDY + SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 777 CAR_SPEED: 8 PCM + SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX + SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 780 ACC_HUD: 8 ADAS + SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY + SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY + SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY + SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF_2 : 36|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY + SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY + SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY + SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY + SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY + SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY + SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY + SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY + SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" BDY + SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY + SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY + +BO_ 804 CRUISE: 8 PCM + SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON + SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON + SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON + SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON + SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 884 STALK_STATUS: 8 XXX + SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON + SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON + SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON + SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 891 STALK_STATUS_2: 8 XXX + SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON + SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX + SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 1029 DOORS_STATUS: 8 BDY + SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON + SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 304 "Seems to be platform-agnostic"; +CM_ SG_ 316 "Should exist on Nidec"; +CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged"; +CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping"; +CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light"; +CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light"; +CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; +CM_ SG_ 780 PCM_SPEED "Used by Nidec"; +CM_ SG_ 780 PCM_GAS "Used by Nidec"; +CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed"; + +VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped"; +VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car"; +VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"; +VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off"; + + +CM_ "Imported file _bosch_2018.dbc starts here"; +BO_ 148 KINEMATICS: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +BO_ 228 STEERING_CONTROL: 5 EON + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS + SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS + +BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX + SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 232 BRAKE_HOLD: 7 XXX + SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX + SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX + SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX + +BO_ 399 STEER_STATUS: 7 EPS + SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON + SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + +BO_ 450 EPB_STATUS: 8 EPB + SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON + SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 545 XXX_16: 6 SCM + SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX + SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY + +BO_ 576 LEFT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 577 LEFT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 579 RIGHT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 580 RIGHT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA + SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON + SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON + SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 662 SCM_BUTTONS: 4 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON + +BO_ 806 SCM_FEEDBACK: 8 SCM + SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX + SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON + SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON + SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 862 CAMERA_MESSAGES: 8 CAM + SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY + SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX + SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX + SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 927 RADAR_HUD: 8 RADAR + SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY + SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY + SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX + SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY + SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX + SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY + SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX + SG_ HUD_LEAD : 40|1@0+ (1,0) [0|1] "" XXX + SG_ SET_TO_64 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH3 : 47|7@0+ (1,0) [0|127] "" XXX + SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 13274 LKAS_HUD_A: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +BO_ 13275 LKAS_HUD_B: 8 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY + +CM_ SG_ 450 EPB_STATE "3: On, 2: Disengaging, 1: Engaging, 0: Off"; +CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded"; +CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded"; +CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded"; +CM_ SG_ 577 LINE_DASHED "1 = line is dashed"; +CM_ SG_ 577 LINE_SOLID "1 = line is solid"; + +VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal"; + + +CM_ "Imported file _steering_sensors_a.dbc starts here"; +BO_ 330 STEERING_SENSORS: 8 EPS + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON + SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON + SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON + SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON + SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ "honda_civic_ex_2022_can.dbc starts here"; + +BO_ 401 GEARBOX: 8 PCM + SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON + SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX + SG_ GEAR2 : 31|8@0+ (1,0) [0|1] "" XXX + SG_ GEAR : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH : 47|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 419 GEARBOX_ALT: 8 PCM + SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON + SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + +BO_ 446 BRAKE_MODULE: 3 VSA + SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX + SG_ CRUISE_FAULT : 22|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX + +BO_ 456 ACC_CONTROL: 8 XXX + SG_ ACCEL_COMMAND : 7|12@0- (0.01,0) [0|0] "m/s^2" XXX + SG_ IDLESTOP_ALLOW : 8|1@0+ (1,0) [0|1] "" XXX + SG_ STANDSTILL : 9|1@0+ (1,0) [0|1] "" XXX + SG_ CONTROL_ON : 10|1@0+ (1,0) [0|1] "" XXX + SG_ BOH : 23|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_STATUS : 33|1@1+ (1,0) [0|7] "" XXX + SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX + SG_ FCW_1 : 24|1@1+ (1,0) [0|3] "" XXX + SG_ FCW_2 : 54|1@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 467 CRUISE_FAULT_STATUS: 8 XXX + SG_ CRUISE_FAULT : 3|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 829 LKAS_HUD: 8 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY + SG_ LANE_LINES : 36|2@0+ (1,0) [0|3] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY + +BO_ 882 CRUISE_PARAMS: 8 PCM + SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|15] "" EON + +BO_ 254913108 LKAS_HUD_2: 8 ADAS + SG_ COUNTER_2 : 7|2@0+ (1,0) [0|3] "" XXX + SG_ SET_ME_X01 : 5|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_BOH_1 : 15|6@0+ (1,0) [0|63] "" XXX + SG_ LEFT_LANE : 23|2@0+ (1,0) [0|3] "" XXX + SG_ RIGHT_LANE : 21|2@0+ (1,0) [0|3] "" XXX + SG_ LKAS_BOH_2 : 30|5@0+ (1,0) [0|31] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +CM_ 446 "If exists, describes cruise faults and what the PCM uses for brake press detection."; +CM_ SG_ 456 IDLESTOP_ALLOW "allows car to turn off engine at a standstill"; +CM_ SG_ 456 STANDSTILL "set to 1 when camera requests -4.0 m/s^2"; + +VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P"; +VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P"; +VAL_ 419 GEAR_SHIFTER 32 "D" 16 "N" 8 "R" 4 "P" 0 "B" ; diff --git a/opendbc_repo/opendbc/dbc/honda_civic_hatchback_ex_2017_can_generated.dbc b/opendbc_repo/opendbc/dbc/honda_civic_hatchback_ex_2017_can_generated.dbc new file mode 100644 index 0000000000..75ba176a8f --- /dev/null +++ b/opendbc_repo/opendbc/dbc/honda_civic_hatchback_ex_2017_can_generated.dbc @@ -0,0 +1,502 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _honda_common.dbc starts here"; +BO_ 304 GAS_PEDAL_2: 8 PCM + SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 316 GAS_PEDAL: 8 PCM + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 344 ENGINE_DATA: 8 PCM + SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 380 POWERTRAIN_DATA: 8 PCM + SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON + SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON + SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON + SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON + SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON + SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON + SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 420 VSA_STATUS: 8 VSA + SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON + SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON + SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 427 STEER_MOTOR_TORQUE: 3 EPS + SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON + SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON + SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON + +BO_ 464 WHEEL_SPEEDS: 8 VSA + SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 490 VEHICLE_DYNAMICS: 8 VSA + SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 773 SEATBELT_STATUS: 7 BDY + SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 777 CAR_SPEED: 8 PCM + SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX + SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 780 ACC_HUD: 8 ADAS + SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY + SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY + SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY + SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF_2 : 36|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY + SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY + SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY + SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY + SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY + SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY + SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY + SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY + SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" BDY + SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY + SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY + +BO_ 804 CRUISE: 8 PCM + SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON + SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON + SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON + SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON + SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 884 STALK_STATUS: 8 XXX + SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON + SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON + SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON + SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 891 STALK_STATUS_2: 8 XXX + SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON + SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX + SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 1029 DOORS_STATUS: 8 BDY + SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON + SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 304 "Seems to be platform-agnostic"; +CM_ SG_ 316 "Should exist on Nidec"; +CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged"; +CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping"; +CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light"; +CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light"; +CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; +CM_ SG_ 780 PCM_SPEED "Used by Nidec"; +CM_ SG_ 780 PCM_GAS "Used by Nidec"; +CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed"; + +VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped"; +VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car"; +VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"; +VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off"; + + +CM_ "Imported file _bosch_2018.dbc starts here"; +BO_ 148 KINEMATICS: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +BO_ 228 STEERING_CONTROL: 5 EON + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS + SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS + +BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX + SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 232 BRAKE_HOLD: 7 XXX + SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX + SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX + SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX + +BO_ 399 STEER_STATUS: 7 EPS + SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON + SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + +BO_ 450 EPB_STATUS: 8 EPB + SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON + SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 545 XXX_16: 6 SCM + SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX + SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY + +BO_ 576 LEFT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 577 LEFT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 579 RIGHT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 580 RIGHT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA + SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON + SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON + SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 662 SCM_BUTTONS: 4 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON + +BO_ 806 SCM_FEEDBACK: 8 SCM + SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX + SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON + SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON + SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 862 CAMERA_MESSAGES: 8 CAM + SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY + SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX + SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX + SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 927 RADAR_HUD: 8 RADAR + SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY + SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY + SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX + SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY + SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX + SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY + SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX + SG_ HUD_LEAD : 40|1@0+ (1,0) [0|1] "" XXX + SG_ SET_TO_64 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH3 : 47|7@0+ (1,0) [0|127] "" XXX + SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 13274 LKAS_HUD_A: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +BO_ 13275 LKAS_HUD_B: 8 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY + +CM_ SG_ 450 EPB_STATE "3: On, 2: Disengaging, 1: Engaging, 0: Off"; +CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded"; +CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded"; +CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded"; +CM_ SG_ 577 LINE_DASHED "1 = line is dashed"; +CM_ SG_ 577 LINE_SOLID "1 = line is solid"; + +VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal"; + + +CM_ "Imported file _bosch_adas_2018.dbc starts here"; +BO_ 479 ACC_CONTROL: 8 EON + SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX + SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX + SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX + SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX + SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX + SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX + SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 495 ACC_CONTROL_ON: 8 XXX + SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX + SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 829 LKAS_HUD: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +CM_ SG_ 479 CONTROL_ON "Set to 5 when car is being controlled"; +CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event"; +CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event"; +CM_ SG_ 479 AEB_PREPARE "set 1s before AEB"; +CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc..."; + +VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep"; + + +CM_ "Imported file _steering_sensors_a.dbc starts here"; +BO_ 330 STEERING_SENSORS: 8 EPS + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON + SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON + SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON + SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON + SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ "honda_civic_hatchback_ex_2017_can.dbc starts here"; + +BO_ 401 GEARBOX: 8 PCM + SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON + SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX + SG_ GEAR2 : 31|8@0+ (1,0) [0|1] "" XXX + SG_ GEAR : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH : 47|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + +BO_ 506 LEGACY_BRAKE_COMMAND: 8 ADAS + SG_ CHIME : 40|8@1+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 892 CRUISE_PARAMS: 8 PCM + SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|15] "" EON + +VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ; +VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; +VAL_ 545 ECON_ON_2 0 "off" 3 "on" ; +VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; +VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ; diff --git a/opendbc_repo/opendbc/dbc/honda_civic_touring_2016_can_generated.dbc b/opendbc_repo/opendbc/dbc/honda_civic_touring_2016_can_generated.dbc new file mode 100644 index 0000000000..db6b21423f --- /dev/null +++ b/opendbc_repo/opendbc/dbc/honda_civic_touring_2016_can_generated.dbc @@ -0,0 +1,387 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _community.dbc starts here"; +BO_ 512 GAS_COMMAND: 6 EON + SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR + SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR + SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR + +BO_ 513 GAS_SENSOR: 6 INTERCEPTOR + SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON + SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON + SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON + +VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; + + +CM_ "Imported file _honda_common.dbc starts here"; +BO_ 304 GAS_PEDAL_2: 8 PCM + SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 316 GAS_PEDAL: 8 PCM + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 344 ENGINE_DATA: 8 PCM + SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 380 POWERTRAIN_DATA: 8 PCM + SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON + SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON + SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON + SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON + SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON + SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON + SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 420 VSA_STATUS: 8 VSA + SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON + SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON + SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 427 STEER_MOTOR_TORQUE: 3 EPS + SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON + SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON + SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON + +BO_ 464 WHEEL_SPEEDS: 8 VSA + SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 490 VEHICLE_DYNAMICS: 8 VSA + SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 773 SEATBELT_STATUS: 7 BDY + SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 777 CAR_SPEED: 8 PCM + SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX + SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 780 ACC_HUD: 8 ADAS + SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY + SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY + SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY + SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF_2 : 36|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY + SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY + SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY + SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY + SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY + SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY + SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY + SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY + SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" BDY + SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY + SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY + +BO_ 804 CRUISE: 8 PCM + SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON + SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON + SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON + SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON + SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 884 STALK_STATUS: 8 XXX + SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON + SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON + SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON + SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 891 STALK_STATUS_2: 8 XXX + SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON + SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX + SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 1029 DOORS_STATUS: 8 BDY + SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON + SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 304 "Seems to be platform-agnostic"; +CM_ SG_ 316 "Should exist on Nidec"; +CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged"; +CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping"; +CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light"; +CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light"; +CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; +CM_ SG_ 780 PCM_SPEED "Used by Nidec"; +CM_ SG_ 780 PCM_GAS "Used by Nidec"; +CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed"; + +VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped"; +VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car"; +VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"; +VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off"; + + +CM_ "Imported file _nidec_common.dbc starts here"; +BO_ 145 KINEMATICS: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 148 KINEMATICS_ALT: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-20|20] "m/s2" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON + SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 487 BRAKE_PRESSURE: 4 VSA + SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + +BO_ 506 BRAKE_COMMAND: 8 ADAS + SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST_ALT : 11|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00 : 23|3@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00_2 : 19|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM + SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM + SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX + SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM + SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM + SG_ SET_ME_X00_3 : 44|1@0+ (1,0) [0|1] "" EBCM + SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM + SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX + SG_ COMPUTER_BRAKE_ALT : 55|10@0+ (1,0) [0|0] "" EBCM + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM + +BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA + SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON + SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON + SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 829 LKAS_HUD: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +BO_ 892 CRUISE_PARAMS: 8 PCM + SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event"; +CM_ SG_ 506 COMPUTER_BRAKE_ALT "Used by dual-can Nidec"; +CM_ SG_ 506 BRAKE_PUMP_REQUEST_ALT "Used by dual-can Nidec"; +CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc..."; + +VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw"; +VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime"; +VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb"; +VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep"; + + +CM_ "Imported file _steering_sensors_a.dbc starts here"; +BO_ 330 STEERING_SENSORS: 8 EPS + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON + SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON + SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON + SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON + SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ "honda_civic_touring_2016_can.dbc starts here"; + +BO_ 228 STEERING_CONTROL: 5 ADAS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS + +BO_ 399 STEER_STATUS: 7 EPS + SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON + SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 401 GEARBOX: 8 PCM + SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON + SG_ GEAR : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 450 EPB_STATUS: 8 EPB + SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON + SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 493 HUD_SETTING: 5 XXX + SG_ IMPERIAL_UNIT : 5|1@0+ (1,0) [0|1] "" EON + +BO_ 545 ECON_STATUS: 6 XXX + SG_ ECON_ON_2 : 37|2@0+ (1,0) [0|3] "" EON + SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + +BO_ 662 SCM_BUTTONS: 4 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + +BO_ 806 SCM_FEEDBACK: 8 SCM + SG_ CMBS_BUTTON : 22|2@0+ (1,0) [0|3] "" EON + SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON + SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON + SG_ REVERSE_LIGHT : 18|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 862 HIGHBEAM_CONTROL: 8 ADAS + SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY + SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX + SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX + SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 927 RADAR_HUD: 8 ADAS + SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY + SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY + SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY + SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY + SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY + SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY + SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY + SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY + SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY + +BO_ 1302 ODOMETER: 8 XXX + SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +CM_ SG_ 401 GEAR "10 = reverse, 11 = transition"; +CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights"; + +VAL_ 399 STEER_STATUS 7 "permanent_fault" 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ; +VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ; +VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; +VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ; +VAL_ 545 ECON_ON_2 0 "off" 3 "on" ; +VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; +VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ; +VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ; diff --git a/opendbc_repo/opendbc/dbc/honda_clarity_hybrid_2018_can_generated.dbc b/opendbc_repo/opendbc/dbc/honda_clarity_hybrid_2018_can_generated.dbc new file mode 100644 index 0000000000..f47f7628b8 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/honda_clarity_hybrid_2018_can_generated.dbc @@ -0,0 +1,405 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _community.dbc starts here"; +BO_ 512 GAS_COMMAND: 6 EON + SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR + SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR + SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR + +BO_ 513 GAS_SENSOR: 6 INTERCEPTOR + SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON + SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON + SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON + +VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; + + +CM_ "Imported file _honda_common.dbc starts here"; +BO_ 304 GAS_PEDAL_2: 8 PCM + SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 316 GAS_PEDAL: 8 PCM + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 344 ENGINE_DATA: 8 PCM + SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 380 POWERTRAIN_DATA: 8 PCM + SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON + SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON + SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON + SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON + SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON + SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON + SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 420 VSA_STATUS: 8 VSA + SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON + SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON + SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 427 STEER_MOTOR_TORQUE: 3 EPS + SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON + SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON + SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON + +BO_ 464 WHEEL_SPEEDS: 8 VSA + SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 490 VEHICLE_DYNAMICS: 8 VSA + SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 773 SEATBELT_STATUS: 7 BDY + SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 777 CAR_SPEED: 8 PCM + SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX + SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 780 ACC_HUD: 8 ADAS + SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY + SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY + SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY + SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF_2 : 36|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY + SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY + SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY + SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY + SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY + SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY + SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY + SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY + SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" BDY + SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY + SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY + +BO_ 804 CRUISE: 8 PCM + SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON + SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON + SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON + SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON + SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 884 STALK_STATUS: 8 XXX + SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON + SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON + SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON + SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 891 STALK_STATUS_2: 8 XXX + SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON + SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX + SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 1029 DOORS_STATUS: 8 BDY + SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON + SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 304 "Seems to be platform-agnostic"; +CM_ SG_ 316 "Should exist on Nidec"; +CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged"; +CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping"; +CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light"; +CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light"; +CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; +CM_ SG_ 780 PCM_SPEED "Used by Nidec"; +CM_ SG_ 780 PCM_GAS "Used by Nidec"; +CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed"; + +VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped"; +VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car"; +VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"; +VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off"; + + +CM_ "Imported file _nidec_common.dbc starts here"; +BO_ 145 KINEMATICS: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 148 KINEMATICS_ALT: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-20|20] "m/s2" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON + SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 487 BRAKE_PRESSURE: 4 VSA + SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + +BO_ 506 BRAKE_COMMAND: 8 ADAS + SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST_ALT : 11|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00 : 23|3@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00_2 : 19|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM + SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM + SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX + SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM + SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM + SG_ SET_ME_X00_3 : 44|1@0+ (1,0) [0|1] "" EBCM + SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM + SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX + SG_ COMPUTER_BRAKE_ALT : 55|10@0+ (1,0) [0|0] "" EBCM + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM + +BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA + SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON + SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON + SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 829 LKAS_HUD: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +BO_ 892 CRUISE_PARAMS: 8 PCM + SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event"; +CM_ SG_ 506 COMPUTER_BRAKE_ALT "Used by dual-can Nidec"; +CM_ SG_ 506 BRAKE_PUMP_REQUEST_ALT "Used by dual-can Nidec"; +CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc..."; + +VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw"; +VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime"; +VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb"; +VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep"; + + +CM_ "Imported file _steering_sensors_a.dbc starts here"; +BO_ 330 STEERING_SENSORS: 8 EPS + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON + SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON + SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON + SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON + SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ "honda_clarity_hybrid_2018_can.dbc starts here"; + +BO_ 228 STEERING_CONTROL: 5 ADAS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS + +BO_ 388 BRAKE_ERROR: 8 XXX + SG_ BRAKE_ERROR_1 : 32|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 34|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 399 STEER_STATUS: 7 EPS + SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON + SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 419 GEARBOX: 8 PCM + SG_ GEAR : 7|8@0+ (1,0) [0|256] "" EON + SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 450 EPB_STATUS: 8 EPB + SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON + SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 545 ECON_STATUS: 6 XXX + SG_ ECON_ON_2 : 37|2@0+ (1,0) [0|3] "" EON + SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + +BO_ 662 SCM_BUTTONS: 4 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + +BO_ 768 VEHICLE_STATE: 8 ADAS + SG_ SET_ME_XF9 : 7|8@0+ (1,0) [0|255] "" Vector__XXX + SG_ VEHICLE_SPEED : 15|8@0+ (1,0) [0|255] "kph" Vector__XXX + SG_ SET_ME_X8A : 23|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_XD0 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ SALTED_WITH_IDX : 39|8@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 769 VEHICLE_STATE2: 8 ADAS + SG_ SET_ME_X5D : 23|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X02 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X5F : 39|8@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 806 SCM_FEEDBACK: 8 SCM + SG_ CMBS_BUTTON : 22|2@0+ (1,0) [0|3] "" EON + SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON + SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON + SG_ REVERSE_LIGHT : 18|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 862 HIGHBEAM_CONTROL: 8 ADAS + SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY + SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX + SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX + SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 927 RADAR_HUD: 8 ADAS + SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY + SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY + SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY + SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY + SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY + SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY + SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY + SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY + SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY + +BO_ 1302 XXX_27: 8 XXX + SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 419 GEAR "10 = reverse, 11 = transition"; +CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights"; + +VAL_ 399 STEER_STATUS 5 "tmp_fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ; +VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; +VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ; +VAL_ 545 ECON_ON_2 0 "off" 3 "on" ; +VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; +VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ; +VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ; diff --git a/opendbc_repo/opendbc/dbc/honda_crv_ex_2017_body_generated.dbc b/opendbc_repo/opendbc/dbc/honda_crv_ex_2017_body_generated.dbc new file mode 100644 index 0000000000..4d154e53f7 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/honda_crv_ex_2017_body_generated.dbc @@ -0,0 +1,13 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + +CM_ "honda_crv_ex_2017_body.dbc starts here"; +BO_ 318291879 BSM_STATUS_RIGHT: 8 XXX + SG_ BSM_ALERT : 4|1@0+ (1,0) [0|1] "" XXX + SG_ BSM_MODE : 6|2@0+ (1,0) [0|3] "" XXX + +BO_ 318291615 BSM_STATUS_LEFT: 8 XXX + SG_ BSM_ALERT : 4|1@0+ (1,0) [0|1] "" XXX + SG_ BSM_MODE : 6|2@0+ (1,0) [0|3] "" XXX + +VAL_ 318291879 BSM_MODE 2 "blind_spot" 1 "cross_traffic" 0 "off"; +VAL_ 318291615 BSM_MODE 2 "blind_spot" 1 "cross_traffic" 0 "off"; diff --git a/opendbc_repo/opendbc/dbc/honda_crv_ex_2017_can_generated.dbc b/opendbc_repo/opendbc/dbc/honda_crv_ex_2017_can_generated.dbc new file mode 100644 index 0000000000..9f3dc0fba9 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/honda_crv_ex_2017_can_generated.dbc @@ -0,0 +1,505 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _honda_common.dbc starts here"; +BO_ 304 GAS_PEDAL_2: 8 PCM + SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 316 GAS_PEDAL: 8 PCM + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 344 ENGINE_DATA: 8 PCM + SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 380 POWERTRAIN_DATA: 8 PCM + SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON + SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON + SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON + SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON + SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON + SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON + SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 420 VSA_STATUS: 8 VSA + SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON + SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON + SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 427 STEER_MOTOR_TORQUE: 3 EPS + SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON + SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON + SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON + +BO_ 464 WHEEL_SPEEDS: 8 VSA + SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 490 VEHICLE_DYNAMICS: 8 VSA + SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 773 SEATBELT_STATUS: 7 BDY + SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 777 CAR_SPEED: 8 PCM + SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX + SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 780 ACC_HUD: 8 ADAS + SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY + SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY + SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY + SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF_2 : 36|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY + SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY + SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY + SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY + SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY + SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY + SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY + SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY + SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" BDY + SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY + SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY + +BO_ 804 CRUISE: 8 PCM + SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON + SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON + SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON + SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON + SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 884 STALK_STATUS: 8 XXX + SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON + SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON + SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON + SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 891 STALK_STATUS_2: 8 XXX + SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON + SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX + SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 1029 DOORS_STATUS: 8 BDY + SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON + SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 304 "Seems to be platform-agnostic"; +CM_ SG_ 316 "Should exist on Nidec"; +CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged"; +CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping"; +CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light"; +CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light"; +CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; +CM_ SG_ 780 PCM_SPEED "Used by Nidec"; +CM_ SG_ 780 PCM_GAS "Used by Nidec"; +CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed"; + +VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped"; +VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car"; +VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"; +VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off"; + + +CM_ "Imported file _bosch_2018.dbc starts here"; +BO_ 148 KINEMATICS: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +BO_ 228 STEERING_CONTROL: 5 EON + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS + SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS + +BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX + SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 232 BRAKE_HOLD: 7 XXX + SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX + SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX + SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX + +BO_ 399 STEER_STATUS: 7 EPS + SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON + SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + +BO_ 450 EPB_STATUS: 8 EPB + SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON + SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 545 XXX_16: 6 SCM + SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX + SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY + +BO_ 576 LEFT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 577 LEFT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 579 RIGHT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 580 RIGHT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA + SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON + SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON + SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 662 SCM_BUTTONS: 4 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON + +BO_ 806 SCM_FEEDBACK: 8 SCM + SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX + SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON + SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON + SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 862 CAMERA_MESSAGES: 8 CAM + SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY + SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX + SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX + SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 927 RADAR_HUD: 8 RADAR + SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY + SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY + SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX + SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY + SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX + SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY + SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX + SG_ HUD_LEAD : 40|1@0+ (1,0) [0|1] "" XXX + SG_ SET_TO_64 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH3 : 47|7@0+ (1,0) [0|127] "" XXX + SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 13274 LKAS_HUD_A: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +BO_ 13275 LKAS_HUD_B: 8 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY + +CM_ SG_ 450 EPB_STATE "3: On, 2: Disengaging, 1: Engaging, 0: Off"; +CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded"; +CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded"; +CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded"; +CM_ SG_ 577 LINE_DASHED "1 = line is dashed"; +CM_ SG_ 577 LINE_SOLID "1 = line is solid"; + +VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal"; + + +CM_ "Imported file _bosch_adas_2018.dbc starts here"; +BO_ 479 ACC_CONTROL: 8 EON + SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX + SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX + SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX + SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX + SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX + SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX + SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 495 ACC_CONTROL_ON: 8 XXX + SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX + SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 829 LKAS_HUD: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +CM_ SG_ 479 CONTROL_ON "Set to 5 when car is being controlled"; +CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event"; +CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event"; +CM_ SG_ 479 AEB_PREPARE "set 1s before AEB"; +CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc..."; + +VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep"; + + +CM_ "Imported file _steering_sensors_a.dbc starts here"; +BO_ 330 STEERING_SENSORS: 8 EPS + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON + SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON + SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON + SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON + SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ "honda_crv_ex_2017_can.dbc starts here"; + +BO_ 401 GEARBOX: 8 PCM + SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON + SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX + SG_ GEAR2 : 31|8@0+ (1,0) [0|1] "" XXX + SG_ GEAR : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH : 47|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + +BO_ 446 BRAKE_MODULE: 3 VSA + SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX + +BO_ 1302 ODOMETER: 8 XXX + SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +CM_ SG_ 479 RELATED_TO_GAS "bits 7, 3, and 1 set to 1 when gas not applied"; +CM_ SG_ 479 GAS_BRAKE "Signed value, negative when braking and positive when applying gas"; + +VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ; +VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; +VAL_ 545 ECON_ON_2 0 "off" 3 "on" ; +VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; +VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ; diff --git a/opendbc_repo/opendbc/dbc/honda_crv_executive_2016_can_generated.dbc b/opendbc_repo/opendbc/dbc/honda_crv_executive_2016_can_generated.dbc new file mode 100644 index 0000000000..c218b19ed5 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/honda_crv_executive_2016_can_generated.dbc @@ -0,0 +1,332 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _community.dbc starts here"; +BO_ 512 GAS_COMMAND: 6 EON + SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR + SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR + SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR + +BO_ 513 GAS_SENSOR: 6 INTERCEPTOR + SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON + SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON + SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON + +VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; + + +CM_ "Imported file _honda_common.dbc starts here"; +BO_ 304 GAS_PEDAL_2: 8 PCM + SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 316 GAS_PEDAL: 8 PCM + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 344 ENGINE_DATA: 8 PCM + SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 380 POWERTRAIN_DATA: 8 PCM + SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON + SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON + SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON + SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON + SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON + SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON + SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 420 VSA_STATUS: 8 VSA + SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON + SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON + SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 427 STEER_MOTOR_TORQUE: 3 EPS + SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON + SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON + SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON + +BO_ 464 WHEEL_SPEEDS: 8 VSA + SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 490 VEHICLE_DYNAMICS: 8 VSA + SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 773 SEATBELT_STATUS: 7 BDY + SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 777 CAR_SPEED: 8 PCM + SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX + SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 780 ACC_HUD: 8 ADAS + SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY + SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY + SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY + SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF_2 : 36|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY + SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY + SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY + SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY + SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY + SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY + SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY + SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY + SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" BDY + SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY + SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY + +BO_ 804 CRUISE: 8 PCM + SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON + SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON + SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON + SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON + SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 884 STALK_STATUS: 8 XXX + SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON + SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON + SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON + SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 891 STALK_STATUS_2: 8 XXX + SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON + SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX + SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 1029 DOORS_STATUS: 8 BDY + SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON + SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 304 "Seems to be platform-agnostic"; +CM_ SG_ 316 "Should exist on Nidec"; +CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged"; +CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping"; +CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light"; +CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light"; +CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; +CM_ SG_ 780 PCM_SPEED "Used by Nidec"; +CM_ SG_ 780 PCM_GAS "Used by Nidec"; +CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed"; + +VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped"; +VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car"; +VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"; +VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off"; + + +CM_ "Imported file _nidec_common.dbc starts here"; +BO_ 145 KINEMATICS: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 148 KINEMATICS_ALT: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-20|20] "m/s2" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON + SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 487 BRAKE_PRESSURE: 4 VSA + SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + +BO_ 506 BRAKE_COMMAND: 8 ADAS + SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST_ALT : 11|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00 : 23|3@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00_2 : 19|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM + SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM + SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX + SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM + SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM + SG_ SET_ME_X00_3 : 44|1@0+ (1,0) [0|1] "" EBCM + SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM + SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX + SG_ COMPUTER_BRAKE_ALT : 55|10@0+ (1,0) [0|0] "" EBCM + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM + +BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA + SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON + SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON + SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 829 LKAS_HUD: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +BO_ 892 CRUISE_PARAMS: 8 PCM + SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event"; +CM_ SG_ 506 COMPUTER_BRAKE_ALT "Used by dual-can Nidec"; +CM_ SG_ 506 BRAKE_PUMP_REQUEST_ALT "Used by dual-can Nidec"; +CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc..."; + +VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw"; +VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime"; +VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb"; +VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep"; + +CM_ "honda_crv_executive_2016_can.dbc starts here"; + +BO_ 342 STEERING_SENSORS: 6 EPS + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON + +BO_ 399 STEER_STATUS: 6 EPS + SG_ STEER_TORQUE_SENSOR : 7|12@0- (-1,0) [-2047.5|2047.5] "tbd" EON + SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON + SG_ STEER_CONTROL_ACTIVE : 36|1@0+ (1,0) [0|1] "" EON + SG_ STEER_STATUS : 35|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON + +BO_ 419 GEARBOX: 8 PCM + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON + SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON + +BO_ 404 STEERING_CONTROL: 4 EON + SG_ STEER_TORQUE : 7|12@0- (1,0) [-768|768] "" EPS + SG_ SET_ME_X00 : 11|4@0+ (1,0) [0|15] "" EPS + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00_2 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS + SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS + +BO_ 422 SCM_BUTTONS: 8 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON + SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON + SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 660 SCM_FEEDBACK: 8 SCM + SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON + SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ; +VAL_ 419 GEAR_SHIFTER 32 "D" 8 "R" 4 "P" ; +VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ; +VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; diff --git a/opendbc_repo/opendbc/dbc/honda_crv_touring_2016_can_generated.dbc b/opendbc_repo/opendbc/dbc/honda_crv_touring_2016_can_generated.dbc new file mode 100644 index 0000000000..8b3f1b208b --- /dev/null +++ b/opendbc_repo/opendbc/dbc/honda_crv_touring_2016_can_generated.dbc @@ -0,0 +1,337 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _community.dbc starts here"; +BO_ 512 GAS_COMMAND: 6 EON + SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR + SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR + SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR + +BO_ 513 GAS_SENSOR: 6 INTERCEPTOR + SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON + SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON + SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON + +VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; + + +CM_ "Imported file _honda_common.dbc starts here"; +BO_ 304 GAS_PEDAL_2: 8 PCM + SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 316 GAS_PEDAL: 8 PCM + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 344 ENGINE_DATA: 8 PCM + SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 380 POWERTRAIN_DATA: 8 PCM + SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON + SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON + SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON + SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON + SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON + SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON + SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 420 VSA_STATUS: 8 VSA + SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON + SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON + SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 427 STEER_MOTOR_TORQUE: 3 EPS + SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON + SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON + SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON + +BO_ 464 WHEEL_SPEEDS: 8 VSA + SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 490 VEHICLE_DYNAMICS: 8 VSA + SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 773 SEATBELT_STATUS: 7 BDY + SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 777 CAR_SPEED: 8 PCM + SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX + SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 780 ACC_HUD: 8 ADAS + SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY + SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY + SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY + SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF_2 : 36|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY + SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY + SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY + SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY + SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY + SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY + SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY + SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY + SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" BDY + SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY + SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY + +BO_ 804 CRUISE: 8 PCM + SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON + SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON + SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON + SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON + SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 884 STALK_STATUS: 8 XXX + SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON + SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON + SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON + SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 891 STALK_STATUS_2: 8 XXX + SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON + SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX + SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 1029 DOORS_STATUS: 8 BDY + SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON + SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 304 "Seems to be platform-agnostic"; +CM_ SG_ 316 "Should exist on Nidec"; +CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged"; +CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping"; +CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light"; +CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light"; +CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; +CM_ SG_ 780 PCM_SPEED "Used by Nidec"; +CM_ SG_ 780 PCM_GAS "Used by Nidec"; +CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed"; + +VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped"; +VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car"; +VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"; +VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off"; + + +CM_ "Imported file _nidec_common.dbc starts here"; +BO_ 145 KINEMATICS: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 148 KINEMATICS_ALT: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-20|20] "m/s2" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON + SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 487 BRAKE_PRESSURE: 4 VSA + SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + +BO_ 506 BRAKE_COMMAND: 8 ADAS + SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST_ALT : 11|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00 : 23|3@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00_2 : 19|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM + SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM + SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX + SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM + SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM + SG_ SET_ME_X00_3 : 44|1@0+ (1,0) [0|1] "" EBCM + SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM + SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX + SG_ COMPUTER_BRAKE_ALT : 55|10@0+ (1,0) [0|0] "" EBCM + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM + +BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA + SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON + SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON + SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 829 LKAS_HUD: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +BO_ 892 CRUISE_PARAMS: 8 PCM + SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event"; +CM_ SG_ 506 COMPUTER_BRAKE_ALT "Used by dual-can Nidec"; +CM_ SG_ 506 BRAKE_PUMP_REQUEST_ALT "Used by dual-can Nidec"; +CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc..."; + +VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw"; +VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime"; +VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb"; +VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep"; + + +CM_ "Imported file _steering_sensors_b.dbc starts here"; +BO_ 342 STEERING_SENSORS: 6 EPS + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON + +CM_ "honda_crv_touring_2016_can.dbc starts here"; + +BO_ 399 STEER_STATUS: 6 EPS + SG_ STEER_TORQUE_SENSOR : 7|12@0- (-1,0) [-2047.5|2047.5] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_CONTROL_ACTIVE : 36|1@0+ (1,0) [0|1] "" EON + SG_ STEER_STATUS : 35|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON + +BO_ 401 GEARBOX: 8 PCM + SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON + SG_ GEAR : 35|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 404 STEERING_CONTROL: 4 EON + SG_ STEER_TORQUE : 7|12@0- (1,0) [-768|768] "" EPS + SG_ SET_ME_X00 : 11|4@0+ (1,0) [0|15] "" EPS + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00_2 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS + SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS + +BO_ 422 SCM_BUTTONS: 8 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON + SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON + SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 660 SCM_FEEDBACK: 8 SCM + SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON + SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 401 GEAR "10 = reverse, 11 = transition"; + +VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ; +VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ; +VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; +VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ; +VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; diff --git a/opendbc_repo/opendbc/dbc/honda_fit_ex_2018_can_generated.dbc b/opendbc_repo/opendbc/dbc/honda_fit_ex_2018_can_generated.dbc new file mode 100644 index 0000000000..05cd391c78 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/honda_fit_ex_2018_can_generated.dbc @@ -0,0 +1,347 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _community.dbc starts here"; +BO_ 512 GAS_COMMAND: 6 EON + SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR + SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR + SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR + +BO_ 513 GAS_SENSOR: 6 INTERCEPTOR + SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON + SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON + SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON + +VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; + + +CM_ "Imported file _honda_common.dbc starts here"; +BO_ 304 GAS_PEDAL_2: 8 PCM + SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 316 GAS_PEDAL: 8 PCM + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 344 ENGINE_DATA: 8 PCM + SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 380 POWERTRAIN_DATA: 8 PCM + SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON + SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON + SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON + SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON + SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON + SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON + SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 420 VSA_STATUS: 8 VSA + SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON + SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON + SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 427 STEER_MOTOR_TORQUE: 3 EPS + SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON + SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON + SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON + +BO_ 464 WHEEL_SPEEDS: 8 VSA + SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 490 VEHICLE_DYNAMICS: 8 VSA + SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 773 SEATBELT_STATUS: 7 BDY + SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 777 CAR_SPEED: 8 PCM + SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX + SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 780 ACC_HUD: 8 ADAS + SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY + SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY + SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY + SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF_2 : 36|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY + SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY + SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY + SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY + SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY + SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY + SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY + SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY + SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" BDY + SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY + SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY + +BO_ 804 CRUISE: 8 PCM + SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON + SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON + SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON + SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON + SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 884 STALK_STATUS: 8 XXX + SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON + SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON + SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON + SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 891 STALK_STATUS_2: 8 XXX + SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON + SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX + SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 1029 DOORS_STATUS: 8 BDY + SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON + SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 304 "Seems to be platform-agnostic"; +CM_ SG_ 316 "Should exist on Nidec"; +CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged"; +CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping"; +CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light"; +CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light"; +CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; +CM_ SG_ 780 PCM_SPEED "Used by Nidec"; +CM_ SG_ 780 PCM_GAS "Used by Nidec"; +CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed"; + +VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped"; +VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car"; +VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"; +VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off"; + + +CM_ "Imported file _nidec_common.dbc starts here"; +BO_ 145 KINEMATICS: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 148 KINEMATICS_ALT: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-20|20] "m/s2" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON + SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 487 BRAKE_PRESSURE: 4 VSA + SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + +BO_ 506 BRAKE_COMMAND: 8 ADAS + SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST_ALT : 11|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00 : 23|3@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00_2 : 19|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM + SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM + SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX + SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM + SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM + SG_ SET_ME_X00_3 : 44|1@0+ (1,0) [0|1] "" EBCM + SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM + SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX + SG_ COMPUTER_BRAKE_ALT : 55|10@0+ (1,0) [0|0] "" EBCM + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM + +BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA + SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON + SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON + SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 829 LKAS_HUD: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +BO_ 892 CRUISE_PARAMS: 8 PCM + SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event"; +CM_ SG_ 506 COMPUTER_BRAKE_ALT "Used by dual-can Nidec"; +CM_ SG_ 506 BRAKE_PUMP_REQUEST_ALT "Used by dual-can Nidec"; +CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc..."; + +VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw"; +VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime"; +VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb"; +VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep"; + + +CM_ "Imported file _steering_sensors_b.dbc starts here"; +BO_ 342 STEERING_SENSORS: 6 EPS + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON + +CM_ "honda_fit_ex_2018_can.dbc starts here"; + +BO_ 228 STEERING_CONTROL: 5 ADAS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS + +BO_ 399 STEER_STATUS: 7 EPS + SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON + SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 401 GEARBOX: 8 PCM + SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON + SG_ GEAR : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 422 SCM_BUTTONS: 8 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON + SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON + SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON + SG_ DRIVERS_DOOR_OPEN : 63|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 660 SCM_FEEDBACK: 8 SCM + SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON + SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 862 HIGHBEAM_CONTROL: 8 ADAS + SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY + SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX + SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX + SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +CM_ SG_ 401 GEAR "10 = reverse, 11 = transition"; + +VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ; +VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ; +VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; +VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ; +VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; diff --git a/opendbc_repo/opendbc/dbc/honda_fit_hybrid_2018_can_generated.dbc b/opendbc_repo/opendbc/dbc/honda_fit_hybrid_2018_can_generated.dbc new file mode 100644 index 0000000000..3ada5c74f0 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/honda_fit_hybrid_2018_can_generated.dbc @@ -0,0 +1,361 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _community.dbc starts here"; +BO_ 512 GAS_COMMAND: 6 EON + SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR + SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR + SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR + +BO_ 513 GAS_SENSOR: 6 INTERCEPTOR + SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON + SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON + SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON + +VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; + + +CM_ "Imported file _honda_common.dbc starts here"; +BO_ 304 GAS_PEDAL_2: 8 PCM + SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 316 GAS_PEDAL: 8 PCM + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 344 ENGINE_DATA: 8 PCM + SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 380 POWERTRAIN_DATA: 8 PCM + SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON + SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON + SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON + SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON + SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON + SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON + SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 420 VSA_STATUS: 8 VSA + SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON + SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON + SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 427 STEER_MOTOR_TORQUE: 3 EPS + SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON + SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON + SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON + +BO_ 464 WHEEL_SPEEDS: 8 VSA + SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 490 VEHICLE_DYNAMICS: 8 VSA + SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 773 SEATBELT_STATUS: 7 BDY + SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 777 CAR_SPEED: 8 PCM + SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX + SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 780 ACC_HUD: 8 ADAS + SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY + SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY + SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY + SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF_2 : 36|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY + SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY + SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY + SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY + SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY + SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY + SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY + SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY + SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" BDY + SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY + SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY + +BO_ 804 CRUISE: 8 PCM + SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON + SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON + SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON + SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON + SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 884 STALK_STATUS: 8 XXX + SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON + SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON + SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON + SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 891 STALK_STATUS_2: 8 XXX + SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON + SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX + SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 1029 DOORS_STATUS: 8 BDY + SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON + SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 304 "Seems to be platform-agnostic"; +CM_ SG_ 316 "Should exist on Nidec"; +CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged"; +CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping"; +CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light"; +CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light"; +CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; +CM_ SG_ 780 PCM_SPEED "Used by Nidec"; +CM_ SG_ 780 PCM_GAS "Used by Nidec"; +CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed"; + +VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped"; +VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car"; +VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"; +VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off"; + + +CM_ "Imported file _nidec_common.dbc starts here"; +BO_ 145 KINEMATICS: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 148 KINEMATICS_ALT: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-20|20] "m/s2" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON + SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 487 BRAKE_PRESSURE: 4 VSA + SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + +BO_ 506 BRAKE_COMMAND: 8 ADAS + SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST_ALT : 11|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00 : 23|3@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00_2 : 19|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM + SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM + SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX + SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM + SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM + SG_ SET_ME_X00_3 : 44|1@0+ (1,0) [0|1] "" EBCM + SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM + SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX + SG_ COMPUTER_BRAKE_ALT : 55|10@0+ (1,0) [0|0] "" EBCM + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM + +BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA + SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON + SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON + SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 829 LKAS_HUD: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +BO_ 892 CRUISE_PARAMS: 8 PCM + SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event"; +CM_ SG_ 506 COMPUTER_BRAKE_ALT "Used by dual-can Nidec"; +CM_ SG_ 506 BRAKE_PUMP_REQUEST_ALT "Used by dual-can Nidec"; +CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc..."; + +VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw"; +VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime"; +VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb"; +VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep"; + +CM_ "honda_fit_hybrid_2018_can.dbc starts here"; + +BO_ 228 STEERING_CONTROL: 5 ADAS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS + +BO_ 342 STEERING_SENSORS: 6 EPS + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON + +BO_ 399 STEER_STATUS: 7 EPS + SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON + SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 419 GEARBOX: 8 PCM + SG_ GEAR : 7|8@0+ (1,0) [0|256] "" EON + SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 422 SCM_BUTTONS: 8 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON + SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON + SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 545 ECON_STATUS: 5 XXX + SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" EON + SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EON + +BO_ 660 SCM_FEEDBACK: 8 SCM + SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON + SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 862 HIGHBEAM_CONTROL: 8 ADAS + SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY + SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX + SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX + SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 927 RADAR_HUD: 8 ADAS + SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY + SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY + SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY + SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY + SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY + SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY + SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY + SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY + SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY + +CM_ SG_ 419 GEAR "10 = reverse, 11 = transition"; + +VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ; +VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; +VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ; +VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; diff --git a/opendbc_repo/opendbc/dbc/honda_insight_ex_2019_can_generated.dbc b/opendbc_repo/opendbc/dbc/honda_insight_ex_2019_can_generated.dbc new file mode 100644 index 0000000000..ccbf25bfc7 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/honda_insight_ex_2019_can_generated.dbc @@ -0,0 +1,484 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _honda_common.dbc starts here"; +BO_ 304 GAS_PEDAL_2: 8 PCM + SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 316 GAS_PEDAL: 8 PCM + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 344 ENGINE_DATA: 8 PCM + SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 380 POWERTRAIN_DATA: 8 PCM + SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON + SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON + SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON + SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON + SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON + SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON + SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 420 VSA_STATUS: 8 VSA + SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON + SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON + SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 427 STEER_MOTOR_TORQUE: 3 EPS + SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON + SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON + SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON + +BO_ 464 WHEEL_SPEEDS: 8 VSA + SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 490 VEHICLE_DYNAMICS: 8 VSA + SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 773 SEATBELT_STATUS: 7 BDY + SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 777 CAR_SPEED: 8 PCM + SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX + SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 780 ACC_HUD: 8 ADAS + SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY + SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY + SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY + SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF_2 : 36|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY + SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY + SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY + SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY + SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY + SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY + SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY + SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY + SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" BDY + SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY + SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY + +BO_ 804 CRUISE: 8 PCM + SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON + SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON + SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON + SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON + SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 884 STALK_STATUS: 8 XXX + SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON + SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON + SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON + SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 891 STALK_STATUS_2: 8 XXX + SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON + SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX + SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 1029 DOORS_STATUS: 8 BDY + SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON + SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 304 "Seems to be platform-agnostic"; +CM_ SG_ 316 "Should exist on Nidec"; +CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged"; +CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping"; +CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light"; +CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light"; +CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; +CM_ SG_ 780 PCM_SPEED "Used by Nidec"; +CM_ SG_ 780 PCM_GAS "Used by Nidec"; +CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed"; + +VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped"; +VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car"; +VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"; +VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off"; + + +CM_ "Imported file _bosch_2018.dbc starts here"; +BO_ 148 KINEMATICS: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +BO_ 228 STEERING_CONTROL: 5 EON + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS + SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS + +BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX + SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 232 BRAKE_HOLD: 7 XXX + SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX + SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX + SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX + +BO_ 399 STEER_STATUS: 7 EPS + SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON + SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + +BO_ 450 EPB_STATUS: 8 EPB + SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON + SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 545 XXX_16: 6 SCM + SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX + SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY + +BO_ 576 LEFT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 577 LEFT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 579 RIGHT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 580 RIGHT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA + SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON + SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON + SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 662 SCM_BUTTONS: 4 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON + +BO_ 806 SCM_FEEDBACK: 8 SCM + SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX + SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON + SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON + SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 862 CAMERA_MESSAGES: 8 CAM + SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY + SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX + SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX + SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 927 RADAR_HUD: 8 RADAR + SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY + SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY + SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX + SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY + SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX + SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY + SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX + SG_ HUD_LEAD : 40|1@0+ (1,0) [0|1] "" XXX + SG_ SET_TO_64 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH3 : 47|7@0+ (1,0) [0|127] "" XXX + SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 13274 LKAS_HUD_A: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +BO_ 13275 LKAS_HUD_B: 8 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY + +CM_ SG_ 450 EPB_STATE "3: On, 2: Disengaging, 1: Engaging, 0: Off"; +CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded"; +CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded"; +CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded"; +CM_ SG_ 577 LINE_DASHED "1 = line is dashed"; +CM_ SG_ 577 LINE_SOLID "1 = line is solid"; + +VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal"; + + +CM_ "Imported file _bosch_adas_2018.dbc starts here"; +BO_ 479 ACC_CONTROL: 8 EON + SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX + SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX + SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX + SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX + SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX + SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX + SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 495 ACC_CONTROL_ON: 8 XXX + SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX + SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 829 LKAS_HUD: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +CM_ SG_ 479 CONTROL_ON "Set to 5 when car is being controlled"; +CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event"; +CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event"; +CM_ SG_ 479 AEB_PREPARE "set 1s before AEB"; +CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc..."; + +VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep"; + + +CM_ "Imported file _steering_sensors_a.dbc starts here"; +BO_ 330 STEERING_SENSORS: 8 EPS + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON + SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON + SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON + SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON + SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ "honda_insight_ex_2019_can.dbc starts here"; + +BO_ 419 GEARBOX: 8 PCM + SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON + SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ BRAKE_ERROR_1 : 13|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 12|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + +VAL_ 419 GEAR 10 "R" 1 "D" 0 "P"; +VAL_ 419 GEAR_SHIFTER 32 "D" 16 "N" 8 "R" 4 "P"; diff --git a/opendbc_repo/opendbc/dbc/honda_odyssey_exl_2018_generated.dbc b/opendbc_repo/opendbc/dbc/honda_odyssey_exl_2018_generated.dbc new file mode 100644 index 0000000000..1dd222ed97 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/honda_odyssey_exl_2018_generated.dbc @@ -0,0 +1,374 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _community.dbc starts here"; +BO_ 512 GAS_COMMAND: 6 EON + SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR + SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR + SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR + +BO_ 513 GAS_SENSOR: 6 INTERCEPTOR + SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON + SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON + SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON + +VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; + + +CM_ "Imported file _honda_common.dbc starts here"; +BO_ 304 GAS_PEDAL_2: 8 PCM + SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 316 GAS_PEDAL: 8 PCM + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 344 ENGINE_DATA: 8 PCM + SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 380 POWERTRAIN_DATA: 8 PCM + SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON + SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON + SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON + SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON + SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON + SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON + SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 420 VSA_STATUS: 8 VSA + SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON + SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON + SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 427 STEER_MOTOR_TORQUE: 3 EPS + SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON + SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON + SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON + +BO_ 464 WHEEL_SPEEDS: 8 VSA + SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 490 VEHICLE_DYNAMICS: 8 VSA + SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 773 SEATBELT_STATUS: 7 BDY + SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 777 CAR_SPEED: 8 PCM + SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX + SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 780 ACC_HUD: 8 ADAS + SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY + SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY + SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY + SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF_2 : 36|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY + SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY + SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY + SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY + SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY + SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY + SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY + SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY + SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" BDY + SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY + SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY + +BO_ 804 CRUISE: 8 PCM + SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON + SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON + SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON + SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON + SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 884 STALK_STATUS: 8 XXX + SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON + SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON + SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON + SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 891 STALK_STATUS_2: 8 XXX + SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON + SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX + SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 1029 DOORS_STATUS: 8 BDY + SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON + SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 304 "Seems to be platform-agnostic"; +CM_ SG_ 316 "Should exist on Nidec"; +CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged"; +CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping"; +CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light"; +CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light"; +CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; +CM_ SG_ 780 PCM_SPEED "Used by Nidec"; +CM_ SG_ 780 PCM_GAS "Used by Nidec"; +CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed"; + +VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped"; +VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car"; +VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"; +VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off"; + + +CM_ "Imported file _nidec_common.dbc starts here"; +BO_ 145 KINEMATICS: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 148 KINEMATICS_ALT: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-20|20] "m/s2" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON + SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 487 BRAKE_PRESSURE: 4 VSA + SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + +BO_ 506 BRAKE_COMMAND: 8 ADAS + SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST_ALT : 11|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00 : 23|3@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00_2 : 19|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM + SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM + SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX + SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM + SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM + SG_ SET_ME_X00_3 : 44|1@0+ (1,0) [0|1] "" EBCM + SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM + SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX + SG_ COMPUTER_BRAKE_ALT : 55|10@0+ (1,0) [0|0] "" EBCM + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM + +BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA + SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON + SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON + SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 829 LKAS_HUD: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +BO_ 892 CRUISE_PARAMS: 8 PCM + SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event"; +CM_ SG_ 506 COMPUTER_BRAKE_ALT "Used by dual-can Nidec"; +CM_ SG_ 506 BRAKE_PUMP_REQUEST_ALT "Used by dual-can Nidec"; +CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc..."; + +VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw"; +VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime"; +VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb"; +VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep"; + + +CM_ "Imported file _steering_sensors_b.dbc starts here"; +BO_ 342 STEERING_SENSORS: 6 EPS + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON + +CM_ "honda_odyssey_exl_2018.dbc starts here"; + +BO_ 228 STEERING_CONTROL: 5 ADAS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EPS + +BO_ 399 STEER_STATUS: 7 EPS + SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON + SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 419 GEARBOX: 8 PCM + SG_ GEAR : 7|8@0+ (1,0) [0|256] "" EON + SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 450 EPB_STATUS: 8 XXX + SG_ EPB_BRAKE_AND_PULL : 6|1@0+ (1,0) [0|1] "" XXX + SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX + SG_ EPB_STATE : 29|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 662 SCM_BUTTONS: 4 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + +BO_ 806 SCM_FEEDBACK: 8 SCM + SG_ CMBS_BUTTON : 22|2@0+ (1,0) [0|3] "" EON + SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON + SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON + SG_ REVERSE_LIGHT : 18|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 862 HIGHBEAM_CONTROL: 8 ADAS + SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY + SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX + SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX + SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 927 RADAR_HUD: 8 ADAS + SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY + SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY + SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY + SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY + SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY + SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY + SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY + SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY + SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY + +BO_ 1302 ODOMETER: 8 XXX + SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +CM_ SG_ 419 GEAR "10 = reverse, 11 = transition"; +CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; +CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights"; + +VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ; +VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; +VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ; +VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; +VAL_ 780 HUD_LEAD 3 "no_car" 2 "solid_car" 1 "dashed_car" 0 "no_car" ; +VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ; +VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ; diff --git a/opendbc_repo/opendbc/dbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc b/opendbc_repo/opendbc/dbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc new file mode 100644 index 0000000000..b109a70b62 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc @@ -0,0 +1,355 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _community.dbc starts here"; +BO_ 512 GAS_COMMAND: 6 EON + SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR + SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR + SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR + +BO_ 513 GAS_SENSOR: 6 INTERCEPTOR + SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON + SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON + SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON + +VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; + + +CM_ "Imported file _honda_common.dbc starts here"; +BO_ 304 GAS_PEDAL_2: 8 PCM + SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 316 GAS_PEDAL: 8 PCM + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 344 ENGINE_DATA: 8 PCM + SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 380 POWERTRAIN_DATA: 8 PCM + SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON + SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON + SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON + SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON + SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON + SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON + SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 420 VSA_STATUS: 8 VSA + SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON + SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON + SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 427 STEER_MOTOR_TORQUE: 3 EPS + SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON + SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON + SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON + +BO_ 464 WHEEL_SPEEDS: 8 VSA + SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 490 VEHICLE_DYNAMICS: 8 VSA + SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 773 SEATBELT_STATUS: 7 BDY + SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 777 CAR_SPEED: 8 PCM + SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX + SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 780 ACC_HUD: 8 ADAS + SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY + SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY + SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY + SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF_2 : 36|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY + SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY + SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY + SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY + SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY + SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY + SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY + SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY + SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" BDY + SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY + SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY + +BO_ 804 CRUISE: 8 PCM + SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON + SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON + SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON + SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON + SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 884 STALK_STATUS: 8 XXX + SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON + SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON + SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON + SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 891 STALK_STATUS_2: 8 XXX + SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON + SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX + SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 1029 DOORS_STATUS: 8 BDY + SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON + SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 304 "Seems to be platform-agnostic"; +CM_ SG_ 316 "Should exist on Nidec"; +CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged"; +CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping"; +CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light"; +CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light"; +CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; +CM_ SG_ 780 PCM_SPEED "Used by Nidec"; +CM_ SG_ 780 PCM_GAS "Used by Nidec"; +CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed"; + +VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped"; +VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car"; +VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"; +VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off"; + + +CM_ "Imported file _nidec_common.dbc starts here"; +BO_ 145 KINEMATICS: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 148 KINEMATICS_ALT: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-20|20] "m/s2" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON + SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 487 BRAKE_PRESSURE: 4 VSA + SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + +BO_ 506 BRAKE_COMMAND: 8 ADAS + SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST_ALT : 11|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00 : 23|3@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00_2 : 19|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM + SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM + SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX + SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM + SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM + SG_ SET_ME_X00_3 : 44|1@0+ (1,0) [0|1] "" EBCM + SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM + SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX + SG_ COMPUTER_BRAKE_ALT : 55|10@0+ (1,0) [0|0] "" EBCM + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM + +BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA + SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON + SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON + SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 829 LKAS_HUD: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +BO_ 892 CRUISE_PARAMS: 8 PCM + SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event"; +CM_ SG_ 506 COMPUTER_BRAKE_ALT "Used by dual-can Nidec"; +CM_ SG_ 506 BRAKE_PUMP_REQUEST_ALT "Used by dual-can Nidec"; +CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc..."; + +VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw"; +VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime"; +VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb"; +VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep"; + +CM_ "honda_odyssey_extreme_edition_2018_china_can.dbc starts here"; + +BO_ 342 STEERING_SENSORS: 6 EPS + SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + +BO_ 399 STEER_STATUS: 7 EPS + SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-2985|2985] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 43|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON + SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + +BO_ 401 GEARBOX: 8 PCM + SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON + SG_ GEAR : 35|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 404 STEERING_CONTROL: 4 EON + SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS + SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS + SG_ STEER_TORQUE : 7|16@0- (-1,0) [-32767|32767] "" EPS + +BO_ 422 SCM_BUTTONS: 8 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON + SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON + SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON + SG_ DRIVERS_DOOR_OPEN : 63|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 450 EPB_STATUS: 8 XXX + SG_ EPB_BRAKE_AND_PULL : 6|1@0+ (1,0) [0|1] "" XXX + SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX + SG_ EPB_STATE : 29|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 660 SCM_FEEDBACK: 8 SCM + SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON + SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 862 HIGHBEAM_CONTROL: 8 ADAS + SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY + SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX + SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX + SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 1302 ODOMETER: 8 XXX + SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +CM_ SG_ 401 GEAR "10 = reverse, 11 = transition"; +VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ; +VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ; +VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; +VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ; +VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; diff --git a/opendbc_repo/opendbc/dbc/honda_pilot_2023_can_generated.dbc b/opendbc_repo/opendbc/dbc/honda_pilot_2023_can_generated.dbc new file mode 100644 index 0000000000..91686e80b0 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/honda_pilot_2023_can_generated.dbc @@ -0,0 +1,495 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _honda_common.dbc starts here"; +BO_ 304 GAS_PEDAL_2: 8 PCM + SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 316 GAS_PEDAL: 8 PCM + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 344 ENGINE_DATA: 8 PCM + SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 380 POWERTRAIN_DATA: 8 PCM + SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON + SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON + SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON + SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON + SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON + SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON + SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 420 VSA_STATUS: 8 VSA + SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON + SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON + SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 427 STEER_MOTOR_TORQUE: 3 EPS + SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON + SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON + SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON + +BO_ 464 WHEEL_SPEEDS: 8 VSA + SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 490 VEHICLE_DYNAMICS: 8 VSA + SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 773 SEATBELT_STATUS: 7 BDY + SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 777 CAR_SPEED: 8 PCM + SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX + SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 780 ACC_HUD: 8 ADAS + SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY + SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY + SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY + SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF_2 : 36|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY + SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY + SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY + SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY + SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY + SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY + SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY + SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY + SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" BDY + SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY + SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY + +BO_ 804 CRUISE: 8 PCM + SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON + SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON + SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON + SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON + SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 884 STALK_STATUS: 8 XXX + SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON + SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON + SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON + SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 891 STALK_STATUS_2: 8 XXX + SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON + SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX + SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 1029 DOORS_STATUS: 8 BDY + SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON + SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 304 "Seems to be platform-agnostic"; +CM_ SG_ 316 "Should exist on Nidec"; +CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged"; +CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping"; +CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light"; +CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light"; +CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; +CM_ SG_ 780 PCM_SPEED "Used by Nidec"; +CM_ SG_ 780 PCM_GAS "Used by Nidec"; +CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed"; + +VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped"; +VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car"; +VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"; +VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off"; + + +CM_ "Imported file _bosch_2018.dbc starts here"; +BO_ 148 KINEMATICS: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +BO_ 228 STEERING_CONTROL: 5 EON + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS + SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS + +BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX + SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 232 BRAKE_HOLD: 7 XXX + SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX + SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX + SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX + +BO_ 399 STEER_STATUS: 7 EPS + SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON + SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + +BO_ 450 EPB_STATUS: 8 EPB + SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON + SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 545 XXX_16: 6 SCM + SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX + SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY + +BO_ 576 LEFT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 577 LEFT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 579 RIGHT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 580 RIGHT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA + SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON + SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON + SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 662 SCM_BUTTONS: 4 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON + +BO_ 806 SCM_FEEDBACK: 8 SCM + SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX + SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON + SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON + SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 862 CAMERA_MESSAGES: 8 CAM + SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY + SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX + SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX + SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 927 RADAR_HUD: 8 RADAR + SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY + SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY + SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX + SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY + SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX + SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY + SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX + SG_ HUD_LEAD : 40|1@0+ (1,0) [0|1] "" XXX + SG_ SET_TO_64 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH3 : 47|7@0+ (1,0) [0|127] "" XXX + SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 13274 LKAS_HUD_A: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +BO_ 13275 LKAS_HUD_B: 8 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY + +CM_ SG_ 450 EPB_STATE "3: On, 2: Disengaging, 1: Engaging, 0: Off"; +CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded"; +CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded"; +CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded"; +CM_ SG_ 577 LINE_DASHED "1 = line is dashed"; +CM_ SG_ 577 LINE_SOLID "1 = line is solid"; + +VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal"; + + +CM_ "Imported file _steering_sensors_a.dbc starts here"; +BO_ 330 STEERING_SENSORS: 8 EPS + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON + SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON + SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON + SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON + SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ "honda_pilot_2023_can.dbc starts here"; + +BO_ 419 GEARBOX: 8 XXX + SG_ GEAR_SHIFTER : 24|8@1+ (1,0) [0|255] "" XXX + SG_ GEAR : 32|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 432 STANDSTILL: 7 VSA + SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + +BO_ 446 BRAKE_MODULE: 3 VSA + SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX + +BO_ 479 ACC_CONTROL: 8 EON + SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX + SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX + SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX + SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX + SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX + SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX + SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 495 ACC_CONTROL_ON: 8 XXX + SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX + SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 829 LKAS_HUD: 8 XXX + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" XXX + SG_ BOH : 6|7@0+ (1,0) [0|127] "" XXX + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" XXX + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" XXX + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" XXX + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" XXX + SG_ DTC : 13|1@0+ (1,0) [0|1] "" XXX + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" XXX + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" XXX + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" XXX + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" XXX + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" XXX + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" XXX + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" XXX + SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ LANE_LINES : 36|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 1302 ODOMETER: 8 XXX + SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +CM_ SG_ 479 CONTROL_ON "Set to 5 when car is being controlled"; +CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event"; +CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event"; +CM_ SG_ 479 AEB_PREPARE "set 1s before AEB"; +CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnings etc..."; +CM_ SG_ 829 LANE_LINES "related to lane lines on cluster, left/right white/green"; + +VAL_ 419 GEAR_SHIFTER 2 "S" 32 "D" 16 "N" 8 "R" 4 "P"; +VAL_ 419 GEAR 26 "S" 20 "D" 19 "N" 18 "R" 17 "P"; +VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep"; +VAL_ 829 LANE_LINES 7 "both_lines_green" 6 "both_lines_white" 2 "left_line_white" 0 "no_lines"; diff --git a/opendbc_repo/opendbc/dbc/hyundai_2015_ccan.dbc b/opendbc_repo/opendbc/dbc/hyundai_2015_ccan.dbc new file mode 100644 index 0000000000..fc1e173907 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/hyundai_2015_ccan.dbc @@ -0,0 +1,1416 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: IAP ODS _4WD BCM HUD DATC MDPS AAF_Tester AEMC SMK _4WD EPB CUBIS MTS TMU EVP CGW TPMS LPI DI_BOX SPAS EMS LCA TCU IBOX FATC AFLS FPCM SCC AHLS AVM ABS SNV OPI PGS SAS AAF Dummy LDWS_LKAS LVR ESC PSB CLU ECS ACU REA + +BO_ 1532 ODS13: 5 ODS + SG_ CR_Ods_ID : 0|8@1+ (1.0,0.0) [0.0|255.0] "" ACU + SG_ CR_Ods_Chksum_H : 8|8@1+ (1.0,0.0) [0.0|255.0] "" Dummy + SG_ CR_Ods_Chksum_L : 16|8@1+ (1.0,0.0) [0.0|255.0] "" Dummy + SG_ CR_Ods_RomID_H : 24|8@1+ (1.0,0.0) [0.0|255.0] "" Dummy + SG_ CR_Ods_RomID_L : 32|8@1+ (1.0,0.0) [0.0|255.0] "" Dummy + +BO_ 1531 ODS12: 8 ODS + SG_ CR_Ods_SerNum0 : 0|8@1+ (1.0,0.0) [0.0|255.0] "" ACU + SG_ CR_Ods_SerNum1 : 8|8@1+ (1.0,0.0) [0.0|255.0] "" ACU + SG_ CR_Ods_SerNum2 : 16|8@1+ (1.0,0.0) [0.0|255.0] "" ACU + SG_ CR_Ods_SerNum3 : 24|8@1+ (1.0,0.0) [0.0|255.0] "" ACU + SG_ CR_Ods_SerNum4 : 32|8@1+ (1.0,0.0) [0.0|255.0] "" ACU + SG_ CR_Ods_SerNum5 : 40|8@1+ (1.0,0.0) [0.0|255.0] "" ACU + SG_ CR_Ods_SerNum6 : 48|8@1+ (1.0,0.0) [0.0|255.0] "" ACU + SG_ CR_Ods_SerNum7 : 56|8@1+ (1.0,0.0) [0.0|255.0] "" ACU + +BO_ 1530 ODS11: 8 ODS + SG_ CF_Ods_PrcCmd : 1|1@1+ (1.0,0.0) [0.0|1.0] "" Dummy + SG_ CF_Ods_BtsFail : 3|1@1+ (1.0,0.0) [0.0|1.0] "" Dummy + SG_ CF_Ods_AcuRcvSN : 4|1@1+ (1.0,0.0) [0.0|1.0] "" ACU + SG_ CF_Ods_EolCal : 5|1@1+ (1.0,0.0) [0.0|1.0] "" ACU + SG_ CF_Ods_PsFail : 6|1@1+ (1.0,0.0) [0.0|1.0] "" ACU + SG_ CF_Ods_EcuFail : 7|1@1+ (1.0,0.0) [0.0|1.0] "" ACU + SG_ CF_Ods_WgtStat : 8|1@1+ (1.0,0.0) [0.0|1.0] "" ACU + SG_ CF_Ods_OccStat : 16|1@1+ (1.0,0.0) [0.0|1.0] "" ACU + SG_ CR_Wcs_ErrStat : 32|8@1+ (1.0,0.0) [0.0|63.0] "" ACU + SG_ CR_Wcs_ClassStat : 40|8@1+ (1.0,0.0) [0.0|4.0] "" ACU,BCM + +BO_ 1017 ECS12: 4 ECS + SG_ Height_FL : 0|8@1+ (1.0,-128.0) [-128.0|127.0] "mm" AFLS + SG_ Height_FR : 8|8@1+ (1.0,-128.0) [-128.0|127.0] "mm" AFLS + SG_ Height_RL : 16|8@1+ (1.0,-128.0) [-128.0|127.0] "mm" AFLS + SG_ Height_RR : 24|8@1+ (1.0,-128.0) [-128.0|127.0] "mm" AFLS + +BO_ 1268 SPAS12: 8 SPAS + SG_ CF_Spas_HMI_Stat : 0|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ CF_Spas_Disp : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,EMS + SG_ CF_Spas_FIL_Ind : 10|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_FIR_Ind : 13|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_FOL_Ind : 16|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_FOR_Ind : 19|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_VolDown : 22|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Spas_RIL_Ind : 24|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_RIR_Ind : 27|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_FLS_Alarm : 30|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Spas_ROL_Ind : 32|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_ROR_Ind : 35|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_FCS_Alarm : 38|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Spas_FI_Ind : 40|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_RI_Ind : 43|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_FRS_Alarm : 46|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Spas_FR_Alarm : 48|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU + SG_ CF_Spas_RR_Alarm : 50|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU + SG_ CF_Spas_BEEP_Alarm : 52|4@1+ (1.0,0.0) [0.0|15.0] "" BCM,CLU + SG_ CF_Spas_StatAlarm : 56|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Spas_RLS_Alarm : 57|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Spas_RCS_Alarm : 59|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Spas_RRS_Alarm : 61|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1265 CLU11: 4 CLU + SG_ CF_Clu_CruiseSwState : 0|3@1+ (1.0,0.0) [0.0|7.0] "" EMS,LDWS_LKAS,SCC + SG_ CF_Clu_CruiseSwMain : 3|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,LDWS_LKAS,SCC + SG_ CF_Clu_SldMainSW : 4|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Clu_ParityBit1 : 5|1@1+ (1.0,0.0) [0.0|1.0] "pulse count" EMS + SG_ CF_Clu_VanzDecimal : 6|2@1+ (0.125,0.0) [0.0|0.375] "" EMS + SG_ CF_Clu_Vanz : 8|9@1+ (0.5,0.0) [0.0|255.5] "km/h or MPH" BCM,CUBIS,EMS,IBOX,LDWS_LKAS,MDPS,SCC + SG_ CF_Clu_SPEED_UNIT : 17|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CUBIS,EMS,IBOX,LDWS_LKAS,MDPS,SCC + SG_ CF_Clu_DetentOut : 18|1@1+ (1.0,0.0) [0.0|1.0] "" AVM,BCM,LCA,PGS,SPAS + SG_ CF_Clu_RheostatLevel : 19|5@1+ (1.0,0.0) [0.0|31.0] "" AVM,BCM,LCA,PGS,SPAS + SG_ CF_Clu_CluInfo : 24|1@1+ (1.0,0.0) [0.0|1.0] "" BCM + SG_ CF_Clu_AmpInfo : 25|1@1+ (1.0,0.0) [0.0|1.0] "" BCM + SG_ CF_Clu_AliveCnt1 : 28|4@1+ (1.0,0.0) [0.0|15.0] "" AHLS,EMS,EPB,LDWS_LKAS,MDPS,SCC + +BO_ 1492 TMU_GW_PE_01: 8 CLU + SG_ TMU_IVRActivity : 0|2@1+ (1.0,0.0) [0.0|3.0] "" DATC + SG_ TMU_PhoneActivity : 2|2@1+ (1.0,0.0) [0.0|3.0] "" DATC + +BO_ 1491 HU_DATC_PE_00: 8 CLU + SG_ HU_VRActivity : 0|2@1+ (1.0,0.0) [0.0|3.0] "" DATC + SG_ HU_PhoneActivity : 2|2@1+ (1.0,0.0) [0.0|3.0] "" DATC + SG_ BlowerNoiseControl : 4|2@1+ (1.0,0.0) [0.0|3.0] "" DATC + +BO_ 1490 HU_DATC_E_02: 8 CLU + SG_ HU_DATC_RearOnOffSet : 6|2@1+ (1.0,0.0) [0.0|3.0] "" DATC + SG_ HU_DATC_ADSOnOffSet : 8|2@1+ (1.0,0.0) [0.0|3.0] "" DATC + +BO_ 1479 EMS21: 8 EMS + SG_ SCR_LEVEL_WARN_LAMP : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ SCR_LEVEL_WARN : 1|3@1+ (1.0,0.0) [0.0|4.0] "" CLU + SG_ SCR_SYS_ERROR_WARN : 4|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ SCR_SYSTEM_WARN_LAMP : 7|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ SCR_INDUCEMENT_EXIT_COND : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ SCR_UREA_LEVEL : 16|8@1+ (0.5,0.0) [0.0|100.0] "%" CLU + SG_ SCR_NO_REMAINING_RESTARTS : 24|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ SCR_REMAINING_DISTANCE : 32|16@1+ (1.0,0.0) [0.0|25000.0] "km" CLU + +BO_ 1472 GW_Warning_PE: 8 BCM + SG_ Audio_VolumeDown : 38|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ Pas_Spkr_Flh_Alarm : 48|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ Pas_Spkr_Fcnt_Alarm : 50|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ Pas_Spkr_Frh_Alarm : 52|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ Pas_Spkr_Rlh_Alarm : 56|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,PGS + SG_ Pas_Spkr_Rcnt_Alarm : 58|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ Pas_Spkr_Rrh_Alarm : 60|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,PGS + +BO_ 1984 CAL_SAS11: 2 ESC + SG_ CCW : 0|4@1+ (1.0,0.0) [0.0|15.0] "" SAS + SG_ SAS_CID : 4|11@1+ (1.0,0.0) [0.0|2047.0] "" SAS + +BO_ 1456 CLU12: 4 CLU + SG_ CF_Clu_Odometer : 0|24@1+ (0.1,0.0) [0.0|1677721.4] "km" _4WD,AAF,BCM,CUBIS,EMS,EPB,IBOX,LDWS_LKAS,SCC,TPMS + +BO_ 688 SAS11: 5 MDPS + SG_ SAS_Angle : 0|16@1- (0.1,0.0) [-3276.8|3276.7] "Deg" _4WD,ACU,AFLS,AVM,CLU,ECS,EMS,ESC,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SPAS,TCU,_4WD,ACU,AFLS,AVM,BCM,CLU,ECS,EMS,ESC,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SPAS,TCU + SG_ SAS_Speed : 16|8@1+ (4.0,0.0) [0.0|1016.0] "" AFLS,ECS,ESC,IBOX,LDWS_LKAS,SCC,SPAS,TCU,AFLS,ECS,ESC,IBOX,LDWS_LKAS,SCC,SPAS,TCU + SG_ SAS_Stat : 24|8@1+ (1.0,0.0) [0.0|255.0] "" ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,TCU,ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,TCU + SG_ MsgCount : 32|4@1+ (1.0,0.0) [0.0|15.0] "" ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS + SG_ CheckSum : 36|4@1+ (1.0,0.0) [0.0|15.0] "" ECS,EMS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,ECS,EMS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS + +BO_ 1441 ACU12: 8 ACU + SG_ CR_Acu_SN : 0|64@1+ (1.0,0.0) [0.0|0.0] "" ODS + +BO_ 1440 ACU11: 8 ACU + SG_ CF_Ods_SNRcv : 1|1@1+ (1.0,0.0) [0.0|1.0] "" ODS + SG_ CF_Ods_IDRcv : 2|1@1+ (1.0,0.0) [0.0|1.0] "" ODS + SG_ CF_Ods_RZReq : 4|1@1+ (1.0,0.0) [0.0|1.0] "" ODS + SG_ CF_Abg_DepInhEnt : 6|1@1+ (1.0,0.0) [0.0|1.0] "" ODS + SG_ CF_Abg_DepEnt : 7|1@1+ (1.0,0.0) [0.0|1.0] "" ODS + SG_ CF_PasBkl_FltStat : 28|1@1+ (1.0,0.0) [0.0|1.0] "" ODS,PSB + SG_ CF_DriBkl_FltStat : 29|1@1+ (1.0,0.0) [0.0|1.0] "" ODS,PSB + SG_ CF_PasBkl_Stat : 30|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,ODS,PSB,TMU + SG_ CF_DriBkl_Stat : 31|1@1+ (1.0,0.0) [0.0|1.0] "" ODS,PSB + SG_ CF_SWL_Ind : 32|2@1+ (1.0,0.0) [0.0|3.0] "" CUBIS,IBOX + SG_ CF_Acu_FltStat : 34|2@1+ (1.0,0.0) [0.0|3.0] "" CUBIS,IBOX + SG_ CF_Acu_ExtOfSab : 36|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU,CUBIS,IBOX + SG_ CF_Acu_Dtc : 40|16@1+ (1.0,0.0) [0.0|65535.0] "" CUBIS,IBOX + SG_ CF_Acu_NumOfFlt : 56|8@1+ (1.0,0.0) [0.0|255.0] "" CUBIS,IBOX + +BO_ 1437 AHLS11: 8 AHLS + SG_ CF_Ahls_WarnLamp : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Ahls_WarnMsg : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1434 PSB11: 2 PSB + SG_ PSB_LH_FAIL : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ PSB_LH_TGL : 2|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ PSB_LH_ACT : 3|4@1+ (1.0,0.0) [0.0|4.0] "" Dummy + SG_ PSB_RH_FAIL : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ PSB_RH_TGL : 10|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ PSB_RH_ACT : 11|4@1+ (1.0,0.0) [0.0|4.0] "" Dummy + +BO_ 916 TCS13: 8 ESC + SG_ aBasis : 0|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" EMS,SCC + SG_ BrakeLight : 11|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,SCC + SG_ DCEnable : 12|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,SCC + SG_ AliveCounterTCS : 13|3@1+ (1.0,0.0) [0.0|7.0] "" EMS,SCC + SG_ ACCReqLim : 22|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,SCC + SG_ TQI_ACC : 24|8@1+ (0.390625,0.0) [0.0|99.609375] "%" EMS + SG_ ACCEL_REF_ACC : 32|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" EMS,SCC + SG_ ACCEnable : 43|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,SCC + SG_ DriverOverride : 45|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,SCC + SG_ StandStill : 47|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,SCC + SG_ CheckSum_TCS3 : 48|4@1+ (1.0,0.0) [0.0|15.0] "" EMS,SCC + SG_ ACC_EQUIP : 52|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,SCC + SG_ PBRAKE_ACT : 53|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,SCC + SG_ ACC_REQ : 54|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ DriverBraking : 55|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,SCC + SG_ CF_VSM_Coded : 56|1@1+ (1.0,0.0) [0.0|1.0] "" SCC + SG_ CF_VSM_Avail : 57|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,SCC + SG_ CF_VSM_Handshake : 59|1@1+ (1.0,0.0) [0.0|1.0] "" SCC + SG_ CF_DriBkeStat : 60|1@1+ (1.0,0.0) [0.0|1.0] "" SCC + SG_ CF_VSM_ConfSwi : 61|2@1+ (1.0,0.0) [0.0|3.0] "" SCC + SG_ AEB_EQUIP : 63|1@1+ (1.0,0.0) [0.0|1.0] "" SCC + +BO_ 1427 TPMS11: 6 BCM + SG_ TPMS_W_LAMP : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,CUBIS,HUD,IBOX,CLU,CUBIS,HUD,IBOX + SG_ TREAD_W_LAMP : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,CUBIS,HUD,IBOX,CLU,CUBIS,HUD,IBOX + SG_ POS_FL_W_LAMP : 4|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,CUBIS,HUD,IBOX + SG_ POS_FR_W_LAMP : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,CUBIS,HUD,IBOX + SG_ POS_RL_W_LAMP : 6|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,CUBIS,HUD,IBOX + SG_ POS_RR_W_LAMP : 7|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,CUBIS,HUD,IBOX + SG_ STATUS_TPMS : 8|3@1+ (1.0,0.0) [0.0|0.0] "" CLU + SG_ UNIT : 11|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ PRESSURE_FL : 16|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ PRESSURE_FR : 24|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ PRESSURE_RL : 32|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ PRESSURE_RR : 40|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + +BO_ 915 TCS12: 4 ESC + SG_ SA_COUNT : 0|16@1+ (2.0,-32768.0) [-32768.0|98302.0] "" _4WD,ACU,MDPS + SG_ SA_Z_COUNT : 16|15@1+ (2.0,-32768.0) [-32768.0|32766.0] "" _4WD,ACU,MDPS + SG_ SA_Z_FLAG : 31|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,MDPS + +BO_ 1170 EMS19: 8 EMS + SG_ CF_Ems_BrkReq : 0|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,IBOX,TCU + SG_ CF_Ems_DnShftReq : 1|4@1+ (1.0,0.0) [0.0|14.0] "" IBOX,TCU + SG_ CF_Ems_RepModChk : 5|2@1+ (1.0,0.0) [0.0|3.0] "" IBOX + SG_ CF_Ems_AAFOpenReq : 7|1@1+ (1.0,0.0) [0.0|1.0] "" AAF,IBOX + SG_ CF_Ems_DecelReq : 8|12@1+ (0.0010,-4.094) [-4.094|0.0] "m/s^2" ESC,IBOX,TCU + SG_ CR_Ems_BstPre : 20|12@1+ (1.322,0.0) [0.0|4094.0] "hPa" CLU,IBOX + SG_ CR_Ems_EngOilTemp : 32|8@1+ (0.75,-40.0) [0.0|254.0] "deg" CLU,IBOX + SG_ DPF_LAMP_STAT : 40|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,IBOX + SG_ BAT_LAMP_STAT : 42|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_ModeledAmbTemp : 48|8@1+ (0.5,-41.0) [-41.0|85.5] "deg" AAF,IBOX + SG_ CF_Ems_OPSFail : 56|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_AliveCounterEMS9 : 58|2@1+ (1.0,0.0) [0.0|3.0] "" AAF,ABS,CUBIS,ECS,EPB,IBOX,MDPS,REA,SCC,SMK,TCU + SG_ CF_Ems_ChecksumEMS9 : 60|4@1+ (1.0,0.0) [0.0|15.0] "" AAF,ABS,CUBIS,ECS,EPB,IBOX,MDPS,REA,SCC,SMK,TCU + +BO_ 1425 AFLS11: 2 AFLS + SG_ AFLS_STAT : 1|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Afls_TrfChgStat : 3|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Afls_LedHLStat : 4|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 912 SPAS11: 7 SPAS + SG_ CF_Spas_Stat : 0|4@1+ (1.0,0.0) [0.0|15.0] "" ESC,MDPS + SG_ CF_Spas_TestMode : 4|2@1+ (1.0,0.0) [0.0|3.0] "" MDPS + SG_ CR_Spas_StrAngCmd : 8|16@1- (0.1,0.0) [-3276.8|3276.7] "" MDPS + SG_ CF_Spas_BeepAlarm : 24|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ CF_Spas_Mode_Seq : 28|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Spas_AliveCnt : 32|8@1+ (1.0,0.0) [0.0|255.0] "" MDPS + SG_ CF_Spas_Chksum : 40|8@1+ (1.0,0.0) [0.0|255.0] "" MDPS + SG_ CF_Spas_PasVol : 48|3@1+ (1.0,0.0) [0.0|7.0] "" CGW,CLU + +BO_ 1168 EPB11: 7 EPB + SG_ EPB_I_LAMP : 0|4@1+ (1.0,0.0) [0.0|15.0] "" BCM,CLU,CUBIS,ESC,IBOX + SG_ EPB_F_LAMP : 4|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,CUBIS,ESC,IBOX + SG_ EPB_ALARM : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ESC + SG_ EPB_CLU : 8|8@1+ (1.0,0.0) [0.0|255.0] "" CLU,ESC + SG_ EPB_SWITCH : 16|2@1+ (1.0,0.0) [0.0|3.0] "" ESC,SCC + SG_ EPB_RBL : 18|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,ESC + SG_ EPB_STATUS : 19|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,EMS,ESC,SCC,TCU + SG_ EPB_FRC_ERR : 22|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,ESC,SCC,TCU + SG_ EPB_DBF_STAT : 24|1@1+ (1.0,0.0) [0.0|1.0] "" ESC + SG_ ESP_ACK : 25|1@1+ (1.0,0.0) [0.0|1.0] "" ESC + SG_ EPB_DBF_REQ : 26|1@1+ (1.0,0.0) [0.0|1.0] "" ESC + SG_ EPB_FAIL : 29|3@1+ (1.0,0.0) [0.0|7.0] "" ESC,SCC + SG_ EPB_FORCE : 32|12@1+ (1.0,-1000.0) [-1000.0|3000.0] "" ESC + SG_ EPB_DBF_DECEL : 48|8@1+ (0.01,0.0) [0.0|2.54] "g" ESC + +BO_ 399 EMS_H12: 8 EMS + SG_ R_TqAcnApvC : 0|8@1+ (0.2,0.0) [0.0|51.0] "Nm" DATC,IBOX + SG_ R_PAcnC : 8|8@1+ (125.0,0.0) [0.0|31875.0] "hPa" DATC,IBOX + SG_ TQI_B : 16|8@1+ (0.390625,0.0) [0.0|99.609375] "%" ABS,ESC,IBOX + SG_ SLD_VS : 24|8@1+ (1.0,0.0) [0.0|255.0] "km/h" CLU,IBOX + SG_ CF_CdaStat : 32|3@1+ (1.0,0.0) [0.0|7.0] "" AEMC,IBOX,TCU + SG_ CF_Ems_IsgStat : 35|3@1+ (1.0,0.0) [0.0|7.0] "" ABS,BCM,CLU,DATC,EPB,ESC,IBOX,LDWS_LKAS,MDPS,SMK,TCU + SG_ CF_Ems_OilChg : 38|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_EtcLimpMod : 39|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ R_NEngIdlTgC : 40|8@1+ (10.0,0.0) [0.0|2550.0] "rpm" DATC,IBOX,TCU + SG_ CF_Ems_UpTarGr : 48|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_DownTarGr : 49|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_DesCurGr : 50|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,IBOX + SG_ CF_Ems_SldAct : 54|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_SldPosAct : 55|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_HPresStat : 56|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,TCU + SG_ CF_Ems_IsgBuz : 57|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_IdlStpFCO : 58|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_FCopen : 59|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_ActEcoAct : 60|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX,TCU + SG_ CF_Ems_EngRunNorm : 61|1@1+ (1.0,0.0) [0.0|1.0] "" ABS,ESC,IBOX,TCU + SG_ CF_Ems_IsgStat2 : 62|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,IBOX,TCU + +BO_ 1419 LCA11: 8 LCA + SG_ CF_Lca_Stat : 0|4@1+ (1.0,0.0) [0.0|15.0] "" BCM,CLU + SG_ CF_Rcta_Stat : 4|4@1+ (1.0,0.0) [0.0|15.0] "" BCM,CLU + SG_ CF_Lca_IndLeft : 8|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU + SG_ CF_Rcw_Stat : 10|4@1+ (1.0,0.0) [0.0|15.0] "" BCM,CLU + SG_ CF_RCW_Warning : 14|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU + SG_ CF_Lca_IndRight : 16|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU + SG_ CF_Lca_SndWan_Stat : 18|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU + SG_ CF_FR_SndWan : 20|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU + SG_ CF_FL_SndWan : 21|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU + SG_ CF_RR_SndWan : 22|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU + SG_ CF_RL_SndWan : 23|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU + SG_ CF_Lca_IndBriLeft : 24|8@1+ (1.0,0.0) [0.0|255.0] "" BCM,CLU + SG_ CF_Lca_IndBriRight : 32|8@1+ (1.0,0.0) [0.0|255.0] "" BCM,CLU + SG_ CF_RCTA_IndBriLeft : 40|8@1+ (1.0,0.0) [0.0|255.0] "" BCM,CLU + SG_ CF_RCTA_IndBriRight : 48|8@1+ (1.0,0.0) [0.0|255.0] "" BCM,CLU + SG_ CF_RCTA_IndLeft : 56|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU + SG_ CF_RCTA_IndRight : 58|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU + SG_ CF_SndWarnForClu : 60|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + +BO_ 906 ABS11: 8 ABS + SG_ ABS_DEF : 0|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,EMS,SPAS,TCU + SG_ EBD_DEF : 1|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,SPAS,TCU + SG_ ABS_ACT : 2|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,EPB,SPAS,TCU + SG_ ABS_W_LAMP : 3|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,CUBIS,MTS,TMU + SG_ EBD_W_LAMP : 4|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU + SG_ ABS_DIAG : 5|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU + SG_ ESS_STAT : 6|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,BCM,CLU,EMS + +BO_ 903 WHL_PUL11: 6 ABS + SG_ WHL_PUL_FL : 0|8@1+ (0.5,0.0) [0.0|127.5] "pulse count" CUBIS,EPB,IBOX,SPAS,TMU,TPMS,CUBIS,EPB,IBOX,LDWS_LKAS,SPAS,TMU,TPMS + SG_ WHL_PUL_FR : 8|8@1+ (0.5,0.0) [0.0|127.5] "pulse count" CUBIS,EPB,IBOX,SPAS,TMU,TPMS,CUBIS,EPB,IBOX,LDWS_LKAS,SPAS,TMU,TPMS + SG_ WHL_PUL_RL : 16|8@1+ (0.5,0.0) [0.0|127.5] "pulse count" CUBIS,EPB,IBOX,SPAS,TMU,TPMS,CUBIS,EPB,IBOX,LDWS_LKAS,SPAS,TMU,TPMS + SG_ WHL_PUL_RR : 24|8@1+ (0.5,0.0) [0.0|127.5] "pulse count" CUBIS,EPB,IBOX,SPAS,TMU,TPMS,CUBIS,EPB,IBOX,LDWS_LKAS,SPAS,TMU,TPMS + SG_ WHL_DIR_FL : 32|2@1+ (1.0,0.0) [0.0|3.0] "" EPB,SPAS,TPMS,EPB,LCA,SPAS,TPMS + SG_ WHL_DIR_FR : 34|2@1+ (1.0,0.0) [0.0|3.0] "" EPB,SPAS,TPMS,EPB,LCA,SPAS,TPMS + SG_ WHL_DIR_RL : 36|2@1+ (1.0,0.0) [0.0|3.0] "" EPB,SPAS,TPMS,EPB,LCA,SPAS,TPMS + SG_ WHL_DIR_RR : 38|2@1+ (1.0,0.0) [0.0|3.0] "" EPB,SPAS,TPMS,EPB,LCA,SPAS,TPMS + SG_ WHL_PUL_Chksum : 40|8@1+ (1.0,0.0) [0.0|255.0] "" EPB,SPAS,TPMS,EPB,LCA,LDWS_LKAS,SPAS,TPMS + +BO_ 1415 TMU11: 8 IBOX + SG_ CF_Tmu_VehSld : 0|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Tmu_VehImmo : 1|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Tmu_ReqRepCnd : 2|2@1+ (1.0,0.0) [0.0|3.0] "" EMS + SG_ CF_Tmu_AirconCtr : 4|1@1+ (1.0,0.0) [0.0|1.0] "" DATC + SG_ CF_Tmu_TempMd : 5|1@1+ (1.0,0.0) [0.0|1.0] "" DATC + SG_ CF_Tmu_TempSet : 6|16@1+ (1.0,0.0) [0.0|20.0] "" DATC + SG_ CF_Tmu_DefrostCtr : 22|1@1+ (1.0,0.0) [0.0|1.0] "" DATC,FATC + SG_ CF_Tmu_AliveCnt1 : 56|4@1+ (1.0,0.0) [0.0|15.0] "" EMS + +BO_ 902 WHL_SPD11: 8 ABS + SG_ WHL_SPD_FL : 0|14@1+ (0.03125,0.0) [0.0|511.96875] "km/h" _4WD,AFLS,AHLS,AVM,CLU,CUBIS,ECS,EMS,EPB,IBOX,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS,_4WD,ACU,AFLS,AHLS,AVM,CLU,ECS,EMS,EPB,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS + SG_ WHL_SPD_FR : 16|14@1+ (0.03125,0.0) [0.0|511.96875] "km/h" _4WD,ACU,AFLS,AHLS,AVM,CLU,CUBIS,ECS,EMS,EPB,IBOX,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS,_4WD,ACU,AFLS,AHLS,AVM,CLU,ECS,EMS,EPB,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS + SG_ WHL_SPD_RL : 32|14@1+ (0.03125,0.0) [0.0|511.96875] "km/h" _4WD,AFLS,AHLS,AVM,BCM,CLU,CUBIS,ECS,EMS,EPB,IBOX,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS,_4WD,ACU,AFLS,AHLS,AVM,BCM,CLU,ECS,EMS,EPB,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS + SG_ WHL_SPD_RR : 48|14@1+ (0.03125,0.0) [0.0|511.96875] "km/h" _4WD,AFLS,AHLS,AVM,CLU,CUBIS,ECS,EMS,EPB,IBOX,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS,_4WD,ACU,AFLS,AHLS,AVM,CLU,ECS,EMS,EPB,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS + SG_ WHL_SPD_AliveCounter_LSB : 14|2@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,LPI,TCU,TMU + SG_ WHL_SPD_AliveCounter_MSB : 30|2@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,LPI,TCU,TMU + SG_ WHL_SPD_Checksum_LSB : 46|2@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,LPI,TCU,TMU + SG_ WHL_SPD_Checksum_MSB : 62|2@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,LPI,TCU,TMU + +BO_ 1414 EVP11: 3 EVP + SG_ CF_Evp_Stat : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + +BO_ 1412 AAF11: 8 AAF + SG_ CF_Aaf_ActFlapStatus : 0|2@1+ (1.0,0.0) [0.0|3.0] "" AAF_Tester + SG_ CF_Aaf_ModeStatus : 2|3@1+ (1.0,0.0) [0.0|7.0] "" AAF_Tester + SG_ CF_Aaf_WrnLamp : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Aaf_ErrStatus : 6|10@1+ (1.0,0.0) [0.0|1023.0] "" AAF_Tester,EMS + SG_ CF_Aaf_OpenRqSysAct : 16|8@1+ (1.0,0.0) [0.0|255.0] "" AAF_Tester + SG_ CF_Aaf_PStatus : 24|8@1+ (1.0,0.0) [0.0|100.0] "%" AAF_Tester + SG_ CF_Aaf_OpenRqSysSol : 32|8@1+ (1.0,0.0) [0.0|255.0] "" AAF_Tester + SG_ CF_Aaf_SolFlapStatus : 40|2@1+ (1.0,0.0) [0.0|3.0] "" AAF_Tester + SG_ CF_Aaf_MilOnReq : 42|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + +BO_ 900 EMS17: 8 EMS + SG_ CF_Ems_PkpCurMSV : 0|8@1+ (1.0,0.0) [0.0|255.0] "" DI_BOX + SG_ CF_Ems_HolCurMSV : 8|8@1+ (1.0,0.0) [0.0|255.0] "" DI_BOX + SG_ CF_Ems_InjVBnkAct : 16|8@1+ (1.0,0.0) [0.0|255.0] "" DI_BOX + SG_ CF_Ems_InjVActSet : 24|8@1+ (1.0,0.0) [0.0|255.0] "" DI_BOX + SG_ CF_Ems_DiagFulHDEV : 32|1@1+ (1.0,0.0) [0.0|1.0] "" DI_BOX + SG_ CF_Ems_SwiOffIC1 : 33|1@1+ (1.0,0.0) [0.0|1.0] "" DI_BOX + SG_ CF_Ems_SwiOffIC2 : 34|1@1+ (1.0,0.0) [0.0|1.0] "" DI_BOX + SG_ CF_Ems_DiagReqHDEV : 38|1@1+ (1.0,0.0) [0.0|1.0] "" DI_BOX + SG_ CR_Ems_DutyCycMSV : 40|8@1+ (0.3921568627,0.0) [0.0|100.0] "%" DI_BOX + SG_ CR_Ems_BatVolRly : 48|8@1+ (0.1,0.0) [0.0|25.5] "V" DI_BOX + +BO_ 387 REA11: 8 REA + SG_ CF_EndBst_PwmDuH : 0|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_PwmDuL : 1|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_PwmFqOutRng : 2|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_HbriOverCur : 3|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_HbriOverTemp : 4|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_PosSnsKOR : 6|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_PosSnsOSOR : 7|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_EepFlt : 8|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_RomFlt : 9|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_RamFlt : 10|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_CanFlt : 11|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_AgH : 12|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_AgL : 13|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_ORVol : 14|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CR_EndBst_ActPos : 16|16@1+ (0.117,0.0) [1.989|118.053] "" EMS + SG_ CR_EndBst_DemPos : 32|16@1+ (0.117,0.0) [0.0|119.691] "" EMS + SG_ CR_EndBst_HbriPwr : 48|16@1+ (0.045,0.0) [0.0|99.99] "%" EMS + +BO_ 1411 CUBIS11: 8 CUBIS + SG_ CF_Cubis_HUDisp : 0|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + +BO_ 899 FATC11: 8 DATC + SG_ CR_Fatc_TqAcnOut : 0|8@1+ (0.2,0.0) [0.0|50.8] "Nm" EMS,IBOX + SG_ CF_Fatc_AcnRqSwi : 8|1@1+ (1.0,0.0) [0.0|1.0] "" AAF,EMS,IBOX + SG_ CF_Fatc_AcnCltEnRq : 9|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Fatc_EcvFlt : 10|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Fatc_BlwrOn : 11|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_FATC_Iden : 12|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,IBOX + SG_ CF_Fatc_BlwrMax : 14|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,IBOX + SG_ CF_Fatc_EngStartReq : 15|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Fatc_IsgStopReq : 16|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Fatc_CtrInf : 17|3@1+ (1.0,0.0) [0.0|7.0] "" EMS,IBOX + SG_ CF_Fatc_MsgCnt : 20|4@1+ (1.0,0.0) [0.0|15.0] "" EMS,IBOX + SG_ CR_Fatc_OutTemp : 24|8@1+ (0.5,-40.0) [-40.0|60.0] "deg" BCM,CLU,EMS,IBOX,SPAS,TCU,TPMS + SG_ CR_Fatc_OutTempSns : 32|8@1+ (0.5,-40.0) [-40.0|60.0] "deg" AAF,AHLS,CLU,EMS,IBOX,SPAS,TCU + SG_ CF_Fatc_Compload : 40|3@1+ (1.0,0.0) [0.0|7.0] "" EMS,IBOX + SG_ CF_Fatc_ActiveEco : 43|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Fatc_AutoActivation : 44|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX + SG_ CF_Fatc_DefSw : 45|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,IBOX + SG_ CF_Fatc_PtcRlyStat : 46|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Fatc_ChkSum : 56|8@1+ (1.0,0.0) [0.0|255.0] "" EMS,IBOX,SPAS + +BO_ 129 EMS_DCT12: 8 EMS + SG_ CR_Ems_SoakTimeExt : 0|6@1+ (5.0,0.0) [0.0|315.0] "Min" TCU + SG_ BRAKE_ACT : 6|2@1+ (1.0,0.0) [0.0|3.0] "" TCU + SG_ CF_Ems_EngOperStat : 8|8@1+ (1.0,0.0) [0.0|255.0] "" TCU + SG_ CR_Ems_IndAirTemp : 16|8@1+ (0.75,-48.0) [-48.0|143.25] "deg" TCU + SG_ CF_Ems_Alive2 : 56|4@1+ (1.0,0.0) [0.0|15.0] "" TCU + SG_ CF_Ems_ChkSum2 : 60|4@1+ (1.0,0.0) [0.0|15.0] "" TCU + +BO_ 897 MDPS11: 8 MDPS + SG_ CF_Mdps_WLmp : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,CUBIS,EMS,IBOX,SPAS + SG_ CF_Mdps_Flex : 2|3@1+ (1.0,0.0) [0.0|3.0] "" CLU,LDWS_LKAS + SG_ CF_Mdps_FlexDisp : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Mdps_Stat : 7|4@1+ (1.0,0.0) [0.0|15.0] "" SPAS + SG_ CR_Mdps_DrvTq : 11|12@1+ (0.01,-20.48) [-20.48|20.46] "" SPAS + SG_ CF_Mdps_ALTRequest : 23|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CR_Mdps_StrAng : 24|16@1- (0.1,0.0) [-3276.8|3276.7] "Deg" SPAS + SG_ CF_Mdps_AliveCnt : 40|8@1+ (1.0,0.0) [0.0|255.0] "" LDWS_LKAS,SPAS + SG_ CF_Mdps_Chksum : 48|8@1+ (1.0,0.0) [0.0|255.0] "" LDWS_LKAS,SPAS + SG_ CF_Mdps_SPAS_FUNC : 57|1@1+ (1.0,0.0) [0.0|1.0] "flag" SPAS + SG_ CF_Mdps_LKAS_FUNC : 58|1@1+ (1.0,0.0) [0.0|1.0] "flag" LDWS_LKAS + SG_ CF_Mdps_CurrMode : 59|2@1+ (1.0,0.0) [0.0|3.0] "" LDWS_LKAS + SG_ CF_Mdps_Type : 61|2@1+ (1.0,0.0) [0.0|2.0] "" LDWS_LKAS,SPAS + +BO_ 896 DI_BOX13: 8 DI_BOX + SG_ CF_DiBox_HPreInjVConfStat : 0|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_HPreInjVStat1 : 8|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_HPreInjVStat2 : 16|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_HPreInjVPkp : 24|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_HPreInjVBpt : 32|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_ErrRegFrtMSV : 40|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_ErrRegSedMSV : 48|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_SPIErrSedMSV : 56|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_DiBox_SPIErrFrtMSV : 57|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_DiBox_IDErrSedMSV : 58|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_DiBox_IDErrFrtMSV : 59|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_DiBox_IniStatMSV : 60|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + +BO_ 640 EMS13: 8 EMS + SG_ LV_FUEL_TYPE_ECU : 0|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU,LPI,SMK + SG_ LV_BFS_CFIRM : 1|1@1+ (1.0,0.0) [0.0|1.0] "" LPI + SG_ LV_CRASH : 2|1@1+ (1.0,0.0) [0.0|1.0] "" LPI + SG_ LV_VB_OFF_ACT : 3|1@1+ (1.0,0.0) [0.0|1.0] "" LPI + SG_ LV_GSL_MAP M : 4|1@1+ (1.0,0.0) [0.0|1.0] "" LPI + SG_ LV_ENG_TURN : 5|1@1+ (1.0,0.0) [0.0|1.0] "" LPI + SG_ ERR_FUEL : 8|8@1+ (1.0,0.0) [0.0|255.0] "" LPI + SG_ EOS : 16|8@1+ (1.0,0.0) [0.0|255.0] "" LPI + SG_ TCO : 24|8@1+ (0.75,-48.0) [-48.0|143.25] "deg" LPI + SG_ N_32 : 32|8@1+ (32.0,0.0) [0.0|8160.0] "rpm" LPI + SG_ MAF : 40|8@1+ (5.447,0.0) [0.0|1388.985] "mg/TDC" LPI + SG_ TIA : 48|8@1+ (0.75,-48.0) [-48.0|143.25] "deg" LPI + SG_ MAP m1 : 56|8@1+ (0.47058,0.0) [0.0|119.9979] "kPa" LPI + SG_ AMP m0 : 56|8@1+ (21.22,0.0) [0.0|5411.1] "hPa" LPI + +BO_ 128 EMS_DCT11: 8 EMS + SG_ PV_AV_CAN : 0|8@1+ (0.3906,0.0) [0.0|99.603] "%" TCU + SG_ TQ_STND : 8|6@1+ (10.0,0.0) [0.0|630.0] "Nm" TCU + SG_ F_N_ENG : 14|1@1+ (1.0,0.0) [0.0|1.0] "" TCU + SG_ F_SUB_TQI : 15|1@1+ (1.0,0.0) [0.0|1.0] "" TCU + SG_ N : 16|16@1+ (0.25,0.0) [0.0|16383.75] "rpm" TCU + SG_ TQI_ACOR : 32|8@1+ (0.390625,0.0) [0.0|99.6094] "%" IBOX,TCU + SG_ TQFR : 40|8@1+ (0.390625,0.0) [0.0|99.6094] "%" TCU + SG_ TQI : 48|8@1+ (0.390625,0.0) [0.0|99.609375] "%" TCU + SG_ CF_Ems_Alive : 56|4@1+ (1.0,0.0) [0.0|15.0] "" TCU + SG_ CF_Ems_ChkSum : 60|4@1+ (1.0,0.0) [0.0|15.0] "" TCU + +BO_ 1407 HU_MON_PE_01: 8 CLU + SG_ HU_Type : 0|8@1+ (1.0,0.0) [0.0|255.0] "" AVM,PGS + +BO_ 127 CGW5: 8 BCM + SG_ C_StopLampLhOpenSts : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_StopLampRhOpenSts : 1|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_HMSLOpenSts : 2|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_HLampLowLhOpenSts : 3|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_HLampLowRhOpenSts : 4|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_HLampHighLhOpenSts : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_HLampHighRhOpenSts : 6|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_DRLLampLhOpenSts : 7|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_DRLLampRhOpenSts : 8|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_RearFOGLhOpenSts : 9|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_RearFOGRhOpenSts : 10|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_FrontFOGLhOpenSts : 11|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_FrontFOGRhOpenSts : 12|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_RearEXTTailLhOpenSts : 13|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_RearEXTTailRhOpenSts : 14|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_FrontEXTTailLhOpenSts : 15|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_FrontEXTTailRhOpenSts : 16|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_RearTSIGLhOpenSts : 17|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_RearTSIGRhOpenSts : 18|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_FrontTSIGLhOpenSts : 19|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_FrontTSIGRhOpenSts : 20|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_SBendingLhOpenSts : 21|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_SBendingRhOpenSts : 22|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_LicensePlateLhOpenSts : 23|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_LicensePlateRhOpenSts : 24|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + +BO_ 1151 ESP11: 6 ESC + SG_ AVH_STAT : 0|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,EPB,TCU + SG_ LDM_STAT : 2|1@1+ (1.0,0.0) [0.0|1.0] "" EPB,TCU + SG_ REQ_EPB_ACT : 3|2@1+ (1.0,0.0) [0.0|3.0] "" EPB,TCU + SG_ REQ_EPB_STAT : 5|1@1+ (1.0,0.0) [0.0|1.0] "" EPB + SG_ ECD_ACT : 6|1@1+ (1.0,0.0) [0.0|1.0] "" EPB + SG_ _4WD_LIM_REQ : 7|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS + SG_ ROL_CNT_ESP : 8|8@1+ (1.0,0.0) [0.0|255.0] "" EPB,TCU + SG_ _4WD_TQC_LIM : 16|16@1+ (1.0,0.0) [0.0|65535.0] "Nm" _4WD,EMS + SG_ _4WD_CLU_LIM : 32|8@1+ (0.390625,0.0) [0.0|99.609375] "%" _4WD,EMS + SG_ _4WD_OPEN : 40|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,EMS + SG_ _4WD_LIM_MODE : 42|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD + +BO_ 1397 HU_AVM_E_00: 8 CLU + SG_ HU_AVM_Cal_Cmd : 0|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + SG_ HU_AVM_Cal_Method : 4|2@1+ (1.0,0.0) [0.0|3.0] "" AVM,PGS + SG_ HU_AVM_Save_Controlpoint : 6|2@1+ (1.0,0.0) [0.0|3.0] "" AVM,PGS + SG_ HU_AVM_PT_X : 8|12@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + SG_ HU_AVM_RearViewPointOpt : 20|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + SG_ HU_AVM_PT_Y : 24|12@1+ (1.0,0.0) [0.0|4095.0] "" AVM,PGS + SG_ HU_AVM_FrontViewPointOpt : 36|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + SG_ HU_AVM_SelectedMenu : 40|5@1+ (1.0,0.0) [0.0|31.0] "" AVM,PGS + SG_ HU_AVM_CameraOff : 45|2@1+ (1.0,0.0) [0.0|3.0] "" AVM,PGS + SG_ HU_AVM_Option : 48|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + SG_ HU_AVM_CrossLineMove_Cmd : 52|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + SG_ HU_AVM_RearView_Option : 56|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + SG_ HU_AVM_FrontView_Option : 60|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + +BO_ 1395 HU_AVM_E_01: 8 CLU + SG_ HU_PGSSelectedMenu : 0|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + SG_ HU_PGSOption : 8|5@1+ (1.0,0.0) [0.0|31.0] "" AVM,PGS + SG_ HU_AVM_ParkingAssistMenu : 56|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + SG_ HU_AVM_ParkingAssistSB : 60|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + +BO_ 1393 OPI11: 5 OPI + SG_ CR_Opi_Spd_Rpm : 0|8@1+ (20.0,0.0) [0.0|3500.0] "rpm" TCU + SG_ CF_Opi_Over_Temp : 8|1@1+ (1.0,0.0) [0.0|1.0] "" TCU + SG_ CF_Opi_Over_Cur : 9|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,TCU + SG_ CF_Opi_Over_Vol : 10|1@1+ (1.0,0.0) [0.0|1.0] "" TCU + SG_ CF_Opi_Hall_Fail : 11|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,TCU + SG_ CF_Opi_Flt : 12|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,TCU + SG_ CF_Opi_Motor_Dir : 15|1@1+ (1.0,0.0) [0.0|1.0] "" TCU + SG_ CF_Opi_Romver : 16|8@1+ (1.0,0.0) [0.0|255.0] "" TCU + SG_ CF_Opi_PWM_Rate : 24|12@1+ (1.0,0.0) [0.0|100.0] "%" TCU + +BO_ 625 LPI11: 8 LPI + SG_ FUP_LPG_MMV : 0|8@1+ (128.0,0.0) [0.0|32640.0] "hPa" EMS + SG_ LV_FUEL_TYPE_BOX : 8|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ LV_BFS_IN_PROGRESS : 9|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ LV_GAS_OK : 10|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ LV_FUP_ENA_THD : 11|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU,EMS,SMK + SG_ LPI_OBD : 12|4@1+ (1.0,0.0) [0.0|15.0] "" EMS + SG_ ERR_GAS : 16|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ FAC_TI_GAS_COR : 24|16@1+ (3.05E-5,0.0) [0.0|1.9988175] "" EMS + SG_ FTL_AFU : 40|8@1+ (0.392,0.0) [0.0|99.96] "%" EMS + SG_ BFS_CYL : 48|8@1+ (1.0,0.0) [0.0|6.0] "Cyl Nr." EMS + SG_ LV_PRE_CDN_LEAK : 56|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ LV_CONF_INJECTION_DELAY : 57|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ LV_LPG_SW_DRIVER_REQ : 58|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + +BO_ 356 VSM11: 4 ESC + SG_ CR_Esc_StrTqReq : 0|12@1+ (0.01,-20.48) [-20.48|20.47] "Nm" MDPS + SG_ CF_Esc_Act : 12|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS,MDPS + SG_ CF_Esc_CtrMode : 13|3@1+ (1.0,0.0) [0.0|7.0] "" MDPS + SG_ CF_Esc_Def : 16|1@1+ (1.0,0.0) [0.0|1.0] "" MDPS + SG_ CF_Esc_AliveCnt : 17|4@1+ (1.0,0.0) [0.0|15.0] "" LDWS_LKAS,MDPS + SG_ CF_Esc_Chksum : 24|8@1+ (1.0,0.0) [0.0|255.0] "" LDWS_LKAS,MDPS + +BO_ 1379 PGS_HU_PE_01: 8 PGS + SG_ PGS_State : 0|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ PGS_ParkGuideState : 8|5@1+ (1.0,0.0) [0.0|31.0] "" CLU + SG_ PGS_Option : 16|5@1+ (1.0,0.0) [0.0|31.0] "" CLU + SG_ PGS_Version : 32|16@1+ (1.0,0.0) [0.0|65535.0] "" CLU + +BO_ 354 TCU_DCT13: 3 TCU + SG_ Clutch_Driving_Tq : 0|10@1+ (1.0,-512.0) [0.0|0.0] "Nm" ESC + SG_ Cluster_Engine_RPM : 10|13@1+ (0.9766,0.0) [0.0|0.0] "" CLU + SG_ Cluster_Engine_RPM_Flag : 23|1@1+ (1.0,0.0) [0.0|0.0] "" CLU + +BO_ 1378 HUD11: 4 HUD + SG_ CF_Hud_HeightStaus : 0|5@1+ (1.0,0.0) [0.0|31.0] "" CLU + SG_ CF_Hud_PBackStatus : 6|2@1+ (1.0,0.0) [0.0|0.0] "" BCM,CLU + SG_ CF_Hud_Brightness : 8|5@1+ (1.0,0.0) [0.0|31.0] "" CLU + +BO_ 608 EMS16: 8 EMS + SG_ TQI_MIN : 0|8@1+ (0.390625,0.0) [0.0|99.609375] "%" ESC,IBOX,TCU + SG_ TQI : 8|8@1+ (0.390625,0.0) [0.0|99.609375] "%" ESC,IBOX,TCU + SG_ TQI_TARGET : 16|8@1+ (0.390625,0.0) [0.0|99.609375] "%" EPB,ESC,IBOX,TCU + SG_ GLOW_STAT : 24|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU,IBOX,SMK + SG_ CRUISE_LAMP_M : 25|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX,TCU + SG_ CRUISE_LAMP_S : 26|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX,TCU + SG_ PRE_FUEL_CUT_IN : 27|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,TCU + SG_ ENG_STAT : 28|3@1+ (1.0,0.0) [0.0|7.0] "" ABS,AHLS,AVM,BCM,CLU,EPB,ESC,EVP,FPCM,IBOX,LCA,LDWS_LKAS,MDPS,SCC,SMK,TCU + SG_ SOAK_TIME_ERROR : 31|1@1+ (1.0,0.0) [0.0|1.0] "" DATC,EPB,IBOX,TCU + SG_ SOAK_TIME : 32|8@1+ (1.0,0.0) [0.0|255.0] "Min" _4WD,DATC,EPB,IBOX,TCU + SG_ TQI_MAX : 40|8@1+ (0.390625,0.0) [0.0|99.609375] "%" ESC,IBOX,TCU + SG_ SPK_TIME_CUR : 48|8@1+ (0.375,-35.625) [-35.625|60.0] "" IBOX,TCU + SG_ Checksum : 56|4@1+ (1.0,0.0) [0.0|15.0] "" ECS,IBOX,LDWS_LKAS,MDPS,SCC + SG_ AliveCounter : 60|2@1+ (1.0,0.0) [0.0|3.0] "" IBOX,LDWS_LKAS,MDPS,SCC + SG_ CF_Ems_AclAct : 62|2@1+ (1.0,0.0) [0.0|3.0] "" IBOX,SCC + +BO_ 1371 AVM_HU_PE_00: 8 AVM + SG_ AVM_View : 0|5@1+ (1.0,0.0) [0.0|31.0] "" CLU + SG_ AVM_ParkingAssist_BtnSts : 5|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ AVM_Display_Message : 8|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ AVM_Popup_Msg : 16|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ AVM_Ready : 20|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ AVM_ParkingAssist_Step : 24|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ AVM_FrontBtn_Type : 28|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ AVM_Option : 32|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ AVM_HU_FrontViewPointOpt : 36|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ AVM_HU_RearView_Option : 40|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ AVM_HU_FrontView_Option : 44|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ AVM_Version : 48|16@1+ (1.0,0.0) [0.0|65535.0] "" CLU + +BO_ 1370 HU_AVM_PE_00: 8 CLU + SG_ HU_AVM_Status : 0|2@1+ (1.0,0.0) [0.0|3.0] "" AVM,PGS + +BO_ 1369 CGW4: 8 BCM + SG_ CF_Gway_MemoryP1Cmd : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_MemoryP2Cmd : 1|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_PBackP1Cmd : 2|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_PBackP2Cmd : 3|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_StrgWhlHeatedState : 4|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_PBackStopCmd : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,HUD + SG_ CF_Gway_StaticBendLhAct : 6|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_StaticBendRhAct : 7|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_DrvWdwStat : 8|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_RLWdwState : 9|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_RRWdwState : 10|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_AstWdwStat : 11|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_MemoryEnable : 12|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_PBACKStopCmd : 13|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_PBACKStop : 14|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,HUD + SG_ CF_Gway_IMSBuzzer : 15|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_DrvSeatBeltInd : 36|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,Dummy + SG_ CF_Gway_AstSeatBeltInd : 38|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_RCSeatBeltInd : 40|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_RLSeatBeltInd : 42|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_RRSeatBeltInd : 44|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_RrWiperHighSw : 46|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_RrWiperLowSw : 47|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + +BO_ 1367 EngFrzFrm12: 8 EMS + SG_ PID_06h : 0|8@1+ (0.78125,-100.0) [-100.0|99.22] "%" AAF,IBOX,TCU + SG_ PID_07h : 8|8@1+ (0.78125,-100.0) [-100.0|99.22] "%" AAF,IBOX,TCU + SG_ PID_08h : 16|8@1+ (0.78125,-100.0) [-100.0|99.22] "%" AAF,IBOX,TCU + SG_ PID_09h : 24|8@1+ (0.78125,-100.0) [-100.0|99.22] "%" AAF,IBOX,TCU + SG_ PID_0Bh : 32|8@1+ (1.0,0.0) [0.0|255.0] "kPa" AAF,IBOX,TCU + SG_ PID_23h : 40|16@1+ (10.0,0.0) [0.0|655350.0] "kPa" AAF,IBOX,TCU + +BO_ 1366 EngFrzFrm11: 8 EMS + SG_ PID_04h : 0|8@1+ (0.3921568627,0.0) [0.0|100.0] "%" AAF,TCU + SG_ PID_05h : 8|8@1+ (1.0,-40.0) [-40.0|215.0] "deg" AAF,TCU + SG_ PID_0Ch : 16|16@1+ (0.25,0.0) [0.0|16383.75] "rpm" AAF,TCU + SG_ PID_0Dh : 32|8@1+ (1.0,0.0) [0.0|255.0] "km/h" AAF,TCU + SG_ PID_11h : 40|8@1+ (0.3921568627,0.0) [0.0|100.0] "%" AAF,TCU + SG_ PID_03h : 48|16@1+ (1.0,0.0) [0.0|65535.0] "" AAF,TCU + +BO_ 1365 FPCM11: 8 FPCM + SG_ CR_Fpcm_LPActPre : 0|8@1+ (3.137254902,0.0) [0.0|800.0] "kPa" EMS + SG_ CF_Fpcm_LPPumpOverCur : 8|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Fpcm_PreSnrHi : 9|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Fpcm_PreSnrDisc : 10|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Fpcm_PreSnrShort : 11|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Fpcm_LPPumpDiscShort : 12|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Fpcm_LP_System_Error : 13|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Fpcm_PreSnrSigErr : 14|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Fpcm_LPCtrCirFlt : 15|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + +BO_ 852 LVR11: 7 LVR + SG_ CF_Lvr_GearInf : 0|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,TCU + SG_ CF_Lvr_PRelStat : 4|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU,SMK,TCU + SG_ CF_Lvr_BkeAct : 5|1@1+ (1.0,0.0) [0.0|1.0] "" TCU + SG_ CF_Lvr_NFnStat : 6|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Lvr_PosInf : 8|4@1+ (1.0,0.0) [0.0|15.0] "" TCU + SG_ CF_Lvr_PosCpl : 12|4@1+ (1.0,0.0) [0.0|15.0] "" TCU + SG_ CF_Lvr_UlkButStat : 18|2@1+ (1.0,0.0) [0.0|3.0] "" TCU + SG_ CF_Lvr_PNStat : 20|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Lvr_ShtLkStat : 24|4@1+ (1.0,0.0) [0.0|15.0] "" TCU + SG_ CF_Lvr_ShfErrInf : 28|20@1+ (1.0,0.0) [0.0|8191.0] "" CLU,TCU + SG_ CF_Lvr_AC : 48|4@1+ (1.0,0.0) [0.0|15.0] "" TCU + SG_ CF_Lvr_CS : 52|4@1+ (1.0,0.0) [0.0|15.0] "" TCU + +BO_ 1363 CGW2: 8 BCM + SG_ CF_Gway_GwayDiagState : 0|1@1+ (1.0,0.0) [0.0|3.0] "" CLU,Dummy + SG_ CF_Gway_DDMDiagState : 1|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_SCMDiagState : 2|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_PSMDiagState : 3|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_SJBDiagState : 4|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_IPMDiagState : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_LDMFail : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,LDWS_LKAS,LDWS_LKAS + SG_ CF_Gway_CLUSwGuiCtrl : 10|3@1+ (1.0,0.0) [0.0|63.0] "" CLU,Dummy + SG_ CF_Gway_CLUSwGroup : 13|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_CLUSwMode : 14|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_CLUSwEnter : 15|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_AutoLightValue : 16|1@1+ (1.0,0.0) [0.0|1.0] "" LCA,LCA + SG_ CF_Gway_BrakeFluidSw : 17|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_DrvSeatBeltInd : 18|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_AvTail : 20|1@1+ (1.0,0.0) [0.0|3.0] "" CLU,SNV,SNV + SG_ CF_Gway_RearFogAct : 21|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_ExtTailAct : 22|1@1+ (1.0,0.0) [0.0|1.0] "" AVM,CLU,LCA,PGS,SPAS,AVM,LCA,PGS,SPAS + SG_ CF_Gway_RRDrSw : 23|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_RLDrSw : 24|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_IntTailAct : 25|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_CountryCfg : 26|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,PGS,Dummy + SG_ CF_Gway_WiperParkPosition : 32|1@1+ (1.0,0.0) [0.0|1.0] "" AFLS,EMS,LDWS_LKAS,AFLS,EMS,LDWS_LKAS + SG_ CF_Gway_HLLowLHFail : 33|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS,SNV,LDWS_LKAS,SNV + SG_ CF_Gway_HLLowRHFail : 34|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS,SNV,LDWS_LKAS,SNV + SG_ CF_Gway_ESCLFailWarn : 35|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_ESCLNotLockedWarn : 36|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_ESCLNotUnlockWarn : 37|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_IDoutWarn : 38|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_ImmoLp : 40|1@1+ (1.0,0.0) [0.0|3.0] "" CLU,Dummy + SG_ CF_Gway_BCMRKEID : 41|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,Dummy + SG_ CF_Gway_VehicleNotPWarn : 44|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_DeactivationWarn : 45|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_KeyBATDischargeWarn : 46|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_SSBWarn : 47|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_SMKFobID : 48|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,Dummy + SG_ CF_Gway_SMKRKECmd : 51|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,Dummy + SG_ CF_Gway_AutoLightOption : 54|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_SJBDeliveryMode : 55|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_KeyoutLp : 56|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_SMKDispWarn : 57|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,Dummy + SG_ CF_Gway_WngBuz : 61|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,Dummy + +BO_ 339 TCS11: 8 ESC + SG_ TCS_REQ : 0|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB,TCU + SG_ MSR_C_REQ : 1|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,EPB,SCC,TCU + SG_ TCS_PAS : 2|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,EMS,SCC,SPAS,TCU + SG_ TCS_GSC : 3|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,TCU + SG_ CF_Esc_LimoInfo : 4|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,SCC + SG_ ABS_DIAG : 6|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,EMS,EPB + SG_ ABS_DEF : 7|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,ECS,EMS,EPB,SCC,SPAS,TCU + SG_ TCS_DEF : 8|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB,SCC,SPAS,TCU + SG_ TCS_CTL : 9|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB,SCC,SPAS,TCU + SG_ ABS_ACT : 10|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,ECS,EMS,EPB,LDWS_LKAS,SCC,SPAS,TCU + SG_ EBD_DEF : 11|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB,SPAS,TCU + SG_ ESP_PAS : 12|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,CLU,EMS,EPB,LDWS_LKAS,SCC,TCU + SG_ ESP_DEF : 13|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,ECS,EMS,EPB,LDWS_LKAS,SCC,TCU + SG_ ESP_CTL : 14|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,ECS,EMS,EPB,LDWS_LKAS,SCC,SPAS,TCU + SG_ TCS_MFRN : 15|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,EPB,TCU + SG_ DBC_CTL : 16|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB + SG_ DBC_PAS : 17|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB + SG_ DBC_DEF : 18|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB + SG_ HAC_CTL : 19|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,EMS,EPB,TCU + SG_ HAC_PAS : 20|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,EMS,EPB,TCU + SG_ HAC_DEF : 21|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,EMS,EPB,TCU + SG_ ESS_STAT : 22|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,BCM,CLU,EMS,EPB + SG_ TQI_TCS : 24|8@1+ (0.390625,0.0) [0.0|99.609375] "%" EMS,EPB,TCU + SG_ TQI_MSR : 32|8@1+ (0.390625,0.0) [0.0|99.609375] "%" EMS,EPB,TCU + SG_ TQI_SLW_TCS : 40|8@1+ (0.390625,0.0) [0.0|99.609375] "%" EMS,EPB,TCU + SG_ CF_Esc_BrkCtl : 48|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ BLA_CTL : 49|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CGW,CLU + SG_ AliveCounter_TCS1 : 52|4@1+ (1.0,0.0) [0.0|14.0] "" EMS,EPB,LDWS_LKAS + SG_ CheckSum_TCS1 : 56|8@1+ (1.0,0.0) [0.0|255.0] "" EMS,EPB,LDWS_LKAS + +BO_ 1362 SNV11: 4 SNV + SG_ CF_SNV_DisplayControl : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,HUD + SG_ CF_Snv_BeepWarning : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,HUD + SG_ CF_Snv_WarningMessage : 4|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,HUD + SG_ CF_Snv_DetectionEnable : 7|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU,HUD + SG_ CF_Snv_PedestrianDetect : 8|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU,HUD + SG_ CF_Snv_IRLampControl : 10|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU,HUD + +BO_ 593 MDPS12: 8 MDPS + SG_ CR_Mdps_StrColTq : 0|11@1+ (0.0078125,-8.0) [-8.0|7.9921875] "Nm" LDWS_LKAS + SG_ CF_Mdps_Def : 11|1@1+ (1.0,0.0) [0.0|1.0] "" ESC + SG_ CF_Mdps_ToiUnavail : 12|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS + SG_ CF_Mdps_ToiActive : 13|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS + SG_ CF_Mdps_ToiFlt : 14|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS + SG_ CF_Mdps_FailStat : 15|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS + SG_ CF_Mdps_MsgCount2 : 16|8@1+ (1.0,0.0) [0.0|255.0] "" ESC,LDWS_LKAS + SG_ CF_Mdps_Chksum2 : 24|8@1+ (1.0,0.0) [0.0|255.0] "" ESC,LDWS_LKAS + SG_ CF_Mdps_SErr : 37|1@1+ (1.0,0.0) [0.0|1.0] "" ESC + SG_ CR_Mdps_StrTq : 40|12@1+ (0.01,-20.48) [-20.48|20.47] "Nm" ESC + SG_ CR_Mdps_OutTq : 52|12@1+ (0.1,-204.8) [-204.8|204.7] "" ESC,LDWS_LKAS + +BO_ 1360 IAP11: 3 IAP + SG_ CF_Iap_EcoPmodSwi : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Iap_EcoPmodAct : 1|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Iap_ReqWarn : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1356 TCU_DCT14: 8 TCU + SG_ Vehicle_Stop_Time : 0|5@1+ (1.0,0.0) [0.0|0.0] "" CLU + SG_ HILL_HOLD_WARNING : 5|1@1+ (1.0,0.0) [0.0|0.0] "" CLU + +BO_ 1353 BAT11: 8 EMS + SG_ BAT_SNSR_I : 0|16@1+ (0.01,-327.0) [-327.0|328.0] "A" CGW,CUBIS,IBOX,TMU + SG_ BAT_SOC : 16|8@1+ (1.0,0.0) [0.0|100.0] "%" CGW,CUBIS,IBOX,TMU + SG_ BAT_SNSR_V : 24|14@1+ (0.0010,6.0) [6.0|18.0] "V" CGW,CUBIS,IBOX,TMU + SG_ BAT_SNSR_Temp : 38|9@1- (0.5,-40.0) [-40.0|125.0] "deg" CGW,CUBIS,IBOX,TMU + SG_ BAT_SNSR_State : 47|1@1+ (1.0,0.0) [0.0|1.0] "" CGW,CUBIS,IBOX,TMU + SG_ BAT_SOH : 48|7@1+ (1.0,0.0) [0.0|100.0] "%" CGW,CUBIS,IBOX,TMU + SG_ BAT_SNSR_Invalid : 55|1@1+ (1.0,0.0) [0.0|1.0] "" CGW,CUBIS,IBOX,TMU + SG_ BAT_SOF : 56|7@1+ (0.1,0.0) [0.0|12.0] "V" CGW,CUBIS,IBOX,TMU + SG_ BAT_SNSR_Error : 63|1@1+ (1.0,0.0) [0.0|1.0] "" CGW,CUBIS,IBOX,TMU + +BO_ 1351 EMS15: 8 EMS + SG_ ECGPOvrd : 0|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,IBOX,SCC + SG_ QECACC : 1|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,IBOX + SG_ ECFail : 2|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,IBOX + SG_ SwitchOffCondExt : 3|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,IBOX + SG_ BLECFail : 4|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,IBOX + SG_ CF_Ems_IsaAct : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ FA_PV_CAN : 8|8@1+ (0.3906,0.0) [0.0|99.2] "%" IBOX,LDWS_LKAS,TCU + SG_ IntAirTemp : 16|8@1+ (0.75,-48.0) [-48.0|143.25] "deg" _4WD,ECS,EPB,IBOX,TCU + SG_ STATE_DC_OBD : 24|7@1+ (1.0,0.0) [0.0|127.0] "" IBOX,TCU + SG_ INH_DC_OBD : 31|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,TCU + SG_ CTR_IG_CYC_OBD : 32|16@1+ (1.0,0.0) [0.0|65535.0] "" ACU,IBOX,TCU + SG_ CTR_CDN_OBD : 48|16@1+ (1.0,0.0) [0.0|65535.0] "" IBOX,TCU + +BO_ 1350 DI_BOX12: 8 DI_BOX + SG_ CF_DiBox_FrtInjVDiagReg0 : 0|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_FrtInjVDiagReg1 : 8|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_FrtInjVDiagReg2 : 16|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_SedInjVDiagReg0 : 24|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_SedInjVDiagReg1 : 32|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_SedInjVDiagReg2 : 40|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CR_DiBox_BatVol : 48|8@1+ (0.1,0.0) [0.0|25.5] "V" EMS + SG_ CF_DiBox_SedInjVChg : 56|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_DiBox_FrtInjVChg : 57|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_DiBox_SedInjVErrSPI : 58|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_DiBox_FrtInjVErrSPI : 59|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + +BO_ 1349 EMS14: 8 EMS + SG_ IMMO_LAMP_STAT : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ L_MIL : 1|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,CUBIS,IBOX + SG_ IM_STAT : 2|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ AMP_CAN : 3|5@1+ (10.731613,458.98) [458.98|791.660003] "mmHg" CLU,IBOX,TCU,TPMS + SG_ BAT_Alt_FR_Duty : 8|8@1+ (0.4,0.0) [0.0|100.0] "%" CGW,CUBIS,IBOX,TMU + SG_ VB : 24|8@1+ (0.1015625,0.0) [0.0|25.8984375] "V" CLU,CUBIS,DATC,EPB,FPCM,IBOX + SG_ EMS_VS : 32|12@1+ (0.0625,0.0) [0.0|255.875] "km/h" CLU + SG_ TEMP_FUEL : 56|8@1+ (0.75,-48.0) [-48.0|143.25] "deg" FPCM + +BO_ 68 DATC11: 8 DATC + SG_ CF_Datc_Type : 0|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ CF_Datc_VerMaj : 8|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ CF_Datc_VerMin : 16|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ CR_Datc_OutTempC : 24|8@1+ (0.5,-41.0) [-41.0|86.5] "deg" CLU,FPCM + SG_ CR_Datc_OutTempF : 32|8@1+ (1.0,-42.0) [-42.0|213.0] "deg" CLU + SG_ CF_Datc_IncarTemp : 40|8@1+ (0.5,-40.0) [-40.0|60.0] "deg" BCM,CLU + +BO_ 67 DATC13: 8 DATC + SG_ CF_Datc_TempDispUnit : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,IBOX + SG_ CF_Datc_ModDisp : 2|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ CF_Datc_IonClean : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_ChgReqDisp : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_IntakeDisp : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_AutoDisp : 12|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_FrDefLed : 14|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,IBOX + SG_ CF_Datc_AutoDefogBlink : 16|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_ClmScanDisp : 18|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_AqsDisp : 20|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_AcDisp : 22|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_OpSts : 25|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Mtc_MaxAcDisp : 28|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_DualDisp : 30|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_PwrInf : 32|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ CF_Datc_RearManual : 38|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_RearAutoDisp : 40|2@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Datc_RearOffDisp : 42|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_RearClimateScnDisp : 44|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_RearChgReqDisp : 46|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_RearModDisp : 48|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ CF_Datc_RearBlwDisp : 52|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ CF_Datc_PSModDisp : 56|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ CF_Datc_FrontBlwDisp : 60|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,IBOX + +BO_ 66 DATC12: 8 DATC + SG_ CR_Datc_DrTempDispC : 0|8@1+ (0.5,14.0) [15.0|32.0] "deg" CLU,IBOX + SG_ CR_Datc_DrTempDispF : 8|8@1+ (1.0,56.0) [58.0|90.0] "" CLU,IBOX + SG_ CR_Datc_PsTempDispC : 16|8@1+ (0.5,14.0) [15.0|32.0] "deg" CLU,IBOX + SG_ CR_Datc_PsTempDispF : 24|8@1+ (1.0,56.0) [58.0|90.0] "" CLU,IBOX + SG_ CR_Datc_RearDrTempDispC : 40|8@1+ (0.5,14.0) [15.0|32.0] "deg" CLU + SG_ CR_Datc_RearDrTempDispF : 48|8@1+ (1.0,58.0) [58.0|90.0] "" CLU + SG_ CF_Datc_CO2_Warning : 56|8@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1345 CGW1: 8 BCM + SG_ CF_Gway_IGNSw : 0|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,ECS,EMS,EPB,ESC,IBOX,LVR,MDPS,SAS,SCC,ECS,EMS,EPB,ESC,IBOX,LVR,MDPS,SAS,SCC + SG_ CF_Gway_RKECmd : 3|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,ECS,EMS,IBOX,ECS,EMS,IBOX + SG_ CF_Gway_DrvKeyLockSw : 6|1@1+ (1.0,0.0) [0.0|1.0] "" ECS,EMS,IBOX,ECS,EMS,IBOX + SG_ CF_Gway_DrvKeyUnlockSw : 7|1@1+ (1.0,0.0) [0.0|1.0] "" ECS,EMS,IBOX,ECS,EMS,IBOX + SG_ CF_Gway_DrvDrSw : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ECS,EMS,EPB,ESC,IBOX,SCC,TCU,ECS,EMS,EPB,ESC,IBOX,SCC,TCU + SG_ CF_Gway_DrvSeatBeltSw : 10|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,EPB,ESC,IBOX,PSB,TCU,EMS,EPB,ESC,IBOX,PSB,TCU + SG_ CF_Gway_TrunkTgSw : 12|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ECS,EMS,EPB,ESC,IBOX,ECS,EMS,EPB,ESC,IBOX + SG_ CF_Gway_AstSeatBeltSw : 14|2@1+ (1.0,0.0) [0.0|3.0] "" IBOX,PSB,IBOX,PSB + SG_ CF_Gway_SMKOption : 16|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,IBOX,EMS,IBOX,SMK + SG_ CF_Gway_HoodSw : 17|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,EMS,EPB,ESC,IBOX,EMS,EPB,ESC,IBOX + SG_ CF_Gway_TurnSigLh : 19|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,EMS,IBOX,LCA,LDWS_LKAS,SCC,EMS,IBOX,LCA,LDWS_LKAS,SCC + SG_ CF_Gway_WiperIntT : 21|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,EMS,IBOX,LDWS_LKAS,EMS,ESC,IBOX,LDWS_LKAS + SG_ CF_Gway_WiperIntSw : 24|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,IBOX,LDWS_LKAS,EMS,ESC,IBOX,LDWS_LKAS + SG_ CF_Gway_WiperLowSw : 25|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,IBOX,LDWS_LKAS,EMS,ESC,IBOX,LDWS_LKAS + SG_ CF_Gway_WiperHighSw : 26|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,IBOX,LDWS_LKAS,EMS,ESC,IBOX,LDWS_LKAS + SG_ CF_Gway_WiperAutoSw : 27|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,IBOX,LDWS_LKAS,EMS,ESC,IBOX,LDWS_LKAS + SG_ CF_Gway_RainSnsState : 28|3@1+ (1.0,0.0) [0.0|7.0] "" AFLS,EMS,IBOX,LDWS_LKAS,AFLS,EMS,ESC,IBOX,LDWS_LKAS + SG_ CF_Gway_HeadLampLow : 31|1@1+ (1.0,0.0) [0.0|1.0] "" AFLS,CLU,EMS,IBOX,LDWS_LKAS,SNV,AFLS,EMS,IBOX,LDWS_LKAS,SNV + SG_ CF_Gway_HeadLampHigh : 32|1@1+ (1.0,0.0) [0.0|1.0] "" AFLS,CLU,EMS,IBOX,LDWS_LKAS,AFLS,EMS,IBOX,LDWS_LKAS + SG_ CF_Gway_HazardSw : 33|2@1+ (1.0,0.0) [0.0|3.0] "" ABS,EMS,ESC,IBOX,LCA,LDWS_LKAS,ABS,EMS,ESC,IBOX,LCA,LDWS_LKAS + SG_ CF_Gway_AstDrSw : 35|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX,IBOX + SG_ CF_Gway_DefoggerRly : 36|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX,EMS,IBOX + SG_ CF_Gway_ALightStat : 37|1@1+ (1.0,0.0) [0.0|1.0] "" AFLS,IBOX,LDWS_LKAS,AFLS,IBOX,LDWS_LKAS + SG_ CF_Gway_LightSwState : 38|2@1+ (1.0,0.0) [0.0|3.0] "" AFLS,IBOX,LDWS_LKAS,AFLS,IBOX,LDWS_LKAS + SG_ CF_Gway_Frt_Fog_Act : 40|1@1+ (1.0,0.0) [0.0|1.0] "" AFLS,CLU,IBOX,LDWS_LKAS,AFLS,IBOX,LDWS_LKAS + SG_ CF_Gway_TSigRHSw : 41|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,LDWS_LKAS,IBOX,LDWS_LKAS + SG_ CF_Gway_TSigLHSw : 42|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,LDWS_LKAS,IBOX,LDWS_LKAS + SG_ CF_Gway_DriveTypeOption : 43|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX,LDWS_LKAS,IBOX,LDWS_LKAS + SG_ CF_Gway_StarterRlyState : 44|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX,EMS,IBOX,SMK + SG_ CF_Gway_PassiveAccessLock : 45|2@1+ (1.0,0.0) [0.0|7.0] "" CLU,ECS,EMS,IBOX,ECS,EMS,IBOX,SMK + SG_ CF_Gway_WiperMistSw : 47|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,IBOX,LDWS_LKAS + SG_ CF_Gway_PassiveAccessUnlock : 48|2@1+ (1.0,0.0) [0.0|7.0] "" CLU,ECS,EMS,IBOX,ECS,EMS,IBOX,SMK + SG_ CF_Gway_RrSunRoofOpenState : 50|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,DATC,IBOX + SG_ CF_Gway_PassingSW : 51|1@1+ (1.0,0.0) [0.0|1.0] "" AFLS,IBOX,LDWS_LKAS,AFLS,IBOX,LDWS_LKAS + SG_ CF_Gway_HBAControlMode : 52|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,LDWS_LKAS,IBOX,LDWS_LKAS + SG_ CF_Gway_HLpHighSw : 53|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,LDWS_LKAS,IBOX,LDWS_LKAS + SG_ CF_Gway_InhibitRMT : 54|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,EPB,ESC,IBOX,LCA,LDWS_LKAS,MDPS,PGS,SCC,SPAS,TPMS,EPB,ESC,IBOX,LCA,LDWS_LKAS,PGS,SCC,SPAS,TPMS + SG_ CF_Gway_RainSnsOption : 56|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_SunRoofOpenState : 57|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,DATC,IBOX,DATC,IBOX + SG_ CF_Gway_Ign1 : 58|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_Ign2 : 59|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_ParkBrakeSw : 60|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ESC,IBOX,SCC,ESC,IBOX,SCC + SG_ CF_Gway_TurnSigRh : 62|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,EMS,IBOX,LCA,LDWS_LKAS,SCC,EMS,IBOX,LCA,LDWS_LKAS,SCC + +BO_ 64 DATC14: 8 DATC + SG_ CF_Datc_AqsLevelOut : 0|4@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_DiagMode : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CR_Datc_SelfDiagCode : 8|8@1+ (1.0,-1.0) [0.0|254.0] "" CLU + SG_ DATC_SyncDisp : 16|4@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ DATC_OffDisp : 20|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ DATC_SmartVentDisp : 22|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ DATC_SmartVentOnOffStatus : 24|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ DATC_AutoDefogSysOff_Disp : 26|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ DATC_ADSDisp : 28|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 832 LKAS11: 8 LDWS_LKAS + SG_ CF_Lkas_LdwsSysState : 2|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,IBOX,PSB + SG_ CF_Lkas_SysWarning : 6|4@1+ (1.0,0.0) [0.0|15.0] "" BCM,CLU + SG_ CF_Lkas_LdwsLHWarning : 10|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU,PSB + SG_ CF_Lkas_LdwsRHWarning : 12|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU,PSB + SG_ CF_Lkas_HbaLamp : 14|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Lkas_FcwBasReq : 15|1@1+ (1.0,0.0) [0.0|1.0] "" ABS,ESC + SG_ CR_Lkas_StrToqReq : 16|11@1+ (0.0078125,-8.0) [-8.0|8.0] "Nm" MDPS + SG_ CF_Lkas_ActToi : 27|1@1+ (1.0,0.0) [0.0|1.0] "" MDPS + SG_ CF_Lkas_ToiFlt : 28|1@1+ (1.0,0.0) [0.0|1.0] "" MDPS + SG_ CF_Lkas_HbaSysState : 29|3@1+ (1.0,0.0) [0.0|7.0] "" BCM,CLU + SG_ CF_Lkas_FcwOpt : 32|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Lkas_HbaOpt : 34|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CGW + SG_ CF_Lkas_MsgCount : 36|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,MDPS + SG_ CF_Lkas_FcwSysState : 40|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Lkas_FcwCollisionWarning : 43|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Lkas_FusionState : 45|2@1+ (1.0,0.0) [0.0|3.0] "" SCC + SG_ CF_Lkas_Chksum : 48|8@1+ (1.0,0.0) [0.0|255.0] "" MDPS + SG_ CF_Lkas_FcwOpt_USM : 56|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Lkas_LdwsOpt_USM : 59|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,MDPS + +BO_ 1342 LKAS12: 6 LDWS_LKAS + SG_ CF_Lkas_TsrSlifOpt : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_LkasTsrStatus : 12|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Lkas_TsrSpeed_Display_Clu : 16|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ CF_LkasTsrSpeed_Display_Navi : 24|8@1+ (1.0,0.0) [0.0|255.0] "" BCM,CLU + SG_ CF_Lkas_TsrAddinfo_Display : 32|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1338 TMU_GW_E_01: 8 CLU + SG_ CF_Gway_TeleReqDrLock : 0|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Gway_TeleReqDrUnlock : 2|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Gway_TeleReqHazard : 4|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Gway_TeleReqHorn : 6|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Gway_TeleReqEngineOperate : 8|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + +BO_ 1078 PAS11: 4 BCM + SG_ CF_Gway_PASDisplayFLH : 0|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,AVM + SG_ CF_Gway_PASDisplayFRH : 3|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,AVM + SG_ CF_Gway_PASRsound : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,Dummy + SG_ CF_Gway_PASDisplayFCTR : 8|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,AVM + SG_ CF_Gway_PASDisplayRCTR : 11|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,PGS,AVM + SG_ CF_Gway_PASFsound : 14|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,Dummy + SG_ CF_Gway_PASDisplayRLH : 16|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,PGS,AVM + SG_ CF_Gway_PASDisplayRRH : 19|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,PGS,AVM + SG_ CF_Gway_PASCheckSound : 22|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,Dummy + SG_ CF_Gway_PASSystemOn : 24|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,Dummy + SG_ CF_Gway_PASOption : 26|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_PASDistance : 28|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + +BO_ 48 EMS18: 6 EMS + SG_ CF_Ems_DC1NumPerMSV : 0|8@1+ (1.0,0.0) [0.0|255.0] "" DI_BOX + SG_ CF_Ems_DC2NumPerMSV : 8|16@1+ (1.0,0.0) [0.0|65535.0] "" DI_BOX + SG_ CR_Ems_DutyCyc1MSV : 24|8@1+ (0.1953,0.0) [0.0|49.8] "%" DI_BOX + SG_ CR_Ems_DutyCyc2MSV : 32|8@1+ (0.13725,0.0) [0.0|35.0] "%" DI_BOX + SG_ CR_Ems_DutyCyc3MSV : 40|8@1+ (0.392,0.0) [0.0|100.0] "%" DI_BOX + +BO_ 1322 CLU15: 8 CLU + SG_ CF_Clu_VehicleSpeed : 0|8@1+ (1.0,0.0) [0.0|255.0] "" BCM + SG_ CF_Clu_InhibitP : 9|1@1+ (1.0,0.0) [0.0|1.0] "" BCM + SG_ CF_Clu_InhibitR : 10|1@1+ (1.0,0.0) [0.0|1.0] "" BCM + SG_ CF_Clu_InhibitN : 11|1@1+ (1.0,0.0) [0.0|1.0] "" BCM + SG_ CF_Clu_InhibitD : 12|1@1+ (1.0,0.0) [0.0|1.0] "" BCM + SG_ CF_Clu_HudInfoSet : 13|7@1+ (1.0,0.0) [0.0|127.0] "" HUD + SG_ CF_Clu_HudFontColorSet : 20|2@1+ (1.0,0.0) [0.0|3.0] "" HUD + SG_ CF_Clu_HudBrightUpSW : 22|2@1+ (1.0,0.0) [0.0|3.0] "" HUD + SG_ CF_Clu_HudBrightDnSW : 24|2@1+ (1.0,0.0) [0.0|3.0] "" HUD + SG_ CF_Clu_HudHeightUpSW : 26|2@1+ (1.0,0.0) [0.0|3.0] "" HUD + SG_ CF_Clu_HudHeightDnSW : 28|2@1+ (1.0,0.0) [0.0|3.0] "" HUD + SG_ CF_Clu_HudSet : 30|1@1+ (1.0,0.0) [0.0|1.0] "" HUD + SG_ CF_Clu_HudFontSizeSet : 31|2@1+ (1.0,0.0) [0.0|3.0] "" HUD + SG_ CF_Clu_LanguageInfo : 33|5@1+ (1.0,0.0) [0.0|31.0] "" BCM,PGS + SG_ CF_Clu_ClusterSound : 38|1@1- (1.0,0.0) [0.0|0.0] "" BCM,CGW,FATC + +BO_ 1066 _4WD13: 6 _4WD + SG_ _4WD_CURRENT : 0|8@1+ (0.390625,0.0) [-50.0|50.0] "A" TCU + SG_ _4WD_POSITION : 8|16@1+ (0.015625,0.0) [-180.0|180.0] "Deg" TCU + SG_ _4WD_CLU_THERM_STR : 24|8@1+ (1.0,0.0) [0.0|100.0] "%" TCU + SG_ _4WD_STATUS : 32|8@1+ (1.0,0.0) [0.0|15.0] "" ESC,TCU + +BO_ 1065 _4WD12: 8 _4WD + SG_ Ster_Pos : 0|16@1+ (1.0,-600.0) [-600.0|600.0] "Deg" ESC + SG_ FRSS : 16|8@1+ (1.0,0.0) [0.0|254.0] "km/h" ESC + SG_ FLSS : 24|8@1+ (1.0,0.0) [0.0|254.0] "km/h" ESC + SG_ RRSS : 32|8@1+ (1.0,0.0) [0.0|254.0] "km/h" ESC + SG_ RLSS : 40|8@1+ (1.0,0.0) [0.0|254.0] "km/h" ESC + SG_ CLU_PRES : 48|16@1+ (0.0625,-50.0) [-50.0|50.0] "Bar" ESC + +BO_ 809 EMS12: 8 EMS + SG_ CONF_TCU m1 : 0|6@1+ (1.0,0.0) [0.0|63.0] "" _4WD,ACU,BCM,CLU,DATC,EPB,ESC,IBOX,LCA,SMK + SG_ CAN_VERS m0 : 0|6@1+ (1.0,0.0) [0.0|7.7] "" _4WD,ABS,ESC,IBOX + SG_ TQ_STND m3 : 0|6@1+ (10.0,0.0) [0.0|630.0] "Nm" _4WD,DATC,ECS,EPB,ESC,FATC,IBOX + SG_ OBD_FRF_ACK m2 : 0|6@1+ (1.0,0.0) [0.0|63.0] "" _4WD,ESC,IBOX + SG_ MUL_CODE M : 6|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,ABS,ACU,BCM,CLU,DATC,ECS,EPB,ESC,IBOX,LCA,SMK,TCU + SG_ TEMP_ENG : 8|8@1+ (0.75,-48.0) [-48.0|143.25] "deg" _4WD,BCM,CLU,DATC,EPB,ESC,IBOX,SMK,TCU + SG_ MAF_FAC_ALTI_MMV : 16|8@1+ (0.00781,0.0) [0.0|1.99155] "" IBOX,TCU + SG_ VB_OFF_ACT : 24|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,TCU + SG_ ACK_ES : 25|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,IBOX + SG_ CONF_MIL_FMY : 26|3@1+ (1.0,0.0) [0.0|7.0] "" ESC,IBOX,TCU + SG_ OD_OFF_REQ : 29|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,TCU + SG_ ACC_ACT : 30|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ABS,CLU,ESC,IAP,IBOX,SCC,TCU + SG_ CLU_ACK : 31|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EPB,ESC,IBOX + SG_ BRAKE_ACT : 32|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,ABS,ACU,AFLS,CLU,DATC,ECS,EPB,ESC,IBOX,LDWS_LKAS,TCU + SG_ ENG_CHR : 34|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,ABS,ACU,CLU,DATC,EPB,ESC,FATC,IBOX,SCC,SMK,TCU + SG_ GP_CTL : 38|2@1+ (1.0,0.0) [0.0|3.0] "" IBOX + SG_ TPS : 40|8@1+ (0.4694836,-15.0234742) [-15.0234742|104.6948357] "%" _4WD,ABS,ACU,CLU,DATC,ECS,EPB,ESC,IBOX,TCU + SG_ PV_AV_CAN : 48|8@1+ (0.3906,0.0) [0.0|99.603] "%" _4WD,AAF,ABS,ACU,AFLS,CLU,DATC,EPB,ESC,IAP,IBOX,LDWS_LKAS,SCC,TCU + SG_ ENG_VOL : 56|8@1+ (0.1,0.0) [0.0|25.5] "liter" _4WD,ABS,ACU,BCM,CLU,DATC,EPB,ESC,IBOX,LDWS_LKAS,SCC,SMK + +BO_ 1064 _4WD11: 8 _4WD + SG_ _4WD_TYPE : 0|2@1+ (1.0,0.0) [0.0|3.0] "" ACU,ESC,TPMS + SG_ _4WD_SUPPORT : 2|2@1+ (1.0,0.0) [0.0|3.0] "" ABS,ESC,TPMS + SG_ _4WD_ERR : 8|8@1+ (1.0,0.0) [0.0|255.0] "" CLU,ESC + SG_ CLU_DUTY : 16|8@1+ (1.0,0.0) [0.0|64.0] "%" ABS,ESC + SG_ R_TIRE : 24|8@1+ (1.0,200.0) [200.0|455.0] "mm" ABS,ESC,TPMS + SG_ _4WD_SW : 32|8@1+ (1.0,0.0) [0.0|9.9] "" ESC + SG_ _2H_ACT : 40|1@1+ (1.0,0.0) [0.0|1.0] "" ABS,ESC + SG_ _4H_ACT : 41|1@1+ (1.0,0.0) [0.0|1.0] "" ABS,CLU,ESC,TPMS + SG_ LOW_ACT : 42|1@1+ (1.0,0.0) [0.0|1.0] "" ABS,ESC,TCU,TPMS + SG_ AUTO_ACT : 43|1@1+ (1.0,0.0) [0.0|1.0] "" ABS,ESC,TPMS + SG_ LOCK_ACT : 44|1@1+ (1.0,0.0) [0.0|1.0] "" ABS,CLU,ESC,TPMS + SG_ _4WD_TQC_CUR : 48|16@1+ (1.0,0.0) [0.0|65535.0] "Nm" ABS,ESC + +BO_ 1319 HU_GW_E_01: 8 CLU + SG_ C_ADrLNValueSet : 0|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + SG_ C_ADrUNValueSet : 4|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + SG_ C_TwUnNValueSet : 8|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_ABuzzerNValueSet : 10|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_ArmWKeyNValueSet : 12|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_PSMNValueSet : 14|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_SCMNValueSet : 16|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_HLEscortNValueSet : 18|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_WELNValueSet : 20|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_TriTurnLNValueSet : 22|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_SNVWarnNValueSet : 24|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_LkasWarnNValueSet : 26|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + +BO_ 1318 HU_GW_E_00: 8 CLU + SG_ C_ADrLURValueReq : 0|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_TwUnRValueReq : 2|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_AlarmRValueReq : 4|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_IMSRValueReq : 6|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_HLEscortRValueReq : 8|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_WELRValueReq : 10|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_TriTurnLRValueReq : 12|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_SNVWarnRValueReq : 14|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_LkasWarnRValueReq : 16|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + +BO_ 1317 GW_HU_E_01: 8 BCM + SG_ C_ADrLRValue : 0|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ C_ADrURValue : 4|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ C_TwUnRValue : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_ABuzzerRValue : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_ArmWKeyRValue : 12|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_PSMRValue : 14|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_SCMRValue : 16|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_HLEscortRValue : 18|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_WELRValue : 20|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_TriTurnLRValue : 22|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1316 GW_HU_E_00: 8 BCM + SG_ C_ADrLUNValueConf : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_TwUnNValueConf : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_AlarmNValueConf : 4|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_PSMNValueConf : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_SCMNValueConf : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_HLEscortNValueConf : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_WELNValueConf : 12|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_TriTurnLNValueConf : 14|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1315 GW_SWRC_PE: 8 BCM + SG_ C_ModeSW : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_MuteSW : 4|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_SeekDnSW : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_SeekUpSW : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_BTPhoneCallSW : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_BTPhoneHangUpSW : 12|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_DISCDownSW : 14|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_DISCUpSW : 16|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_SdsSW : 18|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_MTSSW : 20|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_VolDnSW : 22|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_VolUpSW : 24|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1314 GW_IPM_PE_1: 8 BCM + SG_ C_AV_Tail : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_ParkingBrakeSW : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_RKECMD : 4|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ C_BAState : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_IGNSW : 12|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ C_CountryCfg : 16|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ C_TailLampActivity : 26|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ RearSW_RSELockOnOff : 28|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_SMKTeleCrankingState : 32|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_SMKTeleCrankingFailRes : 34|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1057 SCC12: 8 SCC + SG_ CF_VSM_Prefill : 0|1@1+ (1.0,0.0) [0.0|1.0] "" ESC + SG_ CF_VSM_DecCmdAct : 1|1@1+ (1.0,0.0) [0.0|1.0] "" ESC + SG_ CF_VSM_HBACmd : 2|2@1+ (1.0,0.0) [0.0|3.0] "" ESC + SG_ CF_VSM_Warn : 4|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ESC,IAP + SG_ CF_VSM_Stat : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ESC,PSB + SG_ CF_VSM_BeltCmd : 8|3@1+ (1.0,0.0) [0.0|7.0] "" ESC,PSB + SG_ ACCFailInfo : 11|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,CUBIS,ESC,IBOX + SG_ ACCMode : 13|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ESC,IBOX,TCU + SG_ StopReq : 15|1@1+ (1.0,0.0) [0.0|1.0] "" EPB,ESC + SG_ CR_VSM_DecCmd : 16|8@1+ (0.01,0.0) [0.0|2.55] "g" ESC + SG_ aReqMax : 24|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" EMS,ESC,TCU + SG_ TakeOverReq : 35|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,ESC,TCU + SG_ PreFill : 36|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,TCU + SG_ aReqMin : 37|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" EMS,ESC,TCU + SG_ CF_VSM_ConfMode : 48|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ESC + SG_ AEB_Failinfo : 50|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ESC + SG_ AEB_Status : 52|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ESC + SG_ AEB_CmdAct : 54|1@1+ (1.0,0.0) [0.0|1.0] "" ESC + SG_ AEB_StopReq : 55|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,ESC + SG_ CR_VSM_Alive : 56|4@1+ (1.0,0.0) [0.0|15.0] "" ESC,PSB + SG_ CR_VSM_ChkSum : 60|4@1+ (1.0,0.0) [0.0|15.0] "" ESC,PSB + +BO_ 1313 GW_DDM_PE: 8 BCM + SG_ C_DRVDoorStatus : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_ASTDoorStatus : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_RLDoorStatus : 4|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_RRDoorStatus : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_TrunkStatus : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_OSMirrorStatus : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1056 SCC11: 8 SCC + SG_ MainMode_ACC : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,ESC + SG_ SCCInfoDisplay : 1|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,ESC + SG_ AliveCounterACC : 4|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,EMS,ESC,TCU + SG_ VSetDis : 8|8@1+ (1.0,0.0) [0.0|255.0] "km/h or MPH" CLU,ESC,TCU + SG_ ObjValid : 16|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,ESC,TCU + SG_ DriverAlertDisplay : 17|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ESC + SG_ TauGapSet : 19|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,ESC,TCU + SG_ ACC_ObjStatus : 22|2@1+ (1.0,0.0) [0.0|3.0] "" ABS,ESC + SG_ ACC_ObjLatPos : 24|9@1+ (0.1,-20.0) [-20.0|31.1] "m" ABS,ESC + SG_ ACC_ObjDist : 33|11@1+ (0.1,0.0) [0.0|204.7] "m" ABS,ESC + SG_ ACC_ObjRelSpd : 44|12@1+ (0.1,-170.0) [-170.0|239.5] "m/s" ABS,ESC + SG_ Navi_SCC_Curve_Status : 56|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ Navi_SCC_Curve_Act : 58|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ Navi_SCC_Camera_Act : 60|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ Navi_SCC_Camera_Status : 62|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1312 CGW3: 8 BCM + SG_ CR_Photosensor_LH : 0|8@1+ (78.125,0.0) [0.0|20000.0] "" DATC,DATC + SG_ CR_Photosensor_RH : 10|8@1+ (78.125,0.0) [0.0|20000.0] "" DATC,DATC + SG_ CF_Hoodsw_memory : 22|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,EMS + SG_ C_MirOutTempSns : 24|8@1+ (0.5,-40.5) [-40.0|60.0] "deg" AAF,CLU,DATC,EMS,SPAS,AAF,DATC,EMS,SPAS + +BO_ 544 ESP12: 8 ESC + SG_ LAT_ACCEL : 0|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" _4WD,ECS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,TCU + SG_ LAT_ACCEL_STAT : 11|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,IBOX,LDWS_LKAS,MDPS,PSB,SCC,TCU + SG_ LAT_ACCEL_DIAG : 12|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,IBOX,LDWS_LKAS,MDPS,PSB,SCC,TCU + SG_ LONG_ACCEL : 13|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" _4WD,ECS,EMS,EPB,IBOX,LCA,LDWS_LKAS,PSB,SCC,SPAS,TCU + SG_ LONG_ACCEL_STAT : 24|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB,IBOX,LDWS_LKAS,PSB,SCC,SPAS,TCU + SG_ LONG_ACCEL_DIAG : 25|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB,IBOX,LDWS_LKAS,PSB,SCC,SPAS,TCU + SG_ CYL_PRES : 26|12@1+ (0.1,0.0) [0.0|409.5] "Bar" _4WD,ECS,EMS,EPB,IBOX,LDWS_LKAS,PSB,SCC,TCU + SG_ CYL_PRES_STAT : 38|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ECS,EMS,EPB,IBOX,LDWS_LKAS,PSB,SCC,TCU + SG_ CYL_PRESS_DIAG : 39|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ECS,EMS,EPB,IBOX,PSB,SCC,TCU + SG_ YAW_RATE : 40|13@1+ (0.01,-40.95) [-40.95|40.96] "" _4WD,AFLS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,SPAS,TCU + SG_ YAW_RATE_STAT : 53|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,AFLS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,SPAS,TCU + SG_ YAW_RATE_DIAG : 54|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,AFLS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,SPAS,TCU + SG_ ESP12_AliveCounter : 56|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,LPI,TCU,TMU + SG_ ESP12_Checksum : 60|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,LPI,TCU,TMU + +BO_ 1307 CLU16: 8 CLU + SG_ CF_Clu_TirePressUnitNValueSet : 0|3@1+ (1.0,0.0) [0.0|7.0] "" TPMS + SG_ CF_Clu_SlifNValueSet : 3|2@1+ (1.0,0.0) [0.0|3.0] "" LDWS_LKAS + SG_ CF_Clu_RearWiperNValueSet : 12|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + +BO_ 790 EMS11: 8 EMS + SG_ SWI_IGK : 0|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ABS,ACU,AHLS,CUBIS,DI_BOX,ECS,EPB,ESC,IBOX,LDWS_LKAS,MDPS,REA,SAS,SCC,TCU + SG_ F_N_ENG : 1|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,AFLS,CLU,CUBIS,DATC,ECS,EPB,ESC,IBOX,MDPS,SCC,TCU + SG_ ACK_TCS : 2|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,IBOX + SG_ PUC_STAT : 3|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,DATC,IBOX,TCU + SG_ TQ_COR_STAT : 4|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,ESC,IBOX,TCU + SG_ RLY_AC : 6|1@1+ (1.0,0.0) [0.0|1.0] "" DATC,IBOX,TCU + SG_ F_SUB_TQI : 7|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ECS,EPB,ESC,IBOX,TCU + SG_ TQI_ACOR : 8|8@1+ (0.390625,0.0) [0.0|99.6094] "%" _4WD,EPB,ESC,IBOX,TCU + SG_ N : 16|16@1+ (0.25,0.0) [0.0|16383.75] "rpm" _4WD,ACU,AFLS,CLU,CUBIS,DATC,ECS,EPB,ESC,FPCM,IBOX,MDPS,SCC,TCU + SG_ TQI : 32|8@1+ (0.390625,0.0) [0.0|99.6094] "%" _4WD,ECS,EPB,ESC,IBOX,TCU + SG_ TQFR : 40|8@1+ (0.390625,0.0) [0.0|99.6094] "%" _4WD,EPB,ESC,IBOX,TCU + SG_ VS : 48|8@1+ (1.0,0.0) [0.0|254.0] "km/h" _4WD,AAF,ACU,AHLS,BCM,CLU,DATC,ECS,EPB,IBOX,LCA,LDWS_LKAS,LVR,MDPS,ODS,SCC,SMK,SPAS,TCU,TPMS + SG_ RATIO_TQI_BAS_MAX_STND : 56|8@1+ (0.0078,0.0) [0.0|2.0] "" _4WD,IBOX,TCU + +BO_ 1301 CLU14: 8 CLU + SG_ CF_Clu_ADrUNValueSet : 0|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + SG_ CF_Clu_ADrLNValueSet : 3|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + SG_ CF_Clu_EscortHLNValueSet : 6|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Clu_DoorLSNValueSet : 8|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + SG_ CF_Clu_PSMNValueSet : 11|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + SG_ CF_Clu_TTUnlockNValueSet : 14|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Clu_PTGMNValueSet : 16|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Clu_SCMNValueSet : 18|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Clu_WlightNValueSet : 20|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Clu_TempUnitNValueSet : 22|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,DATC + SG_ CF_Clu_MoodLpNValueSet : 24|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + SG_ CF_Clu_TrfChgSet : 27|2@1+ (1.0,0.0) [0.0|3.0] "" AFLS + SG_ CF_Clu_OTTurnNValueSet : 29|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + SG_ CF_Clu_LcaNValueSet : 32|2@1+ (1.0,0.0) [0.0|3.0] "" LCA + SG_ CF_Clu_RctaNValueSet : 34|2@1+ (1.0,0.0) [0.0|3.0] "" LCA + SG_ CF_Clu_RcwNValueSet : 36|2@1+ (1.0,0.0) [0.0|3.0] "" LCA + SG_ CF_Clu_EscOffNValueSet : 38|3@1+ (1.0,0.0) [0.0|7.0] "" ESC + SG_ CF_Clu_SccNaviCrvNValueSet : 41|2@1+ (1.0,0.0) [0.0|3.0] "" SCC + SG_ CF_Clu_SccNaviCamNValueSet : 43|2@1+ (1.0,0.0) [0.0|3.0] "" SCC + SG_ CF_Clu_SccAebNValueSet : 45|2@1+ (1.0,0.0) [0.0|3.0] "" SCC + SG_ CF_Clu_LkasModeNValueSet : 47|2@1+ (1.0,0.0) [0.0|3.0] "" LDWS_LKAS + SG_ CF_Clu_FcwNValueSet : 51|2@1+ (1.0,0.0) [0.0|3.0] "" LDWS_LKAS + SG_ CF_Clu_PasSpkrLvNValueSet : 53|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + SG_ CF_Clu_SccDrvModeNValueSet : 56|3@1+ (1.0,0.0) [0.0|7.0] "" SCC + SG_ CF_Clu_HAnBNValueSet : 59|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Clu_HfreeTrunkTgNValueSet : 61|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + +BO_ 275 TCU13: 8 TCU + SG_ N_TGT_LUP : 0|8@1+ (10.0,500.0) [500.0|3040.0] "rpm" EMS,IBOX + SG_ SLOPE_TCU : 8|6@1+ (0.5,-16.0) [-16.0|15.5] "%" CLU,CUBIS,EMS,IBOX + SG_ CF_Tcu_InhCda : 14|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Tcu_IsgInhib : 15|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Tcu_BkeOnReq : 16|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,IBOX + SG_ CF_Tcu_NCStat : 18|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,IBOX + SG_ CF_Tcu_TarGr : 20|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,CLU,DATC,EMS,EPB,ESC,IBOX,SCC + SG_ CF_Tcu_ShfPatt : 24|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,CUBIS,EMS,IBOX + SG_ CF_Tcu_InhVis : 28|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Tcu_PRelReq : 29|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,LVR + SG_ CF_Tcu_ITPhase : 30|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Tcu_ActEcoRdy : 31|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Tcu_TqGrdLim : 32|8@1+ (10.0,0.0) [0.0|2540.0] "Nm/s" EMS,IBOX + SG_ CR_Tcu_IsgTgtRPM : 40|8@1+ (20.0,0.0) [0.0|3500.0] "rpm" EMS,IBOX + SG_ CF_Tcu_SptRdy : 48|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Tcu_SbwPInfo : 56|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Tcu_Alive3 : 58|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,IBOX + SG_ CF_Tcu_ChkSum3 : 60|4@1+ (1.0,0.0) [0.0|15.0] "" EMS,IBOX + +BO_ 274 TCU12: 8 TCU + SG_ ETL_TCU : 0|8@1+ (2.0,0.0) [0.0|508.0] "Nm" EMS,IBOX + SG_ CUR_GR : 8|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,ESC,IBOX,SCC,TPMS + SG_ CF_Tcu_Alive : 12|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,ESC,IBOX,SCC + SG_ CF_Tcu_ChkSum : 14|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,ESC,IBOX,SCC + SG_ VS_TCU : 16|8@1+ (1.0,0.0) [0.0|254.0] "km/h" BCM,CLU,DATC,EMS,IBOX,LCA,LVR,PGS,SMK,SNV + SG_ FUEL_CUT_TCU : 28|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ INH_FUEL_CUT : 29|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ IDLE_UP_TCU : 30|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ N_INC_TCU : 31|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ SPK_RTD_TCU : 32|8@1+ (0.375,-23.625) [-15.0|15.0] "" EMS,IBOX + SG_ N_TC_RAW : 40|16@1+ (0.25,0.0) [0.0|16383.5] "rpm" EMS,IBOX + SG_ VS_TCU_DECIMAL : 56|8@1+ (0.0078125,0.0) [0.0|0.9921875] "km/h" CLU,EMS,IBOX,LCA + +BO_ 273 TCU11: 8 TCU + SG_ TQI_TCU_INC : 0|8@1+ (0.390625,0.0) [0.0|99.609375] "%" EMS,ESC,IBOX + SG_ G_SEL_DISP : 8|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,AFLS,AVM,BCM,CGW,CLU,CUBIS,ECS,EMS,EPB,ESC,IAP,IBOX,LCA,LDWS_LKAS,LVR,MDPS,PGS,SCC,SMK,SNV,SPAS,TPMS + SG_ F_TCU : 12|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,ESC,IBOX + SG_ TCU_TYPE : 14|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,EMS,ESC,IBOX + SG_ TCU_OBD : 16|3@1+ (1.0,0.0) [0.0|7.0] "" EMS,ESC,IBOX + SG_ SWI_GS : 19|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB,ESC,IBOX,SCC + SG_ GEAR_TYPE : 20|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,CLU,EMS,ESC,IBOX,SCC + SG_ TQI_TCU : 24|8@1+ (0.390625,0.0) [0.0|99.609375] "%" EMS,ESC,IBOX + SG_ TEMP_AT : 32|8@1+ (1.0,-40.0) [-40.0|214.0] "deg" AAF,CLU,CUBIS,EMS,ESC,IBOX + SG_ N_TC : 40|16@1+ (0.25,0.0) [0.0|16383.5] "rpm" _4WD,EMS,EPB,ESC,IBOX + SG_ SWI_CC : 56|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,CLU,EMS,ESC,IBOX + SG_ CF_Tcu_Alive1 : 58|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,IBOX + SG_ CF_Tcu_ChkSum1 : 60|4@1+ (1.0,0.0) [0.0|15.0] "" EMS,IBOX + +BO_ 16 ACU13: 8 ACU + SG_ CF_Acu_CshAct : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CUBIS,IBOX,ODS + +BO_ 1040 CGW_USM1: 8 BCM + SG_ CF_Gway_ATTurnRValue : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_PTGMRValue : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_EscortHLRValue : 4|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_TTUnlockRValue : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_ADrLRValue : 8|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Gway_ADrURValue : 11|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Gway_SCMRValue : 14|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_WlightRValue : 16|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_PSMRValue : 18|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Gway_OTTurnRValue : 21|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Gway_DrLockSoundRValue : 24|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Gway_HAnBRValue : 27|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Gway_MoodLpRValue : 30|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_HfreeTrunkRValue : 32|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Gway_AutoLightRValue : 35|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Gway_RearWiperRValue : 38|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_PasSpkrLvRValue : 40|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + +BO_ 1292 CLU13: 8 CLU + SG_ CF_Clu_LowfuelWarn : 0|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,FPCM,IBOX + SG_ CF_Clu_RefDetMod : 2|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX + SG_ CF_Clu_AvgFCU : 3|2@1+ (1.0,0.0) [0.0|3.0] "" IBOX + SG_ CF_Clu_AvsmCur : 5|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,SCC + SG_ CF_Clu_AvgFCI : 6|10@1+ (0.1,0.0) [0.0|102.2] "" IBOX + SG_ CF_Clu_DrivingModeSwi : 16|2@1+ (1.0,0.0) [0.0|3.0] "" DATC,ECS,EMS,ESC,IAP,MDPS,TCU + SG_ CF_Clu_FuelDispLvl : 18|5@1+ (1.0,0.0) [0.0|31.0] "" CGW,IBOX + SG_ CF_Clu_FlexSteerSW : 23|1@1+ (1.0,0.0) [0.0|1.0] "" MDPS + SG_ CF_Clu_DTE : 24|10@1+ (1.0,0.0) [0.0|1023.0] "" DATC + SG_ CF_Clu_TripUnit : 34|2@1+ (1.0,0.0) [0.0|3.0] "" DATC + SG_ CF_Clu_SWL_Stat : 36|3@1+ (1.0,0.0) [0.0|7.0] "" ACU,EMS + SG_ CF_Clu_ActiveEcoSW : 39|1@1+ (1.0,0.0) [0.0|1.0] "" DATC,EMS,TCU + SG_ CF_Clu_EcoDriveInf : 40|3@1+ (1.0,0.0) [0.0|7.0] "" CUBIS,EMS,IAP,IBOX + SG_ CF_Clu_IsaMainSW : 43|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Clu_LdwsLkasSW : 56|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS + SG_ CF_Clu_AltLStatus : 59|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,DATC,EMS + SG_ CF_Clu_AliveCnt2 : 60|4@1+ (1.0,0.0) [0.0|15.0] "" EMS,LDWS_LKAS + +BO_ 1290 SCC13: 8 SCC + SG_ SCCDrvModeRValue : 0|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ SCC_Equip : 3|1@1+ (1.0,0.0) [0.0|1.0] "" ESC + SG_ AebDrvSetStatus : 4|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,ESC + +BO_ 1287 TCS15: 4 ESC + SG_ ABS_W_LAMP : 0|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,CUBIS,IBOX + SG_ TCS_OFF_LAMP : 1|2@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,CLU + SG_ TCS_LAMP : 3|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,ACU,CLU,CUBIS,IBOX,SCC + SG_ DBC_W_LAMP : 5|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU + SG_ DBC_F_LAMP : 6|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,CLU + SG_ ESC_Off_Step : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ AVH_CLU : 16|8@1+ (1.0,0.0) [0.0|255.0] "" CLU,EPB + SG_ AVH_I_LAMP : 24|2@1+ (1.0,0.0) [0.0|3.0] "" EPB + SG_ EBD_W_LAMP : 26|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU + SG_ AVH_ALARM : 27|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ AVH_LAMP : 29|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,EPB,SPAS + +BO_ 1282 TCU14: 4 TCU + SG_ CF_TCU_WarnMsg : 0|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_TCU_WarnImg : 3|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_TCU_WarnSnd : 4|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Tcu_GSel_BlinkReq : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,LVR + SG_ CF_Tcu_StRelStat : 12|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,ESC + SG_ CF_Tcu_DriWarn1 : 13|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,EMS,ESC + SG_ CF_Tcu_DriWarn2 : 16|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,EMS,ESC + +BO_ 1281 ECS11: 3 ECS + SG_ ECS_W_LAMP : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,CUBIS,IBOX + SG_ SYS_NA : 1|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ ECS_DEF : 2|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ ECS_DIAG : 3|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ L_CHG_NA : 4|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ Leveling_Off : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ LC_overheat : 6|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ Lifting : 8|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ Lowering : 9|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ Damping_Mode : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ REQ_Damping : 12|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ REQ_Height : 14|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ REQ_level : 16|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ ACT_Height : 20|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + +BO_ 1024 CLU_CFG11: 2 CLU + SG_ Vehicle_Type : 0|16@1+ (1.0,0.0) [0.0|65536.0] "" _4WD + +BO_ 1280 ACU14: 1 ACU + SG_ CF_SWL_Ind : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_TTL_Ind : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_SBR_Ind : 4|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU + +BO_ 512 EMS20: 6 EMS + SG_ FCO : 0|16@1+ (0.128,0.0) [0.0|8388.48] "ul" CLU,CUBIS,FPCM,IBOX + SG_ CF_Ems_PumpTPres : 16|8@1+ (3.137254902,0.0) [0.0|800.0] "kPa" FPCM,IBOX + SG_ Split_Stat : 32|1@1+ (1.0,0.0) [0.0|1.0] "" FPCM diff --git a/opendbc_repo/opendbc/dbc/hyundai_2015_mcan.dbc b/opendbc_repo/opendbc/dbc/hyundai_2015_mcan.dbc new file mode 100644 index 0000000000..6bcd771e51 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/hyundai_2015_mcan.dbc @@ -0,0 +1,1564 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: CLOCK HUD H_U DATC CCP KMA_TMU CUBIS TMU IPM RSE_R RRC CGW RSE_L AMP EDT SWRC IBOX CLU FHCU ASD MON AVM KBD + + +BO_ 3221225472 VECTOR__INDEPENDENT_SIG_MSG: 0 Vector__XXX + SG_ C_WHEEL_FL : 0|12@0+ (1,0) [0|0] "" Vector__XXX + SG_ C_WHEEL_FR : 0|12@0+ (1,0) [0|0] "" Vector__XXX + SG_ C_WHEEL_RL : 0|12@0+ (1,0) [0|0] "" Vector__XXX + SG_ C_WHEEL_RR : 0|12@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 2046 TP_EDT_AMP: 8 EDT + SG_ Byte0_TCP_7FE : 7|8@0+ (1,0) [0|0] "" AMP + SG_ Byte1_Data_7FE : 15|8@0+ (1,0) [0|0] "" AMP + SG_ Byte2_Data_7FE : 23|8@0+ (1,0) [0|0] "" AMP + SG_ Byte3_Data_7FE : 31|8@0+ (1,0) [0|0] "" AMP + SG_ Byte4_Data_7FE : 39|8@0+ (1,0) [0|0] "" AMP + SG_ Byte5_Data_7FE : 47|8@0+ (1,0) [0|0] "" AMP + SG_ Byte6_Data_7FE : 55|8@0+ (1,0) [0|0] "" AMP + SG_ Byte7_Data_7FE : 63|8@0+ (1,0) [0|0] "" AMP + +BO_ 251 HU_TMU_E_02: 8 H_U + SG_ HU_GPS_Year : 7|8@0+ (1,0) [0|0] "" CUBIS,TMU + SG_ HU_GPS_Month : 15|8@0+ (1,0) [0|0] "" CUBIS,TMU + SG_ HU_GPS_Day : 23|8@0+ (1,0) [0|0] "" CUBIS,TMU + SG_ HU_GPS_Hour : 31|8@0+ (1,0) [0|0] "" CUBIS,TMU + SG_ HU_GPS_Minute : 39|8@0+ (1,0) [0|0] "" CUBIS,TMU + SG_ HU_GPS_Second : 47|8@0+ (1,0) [0|0] "" CUBIS,TMU + +BO_ 250 HU_TMU_E_01: 8 H_U + SG_ HU_VoiceRecCom : 2|3@0+ (1,0) [0|0] "" TMU + SG_ HU_LangChgCom : 5|3@0+ (1,0) [0|0] "" TMU + SG_ HU_CallEndCmd : 9|2@0+ (1,0) [0|0] "" TMU + SG_ HU_ServiceReqtID : 13|4@0+ (1,0) [0|0] "" TMU + SG_ HU_MicReqCmd : 15|2@0+ (1,0) [0|0] "" TMU + SG_ HU_SeviceAction : 18|3@0+ (1,0) [0|0] "" TMU + SG_ HU_eCallStatus : 20|2@0+ (1,0) [0|0] "" TMU + +BO_ 1269 TP_CLU_ANDAUTO_HU: 8 CLU + SG_ Byte0_TCP_4F5 : 7|8@0+ (1,0) [0|0] "" H_U + SG_ Byte1_Data_4F5 : 15|8@0+ (1,0) [0|0] "" H_U + SG_ Byte2_Data_4F5 : 23|8@0+ (1,0) [0|0] "" H_U + SG_ Byte3_Data_4F5 : 31|8@0+ (1,0) [0|0] "" H_U + SG_ Byte4_Data_4F5 : 39|8@0+ (1,0) [0|0] "" H_U + SG_ Byte5_Data_4F5 : 47|8@0+ (1,0) [0|0] "" H_U + SG_ Byte6_Data_4F5 : 55|8@0+ (1,0) [0|0] "" H_U + SG_ Byte7_Data_4F5 : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 1268 TP_HU_ANDAUTO_CLU: 8 H_U + SG_ Byte0_TCP_4F4 : 7|8@0+ (1,0) [0|0] "" CLU + SG_ Byte1_Data_4F4 : 15|8@0+ (1,0) [0|0] "" CLU + SG_ Byte2_Data_4F4 : 23|8@0+ (1,0) [0|0] "" CLU + SG_ Byte3_Data_4F4 : 31|8@0+ (1,0) [0|0] "" CLU + SG_ Byte4_Data_4F4 : 39|8@0+ (1,0) [0|0] "" CLU + SG_ Byte5_Data_4F4 : 47|8@0+ (1,0) [0|0] "" CLU + SG_ Byte6_Data_4F4 : 55|8@0+ (1,0) [0|0] "" CLU + SG_ Byte7_Data_4F4 : 63|8@0+ (1,0) [0|0] "" CLU + +BO_ 1267 TP_CLU_CARPLAY_HU: 8 CLU + SG_ Byte0_TCP_4F3 : 7|8@0+ (1,0) [0|0] "" H_U + SG_ Byte1_Data_4F3 : 15|8@0+ (1,0) [0|0] "" H_U + SG_ Byte2_Data_4F3 : 23|8@0+ (1,0) [0|0] "" H_U + SG_ Byte3_Data_4F3 : 31|8@0+ (1,0) [0|0] "" H_U + SG_ Byte4_Data_4F3 : 39|8@0+ (1,0) [0|0] "" H_U + SG_ Byte5_Data_4F3 : 47|8@0+ (1,0) [0|0] "" H_U + SG_ Byte6_Data_4F3 : 55|8@0+ (1,0) [0|0] "" H_U + SG_ Byte7_Data_4F3 : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 1266 TP_HU_CARPLAY_CLU: 8 H_U + SG_ Byte0_TCP_4F2 : 7|8@0+ (1,0) [0|0] "" CLU + SG_ Byte1_Data_4F2 : 15|8@0+ (1,0) [0|0] "" CLU + SG_ Byte2_Data_4F2 : 23|8@0+ (1,0) [0|0] "" CLU + SG_ Byte3_Data_4F2 : 31|8@0+ (1,0) [0|0] "" CLU + SG_ Byte4_Data_4F2 : 39|8@0+ (1,0) [0|0] "" CLU + SG_ Byte5_Data_4F2 : 47|8@0+ (1,0) [0|0] "" CLU + SG_ Byte6_Data_4F2 : 55|8@0+ (1,0) [0|0] "" CLU + SG_ Byte7_Data_4F2 : 63|8@0+ (1,0) [0|0] "" CLU + +BO_ 1263 TP_CLU_IBOX_HU: 8 CLU + SG_ Byte0_TCP_4EF : 7|8@0+ (1,0) [0|0] "" H_U + SG_ Byte1_Data_4EF : 15|8@0+ (1,0) [0|0] "" H_U + SG_ Byte2_Data_4EF : 23|8@0+ (1,0) [0|0] "" H_U + SG_ Byte3_Data_4EF : 31|8@0+ (1,0) [0|0] "" H_U + SG_ Byte4_Data_4EF : 39|8@0+ (1,0) [0|0] "" H_U + SG_ Byte5_Data_4EF : 47|8@0+ (1,0) [0|0] "" H_U + SG_ Byte6_Data_4EF : 55|8@0+ (1,0) [0|0] "" H_U + SG_ Byte7_Data_4EF : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 1262 TP_HU_IBOX_CLU: 8 H_U + SG_ Byte0_TCP_4EE : 7|8@0+ (1,0) [0|0] "" CLU + SG_ Byte1_Data_4EE : 15|8@0+ (1,0) [0|0] "" CLU + SG_ Byte2_Data_4EE : 23|8@0+ (1,0) [0|0] "" CLU + SG_ Byte3_Data_4EE : 31|8@0+ (1,0) [0|0] "" CLU + SG_ Byte4_Data_4EE : 39|8@0+ (1,0) [0|0] "" CLU + SG_ Byte5_Data_4EE : 47|8@0+ (1,0) [0|0] "" CLU + SG_ Byte6_Data_4EE : 55|8@0+ (1,0) [0|0] "" CLU + SG_ Byte7_Data_4EE : 63|8@0+ (1,0) [0|0] "" CLU + +BO_ 1261 TP_CLU_DLNA_HU: 8 CLU + SG_ Byte0_TCP_4ED : 7|8@0+ (1,0) [0|0] "" H_U + SG_ Byte1_Data_4ED : 15|8@0+ (1,0) [0|0] "" H_U + SG_ Byte2_Data_4ED : 23|8@0+ (1,0) [0|0] "" H_U + SG_ Byte3_Data_4ED : 31|8@0+ (1,0) [0|0] "" H_U + SG_ Byte4_Data_4ED : 39|8@0+ (1,0) [0|0] "" H_U + SG_ Byte5_Data_4ED : 47|8@0+ (1,0) [0|0] "" H_U + SG_ Byte6_Data_4ED : 55|8@0+ (1,0) [0|0] "" H_U + SG_ Byte7_Data_4ED : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 1260 TP_HU_DLNA_CLU: 8 H_U + SG_ Byte0_TCP_4EC : 7|8@0+ (1,0) [0|0] "" CLU + SG_ Byte1_Data_4EC : 15|8@0+ (1,0) [0|0] "" CLU + SG_ Byte2_Data_4EC : 23|8@0+ (1,0) [0|0] "" CLU + SG_ Byte3_Data_4EC : 31|8@0+ (1,0) [0|0] "" CLU + SG_ Byte4_Data_4EC : 39|8@0+ (1,0) [0|0] "" CLU + SG_ Byte5_Data_4EC : 47|8@0+ (1,0) [0|0] "" CLU + SG_ Byte6_Data_4EC : 55|8@0+ (1,0) [0|0] "" CLU + SG_ Byte7_Data_4EC : 63|8@0+ (1,0) [0|0] "" CLU + +BO_ 491 GW_DDM_PE: 8 CLU + SG_ C_DRVDoorStatus : 1|2@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CUBIS,DATC,EDT,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU + SG_ C_ASTDoorStatus : 3|2@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CUBIS,DATC,EDT,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU + SG_ C_RLDoorStatus : 5|2@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CUBIS,DATC,EDT,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU + SG_ C_RRDoorStatus : 7|2@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CUBIS,DATC,EDT,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU + SG_ C_TrunkStatus : 9|2@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CUBIS,DATC,EDT,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU + SG_ C_OSMirrorStatus : 11|2@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CUBIS,DATC,EDT,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU + +BO_ 1259 TP_CLU_MP_HU: 8 CLU + SG_ Byte0_TCP_4EB : 7|8@0+ (1,0) [0|0] "" H_U + SG_ Byte1_Data_4EB : 15|8@0+ (1,0) [0|0] "" H_U + SG_ Byte2_Data_4EB : 23|8@0+ (1,0) [0|0] "" H_U + SG_ Byte3_Data_4EB : 31|8@0+ (1,0) [0|0] "" H_U + SG_ Byte4_Data_4EB : 39|8@0+ (1,0) [0|0] "" H_U + SG_ Byte5_Data_4EB : 47|8@0+ (1,0) [0|0] "" H_U + SG_ Byte6_Data_4EB : 55|8@0+ (1,0) [0|0] "" H_U + SG_ Byte7_Data_4EB : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 1258 TP_HU_MP_CLU: 8 H_U + SG_ Byte0_TCP_4EA : 7|8@0+ (1,0) [0|0] "" CLU + SG_ Byte1_Data_4EA : 15|8@0+ (1,0) [0|0] "" CLU + SG_ Byte2_Data_4EA : 23|8@0+ (1,0) [0|0] "" CLU + SG_ Byte3_Data_4EA : 31|8@0+ (1,0) [0|0] "" CLU + SG_ Byte4_Data_4EA : 39|8@0+ (1,0) [0|0] "" CLU + SG_ Byte5_Data_4EA : 47|8@0+ (1,0) [0|0] "" CLU + SG_ Byte6_Data_4EA : 55|8@0+ (1,0) [0|0] "" CLU + SG_ Byte7_Data_4EA : 63|8@0+ (1,0) [0|0] "" CLU + +BO_ 1257 TP_CLU_FM_HU: 8 CLU + SG_ Byte0_TCP_4E9 : 7|8@0+ (1,0) [0|0] "" H_U + SG_ Byte1_Data_4E9 : 15|8@0+ (1,0) [0|0] "" H_U + SG_ Byte2_Data_4E9 : 23|8@0+ (1,0) [0|0] "" H_U + SG_ Byte3_Data_4E9 : 31|8@0+ (1,0) [0|0] "" H_U + SG_ Byte4_Data_4E9 : 39|8@0+ (1,0) [0|0] "" H_U + SG_ Byte5_Data_4E9 : 47|8@0+ (1,0) [0|0] "" H_U + SG_ Byte6_Data_4E9 : 55|8@0+ (1,0) [0|0] "" H_U + SG_ Byte7_Data_4E9 : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 1256 TP_HU_FM_CLU: 8 H_U + SG_ Byte0_TCP_4E8 : 7|8@0+ (1,0) [0|0] "" CLU + SG_ Byte1_Data_4E8 : 15|8@0+ (1,0) [0|0] "" CLU + SG_ Byte2_Data_4E8 : 23|8@0+ (1,0) [0|0] "" CLU + SG_ Byte3_Data_4E8 : 31|8@0+ (1,0) [0|0] "" CLU + SG_ Byte4_Data_4E8 : 39|8@0+ (1,0) [0|0] "" CLU + SG_ Byte5_Data_4E8 : 47|8@0+ (1,0) [0|0] "" CLU + SG_ Byte6_Data_4E8 : 55|8@0+ (1,0) [0|0] "" CLU + SG_ Byte7_Data_4E8 : 63|8@0+ (1,0) [0|0] "" CLU + +BO_ 1255 TP_CLU_MLT_HU: 8 CLU + SG_ Byte0_TCP_4E7 : 7|8@0+ (1,0) [0|0] "" H_U + SG_ Byte1_Data_4E7 : 15|8@0+ (1,0) [0|0] "" H_U + SG_ Byte2_Data_4E7 : 23|8@0+ (1,0) [0|0] "" H_U + SG_ Byte3_Data_4E7 : 31|8@0+ (1,0) [0|0] "" H_U + SG_ Byte4_Data_4E7 : 39|8@0+ (1,0) [0|0] "" H_U + SG_ Byte5_Data_4E7 : 47|8@0+ (1,0) [0|0] "" H_U + SG_ Byte6_Data_4E7 : 55|8@0+ (1,0) [0|0] "" H_U + SG_ Byte7_Data_4E7 : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 487 HU_CLU_PE_13: 8 H_U + SG_ Navi_DistToPoint1_F : 11|4@0+ (1,0) [0|0] "" CLU,HUD + SG_ Navi_DistToPoint1_I : 7|12@0+ (1,0) [0|0] "" CLU,HUD + SG_ Navi_DistToPoint1_U : 23|4@0+ (1,0) [0|0] "" CLU,HUD + SG_ Navi_DistToPoint2_I : 19|12@0+ (1,0) [0|0] "" CLU,HUD + SG_ Navi_DistToPoint2_F : 35|4@0+ (1,0) [0|0] "" CLU,HUD + SG_ Navi_DistToPoint2_U : 39|4@0+ (1,0) [0|0] "" CLU,HUD + SG_ Navi_DistToPoint3_F : 51|4@0+ (1,0) [0|0] "" CLU,HUD + SG_ Navi_DistToPoint3_I : 47|12@0+ (1,0) [0|0] "" CLU,HUD + SG_ Navi_DistToPoint3_U : 63|4@0+ (1,0) [0|0] "" CLU,HUD + +BO_ 1254 TP_HU_MLT_CLU: 8 H_U + SG_ Byte0_TCP_4E6 : 7|8@0+ (1,0) [0|0] "" CLU + SG_ Byte1_Data_4E6 : 15|8@0+ (1,0) [0|0] "" CLU + SG_ Byte2_Data_4E6 : 23|8@0+ (1,0) [0|0] "" CLU + SG_ Byte3_Data_4E6 : 31|8@0+ (1,0) [0|0] "" CLU + SG_ Byte4_Data_4E6 : 39|8@0+ (1,0) [0|0] "" CLU + SG_ Byte5_Data_4E6 : 47|8@0+ (1,0) [0|0] "" CLU + SG_ Byte6_Data_4E6 : 55|8@0+ (1,0) [0|0] "" CLU + SG_ Byte7_Data_4E6 : 63|8@0+ (1,0) [0|0] "" CLU + +BO_ 486 HU_CLU_PE_12: 8 H_U + SG_ Navi_DistToDest_I : 7|16@0+ (1,0) [0|0] "" CLU,HUD + SG_ Navi_DistToDest_F : 19|4@0+ (1,0) [0|0] "" CLU,HUD + SG_ Navi_DistToDest_U : 23|4@0+ (1,0) [0|0] "" CLU,HUD + SG_ Navi_EstimHour : 31|8@0+ (1,0) [0|254] "hh" CLU,HUD + SG_ Navi_EstimMin : 37|6@0+ (1,0) [0|59] "mm" CLU,HUD + SG_ Navi_EstimTimeType : 39|2@0+ (1,0) [0|0] "" CLU,HUD + SG_ Navi_Compass : 45|6@0+ (7.5,-7.5) [0|352.5] "Degree" CLU,HUD + +BO_ 229 HU_SYS_E_00: 8 H_U + SG_ SYS_SW_Ver_Req : 1|2@0+ (1,0) [0|0] "" AMP,CCP,CGW,CLOCK,CLU,HUD,IBOX,RRC,RSE_L + SG_ SYS_CAN_Ver_Req : 3|2@0+ (1,0) [0|0] "" AMP,CCP,CGW,CLOCK,CLU,HUD,IBOX,RRC,RSE_L + SG_ SYS_HW_Ver_Req : 5|2@0+ (1,0) [0|0] "" AMP,CCP,CGW,CLOCK,CLU,IBOX,RRC + SG_ SYS_RBD_Req : 9|2@0+ (1,0) [0|0] "" AMP,IBOX + SG_ SYS_MOSTErrorDiag_Req : 11|2@0+ (1,0) [0|0] "" AMP,IBOX + SG_ SYS_Reset_Req : 17|2@0+ (1,0) [0|0] "" AMP,IBOX + +BO_ 1253 TP_CLU_VCDC_HU: 8 CLU + SG_ Byte0_TCP_4E5 : 7|8@0+ (1,0) [0|0] "" H_U + SG_ Byte1_Data_4E5 : 15|8@0+ (1,0) [0|0] "" H_U + SG_ Byte2_Data_4E5 : 23|8@0+ (1,0) [0|0] "" H_U + SG_ Byte3_Data_4E5 : 31|8@0+ (1,0) [0|0] "" H_U + SG_ Byte4_Data_4E5 : 39|8@0+ (1,0) [0|0] "" H_U + SG_ Byte5_Data_4E5 : 47|8@0+ (1,0) [0|0] "" H_U + SG_ Byte6_Data_4E5 : 55|8@0+ (1,0) [0|0] "" H_U + SG_ Byte7_Data_4E5 : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 485 HU_CLU_PE_11: 8 H_U + SG_ Navi_FixedSpdTrap : 3|4@0+ (10,0) [10|110] "Km/h" CLU,HUD + SG_ Navi_MobileSpdTrap : 7|4@0+ (10,0) [10|110] "Km/h" CLU,HUD + SG_ Navi_OverSpdAlarm : 11|2@0+ (1,0) [0|0] "" CGW,CLU,HUD + SG_ Navi_SpdRedlightTrap : 15|4@0+ (10,0) [10|110] "Km/h" CLU,HUD + SG_ Navi_NonSpdTrap : 20|5@0+ (1,0) [0|0] "" CLU,HUD + SG_ Navi_WarningZone : 27|4@0+ (1,0) [0|0] "" CLU,HUD + SG_ Navi_MergeWarning : 33|2@0+ (1,0) [0|0] "" CLU,HUD + SG_ Navi_CurveWarning : 39|4@0+ (1,0) [0|0] "" CLU,HUD + SG_ Navi_BusSpdTrap : 43|4@0+ (10,0) [10|110] "Km/h" CLU,HUD + SG_ Navi_SpdLimit_Type : 49|2@0+ (1,0) [0|0] "" CLU,HUD + SG_ Navi_SpdLimit_Unit : 51|2@0+ (1,0) [0|0] "" CLU,HUD + SG_ Navi_SpdInfo_Type : 55|4@0+ (1,0) [0|0] "" CLU,HUD + SG_ Navi_SpdLimit : 63|8@0+ (1,0) [1|254] "" CLU,HUD + +BO_ 1252 TP_HU_VCDC_CLU: 8 H_U + SG_ Byte0_TCP_4E4 : 7|8@0+ (1,0) [0|0] "" CLU + SG_ Byte1_Data_4E4 : 15|8@0+ (1,0) [0|0] "" CLU + SG_ Byte2_Data_4E4 : 23|8@0+ (1,0) [0|0] "" CLU + SG_ Byte3_Data_4E4 : 31|8@0+ (1,0) [0|0] "" CLU + SG_ Byte4_Data_4E4 : 39|8@0+ (1,0) [0|0] "" CLU + SG_ Byte5_Data_4E4 : 47|8@0+ (1,0) [0|0] "" CLU + SG_ Byte6_Data_4E4 : 55|8@0+ (1,0) [0|0] "" CLU + SG_ Byte7_Data_4E4 : 63|8@0+ (1,0) [0|0] "" CLU + +BO_ 1251 TP_CLU_JB_HU: 8 CLU + SG_ Byte0_TCP_4E3 : 7|8@0+ (1,0) [0|0] "" H_U + SG_ Byte1_Data_4E3 : 15|8@0+ (1,0) [0|0] "" H_U + SG_ Byte2_Data_4E3 : 23|8@0+ (1,0) [0|0] "" H_U + SG_ Byte3_Data_4E3 : 31|8@0+ (1,0) [0|0] "" H_U + SG_ Byte4_Data_4E3 : 39|8@0+ (1,0) [0|0] "" H_U + SG_ Byte5_Data_4E3 : 47|8@0+ (1,0) [0|0] "" H_U + SG_ Byte6_Data_4E3 : 55|8@0+ (1,0) [0|0] "" H_U + SG_ Byte7_Data_4E3 : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 1250 TP_HU_JB_CLU: 8 H_U + SG_ Byte0_TCP_4E2 : 7|8@0+ (1,0) [0|0] "" CLU + SG_ Byte1_Data_4E2 : 15|8@0+ (1,0) [0|0] "" CLU + SG_ Byte2_Data_4E2 : 23|8@0+ (1,0) [0|0] "" CLU + SG_ Byte3_Data_4E2 : 31|8@0+ (1,0) [0|0] "" CLU + SG_ Byte4_Data_4E2 : 39|8@0+ (1,0) [0|0] "" CLU + SG_ Byte5_Data_4E2 : 47|8@0+ (1,0) [0|0] "" CLU + SG_ Byte6_Data_4E2 : 55|8@0+ (1,0) [0|0] "" CLU + SG_ Byte7_Data_4E2 : 63|8@0+ (1,0) [0|0] "" CLU + +BO_ 1248 TP_TMU_HU: 8 TMU + SG_ Byte0_TCP_4E0 : 7|8@0+ (1,0) [0|0] "" H_U + SG_ Byte1_Data_4E0 : 15|8@0+ (1,0) [0|0] "" H_U + SG_ Byte2_Data_4E0 : 23|8@0+ (1,0) [0|0] "" H_U + SG_ Byte3_Data_4E0 : 31|8@0+ (1,0) [0|0] "" H_U + SG_ Byte4_Data_4E0 : 39|8@0+ (1,0) [0|0] "" H_U + SG_ Byte5_Data_4E0 : 47|8@0+ (1,0) [0|0] "" H_U + SG_ Byte6_Data_4E0 : 55|8@0+ (1,0) [0|0] "" H_U + SG_ Byte7_Data_4E0 : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 479 CLU_HU_PE_01: 8 CLU + SG_ CLU_Type : 7|8@0+ (1,0) [0|0] "" H_U + SG_ CLU_Region : 15|8@0+ (1,0) [0|0] "" H_U + SG_ CLU_VersionMinor : 23|8@0+ (1,0) [0|0] "" H_U + SG_ CLU_VersionMajor : 31|8@0+ (1,0) [0|0] "" H_U + SG_ CLU_CurrentDispState : 39|8@0+ (1,0) [0|0] "" H_U + SG_ C_DRVDRSW : 41|2@0+ (1,0) [0|0] "" H_U + SG_ CF_Clu_LowfuelWarning : 44|2@0+ (1,0) [0|0] "" H_U + SG_ CLU_PowerInfo : 46|2@0+ (1,0) [0|0] "" H_U + SG_ C_DrivingModeState : 50|3@0+ (1,0) [0|0] "" H_U + SG_ Clu_RheostatLvl : 55|5@0+ (1,0) [0|0] "" H_U,MON,SWRC + SG_ C_Clu_ActiveEcoSW : 57|2@0+ (1,0) [0|0] "" H_U + SG_ C_Detent : 59|2@0+ (1,0) [0|0] "" CCP,CLOCK,H_U,KBD,MON,RRC,RSE_L,RSE_R + SG_ C_DrivingModeOn : 61|2@0+ (1,0) [0|0] "" H_U + +BO_ 2015 TP_EDT_All_Req: 8 EDT + SG_ Byte0_TCP_7DF : 7|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,TMU + SG_ Byte1_Data_7DF : 15|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,TMU + SG_ Byte2_Data_7DF : 23|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,TMU + SG_ Byte3_Data_7DF : 31|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,TMU + SG_ Byte4_Data_7DF : 39|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,TMU + SG_ Byte5_Data_7DF : 47|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,TMU + SG_ Byte6_Data_7DF : 55|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,TMU + SG_ Byte7_Data_7DF : 63|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,TMU + +BO_ 474 CLU_HU_PE_02: 8 CLU + SG_ CF_Clu_AvgFCU : 1|2@0+ (1,0) [0|0] "" H_U + SG_ CF_Clu_AvgFCL : 9|10@0+ (1,0) [0|0] "" H_U + SG_ CF_Clu_TermAvgSync : 25|2@0+ (1,0) [0|0] "" H_U + SG_ CF_Clu_EcoDriveInf : 36|3@0+ (1,0) [0|0] "" H_U + SG_ CR_Clu_TermAvgFCI : 33|10@0+ (1,0) [0|0] "" H_U + SG_ CF_CLU_EcoScore : 55|16@0+ (1,0) [0|0] "" H_U + +BO_ 1495 CLU_HU_P_05: 8 CLU + SG_ Clu_TripUnit : 9|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ Clu_DTEWarn : 11|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ Clu_DTE : 7|12@0+ (1,0) [0|1500] "km" H_U,IBOX + SG_ Clu_AFC : 23|10@0+ (0.1,0) [0|99.9] "" H_U,IBOX + SG_ Clu_IFC : 29|10@0+ (0.1,0) [0|99.9] "" H_U,IBOX + SG_ Clu_Odometer : 47|24@0+ (1,0) [0|999999] "" H_U,IBOX + +BO_ 1494 CLU_HU_P_01: 8 CLU + SG_ CF_TripUnit : 13|2@0+ (1,0) [0|0] "" H_U + SG_ CF_DTE : 7|10@0+ (1,0) [0|0] "" H_U + +BO_ 214 AMP_HU_E_SYS: 8 AMP + SG_ AMP_SWVerMajor : 7|8@0+ (1,0) [0|254] "" H_U,IBOX + SG_ AMP_SWVerMinor : 15|8@0+ (1,0) [0|254] "" H_U,IBOX + SG_ AMP_CANVerMajor : 23|8@0+ (1,0) [0|254] "" H_U,IBOX + SG_ AMP_CANVerMinor : 31|8@0+ (1,0) [0|254] "" H_U,IBOX + SG_ AMP_RBDResult : 34|3@0+ (1,0) [0|0] "" H_U + SG_ AMP_MOSTErrorDiagResult : 38|3@0+ (1,0) [0|0] "" H_U + SG_ AMP_HWVerMajor : 55|8@0+ (1,0) [0|254] "" H_U,IBOX + SG_ AMP_HWVerMinor : 63|8@0+ (1,0) [0|254] "" H_U,IBOX + +BO_ 1492 CLU_HU_P_04: 8 CLU + SG_ MM_CR_Fatc_AcnComCst_W : 7|10@0+ (10,0) [0|8000] "W" H_U + SG_ MM_CR_Ldc_PwrMon_W : 12|8@0+ (10,0) [0|2550] "W" H_U + SG_ MM_CR_Fatc_PTCPwrCon_W : 17|10@0+ (10,0) [0|10000] "W" H_U + SG_ MM_CR_BmsChgExp_T_Fast : 39|16@0+ (1,0) [0|0] "minute" H_U + SG_ MM_CR_BmsChgExp_T_Slow : 55|16@0+ (1,0) [0|0] "minute" H_U + +BO_ 1491 CLU_HU_P_03: 8 CLU + SG_ MM_CF_Vcu_EvMod : 3|4@0+ (1,0) [0|0] "" H_U + SG_ MM_CF_Vcu_GarSelDisp : 7|4@0+ (999,0) [0|0] "" H_U + SG_ MM_CF_Vcu_ThiBatTir : 8|1@0+ (1,0) [0|0] "" H_U + SG_ CR_Mcu_MotEstTqPc : 23|10@0+ (0.2,-100) [-100|99.8] "%" H_U + SG_ CR_Mcu_MotActRotSpd_rpm : 39|16@0+ (1,-32768) [-32768|32767] "rpm" H_U + +BO_ 1490 CLU_HU_P_02: 8 CLU + SG_ MM_CR_Vcu_EcoSco : 3|4@0+ (1,0) [0|0] "" H_U + SG_ MM_CF_Vcu_PgmRun5 : 5|2@0+ (1,0) [0|0] "" H_U + SG_ MM_CR_Clu_Odometer_kph : 15|24@0+ (0.1,0) [0|0] "km" H_U + +BO_ 1489 DATC_P_B_01: 8 CLU + SG_ C_InhibitR_DATC : 51|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ C_InhibitP_DATC : 50|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ C_InhibitN_DATC : 49|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ C_InhibitD_DATC : 48|1@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 465 CLU_HU_PE_03: 8 CLU + SG_ CF_Clu_EVDTEDisp : 0|9@0+ (1,0) [0|0] "" H_U,IBOX + SG_ CF_Clu_GasDTEDisp : 17|10@0+ (1,0) [0|0] "" H_U,IBOX + SG_ MM_CR_Clu_TotalDTEDisp : 34|11@0+ (1,0) [0|0] "" H_U,IBOX + SG_ CF_Clu_TripUnit : 49|2@0+ (1,0) [0|0] "" H_U,IBOX + +BO_ 1232 TP_HU_TMU: 8 H_U + SG_ Byte0_TCP_4D0 : 7|8@0+ (1,0) [0|0] "" TMU + SG_ Byte1_Data_4D0 : 15|8@0+ (1,0) [0|0] "" TMU + SG_ Byte2_Data_4D0 : 23|8@0+ (1,0) [0|0] "" TMU + SG_ Byte3_Data_4D0 : 31|8@0+ (1,0) [0|0] "" TMU + SG_ Byte4_Data_4D0 : 39|8@0+ (1,0) [0|0] "" TMU + SG_ Byte5_Data_4D0 : 47|8@0+ (1,0) [0|0] "" TMU + SG_ Byte6_Data_4D0 : 55|8@0+ (1,0) [0|0] "" TMU + SG_ Byte7_Data_4D0 : 63|8@0+ (1,0) [0|0] "" TMU + +BO_ 1488 CLU_HU_P_00: 8 CLU + SG_ MM_CR_Mcu_VehSpd_Kph : 7|8@0+ (1,0) [0|0] "" H_U + SG_ MM_CR_Mcu_VehSpdDec_Kph : 15|8@0+ (1,0) [0|0] "" H_U + SG_ MM_CR_Bms_Soc_Pc : 23|8@0+ (1,0) [0|0] "" H_U + SG_ MM_CR_Vcu_TqMotClu_Pc : 31|8@0+ (1,-127) [0|0] "" H_U + SG_ MM_CR_Bms_DrvEnaDist : 39|8@0+ (1,0) [0|0] "" H_U + SG_ MM_CR_Clu_Soc_Seg : 44|5@0+ (1,0) [0|0] "" H_U,IBOX + +BO_ 208 CLU_HU_E_SYS: 8 CLU + SG_ CLU_SWVerMajor : 7|8@0+ (1,0) [0|254] "" H_U + SG_ CLU_SWVerMinor : 15|8@0+ (1,0) [0|254] "" H_U + SG_ CLU_CANVerMajor : 23|8@0+ (1,0) [0|254] "" H_U + SG_ CLU_CANVerMinor : 31|8@0+ (1,0) [0|254] "" H_U + SG_ CLU_HWVerMajor : 55|8@0+ (1,0) [0|254] "" H_U + SG_ CLU_HWVerMinor : 63|8@0+ (1,0) [0|254] "" H_U + +BO_ 448 HU_DATC_PE_00: 8 H_U + SG_ DATC_AqsLevelChg : 3|4@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ RSELockOnOff : 7|2@0+ (1,0) [0|0] "" CGW,DATC,IPM,RRC + SG_ DATC_AqsMode : 9|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ HU_Graphreset_Info : 17|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ HU_VRActivity : 33|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ HU_PhoneActivity : 35|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ BlowerNoiseControl : 37|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + +BO_ 1211 TP_HU_TBT_CLU: 8 H_U + SG_ Byte0_TCP_4BB : 7|8@0+ (1,0) [0|0] "" CLU + SG_ Byte1_Data_4BB : 15|8@0+ (1,0) [0|0] "" CLU + SG_ Byte2_Data_4BB : 23|8@0+ (1,0) [0|0] "" CLU + SG_ Byte3_Data_4BB : 31|8@0+ (1,0) [0|0] "" CLU + SG_ Byte4_Data_4BB : 39|8@0+ (1,0) [0|0] "" CLU + SG_ Byte5_Data_4BB : 47|8@0+ (1,0) [0|0] "" CLU + SG_ Byte6_Data_4BB : 55|8@0+ (1,0) [0|0] "" CLU + SG_ Byte7_Data_4BB : 63|8@0+ (1,0) [0|0] "" CLU + +BO_ 1207 TP_HU_DAB_CLU: 8 H_U + SG_ Byte0_TCP_4B7 : 7|8@0+ (1,0) [0|0] "" CLU + SG_ Byte1_Data_4B7 : 15|8@0+ (1,0) [0|0] "" CLU + SG_ Byte2_Data_4B7 : 23|8@0+ (1,0) [0|0] "" CLU + SG_ Byte3_Data_4B7 : 31|8@0+ (1,0) [0|0] "" CLU + SG_ Byte4_Data_4B7 : 39|8@0+ (1,0) [0|0] "" CLU + SG_ Byte5_Data_4B7 : 47|8@0+ (1,0) [0|0] "" CLU + SG_ Byte6_Data_4B7 : 55|8@0+ (1,0) [0|0] "" CLU + SG_ Byte7_Data_4B7 : 63|8@0+ (1,0) [0|0] "" CLU + +BO_ 1206 TP_HU_XM_CLU: 8 H_U + SG_ Byte0_TCP_4B6 : 7|8@0+ (1,0) [0|0] "" CLU + SG_ Byte1_Data_4B6 : 15|8@0+ (1,0) [0|0] "" CLU + SG_ Byte2_Data_4B6 : 23|8@0+ (1,0) [0|0] "" CLU + SG_ Byte3_Data_4B6 : 31|8@0+ (1,0) [0|0] "" CLU + SG_ Byte4_Data_4B6 : 39|8@0+ (1,0) [0|0] "" CLU + SG_ Byte5_Data_4B6 : 47|8@0+ (1,0) [0|0] "" CLU + SG_ Byte6_Data_4B6 : 55|8@0+ (1,0) [0|0] "" CLU + SG_ Byte7_Data_4B6 : 63|8@0+ (1,0) [0|0] "" CLU + +BO_ 1204 TP_HU_DMB_CLU: 8 H_U + SG_ Byte0_TCP_4B4 : 7|8@0+ (1,0) [0|0] "" CLU + SG_ Byte1_Data_4B4 : 15|8@0+ (1,0) [0|0] "" CLU + SG_ Byte2_Data_4B4 : 23|8@0+ (1,0) [0|0] "" CLU + SG_ Byte3_Data_4B4 : 31|8@0+ (1,0) [0|0] "" CLU + SG_ Byte4_Data_4B4 : 39|8@0+ (1,0) [0|0] "" CLU + SG_ Byte5_Data_4B4 : 47|8@0+ (1,0) [0|0] "" CLU + SG_ Byte6_Data_4B4 : 55|8@0+ (1,0) [0|0] "" CLU + SG_ Byte7_Data_4B4 : 63|8@0+ (1,0) [0|0] "" CLU + +BO_ 432 TMU_GW_PE_01: 8 TMU + SG_ C_DATCOnOffReq : 1|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,H_U,IPM + SG_ C_DATCTempUnit : 3|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,H_U,IPM + SG_ C_DATCTempSet : 15|8@0+ (1,0) [0|0] "" CGW,CLU,DATC,H_U,IPM + SG_ TMU_IVRActivity : 33|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,H_U,IPM + SG_ TMU_PhoneActivity : 35|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,H_U,IPM + +BO_ 1195 TP_CLU_TBT_HU: 8 CLU + SG_ Byte0_TCP_4AB : 7|8@0+ (1,0) [0|0] "" H_U + SG_ Byte1_Data_4AB : 15|8@0+ (1,0) [0|0] "" H_U + SG_ Byte2_Data_4AB : 23|8@0+ (1,0) [0|0] "" H_U + SG_ Byte3_Data_4AB : 31|8@0+ (1,0) [0|0] "" H_U + SG_ Byte4_Data_4AB : 39|8@0+ (1,0) [0|0] "" H_U + SG_ Byte5_Data_4AB : 47|8@0+ (1,0) [0|0] "" H_U + SG_ Byte6_Data_4AB : 55|8@0+ (1,0) [0|0] "" H_U + SG_ Byte7_Data_4AB : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 1191 TP_CLU_DAB_HU: 8 CLU + SG_ Byte0_TCP_4A7 : 7|8@0+ (1,0) [0|0] "" H_U + SG_ Byte1_Data_4A7 : 15|8@0+ (1,0) [0|0] "" H_U + SG_ Byte2_Data_4A7 : 23|8@0+ (1,0) [0|0] "" H_U + SG_ Byte3_Data_4A7 : 31|8@0+ (1,0) [0|0] "" H_U + SG_ Byte4_Data_4A7 : 39|8@0+ (1,0) [0|0] "" H_U + SG_ Byte5_Data_4A7 : 47|8@0+ (1,0) [0|0] "" H_U + SG_ Byte6_Data_4A7 : 55|8@0+ (1,0) [0|0] "" H_U + SG_ Byte7_Data_4A7 : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 1190 TP_CLU_XM_HU: 8 CLU + SG_ Byte0_TCP_4A6 : 7|8@0+ (1,0) [0|0] "" H_U + SG_ Byte1_Data_4A6 : 15|8@0+ (1,0) [0|0] "" H_U + SG_ Byte2_Data_4A6 : 23|8@0+ (1,0) [0|0] "" H_U + SG_ Byte3_Data_4A6 : 31|8@0+ (1,0) [0|0] "" H_U + SG_ Byte4_Data_4A6 : 39|8@0+ (1,0) [0|0] "" H_U + SG_ Byte5_Data_4A6 : 47|8@0+ (1,0) [0|0] "" H_U + SG_ Byte6_Data_4A6 : 55|8@0+ (1,0) [0|0] "" H_U + SG_ Byte7_Data_4A6 : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 1188 TP_CLU_DMB_HU: 8 CLU + SG_ Byte0_TCP_4A4 : 7|8@0+ (1,0) [0|0] "" H_U + SG_ Byte1_Data_4A4 : 15|8@0+ (1,0) [0|0] "" H_U + SG_ Byte2_Data_4A4 : 23|8@0+ (1,0) [0|0] "" H_U + SG_ Byte3_Data_4A4 : 31|8@0+ (1,0) [0|0] "" H_U + SG_ Byte4_Data_4A4 : 39|8@0+ (1,0) [0|0] "" H_U + SG_ Byte5_Data_4A4 : 47|8@0+ (1,0) [0|0] "" H_U + SG_ Byte6_Data_4A4 : 55|8@0+ (1,0) [0|0] "" H_U + SG_ Byte7_Data_4A4 : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 1179 TP_HU_NAVI_CLU: 8 H_U + SG_ Byte0_TCP_49B : 7|8@0+ (1,0) [0|0] "" CLU + SG_ Byte1_Data_49B : 15|8@0+ (1,0) [0|0] "" CLU + SG_ Byte2_Data_49B : 23|8@0+ (1,0) [0|0] "" CLU + SG_ Byte3_Data_49B : 31|8@0+ (1,0) [0|0] "" CLU + SG_ Byte4_Data_49B : 39|8@0+ (1,0) [0|0] "" CLU + SG_ Byte5_Data_49B : 47|8@0+ (1,0) [0|0] "" CLU + SG_ Byte6_Data_49B : 55|8@0+ (1,0) [0|0] "" CLU + SG_ Byte7_Data_49B : 63|8@0+ (1,0) [0|0] "" CLU + +BO_ 1178 TP_CLU_Ipod_HU: 8 CLU + SG_ Byte0_TCP_49A : 7|8@0+ (1,0) [0|0] "" H_U + SG_ Byte1_Data_49A : 15|8@0+ (1,0) [0|0] "" H_U + SG_ Byte2_Data_49A : 23|8@0+ (1,0) [0|0] "" H_U + SG_ Byte3_Data_49A : 31|8@0+ (1,0) [0|0] "" H_U + SG_ Byte4_Data_49A : 39|8@0+ (1,0) [0|0] "" H_U + SG_ Byte5_Data_49A : 47|8@0+ (1,0) [0|0] "" H_U + SG_ Byte6_Data_49A : 55|8@0+ (1,0) [0|0] "" H_U + SG_ Byte7_Data_49A : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 410 HU_CLU_PE_08: 8 H_U + SG_ VCDC_SelDiscNo : 11|4@0+ (1,0) [0|0] "" CLU + SG_ VCDC_TrackChapterNo : 7|10@0+ (1,0) [0|0] "" CLU + SG_ VCDC_PlayTime : 23|24@0+ (1,0) [0|0] "" CLU + SG_ MLT_PlayTime : 47|24@0+ (1,0) [0|0] "" CLU + +BO_ 1176 TP_CLU_DVD_HU: 8 CLU + SG_ Byte0_TCP_498 : 7|8@0+ (1,0) [0|0] "" H_U + SG_ Byte1_Data_498 : 15|8@0+ (1,0) [0|0] "" H_U + SG_ Byte2_Data_498 : 23|8@0+ (1,0) [0|0] "" H_U + SG_ Byte3_Data_498 : 31|8@0+ (1,0) [0|0] "" H_U + SG_ Byte4_Data_498 : 39|8@0+ (1,0) [0|0] "" H_U + SG_ Byte5_Data_498 : 47|8@0+ (1,0) [0|0] "" H_U + SG_ Byte6_Data_498 : 55|8@0+ (1,0) [0|0] "" H_U + SG_ Byte7_Data_498 : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 1175 TP_CLU_USB_HU: 8 CLU + SG_ Byte0_TCP_497 : 7|8@0+ (1,0) [0|0] "" H_U + SG_ Byte1_Data_497 : 15|8@0+ (1,0) [0|0] "" H_U + SG_ Byte2_Data_497 : 23|8@0+ (1,0) [0|0] "" H_U + SG_ Byte3_Data_497 : 31|8@0+ (1,0) [0|0] "" H_U + SG_ Byte4_Data_497 : 39|8@0+ (1,0) [0|0] "" H_U + SG_ Byte5_Data_497 : 47|8@0+ (1,0) [0|0] "" H_U + SG_ Byte6_Data_497 : 55|8@0+ (1,0) [0|0] "" H_U + SG_ Byte7_Data_497 : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 407 HU_CLU_PE_05: 8 H_U + SG_ HU_LanguageInfo : 7|8@0+ (1,0) [0|0] "" CLU,HUD + SG_ HU_MuteStatus : 9|2@0+ (1,0) [0|0] "" CLU,HUD + SG_ HU_VolumeStatus : 15|6@0+ (1,0) [0|0] "" CLU,HUD + SG_ HU_NaviDisp : 17|2@0+ (1,0) [0|0] "" CLU,HUD + SG_ HU_NaviStatus : 19|2@0+ (1,0) [0|0] "" CGW,CLU,HUD,IPM + SG_ HU_DistanceUnit : 21|2@0+ (1,0) [0|0] "" CLU,HUD + SG_ HU_Navigation_On_Off : 23|2@0+ (1,0) [0|0] "" AVM,CGW,CLU,DATC,HUD,IPM + +BO_ 1942 TP_AMP_HU_DiagRes: 8 AMP + SG_ Byte0_TCP_796 : 7|8@0+ (1,0) [0|0] "" H_U + SG_ Byte1_Data_796 : 15|8@0+ (1,0) [0|0] "" H_U + SG_ Byte2_Data_796 : 23|8@0+ (1,0) [0|0] "" H_U + SG_ Byte3_Data_796 : 31|8@0+ (1,0) [0|0] "" H_U + SG_ Byte4_Data_796 : 39|8@0+ (1,0) [0|0] "" H_U + SG_ Byte5_Data_796 : 47|8@0+ (1,0) [0|0] "" H_U + SG_ Byte6_Data_796 : 55|8@0+ (1,0) [0|0] "" H_U + SG_ Byte7_Data_796 : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 406 HU_CLU_PE_04: 8 H_U + SG_ C_SDARS_ChannelNo : 7|8@0+ (1,0) [0|0] "" CLU + SG_ C_NaviRouteGuidance : 11|2@0+ (1,0) [0|0] "" CLU + SG_ HD_SPS_ChannelNo : 15|4@0+ (1,0) [0|0] "" CLU + SG_ C_SDARS_PresetNo : 19|4@0+ (1,0) [0|0] "" CLU + SG_ DAB_ServiceFollowing : 21|2@0+ (1,0) [0|0] "" CLU + SG_ SXM_ChannelNo : 25|10@0+ (1,0) [0|999] "" AMP,CLU,HUD + +BO_ 1941 TP_HU_AMP_DiagReq: 8 H_U + SG_ Byte0_TCP_795 : 7|8@0+ (1,0) [0|0] "" AMP + SG_ Byte1_Data_795 : 15|8@0+ (1,0) [0|0] "" AMP + SG_ Byte2_Data_795 : 23|8@0+ (1,0) [0|0] "" AMP + SG_ Byte3_Data_795 : 31|8@0+ (1,0) [0|0] "" AMP + SG_ Byte4_Data_795 : 39|8@0+ (1,0) [0|0] "" AMP + SG_ Byte5_Data_795 : 47|8@0+ (1,0) [0|0] "" AMP + SG_ Byte6_Data_795 : 55|8@0+ (1,0) [0|0] "" AMP + SG_ Byte7_Data_795 : 63|8@0+ (1,0) [0|0] "" AMP + +BO_ 1173 TP_CLU_CD_HU: 8 CLU + SG_ Byte0_TCP_495 : 7|8@0+ (1,0) [0|0] "" H_U + SG_ Byte1_Data_495 : 15|8@0+ (1,0) [0|0] "" H_U + SG_ Byte2_Data_495 : 23|8@0+ (1,0) [0|0] "" H_U + SG_ Byte3_Data_495 : 31|8@0+ (1,0) [0|0] "" H_U + SG_ Byte4_Data_495 : 39|8@0+ (1,0) [0|0] "" H_U + SG_ Byte5_Data_495 : 47|8@0+ (1,0) [0|0] "" H_U + SG_ Byte6_Data_495 : 55|8@0+ (1,0) [0|0] "" H_U + SG_ Byte7_Data_495 : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 405 HU_CLU_PE_03: 8 H_U + SG_ HU_IntegPresetNum : 7|8@0+ (1,0) [0|0] "" AMP,CLU,HUD + SG_ Radio_Area : 10|8@0+ (1,0) [0|0] "" CLU + SG_ DMB_PresetNo : 29|5@0+ (1,0) [0|0] "" CLU + SG_ RADIO_PresetNo : 18|5@0+ (1,0) [0|0] "" CLU + SG_ HU_Opstate_DIS2 : 38|7@0+ (1,0) [0|0] "" AMP,CLU,HUD + +BO_ 1168 TP_HU_USB_CLU: 8 H_U + SG_ Byte0_TCP_490 : 7|8@0+ (1,0) [0|0] "" CLU + SG_ Byte1_Data_490 : 15|8@0+ (1,0) [0|0] "" CLU + SG_ Byte2_Data_490 : 23|8@0+ (1,0) [0|0] "" CLU + SG_ Byte3_Data_490 : 31|8@0+ (1,0) [0|0] "" CLU + SG_ Byte4_Data_490 : 39|8@0+ (1,0) [0|0] "" CLU + SG_ Byte5_Data_490 : 47|8@0+ (1,0) [0|0] "" CLU + SG_ Byte6_Data_490 : 55|8@0+ (1,0) [0|0] "" CLU + SG_ Byte7_Data_490 : 63|8@0+ (1,0) [0|0] "" CLU + +BO_ 1936 TP_HU_All_Req: 8 H_U + SG_ Byte0_TCP_790 : 7|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,EDT,FHCU,HUD,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU + SG_ Byte1_Data_790 : 15|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,EDT,FHCU,HUD,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU + SG_ Byte2_Data_790 : 23|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,EDT,FHCU,HUD,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU + SG_ Byte3_Data_790 : 31|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,EDT,FHCU,HUD,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU + SG_ Byte4_Data_790 : 39|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,EDT,FHCU,HUD,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU + SG_ Byte5_Data_790 : 47|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,EDT,FHCU,HUD,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU + SG_ Byte6_Data_790 : 55|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,EDT,FHCU,HUD,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU + SG_ Byte7_Data_790 : 63|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,EDT,FHCU,HUD,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU + +BO_ 1167 TP_HU_Ipod_CLU: 8 H_U + SG_ Byte0_TCP_48F : 7|8@0+ (1,0) [0|0] "" CLU + SG_ Byte1_Data_48F : 15|8@0+ (1,0) [0|0] "" CLU + SG_ Byte2_Data_48F : 23|8@0+ (1,0) [0|0] "" CLU + SG_ Byte3_Data_48F : 31|8@0+ (1,0) [0|0] "" CLU + SG_ Byte4_Data_48F : 39|8@0+ (1,0) [0|0] "" CLU + SG_ Byte5_Data_48F : 47|8@0+ (1,0) [0|0] "" CLU + SG_ Byte6_Data_48F : 55|8@0+ (1,0) [0|0] "" CLU + SG_ Byte7_Data_48F : 63|8@0+ (1,0) [0|0] "" CLU + +BO_ 1166 TP_HU_DVD_CLU: 8 H_U + SG_ Byte0_TCP_48E : 7|8@0+ (1,0) [0|0] "" CLU + SG_ Byte1_Data_48E : 15|8@0+ (1,0) [0|0] "" CLU + SG_ Byte2_Data_48E : 23|8@0+ (1,0) [0|0] "" CLU + SG_ Byte3_Data_48E : 31|8@0+ (1,0) [0|0] "" CLU + SG_ Byte4_Data_48E : 39|8@0+ (1,0) [0|0] "" CLU + SG_ Byte5_Data_48E : 47|8@0+ (1,0) [0|0] "" CLU + SG_ Byte6_Data_48E : 55|8@0+ (1,0) [0|0] "" CLU + SG_ Byte7_Data_48E : 63|8@0+ (1,0) [0|0] "" CLU + +BO_ 1165 TP_HU_CD_CLU: 8 H_U + SG_ Byte0_TCP_48D : 7|8@0+ (1,0) [0|0] "" CLU + SG_ Byte1_Data_48D : 15|8@0+ (1,0) [0|0] "" CLU + SG_ Byte2_Data_48D : 23|8@0+ (1,0) [0|0] "" CLU + SG_ Byte3_Data_48D : 31|8@0+ (1,0) [0|0] "" CLU + SG_ Byte4_Data_48D : 39|8@0+ (1,0) [0|0] "" CLU + SG_ Byte5_Data_48D : 47|8@0+ (1,0) [0|0] "" CLU + SG_ Byte6_Data_48D : 55|8@0+ (1,0) [0|0] "" CLU + SG_ Byte7_Data_48D : 63|8@0+ (1,0) [0|0] "" CLU + +BO_ 1164 TP_CLU_NAVI_HU: 8 CLU + SG_ Byte0_TCP_48C : 7|8@0+ (1,0) [0|0] "" H_U + SG_ Byte1_Data_48C : 15|8@0+ (1,0) [0|0] "" H_U + SG_ Byte2_Data_48C : 23|8@0+ (1,0) [0|0] "" H_U + SG_ Byte3_Data_48C : 31|8@0+ (1,0) [0|0] "" H_U + SG_ Byte4_Data_48C : 39|8@0+ (1,0) [0|0] "" H_U + SG_ Byte5_Data_48C : 47|8@0+ (1,0) [0|0] "" H_U + SG_ Byte6_Data_48C : 55|8@0+ (1,0) [0|0] "" H_U + SG_ Byte7_Data_48C : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 139 AMP_HU_E_12: 8 AMP + SG_ AMP_Beep2VolumeState : 7|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_Beep2FrequencyState : 15|16@0+ (1,0) [0|0] "" H_U + SG_ AMP_Beep2OutputMaskState : 31|16@0+ (1,0) [0|0] "" H_U + SG_ AMP_Beep2DOnState : 47|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_Beep2DOffState : 55|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_Beep2NOfCycleState : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 138 AMP_HU_E_11: 8 AMP + SG_ AMP_Beep1VolumeState : 7|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_Beep1FrequencyState : 15|16@0+ (1,0) [0|0] "" H_U + SG_ AMP_Beep1OutputMaskState : 31|16@0+ (1,0) [0|0] "" H_U + SG_ AMP_Beep1DOnState : 47|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_Beep1DOffState : 55|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_Beep1NOfCycleState : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 137 AMP_HU_E_10: 8 AMP + SG_ AMP_MTSOutputMaskSupport : 1|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_MTSMuteMaskSupport : 5|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_HFOutputMaskSupport : 9|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_HFMuteMaskSupport : 13|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_NaviOutputMaskSupport : 17|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_NaviMuteMaskSupport : 21|2@0+ (1,0) [0|0] "" H_U + +BO_ 1928 TP_HU_PhyRes: 8 H_U + SG_ Byte0_TCP_788 : 7|8@0+ (1,0) [0|0] "" EDT + SG_ Byte1_Data_788 : 15|8@0+ (1,0) [0|0] "" EDT + SG_ Byte2_Data_788 : 23|8@0+ (1,0) [0|0] "" EDT + SG_ Byte3_Data_788 : 31|8@0+ (1,0) [0|0] "" EDT + SG_ Byte4_Data_788 : 39|8@0+ (1,0) [0|0] "" EDT + SG_ Byte5_Data_788 : 47|8@0+ (1,0) [0|0] "" EDT + SG_ Byte6_Data_788 : 55|8@0+ (1,0) [0|0] "" EDT + SG_ Byte7_Data_788 : 63|8@0+ (1,0) [0|0] "" EDT + +BO_ 136 AMP_HU_E_09: 8 AMP + SG_ AMP_MaxBeep2VolumeState : 7|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_MaxBeep2Freq_State : 15|16@0+ (1,0) [0|0] "" H_U + SG_ AMP_Beep2OutputMaskSup : 33|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_MaxBeep2DOnState : 47|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_MaxBeep2DOffState : 55|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_MaxBeep2NOfCycleState : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 135 AMP_HU_E_08: 8 AMP + SG_ AMP_MaxBeep1VolumeState : 7|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_MaxBeep1Freq_State : 15|16@0+ (1,0) [0|0] "" H_U + SG_ AMP_Beep1OutputMaskSup : 33|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_MaxBeep1DOnState : 47|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_MaxBeep1DOffState : 55|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_MaxBeep1NOfCycleState : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 134 AMP_HU_E_07: 8 AMP + SG_ ASD_SetValue : 2|3@0+ (1,0) [0|0] "" H_U,IBOX + SG_ ASD_Version : 15|8@0+ (1,0) [0|0] "" H_U,IBOX + +BO_ 1157 TP_HU_CLU_HF: 8 H_U + SG_ Byte0_TCP_485 : 7|8@0+ (1,0) [0|0] "" CLU + SG_ Byte1_Data_485 : 15|8@0+ (1,0) [0|0] "" CLU + SG_ Byte2_Data_485 : 23|8@0+ (1,0) [0|0] "" CLU + SG_ Byte3_Data_485 : 31|8@0+ (1,0) [0|0] "" CLU + SG_ Byte4_Data_485 : 39|8@0+ (1,0) [0|0] "" CLU + SG_ Byte5_Data_485 : 47|8@0+ (1,0) [0|0] "" CLU + SG_ Byte6_Data_485 : 55|8@0+ (1,0) [0|0] "" CLU + SG_ Byte7_Data_485 : 63|8@0+ (1,0) [0|0] "" CLU + +BO_ 133 AMP_HU_E_06: 8 AMP + SG_ AMP_MaxVolumeStep : 7|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_MaxBalanceStep : 15|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_MaxFadeStep : 23|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_MaxBassStep : 31|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_MaxMidStep : 39|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_MaxTrebleStep : 47|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_ASDMajorVer : 55|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_ASDMinorVer : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 389 AMP_HU_PE_05: 8 AMP + SG_ AMP_EngOrderC2Setting : 7|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_EngOrderC4Setting : 15|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_EngOrderC6Setting : 23|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_APSBand0Setting : 31|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_APSBand1Setting : 39|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_APSBand2Setting : 47|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_APSBand3Setting : 55|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_APSBand4Setting : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 132 AMP_HU_E_05: 8 AMP + SG_ AMP_HFVolumeState : 7|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_HFAudioCutState : 15|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_HFOutputMaskState : 23|16@0+ (1,0) [0|0] "" H_U + SG_ AMP_HFMuteMaskState : 39|16@0+ (1,0) [0|0] "" H_U + SG_ AMP_MaxHFVolumeState : 55|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_MaxHFAudioCutState : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 388 AMP_HU_PE_04: 8 AMP + SG_ AMP_PESSModeState : 1|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_PESSDesignSetting : 4|3@0+ (1,0) [0|0] "" H_U + SG_ AMP_PESSAPSSetting : 7|3@0+ (1,0) [0|0] "" H_U + SG_ AMP_PESSVolumeSetting : 15|8@0+ (1,0) [0|0] "" H_U + +BO_ 1156 TP_CLU_HF_HU: 8 CLU + SG_ Byte0_TCP_484 : 7|8@0+ (1,0) [0|0] "" H_U + SG_ Byte1_Data_484 : 15|8@0+ (1,0) [0|0] "" H_U + SG_ Byte2_Data_484 : 23|8@0+ (1,0) [0|0] "" H_U + SG_ Byte3_Data_484 : 31|8@0+ (1,0) [0|0] "" H_U + SG_ Byte4_Data_484 : 39|8@0+ (1,0) [0|0] "" H_U + SG_ Byte5_Data_484 : 47|8@0+ (1,0) [0|0] "" H_U + SG_ Byte6_Data_484 : 55|8@0+ (1,0) [0|0] "" H_U + SG_ Byte7_Data_484 : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 131 AMP_HU_E_04: 8 AMP + SG_ AMP_MTSVolumeState : 7|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_MTSAudioCutState : 15|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_MTSOutputMaskState : 23|16@0+ (1,0) [0|0] "" H_U + SG_ AMP_MTSMuteMaskState : 39|16@0+ (1,0) [0|0] "" H_U + SG_ AMP_MaxMTSVolumeState : 55|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_MaxMTSAudioCutState : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 387 AMP_HU_PE_03: 8 AMP + SG_ AMP_MainVolumeSetting : 7|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_BalanceSetting : 15|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_FadeSetting : 23|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_BassSetting : 31|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_MidSetting : 39|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_TrebleSetting : 47|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_VehicleSpeedamp : 55|8@0+ (1,0) [0|0] "" H_U + +BO_ 130 AMP_HU_E_03: 8 AMP + SG_ AMP_NaviVolumeState : 7|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_NaviAudioCutState : 15|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_NaviOutputMaskState : 23|16@0+ (1,0) [0|0] "" H_U + SG_ AMP_NaviMuteMaskState : 39|16@0+ (1,0) [0|0] "" H_U + SG_ AMP_MaxNaviVolumeState : 55|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_MaxNaviAudioCutState : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 129 AMP_HU_E_02: 8 AMP + SG_ AMP_DriveState : 1|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_ConvertibleTopState : 5|2@0+ (1,0) [0|0] "" H_U + +BO_ 385 AMP_HU_PE_02: 8 AMP + SG_ AMP_MuteState : 1|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_RearSpMuteState : 3|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_SurroundModeState : 9|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_EQState : 13|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_SPDIFMuteSt : 17|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_BeatsModeState : 21|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_DefaultBeep1St : 25|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_DefaultBeep2St : 29|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_AudioSource : 39|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_VIPModeState : 41|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_QLSModeState : 43|2@0+ (1,0) [0|0] "" H_U + +BO_ 128 AMP_HU_E_01: 8 AMP + SG_ AMP_CurrentVehicleID : 7|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_SPDIFModeState : 11|4@0+ (1,0) [0|0] "" H_U + SG_ AMP_MajorVer : 23|8@0+ (1,0) [0|0] "" H_U,MON + SG_ AMP_MinorVer : 31|8@0+ (1,0) [0|0] "" H_U,MON + SG_ AMP_UpdateStartResp : 33|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_UpdateEndResp : 41|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_TuningMajorVer : 55|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_TuningMinorVer : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 384 AMP_HU_PE_01: 8 AMP + SG_ AMP_HFModeState : 1|2@0+ (1,0) [0|0] "" CLU,H_U + SG_ HU_InitInfo : 3|2@0+ (1,0) [0|0] "" CLU,H_U + SG_ AMP_ASDModeState : 6|3@0+ (1,0) [0|0] "" CLU,H_U + SG_ AMP_NaviModeState : 9|2@0+ (1,0) [0|0] "" CLU,H_U + SG_ AMP_SPDIFInfo : 12|3@0+ (1,0) [0|0] "" CLU,H_U + SG_ AMP_MTSModeState : 17|2@0+ (1,0) [0|0] "" CLU,H_U + SG_ AMP_VSCModeState : 25|2@0+ (1,0) [0|0] "" CLU,H_U + SG_ AMP_SDVCStepState : 29|3@0+ (1,0) [0|0] "" CLU,H_U + SG_ AMP_Beep1ModeState : 33|2@0+ (1,0) [0|0] "" CLU,H_U + SG_ AMP_Beep2ModeState : 41|2@0+ (1,0) [0|0] "" CLU,H_U + SG_ AMP_DistrInfoState : 55|8@0+ (1,0) [0|0] "" CLU,H_U + SG_ AMP_INFORM_TO_IPM : 57|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,H_U,IPM + SG_ AMP_SignalDoctorState : 59|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_AutoVolumeState : 61|2@0+ (1,0) [0|0] "" H_U + +BO_ 1408 AMP_HU_P_01: 8 AMP + SG_ AMP_SupportMute : 1|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_SupportHFMode : 3|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_SupportCfgBeep1 : 5|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_SupportCfgBeep2 : 7|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_SupportSpeedAdjust : 9|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_SupportSurroundMode : 11|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_SupportNaviMode : 13|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_SupportMTSMode : 15|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_SupportTopState : 17|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_SupportBothLHDandRHD : 19|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_SupportEQState : 21|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_SupportVehicleID : 23|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_SupportAudioSource : 25|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_SupportSPDIFModeState : 27|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_SupportRearSpMute : 29|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_SupportVEQMode : 31|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_MakerID : 39|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_SupportASDMode : 41|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_SupportBeatsMode : 43|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_SupportVIPMode : 45|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_SupportQLS : 47|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_SupportSignalDoctor : 49|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_SupportAutoVolume : 51|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_SupportPESSMode : 53|2@0+ (1,0) [0|0] "" H_U + +BO_ 1920 TP_HU_PhyReq: 8 EDT + SG_ Byte0_TCP_780 : 7|8@0+ (1,0) [0|0] "" H_U + SG_ Byte1_Data_780 : 15|8@0+ (1,0) [0|0] "" H_U + SG_ Byte2_Data_780 : 23|8@0+ (1,0) [0|0] "" H_U + SG_ Byte3_Data_780 : 31|8@0+ (1,0) [0|0] "" H_U + SG_ Byte4_Data_780 : 39|8@0+ (1,0) [0|0] "" H_U + SG_ Byte5_Data_780 : 47|8@0+ (1,0) [0|0] "" H_U + SG_ Byte6_Data_780 : 55|8@0+ (1,0) [0|0] "" H_U + SG_ Byte7_Data_780 : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 371 HU_TMU_PE_01: 8 H_U + SG_ HU_AliveStatus : 1|2@0+ (1,0) [0|0] "" CLU,CGW,TMU + SG_ HU_DeviceType : 5|4@0+ (1,0) [0|0] "" TMU + SG_ HU_DistanceUnit : 7|2@0+ (1,0) [0|0] "" TMU + SG_ HU_AudAllocStatus : 9|2@0+ (1,0) [0|0] "" TMU + SG_ HU_PowerStatus : 12|3@0+ (1,0) [0|0] "" TMU + SG_ HU_BTCallStatus : 15|3@0+ (1,0) [0|0] "" TMU + SG_ HU_VoiceRecStatus : 17|2@0+ (1,0) [0|0] "" TMU + SG_ HU_LangStatus : 20|3@0+ (1,0) [0|0] "" TMU + +BO_ 369 HU_Car_PE_01: 8 H_U + SG_ HU_VehiclePwr : 3|4@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CLOCK,CLU,CUBIS,DATC,FHCU,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,TMU + +BO_ 1392 HU_TMU_P_01: 8 H_U + SG_ HU_GPS_Signal : 7|64@0+ (1,0) [0|0] "" TMU + +BO_ 112 HU_AMP_E_09: 8 H_U + SG_ AMP_Beep1VolumeStep : 7|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_Beep1Frequency : 15|16@0+ (1,0) [0|0] "" AMP + SG_ AMP_Beep1Ch_OutputMask : 31|16@0+ (1,0) [0|0] "" AMP + SG_ AMP_Beep1DurationOn : 47|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_Beep1DurationOff : 55|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_Beep1NumberOfCycles : 63|8@0+ (1,0) [0|0] "" AMP + +BO_ 1390 GW_CLU_P: 8 CLU + SG_ C_VehicleSpeed : 7|8@0+ (1,0) [0|254] "" H_U,IBOX + SG_ C_Odometer : 15|24@0+ (1,0) [0|999999] "" H_U,IBOX + +BO_ 363 GW_IPM_PE_2: 8 CLU + SG_ C_DRVUnlockState : 1|2@0+ (1,0) [0|0] "" CUBIS,TMU + SG_ C_ASTUnlockState : 3|2@0+ (1,0) [0|0] "" CUBIS,TMU + SG_ C_RLUnlockstate : 5|2@0+ (1,0) [0|0] "" CUBIS,TMU + SG_ C_RRUnlockState : 7|2@0+ (1,0) [0|0] "" CUBIS,TMU + SG_ C_VehicleInfoTMU : 9|2@0+ (1,0) [0|0] "" CUBIS,TMU + SG_ C_Engine_Status : 11|2@0+ (1,0) [0|0] "" CUBIS,TMU + SG_ C_TMULockFeedBack : 23|2@0+ (1,0) [0|0] "" CUBIS,TMU + +BO_ 362 GW_IPM_PE_1: 8 CLU + SG_ C_AV_Tail : 1|2@0+ (1,0) [0|0] "" AMP,CCP,CLOCK,CLU,HUD,H_U,IBOX,RRC,RSE_L + SG_ C_ParkingBrakeSW : 3|2@0+ (1,0) [0|0] "" H_U + SG_ C_RKECMD : 7|4@0+ (1,0) [0|0] "" H_U + SG_ C_BAState : 9|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ C_IGNSW : 14|3@0+ (1,0) [0|0] "" AMP,AVM,CUBIS,EDT,H_U,MON,RRC,SWRC + SG_ C_CountryCfg : 18|3@0+ (1,0) [0|0] "" AVM,H_U + SG_ C_AltL : 25|2@0+ (1,0) [0|0] "" H_U + SG_ C_TailLampActivity : 27|2@0+ (1,0) [0|0] "" AMP,CCP,CLOCK,HUD,H_U,IBOX,RRC,RSE_L,SWRC + SG_ RearSW_RSELockOnOff : 29|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ C_TMULockFeedBack : 31|2@0+ (1,0) [0|0] "" CUBIS,TMU + SG_ C_SMKTeleCrankingState : 33|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ C_SMKTeleCrankingFailRes : 35|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ C_RKECMD_GEN2 : 39|3@0+ (1,0) [0|0] "" H_U,IBOX + SG_ C_Acu_CshAct : 41|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ C_IntTailAct : 43|2@0+ (1,0) [0|0] "" AMP,CCP,CLOCK,CLU,HUD,H_U,IBOX,RRC,RSE_L + SG_ C_PassiveAccessUnlock : 47|3@0+ (1,0) [0|0] "" H_U,IBOX + SG_ Lca_IndLeft : 49|2@0+ (1,0) [0|0] "" H_U + SG_ FL_SndWarn : 51|2@0+ (1,0) [0|0] "" AMP + SG_ FR_SndWarn : 53|2@0+ (1,0) [0|0] "" AMP + SG_ Lca_IndRight : 55|2@0+ (1,0) [0|0] "" H_U + SG_ RCTA_IndLeft : 57|2@0+ (1,0) [0|0] "" H_U + SG_ RL_SndWarn : 59|2@0+ (1,0) [0|0] "" AMP + SG_ RR_SndWarn : 61|2@0+ (1,0) [0|0] "" AMP + SG_ RCTA_IndRight : 63|2@0+ (1,0) [0|0] "" H_U + +BO_ 361 GW_CHASSIS_PE_1: 8 CLU + SG_ C_Inhibit_State : 3|4@0+ (1,0) [0|0] "" AVM,H_U + SG_ C_P_BrakeStatus : 5|2@0+ (1,0) [0|0] "" AVM,H_U + SG_ C_Clu_AltLStatus : 7|2@0+ (1,0) [0|0] "" AVM,H_U + +BO_ 359 GW_WARNING_PE_01: 8 CLU + SG_ Spas_BEEP_Alarm : 3|4@0+ (1,0) [0|0] "" AMP + SG_ Spas_Audio_VolumeDown : 5|2@0+ (1,0) [0|0] "" AMP + SG_ Spas_Spkr_Flh_Alarm : 9|2@0+ (1,0) [0|0] "" AMP,H_U + SG_ Spas_Spkr_Fcnt_Alarm : 11|2@0+ (1,0) [0|0] "" AMP,H_U + SG_ Spas_Spkr_Frh_Alarm : 13|2@0+ (1,0) [0|0] "" AMP,H_U + SG_ Spas_Spkr_Rlh_Alarm : 17|2@0+ (1,0) [0|0] "" AMP,H_U + SG_ Spas_Spkr_Rcnt_Alarm : 19|2@0+ (1,0) [0|0] "" AMP,H_U + SG_ Spas_Spkr_Rrh_Alarm : 21|2@0+ (1,0) [0|0] "" AMP,H_U + SG_ Lkas_SysStatus : 27|4@0+ (1,0) [0|0] "" AMP,H_U + SG_ Lkas_LH_Warning : 29|2@0+ (1,0) [0|0] "" AMP,H_U + SG_ Lkas_RH_Warning : 31|2@0+ (1,0) [0|0] "" AMP,H_U + SG_ Spas_Spkr_Level : 35|3@0+ (1,0) [0|0] "" AMP + SG_ Lkas_Audio_VolumeDown : 37|2@0+ (1,0) [0|0] "" AMP,H_U + SG_ Audio_VolumeDown : 39|2@0+ (1,0) [0|0] "" AMP,H_U + SG_ Pas_BEEP_Alarm : 43|4@0+ (1,0) [0|0] "" AMP + SG_ Pas_Audio_VolumeDown : 45|2@0+ (1,0) [0|0] "" AMP,H_U + SG_ Pas_Spkr_Level : 32|3@0+ (1,0) [0|0] "" AMP + SG_ Pas_Spkr_Flh_Alarm : 49|2@0+ (1,0) [0|0] "" AMP,H_U + SG_ Pas_Spkr_Fcnt_Alarm : 51|2@0+ (1,0) [0|0] "" AMP,H_U + SG_ Pas_Spkr_Frh_Alarm : 53|2@0+ (1,0) [0|0] "" AMP,H_U + SG_ Pas_Spkr_Rlh_Alarm : 57|2@0+ (1,0) [0|0] "" AMP,H_U + SG_ Pas_Spkr_Rcnt_Alarm : 59|2@0+ (1,0) [0|0] "" AMP,H_U + SG_ Pas_Spkr_Rrh_Alarm : 61|2@0+ (1,0) [0|0] "" AMP,H_U + +BO_ 1376 HU_TMU_P_02: 8 H_U + SG_ HU_GPS_Signal2 : 7|8@0+ (2,0) [0|0] "Degree" TMU + SG_ HU_GPS_Signal3 : 9|2@0+ (1,0) [0|0] "" TMU + SG_ HU_GPS_Signal4 : 12|3@0+ (1,0) [0|0] "" TMU + +BO_ 93 DATC_HU_E_SYS: 8 CLU + SG_ DATC_SWVerMajor : 7|8@0+ (1,0) [0|254] "" H_U + SG_ DATC_SWVerMinor : 15|8@0+ (1,0) [0|254] "" H_U + SG_ DATC_CANVerMajor : 23|8@0+ (1,0) [0|254] "" H_U + SG_ DATC_CANVerMinor : 31|8@0+ (1,0) [0|254] "" H_U + +BO_ 344 GW_CLU_PE: 8 CLU + SG_ C_InhibitP : 1|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ C_InhibitR : 3|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ C_InhibitN : 5|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ C_InhibitD : 7|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ C_P_BrakeStatus : 9|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ C_Clu_AltLStatus : 11|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ CF_Clu_LowfuelWarning : 13|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ C_InhibitRMT : 15|2@0+ (1,0) [0|0] "" H_U + SG_ CF_SMKRKECmd : 18|3@0+ (1,0) [0|0] "" H_U + +BO_ 87 HU_E_02: 8 H_U + SG_ NaviValidity : 1|2@0+ (1,0) [0|0] "" CGW,CLU + +BO_ 343 GW_WARNING_PE_02: 8 CLU + SG_ CF_Lkas_TsrSlifOpt : 1|2@0+ (1,0) [0|3] "" H_U + SG_ CF_Lkas_TsrStatus : 3|2@0+ (1,0) [0|3] "" H_U + SG_ CF_Lkas_TsrAddinfo_Disp : 7|2@0+ (1,0) [0|3] "" H_U + SG_ CF_Lkas_TsrSpeed_Display : 15|8@0+ (1,0) [0|255] "" H_U + +BO_ 75 HU_AMP_E_12: 8 H_U + SG_ AMP_EngOrderC2GainSet : 7|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_EngOrderC4GainSet : 15|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_EngOrderC6GainSet : 23|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_APSBand0GainSet : 31|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_APSBand1GainSet : 39|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_APSBand2GainSet : 47|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_APSBand3GainSet : 55|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_APSBand4GainSet : 63|8@0+ (1,0) [0|0] "" AMP + +BO_ 74 HU_AMP_E_11: 8 H_U + SG_ AMP_PESSMode : 1|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_PESSDesignSet : 4|3@0+ (1,0) [0|0] "" AMP + SG_ AMP_PESSAPSSet : 7|3@0+ (1,0) [0|0] "" AMP + SG_ AMP_PESSVolumeSet : 15|8@0+ (1,0) [0|0] "" AMP + +BO_ 1864 TP_AMP_EDT: 8 AMP + SG_ Byte0_TCP_748 : 7|8@0+ (1,0) [0|0] "" EDT + SG_ Byte1_Data_748 : 15|8@0+ (1,0) [0|0] "" EDT + SG_ Byte2_Data_748 : 23|8@0+ (1,0) [0|0] "" EDT + SG_ Byte3_Data_748 : 31|8@0+ (1,0) [0|0] "" EDT + SG_ Byte4_Data_748 : 39|8@0+ (1,0) [0|0] "" EDT + SG_ Byte5_Data_748 : 47|8@0+ (1,0) [0|0] "" EDT + SG_ Byte6_Data_748 : 55|8@0+ (1,0) [0|0] "" EDT + SG_ Byte7_Data_748 : 63|8@0+ (1,0) [0|0] "" EDT + +BO_ 327 TMU_HU_PE_03: 8 TMU + SG_ TMU_TbT_TurnIcon : 7|8@0+ (1,0) [0|0] "" H_U + SG_ TMU_TbT_CountDownBar : 11|4@0+ (1,0) [0|0] "" H_U + SG_ TMU_TbT_Distance_Unit : 13|2@0+ (1,0) [0|0] "" H_U + SG_ TMU_TbT_DestDistance_Unit : 15|2@0+ (1,0) [0|0] "" H_U + SG_ TMU_TbT_DistanceLo : 27|4@0+ (1,0) [0|0] "" H_U + SG_ TMU_TbT_DistanceHi : 23|12@0+ (1,0) [0|0] "" H_U + SG_ TMU_TbT_DestDistanceLo : 43|4@0+ (1,0) [0|0] "" H_U + SG_ TMU_TbT_DestDistanceHi : 39|12@0+ (1,0) [0|0] "" H_U + SG_ TMU_TbT_ExpectRemainHour : 55|8@0+ (1,0) [0|0] "" H_U + SG_ TMU_TbT_ExpectRemainMin : 61|6@0+ (1,0) [0|0] "" H_U + +BO_ 326 TMU_HU_PE_02: 8 TMU + SG_ TMU_CallStatus : 3|4@0+ (1,0) [0|0] "" H_U + SG_ TMU_CallType : 6|3@0+ (1,0) [0|0] "" H_U + SG_ TMU_CDMA_Streng : 11|4@0+ (1,0) [0|0] "" H_U + SG_ TMU_PacketStatus : 13|2@0+ (1,0) [0|0] "" H_U + SG_ TMU_TalkTimeHour : 20|5@0+ (1,0) [0|0] "" H_U + SG_ TMU_TalkTimeMinute : 29|6@0+ (1,0) [0|0] "" H_U + SG_ TMU_TalkTimeSecond : 37|6@0+ (1,0) [0|0] "" H_U + +BO_ 325 TMU_HU_PE_01: 8 TMU + SG_ TMU_AliveStatus : 2|3@0+ (1,0) [0|0] "" H_U + SG_ TMU_AudioStatus : 4|2@0+ (1,0) [0|0] "" H_U + SG_ TMU_UpdateStatus : 7|3@0+ (1,0) [0|0] "" H_U + SG_ TMU_LangStatus : 10|3@0+ (1,0) [0|0] "" H_U + SG_ TMU_VoiceRecStatus : 12|2@0+ (1,0) [0|0] "" H_U + SG_ TMU_MicStatus : 14|2@0+ (1,0) [0|0] "" H_U + SG_ TMU_ServCommuStatus : 19|4@0+ (1,0) [0|0] "" H_U + SG_ TMU_PowerStatus : 21|2@0+ (1,0) [0|0] "" H_U + SG_ TMU_EngineStatus : 23|2@0+ (1,0) [0|0] "" H_U + SG_ TMU_DownProgress : 31|8@0+ (1,0) [0|0] "" H_U + +BO_ 69 TMU_HU_E_04: 8 TMU + SG_ TMU_eCall : 1|2@0+ (1,0) [0|0] "" H_U + +BO_ 67 TMU_GW_E_01: 8 TMU + SG_ C_ReqDrLock : 1|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ C_ReqDrUnlock : 3|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ C_ReqHazard : 5|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ C_ReqHorn : 7|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ C_ReqEngineOperate : 9|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + +BO_ 66 TMU_HU_E_03: 8 TMU + SG_ CDMA_SelfDiag : 1|2@0+ (1,0) [0|0] "" H_U + SG_ CDMA_Antena_SelfDiag : 3|2@0+ (1,0) [0|0] "" H_U + +BO_ 1345 TMU_HU_P_02: 8 TMU + SG_ TMU_SupVoiceTextService : 1|2@0+ (1,0) [0|0] "" H_U + SG_ TMU_SupEcoCoachService : 3|2@0+ (1,0) [0|0] "" H_U + SG_ TMU_SupSongTagService : 5|2@0+ (1,0) [0|0] "" H_U + SG_ TMU_SupContentService : 7|2@0+ (1,0) [0|0] "" H_U + SG_ TMU_MajorVersion : 15|8@0+ (1,0) [0|0] "" H_U + SG_ TMU_MinorVersion : 23|8@0+ (1,0) [0|0] "" H_U + SG_ TMU_DistributeInfo : 27|4@0+ (1,0) [0|0] "" H_U + +BO_ 65 TMU_HU_E_02: 8 TMU + SG_ TMU_BarLevel1 : 7|6@0+ (1,0) [0|0] "" H_U + SG_ TMU_BarLevel2 : 1|6@0+ (1,0) [0|0] "" H_U + SG_ TMU_BarLevel4 : 21|6@0+ (1,0) [0|0] "" H_U + SG_ TMU_BarLevel3 : 11|6@0+ (1,0) [0|0] "" H_U + SG_ TMU_BarLevel5 : 31|6@0+ (1,0) [0|0] "" H_U + SG_ TMU_BarLevel6 : 25|6@0+ (1,0) [0|0] "" H_U + SG_ TMU_BarLevel8 : 45|6@0+ (1,0) [0|0] "" H_U + SG_ TMU_BarLevel7 : 35|6@0+ (1,0) [0|0] "" H_U + SG_ TMU_BarLevel9 : 55|6@0+ (1,0) [0|0] "" H_U + SG_ TMU_BarLevel10 : 63|6@0+ (1,0) [0|0] "" H_U + +BO_ 1344 TMU_HU_P_01: 8 TMU + SG_ TMU_Arrow : 3|2@0+ (1,0) [0|0] "" H_U + SG_ TMU_ReFill_Info : 5|2@0+ (1,0) [0|0] "" H_U + SG_ TMU_AverageMPG : 1|10@0+ (1,0) [0|0] "" H_U + SG_ TMU_TotalMPG : 23|10@0+ (1,0) [0|0] "" H_U + SG_ TMU_RewardStar : 37|14@0+ (1,0) [0|0] "" H_U + +BO_ 64 TMU_HU_E_01: 8 TMU + SG_ TMU_DisMode : 3|4@0+ (1,0) [0|0] "" H_U + SG_ TMU_AudSrcType : 7|4@0+ (1,0) [0|0] "" CLU,DATC,H_U + SG_ TMU_AudReqCmd : 9|2@0+ (1,0) [0|0] "" H_U + SG_ TMU_LangCmd : 12|3@0+ (1,0) [0|0] "" H_U + SG_ TMU_ServReq : 15|3@0+ (1,0) [0|0] "" H_U + SG_ TMU_ErrorEvent : 23|8@0+ (1,0) [0|0] "" H_U + SG_ TMU_BeepCmd : 25|2@0+ (1,0) [0|0] "" H_U + SG_ TMU_eCall : 28|3@0+ (1,0) [0|0] "" H_U + +BO_ 62 HU_Navi_E_00: 8 H_U + SG_ Navi_SLIF_SpdUnit : 1|2@0+ (1,0) [0|0] "" CGW,CLU,HUD + SG_ Navi_SLIF_Frwinfo : 4|3@0+ (1,0) [0|0] "" CGW,CLU,HUD + SG_ Navi_SLIF_LinkClass : 7|3@0+ (1,0) [0|0] "" CGW,CLU,HUD + SG_ Navi_SLIF_SpdLimit : 15|8@0+ (1,0) [1|254] "" CGW,CLU,HUD + SG_ Navi_SLIFMapSource : 29|4@0+ (1,0) [0|8] "" CGW,CLU,HUD + SG_ Navi_SLIF_CountryCode : 23|10@0+ (1,0) [0|0] "" CGW,CLU,HUD + +BO_ 52 HU_DATC_E_02: 8 H_U + SG_ HU_DATC_DrTempUpDn : 1|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ HU_DATC_PsTempUpDn : 3|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ HU_DATC_RlTempUpDn : 5|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ HU_DATC_RrTempUpDn : 7|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ HU_DATC_MainBlower : 11|4@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ HU_DATC_SubBlower : 15|4@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ HU_DATC_RearBlower : 19|4@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ HU_DATCRearPsModeSet : 23|4@0+ (1,0) [0|0] "" CGW,CLU + SG_ HU_DATC_FrontModeSet : 27|4@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ HU_DATC_RearModeSet : 31|4@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ HU_DATC_AutoSet : 33|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ HU_DATC_OffReq : 35|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ HU_DATC_IntakeSet : 37|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ HU_DATC_RearOnOffSet : 39|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ HU_DATC_AcSet : 41|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ HU_DATC_AqsSet : 43|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ HU_DATC_FrontDefog : 45|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ HU_DATC_RearDefog : 47|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ HU_DATC_ZoneControl : 49|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ HU_DATC_CO2Set : 51|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ DATC_SmartVentOnOffSet : 53|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ DATC_ADSOnOffSet : 55|2@0+ (1,0) [0|0] "" CGW,CLU + SG_ HU_DATC_RearAutoDisp : 57|2@0+ (1,0) [0|0] "" CGW,CLU + SG_ HU_DATC_RearOffDisp : 59|2@0+ (1,0) [0|0] "" CGW,CLU + +BO_ 308 DATC_PE_05: 8 CLU + SG_ DATC_PwrInfo : 3|4@0+ (1,0) [0|0] "" AMP,AVM,CUBIS,H_U,MON + SG_ DATC_AltL : 5|2@0+ (1,0) [0|0] "" H_U,MON + SG_ DATC_CarInfo : 7|2@0+ (1,0) [0|0] "" H_U + SG_ DATC_ParkingBrake : 9|2@0+ (1,0) [0|0] "" H_U + SG_ DATC_LowFuelWarn : 11|2@0+ (1,0) [0|0] "" H_U + SG_ DATC_Rear_Off_Disp : 13|2@0+ (1,0) [0|0] "" H_U,MON + SG_ DATC_Rear_AutoDisp : 15|2@0+ (1,0) [0|0] "" H_U,MON + SG_ DATC_Rear_BlowerDisp : 19|4@0+ (1,0) [0|0] "" H_U,MON + SG_ DATC_DrSeatWarmerDisp : 22|3@0+ (1,0) [0|0] "" H_U,MON + SG_ DATC_SyncDisp : 27|4@0+ (1,0) [0|0] "" H_U,MON + SG_ DATC_RearDispCtrl : 31|4@0+ (1,0) [0|0] "" H_U,MON + SG_ DATC_RearDrModeDisp : 35|4@0+ (1,0) [0|0] "" H_U + SG_ DATC_PsSeatWarmerDisp : 38|3@0+ (1,0) [0|0] "" H_U,MON + SG_ DATC_DrVentSeatDisp : 42|3@0+ (1,0) [0|0] "" H_U,MON + SG_ DATC_PSVentSeatDisp : 46|3@0+ (1,0) [0|0] "" H_U,MON + SG_ DATC_RrDefLed : 49|2@0+ (1,0) [0|0] "" H_U,MON + SG_ DATC_SmartVentOnOffStatus : 51|2@0+ (1,0) [0|0] "" H_U + SG_ DATC_ADSOnOffStatus : 53|2@0+ (1,0) [0|0] "" H_U + SG_ DATC_AcDisp_OSD : 55|2@0+ (1,0) [0|0] "" H_U + SG_ DATC_PsModeDisp_OSD : 59|4@0+ (1,0) [0|0] "" H_U + SG_ DATC_ModeDisp_OSD : 63|4@0+ (1,0) [0|0] "" H_U + +BO_ 307 DATC_PE_04: 8 CLU + SG_ DATC_DiagMode : 1|2@0+ (1,0) [0|0] "" H_U,IBOX,MON + SG_ DATC_Rear_ChangeReqDisp : 3|2@0+ (1,0) [0|0] "" H_U,IBOX,MON + SG_ DATC_Rear_ClimateScnDisp : 5|2@0+ (1,0) [0|0] "" H_U,IBOX,MON + SG_ DATC_CO2OnOffStatus : 7|2@0+ (1,0) [0|0] "" H_U + SG_ DATC_SelfDiagDisp : 15|8@0+ (1,0) [0|0] "" H_U,IBOX,MON + SG_ DATC_RearBlwDisp_OSD : 19|4@0+ (1,0) [0|0] "" H_U + SG_ DATC_AqsLevelOut : 23|4@0+ (1,0) [0|0] "" H_U,IBOX,MON + SG_ DATC_RearModeDisp : 27|4@0+ (1,0) [0|0] "" H_U + SG_ DATC_RearPsModeDisp : 31|4@0+ (1,0) [0|0] "" H_U + SG_ DATC_FrontBlwDisp_Ps : 35|4@0+ (1,0) [0|0] "" H_U + SG_ DATC_AutoDisp_Ps : 39|2@0+ (1,0) [0|0] "" H_U + SG_ DATC_RearModeDisp_OSD : 43|4@0+ (1,0) [0|0] "" H_U + SG_ DATC_RearPSModeDisp_OSD : 47|4@0+ (1,0) [0|0] "" H_U + SG_ DATC_FrontBlwDisp_OSD : 51|4@0+ (1,0) [0|0] "" H_U + SG_ DATC_FrontBlwDispPs_OSD : 55|4@0+ (1,0) [0|0] "" H_U + SG_ DATC_Variant : 63|8@0+ (1,0) [0|0] "" H_U,IBOX,MON + +BO_ 306 DATC_PE_03: 8 CLU + SG_ DATC_ModeDisp : 3|4@0+ (1,0) [0|0] "" H_U,IBOX + SG_ DATC_TempUnit : 5|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ DATC_AutoDisp : 9|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ DATC_IntakeDisp : 11|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ DATC_ChangeReqDisp : 13|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ DATC_AcDisp : 17|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ DATC_AqsDisp : 19|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ DATC_ClimateScnDisp : 21|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ DATC_DualDisp : 25|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ DATC_OffDisp : 27|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ DATC_OpSts : 30|3@0+ (1,0) [0|0] "" H_U,IBOX + SG_ DATC_RearManual : 33|2@0+ (1,0) [0|0] "" H_U,MON + SG_ DATC_FrDefLed : 37|2@0+ (1,0) [0|0] "" H_U + SG_ DATC_SmartVentDisp : 39|2@0+ (1,0) [0|0] "" H_U + SG_ DATC_AutoDefogBlink : 41|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ DATC_ADSDisp : 43|2@0+ (1,0) [0|0] "" H_U + SG_ DATC_IonClean : 45|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ DATC_CO2Warning : 47|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ DATC_SubBlowerDisp : 51|4@0+ (1,0) [0|0] "" H_U,MON + SG_ DATC_BeepReq : 55|4@0+ (1,0) [0|0] "" H_U,KBD,MON + SG_ DATC_MainBlowerDisp : 59|4@0+ (1,0) [0|0] "" H_U,IBOX + SG_ DATC_PsModeDisp : 63|4@0+ (1,0) [0|0] "" H_U,IBOX + +BO_ 1329 DATC_P_02: 8 CLU + SG_ DATC_AmbientTemp_C : 7|8@0+ (1,0) [0|0] "" H_U,MON + SG_ DATC_AmbientTemp_F : 23|8@0+ (1,0) [0|0] "" H_U,MON + +BO_ 305 DATC_PE_02: 8 CLU + SG_ DATC_DrTempDispC : 7|8@0+ (0.5,14) [15|32] "C" H_U,IBOX,MON + SG_ DATC_Rear_DrTempDispC : 15|8@0+ (0.5,14) [15|32] "C" H_U,IBOX,MON + SG_ DATC_DrTempDispF : 23|8@0+ (1,56) [58|90] "F" H_U,IBOX,MON + SG_ DATC_Rear_DrTempDispF : 31|8@0+ (1,56) [58|90] "F" H_U,IBOX,MON + SG_ DATC_PsTempDispC : 39|8@0+ (0.5,14) [15|32] "C" H_U,IBOX,MON + SG_ Datc_RearPsTempDispC : 47|8@0+ (0.5,14) [15|32] "C" H_U,IBOX,MON + SG_ DATC_PsTempDispF : 55|8@0+ (1,56) [58|90] "F" H_U,IBOX,MON + SG_ DATC_RearPsTempDispF : 63|8@0+ (1,56) [58|90] "F" H_U,IBOX,MON + +BO_ 304 DATC_PE_01: 8 CLU + SG_ DATC_Type : 7|8@0+ (1,0) [0|0] "" H_U,MON + SG_ DATC_VerMMMajor : 15|8@0+ (1,0) [0|0] "" H_U,MON + SG_ DATC_VerMMMinor : 23|8@0+ (1,0) [0|0] "" H_U,MON + SG_ DATC_VerBDFMajor : 31|8@0+ (1,0) [0|0] "" H_U,MON + SG_ DATC_VerBDMinor : 39|8@0+ (1,0) [0|0] "" H_U,MON + SG_ DATC_VerCSMajor : 47|8@0+ (1,0) [0|0] "" H_U,MON + SG_ DATC_VerCSMinor : 55|8@0+ (1,0) [0|0] "" H_U,MON + +BO_ 291 HU_CLU_PE_07: 8 H_U + SG_ NV_DS_Curve : 3|4@0+ (1,0) [0|0] "" CLU + SG_ NV_DS_Merge : 7|4@0+ (1,0) [0|0] "" CLU + SG_ NV_DS_RailCross : 9|2@0+ (1,0) [0|0] "" CLU + SG_ NV_DS_FallingRocks : 11|2@0+ (1,0) [0|0] "" CLU + SG_ NV_DS_SchoolZone : 13|2@0+ (1,0) [0|0] "" CLU + SG_ NV_DS_AccidentBlack : 15|2@0+ (1,0) [0|0] "" CLU + SG_ NV_DS_SpeedBump : 17|2@0+ (1,0) [0|0] "" CLU + SG_ NV_DS_RoadKill : 19|2@0+ (1,0) [0|0] "" CLU + SG_ NV_DS_Downhill : 21|2@0+ (1,0) [0|0] "" CLU + SG_ NV_DS_Fog : 23|2@0+ (1,0) [0|0] "" CLU + SG_ NV_Display_TG : 31|2@0+ (1,0) [0|0] "" CLU,HUD + SG_ NV_Charge : 39|16@0+ (1,0) [0|0] "" CLU,HUD + SG_ NV_Charge_Unit : 55|8@0+ (1,0) [0|0] "" CLU,HUD + SG_ TBT_BarGraph100Level : 63|8@0+ (1,0) [0|100] "%" CLU,HUD + +BO_ 290 HU_CLU_PE_06: 8 H_U + SG_ NV_SD_SpdLimit2 : 3|4@0+ (10,0) [0|0] "km/h" CLU + SG_ NV_SD_SpdLimit1 : 7|4@0+ (10,0) [0|0] "km/h" CLU + SG_ NV_SD_EtcCam : 11|4@0+ (1,0) [0|0] "" CLU + SG_ NV_SD_SpdLimit3 : 15|4@0+ (10,0) [0|0] "km/h" CLU + SG_ NV_SD_SignCam : 17|2@0+ (1,0) [0|0] "" CLU + SG_ NV_SD_SignOverCam : 19|2@0+ (1,0) [0|0] "" CLU + SG_ NV_SD_MobileCam : 21|2@0+ (1,0) [0|0] "" CLU + SG_ NV_SD_FixedCam : 23|2@0+ (1,0) [0|0] "" CLU + SG_ NV_SD_OverLoadCam : 25|2@0+ (1,0) [0|0] "" CLU + SG_ NV_SD_ParkCam : 27|2@0+ (1,0) [0|0] "" CLU + SG_ NV_SD_CutInCam : 29|2@0+ (1,0) [0|0] "" CLU + SG_ NV_SD_BusOnlyCam : 31|2@0+ (1,0) [0|0] "" CLU + SG_ NV_SD_ShoulderCam : 35|2@0+ (1,0) [0|0] "" CLU + SG_ NV_SD_TrafficCam : 37|2@0+ (1,0) [0|0] "" CLU + SG_ NV_SD_PlateRcgCam : 39|2@0+ (1,0) [0|0] "" CLU + +BO_ 286 HU_CLU_PE_10: 8 H_U + SG_ Navi_TBTInfo : 63|8@0+ (1,0) [0|0] "" CGW,CLU + +BO_ 29 CLU_HU_E_00: 8 CLU + SG_ SYS_CLUVer : 7|16@0+ (1,0) [0|0] "" CUBIS,H_U + SG_ CLU_ClockInfoReq : 17|2@0+ (1,0) [0|0] "" H_U + SG_ CLU_DateInfoReq : 19|2@0+ (1,0) [0|0] "" H_U + +BO_ 27 AMP_HU_E_00: 8 AMP + SG_ SYS_AMPVer : 7|16@0+ (1,0) [0|0] "" H_U + +BO_ 23 HU_IPM_E_00: 8 H_U + SG_ C_ADrLNValueSet : 2|3@0+ (1,0) [0|0] "" DATC,IPM + SG_ C_ADrUNValueSet : 5|3@0+ (1,0) [0|0] "" DATC,IPM + SG_ SYS_Ver_Req : 7|2@0+ (1,0) [0|0] "" AMP,AVM,CLU,CUBIS,DATC,IPM + SG_ C_IMSRValueReq : 9|2@0+ (1,0) [0|0] "" DATC,IPM + SG_ C_PSMNValueSet : 11|2@0+ (1,0) [0|0] "" DATC,IPM + SG_ C_SCMNValueSet : 13|2@0+ (1,0) [0|0] "" DATC,IPM + SG_ C_ADrLURValueReq : 15|2@0+ (1,0) [0|0] "" DATC,IPM + SG_ C_ABuzzerNValueSet : 17|2@0+ (1,0) [0|0] "" DATC,IPM + SG_ C_AlarmRValueReq : 19|2@0+ (1,0) [0|0] "" DATC,IPM + SG_ C_ArmWKeyNValueSet : 21|2@0+ (1,0) [0|0] "" DATC,IPM + SG_ C_TwUnRValueReq : 23|2@0+ (1,0) [0|0] "" DATC,IPM + SG_ C_TwUnNValueSet : 25|2@0+ (1,0) [0|0] "" DATC,IPM + SG_ C_AutoMRFoldRValueReq : 27|2@0+ (1,0) [0|0] "" DATC,IPM + SG_ C_AutoMRFoldNValueSet : 29|2@0+ (1,0) [0|0] "" DATC,IPM + SG_ C_ADrLRValueReq : 31|2@0+ (1,0) [0|0] "" DATC,IPM + SG_ C_ArmWKeyRValueReq : 33|2@0+ (1,0) [0|0] "" DATC,IPM + SG_ C_ABuzzerRValueReq : 35|2@0+ (1,0) [0|0] "" DATC,IPM + SG_ C_ADrURValueReq : 37|2@0+ (1,0) [0|0] "" DATC,IPM + SG_ C_PSMRValueReq : 39|2@0+ (1,0) [0|0] "" DATC,IPM + SG_ C_SCMRValueReq : 47|2@0+ (1,0) [0|0] "" DATC,IPM + +BO_ 277 HU_CLU_PE_02: 8 H_U + SG_ TBT_Display_Type : 7|8@0+ (1,0) [0|0] "" CLU,HUD + SG_ TBT_Side_Street : 15|16@0+ (1,0) [0|0] "" CLU,HUD + SG_ TBT_Direction : 31|8@0+ (1,0) [0|0] "" CLU,HUD + SG_ TBT_Distance_Turn_Point : 39|16@0+ (1,0) [0|0] "m" CLU,HUD + SG_ TBT_Combined_Side_Street : 51|4@0+ (1,0) [0|0] "" CLU,HUD + SG_ TBT_Scale : 55|4@0+ (1,0) [0|0] "" CLU,HUD + SG_ TBT_DistancetoTurnPoint : 59|4@0+ (1,0) [0|0] "times" CLU,HUD + SG_ TBT_Bar_Graph_Level : 63|4@0+ (10,0) [0|100] "" CLU,HUD + +BO_ 276 HU_CLU_PE_01: 8 H_U + SG_ HU_OpState : 6|7@0+ (1,0) [0|0] "" AMP,CLU + SG_ HU_Navi_On_Off : 7|1@0+ (1,0) [0|0] "" CLU,HUD + SG_ HU_Preset_Number : 12|5@0+ (1,1) [1|30] "" AMP,CLU + SG_ HU_Tuner_Area : 15|3@0+ (1,0) [0|0] "" AMP,CLU + SG_ HU_Track_Number : 23|16@0+ (1,0) [0|0] "" CLU + SG_ HU_Play_time_Sec : 39|6@0+ (1,0) [0|0] "" CLU + SG_ HU_Play_time_Min : 33|7@0+ (1,0) [0|0] "" CLU + SG_ HU_Play_time_Hour : 42|6@0+ (1,0) [0|0] "" CLU + SG_ HU_Disc_select_No : 59|4@0+ (1,0) [0|0] "" CLU + SG_ HU_Frequency : 52|9@0+ (1,0) [0|0] "" AMP,CLU + +BO_ 17 HU_AMP_E_10: 8 H_U + SG_ AMP_Beep2VolumeStep : 7|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_Beep2Frequency : 15|16@0+ (1,0) [0|0] "" AMP + SG_ AMP_Beep2Ch_OutputMask : 31|16@0+ (1,0) [0|0] "" AMP + SG_ AMP_Beep2DurationOn : 47|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_Beep2DurationOff : 55|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_Beep2NumberOfCycles : 63|8@0+ (1,0) [0|0] "" AMP + +BO_ 15 HU_AMP_E_08: 8 H_U + SG_ AMP_MainVolumeSet : 7|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_BalanceSet : 15|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_FadeSet : 23|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_BassSet : 31|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_MidSet : 39|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_TrebleSet : 47|8@0+ (1,0) [0|0] "" AMP + +BO_ 14 HU_AMP_E_07: 8 H_U + SG_ AMP_HFVolumeStep : 7|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_HFMainAudioCut : 15|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_HFChannelOutputMask : 23|16@0+ (1,0) [0|0] "" AMP + SG_ AMP_HFChannelMuteMask : 39|16@0+ (1,0) [0|0] "" AMP + +BO_ 13 HU_AMP_E_06: 8 H_U + SG_ AMP_MTSVolumeStep : 7|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_MTSMainAudioCut : 15|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_MTSChannelOutputMask : 23|16@0+ (1,0) [0|0] "" AMP + SG_ AMP_MTSChannelMuteMask : 39|16@0+ (1,0) [0|0] "" AMP + +BO_ 12 HU_AMP_E_05: 8 H_U + SG_ AMP_NaviVolumeStep : 7|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_NaviMainAudioCut : 15|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_NaviChannelOutputMask : 23|16@0+ (1,0) [0|0] "" AMP + SG_ AMP_NaviChannelMuteMask : 39|16@0+ (1,0) [0|0] "" AMP + +BO_ 11 HU_AMP_E_04: 8 H_U + SG_ AMP_Drive : 1|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_ConvertibleTop : 5|2@0+ (1,0) [0|0] "" AMP + +BO_ 10 HU_AMP_E_03: 8 H_U + SG_ AMP_CrtVehicleID : 7|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_SPDIFMode : 11|4@0+ (1,0) [0|0] "" AMP + SG_ AMP_VersionReq : 17|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_UpdateStart : 25|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_UpdateEnd : 33|2@0+ (1,0) [0|0] "" AMP + +BO_ 9 HU_AMP_E_02: 8 H_U + SG_ AMP_Mute : 1|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_RearSpMute : 3|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_SurroundMode : 5|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_VEQMode : 7|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_AudioMode : 15|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_EQ : 17|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_Reset : 19|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_SPDIFMute : 21|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_DefaultBeep1 : 25|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_DefaultBeep2 : 29|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_BeatsMode : 33|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_VIPMode : 35|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_QLSMode : 37|2@0+ (1,0) [0|0] "" AMP + +BO_ 1288 HU_CLU_P_02: 8 H_U + SG_ NV_TIME_TYPE : 3|4@0+ (1,0) [0|0] "" CLU + SG_ NV_Hour : 15|8@0+ (1,0) [0|0] "" CLU + SG_ NV_Min : 23|8@0+ (1,0) [0|0] "" CLU + +BO_ 8 HU_AMP_E_01: 8 H_U + SG_ AMP_HFMode : 1|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_NaviMode : 3|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_MTSMode : 5|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_VSCMode : 7|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_Beep1Mode : 9|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_Beep2Mode : 11|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_SDVCStep : 14|3@0+ (1,0) [0|0] "" AMP + SG_ AMP_ASDMode : 18|3@0+ (1,0) [0|0] "" AMP + SG_ AMP_SignalDoctor : 20|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_AutoVolume : 22|2@0+ (1,0) [0|0] "" AMP + +BO_ 1287 HU_CLU_P_01: 8 H_U + SG_ NV_DistToTurn_F1 : 3|4@0+ (1,0) [0|0] "" CLU + SG_ NV_DistToTurn_Unit : 7|4@0+ (1,0) [0|0] "" CLU + SG_ NV_DistToTurn_F3 : 11|4@0+ (1,0) [0|0] "" CLU + SG_ NV_DistToTurn_F2 : 15|4@0+ (1,0) [0|0] "" CLU + SG_ NV_DistToTurn_I1 : 23|16@0+ (1,0) [0|0] "" CLU + SG_ NV_DistToTurn_I2 : 39|16@0+ (1,0) [0|0] "" CLU + SG_ NV_DistToTurn_I3 : 55|16@0+ (1,0) [0|0] "" CLU + +BO_ 1286 HU_CLU_P_00: 8 H_U + SG_ NV_EstDist_F : 3|4@0+ (1,0) [0|0] "" CLU,HUD + SG_ NV_EstDist_Unit : 7|4@0+ (1,0) [0|0] "" CLU,HUD + SG_ NV_EstHour : 15|8@0+ (1,0) [0|0] "" CLU,HUD + SG_ NV_EstMin : 23|8@0+ (1,0) [0|0] "" CLU,HUD + SG_ NV_Azimuth : 31|8@0+ (1,0) [0|0] "" CLU,HUD + SG_ NV_EstDist_I : 39|16@0+ (1,0) [0|0] "" CLU,HUD + SG_ NV_EstimTimeType : 49|2@0+ (1,0) [0|0] "" CGW,CLU,HUD + SG_ NV_EstimTimeFormat : 51|2@0+ (1,0) [0|0] "" CGW,CLU,HUD + +BO_ 1284 HU_AMP_P_01: 8 H_U + SG_ HU_VehicleSpeed : 7|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_SetMaxMainVolStep : 9|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_LKASWarningOn : 21|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_BSDWarningOn : 23|2@0+ (1,0) [0|0] "" AMP + +BO_ 256 HU_MON_PE_01: 8 H_U + SG_ HU_Type : 7|8@0+ (1,0) [0|0] "" AMP,CGW,CLU,HUD,KMA_TMU + SG_ HU_VerMajor : 15|8@0+ (1,0) [0|0] "" AMP,CLU,KMA_TMU,MON + SG_ HU_VerMinor : 23|8@0+ (1,0) [0|0] "" AMP,CLU,KMA_TMU,MON + SG_ HU_DistributeInfo : 31|8@0+ (1,0) [0|0] "" AMP,CGW,CLU,KMA_TMU,MON,RRC + SG_ HU_SubVerMajor : 39|8@0+ (1,0) [0|0] "" AMP,MON + SG_ HU_SubVerMinor : 47|8@0+ (1,0) [0|0] "" AMP,MON + SG_ HU_SDARSVersion : 55|8@0+ (1,0) [0|0] "" AMP,MON + SG_ HU_AdasSupport : 58|3@0+ (1,0) [0|0] "" CGW,CLU + +BO_ 1092 NM_CLOCK: 8 CLOCK + SG_ Destination_CLOCK : 7|8@0+ (1,0) [0|0] "" HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMSleepFlag_CLOCK : 13|2@0+ (1,0) [0|0] "" HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMCommandCode_CLOCK : 10|3@0+ (1,0) [0|0] "" HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + +BO_ 1108 NM_HUD: 8 HUD + SG_ Destination_HUD : 7|8@0+ (1,0) [0|0] "" CLOCK,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMSleepFlag_HUD : 13|2@0+ (1,0) [0|0] "" CLOCK,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMCommandCode_HUD : 10|3@0+ (1,0) [0|0] "" CLOCK,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + +BO_ 1088 NM_H_U: 8 H_U + SG_ Destination_H_U : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMSleepFlag_H_U : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMCommandCode_H_U : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + +BO_ 1091 NM_DATC: 8 DATC + SG_ Destination_DATC : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMSleepFlag_DATC : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMCommandCode_DATC : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + +BO_ 1105 NM_CCP: 8 CCP + SG_ Destination_CCP : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMSleepFlag_CCP : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMCommandCode_CCP : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + +BO_ 1100 NM_KMA_TMU: 8 KMA_TMU + SG_ Destination_KMA_TMU : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMSleepFlag_KMA_TMU : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMCommandCode_KMA_TMU : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + +BO_ 1098 NM_CUBIS: 8 CUBIS + SG_ Destination_CUBIS : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMSleepFlag_CUBIS : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMCommandCode_CUBIS : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + +BO_ 1099 NM_TMU: 8 TMU + SG_ Destination_TMU : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMSleepFlag_TMU : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMCommandCode_TMU : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + +BO_ 1095 NM_IPM: 8 IPM + SG_ Destination_IPM : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMSleepFlag_IPM : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMCommandCode_IPM : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + +BO_ 1107 NM_RSE_R: 8 RSE_R + SG_ Destination_RSE_R : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMSleepFlag_RSE_R : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMCommandCode_RSE_R : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + +BO_ 1093 NM_RRC: 8 RRC + SG_ Destination_RRC : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMSleepFlag_RRC : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMCommandCode_RRC : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + +BO_ 1109 NM_CGW: 8 CGW + SG_ Destination_CGW : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMSleepFlag_CGW : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMCommandCode_CGW : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + +BO_ 1106 NM_RSE_L: 8 RSE_L + SG_ Destination_RSE_L : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMSleepFlag_RSE_L : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMCommandCode_RSE_L : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + +BO_ 1096 NM_AMP: 8 AMP + SG_ Destination_AMP : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMSleepFlag_AMP : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMCommandCode_AMP : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + +BO_ 1103 NM_EDT: 8 EDT + SG_ Destination_EDT : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMSleepFlag_EDT : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMCommandCode_EDT : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + +BO_ 1110 NM_SWRC: 8 SWRC + SG_ Destination_SWRC : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMSleepFlag_SWRC : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMCommandCode_SWRC : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + +BO_ 1102 NM_IBOX: 8 IBOX + SG_ Destination_IBOX : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMSleepFlag_IBOX : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMCommandCode_IBOX : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,CLU,FHCU,ASD,MON,AVM,KBD + +BO_ 1101 NM_CLU: 8 CLU + SG_ Destination_CLU : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,FHCU,ASD,MON,AVM,KBD + SG_ NMSleepFlag_CLU : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,FHCU,ASD,MON,AVM,KBD + SG_ NMCommandCode_CLU : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,FHCU,ASD,MON,AVM,KBD + +BO_ 1097 NM_FHCU: 8 FHCU + SG_ Destination_FHCU : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,ASD,MON,AVM,KBD + SG_ NMSleepFlag_FHCU : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,ASD,MON,AVM,KBD + SG_ NMCommandCode_FHCU : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,ASD,MON,AVM,KBD + +BO_ 1094 NM_ASD: 8 ASD + SG_ Destination_ASD : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,MON,AVM,KBD + SG_ NMSleepFlag_ASD : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,MON,AVM,KBD + SG_ NMCommandCode_ASD : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,MON,AVM,KBD + +BO_ 1089 NM_MON: 8 MON + SG_ Destination_MON : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,AVM,KBD + SG_ NMSleepFlag_MON : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,AVM,KBD + SG_ NMCommandCode_MON : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,AVM,KBD + +BO_ 1104 NM_AVM: 8 AVM + SG_ Destination_AVM : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,KBD + SG_ NMSleepFlag_AVM : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,KBD + SG_ NMCommandCode_AVM : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,KBD + +BO_ 1090 NM_KBD: 8 KBD + SG_ Destination_KBD : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM + SG_ NMSleepFlag_KBD : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM + SG_ NMCommandCode_KBD : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM + diff --git a/opendbc_repo/opendbc/dbc/hyundai_canfd.dbc b/opendbc_repo/opendbc/dbc/hyundai_canfd.dbc new file mode 100644 index 0000000000..00991a7141 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/hyundai_canfd.dbc @@ -0,0 +1,719 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX CAMERA FRONT_RADAR ADRV APRK + + +BO_ 53 ACCELERATOR: 32 XXX + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + SG_ GEAR : 192|3@1+ (1,0) [0|7] "" XXX + SG_ ACCELERATOR_PEDAL : 40|8@1+ (1,0) [0|255] "" XXX + +BO_ 64 GEAR_ALT: 32 XXX + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + SG_ GEAR : 32|3@1+ (1,0) [0|7] "" XXX + +BO_ 69 GEAR: 24 XXX + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + SG_ GEAR : 44|3@1+ (1,0) [0|7] "" XXX + +BO_ 80 LKAS: 16 XXX + SG_ STEER_REQ : 52|1@1+ (1,0) [0|1] "" XXX + SG_ TORQUE_REQUEST : 41|11@1+ (1,-1024) [0|4095] "" XXX + SG_ LKA_ICON : 38|2@1+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_1 : 27|2@1+ (1,0) [0|255] "" XXX + SG_ LFA_BUTTON : 56|1@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ STEER_MODE : 65|3@1+ (1,0) [0|1] "" XXX + SG_ LKA_WARNING : 32|1@1+ (1,0) [0|1] "" XXX + SG_ LKA_ASSIST : 62|1@1+ (1,0) [0|1] "" XXX + SG_ LKA_MODE : 24|3@1+ (1,0) [0|7] "" XXX + SG_ NEW_SIGNAL_2 : 70|2@0+ (1,0) [0|3] "" XXX + SG_ HAS_LANE_SAFETY : 80|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_3 : 111|8@0+ (1,0) [0|255] "" XXX + SG_ FCA_SYSWARN : 40|1@0+ (1,0) [0|1] "" XXX + +BO_ 81 ADRV_0x51: 32 ADRV + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + +BO_ 96 ESP_STATUS: 32 XXX + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + SG_ TRACTION_AND_STABILITY_CONTROL : 42|3@1+ (1,0) [0|63] "" XXX + SG_ BRAKE_PRESSURE : 128|10@1+ (1,0) [0|65535] "" XXX + SG_ BRAKE_PRESSED : 148|1@1+ (1,0) [0|3] "" XXX + +BO_ 101 BRAKE: 32 XXX + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + SG_ BRAKE_POSITION : 40|16@1- (1,0) [0|65535] "" XXX + SG_ BRAKE_PRESSED : 57|1@1+ (1,0) [0|3] "" XXX + +BO_ 112 GEAR_ALT_2: 32 XXX + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + SG_ GEAR : 60|3@1+ (1,0) [0|7] "" XXX + +BO_ 160 WHEEL_SPEEDS: 24 XXX + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + SG_ MOVING_FORWARD : 56|1@0+ (1,0) [0|1] "" XXX + SG_ MOVING_BACKWARD : 57|1@0+ (1,0) [0|1] "" XXX + SG_ MOVING_FORWARD2 : 58|1@0+ (1,0) [0|1] "" XXX + SG_ MOVING_BACKWARD2 : 59|1@0+ (1,0) [0|1] "" XXX + SG_ WHEEL_SPEED_1 : 64|16@1+ (0.03125,0) [0|65535] "kph" XXX + SG_ WHEEL_SPEED_2 : 80|16@1+ (0.03125,0) [0|65535] "kph" XXX + SG_ WHEEL_SPEED_3 : 96|16@1+ (0.03125,0) [0|65535] "kph" XXX + SG_ WHEEL_SPEED_4 : 112|16@1+ (0.03125,0) [0|65535] "kph" XXX + +BO_ 234 MDPS: 24 XXX + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + SG_ LKA_ACTIVE : 48|1@0+ (1,0) [0|16777215] "" XXX + SG_ LKA_FAULT : 54|1@0+ (1,0) [0|1] "" XXX + SG_ STEERING_OUT_TORQUE : 64|12@1+ (0.1,-204.8) [0|65535] "" XXX + SG_ STEERING_COL_TORQUE : 80|13@1+ (1,-4095) [0|4095] "" XXX + SG_ STEERING_ANGLE : 96|16@1- (-0.1,0) [0|255] "deg" XXX + SG_ STEERING_ANGLE_2 : 128|16@1- (-0.1,0) [0|65535] "deg" XXX + +BO_ 256 ACCELERATOR_BRAKE_ALT: 32 XXX + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + SG_ BRAKE_PRESSED : 32|1@1+ (1,0) [0|1] "" XXX + SG_ ACCELERATOR_PEDAL_PRESSED : 176|1@1+ (1,0) [0|1] "" XXX + +BO_ 261 ACCELERATOR_ALT: 32 XXX + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + SG_ ACCELERATOR_PEDAL : 103|10@1+ (0.25,0) [0|1022] "" XXX + +BO_ 272 LKAS_ALT: 32 XXX + SG_ STEER_REQ : 52|1@1+ (1,0) [0|1] "" XXX + SG_ TORQUE_REQUEST : 41|11@1+ (1,-1024) [0|4095] "" XXX + SG_ LKA_ICON : 38|2@1+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_1 : 27|2@1+ (1,0) [0|255] "" XXX + SG_ LFA_BUTTON : 56|1@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ STEER_MODE : 65|3@1+ (1,0) [0|1] "" XXX + SG_ LKA_WARNING : 32|1@1+ (1,0) [0|1] "" XXX + SG_ LKA_ASSIST : 62|1@1+ (1,0) [0|1] "" XXX + SG_ LKA_MODE : 24|3@1+ (1,0) [0|7] "" XXX + SG_ NEW_SIGNAL_2 : 70|2@0+ (1,0) [0|3] "" XXX + SG_ HAS_LANE_SAFETY : 80|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_3 : 111|8@0+ (1,0) [0|255] "" XXX + SG_ FCA_SYSWARN : 40|1@0+ (1,0) [0|1] "" XXX + +BO_ 293 STEERING_SENSORS: 16 XXX + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + SG_ STEERING_RATE : 40|8@1+ (4,0) [0|1016] "deg/s" XXX + SG_ STEERING_ANGLE : 24|16@1- (-0.1,0) [0|255] "deg" XXX + +BO_ 298 LFA: 16 ADRV + SG_ STEER_REQ : 52|1@1+ (1,0) [0|1] "" XXX + SG_ TORQUE_REQUEST : 41|11@1+ (1,-1024) [0|4095] "" XXX + SG_ LKA_ICON : 38|2@1+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_1 : 27|2@1+ (1,0) [0|255] "" XXX + SG_ LFA_BUTTON : 56|1@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ STEER_MODE : 65|3@1+ (1,0) [0|1] "" XXX + SG_ LKA_WARNING : 32|1@1+ (1,0) [0|1] "" XXX + SG_ LKA_ASSIST : 62|1@1+ (1,0) [0|1] "" XXX + SG_ LKA_MODE : 24|3@1+ (1,0) [0|7] "" XXX + SG_ NEW_SIGNAL_2 : 70|2@0+ (1,0) [0|3] "" XXX + SG_ HAS_LANE_SAFETY : 80|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_3 : 111|8@0+ (1,0) [0|255] "" XXX + +BO_ 304 GEAR_SHIFTER: 16 XXX + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + SG_ PARK_BUTTON : 32|2@1+ (1,0) [0|3] "" XXX + SG_ GEAR : 64|3@1+ (1,0) [0|7] "" XXX + SG_ KNOB_POSITION : 40|3@1+ (1,0) [0|3] "" XXX + +BO_ 357 SPAS1: 24 APRK + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|0] "" XXX + SG_ NEW_SIGNAL_1 : 96|16@1- (0.1,0) [0|0] "" XXX + SG_ NEW_SIGNAL_2 : 90|3@1+ (1,0) [0|0] "" XXX + +BO_ 362 SPAS2: 32 APRK + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|0] "" XXX + SG_ BLINKER_CONTROL : 133|3@1+ (1,0) [0|0] "" XXX + +BO_ 373 TCS: 24 XXX + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_1 : 80|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_2 : 74|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_3 : 76|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_4 : 24|7@1+ (1,0) [0|127] "" XXX + SG_ aBasis : 32|11@1+ (0.01,-10.23) [0|7] "m/s^2" XXX + SG_ NEW_SIGNAL_5 : 72|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_6 : 128|4@1+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_7 : 135|2@0+ (1,0) [0|3] "" XXX + SG_ PROBABLY_EQUIP : 136|2@1+ (1,0) [0|3] "" XXX + SG_ AEB_EQUIP_MAYBE : 96|1@0+ (1,0) [0|1] "" XXX + SG_ EQUIP_MAYBE : 64|1@0+ (1,0) [0|1] "" XXX + SG_ DriverBraking : 81|1@0+ (1,0) [0|1] "" XXX + SG_ DriverBrakingLowSens : 84|1@1+ (1,0) [0|1] "" XXX + SG_ ACC_REQ : 68|1@0+ (1,0) [0|1] "" XXX + SG_ ACCEL_REF_ACC : 48|11@1- (1,0) [0|1023] "" XXX + SG_ ACCEnable : 67|2@0+ (1,0) [0|3] "" XXX + +BO_ 352 ADRV_0x160: 16 ADRV + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_FF : 64|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_FC : 72|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_2 : 56|8@1+ (1,0) [0|1] "" XXX + SG_ AEB_SETTING : 24|2@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_9 : 80|8@1+ (1,0) [0|255] "" XXX + +BO_ 384 CAM_0x180: 32 CAMERA + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 385 CAM_0x181: 32 CAMERA + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 386 CAM_0x182: 32 CAMERA + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 387 CAM_0x183: 32 CAMERA + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 388 CAM_0x184: 32 CAMERA + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 389 CAM_0x185: 8 CAMERA + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 416 SCC_CONTROL: 32 ADRV + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_1 : 64|2@1+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_8 : 170|4@1+ (1,0) [0|15] "" XXX + SG_ ZEROS : 215|48@0+ (1,0) [0|281474976710655] "" XXX + SG_ ZEROS_3 : 191|7@0+ (1,0) [0|127] "" XXX + SG_ ZEROS_4 : 183|4@0+ (1,0) [0|63] "" XXX + SG_ ZEROS_6 : 119|16@0+ (1,0) [0|65535] "" XXX + SG_ ZEROS_8 : 95|5@0+ (1,0) [0|31] "" XXX + SG_ NEW_SIGNAL_3 : 109|2@0+ (1,0) [0|1] "" XXX + SG_ SET_ME_TMP_64 : 55|8@0+ (1,0) [0|63] "" XXX + SG_ SET_ME_2 : 105|3@1+ (1,0) [0|7] "" XXX + SG_ NEW_SIGNAL_6 : 104|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + SG_ ZEROS_9 : 71|5@1+ (1,0) [0|15] "" XXX + SG_ ZEROS_10 : 111|2@0+ (1,0) [0|3] "" XXX + SG_ SET_ME_3 : 45|2@0+ (1,0) [0|3] "" XXX + SG_ ObjValid : 46|1@0+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_2 : 168|2@1+ (1,0) [0|3] "" XXX + SG_ OBJ_STATUS : 176|3@1+ (1,0) [0|7] "" XXX + SG_ ACC_ObjDist : 24|11@1+ (0.1,0) [0|204.7] "m" XXX + SG_ ZEROS_5 : 77|11@1+ (1,0) [0|2047] "" XXX + SG_ DISTANCE_SETTING : 88|3@1+ (1,0) [0|3] "" XXX + SG_ ZEROS_2 : 207|5@0+ (1,0) [0|63] "" XXX + SG_ CRUISE_STANDSTILL : 76|1@1+ (1,0) [0|1] "" XXX + SG_ aReqRaw : 140|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" XXX + SG_ aReqValue : 128|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" XXX + SG_ ZEROS_7 : 63|8@0+ (1,0) [0|255] "" XXX + SG_ ACCMode : 68|3@1+ (1,0) [0|7] "" XXX + SG_ ACC_ObjRelSpd : 35|9@1+ (0.1,-16.4) [-16.4|34.7] "m/s" XXX + SG_ JerkLowerLimit : 166|7@0+ (0.1,0) [0|12.7] "m/s^3" XXX + SG_ StopReq : 184|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_15 : 192|11@1+ (0.1,0) [0|204.7] "m" XXX + SG_ VSetDis : 103|8@0+ (1,0) [0|255] "km/h or mph" XXX + SG_ MainMode_ACC : 66|1@1+ (1,0) [0|1] "" XXX + SG_ JerkUpperLimit : 158|7@0+ (0.1,0) [0|0] "" XXX + +BO_ 426 CRUISE_BUTTONS_ALT: 16 XXX + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_1 : 24|4@1+ (1,0) [0|15] "" XXX + SG_ SET_ME_1 : 28|2@1+ (1,0) [0|3] "" XXX + SG_ DISTANCE_UNIT : 30|1@1+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_2 : 31|3@1+ (1,0) [0|7] "" XXX + SG_ ADAPTIVE_CRUISE_MAIN_BTN : 34|1@1+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_3 : 35|1@1+ (1,0) [0|1] "" XXX + SG_ LFA_BTN : 39|1@1+ (1,0) [0|1] "" XXX + SG_ CRUISE_BUTTONS : 36|3@1+ (1,0) [0|4] "" XXX + SG_ NEW_SIGNAL_4 : 40|1@1+ (1,0) [0|1] "" XXX + SG_ NORMAL_CRUISE_MAIN_BTN : 41|1@1+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_5 : 42|2@1+ (1,0) [0|3] "" XXX + SG_ SET_ME_2 : 44|3@1+ (1,0) [0|7] "" XXX + SG_ NEW_SIGNAL_6 : 47|1@1+ (1,0) [0|1] "" XXX + SG_ BYTE6 : 48|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE7 : 56|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE8 : 64|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE9 : 72|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE10 : 80|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE11 : 88|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE12 : 96|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE13 : 104|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE14 : 112|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE15 : 120|8@1+ (1,0) [0|255] "" XXX + +BO_ 438 CAM_0x1b6: 32 CAMERA + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 439 CAM_0x1b7: 32 CAMERA + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 440 CAM_0x1b8: 32 CAMERA + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 441 CAM_0x1b9: 32 CAMERA + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 463 CRUISE_BUTTONS: 8 XXX + SG_ _CHECKSUM : 0|8@1+ (1,0) [0|65535] "" XXX + SG_ LFA_BTN : 23|1@1+ (1,0) [0|1] "" XXX + SG_ SET_ME_1 : 29|1@1+ (1,0) [0|1] "" XXX + SG_ ADAPTIVE_CRUISE_MAIN_BTN : 19|1@1+ (1,0) [0|1] "" XXX + SG_ NORMAL_CRUISE_MAIN_BTN : 21|1@1+ (1,0) [0|1] "" XXX + SG_ COUNTER : 12|4@1+ (1,0) [0|255] "" XXX + SG_ CRUISE_BUTTONS : 16|3@1+ (1,0) [0|3] "" XXX + SG_ RIGHT_PADDLE : 25|1@1+ (1,0) [0|1] "" XXX + SG_ LEFT_PADDLE : 27|1@1+ (1,0) [0|1] "" XXX + +BO_ 474 ADRV_0x1da: 32 ADRV + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_22 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_41 : 47|8@0+ (1,0) [0|255] "" XXX + +BO_ 480 LFAHDA_CLUSTER: 16 ADRV + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + SG_ HDA_ICON : 31|1@1+ (1,0) [0|1] "" XXX + SG_ LFA_ICON : 47|2@1+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_1 : 32|3@1+ (1,0) [0|7] "" XXX + SG_ NEW_SIGNAL_2 : 30|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_3 : 49|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_4 : 24|1@0+ (1,0) [0|1] "" XXX + +BO_ 490 ADRV_0x1ea: 32 ADRV + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_1C : 31|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_1 : 32|2@1+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_2 : 47|2@0+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_3 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_4 : 64|6@1+ (1,0) [0|31] "" XXX + SG_ NEW_SIGNAL_5 : 72|2@1+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_6 : 75|5@1+ (1,0) [0|31] "" XXX + SG_ NEW_SIGNAL_7 : 80|5@1+ (1,0) [0|31] "" XXX + SG_ NEW_SIGNAL_8 : 88|7@1+ (1,0) [0|127] "" XXX + SG_ NEW_SIGNAL_9 : 96|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_10 : 143|5@0+ (1,0) [0|31] "" XXX + SG_ NEW_SIGNAL_11 : 144|3@1+ (1,0) [0|7] "" XXX + SG_ NEW_SIGNAL_12 : 152|6@1+ (1,0) [0|63] "" XXX + SG_ NEW_SIGNAL_13 : 160|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_14 : 163|5@1+ (1,0) [0|31] "" XXX + SG_ NEW_SIGNAL_15 : 175|4@0+ (1,0) [0|63] "" XXX + SG_ NEW_SIGNAL_16 : 168|3@1+ (1,0) [0|7] "" XXX + SG_ NEW_SIGNAL_17 : 176|2@1+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_18 : 184|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_19 : 208|3@1+ (1,0) [0|7] "" XXX + SG_ NEW_SIGNAL_20 : 212|1@0+ (1,0) [0|1] "" XXX + SG_ SET_ME_FF : 120|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_TMP_F : 232|5@1+ (1,0) [0|31] "" XXX + SG_ SET_ME_TMP_F_2 : 240|5@1+ (1,0) [0|31] "" XXX + +BO_ 507 CAM_0x1fb: 32 CAMERA + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 512 ADRV_0x200: 8 ADRV + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_E1 : 24|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_3A : 32|8@1+ (1,0) [0|255] "" XXX + +BO_ 513 RADAR_0x201: 32 FRONT_RADAR + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 528 RADAR_0x210: 32 FRONT_RADAR + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 529 RADAR_0x211: 32 FRONT_RADAR + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 530 RADAR_0x212: 32 FRONT_RADAR + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 531 RADAR_0x213: 32 FRONT_RADAR + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 532 RADAR_0x214: 32 FRONT_RADAR + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 533 RADAR_0x215: 32 FRONT_RADAR + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 534 RADAR_0x216: 32 FRONT_RADAR + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 535 RADAR_0x217: 32 FRONT_RADAR + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 536 RADAR_0x218: 32 FRONT_RADAR + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 537 RADAR_0x219: 32 FRONT_RADAR + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 538 RADAR_0x21a: 32 FRONT_RADAR + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 539 RADAR_0x21b: 32 FRONT_RADAR + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 540 RADAR_0x21c: 32 FRONT_RADAR + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 541 RADAR_0x21d: 32 FRONT_RADAR + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 542 RADAR_0x21e: 32 FRONT_RADAR + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 543 RADAR_0x21f: 32 FRONT_RADAR + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 576 RADAR_0x240: 16 FRONT_RADAR + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 593 RADAR_0x251: 16 FRONT_RADAR + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 674 CAM_0x2a2: 32 CAMERA + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 675 CAM_0x2a3: 32 CAMERA + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 676 CAM_0x2a4: 24 XXX + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE3 : 24|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE4 : 32|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE5 : 40|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE6 : 48|8@1+ (1,0) [0|255] "" XXX + SG_ LEFT_LANE_LINE : 56|2@1+ (1,0) [0|3] "" XXX + SG_ SET_ME_0 : 58|2@1+ (1,0) [0|3] "" XXX + SG_ RIGHT_LANE_LINE : 60|2@1+ (1,0) [0|3] "" XXX + SG_ SET_ME_0_2 : 62|2@1+ (1,0) [0|3] "" XXX + SG_ BYTE8 : 64|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE9 : 72|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE10 : 80|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE11 : 88|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE12 : 96|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE13 : 104|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE14 : 112|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE15 : 120|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE16 : 128|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE17 : 136|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE18 : 144|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE19 : 152|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE20 : 160|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE21 : 168|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE22 : 176|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE23 : 184|8@1+ (1,0) [0|255] "" XXX + +BO_ 699 CAM_0x2bb: 32 CAMERA + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 700 CAM_0x2bc: 32 CAMERA + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 701 CAM_0x2bd: 32 CAMERA + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 702 CAM_0x2be: 32 CAMERA + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 736 MANUAL_SPEED_LIMIT_ASSIST: 32 XXX + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + SG_ MSLA_STATUS : 26|2@1+ (1,0) [0|3] "" XXX + SG_ MSLA_ENABLED : 38|1@1+ (1,0) [0|1] "" XXX + SG_ MAX_SPEED : 55|8@0+ (1,0) [0|255] "" XXX + SG_ MAX_SPEED_COPY : 144|8@1+ (1,0) [0|255] "" XXX + +BO_ 837 ADRV_0x345: 8 ADRV + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_15 : 24|8@1+ (1,0) [0|255] "" XXX + +BO_ 866 CAM_0x362: 32 CAMERA + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE3 : 24|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE4 : 32|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE5 : 40|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE6 : 48|8@1+ (1,0) [0|255] "" XXX + SG_ LEFT_LANE_LINE : 56|2@1+ (1,0) [0|3] "" XXX + SG_ SET_ME_0 : 58|2@1+ (1,0) [0|3] "" XXX + SG_ RIGHT_LANE_LINE : 60|2@1+ (1,0) [0|3] "" XXX + SG_ SET_ME_0_2 : 62|2@1+ (1,0) [0|3] "" XXX + SG_ BYTE8 : 64|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE9 : 72|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE10 : 80|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE11 : 88|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE12 : 96|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE13 : 104|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE14 : 112|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE15 : 120|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE16 : 128|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE17 : 136|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE18 : 144|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE19 : 152|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE20 : 160|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE21 : 168|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE22 : 176|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE23 : 184|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE24 : 192|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE25 : 200|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE26 : 208|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE27 : 216|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE28 : 224|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE29 : 232|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE30 : 240|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE31 : 248|8@1+ (1,0) [0|255] "" XXX + +BO_ 961 BLINKER_STALKS: 8 XXX + SG_ COUNTER_ALT : 15|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM_MAYBE : 7|8@0+ (1,0) [0|255] "" XXX + SG_ HIGHBEAM_FORWARD : 18|1@0+ (1,0) [0|1] "" XXX + SG_ HIGHBEAM_BACKWARD : 26|1@0+ (1,0) [0|1] "" XXX + SG_ RIGHT_BLINKER : 32|1@0+ (1,0) [0|1] "" XXX + SG_ LEFT_BLINKER : 30|1@0+ (1,0) [0|1] "" XXX + SG_ LIGHT_KNOB_POSITION : 21|2@0+ (1,0) [0|3] "" XXX + +BO_ 1041 DOORS_SEATBELTS: 8 XXX + SG_ CHECKSUM_MAYBE : 7|8@0+ (1,0) [0|65535] "" XXX + SG_ COUNTER_ALT : 15|4@0+ (1,0) [0|15] "" XXX + SG_ DRIVER_DOOR : 24|1@1+ (1,0) [0|1] "" XXX + SG_ PASSENGER_DOOR : 34|1@0+ (1,0) [0|1] "" XXX + SG_ DRIVER_REAR_DOOR : 52|1@0+ (1,0) [0|1] "" XXX + SG_ PASSENGER_REAR_DOOR : 56|1@0+ (1,0) [0|1] "" XXX + SG_ DRIVER_SEATBELT : 42|1@0+ (1,0) [0|1] "" XXX + SG_ PASSENGER_SEATBELT : 36|1@0+ (1,0) [0|1] "" XXX + +BO_ 1043 BLINKERS: 8 XXX + SG_ LEFT_STALK : 8|1@0+ (1,0) [0|1] "" XXX + SG_ RIGHT_STALK : 10|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER_ALT : 15|4@0+ (1,0) [0|15] "" XXX + SG_ LEFT_LAMP : 20|1@0+ (1,0) [0|1] "" XXX + SG_ RIGHT_LAMP : 22|1@0+ (1,0) [0|1] "" XXX + SG_ LEFT_LAMP_ALT : 59|1@0+ (1,0) [0|1] "" XXX + SG_ RIGHT_LAMP_ALT : 61|1@0+ (1,0) [0|1] "" XXX + SG_ USE_ALT_LAMP : 62|1@0+ (1,0) [0|1] "" XXX + +BO_ 1240 CLUSTER_INFO: 8 XXX + SG_ DISTANCE_UNIT : 0|1@1+ (1,0) [0|1] "" XXX + +BO_ 442 BLINDSPOTS_REAR_CORNERS: 24 XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_2 : 96|1@0+ (1,0) [0|1] "" XXX + SG_ COLLISION_AVOIDANCE_ACTIVE : 68|1@0+ (1,0) [0|1] "" XXX + SG_ LEFT_MB : 30|1@0+ (1,0) [0|3] "" XXX + SG_ LEFT_BLOCKED : 24|1@0+ (1,0) [0|1] "" XXX + SG_ MORE_LEFT_PROB : 32|1@1+ (1,0) [0|3] "" XXX + SG_ FL_INDICATOR : 46|6@0+ (1,0) [0|1] "" XXX + SG_ FR_INDICATOR : 54|6@0+ (1,0) [0|63] "" XXX + SG_ RIGHT_BLOCKED : 64|1@0+ (1,0) [0|1] "" XXX + +BO_ 874 BLINDSPOTS_FRONT_CORNER_2: 16 XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + +BO_ 485 BLINDSPOTS_FRONT_CORNER_1: 16 XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_1 : 108|2@0+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_2 : 96|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_3 : 88|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_4 : 80|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_5 : 31|2@0+ (1,0) [0|3] "" XXX + SG_ REVERSING : 24|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_7 : 32|2@1+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_8 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_9 : 55|8@0+ (1,0) [0|255] "" XXX + +BO_ 506 CLUSTER_SPEED_LIMIT: 32 XXX + SG_ SPEED_LIMIT_3 : 119|8@0+ (1,0) [0|255] "" XXX + SG_ SPEED_LIMIT_2 : 47|7@0+ (1,0) [0|255] "" XXX + SG_ SPEED_LIMIT_1 : 39|7@0+ (1,0) [0|255] "" XXX + SG_ SPEED_CHANGE_BLINKING : 129|1@1+ (1,0) [0|3] "" XXX + SG_ CHIME_2 : 122|2@1+ (1,0) [0|7] "" XXX + SG_ CHIME_1 : 133|1@0+ (1,0) [0|1] "" XXX + SG_ ARROW_DOWN : 120|1@0+ (1,0) [0|1] "" XXX + SG_ ARROW_UP : 121|1@0+ (1,0) [0|1] "" XXX + SG_ SECONDARY_LIMIT_1 : 79|8@0+ (1,0) [0|127] "" XXX + SG_ SECONDARY_LIMIT_2 : 103|8@0+ (1,0) [0|127] "" XXX + SG_ SCHOOL_ZONE : 155|1@0+ (1,0) [0|1] "" XXX + +BO_ 1144 DRIVE_MODE: 8 XXX + SG_ DRIVE_MODE : 0|16@1+ (1,-61611) [0|61611] "" XXX + SG_ DRIVE_MODE2 : 28|3@1+ (1,0) [1|3] "" XXX + +BO_ 1151 HVAC_TOUCH_BUTTONS: 8 XXX + SG_ AUTO_BUTTON : 8|1@0+ (1,0) [0|1] "" XXX + SG_ SYNC_BUTTON : 12|1@0+ (1,0) [0|1] "" XXX + SG_ FR_DEFROST_BUTTON : 20|1@0+ (1,0) [0|1] "" XXX + SG_ RR_DEFROST_BUTTON : 22|1@0+ (1,0) [0|1] "" XXX + SG_ FAN_SPEED_UP_BUTTON : 24|1@0+ (1,0) [0|1] "" XXX + SG_ FAN_SPEED_DOWN_BUTTON : 26|1@0+ (1,0) [0|1] "" XXX + SG_ AIR_DIRECTION_BUTTON : 28|1@0+ (1,0) [0|1] "" XXX + SG_ AC_BUTTON : 40|1@0+ (1,0) [0|1] "" XXX + SG_ DRIVER_ONLY_BUTTON : 44|1@0+ (1,0) [0|1] "" XXX + SG_ RECIRC_BUTTON : 48|1@0+ (1,0) [0|1] "" XXX + SG_ HEAT_BUTTON : 52|1@0+ (1,0) [0|1] "" XXX + +BO_ 1259 LOCAL_TIME2: 8 XXX + SG_ HOURS : 15|5@0+ (1,0) [0|31] "" XXX + SG_ MINUTES : 21|6@0+ (1,0) [0|63] "" XXX + SG_ SECONDS : 24|6@1+ (1,0) [0|63] "" XXX + SG_ NEW_SIGNAL_3 : 39|1@0+ (1,0) [0|1] "" XXX + +BO_ 1264 LOCAL_TIME: 8 XXX + SG_ HOURS : 12|5@0+ (1,0) [0|31] "" XXX + SG_ MINUTES : 21|6@0+ (1,0) [0|63] "" XXX + SG_ SECONDS : 31|8@0+ (1,0) [0|59] "" XXX + +CM_ 272 "Alternative LKAS message, used on cars such as 2023 Ioniq 6, 2nd gen Kona. Matches LKAS except size is 32 bytes"; +CM_ 676 "Contains signals with detailed lane line information. Used by ADAS ECU on HDA 2 vehicles to operate LFA."; +CM_ 866 "Contains signals with detailed lane line information. Used by ADAS ECU on HDA 2 vehicles to operate LFA. Used on cars that use message 272."; +CM_ 1043 "Lamp signals do not seem universal on cars that use LKAS_ALT, but stalk signals do."; + +CM_ SG_ 80 HAS_LANE_SAFETY "If 0, hides LKAS 'Lane Safety' menu from vehicle settings"; +CM_ SG_ 96 BRAKE_PRESSURE "User applied brake pedal pressure. Ramps from computer applied pressure on falling edge of cruise. Cruise cancels if !=0"; +CM_ SG_ 101 BRAKE_POSITION "User applied brake pedal position, max is ~700. Signed on some vehicles"; +CM_ SG_ 373 PROBABLY_EQUIP "aeb equip?"; +CM_ SG_ 373 ACCEnable "Likely a copy of CAN's TCS13->ACCEnable"; +CM_ SG_ 373 DriverBraking "Likely derived from BRAKE->BRAKE_POSITION"; +CM_ SG_ 373 DriverBrakingLowSens "Higher threshold version of DriverBraking"; +CM_ SG_ 352 SET_ME_9 "has something to do with AEB settings"; +CM_ SG_ 416 VSetDis "set speed in display units"; +CM_ SG_ 676 LEFT_LANE_LINE "Left lane line confidence"; +CM_ SG_ 676 RIGHT_LANE_LINE "Right lane line confidence"; +CM_ SG_ 736 MAX_SPEED "Display units. Restricts car from driving above this speed unless accelerator pedal is depressed beyond pressure point"; +CM_ SG_ 866 LEFT_LANE_LINE "Left lane line confidence"; +CM_ SG_ 866 RIGHT_LANE_LINE "Right lane line confidence"; +CM_ SG_ 961 COUNTER_ALT "only increments on change"; +CM_ SG_ 1041 COUNTER_ALT "only increments on change"; +CM_ SG_ 1043 COUNTER_ALT "only increments on change"; +CM_ SG_ 1043 USE_ALT_LAMP "likely 1 on cars that use alt lamp signals"; +VAL_ 53 GEAR 0 "P" 5 "D" 6 "N" 7 "R" ; +VAL_ 64 GEAR 0 "P" 5 "D" 6 "N" 7 "R" ; +VAL_ 69 GEAR 0 "P" 5 "D" 6 "N" 7 "R" ; +VAL_ 112 GEAR 0 "P" 5 "D" 6 "N" 7 "R" ; +VAL_ 80 LKA_ICON 0 "hidden" 1 "grey" 2 "green" 3 "flashing green" ; +VAL_ 80 LKA_MODE 1 "warning only" 2 "assist" 6 "off" ; +VAL_ 96 TRACTION_AND_STABILITY_CONTROL 0 "On" 5 "Limited" 1 "Off"; +VAL_ 234 LKA_FAULT 0 "ok" 1 "lka fault" ; +VAL_ 272 LKA_ICON 0 "hidden" 1 "grey" 2 "green" 3 "flashing green" ; +VAL_ 272 LKA_MODE 1 "warning only" 2 "assist" 6 "off" ; +VAL_ 298 LKA_ICON 0 "hidden" 1 "grey" 2 "green" 3 "flashing green" ; +VAL_ 298 LKA_MODE 1 "warning only" 2 "assist" 6 "off" ; +VAL_ 304 PARK_BUTTON 1 "Pressed" 2 "Not Pressed"; +VAL_ 304 KNOB_POSITION 1 "R" 2 "N (on R side)" 3 "Centered" 4 "N (on D side)" 5 "D"; +VAL_ 304 GEAR 1 "P" 2 "R" 3 "N" 4 "D" ; +VAL_ 352 AEB_SETTING 1 "off" 2 "warning only" 3 "active assist" ; +VAL_ 362 BLINKER_CONTROL 1 "hazards" 2 "hazards button backlight" 3 "left blinkers" 4 "right blinkers"; +VAL_ 373 ACCEnable 0 "SCC ready" 1 "SCC temp fault" 2 "SCC permanent fault" 3 "SCC permanent fault, communication issue"; +VAL_ 416 ACCMode 0 "off" 1 "enabled" 2 "driver_override" 3 "off_maybe_fault" 4 "cancelled" ; +VAL_ 426 CRUISE_BUTTONS 0 "none" 1 "res_accel" 2 "set_decel" 3 "gap_distance" 4 "pause_resume" ; +VAL_ 463 CRUISE_BUTTONS 0 "none" 1 "res_accel" 2 "set_decel" 3 "gap_distance" 4 "pause_resume" ; +VAL_ 463 RIGHT_PADDLE 0 "Not Pulled" 1 "Pulled"; +VAL_ 463 LEFT_PADDLE 0 "Not Pulled" 1 "Pulled"; +VAL_ 676 LEFT_LANE_LINE 0 "Not Detected" 1 "Low Confidence" 2 "Medium Confidence" 3 "High Confidence"; +VAL_ 676 RIGHT_LANE_LINE 0 "Not Detected" 1 "Low Confidence" 2 "Medium Confidence" 3 "High Confidence"; +VAL_ 736 MSLA_STATUS 0 "disabled" 1 "active" 2 "paused"; +VAL_ 866 LEFT_LANE_LINE 0 "Not Detected" 1 "Low Confidence" 2 "Medium Confidence" 3 "High Confidence"; +VAL_ 866 RIGHT_LANE_LINE 0 "Not Detected" 1 "Low Confidence" 2 "Medium Confidence" 3 "High Confidence"; +VAL_ 1041 DRIVER_DOOR 0 "Closed" 1 "Opened"; +VAL_ 1041 PASSENGER_DOOR 0 "Closed" 1 "Opened"; +VAL_ 1041 DRIVER_REAR_DOOR 0 "Closed" 1 "Opened"; +VAL_ 1041 PASSENGER_REAR_DOOR 0 "Closed" 1 "Opened"; +VAL_ 1041 DRIVER_SEATBELT 0 "Unlatched" 1 "Latched"; +VAL_ 1041 PASSENGER_SEATBELT 0 "Unlatched" 1 "Latched"; +VAL_ 1144 DRIVE_MODE2 3 "Set Sport" 1 "Set Normal" 2 "Set Eco"; +VAL_ 1240 DISTANCE_UNIT 1 "Miles" 0 "Kilometers"; diff --git a/opendbc_repo/opendbc/dbc/hyundai_i30_2014.dbc b/opendbc_repo/opendbc/dbc/hyundai_i30_2014.dbc new file mode 100644 index 0000000000..3524f9b21a --- /dev/null +++ b/opendbc_repo/opendbc/dbc/hyundai_i30_2014.dbc @@ -0,0 +1,549 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX + + +BO_ 128 EMS_DCT1: 8 XXX + SG_ PV_AV_CAN : 0|8@1+ (0.3906,0) [0|99.603] "%" XXX + SG_ TQ_STND : 8|6@1+ (10,0) [0|630] "Nm" XXX + SG_ F_N_ENG : 14|1@1+ (1,0) [0|1] "" XXX + SG_ F_SUB_TQI : 15|1@1+ (1,0) [0|1] "" XXX + SG_ N : 16|16@1+ (0.25,0) [0|16383.8] "rpm" XXX + SG_ TQI_ACOR : 32|8@1+ (0.390625,0) [0|99.6094] "%" XXX + SG_ TQFR : 40|8@1+ (0.390625,0) [0|99.6094] "%" XXX + SG_ TQI : 48|8@1+ (0.390625,0) [0|99.6094] "%" XXX + SG_ CF_Ems_Alive : 56|4@1+ (1,0) [0|15] "" XXX + SG_ CF_Ems_ChkSum : 60|4@1+ (1,0) [0|15] "" XXX + + +BO_ 129 EMS_DCT2: 8 XXX + SG_ CR_Ems_SoakTimeExt : 0|6@1+ (5,0) [0|315] "Min" XXX + SG_ BRAKE_ACT : 6|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Ems_EngOperStat : 8|8@1+ (1,0) [0|255] "" XXX + SG_ CR_Ems_IndAirTemp : 16|8@1+ (0.75,-48) [-48|143.25] "" XXX + SG_ CF_Ems_Alive2 : 56|4@1+ (1,0) [0|15] "" XXX + SG_ CF_Ems_ChkSum2 : 60|4@1+ (1,0) [0|15] "" XXX + + +BO_ 160 EngFrzFrm1: 8 XXX + SG_ PID_04h : 0|8@1+ (0.392157,0) [0|100] "%" XXX + SG_ PID_05h : 8|8@1+ (1,-40) [-40|215] "" XXX + SG_ PID_0Ch : 16|16@1+ (0.25,0) [0|16383.8] "rpm" XXX + SG_ PID_0Dh : 32|8@1+ (1,0) [0|255] "km/h" XXX + SG_ PID_11h : 40|8@1+ (0.392157,0) [0|100] "%" XXX + SG_ PID_03h : 48|16@1+ (1,0) [0|65535] "" XXX + + +BO_ 161 EngFrzFrm2: 8 XXX + SG_ PID_06h : 0|8@1+ (0.78125,-100) [-100|99.22] "%" XXX + SG_ PID_07h : 8|8@1+ (0.78125,-100) [-100|99.22] "%" XXX + SG_ PID_08h : 16|8@1+ (0.78125,-100) [-100|99.22] "%" XXX + SG_ PID_09h : 24|8@1+ (0.78125,-100) [-100|99.22] "%" XXX + SG_ PID_0Bh : 32|8@1+ (1,0) [0|255] "kPa" XXX + SG_ PID_23h : 40|16@1+ (10,0) [0|655350] "kPa" XXX + + +BO_ 304 YRS1: 8 XXX + SG_ CR_Yrs_Yr : 0|16@1+ (0.005,-163.84) [-163.84|163.83] "" XXX + SG_ CF_Yrs_SnsStat1 : 16|4@1+ (1,0) [0|15] "" XXX + SG_ CF_Yrs_YrStat : 20|4@1+ (1,0) [0|15] "" XXX + SG_ CR_Yrs_LatAc : 32|16@1+ (0.000127465,-4.17677) [-4.17677|4.17652] "g" XXX + SG_ CR_Yrs_MsgCnt1 : 48|4@1+ (1,0) [0|15] "" XXX + SG_ CF_Yrs_LatAcStat1 : 52|4@1+ (1,0) [0|15] "" XXX + SG_ CR_Yrs_Crc1 : 56|8@1+ (1,0) [0|255] "" XXX + + +BO_ 305 YRS3: 8 XXX + SG_ CR_Yrs_YawAcc : 0|16@1+ (0.125,-4096) [-4096|4095.75] "" XXX + SG_ CF_Yrs_YawAccStat : 20|4@1+ (1,0) [0|15] "" XXX + SG_ CR_Yrs_Ax : 32|16@1+ (0.000127465,-4.17677) [-4.17677|4.17652] "g" XXX + SG_ CR_Yrs_MsgCnt3 : 48|4@1+ (1,0) [0|15] "" XXX + SG_ CF_Yrs_AxStat : 52|4@1+ (1,0) [0|15] "" XXX + SG_ CR_Yrs_Crc3 : 56|8@1+ (1,0) [0|255] "" XXX + + +BO_ 320 YRS2: 8 XXX + SG_ CF_Yrs_McuStat : 0|8@1+ (1,0) [0|255] "" XXX + SG_ CF_Yrs_SnsStat2 : 8|8@1+ (1,0) [0|255] "" XXX + SG_ CF_Yrs_ExtSysStat : 32|8@1+ (1,0) [0|255] "" XXX + SG_ CR_Yrs_Diag : 40|8@1+ (1,0) [0|255] "" XXX + SG_ CR_Yrs_MsgCnt2 : 48|4@1+ (1,0) [0|15] "" XXX + SG_ CF_Yrs_Type : 52|4@1+ (1,0) [0|15] "" XXX + SG_ CR_Yrs_Crc2 : 56|8@1+ (1,0) [0|255] "" XXX + + +BO_ 339 TCS1: 8 XXX + SG_ TCS_REQ : 0|1@1+ (1,0) [0|1] "" XXX + SG_ MSR_C_REQ : 1|1@1+ (1,0) [0|1] "" XXX + SG_ TCS_PAS : 2|1@1+ (1,0) [0|1] "" XXX + SG_ TCS_GSC : 3|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Esc_LimoInfo : 4|2@1+ (1,0) [0|3] "" XXX + SG_ ABS_DIAG : 6|1@1+ (1,0) [0|1] "" XXX + SG_ ABS_DEF : 7|1@1+ (1,0) [0|1] "" XXX + SG_ TCS_DEF : 8|1@1+ (1,0) [0|1] "" XXX + SG_ TCS_CTL : 9|1@1+ (1,0) [0|1] "" XXX + SG_ ABS_ACT : 10|1@1+ (1,0) [0|1] "" XXX + SG_ EBD_DEF : 11|1@1+ (1,0) [0|1] "" XXX + SG_ ESP_PAS : 12|1@1+ (1,0) [0|1] "" XXX + SG_ ESP_DEF : 13|1@1+ (1,0) [0|1] "" XXX + SG_ ESP_CTL : 14|1@1+ (1,0) [0|1] "" XXX + SG_ TCS_MFRN : 15|1@1+ (1,0) [0|1] "" XXX + SG_ DBC_CTL : 16|1@1+ (1,0) [0|1] "" XXX + SG_ DBC_PAS : 17|1@1+ (1,0) [0|1] "" XXX + SG_ DBC_DEF : 18|1@1+ (1,0) [0|1] "" XXX + SG_ HAC_CTL : 19|1@1+ (1,0) [0|1] "" XXX + SG_ HAC_PAS : 20|1@1+ (1,0) [0|1] "" XXX + SG_ HAC_DEF : 21|1@1+ (1,0) [0|1] "" XXX + SG_ ESS_STAT : 22|2@1+ (1,0) [0|3] "" XXX + SG_ TQI_TCS : 24|8@1+ (0.390625,0) [0|99.6094] "%" XXX + SG_ TQI_MSR : 32|8@1+ (0.390625,0) [0|99.6094] "%" XXX + SG_ TQI_SLW_TCS : 40|8@1+ (0.390625,0) [0|99.6094] "%" XXX + SG_ CF_Esc_BrkCtl : 48|1@1+ (1,0) [0|1] "" XXX + SG_ ESC_OFF_STEP : 49|2@1+ (1,0) [0|3] "" XXX + SG_ _4WD_Status : 51|1@1+ (1,0) [0|1] "" XXX + SG_ AliveCounter_TCS1 : 52|4@1+ (1,0) [0|1] "" XXX + SG_ CheckSum_TCS1 : 56|8@1+ (1,0) [0|1] "" XXX + + +BO_ 356 VSM1: 8 XXX + SG_ CR_Esc_StrTqReq : 0|12@1+ (0.01,-20.48) [-20.48|20.47] "Nm" XXX + SG_ CF_Esc_Act : 12|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Esc_CtrMode : 13|3@1+ (1,0) [0|7] "" XXX + SG_ CF_Esc_Def : 16|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Esc_AliveCnt : 48|4@1+ (1,0) [0|15] "" XXX + SG_ CF_Esc_Chksum : 56|8@1+ (1,0) [0|255] "" XXX + + +BO_ 357 VSM2: 8 XXX + SG_ CR_Mdps_StrTq : 0|12@1+ (0.01,-20.48) [-20.48|20.47] "Nm" XXX + SG_ CR_Mdps_OutTq : 12|12@1+ (0.1,-204.8) [-204.8|204.7] "" XXX + SG_ CF_Mdps_Def : 24|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Mdps_SErr : 25|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Mdps_AliveCnt : 48|4@1+ (1,0) [0|15] "" XXX + SG_ CF_Mdps_Chksum : 56|8@1+ (1,0) [0|255] "" XXX + + +BO_ 399 EMS_H2: 8 XXX + SG_ R_TqAcnApvC : 0|8@1+ (0.2,0) [0|51] "Nm" XXX + SG_ R_PAcnC : 8|8@1+ (125,0) [0|31875] "hPa" XXX + SG_ TQI_B : 16|8@1+ (0.390625,0) [0|99.6094] "%" XXX + SG_ SLD_VS : 24|8@1+ (1,0) [0|255] "km/h" XXX + SG_ CF_CdaStat : 32|3@1+ (1,0) [0|7] "" XXX + SG_ CF_Ems_IsgStat : 35|3@1+ (1,0) [0|7] "" XXX + SG_ CF_Ems_OilChg : 38|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Ems_EtcLimpMod : 39|1@1+ (1,0) [0|1] "" XXX + SG_ R_NEngIdlTgC : 40|8@1+ (10,0) [0|2550] "rpm" XXX + SG_ CF_Ems_UpTarGr : 48|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Ems_DownTarGr : 49|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Ems_DesCurGr : 50|4@1+ (1,0) [0|15] "" XXX + SG_ CF_Ems_SldAct : 54|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Ems_SldPosAct : 55|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Ems_HPresStat : 56|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Ems_IsgBuz : 57|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Ems_IdlStpFCO : 58|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Ems_FCopen : 59|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Ems_ActEcoAct : 60|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Ems_EngRunNorm : 61|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Ems_IsgStat2 : 62|2@1+ (2,0) [0|3] "" XXX + + +BO_ 497 TCS5: 8 XXX + SG_ ABS_W_LAMP : 0|1@1+ (1,0) [0|1] "" XXX + SG_ EBD_W_LAMP : 1|1@1+ (1,0) [0|1] "" XXX + SG_ TCS_OFF_LAMP : 2|1@1+ (1,0) [0|1] "" XXX + SG_ TCS_LAMP : 3|2@1+ (1,0) [0|3] "" XXX + SG_ DBC_W_LAMP : 5|1@1+ (1,0) [0|1] "" XXX + SG_ DBC_F_LAMP : 6|2@1+ (1,0) [0|3] "" XXX + SG_ ODOMETER_LEFT : 8|4@1+ (1,0) [0|15] "m" XXX + SG_ ODOMETER_RIGHT : 12|4@1+ (1,0) [0|15] "m" XXX + SG_ WHEEL_FL : 16|12@1+ (0.125,0) [0|511.875] "km/h" XXX + SG_ WHEEL_FR : 28|12@1+ (0.125,0) [0|511.875] "km/h" XXX + SG_ WHEEL_RL : 40|12@1+ (0.125,0) [0|511.875] "km/h" XXX + SG_ WHEEL_RR : 52|12@1+ (0.125,0) [0|511.875] "km/h" XXX + + +BO_ 544 ESP2: 8 XXX + SG_ LAT_ACCEL : 0|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" XXX + SG_ ESP2_AliveCounter_LSB : 11|3@1+ (1,0) [0|7] "" XXX + SG_ LAT_ACCEL_STAT : 14|1@1+ (1,0) [0|1] "" XXX + SG_ LAT_ACCEL_DIAG : 15|1@1+ (1,0) [0|1] "" XXX + SG_ LONG_ACCEL : 16|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" XXX + SG_ ESP2_AliveCounter_MSB : 27|1@1+ (1,0) [0|1] "" XXX + SG_ ESP2_Checksum_LSB : 28|2@1+ (1,0) [0|3] "" XXX + SG_ LONG_ACCEL_STAT : 30|1@1+ (1,0) [0|1] "" XXX + SG_ LONG_ACCEL_DIAG : 31|1@1+ (1,0) [0|1] "" XXX + SG_ CYL_PRES : 32|12@1+ (0.1,0) [0|409.5] "Bar" XXX + SG_ ESP12_Checksum_MSB : 44|2@1+ (1,0) [0|3] "" XXX + SG_ CYL_PRES_STAT : 46|1@1+ (1,0) [0|1] "" XXX + SG_ CYL_PRESS_DIAG : 47|1@1+ (1,0) [0|1] "" XXX + SG_ YAW_RATE : 48|13@1+ (0.01,-40.95) [-40.95|40.96] "" XXX + SG_ CYL_PRES_FLAG : 61|1@1+ (1,0) [0|1] "" XXX + SG_ YAW_RATE_STAT : 62|1@1+ (1,0) [0|1] "" XXX + SG_ YAW_RATE_DIAG : 63|1@1+ (1,0) [0|1] "" XXX + + +BO_ 608 EMS6: 8 XXX + SG_ TQI_MIN : 0|8@1+ (0.390625,0) [0|99.6094] "%" XXX + SG_ TQI : 8|8@1+ (0.390625,0) [0|99.6094] "%" XXX + SG_ TQI_TARGET : 16|8@1+ (0.390625,0) [0|99.6094] "%" XXX + SG_ GLOW_STAT : 24|1@1+ (1,0) [0|1] "" XXX + SG_ CRUISE_LAMP_M : 25|1@1+ (1,0) [0|1] "" XXX + SG_ CRUISE_LAMP_S : 26|1@1+ (1,0) [0|1] "" XXX + SG_ PRE_FUEL_CUT_IN : 27|1@1+ (1,0) [0|1] "" XXX + SG_ ENG_STAT : 28|3@1+ (1,0) [0|7] "" XXX + SG_ SOAK_TIME_ERROR : 31|1@1+ (1,0) [0|1] "" XXX + SG_ SOAK_TIME : 32|8@1+ (1,0) [0|255] "Min" XXX + SG_ TQI_MAX : 40|8@1+ (0.390625,0) [0|99.6094] "%" XXX + SG_ SPK_TIME_CUR : 48|8@1+ (0.375,-35.625) [-35.625|60] "" XXX + SG_ Checksum : 56|4@1+ (1,0) [0|15] "" XXX + SG_ AliveCounter : 60|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Ems_AclAct : 62|2@1+ (1,0) [0|3] "" XXX + + +BO_ 672 EMS5: 8 XXX + SG_ ECGPOvrd : 0|1@1+ (1,0) [0|1] "" XXX + SG_ QECACC : 1|1@1+ (1,0) [0|1] "" XXX + SG_ ECFail : 2|1@1+ (1,0) [0|1] "" XXX + SG_ SwitchOffCondExt : 3|1@1+ (1,0) [0|1] "" XXX + SG_ BLECFail : 4|1@1+ (1,0) [0|1] "" XXX + SG_ AliveCounter : 5|2@1+ (1,0) [0|3] "" XXX + SG_ Byte0Parity : 7|1@1+ (1,0) [0|1] "" XXX + SG_ FA_PV_CAN : 8|8@1+ (0.3906,0) [0|99.2] "%" XXX + SG_ IntAirTemp : 16|8@1+ (0.75,-48) [-48|143.25] "" XXX + SG_ STATE_DC_OBD : 24|7@1+ (1,0) [0|127] "" XXX + SG_ INH_DC_OBD : 31|1@1+ (1,0) [0|1] "" XXX + SG_ CTR_IG_CYC_OBD : 32|16@1+ (1,0) [0|65535] "" XXX + SG_ CTR_CDN_OBD : 48|16@1+ (1,0) [0|65535] "" XXX + + +BO_ 688 SAS1: 8 XXX + SG_ SAS_Angle : 0|16@1+ (0.1,0) [-3276.8|3276.7] "Deg" XXX + SG_ SAS_Speed : 16|8@1+ (4,0) [0|1016] "" XXX + SG_ SAS_Stat : 24|8@1+ (1,0) [0|255] "" XXX + SG_ MsgCount : 32|4@1+ (1,0) [0|15] "" XXX + SG_ CheckSum : 36|4@1+ (1,0) [0|15] "" XXX + + +BO_ 790 EMS1: 8 XXX + SG_ SWI_IGK : 0|1@1+ (1,0) [0|1] "" XXX + SG_ F_N_ENG : 1|1@1+ (1,0) [0|1] "" XXX + SG_ ACK_TCS : 2|1@1+ (1,0) [0|1] "" XXX + SG_ PUC_STAT : 3|1@1+ (1,0) [0|1] "" XXX + SG_ TQ_COR_STAT : 4|2@1+ (1,0) [0|3] "" XXX + SG_ RLY_AC : 6|1@1+ (1,0) [0|1] "" XXX + SG_ F_SUB_TQI : 7|1@1+ (1,0) [0|1] "" XXX + SG_ TQI_ACOR : 8|8@1+ (0.390625,0) [0|99.6094] "%" XXX + SG_ N : 16|16@1+ (0.25,0) [0|16383.8] "rpm" XXX + SG_ TQI : 32|8@1+ (0.390625,0) [0|99.6094] "%" XXX + SG_ TQFR : 40|8@1+ (0.390625,0) [0|99.6094] "%" XXX + SG_ VS : 48|8@1+ (1,0) [0|254] "km/h" XXX + SG_ RATIO_TQI_BAS_MAX_STND : 56|8@1+ (0.0078,0) [0|2] "" XXX + + +BO_ 809 EMS2: 8 XXX + SG_ TQ_STND : 0|6@1+ (10,0) [0|630] "Nm" XXX + SG_ CAN_VERS : 0|6@1+ (1,0) [0|7.7] "" XXX + SG_ CONF_TCU : 0|6@1+ (1,0) [0|63] "" XXX + SG_ OBD_FRF_ACK : 0|6@1+ (1,0) [0|63] "" XXX + SG_ MUL_CODE : 6|2@1+ (1,0) [0|3] "" XXX + SG_ TEMP_ENG : 8|8@1+ (0.75,-48) [-48|143.25] "" XXX + SG_ MAF_FAC_ALTI_MMV : 16|8@1+ (0.00781,0) [0|1.99155] "" XXX + SG_ VB_OFF_ACT : 24|1@1+ (1,0) [0|1] "" XXX + SG_ ACK_ES : 25|1@1+ (1,0) [0|1] "" XXX + SG_ CONF_MIL_FMY : 26|3@1+ (1,0) [0|7] "" XXX + SG_ OD_OFF_REQ : 29|1@1+ (1,0) [0|1] "" XXX + SG_ ACC_ACT : 30|1@1+ (1,0) [0|1] "" XXX + SG_ CLU_ACK : 31|1@1+ (1,0) [0|1] "" XXX + SG_ BRAKE_ACT : 32|2@1+ (1,0) [0|3] "" XXX + SG_ ENG_CHR : 34|4@1+ (1,0) [0|15] "" XXX + SG_ GP_CTL : 38|2@1+ (1,0) [0|3] "" XXX + SG_ TPS : 40|8@1+ (0.469484,-15.0235) [-15.0235|104.695] "%" XXX + SG_ PV_AV_CAN : 48|8@1+ (0.3906,0) [0|99.603] "%" XXX + SG_ ENG_VOL : 56|8@1+ (0.1,0) [0|25.5] "liter" XXX + + +BO_ 848 FATC: 8 XXX + SG_ CR_Fatc_TqAcnOut : 0|8@1+ (0.2,0) [0|50.8] "Nm" XXX + SG_ CF_Fatc_AcnRqSwi : 8|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Fatc_AcnCltEnRq : 9|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Fatc_EcvFlt : 10|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Fatc_BlwrOn : 11|1@1+ (1,0) [0|1] "" XXX + SG_ CF_FATC_Iden : 12|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Fatc_BlwrMax : 14|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Fatc_EngStartReq : 15|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Fatc_IsgStopReq : 16|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Fatc_CtrInf : 17|3@1+ (1,0) [0|7] "" XXX + SG_ CF_Fatc_MsgCnt : 20|4@1+ (1,0) [0|15] "" XXX + SG_ CR_Fatc_OutTemp : 24|8@1+ (0.5,-40) [-40|60] "" XXX + SG_ CR_Fatc_OutTempSns : 32|8@1+ (0.5,-40) [-40|60] "" XXX + SG_ CF_Fatc_Compload : 40|3@1+ (1,0) [0|7] "" XXX + SG_ CF_Fatc_ActiveEco : 43|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Fatc_AutoActivation : 44|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Fatc_DefSw : 45|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Fatc_PtcRlyStat : 46|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Fatc_ChkSum : 56|8@1+ (1,0) [0|255] "" XXX + + +BO_ 880 TCU3: 8 XXX + SG_ N_TGT_LUP : 0|8@1+ (10,500) [500|3040] "rpm" XXX + SG_ SLOPE_TCU : 8|6@1+ (0.5,-16) [-16|15.5] "%" XXX + SG_ CF_Tcu_InhCda : 14|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Tcu_IsgInhib : 15|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Tcu_BkeOnReq : 16|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Tcu_NCStat : 18|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Tcu_TarGr : 20|4@1+ (1,0) [0|15] "" XXX + SG_ CF_Tcu_ShfPatt : 24|4@1+ (1,0) [0|15] "" XXX + SG_ CF_Tcu_InhVis : 28|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Tcu_PRelReq : 29|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Tcu_ITPhase : 30|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Tcu_ActEcoRdy : 31|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Tcu_TqGrdLim : 32|8@1+ (10,0) [0|2540] "Nm/s" XXX + SG_ CR_Tcu_IsgTgtRPM : 40|8@1+ (20,0) [0|3500] "rpm" XXX + SG_ TQI_TCU_INC : 48|8@1+ (0.390625,0) [0|99.6094] "%" XXX + SG_ CF_Tcu_SbwPInfo : 56|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Tcu_SptRdy : 57|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Tcu_Alive3 : 58|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Tcu_ChkSum3 : 60|4@1+ (1,0) [0|15] "" XXX + + +BO_ 898 EMS9: 8 XXX + SG_ CF_Ems_BrkReq : 0|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Ems_DnShftReq : 1|4@1+ (1,0) [0|14] "" XXX + SG_ CF_Ems_RepModChk : 5|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Ems_AAFOpenReq : 7|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Ems_DecelReq : 8|12@1+ (0.001,-4.094) [-4.094|0] "m/s^2" XXX + SG_ CR_Ems_BstPre : 20|12@1+ (1.322,0) [0|4094] "hPa" XXX + SG_ CR_Ems_EngOilTemp : 32|8@1+ (0.75,-40) [0|254] "" XXX + SG_ CF_Ems_PumpTPres : 40|8@1+ (3.13725,0) [0|800] "kPa" XXX + SG_ CF_Ems_ModeledAmbTemp : 48|8@1+ (0.5,-41) [-40|60] "" XXX + SG_ CF_Ems_OPSFail : 56|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Ems_ECTTRQLIM : 57|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Ems_AliveCounterEMS9 : 58|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Ems_ChecksumEMS9 : 60|4@1+ (1,0) [0|15] "" XXX + + +BO_ 1075 EPB1: 8 XXX + SG_ EPB_I_LAMP : 0|4@1+ (1,0) [0|15] "" XXX + SG_ EPB_F_LAMP : 4|2@1+ (1,0) [0|3] "" XXX + SG_ EPB_ALARM : 6|2@1+ (1,0) [0|3] "" XXX + SG_ EPB_CLU : 8|8@1+ (1,0) [0|255] "" XXX + SG_ EPB_SWITCH : 16|2@1+ (1,0) [0|3] "" XXX + SG_ EPB_RBL : 18|1@1+ (1,0) [0|1] "" XXX + SG_ EPB_STATUS : 19|3@1+ (1,0) [0|7] "" XXX + SG_ EPB_FRC_ERR : 22|2@1+ (1,0) [0|3] "" XXX + SG_ EPB_DBF_STAT : 24|1@1+ (1,0) [0|1] "" XXX + SG_ ESP_ACK : 25|1@1+ (1,0) [0|1] "" XXX + SG_ EPB_DBF_REQ : 26|1@1+ (1,0) [0|1] "" XXX + SG_ EPB_FAIL : 29|3@1+ (1,0) [0|7] "" XXX + SG_ EPB_FORCE : 32|12@1+ (1,-1000) [-1000|3000] "" XXX + SG_ EPB_DBF_DECEL : 48|8@1+ (0.01,0) [0|2.54] "g" XXX + + +BO_ 1087 TCU1: 8 XXX + SG_ ETL_TCU : 0|8@1+ (2,0) [0|508] "Nm" XXX + SG_ CUR_GR : 8|4@1+ (1,0) [0|15] "" XXX + SG_ CF_Tcu_Alive : 12|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Tcu_ChkSum : 14|2@1+ (1,0) [0|3] "" XXX + SG_ VS_TCU : 16|8@1+ (1,0) [0|254] "km/h" XXX + SG_ FAN_CTRL_TCU : 24|2@1+ (1,0) [0|3] "" XXX + SG_ BRAKE_ACT_TCU : 26|2@1+ (1,0) [0|3] "" XXX + SG_ FUEL_CUT_TCU : 28|1@1+ (1,0) [0|1] "" XXX + SG_ INH_FUEL_CUT : 29|1@1+ (1,0) [0|1] "" XXX + SG_ IDLE_UP_TCU : 30|1@1+ (1,0) [0|1] "" XXX + SG_ N_INC_TCU : 31|1@1+ (1,0) [0|1] "" XXX + SG_ SPK_RTD_TCU : 32|8@1+ (0.375,-23.625) [-15|15] "" XXX + SG_ N_TC_RAW : 40|16@1+ (0.25,0) [0|16383.5] "rpm" XXX + SG_ VS_TCU_DECIMAL : 56|8@1+ (0.0078125,0) [0|0.992188] "km/h" XXX + + +BO_ 1088 TCU2: 8 XXX + SG_ ETL_TCU : 0|8@1+ (2,0) [0|508] "Nm" XXX + SG_ CUR_GR : 8|4@1+ (1,0) [0|15] "" XXX + SG_ CF_Tcu_Alive : 12|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Tcu_ChkSum : 14|2@1+ (1,0) [0|3] "" XXX + SG_ VS_TCU : 16|8@1+ (1,0) [0|254] "km/h" XXX + SG_ FAN_CTRL_TCU : 24|2@1+ (1,0) [0|3] "" XXX + SG_ BRAKE_ACT_TCU : 26|2@1+ (1,0) [0|3] "" XXX + SG_ FUEL_CUT_TCU : 28|1@1+ (1,0) [0|1] "" XXX + SG_ INH_FUEL_CUT : 29|1@1+ (1,0) [0|1] "" XXX + SG_ IDLE_UP_TCU : 30|1@1+ (1,0) [0|1] "" XXX + SG_ N_INC_TCU : 31|1@1+ (1,0) [0|1] "" XXX + SG_ SPK_RTD_TCU : 32|8@1+ (0.375,-23.625) [-15|15] "" XXX + SG_ N_TC_RAW : 40|16@1+ (0.25,0) [0|16383.5] "rpm" XXX + SG_ VS_TCU_DECIMAL : 56|8@1+ (0.0078125,0) [0|0.992188] "km/h" XXX + + +BO_ 1200 WHL_SPD: 8 XXX + SG_ WHL_SPD_FL : 0|14@1+ (0.03125,0) [0|511.969] "km/h" XXX + SG_ WHL_SPD_FR : 16|14@1+ (0.03125,0) [0|511.969] "km/h" XXX + SG_ WHL_SPD_RL : 32|14@1+ (0.03125,0) [0|511.969] "km/h" XXX + SG_ WHL_SPD_RR : 48|14@1+ (0.03125,0) [0|511.969] "km/h" XXX + + +BO_ 1201 WHL_PUL: 8 XXX + SG_ WHL_PUL_FL : 0|8@1+ (0.5,0) [0|127.5] "pulse count" XXX + SG_ WHL_PUL_FR : 8|8@1+ (0.5,0) [0|127.5] "pulse count" XXX + SG_ WHL_PUL_RL : 16|8@1+ (0.5,0) [0|127.5] "pulse count" XXX + SG_ WHL_PUL_RR : 24|8@1+ (0.5,0) [0|127.5] "pulse count" XXX + SG_ WHL_DIR_FL : 32|2@1+ (1,0) [0|3] "" XXX + SG_ WHL_DIR_FR : 34|2@1+ (1,0) [0|3] "" XXX + SG_ WHL_DIR_RL : 36|2@1+ (1,0) [0|3] "" XXX + SG_ WHL_DIR_RR : 38|2@1+ (1,0) [0|3] "" XXX + SG_ WHL_PUL_Chksum : 56|8@1+ (1,0) [0|255] "" XXX + + +BO_ 1264 CLU1: 8 XXX + SG_ CF_Clu_CruiseSwState : 0|3@1+ (1,0) [0|7] "" XXX + SG_ CF_Blr_MaxStat : 3|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_SldMainSW : 4|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_ParityBit1 : 5|1@1+ (1,0) [0|1] "pulse count" XXX + SG_ CF_Clu_SPEED_UNIT : 6|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_ParkBrakeSw : 7|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_Vanz : 8|9@1+ (0.5,0) [0|255.5] "km/h or MPH" XXX + SG_ CF_Clu_AliveCounter : 17|7@1+ (1,0) [0|127] "" XXX + SG_ CF_Clu_CruiseSwMain : 24|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_VanzDecimal : 25|2@1+ (1,0) [0|0.375] "" XXX + SG_ VEHICLE_INFO : 27|3@1+ (1,0) [0|7] "" XXX + SG_ CF_Clu_StrRlyState : 30|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_SMKOption : 31|1@1+ (1,0) [0|1] "" XXX + SG_ R_TqAcnOutC : 32|8@1+ (1,0) [0|51] "Nm" XXX + SG_ CF_Clu_Odometer : 40|24@1+ (0.1,0) [0|1.67772e+006] "km" XXX + + +BO_ 1265 CLU3: 8 XXX + SG_ CF_Clu_AcnRqSwi : 0|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_AcnCltEnRq : 1|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_RefDetMod : 2|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_DefoggerRly : 5|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_LowfuelWarn : 16|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Clu_SportsModeSwi : 18|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Clu_ALightStat : 20|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_FrtFog : 21|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_DetentOut : 22|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_HeadLampTail : 23|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_TrailerMode : 24|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_DTE : 25|10@1+ (1,0) [0|1023] "" XXX + SG_ CF_Clu_TripUnit : 35|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Clu_IsaMainSW : 37|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_FlexSteerSW : 40|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_AvsmCur : 41|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_HudSpeedset : 42|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_HudTbtSet : 43|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_HudSccSet : 44|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_HudLdwsSet : 45|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_HudDisSet : 46|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_HudFontSizeSet : 47|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Clu_HudFontColorSet : 49|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Clu_HudBrightSet : 51|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Clu_HudHeightSet : 53|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Clu_CluInfo : 55|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_RheostatLevel : 56|5@1+ (1,0) [0|31] "" XXX + SG_ CF_Clu_DrivinglampStat : 61|3@1+ (1,0) [0|7] "" XXX + + +BO_ 1349 EMS4: 8 XXX + SG_ IMMO_LAMP_STAT : 0|1@1+ (1,0) [0|1] "" XXX + SG_ L_MIL : 1|1@1+ (1,0) [0|1] "" XXX + SG_ IM_STAT : 2|1@1+ (1,0) [0|1] "" XXX + SG_ AMP_CAN : 3|5@1+ (10.7316,458.98) [458.98|791.66] "mmHg" XXX + SG_ FCO : 8|16@1+ (0.128,0) [0|8388.48] "ul" XXX + SG_ VB : 24|8@1+ (0.101563,0) [0|25.8984] "V" XXX + SG_ TEMP_FUEL : 48|8@1+ (0.75,-48) [-48|143.25] "" XXX + SG_ Split_Stat : 56|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Ems_IsaAct : 57|1@1+ (1,0) [0|1] "" XXX + + +BO_ 1435 TCU4: 8 XXX + SG_ CF_TCU_WarnMsg : 0|3@1+ (1,0) [0|7] "" XXX + SG_ CF_TCU_WarnImg : 3|1@1+ (1,0) [0|1] "" XXX + SG_ CF_TCU_WarnSnd : 4|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Tcu_EolStat : 5|1@1+ (1,0) [0|1] "" XXX + SG_ CR_Tcu_GearSelDisp2 : 8|4@1+ (1,0) [0|15] "" XXX + SG_ CF_Tcu_StRelStat : 12|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Tcu_DriWarn1 : 13|3@1+ (1,0) [0|7] "" XXX + SG_ CF_Tcu_DriWarn2 : 16|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Tcu_DrivingModeReq : 18|4@1+ (1,0) [0|0] "" XXX + SG_ CF_Tcu_DrivingModeDisp : 22|4@1+ (1,0) [0|0] "" XXX + SG_ CF_Tcu_SiCluster : 26|5@1+ (1,0) [0|0] "" XXX + SG_ CF_Tcu_DSmode_Inf : 31|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Tcu_Alive4 : 58|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Tcu_ChkSum4 : 60|4@1+ (1,0) [0|15] "" XXX + + +BO_ 1508 MDPS1: 8 XXX + SG_ CF_Mdps_WLmp : 1|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Mdps_ALTRequest : 5|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Mdps_Flex : 8|3@1+ (1,0) [0|7] "" XXX + SG_ CF_Mdps_FlexDisp : 11|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Mdps_CurrMode : 12|2@1+ (1,0) [0|3] "" XXX + + +BO_ 1680 CLU2: 8 XXX + SG_ CF_Clu_IGNSw : 0|3@1+ (1,0) [0|7] "" XXX + SG_ RKE_CMD : 3|3@1+ (1,0) [0|7] "" XXX + SG_ CF_Clu_DrvDrSw : 6|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Clu_DrvKeyLockSw : 8|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_DrvKeyUnlockSw : 9|1@1+ (1,0) [0|1] "" XXX + SG_ PIC_Lock : 10|3@1+ (1,0) [0|7] "" XXX + SG_ PIC_Unlock : 13|3@1+ (1,0) [0|7] "" XXX + SG_ CF_Clu_DrvSeatBeltSw : 16|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Clu_TrunkTgSw : 18|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Clu_AstSeatBeltSw : 20|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Clu_HoodSw : 22|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Clu_TurnSigLh : 24|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_TurnSigRh : 25|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_LdwsLkasSW : 26|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_WiperIntT : 27|3@1+ (1,0) [0|7] "" XXX + SG_ CF_Clu_WiperIntSW : 30|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_WiperLow : 31|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_WiperHigh : 32|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_WiperAuto : 33|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_RainSnsStat : 34|3@1+ (1,0) [0|7] "" XXX + SG_ CF_Clu_HeadLampLow : 37|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_HeadLampHigh : 38|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_AltLStatus : 39|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_EcoDriveInf : 40|3@1+ (1,0) [0|7] "" XXX + SG_ CF_Clu_SwiGearR : 43|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Clu_SWL_Stat : 45|3@1+ (1,0) [0|7] "" XXX + SG_ CF_Clu_ActiveEcoSW : 48|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_HazardSW : 49|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_AliveCnt2 : 50|4@1+ (1,0) [0|15] "" XXX + SG_ CF_Clu_AstDrSw : 54|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Clu_LkasDispMode : 56|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Clu_AutoLightLevel : 58|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Clu_SunRoofOpenState : 60|1@1+ (1,0) [0|1] "" XXX + + diff --git a/opendbc_repo/opendbc/dbc/hyundai_kia_generic.dbc b/opendbc_repo/opendbc/dbc/hyundai_kia_generic.dbc new file mode 100644 index 0000000000..2af0f5a835 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/hyundai_kia_generic.dbc @@ -0,0 +1,1688 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: IAP ODS _4WD BCM HUD DATC MDPS AAF_Tester AEMC SMK _4WD EPB CUBIS MTS TMU EVP CGW TPMS LPI DI_BOX SPAS EMS LCA TCU IBOX FATC AFLS FPCM SCC AHLS AVM ABS SNV OPI PGS SAS AAF Dummy LDWS_LKAS LVR ESC PSB CLU ECS ACU REA + +BO_ 1532 ODS13: 5 ODS + SG_ CR_Ods_ID : 0|8@1+ (1.0,0.0) [0.0|255.0] "" ACU + SG_ CR_Ods_Chksum_H : 8|8@1+ (1.0,0.0) [0.0|255.0] "" Dummy + SG_ CR_Ods_Chksum_L : 16|8@1+ (1.0,0.0) [0.0|255.0] "" Dummy + SG_ CR_Ods_RomID_H : 24|8@1+ (1.0,0.0) [0.0|255.0] "" Dummy + SG_ CR_Ods_RomID_L : 32|8@1+ (1.0,0.0) [0.0|255.0] "" Dummy + +BO_ 1531 ODS12: 8 ODS + SG_ CR_Ods_SerNum0 : 0|8@1+ (1.0,0.0) [0.0|255.0] "" ACU + SG_ CR_Ods_SerNum1 : 8|8@1+ (1.0,0.0) [0.0|255.0] "" ACU + SG_ CR_Ods_SerNum2 : 16|8@1+ (1.0,0.0) [0.0|255.0] "" ACU + SG_ CR_Ods_SerNum3 : 24|8@1+ (1.0,0.0) [0.0|255.0] "" ACU + SG_ CR_Ods_SerNum4 : 32|8@1+ (1.0,0.0) [0.0|255.0] "" ACU + SG_ CR_Ods_SerNum5 : 40|8@1+ (1.0,0.0) [0.0|255.0] "" ACU + SG_ CR_Ods_SerNum6 : 48|8@1+ (1.0,0.0) [0.0|255.0] "" ACU + SG_ CR_Ods_SerNum7 : 56|8@1+ (1.0,0.0) [0.0|255.0] "" ACU + +BO_ 1530 ODS11: 8 ODS + SG_ CF_Ods_PrcCmd : 1|1@1+ (1.0,0.0) [0.0|1.0] "" Dummy + SG_ CF_Ods_BtsFail : 3|1@1+ (1.0,0.0) [0.0|1.0] "" Dummy + SG_ CF_Ods_AcuRcvSN : 4|1@1+ (1.0,0.0) [0.0|1.0] "" ACU + SG_ CF_Ods_EolCal : 5|1@1+ (1.0,0.0) [0.0|1.0] "" ACU + SG_ CF_Ods_PsFail : 6|1@1+ (1.0,0.0) [0.0|1.0] "" ACU + SG_ CF_Ods_EcuFail : 7|1@1+ (1.0,0.0) [0.0|1.0] "" ACU + SG_ CF_Ods_WgtStat : 8|1@1+ (1.0,0.0) [0.0|1.0] "" ACU + SG_ CF_Ods_OccStat : 16|1@1+ (1.0,0.0) [0.0|1.0] "" ACU + SG_ CR_Wcs_ErrStat : 32|8@1+ (1.0,0.0) [0.0|63.0] "" ACU + SG_ CR_Wcs_ClassStat : 40|8@1+ (1.0,0.0) [0.0|4.0] "" ACU,BCM + +BO_ 1017 ECS12: 4 ECS + SG_ Height_FL : 0|8@1+ (1.0,-128.0) [-128.0|127.0] "mm" AFLS + SG_ Height_FR : 8|8@1+ (1.0,-128.0) [-128.0|127.0] "mm" AFLS + SG_ Height_RL : 16|8@1+ (1.0,-128.0) [-128.0|127.0] "mm" AFLS + SG_ Height_RR : 24|8@1+ (1.0,-128.0) [-128.0|127.0] "mm" AFLS + +BO_ 1268 SPAS12: 8 SPAS + SG_ CF_Spas_HMI_Stat : 0|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ CF_Spas_Disp : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,EMS + SG_ CF_Spas_FIL_Ind : 10|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_FIR_Ind : 13|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_FOL_Ind : 16|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_FOR_Ind : 19|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_VolDown : 22|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Spas_RIL_Ind : 24|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_RIR_Ind : 27|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_FLS_Alarm : 30|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Spas_ROL_Ind : 32|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_ROR_Ind : 35|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_FCS_Alarm : 38|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Spas_FI_Ind : 40|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_RI_Ind : 43|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_FRS_Alarm : 46|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Spas_FR_Alarm : 48|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU + SG_ CF_Spas_RR_Alarm : 50|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU + SG_ CF_Spas_BEEP_Alarm : 52|4@1+ (1.0,0.0) [0.0|15.0] "" BCM,CLU + SG_ CF_Spas_StatAlarm : 56|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Spas_RLS_Alarm : 57|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Spas_RCS_Alarm : 59|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Spas_RRS_Alarm : 61|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1265 CLU11: 4 CLU + SG_ CF_Clu_CruiseSwState : 0|3@1+ (1.0,0.0) [0.0|7.0] "" EMS,LDWS_LKAS,SCC + SG_ CF_Clu_CruiseSwMain : 3|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,LDWS_LKAS,SCC + SG_ CF_Clu_SldMainSW : 4|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Clu_ParityBit1 : 5|1@1+ (1.0,0.0) [0.0|1.0] "pulse count" EMS + SG_ CF_Clu_VanzDecimal : 6|2@1+ (0.125,0.0) [0.0|0.375] "" EMS + SG_ CF_Clu_Vanz : 8|9@1+ (0.5,0.0) [0.0|255.5] "km/h or MPH" BCM,CUBIS,EMS,IBOX,LDWS_LKAS,MDPS,SCC + SG_ CF_Clu_SPEED_UNIT : 17|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CUBIS,EMS,IBOX,LDWS_LKAS,MDPS,SCC + SG_ CF_Clu_DetentOut : 18|1@1+ (1.0,0.0) [0.0|1.0] "" AVM,BCM,LCA,PGS,SPAS + SG_ CF_Clu_RheostatLevel : 19|5@1+ (1.0,0.0) [0.0|31.0] "" AVM,BCM,LCA,PGS,SPAS + SG_ CF_Clu_CluInfo : 24|1@1+ (1.0,0.0) [0.0|1.0] "" BCM + SG_ CF_Clu_AmpInfo : 25|1@1+ (1.0,0.0) [0.0|1.0] "" BCM + SG_ CF_Clu_AliveCnt1 : 28|4@1+ (1.0,0.0) [0.0|15.0] "" AHLS,EMS,EPB,LDWS_LKAS,MDPS,SCC + +BO_ 1260 Sign_Detection: 8 XXX + SG_ SpeedLim_Nav_Cam : 40|8@1+ (1,0) [0|255] "km/h / mph" XXX + SG_ SpeedLim_Nav_Cam2 : 48|8@1+ (1,0) [0|255] "km/h / mph" XXX + +BO_ 1492 TMU_GW_PE_01: 8 CLU + SG_ TMU_IVRActivity : 0|2@1+ (1.0,0.0) [0.0|3.0] "" DATC + SG_ TMU_PhoneActivity : 2|2@1+ (1.0,0.0) [0.0|3.0] "" DATC + +BO_ 1491 HU_DATC_PE_00: 8 CLU + SG_ HU_VRActivity : 0|2@1+ (1.0,0.0) [0.0|3.0] "" DATC + SG_ HU_PhoneActivity : 2|2@1+ (1.0,0.0) [0.0|3.0] "" DATC + SG_ BlowerNoiseControl : 4|2@1+ (1.0,0.0) [0.0|3.0] "" DATC + +BO_ 1490 HU_DATC_E_02: 8 CLU + SG_ HU_DATC_RearOnOffSet : 6|2@1+ (1.0,0.0) [0.0|3.0] "" DATC + SG_ HU_DATC_ADSOnOffSet : 8|2@1+ (1.0,0.0) [0.0|3.0] "" DATC + +BO_ 1479 EMS21: 8 EMS + SG_ SCR_LEVEL_WARN_LAMP : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ SCR_LEVEL_WARN : 1|3@1+ (1.0,0.0) [0.0|4.0] "" CLU + SG_ SCR_SYS_ERROR_WARN : 4|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ SCR_SYSTEM_WARN_LAMP : 7|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ SCR_INDUCEMENT_EXIT_COND : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ SCR_UREA_LEVEL : 16|8@1+ (0.5,0.0) [0.0|100.0] "%" CLU + SG_ SCR_NO_REMAINING_RESTARTS : 24|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ SCR_REMAINING_DISTANCE : 32|16@1+ (1.0,0.0) [0.0|25000.0] "km" CLU + +BO_ 1472 GW_Warning_PE: 8 BCM + SG_ Audio_VolumeDown : 38|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ Pas_Spkr_Flh_Alarm : 48|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ Pas_Spkr_Fcnt_Alarm : 50|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ Pas_Spkr_Frh_Alarm : 52|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ Pas_Spkr_Rlh_Alarm : 56|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,PGS + SG_ Pas_Spkr_Rcnt_Alarm : 58|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ Pas_Spkr_Rrh_Alarm : 60|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,PGS + +BO_ 1984 CAL_SAS11: 2 ESC + SG_ CCW : 0|4@1+ (1.0,0.0) [0.0|15.0] "" SAS + SG_ SAS_CID : 4|11@1+ (1.0,0.0) [0.0|2047.0] "" SAS + +BO_ 1456 CLU12: 4 CLU + SG_ CF_Clu_Odometer : 0|24@1+ (0.1,0.0) [0.0|1677721.4] "km" _4WD,AAF,BCM,CUBIS,EMS,EPB,IBOX,LDWS_LKAS,SCC,TPMS + +BO_ 688 SAS11: 5 MDPS + SG_ SAS_Angle : 0|16@1- (0.1,0.0) [-3276.8|3276.7] "Deg" _4WD,ACU,AFLS,AVM,CLU,ECS,EMS,ESC,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SPAS,TCU,_4WD,ACU,AFLS,AVM,BCM,CLU,ECS,EMS,ESC,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SPAS,TCU + SG_ SAS_Speed : 16|8@1+ (4.0,0.0) [0.0|1016.0] "" AFLS,ECS,ESC,IBOX,LDWS_LKAS,SCC,SPAS,TCU,AFLS,ECS,ESC,IBOX,LDWS_LKAS,SCC,SPAS,TCU + SG_ SAS_Stat : 24|8@1+ (1.0,0.0) [0.0|255.0] "" ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,TCU,ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,TCU + SG_ MsgCount : 32|4@1+ (1.0,0.0) [0.0|15.0] "" ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS + SG_ CheckSum : 36|4@1+ (1.0,0.0) [0.0|15.0] "" ECS,EMS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,ECS,EMS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS + +BO_ 1441 ACU12: 8 ACU + SG_ CR_Acu_SN : 0|64@1+ (1.0,0.0) [0.0|0.0] "" ODS + +BO_ 1440 ACU11: 8 ACU + SG_ CF_Ods_SNRcv : 1|1@1+ (1.0,0.0) [0.0|1.0] "" ODS + SG_ CF_Ods_IDRcv : 2|1@1+ (1.0,0.0) [0.0|1.0] "" ODS + SG_ CF_Ods_RZReq : 4|1@1+ (1.0,0.0) [0.0|1.0] "" ODS + SG_ CF_Abg_DepInhEnt : 6|1@1+ (1.0,0.0) [0.0|1.0] "" ODS + SG_ CF_Abg_DepEnt : 7|1@1+ (1.0,0.0) [0.0|1.0] "" ODS + SG_ CF_PasBkl_FltStat : 28|1@1+ (1.0,0.0) [0.0|1.0] "" ODS,PSB + SG_ CF_DriBkl_FltStat : 29|1@1+ (1.0,0.0) [0.0|1.0] "" ODS,PSB + SG_ CF_PasBkl_Stat : 30|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,ODS,PSB,TMU + SG_ CF_DriBkl_Stat : 31|1@1+ (1.0,0.0) [0.0|1.0] "" ODS,PSB + SG_ CF_SWL_Ind : 32|2@1+ (1.0,0.0) [0.0|3.0] "" CUBIS,IBOX + SG_ CF_Acu_FltStat : 34|2@1+ (1.0,0.0) [0.0|3.0] "" CUBIS,IBOX + SG_ CF_Acu_ExtOfSab : 36|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU,CUBIS,IBOX + SG_ CF_Acu_Dtc : 40|16@1+ (1.0,0.0) [0.0|65535.0] "" CUBIS,IBOX + SG_ CF_Acu_NumOfFlt : 56|8@1+ (1.0,0.0) [0.0|255.0] "" CUBIS,IBOX + +BO_ 1437 AHLS11: 8 AHLS + SG_ CF_Ahls_WarnLamp : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Ahls_WarnMsg : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1434 PSB11: 2 PSB + SG_ PSB_LH_FAIL : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ PSB_LH_TGL : 2|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ PSB_LH_ACT : 3|4@1+ (1.0,0.0) [0.0|4.0] "" Dummy + SG_ PSB_RH_FAIL : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ PSB_RH_TGL : 10|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ PSB_RH_ACT : 11|4@1+ (1.0,0.0) [0.0|4.0] "" Dummy + +BO_ 916 TCS13: 8 ESC + SG_ aBasis : 0|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" EMS,SCC + SG_ BrakeLight : 11|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,SCC + SG_ DCEnable : 12|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,SCC + SG_ AliveCounterTCS : 13|3@1+ (1.0,0.0) [0.0|7.0] "" EMS,SCC + SG_ Pre_TCS_CTL : 16|1@1+ (1.0,0.0) [0.0|1.0] "" Vector__XXX + SG_ EBA_ACK : 17|1@1+ (1.0,0.0) [0.0|1.0] "" Vector__XXX + SG_ FCA_ACK : 18|1@1+ (1.0,0.0) [0.0|1.0] "" Vector__XXX + SG_ DF_BF_STAT : 19|2@1+ (1.0,0.0) [0.0|3.0] "" BCW + SG_ SCCReqLim : 22|2@1+ (1.0,0.0) [0.0|3.0] "" SCC + SG_ TQI_SCC : 24|8@1+ (0.390625,0.0) [0.0|199.609375] "%" Vector__XXX + SG_ ACCEL_REF_ACC : 32|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" EMS,SCC + SG_ ACCEnable : 43|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,SCC + SG_ DriverOverride : 45|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,SCC + SG_ StandStill : 47|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,SCC + SG_ CheckSum_TCS3 : 48|4@1+ (1.0,0.0) [0.0|15.0] "" EMS,SCC + SG_ ACC_EQUIP : 52|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,SCC + SG_ PBRAKE_ACT : 53|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,SCC + SG_ ACC_REQ : 54|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ DriverBraking : 55|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,SCC + SG_ CF_VSM_Coded : 56|1@1+ (1.0,0.0) [0.0|1.0] "" SCC + SG_ CF_VSM_Avail : 57|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,SCC + SG_ CF_VSM_Handshake : 59|1@1+ (1.0,0.0) [0.0|1.0] "" SCC + SG_ CF_DriBkeStat : 60|1@1+ (1.0,0.0) [0.0|1.0] "" SCC + SG_ CF_VSM_ConfSwi : 61|2@1+ (1.0,0.0) [0.0|3.0] "" SCC + SG_ AEB_EQUIP : 63|1@1+ (1.0,0.0) [0.0|1.0] "" SCC + +BO_ 1427 TPMS11: 6 BCM + SG_ TPMS_W_LAMP : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,CUBIS,HUD,IBOX,CLU,CUBIS,HUD,IBOX + SG_ TREAD_W_LAMP : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,CUBIS,HUD,IBOX,CLU,CUBIS,HUD,IBOX + SG_ POS_FL_W_LAMP : 4|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,CUBIS,HUD,IBOX + SG_ POS_FR_W_LAMP : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,CUBIS,HUD,IBOX + SG_ POS_RL_W_LAMP : 6|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,CUBIS,HUD,IBOX + SG_ POS_RR_W_LAMP : 7|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,CUBIS,HUD,IBOX + SG_ STATUS_TPMS : 8|3@1+ (1.0,0.0) [0.0|0.0] "" CLU + SG_ UNIT : 11|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ PRESSURE_FL : 16|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ PRESSURE_FR : 24|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ PRESSURE_RL : 32|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ PRESSURE_RR : 40|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + +BO_ 915 TCS12: 4 ESC + SG_ SA_COUNT : 0|16@1+ (2.0,-32768.0) [-32768.0|98302.0] "" _4WD,ACU,MDPS + SG_ SA_Z_COUNT : 16|15@1+ (2.0,-32768.0) [-32768.0|32766.0] "" _4WD,ACU,MDPS + SG_ SA_Z_FLAG : 31|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,MDPS + +BO_ 1170 EMS19: 8 EMS + SG_ CF_Ems_BrkReq : 0|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,IBOX,TCU + SG_ CF_Ems_DnShftReq : 1|4@1+ (1.0,0.0) [0.0|14.0] "" IBOX,TCU + SG_ CF_Ems_RepModChk : 5|2@1+ (1.0,0.0) [0.0|3.0] "" IBOX + SG_ CF_Ems_AAFOpenReq : 7|1@1+ (1.0,0.0) [0.0|1.0] "" AAF,IBOX + SG_ CF_Ems_DecelReq : 8|12@1+ (0.0010,-4.094) [-4.094|0.0] "m/s^2" ESC,IBOX,TCU + SG_ CR_Ems_BstPre : 20|12@1+ (1.322,0.0) [0.0|4094.0] "hPa" CLU,IBOX + SG_ CR_Ems_EngOilTemp : 32|8@1+ (0.75,-40.0) [0.0|254.0] "deg" CLU,IBOX + SG_ DPF_LAMP_STAT : 40|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,IBOX + SG_ BAT_LAMP_STAT : 42|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_ModeledAmbTemp : 48|8@1+ (0.5,-41.0) [-41.0|85.5] "deg" AAF,IBOX + SG_ CF_Ems_OPSFail : 56|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_AliveCounterEMS9 : 58|2@1+ (1.0,0.0) [0.0|3.0] "" AAF,ABS,CUBIS,ECS,EPB,IBOX,MDPS,REA,SCC,SMK,TCU + SG_ CF_Ems_ChecksumEMS9 : 60|4@1+ (1.0,0.0) [0.0|15.0] "" AAF,ABS,CUBIS,ECS,EPB,IBOX,MDPS,REA,SCC,SMK,TCU + +BO_ 1425 AFLS11: 2 AFLS + SG_ AFLS_STAT : 1|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Afls_TrfChgStat : 3|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Afls_LedHLStat : 4|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 912 SPAS11: 7 SPAS + SG_ CF_Spas_Stat : 0|4@1+ (1.0,0.0) [0.0|15.0] "" ESC,MDPS + SG_ CF_Spas_TestMode : 4|2@1+ (1.0,0.0) [0.0|3.0] "" MDPS + SG_ CR_Spas_StrAngCmd : 8|16@1- (0.1,0.0) [-3276.8|3276.7] "" MDPS + SG_ CF_Spas_BeepAlarm : 24|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ CF_Spas_Mode_Seq : 28|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Spas_AliveCnt : 32|8@1+ (1.0,0.0) [0.0|255.0] "" MDPS + SG_ CF_Spas_Chksum : 40|8@1+ (1.0,0.0) [0.0|255.0] "" MDPS + SG_ CF_Spas_PasVol : 48|3@1+ (1.0,0.0) [0.0|7.0] "" CGW,CLU + +BO_ 1168 EPB11: 7 EPB + SG_ EPB_I_LAMP : 0|4@1+ (1.0,0.0) [0.0|15.0] "" BCM,CLU,CUBIS,ESC,IBOX + SG_ EPB_F_LAMP : 4|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,CUBIS,ESC,IBOX + SG_ EPB_ALARM : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ESC + SG_ EPB_CLU : 8|8@1+ (1.0,0.0) [0.0|255.0] "" CLU,ESC + SG_ EPB_SWITCH : 16|2@1+ (1.0,0.0) [0.0|3.0] "" ESC,SCC + SG_ EPB_RBL : 18|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,ESC + SG_ EPB_STATUS : 19|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,EMS,ESC,SCC,TCU + SG_ EPB_FRC_ERR : 22|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,ESC,SCC,TCU + SG_ EPB_DBF_STAT : 24|1@1+ (1.0,0.0) [0.0|1.0] "" ESC + SG_ ESP_ACK : 25|1@1+ (1.0,0.0) [0.0|1.0] "" ESC + SG_ EPB_DBF_REQ : 26|1@1+ (1.0,0.0) [0.0|1.0] "" ESC + SG_ EPB_FAIL : 29|3@1+ (1.0,0.0) [0.0|7.0] "" ESC,SCC + SG_ EPB_FORCE : 32|12@1+ (1.0,-1000.0) [-1000.0|3000.0] "" ESC + SG_ EPB_DBF_DECEL : 48|8@1+ (0.01,0.0) [0.0|2.54] "g" ESC + +BO_ 399 EMS_H12: 8 EMS + SG_ R_TqAcnApvC : 0|8@1+ (0.2,0.0) [0.0|51.0] "Nm" DATC,IBOX + SG_ R_PAcnC : 8|8@1+ (125.0,0.0) [0.0|31875.0] "hPa" DATC,IBOX + SG_ TQI_B : 16|8@1+ (0.390625,0.0) [0.0|99.609375] "%" ABS,ESC,IBOX + SG_ SLD_VS : 24|8@1+ (1.0,0.0) [0.0|255.0] "km/h" CLU,IBOX + SG_ CF_CdaStat : 32|3@1+ (1.0,0.0) [0.0|7.0] "" AEMC,IBOX,TCU + SG_ CF_Ems_IsgStat : 35|3@1+ (1.0,0.0) [0.0|7.0] "" ABS,BCM,CLU,DATC,EPB,ESC,IBOX,LDWS_LKAS,MDPS,SMK,TCU + SG_ CF_Ems_OilChg : 38|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_EtcLimpMod : 39|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ R_NEngIdlTgC : 40|8@1+ (10.0,0.0) [0.0|2550.0] "rpm" DATC,IBOX,TCU + SG_ CF_Ems_UpTarGr : 48|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_DownTarGr : 49|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_DesCurGr : 50|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,IBOX + SG_ CF_Ems_SldAct : 54|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_SldPosAct : 55|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_HPresStat : 56|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,TCU + SG_ CF_Ems_IsgBuz : 57|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_IdlStpFCO : 58|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_FCopen : 59|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_ActEcoAct : 60|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX,TCU + SG_ CF_Ems_EngRunNorm : 61|1@1+ (1.0,0.0) [0.0|1.0] "" ABS,ESC,IBOX,TCU + SG_ CF_Ems_IsgStat2 : 62|2@1+ (2.0,0.0) [0.0|3.0] "" CLU,IBOX,TCU + +BO_ 1419 LCA11: 8 LCA + SG_ CF_Lca_Stat : 0|4@1+ (1.0,0.0) [0.0|15.0] "" BCM,CLU + SG_ CF_Rcta_Stat : 4|4@1+ (1.0,0.0) [0.0|15.0] "" BCM,CLU + SG_ CF_Lca_IndLeft : 8|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU + SG_ CF_Rcw_Stat : 10|4@1+ (1.0,0.0) [0.0|15.0] "" BCM,CLU + SG_ CF_RCW_Warning : 14|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU + SG_ CF_Lca_IndRight : 16|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU + SG_ CF_Lca_SndWan_Stat : 18|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU + SG_ CF_FR_SndWan : 20|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU + SG_ CF_FL_SndWan : 21|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU + SG_ CF_RR_SndWan : 22|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU + SG_ CF_RL_SndWan : 23|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU + SG_ CF_Lca_IndBriLeft : 24|8@1+ (1.0,0.0) [0.0|255.0] "" BCM,CLU + SG_ CF_Lca_IndBriRight : 32|8@1+ (1.0,0.0) [0.0|255.0] "" BCM,CLU + SG_ CF_RCTA_IndBriLeft : 40|8@1+ (1.0,0.0) [0.0|255.0] "" BCM,CLU + SG_ CF_RCTA_IndBriRight : 48|8@1+ (1.0,0.0) [0.0|255.0] "" BCM,CLU + SG_ CF_RCTA_IndLeft : 56|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU + SG_ CF_RCTA_IndRight : 58|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU + SG_ CF_SndWarnForClu : 60|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + +BO_ 906 ABS11: 8 ABS + SG_ ABS_DEF : 0|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,EMS,SPAS,TCU + SG_ EBD_DEF : 1|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,SPAS,TCU + SG_ ABS_ACT : 2|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,EPB,SPAS,TCU + SG_ ABS_W_LAMP : 3|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,CUBIS,MTS,TMU + SG_ EBD_W_LAMP : 4|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU + SG_ ABS_DIAG : 5|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU + SG_ ESS_STAT : 6|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,BCM,CLU,EMS + +BO_ 903 WHL_PUL11: 6 ABS + SG_ WHL_PUL_FL : 0|8@1+ (0.5,0.0) [0.0|127.5] "pulse count" CUBIS,EPB,IBOX,SPAS,TMU,TPMS,CUBIS,EPB,IBOX,LDWS_LKAS,SPAS,TMU,TPMS + SG_ WHL_PUL_FR : 8|8@1+ (0.5,0.0) [0.0|127.5] "pulse count" CUBIS,EPB,IBOX,SPAS,TMU,TPMS,CUBIS,EPB,IBOX,LDWS_LKAS,SPAS,TMU,TPMS + SG_ WHL_PUL_RL : 16|8@1+ (0.5,0.0) [0.0|127.5] "pulse count" CUBIS,EPB,IBOX,SPAS,TMU,TPMS,CUBIS,EPB,IBOX,LDWS_LKAS,SPAS,TMU,TPMS + SG_ WHL_PUL_RR : 24|8@1+ (0.5,0.0) [0.0|127.5] "pulse count" CUBIS,EPB,IBOX,SPAS,TMU,TPMS,CUBIS,EPB,IBOX,LDWS_LKAS,SPAS,TMU,TPMS + SG_ WHL_DIR_FL : 32|2@1+ (1.0,0.0) [0.0|3.0] "" EPB,SPAS,TPMS,EPB,LCA,SPAS,TPMS + SG_ WHL_DIR_FR : 34|2@1+ (1.0,0.0) [0.0|3.0] "" EPB,SPAS,TPMS,EPB,LCA,SPAS,TPMS + SG_ WHL_DIR_RL : 36|2@1+ (1.0,0.0) [0.0|3.0] "" EPB,SPAS,TPMS,EPB,LCA,SPAS,TPMS + SG_ WHL_DIR_RR : 38|2@1+ (1.0,0.0) [0.0|3.0] "" EPB,SPAS,TPMS,EPB,LCA,SPAS,TPMS + SG_ WHL_PUL_Chksum : 40|8@1+ (1.0,0.0) [0.0|255.0] "" EPB,SPAS,TPMS,EPB,LCA,LDWS_LKAS,SPAS,TPMS + +BO_ 1415 TMU11: 8 IBOX + SG_ CF_Tmu_VehSld : 0|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Tmu_VehImmo : 1|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Tmu_ReqRepCnd : 2|2@1+ (1.0,0.0) [0.0|3.0] "" EMS + SG_ CF_Tmu_AirconCtr : 4|1@1+ (1.0,0.0) [0.0|1.0] "" DATC + SG_ CF_Tmu_TempMd : 5|1@1+ (1.0,0.0) [0.0|1.0] "" DATC + SG_ CF_Tmu_TempSet : 6|16@1+ (1.0,0.0) [0.0|20.0] "" DATC + SG_ CF_Tmu_DefrostCtr : 22|1@1+ (1.0,0.0) [0.0|1.0] "" DATC,FATC + SG_ CF_Tmu_AliveCnt1 : 56|4@1+ (1.0,0.0) [0.0|15.0] "" EMS + +BO_ 902 WHL_SPD11: 8 ABS + SG_ WHL_SPD_FL : 0|14@1+ (0.03125,0.0) [0.0|511.96875] "km/h" _4WD,AFLS,AHLS,AVM,CLU,CUBIS,ECS,EMS,EPB,IBOX,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS,_4WD,ACU,AFLS,AHLS,AVM,CLU,ECS,EMS,EPB,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS + SG_ WHL_SPD_FR : 16|14@1+ (0.03125,0.0) [0.0|511.96875] "km/h" _4WD,ACU,AFLS,AHLS,AVM,CLU,CUBIS,ECS,EMS,EPB,IBOX,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS,_4WD,ACU,AFLS,AHLS,AVM,CLU,ECS,EMS,EPB,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS + SG_ WHL_SPD_RL : 32|14@1+ (0.03125,0.0) [0.0|511.96875] "km/h" _4WD,AFLS,AHLS,AVM,BCM,CLU,CUBIS,ECS,EMS,EPB,IBOX,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS,_4WD,ACU,AFLS,AHLS,AVM,BCM,CLU,ECS,EMS,EPB,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS + SG_ WHL_SPD_RR : 48|14@1+ (0.03125,0.0) [0.0|511.96875] "km/h" _4WD,AFLS,AHLS,AVM,CLU,CUBIS,ECS,EMS,EPB,IBOX,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS,_4WD,ACU,AFLS,AHLS,AVM,CLU,ECS,EMS,EPB,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS + SG_ WHL_SPD_AliveCounter_LSB : 14|2@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,LPI,TCU,TMU + SG_ WHL_SPD_AliveCounter_MSB : 30|2@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,LPI,TCU,TMU + SG_ WHL_SPD_Checksum_LSB : 46|2@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,LPI,TCU,TMU + SG_ WHL_SPD_Checksum_MSB : 62|2@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,LPI,TCU,TMU + +BO_ 1414 EVP11: 3 EVP + SG_ CF_Evp_Stat : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + +BO_ 1412 AAF11: 8 AAF + SG_ CF_Aaf_ActFlapStatus : 0|2@1+ (1.0,0.0) [0.0|3.0] "" AAF_Tester + SG_ CF_Aaf_ModeStatus : 2|3@1+ (1.0,0.0) [0.0|7.0] "" AAF_Tester + SG_ CF_Aaf_WrnLamp : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Aaf_ErrStatus : 6|10@1+ (1.0,0.0) [0.0|1023.0] "" AAF_Tester,EMS + SG_ CF_Aaf_OpenRqSysAct : 16|8@1+ (1.0,0.0) [0.0|255.0] "" AAF_Tester + SG_ CF_Aaf_PStatus : 24|8@1+ (1.0,0.0) [0.0|100.0] "%" AAF_Tester + SG_ CF_Aaf_OpenRqSysSol : 32|8@1+ (1.0,0.0) [0.0|255.0] "" AAF_Tester + SG_ CF_Aaf_SolFlapStatus : 40|2@1+ (1.0,0.0) [0.0|3.0] "" AAF_Tester + SG_ CF_Aaf_MilOnReq : 42|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + +BO_ 900 EMS17: 8 EMS + SG_ CF_Ems_PkpCurMSV : 0|8@1+ (1.0,0.0) [0.0|255.0] "" DI_BOX + SG_ CF_Ems_HolCurMSV : 8|8@1+ (1.0,0.0) [0.0|255.0] "" DI_BOX + SG_ CF_Ems_InjVBnkAct : 16|8@1+ (1.0,0.0) [0.0|255.0] "" DI_BOX + SG_ CF_Ems_InjVActSet : 24|8@1+ (1.0,0.0) [0.0|255.0] "" DI_BOX + SG_ CF_Ems_DiagFulHDEV : 32|1@1+ (1.0,0.0) [0.0|1.0] "" DI_BOX + SG_ CF_Ems_SwiOffIC1 : 33|1@1+ (1.0,0.0) [0.0|1.0] "" DI_BOX + SG_ CF_Ems_SwiOffIC2 : 34|1@1+ (1.0,0.0) [0.0|1.0] "" DI_BOX + SG_ CF_Ems_DiagReqHDEV : 38|1@1+ (1.0,0.0) [0.0|1.0] "" DI_BOX + SG_ CR_Ems_DutyCycMSV : 40|8@1+ (0.3921568627,0.0) [0.0|100.0] "%" DI_BOX + SG_ CR_Ems_BatVolRly : 48|8@1+ (0.1,0.0) [0.0|25.5] "V" DI_BOX + +BO_ 387 REA11: 8 REA + SG_ CF_EndBst_PwmDuH : 0|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_PwmDuL : 1|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_PwmFqOutRng : 2|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_HbriOverCur : 3|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_HbriOverTemp : 4|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_PosSnsKOR : 6|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_PosSnsOSOR : 7|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_EepFlt : 8|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_RomFlt : 9|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_RamFlt : 10|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_CanFlt : 11|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_AgH : 12|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_AgL : 13|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_ORVol : 14|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CR_EndBst_ActPos : 16|16@1+ (0.117,0.0) [1.989|118.053] "" EMS + SG_ CR_EndBst_DemPos : 32|16@1+ (0.117,0.0) [0.0|119.691] "" EMS + SG_ CR_EndBst_HbriPwr : 48|16@1+ (0.045,0.0) [0.0|99.99] "%" EMS + +BO_ 1411 CUBIS11: 8 CUBIS + SG_ CF_Cubis_HUDisp : 0|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + +BO_ 899 FATC11: 8 DATC + SG_ CR_Fatc_TqAcnOut : 0|8@1+ (0.2,0.0) [0.0|50.8] "Nm" EMS,IBOX + SG_ CF_Fatc_AcnRqSwi : 8|1@1+ (1.0,0.0) [0.0|1.0] "" AAF,EMS,IBOX + SG_ CF_Fatc_AcnCltEnRq : 9|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Fatc_EcvFlt : 10|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Fatc_BlwrOn : 11|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_FATC_Iden : 12|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,IBOX + SG_ CF_Fatc_BlwrMax : 14|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,IBOX + SG_ CF_Fatc_EngStartReq : 15|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Fatc_IsgStopReq : 16|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Fatc_CtrInf : 17|3@1+ (1.0,0.0) [0.0|7.0] "" EMS,IBOX + SG_ CF_Fatc_MsgCnt : 20|4@1+ (1.0,0.0) [0.0|15.0] "" EMS,IBOX + SG_ CR_Fatc_OutTemp : 24|8@1+ (0.5,-40.0) [-40.0|60.0] "deg" BCM,CLU,EMS,IBOX,SPAS,TCU,TPMS + SG_ CR_Fatc_OutTempSns : 32|8@1+ (0.5,-40.0) [-40.0|60.0] "deg" AAF,AHLS,CLU,EMS,IBOX,SPAS,TCU + SG_ CF_Fatc_Compload : 40|3@1+ (1.0,0.0) [0.0|7.0] "" EMS,IBOX + SG_ CF_Fatc_ActiveEco : 43|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Fatc_AutoActivation : 44|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX + SG_ CF_Fatc_DefSw : 45|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,IBOX + SG_ CF_Fatc_PtcRlyStat : 46|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Fatc_ChkSum : 56|8@1+ (1.0,0.0) [0.0|255.0] "" EMS,IBOX,SPAS + +BO_ 129 EMS_DCT12: 8 EMS + SG_ CR_Ems_SoakTimeExt : 0|6@1+ (5.0,0.0) [0.0|315.0] "Min" TCU + SG_ BRAKE_ACT : 6|2@1+ (1.0,0.0) [0.0|3.0] "" TCU + SG_ CF_Ems_EngOperStat : 8|8@1+ (1.0,0.0) [0.0|255.0] "" TCU + SG_ CR_Ems_IndAirTemp : 16|8@1+ (0.75,-48.0) [-48.0|143.25] "deg" TCU + SG_ CF_Ems_Alive2 : 56|4@1+ (1.0,0.0) [0.0|15.0] "" TCU + SG_ CF_Ems_ChkSum2 : 60|4@1+ (1.0,0.0) [0.0|15.0] "" TCU + +BO_ 897 MDPS11: 8 MDPS + SG_ CF_Mdps_WLmp : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,CUBIS,EMS,IBOX,SPAS + SG_ CF_Mdps_Flex : 2|3@1+ (1.0,0.0) [0.0|3.0] "" CLU,LDWS_LKAS + SG_ CF_Mdps_FlexDisp : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Mdps_Stat : 7|4@1+ (1.0,0.0) [0.0|15.0] "" SPAS + SG_ CR_Mdps_DrvTq : 11|12@1+ (1.0,-2048.0) [-2048.0|2046.0] "" SPAS + SG_ CF_Mdps_ALTRequest : 23|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CR_Mdps_StrAng : 24|16@1- (0.1,0.0) [-3276.8|3276.7] "Deg" SPAS + SG_ CF_Mdps_AliveCnt : 40|8@1+ (1.0,0.0) [0.0|255.0] "" LDWS_LKAS,SPAS + SG_ CF_Mdps_Chksum : 48|8@1+ (1.0,0.0) [0.0|255.0] "" LDWS_LKAS,SPAS + SG_ CF_Mdps_SPAS_FUNC : 57|1@1+ (1.0,0.0) [0.0|1.0] "flag" SPAS + SG_ CF_Mdps_LKAS_FUNC : 58|1@1+ (1.0,0.0) [0.0|1.0] "flag" LDWS_LKAS + SG_ CF_Mdps_CurrMode : 59|2@1+ (1.0,0.0) [0.0|3.0] "" LDWS_LKAS + SG_ CF_Mdps_Type : 61|2@1+ (1.0,0.0) [0.0|2.0] "" LDWS_LKAS,SPAS + SG_ CF_MDPS_VSM_FUNC : 56|1@0+ (1.0,0.0) [0.0|1.0] "" XXX + +BO_ 896 DI_BOX13: 8 DI_BOX + SG_ CF_DiBox_HPreInjVConfStat : 0|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_HPreInjVStat1 : 8|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_HPreInjVStat2 : 16|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_HPreInjVPkp : 24|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_HPreInjVBpt : 32|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_ErrRegFrtMSV : 40|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_ErrRegSedMSV : 48|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_SPIErrSedMSV : 56|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_DiBox_SPIErrFrtMSV : 57|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_DiBox_IDErrSedMSV : 58|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_DiBox_IDErrFrtMSV : 59|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_DiBox_IniStatMSV : 60|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + +BO_ 640 EMS13: 8 EMS + SG_ LV_FUEL_TYPE_ECU : 0|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU,LPI,SMK + SG_ LV_BFS_CFIRM : 1|1@1+ (1.0,0.0) [0.0|1.0] "" LPI + SG_ LV_CRASH : 2|1@1+ (1.0,0.0) [0.0|1.0] "" LPI + SG_ LV_VB_OFF_ACT : 3|1@1+ (1.0,0.0) [0.0|1.0] "" LPI + SG_ LV_GSL_MAP M : 4|1@1+ (1.0,0.0) [0.0|1.0] "" LPI + SG_ LV_ENG_TURN : 5|1@1+ (1.0,0.0) [0.0|1.0] "" LPI + SG_ ERR_FUEL : 8|8@1+ (1.0,0.0) [0.0|255.0] "" LPI + SG_ EOS : 16|8@1+ (1.0,0.0) [0.0|255.0] "" LPI + SG_ TCO : 24|8@1+ (0.75,-48.0) [-48.0|143.25] "deg" LPI + SG_ N_32 : 32|8@1+ (32.0,0.0) [0.0|8160.0] "rpm" LPI + SG_ MAF : 40|8@1+ (5.447,0.0) [0.0|1388.985] "mg/TDC" LPI + SG_ TIA : 48|8@1+ (0.75,-48.0) [-48.0|143.25] "deg" LPI + SG_ MAP m1 : 56|8@1+ (0.47058,0.0) [0.0|119.9979] "kPa" LPI + SG_ AMP m0 : 56|8@1+ (21.22,0.0) [0.0|5411.1] "hPa" LPI + +BO_ 128 EMS_DCT11: 8 EMS + SG_ PV_AV_CAN : 0|8@1+ (0.3906,0.0) [0.0|99.603] "%" TCU + SG_ TQ_STND : 8|6@1+ (10.0,0.0) [0.0|630.0] "Nm" TCU + SG_ F_N_ENG : 14|1@1+ (1.0,0.0) [0.0|1.0] "" TCU + SG_ F_SUB_TQI : 15|1@1+ (1.0,0.0) [0.0|1.0] "" TCU + SG_ N : 16|16@1+ (0.25,0.0) [0.0|16383.75] "rpm" TCU + SG_ TQI_ACOR : 32|8@1+ (0.390625,0.0) [0.0|99.6094] "%" IBOX,TCU + SG_ TQFR : 40|8@1+ (0.390625,0.0) [0.0|99.6094] "%" TCU + SG_ TQI : 48|8@1+ (0.390625,0.0) [0.0|99.609375] "%" TCU + SG_ CF_Ems_Alive : 56|4@1+ (1.0,0.0) [0.0|15.0] "" TCU + SG_ CF_Ems_ChkSum : 60|4@1+ (1.0,0.0) [0.0|15.0] "" TCU + +BO_ 1407 HU_MON_PE_01: 8 CLU + SG_ HU_Type : 0|8@1+ (1.0,0.0) [0.0|255.0] "" AVM,PGS + +BO_ 127 CGW5: 8 BCM + SG_ C_StopLampLhOpenSts : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_StopLampRhOpenSts : 1|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_HMSLOpenSts : 2|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_HLampLowLhOpenSts : 3|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_HLampLowRhOpenSts : 4|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_HLampHighLhOpenSts : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_HLampHighRhOpenSts : 6|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_DRLLampLhOpenSts : 7|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_DRLLampRhOpenSts : 8|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_RearFOGLhOpenSts : 9|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_RearFOGRhOpenSts : 10|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_FrontFOGLhOpenSts : 11|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_FrontFOGRhOpenSts : 12|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_RearEXTTailLhOpenSts : 13|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_RearEXTTailRhOpenSts : 14|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_FrontEXTTailLhOpenSts : 15|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_FrontEXTTailRhOpenSts : 16|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_RearTSIGLhOpenSts : 17|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_RearTSIGRhOpenSts : 18|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_FrontTSIGLhOpenSts : 19|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_FrontTSIGRhOpenSts : 20|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_SBendingLhOpenSts : 21|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_SBendingRhOpenSts : 22|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_LicensePlateLhOpenSts : 23|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_LicensePlateRhOpenSts : 24|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + +BO_ 1151 ESP11: 6 ESC + SG_ AVH_STAT : 0|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,EPB,TCU + SG_ LDM_STAT : 2|1@1+ (1.0,0.0) [0.0|1.0] "" EPB,TCU + SG_ REQ_EPB_ACT : 3|2@1+ (1.0,0.0) [0.0|3.0] "" EPB,TCU + SG_ REQ_EPB_STAT : 5|1@1+ (1.0,0.0) [0.0|1.0] "" EPB + SG_ ECD_ACT : 6|1@1+ (1.0,0.0) [0.0|1.0] "" EPB + SG_ _4WD_LIM_REQ : 7|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS + SG_ ROL_CNT_ESP : 8|8@1+ (1.0,0.0) [0.0|255.0] "" EPB,TCU + SG_ _4WD_TQC_LIM : 16|16@1+ (1.0,0.0) [0.0|65535.0] "Nm" _4WD,EMS + SG_ _4WD_CLU_LIM : 32|8@1+ (0.390625,0.0) [0.0|99.609375] "%" _4WD,EMS + SG_ _4WD_OPEN : 40|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,EMS + SG_ _4WD_LIM_MODE : 42|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD + +BO_ 1397 HU_AVM_E_00: 8 CLU + SG_ HU_AVM_Cal_Cmd : 0|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + SG_ HU_AVM_Cal_Method : 4|2@1+ (1.0,0.0) [0.0|3.0] "" AVM,PGS + SG_ HU_AVM_Save_Controlpoint : 6|2@1+ (1.0,0.0) [0.0|3.0] "" AVM,PGS + SG_ HU_AVM_PT_X : 8|12@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + SG_ HU_AVM_RearViewPointOpt : 20|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + SG_ HU_AVM_PT_Y : 24|12@1+ (1.0,0.0) [0.0|4095.0] "" AVM,PGS + SG_ HU_AVM_FrontViewPointOpt : 36|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + SG_ HU_AVM_SelectedMenu : 40|5@1+ (1.0,0.0) [0.0|31.0] "" AVM,PGS + SG_ HU_AVM_CameraOff : 45|2@1+ (1.0,0.0) [0.0|3.0] "" AVM,PGS + SG_ HU_AVM_Option : 48|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + SG_ HU_AVM_CrossLineMove_Cmd : 52|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + SG_ HU_AVM_RearView_Option : 56|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + SG_ HU_AVM_FrontView_Option : 60|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + +BO_ 1395 HU_AVM_E_01: 8 CLU + SG_ HU_PGSSelectedMenu : 0|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + SG_ HU_PGSOption : 8|5@1+ (1.0,0.0) [0.0|31.0] "" AVM,PGS + SG_ HU_AVM_ParkingAssistMenu : 56|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + SG_ HU_AVM_ParkingAssistSB : 60|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + +BO_ 1393 OPI11: 5 OPI + SG_ CR_Opi_Spd_Rpm : 0|8@1+ (20.0,0.0) [0.0|3500.0] "rpm" TCU + SG_ CF_Opi_Over_Temp : 8|1@1+ (1.0,0.0) [0.0|1.0] "" TCU + SG_ CF_Opi_Over_Cur : 9|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,TCU + SG_ CF_Opi_Over_Vol : 10|1@1+ (1.0,0.0) [0.0|1.0] "" TCU + SG_ CF_Opi_Hall_Fail : 11|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,TCU + SG_ CF_Opi_Flt : 12|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,TCU + SG_ CF_Opi_Motor_Dir : 15|1@1+ (1.0,0.0) [0.0|1.0] "" TCU + SG_ CF_Opi_Romver : 16|8@1+ (1.0,0.0) [0.0|255.0] "" TCU + SG_ CF_Opi_PWM_Rate : 24|12@1+ (1.0,0.0) [0.0|100.0] "%" TCU + +BO_ 625 LPI11: 8 LPI + SG_ FUP_LPG_MMV : 0|8@1+ (128.0,0.0) [0.0|32640.0] "hPa" EMS + SG_ LV_FUEL_TYPE_BOX : 8|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ LV_BFS_IN_PROGRESS : 9|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ LV_GAS_OK : 10|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ LV_FUP_ENA_THD : 11|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU,EMS,SMK + SG_ LPI_OBD : 12|4@1+ (1.0,0.0) [0.0|15.0] "" EMS + SG_ ERR_GAS : 16|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ FAC_TI_GAS_COR : 24|16@1+ (3.05E-5,0.0) [0.0|1.9988175] "" EMS + SG_ FTL_AFU : 40|8@1+ (0.392,0.0) [0.0|99.96] "%" EMS + SG_ BFS_CYL : 48|8@1+ (1.0,0.0) [0.0|6.0] "Cyl Nr." EMS + SG_ LV_PRE_CDN_LEAK : 56|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ LV_CONF_INJECTION_DELAY : 57|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ LV_LPG_SW_DRIVER_REQ : 58|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + +BO_ 356 VSM11: 4 ESC + SG_ CR_Esc_StrTqReq : 0|12@1+ (0.01,-20.48) [-20.48|20.47] "Nm" MDPS + SG_ CF_Esc_Act : 12|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS,MDPS + SG_ CF_Esc_CtrMode : 13|3@1+ (1.0,0.0) [0.0|7.0] "" MDPS + SG_ CF_Esc_Def : 16|1@1+ (1.0,0.0) [0.0|1.0] "" MDPS + SG_ CF_Esc_AliveCnt : 17|4@1+ (1.0,0.0) [0.0|15.0] "" LDWS_LKAS,MDPS + SG_ CF_Esc_Chksum : 24|8@1+ (1.0,0.0) [0.0|255.0] "" LDWS_LKAS,MDPS + +BO_ 1379 PGS_HU_PE_01: 8 PGS + SG_ PGS_State : 0|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ PGS_ParkGuideState : 8|5@1+ (1.0,0.0) [0.0|31.0] "" CLU + SG_ PGS_Option : 16|5@1+ (1.0,0.0) [0.0|31.0] "" CLU + SG_ PGS_Version : 32|16@1+ (1.0,0.0) [0.0|65535.0] "" CLU + +BO_ 354 TCU_DCT13: 3 TCU + SG_ Clutch_Driving_Tq : 0|10@1+ (1.0,-512.0) [0.0|0.0] "Nm" ESC + SG_ Cluster_Engine_RPM : 10|13@1+ (0.9766,0.0) [0.0|0.0] "" CLU + SG_ Cluster_Engine_RPM_Flag : 23|1@1+ (1.0,0.0) [0.0|0.0] "" CLU + +BO_ 1378 HUD11: 4 HUD + SG_ CF_Hud_HeightStaus : 0|5@1+ (1.0,0.0) [0.0|31.0] "" CLU + SG_ CF_Hud_PBackStatus : 6|2@1+ (1.0,0.0) [0.0|0.0] "" BCM,CLU + SG_ CF_Hud_Brightness : 8|5@1+ (1.0,0.0) [0.0|31.0] "" CLU + +BO_ 608 EMS16: 8 EMS + SG_ TQI_MIN : 0|8@1+ (0.390625,0.0) [0.0|99.609375] "%" ESC,IBOX,TCU + SG_ TQI : 8|8@1+ (0.390625,0.0) [0.0|99.609375] "%" ESC,IBOX,TCU + SG_ TQI_TARGET : 16|8@1+ (0.390625,0.0) [0.0|99.609375] "%" EPB,ESC,IBOX,TCU + SG_ GLOW_STAT : 24|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU,IBOX,SMK + SG_ CRUISE_LAMP_M : 25|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX,TCU + SG_ CRUISE_LAMP_S : 26|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX,TCU + SG_ PRE_FUEL_CUT_IN : 27|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,TCU + SG_ ENG_STAT : 28|3@1+ (1.0,0.0) [0.0|7.0] "" ABS,AHLS,AVM,BCM,CLU,EPB,ESC,EVP,FPCM,IBOX,LCA,LDWS_LKAS,MDPS,SCC,SMK,TCU + SG_ SOAK_TIME_ERROR : 31|1@1+ (1.0,0.0) [0.0|1.0] "" DATC,EPB,IBOX,TCU + SG_ SOAK_TIME : 32|8@1+ (1.0,0.0) [0.0|255.0] "Min" _4WD,DATC,EPB,IBOX,TCU + SG_ TQI_MAX : 40|8@1+ (0.390625,0.0) [0.0|99.609375] "%" ESC,IBOX,TCU + SG_ SPK_TIME_CUR : 48|8@1+ (0.375,-35.625) [-35.625|60.0] "" IBOX,TCU + SG_ Checksum : 56|4@1+ (1.0,0.0) [0.0|15.0] "" ECS,IBOX,LDWS_LKAS,MDPS,SCC + SG_ AliveCounter : 60|2@1+ (1.0,0.0) [0.0|3.0] "" IBOX,LDWS_LKAS,MDPS,SCC + SG_ CF_Ems_AclAct : 62|2@1+ (1.0,0.0) [0.0|3.0] "" IBOX,SCC + +BO_ 1371 AVM_HU_PE_00: 8 AVM + SG_ AVM_View : 0|5@1+ (1.0,0.0) [0.0|31.0] "" CLU + SG_ AVM_ParkingAssist_BtnSts : 5|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ AVM_Display_Message : 8|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ AVM_Popup_Msg : 16|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ AVM_Ready : 20|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ AVM_ParkingAssist_Step : 24|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ AVM_FrontBtn_Type : 28|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ AVM_Option : 32|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ AVM_HU_FrontViewPointOpt : 36|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ AVM_HU_RearView_Option : 40|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ AVM_HU_FrontView_Option : 44|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ AVM_Version : 48|16@1+ (1.0,0.0) [0.0|65535.0] "" CLU + +BO_ 1370 HU_AVM_PE_00: 8 CLU + SG_ HU_AVM_Status : 0|2@1+ (1.0,0.0) [0.0|3.0] "" AVM,PGS + +BO_ 1369 CGW4: 8 BCM + SG_ CF_Gway_MemoryP1Cmd : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_MemoryP2Cmd : 1|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_PBackP1Cmd : 2|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_PBackP2Cmd : 3|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_StrgWhlHeatedState : 4|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_PBackStopCmd : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,HUD + SG_ CF_Gway_StaticBendLhAct : 6|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_StaticBendRhAct : 7|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_DrvWdwStat : 8|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_RLWdwState : 9|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_RRWdwState : 10|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_AstWdwStat : 11|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_MemoryEnable : 12|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_PBACKStopCmd : 13|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_PBACKStop : 14|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,HUD + SG_ CF_Gway_IMSBuzzer : 15|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_DrvSeatBeltInd : 36|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,Dummy + SG_ CF_Gway_AstSeatBeltInd : 38|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_RCSeatBeltInd : 40|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_RLSeatBeltInd : 42|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_RRSeatBeltInd : 44|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_RrWiperHighSw : 46|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_RrWiperLowSw : 47|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + +BO_ 1367 EngFrzFrm12: 8 EMS + SG_ PID_06h : 0|8@1+ (0.78125,-100.0) [-100.0|99.22] "%" AAF,IBOX,TCU + SG_ PID_07h : 8|8@1+ (0.78125,-100.0) [-100.0|99.22] "%" AAF,IBOX,TCU + SG_ PID_08h : 16|8@1+ (0.78125,-100.0) [-100.0|99.22] "%" AAF,IBOX,TCU + SG_ PID_09h : 24|8@1+ (0.78125,-100.0) [-100.0|99.22] "%" AAF,IBOX,TCU + SG_ PID_0Bh : 32|8@1+ (1.0,0.0) [0.0|255.0] "kPa" AAF,IBOX,TCU + SG_ PID_23h : 40|16@1+ (10.0,0.0) [0.0|655350.0] "kPa" AAF,IBOX,TCU + +BO_ 1366 EngFrzFrm11: 8 EMS + SG_ PID_04h : 0|8@1+ (0.3921568627,0.0) [0.0|100.0] "%" AAF,TCU + SG_ PID_05h : 8|8@1+ (1.0,-40.0) [-40.0|215.0] "deg" AAF,TCU + SG_ PID_0Ch : 16|16@1+ (0.25,0.0) [0.0|16383.75] "rpm" AAF,TCU + SG_ PID_0Dh : 32|8@1+ (1.0,0.0) [0.0|255.0] "km/h" AAF,TCU + SG_ PID_11h : 40|8@1+ (0.3921568627,0.0) [0.0|100.0] "%" AAF,TCU + SG_ PID_03h : 48|16@1+ (1.0,0.0) [0.0|65535.0] "" AAF,TCU + +BO_ 1365 FPCM11: 8 FPCM + SG_ CR_Fpcm_LPActPre : 0|8@1+ (3.137254902,0.0) [0.0|800.0] "kPa" EMS + SG_ CF_Fpcm_LPPumpOverCur : 8|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Fpcm_PreSnrHi : 9|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Fpcm_PreSnrDisc : 10|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Fpcm_PreSnrShort : 11|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Fpcm_LPPumpDiscShort : 12|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Fpcm_LP_System_Error : 13|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Fpcm_PreSnrSigErr : 14|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Fpcm_LPCtrCirFlt : 15|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + +BO_ 871 LVR12: 8 LVR + SG_ CF_Lvr_CruiseSet : 0|8@1+ (1.0,0.0) [0.0|255.0] "" CLU,TCU + SG_ CF_Lvr_IsgState : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,TCU + SG_ CF_Lvr_Gear : 32|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,TCU + +BO_ 872 LVR11: 8 LVR + SG_ CF_Lvr_GearInf : 0|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,TCU + SG_ CF_Lvr_PRelStat : 4|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU,SMK,TCU + SG_ CF_Lvr_BkeAct : 5|1@1+ (1.0,0.0) [0.0|1.0] "" TCU + SG_ CF_Lvr_NFnStat : 6|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Lvr_PosInf : 8|4@1+ (1.0,0.0) [0.0|15.0] "" TCU + SG_ CF_Lvr_PosCpl : 12|4@1+ (1.0,0.0) [0.0|15.0] "" TCU + SG_ CF_Lvr_UlkButStat : 18|2@1+ (1.0,0.0) [0.0|3.0] "" TCU + SG_ CF_Lvr_PNStat : 20|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Lvr_ShtLkStat : 24|4@1+ (1.0,0.0) [0.0|15.0] "" TCU + SG_ CF_Lvr_ShfErrInf : 28|20@1+ (1.0,0.0) [0.0|8191.0] "" CLU,TCU + SG_ CF_Lvr_AC : 48|4@1+ (1.0,0.0) [0.0|15.0] "" TCU + SG_ CF_Lvr_CS : 52|4@1+ (1.0,0.0) [0.0|15.0] "" TCU + +BO_ 1363 CGW2: 8 BCM + SG_ CF_Gway_GwayDiagState : 0|1@1+ (1.0,0.0) [0.0|3.0] "" CLU,Dummy + SG_ CF_Gway_DDMDiagState : 1|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_SCMDiagState : 2|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_PSMDiagState : 3|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_SJBDiagState : 4|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_IPMDiagState : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_LDMFail : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,LDWS_LKAS,LDWS_LKAS + SG_ CF_Gway_CLUSwGuiCtrl : 10|3@1+ (1.0,0.0) [0.0|63.0] "" CLU,Dummy + SG_ CF_Gway_CLUSwGroup : 13|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_CLUSwMode : 14|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_CLUSwEnter : 15|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_AutoLightValue : 16|1@1+ (1.0,0.0) [0.0|1.0] "" LCA,LCA + SG_ CF_Gway_BrakeFluidSw : 17|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_DrvSeatBeltInd : 18|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_AvTail : 20|1@1+ (1.0,0.0) [0.0|3.0] "" CLU,SNV,SNV + SG_ CF_Gway_RearFogAct : 21|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_ExtTailAct : 22|1@1+ (1.0,0.0) [0.0|1.0] "" AVM,CLU,LCA,PGS,SPAS,AVM,LCA,PGS,SPAS + SG_ CF_Gway_RRDrSw : 23|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_RLDrSw : 24|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_IntTailAct : 25|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_CountryCfg : 26|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,PGS,Dummy + SG_ CF_Gway_WiperParkPosition : 32|1@1+ (1.0,0.0) [0.0|1.0] "" AFLS,EMS,LDWS_LKAS,AFLS,EMS,LDWS_LKAS + SG_ CF_Gway_HLLowLHFail : 33|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS,SNV,LDWS_LKAS,SNV + SG_ CF_Gway_HLLowRHFail : 34|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS,SNV,LDWS_LKAS,SNV + SG_ CF_Gway_ESCLFailWarn : 35|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_ESCLNotLockedWarn : 36|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_ESCLNotUnlockWarn : 37|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_IDoutWarn : 38|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_ImmoLp : 40|1@1+ (1.0,0.0) [0.0|3.0] "" CLU,Dummy + SG_ CF_Gway_BCMRKEID : 41|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,Dummy + SG_ CF_Gway_VehicleNotPWarn : 44|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_DeactivationWarn : 45|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_KeyBATDischargeWarn : 46|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_SSBWarn : 47|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_SMKFobID : 48|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,Dummy + SG_ CF_Gway_SMKRKECmd : 51|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,Dummy + SG_ CF_Gway_AutoLightOption : 54|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_SJBDeliveryMode : 55|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_KeyoutLp : 56|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_SMKDispWarn : 57|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,Dummy + SG_ CF_Gway_WngBuz : 61|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,Dummy + +BO_ 339 TCS11: 8 ESC + SG_ TCS_REQ : 0|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB,TCU + SG_ MSR_C_REQ : 1|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,EPB,SCC,TCU + SG_ TCS_PAS : 2|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,EMS,SCC,SPAS,TCU + SG_ TCS_GSC : 3|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,TCU + SG_ CF_Esc_LimoInfo : 4|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,SCC + SG_ ABS_DIAG : 6|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,EMS,EPB + SG_ ABS_DEF : 7|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,ECS,EMS,EPB,SCC,SPAS,TCU + SG_ TCS_DEF : 8|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB,SCC,SPAS,TCU + SG_ TCS_CTL : 9|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB,SCC,SPAS,TCU + SG_ ABS_ACT : 10|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,ECS,EMS,EPB,LDWS_LKAS,SCC,SPAS,TCU + SG_ EBD_DEF : 11|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB,SPAS,TCU + SG_ ESP_PAS : 12|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,CLU,EMS,EPB,LDWS_LKAS,SCC,TCU + SG_ ESP_DEF : 13|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,ECS,EMS,EPB,LDWS_LKAS,SCC,TCU + SG_ ESP_CTL : 14|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,ECS,EMS,EPB,LDWS_LKAS,SCC,SPAS,TCU + SG_ TCS_MFRN : 15|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,EPB,TCU + SG_ DBC_CTL : 16|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB + SG_ DBC_PAS : 17|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB + SG_ DBC_DEF : 18|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB + SG_ HAC_CTL : 19|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,EMS,EPB,TCU + SG_ HAC_PAS : 20|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,EMS,EPB,TCU + SG_ HAC_DEF : 21|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,EMS,EPB,TCU + SG_ ESS_STAT : 22|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,BCM,CLU,EMS,EPB + SG_ TQI_TCS : 24|8@1+ (0.390625,0.0) [0.0|99.609375] "%" EMS,EPB,TCU + SG_ TQI_MSR : 32|8@1+ (0.390625,0.0) [0.0|99.609375] "%" EMS,EPB,TCU + SG_ TQI_SLW_TCS : 40|8@1+ (0.390625,0.0) [0.0|99.609375] "%" EMS,EPB,TCU + SG_ CF_Esc_BrkCtl : 48|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ BLA_CTL : 49|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CGW,CLU + SG_ AliveCounter_TCS1 : 52|4@1+ (1.0,0.0) [0.0|14.0] "" EMS,EPB,LDWS_LKAS + SG_ CheckSum_TCS1 : 56|8@1+ (1.0,0.0) [0.0|255.0] "" EMS,EPB,LDWS_LKAS + +BO_ 1362 SNV11: 4 SNV + SG_ CF_SNV_DisplayControl : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,HUD + SG_ CF_Snv_BeepWarning : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,HUD + SG_ CF_Snv_WarningMessage : 4|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,HUD + SG_ CF_Snv_DetectionEnable : 7|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU,HUD + SG_ CF_Snv_PedestrianDetect : 8|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU,HUD + SG_ CF_Snv_IRLampControl : 10|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU,HUD + +BO_ 593 MDPS12: 8 MDPS + SG_ CR_Mdps_StrColTq : 0|11@1+ (1.0,-1024.0) [-1024.0|1024.0] "" LDWS_LKAS + SG_ CF_Mdps_Def : 11|1@1+ (1.0,0.0) [0.0|1.0] "" ESC + SG_ CF_Mdps_ToiUnavail : 12|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS + SG_ CF_Mdps_ToiActive : 13|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS + SG_ CF_Mdps_ToiFlt : 14|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS + SG_ CF_Mdps_FailStat : 15|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS + SG_ CF_Mdps_MsgCount2 : 16|8@1+ (1.0,0.0) [0.0|255.0] "" ESC,LDWS_LKAS + SG_ CF_Mdps_Chksum2 : 24|8@1+ (1.0,0.0) [0.0|255.0] "" ESC,LDWS_LKAS + SG_ CF_Mdps_SErr : 37|1@1+ (1.0,0.0) [0.0|1.0] "" ESC + SG_ CR_Mdps_StrTq : 40|12@1+ (0.01,-20.48) [-20.48|20.47] "Nm" ESC + SG_ CR_Mdps_OutTq : 52|12@1+ (0.1,-204.8) [-204.8|204.7] "" ESC,LDWS_LKAS + +BO_ 1360 IAP11: 3 IAP + SG_ CF_Iap_EcoPmodSwi : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Iap_EcoPmodAct : 1|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Iap_ReqWarn : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1356 TCU_DCT14: 8 TCU + SG_ Vehicle_Stop_Time : 0|5@1+ (1.0,0.0) [0.0|0.0] "" CLU + SG_ HILL_HOLD_WARNING : 5|1@1+ (1.0,0.0) [0.0|0.0] "" CLU + +BO_ 1353 BAT11: 8 EMS + SG_ BAT_SNSR_I : 0|16@1+ (0.01,-327.0) [-327.0|328.0] "A" CGW,CUBIS,IBOX,TMU + SG_ BAT_SOC : 16|8@1+ (1.0,0.0) [0.0|100.0] "%" CGW,CUBIS,IBOX,TMU + SG_ BAT_SNSR_V : 24|14@1+ (0.0010,6.0) [6.0|18.0] "V" CGW,CUBIS,IBOX,TMU + SG_ BAT_SNSR_Temp : 38|9@1- (0.5,-40.0) [-40.0|125.0] "deg" CGW,CUBIS,IBOX,TMU + SG_ BAT_SNSR_State : 47|1@1+ (1.0,0.0) [0.0|1.0] "" CGW,CUBIS,IBOX,TMU + SG_ BAT_SOH : 48|7@1+ (1.0,0.0) [0.0|100.0] "%" CGW,CUBIS,IBOX,TMU + SG_ BAT_SNSR_Invalid : 55|1@1+ (1.0,0.0) [0.0|1.0] "" CGW,CUBIS,IBOX,TMU + SG_ BAT_SOF : 56|7@1+ (0.1,0.0) [0.0|12.0] "V" CGW,CUBIS,IBOX,TMU + SG_ BAT_SNSR_Error : 63|1@1+ (1.0,0.0) [0.0|1.0] "" CGW,CUBIS,IBOX,TMU + +BO_ 1351 EMS15: 8 EMS + SG_ ECGPOvrd : 0|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,IBOX,SCC + SG_ QECACC : 1|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,IBOX + SG_ ECFail : 2|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,IBOX + SG_ SwitchOffCondExt : 3|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,IBOX + SG_ BLECFail : 4|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,IBOX + SG_ CF_Ems_IsaAct : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ FA_PV_CAN : 8|8@1+ (0.3906,0.0) [0.0|99.2] "%" IBOX,LDWS_LKAS,TCU + SG_ IntAirTemp : 16|8@1+ (0.75,-48.0) [-48.0|143.25] "deg" _4WD,ECS,EPB,IBOX,TCU + SG_ STATE_DC_OBD : 24|7@1+ (1.0,0.0) [0.0|127.0] "" IBOX,TCU + SG_ INH_DC_OBD : 31|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,TCU + SG_ CTR_IG_CYC_OBD : 32|16@1+ (1.0,0.0) [0.0|65535.0] "" ACU,IBOX,TCU + SG_ CTR_CDN_OBD : 48|16@1+ (1.0,0.0) [0.0|65535.0] "" IBOX,TCU + +BO_ 1350 DI_BOX12: 8 DI_BOX + SG_ CF_DiBox_FrtInjVDiagReg0 : 0|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_FrtInjVDiagReg1 : 8|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_FrtInjVDiagReg2 : 16|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_SedInjVDiagReg0 : 24|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_SedInjVDiagReg1 : 32|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_SedInjVDiagReg2 : 40|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CR_DiBox_BatVol : 48|8@1+ (0.1,0.0) [0.0|25.5] "V" EMS + SG_ CF_DiBox_SedInjVChg : 56|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_DiBox_FrtInjVChg : 57|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_DiBox_SedInjVErrSPI : 58|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_DiBox_FrtInjVErrSPI : 59|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + +BO_ 1349 EMS14: 8 EMS + SG_ IMMO_LAMP_STAT : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ L_MIL : 1|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,CUBIS,IBOX + SG_ IM_STAT : 2|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ AMP_CAN : 3|5@1+ (10.731613,458.98) [458.98|791.660003] "mmHg" CLU,IBOX,TCU,TPMS + SG_ BAT_Alt_FR_Duty : 8|8@1+ (0.4,0.0) [0.0|100.0] "%" CGW,CUBIS,IBOX,TMU + SG_ VB : 24|8@1+ (0.1015625,0.0) [0.0|25.8984375] "V" CLU,CUBIS,DATC,EPB,FPCM,IBOX + SG_ EMS_VS : 32|12@1+ (0.0625,0.0) [0.0|255.875] "km/h" CLU + SG_ TEMP_FUEL : 56|8@1+ (0.75,-48.0) [-48.0|143.25] "deg" FPCM + +BO_ 68 DATC11: 8 DATC + SG_ CF_Datc_Type : 0|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ CF_Datc_VerMaj : 8|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ CF_Datc_VerMin : 16|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ CR_Datc_OutTempC : 24|8@1+ (0.5,-41.0) [-41.0|86.5] "deg" CLU,FPCM + SG_ CR_Datc_OutTempF : 32|8@1+ (1.0,-42.0) [-42.0|213.0] "deg" CLU + SG_ CF_Datc_IncarTemp : 40|8@1+ (0.5,-40.0) [-40.0|60.0] "deg" BCM,CLU + +BO_ 67 DATC13: 8 DATC + SG_ CF_Datc_TempDispUnit : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,IBOX + SG_ CF_Datc_ModDisp : 2|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ CF_Datc_IonClean : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_ChgReqDisp : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_IntakeDisp : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_AutoDisp : 12|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_FrDefLed : 14|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,IBOX + SG_ CF_Datc_AutoDefogBlink : 16|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_ClmScanDisp : 18|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_AqsDisp : 20|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_AcDisp : 22|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_OpSts : 25|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Mtc_MaxAcDisp : 28|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_DualDisp : 30|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_PwrInf : 32|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ CF_Datc_RearManual : 38|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_RearAutoDisp : 40|2@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Datc_RearOffDisp : 42|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_RearClimateScnDisp : 44|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_RearChgReqDisp : 46|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_RearModDisp : 48|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ CF_Datc_RearBlwDisp : 52|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ CF_Datc_PSModDisp : 56|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ CF_Datc_FrontBlwDisp : 60|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,IBOX + +BO_ 66 DATC12: 8 DATC + SG_ CR_Datc_DrTempDispC : 0|8@1+ (0.5,14.0) [15.0|32.0] "deg" CLU,IBOX + SG_ CR_Datc_DrTempDispF : 8|8@1+ (1.0,56.0) [58.0|90.0] "deg" CLU,IBOX + SG_ CR_Datc_PsTempDispC : 16|8@1+ (0.5,14.0) [15.0|32.0] "deg" CLU,IBOX + SG_ CR_Datc_PsTempDispF : 24|8@1+ (1.0,56.0) [58.0|90.0] "deg" CLU,IBOX + SG_ CR_Datc_RearDrTempDispC : 40|8@1+ (0.5,14.0) [15.0|32.0] "deg" CLU + SG_ CR_Datc_RearDrTempDispF : 48|8@1+ (1.0,58.0) [58.0|90.0] "deg" CLU + SG_ CF_Datc_CO2_Warning : 56|8@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1345 CGW1: 8 BCM + SG_ CF_Gway_IGNSw : 0|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,ECS,EMS,EPB,ESC,IBOX,LVR,MDPS,SAS,SCC,ECS,EMS,EPB,ESC,IBOX,LVR,MDPS,SAS,SCC + SG_ CF_Gway_RKECmd : 3|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,ECS,EMS,IBOX,ECS,EMS,IBOX + SG_ CF_Gway_DrvKeyLockSw : 6|1@1+ (1.0,0.0) [0.0|1.0] "" ECS,EMS,IBOX,ECS,EMS,IBOX + SG_ CF_Gway_DrvKeyUnlockSw : 7|1@1+ (1.0,0.0) [0.0|1.0] "" ECS,EMS,IBOX,ECS,EMS,IBOX + SG_ CF_Gway_DrvDrSw : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ECS,EMS,EPB,ESC,IBOX,SCC,TCU,ECS,EMS,EPB,ESC,IBOX,SCC,TCU + SG_ CF_Gway_DrvSeatBeltSw : 10|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,EPB,ESC,IBOX,PSB,TCU,EMS,EPB,ESC,IBOX,PSB,TCU + SG_ CF_Gway_TrunkTgSw : 12|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ECS,EMS,EPB,ESC,IBOX,ECS,EMS,EPB,ESC,IBOX + SG_ CF_Gway_AstSeatBeltSw : 14|2@1+ (1.0,0.0) [0.0|3.0] "" IBOX,PSB,IBOX,PSB + SG_ CF_Gway_SMKOption : 16|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,IBOX,EMS,IBOX,SMK + SG_ CF_Gway_HoodSw : 17|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,EMS,EPB,ESC,IBOX,EMS,EPB,ESC,IBOX + SG_ CF_Gway_TurnSigLh : 19|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,EMS,IBOX,LCA,LDWS_LKAS,SCC,EMS,IBOX,LCA,LDWS_LKAS,SCC + SG_ CF_Gway_WiperIntT : 21|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,EMS,IBOX,LDWS_LKAS,EMS,ESC,IBOX,LDWS_LKAS + SG_ CF_Gway_WiperIntSw : 24|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,IBOX,LDWS_LKAS,EMS,ESC,IBOX,LDWS_LKAS + SG_ CF_Gway_WiperLowSw : 25|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,IBOX,LDWS_LKAS,EMS,ESC,IBOX,LDWS_LKAS + SG_ CF_Gway_WiperHighSw : 26|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,IBOX,LDWS_LKAS,EMS,ESC,IBOX,LDWS_LKAS + SG_ CF_Gway_WiperAutoSw : 27|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,IBOX,LDWS_LKAS,EMS,ESC,IBOX,LDWS_LKAS + SG_ CF_Gway_RainSnsState : 28|3@1+ (1.0,0.0) [0.0|7.0] "" AFLS,EMS,IBOX,LDWS_LKAS,AFLS,EMS,ESC,IBOX,LDWS_LKAS + SG_ CF_Gway_HeadLampLow : 31|1@1+ (1.0,0.0) [0.0|1.0] "" AFLS,CLU,EMS,IBOX,LDWS_LKAS,SNV,AFLS,EMS,IBOX,LDWS_LKAS,SNV + SG_ CF_Gway_HeadLampHigh : 32|1@1+ (1.0,0.0) [0.0|1.0] "" AFLS,CLU,EMS,IBOX,LDWS_LKAS,AFLS,EMS,IBOX,LDWS_LKAS + SG_ CF_Gway_HazardSw : 33|2@1+ (1.0,0.0) [0.0|3.0] "" ABS,EMS,ESC,IBOX,LCA,LDWS_LKAS,ABS,EMS,ESC,IBOX,LCA,LDWS_LKAS + SG_ CF_Gway_AstDrSw : 35|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX,IBOX + SG_ CF_Gway_DefoggerRly : 36|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX,EMS,IBOX + SG_ CF_Gway_ALightStat : 37|1@1+ (1.0,0.0) [0.0|1.0] "" AFLS,IBOX,LDWS_LKAS,AFLS,IBOX,LDWS_LKAS + SG_ CF_Gway_LightSwState : 38|2@1+ (1.0,0.0) [0.0|3.0] "" AFLS,IBOX,LDWS_LKAS,AFLS,IBOX,LDWS_LKAS + SG_ CF_Gway_Frt_Fog_Act : 40|1@1+ (1.0,0.0) [0.0|1.0] "" AFLS,CLU,IBOX,LDWS_LKAS,AFLS,IBOX,LDWS_LKAS + SG_ CF_Gway_TSigRHSw : 41|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,LDWS_LKAS,IBOX,LDWS_LKAS + SG_ CF_Gway_TSigLHSw : 42|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,LDWS_LKAS,IBOX,LDWS_LKAS + SG_ CF_Gway_DriveTypeOption : 43|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX,LDWS_LKAS,IBOX,LDWS_LKAS + SG_ CF_Gway_StarterRlyState : 44|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX,EMS,IBOX,SMK + SG_ CF_Gway_PassiveAccessLock : 45|2@1+ (1.0,0.0) [0.0|7.0] "" CLU,ECS,EMS,IBOX,ECS,EMS,IBOX,SMK + SG_ CF_Gway_WiperMistSw : 47|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,IBOX,LDWS_LKAS + SG_ CF_Gway_PassiveAccessUnlock : 48|2@1+ (1.0,0.0) [0.0|7.0] "" CLU,ECS,EMS,IBOX,ECS,EMS,IBOX,SMK + SG_ CF_Gway_RrSunRoofOpenState : 50|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,DATC,IBOX + SG_ CF_Gway_PassingSW : 51|1@1+ (1.0,0.0) [0.0|1.0] "" AFLS,IBOX,LDWS_LKAS,AFLS,IBOX,LDWS_LKAS + SG_ CF_Gway_HBAControlMode : 52|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,LDWS_LKAS,IBOX,LDWS_LKAS + SG_ CF_Gway_HLpHighSw : 53|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,LDWS_LKAS,IBOX,LDWS_LKAS + SG_ CF_Gway_InhibitRMT : 54|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,EPB,ESC,IBOX,LCA,LDWS_LKAS,MDPS,PGS,SCC,SPAS,TPMS,EPB,ESC,IBOX,LCA,LDWS_LKAS,PGS,SCC,SPAS,TPMS + SG_ CF_Gway_RainSnsOption : 56|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_SunRoofOpenState : 57|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,DATC,IBOX,DATC,IBOX + SG_ CF_Gway_Ign1 : 58|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_Ign2 : 59|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_ParkBrakeSw : 60|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ESC,IBOX,SCC,ESC,IBOX,SCC + SG_ CF_Gway_TurnSigRh : 62|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,EMS,IBOX,LCA,LDWS_LKAS,SCC,EMS,IBOX,LCA,LDWS_LKAS,SCC + +BO_ 64 DATC14: 8 DATC + SG_ CF_Datc_AqsLevelOut : 0|4@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_DiagMode : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CR_Datc_SelfDiagCode : 8|8@1+ (1.0,-1.0) [0.0|254.0] "" CLU + SG_ DATC_SyncDisp : 16|4@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ DATC_OffDisp : 20|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ DATC_SmartVentDisp : 22|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ DATC_SmartVentOnOffStatus : 24|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ DATC_AutoDefogSysOff_Disp : 26|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ DATC_ADSDisp : 28|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 832 LKAS11: 8 LDWS_LKAS + SG_ CF_Lkas_LdwsActivemode : 0|2@1+ (1,0) [0|3] "" CLU,IBOX,PSB + SG_ CF_Lkas_LdwsSysState : 2|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,IBOX,PSB + SG_ CF_Lkas_SysWarning : 6|4@1+ (1.0,0.0) [0.0|15.0] "" BCM,CLU + SG_ CF_Lkas_LdwsLHWarning : 10|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU,PSB + SG_ CF_Lkas_LdwsRHWarning : 12|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU,PSB + SG_ CF_Lkas_HbaLamp : 14|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Lkas_FcwBasReq : 15|1@1+ (1.0,0.0) [0.0|1.0] "" ABS,ESC + SG_ CR_Lkas_StrToqReq : 16|11@1+ (1.0,-1024.0) [-1024.0|1024.0] "" MDPS + SG_ CF_Lkas_ActToi : 27|1@1+ (1.0,0.0) [0.0|1.0] "" MDPS + SG_ CF_Lkas_ToiFlt : 28|1@1+ (1.0,0.0) [0.0|1.0] "" MDPS + SG_ CF_Lkas_HbaSysState : 29|3@1+ (1.0,0.0) [0.0|7.0] "" BCM,CLU + SG_ CF_Lkas_FcwOpt : 32|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Lkas_HbaOpt : 34|2@1+ (1.0,0.0) [0.0|1.0] "" BCM,CGW + SG_ CF_Lkas_MsgCount : 36|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,MDPS + SG_ CF_Lkas_FcwSysState : 40|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Lkas_FcwCollisionWarning : 43|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Lkas_FusionState : 45|2@1+ (1.0,0.0) [0.0|3.0] "" SCC + SG_ CF_Lkas_Unknown1 : 47|1@1+ (1.0,0.0) [0.0|1.0] "" XXX + SG_ CF_Lkas_Chksum : 48|8@1+ (1.0,0.0) [0.0|255.0] "" MDPS + SG_ CF_Lkas_FcwOpt_USM : 56|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Lkas_LdwsOpt_USM : 59|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,MDPS + SG_ CF_Lkas_Unknown2 : 62|2@1+ (1.0,0.0) [0.0|1.0] "" XXX + +BO_ 1342 LKAS12: 6 LDWS_LKAS + SG_ CF_Lkas_TsrSlifOpt : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_LkasTsrStatus : 12|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Lkas_TsrSpeed_Display_Clu : 16|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ CF_LkasTsrSpeed_Display_Navi : 24|8@1+ (1.0,0.0) [0.0|255.0] "" BCM,CLU + SG_ CF_Lkas_TsrAddinfo_Display : 32|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_LkasDawStatus : 40|3@1+ (1,0) [0|7] "" CLU + SG_ CF_Lkas_Daw_USM : 37|3@1+ (1,0) [0|7] "" CLU + +BO_ 1338 TMU_GW_E_01: 8 CLU + SG_ CF_Gway_TeleReqDrLock : 0|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Gway_TeleReqDrUnlock : 2|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Gway_TeleReqHazard : 4|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Gway_TeleReqHorn : 6|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Gway_TeleReqEngineOperate : 8|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + +BO_ 1078 PAS11: 4 BCM + SG_ CF_Gway_PASDisplayFLH : 0|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,AVM + SG_ CF_Gway_PASDisplayFRH : 3|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,AVM + SG_ CF_Gway_PASRsound : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,Dummy + SG_ CF_Gway_PASDisplayFCTR : 8|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,AVM + SG_ CF_Gway_PASDisplayRCTR : 11|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,PGS,AVM + SG_ CF_Gway_PASFsound : 14|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,Dummy + SG_ CF_Gway_PASDisplayRLH : 16|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,PGS,AVM + SG_ CF_Gway_PASDisplayRRH : 19|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,PGS,AVM + SG_ CF_Gway_PASCheckSound : 22|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,Dummy + SG_ CF_Gway_PASSystemOn : 24|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,Dummy + SG_ CF_Gway_PASOption : 26|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_PASDistance : 28|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + +BO_ 48 EMS18: 6 EMS + SG_ CF_Ems_DC1NumPerMSV : 0|8@1+ (1.0,0.0) [0.0|255.0] "" DI_BOX + SG_ CF_Ems_DC2NumPerMSV : 8|16@1+ (1.0,0.0) [0.0|65535.0] "" DI_BOX + SG_ CR_Ems_DutyCyc1MSV : 24|8@1+ (0.1953,0.0) [0.0|49.8] "%" DI_BOX + SG_ CR_Ems_DutyCyc2MSV : 32|8@1+ (0.13725,0.0) [0.0|35.0] "%" DI_BOX + SG_ CR_Ems_DutyCyc3MSV : 40|8@1+ (0.392,0.0) [0.0|100.0] "%" DI_BOX + +BO_ 1322 CLU15: 8 CLU + SG_ CF_Clu_VehicleSpeed : 0|8@1+ (1.0,0.0) [0.0|255.0] "" BCM + SG_ CF_Clu_Gear : 9|4@1+ (1,0) [0|15] "" BCM + SG_ CF_Clu_HudInfoSet : 13|7@1+ (1.0,0.0) [0.0|127.0] "" HUD + SG_ CF_Clu_HudFontColorSet : 20|2@1+ (1.0,0.0) [0.0|3.0] "" HUD + SG_ CF_Clu_HudBrightUpSW : 22|2@1+ (1.0,0.0) [0.0|3.0] "" HUD + SG_ CF_Clu_HudBrightDnSW : 24|2@1+ (1.0,0.0) [0.0|3.0] "" HUD + SG_ CF_Clu_HudHeightUpSW : 26|2@1+ (1.0,0.0) [0.0|3.0] "" HUD + SG_ CF_Clu_HudHeightDnSW : 28|2@1+ (1.0,0.0) [0.0|3.0] "" HUD + SG_ CF_Clu_HudSet : 30|1@1+ (1.0,0.0) [0.0|1.0] "" HUD + SG_ CF_Clu_HudFontSizeSet : 31|2@1+ (1.0,0.0) [0.0|3.0] "" HUD + SG_ CF_Clu_LanguageInfo : 33|5@1+ (1.0,0.0) [0.0|31.0] "" BCM,PGS + SG_ CF_Clu_ClusterSound : 38|1@1- (1.0,0.0) [0.0|0.0] "" BCM,CGW,FATC + SG_ CF_Clu_VehicleSpeed2 : 48|8@1+ (1,0) [0|255] "" XXX + +BO_ 1066 _4WD13: 6 _4WD + SG_ _4WD_CURRENT : 0|8@1+ (0.390625,0.0) [-50.0|50.0] "A" TCU + SG_ _4WD_POSITION : 8|16@1+ (0.015625,0.0) [-180.0|180.0] "Deg" TCU + SG_ _4WD_CLU_THERM_STR : 24|8@1+ (1.0,0.0) [0.0|100.0] "%" TCU + SG_ _4WD_STATUS : 32|8@1+ (1.0,0.0) [0.0|15.0] "" ESC,TCU + +BO_ 1065 _4WD12: 8 _4WD + SG_ Ster_Pos : 0|16@1+ (1.0,-600.0) [-600.0|600.0] "Deg" ESC + SG_ FRSS : 16|8@1+ (1.0,0.0) [0.0|254.0] "km/h" ESC + SG_ FLSS : 24|8@1+ (1.0,0.0) [0.0|254.0] "km/h" ESC + SG_ RRSS : 32|8@1+ (1.0,0.0) [0.0|254.0] "km/h" ESC + SG_ RLSS : 40|8@1+ (1.0,0.0) [0.0|254.0] "km/h" ESC + SG_ CLU_PRES : 48|16@1+ (0.0625,-50.0) [-50.0|50.0] "Bar" ESC + +BO_ 809 EMS12: 8 EMS + SG_ CONF_TCU m1 : 0|6@1+ (1.0,0.0) [0.0|63.0] "" _4WD,ACU,BCM,CLU,DATC,EPB,ESC,IBOX,LCA,SMK + SG_ CAN_VERS m0 : 0|6@1+ (1.0,0.0) [0.0|7.7] "" _4WD,ABS,ESC,IBOX + SG_ TQ_STND m3 : 0|6@1+ (10.0,0.0) [0.0|630.0] "Nm" _4WD,DATC,ECS,EPB,ESC,FATC,IBOX + SG_ OBD_FRF_ACK m2 : 0|6@1+ (1.0,0.0) [0.0|63.0] "" _4WD,ESC,IBOX + SG_ MUL_CODE M : 6|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,ABS,ACU,BCM,CLU,DATC,ECS,EPB,ESC,IBOX,LCA,SMK,TCU + SG_ TEMP_ENG : 8|8@1+ (0.75,-48.0) [-48.0|143.25] "deg" _4WD,BCM,CLU,DATC,EPB,ESC,IBOX,SMK,TCU + SG_ MAF_FAC_ALTI_MMV : 16|8@1+ (0.00781,0.0) [0.0|1.99155] "" IBOX,TCU + SG_ VB_OFF_ACT : 24|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,TCU + SG_ ACK_ES : 25|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,IBOX + SG_ CONF_MIL_FMY : 26|3@1+ (1.0,0.0) [0.0|7.0] "" ESC,IBOX,TCU + SG_ OD_OFF_REQ : 29|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,TCU + SG_ ACC_ACT : 30|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ABS,CLU,ESC,IAP,IBOX,SCC,TCU + SG_ CLU_ACK : 31|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EPB,ESC,IBOX + SG_ BRAKE_ACT : 32|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,ABS,ACU,AFLS,CLU,DATC,ECS,EPB,ESC,IBOX,LDWS_LKAS,TCU + SG_ ENG_CHR : 34|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,ABS,ACU,CLU,DATC,EPB,ESC,FATC,IBOX,SCC,SMK,TCU + SG_ GP_CTL : 38|2@1+ (1.0,0.0) [0.0|3.0] "" IBOX + SG_ TPS : 40|8@1+ (0.4694836,-15.0234742) [-15.0234742|104.6948357] "%" _4WD,ABS,ACU,CLU,DATC,ECS,EPB,ESC,IBOX,TCU + SG_ PV_AV_CAN : 48|8@1+ (0.3906,0.0) [0.0|99.603] "%" _4WD,AAF,ABS,ACU,AFLS,CLU,DATC,EPB,ESC,IAP,IBOX,LDWS_LKAS,SCC,TCU + SG_ ENG_VOL : 56|8@1+ (0.1,0.0) [0.0|25.5] "liter" _4WD,ABS,ACU,BCM,CLU,DATC,EPB,ESC,IBOX,LDWS_LKAS,SCC,SMK + +BO_ 1064 _4WD11: 8 _4WD + SG_ _4WD_TYPE : 0|2@1+ (1.0,0.0) [0.0|3.0] "" ACU,ESC,TPMS + SG_ _4WD_SUPPORT : 2|2@1+ (1.0,0.0) [0.0|3.0] "" ABS,ESC,TPMS + SG_ _4WD_ERR : 8|8@1+ (1.0,0.0) [0.0|255.0] "" CLU,ESC + SG_ CLU_DUTY : 16|8@1+ (1.0,0.0) [0.0|64.0] "%" ABS,ESC + SG_ R_TIRE : 24|8@1+ (1.0,200.0) [200.0|455.0] "mm" ABS,ESC,TPMS + SG_ _4WD_SW : 32|8@1+ (1.0,0.0) [0.0|9.9] "" ESC + SG_ _2H_ACT : 40|1@1+ (1.0,0.0) [0.0|1.0] "" ABS,ESC + SG_ _4H_ACT : 41|1@1+ (1.0,0.0) [0.0|1.0] "" ABS,CLU,ESC,TPMS + SG_ LOW_ACT : 42|1@1+ (1.0,0.0) [0.0|1.0] "" ABS,ESC,TCU,TPMS + SG_ AUTO_ACT : 43|1@1+ (1.0,0.0) [0.0|1.0] "" ABS,ESC,TPMS + SG_ LOCK_ACT : 44|1@1+ (1.0,0.0) [0.0|1.0] "" ABS,CLU,ESC,TPMS + SG_ _4WD_TQC_CUR : 48|16@1+ (1.0,0.0) [0.0|65535.0] "Nm" ABS,ESC + +BO_ 1319 HU_GW_E_01: 8 CLU + SG_ C_ADrLNValueSet : 0|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + SG_ C_ADrUNValueSet : 4|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + SG_ C_TwUnNValueSet : 8|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_ABuzzerNValueSet : 10|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_ArmWKeyNValueSet : 12|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_PSMNValueSet : 14|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_SCMNValueSet : 16|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_HLEscortNValueSet : 18|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_WELNValueSet : 20|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_TriTurnLNValueSet : 22|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_SNVWarnNValueSet : 24|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_LkasWarnNValueSet : 26|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + +BO_ 1318 HU_GW_E_00: 8 CLU + SG_ C_ADrLURValueReq : 0|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_TwUnRValueReq : 2|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_AlarmRValueReq : 4|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_IMSRValueReq : 6|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_HLEscortRValueReq : 8|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_WELRValueReq : 10|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_TriTurnLRValueReq : 12|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_SNVWarnRValueReq : 14|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_LkasWarnRValueReq : 16|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + +BO_ 1317 GW_HU_E_01: 8 BCM + SG_ C_ADrLRValue : 0|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ C_ADrURValue : 4|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ C_TwUnRValue : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_ABuzzerRValue : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_ArmWKeyRValue : 12|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_PSMRValue : 14|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_SCMRValue : 16|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_HLEscortRValue : 18|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_WELRValue : 20|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_TriTurnLRValue : 22|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1316 GW_HU_E_00: 8 BCM + SG_ C_ADrLUNValueConf : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_TwUnNValueConf : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_AlarmNValueConf : 4|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_PSMNValueConf : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_SCMNValueConf : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_HLEscortNValueConf : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_WELNValueConf : 12|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_TriTurnLNValueConf : 14|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1315 GW_SWRC_PE: 8 BCM + SG_ C_ModeSW : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_MuteSW : 4|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_SeekDnSW : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_SeekUpSW : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_BTPhoneCallSW : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_BTPhoneHangUpSW : 12|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_DISCDownSW : 14|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_DISCUpSW : 16|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_SdsSW : 18|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_MTSSW : 20|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_VolDnSW : 22|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_VolUpSW : 24|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1314 GW_IPM_PE_1: 8 BCM + SG_ C_AV_Tail : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_ParkingBrakeSW : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_RKECMD : 4|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ C_BAState : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_IGNSW : 12|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ C_CountryCfg : 16|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ C_TailLampActivity : 26|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ RearSW_RSELockOnOff : 28|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_SMKTeleCrankingState : 32|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_SMKTeleCrankingFailRes : 34|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1057 SCC12: 8 SCC + SG_ CF_VSM_Prefill : 0|1@1+ (1,0) [0|1] "" ESC + SG_ CF_VSM_DecCmdAct : 1|1@1+ (1,0) [0|1] "" ESC + SG_ CF_VSM_HBACmd : 2|2@1+ (1,0) [0|3] "" ESC + SG_ CF_VSM_Warn : 4|2@1+ (1,0) [0|3] "" CLU,ESC,IAP + SG_ CF_VSM_Stat : 6|2@1+ (1,0) [0|3] "" CLU,ESC,PSB + SG_ CF_VSM_BeltCmd : 8|3@1+ (1,0) [0|7] "" ESC,PSB + SG_ ACCFailInfo : 11|2@1+ (1,0) [0|3] "" CLU,CUBIS,ESC,IBOX + SG_ ACCMode : 13|2@1+ (1,0) [0|3] "" CLU,ESC,IBOX,TCU + SG_ StopReq : 15|1@1+ (1,0) [0|1] "" EPB,ESC + SG_ CR_VSM_DecCmd : 16|8@1+ (0.01,0) [0|2.55] "g" ESC + SG_ TakeOverReq : 35|1@1+ (1,0) [0|1] "" CLU,ESC,TCU + SG_ PreFill : 36|1@1+ (1,0) [0|1] "" ESC,TCU + SG_ CF_VSM_ConfMode : 48|2@1+ (1,0) [0|3] "" CLU,ESC + SG_ AEB_Failinfo : 50|2@1+ (1,0) [0|3] "" CLU,ESC + SG_ AEB_Status : 52|2@1+ (1,0) [0|3] "" CLU,ESC + SG_ AEB_CmdAct : 54|1@1+ (1,0) [0|1] "" ESC + SG_ AEB_StopReq : 55|1@1+ (1,0) [0|1] "" CLU,ESC + SG_ CR_VSM_Alive : 56|4@1+ (1,0) [0|15] "" ESC,PSB + SG_ CR_VSM_ChkSum : 60|4@1+ (1,0) [0|15] "" ESC,PSB + SG_ aReqValue : 37|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" Vector__XXX + SG_ aReqRaw : 24|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" Vector__XXX + +BO_ 1313 GW_DDM_PE: 8 BCM + SG_ C_DRVDoorStatus : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_ASTDoorStatus : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_RLDoorStatus : 4|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_RRDoorStatus : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_TrunkStatus : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_OSMirrorStatus : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1056 SCC11: 8 SCC + SG_ MainMode_ACC : 0|1@1+ (1,0) [0|1] "" CLU,EMS,ESC + SG_ SCCInfoDisplay : 1|3@1+ (1,0) [0|7] "" CLU,ESC + SG_ AliveCounterACC : 4|4@1+ (1,0) [0|15] "" CLU,EMS,ESC,TCU + SG_ VSetDis : 8|8@1+ (1,0) [0|255] "km/h or MPH" CLU,ESC,TCU + SG_ ObjValid : 16|1@1+ (1,0) [0|1] "" CLU,ESC,TCU + SG_ DriverAlertDisplay : 17|2@1+ (1,0) [0|3] "" CLU,ESC + SG_ TauGapSet : 19|3@1+ (1,0) [0|7] "" CLU,ESC,TCU + SG_ Navi_SCC_Curve_Status : 56|2@1+ (1,0) [0|3] "" CLU + SG_ Navi_SCC_Curve_Act : 58|2@1+ (1,0) [0|3] "" CLU + SG_ Navi_SCC_Camera_Act : 60|2@1+ (1,0) [0|3] "" CLU + SG_ Navi_SCC_Camera_Status : 62|2@1+ (1,0) [0|3] "" CLU + SG_ ACC_ObjStatus : 22|2@1+ (1,0) [0|3] "" ABS,ESC + SG_ ACC_ObjLatPos : 24|9@1+ (0.1,-20) [-20|31.1] "m" ABS,ESC + SG_ ACC_ObjRelSpd : 44|12@1+ (0.1,-170) [-170|239.5] "m/s" ABS,ESC + SG_ ACC_ObjDist : 33|11@1+ (0.1,0) [0|204.7] "m" ABS,ESC + +BO_ 1312 CGW3: 8 BCM + SG_ CR_Photosensor_LH : 0|8@1+ (78.125,0.0) [0.0|20000.0] "" DATC,DATC + SG_ CR_Photosensor_RH : 10|8@1+ (78.125,0.0) [0.0|20000.0] "" DATC,DATC + SG_ CF_Hoodsw_memory : 22|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,EMS + SG_ C_MirOutTempSns : 24|8@1+ (0.5,-40.5) [-40.0|60.0] "deg" AAF,CLU,DATC,EMS,SPAS,AAF,DATC,EMS,SPAS + +BO_ 544 ESP12: 8 ESC + SG_ LAT_ACCEL : 0|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" _4WD,ECS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,TCU + SG_ LAT_ACCEL_STAT : 11|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,IBOX,LDWS_LKAS,MDPS,PSB,SCC,TCU + SG_ LAT_ACCEL_DIAG : 12|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,IBOX,LDWS_LKAS,MDPS,PSB,SCC,TCU + SG_ LONG_ACCEL : 13|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" _4WD,ECS,EMS,EPB,IBOX,LCA,LDWS_LKAS,PSB,SCC,SPAS,TCU + SG_ LONG_ACCEL_STAT : 24|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB,IBOX,LDWS_LKAS,PSB,SCC,SPAS,TCU + SG_ LONG_ACCEL_DIAG : 25|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB,IBOX,LDWS_LKAS,PSB,SCC,SPAS,TCU + SG_ CYL_PRES : 26|12@1+ (0.1,0.0) [0.0|409.5] "Bar" _4WD,ECS,EMS,EPB,IBOX,LDWS_LKAS,PSB,SCC,TCU + SG_ CYL_PRES_STAT : 38|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ECS,EMS,EPB,IBOX,LDWS_LKAS,PSB,SCC,TCU + SG_ CYL_PRESS_DIAG : 39|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ECS,EMS,EPB,IBOX,PSB,SCC,TCU + SG_ YAW_RATE : 40|13@1+ (0.01,-40.95) [-40.95|40.96] "" _4WD,AFLS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,SPAS,TCU + SG_ YAW_RATE_STAT : 53|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,AFLS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,SPAS,TCU + SG_ YAW_RATE_DIAG : 54|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,AFLS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,SPAS,TCU + SG_ ESP12_Checksum : 56|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,LPI,TCU,TMU + SG_ ESP12_AliveCounter : 60|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,LPI,TCU,TMU + +BO_ 1307 CLU16: 8 CLU + SG_ CF_Clu_TirePressUnitNValueSet : 0|3@1+ (1.0,0.0) [0.0|7.0] "" TPMS + SG_ CF_Clu_SlifNValueSet : 3|2@1+ (1.0,0.0) [0.0|3.0] "" LDWS_LKAS + SG_ CF_Clu_RearWiperNValueSet : 12|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + +BO_ 790 EMS11: 8 EMS + SG_ SWI_IGK : 0|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ABS,ACU,AHLS,CUBIS,DI_BOX,ECS,EPB,ESC,IBOX,LDWS_LKAS,MDPS,REA,SAS,SCC,TCU + SG_ F_N_ENG : 1|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,AFLS,CLU,CUBIS,DATC,ECS,EPB,ESC,IBOX,MDPS,SCC,TCU + SG_ ACK_TCS : 2|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,IBOX + SG_ PUC_STAT : 3|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,DATC,IBOX,TCU + SG_ TQ_COR_STAT : 4|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,ESC,IBOX,TCU + SG_ RLY_AC : 6|1@1+ (1.0,0.0) [0.0|1.0] "" DATC,IBOX,TCU + SG_ F_SUB_TQI : 7|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ECS,EPB,ESC,IBOX,TCU + SG_ TQI_ACOR : 8|8@1+ (0.390625,0.0) [0.0|99.6094] "%" _4WD,EPB,ESC,IBOX,TCU + SG_ N : 16|16@1+ (0.25,0.0) [0.0|16383.75] "rpm" _4WD,ACU,AFLS,CLU,CUBIS,DATC,ECS,EPB,ESC,FPCM,IBOX,MDPS,SCC,TCU + SG_ TQI : 32|8@1+ (0.390625,0.0) [0.0|99.6094] "%" _4WD,ECS,EPB,ESC,IBOX,TCU + SG_ TQFR : 40|8@1+ (0.390625,0.0) [0.0|99.6094] "%" _4WD,EPB,ESC,IBOX,TCU + SG_ VS : 48|8@1+ (1.0,0.0) [0.0|254.0] "km/h" _4WD,AAF,ACU,AHLS,BCM,CLU,DATC,ECS,EPB,IBOX,LCA,LDWS_LKAS,LVR,MDPS,ODS,SCC,SMK,SPAS,TCU,TPMS + SG_ RATIO_TQI_BAS_MAX_STND : 56|8@1+ (0.0078,0.0) [0.0|2.0] "" _4WD,IBOX,TCU + +BO_ 1301 CLU14: 8 CLU + SG_ CF_Clu_ADrUNValueSet : 0|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + SG_ CF_Clu_ADrLNValueSet : 3|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + SG_ CF_Clu_EscortHLNValueSet : 6|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Clu_DoorLSNValueSet : 8|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + SG_ CF_Clu_PSMNValueSet : 11|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + SG_ CF_Clu_TTUnlockNValueSet : 14|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Clu_PTGMNValueSet : 16|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Clu_SCMNValueSet : 18|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Clu_WlightNValueSet : 20|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Clu_TempUnitNValueSet : 22|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,DATC + SG_ CF_Clu_MoodLpNValueSet : 24|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + SG_ CF_Clu_TrfChgSet : 27|2@1+ (1.0,0.0) [0.0|3.0] "" AFLS + SG_ CF_Clu_OTTurnNValueSet : 29|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + SG_ CF_Clu_LcaNValueSet : 32|2@1+ (1.0,0.0) [0.0|3.0] "" LCA + SG_ CF_Clu_RctaNValueSet : 34|2@1+ (1.0,0.0) [0.0|3.0] "" LCA + SG_ CF_Clu_RcwNValueSet : 36|2@1+ (1.0,0.0) [0.0|3.0] "" LCA + SG_ CF_Clu_EscOffNValueSet : 38|3@1+ (1.0,0.0) [0.0|7.0] "" ESC + SG_ CF_Clu_SccNaviCrvNValueSet : 41|2@1+ (1.0,0.0) [0.0|3.0] "" SCC + SG_ CF_Clu_SccNaviCamNValueSet : 43|2@1+ (1.0,0.0) [0.0|3.0] "" SCC + SG_ CF_Clu_SccAebNValueSet : 45|2@1+ (1.0,0.0) [0.0|3.0] "" SCC + SG_ CF_Clu_LkasModeNValueSet : 47|2@1+ (1.0,0.0) [0.0|3.0] "" LDWS_LKAS + SG_ CF_Clu_FcwNValueSet : 51|2@1+ (1.0,0.0) [0.0|3.0] "" LDWS_LKAS + SG_ CF_Clu_PasSpkrLvNValueSet : 53|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + SG_ CF_Clu_SccDrvModeNValueSet : 56|3@1+ (1.0,0.0) [0.0|7.0] "" SCC + SG_ CF_Clu_HAnBNValueSet : 59|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Clu_HfreeTrunkTgNValueSet : 61|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + +BO_ 275 TCU13: 8 TCU + SG_ N_TGT_LUP : 0|8@1+ (10.0,500.0) [500.0|3040.0] "rpm" EMS,IBOX + SG_ SLOPE_TCU : 8|6@1+ (0.5,-16.0) [-16.0|15.5] "%" CLU,CUBIS,EMS,IBOX + SG_ CF_Tcu_InhCda : 14|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Tcu_IsgInhib : 15|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Tcu_BkeOnReq : 16|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,IBOX + SG_ CF_Tcu_NCStat : 18|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,IBOX + SG_ CF_Tcu_TarGr : 20|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,CLU,DATC,EMS,EPB,ESC,IBOX,SCC + SG_ CF_Tcu_ShfPatt : 24|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,CUBIS,EMS,IBOX + SG_ CF_Tcu_InhVis : 28|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Tcu_PRelReq : 29|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,LVR + SG_ CF_Tcu_ITPhase : 30|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Tcu_ActEcoRdy : 31|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Tcu_TqGrdLim : 32|8@1+ (10.0,0.0) [0.0|2540.0] "Nm/s" EMS,IBOX + SG_ CR_Tcu_IsgTgtRPM : 40|8@1+ (20.0,0.0) [0.0|3500.0] "rpm" EMS,IBOX + SG_ CF_Tcu_SptRdy : 48|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Tcu_SbwPInfo : 56|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Tcu_Alive3 : 58|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,IBOX + SG_ CF_Tcu_ChkSum3 : 60|4@1+ (1.0,0.0) [0.0|15.0] "" EMS,IBOX + +BO_ 274 TCU12: 8 TCU + SG_ ETL_TCU : 0|8@1+ (2.0,0.0) [0.0|508.0] "Nm" EMS,IBOX + SG_ CUR_GR : 8|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,ESC,IBOX,SCC,TPMS + SG_ CF_Tcu_Alive : 12|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,ESC,IBOX,SCC + SG_ CF_Tcu_ChkSum : 14|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,ESC,IBOX,SCC + SG_ VS_TCU : 16|8@1+ (1.0,0.0) [0.0|254.0] "km/h" BCM,CLU,DATC,EMS,IBOX,LCA,LVR,PGS,SMK,SNV + SG_ FUEL_CUT_TCU : 28|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ INH_FUEL_CUT : 29|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ IDLE_UP_TCU : 30|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ N_INC_TCU : 31|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ SPK_RTD_TCU : 32|8@1+ (0.375,-23.625) [-15.0|15.0] "" EMS,IBOX + SG_ N_TC_RAW : 40|16@1+ (0.25,0.0) [0.0|16383.5] "rpm" EMS,IBOX + SG_ VS_TCU_DECIMAL : 56|8@1+ (0.0078125,0.0) [0.0|0.9921875] "km/h" CLU,EMS,IBOX,LCA + +BO_ 273 TCU11: 8 TCU + SG_ TQI_TCU_INC : 0|8@1+ (0.390625,0.0) [0.0|99.609375] "%" EMS,ESC,IBOX + SG_ G_SEL_DISP : 8|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,AFLS,AVM,BCM,CGW,CLU,CUBIS,ECS,EMS,EPB,ESC,IAP,IBOX,LCA,LDWS_LKAS,LVR,MDPS,PGS,SCC,SMK,SNV,SPAS,TPMS + SG_ F_TCU : 12|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,ESC,IBOX + SG_ TCU_TYPE : 14|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,EMS,ESC,IBOX + SG_ TCU_OBD : 16|3@1+ (1.0,0.0) [0.0|7.0] "" EMS,ESC,IBOX + SG_ SWI_GS : 19|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB,ESC,IBOX,SCC + SG_ GEAR_TYPE : 20|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,CLU,EMS,ESC,IBOX,SCC + SG_ TQI_TCU : 24|8@1+ (0.390625,0.0) [0.0|99.609375] "%" EMS,ESC,IBOX + SG_ TEMP_AT : 32|8@1+ (1.0,-40.0) [-40.0|214.0] "deg" AAF,CLU,CUBIS,EMS,ESC,IBOX + SG_ N_TC : 40|16@1+ (0.25,0.0) [0.0|16383.5] "rpm" _4WD,EMS,EPB,ESC,IBOX + SG_ SWI_CC : 56|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,CLU,EMS,ESC,IBOX + SG_ CF_Tcu_Alive1 : 58|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,IBOX + SG_ CF_Tcu_ChkSum1 : 60|4@1+ (1.0,0.0) [0.0|15.0] "" EMS,IBOX + +BO_ 16 ACU13: 8 ACU + SG_ CF_Acu_CshAct : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CUBIS,IBOX,ODS + +BO_ 1040 CGW_USM1: 8 BCM + SG_ CF_Gway_ATTurnRValue : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_PTGMRValue : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_EscortHLRValue : 4|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_TTUnlockRValue : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_ADrLRValue : 8|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Gway_ADrURValue : 11|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Gway_SCMRValue : 14|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_WlightRValue : 16|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_PSMRValue : 18|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Gway_OTTurnRValue : 21|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Gway_DrLockSoundRValue : 24|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Gway_HAnBRValue : 27|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Gway_MoodLpRValue : 30|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_HfreeTrunkRValue : 32|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Gway_AutoLightRValue : 35|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Gway_RearWiperRValue : 38|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_PasSpkrLvRValue : 40|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + +BO_ 1292 CLU13: 8 CLU + SG_ CF_Clu_LowfuelWarn : 0|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,FPCM,IBOX + SG_ CF_Clu_RefDetMod : 2|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX + SG_ CF_Clu_AvgFCU : 3|2@1+ (1.0,0.0) [0.0|3.0] "" IBOX + SG_ CF_Clu_AvsmCur : 5|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,SCC + SG_ CF_Clu_AvgFCI : 6|10@1+ (0.1,0.0) [0.0|102.2] "" IBOX + SG_ CF_Clu_DrivingModeSwi : 16|2@1+ (1.0,0.0) [0.0|3.0] "" DATC,ECS,EMS,ESC,IAP,MDPS,TCU + SG_ CF_Clu_FuelDispLvl : 18|5@1+ (1.0,0.0) [0.0|31.0] "" CGW,IBOX + SG_ CF_Clu_FlexSteerSW : 23|1@1+ (1.0,0.0) [0.0|1.0] "" MDPS + SG_ CF_Clu_DTE : 24|10@1+ (1.0,0.0) [0.0|1023.0] "" DATC + SG_ CF_Clu_TripUnit : 34|2@1+ (1.0,0.0) [0.0|3.0] "" DATC + SG_ CF_Clu_SWL_Stat : 36|3@1+ (1.0,0.0) [0.0|7.0] "" ACU,EMS + SG_ CF_Clu_ActiveEcoSW : 39|1@1+ (1.0,0.0) [0.0|1.0] "" DATC,EMS,TCU + SG_ CF_Clu_EcoDriveInf : 40|3@1+ (1.0,0.0) [0.0|7.0] "" CUBIS,EMS,IAP,IBOX + SG_ CF_Clu_IsaMainSW : 43|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Clu_LdwsLkasSW : 56|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS + SG_ CF_Clu_AltLStatus : 59|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,DATC,EMS + SG_ CF_Clu_AliveCnt2 : 60|4@1+ (1.0,0.0) [0.0|15.0] "" EMS,LDWS_LKAS + +BO_ 1290 SCC13: 8 SCC + SG_ SCCDrvModeRValue : 0|3@1+ (1,0) [0|7] "" CLU + SG_ SCC_Equip : 3|1@1+ (1,0) [0|1] "" ESC + SG_ AebDrvSetStatus : 4|3@1+ (1,0) [0|7] "" CLU,ESC + SG_ Lead_Veh_Dep_Alert_USM : 13|2@0+ (1,0) [0|3] "" XXX + +BO_ 1287 TCS15: 4 ESC + SG_ ABS_W_LAMP : 0|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,CUBIS,IBOX + SG_ TCS_OFF_LAMP : 1|2@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,CLU + SG_ TCS_LAMP : 3|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,ACU,CLU,CUBIS,IBOX,SCC + SG_ DBC_W_LAMP : 5|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU + SG_ DBC_F_LAMP : 6|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,CLU + SG_ ESC_Off_Step : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ AVH_CLU : 16|8@1+ (1.0,0.0) [0.0|255.0] "" CLU,EPB + SG_ AVH_I_LAMP : 24|2@1+ (1.0,0.0) [0.0|3.0] "" EPB + SG_ EBD_W_LAMP : 26|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU + SG_ AVH_ALARM : 27|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ AVH_LAMP : 29|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,EPB,SPAS + +BO_ 1282 TCU14: 4 TCU + SG_ CF_TCU_WarnMsg : 0|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_TCU_WarnImg : 3|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_TCU_WarnSnd : 4|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Tcu_GSel_BlinkReq : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,LVR + SG_ CF_Tcu_StRelStat : 12|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,ESC + SG_ CF_Tcu_DriWarn1 : 13|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,EMS,ESC + SG_ CF_Tcu_DriWarn2 : 16|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,EMS,ESC + +BO_ 1281 ECS11: 3 ECS + SG_ ECS_W_LAMP : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,CUBIS,IBOX + SG_ SYS_NA : 1|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ ECS_DEF : 2|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ ECS_DIAG : 3|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ L_CHG_NA : 4|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ Leveling_Off : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ LC_overheat : 6|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ Lifting : 8|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ Lowering : 9|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ Damping_Mode : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ REQ_Damping : 12|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ REQ_Height : 14|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ REQ_level : 16|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ ACT_Height : 20|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + +BO_ 1024 CLU_CFG11: 2 CLU + SG_ Vehicle_Type : 0|16@1+ (1.0,0.0) [0.0|65536.0] "" _4WD + +BO_ 1280 ACU14: 1 ACU + SG_ CF_SWL_Ind : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_TTL_Ind : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_SBR_Ind : 4|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU + +BO_ 512 EMS20: 6 EMS + SG_ FCO : 0|16@1+ (0.128,0.0) [0.0|8388.48] "ul" CLU,CUBIS,FPCM,IBOX + SG_ CF_Ems_PumpTPres : 16|8@1+ (3.137254902,0.0) [0.0|800.0] "kPa" FPCM,IBOX + SG_ Split_Stat : 32|1@1+ (1.0,0.0) [0.0|1.0] "" FPCM + +BO_ 909 FCA11: 8 FCA + SG_ CF_VSM_Prefill : 0|1@1+ (1,0) [0|1] "" ESC + SG_ CF_VSM_HBACmd : 1|2@1+ (1,0) [0|3] "" ESC + SG_ CF_VSM_Warn : 3|2@1+ (1,0) [0|3] "" ACU,CLU,ESC + SG_ CF_VSM_BeltCmd : 5|3@1+ (1,0) [0|7] "" ESC + SG_ CR_VSM_DecCmd : 8|8@1+ (0.01,0) [0|2.55] "g" ESC + SG_ FCA_Status : 18|2@1+ (1,0) [0|3] "" ACU,CLU,ESC + SG_ FCA_CmdAct : 20|1@1+ (1,0) [0|1] "" ESC + SG_ FCA_StopReq : 21|1@1+ (1,0) [0|1] "" CLU,ESC + SG_ FCA_DrvSetStatus : 22|3@1+ (1,0) [0|7] "" CLU,ESC + SG_ CF_VSM_DecCmdAct : 31|1@1+ (1,0) [0|1] "" ESC + SG_ FCA_Failinfo : 32|3@1+ (1,0) [0|7] "" ACU,CLU,ESC + SG_ CR_FCA_Alive : 35|4@1+ (1,0) [0|15] "" ESC + SG_ FCA_RelativeVelocity : 39|9@1+ (0.1,-25.5) [-25.5|25.5] "m/s" iBAU + SG_ FCA_TimetoCollision : 48|8@1+ (10,0) [0|2540] "ms" iBAU + SG_ CR_FCA_ChkSum : 56|8@1+ (1,0) [0|255] "" ESC + SG_ PAINT1_Status : 16|2@1+ (1,0) [0|1] "" XXX + +BO_ 1156 HDA11_MFC: 8 XXX + SG_ Counter : 5|4@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_1 : 1|2@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 7|2@0+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_3 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_4 : 16|2@1+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_5 : 18|14@1+ (1,0) [0|63] "" XXX + SG_ NEW_SIGNAL_6 : 33|2@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_7 : 34|14@1+ (1,0) [0|16383] "" XXX + SG_ NEW_SIGNAL_8 : 49|2@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_9 : 50|14@1- (1,-4095) [0|16383] "" XXX + +BO_ 1155 FCA12: 8 FCA + SG_ FCA_USM : 0|3@1+ (1,0) [0|7] "" CGW,CLU,ESC + SG_ FCA_DrvSetState : 3|3@1+ (1,0) [0|7] "" CGW + +BO_ 1186 FRT_RADAR11: 2 FCA + SG_ CF_FCA_Equip_Front_Radar : 0|3@1+ (1,0) [0|7] "" LDWS_LKAS,LDW_LKA,ESC + +BO_ 905 SCC14: 8 SCC + SG_ ComfortBandUpper : 0|6@1+ (0.02,0) [0|1.26] "m/s^2" ESC + SG_ ComfortBandLower : 6|6@1+ (0.02,0) [0|1.26] "m/s^2" ESC + SG_ JerkUpperLimit : 12|7@1+ (0.1,0) [0|12.7] "m/s^3" ESC + SG_ JerkLowerLimit : 19|7@1+ (0.1,0) [0|12.7] "m/s^3" ESC + SG_ ACCMode : 32|3@1+ (1,0) [0|7] "" CLU,HUD,LDWS_LKAS,ESC + SG_ ObjGap : 56|8@1+ (1,0) [0|255] "" CLU,HUD,ESC + +BO_ 1157 LFAHDA_MFC: 4 XXX + SG_ HDA_USM : 0|2@1+ (1,0) [0|3] "" XXX + SG_ HDA_Active : 2|1@1+ (1,0) [0|1] "" XXX + SG_ HDA_Icon_State : 3|2@1+ (1,0) [0|3] "" XXX + SG_ HDA_Chime : 7|1@1+ (1,0) [0|1] "" XXX + SG_ HDA_VSetReq : 8|8@1+ (1,0) [0|255] "km/h" XXX + SG_ LFA_SysWarning : 16|3@1+ (1,0) [0|7] "" XXX + SG_ NEW_SIGNAL_1 : 20|3@1+ (1,0) [0|7] "" XXX + SG_ LFA_Icon_State : 24|2@1+ (1,0) [0|3] "" XXX + SG_ LFA_USM : 27|2@1+ (1,0) [0|3] "" XXX + SG_ HDA_SysWarning : 29|2@1+ (1,0) [0|3] "" XXX + +BO_ 913 BCM_PO_11: 8 Vector__XXX + SG_ BCM_Door_Dri_Status : 5|1@0+ (1,0) [0|1] "" PT_ESC_ABS + SG_ BCM_Shift_R_MT_SW_Status : 39|2@0+ (1,0) [0|3] "" PT_ESC_ABS + SG_ LFA_Pressed : 4|1@0+ (1,0) [0|1] "" XXX + +BO_ 1426 LABEL11: 8 XXX + SG_ CC_React : 34|1@1+ (1,0) [0|1] "" XXX + +BO_ 910 WHL_SPD12_FS: 5 iBAU + SG_ CRC : 0|8@1+ (1,0) [0|0] "" Vector__XXX + SG_ WHL_SPD12_AliveCounter : 8|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ WHL_SPD_FL : 12|14@1+ (0.03125,0) [0|511.96875] "km/h" Vector__XXX + SG_ WHL_SPD_FR : 26|14@1+ (0.03125,0) [0|511.96875] "km/h" Vector__XXX + +BO_ 911 WHL_SPD13_FS: 5 iBAU + SG_ CRC : 0|8@1+ (1,0) [0|0] "" Vector__XXX + SG_ WHL_SPD13_AliveCounter : 8|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ WHL_SPD_RL : 12|14@1+ (0.03125,0) [0|511.96875] "km/h" Vector__XXX + SG_ WHL_SPD_RR : 26|14@1+ (0.03125,0) [0|511.96875] "km/h" Vector__XXX + +BO_ 865 ADAS_PRK_11: 8 ADAS_PRK + SG_ CF_PCA_BrkReq : 24|1@1+ (1,0) [0|0] "" Vector__XXX + SG_ CF_PCA_DclTrgtVal : 28|4@1+ (0.04,0) [0|0] "g" Vector__XXX + SG_ PCA_ALIVE_CNT : 40|4@1+ (1,0) [0|0] "" Vector__XXX + SG_ PCA_CHECK_SUM : 48|8@1+ (1,0) [0|0] "" Vector__XXX + +BO_ 882 ELECT_GEAR: 8 XXX + SG_ Elect_Gear_Shifter : 16|4@1+ (1,0) [0|7] "" CLU + SG_ VSetDis : 32|8@1+ (1,0) [0|255] "" XXX + +BO_ 881 E_EMS11: 8 XXX + SG_ Brake_Pedal_Pos : 0|8@1+ (1,0) [0|127] "" XXX + SG_ IG_Reactive_Stat : 8|3@1+ (1,0) [0|3] "" XXX + SG_ Gear_Change : 12|1@0+ (1,0) [0|31] "" XXX + SG_ Cruise_Limit_Status : 13|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Limit_Target : 23|8@1+ (1,0) [0|15] "" XXX + SG_ Accel_Pedal_Pos : 31|8@1+ (1,0) [0|254] "" XXX + SG_ CR_Vcu_AccPedDep_Pos : 56|8@1+ (1,0) [0|254] "" XXX + +BO_ 1355 EV_PC6: 8 CGW + SG_ CF_Vcu_SbwWarnMsg : 16|3@1+ (1,0) [0|7] "" Vector__XXX + +BO_ 1429 E_CRUISE_CONTROL: 8 XXX + SG_ CRUISE_LAMP_M : 50|1@0+ (1,0) [0|1] "" XXX + SG_ CF_Lvr_CruiseSet : 51|1@0+ (1,0) [0|1] "" XXX + +BO_ 1430 EV_PC2: 8 CGW + SG_ CR_Ldc_ActVol_LS_V : 32|8@1+ (0.1,0) [0|0] "V" Vector__XXX + +BO_ 1535 EV_PC10: 8 CGW + SG_ CF_Vcu_EpbRequest : 37|1@1+ (1,0) [0|0] "" Vector__XXX + +BO_ 908 RSPA11: 8 RSPA + SG_ CF_RSPA_State : 0|4@1+ (1,0) [0|15] "" XXX + SG_ CF_RSPA_Act : 4|2@1+ (1,0) [0|3] "" XXX + SG_ CF_RSPA_DecCmd : 6|2@1+ (1,0) [0|3] "" XXX + SG_ CF_RSPA_Trgt_Spd : 8|10@1+ (0.01,0) [0|10.23] "km/h" XXX + SG_ CF_RSPA_StopReq : 18|1@1+ (1,0) [0|2] "" XXX + SG_ CR_RSPA_EPB_Req : 22|2@1+ (1,0) [0|3] "" XXX + SG_ CF_RSPA_ACC_ACT : 50|1@1+ (1,0) [0|2] "" XXX + SG_ CF_RSPA_AliveCounter : 52|4@1+ (1,0) [0|15] "" XXX + SG_ CF_RSPA_CRC : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 914 S_MDPS11: 8 XXX + SG_ CF_Mdps_Stat : 0|4@1+ (1,0) [0|15] "" XXX + SG_ CR_Mdps_DrvTq : 8|12@1+ (1,0) [0|15] "" XXX + SG_ CR_Mdps_StrAng : 24|16@1- (1,0) [0|65535] "" XXX + SG_ CF_Mdps_AliveCnt : 47|8@0+ (1,0) [0|255] "" XXX + SG_ CF_Mdps_Chksum : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 357 S_MDPS12: 8 XXX + SG_ NEW_SIGNAL_1 : 0|12@1+ (1,0) [0|4095] "" XXX + SG_ NEW_SIGNAL_2 : 12|12@1+ (1,0) [0|4095] "" XXX + SG_ Counter : 48|4@1+ (1,0) [0|15] "" XXX + SG_ Checksum : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 352 AHB1: 8 iBAU + SG_ CF_Ahb_SLmp : 0|2@1+ (1,0) [0|3] "" CLU + SG_ CF_Ahb_Def : 2|2@1+ (1,0) [0|3] "" CGW + SG_ CF_Ahb_Act : 4|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ CF_Ahb_Diag : 6|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ CF_Ahb_WLmp : 7|1@1+ (1,0) [0|1] "" CLU + SG_ CR_Ahb_StDep_mm : 8|16@1- (0.1,0) [-3276.8|3276.7] "mm" Vector__XXX + SG_ CF_Ahb_SnsFail : 24|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ CF_Ahb_PedalCalStat : 25|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ CF_Ahb_Bzzr : 26|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ CF_Ahb_ChkSum : 56|8@1+ (1,0) [0|255] "" Vector__XXX + +BO_ 1191 MFC_4a7: 8 XXX + SG_ PAINT1 : 0|1@0+ (1,0) [0|1] "" XXX + +BO_ 1162 BCA11: 8 BCW + SG_ CF_BCA_State : 16|3@1+ (1,0) [0|7] "" CLU,iBAU + SG_ CF_BCA_Warning : 19|2@1+ (1,0) [0|3] "" CLU,iBAU + SG_ AliveCounter : 21|4@1+ (1,0) [0|15] "" CLU,iBAU + SG_ RCCA_Brake_Command : 29|1@1+ (1,0) [0|1] "" iBAU + SG_ Check_Sum : 56|8@1+ (1,0) [0|16] "" iBAU + +BO_ 1136 P_STS: 8 CGW + SG_ HCU1_STS : 6|2@1+ (1,0) [0|3] "" BCW,EPB,FCA,MDPS,SCC,iBAU + SG_ HCU5_STS : 8|2@1+ (1,0) [0|3] "" EPB,FCA,MDPS,iBAU + SG_ Counter : 58|4@1+ (1,0) [0|15] "" MDPS + SG_ Checksum : 62|2@1+ (1,0) [0|3] "" MDPS + +BO_ 304 YRS11: 8 ACU + SG_ CR_Yrs_Yr : 0|16@1+ (0.005,-163.84) [-163.84|163.83] "deg/s" CGW,iBAU + SG_ CR_Yrs_LatAc : 16|16@1+ (0.000127465,-4.17677312) [-4.17677312|4.17651819] "g" iBAU + SG_ CF_Yrs_YrStat : 32|4@1+ (1,0) [0|15] "" iBAU + SG_ CF_Yrs_LatAcStat : 36|4@1+ (1,0) [0|15] "" iBAU + SG_ CF_Yrs_MCUStat : 40|4@1+ (1,0) [0|15] "" iBAU + SG_ CR_Yrs_MsgCnt1 : 48|4@1+ (1,0) [0|15] "" iBAU + SG_ CR_Yrs_Crc1 : 56|8@1+ (1,0) [0|255] "" iBAU + +BO_ 320 YRS12: 8 ACU + SG_ CF_Yrs_LongAcStat : 16|4@1+ (1,0) [0|15] "" iBAU + SG_ CF_IMU_ResetStat : 20|4@1+ (1,0) [0|15] "" iBAU + SG_ YRS_Temp : 24|8@1+ (1,-68) [-68|187] "" iBAU + SG_ YRS_TempStat : 32|4@1+ (1,0) [0|15] "" iBAU + SG_ CF_Yrs_Type : 36|4@1+ (1,0) [0|15] "" iBAU + SG_ CR_Yrs_MsgCnt2 : 48|4@1+ (1,0) [0|15] "" iBAU + SG_ CR_Yrs_Crc2 : 56|8@1+ (1,0) [0|255] "" iBAU + SG_ CR_Yrs_LongAc : 0|16@1+ (0.000127465,-4.17677312) [-4.17677312|4.17651819] "g" CGW,iBAU + +BO_ 1173 YRS13: 8 ACU + SG_ YRS_SeralNo : 16|48@1+ (1,0) [0|281474976710655] "" iBAU + +BO_ 870 EMS_366: 8 EMS + SG_ TQI_1 : 0|8@1+ (0.390625,0) [0|99.6094] "%" MDPS + SG_ N : 8|16@1+ (0.25,0.0) [0.0|16383.75] "rpm" MDPS + SG_ TQI_2 : 24|8@1+ (0.390625,0) [0|99.6094] "%" MDPS + SG_ VS : 40|8@1+ (1,0) [0|255] "km/h" MDPS + SG_ SWI_IGK : 48|1@0+ (1,0) [0|1] "" XXX + +BO_ 854 M_356: 8 XXX + SG_ PAINT1 : 32|1@0+ (1,0) [0|1] "" XXX + SG_ PAINT2 : 34|2@0+ (1,0) [0|1] "" XXX + SG_ PAINT3 : 36|2@0+ (1,0) [0|3] "" XXX + SG_ PAINT4 : 38|1@0+ (1,0) [0|1] "" XXX + +BO_ 1042 ICM_412h: 8 ICM + SG_ T_Outside_input : 0|9@0+ (0.01,0) [0|5] "V" Vector__XXX + SG_ WarningSoundOutput_1Group : 5|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ WarningSoundOutput_2Group : 6|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ WarningSoundOutput_3Group : 7|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ TRIP_A_DT_Display_clock : 22|7@0+ (1,0) [0|99] "clock" Vector__XXX + SG_ TRIP_A_DT_Display_minute : 29|6@0+ (1,0) [0|59] "minute" Vector__XXX + SG_ TRIP_B_DT_Display_clock : 38|7@0+ (1,0) [0|99] "clock" Vector__XXX + SG_ TRIP_B_DT_Display_minute : 45|6@0+ (1,0) [0|59] "minute" Vector__XXX + SG_ PopupMessageOutput_1Level : 48|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ PopupMessageOutput_2Level : 49|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ PopupMessageOutput_3Level : 50|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ PopupMessageOutput_4Level : 51|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ PopupMessageOutput_5Level : 52|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ PopupMessageOutput_6Level : 53|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ PopupMessageOutput_7Level : 54|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ PopupMessageOutput_8Level : 55|1@0+ (1,0) [0|1] "" Vector__XXX + +BO_ 1348 Navi_HU: 8 XXX + SG_ SpeedLim_Nav_Clu : 7|8@0+ (1,0) [0|255] "" XXX + SG_ SpeedLim_Nav_General : 29|1@0+ (1,0) [0|1] "" XXX + SG_ SpeedLim_Nav_Cam : 30|1@0+ (1,0) [0|1] "" XXX + +BO_ 683 ESCC: 8 XXX + SG_ FCA_CmdAct : 0|1@1+ (1,0) [0|1] "" ESC + SG_ CF_VSM_Warn_FCA11 : 1|2@1+ (1,0) [0|3] "" ACU,CLU,ESC + SG_ AEB_CmdAct : 3|1@1+ (1,0) [0|1] "" ESC + SG_ CF_VSM_Warn_SCC12 : 4|2@1+ (1,0) [0|3] "" CLU,ESC,IAP + SG_ CF_VSM_DecCmdAct_SCC12 : 6|1@1+ (1,0) [0|1] "" ESC + SG_ CF_VSM_DecCmdAct_FCA11 : 7|1@1+ (1,0) [0|1] "" ESC + SG_ CR_VSM_DecCmd_SCC12 : 8|8@1+ (0.01,0) [0|2.55] "g" ESC + SG_ ObjValid : 16|1@1+ (1,0) [0|1] "" CLU,ESC,TCU + SG_ ACC_ObjStatus : 17|2@1+ (1,0) [0|3] "" ABS,ESC + SG_ ACC_ObjLatPos : 24|9@1+ (0.1,-20) [-20|31.1] "m" ABS,ESC + SG_ ACC_ObjRelSpd : 44|12@1+ (0.1,-170) [-170|239.5] "m/s" ABS,ESC + SG_ ACC_ObjDist : 33|11@1+ (0.1,0) [0|204.7] "m" ABS,ESC + SG_ CR_VSM_DecCmd_FCA11 : 56|8@1+ (0.01,0) [0|2.55] "g" ESC + +CM_ "BO_ E_EMS11: All (plug-in) hybrids use this gas signal: CR_Vcu_AccPedDep_Pos, and all EVs use the Accel_Pedal_Pos signal. See hyundai/values.py for a specific car list"; +CM_ SG_ 871 CF_Lvr_IsgState "Idle Stop and Go"; +CM_ SG_ 1056 SCCInfoDisplay "Goes to 1 for a second while transitioning from Cruise Control to No Message"; +CM_ SG_ 1348 SpeedLim_Nav_Clu "Speed limit displayed on Nav, Cluster and HUD"; + +VAL_ 274 CUR_GR 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 7 "D" 8 "D" 14 "R" 0 "P"; +VAL_ 871 CF_Lvr_IsgState 0 "enabled" 1 "activated" 2 "unknown" 3 "disabled"; +VAL_ 871 CF_Lvr_Gear 12 "T" 5 "D" 8 "S" 6 "N" 7 "R" 0 "P"; +VAL_ 882 Elect_Gear_Shifter 5 "D" 8 "S" 6 "N" 7 "R" 0 "P"; +VAL_ 905 ACCMode 0 "off" 1 "enabled" 2 "driver_override" 3 "off_maybe_fault" 4 "cancelled"; +VAL_ 909 CF_VSM_Warn 2 "FCW" 3 "AEB"; +VAL_ 916 ACCEnable 0 "SCC ready" 1 "SCC temp fault" 2 "SCC permanent fault" 3 "SCC permanent fault, communication issue"; +VAL_ 1056 SCCInfoDisplay 0 "No Message" 2 "Cruise Control" 3 "Lost Lead" 4 "Standstill"; +VAL_ 1057 ACCMode 0 "off" 1 "enabled" 2 "driver_override" 3 "off_maybe_fault"; +VAL_ 1157 HDA_Icon_State 0 "no_hda" 1 "white_hda" 2 "green_hda"; +VAL_ 1157 LFA_SysWarning 0 "no_message" 1 "switching_to_hda" 2 "switching_to_scc" 3 "lfa_error" 4 "check_hda" 5 "keep_hands_on_wheel_orange" 6 "keep_hands_on_wheel_red"; +VAL_ 1157 LFA_Icon_State 0 "no_wheel" 1 "white_wheel" 2 "green_wheel" 3 "green_wheel_blink"; +VAL_ 1157 HDA_SysWarning 0 "no_message" 1 "driving_convenience_systems_cancelled" 2 "highway_drive_assist_system_cancelled"; +VAL_ 1322 CF_Clu_Gear 1 "P" 2 "R" 4 "N" 8 "D"; diff --git a/opendbc_repo/opendbc/dbc/hyundai_kia_mando_corner_radar_generated.dbc b/opendbc_repo/opendbc/dbc/hyundai_kia_mando_corner_radar_generated.dbc new file mode 100644 index 0000000000..80627f9aeb --- /dev/null +++ b/opendbc_repo/opendbc/dbc/hyundai_kia_mando_corner_radar_generated.dbc @@ -0,0 +1,374 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + +CM_ "hyundai_kia_mando_corner_radar.dbc starts here"; + +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX + +BO_ 256 RADAR_POINTS_METADATA_0x100: 64 RADAR + SG_ SIGNAL_1 : 0|32@1+ (1,0) [0|255] "" XXX + SG_ SIGNAL_2 : 32|32@1+ (1,0) [0|65535] "" XXX + SG_ SIGNAL_3 : 64|4@1+ (1,0) [0|15] "" XXX + SG_ SIGNAL_4 : 68|4@1+ (1,0) [0|15] "" XXX + SG_ RADAR_POINT_COUNT : 72|8@1+ (1,0) [0|255] "" XXX + SG_ SIGNAL_6 : 80|7@1+ (0.015625,0) [0|3] "" XXX + SG_ SIGNAL_7 : 87|1@1+ (1,0) [0|1] "" XXX + SG_ SIGNAL_8 : 88|3@1+ (1,0) [0|7] "" XXX + SG_ SIGNAL_9 : 91|5@1+ (0.0625,0) [0|31] "" XXX + SG_ SIGNAL_10 : 96|8@1+ (1,0) [0|255] "" XXX + SG_ SIGNAL_11 : 104|7@1+ (0.015625,0) [0|127] "" XXX + SG_ SIGNAL_12 : 111|2@1+ (1,0) [0|65535] "" XXX + SG_ SIGNAL_13 : 113|7@1+ (0.015625,0) [0|127] "" XXX + SG_ SIGNAL_14 : 120|7@1+ (0.015625,0) [0|127] "" XXX + SG_ SIGNAL_15 : 127|3@1+ (1,0) [0|3] "" XXX + SG_ SIGNAL_16 : 130|2@1+ (1,0) [0|3] "" XXX + SG_ SIGNAL_17 : 133|2@0+ (1,0) [0|3] "" XXX + SG_ SIGNAL_18 : 134|1@0+ (1,0) [0|3] "" XXX + SG_ SIGNAL_19 : 135|3@1+ (1,0) [0|3] "" XXX + SG_ SIGNAL_20 : 138|8@1+ (1,0) [0|63] "" XXX + SG_ SIGNAL_21 : 146|2@1+ (1,0) [0|3] "" XXX + SG_ SIGNAL_22 : 148|1@1+ (1,0) [0|3] "" XXX + SG_ SIGNAL_23 : 149|4@1+ (1,0) [0|7] "" XXX + SG_ SIGNAL_24 : 153|1@1+ (1,0) [0|3] "" XXX + SG_ SIGNAL_25 : 154|2@1+ (1,0) [0|3] "" XXX + SG_ SIGNAL_26 : 157|2@0+ (1,0) [0|3] "" XXX + SG_ SIGNAL_27 : 158|7@1+ (0.125,0) [0|3] "" XXX + SG_ SIGNAL_28 : 165|7@1+ (0.015625,0) [0|31] "" XXX + SG_ SIGNAL_29 : 172|7@1+ (0.125,0) [0|3] "" XXX + SG_ SIGNAL_30 : 179|7@1+ (0.015625,0) [0|1] "" XXX + SG_ SIGNAL_31 : 186|4@1+ (1,0) [0|7] "" XXX + SG_ SIGNAL_32 : 190|14@1+ (0.015625,0) [0|15] "" XXX + SG_ SIGNAL_33 : 204|11@1+ (0.03125,0) [0|8191] "" XXX + SG_ SIGNAL_34 : 215|2@1+ (1,0) [0|3] "" XXX + SG_ SIGNAL_35 : 217|7@1+ (1,0) [0|127] "" XXX + SG_ SIGNAL_36 : 224|6@1+ (1,0) [0|63] "" XXX + SG_ SIGNAL_37 : 230|6@1+ (0.2,0) [0|31] "" XXX + SG_ SIGNAL_38 : 236|6@1+ (0.2,0) [0|7] "" XXX + SG_ SIGNAL_39 : 242|8@1+ (1,-90) [0|255] "" XXX + SG_ SIGNAL_40 : 250|6@1+ (1,0) [0|63] "" XXX + SG_ SIGNAL_41 : 256|8@1+ (0.25,0) [0|255] "" XXX + SG_ SIGNAL_42 : 264|3@1+ (1,0) [0|3] "" XXX + SG_ SIGNAL_43 : 267|12@1+ (0.01,0) [0|31] "" XXX + SG_ SIGNAL_44 : 279|32@1+ (1,0) [0|63] "" XXX + SG_ SIGNAL_45 : 311|1@1+ (1,0) [0|1] "" XXX + SG_ SIGNAL_46 : 312|2@1+ (1,0) [0|3] "" XXX + SG_ SIGNAL_47 : 314|32@1+ (1,0) [0|255] "" XXX + SG_ SIGNAL_48 : 346|6@1+ (1,0) [0|63] "" XXX + SG_ SIGNAL_49 : 352|7@1+ (0.25,0) [0|127] "" XXX + SG_ SIGNAL_50 : 359|6@1+ (0.03125,0) [0|31] "" XXX + SG_ SIGNAL_51 : 365|10@1+ (0.125,0) [0|3] "" XXX + SG_ SIGNAL_52 : 375|10@1+ (0.125,0) [0|63] "" XXX + SG_ SIGNAL_53 : 385|7@1+ (1,0) [0|127] "" XXX + SG_ SIGNAL_54 : 392|7@1+ (1,0) [0|127] "" XXX + SG_ SIGNAL_55 : 399|8@1+ (0.00390625,0) [0|31] "" XXX + SG_ SIGNAL_56 : 407|10@1+ (0.125,0) [0|63] "" XXX + SG_ SIGNAL_57 : 417|1@1+ (1,0) [0|3] "" XXX + SG_ SIGNAL_58 : 418|1@1+ (1,0) [0|3] "" XXX + +BO_ 512 RADAR_POINTS_METADATA_0x200: 64 RADAR + SG_ SIGNAL_1 : 0|32@1+ (1,0) [0|255] "" XXX + SG_ SIGNAL_2 : 32|32@1+ (1,0) [0|65535] "" XXX + SG_ SIGNAL_3 : 64|4@1+ (1,0) [0|15] "" XXX + SG_ SIGNAL_4 : 68|4@1+ (1,0) [0|15] "" XXX + SG_ RADAR_POINT_COUNT : 72|8@1+ (1,0) [0|255] "" XXX + SG_ SIGNAL_6 : 80|7@1+ (0.015625,0) [0|3] "" XXX + SG_ SIGNAL_7 : 87|1@1+ (1,0) [0|1] "" XXX + SG_ SIGNAL_8 : 88|3@1+ (1,0) [0|7] "" XXX + SG_ SIGNAL_9 : 91|5@1+ (0.0625,0) [0|31] "" XXX + SG_ SIGNAL_10 : 96|8@1+ (1,0) [0|255] "" XXX + SG_ SIGNAL_11 : 104|7@1+ (0.015625,0) [0|127] "" XXX + SG_ SIGNAL_12 : 111|2@1+ (1,0) [0|65535] "" XXX + SG_ SIGNAL_13 : 113|7@1+ (0.015625,0) [0|127] "" XXX + SG_ SIGNAL_14 : 120|7@1+ (0.015625,0) [0|127] "" XXX + SG_ SIGNAL_15 : 127|3@1+ (1,0) [0|3] "" XXX + SG_ SIGNAL_16 : 130|2@1+ (1,0) [0|3] "" XXX + SG_ SIGNAL_17 : 133|2@0+ (1,0) [0|3] "" XXX + SG_ SIGNAL_18 : 134|1@0+ (1,0) [0|3] "" XXX + SG_ SIGNAL_19 : 135|3@1+ (1,0) [0|3] "" XXX + SG_ SIGNAL_20 : 138|8@1+ (1,0) [0|63] "" XXX + SG_ SIGNAL_21 : 146|2@1+ (1,0) [0|3] "" XXX + SG_ SIGNAL_22 : 148|1@1+ (1,0) [0|3] "" XXX + SG_ SIGNAL_23 : 149|4@1+ (1,0) [0|7] "" XXX + SG_ SIGNAL_24 : 153|1@1+ (1,0) [0|3] "" XXX + SG_ SIGNAL_25 : 154|2@1+ (1,0) [0|3] "" XXX + SG_ SIGNAL_26 : 157|2@0+ (1,0) [0|3] "" XXX + SG_ SIGNAL_27 : 158|7@1+ (0.125,0) [0|3] "" XXX + SG_ SIGNAL_28 : 165|7@1+ (0.015625,0) [0|31] "" XXX + SG_ SIGNAL_29 : 172|7@1+ (0.125,0) [0|3] "" XXX + SG_ SIGNAL_30 : 179|7@1+ (0.015625,0) [0|1] "" XXX + SG_ SIGNAL_31 : 186|4@1+ (1,0) [0|7] "" XXX + SG_ SIGNAL_32 : 190|14@1+ (0.015625,0) [0|15] "" XXX + SG_ SIGNAL_33 : 204|11@1+ (0.03125,0) [0|8191] "" XXX + SG_ SIGNAL_34 : 215|2@1+ (1,0) [0|3] "" XXX + SG_ SIGNAL_35 : 217|7@1+ (1,0) [0|127] "" XXX + SG_ SIGNAL_36 : 224|6@1+ (1,0) [0|63] "" XXX + SG_ SIGNAL_37 : 230|6@1+ (0.2,0) [0|31] "" XXX + SG_ SIGNAL_38 : 236|6@1+ (0.2,0) [0|7] "" XXX + SG_ SIGNAL_39 : 242|8@1+ (1,-90) [0|255] "" XXX + SG_ SIGNAL_40 : 250|6@1+ (1,0) [0|63] "" XXX + SG_ SIGNAL_41 : 256|8@1+ (0.25,0) [0|255] "" XXX + SG_ SIGNAL_42 : 264|3@1+ (1,0) [0|3] "" XXX + SG_ SIGNAL_43 : 267|12@1+ (0.01,0) [0|31] "" XXX + SG_ SIGNAL_44 : 279|32@1+ (1,0) [0|63] "" XXX + SG_ SIGNAL_45 : 311|1@1+ (1,0) [0|1] "" XXX + SG_ SIGNAL_46 : 312|2@1+ (1,0) [0|3] "" XXX + SG_ SIGNAL_47 : 314|32@1+ (1,0) [0|255] "" XXX + SG_ SIGNAL_48 : 346|6@1+ (1,0) [0|63] "" XXX + SG_ SIGNAL_49 : 352|7@1+ (0.25,0) [0|127] "" XXX + SG_ SIGNAL_50 : 359|6@1+ (0.03125,0) [0|31] "" XXX + SG_ SIGNAL_51 : 365|10@1+ (0.125,0) [0|3] "" XXX + SG_ SIGNAL_52 : 375|10@1+ (0.125,0) [0|63] "" XXX + SG_ SIGNAL_53 : 385|7@1+ (1,0) [0|127] "" XXX + SG_ SIGNAL_54 : 392|7@1+ (1,0) [0|127] "" XXX + SG_ SIGNAL_55 : 399|8@1+ (0.00390625,0) [0|31] "" XXX + SG_ SIGNAL_56 : 407|10@1+ (0.125,0) [0|63] "" XXX + SG_ SIGNAL_57 : 417|1@1+ (1,0) [0|3] "" XXX + SG_ SIGNAL_58 : 418|1@1+ (1,0) [0|3] "" XXX + +BO_ 257 RADAR_POINTS_0x101: 64 RADAR + SG_ MESSAGE_ID : 0|5@1+ (1,0) [0|31] "" XXX + SG_ LAYOUT_ID : 5|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_1_DISTANCE : 7|14@1+ (0.015625,0) [0|255.984375] "" XXX + SG_ POINT_1_SIGNAL_2 : 21|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_1_SIGNAL_3 : 23|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX + SG_ POINT_1_REL_VELOCITY : 31|13@1+ (0.03125,-66) [-66|189.96875] "" XXX + SG_ POINT_1_SIGNAL_5 : 44|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_1_SIGNAL_6 : 46|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_1_AZIMUTH : 48|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX + SG_ POINT_1_SIGNAL_8 : 60|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_1_SIGNAL_9 : 62|1@1+ (1,0) [0|1] "" XXX + SG_ POINT_1_SIGNAL_10 : 63|7@1+ (1,0) [0|127] "" XXX + SG_ POINT_1_SIGNAL_11 : 70|1@1+ (1,0) [0|1] "" XXX + SG_ POINT_1_SIGNAL_12 : 71|6@1+ (1,0) [0|63] "" XXX + SG_ POINT_1_SIGNAL_13 : 77|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_1_SIGNAL_14 : 79|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX + SG_ POINT_1_SIGNAL_15 : 87|1@1+ (1,0) [0|1] "" XXX + SG_ POINT_1_SIGNAL_16 : 88|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_1_SIGNAL_17 : 90|3@1+ (1,0) [0|7] "" XXX + SG_ POINT_1_SIGNAL_18 : 93|6@1+ (1,0) [0|63] "" XXX + SG_ POINT_1_SIGNAL_19 : 99|8@1+ (1,0) [0|255] "" XXX + SG_ POINT_1_SIGNAL_20 : 107|1@1+ (1,0) [0|1] "" XXX + SG_ POINT_2_DISTANCE : 108|14@1+ (0.015625,0) [0|255.984375] "" XXX + SG_ POINT_2_SIGNAL_2 : 122|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_2_SIGNAL_3 : 124|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX + SG_ POINT_2_REL_VELOCITY : 132|13@1+ (0.03125,-66) [-66|189.96875] "" XXX + SG_ POINT_2_SIGNAL_5 : 145|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_2_SIGNAL_6 : 147|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_2_AZIMUTH : 149|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX + SG_ POINT_2_SIGNAL_8 : 161|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_2_SIGNAL_9 : 163|1@1+ (1,0) [0|1] "" XXX + SG_ POINT_2_SIGNAL_10 : 164|7@1+ (1,0) [0|127] "" XXX + SG_ POINT_2_SIGNAL_11 : 171|1@1+ (1,0) [0|1] "" XXX + SG_ POINT_2_SIGNAL_12 : 172|6@1+ (1,0) [0|63] "" XXX + SG_ POINT_2_SIGNAL_13 : 178|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_2_SIGNAL_14 : 180|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX + SG_ POINT_2_SIGNAL_15 : 188|1@1+ (1,0) [0|1] "" XXX + SG_ POINT_2_SIGNAL_16 : 189|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_2_SIGNAL_17 : 191|3@1+ (1,0) [0|7] "" XXX + SG_ POINT_2_SIGNAL_18 : 194|6@1+ (1,0) [0|63] "" XXX + SG_ POINT_2_SIGNAL_19 : 200|8@1+ (1,0) [0|255] "" XXX + SG_ POINT_2_SIGNAL_20 : 208|1@1+ (1,0) [0|1] "" XXX + SG_ POINT_3_DISTANCE : 209|14@1+ (0.015625,0) [0|255.984375] "" XXX + SG_ POINT_3_SIGNAL_2 : 223|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_3_SIGNAL_3 : 225|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX + SG_ POINT_3_REL_VELOCITY : 233|13@1+ (0.03125,-66) [-66|189.96875] "" XXX + SG_ POINT_3_SIGNAL_5 : 246|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_3_SIGNAL_6 : 248|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_3_AZIMUTH : 250|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX + SG_ POINT_3_SIGNAL_8 : 262|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_3_SIGNAL_9 : 264|1@1+ (1,0) [0|1] "" XXX + SG_ POINT_3_SIGNAL_10 : 265|7@1+ (1,0) [0|127] "" XXX + SG_ POINT_3_SIGNAL_11 : 272|1@1+ (1,0) [0|1] "" XXX + SG_ POINT_3_SIGNAL_12 : 273|6@1+ (1,0) [0|63] "" XXX + SG_ POINT_3_SIGNAL_13 : 279|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_3_SIGNAL_14 : 281|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX + SG_ POINT_3_SIGNAL_15 : 289|1@1+ (1,0) [0|1] "" XXX + SG_ POINT_3_SIGNAL_16 : 290|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_3_SIGNAL_17 : 292|3@1+ (1,0) [0|7] "" XXX + SG_ POINT_3_SIGNAL_18 : 295|6@1+ (1,0) [0|63] "" XXX + SG_ POINT_3_SIGNAL_19 : 301|8@1+ (1,0) [0|255] "" XXX + SG_ POINT_3_SIGNAL_20 : 309|1@1+ (1,0) [0|1] "" XXX + SG_ POINT_4_DISTANCE : 310|14@1+ (0.015625,0) [0|255.984375] "" XXX + SG_ POINT_4_SIGNAL_2 : 324|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_4_SIGNAL_3 : 326|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX + SG_ POINT_4_REL_VELOCITY : 334|13@1+ (0.03125,-66) [-66|189.96875] "" XXX + SG_ POINT_4_SIGNAL_5 : 347|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_4_SIGNAL_6 : 349|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_4_AZIMUTH : 351|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX + SG_ POINT_4_SIGNAL_8 : 363|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_4_SIGNAL_9 : 365|1@1+ (1,0) [0|1] "" XXX + SG_ POINT_4_SIGNAL_10 : 366|7@1+ (1,0) [0|127] "" XXX + SG_ POINT_4_SIGNAL_11 : 373|1@1+ (1,0) [0|1] "" XXX + SG_ POINT_4_SIGNAL_12 : 374|6@1+ (1,0) [0|63] "" XXX + SG_ POINT_4_SIGNAL_13 : 380|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_4_SIGNAL_14 : 382|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX + SG_ POINT_4_SIGNAL_15 : 390|1@1+ (1,0) [0|1] "" XXX + SG_ POINT_4_SIGNAL_16 : 391|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_4_SIGNAL_17 : 393|3@1+ (1,0) [0|7] "" XXX + SG_ POINT_4_SIGNAL_18 : 396|6@1+ (1,0) [0|63] "" XXX + SG_ POINT_4_SIGNAL_19 : 402|8@1+ (1,0) [0|255] "" XXX + SG_ POINT_4_SIGNAL_20 : 410|1@1+ (1,0) [0|1] "" XXX + SG_ POINT_5_DISTANCE : 411|14@1+ (0.015625,0) [0|255.984375] "" XXX + SG_ POINT_5_SIGNAL_2 : 425|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_5_SIGNAL_3 : 427|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX + SG_ POINT_5_REL_VELOCITY : 435|13@1+ (0.03125,-66) [-66|189.96875] "" XXX + SG_ POINT_5_SIGNAL_5 : 448|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_5_SIGNAL_6 : 450|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_5_AZIMUTH : 452|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX + SG_ POINT_5_SIGNAL_8 : 464|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_5_SIGNAL_9 : 466|1@1+ (1,0) [0|1] "" XXX + SG_ POINT_5_SIGNAL_10 : 467|7@1+ (1,0) [0|127] "" XXX + SG_ POINT_5_SIGNAL_11 : 474|1@1+ (1,0) [0|1] "" XXX + SG_ POINT_5_SIGNAL_12 : 475|6@1+ (1,0) [0|63] "" XXX + SG_ POINT_5_SIGNAL_13 : 481|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_5_SIGNAL_14 : 483|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX + SG_ POINT_5_SIGNAL_15 : 491|1@1+ (1,0) [0|1] "" XXX + SG_ POINT_5_SIGNAL_16 : 492|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_5_SIGNAL_17 : 494|3@1+ (1,0) [0|7] "" XXX + SG_ POINT_5_SIGNAL_18 : 497|6@1+ (1,0) [0|63] "" XXX + SG_ POINT_5_SIGNAL_19 : 503|8@1+ (1,0) [0|255] "" XXX + SG_ POINT_5_SIGNAL_20 : 511|1@1+ (1,0) [0|1] "" XXX + +BO_ 513 RADAR_POINTS_0x201: 64 RADAR + SG_ MESSAGE_ID : 0|5@1+ (1,0) [0|31] "" XXX + SG_ LAYOUT_ID : 5|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_1_DISTANCE : 7|14@1+ (0.015625,0) [0|255.984375] "" XXX + SG_ POINT_1_SIGNAL_2 : 21|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_1_SIGNAL_3 : 23|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX + SG_ POINT_1_REL_VELOCITY : 31|13@1+ (0.03125,-66) [-66|189.96875] "" XXX + SG_ POINT_1_SIGNAL_5 : 44|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_1_SIGNAL_6 : 46|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_1_AZIMUTH : 48|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX + SG_ POINT_1_SIGNAL_8 : 60|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_1_SIGNAL_9 : 62|1@1+ (1,0) [0|1] "" XXX + SG_ POINT_1_SIGNAL_10 : 63|7@1+ (1,0) [0|127] "" XXX + SG_ POINT_1_SIGNAL_11 : 70|1@1+ (1,0) [0|1] "" XXX + SG_ POINT_1_SIGNAL_12 : 71|6@1+ (1,0) [0|63] "" XXX + SG_ POINT_1_SIGNAL_13 : 77|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_1_SIGNAL_14 : 79|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX + SG_ POINT_1_SIGNAL_15 : 87|1@1+ (1,0) [0|1] "" XXX + SG_ POINT_1_SIGNAL_16 : 88|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_1_SIGNAL_17 : 90|3@1+ (1,0) [0|7] "" XXX + SG_ POINT_1_SIGNAL_18 : 93|6@1+ (1,0) [0|63] "" XXX + SG_ POINT_1_SIGNAL_19 : 99|8@1+ (1,0) [0|255] "" XXX + SG_ POINT_1_SIGNAL_20 : 107|1@1+ (1,0) [0|1] "" XXX + SG_ POINT_2_DISTANCE : 108|14@1+ (0.015625,0) [0|255.984375] "" XXX + SG_ POINT_2_SIGNAL_2 : 122|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_2_SIGNAL_3 : 124|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX + SG_ POINT_2_REL_VELOCITY : 132|13@1+ (0.03125,-66) [-66|189.96875] "" XXX + SG_ POINT_2_SIGNAL_5 : 145|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_2_SIGNAL_6 : 147|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_2_AZIMUTH : 149|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX + SG_ POINT_2_SIGNAL_8 : 161|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_2_SIGNAL_9 : 163|1@1+ (1,0) [0|1] "" XXX + SG_ POINT_2_SIGNAL_10 : 164|7@1+ (1,0) [0|127] "" XXX + SG_ POINT_2_SIGNAL_11 : 171|1@1+ (1,0) [0|1] "" XXX + SG_ POINT_2_SIGNAL_12 : 172|6@1+ (1,0) [0|63] "" XXX + SG_ POINT_2_SIGNAL_13 : 178|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_2_SIGNAL_14 : 180|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX + SG_ POINT_2_SIGNAL_15 : 188|1@1+ (1,0) [0|1] "" XXX + SG_ POINT_2_SIGNAL_16 : 189|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_2_SIGNAL_17 : 191|3@1+ (1,0) [0|7] "" XXX + SG_ POINT_2_SIGNAL_18 : 194|6@1+ (1,0) [0|63] "" XXX + SG_ POINT_2_SIGNAL_19 : 200|8@1+ (1,0) [0|255] "" XXX + SG_ POINT_2_SIGNAL_20 : 208|1@1+ (1,0) [0|1] "" XXX + SG_ POINT_3_DISTANCE : 209|14@1+ (0.015625,0) [0|255.984375] "" XXX + SG_ POINT_3_SIGNAL_2 : 223|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_3_SIGNAL_3 : 225|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX + SG_ POINT_3_REL_VELOCITY : 233|13@1+ (0.03125,-66) [-66|189.96875] "" XXX + SG_ POINT_3_SIGNAL_5 : 246|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_3_SIGNAL_6 : 248|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_3_AZIMUTH : 250|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX + SG_ POINT_3_SIGNAL_8 : 262|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_3_SIGNAL_9 : 264|1@1+ (1,0) [0|1] "" XXX + SG_ POINT_3_SIGNAL_10 : 265|7@1+ (1,0) [0|127] "" XXX + SG_ POINT_3_SIGNAL_11 : 272|1@1+ (1,0) [0|1] "" XXX + SG_ POINT_3_SIGNAL_12 : 273|6@1+ (1,0) [0|63] "" XXX + SG_ POINT_3_SIGNAL_13 : 279|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_3_SIGNAL_14 : 281|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX + SG_ POINT_3_SIGNAL_15 : 289|1@1+ (1,0) [0|1] "" XXX + SG_ POINT_3_SIGNAL_16 : 290|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_3_SIGNAL_17 : 292|3@1+ (1,0) [0|7] "" XXX + SG_ POINT_3_SIGNAL_18 : 295|6@1+ (1,0) [0|63] "" XXX + SG_ POINT_3_SIGNAL_19 : 301|8@1+ (1,0) [0|255] "" XXX + SG_ POINT_3_SIGNAL_20 : 309|1@1+ (1,0) [0|1] "" XXX + SG_ POINT_4_DISTANCE : 310|14@1+ (0.015625,0) [0|255.984375] "" XXX + SG_ POINT_4_SIGNAL_2 : 324|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_4_SIGNAL_3 : 326|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX + SG_ POINT_4_REL_VELOCITY : 334|13@1+ (0.03125,-66) [-66|189.96875] "" XXX + SG_ POINT_4_SIGNAL_5 : 347|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_4_SIGNAL_6 : 349|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_4_AZIMUTH : 351|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX + SG_ POINT_4_SIGNAL_8 : 363|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_4_SIGNAL_9 : 365|1@1+ (1,0) [0|1] "" XXX + SG_ POINT_4_SIGNAL_10 : 366|7@1+ (1,0) [0|127] "" XXX + SG_ POINT_4_SIGNAL_11 : 373|1@1+ (1,0) [0|1] "" XXX + SG_ POINT_4_SIGNAL_12 : 374|6@1+ (1,0) [0|63] "" XXX + SG_ POINT_4_SIGNAL_13 : 380|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_4_SIGNAL_14 : 382|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX + SG_ POINT_4_SIGNAL_15 : 390|1@1+ (1,0) [0|1] "" XXX + SG_ POINT_4_SIGNAL_16 : 391|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_4_SIGNAL_17 : 393|3@1+ (1,0) [0|7] "" XXX + SG_ POINT_4_SIGNAL_18 : 396|6@1+ (1,0) [0|63] "" XXX + SG_ POINT_4_SIGNAL_19 : 402|8@1+ (1,0) [0|255] "" XXX + SG_ POINT_4_SIGNAL_20 : 410|1@1+ (1,0) [0|1] "" XXX + SG_ POINT_5_DISTANCE : 411|14@1+ (0.015625,0) [0|255.984375] "" XXX + SG_ POINT_5_SIGNAL_2 : 425|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_5_SIGNAL_3 : 427|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX + SG_ POINT_5_REL_VELOCITY : 435|13@1+ (0.03125,-66) [-66|189.96875] "" XXX + SG_ POINT_5_SIGNAL_5 : 448|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_5_SIGNAL_6 : 450|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_5_AZIMUTH : 452|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX + SG_ POINT_5_SIGNAL_8 : 464|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_5_SIGNAL_9 : 466|1@1+ (1,0) [0|1] "" XXX + SG_ POINT_5_SIGNAL_10 : 467|7@1+ (1,0) [0|127] "" XXX + SG_ POINT_5_SIGNAL_11 : 474|1@1+ (1,0) [0|1] "" XXX + SG_ POINT_5_SIGNAL_12 : 475|6@1+ (1,0) [0|63] "" XXX + SG_ POINT_5_SIGNAL_13 : 481|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_5_SIGNAL_14 : 483|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX + SG_ POINT_5_SIGNAL_15 : 491|1@1+ (1,0) [0|1] "" XXX + SG_ POINT_5_SIGNAL_16 : 492|2@1+ (1,0) [0|3] "" XXX + SG_ POINT_5_SIGNAL_17 : 494|3@1+ (1,0) [0|7] "" XXX + SG_ POINT_5_SIGNAL_18 : 497|6@1+ (1,0) [0|63] "" XXX + SG_ POINT_5_SIGNAL_19 : 503|8@1+ (1,0) [0|255] "" XXX + SG_ POINT_5_SIGNAL_20 : 511|1@1+ (1,0) [0|1] "" XXX + +BO_ 260 RADAR_POINTS_CHECKSUM_0x104: 3 RADAR + SG_ CRC16 : 0|16@1+ (1,0) [0|65535] "" XXX + +BO_ 516 RADAR_POINTS_CHECKSUM_0x204: 3 RADAR + SG_ CRC16 : 0|16@1+ (1,0) [0|65535] "" XXX diff --git a/opendbc_repo/opendbc/dbc/hyundai_kia_mando_front_radar_generated.dbc b/opendbc_repo/opendbc/dbc/hyundai_kia_mando_front_radar_generated.dbc new file mode 100644 index 0000000000..4abd253317 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/hyundai_kia_mando_front_radar_generated.dbc @@ -0,0 +1,425 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + +CM_ "hyundai_kia_mando_front_radar.dbc starts here"; + +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX + +BO_ 1280 RADAR_TRACK_500: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + +BO_ 1281 RADAR_TRACK_501: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + +BO_ 1282 RADAR_TRACK_502: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + +BO_ 1283 RADAR_TRACK_503: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + +BO_ 1284 RADAR_TRACK_504: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + +BO_ 1285 RADAR_TRACK_505: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + +BO_ 1286 RADAR_TRACK_506: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + +BO_ 1287 RADAR_TRACK_507: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + +BO_ 1288 RADAR_TRACK_508: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + +BO_ 1289 RADAR_TRACK_509: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + +BO_ 1290 RADAR_TRACK_50a: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + +BO_ 1291 RADAR_TRACK_50b: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + +BO_ 1292 RADAR_TRACK_50c: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + +BO_ 1293 RADAR_TRACK_50d: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + +BO_ 1294 RADAR_TRACK_50e: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + +BO_ 1295 RADAR_TRACK_50f: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + +BO_ 1296 RADAR_TRACK_510: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + +BO_ 1297 RADAR_TRACK_511: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + +BO_ 1298 RADAR_TRACK_512: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + +BO_ 1299 RADAR_TRACK_513: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + +BO_ 1300 RADAR_TRACK_514: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + +BO_ 1301 RADAR_TRACK_515: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + +BO_ 1302 RADAR_TRACK_516: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + +BO_ 1303 RADAR_TRACK_517: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + +BO_ 1304 RADAR_TRACK_518: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + +BO_ 1305 RADAR_TRACK_519: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + +BO_ 1306 RADAR_TRACK_51a: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + +BO_ 1307 RADAR_TRACK_51b: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + +BO_ 1308 RADAR_TRACK_51c: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + +BO_ 1309 RADAR_TRACK_51d: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + +BO_ 1310 RADAR_TRACK_51e: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + +BO_ 1311 RADAR_TRACK_51f: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + \ No newline at end of file diff --git a/opendbc_repo/opendbc/dbc/hyundai_santafe_2007.dbc b/opendbc_repo/opendbc/dbc/hyundai_santafe_2007.dbc new file mode 100644 index 0000000000..c0f4f7e180 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/hyundai_santafe_2007.dbc @@ -0,0 +1,118 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: AWD ECU TCU ESP SAS ABS + + +BO_ 339 ESP_Flags: 8 ESP + SG_ ABD_Active : 3|1@1+ (1,0) [0|1] "yes/no" AWD,ECU,TCU + SG_ TCS_Active : 9|1@1+ (1,0) [0|1] "yes/no" AWD,ECU,TCU + SG_ ABS_Active : 10|1@1+ (1,0) [0|1] "yes/no" AWD,ECU,TCU + SG_ ESP_Off : 12|1@1+ (1,0) [0|1] "yes/no" AWD,ECU,TCU + SG_ ESP_Active : 14|1@1+ (1,0) [0|1] "yes/no" AWD,ECU,TCU + SG_ VehicleSpeed : 16|8@1+ (1,0) [0|254] "km/h" AWD,ECU,TCU + SG_ TorqueRequestFast : 24|8@1+ (0.390625,0) [0|99.609375] "%" ECU,TCU + SG_ TorqueRequestSlow : 40|8@1+ (0.390625,0) [0|99.609375] "%" ECU,TCU + +BO_ 497 ESP_WheelSpeed: 8 ESP + SG_ FrontRightWheelSpeed : 16|12@1+ (0.125,0) [0|511.875] "km/h" AWD + SG_ FrontLeftWheelSpeed : 28|12@1+ (0.125,0) [0|511.875] "km/h" AWD + SG_ RearRightWheelSpeed : 40|12@1+ (0.125,0) [0|511.875] "km/h" AWD + SG_ RearLeftWheelSpeed : 52|12@1+ (0.125,0) [0|511.875] "km/h" AWD + +BO_ 608 ECU_Data1: 8 ECU + SG_ TorqueMin : 0|8@1+ (0.390625,0) [0|99.609375] "%" ESP,TCU + SG_ Torque : 8|8@1+ (0.390625,0) [0|99.609375] "%" ESP,TCU + SG_ TorqueTarget : 16|8@1+ (0.390625,0) [0|99.609375] "%" ESP,TCU + SG_ CruiseEnabled : 25|1@1+ (1,0) [0|1] "yes/no" TCU + SG_ CruiseActive : 26|1@1+ (1,0) [0|1] "yes/no" TCU + SG_ TorqueMax : 40|8@1+ (0.390625,0) [0|99.609375] "%" ESP,TCU + +BO_ 640 ECU_Data2: 8 ECU + SG_ RPM : 32|8@1+ (32,0) [0|8160] "rpm" TCU + SG_ MAF : 40|8@1+ (5.447,0) [0|1388.985] "mg/TDC" TCU + SG_ IAT : 48|8@1- (0.75,-48) [-48|143.25] "C" TCU + SG_ MAP : 56|8@1+ (0.47058,0) [0|119.9979] "KPa" TCU + +BO_ 688 SAS_Data: 5 SAS + SG_ SAS_Angle : 0|16@1- (0.1,0) [-3276.8|3276.7] "deg" AWD,ECU,ESP,TCU + SG_ SAS_Speed : 16|8@1+ (4,0) [0|1016] "deg/s" ESP,TCU + SG_ SAS_Status : 24|8@1+ (1,0) [0|255] "" ESP,TCU + SG_ Msg_Count : 32|4@1+ (1,0) [0|15] "" ESP + SG_ Check_Sum : 36|4@1+ (1,0) [0|15] "" ECU,ESP + +BO_ 809 ECU_Data5: 8 ECU + SG_ ECT : 8|8@1- (0.75,-48) [-48|143.25] "C" AWD,ABS,ESP,TCU + SG_ BrakeActive : 32|2@1+ (1,0) [0|3] "yes/no" AWD,ABS,ESP,TCU + SG_ TPS : 40|8@1+ (0.47265625,-15) [-15|105.52734375] "%" AWD,ABS,ESP,TCU + +BO_ 1064 AWD_Data1: 8 AWD + SG_ ClutchDuty : 16|8@1+ (1,0) [0|100] "%" ABS,ESP + SG_ ClutchLocked : 44|1@1+ (1,0) [0|1] "yes/no" ABS,ESP + +BO_ 1065 AWD_Data2: 8 AWD + SG_ SteeringWheelPosition : 0|16@1+ (1,-600) [-600|600] "deg" ABS + SG_ FrontRightWheelSpeed : 16|8@1+ (1,0) [0|254] "km/h" ABS + SG_ FrontLeftWheelSpeed : 24|8@1+ (1,0) [0|254] "km/h" ABS + SG_ RearRightWheelSpeed : 32|8@1+ (1,0) [0|254] "km/h" ABS + SG_ RearLeftWheelSpeed : 40|8@1+ (1,0) [0|254] "km/h" ABS + +BO_ 1087 TCU_Data: 8 TCU + SG_ CurrentGear : 0|3@1+ (1,0) [0|7] "" ECU + SG_ GearSwitch : 3|1@1+ (1,0) [0|1] "yes/no" ECU + SG_ SelectorPosition : 8|4@1+ (1,0) [0|15] "" ECU + SG_ InputShaftSpeed : 40|16@1+ (0.25,0) [0|16383.5] "rpm" ECU + +BO_ 1349 ECU_Data6: 8 ECU + SG_ BatteryVoltage : 24|8@1+ (0.1015625,0) [0|25.8984375] "V" ABS,ESP + +BO_ 1408 ABS_WheelSpeed: 8 ABS + SG_ FrontRightWheelSpeed : 16|12@1+ (0.125,0) [0|511.875] "km/h" AWD + SG_ FrontLeftWheelSpeed : 28|12@1+ (0.125,0) [0|511.875] "km/h" AWD + SG_ RearRightWheelSpeed : 40|12@1+ (0.125,0) [0|511.875] "km/h" AWD + SG_ RearLeftWheelSpeed : 52|12@1+ (0.125,0) [0|511.875] "km/h" AWD + +BO_ 1695 ECU_Data7: 8 ECU + SG_ ECU_Temperature : 8|8@1- (1,-28) [-28|227] "C" TCU + +BO_ 1984 SAS_Calibration: 2 ESP + SG_ CCW : 0|4@1+ (1,0) [0|15] "" SAS + SG_ CID : 4|11@1+ (1,0) [0|2047] "" SAS + + + +VAL_ 1087 CurrentGear 7 "R" 0 "N" 1 "1" 2 "2" 3 "3" 4 "4" ; +VAL_ 1087 SelectorPosition 7 "R" 6 "N" 5 "D" 8 "M" 15 "P" ; + diff --git a/opendbc_repo/opendbc/dbc/luxgen_s5_2015.dbc b/opendbc_repo/opendbc/dbc/luxgen_s5_2015.dbc new file mode 100644 index 0000000000..34fe6b6460 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/luxgen_s5_2015.dbc @@ -0,0 +1,153 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX + + +BO_ 928 EPB_STATUS: 8 XXX + SG_ EPB_BRAKE : 16|1@1+ (1,0) [0|3] "" XXX + +BO_ 1104 SEATBELT_STATUS: 8 XXX + SG_ DRIVER_SEAT_BELT_ONOFF : 21|1@0+ (1,0) [0|3] "" XXX + +BO_ 1056 BODY_ECU_STATUS: 8 XXX + SG_ DOOR_RL_STATUS : 18|1@0+ (1,0) [0|255] "" XXX + SG_ DOOR_FL_STATUS : 13|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_FR_STATUS : 12|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_RR_STATUS : 19|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_BACK_DOOR_STATUS : 22|1@0+ (1,0) [0|1] "" XXX + SG_ LEFT_SIGNAL_STATUS : 10|1@0+ (1,0) [0|1] "" XXX + SG_ RIGHT_SIGNAL_STATUS : 9|1@0+ (1,0) [0|1] "" XXX + +BO_ 832 GEAR_RPM_SPEED_STATUS: 8 XXX + SG_ TRANS_MODE : 7|5@1+ (1,0) [0|0] "" XXX + SG_ TRANS_GEAR_POS : 2|3@0+ (1,0) [0|1] "" XXX + SG_ ENGINE_RPM1 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ ENGINE_TEMP : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 821 THROTTLE_STATUS: 8 XXX + SG_ CRUSE_ONOFF : 2|1@0+ (1,0) [0|1] "on/off" XXX + SG_ CRUSE_ENABLED : 4|1@0+ (1,0) [0|1] "" XXX + SG_ THROTTLE_PEDAL_POS : 32|8@1+ (1,0) [0|255] "" XXX + SG_ THROTTLE_POS : 24|8@1+ (1,0) [0|255] "" XXX + SG_ RPM : 48|8@1- (1,0) [0|65535] "" XXX + +BO_ 922 STEERING_ANGLE_STATUS: 8 XXX + SG_ STEER_ANGLE_9000 : 7|16@0- (1,0) [0|65535] "" XXX + +BO_ 906 WHEEL_SPEEDS: 8 XXX + SG_ SPEED_FR : 24|8@1+ (1,0) [0|255] "" XXX + SG_ ABS_UNDEF1 : 32|8@1+ (1,0) [0|255] "" XXX + SG_ SPEED_FL : 0|8@1+ (1,0) [0|255] "" XXX + +BO_ 848 ABS_WHEELS_STATUS: 8 XXX + SG_ NEW_SIGNAL_1 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_4 : 15|8@0+ (1,0) [0|255] "" XXX + +BO_ 1402 DASH_STATUS: 8 XXX + SG_ CAR_SPEED : 32|8@1+ (1,0) [0|255] "" XXX + SG_ DASH_INFO2 : 16|8@1+ (1,0) [0|255] "" XXX + SG_ DASH_INFO0 : 0|8@1+ (1,0) [0|255] "" XXX + SG_ DASH_INFO_2 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ DASH_INFO_3 : 31|8@0+ (1,0) [0|255] "" XXX + +BO_ 1306 _SPEEDX: 8 XXX + SG_ DASH_CAR_SPEED : 7|9@0+ (1,0) [0|255] "" XXX + +BO_ 1296 undefined: 8 XXX + +BO_ 790 ENGINE_DATA: 8 XXX + SG_ _X2 : 6|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_4 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_5 : 47|8@0+ (1,0) [0|255] "" XXX + +BO_ 1313 undefined_2: 8 XXX + +BO_ 1312 __trigger_every_range: 8 XXX + SG_ __SIGNAL_every_interval : 4|1@0+ (1,0) [0|1] "" XXX + +BO_ 896 undefined_3: 8 XXX + SG_ NEW_SIGNAL_1 : 32|4@1+ (1,0) [0|15] "" XXX + +BO_ 809 undefined_4: 8 XXX + +BO_ 864 BREAK_TCS_STATUS: 8 XXX + SG_ SPEED3 : 24|8@1+ (1,0) [0|255] "" XXX + SG_ TCS_ON_FF : 45|1@0+ (1,0) [0|1] "" XXX + SG_ XXXX1 : 63|8@0+ (1,0) [0|255] "" XXX + SG_ BRAKE_PRSSED : 42|1@0+ (1,0) [0|1] "" XXX + +BO_ 842 undefined_5: 8 XXX + +BO_ 880 WHEEL_RPM_STATUS: 8 XXX + SG_ WHEEL_RL_SPEED : 23|16@0+ (1,0) [0|255] "" XXX + SG_ WHEEL_FR_SPEED : 39|16@0+ (1,0) [0|255] "" XXX + SG_ WHEEL_FL_SPEED : 55|16@0+ (1,0) [0|255] "" XXX + SG_ WHEEL_RR_SPEED : 7|16@0- (1,0) [0|255] "" XXX + +BO_ 1040 CONSOLE_STATUS: 8 XXX + SG_ LEFT_SIGNAL_SWITCH : 1|1@0+ (1,0) [0|1] "" XXX + SG_ RIGHT_SIGNAL_SWITCH : 2|1@0+ (1,0) [0|1] "" XXX + SG_ HEAD_LIGHT_HANDLE_SWITCH : 3|1@0+ (1,0) [0|1] "" XXX + SG_ HID_LIGHT_SWITCH : 4|1@0+ (1,0) [0|1] "" XXX + SG_ YELLOW_WARN_TEMP_TRIGGER : 5|1@0+ (1,0) [0|1] "" XXX + SG_ HID_LIGHT_HANDLE_SWITCH : 6|1@0+ (1,0) [0|1] "" XXX + SG_ MIX_MODE : 7|1@0+ (1,0) [0|1] "" XXX + SG_ slider_rain_bar : 13|1@0+ (1,0) [0|1] "" XXX + SG_ temp_slider_rain_bar : 15|1@0+ (1,0) [0|1] "" XXX + SG_ temp_water_push : 11|1@0+ (1,0) [0|1] "" XXX + +BO_ 1120 HAVC_STATUS: 8 XXX + SG_ HAVC_TEMP : 32|8@1+ (1,0) [0|255] "" XXX + + +CM_ SG_ 1104 DRIVER_SEAT_BELT_ONOFF "0 - on , 1 = off"; +CM_ SG_ 1056 DOOR_RL_STATUS "04 - RL - open"; +CM_ SG_ 1056 DOOR_FL_STATUS "28 - FL open , 38 - FR"; +CM_ SG_ 1056 RIGHT_SIGNAL_STATUS "R,L shows at same time means hazard"; +CM_ SG_ 832 TRANS_MODE "AT - 85 / MT - 8D"; +CM_ SG_ 832 TRANS_GEAR_POS "R-7 , 0 - N"; +CM_ SG_ 821 CRUSE_ONOFF "Cruse Switch"; +CM_ SG_ 821 CRUSE_ENABLED "Cruse enabled"; +CM_ SG_ 821 THROTTLE_PEDAL_POS "Real Pedal Pos"; +CM_ SG_ 821 THROTTLE_POS "Throttle Pos for Cruse Mode"; +CM_ SG_ 906 ABS_UNDEF1 "ABS force"; +CM_ SG_ 906 SPEED_FL "used for car speed in dash board"; +CM_ SG_ 864 TCS_ON_FF "ON = 1, OFF =0"; diff --git a/opendbc_repo/opendbc/dbc/mazda_2017.dbc b/opendbc_repo/opendbc/dbc/mazda_2017.dbc new file mode 100644 index 0000000000..d2bb77b351 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/mazda_2017.dbc @@ -0,0 +1,791 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX + + +BO_ 117 STEER_RELATED: 8 XXX + SG_ CTR : 7|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_1 : 48|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_2 : 49|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_5 : 50|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_4 : 54|4@0+ (1,0) [0|31] "" XXX + SG_ NEW_SIGNAL_3 : 55|1@0+ (1,0) [0|63] "" XXX + SG_ STEER_ANGLE_2 : 39|16@0+ (0.1,-1800) [0|131071] "" XXX + SG_ STEER_TORQUE : 19|12@0+ (1,-2000) [0|255] "" XXX + +BO_ 118 RPM_RELATED: 8 XXX + SG_ CTR : 7|8@0+ (1,0) [0|127] "" XXX + SG_ NEW_SIGNAL_2 : 19|12@0+ (1,0) [0|4095] "" XXX + +BO_ 514 ENGINE_DATA: 8 XXX + SG_ CHKSUM : 63|8@0+ (1,0) [0|127] "" XXX + SG_ RPM : 7|16@0+ (0.25,0) [0|8500] "rpm" XXX + SG_ SPEED : 23|16@0+ (0.01,0) [0|32767] "kph" XXX + SG_ PEDAL_GAS : 39|12@0+ (1,0) [0|255] "%" XXX + +BO_ 357 PEDALS: 8 XXX + SG_ NEW_SIGNAL_6 : 31|4@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_7 : 8|3@1+ (1,0) [0|7] "" XXX + SG_ ACC_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_OFF : 2|1@1+ (1,0) [0|15] "" XXX + SG_ CHKSUM : 63|8@0+ (1,0) [0|15] "" XXX + SG_ STANDSTILL : 26|1@0+ (1,0) [0|16777215] "" XXX + SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|3] "" XXX + SG_ BRAKE_ON : 4|1@0+ (1,0) [0|1] "" XXX + SG_ NO_BRAKE : 6|1@0+ (1,0) [0|7] "" XXX + SG_ BRAKE_ON_2 : 7|1@1+ (1,0) [0|255] "" XXX + SG_ NO_BRAKE_2 : 15|1@0+ (1,0) [0|7] "" XXX + SG_ GEAR : 48|5@1+ (1,0) [0|255] "" XXX + +BO_ 533 WHEEL_SPEEDS: 8 XXX + SG_ FL : 7|16@0+ (0.01,-100) [0|16383] "kph" XXX + SG_ FR : 23|16@0+ (0.01,-100) [0|65535] "kph" XXX + SG_ RL : 39|16@0+ (0.01,-100) [0|15] "kph" XXX + SG_ RR : 55|16@0+ (0.01,-100) [0|65535] "kph" XXX + +BO_ 134 STEER2: 8 XXX + SG_ CTR : 22|4@0+ (1,0) [0|7] "" XXX + SG_ NEW_SIGNAL_4 : 23|1@0+ (1,0) [0|1] "" XXX + SG_ CTR_2 : 28|3@1+ (1,0) [0|7] "" XXX + SG_ STEER_ANGLE_ROUGH : 26|11@0+ (1,-1000) [0|15] "" XXX + SG_ NEW_SIGNAL_5 : 18|3@0+ (1,0) [0|1] "" XXX + SG_ STEER_ANGLE : 7|16@0+ (0.1,-1600) [-500|500] "deg" XXX + SG_ NEW_SIGNAL_1 : 63|2@0+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_3 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 47|8@0+ (1,0) [0|7] "" XXX + +BO_ 576 STEER_TORQUE: 8 XXX + SG_ NEW_SIGNAL_1 : 23|4@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 47|1@0+ (1,0) [0|1] "" XXX + SG_ SENSOR1 : 39|8@0+ (1,-128) [0|127] "" XXX + SG_ STEER_TORQUE_MOTOR : 46|15@0- (0.1,0) [-3000|3000] "tbd" XXX + SG_ NEW_SIGNAL_2 : 62|4@0+ (1,0) [0|31] "" XXX + SG_ NEW_SIGNAL_4 : 15|8@0+ (1,0) [0|127] "" XXX + SG_ STEER_TORQUE_SENSOR : 7|8@0+ (1,-127) [-85|85] "" XXX + +BO_ 577 STEER_RATE: 8 XXX + SG_ STEER_ANGLE_RATE : 23|16@0+ (0.25,-8192) [0|1] "deg/s" XXX + SG_ CTR : 7|4@0+ (1,0) [0|15] "" XXX + SG_ LKAS_REQUEST : 3|12@0+ (1,-2048) [0|15] "" XXX + SG_ LKAS_EFFECTIVE : 39|12@0+ (1,-2048) [0|255] "" XXX + SG_ HANDS_OFF_5_SECONDS : 51|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_BLOCK : 50|1@1+ (1,0) [0|3] "" XXX + SG_ LKAS_TRACK_STATE : 52|1@0+ (1,0) [0|3] "" XXX + SG_ CHKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 582 CAM_LANEMAYBE: 8 XXX + SG_ NEW_SIGNAL_4 : 40|8@1+ (1,0) [0|127] "" XXX + SG_ NEW_SIGNAL_1 : 31|16@0- (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_2 : 55|16@0+ (1,0) [0|65535] "" XXX + SG_ CTR : 7|2@0+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_3 : 15|16@0+ (1,0) [0|65535] "" XXX + +BO_ 541 CAM_EMPTY: 8 XXX + +BO_ 605 CAM_PEDESTRIAN: 8 XXX + SG_ CTR : 17|4@0+ (1,0) [0|255] "" XXX + SG_ AEB_NOT_ENGAGED : 13|1@0+ (1,0) [0|1] "" XXX + SG_ PED_WARNING : 9|1@0+ (1,0) [0|255] "" XXX + SG_ PED_BRAKE : 3|3@0+ (1,0) [0|7] "" XXX + SG_ RST_CTR : 23|6@0+ (1,0) [0|63] "" XXX + SG_ S1 : 29|4@0+ (1,0) [0|31] "" XXX + SG_ BRAKE_WARNING : 25|1@0+ (1,0) [0|1] "" XXX + +BO_ 578 CAM_LANETRACK: 8 XXX + SG_ CHKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ ZERO : 53|6@0+ (1,0) [0|63] "" XXX + SG_ CTR : 7|4@0+ (1,0) [0|15] "" XXX + SG_ LINE2 : 9|10@0+ (1,-686) [0|255] "" XXX + SG_ LANE_CURVE : 31|8@0+ (1,-127) [0|255] "" XXX + SG_ SIG1 : 39|8@0+ (1,-128) [0|255] "" XXX + SG_ SIG2 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ SIG3 : 55|2@0+ (1,0) [0|3] "" XXX + SG_ LINE1 : 3|10@0+ (1,-686) [0|1] "" XXX + +BO_ 579 CAM_LKAS: 8 XXX + SG_ CTR : 7|4@0+ (1,0) [0|15] "" XXX + SG_ ERR_BIT_1 : 16|1@0+ (1,0) [0|1] "" XXX + SG_ CHKSUM : 63|8@0+ (1,0) [0|15] "" XXX + SG_ LINE_NOT_VISIBLE : 19|1@0+ (1,0) [0|1] "" XXX + SG_ BIT_1 : 29|1@0+ (1,0) [0|1] "" XXX + SG_ LDW : 23|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_REQUEST : 3|12@0+ (1,-2048) [0|2048] "" XXX + SG_ ERR_BIT_2 : 30|1@0+ (1,0) [0|1] "" XXX + SG_ ANGLE_ENABLED : 52|1@0+ (1,0) [0|1] "" XXX + SG_ STEERING_ANGLE : 33|12@0+ (1,-2048) [-2048|2047] "" XXX + +BO_ 580 CAM_DISTANCE: 8 XXX + SG_ S1 : 0|8@1+ (1,0) [0|127] "" XXX + SG_ S2 : 15|8@0+ (1,0) [0|1] "" XXX + SG_ S3 : 16|8@1+ (1,0) [0|3] "" XXX + SG_ S4 : 24|8@1+ (1,0) [0|31] "" XXX + SG_ S5 : 32|8@1+ (1,0) [0|255] "" XXX + SG_ DISTANCE : 47|8@0+ (1,0) [0|65535] "" XXX + SG_ S6 : 55|16@0+ (1,0) [0|255] "" XXX + +BO_ 581 CAM_IDK3: 8 XXX + SG_ S1 : 0|8@1+ (1,0) [0|15] "" XXX + SG_ S2 : 8|6@1+ (1,0) [0|255] "" XXX + SG_ S3 : 15|2@0+ (1,0) [0|3] "" XXX + SG_ S4 : 16|8@1+ (1,0) [0|15] "" XXX + SG_ S5 : 24|8@1+ (1,0) [0|255] "" XXX + SG_ S6 : 32|8@1+ (1,0) [0|255] "" XXX + SG_ S7 : 40|8@1+ (1,0) [0|3] "" XXX + SG_ S8 : 48|8@1+ (1,0) [0|255] "" XXX + SG_ S9 : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 863 CAM_TRAFFIC_SIGNS: 8 XXX + SG_ NEW_SIGNAL_3 : 55|1@0+ (1,0) [0|127] "" XXX + SG_ FORWARD_COLLISION : 40|8@1+ (1,0) [0|7] "" XXX + SG_ SPEED_SIGN : 4|7@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_2 : 52|5@0+ (1,0) [0|31] "" XXX + SG_ SPEED_SIGN_CAM : 32|1@0+ (1,0) [0|32767] "" XXX + SG_ SPEED_SIGN_ON : 12|1@0+ (1,0) [0|3] "" XXX + SG_ STOP_SIGN : 31|4@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_4 : 33|1@0+ (1,0) [0|1] "" XXX + +BO_ 1157 CAM_SETTINGS: 8 XXX + SG_ SBS_WARNING_DISTANCE : 25|2@0+ (1,0) [0|127] "" XXX + SG_ SBS_SCBC : 28|2@0+ (1,0) [0|7] "" XXX + SG_ LKAS_ASSIT_TIMING : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_SENSETIVITY : 10|1@0+ (1,0) [0|1] "" XXX + SG_ ILKAS_NTERVENTION_ON2 : 17|1@0+ (1,0) [0|255] "" XXX + SG_ LANEE_DEPARTURE_ALERT : 16|2@0+ (1,0) [0|1] "" XXX + SG_ LKAS_INERVENTION_ON1 : 15|1@0+ (1,0) [0|1] "" XXX + SG_ WARNING : 11|1@0+ (1,0) [0|1] "" XXX + SG_ BIT1 : 12|1@0+ (1,0) [0|7] "" XXX + SG_ BIT2 : 14|1@0+ (1,0) [0|1] "" XXX + SG_ BIT3 : 18|1@0+ (1,0) [0|1] "" XXX + +BO_ 1160 CAM_Empty3: 8 XXX + SG_ NEW_SIGNAL_1 : 47|24@0+ (1,0) [0|16777215] "" XXX + +BO_ 1088 CAM_LANEINFO: 8 XXX + SG_ BIT3 : 62|1@0+ (1,0) [0|3] "" XXX + SG_ HANDS_ON_STEER_WARN_2 : 59|1@0+ (1,0) [0|1] "" XXX + SG_ HANDS_ON_STEER_WARN : 56|1@0+ (1,0) [0|3] "" XXX + SG_ S1_HBEAM : 54|1@0+ (1,0) [0|31] "" XXX + SG_ S1 : 52|1@0+ (1,0) [0|1] "" XXX + SG_ HANDS_WARN_3_BITS : 51|3@0+ (1,0) [0|7] "" XXX + SG_ ERR_BIT : 40|1@0+ (1,0) [0|1] "" XXX + SG_ NO_ERR_BIT : 14|1@0+ (1,0) [0|1] "" XXX + SG_ BIT2 : 13|1@0+ (1,0) [0|15] "" XXX + SG_ LANE_LINES : 10|3@0+ (1,0) [0|3] "" XXX + SG_ BIT1 : 6|1@0+ (1,0) [0|65535] "" XXX + SG_ LINE_NOT_VISIBLE : 1|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_VISIBLE : 0|1@0+ (1,0) [0|3] "" XXX + SG_ LDW_WARN_RL : 58|1@0+ (1,0) [0|1] "" XXX + SG_ LDW_WARN_LL : 57|1@0+ (1,0) [0|1] "" XXX + SG_ TJA : 38|3@0+ (1,0) [0|7] "" XXX + SG_ TJA_TRANSITION : 27|2@0+ (1,0) [0|63] "" XXX + +BO_ 1479 NEW_MSG_470: 8 XXX + +BO_ 1456 NEW_MSG_300: 8 XXX + +BO_ 1446 NEW_MSG_a600: 8 XXX + +BO_ 1416 MSG_18: 8 XXX + +BO_ 1086 DOORS: 8 XXX + SG_ LEFTGATE : 32|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_3 : 53|1@0+ (1,0) [0|255] "" XXX + SG_ KEYFOB_HORN : 2|1@0+ (1,0) [0|1] "" XXX + SG_ KEYFOB_LOCK : 3|1@0+ (1,0) [0|1] "" XXX + SG_ KEYFOB_UNLOCK : 4|1@0+ (1,0) [0|1] "" XXX + SG_ CTR1 : 8|4@1+ (1,0) [0|3] "" XXX + SG_ CTR2 : 16|4@1+ (1,0) [0|15] "" XXX + SG_ BR : 34|1@0+ (1,0) [0|1] "" XXX + SG_ BL : 35|1@0+ (1,0) [0|1] "" XXX + SG_ FR : 36|1@0+ (1,0) [0|1] "" XXX + SG_ FL : 37|1@0+ (1,0) [0|255] "" XXX + SG_ DOORS_UNLOCKED : 30|1@0+ (1,0) [0|255] "" XXX + +BO_ 977 TWO_STATES: 8 XXX + SG_ NEW_SIGNAL_1 : 50|1@1+ (1,0) [0|7] "" XXX + SG_ NEW_SIGNAL_2 : 56|4@1+ (1,0) [0|7] "" XXX + SG_ NEW_SIGNAL_3 : 28|1@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_4 : 24|4@1+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_5 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_6 : 36|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_7 : 47|8@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_8 : 51|1@0+ (1,0) [0|1] "" XXX + +BO_ 1085 MSG_12: 8 XXX + SG_ NEW_SIGNAL_3 : 36|1@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_1 : 16|8@1+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_2 : 48|8@1+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_4 : 31|1@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_5 : 24|1@0+ (1,0) [0|127] "" XXX + SG_ NEW_SIGNAL_6 : 40|3@1+ (1,0) [0|7] "" XXX + +BO_ 159 MSG_11: 8 XXX + SG_ NEW_SIGNAL_1 : 50|4@1+ (1,0) [0|15] "" XXX + SG_ INCREASEING : 39|8@0+ (1,0) [0|255] "" XXX + +BO_ 1278 NEW_MSG_3: 8 XXX + SG_ NEW_SIGNAL_2 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_4 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_5 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_6 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_7 : 63|8@0+ (1,0) [0|255] "" XXX + SG_ MILAGE_MAYBE : 7|16@0+ (1,0) [0|255] "" XXX + +BO_ 1277 NEW_MSG_10: 8 XXX + SG_ NEW_SIGNAL_3 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ counter : 7|8@0+ (1,0) [0|255] "" XXX + +BO_ 1275 2017_5: 8 XXX + SG_ counter : 4|5@0+ (1,0) [0|255] "" XXX + +BO_ 1274 NEW_MSG_12: 8 XXX + SG_ NEW_SIGNAL_1 : 24|4@1+ (1,0) [0|15] "" XXX + SG_ CTR : 55|4@0+ (1,0) [0|63] "" XXX + SG_ NEW_SIGNAL_2 : 35|1@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 32|3@1+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_4 : 48|4@1+ (1,0) [0|7] "" XXX + +BO_ 1180 last_byte_roughRPM: 8 XXX + SG_ NEW_SIGNAL_1 : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 1078 HVAC: 8 XXX + SG_ NEW_SIGNAL_1 : 2|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_2 : 8|1@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 23|1@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_4 : 56|5@0+ (1,0) [0|255] "" XXX + +BO_ 1056 CHECK_AND_TEMP: 8 XXX + SG_ NEW_SIGNAL_1 : 29|6@0+ (1,0) [0|255] "" XXX + SG_ counter_or_GEAR : 15|8@0+ (1,0) [0|255] "" XXX + SG_ CTR : 23|8@0+ (1,0) [0|255] "" XXX + SG_ STANDSTILL : 32|1@0+ (1,0) [0|255] "" XXX + SG_ COOLANT_TEMP : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LOW_ENGINE_OIL_PRESSURE : 43|1@0+ (1,0) [0|1] "" XXX + SG_ CHECK_FUEL_CAP : 40|1@0+ (1,0) [0|1] "" XXX + SG_ CHARGING_SYSTEM_MALFUNCTION : 38|1@0+ (1,0) [0|1] "" XXX + SG_ OUTDOOR_TEMP : 63|8@0+ (0.25,-63) [0|255] "cel" XXX + +BO_ 1045 TRACTION: 8 XXX + SG_ NEW_SIGNAL_2 : 20|1@0+ (1,0) [0|3] "" XXX + SG_ CTR2 : 19|4@0+ (1,0) [0|31] "" XXX + SG_ CTR3 : 8|4@1+ (1,0) [0|15] "" XXX + SG_ IS_MOVING : 12|1@0+ (1,0) [0|3] "" XXX + SG_ CTR1 : 53|6@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_1 : 54|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE : 55|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_WARNING : 2|1@0+ (1,0) [0|1] "" XXX + SG_ ABS_MALFUNCTION : 1|2@0+ (1,0) [0|3] "" XXX + SG_ DSC_OFF : 3|1@0+ (1,0) [0|1] "" XXX + SG_ TCS_DCS_MALFUNCTION : 6|2@0+ (1,0) [0|3] "" XXX + SG_ LOUD_BEEP : 28|1@0+ (1,0) [0|1] "" XXX + SG_ TPMS_WARNING_DOUBLE_BLINK : 31|1@0+ (1,0) [0|1] "" XXX + +BO_ 1034 MSG_07: 8 XXX + SG_ NEW_SIGNAL_1 : 6|3@0+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_2 : 0|4@1+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_3 : 15|4@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_4 : 63|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_5 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_6 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_7 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_8 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_9 : 31|8@0+ (1,0) [0|255] "" XXX + +BO_ 870 RADAR_366_STATIC: 8 XXX + SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_4 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_5 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_6 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_7 : 55|8@0+ (1,0) [0|255] "" XXX + +BO_ 867 RADAR_363: 8 XXX + SG_ CTR : 59|4@0+ (1,0) [0|255] "" XXX + SG_ STATIC_4 : 43|16@0+ (1,0) [0|255] "" XXX + SG_ FLIPPY_1 : 31|3@0+ (1,0) [0|7] "" XXX + SG_ FLIPPY_2 : 47|1@0+ (1,0) [0|15] "" XXX + SG_ FLIPPY_4 : 44|1@0+ (1,0) [0|3] "" XXX + SG_ FLIPPY_3 : 46|1@0+ (1,0) [0|3] "" XXX + SG_ CURVE_1 : 7|12@0+ (1,0) [0|255] "" XXX + SG_ CURVE_2 : 11|12@0+ (1,0) [0|255] "" XXX + SG_ CURVE_3 : 28|13@0+ (1,0) [0|255] "" XXX + +BO_ 130 STEER: 8 XXX + SG_ NEW_SIGNAL_5 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_6 : 63|8@0+ (1,0) [0|255] "" XXX + SG_ CTR : 47|4@0+ (1,0) [0|255] "" XXX + SG_ STEER_ANGLE : 23|16@0+ (0.05,-1600) [500|-500] "deg" XXX + SG_ CHKSUM_MAYBE : 39|8@0+ (1,0) [0|255] "" XXX + +BO_ 120 BRAKE: 8 XXX + SG_ CTR : 55|8@0+ (1,0) [0|255] "" XXX + SG_ BRAKE_PRESSURE : 39|8@0+ (1,0) [0|255] "" XXX + SG_ VEHICLE_ACC_X : 5|13@0+ (0.01,-40) [-40|40] "m/s^2" XXX + SG_ VEHICLE_ACC_Y : 8|13@0+ (0.001,-4.096) [-4.096|4.096] "m/s^2" XXX + +BO_ 304 GEAR_RELATED: 8 XXX + SG_ NEW_SIGNAL_1 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 47|8@0+ (1,0) [0|255] "" XXX + +BO_ 865 RADAR_DISTANCE: 8 XXX + SG_ CTR : 56|4@1+ (1,0) [0|15] "" XXX + SG_ STATIC : 36|3@0+ (1,0) [0|31] "" XXX + SG_ DISTANCE_RELATED : 33|4@0+ (1,0) [0|3] "" XXX + SG_ SPEED_INVERSE : 43|12@0- (-0.225,0) [0|255] "kph" XXX + SG_ DISTANCE_LEAD : 7|24@0+ (1,0) [0|31] "" XXX + SG_ RELATIVE_VEL_LEAD : 31|11@0- (1,0) [0|255] "" XXX + +BO_ 836 NEW_MSG_19: 8 XXX + SG_ CTR : 48|4@1+ (1,0) [0|15] "" XXX + SG_ CTR2 : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 832 SEATBELT: 8 XXX + SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ PASSENGER_SEATBELT : 26|1@1+ (1,0) [0|7] "" XXX + SG_ CTR1 : 15|4@0+ (1,0) [0|15] "" XXX + SG_ CTR2 : 23|4@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_4 : 8|4@1+ (1,0) [0|3] "" XXX + SG_ DRIVER_SEATBELT : 27|1@0+ (1,0) [0|1] "" XXX + +BO_ 866 RADAR_TURN: 8 XXX + SG_ CTR : 59|4@0+ (1,0) [0|15] "" XXX + SG_ STEER_ANGLE : 43|12@0+ (-1,2048) [0|7] "" XXX + SG_ STATIC_2 : 63|4@0+ (1,0) [0|15] "" XXX + SG_ CURVE_1 : 7|12@0+ (1,0) [0|131071] "" XXX + SG_ CURVE_2 : 11|12@0- (1,0) [0|127] "" XXX + SG_ FLIPPY_1 : 44|1@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_4 : 34|3@1+ (1,0) [0|3] "" XXX + SG_ CURVE_3 : 31|11@0- (1,0) [0|63] "" XXX + SG_ NEW_SIGNAL_1 : 33|4@0+ (1,0) [0|3] "" XXX + +BO_ 158 MSG_05: 8 XXX + SG_ NEW_SIGNAL_1 : 23|8@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_2 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 55|8@0+ (1,0) [0|255] "" XXX + +BO_ 157 CRZ_BTNS: 8 XXX + SG_ BIT1 : 16|1@0+ (1,0) [0|1] "" XXX + SG_ BIT2 : 18|1@0+ (1,0) [0|1] "" XXX + SG_ BIT3 : 20|1@0+ (1,0) [0|1] "" XXX + SG_ SET_P_INV : 21|1@0+ (1,0) [0|1] "" XXX + SG_ CAN_OFF_INV : 17|1@0+ (1,0) [0|1] "" XXX + SG_ CAN_OFF : 0|1@0+ (1,0) [0|1] "" XXX + SG_ SET_M_INV : 22|1@0+ (1,0) [0|1] "" XXX + SG_ SET_M : 5|1@0+ (1,0) [0|1] "" XXX + SG_ SET_P : 4|1@0+ (1,0) [0|1] "" XXX + SG_ RES_INV : 19|1@0+ (1,0) [0|1] "" XXX + SG_ RES : 2|1@0+ (1,0) [0|1] "" XXX + SG_ DISTANCE_LESS : 7|1@0+ (1,0) [0|1] "" XXX + SG_ DISTANCE_LESS_INV : 8|1@0+ (1,0) [0|1] "" XXX + SG_ DISTANCE_MORE : 6|1@0+ (1,0) [0|1] "" XXX + SG_ DISTANCE_MORE_INV : 23|1@0+ (1,0) [0|1] "" XXX + SG_ MODE_Y : 13|1@0+ (1,0) [0|1] "" XXX + SG_ MODE_X : 14|1@0+ (1,0) [0|1] "" XXX + SG_ MODE_Y_INV : 30|1@0+ (1,0) [0|1] "" XXX + SG_ MODE_X_INV : 31|1@0+ (1,0) [0|1] "" XXX + SG_ CTR : 29|4@0+ (1,0) [0|15] "" XXX + +BO_ 154 BLINK_INFO: 8 XXX + SG_ LEFT_BLINK : 18|1@1+ (1,0) [0|3] "" XXX + SG_ RIGHT_BLINK : 19|1@0+ (1,0) [0|255] "" XXX + SG_ REAR_WIPER_ON : 0|1@0+ (1,0) [0|1] "" XXX + SG_ WIPER_LO : 33|1@1+ (1,0) [0|31] "" XXX + SG_ WIPER_HI : 34|1@0+ (1,0) [0|1] "" XXX + SG_ LOW_BEAMS : 5|2@0+ (1,0) [0|3] "" XXX + SG_ HIGH_BEAMS : 7|2@0+ (1,0) [0|3] "" XXX + SG_ LBEAM1 : 17|1@0+ (1,0) [0|1] "" XXX + SG_ LBEAM2 : 50|1@0+ (1,0) [0|1] "" XXX + SG_ LBEAM3 : 60|1@0+ (1,0) [0|1] "" XXX + +BO_ 145 TURN_SWITCH: 8 XXX + SG_ HAZARD : 10|1@0+ (1,0) [0|1] "" XXX + SG_ TURN_RIGHT_SWITCH : 12|1@0+ (1,0) [0|3] "" XXX + SG_ TURN_LEFT_SWITCH : 13|1@0+ (1,0) [0|255] "" XXX + SG_ CTR : 27|4@0+ (1,0) [0|255] "" XXX + SG_ CHKSUM : 39|8@0+ (1,0) [0|15] "" XXX + +BO_ 80 MSG_04: 8 XXX + SG_ NEW_SIGNAL_1 : 25|1@0+ (1,0) [0|1] "" XXX + SG_ SIGNAL : 24|1@0+ (1,0) [0|1] "" XXX + +BO_ 978 MSG_03: 8 XXX + SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_4 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_5 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_6 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_7 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_8 : 63|8@0+ (1,0) [0|255] "" XXX + SG_ CTR : 1|2@0+ (1,0) [0|255] "" XXX + +BO_ 607 NEW_MSG_25: 8 XXX + +BO_ 1115 MSG_02: 8 XXX + SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_1 : 47|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_3 : 63|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_4 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_5 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_6 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ CTR : 2|3@0+ (1,0) [0|255] "" XXX + +BO_ 1067 NEW_MSG_27: 8 XXX + SG_ NEW_SIGNAL_2 : 3|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_4 : 0|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_1 : 2|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_5 : 1|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_3 : 12|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_6 : 11|1@1+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_7 : 10|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_8 : 9|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_9 : 8|1@0+ (1,0) [0|1] "" XXX + +BO_ 358 NEW_MSG_28: 8 XXX + +BO_ 608 NEW_MSG_29: 8 XXX + SG_ NEW_SIGNAL_1 : 8|5@1+ (1,0) [0|7] "" XXX + +BO_ 606 SPEED_TBD: 8 XXX + SG_ SPEED_TBD : 7|12@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_1 : 23|12@0- (1,0) [0|65535] "" XXX + +BO_ 552 GEAR: 8 XXX + SG_ NEW_SIGNAL_3 : 11|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_5 : 26|3@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_6 : 31|5@0+ (1,0) [0|31] "" XXX + SG_ NEW_SIGNAL_7 : 39|1@0+ (1,0) [0|255] "" XXX + SG_ MORE_GEAR : 7|4@0+ (1,0) [0|15] "" XXX + SG_ GEAR : 2|3@0+ (1,0) [0|7] "" XXX + SG_ GEAR_BOX : 36|4@0+ (1,0) [0|15] "" XXX + +BO_ 543 CRZ_EVENTS: 8 XXX + SG_ CTR : 51|4@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_21 : 23|1@0+ (1,0) [0|15] "" XXX + SG_ GAS_MAYBE : 22|1@0+ (1,0) [0|1] "" XXX + SG_ ACCEL_CMD : 46|8@0- (1,0) [0|15] "" XXX + SG_ CRUISE_ACTIVE_CAR_MOVING : 16|1@0+ (1,0) [0|1] "" XXX + SG_ PLUS_ONE_CRZ : 17|1@0+ (1,0) [0|255] "" XXX + SG_ CRZ_STARTED : 18|1@0+ (1,0) [0|1] "" XXX + SG_ CHKSUM : 63|8@0+ (1,0) [0|15] "" XXX + SG_ PLUS_ONE_CRZ_2 : 19|1@0+ (1,0) [0|1] "" XXX + SG_ ACCEL_CMD_LOW_RES : 29|8@0- (1,0) [0|255] "" XXX + SG_ CRZ_SPEED : 7|16@0+ (0.005,-0.5) [0|328] "kph" XXX + +BO_ 542 NEW_MSG_33: 8 XXX + SG_ CTR : 48|4@1+ (1,0) [0|15] "" XXX + SG_ CTR2 : 56|4@1+ (1,0) [0|15] "" XXX + +BO_ 868 RADAR_364: 8 XXX + SG_ CTR : 59|4@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_1 : 7|12@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 11|12@0- (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_3 : 27|12@0- (1,0) [0|255] "" XXX + SG_ FLIPPERS_1 : 31|4@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_4 : 44|1@1+ (1,0) [0|3] "" XXX + SG_ FLIPPY_1 : 46|1@0+ (1,0) [0|3] "" XXX + SG_ STATIC_1 : 47|1@0+ (1,0) [0|15] "" XXX + SG_ STATIC_2 : 43|16@0+ (1,0) [0|7] "" XXX + +BO_ 869 RADAR_365: 8 XXX + SG_ CTR : 59|4@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_4 : 39|6@0+ (1,0) [0|63] "" XXX + SG_ NEW_SIGNAL_1 : 7|14@0+ (1,0) [0|65535] "" XXX + SG_ RELATED_1 : 9|18@0+ (1,0) [0|3] "" XXX + SG_ RELATED_2 : 33|18@0+ (1,0) [0|15] "" XXX + SG_ STATIC : 61|2@0+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_2 : 63|2@0+ (1,0) [0|15] "" XXX + +BO_ 1114 NEW_MSG_4: 8 XXX + +BO_ 535 CURVE_CTRS: 8 XXX + SG_ CTR_A_1 : 4|3@0+ (1,0) [0|31] "" XXX + SG_ CTR_A_2 : 7|3@0+ (1,0) [0|255] "" XXX + SG_ CTR_B_1 : 12|3@0+ (1,0) [0|7] "" XXX + SG_ CTR_B_2 : 15|3@0+ (1,0) [0|7] "" XXX + SG_ CTR_C_1 : 20|3@0+ (1,0) [0|7] "" XXX + SG_ CTR_C_2 : 23|3@0+ (1,0) [0|255] "" XXX + SG_ CTR_D_2 : 31|3@0+ (1,0) [0|7] "" XXX + SG_ CTR_D_1 : 28|3@0+ (1,0) [0|7] "" XXX + SG_ SPEED : 39|16@0+ (0.01,0) [0|7] "kph" XXX + SG_ CTR : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHK_MAYBE : 63|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_1 : 0|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_2 : 1|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_6 : 17|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_7 : 24|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_8 : 25|1@0+ (1,0) [0|1] "" XXX + SG_ SEATBELT_MAYBE : 8|1@0+ (1,0) [0|1] "" XXX + SG_ NO_SEATBELT_MAYBE : 16|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_4 : 9|1@0+ (1,0) [0|1] "" XXX + +BO_ 540 CRZ_CTRL: 8 XXX + SG_ NEW_SIGNAL_6 : 10|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_9 : 31|1@0+ (1,0) [0|255] "" XXX + SG_ ACC_GAS_MAYBE2 : 29|1@0+ (1,0) [0|1] "" XXX + SG_ HANDS_OFF_STEERING : 48|1@0+ (1,0) [0|1] "" XXX + SG_ HANDS_ON_STEER_WARN : 59|4@0+ (1,0) [0|255] "" XXX + SG_ CRZ_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX + SG_ CRZ_AVAILABLE : 17|1@0+ (1,0) [0|255] "" XXX + SG_ DISTANCE_SETTING : 20|3@0+ (1,0) [0|7] "" XXX + SG_ MSG_1_INV : 1|1@0+ (1,0) [0|1] "" XXX + SG_ MSG_1_COPY : 9|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_GAS_MAYBE : 23|1@0+ (1,0) [0|31] "" XXX + SG_ ACC_ACTIVE_2 : 52|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_10 : 30|1@0+ (1,0) [0|1] "" XXX + SG_ MSG_1 : 0|1@0+ (1,0) [0|3] "" XXX + SG_ 5_SEC_DISABLE_TIMER : 45|3@0+ (1,0) [0|7] "" XXX + SG_ NEW_SIGNAL_3 : 13|1@0+ (1,0) [0|3] "" XXX + SG_ MSG_1_INV_COPY : 8|1@0+ (1,0) [0|7] "" XXX + SG_ RADAR_HAS_LEAD : 23|1@0+ (1,0) [0|1] "" XXX + SG_ RADAR_LEAD_RELATIVE_DISTANCE : 31|3@0+ (1,0) [0|5] "" XXX + +BO_ 539 CRZ_INFO: 8 XXX + SG_ CTR1 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ ACC_ACTIVE : 33|1@0+ (1,0) [0|1] "" XXX + SG_ CHKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_7 : 47|1@0+ (1,0) [0|255] "" XXX + SG_ ACC_SET_ALLOWED : 34|1@0+ (1,0) [0|1] "" XXX + SG_ CRZ_ENDED : 36|1@0+ (1,0) [0|255] "" XXX + SG_ ACCEL_CMD : 17|13@0+ (1,-4096) [0|1] "" XXX + SG_ STATIC_1 : 15|11@0+ (1,0) [0|16383] "" XXX + SG_ STATIC_2 : 18|3@1+ (1,0) [0|3] "" XXX + SG_ ERROR_STATUS : 7|8@0+ (1,0) [0|255] "" XXX + +BO_ 121 EPB: 8 XXX + SG_ NEW_SIGNAL_1 : 4|4@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 0|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_3 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_4 : 25|2@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_6 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ CTR : 55|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_7 : 63|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_8 : 41|2@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_9 : 47|1@0+ (1,0) [0|63] "" XXX + SG_ NEW_SIGNAL_10 : 46|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_11 : 45|1@0+ (1,0) [0|1] "" XXX + SG_ EPB_ACTIVE : 29|1@0+ (1,0) [0|15] "" XXX + +BO_ 1070 2017_1: 8 XXX + +BO_ 1183 2017_2: 8 XXX + +BO_ 1243 2017_3: 8 XXX + SG_ NEW_SIGNAL_1 : 7|64@0+ (1,0) [0|18446744073709552000] "" XXX + +BO_ 1269 MSG_2017_4: 8 XXX + SG_ NEW_SIGNAL_1 : 55|16@0+ (1,0) [0|18446744073709552000] "" XXX + +BO_ 1178 2017_6: 8 XXX + SG_ NEW_SIGNAL_1 : 7|64@0+ (1,0) [0|18446744073709552000] "" XXX + +BO_ 1179 2017_7: 8 XXX + SG_ NEW_SIGNAL_1 : 7|64@0+ (1,0) [0|18446744073709552000] "" XXX + +BO_ 1435 2017_8: 8 XXX + +BO_ 253 GAS: 8 XXX + SG_ NEW_SIGNAL_1 : 16|1@0+ (1,0) [0|65535] "" XXX + SG_ CTR : 23|4@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_2 : 41|1@0+ (1,0) [0|255] "" XXX + SG_ CRZ_NOT_ACTIVE : 61|1@0+ (1,0) [0|255] "" XXX + SG_ GAS_CMD : 55|8@0+ (1,0) [0|255] "" XXX + +BO_ 359 MORE_GAS: 8 XXX + SG_ NEW_SIGNAL_1 : 15|1@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ CTR : 31|4@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 36|5@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_4 : 38|1@1+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_5 : 37|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_6 : 47|4@0+ (1,0) [0|255] "" XXX + +BO_ 512 NEW_MSG_30: 8 XXX + SG_ NEW_SIGNAL_1 : 6|7@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 7|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_3 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_4 : 23|1@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_5 : 22|7@0+ (1,0) [0|127] "" XXX + SG_ NEW_SIGNAL_6 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_7 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_8 : 38|7@0+ (1,0) [0|127] "" XXX + SG_ NEW_SIGNAL_9 : 40|4@1+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_10 : 47|4@0+ (1,0) [0|15] "" XXX + SG_ CTR : 51|3@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_11 : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 515 MSG_01: 8 XXX + SG_ CTR : 39|4@0+ (1,0) [0|65535] "" XXX + SG_ CHKSUM : 47|8@0+ (1,0) [0|255] "" XXX + SG_ START1 : 6|1@0+ (1,0) [0|1] "" XXX + SG_ START2 : 28|5@0+ (1,0) [0|255] "" XXX + +BO_ 529 NEW_MSG_36: 8 XXX + SG_ NEW_SIGNAL_1 : 22|5@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_2 : 31|8@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_3 : 32|4@1+ (1,0) [0|3] "" XXX + SG_ CTR : 39|4@0+ (1,0) [0|255] "" XXX + SG_ CTR_2 : 47|4@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_4 : 40|4@1+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_5 : 53|1@0+ (1,0) [0|255] "" XXX + +BO_ 1242 NEW_MSG_37: 8 XXX + +BO_ 1266 MSG_09: 8 XXX + SG_ NEW_SIGNAL_1 : 20|1@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 19|4@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_3 : 31|1@0+ (1,0) [0|255] "" XXX + +BO_ 976 MSG_15: 8 XXX + SG_ NEW_SIGNAL_1 : 55|1@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 61|6@0+ (1,0) [0|1] "" XXX + +BO_ 155 MSG_14: 8 XXX + +BO_ 1267 MSG_10: 8 XXX + SG_ NEW_SIGNAL_1 : 40|1@0+ (1,0) [0|16777215] "" XXX + SG_ NEW_SIGNAL_2 : 42|1@0+ (1,0) [0|1] "" XXX + +BO_ 305 NEW_MSG_6: 8 XXX + SG_ NEW_SIGNAL_1 : 8|1@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 9|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_3 : 10|1@0+ (1,0) [0|1] "" XXX + +BO_ 1238 TEMPERATURE: 8 XXX + SG_ TEMPERATURE_MAYBE : 47|8@0+ (1,0) [0|4294967295] "" XXX + +BO_ 1087 NEW_MSG_1: 8 XXX + SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX + +BO_ 1143 BSM: 8 XXX + SG_ BSM_OFF : 0|1@0+ (1,0) [0|1] "" XXX + SG_ RIGHT_BS_3 : 37|1@0+ (1,0) [0|1] "" XXX + SG_ STANDSTILL : 8|1@0+ (1,0) [0|1] "" XXX + SG_ LEFT_BS_STATUS : 13|2@0+ (1,0) [0|3] "" XXX + SG_ RIGHT_BS_STATUS : 15|2@0+ (1,0) [0|3] "" XXX + SG_ LEFT_BS3 : 38|1@0+ (1,0) [0|1] "" XXX + SG_ RIGHT_BS4 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ LEFT_BS_SIDE : 36|1@0+ (1,0) [0|1] "" XXX + SG_ IS_MOVING : 9|1@0+ (1,0) [0|1] "" XXX + SG_ LEFT_BS_BEHIND : 46|2@1+ (1,0) [0|16777215] "" XXX + SG_ RIGHT_BS_DISTANCE : 35|3@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_1 : 32|1@0+ (1,0) [0|1] "" XXX + SG_ REAR_CT_ALERT : 23|5@0+ (1,0) [0|63] "" XXX + +BO_ 480 ACCEL_TEST: 8 XXX + SG_ ACCEL_COMMAND : 7|32@0- (1,0) [-2147483647|2147483647] "" XXX + SG_ ENABLED : 32|1@0+ (1,0) [0|1] "" XXX + SG_ STARTING : 40|1@0+ (1,0) [0|1] "" XXX + SG_ STOPPING : 48|1@0+ (1,0) [0|1] "" XXX + +BO_ 1361 KEY_POSITION: 8 XXX + +BO_ 1283 KEY_POSITION2: 8 XXX + +BO_ 628 MSG_06: 8 XXX + +BO_ 1154 MSG_08: 8 XXX + +BO_ 1139 MSG_13: 8 XXX + +BO_ 1270 MSG_16: 8 XXX + +BO_ 1272 MSG_17: 8 XXX + +BO_ 1425 MSG_19: 8 XXX + +BO_ 70 MOB1: 8 XXX + SG_ NEW_SIGNAL_1 : 1|3@1+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_2 : 14|6@0+ (1,0) [0|127] "" XXX + SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_4 : 30|6@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_5 : 38|6@0+ (1,0) [0|7] "" XXX + +BO_ 64 MOB2: 8 XXX + SG_ NEW_SIGNAL_1 : 7|2@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 10|3@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 16|1@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_4 : 24|1@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_5 : 35|4@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_6 : 0|3@1+ (1,0) [0|7] "" XXX + SG_ NEW_SIGNAL_7 : 13|3@0+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_8 : 15|2@0+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_9 : 19|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_10 : 31|6@0+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_11 : 37|1@0+ (1,0) [0|1] "" XXX + +BO_ 1171 MOB3: 8 XXX + +BO_ 1248 MOB4: 8 XXX + +BO_ 1177 RADAR_499_STATIC: 8 XXX + + + + +CM_ SG_ 357 GEAR "13P, 26R, 13N, 24D"; +CM_ SG_ 605 PED_BRAKE "3: no brake, 4: brake"; +CM_ SG_ 605 BRAKE_WARNING "Flashing brake warning and audible alert for potential forward collision"; +CM_ SG_ 579 STEERING_ANGLE "steering angle aligns with 0.022 factor and -45.06 offset"; +CM_ SG_ 863 SPEED_SIGN "speed limit in MPH"; +CM_ SG_ 863 SPEED_SIGN_CAM "1: The speed limit is recognized by the camera. 0: speed limit is map based or is not available"; +CM_ SG_ 863 STOP_SIGN "value 9 when stop sign is active"; +CM_ SG_ 1157 SBS_WARNING_DISTANCE "1 far, 2 mid, 3 near"; +CM_ SG_ 1157 SBS_SCBC "1 off, 2 on"; +CM_ SG_ 1157 LKAS_ASSIT_TIMING "1 at, 0 before"; +CM_ SG_ 1157 LKAS_SENSETIVITY "0 low, 1 high"; +CM_ SG_ 1157 LANEE_DEPARTURE_ALERT "1 off, 2 on"; +CM_ SG_ 1157 WARNING "1 Rare, 0 often"; +CM_ SG_ 1088 LANE_LINES "0 LKAS disabled, 1 no lines, 2 two lines, 3 left line, 4 right line"; +CM_ SG_ 1088 TJA "2: crz not active, 3: TJA not allowed, 4: TJA allowed"; +CM_ SG_ 1088 TJA_TRANSITION "3: if TJA signal is 3, otherwise set to 0"; +CM_ SG_ 1045 ABS_MALFUNCTION "off: 0, solid: 1, slow blink: 2, fast blink: 3"; +CM_ SG_ 120 VEHICLE_ACC_X "Vehicle acceleration of X-axis wrt. NED frame."; +CM_ SG_ 120 VEHICLE_ACC_Y "Vehicle acceleration of Y-axis wrt. NED frame."; +CM_ SG_ 157 CAN_OFF "Disengage Cruise if enabled, if already disabled TURN it OFF "; +CM_ SG_ 552 MORE_GEAR ""; +CM_ SG_ 552 GEAR "0 Shifting, 1 P, 2 R, 3 N, 4 D"; +CM_ SG_ 552 GEAR_BOX "0 P, 14 R, 1 though 6 D for speeds, 15 Shift"; +CM_ SG_ 540 HANDS_ON_STEER_WARN "0 no warning, b warning"; +CM_ SG_ 540 DISTANCE_SETTING "Radar distance 0: disabled, 1: 4 bars, 2: 3 bars, 3: 2 bars, 4: 1 bar"; +CM_ SG_ 1143 REAR_CT_ALERT "Rear Cross Traffic Alert"; +VAL_ 552 GEAR 1 "P" 2 "R" 3 "N" 4 "D" ; +VAL_ 540 RADAR_HAS_LEAD 0 "NO LEAD" 1 "HAS LEAD" ; +VAL_ 540 RADAR_LEAD_RELATIVE_DISTANCE 0 "NO LEAD" 1 "FARTHEST" 2 "4" 3 "3" 4 "2" 5 "NEAREST" ; +VAL_ 1143 LEFT_BS_STATUS 0 "No object detected" 1 "Object detected in left blindspot" 2 "Object detected in left blindspot with blinker - warning" +VAL_ 1143 RIGHT_BS_STATUS 0 "No object detected" 1 "Object detected in right blindspot" 2 "Object detected in right blindspot with blinker - warning" diff --git a/opendbc_repo/opendbc/dbc/mazda_3_2019.dbc b/opendbc_repo/opendbc/dbc/mazda_3_2019.dbc new file mode 100644 index 0000000000..b23e7196bf --- /dev/null +++ b/opendbc_repo/opendbc/dbc/mazda_3_2019.dbc @@ -0,0 +1,408 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX + + +BO_ 256 CAM_Start: 8 XXX + SG_ NEW_SIGNAL_7 : 56|4@1+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_8 : 61|2@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_10 : 44|12@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_2 : 63|2@0+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_5 : 24|12@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_1 : 2|2@0+ (1,0) [0|1] "" XXX + SG_ ACTIVE_TARGET : 4|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_3 : 20|12@0+ (1,0) [0|7] "" XXX + SG_ DISTANCE_LEAD_CAR : 0|12@0+ (1,0) [0|255] "" XXX + +BO_ 358 CAM_End: 8 XXX + SG_ NEW_SIGNAL_2 : 61|2@0+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_3 : 59|4@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_1 : 31|8@0+ (1,0) [0|255] "" XXX + +BO_ 1216 CAM_69: 8 XXX + SG_ NEW_SIGNAL_1 : 56|4@1+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_2 : 7|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_3 : 23|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_4 : 39|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_5 : 55|12@0+ (1,0) [0|7] "" XXX + +BO_ 1120 CAM_KEEP_ALIVE_2: 8 XXX + SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX + +BO_ 1436 CAM_71: 8 XXX + SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX + +BO_ 18 STEER: 8 XXX + SG_ NEW_SIGNAL_3 : 55|2@0+ (1,0) [0|15] "" XXX + SG_ CTR : 41|2@0+ (1,0) [0|3] "" XXX + SG_ STEER_LEFT_BIT : 26|1@0+ (1,0) [0|1] "" XXX + SG_ STEER_ANGLE : 25|14@0- (1,375) [0|65536] "" XXX + SG_ ENGINE_OFF : 43|2@0+ (1,0) [0|63] "" XXX + SG_ NEW_SIGNAL_2 : 53|6@0+ (1,0) [0|15] "" XXX + +BO_ 257 LKAS: 8 XXX + SG_ CTR : 59|4@0+ (1,0) [0|255] "" XXX + SG_ CTR_ACT : 61|2@0+ (1,0) [0|3] "" XXX + SG_ SET_0 : 48|1@1+ (1,0) [0|3] "" XXX + SG_ SET_0_1 : 63|2@0+ (1,0) [0|3] "" XXX + SG_ SET_19 : 2|2@0+ (1,0) [0|255] "" XXX + SG_ LEAD_DIST : 0|12@0+ (1,0) [0|255] "" XXX + SG_ ANGLE_TARGET : 20|12@0+ (1,0) [0|4095] "" XXX + SG_ UNKNOWN : 24|12@0+ (1,0) [0|4095] "" XXX + SG_ MAX_TORQUE__ : 44|12@0- (1,0) [0|4095] "" XXX + +BO_ 258 NEW_MSG_3: 8 XXX + SG_ NEW_SIGNAL_3 : 59|4@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_5 : 44|10@0- (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_6 : 1|2@1+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_4 : 39|10@0- (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_1 : 13|10@0- (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 18|10@0- (1,0) [0|255] "" XXX + +BO_ 28 WHEEL_SPEEDS: 8 XXX + SG_ RR : 55|16@0+ (0.01,-100) [0|65535] "" XXX + SG_ RL : 39|16@0+ (0.01,-102) [0|65535] "" XXX + SG_ FL : 7|16@0+ (0.01,-100) [0|65535] "" XXX + SG_ FR : 23|16@0+ (0.01,-100) [0|65535] "" XXX + +BO_ 259 NEW_MSG_5: 8 XXX + SG_ NEW_SIGNAL_3 : 39|10@0- (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_4 : 44|10@0- (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_1 : 0|12@0- (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 19|11@0- (1,0) [0|10000000] "" XXX + +BO_ 260 NEW_MSG_6: 8 XXX + SG_ NEW_SIGNAL_1 : 0|12@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 24|12@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_2 : 20|12@0- (1,0) [0|1] "" XXX + +BO_ 261 NEW_MSG_7: 8 XXX + SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX + +BO_ 262 NEW_MSG_8: 8 XXX + SG_ NEW_SIGNAL_1 : 15|8@0- (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 7|8@0+ (1,0) [0|255] "" XXX + +BO_ 263 NEW_MSG_9: 8 XXX + SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX + +BO_ 310 NEW_MSG_10: 8 XXX + SG_ NEW_SIGNAL_1 : 56|4@1+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 308 ACC_POSSIBLY: 8 XXX + SG_ NEW_SIGNAL_1 : 63|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_6 : 4|1@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 54|7@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_2 : 0|7@0+ (1,0) [0|63] "" XXX + SG_ NEW_SIGNAL_7 : 37|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_4 : 18|7@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_5 : 36|7@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_8 : 55|1@0+ (1,0) [0|1] "" XXX + +BO_ 304 CAM_LANES: 8 XXX + SG_ NEW_SIGNAL_3 : 59|4@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_4 : 61|2@0+ (1,0) [0|3] "" XXX + SG_ LEFT_LANE_DETECTED : 7|1@0+ (1,0) [0|1] "" XXX + SG_ RIGHT_LANE_DETECTED : 4|1@0+ (1,0) [0|255] "" XXX + SG_ DISTANCE_TO_LEFT_LANE_LOW_RES : 29|8@0+ (1,0) [0|4095] "" XXX + SG_ DISTANCE_TO_RIGHT_LANE_LOW_RES : 37|8@0+ (1,0) [0|15] "" XXX + SG_ DISTANCE_TO_RIGHT_LANE : 23|10@0- (1,0) [0|2047] "" XXX + SG_ DISTANCE_TO_LEFT_LANE : 1|10@0- (1,0) [0|1] "" XXX + +BO_ 305 CAM_LANES_2_MAYBE: 8 XXX + SG_ NEW_SIGNAL_1 : 1|10@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 37|8@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_5 : 56|4@1+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_6 : 61|2@0+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_4 : 29|8@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_7 : 7|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_8 : 4|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_2 : 23|10@0+ (1,0) [0|4095] "" XXX + +BO_ 352 NEW_MSG_14: 8 XXX + SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX + +BO_ 355 NEW_MSG_15: 8 XXX + SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|127] "" XXX + +BO_ 356 NEW_MSG_16: 8 XXX + SG_ NEW_SIGNAL_1 : 56|4@1+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_2 : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 357 NEW_MSG_17: 8 XXX + SG_ NEW_SIGNAL_1 : 61|2@0+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_2 : 7|32@0+ (1,0) [0|4294967295] "" XXX + SG_ NEW_SIGNAL_3 : 56|4@1+ (1,0) [0|15] "" XXX + +BO_ 59 STEER_RATE: 8 XXX + SG_ NEW_SIGNAL_2 : 47|4@0+ (1,0) [0|15] "" XXX + SG_ STEER_ANGLE_RATE : 55|8@0+ (0.05,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_1 : 43|4@0+ (1,0) [0|15] "" XXX + SG_ STEER_ANGLE : 23|16@0+ (0.05,-1600) [-500|500] "" XXX + SG_ CHKSUM : 39|8@0+ (1,0) [0|15] "" XXX + +BO_ 24 BRAKE_PEDAL: 8 XXX + SG_ BRAKE_PEDAL_PRESSED_AND_ENGINE_ON : 0|1@0+ (1,0) [0|3] "" XXX + SG_ NOT_BRAKE_PEDAL_PRESSED : 6|1@0+ (1,0) [0|3] "" XXX + SG_ BRAKE_PEDAL_PRESSED : 7|1@0+ (1,0) [0|65535] "" XXX + SG_ NOT_BRAKE_PEDAL_PRESSED_AND_ENGINE_ON : 15|1@0+ (1,0) [0|7] "" XXX + +BO_ 26 ENGINE_DATA: 8 XXX + SG_ PEDAL_GAS : 39|10@0+ (1,0) [0|15] "" XXX + SG_ CHKSUM : 63|8@0- (1,0) [0|15] "" XXX + SG_ RPM : 7|13@0+ (1,0) [0|15] "" XXX + SG_ ENGINE_ON : 52|1@0+ (1,0) [0|15] "" XXX + +BO_ 145 BLINK_INFO: 8 XXX + SG_ RIGHT_BLINK : 12|1@0+ (1,0) [0|3] "" XXX + SG_ LEFT_BLINK : 13|1@0+ (1,0) [0|3] "" XXX + SG_ Speed : 27|12@0+ (1,0) [0|255] "" XXX + SG_ CTR : 51|4@0+ (1,0) [0|15] "" XXX + SG_ CHKSUM : 63|8@0+ (1,0) [0|15] "" XXX + +BO_ 16 STEER_TORQUE: 8 XXX + SG_ NEW_SIGNAL_12 : 7|2@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_1 : 43|4@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_5 : 47|4@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_3 : 51|4@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_4 : 55|4@0+ (1,0) [0|15] "" XXX + SG_ STEER_TORQUE_SENSOR : 5|13@0+ (1,-4000) [0|15] "" XXX + SG_ CHKSUM : 63|8@0- (1,0) [0|15] "" XXX + SG_ STEER_TORQUE_MOTOR : 8|13@0+ (0.05,-205) [0|15] "" XXX + SG_ BRAKE_PREASURE : 27|12@0+ (1,0) [0|15] "" XXX + +BO_ 17 STEER_TORQUE_2: 8 XXX + SG_ CTR : 51|4@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_5 : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ STEER_TORQUE_MOTOR : 7|16@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_1 : 27|14@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 45|6@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_3 : 23|12@0+ (1,0) [0|255] "" XXX + +BO_ 29 WHEEL: 8 XXX + SG_ STANDSTILL : 52|1@0+ (1,0) [0|15] "" XXX + SG_ SPEED : 39|16@0+ (1,0) [0|127] "" XXX + SG_ ENCODER_1 : 7|16@0+ (1,0) [0|65535] "" XXX + SG_ ENCODER_2 : 23|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_6 : 55|3@0+ (1,0) [0|7] "" XXX + SG_ NEW_SIGNAL_1 : 63|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 51|4@0+ (1,0) [0|15] "" XXX + +BO_ 31 GEAR: 8 XXX + SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX + SG_ GEAR : 36|4@0+ (1,0) [0|65535] "" XXX + +BO_ 96 STEER2: 8 XXX + SG_ NEW_SIGNAL_5 : 48|4@1+ (1,0) [0|15] "" XXX + SG_ CTR : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ TURN_ON : 34|1@0+ (1,0) [0|1] "" XXX + SG_ TURN_OFF : 32|1@0+ (1,0) [0|1] "" XXX + SG_ ENGINE_ON : 33|1@0+ (1,0) [0|1] "" XXX + SG_ CAR_MOVING_FORWARD : 21|1@0+ (1,0) [0|15] "" XXX + SG_ CAR_REVERSING : 22|1@0+ (1,0) [0|1] "" XXX + SG_ ENGINE_OFF : 23|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_4 : 45|1@0+ (1,0) [0|15] "" XXX + SG_ SPEED : 18|16@0- (0.00621371,-62.1371) [-65635|65635] "MPH" XXX + SG_ STEER__ : 7|16@0+ (1,0) [0|65535] "" XXX + +BO_ 1209 KEEP_ALIVE_1: 8 XXX + SG_ NEW_SIGNAL_1 : 63|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_5 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_6 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_7 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_4 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_8 : 4|5@0+ (1,0) [0|127] "" XXX + +BO_ 37 BLANK_1: 8 XXX + SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX + +BO_ 44 BLANK_2: 8 XXX + SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|16777215] "" XXX + SG_ NEW_SIGNAL_3 : 55|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_4 : 23|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_2 : 39|16@0+ (1,0) [0|16777215] "" XXX + +BO_ 128 RADARS: 8 XXX + SG_ NEW_SIGNAL_1 : 59|4@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_4 : 15|1@0+ (1,0) [0|255] "" XXX + SG_ FRONT_LEFT : 19|1@0+ (1,0) [0|255] "" XXX + SG_ FRONT : 21|1@0+ (1,0) [0|1] "" XXX + SG_ FRONT_RIGHT : 18|1@0+ (1,0) [0|1] "" XXX + SG_ REAR_RIGHT : 20|1@0+ (1,0) [0|15] "" XXX + SG_ REAR_LEFT : 17|1@0+ (1,0) [0|1] "" XXX + +BO_ 129 NEW_MSG_19: 8 XXX + SG_ NEW_SIGNAL_2 : 15|1@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_3 : 31|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_4 : 47|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_5 : 56|8@1+ (1,0) [0|15] "" XXX + +BO_ 1034 KEEP_ALIVE_2: 8 XXX + SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 23|16@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_4 : 39|16@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_5 : 55|16@0+ (1,0) [0|255] "" XXX + +BO_ 1200 KEEP_ALIVE_3: 8 XXX + SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 55|16@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 23|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_4 : 39|16@0+ (1,0) [0|65535] "" XXX + +BO_ 354 CAM_KEEP_ALIVE_1: 8 XXX + SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_4 : 55|30@0+ (1,0) [0|65535] "" XXX + +BO_ 336 NEW_MSG_20: 8 XXX + SG_ NEW_SIGNAL_2 : 7|8@0+ (1,0) [0|4095] "" XXX + SG_ NEW_SIGNAL_1 : 11|12@0+ (1,0) [0|127] "" XXX + SG_ NEW_SIGNAL_3 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_4 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_5 : 47|8@0+ (1,0) [0|255] "" XXX + +BO_ 342 NEW_MSG_21: 8 XXX + SG_ NEW_SIGNAL_1 : 56|4@1+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_2 : 63|4@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_4 : 55|4@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_5 : 39|16@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_3 : 48|4@1+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_7 : 7|16@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_8 : 23|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_6 : 40|4@1+ (1,0) [0|15] "" XXX + +BO_ 264 NEW_MSG_2: 8 XXX + SG_ NEW_SIGNAL_1 : 56|8@1+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_2 : 49|3@1+ (1,0) [0|7] "" XXX + SG_ CRZ_CTRL_PRESSED : 48|1@0+ (1,0) [0|1] "" XXX + +BO_ 22 CRZ_CTRL_BTNS: 8 XXX + SG_ CRZ_CTRL_BTN_PRESSED : 48|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_2 : 51|3@0+ (1,0) [0|7] "" XXX + SG_ SIGNAL : 45|1@0+ (1,0) [0|15] "" XXX + SG_ NOT_SIGNAL : 46|1@0+ (1,0) [0|3] "" XXX + +BO_ 306 CAM_LANE_3_MAYBE: 8 XXX + SG_ NEW_SIGNAL_1 : 19|10@0+ (1,0) [0|63] "" XXX + SG_ NEW_SIGNAL_2 : 13|10@0+ (1,0) [0|255] "" XXX + SG_ LANE_DETECTED_1 : 44|1@0+ (1,0) [0|1] "" XXX + SG_ LANE_DETECTED_2 : 45|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_4 : 25|10@0+ (1,0) [0|1] "" XXX + SG_ STEER : 7|10@0+ (1,0) [0|1] "" XXX + +BO_ 307 NEW_MSG_1: 8 XXX + SG_ NEW_SIGNAL_2 : 13|10@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_5 : 61|6@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_3 : 25|10@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_4 : 7|10@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_1 : 19|10@0+ (1,0) [0|1] "" XXX + +BO_ 320 NEW_MSG_4: 8 XXX + SG_ NEW_SIGNAL_4 : 16|1@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 43|6@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_1 : 36|9@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_2 : 27|7@0+ (1,0) [0|1] "" XXX + +BO_ 321 NEW_MSG_11: 8 XXX + SG_ NEW_SIGNAL_1 : 5|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_2 : 32|1@0+ (1,0) [0|1] "" XXX + +BO_ 293 NEW_MSG_12: 8 XXX + SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 39|16@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 19|4@0+ (1,0) [0|1] "" XXX + +BO_ 294 NEW_MSG_13: 8 XXX + SG_ NEW_SIGNAL_1 : 59|4@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 61|2@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_3 : 7|16@0+ (1,0) [0|1] "" XXX + +BO_ 292 NEW_MSG_18: 8 XXX + SG_ NEW_SIGNAL_1 : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 291 NEW_MSG_22: 8 XXX + SG_ NEW_SIGNAL_1 : 39|8@0+ (1,0) [0|255] "" XXX + +BO_ 290 NEW_MSG_23: 8 XXX + SG_ NEW_SIGNAL_1 : 31|5@0+ (1,0) [0|255] "" XXX + +BO_ 277 NEW_MSG_24: 8 XXX + SG_ NEW_SIGNAL_1 : 47|8@0+ (1,0) [0|1] "" XXX + +BO_ 278 NEW_MSG_25: 8 XXX + +BO_ 273 NEW_MSG_26: 8 XXX + SG_ NEW_SIGNAL_1 : 23|4@0+ (1,0) [0|3] "" XXX + +BO_ 274 NEW_MSG_27: 8 XXX + SG_ NEW_SIGNAL_1 : 39|8@0+ (1,0) [0|1] "" XXX + +BO_ 289 NEW_MSG_28: 8 XXX + SG_ NEW_SIGNAL_1 : 55|8@0+ (1,0) [0|1] "" XXX + +BO_ 20 NEW_MSG_29: 8 XXX + SG_ RIGHT_BLINK_CLOCK : 23|8@0+ (1,0) [0|1] "" XXX + +BO_ 288 NEW_MSG_30: 8 XXX + + + + +CM_ SG_ 31 GEAR "13-P, 12-R, 11-N, 1-6-D"; +CM_ SG_ 96 SPEED ""; +VAL_ 31 GEAR 13 "P" 12 "R" 11 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D"; diff --git a/opendbc_repo/opendbc/dbc/mazda_radar.dbc b/opendbc_repo/opendbc/dbc/mazda_radar.dbc new file mode 100644 index 0000000000..a4fe3b4b9e --- /dev/null +++ b/opendbc_repo/opendbc/dbc/mazda_radar.dbc @@ -0,0 +1,73 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX + + +BO_ 540 CRZ_CTRL: 8 XXX + +BO_ 539 CRZ_INFO: 8 XXX + +BO_ 865 RADAR_TRACK_361: 8 XXX + SG_ DIST_OBJ : 7|12@0+ (1,0) [0|4095] "" XXX + SG_ ANG_OBJ : 11|12@0- (1,0) [-2047|2047] "" XXX + SG_ RELV_OBJ : 31|11@0- (1,0) [-1023|1023] "" XXX + +BO_ 866 RADAR_TRACK_362: 8 XXX + SG_ DIST_OBJ : 7|12@0+ (1,0) [0|4095] "" XXX + SG_ ANG_OBJ : 11|12@0- (1,0) [-2047|2047] "" XXX + SG_ RELV_OBJ : 31|11@0- (1,0) [-1023|1023] "" XXX + +BO_ 867 RADAR_TRACK_363: 8 XXX + SG_ DIST_OBJ : 7|12@0+ (1,0) [0|4095] "" XXX + SG_ ANG_OBJ : 11|12@0- (1,0) [-2047|2047] "" XXX + SG_ RELV_OBJ : 31|11@0- (1,0) [-1023|1023] "" XXX + +BO_ 868 RADAR_TRACK_364: 8 XXX + SG_ DIST_OBJ : 7|12@0+ (1,0) [0|4095] "" XXX + SG_ ANG_OBJ : 11|12@0- (1,0) [-2047|2047] "" XXX + SG_ RELV_OBJ : 31|11@0- (1,0) [-1023|1023] "" XXX + +BO_ 869 RADAR_TRACK_365: 8 XXX + SG_ DIST_OBJ : 7|12@0+ (1,0) [0|4095] "" XXX + SG_ ANG_OBJ : 11|12@0- (1,0) [-2047|2047] "" XXX + SG_ RELV_OBJ : 31|11@0- (1,0) [-1023|1023] "" XXX + +BO_ 870 RADAR_TRACK_366: 8 XXX + SG_ DIST_OBJ : 7|12@0+ (1,0) [0|4095] "" XXX + SG_ ANG_OBJ : 11|12@0- (1,0) [-2047|2047] "" XXX + SG_ RELV_OBJ : 31|11@0- (1,0) [-1023|1023] "" XXX + +BO_ 1177 RADAR_499: 8 XXX \ No newline at end of file diff --git a/opendbc_repo/opendbc/dbc/mazda_rx8.dbc b/opendbc_repo/opendbc/dbc/mazda_rx8.dbc new file mode 100644 index 0000000000..f491a9698f --- /dev/null +++ b/opendbc_repo/opendbc/dbc/mazda_rx8.dbc @@ -0,0 +1,77 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: PowertrainControlModule InstrumentCluster ElectricPowerSteering AntilockBrakeSystem + + +BO_ 129 steering: 8 ElectricPowerSteering + SG_ SteeringAngle : 23|16@0- (1,0) [0|0] "deg" Vector__XXX + +BO_ 513 speed: 8 PowertrainControlModule + SG_ EngineRPM : 7|16@0+ (0.25,0) [0|0] "rpm" Vector__XXX + SG_ VehicleSpeed : 39|16@0+ (0.01,-100) [0|0] "kph" Vector__XXX + SG_ AcceleratorPos : 55|8@0+ (0.5,0) [0|0] "%" Vector__XXX + +BO_ 592 throttle_body: 8 PowertrainControlModule + SG_ IntakeAirTemperature : 31|8@0+ (1,-40) [0|0] "Cel" Vector__XXX + SG_ AcceleratorPedalSensorRaw : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ AcceleratorPedalSensorFiltered : 55|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 658 brake_controls: 8 PowertrainControlModule + SG_ BrakePedalSwitch : 43|1@1+ (1,0) [0|0] "" Vector__XXX + SG_ ParkingBrakeSwitch : 38|1@1+ (1,0) [0|0] "" Vector__XXX + +BO_ 1056 coolant: 8 PowertrainControlModule + SG_ CoolantTemperature : 7|8@0+ (1,-40) [0|0] "Cel" Vector__XXX + +BO_ 1072 instrument_cluster: 8 InstrumentCluster + SG_ FuelLevel : 7|8@0+ (0.392156,0) [0|0] "%" Vector__XXX + SG_ FuelTankSensorLeft : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ FuelTankSensorRight : 23|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1200 wheel_speed: 8 AntilockBrakeSystem + SG_ WheelSpeedFL : 7|16@0+ (0.01,-100) [0|0] "kph" Vector__XXX + SG_ WheelSpeedFR : 23|16@0+ (0.01,-100) [0|0] "kph" Vector__XXX + SG_ WheelSpeedRL : 39|16@0+ (0.01,-100) [0|0] "kph" Vector__XXX + SG_ WheelSpeedRR : 55|16@0+ (0.01,-100) [0|0] "kph" Vector__XXX + +CM_ SG_ 129 SteeringAngle "Steering wheel angle: positive is right and negative is left"; +CM_ SG_ 513 AcceleratorPos "processed interpretation of AcceleratorPedalSensor values"; +CM_ SG_ 1072 FuelTankSensorLeft "lower sensor values indicate a more full tank"; +CM_ SG_ 1072 FuelTankSensorRight "lower sensor values indicate a more full tank"; + + + + diff --git a/opendbc_repo/opendbc/dbc/mercedes_benz_e350_2010.dbc b/opendbc_repo/opendbc/dbc/mercedes_benz_e350_2010.dbc new file mode 100644 index 0000000000..da6ae4c15e --- /dev/null +++ b/opendbc_repo/opendbc/dbc/mercedes_benz_e350_2010.dbc @@ -0,0 +1,176 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX + + +BO_ 3 STEER_SENSOR: 8 XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ STEER_RATE : 19|12@0- (0.5,0) [0|255] "" XXX + SG_ STEER_DIRECTION : 4|1@0+ (1,2) [0|1] "" XXX + SG_ STEER_ANGLE : 3|12@0- (-0.5,0) [-500|500] "degrees" XXX + +BO_ 5 BRAKE_MODULE: 8 XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ BRAKE_HOLD : 2|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_POSITION : 17|10@0+ (1,0) [0|65535] "" XXX + SG_ DRIVER_BRAKE : 4|1@0+ (1,0) [0|1] "" XXX + SG_ COMPUTER_BRAKE : 10|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_PRESSED : 0|1@1+ (1,0) [0|1] "" XXX + +BO_ 69 DRIVER_CONTROLS: 8 XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ STEERING_WHEEL_BUTTONS : 32|16@1+ (1,0) [0|255] "4 directional, 2 volume control & 2 phone buttons" XXX + SG_ LEFT_BLINKER : 16|1@0+ (1,0) [0|1] "" XXX + SG_ RIGHT_BLINKER : 17|1@0+ (1,0) [0|1] "" XXX + SG_ HIGHBEAM_TOGGLE : 18|1@0+ (1,0) [0|1] "" XXX + SG_ HIGHBEAM_MOMENTARY : 19|1@0+ (1,0) [0|1] "" XXX + SG_ CRUISE_CONTROL_CANCEL : 0|1@0+ (1,0) [0|1] "" XXX + SG_ CRUISE_CONTROL_RESUME : 1|1@0+ (1,0) [0|1] "" XXX + SG_ CRUISE_CONTROL_ACCEL_HIGH : 2|1@0+ (1,0) [0|1] "" XXX + SG_ CRUISE_CONTROL_DECEL_HIGH : 3|1@0+ (1,0) [0|1] "" XXX + SG_ CRUISE_CONTROL_ACCEL_LOW : 4|1@0+ (1,0) [0|1] "" XXX + SG_ CRUISE_CONTROL_DECEL_LOW : 5|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_XFF : 15|8@0+ (1,0) [0|255] "" XXX + +BO_ 513 WHEEL_ENCODERS: 8 XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ WHEEL_ENCODER_2 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ WHEEL_ENCODER_3 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ WHEEL_ENCODER_4 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" XXX + SG_ WHEEL_ENCODER_1 : 7|8@0+ (1,0) [0|255] "" XXX + +BO_ 261 GAS_PEDAL: 8 XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ ENGINE_RPM : 4|5@0+ (1,0) [0|255] "" XXX + SG_ GAS_PEDAL : 39|8@0+ (1,0) [0|255] "" XXX + SG_ COMBINED_GAS : 31|8@0+ (1,0) [0|255] "" XXX + +BO_ 643 DOOR_SENSORS: 8 XXX + SG_ BRAKE_PRESSED : 27|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FR : 3|1@1+ (1,0) [0|3] "" XXX + SG_ DOOR_OPEN_RL : 5|1@0+ (1,0) [0|3] "" XXX + SG_ DOOR_OPEN_RR : 7|1@0+ (1,0) [0|3] "" XXX + SG_ DOOR_OPEN_FL : 1|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_CLOSED_FL : 0|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_CLOSED_FR : 2|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_CLOSED_RL : 4|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_CLOSED_RR : 6|1@0+ (1,0) [0|1] "" XXX + +BO_ 885 SEATBELT_SENSORS: 8 XXX + SG_ SEATBELT_DRIVER_LATCHED : 16|1@0+ (1,0) [0|1] "" XXX + SG_ SEATBELT_PASSENGER_LATCHED : 18|1@0+ (1,0) [0|1] "" XXX + +BO_ 257 CRUISE_CONTROL: 8 XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_1 : 6|1@0+ (1,0) [0|255] "" XXX + SG_ CRUISE_DISABLED : 23|1@0+ (1,0) [0|1] "" XXX + SG_ SET_ME_X002 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X003 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_1 : 5|1@0+ (1,0) [0|1] "" XXX + SG_ CRUISE_ACCELERATING : 22|1@0+ (1,0) [0|1] "" XXX + SG_ LONGITUDINAL_ACCEL_REQUEST : 15|8@0- (1,0) [0|127] "" XXX + +BO_ 260 CRUISE_CONTROL2: 8 XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_XFF : 31|8@0+ (1,0) [0|65535] "" XXX + SG_ SET_ME_X02 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_XFF2 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_1 : 7|4@0+ (1,0) [0|255] "" XXX + +BO_ 14 STEER_TORQUE: 8 XXX + SG_ STEER_TORQUE : 15|8@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 888 CRUISE_CONTROL3: 8 XXX + SG_ NEW_SIGNAL_2 : 7|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_1 : 38|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_5 : 32|1@0+ (1,0) [0|1] "" XXX + SG_ CRUISE_DISABLED : 36|1@0+ (1,0) [0|1] "" XXX + SG_ CRUISE_ENABLED : 34|1@0+ (1,0) [0|1] "" XXX + SG_ SET_ME_X003 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X004 : 63|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X002 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ CRUISE_SET_SPEED : 15|8@0+ (1,0) [0|63] "mph" XXX + SG_ CRUISE_SPEED_CHANGE : 55|1@0+ (1,0) [0|1] "" XXX + +BO_ 307 POWER_SEATS: 8 XXX + SG_ DRIVER_FORWARD : 0|1@0+ (1,0) [0|1] "" XXX + SG_ DRIVER_BACK : 1|1@0+ (1,0) [0|1] "" XXX + +BO_ 109 GEAR_LEVER: 8 XXX + SG_ PARK_BUTTON : 12|1@0+ (1,0) [0|1] "" XXX + SG_ NEUTRAL_UP : 9|1@0+ (1,0) [0|1] "" XXX + SG_ NEUTRAL_DOWN : 10|1@0+ (1,0) [0|1] "" XXX + SG_ DRIVE : 11|1@0+ (1,0) [0|1] "" XXX + SG_ REVERSE : 8|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 23|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 31|8@0+ (1,0) [0|255] "" XXX + +BO_ 115 GEAR_PACKET: 8 XXX + SG_ GEAR : 0|4@1+ (1,0) [0|15] "" XXX + +BO_ 581 IGNITION: 8 XXX + +BO_ 515 WHEEL_SPEEDS: 8 XXX + SG_ WHEEL_MOVING_FR : 22|1@1+ (1,0) [0|15] "" XXX + SG_ WHEEL_MOVING_RL : 38|1@0+ (1,0) [0|1] "" XXX + SG_ WHEEL_MOVING_FL : 6|1@0+ (1,0) [0|1] "" XXX + SG_ WHEEL_MOVING_RR : 54|1@0+ (1,0) [0|1] "" XXX + SG_ WHEEL_SPEED_FL : 2|11@0+ (0.0375,0) [0|255] "mph" XXX + SG_ WHEEL_SPEED_FR : 18|11@0+ (0.0375,0) [0|255] "mph" XXX + SG_ WHEEL_SPEED_RL : 34|11@0+ (0.0375,0) [0|255] "mph" XXX + SG_ WHEEL_SPEED_RR : 50|11@0+ (0.0375,0) [0|255] "mph" XXX + + + + +CM_ SG_ 3 STEER_DIRECTION "0 = left, 1 = right"; +CM_ SG_ 5 BRAKE_POSITION "computer and driver"; +CM_ SG_ 5 BRAKE_PRESSED "computer and driver"; +CM_ SG_ 261 GAS_PEDAL "user gas input"; +CM_ SG_ 261 COMBINED_GAS "computer and driver gas"; +CM_ SG_ 257 CRUISE_ACCELERATING ""; \ No newline at end of file diff --git a/opendbc_repo/opendbc/dbc/nissan_leaf_2018_generated.dbc b/opendbc_repo/opendbc/dbc/nissan_leaf_2018_generated.dbc new file mode 100644 index 0000000000..bfd30e4838 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/nissan_leaf_2018_generated.dbc @@ -0,0 +1,180 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _nissan_common.dbc starts here"; +BO_ 2 STEER_ANGLE_SENSOR: 5 XXX + SG_ STEER_ANGLE_RATE : 16|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X07 : 24|8@1+ (1,0) [0|255] "" XXX + SG_ STEER_ANGLE : 0|16@1- (-0.1,0) [0|65535] "" XXX + SG_ COUNTER : 32|4@1+ (1,0) [0|15] "" XXX + +BO_ 361 LKAS: 8 XXX + SG_ MAX_TORQUE : 39|8@0+ (0.01,0) [0|255] "Nm" XXX + SG_ SET_0x80 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ LKA_ACTIVE : 52|1@0+ (1,0) [0|15] "" XXX + SG_ SET_0x80_2 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX + SG_ DESIRED_ANGLE : 7|18@0+ (-0.01,1310) [-1311.43|1310] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 389 STEER_TORQUE_SENSOR: 8 XXX + SG_ LKAS_ACTIVE : 37|1@0+ (1,0) [0|3] "" XXX + SG_ STEER_TORQUE_LKAS : 47|8@0+ (1,0) [0|255] "" XXX + SG_ STEER_ANGLE : 23|18@0+ (-0.01,1310) [0|262143] "" XXX + SG_ STEER_TORQUE_DRIVER : 7|12@0+ (-0.01,20.47) [0|4095] "Nm" XXX + SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|127] "" XXX + +BO_ 645 WHEEL_SPEEDS_REAR: 8 XXX + SG_ WHEEL_SPEED_RR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX + SG_ WHEEL_SPEED_RL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX + +BO_ 689 PROPILOT_HUD: 8 XXX + SG_ LARGE_WARNING_FLASHING : 9|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_RADAR_ERROR_FLASHING1 : 10|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_RADAR_ERROR_FLASHING2 : 11|1@0+ (1,0) [0|1] "" XXX + SG_ RIGHT_LANE_YELLOW_FLASH : 12|1@0+ (1,0) [0|1] "" XXX + SG_ LEFT_LANE_YELLOW_FLASH : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LEAD_CAR : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LEAD_CAR_ERROR : 15|1@0+ (1,0) [0|1] "" XXX + SG_ FRONT_RADAR_ERROR : 16|1@0+ (1,0) [0|1] "" XXX + SG_ FRONT_RADAR_ERROR_FLASHING : 17|1@0+ (1,0) [0|1] "" XXX + SG_ RIGHT_LANE_GREEN : 24|1@0+ (1,0) [0|1] "" XXX + SG_ LEFT_LANE_GREEN : 25|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_RADAR_ERROR_FLASHING3 : 27|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_ERROR_FLASHING : 29|1@0+ (1,0) [0|1] "" XXX + SG_ SAFETY_SHIELD_ACTIVE : 44|1@0+ (1,0) [0|1] "" XXX + SG_ LARGE_STEERING_WHEEL_ICON : 61|2@0+ (1,0) [0|3] "" XXX + SG_ RIGHT_LANE_GREEN_FLASH : 62|1@0+ (1,0) [0|1] "" XXX + SG_ LEFT_LANE_GREEN_FLASH : 63|1@0+ (1,0) [0|1] "" XXX + SG_ FOLLOW_DISTANCE : 3|2@0+ (1,0) [0|3] "" XXX + SG_ AUDIBLE_TONE : 47|3@0+ (1,0) [0|8] "" XXX + SG_ SPEED_SET_ICON : 7|2@0+ (1,0) [0|3] "" XXX + SG_ SMALL_STEERING_WHEEL_ICON : 42|3@0+ (1,0) [0|7] "" XXX + SG_ SET_SPEED : 39|8@0+ (1,0) [0|255] "" XXX + SG_ unknown02 : 1|2@0+ (1,0) [0|3] "" XXX + SG_ unknown05 : 5|2@0+ (1,0) [0|3] "" XXX + SG_ unknown08 : 8|7@0+ (1,0) [0|63] "" XXX + SG_ unknown26 : 26|1@0+ (1,0) [0|1] "" XXX + SG_ unknown28 : 28|1@0+ (1,0) [0|1] "" XXX + SG_ unknown31 : 31|2@0+ (1,0) [0|3] "" XXX + SG_ unknown43 : 43|1@0+ (1,0) [0|1] "" XXX + SG_ unknown55 : 55|8@0+ (1,0) [0|63] "" XXX + SG_ unknown59 : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 783 CRUISE_STATE: 3 XXX + SG_ CRUISE_ENABLED : 3|1@0+ (1,0) [0|1] "" XXX + +BO_ 1228 PROPILOT_HUD_INFO_MSG: 8 XXX + SG_ NA_HIGH_ACCEL_TEMP : 0|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_RADAR_NA_HIGH_CABIN_TEMP : 8|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_RADAR_MALFUNCTION : 11|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_MALFUNCTION : 12|1@0+ (1,0) [0|1] "" XXX + SG_ FRONT_RADAR_MALFUNCTION : 13|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_RADAR_NA_CLEAN_REAR_CAMERA : 14|1@0+ (1,0) [0|1] "" XXX + SG_ NA_POOR_ROAD_CONDITIONS : 16|1@0+ (1,0) [0|1] "" XXX + SG_ CURRENTLY_UNAVAILABLE : 17|1@0+ (1,0) [0|1] "" XXX + SG_ SAFETY_SHIELD_OFF : 18|1@0+ (1,0) [0|1] "" XXX + SG_ FRONT_COLLISION_NA_FRONT_RADAR_OBSTRUCTION : 20|1@0+ (1,0) [0|1] "" XXX + SG_ PEDAL_MISSAPPLICATION_SYSTEM_ACTIVATED : 24|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_IMPACT_NA_RADAR_OBSTRUCTION : 25|1@0+ (1,0) [0|1] "" XXX + SG_ WARNING_DO_NOT_ENTER : 33|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_IMPACT_SYSTEM_OFF : 34|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_IMPACT_MALFUNCTION : 35|1@0+ (1,0) [0|1] "" XXX + SG_ FRONT_COLLISION_MALFUNCTION : 36|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_RADAR_MALFUNCTION2 : 37|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_MALFUNCTION2 : 38|1@0+ (1,0) [0|1] "" XXX + SG_ FRONT_RADAR_MALFUNCTION2 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ PROPILOT_NA_MSGS : 42|3@0+ (1,0) [0|7] "" XXX + SG_ BOTTOM_MSG : 45|3@0+ (1,0) [0|7] "" XXX + SG_ HANDS_ON_WHEEL_WARNING : 47|1@0+ (1,0) [0|1] "" XXX + SG_ WARNING_STEP_ON_BRAKE_NOW : 51|1@0+ (1,0) [0|1] "" XXX + SG_ PROPILOT_NA_FRONT_CAMERA_OBSTRUCTED : 52|1@0+ (1,0) [0|1] "" XXX + SG_ PROPILOT_NA_HIGH_CABIN_TEMP : 53|1@0+ (1,0) [0|1] "" XXX + SG_ WARNING_PROPILOT_MALFUNCTION : 54|1@0+ (1,0) [0|3] "" XXX + SG_ ACC_UNAVAILABLE_HIGH_CABIN_TEMP : 62|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_NA_FRONT_CAMERA_IMPARED : 63|1@0+ (1,0) [0|1] "" XXX + SG_ unknown07 : 7|7@0+ (1,0) [0|127] "" XXX + SG_ unknown10 : 10|2@0+ (1,0) [0|3] "" XXX + SG_ unknown15 : 15|1@0+ (1,0) [0|1] "" XXX + SG_ unknown23 : 23|3@0+ (1,0) [0|7] "" XXX + SG_ unknown19 : 19|1@0+ (1,0) [0|1] "" XXX + SG_ unknown31 : 31|6@0+ (1,0) [0|63] "" XXX + SG_ unknown32 : 32|1@0+ (1,0) [0|1] "" XXX + SG_ unknown46 : 46|1@0+ (1,0) [0|1] "" XXX + SG_ unknown50 : 50|3@0+ (1,0) [0|7] "" XXX + SG_ unknown55 : 55|1@0+ (1,0) [0|1] "" XXX + SG_ unknown61 : 61|6@0+ (1,0) [0|63] "" XXX + +BO_ 1227 LKAS_SETTINGS: 8 XXX + SG_ LKAS_ENABLED : 51|1@0+ (1,0) [0|1] "" XXX + +VAL_ 1228 PROPILOT_NA_MSGS 0 "NO_MSG" 1 "NA_FRONT_CAMERA_IMPARED" 2 "STEERING_ASSIST_ON_STANDBY" 3 "NA_PARKING_ASSIST_ENABLED" 4 "STEER_ASSIST_CURRENTLY_NA" 5 "NA_BAD_WEATHER" 6 "NA_PARK_BRAKE_ON" 7 "NA_SEATBELT_NOT_FASTENED" ; +VAL_ 1228 BOTTOM_MSG 0 "OK_STEER_ASSIST_SETTINGS" 1 "NO_MSG" 2 "PRESS_SET_TO_SET_SPEED" 3 "PRESS_RES_SET_TO_CHANGE_SPEED" 4 "PRESS_RES_TO_RESTART" 5 "NO_MSG" 6 "CRUISE_NOT_AVAIL" 7 "NO_MSG" ; +VAL_ 689 FOLLOW_DISTANCE 0 "NO_FOLLOW_DISTANCE" 1 "FOLLOW_DISTANCE_1" 2 "FOLLOW_DISTANCE_2" 3 "FOLLOW_DISANCE_3" ; +VAL_ 689 AUDIBLE_TONE 0 "NO_TONE" 1 "CONT" 2 "FAST_BEEP_CONT" 3 "TRIPLE_FAST_BEEP_CONT" 4 "SLOW_BEEP_CONT" 5 "QUAD_SLOW_BEEP_CONT" 6 "SINGLE_BEEP_ONCE" 7 "DOUBLE_BEEP_ONCE" ; +VAL_ 689 SMALL_STEERING_WHEEL_ICON 0 "NO_ICON" 1 "GRAY_ICON" 2 "GRAY_ICON_FLASHING" 3 "GREEN_ICON" 4 "GREEN_ICON_FLASHING" 5 "RED_ICON" 6 "RED_ICON_FLASHING" 7 "YELLOW_ICON" ; +VAL_ 689 LARGE_STEERING_WHEEL_ICON 0 "NO_STEERINGWHEEL" 1 "GRAY_STEERINGWHEEL" 2 "GREEN_STEERINGWHEEL" 3 "GREEN_STEERINGWHEEL_FLASHING" ; + +CM_ "nissan_leaf_2018.dbc starts here"; + +BO_ 42 SEATBELT: 8 XXX + SG_ SEATBELT_DRIVER_LATCHED : 27|1@1+ (1,0) [0|3] "" XXX + SG_ SEATBELT_DRIVER_UNLATCHED : 26|1@0+ (1,0) [0|1] "" XXX + SG_ unknown2 : 31|4@0+ (1,0) [0|15] "" XXX + SG_ unknown3 : 24|2@1+ (1,0) [0|3] "" XXX + SG_ unknown1 : 7|24@0+ (1,0) [0|16777215] "" XXX + SG_ unknown4 : 39|16@0+ (1,0) [0|65535] "" XXX + +BO_ 460 BRAKE_PEDAL: 8 XXX + SG_ BRAKE_PEDAL : 7|8@0+ (1,0) [0|256] "" XXX + +BO_ 569 CRUISE_THROTTLE: 8 XXX + SG_ GAS_PEDAL_INVERTED : 15|8@0+ (1,0) [0|255] "" XXX + SG_ GAS_PEDAL : 7|8@0+ (1,0) [0|255] "" XXX + SG_ CRUISE_AVAILABLE : 17|1@0+ (1,0) [0|1] "" XXX + SG_ unsure1 : 23|6@0+ (1,0) [0|63] "" XXX + SG_ unsure2 : 16|1@0+ (1,0) [0|1] "" XXX + SG_ unsure3 : 31|2@0+ (1,0) [0|3] "" XXX + SG_ NO_BUTTON_PRESSED : 29|1@0+ (1,0) [0|1] "" XXX + SG_ RES_BUTTON : 28|1@0+ (1,0) [0|1] "" XXX + SG_ SET_BUTTON : 27|1@0+ (1,0) [0|1] "" XXX + SG_ FOLLOW_DISTANCE_BUTTON : 26|1@0+ (1,0) [0|1] "" XXX + SG_ CANCEL_BUTTON : 25|1@0+ (1,0) [0|1] "" XXX + SG_ PROPILOT_BUTTON : 24|1@0+ (1,0) [0|1] "" XXX + SG_ USER_BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 32|2@1+ (1,0) [0|3] "" XXX + SG_ unsure5 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ unsure6 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ unsure7 : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 640 CANCEL_MSG: 8 XXX + SG_ CANCEL_SEATBELT : 1|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_1 : 7|6@0+ (1,0) [0|63] "" XXX + SG_ NEW_SIGNAL_2 : 0|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_3 : 15|56@0+ (1,0) [0|72057594037927940] "" XXX + +BO_ 644 WHEEL_SPEEDS_FRONT: 8 XXX + SG_ WHEEL_SPEED_FR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX + SG_ WHEEL_SPEED_FL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX + +BO_ 852 ESP: 8 XXX + SG_ ESP_DISABLED : 38|1@0+ (1,0) [0|1] "" XXX + +BO_ 853 HUD_SETTINGS: 8 XXX + SG_ SPEED_MPH : 37|1@0+ (1,0) [0|1] "" XXX + +BO_ 856 LIGHTS: 8 XXX + SG_ LEFT_BLINKER : 17|1@0+ (1,0) [0|1] "" XXX + SG_ RIGHT_BLINKER : 18|1@0+ (1,0) [0|1] "" XXX + +BO_ 1057 GEARBOX: 3 XXX + SG_ GEAR_SHIFTER : 5|3@0+ (1,0) [0|255] "" XXX + +BO_ 1549 DOORS_LIGHTS: 8 XXX + SG_ DOOR_OPEN_FL : 3|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FR : 4|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RL : 5|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RR : 6|1@0+ (1,0) [0|1] "" XXX + +VAL_ 1057 GEAR_SHIFTER 7 "B" 4 "D" 3 "N" 2 "R" 1 "P" ; diff --git a/opendbc_repo/opendbc/dbc/nissan_x_trail_2017_generated.dbc b/opendbc_repo/opendbc/dbc/nissan_x_trail_2017_generated.dbc new file mode 100644 index 0000000000..c6a3ef7a85 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/nissan_x_trail_2017_generated.dbc @@ -0,0 +1,187 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _nissan_common.dbc starts here"; +BO_ 2 STEER_ANGLE_SENSOR: 5 XXX + SG_ STEER_ANGLE_RATE : 16|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X07 : 24|8@1+ (1,0) [0|255] "" XXX + SG_ STEER_ANGLE : 0|16@1- (-0.1,0) [0|65535] "" XXX + SG_ COUNTER : 32|4@1+ (1,0) [0|15] "" XXX + +BO_ 361 LKAS: 8 XXX + SG_ MAX_TORQUE : 39|8@0+ (0.01,0) [0|255] "Nm" XXX + SG_ SET_0x80 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ LKA_ACTIVE : 52|1@0+ (1,0) [0|15] "" XXX + SG_ SET_0x80_2 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX + SG_ DESIRED_ANGLE : 7|18@0+ (-0.01,1310) [-1311.43|1310] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 389 STEER_TORQUE_SENSOR: 8 XXX + SG_ LKAS_ACTIVE : 37|1@0+ (1,0) [0|3] "" XXX + SG_ STEER_TORQUE_LKAS : 47|8@0+ (1,0) [0|255] "" XXX + SG_ STEER_ANGLE : 23|18@0+ (-0.01,1310) [0|262143] "" XXX + SG_ STEER_TORQUE_DRIVER : 7|12@0+ (-0.01,20.47) [0|4095] "Nm" XXX + SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|127] "" XXX + +BO_ 645 WHEEL_SPEEDS_REAR: 8 XXX + SG_ WHEEL_SPEED_RR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX + SG_ WHEEL_SPEED_RL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX + +BO_ 689 PROPILOT_HUD: 8 XXX + SG_ LARGE_WARNING_FLASHING : 9|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_RADAR_ERROR_FLASHING1 : 10|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_RADAR_ERROR_FLASHING2 : 11|1@0+ (1,0) [0|1] "" XXX + SG_ RIGHT_LANE_YELLOW_FLASH : 12|1@0+ (1,0) [0|1] "" XXX + SG_ LEFT_LANE_YELLOW_FLASH : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LEAD_CAR : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LEAD_CAR_ERROR : 15|1@0+ (1,0) [0|1] "" XXX + SG_ FRONT_RADAR_ERROR : 16|1@0+ (1,0) [0|1] "" XXX + SG_ FRONT_RADAR_ERROR_FLASHING : 17|1@0+ (1,0) [0|1] "" XXX + SG_ RIGHT_LANE_GREEN : 24|1@0+ (1,0) [0|1] "" XXX + SG_ LEFT_LANE_GREEN : 25|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_RADAR_ERROR_FLASHING3 : 27|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_ERROR_FLASHING : 29|1@0+ (1,0) [0|1] "" XXX + SG_ SAFETY_SHIELD_ACTIVE : 44|1@0+ (1,0) [0|1] "" XXX + SG_ LARGE_STEERING_WHEEL_ICON : 61|2@0+ (1,0) [0|3] "" XXX + SG_ RIGHT_LANE_GREEN_FLASH : 62|1@0+ (1,0) [0|1] "" XXX + SG_ LEFT_LANE_GREEN_FLASH : 63|1@0+ (1,0) [0|1] "" XXX + SG_ FOLLOW_DISTANCE : 3|2@0+ (1,0) [0|3] "" XXX + SG_ AUDIBLE_TONE : 47|3@0+ (1,0) [0|8] "" XXX + SG_ SPEED_SET_ICON : 7|2@0+ (1,0) [0|3] "" XXX + SG_ SMALL_STEERING_WHEEL_ICON : 42|3@0+ (1,0) [0|7] "" XXX + SG_ SET_SPEED : 39|8@0+ (1,0) [0|255] "" XXX + SG_ unknown02 : 1|2@0+ (1,0) [0|3] "" XXX + SG_ unknown05 : 5|2@0+ (1,0) [0|3] "" XXX + SG_ unknown08 : 8|7@0+ (1,0) [0|63] "" XXX + SG_ unknown26 : 26|1@0+ (1,0) [0|1] "" XXX + SG_ unknown28 : 28|1@0+ (1,0) [0|1] "" XXX + SG_ unknown31 : 31|2@0+ (1,0) [0|3] "" XXX + SG_ unknown43 : 43|1@0+ (1,0) [0|1] "" XXX + SG_ unknown55 : 55|8@0+ (1,0) [0|63] "" XXX + SG_ unknown59 : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 783 CRUISE_STATE: 3 XXX + SG_ CRUISE_ENABLED : 3|1@0+ (1,0) [0|1] "" XXX + +BO_ 1228 PROPILOT_HUD_INFO_MSG: 8 XXX + SG_ NA_HIGH_ACCEL_TEMP : 0|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_RADAR_NA_HIGH_CABIN_TEMP : 8|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_RADAR_MALFUNCTION : 11|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_MALFUNCTION : 12|1@0+ (1,0) [0|1] "" XXX + SG_ FRONT_RADAR_MALFUNCTION : 13|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_RADAR_NA_CLEAN_REAR_CAMERA : 14|1@0+ (1,0) [0|1] "" XXX + SG_ NA_POOR_ROAD_CONDITIONS : 16|1@0+ (1,0) [0|1] "" XXX + SG_ CURRENTLY_UNAVAILABLE : 17|1@0+ (1,0) [0|1] "" XXX + SG_ SAFETY_SHIELD_OFF : 18|1@0+ (1,0) [0|1] "" XXX + SG_ FRONT_COLLISION_NA_FRONT_RADAR_OBSTRUCTION : 20|1@0+ (1,0) [0|1] "" XXX + SG_ PEDAL_MISSAPPLICATION_SYSTEM_ACTIVATED : 24|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_IMPACT_NA_RADAR_OBSTRUCTION : 25|1@0+ (1,0) [0|1] "" XXX + SG_ WARNING_DO_NOT_ENTER : 33|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_IMPACT_SYSTEM_OFF : 34|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_IMPACT_MALFUNCTION : 35|1@0+ (1,0) [0|1] "" XXX + SG_ FRONT_COLLISION_MALFUNCTION : 36|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_RADAR_MALFUNCTION2 : 37|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_MALFUNCTION2 : 38|1@0+ (1,0) [0|1] "" XXX + SG_ FRONT_RADAR_MALFUNCTION2 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ PROPILOT_NA_MSGS : 42|3@0+ (1,0) [0|7] "" XXX + SG_ BOTTOM_MSG : 45|3@0+ (1,0) [0|7] "" XXX + SG_ HANDS_ON_WHEEL_WARNING : 47|1@0+ (1,0) [0|1] "" XXX + SG_ WARNING_STEP_ON_BRAKE_NOW : 51|1@0+ (1,0) [0|1] "" XXX + SG_ PROPILOT_NA_FRONT_CAMERA_OBSTRUCTED : 52|1@0+ (1,0) [0|1] "" XXX + SG_ PROPILOT_NA_HIGH_CABIN_TEMP : 53|1@0+ (1,0) [0|1] "" XXX + SG_ WARNING_PROPILOT_MALFUNCTION : 54|1@0+ (1,0) [0|3] "" XXX + SG_ ACC_UNAVAILABLE_HIGH_CABIN_TEMP : 62|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_NA_FRONT_CAMERA_IMPARED : 63|1@0+ (1,0) [0|1] "" XXX + SG_ unknown07 : 7|7@0+ (1,0) [0|127] "" XXX + SG_ unknown10 : 10|2@0+ (1,0) [0|3] "" XXX + SG_ unknown15 : 15|1@0+ (1,0) [0|1] "" XXX + SG_ unknown23 : 23|3@0+ (1,0) [0|7] "" XXX + SG_ unknown19 : 19|1@0+ (1,0) [0|1] "" XXX + SG_ unknown31 : 31|6@0+ (1,0) [0|63] "" XXX + SG_ unknown32 : 32|1@0+ (1,0) [0|1] "" XXX + SG_ unknown46 : 46|1@0+ (1,0) [0|1] "" XXX + SG_ unknown50 : 50|3@0+ (1,0) [0|7] "" XXX + SG_ unknown55 : 55|1@0+ (1,0) [0|1] "" XXX + SG_ unknown61 : 61|6@0+ (1,0) [0|63] "" XXX + +BO_ 1227 LKAS_SETTINGS: 8 XXX + SG_ LKAS_ENABLED : 51|1@0+ (1,0) [0|1] "" XXX + +VAL_ 1228 PROPILOT_NA_MSGS 0 "NO_MSG" 1 "NA_FRONT_CAMERA_IMPARED" 2 "STEERING_ASSIST_ON_STANDBY" 3 "NA_PARKING_ASSIST_ENABLED" 4 "STEER_ASSIST_CURRENTLY_NA" 5 "NA_BAD_WEATHER" 6 "NA_PARK_BRAKE_ON" 7 "NA_SEATBELT_NOT_FASTENED" ; +VAL_ 1228 BOTTOM_MSG 0 "OK_STEER_ASSIST_SETTINGS" 1 "NO_MSG" 2 "PRESS_SET_TO_SET_SPEED" 3 "PRESS_RES_SET_TO_CHANGE_SPEED" 4 "PRESS_RES_TO_RESTART" 5 "NO_MSG" 6 "CRUISE_NOT_AVAIL" 7 "NO_MSG" ; +VAL_ 689 FOLLOW_DISTANCE 0 "NO_FOLLOW_DISTANCE" 1 "FOLLOW_DISTANCE_1" 2 "FOLLOW_DISTANCE_2" 3 "FOLLOW_DISANCE_3" ; +VAL_ 689 AUDIBLE_TONE 0 "NO_TONE" 1 "CONT" 2 "FAST_BEEP_CONT" 3 "TRIPLE_FAST_BEEP_CONT" 4 "SLOW_BEEP_CONT" 5 "QUAD_SLOW_BEEP_CONT" 6 "SINGLE_BEEP_ONCE" 7 "DOUBLE_BEEP_ONCE" ; +VAL_ 689 SMALL_STEERING_WHEEL_ICON 0 "NO_ICON" 1 "GRAY_ICON" 2 "GRAY_ICON_FLASHING" 3 "GREEN_ICON" 4 "GREEN_ICON_FLASHING" 5 "RED_ICON" 6 "RED_ICON_FLASHING" 7 "YELLOW_ICON" ; +VAL_ 689 LARGE_STEERING_WHEEL_ICON 0 "NO_STEERINGWHEEL" 1 "GRAY_STEERINGWHEEL" 2 "GREEN_STEERINGWHEEL" 3 "GREEN_STEERINGWHEEL_FLASHING" ; + +CM_ "nissan_x_trail_2017.dbc starts here"; + +BO_ 348 GAS_PEDAL: 8 XXX + SG_ GAS_PEDAL_RAW : 26|11@0+ (1,0) [0|2047] "" XXX + SG_ GAS_PEDAL : 47|10@0+ (1,0) [0|1023] "" XXX + +BO_ 438 PRO_PILOT: 8 XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X03 : 33|2@0+ (1,0) [0|15] "" XXX + SG_ CRUISE_ACTIVATED : 38|1@0+ (1,0) [0|3] "" XXX + SG_ CRUISE_ON : 36|1@0+ (1,0) [0|255] "" XXX + SG_ STEER_STATUS : 51|1@0+ (1,0) [0|3] "" XXX + +BO_ 523 CRUISE_THROTTLE: 6 XXX + SG_ PROPILOT_BUTTON : 8|1@0+ (1,0) [0|1] "" XXX + SG_ CANCEL_BUTTON : 9|1@0+ (1,0) [0|1] "" XXX + SG_ GAS_PEDAL_INVERTED : 37|10@0+ (1,0) [0|1023] "" XXX + SG_ SET_BUTTON : 11|1@0+ (1,0) [0|1] "" XXX + SG_ RES_BUTTON : 12|1@0+ (1,0) [0|1] "" XXX + SG_ FOLLOW_DISTANCE_BUTTON : 10|1@0+ (1,0) [0|1] "" XXX + SG_ NO_BUTTON_PRESSED : 13|1@0+ (1,0) [0|1] "" XXX + SG_ GAS_PEDAL : 31|10@0+ (1,0) [0|255] "" XXX + SG_ USER_BRAKE_PRESSED : 21|1@0+ (1,0) [0|1] "" XXX + SG_ USER_BRAKE_PRESSED_INVERTED : 22|1@0+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_2 : 23|1@0+ (1,0) [0|1] "" XXX + SG_ GAS_PRESSED_INVERTED : 20|1@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 17|2@0+ (1,0) [0|3] "" XXX + SG_ unsure1 : 7|10@0+ (1,0) [0|1023] "" XXX + SG_ unsure2 : 43|4@0+ (1,0) [0|1] "" XXX + SG_ unsure3 : 19|2@0+ (1,0) [0|3] "" XXX + +BO_ 665 ESP: 8 XXX + SG_ ESP_DISABLED : 24|1@0+ (1,0) [0|1] "" XXX + +BO_ 666 WHEEL_SPEEDS_FRONT: 8 XXX + SG_ WHEEL_SPEED_FR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX + SG_ WHEEL_SPEED_FL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX + +BO_ 768 STEER_TORQUE_SENSOR2: 2 XXX + SG_ STEERING_TORQUE : 6|7@0+ (1,0) [0|127] "" XXX + SG_ STEERING_PRESSED : 15|1@0+ (-1,1) [0|7] "" XXX + +BO_ 1055 GEARBOX: 2 XXX + SG_ SPORTS_MODE : 13|1@0+ (1,0) [0|1] "" XXX + SG_ GEAR_SHIFTER : 5|3@0+ (1,0) [0|255] "" XXX + +BO_ 1107 LIGHTS: 8 XXX + SG_ RIGHT_BLINKER : 12|1@0+ (1,0) [0|1] "" XXX + SG_ LEFT_BLINKER : 11|1@0+ (1,0) [0|1] "" XXX + SG_ HEADLIGHTS : 5|1@0+ (1,0) [0|1] "" XXX + +BO_ 1108 DOORS_LIGHTS: 8 XXX + SG_ DOOR_CLOSED_RR : 40|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RR : 41|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_CLOSED_RL : 42|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RL : 43|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_CLOSED_FL : 44|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_CLOSED_FR : 46|1@0+ (1,0) [0|3] "" XXX + SG_ DOOR_OPEN_FR : 47|1@0+ (1,0) [0|3] "" XXX + SG_ BOOT_OPEN : 55|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_LIGHT : 54|1@0+ (1,0) [0|1] "" XXX + SG_ USER_BRAKE_PRESSED : 23|1@0+ (1,0) [0|1] "" XXX + +BO_ 1273 HUD: 7 XXX + SG_ SEATBELT_DRIVER_LATCHED : 25|1@0+ (1,0) [0|1] "" XXX + SG_ SPEED_MPH : 5|1@0+ (1,0) [0|1] "" XXX + +VAL_ 1055 GEAR_SHIFTER 6 "L" 4 "D" 3 "N" 2 "R" 1 "P" ; diff --git a/opendbc_repo/opendbc/dbc/nissan_xterra_2011.dbc b/opendbc_repo/opendbc/dbc/nissan_xterra_2011.dbc new file mode 100644 index 0000000000..1e7bd4c4ae --- /dev/null +++ b/opendbc_repo/opendbc/dbc/nissan_xterra_2011.dbc @@ -0,0 +1,96 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX + +BO_ 2 STEERING: 5 XXX + SG_ COUNTER : 35|4@0+ (1,0) [0|255] "" XXX + SG_ STEERING_ANGLE : 0|16@1- (0.1,0) [0|65535] "deg" XXX + SG_ POWER_STEER_RATE : 23|8@0+ (1,0) [0|255] "" XXX + +BO_ 505 ENGINE_1: 8 XXX + SG_ RPM : 16|16@1+ (0.125,0) [0|45000] "R/min" XXX + SG_ FAN_REQ : 6|2@1+ (1,0) [0|3] "" XXX + SG_ AC_REQ : 3|1@1+ (1,0) [0|1] "" XXX + +BO_ 561 ENGINE_2: 8 XXX + SG_ Pedal_position : 16|8@1+ (0.5,0) [0|200] "%" XXX + +BO_ 563 ENGINE_7: 8 XXX + SG_ CLT : 0|8@1+ (0.366666,0) [0|255] "C" XXX + SG_ RPMlow : 32|8@1+ (3.15,0) [0|45000] "R/min" XXX + SG_ RPMhi : 56|8@1+ (3.15,0) [0|45000] "R/min" XXX + +BO_ 573 ENGINE_3: 8 XXX + SG_ Pedal_position : 8|8@1+ (0.392,0) [0|255] "%" XXX + SG_ Throttle_position_capped : 16|8@1+ (0.392,0) [0|255] "%" XXX + SG_ RPM : 24|16@1+ (3.15,0) [0|45000] "R/min" XXX + SG_ CLT : 56|8@1+ (0.366666,0) [0|255] "C" XXX + +BO_ 574 ENGINE_4: 8 XXX + SG_ Throttle_position_inverted : 16|8@1+ (0.392,0) [0|255] "%" XXX + SG_ EstimatedTorque : 24|16@1+ (0.1,0) [0|45000] "nM" XXX + SG_ Throttle_position : 48|8@1+ (0.392,0) [0|255] "%" XXX + +BO_ 595 TCU_1: 8 XXX + SG_ SHAFT_1_SPEED : 32|16@1+ (1,0) [0|45000] "r/min" XXX + SG_ SHAFT_2_SPEED : 48|16@1+ (1,0) [0|45000] "r/min" XXX + +BO_ 640 SPEED: 8 XXX + SG_ SPEED : 32|16@1+ (0.01,0) [0|45000] "km/h" XXX + +BO_ 644 ABS_1: 8 XXX + SG_ WHEEL_1 : 0|16@1+ (0.01,0) [0|45000] "km/h" XXX + SG_ WHEEL_2 : 15|16@1+ (0.01,0) [0|45000] "km/h" XXX + +BO_ 645 ABS_2: 8 XXX + SG_ WHEEL_3 : 0|16@1+ (0.01,0) [0|45000] "km/h" XXX + SG_ WHEEL_4 : 15|16@1+ (0.01,0) [0|45000] "km/h" XXX + +BO_ 852 SPEED_BREAK: 8 XXX + SG_ BREAK_LIGHT : 52|1@0+ (1,0) [0|3] "" XXX + SG_ SPEED_MPH : 7|16@0+ (0.0066,0) [0|65535] "mph" XXX + SG_ TCS_OFF : 38|1@0+ (1,0) [0|255] "" XXX + +BO_ 861 BCM: 8 XXX + +BO_ 1361 ENGINE_5: 8 XXX + SG_ CLT : 0|8@1+ (1,-45) [-45|150] "" XXX + +BO_ 1408 ENGINE_6: 8 XXX + SG_ RPM : 7|16@0+ (1.5,0) [0|65535] "" XXX + SG_ OIL_TEMP : 32|8@1+ (1,-40) [-40|150] "" XXX + +BO_ 1477 MILEAGE: 8 XXX \ No newline at end of file diff --git a/opendbc_repo/opendbc/dbc/opel_omega_2001.dbc b/opendbc_repo/opendbc/dbc/opel_omega_2001.dbc new file mode 100644 index 0000000000..8f8e0cfdea --- /dev/null +++ b/opendbc_repo/opendbc/dbc/opel_omega_2001.dbc @@ -0,0 +1,104 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: ABS ESP ECU TCU SAS + + +BO_ 272 TCU_Data1: 8 TCU + SG_ TorqueRequest1 : 15|8@0+ (1,0) [0|255] "" ABS,ESP,ECU + SG_ TorqueRequest2 : 31|8@0+ (1,0) [0|255] "" ABS,ESP,ECU + SG_ OutputShaftSpeed : 55|16@0+ (1,0) [0|65535] "rpm" ABS,ESP,ECU + +BO_ 288 ESP_Data1: 8 ESP + SG_ ABD_Active : 4|1@0+ (1,0) [0|1] "yes/no" ECU,TCU + SG_ TorqueRequestFast : 15|8@0+ (1,0) [0|255] "" ECU,TCU + SG_ TorqueRequestSlow : 31|8@0+ (1,0) [0|255] "" ECU,TCU + +BO_ 384 SAS_Data: 8 SAS + SG_ SteeringAngle : 0|16@1- (0.1,0) [-3276.8|3276.7] "yes/no" ECU,TCU + SG_ SteeringSpeed : 16|8@1+ (1,0) [0|255] "" ECU,TCU + +BO_ 416 ECU_Data1: 8 ECU + SG_ RPM : 15|16@0+ (1,0) [0|65535] "rpm" ABS,ESP,TCU + SG_ TorqueResponse : 31|8@0+ (1,0) [0|255] "" ABS,ESP,TCU + SG_ TorqueLost : 39|8@0+ (1,0) [0|255] "" ABS,ESP,TCU + SG_ APP : 47|8@0+ (1,0) [0|102] "" ABS,ESP,TCU + SG_ TorqueRequest : 63|8@0+ (1,0) [0|255] "" ABS,ESP,TCU + +BO_ 448 ECU_Data2: 8 ECU + SG_ TPS : 23|8@0+ (1,0) [0|100] "" ABS,ESP,TCU + +BO_ 640 ECU_Data3: 8 ECU + SG_ BrakeActive : 18|1@0+ (1,0) [0|1] "yes/no" ABS,ESP,TCU + SG_ KickdownActive : 20|1@0+ (1,0) [0|1] "yes/no" ABS,ESP,TCU + SG_ CruiseActive : 22|1@0+ (1,0) [0|1] "yes/no" ABS,ESP,TCU + +BO_ 736 TCU_Data2: 8 TCU + SG_ TOT : 31|8@0- (1,-40) [-40|215] "" ECU + SG_ InputShaftSpeed : 47|16@0+ (1,0) [0|65535] "rpm" ECU + +BO_ 768 ABS_WheelSpeed: 8 ABS + SG_ FrontLeftWheelSpeed : 5|14@0+ (0.112,0) [0|255] "km/h" ECU,TCU + SG_ FrontLeftWheelErrorFlag : 7|1@0+ (1,0) [0|1] "" ECU,TCU + SG_ FrontRightWheelSpeed : 21|14@0+ (0.112,0) [0|255] "km/h" ECU,TCU + SG_ FrontRightWheelErrorFlag : 23|1@0+ (1,0) [0|1] "" ECU,TCU + SG_ RearLeftWheelSpeed : 37|14@0+ (0.112,0) [0|255] "km/h" ECU,TCU + SG_ RearLeftWheelErrorFlag : 39|1@0+ (1,0) [0|1] "" ECU,TCU + SG_ RearRightWheelSpeed : 53|14@0+ (0.112,0) [0|255] "km/h" ECU,TCU + SG_ RearRightWheelErrorFlag : 55|1@0+ (1,0) [0|1] "" ECU,TCU + +BO_ 792 ESP_Data2: 8 ESP + SG_ ABS_Active : 12|1@0+ (1,0) [0|1] "yes/no" ECU,TCU + SG_ ESP_Off : 20|1@0+ (1,0) [0|1] "yes/no" ECU,TCU + SG_ ESP_Active : 21|1@0+ (1,0) [0|1] "yes/no" ECU,TCU + +BO_ 992 TCU_Data3: 8 TCU + SG_ CurrentGear : 11|4@0+ (1,0) [0|15] "" ECU + SG_ SelectorPosition : 18|3@0+ (1,0) [0|7] "" ECU + SG_ AutoNeutralActive : 26|1@0+ (1,0) [0|1] "yes/no" ECU + SG_ WinterModeActive : 29|1@0+ (1,0) [0|1] "yes/no" ECU + SG_ SportModeActive : 30|1@0+ (1,0) [0|1] "yes/no" ECU + SG_ TCC_State : 37|2@0+ (1,0) [0|2] "" ECU + +BO_ 1472 ECU_Data4: 8 ECU + SG_ ECT : 15|8@0- (1,-40) [-40|215] "" TCU + SG_ IAT : 47|8@0- (1,-40) [-40|215] "" TCU + + + +VAL_ 992 CurrentGear 5 "1" 6 "2" 7 "3" 8 "4" ; +VAL_ 992 SelectorPosition 1 "P" 2 "R" 3 "N" 4 "D" 7 "3" 6 "2" 5 "1" ; +VAL_ 992 TCC_State 0 "Off" 1 "Partially Locked" 2 "Locked" ; + diff --git a/opendbc_repo/opendbc/dbc/subaru_forester_2017_generated.dbc b/opendbc_repo/opendbc/dbc/subaru_forester_2017_generated.dbc new file mode 100644 index 0000000000..3ba563e817 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/subaru_forester_2017_generated.dbc @@ -0,0 +1,268 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _subaru_preglobal_2015.dbc starts here"; +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX X + + +BO_ 2 Steering: 8 XXX + SG_ Steering_Angle : 7|16@0- (0.1,0) [-500|500] "degree" XXX + SG_ COUNTER : 27|3@0+ (1,0) [0|7] "" XXX + SG_ Checksum : 39|8@0+ (1,0) [0|255] "" XXX + +BO_ 208 G_Sensor: 8 XXX + SG_ Steering_Angle : 0|16@1- (-0.1,0) [-500|500] "" XXX + SG_ Lateral : 16|16@1- (-0.0035,1) [-255|255] "" XXX + SG_ Longitudinal : 48|16@1- (-0.00035,0) [-255|255] "" XXX + +BO_ 209 Brake_Pedal: 8 XXX + SG_ Speed : 0|16@1+ (0.05625,0) [0|255] "KPH" XXX + SG_ Brake_Pedal : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 210 Brake_2: 8 XXX + SG_ Brake_Light : 35|1@1+ (1,0) [0|1] "" XXX + SG_ Brake_Related : 36|1@1+ (1,0) [0|1] "" XXX + SG_ Right_Brake : 48|8@1+ (1,0) [0|255] "" XXX + SG_ Left_Brake : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 211 Brake_Type: 8 XXX + SG_ Brake_Light : 21|1@1+ (1,0) [0|1] "" XXX + SG_ Speed_Counter : 32|8@1+ (1,0) [0|255] "" XXX + SG_ Brake_Cruise_On : 42|1@1+ (1,0) [0|1] "" XXX + SG_ Brake_Pedal_On : 46|1@1+ (1,0) [0|1] "" XXX + SG_ COUNTER : 48|8@1+ (1,0) [0|255] "" XXX + +BO_ 212 Wheel_Speeds: 8 XXX + SG_ FL : 0|16@1+ (0.0592,0) [0|255] "KPH" XXX + SG_ FR : 16|16@1+ (0.0592,0) [0|255] "KPH" XXX + SG_ RL : 32|16@1+ (0.0592,0) [0|255] "KPH" XXX + SG_ RR : 48|16@1+ (0.0592,0) [0|255] "KPH" XXX + +BO_ 320 Throttle: 8 XXX + SG_ Throttle_Pedal : 0|8@1+ (0.392157,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|2@1+ (1,0) [0|7] "" XXX + SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|1] "" XXX + SG_ Signal2 : 15|1@1+ (1,0) [0|1] "" XXX + SG_ Engine_RPM : 16|14@1+ (1,0) [0|32767] "" XXX + SG_ Off_Throttle : 30|1@1+ (1,0) [0|1] "" XXX + SG_ Signal3 : 31|1@1+ (1,0) [0|1] "" XXX + SG_ Throttle_Cruise : 32|8@1+ (1,0) [0|255] "" XXX + SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX + SG_ Throttle_Body : 48|8@1+ (1,0) [0|255] "" XXX + SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|1] "" XXX + SG_ Signal4 : 57|7@1+ (1,0) [0|127] "" XXX + +BO_ 321 Engine: 8 XXX + SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX + SG_ Engine_Stop : 15|1@1+ (1,0) [0|1] "" XXX + SG_ Wheel_Torque : 16|12@1+ (1,0) [0|4095] "" XXX + SG_ Engine_RPM : 32|12@1+ (1,0) [0|8191] "" XXX + +BO_ 324 CruiseControl: 8 XXX + SG_ OnOffButton : 2|1@1+ (1,0) [0|1] "" XXX + SG_ SET_BUTTON : 3|1@1+ (1,0) [0|1] "" XXX + SG_ RES_BUTTON : 4|1@1+ (1,0) [0|1] "" XXX + SG_ Button : 13|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_On : 48|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 49|1@1+ (1,0) [0|1] "" XXX + SG_ Brake_Pedal_On : 51|1@1+ (1,0) [0|1] "" XXX + +BO_ 328 Transmission: 8 XXX + SG_ Manual_Gear : 4|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Transmission_Engine : 16|15@1+ (1,0) [0|65535] "" XXX + SG_ Gear : 48|4@1+ (1,0) [0|15] "" XXX + SG_ Gear_2 : 52|4@1+ (1,0) [0|15] "" XXX + SG_ Paddle_Shift : 60|2@1+ (1,0) [0|3] "" XXX + +BO_ 329 CVT_Ratio: 8 XXX + +BO_ 336 Brake_Pressure: 8 XXX + SG_ Brake_Pressure_Right : 0|8@1+ (1,0) [0|255] "" XXX + SG_ Brake_Pressure_Left : 8|8@1+ (1,0) [0|255] "" XXX + +BO_ 338 Stalk: 8 XXX + SG_ COUNTER : 12|4@1+ (1,0) [0|15] "" XXX + SG_ Brake_Light : 52|1@1+ (1,0) [0|1] "" XXX + SG_ Runlights : 58|1@1+ (1,0) [0|1] "" XXX + SG_ Headlights : 59|1@1+ (1,0) [0|1] "" XXX + SG_ Highbeam : 60|1@1+ (1,0) [0|1] "" XXX + SG_ Wiper : 62|1@1+ (1,0) [0|1] "" XXX + +BO_ 352 ES_Brake: 8 XXX + SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX + SG_ Cruise_Brake_Lights : 20|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Fault : 21|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Brake_Active : 22|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX + SG_ SET_1 : 45|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 48|3@1+ (1,0) [0|7] "" XXX + SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 353 ES_Distance: 8 XXX + SG_ Cruise_Throttle : 0|12@1+ (1,0) [0|4095] "" XXX + SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX + SG_ Car_Follow : 16|1@1+ (1,0) [0|1] "" XXX + SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX + SG_ Cruise_Brake_Active : 20|1@1+ (1,0) [0|1] "" XXX + SG_ Distance_Swap : 21|1@1+ (1,0) [0|1] "" XXX + SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX + SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX + SG_ Close_Distance : 24|8@1+ (0.019607,0) [0|5] "m" XXX + SG_ Signal4 : 32|9@1+ (1,0) [0|255] "" XXX + SG_ Standstill_2 : 41|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Fault : 42|1@1+ (1,0) [0|1] "" XXX + SG_ Signal5 : 43|1@1+ (1,0) [0|1] "" XXX + SG_ COUNTER : 44|3@1+ (1,0) [0|7] "" XXX + SG_ Signal6 : 47|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Button : 48|3@1+ (1,0) [0|7] "" XXX + SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX + SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 354 ES_Status: 8 XXX + SG_ Brake : 8|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 9|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_RPM : 16|16@1+ (1,0) [0|65535] "" XXX + SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 48|3@1+ (1,0) [0|7] "" XXX + +BO_ 356 ES_LKAS: 8 XXX + SG_ COUNTER : 0|3@1+ (1,0) [0|7] "" XXX + SG_ LKAS_Command : 8|13@1- (-1,0) [-4096|4096] "" XXX + SG_ LKAS_Active : 24|1@1+ (1,0) [0|1] "" XXX + SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 359 ES_LDW: 8 XXX + SG_ All_depart_2015 : 0|1@1+ (1,0) [0|1] "" XXX + SG_ Right_Line_2017 : 24|1@1+ (1,0) [0|1] "" XXX + SG_ Left_Line_2017 : 25|1@1+ (1,0) [0|1] "" XXX + SG_ Sig1All_Depart : 28|1@1+ (1,0) [0|1] "" XXX + SG_ Sig2All_Depart : 31|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Inactive_2017 : 36|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Active : 37|1@1+ (1,0) [0|1] "" XXX + SG_ Sig1Right_Depart : 48|1@1+ (1,0) [0|1] "" XXX + SG_ Sig1Right_Depart_Front : 49|1@1+ (1,0) [0|1] "" XXX + SG_ Sig2Right_Depart : 50|1@1+ (1,0) [0|1] "" XXX + SG_ Left_Depart_Front : 51|1@1+ (1,0) [0|1] "" XXX + SG_ Sig3All_Depart : 52|1@1+ (1,0) [0|1] "" XXX + +BO_ 604 BSD_RCTA: 8 XXX + SG_ COUNTER : 0|3@1+ (1,0) [0|7] "" XXX + SG_ State : 5|1@1+ (1,0) [0|1] "" XXX + SG_ R_ADJACENT : 32|1@1+ (1,0) [0|1] "" XXX + SG_ L_ADJACENT : 33|1@1+ (1,0) [0|1] "" XXX + SG_ R_APPROACHING : 42|1@1+ (1,0) [0|1] "" XXX + SG_ L_APPROACHING : 43|1@1+ (1,0) [0|1] "" XXX + SG_ R_RCTA : 46|1@1+ (1,0) [0|1] "" XXX + SG_ L_RCTA : 47|1@1+ (1,0) [0|1] "" XXX + +BO_ 642 Dashlights: 8 XXX + SG_ COUNTER : 12|4@1+ (1,0) [0|15] "" XXX + SG_ SEATBELT_FL : 40|1@1+ (1,0) [0|1] "" XXX + SG_ LEFT_BLINKER : 44|1@1+ (1,0) [0|1] "" XXX + SG_ RIGHT_BLINKER : 45|1@1+ (1,0) [0|1] "" XXX + +BO_ 880 Steering_Torque_2: 8 XXX + SG_ Steering_Voltage_Flat : 0|8@1+ (1,0) [0|255] "" XXX + SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX + SG_ COUNTER : 40|4@1+ (1,0) [0|15] "" XXX + +BO_ 884 BodyInfo: 8 XXX + SG_ DOOR_OPEN_FR : 24|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FL : 25|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RL : 26|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RR : 27|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_Hatch : 28|1@1+ (1,0) [0|1] "" XXX + +BO_ 864 Engine_Temp: 8 XXX + SG_ Oil_Temp : 16|8@1+ (1,-40) [0|255] "" XXX + SG_ Coolant_Temp : 24|8@1+ (1,-40) [0|255] "" XXX + SG_ Cruise_Activated : 45|1@1+ (1,0) [0|1] "" XXX + SG_ Saved_Speed : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 866 Fuel: 8 XXX + +BO_ 977 Dash_State2: 8 XXX + SG_ UNITS : 15|1@1+ (1,0) [0|1] "" XXX + +BO_ 1745 Dash_State: 8 XXX + SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX + +CM_ SG_ 320 Off_Throttle_2 "Less sensitive"; +CM_ SG_ 320 Throttle_Body "Throttle related"; +CM_ SG_ 328 Gear "15 = P, 14 = R, 0 = N, 1-6=gear"; +CM_ SG_ 328 Gear_2 "15 = P, 14 = R, 0 = N, 1-6=gear"; +CM_ SG_ 353 Cruise_Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep"; +CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission"; +CM_ SG_ 359 Sig1Right_Depart "right depart, hill steep and seatbelt disengage"; +CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering"; +CM_ SG_ 359 Sig1Right_Depart_Front "object in front, right depart, hill steep and seatbelt disengage alert "; +CM_ SG_ 359 Left_Depart_Front "warning after acceleration into car in front and left depart"; +CM_ SG_ 359 Sig1All_Depart "Left and right depart"; +CM_ SG_ 359 Sig2All_Depart "Left and right depart"; +CM_ SG_ 359 All_depart_2015 "always 1 on 2017"; +CM_ SG_ 604 R_APPROACHING "Faster car approaching in far right lane"; +CM_ SG_ 604 L_APPROACHING "Faster car approaching in far left lane"; +CM_ SG_ 604 R_RCTA "Rear cross traffic alert, only when in R gear"; +CM_ SG_ 604 L_RCTA "Rear cross traffic alert, only when in R gear"; +CM_ SG_ 642 COUNTER "Affected by signals"; +CM_ SG_ 642 SEATBELT_FL "Driver seatbelt"; +CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371"; +CM_ SG_ 977 UNITS "0 = Metric, 1 = Imperial"; + +VAL_ 328 Gear 0 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 14 "R" 15 "P"; + +CM_ "subaru_forester_2017.dbc starts here"; + +BO_ 355 ES_DashStatus: 8 XXX + SG_ Not_Ready_Startup : 4|2@1+ (1,0) [0|3] "" XXX + SG_ Cruise_On : 16|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 17|1@0+ (1,0) [0|1] "" XXX + SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 40|3@1+ (1,0) [0|7] "" XXX + SG_ Brake : 43|1@1+ (1,0) [0|1] "" XXX + SG_ Car_Follow : 54|1@1+ (1,0) [0|1] "" XXX + SG_ Far_Distance : 56|4@1+ (5,0) [0|75] "m" XXX + +BO_ 881 Steering_Torque: 8 XXX + SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX + SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX + SG_ Steer_Error_1 : 27|1@1+ (1,0) [0|1] "" XXX + SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX + SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX diff --git a/opendbc_repo/opendbc/dbc/subaru_global_2017_generated.dbc b/opendbc_repo/opendbc/dbc/subaru_global_2017_generated.dbc new file mode 100644 index 0000000000..9732feae15 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/subaru_global_2017_generated.dbc @@ -0,0 +1,372 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _subaru_global.dbc starts here"; +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX X + + +BO_ 2 Steering: 8 XXX + SG_ Steering_Angle : 7|16@0- (0.1,0) [0|65535] "" XXX + SG_ COUNTER : 25|3@1+ (1,0) [0|7] "" XXX + SG_ CHECKSUM : 32|8@1+ (1,0) [0|255] "" XXX + +BO_ 64 Throttle: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX + SG_ Engine_RPM : 16|12@1+ (1,0) [0|4095] "" XXX + SG_ Signal2 : 28|4@1+ (1,0) [0|15] "" XXX + SG_ Throttle_Pedal : 32|8@1+ (1,0) [0|255] "" XXX + SG_ Throttle_Cruise : 40|8@1+ (1,0) [0|255] "" XXX + SG_ Throttle_Combo : 48|8@1+ (1,0) [0|255] "" XXX + SG_ Signal3 : 56|4@1+ (1,0) [0|15] "" XXX + SG_ Off_Accel : 60|4@1+ (1,0) [0|15] "" XXX + +BO_ 316 Brake_Status: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|46@1+ (1,0) [0|1] "" XXX + SG_ ES_Brake : 58|1@1+ (1,0) [0|1] "" XXX + SG_ Signal2 : 59|3@1+ (1,0) [0|1] "" XXX + SG_ Brake : 62|1@1+ (1,0) [0|1] "" XXX + SG_ Signal3 : 63|1@1+ (1,0) [0|1] "" XXX + +BO_ 326 Cruise_Buttons: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|30@1+ (1,0) [0|1073741823] "" XXX + SG_ Main : 42|1@1+ (1,0) [0|1] "" XXX + SG_ Set : 43|1@1+ (1,0) [0|1] "" XXX + SG_ Resume : 44|1@1+ (1,0) [0|1] "" XXX + SG_ Signal2 : 45|19@1+ (1,0) [0|524287] "" XXX + +BO_ 315 G_Sensor: 8 XXX + SG_ Lateral : 48|8@1- (-0.1,0) [0|255] "m/s2" XXX + SG_ Longitudinal : 56|8@1- (-0.1,0) [0|255] "m/s2" XXX + +BO_ 314 Wheel_Speeds: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ FR : 12|13@1+ (0.057,0) [0|255] "kph" XXX + SG_ RR : 25|13@1+ (0.057,0) [0|255] "kph" XXX + SG_ FL : 51|13@1+ (0.057,0) [0|255] "kph" XXX + SG_ RL : 38|13@1+ (0.057,0) [0|255] "kph" XXX + +BO_ 280 Steering_Torque_2: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Steer_Torque_Output : 13|11@1- (-10,0) [0|255] "" XXX + SG_ Signal1 : 24|8@1+ (1,0) [0|511] "" XXX + SG_ Steer_Torque_Sensor : 45|11@1- (-1,0) [0|255] "" XXX + SG_ Steering_Active : 61|1@0+ (1,0) [0|1] "" XXX + SG_ Steering_Disabled : 63|1@1+ (1,0) [0|1] "" XXX + +BO_ 281 Steering_Torque: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Steer_Error_1 : 12|1@0+ (1,0) [0|1] "" XXX + SG_ Steer_Torque_Sensor : 16|11@1- (-1,0) [-1000|1000] "" XXX + SG_ Steer_Error_2 : 28|1@1+ (1,0) [0|1] "" XXX + SG_ Steer_Warning : 29|1@1+ (1,0) [0|1] "" XXX + SG_ Steering_Angle : 32|16@1- (-0.0217,0) [-600|600] "" X + SG_ Steer_Torque_Output : 48|11@1- (-10,0) [-1000|1000] "" XXX + +BO_ 282 Steering_2: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|1] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|1] "" XXX + SG_ Steering_Angle : 24|17@1- (-0.01,0) [0|1] "" XXX + +BO_ 312 Brake_Pressure_L_R: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Brake_1 : 48|8@1+ (1,0) [0|255] "" XXX + SG_ Brake_2 : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 313 Brake_Pedal: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX + SG_ Speed : 16|12@1+ (0.05625,0) [0|255] "kph" XXX + SG_ Signal2 : 28|6@1+ (1,0) [0|63] "" XXX + SG_ Brake_Lights : 34|1@1+ (1,0) [0|1] "" XXX + SG_ Signal3 : 35|1@1+ (1,0) [0|1] "" XXX + SG_ Brake_Pedal : 36|12@1+ (1,0) [0|4095] "" XXX + SG_ Signal4 : 48|16@1+ (1,0) [0|65535] "" XXX + +BO_ 372 Engine_Stop_Start: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX + SG_ STOP_START_STATE : 39|2@0+ (1,0) [0|3] "" XXX + +BO_ 290 ES_LKAS: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ SET_1 : 12|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_Output : 16|13@1- (-1,0) [-8191|8191] "" XXX + SG_ LKAS_Request : 29|1@0+ (1,0) [0|1] "" XXX + +BO_ 292 ES_LKAS_ANGLE: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|1] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Request : 12|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Output : 40|17@1- (-0.01,0) [0|1] "deg" XXX + SG_ SET_3 : 60|2@1+ (1,0) [0|1] "" XXX + +BO_ 544 ES_Brake: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX + SG_ Brake_Pressure : 16|16@1+ (1,0) [0|65535] "" XXX + SG_ AEB_Status : 32|4@1+ (1,0) [0|15] "" XXX + SG_ Cruise_Brake_Lights : 36|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Brake_Fault : 37|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Brake_Active : 38|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 39|1@1+ (1,0) [0|1] "" XXX + SG_ Signal3 : 40|24@1+ (1,0) [0|16777215] "" XXX + +BO_ 577 Cruise_Status: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Cruise_Set_Speed : 51|12@0+ (1,0) [0|120] "" XXX + SG_ Cruise_On : 54|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 55|1@1+ (1,0) [0|1] "" XXX + +BO_ 552 BSD_RCTA: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ R_ADJACENT : 48|1@1+ (1,0) [0|1] "" XXX + SG_ L_ADJACENT : 49|1@1+ (1,0) [0|1] "" XXX + SG_ R_APPROACHING : 58|1@1+ (1,0) [0|1] "" XXX + SG_ L_APPROACHING : 59|1@1+ (1,0) [0|1] "" XXX + +BO_ 912 Dashlights: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ UNITS : 24|1@1+ (1,0) [0|1] "" XXX + SG_ ICY_ROAD : 32|2@1+ (1,0) [0|3] "" XXX + SG_ SEATBELT_FL : 48|1@1+ (1,0) [0|1] "" XXX + SG_ LEFT_BLINKER : 50|1@1+ (1,0) [0|1] "" XXX + SG_ RIGHT_BLINKER : 51|1@1+ (1,0) [0|1] "" XXX + SG_ STOP_START : 54|1@0+ (1,0) [0|1] "" XXX + +BO_ 940 BodyInfo: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ DOOR_OPEN_FL : 32|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FR : 33|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RL : 34|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RR : 35|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_TRUNK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE : 54|1@1+ (1,0) [0|1] "" XXX + SG_ DASH_BTN_LIGHTS : 56|1@0+ (1,0) [0|1] "" XXX + SG_ LOWBEAM : 57|1@1+ (1,0) [0|1] "" XXX + SG_ HIGHBEAM : 58|1@1+ (1,0) [0|1] "" XXX + SG_ FOG_LIGHTS : 60|1@1+ (1,0) [0|1] "" XXX + SG_ WIPERS : 62|1@0+ (1,0) [0|1] "" XXX + +BO_ 801 ES_DashStatus: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ PCB_Off : 12|1@1+ (1,0) [0|1] "" XXX + SG_ LDW_Off : 13|1@1+ (1,0) [0|1] "" XXX + SG_ Signal1 : 14|2@1+ (1,0) [0|3] "" XXX + SG_ Cruise_State_Msg : 16|4@1+ (1,0) [0|15] "" XXX + SG_ LKAS_State_Msg : 20|3@1+ (1,0) [0|7] "" XXX + SG_ Signal2 : 23|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Soft_Disable : 24|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Status_Msg : 25|2@1+ (1,0) [0|3] "" XXX + SG_ Signal3 : 27|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Distance : 28|3@1+ (1,0) [0|7] "" XXX + SG_ Signal4 : 31|1@1+ (1,0) [0|1] "" XXX + SG_ Conventional_Cruise : 32|1@1+ (1,0) [0|1] "" XXX + SG_ Signal5 : 33|2@1+ (1,0) [0|3] "" XXX + SG_ Cruise_Disengaged : 35|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 36|1@1+ (1,0) [0|1] "" XXX + SG_ Signal6 : 37|3@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Set_Speed : 40|8@1+ (1,0) [0|255] "" XXX + SG_ Cruise_Fault : 48|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_On : 49|1@1+ (1,0) [0|1] "" XXX + SG_ Display_Own_Car : 50|1@1+ (1,0) [0|1] "" XXX + SG_ Brake_Lights : 51|1@1+ (1,0) [0|1] "" XXX + SG_ Car_Follow : 52|1@1+ (1,0) [0|1] "" XXX + SG_ Signal7 : 53|3@1+ (1,0) [0|1] "" XXX + SG_ Far_Distance : 56|4@1+ (5,0) [0|75] "m" XXX + SG_ Cruise_State : 60|4@1+ (1,0) [0|15] "" XXX + +BO_ 802 ES_LKAS_State: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ LKAS_Alert_Msg : 12|3@1+ (1,0) [0|7] "" XXX + SG_ Signal1 : 15|2@1+ (1,0) [0|3] "" XXX + SG_ LKAS_ACTIVE : 17|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Dash_State : 18|2@1+ (1,0) [0|2] "" XXX + SG_ Signal2 : 20|3@1+ (1,0) [0|7] "" XXX + SG_ Backward_Speed_Limit_Menu : 23|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Left_Line_Enable : 24|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Left_Line_Light_Blink : 25|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Right_Line_Enable : 26|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Right_Line_Light_Blink : 27|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Left_Line_Visible : 28|2@1+ (1,0) [0|3] "" XXX + SG_ LKAS_Right_Line_Visible : 30|2@1+ (1,0) [0|3] "" XXX + SG_ LKAS_Alert : 32|5@1+ (1,0) [0|31] "" XXX + SG_ Signal3 : 37|27@1+ (1,0) [0|1] "" XXX + +BO_ 803 ES_Infotainment: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ LKAS_Blue_Lines : 15|4@0+ (1,0) [0|15] "" XXX + SG_ Signal1 : 19|4@0+ (1,0) [0|15] "" XXX + SG_ LKAS_State_Infotainment : 22|3@0+ (1,0) [0|7] "" XXX + SG_ Signal2 : 24|1@0+ (1,0) [0|1] "" XXX + +BO_ 722 AC_State: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ AC_Mode : 37|3@1+ (1,0) [0|1] "" XXX + SG_ AC_ON : 24|2@1+ (1,0) [0|1] "" XXX + +BO_ 1677 Dash_State: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Units : 29|3@1+ (1,0) [0|7] "" XXX + +BO_ 554 ES_HighBeamAssist: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ HBA_Available : 13|1@0+ (1,0) [0|1] "" XXX + +BO_ 805 ES_STATIC_1: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ SET_3 : 23|2@0+ (1,0) [0|3] "" XXX + +BO_ 289 ES_STATIC_2: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ SET_3 : 15|2@1+ (1,0) [0|3] "" XXX + SG_ Cruise_Fault : 18|1@0+ (1,0) [0|1] "" XXX + +CM_ SG_ 64 Throttle_Combo "Throttle Cruise + Pedal"; +CM_ SG_ 313 Brake_Lights "Driver or Cruise Brake on"; +CM_ SG_ 544 Cruise_Brake_Lights "1 = switch on brake lights"; +CM_ SG_ 544 Brake_Pressure "Winds down after cruise disabled. Also can be non-zero when likely preparing for AEB"; +CM_ SG_ 544 Signal3 "Usually goes to 2 if AEB_Status is 4"; +CM_ SG_ 544 AEB_Status "Occasionally is 4 instead of 8 while Brake_Pressure is non-zero, unsure why"; +CM_ SG_ 801 PCB_Off "Pre-Collision Braking off"; +CM_ SG_ 801 Brake_Lights "Driver or Cruise brake on"; +CM_ SG_ 801 Cruise_State "0 = Normal, 1 = Hold+User Brake, 2 = Ready, 3 = Hold"; +CM_ SG_ 801 Far_Distance "1=0-5m, 2=5-10m, 3=10-15m, 4=15-20m, 5=20-25m, 6=25-30m, 7=30-35m, 8=35-40m, 9=40-45m, 10=45-50m, 11=50-55m, 12=55-60m, 13=60-65m, 14=65-70m, 15=75m+"; +CM_ SG_ 801 LKAS_State_Msg "1 = LKAS_Off_Sharp_Curve, 2 = Keep_Hands_On_Steering_wheel_disabled, 3 = LKAS_Off, 4 = LKAS_Off_Too_Slow, 5 = LKAS_Off_Too_Fast"; +CM_ SG_ 801 Cruise_State_Msg "1 = Cruise_Off_Steep_Slope, 2 = Cruise_lvl1_eco, 3 = Cruise_lvl2_comfort, 4 = Cruise_off_empty_reason, 5 = Cruise_off, 6 = Cruise_Unable_to_set, 7 = Cruise_Unable_to_set_brakes_applied, 8 = Eyesight_not_ready, 9 = Cruise_lvl3_standard, 10 = Cruise_lvl4_dynamic, 11 = Cruise_Unable_to_set_steep_slope"; +CM_ SG_ 801 Cruise_Soft_Disable "Eyesight soft disable (eg direct sunlight)"; +CM_ SG_ 801 Cruise_Status_Msg "1 = Disabled_Bad_Visibility, 2 = Disabled_Check_Manual"; +CM_ SG_ 802 LKAS_ACTIVE "Turns on the full LKAS dash display"; +CM_ SG_ 802 LKAS_Alert_Msg "1 = Keep_Hands_On_Wheel, 6 = Pre_Collision_Braking, 7 = Keep_Hands_On_Wheel_Off"; +CM_ SG_ 802 LKAS_Alert "1 = FCW_Cont_Beep, 2 = FCW_Repeated_Beep, 3 = Throttle_Management_Activated_Warning, 4 = Throttle_Management_Activated_Alert, 5 = Pre_Collision_Activated_Alert, 8 = Traffic_Light_Ahead, 9 = Apply_Brake_to_Hold Position, 11 = LDW_Right, 12 = LDW_Left, 13 = Stay_Alert, 14 = Lead_Vehicle_Start_Alert, 18 = Keep_Hands_On_Steering_Alert, 24 = Audio_Beep, 25 = Audio_Lead_Car_Change, 26 = Audio_ACC_Disengaged, 27 = Audio_LKAS_disabled, 28 = Audio_Ding_Ding, 30 = Audio_Repeated_Beep"; +CM_ SG_ 802 LKAS_Left_Line_Visible "0 = Off, 1 = White, 2 = Green, 3 = Orange"; +CM_ SG_ 802 LKAS_Dash_State "0 = Off, 1 = Ready, 2 = Active"; +CM_ SG_ 802 LKAS_Right_Line_Visible "0 = Off, 1 = White, 2 = Green, 3 = Orange"; +CM_ SG_ 912 UNITS "0 = Metric, 1 = Imperial"; +CM_ SG_ 912 ICY_ROAD "1 = DASHLIGHT ON, 2 = WARNING, 3 = OFF"; +VAL_ 544 AEB_Status 12 "AEB related" 8 "AEB actuation" 4 "AEB related" 0 "No AEB actuation"; + +CM_ "subaru_global_2017.dbc starts here"; + +BO_ 72 Transmission: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Gear : 24|8@1+ (1,0) [0|255] "" XXX + SG_ RPM : 40|15@1+ (1,0) [0|65535] "" XXX + +BO_ 73 CVT: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ CVT_Gear : 24|8@1+ (1,0) [0|255] "" XXX + +BO_ 545 ES_Distance: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|3@1+ (1,0) [0|7] "" XXX + SG_ Cruise_Fault : 15|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Throttle : 16|13@1+ (1,0) [0|4095] "" XXX + SG_ Signal2 : 29|3@1+ (1,0) [0|15] "" XXX + SG_ Car_Follow : 32|1@1+ (1,0) [0|1] "" XXX + SG_ Low_Speed_Follow : 33|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Soft_Disable : 34|1@1+ (1,0) [0|1] "" XXX + SG_ Signal7 : 35|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Brake_Active : 36|1@1+ (1,0) [0|1] "" XXX + SG_ Distance_Swap : 37|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_EPB : 38|1@1+ (1,0) [0|1] "" XXX + SG_ Signal4 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ Close_Distance : 40|8@1+ (0.019607,0) [0|5] "m" XXX + SG_ Signal5 : 48|8@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Cancel : 56|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Set : 57|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Resume : 58|1@1+ (1,0) [0|1] "" XXX + SG_ Signal6 : 59|5@1+ (1,0) [0|1] "" XXX + +BO_ 546 ES_Status: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|3@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Fault : 15|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_RPM : 16|13@1+ (1,0) [0|4095] "" XXX + SG_ Cruise_Activated : 29|1@0+ (1,0) [0|1] "" XXX + SG_ Brake_Lights : 30|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Hold : 31|1@1+ (1,0) [0|1] "" XXX + SG_ Signal3 : 32|32@1+ (1,0) [0|1] "" XXX + +BO_ 576 CruiseControl: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|28@1+ (1,0) [0|268435455] "" XXX + SG_ Cruise_On : 40|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 41|1@1+ (1,0) [0|1] "" XXX + SG_ Signal2 : 42|22@1+ (1,0) [0|4194303] "" XXX + +CM_ SG_ 545 Cruise_Throttle "RPM-like output signal"; +CM_ SG_ 545 Cruise_EPB "1 = Electric Parking Brake set"; +CM_ SG_ 545 Distance_Swap "Switch from Close to Far distance"; +CM_ SG_ 545 Cruise_Soft_Disable "Eyesight Temporary disable, sets CruiseControl Activated = 0"; +CM_ SG_ 546 Cruise_RPM "ES RPM output for ECM and TCM"; +CM_ SG_ 546 Signal3 "0 when cruise_activated = 1"; +CM_ SG_ 803 Signal1 "Seems to be static, set only on some cars"; +CM_ SG_ 803 Signal2 "Seems to be static, set only on some cars"; +VAL_ 803 LKAS_Blue_Lines 0 "no modifier" 2 "changes lines to blue"; +VAL_ 803 LKAS_State_Infotainment 0 "none" 2 "Obstacle Detected" 3 "Keep Hands On Wheel" 4 "Keep Hands On Wheel Off"; +VAL_ 72 Gear 2 "N" 3 "R" 4 "P" 121 "D" 137 "1" 145 "2" 153 "3" 161 "4" 169 "5" 177 "6"; diff --git a/opendbc_repo/opendbc/dbc/subaru_global_2020_hybrid_generated.dbc b/opendbc_repo/opendbc/dbc/subaru_global_2020_hybrid_generated.dbc new file mode 100644 index 0000000000..c41eaf9965 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/subaru_global_2020_hybrid_generated.dbc @@ -0,0 +1,325 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _subaru_global.dbc starts here"; +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX X + + +BO_ 2 Steering: 8 XXX + SG_ Steering_Angle : 7|16@0- (0.1,0) [0|65535] "" XXX + SG_ COUNTER : 25|3@1+ (1,0) [0|7] "" XXX + SG_ CHECKSUM : 32|8@1+ (1,0) [0|255] "" XXX + +BO_ 64 Throttle: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX + SG_ Engine_RPM : 16|12@1+ (1,0) [0|4095] "" XXX + SG_ Signal2 : 28|4@1+ (1,0) [0|15] "" XXX + SG_ Throttle_Pedal : 32|8@1+ (1,0) [0|255] "" XXX + SG_ Throttle_Cruise : 40|8@1+ (1,0) [0|255] "" XXX + SG_ Throttle_Combo : 48|8@1+ (1,0) [0|255] "" XXX + SG_ Signal3 : 56|4@1+ (1,0) [0|15] "" XXX + SG_ Off_Accel : 60|4@1+ (1,0) [0|15] "" XXX + +BO_ 316 Brake_Status: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|46@1+ (1,0) [0|1] "" XXX + SG_ ES_Brake : 58|1@1+ (1,0) [0|1] "" XXX + SG_ Signal2 : 59|3@1+ (1,0) [0|1] "" XXX + SG_ Brake : 62|1@1+ (1,0) [0|1] "" XXX + SG_ Signal3 : 63|1@1+ (1,0) [0|1] "" XXX + +BO_ 326 Cruise_Buttons: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|30@1+ (1,0) [0|1073741823] "" XXX + SG_ Main : 42|1@1+ (1,0) [0|1] "" XXX + SG_ Set : 43|1@1+ (1,0) [0|1] "" XXX + SG_ Resume : 44|1@1+ (1,0) [0|1] "" XXX + SG_ Signal2 : 45|19@1+ (1,0) [0|524287] "" XXX + +BO_ 315 G_Sensor: 8 XXX + SG_ Lateral : 48|8@1- (-0.1,0) [0|255] "m/s2" XXX + SG_ Longitudinal : 56|8@1- (-0.1,0) [0|255] "m/s2" XXX + +BO_ 314 Wheel_Speeds: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ FR : 12|13@1+ (0.057,0) [0|255] "kph" XXX + SG_ RR : 25|13@1+ (0.057,0) [0|255] "kph" XXX + SG_ FL : 51|13@1+ (0.057,0) [0|255] "kph" XXX + SG_ RL : 38|13@1+ (0.057,0) [0|255] "kph" XXX + +BO_ 280 Steering_Torque_2: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Steer_Torque_Output : 13|11@1- (-10,0) [0|255] "" XXX + SG_ Signal1 : 24|8@1+ (1,0) [0|511] "" XXX + SG_ Steer_Torque_Sensor : 45|11@1- (-1,0) [0|255] "" XXX + SG_ Steering_Active : 61|1@0+ (1,0) [0|1] "" XXX + SG_ Steering_Disabled : 63|1@1+ (1,0) [0|1] "" XXX + +BO_ 281 Steering_Torque: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Steer_Error_1 : 12|1@0+ (1,0) [0|1] "" XXX + SG_ Steer_Torque_Sensor : 16|11@1- (-1,0) [-1000|1000] "" XXX + SG_ Steer_Error_2 : 28|1@1+ (1,0) [0|1] "" XXX + SG_ Steer_Warning : 29|1@1+ (1,0) [0|1] "" XXX + SG_ Steering_Angle : 32|16@1- (-0.0217,0) [-600|600] "" X + SG_ Steer_Torque_Output : 48|11@1- (-10,0) [-1000|1000] "" XXX + +BO_ 282 Steering_2: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|1] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|1] "" XXX + SG_ Steering_Angle : 24|17@1- (-0.01,0) [0|1] "" XXX + +BO_ 312 Brake_Pressure_L_R: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Brake_1 : 48|8@1+ (1,0) [0|255] "" XXX + SG_ Brake_2 : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 313 Brake_Pedal: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX + SG_ Speed : 16|12@1+ (0.05625,0) [0|255] "kph" XXX + SG_ Signal2 : 28|6@1+ (1,0) [0|63] "" XXX + SG_ Brake_Lights : 34|1@1+ (1,0) [0|1] "" XXX + SG_ Signal3 : 35|1@1+ (1,0) [0|1] "" XXX + SG_ Brake_Pedal : 36|12@1+ (1,0) [0|4095] "" XXX + SG_ Signal4 : 48|16@1+ (1,0) [0|65535] "" XXX + +BO_ 372 Engine_Stop_Start: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX + SG_ STOP_START_STATE : 39|2@0+ (1,0) [0|3] "" XXX + +BO_ 290 ES_LKAS: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ SET_1 : 12|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_Output : 16|13@1- (-1,0) [-8191|8191] "" XXX + SG_ LKAS_Request : 29|1@0+ (1,0) [0|1] "" XXX + +BO_ 292 ES_LKAS_ANGLE: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|1] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Request : 12|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Output : 40|17@1- (-0.01,0) [0|1] "deg" XXX + SG_ SET_3 : 60|2@1+ (1,0) [0|1] "" XXX + +BO_ 544 ES_Brake: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX + SG_ Brake_Pressure : 16|16@1+ (1,0) [0|65535] "" XXX + SG_ AEB_Status : 32|4@1+ (1,0) [0|15] "" XXX + SG_ Cruise_Brake_Lights : 36|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Brake_Fault : 37|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Brake_Active : 38|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 39|1@1+ (1,0) [0|1] "" XXX + SG_ Signal3 : 40|24@1+ (1,0) [0|16777215] "" XXX + +BO_ 577 Cruise_Status: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Cruise_Set_Speed : 51|12@0+ (1,0) [0|120] "" XXX + SG_ Cruise_On : 54|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 55|1@1+ (1,0) [0|1] "" XXX + +BO_ 552 BSD_RCTA: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ R_ADJACENT : 48|1@1+ (1,0) [0|1] "" XXX + SG_ L_ADJACENT : 49|1@1+ (1,0) [0|1] "" XXX + SG_ R_APPROACHING : 58|1@1+ (1,0) [0|1] "" XXX + SG_ L_APPROACHING : 59|1@1+ (1,0) [0|1] "" XXX + +BO_ 912 Dashlights: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ UNITS : 24|1@1+ (1,0) [0|1] "" XXX + SG_ ICY_ROAD : 32|2@1+ (1,0) [0|3] "" XXX + SG_ SEATBELT_FL : 48|1@1+ (1,0) [0|1] "" XXX + SG_ LEFT_BLINKER : 50|1@1+ (1,0) [0|1] "" XXX + SG_ RIGHT_BLINKER : 51|1@1+ (1,0) [0|1] "" XXX + SG_ STOP_START : 54|1@0+ (1,0) [0|1] "" XXX + +BO_ 940 BodyInfo: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ DOOR_OPEN_FL : 32|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FR : 33|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RL : 34|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RR : 35|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_TRUNK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE : 54|1@1+ (1,0) [0|1] "" XXX + SG_ DASH_BTN_LIGHTS : 56|1@0+ (1,0) [0|1] "" XXX + SG_ LOWBEAM : 57|1@1+ (1,0) [0|1] "" XXX + SG_ HIGHBEAM : 58|1@1+ (1,0) [0|1] "" XXX + SG_ FOG_LIGHTS : 60|1@1+ (1,0) [0|1] "" XXX + SG_ WIPERS : 62|1@0+ (1,0) [0|1] "" XXX + +BO_ 801 ES_DashStatus: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ PCB_Off : 12|1@1+ (1,0) [0|1] "" XXX + SG_ LDW_Off : 13|1@1+ (1,0) [0|1] "" XXX + SG_ Signal1 : 14|2@1+ (1,0) [0|3] "" XXX + SG_ Cruise_State_Msg : 16|4@1+ (1,0) [0|15] "" XXX + SG_ LKAS_State_Msg : 20|3@1+ (1,0) [0|7] "" XXX + SG_ Signal2 : 23|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Soft_Disable : 24|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Status_Msg : 25|2@1+ (1,0) [0|3] "" XXX + SG_ Signal3 : 27|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Distance : 28|3@1+ (1,0) [0|7] "" XXX + SG_ Signal4 : 31|1@1+ (1,0) [0|1] "" XXX + SG_ Conventional_Cruise : 32|1@1+ (1,0) [0|1] "" XXX + SG_ Signal5 : 33|2@1+ (1,0) [0|3] "" XXX + SG_ Cruise_Disengaged : 35|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 36|1@1+ (1,0) [0|1] "" XXX + SG_ Signal6 : 37|3@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Set_Speed : 40|8@1+ (1,0) [0|255] "" XXX + SG_ Cruise_Fault : 48|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_On : 49|1@1+ (1,0) [0|1] "" XXX + SG_ Display_Own_Car : 50|1@1+ (1,0) [0|1] "" XXX + SG_ Brake_Lights : 51|1@1+ (1,0) [0|1] "" XXX + SG_ Car_Follow : 52|1@1+ (1,0) [0|1] "" XXX + SG_ Signal7 : 53|3@1+ (1,0) [0|1] "" XXX + SG_ Far_Distance : 56|4@1+ (5,0) [0|75] "m" XXX + SG_ Cruise_State : 60|4@1+ (1,0) [0|15] "" XXX + +BO_ 802 ES_LKAS_State: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ LKAS_Alert_Msg : 12|3@1+ (1,0) [0|7] "" XXX + SG_ Signal1 : 15|2@1+ (1,0) [0|3] "" XXX + SG_ LKAS_ACTIVE : 17|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Dash_State : 18|2@1+ (1,0) [0|2] "" XXX + SG_ Signal2 : 20|3@1+ (1,0) [0|7] "" XXX + SG_ Backward_Speed_Limit_Menu : 23|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Left_Line_Enable : 24|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Left_Line_Light_Blink : 25|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Right_Line_Enable : 26|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Right_Line_Light_Blink : 27|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Left_Line_Visible : 28|2@1+ (1,0) [0|3] "" XXX + SG_ LKAS_Right_Line_Visible : 30|2@1+ (1,0) [0|3] "" XXX + SG_ LKAS_Alert : 32|5@1+ (1,0) [0|31] "" XXX + SG_ Signal3 : 37|27@1+ (1,0) [0|1] "" XXX + +BO_ 803 ES_Infotainment: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ LKAS_Blue_Lines : 15|4@0+ (1,0) [0|15] "" XXX + SG_ Signal1 : 19|4@0+ (1,0) [0|15] "" XXX + SG_ LKAS_State_Infotainment : 22|3@0+ (1,0) [0|7] "" XXX + SG_ Signal2 : 24|1@0+ (1,0) [0|1] "" XXX + +BO_ 722 AC_State: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ AC_Mode : 37|3@1+ (1,0) [0|1] "" XXX + SG_ AC_ON : 24|2@1+ (1,0) [0|1] "" XXX + +BO_ 1677 Dash_State: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Units : 29|3@1+ (1,0) [0|7] "" XXX + +BO_ 554 ES_HighBeamAssist: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ HBA_Available : 13|1@0+ (1,0) [0|1] "" XXX + +BO_ 805 ES_STATIC_1: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ SET_3 : 23|2@0+ (1,0) [0|3] "" XXX + +BO_ 289 ES_STATIC_2: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ SET_3 : 15|2@1+ (1,0) [0|3] "" XXX + SG_ Cruise_Fault : 18|1@0+ (1,0) [0|1] "" XXX + +CM_ SG_ 64 Throttle_Combo "Throttle Cruise + Pedal"; +CM_ SG_ 313 Brake_Lights "Driver or Cruise Brake on"; +CM_ SG_ 544 Cruise_Brake_Lights "1 = switch on brake lights"; +CM_ SG_ 544 Brake_Pressure "Winds down after cruise disabled. Also can be non-zero when likely preparing for AEB"; +CM_ SG_ 544 Signal3 "Usually goes to 2 if AEB_Status is 4"; +CM_ SG_ 544 AEB_Status "Occasionally is 4 instead of 8 while Brake_Pressure is non-zero, unsure why"; +CM_ SG_ 801 PCB_Off "Pre-Collision Braking off"; +CM_ SG_ 801 Brake_Lights "Driver or Cruise brake on"; +CM_ SG_ 801 Cruise_State "0 = Normal, 1 = Hold+User Brake, 2 = Ready, 3 = Hold"; +CM_ SG_ 801 Far_Distance "1=0-5m, 2=5-10m, 3=10-15m, 4=15-20m, 5=20-25m, 6=25-30m, 7=30-35m, 8=35-40m, 9=40-45m, 10=45-50m, 11=50-55m, 12=55-60m, 13=60-65m, 14=65-70m, 15=75m+"; +CM_ SG_ 801 LKAS_State_Msg "1 = LKAS_Off_Sharp_Curve, 2 = Keep_Hands_On_Steering_wheel_disabled, 3 = LKAS_Off, 4 = LKAS_Off_Too_Slow, 5 = LKAS_Off_Too_Fast"; +CM_ SG_ 801 Cruise_State_Msg "1 = Cruise_Off_Steep_Slope, 2 = Cruise_lvl1_eco, 3 = Cruise_lvl2_comfort, 4 = Cruise_off_empty_reason, 5 = Cruise_off, 6 = Cruise_Unable_to_set, 7 = Cruise_Unable_to_set_brakes_applied, 8 = Eyesight_not_ready, 9 = Cruise_lvl3_standard, 10 = Cruise_lvl4_dynamic, 11 = Cruise_Unable_to_set_steep_slope"; +CM_ SG_ 801 Cruise_Soft_Disable "Eyesight soft disable (eg direct sunlight)"; +CM_ SG_ 801 Cruise_Status_Msg "1 = Disabled_Bad_Visibility, 2 = Disabled_Check_Manual"; +CM_ SG_ 802 LKAS_ACTIVE "Turns on the full LKAS dash display"; +CM_ SG_ 802 LKAS_Alert_Msg "1 = Keep_Hands_On_Wheel, 6 = Pre_Collision_Braking, 7 = Keep_Hands_On_Wheel_Off"; +CM_ SG_ 802 LKAS_Alert "1 = FCW_Cont_Beep, 2 = FCW_Repeated_Beep, 3 = Throttle_Management_Activated_Warning, 4 = Throttle_Management_Activated_Alert, 5 = Pre_Collision_Activated_Alert, 8 = Traffic_Light_Ahead, 9 = Apply_Brake_to_Hold Position, 11 = LDW_Right, 12 = LDW_Left, 13 = Stay_Alert, 14 = Lead_Vehicle_Start_Alert, 18 = Keep_Hands_On_Steering_Alert, 24 = Audio_Beep, 25 = Audio_Lead_Car_Change, 26 = Audio_ACC_Disengaged, 27 = Audio_LKAS_disabled, 28 = Audio_Ding_Ding, 30 = Audio_Repeated_Beep"; +CM_ SG_ 802 LKAS_Left_Line_Visible "0 = Off, 1 = White, 2 = Green, 3 = Orange"; +CM_ SG_ 802 LKAS_Dash_State "0 = Off, 1 = Ready, 2 = Active"; +CM_ SG_ 802 LKAS_Right_Line_Visible "0 = Off, 1 = White, 2 = Green, 3 = Orange"; +CM_ SG_ 912 UNITS "0 = Metric, 1 = Imperial"; +CM_ SG_ 912 ICY_ROAD "1 = DASHLIGHT ON, 2 = WARNING, 3 = OFF"; +VAL_ 544 AEB_Status 12 "AEB related" 8 "AEB actuation" 4 "AEB related" 0 "No AEB actuation"; + +CM_ "subaru_global_2020_hybrid.dbc starts here"; + +BO_ 39 Cruise_Status_2: 8 XXX + SG_ Cruise_Activated : 37|1@0+ (1,0) [0|1] "" XXX + +BO_ 295 Transmission: 8 XXX + SG_ Gear : 44|4@1+ (1,0) [0|15] "" XXX + +BO_ 360 Throttle_Hybrid: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Throttle_Pedal : 32|8@1+ (1,0) [0|255] "" XXX + +BO_ 550 Brake_Hybrid: 8 XXX + SG_ Brake_Pedal : 24|8@1+ (1,0) [0|1] "" XXX + SG_ Brake : 37|1@1+ (1,0) [0|1] "" XXX + +VAL_ 295 Gear 0 "P" 1 "R" 3 "D"; diff --git a/opendbc_repo/opendbc/dbc/subaru_outback_2015_generated.dbc b/opendbc_repo/opendbc/dbc/subaru_outback_2015_generated.dbc new file mode 100644 index 0000000000..4a6a0d3c03 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/subaru_outback_2015_generated.dbc @@ -0,0 +1,280 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _subaru_preglobal_2015.dbc starts here"; +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX X + + +BO_ 2 Steering: 8 XXX + SG_ Steering_Angle : 7|16@0- (0.1,0) [-500|500] "degree" XXX + SG_ COUNTER : 27|3@0+ (1,0) [0|7] "" XXX + SG_ Checksum : 39|8@0+ (1,0) [0|255] "" XXX + +BO_ 208 G_Sensor: 8 XXX + SG_ Steering_Angle : 0|16@1- (-0.1,0) [-500|500] "" XXX + SG_ Lateral : 16|16@1- (-0.0035,1) [-255|255] "" XXX + SG_ Longitudinal : 48|16@1- (-0.00035,0) [-255|255] "" XXX + +BO_ 209 Brake_Pedal: 8 XXX + SG_ Speed : 0|16@1+ (0.05625,0) [0|255] "KPH" XXX + SG_ Brake_Pedal : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 210 Brake_2: 8 XXX + SG_ Brake_Light : 35|1@1+ (1,0) [0|1] "" XXX + SG_ Brake_Related : 36|1@1+ (1,0) [0|1] "" XXX + SG_ Right_Brake : 48|8@1+ (1,0) [0|255] "" XXX + SG_ Left_Brake : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 211 Brake_Type: 8 XXX + SG_ Brake_Light : 21|1@1+ (1,0) [0|1] "" XXX + SG_ Speed_Counter : 32|8@1+ (1,0) [0|255] "" XXX + SG_ Brake_Cruise_On : 42|1@1+ (1,0) [0|1] "" XXX + SG_ Brake_Pedal_On : 46|1@1+ (1,0) [0|1] "" XXX + SG_ COUNTER : 48|8@1+ (1,0) [0|255] "" XXX + +BO_ 212 Wheel_Speeds: 8 XXX + SG_ FL : 0|16@1+ (0.0592,0) [0|255] "KPH" XXX + SG_ FR : 16|16@1+ (0.0592,0) [0|255] "KPH" XXX + SG_ RL : 32|16@1+ (0.0592,0) [0|255] "KPH" XXX + SG_ RR : 48|16@1+ (0.0592,0) [0|255] "KPH" XXX + +BO_ 320 Throttle: 8 XXX + SG_ Throttle_Pedal : 0|8@1+ (0.392157,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|2@1+ (1,0) [0|7] "" XXX + SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|1] "" XXX + SG_ Signal2 : 15|1@1+ (1,0) [0|1] "" XXX + SG_ Engine_RPM : 16|14@1+ (1,0) [0|32767] "" XXX + SG_ Off_Throttle : 30|1@1+ (1,0) [0|1] "" XXX + SG_ Signal3 : 31|1@1+ (1,0) [0|1] "" XXX + SG_ Throttle_Cruise : 32|8@1+ (1,0) [0|255] "" XXX + SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX + SG_ Throttle_Body : 48|8@1+ (1,0) [0|255] "" XXX + SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|1] "" XXX + SG_ Signal4 : 57|7@1+ (1,0) [0|127] "" XXX + +BO_ 321 Engine: 8 XXX + SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX + SG_ Engine_Stop : 15|1@1+ (1,0) [0|1] "" XXX + SG_ Wheel_Torque : 16|12@1+ (1,0) [0|4095] "" XXX + SG_ Engine_RPM : 32|12@1+ (1,0) [0|8191] "" XXX + +BO_ 324 CruiseControl: 8 XXX + SG_ OnOffButton : 2|1@1+ (1,0) [0|1] "" XXX + SG_ SET_BUTTON : 3|1@1+ (1,0) [0|1] "" XXX + SG_ RES_BUTTON : 4|1@1+ (1,0) [0|1] "" XXX + SG_ Button : 13|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_On : 48|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 49|1@1+ (1,0) [0|1] "" XXX + SG_ Brake_Pedal_On : 51|1@1+ (1,0) [0|1] "" XXX + +BO_ 328 Transmission: 8 XXX + SG_ Manual_Gear : 4|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Transmission_Engine : 16|15@1+ (1,0) [0|65535] "" XXX + SG_ Gear : 48|4@1+ (1,0) [0|15] "" XXX + SG_ Gear_2 : 52|4@1+ (1,0) [0|15] "" XXX + SG_ Paddle_Shift : 60|2@1+ (1,0) [0|3] "" XXX + +BO_ 329 CVT_Ratio: 8 XXX + +BO_ 336 Brake_Pressure: 8 XXX + SG_ Brake_Pressure_Right : 0|8@1+ (1,0) [0|255] "" XXX + SG_ Brake_Pressure_Left : 8|8@1+ (1,0) [0|255] "" XXX + +BO_ 338 Stalk: 8 XXX + SG_ COUNTER : 12|4@1+ (1,0) [0|15] "" XXX + SG_ Brake_Light : 52|1@1+ (1,0) [0|1] "" XXX + SG_ Runlights : 58|1@1+ (1,0) [0|1] "" XXX + SG_ Headlights : 59|1@1+ (1,0) [0|1] "" XXX + SG_ Highbeam : 60|1@1+ (1,0) [0|1] "" XXX + SG_ Wiper : 62|1@1+ (1,0) [0|1] "" XXX + +BO_ 352 ES_Brake: 8 XXX + SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX + SG_ Cruise_Brake_Lights : 20|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Fault : 21|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Brake_Active : 22|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX + SG_ SET_1 : 45|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 48|3@1+ (1,0) [0|7] "" XXX + SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 353 ES_Distance: 8 XXX + SG_ Cruise_Throttle : 0|12@1+ (1,0) [0|4095] "" XXX + SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX + SG_ Car_Follow : 16|1@1+ (1,0) [0|1] "" XXX + SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX + SG_ Cruise_Brake_Active : 20|1@1+ (1,0) [0|1] "" XXX + SG_ Distance_Swap : 21|1@1+ (1,0) [0|1] "" XXX + SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX + SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX + SG_ Close_Distance : 24|8@1+ (0.019607,0) [0|5] "m" XXX + SG_ Signal4 : 32|9@1+ (1,0) [0|255] "" XXX + SG_ Standstill_2 : 41|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Fault : 42|1@1+ (1,0) [0|1] "" XXX + SG_ Signal5 : 43|1@1+ (1,0) [0|1] "" XXX + SG_ COUNTER : 44|3@1+ (1,0) [0|7] "" XXX + SG_ Signal6 : 47|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Button : 48|3@1+ (1,0) [0|7] "" XXX + SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX + SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 354 ES_Status: 8 XXX + SG_ Brake : 8|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 9|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_RPM : 16|16@1+ (1,0) [0|65535] "" XXX + SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 48|3@1+ (1,0) [0|7] "" XXX + +BO_ 356 ES_LKAS: 8 XXX + SG_ COUNTER : 0|3@1+ (1,0) [0|7] "" XXX + SG_ LKAS_Command : 8|13@1- (-1,0) [-4096|4096] "" XXX + SG_ LKAS_Active : 24|1@1+ (1,0) [0|1] "" XXX + SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 359 ES_LDW: 8 XXX + SG_ All_depart_2015 : 0|1@1+ (1,0) [0|1] "" XXX + SG_ Right_Line_2017 : 24|1@1+ (1,0) [0|1] "" XXX + SG_ Left_Line_2017 : 25|1@1+ (1,0) [0|1] "" XXX + SG_ Sig1All_Depart : 28|1@1+ (1,0) [0|1] "" XXX + SG_ Sig2All_Depart : 31|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Inactive_2017 : 36|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Active : 37|1@1+ (1,0) [0|1] "" XXX + SG_ Sig1Right_Depart : 48|1@1+ (1,0) [0|1] "" XXX + SG_ Sig1Right_Depart_Front : 49|1@1+ (1,0) [0|1] "" XXX + SG_ Sig2Right_Depart : 50|1@1+ (1,0) [0|1] "" XXX + SG_ Left_Depart_Front : 51|1@1+ (1,0) [0|1] "" XXX + SG_ Sig3All_Depart : 52|1@1+ (1,0) [0|1] "" XXX + +BO_ 604 BSD_RCTA: 8 XXX + SG_ COUNTER : 0|3@1+ (1,0) [0|7] "" XXX + SG_ State : 5|1@1+ (1,0) [0|1] "" XXX + SG_ R_ADJACENT : 32|1@1+ (1,0) [0|1] "" XXX + SG_ L_ADJACENT : 33|1@1+ (1,0) [0|1] "" XXX + SG_ R_APPROACHING : 42|1@1+ (1,0) [0|1] "" XXX + SG_ L_APPROACHING : 43|1@1+ (1,0) [0|1] "" XXX + SG_ R_RCTA : 46|1@1+ (1,0) [0|1] "" XXX + SG_ L_RCTA : 47|1@1+ (1,0) [0|1] "" XXX + +BO_ 642 Dashlights: 8 XXX + SG_ COUNTER : 12|4@1+ (1,0) [0|15] "" XXX + SG_ SEATBELT_FL : 40|1@1+ (1,0) [0|1] "" XXX + SG_ LEFT_BLINKER : 44|1@1+ (1,0) [0|1] "" XXX + SG_ RIGHT_BLINKER : 45|1@1+ (1,0) [0|1] "" XXX + +BO_ 880 Steering_Torque_2: 8 XXX + SG_ Steering_Voltage_Flat : 0|8@1+ (1,0) [0|255] "" XXX + SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX + SG_ COUNTER : 40|4@1+ (1,0) [0|15] "" XXX + +BO_ 884 BodyInfo: 8 XXX + SG_ DOOR_OPEN_FR : 24|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FL : 25|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RL : 26|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RR : 27|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_Hatch : 28|1@1+ (1,0) [0|1] "" XXX + +BO_ 864 Engine_Temp: 8 XXX + SG_ Oil_Temp : 16|8@1+ (1,-40) [0|255] "" XXX + SG_ Coolant_Temp : 24|8@1+ (1,-40) [0|255] "" XXX + SG_ Cruise_Activated : 45|1@1+ (1,0) [0|1] "" XXX + SG_ Saved_Speed : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 866 Fuel: 8 XXX + +BO_ 977 Dash_State2: 8 XXX + SG_ UNITS : 15|1@1+ (1,0) [0|1] "" XXX + +BO_ 1745 Dash_State: 8 XXX + SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX + +CM_ SG_ 320 Off_Throttle_2 "Less sensitive"; +CM_ SG_ 320 Throttle_Body "Throttle related"; +CM_ SG_ 328 Gear "15 = P, 14 = R, 0 = N, 1-6=gear"; +CM_ SG_ 328 Gear_2 "15 = P, 14 = R, 0 = N, 1-6=gear"; +CM_ SG_ 353 Cruise_Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep"; +CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission"; +CM_ SG_ 359 Sig1Right_Depart "right depart, hill steep and seatbelt disengage"; +CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering"; +CM_ SG_ 359 Sig1Right_Depart_Front "object in front, right depart, hill steep and seatbelt disengage alert "; +CM_ SG_ 359 Left_Depart_Front "warning after acceleration into car in front and left depart"; +CM_ SG_ 359 Sig1All_Depart "Left and right depart"; +CM_ SG_ 359 Sig2All_Depart "Left and right depart"; +CM_ SG_ 359 All_depart_2015 "always 1 on 2017"; +CM_ SG_ 604 R_APPROACHING "Faster car approaching in far right lane"; +CM_ SG_ 604 L_APPROACHING "Faster car approaching in far left lane"; +CM_ SG_ 604 R_RCTA "Rear cross traffic alert, only when in R gear"; +CM_ SG_ 604 L_RCTA "Rear cross traffic alert, only when in R gear"; +CM_ SG_ 642 COUNTER "Affected by signals"; +CM_ SG_ 642 SEATBELT_FL "Driver seatbelt"; +CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371"; +CM_ SG_ 977 UNITS "0 = Metric, 1 = Imperial"; + +VAL_ 328 Gear 0 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 14 "R" 15 "P"; + +CM_ "subaru_outback_2015.dbc starts here"; + +BO_ 358 ES_DashStatus: 8 XXX + SG_ Not_Ready_Startup : 0|3@1+ (1,0) [0|7] "" XXX + SG_ Seatbelt_Disengage : 12|2@1+ (1,0) [0|3] "" XXX + SG_ Disengage_Alert : 14|2@1+ (1,0) [0|3] "" XXX + SG_ Cruise_On : 16|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 17|1@1+ (1,0) [0|1] "" XXX + SG_ Signal1 : 18|1@1+ (1,0) [0|1] "" XXX + SG_ WHEELS_MOVING_2015 : 19|1@1+ (1,0) [0|1] "" XXX + SG_ Driver_Input : 20|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Distance : 21|3@1+ (1,0) [0|7] "" XXX + SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX + SG_ Cruise_Fault : 32|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_On_2 : 34|1@1+ (1,0) [0|1] "" XXX + SG_ COUNTER : 37|3@1+ (1,0) [0|7] "" XXX + SG_ Steep_Hill_Disengage : 44|1@1+ (1,0) [0|3] "" XXX + SG_ Car_Follow : 46|1@1+ (1,0) [0|1] "" XXX + SG_ Far_Distance : 48|4@1+ (5,0) [0|75] "m" XXX + +BO_ 881 Steering_Torque: 8 XXX + SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX + SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX + SG_ Steer_Error_1 : 27|1@1+ (1,0) [0|1] "" XXX + SG_ Steer_Torque_Sensor : 29|11@1- (1,0) [-1000|1000] "" XXX + SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX + +CM_ SG_ 358 Disengage_Alert "seatbelt and steep hill disengage"; +CM_ SG_ 358 Cruise_Fault "No engagement until restart"; +CM_ SG_ 358 Car_Follow "lead car detected"; diff --git a/opendbc_repo/opendbc/dbc/subaru_outback_2019_generated.dbc b/opendbc_repo/opendbc/dbc/subaru_outback_2019_generated.dbc new file mode 100644 index 0000000000..2493ad4d3a --- /dev/null +++ b/opendbc_repo/opendbc/dbc/subaru_outback_2019_generated.dbc @@ -0,0 +1,280 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _subaru_preglobal_2015.dbc starts here"; +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX X + + +BO_ 2 Steering: 8 XXX + SG_ Steering_Angle : 7|16@0- (0.1,0) [-500|500] "degree" XXX + SG_ COUNTER : 27|3@0+ (1,0) [0|7] "" XXX + SG_ Checksum : 39|8@0+ (1,0) [0|255] "" XXX + +BO_ 208 G_Sensor: 8 XXX + SG_ Steering_Angle : 0|16@1- (-0.1,0) [-500|500] "" XXX + SG_ Lateral : 16|16@1- (-0.0035,1) [-255|255] "" XXX + SG_ Longitudinal : 48|16@1- (-0.00035,0) [-255|255] "" XXX + +BO_ 209 Brake_Pedal: 8 XXX + SG_ Speed : 0|16@1+ (0.05625,0) [0|255] "KPH" XXX + SG_ Brake_Pedal : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 210 Brake_2: 8 XXX + SG_ Brake_Light : 35|1@1+ (1,0) [0|1] "" XXX + SG_ Brake_Related : 36|1@1+ (1,0) [0|1] "" XXX + SG_ Right_Brake : 48|8@1+ (1,0) [0|255] "" XXX + SG_ Left_Brake : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 211 Brake_Type: 8 XXX + SG_ Brake_Light : 21|1@1+ (1,0) [0|1] "" XXX + SG_ Speed_Counter : 32|8@1+ (1,0) [0|255] "" XXX + SG_ Brake_Cruise_On : 42|1@1+ (1,0) [0|1] "" XXX + SG_ Brake_Pedal_On : 46|1@1+ (1,0) [0|1] "" XXX + SG_ COUNTER : 48|8@1+ (1,0) [0|255] "" XXX + +BO_ 212 Wheel_Speeds: 8 XXX + SG_ FL : 0|16@1+ (0.0592,0) [0|255] "KPH" XXX + SG_ FR : 16|16@1+ (0.0592,0) [0|255] "KPH" XXX + SG_ RL : 32|16@1+ (0.0592,0) [0|255] "KPH" XXX + SG_ RR : 48|16@1+ (0.0592,0) [0|255] "KPH" XXX + +BO_ 320 Throttle: 8 XXX + SG_ Throttle_Pedal : 0|8@1+ (0.392157,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|2@1+ (1,0) [0|7] "" XXX + SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|1] "" XXX + SG_ Signal2 : 15|1@1+ (1,0) [0|1] "" XXX + SG_ Engine_RPM : 16|14@1+ (1,0) [0|32767] "" XXX + SG_ Off_Throttle : 30|1@1+ (1,0) [0|1] "" XXX + SG_ Signal3 : 31|1@1+ (1,0) [0|1] "" XXX + SG_ Throttle_Cruise : 32|8@1+ (1,0) [0|255] "" XXX + SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX + SG_ Throttle_Body : 48|8@1+ (1,0) [0|255] "" XXX + SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|1] "" XXX + SG_ Signal4 : 57|7@1+ (1,0) [0|127] "" XXX + +BO_ 321 Engine: 8 XXX + SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX + SG_ Engine_Stop : 15|1@1+ (1,0) [0|1] "" XXX + SG_ Wheel_Torque : 16|12@1+ (1,0) [0|4095] "" XXX + SG_ Engine_RPM : 32|12@1+ (1,0) [0|8191] "" XXX + +BO_ 324 CruiseControl: 8 XXX + SG_ OnOffButton : 2|1@1+ (1,0) [0|1] "" XXX + SG_ SET_BUTTON : 3|1@1+ (1,0) [0|1] "" XXX + SG_ RES_BUTTON : 4|1@1+ (1,0) [0|1] "" XXX + SG_ Button : 13|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_On : 48|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 49|1@1+ (1,0) [0|1] "" XXX + SG_ Brake_Pedal_On : 51|1@1+ (1,0) [0|1] "" XXX + +BO_ 328 Transmission: 8 XXX + SG_ Manual_Gear : 4|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Transmission_Engine : 16|15@1+ (1,0) [0|65535] "" XXX + SG_ Gear : 48|4@1+ (1,0) [0|15] "" XXX + SG_ Gear_2 : 52|4@1+ (1,0) [0|15] "" XXX + SG_ Paddle_Shift : 60|2@1+ (1,0) [0|3] "" XXX + +BO_ 329 CVT_Ratio: 8 XXX + +BO_ 336 Brake_Pressure: 8 XXX + SG_ Brake_Pressure_Right : 0|8@1+ (1,0) [0|255] "" XXX + SG_ Brake_Pressure_Left : 8|8@1+ (1,0) [0|255] "" XXX + +BO_ 338 Stalk: 8 XXX + SG_ COUNTER : 12|4@1+ (1,0) [0|15] "" XXX + SG_ Brake_Light : 52|1@1+ (1,0) [0|1] "" XXX + SG_ Runlights : 58|1@1+ (1,0) [0|1] "" XXX + SG_ Headlights : 59|1@1+ (1,0) [0|1] "" XXX + SG_ Highbeam : 60|1@1+ (1,0) [0|1] "" XXX + SG_ Wiper : 62|1@1+ (1,0) [0|1] "" XXX + +BO_ 352 ES_Brake: 8 XXX + SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX + SG_ Cruise_Brake_Lights : 20|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Fault : 21|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Brake_Active : 22|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX + SG_ SET_1 : 45|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 48|3@1+ (1,0) [0|7] "" XXX + SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 353 ES_Distance: 8 XXX + SG_ Cruise_Throttle : 0|12@1+ (1,0) [0|4095] "" XXX + SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX + SG_ Car_Follow : 16|1@1+ (1,0) [0|1] "" XXX + SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX + SG_ Cruise_Brake_Active : 20|1@1+ (1,0) [0|1] "" XXX + SG_ Distance_Swap : 21|1@1+ (1,0) [0|1] "" XXX + SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX + SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX + SG_ Close_Distance : 24|8@1+ (0.019607,0) [0|5] "m" XXX + SG_ Signal4 : 32|9@1+ (1,0) [0|255] "" XXX + SG_ Standstill_2 : 41|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Fault : 42|1@1+ (1,0) [0|1] "" XXX + SG_ Signal5 : 43|1@1+ (1,0) [0|1] "" XXX + SG_ COUNTER : 44|3@1+ (1,0) [0|7] "" XXX + SG_ Signal6 : 47|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Button : 48|3@1+ (1,0) [0|7] "" XXX + SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX + SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 354 ES_Status: 8 XXX + SG_ Brake : 8|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 9|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_RPM : 16|16@1+ (1,0) [0|65535] "" XXX + SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 48|3@1+ (1,0) [0|7] "" XXX + +BO_ 356 ES_LKAS: 8 XXX + SG_ COUNTER : 0|3@1+ (1,0) [0|7] "" XXX + SG_ LKAS_Command : 8|13@1- (-1,0) [-4096|4096] "" XXX + SG_ LKAS_Active : 24|1@1+ (1,0) [0|1] "" XXX + SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 359 ES_LDW: 8 XXX + SG_ All_depart_2015 : 0|1@1+ (1,0) [0|1] "" XXX + SG_ Right_Line_2017 : 24|1@1+ (1,0) [0|1] "" XXX + SG_ Left_Line_2017 : 25|1@1+ (1,0) [0|1] "" XXX + SG_ Sig1All_Depart : 28|1@1+ (1,0) [0|1] "" XXX + SG_ Sig2All_Depart : 31|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Inactive_2017 : 36|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Active : 37|1@1+ (1,0) [0|1] "" XXX + SG_ Sig1Right_Depart : 48|1@1+ (1,0) [0|1] "" XXX + SG_ Sig1Right_Depart_Front : 49|1@1+ (1,0) [0|1] "" XXX + SG_ Sig2Right_Depart : 50|1@1+ (1,0) [0|1] "" XXX + SG_ Left_Depart_Front : 51|1@1+ (1,0) [0|1] "" XXX + SG_ Sig3All_Depart : 52|1@1+ (1,0) [0|1] "" XXX + +BO_ 604 BSD_RCTA: 8 XXX + SG_ COUNTER : 0|3@1+ (1,0) [0|7] "" XXX + SG_ State : 5|1@1+ (1,0) [0|1] "" XXX + SG_ R_ADJACENT : 32|1@1+ (1,0) [0|1] "" XXX + SG_ L_ADJACENT : 33|1@1+ (1,0) [0|1] "" XXX + SG_ R_APPROACHING : 42|1@1+ (1,0) [0|1] "" XXX + SG_ L_APPROACHING : 43|1@1+ (1,0) [0|1] "" XXX + SG_ R_RCTA : 46|1@1+ (1,0) [0|1] "" XXX + SG_ L_RCTA : 47|1@1+ (1,0) [0|1] "" XXX + +BO_ 642 Dashlights: 8 XXX + SG_ COUNTER : 12|4@1+ (1,0) [0|15] "" XXX + SG_ SEATBELT_FL : 40|1@1+ (1,0) [0|1] "" XXX + SG_ LEFT_BLINKER : 44|1@1+ (1,0) [0|1] "" XXX + SG_ RIGHT_BLINKER : 45|1@1+ (1,0) [0|1] "" XXX + +BO_ 880 Steering_Torque_2: 8 XXX + SG_ Steering_Voltage_Flat : 0|8@1+ (1,0) [0|255] "" XXX + SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX + SG_ COUNTER : 40|4@1+ (1,0) [0|15] "" XXX + +BO_ 884 BodyInfo: 8 XXX + SG_ DOOR_OPEN_FR : 24|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FL : 25|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RL : 26|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RR : 27|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_Hatch : 28|1@1+ (1,0) [0|1] "" XXX + +BO_ 864 Engine_Temp: 8 XXX + SG_ Oil_Temp : 16|8@1+ (1,-40) [0|255] "" XXX + SG_ Coolant_Temp : 24|8@1+ (1,-40) [0|255] "" XXX + SG_ Cruise_Activated : 45|1@1+ (1,0) [0|1] "" XXX + SG_ Saved_Speed : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 866 Fuel: 8 XXX + +BO_ 977 Dash_State2: 8 XXX + SG_ UNITS : 15|1@1+ (1,0) [0|1] "" XXX + +BO_ 1745 Dash_State: 8 XXX + SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX + +CM_ SG_ 320 Off_Throttle_2 "Less sensitive"; +CM_ SG_ 320 Throttle_Body "Throttle related"; +CM_ SG_ 328 Gear "15 = P, 14 = R, 0 = N, 1-6=gear"; +CM_ SG_ 328 Gear_2 "15 = P, 14 = R, 0 = N, 1-6=gear"; +CM_ SG_ 353 Cruise_Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep"; +CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission"; +CM_ SG_ 359 Sig1Right_Depart "right depart, hill steep and seatbelt disengage"; +CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering"; +CM_ SG_ 359 Sig1Right_Depart_Front "object in front, right depart, hill steep and seatbelt disengage alert "; +CM_ SG_ 359 Left_Depart_Front "warning after acceleration into car in front and left depart"; +CM_ SG_ 359 Sig1All_Depart "Left and right depart"; +CM_ SG_ 359 Sig2All_Depart "Left and right depart"; +CM_ SG_ 359 All_depart_2015 "always 1 on 2017"; +CM_ SG_ 604 R_APPROACHING "Faster car approaching in far right lane"; +CM_ SG_ 604 L_APPROACHING "Faster car approaching in far left lane"; +CM_ SG_ 604 R_RCTA "Rear cross traffic alert, only when in R gear"; +CM_ SG_ 604 L_RCTA "Rear cross traffic alert, only when in R gear"; +CM_ SG_ 642 COUNTER "Affected by signals"; +CM_ SG_ 642 SEATBELT_FL "Driver seatbelt"; +CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371"; +CM_ SG_ 977 UNITS "0 = Metric, 1 = Imperial"; + +VAL_ 328 Gear 0 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 14 "R" 15 "P"; + +CM_ "subaru_outback_2019.dbc starts here"; + +BO_ 358 ES_DashStatus: 8 XXX + SG_ Not_Ready_Startup : 0|3@1+ (1,0) [0|7] "" XXX + SG_ Seatbelt_Disengage : 12|2@1+ (1,0) [0|3] "" XXX + SG_ Disengage_Alert : 14|2@1+ (1,0) [0|3] "" XXX + SG_ Cruise_On : 16|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 17|1@1+ (1,0) [0|1] "" XXX + SG_ Signal1 : 18|1@1+ (1,0) [0|1] "" XXX + SG_ WHEELS_MOVING_2015 : 19|1@1+ (1,0) [0|1] "" XXX + SG_ Driver_Input : 20|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Distance : 21|3@1+ (1,0) [0|7] "" XXX + SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX + SG_ Cruise_Fault : 32|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_On_2 : 34|1@1+ (1,0) [0|1] "" XXX + SG_ COUNTER : 37|3@1+ (1,0) [0|7] "" XXX + SG_ Steep_Hill_Disengage : 44|1@1+ (1,0) [0|3] "" XXX + SG_ Car_Follow : 46|1@1+ (1,0) [0|1] "" XXX + SG_ Far_Distance : 48|4@1+ (5,0) [0|75] "m" XXX + +BO_ 881 Steering_Torque: 8 XXX + SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX + SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX + SG_ Steer_Error_1 : 27|1@1+ (1,0) [0|1] "" XXX + SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX + SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX + +CM_ SG_ 358 Disengage_Alert "seatbelt and steep hill disengage"; +CM_ SG_ 358 Cruise_Fault "No engagement until restart"; +CM_ SG_ 358 Car_Follow "lead car detected"; diff --git a/opendbc_repo/opendbc/dbc/tesla_can.dbc b/opendbc_repo/opendbc/dbc/tesla_can.dbc new file mode 100644 index 0000000000..56624c3e54 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/tesla_can.dbc @@ -0,0 +1,901 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: + NEO + MCU + GTW + EPAS + DI + ESP + SBW + STW + APP + DAS + XXX + +VAL_TABLE_ StW_AnglHP_Spd 16383 "SNA" ; +VAL_TABLE_ DI_aebFaultReason 15 "DI_AEB_FAULT_DAS_REQ_DI_UNAVAIL" 14 "DI_AEB_FAULT_ACCEL_REQ_INVALID" 13 "DI_AEB_FAULT_MIN_TIME_BTWN_EVENTS" 12 "DI_AEB_FAULT_ESP_MIA" 11 "DI_AEB_FAULT_ESP_FAULT" 10 "DI_AEB_FAULT_EPB_NOT_PARKED" 9 "DI_AEB_FAULT_ACCEL_OUT_OF_BOUNDS" 8 "DI_AEB_FAULT_PM_REQUEST" 7 "DI_AEB_FAULT_VEL_EST_ABNORMAL" 6 "DI_AEB_FAULT_DAS_SNA" 5 "DI_AEB_FAULT_DAS_CONTROL_MIA" 4 "DI_AEB_FAULT_SPEED_DELTA" 3 "DI_AEB_FAULT_EBR_FAULT" 2 "DI_AEB_FAULT_PM_MIA" 1 "DI_AEB_FAULT_EPB_MIA" 0 "DI_AEB_FAULT_NONE" ; +VAL_TABLE_ DI_aebLockState 3 "AEB_LOCK_STATE_SNA" 2 "AEB_LOCK_STATE_UNUSED" 1 "AEB_LOCK_STATE_UNLOCKED" 0 "AEB_LOCK_STATE_LOCKED" ; +VAL_TABLE_ DI_aebSmState 7 "DI_AEB_STATE_FAULT" 6 "DI_AEB_STATE_EXIT" 5 "DI_AEB_STATE_STANDSTILL" 4 "DI_AEB_STATE_STOPPING" 3 "DI_AEB_STATE_ENABLE" 2 "DI_AEB_STATE_ENABLE_INIT" 1 "DI_AEB_STATE_STANDBY" 0 "DI_AEB_STATE_UNAVAILABLE" ; +VAL_TABLE_ DI_aebState 7 "AEB_CAN_STATE_SNA" 4 "AEB_CAN_STATE_FAULT" 3 "AEB_CAN_STATE_STANDSTILL" 2 "AEB_CAN_STATE_ENABLED" 1 "AEB_CAN_STATE_STANDBY" 0 "AEB_CAN_STATE_UNAVAILABLE" ; +VAL_TABLE_ DI_epbInterfaceReady 1 "EPB_INTERFACE_READY" 0 "EPB_INTERFACE_NOT_READY" ; +VAL_TABLE_ DI_gear 7 "DI_GEAR_SNA" 4 "DI_GEAR_D" 3 "DI_GEAR_N" 2 "DI_GEAR_R" 1 "DI_GEAR_P" 0 "DI_GEAR_INVALID" ; +VAL_TABLE_ DI_gpoReason 8 "DI_GPO_NUMREASONS" 7 "DI_GPO_CAPACITOR_OVERTEMP" 6 "DI_GPO_NOT_ENOUGH_12V" 5 "DI_GPO_NO_BATTERY_POWER" 4 "DI_GPO_AMBIENT_OVERTEMP" 3 "DI_GPO_FLUID_DELTAT" 2 "DI_GPO_STATOR_OVERTEMP" 1 "DI_GPO_HEATSINK_OVERTEMP" 0 "DI_GPO_OUTLET_OVERTEMP" ; +VAL_TABLE_ DI_immobilizerCondition 1 "DI_IMM_CONDITION_LEARNED" 0 "DI_IMM_CONDITION_VIRGIN_SNA" ; +VAL_TABLE_ DI_immobilizerState 7 "DI_IMM_STATE_FAULT" 6 "DI_IMM_STATE_FAULTRETRY" 5 "DI_IMM_STATE_RESET" 4 "DI_IMM_STATE_LEARN" 3 "DI_IMM_STATE_DISARMED" 2 "DI_IMM_STATE_AUTHENTICATING" 1 "DI_IMM_STATE_REQUEST" 0 "DI_IMM_STATE_INIT_SNA" ; +VAL_TABLE_ DI_limpReason 24 "DI_LIMP_NUMREASONS" 23 "DI_LIMP_CAPACITOR_OVERTEMP" 22 "DI_LIMP_GTW_MIA" 21 "DI_LIMP_TRQCMD_VALIDITY_UNKNOWN" 20 "DI_LIMP_DI_MIA" 19 "DI_LIMP_CONFIG_MISMATCH" 18 "DI_LIMP_HEATSINK_TEMP" 17 "DI_LIMP_PMREQUEST" 16 "DI_LIMP_PMHEARTBEAT" 15 "DI_LIMP_TRQ_CROSS_CHECK" 14 "DI_LIMP_EXTERNAL_COMMAND" 13 "DI_LIMP_WRONG_CS_CALIBRATION" 12 "DI_LIMP_STATOR_TEMP" 11 "DI_LIMP_DELTAT_TOO_NEGATIVE" 10 "DI_LIMP_DELTAT_TOO_POSITIVE" 9 "DI_LIMP_AMBIENT_TEMP" 8 "DI_LIMP_OUTLET_TEMP" 7 "DI_LIMP_LOW_FLOW" 6 "DI_LIMP_BMS_MIA" 5 "DI_LIMP_12V_SUPPLY_UNDERVOLTAGE" 4 "DI_LIMP_NO_FLUID" 3 "DI_LIMP_NO_FUNC_HEATSINK_SENSOR" 2 "DI_LIMP_NO_FUNC_STATORT_SENSOR" 1 "DI_LIMP_BUSV_SENSOR_IRRATIONAL" 0 "DI_LIMP_PHASE_IMBALANCE" ; +VAL_TABLE_ DI_mode 2 "DI_MODE_DYNO" 1 "DI_MODE_DRIVE" 0 "DI_MODE_UNDEF" ; +VAL_TABLE_ DI_motorType 14 "DI_MOTOR_F2AE" 13 "DI_MOTOR_F2AD" 12 "DI_MOTOR_F2AC" 11 "DI_MOTOR_F2AB" 10 "DI_MOTOR_F1AC" 9 "DI_MOTOR_SSR1A" 8 "DI_MOTOR_F1A" 7 "DI_MOTOR_M7M6" 6 "DI_MOTOR_M8A" 5 "DI_MOTOR_M7M5" 4 "DI_MOTOR_M7M4" 3 "DI_MOTOR_M7M3" 2 "DI_MOTOR_ROADSTER_SPORT" 1 "DI_MOTOR_ROADSTER_BASE" 0 "DI_MOTOR_SNA" ; +VAL_TABLE_ DI_speedUnits 1 "DI_SPEED_KPH" 0 "DI_SPEED_MPH" ; +VAL_TABLE_ DI_state 4 "DI_STATE_ENABLE" 3 "DI_STATE_FAULT" 2 "DI_STATE_CLEAR_FAULT" 1 "DI_STATE_STANDBY" 0 "DI_STATE_PREAUTH" ; +VAL_TABLE_ DI_velocityEstimatorState 4 "VE_STATE_BACKUP_MOTOR" 3 "VE_STATE_BACKUP_WHEELS_B" 2 "VE_STATE_BACKUP_WHEELS_A" 1 "VE_STATE_WHEELS_NORMAL" 0 "VE_STATE_NOT_INITIALIZED" ; + + +BO_ 1160 DAS_steeringControl: 4 NEO + SG_ DAS_steeringControlType : 23|2@0+ (1,0) [0|0] "" EPAS + SG_ DAS_steeringControlChecksum : 31|8@0+ (1,0) [0|0] "" EPAS + SG_ DAS_steeringControlCounter : 19|4@0+ (1,0) [0|0] "" EPAS + SG_ DAS_steeringAngleRequest : 6|15@0+ (0.1,-1638.35) [-1638.35|1638.35] "deg" EPAS + SG_ DAS_steeringHapticRequest : 7|1@0+ (1,0) [0|0] "" EPAS + +BO_ 697 DAS_control: 8 NEO + SG_ DAS_setSpeed : 0|12@1+ (0.1,0) [0|409.4] "kph" NEO + SG_ DAS_accState : 12|4@1+ (1,0) [0|0] "" NEO + SG_ DAS_aebEvent : 16|2@1+ (1,0) [0|3] "" NEO + SG_ DAS_jerkMin : 18|9@1+ (0.03,-15.232) [-15.232|0.098] "m/s^3" NEO + SG_ DAS_jerkMax : 27|8@1+ (0.059,0) [0|15.045] "m/s^3" NEO + SG_ DAS_accelMin : 35|9@1+ (0.04,-15) [-15|5.44] "m/s^2" NEO + SG_ DAS_accelMax : 44|9@1+ (0.04,-15) [-15|5.44] "m/s^2" NEO + SG_ DAS_controlCounter : 53|3@1+ (1,0) [0|0] "" NEO + SG_ DAS_controlChecksum : 56|8@1+ (1,0) [0|0] "" NEO + +BO_ 521 DAS_longControl: 8 NEO + SG_ DAS_locMode : 0|2@1+ (1,0) [0|0] "" NEO + SG_ DAS_locState : 2|3@1+ (1,0) [0|0] "" NEO + SG_ DAS_locRequest : 5|3@1+ (1,0) [0|0] "" NEO + SG_ DAS_locJerkMin : 8|8@1+ (0.034,-8.67) [-8.67|0] "m/s^3" NEO + SG_ DAS_locJerkMax : 16|8@1+ (0.034,0) [0|8.67] "m/s^3" NEO + SG_ DAS_locSpeed : 24|11@1+ (0.1,0) [0|204.7] "kph" NEO + SG_ DAS_locAccelMin : 35|9@1+ (0.04,-15) [-15|5.44] "m/s^2" NEO + SG_ DAS_locAccelMax : 44|9@1+ (0.04,-15) [-15|5.44] "m/s^2" NEO + SG_ DAS_longControlCounter : 53|3@1+ (1,0) [0|0] "" NEO + SG_ DAS_longControlChecksum : 56|8@1+ (1,0) [0|0] "" NEO + +BO_ 569 DAS_lanes: 8 NEO + SG_ DAS_leftLaneExists : 0|1@1+ (1,0) [0|0] "" NEO + SG_ DAS_rightLaneExists : 1|1@1+ (1,0) [0|0] "" NEO + SG_ DAS_virtualLaneWidth : 4|4@1+ (0.3125,2) [2|7] "m" NEO + SG_ DAS_virtualLaneViewRange : 8|8@1+ (1,0) [0|160] "m" NEO + SG_ DAS_virtualLaneC0 : 16|8@1+ (0.035,-3.5) [-3.5|3.5] "m" NEO + SG_ DAS_virtualLaneC1 : 24|8@1+ (0.0016,-0.2) [-0.2|0.2] "rad" NEO + SG_ DAS_virtualLaneC2 : 32|8@1+ (2E-05,-0.0025) [-0.0025|0.0025] "m-1" NEO + SG_ DAS_virtualLaneC3 : 40|8@1+ (2.4E-07,-3E-05) [-3E-05|3E-05] "m-2" NEO + SG_ DAS_leftLineUsage : 48|2@1+ (1,0) [0|3] "" NEO + SG_ DAS_rightLineUsage : 50|2@1+ (1,0) [0|3] "" NEO + SG_ DAS_leftFork : 52|2@1+ (1,0) [0|3] "" NEO + SG_ DAS_rightFork : 54|2@1+ (1,0) [0|3] "" NEO + SG_ DAS_lanesCounter : 60|4@1+ (1,0) [0|0] "" NEO + +BO_ 257 GTW_epasControl: 3 NEO + SG_ GTW_epasControlChecksum : 23|8@0+ (1,0) [0|255] "" NEO + SG_ GTW_epasControlCounter : 11|4@0+ (1,0) [0|15] "" NEO + SG_ GTW_epasControlType : 15|2@0+ (1,0) [-1|4] "" NEO + SG_ GTW_epasEmergencyOn : 7|1@0+ (1,0) [-1|2] "" NEO + SG_ GTW_epasLDWEnabled : 12|1@0+ (1,0) [-1|2] "" NEO + SG_ GTW_epasPowerMode : 6|4@0+ (1,0) [4|14] "" NEO + SG_ GTW_epasTuneRequest : 2|3@0+ (1,0) [-1|8] "" NEO + +BO_ 880 EPAS_sysStatus: 8 EPAS + SG_ EPAS_currentTuneMode : 7|4@0+ (1,0) [8|15] "" NEO + SG_ EPAS_eacErrorCode : 23|4@0+ (1,0) [-1|16] "" NEO + SG_ EPAS_eacStatus : 55|3@0+ (1,0) [5|7] "" NEO + SG_ EPAS_handsOnLevel : 39|2@0+ (1,0) [-1|4] "" NEO + SG_ EPAS_internalSAS : 37|14@0+ (0.1,-819.200012) [0|0] "deg" NEO + SG_ EPAS_steeringFault : 2|1@0+ (1,0) [-1|2] "" NEO + SG_ EPAS_steeringRackForce : 1|10@0+ (50,-25575) [0|0] "N" NEO + SG_ EPAS_steeringReduced : 3|1@0+ (1,0) [-1|2] "" NEO + SG_ EPAS_sysStatusChecksum : 63|8@0+ (1,0) [0|255] "" NEO + SG_ EPAS_sysStatusCounter : 51|4@0+ (1,0) [0|15] "" NEO + SG_ EPAS_torsionBarTorque : 19|12@0+ (0.01,-20.5) [0|0] "Nm" NEO + +BO_ 305 EPAS3P_sysStatus: 8 NEO + SG_ EPAS_currentTuneMode : 7|4@0+ (1,0) [0|0] "" NEO + SG_ EPAS_eacErrorCode : 23|4@0+ (1,0) [0|15] "" NEO + SG_ EPAS_eacStatus : 55|3@0+ (1,0) [0|7] "" NEO + SG_ EPAS_handsOnLevel : 39|2@0+ (1,0) [0|3] "" NEO + SG_ EPAS_internalSAS : 37|14@0+ (0.1,-819.2) [-819.2|819] "deg" NEO + SG_ EPAS_steeringFault : 2|1@0+ (1,0) [0|1] "" NEO + SG_ EPAS_steeringRackForce : 1|10@0+ (50,-25575) [-25575|25575] "N" NEO + SG_ EPAS_steeringReduced : 3|1@0+ (1,0) [0|1] "" NEO + SG_ EPAS_sysStatusChecksum : 63|8@0+ (1,0) [0|255] "" NEO + SG_ EPAS_sysStatusCounter : 51|4@0+ (1,0) [0|15] "" NEO + SG_ EPAS_torsionBarTorque : 19|12@0+ (0.01,-20.5) [-20.5|20.45] "Nm" NEO + +BO_ 3 STW_ANGL_STAT: 8 STW + SG_ StW_Angl : 5|14@0+ (0.5,-2048) [0|0] "deg" NEO + SG_ StW_AnglSpd : 21|14@0+ (0.5,-2048) [0|0] "/s" NEO + SG_ StW_AnglSens_Stat : 33|2@0+ (1,0) [-1|4] "" NEO + SG_ StW_AnglSens_Id : 35|2@0+ (1,0) [3|3] "" NEO + SG_ MC_STW_ANGL_STAT : 55|4@0+ (1,0) [0|15] "" NEO + SG_ CRC_STW_ANGL_STAT : 63|8@0+ (1,0) [0|255] "" NEO + +BO_ 14 STW_ANGLHP_STAT: 8 STW + SG_ StW_AnglHP : 5|14@0+ (0.1,-819.2) [-819.2|819] "deg" NEO + SG_ StW_AnglHP_Spd : 21|14@0+ (0.5,-4096) [-4096|4095.5] "deg/s" NEO + SG_ StW_AnglHP_Sens_Stat : 33|2@0+ (1,0) [0|0] "" NEO + SG_ StW_AnglHP_Sens_Id : 35|2@0+ (1,0) [0|0] "" NEO + SG_ MC_STW_ANGLHP_STAT : 55|4@0+ (1,0) [0|15] "" NEO + SG_ CRC_STW_ANGLHP_STAT : 63|8@0+ (1,0) [0|0] "" NEO + +BO_ 264 DI_torque1: 8 DI + SG_ DI_torqueDriver : 0|13@1- (0.25,0) [-750|750] "Nm" NEO + SG_ DI_torque1Counter : 13|3@1+ (1,0) [0|0] "" NEO + SG_ DI_torqueMotor : 16|13@1- (0.25,0) [-750|750] "Nm" NEO + SG_ DI_soptState : 29|3@1+ (1,0) [0|0] "" NEO + SG_ DI_motorRPM : 32|16@1- (1,0) [-17000|17000] "RPM" NEO + SG_ DI_pedalPos : 48|8@1+ (0.4,0) [0|100] "%" NEO + SG_ DI_torque1Checksum : 56|8@1+ (1,0) [0|0] "" NEO + +BO_ 280 DI_torque2: 6 DI + SG_ DI_torqueEstimate : 0|12@1- (0.5,0) [-750|750] "Nm" NEO + SG_ DI_gear : 12|3@1+ (1,0) [0|0] "" NEO + SG_ DI_brakePedal : 15|1@1+ (1,0) [0|0] "" NEO + SG_ DI_vehicleSpeed : 16|12@1+ (0.05,-25) [-25|179.75] "MPH" NEO + SG_ DI_gearRequest : 28|3@1+ (1,0) [0|0] "" NEO + SG_ DI_torqueInterfaceFailure : 31|1@1+ (1,0) [0|0] "" NEO + SG_ DI_torque2Counter : 32|4@1+ (1,0) [0|0] "" NEO + SG_ DI_brakePedalState : 36|2@1+ (1,0) [0|0] "" NEO + SG_ DI_epbParkRequest : 38|1@1+ (1,0) [0|0] "" NEO + SG_ DI_epbInterfaceReady : 39|1@1+ (1,0) [0|0] "" NEO + SG_ DI_torque2Checksum : 40|8@1+ (1,0) [0|0] "" NEO + +BO_ 309 ESP_135h: 5 ESP + SG_ ESP_135hChecksum : 23|8@0+ (1,0) [0|255] "" NEO + SG_ ESP_135hCounter : 11|4@0+ (1,0) [0|15] "" NEO + SG_ ESP_absBrakeEvent : 2|1@0+ (1,0) [-1|2] "" NEO + SG_ ESP_brakeDiscWipingActive : 4|1@0+ (1,0) [-1|2] "" NEO + SG_ ESP_brakeLamp : 3|1@0+ (1,0) [-1|2] "" NEO + SG_ ESP_espFaultLamp : 6|1@0+ (1,0) [-1|2] "" NEO + SG_ ESP_espLampFlash : 7|1@0+ (1,0) [-1|2] "" NEO + SG_ ESP_hillStartAssistActive : 1|2@0+ (1,0) [-1|4] "" NEO + SG_ ESP_messagePumpService : 24|1@0+ (1,0) [0|1] "" NEO + SG_ ESP_messagePumpFailure : 25|1@0+ (1,0) [0|1] "" NEO + SG_ ESP_messageEBDFailure : 26|1@0+ (1,0) [0|1] "" NEO + SG_ ESP_absFaultLamp : 27|1@0+ (1,0) [-1|2] "" NEO + SG_ ESP_tcDisabledByFault : 28|1@0+ (1,0) [0|1] "" NEO + SG_ ESP_messageDynoModeActive : 29|1@0+ (1,0) [0|1] "" NEO + SG_ ESP_hydraulicBoostEnabled : 30|1@0+ (1,0) [0|1] "" NEO + SG_ ESP_espOffLamp : 31|1@0+ (1,0) [-1|2] "" NEO + SG_ ESP_stabilityControlSts : 14|3@0+ (1,0) [6|7] "" NEO + SG_ ESP_tcLampFlash : 5|1@0+ (1,0) [-1|2] "" NEO + SG_ ESP_tcOffLamp : 15|1@0+ (1,0) [0|1] "" NEO + +BO_ 341 ESP_B: 8 ESP + SG_ ESP_BChecksum : 39|8@0+ (1,0) [0|255] "" NEO,EPAS + SG_ ESP_BCounter : 62|4@0+ (1,0) [1|15] "" NEO,EPAS + SG_ ESP_vehicleSpeed : 47|16@0+ (0.00999999978,0) [0|0] "kph" NEO,EPAS + SG_ ESP_vehicleSpeedQF : 57|2@0+ (1,0) [1|2] "" NEO,EPAS + SG_ ESP_wheelPulseCountFrL : 7|8@0+ (1,0) [0|254] "" NEO,EPAS + SG_ ESP_wheelPulseCountFrR : 15|8@0+ (1,0) [0|254] "" NEO,EPAS + SG_ ESP_wheelPulseCountReL : 23|8@0+ (1,0) [0|254] "" NEO,EPAS + SG_ ESP_wheelPulseCountReR : 31|8@0+ (1,0) [0|254] "" NEO,EPAS + +BO_ 513 SDM1: 5 GTW + SG_ SDM_bcklPassStatus : 3|2@0+ (1,0) [0|3] "" NEO + SG_ SDM_bcklDrivStatus : 5|2@0+ (1,0) [0|3] "" NEO + +BO_ 532 EPB_epasControl: 3 EPB + SG_ EPB_epasControlChecksum : 23|8@0+ (1,0) [0|255] "" NEO,EPAS + SG_ EPB_epasControlCounter : 11|4@0+ (1,0) [0|15] "" NEO,EPAS + SG_ EPB_epasEACAllow : 2|3@0+ (1,0) [4|7] "" NEO,EPAS + +BO_ 792 GTW_carState: 8 GTW + SG_ YEAR : 0|7@1+ (1,2000) [2000|2127] "Year" NEO + SG_ CERRD : 7|1@1+ (1,0) [0|1] "" NEO + SG_ MONTH : 8|4@1+ (1,0) [1|12] "Month" NEO + SG_ DOOR_STATE_FL : 12|2@1+ (1,0) [0|3] "" NEO + SG_ DOOR_STATE_FR : 14|2@1+ (1,0) [0|3] "" NEO + SG_ SECOND : 16|6@1+ (1,0) [0|59] "s" NEO + SG_ DOOR_STATE_RL : 22|2@1+ (1,0) [0|3] "" NEO + SG_ Hour : 24|5@1+ (1,0) [0|23] "h" NEO + SG_ DOOR_STATE_RR : 29|2@1+ (1,0) [0|3] "" NEO + SG_ DAY : 32|5@1+ (1,0) [0|31] "" NEO + SG_ MINUTE : 40|6@1+ (1,0) [0|59] "min" NEO + SG_ BOOT_STATE : 46|2@1+ (1,0) [0|3] "" NEO + SG_ GTW_updateInProgress : 48|2@1+ (1,0) [0|3] "" NEO + SG_ DOOR_STATE_FrontTrunk : 50|2@1+ (1,0) [0|3] "" NEO + SG_ MCU_factoryMode : 52|1@1+ (1,0) [0|1] "" NEO + SG_ MCU_transportModeOn : 53|1@0+ (1,0) [0|1] "" NEO + SG_ BC_headLightLStatus : 55|2@0+ (1,0) [0|3] "" NEO + SG_ BC_headLightRStatus : 57|2@0+ (1,0) [0|3] "" NEO + SG_ BC_indicatorLStatus : 59|2@0+ (1,0) [0|3] "" NEO + SG_ BC_indicatorRStatus : 61|2@0+ (1,0) [0|3] "" NEO + +BO_ 872 DI_state: 8 DI + SG_ DI_systemState : 0|3@1+ (1,0) [0|0] "" NEO + SG_ DI_vehicleHoldState : 3|3@1+ (1,0) [0|0] "" NEO + SG_ DI_proximity : 6|1@1+ (1,0) [0|0] "" NEO + SG_ DI_driveReady : 7|1@1+ (1,0) [0|0] "" NEO + SG_ DI_regenLight : 8|1@1+ (1,0) [0|0] "" NEO + SG_ DI_state : 9|3@1+ (1,0) [0|0] "" NEO + SG_ DI_cruiseState : 12|4@1+ (1,0) [0|0] "" NEO + SG_ DI_analogSpeed : 16|12@1+ (0.1,0) [0|150] "speed" NEO + SG_ DI_immobilizerState : 28|3@1+ (1,0) [0|0] "" NEO + SG_ DI_speedUnits : 31|1@1+ (1,0) [0|1] "" NEO + SG_ DI_cruiseSet : 32|9@1+ (0.5,0) [0|255.5] "speed" NEO + SG_ DI_aebState : 41|3@1+ (1,0) [0|0] "" NEO + SG_ DI_stateCounter : 44|4@1+ (1,0) [0|0] "" NEO + SG_ DI_digitalSpeed : 48|8@1+ (1,0) [0|250] "" NEO + SG_ DI_stateChecksum : 56|8@1+ (1,0) [0|0] "" NEO + +BO_ 109 SBW_RQ_SCCM: 4 STW + SG_ StW_Sw_Stat3 : 0|3@1+ (1,0) [0|0] "" NEO + SG_ MsgTxmtId : 6|2@1+ (1,0) [0|0] "" NEO + SG_ TSL_RND_Posn_StW : 8|4@1+ (1,0) [0|0] "" NEO + SG_ TSL_P_Psd_StW : 12|2@1+ (1,0) [0|0] "" NEO + SG_ MC_SBW_RQ_SCCM : 20|4@1+ (1,0) [0|15] "" NEO + SG_ CRC_SBW_RQ_SCCM : 24|8@1+ (1,0) [0|0] "" NEO + +BO_ 69 STW_ACTN_RQ: 8 STW + SG_ SpdCtrlLvr_Stat : 0|6@1+ (1,0) [0|0] "" NEO + SG_ VSL_Enbl_Rq : 6|1@1+ (1,0) [0|0] "" NEO + SG_ SpdCtrlLvrStat_Inv : 7|1@1+ (1,0) [0|0] "" NEO + SG_ DTR_Dist_Rq : 8|8@1+ (1,0) [0|200] "" NEO + SG_ TurnIndLvr_Stat : 16|2@1+ (1,0) [0|0] "" NEO + SG_ HiBmLvr_Stat : 18|2@1+ (1,0) [0|0] "" NEO + SG_ WprWashSw_Psd : 20|2@1+ (1,0) [0|0] "" NEO + SG_ WprWash_R_Sw_Posn_V2 : 22|2@1+ (1,0) [0|0] "" NEO + SG_ StW_Lvr_Stat : 24|3@1+ (1,0) [0|0] "" NEO + SG_ StW_Cond_Flt : 27|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Cond_Psd : 28|2@1+ (1,0) [0|0] "" NEO + SG_ HrnSw_Psd : 30|2@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw00_Psd : 32|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw01_Psd : 33|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw02_Psd : 34|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw03_Psd : 35|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw04_Psd : 36|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw05_Psd : 37|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw06_Psd : 38|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw07_Psd : 39|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw08_Psd : 40|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw09_Psd : 41|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw10_Psd : 42|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw11_Psd : 43|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw12_Psd : 44|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw13_Psd : 45|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw14_Psd : 46|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw15_Psd : 47|1@1+ (1,0) [0|0] "" NEO + SG_ WprSw6Posn : 48|3@1+ (1,0) [0|0] "" NEO + SG_ MC_STW_ACTN_RQ : 52|4@1+ (1,0) [0|15] "" NEO + SG_ CRC_STW_ACTN_RQ : 56|8@1+ (1,0) [0|0] "" NEO + +BO_ 643 BODY_R1: 8 GTW + SG_ AirTemp_Insd : 47|8@0+ (0.25,0) [0|63.5] "C" NEO + SG_ AirTemp_Outsd : 63|8@0+ (0.5,-40) [-40|86.5] "C" NEO + SG_ Bckl_Sw_RL_Stat_SAM_R : 49|2@0+ (1,0) [-1|4] "" NEO + SG_ Bckl_Sw_RM_Stat_SAM_R : 53|2@0+ (1,0) [-1|4] "" NEO + SG_ Bckl_Sw_RR_Stat_SAM_R : 51|2@0+ (1,0) [-1|4] "" NEO + SG_ DL_RLtch_Stat : 9|2@0+ (1,0) [-1|4] "" NEO + SG_ DrRLtch_FL_Stat : 1|2@0+ (1,0) [-1|4] "" NEO + SG_ DrRLtch_FR_Stat : 3|2@0+ (1,0) [-1|4] "" NEO + SG_ DrRLtch_RL_Stat : 5|2@0+ (1,0) [-1|4] "" NEO + SG_ DrRLtch_RR_Stat : 7|2@0+ (1,0) [-1|4] "" NEO + SG_ EngHd_Stat : 11|2@0+ (1,0) [-1|4] "" NEO + SG_ LoBm_On_Rq : 32|1@0+ (1,0) [0|1] "" NEO + SG_ HiBm_On : 33|1@0+ (1,0) [0|1] "" NEO + SG_ Hrn_On : 26|1@0+ (1,0) [0|1] "" NEO + SG_ IrLmp_D_Lt_Flt : 34|1@0+ (1,0) [0|1] "" NEO + SG_ IrLmp_P_Rt_Flt : 35|1@0+ (1,0) [0|1] "" NEO + SG_ LgtSens_Twlgt : 18|3@0+ (1,0) [0|7] "Steps" NEO + SG_ LgtSens_SNA : 19|1@0+ (1,0) [0|1] "" NEO + SG_ LgtSens_Tunnel : 20|1@0+ (1,0) [0|1] "" NEO + SG_ LgtSens_Flt : 21|1@0+ (1,0) [0|1] "" NEO + SG_ LgtSens_Night : 22|1@0+ (1,0) [-1|2] "" NEO + SG_ ADL_LoBm_On_Rq : 23|1@0+ (1,0) [0|1] "" NEO + SG_ LoBm_D_Lt_Flt : 36|1@0+ (1,0) [0|1] "" NEO + SG_ LoBm_P_Rt_Flt : 37|1@0+ (1,0) [0|1] "" NEO + SG_ MPkBrk_Stat : 28|1@0+ (1,0) [-1|2] "" NEO + SG_ RevGr_Engg : 39|2@0+ (1,0) [-1|4] "" NEO + SG_ StW_Cond_Stat : 55|2@0+ (1,0) [-1|4] "" NEO + SG_ Term54_Actv : 27|1@0+ (1,0) [0|1] "" NEO + SG_ Trlr_Stat : 25|2@0+ (1,0) [-1|4] "" NEO + SG_ VTA_Alm_Actv : 13|1@0+ (1,0) [0|1] "" NEO + SG_ WprOutsdPkPosn : 29|1@0+ (1,0) [0|1] "" NEO + +BO_ 760 UI_gpsVehicleSpeed: 8 GTW + SG_ UI_gpsHDOP : 0|8@1+ (0.1,0) [0|25.5] "1" DAS + SG_ UI_gpsVehicleHeading : 8|16@1+ (0.0078125,0) [0|511.9921875] "deg" DAS + SG_ UI_gpsVehicleSpeed : 24|16@1+ (0.00390625,0) [0|250.996] "km/hr" Vector__XXX + SG_ UI_userSpeedOffset : 40|6@1+ (1,-30) [-30|33] "kph/mph" DAS + SG_ UI_mapSpeedLimitUnits : 46|1@1+ (1,0) [0|1] "" DAS + SG_ UI_userSpeedOffsetUnits : 47|1@1+ (1,0) [0|1] "" DAS + SG_ UI_mppSpeedLimit : 48|5@1+ (5,0) [0|155] "kph/mph" DAS + SG_ UI_gpsNmeaMIA : 53|1@1+ (1,0) [0|0] "" DAS + +BO_ 536 MCU_chassisControl: 8 GTW + SG_ MCU_dasDebugEnable : 0|1@1+ (1,0) [0|0] "" NEO + SG_ MCU_parkBrakeRequest : 1|2@1+ (1,0) [0|0] "" NEO + SG_ MCU_trailerModeCH : 3|1@1+ (1,0) [0|0] "" NEO + SG_ MCU_fcwSensitivity : 4|2@1+ (1,0) [0|0] "" NEO + SG_ MCU_fcwEnable : 6|2@1+ (1,0) [0|0] "" NEO + SG_ MCU_latControlEnable : 8|2@1+ (1,0) [0|0] "" NEO + SG_ MCU_accOvertakeEnable : 10|2@1+ (1,0) [0|0] "" NEO + SG_ MCU_ldwEnable : 12|2@1+ (1,0) [0|0] "" NEO + SG_ MCU_aebEnable : 14|2@1+ (1,0) [0|0] "" NEO + SG_ MCU_bsdEnable : 16|2@1+ (1,0) [0|0] "" NEO + SG_ MCU_ahlbEnable : 18|2@1+ (1,0) [0|0] "" NEO + SG_ MCU_parkSetting : 20|2@1+ (1,0) [0|0] "" NEO + SG_ MCU_pedalSafetyEnable : 22|2@1+ (1,0) [0|0] "" NEO + SG_ MCU_frontDefrostReq_das : 24|2@1+ (1,0) [0|0] "" NEO + SG_ MCU_autoParkRequest : 26|4@1+ (1,0) [0|0] "" NEO + SG_ MCU_redLightStopSignEnable : 30|2@1+ (1,0) [0|0] "" NEO + SG_ MCU_enableCreepTorqueCH : 32|1@1+ (1,0) [0|0] "" NEO + SG_ MCU_narrowGarages : 33|1@1+ (1,0) [0|0] "" NEO + SG_ MCU_rebootAutopilot : 34|1@1+ (1,0) [0|0] "" NEO + SG_ MCU_enableAutowipers : 35|1@1+ (1,0) [0|0] "" NEO + SG_ MCU_overPaintedUSS : 38|2@1+ (1,0) [0|0] "" NEO + SG_ MCU_selfParkTune : 40|4@1+ (1,0) [0|15] "" NEO + SG_ MCU_towModeEnable : 44|2@1+ (1,0) [0|0] "" NEO + SG_ MCU_zeroSpeedConfirmed : 46|2@1+ (1,0) [0|0] "" NEO + SG_ MCU_aesEnable : 48|2@1+ (1,0) [0|0] "" NEO + SG_ MCU_autoLaneChangeEnable : 50|2@1+ (1,0) [0|0] "" NEO + SG_ MCU_chassisControlCounter : 52|4@1+ (1,0) [0|0] "" NEO + SG_ MCU_chassisControlChecksum : 56|8@1+ (1,0) [0|0] "" NEO + +BO_ 904 MCU_clusterBacklightRequest: 3 NEO + SG_ MCU_clusterBacklightOn : 7|1@1+ (1,0) [0|1] "" NEO + SG_ MCU_clusterBrightnessLevel : 8|8@1+ (0.5,0) [0|127.5] "%" NEO + SG_ MCU_clusterReadyForDrive : 6|1@1+ (1,0) [-1|2] "" NEO + SG_ MCU_clusterReadyForPowerOff : 5|1@1+ (1,0) [0|1] "" NEO + +BO_ 984 MCU_locationStatus: 8 MCU + SG_ MCU_gpsAccuracy : 57|7@1+ (0.2,0) [0|0] "m" NEO + SG_ MCU_latitude : 0|28@1- (1E-06,0) [0|0] "deg" NEO + SG_ MCU_longitude : 28|29@1- (1E-06,0) [0|0] "deg" NEO + +BO_ 104 MCU_locationStatus2: 8 MCU + SG_ MCU_elevation : 0|32@1- (0.1,0) [0|0] "m" GTW + SG_ MCU_navigonExpectedSpeed : 32|7@1+ (1,0) [0|126] "mph" GTW + +BO_ 840 GTW_status: 8 GTW + SG_ GTW_accGoingDown : 6|1@0+ (1,0) [0|1] "" NEO + SG_ GTW_accRailReq : 8|1@0+ (1,0) [0|1] "" NEO + SG_ GTW_brakePressed : 1|1@0+ (1,0) [0|1] "" NEO + SG_ GTW_driveGoingDown : 7|1@0+ (1,0) [0|1] "" NEO + SG_ GTW_driveRailReq : 0|1@0+ (1,0) [0|1] "" NEO + SG_ GTW_driverIsLeaving : 5|1@0+ (1,0) [0|1] "" NEO + SG_ GTW_driverPresent : 2|1@0+ (1,0) [0|1] "" NEO + SG_ GTW_hvacGoingDown : 11|1@0+ (1,0) [0|1] "" NEO + SG_ GTW_hvacRailReq : 9|1@0+ (1,0) [0|1] "" NEO + SG_ GTW_icPowerOff : 4|1@0+ (1,0) [0|1] "" NEO + SG_ GTW_notEnough12VForDrive : 3|1@0+ (1,0) [0|1] "" NEO + SG_ GTW_preconditionRequest : 10|1@0+ (1,0) [0|1] "" NEO + SG_ GTW_statusChecksum : 63|8@0+ (1,0) [0|255] "" NEO + SG_ GTW_statusCounter : 51|4@0+ (1,0) [0|15] "" NEO + +BO_ 920 GTW_carConfig: 8 GTW + SG_ GTW_performanceConfig : 2|3@0+ (1,0) [0|0] "" NEO + SG_ GTW_fourWheelDrive : 4|2@0+ (1,0) [0|0] "" NEO + SG_ GTW_unknown1 : 5|1@0+ (1,0) [0|0] "" NEO + SG_ GTW_dasHw : 7|2@0+ (1,0) [0|0] "" NEO + SG_ GTW_parkAssistInstalled : 9|2@0+ (1,0) [0|0] "" NEO + SG_ GTW_forwardRadarHw : 11|2@0+ (1,0) [0|0] "" NEO + SG_ GTW_airSuspensionInstalled : 14|3@0+ (1,0) [0|0] "" NEO + SG_ GTW_unknown2 : 15|1@0+ (1,0) [0|0] "" NEO + SG_ GTW_country : 23|16@0+ (1,0) [0|0] "" NEO + SG_ GTW_parkSensorGeometryType : 33|2@0+ (1,0) [0|0] "" NEO + SG_ GTW_rhd : 34|1@0+ (1,0) [0|0] "" NEO + SG_ GTW_bodyControlsType : 35|1@0+ (1,0) [0|0] "" NEO + SG_ GTW_radarPosition : 39|4@0+ (1,0) [0|0] "" NEO + SG_ GTW_rearCornerRadarHw : 41|2@0+ (1,0) [0|0] "" NEO + SG_ GTW_frontCornerRadarHw : 43|2@0+ (1,0) [0|0] "" NEO + SG_ GTW_epasType : 45|2@0+ (1,0) [0|0] "" NEO + SG_ GTW_chassisType : 47|2@0+ (1,0) [0|2] "" NEO + SG_ GTW_wheelType : 52|5@0+ (1,0) [0|0] "" NEO + SG_ GTW_rearSeatControllerMask : 55|3@0+ (1,0) [0|7] "" NEO + SG_ GTW_euVehicle : 56|1@0+ (1,0) [0|0] "" NEO + SG_ GTW_foldingMirrorsInstalled : 57|1@0+ (1,0) [0|0] "" NEO + SG_ GTW_brakeHwType : 59|2@0+ (1,0) [0|2] "" NEO + SG_ GTW_autopilot : 61|2@0+ (1,0) [0|0] "" NEO + SG_ GTW_unknown3 : 63|2@0+ (1,0) [0|0] "" NEO + +BO_ 1006 UI_autopilotControl: 8 GTW + SG_ UI_autopilotControlIndex M : 0|3@1+ (1,0) [0|7] "" APP,APS + SG_ UI_hovEnabled m0 : 3|1@1+ (1,0) [0|0] "" APP,APS + SG_ UI_donDisableAutoWiperDuration m0 : 4|3@1+ (1,0) [0|0] "" APP,APS + SG_ UI_donDisableOnAutoWiperSpeed m0 : 7|4@1+ (1,0) [0|0] "" APP,APS + SG_ UI_blindspotMinSpeed m0 : 11|4@1+ (1,0) [0|0] "" APP,APS + SG_ UI_blindspotDistance m0 : 15|3@1+ (1,0) [0|0] "" APP,APS + SG_ UI_blindspotTTC m0 : 18|3@1+ (1,0) [0|0] "" APP,APS + SG_ UI_donStopEndOfRampBuffer m0 : 21|3@1+ (1,0) [0|0] "" APP,APS + SG_ UI_donDisableCutin m0 : 24|1@1+ (1,0) [0|0] "" APP,APS + SG_ UI_donMinGoreWidthForAbortMap m0 : 25|4@1+ (1,0) [0|0] "" APP,APS + SG_ UI_donAlcProgGoreAbortThres m0 : 29|4@1+ (1,0) [0|0] "" APP,APS + SG_ UI_donMinGoreWidthForAbortNotMap m0 : 33|4@1+ (1,0) [0|0] "" APP,APS + SG_ UI_alcDisableUltrasonicCheck m0 : 37|1@1+ (1,0) [0|0] "" APP,APS + SG_ UI_alcUltrasonicDistance m0 : 38|4@1+ (1,0) [0|0] "" APP,APS + SG_ UI_alcUltrasonicWaitTime m0 : 42|3@1+ (1,0) [0|0] "" APP,APS + SG_ UI_alcEgoLeadingReactionAccel m0 : 48|2@1+ (1,0) [0|0] "" APP,APS + SG_ UI_alcMergIntervalRearDHyst m0 : 50|2@1+ (1,0) [0|0] "" APP,APS + SG_ UI_alcMergingIntervalHeadwayHyst m0 : 52|2@1+ (1,0) [0|0] "" APP,APS + SG_ UI_alcAssertivenessRate m0 : 54|2@1+ (1,0) [0|0] "" APP,APS + SG_ UI_alcViewRangeSensitivity m0 : 56|2@1+ (1,0) [0|0] "" APP,APS + SG_ UI_camBlockLaneCheckDisable m1 : 3|1@1+ (1,0) [0|0] "" APP,APS + SG_ UI_camBlockLaneCheckThreshold m1 : 4|6@1+ (0.01587,0) [0|1] "%" APP,APS + SG_ UI_camBlockBlurDisable m1 : 10|1@1+ (1,0) [0|0] "" APP,APS + SG_ UI_camBlockBlurThreshold m1 : 11|6@1+ (0.01587,0) [0|1] "%" APP,APS + +BO_ 728 UI_csaOfframpCurvature: 8 GTW + SG_ UI_csaOfframpCurvC2 : 0|16@1- (1E-06,0) [-0.032768|0.032767] "1/m" DAS + SG_ UI_csaOfframpCurvC3 : 16|16@1- (4E-09,0) [-0.000131072|0.000131068] "1/m2" DAS + SG_ UI_csaOfframpCurvRange : 32|8@1+ (2,0) [0|510] "m" DAS + SG_ UI_csaOfframpCurvCounter : 40|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ UI_csaOfframpCurvUsingTspline : 48|1@1+ (1,0) [0|1] "" DAS + SG_ UI_csaOfframpCurvReserved : 49|7@1+ (1,0) [0|0] "" Vector__XXX + SG_ UI_csaOfframpCurvChecksum : 56|8@1+ (1,0) [0|0] "" Vector__XXX + +BO_ 744 UI_csaRoadCurvature: 8 GTW + SG_ UI_csaRoadCurvC2 : 0|16@1- (1E-06,0) [-0.032768|0.032767] "1/m" DAS + SG_ UI_csaRoadCurvC3 : 16|16@1- (4E-09,0) [-0.000131072|0.000131068] "1/m2" DAS + SG_ UI_csaRoadCurvRange : 32|8@1+ (2,0) [0|510] "m" DAS + SG_ UI_csaRoadCurvCounter : 40|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ UI_csaRoadCurvUsingTspline : 48|1@1+ (1,0) [0|1] "" DAS + SG_ UI_csaRoadCurvReserved : 49|7@1+ (1,0) [0|0] "" Vector__XXX + SG_ UI_csaRoadCurvChecksum : 56|8@1+ (1,0) [0|0] "" Vector__XXX + +BO_ 1080 UI_driverAssistAnonDebugParams: 8 GTW + SG_ UI_anonDebugParam1 : 0|7@1+ (1,0) [0|100] "" DAS + SG_ UI_anonDebugFlag1 : 7|1@1+ (1,0) [0|0] "" DAS + SG_ UI_anonDebugParam2 : 8|7@1+ (1,0) [0|100] "" DAS + SG_ UI_anonDebugFlag2 : 15|1@1+ (1,0) [0|0] "" DAS + SG_ UI_anonDebugParam3 : 16|7@1+ (1,0) [0|100] "" DAS + SG_ UI_anonDebugFlag3 : 23|1@1+ (1,0) [0|0] "" DAS + SG_ UI_anonDebugParam4 : 24|7@1+ (1,0) [0|100] "" DAS + SG_ UI_anonDebugFlag4 : 31|1@1+ (1,0) [0|0] "" DAS + SG_ UI_anonDebugParam5 : 32|7@1+ (1,0) [0|100] "" DAS + SG_ UI_anonDebugParam6 : 40|7@1+ (1,0) [0|100] "" DAS + SG_ UI_anonDebugParam7 : 48|7@1+ (1,0) [0|100] "" DAS + SG_ UI_visionSpeedSlider : 56|7@1+ (1,0) [0|100] "" DAS + +BO_ 1000 UI_driverAssistControl: 8 GTW + SG_ UI_autopilotControlRequest : 0|1@1+ (1,0) [1|0] "" DAS + SG_ UI_ulcStalkConfirm : 1|1@1+ (1,0) [1|0] "" DAS + SG_ UI_summonHeartbeat : 2|2@1+ (1,0) [0|0] "" DAS + SG_ UI_curvSpeedAdaptDisable : 4|1@1+ (1,0) [0|0] "" DAS + SG_ UI_dasDeveloper : 5|1@1+ (1,0) [0|0] "" DAS + SG_ UI_enableVinAssociation : 6|1@1+ (1,0) [0|0] "" DAS + SG_ UI_lssLkaEnabled : 7|1@1+ (1,0) [0|0] "" DAS + SG_ UI_lssLdwEnabled : 8|1@1+ (1,0) [0|0] "" DAS + SG_ UI_autoSummonEnable : 10|1@1+ (1,0) [0|1] "" DAS + SG_ UI_exceptionListEnable : 11|1@1+ (1,0) [0|1] "" APP + SG_ UI_roadCheckDisable : 12|1@1+ (1,0) [0|0] "" DAS + SG_ UI_driveOnMapsEnable : 13|1@1+ (1,0) [0|0] "" DAS + SG_ UI_handsOnRequirementDisable : 14|1@1+ (1,0) [0|0] "" DAS + SG_ UI_forksEnable : 15|1@1+ (1,0) [0|0] "" DAS + SG_ UI_fuseLanesDisable : 16|1@1+ (1,0) [0|0] "" DAS + SG_ UI_fuseHPPDisable : 17|1@1+ (1,0) [0|0] "" DAS + SG_ UI_fuseVehiclesDisable : 18|1@1+ (1,0) [0|0] "" DAS + SG_ UI_enableNextGenACC : 19|1@1+ (1,0) [0|1] "" APP + SG_ UI_visionSpeedType : 20|2@1+ (1,0) [0|0] "" APP + SG_ UI_curvatureDatabaseOnly : 22|1@1+ (1,0) [0|0] "" DAS + SG_ UI_lssElkEnabled : 23|1@1+ (1,0) [0|0] "" DAS + SG_ UI_summonExitType : 24|2@1+ (1,0) [0|3] "" DAS + SG_ UI_summonEntryType : 26|2@1+ (1,0) [0|3] "" DAS + SG_ UI_selfParkRequest : 28|4@1+ (1,0) [0|15] "" DAS,PARK + SG_ UI_summonReverseDist : 32|6@1+ (1,0) [0|63] "" DAS + SG_ UI_undertakeAssistEnable : 38|1@1+ (1,0) [0|0] "" DAS + SG_ UI_adaptiveSetSpeedEnable : 39|1@1+ (1,0) [0|0] "" DAS + SG_ UI_drivingSide : 40|2@1+ (1,0) [0|3] "" DAS + SG_ UI_enableClipTelemetry : 42|1@1+ (1,0) [0|0] "" APP + SG_ UI_enableTripTelemetry : 43|1@1+ (1,0) [0|0] "" APP + SG_ UI_enableRoadSegmentTelemetry : 44|1@1+ (1,0) [0|0] "" APP + SG_ UI_followNavRouteEnable : 46|1@1+ (1,0) [0|0] "" APP + SG_ UI_ulcSpeedConfig : 48|2@1+ (1,0) [0|3] "" APP + SG_ UI_ulcBlindSpotConfig : 50|2@1+ (1,0) [0|3] "" APP + SG_ UI_autopilotAlwaysOn : 52|1@1+ (1,0) [0|1] "" APP + SG_ UI_accFromZero : 53|1@1+ (1,0) [0|1] "" APP + SG_ UI_alcOffHighwayEnable : 54|1@1+ (1,0) [0|1] "" APP + SG_ UI_validationLoop : 55|1@1+ (1,0) [0|1] "" APP + SG_ UI_ulcOffHighway : 56|1@1+ (1,0) [0|1] "" APP + SG_ UI_enableNavRouteCSA : 57|1@1+ (1,0) [0|1] "" APP + SG_ UI_enableCutinExperiments : 58|1@1+ (1,0) [0|1] "" APP + SG_ UI_source3D : 60|3@1+ (1,0) [0|7] "" APP + SG_ UI_enableVisionOnlyStops : 63|1@1+ (1,0) [0|1] "" APP + +BO_ 968 UI_driverAssistMapData: 8 GTW + SG_ UI_mapSpeedLimitDependency : 0|3@1+ (1,0) [0|0] "" DAS + SG_ UI_roadClass : 3|3@1+ (1,0) [0|0] "" DAS + SG_ UI_inSuperchargerGeofence : 6|1@1+ (1,0) [0|0] "" DAS + SG_ UI_mapSpeedUnits : 7|1@1+ (1,0) [0|0] "" DAS + SG_ UI_mapSpeedLimit : 8|5@1+ (1,0) [0|0] "" DAS + SG_ UI_mapSpeedLimitType : 13|3@1+ (1,0) [0|0] "" DAS + SG_ UI_countryCode : 16|10@1+ (1,0) [0|0] "" DAS + SG_ UI_streetCount : 26|2@1+ (1,0) [0|0] "" DAS + SG_ UI_gpsRoadMatch : 28|1@1+ (1,0) [0|0] "" DAS + SG_ UI_navRouteActive : 29|1@1+ (1,0) [0|0] "" DAS + SG_ UI_parallelAutoparkEnabled : 30|1@1+ (1,0) [0|1] "" DAS + SG_ UI_perpendicularAutoparkEnabled : 31|1@1+ (1,0) [0|1] "" DAS + SG_ UI_nextBranchDist : 32|5@1+ (10,0) [0|300] "m" DAS + SG_ UI_controlledAccess : 37|1@1+ (1,0) [0|0] "" DAS + SG_ UI_nextBranchLeftOffRamp : 38|1@1+ (1,0) [0|0] "" DAS + SG_ UI_nextBranchRightOffRamp : 39|1@1+ (1,0) [0|0] "" DAS + SG_ UI_rejectLeftLane : 40|1@1+ (1,0) [0|0] "" DAS + SG_ UI_rejectRightLane : 41|1@1+ (1,0) [0|0] "" DAS + SG_ UI_rejectHPP : 42|1@1+ (1,0) [0|0] "" DAS + SG_ UI_rejectNav : 43|1@1+ (1,0) [0|0] "" DAS + SG_ UI_rejectLeftFreeSpace : 44|1@1+ (1,0) [0|0] "" DAS + SG_ UI_rejectRightFreeSpace : 45|1@1+ (1,0) [0|0] "" DAS + SG_ UI_rejectAutosteer : 46|1@1+ (1,0) [0|0] "" DAS + SG_ UI_rejectHandsOn : 47|1@1+ (1,0) [0|0] "" DAS + SG_ UI_acceptBottsDots : 48|1@1+ (1,0) [0|0] "" DAS + SG_ UI_autosteerRestricted : 49|1@1+ (1,0) [0|0] "" DAS + SG_ UI_pmmEnabled : 50|1@1+ (1,0) [0|0] "" DAS + SG_ UI_scaEnabled : 51|1@1+ (1,0) [0|0] "" DAS + SG_ UI_mapDataCounter : 52|4@1+ (1,0) [0|0] "" DAS + SG_ UI_mapDataChecksum : 56|8@1+ (1,0) [0|0] "" DAS + +BO_ 568 UI_driverAssistRoadSign: 8 GTW + SG_ UI_roadSign M : 0|8@1+ (1,0) [0|0] "" DAS + SG_ UI_splineLocConfidence : 40|7@1+ (1,0) [0|100] "" DAS + SG_ UI_splineID : 48|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ UI_roadSignCounter : 52|4@1+ (1,0) [0|0] "" Vector__XXX + SG_ UI_roadSignChecksum : 56|8@1+ (1,0) [0|0] "" Vector__XXX + SG_ UI_dummyData m0 : 8|1@1+ (1,0) [0|0] "" Vector__XXX + SG_ UI_stopSignStopLineDist m1 : 8|10@1+ (0.25,-8) [-8|247.5] "m" Vector__XXX + SG_ UI_stopSignStopLineConf m1 : 18|7@1+ (1,0) [0|100] "" Vector__XXX + SG_ UI_trafficLightStopLineDist m2 : 8|10@1+ (0.25,-8) [-8|247.5] "m" Vector__XXX + SG_ UI_trafficLightStopLineConf m2 : 18|7@1+ (1,0) [0|100] "" Vector__XXX + SG_ UI_baseMapSpeedLimitMPS m3 : 8|8@1+ (0.25,0) [0|63.75] "m/s" DAS + SG_ UI_bottomQrtlFleetSpeedMPS m3 : 16|8@1+ (0.25,0) [0|63.75] "m/s" DAS + SG_ UI_topQrtlFleetSpeedMPS m3 : 24|8@1+ (0.25,0) [0|63.75] "m/s" DAS + SG_ UI_meanFleetSplineSpeedMPS m4 : 8|8@1+ (0.25,0) [0|63.75] "m/s" DAS + SG_ UI_medianFleetSpeedMPS m4 : 16|8@1+ (0.25,0) [0|63.75] "m/s" DAS + SG_ UI_meanFleetSplineAccelMPS2 m4 : 24|8@1+ (0.05,-6.35) [-6.35|6.4] "m/s^2" DAS + SG_ UI_rampType m4 : 32|3@1+ (1,0) [0|7] "" DAS + SG_ UI_currSplineIdFull m5 : 8|32@1+ (1,0) [0|1] "" APP + + +BO_ 696 UI_radarMapData: 8 GTW + SG_ UI_radarTargetDx : 0|8@1+ (1,-95) [-95|160] "m" DAS + SG_ UI_radarTargetDxEnd : 8|8@1+ (1,0) [0|255] "m" DAS + SG_ UI_radarTargetTrustMap : 16|1@1+ (1,0) [0|1] "" DAS + SG_ UI_radarEnableBraking : 17|1@1+ (1,0) [0|1] "" DAS + SG_ UI_radarMapDataCounter : 52|4@1+ (1,0) [0|0] "" DAS + SG_ UI_radarMapDataChecksum : 56|8@1+ (1,0) [0|0] "" DAS + +BO_ 712 UI_roadCurvature: 8 GTW + SG_ UI_roadCurvC0 : 0|11@1- (0.02,0) [-20.48|20.46] "m" DAS + SG_ UI_roadCurvC1 : 11|10@1- (0.00075,0) [-0.384|0.38325] "1" DAS + SG_ UI_roadCurvC2 : 21|14@1- (7.5E-06,0) [-0.03072|0.03071625] "1/m" DAS + SG_ UI_roadCurvC3 : 35|13@1- (3E-08,0) [-0.00012288|0.00012285] "1/m2" DAS + SG_ UI_roadCurvRange : 48|6@1+ (4,0) [0|252] "m" DAS + SG_ UI_roadCurvHealth : 54|2@1+ (1,0) [0|0] "" DAS + SG_ UI_roadCurvChecksum : 56|8@1+ (1,0) [0|0] "" Vector__XXX + +BO_ 582 UI_solarData: 5 GTW + SG_ UI_solarAzimuthAngle : 0|16@1- (1,0) [0|360] "deg" APP + SG_ UI_solarAzimuthAngleCarRef : 16|9@1- (1,0) [-180|180] "deg" APP + SG_ UI_isSunUp : 25|1@1+ (1,0) [0|0] "" Vector__XXX + SG_ UI_solarElevationAngle : 32|8@1- (1,0) [-90|90] "deg" APP + +BO_ 824 UI_status: 8 GTW + SG_ UI_touchActive : 0|1@1+ (1,0) [0|0] "" IC + SG_ UI_audioActive : 1|1@1+ (1,0) [0|0] "" IC + SG_ UI_bluetoothActive : 2|1@1+ (1,0) [0|0] "" IC + SG_ UI_cellActive : 3|1@1+ (1,0) [0|0] "" IC + SG_ UI_displayReady : 4|1@1+ (1,0) [0|0] "" IC + SG_ UI_gpsActive : 5|1@1+ (1,0) [0|0] "" IC + SG_ UI_wifiConnected : 6|1@1+ (1,0) [0|0] "" IC,APP + SG_ UI_systemActive : 7|1@1+ (1,0) [0|0] "" IC + SG_ UI_xmActive : 8|1@1+ (1,0) [0|0] "" IC + SG_ UI_displayOn : 9|1@1+ (1,0) [0|0] "" IC,APP + SG_ UI_readyForDrive : 10|1@1+ (1,0) [0|0] "" IC + SG_ UI_cellConnected : 11|1@1+ (1,0) [0|0] "" IC,APP + SG_ UI_vpnActive : 12|1@1+ (1,0) [0|0] "" IC,APP + SG_ UI_wifiActive : 13|1@1+ (1,0) [0|0] "" IC + SG_ UI_cameraActive : 14|1@1+ (1,0) [0|0] "" IC,APP + SG_ UI_usbActive : 15|1@1+ (1,0) [0|0] "" IC + SG_ UI_screenshotActive : 16|1@1+ (1,0) [0|0] "" IC,APP + SG_ UI_monitorModemPower : 17|1@1+ (1,0) [0|0] "" Vector__XXX + SG_ UI_factoryReset : 18|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ UI_cellNetworkTechnology : 20|4@1+ (1,0) [0|15] "" APP + SG_ UI_tegraCoreTemperature : 24|8@1+ (1,-64) [0|0] "deg C" IC + SG_ UI_tegraAmbientTemperature : 32|8@1+ (1,-64) [0|0] "deg C" IC + SG_ UI_googleWifiUsages : 40|8@1+ (1,0) [0|0] "" Vector__XXX + SG_ UI_autopilotTrial : 48|2@1+ (1,0) [0|0] "" APP + SG_ UI_cellSignalBars : 50|3@1+ (1,0) [0|7] "" APP + SG_ UI_hardwareType : 53|2@1+ (1,0) [0|3] "" APP + SG_ UI_developmentCar : 55|1@1+ (1,0) [0|0] "" Vector__XXX + SG_ UI_cellReceiverPower : 56|8@1+ (1,-128) [-128|127] "dB" APP + +BO_ 1064 UI_telemetryControl: 8 GTW + SG_ UI_TCR_enable : 0|1@1+ (1,0) [0|0] "" DAS + SG_ UI_TCR_moveStateStanding : 1|1@1+ (1,0) [0|0] "" DAS + SG_ UI_TCR_moveStateStopped : 2|1@1+ (1,0) [0|0] "" DAS + SG_ UI_TCR_moveStateMoving : 3|1@1+ (1,0) [0|0] "" DAS + SG_ UI_TCR_moveStateIndeterm : 4|1@1+ (1,0) [0|0] "" DAS + SG_ UI_TCR_classConstElem : 5|1@1+ (1,0) [0|0] "" DAS + SG_ UI_TCR_classMovingPed : 6|1@1+ (1,0) [0|0] "" DAS + SG_ UI_TCR_classMovingTwoWheel : 7|1@1+ (1,0) [0|0] "" DAS + SG_ UI_TCR_classMovingFourWheel : 8|1@1+ (1,0) [0|0] "" DAS + SG_ UI_TCR_classUnknown : 9|1@1+ (1,0) [0|0] "" DAS + SG_ UI_TCR_downSampleFactor : 16|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ UI_TCR_wExist : 24|5@1+ (1,0) [0|31] "" Vector__XXX + SG_ UI_TCR_vehSpeed : 32|8@1+ (1,0) [0|0] "" Vector__XXX + SG_ UI_TCR_minRCS : 40|8@1+ (0.25,-14) [-14|49.75] "dB" Vector__XXX + SG_ UI_TCR_maxDy : 48|5@1+ (0.5,0) [0|15.5] "m" Vector__XXX + SG_ UI_TCR_maxObjects : 56|5@1+ (1,0) [0|31] "" Vector__XXX + SG_ UI_TCR_maxRoadClass : 61|3@1+ (1,0) [0|7] "" Vector__XXX + +BO_ 522 BrakeMessage: 8 XXX + SG_ driverBrakeStatus : 2|2@1+ (1,0) [0|3] "" XXX + +BO_ 921 AutopilotStatus: 8 XXX + SG_ autopilotStatus : 0|4@1+ (1,0) [0|0] "" XXX + SG_ DAS_blindSpotRearLeft : 4|2@1+ (1,0) [0|0] "" XXX + SG_ DAS_blindSpotRearRight : 6|2@1+ (1,0) [0|0] "" XXX + SG_ DAS_fusedSpeedLimit : 8|5@1+ (5,0) [0|150] "kph/mph" XXX + SG_ DAS_suppressSpeedWarning : 13|1@1+ (1,0) [0|0] "" XXX + SG_ DAS_summonObstacle : 14|1@1+ (1,0) [0|0] "" XXX + SG_ DAS_summonClearedGate : 15|1@1+ (1,0) [0|0] "" XXX + SG_ DAS_visionOnlySpeedLimit : 16|5@1+ (5,0) [0|150] "kph/mph" XXX + SG_ DAS_heaterState : 21|1@1+ (1,0) [0|0] "" XXX + SG_ DAS_forwardCollisionWarning : 22|2@1+ (1,0) [0|0] "" XXX + SG_ DAS_autoparkReady : 24|1@1+ (1,0) [0|1] "" XXX + SG_ DAS_autoParked : 25|1@1+ (1,0) [0|0] "" XXX + SG_ DAS_autoparkWaitingForBrake : 26|1@1+ (1,0) [0|1] "" XXX + SG_ DAS_summonFwdLeashReached : 28|1@1+ (1,0) [0|1] "" XXX + SG_ DAS_summonRvsLeashReached : 29|1@1+ (1,0) [0|1] "" XXX + SG_ DAS_sideCollisionAvoid : 30|2@1+ (1,0) [0|0] "" XXX + SG_ DAS_sideCollisionWarning : 32|2@1+ (1,0) [0|0] "" XXX + SG_ DAS_sideCollisionInhibit : 34|1@1+ (1,0) [0|0] "" XXX + SG_ DAS_csaState : 35|2@1+ (1,0) [0|0] "" XXX + SG_ DAS_laneDepartureWarning : 37|3@1+ (1,0) [0|0] "" XXX + SG_ DAS_fleetSpeedState : 40|2@1+ (1,0) [0|0] "" XXX + SG_ DAS_autopilotHandsOnState : 42|4@1+ (1,0) [0|0] "" XXX + SG_ DAS_autoLaneChangeState : 46|5@1+ (1,0) [0|0] "" XXX + SG_ DAS_summonAvailable : 51|1@1+ (1,0) [0|1] "" XXX + SG_ DAS_statusCounter : 52|4@1+ (1,0) [0|0] "" XXX + SG_ DAS_statusChecksum : 56|8@1+ (1,0) [0|0] "" XXX + +BO_ 905 DAS_status2: 8 XXX + SG_ DAS_accSpeedLimit : 0|10@1+ (0.2,0) [0|204.6] "mph" XXX + SG_ DAS_pmmObstacleSeverity : 10|3@1+ (1,0) [0|7] "" XXX + SG_ DAS_pmmLoggingRequest : 13|1@1+ (1,0) [0|1] "" XXX + SG_ DAS_activationFailureStatus : 14|2@1+ (1,0) [0|1] "" XXX + SG_ DAS_pmmUltrasonicsFaultReason : 16|3@1+ (1,0) [0|7] "" XXX + SG_ DAS_pmmRadarFaultReason : 19|2@1+ (1,0) [0|3] "" XXX + SG_ DAS_pmmSysFaultReason : 21|3@1+ (1,0) [0|7] "" XXX + SG_ DAS_pmmCameraFaultReason : 24|2@1+ (1,0) [0|3] "" XXX + SG_ DAS_ACC_report : 26|5@1+ (1,0) [0|0] "" XXX + SG_ DAS_lssState : 31|3@1+ (1,0) [0|0] "" XXX + SG_ DAS_radarTelemetry : 34|2@1+ (1,0) [0|0] "" XXX + SG_ DAS_robState : 36|2@1+ (1,0) [0|3] "" XXX + SG_ DAS_driverInteractionLevel : 38|2@1+ (1,0) [0|3] "" XXX + SG_ DAS_ppOffsetDesiredRamp : 40|8@1+ (0.01,-1.28) [-1.28|1.27] "m" XXX + SG_ DAS_longCollisionWarning : 48|4@1+ (1,0) [0|15] "" XXX + SG_ DAS_status2Counter : 52|4@1+ (1,0) [0|0] "" XXX + SG_ DAS_status2Checksum : 56|8@1+ (1,0) [0|0] "" XXX + +BO_ 1001 DAS_bodyControls: 8 XXX + SG_ DAS_headlightRequest : 0|2@1+ (1,0) [0|3] "" XXX + SG_ DAS_hazardLightRequest : 2|2@1+ (1,0) [0|3] "" XXX + SG_ DAS_wiperSpeed : 4|4@1+ (1,0) [0|15] "" XXX + SG_ DAS_turnIndicatorRequest : 8|2@1+ (1,0) [0|3] "" XXX + SG_ DAS_highLowBeamDecision : 10|2@1+ (1,0) [0|3] "" XXX + SG_ DAS_highLowBeamOffReason : 12|3@1+ (1,0) [0|4] "" XXX + SG_ DAS_turnIndicatorRequestReason : 16|4@1+ (1,0) [0|15] "" XXX + SG_ DAS_bodyControlsCounter : 52|4@1+ (1,0) [0|15] "" XXX + SG_ DAS_bodyControlsChecksum : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 780 DriverSeat: 8 XXX + SG_ occupancyStatus : 16|3@1+ (1,0) [0|7] "" XXX + SG_ buckleStatus : 19|2@1+ (1,0) [0|3] "" XXX + +VAL_ 3 StW_Angl 16383 "SNA" ; +VAL_ 3 StW_AnglSens_Id 2 "MUST" 0 "PSBL" 1 "SELF" ; +VAL_ 3 StW_AnglSens_Stat 2 "ERR" 3 "ERR_INI" 1 "INI" 0 "OK" ; +VAL_ 3 StW_AnglSpd 16383 "SNA" ; +VAL_ 14 StW_AnglHP 16383 "SNA" ; +VAL_ 14 StW_AnglHP_Spd 16383 "SNA" ; +VAL_ 14 StW_AnglHP_Sens_Stat 3 "SNA" 2 "ERR" 1 "INI" 0 "OK" ; +VAL_ 14 StW_AnglHP_Sens_Id 3 "SNA" 2 "KOSTAL" 1 "DELPHI" 0 "TEST" ; +VAL_ 69 SpdCtrlLvr_Stat 32 "DN_1ST" 16 "UP_1ST" 8 "DN_2ND" 4 "UP_2ND" 2 "RWD" 1 "FWD" 0 "IDLE" ; +VAL_ 69 DTR_Dist_Rq 255 "SNA" 200 "ACC_DIST_7" 166 "ACC_DIST_6" 133 "ACC_DIST_5" 100 "ACC_DIST_4" 66 "ACC_DIST_3" 33 "ACC_DIST_2" 0 "ACC_DIST_1" ; +VAL_ 69 TurnIndLvr_Stat 3 "SNA" 2 "RIGHT" 1 "LEFT" 0 "IDLE" ; +VAL_ 69 HiBmLvr_Stat 3 "SNA" 2 "HIBM_FLSH_ON_PSD" 1 "HIBM_ON_PSD" 0 "IDLE" ; +VAL_ 69 WprWashSw_Psd 3 "SNA" 2 "WASH" 1 "TIPWIPE" 0 "NPSD" ; +VAL_ 69 WprWash_R_Sw_Posn_V2 3 "SNA" 2 "WASH" 1 "INTERVAL" 0 "OFF" ; +VAL_ 69 StW_Lvr_Stat 4 "STW_BACK" 3 "STW_FWD" 2 "STW_DOWN" 1 "STW_UP" 0 "NPSD" ; +VAL_ 69 StW_Cond_Psd 3 "SNA" 2 "DOWN" 1 "UP" 0 "NPSD" ; +VAL_ 69 HrnSw_Psd 3 "SNA" 2 "NDEF2" 1 "PSD" 0 "NPSD" ; +VAL_ 69 StW_Sw00_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ; +VAL_ 69 StW_Sw01_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ; +VAL_ 69 StW_Sw03_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ; +VAL_ 69 StW_Sw04_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ; +VAL_ 69 WprSw6Posn 7 "SNA" 6 "STAGE2" 5 "STAGE1" 4 "INTERVAL4" 3 "INTERVAL3" 2 "INTERVAL2" 1 "INTERVAL1" 0 "OFF" ; +VAL_ 257 GTW_epasControlType 0 "WITHOUT" 1 "WITH_ANGLE" 3 "WITH_BOTH" 2 "WITH_TORQUE" ; +VAL_ 109 StW_Sw_Stat3 7 "SNA" 6 "NDEF6" 5 "NDEF5" 4 "NDEF4" 3 "PLUS_MINUS" 2 "MINUS" 1 "PLUS" 0 "NPSD" ; +VAL_ 109 MsgTxmtId 3 "NDEF3" 2 "NDEF2" 1 "SCCM" 0 "EWM" ; +VAL_ 109 TSL_RND_Posn_StW 15 "SNA" 8 "D" 6 "INI" 4 "N_DOWN" 2 "N_UP" 1 "R" 0 "IDLE" ; +VAL_ 109 TSL_P_Psd_StW 3 "SNA" 2 "INI" 1 "PSD" 0 "IDLE" ; +VAL_ 257 GTW_epasEmergencyOn 1 "EMERGENCY_POWER" 0 "NONE" ; +VAL_ 257 GTW_epasLDWEnabled 1 "ALLOWED" 0 "INHIBITED" ; +VAL_ 257 GTW_epasPowerMode 0 "DRIVE_OFF" 1 "DRIVE_ON" 3 "LOAD_SHED" 2 "SHUTTING_DOWN" 15 "SNA" ; +VAL_ 257 GTW_epasTuneRequest 1 "DM_COMFORT" 3 "DM_SPORT" 2 "DM_STANDARD" 0 "FAIL_SAFE_DEFAULT" 4 "RWD_COMFORT" 6 "RWD_SPORT" 5 "RWD_STANDARD" 7 "SNA" ; +VAL_ 264 DI_torqueDriver -4096 "SNA" ; +VAL_ 264 DI_torqueMotor -4096 "SNA" ; +VAL_ 264 DI_soptState 7 "SOPT_TEST_SNA" 4 "SOPT_TEST_NOT_RUN" 3 "SOPT_TEST_PASSED" 2 "SOPT_TEST_FAILED" 1 "SOPT_TEST_IN_PROGRESS" 0 "SOPT_PRE_TEST" ; +VAL_ 264 DI_motorRPM -32768 "SNA" ; +VAL_ 264 DI_pedalPos 255 "SNA" ; +VAL_ 280 DI_torqueEstimate -2048 "SNA" ; +VAL_ 280 DI_gear 7 "DI_GEAR_SNA" 4 "DI_GEAR_D" 3 "DI_GEAR_N" 2 "DI_GEAR_R" 1 "DI_GEAR_P" 0 "DI_GEAR_INVALID" ; +VAL_ 280 DI_brakePedal 1 "Applied" 0 "Not_applied" ; +VAL_ 280 DI_vehicleSpeed 4095 "SNA" ; +VAL_ 280 DI_gearRequest 7 "DI_GEAR_SNA" 4 "DI_GEAR_D" 3 "DI_GEAR_N" 2 "DI_GEAR_R" 1 "DI_GEAR_P" 0 "DI_GEAR_INVALID" ; +VAL_ 280 DI_torqueInterfaceFailure 1 "TORQUE_INTERFACE_FAILED" 0 "TORQUE_INTERFACE_NORMAL" ; +VAL_ 280 DI_brakePedalState 3 "SNA" 2 "INVALID" 1 "ON" 0 "OFF" ; +VAL_ 280 DI_epbParkRequest 1 "Park_requested" 0 "No_request" ; +VAL_ 280 DI_epbInterfaceReady 1 "EPB_INTERFACE_READY" 0 "EPB_INTERFACE_NOT_READY" ; +VAL_ 309 ESP_absBrakeEvent 1 "ACTIVE" 0 "NOT_ACTIVE" ; +VAL_ 309 ESP_brakeDiscWipingActive 1 "ACTIVE" 0 "INACTIVE" ; +VAL_ 309 ESP_brakeLamp 0 "OFF" 1 "ON" ; +VAL_ 309 ESP_espFaultLamp 0 "OFF" 1 "ON" ; +VAL_ 309 ESP_espLampFlash 1 "FLASH" 0 "OFF" ; +VAL_ 309 ESP_hillStartAssistActive 1 "ACTIVE" 0 "INACTIVE" 2 "NOT_AVAILABLE" 3 "SNA" ; +VAL_ 309 ESP_absFaultLamp 0 "OFF" 1 "ON" ; +VAL_ 309 ESP_espOffLamp 0 "OFF" 1 "ON" ; +VAL_ 309 ESP_stabilityControlSts 2 "ENGAGED" 3 "FAULTED" 5 "INIT" 4 "NOT_CONFIGURED" 0 "OFF" 1 "ON" ; +VAL_ 309 ESP_tcLampFlash 1 "FLASH" 0 "OFF" ; +VAL_ 568 UI_mapSpeedLimit 31 "SNA" 30 "UNLIMITED" 29 "LESS_OR_EQ_160" 28 "LESS_OR_EQ_150" 27 "LESS_OR_EQ_140" 26 "LESS_OR_EQ_130" 25 "LESS_OR_EQ_120" 24 "LESS_OR_EQ_115" 23 "LESS_OR_EQ_110" 22 "LESS_OR_EQ_105" 21 "LESS_OR_EQ_100" 20 "LESS_OR_EQ_95" 19 "LESS_OR_EQ_90" 18 "LESS_OR_EQ_85" 17 "LESS_OR_EQ_80" 16 "LESS_OR_EQ_75" 15 "LESS_OR_EQ_70" 14 "LESS_OR_EQ_65" 13 "LESS_OR_EQ_60" 12 "LESS_OR_EQ_55" 11 "LESS_OR_EQ_50" 10 "LESS_OR_EQ_45" 9 "LESS_OR_EQ_40" 8 "LESS_OR_EQ_35" 7 "LESS_OR_EQ_30" 6 "LESS_OR_EQ_25" 5 "LESS_OR_EQ_20" 4 "LESS_OR_EQ_15" 3 "LESS_OR_EQ_10" 2 "LESS_OR_EQ_7" 1 "LESS_OR_EQ_5" 0 "UNKNOWN" ; +VAL_ 569 DAS_leftLineUsage 3 "BLACKLISTED" 2 "FUSED" 1 "AVAILABLE" 0 "REJECTED_UNAVAILABLE" ; +VAL_ 569 DAS_rightLineUsage 3 "BLACKLISTED" 2 "FUSED" 1 "AVAILABLE" 0 "REJECTED_UNAVAILABLE" ; +VAL_ 569 DAS_leftFork 3 "LEFT_FORK_UNAVAILABLE" 2 "LEFT_FORK_SELECTED" 1 "LEFT_FORK_AVAILABLE" 0 "LEFT_FORK_NONE" ; +VAL_ 569 DAS_rightFork 3 "RIGHT_FORK_UNAVAILABLE" 2 "RIGHT_FORK_SELECTED" 1 "RIGHT_FORK_AVAILABLE" 0 "RIGHT_FORK_NONE" ; +VAL_ 521 DAS_locMode 3 "DAS_LOC_DRIVERLESS" 2 "DAS_LOC_RESTRICTED" 1 "DAS_LOC_NORMAL" 0 "DAS_LOC_OFF" ; +VAL_ 521 DAS_locState 7 "DAS_LOC_FAULT_SNA" 6 "DAS_LOC_AEB_ACTIVE" 2 "DAS_LOC_CANCEL_SILENT" 1 "DAS_LOC_CANCEL_GENERIC" 0 "DAS_LOC_HEALTHY" ; +VAL_ 521 DAS_locRequest 4 "DAS_RQ_PARK" 3 "DAS_RQ_HOLD" 2 "DAS_RQ_BACKWARD" 1 "DAS_RQ_FORWARD" 0 "DAS_RQ_IDLE" ; +VAL_ 521 DAS_locJerkMin 255 "SNA" ; +VAL_ 521 DAS_locJerkMax 255 "SNA" ; +VAL_ 521 DAS_locSpeed 2047 "SNA" ; +VAL_ 521 DAS_locAccelMin 511 "SNA" ; +VAL_ 521 DAS_locAccelMax 511 "SNA" ; +VAL_ 522 driverBrakeStatus 2 "APPLIED" 1 "NOT_APPLIED" ; +VAL_ 760 UI_mapSpeedLimitUnits 1 "KPH" 0 "MPH" ; +VAL_ 760 UI_userSpeedOffsetUnits 1 "KPH" 0 "MPH" ; +VAL_ 643 AirTemp_Insd 255 "SNA" ; +VAL_ 643 AirTemp_Outsd 254 "INIT" 255 "SNA" ; +VAL_ 643 Bckl_Sw_RL_Stat_SAM_R 2 "FLT" 1 "NOT" 0 "OK" 3 "SNA" ; +VAL_ 643 Bckl_Sw_RM_Stat_SAM_R 2 "FLT" 1 "NOT" 0 "OK" 3 "SNA" ; +VAL_ 643 Bckl_Sw_RR_Stat_SAM_R 2 "FLT" 1 "NOT" 0 "OK" 3 "SNA" ; +VAL_ 643 DL_RLtch_Stat 1 "CLS" 0 "NDEF0" 2 "OPN" 3 "SNA" ; +VAL_ 643 DrRLtch_FL_Stat 1 "CLS" 0 "NDEF0" 2 "OPN" 3 "SNA" ; +VAL_ 643 DrRLtch_FR_Stat 1 "CLS" 0 "NDEF0" 2 "OPN" 3 "SNA" ; +VAL_ 643 DrRLtch_RL_Stat 1 "CLS" 0 "NDEF0" 2 "OPN" 3 "SNA" ; +VAL_ 643 DrRLtch_RR_Stat 1 "CLS" 0 "NDEF0" 2 "OPN" 3 "SNA" ; +VAL_ 643 EngHd_Stat 1 "CLS" 0 "NDEF0" 2 "OPN" 3 "SNA" ; +VAL_ 643 LgtSens_Night 0 "DAY" 1 "NIGHT" ; +VAL_ 643 MPkBrk_Stat 1 "ENGG" 0 "RELS" ; +VAL_ 643 RevGr_Engg 0 "DISENGG" 1 "ENGG" 2 "NDEF2" 3 "SNA" ; +VAL_ 643 StW_Cond_Stat 3 "BLINK" 1 "NDEF1" 0 "OFF" 2 "ON" ; +VAL_ 643 Trlr_Stat 2 "NDEF2" 0 "NONE" 1 "OK" 3 "SNA" ; +VAL_ 697 DAS_setSpeed 4095 "SNA" ; +VAL_ 697 DAS_accState 15 "FAULT_SNA" 13 "ACC_CANCEL_GENERIC_SILENT" 11 "APC_SELFPARK_START" 10 "APC_UNPARK_COMPLETE" 9 "APC_PAUSE" 8 "APC_ABORT" 7 "APC_COMPLETE" 6 "APC_FORWARD" 5 "APC_BACKWARD" 4 "ACC_ON" 3 "ACC_HOLD" 0 "ACC_CANCEL_GENERIC" ; +VAL_ 697 DAS_aebEvent 3 "AEB_SNA" 2 "AEB_FAULT" 1 "AEB_ACTIVE" 0 "AEB_NOT_ACTIVE" ; +VAL_ 697 DAS_jerkMin 511 "SNA" ; +VAL_ 697 DAS_jerkMax 255 "SNA" ; +VAL_ 697 DAS_accelMin 511 "SNA" ; +VAL_ 697 DAS_accelMax 511 "SNA" ; +VAL_ 780 occupancyStatus 1 "OCCUPIED" 0 "UNOCCUPIED" ; +VAL_ 780 buckleStatus 1 "LATCHED" 0 "UNLATCHED" ; +VAL_ 792 BOOT_STATE 2 "Init" 3 "SNA" 0 "closed" 1 "open" ; +VAL_ 792 CERRD 1 "CAN error detect" 0 "no Can error detected" ; +VAL_ 792 DAY 1 "Init" 0 "SNA" ; +VAL_ 792 DOOR_STATE_FL 2 "Init" 3 "SNA" 0 "closed" 1 "open" ; +VAL_ 792 DOOR_STATE_FR 2 "Init" 3 "SNA" 0 "closed" 1 "open" ; +VAL_ 792 DOOR_STATE_FrontTrunk 2 "Init" 3 "SNA" 0 "closed" 1 "open" ; +VAL_ 792 DOOR_STATE_RL 2 "Init" 3 "SNA" 0 "closed" 1 "open" ; +VAL_ 792 DOOR_STATE_RR 2 "Init" 3 "SNA" 0 "closed" 1 "open" ; +VAL_ 792 GTW_updateInProgress 1 "IN_PROGRESS" 2 "IN_PROGRESS_NOT_USED" 3 "IN_PROGRESS_SNA" 0 "NOT_IN_PROGRESS" ; +VAL_ 792 Hour 30 "Init" 31 "SNA" ; +VAL_ 792 MCU_factoryMode 1 "FACTORY_MODE" 0 "NORMAL_MODE" ; +VAL_ 792 MCU_transportModeOn 0 "NORMAL_MODE" ; +VAL_ 792 MINUTE 62 "Init" 63 "SNA" ; +VAL_ 792 MONTH 1 "Init" 15 "SNA" ; +VAL_ 792 SECOND 62 "Init" 63 "SNA" ; +VAL_ 792 YEAR 126 "Init" 127 "SNA" ; +VAL_ 872 DI_aebState 2 "ENABLED" 4 "FAULT" 7 "SNA" 1 "STANDBY" 3 "STANDSTILL" 0 "UNAVAILABLE" ; +VAL_ 872 DI_analogSpeed 4095 "SNA" ; +VAL_ 872 DI_cruiseState 2 "ENABLED" 5 "FAULT" 0 "OFF" 4 "OVERRIDE" 7 "PRE_CANCEL" 6 "PRE_FAULT" 1 "STANDBY" 3 "STANDSTILL" ; +VAL_ 872 DI_digitalSpeed 255 "SNA" ; +VAL_ 872 DI_immobilizerState 2 "AUTHENTICATING" 3 "DISARMED" 6 "FAULT" 4 "IDLE" 0 "INIT_SNA" 1 "REQUEST" 5 "RESET" ; +VAL_ 872 DI_speedUnits 1 "KPH" 0 "MPH" ; +VAL_ 872 DI_state 3 "ABORT" 4 "ENABLE" 2 "FAULT" 1 "STANDBY" 0 "UNAVAILABLE" ; +VAL_ 872 DI_systemState 3 "ABORT" 4 "ENABLE" 2 "FAULT" 1 "STANDBY" 0 "UNAVAILABLE" ; +VAL_ 872 DI_vehicleHoldState 2 "BLEND_IN" 4 "BLEND_OUT" 6 "FAULT" 7 "INIT" 5 "PARK" 1 "STANDBY" 3 "STANDSTILL" 0 "UNAVAILABLE" ; +VAL_ 880 EPAS_currentTuneMode 1 "DM_COMFORT" 3 "DM_SPORT" 2 "DM_STANDARD" 0 "FAIL_SAFE_DEFAULT" 4 "RWD_COMFORT" 6 "RWD_SPORT" 5 "RWD_STANDARD" 7 "UNAVAILABLE" ; +VAL_ 880 EPAS_eacErrorCode 14 "EAC_ERROR_EPB_INHIBIT" 3 "EAC_ERROR_HANDS_ON" 7 "EAC_ERROR_HIGH_ANGLE_RATE_REQ" 9 "EAC_ERROR_HIGH_ANGLE_RATE_SAFETY" 6 "EAC_ERROR_HIGH_ANGLE_REQ" 8 "EAC_ERROR_HIGH_ANGLE_SAFETY" 10 "EAC_ERROR_HIGH_MMOT_SAFETY" 11 "EAC_ERROR_HIGH_TORSION_SAFETY" 0 "EAC_ERROR_IDLE" 12 "EAC_ERROR_LOW_ASSIST" 2 "EAC_ERROR_MAX_SPEED" 1 "EAC_ERROR_MIN_SPEED" 13 "EAC_ERROR_PINION_VEL_DIFF" 4 "EAC_ERROR_TMP_FAULT" 5 "EAR_ERROR_MAX_STEER_DELTA" 15 "SNA" ; +VAL_ 880 EPAS_eacStatus 2 "EAC_ACTIVE" 1 "EAC_AVAILABLE" 3 "EAC_FAULT" 0 "EAC_INHIBITED" 4 "SNA" ; +VAL_ 880 EPAS_handsOnLevel 0 "0" 1 "1" 2 "2" 3 "3" ; +VAL_ 880 EPAS_steeringFault 1 "FAULT" 0 "NO_FAULT" ; +VAL_ 880 EPAS_steeringRackForce 1022 "NOT_IN_SPEC" 1023 "SNA" ; +VAL_ 880 EPAS_steeringReduced 0 "NORMAL_ASSIST" 1 "REDUCED_ASSIST" ; +VAL_ 880 EPAS_torsionBarTorque 0 "SEE_SPECIFICATION" 4095 "SNA" 4094 "UNDEFINABLE_DATA" ; +VAL_ 904 MCU_clusterReadyForDrive 0 "NO_SNA" 1 "YES" ; +VAL_ 905 DAS_accSpeedLimit 1023 "SNA" 0 "NONE" ; +VAL_ 905 DAS_pmmObstacleSeverity 7 "PMM_SNA" 6 "PMM_ACCEL_LIMIT" 5 "PMM_CRASH_FRONT" 4 "PMM_CRASH_REAR" 3 "PMM_BRAKE_REQUEST" 2 "PMM_IMMINENT_FRONT" 1 "PMM_IMMINENT_REAR" 0 "PMM_NONE" ; +VAL_ 905 DAS_pmmLoggingRequest 1 "TRUE" 0 "FALSE" ; +VAL_ 905 DAS_activationFailureStatus 2 "LC_ACTIVATION_FAILED_2" 1 "LC_ACTIVATION_FAILED_1" 0 "LC_ACTIVATION_IDLE" ; +VAL_ 905 DAS_pmmUltrasonicsFaultReason 4 "PMM_ULTRASONICS_INVALID_MIA" 3 "PMM_ULTRASONICS_BLOCKED_BOTH" 2 "PMM_ULTRASONICS_BLOCKED_REAR" 1 "PMM_ULTRASONICS_BLOCKED_FRONT" 0 "PMM_ULTRASONICS_NO_FAULT" ; +VAL_ 905 DAS_pmmRadarFaultReason 2 "PMM_RADAR_INVALID_MIA" 1 "PMM_RADAR_BLOCKED_FRONT" 0 "PMM_RADAR_NO_FAULT" ; +VAL_ 905 DAS_pmmSysFaultReason 7 "PMM_FAULT_BRAKE_PEDAL_INHIBIT" 6 "PMM_FAULT_ROAD_TYPE" 5 "PMM_FAULT_DISABLED_BY_USER" 4 "PMM_FAULT_STEERING_ANGLE_RATE" 3 "PMM_FAULT_DI_FAULT" 2 "PMM_FAULT_SPEED" 1 "PMM_FAULT_DAS_DISABLED" 0 "PMM_FAULT_NONE" ; +VAL_ 905 DAS_pmmCameraFaultReason 2 "PMM_CAMERA_INVALID_MIA" 1 "PMM_CAMERA_BLOCKED_FRONT" 0 "PMM_CAMERA_NO_FAULT" ; +VAL_ 905 DAS_ACC_report 24 "ACC_REPORT_BEHAVIOR_REPORT" 23 "ACC_REPORT_CAMERA_ONLY" 22 "ACC_REPORT_RADAR_OBJ_FIVE" 21 "ACC_REPORT_CIPV_CUTTING_OUT" 20 "ACC_REPORT_MCVLR_IN_PATH" 19 "ACC_REPORT_MCVLR_DPP" 18 "ACC_REPORT_FLEET_SPEEDS" 17 "ACC_REPORT_TARGET_MCP" 16 "ACC_REPORT_RADAR_OBJ_TWO" 15 "ACC_REPORT_RADAR_OBJ_ONE" 14 "ACC_REPORT_LC_EXTERNAL_STATE_ACTIVE_RESTRICTED" 13 "ACC_REPORT_LC_EXTERNAL_STATE_ABORTED" 12 "ACC_REPORT_LC_EXTERNAL_STATE_ABORTING" 11 "ACC_REPORT_LC_HANDS_ON_REQD_STRUCK_OUT" 10 "ACC_REPORT_CSA" 9 "ACC_REPORT_TARGET_TYPE_FAULT" 8 "ACC_REPORT_TARGET_TYPE_IPSO" 7 "ACC_REPORT_TARGET_TYPE_TRAFFIC_LIGHT" 6 "ACC_REPORT_TARGET_TYPE_STOP_SIGN" 5 "ACC_REPORT_TARGET_CUTIN" 4 "ACC_REPORT_TARGET_MCVR" 3 "ACC_REPORT_TARGET_MCVL" 2 "ACC_REPORT_TARGET_IN_FRONT_OF_CIPV" 1 "ACC_REPORT_TARGET_CIPV" 0 "ACC_REPORT_TARGET_NONE" ; +VAL_ 905 DAS_lssState 7 "LSS_STATE_OFF" 6 "LSS_STATE_ABORT" 5 "LSS_STATE_BLINDSPOT" 4 "LSS_STATE_MONITOR" 3 "LSS_STATE_ELK" 2 "LSS_STATE_LKA" 1 "LSS_STATE_LDW" 0 "LSS_STATE_FAULT" ; +VAL_ 905 DAS_radarTelemetry 2 "RADAR_TELEMETRY_URGENT" 1 "RADAR_TELEMETRY_NORMAL" 0 "RADAR_TELEMETRY_IDLE" ; +VAL_ 905 DAS_robState 3 "ROB_STATE_MAPLESS" 2 "ROB_STATE_ACTIVE" 1 "ROB_STATE_MEASURE" 0 "ROB_STATE_INHIBITED" ; +VAL_ 905 DAS_driverInteractionLevel 2 "CONTINUED_DRIVER_NOT_INTERACTING" 1 "DRIVER_NOT_INTERACTING" 0 "DRIVER_INTERACTING" ; +VAL_ 905 DAS_ppOffsetDesiredRamp 128 "PP_NO_OFFSET" ; +VAL_ 905 DAS_longCollisionWarning 15 "FCM_LONG_COLLISION_WARNING_SNA" 12 "FCM_LONG_COLLISION_WARNING_VEHICLE_CIPV2" 11 "FCM_LONG_COLLISION_WARNING_VEHICLE_MCVR2" 10 "FCM_LONG_COLLISION_WARNING_VEHICLE_MCVR" 9 "FCM_LONG_COLLISION_WARNING_VEHICLE_MCVL2" 8 "FCM_LONG_COLLISION_WARNING_VEHICLE_MCVL" 7 "FCM_LONG_COLLISION_WARNING_VEHICLE_CUTIN" 6 "FCM_LONG_COLLISION_WARNING_VEHICLE_CIPV" 5 "FCM_LONG_COLLISION_WARNING_TFL_STOPLINE" 4 "FCM_LONG_COLLISION_WARNING_STOPSIGN_STOPLINE" 3 "FCM_LONG_COLLISION_WARNING_IPSO" 2 "FCM_LONG_COLLISION_WARNING_PEDESTRIAN" 1 "FCM_LONG_COLLISION_WARNING_VEHICLE_UNKNOWN" 0 "FCM_LONG_COLLISION_WARNING_NONE" ; +VAL_ 921 autopilotStatus 5 "ACTIVE_NAVIGATE_ON_AUTOPILOT" 4 "ACTIVE_2" 3 "ACTIVE_1" 2 "AVAILABLE" 1 "UNAVAILABLE" 0 "DISABLED" ; +VAL_ 921 DAS_blindSpotRearLeft 3 "SNA" 2 "WARNING_LEVEL_2" 1 "WARNING_LEVEL_1" 0 "NO_WARNING" ; +VAL_ 921 DAS_blindSpotRearRight 3 "SNA" 2 "WARNING_LEVEL_2" 1 "WARNING_LEVEL_1" 0 "NO_WARNING" ; +VAL_ 921 DAS_fusedSpeedLimit 31 "NONE" 0 "UNKNOWN_SNA" ; +VAL_ 921 DAS_suppressSpeedWarning 1 "Suppress_Speed_Warning" 0 "Do_Not_Suppress" ; +VAL_ 921 DAS_visionOnlySpeedLimit 31 "NONE" 0 "UNKNOWN_SNA" ; +VAL_ 921 DAS_heaterState 1 "HEATER_ON" 0 "HEATER_OFF_SNA" ; +VAL_ 921 DAS_forwardCollisionWarning 3 "SNA" 1 "FORWARD_COLLISION_WARNING" 0 "NONE" ; +VAL_ 921 DAS_autoparkReady 1 "AUTOPARK_READY" 0 "AUTOPARK_UNAVAILABLE" ; +VAL_ 921 DAS_sideCollisionAvoid 3 "SNA" 2 "AVOID_RIGHT" 1 "AVOID_LEFT" 0 "NONE" ; +VAL_ 921 DAS_sideCollisionWarning 3 "WARN_LEFT_RIGHT" 2 "WARN_RIGHT" 1 "WARN_LEFT" 0 "NONE" ; +VAL_ 921 DAS_sideCollisionInhibit 1 "INHIBIT" 0 "NO_INHIBIT" ; +VAL_ 921 DAS_csaState 3 "CSA_EXTERNAL_STATE_HOLD" 2 "CSA_EXTERNAL_STATE_ENABLE" 1 "CSA_EXTERNAL_STATE_AVAILABLE" 0 "CSA_EXTERNAL_STATE_UNAVAILABLE" ; +VAL_ 921 DAS_laneDepartureWarning 5 "SNA" 4 "RIGHT_WARNING_SEVERE" 3 "LEFT_WARNING_SEVERE" 2 "RIGHT_WARNING" 1 "LEFT_WARNING" 0 "NONE" ; +VAL_ 921 DAS_fleetSpeedState 3 "FLEETSPEED_HOLD" 2 "FLEETSPEED_ACTIVE" 1 "FLEETSPEED_AVAILABLE" 0 "FLEETSPEED_UNAVAILABLE" ; +VAL_ 921 DAS_autopilotHandsOnState 15 "LC_HANDS_ON_SNA" 8 "LC_HANDS_ON_SUSPENDED" 7 "LC_HANDS_ON_REQD_STRUCK_OUT" 5 "LC_HANDS_ON_REQD_CHIME_2" 4 "LC_HANDS_ON_REQD_CHIME_1" 3 "LC_HANDS_ON_REQD_VISUAL" 2 "LC_HANDS_ON_REQD_NOT_DETECTED" 1 "LC_HANDS_ON_REQD_DETECTED" 0 "LC_HANDS_ON_NOT_REQD" ; +VAL_ 921 DAS_autoLaneChangeState 31 "ALC_SNA" 30 "ALC_ABORT_MISSION_PLAN_INVALID" 29 "ALC_ABORT_TIMEOUT" 28 "ALC_WAITING_HANDS_ON" 27 "ALC_BLOCKED_LANE_TYPE_R" 26 "ALC_BLOCKED_LANE_TYPE_L" 25 "ALC_BLOCKED_VEH_TTC_AND_USS_R" 24 "ALC_BLOCKED_VEH_TTC_R" 23 "ALC_BLOCKED_VEH_TTC_AND_USS_L" 22 "ALC_BLOCKED_VEH_TTC_L" 21 "ALC_UNAVAILABLE_SOLID_LANE_LINE" 20 "ALC_ABORT_OTHER_REASON" 19 "ALC_ABORT_BLINKER_TURNED_OFF" 18 "ALC_ABORT_LC_HEALTH_BAD" 17 "ALC_ABORT_POOR_VIEW_RANGE" 16 "ALC_ABORT_SIDE_OBSTACLE_PRESENT_R" 15 "ALC_ABORT_SIDE_OBSTACLE_PRESENT_L" 14 "ALC_WAITING_FOR_FWD_OBST_TO_PASS_R" 13 "ALC_WAITING_FOR_FWD_OBST_TO_PASS_L" 12 "ALC_WAITING_FOR_SIDE_OBST_TO_PASS_R" 11 "ALC_WAITING_FOR_SIDE_OBST_TO_PASS_L" 10 "ALC_IN_PROGRESS_R" 9 "ALC_IN_PROGRESS_L" 8 "ALC_AVAILABLE_BOTH" 7 "ALC_AVAILABLE_ONLY_R" 6 "ALC_AVAILABLE_ONLY_L" 5 "ALC_UNAVAILABLE_VEHICLE_SPEED" 4 "ALC_UNAVAILABLE_EXITING_HIGHWAY" 3 "ALC_UNAVAILABLE_TP_FOLLOW" 2 "ALC_UNAVAILABLE_SONICS_INVALID" 1 "ALC_UNAVAILABLE_NO_LANES" 0 "ALC_UNAVAILABLE_DISABLED" ; +VAL_ 1001 DAS_headlightRequest 3 "DAS_HEADLIGHT_REQUEST_INVALID" 1 "DAS_HEADLIGHT_REQUEST_ON" 0 "DAS_HEADLIGHT_REQUEST_OFF" ; +VAL_ 1001 DAS_hazardLightRequest 3 "DAS_REQUEST_HAZARDS_SNA" 2 "DAS_REQUEST_HAZARDS_UNUSED" 1 "DAS_REQUEST_HAZARDS_ON" 0 "DAS_REQUEST_HAZARDS_OFF" ; +VAL_ 1001 DAS_wiperSpeed 15 "DAS_WIPER_SPEED_INVALID" 14 "DAS_WIPER_SPEED_14" 13 "DAS_WIPER_SPEED_13" 12 "DAS_WIPER_SPEED_12" 11 "DAS_WIPER_SPEED_11" 10 "DAS_WIPER_SPEED_10" 9 "DAS_WIPER_SPEED_9" 8 "DAS_WIPER_SPEED_8" 7 "DAS_WIPER_SPEED_7" 6 "DAS_WIPER_SPEED_6" 5 "DAS_WIPER_SPEED_5" 4 "DAS_WIPER_SPEED_4" 3 "DAS_WIPER_SPEED_3" 2 "DAS_WIPER_SPEED_2" 1 "DAS_WIPER_SPEED_1" 0 "DAS_WIPER_SPEED_OFF" ; +VAL_ 1001 DAS_turnIndicatorRequest 3 "DAS_TURN_INDICATOR_CANCEL" 2 "DAS_TURN_INDICATOR_RIGHT" 1 "DAS_TURN_INDICATOR_LEFT" 0 "DAS_TURN_INDICATOR_NONE" ; +VAL_ 1001 DAS_highLowBeamDecision 3 "DAS_HIGH_BEAM_SNA" 2 "DAS_HIGH_BEAM_ON" 1 "DAS_HIGH_BEAM_OFF" 0 "DAS_HIGH_BEAM_UNDECIDED" ; +VAL_ 1001 DAS_highLowBeamOffReason 5 "HIGH_BEAM_OFF_REASON_SNA" 4 "HIGH_BEAM_OFF_REASON_HEAD_LIGHT" 3 "HIGH_BEAM_OFF_REASON_AMBIENT_LIGHT" 2 "HIGH_BEAM_OFF_REASON_MOVING_RADAR_TARGET" 1 "HIGH_BEAM_OFF_REASON_MOVING_VISION_TARGET" 0 "HIGH_BEAM_ON" ; +VAL_ 1001 DAS_turnIndicatorRequestReason 6 "DAS_ACTIVE_COMMANDED_LANE_CHANGE" 5 "DAS_CANCEL_FORK" 4 "DAS_CANCEL_LANE_CHANGE" 3 "DAS_ACTIVE_FORK" 2 "DAS_ACTIVE_SPEED_LANE_CHANGE" 1 "DAS_ACTIVE_NAV_LANE_CHANGE" 0 "DAS_NONE" ; +VAL_ 1160 DAS_steeringAngleRequest 16384 "ZERO_ANGLE" ; +VAL_ 1160 DAS_steeringControlType 1 "ANGLE_CONTROL" 3 "DISABLED" 0 "NONE" 2 "RESERVED" ; +VAL_ 1160 DAS_steeringHapticRequest 1 "ACTIVE" 0 "IDLE" ; + + diff --git a/opendbc_repo/opendbc/dbc/tesla_model3_party.dbc b/opendbc_repo/opendbc/dbc/tesla_model3_party.dbc new file mode 100644 index 0000000000..fa1b72b249 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/tesla_model3_party.dbc @@ -0,0 +1,331 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: CH DIPF DIPR ETH FC HVI HVS PARTY SDCV VEH VIRT + + +BO_ 905 DAS_status2: 8 PARTY + SG_ DAS_status2Checksum : 56|8@1+ (1,0) [0|255] "" aps + SG_ DAS_status2Counter : 52|4@1+ (1,0) [0|15] "" aps + SG_ DAS_longCollisionWarning : 48|4@1+ (1,0) [0|15] "" aps + SG_ DAS_ppOffsetDesiredRamp : 40|8@1+ (0.01,-1.28) [-1.28|1.27] "m" aps + SG_ DAS_driverInteractionLevel : 38|2@1+ (1,0) [0|2] "" aps + SG_ DAS_robState : 36|2@1+ (1,0) [0|3] "" aps + SG_ DAS_radarTelemetry : 34|2@1+ (1,0) [0|2] "" aps + SG_ DAS_lssState : 31|3@1+ (1,0) [0|7] "" aps + SG_ DAS_ACC_report : 26|5@1+ (1,0) [0|24] "" aps + SG_ DAS_pmmCameraFaultReason : 24|2@1+ (1,0) [0|2] "" aps + SG_ DAS_pmmSysFaultReason : 21|3@1+ (1,0) [0|7] "" aps + SG_ DAS_pmmRadarFaultReason : 19|2@1+ (1,0) [0|2] "" aps + SG_ DAS_pmmUltrasonicsFaultReason : 16|3@1+ (1,0) [0|4] "" aps + SG_ DAS_activationFailureStatus : 14|2@1+ (1,0) [0|2] "" aps + SG_ DAS_pmmLoggingRequest : 13|1@1+ (1,0) [0|1] "" aps + SG_ DAS_pmmObstacleSeverity : 10|3@1+ (1,0) [0|7] "" aps + SG_ DAS_accSpeedLimit : 0|10@1+ (0.2,0) [0|204.6] "mph" aps + +BO_ 264 DI_torque: 8 PARTY + SG_ DI_axleSpeed : 40|16@1- (0.1,0.0) [-2750|2750] "RPM" epas3s + SG_ DI_torqueActual : 27|13@1- (2,0) [-7500|7500] "Nm" X + SG_ DI_torqueCommand : 12|13@1- (2,0) [-7500|7500] "Nm" X + SG_ DI_torqueCounter : 8|4@1+ (1,0) [0|15] "" epas3s + SG_ DI_torqueChecksum : 0|8@1+ (1,0) [0|255] "" epas3s + +BO_ 585 SCCM_leftStalk: 3 PARTY + SG_ SCCM_leftStalkReserved1 : 19|5@1+ (1,0) [0|31] "" X + SG_ SCCM_turnIndicatorStalkStatus : 16|3@1+ (1,0) [0|5] "" park + SG_ SCCM_washWipeButtonStatus : 14|2@1+ (1,0) [0|3] "" X + SG_ SCCM_highBeamStalkStatus : 12|2@1+ (1,0) [0|3] "" X + SG_ SCCM_leftStalkCounter : 8|4@1+ (1,0) [0|15] "" X + SG_ SCCM_leftStalkCrc : 0|8@1+ (1,0) [0|255] "" X + +BO_ 280 DI_systemStatus: 8 PARTY + SG_ DI_trackModeState : 48|2@1+ (1,0) [0|2] "" X + SG_ DI_keepAliveRequest : 47|1@1+ (1,0) [0|1] "" X + SG_ DI_proximity : 46|1@1+ (1,0) [0|1] "" X + SG_ DI_epbRequest : 44|2@1+ (1,0) [0|2] "" X + SG_ DI_tractionControlMode : 40|3@1+ (1,0) [0|5] "" X + SG_ DI_accelPedalPos : 32|8@1+ (0.4,0) [0|100] "%" X + SG_ DI_immobilizerState : 27|3@1+ (1,0) [0|6] "" X + SG_ DI_regenLight : 26|1@1+ (1,0) [0|1] "" X + SG_ DI_gear : 21|3@1+ (1,0) [0|7] "" park + SG_ DI_brakePedalState : 19|2@1+ (1,0) [0|2] "" X + SG_ DI_systemState : 16|3@1+ (1,0) [0|5] "" X + SG_ DI_systemStatusCounter : 8|4@1+ (1,0) [0|15] "" X + SG_ DI_systemStatusChecksum : 0|8@1+ (1,0) [0|255] "" X + +BO_ 697 DAS_control: 8 PARTY + SG_ DAS_controlChecksum : 56|8@1+ (1,0) [0|255] "" aps + SG_ DAS_controlCounter : 53|3@1+ (1,0) [0|7] "" aps + SG_ DAS_accelMax : 44|9@1+ (0.04,-15) [-15|5.44] "m/s^2" aps + SG_ DAS_accelMin : 35|9@1+ (0.04,-15) [-15|5.44] "m/s^2" aps + SG_ DAS_jerkMax : 27|8@1+ (0.034,0) [0|8.67] "m/s^3" aps + SG_ DAS_jerkMin : 18|9@1+ (0.018,-9.1) [-9.1|0.097999999999999] "m/s^3" aps + SG_ DAS_aebEvent : 16|2@1+ (1,0) [0|3] "" aps + SG_ DAS_accState : 12|4@1+ (1,0) [0|15] "" aps + SG_ DAS_setSpeed : 0|12@1+ (0.1,0) [0|409.4] "kph" aps + +BO_ 341 ESP_B: 8 PARTY + SG_ ESP_wheelRotationChecksum : 56|8@1+ (1,0) [0|255] "" app + SG_ ESP_wheelRotationCounter : 52|4@1+ (1,0) [0|15] "" app + SG_ ESP_vehicleSpeed : 42|10@1+ (0.5,0) [0|511] "kph" app + SG_ ESP_vehicleStandstillSts : 41|1@1+ (1,0) [0|1] "" park + SG_ ESP_wheelSpeedsQF : 40|1@1+ (1,0) [0|1] "" epas3s + SG_ ESP_WheelRotationFrL : 38|2@1+ (1,0) [0|3] "" aps + SG_ ESP_WheelRotationFrR : 36|2@1+ (1,0) [0|3] "" aps + SG_ ESP_WheelRotationReL : 34|2@1+ (1,0) [0|3] "" aps + SG_ ESP_WheelRotationReR : 32|2@1+ (1,0) [0|3] "" aps + SG_ ESP_wheelPulseCountReR : 24|8@1+ (1,0) [0|254] "1" das + SG_ ESP_wheelPulseCountReL : 16|8@1+ (1,0) [0|254] "1" das + SG_ ESP_wheelPulseCountFrR : 8|8@1+ (1,0) [0|254] "1" app + SG_ ESP_wheelPulseCountFrL : 0|8@1+ (1,0) [0|254] "1" app + +BO_ 969 APS_status: 4 PARTY + SG_ APS_statusCounter : 22|4@1+ (1,0) [0|15] "" X + SG_ APS_apbGpioState : 20|2@1+ (1,0) [0|3] "" gtw + SG_ APS_apbStatusMonitorState : 16|3@1+ (1,0) [0|7] "" gtw + SG_ APS_switchState : 15|1@1+ (1,0) [0|1] "" X + SG_ APS_eacInternalState : 12|3@1+ (1,0) [0|7] "" gtw + SG_ APS_appGpioState : 10|2@1+ (1,0) [0|3] "" gtw + SG_ APS_canMaster : 8|2@1+ (1,0) [0|3] "" gtw + SG_ APS_vehBehaviorState : 4|3@1+ (1,0) [0|7] "" gtw + SG_ APS_appStatusMonitorState : 0|3@1+ (1,0) [0|7] "" gtw + +BO_ 925 IBST_status: 5 PARTY + SG_ IBST_sInputRodDriver : 21|12@1+ (0.015625,-5) [-5|47] "mm" gtw + SG_ IBST_internalState : 18|3@1+ (1,0) [0|6] "" gtw + SG_ IBST_driverBrakeApply : 16|2@1+ (1,0) [0|3] "" gtw + SG_ IBST_iBoosterStatus : 12|3@1+ (1,0) [0|6] "" gtw + SG_ IBST_statusCounter : 8|4@1+ (1,0) [0|15] "" X + SG_ IBST_statusChecksum : 0|8@1+ (1,0) [0|255] "" X + +BO_ 880 EPAS3S_sysStatus: 8 PARTY + SG_ EPAS3S_sysStatusChecksum : 63|8@0+ (1,0) [0|255] "" park + SG_ EPAS3S_sysStatusCounter : 51|4@0+ (1,0) [0|15] "" gtw + SG_ EPAS3S_eacStatus : 55|3@0+ (1,0) [0|7] "" das + SG_ EPAS3S_internalSAS : 37|14@0+ (0.1,-819.2) [-819.2|819] "deg" das + SG_ EPAS3S_handsOnLevel : 39|2@0+ (1,0) [0|3] "" das + SG_ EPAS3S_torsionBarTorque : 19|12@0+ (0.01,-20.5) [-20.5|20.45] "Nm" das + SG_ EPAS3S_eacErrorCode : 23|4@0+ (1,0) [0|15] "" das + SG_ EPAS3S_steeringRackForce : 1|10@0+ (50,-25575) [-25575|25575] "N" gtw + SG_ EPAS3S_steeringFault : 2|1@0+ (1,0) [0|1] "" das + SG_ EPAS3S_steeringReduced : 3|1@0+ (1,0) [0|1] "" das + SG_ EPAS3S_internalSASQF : 4|1@0+ (1,0) [0|1] "" gtw + SG_ EPAS3S_currentTuneMode : 7|3@0+ (1,0) [0|5] "" gtw + +BO_ 599 DI_speed: 8 PARTY + SG_ DI_uiSpeedUnits : 32|1@1+ (1,0) [0|1] "" das + SG_ DI_uiSpeed : 24|8@1+ (1,0) [0|254] "" das + SG_ DI_vehicleSpeed : 12|12@1+ (0.08,-40) [-40|285] "kph" park + SG_ DI_speedCounter : 8|4@1+ (1,0) [0|15] "" park + SG_ DI_speedChecksum : 0|8@1+ (1,0) [0|255] "" park + +BO_ 1160 DAS_steeringControl: 4 PARTY + SG_ DAS_steeringControlChecksum : 31|8@0+ (1,0) [0|255] "" aps + SG_ DAS_steeringControlCounter : 19|4@0+ (1,0) [0|15] "" aps + SG_ DAS_steeringControlType : 23|2@0+ (1,0) [0|3] "" aps + SG_ DAS_steeringAngleRequest : 6|15@0+ (0.1,-1638.35) [-1638.35|1638.35] "deg" aps + SG_ DAS_steeringHapticRequest : 7|1@0+ (1,0) [0|1] "" aps + +BO_ 297 SCCM_steeringAngleSensor: 8 PARTY + SG_ SCCM_steeringAngleSensorReservd3 : 56|8@1+ (1,0) [0|255] "" X + SG_ SCCM_steeringAngleSensorReservd2 : 48|8@1+ (1,0) [0|255] "" X + SG_ SCCM_steeringAngleSensorReservd1 : 46|2@1+ (1,0) [0|3] "" X + SG_ SCCM_steeringAngleSpeed : 32|14@1+ (0.5,-4096) [-4096|4095.5] "deg/s" park + SG_ SCCM_steeringAngleValidity : 30|2@1+ (1,0) [0|3] "" park + SG_ SCCM_steeringAngle : 16|14@1+ (0.1,-819.2) [-819.2|819] "deg" epas3s + SG_ SCCM_steeringAngleSensorStatus : 14|2@1+ (1,0) [0|3] "" epas3s + SG_ SCCM_supplierID : 12|2@1+ (1,0) [0|3] "" park + SG_ SCCM_steeringAngleCounter : 8|4@1+ (1,0) [0|15] "" epas3s + SG_ SCCM_steeringAngleCrc : 0|8@1+ (1,0) [0|255] "" epas3s + +BO_ 646 DI_state: 7 ETH + SG_ DI_summonInPanic : 48|1@1+ (1,0) [0|0] "" X + SG_ DI_rollPreventionState : 45|3@1+ (1,0) [0|0] "" X + SG_ DI_vehicleHoldState : 42|3@1+ (1,0) [0|0] "" X + SG_ DI_pmmStatus : 40|2@1+ (1,0) [0|0] "" X + SG_ DI_aebState : 37|3@1+ (1,0) [0|0] "" X + SG_ DI_autopilotRequest : 36|1@1+ (1,0) [0|0] "" X + SG_ DI_parkBrakeState : 32|4@1+ (1,0) [0|0] "" X + SG_ DI_autoparkState : 25|4@1+ (1,0) [0|0] "" X + SG_ DI_speedUnits : 24|1@1+ (1,0) [0|0] "" X + SG_ DI_digitalSpeed : 15|9@1+ (0.5,0) [0|0] "speed" X + SG_ DI_cruiseState : 12|3@1+ (1,0) [0|0] "" X + SG_ DI_locStatusCounter : 8|4@1+ (1,0) [0|0] "" X + SG_ DI_locStatusChecksum : 0|8@1+ (1,0) [0|0] "" X + +BO_ 785 UI_warning: 7 XXX + SG_ buckleStatus : 13|1@0+ (1,0) [0|1] "" XXX + SG_ anyDoorOpen : 28|1@0+ (1,0) [0|1] "" XXX + +BO_ 923 DAS_status: 8 PARTY + SG_ DAS_statusChecksum : 56|8@1+ (1,0) [0|255] "" aps + SG_ DAS_statusCounter : 52|4@1+ (1,0) [0|15] "" aps + SG_ DAS_summonAvailable : 51|1@1+ (1,0) [0|1] "" aps + SG_ DAS_autoLaneChangeState : 46|5@1+ (1,0) [0|31] "" aps + SG_ DAS_autopilotHandsOnState : 42|4@1+ (1,0) [0|15] "" aps + SG_ DAS_fleetSpeedState : 40|2@1+ (1,0) [0|3] "" aps + SG_ DAS_laneDepartureWarning : 37|3@1+ (1,0) [0|5] "" aps + SG_ DAS_csaState : 35|2@1+ (1,0) [0|3] "" aps + SG_ DAS_sideCollisionInhibit : 34|1@1+ (1,0) [0|1] "" aps + SG_ DAS_sideCollisionWarning : 32|2@1+ (1,0) [0|3] "" aps + SG_ DAS_sideCollisionAvoid : 30|2@1+ (1,0) [0|3] "" aps + SG_ DAS_summonRvsLeashReached : 29|1@1+ (1,0) [0|1] "" aps + SG_ DAS_summonFwdLeashReached : 28|1@1+ (1,0) [0|1] "" aps + SG_ DAS_autoparkWaitingForBrake : 26|1@1+ (1,0) [0|1] "" gtw + SG_ DAS_autoParked : 25|1@1+ (1,0) [0|1] "" aps + SG_ DAS_autoparkReady : 24|1@1+ (1,0) [0|1] "" aps + SG_ DAS_forwardCollisionWarning : 22|2@1+ (1,0) [0|3] "" aps + SG_ DAS_heaterState : 21|1@1+ (1,0) [0|1] "" gtw + SG_ DAS_visionOnlySpeedLimit : 16|5@1+ (5,0) [0|150] "kph/mph" aps + SG_ DAS_summonClearedGate : 15|1@1+ (1,0) [0|1] "" aps + SG_ DAS_summonObstacle : 14|1@1+ (1,0) [0|1] "" aps + SG_ DAS_suppressSpeedWarning : 13|1@1+ (1,0) [0|1] "" aps + SG_ DAS_fusedSpeedLimit : 8|5@1+ (5,0) [0|150] "kph/mph" aps + SG_ DAS_blindSpotRearRight : 6|2@1+ (1,0) [0|3] "" aps + SG_ DAS_blindSpotRearLeft : 4|2@1+ (1,0) [0|3] "" aps + SG_ DAS_autopilotState : 0|4@1+ (1,0) [0|15] "" aps + + + + + + + + +VAL_ 905 DAS_longCollisionWarning 7 "FCM_LONG_COLLISION_WARNING_VEHICLE_CUTIN" 0 "FCM_LONG_COLLISION_WARNING_NONE" 4 "FCM_LONG_COLLISION_WARNING_STOPSIGN_STOPLINE" 9 "FCM_LONG_COLLISION_WARNING_VEHICLE_MCVL2" 15 "FCM_LONG_COLLISION_WARNING_SNA" 8 "FCM_LONG_COLLISION_WARNING_VEHICLE_MCVL" 5 "FCM_LONG_COLLISION_WARNING_TFL_STOPLINE" 2 "FCM_LONG_COLLISION_WARNING_PEDESTRIAN" 12 "FCM_LONG_COLLISION_WARNING_VEHICLE_CIPV2" 6 "FCM_LONG_COLLISION_WARNING_VEHICLE_CIPV" 10 "FCM_LONG_COLLISION_WARNING_VEHICLE_MCVR" 3 "FCM_LONG_COLLISION_WARNING_IPSO" 1 "FCM_LONG_COLLISION_WARNING_VEHICLE_UNKNOWN" 11 "FCM_LONG_COLLISION_WARNING_VEHICLE_MCVR2" ; +VAL_ 905 DAS_ppOffsetDesiredRamp 128 "PP_NO_OFFSET" ; +VAL_ 905 DAS_driverInteractionLevel 0 "DRIVER_INTERACTING" 1 "DRIVER_NOT_INTERACTING" 2 "CONTINUED_DRIVER_NOT_INTERACTING" ; +VAL_ 905 DAS_robState 0 "ROB_STATE_INHIBITED" 2 "ROB_STATE_ACTIVE" 3 "ROB_STATE_MAPLESS" 1 "ROB_STATE_MEASURE" ; +VAL_ 905 DAS_radarTelemetry 0 "RADAR_TELEMETRY_IDLE" 1 "RADAR_TELEMETRY_NORMAL" 2 "RADAR_TELEMETRY_URGENT" ; +VAL_ 905 DAS_lssState 7 "LSS_STATE_OFF" 1 "LSS_STATE_LDW" 4 "LSS_STATE_MONITOR" 2 "LSS_STATE_LKA" 3 "LSS_STATE_ELK" 0 "LSS_STATE_FAULT" 5 "LSS_STATE_BLINDSPOT" 6 "LSS_STATE_ABORT" ; +VAL_ 905 DAS_ACC_report 12 "ACC_REPORT_LC_EXTERNAL_STATE_ABORTING" 17 "ACC_REPORT_TARGET_MCP" 11 "ACC_REPORT_LC_HANDS_ON_REQD_STRUCK_OUT" 19 "ACC_REPORT_MCVLR_DPP" 1 "ACC_REPORT_TARGET_CIPV" 15 "ACC_REPORT_RADAR_OBJ_ONE" 16 "ACC_REPORT_RADAR_OBJ_TWO" 14 "ACC_REPORT_LC_EXTERNAL_STATE_ACTIVE_RESTRICTED" 4 "ACC_REPORT_TARGET_MCVR" 20 "ACC_REPORT_MCVLR_IN_PATH" 10 "ACC_REPORT_CSA" 5 "ACC_REPORT_TARGET_CUTIN" 9 "ACC_REPORT_TARGET_TYPE_FAULT" 7 "ACC_REPORT_TARGET_TYPE_TRAFFIC_LIGHT" 6 "ACC_REPORT_TARGET_TYPE_STOP_SIGN" 24 "ACC_REPORT_BEHAVIOR_REPORT" 18 "ACC_REPORT_FLEET_SPEEDS" 2 "ACC_REPORT_TARGET_IN_FRONT_OF_CIPV" 23 "ACC_REPORT_CAMERA_ONLY" 3 "ACC_REPORT_TARGET_MCVL" 22 "ACC_REPORT_RADAR_OBJ_FIVE" 0 "ACC_REPORT_TARGET_NONE" 8 "ACC_REPORT_TARGET_TYPE_IPSO" 21 "ACC_REPORT_CIPV_CUTTING_OUT" 13 "ACC_REPORT_LC_EXTERNAL_STATE_ABORTED" ; +VAL_ 905 DAS_pmmCameraFaultReason 1 "PMM_CAMERA_BLOCKED_FRONT" 2 "PMM_CAMERA_INVALID_MIA" 0 "PMM_CAMERA_NO_FAULT" ; +VAL_ 905 DAS_pmmSysFaultReason 4 "PMM_FAULT_STEERING_ANGLE_RATE" 6 "PMM_FAULT_ROAD_TYPE" 5 "PMM_FAULT_DISABLED_BY_USER" 0 "PMM_FAULT_NONE" 1 "PMM_FAULT_DAS_DISABLED" 3 "PMM_FAULT_DI_FAULT" 2 "PMM_FAULT_SPEED" 7 "PMM_FAULT_BRAKE_PEDAL_INHIBIT" ; +VAL_ 905 DAS_pmmRadarFaultReason 2 "PMM_RADAR_INVALID_MIA" 1 "PMM_RADAR_BLOCKED_FRONT" 0 "PMM_RADAR_NO_FAULT" ; +VAL_ 905 DAS_pmmUltrasonicsFaultReason 2 "PMM_ULTRASONICS_BLOCKED_REAR" 0 "PMM_ULTRASONICS_NO_FAULT" 1 "PMM_ULTRASONICS_BLOCKED_FRONT" 3 "PMM_ULTRASONICS_BLOCKED_BOTH" 4 "PMM_ULTRASONICS_INVALID_MIA" ; +VAL_ 905 DAS_activationFailureStatus 0 "LC_ACTIVATION_IDLE" 2 "LC_ACTIVATION_FAILED_2" 1 "LC_ACTIVATION_FAILED_1" ; +VAL_ 905 DAS_pmmLoggingRequest 0 "FALSE" 1 "TRUE" ; +VAL_ 905 DAS_pmmObstacleSeverity 5 "PMM_CRASH_FRONT" 0 "PMM_NONE" 2 "PMM_IMMINENT_FRONT" 4 "PMM_CRASH_REAR" 1 "PMM_IMMINENT_REAR" 6 "PMM_ACCEL_LIMIT" 7 "PMM_SNA" 3 "PMM_BRAKE_REQUEST" ; +VAL_ 905 DAS_accSpeedLimit 1023 "SNA" 0 "NONE" ; +VAL_ 264 DI_axleSpeed -32768 "SNA" ; +VAL_ 264 DI_torqueActual -4096 "SNA" ; +VAL_ 264 DI_torqueCommand -4096 "SNA" ; +VAL_ 585 SCCM_turnIndicatorStalkStatus 3 "DOWN_1" 5 "SNA" 0 "IDLE" 1 "UP_1" 4 "DOWN_2" 2 "UP_2" ; +VAL_ 585 SCCM_washWipeButtonStatus 3 "SNA" 0 "NOT_PRESSED" 2 "2ND_DETENT" 1 "1ST_DETENT" ; +VAL_ 585 SCCM_highBeamStalkStatus 3 "SNA" 0 "IDLE" 1 "PULL" 2 "PUSH" ; +VAL_ 280 DI_trackModeState 0 "TRACK_MODE_UNAVAILABLE" 1 "TRACK_MODE_AVAILABLE" 2 "TRACK_MODE_ON" ; +VAL_ 280 DI_keepAliveRequest 1 "KEEP_ALIVE" 0 "NO_REQUEST" ; +VAL_ 280 DI_epbRequest 0 "DI_EPBREQUEST_NO_REQUEST" 1 "DI_EPBREQUEST_PARK" 2 "DI_EPBREQUEST_UNPARK" ; +VAL_ 280 DI_tractionControlMode 0 "TC_NORMAL" 1 "TC_SLIP_START" 4 "TC_ROLLS_MODE" 2 "TC_DEV_MODE_1" 5 "TC_DYNO_MODE" 3 "TC_DEV_MODE_2" ; +VAL_ 280 DI_accelPedalPos 255 "SNA" ; +VAL_ 280 DI_immobilizerState 2 "DI_IMM_STATE_AUTHENTICATING" 0 "DI_IMM_STATE_INIT_SNA" 3 "DI_IMM_STATE_DISARMED" 4 "DI_IMM_STATE_IDLE" 6 "DI_IMM_STATE_FAULT" 1 "DI_IMM_STATE_REQUEST" 5 "DI_IMM_STATE_RESET" ; +VAL_ 280 DI_gear 1 "DI_GEAR_P" 0 "DI_GEAR_INVALID" 7 "DI_GEAR_SNA" 2 "DI_GEAR_R" 3 "DI_GEAR_N" 4 "DI_GEAR_D" ; +VAL_ 280 DI_brakePedalState 2 "INVALID" 0 "OFF" 1 "ON" ; +VAL_ 280 DI_systemState 5 "DI_SYS_ENABLE" 1 "DI_SYS_IDLE" 2 "DI_SYS_STANDBY" 0 "DI_SYS_UNAVAILABLE" 3 "DI_SYS_FAULT" 4 "DI_SYS_ABORT" ; +VAL_ 697 DAS_accelMax 511 "SNA" ; +VAL_ 697 DAS_accelMin 511 "SNA" ; +VAL_ 697 DAS_jerkMax 255 "SNA" ; +VAL_ 697 DAS_jerkMin 511 "SNA" ; +VAL_ 697 DAS_aebEvent 2 "AEB_FAULT" 0 "AEB_NOT_ACTIVE" 3 "AEB_SNA" 1 "AEB_ACTIVE" ; +VAL_ 697 DAS_accState 4 "ACC_ON" 9 "APC_PAUSE" 14 "ACC_CANCEL_OUT_OF_CALIBRATION" 10 "APC_UNPARK_COMPLETE" 6 "APC_FORWARD" 3 "ACC_HOLD" 2 "ACC_CANCEL_RADAR_BLIND" 7 "APC_COMPLETE" 1 "ACC_CANCEL_CAMERA_BLIND" 8 "APC_ABORT" 13 "ACC_CANCEL_GENERIC_SILENT" 5 "APC_BACKWARD" 11 "APC_SELFPARK_START" 0 "ACC_CANCEL_GENERIC" 12 "ACC_CANCEL_PATH_NOT_CLEAR" 15 "FAULT_SNA" ; +VAL_ 697 DAS_setSpeed 4095 "SNA" ; +VAL_ 341 ESP_vehicleSpeed 1023 "ESP_VEHICLE_SPEED_SNA" ; +VAL_ 341 ESP_vehicleStandstillSts 1 "STANDSTILL" 0 "NOT_STANDSTILL" ; +VAL_ 341 ESP_wheelSpeedsQF 0 "ONE_OR_MORE_WSS_INVALID" 1 "ALL_WSS_VALID" ; +VAL_ 341 ESP_WheelRotationFrL 1 "WR_BACKWARD" 0 "WR_FORWARD" 3 "WR_NOT_DEFINABLE" 2 "WR_STANDSTILL" ; +VAL_ 341 ESP_WheelRotationFrR 1 "WR_BACKWARD" 0 "WR_FORWARD" 3 "WR_NOT_DEFINABLE" 2 "WR_STANDSTILL" ; +VAL_ 341 ESP_WheelRotationReL 1 "WR_BACKWARD" 0 "WR_FORWARD" 3 "WR_NOT_DEFINABLE" 2 "WR_STANDSTILL" ; +VAL_ 341 ESP_WheelRotationReR 1 "WR_BACKWARD" 0 "WR_FORWARD" 3 "WR_NOT_DEFINABLE" 2 "WR_STANDSTILL" ; +VAL_ 341 ESP_wheelPulseCountReR 255 "SNA" ; +VAL_ 341 ESP_wheelPulseCountReL 255 "SNA" ; +VAL_ 341 ESP_wheelPulseCountFrR 255 "SNA" ; +VAL_ 341 ESP_wheelPulseCountFrL 255 "SNA" ; +VAL_ 969 APS_apbGpioState 0 "AP_GPIO_STATE_PWR_DOWN_REBOOT" 3 "AP_GPIO_STATE_HEALTHY" 1 "AP_GPIO_STATE_DISABLED" 2 "AP_GPIO_STATE_CRITICAL" ; +VAL_ 969 APS_apbStatusMonitorState 1 "STATUS_MONITOR_STATE_PWR_OFF" 2 "STATUS_MONITOR_STATE_INIT" 7 "STATUS_MONITOR_NUM_STATES" 0 "STATUS_MONITOR_STATE_UNKNOWN" 4 "STATUS_MONITOR_STATE_CRITICAL" 6 "STATUS_MONITOR_STATE_RECOVERY" 5 "STATUS_MONITOR_STATE_SHUTTING_DOWN" 3 "STATUS_MONITOR_STATE_NOMINAL" ; +VAL_ 969 APS_eacInternalState 1 "APS_EAC_STATE_MOMENTARY" 3 "APS_EAC_STATE_AUTOPARK" 5 "APS_EAC_STATE_OVERRIDE" 4 "APS_EAC_STATE_INHIBIT" 0 "APS_EAC_STATE_INIT" 2 "APS_EAC_STATE_CONTINUOUS" 7 "APS_EAC_NUM_STATES" 6 "APS_EAC_STATE_LSS" ; +VAL_ 969 APS_appGpioState 0 "AP_GPIO_STATE_PWR_DOWN_REBOOT" 3 "AP_GPIO_STATE_HEALTHY" 1 "AP_GPIO_STATE_DISABLED" 2 "AP_GPIO_STATE_CRITICAL" ; +VAL_ 969 APS_canMaster 0 "CAN_MASTER_APS" 2 "CAN_MASTER_APB" 3 "CAN_MASTER_SNA" 1 "CAN_MASTER_APP" ; +VAL_ 969 APS_vehBehaviorState 0 "VEH_BEHAVIOR_STATE_UNKNOWN" 3 "VEH_BEHAVIOR_STATE_APS_BRIDGE_APP" 1 "VEH_BEHAVIOR_STATE_APS_AVAILABLE" 5 "VEH_BEHAVIOR_STATE_APS_FAIL_SAFE" 7 "VEH_BEHAVIOR_NUM_STATES" 2 "VEH_BEHAVIOR_STATE_APS_CONTROL" 6 "VEH_BEHAVIOR_STATE_APS_OVERRIDE" 4 "VEH_BEHAVIOR_STATE_APS_BRIDGE_APB" ; +VAL_ 969 APS_appStatusMonitorState 1 "STATUS_MONITOR_STATE_PWR_OFF" 2 "STATUS_MONITOR_STATE_INIT" 7 "STATUS_MONITOR_NUM_STATES" 0 "STATUS_MONITOR_STATE_UNKNOWN" 4 "STATUS_MONITOR_STATE_CRITICAL" 6 "STATUS_MONITOR_STATE_RECOVERY" 5 "STATUS_MONITOR_STATE_SHUTTING_DOWN" 3 "STATUS_MONITOR_STATE_NOMINAL" ; +VAL_ 925 IBST_internalState 5 "TRANSITION_TO_IDLE" 0 "NO_MODE_ACTIVE" 4 "DIAGNOSTIC" 6 "POST_DRIVE_CHECK" 1 "PRE_DRIVE_CHECK" 3 "EXTERNAL_BRAKE_REQUEST" 2 "LOCAL_BRAKE_REQUEST" ; +VAL_ 925 IBST_driverBrakeApply 1 "BRAKES_NOT_APPLIED" 2 "DRIVER_APPLYING_BRAKES" 3 "FAULT" 0 "NOT_INIT_OR_OFF" ; +VAL_ 925 IBST_iBoosterStatus 6 "IBOOSTER_ACTUATION" 4 "IBOOSTER_ACTIVE_GOOD_CHECK" 2 "IBOOSTER_FAILURE" 5 "IBOOSTER_READY" 3 "IBOOSTER_DIAGNOSTIC" 0 "IBOOSTER_OFF" 1 "IBOOSTER_INIT" ; +VAL_ 880 EPAS3S_eacStatus 7 "SNA" 2 "EAC_ACTIVE" 4 "LANE_KEEP_ASSIST" 3 "EAC_FAULT" 1 "EAC_AVAILABLE" 5 "EMERGENCY_LANE_KEEP" 0 "EAC_INHIBITED" ; +VAL_ 880 EPAS3S_handsOnLevel 1 "LEVEL_1" 0 "LEVEL_0" 3 "LEVEL_3" 2 "LEVEL_2" ; +VAL_ 880 EPAS3S_torsionBarTorque 4095 "SNA" 4094 "UNDEFINABLE_DATA" ; +VAL_ 880 EPAS3S_eacErrorCode 15 "SNA" 11 "EAC_ERROR_HIGH_TORSION_SAFETY" 4 "EAC_ERROR_TMP_FAULT" 2 "EAC_ERROR_MAX_SPEED" 7 "EAC_ERROR_HIGH_ANGLE_RATE_REQ" 0 "EAC_ERROR_IDLE" 10 "EAC_ERROR_HIGH_MMOT_SAFETY" 6 "EAC_ERROR_HIGH_ANGLE_REQ" 8 "EAC_ERROR_HIGH_ANGLE_SAFETY" 5 "EAR_ERROR_MAX_STEER_DELTA" 13 "EAC_ERROR_PINION_VEL_DIFF" 1 "EAC_ERROR_MIN_SPEED" 14 "EAC_EXTERNAL_MONITOR_INHIBIT" 12 "EAC_ERROR_LOW_ASSIST" 9 "EAC_ERROR_HIGH_ANGLE_RATE_SAFETY" 3 "EAC_ERROR_HANDS_ON" ; +VAL_ 880 EPAS3S_steeringRackForce 1023 "SNA" 1022 "NOT_IN_SPEC" ; +VAL_ 880 EPAS3S_steeringFault 0 "NO_FAULT" 1 "FAULT" ; +VAL_ 880 EPAS3S_steeringReduced 0 "NORMAL_ASSIST" 1 "REDUCED_ASSIST" ; +VAL_ 880 EPAS3S_internalSASQF 1 "IN_SPEC" 0 "UNDEFINABLE_ACCURACY" ; +VAL_ 880 EPAS3S_currentTuneMode 3 "STEERING_TUNE_RWD_COMFORT" 1 "STEERING_TUNE_DM_STANDARD" 5 "STEERING_TUNE_RWD_SPORT" 0 "STEERING_TUNE_DM_COMFORT" 4 "STEERING_TUNE_RWD_STANDARD" 2 "STEERING_TUNE_DM_SPORT" ; +VAL_ 599 DI_uiSpeedUnits 0 "DI_SPEED_MPH" 1 "DI_SPEED_KPH" ; +VAL_ 599 DI_uiSpeed 255 "DI_UI_SPEED_SNA" ; +VAL_ 599 DI_vehicleSpeed 4095 "SNA" ; +VAL_ 1160 DAS_steeringControlType 2 "LANE_KEEP_ASSIST" 0 "NONE" 1 "ANGLE_CONTROL" 3 "EMERGENCY_LANE_KEEP" ; +VAL_ 1160 DAS_steeringAngleRequest 16384 "ZERO_ANGLE" ; +VAL_ 297 SCCM_steeringAngleValidity 3 "SNA" 2 "INIT" 0 "INVALID" 1 "VALID" ; +VAL_ 297 SCCM_steeringAngleSensorStatus 0 "OK" 1 "INIT" 2 "ERROR" 3 "ERROR_INIT" ; +VAL_ 646 DI_rollPreventionState 0 "UNAVAILABLE" 1 "STANDBY" 2 "READY" 3 "BUILD" 4 "HOLD" 5 "PARK" 6 "FAULT" 7 "INIT" ; +VAL_ 646 DI_vehicleHoldState 0 "UNAVAILABLE" 1 "STANDBY" 2 "BLEND_IN" 3 "STANDSTILL" 4 "BLEND_OUT" 5 "PARK" 6 "FAULT" 7 "INIT" ; +VAL_ 646 DI_pmmStatus 0 "INACTIVE" 1 "ACTIVE" 2 "LOGGING_ACTIVE" 3 "SNA" ; +VAL_ 646 DI_aebState 0 "UNAVAILABLE" 1 "STANDBY" 2 "ENABLED" 3 "STANDSTILL" 4 "FAULT" 7 "SNA" ; +VAL_ 646 DI_autopilotRequest 0 "IDLE" 1 "ACTIVATE" ; +VAL_ 646 DI_parkBrakeState 0 "UNAVAILABLE" 1 "RELEASED" 2 "REQUESTED" 3 "APPLIED" 4 "FAULTED" 5 "PANIC_EPB" 6 "PANIC_SKID" 7 "RELEASING" 15 "SNA" ; +VAL_ 646 DI_autoparkState 0 "UNAVAILABLE" 1 "STANDBY" 2 "STARTED" 3 "ACTIVE" 4 "COMPLETE" 5 "PAUSED" 6 "ABORTED" 7 "RESUMED" 8 "UNPARK_COMPLETE" 9 "SELFPARK_STARTED" 15 "SNA" ; +VAL_ 646 DI_speedUnits 0 "MPH" 1 "KPH" ; +VAL_ 646 DI_cruiseState 0 "UNAVAILABLE" 1 "STANDBY" 2 "ENABLED" 3 "STANDSTILL" 4 "OVERRIDE" 5 "FAULT" 6 "PRE_FAULT" 7 "PRE_CANCEL" ; +VAL_ 785 buckleStatus 1 "LATCHED" 0 "UNLATCHED" ; +VAL_ 785 anyDoorOpen 1 "OPEN" 0 "CLOSED" ; +VAL_ 923 DAS_autoLaneChangeState 5 "ALC_UNAVAILABLE_VEHICLE_SPEED" 17 "ALC_ABORT_POOR_VIEW_RANGE" 23 "ALC_BLOCKED_VEH_TTC_AND_USS_L" 0 "ALC_UNAVAILABLE_DISABLED" 26 "ALC_BLOCKED_LANE_TYPE_L" 29 "ALC_ABORT_TIMEOUT" 9 "ALC_IN_PROGRESS_L" 4 "ALC_UNAVAILABLE_EXITING_HIGHWAY" 22 "ALC_BLOCKED_VEH_TTC_L" 12 "ALC_WAITING_FOR_SIDE_OBST_TO_PASS_R" 18 "ALC_ABORT_LC_HEALTH_BAD" 28 "ALC_WAITING_HANDS_ON" 8 "ALC_AVAILABLE_BOTH" 11 "ALC_WAITING_FOR_SIDE_OBST_TO_PASS_L" 3 "ALC_UNAVAILABLE_TP_FOLLOW" 2 "ALC_UNAVAILABLE_SONICS_INVALID" 21 "ALC_UNAVAILABLE_SOLID_LANE_LINE" 24 "ALC_BLOCKED_VEH_TTC_R" 1 "ALC_UNAVAILABLE_NO_LANES" 25 "ALC_BLOCKED_VEH_TTC_AND_USS_R" 30 "ALC_ABORT_MISSION_PLAN_INVALID" 27 "ALC_BLOCKED_LANE_TYPE_R" 19 "ALC_ABORT_BLINKER_TURNED_OFF" 31 "ALC_SNA" 13 "ALC_WAITING_FOR_FWD_OBST_TO_PASS_L" 16 "ALC_ABORT_SIDE_OBSTACLE_PRESENT_R" 6 "ALC_AVAILABLE_ONLY_L" 20 "ALC_ABORT_OTHER_REASON" 15 "ALC_ABORT_SIDE_OBSTACLE_PRESENT_L" 7 "ALC_AVAILABLE_ONLY_R" 14 "ALC_WAITING_FOR_FWD_OBST_TO_PASS_R" 10 "ALC_IN_PROGRESS_R" ; +VAL_ 923 DAS_autopilotHandsOnState 8 "LC_HANDS_ON_SUSPENDED" 15 "LC_HANDS_ON_SNA" 7 "LC_HANDS_ON_REQD_STRUCK_OUT" 3 "LC_HANDS_ON_REQD_VISUAL" 4 "LC_HANDS_ON_REQD_CHIME_1" 6 "LC_HANDS_ON_REQD_SLOWING" 1 "LC_HANDS_ON_REQD_DETECTED" 2 "LC_HANDS_ON_REQD_NOT_DETECTED" 5 "LC_HANDS_ON_REQD_CHIME_2" 0 "LC_HANDS_ON_NOT_REQD" ; +VAL_ 923 DAS_fleetSpeedState 0 "FLEETSPEED_UNAVAILABLE" 1 "FLEETSPEED_AVAILABLE" 2 "FLEETSPEED_ACTIVE" 3 "FLEETSPEED_HOLD" ; +VAL_ 923 DAS_laneDepartureWarning 5 "SNA" 0 "NONE" 2 "RIGHT_WARNING" 4 "RIGHT_WARNING_SEVERE" 3 "LEFT_WARNING_SEVERE" 1 "LEFT_WARNING" ; +VAL_ 923 DAS_csaState 1 "CSA_EXTERNAL_STATE_AVAILABLE" 3 "CSA_EXTERNAL_STATE_HOLD" 2 "CSA_EXTERNAL_STATE_ENABLE" 0 "CSA_EXTERNAL_STATE_UNAVAILABLE" ; +VAL_ 923 DAS_sideCollisionInhibit 0 "NO_INHIBIT" 1 "INHIBIT" ; +VAL_ 923 DAS_sideCollisionWarning 0 "NONE" 2 "WARN_RIGHT" 1 "WARN_LEFT" 3 "WARN_LEFT_RIGHT" ; +VAL_ 923 DAS_sideCollisionAvoid 3 "SNA" 0 "NONE" 1 "AVOID_LEFT" 2 "AVOID_RIGHT" ; +VAL_ 923 DAS_autoparkReady 0 "AUTOPARK_UNAVAILABLE" 1 "AUTOPARK_READY" ; +VAL_ 923 DAS_forwardCollisionWarning 3 "SNA" 0 "NONE" 1 "FORWARD_COLLISION_WARNING" ; +VAL_ 923 DAS_heaterState 0 "HEATER_OFF_SNA" 1 "HEATER_ON" ; +VAL_ 923 DAS_visionOnlySpeedLimit 31 "NONE" 0 "UNKNOWN_SNA" ; +VAL_ 923 DAS_suppressSpeedWarning 1 "Suppress_Speed_Warning" 0 "Do_Not_Suppress" ; +VAL_ 923 DAS_fusedSpeedLimit 31 "NONE" 0 "UNKNOWN_SNA" ; +VAL_ 923 DAS_blindSpotRearRight 3 "SNA" 0 "NO_WARNING" 1 "WARNING_LEVEL_1" 2 "WARNING_LEVEL_2" ; +VAL_ 923 DAS_blindSpotRearLeft 3 "SNA" 0 "NO_WARNING" 1 "WARNING_LEVEL_1" 2 "WARNING_LEVEL_2" ; +VAL_ 923 DAS_autopilotState 15 "SNA" 8 "ABORTING" 3 "ACTIVE_NOMINAL" 0 "DISABLED" 4 "ACTIVE_RESTRICTED" 5 "ACTIVE_NAV" 14 "FAULT" 1 "UNAVAILABLE" 9 "ABORTED" 2 "AVAILABLE" ; + + + diff --git a/opendbc_repo/opendbc/dbc/tesla_model3_vehicle.dbc b/opendbc_repo/opendbc/dbc/tesla_model3_vehicle.dbc new file mode 100644 index 0000000000..604db8fe27 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/tesla_model3_vehicle.dbc @@ -0,0 +1,339 @@ +VERSION "" + + +BU_: CH DIPF DIPR ETH FC HVI HVS PARTY SDCV VEH VIRT + + +BO_ 962 VCLEFT_switchStatus: 8 VEH + SG_ VCLEFT_frontBuckleSwitch m0: 48|2@1+ (1,0) [0|3] "" gtw + SG_ VCLEFT_btnWindowSwPackUpLF m0: 32|1@1+ (1,0) [0|1] "" gtw + SG_ VCLEFT_frontSeatTrackBack m0: 8|2@1+ (1,0) [0|3] "" gtw + SG_ VCLEFT_btnWindowSwPackAutoDownLF m0: 35|1@1+ (1,0) [0|1] "" gtw + SG_ VCLEFT_btnWindowSwPackDownRR m0: 46|1@1+ (1,0) [0|1] "" gtw + SG_ VCLEFT_btnWindowSwPackAutoUpRR m0: 45|1@1+ (1,0) [0|1] "" gtw + SG_ VCLEFT_btnWindowSwPackAutoDownRR m0: 47|1@1+ (1,0) [0|1] "" gtw + SG_ VCLEFT_rightMirrorTilt m0: 5|3@1+ (1,0) [0|4] "" vcright + SG_ VCLEFT_btnWindowSwPackUpRR m0: 44|1@1+ (1,0) [0|1] "" gtw + SG_ VCLEFT_frontOccupancySwitch m0: 50|2@1+ (1,0) [0|3] "" gtw + SG_ VCLEFT_swcRightTiltLeft m1: 8|2@1+ (1,0) [0|3] "" das + SG_ VCLEFT_rearRightOccupancySwitch m0: 58|2@1+ (1,0) [0|3] "" gtw + SG_ VCLEFT_btnWindowSwPackDownLF m0: 34|1@1+ (1,0) [0|1] "" gtw + SG_ VCLEFT_btnWindowSwPackAutoUpLF m0: 33|1@1+ (1,0) [0|1] "" gtw + SG_ VCLEFT_swcLeftTiltRight m1: 3|2@1+ (1,0) [0|3] "" das + SG_ VCLEFT_frontSeatBackrestForward m0: 22|2@1+ (1,0) [0|3] "" gtw + SG_ VCLEFT_swcRightTiltRight m1: 10|2@1+ (1,0) [0|3] "" das + SG_ VCLEFT_swcLeftScrollTicks m1: 16|6@1- (1,0) [-32|31] "" das + SG_ VCLEFT_btnWindowUpLR m1: 32|1@1+ (1,0) [0|1] "" gtw + SG_ VCLEFT_btnWindowAutoDownLR m1: 35|1@1+ (1,0) [0|1] "" gtw + SG_ VCLEFT_btnWindowSwPackDownRF m0: 42|1@1+ (1,0) [0|1] "" gtw + SG_ VCLEFT_btnWindowSwPackAutoUpRF m0: 41|1@1+ (1,0) [0|1] "" gtw + SG_ VCLEFT_frontSeatLumbarIn m0: 28|2@1+ (1,0) [0|3] "" gtw + SG_ VCLEFT_frontSeatLiftUp m0: 18|2@1+ (1,0) [0|3] "" gtw + SG_ VCLEFT_btnWindowSwPackDownLR m0: 38|1@1+ (1,0) [0|1] "" gtw + SG_ VCLEFT_btnWindowSwPackAutoUpLR m0: 37|1@1+ (1,0) [0|1] "" gtw + SG_ VCLEFT_frontSeatLumbarDown m0: 24|2@1+ (1,0) [0|3] "" gtw + SG_ VCLEFT_driverPresent m0: 4|1@1+ (1,0) [0|1] "" das + SG_ VCLEFT_frontSeatTiltDown m0: 12|2@1+ (1,0) [0|3] "" gtw + SG_ VCLEFT_frontSeatTrackForward m0: 10|2@1+ (1,0) [0|3] "" gtw + SG_ VCLEFT_rearLeftBuckleSwitch m0: 52|2@1+ (1,0) [0|3] "" gtw + SG_ VCLEFT_hazardButtonPressed m0: 3|1@1+ (1,0) [0|1] "" gtw + SG_ VCLEFT_swcRightScrollTicks m1: 24|6@1- (1,0) [-32|31] "" das + SG_ VCLEFT_swcRightPressed m1: 12|2@1+ (1,0) [0|3] "" das + SG_ VCLEFT_frontSeatLumbarOut m0: 30|2@1+ (1,0) [0|3] "" gtw + SG_ VCLEFT_brakePressed m0: 60|1@1+ (1,0) [0|1] "" di + SG_ VCLEFT_swcLeftTiltLeft m1: 14|2@1+ (1,0) [0|3] "" das + SG_ VCLEFT_swcLeftPressed m1: 5|2@1+ (1,0) [0|3] "" das + SG_ VCLEFT_btnWindowSwPackUpLR m0: 36|1@1+ (1,0) [0|1] "" gtw + SG_ VCLEFT_frontSeatTiltUp m0: 14|2@1+ (1,0) [0|3] "" gtw + SG_ VCLEFT_rearLeftOccupancySwitch m0: 56|2@1+ (1,0) [0|3] "" gtw + SG_ VCLEFT_frontSeatBackrestBack m0: 20|2@1+ (1,0) [0|3] "" gtw + SG_ VCLEFT_btnWindowSwPackAutoDownLR m0: 39|1@1+ (1,0) [0|1] "" gtw + SG_ VCLEFT_rearCenterOccupancySwitch m0: 54|2@1+ (1,0) [0|3] "" gtw + SG_ VCLEFT_frontSeatLumbarUp m0: 26|2@1+ (1,0) [0|3] "" gtw + SG_ VCLEFT_frontSeatLiftDown m0: 16|2@1+ (1,0) [0|3] "" gtw + SG_ VCLEFT_hornSwitchPressed m0: 2|1@1+ (1,0) [0|1] "" app + SG_ VCLEFT_btnWindowSwPackUpRF m0: 40|1@1+ (1,0) [0|1] "" gtw + SG_ VCLEFT_btnWindowAutoUpLR m1: 33|1@1+ (1,0) [0|1] "" gtw + SG_ VCLEFT_btnWindowSwPackAutoDownRF m0: 43|1@1+ (1,0) [0|1] "" gtw + SG_ VCLEFT_switchStatusIndex M: 0|2@1+ (1,0) [0|2] "" X + SG_ VCLEFT_btnWindowDownLR m1: 34|1@1+ (1,0) [0|1] "" gtw + SG_ VCLEFT_rearHVACButtonPressed m0: 61|1@1+ (1,0) [0|1] "" gtw + +BO_ 259 VCRIGHT_doorStatus: 8 VEH + SG_ VCRIGHT_reservedForBackCompat : 28|2@1+ (1,0) [0|3] "" X + SG_ VCRIGHT_trunkLatchStatus : 56|4@1+ (1,0) [0|8] "" di + SG_ VCRIGHT_mirrorFoldState : 52|3@1+ (1,0) [0|4] "" gtw + SG_ VCRIGHT_rearLatchStatus : 4|4@1+ (1,0) [0|8] "" aps + SG_ VCRIGHT_mirrorTiltYPosition : 41|8@1+ (0.02,0) [0|5] "V" gtw + SG_ VCRIGHT_frontRelActuatorSwitch : 12|1@1+ (1,0) [0|1] "" gtw + SG_ VCRIGHT_mirrorRecallState : 60|3@1+ (1,0) [0|5] "" gtw + SG_ VCRIGHT_frontIntSwitchPressed : 31|1@1+ (1,0) [0|1] "" aps + SG_ VCRIGHT_mirrorState : 49|3@1+ (1,0) [0|4] "" gtw + SG_ VCRIGHT_rearRelActuatorSwitch : 13|1@1+ (1,0) [0|1] "" gtw + SG_ VCRIGHT_frontHandlePulledPersist : 30|1@1+ (1,0) [0|1] "" gtw + SG_ VCRIGHT_mirrorTiltXPosition : 33|8@1+ (0.02,0) [0|5] "V" gtw + SG_ VCRIGHT_mirrorDipped : 63|1@1+ (1,0) [0|1] "" X + SG_ VCRIGHT_frontHandlePulled : 10|1@1+ (1,0) [0|1] "" aps + SG_ VCRIGHT_frontLatchStatus : 0|4@1+ (1,0) [0|8] "" aps + SG_ VCRIGHT_rearHandlePulled : 11|1@1+ (1,0) [0|1] "" aps + SG_ VCRIGHT_frontHandlePWM : 14|7@1+ (1,0) [0|100] "%" X + SG_ VCRIGHT_frontLatchSwitch : 8|1@1+ (1,0) [0|1] "" gtw + SG_ VCRIGHT_rearLatchSwitch : 9|1@1+ (1,0) [0|1] "" gtw + SG_ VCRIGHT_rearHandlePWM : 21|7@1+ (1,0) [0|100] "%" X + SG_ VCRIGHT_rearIntSwitchPressed : 32|1@1+ (1,0) [0|1] "" aps + +BO_ 585 SCCM_leftStalk: 3 VEH + SG_ SCCM_leftStalkCounter : 8|4@1+ (1,0) [0|15] "" X + SG_ SCCM_washWipeButtonStatus : 14|2@1+ (1,0) [0|3] "" das + SG_ SCCM_turnIndicatorStalkStatus : 16|3@1+ (1,0) [0|5] "" das + SG_ SCCM_leftStalkCrc : 0|8@1+ (1,0) [0|255] "" X + SG_ SCCM_leftStalkReserved1 : 19|5@1+ (1,0) [0|31] "" X + SG_ SCCM_highBeamStalkStatus : 12|2@1+ (1,0) [0|3] "" das + +BO_ 280 DI_systemStatus: 8 VEH + SG_ DI_epbRequest : 44|2@1+ (1,0) [0|2] "" epbl + SG_ DI_systemStatusCounter : 8|4@1+ (1,0) [0|15] "" X + SG_ DI_proximity : 46|1@1+ (1,0) [0|1] "" bms + SG_ DI_keepAliveRequest : 47|1@1+ (1,0) [0|1] "" bms + SG_ DI_accelPedalPos : 32|8@1+ (0.4,0) [0|100] "%" vcfront + SG_ DI_gear : 21|3@1+ (1,0) [0|7] "" gtw + SG_ DI_tractionControlMode : 40|3@1+ (1,0) [0|5] "" X + SG_ DI_trackModeState : 48|2@1+ (1,0) [0|2] "" gtw + SG_ DI_regenLight : 26|1@1+ (1,0) [0|1] "" vcleft + SG_ DI_systemState : 16|3@1+ (1,0) [0|5] "" epbl + SG_ DI_immobilizerState : 27|3@1+ (1,0) [0|6] "" X + SG_ DI_systemStatusChecksum : 0|8@1+ (1,0) [0|255] "" X + SG_ DI_brakePedalState : 19|2@1+ (1,0) [0|2] "" vcleft + +BO_ 835 VCRIGHT_status: 8 VEH + SG_ VCRIGHT_5AVoltage : 18|10@1+ (0.005443676098,0) [0|5.56888] "V" gtw + SG_ VCRIGHT_loadShedPriority : 0|8@1+ (1,0) [0|255] "" X + SG_ VCRIGHT_rearDefrostState : 11|3@1+ (1,0) [0|4] "" gtw + SG_ VCRIGHT_vbatProt : 28|12@1+ (0.005443676098,0) [0|22.29185] "V" gtw + SG_ VCRIGHT_vehiclePowerStateDBG : 8|2@1+ (1,0) [0|3] "" gtw + SG_ VCRIGHT_swEnStatus : 10|1@1+ (1,0) [0|1] "" gtw + SG_ VCRIGHT_mirrorHeatState : 14|3@1+ (1,0) [0|4] "" X + SG_ VCRIGHT_OTAState : 17|1@1+ (1,0) [0|1] "" gtw + SG_ VCRIGHT_footwellLightCurrent : 40|12@1- (0.1,0) [-204.8|204.7] "mA" X + SG_ VCRIGHT_pcbaTemperature : 52|11@1+ (0.125,-40) [-40|150] "degC" gtw + +BO_ 553 SCCM_rightStalk: 3 VEH + SG_ SCCM_rightStalkCounter : 8|4@1+ (1,0) [0|15] "" X + SG_ SCCM_rightStalkCrc : 0|8@1+ (1,0) [0|255] "" X + SG_ SCCM_rightStalkReserved1 : 15|1@1+ (1,0) [0|1] "" X + SG_ SCCM_parkButtonStatus : 16|2@1+ (1,0) [0|3] "" das + SG_ SCCM_rightStalkReserved2 : 18|6@1+ (1,0) [0|63] "" X + SG_ SCCM_rightStalkStatus : 12|3@1+ (1,0) [0|6] "" das + +BO_ 297 SCCM_steeringAngleSensor: 8 VEH + SG_ SCCM_steeringAngleValidity : 30|2@1+ (1,0) [0|3] "" gtw + SG_ SCCM_supplierID : 12|2@1+ (1,0) [0|3] "" gtw + SG_ SCCM_steeringAngleSensorReservd1 : 46|2@1+ (1,0) [0|3] "" X + SG_ SCCM_steeringAngleCrc : 0|8@1+ (1,0) [0|255] "" gtw + SG_ SCCM_steeringAngleSensorStatus : 14|2@1+ (1,0) [0|3] "" aps + SG_ SCCM_steeringAngleSpeed : 32|14@1+ (0.5,-4096) [-4096|4095.5] "deg/s" das + SG_ SCCM_steeringAngle : 16|14@1+ (0.1,-819.2) [-819.2|819] "deg" aps + SG_ SCCM_steeringAngleSensorReservd2 : 48|8@1+ (1,0) [0|255] "" X + SG_ SCCM_steeringAngleCounter : 8|4@1+ (1,0) [0|15] "" gtw + SG_ SCCM_steeringAngleSensorReservd3 : 56|8@1+ (1,0) [0|255] "" X + +BO_ 258 VCLEFT_doorStatus: 8 VEH + SG_ VCLEFT_mirrorDipped : 61|1@1+ (1,0) [0|1] "" X + SG_ VCLEFT_frontHandlePulledPersist : 62|1@1+ (1,0) [0|1] "" gtw + SG_ VCLEFT_mirrorRecallState : 55|3@1+ (1,0) [0|5] "" gtw + SG_ VCLEFT_rearIntSwitchPressed : 32|1@1+ (1,0) [0|1] "" aps + SG_ VCLEFT_rearLatchSwitch : 9|1@1+ (1,0) [0|1] "" gtw + SG_ VCLEFT_rearHandlePWM : 24|7@1+ (1,0) [0|100] "%" X + SG_ VCLEFT_frontLatchSwitch : 8|1@1+ (1,0) [0|1] "" gtw + SG_ VCLEFT_frontHandlePWM : 16|7@1+ (1,0) [0|100] "%" X + SG_ VCLEFT_rearHandlePulled : 11|1@1+ (1,0) [0|1] "" aps + SG_ VCLEFT_rearLatchStatus : 4|4@1+ (1,0) [0|8] "" aps + SG_ VCLEFT_frontHandlePulled : 10|1@1+ (1,0) [0|1] "" aps + SG_ VCLEFT_mirrorTiltXPosition : 33|8@1+ (0.02,0) [0|5] "V" gtw + SG_ VCLEFT_mirrorState : 49|3@1+ (1,0) [0|4] "" gtw + SG_ VCLEFT_frontIntSwitchPressed : 31|1@1+ (1,0) [0|1] "" aps + SG_ VCLEFT_rearRelActuatorSwitch : 13|1@1+ (1,0) [0|1] "" gtw + SG_ VCLEFT_mirrorHeatState : 58|3@1+ (1,0) [0|4] "" X + SG_ VCLEFT_frontRelActuatorSwitch : 12|1@1+ (1,0) [0|1] "" gtw + SG_ VCLEFT_mirrorTiltYPosition : 41|8@1+ (0.02,0) [0|5] "V" gtw + SG_ VCLEFT_frontLatchStatus : 0|4@1+ (1,0) [0|8] "" aps + SG_ VCLEFT_mirrorFoldState : 52|3@1+ (1,0) [0|4] "" gtw + + +BO_ 568 STW_ACTN_RQ: 8 STW + SG_ SpdCtrlLvr_Stat : 0|6@1+ (1,0) [0|0] "" NEO + SG_ VSL_Enbl_Rq : 6|1@1+ (1,0) [0|0] "" NEO + SG_ SpdCtrlLvrStat_Inv : 7|1@1+ (1,0) [0|0] "" NEO + SG_ DTR_Dist_Rq : 8|8@1+ (1,0) [0|200] "" NEO + SG_ TurnIndLvr_Stat : 16|2@1+ (1,0) [0|0] "" NEO + SG_ HiBmLvr_Stat : 18|2@1+ (1,0) [0|0] "" NEO + SG_ WprWashSw_Psd : 20|2@1+ (1,0) [0|0] "" NEO + SG_ WprWash_R_Sw_Posn_V2 : 22|2@1+ (1,0) [0|0] "" NEO + SG_ StW_Lvr_Stat : 24|3@1+ (1,0) [0|0] "" NEO + SG_ StW_Cond_Flt : 27|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Cond_Psd : 28|2@1+ (1,0) [0|0] "" NEO + SG_ HrnSw_Psd : 30|2@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw00_Psd : 32|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw01_Psd : 33|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw02_Psd : 34|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw03_Psd : 35|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw04_Psd : 36|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw05_Psd : 37|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw06_Psd : 38|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw07_Psd : 39|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw08_Psd : 40|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw09_Psd : 41|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw10_Psd : 42|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw11_Psd : 43|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw12_Psd : 44|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw13_Psd : 45|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw14_Psd : 46|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw15_Psd : 47|1@1+ (1,0) [0|0] "" NEO + SG_ WprSw6Posn : 48|3@1+ (1,0) [0|0] "" NEO + SG_ MC_STW_ACTN_RQ : 52|4@1+ (1,0) [0|15] "" NEO + SG_ CRC_STW_ACTN_RQ : 56|8@1+ (1,0) [0|0] "" NEO + +BO_ 1001 DAS_bodyControls: 8 VEH + SG_ DAS_headlightRequest : 0|2@1+ (1,0) [0|3] "" aps + SG_ DAS_hazardLightRequest : 2|2@1+ (1,0) [0|3] "" aps + SG_ DAS_wiperSpeed : 4|4@1+ (1,0) [0|15] "" aps + SG_ DAS_turnIndicatorRequest : 8|2@1+ (1,0) [0|3] "" aps + SG_ DAS_highLowBeamDecision : 10|2@1+ (1,0) [0|3] "" aps + SG_ DAS_heaterRequest : 12|2@1+ (1,0) [0|2] "" aps + SG_ DAS_turnIndicatorRequestReason : 17|4@1+ (1,0) [0|8] "" aps + SG_ DAS_autopilotActive : 24|1@1+ (1,0) [0|1] "" XXX + SG_ DAS_accActive : 29|1@1+ (1,0) [0|1] "" XXX + SG_ DAS_bodyControlsCounter : 52|4@1+ (1,0) [0|15] "" aps + SG_ DAS_bodyControlsChecksum : 56|8@1+ (1,0) [0|255] "" aps + +BO_ 1013 ID3F5VCFRONT_lighting: 8 VEH + SG_ VCFRONT_lowBeamsCalibrated : 62|1@1+ (1,0) [0|1] "" Receiver + SG_ VCFRONT_lowBeamsOnForDRL : 61|1@1+ (1,0) [0|1] "" Receiver + SG_ VCFRONT_simLatchingStalk : 59|2@1+ (1,0) [0|3] "" Receiver + SG_ VCFRONT_highBeamSwitchActive : 58|1@1+ (1,0) [0|1] "" Receiver + SG_ VCFRONT_parkRightStatus : 56|2@1+ (1,0) [0|3] "" Receiver + SG_ VCFRONT_parkLeftStatus : 54|2@1+ (1,0) [0|3] "" Receiver + SG_ VCFRONT_turnSignalRightStatus : 52|2@1+ (1,0) [0|3] "" Receiver + SG_ VCFRONT_turnSignalLeftStatus : 50|2@1+ (1,0) [0|3] "" Receiver + SG_ VCFRONT_sideRepeaterRightStatus : 48|2@1+ (1,0) [0|3] "" Receiver + SG_ VCFRONT_sideRepeaterLeftStatus : 46|2@1+ (1,0) [0|3] "" Receiver + SG_ VCFRONT_sideMarkersStatus : 44|2@1+ (1,0) [0|3] "" Receiver + SG_ VCFRONT_fogRightStatus : 42|2@1+ (1,0) [0|3] "" Receiver + SG_ VCFRONT_fogLeftStatus : 40|2@1+ (1,0) [0|3] "" Receiver + SG_ VCFRONT_DRLRightStatus : 38|2@1+ (1,0) [0|3] "" Receiver + SG_ VCFRONT_DRLLeftStatus : 36|2@1+ (1,0) [0|3] "" Receiver + SG_ VCFRONT_highBeamRightStatus : 34|2@1+ (1,0) [0|3] "" Receiver + SG_ VCFRONT_highBeamLeftStatus : 32|2@1+ (1,0) [0|3] "" Receiver + SG_ VCFRONT_lowBeamRightStatus : 30|2@1+ (1,0) [0|3] "" Receiver + SG_ VCFRONT_lowBeamLeftStatus : 28|2@1+ (1,0) [0|3] "" Receiver + SG_ VCFRONT_hazardSwitchBacklight : 27|1@1+ (1,0) [0|1] "" Receiver + SG_ VCFRONT_seeYouHomeLightingReq : 26|1@1+ (1,0) [0|1] "" Receiver + SG_ VCFRONT_approachLightingRequest : 25|1@1+ (1,0) [0|1] "" Receiver + SG_ VCFRONT_courtesyLightingRequest : 24|1@1+ (1,0) [0|1] "" Receiver + SG_ VCFRONT_switchLightingBrightness : 16|8@1+ (0.5,0) [0|127] "%" Receiver + SG_ VCFRONT_ambientLightingBrightnes : 8|8@1+ (0.5,0) [0|127] "%" Receiver + SG_ VCFRONT_hazardLightRequest : 4|4@1+ (1,0) [0|8] "" Receiver + SG_ VCFRONT_indicatorRightRequest : 2|2@1+ (1,0) [0|2] "" Receiver + SG_ VCFRONT_indicatorLeftRequest : 0|2@1+ (1,0) [0|2] "" Receiver + +VAL_ 568 SpdCtrlLvr_Stat 32 "DN_1ST" 16 "UP_1ST" 8 "DN_2ND" 4 "UP_2ND" 2 "RWD" 1 "FWD" 0 "IDLE" ; +VAL_ 568 DTR_Dist_Rq 255 "SNA" 200 "ACC_DIST_7" 166 "ACC_DIST_6" 133 "ACC_DIST_5" 100 "ACC_DIST_4" 66 "ACC_DIST_3" 33 "ACC_DIST_2" 0 "ACC_DIST_1" ; +VAL_ 568 TurnIndLvr_Stat 3 "SNA" 2 "RIGHT" 1 "LEFT" 0 "IDLE" ; +VAL_ 568 HiBmLvr_Stat 3 "SNA" 2 "HIBM_FLSH_ON_PSD" 1 "HIBM_ON_PSD" 0 "IDLE" ; +VAL_ 568 WprWashSw_Psd 3 "SNA" 2 "WASH" 1 "TIPWIPE" 0 "NPSD" ; +VAL_ 568 WprWash_R_Sw_Posn_V2 3 "SNA" 2 "WASH" 1 "INTERVAL" 0 "OFF" ; +VAL_ 568 StW_Lvr_Stat 4 "STW_BACK" 3 "STW_FWD" 2 "STW_DOWN" 1 "STW_UP" 0 "NPSD" ; +VAL_ 568 StW_Cond_Psd 3 "SNA" 2 "DOWN" 1 "UP" 0 "NPSD" ; +VAL_ 568 HrnSw_Psd 3 "SNA" 2 "NDEF2" 1 "PSD" 0 "NPSD" ; +VAL_ 568 StW_Sw00_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ; +VAL_ 568 StW_Sw01_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ; +VAL_ 568 StW_Sw03_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ; +VAL_ 568 StW_Sw04_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ; +VAL_ 568 WprSw6Posn 7 "SNA" 6 "STAGE2" 5 "STAGE1" 4 "INTERVAL4" 3 "INTERVAL3" 2 "INTERVAL2" 1 "INTERVAL1" 0 "OFF" ; + +VAL_ 1001 DAS_headlightRequest 3 "DAS_HEADLIGHT_REQUEST_INVALID" 1 "DAS_HEADLIGHT_REQUEST_ON" 0 "DAS_HEADLIGHT_REQUEST_OFF"; +VAL_ 1001 DAS_hazardLightRequest 3 "DAS_REQUEST_HAZARDS_SNA" 2 "DAS_REQUEST_HAZARDS_UNUSED" 0 "DAS_REQUEST_HAZARDS_OFF" 1 "DAS_REQUEST_HAZARDS_ON"; +VAL_ 1001 DAS_wiperSpeed 3 "DAS_WIPER_SPEED_3" 12 "DAS_WIPER_SPEED_12" 8 "DAS_WIPER_SPEED_8" 14 "DAS_WIPER_SPEED_14" 5 "DAS_WIPER_SPEED_5" 13 "DAS_WIPER_SPEED_13" 2 "DAS_WIPER_SPEED_2" 0 "DAS_WIPER_SPEED_OFF" 4 "DAS_WIPER_SPEED_4" 1 "DAS_WIPER_SPEED_1" 15 "DAS_WIPER_SPEED_INVALID" 10 "DAS_WIPER_SPEED_10" 11 "DAS_WIPER_SPEED_11" 7 "DAS_WIPER_SPEED_7" 9 "DAS_WIPER_SPEED_9" 6 "DAS_WIPER_SPEED_6"; +VAL_ 1001 DAS_turnIndicatorRequest 0 "DAS_TURN_INDICATOR_NONE" 2 "DAS_TURN_INDICATOR_RIGHT" 3 "DAS_TURN_INDICATOR_CANCEL" 1 "DAS_TURN_INDICATOR_LEFT"; +VAL_ 1001 DAS_highLowBeamDecision 2 "DAS_HIGH_BEAM_ON" 1 "DAS_HIGH_BEAM_OFF" 3 "DAS_HIGH_BEAM_SNA" 0 "DAS_HIGH_BEAM_UNDECIDED"; +VAL_ 1001 DAS_heaterRequest 0 "DAS_HEATER_SNA" 2 "DAS_HEATER_ON" 1 "DAS_HEATER_OFF"; +VAL_ 1001 DAS_turnIndicatorRequestReason 8 "DAS_ACTIVE_COMMANDED_LANE_CHANGE" 4 "DAS_CANCEL_LANE_CHANGE" 6 "DAS_ACTIVE_MERGE" 2 "DAS_ACTIVE_SPEED_LANE_CHANGE" 5 "DAS_CANCEL_FORK" 0 "DAS_NONE" 3 "DAS_ACTIVE_FORK" 7 "DAS_CANCEL_MERGE" 1 "DAS_ACTIVE_NAV_LANE_CHANGE"; + +VAL_ 1013 VCFRONT_DRLLeftStatus 2 "LIGHT_FAULT" 0 "LIGHT_OFF" 1 "LIGHT_ON" 3 "LIGHT_SNA" ; +VAL_ 1013 VCFRONT_DRLRightStatus 2 "LIGHT_FAULT" 0 "LIGHT_OFF" 1 "LIGHT_ON" 3 "LIGHT_SNA" ; +VAL_ 1013 VCFRONT_ambientLightingBrightnes 255 "SNA" ; +VAL_ 1013 VCFRONT_fogLeftStatus 2 "LIGHT_FAULT" 0 "LIGHT_OFF" 1 "LIGHT_ON" 3 "LIGHT_SNA" ; +VAL_ 1013 VCFRONT_fogRightStatus 2 "LIGHT_FAULT" 0 "LIGHT_OFF" 1 "LIGHT_ON" 3 "LIGHT_SNA" ; +VAL_ 1013 VCFRONT_hazardLightRequest 1 "HAZARD_REQUEST_BUTTON" 6 "HAZARD_REQUEST_CAR_ALARM" 5 "HAZARD_REQUEST_CRASH" 7 "HAZARD_REQUEST_DAS" 2 "HAZARD_REQUEST_LOCK" 4 "HAZARD_REQUEST_MISLOCK" 0 "HAZARD_REQUEST_NONE" 8 "HAZARD_REQUEST_UDS" 3 "HAZARD_REQUEST_UNLOCK" ; +VAL_ 1013 VCFRONT_highBeamLeftStatus 2 "LIGHT_FAULT" 0 "LIGHT_OFF" 1 "LIGHT_ON" 3 "LIGHT_SNA" ; +VAL_ 1013 VCFRONT_highBeamRightStatus 2 "LIGHT_FAULT" 0 "LIGHT_OFF" 1 "LIGHT_ON" 3 "LIGHT_SNA" ; +VAL_ 1013 VCFRONT_indicatorLeftRequest 2 "TURN_SIGNAL_ACTIVE_HIGH" 1 "TURN_SIGNAL_ACTIVE_LOW" 0 "TURN_SIGNAL_OFF" ; +VAL_ 1013 VCFRONT_indicatorRightRequest 2 "TURN_SIGNAL_ACTIVE_HIGH" 1 "TURN_SIGNAL_ACTIVE_LOW" 0 "TURN_SIGNAL_OFF" ; +VAL_ 1013 VCFRONT_lowBeamLeftStatus 2 "LIGHT_FAULT" 0 "LIGHT_OFF" 1 "LIGHT_ON" 3 "LIGHT_SNA" ; +VAL_ 1013 VCFRONT_lowBeamRightStatus 2 "LIGHT_FAULT" 0 "LIGHT_OFF" 1 "LIGHT_ON" 3 "LIGHT_SNA" ; +VAL_ 1013 VCFRONT_parkLeftStatus 2 "LIGHT_FAULT" 0 "LIGHT_OFF" 1 "LIGHT_ON" 3 "LIGHT_SNA" ; +VAL_ 1013 VCFRONT_parkRightStatus 2 "LIGHT_FAULT" 0 "LIGHT_OFF" 1 "LIGHT_ON" 3 "LIGHT_SNA" ; +VAL_ 1013 VCFRONT_sideMarkersStatus 2 "LIGHT_FAULT" 0 "LIGHT_OFF" 1 "LIGHT_ON" 3 "LIGHT_SNA" ; +VAL_ 1013 VCFRONT_sideRepeaterLeftStatus 2 "LIGHT_FAULT" 0 "LIGHT_OFF" 1 "LIGHT_ON" 3 "LIGHT_SNA" ; +VAL_ 1013 VCFRONT_sideRepeaterRightStatus 2 "LIGHT_FAULT" 0 "LIGHT_OFF" 1 "LIGHT_ON" 3 "LIGHT_SNA" ; +VAL_ 1013 VCFRONT_simLatchingStalk 0 "SIMULATED_LATCHING_STALK_IDLE" 1 "SIMULATED_LATCHING_STALK_LEFT" 2 "SIMULATED_LATCHING_STALK_RIGHT" 3 "SIMULATED_LATCHING_STALK_SNA" ; +VAL_ 1013 VCFRONT_switchLightingBrightness 255 "SNA" ; +VAL_ 1013 VCFRONT_turnSignalLeftStatus 2 "LIGHT_FAULT" 0 "LIGHT_OFF" 1 "LIGHT_ON" 3 "LIGHT_SNA" ; +VAL_ 1013 VCFRONT_turnSignalRightStatus 2 "LIGHT_FAULT" 0 "LIGHT_OFF" 1 "LIGHT_ON" 3 "LIGHT_SNA" ; +VAL_ 962 VCLEFT_frontBuckleSwitch 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; +VAL_ 962 VCLEFT_frontSeatTrackBack 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; +VAL_ 962 VCLEFT_rightMirrorTilt 4 "MIRROR_TILT_LEFT" 2 "MIRROR_TILT_UP" 3 "MIRROR_TILT_RIGHT" 0 "MIRROR_TILT_STOP" 1 "MIRROR_TILT_DOWN"; +VAL_ 962 VCLEFT_frontOccupancySwitch 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; +VAL_ 962 VCLEFT_swcRightTiltLeft 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; +VAL_ 962 VCLEFT_rearRightOccupancySwitch 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; +VAL_ 962 VCLEFT_swcLeftTiltRight 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; +VAL_ 962 VCLEFT_frontSeatBackrestForward 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; +VAL_ 962 VCLEFT_swcRightTiltRight 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; +VAL_ 962 VCLEFT_frontSeatLumbarIn 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; +VAL_ 962 VCLEFT_frontSeatLiftUp 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; +VAL_ 962 VCLEFT_frontSeatLumbarDown 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; +VAL_ 962 VCLEFT_frontSeatTiltDown 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; +VAL_ 962 VCLEFT_frontSeatTrackForward 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; +VAL_ 962 VCLEFT_rearLeftBuckleSwitch 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; +VAL_ 962 VCLEFT_swcRightPressed 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; +VAL_ 962 VCLEFT_frontSeatLumbarOut 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; +VAL_ 962 VCLEFT_swcLeftTiltLeft 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; +VAL_ 962 VCLEFT_swcLeftPressed 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; +VAL_ 962 VCLEFT_frontSeatTiltUp 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; +VAL_ 962 VCLEFT_rearLeftOccupancySwitch 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; +VAL_ 962 VCLEFT_frontSeatBackrestBack 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; +VAL_ 962 VCLEFT_rearCenterOccupancySwitch 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; +VAL_ 962 VCLEFT_frontSeatLumbarUp 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; +VAL_ 962 VCLEFT_frontSeatLiftDown 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; +VAL_ 962 VCLEFT_switchStatusIndex 1 "VCLEFT_SWITCH_STATUS_INDEX_1" 2 "VCLEFT_SWITCH_STATUS_INDEX_INVALID" 0 "VCLEFT_SWITCH_STATUS_INDEX_0"; +VAL_ 259 VCRIGHT_trunkLatchStatus 8 "LATCH_FAULT" 2 "LATCH_CLOSED" 1 "LATCH_OPENED" 3 "LATCH_CLOSING" 7 "LATCH_DEFAULT" 4 "LATCH_OPENING" 5 "LATCH_AJAR" 6 "LATCH_TIMEOUT" 0 "LATCH_SNA"; +VAL_ 259 VCRIGHT_mirrorFoldState 4 "MIRROR_FOLD_STATE_UNFOLDING" 1 "MIRROR_FOLD_STATE_FOLDED" 3 "MIRROR_FOLD_STATE_FOLDING" 0 "MIRROR_FOLD_STATE_UNKNOWN" 2 "MIRROR_FOLD_STATE_UNFOLDED"; +VAL_ 259 VCRIGHT_rearLatchStatus 8 "LATCH_FAULT" 2 "LATCH_CLOSED" 1 "LATCH_OPENED" 3 "LATCH_CLOSING" 7 "LATCH_DEFAULT" 4 "LATCH_OPENING" 5 "LATCH_AJAR" 6 "LATCH_TIMEOUT" 0 "LATCH_SNA"; +VAL_ 259 VCRIGHT_mirrorRecallState 5 "MIRROR_RECALL_STATE_RECALLING_STOPPED" 2 "MIRROR_RECALL_STATE_RECALLING_AXIS_2" 0 "MIRROR_RECALL_STATE_INIT" 3 "MIRROR_RECALL_STATE_RECALLING_COMPLETE" 4 "MIRROR_RECALL_STATE_RECALLING_FAILED" 1 "MIRROR_RECALL_STATE_RECALLING_AXIS_1"; +VAL_ 259 VCRIGHT_mirrorState 3 "MIRROR_STATE_FOLD_UNFOLD" 1 "MIRROR_STATE_TILT_X" 0 "MIRROR_STATE_IDLE" 2 "MIRROR_STATE_TILT_Y" 4 "MIRROR_STATE_RECALL"; +VAL_ 259 VCRIGHT_frontLatchStatus 8 "LATCH_FAULT" 2 "LATCH_CLOSED" 1 "LATCH_OPENED" 3 "LATCH_CLOSING" 7 "LATCH_DEFAULT" 4 "LATCH_OPENING" 5 "LATCH_AJAR" 6 "LATCH_TIMEOUT" 0 "LATCH_SNA"; +VAL_ 585 SCCM_washWipeButtonStatus 3 "SNA" 0 "NOT_PRESSED" 2 "2ND_DETENT" 1 "1ST_DETENT"; +VAL_ 585 SCCM_turnIndicatorStalkStatus 3 "DOWN_1" 5 "SNA" 0 "IDLE" 1 "UP_1" 4 "DOWN_2" 2 "UP_2"; +VAL_ 585 SCCM_highBeamStalkStatus 3 "SNA" 0 "IDLE" 1 "PULL" 2 "PUSH"; +VAL_ 280 DI_epbRequest 0 "DI_EPBREQUEST_NO_REQUEST" 1 "DI_EPBREQUEST_PARK" 2 "DI_EPBREQUEST_UNPARK"; +VAL_ 280 DI_keepAliveRequest 1 "KEEP_ALIVE" 0 "NO_REQUEST"; +VAL_ 280 DI_accelPedalPos 255 "SNA"; +VAL_ 280 DI_gear 1 "DI_GEAR_P" 0 "DI_GEAR_INVALID" 7 "DI_GEAR_SNA" 2 "DI_GEAR_R" 3 "DI_GEAR_N" 4 "DI_GEAR_D"; +VAL_ 280 DI_tractionControlMode 0 "TC_NORMAL" 1 "TC_SLIP_START" 4 "TC_ROLLS_MODE" 2 "TC_DEV_MODE_1" 5 "TC_DYNO_MODE" 3 "TC_DEV_MODE_2"; +VAL_ 280 DI_trackModeState 0 "TRACK_MODE_UNAVAILABLE" 1 "TRACK_MODE_AVAILABLE" 2 "TRACK_MODE_ON"; +VAL_ 280 DI_systemState 5 "DI_SYS_ENABLE" 1 "DI_SYS_IDLE" 2 "DI_SYS_STANDBY" 0 "DI_SYS_UNAVAILABLE" 3 "DI_SYS_FAULT" 4 "DI_SYS_ABORT"; +VAL_ 280 DI_immobilizerState 2 "DI_IMM_STATE_AUTHENTICATING" 0 "DI_IMM_STATE_INIT_SNA" 3 "DI_IMM_STATE_DISARMED" 4 "DI_IMM_STATE_IDLE" 6 "DI_IMM_STATE_FAULT" 1 "DI_IMM_STATE_REQUEST" 5 "DI_IMM_STATE_RESET"; +VAL_ 280 DI_brakePedalState 2 "INVALID" 0 "OFF" 1 "ON"; +VAL_ 835 VCRIGHT_rearDefrostState 2 "HEATER_STATE_OFF" 4 "HEATER_STATE_FAULT" 1 "HEATER_STATE_ON" 0 "HEATER_STATE_SNA" 3 "HEATER_STATE_OFF_UNAVAILABLE"; +VAL_ 835 VCRIGHT_vehiclePowerStateDBG 3 "VEHICLE_POWER_STATE_DRIVE" 1 "VEHICLE_POWER_STATE_CONDITIONING" 2 "VEHICLE_POWER_STATE_ACCESSORY" 0 "VEHICLE_POWER_STATE_OFF"; +VAL_ 835 VCRIGHT_mirrorHeatState 2 "HEATER_STATE_OFF" 4 "HEATER_STATE_FAULT" 1 "HEATER_STATE_ON" 0 "HEATER_STATE_SNA" 3 "HEATER_STATE_OFF_UNAVAILABLE"; +VAL_ 553 SCCM_parkButtonStatus 3 "SNA" 0 "NOT_PRESSED" 2 "INIT" 1 "PRESSED"; +VAL_ 553 SCCM_rightStalkStatus 3 "DOWN_1" 6 "SNA" 0 "IDLE" 5 "INIT" 1 "UP_1" 4 "DOWN_2" 2 "UP_2"; +VAL_ 297 SCCM_steeringAngleValidity 3 "SNA" 2 "INIT" 0 "INVALID" 1 "VALID"; +VAL_ 297 SCCM_steeringAngleSensorStatus 0 "OK" 1 "INIT" 2 "ERROR" 3 "ERROR_INIT"; +VAL_ 258 VCLEFT_mirrorRecallState 5 "MIRROR_RECALL_STATE_RECALLING_STOPPED" 2 "MIRROR_RECALL_STATE_RECALLING_AXIS_2" 0 "MIRROR_RECALL_STATE_INIT" 3 "MIRROR_RECALL_STATE_RECALLING_COMPLETE" 4 "MIRROR_RECALL_STATE_RECALLING_FAILED" 1 "MIRROR_RECALL_STATE_RECALLING_AXIS_1"; +VAL_ 258 VCLEFT_rearLatchStatus 8 "LATCH_FAULT" 2 "LATCH_CLOSED" 1 "LATCH_OPENED" 3 "LATCH_CLOSING" 7 "LATCH_DEFAULT" 4 "LATCH_OPENING" 5 "LATCH_AJAR" 6 "LATCH_TIMEOUT" 0 "LATCH_SNA"; +VAL_ 258 VCLEFT_mirrorState 3 "MIRROR_STATE_FOLD_UNFOLD" 1 "MIRROR_STATE_TILT_X" 0 "MIRROR_STATE_IDLE" 2 "MIRROR_STATE_TILT_Y" 4 "MIRROR_STATE_RECALL"; +VAL_ 258 VCLEFT_mirrorHeatState 2 "HEATER_STATE_OFF" 4 "HEATER_STATE_FAULT" 1 "HEATER_STATE_ON" 0 "HEATER_STATE_SNA" 3 "HEATER_STATE_OFF_UNAVAILABLE"; +VAL_ 258 VCLEFT_frontLatchStatus 8 "LATCH_FAULT" 2 "LATCH_CLOSED" 1 "LATCH_OPENED" 3 "LATCH_CLOSING" 7 "LATCH_DEFAULT" 4 "LATCH_OPENING" 5 "LATCH_AJAR" 6 "LATCH_TIMEOUT" 0 "LATCH_SNA"; +VAL_ 258 VCLEFT_mirrorFoldState 4 "MIRROR_FOLD_STATE_UNFOLDING" 1 "MIRROR_FOLD_STATE_FOLDED" 3 "MIRROR_FOLD_STATE_FOLDING" 0 "MIRROR_FOLD_STATE_UNKNOWN" 2 "MIRROR_FOLD_STATE_UNFOLDED"; diff --git a/opendbc_repo/opendbc/dbc/tesla_powertrain.dbc b/opendbc_repo/opendbc/dbc/tesla_powertrain.dbc new file mode 100644 index 0000000000..8572ee20f4 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/tesla_powertrain.dbc @@ -0,0 +1,179 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: + NEO + MCU + GTW + EPAS + DI + ESP + SBW + STW + APP + DAS + XXX + +BO_ 262 DI_torque1: 8 DI + SG_ DI_torqueDriver : 0|13@1- (0.25,0) [-750|750] "Nm" NEO + SG_ DI_torque1Counter : 13|3@1+ (1,0) [0|0] "" NEO + SG_ DI_torqueMotor : 16|13@1- (0.25,0) [-750|750] "Nm" NEO + SG_ DI_soptState : 29|3@1+ (1,0) [0|0] "" NEO + SG_ DI_motorRPM : 32|16@1- (1,0) [-17000|17000] "RPM" NEO + SG_ DI_pedalPos : 48|8@1+ (0.4,0) [0|100] "%" NEO + SG_ DI_torque1Checksum : 56|8@1+ (1,0) [0|0] "" NEO + +BO_ 278 DI_torque2: 6 DI + SG_ DI_torqueEstimate : 0|12@1- (0.5,0) [-750|750] "Nm" NEO + SG_ DI_gear : 12|3@1+ (1,0) [0|0] "" NEO + SG_ DI_brakePedal : 15|1@1+ (1,0) [0|0] "" NEO + SG_ DI_vehicleSpeed : 16|12@1+ (0.05,-25) [-25|179.75] "MPH" NEO + SG_ DI_gearRequest : 28|3@1+ (1,0) [0|0] "" NEO + SG_ DI_torqueInterfaceFailure : 31|1@1+ (1,0) [0|0] "" NEO + SG_ DI_torque2Counter : 32|4@1+ (1,0) [0|0] "" NEO + SG_ DI_brakePedalState : 36|2@1+ (1,0) [0|0] "" NEO + SG_ DI_epbParkRequest : 38|1@1+ (1,0) [0|0] "" NEO + SG_ DI_epbInterfaceReady : 39|1@1+ (1,0) [0|0] "" NEO + SG_ DI_torque2Checksum : 40|8@1+ (1,0) [0|0] "" NEO + +BO_ 504 BrakeMessage: 8 XXX + SG_ driverBrakeStatus : 2|2@1+ (1,0) [0|3] "" XXX + +BO_ 568 STW_ACTN_RQ: 8 STW + SG_ SpdCtrlLvr_Stat : 0|6@1+ (1,0) [0|0] "" NEO + SG_ VSL_Enbl_Rq : 6|1@1+ (1,0) [0|0] "" NEO + SG_ SpdCtrlLvrStat_Inv : 7|1@1+ (1,0) [0|0] "" NEO + SG_ DTR_Dist_Rq : 8|8@1+ (1,0) [0|200] "" NEO + SG_ TurnIndLvr_Stat : 16|2@1+ (1,0) [0|0] "" NEO + SG_ HiBmLvr_Stat : 18|2@1+ (1,0) [0|0] "" NEO + SG_ WprWashSw_Psd : 20|2@1+ (1,0) [0|0] "" NEO + SG_ WprWash_R_Sw_Posn_V2 : 22|2@1+ (1,0) [0|0] "" NEO + SG_ StW_Lvr_Stat : 24|3@1+ (1,0) [0|0] "" NEO + SG_ StW_Cond_Flt : 27|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Cond_Psd : 28|2@1+ (1,0) [0|0] "" NEO + SG_ HrnSw_Psd : 30|2@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw00_Psd : 32|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw01_Psd : 33|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw02_Psd : 34|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw03_Psd : 35|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw04_Psd : 36|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw05_Psd : 37|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw06_Psd : 38|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw07_Psd : 39|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw08_Psd : 40|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw09_Psd : 41|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw10_Psd : 42|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw11_Psd : 43|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw12_Psd : 44|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw13_Psd : 45|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw14_Psd : 46|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw15_Psd : 47|1@1+ (1,0) [0|0] "" NEO + SG_ WprSw6Posn : 48|3@1+ (1,0) [0|0] "" NEO + SG_ MC_STW_ACTN_RQ : 52|4@1+ (1,0) [0|15] "" NEO + SG_ CRC_STW_ACTN_RQ : 56|8@1+ (1,0) [0|0] "" NEO + +BO_ 598 DI_state: 8 DI + SG_ DI_systemState : 0|3@1+ (1,0) [0|0] "" NEO + SG_ DI_vehicleHoldState : 3|3@1+ (1,0) [0|0] "" NEO + SG_ DI_proximity : 6|1@1+ (1,0) [0|0] "" NEO + SG_ DI_driveReady : 7|1@1+ (1,0) [0|0] "" NEO + SG_ DI_regenLight : 8|1@1+ (1,0) [0|0] "" NEO + SG_ DI_state : 9|3@1+ (1,0) [0|0] "" NEO + SG_ DI_cruiseState : 12|4@1+ (1,0) [0|0] "" NEO + SG_ DI_analogSpeed : 16|12@1+ (0.1,0) [0|150] "speed" NEO + SG_ DI_immobilizerState : 28|3@1+ (1,0) [0|0] "" NEO + SG_ DI_speedUnits : 31|1@1+ (1,0) [0|1] "" NEO + SG_ DI_cruiseSet : 32|9@1+ (0.5,0) [0|255.5] "speed" NEO + SG_ DI_aebState : 41|3@1+ (1,0) [0|0] "" NEO + SG_ DI_stateCounter : 44|4@1+ (1,0) [0|0] "" NEO + SG_ DI_digitalSpeed : 48|8@1+ (1,0) [0|250] "" NEO + SG_ DI_stateChecksum : 56|8@1+ (1,0) [0|0] "" NEO + +BO_ 703 DAS_control: 8 GTW + SG_ DAS_setSpeed : 0|12@1+ (0.1,0) [0|409.4] "kph" DI,PM,APS + SG_ DAS_accState : 12|4@1+ (1,0) [0|0] "" DI,PM,APS + SG_ DAS_aebEvent : 16|2@1+ (1,0) [0|3] "" DI,PM,APS + SG_ DAS_jerkMin : 18|9@1+ (0.03,-15.232) [-15.232|0.098] "m/s^3" DI,PM,APS + SG_ DAS_jerkMax : 27|8@1+ (0.059,0) [0|15.045] "m/s^3" DI,PM,APS + SG_ DAS_accelMin : 35|9@1+ (0.04,-15) [-15|5.44] "m/s^2" DI,PM,APS + SG_ DAS_accelMax : 44|9@1+ (0.04,-15) [-15|5.44] "m/s^2" DI,PM,APS + SG_ DAS_controlCounter : 53|3@1+ (1,0) [0|0] "" DI,PM,APS + SG_ DAS_controlChecksum : 56|8@1+ (1,0) [0|0] "" DI,PM,APS + +VAL_ 262 DI_torqueDriver -4096 "SNA" ; +VAL_ 262 DI_torqueMotor -4096 "SNA" ; +VAL_ 262 DI_soptState 7 "SOPT_TEST_SNA" 4 "SOPT_TEST_NOT_RUN" 3 "SOPT_TEST_PASSED" 2 "SOPT_TEST_FAILED" 1 "SOPT_TEST_IN_PROGRESS" 0 "SOPT_PRE_TEST" ; +VAL_ 262 DI_motorRPM -32768 "SNA" ; +VAL_ 262 DI_pedalPos 255 "SNA" ; +VAL_ 278 DI_torqueEstimate -2048 "SNA" ; +VAL_ 278 DI_gear 7 "DI_GEAR_SNA" 4 "DI_GEAR_D" 3 "DI_GEAR_N" 2 "DI_GEAR_R" 1 "DI_GEAR_P" 0 "DI_GEAR_INVALID" ; +VAL_ 278 DI_brakePedal 1 "Applied" 0 "Not_applied" ; +VAL_ 278 DI_vehicleSpeed 4095 "SNA" ; +VAL_ 278 DI_gearRequest 7 "DI_GEAR_SNA" 4 "DI_GEAR_D" 3 "DI_GEAR_N" 2 "DI_GEAR_R" 1 "DI_GEAR_P" 0 "DI_GEAR_INVALID" ; +VAL_ 278 DI_torqueInterfaceFailure 1 "TORQUE_INTERFACE_FAILED" 0 "TORQUE_INTERFACE_NORMAL" ; +VAL_ 278 DI_brakePedalState 3 "SNA" 2 "INVALID" 1 "ON" 0 "OFF" ; +VAL_ 278 DI_epbParkRequest 1 "Park_requested" 0 "No_request" ; +VAL_ 278 DI_epbInterfaceReady 1 "EPB_INTERFACE_READY" 0 "EPB_INTERFACE_NOT_READY" ; +VAL_ 504 driverBrakeStatus 2 "APPLIED" 1 "NOT_APPLIED" ; +VAL_ 568 SpdCtrlLvr_Stat 32 "DN_1ST" 16 "UP_1ST" 8 "DN_2ND" 4 "UP_2ND" 2 "RWD" 1 "FWD" 0 "IDLE" ; +VAL_ 568 DTR_Dist_Rq 255 "SNA" 200 "ACC_DIST_7" 166 "ACC_DIST_6" 133 "ACC_DIST_5" 100 "ACC_DIST_4" 66 "ACC_DIST_3" 33 "ACC_DIST_2" 0 "ACC_DIST_1" ; +VAL_ 568 TurnIndLvr_Stat 3 "SNA" 2 "RIGHT" 1 "LEFT" 0 "IDLE" ; +VAL_ 568 HiBmLvr_Stat 3 "SNA" 2 "HIBM_FLSH_ON_PSD" 1 "HIBM_ON_PSD" 0 "IDLE" ; +VAL_ 568 WprWashSw_Psd 3 "SNA" 2 "WASH" 1 "TIPWIPE" 0 "NPSD" ; +VAL_ 568 WprWash_R_Sw_Posn_V2 3 "SNA" 2 "WASH" 1 "INTERVAL" 0 "OFF" ; +VAL_ 568 StW_Lvr_Stat 4 "STW_BACK" 3 "STW_FWD" 2 "STW_DOWN" 1 "STW_UP" 0 "NPSD" ; +VAL_ 568 StW_Cond_Psd 3 "SNA" 2 "DOWN" 1 "UP" 0 "NPSD" ; +VAL_ 568 HrnSw_Psd 3 "SNA" 2 "NDEF2" 1 "PSD" 0 "NPSD" ; +VAL_ 568 StW_Sw00_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ; +VAL_ 568 StW_Sw01_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ; +VAL_ 568 StW_Sw03_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ; +VAL_ 568 StW_Sw04_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ; +VAL_ 568 WprSw6Posn 7 "SNA" 6 "STAGE2" 5 "STAGE1" 4 "INTERVAL4" 3 "INTERVAL3" 2 "INTERVAL2" 1 "INTERVAL1" 0 "OFF" ; +VAL_ 598 DI_aebState 2 "ENABLED" 4 "FAULT" 7 "SNA" 1 "STANDBY" 3 "STANDSTILL" 0 "UNAVAILABLE" ; +VAL_ 598 DI_analogSpeed 4095 "SNA" ; +VAL_ 598 DI_cruiseState 2 "ENABLED" 5 "FAULT" 0 "OFF" 4 "OVERRIDE" 7 "PRE_CANCEL" 6 "PRE_FAULT" 1 "STANDBY" 3 "STANDSTILL" ; +VAL_ 598 DI_digitalSpeed 255 "SNA" ; +VAL_ 598 DI_immobilizerState 2 "AUTHENTICATING" 3 "DISARMED" 6 "FAULT" 4 "IDLE" 0 "INIT_SNA" 1 "REQUEST" 5 "RESET" ; +VAL_ 598 DI_speedUnits 1 "KPH" 0 "MPH" ; +VAL_ 598 DI_state 3 "ABORT" 4 "ENABLE" 2 "FAULT" 1 "STANDBY" 0 "UNAVAILABLE" ; +VAL_ 598 DI_systemState 3 "ABORT" 4 "ENABLE" 2 "FAULT" 1 "STANDBY" 0 "UNAVAILABLE" ; +VAL_ 598 DI_vehicleHoldState 2 "BLEND_IN" 4 "BLEND_OUT" 6 "FAULT" 7 "INIT" 5 "PARK" 1 "STANDBY" 3 "STANDSTILL" 0 "UNAVAILABLE" ; +VAL_ 703 DAS_setSpeed 4095 "SNA" ; +VAL_ 703 DAS_accState 15 "FAULT_SNA" 13 "ACC_CANCEL_GENERIC_SILENT" 11 "APC_SELFPARK_START" 10 "APC_UNPARK_COMPLETE" 9 "APC_PAUSE" 8 "APC_ABORT" 7 "APC_COMPLETE" 6 "APC_FORWARD" 5 "APC_BACKWARD" 4 "ACC_ON" 3 "ACC_HOLD" 0 "ACC_CANCEL_GENERIC" ; +VAL_ 703 DAS_aebEvent 3 "AEB_SNA" 2 "AEB_FAULT" 1 "AEB_ACTIVE" 0 "AEB_NOT_ACTIVE" ; +VAL_ 703 DAS_jerkMin 511 "SNA" ; +VAL_ 703 DAS_jerkMax 255 "SNA" ; +VAL_ 703 DAS_accelMin 511 "SNA" ; +VAL_ 703 DAS_accelMax 511 "SNA" ; \ No newline at end of file diff --git a/opendbc_repo/opendbc/dbc/tesla_radar_bosch_generated.dbc b/opendbc_repo/opendbc/dbc/tesla_radar_bosch_generated.dbc new file mode 100644 index 0000000000..cdd03908a5 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/tesla_radar_bosch_generated.dbc @@ -0,0 +1,1373 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + +CM_ "tesla_radar_bosch.dbc starts here"; + +VERSION "" + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: Autopilot Radar Diag + + +BO_ 769 TeslaRadarSguInfo: 8 Radar + SG_ RADC_VerticalMisalignment : 0|8@1+ (1,0) [0|255] "" Autopilot + SG_ RADC_SCUTemperature : 8|8@1+ (1,-128) [-128|127] "" Autopilot + SG_ RADC_VMA_Plaus : 16|8@1+ (1,0) [0|255] "" Autopilot + SG_ RADC_SGU_ITC : 24|8@1+ (1,0) [0|255] "" Autopilot + SG_ RADC_HorizontMisalignment : 32|12@1+ (1,0) [0|4096] "" Autopilot + SG_ RADC_SensorDirty : 44|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_HWFail : 45|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_SGUFail : 46|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_SGUInfoConsistBit : 47|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 770 TeslaRadarTguInfo: 8 Radar + SG_ RADC_ACCTargObj1_sguIndex : 0|6@1+ (1,0) [0|63] "" Autopilot + SG_ RADC_ACCTargObj2_sguIndex : 6|6@1+ (1,0) [0|63] "" Autopilot + SG_ RADC_ACCTargObj3_sguIndex : 12|6@1+ (1,0) [0|63] "" Autopilot + SG_ RADC_ACCTargObj4_sguIndex : 18|6@1+ (1,0) [0|63] "" Autopilot + SG_ RADC_ACCTargObj5_sguIndex : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ unused30 : 30|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_TGUInfoConsistBit : 31|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_ACCTargObj1_dBPower : 32|16@1+ (1,0) [0|65535] "" Autopilot + SG_ RADC_ACCTargObj5_dBPower : 48|16@1+ (1,0) [0|65535] "" Autopilot + +BO_ 1281 TeslaRadarAlertMatrix: 8 Radar + SG_ RADC_a001_ecuInternalPerf : 0|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a002_flashPerformance : 1|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a003_vBatHigh : 2|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a004_adjustmentNotDone : 3|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a005_adjustmentReq : 4|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a006_adjustmentNotOk : 5|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a007_sensorBlinded : 6|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a008_plantModeActive : 7|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a009_configMismatch : 8|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a010_canBusOff : 9|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a011_bdyMIA : 10|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a012_espMIA : 11|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a013_gtwMIA : 12|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a014_sccmMIA : 13|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a015_adasMIA : 14|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a016_bdyInvalidCount : 15|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a017_adasInvalidCount : 16|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a018_espInvalidCount : 17|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a019_sccmInvalidCount : 18|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a020_bdyInvalidChkSm : 19|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a021_espInvalidChkSm : 20|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a022_sccmInvalidChkSm : 21|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a023_sccmInvalidChkSm : 22|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a024_absValidity : 23|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a025_ambTValidity : 24|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a026_brakeValidity : 25|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a027_CntryCdValidity : 26|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a028_espValidity : 27|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a029_longAccOffValidity : 28|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a030_longAccValidity : 29|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a031_odoValidity : 30|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a032_gearValidity : 31|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a033_steerAngValidity : 32|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a034_steerAngSpdValidity : 33|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a035_indctrValidity : 34|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a036_vehStandStillValidity : 35|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a037_vinValidity : 36|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a038_whlRotValidity : 37|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a039_whlSpdValidity : 38|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a040_whlStandStillValidity : 39|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a041_wiperValidity : 40|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a042_xwdValidity : 41|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a043_yawOffValidity : 42|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a044_yawValidity : 43|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a045_bsdSanity : 44|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a046_rctaSanity : 45|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a047_lcwSanity : 46|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a048_steerAngOffSanity : 47|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a049_tireSizeSanity : 48|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a050_velocitySanity : 49|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a051_yawSanity : 50|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a052_radomeHtrInop : 51|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a053_espmodValidity : 52|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a054_gtwmodValidity : 53|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a055_stwmodValidity : 54|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a056_bcmodValidity : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a057_dimodValidity : 56|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a058_opmodValidity : 57|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a059_drmiInvalidChkSm : 58|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a060_drmiInvalidCount : 59|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a061_radPositionMismatch : 60|1@1+ (1,0) [0|1] "" Autopilot + SG_ RADC_a062_strRackMismatch : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ unused62 : 62|2@1+ (1,0) [0|3] "" Autopilot + +BO_ 784 RadarPoint0_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 785 RadarPoint0_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 787 RadarPoint1_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 788 RadarPoint1_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 790 RadarPoint2_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 791 RadarPoint2_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 793 RadarPoint3_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 794 RadarPoint3_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 796 RadarPoint4_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 797 RadarPoint4_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 799 RadarPoint5_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 800 RadarPoint5_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 802 RadarPoint6_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 803 RadarPoint6_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 805 RadarPoint7_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 806 RadarPoint7_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 808 RadarPoint8_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 809 RadarPoint8_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 811 RadarPoint9_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 812 RadarPoint9_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 814 RadarPoint10_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 815 RadarPoint10_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 817 RadarPoint11_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 818 RadarPoint11_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 820 RadarPoint12_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 821 RadarPoint12_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 823 RadarPoint13_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 824 RadarPoint13_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 826 RadarPoint14_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 827 RadarPoint14_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 829 RadarPoint15_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 830 RadarPoint15_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 832 RadarPoint16_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 833 RadarPoint16_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 835 RadarPoint17_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 836 RadarPoint17_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 838 RadarPoint18_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 839 RadarPoint18_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 841 RadarPoint19_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 842 RadarPoint19_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 844 RadarPoint20_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 845 RadarPoint20_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 847 RadarPoint21_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 848 RadarPoint21_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 850 RadarPoint22_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 851 RadarPoint22_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 853 RadarPoint23_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 854 RadarPoint23_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 856 RadarPoint24_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 857 RadarPoint24_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 859 RadarPoint25_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 860 RadarPoint25_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 862 RadarPoint26_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 863 RadarPoint26_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 865 RadarPoint27_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 866 RadarPoint27_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 868 RadarPoint28_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 869 RadarPoint28_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 871 RadarPoint29_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 872 RadarPoint29_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 874 RadarPoint30_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 875 RadarPoint30_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 877 RadarPoint31_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 878 RadarPoint31_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 881 ProcessedRadarPoint1_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 882 ProcessedRadarPoint1_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 884 ProcessedRadarPoint2_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 885 ProcessedRadarPoint2_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 887 ProcessedRadarPoint3_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 888 ProcessedRadarPoint3_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 890 ProcessedRadarPoint4_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 891 ProcessedRadarPoint4_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 893 ProcessedRadarPoint5_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 894 ProcessedRadarPoint5_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 697 VIN_VIP_405HS: 8 Autopilot + SG_ VIN_MuxID M : 0|8@1+ (1,0) [0|0] "" Radar + SG_ VIN_Part1 m16 : 47|24@0+ (1,0) [0|16777215] "" Radar + SG_ VIN_Part2 m17 : 15|56@0+ (1,0) [0|7.2057594038E+16] "" Radar + SG_ VIN_Part3 m18 : 15|56@0+ (1,0) [0|7.2057594038E+16] "" Radar + +BO_ 681 Msg2A9_GTW_carConfig: 8 Autopilot + SG_ Msg2A9_Always0x02 : 48|8@1+ (1,0) [0|0] "" Radar + SG_ Msg2A9_Always0x10 : 56|8@1+ (1,0) [0|0] "" Radar + SG_ Msg2A9_Always0x16 : 8|8@1+ (1,0) [0|0] "" Radar + SG_ Msg2A9_Always0x41 : 24|8@1+ (1,0) [0|0] "" Radar + SG_ Msg2A9_Value1_0x02 : 0|3@1+ (1,0) [0|0] "" Radar + SG_ Msg2A9_FourWheelDrive : 3|2@1+ (1,0) [0|0] "" Radar + SG_ Msg2A9_Value2_0x02 : 5|3@1+ (1,0) [0|0] "" Radar + SG_ Msg2A9_Always0x43 : 16|8@1+ (1,0) [0|0] "" Radar + +BO_ 409 Msg199_STW_ANGLHP_STAT: 8 Autopilot + SG_ Msg199Always0x04 : 32|8@1+ (1,0) [0|0] "" Radar + SG_ Msg199Always0x20 : 16|8@1+ (1,0) [0|0] "" Radar + SG_ Msg199Always0x2F : 0|8@1+ (1,0) [0|0] "" Radar + SG_ Msg199Always0x67 : 8|8@1+ (1,0) [0|0] "" Radar + SG_ Msg199Always0xFF : 40|8@1+ (1,0) [0|0] "" Radar + SG_ Msg199Checksum : 56|8@1+ (1,0) [0|0] "" Radar + SG_ Msg199Counter : 52|4@1+ (1,0) [0|0] "" Radar + +BO_ 361 Msg169_ESP_wheelSpeeds: 8 Autopilot + SG_ ESP_wheelSpeedFrL_HS : 0|13@1+ (0.04,0) [0|327.64] "km/h" Radar + SG_ ESP_wheelSpeedFrR_HS : 13|13@1+ (0.04,0) [0|327.64] "km/h" Radar + SG_ ESP_wheelSpeedReL_HS : 26|13@1+ (0.04,0) [0|327.64] "km/h" Radar + SG_ ESP_wheelSpeedReR_HS : 39|13@1+ (0.04,0) [0|327.64] "km/h" Radar + SG_ Msg169Checksum : 56|8@1+ (1,0) [0|0] "" Radar + SG_ Msg169Counter : 52|4@1+ (1,0) [0|0] "" Radar + +BO_ 345 Msg159_ESP_C: 8 Autopilot + SG_ Msg159Always0x3A : 16|8@1+ (1,0) [0|0] "" Radar + SG_ Msg159Always0xA5 : 0|8@1+ (1,0) [0|0] "" Radar + SG_ Msg159Always0xCF : 32|8@1+ (1,0) [0|0] "" Radar + SG_ Msg159Always0xF4 : 8|8@1+ (1,0) [0|0] "" Radar + SG_ Msg159Counter : 44|4@1+ (1,0) [0|0] "" Radar + SG_ Msg159Checksum : 24|8@1+ (1,0) [0|0] "" Radar + +BO_ 329 Msg149_ESP_145h: 8 Autopilot + SG_ Msg149Always0x02 : 16|8@1+ (1,0) [0|0] "" Radar + SG_ Msg149Always0x04 : 40|8@1+ (1,0) [0|0] "" Radar + SG_ Msg149Always0x26 : 8|8@1+ (1,0) [0|0] "" Radar + SG_ Msg149Always0x6A : 24|8@1+ (1,0) [0|0] "" Radar + SG_ Msg149Always0xAA : 32|8@1+ (1,0) [0|0] "" Radar + SG_ Msg149Always0xF : 48|4@1+ (1,0) [0|0] "" Radar + SG_ Msg149Checksum : 56|8@1+ (1,0) [0|0] "" Radar + SG_ Msg149Counter : 52|4@1+ (1,0) [0|0] "" Radar + +BO_ 297 Msg129_ESP_115h: 6 Autopilot + SG_ Msg129Always0x20 : 24|8@1+ (1,0) [0|0] "" Radar + SG_ Msg129Checksum : 40|8@1+ (1,0) [0|0] "" Radar + SG_ Msg129Counter : 36|4@1+ (1,0) [0|0] "" Radar + +BO_ 281 Msg119_DI_torque2: 6 Autopilot + SG_ Msg119Always0x11 : 24|8@1+ (1,0) [0|0] "" Radar + SG_ Msg119Always0x1F : 8|8@1+ (1,0) [0|0] "" Radar + SG_ Msg119Always0x8 : 36|4@1+ (1,0) [0|0] "" Radar + SG_ Msg119Always0xF4 : 16|8@1+ (1,0) [0|0] "" Radar + SG_ Msg119Always0xFF : 0|8@1+ (1,0) [0|0] "" Radar + SG_ Msg119Checksum : 40|8@1+ (1,0) [0|0] "" Radar + SG_ Msg119Counter : 32|4@1+ (1,0) [0|0] "" Radar + +BO_ 265 Msg109_DI_torque1: 8 Autopilot + SG_ Msg109Always0x80 : 24|8@1+ (1,0) [0|0] "" Radar + SG_ Msg109Checksum : 56|8@1+ (1,0) [0|0] "" Radar + SG_ Msg109Counter : 13|3@1+ (1,0) [0|0] "" Radar + +BO_ 521 Msg209_GTW_odo: 8 Autopilot + SG_ Msg209Always0x61 : 8|8@1+ (1,0) [0|0] "" Radar + SG_ Msg209Always0x94 : 16|8@1+ (1,0) [0|0] "" Radar + SG_ Msg209Always0x52 : 24|8@1+ (1,0) [0|0] "" Radar + SG_ Msg209Always0x13 : 32|8@1+ (1,0) [0|0] "" Radar + SG_ Msg209Always0x03 : 40|8@1+ (1,0) [0|0] "" Radar + SG_ Msg209Always0x80 : 48|8@1+ (1,0) [0|0] "" Radar + +BO_ 537 Msg219_STW_ACTN_RQ: 8 Autopilot + SG_ Msg219Counter : 52|4@1+ (1,0) [0|15] "" Radar + SG_ Msg219CRC : 56|8@1+ (1,0) [0|0] "" Radar + +BO_ 425 Msg1A9_DI_espControl: 5 Autopilot + SG_ Msg1A9Always0x0C : 16|8@1+ (1,0) [0|0] "" Radar + SG_ Msg1A9Counter : 28|4@1+ (1,0) [0|0] "" Radar + SG_ Msg1A9Checksum : 32|8@1+ (1,0) [0|0] "" Radar + +BO_ 729 Msg2D9_BC_status : 8 Autopilot + SG_ Msg2D9Always0x80 : 0|8@1+ (1,0) [0|0] "" Radar + SG_ Msg2D9Always0x40 : 8|8@1+ (1,0) [0|0] "" Radar + SG_ Msg2D9Always0x83 : 16|8@1+ (1,0) [0|0] "" Radar + +BO_ 1601 UDS_radarRequest: 8 Diag + SG_ UDS_radarRequestData : 7|64@0+ (1,0) [0|0] "" Radar + +BO_ 1617 Radar_udsResponse: 8 Radar + SG_ Radar_udsResponseData : 7|64@0+ (1,0) [0|0] "" Diag + +CM_ BO_ 697 "Start with MuxID 0x12, then 0x11 and finally 0x10 (VIN is then transmitted in the reverse order)"; +CM_ BO_ 681 "Message sent every 1000 ms. All fixed bytes, no checksum, the byte for RWD or AWD needs to match VIN config"; +CM_ BO_ 409 "Message sent every 10ms. Checksum : use all first 7 bytes with the SAE J1850 CRC algo"; +CM_ BO_ 361 "Message sent every 10ms. Checksum : Sum of all first 7 bytes + 0x76"; +CM_ BO_ 345 "Message sent every 20ms. Checksum : Sum of all first bytes + 0xc; place checksum in 4th octet"; +CM_ BO_ 329 "Message sent every 20ms. Checksum : Sum of all first 7 bytes + 0x46"; +CM_ BO_ 297 "Message sent every 20ms. Checksum : Sum of all first 5 bytes + 0x16"; +CM_ BO_ 281 "Message sent every 10ms. Checksum : Sum of all first 5 bytes + 0x17"; +CM_ BO_ 265 "Message sent every 10ms. Checksum : Sum of all first 7 bytes + 0x7"; +CM_ BO_ 521 "Message sent every 100ms. All fixed bytes, no checksum."; +CM_ BO_ 537 "Message sent every 100ms. Checksum : use all first 7 bytes with the SAE J1850 CRC algo"; +CM_ BO_ 425 "Message sent every 20ms. Checksum : Sum of all first 4 bytes + 0x38"; +CM_ BO_ 729 "Message sent every 1000ms. All fixed bytes, no checksum."; + +BA_DEF_ "BusType" STRING ; +BA_DEF_ BO_ "GenMsgCycleTime" INT 0 0; +BA_DEF_ SG_ "FieldType" STRING ; + +BA_DEF_DEF_ "BusType" "CAN"; +BA_DEF_DEF_ "FieldType" ""; +BA_DEF_DEF_ "GenMsgCycleTime" 0; + +BA_ "GenMsgCycleTime" BO_ 697 250; +BA_ "GenMsgCycleTime" BO_ 681 1000; +BA_ "GenMsgCycleTime" BO_ 409 10; +BA_ "GenMsgCycleTime" BO_ 361 10; +BA_ "GenMsgCycleTime" BO_ 345 20; +BA_ "GenMsgCycleTime" BO_ 329 20; +BA_ "GenMsgCycleTime" BO_ 297 20; +BA_ "GenMsgCycleTime" BO_ 281 10; +BA_ "GenMsgCycleTime" BO_ 265 10; +BA_ "GenMsgCycleTime" BO_ 521 100; +BA_ "GenMsgCycleTime" BO_ 537 100; +BA_ "GenMsgCycleTime" BO_ 425 20; +BA_ "GenMsgCycleTime" BO_ 729 1000; + +VAL_ 681 Msg2A9_FourWheelDrive 3 "SNA" 2 "UNUSED" 1 "4WD" 0 "2WD" ; +VAL_ 785 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 785 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 788 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 788 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 791 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 791 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 794 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 794 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 797 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 797 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 800 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 800 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 803 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 803 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 806 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 806 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 809 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 809 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 812 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 812 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 815 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 815 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 818 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 818 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 821 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 821 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 824 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 824 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 827 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 827 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 830 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 830 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 833 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 833 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 836 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 836 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 839 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 839 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 842 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 842 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 845 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 845 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 848 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 848 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 851 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 851 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 854 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 854 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 857 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 857 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 860 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 860 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 863 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 863 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 866 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 866 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 869 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 869 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 872 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 872 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 875 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 875 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 878 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 878 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 882 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 882 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 885 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 885 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 888 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 888 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 891 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 891 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 894 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 894 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; \ No newline at end of file diff --git a/opendbc_repo/opendbc/dbc/tesla_radar_continental_generated.dbc b/opendbc_repo/opendbc/dbc/tesla_radar_continental_generated.dbc new file mode 100644 index 0000000000..9a543b3459 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/tesla_radar_continental_generated.dbc @@ -0,0 +1,1262 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + +CM_ "tesla_radar_continental.dbc starts here"; + +VERSION "" + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: Autopilot Radar Diag + +BO_ 1025 RadarStatus: 8 Radar + SG_ carparkDetected : 29|1@1+ (1,0) [0|1] "" Autopilot + SG_ decreaseBlockage : 25|1@1+ (1,0) [0|1] "" Autopilot + SG_ horizontMisalignment : 8|12@1+ (0.00012207,-0.25) [-0.25|0.249878] "rad" Autopilot + SG_ increaseBlockage : 24|1@1+ (1,0) [0|1] "" Autopilot + SG_ lowPowerMode : 20|2@1+ (1,0) [0|3] "" Autopilot + SG_ powerOnSelfTest : 22|1@1+ (1,0) [0|1] "" Autopilot + SG_ sensorBlocked : 26|1@1+ (1,0) [0|1] "" Autopilot + SG_ sensorInfoConsistBit : 30|1@1+ (1,0) [0|1] "" Autopilot + SG_ sensorReplace : 31|1@1+ (1,0) [0|1] "" Autopilot + SG_ shortTermUnavailable : 23|1@1+ (1,0) [0|1] "" Autopilot + SG_ tunnelDetected : 28|1@1+ (1,0) [0|1] "" Autopilot + SG_ vehDynamicsError : 27|1@1+ (1,0) [0|1] "" Autopilot + SG_ verticalMisalignment : 0|8@1+ (0.00195313,-0.25) [-0.25|0.248047] "rad" Autopilot + +BO_ 1617 Radar_udsResponse: 8 Radar + SG_ Radar_udsResponseData : 7|64@0+ (1,0) [0|1.84467e+19] "" Diag + +BO_ 1601 UDS_radcRequest: 8 Diag + SG_ UDS_radcRequestData : 7|64@0+ (1,0) [0|1.84467e+19] "" Radar + +BO_ 1040 RadarPoint0_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1041 RadarPoint0_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1042 RadarPoint1_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1043 RadarPoint1_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1044 RadarPoint2_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1045 RadarPoint2_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1046 RadarPoint3_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1047 RadarPoint3_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1048 RadarPoint4_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1049 RadarPoint4_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1050 RadarPoint5_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1051 RadarPoint5_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1052 RadarPoint6_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1053 RadarPoint6_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1054 RadarPoint7_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1055 RadarPoint7_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1056 RadarPoint8_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1057 RadarPoint8_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1058 RadarPoint9_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1059 RadarPoint9_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1060 RadarPoint10_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1061 RadarPoint10_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1062 RadarPoint11_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1063 RadarPoint11_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1064 RadarPoint12_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1065 RadarPoint12_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1066 RadarPoint13_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1067 RadarPoint13_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1068 RadarPoint14_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1069 RadarPoint14_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1070 RadarPoint15_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1071 RadarPoint15_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1072 RadarPoint16_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1073 RadarPoint16_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1074 RadarPoint17_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1075 RadarPoint17_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1076 RadarPoint18_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1077 RadarPoint18_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1078 RadarPoint19_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1079 RadarPoint19_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1080 RadarPoint20_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1081 RadarPoint20_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1082 RadarPoint21_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1083 RadarPoint21_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1084 RadarPoint22_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1085 RadarPoint22_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1086 RadarPoint23_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1087 RadarPoint23_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1088 RadarPoint24_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1089 RadarPoint24_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1090 RadarPoint25_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1091 RadarPoint25_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1092 RadarPoint26_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1093 RadarPoint26_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1094 RadarPoint27_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1095 RadarPoint27_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1096 RadarPoint28_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1097 RadarPoint28_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1098 RadarPoint29_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1099 RadarPoint29_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1100 RadarPoint30_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1101 RadarPoint30_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1102 RadarPoint31_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1103 RadarPoint31_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1104 RadarPoint32_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1105 RadarPoint32_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1106 RadarPoint33_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1107 RadarPoint33_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1108 RadarPoint34_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1109 RadarPoint34_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1110 RadarPoint35_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1111 RadarPoint35_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1112 RadarPoint36_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1113 RadarPoint36_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1114 RadarPoint37_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1115 RadarPoint37_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1116 RadarPoint38_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1117 RadarPoint38_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1118 RadarPoint39_A: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot + +BO_ 1119 RadarPoint39_B: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot + SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot + +VAL_ 1025 lowPowerMode 1 "COMMANDED_LOW_POWER" 0 "DEFAULT_LOW_POWER" 2 "NORMAL_POWER" 3 "SNA"; +VAL_ 1041 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 1041 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 1043 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 1043 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 1045 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 1045 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 1047 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 1047 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 1049 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 1049 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 1051 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 1051 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 1053 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 1053 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 1055 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 1055 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 1057 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 1057 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 1059 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 1059 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 1061 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 1061 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 1063 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 1063 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 1065 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 1065 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 1067 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 1067 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 1069 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 1069 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 1071 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 1071 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 1073 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 1073 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 1075 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 1075 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 1077 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 1077 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 1079 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 1079 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 1081 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 1081 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 1083 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 1083 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 1085 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 1085 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 1087 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 1087 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 1089 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 1089 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 1091 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 1091 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 1093 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 1093 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 1095 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 1095 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 1097 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 1097 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 1099 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 1099 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 1101 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 1101 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 1103 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 1103 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 1105 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 1105 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 1107 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 1107 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 1109 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 1109 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 1111 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 1111 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 1113 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 1113 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 1115 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 1115 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 1117 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 1117 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 1119 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 1119 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; \ No newline at end of file diff --git a/opendbc_repo/opendbc/dbc/toyota_2017_ref_pt.dbc b/opendbc_repo/opendbc/dbc/toyota_2017_ref_pt.dbc new file mode 100644 index 0000000000..17cd8f1b36 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/toyota_2017_ref_pt.dbc @@ -0,0 +1,1638 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: AFS BSR CGW CSR DS1 FCM FRD KSS MAV SCS Vector__XXX + + +BO_ 1196 ABG1D50: 8 CGW + SG_ DRABG01 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRABG02 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRABG03 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRABG04 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRABG05 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRABG06 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRABG07 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRABG08 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1212 ABG1D51: 8 CGW + SG_ DRABG09 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRABG10 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRABG11 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRABG12 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRABG13 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRABG14 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRABG15 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRABG16 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 945 ABG1S01: 8 CGW + SG_ CDT : 22|3@0+ (1,0) [0|0] "" DS1 + SG_ AB : 19|2@0+ (1,0) [0|0] "" DS1 + SG_ DBKLAB : 17|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ PODT : 27|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ PBKLAB : 25|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ EDRTRG : 44|2@0+ (1,0) [0|0] "" DS1 + +BO_ 836 ACC1F01: 8 DS1 + SG_ DSS1GDRV : 7|10@0- (0.1,0) [0|0] "m/s^2" Vector__XXX + SG_ DS1STAT2 : 13|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ DS1STBK2 : 10|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSWAR : 18|1@0+ (1,0) [0|0] "" FCM + SG_ PCSALM : 17|1@0+ (1,0) [0|0] "" FCM + SG_ PCSOPR : 16|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSABK : 31|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PBATRGR : 30|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ PPTRGR : 28|1@0+ (1,0) [0|0] "" FCM + SG_ IBTRGR : 27|1@0+ (1,0) [0|0] "" FCM + SG_ CLEXTRGR : 26|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ IRLT_REQ : 25|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ BRKHLD : 37|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ AVSTRGR : 36|1@0+ (1,0) [0|0] "" SCS + SG_ VGRSTRGR : 35|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ PREFILL : 33|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PBRTRGR : 32|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSDIS : 43|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PBPREPMP : 40|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ACCF01SM : 63|8@0+ (1,0) [0|0] "" FCM + +BO_ 1227 ACC1N01: 8 DS1 + SG_ ACCNID : 7|8@0+ (1,0) [0|0] "" CGW + SG_ ACCSNG : 15|1@0+ (1,0) [0|0] "" CGW + SG_ ACCSPF : 23|16@0+ (1,0) [0|0] "" CGW + SG_ ACCREV : 39|32@0+ (1,0) [0|0] "" CGW + +BO_ 835 ACC1S03: 8 DS1 + SG_ ATACC2 : 7|16@0- (0.001,0) [0|0] "m/s^2" Vector__XXX + SG_ ACCTYPE : 23|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ XTRGT2 : 21|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ XLTMD2 : 20|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LCDT2 : 19|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LCNG : 18|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ SMC : 17|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ STOKJD : 31|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PMTBRKG : 30|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LVSTP : 29|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LCCWOK : 25|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LCBW2 : 24|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CACC : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ AT_RAW : 47|8@0- (0.05,0) [0|0] "m/s^2" Vector__XXX + SG_ ACC03SUM : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 896 ACN1S01: 8 CGW + SG_ R_AC2 : 6|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ R_HTR : 5|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ECOSW : 2|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ R_EGON : 1|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ BLWON : 15|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ SCAC : 13|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CGIH : 23|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ FAN_AC : 22|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ ACHI : 20|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ACMAX : 19|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ R_VSCUS : 31|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ R_SHTR : 30|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ R_PTC : 29|2@0+ (1,0) [0|0] "piece" Vector__XXX + SG_ GNRTIH : 27|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ R_COL_TM : 26|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ R_HET_TM : 24|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ TAMOUT : 55|8@0- (0.625,0) [0|0] "" Vector__XXX + +BO_ 897 ACN1S04: 8 CGW + SG_ R_ACCALL : 7|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ R_AC_WNG : 6|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ R_SW_CON : 5|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ R_BEEP : 4|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_RA_AUT : 3|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_RA_AC : 2|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_RA_LO : 1|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_RA_HI : 0|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_AUTO_D : 15|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_AUTO_P : 14|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_DEF : 13|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_RRDEF : 12|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_RFAUT : 11|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_REC : 10|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_FRS : 9|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_AC : 8|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_MHTR : 23|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_WIPD : 22|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_DUSY : 21|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_SWNG : 20|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_BLW_F : 19|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_OAUT_D : 31|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_OLET_D : 30|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_OAUT_P : 27|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_OLET_P : 26|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ ST_BMN_F : 39|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_AIRPR : 47|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_O2 : 46|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_PLSM : 45|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_KAFUN : 43|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_SAFS : 42|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_ACOFF : 41|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ R_ONSCRN : 40|1@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 944 ACN1S07: 6 CGW + SG_ RDEF : 7|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ MHTR : 6|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ TR_TEMP : 15|8@0+ (0.25,-6.5) [0|0] "" Vector__XXX + SG_ ACN_AMB : 31|8@0+ (1,0) [0|0] "" CSR,DS1,FCM + SG_ AC_AMB05 : 44|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ AC_MODE : 43|2@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1250 AFS1N01: 8 AFS + SG_ AFSNID : 7|8@0+ (1,0) [0|0] "" CGW + SG_ AFSSNG : 15|1@0+ (1,0) [0|0] "" CGW + SG_ AFSSPF : 23|16@0+ (1,0) [0|0] "" CGW + SG_ AFSREV : 39|32@0+ (1,0) [0|0] "" CGW + +BO_ 913 AFS1S01: 8 AFS + SG_ HLLI : 7|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ AZB_ADV : 5|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ HEDH_AZB : 3|1@0+ (1,0) [0|0] "" FCM + SG_ AZB_IND : 13|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ AZB_HIND : 11|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ AZB_PRE : 10|1@0+ (1,0) [0|0] "" FCM + SG_ LED_HLI : 9|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ LPECU_PR : 24|1@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 845 AFS1S02: 5 AFS + SG_ AHRR : 17|10@0+ (0.0048828125,0) [0|0] "V" Vector__XXX + SG_ AHVLD : 39|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ AHFAIL : 38|1@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1044 AHB1S01: 8 FCM + SG_ AHB_DUTY : 47|8@0+ (0.5,0) [0|0] "%" Vector__XXX + SG_ F_AHB : 55|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ C_AHB : 51|4@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 900 AVN1S01: 6 CGW + SG_ RDC : 7|4@0+ (1,0) [0|0] "" SCS + SG_ CONFID01 : 3|2@0+ (1,0) [0|0] "" SCS + SG_ CONF : 1|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ LYT : 15|4@0+ (1,0) [0|0] "" SCS + SG_ DRVW : 9|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ MWMP : 8|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ GRAD : 23|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ HARSHID : 19|4@0+ (1,0) [0|0] "" SCS + SG_ BRANCH : 27|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ HARSH : 35|2@0+ (1,0) [0|0] "" SCS + SG_ TOLLGATE : 33|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ TUNL : 32|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LEAVEOUT : 47|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ MRGLANE : 46|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LVLANE : 45|1@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 902 AVN1S03: 6 CGW + SG_ ANS : 7|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CRS1 : 15|1@0+ (1,0) [0|0] "" SCS + SG_ RQAC : 14|7@0+ (0.02,0) [0|0] "G" Vector__XXX + SG_ GUID : 23|1@0+ (1,0) [0|0] "" SCS + SG_ GYRO : 22|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ NCRN : 21|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CRN6 : 20|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CRN5 : 19|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CRN3 : 18|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CRN2 : 17|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CRN1 : 16|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CONFID03 : 31|2@0+ (1,0) [0|0] "" SCS + SG_ CURV : 29|2@0+ (1,0) [0|0] "" SCS + SG_ CVST : 27|1@0+ (1,0) [0|0] "" SCS + SG_ NAVI_STR : 26|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ MIND : 25|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ONOFF : 24|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ HWPB : 39|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ RAD : 38|7@0+ (5,0) [0|0] "m" SCS + SG_ AFS_SW : 41|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ AVS_SW : 40|1@0+ (1,0) [0|0] "" SCS + +BO_ 911 AVN1S07: 8 CGW + SG_ TOFC_RST : 6|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ SL_CSTM : 3|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ SL_RMDG : 2|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ST_RTCOM : 1|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ AVN07VLD : 0|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ST_UCST : 15|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ RSCOM51 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ RSCOM52 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ RSCOM53 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ RSCOM54 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ RSCOM55 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ RSCOM56 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 905 AVN1S08: 8 CGW + SG_ VVSW : 7|3@0+ (1,0) [0|0] "" CSR + SG_ BZV : 4|3@0+ (1,0) [0|0] "" CSR + SG_ DFS : 1|2@0+ (1,0) [0|0] "" CSR + SG_ BZ_M_SW : 15|1@0+ (1,0) [0|0] "" CSR + SG_ VOL_SW : 14|1@0+ (1,0) [0|0] "" CSR + SG_ BM : 13|1@0+ (1,0) [0|0] "" CSR + SG_ DOFR : 12|1@0+ (1,0) [0|0] "" CSR + SG_ RDSW : 11|1@0+ (1,0) [0|0] "" CSR + SG_ FDSW : 10|1@0+ (1,0) [0|0] "" CSR + SG_ RBSW : 9|1@0+ (1,0) [0|0] "" CSR + SG_ FBSW : 8|1@0+ (1,0) [0|0] "" CSR + SG_ NVDP_OK : 23|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ DEVICE : 22|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ DISPSIZE : 31|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ HPTCSW_L : 30|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ HPTCSW_R : 29|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ HPTCSW_E : 28|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ D_MODE : 27|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ VARBGM : 26|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ WBGM : 24|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ X_LL : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ Y_LL : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ X_RH : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ Y_RH : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 998 AVN1S11: 5 CGW + SG_ SENSPFM : 7|3@0+ (1,0) [0|0] "" SCS + SG_ SENSFAIL : 4|3@0+ (1,0) [0|0] "" SCS + SG_ CONFID11 : 1|2@0+ (1,0) [0|0] "" SCS + SG_ CONFMMC : 15|8@0+ (1,0) [0|0] "" SCS + SG_ DISTERR : 23|8@0+ (1,0) [0|0] "" SCS + SG_ CONFLANE : 31|8@0+ (1,0) [0|0] "" SCS + SG_ CONFDIR : 39|8@0+ (1,0) [0|0] "" SCS + +BO_ 933 AVN1S13: 8 CGW + SG_ HUD_DISP : 7|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRVSIDE : 6|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ DT_GP : 5|6@0+ (1,0) [0|0] "" Vector__XXX + SG_ DT_UNIT : 15|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ DIR_TURN : 12|5@0+ (11.25,0) [0|0] "degree" Vector__XXX + SG_ ROTARY : 23|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ROAD_TP1 : 22|15@0+ (1,0) [0|0] "" Vector__XXX + SG_ ROAD_TP2 : 39|16@0+ (1,0) [0|0] "" Vector__XXX + SG_ N_H_UP : 55|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ COMPASS : 54|6@0+ (11.25,0) [0|0] "degree" Vector__XXX + SG_ DIR : 63|6@0+ (11.25,0) [0|0] "degree" Vector__XXX + +BO_ 936 AVN1S16: 5 CGW + SG_ NDADVSRY : 7|5@0+ (1,0) [0|0] "" Vector__XXX + SG_ NDCAUTON : 15|5@0+ (1,0) [0|0] "" Vector__XXX + SG_ NDSSLCT : 23|5@0+ (1,0) [0|0] "" Vector__XXX + SG_ NDCNFDID : 18|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ NDINDST : 25|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ AVN16SUM : 39|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 999 AVN1S17: 7 CGW + SG_ AVN17VLD : 7|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LANEID17 : 6|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRVLANE : 3|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRV_SIDE : 12|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LANE_NS : 11|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ LANE1FLG : 23|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ LANE2FLG : 19|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ LANE1DIR : 31|16@0+ (1,0) [0|0] "" Vector__XXX + SG_ LANE2DIR : 47|16@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1000 AVN1S18: 8 CGW + SG_ AVN18VLD : 7|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LANEID18 : 6|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ LANE3FLG : 3|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ LANE4FLG : 15|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ LANE5FLG : 11|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ LANE3DIR : 23|16@0+ (1,0) [0|0] "" Vector__XXX + SG_ LANE4DIR : 39|16@0+ (1,0) [0|0] "" Vector__XXX + SG_ LANE5DIR : 55|16@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1001 AVN1S19: 8 CGW + SG_ AVN19VLD : 7|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LANEID19 : 6|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ LANE6FLG : 3|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ LANE7FLG : 15|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ LANE8FLG : 11|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ LANE6DIR : 23|16@0+ (1,0) [0|0] "" Vector__XXX + SG_ LANE7DIR : 39|16@0+ (1,0) [0|0] "" Vector__XXX + SG_ LANE8DIR : 55|16@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1076 AVN1S20: 8 CGW + SG_ A_LNG_ST : 7|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ A_LANG : 5|6@0+ (1,0) [0|0] "" Vector__XXX + SG_ A_LNGDB1 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ A_LNGDB2 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ A_LNGDB3 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ A_LNGDB4 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ A_LNGDB5 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ A_LNGDB6 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ A_LNGDB7 : 63|7@0+ (1,0) [0|0] "" Vector__XXX + SG_ A_LNGCHG : 56|1@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1077 AVN1S21: 8 CGW + SG_ A_OPEN_S : 7|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ OPENCHG : 6|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CAPSW_S : 5|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ A_CLR_S : 3|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ DISP_BRT : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DISP_CNT : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ MM_CLOCK : 31|11@0+ (1,0) [0|0] "" Vector__XXX + SG_ CLK_OFST : 36|4@0- (5,0) [0|0] "min" Vector__XXX + SG_ DST : 32|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CLK_TYP : 47|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ A_UNTTMP : 45|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ A_UNTSP : 43|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ A_UNTDST : 41|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ A_UNTCSP : 55|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ A_CLRCHG : 52|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ A_TMPCHG : 51|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ A_SPCHG : 50|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ A_DSTCHG : 49|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ A_CSPCHG : 48|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ A_SPLM : 63|6@0+ (5,0) [0|0] "" Vector__XXX + SG_ A_UTSPLM : 57|2@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1043 AVN1S31: 8 CGW + SG_ GPSTM_Y : 7|8@0+ (1,0) [0|0] "year" Vector__XXX + SG_ GPSTM_MO : 15|8@0+ (1,0) [0|0] "month" Vector__XXX + SG_ GPSTM_D : 23|8@0+ (1,0) [0|0] "day" Vector__XXX + SG_ GPSTM_H : 31|8@0+ (1,0) [0|0] "hour" Vector__XXX + SG_ GPSTM_MI : 39|8@0+ (1,0) [0|0] "minute" Vector__XXX + SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ GMTDIF_H : 54|4@0+ (1,0) [0|0] "hour" Vector__XXX + SG_ GMTDIF_M : 50|6@0+ (1,0) [0|0] "minute" Vector__XXX + SG_ SUMMERTM : 60|1@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1075054137 BDB1F01_14: 8 CGW + SG_ BDBF01ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ BDBF01IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ SALR : 23|6@0+ (1,0) [0|0] "" Vector__XXX + SG_ HDCY_BDB : 17|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ AARE_B : 31|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_SEN_B : 27|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ INTSET_B : 26|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ INCSET_B : 25|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ISSD_BDB : 39|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ SEID : 37|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ WS_ID : 44|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ WS_SWON : 41|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ WS_DATA : 55|16@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1075185211 BDB1F03_16: 8 CGW + SG_ BDBF03ID : 7|8@0+ (1,0) [0|0] "" DS1,FCM,MAV + SG_ BDBF03IF : 15|8@0+ (1,0) [0|0] "" DS1,FCM + SG_ TRIP_CNT : 23|16@0+ (1,0) [0|0] "trip" AFS,BSR,CSR,DS1,FCM,MAV + SG_ TIME_CNT : 39|32@0+ (100,0) [0|0] "ms" AFS,BSR,CSR,DS1,FCM,MAV + +BO_ 1074791968 BDB1S01_10: 8 CGW + SG_ BDB01_ID : 7|8@0+ (1,0) [0|0] "" FCM,MAV + SG_ BDB01_IF : 15|8@0+ (1,0) [0|0] "" FCM + SG_ LX : 23|16@0+ (0.2,0) [0|0] "ms" FCM + SG_ ADIM : 39|2@0+ (1,0) [0|0] "" AFS,BSR,CSR + SG_ IG_BDB : 37|1@0+ (1,0) [0|0] "" AFS,MAV + SG_ ACC_BDB : 36|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ SKSW : 46|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ DCTY : 45|1@0+ (1,0) [0|0] "" FCM,MAV,SCS + SG_ PCTY : 44|1@0+ (1,0) [0|0] "" MAV,SCS + SG_ RRCY : 43|1@0+ (1,0) [0|0] "" MAV,SCS + SG_ RLCY : 42|1@0+ (1,0) [0|0] "" MAV,SCS + SG_ BCTY : 41|1@0+ (1,0) [0|0] "" MAV,SCS + SG_ PSW : 51|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ SRBZ : 49|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ DBKL : 63|2@0+ (1,0) [0|0] "" FCM + SG_ PKB_BDB : 60|1@0+ (1,0) [0|0] "" CSR + SG_ SREXIST : 59|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ SRPOS : 58|3@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1074857505 BDB1S02_11: 8 CGW + SG_ BDB02_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ BDB02_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ LUD : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ TRNKOPN : 45|3@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1074923042 BDB1S03_12: 8 CGW + SG_ BDB03_ID : 7|8@0+ (1,0) [0|0] "" DS1,FCM + SG_ BDB03_IF : 15|8@0+ (1,0) [0|0] "" DS1,FCM + SG_ LTS : 23|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ PANL : 19|1@0+ (1,0) [0|0] "" BSR,CSR + SG_ UDRL : 31|1@0+ (1,0) [0|0] "" AFS + SG_ HEDH : 30|1@0+ (1,0) [0|0] "" AFS,DS1,FCM + SG_ HEDL : 29|1@0+ (1,0) [0|0] "" AFS,DS1 + SG_ TAIL : 28|1@0+ (1,0) [0|0] "" AFS,BSR,CSR,DS1 + SG_ FFOG : 27|1@0+ (1,0) [0|0] "" DS1 + SG_ RFOG : 26|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ SB_IND : 39|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ SB_OK : 37|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ RTRRQ : 35|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ SRWARN : 51|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PWWARN : 50|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ WEL_REQ : 48|1@0+ (1,0) [0|0] "" AFS + SG_ DRPBZ_R : 62|3@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1075381795 BDB1S04_19: 8 CGW + SG_ BDB04_ID : 7|8@0+ (1,0) [0|0] "" MAV + SG_ BDB04_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ MRMV_R : 23|2@0+ (1,0) [0|0] "" MAV + SG_ RSEL : 21|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LSEL : 20|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ MHR : 19|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ MHL : 18|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ MVU : 17|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ MVD : 16|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ GHSW : 31|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ GCTY : 30|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ GHOPN : 42|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ ABIF : 55|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ FLSHRQ : 63|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ SB_ADV : 60|2@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1074988600 BDB1S05_13: 8 CGW + SG_ BDB05_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ BDB05_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ PARK : 23|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ TSWB : 21|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LSWD : 20|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LSWP : 19|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LSWR : 18|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LSWL : 17|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LSWB : 16|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRVKS_R : 31|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ PWDRD : 39|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ PWDRP : 37|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ PWDRR : 35|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ PWDRL : 33|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ DKLS : 43|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ BKLS : 54|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ KIDSCN_R : 51|7@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1075250736 BDB1S06_17: 8 CGW + SG_ BDB06_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ BDB06_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ TBSW : 25|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ WBZF : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ WVOL : 42|3@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1075316273 BDB1S07_18: 8 CGW + SG_ BDB07_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ BDB07_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ WCD : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ W1D : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ W2D : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ W3D : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ BDB7SUM1 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ BDB7SUM2 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1075447332 BDB1S08_1A: 8 CGW + SG_ BDB08_ID : 7|8@0+ (1,0) [0|0] "" DS1,FCM,MAV + SG_ BDB08_IF : 15|8@0+ (1,0) [0|0] "" DS1,FCM + SG_ DEST_BDB : 23|8@0+ (1,0) [0|0] "" AFS,BSR,CSR,DS1,FCM,MAV + SG_ DS_PACK1 : 31|8@0+ (1,0) [0|0] "" AFS,BSR,DS1,FCM,MAV + SG_ DS_PACK2 : 39|8@0+ (1,0) [0|0] "" AFS,BSR,DS1,FCM,MAV + SG_ STRG_WHL : 47|2@0+ (1,0) [0|0] "" AFS,CSR,DS1,FCM,MAV + SG_ DEICER : 40|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ KEYPLATE : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DBLLCK : 62|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ U2OP_CST : 61|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ U2OP_DFT : 60|1@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1075643943 BDB1S11_1D: 8 CGW + SG_ BDB11_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ BDB11_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ BDBREQ11 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ BDBREQ12 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1083704892 BDB1S17_98: 8 CGW + SG_ BDB17_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ BDB17_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ CHABASE1 : 23|8@0+ (1,0) [0|0] "" AFS + SG_ CHABASE2 : 31|8@0+ (1,0) [0|0] "" AFS + SG_ CHABASE3 : 39|8@0+ (1,0) [0|0] "" AFS + SG_ CHA_NO1 : 47|4@0+ (1,0) [0|0] "" AFS + SG_ CHA_NO2 : 43|4@0+ (1,0) [0|0] "" AFS + SG_ CHA_NO3 : 55|4@0+ (1,0) [0|0] "" AFS + SG_ SP_BODY : 63|5@0+ (1,0) [0|0] "" AFS + +BO_ 1083770429 BDB1S18_99: 8 CGW + SG_ BDB18_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ BDB18_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ POP_NAME : 23|8@0+ (1,0) [0|0] "" AFS + SG_ BODY : 31|8@0+ (1,0) [0|0] "" AFS + SG_ GEAR : 39|8@0+ (1,0) [0|0] "" AFS + SG_ GRADE : 47|8@0+ (1,0) [0|0] "" AFS + SG_ ENGINE : 55|8@0+ (1,0) [0|0] "" AFS + +BO_ 1020 BDB1S19: 8 CGW + SG_ SOLAR_R : 23|9@0+ (100,0) [0|0] "" Vector__XXX + SG_ SOLAR_L : 39|9@0+ (100,0) [0|0] "" Vector__XXX + SG_ N_LX : 55|13@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1083835966 BDB1S20_9A: 8 CGW + SG_ BDB20_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ BDB20_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ RNBDYC : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ RNBDYD : 39|32@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1083901503 BDB1S21_9B: 8 CGW + SG_ BDB21_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ BDB21_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ RFOG_SW : 22|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ FFOG_SW : 21|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ HF_SW : 20|1@0+ (1,0) [0|0] "" AFS + SG_ HU_SW : 19|1@0+ (1,0) [0|0] "" AFS + SG_ AUTO_SW : 18|1@0+ (1,0) [0|0] "" AFS + SG_ HEAD_SW : 17|1@0+ (1,0) [0|0] "" AFS + SG_ TAIL_SW : 16|1@0+ (1,0) [0|0] "" AFS + SG_ DRL_OFF : 24|1@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1005 BGM1S01: 2 CGW + SG_ WCAA : 7|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ R_DISP : 1|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BGM_BEEP : 11|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ BGM_MODE : 9|2@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1237 BSR1N01: 8 BSR + SG_ BSRNID : 7|8@0+ (1,0) [0|0] "" CGW + SG_ BSRSNG : 15|1@0+ (1,0) [0|0] "" CGW + SG_ BSRSPF : 23|16@0+ (1,0) [0|0] "" CGW + SG_ BSRREV : 39|32@0+ (1,0) [0|0] "" CGW + +BO_ 1014 BSR1S01: 8 BSR + SG_ BSD_STAT : 7|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ BSD_SW : 15|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BSD_BUZ : 23|1@0+ (1,0) [0|0] "" CSR + +BO_ 1114 CGW1N02: 8 CGW + SG_ CGW2REV : 7|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1228 CSR1N01: 8 CSR + SG_ CSRNID : 7|8@0+ (1,0) [0|0] "" CGW + SG_ CSRSNG : 15|1@0+ (1,0) [0|0] "" CGW + SG_ CSRSPF : 23|16@0+ (1,0) [0|0] "" CGW + SG_ CSRREV : 39|32@0+ (1,0) [0|0] "" CGW + +BO_ 918 CSR1S01: 7 CSR + SG_ CSV : 7|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ CSSR : 4|2@0+ (1,0) [0|0] "" MAV + SG_ CSD : 2|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CSME : 1|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CSIN : 0|1@0+ (1,0) [0|0] "" MAV + SG_ FL_INFO : 15|4@0+ (1,0) [0|0] "" MAV + SG_ FR_INFO : 11|4@0+ (1,0) [0|0] "" MAV + SG_ RB_INFO : 23|4@0+ (1,0) [0|0] "" MAV + SG_ FC_INFO : 19|4@0+ (1,0) [0|0] "" MAV + SG_ RL_INFO : 31|4@0+ (1,0) [0|0] "" MAV + SG_ RR_INFO : 27|4@0+ (1,0) [0|0] "" MAV + SG_ CZV : 39|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ VOT : 47|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ FCZD : 43|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ RCZD : 42|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ FCDD : 41|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ RCDD : 40|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ VOL : 55|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ CDG : 52|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ MUTE : 49|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BZ_OFF : 48|1@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1087768273 DMS1S02_D6: 8 CGW + SG_ SS_MODE : 25|2@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 869 DS11D70: 7 DS1 + SG_ D_TRGJDG : 7|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ D_RESSW : 3|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ D_SETSW : 2|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ D_CANSW : 1|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ D_MAINSW : 0|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ D_VMCC : 15|8@0+ (1,0) [0|0] "km/h" Vector__XXX + SG_ D_VNCC : 23|8@0+ (1,0) [0|0] "km/h" Vector__XXX + SG_ D_CCREQ : 31|8@0+ (100,-12800) [0|0] "N" Vector__XXX + SG_ D_TGTDST : 39|8@0+ (1,0) [0|0] "m" Vector__XXX + SG_ D_VRCC : 47|8@0- (1,0) [0|0] "km/h" Vector__XXX + SG_ D_WSTL : 55|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ D_DSW : 54|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ D_FDJDG : 52|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ D_DSSJDG : 51|1@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 870 DS11D71: 7 DS1 + SG_ XREQALM : 7|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ XREQABK : 6|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ TGT_DIST : 5|14@0+ (0.01,0) [0|0] "m" Vector__XXX + SG_ XREQPBA : 23|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ XREQFPB : 22|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ XREQPB : 21|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ XREQEXT : 20|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ XREQPSB : 19|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ TGT_VGAP : 18|11@0+ (0.025,-51.175) [0|0] "m/s" Vector__XXX + SG_ PCSDISP : 39|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ XPCSRDY : 35|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ TGT_NUMB : 34|3@0+ (1,1) [0|0] "" Vector__XXX + SG_ TGT_POSX : 47|8@0- (0.04,0) [0|0] "m" Vector__XXX + +BO_ 871 DS11D72: 2 FCM + SG_ LKADRTRG : 7|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ LKADRSHR : 5|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LKADRSLK : 4|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LKADRSLD : 3|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LKADRCC : 2|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ LKADRTUR : 15|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ LKADRINV : 13|1@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 643 DS11F01: 7 DS1 + SG_ DSCOUNT : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DSLCCW1 : 15|1@0+ (1,0) [0|0] "" FCM + SG_ DSSTPBZ : 14|1@0+ (1,0) [0|0] "" FCM + SG_ PBRTRGR2 : 12|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ DSSFTRQD : 11|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ DSS1FDRV : 23|16@0- (2,0) [0|0] "N" Vector__XXX + SG_ DSS1STBK : 39|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ DSS1STAT : 36|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ DSBHOK : 33|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PPTRGR2 : 32|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ DSRQBH : 47|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ IBTRGR2 : 45|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSABK2 : 44|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSNOCHG : 41|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ DS1F01SM : 55|8@0+ (1,0) [0|0] "" FCM + +BO_ 1041 DS12F02: 8 DS1 + SG_ PCSINDI : 7|2@0+ (1,0) [0|0] "" FCM + SG_ PCSWM : 5|2@0+ (1,0) [0|0] "" FCM + SG_ PCSFCT : 3|1@0+ (1,0) [0|0] "" FCM + SG_ PCSTUCT : 2|1@0+ (1,0) [0|0] "" FCM + SG_ DS1LCCK : 1|2@0+ (1,0) [0|0] "" FCM + SG_ PBTUCT : 14|1@0+ (1,0) [0|0] "" FCM + SG_ PCSEXIST : 13|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSWDUCT : 11|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSWD : 9|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSDW : 39|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSDSRF : 36|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSTEMP : 35|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSDUST : 34|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSLCCK : 33|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSPEDW : 47|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSPVSN : 44|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCTEMP2 : 42|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSDUST2 : 41|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSOFFS : 40|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSWDS : 55|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ FRDADJ : 53|3@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1042 DS12F03: 8 FCM + SG_ LKAINDI : 7|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ LKAWLSL : 5|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ LKAWLSR : 3|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ LKAFCT : 15|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LKATUCT : 14|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LKACAMT : 13|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LDWEXIST : 10|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LKASPCND : 23|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ LKAWTCS : 18|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ LKASAUT : 16|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LDWBZ : 32|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LDAFCVB : 47|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LDARDA : 46|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ SWSSENSD : 45|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ SWSSWD : 43|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ SWSRAD : 55|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ SWSFLD : 53|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ SWSBUZ : 50|2@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1207 ECO1D50: 8 CGW + SG_ DRECO01 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECO02 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECO03 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECO04 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECO05 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECO06 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECO07 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECO08 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 355 ECO1S01: 5 CGW + SG_ ECOSTAON : 19|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ECOMODE : 18|3@0+ (1,0) [0|0] "" KSS,SCS + SG_ FCREQ : 31|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ SSVMREQ : 27|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ E2MRXMK : 26|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BPHLDRQ : 36|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BPHLDRQ2 : 35|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ ECOEGSTP : 33|1@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 922 ECO1S90: 8 CGW + SG_ ECOBZR : 23|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ ECOLMP : 21|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ TESTECO : 30|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ OPLMPMSK : 29|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ MSTART : 28|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ECOMODE3 : 27|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ INFSSCOP : 39|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ INFSSSTL : 36|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ ECLMP : 34|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ AUTOSTA : 47|1@0+ (1,0) [0|0] "" SCS + SG_ INFSSFAL : 46|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ INFSSINH : 45|6@0+ (1,0) [0|0] "" Vector__XXX + SG_ SSACMODE : 52|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ INFSSADV : 50|3@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1182 ECT1D50: 8 CGW + SG_ DRECT01 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT02 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT03 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT04 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT05 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT06 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT07 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT08 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1183 ECT1D51: 8 CGW + SG_ DRECT11 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT12 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT13 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT14 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT15 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT16 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT17 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT18 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1200 ECT1D52: 8 CGW + SG_ DRECT21 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT22 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT23 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT24 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT25 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT26 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT27 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT28 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1201 ECT1D53: 8 CGW + SG_ DRECT31 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT32 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT33 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT34 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT35 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT36 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT37 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT38 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1202 ECT1D54: 8 CGW + SG_ DRECT41 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT42 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT43 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT44 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT45 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT46 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT47 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT48 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1203 ECT1D55: 8 CGW + SG_ DRECT51 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT52 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT53 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT54 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT55 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT56 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT57 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT58 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 464 ECT1F03: 8 CGW + SG_ NT : 7|16@0- (0.390625,0) [0|0] "rpm" Vector__XXX + SG_ ACT : 23|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ XDMET : 20|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ XNTSW : 19|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ XNMET : 18|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ XRMET : 17|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ XPMET : 16|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ SFTOUT_S : 29|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ X3MET : 26|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ X2MET : 25|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ XLOMET : 24|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ L4SW : 38|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ SNOW : 36|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ XFSFT : 35|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ SFTOUT : 34|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ HSSLWN : 55|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ HSINH : 54|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CLTMODBK : 53|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ LUOUT : 51|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LUKG : 50|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ FBCOA : 48|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ECTF03SM : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 725 ECT1S10: 2 CGW + SG_ VTORATIO : 7|16@0+ (0.0009765625,0) [0|0] "" Vector__XXX + +BO_ 956 ECT1S92: 8 CGW + SG_ B_OILW : 7|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_OILMD : 5|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_ISNW : 1|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_RJTB : 0|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_WNDL : 15|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_LMULRJ : 14|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_P : 13|1@0+ (1,0) [0|0] "" AFS,CSR,MAV + SG_ B_R : 12|1@0+ (1,0) [0|0] "" AFS,BSR,CSR,DS1,FCM,MAV + SG_ B_N : 11|1@0+ (1,0) [0|0] "" AFS,CSR,MAV + SG_ B_ISPTM : 10|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ BV_THOCL : 23|16@0+ (0.625,-50) [0|0] "" Vector__XXX + SG_ B_GEAR : 39|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_SMDE : 32|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_D : 47|1@0+ (1,0) [0|0] "" AFS,CSR,DS1,MAV + SG_ B_ECOMI : 40|1@0+ (1,0) [0|0] "" DS1 + SG_ B_SPTMI : 55|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_PWRM : 54|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_OILWM : 51|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_SPTMS : 49|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_DMODE : 61|3@0+ (1,0) [0|0] "" SCS + +BO_ 1176 ENG1D50: 8 CGW + SG_ DRENG01 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG02 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG03 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG04 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG05 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG06 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG07 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG08 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1177 ENG1D51: 8 CGW + SG_ DRENG11 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG12 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG13 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG14 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG15 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG16 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG17 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG18 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1178 ENG1D52: 8 CGW + SG_ DRENG21 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG22 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG23 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG24 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG25 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG26 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG27 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG28 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1179 ENG1D53: 8 CGW + SG_ DRENG31 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG32 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG33 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG34 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG35 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG36 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG37 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG38 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1180 ENG1D54: 8 CGW + SG_ DRENG41 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG42 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG43 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG44 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG45 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG46 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG47 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG48 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1181 ENG1D55: 8 CGW + SG_ DRENG51 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG52 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG53 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG54 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG55 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG56 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG57 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG58 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1192 ENG1D56: 8 CGW + SG_ DRENG61 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG62 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG63 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG64 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG65 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG66 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG67 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG68 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1191 ENG1D57: 8 CGW + SG_ DRENG71 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG72 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG73 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG74 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG75 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG76 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG77 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG78 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1197 ENG1D58: 8 CGW + SG_ DRENG81 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG82 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG83 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG84 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG85 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG86 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG87 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG88 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1198 ENG1D59: 8 CGW + SG_ DRENG91 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG92 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG93 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG94 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG95 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG96 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG97 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG98 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1199 ENG1D60: 8 CGW + SG_ DRENG101 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG102 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG103 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG104 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG105 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG106 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG107 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG108 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1017 ENG1F03: 8 CGW + SG_ VARENG1 : 7|4@0+ (1,0) [0|0] "" AFS,SCS + SG_ VARENG2 : 3|4@0+ (1,0) [0|0] "" AFS,SCS + SG_ VARENG3 : 15|4@0+ (1,0) [0|0] "" AFS,SCS + SG_ VARENG4 : 11|1@0+ (1,0) [0|0] "" AFS,SCS + SG_ HVFLAG : 10|1@0+ (1,0) [0|0] "" AFS,BSR,FCM,SCS + SG_ VARTRM1 : 23|4@0+ (1,0) [0|0] "" AFS,CSR,FCM,MAV,SCS + SG_ GEARINF : 19|4@0+ (1,0) [0|0] "" SCS + SG_ DVINF : 31|2@0+ (1,0) [0|0] "" AFS,DS1,FCM,SCS + SG_ OBDINF : 27|4@0+ (1,0) [0|0] "" BSR,DS1,FCM,SCS + SG_ ECOFLAG : 39|1@0+ (1,0) [0|0] "" FCM + SG_ CDYMD : 38|2@0+ (1,0) [0|0] "" DS1,FCM + SG_ ENGF03SM : 63|8@0+ (1,0) [0|0] "" DS1,FCM,MAV + +BO_ 452 ENG1F07: 8 CGW + SG_ NE1 : 7|16@0- (0.78125,0) [0|0] "rpm" SCS + SG_ THA1 : 23|8@0+ (2.5,-40) [0|0] "" Vector__XXX + SG_ THWX : 31|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ EGF : 30|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ T2ERXF : 29|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ T2ERXMK : 28|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ASTEFI : 27|1@0+ (1,0) [0|0] "" AFS + SG_ B2ERXMK : 26|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PDLF : 24|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ENTCAL2 : 39|8@0+ (12.5,0) [0|0] "rpm" Vector__XXX + SG_ EGFB : 46|1@0+ (1,0) [0|0] "" DS1,FCM + SG_ PTFB : 45|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ MILREQ : 43|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_ECOL : 55|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_IECOCR : 53|6@0+ (2,0) [0|0] "" Vector__XXX + SG_ ENGF07SM : 63|8@0+ (1,0) [0|0] "" AFS,DS1,FCM + +BO_ 114 ENG1F43: 5 CGW + SG_ FAVLMCHL : 7|16@0- (2,0) [0|0] "N" Vector__XXX + SG_ FAVLMONL : 23|16@0- (2,0) [0|0] "N" Vector__XXX + SG_ ENGF43SM : 39|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 705 ENG1S01: 8 CGW + SG_ ETCSFB : 7|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ETCSF : 6|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ VSCTH : 5|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ THF : 4|1@0+ (1,0) [0|0] "" DS1 + SG_ IDL1 : 3|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ XCCACT2 : 2|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ STPSWF : 1|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ WTC : 0|1@0+ (1,0) [0|0] "" KSS,SCS + SG_ ETQLVSC : 15|16@0- (0.03125,0) [0|0] "Nm" Vector__XXX + SG_ ETQREAL : 31|16@0- (0.03125,0) [0|0] "Nm" SCS + SG_ ETQISC : 47|8@0+ (1,-192) [0|0] "Nm" Vector__XXX + SG_ EACCP : 55|8@0+ (0.5,0) [0|0] "%" DS1,FCM + SG_ ENG01SUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM + +BO_ 961 ENG1S23: 3 CGW + SG_ EKLSM : 7|8@0+ (0.625,0) [0|0] "%" Vector__XXX + SG_ GATHW : 15|16@0- (0.625,0) [0|0] "" Vector__XXX + +BO_ 979 ENG1S28: 2 CGW + SG_ B_FC : 7|16@0+ (0.0005,0) [0|0] "ml" Vector__XXX + +BO_ 1408 ENG1S51: 8 CGW + SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1409 ENG1S52: 8 CGW + SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1410 ENG1S54: 8 CGW + SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ VC : 52|5@0+ (1,0) [0|0] "" Vector__XXX + SG_ TES : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 955 ENG1S92: 8 CGW + SG_ B_ST : 7|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_TC : 6|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_GLOW : 3|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_STPE : 0|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_OMWI : 15|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_SILUP : 13|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_SILDN : 12|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_WSTP : 11|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_LOUT : 10|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_OILPL : 9|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_TMP : 23|8@0+ (0.5,0) [0|0] "" Vector__XXX + SG_ OGENETCS : 30|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_DPFW : 28|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ BOSLAMP : 37|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ BOSMINF : 34|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ GOSLAMP : 45|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ GOSMINF : 42|3@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 921 ENG1S95: 8 CGW + SG_ B_LLSP2 : 7|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ TLSTBZ : 6|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_ASLBZ2 : 5|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_SPU2 : 4|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ACASID1 : 3|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ ACASID2 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_LSP2 : 31|8@0+ (1,0) [0|0] "km/h Emph" Vector__XXX + SG_ B_ASLSP2 : 39|8@0+ (1,0) [0|0] "km/h Emph" Vector__XXX + SG_ CACCTRN : 47|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CACCINF : 46|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CACCFR2 : 45|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CACCFR1 : 44|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CACCFLD : 43|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CACCCM3 : 42|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CACCCM2 : 41|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CACCCM1 : 40|1@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 238 ENG2F01: 4 CGW + SG_ STOFOK : 7|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ GROWIND : 6|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_TMP3 : 15|8@0+ (0.5,0) [0|0] "" Vector__XXX + SG_ IMMINJST : 23|16@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 466 ENG2F04: 8 CGW + SG_ XLDR : 7|1@0+ (1,0) [0|0] "" DS1 + SG_ XACCACTV : 6|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ XACCACT : 5|1@0+ (1,0) [0|0] "" DS1,FCM + SG_ XPAIDLV : 4|1@0+ (1,0) [0|0] "" DS1 + SG_ XPAIDL : 3|1@0+ (1,0) [0|0] "" DS1 + SG_ BHOK : 2|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ RQBH : 1|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ ACCSTAT : 15|3@0+ (1,0) [0|0] "" DS1 + SG_ ACCSTBK : 12|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ STPBZ : 9|1@0+ (1,0) [0|0] "" DS1,FCM + SG_ PLOCKF : 8|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ACCREQ : 23|16@0- (0.0009765625,0) [0|0] "m/s^2" DS1 + SG_ ACCAVL : 39|16@0- (2,0) [0|0] "N" Vector__XXX + SG_ SPDSTAT : 55|4@0+ (1,0) [0|0] "" DS1 + SG_ SSTOK : 51|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CANREQ : 49|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ FCACT : 48|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ SM1D2 : 63|8@0+ (1,0) [0|0] "" DS1,FCM + +BO_ 467 ENG2F05: 8 CGW + SG_ LCCW2 : 4|1@0+ (1,0) [0|0] "" DS1,FCM + SG_ WSTL2 : 3|1@0+ (1,0) [0|0] "" DS1 + SG_ LCCHK : 2|3@0+ (1,0) [0|0] "" DS1 + SG_ XCCOK2 : 15|1@0+ (1,0) [0|0] "" DS1 + SG_ SLTACC : 14|2@0+ (1,0) [0|0] "" DS1 + SG_ LTME2 : 12|2@0+ (1,0) [0|0] "" DS1 + SG_ STPSWF2 : 10|1@0+ (1,0) [0|0] "" DS1 + SG_ CCSF : 9|1@0+ (1,0) [0|0] "" DS1 + SG_ CCSNG : 8|1@0+ (1,0) [0|0] "" DS1 + SG_ VM : 23|16@0+ (0.00390625,0) [0|0] "km/h" DS1 + SG_ INTG : 39|8@0- (0.04,0) [0|0] "m/s^2" DS1 + SG_ D2PRXMK : 47|1@0+ (1,0) [0|0] "" DS1 + SG_ SM1D3 : 63|8@0+ (1,0) [0|0] "" DS1,FCM + +BO_ 119 ENG2F41: 6 CGW + SG_ FDRV : 7|16@0- (2,0) [0|0] "N" Vector__XXX + SG_ FDRVREAL : 23|13@0- (10,0) [0|0] "N" Vector__XXX + SG_ XAECT : 39|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ XFDRVCOL : 38|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ FDRVSELP : 34|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ ENG2F41S : 47|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 120 ENG2F42: 4 CGW + SG_ FAVLMCHH : 7|16@0- (2,0) [0|0] "N" Vector__XXX + SG_ CCRNG : 23|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ FDRVTYPD : 22|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ GEARHD : 18|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ENG2F42S : 31|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 916 EPS1S90: 1 CGW + SG_ B_WPS0 : 1|2@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1235 FCM1N01: 8 FCM + SG_ FCMNID : 7|8@0+ (1,0) [0|0] "" CGW + SG_ FCMSNG : 15|1@0+ (1,0) [0|0] "" CGW + SG_ FCMSPF : 23|16@0+ (1,0) [0|0] "" CGW + SG_ FCMREV : 39|32@0+ (1,0) [0|0] "" CGW + +BO_ 1161 FCM1S10: 8 FCM + SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1162 FCM1S11: 8 FCM + SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1163 FCM1S12: 8 FCM + SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" Vector__XXX + SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" Vector__XXX + SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" Vector__XXX + SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1279 FRD1N01: 8 FRD + SG_ FRDNID : 7|8@0+ (1,0) [0|0] "" CGW + SG_ FRDSNG : 15|1@0+ (1,0) [0|0] "" CGW + SG_ FRDSPF : 23|16@0+ (1,0) [0|0] "" CGW + SG_ FRDREV : 39|32@0+ (1,0) [0|0] "" CGW + +BO_ 737 FWM1S01: 2 CGW + SG_ ACTHLF : 7|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ MOT4WD : 6|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CCANCEL : 5|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ AI4WD : 4|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LOW4 : 3|1@0+ (1,0) [0|0] "" MAV,SCS + SG_ DLOCK : 2|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ RDLOCK : 1|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ HLN : 0|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ F_SP4WD : 15|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ RQ_SP4WD : 14|7@0+ (1,73) [0|0] "km/h" Vector__XXX + +BO_ 1082263092 IDT1S03_82: 8 CGW + SG_ IDT03_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ IDT03_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ CO_IDT : 23|16@0+ (1,0) [0|0] "" Vector__XXX + SG_ UACK : 39|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ WRT : 38|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ RSTP : 37|1@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1082328629 IDT1S04_83: 8 CGW + SG_ IDT04_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ IDT04_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ OSID : 47|16@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1257 KSS1N01: 8 KSS + SG_ KSSNID : 7|8@0+ (1,0) [0|0] "" CGW + SG_ KSSSNG : 15|1@0+ (1,0) [0|0] "" CGW + SG_ KSSSPF : 23|16@0+ (1,0) [0|0] "" CGW + SG_ KSSREV : 39|32@0+ (1,0) [0|0] "" CGW + +BO_ 927 KSS1S90: 1 KSS + SG_ LKSS0 : 1|2@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1263 MAV1N01: 8 MAV + SG_ MAVNID : 7|8@0+ (1,0) [0|0] "" CGW + SG_ MAVSNG : 15|1@0+ (1,0) [0|0] "" CGW + SG_ MAVSPF : 23|16@0+ (1,0) [0|0] "" CGW + +BO_ 1075840528 MET1S01_20: 8 CGW + SG_ MET01_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ MET01_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ MET_SPD : 23|8@0+ (1,0) [0|0] "km/h" CSR + SG_ RHEOSTAT : 30|7@0+ (1,0) [0|0] "%" Vector__XXX + SG_ TAIL_CN : 39|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ ILL_OF : 37|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ UNIT_TMP : 33|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ IN_FC : 47|16@0+ (0.1,0) [0|0] "Note" Vector__XXX + SG_ UNIT_0 : 63|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ SP_TL : 60|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ MET_TC : 56|1@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1075906065 MET1S02_21: 8 CGW + SG_ MET02_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ MET02_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ MET_DEST : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ ODO_UNIT : 29|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ OMRS : 27|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ UNIT_CH : 26|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ ODO : 39|32@0+ (1,0) [0|0] "km/mile" Vector__XXX + +BO_ 1076037145 MET1S04_23: 8 CGW + SG_ MET04_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ MET04_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ AF_FC : 23|16@0+ (0.1,0) [0|0] "Note" Vector__XXX + SG_ UNIT_3 : 39|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ RANGE : 47|16@0+ (1,0) [0|0] "Note" Vector__XXX + SG_ UNIT_4 : 63|2@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1076102682 MET1S05_24: 8 CGW + SG_ MET05_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ MET05_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ TO_SP : 23|16@0+ (0.1,0) [0|0] "km/h,MPH" Vector__XXX + SG_ UNIT_5 : 39|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ TO_FC : 47|16@0+ (0.1,0) [0|0] "MPG Ekm/l El/100km Ekm/gallon" Vector__XXX + SG_ UNIT_6 : 63|3@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1076299282 MET1S08_27: 8 CGW + SG_ MET08_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ MET08_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ TO_DT : 23|16@0+ (1,0) [0|0] "km,mile" Vector__XXX + SG_ UNIT_10 : 39|2@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1076364819 MET1S09_28: 8 CGW + SG_ MET09_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ MET09_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ WASH : 21|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BLVW : 20|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ C_CW : 31|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ENGW : 29|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ABSW : 28|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ VSCW : 27|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ OPW : 37|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ OLW : 36|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LW : 35|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ FSRS : 33|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ HALW : 46|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BRW : 43|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ TIRW : 42|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ FWW : 40|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ SUSW : 53|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LKAW : 61|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ MET_PCSW : 59|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ WTPW : 57|1@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1076430356 MET1S10_29: 8 CGW + SG_ MET10_ID : 7|8@0+ (1,0) [0|0] "" DS1,FCM + SG_ MET10_IF : 15|8@0+ (1,0) [0|0] "" DS1,FCM + SG_ OM_MLG : 23|7@0+ (100,0) [0|0] "miles" Vector__XXX + SG_ PR_OM_FL : 16|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ TNS : 29|2@0+ (1,0) [0|0] "" AFS,BSR,DS1,FCM + SG_ HZS : 27|1@0+ (1,0) [0|0] "" AFS,FCM + +BO_ 1076495893 MET1S11_2A: 8 CGW + SG_ MET11_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ MET11_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ UNIT_CH2 : 23|2@0+ (1,0) [0|0] "" FCM + SG_ TOLER_A : 21|6@0+ (0.002,0.94) [0|0] "" FCM + SG_ CDISP_EX : 31|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ TOLER_B : 29|6@0- (0.2,0) [0|0] "km/h" FCM + SG_ TRIP_B : 39|32@0+ (0.1,0) [0|0] "km/MILE" Vector__XXX + +BO_ 1076561430 MET1S12_2B: 8 CGW + SG_ MET12_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ MET12_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ ESLW : 19|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CSOW : 24|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LHLW : 37|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ SMBW : 33|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ KDSW : 32|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ OMRW : 46|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BSDW : 54|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ MTSW : 48|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ATSW : 63|1@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 992 MET1S18: 8 CGW + SG_ M_LANG : 7|6@0+ (1,0) [0|0] "" Vector__XXX + SG_ M_LNG_ST : 1|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ M_LNGDB1 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ M_LNGDB2 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ M_LNGDB3 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ M_LNGDB4 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ M_LNGDB5 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ M_LNGDB6 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ M_LNGDB7 : 63|7@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1075840755 MET1S22_20: 8 CGW + SG_ ID6F320 : 7|8@0+ (1,0) [0|0] "" DS1,FCM + SG_ IF6F320 : 15|8@0+ (1,0) [0|0] "" DS1,FCM + SG_ TSR_OSM : 22|2@0+ (1,0) [0|0] "" FCM + SG_ TSR_OSL : 20|2@0+ (1,0) [0|0] "" FCM + SG_ TSR_SNM : 18|2@0+ (1,0) [0|0] "" FCM + SG_ TSR_MAIN : 16|1@0+ (1,0) [0|0] "" FCM + SG_ LDAMCUS : 31|2@0+ (1,0) [0|0] "" FCM + SG_ LDAMSW : 29|2@0+ (1,0) [0|0] "" FCM + SG_ FCMUSER : 27|1@0+ (1,0) [0|0] "" FCM + SG_ FCMMCUS : 26|2@0+ (1,0) [0|0] "" FCM + SG_ FCMMSW : 24|1@0+ (1,0) [0|0] "" FCM + SG_ BSMMSW : 37|1@0+ (1,0) [0|0] "" BSR + SG_ CSRMSW : 34|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSMCUS : 41|1@0+ (1,0) [0|0] "" DS1 + SG_ PCSMSW : 40|1@0+ (1,0) [0|0] "" DS1 + SG_ LKACTCSW : 51|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LDA_SFB : 50|3@0+ (1,0) [0|0] "" FCM + +BO_ 1088685760 PMN1F03_E4: 8 CGW + SG_ PMNF03ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ PMNF03IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ PSSW_PMN : 17|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PSW_PMN : 31|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ KCC_PMN : 29|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PMOD_PMN : 27|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ MOD_EIG : 39|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ SWBZ_EIG : 36|1@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1193 SCS1D50: 8 SCS + SG_ DRSCS01 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRSCS02 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRSCS03 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRSCS04 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRSCS05 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRSCS06 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRSCS07 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRSCS08 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1226 SCS1N01: 8 SCS + SG_ SCSNID : 7|8@0+ (1,0) [0|0] "" CGW + SG_ SCSSNG : 15|1@0+ (1,0) [0|0] "" CGW + SG_ SCSSPF : 23|16@0+ (1,0) [0|0] "" CGW + SG_ SCSREV : 39|32@0+ (1,0) [0|0] "" CGW + +BO_ 744 SCS1S01: 8 SCS + SG_ SELECTOR : 3|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ AVS_MD : 63|3@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 815 SCS1S06: 5 SCS + SG_ RRVH : 23|8@0- (1,0) [0|0] "mm" AFS + SG_ RLVH : 31|8@0- (1,0) [0|0] "mm" AFS + SG_ SCECOINH : 35|1@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 917 SCS1S90: 4 SCS + SG_ B_LSUS6 : 7|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_LSUS4 : 5|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_LSUS2 : 3|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_LSUS8 : 9|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ DLR_HSID : 23|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ LAR_HS : 18|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ AVSNI : 16|1@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 37 STR1S01: 8 CGW + SG_ STS3 : 7|1@0+ (1,0) [0|0] "" AFS,BSR,DS1,FCM,MAV + SG_ STS2 : 6|1@0+ (1,0) [0|0] "" AFS,DS1,FCM,KSS,MAV,SCS + SG_ STS1 : 5|1@0+ (1,0) [0|0] "" AFS,BSR,DS1,FCM,KSS,MAV,SCS + SG_ STS0 : 4|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ SSA : 3|12@0- (1.5,0) [0|0] "deg" AFS,BSR,DS1,FCM,KSS,MAV,SCS + SG_ SAZS : 23|1@0+ (1,0) [0|0] "" AFS,BSR,DS1,FCM + SG_ SFRZ : 22|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ SSAZ : 19|12@0- (1.5,0) [0|0] "deg" AFS,BSR,DS1,FCM + SG_ SSAS : 39|4@0- (0.1,0) [0|0] "deg" FCM,KSS,SCS + SG_ SSAV : 35|12@0- (1,0) [0|0] "deg/s" FCM,KSS,SCS + SG_ STDID : 51|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ STR01SUM : 63|8@0+ (1,0) [0|0] "" AFS,DS1,FCM,MAV + +BO_ 1059 STR1S02: 1 CGW + SG_ SFR : 5|1@0+ (1,0) [0|0] "" MAV + SG_ STRWVG : 4|1@0+ (1,0) [0|0] "" AFS,BSR,DS1,FCM + +BO_ 170 VSC1F01: 8 CGW + SG_ VXFREF : 7|1@0+ (1,0) [0|0] "" AFS,FCM,MAV + SG_ VXFR : 6|15@0+ (0.01,-67.67) [0|0] "km/h" AFS,BSR,DS1,FCM,KSS,MAV,SCS + SG_ VXFLEF : 23|1@0+ (1,0) [0|0] "" AFS,FCM,MAV + SG_ VXFL : 22|15@0+ (0.01,-67.67) [0|0] "km/h" AFS,BSR,DS1,FCM,KSS,MAV,SCS + SG_ VXRREF : 39|1@0+ (1,0) [0|0] "" AFS,FCM,MAV + SG_ VXRR : 38|15@0+ (0.01,-67.67) [0|0] "km/h" AFS,BSR,DS1,FCM,KSS,MAV,SCS + SG_ VXRLEF : 55|1@0+ (1,0) [0|0] "" AFS,FCM,MAV + SG_ VXRL : 54|15@0+ (0.01,-67.67) [0|0] "km/h" AFS,BSR,DS1,FCM,KSS,MAV,SCS + +BO_ 426 VSC1F02: 6 CGW + SG_ VXFRF : 7|1@0+ (1,0) [0|0] "" AFS,BSR,FCM,MAV + SG_ VXFRIGS : 6|1@0+ (1,0) [0|0] "" BSR,DS1,FCM,MAV + SG_ VXFRHDS : 5|1@0+ (1,0) [0|0] "" FCM,KSS,MAV,SCS + SG_ VXFLF : 2|1@0+ (1,0) [0|0] "" AFS,BSR,FCM,MAV + SG_ VXFLIGS : 1|1@0+ (1,0) [0|0] "" BSR,DS1,FCM,MAV + SG_ VXFLHDS : 0|1@0+ (1,0) [0|0] "" FCM,KSS,MAV,SCS + SG_ VXRRF : 13|1@0+ (1,0) [0|0] "" AFS,BSR,FCM,MAV + SG_ VXRRIGS : 12|1@0+ (1,0) [0|0] "" BSR,DS1,FCM,MAV + SG_ VXRRHDS : 11|1@0+ (1,0) [0|0] "" FCM,KSS,MAV,SCS + SG_ VXRLF : 8|1@0+ (1,0) [0|0] "" AFS,BSR,FCM,MAV + SG_ VXRLIGS : 23|1@0+ (1,0) [0|0] "" BSR,DS1,FCM,MAV + SG_ VXRLHDS : 22|1@0+ (1,0) [0|0] "" FCM,KSS,MAV,SCS + SG_ VSCF02SM : 47|8@0+ (1,0) [0|0] "" AFS,DS1,FCM,MAV + +BO_ 550 VSC1F06: 8 CGW + SG_ VSCF01FG : 7|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ AHCURQ : 4|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PMCF : 3|1@0+ (1,0) [0|0] "" DS1 + SG_ PMCS : 2|1@0+ (1,0) [0|0] "" DS1 + SG_ PMC : 1|10@0+ (0.02,0) [0|0] "Mpa" DS1 + SG_ ECOEN : 23|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CCS : 22|1@0+ (1,0) [0|0] "" DS1 + SG_ FBA : 21|1@0+ (1,0) [0|0] "" DS1 + SG_ TRBRKSYS : 20|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ TS : 38|1@0+ (1,0) [0|0] "" KSS,SCS + SG_ WSTP : 37|1@0+ (1,0) [0|0] "" DS1,KSS,SCS + SG_ VSCACT : 36|1@0+ (1,0) [0|0] "" DS1,FCM + SG_ BAEX : 35|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ TEM : 34|3@0+ (1,0) [0|0] "" SCS + SG_ FSTP : 60|1@0+ (1,0) [0|0] "" DS1 + SG_ ABSACT : 59|1@0+ (1,0) [0|0] "" DS1,FCM,MAV + +BO_ 180 VSC1S03: 8 CGW + SG_ SP1P : 39|6@0+ (1,0) [0|0] "" DS1,FCM + SG_ SP1S : 33|1@0+ (1,0) [0|0] "" BSR,DS1,FCM,MAV + SG_ SP1 : 47|16@0- (0.01,0) [0|0] "km/h" BSR,DS1,FCM,MAV + SG_ VSC03SUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM,MAV + +BO_ 800 VSC1S07: 8 CGW + SG_ FBKRLY : 6|1@0+ (1,0) [0|0] "" DS1 + SG_ FVSCM : 4|1@0+ (1,0) [0|0] "" DS1 + SG_ FVSCSFT : 3|1@0+ (1,0) [0|0] "" DS1 + SG_ FABS : 2|1@0+ (1,0) [0|0] "" DS1,FCM + SG_ TSVSC : 1|1@0+ (1,0) [0|0] "" DS1 + SG_ FVSCL : 0|1@0+ (1,0) [0|0] "" DS1 + SG_ RQCSTBKB : 15|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PSBSTBY : 14|1@0+ (1,0) [0|0] "" DS1 + SG_ P2BRXMK : 13|1@0+ (1,0) [0|0] "" DS1 + SG_ MCC : 11|1@0+ (1,0) [0|0] "" DS1 + SG_ RQBKB : 10|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BRSTOP : 9|1@0+ (1,0) [0|0] "" DS1,FCM + SG_ BRKON : 8|1@0+ (1,0) [0|0] "" DS1,FCM + SG_ ASLP : 23|8@0- (1,0) [0|0] "deg" DS1 + SG_ BRTYPACC : 31|2@0+ (1,0) [0|0] "" DS1 + SG_ BRKABT3 : 26|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BRKABT2 : 25|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BRKABT1 : 24|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ GVC : 39|8@0- (0.04,0) [0|0] "m/s^2" DS1 + SG_ XGVCINV : 43|1@0+ (1,0) [0|0] "" DS1 + SG_ S07CNT : 52|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSBRSTA : 50|2@0+ (1,0) [0|0] "" DS1 + SG_ VSC07SUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM + +BO_ 1056 VSC1S08: 8 CGW + SG_ YR1Z : 7|16@0- (1,0) [0|0] "rad/s" DS1,FCM,MAV + SG_ YR2Z : 23|16@0- (1,0) [0|0] "rad/s" DS1,FCM,MAV + SG_ GL1Z : 39|8@0- (0.0359,0) [0|0] "m/s^2" DS1,FCM,KSS,MAV,SCS + SG_ GL2Z : 47|8@0- (0.0359,0) [0|0] "m/s^2" DS1,FCM,KSS,MAV,SCS + SG_ YRGSDIR : 55|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,SCS + SG_ GLZS : 51|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,MAV,SCS + SG_ YRZF : 50|1@0+ (1,0) [0|0] "" DS1,FCM,MAV + SG_ YRZS : 49|1@0+ (1,0) [0|0] "" DS1,FCM,MAV + SG_ YRZKS : 48|1@0+ (1,0) [0|0] "" DS1,FCM,MAV + SG_ VSC08SUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM,MAV + +BO_ 186 VSC1S12: 4 CGW + SG_ HAC2ESRQ : 21|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ FHACHOLD : 20|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ VSC12SUM : 31|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 562 VSC1S14: 6 CGW + SG_ VWPSUMFR : 7|8@0+ (1,0) [0|0] "" MAV + SG_ VWPSUMFL : 15|8@0+ (1,0) [0|0] "" MAV + SG_ VWPFRPM : 23|1@0+ (1,0) [0|0] "" MAV + SG_ VWPFLPM : 22|1@0+ (1,0) [0|0] "" MAV + SG_ S14CNT : 21|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ VWPFRPMS : 18|1@0+ (1,0) [0|0] "" MAV + SG_ VWPFLPMS : 17|1@0+ (1,0) [0|0] "" MAV + SG_ VWPSUMRR : 31|8@0+ (1,0) [0|0] "" MAV + SG_ VWPSUMRL : 39|8@0+ (1,0) [0|0] "" MAV + SG_ VSC14SUM : 47|8@0+ (1,0) [0|0] "" MAV + +BO_ 552 VSC1S29: 4 CGW + SG_ ICBACT : 7|1@0+ (1,0) [0|0] "" DS1 + SG_ DVS0PCS : 6|15@0- (0.001,0) [0|0] "m/s^2" DS1 + SG_ SM228 : 31|8@0+ (1,0) [0|0] "" DS1 + +BO_ 1168 VSC1S92: 1 CGW + SG_ C_DCMOD1 : 7|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ C_DCMOD2 : 6|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ C_DCMOD3 : 3|4@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 951 VSC1S95: 8 CGW + SG_ B_BRKW : 7|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_ABS : 5|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_BRLV : 14|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ TRCOFF : 13|1@0+ (1,0) [0|0] "" DS1,FCM + SG_ VSCOFF : 12|2@0+ (1,0) [0|0] "" DS1,FCM + SG_ SLP_WL : 10|3@0+ (1,0) [0|0] "" MAV + SG_ B_MCST : 19|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_BUZZER : 31|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_ALSD : 27|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_DACIND : 25|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ OGENVSC : 37|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_ATRC : 47|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_STRC : 46|3@0+ (1,0) [0|0] "" MAV + SG_ B_HZD : 43|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ VSCSWIH : 51|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ STRCDISP : 50|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ STRCDSP2 : 60|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ VSCEXIST : 59|1@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1063 VSC1S96: 8 CGW + SG_ MTS_DISP : 5|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_MTS : 1|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ TRCCONRL : 11|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ TRCCONRR : 10|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ TRCCONFL : 9|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ TRCCONFR : 8|1@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 545 VSC2F05: 5 CGW + SG_ TQER : 7|16@0- (0.03125,0) [0|0] "Nm" Vector__XXX + SG_ REQC : 23|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ REQ2 : 22|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ REQ1 : 21|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ AIDWI : 20|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ RTD : 19|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ LOMUSFT : 31|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ VSC2F05S : 39|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 544 VSC2F07: 4 CGW + SG_ FSROT : 7|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BRK2 : 4|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BRK1 : 3|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ FCNG : 1|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ TSLP : 0|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ TRCACT : 15|1@0+ (1,0) [0|0] "" DS1,FCM + SG_ ABSSLP : 14|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ VDMACT : 13|1@0+ (1,0) [0|0] "" FCM + SG_ DAC_CND : 9|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ VSC2F07S : 31|8@0+ (1,0) [0|0] "" DS1,FCM + +BO_ 36 YGS1S03: 8 CGW + SG_ YRS11S : 7|1@0+ (1,0) [0|0] "" DS1,FCM,MAV + SG_ YRS14S : 6|1@0+ (1,0) [0|0] "" DS1,FCM,MAV + SG_ YRS21S : 5|1@0+ (1,0) [0|0] "" DS1,FCM,MAV + SG_ YRS24S : 4|1@0+ (1,0) [0|0] "" DS1,FCM,MAV + SG_ YGS1 : 3|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,MAV,SCS + SG_ YGS0 : 2|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ YR : 1|10@0+ (0.244,-125) [0|0] "deg/sec" DS1,FCM,MAV + SG_ YR_CPUMN : 23|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ GS4S : 19|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,MAV,SCS + SG_ GS1S : 18|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,MAV,SCS + SG_ GL1X : 17|10@0+ (0.03589,-18.375) [0|0] "m/s^2" DS1,FCM,KSS,MAV,SCS + SG_ YG_ID : 39|4@0+ (1,0) [0|0] "" DS1,FCM,KSS,SCS + SG_ GS5S : 35|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,MAV,SCS + SG_ GS2S : 34|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,MAV,SCS + SG_ GL2Y : 33|10@0+ (0.03589,-18.375) [0|0] "m/s^2" DS1,FCM,KSS,MAV,SCS + SG_ YR_DIF : 55|8@0+ (0.244,-31) [0|0] "deg/sec" DS1,FCM,MAV + SG_ YGS03SUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM,MAV + +BO_ 1073743490 YGW1S01_0: 8 CGW + SG_ YGW01_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ YGW01_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ YR_STSW : 22|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ YR_EGST : 20|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ YR_DRLK : 18|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ YR_KLEG : 16|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ YR_HZRD : 26|3@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1073743491 YGW1S02_0: 8 CGW + SG_ YGW02_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ YGW02_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ YR_DEFOG : 19|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ YR_ARCON : 17|2@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1073743494 YGW1S05_0: 8 CGW + SG_ YGW05_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ YGW05_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ YI_IMO_E : 23|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ YI_UREQ : 16|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ YI_RE : 47|16@0+ (1,0) [0|0] "" Vector__XXX diff --git a/opendbc_repo/opendbc/dbc/toyota_adas.dbc b/opendbc_repo/opendbc/dbc/toyota_adas.dbc new file mode 100644 index 0000000000..4aae65aa40 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/toyota_adas.dbc @@ -0,0 +1,276 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX + +BO_ 528 TRACK_A_0: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 529 TRACK_A_1: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 530 TRACK_A_2: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 531 TRACK_A_3: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 532 TRACK_A_4: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 533 TRACK_A_5: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 534 TRACK_A_6: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 535 TRACK_A_7: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 536 TRACK_A_8: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 537 TRACK_A_9: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 538 TRACK_A_10: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 539 TRACK_A_11: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 540 TRACK_A_12: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 541 TRACK_A_13: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 542 TRACK_A_14: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 543 TRACK_A_15: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 544 TRACK_B_0: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 545 TRACK_B_1: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 546 TRACK_B_2: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 547 TRACK_B_3: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 548 TRACK_B_4: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 549 TRACK_B_5: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 550 TRACK_B_6: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 551 TRACK_B_7: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 552 TRACK_B_8: 6 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX + +BO_ 553 TRACK_B_9: 6 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX + +BO_ 554 TRACK_B_10: 6 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX + +BO_ 555 TRACK_B_11: 6 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX + +BO_ 556 TRACK_B_12: 6 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX + +BO_ 557 TRACK_B_13: 6 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX + +BO_ 558 TRACK_B_14: 6 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX + +BO_ 559 TRACK_B_15: 6 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX diff --git a/opendbc_repo/opendbc/dbc/toyota_iQ_2009_can.dbc b/opendbc_repo/opendbc/dbc/toyota_iQ_2009_can.dbc new file mode 100644 index 0000000000..2213e1ade2 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/toyota_iQ_2009_can.dbc @@ -0,0 +1,196 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX + +BO_ 1552 CONTAINS_LRES_SPEED: 8 XXX + SG_ SPEED_LOWRES : 16|8@1+ (1,0) [0|255] "km/h?" XXX + SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX + +BO_ 452 ENGINE: 8 XXX + SG_ ENGINE_RPM : 7|16@0+ (1,0) [0|65535] "rpm" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ DIFFERENT_EACH_RIDE : 23|8@0+ (1,0) [0|255] "" XXX + SG_ A_DECREASING_VALUE : 39|8@0+ (1,0) [0|255] "" XXX + +BO_ 37 STEERING: 8 XXX + SG_ STEER_DIRECTION : 3|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_1 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_4 : 42|2@0- (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_2 : 44|2@0- (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 46|2@0- (1,0) [0|3] "" XXX + SG_ STEER_ANGLE : 2|11@0- (1,0) [-350|350] "" XXX + +BO_ 36 ACCELERATIONS: 8 XXX + SG_ ACC_LAT_CLEAN : 2|11@0- (1,0) [0|255] "" XXX + SG_ ACC_LATERAL : 63|8@0- (1,0) [0|255] "" XXX + SG_ ACC_FRONT_BACK_1 : 31|8@0- (1,0) [0|255] "" XXX + SG_ ACC_FRONT_BACK_2 : 47|8@0- (1,0) [0|255] "" XXX + +BO_ 947 LOW_RES_INDICATORS: 8 XXX + SG_ LOW_RES_ACC_PEDAL : 23|7@0+ (1,0) [0|63] "" XXX + SG_ LOW_RES_RPM : 7|16@0+ (1,0) [0|255] "rpm" XXX + +BO_ 955 BRAKING_PLUS_OTHER: 8 XXX + SG_ IS_BRAKING_2 : 0|1@0+ (1,0) [0|1] "" XXX + SG_ ENGINE_TEMPERATURE : 23|8@0+ (1,0) [0|255] "" XXX + SG_ MAYBE_CLUTCH : 13|1@0+ (1,0) [0|1] "" XXX + +BO_ 1595 CONTAINS_TIME: 8 XXX + SG_ TIME_ON : 55|16@0+ (0.1,0) [0|65535] "s" XXX + SG_ BETWEEN_RIDES : 7|32@0+ (1,0) [0|4294967295] "" XXX + +BO_ 170 WHEELS_SPEEDS: 8 XXX + SG_ FRONT_LEFT_WHEEL_SPEED : 23|16@0+ (0.01,-67.67) [0|65535] "km/h" XXX + SG_ REAR_RIGHT_WHEEL_SPEED : 39|16@0+ (0.01,-67.67) [0|65535] "km/h" XXX + SG_ REAR_LEFT_WHEEL_SPEED : 55|16@0+ (0.01,-67.67) [0|65535] "km/h" XXX + SG_ FRONT_RIGHT_WHEEL_SPEED : 7|16@0+ (0.01,-67.67) [0|65535] "km/h" XXX + +BO_ 180 VEHICLE_DYNAMICS: 8 XXX + SG_ WIERD_STUFF : 8|2@1+ (1,0) [0|3] "" XXX + SG_ VEHICLE_SPEED : 47|16@0+ (0.01,0) [0|255] "km/h" XXX + SG_ SPEED_MOD_256 : 63|8@0- (1,0) [0|255] "" XXX + SG_ MAYBE_DISTANCE_MOD_256 : 39|8@0+ (1,0) [0|255] "" XXX + +BO_ 186 NEW_MSG_9: 8 XXX + SG_ NEW_SIGNAL_2 : 31|8@0+ (1,0) [0|255] "" XXX + +BO_ 426 NEW_MSG_5: 8 XXX + SG_ CONSTANT : 47|8@0+ (1,0) [0|255] "" XXX + +BO_ 906 BOOLS: 8 XXX + SG_ MAY_CONTAIN_LIGHTS : 7|4@0+ (1,0) [0|127] "" XXX + SG_ NEW_SIGNAL_1 : 3|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_2 : 2|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_3 : 1|1@0+ (1,0) [0|1] "" XXX + SG_ MOVEMENT_START_TRIGGER : 0|1@0+ (1,0) [0|1] "" XXX + +BO_ 979 LOW_RES_ACCELERATOR: 8 XXX + SG_ VERY_LRES_ACC : 7|16@0+ (1,0) [0|65535] "" XXX + +BO_ 1600 SLOW_VARIABLE_INFOS: 8 XXX + SG_ CHANGES_EACH_RIDE : 31|8@0+ (1,0) [0|255] "" XXX + SG_ INCREASING_VALUE_FUEL : 47|8@0+ (1,0) [0|255] "" XXX + +BO_ 1568 DOORS: 8 XXX + SG_ KEY_ACC : 36|1@0+ (1,0) [0|1] "" XXX + SG_ KEY_ON : 37|1@0+ (1,0) [0|1] "" XXX + SG_ KEY_INSERT : 46|1@0+ (1,0) [0|1] "" XXX + SG_ NOT_ON : 63|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_RIGHT : 44|1@0+ (1,0) [0|3] "" XXX + SG_ DOOR_TRUNK : 41|1@1+ (1,0) [0|3] "" XXX + SG_ DOOR_LEFT : 45|1@0+ (1,0) [0|255] "" XXX + SG_ HANDBRAKE : 60|1@0+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_1 : 4|1@0+ (1,0) [0|1] "" XXX + SG_ DRIVER_SEATBELT : 62|1@0+ (1,0) [0|1] "" XXX + SG_ TRIGGER_BOOL : 15|1@0+ (1,0) [0|1] "" XXX + +BO_ 705 COMMAND: 8 XXX + SG_ NOT_ACCELERATING_PEDAL : 3|1@1+ (1,0) [0|1] "" XXX + SG_ ACC_PEDAL_SENSOR : 55|16@0+ (1,0) [0|65535] "" XXX + SG_ ACC_COMMAND : 31|16@0- (1,0) [0|7] "" XXX + SG_ ACC_PEDAL_MEAN : 15|16@0- (1,0) [0|255] "" XXX + SG_ NEGATIVE_COMMAND_OFFSET : 47|8@0- (1,0) [0|255] "" XXX + +BO_ 928 STEER2_MAYBE: 8 XXX + SG_ NEW_SIGNAL_1 : 13|6@0+ (1,0) [0|63] "" XXX + SG_ NEW_SIGNAL_2 : 60|5@0+ (1,0) [0|31] "" XXX + SG_ NEW_SIGNAL_4 : 5|6@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 46|7@0+ (1,0) [0|15] "" XXX + +BO_ 896 LONG_TERM_2: 8 XXX + SG_ NEW_SIGNAL_1 : 55|8@0+ (1,0) [0|255] "" XXX + +BO_ 944 LONG_TERM_MSG: 8 XXX + SG_ LONG_TERM_SIGN : 31|8@0+ (1,0) [0|255] "" XXX + +BO_ 1553 TOTAL_DIST: 8 XXX + SG_ TOTAL_DISTANCE : 55|16@0+ (1,0) [0|65535] "" XXX + +BO_ 1572 WHY_THESE_VALUES: 8 XXX + +BO_ 1555 BETWEEN_RIDES_CHANGE_1: 8 XXX + SG_ BETWEEN_RIDES : 23|1@0+ (1,0) [0|1] "" XXX + +BO_ 1090 ASYNC_MSG_ACK: 8 XXX + SG_ NEW_SIGNAL_1 : 13|2@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_2 : 23|1@0+ (1,0) [0|1] "" XXX + +BO_ 1592 NEW_MSG_14: 8 XXX + SG_ DOORS_LOCKED2 : 20|1@0+ (1,0) [0|1] "" XXX + SG_ DOORS_LOCKED1 : 16|1@0+ (1,0) [0|1] "" XXX + +BO_ 608 NEW_MSG_6: 8 XXX + SG_ VERY_SMALL_SIGNAL2 : 56|1@0+ (1,0) [0|255] "" XXX + SG_ VERY_SMALL_SIGNAL1 : 0|1@0+ (1,0) [0|1] "" XXX + +BO_ 945 BETWEEN_RIDES_CHANGES_2: 8 XXX + SG_ BETWEEN_RIDES : 24|1@0+ (1,0) [0|65535] "" XXX + + + + +CM_ SG_ 1552 SPEED_LOWRES "Negative values to check"; +CM_ SG_ 452 CHECKSUM "Follows path of RPMs but more precise & 1 byte only"; +CM_ SG_ 452 A_DECREASING_VALUE "stabilizes to 62 after ~10 mins"; +CM_ SG_ 37 STEER_DIRECTION "Could be intended as 12 bit steering angle"; +CM_ SG_ 37 STEER_ANGLE "can convert to degrees (imprecise) or percentage of max amplitude"; +CM_ SG_ 36 ACC_FRONT_BACK_1 "more likely up-down"; +CM_ SG_ 36 ACC_FRONT_BACK_2 "more likely front-back"; +CM_ SG_ 947 LOW_RES_ACC_PEDAL "Follows rather closely other acceleration commands"; +CM_ SG_ 947 LOW_RES_RPM "Maybe used for onboard display?"; +CM_ SG_ 955 MAYBE_CLUTCH "might be related to shifting gears"; +CM_ SG_ 1595 TIME_ON "Time since last ignition, tenth of seconds"; +CM_ SG_ 1595 BETWEEN_RIDES "the fourth byte (at least) changes between rides"; +CM_ SG_ 180 WIERD_STUFF "Might be a signed value on the whole two bytes (sometimes all set)"; +CM_ SG_ 180 VEHICLE_SPEED "Roughly 2 seconds before wheel speeds"; +CM_ SG_ 180 SPEED_MOD_256 "One byte speed, a bit before vehicle speed"; +CM_ SG_ 180 MAYBE_DISTANCE_MOD_256 "Looks like measure for distance or wheel angle"; +CM_ SG_ 906 MOVEMENT_START_TRIGGER "trigger of when speed becomes != 0"; +CM_ SG_ 979 VERY_LRES_ACC "Power used by engine? moves alongside speed, very low res, goes from 0 to 9 max?"; +CM_ SG_ 1600 CHANGES_EACH_RIDE "Small decrementation during some rides, possibly long term fuel"; +CM_ SG_ 1600 INCREASING_VALUE_FUEL "Fuel/distance? Average fuel consumption?"; +CM_ SG_ 705 NOT_ACCELERATING_PEDAL "Looks like opposite of accelerating bit"; +CM_ SG_ 705 ACC_PEDAL_SENSOR "similar to pedal sensor maybe checksum."; +CM_ SG_ 705 ACC_COMMAND "Similar to other pedal indicator., cleaner, must be sent back to engine"; +CM_ SG_ 705 ACC_PEDAL_MEAN "Actual sensor for pedal (works when engine off)"; +CM_ SG_ 705 NEGATIVE_COMMAND_OFFSET "Mysterious for now"; +CM_ SG_ 928 NEW_SIGNAL_1 "Very slow changing noisy value, 45-49 in 10 min"; +CM_ SG_ 928 NEW_SIGNAL_2 "Other very slow changing 24-26 in 10 min"; +CM_ SG_ 928 NEW_SIGNAL_4 "Inconsistent across rides"; +CM_ SG_ 896 NEW_SIGNAL_1 "there is a difference at the beginning of 2017-10-31--12-04-05"; +CM_ SG_ 1553 TOTAL_DISTANCE "Probably also contains the previous/two previous bytes but can't confirm"; +CM_ SG_ 945 BETWEEN_RIDES "Might be others in the same message. at least this one"; + diff --git a/opendbc_repo/opendbc/dbc/toyota_new_mc_pt_generated.dbc b/opendbc_repo/opendbc/dbc/toyota_new_mc_pt_generated.dbc new file mode 100644 index 0000000000..0233f53b0f --- /dev/null +++ b/opendbc_repo/opendbc/dbc/toyota_new_mc_pt_generated.dbc @@ -0,0 +1,612 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _community.dbc starts here"; +BO_ 359 STEERING_IPAS_COMMA: 8 IPAS + SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX + SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX + SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX + SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant"; + +BO_ 512 GAS_COMMAND: 6 EON + SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR + SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR + SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR + +BO_ 513 GAS_SENSOR: 6 INTERCEPTOR + SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON + SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON + SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON + +VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; + +BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX + SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX + +CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss"; + +BO_ 767 SDSU: 8 XXX + SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX + SG_ STATE : 23|4@0+ (1,0) [0|15] "" XXX + +CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS-P Toyotas. Learn more: https://github.com/RetroPilot/ocelot/tree/main/firmware/smart_dsu"; +CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu"; + +VAL_ 767 STATE 7 "STATE_AEB_CTRL" 6 "FAULT_INVALID" 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; + + +CM_ "Imported file _toyota_2017.dbc starts here"; +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX DSU HCU EPS IPAS CGW BGM + +BO_ 36 KINEMATICS: 8 XXX + SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX + SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/s" XXX + SG_ ACCEL_X : 17|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX + +BO_ 37 STEER_ANGLE_SENSOR: 8 XXX + SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX + SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX + SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX + +BO_ 166 BRAKE: 8 XXX + SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX + SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX + +BO_ 170 WHEEL_SPEEDS: 8 XXX + SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "km/h" XXX + SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "km/h" XXX + SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "km/h" XXX + SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "km/h" XXX + +BO_ 180 SPEED: 8 XXX + SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX + SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "km/h" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 295 GEAR_PACKET_HYBRID: 8 XXX + SG_ CAR_MOVEMENT : 25|10@0- (1,0) [0|255] "" XXX + SG_ COUNTER : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ GEAR : 47|4@0+ (1,0) [0|15] "" XXX + +BO_ 353 DSU_SPEED: 7 XXX + SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "km/h" XXX + +BO_ 452 ENGINE_RPM: 8 CGW + SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS + +BO_ 466 PCM_CRUISE: 8 XXX + SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX + SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_BRAKING : 12|1@0+ (1,0) [0|1] "" XXX + SG_ ACCEL_NET : 23|16@0- (0.0009765625,0) [-20|20] "m/s^2" XXX + SG_ NEUTRAL_FORCE : 39|16@0- (2,0) [-65536|65534] "N" XXX + SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 467 PCM_CRUISE_2: 8 XXX + SG_ BRAKE_PRESSED : 3|1@0+ (1,0) [0|1] "" XXX + SG_ PCM_FOLLOW_DISTANCE : 12|2@0+ (1,0) [0|3] "" XXX + SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "" XXX + SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX + SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "km/h" XXX + SG_ ACC_FAULTED : 47|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 552 ACCELEROMETER: 8 XXX + SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "m/s^2" XXX + SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s^2" XXX + +BO_ 560 BRAKE_2: 7 XXX + SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX + +BO_ 581 GAS_PEDAL_HYBRID: 8 XXX + SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX + +BO_ 608 STEER_TORQUE_SENSOR: 8 XXX + SG_ STEER_TORQUE_EPS : 47|16@0- (1,0) [-32768|32767] "" XXX + SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX + SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX + SG_ STEER_ANGLE_INITIALIZING : 3|1@0+ (1,0) [0|1] "" XXX + SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 614 STEERING_IPAS: 8 IPAS + SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX + SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX + SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX + SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 643 PRE_COLLISION: 7 DSU + SG_ _COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX + SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX + SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX + SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX + SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX + +BO_ 705 GAS_PEDAL: 8 XXX + SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX + SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX + +BO_ 740 STEERING_LKA: 5 XXX + SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX + SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX + SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX + SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX + SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX + +BO_ 742 LEAD_INFO: 8 DSU + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU + SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU + SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU + +BO_ 835 ACC_CONTROL: 8 DSU + SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s^2" HCU + SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX + SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX + SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX + SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX + SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU + SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU + SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX + SG_ LEAD_VEHICLE_STOPPED : 29|1@0+ (1,0) [0|0] "" DSU + SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU + SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU + SG_ ITS_CONNECT_LEAD : 39|8@0+ (1,0) [0|1] "" Vector__XXX + SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 865 CLUTCH: 8 XXX + SG_ ACC_FAULTED : 32|1@0+ (1,0) [0|1] "" XXX + SG_ GAS_PEDAL_ALT : 23|8@0+ (0.005,0) [0|1] "" XXX + SG_ CLUTCH_RELEASED : 38|1@0+ (1,0) [0|1] "" XXX + +BO_ 869 DSU_CRUISE : 7 DSU + SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX + SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX + SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX + SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX + SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX + SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX + SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX + +BO_ 921 PCM_CRUISE_SM: 8 XXX + SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX + SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX + SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX + SG_ TEMP_ACC_FAULTED : 15|1@0+ (1,0) [0|1] "" XXX + SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX + +BO_ 951 ESP_CONTROL: 8 ESP + SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX + SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX + +BO_ 956 GEAR_PACKET: 8 XXX + SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX + SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX + SG_ SPORT_GEAR_ON : 33|1@0+ (1,0) [0|1] "" XXX + SG_ SPORT_GEAR : 38|3@0+ (1,0) [0|7] "" XXX + SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX + SG_ B_GEAR_ENGAGED : 41|1@0+ (1,0) [0|1] "" XXX + SG_ DRIVE_ENGAGED : 47|1@0+ (1,0) [0|1] "" XXX + +BO_ 1005 REVERSE_CAMERA_STATE: 2 BGM + SG_ REVERSE_CAMERA_GUIDELINES : 9|2@0+ (1,0) [1|3] "" XXX + +BO_ 1009 PCM_CRUISE_ALT: 8 XXX + SG_ PCM_FOLLOW_DISTANCE : 4|2@1+ (1,0) [0|3] "" XXX + SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX + SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX + SG_ UI_SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + +BO_ 1020 SOLAR_SENSOR: 8 XXX + SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX + +BO_ 1041 PCS_HUD: 8 DSU + SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX + SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX + SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX + SG_ PCS_DUST : 34|1@0+ (1,0) [0|0] "" XXX + SG_ PCS_TEMP : 35|1@0+ (1,0) [0|0] "" XXX + SG_ PCS_DUST2 : 41|1@0+ (1,0) [0|0] "" XXX + SG_ PCS_TEMP2 : 42|1@0+ (1,0) [0|0] "" XXX + SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX + SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX + SG_ FRD_ADJ : 53|3@0+ (1,0) [0|0] "" XXX + SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX + +BO_ 1042 LKAS_HUD: 8 DSU + SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX + SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX + SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX + SG_ LKAS_STATUS : 7|2@0+ (1,0) [0|3] "" XXX + SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX + SG_ LDW_EXIST : 10|1@0+ (1,0) [0|1] "" XXX + SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX + SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_UNAVAILABLE_QUIET : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_UNAVAILABLE : 16|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_SENSITIVITY : 18|2@0+ (1,0) [0|3] "" XXX + SG_ LDA_SA_TOGGLE : 20|2@0+ (1,0) [0|3] "" XXX + SG_ LDA_MESSAGES : 23|3@0+ (1,0) [0|1] "" XXX + SG_ LDA_ON_MESSAGE : 31|2@0+ (1,0) [0|3] "" XXX + SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX + SG_ LANE_SWAY_TOGGLE : 43|1@0+ (1,0) [0|1] "" XXX + SG_ LANE_SWAY_SENSITIVITY : 45|2@0+ (1,0) [0|3] "" XXX + SG_ TAKE_CONTROL : 46|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_FRONT_CAMERA_BLOCKED : 47|1@0+ (1,0) [0|1] "" XXX + SG_ LANE_SWAY_BUZZER : 50|2@0+ (1,0) [0|0] "" XXX + SG_ LANE_SWAY_FLD : 53|3@0+ (1,0) [0|7] "" XXX + SG_ LANE_SWAY_WARNING : 55|2@0+ (1,0) [0|3] "" XXX + SG_ SET_ME_X01 : 42|1@0+ (1,0) [0|1] "" XXX + SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX + +BO_ 1043 TIME : 8 CGW + SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX + SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX + SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX + SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX + SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX + SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX + SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX + SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX + SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX + +BO_ 1044 AUTO_HIGH_BEAM: 8 FCM + SG_ AHB_DUTY : 47|8@0+ (0.5,0) [0|0] "%" Vector__XXX + SG_ F_AHB : 55|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ C_AHB : 51|4@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1083 AUTOPARK_STATUS: 8 IPAS + SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX + +BO_ 1161 RSA1: 8 FCM + SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX + SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX + SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX + SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "km/h" XXX + SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX + SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX + SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX + SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX + SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX + SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX + SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX + SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX + SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX + +BO_ 1162 RSA2: 8 FCM + SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX + SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX + SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX + SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX + SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX + SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX + SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX + SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX + SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX + SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX + SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX + SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX + SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX + SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX + +BO_ 1163 RSA3: 8 FCM + SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX + SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX + SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX + SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX + SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX + SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX + SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX + SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX + SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX + +BO_ 1408 VIN_PART_1: 8 CGW + SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX + +BO_ 1409 VIN_PART_2: 8 CGW + SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX + +BO_ 1410 VIN_PART_3: 8 CGW + SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX + +BO_ 1552 BODY_CONTROL_STATE_2: 8 XXX + SG_ UI_SPEED : 23|8@0+ (1,0) [0|255] "" XXX + SG_ METER_SLIDER_BRIGHTNESS_PCT : 30|7@0+ (1,0) [12|100] "%" XXX + SG_ METER_SLIDER_LOW_BRIGHTNESS : 37|1@0+ (1,0) [0|1] "" XXX + SG_ METER_SLIDER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX + SG_ UNITS : 63|3@0+ (1,0) [1|4] "" XXX + +BO_ 1553 UI_SETTING: 8 XXX + SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX + SG_ ODOMETER : 39|32@0+ (1,0) [0|1048575] "" XXX +BO_ 1556 BLINKERS_STATE: 8 XXX + SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX + SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX + +BO_ 1568 BODY_CONTROL_STATE: 8 XXX + SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX + SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" XXX + SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX + +BO_ 1570 LIGHT_STALK: 8 SCM + SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX + SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX + SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX + SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX + SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX + +BO_ 1571 CERTIFICATION_ECU: 8 CGW + SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX + SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX + SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX + +BO_ 1592 DOOR_LOCKS: 8 XXX + SG_ LOCK_STATUS_CHANGED : 15|1@0+ (1,0) [0|1] "" XXX + SG_ LOCK_STATUS : 20|1@0+ (1,0) [0|1] "" XXX + SG_ LOCKED_VIA_KEYFOB : 23|1@0+ (1,0) [0|1] "" XXX + +CM_ SG_ 36 YAW_RATE "verify"; +CM_ SG_ 36 ACCEL_X "x-axis accel"; +CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set"; +CM_ SG_ 37 STEER_RATE "factor is tbd"; +CM_ SG_ 466 NEUTRAL_FORCE "force in newtons the engine/electric motors are applying without any acceleration commands or user input"; +CM_ SG_ 466 ACC_BRAKING "whether brakes are being actuated from ACC command"; +CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors"; +CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10"; +CM_ SG_ 467 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement"; +CM_ SG_ 467 SET_SPEED "43 km/h are shown as 28 mph, so conversion isn't perfect"; +CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph"; +CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?"; +CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered"; +CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque"; +CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value"; +CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active"; +CM_ SG_ 643 _COUNTER "only used on cars that use this msg for cruise control"; +CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control"; +CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking"; +CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok"; +CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD"; +CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1"; +CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1"; +CM_ SG_ 835 DISTANCE "Cycle through ACC following distance from long, mid, short when set to 1"; +CM_ SG_ 835 ITS_CONNECT_LEAD "Displayed when lead car is capable of ITS Connect"; +CM_ SG_ 835 LEAD_VEHICLE_STOPPED "Set to 1 when lead is stopped, likely only used in older TSS-P vehicles"; +CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars"; +CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG."; +CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file."; +CM_ SG_ 865 GAS_PEDAL_ALT "copy of main GAS_PEDAL. Both use 8 bits. Might indicate that this message is for pedals."; +CM_ SG_ 865 CLUTCH_RELEASED "boolean of clutch for 6MT."; +CM_ SG_ 865 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement. Also describes a lockout when the ACC_CONTROL->ACC_MALFUNCTION bit is set."; +CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit"; +CM_ SG_ 921 TEMP_ACC_FAULTED "1 when the UI is displaying or playing fault-related alerts or sounds. Also 1 when pressing main on."; +CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel"; +CM_ SG_ 956 GEAR "on 6MT, only R shows."; +CM_ SG_ 1009 UI_SET_SPEED "units seem to be whatever the car is set to"; +CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator"; +CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity"; +CM_ SG_ 1041 PCS_DUST "alert: Front Camera Low Visibility Unavailable See Owner's Manual"; +CM_ SG_ 1041 PCS_DUST2 "alert: Pre-Collision System Radar Sensor Blocked Unavailable Clean Radar Sensor"; +CM_ SG_ 1041 PCS_TEMP "alert: Front Camera Out of Temperature Range Unavailable Wait until Normal Temperature"; +CM_ SG_ 1041 PCS_TEMP2 "alert: Pre-Collision System Out of Temperature Range Unavailable See Owner's Manual"; +CM_ SG_ 1041 FRD_ADJ "alert: ERROR ADJUSTING FRONT RADAR BEAM"; +CM_ SG_ 1042 LDA_SA_TOGGLE "LDA Steering Assist Toggle"; +CM_ SG_ 1042 LDW_EXIST "Unclear what this is, it's usually set to 0"; +CM_ SG_ 1042 LDA_SENSITIVITY "LDA Sensitivity"; +CM_ SG_ 1042 LDA_ON_MESSAGE "Display LDA Turned ON message"; +CM_ SG_ 1042 REPEATED_BEEPS "LDA audible warning"; +CM_ SG_ 1042 LDA_UNAVAILABLE_QUIET "LDA toggles and sensitivity settings are greyed out if set to 1"; +CM_ SG_ 1042 LDA_MESSAGES "Various LDA Messages"; +CM_ SG_ 1042 LDA_FRONT_CAMERA_BLOCKED "originally LDAFCVB, LDA related settings are greyed out if set to 1"; +CM_ SG_ 1042 TAKE_CONTROL "Please Control Steering Wheel warning"; +CM_ SG_ 1042 LANE_SWAY_TOGGLE "Lane Sway Warning System SWS Switch"; +CM_ SG_ 1042 LANE_SWAY_WARNING "Lane Sway Warning System Triggered"; +CM_ SG_ 1042 LANE_SWAY_FLD "Unknown signal for Lane Sway Warning System, set to 7 on stock system when SWS is enabled, 0 when SWS is disabled"; +CM_ SG_ 1042 LANE_SWAY_BUZZER "Similar to TWO_BEEPS"; +CM_ SG_ 1042 SET_ME_X01 "empty bit on leaked dbc, always set to 1 during normal operations"; +CM_ SG_ 1042 SET_ME_X02 "empty bit on leaked dbc, always set to 2 during normal operations"; +CM_ SG_ 1083 STATE "when the dashboard button is pressed, the value changes from zero to non-zero"; +CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit."; +CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz"; +CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"; +CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0"; +CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz"; +CM_ SG_ 1163 TSREQPD "always 1"; +CM_ SG_ 1163 TSRMSW "always 1"; +CM_ SG_ 1163 OTSGNNTM "always 3"; +CM_ SG_ 1163 NTLVLSPD "always 3"; +CM_ SG_ 1163 OVSPNTM "always 3"; +CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds"; +CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds"; +CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds"; +CM_ SG_ 1163 TSRSPU "always 1"; +CM_ SG_ 1552 UI_SPEED "Does not appear to match dash"; +CM_ SG_ 1552 METER_SLIDER_BRIGHTNESS_PCT "Combination display brightness setting, scales from 12 per cent to 100 per cent, reflects combination meter settings only, not linked with headlight state"; +CM_ SG_ 1552 METER_SLIDER_LOW_BRIGHTNESS "Combination display low brightness mode, also controls footwell lighting"; +CM_ SG_ 1552 METER_SLIDER_DIMMED "Combination display slider not at max, reflects combination meter settings only, not linked with headlight state"; +CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal"; +CM_ SG_ 1592 LOCK_STATUS_CHANGED "1 on rising edge of lock/unlocking"; +CM_ SG_ 1592 LOCK_STATUS "The next 3 bits always seem to follow this signal."; +CM_ SG_ 1592 LOCKED_VIA_KEYFOB "1 for as long as car is locked with key fob or door handle touch"; + +VAL_ 295 GEAR 0 "P" 1 "R" 2 "N" 3 "D" 4 "B"; +VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off"; +VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok"; +VAL_ 467 PCM_FOLLOW_DISTANCE 1 "far" 2 "medium" 3 "close"; +VAL_ 614 STATE 3 "enabled" 1 "disabled"; +VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left"; +VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking"; +VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok"; +VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok"; +VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear"; +VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press"; +VAL_ 865 CLUTCH_RELEASED 0 "clutch pressed any amount" 1 "clutch released" +VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted"; +VAL_ 921 DISTANCE_LINES 0 "not displayed" 1 "close" 2 "medium" 3 "far"; +VAL_ 956 SPORT_ON 0 "off" 1 "on"; +VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P"; +VAL_ 956 SPORT_GEAR_ON 0 "off" 1 "on"; +VAL_ 956 SPORT_GEAR 1 "S1" 2 "S2" 3 "S3" 4 "S4" 5 "S5" 6 "S6"; +VAL_ 956 ECON_ON 0 "off" 1 "on"; +VAL_ 956 B_GEAR_ENGAGED 0 "off" 1 "on"; +VAL_ 956 DRIVE_ENGAGED 0 "off" 1 "on"; +VAL_ 1005 REVERSE_CAMERA_GUIDELINES 3 "No guidelines" 2 "Static guidelines" 1 "Active guidelines"; +VAL_ 1009 PCM_FOLLOW_DISTANCE 1 "far" 2 "medium" 3 "close"; +VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled"; +VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off"; +VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none"; +VAL_ 1042 BARRIERS 3 "left" 2 "right" 1 "both" 0 "none"; +VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none"; +VAL_ 1042 LKAS_STATUS 1 "on" 0 "off"; +VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none"; +VAL_ 1042 LDA_ON_MESSAGE 2 "Lane Departure Alert Turned ON, Steering Assist Inactive" 1 "Lane Departure Alert Turned ON, Steering Assist Active" 0 "clear"; +VAL_ 1042 LDA_SA_TOGGLE 2 "steering assist off" 1 "steering assist on"; +VAL_ 1042 LDA_SENSITIVITY 2 "standard" 1 "high" 0 "undefined"; +VAL_ 1042 LDA_MESSAGES 4 "lda unavailable at this speed" 1 "lda unavailable below approx 50km/h" 0 "ok"; +VAL_ 1042 LDA_FRONT_CAMERA_BLOCKED 1 "lda unavailable" 0 "ok"; +VAL_ 1042 TAKE_CONTROL 1 "take control" 0 "ok"; +VAL_ 1042 LANE_SWAY_WARNING 3 "ok" 2 "orange please take a break" 1 "prompt would you like to take a break" 0 "ok"; +VAL_ 1042 LANE_SWAY_BUZZER 3 "ok" 2 "beep twice" 1 "beep twice" 0 "ok"; +VAL_ 1161 TSGN1 1 "speed sign" 0 "none"; +VAL_ 1161 TSGN2 1 "speed sign" 0 "none"; +VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none"; +VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter"; +VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none"; +VAL_ 1552 METER_SLIDER_LOW_BRIGHTNESS 1 "Low brightness mode, footwell lights off" 0 "Normal mode, footwell lights on"; +VAL_ 1552 METER_SLIDER_DIMMED 1 "Dimmed" 0 "Not Dimmed"; +VAL_ 1552 UNITS 1 "km (km/L)" 2 "km (L/100km)" 3 "miles (MPG US)" 4 "miles (MPG Imperial)"; +VAL_ 1553 UNITS 1 "km" 2 "miles"; +VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left"; +VAL_ 1592 LOCK_STATUS 0 "locked" 1 "unlocked"; + + +CM_ "Imported file _sp_debug_toyota.dbc starts here"; +BO_ 1880 DEBUG: 8 XXX + SG_ BLINDSPOTSIDE : 7|8@0+ (1,0) [0|255] "" XXX + SG_ BLINDSPOT : 38|1@0+ (1,0) [0|15] "" XXX + SG_ BLINDSPOTD1 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ BLINDSPOTD2 : 55|8@0+ (1,0) [0|255] "" XXX + +BO_ 836 PRE_COLLISION_2: 8 DSU + SG_ DSS1GDRV : 7|10@0- (0.1,0) [0|0] "m/s^2" Vector__XXX + SG_ DS1STAT2 : 13|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ DS1STBK2 : 10|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSWAR : 18|1@0+ (1,0) [0|0] "" FCM + SG_ PCSALM : 17|1@0+ (1,0) [0|0] "" FCM + SG_ PCSOPR : 16|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSABK : 31|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PBATRGR : 30|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ PPTRGR : 28|1@0+ (1,0) [0|0] "" FCM + SG_ IBTRGR : 27|1@0+ (1,0) [0|0] "" FCM + SG_ CLEXTRGR : 26|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ IRLT_REQ : 25|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ BRKHLD : 37|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ AVSTRGR : 36|1@0+ (1,0) [0|0] "" SCS + SG_ VGRSTRGR : 35|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ PREFILL : 33|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PBRTRGR : 32|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSDIS : 43|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PBPREPMP : 40|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX + +CM_ "toyota_new_mc_pt.dbc starts here"; + +BO_ 548 BRAKE_MODULE: 8 XXX + SG_ BRAKE_PRESSURE : 43|12@0+ (1,0) [0|4047] "" XXX + SG_ BRAKE_PRESSED : 5|1@0+ (1,0) [0|1] "" XXX + +BO_ 610 EPS_STATUS: 5 EPS + SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX + SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX + SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX + +BO_ 1178 BRAKE_RELATED: 8 XXX + SG_ BRAKE_PRESSED : 48|1@0+ (1,0) [0|1] "" XXX + +CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force"; +CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8"; +CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others"; + +VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled"; +VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby"; diff --git a/opendbc_repo/opendbc/dbc/toyota_nodsu_pt_generated.dbc b/opendbc_repo/opendbc/dbc/toyota_nodsu_pt_generated.dbc new file mode 100644 index 0000000000..e8fffc1638 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/toyota_nodsu_pt_generated.dbc @@ -0,0 +1,668 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _community.dbc starts here"; +BO_ 359 STEERING_IPAS_COMMA: 8 IPAS + SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX + SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX + SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX + SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant"; + +BO_ 512 GAS_COMMAND: 6 EON + SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR + SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR + SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR + +BO_ 513 GAS_SENSOR: 6 INTERCEPTOR + SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON + SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON + SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON + +VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; + +BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX + SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX + +CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss"; + +BO_ 767 SDSU: 8 XXX + SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX + SG_ STATE : 23|4@0+ (1,0) [0|15] "" XXX + +CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS-P Toyotas. Learn more: https://github.com/RetroPilot/ocelot/tree/main/firmware/smart_dsu"; +CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu"; + +VAL_ 767 STATE 7 "STATE_AEB_CTRL" 6 "FAULT_INVALID" 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; + + +CM_ "Imported file _toyota_2017.dbc starts here"; +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX DSU HCU EPS IPAS CGW BGM + +BO_ 36 KINEMATICS: 8 XXX + SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX + SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/s" XXX + SG_ ACCEL_X : 17|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX + +BO_ 37 STEER_ANGLE_SENSOR: 8 XXX + SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX + SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX + SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX + +BO_ 166 BRAKE: 8 XXX + SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX + SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX + +BO_ 170 WHEEL_SPEEDS: 8 XXX + SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "km/h" XXX + SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "km/h" XXX + SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "km/h" XXX + SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "km/h" XXX + +BO_ 180 SPEED: 8 XXX + SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX + SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "km/h" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 295 GEAR_PACKET_HYBRID: 8 XXX + SG_ CAR_MOVEMENT : 25|10@0- (1,0) [0|255] "" XXX + SG_ COUNTER : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ GEAR : 47|4@0+ (1,0) [0|15] "" XXX + +BO_ 353 DSU_SPEED: 7 XXX + SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "km/h" XXX + +BO_ 452 ENGINE_RPM: 8 CGW + SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS + +BO_ 466 PCM_CRUISE: 8 XXX + SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX + SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_BRAKING : 12|1@0+ (1,0) [0|1] "" XXX + SG_ ACCEL_NET : 23|16@0- (0.0009765625,0) [-20|20] "m/s^2" XXX + SG_ NEUTRAL_FORCE : 39|16@0- (2,0) [-65536|65534] "N" XXX + SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 467 PCM_CRUISE_2: 8 XXX + SG_ BRAKE_PRESSED : 3|1@0+ (1,0) [0|1] "" XXX + SG_ PCM_FOLLOW_DISTANCE : 12|2@0+ (1,0) [0|3] "" XXX + SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "" XXX + SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX + SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "km/h" XXX + SG_ ACC_FAULTED : 47|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 552 ACCELEROMETER: 8 XXX + SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "m/s^2" XXX + SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s^2" XXX + +BO_ 560 BRAKE_2: 7 XXX + SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX + +BO_ 581 GAS_PEDAL_HYBRID: 8 XXX + SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX + +BO_ 608 STEER_TORQUE_SENSOR: 8 XXX + SG_ STEER_TORQUE_EPS : 47|16@0- (1,0) [-32768|32767] "" XXX + SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX + SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX + SG_ STEER_ANGLE_INITIALIZING : 3|1@0+ (1,0) [0|1] "" XXX + SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 614 STEERING_IPAS: 8 IPAS + SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX + SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX + SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX + SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 643 PRE_COLLISION: 7 DSU + SG_ _COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX + SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX + SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX + SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX + SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX + +BO_ 705 GAS_PEDAL: 8 XXX + SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX + SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX + +BO_ 740 STEERING_LKA: 5 XXX + SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX + SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX + SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX + SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX + SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX + +BO_ 742 LEAD_INFO: 8 DSU + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU + SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU + SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU + +BO_ 835 ACC_CONTROL: 8 DSU + SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s^2" HCU + SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX + SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX + SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX + SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX + SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU + SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU + SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX + SG_ LEAD_VEHICLE_STOPPED : 29|1@0+ (1,0) [0|0] "" DSU + SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU + SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU + SG_ ITS_CONNECT_LEAD : 39|8@0+ (1,0) [0|1] "" Vector__XXX + SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 865 CLUTCH: 8 XXX + SG_ ACC_FAULTED : 32|1@0+ (1,0) [0|1] "" XXX + SG_ GAS_PEDAL_ALT : 23|8@0+ (0.005,0) [0|1] "" XXX + SG_ CLUTCH_RELEASED : 38|1@0+ (1,0) [0|1] "" XXX + +BO_ 869 DSU_CRUISE : 7 DSU + SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX + SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX + SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX + SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX + SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX + SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX + SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX + +BO_ 921 PCM_CRUISE_SM: 8 XXX + SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX + SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX + SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX + SG_ TEMP_ACC_FAULTED : 15|1@0+ (1,0) [0|1] "" XXX + SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX + +BO_ 951 ESP_CONTROL: 8 ESP + SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX + SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX + +BO_ 956 GEAR_PACKET: 8 XXX + SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX + SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX + SG_ SPORT_GEAR_ON : 33|1@0+ (1,0) [0|1] "" XXX + SG_ SPORT_GEAR : 38|3@0+ (1,0) [0|7] "" XXX + SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX + SG_ B_GEAR_ENGAGED : 41|1@0+ (1,0) [0|1] "" XXX + SG_ DRIVE_ENGAGED : 47|1@0+ (1,0) [0|1] "" XXX + +BO_ 1005 REVERSE_CAMERA_STATE: 2 BGM + SG_ REVERSE_CAMERA_GUIDELINES : 9|2@0+ (1,0) [1|3] "" XXX + +BO_ 1009 PCM_CRUISE_ALT: 8 XXX + SG_ PCM_FOLLOW_DISTANCE : 4|2@1+ (1,0) [0|3] "" XXX + SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX + SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX + SG_ UI_SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + +BO_ 1020 SOLAR_SENSOR: 8 XXX + SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX + +BO_ 1041 PCS_HUD: 8 DSU + SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX + SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX + SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX + SG_ PCS_DUST : 34|1@0+ (1,0) [0|0] "" XXX + SG_ PCS_TEMP : 35|1@0+ (1,0) [0|0] "" XXX + SG_ PCS_DUST2 : 41|1@0+ (1,0) [0|0] "" XXX + SG_ PCS_TEMP2 : 42|1@0+ (1,0) [0|0] "" XXX + SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX + SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX + SG_ FRD_ADJ : 53|3@0+ (1,0) [0|0] "" XXX + SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX + +BO_ 1042 LKAS_HUD: 8 DSU + SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX + SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX + SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX + SG_ LKAS_STATUS : 7|2@0+ (1,0) [0|3] "" XXX + SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX + SG_ LDW_EXIST : 10|1@0+ (1,0) [0|1] "" XXX + SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX + SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_UNAVAILABLE_QUIET : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_UNAVAILABLE : 16|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_SENSITIVITY : 18|2@0+ (1,0) [0|3] "" XXX + SG_ LDA_SA_TOGGLE : 20|2@0+ (1,0) [0|3] "" XXX + SG_ LDA_MESSAGES : 23|3@0+ (1,0) [0|1] "" XXX + SG_ LDA_ON_MESSAGE : 31|2@0+ (1,0) [0|3] "" XXX + SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX + SG_ LANE_SWAY_TOGGLE : 43|1@0+ (1,0) [0|1] "" XXX + SG_ LANE_SWAY_SENSITIVITY : 45|2@0+ (1,0) [0|3] "" XXX + SG_ TAKE_CONTROL : 46|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_FRONT_CAMERA_BLOCKED : 47|1@0+ (1,0) [0|1] "" XXX + SG_ LANE_SWAY_BUZZER : 50|2@0+ (1,0) [0|0] "" XXX + SG_ LANE_SWAY_FLD : 53|3@0+ (1,0) [0|7] "" XXX + SG_ LANE_SWAY_WARNING : 55|2@0+ (1,0) [0|3] "" XXX + SG_ SET_ME_X01 : 42|1@0+ (1,0) [0|1] "" XXX + SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX + +BO_ 1043 TIME : 8 CGW + SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX + SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX + SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX + SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX + SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX + SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX + SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX + SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX + SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX + +BO_ 1044 AUTO_HIGH_BEAM: 8 FCM + SG_ AHB_DUTY : 47|8@0+ (0.5,0) [0|0] "%" Vector__XXX + SG_ F_AHB : 55|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ C_AHB : 51|4@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1083 AUTOPARK_STATUS: 8 IPAS + SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX + +BO_ 1161 RSA1: 8 FCM + SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX + SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX + SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX + SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "km/h" XXX + SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX + SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX + SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX + SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX + SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX + SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX + SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX + SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX + SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX + +BO_ 1162 RSA2: 8 FCM + SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX + SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX + SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX + SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX + SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX + SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX + SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX + SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX + SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX + SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX + SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX + SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX + SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX + SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX + +BO_ 1163 RSA3: 8 FCM + SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX + SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX + SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX + SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX + SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX + SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX + SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX + SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX + SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX + +BO_ 1408 VIN_PART_1: 8 CGW + SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX + +BO_ 1409 VIN_PART_2: 8 CGW + SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX + +BO_ 1410 VIN_PART_3: 8 CGW + SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX + +BO_ 1552 BODY_CONTROL_STATE_2: 8 XXX + SG_ UI_SPEED : 23|8@0+ (1,0) [0|255] "" XXX + SG_ METER_SLIDER_BRIGHTNESS_PCT : 30|7@0+ (1,0) [12|100] "%" XXX + SG_ METER_SLIDER_LOW_BRIGHTNESS : 37|1@0+ (1,0) [0|1] "" XXX + SG_ METER_SLIDER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX + SG_ UNITS : 63|3@0+ (1,0) [1|4] "" XXX + +BO_ 1553 UI_SETTING: 8 XXX + SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX + SG_ ODOMETER : 39|32@0+ (1,0) [0|1048575] "" XXX +BO_ 1556 BLINKERS_STATE: 8 XXX + SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX + SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX + +BO_ 1568 BODY_CONTROL_STATE: 8 XXX + SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX + SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" XXX + SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX + +BO_ 1570 LIGHT_STALK: 8 SCM + SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX + SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX + SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX + SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX + SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX + +BO_ 1571 CERTIFICATION_ECU: 8 CGW + SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX + SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX + SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX + +BO_ 1592 DOOR_LOCKS: 8 XXX + SG_ LOCK_STATUS_CHANGED : 15|1@0+ (1,0) [0|1] "" XXX + SG_ LOCK_STATUS : 20|1@0+ (1,0) [0|1] "" XXX + SG_ LOCKED_VIA_KEYFOB : 23|1@0+ (1,0) [0|1] "" XXX + +CM_ SG_ 36 YAW_RATE "verify"; +CM_ SG_ 36 ACCEL_X "x-axis accel"; +CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set"; +CM_ SG_ 37 STEER_RATE "factor is tbd"; +CM_ SG_ 466 NEUTRAL_FORCE "force in newtons the engine/electric motors are applying without any acceleration commands or user input"; +CM_ SG_ 466 ACC_BRAKING "whether brakes are being actuated from ACC command"; +CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors"; +CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10"; +CM_ SG_ 467 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement"; +CM_ SG_ 467 SET_SPEED "43 km/h are shown as 28 mph, so conversion isn't perfect"; +CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph"; +CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?"; +CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered"; +CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque"; +CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value"; +CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active"; +CM_ SG_ 643 _COUNTER "only used on cars that use this msg for cruise control"; +CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control"; +CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking"; +CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok"; +CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD"; +CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1"; +CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1"; +CM_ SG_ 835 DISTANCE "Cycle through ACC following distance from long, mid, short when set to 1"; +CM_ SG_ 835 ITS_CONNECT_LEAD "Displayed when lead car is capable of ITS Connect"; +CM_ SG_ 835 LEAD_VEHICLE_STOPPED "Set to 1 when lead is stopped, likely only used in older TSS-P vehicles"; +CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars"; +CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG."; +CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file."; +CM_ SG_ 865 GAS_PEDAL_ALT "copy of main GAS_PEDAL. Both use 8 bits. Might indicate that this message is for pedals."; +CM_ SG_ 865 CLUTCH_RELEASED "boolean of clutch for 6MT."; +CM_ SG_ 865 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement. Also describes a lockout when the ACC_CONTROL->ACC_MALFUNCTION bit is set."; +CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit"; +CM_ SG_ 921 TEMP_ACC_FAULTED "1 when the UI is displaying or playing fault-related alerts or sounds. Also 1 when pressing main on."; +CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel"; +CM_ SG_ 956 GEAR "on 6MT, only R shows."; +CM_ SG_ 1009 UI_SET_SPEED "units seem to be whatever the car is set to"; +CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator"; +CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity"; +CM_ SG_ 1041 PCS_DUST "alert: Front Camera Low Visibility Unavailable See Owner's Manual"; +CM_ SG_ 1041 PCS_DUST2 "alert: Pre-Collision System Radar Sensor Blocked Unavailable Clean Radar Sensor"; +CM_ SG_ 1041 PCS_TEMP "alert: Front Camera Out of Temperature Range Unavailable Wait until Normal Temperature"; +CM_ SG_ 1041 PCS_TEMP2 "alert: Pre-Collision System Out of Temperature Range Unavailable See Owner's Manual"; +CM_ SG_ 1041 FRD_ADJ "alert: ERROR ADJUSTING FRONT RADAR BEAM"; +CM_ SG_ 1042 LDA_SA_TOGGLE "LDA Steering Assist Toggle"; +CM_ SG_ 1042 LDW_EXIST "Unclear what this is, it's usually set to 0"; +CM_ SG_ 1042 LDA_SENSITIVITY "LDA Sensitivity"; +CM_ SG_ 1042 LDA_ON_MESSAGE "Display LDA Turned ON message"; +CM_ SG_ 1042 REPEATED_BEEPS "LDA audible warning"; +CM_ SG_ 1042 LDA_UNAVAILABLE_QUIET "LDA toggles and sensitivity settings are greyed out if set to 1"; +CM_ SG_ 1042 LDA_MESSAGES "Various LDA Messages"; +CM_ SG_ 1042 LDA_FRONT_CAMERA_BLOCKED "originally LDAFCVB, LDA related settings are greyed out if set to 1"; +CM_ SG_ 1042 TAKE_CONTROL "Please Control Steering Wheel warning"; +CM_ SG_ 1042 LANE_SWAY_TOGGLE "Lane Sway Warning System SWS Switch"; +CM_ SG_ 1042 LANE_SWAY_WARNING "Lane Sway Warning System Triggered"; +CM_ SG_ 1042 LANE_SWAY_FLD "Unknown signal for Lane Sway Warning System, set to 7 on stock system when SWS is enabled, 0 when SWS is disabled"; +CM_ SG_ 1042 LANE_SWAY_BUZZER "Similar to TWO_BEEPS"; +CM_ SG_ 1042 SET_ME_X01 "empty bit on leaked dbc, always set to 1 during normal operations"; +CM_ SG_ 1042 SET_ME_X02 "empty bit on leaked dbc, always set to 2 during normal operations"; +CM_ SG_ 1083 STATE "when the dashboard button is pressed, the value changes from zero to non-zero"; +CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit."; +CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz"; +CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"; +CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0"; +CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz"; +CM_ SG_ 1163 TSREQPD "always 1"; +CM_ SG_ 1163 TSRMSW "always 1"; +CM_ SG_ 1163 OTSGNNTM "always 3"; +CM_ SG_ 1163 NTLVLSPD "always 3"; +CM_ SG_ 1163 OVSPNTM "always 3"; +CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds"; +CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds"; +CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds"; +CM_ SG_ 1163 TSRSPU "always 1"; +CM_ SG_ 1552 UI_SPEED "Does not appear to match dash"; +CM_ SG_ 1552 METER_SLIDER_BRIGHTNESS_PCT "Combination display brightness setting, scales from 12 per cent to 100 per cent, reflects combination meter settings only, not linked with headlight state"; +CM_ SG_ 1552 METER_SLIDER_LOW_BRIGHTNESS "Combination display low brightness mode, also controls footwell lighting"; +CM_ SG_ 1552 METER_SLIDER_DIMMED "Combination display slider not at max, reflects combination meter settings only, not linked with headlight state"; +CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal"; +CM_ SG_ 1592 LOCK_STATUS_CHANGED "1 on rising edge of lock/unlocking"; +CM_ SG_ 1592 LOCK_STATUS "The next 3 bits always seem to follow this signal."; +CM_ SG_ 1592 LOCKED_VIA_KEYFOB "1 for as long as car is locked with key fob or door handle touch"; + +VAL_ 295 GEAR 0 "P" 1 "R" 2 "N" 3 "D" 4 "B"; +VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off"; +VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok"; +VAL_ 467 PCM_FOLLOW_DISTANCE 1 "far" 2 "medium" 3 "close"; +VAL_ 614 STATE 3 "enabled" 1 "disabled"; +VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left"; +VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking"; +VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok"; +VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok"; +VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear"; +VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press"; +VAL_ 865 CLUTCH_RELEASED 0 "clutch pressed any amount" 1 "clutch released" +VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted"; +VAL_ 921 DISTANCE_LINES 0 "not displayed" 1 "close" 2 "medium" 3 "far"; +VAL_ 956 SPORT_ON 0 "off" 1 "on"; +VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P"; +VAL_ 956 SPORT_GEAR_ON 0 "off" 1 "on"; +VAL_ 956 SPORT_GEAR 1 "S1" 2 "S2" 3 "S3" 4 "S4" 5 "S5" 6 "S6"; +VAL_ 956 ECON_ON 0 "off" 1 "on"; +VAL_ 956 B_GEAR_ENGAGED 0 "off" 1 "on"; +VAL_ 956 DRIVE_ENGAGED 0 "off" 1 "on"; +VAL_ 1005 REVERSE_CAMERA_GUIDELINES 3 "No guidelines" 2 "Static guidelines" 1 "Active guidelines"; +VAL_ 1009 PCM_FOLLOW_DISTANCE 1 "far" 2 "medium" 3 "close"; +VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled"; +VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off"; +VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none"; +VAL_ 1042 BARRIERS 3 "left" 2 "right" 1 "both" 0 "none"; +VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none"; +VAL_ 1042 LKAS_STATUS 1 "on" 0 "off"; +VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none"; +VAL_ 1042 LDA_ON_MESSAGE 2 "Lane Departure Alert Turned ON, Steering Assist Inactive" 1 "Lane Departure Alert Turned ON, Steering Assist Active" 0 "clear"; +VAL_ 1042 LDA_SA_TOGGLE 2 "steering assist off" 1 "steering assist on"; +VAL_ 1042 LDA_SENSITIVITY 2 "standard" 1 "high" 0 "undefined"; +VAL_ 1042 LDA_MESSAGES 4 "lda unavailable at this speed" 1 "lda unavailable below approx 50km/h" 0 "ok"; +VAL_ 1042 LDA_FRONT_CAMERA_BLOCKED 1 "lda unavailable" 0 "ok"; +VAL_ 1042 TAKE_CONTROL 1 "take control" 0 "ok"; +VAL_ 1042 LANE_SWAY_WARNING 3 "ok" 2 "orange please take a break" 1 "prompt would you like to take a break" 0 "ok"; +VAL_ 1042 LANE_SWAY_BUZZER 3 "ok" 2 "beep twice" 1 "beep twice" 0 "ok"; +VAL_ 1161 TSGN1 1 "speed sign" 0 "none"; +VAL_ 1161 TSGN2 1 "speed sign" 0 "none"; +VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none"; +VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter"; +VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none"; +VAL_ 1552 METER_SLIDER_LOW_BRIGHTNESS 1 "Low brightness mode, footwell lights off" 0 "Normal mode, footwell lights on"; +VAL_ 1552 METER_SLIDER_DIMMED 1 "Dimmed" 0 "Not Dimmed"; +VAL_ 1552 UNITS 1 "km (km/L)" 2 "km (L/100km)" 3 "miles (MPG US)" 4 "miles (MPG Imperial)"; +VAL_ 1553 UNITS 1 "km" 2 "miles"; +VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left"; +VAL_ 1592 LOCK_STATUS 0 "locked" 1 "unlocked"; + + +CM_ "Imported file _sp_debug_toyota.dbc starts here"; +BO_ 1880 DEBUG: 8 XXX + SG_ BLINDSPOTSIDE : 7|8@0+ (1,0) [0|255] "" XXX + SG_ BLINDSPOT : 38|1@0+ (1,0) [0|15] "" XXX + SG_ BLINDSPOTD1 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ BLINDSPOTD2 : 55|8@0+ (1,0) [0|255] "" XXX + +BO_ 836 PRE_COLLISION_2: 8 DSU + SG_ DSS1GDRV : 7|10@0- (0.1,0) [0|0] "m/s^2" Vector__XXX + SG_ DS1STAT2 : 13|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ DS1STBK2 : 10|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSWAR : 18|1@0+ (1,0) [0|0] "" FCM + SG_ PCSALM : 17|1@0+ (1,0) [0|0] "" FCM + SG_ PCSOPR : 16|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSABK : 31|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PBATRGR : 30|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ PPTRGR : 28|1@0+ (1,0) [0|0] "" FCM + SG_ IBTRGR : 27|1@0+ (1,0) [0|0] "" FCM + SG_ CLEXTRGR : 26|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ IRLT_REQ : 25|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ BRKHLD : 37|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ AVSTRGR : 36|1@0+ (1,0) [0|0] "" SCS + SG_ VGRSTRGR : 35|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ PREFILL : 33|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PBRTRGR : 32|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSDIS : 43|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PBPREPMP : 40|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX + +CM_ "toyota_nodsu_pt.dbc starts here"; + +BO_ 401 STEERING_LTA: 8 XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ SETME_X3 : 29|2@0+ (1,0) [0|3] "" XXX + SG_ PERCENTAGE : 39|8@0+ (1,0) [0|255] "" XXX + SG_ TORQUE_WIND_DOWN : 47|8@0+ (1,0) [0|255] "" XXX + SG_ ANGLE : 55|8@0- (0.5,0) [0|255] "" XXX + SG_ STEER_ANGLE_CMD : 15|16@0- (0.0573,0) [-540|540] "" XXX + SG_ STEER_REQUEST_2 : 25|1@0+ (1,0) [0|1] "" XXX + SG_ LKA_ACTIVE : 26|1@0+ (1,0) [0|1] "" XXX + SG_ CLEAR_HOLD_STEERING_ALERT : 30|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 6|6@0+ (1,0) [0|255] "" XXX + SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX + SG_ SETME_X1 : 7|1@0+ (1,0) [0|1] "" XXX + +BO_ 550 BRAKE_MODULE: 8 XXX + SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX + SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX + SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX + +BO_ 610 EPS_STATUS: 8 EPS + SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX + SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX + SG_ LTA_STATE : 15|5@0+ (1,0) [0|31] "" XXX + SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 881 LTA_RELATED: 8 FCM + SG_ GAS_PEDAL : 15|8@0+ (0.005,0) [0|1] "" XXX + SG_ STEER_ANGLE : 23|16@0- (0.0573,0) [-500|500] "" XXX + SG_ TURN_SIGNALS : 35|2@0+ (1,0) [0|3] "" XXX + SG_ UNKNOWN_2 : 58|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_SA_TOGGLE : 59|1@0+ (1,0) [0|1] "" XXX + SG_ LTA_STEER_REQUEST : 60|1@0+ (1,0) [0|1] "" XXX + SG_ UNKNOWN : 61|1@0+ (1,0) [0|1] "" XXX + SG_ STEERING_PRESSED : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 1014 BSM: 8 XXX + SG_ L_ADJACENT : 0|1@0+ (1,0) [0|1] "" XXX + SG_ L_APPROACHING : 8|1@0+ (1,0) [0|1] "" XXX + SG_ R_ADJACENT : 1|1@0+ (1,0) [0|1] "" XXX + SG_ R_APPROACHING : 10|1@0+ (1,0) [0|1] "" XXX + SG_ ADJACENT_ENABLED : 7|1@0+ (1,0) [0|1] "" XXX + SG_ APPROACHING_ENABLED : 15|1@0+ (1,0) [0|1] "" XXX + +CM_ SG_ 401 PERCENTAGE "driver override percentage (0-100), very close to steeringPressed in OP"; +CM_ SG_ 401 TORQUE_WIND_DOWN "used to wind down torque on user override"; +CM_ SG_ 401 ANGLE "angle of car relative to lane center on LTA camera"; +CM_ SG_ 401 STEER_ANGLE_CMD "desired angle, OEM steers up to 95 degrees, no angle limit but torque will bottom out"; +CM_ SG_ 401 CLEAR_HOLD_STEERING_ALERT "set to 1 when user clears LKAS_HUD->LDA_ALERT ('Hold Steering') by applying torque to steering wheel"; +CM_ SG_ 401 STEER_REQUEST "enable bit for steering, 1 to steer, 0 to not"; +CM_ SG_ 401 STEER_REQUEST_2 "enable bit for steering, 1 to steer, 0 to not"; +CM_ SG_ 401 LKA_ACTIVE "1 when using LTA for LKA"; +CM_ SG_ 401 SETME_X1 "usually 1, seen at 0 on some South American Corollas indicating lack of stock Lane Tracing Assist"; +CM_ SG_ 401 SETME_X3 "almost completely correlates with Toyota Safety Sense version, but may instead describe max torque when using LTA. if TSS 2.5 or 2022 RAV4, this is always 1. if TSS 2.0 this is always 3 (or 0 on Alphard, Highlander, NX)"; +CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force"; +CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8"; +CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others"; +CM_ SG_ 881 GAS_PEDAL "not set on all cars, only seen on TSS 2.5 Camry Hybrid so far"; +CM_ SG_ 881 STEER_ANGLE "matches STEER_TORQUE_SENSOR->STEER_ANGLE"; +CM_ SG_ 881 TURN_SIGNALS "flipped on some cars"; +CM_ SG_ 881 LDA_SA_TOGGLE "not applicable for all cars"; +CM_ SG_ 881 LTA_STEER_REQUEST "only applicable for TSS 2.5: matches STEERING_LTA->STEER_REQUEST"; +CM_ SG_ 881 UNKNOWN "related to steering wheel angle"; +CM_ SG_ 881 STEERING_PRESSED "only applicable for TSS 2.5: low sensitivity steering wheel pressed by driver signal"; +CM_ SG_ 1014 L_ADJACENT "vehicle adjacent left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED"; +CM_ SG_ 1014 L_APPROACHING "vehicle approaching from left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED"; +CM_ SG_ 1014 R_ADJACENT "vehicle adjacent right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED"; +CM_ SG_ 1014 R_APPROACHING "vehicle approaching from right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED"; +CM_ SG_ 1014 ADJACENT_ENABLED "when BSM is enabled in settings, this is on along with APPROACHING_ENABLED. this controls bsm alert visibility"; +CM_ SG_ 1014 APPROACHING_ENABLED "when BSM is enabled in settings, this is on along with ADJACENT_ENABLED. this controls bsm alert visibility"; + +VAL_ 401 SETME_X3 3 "TSS 2.0" 1 "TSS 2.5 or 2022 RAV4" 0 "TSS 2.0 on Alphard, Highlander, NX"; +VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled"; +VAL_ 610 LKA_STATE 25 "temporary_fault" 17 "permanent_fault" 11 "lka_missing_unavailable2" 9 "temporary_fault2" 5 "active" 3 "lka_missing_unavailable" 1 "standby"; +VAL_ 610 LTA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 3 "lta_missing_unavailable" 1 "standby"; diff --git a/opendbc_repo/opendbc/dbc/toyota_prius_2010_pt.dbc b/opendbc_repo/opendbc/dbc/toyota_prius_2010_pt.dbc new file mode 100644 index 0000000000..5c7df7d18b --- /dev/null +++ b/opendbc_repo/opendbc/dbc/toyota_prius_2010_pt.dbc @@ -0,0 +1,203 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX DSU HCU EPS IPAS + + +BO_ 36 KINEMATICS: 8 XXX + SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX + SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX + SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX + +BO_ 166 BRAKE: 8 XXX + SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX + SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX + +BO_ 170 WHEEL_SPEEDS: 8 XXX + SG_ WHEEL_SPEED_FR : 7|16@0+ (0.0062,-67.67) [0|250] "mph" XXX + SG_ WHEEL_SPEED_FL : 23|16@0+ (0.0062,-67.67) [0|250] "mph" XXX + SG_ WHEEL_SPEED_RR : 39|16@0+ (0.0062,-67.67) [0|250] "mph" XXX + SG_ WHEEL_SPEED_RL : 55|16@0+ (0.0062,-67.67) [0|250] "mph" XXX + +BO_ 180 SPEED: 8 XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ SPEED : 47|16@0+ (0.0062,0) [0|115] "mph" XXX + SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX + +BO_ 295 GEAR_PACKET: 8 XXX + SG_ CAR_MOVEMENT : 39|8@0- (1,0) [0|255] "" XXX + SG_ COUNTER : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ GEAR : 47|4@0+ (1,0) [0|15] "" XXX + +BO_ 466 PCM_CRUISE: 8 XXX + SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX + SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX + SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 550 BRAKE_MODULE: 8 XXX + SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX + SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX + SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX + +BO_ 552 ACCELEROMETER: 8 XXX + SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX + SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX + +BO_ 560 BRAKE_MODULE2: 8 XXX + SG_ BRAKE_LIGHTS : 26|1@0+ (1,0) [0|1] "" XXX + +BO_ 581 GAS_PEDAL: 8 XXX + SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX + +BO_ 608 STEER_TORQUE_SENSOR: 8 XXX + SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX + SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX + SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 610 EPS_STATUS: 5 EPS + SG_ STATE : 3|4@0+ (1,0) [0|15] "" XXX + SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX + +BO_ 614 STEERING_IPAS: 8 IPAS + SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX + SG_ ANGLE : 3|12@0- (1,0) [0|16777215] "" XXX + SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 643 PRE_COLLISION: 8 XXX + +BO_ 740 STEERING_LKA: 8 XXX + SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX + SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX + SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX + SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX + +BO_ 742 LEAD_INFO: 8 DSU + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU + SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU + SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU + +BO_ 835 ACC_CONTROL: 8 DSU + SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU + +BO_ 1556 STEERING_LEVERS: 8 XXX + SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX + +BO_ 37 STEER_ANGLE_SENSOR: 8 XXX + SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX + SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX + SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX + +BO_ 467 PCM_CRUISE_2: 8 XXX + SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX + SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX + SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 921 PCM_CRUISE_SM: 8 XXX + SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX + SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX + SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX + +BO_ 951 ESP_CONTROL: 8 ESP + SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX + +BO_ 1042 LKAS_HUD: 8 XXX + SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX + SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX + SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX + SG_ SET_ME_1 : 7|2@0+ (1,0) [0|3] "" XXX + SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX + SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX + SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX + +BO_ 1553 UI_SEETING: 8 XXX + SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX + +BO_ 1568 SEATS_DOORS: 8 XXX + SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX + +BO_ 452 POWERTRAIN: 8 XXX + SG_ ENGINE_RPM : 7|16@0+ (1,0) [0|65535] "rpm" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + + + + +CM_ SG_ 36 ACCEL_Y "unit is tbd"; +CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd"; +CM_ SG_ 36 YAW_RATE "verify"; +CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors"; +CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10"; +CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force"; +CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8"; +CM_ SG_ 560 BRAKE_LIGHTS "double check"; +CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered"; +CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque"; +CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value"; +CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active"; +CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set"; +CM_ SG_ 37 STEER_RATE "factor is tbd"; +CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph"; +CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect"; +CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit"; +CM_ SG_ 1042 SET_ME_1 "unclear what this is, nut it's always 1 in drive traces"; +VAL_ 295 GEAR 0 "P" 1 "R" 2 "N" 3 "D" 4 "B" ; +VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "setspeeddown" 9 "setspeedup" 8 "active" 7 "standstill" 1 "off" 0 "off"; +VAL_ 610 STATE 5 "override" 3 "enabled" 1 "disabled" ; +VAL_ 610 LKA_STATE 50 "temporary_fault" ; +VAL_ 614 STATE 3 "enabled" 1 "disabled" ; +VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left" ; +VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ; +VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok" ; +VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted" ; +VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none" ; +VAL_ 1042 RIGHT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none" ; +VAL_ 1042 LEFT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none" ; +VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none" ; +VAL_ 1553 UNITS 1 "km" 2 "miles" ; diff --git a/opendbc_repo/opendbc/dbc/toyota_radar_dsu_tssp.dbc b/opendbc_repo/opendbc/dbc/toyota_radar_dsu_tssp.dbc new file mode 100644 index 0000000000..168e589136 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/toyota_radar_dsu_tssp.dbc @@ -0,0 +1,194 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX RADAR + +BO_ 768 BUTTONS: 8 RADAR + SG_ LKAS_PRESS : 2|1@0+ (1,0) [0|1] "" XXX + SG_ DISTANCE_PRESS : 5|1@0+ (1,0) [0|1] "" XXX + +BO_ 769 OBJECT_0: 8 RADAR + SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX + SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX + SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX + SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX + SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX + SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 771 OBJECT_1: 8 RADAR + SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX + SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX + SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX + SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX + SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX + SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 773 OBJECT_2: 8 RADAR + SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX + SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX + SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX + SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX + SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX + SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 775 OBJECT_3: 8 RADAR + SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX + SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX + SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX + SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX + SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX + SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 777 OBJECT_4: 8 RADAR + SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX + SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX + SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX + SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX + SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX + SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 779 OBJECT_5: 8 RADAR + SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX + SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX + SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX + SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX + SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX + SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 781 OBJECT_6: 8 RADAR + SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX + SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX + SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX + SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX + SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX + SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 783 OBJECT_7: 8 RADAR + SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX + SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX + SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX + SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX + SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX + SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 785 OBJECT_8: 8 RADAR + SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX + SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX + SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX + SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX + SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX + SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 787 OBJECT_9: 8 RADAR + SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX + SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX + SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX + SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX + SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX + SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 789 OBJECT_10: 8 RADAR + SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX + SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX + SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX + SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX + SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX + SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 791 OBJECT_11: 8 RADAR + SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX + SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX + SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX + SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX + SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX + SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX + +CM_ "Front target" +BO_ 1664 CLUSTER_F: 8 RADAR + SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|255] "m" XXX + SG_ LAT_DIST : 20|11@1- (0.015,0) [-20|20] "m" XXX + SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX + SG_ ID : 0|6@1+ (1,0) [0|63] "" XXX + SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX + SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX + +CM_ "Front target ahead" +BO_ 1665 CLUSTER_F_A: 8 RADAR + SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|255] "m" XXX + SG_ LAT_DIST : 20|11@1- (0.015,0) [-20|20] "m" XXX + SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX + SG_ ID : 0|6@1+ (1,0) [0|63] "" XXX + SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX + SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX + +CM_ "Left target" +BO_ 1666 CLUSTER_L: 8 RADAR + SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|255] "m" XXX + SG_ LAT_DIST : 20|11@1- (0.015,0) [-20|20] "m" XXX + SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX + SG_ VALID : 6|1@0+ (1,0) [0|1] "" XXX + SG_ ID : 0|6@1+ (1,0) [0|63] "" XXX + SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX + SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX + +CM_ "Right target" +BO_ 1667 CLUSTER_R: 8 RADAR + SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|255] "m" XXX + SG_ LAT_DIST : 20|11@1- (0.015,0) [-20|20] "m" XXX + SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX + SG_ VALID : 6|1@0+ (1,0) [0|1] "" XXX + SG_ ID : 0|6@1+ (1,0) [0|63] "" XXX + SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX + SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX + +CM_ "Left target ahead" +BO_ 1668 CLUSTER_L_A: 8 RADAR + SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|255] "m" XXX + SG_ LAT_DIST : 20|11@1- (0.015,0) [-20|20] "m" XXX + SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX + SG_ VALID : 6|1@0+ (1,0) [0|1] "" XXX + SG_ ID : 0|6@1+ (1,0) [0|63] "" XXX + SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX + SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX + +CM_ "Right target ahead" +BO_ 1669 CLUSTER_R_A: 8 RADAR + SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|255] "m" XXX + SG_ LAT_DIST : 20|11@1- (0.015,0) [-20|20] "m" XXX + SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX + SG_ VALID : 6|1@0+ (1,0) [0|1] "" XXX + SG_ ID : 0|6@1+ (1,0) [0|63] "" XXX + SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX + SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX diff --git a/opendbc_repo/opendbc/dbc/toyota_tnga_k_pt_generated.dbc b/opendbc_repo/opendbc/dbc/toyota_tnga_k_pt_generated.dbc new file mode 100644 index 0000000000..67dbabb4df --- /dev/null +++ b/opendbc_repo/opendbc/dbc/toyota_tnga_k_pt_generated.dbc @@ -0,0 +1,610 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _community.dbc starts here"; +BO_ 359 STEERING_IPAS_COMMA: 8 IPAS + SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX + SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX + SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX + SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant"; + +BO_ 512 GAS_COMMAND: 6 EON + SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR + SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR + SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR + +BO_ 513 GAS_SENSOR: 6 INTERCEPTOR + SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON + SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON + SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON + +VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; + +BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX + SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX + +CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss"; + +BO_ 767 SDSU: 8 XXX + SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX + SG_ STATE : 23|4@0+ (1,0) [0|15] "" XXX + +CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS-P Toyotas. Learn more: https://github.com/RetroPilot/ocelot/tree/main/firmware/smart_dsu"; +CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu"; + +VAL_ 767 STATE 7 "STATE_AEB_CTRL" 6 "FAULT_INVALID" 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; + + +CM_ "Imported file _toyota_2017.dbc starts here"; +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX DSU HCU EPS IPAS CGW BGM + +BO_ 36 KINEMATICS: 8 XXX + SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX + SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/s" XXX + SG_ ACCEL_X : 17|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX + +BO_ 37 STEER_ANGLE_SENSOR: 8 XXX + SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX + SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX + SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX + +BO_ 166 BRAKE: 8 XXX + SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX + SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX + +BO_ 170 WHEEL_SPEEDS: 8 XXX + SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "km/h" XXX + SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "km/h" XXX + SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "km/h" XXX + SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "km/h" XXX + +BO_ 180 SPEED: 8 XXX + SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX + SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "km/h" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 295 GEAR_PACKET_HYBRID: 8 XXX + SG_ CAR_MOVEMENT : 25|10@0- (1,0) [0|255] "" XXX + SG_ COUNTER : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ GEAR : 47|4@0+ (1,0) [0|15] "" XXX + +BO_ 353 DSU_SPEED: 7 XXX + SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "km/h" XXX + +BO_ 452 ENGINE_RPM: 8 CGW + SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS + +BO_ 466 PCM_CRUISE: 8 XXX + SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX + SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_BRAKING : 12|1@0+ (1,0) [0|1] "" XXX + SG_ ACCEL_NET : 23|16@0- (0.0009765625,0) [-20|20] "m/s^2" XXX + SG_ NEUTRAL_FORCE : 39|16@0- (2,0) [-65536|65534] "N" XXX + SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 467 PCM_CRUISE_2: 8 XXX + SG_ BRAKE_PRESSED : 3|1@0+ (1,0) [0|1] "" XXX + SG_ PCM_FOLLOW_DISTANCE : 12|2@0+ (1,0) [0|3] "" XXX + SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "" XXX + SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX + SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "km/h" XXX + SG_ ACC_FAULTED : 47|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 552 ACCELEROMETER: 8 XXX + SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "m/s^2" XXX + SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s^2" XXX + +BO_ 560 BRAKE_2: 7 XXX + SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX + +BO_ 581 GAS_PEDAL_HYBRID: 8 XXX + SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX + +BO_ 608 STEER_TORQUE_SENSOR: 8 XXX + SG_ STEER_TORQUE_EPS : 47|16@0- (1,0) [-32768|32767] "" XXX + SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX + SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX + SG_ STEER_ANGLE_INITIALIZING : 3|1@0+ (1,0) [0|1] "" XXX + SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 614 STEERING_IPAS: 8 IPAS + SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX + SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX + SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX + SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 643 PRE_COLLISION: 7 DSU + SG_ _COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX + SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX + SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX + SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX + SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX + +BO_ 705 GAS_PEDAL: 8 XXX + SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX + SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX + +BO_ 740 STEERING_LKA: 5 XXX + SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX + SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX + SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX + SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX + SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX + +BO_ 742 LEAD_INFO: 8 DSU + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU + SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU + SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU + +BO_ 835 ACC_CONTROL: 8 DSU + SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s^2" HCU + SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX + SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX + SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX + SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX + SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU + SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU + SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX + SG_ LEAD_VEHICLE_STOPPED : 29|1@0+ (1,0) [0|0] "" DSU + SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU + SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU + SG_ ITS_CONNECT_LEAD : 39|8@0+ (1,0) [0|1] "" Vector__XXX + SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 865 CLUTCH: 8 XXX + SG_ ACC_FAULTED : 32|1@0+ (1,0) [0|1] "" XXX + SG_ GAS_PEDAL_ALT : 23|8@0+ (0.005,0) [0|1] "" XXX + SG_ CLUTCH_RELEASED : 38|1@0+ (1,0) [0|1] "" XXX + +BO_ 869 DSU_CRUISE : 7 DSU + SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX + SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX + SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX + SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX + SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX + SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX + SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX + +BO_ 921 PCM_CRUISE_SM: 8 XXX + SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX + SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX + SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX + SG_ TEMP_ACC_FAULTED : 15|1@0+ (1,0) [0|1] "" XXX + SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX + +BO_ 951 ESP_CONTROL: 8 ESP + SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX + SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX + +BO_ 956 GEAR_PACKET: 8 XXX + SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX + SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX + SG_ SPORT_GEAR_ON : 33|1@0+ (1,0) [0|1] "" XXX + SG_ SPORT_GEAR : 38|3@0+ (1,0) [0|7] "" XXX + SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX + SG_ B_GEAR_ENGAGED : 41|1@0+ (1,0) [0|1] "" XXX + SG_ DRIVE_ENGAGED : 47|1@0+ (1,0) [0|1] "" XXX + +BO_ 1005 REVERSE_CAMERA_STATE: 2 BGM + SG_ REVERSE_CAMERA_GUIDELINES : 9|2@0+ (1,0) [1|3] "" XXX + +BO_ 1009 PCM_CRUISE_ALT: 8 XXX + SG_ PCM_FOLLOW_DISTANCE : 4|2@1+ (1,0) [0|3] "" XXX + SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX + SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX + SG_ UI_SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + +BO_ 1020 SOLAR_SENSOR: 8 XXX + SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX + +BO_ 1041 PCS_HUD: 8 DSU + SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX + SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX + SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX + SG_ PCS_DUST : 34|1@0+ (1,0) [0|0] "" XXX + SG_ PCS_TEMP : 35|1@0+ (1,0) [0|0] "" XXX + SG_ PCS_DUST2 : 41|1@0+ (1,0) [0|0] "" XXX + SG_ PCS_TEMP2 : 42|1@0+ (1,0) [0|0] "" XXX + SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX + SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX + SG_ FRD_ADJ : 53|3@0+ (1,0) [0|0] "" XXX + SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX + +BO_ 1042 LKAS_HUD: 8 DSU + SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX + SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX + SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX + SG_ LKAS_STATUS : 7|2@0+ (1,0) [0|3] "" XXX + SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX + SG_ LDW_EXIST : 10|1@0+ (1,0) [0|1] "" XXX + SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX + SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_UNAVAILABLE_QUIET : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_UNAVAILABLE : 16|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_SENSITIVITY : 18|2@0+ (1,0) [0|3] "" XXX + SG_ LDA_SA_TOGGLE : 20|2@0+ (1,0) [0|3] "" XXX + SG_ LDA_MESSAGES : 23|3@0+ (1,0) [0|1] "" XXX + SG_ LDA_ON_MESSAGE : 31|2@0+ (1,0) [0|3] "" XXX + SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX + SG_ LANE_SWAY_TOGGLE : 43|1@0+ (1,0) [0|1] "" XXX + SG_ LANE_SWAY_SENSITIVITY : 45|2@0+ (1,0) [0|3] "" XXX + SG_ TAKE_CONTROL : 46|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_FRONT_CAMERA_BLOCKED : 47|1@0+ (1,0) [0|1] "" XXX + SG_ LANE_SWAY_BUZZER : 50|2@0+ (1,0) [0|0] "" XXX + SG_ LANE_SWAY_FLD : 53|3@0+ (1,0) [0|7] "" XXX + SG_ LANE_SWAY_WARNING : 55|2@0+ (1,0) [0|3] "" XXX + SG_ SET_ME_X01 : 42|1@0+ (1,0) [0|1] "" XXX + SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX + +BO_ 1043 TIME : 8 CGW + SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX + SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX + SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX + SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX + SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX + SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX + SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX + SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX + SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX + +BO_ 1044 AUTO_HIGH_BEAM: 8 FCM + SG_ AHB_DUTY : 47|8@0+ (0.5,0) [0|0] "%" Vector__XXX + SG_ F_AHB : 55|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ C_AHB : 51|4@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1083 AUTOPARK_STATUS: 8 IPAS + SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX + +BO_ 1161 RSA1: 8 FCM + SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX + SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX + SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX + SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "km/h" XXX + SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX + SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX + SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX + SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX + SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX + SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX + SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX + SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX + SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX + +BO_ 1162 RSA2: 8 FCM + SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX + SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX + SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX + SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX + SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX + SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX + SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX + SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX + SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX + SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX + SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX + SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX + SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX + SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX + +BO_ 1163 RSA3: 8 FCM + SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX + SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX + SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX + SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX + SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX + SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX + SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX + SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX + SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX + +BO_ 1408 VIN_PART_1: 8 CGW + SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX + +BO_ 1409 VIN_PART_2: 8 CGW + SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX + +BO_ 1410 VIN_PART_3: 8 CGW + SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX + +BO_ 1552 BODY_CONTROL_STATE_2: 8 XXX + SG_ UI_SPEED : 23|8@0+ (1,0) [0|255] "" XXX + SG_ METER_SLIDER_BRIGHTNESS_PCT : 30|7@0+ (1,0) [12|100] "%" XXX + SG_ METER_SLIDER_LOW_BRIGHTNESS : 37|1@0+ (1,0) [0|1] "" XXX + SG_ METER_SLIDER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX + SG_ UNITS : 63|3@0+ (1,0) [1|4] "" XXX + +BO_ 1553 UI_SETTING: 8 XXX + SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX + SG_ ODOMETER : 39|32@0+ (1,0) [0|1048575] "" XXX +BO_ 1556 BLINKERS_STATE: 8 XXX + SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX + SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX + +BO_ 1568 BODY_CONTROL_STATE: 8 XXX + SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX + SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" XXX + SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX + +BO_ 1570 LIGHT_STALK: 8 SCM + SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX + SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX + SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX + SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX + SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX + +BO_ 1571 CERTIFICATION_ECU: 8 CGW + SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX + SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX + SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX + +BO_ 1592 DOOR_LOCKS: 8 XXX + SG_ LOCK_STATUS_CHANGED : 15|1@0+ (1,0) [0|1] "" XXX + SG_ LOCK_STATUS : 20|1@0+ (1,0) [0|1] "" XXX + SG_ LOCKED_VIA_KEYFOB : 23|1@0+ (1,0) [0|1] "" XXX + +CM_ SG_ 36 YAW_RATE "verify"; +CM_ SG_ 36 ACCEL_X "x-axis accel"; +CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set"; +CM_ SG_ 37 STEER_RATE "factor is tbd"; +CM_ SG_ 466 NEUTRAL_FORCE "force in newtons the engine/electric motors are applying without any acceleration commands or user input"; +CM_ SG_ 466 ACC_BRAKING "whether brakes are being actuated from ACC command"; +CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors"; +CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10"; +CM_ SG_ 467 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement"; +CM_ SG_ 467 SET_SPEED "43 km/h are shown as 28 mph, so conversion isn't perfect"; +CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph"; +CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?"; +CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered"; +CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque"; +CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value"; +CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active"; +CM_ SG_ 643 _COUNTER "only used on cars that use this msg for cruise control"; +CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control"; +CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking"; +CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok"; +CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD"; +CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1"; +CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1"; +CM_ SG_ 835 DISTANCE "Cycle through ACC following distance from long, mid, short when set to 1"; +CM_ SG_ 835 ITS_CONNECT_LEAD "Displayed when lead car is capable of ITS Connect"; +CM_ SG_ 835 LEAD_VEHICLE_STOPPED "Set to 1 when lead is stopped, likely only used in older TSS-P vehicles"; +CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars"; +CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG."; +CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file."; +CM_ SG_ 865 GAS_PEDAL_ALT "copy of main GAS_PEDAL. Both use 8 bits. Might indicate that this message is for pedals."; +CM_ SG_ 865 CLUTCH_RELEASED "boolean of clutch for 6MT."; +CM_ SG_ 865 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement. Also describes a lockout when the ACC_CONTROL->ACC_MALFUNCTION bit is set."; +CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit"; +CM_ SG_ 921 TEMP_ACC_FAULTED "1 when the UI is displaying or playing fault-related alerts or sounds. Also 1 when pressing main on."; +CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel"; +CM_ SG_ 956 GEAR "on 6MT, only R shows."; +CM_ SG_ 1009 UI_SET_SPEED "units seem to be whatever the car is set to"; +CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator"; +CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity"; +CM_ SG_ 1041 PCS_DUST "alert: Front Camera Low Visibility Unavailable See Owner's Manual"; +CM_ SG_ 1041 PCS_DUST2 "alert: Pre-Collision System Radar Sensor Blocked Unavailable Clean Radar Sensor"; +CM_ SG_ 1041 PCS_TEMP "alert: Front Camera Out of Temperature Range Unavailable Wait until Normal Temperature"; +CM_ SG_ 1041 PCS_TEMP2 "alert: Pre-Collision System Out of Temperature Range Unavailable See Owner's Manual"; +CM_ SG_ 1041 FRD_ADJ "alert: ERROR ADJUSTING FRONT RADAR BEAM"; +CM_ SG_ 1042 LDA_SA_TOGGLE "LDA Steering Assist Toggle"; +CM_ SG_ 1042 LDW_EXIST "Unclear what this is, it's usually set to 0"; +CM_ SG_ 1042 LDA_SENSITIVITY "LDA Sensitivity"; +CM_ SG_ 1042 LDA_ON_MESSAGE "Display LDA Turned ON message"; +CM_ SG_ 1042 REPEATED_BEEPS "LDA audible warning"; +CM_ SG_ 1042 LDA_UNAVAILABLE_QUIET "LDA toggles and sensitivity settings are greyed out if set to 1"; +CM_ SG_ 1042 LDA_MESSAGES "Various LDA Messages"; +CM_ SG_ 1042 LDA_FRONT_CAMERA_BLOCKED "originally LDAFCVB, LDA related settings are greyed out if set to 1"; +CM_ SG_ 1042 TAKE_CONTROL "Please Control Steering Wheel warning"; +CM_ SG_ 1042 LANE_SWAY_TOGGLE "Lane Sway Warning System SWS Switch"; +CM_ SG_ 1042 LANE_SWAY_WARNING "Lane Sway Warning System Triggered"; +CM_ SG_ 1042 LANE_SWAY_FLD "Unknown signal for Lane Sway Warning System, set to 7 on stock system when SWS is enabled, 0 when SWS is disabled"; +CM_ SG_ 1042 LANE_SWAY_BUZZER "Similar to TWO_BEEPS"; +CM_ SG_ 1042 SET_ME_X01 "empty bit on leaked dbc, always set to 1 during normal operations"; +CM_ SG_ 1042 SET_ME_X02 "empty bit on leaked dbc, always set to 2 during normal operations"; +CM_ SG_ 1083 STATE "when the dashboard button is pressed, the value changes from zero to non-zero"; +CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit."; +CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz"; +CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"; +CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0"; +CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz"; +CM_ SG_ 1163 TSREQPD "always 1"; +CM_ SG_ 1163 TSRMSW "always 1"; +CM_ SG_ 1163 OTSGNNTM "always 3"; +CM_ SG_ 1163 NTLVLSPD "always 3"; +CM_ SG_ 1163 OVSPNTM "always 3"; +CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds"; +CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds"; +CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds"; +CM_ SG_ 1163 TSRSPU "always 1"; +CM_ SG_ 1552 UI_SPEED "Does not appear to match dash"; +CM_ SG_ 1552 METER_SLIDER_BRIGHTNESS_PCT "Combination display brightness setting, scales from 12 per cent to 100 per cent, reflects combination meter settings only, not linked with headlight state"; +CM_ SG_ 1552 METER_SLIDER_LOW_BRIGHTNESS "Combination display low brightness mode, also controls footwell lighting"; +CM_ SG_ 1552 METER_SLIDER_DIMMED "Combination display slider not at max, reflects combination meter settings only, not linked with headlight state"; +CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal"; +CM_ SG_ 1592 LOCK_STATUS_CHANGED "1 on rising edge of lock/unlocking"; +CM_ SG_ 1592 LOCK_STATUS "The next 3 bits always seem to follow this signal."; +CM_ SG_ 1592 LOCKED_VIA_KEYFOB "1 for as long as car is locked with key fob or door handle touch"; + +VAL_ 295 GEAR 0 "P" 1 "R" 2 "N" 3 "D" 4 "B"; +VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off"; +VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok"; +VAL_ 467 PCM_FOLLOW_DISTANCE 1 "far" 2 "medium" 3 "close"; +VAL_ 614 STATE 3 "enabled" 1 "disabled"; +VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left"; +VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking"; +VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok"; +VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok"; +VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear"; +VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press"; +VAL_ 865 CLUTCH_RELEASED 0 "clutch pressed any amount" 1 "clutch released" +VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted"; +VAL_ 921 DISTANCE_LINES 0 "not displayed" 1 "close" 2 "medium" 3 "far"; +VAL_ 956 SPORT_ON 0 "off" 1 "on"; +VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P"; +VAL_ 956 SPORT_GEAR_ON 0 "off" 1 "on"; +VAL_ 956 SPORT_GEAR 1 "S1" 2 "S2" 3 "S3" 4 "S4" 5 "S5" 6 "S6"; +VAL_ 956 ECON_ON 0 "off" 1 "on"; +VAL_ 956 B_GEAR_ENGAGED 0 "off" 1 "on"; +VAL_ 956 DRIVE_ENGAGED 0 "off" 1 "on"; +VAL_ 1005 REVERSE_CAMERA_GUIDELINES 3 "No guidelines" 2 "Static guidelines" 1 "Active guidelines"; +VAL_ 1009 PCM_FOLLOW_DISTANCE 1 "far" 2 "medium" 3 "close"; +VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled"; +VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off"; +VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none"; +VAL_ 1042 BARRIERS 3 "left" 2 "right" 1 "both" 0 "none"; +VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none"; +VAL_ 1042 LKAS_STATUS 1 "on" 0 "off"; +VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none"; +VAL_ 1042 LDA_ON_MESSAGE 2 "Lane Departure Alert Turned ON, Steering Assist Inactive" 1 "Lane Departure Alert Turned ON, Steering Assist Active" 0 "clear"; +VAL_ 1042 LDA_SA_TOGGLE 2 "steering assist off" 1 "steering assist on"; +VAL_ 1042 LDA_SENSITIVITY 2 "standard" 1 "high" 0 "undefined"; +VAL_ 1042 LDA_MESSAGES 4 "lda unavailable at this speed" 1 "lda unavailable below approx 50km/h" 0 "ok"; +VAL_ 1042 LDA_FRONT_CAMERA_BLOCKED 1 "lda unavailable" 0 "ok"; +VAL_ 1042 TAKE_CONTROL 1 "take control" 0 "ok"; +VAL_ 1042 LANE_SWAY_WARNING 3 "ok" 2 "orange please take a break" 1 "prompt would you like to take a break" 0 "ok"; +VAL_ 1042 LANE_SWAY_BUZZER 3 "ok" 2 "beep twice" 1 "beep twice" 0 "ok"; +VAL_ 1161 TSGN1 1 "speed sign" 0 "none"; +VAL_ 1161 TSGN2 1 "speed sign" 0 "none"; +VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none"; +VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter"; +VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none"; +VAL_ 1552 METER_SLIDER_LOW_BRIGHTNESS 1 "Low brightness mode, footwell lights off" 0 "Normal mode, footwell lights on"; +VAL_ 1552 METER_SLIDER_DIMMED 1 "Dimmed" 0 "Not Dimmed"; +VAL_ 1552 UNITS 1 "km (km/L)" 2 "km (L/100km)" 3 "miles (MPG US)" 4 "miles (MPG Imperial)"; +VAL_ 1553 UNITS 1 "km" 2 "miles"; +VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left"; +VAL_ 1592 LOCK_STATUS 0 "locked" 1 "unlocked"; + + +CM_ "Imported file _sp_debug_toyota.dbc starts here"; +BO_ 1880 DEBUG: 8 XXX + SG_ BLINDSPOTSIDE : 7|8@0+ (1,0) [0|255] "" XXX + SG_ BLINDSPOT : 38|1@0+ (1,0) [0|15] "" XXX + SG_ BLINDSPOTD1 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ BLINDSPOTD2 : 55|8@0+ (1,0) [0|255] "" XXX + +BO_ 836 PRE_COLLISION_2: 8 DSU + SG_ DSS1GDRV : 7|10@0- (0.1,0) [0|0] "m/s^2" Vector__XXX + SG_ DS1STAT2 : 13|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ DS1STBK2 : 10|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSWAR : 18|1@0+ (1,0) [0|0] "" FCM + SG_ PCSALM : 17|1@0+ (1,0) [0|0] "" FCM + SG_ PCSOPR : 16|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSABK : 31|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PBATRGR : 30|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ PPTRGR : 28|1@0+ (1,0) [0|0] "" FCM + SG_ IBTRGR : 27|1@0+ (1,0) [0|0] "" FCM + SG_ CLEXTRGR : 26|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ IRLT_REQ : 25|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ BRKHLD : 37|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ AVSTRGR : 36|1@0+ (1,0) [0|0] "" SCS + SG_ VGRSTRGR : 35|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ PREFILL : 33|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PBRTRGR : 32|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSDIS : 43|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PBPREPMP : 40|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX + +CM_ "toyota_tnga_k_pt.dbc starts here"; + +BO_ 550 BRAKE_MODULE: 8 XXX + SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX + SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX + SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX + +BO_ 610 EPS_STATUS: 5 EPS + SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX + SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX + SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX + +CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force"; +CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8"; +CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others"; + +VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled"; +VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby"; diff --git a/opendbc_repo/opendbc/dbc/toyota_tss2_adas.dbc b/opendbc_repo/opendbc/dbc/toyota_tss2_adas.dbc new file mode 100644 index 0000000000..d472debd61 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/toyota_tss2_adas.dbc @@ -0,0 +1,285 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX + + +BO_ 384 TRACK_A_0: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 385 TRACK_A_1: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 386 TRACK_A_2: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 387 TRACK_A_3: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 388 TRACK_A_4: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 389 TRACK_A_5: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 390 TRACK_A_6: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 391 TRACK_A_7: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 392 TRACK_A_8: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 393 TRACK_A_9: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 394 TRACK_A_10: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 395 TRACK_A_11: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 396 TRACK_A_12: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 397 TRACK_A_13: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 398 TRACK_A_14: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 399 TRACK_A_15: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 400 TRACK_B_0: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 401 TRACK_B_1: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 402 TRACK_B_2: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 403 TRACK_B_3: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 404 TRACK_B_4: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 405 TRACK_B_5: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 406 TRACK_B_6: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 407 TRACK_B_7: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 408 TRACK_B_8: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 409 TRACK_B_9: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 410 TRACK_B_10: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 411 TRACK_B_11: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 412 TRACK_B_12: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 413 TRACK_B_13: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 414 TRACK_B_14: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 415 TRACK_B_15: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 576 NEW_MSG_1: 8 XXX + SG_ NEW_SIGNAL_1 : 15|7@0+ (1,0) [0|127] "" XXX + SG_ NEW_SIGNAL_2 : 23|8@0+ (1,0) [0|255] "" XXX + +BO_ 577 NEW_MSG_2: 8 XXX + SG_ NEW_SIGNAL_1 : 15|7@0+ (1,0) [0|127] "" XXX + SG_ NEW_SIGNAL_2 : 23|8@0+ (1,0) [0|255] "" XXX diff --git a/opendbc_repo/opendbc/dbc/volvo_v40_2017_pt.dbc b/opendbc_repo/opendbc/dbc/volvo_v40_2017_pt.dbc new file mode 100644 index 0000000000..3c04331649 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/volvo_v40_2017_pt.dbc @@ -0,0 +1,363 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX BCM CEM CVM DIM ECM FSM PSCM SAS SRS TCM + +BO_ 8 SAS0: 8 SAS + SG_ SteeringDirection : 42|1@0+ (1,0) [0|1] "" XXX + SG_ RelativeTurnDirection : 43|1@0+ (1,0) [0|1] "" XXX + SG_ SteeringAngle : 53|14@0+ (0.04395,0) [0|65535] "degrees" XXX + SG_ NEW_SIGNAL_1 : 47|4@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_2 : 39|4@0+ (1,0) [0|15] "" XXX + SG_ AngleRate : 21|14@0+ (0.075,0) [0|1500] "deg/S" XXX + +BO_ 16 CCButtons: 8 CEM + SG_ byte0 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ byte1 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ byte2 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ byte3 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ byte4 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ byte6 : 55|5@0+ (1,0) [0|31] "" XXX + SG_ B7b0 : 56|1@0+ (1,0) [0|1] "" XXX + SG_ B7b1 : 57|1@0+ (1,0) [0|1] "" XXX + SG_ B7b6 : 62|1@0+ (1,0) [0|1] "" XXX + SG_ ACCOnOffBtn : 58|1@0+ (1,0) [0|1] "" XXX + SG_ ACCSetBtn : 63|1@0+ (1,0) [0|1] "" XXX + SG_ ACCStopBtn : 60|1@0+ (1,0) [0|1] "" XXX + SG_ ACCResumeBtn : 61|1@0+ (1,0) [0|1] "" XXX + SG_ ACCMinusBtn : 48|1@0+ (1,0) [0|1] "" XXX + SG_ TimeGapIncreaseBtn : 49|1@0+ (1,0) [0|1] "" XXX + SG_ TimeGapDecreaseBtn : 50|1@0+ (1,0) [0|1] "" XXX + SG_ byte5 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ B7b3 : 59|1@0+ (1,0) [0|1] "" XXX + +BO_ 48 FSM0: 8 FSM + SG_ ACCStatusTracking : 56|1@0+ (1,0) [0|1] "" XXX + SG_ ACCStatusOnOff : 57|1@0+ (1,0) [0|1] "" XXX + SG_ ACCStatusActive : 58|1@0+ (1,0) [0|1] "" XXX + SG_ FCWSomething : 25|3@0+ (1,0) [0|3] "" XXX + SG_ StatusSomething : 55|8@0+ (1,0) [0|255] "" XXX + +BO_ 64 TCM0: 8 TCM + SG_ RPMSomething : 42|11@0+ (1,0) [0|2047] "" XXX + SG_ GearShifter : 46|2@0+ (1,0) [0|3] "" XXX + +BO_ 85 PedalandBrake: 8 ECM + SG_ AccPedal : 9|10@0+ (0.1,0) [0|1023] "%" XXX + SG_ BrakePedalActive2 : 24|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_1 : 35|12@0+ (1,0) [0|4095] "" XXX + SG_ BrakePedalActive : 38|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_3 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 101 EngineInfo: 8 XXX + SG_ NEW_SIGNAL_1 : 17|10@0+ (1,-512) [0|1023] "" XXX + SG_ EngineSpeed : 52|13@0+ (1,0) [0|1023] "" XXX + +BO_ 112 NEW_MSG_4: 8 XXX + SG_ NEW_SIGNAL_1 : 39|8@0+ (1,0) [0|255] "" XXX + +BO_ 114 ECM1: 8 ECM1 + SG_ NEW_SIGNAL_1 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ECM_ACC_ONOFF_INV : 43|1@0+ (1,0) [0|1] "" XXX + SG_ ECM_ACC_RESUME_INV : 45|1@0+ (1,0) [0|1] "" XXX + SG_ ECM_ACC_SET_INV : 47|1@0+ (1,0) [0|1] "" XXX + SG_ ECM_ACC_TIMEGAP_INC_INV : 33|1@0+ (1,0) [0|1] "" XXX + SG_ ECM_ACC_DEC_INV : 32|1@0+ (1,0) [0|1] "" XXX + SG_ ECM_ACC_TIMEGAP_DEC_INV : 34|1@0+ (1,0) [0|1] "" XXX + +BO_ 117 ECM1_2: 8 ECM + +BO_ 128 NEW_MSG_5: 8 XXX + SG_ NEW_SIGNAL_2 : 26|11@0+ (1,0) [0|2047] "" XXX + SG_ NEW_SIGNAL_1 : 52|13@0+ (1,0) [0|8191] "" XXX + +BO_ 176 ECM2: 8 ECM + SG_ NEW_SIGNAL_1 : 50|11@0+ (1,0) [0|2047] "" XXX + SG_ NEW_SIGNAL_2 : 47|8@0+ (1,0) [0|63] "" XXX + +BO_ 192 Gear: 8 XXX + SG_ TransmissionGear : 36|3@0+ (1,1) [0|7] "" XXX + +BO_ 208 FSM1: 8 FSM + SG_ SET_X_E3 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ SET_X_B4 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ SET_X_08 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ TrqLim : 31|8@0+ (1,-128) [0|255] "" XXX + SG_ Checksum : 55|8@0+ (1,0) [0|255] "" XXX + SG_ LKASteerDirection : 57|2@0+ (1,0) [0|2] "" XXX + SG_ SET_X_25 : 63|6@0+ (1,0) [0|63] "" XXX + SG_ LKAAngleReq : 37|14@0+ (0.04395,-360.0384) [-360.0384|359.99445] "degrees" XXX + SG_ SET_X_02 : 39|2@0+ (1,0) [0|3] "" XXX + +BO_ 224 PSCM0: 8 PSCM + SG_ NEW_SIGNAL_2 : 12|5@0+ (1,0) [0|31] "" XXX + SG_ counter_07 : 15|3@0+ (1,0) [0|7] "" XXX + SG_ counter2_07 : 37|3@0+ (1,0) [0|16383] "" XXX + SG_ rate_of_something : 46|7@0+ (1,0) [0|62] "" XXX + SG_ OneDuringDriving : 49|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_1 : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 245 wheelspeed0: 8 BCM + SG_ counter1 : 21|6@0+ (1,0) [0|65535] "" XXX + SG_ counter0 : 7|16@0+ (1,0) [0|65535] "" XXX + SG_ WhlSpdLF : 39|16@0+ (1,0) [0|65535] "" XXX + SG_ WhlSpdRF : 55|16@0+ (1,0) [0|65535] "" XXX + +BO_ 272 SpeedSignal0: 8 XXX + SG_ VehicleSpeedSignal : 55|16@0+ (0.01,0) [0|65535] "" XXX + +BO_ 288 wheel_speed1: 8 BCM + SG_ WhlSpdLR : 39|16@0+ (1,0) [0|65535] "" XXX + SG_ WhlSpdRR : 55|16@0+ (1,0) [0|65535] "" XXX + +BO_ 293 PSCM1: 8 PSCM + SG_ byte0 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ byte3 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ byte4 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ byte7 : 63|8@0+ (1,0) [0|255] "" XXX + SG_ LKATorque : 11|12@0+ (1,-2000) [0|4095] "" XXX + SG_ SteeringAngleServo : 47|16@0+ (0.04395,-1440.1536) [0|65535] "deg" XXX + SG_ LKAActive : 15|4@0+ (1,0) [0|15] "" XXX + +BO_ 304 VehicleSpeed0: 8 BCM + SG_ NEW_SIGNAL_2 : 15|16@0+ (1,0) [0|65535] "" XXX + SG_ VehicleSpeed : 31|16@0+ (0.01,0) [0|65535] "km/h" XXX + SG_ NEW_SIGNAL_1 : 55|16@0+ (1,0) [0|65535] "" XXX + +BO_ 325 ECM3: 8 ECM + +BO_ 336 VehicleSpeed1: 8 BCM + SG_ NEW_SIGNAL_2 : 31|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_1 : 15|16@0+ (1,0) [0|65535] "" XXX + SG_ VehicleSpeed : 55|16@0+ (0.01,0) [0|65535] "" XXX + +BO_ 352 FSM2: 8 FSM + SG_ LkaDimLine : 51|2@1+ (1,0) [0|127] "" XXX + SG_ NEW_SIGNAL_2 : 56|7@1+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_1 : 55|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_3 : 7|24@0+ (1,0) [0|16777215] "" XXX + SG_ NEW_SIGNAL_4 : 36|5@0+ (1,0) [0|31] "" XXX + +BO_ 432 BrakeMessages: 8 BCM + SG_ BrakePress0 : 1|10@0+ (1,0) [0|1023] "" XXX + SG_ BrakePress1 : 33|10@0+ (1,0) [0|1023] "" XXX + SG_ BrakeStatus : 18|3@0+ (1,0) [0|7] "" XXX + +BO_ 464 DIM0: 8 DIM + +BO_ 480 BCM0: 8 BCM + +BO_ 528 CEM0: 8 CEM + +BO_ 608 CVM0: 8 CVM + SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 15|5@0+ (1,0) [0|32] "" XXX + SG_ Distance : 10|11@0+ (1,0) [0|2048] "" XXX + +BO_ 624 FSM3: 8 FSM + SG_ NEW_SIGNAL_1 : 23|8@0+ (1,0) [0|255] "" XXX + +BO_ 640 FSM4: 8 FSM + SG_ SpeedTarget : 47|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_1 : 49|10@0+ (1,0) [0|255] "" XXX + +BO_ 648 SRS0: 8 SRS + +BO_ 652 ECM4: 8 ECM + +BO_ 656 ECM5: 8 ECM + +BO_ 657 ECM6: 8 ECM + +BO_ 681 MiscCarInfo: 8 CEM + SG_ TurnSignal : 1|2@0+ (1,0) [0|3] "" XXX + SG_ HighBeamOn : 52|1@0+ (1,0) [0|1] "" XX + +BO_ 693 ECM7: 8 ECM + +BO_ 709 ACC: 8 ECM + SG_ SpeedTargetACC : 0|9@0+ (0.5,0) [0|511] "" XXX + +BO_ 853 FSM5: 8 FSM + SG_ TargetSpeedOdo : 23|8@0+ (1,0) [0|63] "kph" XXX + SG_ SpeedSign : 36|5@0+ (5,0) [0|32] "" XXX + SG_ TextUnderSign : 37|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_6 : 39|3@0+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_5 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ LaneMarkingsOdo : 15|4@0+ (1,0) [0|7] "" XXX + SG_ NEW_SIGNAL_2 : 11|4@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX + +BO_ 864 CEM1: 8 CEM + +BO_ 912 DIM1: 8 DIM + +BO_ 968 SRS1: 8 SRS + SG_ PassengerSeatBelt : 22|1@0+ (1,0) [0|1] "" XXX + SG_ DriverSeatBelt : 19|1@0+ (1,0) [0|1] "" XXX + +BO_ 1029 CEMBCM0: 8 CEM + +BO_ 1344 NEW_MSG_1: 8 XXX + SG_ NEW_SIGNAL_1 : 4|13@0+ (1,0) [0|8191] "" XXX + +BO_ 1830 diagCEMReq: 8 XXX + SG_ byte0 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ byte1 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ byte2 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ byte3 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ byte4 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ byte5 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ byte6 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ byte7 : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 1838 diagCEMResp: 8 XXX + SG_ byte03 : 7|32@0+ (1,0) [0|4294967295] "" XXX + SG_ byte47 : 39|32@0+ (1,0) [0|4294967295] "" XXX + +BO_ 1840 diagPSCMReq: 8 XXX + SG_ byte0 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ byte1 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ byte2 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ byte3 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ byte4 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ byte5 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ byte6 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ byte7 : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 1848 diagPSCMResp: 8 XXX + SG_ byte03 : 7|32@0+ (1,0) [0|4294967295] "" XXX + SG_ byte47 : 39|32@0+ (1,0) [0|4294967295] "" XXX + +BO_ 1892 diagFSMReq: 8 XXX + SG_ byte0 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ byte1 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ byte2 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ byte3 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ byte4 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ byte5 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ byte6 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ byte7 : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 1900 diagFSMResp: 8 XXX + SG_ byte03 : 7|32@0+ (1,0) [0|4294967295] "" XXX + SG_ byte47 : 39|32@0+ (1,0) [0|4294967295] "" XXX + +BO_ 1939 diagCVMReq: 8 XXX + SG_ byte0 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ byte1 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ byte2 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ byte3 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ byte4 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ byte5 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ byte6 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ byte7 : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 1947 diagCVMResp: 8 XXX + SG_ byte03 : 7|32@0+ (1,0) [0|4294967295] "" XXX + SG_ byte47 : 39|32@0+ (1,0) [0|4294967295] "" XXX + +BO_ 2015 diagGlobalReq: 8 XXX + SG_ byte0 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ byte1 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ byte2 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ byte3 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ byte4 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ byte5 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ byte6 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ byte7 : 63|8@0+ (1,0) [0|255] "" XXX + + + + +CM_ SG_ 85 BrakePedalActive2 "Active during braking"; +CM_ SG_ 85 NEW_SIGNAL_1 "Not yet figured out."; +CM_ SG_ 85 BrakePedalActive "Brake pedal pushed"; +CM_ SG_ 8 SteeringDirection "1=Right turn, 0=Left turn. Steering wheel pointing left or right from center (0 deg)."; +CM_ SG_ 8 RelativeTurnDirection "1=Right turn, 0=Left turn. Steering wheel currently turning the way."; +CM_ SG_ 101 NEW_SIGNAL_1 "Rate of something?"; +CM_ SG_ 192 TransmissionGear "0 = 1st gear, 1= 2nd gear..."; +CM_ SG_ 681 TurnSignal "0 = Nothing, 1= Left, 3=Right"; +CM_ SG_ 681 HighBeamOn "1=HighBeam On, 0=HighBeam Off"; +CM_ SG_ 48 ACCStatusTracking "ACC Tracking vehicle, distance control."; +CM_ SG_ 48 ACCStatusOnOff "Turns one after pressing on/off button on steering wheeel"; +CM_ SG_ 48 ACCStatusActive "ACC Active"; +CM_ SG_ 48 FCWSomething "All bit set during fcw"; +CM_ SG_ 48 StatusSomething "Some status changes when zeroing DTCs"; +CM_ SG_ 208 TrqLim "Used in checksum calculation, Limit directional torque based on the number."; +CM_ SG_ 208 Checksum "Checksum calculated as a one-complement addition of LKAAngleRequest+LKADirection+Unkown, Zeros used to pad missing bits."; +CM_ SG_ 208 SET_X_02 "Bit 0 = Vibrate steering wheel., Bit 1 = Heartbeat"; +CM_ SG_ 352 LkaDimLine "Not true, but follows lka steer direction."; +CM_ SG_ 352 NEW_SIGNAL_1 "Turned one. Got LKA service needed can this be the one?"; +CM_ SG_ 640 SpeedTarget "SpeedTarget ACC (noisy bf starting acc Jumps from 0->252->0)"; +CM_ SG_ 853 TargetSpeedOdo "Probably target speed odo"; +CM_ SG_ 853 LaneMarkingsOdo "Bit 3=Left lane, Bit 2=Right lane, Bit 1=LKA on?, Bit 0=?"; +CM_ SG_ 709 SpeedTargetACC "SpeedTargetACC"; +CM_ SG_ 224 rate_of_something "Seems to be some kind of torque rather than rate."; +CM_ SG_ 224 OneDuringDriving "Set to 1 when vehicle is rolling."; +CM_ SG_ 293 byte7 "Bit0=0 when gearshift in park, else 1"; +CM_ SG_ 293 LKAActive "Bit0=0 when gear in park otherwise =1, Bit1=1 when LKA Active, 0 when not active. Bit2=? Bit3=?"; +CM_ SG_ 16 ACCOnOffBtn "Cruise control on/off button pressed"; +CM_ SG_ 16 ACCSetBtn "Acc Set button (+) pressed"; +CM_ SG_ 16 ACCStopBtn "ACC Stop button pressed"; +CM_ SG_ 16 ACCResumeBtn "ACC Resume button pressed"; +CM_ SG_ 16 ACCMinusBtn "ACC Minus (-) button pressed"; +CM_ SG_ 16 TimeGapIncreaseBtn "Increase the time gap on ACC"; +CM_ SG_ 16 TimeGapDecreaseBtn "Decrease the time gap on ACC"; +CM_ SG_ 245 counter0 "Speed based counter"; +CM_ SG_ 245 WhlSpdLF "Wheel speed left front"; +CM_ SG_ 245 WhlSpdRF "Wheel speed right front"; +CM_ SG_ 288 WhlSpdLR "Wheel speed left rear"; +CM_ SG_ 288 WhlSpdRR "Wheel speed right rear"; +CM_ SG_ 64 RPMSomething "TransmissionOutput?"; +CM_ SG_ 64 GearShifter "P=0, R=1, N=2, D=3"; +CM_ SG_ 272 VehicleSpeedSignal "km/h"; +CM_ SG_ 432 BrakePress0 "Brake being pressed"; +CM_ SG_ 432 BrakePress1 "Brake being pressed"; +CM_ SG_ 432 BrakeStatus "ACC brake?"; +CM_ SG_ 437 Counter0 "Related to braking? Maybe one per wheel?"; +CM_ SG_ 437 Counter1 "Related to braking? Maybe one per wheel?"; +CM_ SG_ 437 Counter2 "Related to braking? Maybe one per wheel?"; +CM_ SG_ 437 Counter3 "Related to braking? Maybe one per wheel?"; +CM_ SG_ 114 NEW_SIGNAL_1 "Jumped from 0 -> 120 during start. Makes triangle from time to time"; +CM_ SG_ 608 NEW_SIGNAL_1 "Status?"; +CM_ SG_ 608 NEW_SIGNAL_2 "Classification of object?"; +CM_ SG_ 608 Distance "Distance to object in front."; +CM_ SG_ 968 PassengerSeatBelt "1 = Seatbalt latched"; +CM_ SG_ 968 DriverSeatBelt "1=Seatbelt latched"; +VAL_ 64 GearShifter 0 "P" 1 "R" 2 "N" 3 "D" ; diff --git a/opendbc_repo/opendbc/dbc/volvo_v60_2015_pt.dbc b/opendbc_repo/opendbc/dbc/volvo_v60_2015_pt.dbc new file mode 100644 index 0000000000..f95eff00cc --- /dev/null +++ b/opendbc_repo/opendbc/dbc/volvo_v60_2015_pt.dbc @@ -0,0 +1,230 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX BCM CEM FSM PSCM SAS + +BO_ 16 SAS0: 8 SAS + SG_ Counter0 : 3|8@0+ (1,0) [0|511] "" XXX + SG_ RateOfChangeOrTorque : 39|16@0+ (1,-32768) [0|65535] "" XXX + SG_ NEW_SIGNAL_1 : 22|15@0+ (1,0) [0|65535] "" XXX + SG_ SteeringDirection : 6|1@0+ (1,0) [0|1] "" XXX + SG_ SteeringAngle : 53|14@0+ (0.0445,0) [0|65535] "degrees" XXX + +BO_ 32 AccPedal: 8 XXX + SG_ AccPedal : 17|10@0+ (0.1,0) [0|1023] "%" XXX + +BO_ 81 FSM0: 8 FSM + SG_ ACCStatus : 18|3@0+ (1,0) [0|7] "" XXX + +BO_ 277 NEW_MSG_7: 8 XXX + SG_ NEW_SIGNAL_1 : 39|16@0+ (1,0) [0|65535] "" XXX + +BO_ 295 CCButtons: 8 CEM + SG_ ACCMinusBtn : 48|1@0+ (1,0) [0|1] "" XXX + SG_ ACCSetBtn : 63|1@0+ (1,0) [0|1] "" XXX + SG_ ACCOnOffBtn : 59|1@0+ (1,0) [0|1] "" XXX + SG_ ACCResumeBtn : 61|1@0+ (1,0) [0|1] "" XXX + SG_ TimeGapDecreaseBtnInv : 34|1@0+ (1,0) [0|1] "" XXX + SG_ ACCOnOffBtnInv : 43|1@0+ (1,0) [0|1] "" XXX + SG_ ACCResumeBtnInv : 45|1@0+ (1,0) [0|1] "" XXX + SG_ ACCSetBtnInv : 47|1@0+ (1,0) [0|1] "" XXX + SG_ TimeGapIncreaseBtn : 49|1@0+ (1,0) [0|1] "" XXX + SG_ TimeGapDecreaseBtn : 50|1@0+ (1,0) [0|1] "" XXX + SG_ ACCMinusBtnInv : 32|1@0+ (1,0) [0|1] "" XXX + SG_ TimeGapIncreaseBtnInv : 33|1@0+ (1,0) [0|1] "" XXX + +BO_ 298 NEW_MSG_5: 8 XXX + SG_ EngineRpm : 52|13@0+ (1,0) [0|8000] "" XXX + +BO_ 336 NEW_MSG_8: 8 XXX + +BO_ 328 VehicleSpeed1: 8 XXX + SG_ VehicleSpeed : 55|16@0+ (0.01,0) [0|65535] "" XXX + +BO_ 465 NEW_MSG_4: 8 XXX + SG_ NEW_SIGNAL_1 : 55|16@0+ (1,0) [0|4095] "" XXX + +BO_ 544 wheelspeed1: 8 BCM + SG_ WhlSpdRR : 39|16@0+ (0.01,-327.68) [0|65535] "" XXX + SG_ WhlSpdLR : 55|16@0+ (0.01,-327.68) [0|65535] "" XXX + +BO_ 565 wheelspeed0: 8 BCM + SG_ WhlSpdLF : 55|16@0+ (0.01,-327.68) [0|65535] "" XXX + SG_ WhlSpdRF : 39|16@0+ (0.01,-327.68) [0|65535] "" XXX + +BO_ 582 PSCM1: 8 PSCM + SG_ byte4 : 39|4@0+ (1,0) [0|15] "" XXX + SG_ LKATorque : 35|12@0+ (1,-2000) [0|65535] "" XXX + SG_ SteeringAngleServo : 23|16@0+ (0.0447,-1468) [0|65535] "deg" XXX + SG_ SteeringWheelRateOfChange : 15|8@0+ (1,0) [0|255] "" XXX + SG_ byte7 : 63|8@0+ (1,0) [0|255] "" XXX + SG_ byte0 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LKAActive : 55|8@0+ (1,0) [0|255] "" XXX + +BO_ 608 FSM1: 8 FSM + SG_ ACC_Tracking : 7|8@0+ (1,0) [0|255] "" XXX + +BO_ 609 fromWhere: 8 XXX + SG_ SteeringAngle : 21|14@0+ (0.1,-1021) [0|65535] "deg" XXX + +BO_ 610 FSM2: 8 FSM + SG_ TrqLim : 23|8@0+ (1,-128) [0|255] "" PSCM + SG_ Checksum : 55|8@0+ (1,0) [0|255] "" PSCM + SG_ LKAAngleReq : 29|14@0+ (0.04,-327.68) [0|16383] "" PSCM + SG_ SET_X_02 : 31|2@0+ (1,0) [0|3] "" XXX + SG_ SET_X_10 : 47|6@0+ (1,0) [0|63] "" XXX + SG_ SET_X_A4 : 63|8@0+ (1,0) [0|255] "" XXX + SG_ SET_X_22 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ LKASteerDirection : 41|2@0+ (1,0) [0|3] "" PSCM + +BO_ 624 FSM3: 8 FSM + SG_ ACC_SOMETHING : 15|8@0+ (1,0) [0|255] "" XXX + SG_ ACC_Some : 17|10@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 47|8@0+ (1,0) [0|255] "" XXX + +BO_ 648 BrakePedal: 8 XXX + SG_ Counter : 0|3@1+ (1,0) [0|7] "" XXX + SG_ BrakePedal : 24|8@1+ (1,4) [0|255] "" XXX + +BO_ 794 FSM4: 8 FSM + SG_ NEW_SIGNAL_1 : 47|16@0+ (1,-46090) [0|16383] "" XXX + SG_ NEW_SIGNAL_2 : 32|4@1+ (1,0) [0|15] "" XXX + +BO_ 819 PSCM0: 8 PSCM + +BO_ 923 NEW_MSG_1: 8 XXX + SG_ NEW_SIGNAL_1 : 15|16@0+ (1,0) [0|65535] "" XXX + +BO_ 1021 FSM5: 8 FSM + +BO_ 1039 MiscCarInfo: 8 XXX + SG_ TurnSignal : 33|2@0+ (1,0) [0|3] "" XXX + +BO_ 1279 PSCM3: 8 PSCM + +BO_ 1830 diagCEMReq: 8 XXX + SG_ byte0 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ byte1 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ byte2 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ byte3 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ byte4 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ byte5 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ byte6 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ byte7 : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 1838 diagCEMResp: 8 XXX + SG_ byte03 : 7|32@0+ (1,0) [0|4294967295] "" XXX + SG_ byte47 : 39|32@0+ (1,0) [0|4294967295] "" XXX + +BO_ 1840 diagPSCMReq: 8 XXX + SG_ byte0 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ byte1 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ byte2 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ byte3 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ byte4 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ byte5 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ byte6 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ byte7 : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 1848 diagPSCMResp: 8 XXX + SG_ byte03 : 7|32@0+ (1,0) [0|4294967295] "" XXX + SG_ byte47 : 39|32@0+ (1,0) [0|4294967295] "" XXX + +BO_ 1892 diagFSMReq: 8 XXX + SG_ byte0 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ byte1 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ byte2 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ byte3 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ byte4 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ byte5 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ byte6 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ byte7 : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 1900 diagFSMResp: 8 XXX + SG_ byte03 : 7|32@0+ (1,0) [0|4294967295] "" XXX + SG_ byte47 : 39|32@0+ (1,0) [0|4294967295] "" XXX + +BO_ 1939 diagCVMReq: 8 XXX + SG_ byte0 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ byte1 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ byte2 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ byte3 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ byte4 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ byte5 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ byte6 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ byte7 : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 1947 diagCVMResp: 8 XXX + SG_ byte03 : 7|32@0+ (1,0) [0|4294967295] "" XXX + SG_ byte47 : 39|32@0+ (1,0) [0|4294967295] "" XXX + +BO_ 2015 diagGlobalReq: 8 XXX + SG_ byte0 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ byte1 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ byte2 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ byte3 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ byte4 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ byte5 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ byte6 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ byte7 : 63|8@0+ (1,0) [0|255] "" XXX + + + + +CM_ SG_ 16 RateOfChangeOrTorque "Rate of change? Torque?"; +CM_ SG_ 16 SteeringDirection "0 = CCW, 1=CW (turning left or right of center)"; +CM_ SG_ 298 EngineRpm "Might be engine rpm. But behaves abit weird."; +CM_ SG_ 582 byte4 "High nibble"; +CM_ SG_ 582 SteeringWheelRateOfChange "Some rate of change for steering wheel? Torque?"; +CM_ SG_ 582 byte0 "0=CCW, 1=CW, bit 2,"; +CM_ SG_ 582 LKAActive "Bit 1, 1 When LKA Active, Bit 3, 1 When denying?"; +CM_ SG_ 81 ACCStatus "0=Acc Unavailable, 1=???, 2=Acc Ready, 3,4=???, 6= Acc Active, 7=Acc active tracking object (probably) "; +CM_ SG_ 608 ACC_Tracking "Seems to track distance, or speed of vehicle in front."; +CM_ SG_ 610 SET_X_22 "0x20 Heartbeat, VEgo <58kph = 0x03, VEgo >65kph = 0x04, 0x05"; +CM_ SG_ 624 ACC_SOMETHING "Might be some acc speed, moved abit after activating acc"; +CM_ SG_ 624 ACC_Some "Jumps to life after activating ACC, 0 when not active"; +CM_ SG_ 295 ACCMinusBtn "ACC Minus (-) button pressed"; +CM_ SG_ 295 ACCSetBtn "Acc Set button (+) pressed"; +CM_ SG_ 295 ACCOnOffBtn "Cruise control on/off button pressed"; +CM_ SG_ 295 ACCResumeBtn "ACC Resume button pressed"; +CM_ SG_ 295 TimeGapDecreaseBtnInv "Active zero when button pressed."; +CM_ SG_ 295 ACCOnOffBtnInv "Active zero when button pressed."; +CM_ SG_ 295 ACCResumeBtnInv "Active zero when button pressed."; +CM_ SG_ 295 ACCSetBtnInv "Active zero when button pressed."; +CM_ SG_ 295 TimeGapIncreaseBtn "Increase the time gap on ACC"; +CM_ SG_ 295 TimeGapDecreaseBtn "Decrease the time gap on ACC"; +CM_ SG_ 295 ACCMinusBtnInv "Active zero when button pressed."; +CM_ SG_ 295 TimeGapIncreaseBtnInv "Active zero when button pressed."; +CM_ SG_ 1039 TurnSignal "0 = Nothing, 1= Left, 3=Right"; diff --git a/opendbc_repo/opendbc/dbc/vw_golf_mk4.dbc b/opendbc_repo/opendbc/dbc/vw_golf_mk4.dbc new file mode 100644 index 0000000000..6f14789135 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/vw_golf_mk4.dbc @@ -0,0 +1,1676 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + +BS_: + +BU_: XXX + + +BO_ 1394 ZAS_1: 2 XXX + SG_ Fehlerspeichereintrag__ZAS_ : 15|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_ZAS_1_3 : 8|7@1+ (1,0) [0|0] "" XXX + SG_ Frei_ZAS_1_2 : 7|1@1+ (1,0) [0|0] "" XXX + SG_ Klemme_15_SV : 6|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_ZAS_1_1 : 5|1@1+ (1,0) [0|0] "" XXX + SG_ Klemme_P__Parklichtstellung_ : 4|1@1+ (1,0) [0|0] "" XXX + SG_ Klemme_50__Starten_ : 3|1@1+ (1,0) [0|0] "" XXX + SG_ Klemme_X__Startvorgang_ : 2|1@1+ (1,0) [0|0] "" XXX + SG_ Klemme_15__Z_ndung_ein_ : 1|1@1+ (1,0) [0|0] "" XXX + SG_ S_Kontakt__Schl_ssel_steckt_ : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 1336 Wischer_1: 2 XXX + SG_ Blockierung_Heckwischer_erkannt : 15|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Wischer_1_2 : 12|3@1+ (1,0) [0|0] "" XXX + SG_ Fehlerspeichereintrag__Wischer_ : 11|1@1+ (1,0) [0|0] "" XXX + SG_ Ansteuerung_Scheibenwischer_Hec : 10|1@1+ (1,0) [0|0] "" XXX + SG_ Ansteuerung_Wascher_Heck : 9|1@1+ (1,0) [0|0] "" XXX + SG_ Scheibenwischer_Heck_eingeschal : 8|1@1+ (1,0) [0|0] "" XXX + SG_ Blockierung_Frontwischer_erkann : 7|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Wischer_1_1 : 6|1@1+ (1,0) [0|0] "" XXX + SG_ Status_Waschduesenheizung : 5|1@1+ (1,0) [0|0] "" XXX + SG_ Parklage_Frontwischer : 4|1@1+ (1,0) [0|0] "" XXX + SG_ Ansteuerung_Frontwischer_Schnel : 3|1@1+ (1,0) [0|0] "" XXX + SG_ Ansteuerung_Frontwischer_Normal : 2|1@1+ (1,0) [0|0] "" XXX + SG_ Ansteuerung_Wascher_Front : 1|1@1+ (1,0) [0|0] "" XXX + SG_ Frontwischer__eingeschaltet : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 1464 WFS_1: 2 XXX + SG_ WFS_Textbits : 8|8@1+ (1,0) [0|0] "" XXX + SG_ Frei_WFS_1_1 : 1|7@1+ (1,0) [0|0] "" XXX + SG_ WFS_LED : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 1096 Waehlhebel_1: 4 XXX + SG_ Frei_Waehlhebel_1_1 : 29|3@1+ (1,0) [0|0] "" XXX + SG_ Test_aktiv_Flag : 28|1@1+ (1,0) [0|0] "" XXX + SG_ Zaehler_Waehlhebel_1 : 24|4@1+ (1,0) [0|15] "" XXX + SG_ Waehlhebel_Testergebnis : 16|8@1+ (1,0) [0|255] "" XXX + SG_ Fehler_Waehlhebel : 8|8@1+ (1,0) [0|0] "" XXX + SG_ Waehlhebelposition : 4|4@1+ (1,0) [0|0] "" XXX + SG_ Waehlhebel_Initialisierung : 3|1@1+ (1,0) [0|0] "" XXX + SG_ Shiftlock_Position : 0|3@1+ (1,0) [0|0] "" XXX + +BO_ 1496 Verbauliste_1: 8 XXX + SG_ TV_Tuner : 63|1@1+ (1,0) [0|0] "" XXX + SG_ DSP : 62|1@1+ (1,0) [0|0] "" XXX + SG_ CD_Wechsler : 61|1@1+ (1,0) [0|0] "" XXX + SG_ Spracheingabe : 60|1@1+ (1,0) [0|0] "" XXX + SG_ Telematik : 59|1@1+ (1,0) [0|0] "" XXX + SG_ Navigation : 58|1@1+ (1,0) [0|0] "" XXX + SG_ Telefon : 57|1@1+ (1,0) [0|0] "" XXX + SG_ Radio : 56|1@1+ (1,0) [0|0] "" XXX + SG_ MMI_vorne : 55|1@1+ (1,0) [0|0] "" XXX + SG_ MMI_hinten : 54|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Verbauliste_1_11 : 53|1@1+ (1,0) [0|0] "" XXX + SG_ Klimabedienteil_HL : 52|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Verbauliste_1_10 : 50|2@1+ (1,0) [0|0] "" XXX + SG_ Tankgeber : 49|1@1+ (1,0) [0|0] "" XXX + SG_ Assistenzfahrlicht : 48|1@1+ (1,0) [0|0] "" XXX + SG_ Memory_hinter_Fahrer : 47|1@1+ (1,0) [0|0] "" XXX + SG_ Sitzmemory_hinten : 46|1@1+ (1,0) [0|0] "" XXX + SG_ Sitzmemory_Beifahrer : 45|1@1+ (1,0) [0|0] "" XXX + SG_ Anh_ngersteuergeraet : 44|1@1+ (1,0) [0|0] "" XXX + SG_ Energiemanagement : 43|1@1+ (1,0) [0|0] "" XXX + SG_ Wischermodul : 42|1@1+ (1,0) [0|0] "" XXX + SG_ EZS___Kessy__Komfort_ : 41|1@1+ (1,0) [0|0] "" XXX + SG_ Verdecksteuergeraet : 40|1@1+ (1,0) [0|0] "" XXX + SG_ Standheizung : 39|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Verbauliste_1_9 : 38|1@1+ (1,0) [0|0] "" XXX + SG_ Einparkhilfe : 37|1@1+ (1,0) [0|0] "" XXX + SG_ Klimasteuergeraet_Komfort : 36|1@1+ (1,0) [0|0] "" XXX + SG_ Gateway : 35|1@1+ (1,0) [0|0] "" XXX + SG_ Lenksaeulenmodul : 34|1@1+ (1,0) [0|0] "" XXX + SG_ Reifendruck : 33|1@1+ (1,0) [0|0] "" XXX + SG_ Kombiinstrument_Komfort : 32|1@1+ (1,0) [0|0] "" XXX + SG_ Dachmodul : 31|1@1+ (1,0) [0|0] "" XXX + SG_ Memory : 30|1@1+ (1,0) [0|0] "" XXX + SG_ TSG_HR : 29|1@1+ (1,0) [0|0] "" XXX + SG_ TSG_HL : 28|1@1+ (1,0) [0|0] "" XXX + SG_ TSG_BT : 27|1@1+ (1,0) [0|0] "" XXX + SG_ TSG_FT : 26|1@1+ (1,0) [0|0] "" XXX + SG_ ZKE : 25|1@1+ (1,0) [0|0] "" XXX + SG_ BSG_Komfort : 24|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Verbauliste_1_8 : 19|5@1+ (1,0) [0|0] "" XXX + SG_ Stabi_Entkopplung : 18|1@1+ (1,0) [0|0] "" XXX + SG_ Waehlhebel : 17|1@1+ (1,0) [0|0] "" XXX + SG_ Batteriemanager : 16|1@1+ (1,0) [0|0] "" XXX + SG_ Daempfer_SG : 15|1@1+ (1,0) [0|0] "" XXX + SG_ Niveauregulierung : 14|1@1+ (1,0) [0|0] "" XXX + SG_ EZS___Kessy__Antrieb_ : 13|1@1+ (1,0) [0|0] "" XXX + SG_ Bremsbooster : 12|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkhilfe : 11|1@1+ (1,0) [0|0] "" XXX + SG_ Kombi_Antrieb : 10|1@1+ (1,0) [0|0] "" XXX + SG_ Einspritzpumpe : 9|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkwinkel : 8|1@1+ (1,0) [0|0] "" XXX + SG_ Allrad : 7|1@1+ (1,0) [0|0] "" XXX + SG_ BSG_Antrieb : 6|1@1+ (1,0) [0|0] "" XXX + SG_ ADR : 5|1@1+ (1,0) [0|0] "" XXX + SG_ Airbag : 4|1@1+ (1,0) [0|0] "" XXX + SG_ Climatronic_Antrieb : 3|1@1+ (1,0) [0|0] "" XXX + SG_ ABS : 2|1@1+ (1,0) [0|0] "" XXX + SG_ Getriebesteuergeraet : 1|1@1+ (1,0) [0|0] "" XXX + SG_ Motorsteuergeraet : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 1488 Systeminfo_1: 6 XXX + SG_ CAN_Stand_4_1_Antrieb_Daten_Hau : 44|4@1+ (1,0) [0|15] "" XXX + SG_ CAN_Stand_4_1_Antrieb_Daten_Neb : 40|4@1+ (1,0) [0|15] "" XXX + SG_ CAN_Stand_4_1_Komfort_Daten_Hau : 36|4@1+ (1,0) [0|15] "" XXX + SG_ CAN_Stand_4_1_Komfort_Daten_Neb : 32|4@1+ (1,0) [0|15] "" XXX + SG_ Frei_Systeminfo_1_6 : 30|1@1+ (1,0) [0|0] "" XXX + SG_ Viertuerer : 29|1@1+ (1,0) [0|0] "" XXX + SG_ Rechtslenker : 28|1@1+ (1,0) [0|0] "" XXX + SG_ Fahrzeug_Index : 24|4@1+ (1,0) [0|0] "" XXX + SG_ Fahrzeug_Generation : 20|4@1+ (1,0) [0|15] "" XXX + SG_ Fahrzeug_Derivat : 16|4@1+ (1,0) [0|15] "" XXX + SG_ Fahrzeug_Marke_2 : 12|4@1+ (1,0) [0|15] "" XXX + SG_ Fahrzeug_Klasse : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Verbauinformation_gueltig : 7|1@1+ (1,0) [0|0] "" XXX + SG_ CAN_Infotainment_verbaut : 6|1@1+ (1,0) [0|0] "" XXX + SG_ CAN_Infotainment_in_Diagnose : 5|1@1+ (1,0) [0|0] "" XXX + SG_ Sleep_CAN_Infotainment : 4|1@1+ (1,0) [0|0] "" XXX + SG_ CAN_Komfort_in_Diagnose : 3|1@1+ (1,0) [0|0] "" XXX + SG_ Sleep_CAN_Komfort : 2|1@1+ (1,0) [0|0] "" XXX + SG_ CAN_Antrieb_in_Diagnose : 1|1@1+ (1,0) [0|0] "" XXX + SG_ CAN_Extern_zugeschaltet : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 268 Slave_1: 8 XXX + SG_ Delta_reduziertes_Sollmoment : 48|1@1+ (1,0) [0|0] "" XXX + SG_ Delta_Drosselklappenwinkel : 32|16@1+ (1,0) [0|0] "" XXX + SG_ Frei_Slave_1_1 : 25|7@1+ (1,0) [0|0] "" XXX + SG_ Delta_Zuendwinkelausgabe : 24|1@1+ (1,0) [0|0] "" XXX + SG_ Ubat_Freigabe_DVE__Slave_ : 23|1@1+ (1,0) [0|0] "" XXX + SG_ Drosselklappe_Sollwertbegrenzun : 22|1@1+ (1,0) [0|0] "" XXX + SG_ Einspritzverbot_lernen__Slave_ : 21|1@1+ (1,0) [0|0] "" XXX + SG_ Master_erkannt__Slave_ : 20|1@1+ (1,0) [0|0] "" XXX + SG_ Fehler_Momentenausgabe : 19|1@1+ (1,0) [0|0] "" XXX + SG_ Fehler_Getriebe_Moment : 18|1@1+ (1,0) [0|0] "" XXX + SG_ Fehler_Bremsenbotschaft : 17|1@1+ (1,0) [0|0] "" XXX + SG_ Indiziertes_Istmoment__Slave_ : 0|16@1+ (0.0015259,0) [0|99.998] "%" XXX + SG_ Timeout_Bremsenbotschaft : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 1332 Sitz_info: 2 XXX + SG_ Positionserkennung_Beifahrersit : 15|1@1+ (1,0) [0|0] "" XXX + SG_ Beifahrersitz_im_vorderen_Dritt : 14|1@1+ (1,0) [0|0] "" XXX + SG_ Positionserkennung_Fahrersitz_u : 13|1@1+ (1,0) [0|0] "" XXX + SG_ Fahrersitz_im_vorderen_Drittel : 12|1@1+ (1,0) [0|0] "" XXX + SG_ Zaehler_Sitzinfo : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Checksumme_Sitzinfo : 0|8@1+ (1,0) [0|0] "" XXX + +BO_ 1810 PSG_3: 2 XXX + SG_ Selbsttestergebnis : 0|16@1+ (1,0) [0|0] "" XXX + +BO_ 1298 PSG_2: 8 XXX + SG_ RAM_Inhalt_4 : 48|16@1+ (1,0) [0|0] "" XXX + SG_ RAM_Inhalt_3 : 32|16@1+ (1,0) [0|0] "" XXX + SG_ RAM_Inhalt_2 : 16|16@1+ (1,0) [0|0] "" XXX + SG_ RAM_Inhalt_1 : 0|16@1+ (1,0) [0|0] "" XXX + +BO_ 274 PSG_1: 8 XXX + SG_ Pumpentemperatur__2_1_ : 48|16@1+ (0.0625,0) [0|4096] "K" XXX + SG_ Pumpentemperatur__3_2_2_ : 44|12@1+ (1,0) [0|0] "" XXX + SG_ Zylinderzaehler__3_2_2_ : 43|3@1+ (1,0) [1|8] "Zaehler" XXX + SG_ Ansteuerdauer__3_2_2_ : 32|11@1+ (0.0469,0) [0|96] "NW" XXX + SG_ Nockenwellendrehzahl__3_2_2_ : 20|12@1+ (4,0) [0|16380] "upm" XXX + SG_ Pumpen_Statuswort__3_2_2_ : 0|20@1+ (1,0) [0|0] "" XXX + +BO_ 1300 NOX_1: 8 XXX + SG_ OBD_fuer_NOX : 56|8@1+ (1,0) [0|0] "" XXX + SG_ Frei_NOX1_4 : 53|3@1+ (1,0) [0|0] "" XXX + SG_ IP2 : 52|1@1+ (1,0) [0|0] "" XXX + SG_ IP1 : 51|1@1+ (1,0) [0|0] "" XXX + SG_ IP0 : 50|1@1+ (1,0) [0|0] "" XXX + SG_ Sondenheizung_NOX : 49|1@1+ (1,0) [0|0] "" XXX + SG_ Offsetkorrektur_NOX : 48|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_NOX1_3 : 43|5@1+ (1,0) [0|0] "" XXX + SG_ Sauerstoff_binaer : 32|11@1+ (1,-200) [-200|1847] "mV" XXX + SG_ Frei_NOX1_2 : 27|5@1+ (1,0) [0|0] "" XXX + SG_ Sauerstoff_linear : 16|11@1+ (1,0) [0|2047] "1000/Lambd" XXX + SG_ Frei_NOX1_1 : 11|5@1+ (1,0) [0|0] "" XXX + SG_ NOX_Signal : 0|11@1+ (1,0) [0|2047] "ppm" XXX + +BO_ 1424 Niveau_1: 6 XXX + SG_ Beladungszustand : 40|8@1+ (1,0) [0|253] "Zuladung" XXX + SG_ Fehlerspeichereintrag__Niveau_1 : 39|1@1+ (1,0) [0|0] "" XXX + SG_ Systemstatus__Niveau_1_ : 38|1@1+ (1,0) [0|0] "" XXX + SG_ Reserve_Fahrzeugart : 37|1@1+ (1,0) [0|0] "" XXX + SG_ Fahrzeugart_Niveau : 36|1@1+ (1,0) [0|0] "" XXX + SG_ Textbits__Niveau_1_ : 32|4@1+ (1,0) [0|0] "" XXX + SG_ Verstellung_HL : 31|1@1+ (1,0) [0|0] "" XXX + SG_ Verstellung_HR : 30|1@1+ (1,0) [0|0] "" XXX + SG_ Verstellung_VL : 29|1@1+ (1,0) [0|0] "" XXX + SG_ Verstellung_VR : 28|1@1+ (1,0) [0|0] "" XXX + SG_ Absenkung_Fahrzeug : 27|1@1+ (1,0) [0|0] "" XXX + SG_ Anhebung_Fahrzeug : 26|1@1+ (1,0) [0|0] "" XXX + SG_ Verstellung_aktiv : 25|1@1+ (1,0) [0|0] "" XXX + SG_ Kompressorlauf_in_Kuerze : 24|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Niveau_1_5 : 23|1@1+ (1,0) [0|0] "" XXX + SG_ Taster_Niveau : 22|1@1+ (1,0) [0|0] "" XXX + SG_ Parkniveau : 21|1@1+ (1,0) [0|0] "" XXX + SG_ Zwischenniveau : 20|1@1+ (1,0) [0|0] "" XXX + SG_ Niveaustati : 16|4@1+ (1,0) [0|0] "" XXX + SG_ MSG_Einschraenkung : 15|1@1+ (1,0) [0|0] "" XXX + SG_ ESP_Beeinflussung : 14|1@1+ (1,0) [0|0] "" XXX + SG_ Warnlampe_Niveau_1 : 13|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Niveau_1_1 : 12|1@1+ (1,0) [0|0] "" XXX + SG_ Zaehler_Niveau_1 : 8|4@1+ (1,0) [0|15] "Zaehler" XXX + SG_ Checksumme_Niveau_1 : 0|8@1+ (1,0) [0|0] "" XXX + +BO_ 1328 Navigation_1: 7 XXX + SG_ Kreuzungstyp : 54|2@1+ (1,0) [0|3] "" XXX + SG_ Entfernung_bis_Kreuzung : 48|6@1+ (5,0) [0|315] "m" XXX + SG_ Entfernung_bis_Kurvenanfang : 40|8@1+ (1,0) [0|255] "m" XXX + SG_ Voarusliegende_Kurvenrichtung : 39|1@1+ (1,0) [0|0] "" XXX + SG_ Vorausliegender_Kurvenverlauf : 32|7@1+ (50,0) [0|6350] "m" XXX + SG_ Fehler_Navigation : 31|1@1+ (1,0) [0|0] "" XXX + SG_ Anzahl_Fahrbahnen__0_ist_unguel : 28|3@1+ (1,0) [1|7] "" XXX + SG_ Strassentyp : 24|4@1+ (1,0) [0|15] "" XXX + SG_ Laenderkennung : 16|8@1+ (1,0) [0|0] "" XXX + SG_ Vorzeichen_Gierrate______ : 15|1@1+ (1,0) [0|0] "" XXX + SG_ Gierratenfehler : 14|1@1+ (1,0) [0|0] "" XXX + SG_ Gierrate : 0|14@1+ (0.01,0) [0|100] "deg/sek" XXX + +BO_ 1792 MSG_3: 3 XXX + SG_ MSG_Konfiguration : 16|8@1+ (1,0) [0|0] "" XXX + SG_ Lage_des_OT_Impuls : 0|16@1+ (0.01172,-384) [-384|384] "KW" XXX + +BO_ 1280 MSG_2: 8 XXX + SG_ RAM_Adresse_4 : 48|16@1+ (1,0) [0|0] "" XXX + SG_ RAM_Adresse_3 : 32|16@1+ (1,0) [0|0] "" XXX + SG_ RAM_Adresse_2 : 16|16@1+ (1,0) [0|0] "" XXX + SG_ Ram_Adresse_1 : 0|16@1+ (1,0) [0|0] "" XXX + +BO_ 256 MSG_1: 8 XXX + SG_ Kurbelwellendrehzahl__3_2_2_ : 56|8@1+ (1,0) [0|0] "" XXX + SG_ Soll_Foerderbeginn_KW__3_2_2_ : 40|16@1+ (0.01172,-384) [-384|384] "KW" XXX + SG_ Soll_Foerderbeginn_NW__3_2_2_ : 28|12@1+ (0.01172,0) [0|768] "degNW" XXX + SG_ Soll_Voreinspritzung : 16|12@1+ (1,0) [0|0] "" XXX + SG_ Soll_Einspritzmenge : 0|16@1+ (0.03125,0) [0|2047] "mg/H" XXX + +BO_ 1796 Motor_NOX: 8 XXX + SG_ Frei_Motor_NOX_1_2 : 24|40@1+ (1,0) [0|0] "" XXX + SG_ Frei_Motor_NOX_1_1 : 19|5@1+ (1,0) [0|0] "" XXX + SG_ Heizleistungsanforderung : 18|1@1+ (1,0) [0|0] "" XXX + SG_ Offsetkorrektur_moeglich : 17|1@1+ (1,0) [0|0] "" XXX + SG_ Betriebsbereich : 16|1@1+ (1,0) [0|0] "" XXX + SG_ Abgastemperatur_NOX : 8|8@1+ (5,-40) [-40|1230] "C" XXX + SG_ Abgasdruck_NOX : 0|8@1+ (5,600) [600|1870] "mbar" XXX + +BO_ 900 Motor_Momente: 8 XXX + SG_ Momentenangaben_ungenau__Moment : 35|2@1+ (1,0) [0|0] "" XXX + +BO_ 1408 Motor_Flexia: 8 XXX + SG_ Ansaugsystem m0 : 63|1@1+ (1,0) [0|0] "" XXX + SG_ Hubraum m0 : 56|7@1+ (0.1,0) [0|12.7] "l" XXX + SG_ Steigung_der_Befuellungskennlin m1 : 56|8@1+ (0.001,0) [0|0.255] "l/mm" XXX + SG_ Anzahl_Zylinder m0 : 52|4@1+ (1,0) [0|15] "Vent./Zyl." XXX + SG_ Bewertungsfaktor_Russindex_Turb m1 : 50|6@1+ (0.1,0) [0|6.3] "" XXX + SG_ Anzahl_Ventile m0 : 49|3@1+ (1,0) [0|7] "Vent./Zyl." XXX + SG_ Bewertungsfaktor_Verschleissind m1 : 44|6@1+ (0.1,0) [0|6.3] "" XXX + SG_ Hersteller_Code m1 : 40|4@1+ (1,0) [0|15] "" XXX + SG_ Motorleistung m0 : 40|9@1+ (1,0) [0|512] "KW" XXX + SG_ Max_Drehmoment m0 : 32|8@1+ (10,0) [0|2550] "Nm" XXX + SG_ Normierter_Verbrauch m1 : 32|8@1+ (10,0) [0|2550] "l/Zyl." XXX + SG_ Oelniveauschwelle m1 : 24|8@1+ (0.25,0) [0|63.75] "cm" XXX + SG_ Drehzahl_MaxNorm m0 : 24|8@1+ (100,0) [0|25500] "U/min" XXX + SG_ Verschleissindex : 16|8@1+ (1,0) [0|254] "" XXX + SG_ Russindex : 8|8@1+ (1,0) [0|254] "" XXX + SG_ Verbrennungsart : 7|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Motor_Flexia_1 : 6|1@1+ (1,0) [0|0] "" XXX + SG_ Warm_Up_Cycle : 5|1@1+ (1,0) [0|0] "" XXX + SG_ Driving_Cycle : 4|1@1+ (1,0) [0|0] "" XXX + SG_ Zaehler_Motor_Flexia : 1|3@1+ (1,0) [0|15] "" XXX + SG_ Multiplex_Schalter_Motor_Flexia M : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 1416 Motor_7: 8 XXX + SG_ Oltemperatur : 56|8@1+ (1,0) [0|0] "" XXX + SG_ Frei_Motor_7_3 : 40|16@1+ (1,0) [0|0] "" XXX + SG_ Ladedruck : 32|8@1+ (0.01,0) [0|2.54] "bar" XXX + SG_ Vorzeichen_Motordrehzahlgradien : 31|1@1+ (1,0) [0|0] "" XXX + SG_ Motordrehzahlgradient : 24|7@1+ (1,0) [0|126] "U/min" XXX + SG_ Hoeheninfo__Motor_7_ : 16|8@1+ (0.00787,0) [0|2] "" XXX + SG_ Klemme_DFM : 8|8@1+ (0.4,0) [0|101.6] "%" XXX + SG_ PTC___Gluehstifte_ausgeschaltet : 5|3@1+ (1,0) [0|0] "" XXX + SG_ Frei_Motor_7_1 : 4|1@1+ (1,0) [0|0] "" XXX + SG_ Fehlerspeichereintrag__Motor_7_ : 3|1@1+ (1,0) [0|0] "" XXX + SG_ Statusbit_Geschwindikeitsbegren : 2|1@1+ (1,0) [0|0] "" XXX + SG_ Geschwindigkegrenzung_aktivierb : 1|1@1+ (1,0) [0|0] "" XXX + SG_ Leerlauf_Solldrehzahl_auf_Max_W : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 1160 Motor_6: 8 XXX + SG_ Zaehler_Motor_6 : 60|4@1+ (1,0) [0|15] "" XXX + SG_ Frei_Motor_6_4 : 58|2@1+ (1,0) [0|0] "" XXX + SG_ ltemperaturschutz : 57|1@1+ (1,0) [0|0] "" XXX + SG_ GRA_Bremseingriff_Freigabe : 56|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Motor_6_3 : 48|8@1+ (1,0) [0|0] "" XXX + SG_ Ruckmeldung_Momenten : 40|8@1+ (0.39,0) [0|100] "" XXX + SG_ GRA_Sollbeschleunigung : 32|8@1+ (0.024,-3.984) [-3.984|2.112] "m/s2" XXX + SG_ Hoeheninfo__Motor_6_ : 24|8@1+ (0.00787,0) [0|2] "" XXX + SG_ Istmoment_f_r_Getriebe : 16|8@1+ (0.39,0) [0|99] "MDI" XXX + SG_ Sollmoment_f_r_Getriebe : 8|8@1+ (0.39,0) [0|99] "MDI" XXX + SG_ Checksumme_Motor_6 : 0|8@1+ (1,0) [0|0] "" XXX + +BO_ 1152 Motor_5: 8 XXX + SG_ CHECKSUM : 56|8@1+ (1,0) [0|0] "" XXX + SG_ Motortext_Bits__4_1_ : 52|4@1+ (1,0) [0|0] "" XXX + SG_ Doppelte_Momente : 51|1@1+ (1,0) [0|0] "" XXX + SG_ GRA_Hauptschalter : 50|1@1+ (1,0) [0|0] "" XXX + SG_ Anlasser_Ausspuren : 49|1@1+ (1,0) [0|0] "" XXX + SG_ Anlasser_Freigabe : 48|1@1+ (1,0) [0|0] "" XXX + SG_ Klimadrucksignal__Motor_5_ : 40|8@1+ (0.2,0) [0|50.8] "bar" XXX + SG_ K_hlerluefteransteuerung : 32|8@1+ (0.4,0) [0|101.6] "%" XXX + SG_ Verbrauch_Ueberlauf : 31|1@1+ (1,0) [0|0] "" XXX + SG_ Kraftstoffverbrauchssignal : 16|15@1+ (1,0) [0|32767] "ul" XXX + SG_ Klimakompressor_Leistungsreduzi : 15|1@1+ (1,0) [0|0] "" XXX + SG_ Kennfeldkuehlung : 14|1@1+ (1,0) [0|0] "" XXX + SG_ Klimakompressor_aus__Motor_5_ : 13|1@1+ (1,0) [0|0] "" XXX + SG_ CAT_Warnung : 12|1@1+ (1,0) [0|0] "" XXX + SG_ OBD_2_Lampe : 11|1@1+ (1,0) [0|0] "" XXX + SG_ E_Gas_Lampe : 10|1@1+ (1,0) [0|0] "" XXX + SG_ Vorgluehlampe__Motor_5_ : 9|1@1+ (1,0) [0|0] "" XXX + SG_ Ladekontroll_Lampe : 8|1@1+ (1,0) [0|0] "" XXX + SG_ Multiplex_Code M : 6|2@1+ (1,0) [0|0] "" XXX + SG_ Multiplex_Info_norm__Verbrauch m3 : 0|6@1+ (20,0) [0|1260] "l/Zyl" XXX + SG_ Multiplex_Info_Motortyp m2 : 0|6@1+ (1,0) [0|0] "" XXX + SG_ Multiplex_Info_Drehzahl_MD_Max m1 : 0|6@1+ (100,0) [0|6300] "U/min" XXX + SG_ Multiplex_Info_Max_Drehmoment m0 : 0|6@1+ (10,0) [0|630] "Nm" XXX + +BO_ 896 Motor_3: 8 XXX + SG_ Drosselklappenpoti : 56|8@1+ (0.4,0) [0|101.6] "%" XXX + SG_ Motor_Wunschdrehzahl : 48|8@1+ (25,0) [0|6350] "U/min" XXX + SG_ Motordrehzahlbeeinflussung : 40|8@1+ (0.392,0) [0|100] "%" XXX + SG_ Kein_Start_Stop : 39|1@1+ (1,0) [0|0] "" XXX + SG_ Kein_E_Gas : 38|1@1+ (1,0) [0|0] "" XXX + SG_ Reserviert_Motor_3_1 : 37|1@1+ (1,0) [0|0] "" XXX + SG_ Vorzeichen_Rad_Wunschmoment : 36|1@1+ (1,0) [0|0] "" XXX + SG_ Rad_Wunschmoment : 24|12@1+ (0.39,0) [0|1597] "MDI" XXX + SG_ Fahrpedal_Rohsignal : 16|8@1+ (0.4,0) [0|101.6] "%" XXX + SG_ Ansauglufttemperatur : 8|8@1+ (0.75,-48) [-48|142.5] "" XXX + SG_ Fehlerstatus_Ansauglufttemperat : 7|1@1+ (1,0) [0|0] "" XXX + SG_ Motorsteuerger_t_gesperrt : 6|1@1+ (1,0) [0|0] "" XXX + SG_ Drosselklappenwinkel_ungenau : 5|1@1+ (1,0) [0|0] "" XXX + SG_ Fahrpedalwert_ungenau__Motor_3_ : 4|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Motor_3_1 : 3|1@1+ (1,0) [0|0] "" XXX + SG_ Motor_Wunschdrehzahl_Priorit_t : 2|1@1+ (1,0) [0|0] "" XXX + SG_ Uebertemperaturschutz__Motor_3_ : 1|1@1+ (1,0) [0|0] "" XXX + SG_ Vorgluehmeldung : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 648 Motor_2: 8 XXX + SG_ Minimales_Motormoment_bei_Zuend : 56|8@1+ (0.39,0) [0|99] "MDI" XXX + SG_ Begrenzungsmoment : 48|8@1+ (0.39,0) [0|99] "MDI" XXX + SG_ Leerlaufsolldrehzahl__Motor_2_ : 40|8@1+ (10,0) [0|2540] "U/min" XXX + SG_ Soll_Geschwindigkeit_bei_GRA_Be : 32|8@1+ (1.28,0) [0|325] "km/h" XXX + SG_ Fahrzeuggeschwindigkeit : 24|8@1+ (1.28,0) [0|325] "km/h" XXX + SG_ GRA_Status : 22|2@1+ (1,0) [0|0] "" XXX + SG_ OBD_2_freeze_frame : 21|1@1+ (1,0) [0|0] "" XXX + SG_ Status_Normalbetrieb : 20|1@1+ (1,0) [0|0] "" XXX + SG_ Ansteuerung_Klima__4_1_ : 19|1@1+ (1,0) [0|0] "" XXX + SG_ Fehlerstatus_Kuhlmitteltempera : 18|1@1+ (1,0) [0|0] "" XXX + SG_ Bremstestschalter : 17|1@1+ (1,0) [0|0] "" XXX + SG_ Bremslichtschalter : 16|1@1+ (1,0) [0|0] "" XXX + SG_ Kuehlmitteltemperatur__Motor_2_ : 8|8@1+ (0.75,-48) [-48|142.5] "" XXX + SG_ Multiplex_Code_Motor_2 M : 6|2@1+ (1,0) [0|0] "" XXX + SG_ Multiplex_Info_Motorcode__4_x_ m1 : 0|6@1+ (1,0) [0|0] "" XXX + SG_ Multiplex_Info_Getriebecode m2 : 0|6@1+ (1,0) [0|0] "" XXX + SG_ Multiplex_Info_Max_Moment__Norm m3 : 0|6@1+ (10,0) [0|630] "Nm" XXX + SG_ Multiplex_Info_CAN_Stand m0 : 0|6@1+ (1,0) [0|0] "" XXX + +BO_ 640 Motor_1: 8 XXX + SG_ Fahrerwunschmoment : 56|8@1+ (0.39,0) [0|99] "MDI" XXX + SG_ mechanisches_Motor_Verlustmomen : 48|8@1+ (0.39,0) [0|99] "MDI" XXX + SG_ Fahrpedalwert_oder_Drosselklapp : 40|8@1+ (0.4,0) [0|101.6] "%" XXX + SG_ inneres_Motor_Moment_ohne_exter : 32|8@1+ (0.39,0) [0|99] "MDI" XXX + SG_ Motordrehzahl : 16|16@1+ (0.25,0) [0|16256] "U/min" XXX + SG_ inneres_Motor_Moment : 8|8@1+ (0.39,0) [0|99] "MDI" XXX + SG_ Momentenangaben_ungenau : 7|1@1+ (1,0) [0|0] "" XXX + SG_ Fehlerstatus_Getriebe_Momentene : 6|1@1+ (1,0) [0|0] "" XXX + SG_ Fehlerstatus_Brems_Momenteneing : 5|1@1+ (1,0) [0|0] "" XXX + SG_ Time_Out_Bremsen_Botschaft : 4|1@1+ (1,0) [0|0] "" XXX + SG_ Kupplungsschalter : 3|1@1+ (1,0) [0|0] "" XXX + SG_ Kickdownschalter : 2|1@1+ (1,0) [0|0] "" XXX + SG_ Fahrpedalwert_ungenau__Motor_1_ M : 1|1@1+ (1,0) [0|0] "" XXX + SG_ Leergasinformation : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 262 Master_3: 8 XXX + SG_ Frei_Master_3_1 : 56|8@1+ (1,0) [0|0] "" XXX + SG_ Motortemperatur_linearisiert : 48|8@1+ (0.75,-48) [-48|143.25] "" XXX + SG_ Indiziertes_Sollmoment_f_r_Vmax : 32|16@1+ (0.0015259,0) [0|100] "%" XXX + SG_ Relative_Momentenanforderung_de : 16|16@1+ (0.003052,0) [0|200] "%" XXX + SG_ Delta_Motormoment_aus_Verlustmo : 0|16@1+ (0.003052,-100) [-100|100] "%" XXX + +BO_ 260 Master_2: 8 XXX + SG_ Ubat_Freigabe_DVE : 45|1@1+ (1,0) [0|0] "" XXX + SG_ DK_Sollwertbegrenzung : 44|1@1+ (1,0) [0|0] "" XXX + SG_ Einspritzverbot_DV_E_lernen : 43|1@1+ (1,0) [0|0] "" XXX + SG_ Master_erkannt : 42|1@1+ (1,0) [0|0] "" XXX + SG_ Vmax_Begrenzung_aktiv : 41|1@1+ (1,0) [0|0] "" XXX + SG_ SA_Verbot_von_FGR : 40|1@1+ (1,0) [0|0] "" XXX + SG_ Pedalwert_Komplement : 24|16@1+ (1,0) [0|0] "" XXX + SG_ Zaehler__Master_2_ : 16|8@1+ (1,0) [0|255] "" XXX + SG_ Normierter_Fahrpedalwinkel : 0|16@1+ (0.001526,0) [0|100] "%" XXX + +BO_ 258 Master_1: 8 XXX + SG_ Stationaere_Solldrehzahl : 56|8@1+ (10,0) [0|2550] "Umin" XXX + SG_ Drehmoment_LLR__I_Anteil_ : 40|16@1+ (0.003052,-100) [-100|100] "%" XXX + SG_ Drehmoment_LLR__PD_Anteil_ : 24|16@1+ (0.003052,-100) [-100|100] "%" XXX + SG_ Drehmoment_LLR__Luftpfad_ : 8|16@1+ (0.003052,-100) [-100|100] "%" XXX + SG_ Frei_Master_1_1 : 4|4@1+ (1,0) [0|0] "" XXX + SG_ LLR_ist_aktiv : 3|1@1+ (1,0) [0|0] "" XXX + SG_ I_Anteil_der_LLR_aktiv : 2|1@1+ (1,0) [0|0] "" XXX + SG_ PD_Anteil_der_LLR_aktiv : 1|1@1+ (1,0) [0|0] "" XXX + SG_ LLR_Freigabe_nach_Start : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 1984 LWS_Kalibrierung: 2 XXX + SG_ Frei_LWS_Kalibrierung_1_1 : 15|1@1+ (1,0) [0|0] "" XXX + SG_ LWS_Identifier : 8|7@1+ (1,0) [0|0] "" XXX + SG_ Frei_LWS_Kalibrierung_1_2 : 4|4@1+ (1,0) [0|0] "" XXX + SG_ Command_Dode_Word : 0|4@1+ (1,0) [0|0] "" XXX + +BO_ 1986 Lenkwinkel_Init: 4 XXX + SG_ Kodierbytes : 8|24@1+ (1,0) [0|0] "" XXX + SG_ Identiifier_f_r_LWS_Init : 0|8@1+ (1,0) [0|0] "" XXX + +BO_ 192 Lenkwinkel_1__RB_: 2 XXX + SG_ Vorzeichen__RB_ : 15|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkwinkel__RB_ : 5|10@1+ (2.5,-720) [-720|720] "" XXX + SG_ LWS_OK__RB_ : 4|1@1+ (1,0) [0|0] "" XXX + SG_ LWS_Abgleich__RB_ : 3|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Lenkwinkel_1_1__RB_ : 2|1@1+ (1,0) [0|0] "" XXX + SG_ FINE_CHECK__RB_ : 1|1@1+ (1,0) [0|0] "" XXX + SG_ COARSE_CHECK__RB_ : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 196 Lenkwinkel_1__ITT_: 2 XXX + SG_ Vorzeichen__ITT_ : 15|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkwinkel__ITT_ : 5|10@1+ (1.5,-768) [-768|766.5] "" XXX + SG_ LWS_OK : 4|1@1+ (1,0) [0|0] "" XXX + SG_ LWS_Abgleich__ITT_ : 3|1@1+ (1,0) [0|0] "" XXX + SG_ LWS_Initialisierung__ITT_ : 2|1@1+ (1,0) [0|0] "" XXX + SG_ FINE_CHECK__ITT_ : 1|1@1+ (1,0) [0|0] "" XXX + SG_ COARSE_CHECK__ITT_ : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 194 Lenkwinkel_1: 8 XXX + SG_ Checksumme_Lenkwinkel_1 : 56|8@1+ (1,0) [0|0] "" XXX + SG_ Kodierdaten : 48|8@1+ (1,0) [0|0] "" XXX + SG_ Zaehler_Lenkwinkel_1 : 44|4@1+ (1,0) [0|15] "" XXX + SG_ Status_KL30_Ausfall__z_Zt__nur : 43|1@1+ (1,0) [0|0] "" XXX + SG_ Interner_Status : 41|2@1+ (1,0) [0|0] "" XXX + SG_ Frei_Lenkwinkel_1_1 : 40|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkwinkel_ID : 32|8@1+ (1,0) [0|0] "" XXX + SG_ Lenkradwinkel_Geschwindigkeit_S : 31|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkradwinkel_Geschwindigkeit : 16|15@1+ (0.04375,0) [0|1433.6] "Grad/Sek" XXX + SG_ Lenkradwinkel_Sign : 15|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkradwinkel : 0|15@1+ (0.04375,0) [0|1433.6] "Grad" XXX + +BO_ 1502 Lenkhilfe_Fehler: 7 XXX + SG_ Werkstattcode : 48|8@1+ (1,0) [0|0] "" XXX + SG_ Multiplex_Signal : 45|3@1+ (1,0) [0|7] "" XXX + SG_ Sensorcodierung_Lenkhilfe : 44|1@1+ (1,0) [0|0] "" XXX + SG_ Kennliniencodierung_Lenkhilfe : 40|4@1+ (1,0) [0|15] "Kennlinie" XXX + SG_ Geber_f__Lenkw__Speicher_ausles : 39|1@1+ (1,0) [0|0] "" XXX + SG_ Kombiinstr__Speicher_auslesen : 38|1@1+ (1,0) [0|0] "" XXX + SG_ Steuerger__Speicher_auslesen : 37|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkhilfe_Steuergeraet_defekt : 36|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Lenkhilfe_1_3 : 32|4@1+ (1,0) [0|0] "" XXX + SG_ Frei_Lenkhilfe_1_4 : 30|2@1+ (1,0) [0|0] "" XXX + SG_ Geber_f__Lenkwi__k__CAN_Komm_sp : 29|1@1+ (1,0) [0|0] "" XXX + SG_ Geber_f__Lenkwinkel_k__CAN_Komm : 28|1@1+ (1,0) [0|0] "" XXX + SG_ Kombiinstr__k__CAN_Kommunik__sp : 27|1@1+ (1,0) [0|0] "" XXX + SG_ Kombiinstrument_k__CAN_Kommunik : 26|1@1+ (1,0) [0|0] "" XXX + SG_ Steuergeraet_k__CAN_Kommunik__S : 25|1@1+ (1,0) [0|0] "" XXX + SG_ Steuergeraet_keine_CAN_Kommunik : 24|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkhilfe_Spannung_Ks__nach_Mas : 23|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkhilfe_Spannung_Ks_nach_Mass : 22|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkhilfe_Spannung_Ks__nach___s : 21|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkhilfe_Spannung_Ks__nach__ : 20|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkhilfe_Temperaturschutz_sp_ : 19|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkhilfe_Temperaturschutz : 18|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkhilfe_Betrieb_unpl__Sig__sp : 17|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkhilfe_Betrieb_unpl__Signal : 16|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkhilfesensor_k__Kommunik__sp : 15|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkhilfesensor_keine_Kommunik_ : 14|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkhilfesensor_defekt_sp_ : 13|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkhilfesensor_defekt : 12|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkhilfesensor_Unterbrechung_s : 11|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkhilfesensor_Unterbrechung : 10|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkhilfesensor_Ks_nach_Masse_s : 9|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkhifesensor_Ks_nach_Masse : 8|1@1+ (1,0) [0|0] "" XXX + SG_ Spannung_Kl_15_zu_klein_sp_ : 7|1@1+ (1,0) [0|0] "" XXX + SG_ Spannung_Kl_15_zu_klein : 6|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Lenkhilfe_1_5 : 4|2@1+ (1,0) [0|0] "" XXX + SG_ Spannung_Kl_30_zu_klein_sp_ : 3|1@1+ (1,0) [0|0] "" XXX + SG_ Spannung_Kl_30_zu_klein : 2|1@1+ (1,0) [0|0] "" XXX + SG_ Spannung_Kl_30_zu_gro__sp_ : 1|1@1+ (1,0) [0|0] "" XXX + SG_ Spannung_Kl_30_zu_gro_ : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 976 Lenkhilfe_1: 2 XXX + SG_ Fehlerspeichereintrag__Lenkhilf : 15|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Lenkhilfe_1_2 : 9|6@1+ (1,0) [0|0] "" XXX + SG_ Fehlerlampe_Lenkhilfe : 8|1@1+ (1,0) [0|0] "" XXX + SG_ Fehlerstatus_Lastinformation : 7|1@1+ (1,0) [0|0] "" XXX + SG_ Lastinformation : 0|7@1+ (1,0) [0|127] "A" XXX + +BO_ 1312 Kombi_3: 8 XXX + SG_ Frei_Kombi_3_2 : 60|4@1+ (1,0) [0|0] "" XXX + SG_ Kilometerstand : 40|20@1+ (1,0) [0|1000000] "km" XXX + SG_ Fehlerstatus_Standzeit : 39|1@1+ (1,0) [0|0] "" XXX + SG_ Standzeit : 24|15@1+ (4,0) [0|131068] "sec" XXX + SG_ Frei_Kombi_3_1 : 20|4@1+ (1,0) [0|0] "" XXX + SG_ Schluesselinfo : 16|4@1+ (1,0) [0|15] "" XXX + SG_ Kombi_Multiplex_Code M : 14|2@1+ (1,0) [0|0] "" XXX + SG_ Kombi_Verbauliste_Niveauregulie m3 : 11|1@1+ (1,0) [0|0] "" XXX + SG_ Kombi_Multiplex_Marke m1 : 11|3@1+ (1,0) [0|0] "" XXX + SG_ Kombi_Verbauliste_Lenkhilfe m3 : 10|1@1+ (1,0) [0|0] "" XXX + SG_ Kombi_Verbauliste_Dieselpumpe m3 : 9|1@1+ (1,0) [0|0] "" XXX + SG_ Kombi_Verbauliste_Lenkwinkel m3 : 8|1@1+ (1,0) [0|0] "" XXX + SG_ Kombi_Multiplex_Baureihe m1 : 8|3@1+ (1,0) [0|0] "" XXX + SG_ Kombi_Multiplex_Laendervariante m0 : 8|6@1+ (1,0) [0|0] "" XXX + SG_ Kombi_Verbauliste_Allrad m3 : 7|1@1+ (1,0) [0|0] "" XXX + SG_ Kombi_Verbauliste_Bordnetz m3 : 6|1@1+ (1,0) [0|0] "" XXX + SG_ Kombi_Verbauliste_ACC m3 : 5|1@1+ (1,0) [0|0] "" XXX + SG_ Kombi_Verbauliste_Airbag m3 : 4|1@1+ (1,0) [0|0] "" XXX + SG_ Kombi_Multiplex_Generation m1 : 4|4@1+ (1,0) [0|0] "" XXX + SG_ Kombi_Verbauliste_Klima m3 : 3|1@1+ (1,0) [0|0] "" XXX + SG_ Kombi_Verbauliste_ABS m3 : 2|1@1+ (1,0) [0|0] "" XXX + SG_ Kombi_Verbauliste_Motor m3 : 0|1@1+ (1,0) [0|0] "" XXX + SG_ Kombi_Multiplex_Derivat m1 : 0|4@1+ (1,0) [0|0] "" XXX + SG_ Kombi_Multiplex_Sprachvariante m0 : 0|8@1+ (1,0) [0|0] "" XXX + SG_ Kombi_Multiplex_Reifenumfang m2 : 0|12@1+ (1,0) [0|4095] "mm" XXX + +BO_ 1056 Kombi_2: 8 XXX + SG_ Frei_Kombi_2_2 : 56|8@1+ (1,0) [0|0] "" XXX + SG_ Fehlerstatus_Kl__58_s : 55|1@1+ (1,0) [0|0] "" XXX + SG_ Klemme_58s__Kombi_2_ : 48|7@1+ (1,0) [0|100] "%" XXX + SG_ Fehlerstatus_Kl__58_d : 47|1@1+ (1,0) [0|0] "" XXX + SG_ Klemme_58d__Kombi_2_ : 40|7@1+ (1,0) [0|100] "%" XXX + SG_ Kuehlmitteltemp__4_1__Kombi_2_ : 32|8@1+ (0.75,-48) [-48|142.5] "C" XXX + SG_ Oeltemperatur_4_1 : 24|8@1+ (1,-60) [-60|194] "C" XXX + SG_ Aussentemp__ungefiltert_4_1__Ko : 16|8@1+ (0.5,-50) [-50|77] "C" XXX + SG_ Aussentemperatur_gefiltert : 8|8@1+ (0.5,-50) [-50|77] "C" XXX + SG_ Fehlerspeichereintrag__Kombi_ : 7|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Kombi_2_1 : 4|3@1+ (1,0) [0|0] "" XXX + SG_ Anhaenger_erkannt : 3|1@1+ (1,0) [0|0] "" XXX + SG_ Fehlerst__Kuehlmitteltemp__4_1 : 2|1@1+ (1,0) [0|0] "" XXX + SG_ Fehlerstatus_Oeltemperatur_4_1 : 1|1@1+ (1,0) [0|0] "" XXX + SG_ Fehlerstatus_Aussentemp__4_1 : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 800 Kombi_1: 8 XXX + SG_ Frei_Kombi_1_3 : 56|8@1+ (1,0) [0|0] "" XXX + SG_ Angezeigte_Geschwindigkeit : 46|10@1+ (0.32,0) [0|325] "km/h" XXX + SG_ Blinker_rechts_4_1 : 45|1@1+ (1,0) [0|0] "" XXX + SG_ Blinker_links_4_1 : 44|1@1+ (1,0) [0|0] "" XXX + SG_ Gesetzte_Zeitluecke__Kombi_1_ : 43|1@1+ (1,0) [0|0] "" XXX + SG_ ADR_Summer_abgeschaltet : 42|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Kombi_1_2 : 40|2@1+ (1,0) [0|0] "" XXX + SG_ Geschwindigkeit__Kombi_1_ : 25|15@1+ (0.01,0) [0|326] "km/h" XXX + SG_ Signalquelle_Geschwindigkeit_4_ : 24|1@1+ (1,0) [0|0] "" XXX + SG_ Tankwarnung : 23|1@1+ (1,0) [0|0] "" XXX + SG_ Tankinhalt : 16|7@1+ (1,0) [0|126] "l" XXX + SG_ Tankstop : 15|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Kombi_1_7 : 12|3@1+ (1,0) [0|0] "" XXX + SG_ Kombi_im_Stellgliedtest : 11|1@1+ (1,0) [0|0] "" XXX + SG_ Ladekontroll_Lampe__Kombi_ : 10|1@1+ (1,0) [0|0] "" XXX + SG_ Bremsinfo : 8|2@1+ (1,0) [0|0] "" XXX + SG_ Vorgluehlampe__Kombi_1_ : 7|1@1+ (1,0) [0|0] "" XXX + SG_ Tankwarnlampe : 6|1@1+ (1,0) [0|0] "" XXX + SG_ Heissleuchten_Vorwarnung : 5|1@1+ (1,0) [0|0] "" XXX + SG_ Kuehlmittelmangel : 4|1@1+ (1,0) [0|0] "" XXX + SG_ Dynamische_Oeldruckwarnung : 3|1@1+ (1,0) [0|0] "" XXX + SG_ Oeldruck : 2|1@1+ (1,0) [0|0] "" XXX + SG_ Fehlerstatus_Tank : 1|1@1+ (1,0) [0|0] "" XXX + SG_ Fahrertuer_4_1 : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 1504 Klima_1: 8 XXX + SG_ Aussentemp__ungef__Sto_f__4_1 : 56|8@1+ (0.5,-50) [-50|77] "C" XXX + SG_ Fehlerspeichereintrag__Klima_ : 55|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Klima_1_5 : 50|5@1+ (1,0) [0|0] "" XXX + SG_ AC_Schalter : 49|1@1+ (1,0) [0|0] "" XXX + SG_ Temperatureinheit : 48|1@1+ (1,0) [0|0] "" XXX + SG_ Kuehlerluefteransteuerung__Klim : 40|8@1+ (0.4,0) [0|101.6] "%" XXX + SG_ Geblaeselast_4_1 : 32|8@1+ (0.4,0) [0|101.6] "%" XXX + SG_ Kompressorlast : 24|8@1+ (0.25,0) [0|63.5] "Nm" XXX + SG_ Klimadrucksignal__Klima_1_ : 16|8@1+ (0.2,0) [0|50.8] "bar" XXX + SG_ Aussentemp__ungef__4_1__Klima_1 : 8|8@1+ (0.5,-50) [-50|77] "C" XXX + SG_ Kaeltemitteldruck_veraltet : 7|1@1+ (1,0) [0|0] "" XXX + SG_ Kompressormoment_veraltet_4_1 : 6|1@1+ (1,0) [0|0] "" XXX + SG_ Keine_Heizleistg_gewuenscht_4_1 : 5|1@1+ (1,0) [0|0] "" XXX + SG_ Kompressorzustand__4_1_ : 4|1@1+ (1,0) [0|0] "" XXX + SG_ Heizbare_Frontscheibe : 3|1@1+ (1,0) [0|0] "" XXX + SG_ Heizbare_Heckscheibe : 2|1@1+ (1,0) [0|0] "" XXX + SG_ Fahrerwunsch_Zuheizer : 1|1@1+ (1,0) [0|0] "" XXX + SG_ Drehzahlanhebung : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 906 GRA_Neu: 4 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ GRA_Hauptschalt : 8|1@1+ (1,0) [0|1] "" XXX + SG_ GRA_Abbrechen : 9|1@1+ (1,0) [0|1] "" XXX + SG_ GRA_Down_kurz : 10|1@1+ (1,0) [0|1] "" XXX + SG_ GRA_Up_kurz : 11|1@1+ (1,0) [0|1] "" XXX + SG_ GRA_Down_lang : 12|1@1+ (1,0) [0|1] "" XXX + SG_ GRA_Up_lang : 13|1@1+ (1,0) [0|1] "" XXX + SG_ GRA_Fehler_Bed : 14|1@1+ (1,0) [0|1] "" XXX + SG_ GRA_Kodierinfo : 15|1@1+ (1,0) [0|1] "" XXX + SG_ GRA_Neu_Setzen : 16|1@1+ (1,0) [0|1] "" XXX + SG_ GRA_Recall : 17|1@1+ (1,0) [0|1] "" XXX + SG_ GRA_Sender : 18|2@1+ (1,0) [0|3] "" XXX + SG_ COUNTER : 20|4@1+ (1,0) [0|15] "" XXX + SG_ GRA_Tip_Down : 24|1@1+ (1,0) [0|1] "" XXX + SG_ GRA_Tip_Up : 25|1@1+ (1,0) [0|1] "" XXX + SG_ GRA_Zeitluecke : 26|2@1+ (1,0) [0|3] "" XXX + SG_ GRA_Sta_Limiter : 28|1@1+ (1,0) [0|1] "" XXX + SG_ GRA_Typ_Hauptschalt : 29|1@1+ (1,0) [0|1] "" XXX + SG_ GRA_Sportschalter : 30|1@1+ (1,0) [0|1] "" XXX + SG_ GRA_Fehler_Tip : 31|1@1+ (1,0) [0|1] "" XXX + +BO_ 904 GRA: 3 XXX + SG_ Checksumme_GRA_alt : 16|8@1+ (1,0) [0|0] "" XXX + SG_ Frei_GRA_alt : 15|1@1+ (1,0) [0|0] "" XXX + SG_ GRA_alt__ADR_Bedienteil_Fehler : 14|1@1+ (1,0) [0|0] "" XXX + SG_ GRA_alt__ADR_beschleunigen : 13|1@1+ (1,0) [0|0] "" XXX + SG_ GRA_alt__ADR_verzoegern : 12|1@1+ (1,0) [0|0] "" XXX + SG_ GRA_alt__ADR___Tipschalter__Wie : 11|1@1+ (1,0) [0|0] "" XXX + SG_ GRA_alt__ADR___Tipschalter__Set : 10|1@1+ (1,0) [0|0] "" XXX + SG_ GRA_alt__ADR___Tipschalter__Aus : 9|1@1+ (1,0) [0|0] "" XXX + SG_ GRA_alt__ADR___Hauptschalter : 8|1@1+ (1,0) [0|0] "" XXX + SG_ Zaehler_GRA_alt : 0|8@1+ (1,0) [0|255] "" XXX + +BO_ 1352 Getriebe_4: 3 XXX + SG_ Testparameter_2 : 16|8@1+ (1,0) [0|255] "" XXX + SG_ Testparameter_1 : 8|8@1+ (1,0) [0|255] "" XXX + SG_ Waehlhebelausleuchtung : 4|4@1+ (1,0) [0|0] "" XXX + SG_ Frei_Getriebe_4_1 : 3|1@1+ (1,0) [0|0] "" XXX + SG_ Testfreigabeflag : 2|1@1+ (1,0) [0|0] "" XXX + SG_ Handbremserinnerung_s_Lampe : 1|1@1+ (1,0) [0|0] "" XXX + SG_ Shiftlock_Getriebe_4 : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 1344 Getriebe_2: 8 XXX + SG_ eingelegte_Fahrstufe : 60|4@1+ (1,0) [0|0] "" XXX + SG_ Ganganzeige_Kombi___Getriebe_Va : 56|4@1+ (1,0) [0|15] "" XXX + SG_ Fehlerlampe_f_r_Kupplung_bei_VL : 55|1@1+ (1,0) [0|0] "" XXX + SG_ Anforderung_Kriechadaption : 54|1@1+ (1,0) [0|0] "" XXX + SG_ ECO_Anzeige__4_1_ : 53|1@1+ (1,0) [0|0] "" XXX + SG_ Shift_Lock_Lampe : 52|1@1+ (1,0) [0|0] "" XXX + SG_ Unterdrueckung_von_Warnungen : 51|1@1+ (1,0) [0|0] "" XXX + SG_ Gong : 50|1@1+ (1,0) [0|0] "" XXX + SG_ Starter_wird_angesteuert : 49|1@1+ (1,0) [0|0] "" XXX + SG_ Hochschaltlampe : 48|1@1+ (1,0) [0|0] "" XXX + SG_ Synchronisationszeit : 40|8@1+ (20,0) [0|5080] "ms" XXX + SG_ invertierte_Synchronisations_Wu : 32|8@1+ (25,0) [0|6350] "U/min" XXX + SG_ Synchronisations_Wunschdrehzahl : 24|8@1+ (25,0) [0|6350] "U/min" XXX + SG_ Gradientenbegrenzung : 16|8@1+ (10,0) [0|2540] "Nm/s" XXX + SG_ Leerlaufsolldrehzahl__Getriebe : 8|8@1+ (10,0) [0|2540] "U/min" XXX + SG_ Zahler_Getriebe_2 : 4|4@1+ (1,0) [0|15] "" XXX + SG_ Zwischengasflag : 3|1@1+ (1,0) [0|0] "" XXX + SG_ Ecomatic__4_1_ : 2|1@1+ (1,0) [0|0] "" XXX + SG_ Schubabschaltunterstuetzung : 1|1@1+ (1,0) [0|0] "" XXX + SG_ LFR_Adaption_Freigabeflag : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 1088 Getriebe_1: 8 XXX + SG_ Wandlerverlustmoment : 56|8@1+ (0.39,0) [0|99.06] "MDI" XXX + SG_ Fehlerspeichereintrag__Getriebe : 55|1@1+ (1,0) [0|0] "" XXX + SG_ COUNTER : 51|4@1+ (1,0) [0|15] "" XXX + SG_ Gang_eingelegt : 50|1@1+ (1,0) [0|0] "" XXX + SG_ Schaltabsicht : 49|1@1+ (1,0) [0|0] "" XXX + SG_ Motor_aus : 48|1@1+ (1,0) [0|0] "" XXX + SG_ OBD_Status__Getriebe_1___4_1_ : 46|2@1+ (1,0) [0|0] "" XXX + SG_ Kuehlleistung : 44|2@1+ (1,0) [0|0] "" XXX + SG_ Getriebe_Notlauf : 40|4@1+ (1,0) [0|0] "" XXX + SG_ Fahrwiderstandsindex : 32|8@1+ (0.249,-31.6) [-31.6|31.6] "" XXX + SG_ inneres_Soll_Motormoment : 24|8@1+ (0.39,0) [0|99.06] "MDI" XXX + SG_ Uebertragungsfunktion : 16|8@1+ (0.1,0) [0|25.4] "" XXX + SG_ Waehlhebelposition__Getriebe_1_ : 12|4@1+ (1,0) [0|0] "" XXX + SG_ Zielgang_oder_eingelegter_Gang : 8|4@1+ (1,0) [0|0] "" XXX + SG_ EGS_Anforderung : 7|1@1+ (1,0) [0|0] "" XXX + SG_ Kodierung_im_MSG : 6|1@1+ (1,0) [0|0] "" XXX + SG_ Leerlaufsolldrehzahlanhebung : 5|1@1+ (1,0) [0|0] "" XXX + SG_ Wandlerkupplung : 3|2@1+ (1,0) [0|0] "" XXX + SG_ Klimakompressor_aus__Getriebe_1 : 2|1@1+ (1,0) [0|0] "" XXX + SG_ Status_Getriebe_und_Wandlerschu : 1|1@1+ (1,0) [0|0] "" XXX + SG_ Schaltung_aktiv__Getriebe_1_ : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 912 Gate_Komf_1: 8 XXX + SG_ GK1_Sta_RDK_Warn : 0|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Sta_Anhaen : 1|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Sta_Licht1 : 2|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Sta_Licht3 : 3|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Sta_Tuerkont : 4|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Sta_Li_vorn : 5|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_SleepAckn : 7|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_CharismaModus m1 : 8|4@1+ (1,0) [0|15] "" XXX + SG_ GK1_SamFktNr M : 12|4@1+ (1,0) [0|15] "" XXX + SG_ GK1_Fa_Tuerkont : 16|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_RueckfahrSch : 17|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_ELV_verrieg : 18|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Sta_Kessy_2 : 19|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Sta_Stdhzg : 20|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_SH_Verbau : 21|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_ParkFrontWi : 22|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_KW_Warm : 23|1@1+ (1,0) [0|1] "" XXX + SG_ BCM_Remotestart_Betrieb : 24|1@1+ (1,0) [0|1] "" XXX + SG_ BSK_HL_geoeffnet : 26|1@1+ (1,0) [0|1] "" XXX + SG_ BSK_HR_geoeffnet : 27|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Rueckfahr : 28|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_BrLi_links : 29|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_BrLi_rechts : 30|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_BrLi_mitte : 31|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_BLS_ILM : 32|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_EDC_ILM : 33|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Blinker_li : 34|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Blinker_re : 35|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_def_P_verr : 36|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_LS1_Fernlicht : 37|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Sta_Licht2 : 38|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Sta_LSM : 39|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Count_Anhaen : 40|4@1+ (1,0) [0|15] "" XXX + SG_ BSK_BT_geoeffnet : 41|1@1+ (1,0) [0|1] "" XXX + SG_ BSK_HD_Hauptraste : 43|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_BLS_AAG : 44|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_EDC_AAG : 45|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Anhaenger : 46|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_BrLi_Anhaen : 47|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Abblendlicht : 48|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Fernlicht : 49|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Wischer_vorn : 50|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Sta_ILM_F_1 : 51|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Abbl_VL_def : 52|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Abbl_VR_def : 53|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Blink_Autob : 54|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Warnblk_Status : 55|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_SH_laeuft : 56|1@1+ (1,0) [0|1] "" XXX + SG_ SH1_ein_Wasserpumpe : 57|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Nebel_ein : 58|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Bremslicht : 59|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Anh_abgesteckt : 60|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_AnhKonLamp : 61|1@1+ (1,0) [0|1] "" XXX + SG_ LDS_Stellung_AFL : 62|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_SH_Zusatzfkt : 63|1@1+ (1,0) [0|1] "" XXX + + +BO_ 1340 Fahrwerk_1: 1 XXX + SG_ Frei_Fahrwerk_1_2 : 7|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Fahrwerk_1_1 : 6|2@1+ (1,0) [0|0] "" XXX + SG_ Einstellung_Fahrwerkdaempfung_4 : 4|3@1+ (1,0) [0|7] "" XXX + SG_ Ansteuererung_Fahrzeugniveau : 0|4@1+ (1,0) [0|15] "" XXX + +BO_ 1472 EPB_1: 8 XXX + SG_ COUNTER : 0|4@1+ (1,0) [0|15] "" XXX + SG_ EP1_Fehler_Sta : 4|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ EP1_Sta_EPB : 6|1@1+ (1,0) [0|1] "" XXX + SG_ EP1_Sta_Schalter : 7|1@1+ (1,0) [0|1] "" XXX + SG_ EP1_Spannkraft : 8|5@1+ (1,0) [0|30] "Unit_KiloNewto" XXX + SG_ EP1_Schalterinfo : 13|2@1+ (1,0) [0|3] "" XXX + SG_ EP1_Sta_NWS : 15|1@1+ (1,0) [0|1] "" XXX + SG_ EP1_Neig_winkel : 16|8@1+ (1,-128) [-128|127] "Unit_PerCentOfForceOfGravi" XXX + SG_ EP1_Verzoegerung : 24|8@1+ (0.048,-7.968) [-7.968|4.224] "Unit_MeterPerSeconSquar" XXX + SG_ EP1_Fehlereintr : 32|1@1+ (1,0) [0|1] "" XXX + SG_ EP1_Freigabe_Ver : 33|1@1+ (1,0) [0|1] "" XXX + SG_ EP1_AutoHold_zul : 34|1@1+ (1,0) [0|1] "" XXX + SG_ EP1_AutoHold_aktiv : 35|1@1+ (1,0) [0|1] "" XXX + SG_ EP1_SleepInd : 36|1@1+ (1,0) [0|1] "" XXX + SG_ EP1_Status_Kl_15 : 37|1@1+ (1,0) [0|1] "" XXX + SG_ EP1_Lampe_AutoP : 38|1@1+ (1,0) [0|1] "" XXX + SG_ EP1_Bremslicht : 39|1@1+ (1,0) [0|1] "" XXX + SG_ EP1_Warnton1 : 40|1@1+ (1,0) [0|1] "" XXX + SG_ EP1_Warnton2 : 41|1@1+ (1,0) [0|1] "" XXX + SG_ EP1_AnfShLock : 42|1@1+ (1,0) [0|1] "" XXX + SG_ EPB_Autoholdlampe : 43|1@1+ (1,0) [0|1] "" XXX + SG_ EP1_QualNeigWi : 44|1@1+ (1,0) [0|1] "" XXX + SG_ EP1_KuppModBer : 45|2@1+ (1,0) [0|3] "" XXX + SG_ EP1_HydrHalten : 47|1@1+ (1,0) [0|1] "" XXX + SG_ EP1_Fkt_Lampe : 48|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ EP1_Warnton : 49|1@1+ (1,0) [0|1] "" XXX + SG_ EP1_Fehler_BKL : 50|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ EP1_Fehler_gelb : 51|1@1+ (1,0) [0|1] "" XXX + SG_ EP1__Text : 52|4@1+ (1,0) [0|8] "" Vector__XXX + SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 1326 Diag_Lenkhilfe: 3 XXX + SG_ Werkstattcode__Diag_ : 16|8@1+ (1,0) [0|0] "" XXX + SG_ Multiplex_Signal__Diag_ : 13|3@1+ (1,0) [0|7] "" XXX + SG_ Befehl_Sensorcodierung_Lenkhilf : 12|1@1+ (1,0) [0|0] "" XXX + SG_ Befehl_Kennliniencodierung_Lenk : 8|4@1+ (1,0) [0|0] "" XXX + SG_ Befehl_Fehlerspeicher_loeschen : 0|8@1+ (1,0) [0|0] "" XXX + +BO_ 1432 Daempfer_1: 2 XXX + SG_ Frei_Daempfer_1_4 : 12|4@1+ (1,0) [0|0] "" XXX + SG_ Textbits_Daempfer : 8|4@1+ (1,0) [0|0] "" XXX + SG_ Fehlerspeicherbit__Daempfer_1_ : 7|1@1+ (1,0) [0|0] "" XXX + SG_ Systemstatus__Daempfer_1_ : 6|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Daempfer_1_3 : 5|1@1+ (1,0) [0|0] "" XXX + SG_ Status_CDC_Taster : 4|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Daempfer_1_2 : 3|1@1+ (1,0) [0|0] "" XXX + SG_ Status_Daempferregelung_4_1 : 0|3@1+ (1,0) [0|7] "" XXX + +BO_ 1392 BSG_Last: 4 XXX + SG_ Klimaanlage_abschalten : 31|1@1+ (1,0) [0|0] "" XXX + SG_ Sitzbelueftung_abschalten : 30|1@1+ (1,0) [0|0] "" XXX + SG_ Wischwasserheizung_abschalten : 29|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkradheizung_abschalten : 28|1@1+ (1,0) [0|0] "" XXX + SG_ Heizbare_Sitze_abschalten : 27|1@1+ (1,0) [0|0] "" XXX + SG_ Heizbare_Aussenspiegel_abschalt : 26|1@1+ (1,0) [0|0] "" XXX + SG_ Heizbare_Frontscheibe_abschalte : 25|1@1+ (1,0) [0|0] "" XXX + SG_ Heizbare_Heckscheibe_abschalten : 24|1@1+ (1,0) [0|0] "" XXX + SG_ Batteriespannung_Bordnetzbatter : 16|8@1+ (0.05,5) [5|17.7] "V" XXX + SG_ Motorhaubenkontakt : 15|1@1+ (1,0) [0|0] "" XXX + SG_ Leuchtweitenregulierung : 14|1@1+ (1,0) [0|0] "" XXX + SG_ Fehlerspeichereintrag__BSG_Last : 13|1@1+ (1,0) [0|0] "" XXX + SG_ Zustand_der_Starterbatterie : 11|2@1+ (1,0) [0|0] "" XXX + SG_ Zustand_der_Bordnetzbatterie : 9|2@1+ (1,0) [0|0] "" XXX + SG_ LL_Drehzahlanhebung : 8|1@1+ (1,0) [0|0] "" XXX + SG_ Klemme_L : 7|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_BSG_Last_1_1 : 4|3@1+ (1,0) [0|0] "" XXX + SG_ ZAS_Klemme_50 : 3|1@1+ (1,0) [0|0] "" XXX + SG_ ZAS_Klemme_X : 2|1@1+ (1,0) [0|0] "" XXX + SG_ ZAS_Klemme_15 : 1|1@1+ (1,0) [0|0] "" XXX + SG_ ZAS_Klemme_S : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 1136 BSG_Kombi: 5 XXX + SG_ Frei_BSG_Kombi_1_3 : 36|4@1+ (1,0) [0|0] "" XXX + SG_ Ruecksitzlehne_HR_verr__4_1 : 35|1@1+ (1,0) [0|0] "" XXX + SG_ Ruecksitzlehne_HL_verr__4_1 : 34|1@1+ (1,0) [0|0] "" XXX + SG_ Fehlerlampe_Lenkhilfe_veraltet : 33|1@1+ (1,0) [0|0] "" XXX + SG_ Fehlerlampe_Lenkhilfe__BSG_Komb : 32|1@1+ (1,0) [0|0] "" XXX + SG_ Fehlerstatus_Kl__58s : 31|1@1+ (1,0) [0|0] "" XXX + SG_ Klemme_58s__BSG_Kombi_ : 24|7@1+ (1,0) [0|100] "%" XXX + SG_ Fehlerstatus_Kl__58d : 23|1@1+ (1,0) [0|0] "" XXX + SG_ Klemme_58d__BSG_Kombi_ : 16|7@1+ (1,0) [0|100] "%" XXX + SG_ Unterspannung : 15|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_BSG_Kombi_1_2 : 14|1@1+ (1,0) [0|0] "" XXX + SG_ Heckdeckel_geoeffnet : 13|1@1+ (1,0) [0|0] "" XXX + SG_ Motorhaube_geoeffnet : 12|1@1+ (1,0) [0|0] "" XXX + SG_ Tuer_hinten_rechts_geoeffnet : 11|1@1+ (1,0) [0|0] "" XXX + SG_ Tuer_hinten_links_geoeffnet : 10|1@1+ (1,0) [0|0] "" XXX + SG_ Beifahrertuer_geoeffnet : 9|1@1+ (1,0) [0|0] "" XXX + SG_ Fahrertuer_geoeffnet : 8|1@1+ (1,0) [0|0] "" XXX + SG_ Lade_Kontrollampe : 7|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_BSG_Kombi_1_1 : 6|1@1+ (1,0) [0|0] "" XXX + SG_ Rueckfahrlicht : 5|1@1+ (1,0) [0|0] "" XXX + SG_ DWA_Akku : 4|1@1+ (1,0) [0|0] "" XXX + SG_ Warnblink_Mode : 3|1@1+ (1,0) [0|0] "" XXX + SG_ Anhaenger_Kontrollampe : 2|1@1+ (1,0) [0|0] "" XXX + SG_ Blinker_rechts_Kontrollampe : 1|1@1+ (1,0) [0|0] "" XXX + SG_ Blinker_links_Kontrollampe : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 424 Bremse_6: 3 XXX + SG_ Checksumme_Bremse_6 : 16|8@1+ (1,0) [0|0] "" XXX + SG_ Zaehler_Bremse_6 : 12|4@1+ (1,0) [0|15] "" XXX + SG_ Status_Bremsdruck__Bremse_6__du : 11|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Bremse_6_1 : 10|1@1+ (1,0) [0|0] "" XXX + SG_ Bremsdruck__Bremse_6_ : 0|10@1+ (0.3255,-40) [-40|293] "bar" XXX + +BO_ 1192 Bremse_5: 8 XXX + SG_ CHECKSUM : 56|8@1+ (1,0) [0|0] "" XXX + SG_ COUNTER : 52|4@1+ (1,0) [0|15] "" XXX + SG_ Bremslicht_ECD : 51|1@1+ (1,0) [0|0] "" XXX + SG_ Bremsentemperatur_vorn : 48|3@1+ (125,125) [125|1000] "C" XXX + SG_ Frei_Bremse_5_5 : 40|8@1+ (1,0) [0|0] "" XXX + SG_ Offset_Gierrate : 32|8@1+ (0.05,-6.375) [-6.375|6.375] "deg/s" XXX + SG_ Vorzeichen_Bremsdruck : 31|1@1+ (1,0) [0|0] "" XXX + SG_ Status_Bremsdruck_durch_ESP_Sys : 30|1@1+ (1,0) [0|0] "" XXX + SG_ Bremsdruck_ungueltig : 29|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Bremse_5_3 : 28|1@1+ (1,0) [0|0] "" XXX + SG_ Bremsdruck : 16|12@1+ (0.1,0) [0|250] "bar" XXX + SG_ Vorzeichen_der_Giergeschwindigk : 15|1@1+ (1,0) [0|0] "" XXX + SG_ Gierrate_ungueltig : 14|1@1+ (1,0) [0|0] "" XXX + SG_ Giergeschwindigkeit : 0|14@1+ (0.01,0) [0|100] "Grad/sec" XXX + +BO_ 672 Bremse_4: 3 XXX + SG_ Frei_Bremse_4_1 : 17|7@1+ (1,0) [0|0] "" XXX + SG_ Einheit_Kupplungssteifigkeit : 16|1@1+ (1,0) [0|0] "" XXX + SG_ ABS_Vorgabewert_hinten_Kupplung : 8|8@1+ (0.7874,0) [0|100] "%" XXX + SG_ ABS_Vorgabewert_mitte_Kupplungs : 0|8@1+ (3,-381) [-381|378] "Nm/min" XXX + +BO_ 1184 Bremse_3: 8 XXX + SG_ Radgeschw__HR_4_1 : 49|15@1+ (0.01,0) [0|326] "km/h" XXX + SG_ Frei_Bremse_3_4 : 48|1@1+ (1,0) [0|0] "" XXX + SG_ Radgeschw__HL_4_1 : 33|15@1+ (0.01,0) [0|326] "km/h" XXX + SG_ Frei_Bremse_3_3 : 32|1@1+ (1,0) [0|0] "" XXX + SG_ Radgeschw__VR_4_1 : 17|15@1+ (0.01,0) [0|326] "km/h" XXX + SG_ Frei_Bremse_3_2 : 16|1@1+ (0.01,0) [0|325] "km/h" XXX + SG_ Radgeschw__VL_4_1 : 1|15@1+ (0.01,0) [0|326] "km/h" XXX + SG_ Frei_Bremse_3_1 : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 1440 Bremse_2: 8 XXX + SG_ gemessene_Querbeschleunigung : 63|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Bremse_2_2 : 62|1@1+ (1,0) [0|0] "" XXX + SG_ Impulszahl : 56|6@1+ (1,0) [0|63] "" XXX + SG_ Fehlerstatus_Wegimpulse_4_1 : 55|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Bremse_2_5 : 54|1@1+ (1,0) [0|0] "" XXX + SG_ Warnlampe_DDS : 53|1@1+ (1,0) [0|0] "" XXX + SG_ Fehlerspeichereintrag_Bremse : 52|1@1+ (1,0) [0|0] "" XXX + SG_ Wegimpulszaehlerstatus : 51|1@1+ (1,0) [0|0] "" XXX + SG_ Wegimpulse_Vorderachse : 40|11@1+ (1,0) [0|2047] "" XXX + SG_ Zeitstempel : 24|16@1+ (1,0) [0|65535] "tics" XXX + SG_ mittlere_Raddrehzahl__Bremse_2 : 9|15@1+ (0.002,0) [0|65.278] "U/sec" XXX + SG_ Querbeschl__TimerTic M : 8|1@1+ (1,0) [0|0] "" XXX + SG_ Timer m1 : 0|8@1+ (0.04,0) [0|10.2] "usec" XXX + SG_ Querbeschleunigung m0 : 0|8@1+ (0.01,-1.27) [-1.27|1.27] "g" XXX + +BO_ 416 Bremse_1: 8 XXX + SG_ Geschwindigkeitsersatzwert : 63|1@1+ (1,0) [0|0] "" XXX + SG_ ESP_Systemstatus_4_1 : 62|1@1+ (1,0) [0|0] "" XXX + SG_ ESP_Passiv_getastet : 61|1@1+ (1,0) [0|0] "" XXX + SG_ ASR_Steuerger_t : 60|1@1+ (1,0) [0|0] "" XXX + SG_ COUNTER : 56|4@1+ (1,0) [0|15] "" XXX + SG_ MSR_Eingriffsmoment : 48|8@1+ (0.39,0) [0|99.06] "MDI" XXX + SG_ ASR_Eingriffsmoment_schnell : 40|8@1+ (0.39,0) [0|99.06] "MDI" XXX + SG_ ASR_Eingriffsmoment_langsam : 32|8@1+ (0.39,0) [0|99.06] "MDI" XXX + SG_ Geschwindigkeit_neu__Bremse_1_ : 17|15@1+ (0.01,0) [0|326.39] "km/h" XXX + SG_ Aktiver_Bremskraftverstaerker : 16|1@1+ (1,0) [0|0] "" XXX + SG_ ABS_in_Diagnose : 15|1@1+ (1,0) [0|0] "" XXX + SG_ Fehlerstatus_Schlechtwegausblen : 14|1@1+ (1,0) [0|0] "" XXX + SG_ Schlechtwegausblendung : 13|1@1+ (1,0) [0|0] "" XXX + SG_ Fahrer_bremst__Bremse_1___4_1_ : 11|1@1+ (1,0) [0|0] "" XXX + SG_ Bremskontroll_Lampe : 10|1@1+ (1,0) [0|0] "" XXX + SG_ Lampe_ASR___ESP : 9|1@1+ (1,0) [0|0] "" XXX + SG_ Lampe_ABS : 8|1@1+ (1,0) [0|0] "" XXX + SG_ EBV_Eingriff : 7|1@1+ (1,0) [0|0] "" XXX + SG_ ASR_Schaltbeeinflussung : 5|2@1+ (1,0) [0|0] "" XXX + SG_ ESP_Eingriff : 4|1@1+ (1,0) [0|0] "" XXX + SG_ EDS_Eingriff : 3|1@1+ (1,0) [0|0] "" XXX + SG_ ABS_Bremsung__4_1_ : 2|1@1+ (1,0) [0|0] "" XXX + SG_ MSR_Anforderung : 1|1@1+ (1,0) [0|0] "" XXX + SG_ ASR_Anforderung : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 680 Bremsbooster_1: 3 XXX + SG_ Fehlerspeichereintrag_Booster : 23|1@1+ (1,0) [0|0] "" XXX + SG_ Loseschalter_unplausibel_Boost : 22|1@1+ (1,0) [0|0] "" XXX + SG_ Position_Standby : 21|1@1+ (1,0) [0|0] "" XXX + SG_ ADR_Relais_ge_ffnet : 20|1@1+ (1,0) [0|0] "" XXX + SG_ Status_Bremsbooster_Steuerung : 19|1@1+ (1,0) [0|0] "" XXX + SG_ Bremsbooster_verf_gbar : 18|1@1+ (1,0) [0|0] "" XXX + SG_ Eingriff_Bremsbooster : 17|1@1+ (1,0) [0|0] "" XXX + SG_ Bremseingriff_Fahrer : 16|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Bremsbooster_1_1 : 12|4@1+ (1,0) [0|0] "" XXX + SG_ Zaehler_Booster_1 : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Checksumme_Booster_1 : 0|8@1+ (1,0) [0|0] "" XXX + +BO_ 1400 BatMan_1: 1 XXX + SG_ Fehlerspeichereintrag__BatMan_ : 7|1@1+ (1,0) [0|0] "" XXX + SG_ Leistungsrelais : 6|1@1+ (1,0) [0|0] "" XXX + SG_ Messung_Starterleitung : 5|1@1+ (1,0) [0|0] "" XXX + SG_ Zustand_Starterleitung : 4|1@1+ (1,0) [0|0] "" XXX + SG_ Umschaltrelais_Bordnetzbatterie : 3|1@1+ (1,0) [0|0] "" XXX + SG_ Ladung_Starterbatterie : 1|2@1+ (1,0) [0|0] "" XXX + SG_ Startmodus : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 704 Allrad_1: 5 XXX + SG_ Kupplungssteifigkeit_Hinten__Is : 32|8@1+ (0.7874,0) [0|100] "%" XXX + SG_ Fehlerspeichereintrag_Allrad_1 : 31|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Allrad_1_1 : 26|5@1+ (1,0) [0|0] "" XXX + SG_ Schaltung_Vorwarnung : 25|1@1+ (1,0) [0|0] "" XXX + SG_ Schaltung_aktiv__Allrad_1_ : 24|1@1+ (1,0) [0|0] "" XXX + SG_ Ganginfo__PNG_ : 20|4@1+ (1,0) [0|0] "" XXX + SG_ PNG_Anzeige_blinkend : 19|1@1+ (1,0) [0|0] "" XXX + SG_ PNG_Status_4_1 : 16|3@1+ (1,0) [0|0] "" XXX + SG_ Kupplungssteifigkeit_Mitte__Ist : 8|8@1+ (3,-381) [-381|378] "Nm/min" XXX + SG_ Einheit_der_Kupplungssteifigkei : 7|1@1+ (1,0) [0|0] "" XXX + SG_ Geschwindigkeitsbegrenzung : 6|1@1+ (1,0) [0|0] "" XXX + SG_ Allrad_Warnlampe : 5|1@1+ (1,0) [0|0] "" XXX + SG_ Notlauf : 4|1@1+ (1,0) [0|0] "" XXX + SG_ Kupplung_komplett_offen : 3|1@1+ (1,0) [0|0] "" XXX + SG_ Fehlerstatus_Kupplungssteifigke : 2|1@1+ (1,0) [0|0] "" XXX + SG_ Ubertemperaturschutz__Allrad_1_ : 1|1@1+ (1,0) [0|0] "" XXX + SG_ Fehler_Allrad_Kupplung : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 1360 Airbag_2: 2 XXX + SG_ OOP_Beifahrer : 14|2@1+ (1,0) [0|0] "" XXX + SG_ OOP_Fahrer : 12|2@1+ (1,0) [0|0] "" XXX + SG_ Belegungserkennung_hinten_mitte : 11|1@1+ (1,0) [0|0] "" XXX + SG_ Belegungserkennung_hinten_recht : 10|1@1+ (1,0) [0|0] "" XXX + SG_ Belegungserkennung_hinten_links : 9|1@1+ (1,0) [0|0] "" XXX + SG_ Belegungserkennung_Beifahrersit : 8|1@1+ (1,0) [0|0] "" XXX + SG_ Checksumme_Airbag_2__reserviert : 0|8@1+ (1,0) [0|0] "" XXX + +BO_ 80 Airbag_1: 4 XXX + SG_ CHECKSUM : 24|8@1+ (1,0) [0|0] "" XXX + SG_ COUNTER : 20|4@1+ (1,0) [0|15] "" XXX + SG_ Fehlerspeichereintrag : 19|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Airbag_1_2 : 18|1@1+ (1,0) [0|0] "" XXX + SG_ Airbag_im_Stellgliedtest : 17|1@1+ (1,0) [0|0] "" XXX + SG_ Airbag_in_Diagnose : 16|1@1+ (1,0) [0|0] "" XXX + SG_ Gurtwarnung_Beifahrer : 15|1@1+ (1,0) [0|0] "" XXX + SG_ Gurtschalter_Beifahrer : 14|1@1+ (1,0) [0|0] "" XXX + SG_ Gurtwarnung_Fahrer : 13|1@1+ (1,0) [0|0] "" XXX + SG_ Gurtschalter_Fahrer : 12|1@1+ (1,0) [0|0] "" XXX + SG_ Airbag_Systemfehler : 11|1@1+ (1,0) [0|0] "" XXX + SG_ Kindersitzerkennung : 10|1@1+ (1,0) [0|0] "" XXX + SG_ Airbag_deaktiviert : 9|1@1+ (1,0) [0|0] "" XXX + SG_ Airbag_Lampe : 8|1@1+ (1,0) [0|0] "" XXX + SG_ Crash_Intensitaet : 5|3@1+ (1,0) [0|111] "B" XXX + SG_ Rollover : 4|1@1+ (1,0) [0|0] "" XXX + SG_ Seiten_Crash_Beifahrer : 3|1@1+ (1,0) [0|0] "" XXX + SG_ Seiten_Crash_Fahrer : 2|1@1+ (1,0) [0|0] "" XXX + SG_ Heck_Crash : 1|1@1+ (1,0) [0|0] "" XXX + SG_ Front_Crash : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 864 ADR_System: 8 XXX + SG_ S_Checksumme_ADR_1 : 56|8@1+ (1,0) [0|0] "" XXX + SG_ S_Frei_ADR_1_1 : 52|4@1+ (1,0) [0|0] "" XXX + SG_ S_Zeitluecke_gemessen : 48|4@1+ (1,0) [0|15] "" XXX + SG_ S_Fehlerspeichereintrag_ADR : 47|1@1+ (1,0) [0|0] "" XXX + SG_ S_Fehlerspeichereintrag_Bremsbo : 46|1@1+ (1,0) [0|0] "" XXX + SG_ S_ADR_Relais_geoeffnet : 45|1@1+ (1,0) [0|0] "" XXX + SG_ S_Bremsbooster_Status : 43|2@1+ (1,0) [0|0] "" XXX + SG_ S_Eingriff_Bremsbooster : 42|1@1+ (1,0) [0|0] "" XXX + SG_ S_Loeseschalter_unplausibel : 41|1@1+ (1,0) [0|0] "" XXX + SG_ S_Bremseingriff_Fahrer : 40|1@1+ (1,0) [0|0] "" XXX + SG_ S_Anzeige_Sensor_blind : 39|1@1+ (1,0) [0|0] "" XXX + SG_ S_Ansteuerung_optischer_Fahrerh : 38|1@1+ (1,0) [0|0] "" XXX + SG_ S_Ansteuerung_Gong_2 : 37|1@1+ (1,0) [0|0] "" XXX + SG_ S_Ansteuerung_Gong_1 : 36|1@1+ (1,0) [0|0] "" XXX + SG_ S_Schaltaufforderung : 34|2@1+ (1,0) [0|0] "" XXX + SG_ S_Anzeige_Prioritaet : 33|1@1+ (1,0) [0|0] "" XXX + SG_ S_Anzeige_Zeitluecke : 32|1@1+ (1,0) [0|0] "" XXX + SG_ S_Wunschgeschwindigkeit : 24|8@1+ (1,0) [0|254] "km/h" XXX + SG_ S_Objekt_erfasst : 22|2@1+ (1,0) [0|0] "" XXX + SG_ S_Gesetzte_Zeitluecke__ADR_1_ : 18|4@1+ (1,0) [0|15] "" XXX + SG_ S_Synchronisation_Bremsbooster : 17|1@1+ (1,0) [0|0] "" XXX + SG_ S_Momentenanforderung_Freigabe : 16|1@1+ (1,0) [0|0] "" XXX + SG_ S_Verhinderung_Schubabschaltung : 15|1@1+ (1,0) [0|0] "" XXX + SG_ S_Status_ADR_1__S_ : 13|2@1+ (1,0) [0|0] "" XXX + SG_ S_Fehler_ADR_1__S_ : 12|1@1+ (1,0) [0|0] "" XXX + SG_ S_Zaehler_ADR_1 : 8|4@1+ (1,0) [0|15] "" XXX + SG_ S_Momentenanforderung_ADR : 0|8@1+ (0.39,0) [0|99] "MDI" XXX + +BO_ 608 ADR_2: 4 XXX + SG_ Frei_ADR_2_2 : 27|5@1+ (1,0) [0|0] "" XXX + SG_ Anforderung_Bremsdruck : 16|11@1+ (0.0625,0) [0|127.9375] "bar" XXX + SG_ Frei_ADR_2_1 : 14|2@1+ (1,0) [0|0] "" XXX + SG_ Relais_Test_Fehler : 13|1@1+ (1,0) [0|0] "" XXX + SG_ Standby : 12|1@1+ (1,0) [0|0] "" XXX + SG_ Zaehler_ADR_2 : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Checksumme_ADR_2 : 0|8@1+ (1,0) [0|0] "" XXX + +BO_ 1324 ADR_1: 8 XXX + SG_ Checksumme_ADR_1 : 56|8@1+ (1,0) [0|0] "" XXX + SG_ Frei_ADR_1_5 : 52|4@1+ (1,0) [0|0] "" XXX + SG_ Zeitluecke_gemessen : 48|4@1+ (1,0) [0|15] "" XXX + SG_ Fehlerspeichereintrag_ADR : 47|1@1+ (1,0) [0|0] "" XXX + SG_ Reserviert_ADR_1_1 : 40|7@1+ (1,0) [0|0] "" XXX + SG_ Anzeige_Sensor_blind : 39|1@1+ (1,0) [0|0] "" XXX + SG_ Ansteuerung_optischer_Fahrerhin : 38|1@1+ (1,0) [0|0] "" XXX + SG_ Ansteuerung_Gong_2 : 37|1@1+ (1,0) [0|0] "" XXX + SG_ Ansteuerung_Gong_1 : 36|1@1+ (1,0) [0|0] "" XXX + SG_ Schaltaufforderung : 34|2@1+ (1,0) [0|0] "" XXX + SG_ Anzeige_Prioritaet : 33|1@1+ (1,0) [0|0] "" XXX + SG_ Anzeige_Zeitluecke : 32|1@1+ (1,0) [0|0] "" XXX + SG_ Wunschgeschwindigkeit : 24|8@1+ (1,0) [0|254] "km/h" XXX + SG_ Objekt_erfasst : 22|2@1+ (1,0) [0|0] "" XXX + SG_ Gesetzte_Zeitluecke__ADR_1_ : 18|4@1+ (1,0) [0|15] "" XXX + SG_ Synchronisation_Bremsbooster : 17|1@1+ (1,0) [0|0] "" XXX + SG_ Momentenanforderung_Freigabe : 16|1@1+ (1,0) [0|0] "" XXX + SG_ Verhinderung_Schubabschaltung : 15|1@1+ (1,0) [0|0] "" XXX + SG_ Status_ADR_1 : 13|2@1+ (1,0) [0|0] "" XXX + SG_ Fehler_ADR_1 : 12|1@1+ (1,0) [0|0] "" XXX + SG_ Zaehler_ADR_1 : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Momentenanforderung_ADR : 0|8@1+ (0.39,0) [0|99] "MDI" XXX + +BO_ 1550 Einheiten_1: 2 XXX + SG_ MFA_v_Einheit_02 : 0|1@1+ (1,0) [0|1] "" XXX + +BO_ 872 ACC_System: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ ACS_Sta_ADR : 12|2@1+ (1,0) [0|3] "" XXX + SG_ ACS_ADR_Schub : 14|1@1+ (1,0) [0|1] "" XXX + SG_ ACS_Schubabsch : 15|1@1+ (1,0) [0|1] "" XXX + SG_ ACS_StSt_Info : 16|2@1+ (1,0) [0|3] "" XXX + SG_ ACS_MomEingriff : 18|1@1+ (1,0) [0|1] "" XXX + SG_ ACS_Typ_ACC : 19|2@1+ (1,0) [0|3] "" XXX + SG_ ACS_FreigSollB : 23|1@1+ (1,0) [0|1] "" XXX + SG_ ACS_Sollbeschl : 24|11@1+ (0.005,-7.22) [-7.22|3.005] "Unit_MeterPerSeconSquar" XXX + SG_ ACS_Anhaltewunsch : 38|1@1+ (1,0) [0|1] "" XXX + SG_ ACS_Fehler : 39|1@1+ (1,0) [0|1] "" XXX + SG_ ACS_zul_Regelabw : 40|8@1+ (0.005,0) [0|1.265] "Unit_MeterPerSeconSquar" XXX + SG_ ACS_max_AendGrad : 48|8@1+ (0.02,0) [0.02|5.06] "Unit_MeterPerSeconSquar" XXX + +BO_ 1386 ACC_GRA_Anzeige: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ ACA_StaACC : 8|3@1+ (1,0) [0|7] "" XXX + SG_ ACA_ID_StaACC : 11|5@1+ (1,0) [0|31] "" XXX + SG_ ACA_Fahrerhinw : 16|1@1+ (1,0) [0|1] "" XXX + SG_ ACA_AnzDisplay : 17|1@1+ (1,0) [0|1] "" XXX + SG_ ACA_Zeitluecke : 18|4@1+ (1,0) [0|15] "" XXX + SG_ ACA_V_Wunsch : 24|8@1+ (1,0) [0|255] "Unit_KiloMeterPerHour" XXX + SG_ ACA_kmh_mph : 32|1@1+ (1,0) [0|1] "" XXX + SG_ ACA_Akustik1 : 33|1@1+ (1,0) [0|1] "" XXX + SG_ ACA_Akustik2 : 34|1@1+ (1,0) [0|1] "" XXX + SG_ ACA_PrioDisp : 35|2@1+ (1,0) [0|3] "" XXX + SG_ ACA_gemZeitl : 40|4@1+ (1,0) [0|15] "" XXX + SG_ ACA_ACC_Verz : 44|1@1+ (1,0) [0|1] "" XXX + SG_ ACA_StaGRA : 48|3@1+ (1,0) [0|7] "" XXX + SG_ ACA_ID_StaGRA : 51|5@1+ (1,0) [0|31] "" XXX + SG_ ACA_Codierung : 56|1@1+ (1,0) [0|1] "" XXX + SG_ ACA_Tachokranz : 57|1@1+ (1,0) [0|1] "" XXX + SG_ ACA_Aend_Zeitluecke : 58|1@1+ (1,0) [0|1] "" XXX + SG_ COUNTER : 60|4@1+ (1,0) [0|15] "" XXX + +BO_ 208 Lenkhilfe_3: 6 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ LH3_BS_Spiegel : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 12|4@1+ (1,0) [0|15] "" XXX + SG_ LH3_LM : 16|10@1+ (1,0) [0|1023] "" XXX + SG_ LH3_LMSign : 26|1@1+ (1,0) [0|1] "" XXX + SG_ LH3_LMValid : 27|1@1+ (1,0) [0|1] "" XXX + SG_ LH3_Sta_DSR : 28|4@1+ (1,0) [0|15] "" XXX + SG_ LH3_BLW : 32|12@1+ (0.15,0) [0|615] "" XXX + SG_ LH3_BLWSign : 44|1@1+ (1,0) [0|1] "" XXX + SG_ LH3_BLWValid : 45|1@1+ (1,0) [0|1] "" XXX + SG_ LH3_Lenkungstyp : 46|2@1+ (1,0) [0|3] "" XXX + +BO_ 978 Lenkhilfe_2: 7 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ LH2_Geradeaus : 12|1@1+ (1,0) [0|1] "" XXX + SG_ LH2_Sta_Charisma : 13|3@1+ (1,0) [0|7] "" XXX + SG_ LH2_Sta_HCA : 16|4@1+ (1,0) [0|15] "" XXX + SG_ LH2_Ausg_LW1 : 20|1@1+ (1,0) [0|1] "" XXX + SG_ LH2_Ausg_LW1_gue : 21|1@1+ (1,0) [0|1] "" XXX + SG_ LH2_StatEPS_PLA : 24|4@1+ (1,0) [0|15] "" XXX + SG_ LH2_aktLenkeingriff : 32|8@1+ (1,0) [0|255] "" XXX + SG_ LH2_PLA_Err : 48|4@1+ (1,0) [0|15] "" XXX + SG_ LH2_PLA_Abbr : 52|4@1+ (1,0) [0|15] "" XXX + +BO_ 210 HCA_1: 5 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ HCA_Status : 12|4@1+ (1,0) [0|15] "" XXX + SG_ LM_Offset : 16|15@1+ (0.03125,0) [0|300] "cNm" XXX + SG_ LM_OffSign : 31|1@1+ (1,0) [0|1] "" XXX + SG_ Vib_Freq : 32|4@1+ (4,0) [0|60] "Hz" XXX + SG_ Vib_Amp : 36|4@1+ (0.5,0) [0|7.5] "Nm" XXX + +BO_ 644 Motor_Bremse: 6 XXX + SG_ MOB_Standby : 12|1@1+ (1,0) [0|1] "" XXX + SG_ MOB_Freigabe : 14|1@1+ (1,0) [0|1] "" BCM_Gateway,Bremse_MK25AESP,Gateway_separat + SG_ MOB_Anhaltewunsch : 13|1@1+ (1,0) [0|1] "" Bremse_MK25AESP,Getriebe_DQ + SG_ MOB_CHECKSUM : 0|8@1+ (1,0) [0|255] "" Bremse_MK25AESP + SG_ MOB_COUNTER : 8|4@1+ (1,0) [0|15] "" Bremse_MK25AESP + SG_ TSK_v_Begrenzung_aktiv : 15|1@0+ (1,0) [0|1] "" XXX + SG_ TSK_ax_Getriebe_01 : 40|8@1+ (0.048,0) [0|255] "m/s2" XXX + SG_ MOB_Bremsstgr : 16|11@1+ (0.048852,0) [0|100] "Unit_PerCent" Vector__XXX + SG_ MOB_Bremsmom : 27|13@1+ (4,0) [0|32760] "Unit_NewtoMeter" Bremse_MK25AESP + +BO_ 870 AWV: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ AWV_Text : 12|4@1+ (1,0) [0|14] "" Vector__XXX + SG_ AWV_1_Freigabe : 16|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AWV_1_Prefill : 17|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AWV_1_Parameter : 18|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ AWV_only : 20|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AWV_CityANB_Auspraegung : 21|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AWV_Halten : 22|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ANB_Teilbremsung_Freigabe : 23|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AWV_2_Status : 24|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AWV_2_Fehler : 25|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AWV_2_SU_Warnzeit : 26|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ AWV_2_SU_Bremsruck : 28|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AWV_2_SU_Gong : 29|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AWV_2_SU_Lampe : 30|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AWV_2_Umfeldwarn : 31|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AWV_2_Freigabe : 32|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AWV_2_Ruckprofil : 33|3@1+ (1,0) [0|7] "" Vector__XXX + SG_ AWV_2_Warnton : 36|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AWV_2_Warnsymbol : 37|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AWV_Infoton : 38|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AWV_2_Gurtstraffer : 39|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AWV_Konfiguration_Menueanf : 40|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AWV_Konfiguration_Vorw_Menueanf : 41|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AWV_Konfiguration_Status : 42|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AWV_Konfiguration_Vorw_Status : 43|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AWV_2_Abstandswarnung : 51|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ANB_Zielbremsung_Freigabe : 52|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ANB_CM_Anforderung : 53|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ANB_Ziel_Teilbrems_Verz_Anf : 54|10@1+ (0.024,-20.016) [0|1023] "Unit_MeterPerSeconSquar" Vector__XXX + +BO_ 1470 LDW_Status: 8 XXX + SG_ LDW_Lernmodus_rechts : 0|2@1+ (1,0) [0|3] "" XXX + SG_ LDW_Lernmodus_links : 2|2@1+ (1,0) [0|3] "" XXX + SG_ LDW_Lernmodus : 9|3@1+ (1,0) [0|3] "" XXX + SG_ LDW_Textbits : 12|4@1+ (1,0) [0|15] "" XXX + SG_ LDW_Gong : 16|2@1+ (1,0) [0|3] "" XXX + SG_ LDW_Kameratyp : 18|1@1+ (1,0) [0|1] "" XXX + SG_ LDW_Lampe_gelb : 19|1@1+ (1,0) [0|1] "" XXX + SG_ LDW_Lampe_gruen : 20|1@1+ (1,0) [0|1] "" XXX + SG_ LDW_SW_Warnung_links : 21|1@1+ (1,0) [0|1] "" XXX + SG_ LDW_SW_Warnung_rechts : 22|1@1+ (1,0) [0|1] "" XXX + SG_ LDW_KD_Fehler : 23|1@1+ (1,0) [0|1] "" XXX + SG_ LDW_DLC : 24|8@1+ (0.01,-1.25) [-1.25|1.25] "" XXX + SG_ LDW_TLC : 32|5@1+ (0.1,0) [0|3] "" XXX + SG_ LDW_Seite_DLCTLC : 37|1@1+ (1,0) [0|1] "" XXX + SG_ LDW_Frueh_Spaet : 38|2@1+ (1,0) [0|3] "" XXX + +BO_ 428 Bremse_8: 8 XXX + SG_ BR8_Checksumme : 0|8@1+ (1,0) [0|255] "" XXX + SG_ BR8_Zaehler : 8|4@1+ (1,0) [0|15] "" XXX + SG_ BR8_Sta_ACC_Anf : 12|1@1+ (1,0) [0|1] "" XXX + SG_ BR8_Verz_EPB_akt : 13|1@1+ (1,0) [0|1] "" XXX + SG_ BR8_Sta_Br_temp : 14|1@1+ (1,0) [0|1] "" XXX + SG_ BR8_Sta_Br_Druck : 15|1@1+ (1,0) [0|1] "" XXX + SG_ BR8_TolAbgl_HL : 16|8@1+ (0.048828125,-6.201171875) [-6.201171875|6.15234375] "Unit_PerCent" XXX + SG_ BR8_TolAbgl_HR : 24|8@1+ (0.048828125,-6.201171875) [-6.201171875|6.15234375] "Unit_PerCent" XXX + SG_ BR8_Istbeschl : 32|9@1+ (0.02,-7.22) [-7.22|2.98] "Unit_MeterPerSeconSquar" XXX + SG_ BR8_Sta_HW_BLS : 41|1@1+ (1,0) [0|1] "" XXX + SG_ BR8_QB_LBeschl : 42|1@1+ (1,0) [0|1] "" XXX + SG_ BR8_ESC_Mode : 43|2@1+ (1,0) [0|3] "" XXX + SG_ BR8_aktBrSyst : 45|1@1+ (1,0) [0|1] "" XXX + SG_ BR8_Fa_bremst : 46|1@1+ (1,0) [0|1] "" XXX + SG_ BR8_StaBrSyst : 47|1@1+ (1,0) [0|1] "" XXX + SG_ BR8_Laengsbeschl : 48|10@1+ (0.03125,-16) [-15.96875|15.9375] "Unit_MeterPerSeconSquar" XXX + SG_ BR8_Sta_ADR_BR : 58|1@1+ (1,0) [0|1] "" XXX + SG_ BR8_Quattro : 59|1@1+ (1,0) [0|1] "" XXX + SG_ BR8_Sta_VerzReg : 60|1@1+ (1,0) [0|1] "" XXX + SG_ BR8_Sta_BLS : 61|1@1+ (1,0) [0|1] "" XXX + SG_ BR8_Verz_EPB : 62|1@1+ (1,0) [0|1] "" XXX + SG_ BR8_Check_EPB : 63|1@1+ (1,0) [0|1] "" XXX + +BO_ 928 Bremse_10: 8 XXX + SG_ B10_Checksumme : 0|8@1+ (1,0) [0|255] "" XXX + SG_ B10_Zaehler : 8|4@1+ (1,0) [0|15] "" XXX + SG_ B10_QB_Wegimp_VL : 12|1@1+ (1,0) [0|1] "" XXX + SG_ B10_QB_Wegimp_VR : 13|1@1+ (1,0) [0|1] "" XXX + SG_ B10_QB_Wegimp_HL : 14|1@1+ (1,0) [0|1] "" XXX + SG_ B10_QB_Wegimp_HR : 15|1@1+ (1,0) [0|1] "" XXX + SG_ B10_Wegimp_VL : 16|10@1+ (1,0) [0|1000] "" XXX + SG_ B10_Wegimp_VR : 26|10@1+ (1,0) [0|1000] "" XXX + SG_ B10_Wegimp_HL : 36|10@1+ (1,0) [0|1000] "" XXX + SG_ B10_Wegimp_HR : 46|10@1+ (1,0) [0|1000] "" XXX + SG_ B10_QB_Fahrtr_VL : 56|1@1+ (1,0) [0|1] "" XXX + SG_ B10_QB_Fahrtr_VR : 57|1@1+ (1,0) [0|1] "" XXX + SG_ B10_QB_Fahrtr_HL : 58|1@1+ (1,0) [0|1] "" XXX + SG_ B10_QB_Fahrtr_HR : 59|1@1+ (1,0) [0|1] "" XXX + SG_ B10_Fahrtr_VL : 60|1@1+ (1,0) [0|1] "" XXX + SG_ B10_Fahrtr_VR : 61|1@1+ (1,0) [0|1] "" XXX + SG_ B10_Fahrtr_HL : 62|1@1+ (1,0) [0|1] "" XXX + SG_ B10_Fahrtr_HR : 63|1@1+ (1,0) [0|1] "" XXX + +BO_ 835 RDK_Status: 3 XXX + SG_ RKS_Reifen_VL : 0|1@1+ (1,0) [0|1] "" XXX + SG_ RKS_Reifen_VR : 1|1@1+ (1,0) [0|1] "" XXX + SG_ RKS_Reifen_HL : 2|1@1+ (1,0) [0|1] "" XXX + SG_ RKS_Reifen_HR : 3|1@1+ (1,0) [0|1] "" XXX + SG_ RKS_Reifen_RR : 4|1@1+ (1,0) [0|1] "" XXX + SG_ RKS_Warnung_2 : 5|1@1+ (1,0) [0|1] "" XXX + SG_ RKS_Warnung_1 : 6|1@1+ (1,0) [0|1] "" XXX + SG_ RKS_Systemfehler : 7|1@1+ (1,0) [0|1] "" XXX + SG_ RKS_Kalibrier_abgew : 8|1@1+ (1,0) [0|1] "" XXX + SG_ RKS_Druckdiff_Vorn : 9|1@1+ (1,0) [0|1] "" XXX + SG_ RKS_Druckdiff_Hinten : 10|1@1+ (1,0) [0|1] "" XXX + SG_ RKS_Befuellung_RR_low : 11|1@1+ (1,0) [0|1] "" XXX + SG_ RKS_Funkstoerung : 12|1@1+ (1,0) [0|1] "" XXX + SG_ RKS_System_Aus : 13|1@1+ (1,0) [0|1] "" XXX + SG_ RKS_KD_Fehler : 15|1@1+ (1,0) [0|1] "" XXX + SG_ RKS_Lampe : 16|1@1+ (1,0) [0|1] "" XXX + SG_ RKS_Ton : 17|1@1+ (1,0) [0|1] "" XXX + SG_ RKS_Gong : 18|1@1+ (1,0) [0|1] "" XXX + SG_ RKS_RDK_Blinkbit : 19|1@1+ (1,0) [0|1] "" XXX + SG_ RKS_Teillast : 20|1@1+ (1,0) [0|1] "" XXX + +BO_ 914 Gate_Komf_2: 8 XXX + SG_ GK2_Sta_LSM : 0|1@1+ (1,0) [0|1] "" XXX + SG_ GK2_Sta_Lichtsensor : 1|1@1+ (1,0) [0|1] "" XXX + SG_ GK2_Sta_Licht1 : 2|1@1+ (1,0) [0|1] "" XXX + SG_ GK2_Sta_VSG : 3|1@1+ (1,0) [0|1] "" XXX + SG_ GK2_Sta_Schluessel : 4|1@1+ (1,0) [0|1] "" XXX + SG_ GK2_Sta_Profil : 5|1@1+ (1,0) [0|1] "" XXX + SG_ GK2_Sta_Clima2 : 6|1@1+ (1,0) [0|1] "" XXX + SG_ GK2_Sta_BSG4 : 7|1@1+ (1,0) [0|1] "" XXX + SG_ GK2_Sta_Kessy_4 : 8|1@1+ (1,0) [0|1] "" XXX + SG_ BS4_Gleitende_Leuchtw_Anf : 9|1@1+ (1,0) [0|1] "" XXX + SG_ BS4_GLW_Fernlicht_Anf : 10|1@1+ (1,0) [0|1] "" XXX + SG_ GK2_Blk_L_Kontrolle : 11|1@1+ (1,0) [0|1] "" XXX + SG_ GK2_Blk_R_Kontrolle : 12|1@1+ (1,0) [0|1] "" XXX + SG_ GK2_LS_KomFehler : 14|1@1+ (1,0) [0|1] "" XXX + SG_ GK2_LS_def : 15|1@1+ (1,0) [0|1] "" XXX + SG_ GK2_Helligkeit : 16|3@1+ (714.286,0) [0|5000.002] "Unit_Lux" XXX + SG_ GK2_VD_zu_ver : 19|1@1+ (1,0) [0|1] "" XXX + SG_ GK2_VD_entriegelt : 20|1@1+ (1,0) [0|1] "" XXX + SG_ GK2_VD_offen_ver : 21|1@1+ (1,0) [0|1] "" XXX + SG_ GK2_Verdeck_Anf : 22|1@1+ (1,0) [0|1] "" XXX + SG_ GK2_VDKD_auf : 23|1@1+ (1,0) [0|1] "" XXX + SG_ GK2_Schluessel : 24|4@1+ (1,0) [0|15] "" XXX + SG_ GK2_Hardtop : 28|1@1+ (1,0) [0|1] "" XXX + SG_ GK2_AFL_Schalter : 29|1@1+ (1,0) [0|1] "" XXX + SG_ GK2_Nebelschluss : 30|1@1+ (1,0) [0|1] "" XXX + SG_ GK2_EM_LIN_ungueltig : 31|1@1+ (1,0) [0|1] "" XXX + SG_ GK2_Profil : 32|4@1+ (1,0) [0|15] "" XXX + SG_ GK2_Kl_StSt_Info : 36|2@1+ (1,0) [0|3] "" XXX + SG_ GK2_BSG_StSt_Info : 38|2@1+ (1,0) [0|3] "" XXX + SG_ GK2_BEM_P_Generator : 40|8@1+ (50,0) [0|12700] "Unit_Watt" XXX + SG_ GK2_BEM_Abschaltstufen : 48|3@1+ (1,0) [0|7] "" XXX + SG_ GK2_BEM_DFM : 51|5@1+ (3.225,0.025) [0.025|100] "Unit_PerCent" XXX + SG_ GK2_Kessy_StSt_Info : 56|2@1+ (1,0) [0|3] "" XXX + SG_ GK2_BEM_StSt_Info : 58|2@1+ (1,0) [0|3] "" XXX + +BO_ 954 SWA_1: 8 SWA + SG_ SWA_Textbits : 12|4@1+ (1,0) [0|15] "" XXX + SG_ SWA_Gong : 16|2@1+ (1,0) [0|3] "" XXX + SG_ SWA_Sta_passiv : 19|1@1+ (1,0) [0|1] "" XXX + SG_ SWA_Sta_aktiv : 20|1@1+ (1,0) [0|1] "" XXX + SG_ SWA_Infostufe_SWA_li : 26|1@1+ (1,0) [0|1] "" XXX + SG_ SWA_Warnung_SWA_li : 27|1@1+ (1,0) [0|1] "" XXX + SG_ SWA_Infostufe_SWA_re : 42|1@1+ (1,0) [0|1] "" XXX + SG_ SWA_Warnung_SWA_re : 43|1@1+ (1,0) [0|1] "" XXX + SG_ SWA_KD_Fehler : 59|1@1+ (1,0) [0|1] "" XXX + +BO_ 1175 Parkhilfe_01: 8 XXX + SG_ PH_Abschaltursache : 13|3@1+ (1,0) [0|7] "" XXX + SG_ PH_Opt_Anzeige_V_ein : 16|1@1+ (1,0) [0|1] "" XXX + SG_ PH_Opt_Anzeige_H_ein : 17|1@1+ (1,0) [0|1] "" XXX + SG_ PH_Opt_Anz_V_Hindernis : 18|1@1+ (1,0) [0|1] "" XXX + SG_ PH_Opt_Anz_H_Hindernis : 19|1@1+ (1,0) [0|1] "" XXX + SG_ PH_Tongeber_V_aktiv : 20|1@1+ (1,0) [0|1] "" XXX + SG_ PH_Tongeber_H_aktiv : 21|1@1+ (1,0) [0|1] "" XXX + SG_ PH_Tongeber_mute : 22|1@1+ (1,0) [0|1] "" XXX + SG_ PH_Anf_Audioabsenkung : 23|1@1+ (1,0) [0|1] "" XXX + SG_ PH_Frequenz_hinten : 32|4@1+ (1,0) [0|15] "" XXX + SG_ PH_Lautstaerke_hinten : 36|4@1+ (1,0) [0|15] "" XXX + SG_ PH_Frequenz_vorn : 40|4@1+ (1,0) [0|15] "" XXX + SG_ PH_Lautstaerke_vorn : 44|4@1+ (1,0) [0|15] "" XXX + SG_ PH_Trigger_Bildaufschaltung : 48|1@1+ (1,0) [0|1] "" XXX + SG_ PH_StartStopp_Info : 49|2@1+ (1,0) [0|3] "" XXX + SG_ PH_Aufbauten_erk : 51|1@1+ (1,0) [0|1] "" XXX + SG_ PH_BerErk_vorn : 52|2@1+ (1,0) [0|3] "" XXX + SG_ PH_BerErk_hinten : 54|2@1+ (1,0) [0|3] "" XXX + SG_ PH_defekt : 56|1@1+ (1,0) [0|1] "" XXX + SG_ PH_gestoert : 57|1@1+ (1,0) [0|1] "" XXX + SG_ PH_Systemzustand : 58|3@1+ (1,0) [0|7] "" XXX + SG_ PH_Display_Kundenwunsch : 61|2@1+ (1,0) [0|3] "" XXX + SG_ PH_KD_Fehler : 63|1@1+ (1,0) [0|1] "" XXX + +BO_ 1463 Bremse_11: 8 XXX + SG_ B11_HydHalten : 13|1@1+ (1,0) [0|1] "" XXX + SG_ B11_Br_StSt_Info : 14|2@1+ (1,0) [0|3] "" XXX + SG_ B11_OBD_Nib_VL : 16|4@1+ (1,0) [0|15] "" XXX + SG_ B11_OBD_Nib_VR : 20|4@1+ (1,0) [0|15] "" XXX + SG_ B11_OBD_Nib_HL : 24|4@1+ (1,0) [0|15] "" XXX + SG_ B11_OBD_Nib_HR : 28|4@1+ (1,0) [0|15] "" XXX + SG_ B11_EPB_Steller_akt : 32|1@1+ (1,0) [0|1] "" XXX + SG_ B11_EPB_Steller_gue : 33|1@1+ (1,0) [0|1] "" XXX + +BO_ 1500 Soll_Verbauliste_neu: 8 XXX + SG_ VL1_Motor_SG : 0|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Getr_SG : 1|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_ABS : 2|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Kombi : 3|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_LSM : 4|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Airbag : 5|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Lenkhilfe : 6|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_dyn_LWR : 7|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_res_08 : 8|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Allrad : 9|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_ADR : 10|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_ADR_getrennt : 11|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_EPB : 12|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_res_13 : 13|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Daempfer : 14|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Quersperre : 15|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_MotorSlave : 16|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_SWA : 17|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_HCA : 18|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_RKA_Plus : 19|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_PLA : 20|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_WFS_KBI : 21|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Kombi_KBI : 22|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Soll_eq_Ist : 23|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_BSG_Komf : 24|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_ZKE : 25|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_TSG_FT : 26|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_TSG_BT : 27|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_TSG_HL : 28|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_TSG_HR : 29|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Memory : 30|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Dachmodul_K : 31|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Zentralelektrik_II : 32|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_RDK : 33|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Lenksaeule : 34|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Gateway : 35|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Clima_Komf : 36|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Einparkhilfe : 37|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_PTC_Heizung : 38|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Standheiz : 39|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Verdeck : 40|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_RSE_I : 41|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_res_42 : 42|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_MDI_I : 43|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Anhaenger : 44|1@1+ (1,0) [0|1] "" SWA + SG_ VL1_Memory_BF : 45|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Easy_Entry_VF : 46|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Easy_Entry_VB : 47|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Heckdeckel : 48|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Rearview : 49|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Sonderfzg_SG : 50|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Tastenmodul : 51|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Kompass : 52|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_WFS_K : 53|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_GSM_Pager : 54|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_InfoElektronik : 55|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_DSP : 56|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_DAB : 57|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Telematik : 58|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Navigation : 59|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_TV_Tuner : 60|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Neigungsmodul_I : 61|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Radio : 62|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Telefon : 63|1@1+ (1,0) [0|1] "" XXX + +BO_ 1490 Ident: 8 XXX + SG_ IDT_Mux M : 0|2@1+ (1,0) [0|2] "" XXX + SG_ IDT_Geheimnis_1 m0 : 8|8@1+ (1,0) [0|255] "" XXX + SG_ IDT_VIN_4 m1 : 8|8@1+ (1,0) [0|255] "" XXX + SG_ IDT_VIN_11 m2 : 8|8@1+ (1,0) [0|255] "" XXX + SG_ IDT_Geheimnis_2 m0 : 16|8@1+ (1,0) [0|255] "" XXX + SG_ IDT_VIN_5 m1 : 16|8@1+ (1,0) [0|255] "" XXX + SG_ IDT_VIN_12 m2 : 16|8@1+ (1,0) [0|255] "" XXX + SG_ IDT_Geheimnis_3 m0 : 24|8@1+ (1,0) [0|255] "" XXX + SG_ IDT_VIN_6 m1 : 24|8@1+ (1,0) [0|255] "" XXX + SG_ IDT_VIN_13 m2 : 24|8@1+ (1,0) [0|255] "" XXX + SG_ IDT_Geheimnis_4 m0 : 32|8@1+ (1,0) [0|255] "" XXX + SG_ IDT_VIN_7 m1 : 32|8@1+ (1,0) [0|255] "" XXX + SG_ IDT_VIN_14 m2 : 32|8@1+ (1,0) [0|255] "" XXX + SG_ IDT_VIN_1 m0 : 40|8@1+ (1,0) [0|255] "" XXX + SG_ IDT_VIN_8 m1 : 40|8@1+ (1,0) [0|255] "" XXX + SG_ IDT_VIN_15 m2 : 40|8@1+ (1,0) [0|255] "" XXX + SG_ IDT_VIN_2 m0 : 48|8@1+ (1,0) [0|255] "" XXX + SG_ IDT_VIN_9 m1 : 48|8@1+ (1,0) [0|255] "" XXX + SG_ IDT_VIN_16 m2 : 48|8@1+ (1,0) [0|255] "" XXX + SG_ IDT_VIN_3 m0 : 56|8@1+ (1,0) [0|255] "" XXX + SG_ IDT_VIN_10 m1 : 56|8@1+ (1,0) [0|255] "" XXX + SG_ IDT_VIN_17 m2 : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 2000 Diagnose_1: 8 XXX + SG_ DI1_VerlernZaehl : 0|8@1+ (1,0) [0|254] "" XXX + SG_ DI1_km_Stand : 8|20@1+ (1,0) [0|1048575] "Unit_KiloMeter" XXX + SG_ DI1_Jahr : 28|7@1+ (1,2000) [2000|2127] "Unit_Year" XXX + SG_ DI1_Monat : 35|4@1+ (1,0) [1|12] "Unit_Month" XXX + SG_ DI1_Tag : 39|5@1+ (1,0) [0|31] "Unit_Day" XXX + SG_ DI1_Stunde : 44|5@1+ (1,0) [0|23] "Unit_Hours" XXX + SG_ DI1_Minute : 49|6@1+ (1,0) [0|59] "Unit_Minut" XXX + SG_ DI1_Sekunde : 55|6@1+ (1,0) [0|59] "Unit_Secon" XXX + SG_ DI1_KM_Stand_alt : 62|1@1+ (1,0) [0|1] "" XXX + SG_ DI1_Zeit_alt : 63|1@1+ (1,0) [0|1] "" XXX + +CM_ SG_ 80 Checksumme_Airbag_1 "Checksum Airbag_1"; +CM_ SG_ 80 Zaehler_Airbag_1 "Counter Airbag_1"; + +CM_ SG_ 210 LM_Offset "centiNewton-meters for ease of calculation without FP math in Panda"; +CM_ SG_ 210 Vib_Amp "Steering wheel haptic, amplitude"; +CM_ SG_ 210 Vib_Freq "Steering wheel haptic, frequency"; + +CM_ SG_ 416 Zaehler_Bremse_1 "Counter Bremse_1"; + +CM_ SG_ 640 inneres_Motor_Moment "Engine Indicated Torque"; +CM_ SG_ 640 Fahrerwunschmoment "Driver Requested Torque"; +CM_ SG_ 640 mechanisches_Motor_Verlustmomen "Mechanical Torque Loss"; +CM_ SG_ 640 Fahrpedalwert_oder_Drosselklapp "Accelerator Pedal or Throttle Position"; +CM_ SG_ 640 Motordrehzahl "Engine Speed"; +CM_ SG_ 640 Momentenangaben_ungenau "Approximate Torque Values"; +CM_ SG_ 640 inneres_Motor_Moment_ohne_exter "Inner torque without external"; + +CM_ SG_ 644 MOB_CHECKSUM "Checksum MOB"; +CM_ SG_ 644 MOB_COUNTER "Counter MOB"; + +CM_ SG_ 648 Minimales_Motormoment_bei_Zuend "Minimum Torque Adjustment"; +CM_ SG_ 648 Begrenzungsmoment "Maximum Inner Torque"; +CM_ SG_ 648 Bremstestschalter "Brake Test Switch"; +CM_ SG_ 648 Soll_Geschwindigkeit_bei_GRA_Be "Desired Vehicle Speed"; +CM_ SG_ 648 Bremslichtschalter "Brake Light Switch"; +CM_ SG_ 648 Leerlaufsolldrehzahl__Motor_2_ "Target Idle Speed"; +CM_ SG_ 648 Fahrzeuggeschwindigkeit "Vehicle Speed"; +CM_ SG_ 648 Kuehlmitteltemperatur__Motor_2_ "Coolant Temperature"; + +CM_ SG_ 896 Drosselklappenpoti "Throttle Position"; +CM_ SG_ 896 Motor_Wunschdrehzahl "Desired engine speed"; +CM_ SG_ 896 Motordrehzahlbeeinflussung "Shift Target Influence"; +CM_ SG_ 896 Fahrpedal_Rohsignal "Accelerator Pedal Position"; +CM_ SG_ 896 Ansauglufttemperatur "Intake Air Temperature"; +CM_ SG_ 896 Kein_E_Gas "ETB flag"; +CM_ SG_ 896 Kein_Start_Stop "Start/stop flag"; +CM_ SG_ 896 Rad_Wunschmoment "Desired wheel torque"; + +CM_ SG_ 912 GK1_Fa_Tuerkont "Status of the driver's door rotary latch"; +CM_ SG_ 912 BSK_HL_geoeffnet "Status of the rear left door rotary latch"; +CM_ SG_ 912 BSK_HR_geoeffnet "Status of the rear right door rotary latch"; +CM_ SG_ 912 BSK_BT_geoeffnet "Status of the passenger door rotary latch"; +CM_ SG_ 912 BSK_HD_Hauptraste "Status of trunk lid main detent"; + +CM_ SG_ 1088 Zaehler_Getriebe_1 "Counter Getriebe_1"; +CM_ SG_ 1088 Waehlhebelposition__Getriebe_1_ "Gear Selector Position"; +CM_ SG_ 1088 inneres_Soll_Motormoment "Desired Inner Torque"; +CM_ SG_ 1088 Gang_eingelegt "Gear Engaged"; +CM_ SG_ 1088 Schaltabsicht "Shift Intent"; +CM_ SG_ 1088 Kuehlleistung "Cooling Power"; +CM_ SG_ 1088 Wandlerverlustmoment "Converter Torque Loss"; +CM_ SG_ 1088 Getriebe_Notlauf "Transmission_Notlauf"; +CM_ SG_ 1088 Zielgang_oder_eingelegter_Gang "target_gear_or_gear_in_engagement"; +CM_ SG_ 1088 Uebertragungsfunktion "transfer function"; +CM_ SG_ 1088 EGS_Anforderung "EGS Requirement"; +CM_ SG_ 1088 Schaltung_aktiv__Getriebe_1_ "Shift Activity"; + +CM_ SG_ 1056 Fehlerstatus_Aussentemp__4_1 "ambient temp error"; +CM_ SG_ 1056 Fehlerstatus_Oeltemperatur_4_1 "oil temp error"; +CM_ SG_ 1056 Fehlerst__Kuehlmitteltemp__4_1 "water temp error"; +CM_ SG_ 1056 Aussentemperatur_gefiltert "outside temp, filtered"; +CM_ SG_ 1056 Oeltemperatur_4_1 "kombi oil temperature"; +CM_ SG_ 1056 Kuehlmitteltemp__4_1__Kombi_2_ "kombi coolant temperature"; + +CM_ SG_ 1096 Zaehler_Waehlhebel_1 "Counter Waehlhebel_1"; + +CM_ SG_ 1152 CHECKSUM "Checksum Motor_5"; +CM_ SG_ 1152 Anlasser_Ausspuren "Starter Disable"; +CM_ SG_ 1152 Anlasser_Freigabe "Starter Release"; +CM_ SG_ 1152 Klimadrucksignal__Motor_5_ "Air conditioning pressure signal"; +CM_ SG_ 1152 Kraftstoffverbrauchssignal "Fuel consumption signal"; +CM_ SG_ 1152 K_hlerluefteransteuerung "Cooling fan control signal"; +CM_ SG_ 1152 Klimakompressor_Leistungsreduzi "Air conditioning compressor power reduction flag"; +CM_ SG_ 1152 Klimakompressor_aus__Motor_5_ "Air conditioning compressor"; +CM_ SG_ 1152 Anlasser_Freigabe "Starter release"; +CM_ SG_ 1152 OBD_2_Lampe "OBD light"; +CM_ SG_ 1152 E_Gas_Lampe "ETB light"; +CM_ SG_ 1152 Ladekontroll_Lampe "Charge light"; +CM_ SG_ 1152 Vorgluehlampe__Motor_5_ "Glow light"; + +CM_ SG_ 1160 Zaehler_Motor_6 "Counter Motor_6"; +CM_ SG_ 1160 Hoeheninfo__Motor_6_ "Altitude Correction"; +CM_ SG_ 1160 Istmoment_f_r_Getriebe "Actual torque for gear"; +CM_ SG_ 1160 Sollmoment_f_r_Getriebe "Target torque for gearbox"; +CM_ SG_ 1160 Checksumme_Motor_6 "Checksum Motor_6"; +CM_ SG_ 1160 GRA_Sollbeschleunigung "GRA target acceleration"; +CM_ SG_ 1160 Ruckmeldung_Momenten "Feedback torque-integral gear intervention"; + +CM_ SG_ 1344 Zahler_Getriebe_2 "Counter Getriebe_2"; +CM_ SG_ 1344 Hochschaltlampe "Upshift Flag"; + +CM_ SG_ 1386 ACA_V_Wunsch "255=unset"; + +CM_ SG_ 1408 Zaehler_Motor_Flexia "Counter Motor_Flexia"; +CM_ SG_ 1408 Verbrennungsart "Type of combustion"; +CM_ SG_ 1408 Max_Drehmoment "Maximum torque"; +CM_ SG_ 1408 Drehzahl_MaxNorm "RPM of maximum torque"; +CM_ SG_ 1408 Hubraum "Displacement"; +CM_ SG_ 1408 Anzahl_Zylinder "Number of cylinders"; +CM_ SG_ 1408 Anzahl_Ventile "Number of valves"; +CM_ SG_ 1408 Ansaugsystem "Induction System"; +CM_ SG_ 1408 Motorleistung "Maximum engine power"; + +CM_ SG_ 1416 Ladedruck "Boost Pressure"; +CM_ SG_ 1416 Motordrehzahlgradient "Engine speed gradient"; +CM_ SG_ 1416 Hoeheninfo__Motor_7_ "Altitude correction factor"; +CM_ SG_ 1416 Oltemperatur "Oil temperature"; + +CM_ SG_ 1470 LDW_Direction "0=right,1=left"; +CM_ SG_ 1470 XX_DLCORTLC1 "Might be DLC or TLC"; +CM_ SG_ 1470 XX_DLCORTLC2 "Might be DLC or TLC, might have wrong size"; + +CM_ SG_ 1550 MFA_v_Signal_02 "0=km/h, 1=mph"; + +VAL_ 870 AWV_Text 0 "kein_Text" 1 "FrontAssist_aus" 2 "FrontAssist_startet" 3 "FrontAssist_Warnung" 4 "FrontAssist_Sens_reinig" 5 "FrontAssist_Failure" 6 "FrontAssist_Demo" 7 "Vorhalt" 8 "Bremsung_wird_gerade_durchgefuehrt" 9 "Sensor_not_verfuegbar" 10 "Sensor_reinigen" 11 "Service_notwendig_Failure" 12 "Funktion_vom_Fahrer_deactivated" 13 "Funktion_vom_Fahrer_activated" 14 "FrontAssist_zur_Zeit_not_verfuegbar__rev_Failure"; +VAL_ 870 AWV_1_Freigabe 0 "nicht_freigegeben" 1 "freigegeben"; +VAL_ 870 AWV_1_Prefill 0 "keine_Prefill_Anf" 1 "Prefill_Anf"; +VAL_ 870 AWV_1_Parameter 0 "Defaultparametersatz" 1 "Par_leicht_erh_Empf" 2 "Par_erh_Empf" 3 "Par_hoechster_Empf"; +VAL_ 870 AWV_only 0 "ACC_und_AWV_verbaut" 1 "AWV_ohne_ACC_verbaut"; +VAL_ 870 AWV_CityANB_Auspraegung 0 "autom_Bremsung_im_ges_vBereich" 1 "autom_Bremsung_im_def_vBereich"; +VAL_ 870 AWV_Halten 0 "keine_Anforderung" 1 "Anforderung_das_Fzg_im_Stillstand_zu_halten"; +VAL_ 870 ANB_Teilbremsung_Freigabe 0 "Teilbremsung_nicht_freigegeben" 1 "Teilbremsung_freigegeben"; +VAL_ 870 AWV_2_Status 0 "Lampe_aus" 1 "Lampe_ein"; +VAL_ 870 AWV_2_Fehler 0 "Lampe_aus" 1 "Lampe_ein"; +VAL_ 870 AWV_2_SU_Warnzeit 0 "frueh" 1 "normal" 2 "spaet" 3 "adaptiv"; +VAL_ 870 AWV_2_SU_Bremsruck 0 "Bremsruck_deaktiviert" 1 "Bremsruck_aktiviert"; +VAL_ 870 AWV_2_SU_Gong 0 "Gong_deaktiviert" 1 "Gong_aktiviert"; +VAL_ 870 AWV_2_SU_Lampe 0 "Lampe_deaktiviert" 1 "Lampe_aktiviert"; +VAL_ 870 AWV_2_Umfeldwarn 0 "keine_Warnung" 1 "Warnung"; +VAL_ 870 AWV_2_Freigabe 0 "keine_Ruckfreigabe" 1 "Ruckfreigabe"; +VAL_ 870 AWV_2_Ruckprofil 0 "kein_Ruck" 1 "Ruckprofil_1" 2 "Ruckprofil_2" 3 "Ruckprofil_3" 4 "Ruckprofil_4" 5 "Ruckprofil_5" 6 "not_erlaubt" 7 "not_erlaubt"; +VAL_ 870 AWV_2_Warnton 0 "Aus" 1 "Ein"; +VAL_ 870 AWV_2_Warnsymbol 0 "Aus" 1 "Ein"; +VAL_ 870 AWV_Infoton 0 "Aus" 1 "Ein"; +VAL_ 870 AWV_2_Gurtstraffer 0 "Gurt_not_straffen" 1 "Gurt_straffen"; +VAL_ 870 AWV_Konfiguration_Menueanf 0 "Menue_deaktivieren" 1 "Menue_aktivieren"; +VAL_ 870 AWV_Konfiguration_Vorw_Menueanf 0 "Menue_deaktivieren" 1 "Menue_aktivieren"; +VAL_ 870 AWV_Konfiguration_Status 0 "AWV_inaktiv" 1 "AWV_aktiv"; +VAL_ 870 AWV_Konfiguration_Vorw_Status 0 "AWV_Vorwarnung_inaktiv" 1 "AWV_Vorwarnung_aktiv"; +VAL_ 870 AWV_2_Abstandswarnung 0 "kein_Warnhinweis" 1 "Warnhinweis"; +VAL_ 870 ANB_Zielbremsung_Freigabe 0 "Zielbremsung_nicht_freigegeben" 1 "Zielbremsung_freigegeben"; +VAL_ 870 ANB_CM_Anforderung 0 "keine_Anforderung" 1 "Anforderung_aktiv"; + +VAL_ 872 ACS_Sta_ADR 2 "ADR_passiv" 0 "ADR_nicht_aktiv" 1 "ADR_aktiv" 3 "irrev_Fehler" ; +VAL_ 872 ACS_ADR_Schub 1 "Verz_begr_auf_Schub" 0 "Verz_nicht_begr_auf_Schub" ; +VAL_ 872 ACS_Schubabsch 1 "SA_nicht_zulaessig" 0 "SA_zulaessig" ; +VAL_ 872 ACS_StSt_Info 3 "Systemfehler" 0 "Motorlauf_nn" 1 "Stoppverbot_Motoranlauf_nn" 2 "Motoranlauf_notwendig" ; +VAL_ 872 ACS_MomEingriff 1 "MomEingr_verhindern" 0 "keine_Beeinfl_MomEingr_Mot" ; +VAL_ 872 ACS_Typ_ACC 0 "Basis_ACC" 1 "ACC_mit_FollowToStop" 3 "frei" 2 "frei" ; +VAL_ 872 ACS_FreigSollB 0 "Sollbeschl_nicht_freigeg" 1 "Sollbeschl_freigeg" ; +VAL_ 872 ACS_Sollbeschl 2046 "ADR_nicht_aktiv" 2047 "Fehler" ; +VAL_ 872 ACS_Anhaltewunsch 0 "kein_Haltewunsch" 1 "Fzg_haelt_an" ; +VAL_ 872 ACS_Fehler 1 "Fehlerspeichereintrag" 0 "kein_Fehlerspeichereintrag" ; +VAL_ 872 ACS_zul_Regelabw 254 "ADR_nicht_aktiv" 255 "Fehler" ; +VAL_ 872 ACS_max_AendGrad 254 "Neutralwert" 0 "Neutralwert" 255 "Fehler" ; + +VAL_ 978 LH2_Sta_HCA 0 "disabled" 1 "initializing" 2 "fault" 3 "ready" 4 "rejected" 5 "active"; +VAL_ 1088 Waehlhebelposition__Getriebe_1_ 8 "P" 7 "R" 6 "N" 5 "D" 9 "U" 12 "S" 14 "T" 10 "T" 11 "T"; + +VAL_ 1386 ACA_StaACC 6 "ACC_rev_aus" 0 "Hauptschalter_aus" 4 "ACC_im_Hintergrund" 3 "ACC_aktiv" 1 "Reserve" 2 "ACC_passiv" 7 "ACC_irrev_aus" 5 "frei" ; +VAL_ 1386 ACA_ID_StaACC 0 "keine_Anzeige" ; +VAL_ 1386 ACA_Fahrerhinw 1 "Ein" 0 "Aus" ; +VAL_ 1386 ACA_AnzDisplay 1 "Anzeige_erw" 0 "Anzeige_nicht_erw" ; +VAL_ 1386 ACA_Zeitluecke 3 "Zeitluecke3" 10 "Zeitluecke10" 4 "Zeitluecke4" 14 "Zeitluecke14" 11 "Zeitluecke11" 2 "Zeitluecke2" 13 "Zeitluecke13" 9 "Zeitluecke9" 1 "Zeitluecke1" 8 "Zeitluecke8" 5 "Zeitluecke5" 15 "Zeitluecke15" 0 "nicht_definiert" 12 "Zeitluecke12" 6 "Zeitluecke6" 7 "Zeitluecke7" ; +VAL_ 1386 ACA_V_Wunsch 255 "kein_Wert_im_Speicher" ; +VAL_ 1386 ACA_kmh_mph 0 "km_h" 1 "mph" ; +VAL_ 1386 ACA_Akustik1 0 "kein_Gong" 1 "Gong" ; +VAL_ 1386 ACA_Akustik2 0 "kein_Summer" 1 "Summer" ; +VAL_ 1386 ACA_PrioDisp 1 "mittlere_Prio" 3 "keine_Anzeige_Anf" 0 "hohe_Prio" 2 "niedrige_Prio" ; +VAL_ 1386 ACA_gemZeitl 6 "Zeitluecke6" 2 "Zeitluecke2" 7 "Zeitluecke7" 13 "Zeitluecke13" 11 "Zeitluecke11" 4 "Zeitluecke4" 8 "Zeitluecke8" 12 "Zeitluecke12" 10 "Zeitluecke10" 0 "Kein_Objekt_erfasst" 1 "Zeitluecke1" 3 "Zeitluecke3" 9 "Zeitluecke9" 15 "Zeitluecke15" 14 "Zeitluecke14" 5 "Zeitluecke5" ; +VAL_ 1386 ACA_ACC_Verz 0 "ACC_verzoegert_nicht" 1 "ACC_verzoegert" ; +VAL_ 1386 ACA_StaGRA 3 "GRA_aktiv" 4 "GRA_uebertreten" 2 "GRA_passiv" 0 "Hauptschalter_aus" 6 "frei" 7 "GRA_Fehler" 1 "Reserve" 5 "frei" ; +VAL_ 1386 ACA_ID_StaGRA 0 "keine_Anzeige" ; +VAL_ 1386 ACA_Codierung 0 "ACC" 1 "GRA" ; +VAL_ 1386 ACA_Tachokranz 0 "nicht_beleuchtet" 1 "beleuchtet" ; +VAL_ 1386 ACA_Aend_Zeitluecke 1 "Anzeige_angef" 0 "keine_Anzeige" ; + +VAL_ 1472 EP1_Fehler_Sta 0 "volle_Funktion" 1 "linke_Seite_fehlerhaft" 2 "rechte_Seite_fehlerhaft" 3 "beide_Seiten_fehlerhaft"; +VAL_ 1472 EP1_Sta_EPB 0 "Bremse_geoeffnet" 1 "Bremse_geschlossen"; +VAL_ 1472 EP1_Sta_Schalter 0 "volle_Funktion" 1 "Schalter_ausser_Funktion"; +VAL_ 1472 EP1_Spannkraft 31 "Fehler"; +VAL_ 1472 EP1_Schalterinfo 0 "keine_Fahreranforderung" 1 "Fahreranforderung_oeffnen" 2 "Fahreranforderung_schliessen" 3 "Schalterfehler"; +VAL_ 1472 EP1_Sta_NWS 0 "volle_Funktion" 1 "keine_Funktion"; +VAL_ 1472 EP1_Fehlereintr 0 "kein_Fehlerspeichereintrag" 1 "Fehlerspeichereintrag"; +VAL_ 1472 EP1_Freigabe_Ver 0 "Verzoegerungsanf_nicht_freigegeb" 1 "Verzoegerungsanf_freigegeben"; +VAL_ 1472 EP1_AutoHold_zul 0 "Pers_nicht_zulaessig" 1 "Pers_zulaessig"; +VAL_ 1472 EP1_AutoHold_aktiv 0 "nein" 1 "ja"; +VAL_ 1472 EP1_SleepInd 0 "CAN_wird_benoetigt" 1 "Sleep_bereit"; +VAL_ 1472 EP1_Status_Kl_15 0 "Kl_15_aus" 1 "Kl_15_ein"; +VAL_ 1472 EP1_Lampe_AutoP 0 "Lampe_aus" 1 "Lampe_ein"; +VAL_ 1472 EP1_Bremslicht 0 "Aus" 1 "Ein"; +VAL_ 1472 EP1_Warnton1 0 "Aus" 1 "Ein"; +VAL_ 1472 EP1_Warnton2 0 "Aus" 1 "Ein"; +VAL_ 1472 EP1_AnfShLock 0 "Aus" 1 "Ein"; +VAL_ 1472 EPB_Autoholdlampe 0 "Lampe_aus" 1 "Lampe_ein"; +VAL_ 1472 EP1_QualNeigWi 0 "gueltiger_Wert" 1 "Ersatz_Init_oder_Fehlerwert"; +VAL_ 1472 EP1_KuppModBer 0 "Kuppsensor_aus_Modbereich" 1 "Kupplsensor_im_Modbereich" 2 "Sensorsignal_ungenau" 3 "Sensor_defekt"; +VAL_ 1472 EP1_HydrHalten 0 "Fzg_nicht_hydr_geh" 1 "Fzg_hydr_geh"; +VAL_ 1472 EP1_Fkt_Lampe 0 "Lampe_aus" 1 "Lampe_ein"; +VAL_ 1472 EP1_Warnton 0 "Warnton_aus" 1 "Warnton_an"; +VAL_ 1472 EP1_Fehler_BKL 0 "BKL_aus" 1 "BKL_an"; +VAL_ 1472 EP1_Fehler_gelb 0 "Lampe_aus" 1 "Lampe_ein"; +VAL_ 1472 EP1__Text 0 "kein_Text" 1 "Text_1" 2 "Text_2" 3 "Text_3" 4 "Text_4" 5 "Text_5" 6 "reserviert" 7 "reserviert" 8 "Text_8"; diff --git a/opendbc_repo/opendbc/dbc/vw_mqb_2010.dbc b/opendbc_repo/opendbc/dbc/vw_mqb_2010.dbc new file mode 100644 index 0000000000..44ec0cd3e0 --- /dev/null +++ b/opendbc_repo/opendbc/dbc/vw_mqb_2010.dbc @@ -0,0 +1,1634 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: Airbag_MQB BAP_Tester_MQB BMS_MQB Datenlogger_MQB Gateway_MQB Getriebe_DQ_Hybrid_MQB Getriebe_DQ_MQB LEH_MQB Motor_Diesel_MQB Motor_Hybrid_MQB Motor_Otto_MQB SAK_MQB Waehlhebel_MQB Vector__XXX l c i XXX + + +BO_ 290 ACC_06: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ ACC_limitierte_Anfahrdyn : 12|1@1+ (1,0) [0|1] "" XXX + SG_ ACC_nachtr_Stopp_Anf : 13|1@1+ (1,0) [0|1] "" XXX + SG_ ACC_DynErhoehung : 14|1@1+ (1.0,0.0) [0.0|1] "" XXX + SG_ ACC_Freilaufstrategie_TSK : 15|1@1+ (1.0,0.0) [0.0|1] "" XXX + SG_ ACC_zul_Regelabw_unten : 16|6@1+ (0.024,0) [0|1.512] "Unit_MeterPerSeconSquar" XXX + SG_ ACC_StartStopp_Info : 22|2@1+ (1,0) [0|3] "" XXX + SG_ ACC_Sollbeschleunigung_02 : 24|11@1+ (0.005,-7.22) [-7.22|3.005] "Unit_MeterPerSeconSquar" XXX + SG_ ACC_zul_Regelabw_oben : 35|5@1+ (0.0625,0) [0|1.9375] "Unit_MeterPerSeconSquar" XXX + SG_ ACC_neg_Sollbeschl_Grad_02 : 40|8@1+ (0.05,0) [0|12.75] "Unit_MeterPerCubicSecon" XXX + SG_ ACC_pos_Sollbeschl_Grad_02 : 48|8@1+ (0.05,0) [0|12.75] "Unit_MeterPerCubicSecon" XXX + SG_ ACC_Anfahren : 56|1@1+ (1,0) [0|1] "" XXX + SG_ ACC_Anhalten : 57|1@1+ (1,0) [0|1] "" XXX + SG_ ACC_Typ : 58|2@1+ (1,0) [0|3] "" XXX + SG_ ACC_Status_ACC : 60|3@1+ (1,0) [0|7] "" XXX + SG_ ACC_Minimale_Bremsung : 63|1@1+ (1,0) [0|1] "" XXX + +BO_ 279 ACC_10: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ AWV1_Anf_Prefill : 16|1@1+ (1,0) [0|1] "" XXX + SG_ ANB_CM_Info : 17|1@1+ (1,0) [0|1] "" XXX + SG_ AWV2_Freigabe : 18|1@1+ (1,0) [0|1] "" XXX + SG_ AWV1_HBA_Param : 19|2@1+ (1,0) [0|3] "" XXX + SG_ AWV2_Ruckprofil : 21|3@1+ (1,0) [0|7] "" XXX + SG_ AWV2_Priowarnung : 24|1@1+ (1,0) [0|1] "" XXX + SG_ ANB_CM_Anforderung : 25|1@1+ (1,0) [0|1] "" XXX + SG_ ANB_Info_Teilbremsung : 26|1@1+ (1,0) [0|1] "" XXX + SG_ ANB_Notfallblinken : 27|1@1+ (1,0) [0|1] "" XXX + SG_ ANB_Teilbremsung_Freigabe : 28|1@1+ (1,0) [0|1] "" XXX + SG_ ANB_Zielbrems_Teilbrems_Verz_Anf : 29|10@1+ (0.024,-20.016) [-20.016|4.536] "Unit_MeterPerSeconSquar" XXX + SG_ ANB_Zielbremsung_Freigabe : 39|1@1+ (1,0) [0|1] "" XXX + SG_ AWV_Vorstufe : 40|1@1+ (1,0) [0|1] "" XXX + SG_ AWV_Halten : 41|1@1+ (1,0) [0|1] "" XXX + SG_ AWV_CityANB_Auspraegung : 42|1@1+ (1,0) [0|1] "" XXX + SG_ PCF_Freigabe : 43|1@1+ (1,0) [0|1] "" XXX + SG_ AWV1_ECD_Anlauf : 44|1@1+ (1,0) [0|1] "" XXX + SG_ AWV_AWA_VZ_Anf_Lenkmomoffset : 46|1@1+ (1.0,0.0) [0.0|1] "" XXX + SG_ AWV_AWA_Anf_Lenkmomoffset : 47|9@1+ (0.01,0) [0.00|5.11] "Unit_NewtoMeter" XXX + SG_ PCF_Time_to_collision : 56|8@1+ (0.01,0) [0|2.5] "Unit_Secon" XXX + +BO_ 679 ACC_13: 8 XXX + SG_ ACC_Regelgeschw : 12|10@1+ (0.32,0) [0|327.04] "Unit_KiloMeterPerHour" XXX + SG_ ACC_Einheit_maxSetzgeschw : 22|1@1+ (1,0) [0|1] "" XXX + SG_ ACC_maxSetzgeschw : 23|9@1+ (1,0) [0|510] "" XXX + SG_ ACC_minRegelgeschw : 32|8@1+ (0.32,0) [0|81.28] "Unit_KiloMeterPerHour" XXX + SG_ ACC_maxRegelgeschw : 40|8@1+ (0.32,0) [0|81.28] "Unit_KiloMeterPerHour" XXX + SG_ ACC_Tempolimitassistent : 48|2@1+ (1,0) [0|3] "" XXX + SG_ ACC_Kurvenassistent : 52|3@1+ (1,0) [0|7] "" XXX + SG_ ACC_RUV : 56|2@1+ (1,0) [0|3] "" XXX + SG_ ACC_Tachokranz : 58|1@1+ (1,0) [0|1] "" XXX + SG_ ACC_Typ_Tachokranz_unten : 59|1@1+ (1,0) [0|1] "" XXX + SG_ ACC_ENG_Texte : 60|2@1+ (1,0) [0|3] "" XXX + SG_ ACC_ADAPTIVE : 63|2@0+ (1,0) [0|3] "" XXX + +BO_ 681 ACC_15: 8 XXX + SG_ AWV_Warnung : 16|3@1+ (1,0) [0|7] "" XXX + SG_ AWV_Texte : 24|3@1+ (1,0) [0|7] "" XXX + SG_ AWV_Status_Anzeige : 32|2@1+ (1,0) [0|3] "" XXX + SG_ AWV_Einstellung_System_FSG : 34|1@1+ (1,0) [0|1] "" XXX + SG_ AWV_Einstellung_Warnung_FSG : 36|3@1+ (1,0) [0|7] "" XXX + SG_ AWV_Warnlevel : 58|6@1+ (1,0) [0|63] "" XXX + +BO_ 64 Airbag_01: 8 Airbag_MQB + SG_ Airbag_01_CRC : 0|8@1+ (1,0) [0|255] "" BMS_MQB,Gateway_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ Airbag_01_BZ : 8|4@1+ (1,0) [0|15] "" BMS_MQB,Gateway_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ AB_RGS_Anst : 12|4@1+ (1,0) [0|15] "" Gateway_MQB + SG_ AB_Front_Crash : 16|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ AB_Heck_Crash : 17|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ AB_SF_Crash : 18|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ AB_SB_Crash : 19|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ AB_Rollover_Crash : 20|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ AB_Crash_Int : 21|3@1+ (1,0) [0|7] "" BMS_MQB,Gateway_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ AB_Lampe : 24|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ AB_Deaktiviert : 25|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ AB_VB_deaktiviert : 26|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ AB_Systemfehler : 27|1@1+ (1,0) [0|1] "" BMS_MQB,Gateway_MQB,LEH_MQB + SG_ AB_Diagnose : 28|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ AB_Stellgliedtest : 29|1@1+ (1,0) [0|1] "" BMS_MQB,Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ AB_Erh_Auf_VB : 30|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ AB_Gurtwarn_VF : 32|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ AB_Gurtwarn_VB : 33|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ AB_Anzeige_Fussg : 34|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ AB_Texte_AKS : 36|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ AB_PAO_Leuchte_Anf : 38|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ AB_MKB_gueltig : 39|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ AB_MKB_Anforderung : 40|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ AB_Versorgungsspannung : 41|1@1+ (1,0) [0|1] "" Gateway_MQB + +BO_ 1312 Airbag_02: 8 Airbag_MQB + SG_ AB_Belegung_VB : 26|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ AB_Gurtschloss_FA : 40|2@1+ (1,0) [0|3] "" Gateway_MQB,Motor_Diesel_MQB,Motor_Otto_MQB + SG_ AB_Gurtschloss_BF : 42|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ AB_Gurtschloss_Reihe2_FA : 44|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ AB_Gurtschloss_Reihe2_MI : 46|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ AB_Gurtschloss_Reihe2_BF : 48|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ AB_Gurtschloss_Reihe3_FA : 50|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ AB_Gurtschloss_Reihe3_MI : 52|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ AB_Gurtschloss_Reihe3_BF : 54|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ AB_Sitzpos_Sens_FA : 56|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ AB_Sitzpos_Sens_BF : 58|2@1+ (1,0) [0|3] "" Gateway_MQB + +BO_ 65 Airbag_03: 8 Airbag_MQB + SG_ Airbag_03_CRC : 0|8@1+ (1,0) [0|255] "" Gateway_MQB + SG_ Airbag_03_BZ : 8|4@1+ (1,0) [0|15] "" Gateway_MQB + SG_ AB_MKB_Safing : 63|1@1+ (1,0) [0|1] "" Gateway_MQB + +BO_ 1633 Anhaenger_01: 8 Gateway_MQB + SG_ AAG_BZ : 0|4@1+ (1,0) [0|15] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ AAG_Bremsl_durch_ECD : 5|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ AAG_Anhaenger_abgesteckt : 6|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AAG_NSL_aktiv : 7|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AAG_Anhaenger_erkannt : 8|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ AAG_Blinker_H_aktiv : 9|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AAG_Blinker_HL_def : 10|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AAG_Blinker_HR_def : 11|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AAG_Bremslicht_H_def : 12|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ AAG_Schlusslicht_HL_def : 13|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AAG_Schlusslicht_HR_def : 14|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AAG_AVS_Fehler_02 : 18|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AAG_AVS_Stati : 20|4@1+ (1,0) [0|15] "" Vector__XXX + +BO_ 1626 BCM_01: 8 Gateway_MQB + SG_ BCM_Bremsbelag_Sensor : 12|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ BCM_Bremsfluessigkeit_Sensor : 13|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ BCM1_Licht_Warn : 14|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ BCM_Waschwasser_Sensor : 15|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ BCM_Kuehlmittel_Sensor : 16|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Otto_MQB + SG_ BCM1_Kl_15_HW_erkannt : 17|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ BCM_Eis_Offroad_Taste : 18|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Otto_MQB + SG_ ZZH_Endlage_oben : 19|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ZZH_Endlage_unten : 20|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ZZH_Endlage_unplausibel : 21|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ BCM2_EZS_gedrueckt : 22|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ BCM2_SST_gedrueckt : 23|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ BCM_Hybrid_StartStopp_Taste : 24|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ BCM1_Warnblink_Taster : 25|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ BCM1_Valet_Parking_Taster : 26|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ BCM_Remotestart_Betrieb : 27|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Otto_MQB + SG_ BCM1_HSK_Taster : 28|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ BCM1_Heckrollo_Taster : 29|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ BCM1_Rueckfahrlicht_Schalter : 30|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ BCM1_MH_Schalter : 31|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Otto_MQB + SG_ BCM1_MH_WIV_Schalter : 32|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ BCM_Eco_Charisma_Taste : 33|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ BCM_Thermomanagement : 34|2@1+ (1,0) [0|3] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ BCM_Thermomanagement_Fehler : 36|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ BCM_Thermomanagement_gueltig : 37|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ BCM1_Lichtwarn_Texte : 38|2@1+ (1,0) [0|3] "" Vector__XXX + +BO_ 869 BEM_05: 8 Gateway_MQB + SG_ BEM_P_Generator : 16|8@1+ (50,0) [0|12700] "Unit_Watt" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ BEM_n_LLA : 24|2@1+ (1,0) [0|3] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ BEM_01_Abschaltstufen : 26|3@1+ (1,0) [0|7] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ BEM_Anf_KL : 29|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ BEM_StartStopp_Info : 30|2@1+ (1,0) [0|3] "" Motor_Diesel_MQB,Motor_Otto_MQB + SG_ BEM_DFM : 32|5@1+ (3.225,0.025) [0.025|100] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ BEM_EMLIN_ungueltig : 37|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ BEM_Batt_Ab : 38|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ BEM_Segel_Info : 48|2@1+ (1,0) [0|3] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ BEM_HYB_DC_uSollLV : 50|6@1+ (0.1,10.6) [10.6|16] "Unit_Volt" LEH_MQB + SG_ BEM_HYB_DC_uMinLV : 56|8@1+ (0.1,0) [0|25.3] "Unit_Volt" LEH_MQB + +BO_ 1628 BMS_Hybrid_01: 8 BMS_MQB + SG_ BMS_HYB_ASV_hinten_Status : 13|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ BMS_HYB_ASV_vorne_Status : 14|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ BMS_HYB_KD_Fehler : 15|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ BMS_HYB_BattFanSpd : 16|4@1+ (10,0) [0|100] "Unit_PerCent" Gateway_MQB + SG_ BMS_HYB_VentilationReq : 20|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ BMS_HYB_Spuelbetrieb_Status : 21|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ BMS_HYB_Kuehlung_Anf : 22|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ BMS_HYB_Temp_vor_Verd : 24|8@1+ (0.5,-40) [-40|86.5] "Unit_DegreCelsi" Gateway_MQB + SG_ BMS_HYB_Temp_nach_Verd : 32|8@1+ (0.5,-40) [-40|86.5] "Unit_DegreCelsi" Gateway_MQB + SG_ BMS_Temperatur : 40|8@1+ (0.5,-40) [-40|86.5] "Unit_DegreCelsi" Gateway_MQB + SG_ BMS_Temperatur_Ansaugluft : 48|8@1+ (0.5,-40) [-40|86.5] "Unit_DegreCelsi" Gateway_MQB + SG_ BMS_IstSpannung_HV : 56|8@1+ (1,100) [100|350] "Unit_Volt" Gateway_MQB + +BO_ 901 Charisma_01: 8 Gateway_MQB + SG_ CHA_Ziel_FahrPr_ALR : 0|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ CHA_Ziel_FahrPr_ESP : 4|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ CHA_Ziel_FahrPr_FL : 8|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ CHA_Fahrer_Umschaltung : 14|1@1+ (1,0) [0|1] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB,SAK_MQB + SG_ CHA_Ziel_FahrPr_MO : 16|4@1+ (1,0) [0|15] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ CHA_Ziel_FahrPr_GE : 20|4@1+ (1,0) [0|15] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ CHA_Ziel_FahrPr_ST : 24|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ CHA_Ziel_FahrPr_SCU : 28|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ CHA_Ziel_FahrPr_DR : 32|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ CHA_Ziel_FahrPr_QS : 36|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ CHA_Ziel_FahrPr_AFS : 40|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ CHA_Ziel_FahrPr_RGS : 44|4@1+ (1,0) [0|15] "" Airbag_MQB + SG_ CHA_Ziel_FahrPr_EPS : 48|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ CHA_Ziel_FahrPr_ACC : 52|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ CHA_Ziel_FahrPr_SAK : 56|4@1+ (1,0) [0|15] "" SAK_MQB + SG_ CHA_Ziel_FahrPr_MStSt : 60|4@1+ (1,0) [0|15] "" Vector__XXX + +BO_ 945 DC_Hybrid_01: 8 LEH_MQB + SG_ DC_HYB_iAktLV : 12|10@1+ (1,-511) [-511|510] "Unit_Amper" Gateway_MQB + SG_ DC_HYB_iAktReserveLV : 22|10@1+ (1,-511) [-511|510] "Unit_Amper" Gateway_MQB + SG_ DC_HYB_uAktLV : 32|8@1+ (0.1,0) [0|25.3] "Unit_Volt" Gateway_MQB + SG_ DC_HYB_LangsRegelung : 40|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ DC_HYB_Abregelung_Temperatur : 41|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ DC_HYB_Fehler_RedLeistung : 42|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ DC_HYB_Fehler_intern : 43|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ DC_HYB_Fehler_Spannung : 44|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ DC_HYB_Auslastungsgrad : 56|8@1+ (0.4,0) [0|100] "Unit_PerCent" Gateway_MQB + +BO_ 1714 Diagnose_01: 8 Gateway_MQB + SG_ DGN_Verlernzaehler : 0|8@1+ (1,0) [0|254] "" Airbag_MQB,BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,SAK_MQB + SG_ KBI_Kilometerstand : 8|20@1+ (1,0) [0|1048573] "Unit_KiloMeter" Airbag_MQB,BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB,SAK_MQB + SG_ UH_Jahr : 28|7@1+ (1,2000) [2000|2127] "Unit_Year" Airbag_MQB,BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB,SAK_MQB + SG_ UH_Monat : 35|4@1+ (1,0) [1|12] "Unit_Month" Airbag_MQB,BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB,SAK_MQB + SG_ UH_Tag : 39|5@1+ (1,0) [1|31] "Unit_Day" Airbag_MQB,BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB,SAK_MQB + SG_ UH_Stunde : 44|5@1+ (1,0) [0|23] "Unit_Hours" Airbag_MQB,BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB,SAK_MQB + SG_ UH_Minute : 49|6@1+ (1,0) [0|59] "Unit_Minut" Airbag_MQB,BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB,SAK_MQB + SG_ UH_Sekunde : 55|6@1+ (1,0) [0|59] "Unit_Secon" Airbag_MQB,BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB,SAK_MQB + SG_ Kombi_02_alt : 62|1@1+ (1,0) [0|1] "" Airbag_MQB,BMS_MQB,LEH_MQB + SG_ Uhrzeit_01_alt : 63|1@1+ (1,0) [0|1] "" Airbag_MQB,BMS_MQB,LEH_MQB + +BO_ 1520 Dimmung_01: 8 Gateway_MQB + SG_ DI_KL_58xd : 0|8@1+ (1,0) [0|253] "" Airbag_MQB + SG_ DI_KL_58xs : 8|7@1+ (1,0) [0|100] "Unit_PerCent" Vector__XXX + SG_ DI_Display_Nachtdesign : 15|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ DI_KL_58xt : 16|7@1+ (1,0) [0|100] "Unit_PerCent" Vector__XXX + SG_ DI_Fotosensor : 24|16@1+ (1,0) [0|65535] "" Vector__XXX + +BO_ 1603 Einheiten_01: 8 Gateway_MQB + SG_ KBI_Einheit_Datum : 0|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ KBI_Einheit_Druck : 2|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ KBI_Einheit_Streckenanz : 4|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB + SG_ KBI_MFA_v_Einheit_02 : 5|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ KBI_Einheit_Temp : 6|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ KBI_Einheit_Uhrzeit : 7|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ KBI_Einheit_Verbrauch : 8|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ KBI_Einheit_Volumen : 10|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ KBI_Einheit_Sprache : 16|8@1+ (1,0) [0|255] "" Vector__XXX + +BO_ 260 EPB_01: 8 Gateway_MQB + SG_ EPB_01_CRC : 0|8@1+ (1,0) [0|255] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ EPB_01_BZ : 8|4@1+ (1,0) [0|15] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ EPB_QBit_Laengsbeschleunigung : 12|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ EPB_QBit_Pedalweg_Kuppl : 13|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ EPB_BCM2_Motor_Wakeup : 14|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ EPB_Freig_Verzoeg_Anf : 15|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ EPB_Verzoeg_Anf : 16|8@1+ (0.048,-7.968) [-7.968|4.224] "Unit_MeterPerSeconSquar" Vector__XXX + SG_ EPB_Laengsbeschleunigung : 24|8@1+ (1,-128) [-128|126] "Unit_PerCentOfForceOfGravi" Vector__XXX + SG_ EPB_Pedalweg_Kuppl : 32|8@1+ (0.4,0) [8|92] "Unit_PerCent" Vector__XXX + SG_ EPB_Anfahrwunsch_erkannt : 48|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ EPB_DAA_Randbed_erf : 49|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ EPB_Fehlerstatus : 50|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ EPB_Schalterposition : 52|2@1+ (1,0) [0|3] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ EPB_QBit_Schalterpos : 54|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ EPB_Konsistenz_ACC : 55|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ EPB_Spannkraft : 56|5@1+ (1,0) [0|29] "Unit_KiloNewto" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ EPB_Status : 61|2@1+ (1,0) [0|3] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + +BO_ 257 ESP_02: 8 Gateway_MQB + SG_ ESP_02_CRC : 0|8@1+ (1,0) [0|255] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_02_BZ : 8|4@1+ (1,0) [0|15] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_QBit_Gierrate : 12|1@1+ (1,0) [0|1] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ ESP_QBit_Laengsbeschl : 13|1@1+ (1,0) [0|1] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_QBit_Querb : 14|1@1+ (1,0) [0|1] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Stillstandsflag : 15|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ESP_Querbeschleunigung : 16|8@1+ (0.01,-1.27) [-1.27|1.27] "Unit_ForceOfGravi" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Laengsbeschl : 24|10@1+ (0.03125,-16) [-16|15.90625] "Unit_MeterPerSeconSquar" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Verteil_Wankmom : 34|5@1+ (0.1,-1) [-1|1] "" Vector__XXX + SG_ ESP_QBit_Anf_Vert_Wank : 39|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ESP_Gierrate : 40|14@1+ (0.01,0) [0|163.82] "Unit_DegreOfArcPerSecon" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ ESP_VZ_Gierrate : 54|1@1+ (1,0) [0|1] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ ESP_Notbremsanzeige : 55|1@1+ (1,0) [0|1] "" Airbag_MQB + SG_ ESP_SpannungsAnf : 56|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ESP_PLA_Abbruch : 57|3@1+ (1,0) [0|7] "" Vector__XXX + SG_ ESP_Status_ESP_PLA : 60|4@1+ (1,0) [0|15] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + +BO_ 262 ESP_05: 8 Gateway_MQB + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_QBit_Bremsdruck : 12|1@1+ (1,0) [0|1] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_QBit_Fahrer_bremst : 13|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Schwelle_Unterdruck : 14|2@1+ (1,0) [0|3] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Bremsdruck : 16|10@1+ (0.3,-30) [-30|276.6] "Unit_Bar" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Fahrer_bremst : 26|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Verz_TSK_aktiv : 27|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Lenkeingriff_ADS : 28|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Konsistenz_TSK : 29|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Bremsruck_AWV2 : 30|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Konsistenz_AWV2 : 31|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ECD_Fehler : 32|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ECD_nicht_verfuegbar : 33|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Status_Bremsentemp : 34|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Autohold_Standby : 35|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ESP_HDC_Standby : 36|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ ESP_HBA_aktiv : 37|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ESP_Prefill_ausgeloest : 38|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Rueckwaertsfahrt_erkannt : 39|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ESP_Status_Anfahrhilfe : 40|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_HDC_aktiv : 41|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ ESP_StartStopp_Info : 42|2@1+ (1,0) [0|3] "" Motor_Diesel_MQB,Motor_Otto_MQB + SG_ ESP_Eingr_HL : 44|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ESP_Eingr_HR : 45|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ESP_Eingr_VL : 46|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ESP_Eingr_VR : 47|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ESP_BKV_Unterdruck : 48|8@1+ (4,0) [0|1012] "Unit_MilliBar" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Autohold_aktiv : 56|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_FStatus_Anfahrhilfe : 57|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ ESP_Verz_EPB_aktiv : 58|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ECD_Bremslicht : 59|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Verzoeg_EPB_verf : 60|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ESP_Status_Bremsdruck : 61|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Anforderung_EPB : 62|2@1+ (1,0) [0|3] "" Vector__XXX + +BO_ 914 ESP_07: 8 Gateway_MQB + SG_ ESP_07_CRC : 0|8@1+ (1,0) [0|255] "" Airbag_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_07_BZ : 8|4@1+ (1,0) [0|15] "" Airbag_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_ACC_LDE : 12|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ESP_Quattro_Antrieb : 13|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ESP_Codierung_ADS : 14|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ ESP_RTA_HL : 16|8@1+ (0.048828125,-6.20117) [-6.20117|6.152345625] "Unit_PerCent" Vector__XXX + SG_ ESP_RTA_HR : 24|8@1+ (0.048828125,-6.20117) [-6.20117|6.152345625] "Unit_PerCent" Vector__XXX + SG_ ESP_RTA_VR : 32|8@1+ (0.048828125,-6.20117) [-6.20117|6.152345625] "Unit_PerCent" Vector__XXX + SG_ OBD_Fehler_Radsensor_HL : 40|4@1+ (1,0) [0|15] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ OBD_Fehler_Radsensor_HR : 44|4@1+ (1,0) [0|15] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ OBD_Fehler_Radsensor_VL : 48|4@1+ (1,0) [0|15] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ OBD_Fehler_Radsensor_VR : 52|4@1+ (1,0) [0|15] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Qualifizierung_Antriebsart : 56|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ESP_Offroad_Modus : 57|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ESP_MKB_ausloesbar : 58|1@1+ (1,0) [0|1] "" Airbag_MQB + SG_ ESP_MKB_Status : 59|1@1+ (1,0) [0|1] "" Airbag_MQB + SG_ ESP_CM_Variante : 60|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ESP_OBD_Status : 61|1@1+ (1,0) [0|1] "" Vector__XXX + +BO_ 278 ESP_10: 8 Gateway_MQB + SG_ ESP_10_CRC : 0|8@1+ (1,0) [0|255] "" Airbag_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_10_BZ : 8|4@1+ (1,0) [0|15] "" Airbag_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_QBit_Wegimpuls_VL : 12|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_QBit_Wegimpuls_VR : 13|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_QBit_Wegimpuls_HL : 14|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_QBit_Wegimpuls_HR : 15|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Wegimpuls_VL : 16|10@1+ (1,0) [0|1000] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Wegimpuls_VR : 26|10@1+ (1,0) [0|1000] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Wegimpuls_HL : 36|10@1+ (1,0) [0|1000] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Wegimpuls_HR : 46|10@1+ (1,0) [0|1000] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_VL_Fahrtrichtung : 56|2@1+ (1,0) [0|3] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_VR_Fahrtrichtung : 58|2@1+ (1,0) [0|3] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_HL_Fahrtrichtung : 60|2@1+ (1,0) [0|3] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_HR_Fahrtrichtung : 62|2@1+ (1,0) [0|3] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + +BO_ 178 ESP_19: 8 Gateway_MQB + SG_ ESP_HL_Radgeschw_02 : 0|16@1+ (0.0075,0) [0|491.49] "Unit_KiloMeterPerHour" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_HR_Radgeschw_02 : 16|16@1+ (0.0075,0) [0|491.49] "Unit_KiloMeterPerHour" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_VL_Radgeschw_02 : 32|16@1+ (0.0075,0) [0|491.49] "Unit_KiloMeterPerHour" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_VR_Radgeschw_02 : 48|16@1+ (0.0075,0) [0|491.49] "Unit_KiloMeterPerHour" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + +BO_ 1629 ESP_20: 8 Gateway_MQB + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ BR_Systemart : 12|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ ESP_Zaehnezahl : 16|8@1+ (1,0) [0|255] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ ESP_Charisma_FahrPr : 24|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ ESP_Charisma_Status : 28|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ BR_QBit_Reifenumfang : 51|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ BR_Reifenumfang : 52|12@1+ (1,0) [0|4095] "Unit_MilliMeter" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + +BO_ 253 ESP_21: 8 Gateway_MQB + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Airbag_MQB,BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ BR_Eingriffsmoment : 12|10@1+ (1,-509) [-509|509] "Unit_NewtoMeter" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_v_Signal : 32|16@1+ (0.01,0) [0|655.32] "Unit_KiloMeterPerHour" Airbag_MQB,BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB,SAK_MQB + SG_ ASR_Tastung_passiv : 48|1@1+ (1,0) [0|1] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Tastung_passiv : 49|1@1+ (1,0) [0|1] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Systemstatus : 50|1@1+ (1,0) [0|1] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ASR_Schalteingriff : 51|2@1+ (1,0) [0|3] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ ESP_Haltebestaetigung : 53|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_QBit_v_Signal : 55|1@1+ (1,0) [0|1] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ABS_Bremsung : 56|1@1+ (1,0) [0|1] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ASR_Anf : 57|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ MSR_Anf : 58|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ EBV_Eingriff : 59|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ EDS_Eingriff : 60|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Eingriff : 61|1@1+ (1,0) [0|1] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_ASP : 62|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Anhaltevorgang_ACC_aktiv : 63|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + +BO_ 987 Gateway_72: 8 Gateway_MQB + SG_ BCM_01_alt : 0|1@1+ (1,0) [0|1] "" Airbag_MQB + SG_ SMLS_01_alt : 1|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Otto_MQB + SG_ ZV_02_alt : 2|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ Wischer_01_alt : 3|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ Anhaenger_01_alt : 4|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ Klima_Sensor_02_alt : 5|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ VSG_01_alt : 6|1@1+ (1,0) [0|1] "" Airbag_MQB + SG_ Klima_01_alt : 7|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ WFS_01_alt : 8|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ Licht_Anf_01_alt : 9|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ZV_HFS_offen : 20|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ZV_HBFS_offen : 21|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ VS_VD_offen_ver : 22|1@1+ (1,0) [0|1] "" Airbag_MQB + SG_ VS_VD_zu_ver : 23|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ZV_BT_offen : 24|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ BCM1_Rueckfahrlicht_Schalter : 25|1@1+ (1,0) [0|1] "" Airbag_MQB + SG_ ZV_FT_offen : 26|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ Wischer_vorne_aktiv : 27|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ AAG_Anhaenger_erkannt : 28|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ BCM1_MH_Schalter : 29|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ZV_HD_offen : 30|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ Waschen_vorne_aktiv : 31|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ KL_Thermomanagement : 32|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ WFS_Schluessel_Fahrberecht : 34|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ BCM1_RFahrlicht_Fzg_Anf : 38|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ BCM1_RFahrlicht_Ahg_Anf : 39|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ BH_Fernlicht : 49|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ BH_Blinker_li : 50|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Otto_MQB + SG_ BH_Blinker_re : 51|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Otto_MQB + SG_ BCM1_OBD_FStatus_ATemp : 52|4@1+ (1,0) [0|15] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ BCM1_Aussen_Temp_ungef : 56|8@1+ (0.5,-50) [-50|76] "Unit_DegreCelsi" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + +BO_ 989 Gateway_74: 8 Gateway_MQB + SG_ LH_EPS_01_alt : 0|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB + SG_ Kessy_04_alt : 1|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Otto_MQB + SG_ LIN_2_alt : 2|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MFG_01_alt : 3|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Otto_MQB + SG_ GW_74_va_14 : 4|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ Klima_02_alt : 5|1@1+ (1,0) [0|1] "" BMS_MQB + SG_ Parkhilfe_01_alt : 6|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Otto_MQB + SG_ ELV_01_alt : 7|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ KY_StartStopp_Info : 16|2@1+ (1,0) [0|3] "" Motor_Diesel_MQB,Motor_Otto_MQB + SG_ PH_StartStopp_Info : 18|2@1+ (1,0) [0|3] "" Motor_Diesel_MQB,Motor_Otto_MQB + SG_ EPS_Lenkerposition : 20|2@1+ (1,0) [0|3] "" Motor_Diesel_MQB + SG_ ELV_Anf_Klemme_50 : 22|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ MF_StartStopp_Info : 25|2@1+ (1,0) [0|3] "" Motor_Diesel_MQB,Motor_Otto_MQB + SG_ KL_Geblaesespannung_Soll : 40|8@1+ (0.05,0.5) [2|13] "Unit_Volt" BMS_MQB + SG_ KL_Umluftklappe_Status : 48|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ MFL_Tip_Down : 56|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MFL_Tip_Up : 57|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ LS_Tiptronic_Fehler : 58|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + +BO_ 296 Getriebe_06: 3 Getriebe_DQ_Hybrid_MQB + SG_ GE_WH_Sperre : 0|1@1+ (1,0) [0|1] "" Waehlhebel_MQB + SG_ GE_Ausleuchtungsmode : 1|1@1+ (1,0) [0|1] "" Waehlhebel_MQB + SG_ GE_Test_Freigabe : 2|1@1+ (1,0) [0|1] "" Waehlhebel_MQB + SG_ GE_Ist_Fahrstufe : 4|4@1+ (1,0) [0|15] "" Waehlhebel_MQB + SG_ GE_Testparameter_1 : 8|8@1+ (1,0) [0|255] "" Waehlhebel_MQB + SG_ GE_Testparameter_2 : 16|8@1+ (1,0) [0|255] "" Waehlhebel_MQB + +BO_ 173 Getriebe_11: 8 Getriebe_DQ_Hybrid_MQB + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ COUNTERXX : 8|4@1+ (1,0) [0|15] "" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_MMom_Soll_02 : 12|10@1+ (1,-509) [-509|509] "Unit_NewtoMeter" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_MMom_Vorhalt_02 : 22|10@1+ (1,-509) [-509|509] "Unit_NewtoMeter" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_Uefkt : 32|10@1+ (0.1,0) [0|102.2] "" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_Fahrstufe : 42|5@1+ (1,0) [0|31] "" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_Schaltvorgang : 47|1@1+ (1,0) [0|1] "" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_Status_Kupplung : 54|2@1+ (1,0) [0|3] "" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_MMom_Status : 56|2@1+ (1,0) [0|3] "" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_Freig_MMom_Vorhalt : 58|1@1+ (1,0) [0|1] "" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_Verbot_Ausblendung : 59|1@1+ (1,0) [0|1] "" Gateway_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_Zielgang : 60|4@1+ (1,0) [0|15] "" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + +BO_ 174 Getriebe_12: 8 Getriebe_DQ_Hybrid_MQB + SG_ Getriebe_12_CRC : 0|8@1+ (1,0) [0|255] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ Getriebe_12_BZ : 8|4@1+ (1,0) [0|15] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_Drehzahlmesser_Daempfung : 12|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_Schubabschalt_Unt : 13|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_Freigabe_Synchro : 14|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_Synchro_Wunschdrehz : 15|9@1+ (25,0) [0|12750] "Unit_MinutInver" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_Synchro_Zeit : 24|8@1+ (20,0) [0|5080] "Unit_MilliSecon" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_Mom_Begr_Gradient : 32|8@1+ (10,0) [0|2540] "Unit_NewtoMeterPerSecon" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_Anheb_Solldrehz_Leerlauf : 40|8@1+ (10,0) [0|2540] "Unit_MinutInver" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_Aufnahmemoment : 48|10@1+ (1,-509) [-509|509] "Unit_NewtoMeter" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_Anf_Zylabsch : 58|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ GE_HYB_DZ_Eingriff : 62|2@1+ (1,0) [0|3] "" Motor_Hybrid_MQB + +BO_ 301 Getriebe_13: 8 Getriebe_DQ_Hybrid_MQB + SG_ Getriebe_13_CRC : 0|8@1+ (1,0) [0|255] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ Getriebe_13_BZ : 8|4@1+ (1,0) [0|15] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_StartStopp_Info : 12|2@1+ (1,0) [0|3] "" Motor_Diesel_MQB,Motor_Otto_MQB + SG_ GE_Langfr_Schutzmom_02 : 14|9@1+ (1,0) [0|509] "Unit_NewtoMeter" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_Eingangsdrehz : 48|14@1+ (1,0) [0|16381] "Unit_MinutInver" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_Notlauf : 62|1@1+ (1,0) [0|1] "" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_Freig_Langfr_Schutzmom : 63|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + +BO_ 968 Getriebe_14: 8 Getriebe_DQ_Hybrid_MQB + SG_ GE_OBD_AbsperrVent : 12|4@1+ (1,0) [0|15] "" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_amax_moeglich : 16|9@1+ (0.024,-2.016) [-2.016|10.224] "Unit_MeterPerSeconSquar" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_Charisma_FahrPr : 25|4@1+ (1,0) [0|15] "" Gateway_MQB + SG_ GE_Charisma_Status : 29|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ GE_Verlustmoment : 32|8@1+ (1,0) [0|254] "" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_Freigabe_Verfallsinfo_WFS : 49|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ GE_Codierung_MSG : 50|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ GE_LaunchControl : 51|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ GE_Heizwunsch : 52|2@1+ (1,0) [0|3] "" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_OBD_Status : 54|1@1+ (1,0) [0|1] "" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_LFR_Adaption : 55|1@1+ (1,0) [0|1] "" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_Sumpftemperatur : 56|8@1+ (1,-58) [-58|196] "Unit_DegreCelsi" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + +BO_ 158 Getriebe_Hybrid_01: 8 Getriebe_DQ_Hybrid_MQB + SG_ Getriebe_Hybrid_01_CRC : 0|8@1+ (1,0) [0|255] "" Motor_Hybrid_MQB + SG_ Getriebe_Hybrid_01_BZ : 8|4@1+ (1,0) [0|15] "" Motor_Hybrid_MQB + SG_ GE_HYB_Fehlerstatus : 12|2@1+ (1,0) [0|3] "" Motor_Hybrid_MQB + SG_ GE_HYB_Freigabe_K0 : 16|1@1+ (1,0) [0|1] "" Motor_Hybrid_MQB + SG_ GE_HYB_Freigabe_LL_Reg : 17|1@1+ (1,0) [0|1] "" Motor_Hybrid_MQB + SG_ GE_HYB_Freig_sSchl_K0 : 18|1@1+ (1,0) [0|1] "" Motor_Hybrid_MQB + SG_ GE_HYB_Freig_VM_EM_Stop : 19|1@1+ (1,0) [0|1] "" Motor_Hybrid_MQB + SG_ GE_HYB_Wiederstart : 20|1@1+ (1,0) [0|1] "" Motor_Hybrid_MQB + SG_ GE_HYB_Filt_MomAufbau : 21|3@1+ (1,0) [0|7] "" Motor_Hybrid_MQB + SG_ GE_HYB_nK0 : 24|8@1+ (25,0) [0|6350] "Unit_MinutInver" Vector__XXX + SG_ GE_HYB_MomEingriff_EM : 32|6@1+ (0.5,0) [0|31.5] "Unit_NewtoMeter" LEH_MQB + SG_ GE_HYB_VZ_MomEingriff_EM : 38|1@1+ (1,0) [0|1] "" LEH_MQB + SG_ GE_HYB_Sportfaktor : 56|4@1+ (1,0) [0|15] "" Motor_Hybrid_MQB + SG_ GE_HYB_VM_akt_halten : 61|1@1+ (1,0) [0|1] "" Motor_Hybrid_MQB + SG_ GE_HYB_StartAnf : 62|1@1+ (1,0) [0|1] "" Motor_Hybrid_MQB + SG_ GE_HYB_VM_Startkontr : 63|1@1+ (1,0) [0|1] "" Motor_Hybrid_MQB + +BO_ 299 GRA_ACC_01: 8 Gateway_MQB + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GRA_Hauptschalter : 12|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GRA_Abbrechen : 13|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GRA_Typ_Hauptschalter : 14|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GRA_Limiter : 15|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GRA_Tip_Setzen : 16|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GRA_Tip_Hoch : 17|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GRA_Tip_Runter : 18|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GRA_Tip_Wiederaufnahme : 19|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GRA_Verstellung_Zeitluecke : 20|2@1+ (1,0) [0|3] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GRA_Codierung : 22|2@1+ (1,0) [0|3] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GRA_Fehler : 24|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GRA_Typ468 : 25|2@1+ (1,0) [0|3] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GRA_Tip_Stufe_2 : 27|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GRA_ButtonTypeInfo : 28|2@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + +BO_ 960 Klemmen_Status_01: 4 Gateway_MQB + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Airbag_MQB,BMS_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Airbag_MQB,BMS_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ZAS_Kl_S : 16|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ZAS_Kl_15 : 17|1@1+ (1,0) [0|1] "" Airbag_MQB,BMS_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ZAS_Kl_X : 18|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ZAS_Kl_50 : 19|1@1+ (1,0) [0|1] "" Vector__XXX + +BO_ 949 Klima_11: 8 Gateway_MQB + SG_ KL_Drehz_Anh : 0|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ KL_Vorwarn_Komp_ein : 1|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ KL_AC_Schalter : 2|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ KL_Komp_Moment_alt : 3|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ KL_Zonen : 4|2@1+ (1,0) [0|3] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ KL_Vorwarn_Zuheizer_ein : 6|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ KL_Zustand : 7|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ KL_Comp_rev_rq : 8|8@1+ (50,0) [0|8600] "Unit_MinutInver" Vector__XXX + SG_ KL_Charisma_FahrPr : 16|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ KL_Charisma_Status : 20|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ KL_Comp_enable : 23|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ KL_Last_Kompr : 24|8@1+ (0.25,0) [0|63.5] "Unit_NewtoMeter" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ KL_Spannungs_Anf : 32|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ KL_Thermomanagement : 34|2@1+ (1,0) [0|3] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ KL_StartStopp_Info : 36|2@1+ (1,0) [0|3] "" Motor_Diesel_MQB,Motor_Otto_MQB + SG_ KL_Anf_KL : 40|8@1+ (0.4,0) [0|101.6] "Unit_PerCent" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ KL_el_Zuheizer_Stufe : 48|3@1+ (1,0) [0|7] "" Motor_Diesel_MQB + +BO_ 1625 Klimakomp_01: 8 Gateway_MQB + SG_ EKL_KD_Fehler : 15|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ EKL_Comp_SCI_com_stat : 16|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ EKL_Comp_output_stat : 18|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ EKL_Comp_main_stat : 20|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ EKL_Comp_ovld_stat : 21|3@1+ (1,0) [0|7] "" Vector__XXX + SG_ EKL_Comp_Inv_stat : 24|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ EKL_Comp_photo_temp_stat : 30|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ EKL_Comp_photo_temp : 32|8@1+ (1,0) [0|254] "Unit_DegreCelsi" Vector__XXX + SG_ EKL_Comp_current : 40|8@1+ (0.1,0) [0|25.4] "Unit_Amper" Motor_Hybrid_MQB + SG_ EKL_Comp_rev_stat : 48|8@1+ (50,0) [0|8600] "Unit_MinutInver" Vector__XXX + +BO_ 2549088277 KN_Airbag_01: 8 Airbag_MQB + SG_ Airbag_01_KompSchutz : 0|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ Airbag_01_Nachlauftyp : 4|4@1+ (1,0) [0|15] "" Gateway_MQB + SG_ AB_KD_Fehler : 63|1@1+ (1,0) [0|1] "" Gateway_MQB + +BO_ 2549088380 KN_EMotor_01: 8 LEH_MQB + SG_ EMotor_KompSchutz : 0|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ EMotor_Nachlauftyp : 4|4@1+ (1,0) [0|15] "" Gateway_MQB + SG_ EM_HYB_KD_Fehler : 63|1@1+ (1,0) [0|1] "" Gateway_MQB + +BO_ 2549088375 KN_Getriebe_01: 8 Getriebe_DQ_Hybrid_MQB + SG_ Getriebe_KompSchutz : 0|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ Getriebe_Nachlauftyp : 4|4@1+ (1,0) [0|15] "" Gateway_MQB + SG_ GE_KD_Fehler : 63|1@1+ (1,0) [0|1] "" Gateway_MQB + +BO_ 2549088379 KN_Hybrid_01: 8 BMS_MQB + SG_ Hybrid_KompSchutz : 0|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ Hybrid_Nachlauftyp : 4|4@1+ (1,0) [0|15] "" Gateway_MQB + SG_ BMS_HYB_KD_Fehler : 63|1@1+ (1,0) [0|1] "" Gateway_MQB + +BO_ 2549088374 KN_MO_01: 8 Motor_Diesel_MQB + SG_ Motor_KompSchutz : 0|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ Motor_Nachlauftyp : 4|4@1+ (1,0) [0|15] "" Gateway_MQB + SG_ MO_KD_Fehler : 63|1@1+ (1,0) [0|1] "" Gateway_MQB + +BO_ 2549088284 KN_SAK: 8 SAK_MQB + SG_ SAK_KompSchutz : 0|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SAK_Nachlauftyp : 4|4@1+ (1,0) [0|15] "" Gateway_MQB + SG_ SAK_KD_Fehler : 63|1@1+ (1,0) [0|1] "" Gateway_MQB + +BO_ 779 Kombi_01: 8 Gateway_MQB + SG_ KBI_ABS_Lampe : 0|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ KBI_ESP_Lampe : 1|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ KBI_BKL_Lampe : 2|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ KBI_Airbag_Lampe : 3|1@1+ (1,0) [0|1] "" Airbag_MQB + SG_ KBI_SILA_gueltig : 4|1@1+ (1,0) [0|1] "" Airbag_MQB + SG_ KBI_Lenkung_Lampe : 5|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ KBI_Vorglueh_System_Lampe : 6|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB + SG_ KBI_NV_in_Anzeige : 7|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ Kombi_01_BZ : 8|4@1+ (1,0) [0|15] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ KBI_Anzeigestatus_ACC : 12|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ KBI_Anzeigestatus_GRA : 13|2@1+ (1,0) [0|3] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ KBI_Oeldruck_Schalter : 15|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ KBI_Tankwarnung : 16|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ KBI_MFA_v_Einheit_01 : 17|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ KBI_im_Stellgliedtest : 18|1@1+ (1,0) [0|1] "" Airbag_MQB + SG_ KBI_Anzeigefehler_LDW : 19|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ KBI_Variante_USA : 21|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ KBI_Oeldruckwarnung : 22|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ KBI_Handbremse : 23|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ KBI_V_Digital : 24|9@1+ (1,0) [0|511] "" Vector__XXX + SG_ KBI_PLA_in_Anzeige : 33|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ KBI_Anzeigefehler_NV : 34|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ KBI_Anzeigestatus_LIM : 35|2@1+ (1,0) [0|3] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ KBI_angez_Geschw : 48|10@1+ (0.32,0) [0|325.12] "Unit_KiloMeterPerHour" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ KBI_Einheit_Tacho : 58|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ KBI_Konsistenz_ACC : 59|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ KBI_Fehler_Anzeige_ACC : 60|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ KBI_Anzeigefehler_SWA : 61|2@1+ (1,0) [0|3] "" Vector__XXX + +BO_ 1719 Kombi_02: 8 Gateway_MQB + SG_ KBI_Kilometerstand : 0|20@1+ (1,0) [0|1048573] "Unit_KiloMeter" Vector__XXX + SG_ KBI_Standzeit_02 : 20|17@1+ (1,0) [0|131068] "Unit_Secon" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ KBI_Inhalt_Tank : 40|7@1+ (1,0) [0|125] "Unit_Liter" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ KBI_FStatus_Tank : 47|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ KBI_QBit_Aussen_Temp_gef : 55|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ KBI_Aussen_Temp_gef : 56|8@1+ (0.5,-50) [-50|75] "Unit_DegreCelsi" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + +BO_ 982 Licht_hinten_01: 8 Gateway_MQB + SG_ Licht_hinten_01_BZ : 0|4@1+ (1,0) [0|15] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ BCM2_Bremsl_durch_ECD : 5|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ LH_Aussenlicht_def : 7|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Standlicht_H_aktiv : 8|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Parklicht_HL_aktiv : 9|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Parklicht_HR_aktiv : 10|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Bremslicht_H_aktiv : 11|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Nebelschluss_aktiv : 12|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Rueckfahrlicht_aktiv : 13|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Blinker_HL_akt : 14|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Blinker_HR_akt : 15|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Blinker_li_def : 16|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Bremsl_li_def : 17|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Schlusslicht_li_def : 18|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Rueckf_li_def : 19|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Nebel_li_def : 20|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Schluss_Brems_Nebel_li_def : 21|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Schluss_Brems_Nebel_re_def : 22|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Schluss_Brems_li_def : 24|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Schluss_Nebel_li_def : 25|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_SL_BRL_BLK_li_def : 26|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Brems_Blk_li_def : 27|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Blinker_re_def : 32|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Bremsl_re_def : 33|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Schlusslicht_re_def : 34|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Rueckf_re_def : 35|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Nebel_re_def : 36|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Schluss_Brems_re_def : 40|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Schluss_Nebel_re_def : 41|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_SL_BRL_BLK_re_def : 42|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Brems_Blk_re_def : 43|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Kennzl_def : 48|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_3_Bremsl_def : 49|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ LH_Nebel_mi_def : 50|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Rueckf_mi_def : 51|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Bremsl_li_ges_def : 54|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ LH_Bremsl_re_ges_def : 55|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + +BO_ 134 LWI_01: 8 Gateway_MQB + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ LWI_Sensorstatus : 12|1@1+ (1,0) [0|1] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ LWI_QBit_Sub_Daten : 13|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LWI_QBit_Lenkradwinkel : 15|1@1+ (1,0) [0|1] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ LWI_Lenkradwinkel : 16|13@1+ (0.1,0) [0|800] "Unit_DegreOfArc" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ LWI_VZ_Lenkradwinkel : 29|1@1+ (1,0) [0|1] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ LWI_VZ_Lenkradw_Geschw : 30|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LWI_Lenkradw_Geschw : 31|9@1+ (5,0) [0|2500] "Unit_DegreOfArcPerSecon" Vector__XXX + SG_ LWI_Sub_Daten : 40|16@1+ (1,0) [0|65535] "" Vector__XXX + +BO_ 263 Motor_04: 8 Motor_Diesel_MQB + SG_ MO_Istgang : 8|4@1+ (1,0) [0|15] "" Gateway_MQB + SG_ MO_Sollgang : 12|4@1+ (1,0) [0|15] "" Gateway_MQB + SG_ MO_Oeldruck : 16|8@1+ (0.04,0) [0|10] "Unit_Bar" Gateway_MQB + SG_ MO_Anzeigedrehz : 24|12@1+ (3,0) [0|12282] "Unit_MinutInver" Gateway_MQB + SG_ MO_Schaltempf_verfbar : 38|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Ladedruck : 39|9@1+ (0.01,0) [0|5.1] "Unit_Bar" Gateway_MQB + SG_ MO_KVS : 48|15@1+ (1,0) [0|32767] "Unit_MicroLiter" Gateway_MQB + SG_ MO_KVS_Ueberlauf : 63|1@1+ (1,0) [0|1] "" Gateway_MQB + +BO_ 1600 Motor_07: 8 Motor_Diesel_MQB + SG_ MO_QBit_Ansaugluft_Temp : 0|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_QBit_Oel_Temp : 1|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_QBit_Kuehlmittel_Temp : 2|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB + SG_ MO_Stellgliedtest_Soundaktuator : 3|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_HYB_Fehler_HV_Netz : 4|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_aktives_Getriebeheizen : 5|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Absperrventil_oeffnen : 6|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ MO_Ansaugluft_Temp : 8|8@1+ (0.75,-48) [-48|141.75] "Unit_DegreCelsi" Gateway_MQB + SG_ MO_Oel_Temp : 16|8@1+ (1,-60) [-60|192] "Unit_DegreCelsi" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Kuehlmittel_Temp : 24|8@1+ (0.75,-48) [-48|141.75] "Unit_DegreCelsi" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB + SG_ MO_Hoeheninfo : 32|8@1+ (0.00781,0) [0|1.98374] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Kennfeldk : 40|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Versionsinfo : 41|6@1+ (1,0) [0|63] "" Gateway_MQB + SG_ MO_Getriebe_kuehlen : 47|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Mom_Traegheit_02 : 48|5@1+ (0.01,0) [0|0.31] "Unit_KiloGramMeterSquar" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Heizungspumpenansteuerung : 53|4@1+ (10,0) [0|100] "Unit_PerCent" Gateway_MQB + SG_ MO_SpannungsAnf : 57|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Nachlaufzeit_Heizungspumpe : 58|6@1+ (15,0) [0|945] "Unit_Secon" Gateway_MQB + +BO_ 1607 Motor_09: 8 Motor_Diesel_MQB + SG_ MO_ITM_Kuehlmittel_Temp : 0|8@1+ (0.75,-48) [-45.75|143.25] "Unit_DegreCelsi" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_E85_Sensor : 8|4@1+ (10,0) [0|100] "Unit_PerCent" Gateway_MQB + SG_ SCR_Anz_Motorstarts : 12|4@1+ (1,0) [0|8] "" Gateway_MQB + SG_ SCR_Reichweite : 16|15@1+ (1,0) [0|32766] "" Gateway_MQB + SG_ SCR_Warnstufe_1 : 32|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ SCR_Warnstufe_2 : 33|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ SCR_Text : 34|3@1+ (1,0) [0|7] "" Gateway_MQB + SG_ SCR_Akustik : 37|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ MO_Kraftstofffilter_Wasser : 40|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ SCR_Systemfehler : 41|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ SCR_Inducement_Strategie : 42|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ MO_CO2_Faktor : 44|12@1+ (1,0) [1|4094] "Unit_GramPerLiter" Gateway_MQB + +BO_ 167 Motor_11: 8 Motor_Diesel_MQB + SG_ Motor_11_CRC : 0|8@1+ (1,0) [0|255] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ Motor_11_BZ : 8|4@1+ (1,0) [0|15] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Mom_Soll_Roh : 12|10@1+ (1,-509) [-509|509] "Unit_NewtoMeter" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Mom_Ist_Summe : 22|10@1+ (1,-509) [-509|509] "Unit_NewtoMeter" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,SAK_MQB + SG_ MO_Mom_Traegheit_Summe : 32|10@1+ (1,-509) [-509|509] "Unit_NewtoMeter" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Mom_Soll_gefiltert : 42|10@1+ (1,-509) [-509|509] "Unit_NewtoMeter" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Mom_Schub : 52|9@1+ (1,-509) [-509|0] "Unit_NewtoMeter" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Status_Normalbetrieb_01 : 61|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_erste_Ungenauschwelle : 62|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_QBit_Motormomente : 63|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + +BO_ 168 Motor_12: 8 Motor_Diesel_MQB + SG_ Motor_12_CRC : 0|8@1+ (1,0) [0|255] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB + SG_ Motor_12_BZ : 8|4@1+ (1,0) [0|15] "" BMS_MQB,Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB + SG_ MO_Mom_neg_verfuegbar : 12|9@1+ (1,-509) [-509|0] "Unit_NewtoMeter" Gateway_MQB + SG_ MO_Mom_Begr_stat : 21|9@1+ (1,0) [0|509] "Unit_NewtoMeter" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Mom_Begr_dyn : 30|10@1+ (1,-509) [-509|509] "Unit_NewtoMeter" Gateway_MQB + SG_ MO_Momentenintegral_02 : 40|7@1+ (1,0) [0|100] "Unit_PerCent" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_QBit_Drehzahl_01 : 47|1@1+ (1,0) [0|1] "" BMS_MQB,Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB + SG_ MO_Drehzahl_01 : 48|16@1+ (0.25,0) [0|16383] "Unit_MinutInver" BMS_MQB,Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,SAK_MQB + +BO_ 958 Motor_14: 8 Motor_Diesel_MQB + SG_ MO_StartStopp_Status : 12|2@1+ (1,0) [0|3] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_StartStopp_Wiederstart : 14|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_StartStopp_Motorstopp : 15|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Freig_Reku : 16|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ MO_Kl_75 : 18|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Kl_50 : 19|1@1+ (1,0) [0|1] "" Gateway_MQB,LEH_MQB + SG_ MO_Gangposition : 20|4@1+ (1,0) [0|15] "" Gateway_MQB + SG_ MO_StartStopp_Fahrerwunsch : 24|2@1+ (1,0) [0|3] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_HYB_Fahrbereitschaft : 26|1@1+ (1,0) [0|1] "" BMS_MQB,Gateway_MQB + SG_ MO_Ext_E_Fahrt_aktiv : 27|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Fahrer_bremst : 28|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_QBit_Fahrer_bremst : 29|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_BLS : 30|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Konsistenz_Bremsped : 31|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Timeout_ESP : 32|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Klima_Eingr : 33|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ MO_Aussp_Anlass : 35|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Freig_Anlass : 36|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Kuppl_schalter : 37|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Interlock : 38|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Motor_laeuft : 39|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Kickdown : 40|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Status_Zylabschalt_01 : 41|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_EKlKomLeiRed : 42|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ MO_Handshake_STH : 44|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_BKV_Unterdruckwarnung : 45|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Freigabe_Segeln : 46|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_PTC_Status : 47|3@1+ (1,0) [0|7] "" Gateway_MQB + SG_ MO_QBit_Gangposition : 50|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Signalquelle_Gangposition : 51|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Remotestart_Betrieb : 52|1@1+ (1,0) [0|1] "" Gateway_MQB + +BO_ 1631 Motor_16: 8 Motor_Diesel_MQB + SG_ TSK_QBit_Steigung : 12|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ TSK_QBit_Fahrzeugmasse : 13|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_SpannungsAnf_02 : 14|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ MO_DPF_reg : 16|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Heizstrom_EKAT : 17|7@1+ (1,0) [0|126] "Unit_Amper" Gateway_MQB + SG_ MO_Heizstrom_SCR : 24|6@1+ (1,0) [0|62] "Unit_Amper" Gateway_MQB + SG_ TSK_Fahrzeugmasse_02 : 48|8@1+ (32,0) [0|8128] "Unit_KiloGram" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ TSK_Steigung : 56|8@1+ (0.8,-101.6) [-101.6|101.6] "Unit_PerCent" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + +BO_ 812 Motor_17: 8 Motor_Diesel_MQB + SG_ MO_Prio_MAX_Wunschdrehzahl : 12|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Prio_MIN_Wunschdrehzahl : 13|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Luftpfad_aktiv : 14|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ MO_v_Begrenz_Aktivierbar : 15|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ MO_Drehzahlbeeinflussung : 16|8@1+ (0.39,0) [0|99.45] "Unit_PerCent" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_MIN_Wunschdrehzahl : 24|8@1+ (25,0) [0|6350] "Unit_MinutInver" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_MAX_Wunschdrehzahl : 32|9@1+ (25,0) [0|12750] "Unit_MinutInver" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Charisma_FahrPr : 41|4@1+ (1,0) [0|15] "" Gateway_MQB + SG_ MO_Charisma_Status : 45|2@1+ (1,0) [0|3] "" Gateway_MQB + +BO_ 1648 Motor_18: 8 Motor_Diesel_MQB + SG_ MO_Hybrid_StartStopp_LED : 43|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ MO_Eis_Offroad_LED : 45|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ MO_Anzahl_Abgesch_Zyl : 47|3@1+ (1,0) [0|7] "" Gateway_MQB + SG_ MO_Zylabsch_Texte : 50|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ MO_E85_BS_Texte : 52|3@1+ (1,0) [0|7] "" Gateway_MQB + SG_ MO_Drehzahl_Warnung : 55|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_obere_Drehzahlgrenze : 56|8@1+ (50,0) [50|12750] "Unit_MinutInver" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + +BO_ 289 Motor_20: 8 Motor_Diesel_MQB + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|255] "" XXX + SG_ MO_Fahrpedalrohwert_01 : 12|8@1+ (0.4,0) [0|101.6] "Unit_PerCent" Airbag_MQB,Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_QBit_Fahrpedalwerte_01 : 20|1@1+ (1,0) [0|1] "" Airbag_MQB,Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Fahrpedalgradient : 21|8@1+ (25,0) [0|6350] "Unit_PerCentPerSecon" Airbag_MQB,Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Sig_Fahrpedalgradient : 29|1@1+ (1,0) [0|1] "" Airbag_MQB,Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_rel_Saugrohrdruck : 30|6@1+ (18,0) [0|1116] "Unit_MilliBar" Gateway_MQB + SG_ MO_rel_Saugrohrdruck_gem_err : 36|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Moment_im_Leerlauf : 37|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Schubabschaltung : 38|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Solldrehz_Leerlauf : 40|8@1+ (10,0) [0|2540] "Unit_MinutInver" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + +BO_ 967 Motor_26: 8 Motor_Diesel_MQB + SG_ MO_HYB_Status_HV_Ladung : 8|3@1+ (1,0) [0|7] "" Gateway_MQB + SG_ WIV_Anzeige_aktiv : 12|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ WIV_Oelmin_Warn : 13|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ WIV_Sensorfehler : 14|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ WIV_Schieflage : 15|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ WIV_Oelstand : 16|4@1+ (12.5,0) [0|100] "Unit_PerCent" Gateway_MQB + SG_ MO_Zustand_HWP : 20|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ WIV_Oelsystem_aktiv : 24|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ WIV_nicht_betriebswarm : 25|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ WIV_Ueberfuell_Warn : 26|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ WIV_laufender_Motor : 27|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_HYB_Text_1 : 28|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_HYB_Text_2 : 29|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_HYB_Text_3 : 30|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_HYB_Text_4 : 31|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Text_Motorstart : 32|4@1+ (1,0) [0|15] "" Gateway_MQB + SG_ MO_HYB_Text_5 : 36|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_HYB_Text_6 : 37|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_HYB_Text_7 : 38|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Text_Partikelfil_Reg : 41|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ WIV_Oelmenge : 43|5@1+ (125,0) [0|3875] "Unit_MilliLiter" Gateway_MQB + SG_ MO_Systemlampe : 48|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_OBD2_Lampe : 49|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Heissleuchte : 50|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Partikel_Lampe : 51|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Winterfahrprog : 52|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ WIV_Oelstand_nicht_vorhanden : 53|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ WIV_nachfuellanzeige_ein : 54|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ WIV_Ueberfuell_deaktiv : 55|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ WIV_Unterfuell_Warn : 56|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Tankdeckel_Lampe : 57|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Text_Tankdeckelwarn : 58|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ WIV_Oeldr_Warn_Motor : 60|1@1+ (1,0) [0|1] "" Gateway_MQB + +BO_ 1601 Motor_Code_01: 8 Motor_Diesel_MQB + SG_ Motor_Code_01_CRC : 0|8@1+ (1,0) [0|255] "" Gateway_MQB + SG_ Motor_Code_01_BZ : 8|4@1+ (1,0) [0|15] "" Gateway_MQB + SG_ MO_Faktor_Momente_02 : 12|2@1+ (1,0) [0|3] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Hybridfahrzeug : 14|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ MO_Code : 16|8@1+ (1,0) [0|255] "" Gateway_MQB,SAK_MQB + SG_ MO_Getriebe_Code : 24|6@1+ (1,0) [0|63] "" Gateway_MQB + SG_ MO_StartStopp_Codiert : 30|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Anzahl_Zyl : 32|4@1+ (1,0) [0|15] "" Gateway_MQB + SG_ MO_Kraftstoffart : 36|4@1+ (1,0) [0|15] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Hubraum : 40|7@1+ (0.1,0) [0|12.7] "Unit_Liter" Gateway_MQB + SG_ MO_Ansaugsystem : 47|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Leistung : 48|9@1+ (1,0) [0|511] "Unit_KiloWatt" Gateway_MQB + SG_ MO_Abgastyp_EOBD : 57|1@1+ (1,0) [0|1] "" BMS_MQB,Gateway_MQB,LEH_MQB + SG_ MO_Abgastyp_OBD : 58|1@1+ (1,0) [0|1] "" BMS_MQB,Gateway_MQB,LEH_MQB + SG_ MO_DPF_verbaut : 59|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ TSK_Codierung : 60|3@1+ (1,0) [0|7] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Einspritzart : 63|1@1+ (1,0) [0|1] "" Gateway_MQB + +BO_ 157 Motor_Hybrid_01: 8 Motor_Hybrid_MQB + SG_ Motor_Hybrid_01_CRC : 0|8@1+ (1,0) [0|255] "" Getriebe_DQ_Hybrid_MQB + SG_ Motor_Hybrid_01_BZ : 8|4@1+ (1,0) [0|15] "" BMS_MQB,Getriebe_DQ_Hybrid_MQB + SG_ MO_HYB_IstStatusK0 : 12|2@1+ (1,0) [0|3] "" Getriebe_DQ_Hybrid_MQB + SG_ MO_HYB_max_ind_VM_Mom : 16|10@1+ (1,0) [0|1021] "Unit_NewtoMeter" Getriebe_DQ_Hybrid_MQB + SG_ MO_HYB_Zielzustand : 26|3@1+ (1,0) [0|7] "" BMS_MQB,Getriebe_DQ_Hybrid_MQB + SG_ MO_HYB_Startmodus : 29|3@1+ (1,0) [0|7] "" Vector__XXX + SG_ MO_HYB_Startmodus_PQ3x : 32|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB + SG_ MO_HYB_Stoppmodus : 33|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB + SG_ MO_HYB_VM_Mom_oE : 40|10@1+ (1,-100) [-100|922] "Unit_NewtoMeter" Getriebe_DQ_Hybrid_MQB + SG_ MO_HYB_VM_aktiv : 50|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB + SG_ MO_HYB_Schaltverhinderung : 51|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB + +BO_ 811 Motor_Hybrid_02: 8 Motor_Hybrid_MQB + SG_ MO_HYB_E_Faktor : 12|4@1+ (1,0) [0|15] "" Getriebe_DQ_Hybrid_MQB + SG_ MO_HYB_Drehzahl_VM : 16|16@1+ (0.25,0) [0|16256] "Unit_MinutInver" Getriebe_DQ_Hybrid_MQB + SG_ MO_HYB_LowSpeedModus : 32|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB + +BO_ 2600468501 NMH_Airbag_01: 8 Airbag_MQB + SG_ NM_Airbag_01_SNI : 0|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ NM_Airbag_01_NM_State : 16|6@1+ (1,0) [0|63] "" BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ NM_Airbag_01_Car_Wakeup : 22|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ NM_Airbag_01_Wakeup : 24|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ NM_Airbag_01_NM_aktiv_KL15 : 32|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Airbag_01_NM_aktiv_Diagnose : 33|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Airbag_01_NM_aktiv_Tmin : 34|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Airbag_01_UDS_CC : 63|1@1+ (1,0) [0|1] "" Vector__XXX + +BO_ 2600468604 NMH_EMotor_01: 8 LEH_MQB + SG_ NM_EMotor_01_SNI : 0|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ NM_EMotor_01_NM_State : 16|6@1+ (1,0) [0|63] "" BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ NM_EMotor_01_Car_Wakeup : 22|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ NM_EMotor_01_Wakeup : 24|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ NM_EMotor_01_NM_aktiv_KL15 : 32|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_EMotor_01_NM_aktiv_Diagnose : 33|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_EMotor_01_NM_aktiv_Tmin : 34|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_EMotor_01_NL_Daten_EEPROM : 48|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_EMotor_01_UDS_CC : 63|1@1+ (1,0) [0|1] "" Vector__XXX + +BO_ 2600468496 NMH_Gateway: 8 Gateway_MQB + SG_ NM_Gateway_SNI : 0|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ NM_Gateway_NM_State : 16|6@1+ (1,0) [0|63] "" BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ NM_Gateway_Car_Wakeup : 22|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Gateway_Wakeup : 24|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ NM_Gateway_NM_aktiv_KL15 : 32|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Gateway_NM_aktiv_Diagnose : 33|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Gateway_NM_aktiv_Tmin : 34|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Gateway_ACAN_Aktivitaet : 35|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Gateway_FCAN_Aktivitaet : 36|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Gateway_KCAN_Aktivitaet : 37|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Gateway_ICAN_Aktivitaet : 38|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Gateway_DiagCAN_Aktivitaet : 39|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Gateway_ECAN_Aktivitaet : 40|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Gateway_Energie_LIN_Aktivi000 : 41|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Gateway_Bedien_LIN_Aktivitaet : 42|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Gateway_EM_Aktivitaet : 43|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Gateway_NL_EM : 48|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Gateway_NL_Shutdown : 49|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Gateway_NL_Spg_Messung : 50|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Gateway_NL_Wakeup_Monitor : 51|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Gateway_UDS_CC : 63|1@1+ (1,0) [0|1] "" Vector__XXX + +BO_ 2600468599 NMH_Getriebe_01: 8 Getriebe_DQ_Hybrid_MQB + SG_ NM_Getriebe_01_SNI : 0|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ NM_Getriebe_01_NM_State : 16|6@1+ (1,0) [0|63] "" BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ NM_Getriebe_01_Car_Wakeup : 22|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ NM_Getriebe_01_Wakeup : 24|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ NM_Getriebe_01_NM_aktiv_KL15 : 32|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Getriebe_01_NM_aktiv_Diagnose : 33|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Getriebe_01_NM_aktiv_Tmin : 34|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Getriebe_01_NM_aktiv_v_gr_0 : 35|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Getriebe_01_NM_aktiv_Pos_Erk : 36|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Getriebe_01_NM_aktiv_Umg_Bed : 37|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Getriebe_01_NL_Daten_EEPROM : 48|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Getriebe_01_UDS_CC : 63|1@1+ (1,0) [0|1] "" Vector__XXX + +BO_ 2600468603 NMH_Hybrid_01: 8 BMS_MQB + SG_ NM_Hybrid_01_SNI : 0|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ NM_Hybrid_01_NM_State : 16|6@1+ (1,0) [0|63] "" BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ NM_Hybrid_01_Car_Wakeup : 22|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ NM_Hybrid_01_Wakeup : 24|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ NM_Hybrid_01_NM_aktiv_KL15 : 32|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Hybrid_01_NM_aktiv_Diagnose : 33|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Hybrid_01_NM_aktiv_Tmin : 34|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Hybrid_01_NL_Daten_EEPROM : 48|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Hybrid_01_NL_Luefter : 49|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Hybrid_01_UDS_CC : 63|1@1+ (1,0) [0|1] "" Vector__XXX + +BO_ 2600468598 NMH_MO_01: 8 Motor_Diesel_MQB + SG_ NM_MO_01_SNI : 0|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ NM_MO_01_NM_State : 16|6@1+ (1,0) [0|63] "" BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ NM_MO_01_Car_Wakeup : 22|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ NM_MO_01_Wakeup : 24|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ NM_MO_01_NM_aktiv_KL15 : 32|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_MO_01_NM_aktiv_Diagnose : 33|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_MO_01_NM_aktiv_Tmin : 34|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_MO_01_NM_aktiv_HV_Abschaltung : 35|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_MO_01_NM_aktiv_EKP_Vorlauf : 36|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_MO_01_NM_aktiv_STH_Betrieb : 37|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_MO_01_NL_Kuehlerluefter : 48|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_MO_01_NL_Diagnose : 49|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_MO_01_NL_WFS : 50|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_MO_01_NL_EEPROM : 51|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_MO_01_NL_Sonstige : 52|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_MO_01_UDS_CC : 63|1@1+ (1,0) [0|1] "" Vector__XXX + +BO_ 913 OBD_01: 8 Motor_Diesel_MQB + SG_ OBD_Calc_Load_Val : 0|8@1+ (0.39215686275,0) [0|100] "Unit_PerCent" BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB + SG_ OBD_Eng_Cool_Temp : 8|8@1+ (1,-40) [-40|215] "Unit_DegreCelsi" BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB + SG_ OBD_Abs_Throttle_Pos : 16|8@1+ (0.39215686275,0) [0|100] "Unit_PerCent" BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB + SG_ OBD_Abs_Load_Val : 24|16@1+ (0.39215686275,0) [0|25700] "Unit_PerCent" BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB + SG_ OBD_Abs_Pedal_Pos : 40|8@1+ (0.39215686275,0) [0|100] "Unit_PerCent" BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB + SG_ OBD_Kaltstart_Denominator : 59|1@1+ (1,0) [0|1] "" BMS_MQB,LEH_MQB + SG_ OBD_Minimum_Trip : 60|1@1+ (1,0) [0|1] "" BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB + SG_ OBD_Driving_Cycle : 61|1@1+ (1,0) [0|1] "" BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB + SG_ OBD_Warm_Up_Cycle : 62|1@1+ (1,0) [0|1] "" BMS_MQB,Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB + SG_ OBD_Normed_Trip : 63|1@1+ (1,0) [0|1] "" BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB + +BO_ 1630 OBD_Tankgeber_01: 8 Gateway_MQB + SG_ OBD_TG_F_Status_1 : 0|4@1+ (1,0) [0|15] "" Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ OBD_TG_F_Status_2 : 4|4@1+ (1,0) [0|15] "" Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ OBD_TG_F_Status_3 : 8|4@1+ (1,0) [0|15] "" Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ OBD_TG_F_Status_4 : 12|4@1+ (1,0) [0|15] "" Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ OBD_TG_Sens_Rohwert_1 : 16|12@1+ (0.5,0) [0|2047.5] "Unit_Ohm" Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ OBD_TG_Sens_Rohwert_2 : 28|12@1+ (0.5,0) [0|2047.5] "Unit_Ohm" Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ OBD_TG_Sens_Rohwert_3 : 40|12@1+ (0.5,0) [0|2047.5] "Unit_Ohm" Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ OBD_TG_Sens_Rohwert_4 : 52|12@1+ (0.5,0) [0|2047.5] "Unit_Ohm" Motor_Hybrid_MQB,Motor_Otto_MQB + +BO_ 1437 Remotestart_FFB: 8 Gateway_MQB + SG_ RSF_Tastencode_1 : 0|8@1+ (1,0) [0|255] "" Motor_Diesel_MQB,Motor_Otto_MQB + SG_ RSF_Tastencode_2 : 8|8@1+ (1,0) [0|255] "" Motor_Diesel_MQB,Motor_Otto_MQB + SG_ RSF_Tastencode_Maske : 16|8@1+ (1,0) [0|255] "" Motor_Diesel_MQB,Motor_Otto_MQB + +BO_ 984 RGS_VL_01: 8 Airbag_MQB + SG_ RGS_VL_Texte : 12|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ RGS_VL_Charisma_FahrPr : 14|4@1+ (1,0) [0|15] "" Gateway_MQB + SG_ RGS_VL_Charisma_Status : 18|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ RGS_VL_aktiv : 21|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ RGS_VL_PC_Aktuator_Sitz : 25|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ RGS_VL_PC_Aktuator_Schiebedach : 26|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ RGS_VL_PC_Aktuator_Fenster : 27|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ RGS_VL_PC_Aktuator_Warnblinken : 28|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ RGS_VL_Precrash_Basis : 32|8@1+ (1,0) [0|255] "" Gateway_MQB + SG_ RGS_VL_Precrash_Front : 40|8@1+ (1,0) [0|255] "" Gateway_MQB + SG_ RGS_VL_Precrash_Rear : 48|8@1+ (1,0) [0|255] "" Gateway_MQB + +BO_ 1528 SAK_01: 8 SAK_MQB + SG_ SAK_Charisma_FahrPr : 16|4@1+ (1,0) [0|15] "" Gateway_MQB + SG_ SAK_Charisma_Status : 20|2@1+ (1,0) [0|3] "" Gateway_MQB + +BO_ 1313 STH_01: 8 Gateway_MQB + SG_ STH_Funk_ein : 0|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ STH_Funk_aus : 1|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ STH_Zusatzheizung : 2|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ STH_LED : 3|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ STH_Pumpe_ein : 4|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ STH_Geblaese : 5|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ STH_EKP_Anst : 6|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ STH_Start_folgt : 7|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ STH_Ventiloeffnungszeit : 8|6@1+ (1,0) [0|63] "Unit_Minut" Vector__XXX + SG_ STH_Ventil_Status : 14|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ STH_Waermeeintrag : 16|6@1+ (1,0) [0|63] "" Vector__XXX + SG_ STH_KVS : 24|13@1+ (1,0) [0|8191] "Unit_MilliLiter" Vector__XXX + SG_ STH_Fehlerstatus : 37|3@1+ (1,0) [0|7] "" Vector__XXX + SG_ STH_Heizleistung : 40|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ STH_Wassertemp : 48|8@1+ (0.75,-40) [-40|142.25] "Unit_DegreCelsi" Vector__XXX + SG_ STH_Motorvorwaermung : 59|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ STH_Servicemode : 60|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ STH_war_aktiv : 61|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ STH_KVS_Ueberlauf : 62|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ STH_KD_Fehler : 63|1@1+ (1,0) [0|1] "" Vector__XXX + +BO_ 1172 STS_01: 8 Gateway_MQB + SG_ STS_01_CRC : 0|8@1+ (1,0) [0|255] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ STS_01_BZ : 8|4@1+ (1,0) [0|15] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ STS_Car_not_under_theft : 12|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ STS_Car_under_theft : 13|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ STS_Anlassersperre : 15|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ STS_Typencodierung : 16|5@1+ (1,0) [0|31] "" Vector__XXX + SG_ STS_LIN_aktiv : 23|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ STS_Standlicht : 24|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ STS_Fahrlicht : 25|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ STS_Alarm_still : 26|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ STS_Texte : 27|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ STS_Laderelais : 38|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ STS_Summer : 48|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ STS_Alarm_Blinker : 50|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ STS_Notstart : 51|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ STS_Signalhorn : 55|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ STS_Leerlaufschaltung : 56|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + +BO_ 1413 Systeminfo_01: 8 Gateway_MQB + SG_ SI_Sammel_SG_Fehler : 0|6@1+ (1,0) [0|60] "" Vector__XXX + SG_ SI_Rollenmode : 6|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ SI_QRS_Mode : 8|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ SI_T_Mode : 9|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SI_NWDF : 10|1@1+ (1,0) [0|1] "" SAK_MQB + SG_ SI_NWDF_gueltig : 11|1@1+ (1,0) [0|1] "" SAK_MQB + SG_ SI_Sammelfehler : 12|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ GW_KD_Fehler : 13|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SI_BUS_01 : 16|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SI_BUS_02 : 17|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SI_BUS_03 : 18|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SI_BUS_04 : 19|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SI_BUS_05 : 20|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SI_BUS_06 : 21|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SI_BUS_07 : 22|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SI_BUS_08 : 23|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SI_BUS_09 : 24|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SI_BUS_10 : 25|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SI_BUS_11 : 26|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SI_BUS_12 : 27|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SI_BUS_13 : 28|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SI_BUS_14 : 29|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SI_BUS_15 : 30|1@1+ (1,0) [0|1] "" Vector__XXX + +BO_ 288 TSK_06: 8 Motor_Diesel_MQB + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ TSK_Radbremsmom : 12|12@1+ (8,0) [0|32760] "Unit_NewtoMeter" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ TSK_Status : 24|3@1+ (1,0) [0|7] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ TSK_v_Begrenzung_aktiv : 27|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ TSK_Standby_Anf_ESP : 28|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ TSK_Freig_WU : 29|1@1+ (1.0,0.0) [0.0|1] "" Gateway_MQB + SG_ TSK_Freig_Verzoeg_Anf : 30|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ TSK_Limiter_ausgewaehlt : 31|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ TSK_Wunsch_Uebersetz : 32|10@1+ (0.0245,0) [0.0245|25.0635] "" Gateway_MQB + SG_ TSK_Hauptschalter_GRA_ACC : 42|2@1+ (1.0,0.0) [0.0|3] "" Gateway_MQB + SG_ TSK_SRBM_Anf_ASIL : 44|3@1+ (1.0,0.0) [0.0|7] "" Gateway_MQB + SG_ TSK_ax_Getriebe_02 : 48|9@1+ (0.024,-2.016) [-2.016|10.224] "Unit_MeterPerSeconSquar" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ TSK_Zwangszusch_ESP : 57|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ TSK_zul_Regelabw : 58|6@1+ (0.024,0) [0|1.512] "Unit_MeterPerSeconSquar" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + +BO_ 798 TSK_07: 8 Motor_Diesel_MQB + SG_ TSK_07_CRC : 0|8@1+ (1,0) [0|255] "" Gateway_MQB,Getriebe_AQ + SG_ TSK_07_BZ : 8|4@1+ (1,0) [0|15] "" Gateway_MQB,Getriebe_AQ + SG_ TSK_Wunschgeschw : 12|10@1+ (0.32,0) [0.00|326.72] "Unit_KiloMeterPerHour" Gateway_MQB,Getriebe_AQ + SG_ TSK_Texte : 40|5@1+ (1.0,0.0) [0.0|31] "" Gateway_MQB + SG_ TSK_Akustik : 45|3@1+ (1.0,0.0) [0.0|7] "" Gateway_MQB + SG_ TSK_Texte_Primaeranz : 48|5@1+ (1.0,0.0) [0.0|31] "" Gateway_MQB + SG_ TSK_Limiter_Fahrerinfo : 53|2@1+ (1.0,0.0) [0.0|3] "" Gateway_MQB + SG_ TSK_Limiter_Anzeige : 55|1@1+ (1.0,0.0) [0.0|1] "" Gateway_MQB + SG_ TSK_Fahrzeugstatus_GRA : 56|1@1+ (1.0,0.0) [0.0|1] "" Gateway_MQB + SG_ TSK_Fahrzeugstatus_Limiter : 57|1@1+ (1.0,0.0) [0.0|1] "" Gateway_MQB + SG_ MO_Motorlaufwarnung : 58|1@1+ (1.0,0.0) [0.0|1] "" Gateway_MQB + SG_ TSK_Status_Anzeige : 61|3@1+ (1.0,0.0) [0.0|7] "" Gateway_MQB + +BO_ 346 TSK_08: 8 Motor_Diesel_MQB + SG_ TSK_08_CRC : 0|8@1+ (1,0) [0|255] "" Frontradar + SG_ TSK_08_BZ : 8|4@1+ (1,0) [0|15] "" Frontradar + SG_ MO_Anforderung_HMS : 12|3@1+ (1,0) [0|7] "" Vector__XXX + SG_ TSK_Status_EA : 32|3@1+ (1,0) [0|7] "" Vector__XXX + SG_ TSK_vMax_Fahrerassistenz : 40|9@1+ (1,0) [0|510] "" Frontradar + SG_ TSK_Einheit_vMax_Fahrerassistenz : 49|1@1+ (1,0) [0|1] "" Frontradar + SG_ TSK_Status_PLA : 50|3@1+ (1,0) [0|7] "" Vector__XXX + SG_ TSK_aktives_System : 53|3@1+ (1,0) [0|7] "" Vector__XXX + SG_ TSK_erhoehter_Fahrwiderstand : 56|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ TSK_Anf_Antriebsmoment : 57|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ TSK_Status_ARA : 58|3@1+ (1,0) [0|7] "" Vector__XXX + SG_ TSK_Status_IPA : 61|3@1+ (1,0) [0|7] "" Vector__XXX + +BO_ 1716 VIN_01: 8 Gateway_MQB + SG_ VIN_01_MUX M : 0|2@1+ (1,0) [0|3] "" Airbag_MQB + SG_ KS_Geheimnis_1 m0 : 8|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ VIN_4 m1 : 8|8@1+ (1,0) [0|255] "" Airbag_MQB + SG_ VIN_11 m2 : 8|8@1+ (1,0) [0|255] "" Airbag_MQB + SG_ KS_Geheimnis_2 m0 : 16|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ VIN_5 m1 : 16|8@1+ (1,0) [0|255] "" Airbag_MQB + SG_ VIN_12 m2 : 16|8@1+ (1,0) [0|255] "" Airbag_MQB + SG_ KS_Geheimnis_3 m0 : 24|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ VIN_6 m1 : 24|8@1+ (1,0) [0|255] "" Airbag_MQB + SG_ VIN_13 m2 : 24|8@1+ (1,0) [0|255] "" Airbag_MQB + SG_ KS_Geheimnis_4 m0 : 32|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ VIN_7 m1 : 32|8@1+ (1,0) [0|255] "" Airbag_MQB + SG_ VIN_14 m2 : 32|8@1+ (1,0) [0|255] "" Airbag_MQB + SG_ VIN_1 m0 : 40|8@1+ (1,0) [0|255] "" Airbag_MQB + SG_ VIN_8 m1 : 40|8@1+ (1,0) [0|255] "" Airbag_MQB + SG_ VIN_15 m2 : 40|8@1+ (1,0) [0|255] "" Airbag_MQB + SG_ VIN_2 m0 : 48|8@1+ (1,0) [0|255] "" Airbag_MQB + SG_ VIN_9 m1 : 48|8@1+ (1,0) [0|255] "" Airbag_MQB + SG_ VIN_16 m2 : 48|8@1+ (1,0) [0|255] "" Airbag_MQB + SG_ VIN_3 m0 : 56|8@1+ (1,0) [0|255] "" Airbag_MQB + SG_ VIN_10 m1 : 56|8@1+ (1,0) [0|255] "" Airbag_MQB + SG_ VIN_17 m2 : 56|8@1+ (1,0) [0|255] "" Airbag_MQB + +BO_ 175 Waehlhebel_03: 4 Waehlhebel_MQB + SG_ WH_Status_Sperre : 0|3@1+ (1,0) [0|7] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ WH_Initialisierung : 3|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ WH_SensorPos_roh : 4|4@1+ (1,0) [0|15] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ WH_03_BZ : 8|4@1+ (1,0) [0|15] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ WH_SensorPos_roh_inv : 12|4@1+ (1,0) [0|15] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ WH_Testergebnis : 16|8@1+ (1,0) [0|255] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ WH_Test_Aktiv : 24|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ WH_Status : 25|7@1+ (1,0) [0|127] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + +BO_ 916 WBA_03: 8 Getriebe_DQ_Hybrid_MQB + SG_ WBA_03_CRC : 0|8@1+ (1,0) [0|255] "" Gateway_MQB + SG_ WBA_03_BZ : 8|4@1+ (1,0) [0|15] "" Gateway_MQB + SG_ WBA_Fahrstufe_02 : 12|4@1+ (1,0) [0|15] "" Gateway_MQB + SG_ WBA_ZielFahrstufe : 16|4@1+ (1,0) [0|15] "" Gateway_MQB + SG_ WBA_GE_Warnung_02 : 20|4@1+ (1,0) [0|15] "" Gateway_MQB + SG_ WBA_eing_Gang_02 : 24|4@1+ (1,0) [0|15] "" Gateway_MQB,Motor_Diesel_MQB,Motor_Otto_MQB + SG_ WBA_GE_Texte : 28|3@1+ (1,0) [0|7] "" Gateway_MQB + SG_ WBA_Segeln_aktiv : 31|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ WBA_Schaltschema : 32|5@1+ (1,0) [0|31] "" Gateway_MQB + +BO_ 1602 WIV_01: 8 Motor_Diesel_MQB + SG_ WIV_Verschleissindex : 0|16@1+ (2e-8,0) [0|0.00131068] "" Gateway_MQB + SG_ WIV_Russindex : 16|16@1+ (2e-8,0) [0|0.00131068] "" Gateway_MQB + SG_ WIV_t_min : 32|6@1+ (1,0) [0|63] "Unit_Month" Gateway_MQB + SG_ WIV_t_max : 40|6@1+ (1,0) [0|63] "Unit_Month" Gateway_MQB + SG_ WIV_W_min : 48|7@1+ (1000,0) [0|127000] "Unit_KiloMeter" Gateway_MQB + SG_ WIV_W_max : 56|7@1+ (1000,0) [0|127000] "Unit_KiloMeter" Gateway_MQB + +BO_ 294 HCA_01: 8 Frontsensorik + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ HCA_01_Vib_Freq : 12|4@1+ (1,15) [15|30] "Unit_Hertz" Vector__XXX + SG_ HCA_01_LM_Offset : 16|9@1+ (1,0) [0|511] "Unit_centiNewtoMeter" Vector__XXX + SG_ EA_ACC_Sollstatus : 25|2@1+ (1,0) [0|3] "" Frontradar + SG_ EA_Ruckprofil : 27|3@1+ (1,0) [0|7] "" Vector__XXX + SG_ HCA_01_Sendestatus : 30|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ HCA_01_LM_OffSign : 31|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ HCA_01_Status_HCA : 32|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ HCA_01_Vib_Amp : 36|4@1+ (0.2,0) [0|3] "Unit_NewtoMeter" Vector__XXX + SG_ EA_Ruckfreigabe : 40|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ EA_ACC_Wunschgeschwindigkeit : 41|10@1+ (0.32,0) [0|327.04] "Unit_KiloMeterPerHour" Frontradar + +BO_ 159 LH_EPS_03: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ EPS_DSR_Status : 12|4@1+ (1,0) [0|15] "" XXX + SG_ EPS_Berechneter_LW : 16|12@1+ (0.15,0) [0|613.95] "Unit_DegreOfArc" XXX + SG_ EPS_BLW_QBit : 30|1@1+ (1,0) [0|1] "" XXX + SG_ EPS_VZ_BLW : 31|1@1+ (1,0) [0|1] "" XXX + SG_ EPS_HCA_Status : 32|4@1+ (1,0) [0|15] "" XXX + SG_ EPS_Lenkmoment : 40|10@1+ (1,0) [0|8] "Unit_centiNewtoMeter" XXX + SG_ EPS_Lenkmoment_QBit : 54|1@1+ (1,0) [0|1] "" XXX + SG_ EPS_VZ_Lenkmoment : 55|1@1+ (1,0) [0|1] "" XXX + SG_ EPS_Lenkungstyp : 60|4@1+ (1,0) [0|15] "" XXX + +BO_ 286 VehicleSpeed: 8 XXX + SG_ VehicleSpeed_CRC : 0|8@1+ (1,0) [0|255] "" XXX + SG_ VehicleSpeed_BZ : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Speed : 52|12@1+ (0.125,0) [0|1] "" XXX + +BO_ 919 LDW_02: 8 XXX + SG_ LDW_Gong : 12|2@1+ (1,0) [0|3] "" XXX + SG_ LDW_SW_Warnung_links : 14|1@1+ (1,0) [0|1] "" XXX + SG_ LDW_SW_Warnung_rechts : 15|1@1+ (1,0) [0|1] "" XXX + SG_ LDW_Texte : 16|4@1+ (1,0) [0|15] "" XXX + SG_ LDW_Seite_DLCTLC : 20|1@1+ (1,0) [0|1] "" XXX + SG_ LDW_Lernmodus : 21|3@1+ (1,0) [0|7] "" XXX + SG_ LDW_Anlaufsp_VLR : 24|4@1+ (1,0) [0|15] "" XXX + SG_ LDW_Vib_Amp_VLR : 28|4@1+ (1,0) [0|15] "" XXX + SG_ LDW_Anlaufzeit_VLR : 32|4@1+ (1,0) [0|15] "" XXX + SG_ LDW_Lernmodus_rechts : 36|2@1+ (1,0) [0|3] "" XXX + SG_ LDW_Lernmodus_links : 38|2@1+ (1,0) [0|3] "" XXX + SG_ LDW_DLC : 40|8@1+ (0.01,-1.25) [-1.25|1.25] "Unit_Meter" XXX + SG_ LDW_TLC : 48|5@1+ (0.1,0) [0|3] "Unit_Secon" XXX + SG_ LDW_Warnung_links : 56|1@1+ (1,0) [0|1] "" XXX + SG_ LDW_Warnung_rechts : 57|1@1+ (1,0) [0|1] "" XXX + SG_ LDW_Codierinfo_fuer_VLR : 58|2@1+ (1,0) [0|3] "" XXX + SG_ LDW_Frontscheibenheizung_aktiv : 60|1@1+ (1,0) [0|1] "" XXX + SG_ LDW_Status_LED_gelb : 61|1@1+ (1,0) [0|1] "" XXX + SG_ LDW_Status_LED_gruen : 62|1@1+ (1,0) [0|1] "" XXX + SG_ LDW_KD_Fehler : 63|1@1+ (1,0) [0|1] "" XXX + +BO_ 780 ACC_02: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ ACC_Wunschgeschw_02 : 12|10@1+ (0.32,0) [0|327.04] "Unit_KiloMeterPerHour" XXX + SG_ ACC_Status_Prim_Anz : 22|2@1+ (1,0) [0|3] "" XXX + SG_ ACC_Abstandsindex : 24|10@1+ (1,0) [1|1021] "" XXX + SG_ ACC_Akustik_02 : 34|2@1+ (1,0) [0|3] "" XXX + SG_ ACC_Warnung_Verkehrszeichen_1 : 36|1@1+ (1,0) [0|1] "" XXX + SG_ ACC_Gesetzte_Zeitluecke : 37|3@1+ (1,0) [0|7] "" XXX + SG_ ACC_Optischer_Fahrerhinweis : 40|1@1+ (1,0) [0|1] "" XXX + SG_ ACC_Typ_Tachokranz : 41|1@1+ (1,0) [0|1] "" XXX + SG_ ACC_Anzeige_Zeitluecke : 42|1@1+ (1,0) [0|1] "" XXX + SG_ ACC_Tachokranz : 43|1@1+ (1,0) [0|1] "" XXX + SG_ ACC_Display_Prio : 44|2@1+ (1,0) [0|3] "" XXX + SG_ ACC_Relevantes_Objekt : 46|2@1+ (1,0) [0|3] "" XXX + SG_ ACC_Texte_Primaeranz : 48|7@1+ (1,0) [0|127] "" XXX + SG_ ACC_Wunschgeschw_erreicht : 55|1@1+ (1,0) [0|1] "" XXX + SG_ ACC_Typ_Tachokranz_unten : 60|1@1+ (1,0) [0|1] "" XXX + SG_ ACC_Status_Anzeige : 61|3@1+ (1,0) [0|7] "" XXX + +BO_ 302 ACC_07: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ ACC_Anhalteweg : 12|11@1+ (0.01,0) [0|20.45] "Unit_Meter" XXX + SG_ ACC_Anhalten : 23|1@1+ (1,0) [0|1] "" XXX + SG_ ACC_Boost_Anf : 24|1@1+ (1,0) [0|1] "" XXX + SG_ ACC_Freilauf_Anf : 25|1@1+ (1,0) [0|1] "" XXX + SG_ ACC_Freilauf_Info : 26|2@1+ (1,0) [0|3] "" XXX + SG_ ACC_Anforderung_HMS : 28|3@1+ (1,0) [0|7] "" XXX + SG_ ACC_Anfahren : 31|1@1+ (1,0) [0|1] "" XXX + SG_ ACC_Folgebeschl : 32|8@1+ (0.03,-4.6) [-4.6|2.99] "Unit_MeterPerSeconSquar" XXX + SG_ ACC_Sollbeschleunigung_02 : 53|11@1+ (0.005,-7.22) [-7.22|3.005] "Unit_MeterPerSeconSquar" XXX + +BO_ 264 Fahrwerk_01: 8 XXX + SG_ Fahrwerk_01_BZ : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Fahrwerk_01_CRC : 0|8@1+ (1,0) [0|255] "" XXX + +BO_ 695 RCTA_01: 8 XXX + SG_ RCTA_01_BZ : 8|4@1+ (1,0) [0|15] "" XXX + SG_ RCTA_01_CRC : 0|8@1+ (1,0) [0|255] "" XXX + +BO_ 783 SWA_01: 8 Gateway_MQB + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ SWA_Anzeigen : 12|4@1+ (1,0) [0|15] "" Kombi_D4 + SG_ SWA_Blindheit_erkannt : 16|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SWA_rel_Nichtverf : 17|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SWA_rel_Fehler : 18|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SWA_Sta_aktiv : 19|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SWA_Sta_passiv : 20|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SWA_Standziele_li : 24|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SWA_Kolonne_li : 25|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SWA_Infostufe_SWA_li : 26|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SWA_Warnung_SWA_li : 27|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SWA_Kolonne_mi : 33|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SWA_Standziele_re : 40|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SWA_Kolonne_re : 41|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SWA_Infostufe_SWA_re : 42|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SWA_Warnung_SWA_re : 43|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SWA_Gischtzaehler : 48|7@1+ (1,0) [0|100] "Unit_PerCent" Vector__XXX + SG_ SWA_KD_Fehler : 59|1@1+ (1,0) [0|1] "" Vector__XXX + +BO_ 804 ACC_04: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ ACC_Texte_Sekundaeranz : 12|4@1+ (1,0) [0|15] "" XXX + SG_ ACC_Texte_Zusatzanz : 16|6@1+ (1,0) [0|63] "" XXX + SG_ ACC_Status_Zusatzanz : 22|5@1+ (1,0) [0|31] "" XXX + SG_ ACC_Texte : 27|5@1+ (1,0) [0|31] "" XXX + SG_ ACC_Texte_braking_guard : 32|3@1+ (1,0) [0|7] "" XXX + SG_ ACC_Warnhinweis : 35|1@1+ (1,0) [0|1] "" XXX + SG_ ACC_Zeitluecke_Abstandswarner : 36|6@1+ (0.1,0) [0|6] "Unit_Secon" XXX + SG_ ACC_Abstand_Abstandswarner : 42|9@1+ (1,0) [0|508] "" XXX + SG_ ACC_Tempolimit : 51|5@1+ (1,0) [0|31] "" XXX + SG_ ACC_Charisma_FahrPr : 56|4@1+ (1,0) [0|15] "" XXX + SG_ ACC_Charisma_Status : 60|2@1+ (1,0) [0|3] "" XXX + SG_ ACC_Texte_Abstandswarner : 62|2@1+ (1,0) [0|3] "" XXX + +BO_ 917 LWR_AFS_01: 8 XXX + +BO_ 991 Gateway_76: 8 XXX + +BO_ 997 TSG_FT_02: 8 XXX + SG_ TSG_FT_02_BZ : 8|4@1+ (1,0) [0|15] "" XXX + SG_ TSG_FT_02_CRC : 0|8@1+ (1,0) [0|255] "" XXX + +BO_ 1175 Parkhilfe_01: 8 XXX + +BO_ 427 ESP_33: 8 XXX + SG_ ESP_33_BZ : 8|4@1+ (1,0) [0|15] "" XXX + SG_ ESP_33_CRC : 0|8@1+ (1,0) [0|255] "" XXX + +BO_ 418 ESP_15: 8 XXX + SG_ ESP_15_CRC : 0|8@1+ (1,0) [0|255] "" XXX + SG_ ESP_15_BZ : 8|4@1+ (1,0) [0|15] "" XXX + +BO_ 1122 PSD_04: 8 XXX + SG_ PSD_Object_Index : 0|6@1+ (1,0) [0|63] "" XXX + +BO_ 1123 PSD_05: 8 XXX + SG_ PSD_Current_Route_Index : 0|6@1+ (1,0) [0|63] "" XXX + SG_ Route_Distance_Remaining : 8|5@1+ (1,0) [0|31] "" XXX + +BO_ 1124 PSD_06: 8 XXX + +BO_ 988 Gateway_73: 8 XXX + +BO_ 792 Kamera_Status: 8 XXX + +BO_ 981 Licht_Anf_01: 8 XXX + +BO_ 1440 RLS_01: 8 XXX + +BO_ 870 Blinkmodi_02: 8 XXX + SG_ Hazard_Switch : 20|1@1+ (1,0) [0|1] "" XXX + SG_ Comfort_Signal_Left : 23|1@1+ (1,0) [0|1] "" XXX + SG_ Comfort_Signal_Right : 24|1@1+ (1,0) [0|1] "" XXX + SG_ Left_Turn_Exterior_Bulb_1 : 25|1@1+ (1,0) [0|1] "" XXX + SG_ Right_Turn_Exterior_Bulb_1 : 26|1@1+ (1,0) [0|1] "" XXX + SG_ Left_Turn_Exterior_Bulb_2 : 27|1@1+ (1,0) [0|1] "" XXX + SG_ Right_Turn_Exterior_Bulb_2 : 28|1@1+ (1,0) [0|1] "" XXX + SG_ Fast_Send_Rate_Active : 37|1@1+ (1,0) [0|1] "" XXX + +BO_ 1385 HVEM_04: 8 XXX + +BO_ 1605 FLA_01: 8 XXX + +BO_ 1624 Licht_vorne_01: 8 XXX + +BO_ 1646 Klima_03: 8 XXX + +BO_ 1720 Kombi_03: 8 XXX + SG_ KBI_Reifenumfang : 0|12@1+ (1,0) [0|4095] "Unit_MilliMeter" XXX + SG_ KBI_Variante_USA : 12|1@1+ (1.0,0.0) [0.0|1] "" XXX + SG_ KBI_Variante : 13|1@1+ (1.0,0.0) [0.0|1] "" XXX + SG_ KBI_BCmE_aktiv : 16|1@1+ (1.0,0.0) [0.0|1] "" XXX + SG_ KBI_Sparhinweis_quittiert : 17|1@1+ (1.0,0.0) [0.0|1] "" XXX + SG_ KBI_Tankfuellstand_Prozent : 18|7@1+ (1,0) [0|100] "Unit_PerCent" XXX + SG_ KBI_Nachtanken_erkannt : 25|1@1+ (1.0,0.0) [0.0|1] "" XXX + SG_ KBI_Tankinhalt_hochaufl : 26|14@1+ (0.01,0) [0.00|163.81] "Unit_Liter" XXX + SG_ KBI_Max_Tankinhalt : 40|8@1+ (0.5,0) [0.0|126.5] "" XXX + SG_ KBI_Reifenumfang_Sekundaer : 48|12@1+ (1,0) [0|4095] "Unit_MilliMeter" XXX + +BO_ 391 EV_Gearshift: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ GearPosition : 16|4@1+ (1,0) [0|255] "" XXX + SG_ RegenBrakingMode : 12|2@1+ (1,0) [0|3] "" XXX + +CM_ SG_ 134 LWI_Lenkradwinkel "Steering angle WITH variable ratio effect included"; +CM_ SG_ 159 EPS_HCA_Status "Status of Heading Control Assist feature"; +CM_ SG_ 159 EPS_Lenkmoment "Steering input by driver, torque"; +CM_ SG_ 159 EPS_VZ_Lenkmoment "Steering input by driver, direction"; +CM_ SG_ 159 EPS_Berechneter_LW "Raw steering angle, degrees"; +CM_ SG_ 159 EPS_VZ_BLW "Raw steering angle, direction"; +CM_ SG_ 173 COUNTERXX "Message not renamed to COUNTER because J533 rate-limiting makes it look like messages are being lost"; +CM_ SG_ 294 HCA_01_Vib_Freq "Frequenz der Lenkradvibration"; +CM_ SG_ 294 HCA_01_LM_Offset "Von HCA angefordertes Lenkmoment (Betrag)"; +CM_ SG_ 294 EA_ACC_Sollstatus "Status-Anforderung ACC von Emergency Alert. Statuswechsel bei Flanke. Solange Wert=1, wird EA_ACC_Wunschgeschwindigkeit übernommen. Wert=2 führt zu Zustand ¿ACC_GRA_passiv¿"; +CM_ SG_ 294 EA_Ruckprofil "Emergency Alert Anforderung an ESP, welcher Ruck verwendet werden soll. Eine Umsetzung der Ruckanforderung im ESP erfolgt nur mit gesetztem Bit 'EA_Ruckfreigabe'."; +CM_ SG_ 294 HCA_01_Sendestatus "Gibt den Sendestatus der HCA_01 an (notwendig für IL-Unterstützung)"; +CM_ SG_ 294 HCA_01_LM_OffSign "Vorzeichen des HCA-Lenkmoments"; +CM_ SG_ 294 HCA_01_Status_HCA "Statusinformation vom HCA und Manoevrierassistent für Handshakemechanismus mit der Lenkung"; +CM_ SG_ 294 HCA_01_Vib_Amp "Momentenamplitude der Lenkradvibration"; +CM_ SG_ 294 EA_Ruckfreigabe "Emergency Alert Freigabit für die Warnruck-Anforderung an das ESP"; +CM_ SG_ 294 EA_ACC_Wunschgeschwindigkeit "Emergency Alert Anforderung neue Wunschgeschwindigkeit"; +CM_ SG_ 302 ACC_Hold_Request "Active request for ABS brake hold in ACC_Hold_Type"; +CM_ SG_ 302 ACC_Boost_Request "Hybrid engine start related"; +CM_ SG_ 302 ACC_Freewheel_Request "Active request for DSG sailing/coasting in ACC_Freewheel_Type"; +CM_ SG_ 302 ACC_Hold_Release "Request to ABS to release brake hold"; +CM_ SG_ 302 ACC_Accel_Secondary "Target acceleration of the secondary controller"; +CM_ SG_ 302 ACC_Accel_TSK "Mirror of request to TSK to implement a target acceleration"; +CM_ SG_ 870 Hazard_Switch "Four-way flashers active"; +CM_ SG_ 870 Comfort_Signal_Left "Comfort turn signal active, left"; +CM_ SG_ 870 Comfort_Signal_Right "Comfort turn signal active, right"; +CM_ SG_ 870 Left_Turn_Exterior_Bulb_1 "Probably front"; +CM_ SG_ 870 Right_Turn_Exterior_Bulb_1 "Probably front"; +CM_ SG_ 870 Left_Turn_Exterior_Bulb_2 "Probably rear"; +CM_ SG_ 870 Right_Turn_Exterior_Bulb_2 "Probably rear"; +CM_ SG_ 870 Fast_Send_Rate_Active "CAN message send rate"; +CM_ SG_ 919 LDW_DLC "Probable DLC (distance to line crossing)"; +CM_ SG_ 919 LDW_TLC "Probable TLC (time to line crossing)"; +CM_ SG_ 919 LDW_Unknown "Might be a steering pressed / driver active flag"; +CM_ SG_ 919 Alert_Message "Static table of alert messages to be invoked in the instrument cluster, some with or without beeps, 0 = no current message"; +CM_ SG_ 919 LDW_Direction "Left/right indicator for DLC and TLC"; +CM_ SG_ 919 Right_Lane_Status "Display brightness range, 0 = no lane, 3 = full brightness"; +CM_ SG_ 919 Left_Lane_Status "Display brightness range, 0 = no lane, 3 = full brightness"; +CM_ SG_ 919 Kombi_Lamp_Orange "Enables orange LDW light in instrument cluster"; +CM_ SG_ 919 Kombi_Lamp_Green "Enables green LDW light in instrument cluster"; +CM_ SG_ 780 Folgefahrt "Following another vehicle"; +CM_ SG_ 780 SetAbstand "Set following distance"; +CM_ SG_ 780 Abstand "Following distance"; +CM_ SG_ 780 SetSpeed "ACC set speed"; +CM_ SG_ 391 GearPosition "Traditional PRND plus B-mode aggressive regen, B-mode mapped to Drive"; +CM_ SG_ 679 ACC_ADAPTIVE "TSK_06.TSK_Limiter_ausgewaehlt seems to take precedence"; +CM_ SG_ 960 ZAS_Kl_15 "Indicates ignition on"; +CM_ SG_ 1720 KBI_BCmE_aktiv "Anzeige BCmE aktiv (BCmE-Screen oder Einsparhinweis in der Anzeige)"; +CM_ SG_ 1720 KBI_Max_Tankinhalt "Mitteilung des maximalen Tankinhalts an das Reichweitenmodul"; +CM_ SG_ 1720 KBI_Nachtanken_erkannt "Statusinformation Nachtankmodus"; +CM_ SG_ 1720 KBI_Reifenumfang "Mittlerer Radumfang aus der K-Zahl gerechnet in Millimeter. Byte 2 Bit 5,4 reserviert, Byte 2 Bit 3..0 und Byte 1 Bit 7..0; Wertebereich 0..4096 mm +"; +CM_ SG_ 1720 KBI_Reifenumfang_Sekundaer "Fahrzeuge mit unterschiedlichen Reifenumfängen Vorderachse / Hinterachse: + +Primärachse: KBI_Reifenumfang +Sekundärachse: KBI_Reifenumfang_Sekundaer +"; +CM_ SG_ 1720 KBI_Sparhinweis_quittiert "angezeigter Sparhinweis ist quittiert. Signal wird nach zwei Sendebotschaften wieder auf '0' gesetzt."; +CM_ SG_ 1720 KBI_Tankfuellstand_Prozent "Tankfüllstand in %"; +CM_ SG_ 1720 KBI_Tankinhalt_hochaufl "angezeigter Tankinhalt hochauflösend zur Restreichweitenberechnung"; +CM_ SG_ 1720 KBI_Variante "Zeigt an ob es sich um ein konventionelles Zeiger-Kombiinstrument handelt oder um eine Volldisplay-Kombiinstrument"; +CM_ SG_ 1720 KBI_Variante_USA "In diesem Signal wird die HW-Variante des Kombis ausgegeben, ACC plausibilisiert auf dieses Signal hin seine US-Codierung"; + + +VAL_ 159 EPS_HCA_Status 0 "disabled" 1 "initializing" 2 "fault" 3 "ready" 4 "rejected" 5 "active" 8 "preempted" ; +VAL_ 173 GE_Fahrstufe 5 "P" 6 "R" 7 "N" 8 "D" 9 "S" 10 "E" 13 "T" 14 "T" ; +VAL_ 288 TSK_Status 0 "init" 1 "disabled" 2 "enabled" 3 "regulating" 4 "accel_pedal_override" 5 "brake_only" 6 "temp_fault" 7 "perm_fault" ; +VAL_ 288 TSK_v_Begrenzung_aktiv 0 "inaktiv" 1 "aktiv" ; +VAL_ 288 TSK_Standby_Anf_ESP 0 "keine_Standby_Anforderung" 1 "Standby_Anforderung" ; +VAL_ 288 TSK_Freig_WU 0 "TSK_Uebersetzungswunsch_nicht_freigegeben" 1 "TSK_Uebersetzungswunsch_freigegeben" ; +VAL_ 288 TSK_Freig_Verzoeg_Anf 0 "Verzoegerungsanforderung_nicht_freigegeben" 1 "Verzoegerungsanforderung_freigegeben" ; +VAL_ 288 TSK_Limiter_ausgewaehlt 0 "kein_Limiter_ausgewaehlt" 1 "Limiter_ausgewaehlt" ; +VAL_ 288 TSK_Wunsch_Uebersetz 0 "Init" ; +VAL_ 288 TSK_Hauptschalter_GRA_ACC 0 "Init" 1 "Aus" 2 "Ein" 3 "Fehler" ; +VAL_ 288 TSK_ax_Getriebe_02 511 "Neutralwert" ; +VAL_ 288 TSK_Zwangszusch_ESP 0 "keine_ESP_ASR_Beeinflussung" 1 "ESP_ASR_Beeinflussung" ; +VAL_ 294 EA_ACC_Sollstatus 0 "Init" 1 "ACC_aktivieren" 2 "ACC_deaktivieren" ; +VAL_ 294 EA_Ruckprofil 0 "Init" 1 "Profil_1" 2 "Profil_2" 3 "Profil_3" 4 "Profil_4" 5 "Profil_5" 6 "Profil_6" 7 "Profil_7" ; +VAL_ 294 HCA_01_Sendestatus 0 "HCA_sendet_mit_1000ms" 1 "HCA_sendet_mit_20ms" ; +VAL_ 294 HCA_01_LM_OffSign 0 "positives_Vorzeichen" 1 "negatives_Vorzeichen" ; +VAL_ 294 HCA_01_Status_HCA 0 "deaktiviert" 1 "reserviert" 2 "reserviert" 3 "funktionsbereit" 4 "reserviert" 5 "HCA_Momenteneingriff_1" 6 "MA_Aktiv" 7 "HCA_Momenteneingriff_2" 8 "reserviert" 9 "reserviert" 10 "reserviert" 11 "reserviert" 12 "reserviert" 13 "reserviert" 14 "reserviert" 15 "reserviert" ; +VAL_ 294 EA_Ruckfreigabe 0 "keine_Freigabe" 1 "Freigabe" ; +VAL_ 294 EA_ACC_Wunschgeschwindigkeit 1023 "Init" ; +VAL_ 346 MO_Anforderung_HMS 0 "keine_Anforderung" 1 "halten" 2 "parken" 3 "halten_Standby" 4 "anfahren" 5 "Loesen_ueber_Rampe" ; +VAL_ 346 TSK_Status_EA 0 "Aus" 1 "Init_oder_nicht_verbaut" 3 "Aktiv" 4 "Uebertreten" 5 "Abschaltung_laeuft" 6 "Reversibel_aus" 7 "Irreversibel_Aus" ; +VAL_ 346 TSK_vMax_Fahrerassistenz 511 "Init_ungueltig_keine_Beschraenkung" ; +VAL_ 346 TSK_Einheit_vMax_Fahrerassistenz 0 "kmh" 1 "mph" ; +VAL_ 346 TSK_Status_PLA 0 "Aus_Funktionsbereit" 1 "Init_oder_nicht_verbaut" 2 "aktivierbar" 3 "aktiv" 5 "Abschaltung_laeuft" 6 "reversibel_aus" 7 "Fehler" ; +VAL_ 346 TSK_aktives_System 0 "keine_Funktion_aktiv" 1 "GRA_ACC" 2 "ARA" 3 "Speedlimiter" 4 "IPA" 5 "PLA" 6 "PEA_Ausrollassistent" 7 "EA" ; +VAL_ 346 TSK_erhoehter_Fahrwiderstand 0 "kein_erhoehter_Fahrwiderstand" 1 "erhoehter_Fahrwiderstand" ; +VAL_ 346 TSK_Anf_Antriebsmoment 0 "keine_Anforderung" 1 "Anforderung_aktiv" ; +VAL_ 346 TSK_Status_ARA 0 "Aus" 1 "Init_oder_nicht_verbaut" 2 "aktivierbar" 3 "aktiv" 5 "abschaltung_laeuft" 6 "reversibel_aus" 7 "Fehler" ; +VAL_ 346 TSK_Status_IPA 0 "Aus_Funktionsbereit" 1 "Init_oder_nicht_verbaut" 2 "aktivierbar" 3 "aktiv" 5 "Abschaltung_laueft" 6 "reversibel_aus" 7 "Fehler" ; +VAL_ 798 TSK_Wunschgeschw 1022 "keine_Anzeige" 1023 "kein_Wert_im_Speicher" ; +VAL_ 798 TSK_Texte 0 "kein_Text" 1 "GRA_Modus_ausgewaehlt" 2 "ACC_Modus_ausgewaehlt" 3 "Lim_Modus_ausgewaehlt" 4 "Lim_nicht_verfuegbar_ESC_passiv" 5 "GRA_nicht_verfuegbar_ESC_passiv" 6 "Lim_nicht_verfuegbar_Charisma" 7 "GRA_nicht_verfuegbar_Charisma" 8 "Lim_nicht_verfuegbar_HDC" 9 "GRA_nicht_verfuegbar_HDC" ; +VAL_ 798 TSK_Akustik 0 "keine_Akustik" 1 "einzelner_Warnton" 2 "dauerhafter_Warnton" ; +VAL_ 798 TSK_Texte_Primaeranz 0 "keine_Anzeige" 1 "GRA_Symbol_passiv_xxx_kmh_mph" 2 "GRA_Symbol_aktiv_xxx_kmh_mph" 3 "Bremse_ueberhitzt" 4 "Limiter_Modus_aktiviert" 5 "GRA_Modus_aktiviert" 6 "ACC_Modus_aktiviert" 7 "Opt_Geschwindigkeitswarnung" 8 "Opt_und_akustische_GeschwWarnung" 9 "Opt_GeschwWarnung_dauerhaft_mit_einmal_Akustik" 10 "Limiter_passiv_mit_Akustik" 11 "Limiter_Fehler_mit_Akustik" 12 "Limiter_Symbol_passiv_xxx_kmh_mph" 13 "Limiter_Symbol_aktiv_xxx_kmh_mph" 14 "Popup_Geschw_zu_hoch__Resume_unzulaessig" ; +VAL_ 798 TSK_Limiter_Fahrerinfo 0 "keine_Info" 1 "Limit_erreicht" 2 "Ueberschritten" 3 "Vom_Fahrer_Ueberstimmt" ; +VAL_ 798 TSK_Limiter_Anzeige 0 "Display_Anzeige_GRA_ACC" 1 "Display_Anzeige_Limiter" ; +VAL_ 798 TSK_Fahrzeugstatus_GRA 0 "GRA_verfuegbar" 1 "GRA_nicht_verfuegbar" ; +VAL_ 798 TSK_Fahrzeugstatus_Limiter 0 "Limiter_verfuegbar" 1 "Limiter_nicht_verfuegbar" ; +VAL_ 798 MO_Motorlaufwarnung 0 "keine_Anzeige" 1 "Anforderung_Motorlaufwarnung" ; +VAL_ 798 TSK_Status_Anzeige 0 "Hauptschalter_aus" 1 "Init" 2 "passiv" 3 "aktiv" 4 "Uebertreten" 5 "Limitiierung_aktiv" 6 "reversibel_aus" 7 "irreversibel_aus" ; +VAL_ 780 ACC_Wunschgeschw_02 1023 "keine_Anzeige" ; +VAL_ 780 ACC_Status_Prim_Anz 0 "Symbol nicht beleuchtet" 1 "Farbe 1 (typisch 'gruen')" 2 "Farbe 2 (typisch 'rot')" 3 "Farbe 3 (typisch 'gelb')" ; +VAL_ 780 ACC_Abstandsindex 0 "Sonderanzeige_graue_Fahrbahn" 1022 "Sonderanzeige_graue_Fahrbahn" 1023 "Sonderanzeige_Fahrbahn_mit_gruenem_roten_Bereich" ; +VAL_ 780 ACC_Akustik_02 0 "keine_Akustik" 1 "hochpriore_Akustik" 2 "niederpriore_Akustik" 3 "hochpriore_Dauerakustik" ; +VAL_ 780 ACC_Warnung_Verkehrszeichen_1 0 "keine_Warnung_Initialwert" 1 "Warnung" ; +VAL_ 780 ACC_Gesetzte_Zeitluecke 0 "keine_Anzeige" 1 "Zeitluecke_1" 2 "Zeitluecke_2" 3 "Zeitluecke_3" 4 "Zeitluecke_4" 5 "Zeitluecke_5" 6 "nicht_definiert" 7 "nicht_definiert" ; +VAL_ 780 ACC_Optischer_Fahrerhinweis 0 "optischer_Fahrerhinweis_AUS" 1 "optischer_Fahrerhinweis_EIN" ; +VAL_ 780 ACC_Typ_Tachokranz 0 "Tachokranz_lang" 1 "Tachokranz_kurz" ; +VAL_ 780 ACC_Anzeige_Zeitluecke 0 "Anzeige_Zeitluecke_nicht_angefordert" 1 "Anzeige_Zeitluecke_angefordert" ; +VAL_ 780 ACC_Tachokranz 0 "Tachokranz_nicht_beleuchtet" 1 "Tachokranz_beleuchtet" ; +VAL_ 780 ACC_Display_Prio 0 "hoechste_Prio" 1 "mittlere_Prio" 2 "geringe_Prio" 3 "keine_Prio" ; +VAL_ 780 ACC_Relevantes_Objekt 0 "Symbol_nicht_beleuchtet" 1 "Farbe_1_typisch_gruen" 2 "Farbe_2_typisch_rot" 3 "Farbe_3_typisch_gelb" ; +VAL_ 780 ACC_Texte_Primaeranz 0 "keine Anzeige" 1 "ACC nicht verfuegbar !" 2 "Auto_Auto_ _ _" 3 "Auto_ _Auto_ _" 4 "Auto_ _ _Auto_" 5 "Auto_ _ _ _Auto" 6 "Auto_Auto_ _ _ Gong (durchgestrichen)" 7 "Auto_ _Auto_ _ Gong (durchgestrichen)" 8 "Auto_ _ _Auto_ Gong (durchgestrichen)" 9 "Auto_ _ _ _Auto Gong (durchgestrichen)" 10 "ACC bereit" 11 "keine Abstandsregelung" 12 "ACC Sensor Sicht !" 13 "ACC nicht verfuegbar" 14 "o o o" 15 "Hochschalten" 16 "ESP Eingriff" 17 "Herunterschalten" 18 "Parkbremse !" 19 "Geschwindigkeitsgrenze" 20 "Waehlhebelposition !" 21 "VDA ACC-Symbol YYY km/h / mph" 22 "Tempolimit XXX km/h / mph" 23 "Kurve XXX km/h / mph" 24 "ACC Abschaltung" 25 "Symbol 'Eieruhr'" 26 "!" 27 "--- km/h / mph" 28 "XXX km/h / mph (Schriftart 2)" 29 "Lenkradwinkel" 30 "Anfahren bestaetigen" 31 "Fahrzeug verloren" 32 "Im Stand nicht moeglich" 33 "Ungueltiger Anfahrbefehl" 34 "Tuer offen !" 35 "Fahrer Gurtschloss offen !" 36 "Schalthebelposition !" 37 "Drehzahl !" 38 "Kurvenassistent aus" 39 "Tempolimit aus" 40 "Abbiegeassistent" 41 "Ortsanfang XXX km/h / mph" 42 "Ortsende XXX km/h / mph" 43 "Tempolimit Ende XXX km/h / mph" 44 "HDC aktiv" 45 "braking guard Bremsruck" 46 "braking guard aus" 47 "braking guard aus" 48 "Uebernehmen !" 49 "Steigung zu gross" 50 "Stehendes Objekt voraus" 51 "SET / 'GRA Symbol'___xxx km/h / mph" 52 "SET / 'GRA Symbol' xxx km/h / mph" 53 "ACC aus" 54 "ACC startet" 55 "ACC reinigen" 56 "ACC Fehler" 57 "ACC haelt an !" 58 "Bremse betaetigen !" 59 "Kupplung betaetigt" 60 "LIM AUS" 61 "LIM AKTIV" 62 "LIM PASSIV" 63 "LIM FEHLER" 64 "Bremse ueberhitzt !" 65 "Bremse haelt !" 66 "ESP PASSIV !" 67 "ACC_anfahrbereit" 68 "Gang_einlegen" 69 "Rechtsueberholen_verhindert" 70 "Linksueberholen_verhindert" 71 "Achtung_Geschwindigkeitsueberschreitung" 72 "Tempolimit_und_Kurvenassistent_nicht_verfuegbar" ; +VAL_ 780 ACC_Wunschgeschw_erreicht 0 "Wunschgeschwindigkeit_nicht_erreicht" 1 "Wunschgeschwindigkeit_erreicht" ; +VAL_ 780 ACC_Typ_Tachokranz_unten 0 "LEDs_an" 1 "LEDs_aus" ; +VAL_ 780 ACC_Status_Anzeige 0 "ACC_GRA_Hauptschalter_aus" 1 "ACC_in_Init_nicht_bei_GRA" 2 "ACC_GRA_passiv" 3 "ACC_GRA_aktiv" 4 "ACC_GRA_im_Hintergrund_uebertreten" 5 "ACC_GRA_Abschaltreaktion" 6 "ACC_reversibel_aus_nicht_bei_GRA" 7 "ACC_GRA_irreversibel_aus" ; +VAL_ 804 ACC_Texte_Sekundaeranz 0 "keine_Anzeige" 1 "Zielfahrzeug_erkannt" 2 "Rechtskurve_voraus" 3 "Linkskurve_voraus" 4 "Tempolimit_voraus" 5 "Sensorsicht" 6 "Anfahrbereit" 7 "Tempolimit_erkannt" 8 "Kreuzung_voraus" 9 "Kreisverkehr_voraus" ; +VAL_ 804 ACC_Texte_Zusatzanz 0 "keine_Anzeige" 1 "ACC_AUS" 2 "ACC_BEREIT" 3 "UEBERTRETEN" 4 "ABSTAND" 5 "DISTANZ_1" 6 "DISTANZ_2" 7 "DISTANZ_3" 8 "DISTANZ_4" 9 "DISTANZ_1__dyn" 10 "DISTANZ_2__dyn" 11 "DISTANZ_3__dyn" 12 "DISTANZ_4__dyn" 13 "DISTANZ_1__stand" 14 "DISTANZ_2__stand" 15 "DISTANZ_3__stand" 16 "DISTANZ_4__stand" 17 "DISTANZ_1__comf" 18 "DISTANZ_2__comf" 19 "DISTANZ_3__comf" 20 "DISTANZ_4__comf" 21 "DISTANZ_1__efficiency" 22 "DISTANZ_2__efficiency" 23 "DISTANZ_3__efficiency" 24 "DISTANZ_4__efficiency" 25 "DISTANZ_5" 26 "DISTANZ_5__dyn" 27 "DISTANZ_5__stand" 28 "DISTANZ_5__comf" 29 "DISTANZ_5__efficiency" 30 "ACHTUNG" 31 "Abstandsanzeige" 32 "Abstandsanz_Warnung_aktiviert" ; +VAL_ 804 ACC_Status_Zusatzanz 0 "keine Anzeige" 1 "Bild 1 (Fzg. Silhouette, typ. farblos)" 2 "Bild 2 (Fzg. Farbe 1, typ. grau)" 3 "Bild 3 (Fzg. Farbe 2, typ. rot)" 4 "Bild 4 (Symbol 1 ACCplus, typ. Doppelfzg. gelb)" 5 "Bild 5 (Symbol 2 ACCplus, typ. Doppelfzg. grau)" 6 "Bild 6 (Fzg. Farbe 2, typ. rot) mit Priorität im Kombi (Pop-up)" ; +VAL_ 804 ACC_Texte 0 "keine_Anzeige" 1 "ACC_nicht_verfuegbar" 2 "ACC_und_AWV_nicht_verfuegbar" 3 "ACC_keine_Sensorsicht" 4 "ACC_und_AWV_keine_Sensorsicht" 5 "ACC_Steigung_zu_gross" 6 "ACC_nur_in_Fahrstufe_verfuegbar" 7 "ACC_Parkbremse_betaetigt" 8 "ACC_ESP_Eingriff" 9 "ACC_Bitte_uebernehmen" 10 "ACC_HDC_betaetigt" 11 "ACC_Geschwindigkeitsgrenze" 12 "ACC_Schalthebelposition" 13 "ACC_Drehzahl" 14 "ACC_Kupplung_betaetigt" 15 "ACC_Aktivierverhinderung" 16 "ACC_Abschaltung" 17 "ACC_Parkassistent_aktiv" 18 "ACC_ESC_aus" 19 "ACC_Charisma_Modus_inkompatibel" 20 "ACC_Stehendes_Objekt_voraus" 21 "ACA_Fahreruebernahme" 22 "ACA_Querfuehrung_nicht_verfuegbar" ; +VAL_ 804 ACC_Texte_braking_guard 0 "keine_Anzeige" 1 "AWV_aus" 2 "AWV_Warnung" 3 "AWV_Demomodus" 4 "AWV_Systemstoerung" 5 "AWV_Eingriff" 6 "AWV_Vorwarnung_aus" 7 "AWV_keine_Sensorsicht" ; +VAL_ 804 ACC_Warnhinweis 0 "kein_Warnhinweis" 1 "Warnhinweis" ; +VAL_ 804 ACC_Zeitluecke_Abstandswarner 61 "Freifahrt" 62 "nicht_definiert" 63 "keine_Anzeige" ; +VAL_ 804 ACC_Abstand_Abstandswarner 509 "Freifahrt" 510 "nicht_definiert" 511 "keine_Anzeige" ; +VAL_ 804 ACC_Tempolimit 0 "keine_Anzeige" 1 "5_zulHoechstgeschw" 2 "7_zulHoechstgeschw" 3 "10_zulHoechstgeschw" 4 "15_zulHoechstgeschw" 5 "20_zulHoechstgeschw" 6 "25_zulHoechstgeschw" 7 "30_zulHoechstgeschw" 8 "35_zulHoechstgeschw" 9 "40_zulHoechstgeschw" 10 "45_zulHoechstgeschw" 11 "50_zulHoechstgeschw" 12 "55_zulHoechstgeschw" 13 "60_zulHoechstgeschw" 14 "65_zulHoechstgeschw" 15 "70_zulHoechstgeschw" 16 "75_zulHoechstgeschw" 17 "80_zulHoechstgeschw" 18 "85_zulHoechstgeschw" 19 "90_zulHoechstgeschw" 20 "95_zulHoechstgeschw" 21 "100_zulHoechstgeschw" 22 "110_zulHoechstgeschw" 23 "120_zulHoechstgeschw" 24 "130_zulHoechstgeschw" 25 "140_zulHoechstgeschw" 26 "150_zulHoechstgeschw" 27 "160_zulHoechstgeschw" 28 "200_zulHoechstgeschw" 30 "250_zulHoechstgeschw" 31 "Ende_zulHoechstgeschw" ; +VAL_ 804 ACC_Charisma_FahrPr 0 "keine_Funktion" 1 "Programm_1" 2 "Programm_2" 3 "Programm_3" 4 "Programm_4" 5 "Programm_5" 6 "Programm_6" 7 "Programm_7" 8 "Programm_8" 9 "Programm_9" 10 "Programm_10" 11 "Programm_11" 12 "Programm_12" 13 "Programm_13" 14 "Programm_14" 15 "Programm_15" ; +VAL_ 804 ACC_Charisma_Status 0 "Init" 1 "verfuegbar" 2 "nicht_verfuegbar" 3 "asynchron_durch_Fahrerwunsch" ; +VAL_ 804 ACC_Texte_Abstandswarner 0 "keine_Anzeige" 1 "Systemstoerung" 2 "keine_Sensorsicht" 3 "zurzeit_eingeschraenkt" ; +VAL_ 290 ACC_limitierte_Anfahrdyn 0 "keine_Limitierung" 1 "Limitierung_Anfahrdynamik_angefordert" ; +VAL_ 290 ACC_nachtr_Stopp_Anf 0 "nicht_angefordert" 1 "angefordert" ; +VAL_ 290 ACC_StartStopp_Info 0 "Motorlauf_langfristig_nicht_notwendig_Stoppfreigabe" 1 "Motoranlauf_nicht_zwingend_notwendig_Stoppverbot_keine_Startanforderung" 2 "Motoranlauf_zwingend_notwendig_Startanforderung" 3 "Systemfehler" ; +VAL_ 290 ACC_Sollbeschleunigung_02 2046 "Neutralwert" 2047 "Fehler" ; +VAL_ 290 ACC_Anfahren 0 "keine_Anforderung_Anfahren" 1 "Anforderung_Anfahren" ; +VAL_ 290 ACC_Anhalten 0 "kein_Anhalten_gewuenscht" 1 "Anhalten_gewuenscht" ; +VAL_ 290 ACC_Typ 0 "Basis_ACC" 1 "ACC_mit_FollowToStop" 2 "ACC_mit_StopAndGo" 3 "ACC_nicht_codiert" ; +VAL_ 290 ACC_Status_ACC 0 "ACC_OFF_Hauptschalter_aus" 1 "ACC_INIT" 2 "ACC_STANDBY" 3 "ACC_AKTIV_regelt" 4 "ACC_OVERRIDE" 5 "ACC_Abschaltreaktion" 6 "reversibler_Fehler_im_ACC_System" 7 "irreversibler_Fehler_im_ACC_System" ; +VAL_ 290 ACC_Minimale_Bremsung 0 "Anforderung_Minimale_Bremsung_nicht_aktiv" 1 "Anforderung_Minimale_Bremsung_aktiv" ; +VAL_ 302 ACC_Anhalteweg 2046 "Neutralwert" 2047 "Fehler" ; +VAL_ 302 ACC_Anhalten 0 "kein_Anhalten_gewuenscht" 1 "Anhalten_gewuenscht" ; +VAL_ 302 ACC_Freilauf_Anf 0 "keine Freilauf-Anforderung" 1 "Freilauf-Anforderung" ; +VAL_ 302 ACC_Freilauf_Info 0 "Freilauf_freigegeben" 1 "kein_Uebergang_in_Freilauf_zulaessig" 2 "Freilauf_nicht_freigegeben" 3 "Freilauf_Anforderung" ; +VAL_ 302 ACC_Anforderung_HMS 0 "keine_Anforderung" 1 "halten" 2 "parken" 3 "halten_Standby" 4 "anfahren" 5 "Loesen_ueber_Rampe" ; +VAL_ 302 ACC_Anfahren 0 "keine_Anforderung_Anfahren" 1 "Anforderung_Anfahren" ; +VAL_ 302 ACC_Folgebeschl 254 "Neutralwert" ; +VAL_ 302 ACC_Sollbeschleunigung_02 2046 "Neutralwert" 2047 "Fehler" ; +VAL_ 279 AWV1_Anf_Prefill 0 "Prefill_nicht_aktivieren" 1 "Prefill_aktivieren" ; +VAL_ 279 ANB_CM_Info 0 "Standard" 1 "Erweitert" ; +VAL_ 279 AWV2_Freigabe 0 "keine_Freigabe" 1 "Freigabe" ; +VAL_ 279 AWV1_HBA_Param 0 "Defaultparametersatz" 1 "Parametersatz_mit_leicht_erhoehter_Empfindlichkeit" 2 "Parametersatz_mit_erhoehter_Empfindlichkeit" 3 "Parametersatz_mit_hoechster_Empfindlichkeit" ; +VAL_ 279 AWV2_Priowarnung 0 "Anzeige_Verlassen_der_Fahrspur_wird_nicht_unterdrueckt" 1 "Anzeige_Verlassen_der_Fahrspur_wird_unterdrueckt" ; +VAL_ 279 ANB_CM_Anforderung 0 "keine_Anforderung" 1 "Anforderung_aktiv" ; +VAL_ 279 ANB_Info_Teilbremsung 0 "Auspraegung_Standard" 1 "Auspraegung_Erweitert" ; +VAL_ 279 ANB_Notfallblinken 0 "kein_ANB_Notfallblinken" 1 "Notfallblinken_ANB_angefordert" ; +VAL_ 279 ANB_Teilbremsung_Freigabe 0 "Teilbremsung_nicht_freigegeben" 1 "Teilbremsung_freigegeben" ; +VAL_ 279 ANB_Zielbremsung_Freigabe 0 "Zielbremsung_nicht_freigegeben" 1 "Zielbremsung_freigegeben" ; +VAL_ 279 AWV_Vorstufe 0 "keine_Notbremsung_erwartet" 1 "Notbremsung_in_Kuerze" ; +VAL_ 279 AWV_Halten 0 "keine_Anforderung" 1 "Anforderung_das_Fzg_im_Stillstand_zu_halten" ; +VAL_ 279 AWV_CityANB_Auspraegung 0 "autom_Bremsung_im_ges_vBereich" 1 "autom_Bremsung_im_def_vBereich" ; +VAL_ 279 PCF_Freigabe 0 "keine_Freigabe_PreCrashFront" 1 "Freigabe_PreCrashFront" ; +VAL_ 279 AWV1_ECD_Anlauf 0 "ECD_Anlauf_nicht_aktivieren" 1 "ECD_Anlauf_aktivieren" ; +VAL_ 279 PCF_Time_to_collision 255 "Objektstatus=0x0__oder_berechneter_TTC_Wert_groesser_als_Maximalwert" ; +VAL_ 679 ACC_Regelgeschw 1023 "keine_Anzeige" ; +VAL_ 679 ACC_Einheit_maxSetzgeschw 0 "kmh" 1 "mph" ; +VAL_ 679 ACC_maxSetzgeschw 511 "Init_Neutralwert" ; +VAL_ 679 ACC_minRegelgeschw 255 "keine_Anzeige" ; +VAL_ 679 ACC_maxRegelgeschw 255 "keine_Anzeige" ; +VAL_ 679 ACC_Tempolimitassistent 0 "keine_Anzeige" 1 "Tempolimitassistent_aktiv" 2 "Tempolimitassistent_nicht_verfuegbar" 3 "Tempolimitassistent_Fahreruebernahme" ; +VAL_ 679 ACC_Kurvenassistent 0 "keine_Anzeige" 1 "Kreuzung" 2 "Rechtskurve" 3 "Linkskurve" 4 "Kreisverkehr" ; +VAL_ 679 ACC_RUV 0 "keine_Anzeige" 1 "RUV_aktiv_Rechtsverkehr" 2 "RUV_aktiv_Linksverkehr" ; +VAL_ 679 ACC_Tachokranz 0 "Tachokranz_nicht_beleuchtet" 1 "Tachokranz_beleuchtet" ; +VAL_ 679 ACC_Typ_Tachokranz_unten 0 "LEDs_an" 1 "LEDs_aus" ; +VAL_ 679 ACC_ENG_Texte 0 "keine_Anzeige" 1 "keine_Laenderverfuegbarkeit" 2 "nicht_verfuegbar" 3 "Geschwindigkeitsgrenze" ; +VAL_ 679 ACC_ADAPTIVE 1 "adaptive" 2 "non-adaptive" ; +VAL_ 681 AWV_Warnung 0 "keine_Anzeige" 1 "latente_Vorwarnung" 2 "Vorwarnung" 3 "Akutwarnung" 4 "Eingriff" 5 "Fahreruebernahmeaufforderung" 6 "Abbiegewarnung" ; +VAL_ 681 AWV_Texte 0 "keine_Anzeige" 1 "Systemstoerung" 2 "keine_Sensorsicht" 3 "Demomodus" 4 "System_aus" 5 "nicht_definiert" 6 "ESC_aus" 7 "zurzeit_eingeschraenkt" ; +VAL_ 681 AWV_Status_Anzeige 0 "Init" 1 "verfuegbar" 2 "nicht_verfuegbar" ; +VAL_ 681 AWV_Einstellung_System_FSG 0 "deaktiviert" 1 "aktiviert" ; +VAL_ 681 AWV_Einstellung_Warnung_FSG 0 "Aus" 1 "Setting_2" 2 "Setting_3" 3 "Setting_4" 4 "Setting_5" 5 "Ein" ; +VAL_ 681 AWV_Warnlevel 0 "keine_Gefaehrdung" 63 "max_Gefaehrdung" ; +VAL_ 391 GearPosition 2 "P" 3 "R" 4 "N" 5 "D" 6 "D" ; +VAL_ 391 RegenBrakingMode 0 "default" 1 "B1" 2 "B2" 3 "B3" ; +VAL_ 870 Fast_Send_Rate_Active 0 "1 Hz" 1 "50 Hz" ; +VAL_ 1720 KBI_Variante_USA 0 "keine USA-Variante" 1 "USA-Variante" ; +VAL_ 1720 KBI_Variante 0 "Zeiger Kombiinstrument" 1 "Volldisplay Kombiinstrument" ; +VAL_ 1720 KBI_BCmE_aktiv 0 "Anzeige_nicht_aktiv" 1 "Anzeige_aktiv" ; +VAL_ 1720 KBI_Sparhinweis_quittiert 0 "nicht_quittiert" 1 "quittiert" ; +VAL_ 1720 KBI_Tankfuellstand_Prozent 126 "Init" 127 "Fehler" ; +VAL_ 1720 KBI_Nachtanken_erkannt 0 "Geberbetrieb" 1 "Nachtankmodus" ; +VAL_ 1720 KBI_Tankinhalt_hochaufl 16382 "Init" 16383 "Fehler" ; +VAL_ 1720 KBI_Max_Tankinhalt 254 "Init" 255 "Fehler" ; diff --git a/opendbc_repo/pyproject.toml b/opendbc_repo/pyproject.toml new file mode 100644 index 0000000000..cfb6c2c6e7 --- /dev/null +++ b/opendbc_repo/pyproject.toml @@ -0,0 +1,23 @@ +[tool.poetry] +name = "opendbc" +version = "1.0.0" +description = "CAN bus databases and tools" +license = "MIT" +authors = ["Vehicle Researcher "] +readme = "README.md" +repository = "https://github.com/commaai/opendbc" + +[tool.cython-lint] +max-line-length = 120 +ignore = ["E111", "E114"] + +[tool.mypy] +explicit_package_bases=true + +# https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml +[tool.ruff] +select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF100", "A"] +ignore = ["W292", "E741", "E402", "C408", "ISC003"] +line-length = 160 +target-version="py311" +flake8-implicit-str-concat.allow-multiline=false diff --git a/opendbc_repo/requirements.txt b/opendbc_repo/requirements.txt new file mode 100644 index 0000000000..3eab8fb0c8 --- /dev/null +++ b/opendbc_repo/requirements.txt @@ -0,0 +1,10 @@ +ruff +Cython +Jinja2 +numpy +pycapnp +pyyaml +scons +pytest +pytest-xdist +pytest-subtests diff --git a/opendbc_repo/site_scons/site_tools/cython.py b/opendbc_repo/site_scons/site_tools/cython.py new file mode 100644 index 0000000000..c291475533 --- /dev/null +++ b/opendbc_repo/site_scons/site_tools/cython.py @@ -0,0 +1,72 @@ +import re +import SCons +from SCons.Action import Action +from SCons.Scanner import Scanner + +pyx_from_import_re = re.compile(r'^from\s+(\S+)\s+cimport', re.M) +pyx_import_re = re.compile(r'^cimport\s+(\S+)', re.M) +cdef_import_re = re.compile(r'^cdef extern from\s+.(\S+).:', re.M) + + +def pyx_scan(node, env, path, arg=None): + contents = node.get_text_contents() + + # from cimport ... + matches = pyx_from_import_re.findall(contents) + # cimport + matches += pyx_import_re.findall(contents) + + # Modules can be either .pxd or .pyx files + files = [m.replace('.', '/') + '.pxd' for m in matches] + files += [m.replace('.', '/') + '.pyx' for m in matches] + + # cdef extern from + files += cdef_import_re.findall(contents) + + # Handle relative imports + cur_dir = str(node.get_dir()) + files = [cur_dir + f if f.startswith('/') else f for f in files] + + # Filter out non-existing files (probably system imports) + files = [f for f in files if env.File(f).exists()] + return env.File(files) + + +pyxscanner = Scanner(function=pyx_scan, skeys=['.pyx', '.pxd'], recursive=True) +cythonAction = Action("$CYTHONCOM") + + +def create_builder(env): + try: + cython = env['BUILDERS']['Cython'] + except KeyError: + cython = SCons.Builder.Builder( + action=cythonAction, + emitter={}, + suffix=cython_suffix_emitter, + single_source=1 + ) + env.Append(SCANNERS=pyxscanner) + env['BUILDERS']['Cython'] = cython + return cython + +def cython_suffix_emitter(env, source): + return "$CYTHONCFILESUFFIX" + +def generate(env): + env["CYTHON"] = "cythonize" + env["CYTHONCOM"] = "$CYTHON $CYTHONFLAGS $SOURCE" + env["CYTHONCFILESUFFIX"] = ".cpp" + + c_file, _ = SCons.Tool.createCFileBuilders(env) + + c_file.suffix['.pyx'] = cython_suffix_emitter + c_file.add_action('.pyx', cythonAction) + + c_file.suffix['.py'] = cython_suffix_emitter + c_file.add_action('.py', cythonAction) + + create_builder(env) + +def exists(env): + return True diff --git a/openpilot/__init__.py b/openpilot/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/openpilot/common b/openpilot/common new file mode 120000 index 0000000000..60d3b0a6a8 --- /dev/null +++ b/openpilot/common @@ -0,0 +1 @@ +../common \ No newline at end of file diff --git a/openpilot/selfdrive b/openpilot/selfdrive new file mode 120000 index 0000000000..e005fd0d04 --- /dev/null +++ b/openpilot/selfdrive @@ -0,0 +1 @@ +../selfdrive/ \ No newline at end of file diff --git a/openpilot/system b/openpilot/system new file mode 120000 index 0000000000..16f8cc2b23 --- /dev/null +++ b/openpilot/system @@ -0,0 +1 @@ +../system/ \ No newline at end of file diff --git a/openpilot/third_party b/openpilot/third_party new file mode 120000 index 0000000000..d838c05a86 --- /dev/null +++ b/openpilot/third_party @@ -0,0 +1 @@ +../third_party \ No newline at end of file diff --git a/openpilot/tools b/openpilot/tools new file mode 120000 index 0000000000..4887d6e0c9 --- /dev/null +++ b/openpilot/tools @@ -0,0 +1 @@ +../tools \ No newline at end of file diff --git a/panda/.gitignore b/panda/.gitignore new file mode 100644 index 0000000000..2dfa094768 --- /dev/null +++ b/panda/.gitignore @@ -0,0 +1,30 @@ +*.tmp +*.pyc +.*.swp +.*.swo +*.o +*.so +*.os +*.d +*.dump +a.out +*~ +.#* +dist/ +pandacan.egg-info/ +obj/ +examples/output.csv +.DS_Store +.vscode* +nosetests.xml +.mypy_cache/ +.sconsign.dblite + +# CTU info files generated by Cppcheck +*.*.ctu-info + +# safety coverage-related files +*.gcda +*.gcno +tests/safety/coverage-out +tests/safety/coverage.info diff --git a/panda/__init__.py b/panda/__init__.py new file mode 100644 index 0000000000..9e7b4d26b4 --- /dev/null +++ b/panda/__init__.py @@ -0,0 +1,11 @@ +from .python.constants import McuType, BASEDIR, FW_PATH, USBPACKET_MAX_SIZE # noqa: F401 +from .python.spi import PandaSpiException, PandaProtocolMismatch, STBootloaderSPIHandle # noqa: F401 +from .python.serial import PandaSerial # noqa: F401 +from .python.canhandle import CanHandle # noqa: F401 +from .python import (Panda, PandaDFU, # noqa: F401 + pack_can_buffer, unpack_can_buffer, calculate_checksum, + DLC_TO_LEN, LEN_TO_DLC, ALTERNATIVE_EXPERIENCE, CANPACKET_HEAD_SIZE) + + +# panda jungle +#from .board.jungle import PandaJungle, PandaJungleDFU # noqa: F401 diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin new file mode 100755 index 0000000000..045481de1f Binary files /dev/null and b/panda/board/obj/bootstub.panda.bin differ diff --git a/panda/board/obj/bootstub.panda_h7.bin b/panda/board/obj/bootstub.panda_h7.bin new file mode 100755 index 0000000000..4744cfcb1a Binary files /dev/null and b/panda/board/obj/bootstub.panda_h7.bin differ diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed new file mode 100644 index 0000000000..16d079e2f1 Binary files /dev/null and b/panda/board/obj/panda.bin.signed differ diff --git a/panda/board/obj/panda_h7.bin.signed b/panda/board/obj/panda_h7.bin.signed new file mode 100644 index 0000000000..f7aa22e178 Binary files /dev/null and b/panda/board/obj/panda_h7.bin.signed differ diff --git a/panda/mypy.ini b/panda/mypy.ini new file mode 100644 index 0000000000..0b6de30d80 --- /dev/null +++ b/panda/mypy.ini @@ -0,0 +1,11 @@ +[mypy] +; third-party packages +ignore_missing_imports = True + +; helpful warnings +warn_redundant_casts = True +warn_unreachable = True +warn_unused_ignores = True + +; restrict dynamic typing +warn_return_any = True diff --git a/panda/panda.png b/panda/panda.png new file mode 100644 index 0000000000..e18137d872 Binary files /dev/null and b/panda/panda.png differ diff --git a/panda/pyproject.toml b/panda/pyproject.toml new file mode 100644 index 0000000000..375885e54d --- /dev/null +++ b/panda/pyproject.toml @@ -0,0 +1,15 @@ +# https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml +[tool.ruff] +line-length = 160 +target-version="py311" + +[tool.ruff.lint] +select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF100", "A"] +ignore = ["W292", "E741", "E402", "C408", "ISC003"] +flake8-implicit-str-concat.allow-multiline=false + +[tool.ruff.lint.flake8-tidy-imports.banned-api] +"pytest.main".msg = "pytest.main requires special handling that is easy to mess up!" + +[tool.pytest.ini_options] +addopts = "-n auto" diff --git a/panda/python/__init__.py b/panda/python/__init__.py new file mode 100644 index 0000000000..037e11a101 --- /dev/null +++ b/panda/python/__init__.py @@ -0,0 +1,936 @@ +# python library to interface with panda +import os +import sys +import time +import usb1 +import struct +import hashlib +import binascii +import logging +from functools import wraps, partial +from itertools import accumulate + +from .base import BaseHandle +from .constants import FW_PATH, McuType +from .dfu import PandaDFU +from .isotp import isotp_send, isotp_recv +from .spi import PandaSpiHandle, PandaSpiException, PandaProtocolMismatch +from .usb import PandaUsbHandle + +__version__ = '0.0.10' + +# setup logging +LOGLEVEL = os.environ.get('LOGLEVEL', 'INFO').upper() +logging.basicConfig(level=LOGLEVEL, format='%(message)s') + +CANPACKET_HEAD_SIZE = 0x6 +DLC_TO_LEN = [0, 1, 2, 3, 4, 5, 6, 7, 8, 12, 16, 20, 24, 32, 48, 64] +LEN_TO_DLC = {length: dlc for (dlc, length) in enumerate(DLC_TO_LEN)} +PANDA_BUS_CNT = 4 + + +def calculate_checksum(data): + res = 0 + for b in data: + res ^= b + return res + +def pack_can_buffer(arr): + snds = [b''] + for address, dat, bus in arr: + assert len(dat) in LEN_TO_DLC + #logging.debug(" W 0x%x: 0x%s", address, dat.hex()) + + extended = 1 if address >= 0x800 else 0 + data_len_code = LEN_TO_DLC[len(dat)] + header = bytearray(CANPACKET_HEAD_SIZE) + word_4b = address << 3 | extended << 2 + header[0] = (data_len_code << 4) | (bus << 1) + header[1] = word_4b & 0xFF + header[2] = (word_4b >> 8) & 0xFF + header[3] = (word_4b >> 16) & 0xFF + header[4] = (word_4b >> 24) & 0xFF + header[5] = calculate_checksum(header[:5] + dat) + + snds[-1] += header + dat + if len(snds[-1]) > 256: # Limit chunks to 256 bytes + snds.append(b'') + + return snds + +def unpack_can_buffer(dat): + ret = [] + + while len(dat) >= CANPACKET_HEAD_SIZE: + data_len = DLC_TO_LEN[(dat[0]>>4)] + + header = dat[:CANPACKET_HEAD_SIZE] + + bus = (header[0] >> 1) & 0x7 + address = (header[4] << 24 | header[3] << 16 | header[2] << 8 | header[1]) >> 3 + + if (header[1] >> 1) & 0x1: + # returned + bus += 128 + if header[1] & 0x1: + # rejected + bus += 192 + + # we need more from the next transfer + if data_len > len(dat) - CANPACKET_HEAD_SIZE: + break + + assert calculate_checksum(dat[:(CANPACKET_HEAD_SIZE+data_len)]) == 0, "CAN packet checksum incorrect" + + data = dat[CANPACKET_HEAD_SIZE:(CANPACKET_HEAD_SIZE+data_len)] + dat = dat[(CANPACKET_HEAD_SIZE+data_len):] + + ret.append((address, data, bus)) + + return (ret, dat) + + +def ensure_version(desc, lib_field, panda_field, fn): + @wraps(fn) + def wrapper(self, *args, **kwargs): + lib_version = getattr(self, lib_field) + panda_version = getattr(self, panda_field) + if lib_version != panda_version: + raise RuntimeError(f"{desc} packet version mismatch: panda's firmware v{panda_version}, library v{lib_version}. Reflash panda.") + return fn(self, *args, **kwargs) + return wrapper +ensure_can_packet_version = partial(ensure_version, "CAN", "CAN_PACKET_VERSION", "can_version") +ensure_can_health_packet_version = partial(ensure_version, "CAN health", "CAN_HEALTH_PACKET_VERSION", "can_health_version") +ensure_health_packet_version = partial(ensure_version, "health", "HEALTH_PACKET_VERSION", "health_version") + + + +class ALTERNATIVE_EXPERIENCE: + DEFAULT = 0 + DISABLE_DISENGAGE_ON_GAS = 1 + DISABLE_STOCK_AEB = 2 + RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX = 8 + ALLOW_AEB = 16 + ENABLE_MADS = 32 + MADS_DISABLE_DISENGAGE_LATERAL_ON_BRAKE = 64 + +class Panda: + + # matches cereal.car.CarParams.SafetyModel + SAFETY_SILENT = 0 + SAFETY_HONDA_NIDEC = 1 + SAFETY_TOYOTA = 2 + SAFETY_ELM327 = 3 + SAFETY_GM = 4 + SAFETY_HONDA_BOSCH_GIRAFFE = 5 + SAFETY_FORD = 6 + SAFETY_HYUNDAI = 8 + SAFETY_CHRYSLER = 9 + SAFETY_TESLA = 10 + SAFETY_SUBARU = 11 + SAFETY_MAZDA = 13 + SAFETY_NISSAN = 14 + SAFETY_VOLKSWAGEN_MQB = 15 + SAFETY_ALLOUTPUT = 17 + SAFETY_GM_ASCM = 18 + SAFETY_NOOUTPUT = 19 + SAFETY_HONDA_BOSCH = 20 + SAFETY_VOLKSWAGEN_PQ = 21 + SAFETY_SUBARU_PREGLOBAL = 22 + SAFETY_HYUNDAI_LEGACY = 23 + SAFETY_HYUNDAI_COMMUNITY = 24 + SAFETY_STELLANTIS = 25 + SAFETY_FAW = 26 + SAFETY_BODY = 27 + SAFETY_HYUNDAI_CANFD = 28 + + SERIAL_DEBUG = 0 + SERIAL_ESP = 1 + SERIAL_LIN1 = 2 + SERIAL_LIN2 = 3 + SERIAL_SOM_DEBUG = 4 + + USB_PIDS = (0xddee, 0xddcc) + REQUEST_IN = usb1.ENDPOINT_IN | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE + REQUEST_OUT = usb1.ENDPOINT_OUT | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE + + HW_TYPE_UNKNOWN = b'\x00' + HW_TYPE_WHITE_PANDA = b'\x01' + HW_TYPE_GREY_PANDA = b'\x02' + HW_TYPE_BLACK_PANDA = b'\x03' + HW_TYPE_PEDAL = b'\x04' + HW_TYPE_UNO = b'\x05' + HW_TYPE_DOS = b'\x06' + HW_TYPE_RED_PANDA = b'\x07' + HW_TYPE_RED_PANDA_V2 = b'\x08' + HW_TYPE_TRES = b'\x09' + HW_TYPE_CUATRO = b'\x0a' + + CAN_PACKET_VERSION = 4 + HEALTH_PACKET_VERSION = 16 + CAN_HEALTH_PACKET_VERSION = 5 + HEALTH_STRUCT = struct.Struct(" bool: + return isinstance(self._handle, PandaSpiHandle) + + @classmethod + def spi_connect(cls, serial, ignore_version=False): + # get UID to confirm slave is present and up + handle = None + spi_serial = None + bootstub = None + spi_version = None + try: + handle = PandaSpiHandle() + + # connect by protcol version + try: + dat = handle.get_protocol_version() + spi_serial = binascii.hexlify(dat[:12]).decode() + pid = dat[13] + if pid not in (0xcc, 0xee): + raise PandaSpiException("invalid bootstub status") + bootstub = pid == 0xee + spi_version = dat[14] + except PandaSpiException: + # fallback, we'll raise a protocol mismatch below + dat = handle.controlRead(Panda.REQUEST_IN, 0xc3, 0, 0, 12, timeout=100) + spi_serial = binascii.hexlify(dat).decode() + bootstub = Panda.flasher_present(handle) + spi_version = 0 + except PandaSpiException: + pass + + # no connection or wrong panda + if None in (spi_serial, bootstub) or (serial is not None and (spi_serial != serial)): + handle = None + spi_serial = None + bootstub = False + + # ensure our protocol version matches the panda + if handle is not None and not ignore_version: + if spi_version != handle.PROTOCOL_VERSION: + err = f"panda protocol mismatch: expected {handle.PROTOCOL_VERSION}, got {spi_version}. reflash panda" + raise PandaProtocolMismatch(err) + + return None, handle, spi_serial, bootstub, None + + @classmethod + def usb_connect(cls, serial, claim=True): + handle, usb_serial, bootstub, bcd = None, None, None, None + context = usb1.USBContext() + context.open() + try: + for device in context.getDeviceList(skip_on_error=True): + if device.getVendorID() == 0xbbaa and device.getProductID() in cls.USB_PIDS: + try: + this_serial = device.getSerialNumber() + except Exception: + logging.exception("failed to get serial number of panda") + continue + + if serial is None or this_serial == serial: + logging.debug("opening device %s %s", this_serial, hex(device.getProductID())) + + usb_serial = this_serial + bootstub = (device.getProductID() & 0xF0) == 0xe0 + handle = device.open() + if sys.platform not in ("win32", "cygwin", "msys", "darwin"): + handle.setAutoDetachKernelDriver(True) + if claim: + handle.claimInterface(0) + # handle.setInterfaceAltSetting(0, 0) # Issue in USB stack + + # bcdDevice wasn't always set to the hw type, ignore if it's the old constant + this_bcd = device.getbcdDevice() + if this_bcd is not None and this_bcd != 0x2300: + bcd = bytearray([this_bcd >> 8, ]) + + break + except Exception: + logging.exception("USB connect error") + + usb_handle = None + if handle is not None: + usb_handle = PandaUsbHandle(handle) + else: + context.close() + + return context, usb_handle, usb_serial, bootstub, bcd + + @classmethod + def list(cls): + ret = cls.usb_list() + ret += cls.spi_list() + return list(set(ret)) + + @classmethod + def usb_list(cls): + ret = [] + try: + with usb1.USBContext() as context: + for device in context.getDeviceList(skip_on_error=True): + if device.getVendorID() == 0xbbaa and device.getProductID() in cls.USB_PIDS: + try: + serial = device.getSerialNumber() + if len(serial) == 24: + ret.append(serial) + else: + logging.warning(f"found device with panda descriptors but invalid serial: {serial}", RuntimeWarning) + except Exception: + logging.exception("error connecting to panda") + except Exception: + logging.exception("exception while listing pandas") + return ret + + @classmethod + def spi_list(cls): + _, _, serial, _, _ = cls.spi_connect(None, ignore_version=True) + if serial is not None: + return [serial, ] + return [] + + def reset(self, enter_bootstub=False, enter_bootloader=False, reconnect=True): + # no response is expected since it resets right away + timeout = 5000 if isinstance(self._handle, PandaSpiHandle) else 15000 + try: + if enter_bootloader: + self._handle.controlWrite(Panda.REQUEST_IN, 0xd1, 0, 0, b'', timeout=timeout, expect_disconnect=True) + else: + if enter_bootstub: + self._handle.controlWrite(Panda.REQUEST_IN, 0xd1, 1, 0, b'', timeout=timeout, expect_disconnect=True) + else: + self._handle.controlWrite(Panda.REQUEST_IN, 0xd8, 0, 0, b'', timeout=timeout, expect_disconnect=True) + except Exception: + pass + + self.close() + if not enter_bootloader and reconnect: + self.reconnect() + + @property + def connected(self) -> bool: + return self._handle_open + + def reconnect(self): + if self._handle_open: + self.close() + + success = False + # wait up to 15 seconds + for _ in range(15*10): + try: + self.connect() + success = True + break + except Exception: + pass + time.sleep(0.1) + if not success: + raise Exception("reconnect failed") + + @staticmethod + def flasher_present(handle: BaseHandle) -> bool: + fr = handle.controlRead(Panda.REQUEST_IN, 0xb0, 0, 0, 0xc) + return fr[4:8] == b"\xde\xad\xd0\x0d" + + @staticmethod + def flash_static(handle, code, mcu_type): + assert mcu_type is not None, "must set valid mcu_type to flash" + + # confirm flasher is present + assert Panda.flasher_present(handle) + + # determine sectors to erase + apps_sectors_cumsum = accumulate(mcu_type.config.sector_sizes[1:]) + last_sector = next((i + 1 for i, v in enumerate(apps_sectors_cumsum) if v > len(code)), -1) + assert last_sector >= 1, "Binary too small? No sector to erase." + assert last_sector < 7, "Binary too large! Risk of overwriting provisioning chunk." + + # unlock flash + logging.warning("flash: unlocking") + handle.controlWrite(Panda.REQUEST_IN, 0xb1, 0, 0, b'') + + # erase sectors + logging.warning(f"flash: erasing sectors 1 - {last_sector}") + for i in range(1, last_sector + 1): + handle.controlWrite(Panda.REQUEST_IN, 0xb2, i, 0, b'') + + # flash over EP2 + STEP = 0x10 + logging.warning("flash: flashing") + for i in range(0, len(code), STEP): + handle.bulkWrite(2, code[i:i + STEP]) + + # reset + logging.warning("flash: resetting") + try: + handle.controlWrite(Panda.REQUEST_IN, 0xd8, 0, 0, b'', expect_disconnect=True) + except Exception: + pass + + def flash(self, fn=None, code=None, reconnect=True): + if self.up_to_date(fn=fn): + logging.debug("flash: already up to date") + return + + if not fn: + fn = os.path.join(FW_PATH, self._mcu_type.config.app_fn) + assert os.path.isfile(fn) + logging.debug("flash: main version is %s", self.get_version()) + if not self.bootstub: + self.reset(enter_bootstub=True) + assert(self.bootstub) + + if code is None: + with open(fn, "rb") as f: + code = f.read() + + # get version + logging.debug("flash: bootstub version is %s", self.get_version()) + + # do flash + Panda.flash_static(self._handle, code, mcu_type=self._mcu_type) + + # reconnect + if reconnect: + self.reconnect() + + def recover(self, timeout: int | None = 60, reset: bool = True) -> bool: + dfu_serial = self.get_dfu_serial() + + if reset: + self.reset(enter_bootstub=True) + self.reset(enter_bootloader=True) + + if not self.wait_for_dfu(dfu_serial, timeout=timeout): + return False + + dfu = PandaDFU(dfu_serial) + dfu.recover() + + # reflash after recover + self.connect(True, True) + self.flash() + return True + + @staticmethod + def wait_for_dfu(dfu_serial: str | None, timeout: int | None = None) -> bool: + t_start = time.monotonic() + dfu_list = PandaDFU.list() + while (dfu_serial is None and len(dfu_list) == 0) or (dfu_serial is not None and dfu_serial not in dfu_list): + logging.debug("waiting for DFU...") + time.sleep(0.1) + if timeout is not None and (time.monotonic() - t_start) > timeout: + return False + dfu_list = PandaDFU.list() + return True + + @staticmethod + def wait_for_panda(serial: str | None, timeout: int) -> bool: + t_start = time.monotonic() + serials = Panda.list() + while (serial is None and len(serials) == 0) or (serial is not None and serial not in serials): + logging.debug("waiting for panda...") + time.sleep(0.1) + if timeout is not None and (time.monotonic() - t_start) > timeout: + return False + serials = Panda.list() + return True + + def up_to_date(self, fn=None) -> bool: + current = self.get_signature() + if fn is None: + fn = os.path.join(FW_PATH, self.get_mcu_type().config.app_fn) + expected = Panda.get_signature_from_firmware(fn) + return (current == expected) + + def call_control_api(self, msg): + self._handle.controlWrite(Panda.REQUEST_OUT, msg, 0, 0, b'') + + # ******************* health ******************* + + @ensure_health_packet_version + def health(self): + dat = self._handle.controlRead(Panda.REQUEST_IN, 0xd2, 0, 0, self.HEALTH_STRUCT.size) + a = self.HEALTH_STRUCT.unpack(dat) + return { + "uptime": a[0], + "voltage": a[1], + "current": a[2], + "safety_tx_blocked": a[3], + "safety_rx_invalid": a[4], + "tx_buffer_overflow": a[5], + "rx_buffer_overflow": a[6], + "faults": a[7], + "ignition_line": a[8], + "ignition_can": a[9], + "controls_allowed": a[10], + "car_harness_status": a[11], + "safety_mode": a[12], + "safety_param": a[13], + "fault_status": a[14], + "power_save_enabled": a[15], + "heartbeat_lost": a[16], + "alternative_experience": a[17], + "interrupt_load": a[18], + "fan_power": a[19], + "safety_rx_checks_invalid": a[20], + "spi_checksum_error_count": a[21], + "fan_stall_count": a[22], + "sbu1_voltage_mV": a[23], + "sbu2_voltage_mV": a[24], + "som_reset_triggered": a[25], + } + + @ensure_can_health_packet_version + def can_health(self, can_number): + LEC_ERROR_CODE = { + 0: "No error", + 1: "Stuff error", + 2: "Form error", + 3: "AckError", + 4: "Bit1Error", + 5: "Bit0Error", + 6: "CRCError", + 7: "NoChange", + } + dat = self._handle.controlRead(Panda.REQUEST_IN, 0xc2, int(can_number), 0, self.CAN_HEALTH_STRUCT.size) + a = self.CAN_HEALTH_STRUCT.unpack(dat) + return { + "bus_off": a[0], + "bus_off_cnt": a[1], + "error_warning": a[2], + "error_passive": a[3], + "last_error": LEC_ERROR_CODE[a[4]], + "last_stored_error": LEC_ERROR_CODE[a[5]], + "last_data_error": LEC_ERROR_CODE[a[6]], + "last_data_stored_error": LEC_ERROR_CODE[a[7]], + "receive_error_cnt": a[8], + "transmit_error_cnt": a[9], + "total_error_cnt": a[10], + "total_tx_lost_cnt": a[11], + "total_rx_lost_cnt": a[12], + "total_tx_cnt": a[13], + "total_rx_cnt": a[14], + "total_fwd_cnt": a[15], + "total_tx_checksum_error_cnt": a[16], + "can_speed": a[17], + "can_data_speed": a[18], + "canfd_enabled": a[19], + "brs_enabled": a[20], + "canfd_non_iso": a[21], + "irq0_call_rate": a[22], + "irq1_call_rate": a[23], + "irq2_call_rate": a[24], + "can_core_reset_count": a[25], + } + + # ******************* control ******************* + + def get_version(self): + return self._handle.controlRead(Panda.REQUEST_IN, 0xd6, 0, 0, 0x40).decode('utf8') + + @staticmethod + def get_signature_from_firmware(fn) -> bytes: + with open(fn, 'rb') as f: + f.seek(-128, 2) # Seek from end of file + return f.read(128) + + def get_signature(self) -> bytes: + part_1 = self._handle.controlRead(Panda.REQUEST_IN, 0xd3, 0, 0, 0x40) + part_2 = self._handle.controlRead(Panda.REQUEST_IN, 0xd4, 0, 0, 0x40) + return bytes(part_1 + part_2) + + def get_type(self): + ret = self._handle.controlRead(Panda.REQUEST_IN, 0xc1, 0, 0, 0x40) + + # old bootstubs don't implement this endpoint, see comment in Panda.device + if self._bcd_hw_type is not None and (ret is None or len(ret) != 1): + ret = self._bcd_hw_type + + return ret + + # Returns tuple with health packet version and CAN packet/USB packet version + def get_packets_versions(self): + dat = self._handle.controlRead(Panda.REQUEST_IN, 0xdd, 0, 0, 3) + if dat and len(dat) == 3: + a = struct.unpack("BBB", dat) + return (a[0], a[1], a[2]) + else: + return (0, 0, 0) + + def get_mcu_type(self) -> McuType: + hw_type = self.get_type() + if hw_type in Panda.F4_DEVICES: + return McuType.F4 + elif hw_type in Panda.H7_DEVICES: + return McuType.H7 + else: + # have to assume F4, see comment in Panda.connect + if self._assume_f4_mcu: + return McuType.F4 + + raise ValueError(f"unknown HW type: {hw_type}") + + def has_obd(self): + return self.get_type() in Panda.HAS_OBD + + def is_internal(self): + return self.get_type() in Panda.INTERNAL_DEVICES + + def get_serial(self): + """ + Returns the comma-issued dongle ID from our provisioning + """ + dat = self._handle.controlRead(Panda.REQUEST_IN, 0xd0, 0, 0, 0x20) + hashsig, calc_hash = dat[0x1c:], hashlib.sha1(dat[0:0x1c]).digest()[0:4] + assert(hashsig == calc_hash) + return [dat[0:0x10].decode("utf8"), dat[0x10:0x10 + 10].decode("utf8")] + + def get_usb_serial(self): + """ + Returns the serial number reported from the USB descriptor; + matches the MCU UID + """ + return self._serial + + def get_dfu_serial(self): + return PandaDFU.st_serial_to_dfu_serial(self._serial, self._mcu_type) + + def get_uid(self): + """ + Returns the UID from the MCU + """ + dat = self._handle.controlRead(Panda.REQUEST_IN, 0xc3, 0, 0, 12) + return binascii.hexlify(dat).decode() + + def get_secret(self): + return self._handle.controlRead(Panda.REQUEST_IN, 0xd0, 1, 0, 0x10) + + def get_interrupt_call_rate(self, irqnum): + dat = self._handle.controlRead(Panda.REQUEST_IN, 0xc4, int(irqnum), 0, 4) + return struct.unpack("I", dat)[0] + + # ******************* configuration ******************* + + def set_power_save(self, power_save_enabled=0): + self._handle.controlWrite(Panda.REQUEST_OUT, 0xe7, int(power_save_enabled), 0, b'') + + def set_safety_mode(self, mode=SAFETY_SILENT, param=0): + self._handle.controlWrite(Panda.REQUEST_OUT, 0xdc, mode, param, b'') + + def set_obd(self, obd): + self._handle.controlWrite(Panda.REQUEST_OUT, 0xdb, int(obd), 0, b'') + + def set_can_loopback(self, enable): + # set can loopback mode for all buses + self._handle.controlWrite(Panda.REQUEST_OUT, 0xe5, int(enable), 0, b'') + + def set_can_enable(self, bus_num, enable): + # sets the can transceiver enable pin + self._handle.controlWrite(Panda.REQUEST_OUT, 0xf4, int(bus_num), int(enable), b'') + + def set_can_speed_kbps(self, bus, speed): + self._handle.controlWrite(Panda.REQUEST_OUT, 0xde, bus, int(speed * 10), b'') + + def set_can_data_speed_kbps(self, bus, speed): + self._handle.controlWrite(Panda.REQUEST_OUT, 0xf9, bus, int(speed * 10), b'') + + def set_canfd_non_iso(self, bus, non_iso): + self._handle.controlWrite(Panda.REQUEST_OUT, 0xfc, bus, int(non_iso), b'') + + def set_uart_baud(self, uart, rate): + self._handle.controlWrite(Panda.REQUEST_OUT, 0xe4, uart, int(rate / 300), b'') + + def set_uart_parity(self, uart, parity): + # parity, 0=off, 1=even, 2=odd + self._handle.controlWrite(Panda.REQUEST_OUT, 0xe2, uart, parity, b'') + + def set_uart_callback(self, uart, install): + self._handle.controlWrite(Panda.REQUEST_OUT, 0xe3, uart, int(install), b'') + + # ******************* can ******************* + + # The panda will NAK CAN writes when there is CAN congestion. + # libusb will try to send it again, with a max timeout. + # Timeout is in ms. If set to 0, the timeout is infinite. + CAN_SEND_TIMEOUT_MS = 10 + + def can_reset_communications(self): + self._handle.controlWrite(Panda.REQUEST_OUT, 0xc0, 0, 0, b'') + + @ensure_can_packet_version + def can_send_many(self, arr, timeout=CAN_SEND_TIMEOUT_MS): + snds = pack_can_buffer(arr) + while True: + try: + for tx in snds: + while True: + bs = self._handle.bulkWrite(3, tx, timeout=timeout) + tx = tx[bs:] + if len(tx) == 0: + break + logging.error("CAN: PARTIAL SEND MANY, RETRYING") + break + except (usb1.USBErrorIO, usb1.USBErrorOverflow): + logging.error("CAN: BAD SEND MANY, RETRYING") + + def can_send(self, addr, dat, bus, timeout=CAN_SEND_TIMEOUT_MS): + self.can_send_many([[addr, dat, bus]], timeout=timeout) + + @ensure_can_packet_version + def can_recv(self): + dat = bytearray() + while True: + try: + dat = self._handle.bulkRead(1, 16384) # Max receive batch size + 2 extra reserve frames + break + except (usb1.USBErrorIO, usb1.USBErrorOverflow): + logging.error("CAN: BAD RECV, RETRYING") + time.sleep(0.1) + msgs, self.can_rx_overflow_buffer = unpack_can_buffer(self.can_rx_overflow_buffer + dat) + return msgs + + def can_clear(self, bus): + """Clears all messages from the specified internal CAN ringbuffer as + though it were drained. + + Args: + bus (int): can bus number to clear a tx queue, or 0xFFFF to clear the + global can rx queue. + + """ + self._handle.controlWrite(Panda.REQUEST_OUT, 0xf1, bus, 0, b'') + + # ******************* isotp ******************* + + def isotp_send(self, addr, dat, bus, recvaddr=None, subaddr=None): + return isotp_send(self, dat, addr, bus, recvaddr, subaddr) + + def isotp_recv(self, addr, bus=0, sendaddr=None, subaddr=None): + return isotp_recv(self, addr, bus, sendaddr, subaddr) + + # ******************* serial ******************* + + def serial_read(self, port_number): + ret = [] + while 1: + lret = bytes(self._handle.controlRead(Panda.REQUEST_IN, 0xe0, port_number, 0, 0x40)) + if len(lret) == 0: + break + ret.append(lret) + return b''.join(ret) + + def serial_write(self, port_number, ln): + ret = 0 + if isinstance(ln, str): + ln = bytes(ln, 'utf-8') + for i in range(0, len(ln), 0x20): + ret += self._handle.bulkWrite(2, struct.pack("B", port_number) + ln[i:i + 0x20]) + return ret + + def serial_clear(self, port_number): + """Clears all messages (tx and rx) from the specified internal uart + ringbuffer as though it were drained. + + Args: + port_number (int): port number of the uart to clear. + + """ + self._handle.controlWrite(Panda.REQUEST_OUT, 0xf2, port_number, 0, b'') + + def send_heartbeat(self, engaged=True): + self._handle.controlWrite(Panda.REQUEST_OUT, 0xf3, engaged, 0, b'') + + # disable heartbeat checks for use outside of openpilot + # sending a heartbeat will reenable the checks + def set_heartbeat_disabled(self): + self._handle.controlWrite(Panda.REQUEST_OUT, 0xf8, 0, 0, b'') + + # ****************** Timer ***************** + def get_microsecond_timer(self): + dat = self._handle.controlRead(Panda.REQUEST_IN, 0xa8, 0, 0, 4) + return struct.unpack("I", dat)[0] + + # ******************* IR ******************* + def set_ir_power(self, percentage): + self._handle.controlWrite(Panda.REQUEST_OUT, 0xb0, int(percentage), 0, b'') + + # ******************* Fan ****************** + def set_fan_power(self, percentage): + self._handle.controlWrite(Panda.REQUEST_OUT, 0xb1, int(percentage), 0, b'') + + def get_fan_rpm(self): + dat = self._handle.controlRead(Panda.REQUEST_IN, 0xb2, 0, 0, 2) + a = struct.unpack("H", dat) + return a[0] + + # ****************** Siren ***************** + def set_siren(self, enabled): + self._handle.controlWrite(Panda.REQUEST_OUT, 0xf6, int(enabled), 0, b'') + + # ****************** Debug ***************** + def set_green_led(self, enabled): + self._handle.controlWrite(Panda.REQUEST_OUT, 0xf7, int(enabled), 0, b'') + + def set_clock_source_period(self, period): + self._handle.controlWrite(Panda.REQUEST_OUT, 0xe6, period, 0, b'') + + def force_relay_drive(self, intercept_relay_drive, ignition_relay_drive): + self._handle.controlWrite(Panda.REQUEST_OUT, 0xc5, (int(intercept_relay_drive) | int(ignition_relay_drive) << 1), 0, b'') + + def read_som_gpio(self) -> bool: + r = self._handle.controlRead(Panda.REQUEST_IN, 0xc6, 0, 0, 1) + return r[0] == 1 diff --git a/panda/python/base.py b/panda/python/base.py new file mode 100644 index 0000000000..ffe9353d62 --- /dev/null +++ b/panda/python/base.py @@ -0,0 +1,61 @@ +from abc import ABC, abstractmethod + +from .constants import McuType + +TIMEOUT = int(15 * 1e3) # default timeout, in milliseconds + +class BaseHandle(ABC): + """ + A handle to talk to a panda. + Borrows heavily from the libusb1 handle API. + """ + + @abstractmethod + def close(self) -> None: + ... + + @abstractmethod + def controlWrite(self, request_type: int, request: int, value: int, index: int, data, timeout: int = TIMEOUT, expect_disconnect: bool = False): + ... + + @abstractmethod + def controlRead(self, request_type: int, request: int, value: int, index: int, length: int, timeout: int = TIMEOUT) -> bytes: + ... + + @abstractmethod + def bulkWrite(self, endpoint: int, data: bytes, timeout: int = TIMEOUT) -> int: + ... + + @abstractmethod + def bulkRead(self, endpoint: int, length: int, timeout: int = TIMEOUT) -> bytes: + ... + + +class BaseSTBootloaderHandle(ABC): + """ + A handle to talk to a panda while it's in the STM32 bootloader. + """ + + @abstractmethod + def get_mcu_type(self) -> McuType: + ... + + @abstractmethod + def close(self) -> None: + ... + + @abstractmethod + def clear_status(self) -> None: + ... + + @abstractmethod + def program(self, address: int, dat: bytes) -> None: + ... + + @abstractmethod + def erase_sector(self, sector: int) -> None: + ... + + @abstractmethod + def jump(self, address: int) -> None: + ... diff --git a/panda/python/canhandle.py b/panda/python/canhandle.py new file mode 100644 index 0000000000..ff6e625552 --- /dev/null +++ b/panda/python/canhandle.py @@ -0,0 +1,53 @@ +import struct +import signal + +from .base import BaseHandle + + +class CanHandle(BaseHandle): + def __init__(self, p, bus): + self.p = p + self.bus = bus + + def transact(self, dat): + def _handle_timeout(signum, frame): + # will happen on reset or can error + raise TimeoutError + + signal.signal(signal.SIGALRM, _handle_timeout) + signal.alarm(1) + + try: + self.p.isotp_send(1, dat, self.bus, recvaddr=2) + finally: + signal.alarm(0) + + signal.signal(signal.SIGALRM, _handle_timeout) + signal.alarm(1) + try: + ret = self.p.isotp_recv(2, self.bus, sendaddr=1) + finally: + signal.alarm(0) + + return ret + + def close(self): + pass + + def controlWrite(self, request_type, request, value, index, data, timeout=0, expect_disconnect=False): + # ignore data in reply, panda doesn't use it + return self.controlRead(request_type, request, value, index, 0, timeout) + + def controlRead(self, request_type, request, value, index, length, timeout=0): + dat = struct.pack("HHBBHHH", 0, 0, request_type, request, value, index, length) + return self.transact(dat) + + def bulkWrite(self, endpoint, data, timeout=0): + if len(data) > 0x10: + raise ValueError("Data must not be longer than 0x10") + dat = struct.pack("HH", endpoint, len(data)) + data + return self.transact(dat) + + def bulkRead(self, endpoint, length, timeout=0): + dat = struct.pack("HH", endpoint, 0) + return self.transact(dat) diff --git a/panda/python/ccp.py b/panda/python/ccp.py new file mode 100644 index 0000000000..3ba1ef3588 --- /dev/null +++ b/panda/python/ccp.py @@ -0,0 +1,361 @@ +import sys +import time +import struct +from enum import IntEnum, Enum + +class COMMAND_CODE(IntEnum): + CONNECT = 0x01 + SET_MTA = 0x02 + DNLOAD = 0x03 + UPLOAD = 0x04 + TEST = 0x05 + START_STOP = 0x06 + DISCONNECT = 0x07 + START_STOP_ALL = 0x08 + GET_ACTIVE_CAL_PAGE = 0x09 + SET_S_STATUS = 0x0C + GET_S_STATUS = 0x0D + BUILD_CHKSUM = 0x0E + SHORT_UP = 0x0F + CLEAR_MEMORY = 0x10 + SELECT_CAL_PAGE = 0x11 + GET_SEED = 0x12 + UNLOCK = 0x13 + GET_DAQ_SIZE = 0x14 + SET_DAQ_PTR = 0x15 + WRITE_DAQ = 0x16 + EXCHANGE_ID = 0x17 + PROGRAM = 0x18 + MOVE = 0x19 + GET_CCP_VERSION = 0x1B + DIAG_SERVICE = 0x20 + ACTION_SERVICE = 0x21 + PROGRAM_6 = 0x22 + DNLOAD_6 = 0x23 + +COMMAND_RETURN_CODES = { + 0x00: "acknowledge / no error", + 0x01: "DAQ processor overload", + 0x10: "command processor busy", + 0x11: "DAQ processor busy", + 0x12: "internal timeout", + 0x18: "key request", + 0x19: "session status request", + 0x20: "cold start request", + 0x21: "cal. data init. request", + 0x22: "DAQ list init. request", + 0x23: "code update request", + 0x30: "unknown command", + 0x31: "command syntax", + 0x32: "parameter(s) out of range", + 0x33: "access denied", + 0x34: "overload", + 0x35: "access locked", + 0x36: "resource/function not available", +} + +class BYTE_ORDER(Enum): + LITTLE_ENDIAN = '<' + BIG_ENDIAN = '>' + +class CommandTimeoutError(Exception): + pass + +class CommandCounterError(Exception): + pass + +class CommandResponseError(Exception): + def __init__(self, message, return_code): + super().__init__() + self.message = message + self.return_code = return_code + + def __str__(self): + return self.message + +class CcpClient(): + def __init__(self, panda, tx_addr: int, rx_addr: int, bus: int=0, byte_order: BYTE_ORDER=BYTE_ORDER.BIG_ENDIAN, debug=False): + self.tx_addr = tx_addr + self.rx_addr = rx_addr + self.can_bus = bus + self.byte_order = byte_order + self.debug = debug + self._panda = panda + self._command_counter = -1 + + def _send_cro(self, cmd: int, dat: bytes = b"") -> None: + self._command_counter = (self._command_counter + 1) & 0xFF + tx_data = (bytes([cmd, self._command_counter]) + dat).ljust(8, b"\x00") + if self.debug: + print(f"CAN-TX: {hex(self.tx_addr)} - 0x{bytes.hex(tx_data)}") + assert len(tx_data) == 8, "data is not 8 bytes" + self._panda.can_clear(self.can_bus) + self._panda.can_clear(0xFFFF) + self._panda.can_send(self.tx_addr, tx_data, self.can_bus) + + def _recv_dto(self, timeout: float) -> bytes: + start_time = time.time() + while time.time() - start_time < timeout: + msgs = self._panda.can_recv() or [] + if len(msgs) >= 256: + print("CAN RX buffer overflow!!!", file=sys.stderr) + for rx_addr, rx_data_bytearray, rx_bus in msgs: + if rx_bus == self.can_bus and rx_addr == self.rx_addr: + rx_data = bytes(rx_data_bytearray) + if self.debug: + print(f"CAN-RX: {hex(rx_addr)} - 0x{bytes.hex(rx_data)}") + assert len(rx_data) == 8, f"message length not 8: {len(rx_data)}" + + pid = rx_data[0] + if pid == 0xFF or pid == 0xFE: + err = rx_data[1] + err_desc = COMMAND_RETURN_CODES.get(err, "unknown error") + ctr = rx_data[2] + dat = rx_data[3:] + + if pid == 0xFF and self._command_counter != ctr: + raise CommandCounterError(f"counter invalid: {ctr} != {self._command_counter}") + + if err >= 0x10 and err <= 0x12: + if self.debug: + print(f"CCP-WAIT: {hex(err)} - {err_desc}") + start_time = time.time() + continue + + if err >= 0x30: + raise CommandResponseError(f"{hex(err)} - {err_desc}", err) + else: + dat = rx_data[1:] + + return dat + time.sleep(0.001) + + raise CommandTimeoutError("timeout waiting for response") + + # commands + def connect(self, station_addr: int) -> None: + if station_addr > 65535: + raise ValueError("station address must be less than 65536") + # NOTE: station address is always little endian + self._send_cro(COMMAND_CODE.CONNECT, struct.pack(" dict: + self._send_cro(COMMAND_CODE.EXCHANGE_ID, device_id_info) + resp = self._recv_dto(0.025) + return { # TODO: define a type + "id_length": resp[0], + "data_type": resp[1], + "available": resp[2], + "protected": resp[3], + } + + def get_seed(self, resource_mask: int) -> bytes: + if resource_mask > 255: + raise ValueError("resource mask must be less than 256") + self._send_cro(COMMAND_CODE.GET_SEED) + resp = self._recv_dto(0.025) + # protected = resp[0] == 0 + seed = resp[1:] + return seed + + def unlock(self, key: bytes) -> int: + if len(key) > 6: + raise ValueError("max key size is 6 bytes") + self._send_cro(COMMAND_CODE.UNLOCK, key) + resp = self._recv_dto(0.025) + status = resp[0] + return status + + def set_memory_transfer_address(self, mta_num: int, addr_ext: int, addr: int) -> None: + if mta_num > 255: + raise ValueError("MTA number must be less than 256") + if addr_ext > 255: + raise ValueError("address extension must be less than 256") + self._send_cro(COMMAND_CODE.SET_MTA, bytes([mta_num, addr_ext]) + struct.pack(f"{self.byte_order.value}I", addr)) + self._recv_dto(0.025) + + def download(self, data: bytes) -> int: + if len(data) > 5: + raise ValueError("max data size is 5 bytes") + self._send_cro(COMMAND_CODE.DNLOAD, bytes([len(data)]) + data) + resp = self._recv_dto(0.025) + # mta_addr_ext = resp[0] + mta_addr = struct.unpack(f"{self.byte_order.value}I", resp[1:5])[0] + return mta_addr # type: ignore + + def download_6_bytes(self, data: bytes) -> int: + if len(data) != 6: + raise ValueError("data size must be 6 bytes") + self._send_cro(COMMAND_CODE.DNLOAD_6, data) + resp = self._recv_dto(0.025) + # mta_addr_ext = resp[0] + mta_addr = struct.unpack(f"{self.byte_order.value}I", resp[1:5])[0] + return mta_addr # type: ignore + + def upload(self, size: int) -> bytes: + if size > 5: + raise ValueError("size must be less than 6") + self._send_cro(COMMAND_CODE.UPLOAD, bytes([size])) + return self._recv_dto(0.025) + + def short_upload(self, size: int, addr_ext: int, addr: int) -> bytes: + if size > 5: + raise ValueError("size must be less than 6") + if addr_ext > 255: + raise ValueError("address extension must be less than 256") + self._send_cro(COMMAND_CODE.SHORT_UP, bytes([size, addr_ext]) + struct.pack(f"{self.byte_order.value}I", addr)) + return self._recv_dto(0.025) + + def select_calibration_page(self) -> None: + self._send_cro(COMMAND_CODE.SELECT_CAL_PAGE) + self._recv_dto(0.025) + + def get_daq_list_size(self, list_num: int, can_id: int = 0) -> dict: + if list_num > 255: + raise ValueError("list number must be less than 256") + self._send_cro(COMMAND_CODE.GET_DAQ_SIZE, bytes([list_num, 0]) + struct.pack(f"{self.byte_order.value}I", can_id)) + resp = self._recv_dto(0.025) + return { # TODO: define a type + "list_size": resp[0], + "first_pid": resp[1], + } + + def set_daq_list_pointer(self, list_num: int, odt_num: int, element_num: int) -> None: + if list_num > 255: + raise ValueError("list number must be less than 256") + if odt_num > 255: + raise ValueError("ODT number must be less than 256") + if element_num > 255: + raise ValueError("element number must be less than 256") + self._send_cro(COMMAND_CODE.SET_DAQ_PTR, bytes([list_num, odt_num, element_num])) + self._recv_dto(0.025) + + def write_daq_list_entry(self, size: int, addr_ext: int, addr: int) -> None: + if size > 255: + raise ValueError("size must be less than 256") + if addr_ext > 255: + raise ValueError("address extension must be less than 256") + self._send_cro(COMMAND_CODE.WRITE_DAQ, bytes([size, addr_ext]) + struct.pack(f"{self.byte_order.value}I", addr)) + self._recv_dto(0.025) + + def start_stop_transmission(self, mode: int, list_num: int, odt_num: int, channel_num: int, rate_prescaler: int = 0) -> None: + if mode > 255: + raise ValueError("mode must be less than 256") + if list_num > 255: + raise ValueError("list number must be less than 256") + if odt_num > 255: + raise ValueError("ODT number must be less than 256") + if channel_num > 255: + raise ValueError("channel number must be less than 256") + if rate_prescaler > 65535: + raise ValueError("rate prescaler must be less than 65536") + self._send_cro(COMMAND_CODE.START_STOP, bytes([mode, list_num, odt_num, channel_num]) + struct.pack(f"{self.byte_order.value}H", rate_prescaler)) + self._recv_dto(0.025) + + def disconnect(self, station_addr: int, temporary: bool = False) -> None: + if station_addr > 65535: + raise ValueError("station address must be less than 65536") + # NOTE: station address is always little endian + self._send_cro(COMMAND_CODE.DISCONNECT, bytes([int(not temporary), 0x00]) + struct.pack(" None: + if status > 255: + raise ValueError("status must be less than 256") + self._send_cro(COMMAND_CODE.SET_S_STATUS, bytes([status])) + self._recv_dto(0.025) + + def get_session_status(self) -> dict: + self._send_cro(COMMAND_CODE.GET_S_STATUS) + resp = self._recv_dto(0.025) + return { # TODO: define a type + "status": resp[0], + "info": resp[2] if resp[1] else None, + } + + def build_checksum(self, size: int) -> bytes: + self._send_cro(COMMAND_CODE.BUILD_CHKSUM, struct.pack(f"{self.byte_order.value}I", size)) + resp = self._recv_dto(30.0) + chksum_size = resp[0] + assert chksum_size <= 4, "checksum more than 4 bytes" + chksum = resp[1:1+chksum_size] + return chksum + + def clear_memory(self, size: int) -> None: + self._send_cro(COMMAND_CODE.CLEAR_MEMORY, struct.pack(f"{self.byte_order.value}I", size)) + self._recv_dto(30.0) + + def program(self, size: int, data: bytes) -> int: + if size > 5: + raise ValueError("size must be less than 6") + if len(data) > 5: + raise ValueError("max data size is 5 bytes") + self._send_cro(COMMAND_CODE.PROGRAM, bytes([size]) + data) + resp = self._recv_dto(0.1) + # mta_addr_ext = resp[0] + mta_addr = struct.unpack(f"{self.byte_order.value}I", resp[1:5])[0] + return mta_addr # type: ignore + + def program_6_bytes(self, data: bytes) -> int: + if len(data) != 6: + raise ValueError("data size must be 6 bytes") + self._send_cro(COMMAND_CODE.PROGRAM_6, data) + resp = self._recv_dto(0.1) + # mta_addr_ext = resp[0] + mta_addr = struct.unpack(f"{self.byte_order.value}I", resp[1:5])[0] + return mta_addr # type: ignore + + def move_memory_block(self, size: int) -> None: + self._send_cro(COMMAND_CODE.MOVE, struct.pack(f"{self.byte_order.value}I", size)) + self._recv_dto(0.025) + + def diagnostic_service(self, service_num: int, data: bytes = b"") -> dict: + if service_num > 65535: + raise ValueError("service number must be less than 65536") + if len(data) > 4: + raise ValueError("max data size is 4 bytes") + self._send_cro(COMMAND_CODE.DIAG_SERVICE, struct.pack(f"{self.byte_order.value}H", service_num) + data) + resp = self._recv_dto(0.025) + return { # TODO: define a type + "length": resp[0], + "type": resp[1], + } + + def action_service(self, service_num: int, data: bytes = b"") -> dict: + if service_num > 65535: + raise ValueError("service number must be less than 65536") + if len(data) > 4: + raise ValueError("max data size is 4 bytes") + self._send_cro(COMMAND_CODE.ACTION_SERVICE, struct.pack(f"{self.byte_order.value}H", service_num) + data) + resp = self._recv_dto(0.025) + return { # TODO: define a type + "length": resp[0], + "type": resp[1], + } + + def test_availability(self, station_addr: int) -> None: + if station_addr > 65535: + raise ValueError("station address must be less than 65536") + # NOTE: station address is always little endian + self._send_cro(COMMAND_CODE.TEST, struct.pack(" None: + if mode > 255: + raise ValueError("mode must be less than 256") + self._send_cro(COMMAND_CODE.START_STOP_ALL, bytes([mode])) + self._recv_dto(0.025) + + def get_active_calibration_page(self): + self._send_cro(COMMAND_CODE.GET_ACTIVE_CAL_PAGE) + resp = self._recv_dto(0.025) + # cal_addr_ext = resp[0] + cal_addr = struct.unpack(f"{self.byte_order.value}I", resp[1:5])[0] + return cal_addr + + def get_version(self, desired_version: float = 2.1) -> float: + major, minor = map(int, str(desired_version).split(".")) + self._send_cro(COMMAND_CODE.GET_CCP_VERSION, bytes([major, minor])) + resp = self._recv_dto(0.025) + return float(f"{resp[0]}.{resp[1]}") diff --git a/panda/python/constants.py b/panda/python/constants.py new file mode 100644 index 0000000000..8b09593084 --- /dev/null +++ b/panda/python/constants.py @@ -0,0 +1,65 @@ +import os +import enum +from typing import NamedTuple + +BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../") +FW_PATH = os.path.join(BASEDIR, "board/obj/") + +USBPACKET_MAX_SIZE = 0x40 + +class McuConfig(NamedTuple): + mcu: str + mcu_idcode: int + sector_sizes: list[int] + sector_count: int # total sector count, used for MCU identification in DFU mode + uid_address: int + block_size: int + serial_number_address: int + app_address: int + app_fn: str + bootstub_address: int + bootstub_fn: str + + def sector_address(self, i): + # assume bootstub is in sector 0 + return self.bootstub_address + sum(self.sector_sizes[:i]) + +F4Config = McuConfig( + "STM32F4", + 0x463, + [0x4000 for _ in range(4)] + [0x10000] + [0x20000 for _ in range(11)], + 16, + 0x1FFF7A10, + 0x800, + 0x1FFF79C0, + 0x8004000, + "panda.bin.signed", + 0x8000000, + "bootstub.panda.bin", +) + +H7Config = McuConfig( + "STM32H7", + 0x483, + [0x20000 for _ in range(7)], + 8, + 0x1FF1E800, + 0x400, + # there is an 8th sector, but we use that for the provisioning chunk, so don't program over that! + 0x080FFFC0, + 0x8020000, + "panda_h7.bin.signed", + 0x8000000, + "bootstub.panda_h7.bin", +) + +@enum.unique +class McuType(enum.Enum): + F4 = F4Config + H7 = H7Config + + @property + def config(self): + return self.value + +MCU_TYPE_BY_IDCODE = {m.config.mcu_idcode: m for m in McuType} diff --git a/panda/python/dfu.py b/panda/python/dfu.py new file mode 100644 index 0000000000..9beba45e55 --- /dev/null +++ b/panda/python/dfu.py @@ -0,0 +1,135 @@ +import os +import usb1 +import struct +import binascii + +from .base import BaseSTBootloaderHandle +from .spi import STBootloaderSPIHandle, PandaSpiException +from .usb import STBootloaderUSBHandle +from .constants import FW_PATH, McuType + + +class PandaDFU: + def __init__(self, dfu_serial: str | None): + # try USB, then SPI + handle: BaseSTBootloaderHandle | None + self._context, handle = PandaDFU.usb_connect(dfu_serial) + if handle is None: + self._context, handle = PandaDFU.spi_connect(dfu_serial) + + if handle is None: + raise Exception(f"failed to open DFU device {dfu_serial}") + + self._handle: BaseSTBootloaderHandle = handle + self._mcu_type: McuType = self._handle.get_mcu_type() + + def __enter__(self): + return self + + def __exit__(self, *args): + self.close() + + def close(self): + if self._handle is not None: + self._handle.close() + self._handle = None + if self._context is not None: + self._context.close() + + @staticmethod + def usb_connect(dfu_serial: str | None): + handle = None + context = usb1.USBContext() + context.open() + for device in context.getDeviceList(skip_on_error=True): + if device.getVendorID() == 0x0483 and device.getProductID() == 0xdf11: + try: + this_dfu_serial = device.open().getASCIIStringDescriptor(3) + except Exception: + continue + + if this_dfu_serial == dfu_serial or dfu_serial is None: + handle = STBootloaderUSBHandle(device, device.open()) + break + + return context, handle + + @staticmethod + def spi_connect(dfu_serial: str | None): + handle = None + this_dfu_serial = None + + try: + handle = STBootloaderSPIHandle() + this_dfu_serial = PandaDFU.st_serial_to_dfu_serial(handle.get_uid(), handle.get_mcu_type()) + except PandaSpiException: + handle = None + + if dfu_serial is not None and dfu_serial != this_dfu_serial: + handle = None + + return None, handle + + @staticmethod + def usb_list() -> list[str]: + dfu_serials = [] + try: + with usb1.USBContext() as context: + for device in context.getDeviceList(skip_on_error=True): + if device.getVendorID() == 0x0483 and device.getProductID() == 0xdf11: + try: + dfu_serials.append(device.open().getASCIIStringDescriptor(3)) + except Exception: + pass + except Exception: + pass + return dfu_serials + + @staticmethod + def spi_list() -> list[str]: + try: + _, h = PandaDFU.spi_connect(None) + if h is not None: + dfu_serial = PandaDFU.st_serial_to_dfu_serial(h.get_uid(), h.get_mcu_type()) + return [dfu_serial, ] + except PandaSpiException: + pass + return [] + + @staticmethod + def st_serial_to_dfu_serial(st: str, mcu_type: McuType = McuType.F4): + if st is None or st == "none": + return None + uid_base = struct.unpack("H" * 6, bytes.fromhex(st)) + if mcu_type == McuType.H7: + return binascii.hexlify(struct.pack("!HHH", uid_base[1] + uid_base[5], uid_base[0] + uid_base[4], uid_base[3])).upper().decode("utf-8") + else: + return binascii.hexlify(struct.pack("!HHH", uid_base[1] + uid_base[5], uid_base[0] + uid_base[4] + 0xA, uid_base[3])).upper().decode("utf-8") + + def get_mcu_type(self) -> McuType: + return self._mcu_type + + def reset(self): + self._handle.jump(self._mcu_type.config.bootstub_address) + + def program_bootstub(self, code_bootstub): + self._handle.clear_status() + + # erase all sectors + for i in range(len(self._mcu_type.config.sector_sizes)): + self._handle.erase_sector(i) + + self._handle.program(self._mcu_type.config.bootstub_address, code_bootstub) + + def recover(self): + fn = os.path.join(FW_PATH, self._mcu_type.config.bootstub_fn) + with open(fn, "rb") as f: + code = f.read() + self.program_bootstub(code) + self.reset() + + @staticmethod + def list() -> list[str]: + ret = PandaDFU.usb_list() + ret += PandaDFU.spi_list() + return list(set(ret)) diff --git a/panda/python/isotp.py b/panda/python/isotp.py new file mode 100644 index 0000000000..ac64c413be --- /dev/null +++ b/panda/python/isotp.py @@ -0,0 +1,140 @@ +import binascii +import time + +DEBUG = False + +def msg(x): + if DEBUG: + print("S:", binascii.hexlify(x)) + assert len(x) <= 7 + ret = bytes([len(x)]) + x + return ret.ljust(8, b"\x00") + +kmsgs = [] +def recv(panda, cnt, addr, nbus): + global kmsgs + ret = [] + + while len(ret) < cnt: + kmsgs += panda.can_recv() + nmsgs = [] + for ids, dat, bus in kmsgs: + if ids == addr and bus == nbus and len(ret) < cnt: + ret.append(dat) + else: + # leave around + nmsgs.append((ids, dat, bus)) + kmsgs = nmsgs[-256:] + return ret + +def isotp_recv_subaddr(panda, addr, bus, sendaddr, subaddr): + msg = recv(panda, 1, addr, bus)[0] + + # TODO: handle other subaddr also communicating + assert msg[0] == subaddr + + if msg[1] & 0xf0 == 0x10: + # first + tlen = ((msg[1] & 0xf) << 8) | msg[2] + dat = msg[3:] + + # 0 block size? + CONTINUE = bytes([subaddr]) + b"\x30" + b"\x00" * 6 + panda.can_send(sendaddr, CONTINUE, bus) + + idx = 1 + for mm in recv(panda, (tlen - len(dat) + 5) // 6, addr, bus): + assert mm[0] == subaddr + assert mm[1] == (0x20 | (idx & 0xF)) + dat += mm[2:] + idx += 1 + elif msg[1] & 0xf0 == 0x00: + # single + tlen = msg[1] & 0xf + dat = msg[2:] + else: + print(binascii.hexlify(msg)) + raise AssertionError + + return dat[0:tlen] + +# **** import below this line **** + +def isotp_send(panda, x, addr, bus=0, recvaddr=None, subaddr=None, rate=None): + if recvaddr is None: + recvaddr = addr + 8 + + if len(x) <= 7 and subaddr is None: + panda.can_send(addr, msg(x), bus) + elif len(x) <= 6 and subaddr is not None: + panda.can_send(addr, bytes([subaddr]) + msg(x)[0:7], bus) + else: + if subaddr: + ss = bytes([subaddr, 0x10 + (len(x) >> 8), len(x) & 0xFF]) + x[0:5] + x = x[5:] + else: + ss = bytes([0x10 + (len(x) >> 8), len(x) & 0xFF]) + x[0:6] + x = x[6:] + idx = 1 + sends = [] + while len(x) > 0: + if subaddr: + sends.append((bytes([subaddr, 0x20 + (idx & 0xF)]) + x[0:6]).ljust(8, b"\x00")) + x = x[6:] + else: + sends.append((bytes([0x20 + (idx & 0xF)]) + x[0:7]).ljust(8, b"\x00")) + x = x[7:] + idx += 1 + + # actually send + panda.can_send(addr, ss, bus) + rr = recv(panda, 1, recvaddr, bus)[0] + if rr.find(b"\x30\x01") != -1: + for s in sends[:-1]: + panda.can_send(addr, s, 0) + rr = recv(panda, 1, recvaddr, bus)[0] + panda.can_send(addr, sends[-1], 0) + else: + if rate is None: + panda.can_send_many([(addr, s, bus) for s in sends]) + else: + for dat in sends: + panda.can_send(addr, dat, bus) + time.sleep(rate) + +def isotp_recv(panda, addr, bus=0, sendaddr=None, subaddr=None): + if sendaddr is None: + sendaddr = addr - 8 + + if subaddr is not None: + dat = isotp_recv_subaddr(panda, addr, bus, sendaddr, subaddr) + else: + msg = recv(panda, 1, addr, bus)[0] + + if msg[0] & 0xf0 == 0x10: + # first + tlen = ((msg[0] & 0xf) << 8) | msg[1] + dat = msg[2:] + + # 0 block size? + CONTINUE = b"\x30" + b"\x00" * 7 + + panda.can_send(sendaddr, CONTINUE, bus) + + idx = 1 + for mm in recv(panda, (tlen - len(dat) + 6) // 7, addr, bus): + assert mm[0] == (0x20 | (idx & 0xF)) + dat += mm[1:] + idx += 1 + elif msg[0] & 0xf0 == 0x00: + # single + tlen = msg[0] & 0xf + dat = msg[1:] + else: + raise AssertionError + dat = dat[0:tlen] + + if DEBUG: + print("R:", binascii.hexlify(dat)) + + return dat diff --git a/panda/python/serial.py b/panda/python/serial.py new file mode 100644 index 0000000000..c2e965b76c --- /dev/null +++ b/panda/python/serial.py @@ -0,0 +1,35 @@ +# mimic a python serial port +class PandaSerial: + def __init__(self, panda, port, baud): + self.panda = panda + self.port = port + self.panda.set_uart_parity(self.port, 0) + self._baudrate = baud + self.panda.set_uart_baud(self.port, baud) + self.buf = b"" + + def read(self, l=1): + tt = self.panda.serial_read(self.port) + if len(tt) > 0: + self.buf += tt + ret = self.buf[0:l] + self.buf = self.buf[l:] + return ret + + def write(self, dat): + return self.panda.serial_write(self.port, dat) + + def close(self): + pass + + def flush(self): + pass + + @property + def baudrate(self): + return self._baudrate + + @baudrate.setter + def baudrate(self, value): + self.panda.set_uart_baud(self.port, value) + self._baudrate = value diff --git a/panda/python/spi.py b/panda/python/spi.py new file mode 100644 index 0000000000..be4f7dcf46 --- /dev/null +++ b/panda/python/spi.py @@ -0,0 +1,438 @@ +import binascii +import ctypes +import os +import fcntl +import math +import time +import struct +import logging +import threading +from contextlib import contextmanager +from functools import reduce +from collections.abc import Callable + +from .base import BaseHandle, BaseSTBootloaderHandle, TIMEOUT +from .constants import McuType, MCU_TYPE_BY_IDCODE, USBPACKET_MAX_SIZE + +try: + import spidev +except ImportError: + spidev = None + +# Constants +SYNC = 0x5A +HACK = 0x79 +DACK = 0x85 +NACK = 0x1F +CHECKSUM_START = 0xAB + +MIN_ACK_TIMEOUT_MS = 100 +MAX_XFER_RETRY_COUNT = 5 + +XFER_SIZE = 0x40*31 + +DEV_PATH = "/dev/spidev0.0" + + +def crc8(data): + crc = 0xFF # standard init value + poly = 0xD5 # standard crc8: x8+x7+x6+x4+x2+1 + size = len(data) + for i in range(size - 1, -1, -1): + crc ^= data[i] + for _ in range(8): + if ((crc & 0x80) != 0): + crc = ((crc << 1) ^ poly) & 0xFF + else: + crc <<= 1 + return crc + + +class PandaSpiException(Exception): + pass + +class PandaProtocolMismatch(PandaSpiException): + pass + +class PandaSpiUnavailable(PandaSpiException): + pass + +class PandaSpiNackResponse(PandaSpiException): + pass + +class PandaSpiMissingAck(PandaSpiException): + pass + +class PandaSpiBadChecksum(PandaSpiException): + pass + +class PandaSpiTransferFailed(PandaSpiException): + pass + + +SPI_LOCK = threading.Lock() + +class PandaSpiTransfer(ctypes.Structure): + _fields_ = [ + ('rx_buf', ctypes.c_uint64), + ('tx_buf', ctypes.c_uint64), + ('tx_length', ctypes.c_uint32), + ('rx_length_max', ctypes.c_uint32), + ('timeout', ctypes.c_uint32), + ('endpoint', ctypes.c_uint8), + ('expect_disconnect', ctypes.c_uint8), + ] + +class SpiDevice: + """ + Provides locked, thread-safe access to a panda's SPI interface. + """ + + # 50MHz is the max of the 845. older rev comma three + # may not support the full 50MHz + MAX_SPEED = 50000000 + + def __init__(self, speed=MAX_SPEED): + assert speed <= self.MAX_SPEED + + if not os.path.exists(DEV_PATH): + raise PandaSpiUnavailable(f"SPI device not found: {DEV_PATH}") + if spidev is None: + raise PandaSpiUnavailable("spidev is not installed") + + self._spidev = spidev.SpiDev() # pylint: disable=c-extension-no-member + self._spidev.open(0, 0) + self._spidev.max_speed_hz = speed + + @contextmanager + def acquire(self): + try: + SPI_LOCK.acquire() + fcntl.flock(self._spidev, fcntl.LOCK_EX) + yield self._spidev + finally: + fcntl.flock(self._spidev, fcntl.LOCK_UN) + SPI_LOCK.release() + + def close(self): + self._spidev.close() + + + +class PandaSpiHandle(BaseHandle): + """ + A class that mimics a libusb1 handle for panda SPI communications. + """ + + PROTOCOL_VERSION = 2 + + def __init__(self) -> None: + self.dev = SpiDevice() + + self._transfer_raw: Callable[[SpiDevice, int, bytes, int, int, bool], bytes] = self._transfer_spidev + + if "KERN" in os.environ: + self._transfer_raw = self._transfer_kernel_driver + + self.tx_buf = bytearray(1024) + self.rx_buf = bytearray(1024) + tx_buf_raw = ctypes.c_char.from_buffer(self.tx_buf) + rx_buf_raw = ctypes.c_char.from_buffer(self.rx_buf) + + self.ioctl_data = PandaSpiTransfer() + self.ioctl_data.tx_buf = ctypes.addressof(tx_buf_raw) + self.ioctl_data.rx_buf = ctypes.addressof(rx_buf_raw) + self.fileno = self.dev._spidev.fileno() + + # helpers + def _calc_checksum(self, data: bytes) -> int: + cksum = CHECKSUM_START + for b in data: + cksum ^= b + return cksum + + def _wait_for_ack(self, spi, ack_val: int, timeout: int, tx: int, length: int = 1) -> bytes: + timeout_s = max(MIN_ACK_TIMEOUT_MS, timeout) * 1e-3 + + start = time.monotonic() + while (timeout == 0) or ((time.monotonic() - start) < timeout_s): + dat = spi.xfer2([tx, ] * length) + if dat[0] == NACK: + raise PandaSpiNackResponse + elif dat[0] == ack_val: + return bytes(dat) + + raise PandaSpiMissingAck + + def _transfer_spidev(self, spi, endpoint: int, data, timeout: int, max_rx_len: int = 1000, expect_disconnect: bool = False) -> bytes: + max_rx_len = max(USBPACKET_MAX_SIZE, max_rx_len) + + logging.debug("- send header") + packet = struct.pack(" max_rx_len: + raise PandaSpiException(f"response length greater than max ({max_rx_len} {response_len})") + + # read rest + remaining = (response_len + 1) - preread_len + if remaining > 0: + dat += bytes(spi.readbytes(remaining)) + + + dat = dat[:3 + response_len + 1] + if self._calc_checksum(dat) != 0: + raise PandaSpiBadChecksum + + return dat[3:-1] + + def _transfer_kernel_driver(self, spi, endpoint: int, data, timeout: int, max_rx_len: int = 1000, expect_disconnect: bool = False) -> bytes: + import spidev2 + self.tx_buf[:len(data)] = data + self.ioctl_data.endpoint = endpoint + self.ioctl_data.tx_length = len(data) + self.ioctl_data.rx_length_max = max_rx_len + self.ioctl_data.expect_disconnect = int(expect_disconnect) + + # TODO: use our own ioctl request + try: + ret = fcntl.ioctl(self.fileno, spidev2.SPI_IOC_RD_LSB_FIRST, self.ioctl_data) + except OSError as e: + raise PandaSpiException from e + if ret < 0: + raise PandaSpiException(f"ioctl returned {ret}") + return bytes(self.rx_buf[:ret]) + + def _transfer(self, endpoint: int, data, timeout: int, max_rx_len: int = 1000, expect_disconnect: bool = False) -> bytes: + logging.debug("starting transfer: endpoint=%d, max_rx_len=%d", endpoint, max_rx_len) + logging.debug("==============================================") + + n = 0 + start_time = time.monotonic() + exc = PandaSpiException() + while (timeout == 0) or (time.monotonic() - start_time) < timeout*1e-3: + n += 1 + logging.debug("\ntry #%d", n) + with self.dev.acquire() as spi: + try: + return self._transfer_raw(spi, endpoint, data, timeout, max_rx_len, expect_disconnect) + except PandaSpiException as e: + exc = e + logging.debug("SPI transfer failed, retrying", exc_info=True) + + raise exc + + def get_protocol_version(self) -> bytes: + vers_str = b"VERSION" + def _get_version(spi) -> bytes: + spi.writebytes(vers_str) + + logging.debug("- waiting for echo") + start = time.monotonic() + while True: + version_bytes = spi.readbytes(len(vers_str) + 2) + if bytes(version_bytes).startswith(vers_str): + break + if (time.monotonic() - start) > 0.001: + raise PandaSpiMissingAck + + rlen = struct.unpack(" 1000: + raise PandaSpiException("response length greater than max") + + # get response + dat = spi.readbytes(rlen + 1) + resp = dat[:-1] + calculated_crc = crc8(bytes(version_bytes + resp)) + if calculated_crc != dat[-1]: + raise PandaSpiBadChecksum + return bytes(resp) + + exc = PandaSpiException() + with self.dev.acquire() as spi: + for _ in range(10): + try: + return _get_version(spi) + except PandaSpiException as e: + exc = e + logging.debug("SPI get protocol version failed, retrying", exc_info=True) + raise exc + + # libusb1 functions + def close(self): + self.dev.close() + + def controlWrite(self, request_type: int, request: int, value: int, index: int, data, timeout: int = TIMEOUT, expect_disconnect: bool = False): + return self._transfer(0, struct.pack(" int: + for x in range(math.ceil(len(data) / XFER_SIZE)): + self._transfer(endpoint, data[XFER_SIZE*x:XFER_SIZE*(x+1)], timeout) + return len(data) + + def bulkRead(self, endpoint: int, length: int, timeout: int = TIMEOUT) -> bytes: + ret = b"" + for _ in range(math.ceil(length / XFER_SIZE)): + d = self._transfer(endpoint, [], timeout, max_rx_len=XFER_SIZE) + ret += d + if len(d) < XFER_SIZE: + break + return ret + + +class STBootloaderSPIHandle(BaseSTBootloaderHandle): + """ + Implementation of the STM32 SPI bootloader protocol described in: + https://www.st.com/resource/en/application_note/an4286-spi-protocol-used-in-the-stm32-bootloader-stmicroelectronics.pdf + """ + + SYNC = 0x5A + ACK = 0x79 + NACK = 0x1F + + def __init__(self): + self.dev = SpiDevice(speed=1000000) + + # say hello + try: + with self.dev.acquire() as spi: + spi.xfer([self.SYNC, ]) + try: + self._get_ack(spi, 0.1) + except (PandaSpiNackResponse, PandaSpiMissingAck): + # NACK ok here, will only ACK the first time + pass + + self._mcu_type = MCU_TYPE_BY_IDCODE[self.get_chip_id()] + except PandaSpiException: + raise PandaSpiException("failed to connect to panda") from None + + def _get_ack(self, spi, timeout=1.0): + data = 0x00 + start_time = time.monotonic() + while data not in (self.ACK, self.NACK) and (time.monotonic() - start_time < timeout): + data = spi.xfer([0x00, ])[0] + time.sleep(0) + spi.xfer([self.ACK, ]) + + if data == self.NACK: + raise PandaSpiNackResponse + elif data != self.ACK: + raise PandaSpiMissingAck + + def _cmd_no_retry(self, cmd: int, data: list[bytes] | None = None, read_bytes: int = 0, predata=None) -> bytes: + ret = b"" + with self.dev.acquire() as spi: + # sync + command + spi.xfer([self.SYNC, ]) + spi.xfer([cmd, cmd ^ 0xFF]) + self._get_ack(spi, timeout=0.01) + + # "predata" - for commands that send the first data without a checksum + if predata is not None: + spi.xfer(predata) + self._get_ack(spi) + + # send data + if data is not None: + for d in data: + if predata is not None: + spi.xfer(d + self._checksum(predata + d)) + else: + spi.xfer(d + self._checksum(d)) + self._get_ack(spi, timeout=20) + + # receive + if read_bytes > 0: + ret = spi.xfer([0x00, ]*(read_bytes + 1))[1:] + if data is None or len(data) == 0: + self._get_ack(spi) + + return bytes(ret) + + def _cmd(self, cmd: int, data: list[bytes] | None = None, read_bytes: int = 0, predata=None) -> bytes: + exc = PandaSpiException() + for n in range(MAX_XFER_RETRY_COUNT): + try: + return self._cmd_no_retry(cmd, data, read_bytes, predata) + except PandaSpiException as e: + exc = e + logging.debug("SPI transfer failed, %d retries left", MAX_XFER_RETRY_COUNT - n - 1, exc_info=True) + raise exc + + def _checksum(self, data: bytes) -> bytes: + if len(data) == 1: + ret = data[0] ^ 0xFF + else: + ret = reduce(lambda a, b: a ^ b, data) + return bytes([ret, ]) + + # *** Bootloader commands *** + + def read(self, address: int, length: int): + data = [struct.pack('>I', address), struct.pack('B', length - 1)] + return self._cmd(0x11, data=data, read_bytes=length) + + def get_chip_id(self) -> int: + r = self._cmd(0x02, read_bytes=3) + assert r[0] == 1 # response length - 1 + return ((r[1] << 8) + r[2]) + + def go_cmd(self, address: int) -> None: + self._cmd(0x21, data=[struct.pack('>I', address), ]) + + # *** helpers *** + + def get_uid(self): + dat = self.read(McuType.H7.config.uid_address, 12) + return binascii.hexlify(dat).decode() + + def erase_sector(self, sector: int): + p = struct.pack('>H', 0) # number of sectors to erase + d = struct.pack('>H', sector) + self._cmd(0x44, data=[d, ], predata=p) + + # *** PandaDFU API *** + + def get_mcu_type(self): + return self._mcu_type + + def clear_status(self): + pass + + def close(self): + self.dev.close() + + def program(self, address, dat): + bs = 256 # max block size for writing to flash over SPI + dat += b"\xFF" * ((bs - len(dat)) % bs) + for i in range(len(dat) // bs): + block = dat[i * bs:(i + 1) * bs] + self._cmd(0x31, data=[ + struct.pack('>I', address + i*bs), + bytes([len(block) - 1]) + block, + ]) + + def jump(self, address): + self.go_cmd(self._mcu_type.config.bootstub_address) diff --git a/panda/python/uds.py b/panda/python/uds.py new file mode 100644 index 0000000000..22e5129bd9 --- /dev/null +++ b/panda/python/uds.py @@ -0,0 +1,949 @@ +import time +import struct +from collections import deque +from typing import NamedTuple, Deque, cast +from collections.abc import Callable, Generator +from enum import IntEnum +from functools import partial + +class SERVICE_TYPE(IntEnum): + DIAGNOSTIC_SESSION_CONTROL = 0x10 + ECU_RESET = 0x11 + SECURITY_ACCESS = 0x27 + COMMUNICATION_CONTROL = 0x28 + TESTER_PRESENT = 0x3E + ACCESS_TIMING_PARAMETER = 0x83 + SECURED_DATA_TRANSMISSION = 0x84 + CONTROL_DTC_SETTING = 0x85 + RESPONSE_ON_EVENT = 0x86 + LINK_CONTROL = 0x87 + READ_DATA_BY_IDENTIFIER = 0x22 + READ_MEMORY_BY_ADDRESS = 0x23 + READ_SCALING_DATA_BY_IDENTIFIER = 0x24 + READ_DATA_BY_PERIODIC_IDENTIFIER = 0x2A + DYNAMICALLY_DEFINE_DATA_IDENTIFIER = 0x2C + WRITE_DATA_BY_IDENTIFIER = 0x2E + WRITE_MEMORY_BY_ADDRESS = 0x3D + CLEAR_DIAGNOSTIC_INFORMATION = 0x14 + READ_DTC_INFORMATION = 0x19 + INPUT_OUTPUT_CONTROL_BY_IDENTIFIER = 0x2F + ROUTINE_CONTROL = 0x31 + REQUEST_DOWNLOAD = 0x34 + REQUEST_UPLOAD = 0x35 + TRANSFER_DATA = 0x36 + REQUEST_TRANSFER_EXIT = 0x37 + +class SESSION_TYPE(IntEnum): + DEFAULT = 1 + PROGRAMMING = 2 + EXTENDED_DIAGNOSTIC = 3 + SAFETY_SYSTEM_DIAGNOSTIC = 4 + +class RESET_TYPE(IntEnum): + HARD = 1 + KEY_OFF_ON = 2 + SOFT = 3 + ENABLE_RAPID_POWER_SHUTDOWN = 4 + DISABLE_RAPID_POWER_SHUTDOWN = 5 + +class ACCESS_TYPE(IntEnum): + REQUEST_SEED = 1 + SEND_KEY = 2 + +class CONTROL_TYPE(IntEnum): + ENABLE_RX_ENABLE_TX = 0 + ENABLE_RX_DISABLE_TX = 1 + DISABLE_RX_ENABLE_TX = 2 + DISABLE_RX_DISABLE_TX = 3 + +class MESSAGE_TYPE(IntEnum): + NORMAL = 1 + NETWORK_MANAGEMENT = 2 + NORMAL_AND_NETWORK_MANAGEMENT = 3 + +class TIMING_PARAMETER_TYPE(IntEnum): + READ_EXTENDED_SET = 1 + SET_TO_DEFAULT_VALUES = 2 + READ_CURRENTLY_ACTIVE = 3 + SET_TO_GIVEN_VALUES = 4 + +class DTC_SETTING_TYPE(IntEnum): + ON = 1 + OFF = 2 + +class RESPONSE_EVENT_TYPE(IntEnum): + STOP_RESPONSE_ON_EVENT = 0 + ON_DTC_STATUS_CHANGE = 1 + ON_TIMER_INTERRUPT = 2 + ON_CHANGE_OF_DATA_IDENTIFIER = 3 + REPORT_ACTIVATED_EVENTS = 4 + START_RESPONSE_ON_EVENT = 5 + CLEAR_RESPONSE_ON_EVENT = 6 + ON_COMPARISON_OF_VALUES = 7 + +class LINK_CONTROL_TYPE(IntEnum): + VERIFY_BAUDRATE_TRANSITION_WITH_FIXED_BAUDRATE = 1 + VERIFY_BAUDRATE_TRANSITION_WITH_SPECIFIC_BAUDRATE = 2 + TRANSITION_BAUDRATE = 3 + +class BAUD_RATE_TYPE(IntEnum): + PC9600 = 1 + PC19200 = 2 + PC38400 = 3 + PC57600 = 4 + PC115200 = 5 + CAN125000 = 16 + CAN250000 = 17 + CAN500000 = 18 + CAN1000000 = 19 + +class DATA_IDENTIFIER_TYPE(IntEnum): + BOOT_SOFTWARE_IDENTIFICATION = 0xF180 + APPLICATION_SOFTWARE_IDENTIFICATION = 0xF181 + APPLICATION_DATA_IDENTIFICATION = 0xF182 + BOOT_SOFTWARE_FINGERPRINT = 0xF183 + APPLICATION_SOFTWARE_FINGERPRINT = 0xF184 + APPLICATION_DATA_FINGERPRINT = 0xF185 + ACTIVE_DIAGNOSTIC_SESSION = 0xF186 + VEHICLE_MANUFACTURER_SPARE_PART_NUMBER = 0xF187 + VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER = 0xF188 + VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER = 0xF189 + SYSTEM_SUPPLIER_IDENTIFIER = 0xF18A + ECU_MANUFACTURING_DATE = 0xF18B + ECU_SERIAL_NUMBER = 0xF18C + SUPPORTED_FUNCTIONAL_UNITS = 0xF18D + VEHICLE_MANUFACTURER_KIT_ASSEMBLY_PART_NUMBER = 0xF18E + VIN = 0xF190 + VEHICLE_MANUFACTURER_ECU_HARDWARE_NUMBER = 0xF191 + SYSTEM_SUPPLIER_ECU_HARDWARE_NUMBER = 0xF192 + SYSTEM_SUPPLIER_ECU_HARDWARE_VERSION_NUMBER = 0xF193 + SYSTEM_SUPPLIER_ECU_SOFTWARE_NUMBER = 0xF194 + SYSTEM_SUPPLIER_ECU_SOFTWARE_VERSION_NUMBER = 0xF195 + EXHAUST_REGULATION_OR_TYPE_APPROVAL_NUMBER = 0xF196 + SYSTEM_NAME_OR_ENGINE_TYPE = 0xF197 + REPAIR_SHOP_CODE_OR_TESTER_SERIAL_NUMBER = 0xF198 + PROGRAMMING_DATE = 0xF199 + CALIBRATION_REPAIR_SHOP_CODE_OR_CALIBRATION_EQUIPMENT_SERIAL_NUMBER = 0xF19A + CALIBRATION_DATE = 0xF19B + CALIBRATION_EQUIPMENT_SOFTWARE_NUMBER = 0xF19C + ECU_INSTALLATION_DATE = 0xF19D + ODX_FILE = 0xF19E + ENTITY = 0xF19F + +class TRANSMISSION_MODE_TYPE(IntEnum): + SEND_AT_SLOW_RATE = 1 + SEND_AT_MEDIUM_RATE = 2 + SEND_AT_FAST_RATE = 3 + STOP_SENDING = 4 + +class DYNAMIC_DEFINITION_TYPE(IntEnum): + DEFINE_BY_IDENTIFIER = 1 + DEFINE_BY_MEMORY_ADDRESS = 2 + CLEAR_DYNAMICALLY_DEFINED_DATA_IDENTIFIER = 3 + +class ISOTP_FRAME_TYPE(IntEnum): + SINGLE = 0 + FIRST = 1 + CONSECUTIVE = 2 + FLOW = 3 + +class DynamicSourceDefinition(NamedTuple): + data_identifier: int + position: int + memory_size: int + memory_address: int + +class DTC_GROUP_TYPE(IntEnum): + EMISSIONS = 0x000000 + ALL = 0xFFFFFF + +class DTC_REPORT_TYPE(IntEnum): + NUMBER_OF_DTC_BY_STATUS_MASK = 0x01 + DTC_BY_STATUS_MASK = 0x02 + DTC_SNAPSHOT_IDENTIFICATION = 0x03 + DTC_SNAPSHOT_RECORD_BY_DTC_NUMBER = 0x04 + DTC_SNAPSHOT_RECORD_BY_RECORD_NUMBER = 0x05 + DTC_EXTENDED_DATA_RECORD_BY_DTC_NUMBER = 0x06 + NUMBER_OF_DTC_BY_SEVERITY_MASK_RECORD = 0x07 + DTC_BY_SEVERITY_MASK_RECORD = 0x08 + SEVERITY_INFORMATION_OF_DTC = 0x09 + SUPPORTED_DTC = 0x0A + FIRST_TEST_FAILED_DTC = 0x0B + FIRST_CONFIRMED_DTC = 0x0C + MOST_RECENT_TEST_FAILED_DTC = 0x0D + MOST_RECENT_CONFIRMED_DTC = 0x0E + MIRROR_MEMORY_DTC_BY_STATUS_MASK = 0x0F + MIRROR_MEMORY_DTC_EXTENDED_DATA_RECORD_BY_DTC_NUMBER = 0x10 + NUMBER_OF_MIRROR_MEMORY_DTC_BY_STATUS_MASK = 0x11 + NUMBER_OF_EMISSIONS_RELATED_OBD_DTC_BY_STATUS_MASK = 0x12 + EMISSIONS_RELATED_OBD_DTC_BY_STATUS_MASK = 0x13 + DTC_FAULT_DETECTION_COUNTER = 0x14 + DTC_WITH_PERMANENT_STATUS = 0x15 + +class DTC_STATUS_MASK_TYPE(IntEnum): + TEST_FAILED = 0x01 + TEST_FAILED_THIS_OPERATION_CYCLE = 0x02 + PENDING_DTC = 0x04 + CONFIRMED_DTC = 0x08 + TEST_NOT_COMPLETED_SINCE_LAST_CLEAR = 0x10 + TEST_FAILED_SINCE_LAST_CLEAR = 0x20 + TEST_NOT_COMPLETED_THIS_OPERATION_CYCLE = 0x40 + WARNING_INDICATOR_REQUESTED = 0x80 + ALL = 0xFF + +class DTC_SEVERITY_MASK_TYPE(IntEnum): + MAINTENANCE_ONLY = 0x20 + CHECK_AT_NEXT_HALT = 0x40 + CHECK_IMMEDIATELY = 0x80 + ALL = 0xE0 + +class CONTROL_PARAMETER_TYPE(IntEnum): + RETURN_CONTROL_TO_ECU = 0 + RESET_TO_DEFAULT = 1 + FREEZE_CURRENT_STATE = 2 + SHORT_TERM_ADJUSTMENT = 3 + +class ROUTINE_CONTROL_TYPE(IntEnum): + START = 1 + STOP = 2 + REQUEST_RESULTS = 3 + +class ROUTINE_IDENTIFIER_TYPE(IntEnum): + ERASE_MEMORY = 0xFF00 + CHECK_PROGRAMMING_DEPENDENCIES = 0xFF01 + ERASE_MIRROR_MEMORY_DTCS = 0xFF02 + +class MessageTimeoutError(Exception): + pass + +class NegativeResponseError(Exception): + def __init__(self, message, service_id, error_code): + super().__init__() + self.message = message + self.service_id = service_id + self.error_code = error_code + + def __str__(self): + return self.message + +class InvalidServiceIdError(Exception): + pass + +class InvalidSubFunctionError(Exception): + pass + +class InvalidSubAddressError(Exception): + pass + +_negative_response_codes = { + 0x00: 'positive response', + 0x10: 'general reject', + 0x11: 'service not supported', + 0x12: 'sub-function not supported', + 0x13: 'incorrect message length or invalid format', + 0x14: 'response too long', + 0x21: 'busy repeat request', + 0x22: 'conditions not correct', + 0x24: 'request sequence error', + 0x25: 'no response from subnet component', + 0x26: 'failure prevents execution of requested action', + 0x31: 'request out of range', + 0x33: 'security access denied', + 0x35: 'invalid key', + 0x36: 'exceed number of attempts', + 0x37: 'required time delay not expired', + 0x70: 'upload download not accepted', + 0x71: 'transfer data suspended', + 0x72: 'general programming failure', + 0x73: 'wrong block sequence counter', + 0x78: 'request correctly received - response pending', + 0x7e: 'sub-function not supported in active session', + 0x7f: 'service not supported in active session', + 0x81: 'rpm too high', + 0x82: 'rpm too low', + 0x83: 'engine is running', + 0x84: 'engine is not running', + 0x85: 'engine run time too low', + 0x86: 'temperature too high', + 0x87: 'temperature too low', + 0x88: 'vehicle speed too high', + 0x89: 'vehicle speed too low', + 0x8a: 'throttle/pedal too high', + 0x8b: 'throttle/pedal too low', + 0x8c: 'transmission not in neutral', + 0x8d: 'transmission not in gear', + 0x8f: 'brake switch(es) not closed', + 0x90: 'shifter lever not in park', + 0x91: 'torque converter clutch locked', + 0x92: 'voltage too high', + 0x93: 'voltage too low', +} + +def get_dtc_num_as_str(dtc_num_bytes): + # ISO 15031-6 + designator = { + 0b00: "P", + 0b01: "C", + 0b10: "B", + 0b11: "U", + } + d = designator[dtc_num_bytes[0] >> 6] + n = bytes([dtc_num_bytes[0] & 0x3F]) + dtc_num_bytes[1:] + return d + n.hex() + +def get_dtc_status_names(status): + result = list() + for m in DTC_STATUS_MASK_TYPE: + if m == DTC_STATUS_MASK_TYPE.ALL: + continue + if status & m.value: + result.append(m.name) + return result + +class CanClient(): + def __init__(self, can_send: Callable[[int, bytes, int], None], can_recv: Callable[[], list[tuple[int, bytes, int]]], + tx_addr: int, rx_addr: int, bus: int, sub_addr: int | None = None, debug: bool = False): + self.tx = can_send + self.rx = can_recv + self.tx_addr = tx_addr + self.rx_addr = rx_addr + self.rx_buff: Deque[bytes] = deque() + self.sub_addr = sub_addr + self.bus = bus + self.debug = debug + + def _recv_filter(self, bus: int, addr: int) -> bool: + # handle functional addresses (switch to first addr to respond) + if self.tx_addr == 0x7DF: + is_response = addr >= 0x7E8 and addr <= 0x7EF + if is_response: + if self.debug: + print(f"switch to physical addr {hex(addr)}") + self.tx_addr = addr - 8 + self.rx_addr = addr + return is_response + if self.tx_addr == 0x18DB33F1: + is_response = addr >= 0x18DAF100 and addr <= 0x18DAF1FF + if is_response: + if self.debug: + print(f"switch to physical addr {hex(addr)}") + self.tx_addr = 0x18DA00F1 + (addr << 8 & 0xFF00) + self.rx_addr = addr + return bus == self.bus and addr == self.rx_addr + + def _recv_buffer(self, drain: bool = False) -> None: + while True: + msgs = self.rx() + if drain: + if self.debug: + print(f"CAN-RX: drain - {len(msgs)}") + self.rx_buff.clear() + else: + for rx_addr, rx_data, rx_bus in msgs or []: + if self._recv_filter(rx_bus, rx_addr) and len(rx_data) > 0: + rx_data = bytes(rx_data) # convert bytearray to bytes + + if self.debug: + print(f"CAN-RX: {hex(rx_addr)} - 0x{bytes.hex(rx_data)}") + + # Cut off sub addr in first byte + if self.sub_addr is not None: + if rx_data[0] != self.sub_addr: + raise InvalidSubAddressError(f"isotp - rx: invalid sub-address: {rx_data[0]}, expected: {self.sub_addr}") + rx_data = rx_data[1:] + + self.rx_buff.append(rx_data) + # break when non-full buffer is processed + if len(msgs) < 254: + return + + def recv(self, drain: bool = False) -> Generator[bytes, None, None]: + # buffer rx messages in case two response messages are received at once + # (e.g. response pending and success/failure response) + self._recv_buffer(drain) + try: + while True: + yield self.rx_buff.popleft() + except IndexError: + pass # empty + + def send(self, msgs: list[bytes], delay: float = 0) -> None: + for i, msg in enumerate(msgs): + if delay and i != 0: + if self.debug: + print(f"CAN-TX: delay - {delay}") + time.sleep(delay) + + if self.sub_addr is not None: + msg = bytes([self.sub_addr]) + msg + + if self.debug: + print(f"CAN-TX: {hex(self.tx_addr)} - 0x{bytes.hex(msg)}") + assert len(msg) <= 8 + + self.tx(self.tx_addr, msg, self.bus) + # prevent rx buffer from overflowing on large tx + if i % 10 == 9: + self._recv_buffer() + +class IsoTpMessage(): + def __init__(self, can_client: CanClient, timeout: float = 1, single_frame_mode: bool = False, separation_time: float = 0, + debug: bool = False, max_len: int = 8): + self._can_client = can_client + self.timeout = timeout + self.single_frame_mode = single_frame_mode + self.debug = debug + self.max_len = max_len + + # <= 127, separation time in milliseconds + # 0xF1 to 0xF9 UF, 100 to 900 microseconds + if 1e-4 <= separation_time <= 9e-4: + offset = int(round(separation_time, 4) * 1e4) - 1 + separation_time = 0xF1 + offset + elif 0 <= separation_time <= 0.127: + separation_time = round(separation_time * 1000) + else: + raise Exception("Separation time not in range") + + self.flow_control_msg = bytes([ + 0x30, # flow control + 0x01 if self.single_frame_mode else 0x00, # block size + separation_time, + ]).ljust(self.max_len, b"\x00") + + def send(self, dat: bytes, setup_only: bool = False) -> None: + # throw away any stale data + self._can_client.recv(drain=True) + + self.tx_dat = dat + self.tx_len = len(dat) + self.tx_idx = 0 + self.tx_done = False + + self.rx_dat = b"" + self.rx_len = 0 + self.rx_idx = 0 + self.rx_done = False + + if self.debug and not setup_only: + print(f"ISO-TP: REQUEST - {hex(self._can_client.tx_addr)} 0x{bytes.hex(self.tx_dat)}") + self._tx_first_frame(setup_only=setup_only) + + def _tx_first_frame(self, setup_only: bool = False) -> None: + if self.tx_len < self.max_len: + # single frame (send all bytes) + if self.debug and not setup_only: + print(f"ISO-TP: TX - single frame - {hex(self._can_client.tx_addr)}") + msg = (bytes([self.tx_len]) + self.tx_dat).ljust(self.max_len, b"\x00") + self.tx_done = True + else: + # first frame (send first 6 bytes) + if self.debug and not setup_only: + print(f"ISO-TP: TX - first frame - {hex(self._can_client.tx_addr)}") + msg = (struct.pack("!H", 0x1000 | self.tx_len) + self.tx_dat[:self.max_len - 2]).ljust(self.max_len - 2, b"\x00") + if not setup_only: + self._can_client.send([msg]) + + def recv(self, timeout=None) -> tuple[bytes | None, bool]: + if timeout is None: + timeout = self.timeout + + start_time = time.monotonic() + rx_in_progress = False + try: + while True: + for msg in self._can_client.recv(): + frame_type = self._isotp_rx_next(msg) + start_time = time.monotonic() + # Anything that signifies we're building a response + rx_in_progress = frame_type in (ISOTP_FRAME_TYPE.FIRST, ISOTP_FRAME_TYPE.CONSECUTIVE) + if self.tx_done and self.rx_done: + return self.rx_dat, False + # no timeout indicates non-blocking + if timeout == 0: + return None, rx_in_progress + if time.monotonic() - start_time > timeout: + raise MessageTimeoutError("timeout waiting for response") + finally: + if self.debug and self.rx_dat: + print(f"ISO-TP: RESPONSE - {hex(self._can_client.rx_addr)} 0x{bytes.hex(self.rx_dat)}") + + def _isotp_rx_next(self, rx_data: bytes) -> ISOTP_FRAME_TYPE: + # TODO: Handle CAN frame data optimization, which is allowed with some frame types + # # ISO 15765-2 specifies an eight byte CAN frame for ISO-TP communication + # assert len(rx_data) == self.max_len, f"isotp - rx: invalid CAN frame length: {len(rx_data)}" + + if rx_data[0] >> 4 == ISOTP_FRAME_TYPE.SINGLE: + assert self.rx_dat == b"" or self.rx_done, "isotp - rx: single frame with active frame" + self.rx_len = rx_data[0] & 0x0F + # "if the first byte of SF=0, then second byte specifies the size of the data." + # - https://en.wikipedia.org/wiki/CAN_FD + offset = 1 + if self.rx_len == 0x0 and len(rx_data) > 8: + self.rx_len = rx_data[1] + offset = 2 + # assert self.rx_len < self.max_len, f"isotp - rx: invalid single frame length: {self.rx_len}" + self.rx_dat = rx_data[offset:offset + self.rx_len] + self.rx_idx = 0 + self.rx_done = True + if self.debug: + print(f"ISO-TP: RX - single frame - {hex(self._can_client.rx_addr)} idx={self.rx_idx} done={self.rx_done}") + return ISOTP_FRAME_TYPE.SINGLE + + elif rx_data[0] >> 4 == ISOTP_FRAME_TYPE.FIRST: + # Once a first frame is received, further frames must be consecutive + assert self.rx_dat == b"" or self.rx_done, "isotp - rx: first frame with active frame" + self.rx_len = ((rx_data[0] & 0x0F) << 8) + rx_data[1] + assert self.rx_len >= self.max_len, f"isotp - rx: invalid first frame length: {self.rx_len}" + assert len(rx_data) == self.max_len, f"isotp - rx: invalid CAN frame length: {len(rx_data)}" + self.rx_dat = rx_data[2:] + self.rx_idx = 0 + self.rx_done = False + if self.debug: + print(f"ISO-TP: RX - first frame - {hex(self._can_client.rx_addr)} idx={self.rx_idx} done={self.rx_done}") + if self.debug: + print(f"ISO-TP: TX - flow control continue - {hex(self._can_client.tx_addr)}") + # send flow control message + self._can_client.send([self.flow_control_msg]) + return ISOTP_FRAME_TYPE.FIRST + + elif rx_data[0] >> 4 == ISOTP_FRAME_TYPE.CONSECUTIVE: + assert not self.rx_done, "isotp - rx: consecutive frame with no active frame" + self.rx_idx += 1 + assert self.rx_idx & 0xF == rx_data[0] & 0xF, "isotp - rx: invalid consecutive frame index" + rx_size = self.rx_len - len(self.rx_dat) + self.rx_dat += rx_data[1:1 + rx_size] + if self.rx_len == len(self.rx_dat): + self.rx_done = True + elif self.single_frame_mode: + # notify ECU to send next frame + self._can_client.send([self.flow_control_msg]) + if self.debug: + print(f"ISO-TP: RX - consecutive frame - {hex(self._can_client.rx_addr)} idx={self.rx_idx} done={self.rx_done}") + return ISOTP_FRAME_TYPE.CONSECUTIVE + + elif rx_data[0] >> 4 == ISOTP_FRAME_TYPE.FLOW: + assert not self.tx_done, "isotp - rx: flow control with no active frame" + assert rx_data[0] != 0x32, "isotp - rx: flow-control overflow/abort" + assert rx_data[0] == 0x30 or rx_data[0] == 0x31, "isotp - rx: flow-control transfer state indicator invalid" + if rx_data[0] == 0x30: + if self.debug: + print(f"ISO-TP: RX - flow control continue - {hex(self._can_client.tx_addr)}") + delay_ts = rx_data[2] & 0x7F + # scale is 1 milliseconds if first bit == 0, 100 micro seconds if first bit == 1 + delay_div = 1000. if rx_data[2] & 0x80 == 0 else 10000. + delay_sec = delay_ts / delay_div + + # first frame = 6 bytes, each consecutive frame = 7 bytes + num_bytes = self.max_len - 1 + start = self.max_len - 2 + self.tx_idx * num_bytes + count = rx_data[1] + end = start + count * num_bytes if count > 0 else self.tx_len + tx_msgs = [] + for i in range(start, end, num_bytes): + self.tx_idx += 1 + # consecutive tx messages + msg = (bytes([0x20 | (self.tx_idx & 0xF)]) + self.tx_dat[i:i + num_bytes]).ljust(self.max_len, b"\x00") + tx_msgs.append(msg) + # send consecutive tx messages + self._can_client.send(tx_msgs, delay=delay_sec) + if end >= self.tx_len: + self.tx_done = True + if self.debug: + print(f"ISO-TP: TX - consecutive frame - {hex(self._can_client.tx_addr)} idx={self.tx_idx} done={self.tx_done}") + elif rx_data[0] == 0x31: + # wait (do nothing until next flow control message) + if self.debug: + print(f"ISO-TP: TX - flow control wait - {hex(self._can_client.tx_addr)}") + return ISOTP_FRAME_TYPE.FLOW + + # 4-15 - reserved + else: + raise Exception(f"isotp - rx: invalid frame type: {rx_data[0] >> 4}") + + +FUNCTIONAL_ADDRS = [0x7DF, 0x18DB33F1] + + +def get_rx_addr_for_tx_addr(tx_addr, rx_offset=0x8): + if tx_addr in FUNCTIONAL_ADDRS: + return None + + if tx_addr < 0xFFF8: + # pseudo-standard 11 bit response addr (add 8) works for most manufacturers + # allow override; some manufacturers use other offsets for non-OBD2 access + return tx_addr + rx_offset + + if tx_addr > 0x10000000 and tx_addr < 0xFFFFFFFF: + # standard 29 bit response addr (flip last two bytes) + return (tx_addr & 0xFFFF0000) + (tx_addr << 8 & 0xFF00) + (tx_addr >> 8 & 0xFF) + + raise ValueError(f"invalid tx_addr: {tx_addr}") + + +class UdsClient(): + def __init__(self, panda, tx_addr: int, rx_addr: int | None = None, bus: int = 0, sub_addr: int | None = None, timeout: float = 1, + debug: bool = False, tx_timeout: float = 1, response_pending_timeout: float = 10): + self.bus = bus + self.tx_addr = tx_addr + self.rx_addr = rx_addr if rx_addr is not None else get_rx_addr_for_tx_addr(tx_addr) + self.sub_addr = sub_addr + self.timeout = timeout + self.debug = debug + can_send_with_timeout = partial(panda.can_send, timeout=int(tx_timeout*1000)) + self._can_client = CanClient(can_send_with_timeout, panda.can_recv, self.tx_addr, self.rx_addr, self.bus, self.sub_addr, debug=self.debug) + self.response_pending_timeout = response_pending_timeout + + # generic uds request + def _uds_request(self, service_type: SERVICE_TYPE, subfunction: int | None = None, data: bytes | None = None) -> bytes: + req = bytes([service_type]) + if subfunction is not None: + req += bytes([subfunction]) + if data is not None: + req += data + + # send request, wait for response + max_len = 8 if self.sub_addr is None else 7 + isotp_msg = IsoTpMessage(self._can_client, timeout=self.timeout, debug=self.debug, max_len=max_len) + isotp_msg.send(req) + response_pending = False + while True: + timeout = self.response_pending_timeout if response_pending else self.timeout + resp, _ = isotp_msg.recv(timeout) + + if resp is None: + continue + + response_pending = False + resp_sid = resp[0] if len(resp) > 0 else None + + # negative response + if resp_sid == 0x7F: + service_id = resp[1] if len(resp) > 1 else -1 + try: + service_desc = SERVICE_TYPE(service_id).name + except BaseException: + service_desc = 'NON_STANDARD_SERVICE' + error_code = resp[2] if len(resp) > 2 else -1 + try: + error_desc = _negative_response_codes[error_code] + except BaseException: + error_desc = resp[3:].hex() + # wait for another message if response pending + if error_code == 0x78: + response_pending = True + if self.debug: + print("UDS-RX: response pending") + continue + raise NegativeResponseError(f'{service_desc} - {error_desc}', service_id, error_code) + + # positive response + if service_type + 0x40 != resp_sid: + resp_sid_hex = hex(resp_sid) if resp_sid is not None else None + raise InvalidServiceIdError(f'invalid response service id: {resp_sid_hex}') + + if subfunction is not None: + resp_sfn = resp[1] if len(resp) > 1 else None + if subfunction != resp_sfn: + resp_sfn_hex = hex(resp_sfn) if resp_sfn is not None else None + raise InvalidSubFunctionError(f'invalid response subfunction: {resp_sfn_hex}') + + # return data (exclude service id and sub-function id) + return resp[(1 if subfunction is None else 2):] + + # services + def diagnostic_session_control(self, session_type: SESSION_TYPE): + self._uds_request(SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, subfunction=session_type) + + def ecu_reset(self, reset_type: RESET_TYPE): + resp = self._uds_request(SERVICE_TYPE.ECU_RESET, subfunction=reset_type) + power_down_time = None + if reset_type == RESET_TYPE.ENABLE_RAPID_POWER_SHUTDOWN: + power_down_time = resp[0] + return power_down_time + + def security_access(self, access_type: ACCESS_TYPE, security_key: bytes = b'', data_record: bytes = b''): + request_seed = access_type % 2 != 0 + if request_seed and len(security_key) != 0: + raise ValueError('security_key not allowed') + if not request_seed and len(security_key) == 0: + raise ValueError('security_key is missing') + if not request_seed and len(data_record) != 0: + raise ValueError('data_record not allowed') + data = security_key + data_record + resp = self._uds_request(SERVICE_TYPE.SECURITY_ACCESS, subfunction=access_type, data=data) + if request_seed: + security_seed = resp + return security_seed + + def communication_control(self, control_type: CONTROL_TYPE, message_type: MESSAGE_TYPE): + data = bytes([message_type]) + self._uds_request(SERVICE_TYPE.COMMUNICATION_CONTROL, subfunction=control_type, data=data) + + def tester_present(self, ): + self._uds_request(SERVICE_TYPE.TESTER_PRESENT, subfunction=0x00) + + def access_timing_parameter(self, timing_parameter_type: TIMING_PARAMETER_TYPE, parameter_values: bytes | None = None): + write_custom_values = timing_parameter_type == TIMING_PARAMETER_TYPE.SET_TO_GIVEN_VALUES + read_values = (timing_parameter_type == TIMING_PARAMETER_TYPE.READ_CURRENTLY_ACTIVE or + timing_parameter_type == TIMING_PARAMETER_TYPE.READ_EXTENDED_SET) + if not write_custom_values and parameter_values is not None: + raise ValueError('parameter_values not allowed') + if write_custom_values and parameter_values is None: + raise ValueError('parameter_values is missing') + resp = self._uds_request(SERVICE_TYPE.ACCESS_TIMING_PARAMETER, subfunction=timing_parameter_type, data=parameter_values) + if read_values: + # TODO: parse response into values? + parameter_values = resp + return parameter_values + + def secured_data_transmission(self, data: bytes): + # TODO: split data into multiple input parameters? + resp = self._uds_request(SERVICE_TYPE.SECURED_DATA_TRANSMISSION, subfunction=None, data=data) + # TODO: parse response into multiple output values? + return resp + + def control_dtc_setting(self, dtc_setting_type: DTC_SETTING_TYPE): + self._uds_request(SERVICE_TYPE.CONTROL_DTC_SETTING, subfunction=dtc_setting_type) + + def response_on_event(self, response_event_type: RESPONSE_EVENT_TYPE, store_event: bool, window_time: int, + event_type_record: int, service_response_record: int): + if store_event: + response_event_type |= 0x20 # type: ignore + # TODO: split record parameters into arrays + data = bytes([window_time, event_type_record, service_response_record]) + resp = self._uds_request(SERVICE_TYPE.RESPONSE_ON_EVENT, subfunction=response_event_type, data=data) + + if response_event_type == RESPONSE_EVENT_TYPE.REPORT_ACTIVATED_EVENTS: + return { + "num_of_activated_events": resp[0], + "data": resp[1:], # TODO: parse the reset of response + } + + return { + "num_of_identified_events": resp[0], + "event_window_time": resp[1], + "data": resp[2:], # TODO: parse the reset of response + } + + def link_control(self, link_control_type: LINK_CONTROL_TYPE, baud_rate_type: BAUD_RATE_TYPE | None = None): + data: bytes | None + + if link_control_type == LINK_CONTROL_TYPE.VERIFY_BAUDRATE_TRANSITION_WITH_FIXED_BAUDRATE: + # baud_rate_type = BAUD_RATE_TYPE + data = bytes([cast(int, baud_rate_type)]) + elif link_control_type == LINK_CONTROL_TYPE.VERIFY_BAUDRATE_TRANSITION_WITH_SPECIFIC_BAUDRATE: + # baud_rate_type = custom value (3 bytes big-endian) + data = struct.pack('!I', baud_rate_type)[1:] + else: + data = None + self._uds_request(SERVICE_TYPE.LINK_CONTROL, subfunction=link_control_type, data=data) + + def read_data_by_identifier(self, data_identifier_type: DATA_IDENTIFIER_TYPE): + # TODO: support list of identifiers + data = struct.pack('!H', data_identifier_type) + resp = self._uds_request(SERVICE_TYPE.READ_DATA_BY_IDENTIFIER, subfunction=None, data=data) + resp_id = struct.unpack('!H', resp[0:2])[0] if len(resp) >= 2 else None + if resp_id != data_identifier_type: + raise ValueError(f'invalid response data identifier: {hex(resp_id)} expected: {hex(data_identifier_type)}') + return resp[2:] + + def read_memory_by_address(self, memory_address: int, memory_size: int, memory_address_bytes: int = 4, memory_size_bytes: int = 1): + if memory_address_bytes < 1 or memory_address_bytes > 4: + raise ValueError(f'invalid memory_address_bytes: {memory_address_bytes}') + if memory_size_bytes < 1 or memory_size_bytes > 4: + raise ValueError(f'invalid memory_size_bytes: {memory_size_bytes}') + data = bytes([memory_size_bytes << 4 | memory_address_bytes]) + + if memory_address >= 1 << (memory_address_bytes * 8): + raise ValueError(f'invalid memory_address: {memory_address}') + data += struct.pack('!I', memory_address)[4 - memory_address_bytes:] + if memory_size >= 1 << (memory_size_bytes * 8): + raise ValueError(f'invalid memory_size: {memory_size}') + data += struct.pack('!I', memory_size)[4 - memory_size_bytes:] + + resp = self._uds_request(SERVICE_TYPE.READ_MEMORY_BY_ADDRESS, subfunction=None, data=data) + return resp + + def read_scaling_data_by_identifier(self, data_identifier_type: DATA_IDENTIFIER_TYPE): + data = struct.pack('!H', data_identifier_type) + resp = self._uds_request(SERVICE_TYPE.READ_SCALING_DATA_BY_IDENTIFIER, subfunction=None, data=data) + resp_id = struct.unpack('!H', resp[0:2])[0] if len(resp) >= 2 else None + if resp_id != data_identifier_type: + raise ValueError(f'invalid response data identifier: {hex(resp_id)}') + return resp[2:] # TODO: parse the response + + def read_data_by_periodic_identifier(self, transmission_mode_type: TRANSMISSION_MODE_TYPE, periodic_data_identifier: int): + # TODO: support list of identifiers + data = bytes([transmission_mode_type, periodic_data_identifier]) + self._uds_request(SERVICE_TYPE.READ_DATA_BY_PERIODIC_IDENTIFIER, subfunction=None, data=data) + + def dynamically_define_data_identifier(self, dynamic_definition_type: DYNAMIC_DEFINITION_TYPE, dynamic_data_identifier: int, + source_definitions: list[DynamicSourceDefinition], memory_address_bytes: int = 4, memory_size_bytes: int = 1): + if memory_address_bytes < 1 or memory_address_bytes > 4: + raise ValueError(f'invalid memory_address_bytes: {memory_address_bytes}') + if memory_size_bytes < 1 or memory_size_bytes > 4: + raise ValueError(f'invalid memory_size_bytes: {memory_size_bytes}') + + data = struct.pack('!H', dynamic_data_identifier) + if dynamic_definition_type == DYNAMIC_DEFINITION_TYPE.DEFINE_BY_IDENTIFIER: + for s in source_definitions: + data += struct.pack('!H', s.data_identifier) + bytes([s.position, s.memory_size]) + elif dynamic_definition_type == DYNAMIC_DEFINITION_TYPE.DEFINE_BY_MEMORY_ADDRESS: + data += bytes([memory_size_bytes << 4 | memory_address_bytes]) + for s in source_definitions: + if s.memory_address >= 1 << (memory_address_bytes * 8): + raise ValueError(f'invalid memory_address: {s.memory_address}') + data += struct.pack('!I', s.memory_address)[4 - memory_address_bytes:] + if s.memory_size >= 1 << (memory_size_bytes * 8): + raise ValueError(f'invalid memory_size: {s.memory_size}') + data += struct.pack('!I', s.memory_size)[4 - memory_size_bytes:] + elif dynamic_definition_type == DYNAMIC_DEFINITION_TYPE.CLEAR_DYNAMICALLY_DEFINED_DATA_IDENTIFIER: + pass + else: + raise ValueError(f'invalid dynamic identifier type: {hex(dynamic_definition_type)}') + self._uds_request(SERVICE_TYPE.DYNAMICALLY_DEFINE_DATA_IDENTIFIER, subfunction=dynamic_definition_type, data=data) + + def write_data_by_identifier(self, data_identifier_type: DATA_IDENTIFIER_TYPE, data_record: bytes): + data = struct.pack('!H', data_identifier_type) + data_record + resp = self._uds_request(SERVICE_TYPE.WRITE_DATA_BY_IDENTIFIER, subfunction=None, data=data) + resp_id = struct.unpack('!H', resp[0:2])[0] if len(resp) >= 2 else None + if resp_id != data_identifier_type: + raise ValueError(f'invalid response data identifier: {hex(resp_id)}') + + def write_memory_by_address(self, memory_address: int, memory_size: int, data_record: bytes, memory_address_bytes: int = 4, memory_size_bytes: int = 1): + if memory_address_bytes < 1 or memory_address_bytes > 4: + raise ValueError(f'invalid memory_address_bytes: {memory_address_bytes}') + if memory_size_bytes < 1 or memory_size_bytes > 4: + raise ValueError(f'invalid memory_size_bytes: {memory_size_bytes}') + data = bytes([memory_size_bytes << 4 | memory_address_bytes]) + + if memory_address >= 1 << (memory_address_bytes * 8): + raise ValueError(f'invalid memory_address: {memory_address}') + data += struct.pack('!I', memory_address)[4 - memory_address_bytes:] + if memory_size >= 1 << (memory_size_bytes * 8): + raise ValueError(f'invalid memory_size: {memory_size}') + data += struct.pack('!I', memory_size)[4 - memory_size_bytes:] + + data += data_record + self._uds_request(SERVICE_TYPE.WRITE_MEMORY_BY_ADDRESS, subfunction=0x00, data=data) + + def clear_diagnostic_information(self, dtc_group_type: DTC_GROUP_TYPE): + data = struct.pack('!I', dtc_group_type)[1:] # 3 bytes + self._uds_request(SERVICE_TYPE.CLEAR_DIAGNOSTIC_INFORMATION, subfunction=None, data=data) + + def read_dtc_information(self, dtc_report_type: DTC_REPORT_TYPE, dtc_status_mask_type: DTC_STATUS_MASK_TYPE = DTC_STATUS_MASK_TYPE.ALL, + dtc_severity_mask_type: DTC_SEVERITY_MASK_TYPE = DTC_SEVERITY_MASK_TYPE.ALL, dtc_mask_record: int = 0xFFFFFF, + dtc_snapshot_record_num: int = 0xFF, dtc_extended_record_num: int = 0xFF): + data = b'' + # dtc_status_mask_type + if dtc_report_type == DTC_REPORT_TYPE.NUMBER_OF_DTC_BY_STATUS_MASK or \ + dtc_report_type == DTC_REPORT_TYPE.DTC_BY_STATUS_MASK or \ + dtc_report_type == DTC_REPORT_TYPE.MIRROR_MEMORY_DTC_BY_STATUS_MASK or \ + dtc_report_type == DTC_REPORT_TYPE.NUMBER_OF_MIRROR_MEMORY_DTC_BY_STATUS_MASK or \ + dtc_report_type == DTC_REPORT_TYPE.NUMBER_OF_EMISSIONS_RELATED_OBD_DTC_BY_STATUS_MASK or \ + dtc_report_type == DTC_REPORT_TYPE.EMISSIONS_RELATED_OBD_DTC_BY_STATUS_MASK: + data += bytes([dtc_status_mask_type]) + # dtc_mask_record + if dtc_report_type == DTC_REPORT_TYPE.DTC_SNAPSHOT_IDENTIFICATION or \ + dtc_report_type == DTC_REPORT_TYPE.DTC_SNAPSHOT_RECORD_BY_DTC_NUMBER or \ + dtc_report_type == DTC_REPORT_TYPE.DTC_EXTENDED_DATA_RECORD_BY_DTC_NUMBER or \ + dtc_report_type == DTC_REPORT_TYPE.MIRROR_MEMORY_DTC_EXTENDED_DATA_RECORD_BY_DTC_NUMBER or \ + dtc_report_type == DTC_REPORT_TYPE.SEVERITY_INFORMATION_OF_DTC: + data += struct.pack('!I', dtc_mask_record)[1:] # 3 bytes + # dtc_snapshot_record_num + if dtc_report_type == DTC_REPORT_TYPE.DTC_SNAPSHOT_IDENTIFICATION or \ + dtc_report_type == DTC_REPORT_TYPE.DTC_SNAPSHOT_RECORD_BY_DTC_NUMBER or \ + dtc_report_type == DTC_REPORT_TYPE.DTC_SNAPSHOT_RECORD_BY_RECORD_NUMBER: + data += bytes([dtc_snapshot_record_num]) + # dtc_extended_record_num + if dtc_report_type == DTC_REPORT_TYPE.DTC_EXTENDED_DATA_RECORD_BY_DTC_NUMBER or \ + dtc_report_type == DTC_REPORT_TYPE.MIRROR_MEMORY_DTC_EXTENDED_DATA_RECORD_BY_DTC_NUMBER: + data += bytes([dtc_extended_record_num]) + # dtc_severity_mask_type + if dtc_report_type == DTC_REPORT_TYPE.NUMBER_OF_DTC_BY_SEVERITY_MASK_RECORD or \ + dtc_report_type == DTC_REPORT_TYPE.DTC_BY_SEVERITY_MASK_RECORD: + data += bytes([dtc_severity_mask_type, dtc_status_mask_type]) + + resp = self._uds_request(SERVICE_TYPE.READ_DTC_INFORMATION, subfunction=dtc_report_type, data=data) + + # TODO: parse response + return resp + + def input_output_control_by_identifier(self, data_identifier_type: DATA_IDENTIFIER_TYPE, control_parameter_type: CONTROL_PARAMETER_TYPE, + control_option_record: bytes = b'', control_enable_mask_record: bytes = b''): + data = struct.pack('!H', data_identifier_type) + bytes([control_parameter_type]) + control_option_record + control_enable_mask_record + resp = self._uds_request(SERVICE_TYPE.INPUT_OUTPUT_CONTROL_BY_IDENTIFIER, subfunction=None, data=data) + resp_id = struct.unpack('!H', resp[0:2])[0] if len(resp) >= 2 else None + if resp_id != data_identifier_type: + raise ValueError(f'invalid response data identifier: {hex(resp_id)}') + return resp[2:] + + def routine_control(self, routine_control_type: ROUTINE_CONTROL_TYPE, routine_identifier_type: ROUTINE_IDENTIFIER_TYPE, routine_option_record: bytes = b''): + data = struct.pack('!H', routine_identifier_type) + routine_option_record + resp = self._uds_request(SERVICE_TYPE.ROUTINE_CONTROL, subfunction=routine_control_type, data=data) + resp_id = struct.unpack('!H', resp[0:2])[0] if len(resp) >= 2 else None + if resp_id != routine_identifier_type: + raise ValueError(f'invalid response routine identifier: {hex(resp_id)}') + return resp[2:] + + def request_download(self, memory_address: int, memory_size: int, memory_address_bytes: int = 4, memory_size_bytes: int = 4, data_format: int = 0x00): + data = bytes([data_format]) + + if memory_address_bytes < 1 or memory_address_bytes > 4: + raise ValueError(f'invalid memory_address_bytes: {memory_address_bytes}') + if memory_size_bytes < 1 or memory_size_bytes > 4: + raise ValueError(f'invalid memory_size_bytes: {memory_size_bytes}') + data += bytes([memory_size_bytes << 4 | memory_address_bytes]) + + if memory_address >= 1 << (memory_address_bytes * 8): + raise ValueError(f'invalid memory_address: {memory_address}') + data += struct.pack('!I', memory_address)[4 - memory_address_bytes:] + if memory_size >= 1 << (memory_size_bytes * 8): + raise ValueError(f'invalid memory_size: {memory_size}') + data += struct.pack('!I', memory_size)[4 - memory_size_bytes:] + + resp = self._uds_request(SERVICE_TYPE.REQUEST_DOWNLOAD, subfunction=None, data=data) + max_num_bytes_len = resp[0] >> 4 if len(resp) > 0 else 0 + if max_num_bytes_len >= 1 and max_num_bytes_len <= 4: + max_num_bytes = struct.unpack('!I', (b"\x00" * (4 - max_num_bytes_len)) + resp[1:max_num_bytes_len + 1])[0] + else: + raise ValueError(f'invalid max_num_bytes_len: {max_num_bytes_len}') + + return max_num_bytes # max number of bytes per transfer data request + + def request_upload(self, memory_address: int, memory_size: int, memory_address_bytes: int = 4, memory_size_bytes: int = 4, data_format: int = 0x00): + data = bytes([data_format]) + + if memory_address_bytes < 1 or memory_address_bytes > 4: + raise ValueError(f'invalid memory_address_bytes: {memory_address_bytes}') + if memory_size_bytes < 1 or memory_size_bytes > 4: + raise ValueError(f'invalid memory_size_bytes: {memory_size_bytes}') + data += bytes([memory_size_bytes << 4 | memory_address_bytes]) + + if memory_address >= 1 << (memory_address_bytes * 8): + raise ValueError(f'invalid memory_address: {memory_address}') + data += struct.pack('!I', memory_address)[4 - memory_address_bytes:] + if memory_size >= 1 << (memory_size_bytes * 8): + raise ValueError(f'invalid memory_size: {memory_size}') + data += struct.pack('!I', memory_size)[4 - memory_size_bytes:] + + resp = self._uds_request(SERVICE_TYPE.REQUEST_UPLOAD, subfunction=None, data=data) + max_num_bytes_len = resp[0] >> 4 if len(resp) > 0 else 0 + if max_num_bytes_len >= 1 and max_num_bytes_len <= 4: + max_num_bytes = struct.unpack('!I', (b"\x00" * (4 - max_num_bytes_len)) + resp[1:max_num_bytes_len + 1])[0] + else: + raise ValueError(f'invalid max_num_bytes_len: {max_num_bytes_len}') + + return max_num_bytes # max number of bytes per transfer data request + + def transfer_data(self, block_sequence_count: int, data: bytes = b''): + data = bytes([block_sequence_count]) + data + resp = self._uds_request(SERVICE_TYPE.TRANSFER_DATA, subfunction=None, data=data) + resp_id = resp[0] if len(resp) > 0 else None + if resp_id != block_sequence_count: + raise ValueError(f'invalid block_sequence_count: {resp_id}') + return resp[1:] + + def request_transfer_exit(self): + self._uds_request(SERVICE_TYPE.REQUEST_TRANSFER_EXIT, subfunction=None) diff --git a/panda/python/usb.py b/panda/python/usb.py new file mode 100644 index 0000000000..0a012896be --- /dev/null +++ b/panda/python/usb.py @@ -0,0 +1,98 @@ +import struct + +from .base import BaseHandle, BaseSTBootloaderHandle, TIMEOUT +from .constants import McuType + +class PandaUsbHandle(BaseHandle): + def __init__(self, libusb_handle): + self._libusb_handle = libusb_handle + + def close(self): + self._libusb_handle.close() + + def controlWrite(self, request_type: int, request: int, value: int, index: int, data, timeout: int = TIMEOUT, expect_disconnect: bool = False): + return self._libusb_handle.controlWrite(request_type, request, value, index, data, timeout) + + def controlRead(self, request_type: int, request: int, value: int, index: int, length: int, timeout: int = TIMEOUT): + return self._libusb_handle.controlRead(request_type, request, value, index, length, timeout) + + def bulkWrite(self, endpoint: int, data: bytes, timeout: int = TIMEOUT) -> int: + return self._libusb_handle.bulkWrite(endpoint, data, timeout) # type: ignore + + def bulkRead(self, endpoint: int, length: int, timeout: int = TIMEOUT) -> bytes: + return self._libusb_handle.bulkRead(endpoint, length, timeout) # type: ignore + + + +class STBootloaderUSBHandle(BaseSTBootloaderHandle): + DFU_DNLOAD = 1 + DFU_UPLOAD = 2 + DFU_GETSTATUS = 3 + DFU_CLRSTATUS = 4 + DFU_ABORT = 6 + + def __init__(self, libusb_device, libusb_handle): + self._libusb_handle = libusb_handle + + # example from F4: lsusb -v | grep Flash + # iInterface 4 @Internal Flash /0x08000000/04*016Kg,01*064Kg,011*128Kg + for i in range(20): + desc = libusb_handle.getStringDescriptor(i, 0) + if desc is not None and desc.startswith("@Internal Flash"): + sector_count = sum([int(s.split('*')[0]) for s in desc.split('/')[-1].split(',')]) + break + mcu_by_sector_count = {m.config.sector_count: m for m in McuType} + assert sector_count in mcu_by_sector_count, f"Unkown MCU: {sector_count=}" + self._mcu_type = mcu_by_sector_count[sector_count] + + def _status(self) -> None: + while 1: + dat = self._libusb_handle.controlRead(0x21, self.DFU_GETSTATUS, 0, 0, 6) + if dat[1] == 0: + break + + def _erase_page_address(self, address: int) -> None: + self._libusb_handle.controlWrite(0x21, self.DFU_DNLOAD, 0, 0, b"\x41" + struct.pack("I", address)) + self._status() + + def get_mcu_type(self): + return self._mcu_type + + def erase_sector(self, sector: int): + self._erase_page_address(self._mcu_type.config.sector_address(sector)) + + def clear_status(self): + # Clear status + stat = self._libusb_handle.controlRead(0x21, self.DFU_GETSTATUS, 0, 0, 6) + if stat[4] == 0xa: + self._libusb_handle.controlRead(0x21, self.DFU_CLRSTATUS, 0, 0, 0) + elif stat[4] == 0x9: + self._libusb_handle.controlWrite(0x21, self.DFU_ABORT, 0, 0, b"") + self._status() + stat = str(self._libusb_handle.controlRead(0x21, self.DFU_GETSTATUS, 0, 0, 6)) + + def close(self): + self._libusb_handle.close() + + def program(self, address, dat): + # Set Address Pointer + self._libusb_handle.controlWrite(0x21, self.DFU_DNLOAD, 0, 0, b"\x21" + struct.pack("I", address)) + self._status() + + # Program + bs = min(len(dat), self._mcu_type.config.block_size) + dat += b"\xFF" * ((bs - len(dat)) % bs) + for i in range(len(dat) // bs): + ldat = dat[i * bs:(i + 1) * bs] + print("programming %d with length %d" % (i, len(ldat))) + self._libusb_handle.controlWrite(0x21, self.DFU_DNLOAD, 2 + i, 0, ldat) + self._status() + + def jump(self, address): + self._libusb_handle.controlWrite(0x21, self.DFU_DNLOAD, 0, 0, b"\x21" + struct.pack("I", address)) + self._status() + try: + self._libusb_handle.controlWrite(0x21, self.DFU_DNLOAD, 2, 0, b"") + _ = str(self._libusb_handle.controlRead(0x21, self.DFU_GETSTATUS, 0, 0, 6)) + except Exception: + pass diff --git a/panda/python/xcp.py b/panda/python/xcp.py new file mode 100644 index 0000000000..066ed9885a --- /dev/null +++ b/panda/python/xcp.py @@ -0,0 +1,258 @@ +import sys +import time +import struct +from enum import IntEnum + +class COMMAND_CODE(IntEnum): + CONNECT = 0xFF + DISCONNECT = 0xFE + GET_STATUS = 0xFD + SYNCH = 0xFC + GET_COMM_MODE_INFO = 0xFB + GET_ID = 0xFA + SET_REQUEST = 0xF9 + GET_SEED = 0xF8 + UNLOCK = 0xF7 + SET_MTA = 0xF6 + UPLOAD = 0xF5 + SHORT_UPLOAD = 0xF4 + BUILD_CHECKSUM = 0xF3 + TRANSPORT_LAYER_CMD = 0xF2 + USER_CMD = 0xF1 + DOWNLOAD = 0xF0 + DOWNLOAD_NEXT = 0xEF + DOWNLOAD_MAX = 0xEE + SHORT_DOWNLOAD = 0xED + MODIFY_BITS = 0xEC + SET_CAL_PAGE = 0xEB + GET_CAL_PAGE = 0xEA + GET_PAG_PROCESSOR_INFO = 0xE9 + GET_SEGMENT_INFO = 0xE8 + GET_PAGE_INFO = 0xE7 + SET_SEGMENT_MODE = 0xE6 + GET_SEGMENT_MODE = 0xE5 + COPY_CAL_PAGE = 0xE4 + CLEAR_DAQ_LIST = 0xE3 + SET_DAQ_PTR = 0xE2 + WRITE_DAQ = 0xE1 + SET_DAQ_LIST_MODE = 0xE0 + GET_DAQ_LIST_MODE = 0xDF + START_STOP_DAQ_LIST = 0xDE + START_STOP_SYNCH = 0xDD + GET_DAQ_CLOCK = 0xDC + READ_DAQ = 0xDB + GET_DAQ_PROCESSOR_INFO = 0xDA + GET_DAQ_RESOLUTION_INFO = 0xD9 + GET_DAQ_LIST_INFO = 0xD8 + GET_DAQ_EVENT_INFO = 0xD7 + FREE_DAQ = 0xD6 + ALLOC_DAQ = 0xD5 + ALLOC_ODT = 0xD4 + ALLOC_ODT_ENTRY = 0xD3 + PROGRAM_START = 0xD2 + PROGRAM_CLEAR = 0xD1 + PROGRAM = 0xD0 + PROGRAM_RESET = 0xCF + GET_PGM_PROCESSOR_INFO = 0xCE + GET_SECTOR_INFO = 0xCD + PROGRAM_PREPARE = 0xCC + PROGRAM_FORMAT = 0xCB + PROGRAM_NEXT = 0xCA + PROGRAM_MAX = 0xC9 + PROGRAM_VERIFY = 0xC8 + +ERROR_CODES = { + 0x00: "Command processor synchronization", + 0x10: "Command was not executed", + 0x11: "Command rejected because DAQ is running", + 0x12: "Command rejected because PGM is running", + 0x20: "Unknown command or not implemented optional command", + 0x21: "Command syntax invalid", + 0x22: "Command syntax valid but command parameter(s) out of range", + 0x23: "The memory location is write protected", + 0x24: "The memory location is not accessible", + 0x25: "Access denied, Seed & Key is required", + 0x26: "Selected page not available", + 0x27: "Selected page mode not available", + 0x28: "Selected segment not valid", + 0x29: "Sequence error", + 0x2A: "DAQ configuration not valid", + 0x30: "Memory overflow error", + 0x31: "Generic error", + 0x32: "The slave internal program verify routine detects an error", +} + +class CONNECT_MODE(IntEnum): + NORMAL = 0x00, + USER_DEFINED = 0x01, + +class GET_ID_REQUEST_TYPE(IntEnum): + ASCII = 0x00, + ASAM_MC2_FILE = 0x01, + ASAM_MC2_PATH = 0x02, + ASAM_MC2_URL = 0x03, + ASAM_MC2_UPLOAD = 0x04, + # 128-255 user defined + +class CommandTimeoutError(Exception): + pass + +class CommandCounterError(Exception): + pass + +class CommandResponseError(Exception): + def __init__(self, message, return_code): + super().__init__() + self.message = message + self.return_code = return_code + + def __str__(self): + return self.message + +class XcpClient(): + def __init__(self, panda, tx_addr: int, rx_addr: int, bus: int=0, timeout: float=0.1, debug=False, pad=True): + self.tx_addr = tx_addr + self.rx_addr = rx_addr + self.can_bus = bus + self.timeout = timeout + self.debug = debug + self._panda = panda + self._byte_order = ">" + self._max_cto = 8 + self._max_dto = 8 + self.pad = pad + + def _send_cto(self, cmd: int, dat: bytes = b"") -> None: + tx_data = (bytes([cmd]) + dat) + + # Some ECUs don't respond if the packets are not padded to 8 bytes + if self.pad: + tx_data = tx_data.ljust(8, b"\x00") + + if self.debug: + print("CAN-CLEAR: TX") + self._panda.can_clear(self.can_bus) + if self.debug: + print("CAN-CLEAR: RX") + self._panda.can_clear(0xFFFF) + if self.debug: + print(f"CAN-TX: {hex(self.tx_addr)} - 0x{bytes.hex(tx_data)}") + self._panda.can_send(self.tx_addr, tx_data, self.can_bus) + + def _recv_dto(self, timeout: float) -> bytes: + start_time = time.time() + while time.time() - start_time < timeout: + msgs = self._panda.can_recv() or [] + if len(msgs) >= 256: + print("CAN RX buffer overflow!!!", file=sys.stderr) + for rx_addr, rx_data, rx_bus in msgs: + if rx_bus == self.can_bus and rx_addr == self.rx_addr: + rx_data = bytes(rx_data) # convert bytearray to bytes + if self.debug: + print(f"CAN-RX: {hex(rx_addr)} - 0x{bytes.hex(rx_data)}") + + pid = rx_data[0] + if pid == 0xFE: + err = rx_data[1] + err_desc = ERROR_CODES.get(err, "unknown error") + dat = rx_data[2:] + raise CommandResponseError(f"{hex(err)} - {err_desc} {dat}", err) + + return bytes(rx_data[1:]) + time.sleep(0.001) + + raise CommandTimeoutError("timeout waiting for response") + + # commands + def connect(self, connect_mode: CONNECT_MODE=CONNECT_MODE.NORMAL) -> dict: + self._send_cto(COMMAND_CODE.CONNECT, bytes([connect_mode])) + resp = self._recv_dto(self.timeout) + assert len(resp) == 7, f"incorrect data length: {len(resp)}" + self._byte_order = ">" if resp[1] & 0x01 else "<" + self._slave_block_mode = resp[1] & 0x40 != 0 + self._max_cto = resp[2] + self._max_dto = struct.unpack(f"{self._byte_order}H", resp[3:5])[0] + return { + "cal_support": resp[0] & 0x01 != 0, + "daq_support": resp[0] & 0x04 != 0, + "stim_support": resp[0] & 0x08 != 0, + "pgm_support": resp[0] & 0x10 != 0, + "byte_order": self._byte_order, + "address_granularity": 2**((resp[1] & 0x06) >> 1), + "slave_block_mode": self._slave_block_mode, + "optional": resp[1] & 0x80 != 0, + "max_cto": self._max_cto, + "max_dto": self._max_dto, + "protocol_version": resp[5], + "transport_version": resp[6], + } + + def disconnect(self) -> None: + self._send_cto(COMMAND_CODE.DISCONNECT) + resp = self._recv_dto(self.timeout) + assert len(resp) == 0, f"incorrect data length: {len(resp)}" + + def get_id(self, req_id_type: GET_ID_REQUEST_TYPE = GET_ID_REQUEST_TYPE.ASCII) -> dict: + if req_id_type > 255: + raise ValueError("request id type must be less than 255") + self._send_cto(COMMAND_CODE.GET_ID, bytes([req_id_type])) + resp = self._recv_dto(self.timeout) + return { + # mode = 0 means MTA was set + # mode = 1 means data is at end (only CAN-FD has space for this) + "mode": resp[0], + "length": struct.unpack(f"{self._byte_order}I", resp[3:7])[0], + "identifier": resp[7:] if self._max_cto > 8 else None + } + + def get_seed(self, mode: int = 0) -> bytes: + if mode > 255: + raise ValueError("mode must be less than 255") + self._send_cto(COMMAND_CODE.GET_SEED, bytes([0, mode])) + + # TODO: add support for longer seeds spread over multiple blocks + ret = self._recv_dto(self.timeout) + length = ret[0] + return ret[1:length+1] + + def unlock(self, key: bytes) -> bytes: + # TODO: add support for longer keys spread over multiple blocks + self._send_cto(COMMAND_CODE.UNLOCK, bytes([len(key)]) + key) + return self._recv_dto(self.timeout) + + def set_mta(self, addr: int, addr_ext: int = 0) -> bytes: + if addr_ext > 255: + raise ValueError("address extension must be less than 256") + # TODO: this looks broken (missing addr extension) + self._send_cto(COMMAND_CODE.SET_MTA, bytes([0x00, 0x00, addr_ext]) + struct.pack(f"{self._byte_order}I", addr)) + return self._recv_dto(self.timeout) + + def upload(self, size: int) -> bytes: + if size > 255: + raise ValueError("size must be less than 256") + if not self._slave_block_mode and size > self._max_dto - 1: + raise ValueError("block mode not supported") + + self._send_cto(COMMAND_CODE.UPLOAD, bytes([size])) + resp = b"" + while len(resp) < size: + resp += self._recv_dto(self.timeout)[:size - len(resp) + 1] + return resp[:size] # trim off bytes with undefined values + + def short_upload(self, size: int, addr_ext: int, addr: int) -> bytes: + if size > 6: + raise ValueError("size must be less than 7") + if addr_ext > 255: + raise ValueError("address extension must be less than 256") + self._send_cto(COMMAND_CODE.SHORT_UPLOAD, bytes([size, 0x00, addr_ext]) + struct.pack(f"{self._byte_order}I", addr)) + return self._recv_dto(self.timeout)[:size] # trim off bytes with undefined values + + def download(self, data: bytes) -> bytes: + size = len(data) + if size > 255: + raise ValueError("size must be less than 256") + if not self._slave_block_mode and size > self._max_dto - 2: + raise ValueError("block mode not supported") + + self._send_cto(COMMAND_CODE.DOWNLOAD, bytes([size]) + data) + return self._recv_dto(self.timeout)[:size] diff --git a/panda/requirements.txt b/panda/requirements.txt new file mode 100644 index 0000000000..5ee8636fd5 --- /dev/null +++ b/panda/requirements.txt @@ -0,0 +1,18 @@ +ruff +libusb1 +numpy +hexdump +pycryptodome +tqdm>=4.14.0 +pytest +pytest-mock +pytest-xdist +pytest-timeout +pytest-randomly +parameterized +cffi +pre-commit +scons>=4.4.0 +flaky +spidev +termcolor \ No newline at end of file diff --git a/panda/setup.cfg b/panda/setup.cfg new file mode 100644 index 0000000000..3480374bc2 --- /dev/null +++ b/panda/setup.cfg @@ -0,0 +1,2 @@ +[bdist_wheel] +universal=1 \ No newline at end of file diff --git a/panda/setup.py b/panda/setup.py new file mode 100644 index 0000000000..25ee669236 --- /dev/null +++ b/panda/setup.py @@ -0,0 +1,63 @@ +""" + Panda CAN Controller Dongle + ~~~~~ + + Setup + ````` + + $ pip install . # or python setup.py install +""" + +import codecs +import os +import re +from setuptools import setup + +here = os.path.abspath(os.path.dirname(__file__)) + +def read(*parts): + """Taken from pypa pip setup.py: + intentionally *not* adding an encoding option to open, See: + https://github.com/pypa/virtualenv/issues/201#issuecomment-3145690 + """ + return codecs.open(os.path.join(here, *parts), 'r').read() + + +def find_version(*file_paths): + version_file = read(*file_paths) + version_match = re.search(r"^__version__ = ['\"]([^'\"]*)['\"]", + version_file, re.M) + if version_match: + return version_match.group(1) + raise RuntimeError("Unable to find version string.") + +setup( + name='pandacan', + version=find_version("python", "__init__.py"), + url='https://github.com/commaai/panda', + author='comma.ai', + author_email='', + packages=[ + 'panda', + ], + package_dir={'panda': 'python'}, + platforms='any', + license='MIT', + install_requires=[ + 'libusb1 == 2.0.1', + 'hexdump >= 3.3', + 'pycryptodome >= 3.9.8', + 'tqdm >= 4.14.0', + 'requests' + ], + ext_modules=[], + description="Code powering the comma.ai panda", + long_description='See https://github.com/commaai/panda', + classifiers=[ + 'Development Status :: 2 - Pre-Alpha', + "Natural Language :: English", + "Programming Language :: Python :: 2", + "Programming Language :: Python :: 3", + "Topic :: System :: Hardware", + ], +) diff --git a/prebuilt b/prebuilt new file mode 100644 index 0000000000..e69de29bb2 diff --git a/pyproject.toml b/pyproject.toml new file mode 100644 index 0000000000..90b6ecf983 --- /dev/null +++ b/pyproject.toml @@ -0,0 +1,257 @@ +[project] +name = "openpilot" +requires-python = ">= 3.11" +license = {text = "MIT License"} +version = "0.1.0" +description = "an open source driver assistance system" +authors = [ + {name ="Vehicle Researcher", email="user@comma.ai"} +] + +dependencies = [ + # multiple users + "sounddevice", # micd + soundd + "pyserial", # pigeond + qcomgpsd + "requests", # many one-off uses + "sympy", # rednose + friends + "crcmod", # cars + qcomgpsd + "tqdm", # cars (fw_versions.py) on start + many one-off uses + + # hardwared + "smbus2", # configuring amp + + # core + "cffi", + "scons", + "pycapnp", + "Cython", + "setuptools", + "numpy", + + # body / webrtcd + "aiohttp", + "aiortc", + "pyaudio", + + # panda + "libusb1", + "spidev; platform_system == 'Linux'", + + # modeld + "onnx >= 1.14.0", + "onnxruntime >=1.16.3; platform_system == 'Linux' and platform_machine == 'aarch64'", + "onnxruntime-gpu >=1.16.3; platform_system == 'Linux' and platform_machine == 'x86_64'", + + # logging + "pyzmq", + "sentry-sdk", + + # athena + "PyJWT", + "json-rpc", + "websocket_client", + + # acados deps + "casadi @ https://github.com/commaai/casadi/releases/download/nightly-release-3.6.6/casadi-3.6.6-cp312-none-manylinux2014_aarch64.whl ; (python_version == '3.12' and platform_machine == 'aarch64')", # TODO: Go back to pypi casadi when they fix aarch64 for python312 + "casadi; platform_machine != 'aarch64' or python_version != '3.12'", + "future-fstrings", + + # these should be removed + "psutil", + "pycryptodome", # used in updated/casync, panda, body, and a test + + # logreader + "zstandard", +] + +[project.optional-dependencies] +docs = [ + "Jinja2", + "natsort", + "mkdocs", +] + +testing = [ + "coverage", + "hypothesis ==6.47.*", + "import-linter", + "mypy", + "pytest", + "pytest-cov", + "pytest-cpp", + "pytest-subtests", + "pytest-xdist", + "pytest-timeout", + "pytest-randomly", + "pytest-asyncio", + "pytest-mock", + "pytest-repeat", + "ruff", + "codespell", +] + +dev = [ + "av", + "azure-identity", + "azure-storage-blob", + "dictdiffer", + "flaky", + "inputs", + "lru-dict", + "matplotlib", + "metadrive-simulator@git+https://github.com/commaai/metadrive@opencv_headless ; platform_machine != 'aarch64'", + "parameterized >=0.8, <0.9", + #"pprofile", + "pyautogui", + "pyopencl; platform_machine != 'aarch64'", # broken on arm64 + "pytools < 2024.1.11; platform_machine != 'aarch64'", # pyopencl use a broken version + "pywinctl", + "pyprof2calltree", + "rerun-sdk", + "tabulate", + "types-requests", + "types-tabulate", + + # this is only pinned since 5.15.11 is broken + "pyqt5 ==5.15.2; platform_machine == 'x86_64'", # no aarch64 wheels for macOS/linux +] + +[project.urls] +Homepage = "https://comma.ai" + +[build-system] +requires = ["hatchling"] +build-backend = "hatchling.build" + +[tool.hatch.build.targets.wheel] +packages = [ "." ] + +[tool.hatch.metadata] +allow-direct-references = true + +[tool.pytest.ini_options] +minversion = "6.0" +addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup" +cpp_files = "test_*" +cpp_harness = "selfdrive/test/cpp_harness.py" +python_files = "test_*.py" +#timeout = "30" # you get this long by default +markers = [ + "slow: tests that take awhile to run and can be skipped with -m 'not slow'", + "tici: tests that are only meant to run on the C3/C3X", +] +testpaths = [ + "common", + "selfdrive/pandad", + "selfdrive/car", + "selfdrive/controls", + "selfdrive/locationd", + "selfdrive/monitoring", + "selfdrive/test/longitudinal_maneuvers", + "selfdrive/test/process_replay/test_fuzzy.py", + "system/updated", + "system/athena", + "system/camerad", + "system/hardware", + "system/loggerd", + "system/proclogd", + "system/tests", + "system/ubloxd", + "system/webrtc", + "tools/lib/tests", + "tools/replay", + "tools/cabana", + "cereal/messaging/tests", +] + +[tool.codespell] +count = true +quiet-level = 3 +# if you've got a short variable name that's getting flagged, add it here +ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn" +builtin = "clear,rare,informal,usage,code,names,en-GB_to_en-US" + +[tool.mypy] +python_version = "3.11" +plugins = [ + "numpy.typing.mypy_plugin", +] +exclude = [ + "body/", + "cereal/", + "opendbc/", + "panda/", + "rednose/", + "rednose_repo/", + "tinygrad/", + "tinygrad_repo/", + "teleoprtc/", + "teleoprtc_repo/", + "third_party/", +] + +# third-party packages +ignore_missing_imports=true + +# helpful warnings +warn_redundant_casts=true +warn_unreachable=true +warn_unused_ignores=true + +# restrict dynamic typing +warn_return_any=true + +# allow implicit optionals for default args +implicit_optional = true + +# https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml +[tool.ruff] +indent-width = 2 +lint.select = [ + "E", "F", "W", "PIE", "C4", "ISC", "A", "B", + "NPY", # numpy + "UP", # pyupgrade + "TRY302", "TRY400", "TRY401", # try/excepts + "RUF008", "RUF100", + "TID251", + "PLR1704", +] +lint.ignore = [ + "E741", + "E402", + "C408", + "ISC003", + "B027", + "B024", + "NPY002", # new numpy random syntax is worse + "UP038", # (x, y) -> x|y for isinstance +] +line-length = 160 +target-version ="py311" +exclude = [ + "body", + "cereal", + "panda", + "opendbc", + "rednose_repo", + "tinygrad_repo", + "teleoprtc", + "teleoprtc_repo", + "third_party", +] +lint.flake8-implicit-str-concat.allow-multiline = false + +[tool.ruff.lint.flake8-tidy-imports.banned-api] +"selfdrive".msg = "Use openpilot.selfdrive" +"common".msg = "Use openpilot.common" +"system".msg = "Use openpilot.system" +"third_party".msg = "Use openpilot.third_party" +"tools".msg = "Use openpilot.tools" +"pytest.main".msg = "pytest.main requires special handling that is easy to mess up!" +"unittest".msg = "Use pytest" + +[tool.coverage.run] +concurrency = ["multiprocessing", "thread"] + +[tool.ruff.format] +quote-style = "preserve" diff --git a/rednose b/rednose new file mode 120000 index 0000000000..674cfec35f --- /dev/null +++ b/rednose @@ -0,0 +1 @@ +rednose_repo/rednose \ No newline at end of file diff --git a/rednose_repo/.gitignore b/rednose_repo/.gitignore new file mode 100644 index 0000000000..bf2b50d221 --- /dev/null +++ b/rednose_repo/.gitignore @@ -0,0 +1,151 @@ +generated/ +.sconsign.dblite +*.swp +*.tmp + +# Cython intermediates +*_pyx.cpp +*_pyx.h +*_pyx_api.h +*.os + +# Byte-compiled / optimized / DLL files +__pycache__/ +*.py[cod] +*$py.class + +# C extensions +*.a +*.o +*.so + +# Distribution / packaging +.Python +build/ +develop-eggs/ +dist/ +downloads/ +eggs/ +.eggs/ +lib/ +lib64/ +parts/ +sdist/ +var/ +wheels/ +share/python-wheels/ +*.egg-info/ +.installed.cfg +*.egg +MANIFEST + +# PyInstaller +# Usually these files are written by a python script from a template +# before PyInstaller builds the exe, so as to inject date/other infos into it. +*.manifest +*.spec + +# Installer logs +pip-log.txt +pip-delete-this-directory.txt + +# Unit test / coverage reports +htmlcov/ +.tox/ +.nox/ +.coverage +.coverage.* +.cache +nosetests.xml +coverage.xml +*.cover +*.py,cover +.hypothesis/ +.pytest_cache/ +cover/ + +# Translations +*.mo +*.pot + +# Django stuff: +*.log +local_settings.py +db.sqlite3 +db.sqlite3-journal + +# Flask stuff: +instance/ +.webassets-cache + +# Scrapy stuff: +.scrapy + +# Sphinx documentation +docs/_build/ + +# PyBuilder +.pybuilder/ +target/ + +# Jupyter Notebook +.ipynb_checkpoints + +# IPython +profile_default/ +ipython_config.py + +# pyenv +# For a library or package, you might want to ignore these files since the code is +# intended to run in multiple environments; otherwise, check them in: +# .python-version + +# pipenv +# According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control. +# However, in case of collaboration, if having platform-specific dependencies or dependencies +# having no cross-platform support, pipenv may install dependencies that don't work, or not +# install all needed dependencies. +#Pipfile.lock + +# PEP 582; used by e.g. github.com/David-OConnor/pyflow +__pypackages__/ + +# Celery stuff +celerybeat-schedule +celerybeat.pid + +# SageMath parsed files +*.sage.py + +# Environments +.env +.venv +env/ +venv/ +ENV/ +env.bak/ +venv.bak/ + +# Spyder project settings +.spyderproject +.spyproject + +# Rope project settings +.ropeproject + +# mkdocs documentation +/site + +# mypy +.mypy_cache/ +.dmypy.json +dmypy.json + +# Pyre type checker +.pyre/ + +# pytype static type analyzer +.pytype/ + +# Cython debug symbols +cython_debug/ diff --git a/rednose_repo/examples/__init__.py b/rednose_repo/examples/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/rednose_repo/examples/kinematic_kf.png b/rednose_repo/examples/kinematic_kf.png new file mode 100644 index 0000000000..acb0e442c0 Binary files /dev/null and b/rednose_repo/examples/kinematic_kf.png differ diff --git a/rednose_repo/examples/kinematic_kf.py b/rednose_repo/examples/kinematic_kf.py new file mode 100755 index 0000000000..29049a7b98 --- /dev/null +++ b/rednose_repo/examples/kinematic_kf.py @@ -0,0 +1,81 @@ +#!/usr/bin/env python3 +import sys + +import numpy as np +import sympy as sp + +from rednose.helpers.kalmanfilter import KalmanFilter + +if __name__ == '__main__': # generating sympy code + from rednose.helpers.ekf_sym import gen_code +else: + from rednose.helpers.ekf_sym_pyx import EKF_sym_pyx # pylint: disable=no-name-in-module + + +class ObservationKind(): + UNKNOWN = 0 + NO_OBSERVATION = 1 + POSITION = 1 + + names = [ + 'Unknown', + 'No observation', + 'Position' + ] + + @classmethod + def to_string(cls, kind): + return cls.names[kind] + + +class States(): + POSITION = slice(0, 1) + VELOCITY = slice(1, 2) + + +class KinematicKalman(KalmanFilter): + name = 'kinematic' + + initial_x = np.array([0.5, 0.0]) + + # state covariance + initial_P_diag = np.array([1.0**2, 1.0**2]) + + # process noise + Q = np.diag([0.1**2, 2.0**2]) + + obs_noise = {ObservationKind.POSITION: np.atleast_2d(0.1**2)} + + @staticmethod + def generate_code(generated_dir): + name = KinematicKalman.name + dim_state = KinematicKalman.initial_x.shape[0] + + state_sym = sp.MatrixSymbol('state', dim_state, 1) + state = sp.Matrix(state_sym) + + position = state[States.POSITION, :][0,:] + velocity = state[States.VELOCITY, :][0,:] + + dt = sp.Symbol('dt') + state_dot = sp.Matrix(np.zeros((dim_state, 1))) + state_dot[States.POSITION.start, 0] = velocity + f_sym = state + dt * state_dot + + obs_eqs = [ + [sp.Matrix([position]), ObservationKind.POSITION, None], + ] + + gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state) + + def __init__(self, generated_dir): + dim_state = self.initial_x.shape[0] + dim_state_err = self.initial_P_diag.shape[0] + + # init filter + self.filter = EKF_sym_pyx(generated_dir, self.name, self.Q, self.initial_x, np.diag(self.initial_P_diag), dim_state, dim_state_err) + + +if __name__ == "__main__": + generated_dir = sys.argv[2] + KinematicKalman.generate_code(generated_dir) diff --git a/rednose_repo/examples/live_kf.py b/rednose_repo/examples/live_kf.py new file mode 100755 index 0000000000..6e3c21d93e --- /dev/null +++ b/rednose_repo/examples/live_kf.py @@ -0,0 +1,342 @@ +#!/usr/bin/env python3 +import sys +import numpy as np + +from rednose.helpers import KalmanError + +if __name__ == '__main__': # Generating sympy + import sympy as sp + from rednose.helpers.sympy_helpers import euler_rotate, quat_matrix_r, quat_rotate + from rednose.helpers.ekf_sym import gen_code +else: + from rednose.helpers.ekf_sym_pyx import EKF_sym_pyx # pylint: disable=no-name-in-module + +EARTH_GM = 3.986005e14 # m^3/s^2 (gravitational constant * mass of earth) + + +class ObservationKind(): + UNKNOWN = 0 + NO_OBSERVATION = 1 + GPS_NED = 2 + ODOMETRIC_SPEED = 3 + PHONE_GYRO = 4 + GPS_VEL = 5 + PSEUDORANGE_GPS = 6 + PSEUDORANGE_RATE_GPS = 7 + SPEED = 8 + NO_ROT = 9 + PHONE_ACCEL = 10 + ORB_POINT = 11 + ECEF_POS = 12 + CAMERA_ODO_TRANSLATION = 13 + CAMERA_ODO_ROTATION = 14 + ORB_FEATURES = 15 + MSCKF_TEST = 16 + FEATURE_TRACK_TEST = 17 + LANE_PT = 18 + IMU_FRAME = 19 + PSEUDORANGE_GLONASS = 20 + PSEUDORANGE_RATE_GLONASS = 21 + PSEUDORANGE = 22 + PSEUDORANGE_RATE = 23 + + names = [ + 'Unknown', + 'No observation', + 'GPS NED', + 'Odometric speed', + 'Phone gyro', + 'GPS velocity', + 'GPS pseudorange', + 'GPS pseudorange rate', + 'Speed', + 'No rotation', + 'Phone acceleration', + 'ORB point', + 'ECEF pos', + 'camera odometric translation', + 'camera odometric rotation', + 'ORB features', + 'MSCKF test', + 'Feature track test', + 'Lane ecef point', + 'imu frame eulers', + 'GLONASS pseudorange', + 'GLONASS pseudorange rate', + ] + + @classmethod + def to_string(cls, kind): + return cls.names[kind] + + +class States(): + ECEF_POS = slice(0, 3) # x, y and z in ECEF in meters + ECEF_ORIENTATION = slice(3, 7) # quat for pose of phone in ecef + ECEF_VELOCITY = slice(7, 10) # ecef velocity in m/s + ANGULAR_VELOCITY = slice(10, 13) # roll, pitch and yaw rates in device frame in radians/s + GYRO_BIAS = slice(13, 16) # roll, pitch and yaw biases + ODO_SCALE = slice(16, 17) # odometer scale + ACCELERATION = slice(17, 20) # Acceleration in device frame in m/s**2 + IMU_OFFSET = slice(20, 23) # imu offset angles in radians + + # Error-state has different slices because it is an ESKF + ECEF_POS_ERR = slice(0, 3) + ECEF_ORIENTATION_ERR = slice(3, 6) # euler angles for orientation error + ECEF_VELOCITY_ERR = slice(6, 9) + ANGULAR_VELOCITY_ERR = slice(9, 12) + GYRO_BIAS_ERR = slice(12, 15) + ODO_SCALE_ERR = slice(15, 16) + ACCELERATION_ERR = slice(16, 19) + IMU_OFFSET_ERR = slice(19, 22) + + +class LiveKalman(): + name = 'live' + + initial_x = np.array([-2.7e6, 4.2e6, 3.8e6, + 1, 0, 0, 0, + 0, 0, 0, + 0, 0, 0, + 0, 0, 0, + 1, + 0, 0, 0, + 0, 0, 0]) + + # state covariance + initial_P_diag = np.array([10000**2, 10000**2, 10000**2, + 10**2, 10**2, 10**2, + 10**2, 10**2, 10**2, + 1**2, 1**2, 1**2, + 0.05**2, 0.05**2, 0.05**2, + 0.02**2, + 1**2, 1**2, 1**2, + (0.01)**2, (0.01)**2, (0.01)**2]) + + # process noise + Q = np.diag([0.03**2, 0.03**2, 0.03**2, + 0.0**2, 0.0**2, 0.0**2, + 0.0**2, 0.0**2, 0.0**2, + 0.1**2, 0.1**2, 0.1**2, + (0.005 / 100)**2, (0.005 / 100)**2, (0.005 / 100)**2, + (0.02 / 100)**2, + 3**2, 3**2, 3**2, + (0.05 / 60)**2, (0.05 / 60)**2, (0.05 / 60)**2]) + + @staticmethod + def generate_code(generated_dir): + name = LiveKalman.name + dim_state = LiveKalman.initial_x.shape[0] + dim_state_err = LiveKalman.initial_P_diag.shape[0] + + state_sym = sp.MatrixSymbol('state', dim_state, 1) + state = sp.Matrix(state_sym) + x, y, z = state[States.ECEF_POS, :] + q = state[States.ECEF_ORIENTATION, :] + v = state[States.ECEF_VELOCITY, :] + vx, vy, vz = v + omega = state[States.ANGULAR_VELOCITY, :] + vroll, vpitch, vyaw = omega + roll_bias, pitch_bias, yaw_bias = state[States.GYRO_BIAS, :] + odo_scale = state[States.ODO_SCALE, :][0,:] + acceleration = state[States.ACCELERATION, :] + imu_angles = state[States.IMU_OFFSET, :] + + dt = sp.Symbol('dt') + + # calibration and attitude rotation matrices + quat_rot = quat_rotate(*q) + + # Got the quat predict equations from here + # A New Quaternion-Based Kalman Filter for + # Real-Time Attitude Estimation Using the Two-Step + # Geometrically-Intuitive Correction Algorithm + A = 0.5 * sp.Matrix([[0, -vroll, -vpitch, -vyaw], + [vroll, 0, vyaw, -vpitch], + [vpitch, -vyaw, 0, vroll], + [vyaw, vpitch, -vroll, 0]]) + q_dot = A * q + + # Time derivative of the state as a function of state + state_dot = sp.Matrix(np.zeros((dim_state, 1))) + state_dot[States.ECEF_POS, :] = v + state_dot[States.ECEF_ORIENTATION, :] = q_dot + state_dot[States.ECEF_VELOCITY, 0] = quat_rot * acceleration + + # Basic descretization, 1st order intergrator + # Can be pretty bad if dt is big + f_sym = state + dt * state_dot + + state_err_sym = sp.MatrixSymbol('state_err', dim_state_err, 1) + state_err = sp.Matrix(state_err_sym) + quat_err = state_err[States.ECEF_ORIENTATION_ERR, :] + v_err = state_err[States.ECEF_VELOCITY_ERR, :] + omega_err = state_err[States.ANGULAR_VELOCITY_ERR, :] + acceleration_err = state_err[States.ACCELERATION_ERR, :] + + # Time derivative of the state error as a function of state error and state + quat_err_matrix = euler_rotate(quat_err[0], quat_err[1], quat_err[2]) + q_err_dot = quat_err_matrix * quat_rot * (omega + omega_err) + state_err_dot = sp.Matrix(np.zeros((dim_state_err, 1))) + state_err_dot[States.ECEF_POS_ERR, :] = v_err + state_err_dot[States.ECEF_ORIENTATION_ERR, :] = q_err_dot + state_err_dot[States.ECEF_VELOCITY_ERR, :] = quat_err_matrix * quat_rot * (acceleration + acceleration_err) + f_err_sym = state_err + dt * state_err_dot + + # Observation matrix modifier + H_mod_sym = sp.Matrix(np.zeros((dim_state, dim_state_err))) + H_mod_sym[States.ECEF_POS, States.ECEF_POS_ERR] = np.eye(States.ECEF_POS.stop - States.ECEF_POS.start) + H_mod_sym[States.ECEF_ORIENTATION, States.ECEF_ORIENTATION_ERR] = 0.5 * quat_matrix_r(state[3:7])[:, 1:] + H_mod_sym[States.ECEF_ORIENTATION.stop:, States.ECEF_ORIENTATION_ERR.stop:] = np.eye(dim_state - States.ECEF_ORIENTATION.stop) + + # these error functions are defined so that say there + # is a nominal x and true x: + # true x = err_function(nominal x, delta x) + # delta x = inv_err_function(nominal x, true x) + nom_x = sp.MatrixSymbol('nom_x', dim_state, 1) + true_x = sp.MatrixSymbol('true_x', dim_state, 1) + delta_x = sp.MatrixSymbol('delta_x', dim_state_err, 1) + + err_function_sym = sp.Matrix(np.zeros((dim_state, 1))) + delta_quat = sp.Matrix(np.ones(4)) + delta_quat[1:, :] = sp.Matrix(0.5 * delta_x[States.ECEF_ORIENTATION_ERR, :]) + err_function_sym[States.ECEF_POS, :] = sp.Matrix(nom_x[States.ECEF_POS, :] + delta_x[States.ECEF_POS_ERR, :]) + err_function_sym[States.ECEF_ORIENTATION, 0] = quat_matrix_r(nom_x[States.ECEF_ORIENTATION, 0]) * delta_quat + err_function_sym[States.ECEF_ORIENTATION.stop:, :] = sp.Matrix(nom_x[States.ECEF_ORIENTATION.stop:, :] + delta_x[States.ECEF_ORIENTATION_ERR.stop:, :]) + + inv_err_function_sym = sp.Matrix(np.zeros((dim_state_err, 1))) + inv_err_function_sym[States.ECEF_POS_ERR, 0] = sp.Matrix(-nom_x[States.ECEF_POS, 0] + true_x[States.ECEF_POS, 0]) + delta_quat = quat_matrix_r(nom_x[States.ECEF_ORIENTATION, 0]).T * true_x[States.ECEF_ORIENTATION, 0] + inv_err_function_sym[States.ECEF_ORIENTATION_ERR, 0] = sp.Matrix(2 * delta_quat[1:]) + inv_err_function_sym[States.ECEF_ORIENTATION_ERR.stop:, 0] = sp.Matrix(-nom_x[States.ECEF_ORIENTATION.stop:, 0] + true_x[States.ECEF_ORIENTATION.stop:, 0]) + + eskf_params = [[err_function_sym, nom_x, delta_x], + [inv_err_function_sym, nom_x, true_x], + H_mod_sym, f_err_sym, state_err_sym] + # + # Observation functions + # + imu_rot = euler_rotate(*imu_angles) + h_gyro_sym = imu_rot * sp.Matrix([vroll + roll_bias, + vpitch + pitch_bias, + vyaw + yaw_bias]) + + pos = sp.Matrix([x, y, z]) + gravity = quat_rot.T * ((EARTH_GM / ((x**2 + y**2 + z**2)**(3.0 / 2.0))) * pos) + h_acc_sym = imu_rot * (gravity + acceleration) + h_phone_rot_sym = sp.Matrix([vroll, vpitch, vyaw]) + + speed = sp.sqrt(vx**2 + vy**2 + vz**2) + h_speed_sym = sp.Matrix([speed * odo_scale]) + + h_pos_sym = sp.Matrix([x, y, z]) + h_imu_frame_sym = sp.Matrix(imu_angles) + + h_relative_motion = sp.Matrix(quat_rot.T * v) + + obs_eqs = [[h_speed_sym, ObservationKind.ODOMETRIC_SPEED, None], + [h_gyro_sym, ObservationKind.PHONE_GYRO, None], + [h_phone_rot_sym, ObservationKind.NO_ROT, None], + [h_acc_sym, ObservationKind.PHONE_ACCEL, None], + [h_pos_sym, ObservationKind.ECEF_POS, None], + [h_relative_motion, ObservationKind.CAMERA_ODO_TRANSLATION, None], + [h_phone_rot_sym, ObservationKind.CAMERA_ODO_ROTATION, None], + [h_imu_frame_sym, ObservationKind.IMU_FRAME, None]] + + gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state_err, eskf_params) + + def __init__(self, generated_dir): + self.dim_state = self.initial_x.shape[0] + self.dim_state_err = self.initial_P_diag.shape[0] + + self.obs_noise = {ObservationKind.ODOMETRIC_SPEED: np.atleast_2d(0.2**2), + ObservationKind.PHONE_GYRO: np.diag([0.025**2, 0.025**2, 0.025**2]), + ObservationKind.PHONE_ACCEL: np.diag([.5**2, .5**2, .5**2]), + ObservationKind.CAMERA_ODO_ROTATION: np.diag([0.05**2, 0.05**2, 0.05**2]), + ObservationKind.IMU_FRAME: np.diag([0.05**2, 0.05**2, 0.05**2]), + ObservationKind.NO_ROT: np.diag([0.00025**2, 0.00025**2, 0.00025**2]), + ObservationKind.ECEF_POS: np.diag([5**2, 5**2, 5**2])} + + # init filter + self.filter = EKF_sym_pyx(generated_dir, self.name, self.Q, self.initial_x, np.diag(self.initial_P_diag), self.dim_state, self.dim_state_err) + + @property + def x(self): + return self.filter.state() + + @property + def t(self): + return self.filter.filter_time + + @property + def P(self): + return self.filter.covs() + + def rts_smooth(self, estimates): + return self.filter.rts_smooth(estimates, norm_quats=True) + + def init_state(self, state, covs_diag=None, covs=None, filter_time=None): + if covs_diag is not None: + P = np.diag(covs_diag) + elif covs is not None: + P = covs + else: + P = self.filter.covs() + self.filter.init_state(state, P, filter_time) + + def predict_and_observe(self, t, kind, data): + if len(data) > 0: + data = np.atleast_2d(data) + if kind == ObservationKind.CAMERA_ODO_TRANSLATION: + r = self.predict_and_update_odo_trans(data, t, kind) + elif kind == ObservationKind.CAMERA_ODO_ROTATION: + r = self.predict_and_update_odo_rot(data, t, kind) + elif kind == ObservationKind.ODOMETRIC_SPEED: + r = self.predict_and_update_odo_speed(data, t, kind) + else: + r = self.filter.predict_and_update_batch(t, kind, data, self.get_R(kind, len(data))) + + # Normalize quats + quat_norm = np.linalg.norm(self.filter.x[3:7, 0]) + + # Should not continue if the quats behave this weirdly + if not (0.1 < quat_norm < 10): + raise KalmanError("Kalman filter quaternions unstable") + + self.filter.x[States.ECEF_ORIENTATION, 0] = self.filter.x[States.ECEF_ORIENTATION, 0] / quat_norm + + return r + + def get_R(self, kind, n): + obs_noise = self.obs_noise[kind] + dim = obs_noise.shape[0] + R = np.zeros((n, dim, dim)) + for i in range(n): + R[i, :, :] = obs_noise + return R + + def predict_and_update_odo_speed(self, speed, t, kind): + z = np.array(speed) + R = np.zeros((len(speed), 1, 1)) + for i, _ in enumerate(z): + R[i, :, :] = np.diag([0.2**2]) + return self.filter.predict_and_update_batch(t, kind, z, R) + + def predict_and_update_odo_trans(self, trans, t, kind): + z = trans[:, :3] + R = np.zeros((len(trans), 3, 3)) + for i, _ in enumerate(z): + R[i, :, :] = np.diag(trans[i, 3:]**2) + return self.filter.predict_and_update_batch(t, kind, z, R) + + def predict_and_update_odo_rot(self, rot, t, kind): + z = rot[:, :3] + R = np.zeros((len(rot), 3, 3)) + for i, _ in enumerate(z): + R[i, :, :] = np.diag(rot[i, 3:]**2) + return self.filter.predict_and_update_batch(t, kind, z, R) + + +if __name__ == "__main__": + generated_dir = sys.argv[2] + LiveKalman.generate_code(generated_dir) diff --git a/rednose_repo/examples/test_compare.py b/rednose_repo/examples/test_compare.py new file mode 100755 index 0000000000..291f29e826 --- /dev/null +++ b/rednose_repo/examples/test_compare.py @@ -0,0 +1,125 @@ +#!/usr/bin/env python3 +import pytest +import os +import sys +import sympy as sp +import numpy as np + +if __name__ == '__main__': # generating sympy code + from rednose.helpers.ekf_sym import gen_code +else: + from rednose.helpers.ekf_sym_pyx import EKF_sym_pyx # pylint: disable=no-name-in-module + from rednose.helpers.ekf_sym import EKF_sym as EKF_sym2 + + +GENERATED_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), 'generated')) + + +class ObservationKind: + UNKNOWN = 0 + NO_OBSERVATION = 1 + POSITION = 1 + + names = [ + 'Unknown', + 'No observation', + 'Position' + ] + + @classmethod + def to_string(cls, kind): + return cls.names[kind] + + +class States: + POSITION = slice(0, 1) + VELOCITY = slice(1, 2) + + +class CompareFilter: + name = "compare" + + initial_x = np.array([0.5, 0.0]) + initial_P_diag = np.array([1.0**2, 1.0**2]) + Q = np.diag([0.1**2, 2.0**2]) + obs_noise = {ObservationKind.POSITION: np.atleast_2d(0.1**2)} + + @staticmethod + def generate_code(generated_dir): + name = CompareFilter.name + dim_state = CompareFilter.initial_x.shape[0] + + state_sym = sp.MatrixSymbol('state', dim_state, 1) + state = sp.Matrix(state_sym) + + position = state[States.POSITION, :][0,:] + velocity = state[States.VELOCITY, :][0,:] + + dt = sp.Symbol('dt') + state_dot = sp.Matrix(np.zeros((dim_state, 1))) + state_dot[States.POSITION.start, 0] = velocity + f_sym = state + dt * state_dot + + obs_eqs = [ + [sp.Matrix([position]), ObservationKind.POSITION, None], + ] + + gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state) + + def __init__(self, generated_dir): + dim_state = self.initial_x.shape[0] + dim_state_err = self.initial_P_diag.shape[0] + + # init filter + self.filter_py = EKF_sym_pyx(generated_dir, self.name, self.Q, self.initial_x, np.diag(self.initial_P_diag), dim_state, dim_state_err) + self.filter_pyx = EKF_sym2(generated_dir, self.name, self.Q, self.initial_x, np.diag(self.initial_P_diag), dim_state, dim_state_err) + + def get_R(self, kind, n): + obs_noise = self.obs_noise[kind] + dim = obs_noise.shape[0] + R = np.zeros((n, dim, dim)) + for i in range(n): + R[i, :, :] = obs_noise + return R + + +class TestCompare: + def test_compare(self): + np.random.seed(0) + + kf = CompareFilter(GENERATED_DIR) + + # Simple simulation + dt = 0.01 + ts = np.arange(0, 5, step=dt) + xs = np.empty(ts.shape) + + # Simulate + x = 0.0 + for i, v in enumerate(np.sin(ts * 5)): + xs[i] = x + x += v * dt + + # insert late observation + switch = (20, 40) + ts[switch[0]], ts[switch[1]] = ts[switch[1]], ts[switch[0]] + xs[switch[0]], xs[switch[1]] = xs[switch[1]], xs[switch[0]] + + for t, x in zip(ts, xs): + # get measurement + meas = np.random.normal(x, 0.1) + z = np.array([[meas]]) + R = kf.get_R(ObservationKind.POSITION, 1) + + # Update kf + kf.filter_py.predict_and_update_batch(t, ObservationKind.POSITION, z, R) + kf.filter_pyx.predict_and_update_batch(t, ObservationKind.POSITION, z, R) + + assert kf.filter_py.get_filter_time() == pytest.approx(kf.filter_pyx.get_filter_time()) + assert np.allclose(kf.filter_py.state(), kf.filter_pyx.state()) + assert np.allclose(kf.filter_py.covs(), kf.filter_pyx.covs()) + + +if __name__ == "__main__": + generated_dir = sys.argv[2] + CompareFilter.generate_code(generated_dir) diff --git a/rednose_repo/examples/test_kinematic_kf.py b/rednose_repo/examples/test_kinematic_kf.py new file mode 100644 index 0000000000..05d4d3efd0 --- /dev/null +++ b/rednose_repo/examples/test_kinematic_kf.py @@ -0,0 +1,82 @@ +import pytest +import os +import numpy as np + +from .kinematic_kf import KinematicKalman, ObservationKind, States + +GENERATED_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), 'generated')) + +class TestKinematic: + def test_kinematic_kf(self): + np.random.seed(0) + + kf = KinematicKalman(GENERATED_DIR) + + # Simple simulation + dt = 0.01 + ts = np.arange(0, 5, step=dt) + vs = np.sin(ts * 5) + + x = 0.0 + xs = [] + + xs_meas = [] + + xs_kf = [] + vs_kf = [] + + xs_kf_std = [] + vs_kf_std = [] + + for t, v in zip(ts, vs): + xs.append(x) + + # Update kf + meas = np.random.normal(x, 0.1) + xs_meas.append(meas) + kf.predict_and_observe(t, ObservationKind.POSITION, [meas]) + + # Retrieve kf values + state = kf.x + xs_kf.append(float(state[States.POSITION].item())) + vs_kf.append(float(state[States.VELOCITY].item())) + std = np.sqrt(kf.P) + xs_kf_std.append(float(std[States.POSITION, States.POSITION].item())) + vs_kf_std.append(float(std[States.VELOCITY, States.VELOCITY].item())) + + # Update simulation + x += v * dt + + xs, xs_meas, xs_kf, vs_kf, xs_kf_std, vs_kf_std = (np.asarray(a) for a in (xs, xs_meas, xs_kf, vs_kf, xs_kf_std, vs_kf_std)) + + assert xs_kf[-1] == pytest.approx(-0.010866289677966417) + assert xs_kf_std[-1] == pytest.approx(0.04477103863330089) + assert vs_kf[-1] == pytest.approx(-0.8553720537261753) + assert vs_kf_std[-1] == pytest.approx(0.6695762270974388) + + if "PLOT" in os.environ: + import matplotlib.pyplot as plt # pylint: disable=import-error + plt.figure() + plt.subplot(2, 1, 1) + plt.plot(ts, xs, 'k', label='Simulation') + plt.plot(ts, xs_meas, 'k.', label='Measurements') + plt.plot(ts, xs_kf, label='KF') + ax = plt.gca() + ax.fill_between(ts, xs_kf - xs_kf_std, xs_kf + xs_kf_std, alpha=.2, color='C0') + + plt.xlabel("Time [s]") + plt.ylabel("Position [m]") + plt.legend() + + plt.subplot(2, 1, 2) + plt.plot(ts, vs, 'k', label='Simulation') + plt.plot(ts, vs_kf, label='KF') + + ax = plt.gca() + ax.fill_between(ts, vs_kf - vs_kf_std, vs_kf + vs_kf_std, alpha=.2, color='C0') + + plt.xlabel("Time [s]") + plt.ylabel("Velocity [m/s]") + plt.legend() + + plt.show() diff --git a/rednose_repo/pyproject.toml b/rednose_repo/pyproject.toml new file mode 100644 index 0000000000..fa6ae11d1c --- /dev/null +++ b/rednose_repo/pyproject.toml @@ -0,0 +1,16 @@ +# https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml +[tool.ruff] +line-length = 160 +target-version="py311" + +[tool.ruff.lint] +select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF100", "A"] +ignore = ["W292", "E741", "E402", "C408", "ISC003"] +flake8-implicit-str-concat.allow-multiline=false + +[tool.ruff.lint.flake8-tidy-imports.banned-api] +"pytest.main".msg = "pytest.main requires special handling that is easy to mess up!" +"unittest".msg = "Use pytest" + +[tool.pytest.ini_options] +addopts = "--durations=10 -n auto" diff --git a/rednose_repo/rednose/.gitignore b/rednose_repo/rednose/.gitignore new file mode 100644 index 0000000000..d771ae6010 --- /dev/null +++ b/rednose_repo/rednose/.gitignore @@ -0,0 +1,5 @@ +# Cython intermediates +*_pyx.cpp +*_pyx.h +*_pyx_api.h +*.os diff --git a/rednose_repo/rednose/__init__.py b/rednose_repo/rednose/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/rednose_repo/rednose/helpers/__init__.py b/rednose_repo/rednose/helpers/__init__.py new file mode 100644 index 0000000000..b2beede2b8 --- /dev/null +++ b/rednose_repo/rednose/helpers/__init__.py @@ -0,0 +1,33 @@ +import os +import platform +from cffi import FFI + +TEMPLATE_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), '..', 'templates')) + + +def write_code(folder, name, code, header): + if not os.path.exists(folder): + os.mkdir(folder) + + open(os.path.join(folder, f"{name}.cpp"), 'w', encoding='utf-8').write(code) + open(os.path.join(folder, f"{name}.h"), 'w', encoding='utf-8').write(header) + + +def load_code(folder, name): + shared_ext = "dylib" if platform.system() == "Darwin" else "so" + shared_fn = os.path.join(folder, f"lib{name}.{shared_ext}") + header_fn = os.path.join(folder, f"{name}.h") + + with open(header_fn, encoding='utf-8') as f: + header = f.read() + + # is the only thing that can be parsed by cffi + header = "\n".join([line for line in header.split("\n") if line.startswith("void ")]) + + ffi = FFI() + ffi.cdef(header) + return (ffi, ffi.dlopen(shared_fn)) + + +class KalmanError(Exception): + pass diff --git a/rednose_repo/rednose/helpers/chi2_lookup.py b/rednose_repo/rednose/helpers/chi2_lookup.py new file mode 100644 index 0000000000..e22cc97299 --- /dev/null +++ b/rednose_repo/rednose/helpers/chi2_lookup.py @@ -0,0 +1,22 @@ +import os + +import numpy as np + + +def gen_chi2_ppf_lookup(max_dim=200): + from scipy.stats import chi2 + table = np.zeros((max_dim, 98)) + for dim in range(1, max_dim): + table[dim] = chi2.ppf(np.arange(.01, .99, .01), dim) + + np.save('chi2_lookup_table', table) + + +def chi2_ppf(p, dim): + table = np.load(os.path.dirname(os.path.realpath(__file__)) + '/chi2_lookup_table.npy') + result = np.interp(p, np.arange(.01, .99, .01), table[dim]) + return result + + +if __name__ == "__main__": + gen_chi2_ppf_lookup() diff --git a/rednose_repo/rednose/helpers/chi2_lookup_table.npy b/rednose_repo/rednose/helpers/chi2_lookup_table.npy new file mode 100644 index 0000000000..6f1bd959c1 Binary files /dev/null and b/rednose_repo/rednose/helpers/chi2_lookup_table.npy differ diff --git a/rednose_repo/rednose/helpers/ekf.h b/rednose_repo/rednose/helpers/ekf.h new file mode 100644 index 0000000000..2afe6dd2b6 --- /dev/null +++ b/rednose_repo/rednose/helpers/ekf.h @@ -0,0 +1,42 @@ +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +typedef void (*extra_routine_t)(double *, double *); + +struct EKF { + std::string name; + std::vector kinds; + std::vector feature_kinds; + + void (*f_fun)(double *, double, double *); + void (*F_fun)(double *, double, double *); + void (*err_fun)(double *, double *, double *); + void (*inv_err_fun)(double *, double *, double *); + void (*H_mod_fun)(double *, double *); + void (*predict)(double *, double *, double *, double); + std::unordered_map hs = {}; + std::unordered_map Hs = {}; + std::unordered_map updates = {}; + std::unordered_map Hes = {}; + std::unordered_map sets = {}; + std::unordered_map extra_routines = {}; +}; + +#define ekf_lib_init(ekf) \ +extern "C" void* ekf_get() { \ + return (void*) &ekf; \ +} \ +extern void __attribute__((weak)) ekf_register(const EKF* ptr); \ +static void __attribute__((constructor)) do_ekf_init_ ## ekf(void) { \ + if (ekf_register) ekf_register(&ekf); \ +} diff --git a/rednose_repo/rednose/helpers/ekf_load.h b/rednose_repo/rednose/helpers/ekf_load.h new file mode 100644 index 0000000000..89180b8028 --- /dev/null +++ b/rednose_repo/rednose/helpers/ekf_load.h @@ -0,0 +1,9 @@ +#include +#include + +#include "ekf.h" + +std::vector& ekf_get_all(); +const EKF* ekf_lookup(const std::string& ekf_name); +void ekf_register(const EKF* ekf); +void ekf_load_and_register(const std::string& ekf_directory, const std::string& ekf_name); diff --git a/rednose_repo/rednose/helpers/ekf_sym.h b/rednose_repo/rednose/helpers/ekf_sym.h new file mode 100644 index 0000000000..b83d7f3a12 --- /dev/null +++ b/rednose_repo/rednose/helpers/ekf_sym.h @@ -0,0 +1,113 @@ +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +#include "ekf.h" +#include "ekf_load.h" + +#define REWIND_TO_KEEP 512 + +namespace EKFS { + +typedef Eigen::Matrix MatrixXdr; + +typedef struct Observation { + double t; + int kind; + std::vector z; + std::vector R; + std::vector> extra_args; +} Observation; + +typedef struct Estimate { + Eigen::VectorXd xk1; + Eigen::VectorXd xk; + MatrixXdr Pk1; + MatrixXdr Pk; + double t; + int kind; + std::vector y; + std::vector z; + std::vector> extra_args; +} Estimate; + +class EKFSym { +public: + EKFSym(std::string name, Eigen::Map Q, Eigen::Map x_initial, + Eigen::Map P_initial, int dim_main, int dim_main_err, int N = 0, int dim_augment = 0, + int dim_augment_err = 0, std::vector maha_test_kinds = std::vector(), + std::vector quaternion_idxs = std::vector(), + std::vector global_vars = std::vector(), double max_rewind_age = 1.0); + void init_state(Eigen::Map state, Eigen::Map covs, double filter_time); + + Eigen::VectorXd state(); + MatrixXdr covs(); + void set_filter_time(double t); + double get_filter_time(); + void normalize_quaternions(); + void normalize_slice(int slice_start, int slice_end_ex); + void set_global(std::string global_var, double val); + void reset_rewind(); + + void predict(double t); + std::optional predict_and_update_batch(double t, int kind, std::vector> z, + std::vector> R, std::vector> extra_args = {{}}, bool augment = false); + + extra_routine_t get_extra_routine(const std::string& routine); + +private: + std::deque rewind(double t); + void checkpoint(Observation& obs); + + Estimate predict_and_update_batch(Observation& obs, bool augment); + Eigen::VectorXd update(int kind, Eigen::VectorXd z, MatrixXdr R, std::vector extra_args); + + // stuct with linked sympy generated functions + const EKF *ekf = NULL; + + Eigen::VectorXd x; // state + MatrixXdr P; // covs + + bool msckf; + int N; + int dim_augment; + int dim_augment_err; + int dim_main; + int dim_main_err; + + // state + int dim_x; + int dim_err; + + double filter_time; + + std::vector maha_test_kinds; + std::vector quaternion_idxs; + + std::vector global_vars; + + // process noise + MatrixXdr Q; + + // rewind stuff + double max_rewind_age; + std::deque rewind_t; + std::deque> rewind_states; + std::deque rewind_obscache; + + Eigen::VectorXd augment_times; + + std::vector feature_track_kinds; +}; + +} diff --git a/rednose_repo/rednose/helpers/ekf_sym.py b/rednose_repo/rednose/helpers/ekf_sym.py new file mode 100644 index 0000000000..e8bd6420f6 --- /dev/null +++ b/rednose_repo/rednose/helpers/ekf_sym.py @@ -0,0 +1,687 @@ +import os +import logging +from bisect import bisect_right + +import numpy as np +import sympy as sp +from numpy import dot + +from rednose.helpers.sympy_helpers import sympy_into_c +from rednose.helpers import TEMPLATE_DIR, load_code +from rednose.helpers.chi2_lookup import chi2_ppf + + +def solve(a, b): + if a.shape[0] == 1 and a.shape[1] == 1: + return b / a[0][0] + else: + return np.linalg.solve(a, b) + + +def null(H, eps=1e-12): + _, s, vh = np.linalg.svd(H) + padding = max(0, np.shape(H)[1] - np.shape(s)[0]) + null_mask = np.concatenate(((s <= eps), np.ones((padding,), dtype=bool)), axis=0) + null_space = np.compress(null_mask, vh, axis=0) + return np.transpose(null_space) + + +def gen_code(folder, name, f_sym, dt_sym, x_sym, obs_eqs, dim_x, dim_err, eskf_params=None, msckf_params=None, # pylint: disable=dangerous-default-value + maha_test_kinds=[], quaternion_idxs=[], global_vars=None, extra_routines=[]): + # optional state transition matrix, H modifier + # and err_function if an error-state kalman filter (ESKF) + # is desired. Best described in "Quaternion kinematics + # for the error-state Kalman filter" by Joan Sola + + if eskf_params: + err_eqs = eskf_params[0] + inv_err_eqs = eskf_params[1] + H_mod_sym = eskf_params[2] + f_err_sym = eskf_params[3] + x_err_sym = eskf_params[4] + else: + nom_x = sp.MatrixSymbol('nom_x', dim_x, 1) + true_x = sp.MatrixSymbol('true_x', dim_x, 1) + delta_x = sp.MatrixSymbol('delta_x', dim_x, 1) + err_function_sym = sp.Matrix(nom_x + delta_x) + inv_err_function_sym = sp.Matrix(true_x - nom_x) + err_eqs = [err_function_sym, nom_x, delta_x] + inv_err_eqs = [inv_err_function_sym, nom_x, true_x] + + H_mod_sym = sp.Matrix(np.eye(dim_x)) + f_err_sym = f_sym + x_err_sym = x_sym + + # This configures the multi-state augmentation + # needed for EKF-SLAM with MSCKF (Mourikis et al 2007) + if msckf_params: + msckf = True + dim_main = msckf_params[0] # size of the main state + dim_augment = msckf_params[1] # size of one augment state chunk + dim_main_err = msckf_params[2] + dim_augment_err = msckf_params[3] + N = msckf_params[4] + feature_track_kinds = msckf_params[5] + assert dim_main + dim_augment * N == dim_x + assert dim_main_err + dim_augment_err * N == dim_err + else: + msckf = False + dim_main = dim_x + dim_augment = 0 + dim_main_err = dim_err + dim_augment_err = 0 + N = 0 + + # linearize with jacobians + F_sym = f_err_sym.jacobian(x_err_sym) + + if eskf_params: + for sym in x_err_sym: + F_sym = F_sym.subs(sym, 0) + + assert dt_sym in F_sym.free_symbols + + for i in range(len(obs_eqs)): + obs_eqs[i].append(obs_eqs[i][0].jacobian(x_sym)) + if msckf and obs_eqs[i][1] in feature_track_kinds: + obs_eqs[i].append(obs_eqs[i][0].jacobian(obs_eqs[i][2])) + else: + obs_eqs[i].append(None) + + # collect sympy functions + sympy_functions = [] + + # extra routines + sympy_functions += extra_routines + + # error functions + sympy_functions.append(('err_fun', err_eqs[0], [err_eqs[1], err_eqs[2]])) + sympy_functions.append(('inv_err_fun', inv_err_eqs[0], [inv_err_eqs[1], inv_err_eqs[2]])) + + # H modifier for ESKF updates + sympy_functions.append(('H_mod_fun', H_mod_sym, [x_sym])) + + # state propagation function + sympy_functions.append(('f_fun', f_sym, [x_sym, dt_sym])) + sympy_functions.append(('F_fun', F_sym, [x_sym, dt_sym])) + + # observation functions + for h_sym, kind, ea_sym, H_sym, He_sym in obs_eqs: + sympy_functions.append(('h_%d' % kind, h_sym, [x_sym, ea_sym])) + sympy_functions.append(('H_%d' % kind, H_sym, [x_sym, ea_sym])) + if msckf and kind in feature_track_kinds: + sympy_functions.append(('He_%d' % kind, He_sym, [x_sym, ea_sym])) + + # Generate and wrap all th c code + sympy_header, code = sympy_into_c(sympy_functions, global_vars) + + header = "#pragma once\n" + header += "#include \"rednose/helpers/ekf.h\"\n" + header += "extern \"C\" {\n" + + pre_code = f"#include \"{name}.h\"\n" + pre_code += "\nnamespace {\n" + pre_code += "#define DIM %d\n" % dim_x + pre_code += "#define EDIM %d\n" % dim_err + pre_code += "#define MEDIM %d\n" % dim_main_err + pre_code += "typedef void (*Hfun)(double *, double *, double *);\n" + + if global_vars is not None: + for var in global_vars: + pre_code += f"\ndouble {var.name};\n" + pre_code += f"\nvoid set_{var.name}(double x){{ {var.name} = x;}}\n" + + post_code = "\n}\n" # namespace + post_code += "extern \"C\" {\n\n" + + for h_sym, kind, ea_sym, H_sym, He_sym in obs_eqs: + if msckf and kind in feature_track_kinds: + He_str = 'He_%d' % kind + # ea_dim = ea_sym.shape[0] + else: + He_str = 'NULL' + # ea_dim = 1 # not really dim of ea but makes c function work + maha_thresh = chi2_ppf(0.95, int(h_sym.shape[0])) # mahalanobis distance for outlier detection + maha_test = kind in maha_test_kinds + + pre_code += f"const static double MAHA_THRESH_{kind} = {maha_thresh};\n" + + header += f"void {name}_update_{kind}(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);\n" + post_code += f"void {name}_update_{kind}(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {{\n" + post_code += f" update<{h_sym.shape[0]}, 3, {int(maha_test)}>(in_x, in_P, h_{kind}, H_{kind}, {He_str}, in_z, in_R, in_ea, MAHA_THRESH_{kind});\n" + post_code += "}\n" + + # For ffi loading of specific functions + for line in sympy_header.split("\n"): + if line.startswith("void "): # sympy functions + func_call = line[5: line.index(')') + 1] + header += f"void {name}_{func_call};\n" + post_code += f"void {name}_{func_call} {{\n" + post_code += f" {func_call.replace('double *', '').replace('double', '')};\n" + post_code += "}\n" + header += f"void {name}_predict(double *in_x, double *in_P, double *in_Q, double dt);\n" + post_code += f"void {name}_predict(double *in_x, double *in_P, double *in_Q, double dt) {{\n" + post_code += " predict(in_x, in_P, in_Q, dt);\n" + post_code += "}\n" + if global_vars is not None: + for var in global_vars: + header += f"void {name}_set_{var.name}(double x);\n" + post_code += f"void {name}_set_{var.name}(double x) {{\n" + post_code += f" set_{var.name}(x);\n" + post_code += "}\n" + + post_code += "}\n\n" # extern c + + funcs = ['f_fun', 'F_fun', 'err_fun', 'inv_err_fun', 'H_mod_fun', 'predict'] + func_lists = { + 'h': [kind for _, kind, _, _, _ in obs_eqs], + 'H': [kind for _, kind, _, _, _ in obs_eqs], + 'update': [kind for _, kind, _, _, _ in obs_eqs], + 'He': [kind for _, kind, _, _, _ in obs_eqs if msckf and kind in feature_track_kinds], + 'set': [var.name for var in global_vars] if global_vars is not None else [], + } + func_extra = [x[0] for x in extra_routines] + + # For dynamic loading of specific functions + post_code += f"const EKF {name} = {{\n" + post_code += f" .name = \"{name}\",\n" + post_code += f" .kinds = {{ {', '.join([str(kind) for _, kind, _, _, _ in obs_eqs])} }},\n" + post_code += f" .feature_kinds = {{ {', '.join([str(kind) for _, kind, _, _, _ in obs_eqs if msckf and kind in feature_track_kinds])} }},\n" + for func in funcs: + post_code += f" .{func} = {name}_{func},\n" + for group, kinds in func_lists.items(): + post_code += f" .{group}s = {{\n" + for kind in kinds: + str_kind = f"\"{kind}\"" if isinstance(kind, str) else kind + post_code += f" {{ {str_kind}, {name}_{group}_{kind} }},\n" + post_code += " },\n" + post_code += " .extra_routines = {\n" + for f in func_extra: + post_code += f" {{ \"{f}\", {name}_{f} }},\n" + post_code += " },\n" + post_code += "};\n\n" + post_code += f"ekf_lib_init({name})\n" + + # merge code blocks + header += "}" + code = "\n".join([pre_code, code, open(os.path.join(TEMPLATE_DIR, "ekf_c.c"), encoding='utf-8').read(), post_code]) + + # write to file + if not os.path.exists(folder): + os.mkdir(folder) + + open(os.path.join(folder, f"{name}.h"), 'w', encoding='utf-8').write(header) # header is used for ffi import + open(os.path.join(folder, f"{name}.cpp"), 'w', encoding='utf-8').write(code) + + +class EKF_sym(): + def __init__(self, folder, name, Q, x_initial, P_initial, dim_main, dim_main_err, # pylint: disable=dangerous-default-value + N=0, dim_augment=0, dim_augment_err=0, maha_test_kinds=[], quaternion_idxs=[], global_vars=None, max_rewind_age=1.0, logger=logging): + """Generates process function and all observation functions for the kalman filter.""" + self.msckf = N > 0 + self.N = N + self.dim_augment = dim_augment + self.dim_augment_err = dim_augment_err + self.dim_main = dim_main + self.dim_main_err = dim_main_err + + self.logger = logger + + # state + x_initial = x_initial.reshape((-1, 1)) + self.dim_x = x_initial.shape[0] + self.dim_err = P_initial.shape[0] + assert dim_main + dim_augment * N == self.dim_x + assert dim_main_err + dim_augment_err * N == self.dim_err + assert Q.shape == P_initial.shape + + # kinds that should get mahalanobis distance + # tested for outlier rejection + self.maha_test_kinds = maha_test_kinds + + # quaternions need normalization + self.quaternion_idxs = quaternion_idxs + + # process noise + self.Q = Q + + # rewind stuff + self.max_rewind_age = max_rewind_age + self.rewind_t = [] + self.rewind_states = [] + self.rewind_obscache = [] + self.init_state(x_initial, P_initial, None) + + ffi, lib = load_code(folder, name) + kinds, self.feature_track_kinds = [], [] + for func in dir(lib): + if func[:len(name) + 3] == f'{name}_h_': + kinds.append(int(func[len(name) + 3:])) + if func[:len(name) + 4] == f'{name}_He_': + self.feature_track_kinds.append(int(func[len(name) + 4:])) + + # wrap all the sympy functions + def wrap_1lists(func_name): + func = eval(f"lib.{name}_{func_name}", {"lib": lib}) # pylint: disable=eval-used + + def ret(lst1, out): + func(ffi.cast("double *", lst1.ctypes.data), + ffi.cast("double *", out.ctypes.data)) + return ret + + def wrap_2lists(func_name): + func = eval(f"lib.{name}_{func_name}", {"lib": lib}) # pylint: disable=eval-used + + def ret(lst1, lst2, out): + func(ffi.cast("double *", lst1.ctypes.data), + ffi.cast("double *", lst2.ctypes.data), + ffi.cast("double *", out.ctypes.data)) + return ret + + def wrap_1list_1float(func_name): + func = eval(f"lib.{name}_{func_name}", {"lib": lib}) # pylint: disable=eval-used + + def ret(lst1, fl, out): + func(ffi.cast("double *", lst1.ctypes.data), + ffi.cast("double", fl), + ffi.cast("double *", out.ctypes.data)) + return ret + + self.f = wrap_1list_1float("f_fun") + self.F = wrap_1list_1float("F_fun") + + self.err_function = wrap_2lists("err_fun") + self.inv_err_function = wrap_2lists("inv_err_fun") + self.H_mod = wrap_1lists("H_mod_fun") + + self.hs, self.Hs, self.Hes = {}, {}, {} + for kind in kinds: + self.hs[kind] = wrap_2lists(f"h_{kind}") + self.Hs[kind] = wrap_2lists(f"H_{kind}") + if self.msckf and kind in self.feature_track_kinds: + self.Hes[kind] = wrap_2lists(f"He_{kind}") + + self.set_globals = {} + if global_vars is not None: + for global_var in global_vars: + self.set_globals[global_var] = getattr(lib, f"{name}_set_{global_var}") + + # wrap the C++ predict function + def _predict_blas(x, P, dt): + func = eval(f"lib.{name}_predict", {"lib": lib}) # pylint: disable=eval-used + func(ffi.cast("double *", x.ctypes.data), + ffi.cast("double *", P.ctypes.data), + ffi.cast("double *", self.Q.ctypes.data), + ffi.cast("double", dt)) + return x, P + + # wrap the C++ update function + def fun_wrapper(f, kind): + f = eval(f"lib.{name}_{f}", {"lib": lib}) # pylint: disable=eval-used + + def _update_inner_blas(x, P, z, R, extra_args): + f(ffi.cast("double *", x.ctypes.data), + ffi.cast("double *", P.ctypes.data), + ffi.cast("double *", z.ctypes.data), + ffi.cast("double *", R.ctypes.data), + ffi.cast("double *", extra_args.ctypes.data)) + if self.msckf and kind in self.feature_track_kinds: + y = z[:-len(extra_args)] + else: + y = z + return x, P, y + return _update_inner_blas + + self._updates = {} + for kind in kinds: + self._updates[kind] = fun_wrapper("update_%d" % kind, kind) + + def _update_blas(x, P, kind, z, R, extra_args=[]): # pylint: disable=dangerous-default-value + return self._updates[kind](x, P, z, R, extra_args) + + # assign the functions + self._predict = _predict_blas + # self._predict = self._predict_python + self._update = _update_blas + # self._update = self._update_python + + def init_state(self, state, covs, filter_time): + self.x = np.array(state.reshape((-1, 1))).astype(np.float64) + self.P = np.array(covs).astype(np.float64) + self.filter_time = filter_time + self.augment_times = [0] * self.N + self.rewind_obscache = [] + self.rewind_t = [] + self.rewind_states = [] + + def reset_rewind(self): + self.rewind_obscache = [] + self.rewind_t = [] + self.rewind_states = [] + + def augment(self): + # TODO this is not a generalized way of doing this and implies that the augmented states + # are simply the first (dim_augment_state) elements of the main state. + assert self.msckf + d1 = self.dim_main + d2 = self.dim_main_err + d3 = self.dim_augment + d4 = self.dim_augment_err + + # push through augmented states + self.x[d1:-d3] = self.x[d1 + d3:] + self.x[-d3:] = self.x[:d3] + assert self.x.shape == (self.dim_x, 1) + + # push through augmented covs + assert self.P.shape == (self.dim_err, self.dim_err) + P_reduced = self.P + P_reduced = np.delete(P_reduced, np.s_[d2:d2 + d4], axis=1) + P_reduced = np.delete(P_reduced, np.s_[d2:d2 + d4], axis=0) + assert P_reduced.shape == (self.dim_err - d4, self.dim_err - d4) + to_mult = np.zeros((self.dim_err, self.dim_err - d4)) + to_mult[:-d4, :] = np.eye(self.dim_err - d4) + to_mult[-d4:, :d4] = np.eye(d4) + self.P = to_mult.dot(P_reduced.dot(to_mult.T)) + self.augment_times = self.augment_times[1:] + self.augment_times.append(self.filter_time) + assert self.P.shape == (self.dim_err, self.dim_err) + + def state(self): + return np.array(self.x).flatten() + + def covs(self): + return self.P + + def set_filter_time(self, t): + self.filter_time = t + + def get_filter_time(self): + return self.filter_time + + def normalize_quaternions(self): + for idx in self.quaternion_idxs: + self.normalize_slice(idx, idx+4) + + def normalize_slice(self, slice_start, slice_end_ex): + self.x[slice_start:slice_end_ex] /= np.linalg.norm(self.x[slice_start:slice_end_ex]) + + def get_augment_times(self): + return self.augment_times + + def set_global(self, global_var, val): + self.set_globals[global_var](val) + + def rewind(self, t): + # find where we are rewinding to + idx = bisect_right(self.rewind_t, t) + assert self.rewind_t[idx - 1] <= t + assert self.rewind_t[idx] > t # must be true, or rewind wouldn't be called + + # set the state to the time right before that + self.filter_time = self.rewind_t[idx - 1] + self.x[:] = self.rewind_states[idx - 1][0] + self.P[:] = self.rewind_states[idx - 1][1] + + # return the observations we rewound over for fast forwarding + ret = self.rewind_obscache[idx:] + + # throw away the old future + # TODO: is this making a copy? + self.rewind_t = self.rewind_t[:idx] + self.rewind_states = self.rewind_states[:idx] + self.rewind_obscache = self.rewind_obscache[:idx] + + return ret + + def checkpoint(self, obs): + # push to rewinder + self.rewind_t.append(self.filter_time) + self.rewind_states.append((np.copy(self.x), np.copy(self.P))) + self.rewind_obscache.append(obs) + + # only keep a certain number around + REWIND_TO_KEEP = 512 + self.rewind_t = self.rewind_t[-REWIND_TO_KEEP:] + self.rewind_states = self.rewind_states[-REWIND_TO_KEEP:] + self.rewind_obscache = self.rewind_obscache[-REWIND_TO_KEEP:] + + def predict(self, t): + # initialize time + if self.filter_time is None: + self.filter_time = t + + # predict + dt = t - self.filter_time + assert dt >= 0 + self.x, self.P = self._predict(self.x, self.P, dt) + self.normalize_quaternions() + self.filter_time = t + + def predict_and_update_batch(self, t, kind, z, R, extra_args=[[]], augment=False): # pylint: disable=dangerous-default-value + # TODO handle rewinding at this level" + + # rewind + if self.filter_time is not None and t < self.filter_time: + if len(self.rewind_t) == 0 or t < self.rewind_t[0] or t < self.rewind_t[-1] - self.max_rewind_age: + self.logger.error(f"observation too old at {t:.3f} with filter at {self.filter_time:.3f}, ignoring") + return None + rewound = self.rewind(t) + else: + rewound = [] + + ret = self._predict_and_update_batch(t, kind, z, R, extra_args, augment) + + # optional fast forward + for r in rewound: + self._predict_and_update_batch(*r) + + return ret + + def _predict_and_update_batch(self, t, kind, z, R, extra_args, augment=False): + """The main kalman filter function + Predicts the state and then updates a batch of observations + dim_x: dimensionality of the state space + dim_z: dimensionality of the observation and depends on kind + n: number of observations + Args: + t (float): Time of observation + kind (int): Type of observation + z (vec [n,dim_z]): Measurements + R (mat [n,dim_z, dim_z]): Measurement Noise + extra_args (list, [n]): Values used in H computations + """ + assert z.shape[0] == R.shape[0] + assert z.shape[1] == R.shape[1] + assert z.shape[1] == R.shape[2] + + # initialize time + if self.filter_time is None: + self.filter_time = t + + # predict + dt = t - self.filter_time + assert dt >= 0 + self.x, self.P = self._predict(self.x, self.P, dt) + self.filter_time = t + xk_km1, Pk_km1 = np.copy(self.x).flatten(), np.copy(self.P) + + # update batch + y = [] + for i in range(len(z)): + # these are from the user, so we canonicalize them + z_i = np.array(z[i], dtype=np.float64, order='F') + R_i = np.array(R[i], dtype=np.float64, order='F') + extra_args_i = np.array(extra_args[i], dtype=np.float64, order='F') + # update + self.x, self.P, y_i = self._update(self.x, self.P, kind, z_i, R_i, extra_args=extra_args_i) + self.normalize_quaternions() + y.append(y_i) + xk_k, Pk_k = np.copy(self.x).flatten(), np.copy(self.P) + + if augment: + self.augment() + + # checkpoint + self.checkpoint((t, kind, z, R, extra_args)) + + return xk_km1, xk_k, Pk_km1, Pk_k, t, kind, y, z, extra_args + + def _predict_python(self, x, P, dt): + x_new = np.zeros(x.shape, dtype=np.float64) + self.f(x, dt, x_new) + + F = np.zeros(P.shape, dtype=np.float64) + self.F(x, dt, F) + + if not self.msckf: + P = dot(dot(F, P), F.T) + else: + # Update the predicted state covariance: + # Pk+1|k = |F*Pii*FT + Q*dt F*Pij | + # |PijT*FT Pjj | + # Where F is the jacobian of the main state + # predict function, Pii is the main state's + # covariance and Q its process noise. Pij + # is the covariance between the augmented + # states and the main state. + # + d2 = self.dim_main_err # known at compile time + F_curr = F[:d2, :d2] + P[:d2, :d2] = (F_curr.dot(P[:d2, :d2])).dot(F_curr.T) + P[:d2, d2:] = F_curr.dot(P[:d2, d2:]) + P[d2:, :d2] = P[d2:, :d2].dot(F_curr.T) + + P += dt * self.Q + return x_new, P + + def _update_python(self, x, P, kind, z, R, extra_args=[]): # pylint: disable=dangerous-default-value + # init vars + z = z.reshape((-1, 1)) + h = np.zeros(z.shape, dtype=np.float64) + H = np.zeros((z.shape[0], self.dim_x), dtype=np.float64) + + # C functions + self.hs[kind](x, extra_args, h) + self.Hs[kind](x, extra_args, H) + + # y is the "loss" + y = z - h + + # *** same above this line *** + + if self.msckf and kind in self.Hes: + # Do some algebraic magic to decorrelate + He = np.zeros((z.shape[0], len(extra_args)), dtype=np.float64) + self.Hes[kind](x, extra_args, He) + + # TODO: Don't call a function here, do projection locally + A = null(He.T) + + y = A.T.dot(y) + H = A.T.dot(H) + R = A.T.dot(R.dot(A)) + + # TODO If nullspace isn't the dimension we want + if A.shape[1] + He.shape[1] != A.shape[0]: + self.logger.warning('Warning: null space projection failed, measurement ignored') + return x, P, np.zeros(A.shape[0] - He.shape[1]) + + # if using eskf + H_mod = np.zeros((x.shape[0], P.shape[0]), dtype=np.float64) + self.H_mod(x, H_mod) + H = H.dot(H_mod) + + # Do mahalobis distance test + # currently just runs on msckf observations + # could run on anything if needed + if self.msckf and kind in self.maha_test_kinds: + a = np.linalg.inv(H.dot(P).dot(H.T) + R) + maha_dist = y.T.dot(a.dot(y)) + if maha_dist > chi2_ppf(0.95, y.shape[0]): + R = 10e16 * R + + # *** same below this line *** + + # Outlier resilient weighting as described in: + # "A Kalman Filter for Robust Outlier Detection - Jo-Anne Ting, ..." + weight = 1 # (1.5)/(1 + np.sum(y**2)/np.sum(R)) + + S = dot(dot(H, P), H.T) + R / weight + K = solve(S, dot(H, P.T)).T + I_KH = np.eye(P.shape[0]) - dot(K, H) + + # update actual state + delta_x = dot(K, y) + P = dot(dot(I_KH, P), I_KH.T) + dot(dot(K, R), K.T) + + # inject observed error into state + x_new = np.zeros(x.shape, dtype=np.float64) + self.err_function(x, delta_x, x_new) + return x_new, P, y.flatten() + + def maha_test(self, x, P, kind, z, R, extra_args=[], maha_thresh=0.95): # pylint: disable=dangerous-default-value + # init vars + z = z.reshape((-1, 1)) + h = np.zeros(z.shape, dtype=np.float64) + H = np.zeros((z.shape[0], self.dim_x), dtype=np.float64) + + # C functions + self.hs[kind](x, extra_args, h) + self.Hs[kind](x, extra_args, H) + + # y is the "loss" + y = z - h + + # if using eskf + H_mod = np.zeros((x.shape[0], P.shape[0]), dtype=np.float64) + self.H_mod(x, H_mod) + H = H.dot(H_mod) + + a = np.linalg.inv(H.dot(P).dot(H.T) + R) + maha_dist = y.T.dot(a.dot(y)) + if maha_dist > chi2_ppf(maha_thresh, y.shape[0]): + return False + else: + return True + + def rts_smooth(self, estimates, norm_quats=False): + ''' + Returns rts smoothed results of + kalman filter estimates + If the kalman state is augmented with + old states only the main state is smoothed + ''' + xk_n = estimates[-1][0] + Pk_n = estimates[-1][2] + Fk_1 = np.zeros(Pk_n.shape, dtype=np.float64) + + states_smoothed = [xk_n] + covs_smoothed = [Pk_n] + for k in range(len(estimates) - 2, -1, -1): + xk1_n = xk_n + if norm_quats: + xk1_n[3:7] /= np.linalg.norm(xk1_n[3:7]) + Pk1_n = Pk_n + + xk1_k, _, Pk1_k, _, t2, _, _, _, _ = estimates[k + 1] + _, xk_k, _, Pk_k, t1, _, _, _, _ = estimates[k] + dt = t2 - t1 + self.F(xk_k, dt, Fk_1) + + d1 = self.dim_main + d2 = self.dim_main_err + Ck = np.linalg.solve(Pk1_k[:d2, :d2], Fk_1[:d2, :d2].dot(Pk_k[:d2, :d2].T)).T + xk_n = xk_k + delta_x = np.zeros((Pk_n.shape[0], 1), dtype=np.float64) + self.inv_err_function(xk1_k, xk1_n, delta_x) + delta_x[:d2] = Ck.dot(delta_x[:d2]) + x_new = np.zeros((xk_n.shape[0], 1), dtype=np.float64) + self.err_function(xk_k, delta_x, x_new) + xk_n[:d1] = x_new[:d1, 0] + Pk_n = Pk_k + Pk_n[:d2, :d2] = Pk_k[:d2, :d2] + Ck.dot(Pk1_n[:d2, :d2] - Pk1_k[:d2, :d2]).dot(Ck.T) + states_smoothed.append(xk_n) + covs_smoothed.append(Pk_n) + + return np.flipud(np.vstack(states_smoothed)), np.stack(covs_smoothed, 0)[::-1] diff --git a/rednose_repo/rednose/helpers/ekf_sym_pyx.cpp b/rednose_repo/rednose/helpers/ekf_sym_pyx.cpp new file mode 100644 index 0000000000..de77e6b0ff --- /dev/null +++ b/rednose_repo/rednose/helpers/ekf_sym_pyx.cpp @@ -0,0 +1,35816 @@ +/* Generated by Cython 3.0.8 */ + +/* BEGIN: Cython Metadata +{ + "distutils": { + "depends": [ + "rednose/helpers/ekf_load.h", + "rednose/helpers/ekf_sym.h" + ], + "language": "c++", + "name": "rednose.helpers.ekf_sym_pyx", + "sources": [ + "/data/openpilot/rednose/helpers/ekf_sym_pyx.pyx" + ] + }, + "module_name": "rednose.helpers.ekf_sym_pyx" +} +END: Cython Metadata */ + +#ifndef PY_SSIZE_T_CLEAN +#define PY_SSIZE_T_CLEAN +#endif /* PY_SSIZE_T_CLEAN */ +#if defined(CYTHON_LIMITED_API) && 0 + #ifndef Py_LIMITED_API + #if CYTHON_LIMITED_API+0 > 0x03030000 + #define Py_LIMITED_API CYTHON_LIMITED_API + #else + #define Py_LIMITED_API 0x03030000 + #endif + #endif +#endif + +#include "Python.h" +#ifndef Py_PYTHON_H + #error Python headers needed to compile C extensions, please install development version of Python. +#elif PY_VERSION_HEX < 0x02070000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) + #error Cython requires Python 2.7+ or Python 3.3+. +#else +#if defined(CYTHON_LIMITED_API) && CYTHON_LIMITED_API +#define __PYX_EXTRA_ABI_MODULE_NAME "limited" +#else +#define __PYX_EXTRA_ABI_MODULE_NAME "" +#endif +#define CYTHON_ABI "3_0_8" __PYX_EXTRA_ABI_MODULE_NAME +#define __PYX_ABI_MODULE_NAME "_cython_" CYTHON_ABI +#define __PYX_TYPE_MODULE_PREFIX __PYX_ABI_MODULE_NAME "." +#define CYTHON_HEX_VERSION 0x030008F0 +#define CYTHON_FUTURE_DIVISION 1 +#include +#ifndef offsetof + #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) +#endif +#if !defined(_WIN32) && !defined(WIN32) && !defined(MS_WINDOWS) + #ifndef __stdcall + #define __stdcall + #endif + #ifndef __cdecl + #define __cdecl + #endif + #ifndef __fastcall + #define __fastcall + #endif +#endif +#ifndef DL_IMPORT + #define DL_IMPORT(t) t +#endif +#ifndef DL_EXPORT + #define DL_EXPORT(t) t +#endif +#define __PYX_COMMA , +#ifndef HAVE_LONG_LONG + #define HAVE_LONG_LONG +#endif +#ifndef PY_LONG_LONG + #define PY_LONG_LONG LONG_LONG +#endif +#ifndef Py_HUGE_VAL + #define Py_HUGE_VAL HUGE_VAL +#endif +#define __PYX_LIMITED_VERSION_HEX PY_VERSION_HEX +#if defined(GRAALVM_PYTHON) + /* For very preliminary testing purposes. Most variables are set the same as PyPy. + The existence of this section does not imply that anything works or is even tested */ + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 1 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(PYPY_VERSION) + #define CYTHON_COMPILING_IN_PYPY 1 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #if PY_VERSION_HEX < 0x03090000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1 && PYPY_VERSION_NUM >= 0x07030C00) + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(CYTHON_LIMITED_API) + #ifdef Py_LIMITED_API + #undef __PYX_LIMITED_VERSION_HEX + #define __PYX_LIMITED_VERSION_HEX Py_LIMITED_API + #endif + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 1 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_CLINE_IN_TRACEBACK + #define CYTHON_CLINE_IN_TRACEBACK 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 1 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #endif + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 1 + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(Py_GIL_DISABLED) || defined(Py_NOGIL) + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 1 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #ifndef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#else + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 1 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #ifndef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 1 + #endif + #if PY_MAJOR_VERSION < 3 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #ifndef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 1 + #endif + #ifndef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 1 + #endif + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #elif !defined(CYTHON_USE_UNICODE_WRITER) + #define CYTHON_USE_UNICODE_WRITER 1 + #endif + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #ifndef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 1 + #endif + #ifndef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL (PY_MAJOR_VERSION < 3 || PY_VERSION_HEX >= 0x03060000 && PY_VERSION_HEX < 0x030C00A6) + #endif + #ifndef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL (PY_VERSION_HEX >= 0x030700A1) + #endif + #ifndef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 1 + #endif + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #endif + #if PY_VERSION_HEX < 0x030400a1 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #elif !defined(CYTHON_USE_TP_FINALIZE) + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #if PY_VERSION_HEX < 0x030600B1 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #elif !defined(CYTHON_USE_DICT_VERSIONS) + #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX < 0x030C00A5) + #endif + #if PY_VERSION_HEX < 0x030700A3 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #elif !defined(CYTHON_USE_EXC_INFO_STACK) + #define CYTHON_USE_EXC_INFO_STACK 1 + #endif + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 1 + #endif +#endif +#if !defined(CYTHON_FAST_PYCCALL) +#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) +#endif +#if !defined(CYTHON_VECTORCALL) +#define CYTHON_VECTORCALL (CYTHON_FAST_PYCCALL && PY_VERSION_HEX >= 0x030800B1) +#endif +#define CYTHON_BACKPORT_VECTORCALL (CYTHON_METH_FASTCALL && PY_VERSION_HEX < 0x030800B1) +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_MAJOR_VERSION < 3 + #include "longintrepr.h" + #endif + #undef SHIFT + #undef BASE + #undef MASK + #ifdef SIZEOF_VOID_P + enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; + #endif +#endif +#ifndef __has_attribute + #define __has_attribute(x) 0 +#endif +#ifndef __has_cpp_attribute + #define __has_cpp_attribute(x) 0 +#endif +#ifndef CYTHON_RESTRICT + #if defined(__GNUC__) + #define CYTHON_RESTRICT __restrict__ + #elif defined(_MSC_VER) && _MSC_VER >= 1400 + #define CYTHON_RESTRICT __restrict + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_RESTRICT restrict + #else + #define CYTHON_RESTRICT + #endif +#endif +#ifndef CYTHON_UNUSED + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(maybe_unused) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(maybe_unused) + #define CYTHON_UNUSED [[maybe_unused]] + #endif + #endif + #endif +#endif +#ifndef CYTHON_UNUSED +# if defined(__GNUC__) +# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_UNUSED_VAR +# if defined(__cplusplus) + template void CYTHON_UNUSED_VAR( const T& ) { } +# else +# define CYTHON_UNUSED_VAR(x) (void)(x) +# endif +#endif +#ifndef CYTHON_MAYBE_UNUSED_VAR + #define CYTHON_MAYBE_UNUSED_VAR(x) CYTHON_UNUSED_VAR(x) +#endif +#ifndef CYTHON_NCP_UNUSED +# if CYTHON_COMPILING_IN_CPYTHON +# define CYTHON_NCP_UNUSED +# else +# define CYTHON_NCP_UNUSED CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_USE_CPP_STD_MOVE + #if defined(__cplusplus) && (\ + __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600)) + #define CYTHON_USE_CPP_STD_MOVE 1 + #else + #define CYTHON_USE_CPP_STD_MOVE 0 + #endif +#endif +#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) +#ifdef _MSC_VER + #ifndef _MSC_STDINT_H_ + #if _MSC_VER < 1300 + typedef unsigned char uint8_t; + typedef unsigned short uint16_t; + typedef unsigned int uint32_t; + #else + typedef unsigned __int8 uint8_t; + typedef unsigned __int16 uint16_t; + typedef unsigned __int32 uint32_t; + #endif + #endif + #if _MSC_VER < 1300 + #ifdef _WIN64 + typedef unsigned long long __pyx_uintptr_t; + #else + typedef unsigned int __pyx_uintptr_t; + #endif + #else + #ifdef _WIN64 + typedef unsigned __int64 __pyx_uintptr_t; + #else + typedef unsigned __int32 __pyx_uintptr_t; + #endif + #endif +#else + #include + typedef uintptr_t __pyx_uintptr_t; +#endif +#ifndef CYTHON_FALLTHROUGH + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(fallthrough) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(fallthrough) + #define CYTHON_FALLTHROUGH [[fallthrough]] + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_cpp_attribute(clang::fallthrough) + #define CYTHON_FALLTHROUGH [[clang::fallthrough]] + #elif __has_cpp_attribute(gnu::fallthrough) + #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] + #endif + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_attribute(fallthrough) + #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) + #else + #define CYTHON_FALLTHROUGH + #endif + #endif + #if defined(__clang__) && defined(__apple_build_version__) + #if __apple_build_version__ < 7000000 + #undef CYTHON_FALLTHROUGH + #define CYTHON_FALLTHROUGH + #endif + #endif +#endif +#ifdef __cplusplus + template + struct __PYX_IS_UNSIGNED_IMPL {static const bool value = T(0) < T(-1);}; + #define __PYX_IS_UNSIGNED(type) (__PYX_IS_UNSIGNED_IMPL::value) +#else + #define __PYX_IS_UNSIGNED(type) (((type)-1) > 0) +#endif +#if CYTHON_COMPILING_IN_PYPY == 1 + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x030A0000) +#else + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000) +#endif +#define __PYX_REINTERPRET_FUNCION(func_pointer, other_pointer) ((func_pointer)(void(*)(void))(other_pointer)) + +#ifndef __cplusplus + #error "Cython files generated with the C++ option must be compiled with a C++ compiler." +#endif +#ifndef CYTHON_INLINE + #if defined(__clang__) + #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) + #else + #define CYTHON_INLINE inline + #endif +#endif +template +void __Pyx_call_destructor(T& x) { + x.~T(); +} +template +class __Pyx_FakeReference { + public: + __Pyx_FakeReference() : ptr(NULL) { } + __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } + T *operator->() { return ptr; } + T *operator&() { return ptr; } + operator T&() { return *ptr; } + template bool operator ==(const U& other) const { return *ptr == other; } + template bool operator !=(const U& other) const { return *ptr != other; } + template bool operator==(const __Pyx_FakeReference& other) const { return *ptr == *other.ptr; } + template bool operator!=(const __Pyx_FakeReference& other) const { return *ptr != *other.ptr; } + private: + T *ptr; +}; + +#define __PYX_BUILD_PY_SSIZE_T "n" +#define CYTHON_FORMAT_SSIZE_T "z" +#if PY_MAJOR_VERSION < 3 + #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" + #define __Pyx_DefaultClassType PyClass_Type + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_BUILTIN_MODULE_NAME "builtins" + #define __Pyx_DefaultClassType PyType_Type +#if CYTHON_COMPILING_IN_LIMITED_API + static CYTHON_INLINE PyObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyObject *exception_table = NULL; + PyObject *types_module=NULL, *code_type=NULL, *result=NULL; + #if __PYX_LIMITED_VERSION_HEX < 0x030B0000 + PyObject *version_info; + PyObject *py_minor_version = NULL; + #endif + long minor_version = 0; + PyObject *type, *value, *traceback; + PyErr_Fetch(&type, &value, &traceback); + #if __PYX_LIMITED_VERSION_HEX >= 0x030B0000 + minor_version = 11; + #else + if (!(version_info = PySys_GetObject("version_info"))) goto end; + if (!(py_minor_version = PySequence_GetItem(version_info, 1))) goto end; + minor_version = PyLong_AsLong(py_minor_version); + Py_DECREF(py_minor_version); + if (minor_version == -1 && PyErr_Occurred()) goto end; + #endif + if (!(types_module = PyImport_ImportModule("types"))) goto end; + if (!(code_type = PyObject_GetAttrString(types_module, "CodeType"))) goto end; + if (minor_version <= 7) { + (void)p; + result = PyObject_CallFunction(code_type, "iiiiiOOOOOOiOO", a, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else if (minor_version <= 10) { + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else { + if (!(exception_table = PyBytes_FromStringAndSize(NULL, 0))) goto end; + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, name, fline, lnos, exception_table, fv, cell); + } + end: + Py_XDECREF(code_type); + Py_XDECREF(exception_table); + Py_XDECREF(types_module); + if (type) { + PyErr_Restore(type, value, traceback); + } + return result; + } + #ifndef CO_OPTIMIZED + #define CO_OPTIMIZED 0x0001 + #endif + #ifndef CO_NEWLOCALS + #define CO_NEWLOCALS 0x0002 + #endif + #ifndef CO_VARARGS + #define CO_VARARGS 0x0004 + #endif + #ifndef CO_VARKEYWORDS + #define CO_VARKEYWORDS 0x0008 + #endif + #ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x0200 + #endif + #ifndef CO_GENERATOR + #define CO_GENERATOR 0x0020 + #endif + #ifndef CO_COROUTINE + #define CO_COROUTINE 0x0080 + #endif +#elif PY_VERSION_HEX >= 0x030B0000 + static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyCodeObject *result; + PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); + if (!empty_bytes) return NULL; + result = + #if PY_VERSION_HEX >= 0x030C0000 + PyUnstable_Code_NewWithPosOnlyArgs + #else + PyCode_NewWithPosOnlyArgs + #endif + (a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, name, fline, lnos, empty_bytes); + Py_DECREF(empty_bytes); + return result; + } +#elif PY_VERSION_HEX >= 0x030800B2 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_NewWithPosOnlyArgs(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#endif +#endif +#if PY_VERSION_HEX >= 0x030900A4 || defined(Py_IS_TYPE) + #define __Pyx_IS_TYPE(ob, type) Py_IS_TYPE(ob, type) +#else + #define __Pyx_IS_TYPE(ob, type) (((const PyObject*)ob)->ob_type == (type)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_Is) + #define __Pyx_Py_Is(x, y) Py_Is(x, y) +#else + #define __Pyx_Py_Is(x, y) ((x) == (y)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsNone) + #define __Pyx_Py_IsNone(ob) Py_IsNone(ob) +#else + #define __Pyx_Py_IsNone(ob) __Pyx_Py_Is((ob), Py_None) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsTrue) + #define __Pyx_Py_IsTrue(ob) Py_IsTrue(ob) +#else + #define __Pyx_Py_IsTrue(ob) __Pyx_Py_Is((ob), Py_True) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsFalse) + #define __Pyx_Py_IsFalse(ob) Py_IsFalse(ob) +#else + #define __Pyx_Py_IsFalse(ob) __Pyx_Py_Is((ob), Py_False) +#endif +#define __Pyx_NoneAsNull(obj) (__Pyx_Py_IsNone(obj) ? NULL : (obj)) +#if PY_VERSION_HEX >= 0x030900F0 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_GC_IsFinalized(o) PyObject_GC_IsFinalized(o) +#else + #define __Pyx_PyObject_GC_IsFinalized(o) _PyGC_FINALIZED(o) +#endif +#ifndef CO_COROUTINE + #define CO_COROUTINE 0x80 +#endif +#ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x200 +#endif +#ifndef Py_TPFLAGS_CHECKTYPES + #define Py_TPFLAGS_CHECKTYPES 0 +#endif +#ifndef Py_TPFLAGS_HAVE_INDEX + #define Py_TPFLAGS_HAVE_INDEX 0 +#endif +#ifndef Py_TPFLAGS_HAVE_NEWBUFFER + #define Py_TPFLAGS_HAVE_NEWBUFFER 0 +#endif +#ifndef Py_TPFLAGS_HAVE_FINALIZE + #define Py_TPFLAGS_HAVE_FINALIZE 0 +#endif +#ifndef Py_TPFLAGS_SEQUENCE + #define Py_TPFLAGS_SEQUENCE 0 +#endif +#ifndef Py_TPFLAGS_MAPPING + #define Py_TPFLAGS_MAPPING 0 +#endif +#ifndef METH_STACKLESS + #define METH_STACKLESS 0 +#endif +#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) + #ifndef METH_FASTCALL + #define METH_FASTCALL 0x80 + #endif + typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); + typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, + Py_ssize_t nargs, PyObject *kwnames); +#else + #define __Pyx_PyCFunctionFast _PyCFunctionFast + #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords +#endif +#if CYTHON_METH_FASTCALL + #define __Pyx_METH_FASTCALL METH_FASTCALL + #define __Pyx_PyCFunction_FastCall __Pyx_PyCFunctionFast + #define __Pyx_PyCFunction_FastCallWithKeywords __Pyx_PyCFunctionFastWithKeywords +#else + #define __Pyx_METH_FASTCALL METH_VARARGS + #define __Pyx_PyCFunction_FastCall PyCFunction + #define __Pyx_PyCFunction_FastCallWithKeywords PyCFunctionWithKeywords +#endif +#if CYTHON_VECTORCALL + #define __pyx_vectorcallfunc vectorcallfunc + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET PY_VECTORCALL_ARGUMENTS_OFFSET + #define __Pyx_PyVectorcall_NARGS(n) PyVectorcall_NARGS((size_t)(n)) +#elif CYTHON_BACKPORT_VECTORCALL + typedef PyObject *(*__pyx_vectorcallfunc)(PyObject *callable, PyObject *const *args, + size_t nargsf, PyObject *kwnames); + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET ((size_t)1 << (8 * sizeof(size_t) - 1)) + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(((size_t)(n)) & ~__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET)) +#else + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET 0 + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(n)) +#endif +#if PY_MAJOR_VERSION >= 0x030900B1 +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_CheckExact(func) +#else +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_Check(func) +#endif +#define __Pyx_CyOrPyCFunction_Check(func) PyCFunction_Check(func) +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) (((PyCFunctionObject*)(func))->m_ml->ml_meth) +#elif !CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) PyCFunction_GET_FUNCTION(func) +#endif +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FLAGS(func) (((PyCFunctionObject*)(func))->m_ml->ml_flags) +static CYTHON_INLINE PyObject* __Pyx_CyOrPyCFunction_GET_SELF(PyObject *func) { + return (__Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_STATIC) ? NULL : ((PyCFunctionObject*)func)->m_self; +} +#endif +static CYTHON_INLINE int __Pyx__IsSameCFunction(PyObject *func, void *cfunc) { +#if CYTHON_COMPILING_IN_LIMITED_API + return PyCFunction_Check(func) && PyCFunction_GetFunction(func) == (PyCFunction) cfunc; +#else + return PyCFunction_Check(func) && PyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +#endif +} +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCFunction(func, cfunc) +#if __PYX_LIMITED_VERSION_HEX < 0x030900B1 + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) ((void)m, PyType_FromSpecWithBases(s, b)) + typedef PyObject *(*__Pyx_PyCMethod)(PyObject *, PyTypeObject *, PyObject *const *, size_t, PyObject *); +#else + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) PyType_FromModuleAndSpec(m, s, b) + #define __Pyx_PyCMethod PyCMethod +#endif +#ifndef METH_METHOD + #define METH_METHOD 0x200 +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) + #define PyObject_Malloc(s) PyMem_Malloc(s) + #define PyObject_Free(p) PyMem_Free(p) + #define PyObject_Realloc(p) PyMem_Realloc(p) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) +#else + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyThreadState_Current PyThreadState_Get() +#elif !CYTHON_FAST_THREAD_STATE + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#elif PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyThreadState_Current PyThreadState_GetUnchecked() +#elif PY_VERSION_HEX >= 0x03060000 + #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() +#elif PY_VERSION_HEX >= 0x03000000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#else + #define __Pyx_PyThreadState_Current _PyThreadState_Current +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE void *__Pyx_PyModule_GetState(PyObject *op) +{ + void *result; + result = PyModule_GetState(op); + if (!result) + Py_FatalError("Couldn't find the module state"); + return result; +} +#endif +#define __Pyx_PyObject_GetSlot(obj, name, func_ctype) __Pyx_PyType_GetSlot(Py_TYPE(obj), name, func_ctype) +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((func_ctype) PyType_GetSlot((type), Py_##name)) +#else + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((type)->name) +#endif +#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) +#include "pythread.h" +#define Py_tss_NEEDS_INIT 0 +typedef int Py_tss_t; +static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { + *key = PyThread_create_key(); + return 0; +} +static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { + Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); + *key = Py_tss_NEEDS_INIT; + return key; +} +static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { + PyObject_Free(key); +} +static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { + return *key != Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { + PyThread_delete_key(*key); + *key = Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { + return PyThread_set_key_value(*key, value); +} +static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { + return PyThread_get_key_value(*key); +} +#endif +#if PY_MAJOR_VERSION < 3 + #if CYTHON_COMPILING_IN_PYPY + #if PYPY_VERSION_NUM < 0x07030600 + #if defined(__cplusplus) && __cplusplus >= 201402L + [[deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")]] + #elif defined(__GNUC__) || defined(__clang__) + __attribute__ ((__deprecated__("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6"))) + #elif defined(_MSC_VER) + __declspec(deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")) + #endif + static CYTHON_INLINE int PyGILState_Check(void) { + return 0; + } + #else // PYPY_VERSION_NUM < 0x07030600 + #endif // PYPY_VERSION_NUM < 0x07030600 + #else + static CYTHON_INLINE int PyGILState_Check(void) { + PyThreadState * tstate = _PyThreadState_Current; + return tstate && (tstate == PyGILState_GetThisThreadState()); + } + #endif +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030d0000 || defined(_PyDict_NewPresized) +#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) +#else +#define __Pyx_PyDict_NewPresized(n) PyDict_New() +#endif +#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION + #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) +#else + #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX > 0x030600B4 && PY_VERSION_HEX < 0x030d0000 && CYTHON_USE_UNICODE_INTERNALS +#define __Pyx_PyDict_GetItemStrWithError(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStr(PyObject *dict, PyObject *name) { + PyObject *res = __Pyx_PyDict_GetItemStrWithError(dict, name); + if (res == NULL) PyErr_Clear(); + return res; +} +#elif PY_MAJOR_VERSION >= 3 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07020000) +#define __Pyx_PyDict_GetItemStrWithError PyDict_GetItemWithError +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#else +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStrWithError(PyObject *dict, PyObject *name) { +#if CYTHON_COMPILING_IN_PYPY + return PyDict_GetItem(dict, name); +#else + PyDictEntry *ep; + PyDictObject *mp = (PyDictObject*) dict; + long hash = ((PyStringObject *) name)->ob_shash; + assert(hash != -1); + ep = (mp->ma_lookup)(mp, name, hash); + if (ep == NULL) { + return NULL; + } + return ep->me_value; +#endif +} +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#endif +#if CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyType_GetFlags(tp) (((PyTypeObject *)tp)->tp_flags) + #define __Pyx_PyType_HasFeature(type, feature) ((__Pyx_PyType_GetFlags(type) & (feature)) != 0) + #define __Pyx_PyObject_GetIterNextFunc(obj) (Py_TYPE(obj)->tp_iternext) +#else + #define __Pyx_PyType_GetFlags(tp) (PyType_GetFlags((PyTypeObject *)tp)) + #define __Pyx_PyType_HasFeature(type, feature) PyType_HasFeature(type, feature) + #define __Pyx_PyObject_GetIterNextFunc(obj) PyIter_Next +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyObject_GenericSetAttr((PyObject*)tp, k, v) +#else + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyDict_SetItem(tp->tp_dict, k, v) +#endif +#if CYTHON_USE_TYPE_SPECS && PY_VERSION_HEX >= 0x03080000 +#define __Pyx_PyHeapTypeObject_GC_Del(obj) {\ + PyTypeObject *type = Py_TYPE((PyObject*)obj);\ + assert(__Pyx_PyType_HasFeature(type, Py_TPFLAGS_HEAPTYPE));\ + PyObject_GC_Del(obj);\ + Py_DECREF(type);\ +} +#else +#define __Pyx_PyHeapTypeObject_GC_Del(obj) PyObject_GC_Del(obj) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define CYTHON_PEP393_ENABLED 1 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GetLength(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_ReadChar(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((void)u, 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((void)u, (0)) + #define __Pyx_PyUnicode_DATA(u) ((void*)u) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)k, PyUnicode_ReadChar((PyObject*)(d), i)) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GetLength(u)) +#elif PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) + #define CYTHON_PEP393_ENABLED 1 + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_READY(op) (0) + #else + #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ + 0 : _PyUnicode_Ready((PyObject *)(op))) + #endif + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) + #define __Pyx_PyUnicode_KIND(u) ((int)PyUnicode_KIND(u)) + #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) + #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, (Py_UCS4) ch) + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) + #else + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) + #endif + #endif +#else + #define CYTHON_PEP393_ENABLED 0 + #define PyUnicode_1BYTE_KIND 1 + #define PyUnicode_2BYTE_KIND 2 + #define PyUnicode_4BYTE_KIND 4 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535U : 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((int)sizeof(Py_UNICODE)) + #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = (Py_UNICODE) ch) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) +#else + #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ + PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #if !defined(PyUnicode_DecodeUnicodeEscape) + #define PyUnicode_DecodeUnicodeEscape(s, size, errors) PyUnicode_Decode(s, size, "unicode_escape", errors) + #endif + #if !defined(PyUnicode_Contains) || (PY_MAJOR_VERSION == 2 && PYPY_VERSION_NUM < 0x07030500) + #undef PyUnicode_Contains + #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) + #endif + #if !defined(PyByteArray_Check) + #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) + #endif + #if !defined(PyObject_Format) + #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) + #endif +#endif +#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) +#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) +#else + #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) +#endif +#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) + #define PyObject_ASCII(o) PyObject_Repr(o) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBaseString_Type PyUnicode_Type + #define PyStringObject PyUnicodeObject + #define PyString_Type PyUnicode_Type + #define PyString_Check PyUnicode_Check + #define PyString_CheckExact PyUnicode_CheckExact +#ifndef PyObject_Unicode + #define PyObject_Unicode PyObject_Str +#endif +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) + #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) +#else + #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) + #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) +#endif +#if CYTHON_COMPILING_IN_CPYTHON + #define __Pyx_PySequence_ListKeepNew(obj)\ + (likely(PyList_CheckExact(obj) && Py_REFCNT(obj) == 1) ? __Pyx_NewRef(obj) : PySequence_List(obj)) +#else + #define __Pyx_PySequence_ListKeepNew(obj) PySequence_List(obj) +#endif +#ifndef PySet_CheckExact + #define PySet_CheckExact(obj) __Pyx_IS_TYPE(obj, &PySet_Type) +#endif +#if PY_VERSION_HEX >= 0x030900A4 + #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) +#else + #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) +#endif +#if CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_PySequence_ITEM(o, i) PySequence_ITEM(o, i) + #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) (PyTuple_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyList_SET_ITEM(o, i, v) (PyList_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_GET_SIZE(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_GET_SIZE(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_GET_SIZE(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_GET_SIZE(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_GET_SIZE(o) +#else + #define __Pyx_PySequence_ITEM(o, i) PySequence_GetItem(o, i) + #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) PyTuple_SetItem(o, i, v) + #define __Pyx_PyList_SET_ITEM(o, i, v) PyList_SetItem(o, i, v) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_Size(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_Size(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_Size(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_Size(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_Size(o) +#endif +#if PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyImport_AddModuleRef(name) PyImport_AddModuleRef(name) +#else + static CYTHON_INLINE PyObject *__Pyx_PyImport_AddModuleRef(const char *name) { + PyObject *module = PyImport_AddModule(name); + Py_XINCREF(module); + return module; + } +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyIntObject PyLongObject + #define PyInt_Type PyLong_Type + #define PyInt_Check(op) PyLong_Check(op) + #define PyInt_CheckExact(op) PyLong_CheckExact(op) + #define __Pyx_Py3Int_Check(op) PyLong_Check(op) + #define __Pyx_Py3Int_CheckExact(op) PyLong_CheckExact(op) + #define PyInt_FromString PyLong_FromString + #define PyInt_FromUnicode PyLong_FromUnicode + #define PyInt_FromLong PyLong_FromLong + #define PyInt_FromSize_t PyLong_FromSize_t + #define PyInt_FromSsize_t PyLong_FromSsize_t + #define PyInt_AsLong PyLong_AsLong + #define PyInt_AS_LONG PyLong_AS_LONG + #define PyInt_AsSsize_t PyLong_AsSsize_t + #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask + #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask + #define PyNumber_Int PyNumber_Long +#else + #define __Pyx_Py3Int_Check(op) (PyLong_Check(op) || PyInt_Check(op)) + #define __Pyx_Py3Int_CheckExact(op) (PyLong_CheckExact(op) || PyInt_CheckExact(op)) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBoolObject PyLongObject +#endif +#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY + #ifndef PyUnicode_InternFromString + #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) + #endif +#endif +#if PY_VERSION_HEX < 0x030200A4 + typedef long Py_hash_t; + #define __Pyx_PyInt_FromHash_t PyInt_FromLong + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t +#else + #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t +#endif +#if CYTHON_USE_ASYNC_SLOTS + #if PY_VERSION_HEX >= 0x030500B1 + #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods + #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) + #else + #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) + #endif +#else + #define __Pyx_PyType_AsAsync(obj) NULL +#endif +#ifndef __Pyx_PyAsyncMethodsStruct + typedef struct { + unaryfunc am_await; + unaryfunc am_aiter; + unaryfunc am_anext; + } __Pyx_PyAsyncMethodsStruct; +#endif + +#if defined(_WIN32) || defined(WIN32) || defined(MS_WINDOWS) + #if !defined(_USE_MATH_DEFINES) + #define _USE_MATH_DEFINES + #endif +#endif +#include +#ifdef NAN +#define __PYX_NAN() ((float) NAN) +#else +static CYTHON_INLINE float __PYX_NAN() { + float value; + memset(&value, 0xFF, sizeof(value)); + return value; +} +#endif +#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) +#define __Pyx_truncl trunc +#else +#define __Pyx_truncl truncl +#endif + +#define __PYX_MARK_ERR_POS(f_index, lineno) \ + { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } +#define __PYX_ERR(f_index, lineno, Ln_error) \ + { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } + +#ifdef CYTHON_EXTERN_C + #undef __PYX_EXTERN_C + #define __PYX_EXTERN_C CYTHON_EXTERN_C +#elif defined(__PYX_EXTERN_C) + #ifdef _MSC_VER + #pragma message ("Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead.") + #else + #warning Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead. + #endif +#else + #define __PYX_EXTERN_C extern "C++" +#endif + +#define __PYX_HAVE__rednose__helpers__ekf_sym_pyx +#define __PYX_HAVE_API__rednose__helpers__ekf_sym_pyx +/* Early includes */ +#include +#include +#include "ios" +#include "new" +#include "stdexcept" +#include "typeinfo" +#include +#include + + /* Using NumPy API declarations from "numpy/__init__.cython-30.pxd" */ + +#include "numpy/arrayobject.h" +#include "numpy/ndarrayobject.h" +#include "numpy/ndarraytypes.h" +#include "numpy/arrayscalars.h" +#include "numpy/ufuncobject.h" +#include +#include "rednose/helpers/ekf_load.h" +#include "rednose/helpers/ekf_sym.h" +#include "pythread.h" +#include +#ifdef _OPENMP +#include +#endif /* _OPENMP */ + +#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) +#define CYTHON_WITHOUT_ASSERTIONS +#endif + +typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; + const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; + +#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) +#define __PYX_DEFAULT_STRING_ENCODING "" +#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString +#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#define __Pyx_uchar_cast(c) ((unsigned char)c) +#define __Pyx_long_cast(x) ((long)x) +#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ + (sizeof(type) < sizeof(Py_ssize_t)) ||\ + (sizeof(type) > sizeof(Py_ssize_t) &&\ + likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX) &&\ + (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ + v == (type)PY_SSIZE_T_MIN))) ||\ + (sizeof(type) == sizeof(Py_ssize_t) &&\ + (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX))) ) +static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { + return (size_t) i < (size_t) limit; +} +#if defined (__cplusplus) && __cplusplus >= 201103L + #include + #define __Pyx_sst_abs(value) std::abs(value) +#elif SIZEOF_INT >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) abs(value) +#elif SIZEOF_LONG >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) labs(value) +#elif defined (_MSC_VER) + #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) +#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define __Pyx_sst_abs(value) llabs(value) +#elif defined (__GNUC__) + #define __Pyx_sst_abs(value) __builtin_llabs(value) +#else + #define __Pyx_sst_abs(value) ((value<0) ? -value : value) +#endif +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s); +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char*); +#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) +#define __Pyx_PyBytes_FromString PyBytes_FromString +#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); +#if PY_MAJOR_VERSION < 3 + #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#else + #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize +#endif +#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyObject_AsWritableString(s) ((char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableSString(s) ((signed char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) +#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) +#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) +#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) +#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const wchar_t *u) +{ + const wchar_t *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#else +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) +{ + const Py_UNICODE *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#endif +#define __Pyx_PyUnicode_FromOrdinal(o) PyUnicode_FromOrdinal((int)o) +#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) +#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode +#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode +#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) +#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); +#define __Pyx_PySequence_Tuple(obj)\ + (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); +#if CYTHON_ASSUME_SAFE_MACROS +#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) +#else +#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) +#endif +#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) +#else +#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) +#endif +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_VERSION_HEX >= 0x030C00A7 + #ifndef _PyLong_SIGN_MASK + #define _PyLong_SIGN_MASK 3 + #endif + #ifndef _PyLong_NON_SIZE_BITS + #define _PyLong_NON_SIZE_BITS 3 + #endif + #define __Pyx_PyLong_Sign(x) (((PyLongObject*)x)->long_value.lv_tag & _PyLong_SIGN_MASK) + #define __Pyx_PyLong_IsNeg(x) ((__Pyx_PyLong_Sign(x) & 2) != 0) + #define __Pyx_PyLong_IsNonNeg(x) (!__Pyx_PyLong_IsNeg(x)) + #define __Pyx_PyLong_IsZero(x) (__Pyx_PyLong_Sign(x) & 1) + #define __Pyx_PyLong_IsPos(x) (__Pyx_PyLong_Sign(x) == 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) (__Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) ((Py_ssize_t) (((PyLongObject*)x)->long_value.lv_tag >> _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_SignedDigitCount(x)\ + ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * __Pyx_PyLong_DigitCount(x)) + #if defined(PyUnstable_Long_IsCompact) && defined(PyUnstable_Long_CompactValue) + #define __Pyx_PyLong_IsCompact(x) PyUnstable_Long_IsCompact((PyLongObject*) x) + #define __Pyx_PyLong_CompactValue(x) PyUnstable_Long_CompactValue((PyLongObject*) x) + #else + #define __Pyx_PyLong_IsCompact(x) (((PyLongObject*)x)->long_value.lv_tag < (2 << _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_CompactValue(x) ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * (Py_ssize_t) __Pyx_PyLong_Digits(x)[0]) + #endif + typedef Py_ssize_t __Pyx_compact_pylong; + typedef size_t __Pyx_compact_upylong; + #else + #define __Pyx_PyLong_IsNeg(x) (Py_SIZE(x) < 0) + #define __Pyx_PyLong_IsNonNeg(x) (Py_SIZE(x) >= 0) + #define __Pyx_PyLong_IsZero(x) (Py_SIZE(x) == 0) + #define __Pyx_PyLong_IsPos(x) (Py_SIZE(x) > 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) ((Py_SIZE(x) == 0) ? 0 : __Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) __Pyx_sst_abs(Py_SIZE(x)) + #define __Pyx_PyLong_SignedDigitCount(x) Py_SIZE(x) + #define __Pyx_PyLong_IsCompact(x) (Py_SIZE(x) == 0 || Py_SIZE(x) == 1 || Py_SIZE(x) == -1) + #define __Pyx_PyLong_CompactValue(x)\ + ((Py_SIZE(x) == 0) ? (sdigit) 0 : ((Py_SIZE(x) < 0) ? -(sdigit)__Pyx_PyLong_Digits(x)[0] : (sdigit)__Pyx_PyLong_Digits(x)[0])) + typedef sdigit __Pyx_compact_pylong; + typedef digit __Pyx_compact_upylong; + #endif + #if PY_VERSION_HEX >= 0x030C00A5 + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->long_value.ob_digit) + #else + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->ob_digit) + #endif +#endif +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII +#include +static int __Pyx_sys_getdefaultencoding_not_ascii; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + PyObject* ascii_chars_u = NULL; + PyObject* ascii_chars_b = NULL; + const char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + if (strcmp(default_encoding_c, "ascii") == 0) { + __Pyx_sys_getdefaultencoding_not_ascii = 0; + } else { + char ascii_chars[128]; + int c; + for (c = 0; c < 128; c++) { + ascii_chars[c] = (char) c; + } + __Pyx_sys_getdefaultencoding_not_ascii = 1; + ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); + if (!ascii_chars_u) goto bad; + ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); + if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { + PyErr_Format( + PyExc_ValueError, + "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", + default_encoding_c); + goto bad; + } + Py_DECREF(ascii_chars_u); + Py_DECREF(ascii_chars_b); + } + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + Py_XDECREF(ascii_chars_u); + Py_XDECREF(ascii_chars_b); + return -1; +} +#endif +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3 +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL) +#else +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL) +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#include +static char* __PYX_DEFAULT_STRING_ENCODING; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1); + if (!__PYX_DEFAULT_STRING_ENCODING) goto bad; + strcpy(__PYX_DEFAULT_STRING_ENCODING, default_encoding_c); + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + return -1; +} +#endif +#endif + + +/* Test for GCC > 2.95 */ +#if defined(__GNUC__) && (__GNUC__ > 2 || (__GNUC__ == 2 && (__GNUC_MINOR__ > 95))) + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#else /* !__GNUC__ or GCC < 2.95 */ + #define likely(x) (x) + #define unlikely(x) (x) +#endif /* __GNUC__ */ +static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void)ptr; } + +#if !CYTHON_USE_MODULE_STATE +static PyObject *__pyx_m = NULL; +#endif +static int __pyx_lineno; +static int __pyx_clineno = 0; +static const char * __pyx_cfilenm = __FILE__; +static const char *__pyx_filename; + +/* Header.proto */ +#if !defined(CYTHON_CCOMPLEX) + #if defined(__cplusplus) + #define CYTHON_CCOMPLEX 1 + #elif (defined(_Complex_I) && !defined(_MSC_VER)) || ((defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) && !defined(__STDC_NO_COMPLEX__) && !defined(_MSC_VER)) + #define CYTHON_CCOMPLEX 1 + #else + #define CYTHON_CCOMPLEX 0 + #endif +#endif +#if CYTHON_CCOMPLEX + #ifdef __cplusplus + #include + #else + #include + #endif +#endif +#if CYTHON_CCOMPLEX && !defined(__cplusplus) && defined(__sun__) && defined(__GNUC__) + #undef _Complex_I + #define _Complex_I 1.0fj +#endif + +/* #### Code section: filename_table ### */ + +static const char *__pyx_f[] = { + "rednose/helpers/ekf_sym_pyx.pyx", + "", + "__init__.cython-30.pxd", + "type.pxd", +}; +/* #### Code section: utility_code_proto_before_types ### */ +/* ForceInitThreads.proto */ +#ifndef __PYX_FORCE_INIT_THREADS + #define __PYX_FORCE_INIT_THREADS 0 +#endif + +/* NoFastGil.proto */ +#define __Pyx_PyGILState_Ensure PyGILState_Ensure +#define __Pyx_PyGILState_Release PyGILState_Release +#define __Pyx_FastGIL_Remember() +#define __Pyx_FastGIL_Forget() +#define __Pyx_FastGilFuncInit() + +/* BufferFormatStructs.proto */ +struct __Pyx_StructField_; +#define __PYX_BUF_FLAGS_PACKED_STRUCT (1 << 0) +typedef struct { + const char* name; + struct __Pyx_StructField_* fields; + size_t size; + size_t arraysize[8]; + int ndim; + char typegroup; + char is_unsigned; + int flags; +} __Pyx_TypeInfo; +typedef struct __Pyx_StructField_ { + __Pyx_TypeInfo* type; + const char* name; + size_t offset; +} __Pyx_StructField; +typedef struct { + __Pyx_StructField* field; + size_t parent_offset; +} __Pyx_BufFmt_StackElem; +typedef struct { + __Pyx_StructField root; + __Pyx_BufFmt_StackElem* head; + size_t fmt_offset; + size_t new_count, enc_count; + size_t struct_alignment; + int is_complex; + char enc_type; + char new_packmode; + char enc_packmode; + char is_valid_array; +} __Pyx_BufFmt_Context; + +/* Atomics.proto */ +#include +#ifndef CYTHON_ATOMICS + #define CYTHON_ATOMICS 1 +#endif +#define __PYX_CYTHON_ATOMICS_ENABLED() CYTHON_ATOMICS +#define __pyx_atomic_int_type int +#define __pyx_nonatomic_int_type int +#if CYTHON_ATOMICS && (defined(__STDC_VERSION__) &&\ + (__STDC_VERSION__ >= 201112L) &&\ + !defined(__STDC_NO_ATOMICS__)) + #include +#elif CYTHON_ATOMICS && (defined(__cplusplus) && (\ + (__cplusplus >= 201103L) ||\ + (defined(_MSC_VER) && _MSC_VER >= 1700))) + #include +#endif +#if CYTHON_ATOMICS && (defined(__STDC_VERSION__) &&\ + (__STDC_VERSION__ >= 201112L) &&\ + !defined(__STDC_NO_ATOMICS__) &&\ + ATOMIC_INT_LOCK_FREE == 2) + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type atomic_int + #define __pyx_atomic_incr_aligned(value) atomic_fetch_add_explicit(value, 1, memory_order_relaxed) + #define __pyx_atomic_decr_aligned(value) atomic_fetch_sub_explicit(value, 1, memory_order_acq_rel) + #if defined(__PYX_DEBUG_ATOMICS) && defined(_MSC_VER) + #pragma message ("Using standard C atomics") + #elif defined(__PYX_DEBUG_ATOMICS) + #warning "Using standard C atomics" + #endif +#elif CYTHON_ATOMICS && (defined(__cplusplus) && (\ + (__cplusplus >= 201103L) ||\ +\ + (defined(_MSC_VER) && _MSC_VER >= 1700)) &&\ + ATOMIC_INT_LOCK_FREE == 2) + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type std::atomic_int + #define __pyx_atomic_incr_aligned(value) std::atomic_fetch_add_explicit(value, 1, std::memory_order_relaxed) + #define __pyx_atomic_decr_aligned(value) std::atomic_fetch_sub_explicit(value, 1, std::memory_order_acq_rel) + #if defined(__PYX_DEBUG_ATOMICS) && defined(_MSC_VER) + #pragma message ("Using standard C++ atomics") + #elif defined(__PYX_DEBUG_ATOMICS) + #warning "Using standard C++ atomics" + #endif +#elif CYTHON_ATOMICS && (__GNUC__ >= 5 || (__GNUC__ == 4 &&\ + (__GNUC_MINOR__ > 1 ||\ + (__GNUC_MINOR__ == 1 && __GNUC_PATCHLEVEL__ >= 2)))) + #define __pyx_atomic_incr_aligned(value) __sync_fetch_and_add(value, 1) + #define __pyx_atomic_decr_aligned(value) __sync_fetch_and_sub(value, 1) + #ifdef __PYX_DEBUG_ATOMICS + #warning "Using GNU atomics" + #endif +#elif CYTHON_ATOMICS && defined(_MSC_VER) + #include + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type long + #undef __pyx_nonatomic_int_type + #define __pyx_nonatomic_int_type long + #pragma intrinsic (_InterlockedExchangeAdd) + #define __pyx_atomic_incr_aligned(value) _InterlockedExchangeAdd(value, 1) + #define __pyx_atomic_decr_aligned(value) _InterlockedExchangeAdd(value, -1) + #ifdef __PYX_DEBUG_ATOMICS + #pragma message ("Using MSVC atomics") + #endif +#else + #undef CYTHON_ATOMICS + #define CYTHON_ATOMICS 0 + #ifdef __PYX_DEBUG_ATOMICS + #warning "Not using atomics" + #endif +#endif +#if CYTHON_ATOMICS + #define __pyx_add_acquisition_count(memview)\ + __pyx_atomic_incr_aligned(__pyx_get_slice_count_pointer(memview)) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_atomic_decr_aligned(__pyx_get_slice_count_pointer(memview)) +#else + #define __pyx_add_acquisition_count(memview)\ + __pyx_add_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_sub_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) +#endif + +/* MemviewSliceStruct.proto */ +struct __pyx_memoryview_obj; +typedef struct { + struct __pyx_memoryview_obj *memview; + char *data; + Py_ssize_t shape[8]; + Py_ssize_t strides[8]; + Py_ssize_t suboffsets[8]; +} __Pyx_memviewslice; +#define __Pyx_MemoryView_Len(m) (m.shape[0]) + +/* #### Code section: numeric_typedefs ### */ + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":730 + * # in Cython to enable them only on the right systems. + * + * ctypedef npy_int8 int8_t # <<<<<<<<<<<<<< + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t + */ +typedef npy_int8 __pyx_t_5numpy_int8_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":731 + * + * ctypedef npy_int8 int8_t + * ctypedef npy_int16 int16_t # <<<<<<<<<<<<<< + * ctypedef npy_int32 int32_t + * ctypedef npy_int64 int64_t + */ +typedef npy_int16 __pyx_t_5numpy_int16_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":732 + * ctypedef npy_int8 int8_t + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t # <<<<<<<<<<<<<< + * ctypedef npy_int64 int64_t + * #ctypedef npy_int96 int96_t + */ +typedef npy_int32 __pyx_t_5numpy_int32_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":733 + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t + * ctypedef npy_int64 int64_t # <<<<<<<<<<<<<< + * #ctypedef npy_int96 int96_t + * #ctypedef npy_int128 int128_t + */ +typedef npy_int64 __pyx_t_5numpy_int64_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":737 + * #ctypedef npy_int128 int128_t + * + * ctypedef npy_uint8 uint8_t # <<<<<<<<<<<<<< + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t + */ +typedef npy_uint8 __pyx_t_5numpy_uint8_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":738 + * + * ctypedef npy_uint8 uint8_t + * ctypedef npy_uint16 uint16_t # <<<<<<<<<<<<<< + * ctypedef npy_uint32 uint32_t + * ctypedef npy_uint64 uint64_t + */ +typedef npy_uint16 __pyx_t_5numpy_uint16_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":739 + * ctypedef npy_uint8 uint8_t + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t # <<<<<<<<<<<<<< + * ctypedef npy_uint64 uint64_t + * #ctypedef npy_uint96 uint96_t + */ +typedef npy_uint32 __pyx_t_5numpy_uint32_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":740 + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t + * ctypedef npy_uint64 uint64_t # <<<<<<<<<<<<<< + * #ctypedef npy_uint96 uint96_t + * #ctypedef npy_uint128 uint128_t + */ +typedef npy_uint64 __pyx_t_5numpy_uint64_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":744 + * #ctypedef npy_uint128 uint128_t + * + * ctypedef npy_float32 float32_t # <<<<<<<<<<<<<< + * ctypedef npy_float64 float64_t + * #ctypedef npy_float80 float80_t + */ +typedef npy_float32 __pyx_t_5numpy_float32_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":745 + * + * ctypedef npy_float32 float32_t + * ctypedef npy_float64 float64_t # <<<<<<<<<<<<<< + * #ctypedef npy_float80 float80_t + * #ctypedef npy_float128 float128_t + */ +typedef npy_float64 __pyx_t_5numpy_float64_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":754 + * # The int types are mapped a bit surprising -- + * # numpy.int corresponds to 'l' and numpy.long to 'q' + * ctypedef npy_long int_t # <<<<<<<<<<<<<< + * ctypedef npy_longlong longlong_t + * + */ +typedef npy_long __pyx_t_5numpy_int_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":755 + * # numpy.int corresponds to 'l' and numpy.long to 'q' + * ctypedef npy_long int_t + * ctypedef npy_longlong longlong_t # <<<<<<<<<<<<<< + * + * ctypedef npy_ulong uint_t + */ +typedef npy_longlong __pyx_t_5numpy_longlong_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":757 + * ctypedef npy_longlong longlong_t + * + * ctypedef npy_ulong uint_t # <<<<<<<<<<<<<< + * ctypedef npy_ulonglong ulonglong_t + * + */ +typedef npy_ulong __pyx_t_5numpy_uint_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":758 + * + * ctypedef npy_ulong uint_t + * ctypedef npy_ulonglong ulonglong_t # <<<<<<<<<<<<<< + * + * ctypedef npy_intp intp_t + */ +typedef npy_ulonglong __pyx_t_5numpy_ulonglong_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":760 + * ctypedef npy_ulonglong ulonglong_t + * + * ctypedef npy_intp intp_t # <<<<<<<<<<<<<< + * ctypedef npy_uintp uintp_t + * + */ +typedef npy_intp __pyx_t_5numpy_intp_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":761 + * + * ctypedef npy_intp intp_t + * ctypedef npy_uintp uintp_t # <<<<<<<<<<<<<< + * + * ctypedef npy_double float_t + */ +typedef npy_uintp __pyx_t_5numpy_uintp_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":763 + * ctypedef npy_uintp uintp_t + * + * ctypedef npy_double float_t # <<<<<<<<<<<<<< + * ctypedef npy_double double_t + * ctypedef npy_longdouble longdouble_t + */ +typedef npy_double __pyx_t_5numpy_float_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":764 + * + * ctypedef npy_double float_t + * ctypedef npy_double double_t # <<<<<<<<<<<<<< + * ctypedef npy_longdouble longdouble_t + * + */ +typedef npy_double __pyx_t_5numpy_double_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":765 + * ctypedef npy_double float_t + * ctypedef npy_double double_t + * ctypedef npy_longdouble longdouble_t # <<<<<<<<<<<<<< + * + * ctypedef npy_cfloat cfloat_t + */ +typedef npy_longdouble __pyx_t_5numpy_longdouble_t; +/* #### Code section: complex_type_declarations ### */ +/* Declarations.proto */ +#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #ifdef __cplusplus + typedef ::std::complex< float > __pyx_t_float_complex; + #else + typedef float _Complex __pyx_t_float_complex; + #endif +#else + typedef struct { float real, imag; } __pyx_t_float_complex; +#endif +static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float, float); + +/* Declarations.proto */ +#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #ifdef __cplusplus + typedef ::std::complex< double > __pyx_t_double_complex; + #else + typedef double _Complex __pyx_t_double_complex; + #endif +#else + typedef struct { double real, imag; } __pyx_t_double_complex; +#endif +static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double, double); + +/* #### Code section: type_declarations ### */ + +/*--- Type declarations ---*/ +struct __pyx_obj_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx; +struct __pyx_array_obj; +struct __pyx_MemviewEnum_obj; +struct __pyx_memoryview_obj; +struct __pyx_memoryviewslice_obj; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":767 + * ctypedef npy_longdouble longdouble_t + * + * ctypedef npy_cfloat cfloat_t # <<<<<<<<<<<<<< + * ctypedef npy_cdouble cdouble_t + * ctypedef npy_clongdouble clongdouble_t + */ +typedef npy_cfloat __pyx_t_5numpy_cfloat_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":768 + * + * ctypedef npy_cfloat cfloat_t + * ctypedef npy_cdouble cdouble_t # <<<<<<<<<<<<<< + * ctypedef npy_clongdouble clongdouble_t + * + */ +typedef npy_cdouble __pyx_t_5numpy_cdouble_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":769 + * ctypedef npy_cfloat cfloat_t + * ctypedef npy_cdouble cdouble_t + * ctypedef npy_clongdouble clongdouble_t # <<<<<<<<<<<<<< + * + * ctypedef npy_cdouble complex_t + */ +typedef npy_clongdouble __pyx_t_5numpy_clongdouble_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":771 + * ctypedef npy_clongdouble clongdouble_t + * + * ctypedef npy_cdouble complex_t # <<<<<<<<<<<<<< + * + * cdef inline object PyArray_MultiIterNew1(a): + */ +typedef npy_cdouble __pyx_t_5numpy_complex_t; + +/* "rednose/helpers/ekf_sym_pyx.pyx":85 + * return np.copy(np.asarray(mem_view, dtype=np.double, order="C")) + * + * cdef class EKF_sym_pyx: # <<<<<<<<<<<<<< + * cdef EKFSym* ekf + * def __cinit__(self, str gen_dir, str name, np.ndarray[np.float64_t, ndim=2] Q, + */ +struct __pyx_obj_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx { + PyObject_HEAD + EKFS::EKFSym *ekf; +}; + + +/* "View.MemoryView":114 + * @cython.collection_type("sequence") + * @cname("__pyx_array") + * cdef class array: # <<<<<<<<<<<<<< + * + * cdef: + */ +struct __pyx_array_obj { + PyObject_HEAD + struct __pyx_vtabstruct_array *__pyx_vtab; + char *data; + Py_ssize_t len; + char *format; + int ndim; + Py_ssize_t *_shape; + Py_ssize_t *_strides; + Py_ssize_t itemsize; + PyObject *mode; + PyObject *_format; + void (*callback_free_data)(void *); + int free_data; + int dtype_is_object; +}; + + +/* "View.MemoryView":302 + * + * @cname('__pyx_MemviewEnum') + * cdef class Enum(object): # <<<<<<<<<<<<<< + * cdef object name + * def __init__(self, name): + */ +struct __pyx_MemviewEnum_obj { + PyObject_HEAD + PyObject *name; +}; + + +/* "View.MemoryView":337 + * + * @cname('__pyx_memoryview') + * cdef class memoryview: # <<<<<<<<<<<<<< + * + * cdef object obj + */ +struct __pyx_memoryview_obj { + PyObject_HEAD + struct __pyx_vtabstruct_memoryview *__pyx_vtab; + PyObject *obj; + PyObject *_size; + PyObject *_array_interface; + PyThread_type_lock lock; + __pyx_atomic_int_type acquisition_count; + Py_buffer view; + int flags; + int dtype_is_object; + __Pyx_TypeInfo *typeinfo; +}; + + +/* "View.MemoryView":952 + * @cython.collection_type("sequence") + * @cname('__pyx_memoryviewslice') + * cdef class _memoryviewslice(memoryview): # <<<<<<<<<<<<<< + * "Internal class for passing memoryview slices to Python" + * + */ +struct __pyx_memoryviewslice_obj { + struct __pyx_memoryview_obj __pyx_base; + __Pyx_memviewslice from_slice; + PyObject *from_object; + PyObject *(*to_object_func)(char *); + int (*to_dtype_func)(char *, PyObject *); +}; + + + +/* "View.MemoryView":114 + * @cython.collection_type("sequence") + * @cname("__pyx_array") + * cdef class array: # <<<<<<<<<<<<<< + * + * cdef: + */ + +struct __pyx_vtabstruct_array { + PyObject *(*get_memview)(struct __pyx_array_obj *); +}; +static struct __pyx_vtabstruct_array *__pyx_vtabptr_array; + + +/* "View.MemoryView":337 + * + * @cname('__pyx_memoryview') + * cdef class memoryview: # <<<<<<<<<<<<<< + * + * cdef object obj + */ + +struct __pyx_vtabstruct_memoryview { + char *(*get_item_pointer)(struct __pyx_memoryview_obj *, PyObject *); + PyObject *(*is_slice)(struct __pyx_memoryview_obj *, PyObject *); + PyObject *(*setitem_slice_assignment)(struct __pyx_memoryview_obj *, PyObject *, PyObject *); + PyObject *(*setitem_slice_assign_scalar)(struct __pyx_memoryview_obj *, struct __pyx_memoryview_obj *, PyObject *); + PyObject *(*setitem_indexed)(struct __pyx_memoryview_obj *, PyObject *, PyObject *); + PyObject *(*convert_item_to_object)(struct __pyx_memoryview_obj *, char *); + PyObject *(*assign_item_from_object)(struct __pyx_memoryview_obj *, char *, PyObject *); + PyObject *(*_get_base)(struct __pyx_memoryview_obj *); +}; +static struct __pyx_vtabstruct_memoryview *__pyx_vtabptr_memoryview; + + +/* "View.MemoryView":952 + * @cython.collection_type("sequence") + * @cname('__pyx_memoryviewslice') + * cdef class _memoryviewslice(memoryview): # <<<<<<<<<<<<<< + * "Internal class for passing memoryview slices to Python" + * + */ + +struct __pyx_vtabstruct__memoryviewslice { + struct __pyx_vtabstruct_memoryview __pyx_base; +}; +static struct __pyx_vtabstruct__memoryviewslice *__pyx_vtabptr__memoryviewslice; +/* #### Code section: utility_code_proto ### */ + +/* --- Runtime support code (head) --- */ +/* Refnanny.proto */ +#ifndef CYTHON_REFNANNY + #define CYTHON_REFNANNY 0 +#endif +#if CYTHON_REFNANNY + typedef struct { + void (*INCREF)(void*, PyObject*, Py_ssize_t); + void (*DECREF)(void*, PyObject*, Py_ssize_t); + void (*GOTREF)(void*, PyObject*, Py_ssize_t); + void (*GIVEREF)(void*, PyObject*, Py_ssize_t); + void* (*SetupContext)(const char*, Py_ssize_t, const char*); + void (*FinishContext)(void**); + } __Pyx_RefNannyAPIStruct; + static __Pyx_RefNannyAPIStruct *__Pyx_RefNanny = NULL; + static __Pyx_RefNannyAPIStruct *__Pyx_RefNannyImportAPI(const char *modname); + #define __Pyx_RefNannyDeclarations void *__pyx_refnanny = NULL; +#ifdef WITH_THREAD + #define __Pyx_RefNannySetupContext(name, acquire_gil)\ + if (acquire_gil) {\ + PyGILState_STATE __pyx_gilstate_save = PyGILState_Ensure();\ + __pyx_refnanny = __Pyx_RefNanny->SetupContext((name), (__LINE__), (__FILE__));\ + PyGILState_Release(__pyx_gilstate_save);\ + } else {\ + __pyx_refnanny = __Pyx_RefNanny->SetupContext((name), (__LINE__), (__FILE__));\ + } + #define __Pyx_RefNannyFinishContextNogil() {\ + PyGILState_STATE __pyx_gilstate_save = PyGILState_Ensure();\ + __Pyx_RefNannyFinishContext();\ + PyGILState_Release(__pyx_gilstate_save);\ + } +#else + #define __Pyx_RefNannySetupContext(name, acquire_gil)\ + __pyx_refnanny = __Pyx_RefNanny->SetupContext((name), (__LINE__), (__FILE__)) + #define __Pyx_RefNannyFinishContextNogil() __Pyx_RefNannyFinishContext() +#endif + #define __Pyx_RefNannyFinishContextNogil() {\ + PyGILState_STATE __pyx_gilstate_save = PyGILState_Ensure();\ + __Pyx_RefNannyFinishContext();\ + PyGILState_Release(__pyx_gilstate_save);\ + } + #define __Pyx_RefNannyFinishContext()\ + __Pyx_RefNanny->FinishContext(&__pyx_refnanny) + #define __Pyx_INCREF(r) __Pyx_RefNanny->INCREF(__pyx_refnanny, (PyObject *)(r), (__LINE__)) + #define __Pyx_DECREF(r) __Pyx_RefNanny->DECREF(__pyx_refnanny, (PyObject *)(r), (__LINE__)) + #define __Pyx_GOTREF(r) __Pyx_RefNanny->GOTREF(__pyx_refnanny, (PyObject *)(r), (__LINE__)) + #define __Pyx_GIVEREF(r) __Pyx_RefNanny->GIVEREF(__pyx_refnanny, (PyObject *)(r), (__LINE__)) + #define __Pyx_XINCREF(r) do { if((r) == NULL); else {__Pyx_INCREF(r); }} while(0) + #define __Pyx_XDECREF(r) do { if((r) == NULL); else {__Pyx_DECREF(r); }} while(0) + #define __Pyx_XGOTREF(r) do { if((r) == NULL); else {__Pyx_GOTREF(r); }} while(0) + #define __Pyx_XGIVEREF(r) do { if((r) == NULL); else {__Pyx_GIVEREF(r);}} while(0) +#else + #define __Pyx_RefNannyDeclarations + #define __Pyx_RefNannySetupContext(name, acquire_gil) + #define __Pyx_RefNannyFinishContextNogil() + #define __Pyx_RefNannyFinishContext() + #define __Pyx_INCREF(r) Py_INCREF(r) + #define __Pyx_DECREF(r) Py_DECREF(r) + #define __Pyx_GOTREF(r) + #define __Pyx_GIVEREF(r) + #define __Pyx_XINCREF(r) Py_XINCREF(r) + #define __Pyx_XDECREF(r) Py_XDECREF(r) + #define __Pyx_XGOTREF(r) + #define __Pyx_XGIVEREF(r) +#endif +#define __Pyx_Py_XDECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; Py_XDECREF(tmp);\ + } while (0) +#define __Pyx_XDECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_XDECREF(tmp);\ + } while (0) +#define __Pyx_DECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_DECREF(tmp);\ + } while (0) +#define __Pyx_CLEAR(r) do { PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);} while(0) +#define __Pyx_XCLEAR(r) do { if((r) != NULL) {PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);}} while(0) + +/* PyErrExceptionMatches.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_ExceptionMatches(err) __Pyx_PyErr_ExceptionMatchesInState(__pyx_tstate, err) +static CYTHON_INLINE int __Pyx_PyErr_ExceptionMatchesInState(PyThreadState* tstate, PyObject* err); +#else +#define __Pyx_PyErr_ExceptionMatches(err) PyErr_ExceptionMatches(err) +#endif + +/* PyThreadStateGet.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyThreadState_declare PyThreadState *__pyx_tstate; +#define __Pyx_PyThreadState_assign __pyx_tstate = __Pyx_PyThreadState_Current; +#if PY_VERSION_HEX >= 0x030C00A6 +#define __Pyx_PyErr_Occurred() (__pyx_tstate->current_exception != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->current_exception ? (PyObject*) Py_TYPE(__pyx_tstate->current_exception) : (PyObject*) NULL) +#else +#define __Pyx_PyErr_Occurred() (__pyx_tstate->curexc_type != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->curexc_type) +#endif +#else +#define __Pyx_PyThreadState_declare +#define __Pyx_PyThreadState_assign +#define __Pyx_PyErr_Occurred() (PyErr_Occurred() != NULL) +#define __Pyx_PyErr_CurrentExceptionType() PyErr_Occurred() +#endif + +/* PyErrFetchRestore.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_Clear() __Pyx_ErrRestore(NULL, NULL, NULL) +#define __Pyx_ErrRestoreWithState(type, value, tb) __Pyx_ErrRestoreInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) __Pyx_ErrFetchInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) __Pyx_ErrRestoreInState(__pyx_tstate, type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) __Pyx_ErrFetchInState(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A6 +#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) +#else +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#endif +#else +#define __Pyx_PyErr_Clear() PyErr_Clear() +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) +#endif + +/* PyObjectGetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n) +#endif + +/* PyObjectGetAttrStrNoError.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); + +/* GetBuiltinName.proto */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name); + +/* TupleAndListFromArray.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n); +static CYTHON_INLINE PyObject* __Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n); +#endif + +/* IncludeStringH.proto */ +#include + +/* BytesEquals.proto */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals); + +/* UnicodeEquals.proto */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals); + +/* fastcall.proto */ +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_VARARGS(args, i) PySequence_GetItem(args, i) +#elif CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GET_ITEM(args, i) +#else + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GetItem(args, i) +#endif +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_NewRef_VARARGS(arg) __Pyx_NewRef(arg) + #define __Pyx_Arg_XDECREF_VARARGS(arg) Py_XDECREF(arg) +#else + #define __Pyx_Arg_NewRef_VARARGS(arg) arg + #define __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#define __Pyx_NumKwargs_VARARGS(kwds) PyDict_Size(kwds) +#define __Pyx_KwValues_VARARGS(args, nargs) NULL +#define __Pyx_GetKwValue_VARARGS(kw, kwvalues, s) __Pyx_PyDict_GetItemStrWithError(kw, s) +#define __Pyx_KwargsAsDict_VARARGS(kw, kwvalues) PyDict_Copy(kw) +#if CYTHON_METH_FASTCALL + #define __Pyx_Arg_FASTCALL(args, i) args[i] + #define __Pyx_NumKwargs_FASTCALL(kwds) PyTuple_GET_SIZE(kwds) + #define __Pyx_KwValues_FASTCALL(args, nargs) ((args) + (nargs)) + static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); + #else + #define __Pyx_KwargsAsDict_FASTCALL(kw, kwvalues) _PyStack_AsDict(kwvalues, kw) + #endif + #define __Pyx_Arg_NewRef_FASTCALL(arg) arg /* no-op, __Pyx_Arg_FASTCALL is direct and this needs + to have the same reference counting */ + #define __Pyx_Arg_XDECREF_FASTCALL(arg) +#else + #define __Pyx_Arg_FASTCALL __Pyx_Arg_VARARGS + #define __Pyx_NumKwargs_FASTCALL __Pyx_NumKwargs_VARARGS + #define __Pyx_KwValues_FASTCALL __Pyx_KwValues_VARARGS + #define __Pyx_GetKwValue_FASTCALL __Pyx_GetKwValue_VARARGS + #define __Pyx_KwargsAsDict_FASTCALL __Pyx_KwargsAsDict_VARARGS + #define __Pyx_Arg_NewRef_FASTCALL(arg) __Pyx_Arg_NewRef_VARARGS(arg) + #define __Pyx_Arg_XDECREF_FASTCALL(arg) __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_VARARGS(args, start), stop - start) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_FASTCALL(args, start), stop - start) +#else +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) PyTuple_GetSlice(args, start, stop) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) PyTuple_GetSlice(args, start, stop) +#endif + +/* RaiseArgTupleInvalid.proto */ +static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, + Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); + +/* RaiseDoubleKeywords.proto */ +static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); + +/* ParseKeywords.proto */ +static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args, + const char* function_name); + +/* ArgTypeTest.proto */ +#define __Pyx_ArgTypeTest(obj, type, none_allowed, name, exact)\ + ((likely(__Pyx_IS_TYPE(obj, type) | (none_allowed && (obj == Py_None)))) ? 1 :\ + __Pyx__ArgTypeTest(obj, type, name, exact)) +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact); + +/* RaiseException.proto */ +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause); + +/* PyFunctionFastCall.proto */ +#if CYTHON_FAST_PYCALL +#if !CYTHON_VECTORCALL +#define __Pyx_PyFunction_FastCall(func, args, nargs)\ + __Pyx_PyFunction_FastCallDict((func), (args), (nargs), NULL) +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs); +#endif +#define __Pyx_BUILD_ASSERT_EXPR(cond)\ + (sizeof(char [1 - 2*!(cond)]) - 1) +#ifndef Py_MEMBER_SIZE +#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member) +#endif +#if !CYTHON_VECTORCALL +#if PY_VERSION_HEX >= 0x03080000 + #include "frameobject.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif + #define __Pxy_PyFrame_Initialize_Offsets() + #define __Pyx_PyFrame_GetLocalsplus(frame) ((frame)->f_localsplus) +#else + static size_t __pyx_pyframe_localsplus_offset = 0; + #include "frameobject.h" + #define __Pxy_PyFrame_Initialize_Offsets()\ + ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\ + (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus))) + #define __Pyx_PyFrame_GetLocalsplus(frame)\ + (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset)) +#endif +#endif +#endif + +/* PyObjectCall.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw); +#else +#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw) +#endif + +/* PyObjectCallMethO.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg); +#endif + +/* PyObjectFastCall.proto */ +#define __Pyx_PyObject_FastCall(func, args, nargs) __Pyx_PyObject_FastCallDict(func, args, (size_t)(nargs), NULL) +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs); + +/* RaiseUnexpectedTypeError.proto */ +static int __Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj); + +/* GCCDiagnostics.proto */ +#if !defined(__INTEL_COMPILER) && defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) +#define __Pyx_HAS_GCC_DIAGNOSTIC +#endif + +/* BuildPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_Py_ssize_t(Py_ssize_t value, Py_ssize_t width, char padding_char, char format_char); + +/* JoinPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char); + +/* StrEquals.proto */ +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyString_Equals __Pyx_PyUnicode_Equals +#else +#define __Pyx_PyString_Equals __Pyx_PyBytes_Equals +#endif + +/* PyObjectFormatSimple.proto */ +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#elif PY_MAJOR_VERSION < 3 + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyString_CheckExact(s)) ? PyUnicode_FromEncodedObject(s, NULL, "strict") :\ + PyObject_Format(s, f)) +#elif CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyLong_CheckExact(s)) ? PyLong_Type.tp_repr(s) :\ + likely(PyFloat_CheckExact(s)) ? PyFloat_Type.tp_repr(s) :\ + PyObject_Format(s, f)) +#else + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#endif + +CYTHON_UNUSED static int __pyx_array_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *); /*proto*/ +/* GetAttr.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *, PyObject *); + +/* GetItemInt.proto */ +#define __Pyx_GetItemInt(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Fast(o, (Py_ssize_t)i, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\ + __Pyx_GetItemInt_Generic(o, to_py_func(i)))) +#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j); +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, + int is_list, int wraparound, int boundscheck); + +/* PyObjectCallOneArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg); + +/* ObjectGetItem.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key); +#else +#define __Pyx_PyObject_GetItem(obj, key) PyObject_GetItem(obj, key) +#endif + +/* KeywordStringCheck.proto */ +static int __Pyx_CheckKeywordStrings(PyObject *kw, const char* function_name, int kw_allowed); + +/* DivInt[Py_ssize_t].proto */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t, Py_ssize_t); + +/* UnaryNegOverflows.proto */ +#define __Pyx_UNARY_NEG_WOULD_OVERFLOW(x)\ + (((x) < 0) & ((unsigned long)(x) == 0-(unsigned long)(x))) + +/* GetAttr3.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *, PyObject *, PyObject *); + +/* PyDictVersioning.proto */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) +#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ + (version_var) = __PYX_GET_DICT_VERSION(dict);\ + (cache_var) = (value); +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ + (VAR) = __pyx_dict_cached_value;\ + } else {\ + (VAR) = __pyx_dict_cached_value = (LOOKUP);\ + __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ + }\ +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); +#else +#define __PYX_GET_DICT_VERSION(dict) (0) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); +#endif + +/* GetModuleGlobalName.proto */ +#if CYTHON_USE_DICT_VERSIONS +#define __Pyx_GetModuleGlobalName(var, name) do {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + (var) = (likely(__pyx_dict_version == __PYX_GET_DICT_VERSION(__pyx_d))) ?\ + (likely(__pyx_dict_cached_value) ? __Pyx_NewRef(__pyx_dict_cached_value) : __Pyx_GetBuiltinName(name)) :\ + __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +#define __Pyx_GetModuleGlobalNameUncached(var, name) do {\ + PY_UINT64_T __pyx_dict_version;\ + PyObject *__pyx_dict_cached_value;\ + (var) = __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value); +#else +#define __Pyx_GetModuleGlobalName(var, name) (var) = __Pyx__GetModuleGlobalName(name) +#define __Pyx_GetModuleGlobalNameUncached(var, name) (var) = __Pyx__GetModuleGlobalName(name) +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name); +#endif + +/* AssertionsEnabled.proto */ +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag) + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (1) +#elif CYTHON_COMPILING_IN_LIMITED_API || (CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030C0000) + static int __pyx_assertions_enabled_flag; + #define __pyx_assertions_enabled() (__pyx_assertions_enabled_flag) + static int __Pyx_init_assertions_enabled(void) { + PyObject *builtins, *debug, *debug_str; + int flag; + builtins = PyEval_GetBuiltins(); + if (!builtins) goto bad; + debug_str = PyUnicode_FromStringAndSize("__debug__", 9); + if (!debug_str) goto bad; + debug = PyObject_GetItem(builtins, debug_str); + Py_DECREF(debug_str); + if (!debug) goto bad; + flag = PyObject_IsTrue(debug); + Py_DECREF(debug); + if (flag == -1) goto bad; + __pyx_assertions_enabled_flag = flag; + return 0; + bad: + __pyx_assertions_enabled_flag = 1; + return -1; + } +#else + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (!Py_OptimizeFlag) +#endif + +/* RaiseTooManyValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected); + +/* RaiseNeedMoreValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index); + +/* RaiseNoneIterError.proto */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void); + +/* ExtTypeTest.proto */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type); + +/* GetTopmostException.proto */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * __Pyx_PyErr_GetTopmostException(PyThreadState *tstate); +#endif + +/* SaveResetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSave(type, value, tb) __Pyx__ExceptionSave(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#define __Pyx_ExceptionReset(type, value, tb) __Pyx__ExceptionReset(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +#else +#define __Pyx_ExceptionSave(type, value, tb) PyErr_GetExcInfo(type, value, tb) +#define __Pyx_ExceptionReset(type, value, tb) PyErr_SetExcInfo(type, value, tb) +#endif + +/* GetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_GetException(type, value, tb) __Pyx__GetException(__pyx_tstate, type, value, tb) +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* SwapException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSwap(type, value, tb) __Pyx__ExceptionSwap(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* Import.proto */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level); + +/* ImportDottedModule.proto */ +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple); +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple); +#endif + +/* FastTypeChecks.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) __Pyx_IsAnySubtype2(Py_TYPE(obj), (PyTypeObject *)type1, (PyTypeObject *)type2) +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); +#else +#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) (PyObject_TypeCheck(obj, (PyTypeObject *)type1) || PyObject_TypeCheck(obj, (PyTypeObject *)type2)) +#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) +#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) +#endif +#define __Pyx_PyErr_ExceptionMatches2(err1, err2) __Pyx_PyErr_GivenExceptionMatches2(__Pyx_PyErr_CurrentExceptionType(), err1, err2) +#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) + +CYTHON_UNUSED static int __pyx_memoryview_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +/* ListCompAppend.proto */ +#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS +static CYTHON_INLINE int __Pyx_ListComp_Append(PyObject* list, PyObject* x) { + PyListObject* L = (PyListObject*) list; + Py_ssize_t len = Py_SIZE(list); + if (likely(L->allocated > len)) { + Py_INCREF(x); + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + L->ob_item[len] = x; + #else + PyList_SET_ITEM(list, len, x); + #endif + __Pyx_SET_SIZE(list, len + 1); + return 0; + } + return PyList_Append(list, x); +} +#else +#define __Pyx_ListComp_Append(L,x) PyList_Append(L,x) +#endif + +/* PySequenceMultiply.proto */ +#define __Pyx_PySequence_Multiply_Left(mul, seq) __Pyx_PySequence_Multiply(seq, mul) +static CYTHON_INLINE PyObject* __Pyx_PySequence_Multiply(PyObject *seq, Py_ssize_t mul); + +/* SetItemInt.proto */ +#define __Pyx_SetItemInt(o, i, v, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_SetItemInt_Fast(o, (Py_ssize_t)i, v, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list assignment index out of range"), -1) :\ + __Pyx_SetItemInt_Generic(o, to_py_func(i), v))) +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v); +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, + int is_list, int wraparound, int boundscheck); + +/* RaiseUnboundLocalError.proto */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname); + +/* DivInt[long].proto */ +static CYTHON_INLINE long __Pyx_div_long(long, long); + +/* PySequenceContains.proto */ +static CYTHON_INLINE int __Pyx_PySequence_ContainsTF(PyObject* item, PyObject* seq, int eq) { + int result = PySequence_Contains(seq, item); + return unlikely(result < 0) ? result : (result == (eq == Py_EQ)); +} + +/* ImportFrom.proto */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name); + +/* HasAttr.proto */ +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 +#define __Pyx_HasAttr(o, n) PyObject_HasAttrWithError(o, n) +#else +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *, PyObject *); +#endif + +/* ListAppend.proto */ +#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS +static CYTHON_INLINE int __Pyx_PyList_Append(PyObject* list, PyObject* x) { + PyListObject* L = (PyListObject*) list; + Py_ssize_t len = Py_SIZE(list); + if (likely(L->allocated > len) & likely(len > (L->allocated >> 1))) { + Py_INCREF(x); + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + L->ob_item[len] = x; + #else + PyList_SET_ITEM(list, len, x); + #endif + __Pyx_SET_SIZE(list, len + 1); + return 0; + } + return PyList_Append(list, x); +} +#else +#define __Pyx_PyList_Append(L,x) PyList_Append(L,x) +#endif + +/* PyObjectCall2Args.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2); + +/* PyObjectGetMethod.proto */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method); + +/* PyObjectCallMethod1.proto */ +static PyObject* __Pyx_PyObject_CallMethod1(PyObject* obj, PyObject* method_name, PyObject* arg); + +/* StringJoin.proto */ +#if PY_MAJOR_VERSION < 3 +#define __Pyx_PyString_Join __Pyx_PyBytes_Join +#define __Pyx_PyBaseString_Join(s, v) (PyUnicode_CheckExact(s) ? PyUnicode_Join(s, v) : __Pyx_PyBytes_Join(s, v)) +#else +#define __Pyx_PyString_Join PyUnicode_Join +#define __Pyx_PyBaseString_Join PyUnicode_Join +#endif +static CYTHON_INLINE PyObject* __Pyx_PyBytes_Join(PyObject* sep, PyObject* values); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_size_t(size_t value, Py_ssize_t width, char padding_char, char format_char); + +/* Profile.proto */ +#ifndef CYTHON_PROFILE +#if CYTHON_COMPILING_IN_LIMITED_API || CYTHON_COMPILING_IN_PYPY + #define CYTHON_PROFILE 0 +#else + #define CYTHON_PROFILE 1 +#endif +#endif +#ifndef CYTHON_TRACE_NOGIL + #define CYTHON_TRACE_NOGIL 0 +#else + #if CYTHON_TRACE_NOGIL && !defined(CYTHON_TRACE) + #define CYTHON_TRACE 1 + #endif +#endif +#ifndef CYTHON_TRACE + #define CYTHON_TRACE 0 +#endif +#if CYTHON_TRACE + #undef CYTHON_PROFILE_REUSE_FRAME +#endif +#ifndef CYTHON_PROFILE_REUSE_FRAME + #define CYTHON_PROFILE_REUSE_FRAME 0 +#endif +#if CYTHON_PROFILE || CYTHON_TRACE + #include "compile.h" + #include "frameobject.h" + #include "traceback.h" +#if PY_VERSION_HEX >= 0x030b00a6 + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif + #if CYTHON_PROFILE_REUSE_FRAME + #define CYTHON_FRAME_MODIFIER static + #define CYTHON_FRAME_DEL(frame) + #else + #define CYTHON_FRAME_MODIFIER + #define CYTHON_FRAME_DEL(frame) Py_CLEAR(frame) + #endif + #define __Pyx_TraceDeclarations\ + static PyCodeObject *__pyx_frame_code = NULL;\ + CYTHON_FRAME_MODIFIER PyFrameObject *__pyx_frame = NULL;\ + int __Pyx_use_tracing = 0; + #define __Pyx_TraceFrameInit(codeobj)\ + if (codeobj) __pyx_frame_code = (PyCodeObject*) codeobj; +#if PY_VERSION_HEX >= 0x030b00a2 + #if PY_VERSION_HEX >= 0x030C00b1 + #define __Pyx_IsTracing(tstate, check_tracing, check_funcs)\ + ((!(check_tracing) || !(tstate)->tracing) &&\ + (!(check_funcs) || (tstate)->c_profilefunc || (CYTHON_TRACE && (tstate)->c_tracefunc))) + #else + #define __Pyx_IsTracing(tstate, check_tracing, check_funcs)\ + (unlikely((tstate)->cframe->use_tracing) &&\ + (!(check_tracing) || !(tstate)->tracing) &&\ + (!(check_funcs) || (tstate)->c_profilefunc || (CYTHON_TRACE && (tstate)->c_tracefunc))) + #endif + #define __Pyx_EnterTracing(tstate) PyThreadState_EnterTracing(tstate) + #define __Pyx_LeaveTracing(tstate) PyThreadState_LeaveTracing(tstate) +#elif PY_VERSION_HEX >= 0x030a00b1 + #define __Pyx_IsTracing(tstate, check_tracing, check_funcs)\ + (unlikely((tstate)->cframe->use_tracing) &&\ + (!(check_tracing) || !(tstate)->tracing) &&\ + (!(check_funcs) || (tstate)->c_profilefunc || (CYTHON_TRACE && (tstate)->c_tracefunc))) + #define __Pyx_EnterTracing(tstate)\ + do { tstate->tracing++; tstate->cframe->use_tracing = 0; } while (0) + #define __Pyx_LeaveTracing(tstate)\ + do {\ + tstate->tracing--;\ + tstate->cframe->use_tracing = ((CYTHON_TRACE && tstate->c_tracefunc != NULL)\ + || tstate->c_profilefunc != NULL);\ + } while (0) +#else + #define __Pyx_IsTracing(tstate, check_tracing, check_funcs)\ + (unlikely((tstate)->use_tracing) &&\ + (!(check_tracing) || !(tstate)->tracing) &&\ + (!(check_funcs) || (tstate)->c_profilefunc || (CYTHON_TRACE && (tstate)->c_tracefunc))) + #define __Pyx_EnterTracing(tstate)\ + do { tstate->tracing++; tstate->use_tracing = 0; } while (0) + #define __Pyx_LeaveTracing(tstate)\ + do {\ + tstate->tracing--;\ + tstate->use_tracing = ((CYTHON_TRACE && tstate->c_tracefunc != NULL)\ + || tstate->c_profilefunc != NULL);\ + } while (0) +#endif + #ifdef WITH_THREAD + #define __Pyx_TraceCall(funcname, srcfile, firstlineno, nogil, goto_error)\ + if (nogil) {\ + if (CYTHON_TRACE_NOGIL) {\ + PyThreadState *tstate;\ + PyGILState_STATE state = PyGILState_Ensure();\ + tstate = __Pyx_PyThreadState_Current;\ + if (__Pyx_IsTracing(tstate, 1, 1)) {\ + __Pyx_use_tracing = __Pyx_TraceSetupAndCall(&__pyx_frame_code, &__pyx_frame, tstate, funcname, srcfile, firstlineno);\ + }\ + PyGILState_Release(state);\ + if (unlikely(__Pyx_use_tracing < 0)) goto_error;\ + }\ + } else {\ + PyThreadState* tstate = PyThreadState_GET();\ + if (__Pyx_IsTracing(tstate, 1, 1)) {\ + __Pyx_use_tracing = __Pyx_TraceSetupAndCall(&__pyx_frame_code, &__pyx_frame, tstate, funcname, srcfile, firstlineno);\ + if (unlikely(__Pyx_use_tracing < 0)) goto_error;\ + }\ + } + #else + #define __Pyx_TraceCall(funcname, srcfile, firstlineno, nogil, goto_error)\ + { PyThreadState* tstate = PyThreadState_GET();\ + if (__Pyx_IsTracing(tstate, 1, 1)) {\ + __Pyx_use_tracing = __Pyx_TraceSetupAndCall(&__pyx_frame_code, &__pyx_frame, tstate, funcname, srcfile, firstlineno);\ + if (unlikely(__Pyx_use_tracing < 0)) goto_error;\ + }\ + } + #endif + #define __Pyx_TraceException()\ + if (likely(!__Pyx_use_tracing)); else {\ + PyThreadState* tstate = __Pyx_PyThreadState_Current;\ + if (__Pyx_IsTracing(tstate, 0, 1)) {\ + __Pyx_EnterTracing(tstate);\ + PyObject *exc_info = __Pyx_GetExceptionTuple(tstate);\ + if (exc_info) {\ + if (CYTHON_TRACE && tstate->c_tracefunc)\ + tstate->c_tracefunc(\ + tstate->c_traceobj, __pyx_frame, PyTrace_EXCEPTION, exc_info);\ + tstate->c_profilefunc(\ + tstate->c_profileobj, __pyx_frame, PyTrace_EXCEPTION, exc_info);\ + Py_DECREF(exc_info);\ + }\ + __Pyx_LeaveTracing(tstate);\ + }\ + } + static void __Pyx_call_return_trace_func(PyThreadState *tstate, PyFrameObject *frame, PyObject *result) { + PyObject *type, *value, *traceback; + __Pyx_ErrFetchInState(tstate, &type, &value, &traceback); + __Pyx_EnterTracing(tstate); + if (CYTHON_TRACE && tstate->c_tracefunc) + tstate->c_tracefunc(tstate->c_traceobj, frame, PyTrace_RETURN, result); + if (tstate->c_profilefunc) + tstate->c_profilefunc(tstate->c_profileobj, frame, PyTrace_RETURN, result); + CYTHON_FRAME_DEL(frame); + __Pyx_LeaveTracing(tstate); + __Pyx_ErrRestoreInState(tstate, type, value, traceback); + } + #ifdef WITH_THREAD + #define __Pyx_TraceReturn(result, nogil)\ + if (likely(!__Pyx_use_tracing)); else {\ + if (nogil) {\ + if (CYTHON_TRACE_NOGIL) {\ + PyThreadState *tstate;\ + PyGILState_STATE state = PyGILState_Ensure();\ + tstate = __Pyx_PyThreadState_Current;\ + if (__Pyx_IsTracing(tstate, 0, 0)) {\ + __Pyx_call_return_trace_func(tstate, __pyx_frame, (PyObject*)result);\ + }\ + PyGILState_Release(state);\ + }\ + } else {\ + PyThreadState* tstate = __Pyx_PyThreadState_Current;\ + if (__Pyx_IsTracing(tstate, 0, 0)) {\ + __Pyx_call_return_trace_func(tstate, __pyx_frame, (PyObject*)result);\ + }\ + }\ + } + #else + #define __Pyx_TraceReturn(result, nogil)\ + if (likely(!__Pyx_use_tracing)); else {\ + PyThreadState* tstate = __Pyx_PyThreadState_Current;\ + if (__Pyx_IsTracing(tstate, 0, 0)) {\ + __Pyx_call_return_trace_func(tstate, __pyx_frame, (PyObject*)result);\ + }\ + } + #endif + static PyCodeObject *__Pyx_createFrameCodeObject(const char *funcname, const char *srcfile, int firstlineno); + static int __Pyx_TraceSetupAndCall(PyCodeObject** code, PyFrameObject** frame, PyThreadState* tstate, const char *funcname, const char *srcfile, int firstlineno); +#else + #define __Pyx_TraceDeclarations + #define __Pyx_TraceFrameInit(codeobj) + #define __Pyx_TraceCall(funcname, srcfile, firstlineno, nogil, goto_error) if ((1)); else goto_error; + #define __Pyx_TraceException() + #define __Pyx_TraceReturn(result, nogil) +#endif +#if CYTHON_TRACE + static int __Pyx_call_line_trace_func(PyThreadState *tstate, PyFrameObject *frame, int lineno) { + int ret; + PyObject *type, *value, *traceback; + __Pyx_ErrFetchInState(tstate, &type, &value, &traceback); + __Pyx_PyFrame_SetLineNumber(frame, lineno); + __Pyx_EnterTracing(tstate); + ret = tstate->c_tracefunc(tstate->c_traceobj, frame, PyTrace_LINE, NULL); + __Pyx_LeaveTracing(tstate); + if (likely(!ret)) { + __Pyx_ErrRestoreInState(tstate, type, value, traceback); + } else { + Py_XDECREF(type); + Py_XDECREF(value); + Py_XDECREF(traceback); + } + return ret; + } + #ifdef WITH_THREAD + #define __Pyx_TraceLine(lineno, nogil, goto_error)\ + if (likely(!__Pyx_use_tracing)); else {\ + if (nogil) {\ + if (CYTHON_TRACE_NOGIL) {\ + int ret = 0;\ + PyThreadState *tstate;\ + PyGILState_STATE state = __Pyx_PyGILState_Ensure();\ + tstate = __Pyx_PyThreadState_Current;\ + if (__Pyx_IsTracing(tstate, 0, 0) && tstate->c_tracefunc && __pyx_frame->f_trace) {\ + ret = __Pyx_call_line_trace_func(tstate, __pyx_frame, lineno);\ + }\ + __Pyx_PyGILState_Release(state);\ + if (unlikely(ret)) goto_error;\ + }\ + } else {\ + PyThreadState* tstate = __Pyx_PyThreadState_Current;\ + if (__Pyx_IsTracing(tstate, 0, 0) && tstate->c_tracefunc && __pyx_frame->f_trace) {\ + int ret = __Pyx_call_line_trace_func(tstate, __pyx_frame, lineno);\ + if (unlikely(ret)) goto_error;\ + }\ + }\ + } + #else + #define __Pyx_TraceLine(lineno, nogil, goto_error)\ + if (likely(!__Pyx_use_tracing)); else {\ + PyThreadState* tstate = __Pyx_PyThreadState_Current;\ + if (__Pyx_IsTracing(tstate, 0, 0) && tstate->c_tracefunc && __pyx_frame->f_trace) {\ + int ret = __Pyx_call_line_trace_func(tstate, __pyx_frame, lineno);\ + if (unlikely(ret)) goto_error;\ + }\ + } + #endif +#else + #define __Pyx_TraceLine(lineno, nogil, goto_error) if ((1)); else goto_error; +#endif + +/* IsLittleEndian.proto */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void); + +/* BufferFormatCheck.proto */ +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts); +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type); + +/* BufferGetAndValidate.proto */ +#define __Pyx_GetBufferAndValidate(buf, obj, dtype, flags, nd, cast, stack)\ + ((obj == Py_None || obj == NULL) ?\ + (__Pyx_ZeroBuffer(buf), 0) :\ + __Pyx__GetBufferAndValidate(buf, obj, dtype, flags, nd, cast, stack)) +static int __Pyx__GetBufferAndValidate(Py_buffer* buf, PyObject* obj, + __Pyx_TypeInfo* dtype, int flags, int nd, int cast, __Pyx_BufFmt_StackElem* stack); +static void __Pyx_ZeroBuffer(Py_buffer* buf); +static CYTHON_INLINE void __Pyx_SafeReleaseBuffer(Py_buffer* info); +static Py_ssize_t __Pyx_minusones[] = { -1, -1, -1, -1, -1, -1, -1, -1 }; +static Py_ssize_t __Pyx_zeros[] = { 0, 0, 0, 0, 0, 0, 0, 0 }; + +/* MoveIfSupported.proto */ +#if CYTHON_USE_CPP_STD_MOVE + #include + #define __PYX_STD_MOVE_IF_SUPPORTED(x) std::move(x) +#else + #define __PYX_STD_MOVE_IF_SUPPORTED(x) x +#endif + +/* BufferFallbackError.proto */ +static void __Pyx_RaiseBufferFallbackError(void); + +/* PyObjectCallNoArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func); + +/* WriteUnraisableException.proto */ +static void __Pyx_WriteUnraisable(const char *name, int clineno, + int lineno, const char *filename, + int full_traceback, int nogil); + +/* PyObject_GenericGetAttrNoDict.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr +#endif + +/* PyObject_GenericGetAttr.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr +#endif + +/* IncludeStructmemberH.proto */ +#include + +/* FixUpExtensionType.proto */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type); +#endif + +/* PyObjectCallMethod0.proto */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name); + +/* ValidateBasesTuple.proto */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases); +#endif + +/* PyType_Ready.proto */ +CYTHON_UNUSED static int __Pyx_PyType_Ready(PyTypeObject *t); + +/* SetupReduce.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce(PyObject* type_obj); +#endif + +/* SetVTable.proto */ +static int __Pyx_SetVtable(PyTypeObject* typeptr , void* vtable); + +/* GetVTable.proto */ +static void* __Pyx_GetVtable(PyTypeObject *type); + +/* MergeVTables.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type); +#endif + +/* TypeImport.proto */ +#ifndef __PYX_HAVE_RT_ImportType_proto_3_0_8 +#define __PYX_HAVE_RT_ImportType_proto_3_0_8 +#if defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L +#include +#endif +#if (defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) || __cplusplus >= 201103L +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) alignof(s) +#else +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) sizeof(void*) +#endif +enum __Pyx_ImportType_CheckSize_3_0_8 { + __Pyx_ImportType_CheckSize_Error_3_0_8 = 0, + __Pyx_ImportType_CheckSize_Warn_3_0_8 = 1, + __Pyx_ImportType_CheckSize_Ignore_3_0_8 = 2 +}; +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject* module, const char *module_name, const char *class_name, size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size); +#endif + +/* FetchSharedCythonModule.proto */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void); + +/* FetchCommonType.proto */ +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type); +#else +static PyTypeObject* __Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases); +#endif + +/* PyMethodNew.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + PyObject *typesModule=NULL, *methodType=NULL, *result=NULL; + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + typesModule = PyImport_ImportModule("types"); + if (!typesModule) return NULL; + methodType = PyObject_GetAttrString(typesModule, "MethodType"); + Py_DECREF(typesModule); + if (!methodType) return NULL; + result = PyObject_CallFunctionObjArgs(methodType, func, self, NULL); + Py_DECREF(methodType); + return result; +} +#elif PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + return PyMethod_New(func, self); +} +#else + #define __Pyx_PyMethod_New PyMethod_New +#endif + +/* PyVectorcallFastCallDict.proto */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw); +#endif + +/* CythonFunctionShared.proto */ +#define __Pyx_CyFunction_USED +#define __Pyx_CYFUNCTION_STATICMETHOD 0x01 +#define __Pyx_CYFUNCTION_CLASSMETHOD 0x02 +#define __Pyx_CYFUNCTION_CCLASS 0x04 +#define __Pyx_CYFUNCTION_COROUTINE 0x08 +#define __Pyx_CyFunction_GetClosure(f)\ + (((__pyx_CyFunctionObject *) (f))->func_closure) +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_CyFunction_GetClassObj(f)\ + (((__pyx_CyFunctionObject *) (f))->func_classobj) +#else + #define __Pyx_CyFunction_GetClassObj(f)\ + ((PyObject*) ((PyCMethodObject *) (f))->mm_class) +#endif +#define __Pyx_CyFunction_SetClassObj(f, classobj)\ + __Pyx__CyFunction_SetClassObj((__pyx_CyFunctionObject *) (f), (classobj)) +#define __Pyx_CyFunction_Defaults(type, f)\ + ((type *)(((__pyx_CyFunctionObject *) (f))->defaults)) +#define __Pyx_CyFunction_SetDefaultsGetter(f, g)\ + ((__pyx_CyFunctionObject *) (f))->defaults_getter = (g) +typedef struct { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject_HEAD + PyObject *func; +#elif PY_VERSION_HEX < 0x030900B1 + PyCFunctionObject func; +#else + PyCMethodObject func; +#endif +#if CYTHON_BACKPORT_VECTORCALL + __pyx_vectorcallfunc func_vectorcall; +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_weakreflist; +#endif + PyObject *func_dict; + PyObject *func_name; + PyObject *func_qualname; + PyObject *func_doc; + PyObject *func_globals; + PyObject *func_code; + PyObject *func_closure; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_classobj; +#endif + void *defaults; + int defaults_pyobjects; + size_t defaults_size; + int flags; + PyObject *defaults_tuple; + PyObject *defaults_kwdict; + PyObject *(*defaults_getter)(PyObject *); + PyObject *func_annotations; + PyObject *func_is_coroutine; +} __pyx_CyFunctionObject; +#undef __Pyx_CyOrPyCFunction_Check +#define __Pyx_CyFunction_Check(obj) __Pyx_TypeCheck(obj, __pyx_CyFunctionType) +#define __Pyx_CyOrPyCFunction_Check(obj) __Pyx_TypeCheck2(obj, __pyx_CyFunctionType, &PyCFunction_Type) +#define __Pyx_CyFunction_CheckExact(obj) __Pyx_IS_TYPE(obj, __pyx_CyFunctionType) +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc); +#undef __Pyx_IsSameCFunction +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCyOrCFunction(func, cfunc) +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject* op, PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj); +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *m, + size_t size, + int pyobjects); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *m, + PyObject *tuple); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *m, + PyObject *dict); +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *m, + PyObject *dict); +static int __pyx_CyFunction_init(PyObject *module); +#if CYTHON_METH_FASTCALL +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +#if CYTHON_BACKPORT_VECTORCALL +#define __Pyx_CyFunction_func_vectorcall(f) (((__pyx_CyFunctionObject*)f)->func_vectorcall) +#else +#define __Pyx_CyFunction_func_vectorcall(f) (((PyCFunctionObject*)f)->vectorcall) +#endif +#endif + +/* CythonFunction.proto */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); + +/* CLineInTraceback.proto */ +#ifdef CYTHON_CLINE_IN_TRACEBACK +#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) +#else +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); +#endif + +/* CodeObjectCache.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +typedef struct { + PyCodeObject* code_object; + int code_line; +} __Pyx_CodeObjectCacheEntry; +struct __Pyx_CodeObjectCache { + int count; + int max_count; + __Pyx_CodeObjectCacheEntry* entries; +}; +static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); +static PyCodeObject *__pyx_find_code_object(int code_line); +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); +#endif + +/* AddTraceback.proto */ +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename); + +#if PY_MAJOR_VERSION < 3 + static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags); + static void __Pyx_ReleaseBuffer(Py_buffer *view); +#else + #define __Pyx_GetBuffer PyObject_GetBuffer + #define __Pyx_ReleaseBuffer PyBuffer_Release +#endif + + +/* BufferStructDeclare.proto */ +typedef struct { + Py_ssize_t shape, strides, suboffsets; +} __Pyx_Buf_DimInfo; +typedef struct { + size_t refcount; + Py_buffer pybuffer; +} __Pyx_Buffer; +typedef struct { + __Pyx_Buffer *rcbuffer; + char *data; + __Pyx_Buf_DimInfo diminfo[8]; +} __Pyx_LocalBuf_ND; + +/* MemviewSliceIsContig.proto */ +static int __pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim); + +/* OverlappingSlices.proto */ +static int __pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize); + +/* TypeInfoCompare.proto */ +static int __pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b); + +/* MemviewSliceValidateAndInit.proto */ +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj); + +/* ObjectToMemviewSlice.proto */ +static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dsds_double(PyObject *, int writable_flag); + +/* MemviewDtypeToObject.proto */ +static CYTHON_INLINE PyObject *__pyx_memview_get_double(const char *itemp); +static CYTHON_INLINE int __pyx_memview_set_double(const char *itemp, PyObject *obj); + +/* ObjectToMemviewSlice.proto */ +static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_double(PyObject *, int writable_flag); + +/* CppExceptionConversion.proto */ +#ifndef __Pyx_CppExn2PyErr +#include +#include +#include +#include +static void __Pyx_CppExn2PyErr() { + try { + if (PyErr_Occurred()) + ; // let the latest Python exn pass through and ignore the current one + else + throw; + } catch (const std::bad_alloc& exn) { + PyErr_SetString(PyExc_MemoryError, exn.what()); + } catch (const std::bad_cast& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::bad_typeid& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::domain_error& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::invalid_argument& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::ios_base::failure& exn) { + PyErr_SetString(PyExc_IOError, exn.what()); + } catch (const std::out_of_range& exn) { + PyErr_SetString(PyExc_IndexError, exn.what()); + } catch (const std::overflow_error& exn) { + PyErr_SetString(PyExc_OverflowError, exn.what()); + } catch (const std::range_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::underflow_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::exception& exn) { + PyErr_SetString(PyExc_RuntimeError, exn.what()); + } + catch (...) + { + PyErr_SetString(PyExc_RuntimeError, "Unknown exception"); + } +} +#endif + +/* RealImag.proto */ +#if CYTHON_CCOMPLEX + #ifdef __cplusplus + #define __Pyx_CREAL(z) ((z).real()) + #define __Pyx_CIMAG(z) ((z).imag()) + #else + #define __Pyx_CREAL(z) (__real__(z)) + #define __Pyx_CIMAG(z) (__imag__(z)) + #endif +#else + #define __Pyx_CREAL(z) ((z).real) + #define __Pyx_CIMAG(z) ((z).imag) +#endif +#if defined(__cplusplus) && CYTHON_CCOMPLEX\ + && (defined(_WIN32) || defined(__clang__) || (defined(__GNUC__) && (__GNUC__ >= 5 || __GNUC__ == 4 && __GNUC_MINOR__ >= 4 )) || __cplusplus >= 201103) + #define __Pyx_SET_CREAL(z,x) ((z).real(x)) + #define __Pyx_SET_CIMAG(z,y) ((z).imag(y)) +#else + #define __Pyx_SET_CREAL(z,x) __Pyx_CREAL(z) = (x) + #define __Pyx_SET_CIMAG(z,y) __Pyx_CIMAG(z) = (y) +#endif + +/* Arithmetic.proto */ +#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #define __Pyx_c_eq_float(a, b) ((a)==(b)) + #define __Pyx_c_sum_float(a, b) ((a)+(b)) + #define __Pyx_c_diff_float(a, b) ((a)-(b)) + #define __Pyx_c_prod_float(a, b) ((a)*(b)) + #define __Pyx_c_quot_float(a, b) ((a)/(b)) + #define __Pyx_c_neg_float(a) (-(a)) + #ifdef __cplusplus + #define __Pyx_c_is_zero_float(z) ((z)==(float)0) + #define __Pyx_c_conj_float(z) (::std::conj(z)) + #if 1 + #define __Pyx_c_abs_float(z) (::std::abs(z)) + #define __Pyx_c_pow_float(a, b) (::std::pow(a, b)) + #endif + #else + #define __Pyx_c_is_zero_float(z) ((z)==0) + #define __Pyx_c_conj_float(z) (conjf(z)) + #if 1 + #define __Pyx_c_abs_float(z) (cabsf(z)) + #define __Pyx_c_pow_float(a, b) (cpowf(a, b)) + #endif + #endif +#else + static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex); + static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex); + #if 1 + static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex, __pyx_t_float_complex); + #endif +#endif + +/* Arithmetic.proto */ +#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #define __Pyx_c_eq_double(a, b) ((a)==(b)) + #define __Pyx_c_sum_double(a, b) ((a)+(b)) + #define __Pyx_c_diff_double(a, b) ((a)-(b)) + #define __Pyx_c_prod_double(a, b) ((a)*(b)) + #define __Pyx_c_quot_double(a, b) ((a)/(b)) + #define __Pyx_c_neg_double(a) (-(a)) + #ifdef __cplusplus + #define __Pyx_c_is_zero_double(z) ((z)==(double)0) + #define __Pyx_c_conj_double(z) (::std::conj(z)) + #if 1 + #define __Pyx_c_abs_double(z) (::std::abs(z)) + #define __Pyx_c_pow_double(a, b) (::std::pow(a, b)) + #endif + #else + #define __Pyx_c_is_zero_double(z) ((z)==0) + #define __Pyx_c_conj_double(z) (conj(z)) + #if 1 + #define __Pyx_c_abs_double(z) (cabs(z)) + #define __Pyx_c_pow_double(a, b) (cpow(a, b)) + #endif + #endif +#else + static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex); + static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex); + #if 1 + static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex, __pyx_t_double_complex); + #endif +#endif + +/* MemviewSliceCopyTemplate.proto */ +static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object); + +/* MemviewSliceInit.proto */ +#define __Pyx_BUF_MAX_NDIMS %(BUF_MAX_NDIMS)d +#define __Pyx_MEMVIEW_DIRECT 1 +#define __Pyx_MEMVIEW_PTR 2 +#define __Pyx_MEMVIEW_FULL 4 +#define __Pyx_MEMVIEW_CONTIG 8 +#define __Pyx_MEMVIEW_STRIDED 16 +#define __Pyx_MEMVIEW_FOLLOW 32 +#define __Pyx_IS_C_CONTIG 1 +#define __Pyx_IS_F_CONTIG 2 +static int __Pyx_init_memviewslice( + struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference); +static CYTHON_INLINE int __pyx_add_acquisition_count_locked( + __pyx_atomic_int_type *acquisition_count, PyThread_type_lock lock); +static CYTHON_INLINE int __pyx_sub_acquisition_count_locked( + __pyx_atomic_int_type *acquisition_count, PyThread_type_lock lock); +#define __pyx_get_slice_count_pointer(memview) (&memview->acquisition_count) +#define __PYX_INC_MEMVIEW(slice, have_gil) __Pyx_INC_MEMVIEW(slice, have_gil, __LINE__) +#define __PYX_XCLEAR_MEMVIEW(slice, have_gil) __Pyx_XCLEAR_MEMVIEW(slice, have_gil, __LINE__) +static CYTHON_INLINE void __Pyx_INC_MEMVIEW(__Pyx_memviewslice *, int, int); +static CYTHON_INLINE void __Pyx_XCLEAR_MEMVIEW(__Pyx_memviewslice *, int, int); + +/* TypeInfoToFormat.proto */ +struct __pyx_typeinfo_string { + char string[3]; +}; +static struct __pyx_typeinfo_string __Pyx_TypeInfoToFormat(__Pyx_TypeInfo *type); + +/* CIntFromPy.proto */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value); + +/* None.proto */ +#include + +/* CIntFromPy.proto */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); + +/* CIntFromPy.proto */ +static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *); + +/* FormatTypeName.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +typedef PyObject *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%U" +static __Pyx_TypeName __Pyx_PyType_GetName(PyTypeObject* tp); +#define __Pyx_DECREF_TypeName(obj) Py_XDECREF(obj) +#else +typedef const char *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%.200s" +#define __Pyx_PyType_GetName(tp) ((tp)->tp_name) +#define __Pyx_DECREF_TypeName(obj) +#endif + +/* CheckBinaryVersion.proto */ +static unsigned long __Pyx_get_runtime_version(void); +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer); + +/* InitStrings.proto */ +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); + +/* #### Code section: module_declarations ### */ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *__pyx_v_self); /* proto*/ +static char *__pyx_memoryview_get_item_pointer(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto*/ +static PyObject *__pyx_memoryview_is_slice(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assignment(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_dst, PyObject *__pyx_v_src); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assign_scalar(struct __pyx_memoryview_obj *__pyx_v_self, struct __pyx_memoryview_obj *__pyx_v_dst, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_setitem_indexed(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_convert_item_to_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryview_assign_item_from_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview__get_base(struct __pyx_memoryview_obj *__pyx_v_self); /* proto*/ +static PyObject *__pyx_memoryviewslice_convert_item_to_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryviewslice_assign_item_from_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryviewslice__get_base(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto*/ +static CYTHON_INLINE PyObject *__pyx_f_5numpy_7ndarray_4base_base(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE PyArray_Descr *__pyx_f_5numpy_7ndarray_5descr_descr(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE int __pyx_f_5numpy_7ndarray_4ndim_ndim(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE npy_intp *__pyx_f_5numpy_7ndarray_5shape_shape(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE npy_intp *__pyx_f_5numpy_7ndarray_7strides_strides(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE npy_intp __pyx_f_5numpy_7ndarray_4size_size(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE char *__pyx_f_5numpy_7ndarray_4data_data(PyArrayObject *__pyx_v_self); /* proto*/ + +/* Module declarations from "cython.view" */ +static struct __pyx_array_obj *__pyx_array_new(PyObject *, Py_ssize_t, char *, char *, char *); /*proto*/ + +/* Module declarations from "cython.dataclasses" */ + +/* Module declarations from "cython" */ + +/* Module declarations from "libc.string" */ + +/* Module declarations from "libcpp.string" */ + +/* Module declarations from "libcpp.vector" */ + +/* Module declarations from "libcpp" */ + +/* Module declarations from "libc.stdio" */ + +/* Module declarations from "__builtin__" */ + +/* Module declarations from "cpython.type" */ + +/* Module declarations from "cpython" */ + +/* Module declarations from "cpython.object" */ + +/* Module declarations from "cpython.ref" */ + +/* Module declarations from "numpy" */ + +/* Module declarations from "numpy" */ + +/* Module declarations from "rednose.helpers.ekf_sym_pyx" */ +static PyObject *__pyx_collections_abc_Sequence = 0; +static PyObject *generic = 0; +static PyObject *strided = 0; +static PyObject *indirect = 0; +static PyObject *contiguous = 0; +static PyObject *indirect_contiguous = 0; +static int __pyx_memoryview_thread_locks_used; +static PyThread_type_lock __pyx_memoryview_thread_locks[8]; +static PyArrayObject *__pyx_f_7rednose_7helpers_11ekf_sym_pyx_matrix_to_numpy(Eigen::Matrix); /*proto*/ +static PyArrayObject *__pyx_f_7rednose_7helpers_11ekf_sym_pyx_vector_to_numpy(Eigen::VectorXd); /*proto*/ +static std::string __pyx_convert_string_from_py_std__in_string(PyObject *); /*proto*/ +static std::vector __pyx_convert_vector_from_py_int(PyObject *); /*proto*/ +static std::vector __pyx_convert_vector_from_py_std_3a__3a_string(PyObject *); /*proto*/ +static int __pyx_array_allocate_buffer(struct __pyx_array_obj *); /*proto*/ +static struct __pyx_array_obj *__pyx_array_new(PyObject *, Py_ssize_t, char *, char *, char *); /*proto*/ +static PyObject *__pyx_memoryview_new(PyObject *, int, int, __Pyx_TypeInfo *); /*proto*/ +static CYTHON_INLINE int __pyx_memoryview_check(PyObject *); /*proto*/ +static PyObject *_unellipsify(PyObject *, int); /*proto*/ +static int assert_direct_dimensions(Py_ssize_t *, int); /*proto*/ +static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_obj *, PyObject *); /*proto*/ +static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int, int); /*proto*/ +static char *__pyx_pybuffer_index(Py_buffer *, char *, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memslice_transpose(__Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_fromslice(__Pyx_memviewslice, int, PyObject *(*)(char *), int (*)(char *, PyObject *), int); /*proto*/ +static __Pyx_memviewslice *__pyx_memoryview_get_slice_from_memoryview(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static void __pyx_memoryview_slice_copy(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object(struct __pyx_memoryview_obj *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object_from_slice(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static Py_ssize_t abs_py_ssize_t(Py_ssize_t); /*proto*/ +static char __pyx_get_best_slice_order(__Pyx_memviewslice *, int); /*proto*/ +static void _copy_strided_to_strided(char *, Py_ssize_t *, char *, Py_ssize_t *, Py_ssize_t *, Py_ssize_t *, int, size_t); /*proto*/ +static void copy_strided_to_strided(__Pyx_memviewslice *, __Pyx_memviewslice *, int, size_t); /*proto*/ +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *, int); /*proto*/ +static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *, Py_ssize_t *, Py_ssize_t, int, char); /*proto*/ +static void *__pyx_memoryview_copy_data_to_temp(__Pyx_memviewslice *, __Pyx_memviewslice *, char, int); /*proto*/ +static int __pyx_memoryview_err_extents(int, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memoryview_err_dim(PyObject *, PyObject *, int); /*proto*/ +static int __pyx_memoryview_err(PyObject *, PyObject *); /*proto*/ +static int __pyx_memoryview_err_no_memory(void); /*proto*/ +static int __pyx_memoryview_copy_contents(__Pyx_memviewslice, __Pyx_memviewslice, int, int, int); /*proto*/ +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *, int, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *, int, size_t, void *, int); /*proto*/ +static void __pyx_memoryview__slice_assign_scalar(char *, Py_ssize_t *, Py_ssize_t *, int, size_t, void *); /*proto*/ +static PyObject *__pyx_unpickle_Enum__set_state(struct __pyx_MemviewEnum_obj *, PyObject *); /*proto*/ +static PyObject *__pyx_format_from_typeinfo(__Pyx_TypeInfo *); /*proto*/ +/* #### Code section: typeinfo ### */ +static __Pyx_TypeInfo __Pyx_TypeInfo_double = { "double", NULL, sizeof(double), { 0 }, 0, 'R', 0, 0 }; +static __Pyx_TypeInfo __Pyx_TypeInfo_nn___pyx_t_5numpy_float64_t = { "float64_t", NULL, sizeof(__pyx_t_5numpy_float64_t), { 0 }, 0, 'R', 0, 0 }; +/* #### Code section: before_global_var ### */ +#define __Pyx_MODULE_NAME "rednose.helpers.ekf_sym_pyx" +extern int __pyx_module_is_main_rednose__helpers__ekf_sym_pyx; +int __pyx_module_is_main_rednose__helpers__ekf_sym_pyx = 0; + +/* Implementation of "rednose.helpers.ekf_sym_pyx" */ +/* #### Code section: global_var ### */ +static PyObject *__pyx_builtin_NotImplementedError; +static PyObject *__pyx_builtin_TypeError; +static PyObject *__pyx_builtin___import__; +static PyObject *__pyx_builtin_ValueError; +static PyObject *__pyx_builtin_MemoryError; +static PyObject *__pyx_builtin_enumerate; +static PyObject *__pyx_builtin_range; +static PyObject *__pyx_builtin_AssertionError; +static PyObject *__pyx_builtin_Ellipsis; +static PyObject *__pyx_builtin_id; +static PyObject *__pyx_builtin_IndexError; +static PyObject *__pyx_builtin_ImportError; +/* #### Code section: string_decls ### */ +static const char __pyx_k_[] = ": "; +static const char __pyx_k_C[] = "C"; +static const char __pyx_k_N[] = "N"; +static const char __pyx_k_O[] = "O"; +static const char __pyx_k_P[] = "P"; +static const char __pyx_k_Q[] = "Q"; +static const char __pyx_k_R[] = "R"; +static const char __pyx_k_T[] = "T{"; + static const char __pyx_k_a[] = "a"; + static const char __pyx_k_c[] = "c"; + static const char __pyx_k_t[] = "t"; + static const char __pyx_k_x[] = "x"; + static const char __pyx_k_z[] = "z"; + static const char __pyx_k_Ri[] = "Ri"; + static const char __pyx_k__2[] = "."; + static const char __pyx_k__3[] = "*"; + static const char __pyx_k__6[] = "'"; + static const char __pyx_k__7[] = ")"; + static const char __pyx_k__9[] = "^"; + static const char __pyx_k_gc[] = "gc"; + static const char __pyx_k_id[] = "id"; + static const char __pyx_k_np[] = "np"; + static const char __pyx_k_zi[] = "zi"; + static const char __pyx_k__10[] = ""; + static const char __pyx_k__11[] = ":"; +static const char __pyx_k__12[] = "}"; +static const char __pyx_k__13[] = "("; +static const char __pyx_k__14[] = ","; +static const char __pyx_k__58[] = "?"; +static const char __pyx_k_abc[] = "abc"; +static const char __pyx_k_and[] = " and "; +static const char __pyx_k_got[] = " (got "; +static const char __pyx_k_nan[] = "nan"; +static const char __pyx_k_new[] = "__new__"; +static const char __pyx_k_obj[] = "obj"; +static const char __pyx_k_res[] = "res"; +static const char __pyx_k_sys[] = "sys"; +static const char __pyx_k_val[] = "val"; +static const char __pyx_k_Ri_b[] = "Ri_b"; +static const char __pyx_k_args[] = "args"; +static const char __pyx_k_base[] = "base"; +static const char __pyx_k_copy[] = "copy"; +static const char __pyx_k_covs[] = "covs"; +static const char __pyx_k_dict[] = "__dict__"; +static const char __pyx_k_join[] = "join"; +static const char __pyx_k_kind[] = "kind"; +static const char __pyx_k_main[] = "__main__"; +static const char __pyx_k_mode[] = "mode"; +static const char __pyx_k_name[] = "name"; +static const char __pyx_k_ndim[] = "ndim"; +static const char __pyx_k_pack[] = "pack"; +static const char __pyx_k_self[] = "self"; +static const char __pyx_k_size[] = "size"; +static const char __pyx_k_spec[] = "__spec__"; +static const char __pyx_k_step[] = "step"; +static const char __pyx_k_stop[] = "stop"; +static const char __pyx_k_test[] = "__test__"; +static const char __pyx_k_utf8[] = "utf8"; +static const char __pyx_k_zi_b[] = "zi_b"; +static const char __pyx_k_ASCII[] = "ASCII"; +static const char __pyx_k_R_map[] = "R_map"; +static const char __pyx_k_class[] = "__class__"; +static const char __pyx_k_count[] = "count"; +static const char __pyx_k_dtype[] = "dtype"; +static const char __pyx_k_error[] = "error"; +static const char __pyx_k_flags[] = "flags"; +static const char __pyx_k_index[] = "index"; +static const char __pyx_k_numpy[] = "numpy"; +static const char __pyx_k_order[] = "order"; +static const char __pyx_k_range[] = "range"; +static const char __pyx_k_shape[] = "shape"; +static const char __pyx_k_start[] = "start"; +static const char __pyx_k_state[] = "state"; +static const char __pyx_k_z_map[] = "z_map"; +static const char __pyx_k_covs_b[] = "covs_b"; +static const char __pyx_k_double[] = "double"; +static const char __pyx_k_enable[] = "enable"; +static const char __pyx_k_encode[] = "encode"; +static const char __pyx_k_format[] = "format"; +static const char __pyx_k_import[] = "__import__"; +static const char __pyx_k_logger[] = "logger"; +static const char __pyx_k_name_2[] = "__name__"; +static const char __pyx_k_pickle[] = "pickle"; +static const char __pyx_k_reduce[] = "__reduce__"; +static const char __pyx_k_struct[] = "struct"; +static const char __pyx_k_tmpvec[] = "tmpvec"; +static const char __pyx_k_unpack[] = "unpack"; +static const char __pyx_k_update[] = "update"; +static const char __pyx_k_asarray[] = "asarray"; +static const char __pyx_k_augment[] = "augment"; +static const char __pyx_k_disable[] = "disable"; +static const char __pyx_k_fortran[] = "fortran"; +static const char __pyx_k_gen_dir[] = "gen_dir"; +static const char __pyx_k_memview[] = "memview"; +static const char __pyx_k_predict[] = "predict"; +static const char __pyx_k_state_b[] = "state_b"; +static const char __pyx_k_Ellipsis[] = "Ellipsis"; +static const char __pyx_k_Sequence[] = "Sequence"; +static const char __pyx_k_args_map[] = "args_map"; +static const char __pyx_k_dim_main[] = "dim_main"; +static const char __pyx_k_getstate[] = "__getstate__"; +static const char __pyx_k_itemsize[] = "itemsize"; +static const char __pyx_k_pyx_type[] = "__pyx_type"; +static const char __pyx_k_register[] = "register"; +static const char __pyx_k_setstate[] = "__setstate__"; +static const char __pyx_k_P_initial[] = "P_initial"; +static const char __pyx_k_TypeError[] = "TypeError"; +static const char __pyx_k_enumerate[] = "enumerate"; +static const char __pyx_k_estimates[] = "estimates"; +static const char __pyx_k_isenabled[] = "isenabled"; +static const char __pyx_k_maha_test[] = "maha_test"; +static const char __pyx_k_pyx_state[] = "__pyx_state"; +static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; +static const char __pyx_k_x_initial[] = "x_initial"; +static const char __pyx_k_IndexError[] = "IndexError"; +static const char __pyx_k_ValueError[] = "ValueError"; +static const char __pyx_k_extra_args[] = "extra_args"; +static const char __pyx_k_global_var[] = "global_var"; +static const char __pyx_k_init_state[] = "init_state"; +static const char __pyx_k_norm_quats[] = "norm_quats"; +static const char __pyx_k_pyx_result[] = "__pyx_result"; +static const char __pyx_k_pyx_vtable[] = "__pyx_vtable__"; +static const char __pyx_k_rts_smooth[] = "rts_smooth"; +static const char __pyx_k_set_global[] = "set_global"; +static const char __pyx_k_EKF_sym_pyx[] = "EKF_sym_pyx"; +static const char __pyx_k_ImportError[] = "ImportError"; +static const char __pyx_k_MemoryError[] = "MemoryError"; +static const char __pyx_k_PickleError[] = "PickleError"; +static const char __pyx_k_collections[] = "collections"; +static const char __pyx_k_dim_augment[] = "dim_augment"; +static const char __pyx_k_filter_time[] = "filter_time"; +static const char __pyx_k_global_vars[] = "global_vars"; +static const char __pyx_k_maha_thresh[] = "maha_thresh"; +static const char __pyx_k_dim_main_err[] = "dim_main_err"; +static const char __pyx_k_initializing[] = "_initializing"; +static const char __pyx_k_is_coroutine[] = "_is_coroutine"; +static const char __pyx_k_pyx_checksum[] = "__pyx_checksum"; +static const char __pyx_k_reset_rewind[] = "reset_rewind"; +static const char __pyx_k_stringsource[] = ""; +static const char __pyx_k_version_info[] = "version_info"; +static const char __pyx_k_class_getitem[] = "__class_getitem__"; +static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; +static const char __pyx_k_AssertionError[] = "AssertionError"; +static const char __pyx_k_extra_args_map[] = "extra_args_map"; +static const char __pyx_k_max_rewind_age[] = "max_rewind_age"; +static const char __pyx_k_View_MemoryView[] = "View.MemoryView"; +static const char __pyx_k_allocate_buffer[] = "allocate_buffer"; +static const char __pyx_k_collections_abc[] = "collections.abc"; +static const char __pyx_k_dim_augment_err[] = "dim_augment_err"; +static const char __pyx_k_dtype_is_object[] = "dtype_is_object"; +static const char __pyx_k_get_filter_time[] = "get_filter_time"; +static const char __pyx_k_maha_test_kinds[] = "maha_test_kinds"; +static const char __pyx_k_pyx_PickleError[] = "__pyx_PickleError"; +static const char __pyx_k_quaternion_idxs[] = "quaternion_idxs"; +static const char __pyx_k_set_filter_time[] = "set_filter_time"; +static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; +static const char __pyx_k_EKF_sym_pyx_covs[] = "EKF_sym_pyx.covs"; +static const char __pyx_k_EKF_sym_pyx_state[] = "EKF_sym_pyx.state"; +static const char __pyx_k_ascontiguousarray[] = "ascontiguousarray"; +static const char __pyx_k_get_augment_times[] = "get_augment_times"; +static const char __pyx_k_pyx_unpickle_Enum[] = "__pyx_unpickle_Enum"; +static const char __pyx_k_asyncio_coroutines[] = "asyncio.coroutines"; +static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; +static const char __pyx_k_strided_and_direct[] = ""; +static const char __pyx_k_EKF_sym_pyx_augment[] = "EKF_sym_pyx.augment"; +static const char __pyx_k_EKF_sym_pyx_predict[] = "EKF_sym_pyx.predict"; +static const char __pyx_k_NotImplementedError[] = "NotImplementedError"; +static const char __pyx_k_strided_and_indirect[] = ""; +static const char __pyx_k_EKF_sym_pyx_maha_test[] = "EKF_sym_pyx.maha_test"; +static const char __pyx_k_Invalid_shape_in_axis[] = "Invalid shape in axis "; +static const char __pyx_k_contiguous_and_direct[] = ""; +static const char __pyx_k_Cannot_index_with_type[] = "Cannot index with type '"; +static const char __pyx_k_EKF_sym_pyx_init_state[] = "EKF_sym_pyx.init_state"; +static const char __pyx_k_EKF_sym_pyx_rts_smooth[] = "EKF_sym_pyx.rts_smooth"; +static const char __pyx_k_EKF_sym_pyx_set_global[] = "EKF_sym_pyx.set_global"; +static const char __pyx_k_MemoryView_of_r_object[] = ""; +static const char __pyx_k_MemoryView_of_r_at_0x_x[] = ""; +static const char __pyx_k_contiguous_and_indirect[] = ""; +static const char __pyx_k_EKF_sym_pyx_reset_rewind[] = "EKF_sym_pyx.reset_rewind"; +static const char __pyx_k_predict_and_update_batch[] = "predict_and_update_batch"; +static const char __pyx_k_Dimension_d_is_not_direct[] = "Dimension %d is not direct"; +static const char __pyx_k_Index_out_of_bounds_axis_d[] = "Index out of bounds (axis %d)"; +static const char __pyx_k_EKF_sym_pyx___reduce_cython[] = "EKF_sym_pyx.__reduce_cython__"; +static const char __pyx_k_EKF_sym_pyx_get_filter_time[] = "EKF_sym_pyx.get_filter_time"; +static const char __pyx_k_EKF_sym_pyx_set_filter_time[] = "EKF_sym_pyx.set_filter_time"; +static const char __pyx_k_Step_may_not_be_zero_axis_d[] = "Step may not be zero (axis %d)"; +static const char __pyx_k_itemsize_0_for_cython_array[] = "itemsize <= 0 for cython.array"; +static const char __pyx_k_rednose_helpers_ekf_sym_pyx[] = "rednose.helpers.ekf_sym_pyx"; +static const char __pyx_k_EKF_sym_pyx___setstate_cython[] = "EKF_sym_pyx.__setstate_cython__"; +static const char __pyx_k_EKF_sym_pyx_get_augment_times[] = "EKF_sym_pyx.get_augment_times"; +static const char __pyx_k_unable_to_allocate_array_data[] = "unable to allocate array data."; +static const char __pyx_k_strided_and_direct_or_indirect[] = ""; +static const char __pyx_k_numpy_core_multiarray_failed_to[] = "numpy.core.multiarray failed to import"; +static const char __pyx_k_rednose_helpers_ekf_sym_pyx_pyx[] = "rednose/helpers/ekf_sym_pyx.pyx"; +static const char __pyx_k_All_dimensions_preceding_dimensi[] = "All dimensions preceding dimension %d must be indexed and not sliced"; +static const char __pyx_k_Buffer_view_does_not_expose_stri[] = "Buffer view does not expose strides"; +static const char __pyx_k_Can_only_create_a_buffer_that_is[] = "Can only create a buffer that is contiguous in memory."; +static const char __pyx_k_Cannot_assign_to_read_only_memor[] = "Cannot assign to read-only memoryview"; +static const char __pyx_k_Cannot_create_writable_memory_vi[] = "Cannot create writable memory view from read-only memoryview"; +static const char __pyx_k_Cannot_transpose_memoryview_with[] = "Cannot transpose memoryview with indirect dimensions"; +static const char __pyx_k_EKF_sym_pyx_predict_and_update_b[] = "EKF_sym_pyx.predict_and_update_batch"; +static const char __pyx_k_Empty_shape_tuple_for_cython_arr[] = "Empty shape tuple for cython.array"; +static const char __pyx_k_Incompatible_checksums_0x_x_vs_0[] = "Incompatible checksums (0x%x vs (0x82a3537, 0x6ae9995, 0xb068931) = (name))"; +static const char __pyx_k_Indirect_dimensions_not_supporte[] = "Indirect dimensions not supported"; +static const char __pyx_k_Invalid_mode_expected_c_or_fortr[] = "Invalid mode, expected 'c' or 'fortran', got "; +static const char __pyx_k_Out_of_bounds_on_buffer_access_a[] = "Out of bounds on buffer access (axis "; +static const char __pyx_k_Unable_to_convert_item_to_object[] = "Unable to convert item to object"; +static const char __pyx_k_got_differing_extents_in_dimensi[] = "got differing extents in dimension "; +static const char __pyx_k_no_default___reduce___due_to_non[] = "no default __reduce__ due to non-trivial __cinit__"; +static const char __pyx_k_numpy_core_umath_failed_to_impor[] = "numpy.core.umath failed to import"; +static const char __pyx_k_unable_to_allocate_shape_and_str[] = "unable to allocate shape and strides."; +/* #### Code section: decls ### */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_shape, Py_ssize_t __pyx_v_itemsize, PyObject *__pyx_v_format, PyObject *__pyx_v_mode, int __pyx_v_allocate_buffer); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_2__getbuffer__(struct __pyx_array_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static void __pyx_array___pyx_pf_15View_dot_MemoryView_5array_4__dealloc__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_5array_7memview___get__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_array___pyx_pf_15View_dot_MemoryView_5array_6__len__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_8__getattr__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_attr); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_10__getitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_12__setitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item, PyObject *__pyx_v_value); /* proto */ +static PyObject *__pyx_pf___pyx_array___reduce_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_array_2__setstate_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum___init__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v_name); /* proto */ +static PyObject *__pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum_2__repr__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum___reduce_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum_2__setstate_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview___cinit__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj, int __pyx_v_flags, int __pyx_v_dtype_is_object); /* proto */ +static void __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_2__dealloc__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_4__getitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_6__setitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_8__getbuffer__(struct __pyx_memoryview_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_1T___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4base___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_5shape___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_7strides___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_10suboffsets___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4ndim___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_8itemsize___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_6nbytes___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4size___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_10__len__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_12__repr__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_14__str__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_16is_c_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_18is_f_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_20copy(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_22copy_fortran(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static void __pyx_memoryviewslice___pyx_pf_15View_dot_MemoryView_16_memoryviewslice___dealloc__(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView___pyx_unpickle_Enum(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v___pyx_type, long __pyx_v___pyx_checksum, PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_pf_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx___cinit__(struct __pyx_obj_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self, PyObject *__pyx_v_gen_dir, PyObject *__pyx_v_name, PyArrayObject *__pyx_v_Q, PyArrayObject *__pyx_v_x_initial, PyArrayObject *__pyx_v_P_initial, int __pyx_v_dim_main, int __pyx_v_dim_main_err, int __pyx_v_N, int __pyx_v_dim_augment, int __pyx_v_dim_augment_err, PyObject *__pyx_v_maha_test_kinds, PyObject *__pyx_v_quaternion_idxs, PyObject *__pyx_v_global_vars, double __pyx_v_max_rewind_age, CYTHON_UNUSED PyObject *__pyx_v_logger); /* proto */ +static PyObject *__pyx_pf_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_2init_state(struct __pyx_obj_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self, PyArrayObject *__pyx_v_state, PyArrayObject *__pyx_v_covs, PyObject *__pyx_v_filter_time); /* proto */ +static PyObject *__pyx_pf_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_4state(struct __pyx_obj_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_6covs(struct __pyx_obj_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_8set_filter_time(struct __pyx_obj_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self, double __pyx_v_t); /* proto */ +static PyObject *__pyx_pf_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_10get_filter_time(struct __pyx_obj_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_12set_global(struct __pyx_obj_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self, PyObject *__pyx_v_global_var, double __pyx_v_val); /* proto */ +static PyObject *__pyx_pf_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_14reset_rewind(struct __pyx_obj_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_16predict(struct __pyx_obj_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self, double __pyx_v_t); /* proto */ +static PyObject *__pyx_pf_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_18predict_and_update_batch(struct __pyx_obj_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self, double __pyx_v_t, int __pyx_v_kind, PyObject *__pyx_v_z, PyObject *__pyx_v_R, PyObject *__pyx_v_extra_args, bool __pyx_v_augment); /* proto */ +static PyObject *__pyx_pf_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_20augment(CYTHON_UNUSED struct __pyx_obj_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_22get_augment_times(CYTHON_UNUSED struct __pyx_obj_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_24rts_smooth(CYTHON_UNUSED struct __pyx_obj_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v_estimates, CYTHON_UNUSED PyObject *__pyx_v_norm_quats); /* proto */ +static PyObject *__pyx_pf_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_26maha_test(CYTHON_UNUSED struct __pyx_obj_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v_x, CYTHON_UNUSED PyObject *__pyx_v_P, CYTHON_UNUSED PyObject *__pyx_v_kind, CYTHON_UNUSED PyObject *__pyx_v_z, CYTHON_UNUSED PyObject *__pyx_v_R, CYTHON_UNUSED PyObject *__pyx_v_extra_args, CYTHON_UNUSED PyObject *__pyx_v_maha_thresh); /* proto */ +static void __pyx_pf_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_28__dealloc__(struct __pyx_obj_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_30__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_32__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_tp_new_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +/* #### Code section: late_includes ### */ +/* #### Code section: module_state ### */ +typedef struct { + PyObject *__pyx_d; + PyObject *__pyx_b; + PyObject *__pyx_cython_runtime; + PyObject *__pyx_empty_tuple; + PyObject *__pyx_empty_bytes; + PyObject *__pyx_empty_unicode; + #ifdef __Pyx_CyFunction_USED + PyTypeObject *__pyx_CyFunctionType; + #endif + #ifdef __Pyx_FusedFunction_USED + PyTypeObject *__pyx_FusedFunctionType; + #endif + #ifdef __Pyx_Generator_USED + PyTypeObject *__pyx_GeneratorType; + #endif + #ifdef __Pyx_IterableCoroutine_USED + PyTypeObject *__pyx_IterableCoroutineType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineAwaitType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineType; + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_7cpython_4type_type; + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_5numpy_dtype; + PyTypeObject *__pyx_ptype_5numpy_flatiter; + PyTypeObject *__pyx_ptype_5numpy_broadcast; + PyTypeObject *__pyx_ptype_5numpy_ndarray; + PyTypeObject *__pyx_ptype_5numpy_generic; + PyTypeObject *__pyx_ptype_5numpy_number; + PyTypeObject *__pyx_ptype_5numpy_integer; + PyTypeObject *__pyx_ptype_5numpy_signedinteger; + PyTypeObject *__pyx_ptype_5numpy_unsignedinteger; + PyTypeObject *__pyx_ptype_5numpy_inexact; + PyTypeObject *__pyx_ptype_5numpy_floating; + PyTypeObject *__pyx_ptype_5numpy_complexfloating; + PyTypeObject *__pyx_ptype_5numpy_flexible; + PyTypeObject *__pyx_ptype_5numpy_character; + PyTypeObject *__pyx_ptype_5numpy_ufunc; + #if CYTHON_USE_MODULE_STATE + PyObject *__pyx_type_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx; + PyObject *__pyx_type___pyx_array; + PyObject *__pyx_type___pyx_MemviewEnum; + PyObject *__pyx_type___pyx_memoryview; + PyObject *__pyx_type___pyx_memoryviewslice; + #endif + PyTypeObject *__pyx_ptype_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx; + PyTypeObject *__pyx_array_type; + PyTypeObject *__pyx_MemviewEnum_type; + PyTypeObject *__pyx_memoryview_type; + PyTypeObject *__pyx_memoryviewslice_type; + PyObject *__pyx_kp_u_; + PyObject *__pyx_n_s_ASCII; + PyObject *__pyx_kp_s_All_dimensions_preceding_dimensi; + PyObject *__pyx_n_s_AssertionError; + PyObject *__pyx_kp_s_Buffer_view_does_not_expose_stri; + PyObject *__pyx_n_u_C; + PyObject *__pyx_kp_s_Can_only_create_a_buffer_that_is; + PyObject *__pyx_kp_s_Cannot_assign_to_read_only_memor; + PyObject *__pyx_kp_s_Cannot_create_writable_memory_vi; + PyObject *__pyx_kp_u_Cannot_index_with_type; + PyObject *__pyx_kp_s_Cannot_transpose_memoryview_with; + PyObject *__pyx_kp_s_Dimension_d_is_not_direct; + PyObject *__pyx_n_s_EKF_sym_pyx; + PyObject *__pyx_n_s_EKF_sym_pyx___reduce_cython; + PyObject *__pyx_n_s_EKF_sym_pyx___setstate_cython; + PyObject *__pyx_n_s_EKF_sym_pyx_augment; + PyObject *__pyx_n_s_EKF_sym_pyx_covs; + PyObject *__pyx_n_s_EKF_sym_pyx_get_augment_times; + PyObject *__pyx_n_s_EKF_sym_pyx_get_filter_time; + PyObject *__pyx_n_s_EKF_sym_pyx_init_state; + PyObject *__pyx_n_s_EKF_sym_pyx_maha_test; + PyObject *__pyx_n_s_EKF_sym_pyx_predict; + PyObject *__pyx_n_s_EKF_sym_pyx_predict_and_update_b; + PyObject *__pyx_n_s_EKF_sym_pyx_reset_rewind; + PyObject *__pyx_n_s_EKF_sym_pyx_rts_smooth; + PyObject *__pyx_n_s_EKF_sym_pyx_set_filter_time; + PyObject *__pyx_n_s_EKF_sym_pyx_set_global; + PyObject *__pyx_n_s_EKF_sym_pyx_state; + PyObject *__pyx_n_s_Ellipsis; + PyObject *__pyx_kp_s_Empty_shape_tuple_for_cython_arr; + PyObject *__pyx_n_s_ImportError; + PyObject *__pyx_kp_s_Incompatible_checksums_0x_x_vs_0; + PyObject *__pyx_n_s_IndexError; + PyObject *__pyx_kp_s_Index_out_of_bounds_axis_d; + PyObject *__pyx_kp_s_Indirect_dimensions_not_supporte; + PyObject *__pyx_kp_u_Invalid_mode_expected_c_or_fortr; + PyObject *__pyx_kp_u_Invalid_shape_in_axis; + PyObject *__pyx_n_s_MemoryError; + PyObject *__pyx_kp_s_MemoryView_of_r_at_0x_x; + PyObject *__pyx_kp_s_MemoryView_of_r_object; + PyObject *__pyx_n_s_N; + PyObject *__pyx_n_s_NotImplementedError; + PyObject *__pyx_n_b_O; + PyObject *__pyx_kp_u_Out_of_bounds_on_buffer_access_a; + PyObject *__pyx_n_s_P; + PyObject *__pyx_n_s_P_initial; + PyObject *__pyx_n_s_PickleError; + PyObject *__pyx_n_s_Q; + PyObject *__pyx_n_s_R; + PyObject *__pyx_n_s_R_map; + PyObject *__pyx_n_s_Ri; + PyObject *__pyx_n_s_Ri_b; + PyObject *__pyx_n_s_Sequence; + PyObject *__pyx_kp_s_Step_may_not_be_zero_axis_d; + PyObject *__pyx_kp_b_T; + PyObject *__pyx_n_s_TypeError; + PyObject *__pyx_kp_s_Unable_to_convert_item_to_object; + PyObject *__pyx_n_s_ValueError; + PyObject *__pyx_n_s_View_MemoryView; + PyObject *__pyx_kp_b__10; + PyObject *__pyx_kp_b__11; + PyObject *__pyx_kp_b__12; + PyObject *__pyx_kp_u__13; + PyObject *__pyx_kp_u__14; + PyObject *__pyx_kp_u__2; + PyObject *__pyx_n_s__3; + PyObject *__pyx_n_s__58; + PyObject *__pyx_kp_u__6; + PyObject *__pyx_kp_u__7; + PyObject *__pyx_kp_b__9; + PyObject *__pyx_n_s_a; + PyObject *__pyx_n_s_abc; + PyObject *__pyx_n_s_allocate_buffer; + PyObject *__pyx_kp_u_and; + PyObject *__pyx_n_s_args; + PyObject *__pyx_n_s_args_map; + PyObject *__pyx_n_s_asarray; + PyObject *__pyx_n_s_ascontiguousarray; + PyObject *__pyx_n_s_asyncio_coroutines; + PyObject *__pyx_n_s_augment; + PyObject *__pyx_n_s_base; + PyObject *__pyx_n_s_c; + PyObject *__pyx_n_u_c; + PyObject *__pyx_n_s_class; + PyObject *__pyx_n_s_class_getitem; + PyObject *__pyx_n_s_cline_in_traceback; + PyObject *__pyx_n_s_collections; + PyObject *__pyx_kp_s_collections_abc; + PyObject *__pyx_kp_s_contiguous_and_direct; + PyObject *__pyx_kp_s_contiguous_and_indirect; + PyObject *__pyx_n_s_copy; + PyObject *__pyx_n_s_count; + PyObject *__pyx_n_s_covs; + PyObject *__pyx_n_s_covs_b; + PyObject *__pyx_n_s_dict; + PyObject *__pyx_n_s_dim_augment; + PyObject *__pyx_n_s_dim_augment_err; + PyObject *__pyx_n_s_dim_main; + PyObject *__pyx_n_s_dim_main_err; + PyObject *__pyx_kp_u_disable; + PyObject *__pyx_n_s_double; + PyObject *__pyx_n_s_dtype; + PyObject *__pyx_n_s_dtype_is_object; + PyObject *__pyx_kp_u_enable; + PyObject *__pyx_n_s_encode; + PyObject *__pyx_n_s_enumerate; + PyObject *__pyx_n_s_error; + PyObject *__pyx_n_s_estimates; + PyObject *__pyx_n_s_extra_args; + PyObject *__pyx_n_s_extra_args_map; + PyObject *__pyx_n_s_filter_time; + PyObject *__pyx_n_s_flags; + PyObject *__pyx_n_s_format; + PyObject *__pyx_n_s_fortran; + PyObject *__pyx_n_u_fortran; + PyObject *__pyx_kp_u_gc; + PyObject *__pyx_n_s_gen_dir; + PyObject *__pyx_n_s_get_augment_times; + PyObject *__pyx_n_s_get_filter_time; + PyObject *__pyx_n_s_getstate; + PyObject *__pyx_n_s_global_var; + PyObject *__pyx_n_s_global_vars; + PyObject *__pyx_kp_u_got; + PyObject *__pyx_kp_u_got_differing_extents_in_dimensi; + PyObject *__pyx_n_s_id; + PyObject *__pyx_n_s_import; + PyObject *__pyx_n_s_index; + PyObject *__pyx_n_s_init_state; + PyObject *__pyx_n_s_initializing; + PyObject *__pyx_n_s_is_coroutine; + PyObject *__pyx_kp_u_isenabled; + PyObject *__pyx_n_s_itemsize; + PyObject *__pyx_kp_s_itemsize_0_for_cython_array; + PyObject *__pyx_n_s_join; + PyObject *__pyx_n_s_kind; + PyObject *__pyx_n_s_logger; + PyObject *__pyx_n_s_maha_test; + PyObject *__pyx_n_s_maha_test_kinds; + PyObject *__pyx_n_s_maha_thresh; + PyObject *__pyx_n_s_main; + PyObject *__pyx_n_s_max_rewind_age; + PyObject *__pyx_n_s_memview; + PyObject *__pyx_n_s_mode; + PyObject *__pyx_n_s_name; + PyObject *__pyx_n_s_name_2; + PyObject *__pyx_n_s_nan; + PyObject *__pyx_n_s_ndim; + PyObject *__pyx_n_s_new; + PyObject *__pyx_kp_s_no_default___reduce___due_to_non; + PyObject *__pyx_n_s_norm_quats; + PyObject *__pyx_n_s_np; + PyObject *__pyx_n_s_numpy; + PyObject *__pyx_kp_u_numpy_core_multiarray_failed_to; + PyObject *__pyx_kp_u_numpy_core_umath_failed_to_impor; + PyObject *__pyx_n_s_obj; + PyObject *__pyx_n_s_order; + PyObject *__pyx_n_s_pack; + PyObject *__pyx_n_s_pickle; + PyObject *__pyx_n_s_predict; + PyObject *__pyx_n_s_predict_and_update_batch; + PyObject *__pyx_n_s_pyx_PickleError; + PyObject *__pyx_n_s_pyx_checksum; + PyObject *__pyx_n_s_pyx_result; + PyObject *__pyx_n_s_pyx_state; + PyObject *__pyx_n_s_pyx_type; + PyObject *__pyx_n_s_pyx_unpickle_Enum; + PyObject *__pyx_n_s_pyx_vtable; + PyObject *__pyx_n_s_quaternion_idxs; + PyObject *__pyx_n_s_range; + PyObject *__pyx_n_s_rednose_helpers_ekf_sym_pyx; + PyObject *__pyx_kp_s_rednose_helpers_ekf_sym_pyx_pyx; + PyObject *__pyx_n_s_reduce; + PyObject *__pyx_n_s_reduce_cython; + PyObject *__pyx_n_s_reduce_ex; + PyObject *__pyx_n_s_register; + PyObject *__pyx_n_s_res; + PyObject *__pyx_n_s_reset_rewind; + PyObject *__pyx_n_s_rts_smooth; + PyObject *__pyx_n_s_self; + PyObject *__pyx_n_s_set_filter_time; + PyObject *__pyx_n_s_set_global; + PyObject *__pyx_n_s_setstate; + PyObject *__pyx_n_s_setstate_cython; + PyObject *__pyx_n_s_shape; + PyObject *__pyx_n_s_size; + PyObject *__pyx_n_s_spec; + PyObject *__pyx_n_s_start; + PyObject *__pyx_n_s_state; + PyObject *__pyx_n_s_state_b; + PyObject *__pyx_n_s_step; + PyObject *__pyx_n_s_stop; + PyObject *__pyx_kp_s_strided_and_direct; + PyObject *__pyx_kp_s_strided_and_direct_or_indirect; + PyObject *__pyx_kp_s_strided_and_indirect; + PyObject *__pyx_kp_s_stringsource; + PyObject *__pyx_n_s_struct; + PyObject *__pyx_n_s_sys; + PyObject *__pyx_n_s_t; + PyObject *__pyx_n_s_test; + PyObject *__pyx_n_s_tmpvec; + PyObject *__pyx_kp_s_unable_to_allocate_array_data; + PyObject *__pyx_kp_s_unable_to_allocate_shape_and_str; + PyObject *__pyx_n_s_unpack; + PyObject *__pyx_n_s_update; + PyObject *__pyx_n_u_utf8; + PyObject *__pyx_n_s_val; + PyObject *__pyx_n_s_version_info; + PyObject *__pyx_n_s_x; + PyObject *__pyx_n_s_x_initial; + PyObject *__pyx_n_s_z; + PyObject *__pyx_n_s_z_map; + PyObject *__pyx_n_s_zi; + PyObject *__pyx_n_s_zi_b; + PyObject *__pyx_float_0_95; + PyObject *__pyx_int_0; + PyObject *__pyx_int_1; + PyObject *__pyx_int_3; + PyObject *__pyx_int_112105877; + PyObject *__pyx_int_136983863; + PyObject *__pyx_int_184977713; + PyObject *__pyx_int_neg_1; + PyObject *__pyx_k__17; + PyObject *__pyx_k__18; + PyObject *__pyx_k__19; + PyObject *__pyx_k__28; + PyObject *__pyx_k__33; + PyObject *__pyx_slice__5; + PyObject *__pyx_tuple__4; + PyObject *__pyx_tuple__8; + PyObject *__pyx_tuple__15; + PyObject *__pyx_tuple__16; + PyObject *__pyx_tuple__37; + PyObject *__pyx_tuple__38; + PyObject *__pyx_tuple__39; + PyObject *__pyx_tuple__40; + PyObject *__pyx_tuple__41; + PyObject *__pyx_tuple__42; + PyObject *__pyx_tuple__43; + PyObject *__pyx_tuple__44; + PyObject *__pyx_tuple__45; + PyObject *__pyx_tuple__46; + PyObject *__pyx_tuple__48; + PyObject *__pyx_tuple__49; + PyObject *__pyx_tuple__50; + PyObject *__pyx_tuple__51; + PyObject *__pyx_tuple__52; + PyObject *__pyx_tuple__53; + PyObject *__pyx_tuple__54; + PyObject *__pyx_tuple__55; + PyObject *__pyx_tuple__56; + PyObject *__pyx_tuple__57; + PyObject *__pyx_codeobj__20; + PyObject *__pyx_codeobj__21; + PyObject *__pyx_codeobj__22; + PyObject *__pyx_codeobj__23; + PyObject *__pyx_codeobj__24; + PyObject *__pyx_codeobj__25; + PyObject *__pyx_codeobj__26; + PyObject *__pyx_codeobj__27; + PyObject *__pyx_codeobj__29; + PyObject *__pyx_codeobj__30; + PyObject *__pyx_codeobj__31; + PyObject *__pyx_codeobj__32; + PyObject *__pyx_codeobj__34; + PyObject *__pyx_codeobj__35; + PyObject *__pyx_codeobj__36; + PyObject *__pyx_codeobj__47; +} __pyx_mstate; + +#if CYTHON_USE_MODULE_STATE +#ifdef __cplusplus +namespace { + extern struct PyModuleDef __pyx_moduledef; +} /* anonymous namespace */ +#else +static struct PyModuleDef __pyx_moduledef; +#endif + +#define __pyx_mstate(o) ((__pyx_mstate *)__Pyx_PyModule_GetState(o)) + +#define __pyx_mstate_global (__pyx_mstate(PyState_FindModule(&__pyx_moduledef))) + +#define __pyx_m (PyState_FindModule(&__pyx_moduledef)) +#else +static __pyx_mstate __pyx_mstate_global_static = +#ifdef __cplusplus + {}; +#else + {0}; +#endif +static __pyx_mstate *__pyx_mstate_global = &__pyx_mstate_global_static; +#endif +/* #### Code section: module_state_clear ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_clear(PyObject *m) { + __pyx_mstate *clear_module_state = __pyx_mstate(m); + if (!clear_module_state) return 0; + Py_CLEAR(clear_module_state->__pyx_d); + Py_CLEAR(clear_module_state->__pyx_b); + Py_CLEAR(clear_module_state->__pyx_cython_runtime); + Py_CLEAR(clear_module_state->__pyx_empty_tuple); + Py_CLEAR(clear_module_state->__pyx_empty_bytes); + Py_CLEAR(clear_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_CLEAR(clear_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_CLEAR(clear_module_state->__pyx_FusedFunctionType); + #endif + Py_CLEAR(clear_module_state->__pyx_ptype_7cpython_4type_type); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_dtype); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_flatiter); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_broadcast); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_ndarray); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_generic); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_number); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_integer); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_signedinteger); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_unsignedinteger); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_inexact); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_floating); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_complexfloating); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_flexible); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_character); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_ufunc); + Py_CLEAR(clear_module_state->__pyx_ptype_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx); + Py_CLEAR(clear_module_state->__pyx_type_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx); + Py_CLEAR(clear_module_state->__pyx_array_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_array); + Py_CLEAR(clear_module_state->__pyx_MemviewEnum_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_MemviewEnum); + Py_CLEAR(clear_module_state->__pyx_memoryview_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_memoryview); + Py_CLEAR(clear_module_state->__pyx_memoryviewslice_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_memoryviewslice); + Py_CLEAR(clear_module_state->__pyx_kp_u_); + Py_CLEAR(clear_module_state->__pyx_n_s_ASCII); + Py_CLEAR(clear_module_state->__pyx_kp_s_All_dimensions_preceding_dimensi); + Py_CLEAR(clear_module_state->__pyx_n_s_AssertionError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Buffer_view_does_not_expose_stri); + Py_CLEAR(clear_module_state->__pyx_n_u_C); + Py_CLEAR(clear_module_state->__pyx_kp_s_Can_only_create_a_buffer_that_is); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_assign_to_read_only_memor); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_create_writable_memory_vi); + Py_CLEAR(clear_module_state->__pyx_kp_u_Cannot_index_with_type); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_transpose_memoryview_with); + Py_CLEAR(clear_module_state->__pyx_kp_s_Dimension_d_is_not_direct); + Py_CLEAR(clear_module_state->__pyx_n_s_EKF_sym_pyx); + Py_CLEAR(clear_module_state->__pyx_n_s_EKF_sym_pyx___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_EKF_sym_pyx___setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_EKF_sym_pyx_augment); + Py_CLEAR(clear_module_state->__pyx_n_s_EKF_sym_pyx_covs); + Py_CLEAR(clear_module_state->__pyx_n_s_EKF_sym_pyx_get_augment_times); + Py_CLEAR(clear_module_state->__pyx_n_s_EKF_sym_pyx_get_filter_time); + Py_CLEAR(clear_module_state->__pyx_n_s_EKF_sym_pyx_init_state); + Py_CLEAR(clear_module_state->__pyx_n_s_EKF_sym_pyx_maha_test); + Py_CLEAR(clear_module_state->__pyx_n_s_EKF_sym_pyx_predict); + Py_CLEAR(clear_module_state->__pyx_n_s_EKF_sym_pyx_predict_and_update_b); + Py_CLEAR(clear_module_state->__pyx_n_s_EKF_sym_pyx_reset_rewind); + Py_CLEAR(clear_module_state->__pyx_n_s_EKF_sym_pyx_rts_smooth); + Py_CLEAR(clear_module_state->__pyx_n_s_EKF_sym_pyx_set_filter_time); + Py_CLEAR(clear_module_state->__pyx_n_s_EKF_sym_pyx_set_global); + Py_CLEAR(clear_module_state->__pyx_n_s_EKF_sym_pyx_state); + Py_CLEAR(clear_module_state->__pyx_n_s_Ellipsis); + Py_CLEAR(clear_module_state->__pyx_kp_s_Empty_shape_tuple_for_cython_arr); + Py_CLEAR(clear_module_state->__pyx_n_s_ImportError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0); + Py_CLEAR(clear_module_state->__pyx_n_s_IndexError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Index_out_of_bounds_axis_d); + Py_CLEAR(clear_module_state->__pyx_kp_s_Indirect_dimensions_not_supporte); + Py_CLEAR(clear_module_state->__pyx_kp_u_Invalid_mode_expected_c_or_fortr); + Py_CLEAR(clear_module_state->__pyx_kp_u_Invalid_shape_in_axis); + Py_CLEAR(clear_module_state->__pyx_n_s_MemoryError); + Py_CLEAR(clear_module_state->__pyx_kp_s_MemoryView_of_r_at_0x_x); + Py_CLEAR(clear_module_state->__pyx_kp_s_MemoryView_of_r_object); + Py_CLEAR(clear_module_state->__pyx_n_s_N); + Py_CLEAR(clear_module_state->__pyx_n_s_NotImplementedError); + Py_CLEAR(clear_module_state->__pyx_n_b_O); + Py_CLEAR(clear_module_state->__pyx_kp_u_Out_of_bounds_on_buffer_access_a); + Py_CLEAR(clear_module_state->__pyx_n_s_P); + Py_CLEAR(clear_module_state->__pyx_n_s_P_initial); + Py_CLEAR(clear_module_state->__pyx_n_s_PickleError); + Py_CLEAR(clear_module_state->__pyx_n_s_Q); + Py_CLEAR(clear_module_state->__pyx_n_s_R); + Py_CLEAR(clear_module_state->__pyx_n_s_R_map); + Py_CLEAR(clear_module_state->__pyx_n_s_Ri); + Py_CLEAR(clear_module_state->__pyx_n_s_Ri_b); + Py_CLEAR(clear_module_state->__pyx_n_s_Sequence); + Py_CLEAR(clear_module_state->__pyx_kp_s_Step_may_not_be_zero_axis_d); + Py_CLEAR(clear_module_state->__pyx_kp_b_T); + Py_CLEAR(clear_module_state->__pyx_n_s_TypeError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Unable_to_convert_item_to_object); + Py_CLEAR(clear_module_state->__pyx_n_s_ValueError); + Py_CLEAR(clear_module_state->__pyx_n_s_View_MemoryView); + Py_CLEAR(clear_module_state->__pyx_kp_b__10); + Py_CLEAR(clear_module_state->__pyx_kp_b__11); + Py_CLEAR(clear_module_state->__pyx_kp_b__12); + Py_CLEAR(clear_module_state->__pyx_kp_u__13); + Py_CLEAR(clear_module_state->__pyx_kp_u__14); + Py_CLEAR(clear_module_state->__pyx_kp_u__2); + Py_CLEAR(clear_module_state->__pyx_n_s__3); + Py_CLEAR(clear_module_state->__pyx_n_s__58); + Py_CLEAR(clear_module_state->__pyx_kp_u__6); + Py_CLEAR(clear_module_state->__pyx_kp_u__7); + Py_CLEAR(clear_module_state->__pyx_kp_b__9); + Py_CLEAR(clear_module_state->__pyx_n_s_a); + Py_CLEAR(clear_module_state->__pyx_n_s_abc); + Py_CLEAR(clear_module_state->__pyx_n_s_allocate_buffer); + Py_CLEAR(clear_module_state->__pyx_kp_u_and); + Py_CLEAR(clear_module_state->__pyx_n_s_args); + Py_CLEAR(clear_module_state->__pyx_n_s_args_map); + Py_CLEAR(clear_module_state->__pyx_n_s_asarray); + Py_CLEAR(clear_module_state->__pyx_n_s_ascontiguousarray); + Py_CLEAR(clear_module_state->__pyx_n_s_asyncio_coroutines); + Py_CLEAR(clear_module_state->__pyx_n_s_augment); + Py_CLEAR(clear_module_state->__pyx_n_s_base); + Py_CLEAR(clear_module_state->__pyx_n_s_c); + Py_CLEAR(clear_module_state->__pyx_n_u_c); + Py_CLEAR(clear_module_state->__pyx_n_s_class); + Py_CLEAR(clear_module_state->__pyx_n_s_class_getitem); + Py_CLEAR(clear_module_state->__pyx_n_s_cline_in_traceback); + Py_CLEAR(clear_module_state->__pyx_n_s_collections); + Py_CLEAR(clear_module_state->__pyx_kp_s_collections_abc); + Py_CLEAR(clear_module_state->__pyx_kp_s_contiguous_and_direct); + Py_CLEAR(clear_module_state->__pyx_kp_s_contiguous_and_indirect); + Py_CLEAR(clear_module_state->__pyx_n_s_copy); + Py_CLEAR(clear_module_state->__pyx_n_s_count); + Py_CLEAR(clear_module_state->__pyx_n_s_covs); + Py_CLEAR(clear_module_state->__pyx_n_s_covs_b); + Py_CLEAR(clear_module_state->__pyx_n_s_dict); + Py_CLEAR(clear_module_state->__pyx_n_s_dim_augment); + Py_CLEAR(clear_module_state->__pyx_n_s_dim_augment_err); + Py_CLEAR(clear_module_state->__pyx_n_s_dim_main); + Py_CLEAR(clear_module_state->__pyx_n_s_dim_main_err); + Py_CLEAR(clear_module_state->__pyx_kp_u_disable); + Py_CLEAR(clear_module_state->__pyx_n_s_double); + Py_CLEAR(clear_module_state->__pyx_n_s_dtype); + Py_CLEAR(clear_module_state->__pyx_n_s_dtype_is_object); + Py_CLEAR(clear_module_state->__pyx_kp_u_enable); + Py_CLEAR(clear_module_state->__pyx_n_s_encode); + Py_CLEAR(clear_module_state->__pyx_n_s_enumerate); + Py_CLEAR(clear_module_state->__pyx_n_s_error); + Py_CLEAR(clear_module_state->__pyx_n_s_estimates); + Py_CLEAR(clear_module_state->__pyx_n_s_extra_args); + Py_CLEAR(clear_module_state->__pyx_n_s_extra_args_map); + Py_CLEAR(clear_module_state->__pyx_n_s_filter_time); + Py_CLEAR(clear_module_state->__pyx_n_s_flags); + Py_CLEAR(clear_module_state->__pyx_n_s_format); + Py_CLEAR(clear_module_state->__pyx_n_s_fortran); + Py_CLEAR(clear_module_state->__pyx_n_u_fortran); + Py_CLEAR(clear_module_state->__pyx_kp_u_gc); + Py_CLEAR(clear_module_state->__pyx_n_s_gen_dir); + Py_CLEAR(clear_module_state->__pyx_n_s_get_augment_times); + Py_CLEAR(clear_module_state->__pyx_n_s_get_filter_time); + Py_CLEAR(clear_module_state->__pyx_n_s_getstate); + Py_CLEAR(clear_module_state->__pyx_n_s_global_var); + Py_CLEAR(clear_module_state->__pyx_n_s_global_vars); + Py_CLEAR(clear_module_state->__pyx_kp_u_got); + Py_CLEAR(clear_module_state->__pyx_kp_u_got_differing_extents_in_dimensi); + Py_CLEAR(clear_module_state->__pyx_n_s_id); + Py_CLEAR(clear_module_state->__pyx_n_s_import); + Py_CLEAR(clear_module_state->__pyx_n_s_index); + Py_CLEAR(clear_module_state->__pyx_n_s_init_state); + Py_CLEAR(clear_module_state->__pyx_n_s_initializing); + Py_CLEAR(clear_module_state->__pyx_n_s_is_coroutine); + Py_CLEAR(clear_module_state->__pyx_kp_u_isenabled); + Py_CLEAR(clear_module_state->__pyx_n_s_itemsize); + Py_CLEAR(clear_module_state->__pyx_kp_s_itemsize_0_for_cython_array); + Py_CLEAR(clear_module_state->__pyx_n_s_join); + Py_CLEAR(clear_module_state->__pyx_n_s_kind); + Py_CLEAR(clear_module_state->__pyx_n_s_logger); + Py_CLEAR(clear_module_state->__pyx_n_s_maha_test); + Py_CLEAR(clear_module_state->__pyx_n_s_maha_test_kinds); + Py_CLEAR(clear_module_state->__pyx_n_s_maha_thresh); + Py_CLEAR(clear_module_state->__pyx_n_s_main); + Py_CLEAR(clear_module_state->__pyx_n_s_max_rewind_age); + Py_CLEAR(clear_module_state->__pyx_n_s_memview); + Py_CLEAR(clear_module_state->__pyx_n_s_mode); + Py_CLEAR(clear_module_state->__pyx_n_s_name); + Py_CLEAR(clear_module_state->__pyx_n_s_name_2); + Py_CLEAR(clear_module_state->__pyx_n_s_nan); + Py_CLEAR(clear_module_state->__pyx_n_s_ndim); + Py_CLEAR(clear_module_state->__pyx_n_s_new); + Py_CLEAR(clear_module_state->__pyx_kp_s_no_default___reduce___due_to_non); + Py_CLEAR(clear_module_state->__pyx_n_s_norm_quats); + Py_CLEAR(clear_module_state->__pyx_n_s_np); + Py_CLEAR(clear_module_state->__pyx_n_s_numpy); + Py_CLEAR(clear_module_state->__pyx_kp_u_numpy_core_multiarray_failed_to); + Py_CLEAR(clear_module_state->__pyx_kp_u_numpy_core_umath_failed_to_impor); + Py_CLEAR(clear_module_state->__pyx_n_s_obj); + Py_CLEAR(clear_module_state->__pyx_n_s_order); + Py_CLEAR(clear_module_state->__pyx_n_s_pack); + Py_CLEAR(clear_module_state->__pyx_n_s_pickle); + Py_CLEAR(clear_module_state->__pyx_n_s_predict); + Py_CLEAR(clear_module_state->__pyx_n_s_predict_and_update_batch); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_PickleError); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_checksum); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_result); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_state); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_type); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_unpickle_Enum); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_vtable); + Py_CLEAR(clear_module_state->__pyx_n_s_quaternion_idxs); + Py_CLEAR(clear_module_state->__pyx_n_s_range); + Py_CLEAR(clear_module_state->__pyx_n_s_rednose_helpers_ekf_sym_pyx); + Py_CLEAR(clear_module_state->__pyx_kp_s_rednose_helpers_ekf_sym_pyx_pyx); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_ex); + Py_CLEAR(clear_module_state->__pyx_n_s_register); + Py_CLEAR(clear_module_state->__pyx_n_s_res); + Py_CLEAR(clear_module_state->__pyx_n_s_reset_rewind); + Py_CLEAR(clear_module_state->__pyx_n_s_rts_smooth); + Py_CLEAR(clear_module_state->__pyx_n_s_self); + Py_CLEAR(clear_module_state->__pyx_n_s_set_filter_time); + Py_CLEAR(clear_module_state->__pyx_n_s_set_global); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_shape); + Py_CLEAR(clear_module_state->__pyx_n_s_size); + Py_CLEAR(clear_module_state->__pyx_n_s_spec); + Py_CLEAR(clear_module_state->__pyx_n_s_start); + Py_CLEAR(clear_module_state->__pyx_n_s_state); + Py_CLEAR(clear_module_state->__pyx_n_s_state_b); + Py_CLEAR(clear_module_state->__pyx_n_s_step); + Py_CLEAR(clear_module_state->__pyx_n_s_stop); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_direct); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_direct_or_indirect); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_indirect); + Py_CLEAR(clear_module_state->__pyx_kp_s_stringsource); + Py_CLEAR(clear_module_state->__pyx_n_s_struct); + Py_CLEAR(clear_module_state->__pyx_n_s_sys); + Py_CLEAR(clear_module_state->__pyx_n_s_t); + Py_CLEAR(clear_module_state->__pyx_n_s_test); + Py_CLEAR(clear_module_state->__pyx_n_s_tmpvec); + Py_CLEAR(clear_module_state->__pyx_kp_s_unable_to_allocate_array_data); + Py_CLEAR(clear_module_state->__pyx_kp_s_unable_to_allocate_shape_and_str); + Py_CLEAR(clear_module_state->__pyx_n_s_unpack); + Py_CLEAR(clear_module_state->__pyx_n_s_update); + Py_CLEAR(clear_module_state->__pyx_n_u_utf8); + Py_CLEAR(clear_module_state->__pyx_n_s_val); + Py_CLEAR(clear_module_state->__pyx_n_s_version_info); + Py_CLEAR(clear_module_state->__pyx_n_s_x); + Py_CLEAR(clear_module_state->__pyx_n_s_x_initial); + Py_CLEAR(clear_module_state->__pyx_n_s_z); + Py_CLEAR(clear_module_state->__pyx_n_s_z_map); + Py_CLEAR(clear_module_state->__pyx_n_s_zi); + Py_CLEAR(clear_module_state->__pyx_n_s_zi_b); + Py_CLEAR(clear_module_state->__pyx_float_0_95); + Py_CLEAR(clear_module_state->__pyx_int_0); + Py_CLEAR(clear_module_state->__pyx_int_1); + Py_CLEAR(clear_module_state->__pyx_int_3); + Py_CLEAR(clear_module_state->__pyx_int_112105877); + Py_CLEAR(clear_module_state->__pyx_int_136983863); + Py_CLEAR(clear_module_state->__pyx_int_184977713); + Py_CLEAR(clear_module_state->__pyx_int_neg_1); + Py_CLEAR(clear_module_state->__pyx_k__17); + Py_CLEAR(clear_module_state->__pyx_k__18); + Py_CLEAR(clear_module_state->__pyx_k__19); + Py_CLEAR(clear_module_state->__pyx_k__28); + Py_CLEAR(clear_module_state->__pyx_k__33); + Py_CLEAR(clear_module_state->__pyx_slice__5); + Py_CLEAR(clear_module_state->__pyx_tuple__4); + Py_CLEAR(clear_module_state->__pyx_tuple__8); + Py_CLEAR(clear_module_state->__pyx_tuple__15); + Py_CLEAR(clear_module_state->__pyx_tuple__16); + Py_CLEAR(clear_module_state->__pyx_tuple__37); + Py_CLEAR(clear_module_state->__pyx_tuple__38); + Py_CLEAR(clear_module_state->__pyx_tuple__39); + Py_CLEAR(clear_module_state->__pyx_tuple__40); + Py_CLEAR(clear_module_state->__pyx_tuple__41); + Py_CLEAR(clear_module_state->__pyx_tuple__42); + Py_CLEAR(clear_module_state->__pyx_tuple__43); + Py_CLEAR(clear_module_state->__pyx_tuple__44); + Py_CLEAR(clear_module_state->__pyx_tuple__45); + Py_CLEAR(clear_module_state->__pyx_tuple__46); + Py_CLEAR(clear_module_state->__pyx_tuple__48); + Py_CLEAR(clear_module_state->__pyx_tuple__49); + Py_CLEAR(clear_module_state->__pyx_tuple__50); + Py_CLEAR(clear_module_state->__pyx_tuple__51); + Py_CLEAR(clear_module_state->__pyx_tuple__52); + Py_CLEAR(clear_module_state->__pyx_tuple__53); + Py_CLEAR(clear_module_state->__pyx_tuple__54); + Py_CLEAR(clear_module_state->__pyx_tuple__55); + Py_CLEAR(clear_module_state->__pyx_tuple__56); + Py_CLEAR(clear_module_state->__pyx_tuple__57); + Py_CLEAR(clear_module_state->__pyx_codeobj__20); + Py_CLEAR(clear_module_state->__pyx_codeobj__21); + Py_CLEAR(clear_module_state->__pyx_codeobj__22); + Py_CLEAR(clear_module_state->__pyx_codeobj__23); + Py_CLEAR(clear_module_state->__pyx_codeobj__24); + Py_CLEAR(clear_module_state->__pyx_codeobj__25); + Py_CLEAR(clear_module_state->__pyx_codeobj__26); + Py_CLEAR(clear_module_state->__pyx_codeobj__27); + Py_CLEAR(clear_module_state->__pyx_codeobj__29); + Py_CLEAR(clear_module_state->__pyx_codeobj__30); + Py_CLEAR(clear_module_state->__pyx_codeobj__31); + Py_CLEAR(clear_module_state->__pyx_codeobj__32); + Py_CLEAR(clear_module_state->__pyx_codeobj__34); + Py_CLEAR(clear_module_state->__pyx_codeobj__35); + Py_CLEAR(clear_module_state->__pyx_codeobj__36); + Py_CLEAR(clear_module_state->__pyx_codeobj__47); + return 0; +} +#endif +/* #### Code section: module_state_traverse ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_traverse(PyObject *m, visitproc visit, void *arg) { + __pyx_mstate *traverse_module_state = __pyx_mstate(m); + if (!traverse_module_state) return 0; + Py_VISIT(traverse_module_state->__pyx_d); + Py_VISIT(traverse_module_state->__pyx_b); + Py_VISIT(traverse_module_state->__pyx_cython_runtime); + Py_VISIT(traverse_module_state->__pyx_empty_tuple); + Py_VISIT(traverse_module_state->__pyx_empty_bytes); + Py_VISIT(traverse_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_VISIT(traverse_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_VISIT(traverse_module_state->__pyx_FusedFunctionType); + #endif + Py_VISIT(traverse_module_state->__pyx_ptype_7cpython_4type_type); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_dtype); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_flatiter); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_broadcast); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_ndarray); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_generic); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_number); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_integer); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_signedinteger); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_unsignedinteger); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_inexact); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_floating); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_complexfloating); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_flexible); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_character); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_ufunc); + Py_VISIT(traverse_module_state->__pyx_ptype_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx); + Py_VISIT(traverse_module_state->__pyx_type_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx); + Py_VISIT(traverse_module_state->__pyx_array_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_array); + Py_VISIT(traverse_module_state->__pyx_MemviewEnum_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_MemviewEnum); + Py_VISIT(traverse_module_state->__pyx_memoryview_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_memoryview); + Py_VISIT(traverse_module_state->__pyx_memoryviewslice_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_memoryviewslice); + Py_VISIT(traverse_module_state->__pyx_kp_u_); + Py_VISIT(traverse_module_state->__pyx_n_s_ASCII); + Py_VISIT(traverse_module_state->__pyx_kp_s_All_dimensions_preceding_dimensi); + Py_VISIT(traverse_module_state->__pyx_n_s_AssertionError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Buffer_view_does_not_expose_stri); + Py_VISIT(traverse_module_state->__pyx_n_u_C); + Py_VISIT(traverse_module_state->__pyx_kp_s_Can_only_create_a_buffer_that_is); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_assign_to_read_only_memor); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_create_writable_memory_vi); + Py_VISIT(traverse_module_state->__pyx_kp_u_Cannot_index_with_type); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_transpose_memoryview_with); + Py_VISIT(traverse_module_state->__pyx_kp_s_Dimension_d_is_not_direct); + Py_VISIT(traverse_module_state->__pyx_n_s_EKF_sym_pyx); + Py_VISIT(traverse_module_state->__pyx_n_s_EKF_sym_pyx___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_EKF_sym_pyx___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_EKF_sym_pyx_augment); + Py_VISIT(traverse_module_state->__pyx_n_s_EKF_sym_pyx_covs); + Py_VISIT(traverse_module_state->__pyx_n_s_EKF_sym_pyx_get_augment_times); + Py_VISIT(traverse_module_state->__pyx_n_s_EKF_sym_pyx_get_filter_time); + 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Py_VISIT(traverse_module_state->__pyx_codeobj__29); + Py_VISIT(traverse_module_state->__pyx_codeobj__30); + Py_VISIT(traverse_module_state->__pyx_codeobj__31); + Py_VISIT(traverse_module_state->__pyx_codeobj__32); + Py_VISIT(traverse_module_state->__pyx_codeobj__34); + Py_VISIT(traverse_module_state->__pyx_codeobj__35); + Py_VISIT(traverse_module_state->__pyx_codeobj__36); + Py_VISIT(traverse_module_state->__pyx_codeobj__47); + return 0; +} +#endif +/* #### Code section: module_state_defines ### */ +#define __pyx_d __pyx_mstate_global->__pyx_d +#define __pyx_b __pyx_mstate_global->__pyx_b +#define __pyx_cython_runtime __pyx_mstate_global->__pyx_cython_runtime +#define __pyx_empty_tuple __pyx_mstate_global->__pyx_empty_tuple +#define __pyx_empty_bytes __pyx_mstate_global->__pyx_empty_bytes +#define __pyx_empty_unicode __pyx_mstate_global->__pyx_empty_unicode +#ifdef __Pyx_CyFunction_USED +#define __pyx_CyFunctionType __pyx_mstate_global->__pyx_CyFunctionType +#endif +#ifdef __Pyx_FusedFunction_USED +#define __pyx_FusedFunctionType __pyx_mstate_global->__pyx_FusedFunctionType +#endif +#ifdef __Pyx_Generator_USED +#define __pyx_GeneratorType __pyx_mstate_global->__pyx_GeneratorType +#endif +#ifdef __Pyx_IterableCoroutine_USED +#define __pyx_IterableCoroutineType __pyx_mstate_global->__pyx_IterableCoroutineType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineAwaitType __pyx_mstate_global->__pyx_CoroutineAwaitType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineType __pyx_mstate_global->__pyx_CoroutineType +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_7cpython_4type_type __pyx_mstate_global->__pyx_ptype_7cpython_4type_type +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_5numpy_dtype __pyx_mstate_global->__pyx_ptype_5numpy_dtype +#define __pyx_ptype_5numpy_flatiter __pyx_mstate_global->__pyx_ptype_5numpy_flatiter +#define __pyx_ptype_5numpy_broadcast __pyx_mstate_global->__pyx_ptype_5numpy_broadcast +#define __pyx_ptype_5numpy_ndarray __pyx_mstate_global->__pyx_ptype_5numpy_ndarray +#define __pyx_ptype_5numpy_generic __pyx_mstate_global->__pyx_ptype_5numpy_generic +#define __pyx_ptype_5numpy_number __pyx_mstate_global->__pyx_ptype_5numpy_number +#define __pyx_ptype_5numpy_integer __pyx_mstate_global->__pyx_ptype_5numpy_integer +#define __pyx_ptype_5numpy_signedinteger __pyx_mstate_global->__pyx_ptype_5numpy_signedinteger +#define __pyx_ptype_5numpy_unsignedinteger __pyx_mstate_global->__pyx_ptype_5numpy_unsignedinteger +#define __pyx_ptype_5numpy_inexact __pyx_mstate_global->__pyx_ptype_5numpy_inexact +#define __pyx_ptype_5numpy_floating __pyx_mstate_global->__pyx_ptype_5numpy_floating +#define __pyx_ptype_5numpy_complexfloating __pyx_mstate_global->__pyx_ptype_5numpy_complexfloating +#define __pyx_ptype_5numpy_flexible __pyx_mstate_global->__pyx_ptype_5numpy_flexible +#define __pyx_ptype_5numpy_character __pyx_mstate_global->__pyx_ptype_5numpy_character +#define __pyx_ptype_5numpy_ufunc __pyx_mstate_global->__pyx_ptype_5numpy_ufunc +#if CYTHON_USE_MODULE_STATE +#define __pyx_type_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx __pyx_mstate_global->__pyx_type_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx +#define __pyx_type___pyx_array __pyx_mstate_global->__pyx_type___pyx_array +#define __pyx_type___pyx_MemviewEnum __pyx_mstate_global->__pyx_type___pyx_MemviewEnum +#define __pyx_type___pyx_memoryview __pyx_mstate_global->__pyx_type___pyx_memoryview +#define __pyx_type___pyx_memoryviewslice __pyx_mstate_global->__pyx_type___pyx_memoryviewslice +#endif +#define __pyx_ptype_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx __pyx_mstate_global->__pyx_ptype_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx +#define __pyx_array_type __pyx_mstate_global->__pyx_array_type +#define __pyx_MemviewEnum_type __pyx_mstate_global->__pyx_MemviewEnum_type +#define __pyx_memoryview_type __pyx_mstate_global->__pyx_memoryview_type +#define __pyx_memoryviewslice_type __pyx_mstate_global->__pyx_memoryviewslice_type +#define __pyx_kp_u_ __pyx_mstate_global->__pyx_kp_u_ +#define __pyx_n_s_ASCII __pyx_mstate_global->__pyx_n_s_ASCII +#define __pyx_kp_s_All_dimensions_preceding_dimensi __pyx_mstate_global->__pyx_kp_s_All_dimensions_preceding_dimensi +#define __pyx_n_s_AssertionError __pyx_mstate_global->__pyx_n_s_AssertionError +#define __pyx_kp_s_Buffer_view_does_not_expose_stri __pyx_mstate_global->__pyx_kp_s_Buffer_view_does_not_expose_stri +#define __pyx_n_u_C __pyx_mstate_global->__pyx_n_u_C +#define __pyx_kp_s_Can_only_create_a_buffer_that_is __pyx_mstate_global->__pyx_kp_s_Can_only_create_a_buffer_that_is +#define __pyx_kp_s_Cannot_assign_to_read_only_memor __pyx_mstate_global->__pyx_kp_s_Cannot_assign_to_read_only_memor +#define __pyx_kp_s_Cannot_create_writable_memory_vi __pyx_mstate_global->__pyx_kp_s_Cannot_create_writable_memory_vi +#define __pyx_kp_u_Cannot_index_with_type __pyx_mstate_global->__pyx_kp_u_Cannot_index_with_type +#define __pyx_kp_s_Cannot_transpose_memoryview_with __pyx_mstate_global->__pyx_kp_s_Cannot_transpose_memoryview_with +#define __pyx_kp_s_Dimension_d_is_not_direct __pyx_mstate_global->__pyx_kp_s_Dimension_d_is_not_direct +#define __pyx_n_s_EKF_sym_pyx __pyx_mstate_global->__pyx_n_s_EKF_sym_pyx +#define __pyx_n_s_EKF_sym_pyx___reduce_cython __pyx_mstate_global->__pyx_n_s_EKF_sym_pyx___reduce_cython +#define __pyx_n_s_EKF_sym_pyx___setstate_cython __pyx_mstate_global->__pyx_n_s_EKF_sym_pyx___setstate_cython +#define __pyx_n_s_EKF_sym_pyx_augment __pyx_mstate_global->__pyx_n_s_EKF_sym_pyx_augment +#define __pyx_n_s_EKF_sym_pyx_covs __pyx_mstate_global->__pyx_n_s_EKF_sym_pyx_covs +#define __pyx_n_s_EKF_sym_pyx_get_augment_times __pyx_mstate_global->__pyx_n_s_EKF_sym_pyx_get_augment_times +#define __pyx_n_s_EKF_sym_pyx_get_filter_time __pyx_mstate_global->__pyx_n_s_EKF_sym_pyx_get_filter_time +#define __pyx_n_s_EKF_sym_pyx_init_state __pyx_mstate_global->__pyx_n_s_EKF_sym_pyx_init_state +#define __pyx_n_s_EKF_sym_pyx_maha_test __pyx_mstate_global->__pyx_n_s_EKF_sym_pyx_maha_test +#define __pyx_n_s_EKF_sym_pyx_predict __pyx_mstate_global->__pyx_n_s_EKF_sym_pyx_predict +#define __pyx_n_s_EKF_sym_pyx_predict_and_update_b __pyx_mstate_global->__pyx_n_s_EKF_sym_pyx_predict_and_update_b +#define __pyx_n_s_EKF_sym_pyx_reset_rewind __pyx_mstate_global->__pyx_n_s_EKF_sym_pyx_reset_rewind +#define __pyx_n_s_EKF_sym_pyx_rts_smooth __pyx_mstate_global->__pyx_n_s_EKF_sym_pyx_rts_smooth +#define __pyx_n_s_EKF_sym_pyx_set_filter_time __pyx_mstate_global->__pyx_n_s_EKF_sym_pyx_set_filter_time +#define __pyx_n_s_EKF_sym_pyx_set_global __pyx_mstate_global->__pyx_n_s_EKF_sym_pyx_set_global +#define __pyx_n_s_EKF_sym_pyx_state __pyx_mstate_global->__pyx_n_s_EKF_sym_pyx_state +#define __pyx_n_s_Ellipsis __pyx_mstate_global->__pyx_n_s_Ellipsis +#define __pyx_kp_s_Empty_shape_tuple_for_cython_arr __pyx_mstate_global->__pyx_kp_s_Empty_shape_tuple_for_cython_arr +#define __pyx_n_s_ImportError __pyx_mstate_global->__pyx_n_s_ImportError +#define __pyx_kp_s_Incompatible_checksums_0x_x_vs_0 __pyx_mstate_global->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0 +#define __pyx_n_s_IndexError __pyx_mstate_global->__pyx_n_s_IndexError +#define __pyx_kp_s_Index_out_of_bounds_axis_d __pyx_mstate_global->__pyx_kp_s_Index_out_of_bounds_axis_d +#define __pyx_kp_s_Indirect_dimensions_not_supporte __pyx_mstate_global->__pyx_kp_s_Indirect_dimensions_not_supporte +#define __pyx_kp_u_Invalid_mode_expected_c_or_fortr __pyx_mstate_global->__pyx_kp_u_Invalid_mode_expected_c_or_fortr +#define __pyx_kp_u_Invalid_shape_in_axis __pyx_mstate_global->__pyx_kp_u_Invalid_shape_in_axis +#define __pyx_n_s_MemoryError __pyx_mstate_global->__pyx_n_s_MemoryError +#define __pyx_kp_s_MemoryView_of_r_at_0x_x __pyx_mstate_global->__pyx_kp_s_MemoryView_of_r_at_0x_x +#define __pyx_kp_s_MemoryView_of_r_object __pyx_mstate_global->__pyx_kp_s_MemoryView_of_r_object +#define __pyx_n_s_N __pyx_mstate_global->__pyx_n_s_N +#define __pyx_n_s_NotImplementedError __pyx_mstate_global->__pyx_n_s_NotImplementedError +#define __pyx_n_b_O __pyx_mstate_global->__pyx_n_b_O +#define __pyx_kp_u_Out_of_bounds_on_buffer_access_a __pyx_mstate_global->__pyx_kp_u_Out_of_bounds_on_buffer_access_a +#define __pyx_n_s_P __pyx_mstate_global->__pyx_n_s_P +#define __pyx_n_s_P_initial __pyx_mstate_global->__pyx_n_s_P_initial +#define __pyx_n_s_PickleError __pyx_mstate_global->__pyx_n_s_PickleError +#define __pyx_n_s_Q __pyx_mstate_global->__pyx_n_s_Q +#define __pyx_n_s_R __pyx_mstate_global->__pyx_n_s_R +#define __pyx_n_s_R_map __pyx_mstate_global->__pyx_n_s_R_map +#define __pyx_n_s_Ri __pyx_mstate_global->__pyx_n_s_Ri +#define __pyx_n_s_Ri_b __pyx_mstate_global->__pyx_n_s_Ri_b +#define __pyx_n_s_Sequence __pyx_mstate_global->__pyx_n_s_Sequence +#define __pyx_kp_s_Step_may_not_be_zero_axis_d __pyx_mstate_global->__pyx_kp_s_Step_may_not_be_zero_axis_d +#define __pyx_kp_b_T __pyx_mstate_global->__pyx_kp_b_T +#define __pyx_n_s_TypeError __pyx_mstate_global->__pyx_n_s_TypeError +#define __pyx_kp_s_Unable_to_convert_item_to_object __pyx_mstate_global->__pyx_kp_s_Unable_to_convert_item_to_object +#define __pyx_n_s_ValueError __pyx_mstate_global->__pyx_n_s_ValueError +#define __pyx_n_s_View_MemoryView __pyx_mstate_global->__pyx_n_s_View_MemoryView +#define __pyx_kp_b__10 __pyx_mstate_global->__pyx_kp_b__10 +#define __pyx_kp_b__11 __pyx_mstate_global->__pyx_kp_b__11 +#define __pyx_kp_b__12 __pyx_mstate_global->__pyx_kp_b__12 +#define __pyx_kp_u__13 __pyx_mstate_global->__pyx_kp_u__13 +#define __pyx_kp_u__14 __pyx_mstate_global->__pyx_kp_u__14 +#define __pyx_kp_u__2 __pyx_mstate_global->__pyx_kp_u__2 +#define __pyx_n_s__3 __pyx_mstate_global->__pyx_n_s__3 +#define __pyx_n_s__58 __pyx_mstate_global->__pyx_n_s__58 +#define __pyx_kp_u__6 __pyx_mstate_global->__pyx_kp_u__6 +#define __pyx_kp_u__7 __pyx_mstate_global->__pyx_kp_u__7 +#define __pyx_kp_b__9 __pyx_mstate_global->__pyx_kp_b__9 +#define __pyx_n_s_a __pyx_mstate_global->__pyx_n_s_a +#define __pyx_n_s_abc __pyx_mstate_global->__pyx_n_s_abc +#define __pyx_n_s_allocate_buffer __pyx_mstate_global->__pyx_n_s_allocate_buffer +#define __pyx_kp_u_and __pyx_mstate_global->__pyx_kp_u_and +#define __pyx_n_s_args __pyx_mstate_global->__pyx_n_s_args +#define __pyx_n_s_args_map __pyx_mstate_global->__pyx_n_s_args_map +#define __pyx_n_s_asarray __pyx_mstate_global->__pyx_n_s_asarray +#define __pyx_n_s_ascontiguousarray __pyx_mstate_global->__pyx_n_s_ascontiguousarray +#define __pyx_n_s_asyncio_coroutines __pyx_mstate_global->__pyx_n_s_asyncio_coroutines +#define __pyx_n_s_augment __pyx_mstate_global->__pyx_n_s_augment +#define __pyx_n_s_base __pyx_mstate_global->__pyx_n_s_base +#define __pyx_n_s_c __pyx_mstate_global->__pyx_n_s_c +#define __pyx_n_u_c __pyx_mstate_global->__pyx_n_u_c +#define __pyx_n_s_class __pyx_mstate_global->__pyx_n_s_class +#define __pyx_n_s_class_getitem __pyx_mstate_global->__pyx_n_s_class_getitem +#define __pyx_n_s_cline_in_traceback __pyx_mstate_global->__pyx_n_s_cline_in_traceback +#define __pyx_n_s_collections __pyx_mstate_global->__pyx_n_s_collections +#define __pyx_kp_s_collections_abc __pyx_mstate_global->__pyx_kp_s_collections_abc +#define __pyx_kp_s_contiguous_and_direct __pyx_mstate_global->__pyx_kp_s_contiguous_and_direct +#define __pyx_kp_s_contiguous_and_indirect __pyx_mstate_global->__pyx_kp_s_contiguous_and_indirect +#define __pyx_n_s_copy __pyx_mstate_global->__pyx_n_s_copy +#define __pyx_n_s_count __pyx_mstate_global->__pyx_n_s_count +#define __pyx_n_s_covs __pyx_mstate_global->__pyx_n_s_covs +#define __pyx_n_s_covs_b __pyx_mstate_global->__pyx_n_s_covs_b +#define __pyx_n_s_dict __pyx_mstate_global->__pyx_n_s_dict +#define __pyx_n_s_dim_augment __pyx_mstate_global->__pyx_n_s_dim_augment +#define __pyx_n_s_dim_augment_err __pyx_mstate_global->__pyx_n_s_dim_augment_err +#define __pyx_n_s_dim_main __pyx_mstate_global->__pyx_n_s_dim_main +#define __pyx_n_s_dim_main_err __pyx_mstate_global->__pyx_n_s_dim_main_err +#define __pyx_kp_u_disable __pyx_mstate_global->__pyx_kp_u_disable +#define __pyx_n_s_double __pyx_mstate_global->__pyx_n_s_double +#define __pyx_n_s_dtype __pyx_mstate_global->__pyx_n_s_dtype +#define __pyx_n_s_dtype_is_object __pyx_mstate_global->__pyx_n_s_dtype_is_object +#define __pyx_kp_u_enable __pyx_mstate_global->__pyx_kp_u_enable +#define __pyx_n_s_encode __pyx_mstate_global->__pyx_n_s_encode +#define __pyx_n_s_enumerate __pyx_mstate_global->__pyx_n_s_enumerate +#define __pyx_n_s_error __pyx_mstate_global->__pyx_n_s_error +#define __pyx_n_s_estimates __pyx_mstate_global->__pyx_n_s_estimates +#define __pyx_n_s_extra_args __pyx_mstate_global->__pyx_n_s_extra_args +#define __pyx_n_s_extra_args_map __pyx_mstate_global->__pyx_n_s_extra_args_map +#define __pyx_n_s_filter_time __pyx_mstate_global->__pyx_n_s_filter_time +#define __pyx_n_s_flags __pyx_mstate_global->__pyx_n_s_flags +#define __pyx_n_s_format __pyx_mstate_global->__pyx_n_s_format +#define __pyx_n_s_fortran __pyx_mstate_global->__pyx_n_s_fortran +#define __pyx_n_u_fortran __pyx_mstate_global->__pyx_n_u_fortran +#define __pyx_kp_u_gc __pyx_mstate_global->__pyx_kp_u_gc +#define __pyx_n_s_gen_dir __pyx_mstate_global->__pyx_n_s_gen_dir +#define __pyx_n_s_get_augment_times __pyx_mstate_global->__pyx_n_s_get_augment_times +#define __pyx_n_s_get_filter_time __pyx_mstate_global->__pyx_n_s_get_filter_time +#define __pyx_n_s_getstate __pyx_mstate_global->__pyx_n_s_getstate +#define __pyx_n_s_global_var __pyx_mstate_global->__pyx_n_s_global_var +#define __pyx_n_s_global_vars __pyx_mstate_global->__pyx_n_s_global_vars +#define __pyx_kp_u_got __pyx_mstate_global->__pyx_kp_u_got +#define __pyx_kp_u_got_differing_extents_in_dimensi __pyx_mstate_global->__pyx_kp_u_got_differing_extents_in_dimensi +#define __pyx_n_s_id __pyx_mstate_global->__pyx_n_s_id +#define __pyx_n_s_import __pyx_mstate_global->__pyx_n_s_import +#define __pyx_n_s_index __pyx_mstate_global->__pyx_n_s_index +#define __pyx_n_s_init_state __pyx_mstate_global->__pyx_n_s_init_state +#define __pyx_n_s_initializing __pyx_mstate_global->__pyx_n_s_initializing +#define __pyx_n_s_is_coroutine __pyx_mstate_global->__pyx_n_s_is_coroutine +#define __pyx_kp_u_isenabled __pyx_mstate_global->__pyx_kp_u_isenabled +#define __pyx_n_s_itemsize __pyx_mstate_global->__pyx_n_s_itemsize +#define __pyx_kp_s_itemsize_0_for_cython_array __pyx_mstate_global->__pyx_kp_s_itemsize_0_for_cython_array +#define __pyx_n_s_join __pyx_mstate_global->__pyx_n_s_join +#define __pyx_n_s_kind __pyx_mstate_global->__pyx_n_s_kind +#define __pyx_n_s_logger __pyx_mstate_global->__pyx_n_s_logger +#define __pyx_n_s_maha_test __pyx_mstate_global->__pyx_n_s_maha_test +#define __pyx_n_s_maha_test_kinds __pyx_mstate_global->__pyx_n_s_maha_test_kinds +#define __pyx_n_s_maha_thresh __pyx_mstate_global->__pyx_n_s_maha_thresh +#define __pyx_n_s_main __pyx_mstate_global->__pyx_n_s_main +#define __pyx_n_s_max_rewind_age __pyx_mstate_global->__pyx_n_s_max_rewind_age +#define __pyx_n_s_memview __pyx_mstate_global->__pyx_n_s_memview +#define __pyx_n_s_mode __pyx_mstate_global->__pyx_n_s_mode +#define __pyx_n_s_name __pyx_mstate_global->__pyx_n_s_name +#define __pyx_n_s_name_2 __pyx_mstate_global->__pyx_n_s_name_2 +#define __pyx_n_s_nan __pyx_mstate_global->__pyx_n_s_nan +#define __pyx_n_s_ndim __pyx_mstate_global->__pyx_n_s_ndim +#define __pyx_n_s_new __pyx_mstate_global->__pyx_n_s_new +#define __pyx_kp_s_no_default___reduce___due_to_non __pyx_mstate_global->__pyx_kp_s_no_default___reduce___due_to_non +#define __pyx_n_s_norm_quats __pyx_mstate_global->__pyx_n_s_norm_quats +#define __pyx_n_s_np __pyx_mstate_global->__pyx_n_s_np +#define __pyx_n_s_numpy __pyx_mstate_global->__pyx_n_s_numpy +#define __pyx_kp_u_numpy_core_multiarray_failed_to __pyx_mstate_global->__pyx_kp_u_numpy_core_multiarray_failed_to +#define __pyx_kp_u_numpy_core_umath_failed_to_impor __pyx_mstate_global->__pyx_kp_u_numpy_core_umath_failed_to_impor +#define __pyx_n_s_obj __pyx_mstate_global->__pyx_n_s_obj +#define __pyx_n_s_order __pyx_mstate_global->__pyx_n_s_order +#define __pyx_n_s_pack __pyx_mstate_global->__pyx_n_s_pack +#define __pyx_n_s_pickle __pyx_mstate_global->__pyx_n_s_pickle +#define __pyx_n_s_predict __pyx_mstate_global->__pyx_n_s_predict +#define __pyx_n_s_predict_and_update_batch __pyx_mstate_global->__pyx_n_s_predict_and_update_batch +#define __pyx_n_s_pyx_PickleError __pyx_mstate_global->__pyx_n_s_pyx_PickleError +#define __pyx_n_s_pyx_checksum __pyx_mstate_global->__pyx_n_s_pyx_checksum +#define __pyx_n_s_pyx_result __pyx_mstate_global->__pyx_n_s_pyx_result +#define __pyx_n_s_pyx_state __pyx_mstate_global->__pyx_n_s_pyx_state +#define __pyx_n_s_pyx_type __pyx_mstate_global->__pyx_n_s_pyx_type +#define __pyx_n_s_pyx_unpickle_Enum __pyx_mstate_global->__pyx_n_s_pyx_unpickle_Enum +#define __pyx_n_s_pyx_vtable __pyx_mstate_global->__pyx_n_s_pyx_vtable +#define __pyx_n_s_quaternion_idxs __pyx_mstate_global->__pyx_n_s_quaternion_idxs +#define __pyx_n_s_range __pyx_mstate_global->__pyx_n_s_range +#define __pyx_n_s_rednose_helpers_ekf_sym_pyx __pyx_mstate_global->__pyx_n_s_rednose_helpers_ekf_sym_pyx +#define __pyx_kp_s_rednose_helpers_ekf_sym_pyx_pyx __pyx_mstate_global->__pyx_kp_s_rednose_helpers_ekf_sym_pyx_pyx +#define __pyx_n_s_reduce __pyx_mstate_global->__pyx_n_s_reduce +#define __pyx_n_s_reduce_cython __pyx_mstate_global->__pyx_n_s_reduce_cython +#define __pyx_n_s_reduce_ex __pyx_mstate_global->__pyx_n_s_reduce_ex +#define __pyx_n_s_register __pyx_mstate_global->__pyx_n_s_register +#define __pyx_n_s_res __pyx_mstate_global->__pyx_n_s_res +#define __pyx_n_s_reset_rewind __pyx_mstate_global->__pyx_n_s_reset_rewind +#define __pyx_n_s_rts_smooth __pyx_mstate_global->__pyx_n_s_rts_smooth +#define __pyx_n_s_self __pyx_mstate_global->__pyx_n_s_self +#define __pyx_n_s_set_filter_time __pyx_mstate_global->__pyx_n_s_set_filter_time +#define __pyx_n_s_set_global __pyx_mstate_global->__pyx_n_s_set_global +#define __pyx_n_s_setstate __pyx_mstate_global->__pyx_n_s_setstate +#define __pyx_n_s_setstate_cython __pyx_mstate_global->__pyx_n_s_setstate_cython +#define __pyx_n_s_shape __pyx_mstate_global->__pyx_n_s_shape +#define __pyx_n_s_size __pyx_mstate_global->__pyx_n_s_size +#define __pyx_n_s_spec __pyx_mstate_global->__pyx_n_s_spec +#define __pyx_n_s_start __pyx_mstate_global->__pyx_n_s_start +#define __pyx_n_s_state __pyx_mstate_global->__pyx_n_s_state +#define __pyx_n_s_state_b __pyx_mstate_global->__pyx_n_s_state_b +#define __pyx_n_s_step __pyx_mstate_global->__pyx_n_s_step +#define __pyx_n_s_stop __pyx_mstate_global->__pyx_n_s_stop +#define __pyx_kp_s_strided_and_direct __pyx_mstate_global->__pyx_kp_s_strided_and_direct +#define __pyx_kp_s_strided_and_direct_or_indirect __pyx_mstate_global->__pyx_kp_s_strided_and_direct_or_indirect +#define __pyx_kp_s_strided_and_indirect __pyx_mstate_global->__pyx_kp_s_strided_and_indirect +#define __pyx_kp_s_stringsource __pyx_mstate_global->__pyx_kp_s_stringsource +#define __pyx_n_s_struct __pyx_mstate_global->__pyx_n_s_struct +#define __pyx_n_s_sys __pyx_mstate_global->__pyx_n_s_sys +#define __pyx_n_s_t __pyx_mstate_global->__pyx_n_s_t +#define __pyx_n_s_test __pyx_mstate_global->__pyx_n_s_test +#define __pyx_n_s_tmpvec __pyx_mstate_global->__pyx_n_s_tmpvec +#define __pyx_kp_s_unable_to_allocate_array_data __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_array_data +#define __pyx_kp_s_unable_to_allocate_shape_and_str __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_shape_and_str +#define __pyx_n_s_unpack __pyx_mstate_global->__pyx_n_s_unpack +#define __pyx_n_s_update __pyx_mstate_global->__pyx_n_s_update +#define __pyx_n_u_utf8 __pyx_mstate_global->__pyx_n_u_utf8 +#define __pyx_n_s_val __pyx_mstate_global->__pyx_n_s_val +#define __pyx_n_s_version_info __pyx_mstate_global->__pyx_n_s_version_info +#define __pyx_n_s_x __pyx_mstate_global->__pyx_n_s_x +#define __pyx_n_s_x_initial __pyx_mstate_global->__pyx_n_s_x_initial +#define __pyx_n_s_z __pyx_mstate_global->__pyx_n_s_z +#define __pyx_n_s_z_map __pyx_mstate_global->__pyx_n_s_z_map +#define __pyx_n_s_zi __pyx_mstate_global->__pyx_n_s_zi +#define __pyx_n_s_zi_b __pyx_mstate_global->__pyx_n_s_zi_b +#define __pyx_float_0_95 __pyx_mstate_global->__pyx_float_0_95 +#define __pyx_int_0 __pyx_mstate_global->__pyx_int_0 +#define __pyx_int_1 __pyx_mstate_global->__pyx_int_1 +#define __pyx_int_3 __pyx_mstate_global->__pyx_int_3 +#define __pyx_int_112105877 __pyx_mstate_global->__pyx_int_112105877 +#define __pyx_int_136983863 __pyx_mstate_global->__pyx_int_136983863 +#define __pyx_int_184977713 __pyx_mstate_global->__pyx_int_184977713 +#define __pyx_int_neg_1 __pyx_mstate_global->__pyx_int_neg_1 +#define __pyx_k__17 __pyx_mstate_global->__pyx_k__17 +#define __pyx_k__18 __pyx_mstate_global->__pyx_k__18 +#define __pyx_k__19 __pyx_mstate_global->__pyx_k__19 +#define __pyx_k__28 __pyx_mstate_global->__pyx_k__28 +#define __pyx_k__33 __pyx_mstate_global->__pyx_k__33 +#define __pyx_slice__5 __pyx_mstate_global->__pyx_slice__5 +#define __pyx_tuple__4 __pyx_mstate_global->__pyx_tuple__4 +#define __pyx_tuple__8 __pyx_mstate_global->__pyx_tuple__8 +#define __pyx_tuple__15 __pyx_mstate_global->__pyx_tuple__15 +#define __pyx_tuple__16 __pyx_mstate_global->__pyx_tuple__16 +#define __pyx_tuple__37 __pyx_mstate_global->__pyx_tuple__37 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__pyx_memoryview_err_dim(PyExc_IndexError, __pyx_kp_s_Index_out_of_bounds_axis_d, __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(1, 818, __pyx_L1_error) + + /* "View.MemoryView":817 + * if start < 0: + * start += shape + * if not 0 <= start < shape: # <<<<<<<<<<<<<< + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) + * else: + */ + } + + /* "View.MemoryView":813 + * cdef bint negative_step + * + * if not is_slice: # <<<<<<<<<<<<<< + * + * if start < 0: + */ + goto __pyx_L3; + } + + /* "View.MemoryView":821 + * else: + * + * if have_step: # <<<<<<<<<<<<<< + * negative_step = step < 0 + * if step == 0: + */ + /*else*/ { + __pyx_t_2 = (__pyx_v_have_step != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":822 + * + * if have_step: + * negative_step = step < 0 # <<<<<<<<<<<<<< + * if step == 0: + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + */ + __pyx_v_negative_step = (__pyx_v_step < 0); + + /* "View.MemoryView":823 + * if have_step: + * negative_step = step < 0 + * if step == 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + */ + __pyx_t_2 = (__pyx_v_step == 0); + if (__pyx_t_2) { + + /* "View.MemoryView":824 + * negative_step = step < 0 + * if step == 0: + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) # <<<<<<<<<<<<<< + * else: + * negative_step = False + */ + __pyx_t_3 = __pyx_memoryview_err_dim(PyExc_ValueError, __pyx_kp_s_Step_may_not_be_zero_axis_d, __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(1, 824, __pyx_L1_error) + + /* "View.MemoryView":823 + * if have_step: + * negative_step = step < 0 + * if step == 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + */ + } + + /* "View.MemoryView":821 + * else: + * + * if have_step: # <<<<<<<<<<<<<< + * negative_step = step < 0 + * if step == 0: + */ + goto __pyx_L6; + } + + /* "View.MemoryView":826 + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + * negative_step = False # <<<<<<<<<<<<<< + * step = 1 + * + */ + /*else*/ { + __pyx_v_negative_step = 0; + + /* "View.MemoryView":827 + * else: + * negative_step = False + * step = 1 # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_step = 1; + } + __pyx_L6:; + + /* "View.MemoryView":830 + * + * + * if have_start: # <<<<<<<<<<<<<< + * if start < 0: + * start += shape + */ + __pyx_t_2 = (__pyx_v_have_start != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":831 + * + * if have_start: + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if start < 0: + */ + __pyx_t_2 = (__pyx_v_start < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":832 + * if have_start: + * if start < 0: + * start += shape # <<<<<<<<<<<<<< + * if start < 0: + * start = 0 + */ + __pyx_v_start = (__pyx_v_start + __pyx_v_shape); + + /* "View.MemoryView":833 + * if start < 0: + * start += shape + * if start < 0: # <<<<<<<<<<<<<< + * start = 0 + * elif start >= shape: + */ + __pyx_t_2 = (__pyx_v_start < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":834 + * start += shape + * if start < 0: + * start = 0 # <<<<<<<<<<<<<< + * elif start >= shape: + * if negative_step: + */ + __pyx_v_start = 0; + + /* "View.MemoryView":833 + * if start < 0: + * start += shape + * if start < 0: # <<<<<<<<<<<<<< + * start = 0 + * elif start >= shape: + */ + } + + /* "View.MemoryView":831 + * + * if have_start: + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if start < 0: + */ + goto __pyx_L9; + } + + /* "View.MemoryView":835 + * if start < 0: + * start = 0 + * elif start >= shape: # <<<<<<<<<<<<<< + * if negative_step: + * start = shape - 1 + */ + __pyx_t_2 = (__pyx_v_start >= __pyx_v_shape); + if (__pyx_t_2) { + + /* "View.MemoryView":836 + * start = 0 + * elif start >= shape: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + if (__pyx_v_negative_step) { + + /* "View.MemoryView":837 + * elif start >= shape: + * if negative_step: + * start = shape - 1 # <<<<<<<<<<<<<< + * else: + * start = shape + */ + __pyx_v_start = (__pyx_v_shape - 1); + + /* "View.MemoryView":836 + * start = 0 + * elif start >= shape: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + goto __pyx_L11; + } + + /* "View.MemoryView":839 + * start = shape - 1 + * else: + * start = shape # <<<<<<<<<<<<<< + * else: + * if negative_step: + */ + /*else*/ { + __pyx_v_start = __pyx_v_shape; + } + __pyx_L11:; + + /* "View.MemoryView":835 + * if start < 0: + * start = 0 + * elif start >= shape: # <<<<<<<<<<<<<< + * if negative_step: + * start = shape - 1 + */ + } + __pyx_L9:; + + /* "View.MemoryView":830 + * + * + * if have_start: # <<<<<<<<<<<<<< + * if start < 0: + * start += shape + */ + goto __pyx_L8; + } + + /* "View.MemoryView":841 + * start = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + /*else*/ { + if (__pyx_v_negative_step) { + + /* "View.MemoryView":842 + * else: + * if negative_step: + * start = shape - 1 # <<<<<<<<<<<<<< + * else: + * start = 0 + */ + __pyx_v_start = (__pyx_v_shape - 1); + + /* "View.MemoryView":841 + * start = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + goto __pyx_L12; + } + + /* "View.MemoryView":844 + * start = shape - 1 + * else: + * start = 0 # <<<<<<<<<<<<<< + * + * if have_stop: + */ + /*else*/ { + __pyx_v_start = 0; + } + __pyx_L12:; + } + __pyx_L8:; + + /* "View.MemoryView":846 + * start = 0 + * + * if have_stop: # <<<<<<<<<<<<<< + * if stop < 0: + * stop += shape + */ + __pyx_t_2 = (__pyx_v_have_stop != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":847 + * + * if have_stop: + * if stop < 0: # <<<<<<<<<<<<<< + * stop += shape + * if stop < 0: + */ + __pyx_t_2 = (__pyx_v_stop < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":848 + * if have_stop: + * if stop < 0: + * stop += shape # <<<<<<<<<<<<<< + * if stop < 0: + * stop = 0 + */ + __pyx_v_stop = (__pyx_v_stop + __pyx_v_shape); + + /* "View.MemoryView":849 + * if stop < 0: + * stop += shape + * if stop < 0: # <<<<<<<<<<<<<< + * stop = 0 + * elif stop > shape: + */ + __pyx_t_2 = (__pyx_v_stop < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":850 + * stop += shape + * if stop < 0: + * stop = 0 # <<<<<<<<<<<<<< + * elif stop > shape: + * stop = shape + */ + __pyx_v_stop = 0; + + /* "View.MemoryView":849 + * if stop < 0: + * stop += shape + * if stop < 0: # <<<<<<<<<<<<<< + * stop = 0 + * elif stop > shape: + */ + } + + /* "View.MemoryView":847 + * + * if have_stop: + * if stop < 0: # <<<<<<<<<<<<<< + * stop += shape + * if stop < 0: + */ + goto __pyx_L14; + } + + /* "View.MemoryView":851 + * if stop < 0: + * stop = 0 + * elif stop > shape: # <<<<<<<<<<<<<< + * stop = shape + * else: + */ + __pyx_t_2 = (__pyx_v_stop > __pyx_v_shape); + if (__pyx_t_2) { + + /* "View.MemoryView":852 + * stop = 0 + * elif stop > shape: + * stop = shape # <<<<<<<<<<<<<< + * else: + * if negative_step: + */ + __pyx_v_stop = __pyx_v_shape; + + /* "View.MemoryView":851 + * if stop < 0: + * stop = 0 + * elif stop > shape: # <<<<<<<<<<<<<< + * stop = shape + * else: + */ + } + __pyx_L14:; + + /* "View.MemoryView":846 + * start = 0 + * + * if have_stop: # <<<<<<<<<<<<<< + * if stop < 0: + * stop += shape + */ + goto __pyx_L13; + } + + /* "View.MemoryView":854 + * stop = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * stop = -1 + * else: + */ + /*else*/ { + if (__pyx_v_negative_step) { + + /* "View.MemoryView":855 + * else: + * if negative_step: + * stop = -1 # <<<<<<<<<<<<<< + * else: + * stop = shape + */ + __pyx_v_stop = -1L; + + /* "View.MemoryView":854 + * stop = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * stop = -1 + * else: + */ + goto __pyx_L16; + } + + /* "View.MemoryView":857 + * stop = -1 + * else: + * stop = shape # <<<<<<<<<<<<<< + * + * + */ + /*else*/ { + __pyx_v_stop = __pyx_v_shape; + } + __pyx_L16:; + } + __pyx_L13:; + + /* "View.MemoryView":861 + * + * with cython.cdivision(True): + * new_shape = (stop - start) // step # <<<<<<<<<<<<<< + * + * if (stop - start) - step * new_shape: + */ + __pyx_v_new_shape = ((__pyx_v_stop - __pyx_v_start) / __pyx_v_step); + + /* "View.MemoryView":863 + * new_shape = (stop - start) // step + * + * if (stop - start) - step * new_shape: # <<<<<<<<<<<<<< + * new_shape += 1 + * + */ + __pyx_t_2 = (((__pyx_v_stop - __pyx_v_start) - (__pyx_v_step * __pyx_v_new_shape)) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":864 + * + * if (stop - start) - step * new_shape: + * new_shape += 1 # <<<<<<<<<<<<<< + * + * if new_shape < 0: + */ + __pyx_v_new_shape = (__pyx_v_new_shape + 1); + + /* "View.MemoryView":863 + * new_shape = (stop - start) // step + * + * if (stop - start) - step * new_shape: # <<<<<<<<<<<<<< + * new_shape += 1 + * + */ + } + + /* "View.MemoryView":866 + * new_shape += 1 + * + * if new_shape < 0: # <<<<<<<<<<<<<< + * new_shape = 0 + * + */ + __pyx_t_2 = (__pyx_v_new_shape < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":867 + * + * if new_shape < 0: + * new_shape = 0 # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_new_shape = 0; + + /* "View.MemoryView":866 + * new_shape += 1 + * + * if new_shape < 0: # <<<<<<<<<<<<<< + * new_shape = 0 + * + */ + } + + /* "View.MemoryView":870 + * + * + * dst.strides[new_ndim] = stride * step # <<<<<<<<<<<<<< + * dst.shape[new_ndim] = new_shape + * dst.suboffsets[new_ndim] = suboffset + */ + (__pyx_v_dst->strides[__pyx_v_new_ndim]) = (__pyx_v_stride * __pyx_v_step); + + /* "View.MemoryView":871 + * + * dst.strides[new_ndim] = stride * step + * dst.shape[new_ndim] = new_shape # <<<<<<<<<<<<<< + * dst.suboffsets[new_ndim] = suboffset + * + */ + (__pyx_v_dst->shape[__pyx_v_new_ndim]) = __pyx_v_new_shape; + + /* "View.MemoryView":872 + * dst.strides[new_ndim] = stride * step + * dst.shape[new_ndim] = new_shape + * dst.suboffsets[new_ndim] = suboffset # <<<<<<<<<<<<<< + * + * + */ + (__pyx_v_dst->suboffsets[__pyx_v_new_ndim]) = __pyx_v_suboffset; + } + __pyx_L3:; + + /* "View.MemoryView":875 + * + * + * if suboffset_dim[0] < 0: # <<<<<<<<<<<<<< + * dst.data += start * stride + * else: + */ + __pyx_t_2 = ((__pyx_v_suboffset_dim[0]) < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":876 + * + * if suboffset_dim[0] < 0: + * dst.data += start * stride # <<<<<<<<<<<<<< + * else: + * dst.suboffsets[suboffset_dim[0]] += start * stride + */ + __pyx_v_dst->data = (__pyx_v_dst->data + (__pyx_v_start * __pyx_v_stride)); + + /* "View.MemoryView":875 + * + * + * if suboffset_dim[0] < 0: # <<<<<<<<<<<<<< + * dst.data += start * stride + * else: + */ + goto __pyx_L19; + } + + /* "View.MemoryView":878 + * dst.data += start * stride + * else: + * dst.suboffsets[suboffset_dim[0]] += start * stride # <<<<<<<<<<<<<< + * + * if suboffset >= 0: + */ + /*else*/ { + __pyx_t_3 = (__pyx_v_suboffset_dim[0]); + (__pyx_v_dst->suboffsets[__pyx_t_3]) = ((__pyx_v_dst->suboffsets[__pyx_t_3]) + (__pyx_v_start * __pyx_v_stride)); + } + __pyx_L19:; + + /* "View.MemoryView":880 + * dst.suboffsets[suboffset_dim[0]] += start * stride + * + * if suboffset >= 0: # <<<<<<<<<<<<<< + * if not is_slice: + * if new_ndim == 0: + */ + __pyx_t_2 = (__pyx_v_suboffset >= 0); + if (__pyx_t_2) { + + /* "View.MemoryView":881 + * + * if suboffset >= 0: + * if not is_slice: # <<<<<<<<<<<<<< + * if new_ndim == 0: + * dst.data = ( dst.data)[0] + suboffset + */ + __pyx_t_2 = (!__pyx_v_is_slice); + if (__pyx_t_2) { + + /* "View.MemoryView":882 + * if suboffset >= 0: + * if not is_slice: + * if new_ndim == 0: # <<<<<<<<<<<<<< + * dst.data = ( dst.data)[0] + suboffset + * else: + */ + __pyx_t_2 = (__pyx_v_new_ndim == 0); + if (__pyx_t_2) { + + /* "View.MemoryView":883 + * if not is_slice: + * if new_ndim == 0: + * dst.data = ( dst.data)[0] + suboffset # <<<<<<<<<<<<<< + * else: + * _err_dim(PyExc_IndexError, "All dimensions preceding dimension %d " + */ + __pyx_v_dst->data = ((((char **)__pyx_v_dst->data)[0]) + __pyx_v_suboffset); + + /* "View.MemoryView":882 + * if suboffset >= 0: + * if not is_slice: + * if new_ndim == 0: # <<<<<<<<<<<<<< + * dst.data = ( dst.data)[0] + suboffset + * else: + */ + goto __pyx_L22; + } + + /* "View.MemoryView":885 + * dst.data = ( dst.data)[0] + suboffset + * else: + * _err_dim(PyExc_IndexError, "All dimensions preceding dimension %d " # <<<<<<<<<<<<<< + * "must be indexed and not sliced", dim) + * else: + */ + /*else*/ { + + /* "View.MemoryView":886 + * else: + * _err_dim(PyExc_IndexError, "All dimensions preceding dimension %d " + * "must be indexed and not sliced", dim) # <<<<<<<<<<<<<< + * else: + * suboffset_dim[0] = new_ndim + */ + __pyx_t_3 = __pyx_memoryview_err_dim(PyExc_IndexError, __pyx_kp_s_All_dimensions_preceding_dimensi, __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(1, 885, __pyx_L1_error) + } + __pyx_L22:; + + /* "View.MemoryView":881 + * + * if suboffset >= 0: + * if not is_slice: # <<<<<<<<<<<<<< + * if new_ndim == 0: + * dst.data = ( dst.data)[0] + suboffset + */ + goto __pyx_L21; + } + + /* "View.MemoryView":888 + * "must be indexed and not sliced", dim) + * else: + * suboffset_dim[0] = new_ndim # <<<<<<<<<<<<<< + * + * return 0 + */ + /*else*/ { + (__pyx_v_suboffset_dim[0]) = __pyx_v_new_ndim; + } + __pyx_L21:; + + /* "View.MemoryView":880 + * dst.suboffsets[suboffset_dim[0]] += start * stride + * + * if suboffset >= 0: # <<<<<<<<<<<<<< + * if not is_slice: + * if new_ndim == 0: + */ + } + + /* "View.MemoryView":890 + * suboffset_dim[0] = new_ndim + * + * return 0 # <<<<<<<<<<<<<< + * + * + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":793 + * + * @cname('__pyx_memoryview_slice_memviewslice') + * cdef int slice_memviewslice( # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * Py_ssize_t shape, Py_ssize_t stride, Py_ssize_t suboffset, + */ + + /* function exit code */ + __pyx_L1_error:; + #ifdef WITH_THREAD + __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + __Pyx_AddTraceback("View.MemoryView.slice_memviewslice", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = -1; + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":896 + * + * @cname('__pyx_pybuffer_index') + * cdef char *pybuffer_index(Py_buffer *view, char *bufp, Py_ssize_t index, # <<<<<<<<<<<<<< + * Py_ssize_t dim) except NULL: + * cdef Py_ssize_t shape, stride, suboffset = -1 + */ + +static char *__pyx_pybuffer_index(Py_buffer *__pyx_v_view, char *__pyx_v_bufp, Py_ssize_t __pyx_v_index, Py_ssize_t __pyx_v_dim) { + Py_ssize_t __pyx_v_shape; + Py_ssize_t __pyx_v_stride; + Py_ssize_t __pyx_v_suboffset; + Py_ssize_t __pyx_v_itemsize; + char *__pyx_v_resultp; + char *__pyx_r; + __Pyx_RefNannyDeclarations + Py_ssize_t __pyx_t_1; + int __pyx_t_2; + PyObject *__pyx_t_3 = NULL; + Py_UCS4 __pyx_t_4; + PyObject *__pyx_t_5 = NULL; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + __Pyx_RefNannySetupContext("pybuffer_index", 1); + + /* "View.MemoryView":898 + * cdef char *pybuffer_index(Py_buffer *view, char *bufp, Py_ssize_t index, + * Py_ssize_t dim) except NULL: + * cdef Py_ssize_t shape, stride, suboffset = -1 # <<<<<<<<<<<<<< + * cdef Py_ssize_t itemsize = view.itemsize + * cdef char *resultp + */ + __pyx_v_suboffset = -1L; + + /* "View.MemoryView":899 + * Py_ssize_t dim) except NULL: + * cdef Py_ssize_t shape, stride, suboffset = -1 + * cdef Py_ssize_t itemsize = view.itemsize # <<<<<<<<<<<<<< + * cdef char *resultp + * + */ + __pyx_t_1 = __pyx_v_view->itemsize; + __pyx_v_itemsize = __pyx_t_1; + + /* "View.MemoryView":902 + * cdef char *resultp + * + * if view.ndim == 0: # <<<<<<<<<<<<<< + * shape = view.len // itemsize + * stride = itemsize + */ + __pyx_t_2 = (__pyx_v_view->ndim == 0); + if (__pyx_t_2) { + + /* "View.MemoryView":903 + * + * if view.ndim == 0: + * shape = view.len // itemsize # <<<<<<<<<<<<<< + * stride = itemsize + * else: + */ + if (unlikely(__pyx_v_itemsize == 0)) { + PyErr_SetString(PyExc_ZeroDivisionError, "integer division or modulo by zero"); + __PYX_ERR(1, 903, __pyx_L1_error) + } + else if (sizeof(Py_ssize_t) == sizeof(long) && (!(((Py_ssize_t)-1) > 0)) && unlikely(__pyx_v_itemsize == (Py_ssize_t)-1) && unlikely(__Pyx_UNARY_NEG_WOULD_OVERFLOW(__pyx_v_view->len))) { + PyErr_SetString(PyExc_OverflowError, "value too large to perform division"); + __PYX_ERR(1, 903, __pyx_L1_error) + } + __pyx_v_shape = __Pyx_div_Py_ssize_t(__pyx_v_view->len, __pyx_v_itemsize); + + /* "View.MemoryView":904 + * if view.ndim == 0: + * shape = view.len // itemsize + * stride = itemsize # <<<<<<<<<<<<<< + * else: + * shape = view.shape[dim] + */ + __pyx_v_stride = __pyx_v_itemsize; + + /* "View.MemoryView":902 + * cdef char *resultp + * + * if view.ndim == 0: # <<<<<<<<<<<<<< + * shape = view.len // itemsize + * stride = itemsize + */ + goto __pyx_L3; + } + + /* "View.MemoryView":906 + * stride = itemsize + * else: 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(<_memoryviewslice> memview).to_dtype_func + * else: + */ + __pyx_t_2 = ((struct __pyx_memoryviewslice_obj *)__pyx_v_memview)->to_object_func; + __pyx_v_to_object_func = __pyx_t_2; + + /* "View.MemoryView":1096 + * if isinstance(memview, _memoryviewslice): + * to_object_func = (<_memoryviewslice> memview).to_object_func + * to_dtype_func = (<_memoryviewslice> memview).to_dtype_func # <<<<<<<<<<<<<< + * else: + * to_object_func = NULL + */ + __pyx_t_3 = ((struct __pyx_memoryviewslice_obj *)__pyx_v_memview)->to_dtype_func; + __pyx_v_to_dtype_func = __pyx_t_3; + + /* "View.MemoryView":1094 + * cdef int (*to_dtype_func)(char *, object) except 0 + * + * if isinstance(memview, _memoryviewslice): # <<<<<<<<<<<<<< + * to_object_func = (<_memoryviewslice> memview).to_object_func + * to_dtype_func = (<_memoryviewslice> memview).to_dtype_func + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1098 + * to_dtype_func = (<_memoryviewslice> memview).to_dtype_func + * else: + * to_object_func = NULL # 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__Pyx_GOTREF(__pyx_t_4); + __pyx_r = __pyx_t_4; + __pyx_t_4 = 0; + goto __pyx_L0; + + /* "View.MemoryView":1087 + * + * @cname('__pyx_memoryview_copy_object_from_slice') + * cdef memoryview_copy_from_slice(memoryview memview, __Pyx_memviewslice *memviewslice): # <<<<<<<<<<<<<< + * """ + * Create a new memoryview object from a given memoryview object and slice. + */ + + /* function exit code */ + __pyx_L1_error:; + __Pyx_XDECREF(__pyx_t_4); + __Pyx_AddTraceback("View.MemoryView.memoryview_copy_from_slice", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = 0; + __pyx_L0:; + __Pyx_XGIVEREF(__pyx_r); + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +/* "View.MemoryView":1109 + * + * + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) noexcept nogil: # <<<<<<<<<<<<<< + * return -arg if arg < 0 else arg + * + */ + +static Py_ssize_t abs_py_ssize_t(Py_ssize_t __pyx_v_arg) { + Py_ssize_t __pyx_r; + Py_ssize_t __pyx_t_1; + int __pyx_t_2; + + /* "View.MemoryView":1110 + * + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) noexcept nogil: + * return -arg if arg < 0 else arg # <<<<<<<<<<<<<< + * + * @cname('__pyx_get_best_slice_order') + */ + __pyx_t_2 = (__pyx_v_arg < 0); + if (__pyx_t_2) { + __pyx_t_1 = (-__pyx_v_arg); + } else { + __pyx_t_1 = __pyx_v_arg; + } + __pyx_r = __pyx_t_1; + goto __pyx_L0; + + /* "View.MemoryView":1109 + * + * + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) noexcept nogil: # <<<<<<<<<<<<<< + * return -arg if arg < 0 else arg + * + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1113 + * + * @cname('__pyx_get_best_slice_order') + * cdef char get_best_order(__Pyx_memviewslice *mslice, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * """ + * Figure out the best memory access order for a given slice. + */ + +static char __pyx_get_best_slice_order(__Pyx_memviewslice *__pyx_v_mslice, int __pyx_v_ndim) { + int __pyx_v_i; + Py_ssize_t __pyx_v_c_stride; + Py_ssize_t __pyx_v_f_stride; + char __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1118 + * """ + * cdef int i + * cdef Py_ssize_t c_stride = 0 # <<<<<<<<<<<<<< + * cdef Py_ssize_t f_stride = 0 + * + */ + __pyx_v_c_stride = 0; + + /* "View.MemoryView":1119 + * cdef int i + * cdef Py_ssize_t c_stride = 0 + * cdef Py_ssize_t f_stride = 0 # <<<<<<<<<<<<<< + * + * for i in range(ndim - 1, -1, -1): + */ + __pyx_v_f_stride = 0; + + /* "View.MemoryView":1121 + * cdef Py_ssize_t f_stride = 0 + * + * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] + */ + for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { + __pyx_v_i = __pyx_t_1; + + /* "View.MemoryView":1122 + * + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * c_stride = mslice.strides[i] + * break + */ + __pyx_t_2 = ((__pyx_v_mslice->shape[__pyx_v_i]) > 1); + if (__pyx_t_2) { + + /* "View.MemoryView":1123 + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] # <<<<<<<<<<<<<< + * break + * + */ + __pyx_v_c_stride = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1124 + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] + * break # <<<<<<<<<<<<<< + * + * for i in range(ndim): + */ + goto __pyx_L4_break; + + /* "View.MemoryView":1122 + * + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * c_stride = mslice.strides[i] + * break + */ + } + } + __pyx_L4_break:; + + /* "View.MemoryView":1126 + * break + * + * for i in range(ndim): # <<<<<<<<<<<<<< + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] + */ + __pyx_t_1 = __pyx_v_ndim; + __pyx_t_3 = __pyx_t_1; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_i = __pyx_t_4; + + /* "View.MemoryView":1127 + * + * for i in range(ndim): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * f_stride = mslice.strides[i] + * break + */ + __pyx_t_2 = ((__pyx_v_mslice->shape[__pyx_v_i]) > 1); + if (__pyx_t_2) { + + /* "View.MemoryView":1128 + * for i in range(ndim): + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] # <<<<<<<<<<<<<< + * break + * + */ + __pyx_v_f_stride = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1129 + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] + * break # <<<<<<<<<<<<<< + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): + */ + goto __pyx_L7_break; + + /* "View.MemoryView":1127 + * + * for i in range(ndim): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * f_stride = mslice.strides[i] + * break + */ + } + } + __pyx_L7_break:; + + /* "View.MemoryView":1131 + * break + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< + * return 'C' + * else: + */ + __pyx_t_2 = (abs_py_ssize_t(__pyx_v_c_stride) <= abs_py_ssize_t(__pyx_v_f_stride)); + if (__pyx_t_2) { + + /* "View.MemoryView":1132 + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): + * return 'C' # <<<<<<<<<<<<<< + * else: + * return 'F' + */ + __pyx_r = 'C'; + goto __pyx_L0; + + /* "View.MemoryView":1131 + * break + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< + * return 'C' + * else: + */ + } + + /* "View.MemoryView":1134 + * return 'C' + * else: + * return 'F' # <<<<<<<<<<<<<< + * + * @cython.cdivision(True) + */ + /*else*/ { + __pyx_r = 'F'; + goto __pyx_L0; + } + + /* "View.MemoryView":1113 + * + * @cname('__pyx_get_best_slice_order') + * cdef char get_best_order(__Pyx_memviewslice *mslice, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * """ + * Figure out the best memory access order for a given slice. + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1137 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + +static void _copy_strided_to_strided(char *__pyx_v_src_data, Py_ssize_t *__pyx_v_src_strides, char *__pyx_v_dst_data, Py_ssize_t *__pyx_v_dst_strides, Py_ssize_t *__pyx_v_src_shape, Py_ssize_t *__pyx_v_dst_shape, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + CYTHON_UNUSED Py_ssize_t __pyx_v_src_extent; + Py_ssize_t __pyx_v_dst_extent; + Py_ssize_t __pyx_v_src_stride; + Py_ssize_t __pyx_v_dst_stride; + int __pyx_t_1; + int __pyx_t_2; + Py_ssize_t __pyx_t_3; + Py_ssize_t __pyx_t_4; + Py_ssize_t __pyx_t_5; + + /* "View.MemoryView":1144 + * + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + */ + __pyx_v_src_extent = (__pyx_v_src_shape[0]); + + /* "View.MemoryView":1145 + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] + */ + __pyx_v_dst_extent = (__pyx_v_dst_shape[0]); + + /* "View.MemoryView":1146 + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + */ + __pyx_v_src_stride = (__pyx_v_src_strides[0]); + + /* "View.MemoryView":1147 + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] # <<<<<<<<<<<<<< + * + * if ndim == 1: + */ + __pyx_v_dst_stride = (__pyx_v_dst_strides[0]); + + /* "View.MemoryView":1149 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + __pyx_t_1 = (__pyx_v_ndim == 1); + if (__pyx_t_1) { + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + __pyx_t_2 = (__pyx_v_src_stride > 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + __pyx_t_2 = (__pyx_v_dst_stride > 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + + /* "View.MemoryView":1151 + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + */ + __pyx_t_2 = (((size_t)__pyx_v_src_stride) == __pyx_v_itemsize); + if (__pyx_t_2) { + __pyx_t_2 = (__pyx_v_itemsize == ((size_t)__pyx_v_dst_stride)); + } + __pyx_t_1 = __pyx_t_2; + __pyx_L5_bool_binop_done:; + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + if (__pyx_t_1) { + + /* "View.MemoryView":1152 + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, (__pyx_v_itemsize * __pyx_v_dst_extent))); + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + goto __pyx_L4; + } + + /* "View.MemoryView":1154 + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + */ + /*else*/ { + __pyx_t_3 = __pyx_v_dst_extent; + __pyx_t_4 = __pyx_t_3; + for (__pyx_t_5 = 0; __pyx_t_5 < __pyx_t_4; __pyx_t_5+=1) { + __pyx_v_i = __pyx_t_5; + + /* "View.MemoryView":1155 + * else: + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) # <<<<<<<<<<<<<< + * src_data += src_stride + * dst_data += dst_stride + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, __pyx_v_itemsize)); + + /* "View.MemoryView":1156 + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * else: + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1157 + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L4:; + + /* "View.MemoryView":1149 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1159 + * dst_data += dst_stride + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * _copy_strided_to_strided(src_data, src_strides + 1, + * dst_data, dst_strides + 1, + */ + /*else*/ { + __pyx_t_3 = __pyx_v_dst_extent; + __pyx_t_4 = __pyx_t_3; + for (__pyx_t_5 = 0; __pyx_t_5 < __pyx_t_4; __pyx_t_5+=1) { + __pyx_v_i = __pyx_t_5; + + /* "View.MemoryView":1160 + * else: + * for i in range(dst_extent): + * _copy_strided_to_strided(src_data, src_strides + 1, # <<<<<<<<<<<<<< + * dst_data, dst_strides + 1, + * src_shape + 1, dst_shape + 1, + */ + _copy_strided_to_strided(__pyx_v_src_data, (__pyx_v_src_strides + 1), __pyx_v_dst_data, (__pyx_v_dst_strides + 1), (__pyx_v_src_shape + 1), (__pyx_v_dst_shape + 1), (__pyx_v_ndim - 1), __pyx_v_itemsize); + + /* "View.MemoryView":1164 + * src_shape + 1, dst_shape + 1, + * ndim - 1, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1165 + * ndim - 1, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L3:; + + /* "View.MemoryView":1137 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + + /* function exit code */ +} + +/* "View.MemoryView":1167 + * dst_data += dst_stride + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + */ + +static void copy_strided_to_strided(__Pyx_memviewslice *__pyx_v_src, __Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + + /* "View.MemoryView":1170 + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + * _copy_strided_to_strided(src.data, src.strides, dst.data, dst.strides, # <<<<<<<<<<<<<< + * src.shape, dst.shape, ndim, itemsize) + * + */ + _copy_strided_to_strided(__pyx_v_src->data, __pyx_v_src->strides, __pyx_v_dst->data, __pyx_v_dst->strides, __pyx_v_src->shape, __pyx_v_dst->shape, __pyx_v_ndim, __pyx_v_itemsize); + + /* "View.MemoryView":1167 + * dst_data += dst_stride + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1174 + * + * @cname('__pyx_memoryview_slice_get_size') + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + */ + +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *__pyx_v_src, int __pyx_v_ndim) { + Py_ssize_t __pyx_v_shape; + Py_ssize_t __pyx_v_size; + Py_ssize_t __pyx_r; + Py_ssize_t __pyx_t_1; + Py_ssize_t *__pyx_t_2; + Py_ssize_t *__pyx_t_3; + Py_ssize_t *__pyx_t_4; + + /* "View.MemoryView":1176 + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize # <<<<<<<<<<<<<< + * + * for shape in src.shape[:ndim]: + */ + __pyx_t_1 = __pyx_v_src->memview->view.itemsize; + __pyx_v_size = __pyx_t_1; + + /* "View.MemoryView":1178 + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + * + * for shape in src.shape[:ndim]: # <<<<<<<<<<<<<< + * size *= shape + * + */ + __pyx_t_3 = (__pyx_v_src->shape + __pyx_v_ndim); + for (__pyx_t_4 = __pyx_v_src->shape; __pyx_t_4 < __pyx_t_3; __pyx_t_4++) { + __pyx_t_2 = __pyx_t_4; + __pyx_v_shape = (__pyx_t_2[0]); + + /* "View.MemoryView":1179 + * + * for shape in src.shape[:ndim]: + * size *= shape # <<<<<<<<<<<<<< + * + * return size + */ + __pyx_v_size = (__pyx_v_size * __pyx_v_shape); + } + + /* "View.MemoryView":1181 + * size *= shape + * + * return size # <<<<<<<<<<<<<< + * + * @cname('__pyx_fill_contig_strides_array') + */ + __pyx_r = __pyx_v_size; + goto __pyx_L0; + + /* "View.MemoryView":1174 + * + * @cname('__pyx_memoryview_slice_get_size') + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1184 + * + * @cname('__pyx_fill_contig_strides_array') + * cdef Py_ssize_t 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(__pyx_t_2) { + + /* "View.MemoryView":1313 + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) # <<<<<<<<<<<<<< + * + * if direct_copy: + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'F', __pyx_v_ndim); + + /* "View.MemoryView":1312 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + } + __pyx_L12:; + + /* "View.MemoryView":1315 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + if (__pyx_v_direct_copy) { + + /* "View.MemoryView":1317 + * if direct_copy: + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * 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dtype_is_object, ndim, inc=True) + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1321 + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * if order == 'F' == get_best_order(&dst, ndim): + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1315 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + } + + /* "View.MemoryView":1307 + * src = tmp + * + * if not broadcasting: # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1323 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_2 = (__pyx_v_order == 'F'); + if (__pyx_t_2) { + __pyx_t_2 = ('F' == __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim)); + } + if (__pyx_t_2) { + + /* "View.MemoryView":1326 + * + * + * transpose_memslice(&src) # <<<<<<<<<<<<<< + * transpose_memslice(&dst) + * + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_src)); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(1, 1326, __pyx_L1_error) + + /* "View.MemoryView":1327 + * + * transpose_memslice(&src) + * transpose_memslice(&dst) # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_dst)); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(1, 1327, __pyx_L1_error) + + /* "View.MemoryView":1323 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1329 + * transpose_memslice(&dst) + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1330 + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * + */ + copy_strided_to_strided((&__pyx_v_src), (&__pyx_v_dst), __pyx_v_ndim, __pyx_v_itemsize); + + /* "View.MemoryView":1331 + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * + * free(tmpdata) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1333 + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1334 + * + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_broadcast_leading') + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1265 + * + * @cname('__pyx_memoryview_copy_contents') + * cdef int memoryview_copy_contents(__Pyx_memviewslice src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice dst, + * int src_ndim, int dst_ndim, + */ + + /* function exit code */ + __pyx_L1_error:; + #ifdef WITH_THREAD + __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + __Pyx_AddTraceback("View.MemoryView.memoryview_copy_contents", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = -1; + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1337 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) noexcept nogil: + */ + +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *__pyx_v_mslice, int __pyx_v_ndim, int __pyx_v_ndim_other) { + int __pyx_v_i; + int __pyx_v_offset; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + + /* "View.MemoryView":1341 + * int ndim_other) noexcept nogil: + * cdef int i + * cdef int offset = ndim_other - ndim # <<<<<<<<<<<<<< + * + * for i in range(ndim - 1, -1, -1): + */ + __pyx_v_offset = (__pyx_v_ndim_other - __pyx_v_ndim); + + /* "View.MemoryView":1343 + * cdef int offset = ndim_other - ndim + * + * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + */ + for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { + __pyx_v_i = __pyx_t_1; + + /* "View.MemoryView":1344 + * + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] # <<<<<<<<<<<<<< + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + */ + (__pyx_v_mslice->shape[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->shape[__pyx_v_i]); + + /* "View.MemoryView":1345 + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] # <<<<<<<<<<<<<< + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + */ + (__pyx_v_mslice->strides[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1346 + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] # <<<<<<<<<<<<<< + * + * for i in range(offset): + */ + (__pyx_v_mslice->suboffsets[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->suboffsets[__pyx_v_i]); + } + + /* "View.MemoryView":1348 + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + * for i in range(offset): # <<<<<<<<<<<<<< + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + */ + __pyx_t_1 = __pyx_v_offset; + __pyx_t_2 = __pyx_t_1; + for (__pyx_t_3 = 0; __pyx_t_3 < __pyx_t_2; __pyx_t_3+=1) { + __pyx_v_i = __pyx_t_3; + + /* "View.MemoryView":1349 + * + * for i in range(offset): + * mslice.shape[i] = 1 # <<<<<<<<<<<<<< + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 + */ + (__pyx_v_mslice->shape[__pyx_v_i]) = 1; + + /* "View.MemoryView":1350 + * for i in range(offset): + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] # <<<<<<<<<<<<<< + * mslice.suboffsets[i] = -1 + * + */ + (__pyx_v_mslice->strides[__pyx_v_i]) = (__pyx_v_mslice->strides[0]); + + /* "View.MemoryView":1351 + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 # <<<<<<<<<<<<<< + * + * + */ + (__pyx_v_mslice->suboffsets[__pyx_v_i]) = -1L; + } + + /* "View.MemoryView":1337 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1359 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: # <<<<<<<<<<<<<< + * + * if dtype_is_object: + */ + +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_dtype_is_object, int __pyx_v_ndim, int __pyx_v_inc) { + + /* "View.MemoryView":1361 + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) + * + */ + if (__pyx_v_dtype_is_object) { + + /* "View.MemoryView":1362 + * + * if dtype_is_object: + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + */ + __pyx_memoryview_refcount_objects_in_slice_with_gil(__pyx_v_dst->data, __pyx_v_dst->shape, __pyx_v_dst->strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1361 + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) + * + */ + } + + /* "View.MemoryView":1359 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: # <<<<<<<<<<<<<< + * + * if dtype_is_object: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1365 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + * cdef void refcount_objects_in_slice_with_gil(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + */ + +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, int __pyx_v_inc) { + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + + /* "View.MemoryView":1368 + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + * refcount_objects_in_slice(data, shape, strides, ndim, inc) # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + */ + __pyx_memoryview_refcount_objects_in_slice(__pyx_v_data, __pyx_v_shape, __pyx_v_strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1365 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + * cdef void refcount_objects_in_slice_with_gil(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + */ + + /* function exit code */ + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif +} + +/* "View.MemoryView":1371 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + * cdef void refcount_objects_in_slice(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + */ + +static void __pyx_memoryview_refcount_objects_in_slice(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, int __pyx_v_inc) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + Py_ssize_t __pyx_v_stride; + Py_ssize_t __pyx_t_1; + Py_ssize_t __pyx_t_2; + Py_ssize_t __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1374 + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + * cdef Py_ssize_t stride = strides[0] # <<<<<<<<<<<<<< + * + * for i in range(shape[0]): + */ + __pyx_v_stride = (__pyx_v_strides[0]); + + /* "View.MemoryView":1376 + * cdef Py_ssize_t stride = strides[0] + * + * for i in range(shape[0]): # <<<<<<<<<<<<<< + * if ndim == 1: + * if inc: + */ + __pyx_t_1 = (__pyx_v_shape[0]); + __pyx_t_2 = __pyx_t_1; + for (__pyx_t_3 = 0; __pyx_t_3 < __pyx_t_2; __pyx_t_3+=1) { + __pyx_v_i = __pyx_t_3; + + /* "View.MemoryView":1377 + * + * for i in range(shape[0]): + * if ndim == 1: # <<<<<<<<<<<<<< + * if inc: + * Py_INCREF(( data)[0]) + */ + __pyx_t_4 = (__pyx_v_ndim == 1); + if (__pyx_t_4) { + + /* "View.MemoryView":1378 + * for i in range(shape[0]): + * if ndim == 1: + * if inc: # <<<<<<<<<<<<<< + * Py_INCREF(( data)[0]) + * else: + */ + if (__pyx_v_inc) { + + /* "View.MemoryView":1379 + * if ndim == 1: + * if inc: + * Py_INCREF(( data)[0]) # <<<<<<<<<<<<<< + * else: + * Py_DECREF(( data)[0]) + */ + Py_INCREF((((PyObject **)__pyx_v_data)[0])); + + /* "View.MemoryView":1378 + * for i in range(shape[0]): + * if ndim == 1: + * if inc: # <<<<<<<<<<<<<< + * Py_INCREF(( data)[0]) + * else: + */ + goto __pyx_L6; + } + + /* "View.MemoryView":1381 + * Py_INCREF(( data)[0]) + * else: + * Py_DECREF(( data)[0]) # <<<<<<<<<<<<<< + * else: + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) + */ + /*else*/ { + Py_DECREF((((PyObject **)__pyx_v_data)[0])); + } + __pyx_L6:; + + /* "View.MemoryView":1377 + * + * for i in range(shape[0]): + * if ndim == 1: # <<<<<<<<<<<<<< + * if inc: + * Py_INCREF(( data)[0]) + */ + goto __pyx_L5; + } + + /* "View.MemoryView":1383 + * Py_DECREF(( data)[0]) + * else: + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) # <<<<<<<<<<<<<< + * + * data += stride + */ + /*else*/ { + __pyx_memoryview_refcount_objects_in_slice(__pyx_v_data, (__pyx_v_shape + 1), (__pyx_v_strides + 1), (__pyx_v_ndim - 1), __pyx_v_inc); + } + __pyx_L5:; + + /* "View.MemoryView":1385 + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) + * + * data += stride # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_data = (__pyx_v_data + __pyx_v_stride); + } + + /* "View.MemoryView":1371 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + * cdef void refcount_objects_in_slice(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + */ + + /* function exit code */ +} + +/* "View.MemoryView":1391 + * + * @cname('__pyx_memoryview_slice_assign_scalar') + * cdef void slice_assign_scalar(__Pyx_memviewslice *dst, int ndim, # <<<<<<<<<<<<<< + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + */ + +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize, void *__pyx_v_item, int __pyx_v_dtype_is_object) { + + /* "View.MemoryView":1394 + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + * refcount_copying(dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) + * refcount_copying(dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying(__pyx_v_dst, __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1395 + * bint dtype_is_object) noexcept nogil: + * refcount_copying(dst, dtype_is_object, ndim, inc=False) + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) # <<<<<<<<<<<<<< + * refcount_copying(dst, dtype_is_object, ndim, inc=True) + * + */ + __pyx_memoryview__slice_assign_scalar(__pyx_v_dst->data, __pyx_v_dst->shape, __pyx_v_dst->strides, __pyx_v_ndim, __pyx_v_itemsize, __pyx_v_item); + + /* "View.MemoryView":1396 + * refcount_copying(dst, dtype_is_object, ndim, inc=False) + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) + * refcount_copying(dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * + * + */ + __pyx_memoryview_refcount_copying(__pyx_v_dst, __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1391 + * + * @cname('__pyx_memoryview_slice_assign_scalar') + * cdef void slice_assign_scalar(__Pyx_memviewslice *dst, int ndim, # <<<<<<<<<<<<<< + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1400 + * + * @cname('__pyx_memoryview__slice_assign_scalar') + * cdef void _slice_assign_scalar(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * size_t itemsize, void *item) noexcept nogil: + */ + +static void __pyx_memoryview__slice_assign_scalar(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, size_t __pyx_v_itemsize, void *__pyx_v_item) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + Py_ssize_t __pyx_v_stride; + Py_ssize_t __pyx_v_extent; + int __pyx_t_1; + Py_ssize_t __pyx_t_2; + Py_ssize_t __pyx_t_3; + Py_ssize_t __pyx_t_4; + + /* "View.MemoryView":1404 + * size_t itemsize, void *item) noexcept nogil: + * cdef Py_ssize_t i + * cdef Py_ssize_t stride = strides[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t extent = shape[0] + * + */ + __pyx_v_stride = (__pyx_v_strides[0]); + + /* "View.MemoryView":1405 + * cdef Py_ssize_t i + * cdef Py_ssize_t stride = strides[0] + * cdef Py_ssize_t extent = shape[0] # <<<<<<<<<<<<<< + * + * if ndim == 1: + */ + __pyx_v_extent = (__pyx_v_shape[0]); + + /* "View.MemoryView":1407 + * cdef Py_ssize_t extent = shape[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * for i in range(extent): + * memcpy(data, item, itemsize) + */ + __pyx_t_1 = (__pyx_v_ndim == 1); + if (__pyx_t_1) { + + /* "View.MemoryView":1408 + * + * if ndim == 1: + * for i in range(extent): # <<<<<<<<<<<<<< + * memcpy(data, item, itemsize) + * data += stride + */ + __pyx_t_2 = __pyx_v_extent; + __pyx_t_3 = __pyx_t_2; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_i = __pyx_t_4; + + /* "View.MemoryView":1409 + * if ndim == 1: + * for i in range(extent): + * memcpy(data, item, itemsize) # <<<<<<<<<<<<<< + * data += stride + * else: + */ + (void)(memcpy(__pyx_v_data, __pyx_v_item, __pyx_v_itemsize)); + + /* "View.MemoryView":1410 + * for i in range(extent): + * memcpy(data, item, itemsize) + * data += stride # <<<<<<<<<<<<<< + * else: + * for i in range(extent): + */ + __pyx_v_data = (__pyx_v_data + __pyx_v_stride); + } + + /* "View.MemoryView":1407 + * cdef Py_ssize_t extent = shape[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * for i in range(extent): + * memcpy(data, item, itemsize) + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1412 + * data += stride + * else: + * for i in range(extent): # <<<<<<<<<<<<<< + * _slice_assign_scalar(data, shape + 1, strides + 1, ndim - 1, itemsize, item) + * data += stride + */ + /*else*/ { + __pyx_t_2 = __pyx_v_extent; + __pyx_t_3 = __pyx_t_2; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_i = __pyx_t_4; + + /* "View.MemoryView":1413 + * else: + * for i in range(extent): + * _slice_assign_scalar(data, shape + 1, strides + 1, ndim - 1, itemsize, item) # <<<<<<<<<<<<<< + * data += stride + * + */ + __pyx_memoryview__slice_assign_scalar(__pyx_v_data, (__pyx_v_shape + 1), (__pyx_v_strides + 1), (__pyx_v_ndim - 1), __pyx_v_itemsize, __pyx_v_item); + + /* "View.MemoryView":1414 + * for i in range(extent): + * _slice_assign_scalar(data, shape + 1, strides + 1, ndim - 1, itemsize, item) + * data += stride # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_data = (__pyx_v_data + __pyx_v_stride); + } + } + __pyx_L3:; + + /* "View.MemoryView":1400 + * + * @cname('__pyx_memoryview__slice_assign_scalar') + * cdef void _slice_assign_scalar(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * size_t itemsize, void *item) noexcept nogil: + */ + + /* function exit code */ +} + +/* "(tree fragment)":1 + * def __pyx_unpickle_Enum(__pyx_type, long __pyx_checksum, __pyx_state): # <<<<<<<<<<<<<< + * cdef object __pyx_PickleError + * cdef object __pyx_result + */ + +/* Python wrapper */ +static PyObject *__pyx_pw_15View_dot_MemoryView_1__pyx_unpickle_Enum(PyObject *__pyx_self, 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CYTHON_UNUSED PyObject *__pyx_v___pyx_state = 0; + #if !CYTHON_METH_FASTCALL + CYTHON_UNUSED Py_ssize_t __pyx_nargs; + #endif + CYTHON_UNUSED PyObject *const *__pyx_kwvalues; + PyObject* values[1] = {0}; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + PyObject *__pyx_r = 0; + __Pyx_RefNannyDeclarations + __Pyx_RefNannySetupContext("__setstate_cython__ (wrapper)", 0); + #if !CYTHON_METH_FASTCALL + #if CYTHON_ASSUME_SAFE_MACROS + __pyx_nargs = PyTuple_GET_SIZE(__pyx_args); + #else + __pyx_nargs = PyTuple_Size(__pyx_args); if (unlikely(__pyx_nargs < 0)) return NULL; + #endif + #endif + __pyx_kwvalues = __Pyx_KwValues_FASTCALL(__pyx_args, __pyx_nargs); + { + PyObject **__pyx_pyargnames[] = {&__pyx_n_s_pyx_state,0}; + if (__pyx_kwds) { + Py_ssize_t kw_args; + switch (__pyx_nargs) { + case 1: values[0] = __Pyx_Arg_FASTCALL(__pyx_args, 0); + CYTHON_FALLTHROUGH; + case 0: break; + default: goto __pyx_L5_argtuple_error; + } + kw_args = __Pyx_NumKwargs_FASTCALL(__pyx_kwds); + switch (__pyx_nargs) { + case 0: + if (likely((values[0] = __Pyx_GetKwValue_FASTCALL(__pyx_kwds, __pyx_kwvalues, __pyx_n_s_pyx_state)) != 0)) { + (void)__Pyx_Arg_NewRef_FASTCALL(values[0]); + kw_args--; + } + else if (unlikely(PyErr_Occurred())) __PYX_ERR(1, 3, __pyx_L3_error) + else goto __pyx_L5_argtuple_error; + } + if (unlikely(kw_args > 0)) { + const Py_ssize_t kwd_pos_args = __pyx_nargs; + if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_kwvalues, __pyx_pyargnames, 0, values + 0, kwd_pos_args, "__setstate_cython__") < 0)) __PYX_ERR(1, 3, __pyx_L3_error) + } + } else if (unlikely(__pyx_nargs != 1)) { + goto __pyx_L5_argtuple_error; + } else { + values[0] = __Pyx_Arg_FASTCALL(__pyx_args, 0); + } + __pyx_v___pyx_state = values[0]; + } + goto __pyx_L6_skip; + __pyx_L5_argtuple_error:; + __Pyx_RaiseArgtupleInvalid("__setstate_cython__", 1, 1, 1, __pyx_nargs); __PYX_ERR(1, 3, __pyx_L3_error) + __pyx_L6_skip:; + goto __pyx_L4_argument_unpacking_done; + __pyx_L3_error:; + { + Py_ssize_t __pyx_temp; + for (__pyx_temp=0; __pyx_temp < (Py_ssize_t)(sizeof(values)/sizeof(values[0])); ++__pyx_temp) { + __Pyx_Arg_XDECREF_FASTCALL(values[__pyx_temp]); + } + } + __Pyx_AddTraceback("rednose.helpers.ekf_sym_pyx.EKF_sym_pyx.__setstate_cython__", __pyx_clineno, __pyx_lineno, __pyx_filename); + __Pyx_RefNannyFinishContext(); + return NULL; + __pyx_L4_argument_unpacking_done:; + __pyx_r = __pyx_pf_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_32__setstate_cython__(((struct __pyx_obj_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx *)__pyx_v_self), __pyx_v___pyx_state); + + /* function exit code */ + { + Py_ssize_t __pyx_temp; + for (__pyx_temp=0; __pyx_temp < (Py_ssize_t)(sizeof(values)/sizeof(values[0])); ++__pyx_temp) { + __Pyx_Arg_XDECREF_FASTCALL(values[__pyx_temp]); + } + } + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +static PyObject 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__reduce_cython__(self): + * raise TypeError, "no default __reduce__ due to non-trivial __cinit__" + * def __setstate_cython__(self, __pyx_state): # <<<<<<<<<<<<<< + * raise TypeError, "no default __reduce__ due to non-trivial __cinit__" + */ + + /* function exit code */ + __pyx_L1_error:; + __Pyx_AddTraceback("rednose.helpers.ekf_sym_pyx.EKF_sym_pyx.__setstate_cython__", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = NULL; + __Pyx_XGIVEREF(__pyx_r); + __Pyx_TraceReturn(__pyx_r, 0); + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +static PyObject *__pyx_tp_new_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx(PyTypeObject *t, PyObject *a, PyObject *k) { + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + if (unlikely(__pyx_pw_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_1__cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx(PyObject *o) { + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_pw_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_29__dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static PyMethodDef __pyx_methods_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx[] = { + {"init_state", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_3init_state, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"state", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_5state, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"covs", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_7covs, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"set_filter_time", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_9set_filter_time, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"get_filter_time", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_11get_filter_time, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"set_global", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_13set_global, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"reset_rewind", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_15reset_rewind, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"predict", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_17predict, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"predict_and_update_batch", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_19predict_and_update_batch, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"augment", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_21augment, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"get_augment_times", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_23get_augment_times, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"rts_smooth", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_25rts_smooth, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"maha_test", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_27maha_test, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_31__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_33__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx}, + {Py_tp_methods, (void *)__pyx_methods_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx}, + {Py_tp_new, (void *)__pyx_tp_new_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx}, + {0, 0}, +}; +static PyType_Spec __pyx_type_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx_spec = { + "rednose.helpers.ekf_sym_pyx.EKF_sym_pyx", + sizeof(struct __pyx_obj_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, + __pyx_type_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx_slots, +}; +#else + +static PyTypeObject __pyx_type_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx = { + PyVarObject_HEAD_INIT(0, 0) + "rednose.helpers.ekf_sym_pyx.""EKF_sym_pyx", /*tp_name*/ + sizeof(struct __pyx_obj_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_array __pyx_vtable_array; + +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_array_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_array_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_array; + p->mode = ((PyObject*)Py_None); Py_INCREF(Py_None); + p->_format = ((PyObject*)Py_None); Py_INCREF(Py_None); + if (unlikely(__pyx_array___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_array(PyObject *o) { + struct __pyx_array_obj *p = (struct __pyx_array_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_array) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_array___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->mode); + Py_CLEAR(p->_format); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} +static PyObject *__pyx_sq_item_array(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_array(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_array___setitem__(o, i, v); + } + else { + __Pyx_TypeName o_type_name; + o_type_name = __Pyx_PyType_GetName(Py_TYPE(o)); + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by " __Pyx_FMT_TYPENAME, o_type_name); + __Pyx_DECREF_TypeName(o_type_name); + return -1; + } +} + +static PyObject *__pyx_tp_getattro_array(PyObject *o, PyObject *n) { + PyObject *v = __Pyx_PyObject_GenericGetAttr(o, n); + if (!v && PyErr_ExceptionMatches(PyExc_AttributeError)) { + PyErr_Clear(); + v = __pyx_array___getattr__(o, n); + } + return v; +} + +static PyObject *__pyx_getprop___pyx_array_memview(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_5array_7memview_1__get__(o); +} + +static PyMethodDef __pyx_methods_array[] = { + {"__getattr__", (PyCFunction)__pyx_array___getattr__, METH_O|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_array_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_array_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_array[] = { + {(char *)"memview", __pyx_getprop___pyx_array_memview, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +#if !CYTHON_COMPILING_IN_LIMITED_API + +static PyBufferProcs __pyx_tp_as_buffer_array = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_array_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; +#endif +static PyType_Slot __pyx_type___pyx_array_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_array}, + {Py_sq_length, (void *)__pyx_array___len__}, + {Py_sq_item, (void *)__pyx_sq_item_array}, + {Py_mp_length, (void *)__pyx_array___len__}, + {Py_mp_subscript, (void *)__pyx_array___getitem__}, + {Py_mp_ass_subscript, (void *)__pyx_mp_ass_subscript_array}, + {Py_tp_getattro, (void *)__pyx_tp_getattro_array}, + #if defined(Py_bf_getbuffer) + {Py_bf_getbuffer, (void *)__pyx_array_getbuffer}, + #endif + {Py_tp_methods, (void *)__pyx_methods_array}, + {Py_tp_getset, (void *)__pyx_getsets_array}, + {Py_tp_new, (void *)__pyx_tp_new_array}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_array_spec = { + "rednose.helpers.ekf_sym_pyx.array", + sizeof(struct __pyx_array_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_SEQUENCE, + __pyx_type___pyx_array_slots, +}; +#else + +static PySequenceMethods __pyx_tp_as_sequence_array = { + __pyx_array___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_array, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_array = { + __pyx_array___len__, /*mp_length*/ + __pyx_array___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_array, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_array = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_array_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_array = { + PyVarObject_HEAD_INIT(0, 0) + "rednose.helpers.ekf_sym_pyx.""array", /*tp_name*/ + sizeof(struct __pyx_array_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_array, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_array, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_array, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + __pyx_tp_getattro_array, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_array, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_SEQUENCE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_array, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_array, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_array, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + struct __pyx_MemviewEnum_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_MemviewEnum_obj *)o); + p->name = Py_None; Py_INCREF(Py_None); + return o; +} + +static void __pyx_tp_dealloc_Enum(PyObject *o) { + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_Enum) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + Py_CLEAR(p->name); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_Enum(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + if (p->name) { + e = (*v)(p->name, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_Enum(PyObject *o) { + PyObject* tmp; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + tmp = ((PyObject*)p->name); + p->name = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + return 0; +} + +static PyObject *__pyx_specialmethod___pyx_MemviewEnum___repr__(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __pyx_MemviewEnum___repr__(self); +} + +static PyMethodDef __pyx_methods_Enum[] = { + {"__repr__", (PyCFunction)__pyx_specialmethod___pyx_MemviewEnum___repr__, METH_NOARGS|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_MemviewEnum_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_MemviewEnum_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type___pyx_MemviewEnum_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_Enum}, + {Py_tp_repr, (void *)__pyx_MemviewEnum___repr__}, + {Py_tp_traverse, (void *)__pyx_tp_traverse_Enum}, + {Py_tp_clear, (void *)__pyx_tp_clear_Enum}, + {Py_tp_methods, (void *)__pyx_methods_Enum}, + {Py_tp_init, (void *)__pyx_MemviewEnum___init__}, + {Py_tp_new, (void *)__pyx_tp_new_Enum}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_MemviewEnum_spec = { + "rednose.helpers.ekf_sym_pyx.Enum", + sizeof(struct __pyx_MemviewEnum_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type___pyx_MemviewEnum_slots, +}; +#else + +static PyTypeObject __pyx_type___pyx_MemviewEnum = { + PyVarObject_HEAD_INIT(0, 0) + "rednose.helpers.ekf_sym_pyx.""Enum", /*tp_name*/ + sizeof(struct __pyx_MemviewEnum_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_Enum, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_MemviewEnum___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_Enum, /*tp_traverse*/ + __pyx_tp_clear_Enum, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_Enum, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + __pyx_MemviewEnum___init__, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_Enum, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_memoryview __pyx_vtable_memoryview; + +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryview_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_memoryview_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_memoryview; + p->obj = Py_None; Py_INCREF(Py_None); + p->_size = Py_None; Py_INCREF(Py_None); + p->_array_interface = Py_None; Py_INCREF(Py_None); + p->view.obj = NULL; + if (unlikely(__pyx_memoryview___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_memoryview(PyObject *o) { + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_memoryview) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryview___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->obj); + Py_CLEAR(p->_size); + Py_CLEAR(p->_array_interface); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_memoryview(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + if (p->obj) { + e = (*v)(p->obj, a); if (e) return e; + } + if (p->_size) { + e = (*v)(p->_size, a); if (e) return e; + } + if (p->_array_interface) { + e = (*v)(p->_array_interface, a); if (e) return e; + } + if (p->view.obj) { + e = (*v)(p->view.obj, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_memoryview(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + tmp = ((PyObject*)p->obj); + p->obj = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_size); + p->_size = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_array_interface); + p->_array_interface = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + Py_CLEAR(p->view.obj); + return 0; +} +static PyObject *__pyx_sq_item_memoryview(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_memoryview(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_memoryview___setitem__(o, i, v); + } + else { + __Pyx_TypeName o_type_name; + o_type_name = __Pyx_PyType_GetName(Py_TYPE(o)); + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by " __Pyx_FMT_TYPENAME, o_type_name); + __Pyx_DECREF_TypeName(o_type_name); + return -1; + } +} + +static PyObject *__pyx_getprop___pyx_memoryview_T(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_1T_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_base(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4base_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_shape(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_5shape_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_strides(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_7strides_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_suboffsets(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_10suboffsets_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_ndim(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4ndim_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_itemsize(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_8itemsize_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_nbytes(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_6nbytes_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_size(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4size_1__get__(o); +} + +static PyObject *__pyx_specialmethod___pyx_memoryview___repr__(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __pyx_memoryview___repr__(self); +} + +static PyMethodDef __pyx_methods_memoryview[] = { + {"__repr__", (PyCFunction)__pyx_specialmethod___pyx_memoryview___repr__, METH_NOARGS|METH_COEXIST, 0}, + {"is_c_contig", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_is_c_contig, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"is_f_contig", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_is_f_contig, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"copy", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_copy, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"copy_fortran", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_copy_fortran, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryview_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryview_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_memoryview[] = { + {(char *)"T", __pyx_getprop___pyx_memoryview_T, 0, (char *)0, 0}, + {(char *)"base", __pyx_getprop___pyx_memoryview_base, 0, (char *)0, 0}, + {(char *)"shape", __pyx_getprop___pyx_memoryview_shape, 0, (char *)0, 0}, + {(char *)"strides", __pyx_getprop___pyx_memoryview_strides, 0, (char *)0, 0}, + {(char *)"suboffsets", __pyx_getprop___pyx_memoryview_suboffsets, 0, (char *)0, 0}, + {(char *)"ndim", __pyx_getprop___pyx_memoryview_ndim, 0, (char *)0, 0}, + {(char *)"itemsize", __pyx_getprop___pyx_memoryview_itemsize, 0, (char *)0, 0}, + {(char *)"nbytes", __pyx_getprop___pyx_memoryview_nbytes, 0, (char *)0, 0}, + {(char *)"size", __pyx_getprop___pyx_memoryview_size, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +#if !CYTHON_COMPILING_IN_LIMITED_API + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; +#endif +static PyType_Slot __pyx_type___pyx_memoryview_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_memoryview}, + {Py_tp_repr, (void *)__pyx_memoryview___repr__}, + {Py_sq_length, (void *)__pyx_memoryview___len__}, + {Py_sq_item, (void *)__pyx_sq_item_memoryview}, + {Py_mp_length, (void *)__pyx_memoryview___len__}, + {Py_mp_subscript, (void *)__pyx_memoryview___getitem__}, + {Py_mp_ass_subscript, (void *)__pyx_mp_ass_subscript_memoryview}, + {Py_tp_str, (void *)__pyx_memoryview___str__}, + #if defined(Py_bf_getbuffer) + {Py_bf_getbuffer, (void *)__pyx_memoryview_getbuffer}, + #endif + {Py_tp_traverse, (void *)__pyx_tp_traverse_memoryview}, + {Py_tp_clear, (void *)__pyx_tp_clear_memoryview}, + {Py_tp_methods, (void *)__pyx_methods_memoryview}, + {Py_tp_getset, (void *)__pyx_getsets_memoryview}, + {Py_tp_new, (void *)__pyx_tp_new_memoryview}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_memoryview_spec = { + "rednose.helpers.ekf_sym_pyx.memoryview", + sizeof(struct __pyx_memoryview_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type___pyx_memoryview_slots, +}; +#else + +static PySequenceMethods __pyx_tp_as_sequence_memoryview = { + __pyx_memoryview___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_memoryview, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_memoryview = { + __pyx_memoryview___len__, /*mp_length*/ + __pyx_memoryview___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_memoryview, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_memoryview = { + PyVarObject_HEAD_INIT(0, 0) + "rednose.helpers.ekf_sym_pyx.""memoryview", /*tp_name*/ + sizeof(struct __pyx_memoryview_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_memoryview, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_memoryview___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_memoryview, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_memoryview, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + __pyx_memoryview___str__, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_memoryview, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_memoryview, /*tp_traverse*/ + __pyx_tp_clear_memoryview, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_memoryview, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_memoryview, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_memoryview, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct__memoryviewslice __pyx_vtable__memoryviewslice; + +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryviewslice_obj *p; + PyObject *o = __pyx_tp_new_memoryview(t, a, k); + if (unlikely(!o)) return 0; + p = ((struct __pyx_memoryviewslice_obj *)o); + p->__pyx_base.__pyx_vtab = (struct __pyx_vtabstruct_memoryview*)__pyx_vtabptr__memoryviewslice; + new((void*)&(p->from_slice)) __Pyx_memviewslice(); + p->from_object = Py_None; Py_INCREF(Py_None); + p->from_slice.memview = NULL; + return o; +} + +static void __pyx_tp_dealloc__memoryviewslice(PyObject *o) { + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc__memoryviewslice) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryviewslice___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + __Pyx_call_destructor(p->from_slice); + Py_CLEAR(p->from_object); + PyObject_GC_Track(o); + __pyx_tp_dealloc_memoryview(o); +} + +static int __pyx_tp_traverse__memoryviewslice(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + e = __pyx_tp_traverse_memoryview(o, v, a); if (e) return e; + if (p->from_object) { + e = (*v)(p->from_object, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear__memoryviewslice(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + __pyx_tp_clear_memoryview(o); + tmp = ((PyObject*)p->from_object); + p->from_object = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + __PYX_XCLEAR_MEMVIEW(&p->from_slice, 1); + return 0; +} + +static PyMethodDef __pyx_methods__memoryviewslice[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryviewslice_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryviewslice_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type___pyx_memoryviewslice_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc__memoryviewslice}, + {Py_tp_doc, (void *)PyDoc_STR("Internal class for passing memoryview slices to Python")}, + {Py_tp_traverse, (void *)__pyx_tp_traverse__memoryviewslice}, + {Py_tp_clear, (void *)__pyx_tp_clear__memoryviewslice}, + {Py_tp_methods, (void *)__pyx_methods__memoryviewslice}, + {Py_tp_new, (void *)__pyx_tp_new__memoryviewslice}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_memoryviewslice_spec = { + "rednose.helpers.ekf_sym_pyx._memoryviewslice", + sizeof(struct __pyx_memoryviewslice_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_SEQUENCE, + __pyx_type___pyx_memoryviewslice_slots, +}; +#else + +static PyTypeObject __pyx_type___pyx_memoryviewslice = { + PyVarObject_HEAD_INIT(0, 0) + "rednose.helpers.ekf_sym_pyx.""_memoryviewslice", /*tp_name*/ + sizeof(struct __pyx_memoryviewslice_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc__memoryviewslice, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + #if CYTHON_COMPILING_IN_PYPY || 0 + __pyx_memoryview___repr__, /*tp_repr*/ + #else + 0, /*tp_repr*/ + #endif + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + #if CYTHON_COMPILING_IN_PYPY || 0 + __pyx_memoryview___str__, /*tp_str*/ + #else + 0, /*tp_str*/ + #endif + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_SEQUENCE, /*tp_flags*/ + PyDoc_STR("Internal class for passing memoryview slices to Python"), /*tp_doc*/ + __pyx_tp_traverse__memoryviewslice, /*tp_traverse*/ + __pyx_tp_clear__memoryviewslice, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods__memoryviewslice, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new__memoryviewslice, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyMethodDef __pyx_methods[] = { + {0, 0, 0, 0} +}; +#ifndef CYTHON_SMALL_CODE +#if defined(__clang__) + #define CYTHON_SMALL_CODE +#elif defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 3)) + #define CYTHON_SMALL_CODE __attribute__((cold)) +#else + #define CYTHON_SMALL_CODE +#endif +#endif +/* #### Code section: pystring_table ### */ + +static int __Pyx_CreateStringTabAndInitStrings(void) { + __Pyx_StringTabEntry __pyx_string_tab[] = { + {&__pyx_kp_u_, __pyx_k_, sizeof(__pyx_k_), 0, 1, 0, 0}, + {&__pyx_n_s_ASCII, __pyx_k_ASCII, sizeof(__pyx_k_ASCII), 0, 0, 1, 1}, + {&__pyx_kp_s_All_dimensions_preceding_dimensi, __pyx_k_All_dimensions_preceding_dimensi, sizeof(__pyx_k_All_dimensions_preceding_dimensi), 0, 0, 1, 0}, + {&__pyx_n_s_AssertionError, __pyx_k_AssertionError, sizeof(__pyx_k_AssertionError), 0, 0, 1, 1}, + {&__pyx_kp_s_Buffer_view_does_not_expose_stri, __pyx_k_Buffer_view_does_not_expose_stri, sizeof(__pyx_k_Buffer_view_does_not_expose_stri), 0, 0, 1, 0}, + {&__pyx_n_u_C, __pyx_k_C, sizeof(__pyx_k_C), 0, 1, 0, 1}, + {&__pyx_kp_s_Can_only_create_a_buffer_that_is, __pyx_k_Can_only_create_a_buffer_that_is, sizeof(__pyx_k_Can_only_create_a_buffer_that_is), 0, 0, 1, 0}, + {&__pyx_kp_s_Cannot_assign_to_read_only_memor, __pyx_k_Cannot_assign_to_read_only_memor, sizeof(__pyx_k_Cannot_assign_to_read_only_memor), 0, 0, 1, 0}, + {&__pyx_kp_s_Cannot_create_writable_memory_vi, __pyx_k_Cannot_create_writable_memory_vi, sizeof(__pyx_k_Cannot_create_writable_memory_vi), 0, 0, 1, 0}, + {&__pyx_kp_u_Cannot_index_with_type, __pyx_k_Cannot_index_with_type, sizeof(__pyx_k_Cannot_index_with_type), 0, 1, 0, 0}, + {&__pyx_kp_s_Cannot_transpose_memoryview_with, __pyx_k_Cannot_transpose_memoryview_with, sizeof(__pyx_k_Cannot_transpose_memoryview_with), 0, 0, 1, 0}, + {&__pyx_kp_s_Dimension_d_is_not_direct, __pyx_k_Dimension_d_is_not_direct, sizeof(__pyx_k_Dimension_d_is_not_direct), 0, 0, 1, 0}, + {&__pyx_n_s_EKF_sym_pyx, __pyx_k_EKF_sym_pyx, sizeof(__pyx_k_EKF_sym_pyx), 0, 0, 1, 1}, + 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+ void *r = NULL; + m = PyImport_ImportModule(modname); + if (!m) goto end; + p = PyObject_GetAttrString(m, "RefNannyAPI"); + if (!p) goto end; + r = PyLong_AsVoidPtr(p); +end: + Py_XDECREF(p); + Py_XDECREF(m); + return (__Pyx_RefNannyAPIStruct *)r; +} +#endif + +/* PyErrExceptionMatches */ +#if CYTHON_FAST_THREAD_STATE +static int __Pyx_PyErr_ExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; i= 0x030C00A6 + PyObject *current_exception = tstate->current_exception; + if (unlikely(!current_exception)) return 0; + exc_type = (PyObject*) Py_TYPE(current_exception); + if (exc_type == err) return 1; +#else + exc_type = tstate->curexc_type; + if (exc_type == err) return 1; + if (unlikely(!exc_type)) return 0; +#endif + #if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(exc_type); + #endif + if (unlikely(PyTuple_Check(err))) { + result = __Pyx_PyErr_ExceptionMatchesTuple(exc_type, err); + } else { + result = __Pyx_PyErr_GivenExceptionMatches(exc_type, err); + } + #if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(exc_type); + #endif + return result; +} +#endif + +/* PyErrFetchRestore */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { +#if PY_VERSION_HEX >= 0x030C00A6 + PyObject *tmp_value; + assert(type == NULL || (value != NULL && type == (PyObject*) Py_TYPE(value))); + if (value) { + #if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(((PyBaseExceptionObject*) value)->traceback != tb)) + #endif + PyException_SetTraceback(value, tb); + } + tmp_value = tstate->current_exception; + tstate->current_exception = value; + Py_XDECREF(tmp_value); + Py_XDECREF(type); + Py_XDECREF(tb); +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + tmp_type = tstate->curexc_type; + tmp_value = tstate->curexc_value; + tmp_tb = tstate->curexc_traceback; + tstate->curexc_type = type; + tstate->curexc_value = value; + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#endif +} +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { +#if PY_VERSION_HEX >= 0x030C00A6 + PyObject* exc_value; + exc_value = tstate->current_exception; + tstate->current_exception = 0; + *value = exc_value; + *type = NULL; + *tb = NULL; + if (exc_value) { + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + #if CYTHON_COMPILING_IN_CPYTHON + *tb = ((PyBaseExceptionObject*) exc_value)->traceback; + Py_XINCREF(*tb); + #else + *tb = PyException_GetTraceback(exc_value); + #endif + } +#else + *type = tstate->curexc_type; + *value = tstate->curexc_value; + *tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; +#endif +} +#endif + +/* PyObjectGetAttrStr */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name) { + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro)) + return tp->tp_getattro(obj, attr_name); +#if PY_MAJOR_VERSION < 3 + if (likely(tp->tp_getattr)) + return tp->tp_getattr(obj, PyString_AS_STRING(attr_name)); +#endif + return PyObject_GetAttr(obj, attr_name); +} +#endif + +/* PyObjectGetAttrStrNoError */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + __Pyx_PyErr_Clear(); +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { + PyObject *result; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + (void) PyObject_GetOptionalAttr(obj, attr_name, &result); + return result; +#else +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { + return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); + } +#endif + result = __Pyx_PyObject_GetAttrStr(obj, attr_name); + if (unlikely(!result)) { + __Pyx_PyObject_GetAttrStr_ClearAttributeError(); + } + return result; +#endif +} + +/* GetBuiltinName */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name) { + PyObject* result = __Pyx_PyObject_GetAttrStrNoError(__pyx_b, name); + if (unlikely(!result) && !PyErr_Occurred()) { + PyErr_Format(PyExc_NameError, +#if PY_MAJOR_VERSION >= 3 + "name '%U' is not defined", name); +#else + "name '%.200s' is not defined", PyString_AS_STRING(name)); +#endif + } + return result; +} + +/* TupleAndListFromArray */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE void __Pyx_copy_object_array(PyObject *const *CYTHON_RESTRICT src, PyObject** CYTHON_RESTRICT dest, Py_ssize_t length) { + PyObject *v; + Py_ssize_t i; + for (i = 0; i < length; i++) { + v = dest[i] = src[i]; + Py_INCREF(v); + } +} +static CYTHON_INLINE PyObject * +__Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + Py_INCREF(__pyx_empty_tuple); + return __pyx_empty_tuple; + } + res = PyTuple_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyTupleObject*)res)->ob_item, n); + return res; +} +static CYTHON_INLINE PyObject * +__Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + return PyList_New(0); + } + res = PyList_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyListObject*)res)->ob_item, n); + return res; +} +#endif + +/* BytesEquals */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else + if (s1 == s2) { + return (equals == Py_EQ); + } else if (PyBytes_CheckExact(s1) & PyBytes_CheckExact(s2)) { + const char *ps1, *ps2; + Py_ssize_t length = PyBytes_GET_SIZE(s1); + if (length != PyBytes_GET_SIZE(s2)) + return (equals == Py_NE); + ps1 = PyBytes_AS_STRING(s1); + ps2 = PyBytes_AS_STRING(s2); + if (ps1[0] != ps2[0]) { + return (equals == Py_NE); + } else if (length == 1) { + return (equals == Py_EQ); + } else { + int result; +#if CYTHON_USE_UNICODE_INTERNALS && (PY_VERSION_HEX < 0x030B0000) + Py_hash_t hash1, hash2; + hash1 = ((PyBytesObject*)s1)->ob_shash; + hash2 = ((PyBytesObject*)s2)->ob_shash; + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + return (equals == Py_NE); + } +#endif + result = memcmp(ps1, ps2, (size_t)length); + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { + return (equals == Py_NE); + } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { + return (equals == Py_NE); + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +#endif +} + +/* UnicodeEquals */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else +#if PY_MAJOR_VERSION < 3 + PyObject* owned_ref = NULL; +#endif + int s1_is_unicode, s2_is_unicode; + if (s1 == s2) { + goto return_eq; + } + s1_is_unicode = PyUnicode_CheckExact(s1); + s2_is_unicode = PyUnicode_CheckExact(s2); +#if PY_MAJOR_VERSION < 3 + if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { + owned_ref = PyUnicode_FromObject(s2); + if (unlikely(!owned_ref)) + return -1; + s2 = owned_ref; + s2_is_unicode = 1; + } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { + owned_ref = PyUnicode_FromObject(s1); + if (unlikely(!owned_ref)) + return -1; + s1 = owned_ref; + s1_is_unicode = 1; + } else if (((!s2_is_unicode) & (!s1_is_unicode))) { + return __Pyx_PyBytes_Equals(s1, s2, equals); + } +#endif + if (s1_is_unicode & s2_is_unicode) { + Py_ssize_t length; + int kind; + void *data1, *data2; + if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) + return -1; + length = __Pyx_PyUnicode_GET_LENGTH(s1); + if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { + goto return_ne; + } +#if CYTHON_USE_UNICODE_INTERNALS + { + Py_hash_t hash1, hash2; + #if CYTHON_PEP393_ENABLED + hash1 = ((PyASCIIObject*)s1)->hash; + hash2 = ((PyASCIIObject*)s2)->hash; + #else + hash1 = ((PyUnicodeObject*)s1)->hash; + hash2 = ((PyUnicodeObject*)s2)->hash; + #endif + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + goto return_ne; + } + } +#endif + kind = __Pyx_PyUnicode_KIND(s1); + if (kind != __Pyx_PyUnicode_KIND(s2)) { + goto return_ne; + } + data1 = __Pyx_PyUnicode_DATA(s1); + data2 = __Pyx_PyUnicode_DATA(s2); + if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { + goto return_ne; + } else if (length == 1) { + goto return_eq; + } else { + int result = memcmp(data1, data2, (size_t)(length * kind)); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & s2_is_unicode) { + goto return_ne; + } else if ((s2 == Py_None) & s1_is_unicode) { + goto return_ne; + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +return_eq: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ); +return_ne: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_NE); +#endif +} + +/* fastcall */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s) +{ + Py_ssize_t i, n = PyTuple_GET_SIZE(kwnames); + for (i = 0; i < n; i++) + { + if (s == PyTuple_GET_ITEM(kwnames, i)) return kwvalues[i]; + } + for (i = 0; i < n; i++) + { + int eq = __Pyx_PyUnicode_Equals(s, PyTuple_GET_ITEM(kwnames, i), Py_EQ); + if (unlikely(eq != 0)) { + if (unlikely(eq < 0)) return NULL; + return kwvalues[i]; + } + } + return NULL; +} +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 +CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { + Py_ssize_t i, nkwargs = PyTuple_GET_SIZE(kwnames); + PyObject *dict; + dict = PyDict_New(); + if (unlikely(!dict)) + return NULL; + for (i=0; i= 3 + "%s() got multiple values for keyword argument '%U'", func_name, kw_name); + #else + "%s() got multiple values for keyword argument '%s'", func_name, + PyString_AsString(kw_name)); + #endif +} + +/* ParseKeywords */ +static int __Pyx_ParseOptionalKeywords( + PyObject *kwds, + PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, + PyObject *values[], + Py_ssize_t num_pos_args, + const char* function_name) +{ + PyObject *key = 0, *value = 0; + Py_ssize_t pos = 0; + PyObject*** name; + PyObject*** first_kw_arg = argnames + num_pos_args; + int kwds_is_tuple = CYTHON_METH_FASTCALL && likely(PyTuple_Check(kwds)); + while (1) { + Py_XDECREF(key); key = NULL; + Py_XDECREF(value); value = NULL; + if (kwds_is_tuple) { + Py_ssize_t size; +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(kwds); +#else + size = PyTuple_Size(kwds); + if (size < 0) goto bad; +#endif + if (pos >= size) break; +#if CYTHON_AVOID_BORROWED_REFS + key = __Pyx_PySequence_ITEM(kwds, pos); + if (!key) goto bad; +#elif CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kwds, pos); +#else + key = PyTuple_GetItem(kwds, pos); + if (!key) goto bad; +#endif + value = kwvalues[pos]; + pos++; + } + else + { + if (!PyDict_Next(kwds, &pos, &key, &value)) break; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + } + name = first_kw_arg; + while (*name && (**name != key)) name++; + if (*name) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(value); + Py_DECREF(key); +#endif + key = NULL; + value = NULL; + continue; + } +#if !CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + Py_INCREF(value); + name = first_kw_arg; + #if PY_MAJOR_VERSION < 3 + if (likely(PyString_Check(key))) { + while (*name) { + if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) + && _PyString_Eq(**name, key)) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + if ((**argname == key) || ( + (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) + && _PyString_Eq(**argname, key))) { + goto arg_passed_twice; + } + argname++; + } + } + } else + #endif + if (likely(PyUnicode_Check(key))) { + while (*name) { + int cmp = ( + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**name, key) + ); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + int cmp = (**argname == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**argname, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) goto arg_passed_twice; + argname++; + } + } + } else + goto invalid_keyword_type; + if (kwds2) { + if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; + } else { + goto invalid_keyword; + } + } + Py_XDECREF(key); + Py_XDECREF(value); + return 0; +arg_passed_twice: + __Pyx_RaiseDoubleKeywordsError(function_name, key); + goto bad; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + goto bad; +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif +bad: + Py_XDECREF(key); + Py_XDECREF(value); + return -1; +} + +/* ArgTypeTest */ +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact) +{ + __Pyx_TypeName type_name; + __Pyx_TypeName obj_type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + else if (exact) { + #if PY_MAJOR_VERSION == 2 + if ((type == &PyBaseString_Type) && likely(__Pyx_PyBaseString_CheckExact(obj))) return 1; + #endif + } + else { + if (likely(__Pyx_TypeCheck(obj, type))) return 1; + } + type_name = __Pyx_PyType_GetName(type); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "Argument '%.200s' has incorrect type (expected " __Pyx_FMT_TYPENAME + ", got " __Pyx_FMT_TYPENAME ")", name, type_name, obj_type_name); + __Pyx_DECREF_TypeName(type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* RaiseException */ +#if PY_MAJOR_VERSION < 3 +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + __Pyx_PyThreadState_declare + CYTHON_UNUSED_VAR(cause); + Py_XINCREF(type); + if (!value || value == Py_None) + value = NULL; + else + Py_INCREF(value); + if (!tb || tb == Py_None) + tb = NULL; + else { + Py_INCREF(tb); + if (!PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto raise_error; + } + } + if (PyType_Check(type)) { +#if CYTHON_COMPILING_IN_PYPY + if (!value) { + Py_INCREF(Py_None); + value = Py_None; + } +#endif + PyErr_NormalizeException(&type, &value, &tb); + } else { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto raise_error; + } + value = type; + type = (PyObject*) Py_TYPE(type); + Py_INCREF(type); + if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto raise_error; + } + } + __Pyx_PyThreadState_assign + __Pyx_ErrRestore(type, value, tb); + return; +raise_error: + Py_XDECREF(value); + Py_XDECREF(type); + Py_XDECREF(tb); + return; +} +#else +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + PyObject* owned_instance = NULL; + if (tb == Py_None) { + tb = 0; + } else if (tb && !PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto bad; + } + if (value == Py_None) + value = 0; + if (PyExceptionInstance_Check(type)) { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto bad; + } + value = type; + type = (PyObject*) Py_TYPE(value); + } else if (PyExceptionClass_Check(type)) { + PyObject *instance_class = NULL; + if (value && PyExceptionInstance_Check(value)) { + instance_class = (PyObject*) Py_TYPE(value); + if (instance_class != type) { + int is_subclass = PyObject_IsSubclass(instance_class, type); + if (!is_subclass) { + instance_class = NULL; + } else if (unlikely(is_subclass == -1)) { + goto bad; + } else { + type = instance_class; + } + } + } + if (!instance_class) { + PyObject *args; + if (!value) + args = PyTuple_New(0); + else if (PyTuple_Check(value)) { + Py_INCREF(value); + args = value; + } else + args = PyTuple_Pack(1, value); + if (!args) + goto bad; + owned_instance = PyObject_Call(type, args, NULL); + Py_DECREF(args); + if (!owned_instance) + goto bad; + value = owned_instance; + if (!PyExceptionInstance_Check(value)) { + PyErr_Format(PyExc_TypeError, + "calling %R should have returned an instance of " + "BaseException, not %R", + type, Py_TYPE(value)); + goto bad; + } + } + } else { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto bad; + } + if (cause) { + PyObject *fixed_cause; + if (cause == Py_None) { + fixed_cause = NULL; + } else if (PyExceptionClass_Check(cause)) { + fixed_cause = PyObject_CallObject(cause, NULL); + if (fixed_cause == NULL) + goto bad; + } else if (PyExceptionInstance_Check(cause)) { + fixed_cause = cause; + Py_INCREF(fixed_cause); + } else { + PyErr_SetString(PyExc_TypeError, + "exception causes must derive from " + "BaseException"); + goto bad; + } + PyException_SetCause(value, fixed_cause); + } + PyErr_SetObject(type, value); + if (tb) { + #if PY_VERSION_HEX >= 0x030C00A6 + PyException_SetTraceback(value, tb); + #elif CYTHON_FAST_THREAD_STATE + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* tmp_tb = tstate->curexc_traceback; + if (tb != tmp_tb) { + Py_INCREF(tb); + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_tb); + } +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); + Py_INCREF(tb); + PyErr_Restore(tmp_type, tmp_value, tb); + Py_XDECREF(tmp_tb); +#endif + } +bad: + Py_XDECREF(owned_instance); + return; +} +#endif + +/* PyFunctionFastCall */ +#if CYTHON_FAST_PYCALL && !CYTHON_VECTORCALL +static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, + PyObject *globals) { + PyFrameObject *f; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject **fastlocals; + Py_ssize_t i; + PyObject *result; + assert(globals != NULL); + /* XXX Perhaps we should create a specialized + PyFrame_New() that doesn't take locals, but does + take builtins without sanity checking them. + */ + assert(tstate != NULL); + f = PyFrame_New(tstate, co, globals, NULL); + if (f == NULL) { + return NULL; + } + fastlocals = __Pyx_PyFrame_GetLocalsplus(f); + for (i = 0; i < na; i++) { + Py_INCREF(*args); + fastlocals[i] = *args++; + } + result = PyEval_EvalFrameEx(f,0); + ++tstate->recursion_depth; + Py_DECREF(f); + --tstate->recursion_depth; + return result; +} +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { + PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); + PyObject *globals = PyFunction_GET_GLOBALS(func); + PyObject *argdefs = PyFunction_GET_DEFAULTS(func); + PyObject *closure; +#if PY_MAJOR_VERSION >= 3 + PyObject *kwdefs; +#endif + PyObject *kwtuple, **k; + PyObject **d; + Py_ssize_t nd; + Py_ssize_t nk; + PyObject *result; + assert(kwargs == NULL || PyDict_Check(kwargs)); + nk = kwargs ? PyDict_Size(kwargs) : 0; + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) { + return NULL; + } + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) { + return NULL; + } + #endif + if ( +#if PY_MAJOR_VERSION >= 3 + co->co_kwonlyargcount == 0 && +#endif + likely(kwargs == NULL || nk == 0) && + co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { + if (argdefs == NULL && co->co_argcount == nargs) { + result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); + goto done; + } + else if (nargs == 0 && argdefs != NULL + && co->co_argcount == Py_SIZE(argdefs)) { + /* function called with no arguments, but all parameters have + a default value: use default values as arguments .*/ + args = &PyTuple_GET_ITEM(argdefs, 0); + result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); + goto done; + } + } + if (kwargs != NULL) { + Py_ssize_t pos, i; + kwtuple = PyTuple_New(2 * nk); + if (kwtuple == NULL) { + result = NULL; + goto done; + } + k = &PyTuple_GET_ITEM(kwtuple, 0); + pos = i = 0; + while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { + Py_INCREF(k[i]); + Py_INCREF(k[i+1]); + i += 2; + } + nk = i / 2; + } + else { + kwtuple = NULL; + k = NULL; + } + closure = PyFunction_GET_CLOSURE(func); +#if PY_MAJOR_VERSION >= 3 + kwdefs = PyFunction_GET_KW_DEFAULTS(func); +#endif + if (argdefs != NULL) { + d = &PyTuple_GET_ITEM(argdefs, 0); + nd = Py_SIZE(argdefs); + } + else { + d = NULL; + nd = 0; + } +#if PY_MAJOR_VERSION >= 3 + result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, kwdefs, closure); +#else + result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, closure); +#endif + Py_XDECREF(kwtuple); +done: + Py_LeaveRecursiveCall(); + return result; +} +#endif + +/* PyObjectCall */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *result; + ternaryfunc call = Py_TYPE(func)->tp_call; + if (unlikely(!call)) + return PyObject_Call(func, arg, kw); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = (*call)(func, arg, kw); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCallMethO */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { + PyObject *self, *result; + PyCFunction cfunc; + cfunc = __Pyx_CyOrPyCFunction_GET_FUNCTION(func); + self = __Pyx_CyOrPyCFunction_GET_SELF(func); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = cfunc(self, arg); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectFastCall */ +#if PY_VERSION_HEX < 0x03090000 || CYTHON_COMPILING_IN_LIMITED_API +static PyObject* __Pyx_PyObject_FastCall_fallback(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs) { + PyObject *argstuple; + PyObject *result = 0; + size_t i; + argstuple = PyTuple_New((Py_ssize_t)nargs); + if (unlikely(!argstuple)) return NULL; + for (i = 0; i < nargs; i++) { + Py_INCREF(args[i]); + if (__Pyx_PyTuple_SET_ITEM(argstuple, (Py_ssize_t)i, args[i]) < 0) goto bad; + } + result = __Pyx_PyObject_Call(func, argstuple, kwargs); + bad: + Py_DECREF(argstuple); + return result; +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t _nargs, PyObject *kwargs) { + Py_ssize_t nargs = __Pyx_PyVectorcall_NARGS(_nargs); +#if CYTHON_COMPILING_IN_CPYTHON + if (nargs == 0 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_NOARGS)) + return __Pyx_PyObject_CallMethO(func, NULL); + } + else if (nargs == 1 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_O)) + return __Pyx_PyObject_CallMethO(func, args[0]); + } +#endif + #if PY_VERSION_HEX < 0x030800B1 + #if CYTHON_FAST_PYCCALL + if (PyCFunction_Check(func)) { + if (kwargs) { + return _PyCFunction_FastCallDict(func, args, nargs, kwargs); + } else { + return _PyCFunction_FastCallKeywords(func, args, nargs, NULL); + } + } + #if PY_VERSION_HEX >= 0x030700A1 + if (!kwargs && __Pyx_IS_TYPE(func, &PyMethodDescr_Type)) { + return _PyMethodDescr_FastCallKeywords(func, args, nargs, NULL); + } + #endif + #endif + #if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs); + } + #endif + #endif + if (kwargs == NULL) { + #if CYTHON_VECTORCALL + #if PY_VERSION_HEX < 0x03090000 + vectorcallfunc f = _PyVectorcall_Function(func); + #else + vectorcallfunc f = PyVectorcall_Function(func); + #endif + if (f) { + return f(func, args, (size_t)nargs, NULL); + } + #elif defined(__Pyx_CyFunction_USED) && CYTHON_BACKPORT_VECTORCALL + if (__Pyx_CyFunction_CheckExact(func)) { + __pyx_vectorcallfunc f = __Pyx_CyFunction_func_vectorcall(func); + if (f) return f(func, args, (size_t)nargs, NULL); + } + #endif + } + if (nargs == 0) { + return __Pyx_PyObject_Call(func, __pyx_empty_tuple, kwargs); + } + #if PY_VERSION_HEX >= 0x03090000 && !CYTHON_COMPILING_IN_LIMITED_API + return PyObject_VectorcallDict(func, args, (size_t)nargs, kwargs); + #else + return __Pyx_PyObject_FastCall_fallback(func, args, (size_t)nargs, kwargs); + #endif +} + +/* RaiseUnexpectedTypeError */ +static int +__Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj) +{ + __Pyx_TypeName obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, "Expected %s, got " __Pyx_FMT_TYPENAME, + expected, obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* CIntToDigits */ +static const char DIGIT_PAIRS_10[2*10*10+1] = { + "00010203040506070809" + "10111213141516171819" + "20212223242526272829" + "30313233343536373839" + "40414243444546474849" + "50515253545556575859" + "60616263646566676869" + "70717273747576777879" + "80818283848586878889" + "90919293949596979899" +}; +static const char DIGIT_PAIRS_8[2*8*8+1] = { + "0001020304050607" + "1011121314151617" + "2021222324252627" + "3031323334353637" + "4041424344454647" + "5051525354555657" + "6061626364656667" + "7071727374757677" +}; +static const char DIGITS_HEX[2*16+1] = { + "0123456789abcdef" + "0123456789ABCDEF" +}; + +/* BuildPyUnicode */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char) { + PyObject *uval; + Py_ssize_t uoffset = ulength - clength; +#if CYTHON_USE_UNICODE_INTERNALS + Py_ssize_t i; +#if CYTHON_PEP393_ENABLED + void *udata; + uval = PyUnicode_New(ulength, 127); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_DATA(uval); +#else + Py_UNICODE *udata; + uval = PyUnicode_FromUnicode(NULL, ulength); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_AS_UNICODE(uval); +#endif + if (uoffset > 0) { + i = 0; + if (prepend_sign) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, 0, '-'); + i++; + } + for (; i < uoffset; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, i, padding_char); + } + } + for (i=0; i < clength; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, uoffset+i, chars[i]); + } +#else + { + PyObject *sign = NULL, *padding = NULL; + uval = NULL; + if (uoffset > 0) { + prepend_sign = !!prepend_sign; + if (uoffset > prepend_sign) { + padding = PyUnicode_FromOrdinal(padding_char); + if (likely(padding) && uoffset > prepend_sign + 1) { + PyObject *tmp; + PyObject *repeat = PyInt_FromSsize_t(uoffset - prepend_sign); + if (unlikely(!repeat)) goto done_or_error; + tmp = PyNumber_Multiply(padding, repeat); + Py_DECREF(repeat); + Py_DECREF(padding); + padding = tmp; + } + if (unlikely(!padding)) goto done_or_error; + } + if (prepend_sign) { + sign = PyUnicode_FromOrdinal('-'); + if (unlikely(!sign)) goto done_or_error; + } + } + uval = PyUnicode_DecodeASCII(chars, clength, NULL); + if (likely(uval) && padding) { + PyObject *tmp = PyNumber_Add(padding, uval); + Py_DECREF(uval); + uval = tmp; + } + if (likely(uval) && sign) { + PyObject *tmp = PyNumber_Add(sign, uval); + Py_DECREF(uval); + uval = tmp; + } +done_or_error: + Py_XDECREF(padding); + Py_XDECREF(sign); + } +#endif + return uval; +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(int)*3+2]; + char *dpos, *end = digits + sizeof(int)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + int remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (int) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (int) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (int) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_Py_ssize_t(Py_ssize_t value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(Py_ssize_t)*3+2]; + char *dpos, *end = digits + sizeof(Py_ssize_t)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + Py_ssize_t remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const Py_ssize_t neg_one = (Py_ssize_t) -1, const_zero = (Py_ssize_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (Py_ssize_t) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (Py_ssize_t) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (Py_ssize_t) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* JoinPyUnicode */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char) { +#if CYTHON_USE_UNICODE_INTERNALS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + PyObject *result_uval; + int result_ukind, kind_shift; + Py_ssize_t i, char_pos; + void *result_udata; + CYTHON_MAYBE_UNUSED_VAR(max_char); +#if CYTHON_PEP393_ENABLED + result_uval = PyUnicode_New(result_ulength, max_char); + if (unlikely(!result_uval)) return NULL; + result_ukind = (max_char <= 255) ? PyUnicode_1BYTE_KIND : (max_char <= 65535) ? PyUnicode_2BYTE_KIND : PyUnicode_4BYTE_KIND; + kind_shift = (result_ukind == PyUnicode_4BYTE_KIND) ? 2 : result_ukind - 1; + result_udata = PyUnicode_DATA(result_uval); +#else + result_uval = PyUnicode_FromUnicode(NULL, result_ulength); + if (unlikely(!result_uval)) return NULL; + result_ukind = sizeof(Py_UNICODE); + kind_shift = (result_ukind == 4) ? 2 : result_ukind - 1; + result_udata = PyUnicode_AS_UNICODE(result_uval); +#endif + assert(kind_shift == 2 || kind_shift == 1 || kind_shift == 0); + char_pos = 0; + for (i=0; i < value_count; i++) { + int ukind; + Py_ssize_t ulength; + void *udata; + PyObject *uval = PyTuple_GET_ITEM(value_tuple, i); + if (unlikely(__Pyx_PyUnicode_READY(uval))) + goto bad; + ulength = __Pyx_PyUnicode_GET_LENGTH(uval); + if (unlikely(!ulength)) + continue; + if (unlikely((PY_SSIZE_T_MAX >> kind_shift) - ulength < char_pos)) + goto overflow; + ukind = __Pyx_PyUnicode_KIND(uval); + udata = __Pyx_PyUnicode_DATA(uval); + if (!CYTHON_PEP393_ENABLED || ukind == result_ukind) { + memcpy((char *)result_udata + (char_pos << kind_shift), udata, (size_t) (ulength << kind_shift)); + } else { + #if PY_VERSION_HEX >= 0x030d0000 + if (unlikely(PyUnicode_CopyCharacters(result_uval, char_pos, uval, 0, ulength) < 0)) goto bad; + #elif CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030300F0 || defined(_PyUnicode_FastCopyCharacters) + _PyUnicode_FastCopyCharacters(result_uval, char_pos, uval, 0, ulength); + #else + Py_ssize_t j; + for (j=0; j < ulength; j++) { + Py_UCS4 uchar = __Pyx_PyUnicode_READ(ukind, udata, j); + __Pyx_PyUnicode_WRITE(result_ukind, result_udata, char_pos+j, uchar); + } + #endif + } + char_pos += ulength; + } + return result_uval; +overflow: + PyErr_SetString(PyExc_OverflowError, "join() result is too long for a Python string"); +bad: + Py_DECREF(result_uval); + return NULL; +#else + CYTHON_UNUSED_VAR(max_char); + CYTHON_UNUSED_VAR(result_ulength); + CYTHON_UNUSED_VAR(value_count); + return PyUnicode_Join(__pyx_empty_unicode, value_tuple); +#endif +} + +/* GetAttr */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *o, PyObject *n) { +#if CYTHON_USE_TYPE_SLOTS +#if PY_MAJOR_VERSION >= 3 + if (likely(PyUnicode_Check(n))) +#else + if (likely(PyString_Check(n))) +#endif + return __Pyx_PyObject_GetAttrStr(o, n); +#endif + return PyObject_GetAttr(o, n); +} + +/* GetItemInt */ +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { + PyObject *r; + if (unlikely(!j)) return NULL; + r = PyObject_GetItem(o, j); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyList_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { + PyObject *r = PyList_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyTuple_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); + if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { + PyObject *r = PyList_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } + else if (PyTuple_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_subscript) { + PyObject *r, *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return NULL; + r = mm->mp_subscript(o, key); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return NULL; + PyErr_Clear(); + } + } + return sm->sq_item(o, i); + } + } +#else + if (is_list || !PyMapping_Check(o)) { + return PySequence_GetItem(o, i); + } +#endif + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +} + +/* PyObjectCallOneArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *args[2] = {NULL, arg}; + return __Pyx_PyObject_FastCall(func, args+1, 1 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* ObjectGetItem */ +#if CYTHON_USE_TYPE_SLOTS +static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject *index) { + PyObject *runerr = NULL; + Py_ssize_t key_value; + key_value = __Pyx_PyIndex_AsSsize_t(index); + if (likely(key_value != -1 || !(runerr = PyErr_Occurred()))) { + return __Pyx_GetItemInt_Fast(obj, key_value, 0, 1, 1); + } + if (PyErr_GivenExceptionMatches(runerr, PyExc_OverflowError)) { + __Pyx_TypeName index_type_name = __Pyx_PyType_GetName(Py_TYPE(index)); + PyErr_Clear(); + PyErr_Format(PyExc_IndexError, + "cannot fit '" __Pyx_FMT_TYPENAME "' into an index-sized integer", index_type_name); + __Pyx_DECREF_TypeName(index_type_name); + } + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem_Slow(PyObject *obj, PyObject *key) { + __Pyx_TypeName obj_type_name; + if (likely(PyType_Check(obj))) { + PyObject *meth = __Pyx_PyObject_GetAttrStrNoError(obj, __pyx_n_s_class_getitem); + if (!meth) { + PyErr_Clear(); + } else { + PyObject *result = __Pyx_PyObject_CallOneArg(meth, key); + Py_DECREF(meth); + return result; + } + } + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' object is not subscriptable", obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key) { + PyTypeObject *tp = Py_TYPE(obj); + PyMappingMethods *mm = tp->tp_as_mapping; + PySequenceMethods *sm = tp->tp_as_sequence; + if (likely(mm && mm->mp_subscript)) { + return mm->mp_subscript(obj, key); + } + if (likely(sm && sm->sq_item)) { + return __Pyx_PyObject_GetIndex(obj, key); + } + return __Pyx_PyObject_GetItem_Slow(obj, key); +} +#endif + +/* KeywordStringCheck */ +static int __Pyx_CheckKeywordStrings( + PyObject *kw, + const char* function_name, + int kw_allowed) +{ + PyObject* key = 0; + Py_ssize_t pos = 0; +#if CYTHON_COMPILING_IN_PYPY + if (!kw_allowed && PyDict_Next(kw, &pos, &key, 0)) + goto invalid_keyword; + return 1; +#else + if (CYTHON_METH_FASTCALL && likely(PyTuple_Check(kw))) { + Py_ssize_t kwsize; +#if CYTHON_ASSUME_SAFE_MACROS + kwsize = PyTuple_GET_SIZE(kw); +#else + kwsize = PyTuple_Size(kw); + if (kwsize < 0) return 0; +#endif + if (unlikely(kwsize == 0)) + return 1; + if (!kw_allowed) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, 0); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + goto invalid_keyword; + } +#if PY_VERSION_HEX < 0x03090000 + for (pos = 0; pos < kwsize; pos++) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, pos); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } +#endif + return 1; + } + while (PyDict_Next(kw, &pos, &key, 0)) { + #if PY_MAJOR_VERSION < 3 + if (unlikely(!PyString_Check(key))) + #endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } + if (!kw_allowed && unlikely(key)) + goto invalid_keyword; + return 1; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + return 0; +#endif +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif + return 0; +} + +/* DivInt[Py_ssize_t] */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t a, Py_ssize_t b) { + Py_ssize_t q = a / b; + Py_ssize_t r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* GetAttr3 */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static PyObject *__Pyx_GetAttr3Default(PyObject *d) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (unlikely(!__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + return NULL; + __Pyx_PyErr_Clear(); + Py_INCREF(d); + return d; +} +#endif +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *o, PyObject *n, PyObject *d) { + PyObject *r; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + int res = PyObject_GetOptionalAttr(o, n, &r); + return (res != 0) ? r : __Pyx_NewRef(d); +#else + #if CYTHON_USE_TYPE_SLOTS + if (likely(PyString_Check(n))) { + r = __Pyx_PyObject_GetAttrStrNoError(o, n); + if (unlikely(!r) && likely(!PyErr_Occurred())) { + r = __Pyx_NewRef(d); + } + return r; + } + #endif + r = PyObject_GetAttr(o, n); + return (likely(r)) ? r : __Pyx_GetAttr3Default(d); +#endif +} + +/* PyDictVersioning */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { + PyObject **dictptr = NULL; + Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; + if (offset) { +#if CYTHON_COMPILING_IN_CPYTHON + dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); +#else + dictptr = _PyObject_GetDictPtr(obj); +#endif + } + return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; +} +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) + return 0; + return obj_dict_version == __Pyx_get_object_dict_version(obj); +} +#endif + +/* GetModuleGlobalName */ +#if CYTHON_USE_DICT_VERSIONS +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) +#else +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) +#endif +{ + PyObject *result; +#if !CYTHON_AVOID_BORROWED_REFS +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && PY_VERSION_HEX < 0x030d0000 + result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } else if (unlikely(PyErr_Occurred())) { + return NULL; + } +#elif CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(!__pyx_m)) { + return NULL; + } + result = PyObject_GetAttr(__pyx_m, name); + if (likely(result)) { + return result; + } +#else + result = PyDict_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } +#endif +#else + result = PyObject_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } + PyErr_Clear(); +#endif + return __Pyx_GetBuiltinName(name); +} + +/* RaiseTooManyValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected) { + PyErr_Format(PyExc_ValueError, + "too many values to unpack (expected %" CYTHON_FORMAT_SSIZE_T "d)", expected); +} + +/* RaiseNeedMoreValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index) { + PyErr_Format(PyExc_ValueError, + "need more than %" CYTHON_FORMAT_SSIZE_T "d value%.1s to unpack", + index, (index == 1) ? "" : "s"); +} + +/* RaiseNoneIterError */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void) { + PyErr_SetString(PyExc_TypeError, "'NoneType' object is not iterable"); +} + +/* ExtTypeTest */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type) { + __Pyx_TypeName obj_type_name; + __Pyx_TypeName type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + if (likely(__Pyx_TypeCheck(obj, type))) + return 1; + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + type_name = __Pyx_PyType_GetName(type); + PyErr_Format(PyExc_TypeError, + "Cannot convert " __Pyx_FMT_TYPENAME " to " __Pyx_FMT_TYPENAME, + obj_type_name, type_name); + __Pyx_DECREF_TypeName(obj_type_name); + __Pyx_DECREF_TypeName(type_name); + return 0; +} + +/* GetTopmostException */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * +__Pyx_PyErr_GetTopmostException(PyThreadState *tstate) +{ + _PyErr_StackItem *exc_info = tstate->exc_info; + while ((exc_info->exc_value == NULL || exc_info->exc_value == Py_None) && + exc_info->previous_item != NULL) + { + exc_info = exc_info->previous_item; + } + return exc_info; +} +#endif + +/* SaveResetException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + PyObject *exc_value = exc_info->exc_value; + if (exc_value == NULL || exc_value == Py_None) { + *value = NULL; + *type = NULL; + *tb = NULL; + } else { + *value = exc_value; + Py_INCREF(*value); + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + *tb = PyException_GetTraceback(exc_value); + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + *type = exc_info->exc_type; + *value = exc_info->exc_value; + *tb = exc_info->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #else + *type = tstate->exc_type; + *value = tstate->exc_value; + *tb = tstate->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #endif +} +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + PyObject *tmp_value = exc_info->exc_value; + exc_info->exc_value = value; + Py_XDECREF(tmp_value); + Py_XDECREF(type); + Py_XDECREF(tb); + #else + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = type; + exc_info->exc_value = value; + exc_info->exc_traceback = tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = type; + tstate->exc_value = value; + tstate->exc_traceback = tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); + #endif +} +#endif + +/* GetException */ +#if CYTHON_FAST_THREAD_STATE +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb) +#endif +{ + PyObject *local_type = NULL, *local_value, *local_tb = NULL; +#if CYTHON_FAST_THREAD_STATE + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if PY_VERSION_HEX >= 0x030C00A6 + local_value = tstate->current_exception; + tstate->current_exception = 0; + if (likely(local_value)) { + local_type = (PyObject*) Py_TYPE(local_value); + Py_INCREF(local_type); + local_tb = PyException_GetTraceback(local_value); + } + #else + local_type = tstate->curexc_type; + local_value = tstate->curexc_value; + local_tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; + #endif +#else + PyErr_Fetch(&local_type, &local_value, &local_tb); +#endif + PyErr_NormalizeException(&local_type, &local_value, &local_tb); +#if CYTHON_FAST_THREAD_STATE && PY_VERSION_HEX >= 0x030C00A6 + if (unlikely(tstate->current_exception)) +#elif CYTHON_FAST_THREAD_STATE + if (unlikely(tstate->curexc_type)) +#else + if (unlikely(PyErr_Occurred())) +#endif + goto bad; + #if PY_MAJOR_VERSION >= 3 + if (local_tb) { + if (unlikely(PyException_SetTraceback(local_value, local_tb) < 0)) + goto bad; + } + #endif + Py_XINCREF(local_tb); + Py_XINCREF(local_type); + Py_XINCREF(local_value); + *type = local_type; + *value = local_value; + *tb = local_tb; +#if CYTHON_FAST_THREAD_STATE + #if CYTHON_USE_EXC_INFO_STACK + { + _PyErr_StackItem *exc_info = tstate->exc_info; + #if PY_VERSION_HEX >= 0x030B00a4 + tmp_value = exc_info->exc_value; + exc_info->exc_value = local_value; + tmp_type = NULL; + tmp_tb = NULL; + Py_XDECREF(local_type); + Py_XDECREF(local_tb); + #else + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = local_type; + exc_info->exc_value = local_value; + exc_info->exc_traceback = local_tb; + #endif + } + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = local_type; + tstate->exc_value = local_value; + tstate->exc_traceback = local_tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#else + PyErr_SetExcInfo(local_type, local_value, local_tb); +#endif + return 0; +bad: + *type = 0; + *value = 0; + *tb = 0; + Py_XDECREF(local_type); + Py_XDECREF(local_value); + Py_XDECREF(local_tb); + return -1; +} + +/* SwapException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_value = exc_info->exc_value; + exc_info->exc_value = *value; + if (tmp_value == NULL || tmp_value == Py_None) { + Py_XDECREF(tmp_value); + tmp_value = NULL; + tmp_type = NULL; + tmp_tb = NULL; + } else { + tmp_type = (PyObject*) Py_TYPE(tmp_value); + Py_INCREF(tmp_type); + #if CYTHON_COMPILING_IN_CPYTHON + tmp_tb = ((PyBaseExceptionObject*) tmp_value)->traceback; + Py_XINCREF(tmp_tb); + #else + tmp_tb = PyException_GetTraceback(tmp_value); + #endif + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = *type; + exc_info->exc_value = *value; + exc_info->exc_traceback = *tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = *type; + tstate->exc_value = *value; + tstate->exc_traceback = *tb; + #endif + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_GetExcInfo(&tmp_type, &tmp_value, &tmp_tb); + PyErr_SetExcInfo(*type, *value, *tb); + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#endif + +/* Import */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { + PyObject *module = 0; + PyObject *empty_dict = 0; + PyObject *empty_list = 0; + #if PY_MAJOR_VERSION < 3 + PyObject *py_import; + py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); + if (unlikely(!py_import)) + goto bad; + if (!from_list) { + empty_list = PyList_New(0); + if (unlikely(!empty_list)) + goto bad; + from_list = empty_list; + } + #endif + empty_dict = PyDict_New(); + if (unlikely(!empty_dict)) + goto bad; + { + #if PY_MAJOR_VERSION >= 3 + if (level == -1) { + if (strchr(__Pyx_MODULE_NAME, '.') != NULL) { + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, 1); + if (unlikely(!module)) { + if (unlikely(!PyErr_ExceptionMatches(PyExc_ImportError))) + goto bad; + PyErr_Clear(); + } + } + level = 0; + } + #endif + if (!module) { + #if PY_MAJOR_VERSION < 3 + PyObject *py_level = PyInt_FromLong(level); + if (unlikely(!py_level)) + goto bad; + module = PyObject_CallFunctionObjArgs(py_import, + name, __pyx_d, empty_dict, from_list, py_level, (PyObject *)NULL); + Py_DECREF(py_level); + #else + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, level); + #endif + } + } +bad: + Py_XDECREF(empty_dict); + Py_XDECREF(empty_list); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_import); + #endif + return module; +} + +/* ImportDottedModule */ +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Error(PyObject *name, PyObject *parts_tuple, Py_ssize_t count) { + PyObject *partial_name = NULL, *slice = NULL, *sep = NULL; + if (unlikely(PyErr_Occurred())) { + PyErr_Clear(); + } + if (likely(PyTuple_GET_SIZE(parts_tuple) == count)) { + partial_name = name; + } else { + slice = PySequence_GetSlice(parts_tuple, 0, count); + if (unlikely(!slice)) + goto bad; + sep = PyUnicode_FromStringAndSize(".", 1); + if (unlikely(!sep)) + goto bad; + partial_name = PyUnicode_Join(sep, slice); + } + PyErr_Format( +#if PY_MAJOR_VERSION < 3 + PyExc_ImportError, + "No module named '%s'", PyString_AS_STRING(partial_name)); +#else +#if PY_VERSION_HEX >= 0x030600B1 + PyExc_ModuleNotFoundError, +#else + PyExc_ImportError, +#endif + "No module named '%U'", partial_name); +#endif +bad: + Py_XDECREF(sep); + Py_XDECREF(slice); + Py_XDECREF(partial_name); + return NULL; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Lookup(PyObject *name) { + PyObject *imported_module; +#if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + return NULL; + imported_module = __Pyx_PyDict_GetItemStr(modules, name); + Py_XINCREF(imported_module); +#else + imported_module = PyImport_GetModule(name); +#endif + return imported_module; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple) { + Py_ssize_t i, nparts; + nparts = PyTuple_GET_SIZE(parts_tuple); + for (i=1; i < nparts && module; i++) { + PyObject *part, *submodule; +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + part = PyTuple_GET_ITEM(parts_tuple, i); +#else + part = PySequence_ITEM(parts_tuple, i); +#endif + submodule = __Pyx_PyObject_GetAttrStrNoError(module, part); +#if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(part); +#endif + Py_DECREF(module); + module = submodule; + } + if (unlikely(!module)) { + return __Pyx__ImportDottedModule_Error(name, parts_tuple, i); + } + return module; +} +#endif +static PyObject *__Pyx__ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if PY_MAJOR_VERSION < 3 + PyObject *module, *from_list, *star = __pyx_n_s__3; + CYTHON_UNUSED_VAR(parts_tuple); + from_list = PyList_New(1); + if (unlikely(!from_list)) + return NULL; + Py_INCREF(star); + PyList_SET_ITEM(from_list, 0, star); + module = __Pyx_Import(name, from_list, 0); + Py_DECREF(from_list); + return module; +#else + PyObject *imported_module; + PyObject *module = __Pyx_Import(name, NULL, 0); + if (!parts_tuple || unlikely(!module)) + return module; + imported_module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(imported_module)) { + Py_DECREF(module); + return imported_module; + } + PyErr_Clear(); + return __Pyx_ImportDottedModule_WalkParts(module, name, parts_tuple); +#endif +} +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030400B1 + PyObject *module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(module)) { + PyObject *spec = __Pyx_PyObject_GetAttrStrNoError(module, __pyx_n_s_spec); + if (likely(spec)) { + PyObject *unsafe = __Pyx_PyObject_GetAttrStrNoError(spec, __pyx_n_s_initializing); + if (likely(!unsafe || !__Pyx_PyObject_IsTrue(unsafe))) { + Py_DECREF(spec); + spec = NULL; + } + Py_XDECREF(unsafe); + } + if (likely(!spec)) { + PyErr_Clear(); + return module; + } + Py_DECREF(spec); + Py_DECREF(module); + } else if (PyErr_Occurred()) { + PyErr_Clear(); + } +#endif + return __Pyx__ImportDottedModule(name, parts_tuple); +} + +/* FastTypeChecks */ +#if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = __Pyx_PyType_GetSlot(a, tp_base, PyTypeObject*); + if (a == b) + return 1; + } + return b == &PyBaseObject_Type; +} +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(a, b); +} +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (cls == a || cls == b) return 1; + mro = cls->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + PyObject *base = PyTuple_GET_ITEM(mro, i); + if (base == (PyObject *)a || base == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(cls, a) || __Pyx_InBases(cls, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + } + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + if (exc_type1) { + return __Pyx_IsAnySubtype2((PyTypeObject*)err, (PyTypeObject*)exc_type1, (PyTypeObject*)exc_type2); + } else { + return __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } +} +#endif +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; itp_as_sequence && type->tp_as_sequence->sq_repeat)) { + return type->tp_as_sequence->sq_repeat(seq, mul); + } else +#endif + { + return __Pyx_PySequence_Multiply_Generic(seq, mul); + } +} + +/* SetItemInt */ +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v) { + int r; + if (unlikely(!j)) return -1; + r = PyObject_SetItem(o, j, v); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, int is_list, + CYTHON_NCP_UNUSED int wraparound, CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = (!wraparound) ? i : ((likely(i >= 0)) ? i : i + PyList_GET_SIZE(o)); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o)))) { + PyObject* old = PyList_GET_ITEM(o, n); + Py_INCREF(v); + PyList_SET_ITEM(o, n, v); + Py_DECREF(old); + return 1; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_ass_subscript) { + int r; + PyObject *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return -1; + r = mm->mp_ass_subscript(o, key, v); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_ass_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return -1; + PyErr_Clear(); + } + } + return sm->sq_ass_item(o, i, v); + } + } +#else + if (is_list || !PyMapping_Check(o)) + { + return PySequence_SetItem(o, i, v); + } +#endif + return __Pyx_SetItemInt_Generic(o, PyInt_FromSsize_t(i), v); +} + +/* RaiseUnboundLocalError */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname) { + PyErr_Format(PyExc_UnboundLocalError, "local variable '%s' referenced before assignment", varname); +} + +/* DivInt[long] */ +static CYTHON_INLINE long __Pyx_div_long(long a, long b) { + long q = a / b; + long r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* ImportFrom */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name) { + PyObject* value = __Pyx_PyObject_GetAttrStr(module, name); + if (unlikely(!value) && PyErr_ExceptionMatches(PyExc_AttributeError)) { + const char* module_name_str = 0; + PyObject* module_name = 0; + PyObject* module_dot = 0; + PyObject* full_name = 0; + PyErr_Clear(); + module_name_str = PyModule_GetName(module); + if (unlikely(!module_name_str)) { goto modbad; } + module_name = PyUnicode_FromString(module_name_str); + if (unlikely(!module_name)) { goto modbad; } + module_dot = PyUnicode_Concat(module_name, __pyx_kp_u__2); + if (unlikely(!module_dot)) { goto modbad; } + full_name = PyUnicode_Concat(module_dot, name); + if (unlikely(!full_name)) { goto modbad; } + #if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + { + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + goto modbad; + value = PyObject_GetItem(modules, full_name); + } + #else + value = PyImport_GetModule(full_name); + #endif + modbad: + Py_XDECREF(full_name); + Py_XDECREF(module_dot); + Py_XDECREF(module_name); + } + if (unlikely(!value)) { + PyErr_Format(PyExc_ImportError, + #if PY_MAJOR_VERSION < 3 + "cannot import name %.230s", PyString_AS_STRING(name)); + #else + "cannot import name %S", name); + #endif + } + return value; +} + +/* HasAttr */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *o, PyObject *n) { + PyObject *r; + if (unlikely(!__Pyx_PyBaseString_Check(n))) { + PyErr_SetString(PyExc_TypeError, + "hasattr(): attribute name must be string"); + return -1; + } + r = __Pyx_GetAttr(o, n); + if (!r) { + PyErr_Clear(); + return 0; + } else { + Py_DECREF(r); + return 1; + } +} +#endif + +/* PyObjectCall2Args */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2) { + PyObject *args[3] = {NULL, arg1, arg2}; + return __Pyx_PyObject_FastCall(function, args+1, 2 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* PyObjectGetMethod */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method) { + PyObject *attr; +#if CYTHON_UNPACK_METHODS && CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_PYTYPE_LOOKUP + __Pyx_TypeName type_name; + PyTypeObject *tp = Py_TYPE(obj); + PyObject *descr; + descrgetfunc f = NULL; + PyObject **dictptr, *dict; + int meth_found = 0; + assert (*method == NULL); + if (unlikely(tp->tp_getattro != PyObject_GenericGetAttr)) { + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; + } + if (unlikely(tp->tp_dict == NULL) && unlikely(PyType_Ready(tp) < 0)) { + return 0; + } + descr = _PyType_Lookup(tp, name); + if (likely(descr != NULL)) { + Py_INCREF(descr); +#if defined(Py_TPFLAGS_METHOD_DESCRIPTOR) && Py_TPFLAGS_METHOD_DESCRIPTOR + if (__Pyx_PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_METHOD_DESCRIPTOR)) +#elif PY_MAJOR_VERSION >= 3 + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type))) + #endif +#else + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr))) + #endif +#endif + { + meth_found = 1; + } else { + f = Py_TYPE(descr)->tp_descr_get; + if (f != NULL && PyDescr_IsData(descr)) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + } + } + dictptr = _PyObject_GetDictPtr(obj); + if (dictptr != NULL && (dict = *dictptr) != NULL) { + Py_INCREF(dict); + attr = __Pyx_PyDict_GetItemStr(dict, name); + if (attr != NULL) { + Py_INCREF(attr); + Py_DECREF(dict); + Py_XDECREF(descr); + goto try_unpack; + } + Py_DECREF(dict); + } + if (meth_found) { + *method = descr; + return 1; + } + if (f != NULL) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + if (likely(descr != NULL)) { + *method = descr; + return 0; + } + type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return 0; +#else + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; +#endif +try_unpack: +#if CYTHON_UNPACK_METHODS + if (likely(attr) && PyMethod_Check(attr) && likely(PyMethod_GET_SELF(attr) == obj)) { + PyObject *function = PyMethod_GET_FUNCTION(attr); + Py_INCREF(function); + Py_DECREF(attr); + *method = function; + return 1; + } +#endif + *method = attr; + return 0; +} + +/* PyObjectCallMethod1 */ +#if !(CYTHON_VECTORCALL && __PYX_LIMITED_VERSION_HEX >= 0x030C00A2) +static PyObject* __Pyx__PyObject_CallMethod1(PyObject* method, PyObject* arg) { + PyObject *result = __Pyx_PyObject_CallOneArg(method, arg); + Py_DECREF(method); + return result; +} +#endif +static PyObject* __Pyx_PyObject_CallMethod1(PyObject* obj, PyObject* method_name, PyObject* arg) { +#if CYTHON_VECTORCALL && __PYX_LIMITED_VERSION_HEX >= 0x030C00A2 + PyObject *args[2] = {obj, arg}; + (void) __Pyx_PyObject_GetMethod; + (void) __Pyx_PyObject_CallOneArg; + (void) __Pyx_PyObject_Call2Args; + return PyObject_VectorcallMethod(method_name, args, 2 | PY_VECTORCALL_ARGUMENTS_OFFSET, NULL); +#else + PyObject *method = NULL, *result; + int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); + if (likely(is_method)) { + result = __Pyx_PyObject_Call2Args(method, obj, arg); + Py_DECREF(method); + return result; + } + if (unlikely(!method)) return NULL; + return __Pyx__PyObject_CallMethod1(method, arg); +#endif +} + +/* StringJoin */ +static CYTHON_INLINE PyObject* __Pyx_PyBytes_Join(PyObject* sep, PyObject* values) { + (void) __Pyx_PyObject_CallMethod1; +#if CYTHON_COMPILING_IN_CPYTHON && PY_MAJOR_VERSION < 3 + return _PyString_Join(sep, values); +#elif CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030d0000 + return _PyBytes_Join(sep, values); +#else + return __Pyx_PyObject_CallMethod1(sep, __pyx_n_s_join, values); +#endif +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_size_t(size_t value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(size_t)*3+2]; + char *dpos, *end = digits + sizeof(size_t)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + size_t remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const size_t neg_one = (size_t) -1, const_zero = (size_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (size_t) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (size_t) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (size_t) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* Profile */ +#if CYTHON_PROFILE +static int __Pyx_TraceSetupAndCall(PyCodeObject** code, + PyFrameObject** frame, + PyThreadState* tstate, + const char *funcname, + const char *srcfile, + int firstlineno) { + PyObject *type, *value, *traceback; + int retval; + if (*frame == NULL || !CYTHON_PROFILE_REUSE_FRAME) { + if (*code == NULL) { + *code = __Pyx_createFrameCodeObject(funcname, srcfile, firstlineno); + if (*code == NULL) return 0; + } + *frame = PyFrame_New( + tstate, /*PyThreadState *tstate*/ + *code, /*PyCodeObject *code*/ + __pyx_d, /*PyObject *globals*/ + 0 /*PyObject *locals*/ + ); + if (*frame == NULL) return 0; + if (CYTHON_TRACE && (*frame)->f_trace == NULL) { + Py_INCREF(Py_None); + (*frame)->f_trace = Py_None; + } +#if PY_VERSION_HEX < 0x030400B1 + } else { + (*frame)->f_tstate = tstate; +#endif + } + __Pyx_PyFrame_SetLineNumber(*frame, firstlineno); + retval = 1; + __Pyx_EnterTracing(tstate); + __Pyx_ErrFetchInState(tstate, &type, &value, &traceback); + #if CYTHON_TRACE + if (tstate->c_tracefunc) + retval = tstate->c_tracefunc(tstate->c_traceobj, *frame, PyTrace_CALL, NULL) == 0; + if (retval && tstate->c_profilefunc) + #endif + retval = tstate->c_profilefunc(tstate->c_profileobj, *frame, PyTrace_CALL, NULL) == 0; + __Pyx_LeaveTracing(tstate); + if (retval) { + __Pyx_ErrRestoreInState(tstate, type, value, traceback); + return __Pyx_IsTracing(tstate, 0, 0) && retval; + } else { + Py_XDECREF(type); + Py_XDECREF(value); + Py_XDECREF(traceback); + return -1; + } +} +static PyCodeObject *__Pyx_createFrameCodeObject(const char *funcname, const char *srcfile, int firstlineno) { + PyCodeObject *py_code = 0; +#if PY_MAJOR_VERSION >= 3 + py_code = PyCode_NewEmpty(srcfile, funcname, firstlineno); + if (likely(py_code)) { + py_code->co_flags |= CO_OPTIMIZED | CO_NEWLOCALS; + } +#else + PyObject *py_srcfile = 0; + PyObject *py_funcname = 0; + py_funcname = PyString_FromString(funcname); + if (unlikely(!py_funcname)) goto bad; + py_srcfile = PyString_FromString(srcfile); + if (unlikely(!py_srcfile)) goto bad; + py_code = PyCode_New( + 0, + 0, + 0, + CO_OPTIMIZED | CO_NEWLOCALS, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + firstlineno, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); +bad: + Py_XDECREF(py_srcfile); + Py_XDECREF(py_funcname); +#endif + return py_code; +} +#endif + +/* IsLittleEndian */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void) +{ + union { + uint32_t u32; + uint8_t u8[4]; + } S; + S.u32 = 0x01020304; + return S.u8[0] == 4; +} + +/* BufferFormatCheck */ +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type) { + stack[0].field = &ctx->root; + stack[0].parent_offset = 0; + ctx->root.type = type; + ctx->root.name = "buffer dtype"; + ctx->root.offset = 0; + ctx->head = stack; + ctx->head->field = &ctx->root; + ctx->fmt_offset = 0; + ctx->head->parent_offset = 0; + ctx->new_packmode = '@'; + ctx->enc_packmode = '@'; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->is_complex = 0; + ctx->is_valid_array = 0; + ctx->struct_alignment = 0; + while (type->typegroup == 'S') { + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = 0; + type = type->fields->type; + } +} +static int __Pyx_BufFmt_ParseNumber(const char** ts) { + int count; + const char* t = *ts; + if (*t < '0' || *t > '9') { + return -1; + } else { + count = *t++ - '0'; + while (*t >= '0' && *t <= '9') { + count *= 10; + count += *t++ - '0'; + } + } + *ts = t; + return count; +} +static int __Pyx_BufFmt_ExpectNumber(const char **ts) { + int number = __Pyx_BufFmt_ParseNumber(ts); + if (number == -1) + PyErr_Format(PyExc_ValueError,\ + "Does not understand character buffer dtype format string ('%c')", **ts); + return number; +} +static void __Pyx_BufFmt_RaiseUnexpectedChar(char ch) { + PyErr_Format(PyExc_ValueError, + "Unexpected format string character: '%c'", ch); +} +static const char* __Pyx_BufFmt_DescribeTypeChar(char ch, int is_complex) { + switch (ch) { + case '?': return "'bool'"; + case 'c': return "'char'"; + case 'b': return "'signed char'"; + case 'B': return "'unsigned char'"; + case 'h': return "'short'"; + case 'H': return "'unsigned short'"; + case 'i': return "'int'"; + case 'I': return "'unsigned int'"; + case 'l': return "'long'"; + case 'L': return "'unsigned long'"; + case 'q': return "'long long'"; + case 'Q': return "'unsigned long long'"; + case 'f': return (is_complex ? "'complex float'" : "'float'"); + case 'd': return (is_complex ? "'complex double'" : "'double'"); + case 'g': return (is_complex ? "'complex long double'" : "'long double'"); + case 'T': return "a struct"; + case 'O': return "Python object"; + case 'P': return "a pointer"; + case 's': case 'p': return "a string"; + case 0: return "end"; + default: return "unparsable format string"; + } +} +static size_t __Pyx_BufFmt_TypeCharToStandardSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return 2; + case 'i': case 'I': case 'l': case 'L': return 4; + case 'q': case 'Q': return 8; + case 'f': return (is_complex ? 8 : 4); + case 'd': return (is_complex ? 16 : 8); + case 'g': { + PyErr_SetString(PyExc_ValueError, "Python does not define a standard format string size for long double ('g').."); + return 0; + } + case 'O': case 'P': return sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static size_t __Pyx_BufFmt_TypeCharToNativeSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(short); + case 'i': case 'I': return sizeof(int); + case 'l': case 'L': return sizeof(long); + #ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(PY_LONG_LONG); + #endif + case 'f': return sizeof(float) * (is_complex ? 2 : 1); + case 'd': return sizeof(double) * (is_complex ? 2 : 1); + case 'g': return sizeof(long double) * (is_complex ? 2 : 1); + case 'O': case 'P': return sizeof(void*); + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +typedef struct { char c; short x; } __Pyx_st_short; +typedef struct { char c; int x; } __Pyx_st_int; +typedef struct { char c; long x; } __Pyx_st_long; +typedef struct { char c; float x; } __Pyx_st_float; +typedef struct { char c; double x; } __Pyx_st_double; +typedef struct { char c; long double x; } __Pyx_st_longdouble; +typedef struct { char c; void *x; } __Pyx_st_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { char c; PY_LONG_LONG x; } __Pyx_st_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToAlignment(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_st_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_st_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_st_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_st_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_st_float) - sizeof(float); + case 'd': return sizeof(__Pyx_st_double) - sizeof(double); + case 'g': return sizeof(__Pyx_st_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_st_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +/* These are for computing the padding at the end of the struct to align + on the first member of the struct. This will probably the same as above, + but we don't have any guarantees. + */ +typedef struct { short x; char c; } __Pyx_pad_short; +typedef struct { int x; char c; } __Pyx_pad_int; +typedef struct { long x; char c; } __Pyx_pad_long; +typedef struct { float x; char c; } __Pyx_pad_float; +typedef struct { double x; char c; } __Pyx_pad_double; +typedef struct { long double x; char c; } __Pyx_pad_longdouble; +typedef struct { void *x; char c; } __Pyx_pad_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { PY_LONG_LONG x; char c; } __Pyx_pad_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToPadding(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_pad_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_pad_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_pad_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_pad_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_pad_float) - sizeof(float); + case 'd': return sizeof(__Pyx_pad_double) - sizeof(double); + case 'g': return sizeof(__Pyx_pad_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_pad_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static char __Pyx_BufFmt_TypeCharToGroup(char ch, int is_complex) { + switch (ch) { + case 'c': + return 'H'; + case 'b': case 'h': case 'i': + case 'l': case 'q': case 's': case 'p': + return 'I'; + case '?': case 'B': case 'H': case 'I': case 'L': case 'Q': + return 'U'; + case 'f': case 'd': case 'g': + return (is_complex ? 'C' : 'R'); + case 'O': + return 'O'; + case 'P': + return 'P'; + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +static void __Pyx_BufFmt_RaiseExpected(__Pyx_BufFmt_Context* ctx) { + if (ctx->head == NULL || ctx->head->field == &ctx->root) { + const char* expected; + const char* quote; + if (ctx->head == NULL) { + expected = "end"; + quote = ""; + } else { + expected = ctx->head->field->type->name; + quote = "'"; + } + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected %s%s%s but got %s", + quote, expected, quote, + __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex)); + } else { + __Pyx_StructField* field = ctx->head->field; + __Pyx_StructField* parent = (ctx->head - 1)->field; + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected '%s' but got %s in '%s.%s'", + field->type->name, __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex), + parent->type->name, field->name); + } +} +static int __Pyx_BufFmt_ProcessTypeChunk(__Pyx_BufFmt_Context* ctx) { + char group; + size_t size, offset, arraysize = 1; + if (ctx->enc_type == 0) return 0; + if (ctx->head->field->type->arraysize[0]) { + int i, ndim = 0; + if (ctx->enc_type == 's' || ctx->enc_type == 'p') { + ctx->is_valid_array = ctx->head->field->type->ndim == 1; + ndim = 1; + if (ctx->enc_count != ctx->head->field->type->arraysize[0]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %zu", + ctx->head->field->type->arraysize[0], ctx->enc_count); + return -1; + } + } + if (!ctx->is_valid_array) { + PyErr_Format(PyExc_ValueError, "Expected %d dimensions, got %d", + ctx->head->field->type->ndim, ndim); + return -1; + } + for (i = 0; i < ctx->head->field->type->ndim; i++) { + arraysize *= ctx->head->field->type->arraysize[i]; + } + ctx->is_valid_array = 0; + ctx->enc_count = 1; + } + group = __Pyx_BufFmt_TypeCharToGroup(ctx->enc_type, ctx->is_complex); + do { + __Pyx_StructField* field = ctx->head->field; + __Pyx_TypeInfo* type = field->type; + if (ctx->enc_packmode == '@' || ctx->enc_packmode == '^') { + size = __Pyx_BufFmt_TypeCharToNativeSize(ctx->enc_type, ctx->is_complex); + } else { + size = __Pyx_BufFmt_TypeCharToStandardSize(ctx->enc_type, ctx->is_complex); + } + if (ctx->enc_packmode == '@') { + size_t align_at = __Pyx_BufFmt_TypeCharToAlignment(ctx->enc_type, ctx->is_complex); + size_t align_mod_offset; + if (align_at == 0) return -1; + align_mod_offset = ctx->fmt_offset % align_at; + if (align_mod_offset > 0) ctx->fmt_offset += align_at - align_mod_offset; + if (ctx->struct_alignment == 0) + ctx->struct_alignment = __Pyx_BufFmt_TypeCharToPadding(ctx->enc_type, + ctx->is_complex); + } + if (type->size != size || type->typegroup != group) { + if (type->typegroup == 'C' && type->fields != NULL) { + size_t parent_offset = ctx->head->parent_offset + field->offset; + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = parent_offset; + continue; + } + if ((type->typegroup == 'H' || group == 'H') && type->size == size) { + } else { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + } + offset = ctx->head->parent_offset + field->offset; + if (ctx->fmt_offset != offset) { + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch; next field is at offset %" CYTHON_FORMAT_SSIZE_T "d but %" CYTHON_FORMAT_SSIZE_T "d expected", + (Py_ssize_t)ctx->fmt_offset, (Py_ssize_t)offset); + return -1; + } + ctx->fmt_offset += size; + if (arraysize) + ctx->fmt_offset += (arraysize - 1) * size; + --ctx->enc_count; + while (1) { + if (field == &ctx->root) { + ctx->head = NULL; + if (ctx->enc_count != 0) { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + break; + } + ctx->head->field = ++field; + if (field->type == NULL) { + --ctx->head; + field = ctx->head->field; + continue; + } else if (field->type->typegroup == 'S') { + size_t parent_offset = ctx->head->parent_offset + field->offset; + if (field->type->fields->type == NULL) continue; + field = field->type->fields; + ++ctx->head; + ctx->head->field = field; + ctx->head->parent_offset = parent_offset; + break; + } else { + break; + } + } + } while (ctx->enc_count); + ctx->enc_type = 0; + ctx->is_complex = 0; + return 0; +} +static int +__pyx_buffmt_parse_array(__Pyx_BufFmt_Context* ctx, const char** tsp) +{ + const char *ts = *tsp; + int i = 0, number, ndim; + ++ts; + if (ctx->new_count != 1) { + PyErr_SetString(PyExc_ValueError, + "Cannot handle repeated arrays in format string"); + return -1; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return -1; + ndim = ctx->head->field->type->ndim; + while (*ts && *ts != ')') { + switch (*ts) { + case ' ': case '\f': case '\r': case '\n': case '\t': case '\v': continue; + default: break; + } + number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return -1; + if (i < ndim && (size_t) number != ctx->head->field->type->arraysize[i]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %d", + ctx->head->field->type->arraysize[i], number); + return -1; + } + if (*ts != ',' && *ts != ')') { + PyErr_Format(PyExc_ValueError, + "Expected a comma in format string, got '%c'", *ts); + return -1; + } + if (*ts == ',') ts++; + i++; + } + if (i != ndim) { + PyErr_Format(PyExc_ValueError, "Expected %d dimension(s), got %d", + ctx->head->field->type->ndim, i); + return -1; + } + if (!*ts) { + PyErr_SetString(PyExc_ValueError, + "Unexpected end of format string, expected ')'"); + return -1; + } + ctx->is_valid_array = 1; + ctx->new_count = 1; + *tsp = ++ts; + return 0; +} +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts) { + int got_Z = 0; + while (1) { + switch(*ts) { + case 0: + if (ctx->enc_type != 0 && ctx->head == NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + if (ctx->head != NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + return ts; + case ' ': + case '\r': + case '\n': + ++ts; + break; + case '<': + if (!__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Little-endian buffer not supported on big-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '>': + case '!': + if (__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Big-endian buffer not supported on little-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '=': + case '@': + case '^': + ctx->new_packmode = *ts++; + break; + case 'T': + { + const char* ts_after_sub; + size_t i, struct_count = ctx->new_count; + size_t struct_alignment = ctx->struct_alignment; + ctx->new_count = 1; + ++ts; + if (*ts != '{') { + PyErr_SetString(PyExc_ValueError, "Buffer acquisition: Expected '{' after 'T'"); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + ctx->enc_count = 0; + ctx->struct_alignment = 0; + ++ts; + ts_after_sub = ts; + for (i = 0; i != struct_count; ++i) { + ts_after_sub = __Pyx_BufFmt_CheckString(ctx, ts); + if (!ts_after_sub) return NULL; + } + ts = ts_after_sub; + if (struct_alignment) ctx->struct_alignment = struct_alignment; + } + break; + case '}': + { + size_t alignment = ctx->struct_alignment; + ++ts; + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + if (alignment && ctx->fmt_offset % alignment) { + ctx->fmt_offset += alignment - (ctx->fmt_offset % alignment); + } + } + return ts; + case 'x': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->fmt_offset += ctx->new_count; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->enc_packmode = ctx->new_packmode; + ++ts; + break; + case 'Z': + got_Z = 1; + ++ts; + if (*ts != 'f' && *ts != 'd' && *ts != 'g') { + __Pyx_BufFmt_RaiseUnexpectedChar('Z'); + return NULL; + } + CYTHON_FALLTHROUGH; + case '?': case 'c': case 'b': case 'B': case 'h': case 'H': case 'i': case 'I': + case 'l': case 'L': case 'q': case 'Q': + case 'f': case 'd': case 'g': + case 'O': case 'p': + if ((ctx->enc_type == *ts) && (got_Z == ctx->is_complex) && + (ctx->enc_packmode == ctx->new_packmode) && (!ctx->is_valid_array)) { + ctx->enc_count += ctx->new_count; + ctx->new_count = 1; + got_Z = 0; + ++ts; + break; + } + CYTHON_FALLTHROUGH; + case 's': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_count = ctx->new_count; + ctx->enc_packmode = ctx->new_packmode; + ctx->enc_type = *ts; + ctx->is_complex = got_Z; + ++ts; + ctx->new_count = 1; + got_Z = 0; + break; + case ':': + ++ts; + while(*ts != ':') ++ts; + ++ts; + break; + case '(': + if (__pyx_buffmt_parse_array(ctx, &ts) < 0) return NULL; + break; + default: + { + int number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return NULL; + ctx->new_count = (size_t)number; + } + } + } +} + +/* BufferGetAndValidate */ + static CYTHON_INLINE void __Pyx_SafeReleaseBuffer(Py_buffer* info) { + if (unlikely(info->buf == NULL)) return; + if (info->suboffsets == __Pyx_minusones) info->suboffsets = NULL; + __Pyx_ReleaseBuffer(info); +} +static void __Pyx_ZeroBuffer(Py_buffer* buf) { + buf->buf = NULL; + buf->obj = NULL; + buf->strides = __Pyx_zeros; + buf->shape = __Pyx_zeros; + buf->suboffsets = __Pyx_minusones; +} +static int __Pyx__GetBufferAndValidate( + Py_buffer* buf, PyObject* obj, __Pyx_TypeInfo* dtype, int flags, + int nd, int cast, __Pyx_BufFmt_StackElem* stack) +{ + buf->buf = NULL; + if (unlikely(__Pyx_GetBuffer(obj, buf, flags) == -1)) { + __Pyx_ZeroBuffer(buf); + return -1; + } + if (unlikely(buf->ndim != nd)) { + PyErr_Format(PyExc_ValueError, + "Buffer has wrong number of dimensions (expected %d, got %d)", + nd, buf->ndim); + goto fail; + } + if (!cast) { + __Pyx_BufFmt_Context ctx; + __Pyx_BufFmt_Init(&ctx, stack, dtype); + if (!__Pyx_BufFmt_CheckString(&ctx, buf->format)) goto fail; + } + if (unlikely((size_t)buf->itemsize != dtype->size)) { + PyErr_Format(PyExc_ValueError, + "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "d byte%s) does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "d byte%s)", + buf->itemsize, (buf->itemsize > 1) ? "s" : "", + dtype->name, (Py_ssize_t)dtype->size, (dtype->size > 1) ? "s" : ""); + goto fail; + } + if (buf->suboffsets == NULL) buf->suboffsets = __Pyx_minusones; + return 0; +fail:; + __Pyx_SafeReleaseBuffer(buf); + return -1; +} + +/* BufferFallbackError */ + static void __Pyx_RaiseBufferFallbackError(void) { + PyErr_SetString(PyExc_ValueError, + "Buffer acquisition failed on assignment; and then reacquiring the old buffer failed too!"); +} + +/* PyObjectCallNoArg */ + static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { + PyObject *arg[2] = {NULL, NULL}; + return __Pyx_PyObject_FastCall(func, arg + 1, 0 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* WriteUnraisableException */ + static void __Pyx_WriteUnraisable(const char *name, int clineno, + int lineno, const char *filename, + int full_traceback, int nogil) { + PyObject *old_exc, *old_val, *old_tb; + PyObject *ctx; + __Pyx_PyThreadState_declare +#ifdef WITH_THREAD + PyGILState_STATE state; + if (nogil) + state = PyGILState_Ensure(); + else state = (PyGILState_STATE)0; +#endif + CYTHON_UNUSED_VAR(clineno); + CYTHON_UNUSED_VAR(lineno); + CYTHON_UNUSED_VAR(filename); + CYTHON_MAYBE_UNUSED_VAR(nogil); + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&old_exc, &old_val, &old_tb); + if (full_traceback) { + Py_XINCREF(old_exc); + Py_XINCREF(old_val); + Py_XINCREF(old_tb); + __Pyx_ErrRestore(old_exc, old_val, old_tb); + PyErr_PrintEx(1); + } + #if PY_MAJOR_VERSION < 3 + ctx = PyString_FromString(name); + #else + ctx = PyUnicode_FromString(name); + #endif + __Pyx_ErrRestore(old_exc, old_val, old_tb); + if (!ctx) { + PyErr_WriteUnraisable(Py_None); + } else { + PyErr_WriteUnraisable(ctx); + Py_DECREF(ctx); + } +#ifdef WITH_THREAD + if (nogil) + PyGILState_Release(state); +#endif +} + +/* PyObject_GenericGetAttrNoDict */ + #if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { + __Pyx_TypeName type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, attr_name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(attr_name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { + PyObject *descr; + PyTypeObject *tp = Py_TYPE(obj); + if (unlikely(!PyString_Check(attr_name))) { + return PyObject_GenericGetAttr(obj, attr_name); + } + assert(!tp->tp_dictoffset); + descr = _PyType_Lookup(tp, attr_name); + if (unlikely(!descr)) { + return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); + } + Py_INCREF(descr); + #if PY_MAJOR_VERSION < 3 + if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) + #endif + { + descrgetfunc f = Py_TYPE(descr)->tp_descr_get; + if (unlikely(f)) { + PyObject *res = f(descr, obj, (PyObject *)tp); + Py_DECREF(descr); + return res; + } + } + return descr; +} +#endif + +/* PyObject_GenericGetAttr */ + #if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { + if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { + return PyObject_GenericGetAttr(obj, attr_name); + } + return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); +} +#endif + +/* FixUpExtensionType */ + #if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type) { +#if PY_VERSION_HEX > 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + CYTHON_UNUSED_VAR(spec); + CYTHON_UNUSED_VAR(type); +#else + const PyType_Slot *slot = spec->slots; + while (slot && slot->slot && slot->slot != Py_tp_members) + slot++; + if (slot && slot->slot == Py_tp_members) { + int changed = 0; +#if !(PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON) + const +#endif + PyMemberDef *memb = (PyMemberDef*) slot->pfunc; + while (memb && memb->name) { + if (memb->name[0] == '_' && memb->name[1] == '_') { +#if PY_VERSION_HEX < 0x030900b1 + if (strcmp(memb->name, "__weaklistoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_weaklistoffset = memb->offset; + changed = 1; + } + else if (strcmp(memb->name, "__dictoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_dictoffset = memb->offset; + changed = 1; + } +#if CYTHON_METH_FASTCALL + else if (strcmp(memb->name, "__vectorcalloffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); +#if PY_VERSION_HEX >= 0x030800b4 + type->tp_vectorcall_offset = memb->offset; +#else + type->tp_print = (printfunc) memb->offset; +#endif + changed = 1; + } +#endif +#else + if ((0)); +#endif +#if PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON + else if (strcmp(memb->name, "__module__") == 0) { + PyObject *descr; + assert(memb->type == T_OBJECT); + assert(memb->flags == 0 || memb->flags == READONLY); + descr = PyDescr_NewMember(type, memb); + if (unlikely(!descr)) + return -1; + if (unlikely(PyDict_SetItem(type->tp_dict, PyDescr_NAME(descr), descr) < 0)) { + Py_DECREF(descr); + return -1; + } + Py_DECREF(descr); + changed = 1; + } +#endif + } + memb++; + } + if (changed) + PyType_Modified(type); + } +#endif + return 0; +} +#endif + +/* PyObjectCallMethod0 */ + static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name) { + PyObject *method = NULL, *result = NULL; + int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); + if (likely(is_method)) { + result = __Pyx_PyObject_CallOneArg(method, obj); + Py_DECREF(method); + return result; + } + if (unlikely(!method)) goto bad; + result = __Pyx_PyObject_CallNoArg(method); + Py_DECREF(method); +bad: + return result; +} + +/* ValidateBasesTuple */ + #if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases) { + Py_ssize_t i, n; +#if CYTHON_ASSUME_SAFE_MACROS + n = PyTuple_GET_SIZE(bases); +#else + n = PyTuple_Size(bases); + if (n < 0) return -1; +#endif + for (i = 1; i < n; i++) + { +#if CYTHON_AVOID_BORROWED_REFS + PyObject *b0 = PySequence_GetItem(bases, i); + if (!b0) return -1; +#elif CYTHON_ASSUME_SAFE_MACROS + PyObject *b0 = PyTuple_GET_ITEM(bases, i); +#else + PyObject *b0 = PyTuple_GetItem(bases, i); + if (!b0) return -1; +#endif + PyTypeObject *b; +#if PY_MAJOR_VERSION < 3 + if (PyClass_Check(b0)) + { + PyErr_Format(PyExc_TypeError, "base class '%.200s' is an old-style class", + PyString_AS_STRING(((PyClassObject*)b0)->cl_name)); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } +#endif + b = (PyTypeObject*) b0; + if (!__Pyx_PyType_HasFeature(b, Py_TPFLAGS_HEAPTYPE)) + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "base class '" __Pyx_FMT_TYPENAME "' is not a heap type", b_name); + __Pyx_DECREF_TypeName(b_name); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + if (dictoffset == 0) + { + Py_ssize_t b_dictoffset = 0; +#if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + b_dictoffset = b->tp_dictoffset; +#else + PyObject *py_b_dictoffset = PyObject_GetAttrString((PyObject*)b, "__dictoffset__"); + if (!py_b_dictoffset) goto dictoffset_return; + b_dictoffset = PyLong_AsSsize_t(py_b_dictoffset); + Py_DECREF(py_b_dictoffset); + if (b_dictoffset == -1 && PyErr_Occurred()) goto dictoffset_return; +#endif + if (b_dictoffset) { + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "extension type '%.200s' has no __dict__ slot, " + "but base type '" __Pyx_FMT_TYPENAME "' has: " + "either add 'cdef dict __dict__' to the extension type " + "or add '__slots__ = [...]' to the base type", + type_name, b_name); + __Pyx_DECREF_TypeName(b_name); + } +#if !(CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY) + dictoffset_return: +#endif +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + } +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + } + return 0; +} +#endif + +/* PyType_Ready */ + static int __Pyx_PyType_Ready(PyTypeObject *t) { +#if CYTHON_USE_TYPE_SPECS || !(CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API) || defined(PYSTON_MAJOR_VERSION) + (void)__Pyx_PyObject_CallMethod0; +#if CYTHON_USE_TYPE_SPECS + (void)__Pyx_validate_bases_tuple; +#endif + return PyType_Ready(t); +#else + int r; + PyObject *bases = __Pyx_PyType_GetSlot(t, tp_bases, PyObject*); + if (bases && unlikely(__Pyx_validate_bases_tuple(t->tp_name, t->tp_dictoffset, bases) == -1)) + return -1; +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + { + int gc_was_enabled; + #if PY_VERSION_HEX >= 0x030A00b1 + gc_was_enabled = PyGC_Disable(); + (void)__Pyx_PyObject_CallMethod0; + #else + PyObject *ret, *py_status; + PyObject *gc = NULL; + #if PY_VERSION_HEX >= 0x030700a1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM+0 >= 0x07030400) + gc = PyImport_GetModule(__pyx_kp_u_gc); + #endif + if (unlikely(!gc)) gc = PyImport_Import(__pyx_kp_u_gc); + if (unlikely(!gc)) return -1; + py_status = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_isenabled); + if (unlikely(!py_status)) { + Py_DECREF(gc); + return -1; + } + gc_was_enabled = __Pyx_PyObject_IsTrue(py_status); + Py_DECREF(py_status); + if (gc_was_enabled > 0) { + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_disable); + if (unlikely(!ret)) { + Py_DECREF(gc); + return -1; + } + Py_DECREF(ret); + } else if (unlikely(gc_was_enabled == -1)) { + Py_DECREF(gc); + return -1; + } + #endif + t->tp_flags |= Py_TPFLAGS_HEAPTYPE; +#if PY_VERSION_HEX >= 0x030A0000 + t->tp_flags |= Py_TPFLAGS_IMMUTABLETYPE; +#endif +#else + (void)__Pyx_PyObject_CallMethod0; +#endif + r = PyType_Ready(t); +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + t->tp_flags &= ~Py_TPFLAGS_HEAPTYPE; + #if PY_VERSION_HEX >= 0x030A00b1 + if (gc_was_enabled) + PyGC_Enable(); + #else + if (gc_was_enabled) { + PyObject *tp, *v, *tb; + PyErr_Fetch(&tp, &v, &tb); + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_enable); + if (likely(ret || r == -1)) { + Py_XDECREF(ret); + PyErr_Restore(tp, v, tb); + } else { + Py_XDECREF(tp); + Py_XDECREF(v); + Py_XDECREF(tb); + r = -1; + } + } + Py_DECREF(gc); + #endif + } +#endif + return r; +#endif +} + +/* SetupReduce */ + #if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { + int ret; + PyObject *name_attr; + name_attr = __Pyx_PyObject_GetAttrStrNoError(meth, __pyx_n_s_name_2); + if (likely(name_attr)) { + ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); + } else { + ret = -1; + } + if (unlikely(ret < 0)) { + PyErr_Clear(); + ret = 0; + } + Py_XDECREF(name_attr); + return ret; +} +static int __Pyx_setup_reduce(PyObject* type_obj) { + int ret = 0; + PyObject *object_reduce = NULL; + PyObject *object_getstate = NULL; + PyObject *object_reduce_ex = NULL; + PyObject *reduce = NULL; + PyObject *reduce_ex = NULL; + PyObject *reduce_cython = NULL; + PyObject *setstate = NULL; + PyObject *setstate_cython = NULL; + PyObject *getstate = NULL; +#if CYTHON_USE_PYTYPE_LOOKUP + getstate = _PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate); +#else + getstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_getstate); + if (!getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (getstate) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_getstate = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_getstate); +#else + object_getstate = __Pyx_PyObject_GetAttrStrNoError((PyObject*)&PyBaseObject_Type, __pyx_n_s_getstate); + if (!object_getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (object_getstate != getstate) { + goto __PYX_GOOD; + } + } +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#else + object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#endif + reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; + if (reduce_ex == object_reduce_ex) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#else + object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#endif + reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; + if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { + reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); + if (likely(reduce_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (reduce == object_reduce || PyErr_Occurred()) { + goto __PYX_BAD; + } + setstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate); + if (!setstate) PyErr_Clear(); + if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { + setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); + if (likely(setstate_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (!setstate || PyErr_Occurred()) { + goto __PYX_BAD; + } + } + PyType_Modified((PyTypeObject*)type_obj); + } + } + goto __PYX_GOOD; +__PYX_BAD: + if (!PyErr_Occurred()) { + __Pyx_TypeName type_obj_name = + __Pyx_PyType_GetName((PyTypeObject*)type_obj); + PyErr_Format(PyExc_RuntimeError, + "Unable to initialize pickling for " __Pyx_FMT_TYPENAME, type_obj_name); + __Pyx_DECREF_TypeName(type_obj_name); + } + ret = -1; +__PYX_GOOD: +#if !CYTHON_USE_PYTYPE_LOOKUP + Py_XDECREF(object_reduce); + Py_XDECREF(object_reduce_ex); + Py_XDECREF(object_getstate); + Py_XDECREF(getstate); +#endif + Py_XDECREF(reduce); + Py_XDECREF(reduce_ex); + Py_XDECREF(reduce_cython); + Py_XDECREF(setstate); + Py_XDECREF(setstate_cython); + return ret; +} +#endif + +/* SetVTable */ + static int __Pyx_SetVtable(PyTypeObject *type, void *vtable) { + PyObject *ob = PyCapsule_New(vtable, 0, 0); + if (unlikely(!ob)) + goto bad; +#if CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(PyObject_SetAttr((PyObject *) type, __pyx_n_s_pyx_vtable, ob) < 0)) +#else + if (unlikely(PyDict_SetItem(type->tp_dict, __pyx_n_s_pyx_vtable, ob) < 0)) +#endif + goto bad; + Py_DECREF(ob); + return 0; +bad: + Py_XDECREF(ob); + return -1; +} + +/* GetVTable */ + static void* __Pyx_GetVtable(PyTypeObject *type) { + void* ptr; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *ob = PyObject_GetAttr((PyObject *)type, __pyx_n_s_pyx_vtable); +#else + PyObject *ob = PyObject_GetItem(type->tp_dict, __pyx_n_s_pyx_vtable); +#endif + if (!ob) + goto bad; + ptr = PyCapsule_GetPointer(ob, 0); + if (!ptr && !PyErr_Occurred()) + PyErr_SetString(PyExc_RuntimeError, "invalid vtable found for imported type"); + Py_DECREF(ob); + return ptr; +bad: + Py_XDECREF(ob); + return NULL; +} + +/* MergeVTables */ + #if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type) { + int i; + void** base_vtables; + __Pyx_TypeName tp_base_name; + __Pyx_TypeName base_name; + void* unknown = (void*)-1; + PyObject* bases = type->tp_bases; + int base_depth = 0; + { + PyTypeObject* base = type->tp_base; + while (base) { + base_depth += 1; + base = base->tp_base; + } + } + base_vtables = (void**) malloc(sizeof(void*) * (size_t)(base_depth + 1)); + base_vtables[0] = unknown; + for (i = 1; i < PyTuple_GET_SIZE(bases); i++) { + void* base_vtable = __Pyx_GetVtable(((PyTypeObject*)PyTuple_GET_ITEM(bases, i))); + if (base_vtable != NULL) { + int j; + PyTypeObject* base = type->tp_base; + for (j = 0; j < base_depth; j++) { + if (base_vtables[j] == unknown) { + base_vtables[j] = __Pyx_GetVtable(base); + base_vtables[j + 1] = unknown; + } + if (base_vtables[j] == base_vtable) { + break; + } else if (base_vtables[j] == NULL) { + goto bad; + } + base = base->tp_base; + } + } + } + PyErr_Clear(); + free(base_vtables); + return 0; +bad: + tp_base_name = __Pyx_PyType_GetName(type->tp_base); + base_name = __Pyx_PyType_GetName((PyTypeObject*)PyTuple_GET_ITEM(bases, i)); + PyErr_Format(PyExc_TypeError, + "multiple bases have vtable conflict: '" __Pyx_FMT_TYPENAME "' and '" __Pyx_FMT_TYPENAME "'", tp_base_name, base_name); + __Pyx_DECREF_TypeName(tp_base_name); + __Pyx_DECREF_TypeName(base_name); + free(base_vtables); + return -1; +} +#endif + +/* TypeImport */ + #ifndef __PYX_HAVE_RT_ImportType_3_0_8 +#define __PYX_HAVE_RT_ImportType_3_0_8 +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject *module, const char *module_name, const char *class_name, + size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size) +{ + PyObject *result = 0; + char warning[200]; + Py_ssize_t basicsize; + Py_ssize_t itemsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + PyObject *py_itemsize; +#endif + result = PyObject_GetAttrString(module, class_name); + if (!result) + goto bad; + if (!PyType_Check(result)) { + PyErr_Format(PyExc_TypeError, + "%.200s.%.200s is not a type object", + module_name, class_name); + goto bad; + } +#if !CYTHON_COMPILING_IN_LIMITED_API + basicsize = ((PyTypeObject *)result)->tp_basicsize; + itemsize = ((PyTypeObject *)result)->tp_itemsize; +#else + py_basicsize = PyObject_GetAttrString(result, "__basicsize__"); + if (!py_basicsize) + goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (basicsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; + py_itemsize = PyObject_GetAttrString(result, "__itemsize__"); + if (!py_itemsize) + goto bad; + itemsize = PyLong_AsSsize_t(py_itemsize); + Py_DECREF(py_itemsize); + py_itemsize = 0; + if (itemsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; +#endif + if (itemsize) { + if (size % alignment) { + alignment = size % alignment; + } + if (itemsize < (Py_ssize_t)alignment) + itemsize = (Py_ssize_t)alignment; + } + if ((size_t)(basicsize + itemsize) < size) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize+itemsize); + goto bad; + } + if (check_size == __Pyx_ImportType_CheckSize_Error_3_0_8 && + ((size_t)basicsize > size || (size_t)(basicsize + itemsize) < size)) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd-%zd from PyObject", + module_name, class_name, size, basicsize, basicsize+itemsize); + goto bad; + } + else if (check_size == __Pyx_ImportType_CheckSize_Warn_3_0_8 && (size_t)basicsize > size) { + PyOS_snprintf(warning, sizeof(warning), + "%s.%s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize); + if (PyErr_WarnEx(NULL, warning, 0) < 0) goto bad; + } + return (PyTypeObject *)result; +bad: + Py_XDECREF(result); + return NULL; +} +#endif + +/* FetchSharedCythonModule */ + static PyObject *__Pyx_FetchSharedCythonABIModule(void) { + return __Pyx_PyImport_AddModuleRef((char*) __PYX_ABI_MODULE_NAME); +} + +/* FetchCommonType */ + static int __Pyx_VerifyCachedType(PyObject *cached_type, + const char *name, + Py_ssize_t basicsize, + Py_ssize_t expected_basicsize) { + if (!PyType_Check(cached_type)) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s is not a type object", name); + return -1; + } + if (basicsize != expected_basicsize) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s has the wrong size, try recompiling", + name); + return -1; + } + return 0; +} +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) { + PyObject* abi_module; + const char* object_name; + PyTypeObject *cached_type = NULL; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + object_name = strrchr(type->tp_name, '.'); + object_name = object_name ? object_name+1 : type->tp_name; + cached_type = (PyTypeObject*) PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + if (__Pyx_VerifyCachedType( + (PyObject *)cached_type, + object_name, + cached_type->tp_basicsize, + type->tp_basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + if (PyType_Ready(type) < 0) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, (PyObject *)type) < 0) + goto bad; + Py_INCREF(type); + cached_type = type; +done: + Py_DECREF(abi_module); + return cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#else +static PyTypeObject *__Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases) { + PyObject *abi_module, *cached_type = NULL; + const char* object_name = strrchr(spec->name, '.'); + object_name = object_name ? object_name+1 : spec->name; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + cached_type = PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + Py_ssize_t basicsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + py_basicsize = PyObject_GetAttrString(cached_type, "__basicsize__"); + if (unlikely(!py_basicsize)) goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (unlikely(basicsize == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; +#else + basicsize = likely(PyType_Check(cached_type)) ? ((PyTypeObject*) cached_type)->tp_basicsize : -1; +#endif + if (__Pyx_VerifyCachedType( + cached_type, + object_name, + basicsize, + spec->basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + CYTHON_UNUSED_VAR(module); + cached_type = __Pyx_PyType_FromModuleAndSpec(abi_module, spec, bases); + if (unlikely(!cached_type)) goto bad; + if (unlikely(__Pyx_fix_up_extension_type_from_spec(spec, (PyTypeObject *) cached_type) < 0)) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, cached_type) < 0) goto bad; +done: + Py_DECREF(abi_module); + assert(cached_type == NULL || PyType_Check(cached_type)); + return (PyTypeObject *) cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#endif + +/* PyVectorcallFastCallDict */ + #if CYTHON_METH_FASTCALL +static PyObject *__Pyx_PyVectorcall_FastCallDict_kw(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + PyObject *res = NULL; + PyObject *kwnames; + PyObject **newargs; + PyObject **kwvalues; + Py_ssize_t i, pos; + size_t j; + PyObject *key, *value; + unsigned long keys_are_strings; + Py_ssize_t nkw = PyDict_GET_SIZE(kw); + newargs = (PyObject **)PyMem_Malloc((nargs + (size_t)nkw) * sizeof(args[0])); + if (unlikely(newargs == NULL)) { + PyErr_NoMemory(); + return NULL; + } + for (j = 0; j < nargs; j++) newargs[j] = args[j]; + kwnames = PyTuple_New(nkw); + if (unlikely(kwnames == NULL)) { + PyMem_Free(newargs); + return NULL; + } + kwvalues = newargs + nargs; + pos = i = 0; + keys_are_strings = Py_TPFLAGS_UNICODE_SUBCLASS; + while (PyDict_Next(kw, &pos, &key, &value)) { + keys_are_strings &= Py_TYPE(key)->tp_flags; + Py_INCREF(key); + Py_INCREF(value); + PyTuple_SET_ITEM(kwnames, i, key); + kwvalues[i] = value; + i++; + } + if (unlikely(!keys_are_strings)) { + PyErr_SetString(PyExc_TypeError, "keywords must be strings"); + goto cleanup; + } + res = vc(func, newargs, nargs, kwnames); +cleanup: + Py_DECREF(kwnames); + for (i = 0; i < nkw; i++) + Py_DECREF(kwvalues[i]); + PyMem_Free(newargs); + return res; +} +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + if (likely(kw == NULL) || PyDict_GET_SIZE(kw) == 0) { + return vc(func, args, nargs, NULL); + } + return __Pyx_PyVectorcall_FastCallDict_kw(func, vc, args, nargs, kw); +} +#endif + +/* CythonFunctionShared */ + #if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + if (__Pyx_CyFunction_Check(func)) { + return PyCFunction_GetFunction(((__pyx_CyFunctionObject*)func)->func) == (PyCFunction) cfunc; + } else if (PyCFunction_Check(func)) { + return PyCFunction_GetFunction(func) == (PyCFunction) cfunc; + } + return 0; +} +#else +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + return __Pyx_CyOrPyCFunction_Check(func) && __Pyx_CyOrPyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +} +#endif +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj) { +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + __Pyx_Py_XDECREF_SET( + __Pyx_CyFunction_GetClassObj(f), + ((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#else + __Pyx_Py_XDECREF_SET( + ((PyCMethodObject *) (f))->mm_class, + (PyTypeObject*)((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#endif +} +static PyObject * +__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, void *closure) +{ + CYTHON_UNUSED_VAR(closure); + if (unlikely(op->func_doc == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_doc = PyObject_GetAttrString(op->func, "__doc__"); + if (unlikely(!op->func_doc)) return NULL; +#else + if (((PyCFunctionObject*)op)->m_ml->ml_doc) { +#if PY_MAJOR_VERSION >= 3 + op->func_doc = PyUnicode_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#else + op->func_doc = PyString_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#endif + if (unlikely(op->func_doc == NULL)) + return NULL; + } else { + Py_INCREF(Py_None); + return Py_None; + } +#endif + } + Py_INCREF(op->func_doc); + return op->func_doc; +} +static int +__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (value == NULL) { + value = Py_None; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_doc, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_name == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_name = PyObject_GetAttrString(op->func, "__name__"); +#elif PY_MAJOR_VERSION >= 3 + op->func_name = PyUnicode_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#else + op->func_name = PyString_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#endif + if (unlikely(op->func_name == NULL)) + return NULL; + } + Py_INCREF(op->func_name); + return op->func_name; +} +static int +__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__name__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_name, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_qualname); + return op->func_qualname; +} +static int +__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__qualname__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_qualname, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_dict(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_dict == NULL)) { + op->func_dict = PyDict_New(); + if (unlikely(op->func_dict == NULL)) + return NULL; + } + Py_INCREF(op->func_dict); + return op->func_dict; +} +static int +__Pyx_CyFunction_set_dict(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(value == NULL)) { + PyErr_SetString(PyExc_TypeError, + "function's dictionary may not be deleted"); + return -1; + } + if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "setting function's dictionary to a non-dict"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_dict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_globals(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_globals); + return op->func_globals; +} +static PyObject * +__Pyx_CyFunction_get_closure(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(op); + CYTHON_UNUSED_VAR(context); + Py_INCREF(Py_None); + return Py_None; +} +static PyObject * +__Pyx_CyFunction_get_code(__pyx_CyFunctionObject *op, void *context) +{ + PyObject* result = (op->func_code) ? op->func_code : Py_None; + CYTHON_UNUSED_VAR(context); + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_init_defaults(__pyx_CyFunctionObject *op) { + int result = 0; + PyObject *res = op->defaults_getter((PyObject *) op); + if (unlikely(!res)) + return -1; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + op->defaults_tuple = PyTuple_GET_ITEM(res, 0); + Py_INCREF(op->defaults_tuple); + op->defaults_kwdict = PyTuple_GET_ITEM(res, 1); + Py_INCREF(op->defaults_kwdict); + #else + op->defaults_tuple = __Pyx_PySequence_ITEM(res, 0); + if (unlikely(!op->defaults_tuple)) result = -1; + else { + op->defaults_kwdict = __Pyx_PySequence_ITEM(res, 1); + if (unlikely(!op->defaults_kwdict)) result = -1; + } + #endif + Py_DECREF(res); + return result; +} +static int +__Pyx_CyFunction_set_defaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyTuple_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__defaults__ must be set to a tuple object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__defaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_tuple, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_defaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_tuple; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_tuple; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_kwdefaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__kwdefaults__ must be set to a dict object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__kwdefaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_kwdict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_kwdefaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_kwdict; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_kwdict; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_annotations(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value || value == Py_None) { + value = NULL; + } else if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__annotations__ must be set to a dict object"); + return -1; + } + Py_XINCREF(value); + __Pyx_Py_XDECREF_SET(op->func_annotations, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_annotations(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->func_annotations; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + result = PyDict_New(); + if (unlikely(!result)) return NULL; + op->func_annotations = result; + } + Py_INCREF(result); + return result; +} +static PyObject * +__Pyx_CyFunction_get_is_coroutine(__pyx_CyFunctionObject *op, void *context) { + int is_coroutine; + CYTHON_UNUSED_VAR(context); + if (op->func_is_coroutine) { + return __Pyx_NewRef(op->func_is_coroutine); + } + is_coroutine = op->flags & __Pyx_CYFUNCTION_COROUTINE; +#if PY_VERSION_HEX >= 0x03050000 + if (is_coroutine) { + PyObject *module, *fromlist, *marker = __pyx_n_s_is_coroutine; + fromlist = PyList_New(1); + if (unlikely(!fromlist)) return NULL; + Py_INCREF(marker); +#if CYTHON_ASSUME_SAFE_MACROS + PyList_SET_ITEM(fromlist, 0, marker); +#else + if (unlikely(PyList_SetItem(fromlist, 0, marker) < 0)) { + Py_DECREF(marker); + Py_DECREF(fromlist); + return NULL; + } +#endif + module = PyImport_ImportModuleLevelObject(__pyx_n_s_asyncio_coroutines, NULL, NULL, fromlist, 0); + Py_DECREF(fromlist); + if (unlikely(!module)) goto ignore; + op->func_is_coroutine = __Pyx_PyObject_GetAttrStr(module, marker); + Py_DECREF(module); + if (likely(op->func_is_coroutine)) { + return __Pyx_NewRef(op->func_is_coroutine); + } +ignore: + PyErr_Clear(); + } +#endif + op->func_is_coroutine = __Pyx_PyBool_FromLong(is_coroutine); + return __Pyx_NewRef(op->func_is_coroutine); +} +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject * +__Pyx_CyFunction_get_module(__pyx_CyFunctionObject *op, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_GetAttrString(op->func, "__module__"); +} +static int +__Pyx_CyFunction_set_module(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_SetAttrString(op->func, "__module__", value); +} +#endif +static PyGetSetDef __pyx_CyFunction_getsets[] = { + {(char *) "func_doc", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "__doc__", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "func_name", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__name__", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__qualname__", (getter)__Pyx_CyFunction_get_qualname, (setter)__Pyx_CyFunction_set_qualname, 0, 0}, + {(char *) "func_dict", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "__dict__", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "func_globals", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "__globals__", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "func_closure", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "__closure__", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "func_code", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "__code__", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "func_defaults", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__defaults__", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__kwdefaults__", (getter)__Pyx_CyFunction_get_kwdefaults, (setter)__Pyx_CyFunction_set_kwdefaults, 0, 0}, + {(char *) "__annotations__", (getter)__Pyx_CyFunction_get_annotations, (setter)__Pyx_CyFunction_set_annotations, 0, 0}, + {(char *) "_is_coroutine", (getter)__Pyx_CyFunction_get_is_coroutine, 0, 0, 0}, +#if CYTHON_COMPILING_IN_LIMITED_API + {"__module__", (getter)__Pyx_CyFunction_get_module, (setter)__Pyx_CyFunction_set_module, 0, 0}, +#endif + {0, 0, 0, 0, 0} +}; +static PyMemberDef __pyx_CyFunction_members[] = { +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__module__", T_OBJECT, offsetof(PyCFunctionObject, m_module), 0, 0}, +#endif +#if CYTHON_USE_TYPE_SPECS + {(char *) "__dictoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_dict), READONLY, 0}, +#if CYTHON_METH_FASTCALL +#if CYTHON_BACKPORT_VECTORCALL + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_vectorcall), READONLY, 0}, +#else +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(PyCFunctionObject, vectorcall), READONLY, 0}, +#endif +#endif +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_weakreflist), READONLY, 0}, +#else + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(PyCFunctionObject, m_weakreflist), READONLY, 0}, +#endif +#endif + {0, 0, 0, 0, 0} +}; +static PyObject * +__Pyx_CyFunction_reduce(__pyx_CyFunctionObject *m, PyObject *args) +{ + CYTHON_UNUSED_VAR(args); +#if PY_MAJOR_VERSION >= 3 + Py_INCREF(m->func_qualname); + return m->func_qualname; +#else + return PyString_FromString(((PyCFunctionObject*)m)->m_ml->ml_name); +#endif +} +static PyMethodDef __pyx_CyFunction_methods[] = { + {"__reduce__", (PyCFunction)__Pyx_CyFunction_reduce, METH_VARARGS, 0}, + {0, 0, 0, 0} +}; +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func_weakreflist) +#else +#define __Pyx_CyFunction_weakreflist(cyfunc) (((PyCFunctionObject*)cyfunc)->m_weakreflist) +#endif +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject *op, PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { +#if !CYTHON_COMPILING_IN_LIMITED_API + PyCFunctionObject *cf = (PyCFunctionObject*) op; +#endif + if (unlikely(op == NULL)) + return NULL; +#if CYTHON_COMPILING_IN_LIMITED_API + op->func = PyCFunction_NewEx(ml, (PyObject*)op, module); + if (unlikely(!op->func)) return NULL; +#endif + op->flags = flags; + __Pyx_CyFunction_weakreflist(op) = NULL; +#if !CYTHON_COMPILING_IN_LIMITED_API + cf->m_ml = ml; + cf->m_self = (PyObject *) op; +#endif + Py_XINCREF(closure); + op->func_closure = closure; +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_XINCREF(module); + cf->m_module = module; +#endif + op->func_dict = NULL; + op->func_name = NULL; + Py_INCREF(qualname); + op->func_qualname = qualname; + op->func_doc = NULL; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + op->func_classobj = NULL; +#else + ((PyCMethodObject*)op)->mm_class = NULL; +#endif + op->func_globals = globals; + Py_INCREF(op->func_globals); + Py_XINCREF(code); + op->func_code = code; + op->defaults_pyobjects = 0; + op->defaults_size = 0; + op->defaults = NULL; + op->defaults_tuple = NULL; + op->defaults_kwdict = NULL; + op->defaults_getter = NULL; + op->func_annotations = NULL; + op->func_is_coroutine = NULL; +#if CYTHON_METH_FASTCALL + switch (ml->ml_flags & (METH_VARARGS | METH_FASTCALL | METH_NOARGS | METH_O | METH_KEYWORDS | METH_METHOD)) { + case METH_NOARGS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_NOARGS; + break; + case METH_O: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_O; + break; + case METH_METHOD | METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD; + break; + case METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS; + break; + case METH_VARARGS | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = NULL; + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + Py_DECREF(op); + return NULL; + } +#endif + return (PyObject *) op; +} +static int +__Pyx_CyFunction_clear(__pyx_CyFunctionObject *m) +{ + Py_CLEAR(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_CLEAR(m->func); +#else + Py_CLEAR(((PyCFunctionObject*)m)->m_module); +#endif + Py_CLEAR(m->func_dict); + Py_CLEAR(m->func_name); + Py_CLEAR(m->func_qualname); + Py_CLEAR(m->func_doc); + Py_CLEAR(m->func_globals); + Py_CLEAR(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API +#if PY_VERSION_HEX < 0x030900B1 + Py_CLEAR(__Pyx_CyFunction_GetClassObj(m)); +#else + { + PyObject *cls = (PyObject*) ((PyCMethodObject *) (m))->mm_class; + ((PyCMethodObject *) (m))->mm_class = NULL; + Py_XDECREF(cls); + } +#endif +#endif + Py_CLEAR(m->defaults_tuple); + Py_CLEAR(m->defaults_kwdict); + Py_CLEAR(m->func_annotations); + Py_CLEAR(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_XDECREF(pydefaults[i]); + PyObject_Free(m->defaults); + m->defaults = NULL; + } + return 0; +} +static void __Pyx__CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + if (__Pyx_CyFunction_weakreflist(m) != NULL) + PyObject_ClearWeakRefs((PyObject *) m); + __Pyx_CyFunction_clear(m); + __Pyx_PyHeapTypeObject_GC_Del(m); +} +static void __Pyx_CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + PyObject_GC_UnTrack(m); + __Pyx__CyFunction_dealloc(m); +} +static int __Pyx_CyFunction_traverse(__pyx_CyFunctionObject *m, visitproc visit, void *arg) +{ + Py_VISIT(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(m->func); +#else + Py_VISIT(((PyCFunctionObject*)m)->m_module); +#endif + Py_VISIT(m->func_dict); + Py_VISIT(m->func_name); + Py_VISIT(m->func_qualname); + Py_VISIT(m->func_doc); + Py_VISIT(m->func_globals); + Py_VISIT(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(__Pyx_CyFunction_GetClassObj(m)); +#endif + Py_VISIT(m->defaults_tuple); + Py_VISIT(m->defaults_kwdict); + Py_VISIT(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_VISIT(pydefaults[i]); + } + return 0; +} +static PyObject* +__Pyx_CyFunction_repr(__pyx_CyFunctionObject *op) +{ +#if PY_MAJOR_VERSION >= 3 + return PyUnicode_FromFormat("", + op->func_qualname, (void *)op); +#else + return PyString_FromFormat("", + PyString_AsString(op->func_qualname), (void *)op); +#endif +} +static PyObject * __Pyx_CyFunction_CallMethod(PyObject *func, PyObject *self, PyObject *arg, PyObject *kw) { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *f = ((__pyx_CyFunctionObject*)func)->func; + PyObject *py_name = NULL; + PyCFunction meth; + int flags; + meth = PyCFunction_GetFunction(f); + if (unlikely(!meth)) return NULL; + flags = PyCFunction_GetFlags(f); + if (unlikely(flags < 0)) return NULL; +#else + PyCFunctionObject* f = (PyCFunctionObject*)func; + PyCFunction meth = f->m_ml->ml_meth; + int flags = f->m_ml->ml_flags; +#endif + Py_ssize_t size; + switch (flags & (METH_VARARGS | METH_KEYWORDS | METH_NOARGS | METH_O)) { + case METH_VARARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) + return (*meth)(self, arg); + break; + case METH_VARARGS | METH_KEYWORDS: + return (*(PyCFunctionWithKeywords)(void*)meth)(self, arg, kw); + case METH_NOARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 0)) + return (*meth)(self, NULL); +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + case METH_O: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 1)) { + PyObject *result, *arg0; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + arg0 = PyTuple_GET_ITEM(arg, 0); + #else + arg0 = __Pyx_PySequence_ITEM(arg, 0); if (unlikely(!arg0)) return NULL; + #endif + result = (*meth)(self, arg0); + #if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(arg0); + #endif + return result; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + return NULL; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, "%.200S() takes no keyword arguments", + py_name); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, "%.200s() takes no keyword arguments", + f->m_ml->ml_name); +#endif + return NULL; +} +static CYTHON_INLINE PyObject *__Pyx_CyFunction_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *self, *result; +#if CYTHON_COMPILING_IN_LIMITED_API + self = PyCFunction_GetSelf(((__pyx_CyFunctionObject*)func)->func); + if (unlikely(!self) && PyErr_Occurred()) return NULL; +#else + self = ((PyCFunctionObject*)func)->m_self; +#endif + result = __Pyx_CyFunction_CallMethod(func, self, arg, kw); + return result; +} +static PyObject *__Pyx_CyFunction_CallAsMethod(PyObject *func, PyObject *args, PyObject *kw) { + PyObject *result; + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *) func; +#if CYTHON_METH_FASTCALL + __pyx_vectorcallfunc vc = __Pyx_CyFunction_func_vectorcall(cyfunc); + if (vc) { +#if CYTHON_ASSUME_SAFE_MACROS + return __Pyx_PyVectorcall_FastCallDict(func, vc, &PyTuple_GET_ITEM(args, 0), (size_t)PyTuple_GET_SIZE(args), kw); +#else + (void) &__Pyx_PyVectorcall_FastCallDict; + return PyVectorcall_Call(func, args, kw); +#endif + } +#endif + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + Py_ssize_t argc; + PyObject *new_args; + PyObject *self; +#if CYTHON_ASSUME_SAFE_MACROS + argc = PyTuple_GET_SIZE(args); +#else + argc = PyTuple_Size(args); + if (unlikely(!argc) < 0) return NULL; +#endif + new_args = PyTuple_GetSlice(args, 1, argc); + if (unlikely(!new_args)) + return NULL; + self = PyTuple_GetItem(args, 0); + if (unlikely(!self)) { + Py_DECREF(new_args); +#if PY_MAJOR_VERSION > 2 + PyErr_Format(PyExc_TypeError, + "unbound method %.200S() needs an argument", + cyfunc->func_qualname); +#else + PyErr_SetString(PyExc_TypeError, + "unbound method needs an argument"); +#endif + return NULL; + } + result = __Pyx_CyFunction_CallMethod(func, self, new_args, kw); + Py_DECREF(new_args); + } else { + result = __Pyx_CyFunction_Call(func, args, kw); + } + return result; +} +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE int __Pyx_CyFunction_Vectorcall_CheckArgs(__pyx_CyFunctionObject *cyfunc, Py_ssize_t nargs, PyObject *kwnames) +{ + int ret = 0; + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + if (unlikely(nargs < 1)) { + PyErr_Format(PyExc_TypeError, "%.200s() needs an argument", + ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + ret = 1; + } + if (unlikely(kwnames) && unlikely(PyTuple_GET_SIZE(kwnames))) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no keyword arguments", ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + return ret; +} +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 0)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, NULL); +} +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 1)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, args[0]); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((_PyCFunctionFastWithKeywords)(void(*)(void))def->ml_meth)(self, args, nargs, kwnames); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; + PyTypeObject *cls = (PyTypeObject *) __Pyx_CyFunction_GetClassObj(cyfunc); +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((__Pyx_PyCMethod)(void(*)(void))def->ml_meth)(self, cls, args, (size_t)nargs, kwnames); +} +#endif +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_CyFunctionType_slots[] = { + {Py_tp_dealloc, (void *)__Pyx_CyFunction_dealloc}, + {Py_tp_repr, (void *)__Pyx_CyFunction_repr}, + {Py_tp_call, (void *)__Pyx_CyFunction_CallAsMethod}, + {Py_tp_traverse, (void *)__Pyx_CyFunction_traverse}, + {Py_tp_clear, (void *)__Pyx_CyFunction_clear}, + {Py_tp_methods, (void *)__pyx_CyFunction_methods}, + {Py_tp_members, (void *)__pyx_CyFunction_members}, + {Py_tp_getset, (void *)__pyx_CyFunction_getsets}, + {Py_tp_descr_get, (void *)__Pyx_PyMethod_New}, + {0, 0}, +}; +static PyType_Spec __pyx_CyFunctionType_spec = { + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if (defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL) + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + __pyx_CyFunctionType_slots +}; +#else +static PyTypeObject __pyx_CyFunctionType_type = { + PyVarObject_HEAD_INIT(0, 0) + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, + (destructor) __Pyx_CyFunction_dealloc, +#if !CYTHON_METH_FASTCALL + 0, +#elif CYTHON_BACKPORT_VECTORCALL + (printfunc)offsetof(__pyx_CyFunctionObject, func_vectorcall), +#else + offsetof(PyCFunctionObject, vectorcall), +#endif + 0, + 0, +#if PY_MAJOR_VERSION < 3 + 0, +#else + 0, +#endif + (reprfunc) __Pyx_CyFunction_repr, + 0, + 0, + 0, + 0, + __Pyx_CyFunction_CallAsMethod, + 0, + 0, + 0, + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + 0, + (traverseproc) __Pyx_CyFunction_traverse, + (inquiry) __Pyx_CyFunction_clear, + 0, +#if PY_VERSION_HEX < 0x030500A0 + offsetof(__pyx_CyFunctionObject, func_weakreflist), +#else + offsetof(PyCFunctionObject, m_weakreflist), +#endif + 0, + 0, + __pyx_CyFunction_methods, + __pyx_CyFunction_members, + __pyx_CyFunction_getsets, + 0, + 0, + __Pyx_PyMethod_New, + 0, + offsetof(__pyx_CyFunctionObject, func_dict), + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, +#if PY_VERSION_HEX >= 0x030400a1 + 0, +#endif +#if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, +#endif +#if __PYX_NEED_TP_PRINT_SLOT + 0, +#endif +#if PY_VERSION_HEX >= 0x030C0000 + 0, +#endif +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, +#endif +}; +#endif +static int __pyx_CyFunction_init(PyObject *module) { +#if CYTHON_USE_TYPE_SPECS + __pyx_CyFunctionType = __Pyx_FetchCommonTypeFromSpec(module, &__pyx_CyFunctionType_spec, NULL); +#else + CYTHON_UNUSED_VAR(module); + __pyx_CyFunctionType = __Pyx_FetchCommonType(&__pyx_CyFunctionType_type); +#endif + if (unlikely(__pyx_CyFunctionType == NULL)) { + return -1; + } + return 0; +} +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *func, size_t size, int pyobjects) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults = PyObject_Malloc(size); + if (unlikely(!m->defaults)) + return PyErr_NoMemory(); + memset(m->defaults, 0, size); + m->defaults_pyobjects = pyobjects; + m->defaults_size = size; + return m->defaults; +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *func, PyObject *tuple) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_tuple = tuple; + Py_INCREF(tuple); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_kwdict = dict; + Py_INCREF(dict); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->func_annotations = dict; + Py_INCREF(dict); +} + +/* CythonFunction */ + static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { + PyObject *op = __Pyx_CyFunction_Init( + PyObject_GC_New(__pyx_CyFunctionObject, __pyx_CyFunctionType), + ml, flags, qualname, closure, module, globals, code + ); + if (likely(op)) { + PyObject_GC_Track(op); + } + return op; +} + +/* CLineInTraceback */ + #ifndef CYTHON_CLINE_IN_TRACEBACK +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line) { + PyObject *use_cline; + PyObject *ptype, *pvalue, *ptraceback; +#if CYTHON_COMPILING_IN_CPYTHON + PyObject **cython_runtime_dict; +#endif + CYTHON_MAYBE_UNUSED_VAR(tstate); + if (unlikely(!__pyx_cython_runtime)) { + return c_line; + } + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); +#if CYTHON_COMPILING_IN_CPYTHON + cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); + if (likely(cython_runtime_dict)) { + __PYX_PY_DICT_LOOKUP_IF_MODIFIED( + use_cline, *cython_runtime_dict, + __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) + } else +#endif + { + PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStrNoError(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); + if (use_cline_obj) { + use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; +} +#endif + +/* CodeObjectCache */ + #if !CYTHON_COMPILING_IN_LIMITED_API +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; + } + } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } +} +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; + } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; +} +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; + } + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; + } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); +} +#endif + +/* AddTraceback */ + #include "compile.h" +#include "frameobject.h" +#include "traceback.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyCode_Replace_For_AddTraceback(PyObject *code, PyObject *scratch_dict, + PyObject *firstlineno, PyObject *name) { + PyObject *replace = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_firstlineno", firstlineno))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_name", name))) return NULL; + replace = PyObject_GetAttrString(code, "replace"); + if (likely(replace)) { + PyObject *result; + result = PyObject_Call(replace, __pyx_empty_tuple, scratch_dict); + Py_DECREF(replace); + return result; + } + PyErr_Clear(); + #if __PYX_LIMITED_VERSION_HEX < 0x030780000 + { + PyObject *compiled = NULL, *result = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "code", code))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "type", (PyObject*)(&PyType_Type)))) return NULL; + compiled = Py_CompileString( + "out = type(code)(\n" + " code.co_argcount, code.co_kwonlyargcount, code.co_nlocals, code.co_stacksize,\n" + " code.co_flags, code.co_code, code.co_consts, code.co_names,\n" + " code.co_varnames, code.co_filename, co_name, co_firstlineno,\n" + " code.co_lnotab)\n", "", Py_file_input); + if (!compiled) return NULL; + result = PyEval_EvalCode(compiled, scratch_dict, scratch_dict); + Py_DECREF(compiled); + if (!result) PyErr_Print(); + Py_DECREF(result); + result = PyDict_GetItemString(scratch_dict, "out"); + if (result) Py_INCREF(result); + return result; + } + #else + return NULL; + #endif +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyObject *code_object = NULL, *py_py_line = NULL, *py_funcname = NULL, *dict = NULL; + PyObject *replace = NULL, *getframe = NULL, *frame = NULL; + PyObject *exc_type, *exc_value, *exc_traceback; + int success = 0; + if (c_line) { + (void) __pyx_cfilenm; + (void) __Pyx_CLineForTraceback(__Pyx_PyThreadState_Current, c_line); + } + PyErr_Fetch(&exc_type, &exc_value, &exc_traceback); + code_object = Py_CompileString("_getframe()", filename, Py_eval_input); + if (unlikely(!code_object)) goto bad; + py_py_line = PyLong_FromLong(py_line); + if (unlikely(!py_py_line)) goto bad; + py_funcname = PyUnicode_FromString(funcname); + if (unlikely(!py_funcname)) goto bad; + dict = PyDict_New(); + if (unlikely(!dict)) goto bad; + { + PyObject *old_code_object = code_object; + code_object = __Pyx_PyCode_Replace_For_AddTraceback(code_object, dict, py_py_line, py_funcname); + Py_DECREF(old_code_object); + } + if (unlikely(!code_object)) goto bad; + getframe = PySys_GetObject("_getframe"); + if (unlikely(!getframe)) goto bad; + if (unlikely(PyDict_SetItemString(dict, "_getframe", getframe))) goto bad; + frame = PyEval_EvalCode(code_object, dict, dict); + if (unlikely(!frame) || frame == Py_None) goto bad; + success = 1; + bad: + PyErr_Restore(exc_type, exc_value, exc_traceback); + Py_XDECREF(code_object); + Py_XDECREF(py_py_line); + Py_XDECREF(py_funcname); + Py_XDECREF(dict); + Py_XDECREF(replace); + if (success) { + PyTraceBack_Here( + (struct _frame*)frame); + } + Py_XDECREF(frame); +} +#else +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = NULL; + PyObject *py_funcname = NULL; + #if PY_MAJOR_VERSION < 3 + PyObject *py_srcfile = NULL; + py_srcfile = PyString_FromString(filename); + if (!py_srcfile) goto bad; + #endif + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + funcname = PyUnicode_AsUTF8(py_funcname); + if (!funcname) goto bad; + #endif + } + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + if (!py_funcname) goto bad; + #endif + } + #if PY_MAJOR_VERSION < 3 + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + #else + py_code = PyCode_NewEmpty(filename, funcname, py_line); + #endif + Py_XDECREF(py_funcname); + return py_code; +bad: + Py_XDECREF(py_funcname); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_srcfile); + #endif + return NULL; +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject *ptype, *pvalue, *ptraceback; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); + } + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) { + /* If the code object creation fails, then we should clear the + fetched exception references and propagate the new exception */ + Py_XDECREF(ptype); + Py_XDECREF(pvalue); + Py_XDECREF(ptraceback); + goto bad; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + } + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} +#endif + +#if PY_MAJOR_VERSION < 3 +static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags) { + __Pyx_TypeName obj_type_name; + if (PyObject_CheckBuffer(obj)) return PyObject_GetBuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_array_type)) return __pyx_array_getbuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_memoryview_type)) return __pyx_memoryview_getbuffer(obj, view, flags); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' does not have the buffer interface", + obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return -1; +} +static void __Pyx_ReleaseBuffer(Py_buffer *view) { + PyObject *obj = view->obj; + if (!obj) return; + if (PyObject_CheckBuffer(obj)) { + PyBuffer_Release(view); + return; + } + if ((0)) {} + view->obj = NULL; + Py_DECREF(obj); +} +#endif + + + /* MemviewSliceIsContig */ + static int +__pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim) +{ + int i, index, step, start; + Py_ssize_t itemsize = mvs.memview->view.itemsize; + if (order == 'F') { + step = 1; + start = 0; + } else { + step = -1; + start = ndim - 1; + } + for (i = 0; i < ndim; i++) { + index = start + step * i; + if (mvs.suboffsets[index] >= 0 || mvs.strides[index] != itemsize) + return 0; + itemsize *= mvs.shape[index]; + } + return 1; +} + +/* OverlappingSlices */ + static void +__pyx_get_array_memory_extents(__Pyx_memviewslice *slice, + void **out_start, void **out_end, + int ndim, size_t itemsize) +{ + char *start, *end; + int i; + start = end = slice->data; + for (i = 0; i < ndim; i++) { + Py_ssize_t stride = slice->strides[i]; + Py_ssize_t extent = slice->shape[i]; + if (extent == 0) { + *out_start = *out_end = start; + return; + } else { + if (stride > 0) + end += stride * (extent - 1); + else + start += stride * (extent - 1); + } + } + *out_start = start; + *out_end = end + itemsize; +} +static int +__pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize) +{ + void *start1, *end1, *start2, *end2; + __pyx_get_array_memory_extents(slice1, &start1, &end1, ndim, itemsize); + __pyx_get_array_memory_extents(slice2, &start2, &end2, ndim, itemsize); + return (start1 < end2) && (start2 < end1); +} + +/* CIntFromPyVerify */ + #define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* TypeInfoCompare */ + static int +__pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b) +{ + int i; + if (!a || !b) + return 0; + if (a == b) + return 1; + if (a->size != b->size || a->typegroup != b->typegroup || + a->is_unsigned != b->is_unsigned || a->ndim != b->ndim) { + if (a->typegroup == 'H' || b->typegroup == 'H') { + return a->size == b->size; + } else { + return 0; + } + } + if (a->ndim) { + for (i = 0; i < a->ndim; i++) + if (a->arraysize[i] != b->arraysize[i]) + return 0; + } + if (a->typegroup == 'S') { + if (a->flags != b->flags) + return 0; + if (a->fields || b->fields) { + if (!(a->fields && b->fields)) + return 0; + for (i = 0; a->fields[i].type && b->fields[i].type; i++) { + __Pyx_StructField *field_a = a->fields + i; + __Pyx_StructField *field_b = b->fields + i; + if (field_a->offset != field_b->offset || + !__pyx_typeinfo_cmp(field_a->type, field_b->type)) + return 0; + } + return !a->fields[i].type && !b->fields[i].type; + } + } + return 1; +} + +/* MemviewSliceValidateAndInit */ + static int +__pyx_check_strides(Py_buffer *buf, int dim, int ndim, int spec) +{ + if (buf->shape[dim] <= 1) + return 1; + if (buf->strides) { + if (spec & __Pyx_MEMVIEW_CONTIG) { + if (spec & (__Pyx_MEMVIEW_PTR|__Pyx_MEMVIEW_FULL)) { + if (unlikely(buf->strides[dim] != sizeof(void *))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly contiguous " + "in dimension %d.", dim); + goto fail; + } + } else if (unlikely(buf->strides[dim] != buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_FOLLOW) { + Py_ssize_t stride = buf->strides[dim]; + if (stride < 0) + stride = -stride; + if (unlikely(stride < buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + } else { + if (unlikely(spec & __Pyx_MEMVIEW_CONTIG && dim != ndim - 1)) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not contiguous in " + "dimension %d", dim); + goto fail; + } else if (unlikely(spec & (__Pyx_MEMVIEW_PTR))) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not indirect in " + "dimension %d", dim); + goto fail; + } else if (unlikely(buf->suboffsets)) { + PyErr_SetString(PyExc_ValueError, + "Buffer exposes suboffsets but no strides"); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_check_suboffsets(Py_buffer *buf, int dim, int ndim, int spec) +{ + CYTHON_UNUSED_VAR(ndim); + if (spec & __Pyx_MEMVIEW_DIRECT) { + if (unlikely(buf->suboffsets && buf->suboffsets[dim] >= 0)) { + PyErr_Format(PyExc_ValueError, + "Buffer not compatible with direct access " + "in dimension %d.", dim); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_PTR) { + if (unlikely(!buf->suboffsets || (buf->suboffsets[dim] < 0))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly accessible " + "in dimension %d.", dim); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_verify_contig(Py_buffer *buf, int ndim, int c_or_f_flag) +{ + int i; + if (c_or_f_flag & __Pyx_IS_F_CONTIG) { + Py_ssize_t stride = 1; + for (i = 0; i < ndim; i++) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not fortran contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } else if (c_or_f_flag & __Pyx_IS_C_CONTIG) { + Py_ssize_t stride = 1; + for (i = ndim - 1; i >- 1; i--) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not C contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } + return 1; +fail: + return 0; +} +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj) +{ + struct __pyx_memoryview_obj *memview, *new_memview; + __Pyx_RefNannyDeclarations + Py_buffer *buf; + int i, spec = 0, retval = -1; + __Pyx_BufFmt_Context ctx; + int from_memoryview = __pyx_memoryview_check(original_obj); + __Pyx_RefNannySetupContext("ValidateAndInit_memviewslice", 0); + if (from_memoryview && __pyx_typeinfo_cmp(dtype, ((struct __pyx_memoryview_obj *) + original_obj)->typeinfo)) { + memview = (struct __pyx_memoryview_obj *) original_obj; + new_memview = NULL; + } else { + memview = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + original_obj, buf_flags, 0, dtype); + new_memview = memview; + if (unlikely(!memview)) + goto fail; + } + buf = &memview->view; + if (unlikely(buf->ndim != ndim)) { + PyErr_Format(PyExc_ValueError, + "Buffer has wrong number of dimensions (expected %d, got %d)", + ndim, buf->ndim); + goto fail; + } + if (new_memview) { + __Pyx_BufFmt_Init(&ctx, stack, dtype); + if (unlikely(!__Pyx_BufFmt_CheckString(&ctx, buf->format))) goto fail; + } + if (unlikely((unsigned) buf->itemsize != dtype->size)) { + PyErr_Format(PyExc_ValueError, + "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "u byte%s) " + "does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "u byte%s)", + buf->itemsize, + (buf->itemsize > 1) ? "s" : "", + dtype->name, + dtype->size, + (dtype->size > 1) ? "s" : ""); + goto fail; + } + if (buf->len > 0) { + for (i = 0; i < ndim; i++) { + spec = axes_specs[i]; + if (unlikely(!__pyx_check_strides(buf, i, ndim, spec))) + goto fail; + if (unlikely(!__pyx_check_suboffsets(buf, i, ndim, spec))) + goto fail; + } + if (unlikely(buf->strides && !__pyx_verify_contig(buf, ndim, c_or_f_flag))) + goto fail; + } + if (unlikely(__Pyx_init_memviewslice(memview, ndim, memviewslice, + new_memview != NULL) == -1)) { + goto fail; + } + retval = 0; + goto no_fail; +fail: + Py_XDECREF(new_memview); + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} + +/* ObjectToMemviewSlice */ + static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dsds_double(PyObject *obj, int writable_flag) { + __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; + __Pyx_BufFmt_StackElem stack[1]; + int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_STRIDED), (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_STRIDED) }; + int retcode; + if (obj == Py_None) { + result.memview = (struct __pyx_memoryview_obj *) Py_None; + return result; + } + retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, 0, + PyBUF_RECORDS_RO | writable_flag, 2, + &__Pyx_TypeInfo_double, stack, + &result, obj); + if (unlikely(retcode == -1)) + goto __pyx_fail; + return result; +__pyx_fail: + result.memview = NULL; + result.data = NULL; + return result; +} + +/* MemviewDtypeToObject */ + static CYTHON_INLINE PyObject *__pyx_memview_get_double(const char *itemp) { + return (PyObject *) PyFloat_FromDouble(*(double *) itemp); +} +static CYTHON_INLINE int __pyx_memview_set_double(const char *itemp, PyObject *obj) { + double value = __pyx_PyFloat_AsDouble(obj); + if (unlikely((value == (double)-1) && PyErr_Occurred())) + return 0; + *(double *) itemp = value; + return 1; +} + +/* ObjectToMemviewSlice */ + static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_double(PyObject *obj, int writable_flag) { + __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; + __Pyx_BufFmt_StackElem stack[1]; + int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_STRIDED) }; + int retcode; + if (obj == Py_None) { + result.memview = (struct __pyx_memoryview_obj *) Py_None; + return result; + } + retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, 0, + PyBUF_RECORDS_RO | writable_flag, 1, + &__Pyx_TypeInfo_double, stack, + &result, obj); + if (unlikely(retcode == -1)) + goto __pyx_fail; + return result; +__pyx_fail: + result.memview = NULL; + result.data = NULL; + return result; +} + +/* Declarations */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #ifdef __cplusplus + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + return ::std::complex< float >(x, y); + } + #else + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + return x + y*(__pyx_t_float_complex)_Complex_I; + } + #endif +#else + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + __pyx_t_float_complex z; + z.real = x; + z.imag = y; + return z; + } +#endif + +/* Arithmetic */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) +#else + static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + return (a.real == b.real) && (a.imag == b.imag); + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real + b.real; + z.imag = a.imag + b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real - b.real; + z.imag = a.imag - b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real * b.real - a.imag * b.imag; + z.imag = a.real * b.imag + a.imag * b.real; + return z; + } + #if 1 + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + if (b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); + } else if (fabsf(b.real) >= fabsf(b.imag)) { + if (b.real == 0 && b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.imag); + } else { + float r = b.imag / b.real; + float s = (float)(1.0) / (b.real + b.imag * r); + return __pyx_t_float_complex_from_parts( + (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); + } + } else { + float r = b.real / b.imag; + float s = (float)(1.0) / (b.imag + b.real * r); + return __pyx_t_float_complex_from_parts( + (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); + } + } + #else + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + if (b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); + } else { + float denom = b.real * b.real + b.imag * b.imag; + return __pyx_t_float_complex_from_parts( + (a.real * b.real + a.imag * b.imag) / denom, + (a.imag * b.real - a.real * b.imag) / denom); + } + } + #endif + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex a) { + __pyx_t_float_complex z; + z.real = -a.real; + z.imag = -a.imag; + return z; + } + static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex a) { + return (a.real == 0) && (a.imag == 0); + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex a) { + __pyx_t_float_complex z; + z.real = a.real; + z.imag = -a.imag; + return z; + } + #if 1 + static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex z) { + #if !defined(HAVE_HYPOT) || defined(_MSC_VER) + return sqrtf(z.real*z.real + z.imag*z.imag); + #else + return hypotf(z.real, z.imag); + #endif + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + float r, lnr, theta, z_r, z_theta; + if (b.imag == 0 && b.real == (int)b.real) { + if (b.real < 0) { + float denom = a.real * a.real + a.imag * a.imag; + a.real = a.real / denom; + a.imag = -a.imag / denom; + b.real = -b.real; + } + switch ((int)b.real) { + case 0: + z.real = 1; + z.imag = 0; + return z; + case 1: + return a; + case 2: + return __Pyx_c_prod_float(a, a); + case 3: + z = __Pyx_c_prod_float(a, a); + return __Pyx_c_prod_float(z, a); + case 4: + z = __Pyx_c_prod_float(a, a); + return __Pyx_c_prod_float(z, z); + } + } + if (a.imag == 0) { + if (a.real == 0) { + return a; + } else if ((b.imag == 0) && (a.real >= 0)) { + z.real = powf(a.real, b.real); + z.imag = 0; + return z; + } else if (a.real > 0) { + r = a.real; + theta = 0; + } else { + r = -a.real; + theta = atan2f(0.0, -1.0); + } + } else { + r = __Pyx_c_abs_float(a); + theta = atan2f(a.imag, a.real); + } + lnr = logf(r); + z_r = expf(lnr * b.real - theta * b.imag); + z_theta = theta * b.real + lnr * b.imag; + z.real = z_r * cosf(z_theta); + z.imag = z_r * sinf(z_theta); + return z; + } + #endif +#endif + +/* Declarations */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #ifdef __cplusplus + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + return ::std::complex< double >(x, y); + } + #else + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + return x + y*(__pyx_t_double_complex)_Complex_I; + } + #endif +#else + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + __pyx_t_double_complex z; + z.real = x; + z.imag = y; + return z; + } +#endif + +/* Arithmetic */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) +#else + static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + return (a.real == b.real) && (a.imag == b.imag); + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real + b.real; + z.imag = a.imag + b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real - b.real; + z.imag = a.imag - b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real * b.real - a.imag * b.imag; + z.imag = a.real * b.imag + a.imag * b.real; + return z; + } + #if 1 + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + if (b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); + } else if (fabs(b.real) >= fabs(b.imag)) { + if (b.real == 0 && b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.imag); + } else { + double r = b.imag / b.real; + double s = (double)(1.0) / (b.real + b.imag * r); + return __pyx_t_double_complex_from_parts( + (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); + } + } else { + double r = b.real / b.imag; + double s = (double)(1.0) / (b.imag + b.real * r); + return __pyx_t_double_complex_from_parts( + (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); + } + } + #else + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + if (b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); + } else { + double denom = b.real * b.real + b.imag * b.imag; + return __pyx_t_double_complex_from_parts( + (a.real * b.real + a.imag * b.imag) / denom, + (a.imag * b.real - a.real * b.imag) / denom); + } + } + #endif + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex a) { + __pyx_t_double_complex z; + z.real = -a.real; + z.imag = -a.imag; + return z; + } + static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex a) { + return (a.real == 0) && (a.imag == 0); + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex a) { + __pyx_t_double_complex z; + z.real = a.real; + z.imag = -a.imag; + return z; + } + #if 1 + static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex z) { + #if !defined(HAVE_HYPOT) || defined(_MSC_VER) + return sqrt(z.real*z.real + z.imag*z.imag); + #else + return hypot(z.real, z.imag); + #endif + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + double r, lnr, theta, z_r, z_theta; + if (b.imag == 0 && b.real == (int)b.real) { + if (b.real < 0) { + double denom = a.real * a.real + a.imag * a.imag; + a.real = a.real / denom; + a.imag = -a.imag / denom; + b.real = -b.real; + } + switch ((int)b.real) { + case 0: + z.real = 1; + z.imag = 0; + return z; + case 1: + return a; + case 2: + return __Pyx_c_prod_double(a, a); + case 3: + z = __Pyx_c_prod_double(a, a); + return __Pyx_c_prod_double(z, a); + case 4: + z = __Pyx_c_prod_double(a, a); + return __Pyx_c_prod_double(z, z); + } + } + if (a.imag == 0) { + if (a.real == 0) { + return a; + } else if ((b.imag == 0) && (a.real >= 0)) { + z.real = pow(a.real, b.real); + z.imag = 0; + return z; + } else if (a.real > 0) { + r = a.real; + theta = 0; + } else { + r = -a.real; + theta = atan2(0.0, -1.0); + } + } else { + r = __Pyx_c_abs_double(a); + theta = atan2(a.imag, a.real); + } + lnr = log(r); + z_r = exp(lnr * b.real - theta * b.imag); + z_theta = theta * b.real + lnr * b.imag; + z.real = z_r * cos(z_theta); + z.imag = z_r * sin(z_theta); + return z; + } + #endif +#endif + +/* MemviewSliceCopyTemplate */ + static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object) +{ + __Pyx_RefNannyDeclarations + int i; + __Pyx_memviewslice new_mvs = { 0, 0, { 0 }, { 0 }, { 0 } }; + struct __pyx_memoryview_obj *from_memview = from_mvs->memview; + Py_buffer *buf = &from_memview->view; + PyObject *shape_tuple = NULL; + PyObject *temp_int = NULL; + struct __pyx_array_obj *array_obj = NULL; + struct __pyx_memoryview_obj *memview_obj = NULL; + __Pyx_RefNannySetupContext("__pyx_memoryview_copy_new_contig", 0); + for (i = 0; i < ndim; i++) { + if (unlikely(from_mvs->suboffsets[i] >= 0)) { + PyErr_Format(PyExc_ValueError, "Cannot copy memoryview slice with " + "indirect dimensions (axis %d)", i); + goto fail; + } + } + shape_tuple = PyTuple_New(ndim); + if (unlikely(!shape_tuple)) { + goto fail; + } + __Pyx_GOTREF(shape_tuple); + for(i = 0; i < ndim; i++) { + temp_int = PyInt_FromSsize_t(from_mvs->shape[i]); + if(unlikely(!temp_int)) { + goto fail; + } else { + PyTuple_SET_ITEM(shape_tuple, i, temp_int); + temp_int = NULL; + } + } + array_obj = __pyx_array_new(shape_tuple, sizeof_dtype, buf->format, (char *) mode, NULL); + if (unlikely(!array_obj)) { + goto fail; + } + __Pyx_GOTREF(array_obj); + memview_obj = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + (PyObject *) array_obj, contig_flag, + dtype_is_object, + from_mvs->memview->typeinfo); + if (unlikely(!memview_obj)) + goto fail; + if (unlikely(__Pyx_init_memviewslice(memview_obj, ndim, &new_mvs, 1) < 0)) + goto fail; + if (unlikely(__pyx_memoryview_copy_contents(*from_mvs, new_mvs, ndim, ndim, + dtype_is_object) < 0)) + goto fail; + goto no_fail; +fail: + __Pyx_XDECREF(new_mvs.memview); + new_mvs.memview = NULL; + new_mvs.data = NULL; +no_fail: + __Pyx_XDECREF(shape_tuple); + __Pyx_XDECREF(temp_int); + __Pyx_XDECREF(array_obj); + __Pyx_RefNannyFinishContext(); + return new_mvs; +} + +/* MemviewSliceInit */ + static int +__Pyx_init_memviewslice(struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference) +{ + __Pyx_RefNannyDeclarations + int i, retval=-1; + Py_buffer *buf = &memview->view; + __Pyx_RefNannySetupContext("init_memviewslice", 0); + if (unlikely(memviewslice->memview || memviewslice->data)) { + PyErr_SetString(PyExc_ValueError, + "memviewslice is already initialized!"); + goto fail; + } + if (buf->strides) { + for (i = 0; i < ndim; i++) { + memviewslice->strides[i] = buf->strides[i]; + } + } else { + Py_ssize_t stride = buf->itemsize; + for (i = ndim - 1; i >= 0; i--) { + memviewslice->strides[i] = stride; + stride *= buf->shape[i]; + } + } + for (i = 0; i < ndim; i++) { + memviewslice->shape[i] = buf->shape[i]; + if (buf->suboffsets) { + memviewslice->suboffsets[i] = buf->suboffsets[i]; + } else { + memviewslice->suboffsets[i] = -1; + } + } + memviewslice->memview = memview; + memviewslice->data = (char *)buf->buf; + if (__pyx_add_acquisition_count(memview) == 0 && !memview_is_new_reference) { + Py_INCREF(memview); + } + retval = 0; + goto no_fail; +fail: + memviewslice->memview = 0; + memviewslice->data = 0; + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} +#ifndef Py_NO_RETURN +#define Py_NO_RETURN +#endif +static void __pyx_fatalerror(const char *fmt, ...) Py_NO_RETURN { + va_list vargs; + char msg[200]; +#if PY_VERSION_HEX >= 0x030A0000 || defined(HAVE_STDARG_PROTOTYPES) + va_start(vargs, fmt); +#else + va_start(vargs); +#endif + vsnprintf(msg, 200, fmt, vargs); + va_end(vargs); + Py_FatalError(msg); +} +static CYTHON_INLINE int +__pyx_add_acquisition_count_locked(__pyx_atomic_int_type *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)++; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE int +__pyx_sub_acquisition_count_locked(__pyx_atomic_int_type *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)--; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE void +__Pyx_INC_MEMVIEW(__Pyx_memviewslice *memslice, int have_gil, int lineno) +{ + __pyx_nonatomic_int_type old_acquisition_count; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + return; + } + old_acquisition_count = __pyx_add_acquisition_count(memview); + if (unlikely(old_acquisition_count <= 0)) { + if (likely(old_acquisition_count == 0)) { + if (have_gil) { + Py_INCREF((PyObject *) memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_INCREF((PyObject *) memview); + PyGILState_Release(_gilstate); + } + } else { + __pyx_fatalerror("Acquisition count is %d (line %d)", + old_acquisition_count+1, lineno); + } + } +} +static CYTHON_INLINE void __Pyx_XCLEAR_MEMVIEW(__Pyx_memviewslice *memslice, + int have_gil, int lineno) { + __pyx_nonatomic_int_type old_acquisition_count; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + memslice->memview = NULL; + return; + } + old_acquisition_count = __pyx_sub_acquisition_count(memview); + memslice->data = NULL; + if (likely(old_acquisition_count > 1)) { + memslice->memview = NULL; + } else if (likely(old_acquisition_count == 1)) { + if (have_gil) { + Py_CLEAR(memslice->memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_CLEAR(memslice->memview); + PyGILState_Release(_gilstate); + } + } else { + __pyx_fatalerror("Acquisition count is %d (line %d)", + old_acquisition_count-1, lineno); + } +} + +/* TypeInfoToFormat */ + static struct __pyx_typeinfo_string __Pyx_TypeInfoToFormat(__Pyx_TypeInfo *type) { + struct __pyx_typeinfo_string result = { {0} }; + char *buf = (char *) result.string; + size_t size = type->size; + switch (type->typegroup) { + case 'H': + *buf = 'c'; + break; + case 'I': + case 'U': + if (size == 1) + *buf = (type->is_unsigned) ? 'B' : 'b'; + else if (size == 2) + *buf = (type->is_unsigned) ? 'H' : 'h'; + else if (size == 4) + *buf = (type->is_unsigned) ? 'I' : 'i'; + else if (size == 8) + *buf = (type->is_unsigned) ? 'Q' : 'q'; + break; + case 'P': + *buf = 'P'; + break; + case 'C': + { + __Pyx_TypeInfo complex_type = *type; + complex_type.typegroup = 'R'; + complex_type.size /= 2; + *buf++ = 'Z'; + *buf = __Pyx_TypeInfoToFormat(&complex_type).string[0]; + break; + } + case 'R': + if (size == 4) + *buf = 'f'; + else if (size == 8) + *buf = 'd'; + else + *buf = 'g'; + break; + } + return result; +} + +/* CIntFromPy */ + static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(int) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (int) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 2 * PyLong_SHIFT)) { + return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 3 * PyLong_SHIFT)) { + return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 4 * PyLong_SHIFT)) { + return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(int) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(int) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(int) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + int val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (int) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (int) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (int) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (int) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(int) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(int) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((int) 1) << (sizeof(int) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (int) -1; + } + } else { + int val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (int) -1; + val = __Pyx_PyInt_As_int(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to int"); + return (int) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to int"); + return (int) -1; +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(long)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(int) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(int) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(int) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(int), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(int)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPy */ + static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(long) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (long) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 2 * PyLong_SHIFT)) { + return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 3 * PyLong_SHIFT)) { + return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 4 * PyLong_SHIFT)) { + return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(long) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(long) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(long) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + long val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (long) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (long) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (long) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (long) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(long) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(long) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((long) 1) << (sizeof(long) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (long) -1; + } + } else { + long val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (long) -1; + val = __Pyx_PyInt_As_long(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to long"); + return (long) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to long"); + return (long) -1; +} + +/* CIntFromPy */ + static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const char neg_one = (char) -1, const_zero = (char) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(char) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(char, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (char) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(char, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(char) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 2 * PyLong_SHIFT)) { + return (char) (((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(char) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 3 * PyLong_SHIFT)) { + return (char) (((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(char) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 4 * PyLong_SHIFT)) { + return (char) (((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(char) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(char) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(char, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(char) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(char) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + return (char) ((((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(char) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + return (char) ((((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 4 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(char) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 4 * PyLong_SHIFT)) { + return (char) ((((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(char) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(char, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(char) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(char, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + char val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (char) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (char) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (char) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (char) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(char) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((char) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(char) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((char) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((char) 1) << (sizeof(char) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (char) -1; + } + } else { + char val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (char) -1; + val = __Pyx_PyInt_As_char(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to char"); + return (char) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to char"); + return (char) -1; +} + +/* FormatTypeName */ + #if CYTHON_COMPILING_IN_LIMITED_API +static __Pyx_TypeName +__Pyx_PyType_GetName(PyTypeObject* tp) +{ + PyObject *name = __Pyx_PyObject_GetAttrStr((PyObject *)tp, + __pyx_n_s_name_2); + if (unlikely(name == NULL) || unlikely(!PyUnicode_Check(name))) { + PyErr_Clear(); + Py_XDECREF(name); + name = __Pyx_NewRef(__pyx_n_s__58); + } + return name; +} +#endif + +/* CheckBinaryVersion */ + static unsigned long __Pyx_get_runtime_version(void) { +#if __PYX_LIMITED_VERSION_HEX >= 0x030B00A4 + return Py_Version & ~0xFFUL; +#else + const char* rt_version = Py_GetVersion(); + unsigned long version = 0; + unsigned long factor = 0x01000000UL; + unsigned int digit = 0; + int i = 0; + while (factor) { + while ('0' <= rt_version[i] && rt_version[i] <= '9') { + digit = digit * 10 + (unsigned int) (rt_version[i] - '0'); + ++i; + } + version += factor * digit; + if (rt_version[i] != '.') + break; + digit = 0; + factor >>= 8; + ++i; + } + return version; +#endif +} +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer) { + const unsigned long MAJOR_MINOR = 0xFFFF0000UL; + if ((rt_version & MAJOR_MINOR) == (ct_version & MAJOR_MINOR)) + return 0; + if (likely(allow_newer && (rt_version & MAJOR_MINOR) > (ct_version & MAJOR_MINOR))) + return 1; + { + char message[200]; + PyOS_snprintf(message, sizeof(message), + "compile time Python version %d.%d " + "of module '%.100s' " + "%s " + "runtime version %d.%d", + (int) (ct_version >> 24), (int) ((ct_version >> 16) & 0xFF), + __Pyx_MODULE_NAME, + (allow_newer) ? "was newer than" : "does not match", + (int) (rt_version >> 24), (int) ((rt_version >> 16) & 0xFF) + ); + return PyErr_WarnEx(NULL, message, 1); + } +} + +/* InitStrings */ + #if PY_MAJOR_VERSION >= 3 +static int __Pyx_InitString(__Pyx_StringTabEntry t, PyObject **str) { + if (t.is_unicode | t.is_str) { + if (t.intern) { + *str = PyUnicode_InternFromString(t.s); + } else if (t.encoding) { + *str = PyUnicode_Decode(t.s, t.n - 1, t.encoding, NULL); + } else { + *str = PyUnicode_FromStringAndSize(t.s, t.n - 1); + } + } else { + *str = PyBytes_FromStringAndSize(t.s, t.n - 1); + } + if (!*str) + return -1; + if (PyObject_Hash(*str) == -1) + return -1; + return 0; +} +#endif +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t) { + while (t->p) { + #if PY_MAJOR_VERSION >= 3 + __Pyx_InitString(*t, t->p); + #else + if (t->is_unicode) { + *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); + } else if (t->intern) { + *t->p = PyString_InternFromString(t->s); + } else { + *t->p = PyString_FromStringAndSize(t->s, t->n - 1); + } + if (!*t->p) + return -1; + if (PyObject_Hash(*t->p) == -1) + return -1; + #endif + ++t; + } + return 0; +} + +#include +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s) { + size_t len = strlen(s); + if (unlikely(len > (size_t) PY_SSIZE_T_MAX)) { + PyErr_SetString(PyExc_OverflowError, "byte string is too long"); + return -1; + } + return (Py_ssize_t) len; +} +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return __Pyx_PyUnicode_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return PyByteArray_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { + Py_ssize_t ignore; + return __Pyx_PyObject_AsStringAndSize(o, &ignore); +} +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#if !CYTHON_PEP393_ENABLED +static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + char* defenc_c; + PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); + if (!defenc) return NULL; + defenc_c = PyBytes_AS_STRING(defenc); +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + { + char* end = defenc_c + PyBytes_GET_SIZE(defenc); + char* c; + for (c = defenc_c; c < end; c++) { + if ((unsigned char) (*c) >= 128) { + PyUnicode_AsASCIIString(o); + return NULL; + } + } + } +#endif + *length = PyBytes_GET_SIZE(defenc); + return defenc_c; +} +#else +static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + if (likely(PyUnicode_IS_ASCII(o))) { + *length = PyUnicode_GET_LENGTH(o); + return PyUnicode_AsUTF8(o); + } else { + PyUnicode_AsASCIIString(o); + return NULL; + } +#else + return PyUnicode_AsUTF8AndSize(o, length); +#endif +} +#endif +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT + if ( +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + __Pyx_sys_getdefaultencoding_not_ascii && +#endif + PyUnicode_Check(o)) { + return __Pyx_PyUnicode_AsStringAndSize(o, length); + } else +#endif +#if (!CYTHON_COMPILING_IN_PYPY && !CYTHON_COMPILING_IN_LIMITED_API) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) + if (PyByteArray_Check(o)) { + *length = PyByteArray_GET_SIZE(o); + return PyByteArray_AS_STRING(o); + } else +#endif + { + char* result; + int r = PyBytes_AsStringAndSize(o, &result, length); + if (unlikely(r < 0)) { + return NULL; + } else { + return result; + } + } +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { + int is_true = x == Py_True; + if (is_true | (x == Py_False) | (x == Py_None)) return is_true; + else return PyObject_IsTrue(x); +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { + int retval; + if (unlikely(!x)) return -1; + retval = __Pyx_PyObject_IsTrue(x); + Py_DECREF(x); + return retval; +} +static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { + __Pyx_TypeName result_type_name = __Pyx_PyType_GetName(Py_TYPE(result)); +#if PY_MAJOR_VERSION >= 3 + if (PyLong_Check(result)) { + if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, + "__int__ returned non-int (type " __Pyx_FMT_TYPENAME "). " + "The ability to return an instance of a strict subclass of int is deprecated, " + "and may be removed in a future version of Python.", + result_type_name)) { + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; + } + __Pyx_DECREF_TypeName(result_type_name); + return result; + } +#endif + PyErr_Format(PyExc_TypeError, + "__%.4s__ returned non-%.4s (type " __Pyx_FMT_TYPENAME ")", + type_name, type_name, result_type_name); + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { +#if CYTHON_USE_TYPE_SLOTS + PyNumberMethods *m; +#endif + const char *name = NULL; + PyObject *res = NULL; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x) || PyLong_Check(x))) +#else + if (likely(PyLong_Check(x))) +#endif + return __Pyx_NewRef(x); +#if CYTHON_USE_TYPE_SLOTS + m = Py_TYPE(x)->tp_as_number; + #if PY_MAJOR_VERSION < 3 + if (m && m->nb_int) { + name = "int"; + res = m->nb_int(x); + } + else if (m && m->nb_long) { + name = "long"; + res = m->nb_long(x); + } + #else + if (likely(m && m->nb_int)) { + name = "int"; + res = m->nb_int(x); + } + #endif +#else + if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { + res = PyNumber_Int(x); + } +#endif + if (likely(res)) { +#if PY_MAJOR_VERSION < 3 + if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { +#else + if (unlikely(!PyLong_CheckExact(res))) { +#endif + return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); + } + } + else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_TypeError, + "an integer is required"); + } + return res; +} +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { + Py_ssize_t ival; + PyObject *x; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(b))) { + if (sizeof(Py_ssize_t) >= sizeof(long)) + return PyInt_AS_LONG(b); + else + return PyInt_AsSsize_t(b); + } +#endif + if (likely(PyLong_CheckExact(b))) { + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(__Pyx_PyLong_IsCompact(b))) { + return __Pyx_PyLong_CompactValue(b); + } else { + const digit* digits = __Pyx_PyLong_Digits(b); + const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(b); + switch (size) { + case 2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + } + } + #endif + return PyLong_AsSsize_t(b); + } + x = PyNumber_Index(b); + if (!x) return -1; + ival = PyInt_AsSsize_t(x); + Py_DECREF(x); + return ival; +} +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { + if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { + return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); +#if PY_MAJOR_VERSION < 3 + } else if (likely(PyInt_CheckExact(o))) { + return PyInt_AS_LONG(o); +#endif + } else { + Py_ssize_t ival; + PyObject *x; + x = PyNumber_Index(o); + if (!x) return -1; + ival = PyInt_AsLong(x); + Py_DECREF(x); + return ival; + } +} +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { + return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); +} +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { + return PyInt_FromSize_t(ival); +} + + +/* #### Code section: utility_code_pragmas_end ### */ +#ifdef _MSC_VER +#pragma warning( pop ) +#endif + + + +/* #### Code section: end ### */ +#endif /* Py_PYTHON_H */ diff --git a/rednose_repo/rednose/helpers/ekf_sym_pyx.pyx b/rednose_repo/rednose/helpers/ekf_sym_pyx.pyx new file mode 100644 index 0000000000..f552ea7354 --- /dev/null +++ b/rednose_repo/rednose/helpers/ekf_sym_pyx.pyx @@ -0,0 +1,195 @@ +# cython: language_level=3 +# cython: profile=True +# distutils: language = c++ + +cimport cython + +from libcpp.string cimport string +from libcpp.vector cimport vector +from libcpp cimport bool +cimport numpy as np + +import numpy as np + + +cdef extern from "" namespace "std" nogil: + cdef cppclass optional[T]: + ctypedef T value_type + bool has_value() + T& value() + +cdef extern from "rednose/helpers/ekf_load.h": + cdef void ekf_load_and_register(string directory, string name) + +cdef extern from "rednose/helpers/ekf_sym.h" namespace "EKFS": + cdef cppclass MapVectorXd "Eigen::Map": + MapVectorXd(double*, int) + + cdef cppclass MapMatrixXdr "Eigen::Map >": + MapMatrixXdr(double*, int, int) + + cdef cppclass VectorXd "Eigen::VectorXd": + VectorXd() + double* data() + int rows() + + cdef cppclass MatrixXdr "Eigen::Matrix": + MatrixXdr() + double* data() + int rows() + int cols() + + ctypedef struct Estimate: + VectorXd xk1 + VectorXd xk + MatrixXdr Pk1 + MatrixXdr Pk + double t + int kind + vector[VectorXd] y + vector[VectorXd] z + vector[vector[double]] extra_args + + cdef cppclass EKFSym: + EKFSym(string name, MapMatrixXdr Q, MapVectorXd x_initial, MapMatrixXdr P_initial, int dim_main, + int dim_main_err, int N, int dim_augment, int dim_augment_err, vector[int] maha_test_kinds, + vector[int] quaternion_idxs, vector[string] global_vars, double max_rewind_age) + void init_state(MapVectorXd state, MapMatrixXdr covs, double filter_time) + + VectorXd state() + MatrixXdr covs() + void set_filter_time(double t) + double get_filter_time() + void set_global(string name, double val) + void reset_rewind() + + void predict(double t) + optional[Estimate] predict_and_update_batch(double t, int kind, vector[MapVectorXd] z, vector[MapMatrixXdr] z, + vector[vector[double]] extra_args, bool augment) + +# Functions like `numpy_to_matrix` are not possible, cython requires default +# constructor for return variable types which aren't available with Eigen::Map + +@cython.wraparound(False) +@cython.boundscheck(False) +cdef np.ndarray[np.float64_t, ndim=2, mode="c"] matrix_to_numpy(MatrixXdr arr): + cdef double[:,:] mem_view = arr.data() + return np.copy(np.asarray(mem_view, dtype=np.double, order="C")) + +@cython.wraparound(False) +@cython.boundscheck(False) +cdef np.ndarray[np.float64_t, ndim=1, mode="c"] vector_to_numpy(VectorXd arr): + cdef double[:] mem_view = arr.data() + return np.copy(np.asarray(mem_view, dtype=np.double, order="C")) + +cdef class EKF_sym_pyx: + cdef EKFSym* ekf + def __cinit__(self, str gen_dir, str name, np.ndarray[np.float64_t, ndim=2] Q, + np.ndarray[np.float64_t, ndim=1] x_initial, np.ndarray[np.float64_t, ndim=2] P_initial, int dim_main, + int dim_main_err, int N=0, int dim_augment=0, int dim_augment_err=0, list maha_test_kinds=[], + list quaternion_idxs=[], list global_vars=[], double max_rewind_age=1.0, logger=None): + # TODO logger + ekf_load_and_register(gen_dir.encode('utf8'), name.encode('utf8')) + + cdef np.ndarray[np.float64_t, ndim=2, mode='c'] Q_b = np.ascontiguousarray(Q, dtype=np.double) + cdef np.ndarray[np.float64_t, ndim=1, mode='c'] x_initial_b = np.ascontiguousarray(x_initial, dtype=np.double) + cdef np.ndarray[np.float64_t, ndim=2, mode='c'] P_initial_b = np.ascontiguousarray(P_initial, dtype=np.double) + self.ekf = new EKFSym( + name.encode('utf8'), + MapMatrixXdr( Q_b.data, Q.shape[0], Q.shape[1]), + MapVectorXd( x_initial_b.data, x_initial.shape[0]), + MapMatrixXdr( P_initial_b.data, P_initial.shape[0], P_initial.shape[1]), + dim_main, + dim_main_err, + N, + dim_augment, + dim_augment_err, + maha_test_kinds, + quaternion_idxs, + [x.encode('utf8') for x in global_vars], + max_rewind_age + ) + + def init_state(self, np.ndarray[np.float64_t, ndim=1] state, np.ndarray[np.float64_t, ndim=2] covs, filter_time): + cdef np.ndarray[np.float64_t, ndim=1, mode='c'] state_b = np.ascontiguousarray(state, dtype=np.double) + cdef np.ndarray[np.float64_t, ndim=2, mode='c'] covs_b = np.ascontiguousarray(covs, dtype=np.double) + self.ekf.init_state( + MapVectorXd( state_b.data, state.shape[0]), + MapMatrixXdr( covs_b.data, covs.shape[0], covs.shape[1]), + np.nan if filter_time is None else filter_time + ) + + def state(self): + cdef np.ndarray res = vector_to_numpy(self.ekf.state()) + return res + + def covs(self): + return matrix_to_numpy(self.ekf.covs()) + + def set_filter_time(self, double t): + self.ekf.set_filter_time(t) + + def get_filter_time(self): + return self.ekf.get_filter_time() + + def set_global(self, str global_var, double val): + self.ekf.set_global(global_var.encode('utf8'), val) + + def reset_rewind(self): + self.ekf.reset_rewind() + + def predict(self, double t): + self.ekf.predict(t) + + def predict_and_update_batch(self, double t, int kind, z, R, extra_args=[[]], bool augment=False): + cdef vector[MapVectorXd] z_map + cdef np.ndarray[np.float64_t, ndim=1, mode='c'] zi_b + for zi in z: + zi_b = np.ascontiguousarray(zi, dtype=np.double) + z_map.push_back(MapVectorXd( zi_b.data, zi.shape[0])) + + cdef vector[MapMatrixXdr] R_map + cdef np.ndarray[np.float64_t, ndim=2, mode='c'] Ri_b + for Ri in R: + Ri_b = np.ascontiguousarray(Ri, dtype=np.double) + R_map.push_back(MapMatrixXdr( Ri_b.data, Ri.shape[0], Ri.shape[1])) + + cdef vector[vector[double]] extra_args_map + cdef vector[double] args_map + for args in extra_args: + args_map.clear() + for a in args: + args_map.push_back(a) + extra_args_map.push_back(args_map) + + cdef optional[Estimate] res = self.ekf.predict_and_update_batch(t, kind, z_map, R_map, extra_args_map, augment) + if not res.has_value(): + return None + + cdef VectorXd tmpvec + return ( + vector_to_numpy(res.value().xk1), + vector_to_numpy(res.value().xk), + matrix_to_numpy(res.value().Pk1), + matrix_to_numpy(res.value().Pk), + res.value().t, + res.value().kind, + [vector_to_numpy(tmpvec) for tmpvec in res.value().y], + z, # TODO: take return values? + extra_args, + ) + + def augment(self): + raise NotImplementedError() # TODO + + def get_augment_times(self): + raise NotImplementedError() # TODO + + def rts_smooth(self, estimates, norm_quats=False): + raise NotImplementedError() # TODO + + def maha_test(self, x, P, kind, z, R, extra_args=[], maha_thresh=0.95): + raise NotImplementedError() # TODO + + def __dealloc__(self): + del self.ekf diff --git a/rednose_repo/rednose/helpers/ekf_sym_pyx.so b/rednose_repo/rednose/helpers/ekf_sym_pyx.so new file mode 100755 index 0000000000..550a0bc810 Binary files /dev/null and b/rednose_repo/rednose/helpers/ekf_sym_pyx.so differ diff --git a/rednose_repo/rednose/helpers/kalmanfilter.py b/rednose_repo/rednose/helpers/kalmanfilter.py new file mode 100644 index 0000000000..fc9fd2bf3b --- /dev/null +++ b/rednose_repo/rednose/helpers/kalmanfilter.py @@ -0,0 +1,52 @@ +from typing import Any + +import numpy as np + + +class KalmanFilter: + name = "" + initial_x = np.zeros((0, 0)) + initial_P_diag = np.zeros((0, 0)) + Q = np.zeros((0, 0)) + obs_noise: dict[int, Any] = {} + + # Should be initialized when initializating a KalmanFilter implementation + filter = None + + @property + def x(self): + return self.filter.state() + + @property + def t(self): + return self.filter.get_filter_time() + + @property + def P(self): + return self.filter.covs() + + def init_state(self, state, covs_diag=None, covs=None, filter_time=None): + if covs_diag is not None: + P = np.diag(covs_diag) + elif covs is not None: + P = covs + else: + P = self.filter.covs() + self.filter.init_state(state, P, filter_time) + + def get_R(self, kind, n): + obs_noise = self.obs_noise[kind] + dim = obs_noise.shape[0] + R = np.zeros((n, dim, dim)) + for i in range(n): + R[i, :, :] = obs_noise + return R + + def predict_and_observe(self, t, kind, data, R=None): + if len(data) > 0: + data = np.atleast_2d(data) + + if R is None: + R = self.get_R(kind, len(data)) + + self.filter.predict_and_update_batch(t, kind, data, R) diff --git a/rednose_repo/rednose/helpers/sympy_helpers.py b/rednose_repo/rednose/helpers/sympy_helpers.py new file mode 100644 index 0000000000..71a12d03d3 --- /dev/null +++ b/rednose_repo/rednose/helpers/sympy_helpers.py @@ -0,0 +1,154 @@ +import sympy as sp +import numpy as np + +# TODO: remove code duplication between openpilot.common.orientation +def quat2rot(quats): + quats = np.array(quats) + input_shape = quats.shape + quats = np.atleast_2d(quats) + Rs = np.zeros((quats.shape[0], 3, 3)) + q0 = quats[:, 0] + q1 = quats[:, 1] + q2 = quats[:, 2] + q3 = quats[:, 3] + Rs[:, 0, 0] = q0 * q0 + q1 * q1 - q2 * q2 - q3 * q3 + Rs[:, 0, 1] = 2 * (q1 * q2 - q0 * q3) + Rs[:, 0, 2] = 2 * (q0 * q2 + q1 * q3) + Rs[:, 1, 0] = 2 * (q1 * q2 + q0 * q3) + Rs[:, 1, 1] = q0 * q0 - q1 * q1 + q2 * q2 - q3 * q3 + Rs[:, 1, 2] = 2 * (q2 * q3 - q0 * q1) + Rs[:, 2, 0] = 2 * (q1 * q3 - q0 * q2) + Rs[:, 2, 1] = 2 * (q0 * q1 + q2 * q3) + Rs[:, 2, 2] = q0 * q0 - q1 * q1 - q2 * q2 + q3 * q3 + + if len(input_shape) < 2: + return Rs[0] + else: + return Rs + + +def euler2quat(eulers): + eulers = np.array(eulers) + if len(eulers.shape) > 1: + output_shape = (-1,4) + else: + output_shape = (4,) + eulers = np.atleast_2d(eulers) + gamma, theta, psi = eulers[:,0], eulers[:,1], eulers[:,2] + + q0 = np.cos(gamma / 2) * np.cos(theta / 2) * np.cos(psi / 2) + \ + np.sin(gamma / 2) * np.sin(theta / 2) * np.sin(psi / 2) + q1 = np.sin(gamma / 2) * np.cos(theta / 2) * np.cos(psi / 2) - \ + np.cos(gamma / 2) * np.sin(theta / 2) * np.sin(psi / 2) + q2 = np.cos(gamma / 2) * np.sin(theta / 2) * np.cos(psi / 2) + \ + np.sin(gamma / 2) * np.cos(theta / 2) * np.sin(psi / 2) + q3 = np.cos(gamma / 2) * np.cos(theta / 2) * np.sin(psi / 2) - \ + np.sin(gamma / 2) * np.sin(theta / 2) * np.cos(psi / 2) + + quats = np.array([q0, q1, q2, q3]).T + for i in range(len(quats)): + if quats[i,0] < 0: # pylint: disable=unsubscriptable-object + quats[i] = -quats[i] # pylint: disable=unsupported-assignment-operation,unsubscriptable-object + return quats.reshape(output_shape) + + +def euler2rot(eulers): + return quat2rot(euler2quat(eulers)) + +rotations_from_quats = quat2rot + + +def cross(x): + ret = sp.Matrix(np.zeros((3, 3))) + ret[0, 1], ret[0, 2] = -x[2], x[1] + ret[1, 0], ret[1, 2] = x[2], -x[0] + ret[2, 0], ret[2, 1] = -x[1], x[0] + return ret + + +def rot_matrix(roll, pitch, yaw): + cr, sr = np.cos(roll), np.sin(roll) + cp, sp = np.cos(pitch), np.sin(pitch) + cy, sy = np.cos(yaw), np.sin(yaw) + rr = np.array([[1,0,0],[0, cr,-sr],[0, sr, cr]]) + rp = np.array([[cp,0,sp],[0, 1,0],[-sp, 0, cp]]) + ry = np.array([[cy,-sy,0],[sy, cy,0],[0, 0, 1]]) + return ry.dot(rp.dot(rr)) + + +def euler_rotate(roll, pitch, yaw): + # make symbolic rotation matrix from eulers + matrix_roll = sp.Matrix([[1, 0, 0], + [0, sp.cos(roll), -sp.sin(roll)], + [0, sp.sin(roll), sp.cos(roll)]]) + matrix_pitch = sp.Matrix([[sp.cos(pitch), 0, sp.sin(pitch)], + [0, 1, 0], + [-sp.sin(pitch), 0, sp.cos(pitch)]]) + matrix_yaw = sp.Matrix([[sp.cos(yaw), -sp.sin(yaw), 0], + [sp.sin(yaw), sp.cos(yaw), 0], + [0, 0, 1]]) + return matrix_yaw * matrix_pitch * matrix_roll + + +def quat_rotate(q0, q1, q2, q3): + # make symbolic rotation matrix from quat + return sp.Matrix([[q0**2 + q1**2 - q2**2 - q3**2, 2 * (q1 * q2 + q0 * q3), 2 * (q1 * q3 - q0 * q2)], + [2 * (q1 * q2 - q0 * q3), q0**2 - q1**2 + q2**2 - q3**2, 2 * (q2 * q3 + q0 * q1)], + [2 * (q1 * q3 + q0 * q2), 2 * (q2 * q3 - q0 * q1), q0**2 - q1**2 - q2**2 + q3**2]]).T + + +def quat_matrix_l(p): + return sp.Matrix([[p[0], -p[1], -p[2], -p[3]], + [p[1], p[0], -p[3], p[2]], + [p[2], p[3], p[0], -p[1]], + [p[3], -p[2], p[1], p[0]]]) + + +def quat_matrix_r(p): + return sp.Matrix([[p[0], -p[1], -p[2], -p[3]], + [p[1], p[0], p[3], -p[2]], + [p[2], -p[3], p[0], p[1]], + [p[3], p[2], -p[1], p[0]]]) + + +def sympy_into_c(sympy_functions, global_vars=None): + from sympy.utilities import codegen + routines = [] + for name, expr, args in sympy_functions: + r = codegen.make_routine(name, expr, language="C99", global_vars=global_vars) + + # argument ordering input to sympy is broken with function with output arguments + nargs = [] + + # reorder the input arguments + for aa in args: + if aa is None: + nargs.append(codegen.InputArgument(sp.Symbol('unused'), dimensions=[1, 1])) + continue + found = False + for a in r.arguments: + if str(aa.name) == str(a.name): + nargs.append(a) + found = True + break + if not found: + # [1,1] is a hack for Matrices + nargs.append(codegen.InputArgument(aa, dimensions=[1, 1])) + + # add the output arguments + for a in r.arguments: + if type(a) == codegen.OutputArgument: + nargs.append(a) + + # assert len(r.arguments) == len(args)+1 + r.arguments = nargs + + # add routine to list + routines.append(r) + + [(_, c_code), (_, c_header)] = codegen.get_code_generator('C', 'ekf', 'C99').write(routines, "ekf") + c_header = '\n'.join(x for x in c_header.split("\n") if len(x) > 0 and x[0] != '#') + + c_code = '\n'.join(x for x in c_code.split("\n") if len(x) > 0 and x[0] != '#') + + return c_header, c_code diff --git a/rednose_repo/rednose/logger/logger.h b/rednose_repo/rednose/logger/logger.h new file mode 100644 index 0000000000..8f541a2b44 --- /dev/null +++ b/rednose_repo/rednose/logger/logger.h @@ -0,0 +1,20 @@ +#pragma once + +#ifdef SWAGLOG +#include SWAGLOG +#else + +#define CLOUDLOG_DEBUG 10 +#define CLOUDLOG_INFO 20 +#define CLOUDLOG_WARNING 30 +#define CLOUDLOG_ERROR 40 +#define CLOUDLOG_CRITICAL 50 + +#define cloudlog(lvl, fmt, ...) printf(fmt "\n", ## __VA_ARGS__) + +#define LOGD(fmt, ...) cloudlog(CLOUDLOG_DEBUG, fmt, ## __VA_ARGS__) +#define LOG(fmt, ...) cloudlog(CLOUDLOG_INFO, fmt, ## __VA_ARGS__) +#define LOGW(fmt, ...) cloudlog(CLOUDLOG_WARNING, fmt, ## __VA_ARGS__) +#define LOGE(fmt, ...) cloudlog(CLOUDLOG_ERROR, fmt, ## __VA_ARGS__) + +#endif diff --git a/rednose_repo/rednose/templates/compute_pos.c b/rednose_repo/rednose/templates/compute_pos.c new file mode 100644 index 0000000000..742c7d6187 --- /dev/null +++ b/rednose_repo/rednose/templates/compute_pos.c @@ -0,0 +1,52 @@ +#include +#include +#include + +typedef Eigen::Matrix R3M; +typedef Eigen::Matrix R1M; +typedef Eigen::Matrix O1M; +typedef Eigen::Matrix M3D; + +void gauss_newton(double *in_x, double *in_poses, double *in_img_positions) { + + double res[KDIM*2] = {0}; + double jac[KDIM*6] = {0}; + + O1M x(in_x); + O1M delta; + int counter = 0; + while ((delta.squaredNorm() > 0.0001 and counter < 30) or counter == 0){ + res_fun(in_x, in_poses, in_img_positions, res); + jac_fun(in_x, in_poses, in_img_positions, jac); + R1M E(res); R3M J(jac); + delta = (J.transpose()*J).inverse() * J.transpose() * E; + x = x - delta; + memcpy(in_x, x.data(), 3 * sizeof(double)); + counter = counter + 1; + } +} + + +void compute_pos(double *to_c, double *poses, double *img_positions, double *param, double *pos) { + param[0] = img_positions[KDIM*2-2]; + param[1] = img_positions[KDIM*2-1]; + param[2] = 0.1; + gauss_newton(param, poses, img_positions); + + Eigen::Quaterniond q; + q.w() = poses[KDIM*7-4]; + q.x() = poses[KDIM*7-3]; + q.y() = poses[KDIM*7-2]; + q.z() = poses[KDIM*7-1]; + M3D RC(to_c); + Eigen::Matrix3d R = q.normalized().toRotationMatrix(); + Eigen::Matrix3d rot = R * RC.transpose(); + + pos[0] = param[0]/param[2]; + pos[1] = param[1]/param[2]; + pos[2] = 1.0/param[2]; + O1M ecef_offset(poses + KDIM*7-7); + O1M ecef_output(pos); + ecef_output = rot*ecef_output + ecef_offset; + memcpy(pos, ecef_output.data(), 3 * sizeof(double)); +} diff --git a/rednose_repo/rednose/templates/ekf_c.c b/rednose_repo/rednose/templates/ekf_c.c new file mode 100644 index 0000000000..3b4acdfe3c --- /dev/null +++ b/rednose_repo/rednose/templates/ekf_c.c @@ -0,0 +1,123 @@ +#include +#include + +typedef Eigen::Matrix DDM; +typedef Eigen::Matrix EEM; +typedef Eigen::Matrix DEM; + +void predict(double *in_x, double *in_P, double *in_Q, double dt) { + typedef Eigen::Matrix RRM; + + double nx[DIM] = {0}; + double in_F[EDIM*EDIM] = {0}; + + // functions from sympy + f_fun(in_x, dt, nx); + F_fun(in_x, dt, in_F); + + + EEM F(in_F); + EEM P(in_P); + EEM Q(in_Q); + + RRM F_main = F.topLeftCorner(MEDIM, MEDIM); + P.topLeftCorner(MEDIM, MEDIM) = (F_main * P.topLeftCorner(MEDIM, MEDIM)) * F_main.transpose(); + P.topRightCorner(MEDIM, EDIM - MEDIM) = F_main * P.topRightCorner(MEDIM, EDIM - MEDIM); + P.bottomLeftCorner(EDIM - MEDIM, MEDIM) = P.bottomLeftCorner(EDIM - MEDIM, MEDIM) * F_main.transpose(); + + P = P + dt*Q; + + // copy out state + memcpy(in_x, nx, DIM * sizeof(double)); + memcpy(in_P, P.data(), EDIM * EDIM * sizeof(double)); +} + +// note: extra_args dim only correct when null space projecting +// otherwise 1 +template +void update(double *in_x, double *in_P, Hfun h_fun, Hfun H_fun, Hfun Hea_fun, double *in_z, double *in_R, double *in_ea, double MAHA_THRESHOLD) { + typedef Eigen::Matrix ZZM; + typedef Eigen::Matrix ZDM; + typedef Eigen::Matrix XEM; + //typedef Eigen::Matrix EZM; + typedef Eigen::Matrix X1M; + typedef Eigen::Matrix XXM; + + double in_hx[ZDIM] = {0}; + double in_H[ZDIM * DIM] = {0}; + double in_H_mod[EDIM * DIM] = {0}; + double delta_x[EDIM] = {0}; + double x_new[DIM] = {0}; + + + // state x, P + Eigen::Matrix z(in_z); + EEM P(in_P); + ZZM pre_R(in_R); + + // functions from sympy + h_fun(in_x, in_ea, in_hx); + H_fun(in_x, in_ea, in_H); + ZDM pre_H(in_H); + + // get y (y = z - hx) + Eigen::Matrix pre_y(in_hx); pre_y = z - pre_y; + X1M y; XXM H; XXM R; + if (Hea_fun){ + typedef Eigen::Matrix ZAM; + double in_Hea[ZDIM * EADIM] = {0}; + Hea_fun(in_x, in_ea, in_Hea); + ZAM Hea(in_Hea); + XXM A = Hea.transpose().fullPivLu().kernel(); + + + y = A.transpose() * pre_y; + H = A.transpose() * pre_H; + R = A.transpose() * pre_R * A; + } else { + y = pre_y; + H = pre_H; + R = pre_R; + } + // get modified H + H_mod_fun(in_x, in_H_mod); + DEM H_mod(in_H_mod); + XEM H_err = H * H_mod; + + // Do mahalobis distance test + if (MAHA_TEST){ + XXM a = (H_err * P * H_err.transpose() + R).inverse(); + double maha_dist = y.transpose() * a * y; + if (maha_dist > MAHA_THRESHOLD){ + R = 1.0e16 * R; + } + } + + // Outlier resilient weighting + double weight = 1;//(1.5)/(1 + y.squaredNorm()/R.sum()); + + // kalman gains and I_KH + XXM S = ((H_err * P) * H_err.transpose()) + R/weight; + XEM KT = S.fullPivLu().solve(H_err * P.transpose()); + //EZM K = KT.transpose(); TODO: WHY DOES THIS NOT COMPILE? + //EZM K = S.fullPivLu().solve(H_err * P.transpose()).transpose(); + //std::cout << "Here is the matrix rot:\n" << K << std::endl; + EEM I_KH = Eigen::Matrix::Identity() - (KT.transpose() * H_err); + + // update state by injecting dx + Eigen::Matrix dx(delta_x); + dx = (KT.transpose() * y); + memcpy(delta_x, dx.data(), EDIM * sizeof(double)); + err_fun(in_x, delta_x, x_new); + Eigen::Matrix x(x_new); + + // update cov + P = ((I_KH * P) * I_KH.transpose()) + ((KT.transpose() * R) * KT); + + // copy out state + memcpy(in_x, x.data(), DIM * sizeof(double)); + memcpy(in_P, P.data(), EDIM * EDIM * sizeof(double)); + memcpy(in_z, y.data(), y.rows() * sizeof(double)); +} + + diff --git a/rednose_repo/rednose/templates/feature_handler.c b/rednose_repo/rednose/templates/feature_handler.c new file mode 100644 index 0000000000..9c580c2eac --- /dev/null +++ b/rednose_repo/rednose/templates/feature_handler.c @@ -0,0 +1,56 @@ +bool sane(double track [K + 1][5]) { + double diffs_x [K-1]; + double diffs_y [K-1]; + int i; + for (i = 0; i < K-1; i++) { + diffs_x[i] = fabs(track[i+2][2] - track[i+1][2]); + diffs_y[i] = fabs(track[i+2][3] - track[i+1][3]); + } + for (i = 1; i < K-1; i++) { + if (((diffs_x[i] > 0.05 or diffs_x[i-1] > 0.05) and + (diffs_x[i] > 2*diffs_x[i-1] or + diffs_x[i] < .5*diffs_x[i-1])) or + ((diffs_y[i] > 0.05 or diffs_y[i-1] > 0.05) and + (diffs_y[i] > 2*diffs_y[i-1] or + diffs_y[i] < .5*diffs_y[i-1]))){ + return false; + } + } + return true; +} + +void merge_features(double *tracks, double *features, long long *empty_idxs) { + double feature_arr [3000][5]; + memcpy(feature_arr, features, 3000 * 5 * sizeof(double)); + double track_arr [6000][K + 1][5]; + memcpy(track_arr, tracks, (K+1) * 6000 * 5 * sizeof(double)); + int match; + int empty_idx = 0; + int idx; + for (int i = 0; i < 3000; i++) { + match = feature_arr[i][4]; + if (track_arr[match][0][1] == match and track_arr[match][0][2] == 0){ + track_arr[match][0][0] = track_arr[match][0][0] + 1; + track_arr[match][0][1] = feature_arr[i][1]; + track_arr[match][0][2] = 1; + idx = track_arr[match][0][0]; + memcpy(track_arr[match][idx], feature_arr[i], 5 * sizeof(double)); + if (idx == K){ + // label complete + track_arr[match][0][3] = 1; + if (sane(track_arr[match])){ + // label valid + track_arr[match][0][4] = 1; + } + } + } else { + // gen new track with this feature + track_arr[empty_idxs[empty_idx]][0][0] = 1; + track_arr[empty_idxs[empty_idx]][0][1] = feature_arr[i][1]; + track_arr[empty_idxs[empty_idx]][0][2] = 1; + memcpy(track_arr[empty_idxs[empty_idx]][1], feature_arr[i], 5 * sizeof(double)); + empty_idx = empty_idx + 1; + } + } + memcpy(tracks, track_arr, (K+1) * 6000 * 5 * sizeof(double)); +} diff --git a/rednose_repo/requirements.txt b/rednose_repo/requirements.txt new file mode 100644 index 0000000000..81875a88ba --- /dev/null +++ b/rednose_repo/requirements.txt @@ -0,0 +1,11 @@ +ruff +sympy +numpy +scipy +tqdm +cffi +scons +pre-commit +Cython +pytest +pytest-xdist diff --git a/rednose_repo/setup.py b/rednose_repo/setup.py new file mode 100644 index 0000000000..492b58f1e0 --- /dev/null +++ b/rednose_repo/setup.py @@ -0,0 +1,26 @@ +import os +from setuptools import setup, find_packages + +here = os.path.abspath(os.path.dirname(__file__)) + +setup( + name='rednose', + version='0.0.1', + url='https://github.com/commaai/rednose', + author='comma.ai', + author_email='harald@comma.ai', + packages=find_packages(), + platforms='any', + license='MIT', + package_data={'': ['helpers/chi2_lookup_table.npy', 'templates/*']}, + install_requires=[ + 'sympy', + 'numpy', + 'scipy', + 'tqdm', + 'cffi', + ], + ext_modules=[], + description="Kalman filter library", + long_description='See https://github.com/commaai/rednose', +) diff --git a/rednose_repo/site_scons/site_tools/cython.py b/rednose_repo/site_scons/site_tools/cython.py new file mode 100644 index 0000000000..c291475533 --- /dev/null +++ b/rednose_repo/site_scons/site_tools/cython.py @@ -0,0 +1,72 @@ +import re +import SCons +from SCons.Action import Action +from SCons.Scanner import Scanner + +pyx_from_import_re = re.compile(r'^from\s+(\S+)\s+cimport', re.M) +pyx_import_re = re.compile(r'^cimport\s+(\S+)', re.M) +cdef_import_re = re.compile(r'^cdef extern from\s+.(\S+).:', re.M) + + +def pyx_scan(node, env, path, arg=None): + contents = node.get_text_contents() + + # from cimport ... + matches = pyx_from_import_re.findall(contents) + # cimport + matches += pyx_import_re.findall(contents) + + # Modules can be either .pxd or .pyx files + files = [m.replace('.', '/') + '.pxd' for m in matches] + files += [m.replace('.', '/') + '.pyx' for m in matches] + + # cdef extern from + files += cdef_import_re.findall(contents) + + # Handle relative imports + cur_dir = str(node.get_dir()) + files = [cur_dir + f if f.startswith('/') else f for f in files] + + # Filter out non-existing files (probably system imports) + files = [f for f in files if env.File(f).exists()] + return env.File(files) + + +pyxscanner = Scanner(function=pyx_scan, skeys=['.pyx', '.pxd'], recursive=True) +cythonAction = Action("$CYTHONCOM") + + +def create_builder(env): + try: + cython = env['BUILDERS']['Cython'] + except KeyError: + cython = SCons.Builder.Builder( + action=cythonAction, + emitter={}, + suffix=cython_suffix_emitter, + single_source=1 + ) + env.Append(SCANNERS=pyxscanner) + env['BUILDERS']['Cython'] = cython + return cython + +def cython_suffix_emitter(env, source): + return "$CYTHONCFILESUFFIX" + +def generate(env): + env["CYTHON"] = "cythonize" + env["CYTHONCOM"] = "$CYTHON $CYTHONFLAGS $SOURCE" + env["CYTHONCFILESUFFIX"] = ".cpp" + + c_file, _ = SCons.Tool.createCFileBuilders(env) + + c_file.suffix['.pyx'] = cython_suffix_emitter + c_file.add_action('.pyx', cythonAction) + + c_file.suffix['.py'] = cython_suffix_emitter + c_file.add_action('.py', cythonAction) + + create_builder(env) + +def exists(env): + return True diff --git a/rednose_repo/site_scons/site_tools/rednose_filter.py b/rednose_repo/site_scons/site_tools/rednose_filter.py new file mode 100644 index 0000000000..1a26a3b966 --- /dev/null +++ b/rednose_repo/site_scons/site_tools/rednose_filter.py @@ -0,0 +1,48 @@ +import platform + +from SCons.Script import Dir, File + + +def compile_single_filter(env, target, filter_gen_script, output_dir, extra_gen_artifacts, script_deps): + generated_src_files = [File(f) for f in [f'{output_dir}/{target}.cpp', f'{output_dir}/{target}.h']] + extra_generated_files = [File(f'{output_dir}/{x}') for x in extra_gen_artifacts] + generator_file = File(filter_gen_script) + + env.Command(generated_src_files + extra_generated_files, + [generator_file] + script_deps, f"{File(generator_file).relpath} {target} {Dir(output_dir).relpath}") + + generated_cc_file = File(generated_src_files[:1]) + + return generated_cc_file + + +class BaseRednoseCompileMethod: + def __init__(self, base_py_deps, base_cc_deps): + self.base_py_deps = base_py_deps + self.base_cc_deps = base_cc_deps + + +class CompileFilterMethod(BaseRednoseCompileMethod): + def __call__(self, env, target, filter_gen_script, output_dir, extra_gen_artifacts=[], gen_script_deps=[]): + objects = compile_single_filter(env, target, filter_gen_script, output_dir, extra_gen_artifacts, self.base_py_deps + gen_script_deps) + linker_flags = env.get("LINKFLAGS", []) + if platform.system() == "Darwin": + linker_flags = ["-undefined", "dynamic_lookup"] + lib_target = env.SharedLibrary(f'{output_dir}/{target}', [self.base_cc_deps, objects], LINKFLAGS=linker_flags) + + return lib_target + + +def generate(env): + templates = env.Glob("$REDNOSE_ROOT/rednose/templates/*") + sympy_helpers = env.File("$REDNOSE_ROOT/rednose/helpers/sympy_helpers.py") + ekf_sym = env.File("$REDNOSE_ROOT/rednose/helpers/ekf_sym.py") + + gen_script_deps = templates + [sympy_helpers, ekf_sym] + filter_lib_deps = [] + + env.AddMethod(CompileFilterMethod(gen_script_deps, filter_lib_deps), "RednoseCompileFilter") + + +def exists(env): + return True diff --git a/scripts/__init__.py b/scripts/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/scripts/apply-pr.sh b/scripts/apply-pr.sh new file mode 100755 index 0000000000..74f765391a --- /dev/null +++ b/scripts/apply-pr.sh @@ -0,0 +1,11 @@ +#!/bin/bash + +if [ $# -eq 0 ]; then + echo "usage: $0 " + exit 1 +fi + +BASE="https://github.com/commaai/openpilot/pull/" +PR_NUM="$(echo $1 | grep -o -E '[0-9]+')" + +curl -L $BASE/$PR_NUM.patch | git apply -3 diff --git a/scripts/build_small.sh b/scripts/build_small.sh new file mode 100755 index 0000000000..90f55373e2 --- /dev/null +++ b/scripts/build_small.sh @@ -0,0 +1,39 @@ +#!/bin/bash +set -ex + +DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" +cd $DIR + +# git clone --mirror +SRC=/tmp/openpilot.git/ +OUT=/tmp/smallpilot/ + +echo "starting size $(du -hs .git/)" + +rm -rf $OUT + +cd $SRC +git remote update + +# copy contents +#rsync -a --exclude='.git/' $DIR $OUT + +cp -r $SRC $OUT + +cd $OUT + +# remove all tags +git tag -l | xargs git tag -d + +# remove non-master branches +BRANCHES="release2 release3 devel master-ci nightly" +for branch in $BRANCHES; do + git branch -D $branch + git branch -D ${branch}-staging || true +done + +#git gc +git reflog expire --expire=now --all +git gc --prune=now +git gc --aggressive --prune=now +echo "new one is $(du -hs .)" diff --git a/scripts/cell.sh b/scripts/cell.sh new file mode 100755 index 0000000000..4ba007a532 --- /dev/null +++ b/scripts/cell.sh @@ -0,0 +1,3 @@ +#!/usr/bin/bash +nmcli connection modify --temporary esim ipv4.route-metric 1 ipv6.route-metric 1 +nmcli con up esim diff --git a/scripts/checkout-pr.sh b/scripts/checkout-pr.sh new file mode 100755 index 0000000000..43f658beff --- /dev/null +++ b/scripts/checkout-pr.sh @@ -0,0 +1,16 @@ +#!/bin/bash +set -e + +if [ $# -eq 0 ]; then + echo "usage: $0 " + exit 1 +fi + +BASE="https://github.com/commaai/openpilot/pull/" +PR_NUM="$(echo $1 | grep -o -E '[0-9]+')" +BRANCH=tmp-pr${PR_NUM} + +git branch -D -f $BRANCH || true +git fetch -u -f origin pull/$PR_NUM/head:$BRANCH +git switch $BRANCH +git reset --hard FETCH_HEAD diff --git a/scripts/code_stats.py b/scripts/code_stats.py new file mode 100755 index 0000000000..3189cd7cc1 --- /dev/null +++ b/scripts/code_stats.py @@ -0,0 +1,54 @@ +#!/usr/bin/env python3 +import os +import ast +import stat +import subprocess + +fouts = {x.decode('utf-8') for x in subprocess.check_output(['git', 'ls-files']).strip().split()} + +pyf = [] +for d in ["cereal", "common", "scripts", "selfdrive", "tools"]: + for root, _, files in os.walk(d): + for f in files: + if f.endswith(".py"): + pyf.append(os.path.join(root, f)) + +imps: set[str] = set() + +class Analyzer(ast.NodeVisitor): + def visit_Import(self, node): + for alias in node.names: + imps.add(alias.name) + self.generic_visit(node) + + def visit_ImportFrom(self, node): + imps.add(node.module) + self.generic_visit(node) + +tlns = 0 +carlns = 0 +scriptlns = 0 +testlns = 0 +for f in sorted(pyf): + if f not in fouts: + continue + xbit = bool(os.stat(f)[stat.ST_MODE] & stat.S_IXUSR) + src = open(f).read() + lns = len(src.split("\n")) + tree = ast.parse(src) + Analyzer().visit(tree) + print("%5d %s %s" % (lns, f, xbit)) + if 'test' in f: + testlns += lns + elif f.startswith(('tools/', 'scripts/', 'selfdrive/debug')): + scriptlns += lns + elif f.startswith('selfdrive/car'): + carlns += lns + else: + tlns += lns + +print("%d lines of openpilot python" % tlns) +print("%d lines of car ports" % carlns) +print("%d lines of tools/scripts/debug" % scriptlns) +print("%d lines of tests" % testlns) +#print(sorted(list(imps))) diff --git a/scripts/count_cars.py b/scripts/count_cars.py new file mode 100755 index 0000000000..28057ddb04 --- /dev/null +++ b/scripts/count_cars.py @@ -0,0 +1,11 @@ +#!/usr/bin/env python3 +from collections import Counter +from pprint import pprint + +from openpilot.selfdrive.car.docs import get_all_car_docs + +if __name__ == "__main__": + cars = get_all_car_docs() + make_count = Counter(l.make for l in cars) + print("\n", "*" * 20, len(cars), "total", "*" * 20, "\n") + pprint(make_count) diff --git a/scripts/disable-powersave.py b/scripts/disable-powersave.py new file mode 100755 index 0000000000..367b4108b0 --- /dev/null +++ b/scripts/disable-powersave.py @@ -0,0 +1,5 @@ +#!/usr/bin/env python3 +from openpilot.system.hardware import HARDWARE + +if __name__ == "__main__": + HARDWARE.set_power_save(False) diff --git a/scripts/git_rewrite/rewrite-git-history.sh b/scripts/git_rewrite/rewrite-git-history.sh new file mode 100755 index 0000000000..5a97e6bbad --- /dev/null +++ b/scripts/git_rewrite/rewrite-git-history.sh @@ -0,0 +1,390 @@ +#!/bin/bash -e + +SRC=/tmp/openpilot/ +SRC_CLONE=/tmp/openpilot-clone/ +OUT=/tmp/openpilot-tiny/ + +REWRITE_IGNORE_BRANCHES=( + dashcam3 + devel + master-ci + nightly + release2 + release3 + release3-staging +) + +VALIDATE_IGNORE_FILES=( + ".github/ISSUE_TEMPLATE/bug_report.md" + ".github/pull_request_template.md" +) + +DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" +cd $DIR + +LOGS_DIR=$DIR/git-rewrite-$(date +"%Y-%m-%dT%H:%M:%S%z") +mkdir -p $LOGS_DIR + +GIT_REWRITE_LOG=$LOGS_DIR/git-rewrite-log.txt +BRANCH_DIFF_LOG=$LOGS_DIR/branch-diff-log.txt +COMMIT_DIFF_LOG=$LOGS_DIR/commit-diff-log.txt + +START_TIME=$(date +%s) +exec > >(while IFS= read -r line; do + CURRENT_TIME=$(date +%s) + ELAPSED_TIME=$((CURRENT_TIME - START_TIME)) + echo "[${ELAPSED_TIME}s] $line" +done | tee -a "$GIT_REWRITE_LOG") 2>&1 + +# INSTALL git-filter-repo +if [ ! -f /tmp/git-filter-repo ]; then + echo "Installing git-filter-repo..." + curl -sSo /tmp/git-filter-repo https://raw.githubusercontent.com/newren/git-filter-repo/main/git-filter-repo + chmod +x /tmp/git-filter-repo +fi + +# MIRROR openpilot +if [ ! -d $SRC ]; then + echo "Mirroring openpilot..." + git clone --mirror https://github.com/commaai/openpilot.git $SRC # 4.18 GiB (488034 objects) + + cd $SRC + + echo "Starting size $(du -sh .)" + + git remote update + + # the git-filter-repo analysis is bliss - can be found in the repo root/filter-repo/analysis + echo "Analyzing with git-filter-repo..." + /tmp/git-filter-repo --force --analyze + + echo "Pushing to openpilot-archive..." + # push to archive repo - in smaller parts because the 2 GB push limit - https://docs.github.com/en/get-started/using-git/troubleshooting-the-2-gb-push-limit + ARCHIVE_REPO=git@github.com:commaai/openpilot-archive.git + git push --prune $ARCHIVE_REPO +refs/heads/master:refs/heads/master # push master first so it's the default branch (when openpilot-archive is an empty repo) + git push --prune $ARCHIVE_REPO +refs/heads/*:refs/heads/* # 956.39 MiB (110725 objects) + git push --prune $ARCHIVE_REPO +refs/tags/*:refs/tags/* # 1.75 GiB (21694 objects) + # git push --mirror $ARCHIVE_REPO || true # fails to push refs/pull/* (deny updating a hidden ref) for pull requests + # we fail and continue - more reading: https://stackoverflow.com/a/34266401/639708 and https://blog.plataformatec.com.br/2013/05/how-to-properly-mirror-a-git-repository/ +fi + +# REWRITE master and tags +if [ ! -d $SRC_CLONE ]; then + echo "Cloning $SRC..." + GIT_LFS_SKIP_SMUDGE=1 git clone $SRC $SRC_CLONE + + cd $SRC_CLONE + + echo "Checking out old history..." + + git checkout tags/v0.7.1 > /dev/null 2>&1 + # checkout as main, since we need master ref later + git checkout -b main + + echo "Creating setup commits..." + + # rm these so we don't get conflicts later + git rm -r cereal opendbc panda selfdrive/ui/ui > /dev/null + git commit -m "removed conflicting files" > /dev/null + + # skip-smudge to get rid of some lfs errors that it can't find the reference of some lfs files + # we don't care about fetching/pushing lfs right now + git lfs install --skip-smudge --local + + # squash initial setup commits + git cherry-pick -n -X theirs 6c33a5c..59b3d06 > /dev/null + git commit -m "switching to master" > /dev/null + + # squash the two commits + git reset --soft HEAD~2 + git commit -m "switching to master" -m "$(git log --reverse --format=%B 6c33a5c..59b3d06)" -m "removed conflicting files" > /dev/null + + # get commits we want to cherry-pick + # will start with the next commit after #59b3d06 tools is local now + COMMITS=$(git rev-list --reverse 59b3d06..master) + + # we need this for logging + TOTAL_COMMITS=$(echo $COMMITS | wc -w | xargs) + CURRENT_COMMIT_NUMBER=0 + + # empty this file + > commit-map.txt + + echo "Rewriting master commits..." + + for COMMIT in $COMMITS; do + CURRENT_COMMIT_NUMBER=$((CURRENT_COMMIT_NUMBER + 1)) + # echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Cherry-picking commit: $COMMIT"\\r + echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Cherry-picking commit: $COMMIT" + + # set environment variables to preserve author/committer and dates + export GIT_AUTHOR_NAME=$(git show -s --format='%an' $COMMIT) + export GIT_AUTHOR_EMAIL=$(git show -s --format='%ae' $COMMIT) + export GIT_COMMITTER_NAME=$(git show -s --format='%cn' $COMMIT) + export GIT_COMMITTER_EMAIL=$(git show -s --format='%ce' $COMMIT) + export GIT_AUTHOR_DATE=$(git show -s --format='%ad' $COMMIT) + export GIT_COMMITTER_DATE=$(git show -s --format='%cd' $COMMIT) + + # cherry-pick the commit + if ! GIT_OUTPUT=$(git cherry-pick -m 1 -X theirs $COMMIT 2>&1); then + # check if the failure is because of an empty commit + if [[ "$GIT_OUTPUT" == *"The previous cherry-pick is now empty"* ]]; then + echo "Empty commit detected. Skipping commit $COMMIT" + git cherry-pick --skip + # log it was empty to the mapping file + echo "$COMMIT EMPTY" >> commit-map.txt + else + # handle other errors or conflicts + echo "Cherry-pick failed. Handling error..." + echo "$GIT_OUTPUT" + exit 1 + fi + else + # capture the new commit hash + NEW_COMMIT=$(git rev-parse HEAD) + + # save the old and new commit hashes to the mapping file + echo "$COMMIT $NEW_COMMIT" >> commit-map.txt + + # append the old commit ID to the commit message + git commit --amend -m "$(git log -1 --pretty=%B)" -m "Former-commit-id: $COMMIT" > /dev/null + fi + + # prune every 3000 commits to avoid gc errors + if [ $((CURRENT_COMMIT_NUMBER % 3000)) -eq 0 ]; then + echo "Pruning repo..." + git gc + fi + done + + echo "Rewriting tags..." + + # remove all old tags + git tag -l | xargs git tag -d + + # read each line from the tag-commit-map.txt + while IFS=' ' read -r TAG OLD_COMMIT; do + # search for the new commit in commit-map.txt corresponding to the old commit + NEW_COMMIT=$(grep "^$OLD_COMMIT " "commit-map.txt" | awk '{print $2}') + + # check if this is a rebased commit + if [ -z "$NEW_COMMIT" ]; then + # if not, then just use old commit hash + NEW_COMMIT=$OLD_COMMIT + fi + + echo "Rewriting tag $TAG from commit $NEW_COMMIT" + git tag -f "$TAG" "$NEW_COMMIT" + done < "$DIR/tag-commit-map.txt" + + # uninstall lfs since we don't want to touch (push to) lfs right now + # git push will also push lfs, if we don't uninstall (--local so just for this repo) + git lfs uninstall --local + + # force push new master + git push --force origin main:master + + # force push new tags + git push --force --tags +fi + +# REWRITE branches based on master +if [ ! -f "$SRC_CLONE/rewrite-branches-done" ]; then + cd $SRC_CLONE + > rewrite-branches-done + + # empty file + > $BRANCH_DIFF_LOG + + echo "Rewriting branches based on master..." + + # will store raw diffs here, if exist + mkdir -p differences + + # get a list of all branches except master and REWRITE_IGNORE_BRANCHES + BRANCHES=$(git branch -r | grep -v ' -> ' | sed 's/.*origin\///' | grep -v '^master$' | grep -v -f <(echo "${REWRITE_IGNORE_BRANCHES[*]}" | tr ' ' '\n')) + + for BRANCH in $BRANCHES; do + # check if the branch is based on master history + MERGE_BASE=$(git merge-base master origin/$BRANCH) || true + if [ -n "$MERGE_BASE" ]; then + echo "Rewriting branch: $BRANCH" + + # create a new branch based on the new master + NEW_MERGE_BASE=$(grep "^$MERGE_BASE " "commit-map.txt" | awk '{print $2}') + if [ -z "$NEW_MERGE_BASE" ]; then + echo "Error: could not find new merge base for branch $BRANCH" >> $BRANCH_DIFF_LOG + continue + fi + git checkout -b ${BRANCH}_new $NEW_MERGE_BASE + + # get the range of commits unique to this branch + COMMITS=$(git rev-list --reverse $MERGE_BASE..origin/${BRANCH}) + + HAS_ERROR=0 + + # simple delimiter + echo "BRANCH ${BRANCH}" >> commit-map.txt + + for COMMIT in $COMMITS; do + # set environment variables to preserve author/committer and dates + export GIT_AUTHOR_NAME=$(git show -s --format='%an' $COMMIT) + export GIT_AUTHOR_EMAIL=$(git show -s --format='%ae' $COMMIT) + export GIT_COMMITTER_NAME=$(git show -s --format='%cn' $COMMIT) + export GIT_COMMITTER_EMAIL=$(git show -s --format='%ce' $COMMIT) + export GIT_AUTHOR_DATE=$(git show -s --format='%ad' $COMMIT) + export GIT_COMMITTER_DATE=$(git show -s --format='%cd' $COMMIT) + + # cherry-pick the commit + if ! GIT_OUTPUT=$(git cherry-pick -m 1 -X theirs $COMMIT 2>&1); then + # check if the failure is because of an empty commit + if [[ "$GIT_OUTPUT" == *"The previous cherry-pick is now empty"* ]]; then + echo "Empty commit detected. Skipping commit $COMMIT" + git cherry-pick --skip + # log it was empty to the mapping file + echo "$COMMIT EMPTY" >> commit-map.txt + else + # handle other errors or conflicts + echo "Cherry-pick of ${BRANCH} branch failed. Removing branch upstream..." >> $BRANCH_DIFF_LOG + echo "$GIT_OUTPUT" > "$LOGS_DIR/branch-${BRANCH}" + git cherry-pick --abort + git push --delete origin ${BRANCH} + HAS_ERROR=1 + break + fi + else + # capture the new commit hash + NEW_COMMIT=$(git rev-parse HEAD) + + # save the old and new commit hashes to the mapping file + echo "$COMMIT $NEW_COMMIT" >> commit-map.txt + + # append the old commit ID to the commit message + git commit --amend -m "$(git log -1 --pretty=%B)" -m "Former-commit-id: $COMMIT" > /dev/null + fi + done + + # force push the new branch + if [ $HAS_ERROR -eq 0 ]; then + # git lfs goes haywire here, so we need to install and uninstall + # git lfs install --skip-smudge --local + git lfs uninstall --local > /dev/null + git push -f origin ${BRANCH}_new:${BRANCH} + fi + + # clean up local branch + git checkout master > /dev/null + git branch -D ${BRANCH}_new > /dev/null + else + echo "Deleting branch $BRANCH as it's not based on master history" >> $BRANCH_DIFF_LOG + git push --delete origin ${BRANCH} + fi + done +fi + +# VALIDATE cherry-pick +if [ ! -f "$SRC_CLONE/validation-done" ]; then + cd $SRC_CLONE + > validation-done + + TOTAL_COMMITS=$(grep -cve '^\s*$' commit-map.txt) + CURRENT_COMMIT_NUMBER=0 + COUNT_SAME=0 + COUNT_DIFF=0 + + # empty file + > $COMMIT_DIFF_LOG + + echo "Validating commits..." + + # will store raw diffs here, if exist + mkdir -p differences + + # read each line from commit-map.txt + while IFS=' ' read -r OLD_COMMIT NEW_COMMIT; do + if [ "$NEW_COMMIT" == "EMPTY" ]; then + continue + fi + if [ "$OLD_COMMIT" == "BRANCH" ]; then + echo "Branch ${NEW_COMMIT} below:" >> $COMMIT_DIFF_LOG + continue + fi + CURRENT_COMMIT_NUMBER=$((CURRENT_COMMIT_NUMBER + 1)) + # retrieve short hashes and dates for the old and new commits + OLD_COMMIT_SHORT=$(git rev-parse --short $OLD_COMMIT) + NEW_COMMIT_SHORT=$(git rev-parse --short $NEW_COMMIT) + OLD_DATE=$(git show -s --format='%cd' $OLD_COMMIT) + NEW_DATE=$(git show -s --format='%cd' $NEW_COMMIT) + + # echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Comparing old commit $OLD_COMMIT_SHORT ($OLD_DATE) with new commit $NEW_COMMIT_SHORT ($NEW_DATE)"\\r + echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Comparing old commit $OLD_COMMIT_SHORT ($OLD_DATE) with new commit $NEW_COMMIT_SHORT ($NEW_DATE)" + + # generate lists of files and their hashes for the old and new commits, excluding ignored files + OLD_FILES=$(git ls-tree -r $OLD_COMMIT | grep -vE "$(IFS='|'; echo "${VALIDATE_IGNORE_FILES[*]}")") + NEW_FILES=$(git ls-tree -r $NEW_COMMIT | grep -vE "$(IFS='|'; echo "${VALIDATE_IGNORE_FILES[*]}")") + + # Compare the diffs + if diff <(echo "$OLD_FILES") <(echo "$NEW_FILES") > /dev/null; then + # echo "Old commit $OLD_COMMIT_SHORT and new commit $NEW_COMMIT_SHORT are equivalent." + COUNT_SAME=$((COUNT_SAME + 1)) + else + echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Difference found between old commit $OLD_COMMIT_SHORT and new commit $NEW_COMMIT_SHORT" >> $COMMIT_DIFF_LOG + COUNT_DIFF=$((COUNT_DIFF + 1)) + set +e + diff -u <(echo "$OLD_FILES") <(echo "$NEW_FILES") > "$LOGS_DIR/commit-$CURRENT_COMMIT_NUMBER-$OLD_COMMIT_SHORT-$NEW_COMMIT_SHORT" + set -e + fi + done < "commit-map.txt" + + echo "Summary:" >> $COMMIT_DIFF_LOG + echo "Equivalent commits: $COUNT_SAME" >> $COMMIT_DIFF_LOG + echo "Different commits: $COUNT_DIFF" >> $COMMIT_DIFF_LOG +fi + +if [ ! -d $OUT ]; then + cp -r $SRC $OUT + + cd $OUT + + # remove all non-master branches + # git branch | grep -v "^ master$" | grep -v "\*" | xargs git branch -D + + # echo "cleaning up refs" + # delete pull request refs since we can't alter them anyway (https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally#error-failed-to-push-some-refs) + # git for-each-ref --format='%(refname)' | grep '^refs/pull/' | xargs -I {} git update-ref -d {} + + echo "importing new lfs files" + # import "almost" everything to lfs + BRANCHES=$(git for-each-ref --format='%(refname)' refs/heads/ | sed 's%refs/heads/%%g' | grep -v -f <(echo "${REWRITE_IGNORE_BRANCHES[*]}" | tr ' ' '\n') | tr '\n' ' ') + git lfs migrate import --include="*.dlc,*.onnx,*.svg,*.png,*.gif,*.ttf,*.wav,selfdrive/car/tests/test_models_segs.txt,system/hardware/tici/updater,selfdrive/ui/qt/spinner_larch64,selfdrive/ui/qt/text_larch64,third_party/**/*.a,third_party/**/*.so,third_party/**/*.so.*,third_party/**/*.dylib,third_party/acados/*/t_renderer,third_party/qt5/larch64/bin/lrelease,third_party/qt5/larch64/bin/lupdate,third_party/catch2/include/catch2/catch.hpp,*.apk,*.apkpatch,*.jar,*.pdf,*.jpg,*.mp3,*.thneed,*.tar.gz,*.npy,*.csv,*.a,*.so*,*.dylib,*.o,*.b64,selfdrive/hardware/tici/updater,selfdrive/boardd/tests/test_boardd,selfdrive/ui/qt/spinner_aarch64,installer/updater/updater,selfdrive/debug/profiling/simpleperf/**/*,selfdrive/hardware/eon/updater,selfdrive/ui/qt/text_aarch64,selfdrive/debug/profiling/pyflame/**/*,installer/installers/installer_openpilot,installer/installers/installer_dashcam,selfdrive/ui/text/text,selfdrive/ui/android/text/text,selfdrive/ui/spinner/spinner,selfdrive/visiond/visiond,selfdrive/loggerd/loggerd,selfdrive/sensord/sensord,selfdrive/sensord/gpsd,selfdrive/ui/android/spinner/spinner,selfdrive/ui/qt/spinner,selfdrive/ui/qt/text,_stringdefs.py,dfu-util-aarch64-linux,dfu-util-aarch64,dfu-util-x86_64-linux,dfu-util-x86_64,stb_image.h,clpeak3,clwaste,apk/**/*,external/**/*,phonelibs/**/*,third_party/boringssl/**/*,flask/**/*,panda/**/*,board/**/*,messaging/**/*,opendbc/**/*,tools/cabana/chartswidget.cc,third_party/nanovg/**/*,selfdrive/controls/lib/lateral_mpc/lib_mpc_export/**/*,selfdrive/ui/paint.cc,werkzeug/**/*,pyextra/**/*,third_party/android_hardware_libhardware/**/*,selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/**/*,selfdrive/locationd/laikad.py,selfdrive/locationd/test/test_laikad.py,tools/gpstest/test_laikad.py,selfdrive/locationd/laikad_helpers.py,tools/nui/**/*,jsonrpc/**/*,selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/**/*,selfdrive/controls/lib/lateral_mpc/mpc_export/**/*,selfdrive/camerad/cameras/camera_qcom.cc,selfdrive/manager.py,selfdrive/modeld/models/driving.cc,third_party/curl/**/*,selfdrive/modeld/thneed/debug/**/*,selfdrive/modeld/thneed/include/**/*,third_party/openmax/**/*,selfdrive/controls/lib/longitudinal_mpc/mpc_export/**/*,selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/**/*,Pipfile,Pipfile.lock,gunicorn/**/*,*.qm,jinja2/**/*,click/**/*,dbcs/**/*,websocket/**/*" $BRANCHES + + echo "reflog and gc" + # this is needed after lfs import + git reflog expire --expire=now --all + git gc --prune=now --aggressive + + # check the git-filter-repo analysis again - can be found in the repo root/filter-repo/analysis + echo "Analyzing with git-filter-repo..." + /tmp/git-filter-repo --force --analyze + + echo "New size is $(du -sh .)" +fi + +cd $OUT + +# fetch all lfs files from https://github.com/commaai/openpilot.git +# some lfs files are missing on gitlab, but they can be found on github +git config lfs.url https://github.com/commaai/openpilot.git/info/lfs +git config lfs.pushurl ssh://git@github.com/commaai/openpilot.git +git lfs fetch --all || true + +# also fetch all lfs files from https://gitlab.com/commaai/openpilot-lfs.git +git config lfs.url https://gitlab.com/commaai/openpilot-lfs.git/info/lfs +git config lfs.pushurl ssh://git@gitlab.com/commaai/openpilot-lfs.git +git lfs fetch --all || true + +# final push - will also push lfs +# TODO: switch to git@github.com:commaai/openpilot.git when ready +# git push --mirror git@github.com:commaai/openpilot-tiny.git +# using this instead to ignore refs/pull/* - since this is also what --mirror does - https://blog.plataformatec.com.br/2013/05/how-to-properly-mirror-a-git-repository/ +git push --prune git@github.com:commaai/openpilot-tiny.git +refs/heads/*:refs/heads/* +refs/tags/*:refs/tags/* diff --git a/scripts/git_rewrite/tag-commit-map.txt b/scripts/git_rewrite/tag-commit-map.txt new file mode 100644 index 0000000000..66b1fb00c1 --- /dev/null +++ b/scripts/git_rewrite/tag-commit-map.txt @@ -0,0 +1,82 @@ +v0.1 e94a30bec07e719c5a7b037ca1f4db8312702cce +v0.2 449b482cc3236ccf31829830b4f6a44b2dcc06c2 +v0.2.1 17d9becd3c673091b22f09aa02559a9ed9230f50 +v0.2.2 a64b9aa9b8cb5863c917b6926516291a63c02fe5 +v0.2.3 adaa4ed350acda4067fc0b455ad15b54cdf4c768 +v0.2.4 ecc565aa3fdc4c7e719aadc000e1fdc4d80d4fe0 +v0.2.5 29c58b45882ac79595356caf98580c1d2a626011 +v0.2.6 6c3afeec0fb439070b2912978b8dbb659033b1d9 +v0.2.7 c6ba5dc5391d3ca6cda479bf1923b88ce45509a0 +v0.2.8 95a349abcc050712c50d4d85a1c8a804eee7f6c2 +v0.2.9 693bcb0f83478f2651db6bac9be5ca5ad60d03f3 +v0.3.0 c5d8aec28b5230d34ae4b677c2091cc3dec7e3e8 +v0.3.1 41e3a0f699f5c39cb61a15c0eb7a4aa816d47c24 +v0.3.2 7fe46f1e1df5dec08a940451ba0feefd5c039165 +v0.3.3 5cf91d0496688fed4f2a6c7021349b1fc0e057a2 +v0.3.4 1b8c44b5067525a5d266b6e99799d8097da76a29 +v0.3.5 b111277f464cf66fa34b67819a83ea683e0f64df +v0.4.0.2 da52d065a4c4f52d6017a537f3a80326f5af8bdc +v0.4.1 4474b9b3718653aeb0aee26422caefb90460cc0e +v0.4.2 28c0797d30175043bbfa31307b63aab4197cf996 +v0.4.4 9a9ff839a9b70cb2601d7696af743f5652395389 +v0.4.5 37285038d3f91fa1b49159c4a35a8383168e644f +v0.4.6 c6df34f55ba8c5a911b60d3f9eb20e3fa45f68c1 +v0.4.7 ae5cb7a0dab8b1bed9d52292f9b4e8e66a0f8ec9 +v0.5 de33bc46452b1046387ee2b3a03191b2c71135fb +v0.5.1 8f22f52235c48eada586795ac57edb22688e4d08 +v0.5.2 0129a8a4ff8da5314e8e4d4d3336e89667ff6d54 +v0.5.3 285c52eb693265a0a530543e9ca0aeb593a2a55e +v0.5.4 a422246dc30bce11e970514f13f7c110f4470cc3 +v0.5.5 8f3539a27b28851153454eb737da9624cccaed2d +v0.5.6 860a48765d1016ba226fb2c64aea35a45fe40e4a +v0.5.7 9ce3045f139ee29bf0eea5ec59dfe7df9c3d2c51 +v0.5.8 2cee2e05ba0f3824fdbb8b957958800fa99071a1 +v0.5.9 ad145da3bcded0fe75306df02061d07a633963c3 +v0.5.10 ff4c1557d8358f158f4358788ff18ef93d2470ef +v0.5.11 d1866845df423c6855e2b365ff230cf7d89a420b +v0.5.12 f6e8ef27546e9a406724841e75f8df71cc4c2c97 +v0.5.13 dd34ccfe288ebda8e2568cf550994ae890379f45 +v0.6 60a20537c5f3fcc7f11946d81aebc8f90c08c117 +v0.6.1 cf5c4aeacb1703d0ffd35bdb5297d3494fee9a22 +v0.6.2 095ef5f9f60fca1b269aabcc3cfd322b17b9e674 +v0.6.3 d5f9caa82d80cdcc7f1b7748f2cf3ccbf94f82a3 +v0.6.4 58f376002e0c654fbc2de127765fa297cf694a33 +v0.6.5 70d17cd69b80e7627dcad8fd5b6438f2309ac307 +v0.6.6 d4eb5a6eafdd4803d09e6f3963918216cca5a81f +v0.7 a2ae18d1dbd1e59c38ce22fa25ddffbd1d3084e3 +v0.7.1 1e1de64a1e59476b7b3d3558b92149246d5c3292 +v0.7.2 59bd58c940673b4c4a6a86f299022614bcf42b22 +v0.7.3 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d630ec9092f039cb5e51c5dd6d92fc47b91407e4 +v0.8.12 57871c99031cf597ffa0d819057ac1401e129f32 +v0.8.13 e43e6e876513450d235124fcb711f1724ed9814c +v0.8.14 71901c94dbbaa2f9f156a80c14cc7ea65219fc7c +v0.8.15 5a7c2f90361e72e9c35e88abd2e11acdc4aba354 +v0.8.16 f41dc62a12cc0f3cb8c5453c0caa0ba21e1bd01e +v0.9.0 58b84fb401a804967aa0dd5ee66fafa90194fd30 +v0.9.1 89f68bf0cbf53a81b0553d3816fdbe522f941fa1 +v0.9.2 c7d3b28b93faa6c955fb24bc64031512ee985ee9 +v0.9.3 8704c1ff952b5c85a44f50143bbd1a4f7b4887e2 +v0.9.4 fa310d9e2542cf497d92f007baec8fd751ffa99c +v0.9.5 3b1e9017c560499786d8a0e46aaaeea65037acac +v0.9.6 0b4d08fab8e35a264bc7383e878538f8083c33e5 +v0.9.7 f8cb04e4a8b032b72a909f68b808a50936184bee diff --git a/scripts/launch_corolla.sh b/scripts/launch_corolla.sh new file mode 100755 index 0000000000..4e5bca6ce5 --- /dev/null +++ b/scripts/launch_corolla.sh @@ -0,0 +1,7 @@ +#!/usr/bin/bash + +DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" + +export FINGERPRINT="TOYOTA_COROLLA_TSS2" +export SKIP_FW_QUERY="1" +$DIR/../launch_openpilot.sh diff --git a/scripts/lint.sh b/scripts/lint.sh new file mode 100755 index 0000000000..3cf548f2bb --- /dev/null +++ b/scripts/lint.sh @@ -0,0 +1,10 @@ +#!/bin/bash +set -e + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" +cd $DIR/../ + +# TODO: bring back rest of pre-commit checks: +# https://github.com/commaai/openpilot/blob/4b11c9e914707df9def598616995be2a5d355a6a/.pre-commit-config.yaml#L2 + +ruff check . diff --git a/scripts/mapd_dep_compress.sh b/scripts/mapd_dep_compress.sh new file mode 100644 index 0000000000..bfb518f6ff --- /dev/null +++ b/scripts/mapd_dep_compress.sh @@ -0,0 +1,5 @@ +#! usr/bin/bash + +DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." >/dev/null && pwd)" + +tar -cf - -C "$DIR/third_party" mapd | xz -9zev -T0 > "$DIR/selfdrive/mapd/assets/mapd_deps.tar.xz" diff --git a/scripts/pyqt_demo.py b/scripts/pyqt_demo.py new file mode 100755 index 0000000000..783728bdb8 --- /dev/null +++ b/scripts/pyqt_demo.py @@ -0,0 +1,14 @@ +#!/usr/bin/env python3 + +from PyQt5.QtWidgets import QApplication, QLabel +from openpilot.selfdrive.ui.qt.python_helpers import set_main_window + + +if __name__ == "__main__": + app = QApplication([]) + label = QLabel('Hello World!') + + # Set full screen and rotate + set_main_window(label) + + app.exec_() diff --git a/scripts/retry.sh b/scripts/retry.sh new file mode 100755 index 0000000000..4861748e55 --- /dev/null +++ b/scripts/retry.sh @@ -0,0 +1,27 @@ +#!/bin/bash + +function fail { + echo $1 >&2 + exit 1 +} + +function retry { + local n=1 + local max=3 # 3 retries before failure + local delay=5 # delay between retries, 5 seconds + while true; do + echo "Running command '$@' with retry, attempt $n/$max" + "$@" && break || { + if [[ $n -lt $max ]]; then + ((n++)) + sleep $delay; + else + fail "The command has failed after $n attempts." + fi + } + done +} + +if [[ "${BASH_SOURCE[0]}" == "${0}" ]]; then + retry "$@" +fi diff --git a/scripts/sp_carname_generator.py b/scripts/sp_carname_generator.py new file mode 100644 index 0000000000..27ecf8098b --- /dev/null +++ b/scripts/sp_carname_generator.py @@ -0,0 +1,79 @@ +import json +import os +from natsort import natsorted +from typing import Any, Dict, List + +from cereal import car +from common.basedir import BASEDIR +from selfdrive.car import gen_empty_fingerprint +from selfdrive.car.car_helpers import interfaces +from selfdrive.car.docs import get_all_footnotes +from openpilot.selfdrive.car.values import PLATFORMS + +UNSUPPORTED_BRANDS = ["body", "tesla"] + + +def get_all_car_names() -> Dict[str, str]: + car_names = {} + footnotes = get_all_footnotes() + + car_names["=== Not Selected ==="] = "" + + for model, platform in PLATFORMS.items(): + car_docs = platform.config.car_docs + CP = interfaces[model][0].get_params(platform, fingerprint=gen_empty_fingerprint(), + car_fw=[car.CarParams.CarFw(ecu="unknown")], experimental_long=True, docs=True) + + if CP.dashcamOnly or not len(car_docs): + continue + + if not isinstance(car_docs, list): + car_docs = (car_docs,) + + for _car_docs in car_docs: + if not hasattr(_car_docs, "row"): + _car_docs.init_make(CP) + _car_docs.init(CP, footnotes) + car_names[_car_docs.name] = model + + sorted_car_names = natsorted(car_names.keys(), key=lambda car: car.lower()) + return {car_name: car_names[car_name] for car_name in sorted_car_names} + + +def get_interface_attr(attr: str, combine_brands: bool = False, ignore_none: bool = False, + exclude_brands: List[str] = None) -> Dict[str, Any]: + if exclude_brands is None: + exclude_brands = [] + + result = {} + for car_folder in sorted([x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]): + try: + brand_name = car_folder.split('/')[-1] + + if brand_name in exclude_brands: + continue + + brand_values = __import__(f'selfdrive.car.{brand_name}.values', fromlist=[attr]) + if hasattr(brand_values, attr) or not ignore_none: + attr_data = getattr(brand_values, attr, None) + else: + continue + + if combine_brands: + if isinstance(attr_data, dict): + for f, v in attr_data.items(): + result[f] = v + else: + result[brand_name] = attr_data + except (ImportError, OSError): + pass + + return result + + +if __name__ == "__main__": + car_names_dict = get_all_car_names() + + with open(BASEDIR + "/selfdrive/car/sunnypilot_carname.json", "w") as json_file: + json.dump(car_names_dict, json_file, indent=2, ensure_ascii=False) + json_file.write('\n') diff --git a/scripts/stop_updater.sh b/scripts/stop_updater.sh new file mode 100755 index 0000000000..703b363928 --- /dev/null +++ b/scripts/stop_updater.sh @@ -0,0 +1,7 @@ +#!/usr/bin/env sh + +# Stop updater +pkill -2 -f system.updated.updated + +# Remove pending update +rm -f /data/safe_staging/finalized/.overlay_consistent diff --git a/scripts/sunnypilot/model_json_hash_generator.py b/scripts/sunnypilot/model_json_hash_generator.py new file mode 100644 index 0000000000..a6ecd761fd --- /dev/null +++ b/scripts/sunnypilot/model_json_hash_generator.py @@ -0,0 +1,28 @@ +import requests +import hashlib +import json + +# Function to calculate SHA-256 hash of a file downloaded from a given URI +def calculate_hash(download_uri): + response = requests.get(download_uri, stream=True) + hash_sha256 = hashlib.sha256() + for chunk in response.iter_content(chunk_size=1024): + hash_sha256.update(chunk) + return hash_sha256.hexdigest() + +# Download the models_v3.json file +models_v3_url = "https://docs.sunnypilot.ai/models_v3.json" +response = requests.get(models_v3_url) +models_data = response.json() + +# Iterate through each model and calculate SHA-256 for its files +for model_key, model_info in models_data.items(): + # Calculate and insert the SHA-256 hash for each download URI + model_info['download_uri'] = {'url': model_info['download_uri'], 'sha256': calculate_hash(model_info['download_uri'])} + model_info['download_uri_nav'] = {'url': model_info['download_uri_nav'], 'sha256': calculate_hash(model_info['download_uri_nav'])} + model_info['download_uri_metadata'] = {'url': model_info['download_uri_metadata'], 'sha256': calculate_hash(model_info['download_uri_metadata'])} + +# Save the updated JSON with hashes +updated_json_file_path = 'updated_models_v3.json' # Path for the updated JSON file +with open(updated_json_file_path, 'w') as file: + json.dump(models_data, file, indent=4) diff --git a/scripts/update_now.sh b/scripts/update_now.sh new file mode 100755 index 0000000000..c34228976a --- /dev/null +++ b/scripts/update_now.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env sh + +# Send SIGHUP to updater +pkill -1 -f system.updated diff --git a/scripts/waste.c b/scripts/waste.c new file mode 100644 index 0000000000..2e492916a7 --- /dev/null +++ b/scripts/waste.c @@ -0,0 +1,89 @@ +// gcc -O2 waste.c -lpthread -owaste +// gcc -O2 waste.c -lpthread -owaste -DMEM + +#define _GNU_SOURCE +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "../common/timing.h" + +int get_nprocs(void); +double *ttime, *oout; + +void waste(int pid) { + cpu_set_t my_set; + CPU_ZERO(&my_set); + CPU_SET(pid, &my_set); + int ret = sched_setaffinity(0, sizeof(cpu_set_t), &my_set); + printf("set affinity to %d: %d\n", pid, ret); + + // 128 MB + float32x4_t *tmp = (float32x4_t *)malloc(0x800000*sizeof(float32x4_t)); + + // comment out the memset for CPU only and not RAM + // otherwise we need this to avoid the zero page +#ifdef MEM + memset(tmp, 0xaa, 0x800000*sizeof(float32x4_t)); +#endif + + float32x4_t out; + + double sec = seconds_since_boot(); + while (1) { + for (int i = 0; i < 0x10; i++) { + for (int j = 0; j < 0x800000; j+=0x20) { + out = vmlaq_f32(out, tmp[j+0], tmp[j+1]); + out = vmlaq_f32(out, tmp[j+2], tmp[j+3]); + out = vmlaq_f32(out, tmp[j+4], tmp[j+5]); + out = vmlaq_f32(out, tmp[j+6], tmp[j+7]); + out = vmlaq_f32(out, tmp[j+8], tmp[j+9]); + out = vmlaq_f32(out, tmp[j+10], tmp[j+11]); + out = vmlaq_f32(out, tmp[j+12], tmp[j+13]); + out = vmlaq_f32(out, tmp[j+14], tmp[j+15]); + out = vmlaq_f32(out, tmp[j+16], tmp[j+17]); + out = vmlaq_f32(out, tmp[j+18], tmp[j+19]); + out = vmlaq_f32(out, tmp[j+20], tmp[j+21]); + out = vmlaq_f32(out, tmp[j+22], tmp[j+23]); + out = vmlaq_f32(out, tmp[j+24], tmp[j+25]); + out = vmlaq_f32(out, tmp[j+26], tmp[j+27]); + out = vmlaq_f32(out, tmp[j+28], tmp[j+29]); + out = vmlaq_f32(out, tmp[j+30], tmp[j+31]); + } + } + double nsec = seconds_since_boot(); + ttime[pid] = nsec-sec; + oout[pid] = out[0] + out[1] + out[2] + out[3]; + sec = nsec; + } +} + +int main() { + int CORES = get_nprocs(); + ttime = (double *)malloc(CORES*sizeof(double)); + oout = (double *)malloc(CORES*sizeof(double)); + + pthread_t waster[CORES]; + for (long i = 0; i < CORES; i++) { + ttime[i] = NAN; + pthread_create(&waster[i], NULL, (void *(*)(void *))waste, (void*)i); + } + while (1) { + double avg = 0.0; + double iavg = 0.0; + for (int i = 0; i < CORES; i++) { + avg += ttime[i]; + iavg += 1/ttime[i]; + printf("%4.2f ", ttime[i]); + } + double mb_per_sec = (16.*0x800000/(1024*1024))*sizeof(float32x4_t)*iavg; + printf("-- %4.2f -- %.2f MB/s \n", avg/CORES, mb_per_sec); + sleep(1); + } +} + diff --git a/scripts/waste.py b/scripts/waste.py new file mode 100755 index 0000000000..bf92710fee --- /dev/null +++ b/scripts/waste.py @@ -0,0 +1,33 @@ +#!/usr/bin/env python3 +import os +import time +import numpy as np +from multiprocessing import Process +from openpilot.common.threadname import setthreadname + +def waste(core): + os.sched_setaffinity(0, [core,]) + + m1 = np.zeros((200, 200)) + 0.8 + m2 = np.zeros((200, 200)) + 1.2 + + i = 1 + st = time.monotonic() + j = 0 + while 1: + if (i % 100) == 0: + setthreadname("%3d: %8d" % (core, i)) + lt = time.monotonic() + print("%3d: %8d %f %.2f" % (core, i, lt-st, j)) + st = lt + i += 1 + j = np.sum(np.matmul(m1, m2)) + +def main(gctx=None): + print("1-2 seconds is baseline") + for i in range(os.cpu_count()): + p = Process(target=waste, args=(i,)) + p.start() + +if __name__ == "__main__": + main() diff --git a/selfdrive/__init__.py b/selfdrive/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/assets/.gitignore b/selfdrive/assets/.gitignore new file mode 100644 index 0000000000..1f90a2a932 --- /dev/null +++ b/selfdrive/assets/.gitignore @@ -0,0 +1,2 @@ +*.cc +translations_assets.qrc diff --git a/selfdrive/assets/assets.qrc b/selfdrive/assets/assets.qrc new file mode 100644 index 0000000000..6d8d8df334 --- /dev/null +++ b/selfdrive/assets/assets.qrc @@ -0,0 +1,20 @@ + + + ../../third_party/bootstrap/bootstrap-icons.svg + img_continue_triangle.svg + img_circled_check.svg + img_circled_slash.svg + img_eye_open.svg + img_eye_closed.svg + icons/close.svg + offroad/icon_lock_closed.svg + offroad/icon_checkmark.svg + offroad/icon_warning.png + offroad/icon_wifi_strength_low.svg + offroad/icon_wifi_strength_medium.svg + offroad/icon_wifi_strength_high.svg + offroad/icon_wifi_strength_full.svg + + ../ui/translations/languages.json + + diff --git a/selfdrive/assets/body/awake.gif b/selfdrive/assets/body/awake.gif new file mode 100644 index 0000000000..7ec67055dd Binary files /dev/null and b/selfdrive/assets/body/awake.gif differ diff --git a/selfdrive/assets/body/sleep.gif b/selfdrive/assets/body/sleep.gif new file mode 100644 index 0000000000..469cc80338 Binary files /dev/null and b/selfdrive/assets/body/sleep.gif differ diff --git a/selfdrive/assets/compress-images.sh b/selfdrive/assets/compress-images.sh new file mode 100755 index 0000000000..a1a4f8bb40 --- /dev/null +++ b/selfdrive/assets/compress-images.sh @@ -0,0 +1,7 @@ +#!/bin/bash + +echo "compressing training guide images" +optipng -o7 -strip all training/* + +# This can sometimes provide smaller images +# mogrify -quality 100 -format jpg training/* diff --git a/selfdrive/assets/fonts/Inter-Black.ttf b/selfdrive/assets/fonts/Inter-Black.ttf new file mode 100644 index 0000000000..5653757735 Binary files /dev/null and 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a/selfdrive/assets/images/triangle.svg b/selfdrive/assets/images/triangle.svg new file mode 100644 index 0000000000..9320269bde --- /dev/null +++ b/selfdrive/assets/images/triangle.svg @@ -0,0 +1,56 @@ + + + + + + image/svg+xml + + + + + + + + diff --git a/selfdrive/assets/img_chffr_wheel.png b/selfdrive/assets/img_chffr_wheel.png new file mode 100644 index 0000000000..3f09a35a79 Binary files /dev/null and b/selfdrive/assets/img_chffr_wheel.png differ diff --git a/selfdrive/assets/img_circled_check.svg b/selfdrive/assets/img_circled_check.svg new file mode 100644 index 0000000000..27c37395b2 --- /dev/null +++ b/selfdrive/assets/img_circled_check.svg @@ -0,0 +1,4 @@ + + + + diff --git a/selfdrive/assets/img_circled_slash.svg b/selfdrive/assets/img_circled_slash.svg new file mode 100644 index 0000000000..b10a3938d5 --- /dev/null +++ b/selfdrive/assets/img_circled_slash.svg @@ -0,0 +1,4 @@ + + + + diff --git a/selfdrive/assets/img_continue_triangle.svg 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    Supplier's Declaration of Conformity: 47 CFR § 2.1077 Compliance Information

    + +

    Unique Identifier

    +

    comma three

    + +

    Authorized Components

    + +
    Thundersoft TurboX D845 SOM
    +

    FCC ID: 2AOHHTURBOXSOMD845

    + +
    Quectel/EG25-G
    +

    FCC ID: XMR201903EG25G

    +

    + This device complies with Part 15 of the FCC Rules. + Operation is subject to the following two conditions: + +

    (1) this device may not cause harmful interference, and +

    (2) this device must accept any interference received, including interference that may cause undesired operation.

    + + The following test reports are subject to this declaration: + Test report number: HR20191001605 + Issue date: 2019-2-21 + + The following manufacturer/importer/entity (located in the USA) is responsible for this declaration: + Company name: Quectel Wireless Solutions Co., Ltd. + Name/Title (legal representative): Yin JiXiong + Address: 7th Floor, Hongye Building, No.1801 Hongmei Road, Xuhui District, Shanghai 200233, China + Phone: +8602150086326 Extension: 800 + Fax: +862153253668 + E-mail: johnny.xiang@quectel.com +

    + +

    Responsible Party - U.S. Contact Information

    +

    comma.ai

    +

    501 W Broadway St

    +

    STE A #403

    +

    San Diego, California

    +

    92101

    +

    United States

    +

    support@comma.ai

    + +

    FCC Compliance Statement

    +

    This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) This device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation. Note: This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference in a residential installation.

    +

    This equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in accordance with the instructions, may cause harmful interference to radio communications. However, there is no guarantee that interference will not occur in a particular installation.

    +

    If this equipment does cause harmful interference to radio or television reception, which can be determined by turning the equipment off and on, the user is encouraged to try to correct the interference by one or more of the following measures:

    +

    Reorient or relocate the receiving antenna.

    +

    Increase the separation between the equipment and receiver.

    +

    Connect the equipment to an outlet on a circuit different from that to which the receiver is connected.

    +

    Consult the dealer or an experienced radio/TV technician for help.

    +

    Changes or modifications to this product not expressly approved by the party responsible for compliance could void the electromagnetic compatibility (EMC) and wireless compliance and negate your authority to operate the product.

    +

    This product has demonstrated EMC compliance under conditions that included the use of compliant peripheral devices and shielded cables between system components. It is important that you use compliant peripheral devices and shielded cables between system components to reduce the possibility of causing interference to radios, televisions, and other electronic devices.

    +

    The radiated output power of this device meets the limits of FCC/IC radio frequency exposure limits. This device should be operated with a minimum separation distance of 20 cm (8 inches) between the equipment and a person's body.

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a/selfdrive/assets/offroad/icon_settings.png b/selfdrive/assets/offroad/icon_settings.png new file mode 100644 index 0000000000..d0c90a620d Binary files /dev/null and b/selfdrive/assets/offroad/icon_settings.png differ diff --git a/selfdrive/assets/offroad/icon_shell.png b/selfdrive/assets/offroad/icon_shell.png new file mode 100644 index 0000000000..f1d655416a Binary files /dev/null and b/selfdrive/assets/offroad/icon_shell.png differ diff --git a/selfdrive/assets/offroad/icon_software.png b/selfdrive/assets/offroad/icon_software.png new file mode 100644 index 0000000000..c098c7999c Binary files /dev/null and b/selfdrive/assets/offroad/icon_software.png differ diff --git a/selfdrive/assets/offroad/icon_speed_limit.png b/selfdrive/assets/offroad/icon_speed_limit.png new file mode 100644 index 0000000000..0aa7038f90 Binary files /dev/null and b/selfdrive/assets/offroad/icon_speed_limit.png differ diff --git a/selfdrive/assets/offroad/icon_toggle.png b/selfdrive/assets/offroad/icon_toggle.png new file mode 100644 index 0000000000..5c774db6f4 Binary files /dev/null and b/selfdrive/assets/offroad/icon_toggle.png differ diff --git a/selfdrive/assets/offroad/icon_trips.png b/selfdrive/assets/offroad/icon_trips.png new file mode 100644 index 0000000000..a042cf94da Binary files /dev/null and b/selfdrive/assets/offroad/icon_trips.png differ diff --git a/selfdrive/assets/offroad/icon_vehicle.png b/selfdrive/assets/offroad/icon_vehicle.png new file mode 100644 index 0000000000..68ef2d0c0b Binary files /dev/null and b/selfdrive/assets/offroad/icon_vehicle.png differ diff --git a/selfdrive/assets/offroad/icon_visuals.png b/selfdrive/assets/offroad/icon_visuals.png new file mode 100644 index 0000000000..8d066c90ba Binary files /dev/null and b/selfdrive/assets/offroad/icon_visuals.png differ diff --git a/selfdrive/assets/offroad/icon_warning.png b/selfdrive/assets/offroad/icon_warning.png new file mode 100644 index 0000000000..50fe821127 Binary files /dev/null and b/selfdrive/assets/offroad/icon_warning.png differ diff --git a/selfdrive/assets/offroad/icon_wifi_strength_full.svg b/selfdrive/assets/offroad/icon_wifi_strength_full.svg new file mode 100644 index 0000000000..758198e97f --- /dev/null +++ b/selfdrive/assets/offroad/icon_wifi_strength_full.svg @@ -0,0 +1,6 @@ + + + + + + diff --git a/selfdrive/assets/offroad/icon_wifi_strength_high.svg b/selfdrive/assets/offroad/icon_wifi_strength_high.svg new file mode 100644 index 0000000000..a8db07f91e --- /dev/null +++ b/selfdrive/assets/offroad/icon_wifi_strength_high.svg @@ -0,0 +1,6 @@ + + + + + + diff --git a/selfdrive/assets/offroad/icon_wifi_strength_low.svg b/selfdrive/assets/offroad/icon_wifi_strength_low.svg new file mode 100644 index 0000000000..8963c3dbc1 --- /dev/null +++ b/selfdrive/assets/offroad/icon_wifi_strength_low.svg @@ -0,0 +1,6 @@ + + + + + + diff --git a/selfdrive/assets/offroad/icon_wifi_strength_medium.svg b/selfdrive/assets/offroad/icon_wifi_strength_medium.svg new file mode 100644 index 0000000000..8f8d503260 --- /dev/null +++ b/selfdrive/assets/offroad/icon_wifi_strength_medium.svg @@ -0,0 +1,6 @@ + + + + + + diff --git a/selfdrive/assets/offroad/icon_wifi_uploading.svg b/selfdrive/assets/offroad/icon_wifi_uploading.svg new file mode 100644 index 0000000000..95cb0e283e --- /dev/null +++ b/selfdrive/assets/offroad/icon_wifi_uploading.svg @@ -0,0 +1,6 @@ + + + + + + diff --git a/selfdrive/assets/offroad/sp_tc.html b/selfdrive/assets/offroad/sp_tc.html new file mode 100644 index 0000000000..7bed194516 --- /dev/null +++ b/selfdrive/assets/offroad/sp_tc.html @@ -0,0 +1,44 @@ + + + + + sunnypilot Terms of Service + + + + +

    The Terms and Conditions below are effective for all users

    +

    Last Updated on June 13, 2024

    +

    Please read these Terms of Use (“Terms”) carefully before using sunnypilot which is software developed by SUNNYPILOT LLC, a Limited Liability Company organized under the laws of Virginia ("sunnypilot," “us,” “we,” or “our”). sunnypilot is a software forked from openpilot which is open-sourced software developed by Comma.ai, Inc., a corporation organized under the laws of Delaware (“comma”). sunnypilot builds upon the foundation of openpilot by incorporating additional features and improvements. openpilot can be found on https://github.com/commaai/openpilot

    +

    Before using and by accessing sunnypilot, you indicate that you have read, understood, and agree to these Terms. These Terms apply to all users and others who access or use sunnypilot. If others use sunnypilot through your user account or vehicle, you are responsible to ensure that they only use sunnypilot when it is safe to do so, and in compliance with these Terms and with applicable law. If you disagree with any part of the Terms, you should not access or use sunnypilot.

    +

    Communications

    +

    You agree that sunnypilot may contact you by email or telephone in connection with sunnypilot or for other business purposes. You may opt out of receiving email messages at any time by contacting us at support@sunnypilot.ai.

    +

    We collect, use, and share information from and about you and your vehicle in connection with sunnypilot. You consent to sunnypilot accessing the systems associated with sunnypilot, without additional notice or consent, for the purposes of providing sunnypilot, data collection, software updates, safety and cybersecurity, suspension or removal of your account, and as disclosed in the Privacy Policy (available at https://sunnypilot.ai/legal/privacy/).

    +

    Safety

    +

    sunnypilot performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) designed for use in compatible motor vehicles. While using sunnypilot, it is your responsibility to obey all laws, traffic rules, and traffic regulations governing your vehicle and its operation. Access to and use of sunnypilot is at your own risk and responsibility, and sunnypilot should be accessed and/or used only when you can do so safely.

    +

    sunnypilot does not make your vehicle “autonomous” or capable of operation without the active monitoring of a licensed driver. It is designed to assist a licensed driver. A licensed driver must pay attention to the road, remain aware of navigation at all times, and be prepared to take immediate action. Failure to do so can cause damage, injury, or death.

    +

    Supported Locations and Models

    +

    sunnypilot is compatible only with particular makes and models of vehicles. For a complete list of currently supported vehicles, visit https://comma.ai. sunnypilot will not function properly when installed in an incompatible vehicle. sunnypilot is compatible only within the geographical boundaries of the United States of America.

    +

    Indemnification

    +

    To the maximum extent allowable by law, you agree to defend, indemnify and hold harmless sunnypilot, and its employees, partners, suppliers, contractors, investors, agents, officers, directors, and affiliates, from and against any and all claims, damages, causes of action, penalties, interest, demands, obligations, losses, liabilities, costs or debt, additional taxes, and expenses (including but not limited to attorneys’ fees), resulting from or arising out of (i) your use and access of, or inability to use or access, sunnypilot, (ii) your breach of these Terms, (iii) the inaccuracy of any information, representation or warranty made by you, (iv) activities of anyone other than you in connection with sunnypilot conducted through your comma or other compatible device or account, (v) any other of your activities under or in connection with these Terms or sunnypilot.

    +

    Limitation of Liability

    +

    In no event shall sunnypilot, nor its directors, employees, partners, agents, suppliers, or affiliates, be liable for any indirect, incidental, special, consequential or punitive damages, including without limitation, loss of profits, data, use, goodwill, or other intangible losses, resulting from (i) your access to or use of or inability to access or use of the Software; or (ii) any conduct or content of any third party on the Software whether based on warranty, contract, tort (including negligence) or any other legal theory, whether or not we have been informed of the possibility of such damage, and even if a remedy set forth herein is found to have failed of its essential purpose.

    +

    No Warranty or Obligations to Maintain or Service

    +

    sunnypilot provides sunnypilot without representations, conditions, or warranties of any kind. sunnypilot is provided on an “AS IS” and “AS AVAILABLE” basis, including with all faults and errors as may occur. To the extent permitted by law and unless prohibited by law, sunnypilot on behalf of itself and all persons and parties acting by, through, or for sunnypilot, explicitly disclaims all warranties or conditions, express, implied, or collateral, including any implied warranties of merchantability, satisfactory quality, and fitness for a particular purpose in respect of sunnypilot.

    +

    To the extent permitted by law, sunnypilot does not warrant the operation, performance, or availability of sunnypilot under all conditions. sunnypilot is not responsible for any failures caused by server errors, misdirected or redirected transmissions, failed internet connections, interruptions or failures in the transmission of data, any computer virus, or any acts or omissions of third parties that damage the network or impair wireless service.

    +

    We undertake reasonable measures to preserve and secure information collected through our sunnypilot. However, no data collection, transmission or storage system is 100% secure, and there is always a risk that your information may be intercepted without our consent. In using sunnypilot, you acknowledge that sunnypilot is not responsible for intercepted information, and you hereby release us from any and all claims arising out of or related to the use of intercepted information in any unauthorized manner.

    +

    By providing sunnypilot, sunnypilot does not transfer or license its intellectual property or grant rights in its brand names, nor does sunnypilot make representations with respect to third-party intellectual property rights.

    +

    We are not obligated to provide any maintenance or support for sunnypilot, technical or otherwise. If we voluntarily provide any maintenance or support for sunnypilot, we may stop any such maintenance, support, or services at any time in our sole discretion.

    +

    Modification of Software

    +

    In no event shall sunnypilot, nor its directors, employees, partners, agents, suppliers, or affiliates, be liable if you choose to modify the software.

    +

    Changes

    +

    We reserve the right, at our sole discretion, to modify or replace these Terms at any time. If a revision is material we will provide at least 15 days’ notice prior to any new terms taking effect. What constitutes a material change will be determined at our sole discretion.

    +

    By continuing to access or use our Software after any revisions become effective, you agree to be bound by the revised terms. If you do not agree to the new terms, you are no longer authorized to use the Software.

    +

    Contact Us

    +

    If you have any questions about these Terms, please contact us at support@sunnypilot.ai.

    + + diff --git a/selfdrive/assets/offroad/tc.html b/selfdrive/assets/offroad/tc.html new file mode 100644 index 0000000000..f88daf08f2 --- /dev/null +++ b/selfdrive/assets/offroad/tc.html @@ -0,0 +1,44 @@ + + + + + openpilot Terms of Service + + + + +

    The Terms and Conditions below are effective for all users

    +

    Last Updated on October 18, 2019

    +

    Please read these Terms of Use (“Terms”) carefully before using openpilot which is open-sourced software developed by Comma.ai, Inc., a corporation organized under the laws of Delaware (“comma,” “us,” “we,” or “our”).

    +

    Before using and by accessing openpilot, you indicate that you have read, understood, and agree to these Terms. These Terms apply to all users and others who access or use openpilot. If others use openpilot through your user account or vehicle, you are responsible to ensure that they only use openpilot when it is safe to do so, and in compliance with these Terms and with applicable law. If you disagree with any part of the Terms, you should not access or use openpilot.

    +

    Communications

    +

    You agree that comma may contact you by email or telephone in connection with openpilot or for other business purposes. You may opt out of receiving email messages at any time by contacting us at support@comma.ai.

    +

    We collect, use, and share information from and about you and your vehicle in connection with openpilot. You consent to comma accessing the systems associated with openpilot, without additional notice or consent, for the purposes of providing openpilot, data collection, software updates, safety and cybersecurity, suspension or removal of your account, and as disclosed in the Privacy Policy (available at https://connect.comma.ai/privacy).

    +

    Safety

    +

    openpilot performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) designed for use in compatible motor vehicles. While using openpilot, it is your responsibility to obey all laws, traffic rules, and traffic regulations governing your vehicle and its operation. Access to and use of openpilot is at your own risk and responsibility, and openpilot should be accessed and/or used only when you can do so safely.

    +

    openpilot does not make your vehicle “autonomous” or capable of operation without the active monitoring of a licensed driver. It is designed to assist a licensed driver. A licensed driver must pay attention to the road, remain aware of navigation at all times, and be prepared to take immediate action. Failure to do so can cause damage, injury, or death.

    +

    Supported Locations and Models

    +

    openpilot is compatible only with particular makes and models of vehicles. For a complete list of currently supported vehicles, visit https://comma.ai. openpilot will not function properly when installed in an incompatible vehicle. openpilot is compatible only within the geographical boundaries of the United States of America.

    +

    Indemnification

    +

    To the maximum extent allowable by law, you agree to defend, indemnify and hold harmless comma, and its employees, partners, suppliers, contractors, investors, agents, officers, directors, and affiliates, from and against any and all claims, damages, causes of action, penalties, interest, demands, obligations, losses, liabilities, costs or debt, additional taxes, and expenses (including but not limited to attorneys’ fees), resulting from or arising out of (i) your use and access of, or inability to use or access, openpilot, (ii) your breach of these Terms, (iii) the inaccuracy of any information, representation or warranty made by you, (iv) activities of anyone other than you in connection with openpilot conducted through your comma device or account, (v) any other of your activities under or in connection with these Terms or openpilot.

    +

    Limitation of Liability

    +

    In no event shall comma, nor its directors, employees, partners, agents, suppliers, or affiliates, be liable for any indirect, incidental, special, consequential or punitive damages, including without limitation, loss of profits, data, use, goodwill, or other intangible losses, resulting from (i) your access to or use of or inability to access or use of the Software; or (ii) any conduct or content of any third party on the Software whether based on warranty, contract, tort (including negligence) or any other legal theory, whether or not we have been informed of the possibility of such damage, and even if a remedy set forth herein is found to have failed of its essential purpose.

    +

    No Warranty or Obligations to Maintain or Service

    +

    comma provides openpilot without representations, conditions, or warranties of any kind. openpilot is provided on an “AS IS” and “AS AVAILABLE” basis, including with all faults and errors as may occur. To the extent permitted by law and unless prohibited by law, comma on behalf of itself and all persons and parties acting by, through, or for comma, explicitly disclaims all warranties or conditions, express, implied, or collateral, including any implied warranties of merchantability, satisfactory quality, and fitness for a particular purpose in respect of openpilot.

    +

    To the extent permitted by law, comma does not warrant the operation, performance, or availability of openpilot under all conditions. comma is not responsible for any failures caused by server errors, misdirected or redirected transmissions, failed internet connections, interruptions or failures in the transmission of data, any computer virus, or any acts or omissions of third parties that damage the network or impair wireless service.

    +

    We undertake reasonable measures to preserve and secure information collected through our openpilot. However, no data collection, transmission or storage system is 100% secure, and there is always a risk that your information may be intercepted without our consent. In using openpilot, you acknowledge that comma is not responsible for intercepted information, and you hereby release us from any and all claims arising out of or related to the use of intercepted information in any unauthorized manner.

    +

    By providing openpilot, comma does not transfer or license its intellectual property or grant rights in its brand names, nor does comma make representations with respect to third-party intellectual property rights.

    +

    We are not obligated to provide any maintenance or support for openpilot, technical or otherwise. If we voluntarily provide any maintenance or support for openpilot, we may stop any such maintenance, support, or services at any time in our sole discretion.

    +

    Modification of Software

    +

    In no event shall comma, nor its directors, employees, partners, agents, suppliers, or affiliates, be liable if you choose to modify the software.

    +

    Changes

    +

    We reserve the right, at our sole discretion, to modify or replace these Terms at any time. If a revision is material we will provide at least 15 days’ notice prior to any new terms taking effect. What constitutes a material change will be determined at our sole discretion.

    +

    By continuing to access or use our Software after any revisions become effective, you agree to be bound by the revised terms. If you do not agree to the new terms, you are no longer authorized to use the Software.

    +

    Contact Us

    +

    If you have any questions about these Terms, please contact us at support@comma.ai.

    + + diff --git a/selfdrive/assets/sounds/disengage.wav b/selfdrive/assets/sounds/disengage.wav new file mode 100644 index 0000000000..ba583c41f3 Binary files /dev/null and b/selfdrive/assets/sounds/disengage.wav differ diff --git a/selfdrive/assets/sounds/engage.wav b/selfdrive/assets/sounds/engage.wav new file mode 100644 index 0000000000..41e9b2d588 Binary files /dev/null and b/selfdrive/assets/sounds/engage.wav differ diff --git a/selfdrive/assets/sounds/prompt.wav b/selfdrive/assets/sounds/prompt.wav new file mode 100644 index 0000000000..1ae77051eb Binary files /dev/null and b/selfdrive/assets/sounds/prompt.wav differ diff --git a/selfdrive/assets/sounds/prompt_distracted.wav b/selfdrive/assets/sounds/prompt_distracted.wav new file mode 100644 index 0000000000..c3d4475caa Binary files /dev/null and b/selfdrive/assets/sounds/prompt_distracted.wav differ diff --git a/selfdrive/assets/sounds/prompt_single_high.wav b/selfdrive/assets/sounds/prompt_single_high.wav new file mode 100644 index 0000000000..83fe791b54 Binary files /dev/null and b/selfdrive/assets/sounds/prompt_single_high.wav differ diff --git a/selfdrive/assets/sounds/prompt_single_low.wav b/selfdrive/assets/sounds/prompt_single_low.wav new file mode 100644 index 0000000000..1fb94ec455 Binary files /dev/null and b/selfdrive/assets/sounds/prompt_single_low.wav differ diff --git a/selfdrive/assets/sounds/refuse.wav b/selfdrive/assets/sounds/refuse.wav new file mode 100644 index 0000000000..0e80f7d127 Binary files /dev/null and b/selfdrive/assets/sounds/refuse.wav differ diff --git a/selfdrive/assets/sounds/warning_immediate.wav b/selfdrive/assets/sounds/warning_immediate.wav new file mode 100644 index 0000000000..b1815a9586 Binary files /dev/null and b/selfdrive/assets/sounds/warning_immediate.wav differ diff --git a/selfdrive/assets/sounds/warning_soft.wav b/selfdrive/assets/sounds/warning_soft.wav new file mode 100644 index 0000000000..261c7e1376 Binary files /dev/null and b/selfdrive/assets/sounds/warning_soft.wav differ diff --git a/selfdrive/assets/strip-svg-metadata.sh b/selfdrive/assets/strip-svg-metadata.sh new file mode 100755 index 0000000000..a8b35eadde --- /dev/null +++ b/selfdrive/assets/strip-svg-metadata.sh @@ -0,0 +1,9 @@ +#!/bin/bash + +# sudo apt install scour + +for svg in $(find icons/ -type f | grep svg$); do + # scour doesn't support overwriting input file + scour $svg --remove-metadata $svg.tmp + mv $svg.tmp $svg +done diff --git a/selfdrive/assets/training/step0.png b/selfdrive/assets/training/step0.png new file mode 100644 index 0000000000..3c2c5c72a0 Binary files /dev/null and b/selfdrive/assets/training/step0.png differ diff --git a/selfdrive/assets/training/step1.png b/selfdrive/assets/training/step1.png new file mode 100644 index 0000000000..0857893118 Binary files /dev/null and b/selfdrive/assets/training/step1.png differ diff --git a/selfdrive/assets/training/step10.png b/selfdrive/assets/training/step10.png new file mode 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0000000000..502f5f1b2e Binary files /dev/null and b/selfdrive/assets/training/step7.png differ diff --git a/selfdrive/assets/training/step8.png b/selfdrive/assets/training/step8.png new file mode 100644 index 0000000000..77ff9d7368 Binary files /dev/null and b/selfdrive/assets/training/step8.png differ diff --git a/selfdrive/assets/training/step9.png b/selfdrive/assets/training/step9.png new file mode 100644 index 0000000000..84eae3a066 Binary files /dev/null and b/selfdrive/assets/training/step9.png differ diff --git a/selfdrive/assets/translations_assets.qrc b/selfdrive/assets/translations_assets.qrc new file mode 100644 index 0000000000..06427759ae --- /dev/null +++ b/selfdrive/assets/translations_assets.qrc @@ -0,0 +1,16 @@ + + +../ui/translations/main_en.qm +../ui/translations/main_de.qm +../ui/translations/main_fr.qm +../ui/translations/main_pt-BR.qm +../ui/translations/main_es.qm +../ui/translations/main_tr.qm +../ui/translations/main_ar.qm +../ui/translations/main_th.qm +../ui/translations/main_zh-CHT.qm +../ui/translations/main_zh-CHS.qm +../ui/translations/main_ko.qm +../ui/translations/main_ja.qm + + \ No newline at end of file diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md new file mode 100644 index 0000000000..2f49e79b81 --- /dev/null +++ b/selfdrive/car/CARS_template.md @@ -0,0 +1,74 @@ +{% set footnote_tag = '[{}](#footnotes)' %} +{% set star_icon = '[![star](assets/icon-star-{}.svg)](##)' %} +{% set video_icon = '' %} +{# Force hardware column wider by using a blank image with max width. #} +{% set width_tag = '%s
     ' %} +{% set hardware_col_name = 'Hardware Needed' %} +{% set wide_hardware_col_name = width_tag|format(hardware_col_name) -%} + + + +# Supported Cars + +A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. + +# {{all_car_docs | length}} Supported Cars + +|{{Column | map(attribute='value') | join('|') | replace(hardware_col_name, wide_hardware_col_name)}}| +|---|---|---|{% for _ in range((Column | length) - 3) %}{{':---:|'}}{% endfor +%} +{% for car_docs in all_car_docs %} +|{% for column in Column %}{{car_docs.get_column(column, star_icon, video_icon, footnote_tag)}}|{% endfor %} + +{% endfor %} + +### Footnotes +{% for footnote in footnotes %} +{{loop.index}}{{footnote}}
    +{% endfor %} + +## Community Maintained Cars +Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/). + +# Don't see your car here? + +**openpilot can support many more cars than it currently does.** There are a few reasons your car may not be supported. +If your car doesn't fit into any of the incompatibility criteria here, then there's a good chance it can be supported! We're adding support for new cars all the time. **We don't have a roadmap for car support**, and in fact, most car support comes from users like you! + +### Which cars are able to be supported? + +openpilot uses the existing steering, gas, and brake interfaces in your car. If your car lacks any one of these interfaces, openpilot will not be able to control the car. If your car has [ACC](https://en.wikipedia.org/wiki/Adaptive_cruise_control) and any form of [LKAS](https://en.wikipedia.org/wiki/Automated_Lane_Keeping_Systems)/[LCA](https://en.wikipedia.org/wiki/Lane_centering), then it almost certainly has these interfaces. These features generally started shipping on cars around 2016. Note that manufacturers will often make their own [marketing terms](https://en.wikipedia.org/wiki/Adaptive_cruise_control#Vehicle_models_supporting_adaptive_cruise_control) for these features, such as Hyundai's "Smart Cruise Control" branding of Adaptive Cruise Control. + +If your car has the following packages or features, then it's a good candidate for support. + +| Make | Required Package/Features | +| ---- | ------------------------- | +| Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. | +| Ford | Any car with Lane Centering will likely work. | +| Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. | +| Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. | +| Nissan | Any car with ProPILOT will likely work. | +| Toyota & Lexus | Any car that has Toyota/Lexus Safety Sense with "Lane Departure Alert with Steering Assist (LDA w/SA)" and/or "Lane Tracing Assist (LTA)" will work. Note that LDA without Steering Assist will not work. These features come standard on most newer models. | +| Hyundai, Kia, & Genesis | Any car with Smart Cruise Control (SCC) and Lane Following Assist (LFA) or Lane Keeping Assist (LKAS) will work. LKAS/LFA comes standard on most newer models. Any form of SCC will work, such as NSCC. | +| Chrysler, Jeep, & Ram | Any car with LaneSense and Adaptive Cruise Control will likely work. These come standard on many newer models. | + +### FlexRay + +All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wiki/CAN_bus) for communication between all the car's computers, however a CAN bus isn't the only way that the computers in your car can communicate. Most, if not all, vehicles from the following manufacturers use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) instead of a CAN bus: **BMW, Mercedes, Audi, Land Rover, and some Volvo**. These cars may one day be supported, but we have no immediate plans to support FlexRay. + +### Toyota Security + +openpilot does not yet support these Toyota models due to a new message authentication method. +[Vote](https://comma.ai/shop#toyota-security) if you'd like to see openpilot support on these models. + +* Toyota RAV4 Prime 2021+ +* Toyota Sienna 2021+ +* Toyota Venza 2021+ +* Toyota Sequoia 2023+ +* Toyota Tundra 2022+ +* Toyota Highlander 2024+ +* Toyota Corolla Cross 2022+ (only US model) +* Toyota Camry 2025+ +* Lexus NX 2022+ +* Toyota bZ4x 2023+ +* Subaru Solterra 2023+ + diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py new file mode 100644 index 0000000000..a772d9c16a --- /dev/null +++ b/selfdrive/car/__init__.py @@ -0,0 +1,380 @@ +# functions common among cars +from collections import namedtuple +from dataclasses import dataclass +from enum import IntFlag, ReprEnum, EnumType +from dataclasses import replace + +import capnp + +from cereal import car +from panda.python.uds import SERVICE_TYPE +from openpilot.common.numpy_fast import clip, interp +from openpilot.common.utils import Freezable +from openpilot.selfdrive.car.docs_definitions import CarDocs + +DT_CTRL = 0.01 # car state and control loop timestep (s) + +# kg of standard extra cargo to count for drive, gas, etc... +STD_CARGO_KG = 136. + +ButtonType = car.CarState.ButtonEvent.Type +EventName = car.CarEvent.EventName +AngleRateLimit = namedtuple('AngleRateLimit', ['speed_bp', 'angle_v']) + + +def apply_hysteresis(val: float, val_steady: float, hyst_gap: float) -> float: + if val > val_steady + hyst_gap: + val_steady = val - hyst_gap + elif val < val_steady - hyst_gap: + val_steady = val + hyst_gap + return val_steady + + +def create_button_events(cur_btn: int, prev_btn: int, buttons_dict: dict[int, capnp.lib.capnp._EnumModule], + unpressed_btn: int = 0) -> list[capnp.lib.capnp._DynamicStructBuilder]: + events: list[capnp.lib.capnp._DynamicStructBuilder] = [] + + if cur_btn == prev_btn: + return events + + # Add events for button presses, multiple when a button switches without going to unpressed + for pressed, btn in ((False, prev_btn), (True, cur_btn)): + if btn != unpressed_btn: + events.append(car.CarState.ButtonEvent(pressed=pressed, + type=buttons_dict.get(btn, ButtonType.unknown))) + return events + + +class ButtonEvents: + def __init__(self) -> None: + self.is_mads: bool = False + + @staticmethod + def create_cancel_event(long_enabled: bool, prev_long_enabled: bool) -> list[capnp.lib.capnp._DynamicStructBuilder]: + events: list[capnp.lib.capnp._DynamicStructBuilder] = [] + + if not long_enabled and prev_long_enabled: + events.append(car.CarState.ButtonEvent(pressed=True, + type=ButtonType.cancel)) + return events + + def create_mads_event(self, mads_enabled: bool, prev_mads_enabled: bool) -> list[capnp.lib.capnp._DynamicStructBuilder]: + events: list[capnp.lib.capnp._DynamicStructBuilder] = [] + + mads_changed = prev_mads_enabled != mads_enabled + if (mads_changed and not self.is_mads) or (not mads_changed and self.is_mads): + events.append(car.CarState.ButtonEvent(pressed=mads_changed, type=ButtonType.altButton1)) + self.is_mads = not self.is_mads + + return events + + +def gen_empty_fingerprint(): + return {i: {} for i in range(8)} + + +# these params were derived for the Civic and used to calculate params for other cars +class VehicleDynamicsParams: + MASS = 1326. + STD_CARGO_KG + WHEELBASE = 2.70 + CENTER_TO_FRONT = WHEELBASE * 0.4 + CENTER_TO_REAR = WHEELBASE - CENTER_TO_FRONT + ROTATIONAL_INERTIA = 2500 + TIRE_STIFFNESS_FRONT = 192150 + TIRE_STIFFNESS_REAR = 202500 + + +# TODO: get actual value, for now starting with reasonable value for +# civic and scaling by mass and wheelbase +def scale_rot_inertia(mass, wheelbase): + return VehicleDynamicsParams.ROTATIONAL_INERTIA * mass * wheelbase ** 2 / (VehicleDynamicsParams.MASS * VehicleDynamicsParams.WHEELBASE ** 2) + + +# TODO: start from empirically derived lateral slip stiffness for the civic and scale by +# mass and CG position, so all cars will have approximately similar dyn behaviors +def scale_tire_stiffness(mass, wheelbase, center_to_front, tire_stiffness_factor): + center_to_rear = wheelbase - center_to_front + tire_stiffness_front = (VehicleDynamicsParams.TIRE_STIFFNESS_FRONT * tire_stiffness_factor) * mass / VehicleDynamicsParams.MASS * \ + (center_to_rear / wheelbase) / (VehicleDynamicsParams.CENTER_TO_REAR / VehicleDynamicsParams.WHEELBASE) + + tire_stiffness_rear = (VehicleDynamicsParams.TIRE_STIFFNESS_REAR * tire_stiffness_factor) * mass / VehicleDynamicsParams.MASS * \ + (center_to_front / wheelbase) / (VehicleDynamicsParams.CENTER_TO_FRONT / VehicleDynamicsParams.WHEELBASE) + + return tire_stiffness_front, tire_stiffness_rear + + +DbcDict = dict[str, str] + + +def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None, body_dbc=None) -> DbcDict: + return {'pt': pt_dbc, 'radar': radar_dbc, 'chassis': chassis_dbc, 'body': body_dbc} + + +def apply_driver_steer_torque_limits(apply_torque, apply_torque_last, driver_torque, LIMITS): + + # limits due to driver torque + driver_max_torque = LIMITS.STEER_MAX + (LIMITS.STEER_DRIVER_ALLOWANCE + driver_torque * LIMITS.STEER_DRIVER_FACTOR) * LIMITS.STEER_DRIVER_MULTIPLIER + driver_min_torque = -LIMITS.STEER_MAX + (-LIMITS.STEER_DRIVER_ALLOWANCE + driver_torque * LIMITS.STEER_DRIVER_FACTOR) * LIMITS.STEER_DRIVER_MULTIPLIER + max_steer_allowed = max(min(LIMITS.STEER_MAX, driver_max_torque), 0) + min_steer_allowed = min(max(-LIMITS.STEER_MAX, driver_min_torque), 0) + apply_torque = clip(apply_torque, min_steer_allowed, max_steer_allowed) + + # slow rate if steer torque increases in magnitude + if apply_torque_last > 0: + apply_torque = clip(apply_torque, max(apply_torque_last - LIMITS.STEER_DELTA_DOWN, -LIMITS.STEER_DELTA_UP), + apply_torque_last + LIMITS.STEER_DELTA_UP) + else: + apply_torque = clip(apply_torque, apply_torque_last - LIMITS.STEER_DELTA_UP, + min(apply_torque_last + LIMITS.STEER_DELTA_DOWN, LIMITS.STEER_DELTA_UP)) + + return int(round(float(apply_torque))) + + +def apply_dist_to_meas_limits(val, val_last, val_meas, + STEER_DELTA_UP, STEER_DELTA_DOWN, + STEER_ERROR_MAX, STEER_MAX): + # limits due to comparison of commanded val VS measured val (torque/angle/curvature) + max_lim = min(max(val_meas + STEER_ERROR_MAX, STEER_ERROR_MAX), STEER_MAX) + min_lim = max(min(val_meas - STEER_ERROR_MAX, -STEER_ERROR_MAX), -STEER_MAX) + + val = clip(val, min_lim, max_lim) + + # slow rate if val increases in magnitude + if val_last > 0: + val = clip(val, + max(val_last - STEER_DELTA_DOWN, -STEER_DELTA_UP), + val_last + STEER_DELTA_UP) + else: + val = clip(val, + val_last - STEER_DELTA_UP, + min(val_last + STEER_DELTA_DOWN, STEER_DELTA_UP)) + + return float(val) + + +def apply_meas_steer_torque_limits(apply_torque, apply_torque_last, motor_torque, LIMITS): + return int(round(apply_dist_to_meas_limits(apply_torque, apply_torque_last, motor_torque, + LIMITS.STEER_DELTA_UP, LIMITS.STEER_DELTA_DOWN, + LIMITS.STEER_ERROR_MAX, LIMITS.STEER_MAX))) + + +def apply_std_steer_angle_limits(apply_angle, apply_angle_last, v_ego, LIMITS): + # pick angle rate limits based on wind up/down + steer_up = apply_angle_last * apply_angle >= 0. and abs(apply_angle) > abs(apply_angle_last) + rate_limits = LIMITS.ANGLE_RATE_LIMIT_UP if steer_up else LIMITS.ANGLE_RATE_LIMIT_DOWN + + angle_rate_lim = interp(v_ego, rate_limits.speed_bp, rate_limits.angle_v) + return clip(apply_angle, apply_angle_last - angle_rate_lim, apply_angle_last + angle_rate_lim) + + +def common_fault_avoidance(fault_condition: bool, request: bool, above_limit_frames: int, + max_above_limit_frames: int, max_mismatching_frames: int = 1): + """ + Several cars have the ability to work around their EPS limits by cutting the + request bit of their LKAS message after a certain number of frames above the limit. + """ + + # Count up to max_above_limit_frames, at which point we need to cut the request for above_limit_frames to avoid a fault + if request and fault_condition: + above_limit_frames += 1 + else: + above_limit_frames = 0 + + # Once we cut the request bit, count additionally to max_mismatching_frames before setting the request bit high again. + # Some brands do not respect our workaround without multiple messages on the bus, for example + if above_limit_frames > max_above_limit_frames: + request = False + + if above_limit_frames >= max_above_limit_frames + max_mismatching_frames: + above_limit_frames = 0 + + return above_limit_frames, request + + +def crc8_pedal(data): + crc = 0xFF # standard init value + poly = 0xD5 # standard crc8: x8+x7+x6+x4+x2+1 + size = len(data) + for i in range(size - 1, -1, -1): + crc ^= data[i] + for _ in range(8): + if ((crc & 0x80) != 0): + crc = ((crc << 1) ^ poly) & 0xFF + else: + crc <<= 1 + return crc + + +def create_gas_interceptor_command(packer, gas_amount, idx): + # Common gas pedal msg generator + enable = gas_amount > 0.001 + + values = { + "ENABLE": enable, + "COUNTER_PEDAL": idx & 0xF, + } + + if enable: + values["GAS_COMMAND"] = gas_amount * 255. + values["GAS_COMMAND2"] = gas_amount * 255. + + dat = packer.make_can_msg("GAS_COMMAND", 0, values)[1] + + checksum = crc8_pedal(dat[:-1]) + values["CHECKSUM_PEDAL"] = checksum + + return packer.make_can_msg("GAS_COMMAND", 0, values) + + +def apply_center_deadzone(error, deadzone): + if (error > - deadzone) and (error < deadzone): + error = 0. + return error + + +def rate_limit(new_value, last_value, dw_step, up_step): + return clip(new_value, last_value + dw_step, last_value + up_step) + + +def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, friction_threshold: float, + torque_params: car.CarParams.LateralTorqueTuning, friction_compensation: bool) -> float: + friction_interp = interp( + apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone), + [-friction_threshold, friction_threshold], + [-torque_params.friction, torque_params.friction] + ) + friction = float(friction_interp) if friction_compensation else 0.0 + return friction + + +def make_can_msg(addr, dat, bus): + return [addr, dat, bus] + + +def make_tester_present_msg(addr, bus, subaddr=None, suppress_response=False): + dat = [0x02, SERVICE_TYPE.TESTER_PRESENT] + if subaddr is not None: + dat.insert(0, subaddr) + dat.append(0x80 if suppress_response else 0x0) # sub-function + + dat.extend([0x0] * (8 - len(dat))) + return make_can_msg(addr, bytes(dat), bus) + + +def get_safety_config(safety_model, safety_param = None): + ret = car.CarParams.SafetyConfig.new_message() + ret.safetyModel = safety_model + if safety_param is not None: + ret.safetyParam = safety_param + return ret + + +class CanBusBase: + offset: int + + def __init__(self, CP, fingerprint: dict[int, dict[int, int]] | None) -> None: + if CP is None: + assert fingerprint is not None + num = max([k for k, v in fingerprint.items() if len(v)], default=0) // 4 + 1 + else: + num = len(CP.safetyConfigs) + self.offset = 4 * (num - 1) + + +class CanSignalRateCalculator: + """ + Calculates the instantaneous rate of a CAN signal by using the counter + variable and the known frequency of the CAN message that contains it. + """ + def __init__(self, frequency): + self.frequency = frequency + self.previous_counter = 0 + self.previous_value = 0 + self.rate = 0 + + def update(self, current_value, current_counter): + if current_counter != self.previous_counter: + self.rate = (current_value - self.previous_value) * self.frequency + + self.previous_counter = current_counter + self.previous_value = current_value + + return self.rate + + +@dataclass(frozen=True, kw_only=True) +class CarSpecs: + mass: float # kg, curb weight + wheelbase: float # meters + steerRatio: float + centerToFrontRatio: float = 0.5 + minSteerSpeed: float = 0.0 # m/s + minEnableSpeed: float = -1.0 # m/s + tireStiffnessFactor: float = 1.0 + + def override(self, **kwargs): + return replace(self, **kwargs) + + +@dataclass(order=True) +class PlatformConfig(Freezable): + car_docs: list[CarDocs] + specs: CarSpecs + + dbc_dict: DbcDict + + flags: int = 0 + + spFlags: int = 0 + + platform_str: str | None = None + + def __hash__(self) -> int: + return hash(self.platform_str) + + def override(self, **kwargs): + return replace(self, **kwargs) + + def init(self): + pass + + def __post_init__(self): + self.init() + + +class PlatformsType(EnumType): + def __new__(metacls, cls, bases, classdict, *, boundary=None, _simple=False, **kwds): + for key in classdict._member_names.keys(): + cfg: PlatformConfig = classdict[key] + cfg.platform_str = key + cfg.freeze() + return super().__new__(metacls, cls, bases, classdict, boundary=boundary, _simple=_simple, **kwds) + + +class Platforms(str, ReprEnum, metaclass=PlatformsType): + config: PlatformConfig + + def __new__(cls, platform_config: PlatformConfig): + member = str.__new__(cls, platform_config.platform_str) + member.config = platform_config + member._value_ = platform_config.platform_str + return member + + def __repr__(self): + return f"<{self.__class__.__name__}.{self.name}>" + + @classmethod + def create_dbc_map(cls) -> dict[str, DbcDict]: + return {p: p.config.dbc_dict for p in cls} + + @classmethod + def with_flags(cls, flags: IntFlag) -> set['Platforms']: + return {p for p in cls if p.config.flags & flags} + + @classmethod + def with_sp_flags(cls, spFlags: IntFlag) -> set['Platforms']: + return {p for p in cls if p.config.spFlags & spFlags} + + @classmethod + def without_sp_flags(cls, spFlags: IntFlag) -> set['Platforms']: + return {p for p in cls if not (p.config.spFlags & spFlags)} diff --git a/selfdrive/car/body/__init__.py b/selfdrive/car/body/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/car/body/bodycan.py b/selfdrive/car/body/bodycan.py new file mode 100644 index 0000000000..580e5025ad --- /dev/null +++ b/selfdrive/car/body/bodycan.py @@ -0,0 +1,7 @@ +def create_control(packer, torque_l, torque_r): + values = { + "TORQUE_L": torque_l, + "TORQUE_R": torque_r, + } + + return packer.make_can_msg("TORQUE_CMD", 0, values) diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py new file mode 100644 index 0000000000..0771d7a471 --- /dev/null +++ b/selfdrive/car/body/carcontroller.py @@ -0,0 +1,84 @@ +import numpy as np + +from opendbc.can.packer import CANPacker +from openpilot.selfdrive.car import DT_CTRL +from openpilot.selfdrive.car.body import bodycan +from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM +from openpilot.selfdrive.car.interfaces import CarControllerBase +from openpilot.selfdrive.controls.lib.pid import PIDController + + +MAX_TORQUE = 500 +MAX_TORQUE_RATE = 50 +MAX_ANGLE_ERROR = np.radians(7) +MAX_POS_INTEGRATOR = 0.2 # meters +MAX_TURN_INTEGRATOR = 0.1 # meters + + +class CarController(CarControllerBase): + def __init__(self, dbc_name, CP, VM): + super().__init__(dbc_name, CP, VM) + self.packer = CANPacker(dbc_name) + + # PIDs + self.turn_pid = PIDController(110, k_i=11.5, rate=1/DT_CTRL) + self.wheeled_speed_pid = PIDController(110, k_i=11.5, rate=1/DT_CTRL) + + self.torque_r_filtered = 0. + self.torque_l_filtered = 0. + + @staticmethod + def deadband_filter(torque, deadband): + if torque > 0: + torque += deadband + else: + torque -= deadband + return torque + + def update(self, CC, CS, now_nanos): + + torque_l = 0 + torque_r = 0 + + llk_valid = len(CC.orientationNED) > 1 and len(CC.angularVelocity) > 1 + if CC.enabled and llk_valid: + # Read these from the joystick + # TODO: this isn't acceleration, okay? + speed_desired = CC.actuators.accel / 5. + speed_diff_desired = -CC.actuators.steer / 2. + + speed_measured = SPEED_FROM_RPM * (CS.out.wheelSpeeds.fl + CS.out.wheelSpeeds.fr) / 2. + speed_error = speed_desired - speed_measured + + torque = self.wheeled_speed_pid.update(speed_error, freeze_integrator=False) + + speed_diff_measured = SPEED_FROM_RPM * (CS.out.wheelSpeeds.fl - CS.out.wheelSpeeds.fr) + turn_error = speed_diff_measured - speed_diff_desired + freeze_integrator = ((turn_error < 0 and self.turn_pid.error_integral <= -MAX_TURN_INTEGRATOR) or + (turn_error > 0 and self.turn_pid.error_integral >= MAX_TURN_INTEGRATOR)) + torque_diff = self.turn_pid.update(turn_error, freeze_integrator=freeze_integrator) + + # Combine 2 PIDs outputs + torque_r = torque + torque_diff + torque_l = torque - torque_diff + + # Torque rate limits + self.torque_r_filtered = np.clip(self.deadband_filter(torque_r, 10), + self.torque_r_filtered - MAX_TORQUE_RATE, + self.torque_r_filtered + MAX_TORQUE_RATE) + self.torque_l_filtered = np.clip(self.deadband_filter(torque_l, 10), + self.torque_l_filtered - MAX_TORQUE_RATE, + self.torque_l_filtered + MAX_TORQUE_RATE) + torque_r = int(np.clip(self.torque_r_filtered, -MAX_TORQUE, MAX_TORQUE)) + torque_l = int(np.clip(self.torque_l_filtered, -MAX_TORQUE, MAX_TORQUE)) + + can_sends = [] + can_sends.append(bodycan.create_control(self.packer, torque_l, torque_r)) + + new_actuators = CC.actuators.as_builder() + new_actuators.accel = torque_l + new_actuators.steer = torque_r + new_actuators.steerOutputCan = torque_r + + self.frame += 1 + return new_actuators, can_sends diff --git a/selfdrive/car/body/carstate.py b/selfdrive/car/body/carstate.py new file mode 100644 index 0000000000..fca9bcc627 --- /dev/null +++ b/selfdrive/car/body/carstate.py @@ -0,0 +1,40 @@ +from cereal import car +from opendbc.can.parser import CANParser +from openpilot.selfdrive.car.interfaces import CarStateBase +from openpilot.selfdrive.car.body.values import DBC + +STARTUP_TICKS = 100 + +class CarState(CarStateBase): + def update(self, cp): + ret = car.CarState.new_message() + + ret.wheelSpeeds.fl = cp.vl['MOTORS_DATA']['SPEED_L'] + ret.wheelSpeeds.fr = cp.vl['MOTORS_DATA']['SPEED_R'] + + ret.vEgoRaw = ((ret.wheelSpeeds.fl + ret.wheelSpeeds.fr) / 2.) * self.CP.wheelSpeedFactor + + ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) + ret.standstill = False + + ret.steerFaultPermanent = any([cp.vl['VAR_VALUES']['MOTOR_ERR_L'], cp.vl['VAR_VALUES']['MOTOR_ERR_R'], + cp.vl['VAR_VALUES']['FAULT']]) + + ret.charging = cp.vl["BODY_DATA"]["CHARGER_CONNECTED"] == 1 + ret.fuelGauge = cp.vl["BODY_DATA"]["BATT_PERCENTAGE"] / 100 + + # irrelevant for non-car + ret.gearShifter = car.CarState.GearShifter.drive + ret.cruiseState.enabled = True + ret.cruiseState.available = True + + return ret + + @staticmethod + def get_can_parser(CP): + messages = [ + ("MOTORS_DATA", 100), + ("VAR_VALUES", 10), + ("BODY_DATA", 1), + ] + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0) diff --git a/selfdrive/car/body/fingerprints.py b/selfdrive/car/body/fingerprints.py new file mode 100644 index 0000000000..ab7a5f8d7b --- /dev/null +++ b/selfdrive/car/body/fingerprints.py @@ -0,0 +1,28 @@ +# ruff: noqa: E501 +from cereal import car +from openpilot.selfdrive.car.body.values import CAR + +Ecu = car.CarParams.Ecu + +# debug ecu fw version is the git hash of the firmware + + +FINGERPRINTS = { + CAR.COMMA_BODY: [{ + 513: 8, 516: 8, 514: 3, 515: 4 + }], +} + +FW_VERSIONS = { + CAR.COMMA_BODY: { + (Ecu.engine, 0x720, None): [ + b'0.0.01', + b'0.3.00a', + b'02/27/2022', + ], + (Ecu.debug, 0x721, None): [ + b'166bd860', + b'dc780f85', + ], + }, +} diff --git a/selfdrive/car/body/interface.py b/selfdrive/car/body/interface.py new file mode 100644 index 0000000000..50564d3ed8 --- /dev/null +++ b/selfdrive/car/body/interface.py @@ -0,0 +1,38 @@ +import math +from cereal import car +from openpilot.selfdrive.car import DT_CTRL, get_safety_config +from openpilot.selfdrive.car.interfaces import CarInterfaceBase +from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM + +class CarInterface(CarInterfaceBase): + @staticmethod + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): + ret.notCar = True + ret.carName = "body" + ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.body)] + + ret.minSteerSpeed = -math.inf + ret.maxLateralAccel = math.inf # TODO: set to a reasonable value + ret.steerLimitTimer = 1.0 + ret.steerActuatorDelay = 0. + + ret.wheelSpeedFactor = SPEED_FROM_RPM + + ret.radarUnavailable = True + ret.openpilotLongitudinalControl = True + ret.steerControlType = car.CarParams.SteerControlType.angle + + return ret + + def _update(self, c): + ret = self.CS.update(self.cp) + + # wait for everything to init first + if self.frame > int(5. / DT_CTRL): + # body always wants to enable + ret.init('events', 1) + ret.events[0].name = car.CarEvent.EventName.pcmEnable + ret.events[0].enable = True + self.frame += 1 + + return ret diff --git a/selfdrive/car/body/radar_interface.py b/selfdrive/car/body/radar_interface.py new file mode 100644 index 0000000000..e654bd61fd --- /dev/null +++ b/selfdrive/car/body/radar_interface.py @@ -0,0 +1,4 @@ +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase + +class RadarInterface(RadarInterfaceBase): + pass diff --git a/selfdrive/car/body/values.py b/selfdrive/car/body/values.py new file mode 100644 index 0000000000..a1195f7cb5 --- /dev/null +++ b/selfdrive/car/body/values.py @@ -0,0 +1,40 @@ +from cereal import car +from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, dbc_dict +from openpilot.selfdrive.car.docs_definitions import CarDocs +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries + +Ecu = car.CarParams.Ecu + +SPEED_FROM_RPM = 0.008587 + + +class CarControllerParams: + ANGLE_DELTA_BP = [0., 5., 15.] + ANGLE_DELTA_V = [5., .8, .15] # windup limit + ANGLE_DELTA_VU = [5., 3.5, 0.4] # unwind limit + LKAS_MAX_TORQUE = 1 # A value of 1 is easy to overpower + STEER_THRESHOLD = 1.0 + + def __init__(self, CP): + pass + + +class CAR(Platforms): + COMMA_BODY = PlatformConfig( + [CarDocs("comma body", package="All")], + CarSpecs(mass=9, wheelbase=0.406, steerRatio=0.5, centerToFrontRatio=0.44), + dbc_dict('comma_body', None), + ) + + +FW_QUERY_CONFIG = FwQueryConfig( + requests=[ + Request( + [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST], + [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE], + bus=0, + ), + ], +) + +DBC = CAR.create_dbc_map() diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py new file mode 100644 index 0000000000..5fcfe34a4f --- /dev/null +++ b/selfdrive/car/car_helpers.py @@ -0,0 +1,277 @@ +import json +import os +import requests +import threading +import time +from collections.abc import Callable + +from cereal import car +from openpilot.common.params import Params +from openpilot.common.basedir import BASEDIR +from openpilot.selfdrive.car.interfaces import get_interface_attr +from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars +from openpilot.selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN +from openpilot.selfdrive.car.fw_versions import get_fw_versions_ordered, get_present_ecus, match_fw_to_car, set_obd_multiplexing +from openpilot.selfdrive.car.mock.values import CAR as MOCK +from openpilot.common.swaglog import cloudlog +import cereal.messaging as messaging +from openpilot.selfdrive.car import gen_empty_fingerprint +from openpilot.system.version import get_build_metadata +import openpilot.system.sentry as sentry + +FRAME_FINGERPRINT = 100 # 1s + +EventName = car.CarEvent.EventName + + +def get_startup_event(car_recognized, controller_available, fw_seen): + build_metadata = get_build_metadata() + if build_metadata.openpilot.comma_remote and build_metadata.tested_channel: + event = EventName.startup + else: + event = EventName.startupMaster + + if not car_recognized: + if fw_seen: + event = EventName.startupNoCar + else: + event = EventName.startupNoFw + elif car_recognized and not controller_available: + event = EventName.startupNoControl + return event + + +def get_one_can(logcan): + while True: + can = messaging.recv_one_retry(logcan) + if len(can.can) > 0: + return can + + +def load_interfaces(brand_names): + ret = {} + for brand_name in brand_names: + path = f'openpilot.selfdrive.car.{brand_name}' + CarInterface = __import__(path + '.interface', fromlist=['CarInterface']).CarInterface + CarState = __import__(path + '.carstate', fromlist=['CarState']).CarState + CarController = __import__(path + '.carcontroller', fromlist=['CarController']).CarController + for model_name in brand_names[brand_name]: + ret[model_name] = (CarInterface, CarController, CarState) + return ret + + +def _get_interface_names() -> dict[str, list[str]]: + # returns a dict of brand name and its respective models + brand_names = {} + for brand_name, brand_models in get_interface_attr("CAR").items(): + brand_names[brand_name] = [model.value for model in brand_models] + + return brand_names + + +# imports from directory selfdrive/car// +interface_names = _get_interface_names() +interfaces = load_interfaces(interface_names) + + +def can_fingerprint(next_can: Callable) -> tuple[str | None, dict[int, dict]]: + finger = gen_empty_fingerprint() + candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1]} # attempt fingerprint on both bus 0 and 1 + frame = 0 + car_fingerprint = None + done = False + + while not done: + a = next_can() + + for can in a.can: + # The fingerprint dict is generated for all buses, this way the car interface + # can use it to detect a (valid) multipanda setup and initialize accordingly + if can.src < 128: + if can.src not in finger: + finger[can.src] = {} + finger[can.src][can.address] = len(can.dat) + + for b in candidate_cars: + # Ignore extended messages and VIN query response. + if can.src == b and can.address < 0x800 and can.address not in (0x7df, 0x7e0, 0x7e8): + candidate_cars[b] = eliminate_incompatible_cars(can, candidate_cars[b]) + + # if we only have one car choice and the time since we got our first + # message has elapsed, exit + for b in candidate_cars: + if len(candidate_cars[b]) == 1 and frame > FRAME_FINGERPRINT: + # fingerprint done + car_fingerprint = candidate_cars[b][0] + + # bail if no cars left or we've been waiting for more than 2s + failed = (all(len(cc) == 0 for cc in candidate_cars.values()) and frame > FRAME_FINGERPRINT) or frame > 200 + succeeded = car_fingerprint is not None + done = failed or succeeded + + frame += 1 + + return car_fingerprint, finger + + +# **** for use live only **** +def fingerprint(logcan, sendcan, num_pandas): + fixed_fingerprint = os.environ.get('FINGERPRINT', "") + skip_fw_query = os.environ.get('SKIP_FW_QUERY', False) + disable_fw_cache = os.environ.get('DISABLE_FW_CACHE', False) + ecu_rx_addrs = set() + params = Params() + + start_time = time.monotonic() + if not skip_fw_query: + cached_params = params.get("CarParamsCache") + if cached_params is not None: + with car.CarParams.from_bytes(cached_params) as cached_params: + if cached_params.carName == "mock": + cached_params = None + + if cached_params is not None and len(cached_params.carFw) > 0 and \ + cached_params.carVin is not VIN_UNKNOWN and not disable_fw_cache: + cloudlog.warning("Using cached CarParams") + vin_rx_addr, vin_rx_bus, vin = -1, -1, cached_params.carVin + car_fw = list(cached_params.carFw) + cached = True + else: + cloudlog.warning("Getting VIN & FW versions") + # enable OBD multiplexing for VIN query + # NOTE: this takes ~0.1s and is relied on to allow sendcan subscriber to connect in time + set_obd_multiplexing(params, True) + # VIN query only reliably works through OBDII + vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1)) + ecu_rx_addrs = get_present_ecus(logcan, sendcan, num_pandas=num_pandas) + car_fw = get_fw_versions_ordered(logcan, sendcan, vin, ecu_rx_addrs, num_pandas=num_pandas) + cached = False + + exact_fw_match, fw_candidates = match_fw_to_car(car_fw, vin) + else: + vin_rx_addr, vin_rx_bus, vin = -1, -1, VIN_UNKNOWN + exact_fw_match, fw_candidates, car_fw = True, set(), [] + cached = False + + if not is_valid_vin(vin): + cloudlog.event("Malformed VIN", vin=vin, error=True) + vin = VIN_UNKNOWN + cloudlog.warning("VIN %s", vin) + params.put("CarVin", vin) + + # disable OBD multiplexing for CAN fingerprinting and potential ECU knockouts + set_obd_multiplexing(params, False) + params.put_bool("FirmwareQueryDone", True) + + fw_query_time = time.monotonic() - start_time + + # CAN fingerprint + # drain CAN socket so we get the latest messages + messaging.drain_sock_raw(logcan) + car_fingerprint, finger = can_fingerprint(lambda: get_one_can(logcan)) + + exact_match = True + source = car.CarParams.FingerprintSource.can + + # If FW query returns exactly 1 candidate, use it + if len(fw_candidates) == 1: + car_fingerprint = list(fw_candidates)[0] + source = car.CarParams.FingerprintSource.fw + exact_match = exact_fw_match + + if fixed_fingerprint: + car_fingerprint = fixed_fingerprint + source = car.CarParams.FingerprintSource.fixed + + if params.get("CarModel") is not None: + car_fingerprint = params.get("CarModel").decode("utf-8") + with open(os.path.join(BASEDIR, "selfdrive/car/sunnypilot_carname.json")) as f: + car_models = json.load(f) + if car_fingerprint not in car_models.values(): + car_fingerprint = None + params.put("CarModel", "") + params.put("CarModelText", "") + else: + source = car.CarParams.FingerprintSource.fixed + + cloudlog.event("fingerprinted", car_fingerprint=car_fingerprint, source=source, fuzzy=not exact_match, cached=cached, + fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, vin_rx_bus=vin_rx_bus, + fingerprints=repr(finger), fw_query_time=fw_query_time, error=True) + + return car_fingerprint, finger, vin, car_fw, source, exact_match + + +def get_car_interface(CP): + CarInterface, CarController, CarState = interfaces[CP.carFingerprint] + return CarInterface(CP, CarController, CarState) + + +def is_connected_to_internet(timeout=5): + try: + requests.get("https://sentry.io", timeout=timeout) + return True + except Exception: + return False + + +def crash_log(candidate): + no_internet = 0 + while True: + if is_connected_to_internet(): + sentry.get_init() + sentry.capture_info("fingerprinted %s" % candidate) + break + else: + no_internet += 1 + if no_internet >= 2: + break + time.sleep(600) + + +def crash_log2(fingerprints, fw): + no_internet = 0 + while True: + if is_connected_to_internet(): + sentry.get_init() + sentry.capture_warning("car doesn't match any fingerprints: %s" % repr(fingerprints)) + break + else: + no_internet += 1 + if no_internet >= 2: + break + time.sleep(600) + + +def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1): + candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, num_pandas) + + if candidate is None: + cloudlog.event("car doesn't match any fingerprints", fingerprints=repr(fingerprints), error=True) + candidate = "MOCK" + y = threading.Thread(target=crash_log2, args=(fingerprints, car_fw,)) + y.start() + + if candidate != "MOCK": + x = threading.Thread(target=crash_log, args=(candidate,)) + x.start() + + CarInterface, _, _ = interfaces[candidate] + CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long_allowed, docs=False) + CP.carVin = vin + CP.carFw = car_fw + CP.fingerprintSource = source + CP.fuzzyFingerprint = not exact_match + + return get_car_interface(CP), CP + +def write_car_param(platform=MOCK.MOCK): + params = Params() + CarInterface, _, _ = interfaces[platform] + CP = CarInterface.get_non_essential_params(platform) + params.put("CarParams", CP.to_bytes()) + +def get_demo_car_params(): + platform = MOCK.MOCK + CarInterface, _, _ = interfaces[platform] + CP = CarInterface.get_non_essential_params(platform) + return CP diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py new file mode 100755 index 0000000000..222dcf9619 --- /dev/null +++ b/selfdrive/car/card.py @@ -0,0 +1,223 @@ +#!/usr/bin/env python3 +import os +import threading +import time +from types import SimpleNamespace + +import cereal.messaging as messaging + +from cereal import car + +from panda import ALTERNATIVE_EXPERIENCE + +from openpilot.common.params import Params +from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper + +from openpilot.selfdrive.pandad import can_list_to_can_capnp +from openpilot.selfdrive.car import DT_CTRL +from openpilot.selfdrive.car.car_helpers import get_car, get_one_can +from openpilot.selfdrive.car.interfaces import CarInterfaceBase +from openpilot.selfdrive.car.param_manager import ParamManager +from openpilot.selfdrive.controls.lib.events import Events + +REPLAY = "REPLAY" in os.environ + +EventName = car.CarEvent.EventName + + +class Car: + CI: CarInterfaceBase + + def __init__(self, CI=None): + self.can_sock = messaging.sub_sock('can', timeout=20) + self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents']) + self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput']) + + self.can_rcv_cum_timeout_counter = 0 + + self.CC_prev = car.CarControl.new_message() + self.CS_prev = car.CarState.new_message() + self.initialized_prev = False + + self.last_actuators_output = car.CarControl.Actuators.new_message() + + self.params = Params() + + if CI is None: + # wait for one pandaState and one CAN packet + print("Waiting for CAN messages...") + get_one_can(self.can_sock) + + num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates) + experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled") + self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], experimental_long_allowed, num_pandas) + else: + self.CI, self.CP = CI, CI.CP + + # set alternative experiences from parameters + self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator") + self.enable_mads = self.params.get_bool("EnableMads") + self.mads_disengage_lateral_on_brake = self.params.get_bool("DisengageLateralOnBrake") + self.mads_dlob = self.enable_mads and self.mads_disengage_lateral_on_brake + self.mads_ndlob = self.enable_mads and not self.mads_disengage_lateral_on_brake + self.CP.alternativeExperience = 0 + if not self.disengage_on_accelerator: + self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS + if self.mads_dlob: + self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ENABLE_MADS + elif self.mads_ndlob: + self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.MADS_DISABLE_DISENGAGE_LATERAL_ON_BRAKE + + if self.CP.customStockLongAvailable and self.CP.pcmCruise and self.params.get_bool("CustomStockLong"): + self.CP.pcmCruiseSpeed = False + + openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle") + + controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly + + self.CP.passive = not controller_available or self.CP.dashcamOnly + if self.CP.passive: + safety_config = car.CarParams.SafetyConfig.new_message() + safety_config.safetyModel = car.CarParams.SafetyModel.noOutput + self.CP.safetyConfigs = [safety_config] + + # Write previous route's CarParams + prev_cp = self.params.get("CarParamsPersistent") + if prev_cp is not None: + self.params.put("CarParamsPrevRoute", prev_cp) + + # Write CarParams for controls and radard + cp_bytes = self.CP.to_bytes() + self.params.put("CarParams", cp_bytes) + self.params.put_nonblocking("CarParamsCache", cp_bytes) + self.params.put_nonblocking("CarParamsPersistent", cp_bytes) + + self.events = Events() + + self.param_manager: ParamManager = ParamManager() + self.param_manager.update(self.params) + self._params_list: SimpleNamespace = self.param_manager.get_params() + + # card is driven by can recv, expected at 100Hz + self.rk = Ratekeeper(100, print_delay_threshold=None) + + def state_update(self) -> car.CarState: + """carState update loop, driven by can""" + + # Update carState from CAN + can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True) + CS = self.CI.update(self.CC_prev, can_strs, self._params_list) + + self.sm.update(0) + + can_rcv_valid = len(can_strs) > 0 + + # Check for CAN timeout + if not can_rcv_valid: + self.can_rcv_cum_timeout_counter += 1 + + if can_rcv_valid and REPLAY: + self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime + + return CS + + def update_events(self, CS: car.CarState) -> car.CarState: + self.events.clear() + + self.events.add_from_msg(CS.events) + + # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0 + if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \ + (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \ + (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)): + if CS.cruiseState.enabled or not self.enable_mads: + self.events.add(EventName.pedalPressed) + elif not self.mads_ndlob: + self.events.add(EventName.silentPedalPressed) + + CS.events = self.events.to_msg() + + def state_publish(self, CS: car.CarState): + """carState and carParams publish loop""" + + # carParams - logged every 50 seconds (> 1 per segment) + if self.sm.frame % int(50. / DT_CTRL) == 0: + cp_send = messaging.new_message('carParams') + cp_send.valid = True + cp_send.carParams = self.CP + self.pm.send('carParams', cp_send) + + # publish new carOutput + co_send = messaging.new_message('carOutput') + co_send.valid = self.sm.all_checks(['carControl']) + co_send.carOutput.actuatorsOutput = self.last_actuators_output + self.pm.send('carOutput', co_send) + + # kick off controlsd step while we actuate the latest carControl packet + cs_send = messaging.new_message('carState') + cs_send.valid = CS.canValid + cs_send.carState = CS + cs_send.carState.canErrorCounter = self.can_rcv_cum_timeout_counter + cs_send.carState.cumLagMs = -self.rk.remaining * 1000. + self.pm.send('carState', cs_send) + + def controls_update(self, CS: car.CarState, CC: car.CarControl): + """control update loop, driven by carControl""" + + if not self.initialized_prev: + # Initialize CarInterface, once controls are ready + # TODO: this can make us miss at least a few cycles when doing an ECU knockout + self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan']) + # signal pandad to switch to car safety mode + self.params.put_bool_nonblocking("ControlsReady", True) + + if self.sm.all_alive(['carControl']): + # send car controls over can + now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9) + self.last_actuators_output, can_sends = self.CI.apply(CC, now_nanos) + self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid)) + + self.CC_prev = CC + + def step(self): + CS = self.state_update() + + self.update_events(CS) + + self.state_publish(CS) + + initialized = (not any(e.name == EventName.controlsInitializing for e in self.sm['onroadEvents']) and + self.sm.seen['onroadEvents']) + if not self.CP.passive and initialized: + self.controls_update(CS, self.sm['carControl']) + + self.initialized_prev = initialized + self.CS_prev = CS.as_reader() + + def sp_params_thread(self, event: threading.Event) -> None: + while not event.is_set(): + self.param_manager.update(self.params) + self._params_list = self.param_manager.get_params() + time.sleep(0.1) + + def card_thread(self): + event = threading.Event() + thread = threading.Thread(target=self.sp_params_thread, args=(event, )) + try: + thread.start() + while True: + self.step() + self.rk.monitor_time() + finally: + event.set() + thread.join() + + +def main(): + config_realtime_process(4, Priority.CTRL_HIGH) + car = Car() + car.card_thread() + + +if __name__ == "__main__": + main() diff --git a/selfdrive/car/chrysler/__init__.py b/selfdrive/car/chrysler/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py new file mode 100644 index 0000000000..8a805cd2a1 --- /dev/null +++ b/selfdrive/car/chrysler/carcontroller.py @@ -0,0 +1,300 @@ +from cereal import car + +import cereal.messaging as messaging +from common.conversions import Conversions as CV +from opendbc.can.packer import CANPacker +from openpilot.common.params import Params +from openpilot.selfdrive.car import DT_CTRL, apply_meas_steer_torque_limits +from openpilot.selfdrive.car.chrysler import chryslercan +from openpilot.selfdrive.car.chrysler.values import RAM_CARS, RAM_DT, CarControllerParams, ChryslerFlags, ChryslerFlagsSP +from openpilot.selfdrive.car.interfaces import CarControllerBase, FORWARD_GEARS +from openpilot.selfdrive.controls.lib.drive_helpers import FCA_V_CRUISE_MIN + +ButtonType = car.CarState.ButtonEvent.Type + + +class CarController(CarControllerBase): + def __init__(self, dbc_name, CP, VM): + super().__init__(dbc_name, CP, VM) + self.apply_steer_last = 0 + + self.hud_count = 0 + self.last_lkas_falling_edge = 0 + self.lkas_control_bit_prev = False + self.last_button_frame = 0 + + self.packer = CANPacker(dbc_name) + self.params = CarControllerParams(CP) + + self.sm = messaging.SubMaster(['longitudinalPlanSP']) + self.param_s = Params() + self.last_speed_limit_sign_tap_prev = False + self.speed_limit = 0. + self.speed_limit_offset = 0 + self.timer = 0 + self.final_speed_kph = 0 + self.init_speed = 0 + self.current_speed = 0 + self.v_set_dis = 0 + self.v_cruise_min = 0 + self.button_type = 0 + self.button_select = 0 + self.button_count = 0 + self.target_speed = 0 + self.t_interval = 7 + self.slc_active_stock = False + self.sl_force_active_timer = 0 + self.v_tsc_state = 0 + self.slc_state = 0 + self.m_tsc_state = 0 + self.cruise_button = None + self.speed_diff = 0 + self.v_tsc = 0 + self.m_tsc = 0 + self.steady_speed = 0 + self.button_frame = 0 + + def update(self, CC, CS, now_nanos): + if not self.CP.pcmCruiseSpeed: + self.sm.update(0) + + if self.sm.updated['longitudinalPlanSP']: + self.v_tsc_state = self.sm['longitudinalPlanSP'].visionTurnControllerState + self.slc_state = self.sm['longitudinalPlanSP'].speedLimitControlState + self.m_tsc_state = self.sm['longitudinalPlanSP'].turnSpeedControlState + self.speed_limit = self.sm['longitudinalPlanSP'].speedLimit + self.speed_limit_offset = self.sm['longitudinalPlanSP'].speedLimitOffset + self.v_tsc = self.sm['longitudinalPlanSP'].visionTurnSpeed + self.m_tsc = self.sm['longitudinalPlanSP'].turnSpeed + + self.v_cruise_min = FCA_V_CRUISE_MIN[CS.params_list.is_metric] * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1) + + can_sends = [] + + if not self.CP.pcmCruiseSpeed: + if not self.last_speed_limit_sign_tap_prev and CS.params_list.last_speed_limit_sign_tap: + self.sl_force_active_timer = self.frame + self.param_s.put_bool_nonblocking("LastSpeedLimitSignTap", False) + self.last_speed_limit_sign_tap_prev = CS.params_list.last_speed_limit_sign_tap + + sl_force_active = CS.params_list.speed_limit_control_enabled and (self.frame < (self.sl_force_active_timer * DT_CTRL + 2.0)) + sl_inactive = not sl_force_active and (not CS.params_list.speed_limit_control_enabled or (True if self.slc_state == 0 else False)) + sl_temp_inactive = not sl_force_active and (CS.params_list.speed_limit_control_enabled and (True if self.slc_state == 1 else False)) + slc_active = not sl_inactive and not sl_temp_inactive + + self.slc_active_stock = slc_active + + lkas_active = CC.latActive and CS.madsEnabled + + if self.frame % 10 == 0 and self.CP.carFingerprint not in RAM_CARS: + can_sends.append(chryslercan.create_lkas_heartbit(self.packer, CS.lkas_disabled, CS.lkas_heartbit)) + + ram_cars = self.CP.carFingerprint in RAM_CARS + + das_bus = 2 if self.CP.carFingerprint in RAM_CARS else 0 + # cruise buttons + if CS.button_counter != self.last_button_frame: + self.last_button_frame = CS.button_counter + + if ram_cars: + if any(b.type == ButtonType.cancel for b in CS.out.buttonEvents): + can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter, das_bus, self.CP, cancel=True)) + else: + can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter, das_bus, self.CP, + cruise_buttons_msg=CS.cruise_buttons, + cancel=CC.cruiseControl.cancel, resume=CC.cruiseControl.resume)) + + # ACC cancellation + elif CC.cruiseControl.cancel: + self.last_button_frame = self.frame + can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, self.CP, cancel=True)) + + # ACC resume from standstill + elif CC.cruiseControl.resume: + self.last_button_frame = self.frame + can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, self.CP, resume=True)) + + if not (CC.cruiseControl.cancel or CC.cruiseControl.resume) and not self.CP.pcmCruiseSpeed and CS.out.cruiseState.enabled: + self.button_frame += 1 + button_counter_offset = [1, 1, 0, None][self.button_frame % 4] + if ram_cars: + self.cruise_button = self.get_cruise_buttons(CS, CC.vCruise) + elif button_counter_offset is not None: + self.cruise_button = self.get_cruise_buttons(CS, CC.vCruise) + + if self.cruise_button is not None: + if ram_cars: + can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter, das_bus, self.CP, buttons=self.cruise_button)) + elif button_counter_offset is not None: + can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter + button_counter_offset, das_bus, self.CP, buttons=self.cruise_button)) + + # HUD alerts + if self.frame % 25 == 0: + if CS.lkas_car_model != -1: + can_sends.append(chryslercan.create_lkas_hud(self.packer, self.CP, lkas_active, CS.madsEnabled, CC.hudControl.visualAlert, + self.hud_count, CS.lkas_car_model, CS.auto_high_beam)) + self.hud_count += 1 + + # steering + if self.frame % self.params.STEER_STEP == 0: + + # TODO: can we make this more sane? why is it different for all the cars? + lkas_control_bit = self.lkas_control_bit_prev + if self.CP.carFingerprint in RAM_DT: + if self.CP.minEnableSpeed <= CS.out.vEgo <= self.CP.minEnableSpeed + 0.5: + lkas_control_bit = True + if (self.CP.minEnableSpeed >= 14.5) and (CS.out.gearShifter != 2): + lkas_control_bit = False + elif self.CP.spFlags & ChryslerFlagsSP.SP_WP_S20: + lkas_control_bit = CC.latActive and CS.out.gearShifter in FORWARD_GEARS + elif CS.out.vEgo > self.CP.minSteerSpeed: + lkas_control_bit = True + elif self.CP.flags & ChryslerFlags.HIGHER_MIN_STEERING_SPEED: + if CS.out.vEgo < (self.CP.minSteerSpeed - 3.0): + lkas_control_bit = False + elif self.CP.carFingerprint in RAM_CARS: + if CS.out.vEgo < (self.CP.minSteerSpeed - 0.5): + lkas_control_bit = False + + # EPS faults if LKAS re-enables too quickly + lkas_control_bit = lkas_control_bit and (self.frame - self.last_lkas_falling_edge > 200) and not CS.out.steerFaultTemporary and not CS.out.steerFaultPermanent + + if not lkas_control_bit and self.lkas_control_bit_prev: + self.last_lkas_falling_edge = self.frame + + # steer torque + new_steer = int(round(CC.actuators.steer * self.params.STEER_MAX)) + apply_steer = apply_meas_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorqueEps, self.params) + if not lkas_active or not lkas_control_bit or not self.lkas_control_bit_prev: + apply_steer = 0 + self.apply_steer_last = apply_steer + self.lkas_control_bit_prev = lkas_control_bit + + can_sends.append(chryslercan.create_lkas_command(self.packer, self.CP, int(apply_steer), lkas_control_bit)) + + self.frame += 1 + + new_actuators = CC.actuators.as_builder() + new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX + new_actuators.steerOutputCan = self.apply_steer_last + + return new_actuators, can_sends + + # multikyd methods, sunnyhaibin logic + def get_cruise_buttons_status(self, CS): + if not CS.out.cruiseState.enabled: + for be in CS.out.buttonEvents: + if be.type in (ButtonType.accelCruise, ButtonType.decelCruise, ButtonType.resumeCruise) and be.pressed: + self.timer = 40 + elif self.timer: + self.timer -= 1 + else: + return 1 + return 0 + + def get_target_speed(self, v_cruise_kph_prev): + v_cruise_kph = v_cruise_kph_prev + if self.slc_state > 1: + v_cruise_kph = (self.speed_limit + self.speed_limit_offset) * CV.MS_TO_KPH + if not self.slc_active_stock: + v_cruise_kph = v_cruise_kph_prev + return v_cruise_kph + + def get_button_type(self, button_type): + self.type_status = "type_" + str(button_type) + self.button_picker = getattr(self, self.type_status, lambda: "default") + return self.button_picker() + + def reset_button(self): + if self.button_type != 3: + self.button_type = 0 + + def type_default(self): + self.button_type = 0 + return None + + def type_0(self): + self.button_count = 0 + self.target_speed = self.init_speed + self.speed_diff = self.target_speed - self.v_set_dis + if self.target_speed > self.v_set_dis: + self.button_type = 1 + elif self.target_speed < self.v_set_dis and self.v_set_dis > self.v_cruise_min: + self.button_type = 2 + return None + + def type_1(self): + cruise_button = 1 + self.button_count += 1 + if self.target_speed <= self.v_set_dis: + self.button_count = 0 + self.button_type = 3 + elif self.button_count > 5: + self.button_count = 0 + self.button_type = 3 + return cruise_button + + def type_2(self): + cruise_button = 2 + self.button_count += 1 + if self.target_speed >= self.v_set_dis or self.v_set_dis <= self.v_cruise_min: + self.button_count = 0 + self.button_type = 3 + elif self.button_count > 5: + self.button_count = 0 + self.button_type = 3 + return cruise_button + + def type_3(self): + cruise_button = None + self.button_count += 1 + if self.button_count > self.t_interval: + self.button_type = 0 + return cruise_button + + def get_curve_speed(self, target_speed_kph, v_cruise_kph_prev): + if self.v_tsc_state != 0: + vision_v_cruise_kph = self.v_tsc * CV.MS_TO_KPH + if int(vision_v_cruise_kph) == int(v_cruise_kph_prev): + vision_v_cruise_kph = 255 + else: + vision_v_cruise_kph = 255 + if self.m_tsc_state > 1: + map_v_cruise_kph = self.m_tsc * CV.MS_TO_KPH + if int(map_v_cruise_kph) == 0.0: + map_v_cruise_kph = 255 + else: + map_v_cruise_kph = 255 + curve_speed = self.curve_speed_hysteresis(min(vision_v_cruise_kph, map_v_cruise_kph) + 2 * CV.MPH_TO_KPH) + return min(target_speed_kph, curve_speed) + + def get_button_control(self, CS, final_speed, v_cruise_kph_prev): + self.init_speed = round(min(final_speed, v_cruise_kph_prev) * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1)) + self.v_set_dis = round(CS.out.cruiseState.speed * (CV.MS_TO_MPH if not CS.params_list.is_metric else CV.MS_TO_KPH)) + cruise_button = self.get_button_type(self.button_type) + return cruise_button + + def curve_speed_hysteresis(self, cur_speed: float, hyst=(0.75 * CV.MPH_TO_KPH)): + if cur_speed > self.steady_speed: + self.steady_speed = cur_speed + elif cur_speed < self.steady_speed - hyst: + self.steady_speed = cur_speed + return self.steady_speed + + def get_cruise_buttons(self, CS, v_cruise_kph_prev): + cruise_button = None + if not self.get_cruise_buttons_status(CS): + pass + elif CS.out.cruiseState.enabled: + set_speed_kph = self.get_target_speed(v_cruise_kph_prev) + if self.slc_state > 1: + target_speed_kph = set_speed_kph + else: + target_speed_kph = min(v_cruise_kph_prev, set_speed_kph) + if self.v_tsc_state != 0 or self.m_tsc_state > 1: + self.final_speed_kph = self.get_curve_speed(target_speed_kph, v_cruise_kph_prev) + else: + self.final_speed_kph = target_speed_kph + + cruise_button = self.get_button_control(CS, self.final_speed_kph, v_cruise_kph_prev) # MPH/KPH based button presses + return cruise_button diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py new file mode 100644 index 0000000000..a58681175e --- /dev/null +++ b/selfdrive/car/chrysler/carstate.py @@ -0,0 +1,188 @@ +from cereal import car +from openpilot.common.conversions import Conversions as CV +from opendbc.can.parser import CANParser +from opendbc.can.can_define import CANDefine +from openpilot.selfdrive.car.interfaces import CarStateBase +from openpilot.selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS, BUTTONS + + +class CarState(CarStateBase): + def __init__(self, CP): + super().__init__(CP) + self.CP = CP + can_define = CANDefine(DBC[CP.carFingerprint]["pt"]) + + self.auto_high_beam = 0 + self.button_counter = 0 + self.lkas_car_model = -1 + + if CP.carFingerprint in RAM_CARS: + self.shifter_values = can_define.dv["Transmission_Status"]["Gear_State"] + else: + self.shifter_values = can_define.dv["GEAR"]["PRNDL"] + + self.prev_distance_button = 0 + self.distance_button = 0 + + self.lkas_enabled = False + self.prev_lkas_enabled = False + self.lkas_heartbit = None + self.lkas_disabled = False + + self.button_states = {button.event_type: False for button in BUTTONS} + + def update(self, cp, cp_cam): + + ret = car.CarState.new_message() + + self.prev_distance_button = self.distance_button + self.distance_button = cp.vl["CRUISE_BUTTONS"]["ACC_Distance_Dec"] + + self.prev_mads_enabled = self.mads_enabled + self.prev_lkas_enabled = self.lkas_enabled + + # lock info + ret.doorOpen = any([cp.vl["BCM_1"]["DOOR_OPEN_FL"], + cp.vl["BCM_1"]["DOOR_OPEN_FR"], + cp.vl["BCM_1"]["DOOR_OPEN_RL"], + cp.vl["BCM_1"]["DOOR_OPEN_RR"]]) + ret.seatbeltUnlatched = cp.vl["ORC_1"]["SEATBELT_DRIVER_UNLATCHED"] == 1 + + # brake pedal + ret.brake = 0 + ret.brakePressed = cp.vl["ESP_1"]['Brake_Pedal_State'] == 1 # Physical brake pedal switch + ret.brakeLightsDEPRECATED = bool(cp.vl["ESP_1"]["BRAKE_PRESSED_ACC"]) + + # gas pedal + ret.gas = cp.vl["ECM_5"]["Accelerator_Position"] + ret.gasPressed = ret.gas > 1e-5 + + # car speed + if self.CP.carFingerprint in RAM_CARS: + ret.vEgoRaw = cp.vl["ESP_8"]["Vehicle_Speed"] * CV.KPH_TO_MS + ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["Transmission_Status"]["Gear_State"], None)) + else: + ret.vEgoRaw = (cp.vl["SPEED_1"]["SPEED_LEFT"] + cp.vl["SPEED_1"]["SPEED_RIGHT"]) / 2. + ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["GEAR"]["PRNDL"], None)) + ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) + ret.standstill = not ret.vEgoRaw > 0.001 + ret.wheelSpeeds = self.get_wheel_speeds( + cp.vl["ESP_6"]["WHEEL_SPEED_FL"], + cp.vl["ESP_6"]["WHEEL_SPEED_FR"], + cp.vl["ESP_6"]["WHEEL_SPEED_RL"], + cp.vl["ESP_6"]["WHEEL_SPEED_RR"], + unit=1, + ) + + # Buttons + for button in BUTTONS: + state = (cp.vl[button.can_addr][button.can_msg] in button.values) + if self.button_states[button.event_type] != state: + event = car.CarState.ButtonEvent.new_message() + event.type = button.event_type + event.pressed = state + self.button_events.append(event) + self.button_states[button.event_type] = state + + # button presses + ret.leftBlinker, ret.rightBlinker = ret.leftBlinkerOn, ret.rightBlinkerOn = self.update_blinker_from_stalk(200, cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 1, + cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 2) + ret.genericToggle = cp.vl["STEERING_LEVERS"]["HIGH_BEAM_PRESSED"] == 1 + + # steering wheel + ret.steeringAngleDeg = cp.vl["STEERING"]["STEERING_ANGLE"] + cp.vl["STEERING"]["STEERING_ANGLE_HP"] + ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"] + ret.steeringTorque = cp.vl["EPS_2"]["COLUMN_TORQUE"] + ret.steeringTorqueEps = cp.vl["EPS_2"]["EPS_TORQUE_MOTOR"] + ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD + + # cruise state + cp_cruise = cp_cam if self.CP.carFingerprint in RAM_CARS else cp + + ret.cruiseState.available = cp_cruise.vl["DAS_3"]["ACC_AVAILABLE"] == 1 + ret.cruiseState.enabled = cp_cruise.vl["DAS_3"]["ACC_ACTIVE"] == 1 + ret.cruiseState.speed = cp_cruise.vl["DAS_4"]["ACC_SET_SPEED_KPH"] * CV.KPH_TO_MS + ret.cruiseState.nonAdaptive = cp_cruise.vl["DAS_4"]["ACC_STATE"] in (1, 2) # 1 NormalCCOn and 2 NormalCCSet + ret.cruiseState.standstill = cp_cruise.vl["DAS_3"]["ACC_STANDSTILL"] == 1 + ret.accFaulted = cp_cruise.vl["DAS_3"]["ACC_FAULTED"] != 0 + + if self.CP.carFingerprint in RAM_CARS: + # Auto High Beam isn't Located in this message on chrysler or jeep currently located in 729 message + self.auto_high_beam = cp_cam.vl["DAS_6"]['AUTO_HIGH_BEAM_ON'] + self.lkas_enabled = cp.vl["Center_Stack_2"]["LKAS_Button"] == 1 or cp.vl["Center_Stack_1"]["LKAS_Button"] == 1 + ret.steerFaultTemporary = cp.vl["EPS_3"]["DASM_FAULT"] == 1 + else: + self.lkas_enabled = cp.vl["TRACTION_BUTTON"]["TOGGLE_LKAS"] == 1 + self.lkas_heartbit = cp_cam.vl["LKAS_HEARTBIT"] + if not self.control_initialized: + self.lkas_disabled = bool(cp_cam.vl["LKAS_HEARTBIT"]["LKAS_DISABLED"]) + ret.steerFaultTemporary = cp.vl["EPS_2"]["LKAS_TEMPORARY_FAULT"] == 1 + ret.steerFaultPermanent = cp.vl["EPS_2"]["LKAS_STATE"] == 4 + + # blindspot sensors + if self.CP.enableBsm: + ret.leftBlindspot = cp.vl["BSM_1"]["LEFT_STATUS"] == 1 + ret.rightBlindspot = cp.vl["BSM_1"]["RIGHT_STATUS"] == 1 + + self.lkas_car_model = cp_cam.vl["DAS_6"]["CAR_MODEL"] + self.button_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"] + self.cruise_buttons = cp.vl["CRUISE_BUTTONS"] + + return ret + + @staticmethod + def get_cruise_messages(): + messages = [ + ("DAS_3", 50), + ("DAS_4", 50), + ] + return messages + + @staticmethod + def get_can_parser(CP): + messages = [ + # sig_address, frequency + ("ESP_1", 50), + ("EPS_2", 100), + ("ESP_6", 50), + ("STEERING", 100), + ("ECM_5", 50), + ("CRUISE_BUTTONS", 50), + ("STEERING_LEVERS", 10), + ("ORC_1", 2), + ("BCM_1", 1), + ] + + if CP.enableBsm: + messages.append(("BSM_1", 2)) + + if CP.carFingerprint in RAM_CARS: + messages += [ + ("ESP_8", 50), + ("EPS_3", 50), + ("Transmission_Status", 50), + ("Center_Stack_1", 1), + ("Center_Stack_2", 1), + ] + else: + messages += [ + ("GEAR", 50), + ("SPEED_1", 100), + ("TRACTION_BUTTON", 1), + ] + messages += CarState.get_cruise_messages() + + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0) + + @staticmethod + def get_cam_can_parser(CP): + messages = [ + ("DAS_6", 4), + ] + + if CP.carFingerprint in RAM_CARS: + messages += CarState.get_cruise_messages() + else: + messages.append(("LKAS_HEARTBIT", 10)) + + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2) diff --git a/selfdrive/car/chrysler/chryslercan.py b/selfdrive/car/chrysler/chryslercan.py new file mode 100644 index 0000000000..224b81ad15 --- /dev/null +++ b/selfdrive/car/chrysler/chryslercan.py @@ -0,0 +1,88 @@ +from cereal import car +from openpilot.selfdrive.car.chrysler.values import RAM_CARS + +GearShifter = car.CarState.GearShifter +VisualAlert = car.CarControl.HUDControl.VisualAlert + +def create_lkas_hud(packer, CP, lkas_active, mads_enabled, hud_alert, hud_count, car_model, auto_high_beam): + # LKAS_HUD - Controls what lane-keeping icon is displayed + + # == Color == + # 0 hidden? + # 1 white + # 2 green + # 3 ldw + + # == Lines == + # 03 white Lines + # 04 grey lines + # 09 left lane close + # 0A right lane close + # 0B left Lane very close + # 0C right Lane very close + # 0D left cross cross + # 0E right lane cross + + # == Alerts == + # 7 Normal + # 6 lane departure place hands on wheel + + color = 2 if lkas_active else 1 if mads_enabled and not lkas_active else 0 + lines = 3 if lkas_active else 0 + alerts = 7 if lkas_active else 0 + + if hud_count < (1 * 4): # first 3 seconds, 4Hz + alerts = 1 + + if hud_alert in (VisualAlert.ldw, VisualAlert.steerRequired): + color = 4 + lines = 0 + alerts = 6 + + values = { + "LKAS_ICON_COLOR": color, + "CAR_MODEL": car_model, + "LKAS_LANE_LINES": lines, + "LKAS_ALERTS": alerts, + } + + if CP.carFingerprint in RAM_CARS: + values['AUTO_HIGH_BEAM_ON'] = auto_high_beam + values['LKAS_DISABLED'] = 0 if mads_enabled else 1 + + return packer.make_can_msg("DAS_6", 0, values) + + +def create_lkas_command(packer, CP, apply_steer, lkas_control_bit): + # LKAS_COMMAND Lane-keeping signal to turn the wheel + enabled_val = 2 if CP.carFingerprint in RAM_CARS else 1 + values = { + "STEERING_TORQUE": apply_steer, + "LKAS_CONTROL_BIT": enabled_val if lkas_control_bit else 0, + } + return packer.make_can_msg("LKAS_COMMAND", 0, values) + + +def create_cruise_buttons(packer, frame, bus, CP, cruise_buttons_msg=None, buttons=0, cancel=False, resume=False): + + acc_accel = 1 if buttons == 1 else 0 + acc_decel = 1 if buttons == 2 else 0 + + values = { + "ACC_Cancel": cancel, + "ACC_Resume": resume, + "ACC_Accel": acc_accel, + "ACC_Decel": acc_decel, + "COUNTER": frame % 0x10, + } + + if buttons == 0 and not (cancel or resume) and CP.carFingerprint in RAM_CARS: + values = cruise_buttons_msg.copy() + return packer.make_can_msg("CRUISE_BUTTONS", bus, values) + + +def create_lkas_heartbit(packer, lkas_disabled, lkas_heartbit): + # LKAS_HEARTBIT (697) LKAS heartbeat + values = lkas_heartbit.copy() # forward what we parsed + values["LKAS_DISABLED"] = 1 if lkas_disabled else 0 + return packer.make_can_msg("LKAS_HEARTBIT", 0, values) diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py new file mode 100644 index 0000000000..5198c661d7 --- /dev/null +++ b/selfdrive/car/chrysler/fingerprints.py @@ -0,0 +1,711 @@ +from cereal import car +from openpilot.selfdrive.car.chrysler.values import CAR + +Ecu = car.CarParams.Ecu + +FW_VERSIONS = { + CAR.CHRYSLER_PACIFICA_2018: { + (Ecu.combinationMeter, 0x742, None): [ + b'68227902AF', + b'68227902AG', + b'68227902AH', + b'68227905AG', + b'68360252AC', + ], + (Ecu.srs, 0x744, None): [ + b'68211617AF', + b'68211617AG', + b'68358974AC', + b'68405937AA', + ], + (Ecu.abs, 0x747, None): [ + b'68222747AG', + b'68330876AA', + b'68330876AB', + b'68352227AA', + ], + (Ecu.fwdRadar, 0x753, None): [ + b'04672758AA', + b'04672758AB', + b'68226356AF', + b'68226356AH', + b'68226356AI', + ], + (Ecu.eps, 0x75a, None): [ + b'68288891AE', + b'68378884AA', + b'68525338AA', + b'68525338AB', + ], + (Ecu.engine, 0x7e0, None): [ + b'68267018AO ', + b'68267020AJ ', + b'68303534AG ', + b'68303534AJ ', + b'68340762AD ', + b'68340764AD ', + b'68352652AE ', + b'68352654AE ', + b'68366851AH ', + b'68366853AE ', + b'68366853AG ', + b'68372861AF ', + ], + (Ecu.transmission, 0x7e1, None): [ + b'68277370AJ', + b'68277370AM', + b'68277372AD', + b'68277372AE', + b'68277372AN', + b'68277374AA', + b'68277374AB', + b'68277374AD', + b'68277374AN', + b'68367471AC', + b'68367471AD', + b'68380571AB', + ], + }, + CAR.CHRYSLER_PACIFICA_2020: { + (Ecu.combinationMeter, 0x742, None): [ + b'68405327AC', + b'68436233AB', + b'68436233AC', + b'68436234AB', + b'68436250AE', + b'68529067AA', + b'68594993AB', + b'68594994AB', + ], + (Ecu.srs, 0x744, None): [ + b'68405565AB', + b'68405565AC', + b'68444299AC', + b'68480707AC', + b'68480708AC', + b'68526663AB', + ], + (Ecu.abs, 0x747, None): [ + b'68397394AA', + b'68433480AB', + b'68453575AF', + b'68577676AA', + b'68593395AA', + ], + (Ecu.fwdRadar, 0x753, None): [ + b'04672758AA', + b'04672758AB', + b'68417813AF', + b'68540436AA', + b'68540436AC', + b'68540436AD', + b'68598670AB', + b'68598670AC', + ], + (Ecu.eps, 0x75a, None): [ + b'68416742AA', + b'68460393AA', + b'68460393AB', + b'68494461AB', + b'68494461AC', + b'68524936AA', + b'68524936AB', + b'68525338AB', + b'68594337AB', + b'68594340AB', + ], + (Ecu.engine, 0x7e0, None): [ + b'68413871AD ', + b'68413871AE ', + b'68413871AH ', + b'68413871AI ', + b'68413873AH ', + b'68413873AI ', + b'68443120AE ', + b'68443123AC ', + b'68443125AC ', + b'68496647AI ', + b'68496647AJ ', + b'68496650AH ', + b'68496650AI ', + b'68496652AH ', + b'68526752AD ', + b'68526752AE ', + b'68526754AE ', + b'68536264AE ', + b'68700304AB ', + b'68700306AB ', + ], + (Ecu.transmission, 0x7e1, None): [ + b'68414271AC', + b'68414271AD', + b'68414275AC', + b'68414275AD', + b'68443154AB', + b'68443155AC', + b'68443158AB', + b'68501050AD', + b'68501051AD', + b'68501055AD', + b'68527221AB', + b'68527223AB', + b'68586231AD', + b'68586233AD', + ], + }, + CAR.CHRYSLER_PACIFICA_2018_HYBRID: { + (Ecu.combinationMeter, 0x742, None): [ + b'68239262AH', + b'68239262AI', + b'68239262AJ', + b'68239263AH', + b'68239263AJ', + b'68358439AE', + b'68358439AG', + ], + (Ecu.srs, 0x744, None): [ + b'68238840AH', + b'68358990AC', + b'68405939AA', + ], + (Ecu.fwdRadar, 0x753, None): [ + b'04672758AA', + b'68226356AI', + ], + (Ecu.eps, 0x75a, None): [ + b'68288309AC', + b'68288309AD', + b'68525339AA', + ], + (Ecu.engine, 0x7e0, None): [ + b'68277480AV ', + b'68277480AX ', + b'68277480AZ ', + b'68366580AI ', + b'68366580AK ', + b'68366580AM ', + ], + (Ecu.hybrid, 0x7e2, None): [ + b'05190175BF', + b'05190175BH', + b'05190226AI', + b'05190226AK', + b'05190226AM', + ], + }, + CAR.CHRYSLER_PACIFICA_2019_HYBRID: { + (Ecu.combinationMeter, 0x742, None): [ + b'68405292AC', + b'68434956AC', + b'68434956AD', + b'68434960AE', + b'68434960AF', + b'68529064AB', + b'68594990AB', + ], + (Ecu.srs, 0x744, None): [ + b'68405567AB', + b'68405567AC', + b'68453076AD', + b'68480710AC', + b'68526665AB', + ], + (Ecu.fwdRadar, 0x753, None): [ + b'04672758AB', + b'68417813AF', + b'68540436AA', + b'68540436AB', + b'68540436AC', + b'68540436AD', + b'68598670AB', + b'68598670AC', + b'68645752AA', + ], + (Ecu.eps, 0x75a, None): [ + b'68416741AA', + b'68460392AA', + b'68525339AA', + b'68525339AB', + b'68594341AB', + ], + (Ecu.engine, 0x7e0, None): [ + b'68416680AE ', + b'68416680AF ', + b'68416680AG ', + b'68444228AC ', + b'68444228AD ', + b'68444228AE ', + b'68444228AF ', + b'68499122AD ', + b'68499122AE ', + b'68499122AF ', + b'68526772AD ', + b'68526772AH ', + b'68599493AC ', + b'68657433AA ', + ], + (Ecu.hybrid, 0x7e2, None): [ + b'05185116AF', + b'05185116AJ', + b'05185116AK', + b'05190240AP', + b'05190240AQ', + b'05190240AR', + b'05190265AG', + b'05190265AH', + b'05190289AE', + b'68540977AH', + b'68540977AK', + b'68597647AE', + b'68632416AB', + ], + }, + CAR.JEEP_GRAND_CHEROKEE: { + (Ecu.combinationMeter, 0x742, None): [ + b'68243549AG', + b'68302211AC', + b'68302212AD', + b'68302223AC', + b'68302246AC', + b'68331511AC', + b'68331574AC', + b'68331687AC', + b'68331690AC', + b'68340272AD', + ], + (Ecu.srs, 0x744, None): [ + b'68309533AA', + b'68316742AB', + b'68355363AB', + ], + (Ecu.abs, 0x747, None): [ + b'68252642AG', + b'68306178AD', + b'68336275AB', + b'68336276AB', + ], + (Ecu.fwdRadar, 0x753, None): [ + b'04672627AB', + b'68251506AF', + b'68332015AB', + ], + (Ecu.eps, 0x75a, None): [ + b'68276201AG', + b'68321644AB', + b'68321644AC', + b'68321646AC', + b'68321648AC', + ], + (Ecu.engine, 0x7e0, None): [ + b'05035920AE ', + b'68252272AG ', + b'68284455AI ', + b'68284456AI ', + b'68284477AF ', + b'68325564AH ', + b'68325564AI ', + b'68325565AH ', + b'68325565AI ', + b'68325618AD ', + ], + (Ecu.transmission, 0x7e1, None): [ + b'05035517AH', + b'68253222AF', + b'68311218AC', + b'68311223AF', + b'68311223AG', + b'68361911AE', + b'68361911AF', + b'68361911AH', + b'68361916AD', + ], + }, + CAR.JEEP_GRAND_CHEROKEE_2019: { + (Ecu.combinationMeter, 0x742, None): [ + b'68402703AB', + b'68402704AB', + b'68402708AB', + b'68402971AD', + b'68454144AD', + b'68454145AB', + b'68454152AB', + b'68454156AB', + b'68516650AB', + b'68516651AB', + b'68516669AB', + b'68516671AB', + b'68516683AB', + ], + (Ecu.srs, 0x744, None): [ + b'68355363AB', + b'68355364AB', + ], + (Ecu.abs, 0x747, None): [ + b'68408639AC', + b'68408639AD', + b'68499978AB', + ], + (Ecu.fwdRadar, 0x753, None): [ + b'04672788AA', + b'68456722AC', + ], + (Ecu.eps, 0x75a, None): [ + b'68417279AA', + b'68417280AA', + b'68417281AA', + b'68453431AA', + b'68453433AA', + b'68453435AA', + b'68499171AA', + b'68499171AB', + b'68501183AA', + ], + (Ecu.engine, 0x7e0, None): [ + b'05035674AB ', + b'68412635AG ', + b'68412660AD ', + b'68422860AB', + b'68449435AE ', + b'68496223AA ', + b'68504959AD ', + b'68504959AE ', + b'68504960AD ', + b'68504993AC ', + ], + (Ecu.transmission, 0x7e1, None): [ + b'05035707AA', + b'68419672AC', + b'68419678AB', + b'68423905AB', + b'68449258AC', + b'68495807AA', + b'68495807AB', + b'68503641AC', + b'68503664AC', + ], + }, + CAR.RAM_1500_5TH_GEN: { + (Ecu.combinationMeter, 0x742, None): [ + b'68294051AG', + b'68294051AI', + b'68294052AG', + b'68294052AH', + b'68294059AI', + b'68294063AG', + b'68294063AH', + b'68294063AI', + b'68434846AC', + b'68434847AC', + b'68434849AC', + b'68434856AC', + b'68434858AC', + b'68434859AC', + b'68434860AC', + b'68453471AD', + b'68453483AC', + b'68453483AD', + b'68453487AD', + b'68453491AC', + b'68453491AD', + b'68453499AD', + b'68453503AC', + b'68453503AD', + b'68453505AC', + b'68453505AD', + b'68453511AC', + b'68453513AC', + b'68453513AD', + b'68453514AD', + b'68505633AB', + b'68510277AG', + b'68510277AH', + b'68510280AG', + b'68510282AG', + b'68510282AH', + b'68510283AG', + b'68527346AE', + b'68527361AD', + b'68527375AD', + b'68527381AD', + b'68527381AE', + b'68527382AE', + b'68527383AD', + b'68527383AE', + b'68527387AE', + b'68527397AD', + b'68527403AC', + b'68527403AD', + b'68546047AF', + b'68631938AA', + b'68631939AA', + b'68631940AA', + b'68631940AB', + b'68631942AA', + b'68631943AB', + ], + (Ecu.srs, 0x744, None): [ + b'68428609AB', + b'68441329AB', + b'68473844AB', + b'68490898AA', + b'68500728AA', + b'68615033AA', + b'68615034AA', + ], + (Ecu.abs, 0x747, None): [ + b'68292406AG', + b'68292406AH', + b'68432418AB', + b'68432418AC', + b'68432418AD', + b'68436004AD', + b'68436004AE', + b'68438454AC', + b'68438454AD', + b'68438456AE', + b'68438456AF', + b'68535469AB', + b'68535470AC', + b'68548900AB', + b'68586307AB', + ], + (Ecu.fwdRadar, 0x753, None): [ + b'04672892AB', + b'04672932AB', + b'04672932AC', + b'22DTRHD_AA', + b'68320950AH', + b'68320950AI', + b'68320950AJ', + b'68320950AL', + b'68320950AM', + b'68454268AB', + b'68475160AE', + b'68475160AF', + b'68475160AG', + ], + (Ecu.eps, 0x75a, None): [ + b'21590101AA', + b'21590101AB', + b'68273275AF', + b'68273275AG', + b'68273275AH', + b'68312176AE', + b'68312176AG', + b'68440789AC', + b'68466110AA', + b'68466110AB', + b'68466113AA', + b'68469901AA', + b'68469907AA', + b'68522583AA', + b'68522583AB', + b'68522584AA', + b'68522585AB', + b'68552788AA', + b'68552789AA', + b'68552790AA', + b'68552791AB', + b'68552794AA', + b'68552794AD', + b'68585106AB', + b'68585107AB', + b'68585108AB', + b'68585109AB', + b'68585112AB', + ], + (Ecu.engine, 0x7e0, None): [ + b'05035699AG ', + b'05035841AC ', + b'05035841AD ', + b'05036026AB ', + b'05036065AE ', + b'05036066AE ', + b'05036193AA ', + b'05149368AA ', + b'05149374AA ', + b'05149591AD ', + b'05149591AE ', + b'05149592AE ', + b'05149599AE ', + b'05149600AD ', + b'05149605AE ', + b'05149846AA ', + b'05149848AA ', + b'05149848AC ', + b'05190341AD', + b'68378695AJ ', + b'68378696AJ ', + b'68378696AK ', + b'68378701AI ', + b'68378702AI ', + b'68378710AL ', + b'68378742AI ', + b'68378742AK ', + b'68378748AL ', + b'68378758AM ', + b'68448163AJ', + b'68448163AK', + b'68448163AL', + b'68448165AG', + b'68448165AK', + b'68455111AC ', + b'68455119AC ', + b'68455145AC ', + b'68455145AE ', + b'68455146AC ', + b'68460927AA ', + b'68467915AC ', + b'68467916AC ', + b'68467936AC ', + b'68500630AD', + b'68500630AE', + b'68500631AE', + b'68502719AC ', + b'68502722AC ', + b'68502733AC ', + b'68502734AF ', + b'68502740AF ', + b'68502741AF ', + b'68502742AC ', + b'68502742AF ', + b'68539650AD', + b'68539650AF', + b'68539651AD', + b'68586101AA ', + b'68586102AA ', + b'68586105AB ', + b'68629919AC ', + b'68629922AC ', + b'68629925AC ', + b'68629926AC ', + ], + (Ecu.transmission, 0x7e1, None): [ + b'05035706AD', + b'05035842AB', + b'05036069AA', + b'05036181AA', + b'05149536AC', + b'05149537AC', + b'05149543AC', + b'68360078AL', + b'68360080AL', + b'68360080AM', + b'68360081AM', + b'68360085AJ', + b'68360085AL', + b'68360086AH', + b'68360086AK', + b'68384328AD', + b'68384332AD', + b'68445531AC', + b'68445533AB', + b'68445536AB', + b'68445537AB', + b'68466081AB', + b'68466087AB', + b'68484466AC', + b'68484467AC', + b'68484471AC', + b'68502994AD', + b'68502996AD', + b'68520867AE', + b'68520867AF', + b'68520870AC', + b'68520871AC', + b'68528325AE', + b'68540431AB', + b'68540433AB', + b'68551676AA', + b'68629935AB', + b'68629936AC', + ], + }, + CAR.RAM_HD_5TH_GEN: { + (Ecu.combinationMeter, 0x742, None): [ + b'68361606AH', + b'68437735AC', + b'68492693AD', + b'68525485AB', + b'68525487AB', + b'68525498AB', + b'68528791AF', + b'68628474AB', + ], + (Ecu.srs, 0x744, None): [ + b'68399794AC', + b'68428503AA', + b'68428505AA', + b'68428507AA', + ], + (Ecu.abs, 0x747, None): [ + b'68334977AH', + b'68455481AC', + b'68504022AA', + b'68504022AB', + b'68504022AC', + b'68530686AB', + b'68530686AC', + b'68544596AC', + b'68641704AA', + ], + (Ecu.fwdRadar, 0x753, None): [ + b'04672895AB', + b'04672934AB', + b'56029827AG', + b'56029827AH', + b'68462657AE', + b'68484694AD', + b'68484694AE', + b'68615489AB', + ], + (Ecu.eps, 0x761, None): [ + b'68421036AC', + b'68507906AB', + b'68534023AC', + ], + (Ecu.engine, 0x7e0, None): [ + b'52370131AF', + b'52370231AF', + b'52370231AG', + b'52370491AA', + b'52370931CT', + b'52401032AE', + b'52421132AF', + b'52421332AF', + b'68527616AD ', + b'M2370131MB', + b'M2421132MB', + ], + }, + CAR.DODGE_DURANGO: { + (Ecu.combinationMeter, 0x742, None): [ + b'68454261AD', + b'68471535AE', + ], + (Ecu.srs, 0x744, None): [ + b'68355362AB', + b'68492238AD', + ], + (Ecu.abs, 0x747, None): [ + b'68408639AD', + b'68499978AB', + ], + (Ecu.fwdRadar, 0x753, None): [ + b'68440581AE', + b'68456722AC', + ], + (Ecu.eps, 0x75a, None): [ + b'68453435AA', + b'68498477AA', + ], + (Ecu.engine, 0x7e0, None): [ + b'05035786AE ', + b'68449476AE ', + ], + (Ecu.transmission, 0x7e1, None): [ + b'05035826AC', + b'68449265AC', + ], + }, +} diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py new file mode 100755 index 0000000000..cac234a88f --- /dev/null +++ b/selfdrive/car/chrysler/interface.py @@ -0,0 +1,168 @@ +#!/usr/bin/env python3 +from cereal import car +from panda import Panda +from openpilot.selfdrive.car import create_button_events, get_safety_config +from openpilot.selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags, ChryslerFlagsSP +from openpilot.selfdrive.car.interfaces import CarInterfaceBase + +ButtonType = car.CarState.ButtonEvent.Type +EventName = car.CarEvent.EventName +GearShifter = car.CarState.GearShifter + + +class CarInterface(CarInterfaceBase): + def __init__(self, CP, CarController, CarState): + super().__init__(CP, CarController, CarState) + + @staticmethod + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): + ret.carName = "chrysler" + + # radar parsing needs some work, see https://github.com/commaai/openpilot/issues/26842 + ret.radarUnavailable = True # DBC[candidate]['radar'] is None + ret.steerActuatorDelay = 0.1 + ret.steerLimitTimer = 0.4 + ret.customStockLongAvailable = True + + # safety config + ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.chrysler)] + if candidate in RAM_HD: + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_HD + elif candidate in RAM_DT: + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_DT + + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + if candidate not in RAM_CARS: + # Newer FW versions standard on the following platforms, or flashed by a dealer onto older platforms have a higher minimum steering speed. + new_eps_platform = candidate in (CAR.CHRYSLER_PACIFICA_2019_HYBRID, CAR.CHRYSLER_PACIFICA_2020, CAR.JEEP_GRAND_CHEROKEE_2019, CAR.DODGE_DURANGO) + new_eps_firmware = any(fw.ecu == 'eps' and fw.fwVersion[:4] >= b"6841" for fw in car_fw) + if new_eps_platform or new_eps_firmware: + ret.flags |= ChryslerFlags.HIGHER_MIN_STEERING_SPEED.value + + # Chrysler + if candidate in (CAR.CHRYSLER_PACIFICA_2018, CAR.CHRYSLER_PACIFICA_2018_HYBRID, CAR.CHRYSLER_PACIFICA_2019_HYBRID, + CAR.CHRYSLER_PACIFICA_2020, CAR.DODGE_DURANGO): + ret.lateralTuning.init('pid') + ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]] + ret.lateralTuning.pid.kf = 0.00006 + + # Jeep + elif candidate in (CAR.JEEP_GRAND_CHEROKEE, CAR.JEEP_GRAND_CHEROKEE_2019): + ret.steerActuatorDelay = 0.2 + + ret.lateralTuning.init('pid') + ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]] + ret.lateralTuning.pid.kf = 0.00006 + + # Ram + elif candidate == CAR.RAM_1500_5TH_GEN: + ret.steerActuatorDelay = 0.2 + ret.wheelbase = 3.88 + # Older EPS FW allow steer to zero + # Older EPS FW allow steer to zero + if any(fw.ecu == 'eps' and b"68" < fw.fwVersion[:4] <= b"6831" for fw in car_fw): + ret.minSteerSpeed = 0. + if any(fw.ecu == 'eps' and fw.fwVersion in (b"68273275AF", b"68273275AG", b"68312176AE", b"68312176AG",) for fw in car_fw): + ret.minEnableSpeed = 0. + + elif candidate == CAR.RAM_HD_5TH_GEN: + ret.steerActuatorDelay = 0.2 + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, 1.0, False) + ret.spFlags |= ChryslerFlagsSP.SP_RAM_HD_PARAMSD_IGNORE.value + + else: + raise ValueError(f"Unsupported car: {candidate}") + + if ret.flags & ChryslerFlags.HIGHER_MIN_STEERING_SPEED: + # TODO: allow these cars to steer down to 13 m/s if already engaged. + # TODO: Durango 2020 may be able to steer to zero once above 38 kph + ret.minSteerSpeed = 17.5 # m/s 17 on the way up, 13 on the way down once engaged. + + ret.centerToFront = ret.wheelbase * 0.44 + ret.enableBsm = 720 in fingerprint[0] + + if 0x4FF in fingerprint[0]: + ret.spFlags |= ChryslerFlagsSP.SP_WP_S20.value + ret.minSteerSpeed = 0.0 + + return ret + + def _update(self, c): + ret = self.CS.update(self.cp, self.cp_cam) + + self.CS.button_events = [ + *self.CS.button_events, + *create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}), + *create_button_events(self.CS.lkas_enabled, self.CS.prev_lkas_enabled, {1: ButtonType.altButton1}), + ] + + self.CS.mads_enabled = self.get_sp_cruise_main_state(ret) + + self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, c.vCruise, self.CS.accEnabled, + enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise, ButtonType.resumeCruise) if not self.CP.pcmCruiseSpeed else + (ButtonType.accelCruise, ButtonType.decelCruise), + resume_button=(ButtonType.resumeCruise,) if not self.CP.pcmCruiseSpeed else + (ButtonType.accelCruise, ButtonType.resumeCruise)) + + if ret.cruiseState.available: + if self.enable_mads: + if not self.CS.prev_mads_enabled and self.CS.mads_enabled: + self.CS.madsEnabled = True + if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events): + self.CS.madsEnabled = not self.CS.madsEnabled + self.CS.lkas_disabled = not self.CS.lkas_disabled + self.CS.madsEnabled = self.get_acc_mads(ret, self.CS.madsEnabled) + else: + self.CS.madsEnabled = False + self.CS.madsEnabled = self.get_sp_started_mads(ret, self.CS.madsEnabled) + + if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0) or not self.CP.pcmCruiseSpeed: + if any(b.type == ButtonType.cancel for b in self.CS.button_events): + self.get_sp_cancel_cruise_state() + if self.get_sp_pedal_disengage(ret): + self.get_sp_cancel_cruise_state() + ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled + + if self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed: + if ret.gasPressed and not ret.cruiseState.enabled: + self.CS.accEnabled = False + self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled + + if self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed: + if ret.gasPressed and not ret.cruiseState.enabled: + self.CS.accEnabled = False + self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled + + ret = self.get_sp_common_state(ret) + + ret.buttonEvents = [ + *self.CS.button_events, + *self.button_events.create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled) # MADS BUTTON + ] + + # events + events = self.create_common_events(ret, c, extra_gears=[car.CarState.GearShifter.low], pcm_enable=False) + + events, ret = self.create_sp_events(ret, events) + + # Low speed steer alert hysteresis logic + if self.CP.carFingerprint in RAM_DT: + if self.CS.out.vEgo >= self.CP.minEnableSpeed: + self.low_speed_alert = False + if (self.CP.minEnableSpeed >= 14.5) and (self.CS.out.gearShifter != car.CarState.GearShifter.drive): + self.low_speed_alert = True + else: + if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 0.5): + self.low_speed_alert = True + elif ret.vEgo > (self.CP.minSteerSpeed + 1.): + self.low_speed_alert = False + if self.low_speed_alert: + events.add(car.CarEvent.EventName.belowSteerSpeed) + + ret.customStockLong = self.update_custom_stock_long() + + ret.events = events.to_msg() + + return ret diff --git a/selfdrive/car/chrysler/radar_interface.py b/selfdrive/car/chrysler/radar_interface.py new file mode 100755 index 0000000000..f1d863d1e1 --- /dev/null +++ b/selfdrive/car/chrysler/radar_interface.py @@ -0,0 +1,85 @@ +#!/usr/bin/env python3 +from opendbc.can.parser import CANParser +from cereal import car +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase +from openpilot.selfdrive.car.chrysler.values import DBC + +RADAR_MSGS_C = list(range(0x2c2, 0x2d4+2, 2)) # c_ messages 706,...,724 +RADAR_MSGS_D = list(range(0x2a2, 0x2b4+2, 2)) # d_ messages +LAST_MSG = max(RADAR_MSGS_C + RADAR_MSGS_D) +NUMBER_MSGS = len(RADAR_MSGS_C) + len(RADAR_MSGS_D) + +def _create_radar_can_parser(car_fingerprint): + dbc = DBC[car_fingerprint]['radar'] + if dbc is None: + return None + + msg_n = len(RADAR_MSGS_C) + # list of [(signal name, message name or number), (...)] + # [('RADAR_STATE', 1024), + # ('LONG_DIST', 1072), + # ('LONG_DIST', 1073), + # ('LONG_DIST', 1074), + # ('LONG_DIST', 1075), + + messages = list(zip(RADAR_MSGS_C + + RADAR_MSGS_D, + [20] * msg_n + # 20Hz (0.05s) + [20] * msg_n, strict=True)) # 20Hz (0.05s) + + return CANParser(DBC[car_fingerprint]['radar'], messages, 1) + +def _address_to_track(address): + if address in RADAR_MSGS_C: + return (address - RADAR_MSGS_C[0]) // 2 + if address in RADAR_MSGS_D: + return (address - RADAR_MSGS_D[0]) // 2 + raise ValueError("radar received unexpected address %d" % address) + +class RadarInterface(RadarInterfaceBase): + def __init__(self, CP): + super().__init__(CP) + self.rcp = _create_radar_can_parser(CP.carFingerprint) + self.updated_messages = set() + self.trigger_msg = LAST_MSG + + def update(self, can_strings): + if self.rcp is None or self.CP.radarUnavailable: + return super().update(None) + + vls = self.rcp.update_strings(can_strings) + self.updated_messages.update(vls) + + if self.trigger_msg not in self.updated_messages: + return None + + ret = car.RadarData.new_message() + errors = [] + if not self.rcp.can_valid: + errors.append("canError") + ret.errors = errors + + for ii in self.updated_messages: # ii should be the message ID as a number + cpt = self.rcp.vl[ii] + trackId = _address_to_track(ii) + + if trackId not in self.pts: + self.pts[trackId] = car.RadarData.RadarPoint.new_message() + self.pts[trackId].trackId = trackId + self.pts[trackId].aRel = float('nan') + self.pts[trackId].yvRel = float('nan') + self.pts[trackId].measured = True + + if 'LONG_DIST' in cpt: # c_* message + self.pts[trackId].dRel = cpt['LONG_DIST'] # from front of car + # our lat_dist is positive to the right in car's frame. + # TODO what does yRel want? + self.pts[trackId].yRel = cpt['LAT_DIST'] # in car frame's y axis, left is positive + else: # d_* message + self.pts[trackId].vRel = cpt['REL_SPEED'] + + # We want a list, not a dictionary. Filter out LONG_DIST==0 because that means it's not valid. + ret.points = [x for x in self.pts.values() if x.dRel != 0] + + self.updated_messages.clear() + return ret diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py new file mode 100644 index 0000000000..51e9d8ba57 --- /dev/null +++ b/selfdrive/car/chrysler/values.py @@ -0,0 +1,168 @@ +from collections import namedtuple +from enum import IntFlag +from dataclasses import dataclass, field + +from cereal import car +from panda.python import uds +from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict +from openpilot.selfdrive.car.docs_definitions import CarHarness, CarDocs, CarParts +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16 + +Ecu = car.CarParams.Ecu +Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values']) + + +class ChryslerFlags(IntFlag): + # Detected flags + HIGHER_MIN_STEERING_SPEED = 1 + + +class ChryslerFlagsSP(IntFlag): + SP_RAM_HD_PARAMSD_IGNORE = 1 + SP_WP_S20 = 2 + + +@dataclass +class ChryslerCarDocs(CarDocs): + package: str = "Adaptive Cruise Control (ACC)" + car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.fca])) + + +@dataclass +class ChryslerPlatformConfig(PlatformConfig): + dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion')) + + +@dataclass(frozen=True) +class ChryslerCarSpecs(CarSpecs): + minSteerSpeed: float = 3.8 # m/s + + +class CAR(Platforms): + # Chrysler + CHRYSLER_PACIFICA_2018_HYBRID = ChryslerPlatformConfig( + [ChryslerCarDocs("Chrysler Pacifica Hybrid 2017-18")], + ChryslerCarSpecs(mass=2242., wheelbase=3.089, steerRatio=16.2), + ) + CHRYSLER_PACIFICA_2019_HYBRID = ChryslerPlatformConfig( + [ChryslerCarDocs("Chrysler Pacifica Hybrid 2019-24")], + CHRYSLER_PACIFICA_2018_HYBRID.specs, + ) + CHRYSLER_PACIFICA_2018 = ChryslerPlatformConfig( + [ChryslerCarDocs("Chrysler Pacifica 2017-18")], + CHRYSLER_PACIFICA_2018_HYBRID.specs, + ) + CHRYSLER_PACIFICA_2020 = ChryslerPlatformConfig( + [ + ChryslerCarDocs("Chrysler Pacifica 2019-20"), + ChryslerCarDocs("Chrysler Pacifica 2021-23", package="All"), + ], + CHRYSLER_PACIFICA_2018_HYBRID.specs, + ) + + # Dodge + DODGE_DURANGO = ChryslerPlatformConfig( + [ChryslerCarDocs("Dodge Durango 2020-21")], + CHRYSLER_PACIFICA_2018_HYBRID.specs, + ) + + # Jeep + JEEP_GRAND_CHEROKEE = ChryslerPlatformConfig( # includes 2017 Trailhawk + [ChryslerCarDocs("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk")], + ChryslerCarSpecs(mass=1778., wheelbase=2.71, steerRatio=16.7), + ) + + JEEP_GRAND_CHEROKEE_2019 = ChryslerPlatformConfig( # includes 2020 Trailhawk + [ChryslerCarDocs("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4")], + JEEP_GRAND_CHEROKEE.specs, + ) + + # Ram + RAM_1500_5TH_GEN = ChryslerPlatformConfig( + [ChryslerCarDocs("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram]))], + ChryslerCarSpecs(mass=2493., wheelbase=3.88, steerRatio=16.3, minSteerSpeed=0.5, minEnableSpeed=14.5), + dbc_dict('chrysler_ram_dt_generated', None), + ) + RAM_HD_5TH_GEN = ChryslerPlatformConfig( + [ + ChryslerCarDocs("Ram 2500 2020-24", car_parts=CarParts.common([CarHarness.ram])), + ChryslerCarDocs("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])), + ], + ChryslerCarSpecs(mass=3405., wheelbase=3.785, steerRatio=15.61, minSteerSpeed=16.), + dbc_dict('chrysler_ram_hd_generated', None), + ) + + +class CarControllerParams: + def __init__(self, CP): + self.STEER_STEP = 2 # 50 Hz + self.STEER_ERROR_MAX = 80 + if CP.carFingerprint in RAM_HD: + self.STEER_DELTA_UP = 14 + self.STEER_DELTA_DOWN = 14 + self.STEER_MAX = 361 # higher than this faults the EPS + elif CP.carFingerprint in RAM_DT: + self.STEER_DELTA_UP = 6 + self.STEER_DELTA_DOWN = 6 + self.STEER_MAX = 350 # EPS allows more, up to 350? + else: + self.STEER_DELTA_UP = 3 + self.STEER_DELTA_DOWN = 3 + self.STEER_MAX = 261 # higher than this faults the EPS + + +BUTTONS = [ + Button(car.CarState.ButtonEvent.Type.accelCruise, "CRUISE_BUTTONS", "ACC_Accel", [1]), + Button(car.CarState.ButtonEvent.Type.decelCruise, "CRUISE_BUTTONS", "ACC_Decel", [1]), + Button(car.CarState.ButtonEvent.Type.cancel, "CRUISE_BUTTONS", "ACC_Cancel", [1]), + Button(car.CarState.ButtonEvent.Type.resumeCruise, "CRUISE_BUTTONS", "ACC_Resume", [1]), +] + + +STEER_THRESHOLD = 120 + +RAM_DT = {CAR.RAM_1500_5TH_GEN, } +RAM_HD = {CAR.RAM_HD_5TH_GEN, } +RAM_CARS = RAM_DT | RAM_HD + + +CHRYSLER_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ + p16(0xf132) +CHRYSLER_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ + p16(0xf132) + +CHRYSLER_SOFTWARE_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_NUMBER) +CHRYSLER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_NUMBER) + +CHRYSLER_RX_OFFSET = -0x280 + +FW_QUERY_CONFIG = FwQueryConfig( + requests=[ + Request( + [CHRYSLER_VERSION_REQUEST], + [CHRYSLER_VERSION_RESPONSE], + whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.srs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.combinationMeter], + rx_offset=CHRYSLER_RX_OFFSET, + bus=0, + ), + Request( + [CHRYSLER_VERSION_REQUEST], + [CHRYSLER_VERSION_RESPONSE], + whitelist_ecus=[Ecu.abs, Ecu.hybrid, Ecu.engine, Ecu.transmission], + bus=0, + ), + Request( + [CHRYSLER_SOFTWARE_VERSION_REQUEST], + [CHRYSLER_SOFTWARE_VERSION_RESPONSE], + whitelist_ecus=[Ecu.engine, Ecu.transmission], + bus=0, + ), + ], + extra_ecus=[ + (Ecu.abs, 0x7e4, None), # alt address for abs on hybrids, NOTE: not on all hybrid platforms + ], +) + +DBC = CAR.create_dbc_map() diff --git a/selfdrive/car/disable_ecu.py b/selfdrive/car/disable_ecu.py new file mode 100755 index 0000000000..1f731f0344 --- /dev/null +++ b/selfdrive/car/disable_ecu.py @@ -0,0 +1,49 @@ +#!/usr/bin/env python3 +from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery +from openpilot.common.swaglog import cloudlog + +EXT_DIAG_REQUEST = b'\x10\x03' +EXT_DIAG_RESPONSE = b'\x50\x03' + +COM_CONT_RESPONSE = b'' + + +def disable_ecu(logcan, sendcan, bus=0, addr=0x7d0, sub_addr=None, com_cont_req=b'\x28\x83\x01', timeout=0.1, retry=10, debug=False): + """Silence an ECU by disabling sending and receiving messages using UDS 0x28. + The ECU will stay silent as long as openpilot keeps sending Tester Present. + + This is used to disable the radar in some cars. Openpilot will emulate the radar. + WARNING: THIS DISABLES AEB!""" + cloudlog.warning(f"ecu disable {hex(addr), sub_addr} ...") + + for i in range(retry): + try: + query = IsoTpParallelQuery(sendcan, logcan, bus, [(addr, sub_addr)], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], debug=debug) + + for _, _ in query.get_data(timeout).items(): + cloudlog.warning("communication control disable tx/rx ...") + + query = IsoTpParallelQuery(sendcan, logcan, bus, [(addr, sub_addr)], [com_cont_req], [COM_CONT_RESPONSE], debug=debug) + query.get_data(0) + + cloudlog.warning("ecu disabled") + return True + + except Exception: + cloudlog.exception("ecu disable exception") + + cloudlog.error(f"ecu disable retry ({i + 1}) ...") + cloudlog.error("ecu disable failed") + return False + + +if __name__ == "__main__": + import time + import cereal.messaging as messaging + sendcan = messaging.pub_sock('sendcan') + logcan = messaging.sub_sock('can') + time.sleep(1) + + # honda bosch radar disable + disabled = disable_ecu(logcan, sendcan, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03', timeout=0.5, debug=False) + print(f"disabled: {disabled}") diff --git a/selfdrive/car/docs.py b/selfdrive/car/docs.py new file mode 100755 index 0000000000..7bf6a6ad22 --- /dev/null +++ b/selfdrive/car/docs.py @@ -0,0 +1,80 @@ +#!/usr/bin/env python3 +import argparse +from collections import defaultdict +import jinja2 +import os +from enum import Enum +from natsort import natsorted + +from cereal import car +from openpilot.common.basedir import BASEDIR +from openpilot.selfdrive.car import gen_empty_fingerprint +from openpilot.selfdrive.car.docs_definitions import CarDocs, Column, CommonFootnote, PartType +from openpilot.selfdrive.car.car_helpers import interfaces, get_interface_attr +from openpilot.selfdrive.car.values import PLATFORMS + + +def get_all_footnotes() -> dict[Enum, int]: + all_footnotes = list(CommonFootnote) + for footnotes in get_interface_attr("Footnote", ignore_none=True).values(): + all_footnotes.extend(footnotes) + return {fn: idx + 1 for idx, fn in enumerate(all_footnotes)} + + +CARS_MD_OUT = os.path.join(BASEDIR, "docs", "CARS.md") +CARS_MD_TEMPLATE = os.path.join(BASEDIR, "selfdrive", "car", "CARS_template.md") + + +def get_all_car_docs() -> list[CarDocs]: + all_car_docs: list[CarDocs] = [] + footnotes = get_all_footnotes() + for model, platform in PLATFORMS.items(): + car_docs = platform.config.car_docs + # If available, uses experimental longitudinal limits for the docs + CP = interfaces[model][0].get_params(platform, fingerprint=gen_empty_fingerprint(), + car_fw=[car.CarParams.CarFw(ecu="unknown")], experimental_long=True, docs=True) + + if CP.dashcamOnly or not len(car_docs): + continue + + # A platform can include multiple car models + for _car_docs in car_docs: + if not hasattr(_car_docs, "row"): + _car_docs.init_make(CP) + _car_docs.init(CP, footnotes) + all_car_docs.append(_car_docs) + + # Sort cars by make and model + year + sorted_cars: list[CarDocs] = natsorted(all_car_docs, key=lambda car: car.name.lower()) + return sorted_cars + + +def group_by_make(all_car_docs: list[CarDocs]) -> dict[str, list[CarDocs]]: + sorted_car_docs = defaultdict(list) + for car_docs in all_car_docs: + sorted_car_docs[car_docs.make].append(car_docs) + return dict(sorted_car_docs) + + +def generate_cars_md(all_car_docs: list[CarDocs], template_fn: str) -> str: + with open(template_fn) as f: + template = jinja2.Template(f.read(), trim_blocks=True, lstrip_blocks=True) + + footnotes = [fn.value.text for fn in get_all_footnotes()] + cars_md: str = template.render(all_car_docs=all_car_docs, PartType=PartType, + group_by_make=group_by_make, footnotes=footnotes, + Column=Column) + return cars_md + + +if __name__ == "__main__": + parser = argparse.ArgumentParser(description="Auto generates supported cars documentation", + formatter_class=argparse.ArgumentDefaultsHelpFormatter) + + parser.add_argument("--template", default=CARS_MD_TEMPLATE, help="Override default template filename") + parser.add_argument("--out", default=CARS_MD_OUT, help="Override default generated filename") + args = parser.parse_args() + + with open(args.out, 'w') as f: + f.write(generate_cars_md(get_all_car_docs(), args.template)) + print(f"Generated and written to {args.out}") diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py new file mode 100644 index 0000000000..a04653c140 --- /dev/null +++ b/selfdrive/car/docs_definitions.py @@ -0,0 +1,368 @@ +import re +from collections import namedtuple +import copy +from dataclasses import dataclass, field +from enum import Enum + +from cereal import car +from openpilot.common.conversions import Conversions as CV + +GOOD_TORQUE_THRESHOLD = 1.0 # m/s^2 +MODEL_YEARS_RE = r"(?<= )((\d{4}-\d{2})|(\d{4}))(,|$)" + + +class Column(Enum): + MAKE = "Make" + MODEL = "Model" + PACKAGE = "Supported Package" + LONGITUDINAL = "ACC" + FSR_LONGITUDINAL = "No ACC accel below" + FSR_STEERING = "No ALC below" + STEERING_TORQUE = "Steering Torque" + AUTO_RESUME = "Resume from stop" + HARDWARE = "Hardware Needed" + VIDEO = "Video" + + +class Star(Enum): + FULL = "full" + HALF = "half" + EMPTY = "empty" + + +# A part + its comprised parts +@dataclass +class BasePart: + name: str + parts: list[Enum] = field(default_factory=list) + + def all_parts(self): + # Recursively get all parts + _parts = 'parts' + parts = [] + parts.extend(getattr(self, _parts)) + for part in getattr(self, _parts): + parts.extend(part.value.all_parts()) + + return parts + + +class EnumBase(Enum): + @property + def part_type(self): + return PartType(self.__class__) + + +class Mount(EnumBase): + mount = BasePart("mount") + angled_mount_8_degrees = BasePart("angled mount (8 degrees)") + + +class Cable(EnumBase): + rj45_cable_7ft = BasePart("RJ45 cable (7 ft)") + long_obdc_cable = BasePart("long OBD-C cable") + usb_a_2_a_cable = BasePart("USB A-A cable") + usbc_otg_cable = BasePart("USB C OTG cable") + usbc_coupler = BasePart("USB-C coupler") + obd_c_cable_1_5ft = BasePart("OBD-C cable (1.5 ft)") + right_angle_obd_c_cable_1_5ft = BasePart("right angle OBD-C cable (1.5 ft)") + + +class Accessory(EnumBase): + harness_box = BasePart("harness box") + comma_power_v2 = BasePart("comma power v2") + + +@dataclass +class BaseCarHarness(BasePart): + parts: list[Enum] = field(default_factory=lambda: [Accessory.harness_box, Accessory.comma_power_v2, Cable.rj45_cable_7ft]) + has_connector: bool = True # without are hidden on the harness connector page + + +class CarHarness(EnumBase): + nidec = BaseCarHarness("Honda Nidec connector") + bosch_a = BaseCarHarness("Honda Bosch A connector") + bosch_b = BaseCarHarness("Honda Bosch B connector") + toyota_a = BaseCarHarness("Toyota A connector") + toyota_b = BaseCarHarness("Toyota B connector") + subaru_a = BaseCarHarness("Subaru A connector") + subaru_b = BaseCarHarness("Subaru B connector") + subaru_c = BaseCarHarness("Subaru C connector") + subaru_d = BaseCarHarness("Subaru D connector") + fca = BaseCarHarness("FCA connector") + ram = BaseCarHarness("Ram connector") + vw_a = BaseCarHarness("VW A connector") + vw_j533 = BaseCarHarness("VW J533 connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler]) + hyundai_a = BaseCarHarness("Hyundai A connector") + hyundai_b = BaseCarHarness("Hyundai B connector") + hyundai_c = BaseCarHarness("Hyundai C connector") + hyundai_d = BaseCarHarness("Hyundai D connector") + hyundai_e = BaseCarHarness("Hyundai E connector") + hyundai_f = BaseCarHarness("Hyundai F connector") + hyundai_g = BaseCarHarness("Hyundai G connector") + hyundai_h = BaseCarHarness("Hyundai H connector") + hyundai_i = BaseCarHarness("Hyundai I connector") + hyundai_j = BaseCarHarness("Hyundai J connector") + hyundai_k = BaseCarHarness("Hyundai K connector") + hyundai_l = BaseCarHarness("Hyundai L connector") + hyundai_m = BaseCarHarness("Hyundai M connector") + hyundai_n = BaseCarHarness("Hyundai N connector") + hyundai_o = BaseCarHarness("Hyundai O connector") + hyundai_p = BaseCarHarness("Hyundai P connector") + hyundai_q = BaseCarHarness("Hyundai Q connector") + hyundai_r = BaseCarHarness("Hyundai R connector") + custom = BaseCarHarness("Developer connector") + obd_ii = BaseCarHarness("OBD-II connector", parts=[Cable.long_obdc_cable, Cable.long_obdc_cable], has_connector=False) + gm = BaseCarHarness("GM connector", parts=[Accessory.harness_box]) + nissan_a = BaseCarHarness("Nissan A connector", parts=[Accessory.harness_box, Cable.rj45_cable_7ft, Cable.long_obdc_cable, Cable.usbc_coupler]) + nissan_b = BaseCarHarness("Nissan B connector", parts=[Accessory.harness_box, Cable.rj45_cable_7ft, Cable.long_obdc_cable, Cable.usbc_coupler]) + mazda = BaseCarHarness("Mazda connector") + ford_q3 = BaseCarHarness("Ford Q3 connector") + ford_q4 = BaseCarHarness("Ford Q4 connector", parts=[Accessory.harness_box, Accessory.comma_power_v2, Cable.rj45_cable_7ft, Cable.long_obdc_cable, + Cable.usbc_coupler]) + + +class Device(EnumBase): + threex = BasePart("comma 3X", parts=[Mount.mount, Cable.right_angle_obd_c_cable_1_5ft]) + # variant of comma 3X with angled mounts + threex_angled_mount = BasePart("comma 3X", parts=[Mount.angled_mount_8_degrees, Cable.right_angle_obd_c_cable_1_5ft]) + red_panda = BasePart("red panda") + + +class Kit(EnumBase): + red_panda_kit = BasePart("CAN FD panda kit", parts=[Device.red_panda, Accessory.harness_box, + Cable.usb_a_2_a_cable, Cable.usbc_otg_cable, Cable.obd_c_cable_1_5ft]) + + +class Tool(EnumBase): + socket_8mm_deep = BasePart("Socket Wrench 8mm or 5/16\" (deep)") + pry_tool = BasePart("Pry Tool") + + +class PartType(Enum): + accessory = Accessory + cable = Cable + connector = CarHarness + device = Device + kit = Kit + mount = Mount + tool = Tool + + +DEFAULT_CAR_PARTS: list[EnumBase] = [Device.threex] + + +@dataclass +class CarParts: + parts: list[EnumBase] = field(default_factory=list) + + def __call__(self): + return copy.deepcopy(self) + + @classmethod + def common(cls, add: list[EnumBase] = None, remove: list[EnumBase] = None): + p = [part for part in (add or []) + DEFAULT_CAR_PARTS if part not in (remove or [])] + return cls(p) + + def all_parts(self): + parts = [] + for part in self.parts: + parts.extend(part.value.all_parts()) + return self.parts + parts + + +CarFootnote = namedtuple("CarFootnote", ["text", "column", "docs_only", "shop_footnote"], defaults=(False, False)) + + +class CommonFootnote(Enum): + EXP_LONG_AVAIL = CarFootnote( + "openpilot Longitudinal Control (Alpha) is available behind a toggle; " + + "the toggle is only available in non-release branches such as `devel` or `master-ci`.", + Column.LONGITUDINAL, docs_only=True) + EXP_LONG_DSU = CarFootnote( + "By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. " + + "If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace " + + "stock ACC. NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).", + Column.LONGITUDINAL) + + +def get_footnotes(footnotes: list[Enum], column: Column) -> list[Enum]: + # Returns applicable footnotes given current column + return [fn for fn in footnotes if fn.value.column == column] + + +# TODO: store years as a list +def get_year_list(years): + years_list = [] + if len(years) == 0: + return years_list + + for year in years.split(','): + year = year.strip() + if len(year) == 4: + years_list.append(str(year)) + elif "-" in year and len(year) == 7: + start, end = year.split("-") + years_list.extend(map(str, range(int(start), int(f"20{end}") + 1))) + else: + raise Exception(f"Malformed year string: {years}") + return years_list + + +def split_name(name: str) -> tuple[str, str, str]: + make, model = name.split(" ", 1) + years = "" + match = re.search(MODEL_YEARS_RE, model) + if match is not None: + years = model[match.start():] + model = model[:match.start() - 1] + return make, model, years + + +@dataclass +class CarDocs: + # make + model + model years + name: str + + # Example for Toyota Corolla MY20 + # requirements: Lane Tracing Assist (LTA) and Dynamic Radar Cruise Control (DRCC) + # US Market reference: "All", since all Corolla in the US come standard with LTA and DRCC + + # the simplest description of the requirements for the US market + package: str + + # the minimum compatibility requirements for this model, regardless + # of market. can be a package, trim, or list of features + requirements: str | None = None + + video_link: str | None = None + footnotes: list[Enum] = field(default_factory=list) + min_steer_speed: float | None = None + min_enable_speed: float | None = None + auto_resume: bool | None = None + + # all the parts needed for the supported car + car_parts: CarParts = field(default_factory=CarParts) + + def __post_init__(self): + self.make, self.model, self.years = split_name(self.name) + self.year_list = get_year_list(self.years) + + def init(self, CP: car.CarParams, all_footnotes: dict[Enum, int]): + self.car_name = CP.carName + self.car_fingerprint = CP.carFingerprint + + # longitudinal column + op_long = "Stock" + if CP.experimentalLongitudinalAvailable or CP.enableDsu: + op_long = "openpilot available" + if CP.enableDsu: + self.footnotes.append(CommonFootnote.EXP_LONG_DSU) + else: + self.footnotes.append(CommonFootnote.EXP_LONG_AVAIL) + elif CP.openpilotLongitudinalControl and not CP.enableDsu: + op_long = "openpilot" + + # min steer & enable speed columns + # TODO: set all the min steer speeds in carParams and remove this + if self.min_steer_speed is not None: + assert CP.minSteerSpeed < 0.5, f"{CP.carFingerprint}: Minimum steer speed set in both CarDocs and CarParams" + else: + self.min_steer_speed = CP.minSteerSpeed + + # TODO: set all the min enable speeds in carParams correctly and remove this + if self.min_enable_speed is None: + self.min_enable_speed = CP.minEnableSpeed + + if self.auto_resume is None: + self.auto_resume = CP.autoResumeSng and self.min_enable_speed <= 0 + + # hardware column + hardware_col = "None" + if self.car_parts.parts: + model_years = self.model + (' ' + self.years if self.years else '') + buy_link = f'Buy Here' + + tools_docs = [part for part in self.car_parts.all_parts() if isinstance(part, Tool)] + parts_docs = [part for part in self.car_parts.all_parts() if not isinstance(part, Tool)] + + def display_func(parts): + return '
    '.join([f"- {parts.count(part)} {part.value.name}" for part in sorted(set(parts), key=lambda part: str(part.value.name))]) + + hardware_col = f'
    Parts{display_func(parts_docs)}
    {buy_link}
    ' + if len(tools_docs): + hardware_col += f'
    Tools{display_func(tools_docs)}
    ' + + self.row: dict[Enum, str | Star] = { + Column.MAKE: self.make, + Column.MODEL: self.model, + Column.PACKAGE: self.package, + Column.LONGITUDINAL: op_long, + Column.FSR_LONGITUDINAL: f"{max(self.min_enable_speed * CV.MS_TO_MPH, 0):.0f} mph", + Column.FSR_STEERING: f"{max(self.min_steer_speed * CV.MS_TO_MPH, 0):.0f} mph", + Column.STEERING_TORQUE: Star.EMPTY, + Column.AUTO_RESUME: Star.FULL if self.auto_resume else Star.EMPTY, + Column.HARDWARE: hardware_col, + Column.VIDEO: self.video_link if self.video_link is not None else "", # replaced with an image and link from template in get_column + } + + # Set steering torque star from max lateral acceleration + assert CP.maxLateralAccel > 0.1 + if CP.maxLateralAccel >= GOOD_TORQUE_THRESHOLD: + self.row[Column.STEERING_TORQUE] = Star.FULL + + self.all_footnotes = all_footnotes + self.detail_sentence = self.get_detail_sentence(CP) + + return self + + def init_make(self, CP: car.CarParams): + """CarDocs subclasses can add make-specific logic for harness selection, footnotes, etc.""" + + def get_detail_sentence(self, CP): + if not CP.notCar: + sentence_builder = "openpilot upgrades your {car_model} with automated lane centering{alc} and adaptive cruise control{acc}." + + if self.min_steer_speed > self.min_enable_speed: + alc = f" above {self.min_steer_speed * CV.MS_TO_MPH:.0f} mph," if self.min_steer_speed > 0 else " at all speeds," + else: + alc = "" + + # Exception for cars which do not auto-resume yet + acc = "" + if self.min_enable_speed > 0: + acc = f" while driving above {self.min_enable_speed * CV.MS_TO_MPH:.0f} mph" + elif self.auto_resume: + acc = " that automatically resumes from a stop" + + if self.row[Column.STEERING_TORQUE] != Star.FULL: + sentence_builder += " This car may not be able to take tight turns on its own." + + # experimental mode + exp_link = "Experimental mode" + if CP.openpilotLongitudinalControl and not CP.experimentalLongitudinalAvailable: + sentence_builder += f" Traffic light and stop sign handling is also available in {exp_link}." + + return sentence_builder.format(car_model=f"{self.make} {self.model}", alc=alc, acc=acc) + + else: + if CP.carFingerprint == "COMMA_BODY": + return "The body is a robotics dev kit that can run openpilot. Learn more." + else: + raise Exception(f"This notCar does not have a detail sentence: {CP.carFingerprint}") + + def get_column(self, column: Column, star_icon: str, video_icon: str, footnote_tag: str) -> str: + item: str | Star = self.row[column] + if isinstance(item, Star): + item = star_icon.format(item.value) + elif column == Column.MODEL and len(self.years): + item += f" {self.years}" + elif column == Column.VIDEO and len(item) > 0: + item = video_icon.format(item) + + footnotes = get_footnotes(self.footnotes, column) + if len(footnotes): + sups = sorted([self.all_footnotes[fn] for fn in footnotes]) + item += footnote_tag.format(f'{",".join(map(str, sups))}') + + return item diff --git a/selfdrive/car/ecu_addrs.py b/selfdrive/car/ecu_addrs.py new file mode 100755 index 0000000000..0ff827593e --- /dev/null +++ b/selfdrive/car/ecu_addrs.py @@ -0,0 +1,96 @@ +#!/usr/bin/env python3 +import capnp +import time + +import cereal.messaging as messaging +from panda.python.uds import SERVICE_TYPE +from openpilot.selfdrive.car import make_tester_present_msg +from openpilot.selfdrive.car.fw_query_definitions import EcuAddrBusType +from openpilot.selfdrive.pandad import can_list_to_can_capnp +from openpilot.common.swaglog import cloudlog + + +def _is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subaddr: int = None) -> bool: + # ISO-TP messages are always padded to 8 bytes + # tester present response is always a single frame + dat_offset = 1 if subaddr is not None else 0 + if len(msg.dat) == 8 and 1 <= msg.dat[dat_offset] <= 7: + # success response + if msg.dat[dat_offset + 1] == (SERVICE_TYPE.TESTER_PRESENT + 0x40): + return True + # error response + if msg.dat[dat_offset + 1] == 0x7F and msg.dat[dat_offset + 2] == SERVICE_TYPE.TESTER_PRESENT: + return True + return False + + +def _get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> set[EcuAddrBusType]: + addr_list = [0x700 + i for i in range(256)] + [0x18da00f1 + (i << 8) for i in range(256)] + queries: set[EcuAddrBusType] = {(addr, None, bus) for addr in addr_list} + responses = queries + return get_ecu_addrs(logcan, sendcan, queries, responses, timeout=timeout, debug=debug) + + +def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, queries: set[EcuAddrBusType], + responses: set[EcuAddrBusType], timeout: float = 1, debug: bool = False) -> set[EcuAddrBusType]: + ecu_responses: set[EcuAddrBusType] = set() # set((addr, subaddr, bus),) + try: + msgs = [make_tester_present_msg(addr, bus, subaddr) for addr, subaddr, bus in queries] + + messaging.drain_sock_raw(logcan) + sendcan.send(can_list_to_can_capnp(msgs, msgtype='sendcan')) + start_time = time.monotonic() + while time.monotonic() - start_time < timeout: + can_packets = messaging.drain_sock(logcan, wait_for_one=True) + for packet in can_packets: + for msg in packet.can: + if not len(msg.dat): + cloudlog.warning("ECU addr scan: skipping empty remote frame") + continue + + subaddr = None if (msg.address, None, msg.src) in responses else msg.dat[0] + if (msg.address, subaddr, msg.src) in responses and _is_tester_present_response(msg, subaddr): + if debug: + print(f"CAN-RX: {hex(msg.address)} - 0x{bytes.hex(msg.dat)}") + if (msg.address, subaddr, msg.src) in ecu_responses: + print(f"Duplicate ECU address: {hex(msg.address)}") + ecu_responses.add((msg.address, subaddr, msg.src)) + except Exception: + cloudlog.exception("ECU addr scan exception") + return ecu_responses + + +if __name__ == "__main__": + import argparse + from openpilot.common.params import Params + from openpilot.selfdrive.car.fw_versions import set_obd_multiplexing + + parser = argparse.ArgumentParser(description='Get addresses of all ECUs') + parser.add_argument('--debug', action='store_true') + parser.add_argument('--bus', type=int, default=1) + parser.add_argument('--no-obd', action='store_true') + parser.add_argument('--timeout', type=float, default=1.0) + args = parser.parse_args() + + logcan = messaging.sub_sock('can') + sendcan = messaging.pub_sock('sendcan') + + # Set up params for pandad + params = Params() + params.remove("FirmwareQueryDone") + params.put_bool("IsOnroad", False) + time.sleep(0.2) # thread is 10 Hz + params.put_bool("IsOnroad", True) + + set_obd_multiplexing(params, not args.no_obd) + + print("Getting ECU addresses ...") + ecu_addrs = _get_all_ecu_addrs(logcan, sendcan, args.bus, args.timeout, debug=args.debug) + + print() + print("Found ECUs on rx addresses:") + for addr, subaddr, _ in ecu_addrs: + msg = f" {hex(addr)}" + if subaddr is not None: + msg += f" (sub-address: {hex(subaddr)})" + print(msg) diff --git a/selfdrive/car/fingerprints.py b/selfdrive/car/fingerprints.py new file mode 100644 index 0000000000..dc93c38246 --- /dev/null +++ b/selfdrive/car/fingerprints.py @@ -0,0 +1,348 @@ +from openpilot.selfdrive.car.interfaces import get_interface_attr +from openpilot.selfdrive.car.body.values import CAR as BODY +from openpilot.selfdrive.car.chrysler.values import CAR as CHRYSLER +from openpilot.selfdrive.car.ford.values import CAR as FORD +from openpilot.selfdrive.car.gm.values import CAR as GM +from openpilot.selfdrive.car.honda.values import CAR as HONDA +from openpilot.selfdrive.car.hyundai.values import CAR as HYUNDAI +from openpilot.selfdrive.car.mazda.values import CAR as MAZDA +from openpilot.selfdrive.car.mock.values import CAR as MOCK +from openpilot.selfdrive.car.nissan.values import CAR as NISSAN +from openpilot.selfdrive.car.subaru.values import CAR as SUBARU +from openpilot.selfdrive.car.tesla.values import CAR as TESLA +from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA +from openpilot.selfdrive.car.volkswagen.values import CAR as VW + +FW_VERSIONS = get_interface_attr('FW_VERSIONS', combine_brands=True, ignore_none=True) +_FINGERPRINTS = get_interface_attr('FINGERPRINTS', combine_brands=True, ignore_none=True) + +_DEBUG_ADDRESS = {1880: 8} # reserved for debug purposes + + +def is_valid_for_fingerprint(msg, car_fingerprint: dict[int, int]): + adr = msg.address + # ignore addresses that are more than 11 bits + return (adr in car_fingerprint and car_fingerprint[adr] == len(msg.dat)) or adr >= 0x800 + + +def eliminate_incompatible_cars(msg, candidate_cars): + """Removes cars that could not have sent msg. + + Inputs: + msg: A cereal/log CanData message from the car. + candidate_cars: A list of cars to consider. + + Returns: + A list containing the subset of candidate_cars that could have sent msg. + """ + compatible_cars = [] + + for car_name in candidate_cars: + car_fingerprints = _FINGERPRINTS[car_name] + + for fingerprint in car_fingerprints: + # add alien debug address + if is_valid_for_fingerprint(msg, fingerprint | _DEBUG_ADDRESS): + compatible_cars.append(car_name) + break + + return compatible_cars + + +def all_known_cars(): + """Returns a list of all known car strings.""" + return list({*FW_VERSIONS.keys(), *_FINGERPRINTS.keys()}) + + +def all_legacy_fingerprint_cars(): + """Returns a list of all known car strings, FPv1 only.""" + return list(_FINGERPRINTS.keys()) + + +# A dict that maps old platform strings to their latest representations +MIGRATION = { + "ACURA ILX 2016 ACURAWATCH PLUS": HONDA.ACURA_ILX, + "ACURA RDX 2018 ACURAWATCH PLUS": HONDA.ACURA_RDX, + "ACURA RDX 2020 TECH": HONDA.ACURA_RDX_3G, + "AUDI A3": VW.AUDI_A3_MK3, + "HONDA ACCORD 2018 HYBRID TOURING": HONDA.HONDA_ACCORD, + "HONDA ACCORD 1.5T 2018": HONDA.HONDA_ACCORD, + "HONDA ACCORD 2018 LX 1.5T": HONDA.HONDA_ACCORD, + "HONDA ACCORD 2018 SPORT 2T": HONDA.HONDA_ACCORD, + "HONDA ACCORD 2T 2018": HONDA.HONDA_ACCORD, + "HONDA ACCORD HYBRID 2018": HONDA.HONDA_ACCORD, + "HONDA CIVIC 2016 TOURING": HONDA.HONDA_CIVIC, + "HONDA CIVIC HATCHBACK 2017 SEDAN/COUPE 2019": HONDA.HONDA_CIVIC_BOSCH, + "HONDA CIVIC SEDAN 1.6 DIESEL": HONDA.HONDA_CIVIC_BOSCH_DIESEL, + "HONDA CR-V 2016 EXECUTIVE": HONDA.HONDA_CRV_EU, + "HONDA CR-V 2016 TOURING": HONDA.HONDA_CRV, + "HONDA CR-V 2017 EX": HONDA.HONDA_CRV_5G, + "HONDA CR-V 2019 HYBRID": HONDA.HONDA_CRV_HYBRID, + "HONDA FIT 2018 EX": HONDA.HONDA_FIT, + "HONDA HRV 2019 TOURING": HONDA.HONDA_HRV, + "HONDA INSIGHT 2019 TOURING": HONDA.HONDA_INSIGHT, + "HONDA ODYSSEY 2018 EX-L": HONDA.HONDA_ODYSSEY, + "HONDA ODYSSEY 2019 EXCLUSIVE CHN": HONDA.HONDA_ODYSSEY_CHN, + "HONDA PILOT 2017 TOURING": HONDA.HONDA_PILOT, + "HONDA PILOT 2019 ELITE": HONDA.HONDA_PILOT, + "HONDA PILOT 2019": HONDA.HONDA_PILOT, + "HONDA PASSPORT 2021": HONDA.HONDA_PILOT, + "HONDA RIDGELINE 2017 BLACK EDITION": HONDA.HONDA_RIDGELINE, + "HYUNDAI ELANTRA LIMITED ULTIMATE 2017": HYUNDAI.HYUNDAI_ELANTRA, + "HYUNDAI SANTA FE LIMITED 2019": HYUNDAI.HYUNDAI_SANTA_FE, + "HYUNDAI TUCSON DIESEL 2019": HYUNDAI.HYUNDAI_TUCSON, + "KIA OPTIMA 2016": HYUNDAI.KIA_OPTIMA_G4, + "KIA OPTIMA 2019": HYUNDAI.KIA_OPTIMA_G4_FL, + "KIA OPTIMA SX 2019 & 2016": HYUNDAI.KIA_OPTIMA_G4_FL, + "LEXUS CT 200H 2018": TOYOTA.LEXUS_CTH, + "LEXUS ES 300H 2018": TOYOTA.LEXUS_ES, + "LEXUS ES 300H 2019": TOYOTA.LEXUS_ES_TSS2, + "LEXUS IS300 2018": TOYOTA.LEXUS_IS, + "LEXUS NX300 2018": TOYOTA.LEXUS_NX, + "LEXUS NX300H 2018": TOYOTA.LEXUS_NX, + "LEXUS RX 350 2016": TOYOTA.LEXUS_RX, + "LEXUS RX350 2020": TOYOTA.LEXUS_RX_TSS2, + "LEXUS RX450 HYBRID 2020": TOYOTA.LEXUS_RX_TSS2, + "TOYOTA SIENNA XLE 2018": TOYOTA.TOYOTA_SIENNA, + "TOYOTA C-HR HYBRID 2018": TOYOTA.TOYOTA_CHR, + "TOYOTA COROLLA HYBRID TSS2 2019": TOYOTA.TOYOTA_COROLLA_TSS2, + "TOYOTA RAV4 HYBRID 2019": TOYOTA.TOYOTA_RAV4_TSS2, + "LEXUS ES HYBRID 2019": TOYOTA.LEXUS_ES_TSS2, + "LEXUS NX HYBRID 2018": TOYOTA.LEXUS_NX, + "LEXUS NX HYBRID 2020": TOYOTA.LEXUS_NX_TSS2, + "LEXUS RX HYBRID 2020": TOYOTA.LEXUS_RX_TSS2, + "TOYOTA ALPHARD HYBRID 2021": TOYOTA.TOYOTA_ALPHARD_TSS2, + "TOYOTA AVALON HYBRID 2019": TOYOTA.TOYOTA_AVALON_2019, + "TOYOTA AVALON HYBRID 2022": TOYOTA.TOYOTA_AVALON_TSS2, + "TOYOTA CAMRY HYBRID 2018": TOYOTA.TOYOTA_CAMRY, + "TOYOTA CAMRY HYBRID 2021": TOYOTA.TOYOTA_CAMRY_TSS2, + "TOYOTA C-HR HYBRID 2022": TOYOTA.TOYOTA_CHR_TSS2, + "TOYOTA HIGHLANDER HYBRID 2020": TOYOTA.TOYOTA_HIGHLANDER_TSS2, + "TOYOTA RAV4 HYBRID 2022": TOYOTA.TOYOTA_RAV4_TSS2_2022, + "TOYOTA RAV4 HYBRID 2023": TOYOTA.TOYOTA_RAV4_TSS2_2023, + "TOYOTA HIGHLANDER HYBRID 2018": TOYOTA.TOYOTA_HIGHLANDER, + "LEXUS ES HYBRID 2018": TOYOTA.LEXUS_ES, + "LEXUS RX HYBRID 2017": TOYOTA.LEXUS_RX, + "HYUNDAI TUCSON HYBRID 4TH GEN": HYUNDAI.HYUNDAI_TUCSON_4TH_GEN, + "KIA SPORTAGE HYBRID 5TH GEN": HYUNDAI.KIA_SPORTAGE_5TH_GEN, + "KIA SORENTO PLUG-IN HYBRID 4TH GEN": HYUNDAI.KIA_SORENTO_HEV_4TH_GEN, + "CADILLAC ESCALADE ESV PLATINUM 2019": GM.CADILLAC_ESCALADE_ESV_2019, + + # Removal of platform_str, see https://github.com/commaai/openpilot/pull/31868/ + "COMMA BODY": BODY.COMMA_BODY, + "CHRYSLER PACIFICA HYBRID 2017": CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID, + "CHRYSLER_PACIFICA_2017_HYBRID": CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID, + "CHRYSLER PACIFICA HYBRID 2018": CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID, + "CHRYSLER PACIFICA HYBRID 2019": CHRYSLER.CHRYSLER_PACIFICA_2019_HYBRID, + "CHRYSLER PACIFICA 2018": CHRYSLER.CHRYSLER_PACIFICA_2018, + "CHRYSLER PACIFICA 2020": CHRYSLER.CHRYSLER_PACIFICA_2020, + "DODGE DURANGO 2021": CHRYSLER.DODGE_DURANGO, + "JEEP GRAND CHEROKEE V6 2018": CHRYSLER.JEEP_GRAND_CHEROKEE, + "JEEP GRAND CHEROKEE 2019": CHRYSLER.JEEP_GRAND_CHEROKEE_2019, + "RAM 1500 5TH GEN": CHRYSLER.RAM_1500_5TH_GEN, + "RAM HD 5TH GEN": CHRYSLER.RAM_HD_5TH_GEN, + "FORD BRONCO SPORT 1ST GEN": FORD.FORD_BRONCO_SPORT_MK1, + "FORD ESCAPE 4TH GEN": FORD.FORD_ESCAPE_MK4, + "FORD EXPLORER 6TH GEN": FORD.FORD_EXPLORER_MK6, + "FORD F-150 14TH GEN": FORD.FORD_F_150_MK14, + "FORD F-150 LIGHTNING 1ST GEN": FORD.FORD_F_150_LIGHTNING_MK1, + "FORD FOCUS 4TH GEN": FORD.FORD_FOCUS_MK4, + "FORD MAVERICK 1ST GEN": FORD.FORD_MAVERICK_MK1, + "FORD MUSTANG MACH-E 1ST GEN": FORD.FORD_MUSTANG_MACH_E_MK1, + "HOLDEN ASTRA RS-V BK 2017": GM.HOLDEN_ASTRA, + "CHEVROLET VOLT PREMIER 2017": GM.CHEVROLET_VOLT, + "CADILLAC ATS Premium Performance 2018": GM.CADILLAC_ATS, + "CHEVROLET MALIBU PREMIER 2017": GM.CHEVROLET_MALIBU, + "GMC ACADIA DENALI 2018": GM.GMC_ACADIA, + "BUICK LACROSSE 2017": GM.BUICK_LACROSSE, + "BUICK REGAL ESSENCE 2018": GM.BUICK_REGAL, + "CADILLAC ESCALADE 2017": GM.CADILLAC_ESCALADE, + "CADILLAC ESCALADE ESV 2016": GM.CADILLAC_ESCALADE_ESV, + "CADILLAC ESCALADE ESV 2019": GM.CADILLAC_ESCALADE_ESV_2019, + "CHEVROLET BOLT EUV 2022": GM.CHEVROLET_BOLT_EUV, + "CHEVROLET SILVERADO 1500 2020": GM.CHEVROLET_SILVERADO, + "CHEVROLET EQUINOX 2019": GM.CHEVROLET_EQUINOX, + "CHEVROLET TRAILBLAZER 2021": GM.CHEVROLET_TRAILBLAZER, + "HONDA ACCORD 2018": HONDA.HONDA_ACCORD, + "HONDA CIVIC (BOSCH) 2019": HONDA.HONDA_CIVIC_BOSCH, + "HONDA CIVIC SEDAN 1.6 DIESEL 2019": HONDA.HONDA_CIVIC_BOSCH_DIESEL, + "HONDA CIVIC 2022": HONDA.HONDA_CIVIC_2022, + "HONDA CR-V 2017": HONDA.HONDA_CRV_5G, + "HONDA CR-V HYBRID 2019": HONDA.HONDA_CRV_HYBRID, + "HONDA HR-V 2023": HONDA.HONDA_HRV_3G, + "ACURA RDX 2020": HONDA.ACURA_RDX_3G, + "HONDA INSIGHT 2019": HONDA.HONDA_INSIGHT, + "HONDA E 2020": HONDA.HONDA_E, + "ACURA ILX 2016": HONDA.ACURA_ILX, + "HONDA CR-V 2016": HONDA.HONDA_CRV, + "HONDA CR-V EU 2016": HONDA.HONDA_CRV_EU, + "HONDA FIT 2018": HONDA.HONDA_FIT, + "HONDA FREED 2020": HONDA.HONDA_FREED, + "HONDA HRV 2019": HONDA.HONDA_HRV, + "HONDA ODYSSEY 2018": HONDA.HONDA_ODYSSEY, + "HONDA ODYSSEY CHN 2019": HONDA.HONDA_ODYSSEY_CHN, + "ACURA RDX 2018": HONDA.ACURA_RDX, + "HONDA PILOT 2017": HONDA.HONDA_PILOT, + "HONDA RIDGELINE 2017": HONDA.HONDA_RIDGELINE, + "HONDA CIVIC 2016": HONDA.HONDA_CIVIC, + "HYUNDAI AZERA 6TH GEN": HYUNDAI.HYUNDAI_AZERA_6TH_GEN, + "HYUNDAI AZERA HYBRID 6TH GEN": HYUNDAI.HYUNDAI_AZERA_HEV_6TH_GEN, + "HYUNDAI ELANTRA 2017": HYUNDAI.HYUNDAI_ELANTRA, + "HYUNDAI I30 N LINE 2019 & GT 2018 DCT": HYUNDAI.HYUNDAI_ELANTRA_GT_I30, + "HYUNDAI ELANTRA 2021": HYUNDAI.HYUNDAI_ELANTRA_2021, + "HYUNDAI ELANTRA HYBRID 2021": HYUNDAI.HYUNDAI_ELANTRA_HEV_2021, + "HYUNDAI GENESIS 2015-2016": HYUNDAI.HYUNDAI_GENESIS, + "HYUNDAI IONIQ HYBRID 2017-2019": HYUNDAI.HYUNDAI_IONIQ, + "HYUNDAI IONIQ HYBRID 2020-2022": HYUNDAI.HYUNDAI_IONIQ_HEV_2022, + "HYUNDAI IONIQ ELECTRIC LIMITED 2019": HYUNDAI.HYUNDAI_IONIQ_EV_LTD, + "HYUNDAI IONIQ ELECTRIC 2020": HYUNDAI.HYUNDAI_IONIQ_EV_2020, + "HYUNDAI IONIQ PLUG-IN HYBRID 2019": HYUNDAI.HYUNDAI_IONIQ_PHEV_2019, + "HYUNDAI IONIQ PHEV 2020": HYUNDAI.HYUNDAI_IONIQ_PHEV, + "HYUNDAI KONA 2020": HYUNDAI.HYUNDAI_KONA, + "HYUNDAI KONA ELECTRIC 2019": HYUNDAI.HYUNDAI_KONA_EV, + "HYUNDAI KONA ELECTRIC 2022": HYUNDAI.HYUNDAI_KONA_EV_2022, + "HYUNDAI KONA ELECTRIC 2ND GEN": HYUNDAI.HYUNDAI_KONA_EV_2ND_GEN, + "HYUNDAI KONA HYBRID 2020": HYUNDAI.HYUNDAI_KONA_HEV, + "HYUNDAI SANTA FE 2019": HYUNDAI.HYUNDAI_SANTA_FE, + "HYUNDAI SANTA FE 2022": HYUNDAI.HYUNDAI_SANTA_FE_2022, + "HYUNDAI SANTA FE HYBRID 2022": HYUNDAI.HYUNDAI_SANTA_FE_HEV_2022, + "HYUNDAI SANTA FE PlUG-IN HYBRID 2022": HYUNDAI.HYUNDAI_SANTA_FE_PHEV_2022, + "HYUNDAI SONATA 2020": HYUNDAI.HYUNDAI_SONATA, + "HYUNDAI SONATA 2019": HYUNDAI.HYUNDAI_SONATA_LF, + "HYUNDAI STARIA 4TH GEN": HYUNDAI.HYUNDAI_STARIA_4TH_GEN, + "HYUNDAI TUCSON 2019": HYUNDAI.HYUNDAI_TUCSON, + "HYUNDAI PALISADE 2020": HYUNDAI.HYUNDAI_PALISADE, + "HYUNDAI VELOSTER 2019": HYUNDAI.HYUNDAI_VELOSTER, + "HYUNDAI SONATA HYBRID 2021": HYUNDAI.HYUNDAI_SONATA_HYBRID, + "HYUNDAI IONIQ 5 2022": HYUNDAI.HYUNDAI_IONIQ_5, + "HYUNDAI IONIQ 6 2023": HYUNDAI.HYUNDAI_IONIQ_6, + "HYUNDAI TUCSON 4TH GEN": HYUNDAI.HYUNDAI_TUCSON_4TH_GEN, + "HYUNDAI SANTA CRUZ 1ST GEN": HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN, + "HYUNDAI CUSTIN 1ST GEN": HYUNDAI.HYUNDAI_CUSTIN_1ST_GEN, + "KIA FORTE E 2018 & GT 2021": HYUNDAI.KIA_FORTE, + "KIA K5 2021": HYUNDAI.KIA_K5_2021, + "KIA K5 HYBRID 2020": HYUNDAI.KIA_K5_HEV_2020, + "KIA K8 HYBRID 1ST GEN": HYUNDAI.KIA_K8_HEV_1ST_GEN, + "KIA NIRO EV 2020": HYUNDAI.KIA_NIRO_EV, + "KIA NIRO EV 2ND GEN": HYUNDAI.KIA_NIRO_EV_2ND_GEN, + "KIA NIRO HYBRID 2019": HYUNDAI.KIA_NIRO_PHEV, + "KIA NIRO PLUG-IN HYBRID 2022": HYUNDAI.KIA_NIRO_PHEV_2022, + "KIA NIRO HYBRID 2021": HYUNDAI.KIA_NIRO_HEV_2021, + "KIA NIRO HYBRID 2ND GEN": HYUNDAI.KIA_NIRO_HEV_2ND_GEN, + "KIA OPTIMA 4TH GEN": HYUNDAI.KIA_OPTIMA_G4, + "KIA OPTIMA 4TH GEN FACELIFT": HYUNDAI.KIA_OPTIMA_G4_FL, + "KIA OPTIMA HYBRID 2017 & SPORTS 2019": HYUNDAI.KIA_OPTIMA_H, + "KIA OPTIMA HYBRID 4TH GEN FACELIFT": HYUNDAI.KIA_OPTIMA_H_G4_FL, + "KIA SELTOS 2021": HYUNDAI.KIA_SELTOS, + "KIA SPORTAGE 5TH GEN": HYUNDAI.KIA_SPORTAGE_5TH_GEN, + "KIA SORENTO GT LINE 2018": HYUNDAI.KIA_SORENTO, + "KIA SORENTO 4TH GEN": HYUNDAI.KIA_SORENTO_4TH_GEN, + "KIA SORENTO HYBRID 4TH GEN": HYUNDAI.KIA_SORENTO_HEV_4TH_GEN, + "KIA STINGER GT2 2018": HYUNDAI.KIA_STINGER, + "KIA STINGER 2022": HYUNDAI.KIA_STINGER_2022, + "KIA CEED INTRO ED 2019": HYUNDAI.KIA_CEED, + "KIA EV6 2022": HYUNDAI.KIA_EV6, + "KIA CARNIVAL 4TH GEN": HYUNDAI.KIA_CARNIVAL_4TH_GEN, + "GENESIS GV60 ELECTRIC 1ST GEN": HYUNDAI.GENESIS_GV60_EV_1ST_GEN, + "GENESIS G70 2018": HYUNDAI.GENESIS_G70, + "GENESIS G70 2020": HYUNDAI.GENESIS_G70_2020, + "GENESIS GV70 1ST GEN": HYUNDAI.GENESIS_GV70_1ST_GEN, + "GENESIS G80 2017": HYUNDAI.GENESIS_G80, + "GENESIS G90 2017": HYUNDAI.GENESIS_G90, + "GENESIS GV80 2023": HYUNDAI.GENESIS_GV80, + "MAZDA CX-5": MAZDA.MAZDA_CX5, + "MAZDA CX-9": MAZDA.MAZDA_CX9, + "MAZDA 3": MAZDA.MAZDA_3, + "MAZDA 6": MAZDA.MAZDA_6, + "MAZDA CX-9 2021": MAZDA.MAZDA_CX9_2021, + "MAZDA CX-5 2022": MAZDA.MAZDA_CX5_2022, + "NISSAN X-TRAIL 2017": NISSAN.NISSAN_XTRAIL, + "NISSAN LEAF 2018": NISSAN.NISSAN_LEAF, + "NISSAN LEAF 2018 Instrument Cluster": NISSAN.NISSAN_LEAF_IC, + "NISSAN ROGUE 2019": NISSAN.NISSAN_ROGUE, + "NISSAN ALTIMA 2020": NISSAN.NISSAN_ALTIMA, + "SUBARU ASCENT LIMITED 2019": SUBARU.SUBARU_ASCENT, + "SUBARU OUTBACK 6TH GEN": SUBARU.SUBARU_OUTBACK, + "SUBARU LEGACY 7TH GEN": SUBARU.SUBARU_LEGACY, + "SUBARU IMPREZA LIMITED 2019": SUBARU.SUBARU_IMPREZA, + "SUBARU IMPREZA SPORT 2020": SUBARU.SUBARU_IMPREZA_2020, + "SUBARU CROSSTREK HYBRID 2020": SUBARU.SUBARU_CROSSTREK_HYBRID, + "SUBARU FORESTER 2019": SUBARU.SUBARU_FORESTER, + "SUBARU FORESTER HYBRID 2020": SUBARU.SUBARU_FORESTER_HYBRID, + "SUBARU FORESTER 2017 - 2018": SUBARU.SUBARU_FORESTER_PREGLOBAL, + "SUBARU LEGACY 2015 - 2018": SUBARU.SUBARU_LEGACY_PREGLOBAL, + "SUBARU OUTBACK 2015 - 2017": SUBARU.SUBARU_OUTBACK_PREGLOBAL, + "SUBARU OUTBACK 2018 - 2019": SUBARU.SUBARU_OUTBACK_PREGLOBAL_2018, + "SUBARU FORESTER 2022": SUBARU.SUBARU_FORESTER_2022, + "SUBARU OUTBACK 7TH GEN": SUBARU.SUBARU_OUTBACK_2023, + "SUBARU ASCENT 2023": SUBARU.SUBARU_ASCENT_2023, + 'TESLA AP1 MODEL S': TESLA.TESLA_AP1_MODELS, + 'TESLA AP2 MODEL S': TESLA.TESLA_AP2_MODELS, + 'TESLA MODEL S RAVEN': TESLA.TESLA_MODELS_RAVEN, + "TOYOTA ALPHARD 2020": TOYOTA.TOYOTA_ALPHARD_TSS2, + "TOYOTA AVALON 2016": TOYOTA.TOYOTA_AVALON, + "TOYOTA AVALON 2019": TOYOTA.TOYOTA_AVALON_2019, + "TOYOTA AVALON 2022": TOYOTA.TOYOTA_AVALON_TSS2, + "TOYOTA CAMRY 2018": TOYOTA.TOYOTA_CAMRY, + "TOYOTA CAMRY 2021": TOYOTA.TOYOTA_CAMRY_TSS2, + "TOYOTA C-HR 2018": TOYOTA.TOYOTA_CHR, + "TOYOTA C-HR 2021": TOYOTA.TOYOTA_CHR_TSS2, + "TOYOTA COROLLA 2017": TOYOTA.TOYOTA_COROLLA, + "TOYOTA COROLLA TSS2 2019": TOYOTA.TOYOTA_COROLLA_TSS2, + "TOYOTA HIGHLANDER 2017": TOYOTA.TOYOTA_HIGHLANDER, + "TOYOTA HIGHLANDER 2020": TOYOTA.TOYOTA_HIGHLANDER_TSS2, + "TOYOTA PRIUS 2017": TOYOTA.TOYOTA_PRIUS, + "TOYOTA PRIUS v 2017": TOYOTA.TOYOTA_PRIUS_V, + "TOYOTA PRIUS TSS2 2021": TOYOTA.TOYOTA_PRIUS_TSS2, + "TOYOTA RAV4 2017": TOYOTA.TOYOTA_RAV4, + "TOYOTA RAV4 HYBRID 2017": TOYOTA.TOYOTA_RAV4H, + "TOYOTA RAV4 2019": TOYOTA.TOYOTA_RAV4_TSS2, + "TOYOTA RAV4 2022": TOYOTA.TOYOTA_RAV4_TSS2_2022, + "TOYOTA RAV4 2023": TOYOTA.TOYOTA_RAV4_TSS2_2023, + "TOYOTA MIRAI 2021": TOYOTA.TOYOTA_MIRAI, + "TOYOTA SIENNA 2018": TOYOTA.TOYOTA_SIENNA, + "LEXUS CT HYBRID 2018": TOYOTA.LEXUS_CTH, + "LEXUS ES 2018": TOYOTA.LEXUS_ES, + "LEXUS ES 2019": TOYOTA.LEXUS_ES_TSS2, + "LEXUS IS 2018": TOYOTA.LEXUS_IS, + "LEXUS IS 2023": TOYOTA.LEXUS_IS_TSS2, + "LEXUS NX 2018": TOYOTA.LEXUS_NX, + "LEXUS NX 2020": TOYOTA.LEXUS_NX_TSS2, + "LEXUS LC 2024": TOYOTA.LEXUS_LC_TSS2, + "LEXUS RC 2020": TOYOTA.LEXUS_RC, + "LEXUS RX 2016": TOYOTA.LEXUS_RX, + "LEXUS RX 2020": TOYOTA.LEXUS_RX_TSS2, + "LEXUS GS F 2016": TOYOTA.LEXUS_GS_F, + "VOLKSWAGEN ARTEON 1ST GEN": VW.VOLKSWAGEN_ARTEON_MK1, + "VOLKSWAGEN ATLAS 1ST GEN": VW.VOLKSWAGEN_ATLAS_MK1, + "VOLKSWAGEN CADDY 3RD GEN": VW.VOLKSWAGEN_CADDY_MK3, + "VOLKSWAGEN CRAFTER 2ND GEN": VW.VOLKSWAGEN_CRAFTER_MK2, + "VOLKSWAGEN GOLF 7TH GEN": VW.VOLKSWAGEN_GOLF_MK7, + "VOLKSWAGEN JETTA 7TH GEN": VW.VOLKSWAGEN_JETTA_MK7, + "VOLKSWAGEN PASSAT 8TH GEN": VW.VOLKSWAGEN_PASSAT_MK8, + "VOLKSWAGEN PASSAT NMS": VW.VOLKSWAGEN_PASSAT_NMS, + "VOLKSWAGEN POLO 6TH GEN": VW.VOLKSWAGEN_POLO_MK6, + "VOLKSWAGEN SHARAN 2ND GEN": VW.VOLKSWAGEN_SHARAN_MK2, + "VOLKSWAGEN TAOS 1ST GEN": VW.VOLKSWAGEN_TAOS_MK1, + "VOLKSWAGEN T-CROSS 1ST GEN": VW.VOLKSWAGEN_TCROSS_MK1, + "VOLKSWAGEN TIGUAN 2ND GEN": VW.VOLKSWAGEN_TIGUAN_MK2, + "VOLKSWAGEN TOURAN 2ND GEN": VW.VOLKSWAGEN_TOURAN_MK2, + "VOLKSWAGEN TRANSPORTER T6.1": VW.VOLKSWAGEN_TRANSPORTER_T61, + "VOLKSWAGEN T-ROC 1ST GEN": VW.VOLKSWAGEN_TROC_MK1, + "AUDI A3 3RD GEN": VW.AUDI_A3_MK3, + "AUDI Q2 1ST GEN": VW.AUDI_Q2_MK1, + "AUDI Q3 2ND GEN": VW.AUDI_Q3_MK2, + "SEAT ATECA 1ST GEN": VW.SEAT_ATECA_MK1, + "SEAT LEON 3RD GEN": VW.SEAT_ATECA_MK1, + "SEAT_LEON_MK3": VW.SEAT_ATECA_MK1, + "SKODA FABIA 4TH GEN": VW.SKODA_FABIA_MK4, + "SKODA KAMIQ 1ST GEN": VW.SKODA_KAMIQ_MK1, + "SKODA KAROQ 1ST GEN": VW.SKODA_KAROQ_MK1, + "SKODA KODIAQ 1ST GEN": VW.SKODA_KODIAQ_MK1, + "SKODA OCTAVIA 3RD GEN": VW.SKODA_OCTAVIA_MK3, + "SKODA SCALA 1ST GEN": VW.SKODA_KAMIQ_MK1, + "SKODA_SCALA_MK1": VW.SKODA_KAMIQ_MK1, + "SKODA SUPERB 3RD GEN": VW.SKODA_SUPERB_MK3, + + "mock": MOCK.MOCK, +} diff --git a/selfdrive/car/ford/__init__.py b/selfdrive/car/ford/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py new file mode 100644 index 0000000000..e9f59817c9 --- /dev/null +++ b/selfdrive/car/ford/carcontroller.py @@ -0,0 +1,126 @@ +from cereal import car +from opendbc.can.packer import CANPacker +from openpilot.common.numpy_fast import clip +from openpilot.selfdrive.car import apply_std_steer_angle_limits +from openpilot.selfdrive.car.ford import fordcan +from openpilot.selfdrive.car.ford.values import CarControllerParams, FordFlags, FordFlagsSP +from openpilot.selfdrive.car.interfaces import CarControllerBase + +LongCtrlState = car.CarControl.Actuators.LongControlState +VisualAlert = car.CarControl.HUDControl.VisualAlert +V_CRUISE_MAX = 145 + + +def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_curvature, v_ego_raw): + # No blending at low speed due to lack of torque wind-up and inaccurate current curvature + if v_ego_raw > 9: + apply_curvature = clip(apply_curvature, current_curvature - CarControllerParams.CURVATURE_ERROR, + current_curvature + CarControllerParams.CURVATURE_ERROR) + + # Curvature rate limit after driver torque limit + apply_curvature = apply_std_steer_angle_limits(apply_curvature, apply_curvature_last, v_ego_raw, CarControllerParams) + + return clip(apply_curvature, -CarControllerParams.CURVATURE_MAX, CarControllerParams.CURVATURE_MAX) + + +class CarController(CarControllerBase): + def __init__(self, dbc_name, CP, VM): + super().__init__(dbc_name, CP, VM) + self.VM = VM + self.packer = CANPacker(dbc_name) + self.CAN = fordcan.CanBus(CP) + + self.apply_curvature_last = 0 + self.main_on_last = False + self.lkas_enabled_last = False + self.steer_alert_last = False + self.lead_distance_bars_last = None + self.path_angle = 0. + self.path_offset = 0. + self.curvature_rate = 0. + + def update(self, CC, CS, now_nanos): + can_sends = [] + + actuators = CC.actuators + hud_control = CC.hudControl + + main_on = CS.out.cruiseState.available + steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) + fcw_alert = hud_control.visualAlert == VisualAlert.fcw + + ### acc buttons ### + if CC.cruiseControl.cancel: + can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, cancel=True)) + can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, cancel=True)) + elif CC.cruiseControl.resume and (self.frame % CarControllerParams.BUTTONS_STEP) == 0: + can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, resume=True)) + can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, resume=True)) + # if stock lane centering isn't off, send a button press to toggle it off + # the stock system checks for steering pressed, and eventually disengages cruise control + elif CS.acc_tja_status_stock_values["Tja_D_Stat"] != 0 and (self.frame % CarControllerParams.ACC_UI_STEP) == 0: + can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, tja_toggle=True)) + + ### lateral control ### + # send steer msg at 20Hz + if (self.frame % CarControllerParams.STEER_STEP) == 0: + if CC.latActive: + # apply rate limits, curvature error limit, and clip to signal range + current_curvature = -CS.out.yawRate / max(CS.out.vEgoRaw, 0.1) + apply_curvature = apply_ford_curvature_limits(actuators.curvature, self.apply_curvature_last, current_curvature, CS.out.vEgoRaw) + else: + apply_curvature = 0. + + self.apply_curvature_last = apply_curvature + + if self.CP.flags & FordFlags.CANFD: + # TODO: extended mode + mode = 1 if CC.latActive else 0 + counter = (self.frame // CarControllerParams.STEER_STEP) % 0x10 + if self.CP.spFlags & FordFlagsSP.SP_ENHANCED_LAT_CONTROL.value: + can_sends.append(fordcan.create_lat_ctl2_msg(self.packer, self.CAN, mode, self.path_offset, self.path_angle, -apply_curvature, self.curvature_rate, counter)) + else: + can_sends.append(fordcan.create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -apply_curvature, 0., counter)) + else: + can_sends.append(fordcan.create_lat_ctl_msg(self.packer, self.CAN, CC.latActive, 0., 0., -apply_curvature, 0.)) + + # send lka msg at 33Hz + if (self.frame % CarControllerParams.LKA_STEP) == 0: + can_sends.append(fordcan.create_lka_msg(self.packer, self.CAN)) + + ### longitudinal control ### + # send acc msg at 50Hz + if self.CP.openpilotLongitudinalControl and (self.frame % CarControllerParams.ACC_CONTROL_STEP) == 0: + # Both gas and accel are in m/s^2, accel is used solely for braking + accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX) + gas = accel + if not CC.longActive or gas < CarControllerParams.MIN_GAS: + gas = CarControllerParams.INACTIVE_GAS + stopping = CC.actuators.longControlState == LongCtrlState.stopping + # TODO: look into using the actuators packet to send the desired speed + can_sends.append(fordcan.create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping, v_ego_kph=V_CRUISE_MAX)) + + ### ui ### + send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert) + # send lkas ui msg at 1Hz or if ui state changes + if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui: + can_sends.append(fordcan.create_lkas_ui_msg(self.packer, self.CAN, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values)) + + # send acc ui msg at 5Hz or if ui state changes + if hud_control.leadDistanceBars != self.lead_distance_bars_last: + send_ui = True + if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui: + can_sends.append(fordcan.create_acc_ui_msg(self.packer, self.CAN, self.CP, main_on, CC.latActive, + fcw_alert, CS.out.cruiseState.standstill, hud_control, + CS.acc_tja_status_stock_values)) + + self.main_on_last = main_on + self.lkas_enabled_last = CC.latActive + self.steer_alert_last = steer_alert + self.lead_distance_bars_last = hud_control.leadDistanceBars + + new_actuators = actuators.as_builder() + new_actuators.curvature = self.apply_curvature_last + + self.frame += 1 + return new_actuators, can_sends diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py new file mode 100644 index 0000000000..3b841c5bf9 --- /dev/null +++ b/selfdrive/car/ford/carstate.py @@ -0,0 +1,214 @@ +from cereal import car +from opendbc.can.can_define import CANDefine +from opendbc.can.parser import CANParser +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car.ford.fordcan import CanBus +from openpilot.selfdrive.car.ford.values import DBC, CarControllerParams, FordFlags, BUTTONS +from openpilot.selfdrive.car.interfaces import CarStateBase + +GearShifter = car.CarState.GearShifter +TransmissionType = car.CarParams.TransmissionType + + +class CarState(CarStateBase): + def __init__(self, CP): + super().__init__(CP) + can_define = CANDefine(DBC[CP.carFingerprint]["pt"]) + if CP.transmissionType == TransmissionType.automatic: + self.shifter_values = can_define.dv["PowertrainData_10"]["TrnRng_D_Rq"] + + self.vehicle_sensors_valid = False + + self.prev_distance_button = 0 + self.distance_button = 0 + + self.lkas_enabled = None + self.prev_lkas_enabled = None + self.v_limit = 0 + + self.button_states = {button.event_type: False for button in BUTTONS} + + def update(self, cp, cp_cam): + ret = car.CarState.new_message() + + self.prev_mads_enabled = self.mads_enabled + self.prev_lkas_enabled = self.lkas_enabled + + # Occasionally on startup, the ABS module recalibrates the steering pinion offset, so we need to block engagement + # The vehicle usually recovers out of this state within a minute of normal driving + self.vehicle_sensors_valid = cp.vl["SteeringPinion_Data"]["StePinCompAnEst_D_Qf"] == 3 + + # car speed + ret.vEgoRaw = cp.vl["BrakeSysFeatures"]["Veh_V_ActlBrk"] * CV.KPH_TO_MS + ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) + ret.yawRate = cp.vl["Yaw_Data_FD1"]["VehYaw_W_Actl"] + ret.standstill = cp.vl["DesiredTorqBrk"]["VehStop_D_Stat"] == 1 + + # gas pedal + ret.gas = cp.vl["EngVehicleSpThrottle"]["ApedPos_Pc_ActlArb"] / 100. + ret.gasPressed = ret.gas > 1e-6 + + # brake pedal + ret.brake = cp.vl["BrakeSnData_4"]["BrkTot_Tq_Actl"] / 32756. # torque in Nm + ret.brakePressed = cp.vl["EngBrakeData"]["BpedDrvAppl_D_Actl"] == 2 + ret.parkingBrake = cp.vl["DesiredTorqBrk"]["PrkBrkStatus"] in (1, 2) + + # steering wheel + ret.steeringAngleDeg = cp.vl["SteeringPinion_Data"]["StePinComp_An_Est"] + ret.steeringTorque = cp.vl["EPAS_INFO"]["SteeringColumnTorque"] + ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE, 5) + ret.steerFaultTemporary = cp.vl["EPAS_INFO"]["EPAS_Failure"] == 1 + ret.steerFaultPermanent = cp.vl["EPAS_INFO"]["EPAS_Failure"] in (2, 3) + ret.espDisabled = cp.vl["Cluster_Info1_FD1"]["DrvSlipCtlMde_D_Rq"] != 0 # 0 is default mode + + if self.CP.flags & FordFlags.CANFD: + # this signal is always 0 on non-CAN FD cars + ret.steerFaultTemporary |= cp.vl["Lane_Assist_Data3_FD1"]["LatCtlSte_D_Stat"] not in (1, 2, 3) + + # cruise state + is_metric = cp.vl["INSTRUMENT_PANEL"]["METRIC_UNITS"] == 1 if not self.CP.flags & FordFlags.CANFD else False + ret.cruiseState.speed = cp.vl["EngBrakeData"]["Veh_V_DsplyCcSet"] * (CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS) + ret.cruiseState.enabled = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (4, 5) + ret.cruiseState.available = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (3, 4, 5) + ret.cruiseState.nonAdaptive = cp.vl["Cluster_Info1_FD1"]["AccEnbl_B_RqDrv"] == 0 + ret.cruiseState.standstill = cp.vl["EngBrakeData"]["AccStopMde_D_Rq"] == 3 + ret.accFaulted = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (1, 2) + + if self.CP.flags & FordFlags.CANFD: + ret.cruiseState.speedLimit = self.update_traffic_signals(cp_cam) + + if not self.CP.openpilotLongitudinalControl: + ret.accFaulted = ret.accFaulted or cp_cam.vl["ACCDATA"]["CmbbDeny_B_Actl"] == 1 + + # gear + if self.CP.transmissionType == TransmissionType.automatic: + gear = self.shifter_values.get(cp.vl["PowertrainData_10"]["TrnRng_D_Rq"]) + ret.gearShifter = self.parse_gear_shifter(gear) + elif self.CP.transmissionType == TransmissionType.manual: + ret.clutchPressed = cp.vl["Engine_Clutch_Data"]["CluPdlPos_Pc_Meas"] > 0 + if bool(cp.vl["BCM_Lamp_Stat_FD1"]["RvrseLghtOn_B_Stat"]): + ret.gearShifter = GearShifter.reverse + else: + ret.gearShifter = GearShifter.drive + + # Buttons + for button in BUTTONS: + state = (cp.vl[button.can_addr][button.can_msg] in button.values) + if self.button_states[button.event_type] != state: + event = car.CarState.ButtonEvent.new_message() + event.type = button.event_type + event.pressed = state + self.button_events.append(event) + self.button_states[button.event_type] = state + + # safety + ret.stockFcw = bool(cp_cam.vl["ACCDATA_3"]["FcwVisblWarn_B_Rq"]) + ret.stockAeb = bool(cp_cam.vl["ACCDATA_2"]["CmbbBrkDecel_B_Rq"]) + + # button presses + ret.leftBlinker = ret.leftBlinkerOn = cp.vl["Steering_Data_FD1"]["TurnLghtSwtch_D_Stat"] == 1 + ret.rightBlinker = ret.rightBlinkerOn = cp.vl["Steering_Data_FD1"]["TurnLghtSwtch_D_Stat"] == 2 + # TODO: block this going to the camera otherwise it will enable stock TJA + ret.genericToggle = bool(cp.vl["Steering_Data_FD1"]["TjaButtnOnOffPress"]) + self.prev_distance_button = self.distance_button + self.distance_button = cp.vl["Steering_Data_FD1"]["AccButtnGapTogglePress"] + + # lock info + ret.doorOpen = any([cp.vl["BodyInfo_3_FD1"]["DrStatDrv_B_Actl"], cp.vl["BodyInfo_3_FD1"]["DrStatPsngr_B_Actl"], + cp.vl["BodyInfo_3_FD1"]["DrStatRl_B_Actl"], cp.vl["BodyInfo_3_FD1"]["DrStatRr_B_Actl"]]) + ret.seatbeltUnlatched = cp.vl["RCMStatusMessage2_FD1"]["FirstRowBuckleDriver"] == 2 + + # blindspot sensors + if self.CP.enableBsm: + cp_bsm = cp_cam if self.CP.flags & FordFlags.CANFD else cp + ret.leftBlindspot = cp_bsm.vl["Side_Detect_L_Stat"]["SodDetctLeft_D_Stat"] != 0 + ret.rightBlindspot = cp_bsm.vl["Side_Detect_R_Stat"]["SodDetctRight_D_Stat"] != 0 + + self.lkas_enabled = bool(cp.vl["Steering_Data_FD1"]["TjaButtnOnOffPress"]) + + # Stock steering buttons so that we can passthru blinkers etc. + self.buttons_stock_values = cp.vl["Steering_Data_FD1"] + # Stock values from IPMA so that we can retain some stock functionality + self.acc_tja_status_stock_values = cp_cam.vl["ACCDATA_3"] + self.lkas_status_stock_values = cp_cam.vl["IPMA_Data"] + + return ret + + def update_traffic_signals(self, cp_cam): + # TODO: Check if CAN platforms have the same signals + if self.CP.flags & FordFlags.CANFD: + self.v_limit = cp_cam.vl["Traffic_RecognitnData"]["TsrVLim1MsgTxt_D_Rq"] + v_limit_unit = cp_cam.vl["Traffic_RecognitnData"]["TsrVlUnitMsgTxt_D_Rq"] + + speed_factor = CV.MPH_TO_MS if v_limit_unit == 2 else CV.KPH_TO_MS if v_limit_unit == 1 else 0 + + return self.v_limit * speed_factor if self.v_limit not in (0, 255) else 0 + + @staticmethod + def get_can_parser(CP): + messages = [ + # sig_address, frequency + ("VehicleOperatingModes", 100), + ("BrakeSysFeatures", 50), + ("Yaw_Data_FD1", 100), + ("DesiredTorqBrk", 50), + ("EngVehicleSpThrottle", 100), + ("BrakeSnData_4", 50), + ("EngBrakeData", 10), + ("Cluster_Info1_FD1", 10), + ("SteeringPinion_Data", 100), + ("EPAS_INFO", 50), + ("Steering_Data_FD1", 10), + ("BodyInfo_3_FD1", 2), + ("RCMStatusMessage2_FD1", 10), + ] + + if CP.flags & FordFlags.CANFD: + messages += [ + ("Lane_Assist_Data3_FD1", 33), + ] + else: + messages += [ + ("INSTRUMENT_PANEL", 1), + ] + + if CP.transmissionType == TransmissionType.automatic: + messages += [ + ("PowertrainData_10", 10), + ] + elif CP.transmissionType == TransmissionType.manual: + messages += [ + ("Engine_Clutch_Data", 33), + ("BCM_Lamp_Stat_FD1", 1), + ] + + if CP.enableBsm and not (CP.flags & FordFlags.CANFD): + messages += [ + ("Side_Detect_L_Stat", 5), + ("Side_Detect_R_Stat", 5), + ] + + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).main) + + @staticmethod + def get_cam_can_parser(CP): + messages = [ + # sig_address, frequency + ("ACCDATA", 50), + ("ACCDATA_2", 50), + ("ACCDATA_3", 5), + ("IPMA_Data", 1), + ] + + if CP.flags & FordFlags.CANFD: + messages += [ + ("Traffic_RecognitnData", 1), + ] + + if CP.enableBsm and CP.flags & FordFlags.CANFD: + messages += [ + ("Side_Detect_L_Stat", 5), + ("Side_Detect_R_Stat", 5), + ] + + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).camera) diff --git a/selfdrive/car/ford/fingerprints.py b/selfdrive/car/ford/fingerprints.py new file mode 100644 index 0000000000..2201072fa3 --- /dev/null +++ b/selfdrive/car/ford/fingerprints.py @@ -0,0 +1,166 @@ +from cereal import car +from openpilot.selfdrive.car.ford.values import CAR + +Ecu = car.CarParams.Ecu + +FW_VERSIONS = { + CAR.FORD_BRONCO_SPORT_MK1: { + (Ecu.eps, 0x730, None): [ + b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'LX6C-2D053-RD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6C-2D053-RE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6C-2D053-RF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'M1PT-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'M1PT-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.FORD_ESCAPE_MK4: { + (Ecu.eps, 0x730, None): [ + b'LX6C-14D003-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'LX6C-2D053-NS\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6C-2D053-NT\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6C-2D053-NY\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6C-2D053-SA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6C-2D053-SD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'LJ6T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LJ6T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LV4T-14F397-GG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.FORD_EXPLORER_MK6: { + (Ecu.eps, 0x730, None): [ + b'L1MC-14D003-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'L1MC-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'L1MC-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'M1MC-14D003-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'M1MC-14D003-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'P1MC-14D003-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'L1MC-2D053-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'L1MC-2D053-BA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'L1MC-2D053-BB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'L1MC-2D053-BD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'L1MC-2D053-BF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'L1MC-2D053-BJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'L1MC-2D053-KB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'LB5T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LB5T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LB5T-14F397-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LC5T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LC5T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.FORD_F_150_MK14: { + (Ecu.eps, 0x730, None): [ + b'ML3V-14D003-BC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'PL34-2D053-CA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'ML3T-14H102-ABR\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.FORD_F_150_LIGHTNING_MK1: { + (Ecu.abs, 0x760, None): [ + b'PL38-2D053-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'ML3T-14H102-ABT\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.FORD_MUSTANG_MACH_E_MK1: { + (Ecu.eps, 0x730, None): [ + b'LJ9C-14D003-AM\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LJ9C-14D003-CC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'LK9C-2D053-CK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'ML3T-14H102-ABS\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.FORD_FOCUS_MK4: { + (Ecu.eps, 0x730, None): [ + b'JX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'JX61-2D053-CJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'JX7T-14D049-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'JX7T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.FORD_MAVERICK_MK1: { + (Ecu.eps, 0x730, None): [ + b'NZ6C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'NZ6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'NZ6C-2D053-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'NZ6C-2D053-AG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PZ6C-2D053-ED\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PZ6C-2D053-EE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PZ6C-2D053-EF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'NZ6T-14D049-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'NZ6T-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.FORD_RANGER_MK2: { + (Ecu.eps, 0x730, None): [ + b'NL14-14D003-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'PB3C-2D053-ZD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, +} diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py new file mode 100644 index 0000000000..46d09ec22d --- /dev/null +++ b/selfdrive/car/ford/fordcan.py @@ -0,0 +1,340 @@ +from cereal import car +from openpilot.selfdrive.car import CanBusBase + +HUDControl = car.CarControl.HUDControl + + +class CanBus(CanBusBase): + def __init__(self, CP=None, fingerprint=None) -> None: + super().__init__(CP, fingerprint) + + @property + def main(self) -> int: + return self.offset + + @property + def radar(self) -> int: + return self.offset + 1 + + @property + def camera(self) -> int: + return self.offset + 2 + + +def calculate_lat_ctl2_checksum(mode: int, counter: int, dat: bytearray) -> int: + curvature = (dat[2] << 3) | ((dat[3]) >> 5) + curvature_rate = (dat[6] << 3) | ((dat[7]) >> 5) + path_angle = ((dat[3] & 0x1F) << 6) | ((dat[4]) >> 2) + path_offset = ((dat[4] & 0x3) << 8) | dat[5] + + checksum = mode + counter + for sig_val in (curvature, curvature_rate, path_angle, path_offset): + checksum += sig_val + (sig_val >> 8) + + return 0xFF - (checksum & 0xFF) + + +def create_lka_msg(packer, CAN: CanBus): + """ + Creates an empty CAN message for the Ford LKA Command. + + This command can apply "Lane Keeping Aid" manoeuvres, which are subject to the PSCM lockout. + + Frequency is 33Hz. + """ + + return packer.make_can_msg("Lane_Assist_Data1", CAN.main, {}) + + +def create_lat_ctl_msg(packer, CAN: CanBus, lat_active: bool, path_offset: float, path_angle: float, curvature: float, + curvature_rate: float): + """ + Creates a CAN message for the Ford TJA/LCA Command. + + This command can apply "Lane Centering" manoeuvres: continuous lane centering for traffic jam assist and highway + driving. It is not subject to the PSCM lockout. + + Ford lane centering command uses a third order polynomial to describe the road centerline. The polynomial is defined + by the following coefficients: + c0: lateral offset between the vehicle and the centerline (positive is right) + c1: heading angle between the vehicle and the centerline (positive is right) + c2: curvature of the centerline (positive is left) + c3: rate of change of curvature of the centerline + As the PSCM combines this information with other sensor data, such as the vehicle's yaw rate and speed, the steering + angle cannot be easily controlled. + + The PSCM should be configured to accept TJA/LCA commands before these commands will be processed. This can be done + using tools such as Forscan. + + Frequency is 20Hz. + """ + + values = { + "LatCtlRng_L_Max": 0, # Unknown [0|126] meter + "HandsOffCnfm_B_Rq": 0, # Unknown: 0=Inactive, 1=Active [0|1] + "LatCtl_D_Rq": 1 if lat_active else 0, # Mode: 0=None, 1=ContinuousPathFollowing, 2=InterventionLeft, + # 3=InterventionRight, 4-7=NotUsed [0|7] + "LatCtlRampType_D_Rq": 0, # Ramp speed: 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3] + # Makes no difference with curvature control + "LatCtlPrecision_D_Rq": 1, # Precision: 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3] + # The stock system always uses comfortable + "LatCtlPathOffst_L_Actl": path_offset, # Path offset [-5.12|5.11] meter + "LatCtlPath_An_Actl": path_angle, # Path angle [-0.5|0.5235] radians + "LatCtlCurv_NoRate_Actl": curvature_rate, # Curvature rate [-0.001024|0.00102375] 1/meter^2 + "LatCtlCurv_No_Actl": curvature, # Curvature [-0.02|0.02094] 1/meter + } + return packer.make_can_msg("LateralMotionControl", CAN.main, values) + + +def create_lat_ctl2_msg(packer, CAN: CanBus, mode: int, path_offset: float, path_angle: float, curvature: float, + curvature_rate: float, counter: int): + """ + Create a CAN message for the new Ford Lane Centering command. + + This message is used on the CAN FD platform and replaces the old LateralMotionControl message. It is similar but has + additional signals for a counter and checksum. + + Frequency is 20Hz. + """ + + values = { + "LatCtl_D2_Rq": mode, # Mode: 0=None, 1=PathFollowingLimitedMode, 2=PathFollowingExtendedMode, + # 3=SafeRampOut, 4-7=NotUsed [0|7] + "LatCtlRampType_D_Rq": 0, # 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3] + "LatCtlPrecision_D_Rq": 1, # 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3] + "LatCtlPathOffst_L_Actl": path_offset, # [-5.12|5.11] meter + "LatCtlPath_An_Actl": path_angle, # [-0.5|0.5235] radians + "LatCtlCurv_No_Actl": curvature, # [-0.02|0.02094] 1/meter + "LatCtlCrv_NoRate2_Actl": curvature_rate, # [-0.001024|0.001023] 1/meter^2 + "HandsOffCnfm_B_Rq": 0, # 0=Inactive, 1=Active [0|1] + "LatCtlPath_No_Cnt": counter, # [0|15] + "LatCtlPath_No_Cs": 0, # [0|255] + } + + # calculate checksum + dat = packer.make_can_msg("LateralMotionControl2", 0, values)[1] + values["LatCtlPath_No_Cs"] = calculate_lat_ctl2_checksum(mode, counter, dat) + + return packer.make_can_msg("LateralMotionControl2", CAN.main, values) + + +def create_acc_msg(packer, CAN: CanBus, long_active: bool, gas: float, accel: float, stopping: bool, v_ego_kph: float): + """ + Creates a CAN message for the Ford ACC Command. + + This command can be used to enable ACC, to set the ACC gas/brake/decel values + and to disable ACC. + + Frequency is 50Hz. + """ + decel = accel < 0 and long_active + values = { + "AccBrkTot_A_Rq": accel, # Brake total accel request: [-20|11.9449] m/s^2 + "Cmbb_B_Enbl": 1 if long_active else 0, # Enabled: 0=No, 1=Yes + "AccPrpl_A_Rq": gas, # Acceleration request: [-5|5.23] m/s^2 + "AccPrpl_A_Pred": -5.0, # Acceleration request: [-5|5.23] m/s^2 + "AccResumEnbl_B_Rq": 1 if long_active else 0, + "AccVeh_V_Trg": v_ego_kph, # Target speed: [0|255] km/h + # TODO: we may be able to improve braking response by utilizing pre-charging better + "AccBrkPrchg_B_Rq": 1 if decel else 0, # Pre-charge brake request: 0=No, 1=Yes + "AccBrkDecel_B_Rq": 1 if decel else 0, # Deceleration request: 0=Inactive, 1=Active + "AccStopStat_B_Rq": 1 if stopping else 0, + } + return packer.make_can_msg("ACCDATA", CAN.main, values) + + +def create_acc_ui_msg(packer, CAN: CanBus, CP, main_on: bool, enabled: bool, fcw_alert: bool, standstill: bool, + hud_control, stock_values: dict): + """ + Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam + assist status. + + Stock functionality is maintained by passing through unmodified signals. + + Frequency is 5Hz. + """ + + # Tja_D_Stat + if enabled: + if hud_control.leftLaneDepart: + status = 3 # ActiveInterventionLeft + elif hud_control.rightLaneDepart: + status = 4 # ActiveInterventionRight + else: + status = 2 # Active + elif main_on: + if hud_control.leftLaneDepart: + status = 5 # ActiveWarningLeft + elif hud_control.rightLaneDepart: + status = 6 # ActiveWarningRight + else: + status = 1 # Standby + else: + status = 0 # Off + + values = {s: stock_values[s] for s in [ + "HaDsply_No_Cs", + "HaDsply_No_Cnt", + "AccStopStat_D_Dsply", # ACC stopped status message + "AccTrgDist2_D_Dsply", # ACC target distance + "AccStopRes_B_Dsply", + "TjaWarn_D_Rq", # TJA warning + "TjaMsgTxt_D_Dsply", # TJA text + "IaccLamp_D_Rq", # iACC status icon + "AccMsgTxt_D2_Rq", # ACC text + "FcwDeny_B_Dsply", # FCW disabled + "FcwMemStat_B_Actl", # FCW enabled setting + "AccTGap_B_Dsply", # ACC time gap display setting + "CadsAlignIncplt_B_Actl", + "AccFllwMde_B_Dsply", # ACC follow mode display setting + "CadsRadrBlck_B_Actl", + "CmbbPostEvnt_B_Dsply", # AEB event status + "AccStopMde_B_Dsply", # ACC stop mode display setting + "FcwMemSens_D_Actl", # FCW sensitivity setting + "FcwMsgTxt_D_Rq", # FCW text + "AccWarn_D_Dsply", # ACC warning + "FcwVisblWarn_B_Rq", # FCW visible alert + "FcwAudioWarn_B_Rq", # FCW audio alert + "AccTGap_D_Dsply", # ACC time gap + "AccMemEnbl_B_RqDrv", # ACC adaptive/normal setting + "FdaMem_B_Stat", # FDA enabled setting + ]} + + values.update({ + "Tja_D_Stat": status, # TJA status + }) + + if CP.openpilotLongitudinalControl: + values.update({ + "AccStopStat_D_Dsply": 2 if standstill else 0, # Stopping status text + "AccMsgTxt_D2_Rq": 0, # ACC text + "AccTGap_B_Dsply": 0, # Show time gap control UI + "AccFllwMde_B_Dsply": 1 if hud_control.leadVisible else 0, # Lead indicator + "AccStopMde_B_Dsply": 1 if standstill else 0, + "AccWarn_D_Dsply": 0, # ACC warning + "AccTGap_D_Dsply": hud_control.leadDistanceBars, # Time gap + }) + + # Forwards FCW alert from IPMA + if fcw_alert: + values["FcwVisblWarn_B_Rq"] = 1 # FCW visible alert + + return packer.make_can_msg("ACCDATA_3", CAN.main, values) + + +def create_lkas_ui_msg(packer, CAN: CanBus, main_on: bool, enabled: bool, steer_alert: bool, hud_control, + stock_values: dict): + """ + Creates a CAN message for the Ford IPC IPMA/LKAS status. + + Show the LKAS status with the "driver assist" lines in the IPC. + + Stock functionality is maintained by passing through unmodified signals. + + Frequency is 1Hz. + """ + + # LaActvStats_D_Dsply + # R Intvn Warn Supprs Avail No + # L + # Intvn 24 19 14 9 4 + # Warn 23 18 13 8 3 + # Supprs 22 17 12 7 2 + # Avail 21 16 11 6 1 + # No 20 15 10 5 0 + # + # TODO: test suppress state + if enabled: + lines = 0 # NoLeft_NoRight + if hud_control.leftLaneDepart: + lines += 4 + elif hud_control.leftLaneVisible: + lines += 1 + if hud_control.rightLaneDepart: + lines += 20 + elif hud_control.rightLaneVisible: + lines += 5 + elif main_on: + lines = 0 + else: + if hud_control.leftLaneDepart: + lines = 3 # WarnLeft_NoRight + elif hud_control.rightLaneDepart: + lines = 15 # NoLeft_WarnRight + else: + lines = 30 # LA_Off + + hands_on_wheel_dsply = 1 if steer_alert else 0 + + values = {s: stock_values[s] for s in [ + "FeatConfigIpmaActl", + "FeatNoIpmaActl", + "PersIndexIpma_D_Actl", + "AhbcRampingV_D_Rq", # AHB ramping + "LaDenyStats_B_Dsply", # LKAS error + "CamraDefog_B_Req", # Windshield heater? + "CamraStats_D_Dsply", # Camera status + "DasAlrtLvl_D_Dsply", # DAS alert level + "DasStats_D_Dsply", # DAS status + "DasWarn_D_Dsply", # DAS warning + "AhbHiBeam_D_Rq", # AHB status + "Passthru_63", + "Passthru_48", + ]} + + values.update({ + "LaActvStats_D_Dsply": lines, # LKAS status (lines) [0|31] + "LaHandsOff_D_Dsply": hands_on_wheel_dsply, # 0=HandsOn, 1=Level1 (w/o chime), 2=Level2 (w/ chime), 3=Suppressed + }) + return packer.make_can_msg("IPMA_Data", CAN.main, values) + + +def create_button_msg(packer, bus: int, stock_values: dict, cancel=False, resume=False, tja_toggle=False): + """ + Creates a CAN message for the Ford SCCM buttons/switches. + + Includes cruise control buttons, turn lights and more. + + Frequency is 10Hz. + """ + + values = {s: stock_values[s] for s in [ + "HeadLghtHiFlash_D_Stat", # SCCM Passthrough the remaining buttons + "TurnLghtSwtch_D_Stat", # SCCM Turn signal switch + "WiprFront_D_Stat", + "LghtAmb_D_Sns", + "AccButtnGapDecPress", + "AccButtnGapIncPress", + "AslButtnOnOffCnclPress", + "AslButtnOnOffPress", + "LaSwtchPos_D_Stat", + "CcAslButtnCnclResPress", + "CcAslButtnDeny_B_Actl", + "CcAslButtnIndxDecPress", + "CcAslButtnIndxIncPress", + "CcAslButtnOffCnclPress", + "CcAslButtnOnOffCncl", + "CcAslButtnOnPress", + "CcAslButtnResDecPress", + "CcAslButtnResIncPress", + "CcAslButtnSetDecPress", + "CcAslButtnSetIncPress", + "CcAslButtnSetPress", + "CcButtnOffPress", + "CcButtnOnOffCnclPress", + "CcButtnOnOffPress", + "CcButtnOnPress", + "HeadLghtHiFlash_D_Actl", + "HeadLghtHiOn_B_StatAhb", + "AhbStat_B_Dsply", + "AccButtnGapTogglePress", + "WiprFrontSwtch_D_Stat", + "HeadLghtHiCtrl_D_RqAhb", + ]} + + values.update({ + "CcAslButtnCnclPress": 1 if cancel else 0, # CC cancel button + "CcAsllButtnResPress": 1 if resume else 0, # CC resume button + "TjaButtnOnOffPress": 1 if tja_toggle else 0, # LCA/TJA toggle button + }) + return packer.make_can_msg("Steering_Data_FD1", bus, values) diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py new file mode 100644 index 0000000000..48dd4ab237 --- /dev/null +++ b/selfdrive/car/ford/interface.py @@ -0,0 +1,134 @@ +from cereal import car +from panda import Panda +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car import create_button_events, get_safety_config +from openpilot.selfdrive.car.ford.fordcan import CanBus +from openpilot.common.params import Params +from openpilot.selfdrive.car.ford.values import Ecu, FordFlags, FordFlagsSP +from openpilot.selfdrive.car.interfaces import CarInterfaceBase + +ButtonType = car.CarState.ButtonEvent.Type +TransmissionType = car.CarParams.TransmissionType +GearShifter = car.CarState.GearShifter + + +class CarInterface(CarInterfaceBase): + def __init__(self, CP, CarController, CarState): + super().__init__(CP, CarController, CarState) + + @staticmethod + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): + ret.carName = "ford" + + ret.radarUnavailable = True + ret.steerControlType = car.CarParams.SteerControlType.angle + ret.steerActuatorDelay = 0.2 + ret.steerLimitTimer = 1.0 + + if Params().get("DongleId", encoding='utf8') in ("4fde83db16dc0802", "112e4d6e0cad05e1", "e36b272d5679115f", "24574459dd7fb3e0", "83a4e056c7072678"): + ret.spFlags |= FordFlagsSP.SP_ENHANCED_LAT_CONTROL.value + + CAN = CanBus(fingerprint=fingerprint) + cfgs = [get_safety_config(car.CarParams.SafetyModel.ford)] + if CAN.main >= 4: + cfgs.insert(0, get_safety_config(car.CarParams.SafetyModel.noOutput)) + ret.safetyConfigs = cfgs + + ret.experimentalLongitudinalAvailable = True + if experimental_long: + ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_LONG_CONTROL + ret.openpilotLongitudinalControl = True + + if ret.flags & FordFlags.CANFD: + ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_CANFD + else: + # Lock out if the car does not have needed lateral and longitudinal control APIs. + # Note that we also check CAN for adaptive cruise, but no known signal for LCA exists + pscm_config = next((fw for fw in car_fw if fw.ecu == Ecu.eps and b'\x22\xDE\x01' in fw.request), None) + if pscm_config: + if len(pscm_config.fwVersion) != 24: + ret.dashcamOnly = True + else: + config_tja = pscm_config.fwVersion[7] # Traffic Jam Assist + config_lca = pscm_config.fwVersion[8] # Lane Centering Assist + if config_tja != 0xFF or config_lca != 0xFF: + ret.dashcamOnly = True + + if ret.spFlags & FordFlagsSP.SP_ENHANCED_LAT_CONTROL: + ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_ENHANCED_LAT_CONTROL + + ret.longitudinalTuning.kpBP = [0.] + ret.longitudinalTuning.kpV = [0.5] + ret.longitudinalTuning.kiV = [0.] + + # Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1 + found_ecus = [fw.ecu for fw in car_fw] + if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[CAN.main] or docs: + ret.transmissionType = TransmissionType.automatic + else: + ret.transmissionType = TransmissionType.manual + ret.minEnableSpeed = 20.0 * CV.MPH_TO_MS + + # BSM: Side_Detect_L_Stat, Side_Detect_R_Stat + # TODO: detect bsm in car_fw? + ret.enableBsm = 0x3A6 in fingerprint[CAN.main] and 0x3A7 in fingerprint[CAN.main] + + # LCA can steer down to zero + ret.minSteerSpeed = 0. + + ret.autoResumeSng = ret.minEnableSpeed == -1. + ret.centerToFront = ret.wheelbase * 0.44 + return ret + + def _update(self, c): + ret = self.CS.update(self.cp, self.cp_cam) + + self.CS.button_events = [ + *self.CS.button_events, + *create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}), + *create_button_events(self.CS.lkas_enabled, self.CS.prev_lkas_enabled, {1: ButtonType.altButton1}), + ] + + self.CS.mads_enabled = self.get_sp_cruise_main_state(ret) + + self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, c.vCruise, self.CS.accEnabled) + + if ret.cruiseState.available: + if self.enable_mads: + if not self.CS.prev_mads_enabled and self.CS.mads_enabled: + self.CS.madsEnabled = True + if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events): + self.CS.madsEnabled = not self.CS.madsEnabled + self.CS.madsEnabled = self.get_acc_mads(ret, self.CS.madsEnabled) + else: + self.CS.madsEnabled = False + + if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0): + if any(b.type == ButtonType.cancel for b in self.CS.button_events): + self.get_sp_cancel_cruise_state() + if self.get_sp_pedal_disengage(ret): + self.get_sp_cancel_cruise_state() + ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled + + if self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed: + if ret.gasPressed and not ret.cruiseState.enabled: + self.CS.accEnabled = False + self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled + + ret = self.get_sp_common_state(ret) + + ret.buttonEvents = [ + *self.CS.button_events, + *self.button_events.create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled) # MADS BUTTON + ] + + events = self.create_common_events(ret, c, extra_gears=[GearShifter.manumatic], pcm_enable=False) + + events, ret = self.create_sp_events(ret, events) + + if not self.CS.vehicle_sensors_valid: + events.add(car.CarEvent.EventName.vehicleSensorsInvalid) + + ret.events = events.to_msg() + + return ret diff --git a/selfdrive/car/ford/radar_interface.py b/selfdrive/car/ford/radar_interface.py new file mode 100644 index 0000000000..7218fc54b6 --- /dev/null +++ b/selfdrive/car/ford/radar_interface.py @@ -0,0 +1,207 @@ +from math import cos, sin +from cereal import car +from opendbc.can.parser import CANParser +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car.ford.fordcan import CanBus +from openpilot.selfdrive.car.ford.values import DBC, RADAR +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase + +DELPHI_ESR_RADAR_MSGS = list(range(0x500, 0x540)) + +DELPHI_MRR_RADAR_START_ADDR = 0x120 +DELPHI_MRR_RADAR_MSG_COUNT = 64 + +STEER_ASSIST_DATA_MSGS = 0x3d7 + +def _create_delphi_esr_radar_can_parser(CP) -> CANParser: + msg_n = len(DELPHI_ESR_RADAR_MSGS) + messages = list(zip(DELPHI_ESR_RADAR_MSGS, [20] * msg_n, strict=True)) + + return CANParser(RADAR.DELPHI_ESR, messages, CanBus(CP).radar) + + +def _create_delphi_mrr_radar_can_parser(CP) -> CANParser: + messages = [] + + for i in range(1, DELPHI_MRR_RADAR_MSG_COUNT + 1): + msg = f"MRR_Detection_{i:03d}" + messages += [(msg, 20)] + + return CANParser(RADAR.DELPHI_MRR, messages, CanBus(CP).radar) + +def _create_steer_assist_data(CP) -> CANParser: + messages = [("Steer_Assist_Data", 20)] + return CANParser(RADAR.STEER_ASSIST_DATA, messages, CanBus(CP).camera) + +class RadarInterface(RadarInterfaceBase): + def __init__(self, CP): + super().__init__(CP) + + self.updated_messages = set() + self.track_id = 0 + self.radar = DBC[CP.carFingerprint]['radar'] + if self.radar is None or CP.radarUnavailable: + self.rcp = None + elif self.radar == RADAR.DELPHI_ESR: + self.rcp = _create_delphi_esr_radar_can_parser(CP) + self.trigger_msg = DELPHI_ESR_RADAR_MSGS[-1] + self.valid_cnt = {key: 0 for key in DELPHI_ESR_RADAR_MSGS} + elif self.radar == RADAR.DELPHI_MRR: + self.rcp = _create_delphi_mrr_radar_can_parser(CP) + self.trigger_msg = DELPHI_MRR_RADAR_START_ADDR + DELPHI_MRR_RADAR_MSG_COUNT - 1 + elif self.radar == RADAR.STEER_ASSIST_DATA: + self.rcp = _create_steer_assist_data(CP) + self.trigger_msg = STEER_ASSIST_DATA_MSGS + + else: + raise ValueError(f"Unsupported radar: {self.radar}") + + def update(self, can_strings): + if self.rcp is None: + return super().update(None) + + vls = self.rcp.update_strings(can_strings) + self.updated_messages.update(vls) + + if self.trigger_msg not in self.updated_messages: + return None + + ret = car.RadarData.new_message() + errors = [] + if not self.rcp.can_valid: + errors.append("canError") + ret.errors = errors + + if self.radar == RADAR.DELPHI_ESR: + self._update_delphi_esr() + elif self.radar == RADAR.DELPHI_MRR: + self._update_delphi_mrr() + elif self.radar == RADAR.STEER_ASSIST_DATA: + self._update_steer_assist_data() + + ret.points = list(self.pts.values()) + self.updated_messages.clear() + return ret + + def _update_steer_assist_data(self): + msg = self.rcp.vl["Steer_Assist_Data"] + updated_msg = self.updated_messages + + dRel = msg['CmbbObjDistLong_L_Actl'] + confidence = msg['CmbbObjConfdnc_D_Stat'] + new_track = False + + # if dRel < 1022: + if confidence > 0: + if 0 not in self.pts: + self.pts[0] = car.RadarData.RadarPoint.new_message() + self.pts[0].trackId = self.track_id + self.vRelCol[0] = collections.deque(maxlen=20) + self.track_id += 1 + new_track = True + + yRel = msg['CmbbObjDistLat_L_Actl'] + vRel = msg['CmbbObjRelLong_V_Actl'] + yvRel = msg['CmbbObjRelLat_V_Actl'] + calc = 0 + if not new_track: + # if this is a newly created track - we don't have historical data so skip it + # if we are on the same track + # Let's see if we are moving: + # positive gap - lead is moving faster than us + # negative gap - lead is moving slower than us + dDiff = dRel - self.pts[0].dRel + if (abs(vRel) < 1.0e-2): + self.vRelCol[0].append(dDiff) + vRel = sum(self.vRelCol[0]) + calc = 1 + else: + if len(self.vRelCol[0]) > 0: + self.vRelCol[0].clear() + + if abs(self.pts[0].vRel - vRel) > 2 or abs(self.pts[0].dRel - dRel) > 5: + self.pts[0].trackId = self.track_id + if len(self.vRelCol[0]) > 0: + self.vRelCol[0].clear() + self.track_id += 1 + + self.pts[0].dRel = dRel # from front of car + self.pts[0].yRel = yRel # in car frame's y axis, left is positive + self.pts[0].vRel = vRel + self.pts[0].aRel = float('nan') + self.pts[0].yvRel = yvRel + self.pts[0].measured = True + else: + if 0 in self.pts: + del self.pts[0] + del self.vRelCol[0] + + + def _update_delphi_esr(self): + for ii in sorted(self.updated_messages): + cpt = self.rcp.vl[ii] + + if cpt['X_Rel'] > 0.00001: + self.valid_cnt[ii] = 0 # reset counter + + if cpt['X_Rel'] > 0.00001: + self.valid_cnt[ii] += 1 + else: + self.valid_cnt[ii] = max(self.valid_cnt[ii] - 1, 0) + #print ii, self.valid_cnt[ii], cpt['VALID'], cpt['X_Rel'], cpt['Angle'] + + # radar point only valid if there have been enough valid measurements + if self.valid_cnt[ii] > 0: + if ii not in self.pts: + self.pts[ii] = car.RadarData.RadarPoint.new_message() + self.pts[ii].trackId = self.track_id + self.track_id += 1 + self.pts[ii].dRel = cpt['X_Rel'] # from front of car + self.pts[ii].yRel = cpt['X_Rel'] * cpt['Angle'] * CV.DEG_TO_RAD # in car frame's y axis, left is positive + self.pts[ii].vRel = cpt['V_Rel'] + self.pts[ii].aRel = float('nan') + self.pts[ii].yvRel = float('nan') + self.pts[ii].measured = True + else: + if ii in self.pts: + del self.pts[ii] + + def _update_delphi_mrr(self): + for ii in range(1, DELPHI_MRR_RADAR_MSG_COUNT + 1): + msg = self.rcp.vl[f"MRR_Detection_{ii:03d}"] + + # SCAN_INDEX rotates through 0..3 on each message + # treat these as separate points + scanIndex = msg[f"CAN_SCAN_INDEX_2LSB_{ii:02d}"] + i = (ii - 1) * 4 + scanIndex + + if i not in self.pts: + self.pts[i] = car.RadarData.RadarPoint.new_message() + self.pts[i].trackId = self.track_id + self.pts[i].aRel = float('nan') + self.pts[i].yvRel = float('nan') + self.track_id += 1 + + valid = bool(msg[f"CAN_DET_VALID_LEVEL_{ii:02d}"]) + + if valid: + azimuth = msg[f"CAN_DET_AZIMUTH_{ii:02d}"] # rad [-3.1416|3.13964] + dist = msg[f"CAN_DET_RANGE_{ii:02d}"] # m [0|255.984] + distRate = msg[f"CAN_DET_RANGE_RATE_{ii:02d}"] # m/s [-128|127.984] + dRel = cos(azimuth) * dist # m from front of car + yRel = -sin(azimuth) * dist # in car frame's y axis, left is positive + + # delphi doesn't notify of track switches, so do it manually + # TODO: refactor this to radard if more radars behave this way + if abs(self.pts[i].vRel - distRate) > 2 or abs(self.pts[i].dRel - dRel) > 5: + self.track_id += 1 + self.pts[i].trackId = self.track_id + + self.pts[i].dRel = dRel + self.pts[i].yRel = yRel + self.pts[i].vRel = distRate + + self.pts[i].measured = True + + else: + del self.pts[i] diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py new file mode 100644 index 0000000000..7af6ec607f --- /dev/null +++ b/selfdrive/car/ford/values.py @@ -0,0 +1,295 @@ +import copy +import re +from collections import namedtuple +from dataclasses import dataclass, field, replace +from enum import Enum, IntFlag + +import panda.python.uds as uds +from cereal import car +from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, dbc_dict, DbcDict, PlatformConfig, Platforms +from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column, \ + Device +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, LiveFwVersions, OfflineFwVersions, Request, StdQueries, p16 + +Ecu = car.CarParams.Ecu +Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values']) + + +class CarControllerParams: + STEER_STEP = 5 # LateralMotionControl, 20Hz + LKA_STEP = 3 # Lane_Assist_Data1, 33Hz + ACC_CONTROL_STEP = 2 # ACCDATA, 50Hz + LKAS_UI_STEP = 100 # IPMA_Data, 1Hz + ACC_UI_STEP = 20 # ACCDATA_3, 5Hz + BUTTONS_STEP = 5 # Steering_Data_FD1, 10Hz, but send twice as fast + + CURVATURE_MAX = 0.02 # Max curvature for steering command, m^-1 + STEER_DRIVER_ALLOWANCE = 1.0 # Driver intervention threshold, Nm + + # Curvature rate limits + # The curvature signal is limited to 0.003 to 0.009 m^-1/sec by the EPS depending on speed and direction + # Limit to ~2 m/s^3 up, ~3 m/s^3 down at 75 mph + # Worst case, the low speed limits will allow 4.3 m/s^3 up, 4.9 m/s^3 down at 75 mph + ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.0002, 0.0001]) + ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.000225, 0.00015]) + CURVATURE_ERROR = 0.002 # ~6 degrees at 10 m/s, ~10 degrees at 35 m/s + + ACCEL_MAX = 2.0 # m/s^2 max acceleration + ACCEL_MIN = -3.5 # m/s^2 max deceleration + MIN_GAS = -0.5 + INACTIVE_GAS = -5.0 + + def __init__(self, CP): + pass + + +class FordFlags(IntFlag): + # Static flags + CANFD = 1 + + +class FordFlagsSP(IntFlag): + SP_ENHANCED_LAT_CONTROL = 1 + + +class RADAR: + DELPHI_ESR = 'ford_fusion_2018_adas' + DELPHI_MRR = 'FORD_CADS' + STEER_ASSIST_DATA = 'ford_lincoln_base_pt' + + +class Footnote(Enum): + FOCUS = CarFootnote( + "Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in " + + "North and South America/Southeast Asia.", + Column.MODEL, + ) + + +@dataclass +class FordCarDocs(CarDocs): + package: str = "Co-Pilot360 Assist+" + hybrid: bool = False + plug_in_hybrid: bool = False + + def init_make(self, CP: car.CarParams): + harness = CarHarness.ford_q4 if CP.flags & FordFlags.CANFD else CarHarness.ford_q3 + if CP.carFingerprint in (CAR.FORD_BRONCO_SPORT_MK1, CAR.FORD_MAVERICK_MK1, CAR.FORD_F_150_MK14, CAR.FORD_F_150_LIGHTNING_MK1): + self.car_parts = CarParts([Device.threex_angled_mount, harness]) + else: + self.car_parts = CarParts([Device.threex, harness]) + + +@dataclass +class FordPlatformConfig(PlatformConfig): + dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('ford_lincoln_base_pt', RADAR.DELPHI_MRR)) + + def init(self): + for car_docs in list(self.car_docs): + if car_docs.hybrid: + name = f"{car_docs.make} {car_docs.model} Hybrid {car_docs.years}" + self.car_docs.append(replace(copy.deepcopy(car_docs), name=name)) + if car_docs.plug_in_hybrid: + name = f"{car_docs.make} {car_docs.model} Plug-in Hybrid {car_docs.years}" + self.car_docs.append(replace(copy.deepcopy(car_docs), name=name)) + + +@dataclass +class FordCANFDPlatformConfig(FordPlatformConfig): + dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('ford_lincoln_base_pt', RADAR.STEER_ASSIST_DATA)) + + def init(self): + super().init() + self.flags |= FordFlags.CANFD + + +class CAR(Platforms): + FORD_BRONCO_SPORT_MK1 = FordPlatformConfig( + [FordCarDocs("Ford Bronco Sport 2021-23")], + CarSpecs(mass=1625, wheelbase=2.67, steerRatio=17.7), + ) + FORD_ESCAPE_MK4 = FordPlatformConfig( + [ + FordCarDocs("Ford Escape 2020-22", hybrid=True, plug_in_hybrid=True), + FordCarDocs("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering", hybrid=True, plug_in_hybrid=True), + ], + CarSpecs(mass=1750, wheelbase=2.71, steerRatio=16.7), + ) + FORD_EXPLORER_MK6 = FordPlatformConfig( + [ + FordCarDocs("Ford Explorer 2020-23", hybrid=True), # Hybrid: Limited and Platinum only + FordCarDocs("Lincoln Aviator 2020-23", "Co-Pilot360 Plus", plug_in_hybrid=True), # Hybrid: Grand Touring only + ], + CarSpecs(mass=2050, wheelbase=3.025, steerRatio=16.8), + ) + FORD_F_150_MK14 = FordCANFDPlatformConfig( + [FordCarDocs("Ford F-150 2022-23", "Co-Pilot360 Active 2.0", hybrid=True)], + CarSpecs(mass=2000, wheelbase=3.69, steerRatio=17.0), + ) + FORD_F_150_LIGHTNING_MK1 = FordCANFDPlatformConfig( + [FordCarDocs("Ford F-150 Lightning 2021-23", "Co-Pilot360 Active 2.0")], + CarSpecs(mass=2948, wheelbase=3.70, steerRatio=16.9), + ) + FORD_FOCUS_MK4 = FordPlatformConfig( + [FordCarDocs("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS], hybrid=True)], # mHEV only + CarSpecs(mass=1350, wheelbase=2.7, steerRatio=15.0), + ) + FORD_MAVERICK_MK1 = FordPlatformConfig( + [ + FordCarDocs("Ford Maverick 2022", "LARIAT Luxury", hybrid=True), + FordCarDocs("Ford Maverick 2023-24", "Co-Pilot360 Assist", hybrid=True), + ], + CarSpecs(mass=1650, wheelbase=3.076, steerRatio=17.0), + ) + FORD_MUSTANG_MACH_E_MK1 = FordCANFDPlatformConfig( + [FordCarDocs("Ford Mustang Mach-E 2021-23", "Co-Pilot360 Active 2.0")], + CarSpecs(mass=2200, wheelbase=2.984, steerRatio=17.0), # TODO: check steer ratio + ) + FORD_RANGER_MK2 = FordCANFDPlatformConfig( + [FordCarDocs("Ford Ranger 2024", "Adaptive Cruise Control with Lane Centering")], + CarSpecs(mass=2000, wheelbase=3.27, steerRatio=17.0), + ) + + +BUTTONS = [ + Button(car.CarState.ButtonEvent.Type.accelCruise, "Steering_Data_FD1", "CcAslButtnSetIncPress", [1]), + Button(car.CarState.ButtonEvent.Type.decelCruise, "Steering_Data_FD1", "CcAslButtnSetDecPress", [1]), + Button(car.CarState.ButtonEvent.Type.cancel, "Steering_Data_FD1", "CcAslButtnCnclPress", [1]), + Button(car.CarState.ButtonEvent.Type.setCruise, "Steering_Data_FD1", "CcAslButtnSetPress", [1]), + Button(car.CarState.ButtonEvent.Type.resumeCruise, "Steering_Data_FD1", "CcAsllButtnResPress", [1]), +] + + +# FW response contains a combined software and part number +# A-Z except no I, O or W +# e.g. NZ6A-14C204-AAA +# 1222-333333-444 +# 1 = Model year hint (approximates model year/generation) +# 2 = Platform hint +# 3 = Part number +# 4 = Software version +FW_ALPHABET = b'A-HJ-NP-VX-Z' +FW_PATTERN = re.compile(b'^(?P[' + FW_ALPHABET + b'])' + + b'(?P[0-9' + FW_ALPHABET + b']{3})-' + + b'(?P[0-9' + FW_ALPHABET + b']{5,6})-' + + b'(?P[' + FW_ALPHABET + b']{2,})\x00*$') + + +def get_platform_codes(fw_versions: list[bytes] | set[bytes]) -> set[tuple[bytes, bytes]]: + codes = set() + for fw in fw_versions: + match = FW_PATTERN.match(fw) + if match is not None: + codes.add((match.group('platform_hint'), match.group('model_year_hint'))) + + return codes + + +def match_fw_to_car_fuzzy(live_fw_versions: LiveFwVersions, vin: str, offline_fw_versions: OfflineFwVersions) -> set[str]: + candidates: set[str] = set() + + for candidate, fws in offline_fw_versions.items(): + # Keep track of ECUs which pass all checks (platform hint, within model year hint range) + valid_found_ecus = set() + valid_expected_ecus = {ecu[1:] for ecu in fws if ecu[0] in PLATFORM_CODE_ECUS} + for ecu, expected_versions in fws.items(): + addr = ecu[1:] + # Only check ECUs expected to have platform codes + if ecu[0] not in PLATFORM_CODE_ECUS: + continue + + # Expected platform codes & model year hints + codes = get_platform_codes(expected_versions) + expected_platform_codes = {code for code, _ in codes} + expected_model_year_hints = {model_year_hint for _, model_year_hint in codes} + + # Found platform codes & model year hints + codes = get_platform_codes(live_fw_versions.get(addr, set())) + found_platform_codes = {code for code, _ in codes} + found_model_year_hints = {model_year_hint for _, model_year_hint in codes} + + # Check platform code matches for any found versions + if not any(found_platform_code in expected_platform_codes for found_platform_code in found_platform_codes): + break + + # Check any model year hint within range in the database. Note that some models have more than one + # platform code per ECU which we don't consider as separate ranges + if not any(min(expected_model_year_hints) <= found_model_year_hint <= max(expected_model_year_hints) for + found_model_year_hint in found_model_year_hints): + break + + valid_found_ecus.add(addr) + + # If all live ECUs pass all checks for candidate, add it as a match + if valid_expected_ecus.issubset(valid_found_ecus): + candidates.add(candidate) + + return candidates + + +# All of these ECUs must be present and are expected to have platform codes we can match +PLATFORM_CODE_ECUS = (Ecu.abs, Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps) + +DATA_IDENTIFIER_FORD_ASBUILT = 0xDE00 + +ASBUILT_BLOCKS: list[tuple[int, list]] = [ + (1, [Ecu.debug, Ecu.fwdCamera, Ecu.eps]), + (2, [Ecu.abs, Ecu.debug, Ecu.eps]), + (3, [Ecu.abs, Ecu.debug, Ecu.eps]), + (4, [Ecu.debug, Ecu.fwdCamera]), + (5, [Ecu.debug]), + (6, [Ecu.debug]), + (7, [Ecu.debug]), + (8, [Ecu.debug]), + (9, [Ecu.debug]), + (16, [Ecu.debug, Ecu.fwdCamera]), + (18, [Ecu.fwdCamera]), + (20, [Ecu.fwdCamera]), + (21, [Ecu.fwdCamera]), +] + + +def ford_asbuilt_block_request(block_id: int): + return bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + p16(DATA_IDENTIFIER_FORD_ASBUILT + block_id - 1) + + +def ford_asbuilt_block_response(block_id: int): + return bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + p16(DATA_IDENTIFIER_FORD_ASBUILT + block_id - 1) + + +FW_QUERY_CONFIG = FwQueryConfig( + requests=[ + # CAN and CAN FD queries are combined. + # FIXME: For CAN FD, ECUs respond with frames larger than 8 bytes on the powertrain bus + Request( + [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST], + [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE], + whitelist_ecus=[Ecu.abs, Ecu.debug, Ecu.engine, Ecu.eps, Ecu.fwdCamera, Ecu.fwdRadar, Ecu.shiftByWire], + logging=True, + ), + Request( + [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST], + [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE], + whitelist_ecus=[Ecu.abs, Ecu.debug, Ecu.engine, Ecu.eps, Ecu.fwdCamera, Ecu.fwdRadar, Ecu.shiftByWire], + bus=0, + auxiliary=True, + ), + *[Request( + [StdQueries.TESTER_PRESENT_REQUEST, ford_asbuilt_block_request(block_id)], + [StdQueries.TESTER_PRESENT_RESPONSE, ford_asbuilt_block_response(block_id)], + whitelist_ecus=ecus, + bus=0, + logging=True, + ) for block_id, ecus in ASBUILT_BLOCKS], + ], + extra_ecus=[ + (Ecu.engine, 0x7e0, None), # Powertrain Control Module + # Note: We are unlikely to get a response from behind the gateway + (Ecu.shiftByWire, 0x732, None), # Gear Shift Module + (Ecu.debug, 0x7d0, None), # Accessory Protocol Interface Module + ], + # Custom fuzzy fingerprinting function using platform and model year hints + match_fw_to_car_fuzzy=match_fw_to_car_fuzzy, +) + +DBC = CAR.create_dbc_map() diff --git a/selfdrive/car/fw_query_definitions.py b/selfdrive/car/fw_query_definitions.py new file mode 100755 index 0000000000..bb2827571c --- /dev/null +++ b/selfdrive/car/fw_query_definitions.py @@ -0,0 +1,119 @@ +#!/usr/bin/env python3 +import capnp +import copy +from dataclasses import dataclass, field +import struct +from collections.abc import Callable + +import panda.python.uds as uds + +AddrType = tuple[int, int | None] +EcuAddrBusType = tuple[int, int | None, int] +EcuAddrSubAddr = tuple[int, int, int | None] + +LiveFwVersions = dict[AddrType, set[bytes]] +OfflineFwVersions = dict[str, dict[EcuAddrSubAddr, list[bytes]]] + +# A global list of addresses we will only ever consider for VIN responses +# engine, hybrid controller, Ford abs, Hyundai CAN FD cluster, 29-bit engine, PGM-FI +# TODO: move these to each brand's FW query config +STANDARD_VIN_ADDRS = [0x7e0, 0x7e2, 0x760, 0x7c6, 0x18da10f1, 0x18da0ef1] + + +def p16(val): + return struct.pack("!H", val) + + +class StdQueries: + # FW queries + TESTER_PRESENT_REQUEST = bytes([uds.SERVICE_TYPE.TESTER_PRESENT, 0x0]) + TESTER_PRESENT_RESPONSE = bytes([uds.SERVICE_TYPE.TESTER_PRESENT + 0x40, 0x0]) + + SHORT_TESTER_PRESENT_REQUEST = bytes([uds.SERVICE_TYPE.TESTER_PRESENT]) + SHORT_TESTER_PRESENT_RESPONSE = bytes([uds.SERVICE_TYPE.TESTER_PRESENT + 0x40]) + + DEFAULT_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, + uds.SESSION_TYPE.DEFAULT]) + DEFAULT_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, + uds.SESSION_TYPE.DEFAULT, 0x0, 0x32, 0x1, 0xf4]) + + EXTENDED_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, + uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC]) + EXTENDED_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, + uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC, 0x0, 0x32, 0x1, 0xf4]) + + MANUFACTURER_SOFTWARE_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER) + MANUFACTURER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER) + + SUPPLIER_SOFTWARE_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_VERSION_NUMBER) + SUPPLIER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_VERSION_NUMBER) + + UDS_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) + UDS_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) + + OBD_VERSION_REQUEST = b'\x09\x04' + OBD_VERSION_RESPONSE = b'\x49\x04' + + # VIN queries + OBD_VIN_REQUEST = b'\x09\x02' + OBD_VIN_RESPONSE = b'\x49\x02\x01' + + UDS_VIN_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + p16(uds.DATA_IDENTIFIER_TYPE.VIN) + UDS_VIN_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + p16(uds.DATA_IDENTIFIER_TYPE.VIN) + + GM_VIN_REQUEST = b'\x1a\x90' + GM_VIN_RESPONSE = b'\x5a\x90' + + KWP_VIN_REQUEST = b'\x21\x81' + KWP_VIN_RESPONSE = b'\x61\x81' + + +@dataclass +class Request: + request: list[bytes] + response: list[bytes] + whitelist_ecus: list[int] = field(default_factory=list) + rx_offset: int = 0x8 + bus: int = 1 + # Whether this query should be run on the first auxiliary panda (CAN FD cars for example) + auxiliary: bool = False + # FW responses from these queries will not be used for fingerprinting + logging: bool = False + # pandad toggles OBD multiplexing on/off as needed + obd_multiplexing: bool = True + + +@dataclass +class FwQueryConfig: + requests: list[Request] + # TODO: make this automatic and remove hardcoded lists, or do fingerprinting with ecus + # Overrides and removes from essential ecus for specific models and ecus (exact matching) + non_essential_ecus: dict[capnp.lib.capnp._EnumModule, list[str]] = field(default_factory=dict) + # Ecus added for data collection, not to be fingerprinted on + extra_ecus: list[tuple[capnp.lib.capnp._EnumModule, int, int | None]] = field(default_factory=list) + # Function a brand can implement to provide better fuzzy matching. Takes in FW versions and VIN, + # returns set of candidates. Only will match if one candidate is returned + match_fw_to_car_fuzzy: Callable[[LiveFwVersions, str, OfflineFwVersions], set[str]] | None = None + + def __post_init__(self): + for i in range(len(self.requests)): + if self.requests[i].auxiliary: + new_request = copy.deepcopy(self.requests[i]) + new_request.bus += 4 + self.requests.append(new_request) + + def get_all_ecus(self, offline_fw_versions: OfflineFwVersions, + include_extra_ecus: bool = True) -> set[EcuAddrSubAddr]: + # Add ecus in database + extra ecus + brand_ecus = {ecu for ecus in offline_fw_versions.values() for ecu in ecus} + + if include_extra_ecus: + brand_ecus |= set(self.extra_ecus) + + return brand_ecus diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py new file mode 100755 index 0000000000..4bb6413d01 --- /dev/null +++ b/selfdrive/car/fw_versions.py @@ -0,0 +1,398 @@ +#!/usr/bin/env python3 +from collections import defaultdict +from collections.abc import Iterator +from typing import Any, Protocol, TypeVar + +from tqdm import tqdm +import capnp + +import panda.python.uds as uds +from cereal import car +from openpilot.common.params import Params +from openpilot.common.swaglog import cloudlog +from openpilot.selfdrive.car.ecu_addrs import get_ecu_addrs +from openpilot.selfdrive.car.fingerprints import FW_VERSIONS +from openpilot.selfdrive.car.fw_query_definitions import AddrType, EcuAddrBusType, FwQueryConfig, LiveFwVersions, OfflineFwVersions +from openpilot.selfdrive.car.interfaces import get_interface_attr +from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery + +Ecu = car.CarParams.Ecu +ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa] +FUZZY_EXCLUDE_ECUS = [Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps, Ecu.debug] + +FW_QUERY_CONFIGS: dict[str, FwQueryConfig] = get_interface_attr('FW_QUERY_CONFIG', ignore_none=True) +VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True) + +MODEL_TO_BRAND = {c: b for b, e in VERSIONS.items() for c in e} +REQUESTS = [(brand, config, r) for brand, config in FW_QUERY_CONFIGS.items() for r in config.requests] + +T = TypeVar('T') + + +def chunks(l: list[T], n: int = 128) -> Iterator[list[T]]: + for i in range(0, len(l), n): + yield l[i:i + n] + + +def is_brand(brand: str, filter_brand: str | None) -> bool: + """Returns if brand matches filter_brand or no brand filter is specified""" + return filter_brand is None or brand == filter_brand + + +def build_fw_dict(fw_versions: list[capnp.lib.capnp._DynamicStructBuilder], filter_brand: str = None) -> dict[AddrType, set[bytes]]: + fw_versions_dict: defaultdict[AddrType, set[bytes]] = defaultdict(set) + for fw in fw_versions: + if is_brand(fw.brand, filter_brand) and not fw.logging: + sub_addr = fw.subAddress if fw.subAddress != 0 else None + fw_versions_dict[(fw.address, sub_addr)].add(fw.fwVersion) + return dict(fw_versions_dict) + + +class MatchFwToCar(Protocol): + def __call__(self, live_fw_versions: LiveFwVersions, match_brand: str = None, log: bool = True) -> set[str]: + ... + + +def match_fw_to_car_fuzzy(live_fw_versions: LiveFwVersions, match_brand: str = None, log: bool = True, exclude: str = None) -> set[str]: + """Do a fuzzy FW match. This function will return a match, and the number of firmware version + that were matched uniquely to that specific car. If multiple ECUs uniquely match to different cars + the match is rejected.""" + + # Build lookup table from (addr, sub_addr, fw) to list of candidate cars + all_fw_versions = defaultdict(list) + for candidate, fw_by_addr in FW_VERSIONS.items(): + if not is_brand(MODEL_TO_BRAND[candidate], match_brand): + continue + + if candidate == exclude: + continue + + for addr, fws in fw_by_addr.items(): + # These ECUs are known to be shared between models (EPS only between hybrid/ICE version) + # Getting this exactly right isn't crucial, but excluding camera and radar makes it almost + # impossible to get 3 matching versions, even if two models with shared parts are released at the same + # time and only one is in our database. + if addr[0] in FUZZY_EXCLUDE_ECUS: + continue + for f in fws: + all_fw_versions[(addr[1], addr[2], f)].append(candidate) + + matched_ecus = set() + match: str | None = None + for addr, versions in live_fw_versions.items(): + ecu_key = (addr[0], addr[1]) + for version in versions: + # All cars that have this FW response on the specified address + candidates = all_fw_versions[(*ecu_key, version)] + + if len(candidates) == 1: + matched_ecus.add(ecu_key) + if match is None: + match = candidates[0] + # We uniquely matched two different cars. No fuzzy match possible + elif match != candidates[0]: + return set() + + # Note that it is possible to match to a candidate without all its ECUs being present + # if there are enough matches. FIXME: parameterize this or require all ECUs to exist like exact matching + if match and len(matched_ecus) >= 2: + if log: + cloudlog.error(f"Fingerprinted {match} using fuzzy match. {len(matched_ecus)} matching ECUs") + return {match} + else: + return set() + + +def match_fw_to_car_exact(live_fw_versions: LiveFwVersions, match_brand: str = None, log: bool = True, extra_fw_versions: dict = None) -> set[str]: + """Do an exact FW match. Returns all cars that match the given + FW versions for a list of "essential" ECUs. If an ECU is not considered + essential the FW version can be missing to get a fingerprint, but if it's present it + needs to match the database.""" + if extra_fw_versions is None: + extra_fw_versions = {} + + invalid = set() + candidates = {c: f for c, f in FW_VERSIONS.items() if + is_brand(MODEL_TO_BRAND[c], match_brand)} + + for candidate, fws in candidates.items(): + config = FW_QUERY_CONFIGS[MODEL_TO_BRAND[candidate]] + for ecu, expected_versions in fws.items(): + expected_versions = expected_versions + extra_fw_versions.get(candidate, {}).get(ecu, []) + ecu_type = ecu[0] + addr = ecu[1:] + + found_versions = live_fw_versions.get(addr, set()) + if not len(found_versions): + # Some models can sometimes miss an ecu, or show on two different addresses + # FIXME: this logic can be improved to be more specific, should require one of the two addresses + if candidate in config.non_essential_ecus.get(ecu_type, []): + continue + + # Ignore non essential ecus + if ecu_type not in ESSENTIAL_ECUS: + continue + + # Virtual debug ecu doesn't need to match the database + if ecu_type == Ecu.debug: + continue + + if not any(found_version in expected_versions for found_version in found_versions): + invalid.add(candidate) + break + + return set(candidates.keys()) - invalid + + +def match_fw_to_car(fw_versions: list[capnp.lib.capnp._DynamicStructBuilder], vin: str, + allow_exact: bool = True, allow_fuzzy: bool = True, log: bool = True) -> tuple[bool, set[str]]: + # Try exact matching first + exact_matches: list[tuple[bool, MatchFwToCar]] = [] + if allow_exact: + exact_matches = [(True, match_fw_to_car_exact)] + if allow_fuzzy: + exact_matches.append((False, match_fw_to_car_fuzzy)) + + for exact_match, match_func in exact_matches: + # For each brand, attempt to fingerprint using all FW returned from its queries + matches: set[str] = set() + for brand in VERSIONS.keys(): + fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand) + matches |= match_func(fw_versions_dict, match_brand=brand, log=log) + + # If specified and no matches so far, fall back to brand's fuzzy fingerprinting function + config = FW_QUERY_CONFIGS[brand] + if not exact_match and not len(matches) and config.match_fw_to_car_fuzzy is not None: + matches |= config.match_fw_to_car_fuzzy(fw_versions_dict, vin, VERSIONS[brand]) + + if len(matches): + return exact_match, matches + + return True, set() + + +def get_present_ecus(logcan, sendcan, num_pandas: int = 1) -> set[EcuAddrBusType]: + params = Params() + # queries are split by OBD multiplexing mode + queries: dict[bool, list[list[EcuAddrBusType]]] = {True: [], False: []} + parallel_queries: dict[bool, list[EcuAddrBusType]] = {True: [], False: []} + responses: set[EcuAddrBusType] = set() + + for brand, config, r in REQUESTS: + # Skip query if no panda available + if r.bus > num_pandas * 4 - 1: + continue + + for ecu_type, addr, sub_addr in config.get_all_ecus(VERSIONS[brand]): + # Only query ecus in whitelist if whitelist is not empty + if len(r.whitelist_ecus) == 0 or ecu_type in r.whitelist_ecus: + a = (addr, sub_addr, r.bus) + # Build set of queries + if sub_addr is None: + if a not in parallel_queries[r.obd_multiplexing]: + parallel_queries[r.obd_multiplexing].append(a) + else: # subaddresses must be queried one by one + if [a] not in queries[r.obd_multiplexing]: + queries[r.obd_multiplexing].append([a]) + + # Build set of expected responses to filter + response_addr = uds.get_rx_addr_for_tx_addr(addr, r.rx_offset) + responses.add((response_addr, sub_addr, r.bus)) + + for obd_multiplexing in queries: + queries[obd_multiplexing].insert(0, parallel_queries[obd_multiplexing]) + + ecu_responses = set() + for obd_multiplexing in queries: + set_obd_multiplexing(params, obd_multiplexing) + for query in queries[obd_multiplexing]: + ecu_responses.update(get_ecu_addrs(logcan, sendcan, set(query), responses, timeout=0.1)) + return ecu_responses + + +def get_brand_ecu_matches(ecu_rx_addrs: set[EcuAddrBusType]) -> dict[str, set[AddrType]]: + """Returns dictionary of brands and matches with ECUs in their FW versions""" + + brand_addrs = {brand: {(addr, subaddr) for _, addr, subaddr in config.get_all_ecus(VERSIONS[brand])} for + brand, config in FW_QUERY_CONFIGS.items()} + brand_matches: dict[str, set[AddrType]] = {brand: set() for brand, _, _ in REQUESTS} + + brand_rx_offsets = {(brand, r.rx_offset) for brand, _, r in REQUESTS} + for addr, sub_addr, _ in ecu_rx_addrs: + # Since we can't know what request an ecu responded to, add matches for all possible rx offsets + for brand, rx_offset in brand_rx_offsets: + a = (uds.get_rx_addr_for_tx_addr(addr, -rx_offset), sub_addr) + if a in brand_addrs[brand]: + brand_matches[brand].add(a) + + return brand_matches + + +def set_obd_multiplexing(params: Params, obd_multiplexing: bool): + if params.get_bool("ObdMultiplexingEnabled") != obd_multiplexing: + cloudlog.warning(f"Setting OBD multiplexing to {obd_multiplexing}") + params.remove("ObdMultiplexingChanged") + params.put_bool("ObdMultiplexingEnabled", obd_multiplexing) + params.get_bool("ObdMultiplexingChanged", block=True) + cloudlog.warning("OBD multiplexing set successfully") + + +def get_fw_versions_ordered(logcan, sendcan, vin: str, ecu_rx_addrs: set[EcuAddrBusType], timeout: float = 0.1, num_pandas: int = 1, + debug: bool = False, progress: bool = False) -> list[capnp.lib.capnp._DynamicStructBuilder]: + """Queries for FW versions ordering brands by likelihood, breaks when exact match is found""" + + all_car_fw = [] + brand_matches = get_brand_ecu_matches(ecu_rx_addrs) + + for brand in sorted(brand_matches, key=lambda b: len(brand_matches[b]), reverse=True): + # Skip this brand if there are no matching present ECUs + if not len(brand_matches[brand]): + continue + + car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, num_pandas=num_pandas, debug=debug, progress=progress) + all_car_fw.extend(car_fw) + + # If there is a match using this brand's FW alone, finish querying early + _, matches = match_fw_to_car(car_fw, vin, log=False) + if len(matches) == 1: + break + + return all_car_fw + + +def get_fw_versions(logcan, sendcan, query_brand: str = None, extra: OfflineFwVersions = None, timeout: float = 0.1, num_pandas: int = 1, + debug: bool = False, progress: bool = False) -> list[capnp.lib.capnp._DynamicStructBuilder]: + versions = VERSIONS.copy() + params = Params() + + if query_brand is not None: + versions = {query_brand: versions[query_brand]} + + if extra is not None: + versions.update(extra) + + # Extract ECU addresses to query from fingerprints + # ECUs using a subaddress need be queried one by one, the rest can be done in parallel + addrs = [] + parallel_addrs = [] + ecu_types = {} + + for brand, brand_versions in versions.items(): + config = FW_QUERY_CONFIGS[brand] + for ecu_type, addr, sub_addr in config.get_all_ecus(brand_versions): + a = (brand, addr, sub_addr) + if a not in ecu_types: + ecu_types[a] = ecu_type + + if sub_addr is None: + if a not in parallel_addrs: + parallel_addrs.append(a) + else: + if [a] not in addrs: + addrs.append([a]) + + addrs.insert(0, parallel_addrs) + + # Get versions and build capnp list to put into CarParams + car_fw = [] + requests = [(brand, config, r) for brand, config, r in REQUESTS if is_brand(brand, query_brand)] + for addr_group in tqdm(addrs, disable=not progress): # split by subaddr, if any + for addr_chunk in chunks(addr_group): + for brand, config, r in requests: + # Skip query if no panda available + if r.bus > num_pandas * 4 - 1: + continue + + # Toggle OBD multiplexing for each request + if r.bus % 4 == 1: + set_obd_multiplexing(params, r.obd_multiplexing) + + try: + query_addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and + (len(r.whitelist_ecus) == 0 or ecu_types[(b, a, s)] in r.whitelist_ecus)] + + if query_addrs: + query = IsoTpParallelQuery(sendcan, logcan, r.bus, query_addrs, r.request, r.response, r.rx_offset, debug=debug) + for (tx_addr, sub_addr), version in query.get_data(timeout).items(): + f = car.CarParams.CarFw.new_message() + + f.ecu = ecu_types.get((brand, tx_addr, sub_addr), Ecu.unknown) + f.fwVersion = version + f.address = tx_addr + f.responseAddress = uds.get_rx_addr_for_tx_addr(tx_addr, r.rx_offset) + f.request = r.request + f.brand = brand + f.bus = r.bus + f.logging = r.logging or (f.ecu, tx_addr, sub_addr) in config.extra_ecus + f.obdMultiplexing = r.obd_multiplexing + + if sub_addr is not None: + f.subAddress = sub_addr + + car_fw.append(f) + except Exception: + cloudlog.exception("FW query exception") + + return car_fw + + +if __name__ == "__main__": + import time + import argparse + import cereal.messaging as messaging + from openpilot.selfdrive.car.vin import get_vin + + parser = argparse.ArgumentParser(description='Get firmware version of ECUs') + parser.add_argument('--scan', action='store_true') + parser.add_argument('--debug', action='store_true') + parser.add_argument('--brand', help='Only query addresses/with requests for this brand') + args = parser.parse_args() + + logcan = messaging.sub_sock('can') + pandaStates_sock = messaging.sub_sock('pandaStates') + sendcan = messaging.pub_sock('sendcan') + + # Set up params for pandad + params = Params() + params.remove("FirmwareQueryDone") + params.put_bool("IsOnroad", False) + time.sleep(0.2) # thread is 10 Hz + params.put_bool("IsOnroad", True) + + extra: Any = None + if args.scan: + extra = {} + # Honda + for i in range(256): + extra[(Ecu.unknown, 0x18da00f1 + (i << 8), None)] = [] + extra[(Ecu.unknown, 0x700 + i, None)] = [] + extra[(Ecu.unknown, 0x750, i)] = [] + extra = {"any": {"debug": extra}} + + num_pandas = len(messaging.recv_one_retry(pandaStates_sock).pandaStates) + + t = time.time() + print("Getting vin...") + set_obd_multiplexing(params, True) + vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1), debug=args.debug) + print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}') + print(f"Getting VIN took {time.time() - t:.3f} s") + print() + + t = time.time() + fw_vers = get_fw_versions(logcan, sendcan, query_brand=args.brand, extra=extra, num_pandas=num_pandas, debug=args.debug, progress=True) + _, candidates = match_fw_to_car(fw_vers, vin) + + print() + print("Found FW versions") + print("{") + padding = max([len(fw.brand) for fw in fw_vers] or [0]) + for version in fw_vers: + subaddr = None if version.subAddress == 0 else hex(version.subAddress) + print(f" Brand: {version.brand:{padding}}, bus: {version.bus}, OBD: {version.obdMultiplexing} - " + + f"(Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]") + print("}") + + print() + print("Possible matches:", candidates) + print(f"Getting fw took {time.time() - t:.3f} s") diff --git a/selfdrive/car/gm/__init__.py b/selfdrive/car/gm/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py new file mode 100644 index 0000000000..7b02e2500f --- /dev/null +++ b/selfdrive/car/gm/carcontroller.py @@ -0,0 +1,353 @@ +from cereal import car +import cereal.messaging as messaging +from openpilot.common.params import Params +from openpilot.common.conversions import Conversions as CV +from openpilot.common.numpy_fast import interp +from opendbc.can.packer import CANPacker +from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits +from openpilot.selfdrive.car.gm import gmcan +from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons +from openpilot.selfdrive.car.interfaces import CarControllerBase +from selfdrive.controls.lib.drive_helpers import GM_V_CRUISE_MIN + +VisualAlert = car.CarControl.HUDControl.VisualAlert +NetworkLocation = car.CarParams.NetworkLocation +LongCtrlState = car.CarControl.Actuators.LongControlState + +# Camera cancels up to 0.1s after brake is pressed, ECM allows 0.5s +CAMERA_CANCEL_DELAY_FRAMES = 10 +# Enforce a minimum interval between steering messages to avoid a fault +MIN_STEER_MSG_INTERVAL_MS = 15 + + +class CarController(CarControllerBase): + def __init__(self, dbc_name, CP, VM): + super().__init__(dbc_name, CP, VM) + self.start_time = 0. + self.apply_steer_last = 0 + self.apply_gas = 0 + self.apply_brake = 0 + self.last_steer_frame = 0 + self.last_button_frame = 0 + self.cancel_counter = 0 + + self.lka_steering_cmd_counter = 0 + self.lka_icon_status_last = (False, False) + + self.params = CarControllerParams(self.CP) + + self.packer_pt = CANPacker(DBC[self.CP.carFingerprint]['pt']) + self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar']) + self.packer_ch = CANPacker(DBC[self.CP.carFingerprint]['chassis']) + + self.sm = messaging.SubMaster(['longitudinalPlanSP']) + self.param_s = Params() + self.is_metric = self.param_s.get_bool("IsMetric") + self.speed_limit_control_enabled = False + self.last_speed_limit_sign_tap = False + self.last_speed_limit_sign_tap_prev = False + self.speed_limit = 0. + self.speed_limit_offset = 0 + self.timer = 0 + self.final_speed_kph = 0 + self.init_speed = 0 + self.current_speed = 0 + self.v_set_dis = 0 + self.v_cruise_min = 0 + self.button_type = 0 + self.button_select = 0 + self.button_count = 0 + self.target_speed = 0 + self.t_interval = 7 + self.slc_active_stock = False + self.sl_force_active_timer = 0 + self.v_tsc_state = 0 + self.slc_state = 0 + self.m_tsc_state = 0 + self.cruise_button = None + self.speed_diff = 0 + self.v_tsc = 0 + self.m_tsc = 0 + self.steady_speed = 0 + + def update(self, CC, CS, now_nanos): + actuators = CC.actuators + hud_control = CC.hudControl + hud_alert = hud_control.visualAlert + hud_v_cruise = hud_control.setSpeed + if hud_v_cruise > 70: + hud_v_cruise = 0 + + if not self.CP.pcmCruiseSpeed: + self.sm.update(0) + + if self.sm.updated['longitudinalPlanSP']: + self.v_tsc_state = self.sm['longitudinalPlanSP'].visionTurnControllerState + self.slc_state = self.sm['longitudinalPlanSP'].speedLimitControlState + self.m_tsc_state = self.sm['longitudinalPlanSP'].turnSpeedControlState + self.speed_limit = self.sm['longitudinalPlanSP'].speedLimit + self.speed_limit_offset = self.sm['longitudinalPlanSP'].speedLimitOffset + self.v_tsc = self.sm['longitudinalPlanSP'].visionTurnSpeed + self.m_tsc = self.sm['longitudinalPlanSP'].turnSpeed + + if self.frame % 200 == 0: + self.speed_limit_control_enabled = self.param_s.get_bool("EnableSlc") + self.is_metric = self.param_s.get_bool("IsMetric") + self.last_speed_limit_sign_tap = self.param_s.get_bool("LastSpeedLimitSignTap") + self.v_cruise_min = GM_V_CRUISE_MIN[self.is_metric] * (CV.KPH_TO_MPH if not self.is_metric else 1) + + # Send CAN commands. + can_sends = [] + + if not self.CP.pcmCruiseSpeed: + if not self.last_speed_limit_sign_tap_prev and self.last_speed_limit_sign_tap: + self.sl_force_active_timer = self.frame + self.param_s.put_bool_nonblocking("LastSpeedLimitSignTap", False) + self.last_speed_limit_sign_tap_prev = self.last_speed_limit_sign_tap + + sl_force_active = self.speed_limit_control_enabled and (self.frame < (self.sl_force_active_timer * DT_CTRL + 2.0)) + sl_inactive = not sl_force_active and (not self.speed_limit_control_enabled or (True if self.slc_state == 0 else False)) + sl_temp_inactive = not sl_force_active and (self.speed_limit_control_enabled and (True if self.slc_state == 1 else False)) + slc_active = not sl_inactive and not sl_temp_inactive + + self.slc_active_stock = slc_active + + # Steering (Active: 50Hz, inactive: 10Hz) + steer_step = self.params.STEER_STEP if CC.latActive else self.params.INACTIVE_STEER_STEP + + if self.CP.networkLocation == NetworkLocation.fwdCamera: + # Also send at 50Hz: + # - on startup, first few msgs are blocked + # - until we're in sync with camera so counters align when relay closes, preventing a fault. + # openpilot can subtly drift, so this is activated throughout a drive to stay synced + out_of_sync = self.lka_steering_cmd_counter % 4 != (CS.cam_lka_steering_cmd_counter + 1) % 4 + if CS.loopback_lka_steering_cmd_ts_nanos == 0 or out_of_sync: + steer_step = self.params.STEER_STEP + + self.lka_steering_cmd_counter += 1 if CS.loopback_lka_steering_cmd_updated else 0 + + # Avoid GM EPS faults when transmitting messages too close together: skip this transmit if we + # received the ASCMLKASteeringCmd loopback confirmation too recently + last_lka_steer_msg_ms = (now_nanos - CS.loopback_lka_steering_cmd_ts_nanos) * 1e-6 + if (self.frame - self.last_steer_frame) >= steer_step and last_lka_steer_msg_ms > MIN_STEER_MSG_INTERVAL_MS: + # Initialize ASCMLKASteeringCmd counter using the camera until we get a msg on the bus + if CS.loopback_lka_steering_cmd_ts_nanos == 0: + self.lka_steering_cmd_counter = CS.pt_lka_steering_cmd_counter + 1 + + if CC.latActive: + new_steer = int(round(actuators.steer * self.params.STEER_MAX)) + apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params) + else: + apply_steer = 0 + + self.last_steer_frame = self.frame + self.apply_steer_last = apply_steer + idx = self.lka_steering_cmd_counter % 4 + can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, CC.latActive)) + + if self.CP.openpilotLongitudinalControl: + # Gas/regen, brakes, and UI commands - all at 25Hz + if self.frame % 4 == 0: + stopping = actuators.longControlState == LongCtrlState.stopping + if not CC.longActive: + # ASCM sends max regen when not enabled + self.apply_gas = self.params.INACTIVE_REGEN + self.apply_brake = 0 + else: + self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V))) + self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V))) + # Don't allow any gas above inactive regen while stopping + # FIXME: brakes aren't applied immediately when enabling at a stop + if stopping: + self.apply_gas = self.params.INACTIVE_REGEN + + idx = (self.frame // 4) % 4 + + at_full_stop = CC.longActive and CS.out.standstill + near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE) + friction_brake_bus = CanBus.CHASSIS + # GM Camera exceptions + # TODO: can we always check the longControlState? + if self.CP.networkLocation == NetworkLocation.fwdCamera: + at_full_stop = at_full_stop and stopping + friction_brake_bus = CanBus.POWERTRAIN + + # GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation + can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, CC.enabled and CS.out.cruiseState.enabled, at_full_stop)) + can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, friction_brake_bus, self.apply_brake, + idx, CC.enabled, near_stop, at_full_stop, self.CP)) + + # Send dashboard UI commands (ACC status) + send_fcw = hud_alert == VisualAlert.fcw + can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled and CS.out.cruiseState.enabled, + hud_v_cruise * CV.MS_TO_KPH, hud_control, send_fcw)) + + # Radar needs to know current speed and yaw rate (50hz), + # and that ADAS is alive (10hz) + if not self.CP.radarUnavailable: + tt = self.frame * DT_CTRL + time_and_headlights_step = 10 + if self.frame % time_and_headlights_step == 0: + idx = (self.frame // time_and_headlights_step) % 4 + can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx)) + can_sends.append(gmcan.create_adas_headlights_status(self.packer_obj, CanBus.OBSTACLE)) + + speed_and_accelerometer_step = 2 + if self.frame % speed_and_accelerometer_step == 0: + idx = (self.frame // speed_and_accelerometer_step) % 4 + can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx)) + can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx)) + + if self.CP.networkLocation == NetworkLocation.gateway and self.frame % self.params.ADAS_KEEPALIVE_STEP == 0: + can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN) + + else: + # While car is braking, cancel button causes ECM to enter a soft disable state with a fault status. + # A delayed cancellation allows camera to cancel and avoids a fault when user depresses brake quickly + self.cancel_counter = self.cancel_counter + 1 if CC.cruiseControl.cancel else 0 + + # Stock longitudinal, integrated at camera + if (self.frame - self.last_button_frame) * DT_CTRL > 0.04: + if self.cancel_counter > CAMERA_CANCEL_DELAY_FRAMES: + self.last_button_frame = self.frame + can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL)) + + if not (CC.cruiseControl.cancel or CC.cruiseControl.resume) and not self.CP.pcmCruiseSpeed and CS.out.cruiseState.enabled: + self.cruise_button = self.get_cruise_buttons(CS, CC.vCruise) + if self.cruise_button is not None: + send_freq = 1 + if not (self.v_tsc_state != 0 or self.m_tsc_state > 1) and abs(self.target_speed - self.v_set_dis) <= 2: + send_freq = 3 + if self.frame % 12 < 6: # thanks to mochi86420 for the magic numbers + can_sends.extend([gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, (CS.buttons_counter + 2) % 4, self.cruise_button)] * 3) + + if self.CP.networkLocation == NetworkLocation.fwdCamera: + # Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1 + if self.frame % 10 == 0: + can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, CS.pscm_status)) + + new_actuators = actuators.as_builder() + new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX + new_actuators.steerOutputCan = self.apply_steer_last + new_actuators.gas = self.apply_gas + new_actuators.brake = self.apply_brake + + self.frame += 1 + return new_actuators, can_sends + + # multikyd methods, sunnyhaibin logic + def get_cruise_buttons_status(self, CS): + if not CS.out.cruiseState.enabled or CS.cruise_buttons != CruiseButtons.UNPRESS: + self.timer = 40 + elif self.timer: + self.timer -= 1 + else: + return 1 + return 0 + + def get_target_speed(self, v_cruise_kph_prev): + v_cruise_kph = v_cruise_kph_prev + if self.slc_state > 1: + v_cruise_kph = (self.speed_limit + self.speed_limit_offset) * CV.MS_TO_KPH + if not self.slc_active_stock: + v_cruise_kph = v_cruise_kph_prev + return v_cruise_kph + + def get_button_type(self, button_type): + self.type_status = "type_" + str(button_type) + self.button_picker = getattr(self, self.type_status, lambda: "default") + return self.button_picker() + + def reset_button(self): + if self.button_type != 3: + self.button_type = 0 + + def type_default(self): + self.button_type = 0 + return None + + def type_0(self): + self.button_count = 0 + self.target_speed = self.init_speed + self.speed_diff = self.target_speed - self.v_set_dis + if self.target_speed > self.v_set_dis: + self.button_type = 1 + elif self.target_speed < self.v_set_dis and self.v_set_dis > self.v_cruise_min: + self.button_type = 2 + return None + + def type_1(self): + cruise_button = CruiseButtons.RES_ACCEL + self.button_count += 1 + if self.target_speed <= self.v_set_dis: + self.button_count = 0 + self.button_type = 3 + elif self.button_count > 5: + self.button_count = 0 + self.button_type = 3 + return cruise_button + + def type_2(self): + cruise_button = CruiseButtons.DECEL_SET + self.button_count += 1 + if self.target_speed >= self.v_set_dis or self.v_set_dis <= self.v_cruise_min: + self.button_count = 0 + self.button_type = 3 + elif self.button_count > 5: + self.button_count = 0 + self.button_type = 3 + return cruise_button + + def type_3(self): + cruise_button = CruiseButtons.UNPRESS + self.button_count += 1 + if self.button_count > self.t_interval: + self.button_type = 0 + return cruise_button + + def get_curve_speed(self, target_speed_kph, v_cruise_kph_prev): + if self.v_tsc_state != 0: + vision_v_cruise_kph = self.v_tsc * CV.MS_TO_KPH + if int(vision_v_cruise_kph) == int(v_cruise_kph_prev): + vision_v_cruise_kph = 255 + else: + vision_v_cruise_kph = 255 + if self.m_tsc_state > 1: + map_v_cruise_kph = self.m_tsc * CV.MS_TO_KPH + if int(map_v_cruise_kph) == 0.0: + map_v_cruise_kph = 255 + else: + map_v_cruise_kph = 255 + curve_speed = self.curve_speed_hysteresis(min(vision_v_cruise_kph, map_v_cruise_kph) + 2 * CV.MPH_TO_KPH) + return min(target_speed_kph, curve_speed) + + def get_button_control(self, CS, final_speed, v_cruise_kph_prev): + self.init_speed = round(min(final_speed, v_cruise_kph_prev) * (CV.KPH_TO_MPH if not self.is_metric else 1)) + self.v_set_dis = round(CS.out.cruiseState.speed * (CV.MS_TO_MPH if not self.is_metric else CV.MS_TO_KPH)) + cruise_button = self.get_button_type(self.button_type) + return cruise_button + + def curve_speed_hysteresis(self, cur_speed: float, hyst=(0.75 * CV.MPH_TO_KPH)): + if cur_speed > self.steady_speed: + self.steady_speed = cur_speed + elif cur_speed < self.steady_speed - hyst: + self.steady_speed = cur_speed + return self.steady_speed + + def get_cruise_buttons(self, CS, v_cruise_kph_prev): + cruise_button = None + if not self.get_cruise_buttons_status(CS): + pass + elif CS.out.cruiseState.enabled: + set_speed_kph = self.get_target_speed(v_cruise_kph_prev) + if self.slc_state > 1: + target_speed_kph = set_speed_kph + else: + target_speed_kph = min(v_cruise_kph_prev, set_speed_kph) + if self.v_tsc_state != 0 or self.m_tsc_state > 1: + self.final_speed_kph = self.get_curve_speed(target_speed_kph, v_cruise_kph_prev) + else: + self.final_speed_kph = target_speed_kph + + cruise_button = self.get_button_control(CS, self.final_speed_kph, v_cruise_kph_prev) # MPH/KPH based button presses + return cruise_button diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py new file mode 100644 index 0000000000..2fc1ac024b --- /dev/null +++ b/selfdrive/car/gm/carstate.py @@ -0,0 +1,187 @@ +import copy +from cereal import car +from openpilot.common.conversions import Conversions as CV +from openpilot.common.numpy_fast import mean +from opendbc.can.can_define import CANDefine +from opendbc.can.parser import CANParser +from openpilot.selfdrive.car.interfaces import CarStateBase +from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD + +TransmissionType = car.CarParams.TransmissionType +NetworkLocation = car.CarParams.NetworkLocation +STANDSTILL_THRESHOLD = 10 * 0.0311 * CV.KPH_TO_MS + + +class CarState(CarStateBase): + def __init__(self, CP): + super().__init__(CP) + can_define = CANDefine(DBC[CP.carFingerprint]["pt"]) + self.shifter_values = can_define.dv["ECMPRDNL2"]["PRNDL2"] + self.cluster_speed_hyst_gap = CV.KPH_TO_MS / 2. + self.cluster_min_speed = CV.KPH_TO_MS / 2. + + self.loopback_lka_steering_cmd_updated = False + self.loopback_lka_steering_cmd_ts_nanos = 0 + self.pt_lka_steering_cmd_counter = 0 + self.cam_lka_steering_cmd_counter = 0 + self.buttons_counter = 0 + + self.prev_distance_button = 0 + self.distance_button = 0 + + self.lkas_enabled = False + self.prev_lkas_enabled = False + + def update(self, pt_cp, cam_cp, loopback_cp): + ret = car.CarState.new_message() + + self.prev_cruise_buttons = self.cruise_buttons + self.prev_distance_button = self.distance_button + self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"] + self.distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"] + self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"] + self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"]) + # This is to avoid a fault where you engage while still moving backwards after shifting to D. + # An Equinox has been seen with an unsupported status (3), so only check if either wheel is in reverse (2) + self.moving_backward = (pt_cp.vl["EBCMWheelSpdRear"]["RLWheelDir"] == 2) or (pt_cp.vl["EBCMWheelSpdRear"]["RRWheelDir"] == 2) + self.prev_mads_enabled = self.mads_enabled + self.prev_lkas_enabled = self.lkas_enabled + + # Variables used for avoiding LKAS faults + self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0 + if self.loopback_lka_steering_cmd_updated: + self.loopback_lka_steering_cmd_ts_nanos = loopback_cp.ts_nanos["ASCMLKASteeringCmd"]["RollingCounter"] + if self.CP.networkLocation == NetworkLocation.fwdCamera: + self.pt_lka_steering_cmd_counter = pt_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"] + self.cam_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"] + + ret.wheelSpeeds = self.get_wheel_speeds( + pt_cp.vl["EBCMWheelSpdFront"]["FLWheelSpd"], + pt_cp.vl["EBCMWheelSpdFront"]["FRWheelSpd"], + pt_cp.vl["EBCMWheelSpdRear"]["RLWheelSpd"], + pt_cp.vl["EBCMWheelSpdRear"]["RRWheelSpd"], + ) + ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr]) + ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) + # sample rear wheel speeds, standstill=True if ECM allows engagement with brake + ret.standstill = ret.wheelSpeeds.rl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD + + self.lkas_enabled = pt_cp.vl["ASCMSteeringButton"]["LKAButton"] + + if pt_cp.vl["ECMPRDNL2"]["ManualMode"] == 1: + ret.gearShifter = self.parse_gear_shifter("T") + else: + ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL2"]["PRNDL2"], None)) + + ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"] + if self.CP.networkLocation == NetworkLocation.fwdCamera: + ret.brakePressed = pt_cp.vl["ECMEngineStatus"]["BrakePressed"] != 0 + else: + # Some Volt 2016-17 have loose brake pedal push rod retainers which causes the ECM to believe + # that the brake is being intermittently pressed without user interaction. + # To avoid a cruise fault we need to use a conservative brake position threshold + # https://static.nhtsa.gov/odi/tsbs/2017/MC-10137629-9999.pdf + ret.brakePressed = ret.brake >= 8 + + # Regen braking is braking + if self.CP.transmissionType == TransmissionType.direct: + ret.regenBraking = pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0 + + ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254. + ret.gasPressed = ret.gas > 1e-5 + + ret.steeringAngleDeg = pt_cp.vl["PSCMSteeringAngle"]["SteeringWheelAngle"] + ret.steeringRateDeg = pt_cp.vl["PSCMSteeringAngle"]["SteeringWheelRate"] + ret.steeringTorque = pt_cp.vl["PSCMStatus"]["LKADriverAppldTrq"] + ret.steeringTorqueEps = pt_cp.vl["PSCMStatus"]["LKATorqueDelivered"] + ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD + + # 0 inactive, 1 active, 2 temporarily limited, 3 failed + self.lkas_status = pt_cp.vl["PSCMStatus"]["LKATorqueDeliveredStatus"] + ret.steerFaultTemporary = self.lkas_status == 2 + ret.steerFaultPermanent = self.lkas_status == 3 + + # 1 - open, 0 - closed + ret.doorOpen = (pt_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or + pt_cp.vl["BCMDoorBeltStatus"]["FrontRightDoor"] == 1 or + pt_cp.vl["BCMDoorBeltStatus"]["RearLeftDoor"] == 1 or + pt_cp.vl["BCMDoorBeltStatus"]["RearRightDoor"] == 1) + + # 1 - latched + ret.seatbeltUnlatched = pt_cp.vl["BCMDoorBeltStatus"]["LeftSeatBelt"] == 0 + ret.leftBlinker = ret.leftBlinkerOn = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1 + ret.rightBlinker = ret.rightBlinkerOn = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2 + + ret.parkingBrake = pt_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1 + ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0 + ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1 + ret.accFaulted = (pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED or + pt_cp.vl["EBCMFrictionBrakeStatus"]["FrictionBrakeUnavailable"] == 1) + + ret.cruiseState.enabled = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] != AccState.OFF + ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL + if self.CP.networkLocation == NetworkLocation.fwdCamera: + ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS + ret.stockAeb = cam_cp.vl["AEBCmd"]["AEBCmdActive"] != 0 + # openpilot controls nonAdaptive when not pcmCruise + if self.CP.pcmCruise: + ret.cruiseState.nonAdaptive = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCruiseState"] not in (2, 3) + + if self.CP.enableBsm: + ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1 + ret.rightBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1 + + return ret + + @staticmethod + def get_cam_can_parser(CP): + messages = [] + if CP.networkLocation == NetworkLocation.fwdCamera: + messages += [ + ("AEBCmd", 10), + ("ASCMLKASteeringCmd", 10), + ("ASCMActiveCruiseControlStatus", 25), + ] + + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.CAMERA) + + @staticmethod + def get_can_parser(CP): + messages = [ + ("BCMTurnSignals", 1), + ("ECMPRDNL2", 10), + ("PSCMStatus", 10), + ("ESPStatus", 10), + ("BCMDoorBeltStatus", 10), + ("BCMGeneralPlatformStatus", 10), + ("EBCMWheelSpdFront", 20), + ("EBCMWheelSpdRear", 20), + ("EBCMFrictionBrakeStatus", 20), + ("AcceleratorPedal2", 33), + ("ASCMSteeringButton", 33), + ("ECMEngineStatus", 100), + ("PSCMSteeringAngle", 100), + ("ECMAcceleratorPos", 80), + ] + + if CP.enableBsm: + messages.append(("BCMBlindSpotMonitor", 10)) + + # Used to read back last counter sent to PT by camera + if CP.networkLocation == NetworkLocation.fwdCamera: + messages += [ + ("ASCMLKASteeringCmd", 0), + ] + + if CP.transmissionType == TransmissionType.direct: + messages.append(("EBCMRegenPaddle", 50)) + + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.POWERTRAIN) + + @staticmethod + def get_loopback_can_parser(CP): + messages = [ + ("ASCMLKASteeringCmd", 0), + ] + + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.LOOPBACK) diff --git a/selfdrive/car/gm/fingerprints.py b/selfdrive/car/gm/fingerprints.py new file mode 100644 index 0000000000..3752fbb8d3 --- /dev/null +++ b/selfdrive/car/gm/fingerprints.py @@ -0,0 +1,63 @@ +# ruff: noqa: E501 +from openpilot.selfdrive.car.gm.values import CAR + +# Trailblazer also matches as a SILVERADO, TODO: split with fw versions +# FIXME: There are Equinox users with different message lengths, specifically 304 and 320 + + +FINGERPRINTS = { + CAR.HOLDEN_ASTRA: [{ + 190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 401: 8, 413: 8, 417: 8, 419: 8, 422: 1, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 458: 5, 479: 8, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 647: 5, 707: 8, 715: 8, 723: 8, 753: 5, 761: 7, 806: 1, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1009: 8, 1011: 6, 1017: 8, 1019: 3, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 8, 1280: 4, 1300: 8, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1908: 7, 1912: 7, 1919: 7 + }], + CAR.CHEVROLET_VOLT: [{ + 170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 289: 8, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 647: 3, 707: 8, 711: 6, 715: 8, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1928: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8 + }, + { + 170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 578: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 715: 8, 717: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1516: 8, 1601: 8, 1618: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1930: 7, 2016: 8, 2018: 8, 2020: 8, 2024: 8, 2028: 8 + }, + { + 170: 8, 171: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 209: 7, 211: 2, 241: 6, 288: 5, 289: 1, 290: 1, 298: 2, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 368: 8, 381: 2, 384: 8, 386: 5, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 3, 508: 8, 512: 3, 528: 4, 530: 8, 532: 6, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 761: 7, 810: 8, 821: 4, 823: 7, 832: 8, 840: 5, 842: 5, 844: 8, 853: 8, 866: 4, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7 + }], + CAR.BUICK_LACROSSE: [{ + 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 5, 707: 8, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 872: 1, 882: 8, 890: 1, 892: 2, 893: 1, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1914: 7, 1916: 7, 1918: 7, 1919: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8 + }], + CAR.BUICK_REGAL: [{ + 190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 8, 419: 8, 422: 4, 426: 8, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 463: 3, 479: 8, 481: 7, 485: 8, 487: 8, 489: 8, 495: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 578: 8, 579: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 884: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 8, 969: 8, 977: 8, 979: 8, 985: 8, 1001: 8, 1005: 6, 1009: 8, 1011: 8, 1013: 3, 1017: 8, 1020: 8, 1024: 8, 1025: 8, 1026: 8, 1027: 8, 1028: 8, 1029: 8, 1030: 8, 1031: 8, 1032: 2, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 8, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 8, 1263: 8, 1265: 8, 1267: 8, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1602: 8, 1603: 7, 1611: 8, 1618: 8, 1906: 8, 1907: 7, 1912: 7, 1914: 7, 1916: 7, 1919: 7, 1930: 7, 2016: 8, 2018: 8, 2019: 8, 2024: 8, 2026: 8 + }], + CAR.CADILLAC_ATS: [{ + 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 368: 3, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 462: 4, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 491: 2, 493: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 723: 2, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1241: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1916: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8 + }], + CAR.CHEVROLET_MALIBU: [{ + 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1930: 7, 2016: 8, 2024: 8 + }], + CAR.GMC_ACADIA: [{ + 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 7, 368: 8, 381: 8, 384: 8, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 458: 8, 460: 4, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 512: 3, 530: 8, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 568: 2, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 801: 8, 803: 8, 804: 3, 805: 8, 832: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7 + }, + { + 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 338: 6, 340: 6, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8 + }], + CAR.CADILLAC_ESCALADE: [{ + 170: 8, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 4, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 460: 5, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8 + }], + CAR.CADILLAC_ESCALADE_ESV: [{ + 309: 1, 848: 8, 849: 8, 850: 8, 851: 8, 852: 8, 853: 8, 854: 3, 1056: 6, 1057: 8, 1058: 8, 1059: 8, 1060: 8, 1061: 8, 1062: 8, 1063: 8, 1064: 8, 1065: 8, 1066: 8, 1067: 8, 1068: 8, 1120: 8, 1121: 8, 1122: 8, 1123: 8, 1124: 8, 1125: 8, 1126: 8, 1127: 8, 1128: 8, 1129: 8, 1130: 8, 1131: 8, 1132: 8, 1133: 8, 1134: 8, 1135: 8, 1136: 8, 1137: 8, 1138: 8, 1139: 8, 1140: 8, 1141: 8, 1142: 8, 1143: 8, 1146: 8, 1147: 8, 1148: 8, 1149: 8, 1150: 8, 1151: 8, 1216: 8, 1217: 8, 1218: 8, 1219: 8, 1220: 8, 1221: 8, 1222: 8, 1223: 8, 1224: 8, 1225: 8, 1226: 8, 1232: 8, 1233: 8, 1234: 8, 1235: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1240: 8, 1241: 8, 1242: 8, 1787: 8, 1788: 8 + }], + CAR.CADILLAC_ESCALADE_ESV_2019: [{ + 715: 8, 840: 5, 717: 5, 869: 4, 880: 6, 289: 8, 454: 8, 842: 5, 460: 5, 463: 3, 801: 8, 170: 8, 190: 6, 241: 6, 201: 8, 417: 7, 211: 2, 419: 1, 398: 8, 426: 7, 487: 8, 442: 8, 451: 8, 452: 8, 453: 6, 479: 3, 311: 8, 500: 6, 647: 6, 193: 8, 707: 8, 197: 8, 209: 7, 199: 4, 455: 7, 313: 8, 481: 7, 485: 8, 489: 8, 249: 8, 393: 7, 407: 7, 413: 8, 422: 4, 431: 8, 501: 8, 499: 3, 810: 8, 508: 8, 381: 8, 462: 4, 532: 6, 562: 8, 386: 8, 761: 7, 573: 1, 554: 3, 719: 5, 560: 8, 1279: 4, 388: 8, 288: 5, 1005: 6, 497: 8, 844: 8, 961: 8, 967: 4, 977: 8, 979: 8, 985: 5, 1001: 8, 1017: 8, 1019: 2, 1020: 8, 1217: 8, 510: 8, 866: 4, 304: 1, 969: 8, 384: 4, 1033: 7, 1009: 8, 1034: 7, 1296: 4, 1930: 7, 1105: 5, 1013: 5, 1225: 7, 1919: 7, 320: 3, 534: 2, 352: 5, 298: 8, 1223: 2, 1233: 8, 608: 8, 1265: 8, 609: 6, 1267: 1, 1417: 8, 610: 6, 1906: 7, 611: 6, 612: 8, 613: 8, 208: 8, 564: 5, 309: 8, 1221: 5, 1280: 4, 1249: 8, 1907: 7, 1257: 6, 1300: 8, 1920: 7, 563: 5, 1322: 6, 1323: 4, 1328: 4, 1917: 7, 328: 1, 1912: 7, 1914: 7, 804: 3, 1918: 7 + }], + CAR.CHEVROLET_BOLT_EUV: [{ + 189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7 + }], + CAR.CHEVROLET_SILVERADO: [{ + 190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 534: 2, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7 + }], + CAR.CHEVROLET_EQUINOX: [{ + 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7 + }, + { + 190: 6, 201: 8, 211: 2, 717: 5, 241: 6, 451: 8, 298: 8, 452: 8, 453: 6, 479: 3, 485: 8, 249: 8, 500: 6, 587: 8, 1611: 8, 289: 8, 481: 7, 193: 8, 197: 8, 209: 7, 455: 7, 489: 8, 309: 8, 413: 8, 501: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 311: 8, 510: 8, 528: 5, 532: 6, 715: 8, 560: 8, 562: 8, 707: 8, 789: 5, 869: 4, 880: 6, 761: 7, 840: 5, 842: 5, 844: 8, 313: 8, 381: 8, 386: 8, 810: 8, 322: 7, 384: 4, 800: 6, 1033: 7, 1034: 7, 1296: 4, 753: 5, 388: 8, 288: 5, 497: 8, 463: 3, 304: 3, 977: 8, 1001: 8, 1280: 4, 320: 4, 352: 5, 563: 5, 565: 5, 1221: 5, 1011: 6, 1017: 8, 1020: 8, 1249: 8, 1300: 8, 328: 1, 1217: 8, 1233: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1930: 7, 1271: 8 + }], +} + +FW_VERSIONS: dict[str, dict[tuple, list[bytes]]] = { +} diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py new file mode 100644 index 0000000000..a70bcccd06 --- /dev/null +++ b/selfdrive/car/gm/gmcan.py @@ -0,0 +1,173 @@ +from openpilot.selfdrive.car import make_can_msg +from openpilot.selfdrive.car.gm.values import CAR + + +def create_buttons(packer, bus, idx, button): + values = { + "ACCButtons": button, + "RollingCounter": idx, + "ACCAlwaysOne": 1, + "DistanceButton": 0, + } + + checksum = 240 + int(values["ACCAlwaysOne"] * 0xf) + checksum += values["RollingCounter"] * (0x4ef if values["ACCAlwaysOne"] != 0 else 0x3f0) + checksum -= int(values["ACCButtons"] - 1) << 4 # not correct if value is 0 + checksum -= 2 * values["DistanceButton"] + + values["SteeringButtonChecksum"] = checksum + return packer.make_can_msg("ASCMSteeringButton", bus, values) + + +def create_pscm_status(packer, bus, pscm_status): + values = {s: pscm_status[s] for s in [ + "HandsOffSWDetectionMode", + "HandsOffSWlDetectionStatus", + "LKATorqueDeliveredStatus", + "LKADriverAppldTrq", + "LKATorqueDelivered", + "LKATotalTorqueDelivered", + "RollingCounter", + "PSCMStatusChecksum", + ]} + checksum_mod = int(1 - values["HandsOffSWlDetectionStatus"]) << 5 + values["HandsOffSWlDetectionStatus"] = 1 + values["PSCMStatusChecksum"] += checksum_mod + return packer.make_can_msg("PSCMStatus", bus, values) + + +def create_steering_control(packer, bus, apply_steer, idx, lkas_active): + values = { + "LKASteeringCmdActive": lkas_active, + "LKASteeringCmd": apply_steer, + "RollingCounter": idx, + "LKASteeringCmdChecksum": 0x1000 - (lkas_active << 11) - (apply_steer & 0x7ff) - idx + } + + return packer.make_can_msg("ASCMLKASteeringCmd", bus, values) + + +def create_adas_keepalive(bus): + dat = b"\x00\x00\x00\x00\x00\x00\x00" + return [make_can_msg(0x409, dat, bus), make_can_msg(0x40a, dat, bus)] + + +def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop): + values = { + "GasRegenCmdActive": enabled, + "RollingCounter": idx, + "GasRegenCmdActiveInv": 1 - enabled, + "GasRegenCmd": throttle, + "GasRegenFullStopActive": at_full_stop, + "GasRegenAlwaysOne": 1, + "GasRegenAlwaysOne2": 1, + "GasRegenAlwaysOne3": 1, + } + + dat = packer.make_can_msg("ASCMGasRegenCmd", bus, values)[1] + values["GasRegenChecksum"] = (((0xff - dat[1]) & 0xff) << 16) | \ + (((0xff - dat[2]) & 0xff) << 8) | \ + ((0x100 - dat[3] - idx) & 0xff) + + return packer.make_can_msg("ASCMGasRegenCmd", bus, values) + + +def create_friction_brake_command(packer, bus, apply_brake, idx, enabled, near_stop, at_full_stop, CP): + mode = 0x1 + + # TODO: Understand this better. Volts and ICE Camera ACC cars are 0x1 when enabled with no brake + if enabled and CP.carFingerprint in (CAR.CHEVROLET_BOLT_EUV,): + mode = 0x9 + + if apply_brake > 0: + mode = 0xa + if at_full_stop: + mode = 0xd + + # TODO: this is to have GM bringing the car to complete stop, + # but currently it conflicts with OP controls, so turned off. Not set by all cars + #elif near_stop: + # mode = 0xb + + brake = (0x1000 - apply_brake) & 0xfff + checksum = (0x10000 - (mode << 12) - brake - idx) & 0xffff + + values = { + "RollingCounter": idx, + "FrictionBrakeMode": mode, + "FrictionBrakeChecksum": checksum, + "FrictionBrakeCmd": -apply_brake + } + + return packer.make_can_msg("EBCMFrictionBrakeCmd", bus, values) + + +def create_acc_dashboard_command(packer, bus, enabled, target_speed_kph, hud_control, fcw): + target_speed = min(target_speed_kph, 255) + + values = { + "ACCAlwaysOne": 1, + "ACCResumeButton": 0, + "ACCSpeedSetpoint": target_speed, + "ACCGapLevel": hud_control.leadDistanceBars * enabled, # 3 "far", 0 "inactive" + "ACCCmdActive": enabled, + "ACCAlwaysOne2": 1, + "ACCLeadCar": hud_control.leadVisible, + "FCWAlert": 0x3 if fcw else 0 + } + + return packer.make_can_msg("ASCMActiveCruiseControlStatus", bus, values) + + +def create_adas_time_status(bus, tt, idx): + dat = [(tt >> 20) & 0xff, (tt >> 12) & 0xff, (tt >> 4) & 0xff, + ((tt & 0xf) << 4) + (idx << 2)] + chksum = 0x1000 - dat[0] - dat[1] - dat[2] - dat[3] + chksum = chksum & 0xfff + dat += [0x40 + (chksum >> 8), chksum & 0xff, 0x12] + return make_can_msg(0xa1, bytes(dat), bus) + + +def create_adas_steering_status(bus, idx): + dat = [idx << 6, 0xf0, 0x20, 0, 0, 0] + chksum = 0x60 + sum(dat) + dat += [chksum >> 8, chksum & 0xff] + return make_can_msg(0x306, bytes(dat), bus) + + +def create_adas_accelerometer_speed_status(bus, speed_ms, idx): + spd = int(speed_ms * 16) & 0xfff + accel = 0 & 0xfff + # 0 if in park/neutral, 0x10 if in reverse, 0x08 for D/L + #stick = 0x08 + near_range_cutoff = 0x27 + near_range_mode = 1 if spd <= near_range_cutoff else 0 + far_range_mode = 1 - near_range_mode + dat = [0x08, spd >> 4, ((spd & 0xf) << 4) | (accel >> 8), accel & 0xff, 0] + chksum = 0x62 + far_range_mode + (idx << 2) + dat[0] + dat[1] + dat[2] + dat[3] + dat[4] + dat += [(idx << 5) + (far_range_mode << 4) + (near_range_mode << 3) + (chksum >> 8), chksum & 0xff] + return make_can_msg(0x308, bytes(dat), bus) + + +def create_adas_headlights_status(packer, bus): + values = { + "Always42": 0x42, + "Always4": 0x4, + } + return packer.make_can_msg("ASCMHeadlight", bus, values) + + +def create_lka_icon_command(bus, active, critical, steer): + if active and steer == 1: + if critical: + dat = b"\x50\xc0\x14" + else: + dat = b"\x50\x40\x18" + elif active: + if critical: + dat = b"\x40\xc0\x14" + else: + dat = b"\x40\x40\x18" + else: + dat = b"\x00\x00\x00" + return make_can_msg(0x104c006c, dat, bus) diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py new file mode 100755 index 0000000000..2d26d3f5bd --- /dev/null +++ b/selfdrive/car/gm/interface.py @@ -0,0 +1,285 @@ +#!/usr/bin/env python3 +import os +from cereal import car +from math import fabs, exp +from panda import Panda + +from openpilot.common.basedir import BASEDIR +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car import create_button_events, get_safety_config, get_friction +from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG +from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus +from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel + +ButtonType = car.CarState.ButtonEvent.Type +EventName = car.CarEvent.EventName +GearShifter = car.CarState.GearShifter +TransmissionType = car.CarParams.TransmissionType +NetworkLocation = car.CarParams.NetworkLocation +BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise, + CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel} + + +NON_LINEAR_TORQUE_PARAMS = { + CAR.CHEVROLET_BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178], + CAR.GMC_ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772], + CAR.CHEVROLET_SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122] +} + +NEURAL_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/neural_ff_weights.json') + + +class CarInterface(CarInterfaceBase): + @staticmethod + def get_pid_accel_limits(CP, current_speed, cruise_speed): + return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX + + # Determined by iteratively plotting and minimizing error for f(angle, speed) = steer. + @staticmethod + def get_steer_feedforward_volt(desired_angle, v_ego): + desired_angle *= 0.02904609 + sigmoid = desired_angle / (1 + fabs(desired_angle)) + return 0.10006696 * sigmoid * (v_ego + 3.12485927) + + def get_steer_feedforward_function(self): + if self.CP.carFingerprint == CAR.CHEVROLET_VOLT: + return self.get_steer_feedforward_volt + else: + return CarInterfaceBase.get_steer_feedforward_default + + def torque_from_lateral_accel_siglin(self, latcontrol_inputs: LatControlInputs, torque_params: car.CarParams.LateralTorqueTuning, lateral_accel_error: float, + lateral_accel_deadzone: float, friction_compensation: bool, gravity_adjusted: bool) -> float: + friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation) + + def sig(val): + # https://timvieira.github.io/blog/post/2014/02/11/exp-normalize-trick + if val >= 0: + return 1 / (1 + exp(-val)) - 0.5 + else: + z = exp(val) + return z / (1 + z) - 0.5 + + # The "lat_accel vs torque" relationship is assumed to be the sum of "sigmoid + linear" curves + # An important thing to consider is that the slope at 0 should be > 0 (ideally >1) + # This has big effect on the stability about 0 (noise when going straight) + # ToDo: To generalize to other GMs, explore tanh function as the nonlinear + non_linear_torque_params = NON_LINEAR_TORQUE_PARAMS.get(self.CP.carFingerprint) + assert non_linear_torque_params, "The params are not defined" + a, b, c, _ = non_linear_torque_params + steer_torque = (sig(latcontrol_inputs.lateral_acceleration * a) * b) + (latcontrol_inputs.lateral_acceleration * c) + return float(steer_torque) + friction + + def torque_from_lateral_accel_neural(self, latcontrol_inputs: LatControlInputs, torque_params: car.CarParams.LateralTorqueTuning, lateral_accel_error: float, + lateral_accel_deadzone: float, friction_compensation: bool, gravity_adjusted: bool) -> float: + friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation) + inputs = list(latcontrol_inputs) + if gravity_adjusted: + inputs[0] += inputs[1] + return float(self.neural_ff_model.predict(inputs)) + friction + + def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType: + if self.CP.carFingerprint == CAR.CHEVROLET_BOLT_EUV: + self.neural_ff_model = NanoFFModel(NEURAL_PARAMS_PATH, self.CP.carFingerprint) + return self.torque_from_lateral_accel_neural + elif self.CP.carFingerprint in NON_LINEAR_TORQUE_PARAMS: + return self.torque_from_lateral_accel_siglin + else: + return self.torque_from_lateral_accel_linear + + @staticmethod + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): + ret.carName = "gm" + ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)] + ret.autoResumeSng = False + ret.enableBsm = 0x142 in fingerprint[CanBus.POWERTRAIN] + + if candidate in EV_CAR: + ret.transmissionType = TransmissionType.direct + else: + ret.transmissionType = TransmissionType.automatic + + ret.longitudinalTuning.kiBP = [5., 35.] + + if candidate in CAMERA_ACC_CAR: + ret.experimentalLongitudinalAvailable = True + ret.networkLocation = NetworkLocation.fwdCamera + ret.radarUnavailable = True # no radar + ret.pcmCruise = True + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM + ret.minEnableSpeed = 5 * CV.KPH_TO_MS + ret.minSteerSpeed = 10 * CV.KPH_TO_MS + + # Tuning for experimental long + ret.longitudinalTuning.kiV = [2.0, 1.5] + ret.stoppingDecelRate = 2.0 # reach brake quickly after enabling + ret.vEgoStopping = 0.25 + ret.vEgoStarting = 0.25 + + if experimental_long: + ret.pcmCruise = False + ret.openpilotLongitudinalControl = True + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG + ret.customStockLongAvailable = True + + else: # ASCM, OBD-II harness + ret.openpilotLongitudinalControl = True + ret.networkLocation = NetworkLocation.gateway + ret.radarUnavailable = RADAR_HEADER_MSG not in fingerprint[CanBus.OBSTACLE] and not docs + ret.pcmCruise = False # stock non-adaptive cruise control is kept off + # supports stop and go, but initial engage must (conservatively) be above 18mph + ret.minEnableSpeed = 18 * CV.MPH_TO_MS + ret.minSteerSpeed = 7 * CV.MPH_TO_MS + + # Tuning + ret.longitudinalTuning.kiV = [2.4, 1.5] + + # These cars have been put into dashcam only due to both a lack of users and test coverage. + # These cars likely still work fine. Once a user confirms each car works and a test route is + # added to selfdrive/car/tests/routes.py, we can remove it from this list. + ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.CHEVROLET_MALIBU, CAR.BUICK_REGAL} or \ + (ret.networkLocation == NetworkLocation.gateway and ret.radarUnavailable) + + # Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below. + ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]] + ret.lateralTuning.pid.kf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594 + ret.steerActuatorDelay = 0.1 # Default delay, not measured yet + + ret.steerLimitTimer = 0.4 + ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz + ret.longitudinalActuatorDelay = 0.5 # large delay to initially start braking + + if candidate == CAR.CHEVROLET_VOLT: + ret.lateralTuning.pid.kpBP = [0., 40.] + ret.lateralTuning.pid.kpV = [0., 0.17] + ret.lateralTuning.pid.kiBP = [0.] + ret.lateralTuning.pid.kiV = [0.] + ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_volt() + ret.steerActuatorDelay = 0.2 + + elif candidate == CAR.GMC_ACADIA: + ret.minEnableSpeed = -1. # engage speed is decided by pcm + ret.steerActuatorDelay = 0.2 + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + + elif candidate == CAR.BUICK_LACROSSE: + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + + elif candidate == CAR.CADILLAC_ESCALADE: + ret.minEnableSpeed = -1. # engage speed is decided by pcm + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + + elif candidate in (CAR.CADILLAC_ESCALADE_ESV, CAR.CADILLAC_ESCALADE_ESV_2019): + ret.minEnableSpeed = -1. # engage speed is decided by pcm + + if candidate == CAR.CADILLAC_ESCALADE_ESV: + ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13, 0.24], [0.01, 0.02]] + ret.lateralTuning.pid.kf = 0.000045 + else: + ret.steerActuatorDelay = 0.2 + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + + elif candidate == CAR.CHEVROLET_BOLT_EUV: + ret.steerActuatorDelay = 0.2 + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + + elif candidate == CAR.CHEVROLET_SILVERADO: + # On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop + # with foot on brake to allow engagement, but this platform only has that check in the camera. + # TODO: check if this is split by EV/ICE with more platforms in the future + if ret.openpilotLongitudinalControl: + ret.minEnableSpeed = -1. + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + + elif candidate == CAR.CHEVROLET_EQUINOX: + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + + elif candidate == CAR.CHEVROLET_TRAILBLAZER: + ret.steerActuatorDelay = 0.2 + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + + return ret + + # returns a car.CarState + def _update(self, c): + ret = self.CS.update(self.cp, self.cp_cam, self.cp_loopback) + + # Don't add event if transitioning from INIT, unless it's to an actual button + if self.CS.cruise_buttons != CruiseButtons.UNPRESS or self.CS.prev_cruise_buttons != CruiseButtons.INIT: + self.CS.button_events = [ + *create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT, + unpressed_btn=CruiseButtons.UNPRESS), + *create_button_events(self.CS.distance_button, self.CS.prev_distance_button, + {1: ButtonType.gapAdjustCruise}) + ] + + self.CS.button_events = [ + *self.CS.button_events, + *create_button_events(self.CS.lkas_enabled, self.CS.prev_lkas_enabled, {1: ButtonType.altButton1}), + ] + + self.CS.mads_enabled = self.get_sp_cruise_main_state(ret) + + if not self.CP.pcmCruise: + if any(b.type == ButtonType.accelCruise and b.pressed for b in self.CS.button_events): + self.CS.accEnabled = True + + self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, c.vCruise, self.CS.accEnabled) + + if ret.cruiseState.available: + if self.enable_mads: + if not self.CS.prev_mads_enabled and self.CS.mads_enabled: + self.CS.madsEnabled = True + if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events): + self.CS.madsEnabled = not self.CS.madsEnabled + self.CS.madsEnabled = self.get_acc_mads(ret, self.CS.madsEnabled) + else: + self.CS.madsEnabled = False + + if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0) or not self.CP.pcmCruiseSpeed: + if any(b.type == ButtonType.cancel for b in self.CS.button_events): + self.get_sp_cancel_cruise_state() + if self.get_sp_pedal_disengage(ret): + self.get_sp_cancel_cruise_state() + ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled + + if self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed: + if ret.gasPressed and not ret.cruiseState.enabled: + self.CS.accEnabled = False + self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled + + ret = self.get_sp_common_state(ret) + + ret.buttonEvents = [ + *self.CS.button_events, + *self.button_events.create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled) # MADS BUTTON + ] + + # The ECM allows enabling on falling edge of set, but only rising edge of resume + events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low, + GearShifter.eco, GearShifter.manumatic], + pcm_enable=False, enable_buttons=(ButtonType.decelCruise,)) + #if not self.CP.pcmCruise: + # if any(b.type == ButtonType.accelCruise and b.pressed for b in ret.buttonEvents): + # events.add(EventName.buttonEnable) + + events, ret = self.create_sp_events(ret, events, enable_pressed=self.CS.accEnabled, + enable_buttons=(ButtonType.decelCruise,)) + + # Enabling at a standstill with brake is allowed + # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs + below_min_enable_speed = ret.vEgo < self.CP.minEnableSpeed or self.CS.moving_backward + if below_min_enable_speed and not (ret.standstill and ret.brake >= 20 and + self.CP.networkLocation == NetworkLocation.fwdCamera): + events.add(EventName.belowEngageSpeed) + if ret.cruiseState.standstill: + events.add(EventName.resumeRequired) + if ret.vEgo < self.CP.minSteerSpeed and self.CS.madsEnabled: + events.add(EventName.belowSteerSpeed) + + ret.customStockLong = self.update_custom_stock_long() + + ret.events = events.to_msg() + + return ret diff --git a/selfdrive/car/gm/radar_interface.py b/selfdrive/car/gm/radar_interface.py new file mode 100755 index 0000000000..b893babd31 --- /dev/null +++ b/selfdrive/car/gm/radar_interface.py @@ -0,0 +1,101 @@ +#!/usr/bin/env python3 +import math +from cereal import car +from openpilot.common.conversions import Conversions as CV +from opendbc.can.parser import CANParser +from openpilot.selfdrive.car.gm.values import DBC, CanBus +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase + +RADAR_HEADER_MSG = 1120 +SLOT_1_MSG = RADAR_HEADER_MSG + 1 +NUM_SLOTS = 20 + +# Actually it's 0x47f, but can parser only reports +# messages that are present in DBC +LAST_RADAR_MSG = RADAR_HEADER_MSG + NUM_SLOTS + + +def create_radar_can_parser(car_fingerprint): + # C1A-ARS3-A by Continental + radar_targets = list(range(SLOT_1_MSG, SLOT_1_MSG + NUM_SLOTS)) + signals = list(zip(['FLRRNumValidTargets', + 'FLRRSnsrBlckd', 'FLRRYawRtPlsblityFlt', + 'FLRRHWFltPrsntInt', 'FLRRAntTngFltPrsnt', + 'FLRRAlgnFltPrsnt', 'FLRRSnstvFltPrsntInt'] + + ['TrkRange'] * NUM_SLOTS + ['TrkRangeRate'] * NUM_SLOTS + + ['TrkRangeAccel'] * NUM_SLOTS + ['TrkAzimuth'] * NUM_SLOTS + + ['TrkWidth'] * NUM_SLOTS + ['TrkObjectID'] * NUM_SLOTS, + [RADAR_HEADER_MSG] * 7 + radar_targets * 6, strict=True)) + + messages = list({(s[1], 14) for s in signals}) + + return CANParser(DBC[car_fingerprint]['radar'], messages, CanBus.OBSTACLE) + + +class RadarInterface(RadarInterfaceBase): + def __init__(self, CP): + super().__init__(CP) + + self.rcp = None if CP.radarUnavailable else create_radar_can_parser(CP.carFingerprint) + + self.trigger_msg = LAST_RADAR_MSG + self.updated_messages = set() + self.radar_ts = CP.radarTimeStep + + def update(self, can_strings): + if self.rcp is None: + return super().update(None) + + vls = self.rcp.update_strings(can_strings) + self.updated_messages.update(vls) + + if self.trigger_msg not in self.updated_messages: + return None + + ret = car.RadarData.new_message() + header = self.rcp.vl[RADAR_HEADER_MSG] + fault = header['FLRRSnsrBlckd'] or header['FLRRSnstvFltPrsntInt'] or \ + header['FLRRYawRtPlsblityFlt'] or header['FLRRHWFltPrsntInt'] or \ + header['FLRRAntTngFltPrsnt'] or header['FLRRAlgnFltPrsnt'] + errors = [] + if not self.rcp.can_valid: + errors.append("canError") + if fault: + errors.append("fault") + ret.errors = errors + + currentTargets = set() + num_targets = header['FLRRNumValidTargets'] + + # Not all radar messages describe targets, + # no need to monitor all of the self.rcp.msgs_upd + for ii in self.updated_messages: + if ii == RADAR_HEADER_MSG: + continue + + if num_targets == 0: + break + + cpt = self.rcp.vl[ii] + # Zero distance means it's an empty target slot + if cpt['TrkRange'] > 0.0: + targetId = cpt['TrkObjectID'] + currentTargets.add(targetId) + if targetId not in self.pts: + self.pts[targetId] = car.RadarData.RadarPoint.new_message() + self.pts[targetId].trackId = targetId + distance = cpt['TrkRange'] + self.pts[targetId].dRel = distance # from front of car + # From driver's pov, left is positive + self.pts[targetId].yRel = math.sin(cpt['TrkAzimuth'] * CV.DEG_TO_RAD) * distance + self.pts[targetId].vRel = cpt['TrkRangeRate'] + self.pts[targetId].aRel = float('nan') + self.pts[targetId].yvRel = float('nan') + + for oldTarget in list(self.pts.keys()): + if oldTarget not in currentTargets: + del self.pts[oldTarget] + + ret.points = list(self.pts.values()) + self.updated_messages.clear() + return ret diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py new file mode 100644 index 0000000000..53a4621d27 --- /dev/null +++ b/selfdrive/car/gm/values.py @@ -0,0 +1,234 @@ +from dataclasses import dataclass, field + +from cereal import car +from openpilot.selfdrive.car import dbc_dict, PlatformConfig, DbcDict, Platforms, CarSpecs +from openpilot.selfdrive.car.docs_definitions import CarHarness, CarDocs, CarParts +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries + +Ecu = car.CarParams.Ecu + + +class CarControllerParams: + STEER_MAX = 300 # GM limit is 3Nm. Used by carcontroller to generate LKA output + STEER_STEP = 3 # Active control frames per command (~33hz) + INACTIVE_STEER_STEP = 10 # Inactive control frames per command (10hz) + STEER_DELTA_UP = 10 # Delta rates require review due to observed EPS weakness + STEER_DELTA_DOWN = 15 + STEER_DRIVER_ALLOWANCE = 65 + STEER_DRIVER_MULTIPLIER = 4 + STEER_DRIVER_FACTOR = 100 + NEAR_STOP_BRAKE_PHASE = 0.5 # m/s + + # Heartbeat for dash "Service Adaptive Cruise" and "Service Front Camera" + ADAS_KEEPALIVE_STEP = 100 + CAMERA_KEEPALIVE_STEP = 100 + + # Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we + # perform the closed loop control, and might need some + # to apply some more braking if we're on a downhill slope. + # Our controller should still keep the 2 second average above + # -3.5 m/s^2 as per planner limits + ACCEL_MAX = 2. # m/s^2 + ACCEL_MIN = -4. # m/s^2 + + def __init__(self, CP): + # Gas/brake lookups + self.ZERO_GAS = 2048 # Coasting + self.MAX_BRAKE = 400 # ~ -4.0 m/s^2 with regen + + if CP.carFingerprint in CAMERA_ACC_CAR: + self.MAX_GAS = 3400 + self.MAX_ACC_REGEN = 1514 + self.INACTIVE_REGEN = 1554 + # Camera ACC vehicles have no regen while enabled. + # Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly + max_regen_acceleration = 0. + + else: + self.MAX_GAS = 3072 # Safety limit, not ACC max. Stock ACC >4096 from standstill. + self.MAX_ACC_REGEN = 1404 # Max ACC regen is slightly less than max paddle regen + self.INACTIVE_REGEN = 1404 + # ICE has much less engine braking force compared to regen in EVs, + # lower threshold removes some braking deadzone + max_regen_acceleration = -1. if CP.carFingerprint in EV_CAR else -0.1 + + self.GAS_LOOKUP_BP = [max_regen_acceleration, 0., self.ACCEL_MAX] + self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS] + + self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, max_regen_acceleration] + self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.] + + +@dataclass +class GMCarDocs(CarDocs): + package: str = "Adaptive Cruise Control (ACC)" + + def init_make(self, CP: car.CarParams): + if CP.networkLocation == car.CarParams.NetworkLocation.fwdCamera: + self.car_parts = CarParts.common([CarHarness.gm]) + else: + self.car_parts = CarParts.common([CarHarness.obd_ii]) + + +@dataclass(frozen=True, kw_only=True) +class GMCarSpecs(CarSpecs): + tireStiffnessFactor: float = 0.444 # not optimized yet + + +@dataclass +class GMPlatformConfig(PlatformConfig): + dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis')) + + +@dataclass +class GMASCMPlatformConfig(GMPlatformConfig): + def init(self): + # ASCM is supported, but due to a janky install and hardware configuration, we are not showing in the car docs + self.car_docs = [] + + +class CAR(Platforms): + HOLDEN_ASTRA = GMASCMPlatformConfig( + [GMCarDocs("Holden Astra 2017")], + GMCarSpecs(mass=1363, wheelbase=2.662, steerRatio=15.7, centerToFrontRatio=0.4), + ) + CHEVROLET_VOLT = GMASCMPlatformConfig( + [GMCarDocs("Chevrolet Volt 2017-18", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ")], + GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45, tireStiffnessFactor=0.469), + ) + CADILLAC_ATS = GMASCMPlatformConfig( + [GMCarDocs("Cadillac ATS Premium Performance 2018")], + GMCarSpecs(mass=1601, wheelbase=2.78, steerRatio=15.3), + ) + CHEVROLET_MALIBU = GMASCMPlatformConfig( + [GMCarDocs("Chevrolet Malibu Premier 2017")], + GMCarSpecs(mass=1496, wheelbase=2.83, steerRatio=15.8, centerToFrontRatio=0.4), + ) + GMC_ACADIA = GMASCMPlatformConfig( + [GMCarDocs("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo")], + GMCarSpecs(mass=1975, wheelbase=2.86, steerRatio=14.4, centerToFrontRatio=0.4), + ) + BUICK_LACROSSE = GMASCMPlatformConfig( + [GMCarDocs("Buick LaCrosse 2017-19", "Driver Confidence Package 2")], + GMCarSpecs(mass=1712, wheelbase=2.91, steerRatio=15.8, centerToFrontRatio=0.4), + ) + BUICK_REGAL = GMASCMPlatformConfig( + [GMCarDocs("Buick Regal Essence 2018")], + GMCarSpecs(mass=1714, wheelbase=2.83, steerRatio=14.4, centerToFrontRatio=0.4), + ) + CADILLAC_ESCALADE = GMASCMPlatformConfig( + [GMCarDocs("Cadillac Escalade 2017", "Driver Assist Package")], + GMCarSpecs(mass=2564, wheelbase=2.95, steerRatio=17.3), + ) + CADILLAC_ESCALADE_ESV = GMASCMPlatformConfig( + [GMCarDocs("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS")], + GMCarSpecs(mass=2739, wheelbase=3.302, steerRatio=17.3, tireStiffnessFactor=1.0), + ) + CADILLAC_ESCALADE_ESV_2019 = GMASCMPlatformConfig( + [GMCarDocs("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS")], + CADILLAC_ESCALADE_ESV.specs, + ) + CHEVROLET_BOLT_EUV = GMPlatformConfig( + [ + GMCarDocs("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"), + GMCarDocs("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"), + ], + GMCarSpecs(mass=1669, wheelbase=2.63779, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0), + ) + CHEVROLET_SILVERADO = GMPlatformConfig( + [ + GMCarDocs("Chevrolet Silverado 1500 2020-21", "Safety Package II"), + GMCarDocs("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"), + ], + GMCarSpecs(mass=2450, wheelbase=3.75, steerRatio=16.3, tireStiffnessFactor=1.0), + ) + CHEVROLET_EQUINOX = GMPlatformConfig( + [GMCarDocs("Chevrolet Equinox 2019-22")], + GMCarSpecs(mass=1588, wheelbase=2.72, steerRatio=14.4, centerToFrontRatio=0.4), + ) + CHEVROLET_TRAILBLAZER = GMPlatformConfig( + [GMCarDocs("Chevrolet Trailblazer 2021-22")], + GMCarSpecs(mass=1345, wheelbase=2.64, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0), + ) + + +class CruiseButtons: + INIT = 0 + UNPRESS = 1 + RES_ACCEL = 2 + DECEL_SET = 3 + MAIN = 5 + CANCEL = 6 + +class AccState: + OFF = 0 + ACTIVE = 1 + FAULTED = 3 + STANDSTILL = 4 + +class CanBus: + POWERTRAIN = 0 + OBSTACLE = 1 + CAMERA = 2 + CHASSIS = 2 + LOOPBACK = 128 + DROPPED = 192 + + +# In a Data Module, an identifier is a string used to recognize an object, +# either by itself or together with the identifiers of parent objects. +# Each returns a 4 byte hex representation of the decimal part number. `b"\x02\x8c\xf0'"` -> 42790951 +GM_BOOT_SOFTWARE_PART_NUMER_REQUEST = b'\x1a\xc0' # likely does not contain anything useful +GM_SOFTWARE_MODULE_1_REQUEST = b'\x1a\xc1' +GM_SOFTWARE_MODULE_2_REQUEST = b'\x1a\xc2' +GM_SOFTWARE_MODULE_3_REQUEST = b'\x1a\xc3' + +# Part number of XML data file that is used to configure ECU +GM_XML_DATA_FILE_PART_NUMBER = b'\x1a\x9c' +GM_XML_CONFIG_COMPAT_ID = b'\x1a\x9b' # used to know if XML file is compatible with the ECU software/hardware + +# This DID is for identifying the part number that reflects the mix of hardware, +# software, and calibrations in the ECU when it first arrives at the vehicle assembly plant. +# If there's an Alpha Code, it's associated with this part number and stored in the DID $DB. +GM_END_MODEL_PART_NUMBER_REQUEST = b'\x1a\xcb' +GM_END_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST = b'\x1a\xdb' +GM_BASE_MODEL_PART_NUMBER_REQUEST = b'\x1a\xcc' +GM_BASE_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST = b'\x1a\xdc' +GM_FW_RESPONSE = b'\x5a' + +GM_FW_REQUESTS = [ + GM_BOOT_SOFTWARE_PART_NUMER_REQUEST, + GM_SOFTWARE_MODULE_1_REQUEST, + GM_SOFTWARE_MODULE_2_REQUEST, + GM_SOFTWARE_MODULE_3_REQUEST, + GM_XML_DATA_FILE_PART_NUMBER, + GM_XML_CONFIG_COMPAT_ID, + GM_END_MODEL_PART_NUMBER_REQUEST, + GM_END_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST, + GM_BASE_MODEL_PART_NUMBER_REQUEST, + GM_BASE_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST, +] + +GM_RX_OFFSET = 0x400 + +FW_QUERY_CONFIG = FwQueryConfig( + requests=[request for req in GM_FW_REQUESTS for request in [ + Request( + [StdQueries.SHORT_TESTER_PRESENT_REQUEST, req], + [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, GM_FW_RESPONSE + bytes([req[-1]])], + rx_offset=GM_RX_OFFSET, + bus=0, + logging=True, + ), + ]], + extra_ecus=[(Ecu.fwdCamera, 0x24b, None)], +) + +EV_CAR = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_BOLT_EUV} + +# We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness) +CAMERA_ACC_CAR = {CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_TRAILBLAZER} + +STEER_THRESHOLD = 1.0 + +DBC = CAR.create_dbc_map() diff --git a/selfdrive/car/honda/__init__.py b/selfdrive/car/honda/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py new file mode 100644 index 0000000000..2202b25350 --- /dev/null +++ b/selfdrive/car/honda/carcontroller.py @@ -0,0 +1,454 @@ +from collections import namedtuple + +from cereal import car +import cereal.messaging as messaging +from openpilot.common.conversions import Conversions as CV +from openpilot.common.numpy_fast import clip, interp +from openpilot.common.params import Params +from opendbc.can.packer import CANPacker +from openpilot.selfdrive.car import DT_CTRL, rate_limit, make_tester_present_msg, create_gas_interceptor_command +from openpilot.selfdrive.car.honda import hondacan +from openpilot.selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams +from openpilot.selfdrive.car.interfaces import CarControllerBase +from openpilot.selfdrive.controls.lib.drive_helpers import HONDA_V_CRUISE_MIN + +VisualAlert = car.CarControl.HUDControl.VisualAlert +LongCtrlState = car.CarControl.Actuators.LongControlState + + +def compute_gb_honda_bosch(accel, speed): + # TODO returns 0s, is unused + return 0.0, 0.0 + + +def compute_gb_honda_nidec(accel, speed): + creep_brake = 0.0 + creep_speed = 2.3 + creep_brake_value = 0.15 + if speed < creep_speed: + creep_brake = (creep_speed - speed) / creep_speed * creep_brake_value + gb = float(accel) / 4.8 - creep_brake + return clip(gb, 0.0, 1.0), clip(-gb, 0.0, 1.0) + + +def compute_gas_brake(accel, speed, fingerprint): + if fingerprint in HONDA_BOSCH: + return compute_gb_honda_bosch(accel, speed) + else: + return compute_gb_honda_nidec(accel, speed) + + +# TODO not clear this does anything useful +def actuator_hysteresis(brake, braking, brake_steady, v_ego, car_fingerprint): + # hyst params + brake_hyst_on = 0.02 # to activate brakes exceed this value + brake_hyst_off = 0.005 # to deactivate brakes below this value + brake_hyst_gap = 0.01 # don't change brake command for small oscillations within this value + + # *** hysteresis logic to avoid brake blinking. go above 0.1 to trigger + if (brake < brake_hyst_on and not braking) or brake < brake_hyst_off: + brake = 0. + braking = brake > 0. + + # for small brake oscillations within brake_hyst_gap, don't change the brake command + if brake == 0.: + brake_steady = 0. + elif brake > brake_steady + brake_hyst_gap: + brake_steady = brake - brake_hyst_gap + elif brake < brake_steady - brake_hyst_gap: + brake_steady = brake + brake_hyst_gap + brake = brake_steady + + return brake, braking, brake_steady + + +def brake_pump_hysteresis(apply_brake, apply_brake_last, last_pump_ts, ts): + pump_on = False + + # reset pump timer if: + # - there is an increment in brake request + # - we are applying steady state brakes and we haven't been running the pump + # for more than 20s (to prevent pressure bleeding) + if apply_brake > apply_brake_last or (ts - last_pump_ts > 20. and apply_brake > 0): + last_pump_ts = ts + + # once the pump is on, run it for at least 0.2s + if ts - last_pump_ts < 0.2 and apply_brake > 0: + pump_on = True + + return pump_on, last_pump_ts + + +def process_hud_alert(hud_alert): + # initialize to no alert + fcw_display = 0 + steer_required = 0 + acc_alert = 0 + + # priority is: FCW, steer required, all others + if hud_alert == VisualAlert.fcw: + fcw_display = VISUAL_HUD[hud_alert.raw] + elif hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw): + steer_required = VISUAL_HUD[hud_alert.raw] + else: + acc_alert = VISUAL_HUD[hud_alert.raw] + + return fcw_display, steer_required, acc_alert + + +HUDData = namedtuple("HUDData", + ["pcm_accel", "v_cruise", "lead_visible", + "lanes_visible", "fcw", "acc_alert", "steer_required", "lead_distance_bars", "dashed_lanes"]) + + +def rate_limit_steer(new_steer, last_steer): + # TODO just hardcoded ramp to min/max in 0.33s for all Honda + MAX_DELTA = 3 * DT_CTRL + return clip(new_steer, last_steer - MAX_DELTA, last_steer + MAX_DELTA) + + +class CarController(CarControllerBase): + def __init__(self, dbc_name, CP, VM): + super().__init__(dbc_name, CP, VM) + self.packer = CANPacker(dbc_name) + self.params = CarControllerParams(CP) + self.CAN = hondacan.CanBus(CP) + + self.braking = False + self.brake_steady = 0. + self.brake_last = 0. + self.apply_brake_last = 0 + self.last_pump_ts = 0. + self.stopping_counter = 0 + + self.accel = 0.0 + self.speed = 0.0 + self.gas = 0.0 + self.brake = 0.0 + self.last_steer = 0.0 + self.last_button_frame = 0 + + self.sm = messaging.SubMaster(['longitudinalPlanSP']) + self.param_s = Params() + self.last_speed_limit_sign_tap_prev = False + self.speed_limit = 0. + self.speed_limit_offset = 0 + self.timer = 0 + self.final_speed_kph = 0 + self.init_speed = 0 + self.current_speed = 0 + self.v_set_dis = 0 + self.v_cruise_min = 0 + self.button_type = 0 + self.button_select = 0 + self.button_count = 0 + self.target_speed = 0 + self.t_interval = 7 + self.slc_active_stock = False + self.sl_force_active_timer = 0 + self.v_tsc_state = 0 + self.slc_state = 0 + self.m_tsc_state = 0 + self.cruise_button = None + self.speed_diff = 0 + self.v_tsc = 0 + self.m_tsc = 0 + self.steady_speed = 0 + + def update(self, CC, CS, now_nanos): + if not self.CP.pcmCruiseSpeed: + self.sm.update(0) + + if self.sm.updated['longitudinalPlanSP']: + self.v_tsc_state = self.sm['longitudinalPlanSP'].visionTurnControllerState + self.slc_state = self.sm['longitudinalPlanSP'].speedLimitControlState + self.m_tsc_state = self.sm['longitudinalPlanSP'].turnSpeedControlState + self.speed_limit = self.sm['longitudinalPlanSP'].speedLimit + self.speed_limit_offset = self.sm['longitudinalPlanSP'].speedLimitOffset + self.v_tsc = self.sm['longitudinalPlanSP'].visionTurnSpeed + self.m_tsc = self.sm['longitudinalPlanSP'].turnSpeed + + self.v_cruise_min = HONDA_V_CRUISE_MIN[CS.params_list.is_metric] * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1) + + actuators = CC.actuators + hud_control = CC.hudControl + conversion = hondacan.get_cruise_speed_conversion(self.CP.carFingerprint, CS.is_metric) + hud_v_cruise = hud_control.setSpeed / conversion if hud_control.speedVisible else 255 + pcm_cancel_cmd = CC.cruiseControl.cancel + + if CC.longActive: + accel = actuators.accel + gas, brake = compute_gas_brake(actuators.accel, CS.out.vEgo, self.CP.carFingerprint) + else: + accel = 0.0 + gas, brake = 0.0, 0.0 + + # *** rate limit steer *** + limited_steer = rate_limit_steer(actuators.steer, self.last_steer) + self.last_steer = limited_steer + + # *** apply brake hysteresis *** + pre_limit_brake, self.braking, self.brake_steady = actuator_hysteresis(brake, self.braking, self.brake_steady, + CS.out.vEgo, self.CP.carFingerprint) + + # *** rate limit after the enable check *** + self.brake_last = rate_limit(pre_limit_brake, self.brake_last, -2., DT_CTRL) + + # vehicle hud display, wait for one update from 10Hz 0x304 msg + fcw_display, steer_required, acc_alert = process_hud_alert(hud_control.visualAlert) + + # **** process the car messages **** + + # steer torque is converted back to CAN reference (positive when steering right) + apply_steer = int(interp(-limited_steer * self.params.STEER_MAX, + self.params.STEER_LOOKUP_BP, self.params.STEER_LOOKUP_V)) + + if not self.CP.pcmCruiseSpeed: + if not self.last_speed_limit_sign_tap_prev and CS.params_list.last_speed_limit_sign_tap: + self.sl_force_active_timer = self.frame + self.param_s.put_bool_nonblocking("LastSpeedLimitSignTap", False) + self.last_speed_limit_sign_tap_prev = CS.params_list.last_speed_limit_sign_tap + + sl_force_active = CS.params_list.speed_limit_control_enabled and (self.frame < (self.sl_force_active_timer * DT_CTRL + 2.0)) + sl_inactive = not sl_force_active and (not CS.params_list.speed_limit_control_enabled or (True if self.slc_state == 0 else False)) + sl_temp_inactive = not sl_force_active and (CS.params_list.speed_limit_control_enabled and (True if self.slc_state == 1 else False)) + slc_active = not sl_inactive and not sl_temp_inactive + + self.slc_active_stock = slc_active + + # Send CAN commands + can_sends = [] + + # tester present - w/ no response (keeps radar disabled) + if self.CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and self.CP.openpilotLongitudinalControl: + if self.frame % 10 == 0: + can_sends.append(make_tester_present_msg(0x18DAB0F1, 1, suppress_response=True)) + + # Send steering command. + can_sends.append(hondacan.create_steering_control(self.packer, self.CAN, apply_steer, CC.latActive, self.CP.carFingerprint, + CS.CP.openpilotLongitudinalControl)) + + # wind brake from air resistance decel at high speed + wind_brake = interp(CS.out.vEgo, [0.0, 2.3, 35.0], [0.001, 0.002, 0.15]) + # all of this is only relevant for HONDA NIDEC + max_accel = interp(CS.out.vEgo, self.params.NIDEC_MAX_ACCEL_BP, self.params.NIDEC_MAX_ACCEL_V) + # TODO this 1.44 is just to maintain previous behavior + pcm_speed_BP = [-wind_brake, + -wind_brake * (3 / 4), + 0.0, + 0.5] + # The Honda ODYSSEY seems to have different PCM_ACCEL + # msgs, is it other cars too? + if self.CP.enableGasInterceptorDEPRECATED or not CC.longActive: + pcm_speed = 0.0 + pcm_accel = int(0.0) + elif self.CP.carFingerprint in HONDA_NIDEC_ALT_PCM_ACCEL: + pcm_speed_V = [0.0, + clip(CS.out.vEgo - 3.0, 0.0, 100.0), + clip(CS.out.vEgo + 0.0, 0.0, 100.0), + clip(CS.out.vEgo + 5.0, 0.0, 100.0)] + pcm_speed = interp(gas - brake, pcm_speed_BP, pcm_speed_V) + pcm_accel = int(1.0 * self.params.NIDEC_GAS_MAX) + else: + pcm_speed_V = [0.0, + clip(CS.out.vEgo - 2.0, 0.0, 100.0), + clip(CS.out.vEgo + 2.0, 0.0, 100.0), + clip(CS.out.vEgo + 5.0, 0.0, 100.0)] + pcm_speed = interp(gas - brake, pcm_speed_BP, pcm_speed_V) + pcm_accel = int(clip((accel / 1.44) / max_accel, 0.0, 1.0) * self.params.NIDEC_GAS_MAX) + + if not self.CP.openpilotLongitudinalControl: + if self.frame % 2 == 0 and self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS: # radarless cars don't have supplemental message + can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, self.CAN, self.CP.carFingerprint)) + # If using stock ACC, spam cancel command to kill gas when OP disengages. + if pcm_cancel_cmd: + can_sends.append(hondacan.spam_buttons_command(self.packer, self.CAN, CruiseButtons.CANCEL, self.CP.carFingerprint)) + elif CC.cruiseControl.resume: + can_sends.append(hondacan.spam_buttons_command(self.packer, self.CAN, CruiseButtons.RES_ACCEL, self.CP.carFingerprint)) + elif CS.out.cruiseState.enabled and not self.CP.pcmCruiseSpeed: + self.cruise_button = self.get_cruise_buttons(CS, CC.vCruise) + if self.cruise_button is not None: + send_freq = 1 + if not (self.v_tsc_state != 0 or self.m_tsc_state > 1) and abs(self.target_speed - self.v_set_dis) <= 2: + send_freq = 3 + if (self.frame - self.last_button_frame) * DT_CTRL > 0.01 * send_freq: + can_sends.append(hondacan.spam_buttons_command(self.packer, self.CAN, self.cruise_button, self.CP.carFingerprint)) + self.last_button_frame = self.frame + + else: + # Send gas and brake commands. + if self.frame % 2 == 0: + ts = self.frame * DT_CTRL + + if self.CP.carFingerprint in HONDA_BOSCH: + self.accel = clip(accel, self.params.BOSCH_ACCEL_MIN, self.params.BOSCH_ACCEL_MAX) + self.gas = interp(accel, self.params.BOSCH_GAS_LOOKUP_BP, self.params.BOSCH_GAS_LOOKUP_V) + + stopping = actuators.longControlState == LongCtrlState.stopping + self.stopping_counter = self.stopping_counter + 1 if stopping else 0 + can_sends.extend(hondacan.create_acc_commands(self.packer, self.CAN, CC.enabled and CS.out.cruiseState.enabled, CC.longActive, self.accel, self.gas, + self.stopping_counter, self.CP.carFingerprint)) + else: + apply_brake = clip(self.brake_last - wind_brake, 0.0, 1.0) + apply_brake = int(clip(apply_brake * self.params.NIDEC_BRAKE_MAX, 0, self.params.NIDEC_BRAKE_MAX - 1)) + pump_on, self.last_pump_ts = brake_pump_hysteresis(apply_brake, self.apply_brake_last, self.last_pump_ts, ts) + + pcm_override = True + can_sends.append(hondacan.create_brake_command(self.packer, self.CAN, apply_brake, pump_on, + pcm_override, pcm_cancel_cmd, fcw_display, + self.CP.carFingerprint, CS.stock_brake)) + self.apply_brake_last = apply_brake + self.brake = apply_brake / self.params.NIDEC_BRAKE_MAX + + if self.CP.enableGasInterceptorDEPRECATED: + # way too aggressive at low speed without this + gas_mult = interp(CS.out.vEgo, [0., 10.], [0.4, 1.0]) + # send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas. + # This prevents unexpected pedal range rescaling + # Sending non-zero gas when OP is not enabled will cause the PCM not to respond to throttle as expected + # when you do enable. + if CC.longActive: + self.gas = clip(gas_mult * (gas - brake + wind_brake * 3 / 4), 0., 1.) + else: + self.gas = 0.0 + can_sends.append(create_gas_interceptor_command(self.packer, self.gas, self.frame // 2)) + + # Send dashboard UI commands. + if self.frame % 10 == 0: + hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible, + hud_control.lanesVisible, fcw_display, acc_alert, steer_required, hud_control.leadDistanceBars, CS.madsEnabled and not CC.latActive) + can_sends.extend(hondacan.create_ui_commands(self.packer, self.CAN, self.CP, CC.enabled and CS.out.cruiseState.enabled, pcm_speed, hud, CS.is_metric, CS.acc_hud, CS.lkas_hud, CC.latActive)) + + if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in HONDA_BOSCH: + self.speed = pcm_speed + + if not self.CP.enableGasInterceptorDEPRECATED: + self.gas = pcm_accel / self.params.NIDEC_GAS_MAX + + new_actuators = actuators.as_builder() + new_actuators.speed = self.speed + new_actuators.accel = self.accel + new_actuators.gas = self.gas + new_actuators.brake = self.brake + new_actuators.steer = self.last_steer + new_actuators.steerOutputCan = apply_steer + + self.frame += 1 + return new_actuators, can_sends + + # multikyd methods, sunnyhaibin logic + def get_cruise_buttons_status(self, CS): + if not CS.out.cruiseState.enabled or CS.cruise_buttons != 0: + self.timer = 40 + elif self.timer: + self.timer -= 1 + else: + return 1 + return 0 + + def get_target_speed(self, v_cruise_kph_prev): + v_cruise_kph = v_cruise_kph_prev + if self.slc_state > 1: + v_cruise_kph = (self.speed_limit + self.speed_limit_offset) * CV.MS_TO_KPH + if not self.slc_active_stock: + v_cruise_kph = v_cruise_kph_prev + return v_cruise_kph + + def get_button_type(self, button_type): + self.type_status = "type_" + str(button_type) + self.button_picker = getattr(self, self.type_status, lambda: "default") + return self.button_picker() + + def reset_button(self): + if self.button_type != 3: + self.button_type = 0 + + def type_default(self): + self.button_type = 0 + return None + + def type_0(self): + self.button_count = 0 + self.target_speed = self.init_speed + self.speed_diff = self.target_speed - self.v_set_dis + if self.target_speed > self.v_set_dis: + self.button_type = 1 + elif self.target_speed < self.v_set_dis and self.v_set_dis > self.v_cruise_min: + self.button_type = 2 + return None + + def type_1(self): + cruise_button = CruiseButtons.RES_ACCEL + self.button_count += 1 + if self.target_speed <= self.v_set_dis: + self.button_count = 0 + self.button_type = 3 + elif self.button_count > 5: + self.button_count = 0 + self.button_type = 3 + return cruise_button + + def type_2(self): + cruise_button = CruiseButtons.DECEL_SET + self.button_count += 1 + if self.target_speed >= self.v_set_dis or self.v_set_dis <= self.v_cruise_min: + self.button_count = 0 + self.button_type = 3 + elif self.button_count > 5: + self.button_count = 0 + self.button_type = 3 + return cruise_button + + def type_3(self): + cruise_button = None + self.button_count += 1 + if self.button_count > self.t_interval: + self.button_type = 0 + return cruise_button + + def get_curve_speed(self, target_speed_kph, v_cruise_kph_prev): + if self.v_tsc_state != 0: + vision_v_cruise_kph = self.v_tsc * CV.MS_TO_KPH + if int(vision_v_cruise_kph) == int(v_cruise_kph_prev): + vision_v_cruise_kph = 255 + else: + vision_v_cruise_kph = 255 + if self.m_tsc_state > 1: + map_v_cruise_kph = self.m_tsc * CV.MS_TO_KPH + if int(map_v_cruise_kph) == 0.0: + map_v_cruise_kph = 255 + else: + map_v_cruise_kph = 255 + curve_speed = self.curve_speed_hysteresis(min(vision_v_cruise_kph, map_v_cruise_kph) + 2 * CV.MPH_TO_KPH) + return min(target_speed_kph, curve_speed) + + def get_button_control(self, CS, final_speed, v_cruise_kph_prev): + self.init_speed = round(min(final_speed, v_cruise_kph_prev) * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1)) + self.v_set_dis = round(CS.out.cruiseState.speed * (CV.MS_TO_MPH if not CS.params_list.is_metric else CV.MS_TO_KPH)) + cruise_button = self.get_button_type(self.button_type) + return cruise_button + + def curve_speed_hysteresis(self, cur_speed: float, hyst=(0.75 * CV.MPH_TO_KPH)): + if cur_speed > self.steady_speed: + self.steady_speed = cur_speed + elif cur_speed < self.steady_speed - hyst: + self.steady_speed = cur_speed + return self.steady_speed + + def get_cruise_buttons(self, CS, v_cruise_kph_prev): + cruise_button = None + if not self.get_cruise_buttons_status(CS): + pass + elif CS.out.cruiseState.enabled: + set_speed_kph = self.get_target_speed(v_cruise_kph_prev) + if self.slc_state > 1: + target_speed_kph = set_speed_kph + else: + target_speed_kph = min(v_cruise_kph_prev, set_speed_kph) + if self.v_tsc_state != 0 or self.m_tsc_state > 1: + self.final_speed_kph = self.get_curve_speed(target_speed_kph, v_cruise_kph_prev) + else: + self.final_speed_kph = target_speed_kph + + cruise_button = self.get_button_control(CS, self.final_speed_kph, v_cruise_kph_prev) # MPH/KPH based button presses + return cruise_button diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py new file mode 100644 index 0000000000..ae8746d958 --- /dev/null +++ b/selfdrive/car/honda/carstate.py @@ -0,0 +1,324 @@ +from collections import defaultdict + +from cereal import car +from openpilot.common.conversions import Conversions as CV +from openpilot.common.numpy_fast import interp +from opendbc.can.can_define import CANDefine +from opendbc.can.parser import CANParser +from openpilot.selfdrive.car.honda.hondacan import CanBus, get_cruise_speed_conversion +from openpilot.selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, \ + HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, \ + HondaFlags, SERIAL_STEERING +from openpilot.selfdrive.car.interfaces import CarStateBase + +TransmissionType = car.CarParams.TransmissionType + + +def get_can_messages(CP, gearbox_msg): + messages = [ + ("ENGINE_DATA", 100), + ("WHEEL_SPEEDS", 50), + ("STEERING_SENSORS", 100), + ("SEATBELT_STATUS", 10), + ("CRUISE", 10), + ("POWERTRAIN_DATA", 100), + ("CAR_SPEED", 10), + ("VSA_STATUS", 50), + ("STEER_STATUS", 100), + ("STEER_MOTOR_TORQUE", 0), # TODO: not on every car + ] + + if CP.carFingerprint in (SERIAL_STEERING | {CAR.HONDA_ODYSSEY_CHN, }): + messages += [ + ("SCM_FEEDBACK", 25), + ("SCM_BUTTONS", 50), + ] + else: + messages += [ + ("SCM_FEEDBACK", 10), + ("SCM_BUTTONS", 25), + ] + + if CP.carFingerprint in (CAR.HONDA_CRV_HYBRID, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.ACURA_RDX_3G, CAR.HONDA_E): + messages.append((gearbox_msg, 50)) + else: + messages.append((gearbox_msg, 100)) + + if CP.flags & HondaFlags.BOSCH_ALT_BRAKE: + messages.append(("BRAKE_MODULE", 50)) + + if CP.carFingerprint in (HONDA_BOSCH | {CAR.HONDA_CIVIC, CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_CLARITY}): + messages.append(("EPB_STATUS", 50)) + + if CP.carFingerprint in HONDA_BOSCH: + # these messages are on camera bus on radarless cars + if not CP.openpilotLongitudinalControl and CP.carFingerprint not in HONDA_BOSCH_RADARLESS: + messages += [ + ("ACC_HUD", 10), + ("ACC_CONTROL", 50), + ] + else: # Nidec signals + if CP.carFingerprint in (SERIAL_STEERING | {CAR.HONDA_ODYSSEY_CHN, }): + messages.append(("CRUISE_PARAMS", 10)) + else: + messages.append(("CRUISE_PARAMS", 50)) + + # TODO: clean this up + if CP.carFingerprint in (CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CRV_HYBRID, CAR.HONDA_INSIGHT, + CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.HONDA_CIVIC_2022, CAR.HONDA_HRV_3G): + pass + elif CP.carFingerprint in (CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_FREED, CAR.HONDA_HRV): + pass + else: + messages.append(("DOORS_STATUS", 3)) + + # add gas interceptor reading if we are using it + if CP.enableGasInterceptorDEPRECATED: + messages.append(("GAS_SENSOR", 50)) + + if CP.carFingerprint in HONDA_BOSCH_RADARLESS: + messages.append(("CRUISE_FAULT_STATUS", 50)) + elif CP.carFingerprint == CAR.HONDA_CLARITY: + messages.append(("BRAKE_ERROR", 100)), + elif CP.openpilotLongitudinalControl: + messages.append(("STANDSTILL", 50)) + + return messages + + +class CarState(CarStateBase): + def __init__(self, CP): + super().__init__(CP) + can_define = CANDefine(DBC[CP.carFingerprint]["pt"]) + self.gearbox_msg = "GEARBOX" + if CP.carFingerprint == CAR.HONDA_ACCORD and CP.transmissionType == TransmissionType.cvt: + self.gearbox_msg = "GEARBOX_15T" + + self.main_on_sig_msg = "SCM_FEEDBACK" + if CP.carFingerprint in HONDA_NIDEC_ALT_SCM_MESSAGES: + self.main_on_sig_msg = "SCM_BUTTONS" + + self.shifter_values = can_define.dv[self.gearbox_msg]["GEAR_SHIFTER"] + self.steer_status_values = defaultdict(lambda: "UNKNOWN", can_define.dv["STEER_STATUS"]["STEER_STATUS"]) + + self.brake_switch_prev = False + self.brake_switch_active = False + self.cruise_setting = 0 + self.v_cruise_pcm_prev = 0 + + # When available we use cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] to populate vEgoCluster + # However, on cars without a digital speedometer this is not always present (HRV, FIT, CRV 2016, ILX and RDX) + self.dash_speed_seen = False + + def update(self, cp, cp_cam, cp_body): + ret = car.CarState.new_message() + + # car params + v_weight_v = [0., 1.] # don't trust smooth speed at low values to avoid premature zero snapping + v_weight_bp = [1., 6.] # smooth blending, below ~0.6m/s the smooth speed snaps to zero + + # update prevs, update must run once per loop + self.prev_cruise_buttons = self.cruise_buttons + self.prev_cruise_setting = self.cruise_setting + self.prev_mads_enabled = self.mads_enabled + self.cruise_setting = cp.vl["SCM_BUTTONS"]["CRUISE_SETTING"] + self.cruise_buttons = cp.vl["SCM_BUTTONS"]["CRUISE_BUTTONS"] + + # used for car hud message + self.is_metric = not cp.vl["CAR_SPEED"]["IMPERIAL_UNIT"] + + # ******************* parse out can ******************* + # STANDSTILL->WHEELS_MOVING bit can be noisy around zero, so use XMISSION_SPEED + # panda checks if the signal is non-zero + ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5 + # TODO: find a common signal across all cars + if self.CP.carFingerprint in (CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CRV_HYBRID, CAR.HONDA_INSIGHT, + CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.HONDA_CIVIC_2022, CAR.HONDA_HRV_3G): + ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"]) + elif self.CP.carFingerprint in (CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_FREED, CAR.HONDA_HRV): + ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"]) + else: + ret.doorOpen = any([cp.vl["DOORS_STATUS"]["DOOR_OPEN_FL"], cp.vl["DOORS_STATUS"]["DOOR_OPEN_FR"], + cp.vl["DOORS_STATUS"]["DOOR_OPEN_RL"], cp.vl["DOORS_STATUS"]["DOOR_OPEN_RR"]]) + ret.seatbeltUnlatched = bool(cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_LAMP"] or not cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_LATCHED"]) + + steer_status = self.steer_status_values[cp.vl["STEER_STATUS"]["STEER_STATUS"]] + ret.steerFaultPermanent = steer_status not in ("NORMAL", "NO_TORQUE_ALERT_1", "NO_TORQUE_ALERT_2", "LOW_SPEED_LOCKOUT", "TMP_FAULT") + # LOW_SPEED_LOCKOUT is not worth a warning + # NO_TORQUE_ALERT_2 can be caused by bump or steering nudge from driver + ret.steerFaultTemporary = steer_status not in ("NORMAL", "LOW_SPEED_LOCKOUT", "NO_TORQUE_ALERT_2") + + if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS: + ret.accFaulted = bool(cp.vl["CRUISE_FAULT_STATUS"]["CRUISE_FAULT"]) + elif self.CP.carFingerprint == CAR.HONDA_CLARITY: + ret.accFaulted = bool(cp.vl["BRAKE_ERROR"]["BRAKE_ERROR_1"] or cp.vl["BRAKE_ERROR"]["BRAKE_ERROR_2"]) + else: + # On some cars, these two signals are always 1, this flag is masking a bug in release + # FIXME: find and set the ACC faulted signals on more platforms + if self.CP.openpilotLongitudinalControl: + ret.accFaulted = bool(cp.vl["STANDSTILL"]["BRAKE_ERROR_1"] or cp.vl["STANDSTILL"]["BRAKE_ERROR_2"]) + + # Log non-critical stock ACC/LKAS faults if Nidec (camera) + if self.CP.carFingerprint not in HONDA_BOSCH: + ret.carFaultedNonCritical = bool(cp_cam.vl["ACC_HUD"]["ACC_PROBLEM"] or cp_cam.vl["LKAS_HUD"]["LKAS_PROBLEM"]) + + ret.espDisabled = cp.vl["VSA_STATUS"]["ESP_DISABLED"] != 0 + + ret.wheelSpeeds = self.get_wheel_speeds( + cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"], + cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"], + cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RL"], + cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RR"], + ) + v_wheel = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.0 + + # blend in transmission speed at low speed, since it has more low speed accuracy + v_weight = interp(v_wheel, v_weight_bp, v_weight_v) + ret.vEgoRaw = (1. - v_weight) * cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] * CV.KPH_TO_MS * self.CP.wheelSpeedFactor + v_weight * v_wheel + ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) + + self.dash_speed_seen = self.dash_speed_seen or cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] > 1e-3 + if self.dash_speed_seen: + conversion = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS + ret.vEgoCluster = cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] * conversion + + ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEER_ANGLE"] + ret.steeringRateDeg = cp.vl["STEERING_SENSORS"]["STEER_ANGLE_RATE"] + + ret.leftBlinker, ret.rightBlinker = ret.leftBlinkerOn, ret.rightBlinkerOn = self.update_blinker_from_stalk( + 250, cp.vl["SCM_FEEDBACK"]["LEFT_BLINKER"], cp.vl["SCM_FEEDBACK"]["RIGHT_BLINKER"]) + ret.brakeHoldActive = cp.vl["VSA_STATUS"]["BRAKE_HOLD_ACTIVE"] == 1 + + # TODO: set for all cars + if self.CP.carFingerprint in (HONDA_BOSCH | {CAR.HONDA_CIVIC, CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_CLARITY}): + ret.parkingBrake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0 + + gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"]) + ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear, None)) + + if self.CP.enableGasInterceptorDEPRECATED: + # Same threshold as panda, equivalent to 1e-5 with previous DBC scaling + ret.gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) // 2 + ret.gasPressed = ret.gas > 492 + else: + ret.gas = cp.vl["POWERTRAIN_DATA"]["PEDAL_GAS"] + ret.gasPressed = ret.gas > 1e-5 + + ret.steeringTorque = cp.vl["STEER_STATUS"]["STEER_TORQUE_SENSOR"] + ret.steeringTorqueEps = cp.vl["STEER_MOTOR_TORQUE"]["MOTOR_TORQUE"] + ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD.get(self.CP.carFingerprint, 1200) + + if self.CP.carFingerprint in HONDA_BOSCH: + # The PCM always manages its own cruise control state, but doesn't publish it + if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS: + ret.cruiseState.nonAdaptive = cp_cam.vl["ACC_HUD"]["CRUISE_CONTROL_LABEL"] != 0 + + if not self.CP.openpilotLongitudinalControl: + # ACC_HUD is on camera bus on radarless cars + acc_hud = cp_cam.vl["ACC_HUD"] if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS else cp.vl["ACC_HUD"] + ret.cruiseState.nonAdaptive = acc_hud["CRUISE_CONTROL_LABEL"] != 0 + ret.cruiseState.standstill = acc_hud["CRUISE_SPEED"] == 252. + + conversion = get_cruise_speed_conversion(self.CP.carFingerprint, self.is_metric) + # On set, cruise set speed pulses between 254~255 and the set speed prev is set to avoid this. + ret.cruiseState.speed = self.v_cruise_pcm_prev if acc_hud["CRUISE_SPEED"] > 160.0 else acc_hud["CRUISE_SPEED"] * conversion + self.v_cruise_pcm_prev = ret.cruiseState.speed + else: + ret.cruiseState.speed = cp.vl["CRUISE"]["CRUISE_SPEED_PCM"] * CV.KPH_TO_MS + + if self.CP.flags & HondaFlags.BOSCH_ALT_BRAKE: + ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0 + else: + # brake switch has shown some single time step noise, so only considered when + # switch is on for at least 2 consecutive CAN samples + # brake switch rises earlier than brake pressed but is never 1 when in park + brake_switch_vals = cp.vl_all["POWERTRAIN_DATA"]["BRAKE_SWITCH"] + if len(brake_switch_vals): + brake_switch = cp.vl["POWERTRAIN_DATA"]["BRAKE_SWITCH"] != 0 + if len(brake_switch_vals) > 1: + self.brake_switch_prev = brake_switch_vals[-2] != 0 + self.brake_switch_active = brake_switch and self.brake_switch_prev + self.brake_switch_prev = brake_switch + ret.brakePressed = (cp.vl["POWERTRAIN_DATA"]["BRAKE_PRESSED"] != 0) or self.brake_switch_active + + ret.brake = cp.vl["VSA_STATUS"]["USER_BRAKE"] + ret.cruiseState.enabled = cp.vl["POWERTRAIN_DATA"]["ACC_STATUS"] != 0 + ret.cruiseState.available = bool(cp.vl[self.main_on_sig_msg]["MAIN_ON"]) + + # Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models + if self.CP.carFingerprint in (CAR.HONDA_PILOT, CAR.HONDA_RIDGELINE): + if ret.brake > 0.1: + ret.brakePressed = True + + if self.CP.carFingerprint in (CAR.HONDA_CIVIC, CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_CRV_5G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, + CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CRV_HYBRID, CAR.ACURA_RDX_3G, CAR.HONDA_E): + ret.brakeLightsDEPRECATED = bool(cp.vl["ACC_CONTROL"]['BRAKE_LIGHTS'] != 0 or ret.brake > 0.4) if not self.CP.openpilotLongitudinalControl else \ + bool(ret.brake > 0.4) + elif self.CP.carFingerprint in HONDA_BOSCH and self.CP.carFingerprint not in (CAR.HONDA_CIVIC, CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_CRV_5G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, + CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CRV_HYBRID, CAR.ACURA_RDX_3G, CAR.HONDA_E) and self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS: + ret.brakeLightsDEPRECATED = bool(cp.vl["ACC_CONTROL"]['BRAKE_LIGHTS'] != 0 or ret.brake > 0.4) if not self.CP.openpilotLongitudinalControl else \ + bool(ret.brake > 0.4) + + if self.CP.carFingerprint in HONDA_BOSCH: + # TODO: find the radarless AEB_STATUS bit and make sure ACCEL_COMMAND is correct to enable AEB alerts + if self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS: + ret.stockAeb = (not self.CP.openpilotLongitudinalControl) and bool(cp.vl["ACC_CONTROL"]["AEB_STATUS"] and cp.vl["ACC_CONTROL"]["ACCEL_COMMAND"] < -1e-5) + else: + aeb_sig = "COMPUTER_BRAKE_ALT" if self.CP.carFingerprint == CAR.HONDA_CLARITY else "COMPUTER_BRAKE" + ret.stockAeb = bool(cp_cam.vl["BRAKE_COMMAND"]["AEB_REQ_1"] and cp_cam.vl["BRAKE_COMMAND"][aeb_sig] > 1e-5) + + self.acc_hud = False + self.lkas_hud = False + if self.CP.carFingerprint not in HONDA_BOSCH: + ret.stockFcw = cp_cam.vl["BRAKE_COMMAND"]["FCW"] != 0 + self.acc_hud = cp_cam.vl["ACC_HUD"] + self.stock_brake = cp_cam.vl["BRAKE_COMMAND"] + if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS: + self.lkas_hud = cp_cam.vl["LKAS_HUD"] + + if self.CP.enableBsm: + # BSM messages are on B-CAN, requires a panda forwarding B-CAN messages to CAN 0 + # more info here: https://github.com/commaai/openpilot/pull/1867 + ret.leftBlindspot = cp_body.vl["BSM_STATUS_LEFT"]["BSM_ALERT"] == 1 + ret.rightBlindspot = cp_body.vl["BSM_STATUS_RIGHT"]["BSM_ALERT"] == 1 + + return ret + + def get_can_parser(self, CP): + messages = get_can_messages(CP, self.gearbox_msg) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).pt) + + @staticmethod + def get_cam_can_parser(CP): + messages = [] + + if CP.carFingerprint not in SERIAL_STEERING: + messages = [ + ("STEERING_CONTROL", 100), + ] + + if CP.carFingerprint in HONDA_BOSCH_RADARLESS: + messages += [ + ("ACC_HUD", 10), + ("LKAS_HUD", 10), + ] + + elif CP.carFingerprint not in HONDA_BOSCH: + messages += [ + ("ACC_HUD", 10), + ("LKAS_HUD", 10), + ("BRAKE_COMMAND", 50), + ] + + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).camera) + + @staticmethod + def get_body_can_parser(CP): + if CP.enableBsm: + messages = [ + ("BSM_STATUS_LEFT", 3), + ("BSM_STATUS_RIGHT", 3), + ] + bus_body = CanBus(CP).radar # B-CAN is forwarded to ACC-CAN radar side (CAN 0 on fake ethernet port) + return CANParser(DBC[CP.carFingerprint]["body"], messages, bus_body) + return None diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py new file mode 100644 index 0000000000..647d72860c --- /dev/null +++ b/selfdrive/car/honda/fingerprints.py @@ -0,0 +1,946 @@ +from cereal import car +from openpilot.selfdrive.car.honda.values import CAR + +Ecu = car.CarParams.Ecu + +# Modified FW can be identified by the second dash being replaced by a comma +# For example: `b'39990-TVA,A150\x00\x00'` +# +# TODO: vsa is "essential" for fpv2 but doesn't appear on some CAR.FREED models + + +FW_VERSIONS = { + CAR.HONDA_ACCORD: { + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-TVC-A910\x00\x00', + b'54008-TWA-A910\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-6A7-A220\x00\x00', + b'28101-6A7-A230\x00\x00', + b'28101-6A7-A320\x00\x00', + b'28101-6A7-A330\x00\x00', + b'28101-6A7-A410\x00\x00', + b'28101-6A7-A510\x00\x00', + b'28101-6A7-A610\x00\x00', + b'28101-6A7-A710\x00\x00', + b'28101-6A9-H140\x00\x00', + b'28101-6A9-H420\x00\x00', + b'28102-6B8-A560\x00\x00', + b'28102-6B8-A570\x00\x00', + b'28102-6B8-A700\x00\x00', + b'28102-6B8-A800\x00\x00', + b'28102-6B8-C560\x00\x00', + b'28102-6B8-C570\x00\x00', + b'28102-6B8-M520\x00\x00', + b'28102-6B8-R700\x00\x00', + ], + (Ecu.electricBrakeBooster, 0x18da2bf1, None): [ + b'46114-TVA-A050\x00\x00', + b'46114-TVA-A060\x00\x00', + b'46114-TVA-A080\x00\x00', + b'46114-TVA-A120\x00\x00', + b'46114-TVA-A320\x00\x00', + b'46114-TVE-H550\x00\x00', + b'46114-TVE-H560\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TVA-B040\x00\x00', + b'57114-TVA-B050\x00\x00', + b'57114-TVA-B060\x00\x00', + b'57114-TVA-B530\x00\x00', + b'57114-TVA-C040\x00\x00', + b'57114-TVA-C050\x00\x00', + b'57114-TVA-C060\x00\x00', + b'57114-TVA-C530\x00\x00', + b'57114-TVA-E520\x00\x00', + b'57114-TVE-H250\x00\x00', + b'57114-TWA-A040\x00\x00', + b'57114-TWA-A050\x00\x00', + b'57114-TWA-A530\x00\x00', + b'57114-TWA-B520\x00\x00', + b'57114-TWA-C510\x00\x00', + b'57114-TWB-H030\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TBX-H120\x00\x00', + b'39990-TVA,A150\x00\x00', + b'39990-TVA-A140\x00\x00', + b'39990-TVA-A150\x00\x00', + b'39990-TVA-A160\x00\x00', + b'39990-TVA-A340\x00\x00', + b'39990-TVA-X030\x00\x00', + b'39990-TVA-X040\x00\x00', + b'39990-TVE-H130\x00\x00', + b'39990-TWB-H120\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TBX-H230\x00\x00', + b'77959-TVA-A460\x00\x00', + b'77959-TVA-F330\x00\x00', + b'77959-TVA-H230\x00\x00', + b'77959-TVA-L420\x00\x00', + b'77959-TVA-X330\x00\x00', + b'77959-TWA-A440\x00\x00', + b'77959-TWA-L420\x00\x00', + b'77959-TWB-H220\x00\x00', + ], + (Ecu.hud, 0x18da61f1, None): [ + b'78209-TVA-A010\x00\x00', + b'78209-TVA-A110\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36802-TBX-H140\x00\x00', + b'36802-TVA-A150\x00\x00', + b'36802-TVA-A160\x00\x00', + b'36802-TVA-A170\x00\x00', + b'36802-TVA-A180\x00\x00', + b'36802-TVA-A330\x00\x00', + b'36802-TVC-A330\x00\x00', + b'36802-TVE-H070\x00\x00', + b'36802-TWA-A070\x00\x00', + b'36802-TWA-A080\x00\x00', + b'36802-TWA-A210\x00\x00', + b'36802-TWA-A330\x00\x00', + b'36802-TWB-H060\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab5f1, None): [ + b'36161-TBX-H130\x00\x00', + b'36161-TVA-A060\x00\x00', + b'36161-TVA-A330\x00\x00', + b'36161-TVC-A330\x00\x00', + b'36161-TVE-H050\x00\x00', + b'36161-TWA-A070\x00\x00', + b'36161-TWA-A330\x00\x00', + b'36161-TWB-H040\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TVA-A010\x00\x00', + b'38897-TVA-A020\x00\x00', + b'38897-TVA-A230\x00\x00', + b'38897-TVA-A240\x00\x00', + b'38897-TWA-A120\x00\x00', + b'38897-TWD-J020\x00\x00', + ], + }, + CAR.HONDA_ACCORD_4CYL_9TH_GEN: { + (Ecu.vsa, 0x18DA28F1, None): [ + b'57114-T2F-X840\x00\x00', + ], + (Ecu.fwdRadar, 0x18DAB0F1, None): [ + b'36161-T2F-A140\x00\x00', + ], + (Ecu.combinationMeter, 0x18DA60F1, None): [ + b'78109-T2F-L110\x00\x00', + ], + (Ecu.srs, 0x18DA53F1, None): [ + b'77959-T2F-A030\x00\x00', + ], + }, + CAR.HONDA_CIVIC: { + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-5CG-A040\x00\x00', + b'28101-5CG-A050\x00\x00', + b'28101-5CG-A070\x00\x00', + b'28101-5CG-A080\x00\x00', + b'28101-5CG-A320\x00\x00', + b'28101-5CG-A810\x00\x00', + b'28101-5CG-A820\x00\x00', + b'28101-5DJ-A040\x00\x00', + b'28101-5DJ-A060\x00\x00', + b'28101-5DJ-A510\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TBA-A540\x00\x00', + b'57114-TBA-A550\x00\x00', + b'57114-TBA-A560\x00\x00', + b'57114-TBA-A570\x00\x00', + b'57114-TEA-Q220\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TBA,A030\x00\x00', + b'39990-TBA-A030\x00\x00', + b'39990-TBG-A030\x00\x00', + b'39990-TEA-T020\x00\x00', + b'39990-TEG-A010\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TBA-A030\x00\x00', + b'77959-TBA-A040\x00\x00', + b'77959-TBG-A020\x00\x00', + b'77959-TBG-A030\x00\x00', + b'77959-TEA-Q820\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-TBA-A020\x00\x00', + b'36161-TBA-A030\x00\x00', + b'36161-TBA-A040\x00\x00', + b'36161-TBC-A020\x00\x00', + b'36161-TBC-A030\x00\x00', + b'36161-TED-Q320\x00\x00', + b'36161-TEG-A010\x00\x00', + b'36161-TEG-A020\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TBA-A010\x00\x00', + b'38897-TBA-A020\x00\x00', + ], + }, + CAR.HONDA_CIVIC_BOSCH: { + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-5CG-A920\x00\x00', + b'28101-5CG-AB10\x00\x00', + b'28101-5CG-C110\x00\x00', + b'28101-5CG-C220\x00\x00', + b'28101-5CG-C320\x00\x00', + b'28101-5CG-G020\x00\x00', + b'28101-5CG-L020\x00\x00', + b'28101-5CK-A130\x00\x00', + b'28101-5CK-A140\x00\x00', + b'28101-5CK-A150\x00\x00', + b'28101-5CK-C130\x00\x00', + b'28101-5CK-C140\x00\x00', + b'28101-5CK-C150\x00\x00', + b'28101-5CK-G210\x00\x00', + b'28101-5CK-J710\x00\x00', + b'28101-5CK-Q610\x00\x00', + b'28101-5DJ-A610\x00\x00', + b'28101-5DJ-A710\x00\x00', + b'28101-5DV-E330\x00\x00', + b'28101-5DV-E610\x00\x00', + b'28101-5DV-E820\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TBG-A330\x00\x00', + b'57114-TBG-A340\x00\x00', + b'57114-TBG-A350\x00\x00', + b'57114-TGG-A340\x00\x00', + b'57114-TGG-C320\x00\x00', + b'57114-TGG-G320\x00\x00', + b'57114-TGG-L320\x00\x00', + b'57114-TGG-L330\x00\x00', + b'57114-TGH-L130\x00\x00', + b'57114-TGK-T320\x00\x00', + b'57114-TGL-G330\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TBA-C020\x00\x00', + b'39990-TBA-C120\x00\x00', + b'39990-TEA-T820\x00\x00', + b'39990-TEZ-T020\x00\x00', + b'39990-TGG-A020\x00\x00', + b'39990-TGG-A120\x00\x00', + b'39990-TGG-J510\x00\x00', + b'39990-TGH-J530\x00\x00', + b'39990-TGL-E130\x00\x00', + b'39990-TGN-E120\x00\x00', + # modded EPS bosch civic + b'39990-TBA,C020\x00\x00', + b'39990-TBA,C120\x00\x00', + b'39990-TEA,T820\x00\x00', + b'39990-TEZ,T020\x00\x00', + b'39990-TGG,A020\x00\x00', + b'39990-TGG,A120\x00\x00', + b'39990-TGG,J510\x00\x00', + b'39990-TGL,E130\x00\x00', + b'39990-TGN,E120\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TBA-A060\x00\x00', + b'77959-TBG-A050\x00\x00', + b'77959-TEA-G020\x00\x00', + b'77959-TGG-A020\x00\x00', + b'77959-TGG-A030\x00\x00', + b'77959-TGG-E010\x00\x00', + b'77959-TGG-G010\x00\x00', + b'77959-TGG-G110\x00\x00', + b'77959-TGG-J320\x00\x00', + b'77959-TGG-Z820\x00\x00', + b'77959-TGH-J110\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36802-TBA-A150\x00\x00', + b'36802-TBA-A160\x00\x00', + b'36802-TFJ-G060\x00\x00', + b'36802-TGG-A050\x00\x00', + b'36802-TGG-A060\x00\x00', + b'36802-TGG-A070\x00\x00', + b'36802-TGG-A130\x00\x00', + b'36802-TGG-G040\x00\x00', + b'36802-TGG-G130\x00\x00', + b'36802-TGH-A140\x00\x00', + b'36802-TGK-Q120\x00\x00', + b'36802-TGL-G040\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab5f1, None): [ + b'36161-TBA-A130\x00\x00', + b'36161-TBA-A140\x00\x00', + b'36161-TFJ-G070\x00\x00', + b'36161-TGG-A060\x00\x00', + b'36161-TGG-A080\x00\x00', + b'36161-TGG-A120\x00\x00', + b'36161-TGG-G050\x00\x00', + b'36161-TGG-G070\x00\x00', + b'36161-TGG-G130\x00\x00', + b'36161-TGG-G140\x00\x00', + b'36161-TGH-A140\x00\x00', + b'36161-TGK-Q120\x00\x00', + b'36161-TGL-G050\x00\x00', + b'36161-TGL-G070\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TBA-A020\x00\x00', + b'38897-TBA-A110\x00\x00', + b'38897-TGH-A010\x00\x00', + ], + (Ecu.electricBrakeBooster, 0x18da2bf1, None): [ + b'39494-TGL-G030\x00\x00', + ], + }, + CAR.HONDA_CIVIC_BOSCH_DIESEL: { + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-59Y-G220\x00\x00', + b'28101-59Y-G620\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TGN-E320\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TFK-G020\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TFK-G210\x00\x00', + b'77959-TGN-G220\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36802-TFK-G130\x00\x00', + b'36802-TGN-G130\x00\x00', + ], + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-TGN-E010\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab5f1, None): [ + b'36161-TFK-G130\x00\x00', + b'36161-TGN-G130\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TBA-A020\x00\x00', + ], + }, + CAR.HONDA_CLARITY: { + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-TRW-A910\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TRW-A010\x00\x00', + b'57114-TRW-A020\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TRW-A020\x00\x00', + b'39990-TRW,A020\x00\x00', # modified firmware + b'39990,TRW,A020\x00\x00', # extra modified firmware + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TRW-A210\x00\x00', + b'77959-TRW-A220\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TRW-A010\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TRW-A020\x00\x00', + b'78109-TRW-A030\x00\x00', + ], + }, + CAR.HONDA_CRV: { + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-T1W-A230\x00\x00', + b'57114-T1W-A240\x00\x00', + b'57114-TFF-A940\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-T0A-A230\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-T1W-A830\x00\x00', + b'36161-T1W-C830\x00\x00', + b'36161-T1X-A830\x00\x00', + ], + }, + CAR.HONDA_CRV_5G: { + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-5RG-A020\x00\x00', + b'28101-5RG-A030\x00\x00', + b'28101-5RG-A040\x00\x00', + b'28101-5RG-A120\x00\x00', + b'28101-5RG-A220\x00\x00', + b'28101-5RH-A020\x00\x00', + b'28101-5RH-A030\x00\x00', + b'28101-5RH-A040\x00\x00', + b'28101-5RH-A120\x00\x00', + b'28101-5RH-A220\x00\x00', + b'28101-5RL-Q010\x00\x00', + b'28101-5RM-F010\x00\x00', + b'28101-5RM-K010\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TLA-A040\x00\x00', + b'57114-TLA-A050\x00\x00', + b'57114-TLA-A060\x00\x00', + b'57114-TLB-A830\x00\x00', + b'57114-TMC-Z040\x00\x00', + b'57114-TMC-Z050\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TLA,A040\x00\x00', + b'39990-TLA-A040\x00\x00', + b'39990-TLA-A110\x00\x00', + b'39990-TLA-A220\x00\x00', + b'39990-TME-T030\x00\x00', + b'39990-TME-T120\x00\x00', + b'39990-TMT-T010\x00\x00', + ], + (Ecu.electricBrakeBooster, 0x18da2bf1, None): [ + b'46114-TLA-A040\x00\x00', + b'46114-TLA-A050\x00\x00', + b'46114-TLA-A930\x00\x00', + b'46114-TMC-U020\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TLA-A010\x00\x00', + b'38897-TLA-A110\x00\x00', + b'38897-TNY-G010\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36802-TLA-A040\x00\x00', + b'36802-TLA-A050\x00\x00', + b'36802-TLA-A060\x00\x00', + b'36802-TLA-A070\x00\x00', + b'36802-TMC-Q040\x00\x00', + b'36802-TMC-Q070\x00\x00', + b'36802-TNY-A030\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab5f1, None): [ + b'36161-TLA-A060\x00\x00', + b'36161-TLA-A070\x00\x00', + b'36161-TLA-A080\x00\x00', + b'36161-TMC-Q020\x00\x00', + b'36161-TMC-Q030\x00\x00', + b'36161-TMC-Q040\x00\x00', + b'36161-TNY-A020\x00\x00', + b'36161-TNY-A030\x00\x00', + b'36161-TNY-A040\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TLA-A240\x00\x00', + b'77959-TLA-A250\x00\x00', + b'77959-TLA-A320\x00\x00', + b'77959-TLA-A410\x00\x00', + b'77959-TLA-A420\x00\x00', + b'77959-TLA-Q040\x00\x00', + b'77959-TLA-Z040\x00\x00', + b'77959-TMM-F040\x00\x00', + ], + }, + CAR.HONDA_CRV_EU: { + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-T1V-G920\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-T1V-G520\x00\x00', + ], + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-T1V-G010\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-5LH-E120\x00\x00', + b'28103-5LH-E100\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-T1G-G940\x00\x00', + ], + }, + CAR.HONDA_CRV_HYBRID: { + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TMB-H030\x00\x00', + b'57114-TPA-G020\x00\x00', + b'57114-TPG-A020\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TMA-H020\x00\x00', + b'39990-TPA-G030\x00\x00', + b'39990-TPG-A020\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TMA-H110\x00\x00', + b'38897-TPG-A110\x00\x00', + b'38897-TPG-A210\x00\x00', + ], + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-TMB-H510\x00\x00', + b'54008-TMB-H610\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab5f1, None): [ + b'36161-TMB-H040\x00\x00', + b'36161-TPA-E050\x00\x00', + b'36161-TPG-A030\x00\x00', + b'36161-TPG-A040\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36802-TMB-H040\x00\x00', + b'36802-TPA-E040\x00\x00', + b'36802-TPG-A020\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TLA-C320\x00\x00', + b'77959-TLA-C410\x00\x00', + b'77959-TLA-C420\x00\x00', + b'77959-TLA-G220\x00\x00', + b'77959-TLA-H240\x00\x00', + ], + }, + CAR.HONDA_FIT: { + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-T5R-L020\x00\x00', + b'57114-T5R-L220\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-T5R-C020\x00\x00', + b'39990-T5R-C030\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-T5A-J010\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-T5R-A040\x00\x00', + b'36161-T5R-A240\x00\x00', + b'36161-T5R-A520\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-T5R-A230\x00\x00', + ], + }, + CAR.HONDA_FREED: { + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TDK-J010\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TDK-J050\x00\x00', + b'39990-TDK-N020\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TDK-J120\x00\x00', + b'57114-TDK-J330\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-TDK-J070\x00\x00', + b'36161-TDK-J080\x00\x00', + b'36161-TDK-J530\x00\x00', + ], + }, + CAR.HONDA_ODYSSEY: { + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-THR-A010\x00\x00', + b'38897-THR-A020\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-THR-A020\x00\x00', + b'39990-THR-A030\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-THR-A010\x00\x00', + b'77959-THR-A110\x00\x00', + b'77959-THR-X010\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-THR-A020\x00\x00', + b'36161-THR-A030\x00\x00', + b'36161-THR-A110\x00\x00', + b'36161-THR-A720\x00\x00', + b'36161-THR-A730\x00\x00', + b'36161-THR-A810\x00\x00', + b'36161-THR-A910\x00\x00', + b'36161-THR-C010\x00\x00', + b'36161-THR-D110\x00\x00', + b'36161-THR-K020\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-5NZ-A110\x00\x00', + b'28101-5NZ-A310\x00\x00', + b'28101-5NZ-C310\x00\x00', + b'28102-5MX-A001\x00\x00', + b'28102-5MX-A600\x00\x00', + b'28102-5MX-A610\x00\x00', + b'28102-5MX-A700\x00\x00', + b'28102-5MX-A710\x00\x00', + b'28102-5MX-A900\x00\x00', + b'28102-5MX-A910\x00\x00', + b'28102-5MX-C001\x00\x00', + b'28102-5MX-C610\x00\x00', + b'28102-5MX-C910\x00\x00', + b'28102-5MX-D001\x00\x00', + b'28102-5MX-D710\x00\x00', + b'28102-5MX-K610\x00\x00', + b'28103-5NZ-A100\x00\x00', + b'28103-5NZ-A300\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-THR-A040\x00\x00', + b'57114-THR-A110\x00\x00', + ], + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-THR-A020\x00\x00', + ], + }, + CAR.HONDA_ODYSSEY_CHN: { + (Ecu.eps, 0x18da30f1, None): [ + b'39990-T6D-H220\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-T6A-J010\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-T6A-P040\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-T6A-P110\x00\x00', + ], + }, + CAR.HONDA_PILOT: { + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-TG7-A520\x00\x00', + b'54008-TG7-A530\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-5EY-A040\x00\x00', + b'28101-5EY-A050\x00\x00', + b'28101-5EY-A100\x00\x00', + b'28101-5EY-A430\x00\x00', + b'28101-5EY-A500\x00\x00', + b'28101-5EZ-A050\x00\x00', + b'28101-5EZ-A060\x00\x00', + b'28101-5EZ-A100\x00\x00', + b'28101-5EZ-A210\x00\x00', + b'28101-5EZ-A330\x00\x00', + b'28101-5EZ-A430\x00\x00', + b'28101-5EZ-A500\x00\x00', + b'28101-5EZ-A600\x00\x00', + b'28101-5EZ-A700\x00\x00', + b'28103-5EY-A110\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TG7-A030\x00\x00', + b'38897-TG7-A040\x00\x00', + b'38897-TG7-A110\x00\x00', + b'38897-TG7-A210\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TG7-A030\x00\x00', + b'39990-TG7-A040\x00\x00', + b'39990-TG7-A060\x00\x00', + b'39990-TG7-A070\x00\x00', + b'39990-TGS-A230\x00\x00', + b'39990-TGS-A320\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-TG7-A310\x00\x00', + b'36161-TG7-A520\x00\x00', + b'36161-TG7-A630\x00\x00', + b'36161-TG7-A720\x00\x00', + b'36161-TG7-A820\x00\x00', + b'36161-TG7-A930\x00\x00', + b'36161-TG7-C520\x00\x00', + b'36161-TG7-D520\x00\x00', + b'36161-TG7-D630\x00\x00', + b'36161-TG7-Y630\x00\x00', + b'36161-TG8-A410\x00\x00', + b'36161-TG8-A520\x00\x00', + b'36161-TG8-A630\x00\x00', + b'36161-TG8-A720\x00\x00', + b'36161-TG8-A830\x00\x00', + b'36161-TGS-A030\x00\x00', + b'36161-TGS-A130\x00\x00', + b'36161-TGS-A220\x00\x00', + b'36161-TGS-A320\x00\x00', + b'36161-TGT-A030\x00\x00', + b'36161-TGT-A130\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TG7-A020\x00\x00', + b'77959-TG7-A110\x00\x00', + b'77959-TG7-A210\x00\x00', + b'77959-TG7-Y210\x00\x00', + b'77959-TGS-A010\x00\x00', + b'77959-TGS-A110\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TG7-A130\x00\x00', + b'57114-TG7-A140\x00\x00', + b'57114-TG7-A230\x00\x00', + b'57114-TG7-A240\x00\x00', + b'57114-TG7-A630\x00\x00', + b'57114-TG7-A730\x00\x00', + b'57114-TG8-A140\x00\x00', + b'57114-TG8-A230\x00\x00', + b'57114-TG8-A240\x00\x00', + b'57114-TG8-A630\x00\x00', + b'57114-TG8-A730\x00\x00', + b'57114-TGS-A530\x00\x00', + b'57114-TGT-A530\x00\x00', + ], + }, + CAR.ACURA_RDX: { + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TX4-A220\x00\x00', + b'57114-TX5-A220\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-TX4-A030\x00\x00', + b'36161-TX5-A030\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TX4-B010\x00\x00', + b'77959-TX4-C010\x00\x00', + b'77959-TX4-C020\x00\x00', + ], + }, + CAR.ACURA_RDX_3G: { + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TJB-A030\x00\x00', + b'57114-TJB-A040\x00\x00', + b'57114-TJB-A120\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36802-TJB-A040\x00\x00', + b'36802-TJB-A050\x00\x00', + b'36802-TJB-A540\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab5f1, None): [ + b'36161-TJB-A040\x00\x00', + b'36161-TJB-A530\x00\x00', + ], + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-TJB-A520\x00\x00', + b'54008-TJB-A530\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28102-5YK-A610\x00\x00', + b'28102-5YK-A620\x00\x00', + b'28102-5YK-A630\x00\x00', + b'28102-5YK-A700\x00\x00', + b'28102-5YK-A711\x00\x00', + b'28102-5YK-A800\x00\x00', + b'28102-5YL-A620\x00\x00', + b'28102-5YL-A700\x00\x00', + b'28102-5YL-A711\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TJB-A040\x00\x00', + b'77959-TJB-A120\x00\x00', + b'77959-TJB-A210\x00\x00', + ], + (Ecu.electricBrakeBooster, 0x18da2bf1, None): [ + b'46114-TJB-A040\x00\x00', + b'46114-TJB-A050\x00\x00', + b'46114-TJB-A060\x00\x00', + b'46114-TJB-A120\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TJB-A040\x00\x00', + b'38897-TJB-A110\x00\x00', + b'38897-TJB-A120\x00\x00', + b'38897-TJB-A220\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TJB-A030\x00\x00', + b'39990-TJB-A040\x00\x00', + b'39990-TJB-A070\x00\x00', + b'39990-TJB-A130\x00\x00', + ], + }, + CAR.HONDA_RIDGELINE: { + (Ecu.eps, 0x18da30f1, None): [ + b'39990-T6Z-A020\x00\x00', + b'39990-T6Z-A030\x00\x00', + b'39990-T6Z-A050\x00\x00', + b'39990-T6Z-A110\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-T6Z-A020\x00\x00', + b'36161-T6Z-A310\x00\x00', + b'36161-T6Z-A420\x00\x00', + b'36161-T6Z-A520\x00\x00', + b'36161-T6Z-A620\x00\x00', + b'36161-T6Z-A720\x00\x00', + b'36161-TJZ-A120\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-T6Z-A010\x00\x00', + b'38897-T6Z-A110\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-T6Z-A020\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-T6Z-A120\x00\x00', + b'57114-T6Z-A130\x00\x00', + b'57114-T6Z-A520\x00\x00', + b'57114-T6Z-A610\x00\x00', + b'57114-TJZ-A520\x00\x00', + ], + }, + CAR.HONDA_INSIGHT: { + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TXM-A040\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36802-TXM-A070\x00\x00', + b'36802-TXM-A080\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab5f1, None): [ + b'36161-TXM-A050\x00\x00', + b'36161-TXM-A060\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TXM-A230\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TXM-A030\x00\x00', + b'57114-TXM-A040\x00\x00', + ], + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-TWA-A910\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TXM-A020\x00\x00', + ], + }, + CAR.HONDA_HRV: { + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-T7A-A010\x00\x00', + b'38897-T7A-A110\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-THX-A020\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-T7A-A040\x00\x00', + b'36161-T7A-A140\x00\x00', + b'36161-T7A-A240\x00\x00', + b'36161-T7A-C440\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-T7A-A230\x00\x00', + ], + }, + CAR.HONDA_HRV_3G: { + (Ecu.eps, 0x18da30f1, None): [ + b'39990-3M0-G110\x00\x00', + b'39990-3W0-A030\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-3M0-M110\x00\x00', + b'38897-3W1-A010\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-3M0-K840\x00\x00', + b'77959-3V0-A820\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'8S102-3M6-P030\x00\x00', + b'8S102-3W0-A060\x00\x00', + b'8S102-3W0-AB10\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-3M6-M010\x00\x00', + b'57114-3W0-A040\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-6EH-A010\x00\x00', + b'28101-6JC-M310\x00\x00', + ], + (Ecu.electricBrakeBooster, 0x18da2bf1, None): [ + b'46114-3W0-A020\x00\x00', + ], + }, + CAR.ACURA_ILX: { + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TX6-A010\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-TV9-A140\x00\x00', + b'36161-TX6-A030\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TX6-A230\x00\x00', + b'77959-TX6-C210\x00\x00', + ], + }, + CAR.HONDA_E: { + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TYF-N030\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TYF-E140\x00\x00', + ], + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-TYF-E010\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TYF-G430\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36802-TYF-E030\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab5f1, None): [ + b'36161-TYF-E020\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TYF-E030\x00\x00', + ], + }, + CAR.HONDA_CIVIC_2022: { + (Ecu.eps, 0x18da30f1, None): [ + b'39990-T24-T120\x00\x00', + b'39990-T39-A130\x00\x00', + b'39990-T43-J020\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-T20-A020\x00\x00', + b'38897-T20-A210\x00\x00', + b'38897-T20-A310\x00\x00', + b'38897-T20-A510\x00\x00', + b'38897-T21-A010\x00\x00', + b'38897-T24-Z120\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-T20-A970\x00\x00', + b'77959-T20-A980\x00\x00', + b'77959-T20-M820\x00\x00', + b'77959-T47-A940\x00\x00', + b'77959-T47-A950\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-T20-A060\x00\x00', + b'36161-T20-A070\x00\x00', + b'36161-T20-A080\x00\x00', + b'36161-T24-T070\x00\x00', + b'36161-T47-A050\x00\x00', + b'36161-T47-A070\x00\x00', + b'8S102-T20-AA10\x00\x00', + b'8S102-T47-AA10\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-T20-AB40\x00\x00', + b'57114-T24-TB30\x00\x00', + b'57114-T43-JB30\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-65D-A020\x00\x00', + b'28101-65D-A120\x00\x00', + b'28101-65H-A020\x00\x00', + b'28101-65H-A120\x00\x00', + b'28101-65J-N010\x00\x00', + ], + }, +} diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py new file mode 100644 index 0000000000..7c3de26cea --- /dev/null +++ b/selfdrive/car/honda/hondacan.py @@ -0,0 +1,218 @@ +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car import CanBusBase +from openpilot.selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, CAR, CarControllerParams + +# CAN bus layout with relay +# 0 = ACC-CAN - radar side +# 1 = F-CAN B - powertrain +# 2 = ACC-CAN - camera side +# 3 = F-CAN A - OBDII port + + +class CanBus(CanBusBase): + def __init__(self, CP=None, fingerprint=None) -> None: + # use fingerprint if specified + super().__init__(CP if fingerprint is None else None, fingerprint) + + if CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS): + self._pt, self._radar = self.offset + 1, self.offset + else: + self._pt, self._radar = self.offset, self.offset + 1 + + @property + def pt(self) -> int: + return self._pt + + @property + def radar(self) -> int: + return self._radar + + @property + def camera(self) -> int: + return self.offset + 2 + + +def get_lkas_cmd_bus(CAN, car_fingerprint, radar_disabled=False): + no_radar = car_fingerprint in HONDA_BOSCH_RADARLESS + if radar_disabled or no_radar: + # when radar is disabled, steering commands are sent directly to powertrain bus + return CAN.pt + # normally steering commands are sent to radar, which forwards them to powertrain bus + return 0 + + +def get_cruise_speed_conversion(car_fingerprint: str, is_metric: bool) -> float: + # on certain cars, CRUISE_SPEED changes to imperial with car's unit setting + return CV.MPH_TO_MS if car_fingerprint in HONDA_BOSCH_RADARLESS and not is_metric else CV.KPH_TO_MS + + +def create_brake_command(packer, CAN, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, car_fingerprint, stock_brake): + # TODO: do we loose pressure if we keep pump off for long? + brakelights = apply_brake > 0 + brake_rq = apply_brake > 0 + pcm_fault_cmd = False + + values = { + "CRUISE_OVERRIDE": pcm_override, + "CRUISE_FAULT_CMD": pcm_fault_cmd, + "CRUISE_CANCEL_CMD": pcm_cancel_cmd, + "COMPUTER_BRAKE_REQUEST": brake_rq, + "SET_ME_1": 1, + "BRAKE_LIGHTS": brakelights, + "CHIME": stock_brake["CHIME"] if fcw else 0, # send the chime for stock fcw + "FCW": fcw << 1, # TODO: Why are there two bits for fcw? + "AEB_REQ_1": 0, + "AEB_REQ_2": 0, + "AEB_STATUS": 0, + } + + if car_fingerprint == CAR.HONDA_CLARITY: + values["COMPUTER_BRAKE_ALT"] = apply_brake + values["BRAKE_PUMP_REQUEST_ALT"] = apply_brake > 0 + else: + values["COMPUTER_BRAKE"] = apply_brake + values["BRAKE_PUMP_REQUEST"] = pump_on + + return packer.make_can_msg("BRAKE_COMMAND", CAN.pt, values) + + +def create_acc_commands(packer, CAN, enabled, active, accel, gas, stopping_counter, car_fingerprint): + commands = [] + min_gas_accel = CarControllerParams.BOSCH_GAS_LOOKUP_BP[0] + + control_on = 5 if enabled else 0 + gas_command = gas if active and accel > min_gas_accel else -30000 + accel_command = accel if active else 0 + braking = 1 if active and accel < min_gas_accel else 0 + standstill = 1 if active and stopping_counter > 0 else 0 + standstill_release = 1 if active and stopping_counter == 0 else 0 + + # common ACC_CONTROL values + acc_control_values = { + 'ACCEL_COMMAND': accel_command, + 'STANDSTILL': standstill, + } + + if car_fingerprint in HONDA_BOSCH_RADARLESS: + acc_control_values.update({ + "CONTROL_ON": enabled, + "IDLESTOP_ALLOW": stopping_counter > 200, # allow idle stop after 4 seconds (50 Hz) + }) + else: + acc_control_values.update({ + # setting CONTROL_ON causes car to set POWERTRAIN_DATA->ACC_STATUS = 1 + "CONTROL_ON": control_on, + "GAS_COMMAND": gas_command, # used for gas + "BRAKE_LIGHTS": braking, + "BRAKE_REQUEST": braking, + "STANDSTILL_RELEASE": standstill_release, + }) + acc_control_on_values = { + "SET_TO_3": 0x03, + "CONTROL_ON": enabled, + "SET_TO_FF": 0xff, + "SET_TO_75": 0x75, + "SET_TO_30": 0x30, + } + commands.append(packer.make_can_msg("ACC_CONTROL_ON", CAN.pt, acc_control_on_values)) + + commands.append(packer.make_can_msg("ACC_CONTROL", CAN.pt, acc_control_values)) + return commands + + +def create_steering_control(packer, CAN, apply_steer, lkas_active, car_fingerprint, radar_disabled): + values = { + "STEER_TORQUE": apply_steer if lkas_active else 0, + "STEER_TORQUE_REQUEST": lkas_active, + } + bus = get_lkas_cmd_bus(CAN, car_fingerprint, radar_disabled) + return packer.make_can_msg("STEERING_CONTROL", bus, values) + + +def create_bosch_supplemental_1(packer, CAN, car_fingerprint): + # non-active params + values = { + "SET_ME_X04": 0x04, + "SET_ME_X80": 0x80, + "SET_ME_X10": 0x10, + } + bus = get_lkas_cmd_bus(CAN, car_fingerprint) + return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values) + + +def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_hud, lkas_hud, lat_active): + commands = [] + radar_disabled = CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl + bus_lkas = get_lkas_cmd_bus(CAN, CP.carFingerprint, radar_disabled) + + if CP.openpilotLongitudinalControl: + acc_hud_values = { + 'CRUISE_SPEED': hud.v_cruise, + 'ENABLE_MINI_CAR': 1 if enabled else 0, + # only moves the lead car without ACC_ON + 'HUD_DISTANCE': (hud.lead_distance_bars + 1) % 4, # wraps to 0 at 4 bars + 'IMPERIAL_UNIT': int(not is_metric), + 'HUD_LEAD': 2 if enabled and hud.lead_visible else 1 if enabled else 0, + 'SET_ME_X01_2': 1, + } + + if CP.carFingerprint in HONDA_BOSCH: + acc_hud_values['ACC_ON'] = int(enabled) + acc_hud_values['FCM_OFF'] = 1 + acc_hud_values['FCM_OFF_2'] = 1 + else: + # Shows the distance bars, TODO: stock camera shows updates temporarily while disabled + acc_hud_values['ACC_ON'] = int(enabled) + acc_hud_values['PCM_SPEED'] = pcm_speed * CV.MS_TO_KPH + acc_hud_values['PCM_GAS'] = hud.pcm_accel + acc_hud_values['SET_ME_X01'] = 1 + acc_hud_values['FCM_OFF'] = acc_hud['FCM_OFF'] + acc_hud_values['FCM_OFF_2'] = acc_hud['FCM_OFF_2'] + acc_hud_values['FCM_PROBLEM'] = acc_hud['FCM_PROBLEM'] + acc_hud_values['ICONS'] = acc_hud['ICONS'] + commands.append(packer.make_can_msg("ACC_HUD", CAN.pt, acc_hud_values)) + + lkas_hud_values = { + 'SET_ME_X41': 0x41, + 'STEERING_REQUIRED': hud.steer_required, + 'SOLID_LANES': lat_active, + 'DASHED_LANES': hud.dashed_lanes, + 'BEEP': 0, + } + + if CP.carFingerprint in HONDA_BOSCH_RADARLESS: + lkas_hud_values['LANE_LINES'] = 3 + lkas_hud_values['DASHED_LANES'] = hud.lanes_visible + # car likely needs to see LKAS_PROBLEM fall within a specific time frame, so forward from camera + lkas_hud_values['LKAS_PROBLEM'] = lkas_hud['LKAS_PROBLEM'] + + if not (CP.flags & HondaFlags.BOSCH_EXT_HUD): + lkas_hud_values['SET_ME_X48'] = 0x48 + + if CP.flags & HondaFlags.BOSCH_EXT_HUD and not CP.openpilotLongitudinalControl: + commands.append(packer.make_can_msg('LKAS_HUD_A', bus_lkas, lkas_hud_values)) + commands.append(packer.make_can_msg('LKAS_HUD_B', bus_lkas, lkas_hud_values)) + else: + commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values)) + + if radar_disabled: + radar_hud_values = { + 'CMBS_OFF': 0x01, + 'SET_TO_1': 0x01, + } + commands.append(packer.make_can_msg('RADAR_HUD', CAN.pt, radar_hud_values)) + + if CP.carFingerprint == CAR.HONDA_CIVIC_BOSCH: + commands.append(packer.make_can_msg("LEGACY_BRAKE_COMMAND", CAN.pt, {})) + + return commands + + +def spam_buttons_command(packer, CAN, button_val, car_fingerprint): + values = { + 'CRUISE_BUTTONS': button_val, + 'CRUISE_SETTING': 0, + } + # send buttons to camera on radarless cars + bus = CAN.camera if car_fingerprint in HONDA_BOSCH_RADARLESS else CAN.pt + return packer.make_can_msg("SCM_BUTTONS", bus, values) diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py new file mode 100755 index 0000000000..72a1989c9a --- /dev/null +++ b/selfdrive/car/honda/interface.py @@ -0,0 +1,336 @@ +#!/usr/bin/env python3 +from cereal import car +from panda import Panda +from openpilot.common.conversions import Conversions as CV +from openpilot.common.numpy_fast import interp +from openpilot.selfdrive.car.honda.hondacan import CanBus +from openpilot.selfdrive.car.honda.values import CarControllerParams, CruiseButtons, CruiseSettings, HondaFlags, CAR, HONDA_BOSCH, \ + HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS +from openpilot.selfdrive.car import create_button_events, get_safety_config +from openpilot.selfdrive.car.interfaces import CarInterfaceBase +from openpilot.selfdrive.car.disable_ecu import disable_ecu + + +ButtonType = car.CarState.ButtonEvent.Type +EventName = car.CarEvent.EventName +GearShifter = car.CarState.GearShifter +TransmissionType = car.CarParams.TransmissionType +BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise, + CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel} +SETTINGS_BUTTONS_DICT = {CruiseSettings.DISTANCE: ButtonType.gapAdjustCruise, CruiseSettings.LKAS: ButtonType.altButton1} + + +class CarInterface(CarInterfaceBase): + @staticmethod + def get_pid_accel_limits(CP, current_speed, cruise_speed): + if CP.carFingerprint in HONDA_BOSCH: + return CarControllerParams.BOSCH_ACCEL_MIN, CarControllerParams.BOSCH_ACCEL_MAX + elif CP.enableGasInterceptorDEPRECATED: + return CarControllerParams.NIDEC_ACCEL_MIN, CarControllerParams.NIDEC_ACCEL_MAX + else: + # NIDECs don't allow acceleration near cruise_speed, + # so limit limits of pid to prevent windup + ACCEL_MAX_VALS = [CarControllerParams.NIDEC_ACCEL_MAX, 0.2] + ACCEL_MAX_BP = [cruise_speed - 2., cruise_speed - .2] + return CarControllerParams.NIDEC_ACCEL_MIN, interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS) + + @staticmethod + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): + ret.carName = "honda" + + CAN = CanBus(ret, fingerprint) + + if candidate in HONDA_BOSCH: + ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaBosch)] + ret.radarUnavailable = True + # Disable the radar and let openpilot control longitudinal + # WARNING: THIS DISABLES AEB! + # If Bosch radarless, this blocks ACC messages from the camera + ret.experimentalLongitudinalAvailable = True + ret.openpilotLongitudinalControl = experimental_long + ret.pcmCruise = not ret.openpilotLongitudinalControl + ret.customStockLongAvailable = True + else: + ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaNidec)] + ret.enableGasInterceptorDEPRECATED = 0x201 in fingerprint[CAN.pt] + ret.openpilotLongitudinalControl = True + + ret.pcmCruise = not ret.enableGasInterceptorDEPRECATED + + if candidate == CAR.HONDA_CRV_5G: + ret.enableBsm = 0x12f8bfa7 in fingerprint[CAN.radar] + + # Detect Bosch cars with new HUD msgs + if any(0x33DA in f for f in fingerprint.values()): + ret.flags |= HondaFlags.BOSCH_EXT_HUD.value + + # Accord ICE 1.5T CVT has different gearbox message + if candidate == CAR.HONDA_ACCORD and 0x191 in fingerprint[CAN.pt]: + ret.transmissionType = TransmissionType.cvt + + # Certain Hondas have an extra steering sensor at the bottom of the steering rack, + # which improves controls quality as it removes the steering column torsion from feedback. + # Tire stiffness factor fictitiously lower if it includes the steering column torsion effect. + # For modeling details, see p.198-200 in "The Science of Vehicle Dynamics (2014), M. Guiggiani" + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0], [0]] + ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] + ret.lateralTuning.pid.kf = 0.00006 # conservative feed-forward + + if candidate in HONDA_BOSCH: + ret.longitudinalActuatorDelay = 0.5 # s + if candidate in HONDA_BOSCH_RADARLESS: + ret.stopAccel = CarControllerParams.BOSCH_ACCEL_MIN # stock uses -4.0 m/s^2 once stopped but limited by safety model + else: + # default longitudinal tuning for all hondas + ret.longitudinalTuning.kiBP = [0., 5., 35.] + ret.longitudinalTuning.kiV = [1.2, 0.8, 0.5] + + eps_modified = False + for fw in car_fw: + if fw.ecu == "eps" and b"," in fw.fwVersion: + eps_modified = True + + if candidate == CAR.HONDA_CIVIC: + if eps_modified: + # stock request input values: 0x0000, 0x00DE, 0x014D, 0x01EF, 0x0290, 0x0377, 0x0454, 0x0610, 0x06EE + # stock request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x1680, 0x1680 + # modified request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x2880, 0x3180 + # stock filter output values: 0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108 + # modified filter output values: 0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0400, 0x0480 + # note: max request allowed is 4096, but request is capped at 3840 in firmware, so modifications result in 2x max + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 8000], [0, 2560, 3840]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]] + else: + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]] + + elif candidate in (CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CIVIC_2022): + if eps_modified: + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2564, 8000], [0, 2564, 3840]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]] # 2.5x Modded EPS + else: + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] + + elif candidate == CAR.HONDA_ACCORD: + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end + + if eps_modified: + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]] + else: + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] + + elif candidate == CAR.ACURA_ILX: + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] # TODO: determine if there is a dead zone at the top end + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] + + elif candidate in (CAR.HONDA_CRV, CAR.HONDA_CRV_EU): + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] + ret.wheelSpeedFactor = 1.025 + + elif candidate == CAR.HONDA_CRV_5G: + if eps_modified: + # stock request input values: 0x0000, 0x00DB, 0x01BB, 0x0296, 0x0377, 0x0454, 0x0532, 0x0610, 0x067F + # stock request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x129A, 0x134D, 0x1400 + # modified request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x1ACD, 0x239A, 0x2800 + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 10000], [0, 2560, 3840]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]] + else: + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]] + ret.wheelSpeedFactor = 1.025 + + elif candidate == CAR.HONDA_CRV_HYBRID: + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] + ret.wheelSpeedFactor = 1.025 + + elif candidate == CAR.HONDA_FIT: + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]] + + elif candidate == CAR.HONDA_FREED: + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]] + + elif candidate in (CAR.HONDA_HRV, CAR.HONDA_HRV_3G): + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] + if candidate == CAR.HONDA_HRV: + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]] + ret.wheelSpeedFactor = 1.025 + else: + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] # TODO: can probably use some tuning + + elif candidate == CAR.ACURA_RDX: + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] + + elif candidate == CAR.ACURA_RDX_3G: + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]] + + elif candidate == CAR.HONDA_ACCORD_4CYL_9TH_GEN: + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 239], [0, 239]] + ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.,20], [0.,20]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.4,0.3], [0,0]] + + elif candidate in (CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN): + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]] + if candidate == CAR.HONDA_ODYSSEY_CHN: + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]] # TODO: determine if there is a dead zone at the top end + else: + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end + + elif candidate == CAR.HONDA_PILOT: + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]] + + elif candidate == CAR.HONDA_RIDGELINE: + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]] + + elif candidate == CAR.HONDA_INSIGHT: + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] + + elif candidate == CAR.HONDA_E: + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning + + elif candidate == CAR.HONDA_CLARITY: + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_CLARITY + ret.mass = 4052. * CV.LB_TO_KG + ret.wheelbase = 2.75 + ret.centerToFront = ret.wheelbase * 0.4 + ret.steerRatio = 16.50 # 12.72 is end-to-end spec + if eps_modified: + for fw in car_fw: + if fw.ecu == "eps" and b"-" not in fw.fwVersion and b"," in fw.fwVersion: + ret.lateralTuning.pid.kf = 0.00004 + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 0xA00, 0x3C00], [0, 2560, 3840]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.1575], [0.05175]] + elif fw.ecu == "eps" and b"-" in fw.fwVersion and b"," in fw.fwVersion: + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 0xA00, 0x2800], [0, 2560, 3840]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]] + else: + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] + tire_stiffness_factor = 1. + + else: + raise ValueError(f"unsupported car {candidate}") + + # These cars use alternate user brake msg (0x1BE) + # TODO: Only detect feature for Accord/Accord Hybrid, not all Bosch DBCs have BRAKE_MODULE + if 0x1BE in fingerprint[CAN.pt] and candidate in (CAR.HONDA_ACCORD, CAR.HONDA_HRV_3G): + ret.flags |= HondaFlags.BOSCH_ALT_BRAKE.value + + if ret.flags & HondaFlags.BOSCH_ALT_BRAKE: + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_ALT_BRAKE + + # These cars use alternate SCM messages (SCM_FEEDBACK AND SCM_BUTTON) + if candidate in HONDA_NIDEC_ALT_SCM_MESSAGES: + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_NIDEC_ALT + + if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH: + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_BOSCH_LONG + + if ret.enableGasInterceptorDEPRECATED and candidate not in HONDA_BOSCH: + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_GAS_INTERCEPTOR + + if candidate in HONDA_BOSCH_RADARLESS: + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_RADARLESS + + # min speed to enable ACC. if car can do stop and go, then set enabling speed + # to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not + # conflict with PCM acc + ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.HONDA_CIVIC, CAR.HONDA_CLARITY}) or ret.enableGasInterceptorDEPRECATED + ret.minEnableSpeed = -1. if ret.autoResumeSng else 25.5 * CV.MPH_TO_MS + + ret.steerActuatorDelay = 0.1 + ret.steerLimitTimer = 0.8 + + return ret + + @staticmethod + def init(CP, logcan, sendcan): + if CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl: + disable_ecu(logcan, sendcan, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03') + + # returns a car.CarState + def _update(self, c): + ret = self.CS.update(self.cp, self.cp_cam, self.cp_body) + + self.CS.button_events = [ + *create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT), + *create_button_events(self.CS.cruise_setting, self.CS.prev_cruise_setting, SETTINGS_BUTTONS_DICT), + ] + + self.CS.mads_enabled = self.get_sp_cruise_main_state(ret) + + self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, c.vCruise, self.CS.accEnabled) + + if ret.cruiseState.available: + if self.enable_mads: + if not self.CS.prev_mads_enabled and self.CS.mads_enabled: + self.CS.madsEnabled = True + if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events): + self.CS.madsEnabled = not self.CS.madsEnabled + self.CS.madsEnabled = self.get_acc_mads(ret, self.CS.madsEnabled) + else: + self.CS.madsEnabled = False + + min_enable_speed_pcm = self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed + + if not self.CP.pcmCruise or min_enable_speed_pcm or not self.CP.pcmCruiseSpeed: + if any(b.type == ButtonType.cancel for b in self.CS.button_events): + self.get_sp_cancel_cruise_state() + if self.get_sp_pedal_disengage(ret): + self.get_sp_cancel_cruise_state() + ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads or min_enable_speed_pcm \ + else False if self.CP.pcmCruise \ + else self.CS.accEnabled + + if min_enable_speed_pcm: + if ret.gasPressed and not ret.cruiseState.enabled: + self.CS.accEnabled = False + if ret.cruiseState.enabled and not self.CS.out.cruiseState.enabled: + self.CS.accEnabled = True + elif not ret.cruiseState.enabled: + self.CS.accEnabled = False + + ret = self.get_sp_common_state(ret) + + ret.buttonEvents = [ + *self.CS.button_events, + *self.button_events.create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled) # MADS BUTTON + ] + + # events + events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low], pcm_enable=False) + if self.CP.pcmCruise and ret.vEgo < self.CP.minEnableSpeed and not self.CS.madsEnabled: + events.add(EventName.belowEngageSpeed) + + events, ret = self.create_sp_events(ret, events) + + #if self.CP.pcmCruise: + # # we engage when pcm is active (rising edge) + # if ret.cruiseState.enabled and not self.CS.out.cruiseState.enabled: + # events.add(EventName.pcmEnable) + # elif not ret.cruiseState.enabled and (c.actuators.accel >= 0. or not self.CP.openpilotLongitudinalControl): + # # it can happen that car cruise disables while comma system is enabled: need to + # # keep braking if needed or if the speed is very low + # if ret.vEgo < self.CP.minEnableSpeed + 2.: + # # non loud alert if cruise disables below 25mph as expected (+ a little margin) + # events.add(EventName.speedTooLow) + # else: + # events.add(EventName.cruiseDisabled) + if self.CS.CP.minEnableSpeed > 0 and ret.vEgo < 0.001: + events.add(EventName.manualRestart) + + ret.customStockLong = self.update_custom_stock_long() + + ret.events = events.to_msg() + + return ret diff --git a/selfdrive/car/honda/radar_interface.py b/selfdrive/car/honda/radar_interface.py new file mode 100755 index 0000000000..8090f8e03e --- /dev/null +++ b/selfdrive/car/honda/radar_interface.py @@ -0,0 +1,84 @@ +#!/usr/bin/env python3 +from cereal import car +from opendbc.can.parser import CANParser +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase +from openpilot.selfdrive.car.honda.values import DBC + + +def _create_nidec_can_parser(car_fingerprint): + radar_messages = [0x400] + list(range(0x430, 0x43A)) + list(range(0x440, 0x446)) + messages = [(m, 20) for m in radar_messages] + return CANParser(DBC[car_fingerprint]['radar'], messages, 1) + + +class RadarInterface(RadarInterfaceBase): + def __init__(self, CP): + super().__init__(CP) + self.track_id = 0 + self.radar_fault = False + self.radar_wrong_config = False + self.radar_off_can = CP.radarUnavailable + self.radar_ts = CP.radarTimeStep + + self.delay = int(round(0.1 / CP.radarTimeStep)) # 0.1s delay of radar + + # Nidec + if self.radar_off_can: + self.rcp = None + else: + self.rcp = _create_nidec_can_parser(CP.carFingerprint) + self.trigger_msg = 0x445 + self.updated_messages = set() + + def update(self, can_strings): + # in Bosch radar and we are only steering for now, so sleep 0.05s to keep + # radard at 20Hz and return no points + if self.radar_off_can: + return super().update(None) + + vls = self.rcp.update_strings(can_strings) + self.updated_messages.update(vls) + + if self.trigger_msg not in self.updated_messages: + return None + + rr = self._update(self.updated_messages) + self.updated_messages.clear() + return rr + + def _update(self, updated_messages): + ret = car.RadarData.new_message() + + for ii in sorted(updated_messages): + cpt = self.rcp.vl[ii] + if ii == 0x400: + # check for radar faults + self.radar_fault = cpt['RADAR_STATE'] != 0x79 + self.radar_wrong_config = cpt['RADAR_STATE'] == 0x69 + elif cpt['LONG_DIST'] < 255: + if ii not in self.pts or cpt['NEW_TRACK']: + self.pts[ii] = car.RadarData.RadarPoint.new_message() + self.pts[ii].trackId = self.track_id + self.track_id += 1 + self.pts[ii].dRel = cpt['LONG_DIST'] # from front of car + self.pts[ii].yRel = -cpt['LAT_DIST'] # in car frame's y axis, left is positive + self.pts[ii].vRel = cpt['REL_SPEED'] + self.pts[ii].aRel = float('nan') + self.pts[ii].yvRel = float('nan') + self.pts[ii].measured = True + else: + if ii in self.pts: + del self.pts[ii] + + errors = [] + if not self.rcp.can_valid: + errors.append("canError") + if self.radar_fault: + errors.append("fault") + if self.radar_wrong_config: + errors.append("wrongConfig") + ret.errors = errors + + ret.points = list(self.pts.values()) + + return ret diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py new file mode 100644 index 0000000000..37dd20ad2d --- /dev/null +++ b/selfdrive/car/honda/values.py @@ -0,0 +1,352 @@ +from dataclasses import dataclass +from enum import Enum, IntFlag + +from cereal import car +from openpilot.common.conversions import Conversions as CV +from panda.python import uds +from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, dbc_dict +from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16 + +Ecu = car.CarParams.Ecu +VisualAlert = car.CarControl.HUDControl.VisualAlert + + +class CarControllerParams: + # Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we + # perform the closed loop control, and might need some + # to apply some more braking if we're on a downhill slope. + # Our controller should still keep the 2 second average above + # -3.5 m/s^2 as per planner limits + NIDEC_ACCEL_MIN = -4.0 # m/s^2 + NIDEC_ACCEL_MAX = 1.6 # m/s^2, lower than 2.0 m/s^2 for tuning reasons + + NIDEC_ACCEL_LOOKUP_BP = [-1., 0., .6] + NIDEC_ACCEL_LOOKUP_V = [-4.8, 0., 2.0] + + NIDEC_MAX_ACCEL_V = [0.5, 2.4, 1.4, 0.6] + NIDEC_MAX_ACCEL_BP = [0.0, 4.0, 10., 20.] + + NIDEC_GAS_MAX = 198 # 0xc6 + NIDEC_BRAKE_MAX = 1024 // 4 + + BOSCH_ACCEL_MIN = -3.5 # m/s^2 + BOSCH_ACCEL_MAX = 2.0 # m/s^2 + + BOSCH_GAS_LOOKUP_BP = [-0.2, 2.0] # 2m/s^2 + BOSCH_GAS_LOOKUP_V = [0, 1600] + + def __init__(self, CP): + self.STEER_MAX = CP.lateralParams.torqueBP[-1] + # mirror of list (assuming first item is zero) for interp of signed request values + assert(CP.lateralParams.torqueBP[0] == 0) + assert(CP.lateralParams.torqueBP[0] == 0) + self.STEER_LOOKUP_BP = [v * -1 for v in CP.lateralParams.torqueBP][1:][::-1] + list(CP.lateralParams.torqueBP) + self.STEER_LOOKUP_V = [v * -1 for v in CP.lateralParams.torqueV][1:][::-1] + list(CP.lateralParams.torqueV) + + +class HondaFlags(IntFlag): + # Detected flags + # Bosch models with alternate set of LKAS_HUD messages + BOSCH_EXT_HUD = 1 + BOSCH_ALT_BRAKE = 2 + + # Static flags + BOSCH = 4 + BOSCH_RADARLESS = 8 + + NIDEC = 16 + NIDEC_ALT_PCM_ACCEL = 32 + NIDEC_ALT_SCM_MESSAGES = 64 + + +# Car button codes +class CruiseButtons: + RES_ACCEL = 4 + DECEL_SET = 3 + CANCEL = 2 + MAIN = 1 + + +class CruiseSettings: + DISTANCE = 3 + LKAS = 1 + + +# See dbc files for info on values +VISUAL_HUD = { + VisualAlert.none: 0, + VisualAlert.fcw: 1, + VisualAlert.steerRequired: 1, + VisualAlert.ldw: 1, + VisualAlert.brakePressed: 10, + VisualAlert.wrongGear: 6, + VisualAlert.seatbeltUnbuckled: 5, + VisualAlert.speedTooHigh: 8 +} + + +@dataclass +class HondaCarDocs(CarDocs): + package: str = "Honda Sensing" + + def init_make(self, CP: car.CarParams): + if CP.flags & HondaFlags.BOSCH: + self.car_parts = CarParts.common([CarHarness.bosch_b]) if CP.flags & HondaFlags.BOSCH_RADARLESS else CarParts.common([CarHarness.bosch_a]) + else: + self.car_parts = CarParts.common([CarHarness.nidec]) + + +class Footnote(Enum): + CIVIC_DIESEL = CarFootnote( + "2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.", + Column.FSR_STEERING) + ACCORD_NIDEC = CarFootnote( + "openpilot operates above 25mph for 9th Generation Accord 4CYL, 6CYL and Hybrid which don't have Low-Speed Follow.", + Column.FSR_LONGITUDINAL) + SERIAL_STEERING = CarFootnote( + "9th Generation model-years have ALC data over serial lines and require third party hardware to " + + "interface with openpilot. For more information, " + + "see mlocoteta's GitHub.", + Column.HARDWARE) + + +class HondaBoschPlatformConfig(PlatformConfig): + def init(self): + self.flags |= HondaFlags.BOSCH + + +class HondaNidecPlatformConfig(PlatformConfig): + def init(self): + self.flags |= HondaFlags.NIDEC + + +class CAR(Platforms): + # Bosch Cars + HONDA_ACCORD = HondaBoschPlatformConfig( + [ + HondaCarDocs("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS), + HondaCarDocs("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS), + HondaCarDocs("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), + ], + # steerRatio: 11.82 is spec end-to-end + CarSpecs(mass=3279 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=16.33, centerToFrontRatio=0.39, tireStiffnessFactor=0.8467), + dbc_dict('honda_accord_2018_can_generated', None), + ) + HONDA_CIVIC_BOSCH = HondaBoschPlatformConfig( + [ + HondaCarDocs("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", + footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS), + HondaCarDocs("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS), + ], + CarSpecs(mass=1326, wheelbase=2.7, steerRatio=15.38, centerToFrontRatio=0.4), # steerRatio: 10.93 is end-to-end spec + dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None), + ) + HONDA_CIVIC_BOSCH_DIESEL = HondaBoschPlatformConfig( + [], # don't show in docs + HONDA_CIVIC_BOSCH.specs, + dbc_dict('honda_accord_2018_can_generated', None), + ) + HONDA_CIVIC_2022 = HondaBoschPlatformConfig( + [ + HondaCarDocs("Honda Civic 2022-24", "All", video_link="https://youtu.be/ytiOT5lcp6Q"), + HondaCarDocs("Honda Civic Hatchback 2022-24", "All", video_link="https://youtu.be/ytiOT5lcp6Q"), + ], + HONDA_CIVIC_BOSCH.specs, + dbc_dict('honda_civic_ex_2022_can_generated', None), + flags=HondaFlags.BOSCH_RADARLESS, + ) + HONDA_CRV_5G = HondaBoschPlatformConfig( + [HondaCarDocs("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS)], + # steerRatio: 12.3 is spec end-to-end + CarSpecs(mass=3410 * CV.LB_TO_KG, wheelbase=2.66, steerRatio=16.0, centerToFrontRatio=0.41, tireStiffnessFactor=0.677), + dbc_dict('honda_crv_ex_2017_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'), + flags=HondaFlags.BOSCH_ALT_BRAKE, + ) + HONDA_CRV_HYBRID = HondaBoschPlatformConfig( + [HondaCarDocs("Honda CR-V Hybrid 2017-21", min_steer_speed=12. * CV.MPH_TO_MS)], + # mass: mean of 4 models in kg, steerRatio: 12.3 is spec end-to-end + CarSpecs(mass=1667, wheelbase=2.66, steerRatio=16, centerToFrontRatio=0.41, tireStiffnessFactor=0.677), + dbc_dict('honda_accord_2018_can_generated', None), + ) + HONDA_HRV_3G = HondaBoschPlatformConfig( + [HondaCarDocs("Honda HR-V 2023", "All")], + CarSpecs(mass=3125 * CV.LB_TO_KG, wheelbase=2.61, steerRatio=15.2, centerToFrontRatio=0.41, tireStiffnessFactor=0.5), + dbc_dict('honda_civic_ex_2022_can_generated', None), + flags=HondaFlags.BOSCH_RADARLESS, + ) + ACURA_RDX_3G = HondaBoschPlatformConfig( + [HondaCarDocs("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS)], + CarSpecs(mass=4068 * CV.LB_TO_KG, wheelbase=2.75, steerRatio=11.95, centerToFrontRatio=0.41, tireStiffnessFactor=0.677), # as spec + dbc_dict('acura_rdx_2020_can_generated', None), + flags=HondaFlags.BOSCH_ALT_BRAKE, + ) + HONDA_INSIGHT = HondaBoschPlatformConfig( + [HondaCarDocs("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS)], + CarSpecs(mass=2987 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.0, centerToFrontRatio=0.39, tireStiffnessFactor=0.82), # as spec + dbc_dict('honda_insight_ex_2019_can_generated', None), + ) + HONDA_E = HondaBoschPlatformConfig( + [HondaCarDocs("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS)], + CarSpecs(mass=3338.8 * CV.LB_TO_KG, wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71, tireStiffnessFactor=0.82), + dbc_dict('acura_rdx_2020_can_generated', None), + ) + + # Nidec Cars + ACURA_ILX = HondaNidecPlatformConfig( + [HondaCarDocs("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS)], + CarSpecs(mass=3095 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=18.61, centerToFrontRatio=0.37, tireStiffnessFactor=0.72), # 15.3 is spec end-to-end + dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), + flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, + ) + HONDA_CRV = HondaNidecPlatformConfig( + [HondaCarDocs("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS)], + CarSpecs(mass=3572 * CV.LB_TO_KG, wheelbase=2.62, steerRatio=16.89, centerToFrontRatio=0.41, tireStiffnessFactor=0.444), # as spec + dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'), + flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, + ) + HONDA_CRV_EU = HondaNidecPlatformConfig( + [], # Euro version of CRV Touring, don't show in docs + HONDA_CRV.specs, + dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'), + flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, + ) + HONDA_FIT = HondaNidecPlatformConfig( + [HondaCarDocs("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS)], + CarSpecs(mass=2644 * CV.LB_TO_KG, wheelbase=2.53, steerRatio=13.06, centerToFrontRatio=0.39, tireStiffnessFactor=0.75), + dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), + flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, + ) + HONDA_FREED = HondaNidecPlatformConfig( + [HondaCarDocs("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS)], + CarSpecs(mass=3086. * CV.LB_TO_KG, wheelbase=2.74, steerRatio=13.06, centerToFrontRatio=0.39, tireStiffnessFactor=0.75), # mostly copied from FIT + dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), + flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, + ) + HONDA_HRV = HondaNidecPlatformConfig( + [HondaCarDocs("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS)], + HONDA_HRV_3G.specs, + dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), + flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, + ) + HONDA_ODYSSEY = HondaNidecPlatformConfig( + [HondaCarDocs("Honda Odyssey 2018-20")], + CarSpecs(mass=1900, wheelbase=3.0, steerRatio=14.35, centerToFrontRatio=0.41, tireStiffnessFactor=0.82), + dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'), + flags=HondaFlags.NIDEC_ALT_PCM_ACCEL, + ) + HONDA_ODYSSEY_CHN = HondaNidecPlatformConfig( + [], # Chinese version of Odyssey, don't show in docs + HONDA_ODYSSEY.specs, + dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'), + flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, + ) + ACURA_RDX = HondaNidecPlatformConfig( + [HondaCarDocs("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS)], + CarSpecs(mass=3925 * CV.LB_TO_KG, wheelbase=2.68, steerRatio=15.0, centerToFrontRatio=0.38, tireStiffnessFactor=0.444), # as spec + dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'), + flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, + ) + HONDA_PILOT = HondaNidecPlatformConfig( + [ + HondaCarDocs("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS), + HondaCarDocs("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS), + ], + CarSpecs(mass=4278 * CV.LB_TO_KG, wheelbase=2.86, centerToFrontRatio=0.428, steerRatio=16.0, tireStiffnessFactor=0.444), # as spec + dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), + flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, + ) + HONDA_RIDGELINE = HondaNidecPlatformConfig( + [HondaCarDocs("Honda Ridgeline 2017-24", min_steer_speed=12. * CV.MPH_TO_MS)], + CarSpecs(mass=4515 * CV.LB_TO_KG, wheelbase=3.18, centerToFrontRatio=0.41, steerRatio=15.59, tireStiffnessFactor=0.444), # as spec + dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), + flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, + ) + HONDA_CIVIC = HondaNidecPlatformConfig( + [HondaCarDocs("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE")], + CarSpecs(mass=1326, wheelbase=2.70, centerToFrontRatio=0.4, steerRatio=15.38), # 10.93 is end-to-end spec + dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'), + ) + HONDA_ACCORD_4CYL_9TH_GEN = HondaNidecPlatformConfig( + [HondaCarDocs("Honda Accord 4-Cylinder 2016-17")], + CarSpecs(mass=1487, wheelbase=2.75, centerToFrontRatio=0.39, steerRatio=13.66), # 13.37 is end-to-end spec + dbc_dict('honda_accord_touring_2016_can_generated', 'acura_ilx_2016_nidec'), + flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, + ) + HONDA_CLARITY = HondaNidecPlatformConfig( + [HondaCarDocs("Honda Clarity 2018-22", footnotes=[Footnote.ACCORD_NIDEC, Footnote.SERIAL_STEERING])], + CarSpecs(mass=1838, wheelbase=2.75, centerToFrontRatio=0.4, steerRatio=16.50), # 12.72 is end-to-end spec + dbc_dict('honda_clarity_hybrid_2018_can_generated', 'acura_ilx_2016_nidec'), + ) + + +HONDA_ALT_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ + p16(0xF112) +HONDA_ALT_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ + p16(0xF112) + +FW_QUERY_CONFIG = FwQueryConfig( + requests=[ + # Currently used to fingerprint + Request( + [StdQueries.UDS_VERSION_REQUEST], + [StdQueries.UDS_VERSION_RESPONSE], + bus=1, + ), + + # Data collection requests: + # Log manufacturer-specific identifier for current ECUs + Request( + [HONDA_ALT_VERSION_REQUEST], + [HONDA_ALT_VERSION_RESPONSE], + bus=1, + logging=True, + ), + # Nidec PT bus + Request( + [StdQueries.UDS_VERSION_REQUEST], + [StdQueries.UDS_VERSION_RESPONSE], + bus=0, + ), + # Bosch PT bus + Request( + [StdQueries.UDS_VERSION_REQUEST], + [StdQueries.UDS_VERSION_RESPONSE], + bus=1, + obd_multiplexing=False, + ), + ], + # We lose these ECUs without the comma power on these cars. + # Note that we still attempt to match with them when they are present + # This is or'd with (ALL_ECUS - ESSENTIAL_ECUS) from fw_versions.py + non_essential_ecus={ + Ecu.eps: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_2022, CAR.HONDA_E, CAR.HONDA_HRV_3G], + Ecu.vsa: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_2022, CAR.HONDA_CRV_5G, CAR.HONDA_CRV_HYBRID, + CAR.HONDA_E, CAR.HONDA_HRV_3G, CAR.HONDA_INSIGHT], + }, + extra_ecus=[ + (Ecu.combinationMeter, 0x18da60f1, None), + (Ecu.programmedFuelInjection, 0x18da10f1, None), + # The only other ECU on PT bus accessible by camera on radarless Civic + # This is likely a manufacturer-specific sub-address implementation: the camera responds to this and 0x18dab0f1 + # Unclear what the part number refers to: 8S103 is 'Camera Set Mono', while 36160 is 'Camera Monocular - Honda' + # TODO: add query back, camera does not support querying both in parallel and 0x18dab0f1 often fails to respond + # (Ecu.unknown, 0x18DAB3F1, None), + ], +) + +STEER_THRESHOLD = { + # default is 1200, overrides go here + CAR.HONDA_ACCORD_4CYL_9TH_GEN: 30, + CAR.ACURA_RDX: 400, + CAR.HONDA_CRV_EU: 400, +} + +HONDA_NIDEC_ALT_PCM_ACCEL = CAR.with_flags(HondaFlags.NIDEC_ALT_PCM_ACCEL) +HONDA_NIDEC_ALT_SCM_MESSAGES = CAR.with_flags(HondaFlags.NIDEC_ALT_SCM_MESSAGES) +HONDA_BOSCH = CAR.with_flags(HondaFlags.BOSCH) +HONDA_BOSCH_RADARLESS = CAR.with_flags(HondaFlags.BOSCH_RADARLESS) +SERIAL_STEERING = {CAR.HONDA_ACCORD_4CYL_9TH_GEN, } + + +DBC = CAR.create_dbc_map() diff --git a/selfdrive/car/hyundai/__init__.py b/selfdrive/car/hyundai/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py new file mode 100644 index 0000000000..3549b2cddb --- /dev/null +++ b/selfdrive/car/hyundai/carcontroller.py @@ -0,0 +1,549 @@ +from cereal import car +import cereal.messaging as messaging +from openpilot.common.conversions import Conversions as CV +from openpilot.common.numpy_fast import clip, interp +from openpilot.common.params import Params +from opendbc.can.packer import CANPacker +from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits, common_fault_avoidance, make_tester_present_msg +from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican +from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus +from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, HyundaiFlagsSP, Buttons, CarControllerParams, CANFD_CAR, CAR, CAMERA_SCC_CAR, LEGACY_SAFETY_MODE_CAR +from openpilot.selfdrive.car.interfaces import CarControllerBase +from openpilot.selfdrive.controls.lib.drive_helpers import HYUNDAI_V_CRUISE_MIN + +VisualAlert = car.CarControl.HUDControl.VisualAlert +LongCtrlState = car.CarControl.Actuators.LongControlState + +# EPS faults if you apply torque while the steering angle is above 90 degrees for more than 1 second +# All slightly below EPS thresholds to avoid fault +MAX_ANGLE = 85 +MAX_ANGLE_FRAMES = 89 +MAX_ANGLE_CONSECUTIVE_FRAMES = 2 + + +def process_hud_alert(enabled, fingerprint, hud_control): + sys_warning = (hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)) + + # initialize to no line visible + # TODO: this is not accurate for all cars + sys_state = 1 + if hud_control.leftLaneVisible and hud_control.rightLaneVisible or sys_warning: # HUD alert only display when LKAS status is active + sys_state = 3 if enabled or sys_warning else 4 + elif hud_control.leftLaneVisible: + sys_state = 5 + elif hud_control.rightLaneVisible: + sys_state = 6 + + # initialize to no warnings + left_lane_warning = 0 + right_lane_warning = 0 + if hud_control.leftLaneDepart: + left_lane_warning = 1 if fingerprint in (CAR.GENESIS_G90, CAR.GENESIS_G80) else 2 + if hud_control.rightLaneDepart: + right_lane_warning = 1 if fingerprint in (CAR.GENESIS_G90, CAR.GENESIS_G80) else 2 + + return sys_warning, sys_state, left_lane_warning, right_lane_warning + + +class CarController(CarControllerBase): + def __init__(self, dbc_name, CP, VM): + super().__init__(dbc_name, CP, VM) + self.CAN = CanBus(CP) + self.params = CarControllerParams(CP) + self.packer = CANPacker(dbc_name) + self.angle_limit_counter = 0 + + self.accel_last = 0 + self.apply_steer_last = 0 + self.car_fingerprint = CP.carFingerprint + self.last_button_frame = 0 + + self.disengage_blink = 0. + self.lat_disengage_init = False + self.lat_active_last = False + + sub_services = ['longitudinalPlan', 'longitudinalPlanSP'] + if CP.openpilotLongitudinalControl: + sub_services.append('radarState') + # TODO: Always true, prep for future conditional refactoring + if sub_services: + self.sm = messaging.SubMaster(sub_services) + + self.param_s = Params() + self.last_speed_limit_sign_tap_prev = False + self.speed_limit = 0. + self.speed_limit_offset = 0 + self.timer = 0 + self.final_speed_kph = 0 + self.init_speed = 0 + self.current_speed = 0 + self.v_set_dis = 0 + self.v_cruise_min = 0 + self.button_type = 0 + self.button_select = 0 + self.button_count = 0 + self.target_speed = 0 + self.t_interval = 7 + self.slc_active_stock = False + self.sl_force_active_timer = 0 + self.v_tsc_state = 0 + self.slc_state = 0 + self.m_tsc_state = 0 + self.cruise_button = None + self.speed_diff = 0 + self.v_tsc = 0 + self.m_tsc = 0 + self.steady_speed = 0 + self.speeds = 0 + self.v_target_plan = 0 + self.custom_stock_planner_speed = self.param_s.get_bool("CustomStockLongPlanner") + self.lead_distance = 0 + + self.jerk = 0.0 + self.jerk_l = 0.0 + self.jerk_u = 0.0 + self.jerkStartLimit = 2.0 + self.cb_upper = 0.0 + self.cb_lower = 0.0 + self.jerk_count = 0.0 + + self.accel_raw = 0 + self.accel_val = 0 + self.accel_last_jerk = 0 + self.hkg_custom_long_tuning = self.param_s.get_bool("HkgCustomLongTuning") + + def calculate_lead_distance(self, hud_control: car.CarControl.HUDControl) -> float: + lead_one = self.sm["radarState"].leadOne + lead_two = self.sm["radarState"].leadTwo + + if lead_one.status and (not lead_two.status or lead_one.dRel < lead_two.dRel): + return lead_one.dRel + if lead_two.status: + return lead_two.dRel + + return 19 if hud_control.leadVisible else 0 + + def update(self, CC, CS, now_nanos): + if not self.CP.pcmCruiseSpeed or (self.CP.openpilotLongitudinalControl and self.frame % 5 == 0): + self.sm.update(0) + + if not self.CP.pcmCruiseSpeed: + if self.sm.updated['longitudinalPlan']: + _speeds = self.sm['longitudinalPlan'].speeds + self.speeds = _speeds[-1] if len(_speeds) else 0 + + if self.sm.updated['longitudinalPlanSP']: + self.v_tsc_state = self.sm['longitudinalPlanSP'].visionTurnControllerState + self.slc_state = self.sm['longitudinalPlanSP'].speedLimitControlState + self.m_tsc_state = self.sm['longitudinalPlanSP'].turnSpeedControlState + self.speed_limit = self.sm['longitudinalPlanSP'].speedLimit + self.speed_limit_offset = self.sm['longitudinalPlanSP'].speedLimitOffset + self.v_tsc = self.sm['longitudinalPlanSP'].visionTurnSpeed + self.m_tsc = self.sm['longitudinalPlanSP'].turnSpeed + + if self.frame % 200 == 0: + self.custom_stock_planner_speed = self.param_s.get_bool("CustomStockLongPlanner") + self.v_cruise_min = HYUNDAI_V_CRUISE_MIN[CS.params_list.is_metric] * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1) + self.v_target_plan = min(CC.vCruise * CV.KPH_TO_MS, self.speeds) + + actuators = CC.actuators + hud_control = CC.hudControl + + # steering torque + if self.CP.spFlags & HyundaiFlagsSP.SP_UPSTREAM_TACO.value: + self.params = CarControllerParams(self.CP, CS.out.vEgoRaw) + new_steer = int(round(actuators.steer * self.params.STEER_MAX)) + apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params) + if self.CP.spFlags & HyundaiFlagsSP.SP_UPSTREAM_TACO.value: + apply_steer = clip(apply_steer, -self.params.STEER_MAX, self.params.STEER_MAX) + + # >90 degree steering fault prevention + self.angle_limit_counter, apply_steer_req = common_fault_avoidance(abs(CS.out.steeringAngleDeg) >= MAX_ANGLE, CC.latActive, + self.angle_limit_counter, MAX_ANGLE_FRAMES, + MAX_ANGLE_CONSECUTIVE_FRAMES) + + if not CC.latActive: + apply_steer = 0 + + # Hold torque with induced temporary fault when cutting the actuation bit + torque_fault = CC.latActive and not apply_steer_req + + self.apply_steer_last = apply_steer + + # accel + longitudinal + accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX) + stopping = actuators.longControlState == LongCtrlState.stopping + set_speed_in_units = hud_control.setSpeed * (CV.MS_TO_KPH if CS.is_metric else CV.MS_TO_MPH) + + # HUD messages + sys_warning, sys_state, left_lane_warning, right_lane_warning = process_hud_alert(CC.enabled, self.car_fingerprint, + hud_control) + + # show LFA "white_wheel" and LKAS "White car + lanes" when not CC.latActive + lateral_paused = CS.madsEnabled and not CC.latActive + if CC.latActive: + self.lat_disengage_init = False + elif self.lat_active_last: + self.lat_disengage_init = True + + if not self.lat_disengage_init: + self.disengage_blink = self.frame + + blinking_icon = (self.frame - self.disengage_blink) * DT_CTRL < 1.0 if self.lat_disengage_init else False + + if not self.CP.pcmCruiseSpeed: + if not self.last_speed_limit_sign_tap_prev and CS.params_list.last_speed_limit_sign_tap: + self.sl_force_active_timer = self.frame + self.param_s.put_bool_nonblocking("LastSpeedLimitSignTap", False) + self.last_speed_limit_sign_tap_prev = CS.params_list.last_speed_limit_sign_tap + + sl_force_active = CS.params_list.speed_limit_control_enabled and (self.frame < (self.sl_force_active_timer * DT_CTRL + 2.0)) + sl_inactive = not sl_force_active and (not CS.params_list.speed_limit_control_enabled or (True if self.slc_state == 0 else False)) + sl_temp_inactive = not sl_force_active and (CS.params_list.speed_limit_control_enabled and (True if self.slc_state == 1 else False)) + slc_active = not sl_inactive and not sl_temp_inactive + + self.slc_active_stock = slc_active + + self.lat_active_last = CC.latActive + + escc = self.CP.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC.value + + can_sends = [] + + # *** common hyundai stuff *** + + # tester present - w/ no response (keeps relevant ECU disabled) + if self.frame % 100 == 0 and not ((self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) or escc) and \ + self.CP.carFingerprint not in CAMERA_SCC_CAR and self.CP.openpilotLongitudinalControl: + # for longitudinal control, either radar or ADAS driving ECU + addr, bus = 0x7d0, self.CAN.ECAN if self.CP.carFingerprint in CANFD_CAR else 0 + if self.CP.flags & HyundaiFlags.CANFD_HDA2.value: + addr, bus = 0x730, self.CAN.ECAN + can_sends.append(make_tester_present_msg(addr, bus, suppress_response=True)) + + # for blinkers + if self.CP.flags & HyundaiFlags.ENABLE_BLINKERS: + can_sends.append(make_tester_present_msg(0x7b1, self.CAN.ECAN, suppress_response=True)) + + if self.CP.openpilotLongitudinalControl: + self.make_jerk(CS, accel, actuators) + + # CAN-FD platforms + if self.CP.carFingerprint in CANFD_CAR: + hda2 = self.CP.flags & HyundaiFlags.CANFD_HDA2 + hda2_long = hda2 and self.CP.openpilotLongitudinalControl + + # steering control + can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_steer, + lateral_paused, blinking_icon)) + + # prevent LFA from activating on HDA2 by sending "no lane lines detected" to ADAS ECU + if self.frame % 5 == 0 and hda2: + can_sends.append(hyundaicanfd.create_suppress_lfa(self.packer, self.CAN, CS.hda2_lfa_block_msg, + self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING)) + + # LFA and HDA icons + if self.frame % 5 == 0 and (not hda2 or hda2_long): + can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled and CS.out.cruiseState.enabled, CC.latActive, + lateral_paused, blinking_icon)) + + # blinkers + if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS: + can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.CAN, self.frame, CC.leftBlinker, CC.rightBlinker)) + + if self.CP.openpilotLongitudinalControl: + if hda2: + can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame)) + else: + can_sends.extend(hyundaicanfd.create_fca_warning_light(self.packer, self.CAN, self.frame)) + if self.frame % 2 == 0: + can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CS, CC.enabled and CS.out.cruiseState.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override, + set_speed_in_units, hud_control, self.jerk_u, self.jerk_l)) + self.accel_last = accel + else: + # button presses + can_sends.extend(self.create_button_messages(CC, CS, use_clu11=False)) + if not (CC.cruiseControl.cancel or CC.cruiseControl.resume) and CS.out.cruiseState.enabled and not self.CP.pcmCruiseSpeed: + if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS: + # TODO: resume for alt button cars + pass + else: + self.cruise_button = self.get_cruise_buttons(CS, CC.vCruise) + if self.cruise_button is not None: + if self.frame % 2 == 0: + can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, ((self.frame // 2) + 1) % 0x10, self.cruise_button)) + else: + can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.CP, apply_steer, apply_steer_req, + torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled, + hud_control.leftLaneVisible, hud_control.rightLaneVisible, + left_lane_warning, right_lane_warning, + lateral_paused, blinking_icon)) + + if not self.CP.openpilotLongitudinalControl: + can_sends.extend(self.create_button_messages(CC, CS, use_clu11=True)) + if not (CC.cruiseControl.cancel or CC.cruiseControl.resume) and CS.out.cruiseState.enabled and not self.CP.pcmCruiseSpeed: + self.cruise_button = self.get_cruise_buttons(CS, CC.vCruise) + if self.cruise_button is not None: + if self.CP.carFingerprint in LEGACY_SAFETY_MODE_CAR: + send_freq = 1 + if not (self.v_tsc_state != 0 or self.m_tsc_state > 1) and abs(self.target_speed - self.v_set_dis) <= 2: + send_freq = 5 + # send resume at a max freq of 10Hz + if (self.frame - self.last_button_frame) * DT_CTRL > 0.1 * send_freq: + # send 25 messages at a time to increases the likelihood of cruise buttons being accepted + can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, self.cruise_button, self.CP)] * 25) + if (self.frame - self.last_button_frame) * DT_CTRL >= 0.15 * send_freq: + self.last_button_frame = self.frame + elif self.frame % 2 == 0: + can_sends.extend([hyundaican.create_clu11(self.packer, (self.frame // 2) + 1, CS.clu11, self.cruise_button, self.CP)] * 25) + + # Parse lead distance from radarState and display the corresponding distance in the car's cluster + if self.CP.openpilotLongitudinalControl and self.sm.updated['radarState'] and self.frame % 5 == 0: + self.lead_distance = self.calculate_lead_distance(hud_control) + + if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl: + # TODO: unclear if this is needed + jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0 + use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value + self.make_accel(CS, actuators) + can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled and CS.out.cruiseState.enabled, self.accel_raw, self.accel_val, self.jerk_l, self.jerk_u, int(self.frame / 2), + hud_control, set_speed_in_units, stopping, + CC.cruiseControl.override, use_fca, CS, escc, self.CP, self.lead_distance, self.cb_lower, self.cb_upper)) + + # 20 Hz LFA MFA message + if self.frame % 5 == 0 and self.CP.flags & HyundaiFlags.SEND_LFA.value: + can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled, CC.latActive, lateral_paused, blinking_icon)) + + # 5 Hz ACC options + if self.frame % 20 == 0 and self.CP.openpilotLongitudinalControl: + can_sends.extend(hyundaican.create_acc_opt(self.packer, escc, CS, self.CP)) + + # 2 Hz front radar options + if self.frame % 50 == 0 and self.CP.openpilotLongitudinalControl and not escc: + can_sends.append(hyundaican.create_frt_radar_opt(self.packer)) + + new_actuators = actuators.as_builder() + new_actuators.steer = apply_steer / self.params.STEER_MAX + new_actuators.steerOutputCan = apply_steer + new_actuators.accel = accel + + self.frame += 1 + return new_actuators, can_sends + + def create_button_messages(self, CC: car.CarControl, CS: car.CarState, use_clu11: bool): + can_sends = [] + if use_clu11: + if CC.cruiseControl.cancel: + can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP)) + elif CC.cruiseControl.resume: + # send resume at a max freq of 10Hz + if (self.frame - self.last_button_frame) * DT_CTRL > 0.1: + # send 25 messages at a time to increases the likelihood of resume being accepted + can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP)] * 25) + if (self.frame - self.last_button_frame) * DT_CTRL >= 0.15: + self.last_button_frame = self.frame + else: + if (self.frame - self.last_button_frame) * DT_CTRL > 0.25: + # cruise cancel + if CC.cruiseControl.cancel: + if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS: + can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info)) + self.last_button_frame = self.frame + else: + for _ in range(20): + can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL)) + self.last_button_frame = self.frame + + # cruise standstill resume + elif CC.cruiseControl.resume: + if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS: + # TODO: resume for alt button cars + pass + else: + for _ in range(20): + can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.RES_ACCEL)) + self.last_button_frame = self.frame + + return can_sends + + # multikyd methods, sunnyhaibin logic + def get_cruise_buttons_status(self, CS): + if not CS.out.cruiseState.enabled or CS.cruise_buttons[-1] != Buttons.NONE: + self.timer = 40 + elif self.timer: + self.timer -= 1 + else: + return 1 + return 0 + + def get_target_speed(self, v_cruise_kph_prev): + v_cruise_kph = v_cruise_kph_prev + if self.slc_state > 1: + v_cruise_kph = (self.speed_limit + self.speed_limit_offset) * CV.MS_TO_KPH + if not self.slc_active_stock: + v_cruise_kph = v_cruise_kph_prev + return v_cruise_kph + + def get_button_type(self, button_type): + self.type_status = "type_" + str(button_type) + self.button_picker = getattr(self, self.type_status, lambda: "default") + return self.button_picker() + + def reset_button(self): + if self.button_type != 3: + self.button_type = 0 + + def type_default(self): + self.button_type = 0 + return None + + def type_0(self): + self.button_count = 0 + self.target_speed = self.init_speed + self.speed_diff = self.target_speed - self.v_set_dis + if self.target_speed > self.v_set_dis: + self.button_type = 1 + elif self.target_speed < self.v_set_dis and self.v_set_dis > self.v_cruise_min: + self.button_type = 2 + return None + + def type_1(self): + cruise_button = Buttons.RES_ACCEL + self.button_count += 1 + if self.target_speed <= self.v_set_dis: + self.button_count = 0 + self.button_type = 3 + elif self.button_count > 5: + self.button_count = 0 + self.button_type = 3 + return cruise_button + + def type_2(self): + cruise_button = Buttons.SET_DECEL + self.button_count += 1 + if self.target_speed >= self.v_set_dis or self.v_set_dis <= self.v_cruise_min: + self.button_count = 0 + self.button_type = 3 + elif self.button_count > 5: + self.button_count = 0 + self.button_type = 3 + return cruise_button + + def type_3(self): + cruise_button = None + self.button_count += 1 + if self.button_count > self.t_interval: + self.button_type = 0 + return cruise_button + + def get_curve_speed(self, target_speed_kph, v_cruise_kph_prev): + if self.v_tsc_state != 0: + vision_v_cruise_kph = self.v_tsc * CV.MS_TO_KPH + if int(vision_v_cruise_kph) == int(v_cruise_kph_prev): + vision_v_cruise_kph = 255 + else: + vision_v_cruise_kph = 255 + if self.m_tsc_state > 1: + map_v_cruise_kph = self.m_tsc * CV.MS_TO_KPH + if int(map_v_cruise_kph) == 0.0: + map_v_cruise_kph = 255 + else: + map_v_cruise_kph = 255 + curve_speed = self.curve_speed_hysteresis(min(vision_v_cruise_kph, map_v_cruise_kph) + 2 * CV.MPH_TO_KPH) + return min(target_speed_kph, curve_speed) + + def get_button_control(self, CS, final_speed, v_cruise_kph_prev): + self.init_speed = round(min(final_speed, v_cruise_kph_prev) * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1)) + self.v_set_dis = round(CS.out.cruiseState.speed * (CV.MS_TO_MPH if not CS.params_list.is_metric else CV.MS_TO_KPH)) + cruise_button = self.get_button_type(self.button_type) + return cruise_button + + def curve_speed_hysteresis(self, cur_speed: float, hyst=(0.75 * CV.MPH_TO_KPH)): + if cur_speed > self.steady_speed: + self.steady_speed = cur_speed + elif cur_speed < self.steady_speed - hyst: + self.steady_speed = cur_speed + return self.steady_speed + + def get_cruise_buttons(self, CS, v_cruise_kph_prev): + cruise_button = None + if not self.get_cruise_buttons_status(CS): + pass + elif CS.out.cruiseState.enabled: + set_speed_kph = self.get_target_speed(v_cruise_kph_prev) + if self.slc_state > 1: + target_speed_kph = set_speed_kph + else: + target_speed_kph = min(v_cruise_kph_prev, set_speed_kph) + if self.custom_stock_planner_speed: + target_speed_kph = self.curve_speed_hysteresis(self.v_target_plan * CV.MS_TO_KPH) + if self.v_tsc_state != 0 or self.m_tsc_state > 1: + self.final_speed_kph = self.get_curve_speed(target_speed_kph, v_cruise_kph_prev) + else: + self.final_speed_kph = target_speed_kph + + cruise_button = self.get_button_control(CS, self.final_speed_kph, v_cruise_kph_prev) # MPH/KPH based button presses + return cruise_button + + # jerk calculations thanks to apilot! + def cal_jerk(self, accel, actuators): + self.accel_raw = accel + if actuators.longControlState == LongCtrlState.off: + accel_diff = 0.0 + elif actuators.longControlState == LongCtrlState.stopping:# or hud_control.softHold > 0: + accel_diff = 0.0 + else: + accel_diff = self.accel_raw - self.accel_last_jerk + + accel_diff /= DT_CTRL + self.jerk = self.jerk * 0.9 + accel_diff * 0.1 + return self.jerk + + def make_jerk(self, CS, accel, actuators): + jerk = self.cal_jerk(accel, actuators) + a_error = accel - CS.out.aEgo + jerk = jerk + (a_error * 2.0) + + if not self.hkg_custom_long_tuning: + self.jerk_u = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0 + self.jerk_l = 5.0 + elif True: #self.CP.carFingerprint in CANFD_CAR or self.CP.carFingerprint == CAR.HYUNDAI_KONA_EV_2022: + startingJerk = 0.5 + jerkLimit = 5.0 + self.jerk_count += DT_CTRL + jerk_max = interp(self.jerk_count, [0, 1.5, 2.5], [startingJerk, startingJerk, jerkLimit]) + if actuators.longControlState == LongCtrlState.off: + self.jerk_u = jerkLimit + self.jerk_l = jerkLimit + self.jerk_count = 0 + else: + self.jerk_u = min(max(0.5, jerk * 2.0), jerk_max) + self.jerk_l = min(max(1.0, -jerk * 3.0), jerkLimit) + else: + startingJerk = self.jerkStartLimit + jerkLimit = 5.0 + self.jerk_count += DT_CTRL + jerk_max = interp(self.jerk_count, [0, 1.5, 2.5], [startingJerk, startingJerk, jerkLimit]) + self.cb_upper = self.cb_lower = 0 + if actuators.longControlState == LongCtrlState.off: + self.jerk_u = jerkLimit + self.jerk_l = jerkLimit + self.jerk_count = 0 + else: + self.jerk_u = min(max(0.5, jerk * 2.0), jerk_max) + self.jerk_l = min(max(0.5, -jerk * 2.0), jerkLimit) + self.cb_upper = clip(0.9 + accel * 0.2, 0, 1.2) + self.cb_lower = clip(0.8 + accel * 0.2, 0, 1.2) + + def make_accel(self, CS, actuators): + long_control = actuators.longControlState + is_ice = not self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV) + rate_up = 0.1 + rate_down = 0.1 + if long_control == LongCtrlState.off or (long_control == LongCtrlState.stopping and CS.out.standstill): + self.accel_raw, self.accel_val = 0, 0 + else: + #self.accel_val = clip(self.accel_raw, self.accel_last - rate_down, self.accel_last + rate_up) + self.accel_val = self.accel_raw + self.accel_last = self.accel_val + self.accel_last_jerk = self.accel_val diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py new file mode 100644 index 0000000000..fcd44cc1cd --- /dev/null +++ b/selfdrive/car/hyundai/carstate.py @@ -0,0 +1,481 @@ +from collections import deque +import copy +import math + +from cereal import car +from openpilot.common.conversions import Conversions as CV +from opendbc.can.parser import CANParser +from opendbc.can.can_define import CANDefine +from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus +from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, HyundaiFlagsSP, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, \ + CANFD_CAR, NON_SCC_CAR, NON_SCC_FCA_CAR, NON_SCC_RADAR_FCA_CAR, \ + Buttons, CarControllerParams +from openpilot.selfdrive.car.interfaces import CarStateBase + +PREV_BUTTON_SAMPLES = 8 +CLUSTER_SAMPLE_RATE = 20 # frames +STANDSTILL_THRESHOLD = 12 * 0.03125 * CV.KPH_TO_MS + + +class CarState(CarStateBase): + def __init__(self, CP): + super().__init__(CP) + can_define = CANDefine(DBC[CP.carFingerprint]["pt"]) + + self.cruise_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES) + self.main_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES) + + self.gear_msg_canfd = "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else \ + "GEAR_ALT_2" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS_2 else \ + "GEAR_SHIFTER" + if CP.carFingerprint in CANFD_CAR: + self.shifter_values = can_define.dv[self.gear_msg_canfd]["GEAR"] + elif self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]: + self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"] + elif self.CP.carFingerprint in CAN_GEARS["use_tcu_gears"]: + self.shifter_values = can_define.dv["TCU12"]["CUR_GR"] + else: # preferred and elect gear methods use same definition + self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"] + + self.accelerator_msg_canfd = "ACCELERATOR" if CP.flags & HyundaiFlags.EV else \ + "ACCELERATOR_ALT" if CP.flags & HyundaiFlags.HYBRID else \ + "ACCELERATOR_BRAKE_ALT" + self.cruise_btns_msg_canfd = "CRUISE_BUTTONS_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else \ + "CRUISE_BUTTONS" + self.is_metric = False + self.buttons_counter = 0 + + self.cruise_info = {} + + # On some cars, CLU15->CF_Clu_VehicleSpeed can oscillate faster than the dash updates. Sample at 5 Hz + self.cluster_speed = 0 + self.cluster_speed_counter = CLUSTER_SAMPLE_RATE + + self.params = CarControllerParams(CP) + + self.lfa_enabled = False + self.prev_lfa_enabled = False + self.mainEnabled = False + self.escc_aeb_warning = 0 + self.escc_aeb_dec_cmd_act = 0 + self.escc_cmd_act = 0 + self.escc_aeb_dec_cmd = 0 + self._speed_limit_clu = 0 + + def get_main_enabled(self, ret) -> bool: + if self.prev_main_buttons != 1 and self.main_buttons[-1] == 1: + self.mainEnabled = not self.mainEnabled + return ret.cruiseState.available and self.mainEnabled + + def update(self, cp, cp_cam): + if self.CP.carFingerprint in CANFD_CAR: + return self.update_canfd(cp, cp_cam) + + ret = car.CarState.new_message() + cp_cruise = cp_cam if self.CP.carFingerprint in (CAMERA_SCC_CAR | (NON_SCC_FCA_CAR - NON_SCC_RADAR_FCA_CAR)) else cp + self.is_metric = cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] == 0 + speed_conv = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS + + ret.doorOpen = any([cp.vl["CGW1"]["CF_Gway_DrvDrSw"], cp.vl["CGW1"]["CF_Gway_AstDrSw"], + cp.vl["CGW2"]["CF_Gway_RLDrSw"], cp.vl["CGW2"]["CF_Gway_RRDrSw"]]) + + ret.seatbeltUnlatched = cp.vl["CGW1"]["CF_Gway_DrvSeatBeltSw"] == 0 + + ret.wheelSpeeds = self.get_wheel_speeds( + cp.vl["WHL_SPD11"]["WHL_SPD_FL"], + cp.vl["WHL_SPD11"]["WHL_SPD_FR"], + cp.vl["WHL_SPD11"]["WHL_SPD_RL"], + cp.vl["WHL_SPD11"]["WHL_SPD_RR"], + ) + ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4. + ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) + ret.standstill = ret.wheelSpeeds.fl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD + + self.cluster_speed_counter += 1 + if self.cluster_speed_counter > CLUSTER_SAMPLE_RATE: + self.cluster_speed = cp.vl["CLU15"]["CF_Clu_VehicleSpeed"] + self.cluster_speed_counter = 0 + + # Mimic how dash converts to imperial. + # Sorento is the only platform where CF_Clu_VehicleSpeed is already imperial when not is_metric + # TODO: CGW_USM1->CF_Gway_DrLockSoundRValue may describe this + if not self.is_metric and self.CP.carFingerprint not in (CAR.KIA_SORENTO,): + self.cluster_speed = math.floor(self.cluster_speed * CV.KPH_TO_MPH + CV.KPH_TO_MPH) + + ret.vEgoCluster = self.cluster_speed * speed_conv + + ret.steeringAngleDeg = cp.vl["SAS11"]["SAS_Angle"] + ret.steeringRateDeg = cp.vl["SAS11"]["SAS_Speed"] + ret.yawRate = cp.vl["ESP12"]["YAW_RATE"] + ret.leftBlinker, ret.rightBlinker = ret.leftBlinkerOn, ret.rightBlinkerOn = self.update_blinker_from_lamp( + 50, cp.vl["CGW1"]["CF_Gway_TurnSigLh"], cp.vl["CGW1"]["CF_Gway_TurnSigRh"]) + ret.steeringTorque = cp.vl["MDPS12"]["CR_Mdps_StrColTq"] + ret.steeringTorqueEps = cp.vl["MDPS12"]["CR_Mdps_OutTq"] + ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5) + ret.steerFaultTemporary = cp.vl["MDPS12"]["CF_Mdps_ToiUnavail"] != 0 or cp.vl["MDPS12"]["CF_Mdps_ToiFlt"] != 0 + + # cruise state + if self.CP.openpilotLongitudinalControl: + # These are not used for engage/disengage since openpilot keeps track of state using the buttons + ret.cruiseState.available = cp.vl["TCS13"]["ACCEnable"] == 0 + ret.cruiseState.enabled = cp.vl["TCS13"]["ACC_REQ"] == 1 + ret.cruiseState.standstill = False + ret.cruiseState.nonAdaptive = False + elif self.CP.carFingerprint in NON_SCC_CAR: + cruise_available_msg = "E_CRUISE_CONTROL" if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV) else "EMS16" + cruise_enabled_msg = "E_CRUISE_CONTROL" if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV) else "LVR12" + cruise_speed_msg = "ELECT_GEAR" if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV) else "LVR12" + cruise_speed_sig = "VSetDis" if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV) else "CF_Lvr_CruiseSet" + ret.cruiseState.available = cp.vl[cruise_available_msg]["CRUISE_LAMP_M"] != 0 + ret.cruiseState.enabled = cp.vl[cruise_enabled_msg]["CF_Lvr_CruiseSet"] != 0 + ret.cruiseState.speed = cp.vl[cruise_speed_msg][cruise_speed_sig] * speed_conv + ret.cruiseState.standstill = False + ret.cruiseState.nonAdaptive = False + else: + ret.cruiseState.available = cp_cruise.vl["SCC11"]["MainMode_ACC"] == 1 + ret.cruiseState.enabled = cp_cruise.vl["SCC12"]["ACCMode"] != 0 + ret.cruiseState.standstill = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 4. + ret.cruiseState.nonAdaptive = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 2. # Shows 'Cruise Control' on dash + ret.cruiseState.speed = cp_cruise.vl["SCC11"]["VSetDis"] * speed_conv + + # TODO: Find brake pressure + ret.brake = 0 + ret.brakePressed = cp.vl["TCS13"]["DriverOverride"] == 2 # 2 includes regen braking by user on HEV/EV + ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2 # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY + ret.parkingBrake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1 + ret.espDisabled = cp.vl["TCS11"]["TCS_PAS"] == 1 + ret.espActive = cp.vl["TCS11"]["ABS_ACT"] == 1 + ret.brakeLightsDEPRECATED = bool(cp.vl["TCS13"]["BrakeLight"]) + ret.accFaulted = cp.vl["TCS13"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED + + if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV): + if self.CP.flags & HyundaiFlags.HYBRID: + ret.gas = cp.vl["E_EMS11"]["CR_Vcu_AccPedDep_Pos"] / 254. + else: + ret.gas = cp.vl["E_EMS11"]["Accel_Pedal_Pos"] / 254. + ret.gasPressed = ret.gas > 0 + else: + ret.gas = cp.vl["EMS12"]["PV_AV_CAN"] / 100. + ret.gasPressed = bool(cp.vl["EMS16"]["CF_Ems_AclAct"]) + + # Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection, + # as this seems to be standard over all cars, but is not the preferred method. + if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV): + gear = cp.vl["ELECT_GEAR"]["Elect_Gear_Shifter"] + elif self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]: + gear = cp.vl["CLU15"]["CF_Clu_Gear"] + elif self.CP.carFingerprint in CAN_GEARS["use_tcu_gears"]: + gear = cp.vl["TCU12"]["CUR_GR"] + else: + gear = cp.vl["LVR12"]["CF_Lvr_Gear"] + + ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear)) + + if not self.CP.openpilotLongitudinalControl and self.CP.carFingerprint in NON_SCC_FCA_CAR: + aeb_src = "FCA11" if self.CP.flags & HyundaiFlags.USE_FCA.value else "SCC12" + aeb_sig = "FCA_CmdAct" if self.CP.flags & HyundaiFlags.USE_FCA.value else "AEB_CmdAct" + aeb_warning = cp_cruise.vl[aeb_src]["CF_VSM_Warn"] != 0 + scc_warning = False if self.CP.carFingerprint in NON_SCC_CAR else cp_cruise.vl["SCC12"]["TakeOverReq"] == 1 # sometimes only SCC system shows an FCW + aeb_braking = cp_cruise.vl[aeb_src]["CF_VSM_DecCmdAct"] != 0 or cp_cruise.vl[aeb_src][aeb_sig] != 0 + ret.stockFcw = (aeb_warning or scc_warning) and not aeb_braking + ret.stockAeb = aeb_warning and aeb_braking + elif self.CP.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC: + aeb_src = "FCA11" if self.CP.flags & HyundaiFlags.USE_FCA else "ESCC" + aeb_sig = "FCA_CmdAct" if self.CP.flags & HyundaiFlags.USE_FCA.value else "AEB_CmdAct" + aeb_warning_sig = "CF_VSM_Warn" if self.CP.flags & HyundaiFlags.USE_FCA.value else "CF_VSM_Warn_SCC12" + aeb_braking_sig = "CF_VSM_DecCmdAct" if self.CP.flags & HyundaiFlags.USE_FCA.value else "CF_VSM_DecCmdAct_SCC12" + aeb_braking_cmd = "CR_VSM_DecCmd_FCA11" if self.CP.flags & HyundaiFlags.USE_FCA.value else "CR_VSM_DecCmd_SCC12" + aeb_warning = cp.vl[aeb_src][aeb_warning_sig] != 0 + aeb_braking = cp.vl[aeb_src][aeb_braking_sig] != 0 or cp.vl[aeb_src][aeb_sig] != 0 + ret.stockFcw = aeb_warning and not aeb_braking + ret.stockAeb = aeb_warning and aeb_braking + if not self.CP.flags & HyundaiFlags.USE_FCA: + self.escc_aeb_warning = cp.vl[aeb_src][aeb_warning_sig] + self.escc_aeb_dec_cmd_act = cp.vl[aeb_src][aeb_braking_sig] + self.escc_cmd_act = cp.vl[aeb_src][aeb_sig] + self.escc_aeb_dec_cmd = cp.vl[aeb_src][aeb_braking_cmd] + + if self.CP.enableBsm: + ret.leftBlindspot = cp.vl["LCA11"]["CF_Lca_IndLeft"] != 0 + ret.rightBlindspot = cp.vl["LCA11"]["CF_Lca_IndRight"] != 0 + + # save the entire LKAS11 and CLU11 + self.lkas11 = copy.copy(cp_cam.vl["LKAS11"]) + self.clu11 = copy.copy(cp.vl["CLU11"]) + # only forward FCA messages for FCW/AEB when using openpilot longitudinal on Camera SCC cars + if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint in CAMERA_SCC_CAR: + self.fca11 = copy.copy(cp_cruise.vl["FCA11"]) + self.fca12 = copy.copy(cp_cruise.vl["FCA12"]) + self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"] # 0 NOT ACTIVE, 1 ACTIVE + self.prev_cruise_buttons = self.cruise_buttons[-1] + self.prev_main_buttons = self.main_buttons[-1] + self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"]) + self.main_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwMain"]) + if self.CP.openpilotLongitudinalControl: + ret.cruiseState.available = self.get_main_enabled(ret) + self.prev_mads_enabled = self.mads_enabled + self.prev_lfa_enabled = self.lfa_enabled + if self.CP.spFlags & HyundaiFlagsSP.SP_CAN_LFA_BTN: + self.lfa_enabled = cp.vl["BCM_PO_11"]["LFA_Pressed"] + + if self.CP.spFlags & HyundaiFlagsSP.SP_NAV_MSG or self.CP.spFlags & HyundaiFlagsSP.SP_LKAS12: + self._update_traffic_signals(cp, cp_cam) + ret.cruiseState.speedLimit = self._calculate_speed_limit() * speed_conv + + return ret + + def update_canfd(self, cp, cp_cam): + ret = car.CarState.new_message() + + self.is_metric = cp.vl["CRUISE_BUTTONS_ALT"]["DISTANCE_UNIT"] != 1 + speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS + + if self.CP.flags & (HyundaiFlags.EV | HyundaiFlags.HYBRID): + offset = 255. if self.CP.flags & HyundaiFlags.EV else 1023. + ret.gas = cp.vl[self.accelerator_msg_canfd]["ACCELERATOR_PEDAL"] / offset + ret.gasPressed = ret.gas > 1e-5 + else: + ret.gasPressed = bool(cp.vl[self.accelerator_msg_canfd]["ACCELERATOR_PEDAL_PRESSED"]) + + ret.brakePressed = ret.brakeLightsDEPRECATED = cp.vl["TCS"]["DriverBraking"] == 1 + + ret.doorOpen = cp.vl["DOORS_SEATBELTS"]["DRIVER_DOOR"] == 1 + ret.seatbeltUnlatched = cp.vl["DOORS_SEATBELTS"]["DRIVER_SEATBELT"] == 0 + + gear = cp.vl[self.gear_msg_canfd]["GEAR"] + ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear)) + + # TODO: figure out positions + ret.wheelSpeeds = self.get_wheel_speeds( + cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_1"], + cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_2"], + cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_3"], + cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_4"], + ) + ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4. + ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) + ret.standstill = ret.wheelSpeeds.fl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD + + ret.steeringRateDeg = cp.vl["STEERING_SENSORS"]["STEERING_RATE"] + ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEERING_ANGLE"] * -1 + ret.steeringTorque = cp.vl["MDPS"]["STEERING_COL_TORQUE"] + ret.steeringTorqueEps = cp.vl["MDPS"]["STEERING_OUT_TORQUE"] + ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5) + ret.steerFaultTemporary = cp.vl["MDPS"]["LKA_FAULT"] != 0 + + # TODO: alt signal usage may be described by cp.vl['BLINKERS']['USE_ALT_LAMP'] + left_blinker_sig, right_blinker_sig = "LEFT_LAMP", "RIGHT_LAMP" + if self.CP.carFingerprint == CAR.HYUNDAI_KONA_EV_2ND_GEN: + left_blinker_sig, right_blinker_sig = "LEFT_LAMP_ALT", "RIGHT_LAMP_ALT" + ret.leftBlinker, ret.rightBlinker = ret.leftBlinkerOn, ret.rightBlinkerOn = self.update_blinker_from_lamp( + 50, cp.vl["BLINKERS"][left_blinker_sig], cp.vl["BLINKERS"][right_blinker_sig]) + if self.CP.enableBsm: + ret.leftBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR"] != 0 + ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0 + + # cruise state + # CAN FD cars enable on main button press, set available if no TCS faults preventing engagement + ret.cruiseState.available = cp.vl["TCS"]["ACCEnable"] == 0 + if self.CP.openpilotLongitudinalControl: + # These are not used for engage/disengage since openpilot keeps track of state using the buttons + ret.cruiseState.enabled = cp.vl["TCS"]["ACC_REQ"] == 1 + ret.cruiseState.standstill = False + else: + cp_cruise_info = cp_cam if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp + ret.cruiseState.available = cp_cruise_info.vl["SCC_CONTROL"]["MainMode_ACC"] == 1 + ret.cruiseState.enabled = cp_cruise_info.vl["SCC_CONTROL"]["ACCMode"] in (1, 2) + ret.cruiseState.standstill = cp_cruise_info.vl["SCC_CONTROL"]["CRUISE_STANDSTILL"] == 1 + ret.cruiseState.speed = cp_cruise_info.vl["SCC_CONTROL"]["VSetDis"] * speed_factor + self.cruise_info = copy.copy(cp_cruise_info.vl["SCC_CONTROL"]) + + # Manual Speed Limit Assist is a feature that replaces non-adaptive cruise control on EV CAN FD platforms. + # It limits the vehicle speed, overridable by pressing the accelerator past a certain point. + # The car will brake, but does not respect positive acceleration commands in this mode + # TODO: find this message on ICE & HYBRID cars + cruise control signals (if exists) + if self.CP.flags & HyundaiFlags.EV: + ret.cruiseState.nonAdaptive = cp.vl["MANUAL_SPEED_LIMIT_ASSIST"]["MSLA_ENABLED"] == 1 + + self.prev_cruise_buttons = self.cruise_buttons[-1] + self.prev_main_buttons = self.main_buttons[-1] + self.cruise_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["CRUISE_BUTTONS"]) + self.main_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["ADAPTIVE_CRUISE_MAIN_BTN"]) + if self.CP.openpilotLongitudinalControl: + ret.cruiseState.available = self.get_main_enabled(ret) + self.prev_mads_enabled = self.mads_enabled + self.prev_lfa_enabled = self.lfa_enabled + self.lfa_enabled = cp.vl[self.cruise_btns_msg_canfd]["LFA_BTN"] + self.buttons_counter = cp.vl[self.cruise_btns_msg_canfd]["COUNTER"] + ret.accFaulted = cp.vl["TCS"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED + + if self.CP.flags & HyundaiFlags.CANFD_HDA2: + self.hda2_lfa_block_msg = copy.copy(cp_cam.vl["CAM_0x362"] if self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING + else cp_cam.vl["CAM_0x2a4"]) + + if self.CP.spFlags & HyundaiFlagsSP.SP_NAV_MSG: + self._update_traffic_signals(cp, cp_cam) + ret.cruiseState.speedLimit = self._calculate_speed_limit() * speed_factor + + return ret + + def _update_traffic_signals(self, cp, cp_cam): + if self.CP.carFingerprint in CANFD_CAR: + speed_limit_clu_bus_canfd = cp if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam + self._speed_limit_clu = speed_limit_clu_bus_canfd.vl["CLUSTER_SPEED_LIMIT"]["SPEED_LIMIT_1"] + else: + sl_can_nav = cp.vl["Navi_HU"]["SpeedLim_Nav_Clu"] if self.CP.spFlags & HyundaiFlagsSP.SP_NAV_MSG else 0 + sl_can_cam = cp_cam.vl["LKAS12"]["CF_Lkas_TsrSpeed_Display_Clu"] if self.CP.spFlags & HyundaiFlagsSP.SP_LKAS12 else None + self._speed_limit_clu = sl_can_cam if sl_can_cam is not None and sl_can_cam not in (0, 255) else sl_can_nav + + def _calculate_speed_limit(self): + return self._speed_limit_clu if self._speed_limit_clu not in (0, 255) else 0 + + def get_can_parser(self, CP): + if CP.carFingerprint in CANFD_CAR: + return self.get_can_parser_canfd(CP) + + messages = [ + # address, frequency + ("MDPS12", 50), + ("TCS11", 100), + ("TCS13", 50), + ("TCS15", 10), + ("CLU11", 50), + ("CLU15", 5), + ("ESP12", 100), + ("CGW1", 10), + ("CGW2", 5), + ("CGW4", 5), + ("WHL_SPD11", 50), + ("SAS11", 100), + ] + + if not CP.openpilotLongitudinalControl and CP.carFingerprint not in (CAMERA_SCC_CAR | (NON_SCC_CAR - NON_SCC_RADAR_FCA_CAR)): + if CP.carFingerprint not in NON_SCC_CAR: + messages += [ + ("SCC11", 50), + ("SCC12", 50), + ] + + if CP.flags & HyundaiFlags.USE_FCA.value: + messages.append(("FCA11", 50)) + + if CP.enableBsm: + messages.append(("LCA11", 50)) + + if CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV): + messages.append(("E_EMS11", 50)) + else: + messages += [ + ("EMS12", 100), + ("EMS16", 100), + ] + + if CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV): + messages.append(("ELECT_GEAR", 20)) + if CP.carFingerprint in NON_SCC_CAR: + messages.append(("E_CRUISE_CONTROL", 10)) + elif CP.carFingerprint in CAN_GEARS["use_cluster_gears"]: + pass + elif CP.carFingerprint in CAN_GEARS["use_tcu_gears"]: + messages.append(("TCU12", 100)) + else: + messages.append(("LVR12", 100)) + + if CP.spFlags & HyundaiFlagsSP.SP_CAN_LFA_BTN: + messages.append(("BCM_PO_11", 50)) + + if CP.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC.value: + messages.append(("ESCC", 50)) + + if CP.flags & HyundaiFlags.USE_FCA.value and not any([msg[0] == "FCA11" for msg in messages]): + messages.append(("FCA11", 50)) + + if CP.spFlags & HyundaiFlagsSP.SP_NAV_MSG: + messages.append(("Navi_HU", 5)) + + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0) + + @staticmethod + def get_cam_can_parser(CP): + if CP.carFingerprint in CANFD_CAR: + return CarState.get_cam_can_parser_canfd(CP) + + messages = [ + ("LKAS11", 100), + ] + + if not CP.openpilotLongitudinalControl and CP.carFingerprint in (CAMERA_SCC_CAR | (NON_SCC_FCA_CAR - NON_SCC_RADAR_FCA_CAR)): + if CP.carFingerprint in CAMERA_SCC_CAR: + messages += [ + ("SCC11", 50), + ("SCC12", 50), + ] + + if CP.flags & HyundaiFlags.USE_FCA.value: + messages.append(("FCA11", 50)) + + if CP.openpilotLongitudinalControl and CP.carFingerprint in CAMERA_SCC_CAR: + if CP.flags & HyundaiFlags.USE_FCA.value: + messages += [ + ("FCA11", 50), + ("FCA12", 50), + ] + + if CP.spFlags & HyundaiFlagsSP.SP_LKAS12: + messages.append(("LKAS12", 10)) + + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2) + + def get_can_parser_canfd(self, CP): + messages = [ + (self.gear_msg_canfd, 100), + (self.accelerator_msg_canfd, 100), + ("WHEEL_SPEEDS", 100), + ("STEERING_SENSORS", 100), + ("MDPS", 100), + ("TCS", 50), + ("CRUISE_BUTTONS_ALT", 50), + ("BLINKERS", 4), + ("DOORS_SEATBELTS", 4), + ] + + if CP.flags & HyundaiFlags.EV: + messages += [ + ("MANUAL_SPEED_LIMIT_ASSIST", 10), + ] + + if not (CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS): + messages += [ + ("CRUISE_BUTTONS", 50) + ] + + if CP.enableBsm: + messages += [ + ("BLINDSPOTS_REAR_CORNERS", 20), + ] + + if not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) and not CP.openpilotLongitudinalControl: + messages += [ + ("SCC_CONTROL", 50), + ] + + if CP.flags & HyundaiFlags.CANFD_HDA2 and CP.spFlags & HyundaiFlagsSP.SP_NAV_MSG: + messages.append(("CLUSTER_SPEED_LIMIT", 10)) + + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).ECAN) + + @staticmethod + def get_cam_can_parser_canfd(CP): + messages = [] + if CP.flags & HyundaiFlags.CANFD_HDA2: + block_lfa_msg = "CAM_0x362" if CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING else "CAM_0x2a4" + messages += [(block_lfa_msg, 20)] + elif CP.flags & HyundaiFlags.CANFD_CAMERA_SCC: + messages += [ + ("SCC_CONTROL", 50), + ] + + if not (CP.flags & HyundaiFlags.CANFD_HDA2) and CP.spFlags & HyundaiFlagsSP.SP_NAV_MSG: + messages.append(("CLUSTER_SPEED_LIMIT", 10)) + + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).CAM) diff --git a/selfdrive/car/hyundai/enable_radar_tracks.py b/selfdrive/car/hyundai/enable_radar_tracks.py new file mode 100644 index 0000000000..3a64d50cb9 --- /dev/null +++ b/selfdrive/car/hyundai/enable_radar_tracks.py @@ -0,0 +1,47 @@ +from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery +from openpilot.common.swaglog import cloudlog + +EXT_DIAG_REQUEST = b'\x10\x07' +EXT_DIAG_RESPONSE = b'\x50\x07' + +WRITE_DATA_REQUEST = b'\x2e' +WRITE_DATA_RESPONSE = b'\x68' + +RADAR_TRACKS_CONFIG = b"\x00\x00\x00\x01\x00\x01" + + +def enable_radar_tracks(logcan, sendcan, bus=0, addr=0x7d0, config_data_id=b'\x01\x42', timeout=0.1, retry=10, debug=False): + cloudlog.warning("radar_tracks: enabling ...") + + for i in range(retry): + try: + query = IsoTpParallelQuery(sendcan, logcan, bus, [addr], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], debug=debug) + + for _, _ in query.get_data(timeout).items(): + cloudlog.warning("radar_tracks: reconfigure radar to output radar points ...") + + query = IsoTpParallelQuery(sendcan, logcan, bus, [addr], + [WRITE_DATA_REQUEST + config_data_id + RADAR_TRACKS_CONFIG], + [WRITE_DATA_RESPONSE], debug=debug) + query.get_data(0) + + cloudlog.warning("radar_tracks: successfully enabled") + return True + + except Exception as e: + cloudlog.exception(f"radar_tracks exception: {e}") + + cloudlog.error(f"radar_tracks retry ({i + 1}) ...") + cloudlog.error(f"radar_tracks: failed") + return False + + +if __name__ == "__main__": + import time + import cereal.messaging as messaging + sendcan = messaging.pub_sock('sendcan') + logcan = messaging.sub_sock('can') + time.sleep(1) + + enabled = enable_radar_tracks(logcan, sendcan, bus=0, addr=0x7d0, config_data_id=b'\x01\x42', timeout=0.1, debug=False) + print(f"enabled: {enabled}") diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py new file mode 100644 index 0000000000..749fbadc65 --- /dev/null +++ b/selfdrive/car/hyundai/fingerprints.py @@ -0,0 +1,1272 @@ +from cereal import car +from openpilot.selfdrive.car.hyundai.values import CAR + +Ecu = car.CarParams.Ecu + +# The existence of SCC or RDR in the fwdRadar FW usually determines the radar's function, +# i.e. if it sends the SCC messages or if another ECU like the camera or ADAS Driving ECU does + + +FW_VERSIONS = { + CAR.HYUNDAI_AZERA_6TH_GEN: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00IG__ SCC F-CU- 1.00 1.00 99110-G8100 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00IG MDPS C 1.00 1.02 56310G8510\x00 4IGSC103', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00IG MFC AT MES LHD 1.00 1.04 99211-G8100 200511', + ], + }, + CAR.HYUNDAI_AZERA_HEV_6TH_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00IGH MFC AT KOR LHD 1.00 1.00 99211-G8000 180903', + b'\xf1\x00IGH MFC AT KOR LHD 1.00 1.01 99211-G8000 181109', + b'\xf1\x00IGH MFC AT KOR LHD 1.00 1.02 99211-G8100 191029', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00IG MDPS C 1.00 1.00 56310M9600\x00 4IHSC100', + b'\xf1\x00IG MDPS C 1.00 1.01 56310M9350\x00 4IH8C101', + b'\xf1\x00IG MDPS C 1.00 1.02 56310M9350\x00 4IH8C102', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00IGhe SCC FHCUP 1.00 1.00 99110-M9100 ', + b'\xf1\x00IGhe SCC FHCUP 1.00 1.01 99110-M9000 ', + b'\xf1\x00IGhe SCC FHCUP 1.00 1.02 99110-M9000 ', + ], + }, + CAR.HYUNDAI_GENESIS: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DH LKAS 1.1 -150210', + b'\xf1\x00DH LKAS 1.4 -140110', + b'\xf1\x00DH LKAS 1.5 -140425', + ], + }, + CAR.HYUNDAI_IONIQ: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2000 ', + b'\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2100 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00AE MDPS C 1.00 1.05 56310/G2501 4AEHC105', + b'\xf1\x00AE MDPS C 1.00 1.07 56310/G2301 4AEHC107', + b'\xf1\x00AE MDPS C 1.00 1.07 56310/G2501 4AEHC107', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00AEH MFC AT EUR LHD 1.00 1.00 95740-G2400 180222', + b'\xf1\x00AEH MFC AT USA LHD 1.00 1.00 95740-G2400 180222', + ], + }, + CAR.HYUNDAI_IONIQ_PHEV_2019: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2000 ', + b'\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2100 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00AE MDPS C 1.00 1.07 56310/G2501 4AEHC107', + b'\xf1\x00AE MDPS C 1.00 1.07 56310/G2551 4AEHC107', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00AEP MFC AT AUS RHD 1.00 1.00 95740-G2400 180222', + b'\xf1\x00AEP MFC AT USA LHD 1.00 1.00 95740-G2400 180222', + ], + }, + CAR.HYUNDAI_IONIQ_PHEV: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00AEhe SCC F-CUP 1.00 1.00 99110-G2200 ', + b'\xf1\x00AEhe SCC F-CUP 1.00 1.00 99110-G2600 ', + b'\xf1\x00AEhe SCC F-CUP 1.00 1.02 99110-G2100 ', + b'\xf1\x00AEhe SCC FHCUP 1.00 1.00 99110-G2600 ', + b'\xf1\x00AEhe SCC FHCUP 1.00 1.02 99110-G2100 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2210 4APHC101', + b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2310 4APHC101', + b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2510 4APHC101', + b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2560 4APHC101', + b'\xf1\x00AE MDPS C 1.00 1.01 56310G2510\x00 4APHC101', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00AEP MFC AT EUR LHD 1.00 1.01 95740-G2600 190819', + b'\xf1\x00AEP MFC AT EUR RHD 1.00 1.01 95740-G2600 190819', + b'\xf1\x00AEP MFC AT USA LHD 1.00 1.00 95740-G2700 201027', + b'\xf1\x00AEP MFC AT USA LHD 1.00 1.01 95740-G2600 190819', + ], + }, + CAR.HYUNDAI_IONIQ_EV_2020: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00AEev SCC F-CUP 1.00 1.00 99110-G7200 ', + b'\xf1\x00AEev SCC F-CUP 1.00 1.00 99110-G7500 ', + b'\xf1\x00AEev SCC F-CUP 1.00 1.01 99110-G7000 ', + b'\xf1\x00AEev SCC F-CUP 1.00 1.01 99110-G7100 ', + b'\xf1\x00AEev SCC FHCUP 1.00 1.01 99110-G7100 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00AE MDPS C 1.00 1.01 56310/G7310 4APEC101', + b'\xf1\x00AE MDPS C 1.00 1.01 56310/G7510 4APEC101', + b'\xf1\x00AE MDPS C 1.00 1.01 56310/G7560 4APEC101', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.00 95740-G2600 190730', + b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.00 95740-G2700 201027', + b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.01 95740-G2600 190819', + b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.03 95740-G2500 190516', + b'\xf1\x00AEE MFC AT EUR RHD 1.00 1.01 95740-G2600 190819', + b'\xf1\x00AEE MFC AT USA LHD 1.00 1.01 95740-G2600 190819', + ], + }, + CAR.HYUNDAI_IONIQ_EV_LTD: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00AEev SCC F-CUP 1.00 1.00 96400-G7000 ', + b'\xf1\x00AEev SCC F-CUP 1.00 1.00 96400-G7100 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00AE MDPS C 1.00 1.02 56310G7300\x00 4AEEC102', + b'\xf1\x00AE MDPS C 1.00 1.03 56310/G7300 4AEEC103', + b'\xf1\x00AE MDPS C 1.00 1.03 56310G7300\x00 4AEEC103', + b'\xf1\x00AE MDPS C 1.00 1.04 56310/G7301 4AEEC104', + b'\xf1\x00AE MDPS C 1.00 1.04 56310/G7501 4AEEC104', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.00 95740-G2300 170703', + b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.00 95740-G2400 180222', + b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.00 95740-G7200 160418', + b'\xf1\x00AEE MFC AT USA LHD 1.00 1.00 95740-G2400 180222', + ], + }, + CAR.HYUNDAI_IONIQ_HEV_2022: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00AEhe SCC F-CUP 1.00 1.00 99110-G2600 ', + b'\xf1\x00AEhe SCC FHCUP 1.00 1.00 99110-G2600 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00AE MDPS C 1.00 1.01 56310G2510\x00 4APHC101', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00AEH MFC AT USA LHD 1.00 1.00 95740-G2700 201027', + ], + }, + CAR.HYUNDAI_SONATA: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00DN8_ SCC F-CU- 1.00 1.00 99110-L0000 ', + b'\xf1\x00DN8_ SCC F-CUP 1.00 1.00 99110-L0000 ', + b'\xf1\x00DN8_ SCC F-CUP 1.00 1.02 99110-L1000 ', + b'\xf1\x00DN8_ SCC FHCUP 1.00 1.00 99110-L0000 ', + b'\xf1\x00DN8_ SCC FHCUP 1.00 1.01 99110-L1000 ', + b'\xf1\x00DN8_ SCC FHCUP 1.00 1.02 99110-L1000 ', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00DN ESC \x01 102\x19\x04\x13 58910-L1300', + b'\xf1\x00DN ESC \x03 100 \x08\x01 58910-L0300', + b'\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100', + b'\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100', + b'\xf1\x00DN ESC \x06 107 \x07\x03 58910-L1300', + b'\xf1\x00DN ESC \x06 107"\x08\x07 58910-L0100', + b'\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100', + b'\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100', + b'\xf1\x00DN ESC \x07 107"\x08\x07 58910-L0100', + b'\xf1\x00DN ESC \x08 103\x19\x06\x01 58910-L1300', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', + b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101', + b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0200 4DNAC102', + b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC101', + b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC102', + b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101', + b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0200\x00 4DNAC102', + b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC101', + b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC102', + b'\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1010 4DNDC103', + b'\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1030 4DNDC103', + b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100', + b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP101', + b'\xf1\x00DN8 MDPS R 1.00 1.02 57700-L1000 4DNDP105', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DN8 MFC AT KOR LHD 1.00 1.02 99211-L1000 190422', + b'\xf1\x00DN8 MFC AT KOR LHD 1.00 1.04 99211-L1000 191016', + b'\xf1\x00DN8 MFC AT RUS LHD 1.00 1.03 99211-L1000 190705', + b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.00 99211-L0000 190716', + b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.01 99211-L0000 191016', + b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.03 99211-L0000 210603', + b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.05 99211-L1000 201109', + b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.06 99211-L1000 210325', + b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.07 99211-L1000 211223', + ], + }, + CAR.HYUNDAI_SONATA_LF: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00LF__ SCC F-CUP 1.00 1.00 96401-C2200 ', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00LF ESC \t 11 \x17\x01\x13 58920-C2610', + b'\xf1\x00LF ESC \x0c 11 \x17\x01\x13 58920-C2610', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00LFF LKAS AT USA LHD 1.00 1.01 95740-C1000 E51', + b'\xf1\x00LFF LKAS AT USA LHD 1.01 1.02 95740-C1000 E52', + ], + }, + CAR.HYUNDAI_TUCSON: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00TL__ FCA F-CUP 1.00 1.01 99110-D3500 ', + b'\xf1\x00TL__ FCA F-CUP 1.00 1.02 99110-D3510 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00TL MFC AT KOR LHD 1.00 1.02 95895-D3800 180719', + b'\xf1\x00TL MFC AT USA LHD 1.00 1.06 95895-D3800 190107', + ], + }, + CAR.HYUNDAI_SANTA_FE: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00TM__ SCC F-CUP 1.00 1.00 99110-S1210 ', + b'\xf1\x00TM__ SCC F-CUP 1.00 1.01 99110-S2000 ', + b'\xf1\x00TM__ SCC F-CUP 1.00 1.02 99110-S2000 ', + b'\xf1\x00TM__ SCC F-CUP 1.00 1.03 99110-S2000 ', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00TM ESC \x02 100\x18\x030 58910-S2600', + b'\xf1\x00TM ESC \x02 102\x18\x07\x01 58910-S2600', + b'\xf1\x00TM ESC \x02 103\x18\x11\x07 58910-S2600', + b'\xf1\x00TM ESC \x02 104\x19\x07\x07 58910-S2600', + b'\xf1\x00TM ESC \x03 103\x18\x11\x07 58910-S2600', + b'\xf1\x00TM ESC \x0c 103\x18\x11\x08 58910-S2650', + b'\xf1\x00TM ESC \r 100\x18\x031 58910-S2650', + b'\xf1\x00TM ESC \r 103\x18\x11\x08 58910-S2650', + b'\xf1\x00TM ESC \r 104\x19\x07\x08 58910-S2650', + b'\xf1\x00TM ESC \r 105\x19\x05# 58910-S1500', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00TM MDPS C 1.00 1.00 56340-S2000 8409', + b'\xf1\x00TM MDPS C 1.00 1.00 56340-S2000 8A12', + b'\xf1\x00TM MDPS C 1.00 1.01 56340-S2000 9129', + b'\xf1\x00TM MDPS R 1.00 1.02 57700-S1100 4TMDP102', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00TM MFC AT EUR LHD 1.00 1.01 99211-S1010 181207', + b'\xf1\x00TM MFC AT USA LHD 1.00 1.00 99211-S2000 180409', + ], + }, + CAR.HYUNDAI_SANTA_FE_2022: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00TM__ SCC F-CUP 1.00 1.00 99110-S1500 ', + b'\xf1\x00TM__ SCC F-CUP 1.00 1.01 99110-S1500 ', + b'\xf1\x00TM__ SCC FHCUP 1.00 1.00 99110-S1500 ', + b'\xf1\x00TM__ SCC FHCUP 1.00 1.01 99110-S1500 ', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00TM ESC \x01 102!\x04\x03 58910-S2DA0', + b'\xf1\x00TM ESC \x01 104"\x10\x07 58910-S2DA0', + b'\xf1\x00TM ESC \x02 101 \x08\x04 58910-S2GA0', + b'\xf1\x00TM ESC \x02 103"\x07\x08 58910-S2GA0', + b'\xf1\x00TM ESC \x03 101 \x08\x02 58910-S2DA0', + b'\xf1\x00TM ESC \x03 102!\x04\x03 58910-S2DA0', + b'\xf1\x00TM ESC \x04 101 \x08\x04 58910-S2GA0', + b'\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0', + b'\xf1\x00TM ESC \x04 103"\x07\x08 58910-S2GA0', + b'\xf1\x00TM ESC \x1e 102 \x08\x08 58910-S1DA0', + b'\xf1\x00TM ESC 103!\x030 58910-S1MA0', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00TM MDPS C 1.00 1.01 56310-S1AB0 4TSDC101', + b'\xf1\x00TM MDPS C 1.00 1.01 56310-S1EB0 4TSDC101', + b'\xf1\x00TM MDPS C 1.00 1.02 56370-S2AA0 0B19', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00TM MFC AT EUR LHD 1.00 1.03 99211-S1500 210224', + b'\xf1\x00TM MFC AT MES LHD 1.00 1.05 99211-S1500 220126', + b'\xf1\x00TMA MFC AT MEX LHD 1.00 1.01 99211-S2500 210205', + b'\xf1\x00TMA MFC AT USA LHD 1.00 1.00 99211-S2500 200720', + b'\xf1\x00TMA MFC AT USA LHD 1.00 1.01 99211-S2500 210205', + b'\xf1\x00TMA MFC AT USA LHD 1.00 1.03 99211-S2500 220414', + ], + }, + CAR.HYUNDAI_SANTA_FE_HEV_2022: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00TMhe SCC FHCUP 1.00 1.00 99110-CL500 ', + b'\xf1\x00TMhe SCC FHCUP 1.00 1.01 99110-CL500 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLAC0 4TSHC102', + b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLEC0 4TSHC102', + b'\xf1\x00TM MDPS C 1.00 1.02 56310-GA000 4TSHA100', + b'\xf1\x00TM MDPS C 1.00 1.02 56310GA000\x00 4TSHA100', + b'\xf1\x00TM MDPS R 1.00 1.05 57700-CL000 4TSHP105', + b'\xf1\x00TM MDPS R 1.00 1.06 57700-CL000 4TSHP106', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00TMA MFC AT USA LHD 1.00 1.03 99211-S2500 220414', + b'\xf1\x00TMH MFC AT EUR LHD 1.00 1.06 99211-S1500 220727', + b'\xf1\x00TMH MFC AT KOR LHD 1.00 1.06 99211-S1500 220727', + b'\xf1\x00TMH MFC AT USA LHD 1.00 1.03 99211-S1500 210224', + b'\xf1\x00TMH MFC AT USA LHD 1.00 1.05 99211-S1500 220126', + b'\xf1\x00TMH MFC AT USA LHD 1.00 1.06 99211-S1500 220727', + ], + }, + CAR.HYUNDAI_SANTA_FE_PHEV_2022: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00TMhe SCC F-CUP 1.00 1.00 99110-CL500 ', + b'\xf1\x00TMhe SCC FHCUP 1.00 1.00 99110-CL500 ', + b'\xf1\x00TMhe SCC FHCUP 1.00 1.01 99110-CL500 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLAC0 4TSHC102', + b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLEC0 4TSHC102', + b'\xf1\x00TM MDPS C 1.00 1.02 56310CLEC0\x00 4TSHC102', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00TMP MFC AT USA LHD 1.00 1.03 99211-S1500 210224', + b'\xf1\x00TMP MFC AT USA LHD 1.00 1.05 99211-S1500 220126', + b'\xf1\x00TMP MFC AT USA LHD 1.00 1.06 99211-S1500 220727', + ], + }, + CAR.HYUNDAI_CUSTIN_1ST_GEN: { + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00KU ESC \x01 101!\x02\x03 58910-O3200', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00KU__ SCC F-CUP 1.00 1.01 99110-O3000 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00KU MDPS C 1.00 1.01 56310/O3100 4KUCC101', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00KU2 MFC AT CHN LHD 1.00 1.02 99211-O3000 220923', + ], + }, + CAR.KIA_STINGER: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00CK__ SCC F_CUP 1.00 1.01 96400-J5000 ', + b'\xf1\x00CK__ SCC F_CUP 1.00 1.01 96400-J5100 ', + b'\xf1\x00CK__ SCC F_CUP 1.00 1.02 96400-J5100 ', + b'\xf1\x00CK__ SCC F_CUP 1.00 1.03 96400-J5100 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00CK MDPS R 1.00 1.04 57700-J5200 4C2CL104', + b'\xf1\x00CK MDPS R 1.00 1.04 57700-J5220 4C2VL104', + b'\xf1\x00CK MDPS R 1.00 1.04 57700-J5420 4C4VL104', + b'\xf1\x00CK MDPS R 1.00 1.06 57700-J5220 4C2VL106', + b'\xf1\x00CK MDPS R 1.00 1.06 57700-J5420 4C4VL106', + b'\xf1\x00CK MDPS R 1.00 1.07 57700-J5220 4C2VL107', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00CK MFC AT EUR LHD 1.00 1.03 95740-J5000 170822', + b'\xf1\x00CK MFC AT USA LHD 1.00 1.03 95740-J5000 170822', + b'\xf1\x00CK MFC AT USA LHD 1.00 1.04 95740-J5000 180504', + ], + }, + CAR.KIA_STINGER_2022: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00CK__ SCC F-CUP 1.00 1.00 99110-J5500 ', + b'\xf1\x00CK__ SCC FHCUP 1.00 1.00 99110-J5500 ', + b'\xf1\x00CK__ SCC FHCUP 1.00 1.00 99110-J5600 ', + b'\xf1\x00CK__ SCC FHCUP 1.00 1.01 99110-J5100 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00CK MDPS R 1.00 5.03 57700-J5300 4C2CL503', + b'\xf1\x00CK MDPS R 1.00 5.03 57700-J5320 4C2VL503', + b'\xf1\x00CK MDPS R 1.00 5.03 57700-J5380 4C2VR503', + b'\xf1\x00CK MDPS R 1.00 5.03 57700-J5520 4C4VL503', + b'\xf1\x00CK MDPS R 1.00 5.04 57700-J5520 4C4VL504', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00CK MFC AT AUS RHD 1.00 1.00 99211-J5500 210622', + b'\xf1\x00CK MFC AT KOR LHD 1.00 1.00 99211-J5500 210622', + b'\xf1\x00CK MFC AT USA LHD 1.00 1.00 99211-J5500 210622', + b'\xf1\x00CK MFC AT USA LHD 1.00 1.03 99211-J5000 201209', + ], + }, + CAR.HYUNDAI_PALISADE: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00LX2 SCC FHCUP 1.00 1.04 99110-S8100 ', + b'\xf1\x00LX2_ SCC F-CUP 1.00 1.04 99110-S8100 ', + b'\xf1\x00LX2_ SCC F-CUP 1.00 1.05 99110-S8100 ', + b'\xf1\x00LX2_ SCC FHCU- 1.00 1.05 99110-S8100 ', + b'\xf1\x00LX2_ SCC FHCUP 1.00 1.00 99110-S8110 ', + b'\xf1\x00LX2_ SCC FHCUP 1.00 1.03 99110-S8100 ', + b'\xf1\x00LX2_ SCC FHCUP 1.00 1.04 99110-S8100 ', + b'\xf1\x00LX2_ SCC FHCUP 1.00 1.05 99110-S8100 ', + b'\xf1\x00ON__ FCA FHCUP 1.00 1.00 99110-S9110 ', + b'\xf1\x00ON__ FCA FHCUP 1.00 1.01 99110-S9110 ', + b'\xf1\x00ON__ FCA FHCUP 1.00 1.02 99110-S9100 ', + b'\xf1\x00ON__ FCA FHCUP 1.00 1.03 99110-S9100 ', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00LX ESC \x01 103\x19\t\x10 58910-S8360', + b'\xf1\x00LX ESC \x01 1031\t\x10 58910-S8360', + b'\xf1\x00LX ESC \x01 104 \x10\x15 58910-S8350', + b'\xf1\x00LX ESC \x01 104 \x10\x16 58910-S8360', + b'\xf1\x00LX ESC \x0b 101\x19\x03\x17 58910-S8330', + b'\xf1\x00LX ESC \x0b 101\x19\x03 58910-S8360', + b'\xf1\x00LX ESC \x0b 102\x19\x05\x07 58910-S8330', + b'\xf1\x00LX ESC \x0b 103\x19\t\x07 58910-S8330', + b'\xf1\x00LX ESC \x0b 103\x19\t\t 58910-S8350', + b'\xf1\x00LX ESC \x0b 103\x19\t\x10 58910-S8360', + b'\xf1\x00LX ESC \x0b 104 \x10\x16 58910-S8360', + b'\xf1\x00ON ESC \x01 101\x19\t\x08 58910-S9360', + b'\xf1\x00ON ESC \x0b 100\x18\x12\x18 58910-S9360', + b'\xf1\x00ON ESC \x0b 101\x19\t\x05 58910-S9320', + b'\xf1\x00ON ESC \x0b 101\x19\t\x08 58910-S9360', + b'\xf1\x00ON ESC \x0b 103$\x04\x08 58910-S9360', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00LX2 MDPS C 1,00 1,03 56310-S8020 4LXDC103', + b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8000 4LXDC103', + b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8020 4LXDC103', + b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-XX000 4LXDC103', + b'\xf1\x00LX2 MDPS C 1.00 1.04 56310-S8020 4LXDC104', + b'\xf1\x00LX2 MDPS C 1.00 1.04 56310-S8420 4LXDC104', + b'\xf1\x00LX2 MDPS R 1.00 1.02 56370-S8300 9318', + b'\xf1\x00ON MDPS C 1.00 1.00 56340-S9000 8B13', + b'\xf1\x00ON MDPS C 1.00 1.01 56340-S9000 9201', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00LX2 MFC AT KOR LHD 1.00 1.08 99211-S8100 200903', + b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.00 99211-S8110 210226', + b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.03 99211-S8100 190125', + b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.05 99211-S8100 190909', + b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.07 99211-S8100 200422', + b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.08 99211-S8100 200903', + b'\xf1\x00ON MFC AT USA LHD 1.00 1.01 99211-S9100 181105', + b'\xf1\x00ON MFC AT USA LHD 1.00 1.03 99211-S9100 200720', + b'\xf1\x00ON MFC AT USA LHD 1.00 1.04 99211-S9100 211227', + ], + }, + CAR.HYUNDAI_VELOSTER: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00JS__ SCC H-CUP 1.00 1.02 95650-J3200 ', + b'\xf1\x00JS__ SCC HNCUP 1.00 1.02 95650-J3100 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00JSL MDPS C 1.00 1.03 56340-J3000 8308', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00JS LKAS AT KOR LHD 1.00 1.03 95740-J3000 K33', + b'\xf1\x00JS LKAS AT USA LHD 1.00 1.02 95740-J3000 K32', + ], + }, + CAR.GENESIS_G70: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00IK__ SCC F-CUP 1.00 1.01 96400-G9100 ', + b'\xf1\x00IK__ SCC F-CUP 1.00 1.02 96400-G9100 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00IK MDPS R 1.00 1.06 57700-G9420 4I4VL106', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00IK MFC AT USA LHD 1.00 1.01 95740-G9000 170920', + ], + }, + CAR.GENESIS_G70_2020: { + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00IK MDPS R 1.00 1.06 57700-G9220 4I2VL106', + b'\xf1\x00IK MDPS R 1.00 1.07 57700-G9220 4I2VL107', + b'\xf1\x00IK MDPS R 1.00 1.07 57700-G9420 4I4VL107', + b'\xf1\x00IK MDPS R 1.00 1.08 57700-G9200 4I2CL108', + b'\xf1\x00IK MDPS R 1.00 1.08 57700-G9420 4I4VL108', + b'\xf1\x00IK MDPS R 1.00 5.09 57700-G9520 4I4VL509', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00IK__ SCC F-CUP 1.00 1.01 96400-G9100 ', + b'\xf1\x00IK__ SCC F-CUP 1.00 1.02 96400-G9100 ', + b'\xf1\x00IK__ SCC F-CUP 1.00 1.02 96400-G9100 \xf1\xa01.02', + b'\xf1\x00IK__ SCC FHCUP 1.00 1.00 99110-G9300 ', + b'\xf1\x00IK__ SCC FHCUP 1.00 1.02 96400-G9000 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00IK MFC AT KOR LHD 1.00 1.01 95740-G9000 170920', + b'\xf1\x00IK MFC AT USA LHD 1.00 1.01 95740-G9000 170920', + b'\xf1\x00IK MFC AT USA LHD 1.00 1.04 99211-G9000 220401', + ], + }, + CAR.GENESIS_G80: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00DH__ SCC F-CU- 1.00 1.01 96400-B1110 ', + b'\xf1\x00DH__ SCC F-CUP 1.00 1.01 96400-B1120 ', + b'\xf1\x00DH__ SCC F-CUP 1.00 1.02 96400-B1120 ', + b'\xf1\x00DH__ SCC FHCUP 1.00 1.01 96400-B1110 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DH LKAS AT EUR LHD 1.01 1.01 95895-B1500 161014', + b'\xf1\x00DH LKAS AT KOR LHD 1.01 1.01 95895-B1500 161014', + b'\xf1\x00DH LKAS AT KOR LHD 1.01 1.02 95895-B1500 170810', + b'\xf1\x00DH LKAS AT USA LHD 1.01 1.01 95895-B1500 161014', + b'\xf1\x00DH LKAS AT USA LHD 1.01 1.02 95895-B1500 170810', + b'\xf1\x00DH LKAS AT USA LHD 1.01 1.03 95895-B1500 180713', + b'\xf1\x00DH LKAS AT USA LHD 1.01 1.04 95895-B1500 181213', + ], + }, + CAR.GENESIS_G90: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00HI__ SCC F-CUP 1.00 1.01 96400-D2100 ', + b'\xf1\x00HI__ SCC FHCUP 1.00 1.02 99110-D2100 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00HI LKAS AT USA LHD 1.00 1.00 95895-D2020 160302', + b'\xf1\x00HI LKAS AT USA LHD 1.00 1.00 95895-D2030 170208', + b'\xf1\x00HI MFC AT USA LHD 1.00 1.03 99211-D2000 190831', + ], + }, + CAR.HYUNDAI_KONA: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00OS__ SCC F-CUP 1.00 1.00 95655-J9200 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00OS MDPS C 1.00 1.05 56310J9030\x00 4OSDC105', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00OS9 LKAS AT USA LHD 1.00 1.00 95740-J9300 g21', + ], + }, + CAR.KIA_CEED: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00CD__ SCC F-CUP 1.00 1.02 99110-J7000 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00CD MDPS C 1.00 1.06 56310-XX000 4CDEC106', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00CD LKAS AT EUR LHD 1.00 1.01 99211-J7000 B40', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00CD ESC \x03 102\x18\x08\x05 58920-J7350', + ], + }, + CAR.KIA_FORTE: { + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00BD MDPS C 1.00 1.02 56310-XX000 4BD2C102', + b'\xf1\x00BD MDPS C 1.00 1.08 56310/M6300 4BDDC108', + b'\xf1\x00BD MDPS C 1.00 1.08 56310M6300\x00 4BDDC108', + b'\xf1\x00BDm MDPS C A.01 1.01 56310M7800\x00 4BPMC101', + b'\xf1\x00BDm MDPS C A.01 1.03 56310M7800\x00 4BPMC103', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00BD LKAS AT USA LHD 1.00 1.04 95740-M6000 J33', + b'\xf1\x00BDP LKAS AT USA LHD 1.00 1.05 99211-M6500 744', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00BDPE_SCC FHCUPC 1.00 1.04 99110-M6500\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x00BD__ SCC H-CUP 1.00 1.02 99110-M6000 ', + ], + }, + CAR.KIA_K5_2021: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00DL3_ SCC F-CUP 1.00 1.03 99110-L2100 ', + b'\xf1\x00DL3_ SCC FHCUP 1.00 1.03 99110-L2000 ', + b'\xf1\x00DL3_ SCC FHCUP 1.00 1.03 99110-L2100 ', + b'\xf1\x00DL3_ SCC FHCUP 1.00 1.04 99110-L2100 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3110 4DLAC101', + b'\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101', + b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L2220 4DLDC102', + b'\xf1\x00DL3 MDPS C 1.00 1.02 56310L3220\x00 4DLAC102', + b'\xf1\x00DL3 MDPS R 1.00 1.02 57700-L3000 4DLAP102', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DL3 MFC AT KOR LHD 1.00 1.04 99210-L2000 210527', + b'\xf1\x00DL3 MFC AT USA LHD 1.00 1.03 99210-L3000 200915', + b'\xf1\x00DL3 MFC AT USA LHD 1.00 1.04 99210-L3000 210208', + b'\xf1\x00DL3 MFC AT USA LHD 1.00 1.05 99210-L3000 211222', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00DL ESC \x01 104 \x07\x12 58910-L2200', + b'\xf1\x00DL ESC \x03 100 \x08\x02 58910-L3600', + b'\xf1\x00DL ESC \x06 101 \x04\x02 58910-L3200', + b'\xf1\x00DL ESC \x06 103"\x08\x06 58910-L3200', + b'\xf1\x00DL ESC \t 100 \x06\x02 58910-L3800', + b'\xf1\x00DL ESC \t 101 \x07\x02 58910-L3800', + b'\xf1\x00DL ESC \t 102"\x08\x10 58910-L3800', + ], + }, + CAR.KIA_K5_HEV_2020: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00DLhe SCC FHCUP 1.00 1.02 99110-L7000 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L7000 4DLHC102', + b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L7220 4DLHC102', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DL3HMFC AT KOR LHD 1.00 1.01 99210-L2000 191022', + b'\xf1\x00DL3HMFC AT KOR LHD 1.00 1.02 99210-L2000 200309', + b'\xf1\x00DL3HMFC AT KOR LHD 1.00 1.04 99210-L2000 210527', + ], + }, + CAR.HYUNDAI_KONA_EV: { + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00OS IEB \x01 212 \x11\x13 58520-K4000', + b'\xf1\x00OS IEB \x02 210 \x02\x14 58520-K4000', + b'\xf1\x00OS IEB \x02 212 \x11\x13 58520-K4000', + b'\xf1\x00OS IEB \x03 210 \x02\x14 58520-K4000', + b'\xf1\x00OS IEB \x03 211 \x04\x02 58520-K4000', + b'\xf1\x00OS IEB \x03 212 \x11\x13 58520-K4000', + b'\xf1\x00OS IEB \r 105\x18\t\x18 58520-K4000', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00OE2 LKAS AT EUR LHD 1.00 1.00 95740-K4200 200', + b'\xf1\x00OSE LKAS AT EUR LHD 1.00 1.00 95740-K4100 W40', + b'\xf1\x00OSE LKAS AT EUR RHD 1.00 1.00 95740-K4100 W40', + b'\xf1\x00OSE LKAS AT KOR LHD 1.00 1.00 95740-K4100 W40', + b'\xf1\x00OSE LKAS AT USA LHD 1.00 1.00 95740-K4100 W40', + b'\xf1\x00OSE LKAS AT USA LHD 1.00 1.00 95740-K4300 W50', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00OS MDPS C 1.00 1.03 56310/K4550 4OEDC103', + b'\xf1\x00OS MDPS C 1.00 1.04 56310-XX000 4OEDC104', + b'\xf1\x00OS MDPS C 1.00 1.04 56310K4000\x00 4OEDC104', + b'\xf1\x00OS MDPS C 1.00 1.04 56310K4050\x00 4OEDC104', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00OSev SCC F-CUP 1.00 1.00 99110-K4000 ', + b'\xf1\x00OSev SCC F-CUP 1.00 1.00 99110-K4100 ', + b'\xf1\x00OSev SCC F-CUP 1.00 1.01 99110-K4000 ', + b'\xf1\x00OSev SCC FNCUP 1.00 1.01 99110-K4000 ', + ], + }, + CAR.HYUNDAI_KONA_EV_2022: { + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00OS IEB \x02 102"\x05\x16 58520-K4010', + b'\xf1\x00OS IEB \x03 101 \x11\x13 58520-K4010', + b'\xf1\x00OS IEB \x03 102"\x05\x16 58520-K4010', + b'\xf1\x00OS IEB \r 102"\x05\x16 58520-K4010', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00OSP LKA AT AUS RHD 1.00 1.04 99211-J9200 904', + b'\xf1\x00OSP LKA AT CND LHD 1.00 1.02 99211-J9110 802', + b'\xf1\x00OSP LKA AT EUR LHD 1.00 1.04 99211-J9200 904', + b'\xf1\x00OSP LKA AT EUR RHD 1.00 1.02 99211-J9110 802', + b'\xf1\x00OSP LKA AT EUR RHD 1.00 1.04 99211-J9200 904', + b'\xf1\x00OSP LKA AT USA LHD 1.00 1.04 99211-J9200 904', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00OSP MDPS C 1.00 1.02 56310-K4271 4OEPC102', + b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4271 4OEPC102', + b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4970 4OEPC102', + b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4260\x00 4OEPC102', + b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4261\x00 4OEPC102', + b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4971\x00 4OEPC102', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00YB__ FCA ----- 1.00 1.01 99110-K4500 \x00\x00\x00', + ], + }, + CAR.HYUNDAI_KONA_EV_2ND_GEN: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00SXev RDR ----- 1.00 1.00 99110-BF000 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00SX2EMFC AT KOR LHD 1.00 1.00 99211-BF000 230410', + ], + }, + CAR.KIA_NIRO_EV: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4000 ', + b'\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4100 ', + b'\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4500 ', + b'\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4600 ', + b'\xf1\x00DEev SCC F-CUP 1.00 1.02 96400-Q4000 ', + b'\xf1\x00DEev SCC F-CUP 1.00 1.02 96400-Q4100 ', + b'\xf1\x00DEev SCC F-CUP 1.00 1.03 96400-Q4100 ', + b'\xf1\x00DEev SCC FHCUP 1.00 1.00 99110-Q4600 ', + b'\xf1\x00DEev SCC FHCUP 1.00 1.03 96400-Q4000 ', + b'\xf1\x00DEev SCC FNCUP 1.00 1.00 99110-Q4600 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00DE MDPS C 1.00 1.04 56310Q4100\x00 4DEEC104', + b'\xf1\x00DE MDPS C 1.00 1.05 56310Q4000\x00 4DEEC105', + b'\xf1\x00DE MDPS C 1.00 1.05 56310Q4100\x00 4DEEC105', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DEE MFC AT EUR LHD 1.00 1.00 99211-Q4000 191211', + b'\xf1\x00DEE MFC AT EUR LHD 1.00 1.00 99211-Q4100 200706', + b'\xf1\x00DEE MFC AT EUR LHD 1.00 1.03 95740-Q4000 180821', + b'\xf1\x00DEE MFC AT KOR LHD 1.00 1.02 95740-Q4000 180705', + b'\xf1\x00DEE MFC AT KOR LHD 1.00 1.03 95740-Q4000 180821', + b'\xf1\x00DEE MFC AT USA LHD 1.00 1.00 99211-Q4000 191211', + b'\xf1\x00DEE MFC AT USA LHD 1.00 1.01 99211-Q4500 210428', + b'\xf1\x00DEE MFC AT USA LHD 1.00 1.03 95740-Q4000 180821', + ], + }, + CAR.KIA_NIRO_EV_2ND_GEN: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00SG2_ RDR ----- 1.00 1.01 99110-AT000 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00SG2EMFC AT EUR LHD 1.01 1.09 99211-AT000 220801', + b'\xf1\x00SG2EMFC AT USA LHD 1.01 1.09 99211-AT000 220801', + ], + }, + CAR.KIA_NIRO_PHEV: { + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00DE MDPS C 1.00 1.01 56310G5520\x00 4DEPC101', + b'\xf1\x00DE MDPS C 1.00 1.09 56310G5301\x00 4DEHC109', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DEH MFC AT USA LHD 1.00 1.00 95740-G5010 170117', + b'\xf1\x00DEP MFC AT USA LHD 1.00 1.00 95740-G5010 170117', + b'\xf1\x00DEP MFC AT USA LHD 1.00 1.01 95740-G5010 170424', + b'\xf1\x00DEP MFC AT USA LHD 1.00 1.05 99211-G5000 190826', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00DEhe SCC F-CUP 1.00 1.02 99110-G5100 ', + b'\xf1\x00DEhe SCC FHCUP 1.00 1.02 99110-G5100 ', + b'\xf1\x00DEhe SCC H-CUP 1.01 1.02 96400-G5100 ', + ], + }, + CAR.KIA_NIRO_PHEV_2022: { + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00DE MDPS C 1.00 1.01 56310G5520\x00 4DEPC101', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DEP MFC AT USA LHD 1.00 1.00 99211-G5500 210428', + b'\xf1\x00DEP MFC AT USA LHD 1.00 1.06 99211-G5000 201028', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00DEhe SCC F-CUP 1.00 1.00 99110-G5600 ', + b'\xf1\x00DEhe SCC FHCUP 1.00 1.00 99110-G5600 ', + ], + }, + CAR.KIA_NIRO_HEV_2021: { + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00DE MDPS C 1.00 1.01 56310G5520\x00 4DEPC101', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DEH MFC AT KOR LHD 1.00 1.04 99211-G5000 190516', + b'\xf1\x00DEH MFC AT USA LHD 1.00 1.00 99211-G5500 210428', + b'\xf1\x00DEH MFC AT USA LHD 1.00 1.07 99211-G5000 201221', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00DEhe SCC FHCUP 1.00 1.00 99110-G5600 ', + b'\xf1\x00DEhe SCC FHCUP 1.00 1.01 99110-G5000 ', + ], + }, + CAR.KIA_SELTOS: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00SP2_ SCC FHCUP 1.01 1.05 99110-Q5100 ', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00SP ESC \x07 101\x19\t\x05 58910-Q5450', + b'\xf1\x00SP ESC \t 101\x19\t\x05 58910-Q5450', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00SP2 MDPS C 1.00 1.04 56300Q5200 ', + b'\xf1\x00SP2 MDPS C 1.01 1.05 56300Q5200 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00SP2 MFC AT USA LHD 1.00 1.04 99210-Q5000 191114', + b'\xf1\x00SP2 MFC AT USA LHD 1.00 1.05 99210-Q5000 201012', + ], + }, + CAR.KIA_OPTIMA_G4: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00JF__ SCC F-CUP 1.00 1.00 96400-D4100 ', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00JF ESC \t 17 \x16\x06# 58920-D4180', + b'\xf1\x00JF ESC \x0f 16 \x16\x06\x17 58920-D5080', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00JFWGN LDWS AT USA LHD 1.00 1.02 95895-D4100 G21', + b'\xf1\x00JFWGN LKAS AT EUR LHD 1.00 1.01 95895-D4100 G20', + ], + }, + CAR.KIA_OPTIMA_G4_FL: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00JF__ SCC F-CUP 1.00 1.00 96400-D4110 ', + ], + (Ecu.abs, 0x7d1, None): [ + b"\xf1\x00JF ESC \t 11 \x18\x03' 58920-D5260", + b'\xf1\x00JF ESC \x0b 11 \x18\x030 58920-D5180', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.00 95895-D5001 h32', + b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.00 95895-D5100 h32', + ], + }, + CAR.KIA_OPTIMA_H: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00JFhe SCC FNCUP 1.00 1.00 96400-A8000 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00JFP LKAS AT EUR LHD 1.00 1.03 95895-A8100 160711', + ], + }, + CAR.KIA_OPTIMA_H_G4_FL: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00JFhe SCC FHCUP 1.00 1.01 99110-A8500 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00JFH MFC AT KOR LHD 1.00 1.01 95895-A8200 180323', + ], + }, + CAR.HYUNDAI_ELANTRA: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00AD LKAS AT USA LHD 1.01 1.01 95895-F2000 251', + b'\xf1\x00ADP LKAS AT USA LHD 1.00 1.03 99211-F2000 X31', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00AD ESC \x11 11 \x18\x05\x06 58910-F2840', + b'\xf1\x00AD ESC \x11 12 \x15\t\t 58920-F2810', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00AD__ SCC H-CUP 1.00 1.00 99110-F2100 ', + b'\xf1\x00AD__ SCC H-CUP 1.00 1.01 96400-F2100 ', + ], + }, + CAR.HYUNDAI_ELANTRA_GT_I30: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00PD LKAS AT KOR LHD 1.00 1.02 95740-G3000 A51', + b'\xf1\x00PD LKAS AT USA LHD 1.00 1.02 95740-G3000 A51', + b'\xf1\x00PD LKAS AT USA LHD 1.01 1.01 95740-G3100 A54', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00PD MDPS C 1.00 1.00 56310G3300\x00 4PDDC100', + b'\xf1\x00PD MDPS C 1.00 1.03 56310/G3300 4PDDC103', + b'\xf1\x00PD MDPS C 1.00 1.04 56310/G3300 4PDDC104', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00PD ESC \t 104\x18\t\x03 58920-G3350', + b'\xf1\x00PD ESC \x0b 103\x17\x110 58920-G3350', + b'\xf1\x00PD ESC \x0b 104\x18\t\x03 58920-G3350', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00PD__ SCC F-CUP 1.00 1.00 96400-G3300 ', + b'\xf1\x00PD__ SCC F-CUP 1.01 1.00 96400-G3100 ', + b'\xf1\x00PD__ SCC FNCUP 1.01 1.00 96400-G3000 ', + ], + }, + CAR.HYUNDAI_ELANTRA_2021: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00CN7_ SCC F-CUP 1.00 1.01 99110-AA000 ', + b'\xf1\x00CN7_ SCC FHCUP 1.00 1.01 99110-AA000 ', + b'\xf1\x00CN7_ SCC FNCUP 1.00 1.01 99110-AA000 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00CN7 MDPS C 1.00 1.06 56310/AA050 4CNDC106', + b'\xf1\x00CN7 MDPS C 1.00 1.06 56310/AA070 4CNDC106', + b'\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106', + b'\xf1\x00CN7 MDPS C 1.00 1.07 56310AA050\x00 4CNDC107', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.00 99210-AB000 200819', + b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.01 99210-AB000 210205', + b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.02 99210-AB000 220111', + b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.03 99210-AA000 200819', + b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.03 99210-AB000 220426', + b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.06 99210-AA000 220111', + b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.07 99210-AA000 220426', + b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.08 99210-AA000 220728', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800', + b'\xf1\x00CN ESC \t 104 \x08\x03 58910-AA800', + b'\xf1\x00CN ESC \t 105 \x10\x03 58910-AA800', + ], + }, + CAR.HYUNDAI_ELANTRA_HEV_2021: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.03 99210-AA000 200819', + b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.05 99210-AA000 210930', + b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.07 99210-AA000 220426', + b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.08 99210-AA000 220728', + b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.09 99210-AA000 221108', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00CNhe SCC FHCUP 1.00 1.01 99110-BY000 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00CN7 MDPS C 1.00 1.02 56310/BY050 4CNHC102', + b'\xf1\x00CN7 MDPS C 1.00 1.03 56310/BY050 4CNHC103', + b'\xf1\x00CN7 MDPS C 1.00 1.03 56310BY050\x00 4CNHC103', + b'\xf1\x00CN7 MDPS C 1.00 1.03 56310BY0500 4CNHC103', + b'\xf1\x00CN7 MDPS C 1.00 1.04 56310BY050\x00 4CNHC104', + ], + }, + CAR.HYUNDAI_KONA_HEV: { + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00OS IEB \x01 104 \x11 58520-CM000', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00OShe SCC FNCUP 1.00 1.01 99110-CM000 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00OS MDPS C 1.00 1.00 56310CM030\x00 4OHDC100', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00OSH LKAS AT KOR LHD 1.00 1.01 95740-CM000 l31', + ], + }, + CAR.HYUNDAI_SONATA_HYBRID: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00DNhe SCC F-CUP 1.00 1.02 99110-L5000 ', + b'\xf1\x00DNhe SCC FHCUP 1.00 1.00 99110-L5000 ', + b'\xf1\x00DNhe SCC FHCUP 1.00 1.02 99110-L5000 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L5000 4DNHC101', + b'\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5450 4DNHC102', + b'\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5500 4DNHC102', + b'\xf1\x00DN8 MDPS C 1.00 1.03 56310-L5450 4DNHC103', + b'\xf1\x00DN8 MDPS C 1.00 1.03 56310L5450\x00 4DNHC104', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DN8HMFC AT KOR LHD 1.00 1.03 99211-L1000 190705', + b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.04 99211-L1000 191016', + b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.05 99211-L1000 201109', + b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.06 99211-L1000 210325', + b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.07 99211-L1000 211223', + ], + }, + CAR.KIA_SORENTO: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00UMP LKAS AT KOR LHD 1.00 1.00 95740-C5550 S30', + b'\xf1\x00UMP LKAS AT USA LHD 1.00 1.00 95740-C6550 d00', + b'\xf1\x00UMP LKAS AT USA LHD 1.01 1.01 95740-C6550 d01', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00UM ESC \x02 12 \x18\x05\x05 58910-C6300', + b'\xf1\x00UM ESC \x0c 12 \x18\x05\x06 58910-C6330', + b'\xf1\x00UM ESC \x13 12 \x17\x07\x05 58910-C5320', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00UM__ SCC F-CUP 1.00 1.00 96400-C5500 ', + b'\xf1\x00UM__ SCC F-CUP 1.00 1.00 96400-C6500 ', + ], + }, + CAR.KIA_EV6: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00CV1 MFC AT EUR LHD 1.00 1.05 99210-CV000 211027', + b'\xf1\x00CV1 MFC AT EUR LHD 1.00 1.06 99210-CV000 220328', + b'\xf1\x00CV1 MFC AT EUR RHD 1.00 1.00 99210-CV100 220630', + b'\xf1\x00CV1 MFC AT KOR LHD 1.00 1.04 99210-CV000 210823', + b'\xf1\x00CV1 MFC AT KOR LHD 1.00 1.05 99210-CV000 211027', + b'\xf1\x00CV1 MFC AT KOR LHD 1.00 1.06 99210-CV000 220328', + b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.00 99210-CV100 220630', + b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.00 99210-CV200 230510', + b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.05 99210-CV000 211027', + b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.06 99210-CV000 220328', + ], + }, + CAR.HYUNDAI_IONIQ_5: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00NE1_ RDR ----- 1.00 1.00 99110-GI000 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00NE1 MFC AT CAN LHD 1.00 1.01 99211-GI010 211007', + b'\xf1\x00NE1 MFC AT CAN LHD 1.00 1.05 99211-GI010 220614', + b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.00 99211-GI100 230915', + b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.01 99211-GI010 211007', + b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.01 99211-GI100 240110', + b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.06 99211-GI000 210813', + b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.06 99211-GI010 230110', + b'\xf1\x00NE1 MFC AT EUR RHD 1.00 1.01 99211-GI010 211007', + b'\xf1\x00NE1 MFC AT EUR RHD 1.00 1.02 99211-GI010 211206', + b'\xf1\x00NE1 MFC AT KOR LHD 1.00 1.00 99211-GI020 230719', + b'\xf1\x00NE1 MFC AT KOR LHD 1.00 1.05 99211-GI010 220614', + b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.00 99211-GI020 230719', + b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.00 99211-GI100 230915', + b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.01 99211-GI010 211007', + b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.02 99211-GI010 211206', + b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.03 99211-GI010 220401', + b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.05 99211-GI010 220614', + b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.06 99211-GI010 230110', + ], + }, + CAR.HYUNDAI_IONIQ_6: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00CE__ RDR ----- 1.00 1.01 99110-KL000 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00CE MFC AT CAN LHD 1.00 1.04 99211-KL000 221213', + b'\xf1\x00CE MFC AT EUR LHD 1.00 1.03 99211-KL000 221011', + b'\xf1\x00CE MFC AT EUR LHD 1.00 1.04 99211-KL000 221213', + b'\xf1\x00CE MFC AT USA LHD 1.00 1.04 99211-KL000 221213', + ], + }, + CAR.HYUNDAI_TUCSON_4TH_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.00 99211-N9260 14Y', + b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.01 99211-N9100 14A', + b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 1.00 99211-N9220 14K', + b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 2.02 99211-N9000 14E', + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9210 14G', + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9220 14K', + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9240 14Q', + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9250 14W', + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9260 14Y', + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9100 14A', + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9240 14T', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00NX4__ 1.00 1.00 99110-N9100 ', + b'\xf1\x00NX4__ 1.00 1.01 99110-N9000 ', + b'\xf1\x00NX4__ 1.00 1.02 99110-N9000 ', + b'\xf1\x00NX4__ 1.01 1.00 99110-N9100 ', + ], + }, + CAR.HYUNDAI_SANTA_CRUZ_1ST_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW000 14M', + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW010 14X', + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW020 14Z', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00NX4__ 1.00 1.00 99110-K5000 ', + b'\xf1\x00NX4__ 1.01 1.00 99110-K5000 ', + ], + }, + CAR.KIA_SPORTAGE_5TH_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00NQ5 FR_CMR AT AUS RHD 1.00 1.00 99211-P1040 663', + b'\xf1\x00NQ5 FR_CMR AT EUR LHD 1.00 1.00 99211-P1040 663', + b'\xf1\x00NQ5 FR_CMR AT GEN LHD 1.00 1.00 99211-P1060 665', + b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1030 662', + b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1040 663', + b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1060 665', + b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1070 690', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00NQ5__ 1.00 1.02 99110-P1000 ', + b'\xf1\x00NQ5__ 1.00 1.03 99110-CH000 ', + b'\xf1\x00NQ5__ 1.00 1.03 99110-P1000 ', + b'\xf1\x00NQ5__ 1.01 1.03 99110-CH000 ', + b'\xf1\x00NQ5__ 1.01 1.03 99110-P1000 ', + ], + }, + CAR.GENESIS_GV70_1ST_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00JK1 MFC AT USA LHD 1.00 1.01 99211-AR200 220125', + b'\xf1\x00JK1 MFC AT USA LHD 1.00 1.01 99211-AR300 220125', + b'\xf1\x00JK1 MFC AT USA LHD 1.00 1.04 99211-AR000 210204', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00JK1_ SCC FHCUP 1.00 1.00 99110-AR200 ', + b'\xf1\x00JK1_ SCC FHCUP 1.00 1.00 99110-AR300 ', + b'\xf1\x00JK1_ SCC FHCUP 1.00 1.02 99110-AR000 ', + ], + }, + CAR.GENESIS_GV60_EV_1ST_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00JW1 MFC AT USA LHD 1.00 1.02 99211-CU000 211215', + b'\xf1\x00JW1 MFC AT USA LHD 1.00 1.02 99211-CU100 211215', + b'\xf1\x00JW1 MFC AT USA LHD 1.00 1.03 99211-CU000 221118', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00JW1_ RDR ----- 1.00 1.00 99110-CU000 ', + ], + }, + CAR.KIA_SORENTO_4TH_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00MQ4 MFC AT USA LHD 1.00 1.00 99210-R5100 221019', + b'\xf1\x00MQ4 MFC AT USA LHD 1.00 1.03 99210-R5000 200903', + b'\xf1\x00MQ4 MFC AT USA LHD 1.00 1.05 99210-R5000 210623', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00MQ4_ SCC F-CUP 1.00 1.06 99110-P2000 ', + b'\xf1\x00MQ4_ SCC FHCUP 1.00 1.00 99110-R5000 ', + b'\xf1\x00MQ4_ SCC FHCUP 1.00 1.06 99110-P2000 ', + b'\xf1\x00MQ4_ SCC FHCUP 1.00 1.08 99110-P2000 ', + ], + }, + CAR.KIA_SORENTO_HEV_4TH_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00MQ4HMFC AT KOR LHD 1.00 1.04 99210-P2000 200330', + b'\xf1\x00MQ4HMFC AT KOR LHD 1.00 1.12 99210-P2000 230331', + b'\xf1\x00MQ4HMFC AT USA LHD 1.00 1.10 99210-P2000 210406', + b'\xf1\x00MQ4HMFC AT USA LHD 1.00 1.11 99210-P2000 211217', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00MQhe SCC FHCUP 1.00 1.04 99110-P4000 ', + b'\xf1\x00MQhe SCC FHCUP 1.00 1.06 99110-P4000 ', + b'\xf1\x00MQhe SCC FHCUP 1.00 1.07 99110-P4000 ', + ], + }, + CAR.KIA_NIRO_HEV_2ND_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00SG2HMFC AT USA LHD 1.01 1.08 99211-AT000 220531', + b'\xf1\x00SG2HMFC AT USA LHD 1.01 1.09 99211-AT000 220801', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00SG2_ RDR ----- 1.00 1.01 99110-AT000 ', + ], + }, + CAR.GENESIS_GV80: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00JX1 MFC AT USA LHD 1.00 1.02 99211-T6110 220513', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00JX1_ SCC FHCUP 1.00 1.01 99110-T6100 ', + ], + }, + CAR.KIA_CARNIVAL_4TH_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00KA4 MFC AT EUR LHD 1.00 1.06 99210-R0000 220221', + b'\xf1\x00KA4 MFC AT KOR LHD 1.00 1.06 99210-R0000 220221', + b'\xf1\x00KA4 MFC AT USA LHD 1.00 1.00 99210-R0100 230105', + b'\xf1\x00KA4 MFC AT USA LHD 1.00 1.01 99210-R0100 230710', + b'\xf1\x00KA4 MFC AT USA LHD 1.00 1.05 99210-R0000 201221', + b'\xf1\x00KA4 MFC AT USA LHD 1.00 1.06 99210-R0000 220221', + b'\xf1\x00KA4CMFC AT CHN LHD 1.00 1.01 99211-I4000 210525', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00KA4_ SCC F-CUP 1.00 1.03 99110-R0000 ', + b'\xf1\x00KA4_ SCC FHCUP 1.00 1.00 99110-R0100 ', + b'\xf1\x00KA4_ SCC FHCUP 1.00 1.03 99110-R0000 ', + b'\xf1\x00KA4c SCC FHCUP 1.00 1.01 99110-I4000 ', + ], + }, + CAR.KIA_K8_HEV_1ST_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00GL3HMFC AT KOR LHD 1.00 1.03 99211-L8000 210907', + b'\xf1\x00GL3HMFC AT KOR LHD 1.00 1.04 99211-L8000 230207', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00GL3_ RDR ----- 1.00 1.02 99110-L8000 ', + ], + }, + CAR.HYUNDAI_STARIA_4TH_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00US4 MFC AT KOR LHD 1.00 1.06 99211-CG000 230524', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00US4_ RDR ----- 1.00 1.00 99110-CG000 ', + ], + }, + + # Non SCC + CAR.GENESIS_G70_2021_NON_SCC: { + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00IK MDPS R 1.00 1.08 57700-G9200 4I2CL108', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00IK__ SCC --CUP 1.00 1.02 96400-G9100 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00IK MFC MT USA LHD 1.00 1.01 95740-G9000 170920', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81606G2051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.HYUNDAI_KONA_NON_SCC: { + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x816V5RAJ00040.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8161699051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00OS MDPS C 1.00 1.05 56310J9030\x00 4OSDC105', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00OS9 LKAS AT USA LHD 1.00 1.00 95740-J9200 g30', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006T6J0_C2\x00\x006T6K1051\x00\x00TOS4N20NS2\x00\x00\x00\x00', + ], + }, + CAR.HYUNDAI_KONA_EV_NON_SCC: { + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00OS IEB \x02 212 \x11\x13 58520-K4000', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00OS MDPS C 1.00 1.04 56310K4000\x00 4OEDC104', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00OSE LKAS AT USA LHD 1.00 1.00 95740-K4100 W40', + ], + }, + CAR.KIA_CEED_PHEV_2022_NON_SCC: { + (Ecu.eps, 0x7D4, None): [ + b'\xf1\x00CD MDPS C 1.00 1.01 56310-XX000 4CPHC101', + ], + (Ecu.fwdCamera, 0x7C4, None): [ + b'\xf1\x00CDH LKAS AT EUR LHD 1.00 1.01 99211-CR700 931', + ], + }, + CAR.KIA_FORTE_2019_NON_SCC: { + (Ecu.eps, 0x7D4, None): [ + b'\xf1\x00BD MDPS C 1.00 1.04 56310/M6000 4BDDC104', + ], + (Ecu.fwdCamera, 0x7C4, None): [ + b'\xf1\x00BD LKAS AT USA LHD 1.00 1.02 95740-M6000 J31', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81616B5051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x816VFRAF00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x87CXJQAM4966515JB0x\xa9\x98\x9b\x99fff\x98feg\x88\x88w\x88Ff\x8f\xff{\xff\xff\xff\xa8\xf6\xf1\x816V2C1051\x00\x00\xf1\x006V2B0_C2\x00\x006V2C1051\x00\x00CBD0N20NS8q\xc1&\xd2', + ], + }, + CAR.KIA_FORTE_2021_NON_SCC: { + (Ecu.eps, 0x7D4, None): [ + b'\xf1\x00BD MDPS C 1.00 1.08 56310M6000\x00 4BDDC108', + ], + (Ecu.fwdCamera, 0x7C4, None): [ + b'\xf1\x00BD LKAS AT USA LHD 1.00 1.04 95740-M6000 J33', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81616B6051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x816VFRAL00010.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x87CXLQAM0906975JB0\x89\x88\xa6\x8aVfug\xba\x87\x94yffuxgfo\xff\x8b\xff\xff\xff\x91\x82\xf1\x816V2C1051\x00\x00\xf1\x006V2B0_C2\x00\x006V2C1051\x00\x00CBD0N20NS8q\xc1&\xd2', + ], + }, + CAR.KIA_SELTOS_2023_NON_SCC: { + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00SP ESC \t 101"\t\x01 58910-Q5510', + b'\xf1\x00SP ESC \r 100"\x04\x01 58910-Q5510', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81616K0051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81616G2051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00SP2 MDPS C 1.00 1.04 56310Q5240 4SPSC104', + b'\xf1\x00SP2 MDPS C 1.00 1.01 56300Q5920 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00SP2 MFC AT USA LHD 1.00 1.03 99210-Q5500 230208', + b'\xf1\x00SP2 MFC AT AUS RHD 1.00 1.02 99210-Q5500 220624', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006V2B0_C2\x00\x006V2D5051\x00\x00CSP2N20NL0\x00\x00\x00\x00', + b'\xf1\x006V2B0_C2\x00\x006V2D4051\x00\x00CSP2N20KL1\x00\x00\x00\x00', + ], + }, + CAR.HYUNDAI_ELANTRA_2022_NON_SCC: { + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x8756310AA030\x00\xf1\x00CN7 MDPS C 1.00 1.06 56310AA030\x00 4CNDC106', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.01 99210-AB000 210205', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x8758910-AB500\xf1\x00CN ESC \t 100 \x06\x01 58910-AB500', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x87CXNQEM4091445JB3g\x98\x98\x89\x99\x87gv\x89wuwgwv\x89hD_\xffx\xff\xff\xff\x86\xeb\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82CNDWD0ANF3XCSG8A', + ], + }, + CAR.HYUNDAI_BAYON_1ST_GEN_NON_SCC: { + # TODO: Check working route for more FW + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00BC3 LKA AT EUR LHD 1.00 1.01 99211-Q0100 261' + ], + }, +} diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py new file mode 100644 index 0000000000..fdea5c4971 --- /dev/null +++ b/selfdrive/car/hyundai/hyundaican.py @@ -0,0 +1,257 @@ +import crcmod +from openpilot.selfdrive.car.hyundai.values import CAR, HyundaiFlags + +hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf) + +def create_lkas11(packer, frame, CP, apply_steer, steer_req, + torque_fault, lkas11, sys_warning, sys_state, enabled, + left_lane, right_lane, + left_lane_depart, right_lane_depart, + lateral_paused, blinking_icon): + values = {s: lkas11[s] for s in [ + "CF_Lkas_LdwsActivemode", + "CF_Lkas_LdwsSysState", + "CF_Lkas_SysWarning", + "CF_Lkas_LdwsLHWarning", + "CF_Lkas_LdwsRHWarning", + "CF_Lkas_HbaLamp", + "CF_Lkas_FcwBasReq", + "CF_Lkas_HbaSysState", + "CF_Lkas_FcwOpt", + "CF_Lkas_HbaOpt", + "CF_Lkas_FcwSysState", + "CF_Lkas_FcwCollisionWarning", + "CF_Lkas_FusionState", + "CF_Lkas_FcwOpt_USM", + "CF_Lkas_LdwsOpt_USM", + ]} + values["CF_Lkas_LdwsSysState"] = sys_state + values["CF_Lkas_SysWarning"] = 3 if sys_warning else 0 + values["CF_Lkas_LdwsLHWarning"] = left_lane_depart + values["CF_Lkas_LdwsRHWarning"] = right_lane_depart + values["CR_Lkas_StrToqReq"] = apply_steer + values["CF_Lkas_ActToi"] = steer_req + values["CF_Lkas_ToiFlt"] = torque_fault # seems to allow actuation on CR_Lkas_StrToqReq + values["CF_Lkas_MsgCount"] = frame % 0x10 + + if CP.carFingerprint in (CAR.HYUNDAI_SONATA, CAR.HYUNDAI_PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.HYUNDAI_SANTA_FE, + CAR.HYUNDAI_IONIQ_EV_2020, CAR.HYUNDAI_IONIQ_PHEV, CAR.KIA_SELTOS, CAR.HYUNDAI_ELANTRA_2021, CAR.GENESIS_G70_2020, + CAR.HYUNDAI_ELANTRA_HEV_2021, CAR.HYUNDAI_SONATA_HYBRID, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_KONA_HEV, CAR.HYUNDAI_KONA_EV_2022, + CAR.HYUNDAI_SANTA_FE_2022, CAR.KIA_K5_2021, CAR.HYUNDAI_IONIQ_HEV_2022, CAR.HYUNDAI_SANTA_FE_HEV_2022, + CAR.HYUNDAI_SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED, + CAR.HYUNDAI_AZERA_6TH_GEN, CAR.HYUNDAI_AZERA_HEV_6TH_GEN, CAR.HYUNDAI_CUSTIN_1ST_GEN, + CAR.HYUNDAI_ELANTRA_2022_NON_SCC, CAR.GENESIS_G70_2021_NON_SCC, CAR.KIA_SELTOS_2023_NON_SCC, + CAR.HYUNDAI_BAYON_1ST_GEN_NON_SCC, CAR.KIA_CEED_PHEV_2022_NON_SCC): + values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1) + values["CF_Lkas_LdwsOpt_USM"] = 2 + + # FcwOpt_USM 5 = Orange blinking car + lanes + # FcwOpt_USM 4 = Orange car + lanes + # FcwOpt_USM 3 = Green blinking car + lanes + # FcwOpt_USM 2 = Green car + lanes + # FcwOpt_USM 1 = White car + lanes + # FcwOpt_USM 0 = No car + lanes + values["CF_Lkas_FcwOpt_USM"] = 2 if steer_req else 2 if blinking_icon else 1 if\ + lateral_paused else 1 + + # SysWarning 4 = keep hands on wheel + # SysWarning 5 = keep hands on wheel (red) + # SysWarning 6 = keep hands on wheel (red) + beep + # Note: the warning is hidden while the blinkers are on + values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0 + + # Likely cars lacking the ability to show individual lane lines in the dash + elif CP.carFingerprint in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL): + # SysWarning 4 = keep hands on wheel + beep + values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0 + + # SysState 0 = no icons + # SysState 1-2 = white car + lanes + # SysState 3 = green car + lanes, green steering wheel + # SysState 4 = green car + lanes + values["CF_Lkas_LdwsSysState"] = 3 if steer_req else 1 + values["CF_Lkas_LdwsOpt_USM"] = 2 # non-2 changes above SysState definition + + # these have no effect + values["CF_Lkas_LdwsActivemode"] = 0 + values["CF_Lkas_FcwOpt_USM"] = 0 + + elif CP.carFingerprint == CAR.HYUNDAI_GENESIS: + # This field is actually LdwsActivemode + # Genesis and Optima fault when forwarding while engaged + values["CF_Lkas_LdwsActivemode"] = 2 + + dat = packer.make_can_msg("LKAS11", 0, values)[1] + + if CP.flags & HyundaiFlags.CHECKSUM_CRC8: + # CRC Checksum as seen on 2019 Hyundai Santa Fe + dat = dat[:6] + dat[7:8] + checksum = hyundai_checksum(dat) + elif CP.flags & HyundaiFlags.CHECKSUM_6B: + # Checksum of first 6 Bytes, as seen on 2018 Kia Sorento + checksum = sum(dat[:6]) % 256 + else: + # Checksum of first 6 Bytes and last Byte as seen on 2018 Kia Stinger + checksum = (sum(dat[:6]) + dat[7]) % 256 + + values["CF_Lkas_Chksum"] = checksum + + return packer.make_can_msg("LKAS11", 0, values) + + +def create_clu11(packer, frame, clu11, button, CP): + values = {s: clu11[s] for s in [ + "CF_Clu_CruiseSwState", + "CF_Clu_CruiseSwMain", + "CF_Clu_SldMainSW", + "CF_Clu_ParityBit1", + "CF_Clu_VanzDecimal", + "CF_Clu_Vanz", + "CF_Clu_SPEED_UNIT", + "CF_Clu_DetentOut", + "CF_Clu_RheostatLevel", + "CF_Clu_CluInfo", + "CF_Clu_AmpInfo", + "CF_Clu_AliveCnt1", + ]} + values["CF_Clu_CruiseSwState"] = button + values["CF_Clu_AliveCnt1"] = frame % 0x10 + # send buttons to camera on camera-scc based cars + bus = 2 if CP.flags & HyundaiFlags.CAMERA_SCC else 0 + return packer.make_can_msg("CLU11", bus, values) + + +def create_lfahda_mfc(packer, enabled, lat_active, lateral_paused, blinking_icon, hda_set_speed=0): + values = { + "LFA_Icon_State": 2 if lat_active else 3 if blinking_icon else 1 if lateral_paused else 0, + "HDA_Active": 1 if hda_set_speed else 0, + "HDA_Icon_State": 2 if hda_set_speed else 0, + "HDA_VSetReq": hda_set_speed, + } + return packer.make_can_msg("LFAHDA_MFC", 0, values) + +def create_acc_commands(packer, enabled, accel_raw, accel_val, lower_jerk, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca, + CS, escc, CP, lead_distance, cb_lower, cb_upper): + commands = [] + + scc11_values = { + "MainMode_ACC": 1 if CS.mainEnabled else 0, + "TauGapSet": hud_control.leadDistanceBars, + "VSetDis": set_speed if enabled else 0, + "AliveCounterACC": idx % 0x10, + "ObjValid": 1, # close lead makes controls tighter + "ACC_ObjStatus": 1, # close lead makes controls tighter + "ACC_ObjLatPos": 0, + "ACC_ObjRelSpd": 0, + "ACC_ObjDist": 1, # close lead makes controls tighter + } + commands.append(packer.make_can_msg("SCC11", 0, scc11_values)) + + scc12_values = { + "ACCMode": 2 if enabled and long_override else 1 if enabled else 0, + "StopReq": 1 if stopping else 0, + "aReqRaw": accel_raw, + "aReqValue": accel_val, # stock ramps up and down respecting jerk limit until it reaches aReqRaw + "CR_VSM_Alive": idx % 0xF, + } + + # show AEB disabled indicator on dash with SCC12 if not sending FCA messages. + # these signals also prevent a TCS fault on non-FCA cars with alpha longitudinal + if not use_fca: + scc12_values["CF_VSM_ConfMode"] = 1 + scc12_values["AEB_Status"] = 2 if escc else 1 # AEB disabled + if escc: + scc12_values["AEB_CmdAct"] = CS.escc_cmd_act + scc12_values["CF_VSM_Warn"] = CS.escc_aeb_warning + scc12_values["CF_VSM_DecCmdAct"] = CS.escc_aeb_dec_cmd_act + scc12_values["CR_VSM_DecCmd"] = CS.escc_aeb_dec_cmd + + scc12_dat = packer.make_can_msg("SCC12", 0, scc12_values)[1] + scc12_values["CR_VSM_ChkSum"] = 0x10 - sum(sum(divmod(i, 16)) for i in scc12_dat) % 0x10 + + commands.append(packer.make_can_msg("SCC12", 0, scc12_values)) + + scc14_values = { + "ComfortBandUpper": cb_upper, # stock usually is 0 but sometimes uses higher values + "ComfortBandLower": cb_lower, # stock usually is 0 but sometimes uses higher values + "JerkUpperLimit": upper_jerk, # stock usually is 1.0 but sometimes uses higher values + "JerkLowerLimit": lower_jerk, # stock usually is 0.5 but sometimes uses higher values + "ACCMode": 2 if enabled and long_override else 1 if enabled else 4, # stock will always be 4 instead of 0 after first disengage + "ObjGap": get_object_gap(lead_distance), # 5: >30, m, 4: 25-30 m, 3: 20-25 m, 2: < 20 m, 0: no lead + } + commands.append(packer.make_can_msg("SCC14", 0, scc14_values)) + + # Only send FCA11 on cars where it exists on the bus + if use_fca and not escc: + if CP.flags & HyundaiFlags.CAMERA_SCC: + fca11_values = CS.fca11 + fca11_values["PAINT1_Status"] = 1 + fca11_values["FCA_DrvSetStatus"] = 1 + fca11_values["FCA_Status"] = 1 # AEB disabled, until a route with AEB or FCW trigger is verified + else: + # note that some vehicles most likely have an alternate checksum/counter definition + # https://github.com/commaai/opendbc/commit/9ddcdb22c4929baf310295e832668e6e7fcfa602 + fca11_values = { + "CR_FCA_Alive": idx % 0xF, + "PAINT1_Status": 1, + "FCA_DrvSetStatus": 1, + "FCA_Status": 1, # AEB disabled + } + fca11_dat = packer.make_can_msg("FCA11", 0, fca11_values)[1] + fca11_values["CR_FCA_ChkSum"] = hyundai_checksum(fca11_dat[:7]) + commands.append(packer.make_can_msg("FCA11", 0, fca11_values)) + + return commands + +def create_acc_opt(packer, escc, CS, CP): + commands = [] + + scc13_values = { + "SCCDrvModeRValue": 3, + "SCC_Equip": 1, + "Lead_Veh_Dep_Alert_USM": 2, + } + commands.append(packer.make_can_msg("SCC13", 0, scc13_values)) + + if not escc: + # TODO: this needs to be detected and conditionally sent on unsupported long cars + if CP.flags & HyundaiFlags.CAMERA_SCC: + fca12_values = CS.fca12 + fca12_values["FCA_DrvSetState"] = 2 + fca12_values["FCA_USM"] = 1 # AEB disabled, until a route with AEB or FCW trigger is verified + else: + fca12_values = { + "FCA_DrvSetState": 2, + "FCA_USM": 1, # AEB disabled + } + commands.append(packer.make_can_msg("FCA12", 0, fca12_values)) + + return commands + +def create_frt_radar_opt(packer): + frt_radar11_values = { + "CF_FCA_Equip_Front_Radar": 1, + } + return packer.make_can_msg("FRT_RADAR11", 0, frt_radar11_values) + + +def get_object_gap(lead_distance: float) -> int: + if lead_distance <= 0: + return 0 + + # Define distance ranges and corresponding values. + ranges = [(30, 5), + (25, 4), + (20, 3), + (0, 2)] + + # The next function scans through 'ranges' in ascending order, + # returning the associated distance range for the first range + # whose lower bound is exceeded by lead_distance. + # + # If lead_distance does not exceed any bounds, it defaults to 0 (no lead). + # + # For example: if lead_distance is 22, then 3 (20-25 m) is returned. + # This is because 22 is greater than the lower bound of this range (20), + # but does not exceed the next range's lower bound (25). + return next((gap for dist, gap in ranges if lead_distance > dist), 0) diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py new file mode 100644 index 0000000000..69ea0c6317 --- /dev/null +++ b/selfdrive/car/hyundai/hyundaicanfd.py @@ -0,0 +1,229 @@ +from openpilot.common.numpy_fast import clip +from openpilot.selfdrive.car import CanBusBase +from openpilot.selfdrive.car.hyundai.values import HyundaiFlags + + +class CanBus(CanBusBase): + def __init__(self, CP, hda2=None, fingerprint=None) -> None: + super().__init__(CP, fingerprint) + + if hda2 is None: + assert CP is not None + hda2 = CP.flags & HyundaiFlags.CANFD_HDA2.value + + # On the CAN-FD platforms, the LKAS camera is on both A-CAN and E-CAN. HDA2 cars + # have a different harness than the HDA1 and non-HDA variants in order to split + # a different bus, since the steering is done by different ECUs. + self._a, self._e = 1, 0 + if hda2: + self._a, self._e = 0, 1 + + self._a += self.offset + self._e += self.offset + self._cam = 2 + self.offset + + @property + def ECAN(self): + return self._e + + @property + def ACAN(self): + return self._a + + @property + def CAM(self): + return self._cam + + +def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer , lateral_paused, blinking_icon): + + ret = [] + + values = { + "LKA_MODE": 2, + "LKA_ICON": 2 if lat_active else 3 if blinking_icon else 1 if lateral_paused else 0, + "TORQUE_REQUEST": apply_steer, + "LKA_ASSIST": 0, + "STEER_REQ": 1 if lat_active else 0, + "STEER_MODE": 0, + "HAS_LANE_SAFETY": 0, # hide LKAS settings + "NEW_SIGNAL_1": 0, + "NEW_SIGNAL_2": 0, + } + + if CP.flags & HyundaiFlags.CANFD_HDA2: + hda2_lkas_msg = "LKAS_ALT" if CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING else "LKAS" + if CP.openpilotLongitudinalControl: + ret.append(packer.make_can_msg("LFA", CAN.ECAN, values)) + ret.append(packer.make_can_msg(hda2_lkas_msg, CAN.ACAN, values)) + else: + ret.append(packer.make_can_msg("LFA", CAN.ECAN, values)) + + return ret + +def create_suppress_lfa(packer, CAN, hda2_lfa_block_msg, hda2_alt_steering): + suppress_msg = "CAM_0x362" if hda2_alt_steering else "CAM_0x2a4" + msg_bytes = 32 if hda2_alt_steering else 24 + + values = {f"BYTE{i}": hda2_lfa_block_msg[f"BYTE{i}"] for i in range(3, msg_bytes) if i != 7} + values["COUNTER"] = hda2_lfa_block_msg["COUNTER"] + values["SET_ME_0"] = 0 + values["SET_ME_0_2"] = 0 + values["LEFT_LANE_LINE"] = 0 + values["RIGHT_LANE_LINE"] = 0 + return packer.make_can_msg(suppress_msg, CAN.ACAN, values) + +def create_buttons(packer, CP, CAN, cnt, btn): + values = { + "COUNTER": cnt, + "SET_ME_1": 1, + "CRUISE_BUTTONS": btn, + } + + bus = CAN.ECAN if CP.flags & HyundaiFlags.CANFD_HDA2 else CAN.CAM + return packer.make_can_msg("CRUISE_BUTTONS", bus, values) + +def create_acc_cancel(packer, CP, CAN, cruise_info_copy): + # TODO: why do we copy different values here? + if CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value: + values = {s: cruise_info_copy[s] for s in [ + "COUNTER", + "CHECKSUM", + "NEW_SIGNAL_1", + "MainMode_ACC", + "ACCMode", + "ZEROS_9", + "CRUISE_STANDSTILL", + "ZEROS_5", + "DISTANCE_SETTING", + "VSetDis", + ]} + else: + values = {s: cruise_info_copy[s] for s in [ + "COUNTER", + "CHECKSUM", + "ACCMode", + "VSetDis", + "CRUISE_STANDSTILL", + ]} + values.update({ + "ACCMode": 4, + "aReqRaw": 0.0, + "aReqValue": 0.0, + }) + return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values) + +def create_lfahda_cluster(packer, CAN, enabled, lat_active, lateral_paused, blinking_icon): + values = { + "HDA_ICON": 1 if enabled else 0, + "LFA_ICON": 2 if lat_active else 3 if blinking_icon else 1 if lateral_paused else 0, + } + return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values) + + +def create_acc_control(packer, CAN, CS, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control, upper_jerk, lower_jerk): + jerk = 5 + jn = jerk / 50 + if not enabled or gas_override: + a_val, a_raw = 0, 0 + else: + a_raw = accel + a_val = clip(accel, accel_last - jn, accel_last + jn) + + values = { + "ACCMode": 0 if not enabled else (2 if gas_override else 1), + "MainMode_ACC": 1 if CS.mainEnabled else 0, + "StopReq": 1 if stopping else 0, + "aReqValue": a_val, + "aReqRaw": a_raw, + "VSetDis": set_speed, + "JerkLowerLimit": lower_jerk, + "JerkUpperLimit": upper_jerk, + + "ACC_ObjDist": 1, + "ObjValid": 0, + "OBJ_STATUS": 2, + "SET_ME_2": 0x4, + "SET_ME_3": 0x3, + "SET_ME_TMP_64": 0x64, + "DISTANCE_SETTING": hud_control.leadDistanceBars, + } + + return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values) + + +def create_spas_messages(packer, CAN, frame, left_blink, right_blink): + ret = [] + + values = { + } + ret.append(packer.make_can_msg("SPAS1", CAN.ECAN, values)) + + blink = 0 + if left_blink: + blink = 3 + elif right_blink: + blink = 4 + values = { + "BLINKER_CONTROL": blink, + } + ret.append(packer.make_can_msg("SPAS2", CAN.ECAN, values)) + + return ret + + +def create_fca_warning_light(packer, CAN, frame): + ret = [] + if frame % 2 == 0: + values = { + 'AEB_SETTING': 0x1, # show AEB disabled icon + 'SET_ME_2': 0x2, + 'SET_ME_FF': 0xff, + 'SET_ME_FC': 0xfc, + 'SET_ME_9': 0x9, + } + ret.append(packer.make_can_msg("ADRV_0x160", CAN.ECAN, values)) + return ret + + +def create_adrv_messages(packer, CAN, frame): + # messages needed to car happy after disabling + # the ADAS Driving ECU to do longitudinal control + + ret = [] + + values = { + } + ret.append(packer.make_can_msg("ADRV_0x51", CAN.ACAN, values)) + + ret.extend(create_fca_warning_light(packer, CAN, frame)) + + if frame % 5 == 0: + values = { + 'SET_ME_1C': 0x1c, + 'SET_ME_FF': 0xff, + 'SET_ME_TMP_F': 0xf, + 'SET_ME_TMP_F_2': 0xf, + } + ret.append(packer.make_can_msg("ADRV_0x1ea", CAN.ECAN, values)) + + values = { + 'SET_ME_E1': 0xe1, + 'SET_ME_3A': 0x3a, + } + ret.append(packer.make_can_msg("ADRV_0x200", CAN.ECAN, values)) + + if frame % 20 == 0: + values = { + 'SET_ME_15': 0x15, + } + ret.append(packer.make_can_msg("ADRV_0x345", CAN.ECAN, values)) + + if frame % 100 == 0: + values = { + 'SET_ME_22': 0x22, + 'SET_ME_41': 0x41, + } + ret.append(packer.make_can_msg("ADRV_0x1da", CAN.ECAN, values)) + + return ret diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py new file mode 100644 index 0000000000..c3cd9a1d94 --- /dev/null +++ b/selfdrive/car/hyundai/interface.py @@ -0,0 +1,303 @@ +import cereal.messaging as messaging +from cereal import car +from panda import Panda +from openpilot.common.params import Params +from openpilot.selfdrive.car.sunnypilot.fingerprinting import can_fingerprint, get_one_can +from openpilot.selfdrive.car.hyundai.enable_radar_tracks import enable_radar_tracks +from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus +from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, HyundaiFlagsSP, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \ + CANFD_UNSUPPORTED_LONGITUDINAL_CAR, NON_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, \ + UNSUPPORTED_LONGITUDINAL_CAR, Buttons +from openpilot.selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR +from openpilot.selfdrive.car import create_button_events, get_safety_config +from openpilot.selfdrive.car.interfaces import CarInterfaceBase +from openpilot.selfdrive.car.disable_ecu import disable_ecu + +Ecu = car.CarParams.Ecu +ButtonType = car.CarState.ButtonEvent.Type +EventName = car.CarEvent.EventName +GearShifter = car.CarState.GearShifter +ENABLE_BUTTONS = (Buttons.RES_ACCEL, Buttons.SET_DECEL, Buttons.CANCEL) +BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: ButtonType.decelCruise, + Buttons.GAP_DIST: ButtonType.gapAdjustCruise, Buttons.CANCEL: ButtonType.cancel} + + +class CarInterface(CarInterfaceBase): + @staticmethod + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): + ret.carName = "hyundai" + ret.radarUnavailable = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None + ret.customStockLongAvailable = True + + # These cars have been put into dashcam only due to both a lack of users and test coverage. + # These cars likely still work fine. Once a user confirms each car works and a test route is + # added to selfdrive/car/tests/routes.py, we can remove it from this list. + # FIXME: the Optima Hybrid 2017 uses a different SCC12 checksum + ret.dashcamOnly = candidate in ({CAR.KIA_OPTIMA_H, }) + + hda2 = Ecu.adas in [fw.ecu for fw in car_fw] + CAN = CanBus(None, hda2, fingerprint) + + if candidate in CANFD_CAR: + # detect if car is hybrid + if 0x105 in fingerprint[CAN.ECAN]: + ret.flags |= HyundaiFlags.HYBRID.value + elif candidate in EV_CAR: + ret.flags |= HyundaiFlags.EV.value + + # detect HDA2 with ADAS Driving ECU + if hda2: + ret.flags |= HyundaiFlags.CANFD_HDA2.value + if 0x110 in fingerprint[CAN.CAM]: + ret.flags |= HyundaiFlags.CANFD_HDA2_ALT_STEERING.value + else: + # non-HDA2 + if 0x1cf not in fingerprint[CAN.ECAN]: + ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value + ret.customStockLongAvailable = False + # ICE cars do not have 0x130; GEARS message on 0x40 or 0x70 instead + if 0x130 not in fingerprint[CAN.ECAN]: + if 0x40 not in fingerprint[CAN.ECAN]: + ret.flags |= HyundaiFlags.CANFD_ALT_GEARS_2.value + else: + ret.flags |= HyundaiFlags.CANFD_ALT_GEARS.value + if candidate not in CANFD_RADAR_SCC_CAR: + ret.flags |= HyundaiFlags.CANFD_CAMERA_SCC.value + else: + # TODO: detect EV and hybrid + if candidate in HYBRID_CAR: + ret.flags |= HyundaiFlags.HYBRID.value + elif candidate in EV_CAR: + ret.flags |= HyundaiFlags.EV.value + + # Send LFA message on cars with HDA + if 0x485 in fingerprint[2]: + ret.flags |= HyundaiFlags.SEND_LFA.value + + # These cars use the FCA11 message for the AEB and FCW signals, all others use SCC12 + if 0x38d in fingerprint[0] or 0x38d in fingerprint[2]: + ret.flags |= HyundaiFlags.USE_FCA.value + + if 0x2AB in fingerprint[0]: + ret.spFlags |= HyundaiFlagsSP.SP_ENHANCED_SCC.value + + if 0x53E in fingerprint[2]: + ret.spFlags |= HyundaiFlagsSP.SP_LKAS12.value + + ret.steerActuatorDelay = 0.1 # Default delay + ret.steerLimitTimer = 0.4 + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + + if candidate == CAR.KIA_OPTIMA_G4_FL: + ret.steerActuatorDelay = 0.2 + + # *** longitudinal control *** + if candidate in CANFD_CAR: + ret.experimentalLongitudinalAvailable = candidate not in (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | NON_SCC_CAR) + if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC and not hda2: + ret.spFlags |= HyundaiFlagsSP.SP_CAMERA_SCC_LEAD.value + else: + ret.experimentalLongitudinalAvailable = candidate not in (UNSUPPORTED_LONGITUDINAL_CAR | NON_SCC_CAR) + if candidate in CAMERA_SCC_CAR: + ret.spFlags |= HyundaiFlagsSP.SP_CAMERA_SCC_LEAD.value + ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable + ret.pcmCruise = not ret.openpilotLongitudinalControl + + ret.stoppingControl = True + ret.vEgoStarting = 0.1 + ret.startAccel = 1.6 + ret.longitudinalActuatorDelay = 0.5 + + if ret.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV): + ret.startingState = False + ret.stopAccel = -2.0 + else: + ret.startingState = True + ret.stopAccel = -1.0 + + if DBC[ret.carFingerprint]["radar"] is None: + if ret.spFlags & (HyundaiFlagsSP.SP_ENHANCED_SCC | HyundaiFlagsSP.SP_CAMERA_SCC_LEAD): + ret.radarTimeStep = 0.02 + ret.radarUnavailable = False + + # *** feature detection *** + if candidate in CANFD_CAR: + ret.enableBsm = 0x1e5 in fingerprint[CAN.ECAN] + + if 0x1fa in fingerprint[CAN.ECAN]: + ret.spFlags |= HyundaiFlagsSP.SP_NAV_MSG.value + if Params().get("DongleId", encoding='utf8') in ("012c95f06918eca4", "68d6a96e703c00c9", "11c1f1909ca37bca"): + ret.spFlags |= HyundaiFlagsSP.SP_UPSTREAM_TACO.value + else: + ret.enableBsm = 0x58b in fingerprint[0] + + if 0x544 in fingerprint[0]: + ret.spFlags |= HyundaiFlagsSP.SP_NAV_MSG.value + + if ret.flags & HyundaiFlags.MANDO_RADAR and ret.radarUnavailable: + ret.spFlags |= HyundaiFlagsSP.SP_RADAR_TRACKS.value + if Params().get_bool("HyundaiRadarTracksAvailable"): + ret.radarUnavailable = False + + # *** panda safety config *** + if candidate in CANFD_CAR: + cfgs = [get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd), ] + if CAN.ECAN >= 4: + cfgs.insert(0, get_safety_config(car.CarParams.SafetyModel.noOutput)) + ret.safetyConfigs = cfgs + + if ret.flags & HyundaiFlags.CANFD_HDA2: + ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2 + if ret.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING: + ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING + if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS: + ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS + if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC: + ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC + if ret.spFlags & HyundaiFlagsSP.SP_UPSTREAM_TACO: + ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_UPSTREAM_TACO + else: + if candidate in LEGACY_SAFETY_MODE_CAR: + # these cars require a special panda safety mode due to missing counters and checksums in the messages + ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)] + else: + ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundai, 0)] + + if candidate in CAMERA_SCC_CAR: + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC + + if ret.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC: + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_ESCC + if 0x391 in fingerprint[0]: + ret.spFlags |= HyundaiFlagsSP.SP_CAN_LFA_BTN.value + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_LFA_BTN + if candidate in NON_SCC_CAR: + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_NON_SCC + + if ret.openpilotLongitudinalControl: + ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_LONG + if ret.flags & HyundaiFlags.HYBRID: + ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_HYBRID_GAS + elif ret.flags & HyundaiFlags.EV: + ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_EV_GAS + + if candidate in (CAR.HYUNDAI_KONA, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_KONA_HEV, CAR.HYUNDAI_KONA_EV_2022, + CAR.HYUNDAI_KONA_NON_SCC, CAR.HYUNDAI_KONA_EV_NON_SCC): + ret.flags |= HyundaiFlags.ALT_LIMITS.value + ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_ALT_LIMITS + + ret.centerToFront = ret.wheelbase * 0.4 + + # Detect smartMDPS, which bypasses EPS low speed lockout, allowing sunnypilot to send steering commands down to 0 + if 0x2AA in fingerprint[0]: + ret.minSteerSpeed = 0. + + return ret + + @staticmethod + def init(CP, logcan, sendcan): + if CP.openpilotLongitudinalControl and not ((CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) or (CP.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC)) and \ + CP.carFingerprint not in CAMERA_SCC_CAR: + addr, bus = 0x7d0, CanBus(CP).ECAN if CP.carFingerprint in CANFD_CAR else 0 + if CP.flags & HyundaiFlags.CANFD_HDA2.value: + addr, bus = 0x730, CanBus(CP).ECAN + disable_ecu(logcan, sendcan, bus=bus, addr=addr, com_cont_req=b'\x28\x83\x01') + + # for blinkers + if CP.flags & HyundaiFlags.ENABLE_BLINKERS: + disable_ecu(logcan, sendcan, bus=CanBus(CP).ECAN, addr=0x7B1, com_cont_req=b'\x28\x83\x01') + + # for enabling radar tracks on startup + # some CAN platforms are able to enable radar tracks config at the radar ECU, + # but the config is reset after ignition cycle + if CP.spFlags & HyundaiFlagsSP.SP_RADAR_TRACKS: + enable_radar_tracks(logcan, sendcan, bus=0, addr=0x7d0, config_data_id=b'\x01\x42') + + params = Params() + rt_avail = params.get_bool("HyundaiRadarTracksAvailable") + rt_avail_persist = params.get_bool("HyundaiRadarTracksAvailablePersistent") + params.put_bool_nonblocking("HyundaiRadarTracksAvailableCache", rt_avail) + if not rt_avail_persist: + messaging.drain_sock_raw(logcan) + fingerprint = can_fingerprint(lambda: get_one_can(logcan)) + radar_unavailable = RADAR_START_ADDR not in fingerprint[1] or DBC[CP.carFingerprint]["radar"] is None + params.put_bool_nonblocking("HyundaiRadarTracksAvailable", not radar_unavailable) + params.put_bool_nonblocking("HyundaiRadarTracksAvailablePersistent", True) + + def _update(self, c): + if not self.CS.control_initialized and not self.CP.pcmCruise: + can_cruise_main_default = self.CP.spFlags & HyundaiFlagsSP.SP_CAN_LFA_BTN and not self.CP.flags & HyundaiFlags.CANFD and \ + self.CS.params_list.hyundai_cruise_main_default + self.CS.mainEnabled = True if can_cruise_main_default or self.CP.carFingerprint in CANFD_CAR else False + + ret = self.CS.update(self.cp, self.cp_cam) + + self.CS.button_events = [ + *create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT), + *create_button_events(self.CS.lfa_enabled, self.CS.prev_lfa_enabled, {1: ButtonType.altButton1}), + *create_button_events(self.CS.main_buttons[-1], self.CS.prev_main_buttons, {1: ButtonType.altButton3}), + ] + + self.CS.mads_enabled = self.get_sp_cruise_main_state(ret) + + self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, c.vCruise, self.CS.accEnabled) + + if ret.cruiseState.available: + if not self.CP.pcmCruiseSpeed: + if any(b.type in (ButtonType.altButton3, ButtonType.cancel) and not b.pressed for b in self.CS.button_events): + self.CS.accEnabled = True + + if self.enable_mads: + if not self.CS.prev_mads_enabled and self.CS.mads_enabled and (self.CP.pcmCruise or + (any(b.type == ButtonType.altButton3 for b in self.CS.button_events) and not self.CP.pcmCruise)): + self.CS.madsEnabled = True + if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events): + self.CS.madsEnabled = not self.CS.madsEnabled + self.CS.madsEnabled = self.get_acc_mads(ret, self.CS.madsEnabled) + + if not ret.cruiseState.available and self.CS.out.cruiseState.available: + self.CS.madsEnabled = False + + if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed: + if not self.CP.pcmCruise: + if any(b.type == ButtonType.cancel for b in self.CS.button_events): + self.get_sp_cancel_cruise_state() + if not self.CP.pcmCruiseSpeed: + if not ret.cruiseState.enabled: + self.get_sp_cancel_cruise_state() + if self.get_sp_pedal_disengage(ret): + self.get_sp_cancel_cruise_state() + ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled + + ret = self.get_sp_common_state(ret) + + ret.buttonEvents = [ + *self.CS.button_events, + *self.button_events.create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled) # MADS BUTTON + ] + + # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state + # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons + # Main button also can trigger an engagement on these cars + allow_enable = any(btn in ENABLE_BUTTONS for btn in self.CS.cruise_buttons) or any(self.CS.main_buttons) + events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low, GearShifter.manumatic], + pcm_enable=False, allow_enable=allow_enable) + + events, ret = self.create_sp_events(ret, events, main_enabled=True, allow_enable=allow_enable) + + # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s) + if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.: + self.low_speed_alert = True + if ret.vEgo > (self.CP.minSteerSpeed + 4.): + self.low_speed_alert = False + if self.low_speed_alert and self.CS.madsEnabled: + events.add(car.CarEvent.EventName.belowSteerSpeed) + + if self.CS.params_list.hyundai_radar_tracks_available and not self.CS.params_list.hyundai_radar_tracks_available_cache: + events.add(car.CarEvent.EventName.hyundaiRadarTracksAvailable) + + ret.customStockLong = self.update_custom_stock_long() + + ret.events = events.to_msg() + + return ret diff --git a/selfdrive/car/hyundai/radar_interface.py b/selfdrive/car/hyundai/radar_interface.py new file mode 100644 index 0000000000..2d822befd4 --- /dev/null +++ b/selfdrive/car/hyundai/radar_interface.py @@ -0,0 +1,131 @@ +import math + +from cereal import car +from opendbc.can.parser import CANParser +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase +from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus +from openpilot.selfdrive.car.hyundai.values import DBC, HyundaiFlagsSP, CANFD_CAR + +RADAR_START_ADDR = 0x500 +RADAR_MSG_COUNT = 32 + +# POC for parsing corner radars: https://github.com/commaai/openpilot/pull/24221/ + +def get_radar_can_parser(CP): + if DBC[CP.carFingerprint]['radar'] is None: + if CP.carFingerprint in CANFD_CAR: + if CP.spFlags & HyundaiFlagsSP.SP_CAMERA_SCC_LEAD: + lead_src, bus = "SCC_CONTROL", CanBus(CP).CAM + else: + return None + else: + if CP.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC: + lead_src, bus = "ESCC", 0 + elif CP.spFlags & HyundaiFlagsSP.SP_CAMERA_SCC_LEAD: + lead_src, bus = "SCC11", 2 + else: + return None + messages = [(lead_src, 50)] + return CANParser(DBC[CP.carFingerprint]['pt'], messages, bus) + + messages = [(f"RADAR_TRACK_{addr:x}", 50) for addr in range(RADAR_START_ADDR, RADAR_START_ADDR + RADAR_MSG_COUNT)] + return CANParser(DBC[CP.carFingerprint]['radar'], messages, 1) + + +class RadarInterface(RadarInterfaceBase): + def __init__(self, CP): + super().__init__(CP) + self.CP = CP + self.enhanced_scc = (CP.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC) and DBC[CP.carFingerprint]['radar'] is None + self.camera_scc = CP.spFlags & HyundaiFlagsSP.SP_CAMERA_SCC_LEAD + self.updated_messages = set() + self.trigger_msg = 0x2AB if self.enhanced_scc else \ + 0x1A0 if self.camera_scc and CP.carFingerprint in CANFD_CAR else \ + 0x420 if self.camera_scc else \ + (RADAR_START_ADDR + RADAR_MSG_COUNT - 1) + self.track_id = 0 + + self.radar_off_can = CP.radarUnavailable + self.rcp = get_radar_can_parser(CP) + + self.sp_radar_tracks = CP.spFlags & HyundaiFlagsSP.SP_RADAR_TRACKS + + def update(self, can_strings): + if self.radar_off_can or (self.rcp is None): + return super().update(None) + + vls = self.rcp.update_strings(can_strings) + self.updated_messages.update(vls) + + if self.trigger_msg not in self.updated_messages: + return None + + rr = self._update(self.updated_messages) + self.updated_messages.clear() + + radar_error = [] + if rr is not None: + radar_error = rr.errors + if list(radar_error) and self.sp_radar_tracks: + return super().update(None) + + return rr + + def _update(self, updated_messages): + ret = car.RadarData.new_message() + if self.rcp is None: + return ret + + errors = [] + + if not self.rcp.can_valid: + errors.append("canError") + ret.errors = errors + + if self.enhanced_scc or self.camera_scc: + msg_src = "ESCC" if self.enhanced_scc else \ + "SCC_CONTROL" if self.CP.carFingerprint in CANFD_CAR else \ + "SCC11" + msg = self.rcp.vl[msg_src] + valid = msg['ACC_ObjDist'] < 204.6 if self.CP.carFingerprint in CANFD_CAR else \ + msg['ACC_ObjStatus'] + for ii in range(1): + if valid: + if ii not in self.pts: + self.pts[ii] = car.RadarData.RadarPoint.new_message() + self.pts[ii].trackId = self.track_id + self.track_id += 1 + self.pts[ii].measured = True + self.pts[ii].dRel = msg['ACC_ObjDist'] + self.pts[ii].yRel = -msg['ACC_ObjLatPos'] if self.enhanced_scc else float('nan') + self.pts[ii].vRel = msg['ACC_ObjRelSpd'] + self.pts[ii].aRel = float('nan') + self.pts[ii].yvRel = float('nan') + + else: + if ii in self.pts: + del self.pts[ii] + else: + for addr in range(RADAR_START_ADDR, RADAR_START_ADDR + RADAR_MSG_COUNT): + msg = self.rcp.vl[f"RADAR_TRACK_{addr:x}"] + + if addr not in self.pts: + self.pts[addr] = car.RadarData.RadarPoint.new_message() + self.pts[addr].trackId = self.track_id + self.track_id += 1 + + valid = msg['STATE'] in (3, 4) + if valid: + azimuth = math.radians(msg['AZIMUTH']) + self.pts[addr].measured = True + self.pts[addr].dRel = math.cos(azimuth) * msg['LONG_DIST'] + self.pts[addr].yRel = 0.5 * -math.sin(azimuth) * msg['LONG_DIST'] + self.pts[addr].vRel = msg['REL_SPEED'] + self.pts[addr].aRel = msg['REL_ACCEL'] + self.pts[addr].yvRel = float('nan') + + else: + del self.pts[addr] + + ret.points = list(self.pts.values()) + return ret diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py new file mode 100644 index 0000000000..99f83ccade --- /dev/null +++ b/selfdrive/car/hyundai/values.py @@ -0,0 +1,825 @@ +import re +from dataclasses import dataclass, field +from enum import Enum, IntFlag + +from cereal import car +from panda.python import uds, Panda +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict +from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16 + +Ecu = car.CarParams.Ecu + + +class CarControllerParams: + ACCEL_MIN = -3.5 # m/s + ACCEL_MAX = 2.0 # m/s + + def __init__(self, CP, vEgoRaw=100.): + self.STEER_DELTA_UP = 3 + self.STEER_DELTA_DOWN = 7 + self.STEER_DRIVER_ALLOWANCE = 50 + self.STEER_DRIVER_MULTIPLIER = 2 + self.STEER_DRIVER_FACTOR = 1 + self.STEER_THRESHOLD = 150 + self.STEER_STEP = 1 # 100 Hz + + if CP.carFingerprint in CANFD_CAR: + upstream_taco = CP.safetyConfigs[-1].safetyParam & Panda.FLAG_HYUNDAI_UPSTREAM_TACO + self.STEER_MAX = 270 if not upstream_taco else 384 if vEgoRaw < 11. else 330 + self.STEER_DRIVER_ALLOWANCE = 250 if not upstream_taco else 350 + self.STEER_DRIVER_MULTIPLIER = 2 + self.STEER_THRESHOLD = 250 if not upstream_taco else 350 + self.STEER_DELTA_UP = 2 if not upstream_taco else 10 if vEgoRaw < 11. else 2 + self.STEER_DELTA_DOWN = 3 if not upstream_taco else 10 if vEgoRaw < 11. else 3 + + # To determine the limit for your car, find the maximum value that the stock LKAS will request. + # If the max stock LKAS request is <384, add your car to this list. + elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.HYUNDAI_ELANTRA, CAR.HYUNDAI_ELANTRA_GT_I30, CAR.HYUNDAI_IONIQ, + CAR.HYUNDAI_IONIQ_EV_LTD, CAR.HYUNDAI_SANTA_FE_PHEV_2022, CAR.HYUNDAI_SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_PHEV, + CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.KIA_SORENTO): + self.STEER_MAX = 255 + + # these cars have significantly more torque than most HKG; limit to 70% of max + elif CP.flags & HyundaiFlags.ALT_LIMITS: + self.STEER_MAX = 270 + self.STEER_DELTA_UP = 2 + self.STEER_DELTA_DOWN = 3 + + # Default for most HKG + else: + self.STEER_MAX = 384 + + +class HyundaiFlags(IntFlag): + # Dynamic Flags + CANFD_HDA2 = 1 + CANFD_ALT_BUTTONS = 2 + CANFD_ALT_GEARS = 2 ** 2 + CANFD_CAMERA_SCC = 2 ** 3 + + ALT_LIMITS = 2 ** 4 + ENABLE_BLINKERS = 2 ** 5 + CANFD_ALT_GEARS_2 = 2 ** 6 + SEND_LFA = 2 ** 7 + USE_FCA = 2 ** 8 + CANFD_HDA2_ALT_STEERING = 2 ** 9 + + # these cars use a different gas signal + HYBRID = 2 ** 10 + EV = 2 ** 11 + + # Static flags + + # If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points. + # If no points are outputted by default it might be possible to turn it on using selfdrive/debug/hyundai_enable_radar_points.py + MANDO_RADAR = 2 ** 12 + CANFD = 2 ** 13 + + # The radar does SCC on these cars when HDA I, rather than the camera + RADAR_SCC = 2 ** 14 + CAMERA_SCC = 2 ** 15 + CHECKSUM_CRC8 = 2 ** 16 + CHECKSUM_6B = 2 ** 17 + + # these cars require a special panda safety mode due to missing counters and checksums in the messages + LEGACY = 2 ** 18 + + # these cars have not been verified to work with longitudinal yet - radar disable, sending correct messages, etc. + UNSUPPORTED_LONGITUDINAL = 2 ** 19 + + CANFD_NO_RADAR_DISABLE = 2 ** 20 + + CLUSTER_GEARS = 2 ** 21 + TCU_GEARS = 2 ** 22 + + MIN_STEER_32_MPH = 2 ** 23 + + +class HyundaiFlagsSP(IntFlag): + SP_ENHANCED_SCC = 1 + SP_CAN_LFA_BTN = 2 + SP_NAV_MSG = 2 ** 2 + + SP_NON_SCC = 2 ** 3 + SP_NON_SCC_FCA = 2 ** 4 + SP_NON_SCC_RADAR_FCA = 2 ** 5 + + SP_CAMERA_SCC_LEAD = 2 ** 6 + SP_LKAS12 = 2 ** 7 + SP_RADAR_TRACKS = 2 ** 8 + SP_UPSTREAM_TACO = 2 ** 9 + + +class Footnote(Enum): + CANFD = CarFootnote( + "Requires a CAN FD panda kit if not using " + + "comma 3X for this CAN FD car.", + Column.MODEL, shop_footnote=False) + + +@dataclass +class HyundaiCarDocs(CarDocs): + package: str = "Smart Cruise Control (SCC)" + + def init_make(self, CP: car.CarParams): + if CP.flags & HyundaiFlags.CANFD: + self.footnotes.insert(0, Footnote.CANFD) + + +@dataclass +class HyundaiPlatformConfig(PlatformConfig): + dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict("hyundai_kia_generic", None)) + + def init(self): + if self.flags & HyundaiFlags.MANDO_RADAR: + self.dbc_dict = dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated') + + if self.flags & HyundaiFlags.MIN_STEER_32_MPH: + self.specs = self.specs.override(minSteerSpeed=32 * CV.MPH_TO_MS) + + +@dataclass +class HyundaiCanFDPlatformConfig(PlatformConfig): + dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict("hyundai_canfd", None)) + + def init(self): + self.flags |= HyundaiFlags.CANFD + + +class CAR(Platforms): + # Hyundai + HYUNDAI_AZERA_6TH_GEN = HyundaiPlatformConfig( + [HyundaiCarDocs("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))], + CarSpecs(mass=1600, wheelbase=2.885, steerRatio=14.5), + ) + HYUNDAI_AZERA_HEV_6TH_GEN = HyundaiPlatformConfig( + [ + HyundaiCarDocs("Hyundai Azera Hybrid 2019", "All", car_parts=CarParts.common([CarHarness.hyundai_c])), + HyundaiCarDocs("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), + ], + CarSpecs(mass=1675, wheelbase=2.885, steerRatio=14.5), + flags=HyundaiFlags.HYBRID, + ) + HYUNDAI_ELANTRA = HyundaiPlatformConfig( + [ + # TODO: 2017-18 could be Hyundai G + HyundaiCarDocs("Hyundai Elantra 2017-18", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])), + HyundaiCarDocs("Hyundai Elantra 2019", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_g])), + ], + # steerRatio: 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535, stiffnessFactor settled on 1.0081302973865127 + CarSpecs(mass=1275, wheelbase=2.7, steerRatio=15.4, tireStiffnessFactor=0.385), + flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.MIN_STEER_32_MPH, + ) + HYUNDAI_ELANTRA_GT_I30 = HyundaiPlatformConfig( + [ + HyundaiCarDocs("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])), + HyundaiCarDocs("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])), + ], + HYUNDAI_ELANTRA.specs, + flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.MIN_STEER_32_MPH, + ) + HYUNDAI_ELANTRA_2021 = HyundaiPlatformConfig( + [HyundaiCarDocs("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k]))], + CarSpecs(mass=2800 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65), + flags=HyundaiFlags.CHECKSUM_CRC8, + ) + HYUNDAI_ELANTRA_HEV_2021 = HyundaiPlatformConfig( + [HyundaiCarDocs("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", + car_parts=CarParts.common([CarHarness.hyundai_k]))], + CarSpecs(mass=3017 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65), + flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID, + ) + HYUNDAI_GENESIS = HyundaiPlatformConfig( + [ + # TODO: check 2015 packages + HyundaiCarDocs("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])), + HyundaiCarDocs("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])), + ], + CarSpecs(mass=2060, wheelbase=3.01, steerRatio=16.5, minSteerSpeed=60 * CV.KPH_TO_MS), + flags=HyundaiFlags.CHECKSUM_6B | HyundaiFlags.LEGACY, + ) + HYUNDAI_IONIQ = HyundaiPlatformConfig( + [HyundaiCarDocs("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarHarness.hyundai_c]))], + CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), + flags=HyundaiFlags.HYBRID | HyundaiFlags.MIN_STEER_32_MPH, + ) + HYUNDAI_IONIQ_HEV_2022 = HyundaiPlatformConfig( + [HyundaiCarDocs("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_h]))], # TODO: confirm 2020-21 harness, + CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), + flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY, + ) + HYUNDAI_IONIQ_EV_LTD = HyundaiPlatformConfig( + [HyundaiCarDocs("Hyundai Ioniq Electric 2019", car_parts=CarParts.common([CarHarness.hyundai_c]))], + CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), + flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV | HyundaiFlags.LEGACY | HyundaiFlags.MIN_STEER_32_MPH, + ) + HYUNDAI_IONIQ_EV_2020 = HyundaiPlatformConfig( + [HyundaiCarDocs("Hyundai Ioniq Electric 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))], + CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), + flags=HyundaiFlags.EV, + ) + HYUNDAI_IONIQ_PHEV_2019 = HyundaiPlatformConfig( + [HyundaiCarDocs("Hyundai Ioniq Plug-in Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_c]))], + CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), + flags=HyundaiFlags.HYBRID | HyundaiFlags.MIN_STEER_32_MPH, + ) + HYUNDAI_IONIQ_PHEV = HyundaiPlatformConfig( + [HyundaiCarDocs("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))], + CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), + flags=HyundaiFlags.HYBRID, + ) + HYUNDAI_KONA = HyundaiPlatformConfig( + [HyundaiCarDocs("Hyundai Kona 2020", min_enable_speed=6 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b]))], + CarSpecs(mass=1275, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385), + flags=HyundaiFlags.CLUSTER_GEARS, + ) + HYUNDAI_KONA_EV = HyundaiPlatformConfig( + [HyundaiCarDocs("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g]))], + CarSpecs(mass=1685, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385), + flags=HyundaiFlags.EV, + ) + HYUNDAI_KONA_EV_2022 = HyundaiPlatformConfig( + [HyundaiCarDocs("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o]))], + CarSpecs(mass=1743, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385), + flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.EV, + ) + HYUNDAI_KONA_EV_2ND_GEN = HyundaiCanFDPlatformConfig( + [HyundaiCarDocs("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw", + car_parts=CarParts.common([CarHarness.hyundai_r]))], + CarSpecs(mass=1740, wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385), + flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE, + ) + HYUNDAI_KONA_HEV = HyundaiPlatformConfig( + [HyundaiCarDocs("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i]))], # TODO: check packages, + CarSpecs(mass=1425, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385), + flags=HyundaiFlags.HYBRID, + ) + HYUNDAI_SANTA_FE = HyundaiPlatformConfig( + [HyundaiCarDocs("Hyundai Santa Fe 2019-20", "All", video_link="https://youtu.be/bjDR0YjM__s", + car_parts=CarParts.common([CarHarness.hyundai_d]))], + CarSpecs(mass=3982 * CV.LB_TO_KG, wheelbase=2.766, steerRatio=16.55, tireStiffnessFactor=0.82), + flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8, + ) + HYUNDAI_SANTA_FE_2022 = HyundaiPlatformConfig( + [HyundaiCarDocs("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4", + car_parts=CarParts.common([CarHarness.hyundai_l]))], + HYUNDAI_SANTA_FE.specs, + flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8, + ) + HYUNDAI_SANTA_FE_HEV_2022 = HyundaiPlatformConfig( + [HyundaiCarDocs("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l]))], + HYUNDAI_SANTA_FE.specs, + flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID, + ) + HYUNDAI_SANTA_FE_PHEV_2022 = HyundaiPlatformConfig( + [HyundaiCarDocs("Hyundai Santa Fe Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l]))], + HYUNDAI_SANTA_FE.specs, + flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID, + ) + HYUNDAI_SONATA = HyundaiPlatformConfig( + [HyundaiCarDocs("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", + car_parts=CarParts.common([CarHarness.hyundai_a]))], + CarSpecs(mass=1513, wheelbase=2.84, steerRatio=13.27 * 1.15, tireStiffnessFactor=0.65), # 15% higher at the center seems reasonable + flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8, + ) + HYUNDAI_SONATA_LF = HyundaiPlatformConfig( + [HyundaiCarDocs("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e]))], + CarSpecs(mass=1536, wheelbase=2.804, steerRatio=13.27 * 1.15), # 15% higher at the center seems reasonable + + flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS, + ) + HYUNDAI_STARIA_4TH_GEN = HyundaiCanFDPlatformConfig( + [HyundaiCarDocs("Hyundai Staria 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))], + CarSpecs(mass=2205, wheelbase=3.273, steerRatio=11.94), # https://www.hyundai.com/content/dam/hyundai/au/en/models/staria-load/premium-pip-update-2023/spec-sheet/STARIA_Load_Spec-Table_March_2023_v3.1.pdf + ) + HYUNDAI_TUCSON = HyundaiPlatformConfig( + [ + HyundaiCarDocs("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])), + HyundaiCarDocs("Hyundai Tucson Diesel 2019", car_parts=CarParts.common([CarHarness.hyundai_l])), + ], + CarSpecs(mass=3520 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=16.1, tireStiffnessFactor=0.385), + flags=HyundaiFlags.TCU_GEARS, + ) + HYUNDAI_PALISADE = HyundaiPlatformConfig( + [ + HyundaiCarDocs("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", car_parts=CarParts.common([CarHarness.hyundai_h])), + HyundaiCarDocs("Kia Telluride 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), + ], + CarSpecs(mass=1999, wheelbase=2.9, steerRatio=15.6 * 1.15, tireStiffnessFactor=0.63), + flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8, + ) + HYUNDAI_VELOSTER = HyundaiPlatformConfig( + [HyundaiCarDocs("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_e]))], + CarSpecs(mass=2917 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75 * 1.15, tireStiffnessFactor=0.5), + flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS, + ) + HYUNDAI_SONATA_HYBRID = HyundaiPlatformConfig( + [HyundaiCarDocs("Hyundai Sonata Hybrid 2020-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a]))], + HYUNDAI_SONATA.specs, + flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID, + ) + HYUNDAI_IONIQ_5 = HyundaiCanFDPlatformConfig( + [ + HyundaiCarDocs("Hyundai Ioniq 5 (Non-US only) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_q])), + HyundaiCarDocs("Hyundai Ioniq 5 (without HDA II) 2022-24", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])), + HyundaiCarDocs("Hyundai Ioniq 5 (with HDA II) 2022-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])), + ], + CarSpecs(mass=1948, wheelbase=2.97, steerRatio=14.26, tireStiffnessFactor=0.65), + flags=HyundaiFlags.EV, + ) + HYUNDAI_IONIQ_6 = HyundaiCanFDPlatformConfig( + [HyundaiCarDocs("Hyundai Ioniq 6 (with HDA II) 2023-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))], + HYUNDAI_IONIQ_5.specs, + flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE, + ) + HYUNDAI_TUCSON_4TH_GEN = HyundaiCanFDPlatformConfig( + [ + HyundaiCarDocs("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])), + HyundaiCarDocs("Hyundai Tucson 2023-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])), + HyundaiCarDocs("Hyundai Tucson Hybrid 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])), + HyundaiCarDocs("Hyundai Tucson Plug-in Hybrid 2024", "All", car_parts=CarParts.common([CarHarness.hyundai_n])), + ], + CarSpecs(mass=1630, wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385), + ) + HYUNDAI_SANTA_CRUZ_1ST_GEN = HyundaiCanFDPlatformConfig( + [HyundaiCarDocs("Hyundai Santa Cruz 2022-24", car_parts=CarParts.common([CarHarness.hyundai_n]))], + # weight from Limited trim - the only supported trim, steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf + CarSpecs(mass=1870, wheelbase=3, steerRatio=14.2), + ) + HYUNDAI_CUSTIN_1ST_GEN = HyundaiPlatformConfig( + [HyundaiCarDocs("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))], + CarSpecs(mass=1690, wheelbase=3.055, steerRatio=17), # mass: from https://www.hyundai-motor.com.tw/clicktobuy/custin#spec_0, steerRatio: from learner + flags=HyundaiFlags.CHECKSUM_CRC8, + ) + + # Kia + KIA_FORTE = HyundaiPlatformConfig( + [ + HyundaiCarDocs("Kia Forte 2019-21", min_enable_speed=6 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_g])), + HyundaiCarDocs("Kia Forte 2022-23", car_parts=CarParts.common([CarHarness.hyundai_e])), + ], + CarSpecs(mass=2878 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5) + ) + KIA_K5_2021 = HyundaiPlatformConfig( + [HyundaiCarDocs("Kia K5 2021-24", car_parts=CarParts.common([CarHarness.hyundai_a]))], + CarSpecs(mass=3381 * CV.LB_TO_KG, wheelbase=2.85, steerRatio=13.27, tireStiffnessFactor=0.5), # 2021 Kia K5 Steering Ratio (all trims) + flags=HyundaiFlags.CHECKSUM_CRC8, + ) + KIA_K5_HEV_2020 = HyundaiPlatformConfig( + [HyundaiCarDocs("Kia K5 Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_a]))], + KIA_K5_2021.specs, + flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID, + ) + KIA_K8_HEV_1ST_GEN = HyundaiCanFDPlatformConfig( + [HyundaiCarDocs("Kia K8 Hybrid (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q]))], + # mass: https://carprices.ae/brands/kia/2023/k8/1.6-turbo-hybrid, steerRatio: guesstimate from K5 platform + CarSpecs(mass=1630, wheelbase=2.895, steerRatio=13.27) + ) + KIA_NIRO_EV = HyundaiPlatformConfig( + [ + HyundaiCarDocs("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])), + HyundaiCarDocs("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_f])), + HyundaiCarDocs("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_c])), + HyundaiCarDocs("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])), + ], + CarSpecs(mass=3543 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=13.6, tireStiffnessFactor=0.385), # average of all the cars + flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV, + ) + KIA_NIRO_EV_2ND_GEN = HyundaiCanFDPlatformConfig( + [HyundaiCarDocs("Kia Niro EV 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a]))], + KIA_NIRO_EV.specs, + flags=HyundaiFlags.EV, + ) + KIA_NIRO_PHEV = HyundaiPlatformConfig( + [ + HyundaiCarDocs("Kia Niro Hybrid 2018", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])), + HyundaiCarDocs("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])), + HyundaiCarDocs("Kia Niro Plug-in Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_d])), + ], + KIA_NIRO_EV.specs, + flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.MIN_STEER_32_MPH, + ) + KIA_NIRO_PHEV_2022 = HyundaiPlatformConfig( + [ + HyundaiCarDocs("Kia Niro Plug-in Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])), + HyundaiCarDocs("Kia Niro Plug-in Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])), + ], + KIA_NIRO_EV.specs, + flags=HyundaiFlags.HYBRID | HyundaiFlags.MANDO_RADAR, + ) + KIA_NIRO_HEV_2021 = HyundaiPlatformConfig( + [ + HyundaiCarDocs("Kia Niro Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])), + HyundaiCarDocs("Kia Niro Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])), + ], + KIA_NIRO_EV.specs, + flags=HyundaiFlags.HYBRID, + ) + KIA_NIRO_HEV_2ND_GEN = HyundaiCanFDPlatformConfig( + [HyundaiCarDocs("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a]))], + KIA_NIRO_EV.specs, + ) + KIA_OPTIMA_G4 = HyundaiPlatformConfig( + [HyundaiCarDocs("Kia Optima 2017", "Advanced Smart Cruise Control", + car_parts=CarParts.common([CarHarness.hyundai_b]))], # TODO: may support 2016, 2018 + CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5), + flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS | HyundaiFlags.MIN_STEER_32_MPH, + ) + KIA_OPTIMA_G4_FL = HyundaiPlatformConfig( + [HyundaiCarDocs("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g]))], + CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5), + flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS, + ) + # TODO: may support adjacent years. may have a non-zero minimum steering speed + KIA_OPTIMA_H = HyundaiPlatformConfig( + [HyundaiCarDocs("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_c]))], + CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5), + flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY, + ) + KIA_OPTIMA_H_G4_FL = HyundaiPlatformConfig( + [HyundaiCarDocs("Kia Optima Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_h]))], + CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5), + flags=HyundaiFlags.HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL, + ) + KIA_SELTOS = HyundaiPlatformConfig( + [HyundaiCarDocs("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a]))], + CarSpecs(mass=1337, wheelbase=2.63, steerRatio=14.56), + flags=HyundaiFlags.CHECKSUM_CRC8, + ) + KIA_SPORTAGE_5TH_GEN = HyundaiCanFDPlatformConfig( + [ + HyundaiCarDocs("Kia Sportage 2023-24", car_parts=CarParts.common([CarHarness.hyundai_n])), + HyundaiCarDocs("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])), + ], + # weight from SX and above trims, average of FWD and AWD version, steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sportage/2023/specifications + CarSpecs(mass=1725, wheelbase=2.756, steerRatio=13.6), + ) + KIA_SORENTO = HyundaiPlatformConfig( + [ + HyundaiCarDocs("Kia Sorento 2018", "Advanced Smart Cruise Control & LKAS", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", + car_parts=CarParts.common([CarHarness.hyundai_e])), + HyundaiCarDocs("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])), + ], + CarSpecs(mass=1985, wheelbase=2.78, steerRatio=14.4 * 1.1), # 10% higher at the center seems reasonable + flags=HyundaiFlags.CHECKSUM_6B | HyundaiFlags.UNSUPPORTED_LONGITUDINAL, + ) + KIA_SORENTO_4TH_GEN = HyundaiCanFDPlatformConfig( + [HyundaiCarDocs("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k]))], + CarSpecs(mass=3957 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5), # average of the platforms + flags=HyundaiFlags.RADAR_SCC, + ) + KIA_SORENTO_HEV_4TH_GEN = HyundaiCanFDPlatformConfig( + [ + HyundaiCarDocs("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), + HyundaiCarDocs("Kia Sorento Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), + ], + CarSpecs(mass=4395 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5), # average of the platforms + flags=HyundaiFlags.RADAR_SCC, + ) + KIA_STINGER = HyundaiPlatformConfig( + [HyundaiCarDocs("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", + car_parts=CarParts.common([CarHarness.hyundai_c]))], + CarSpecs(mass=1825, wheelbase=2.78, steerRatio=14.4 * 1.15) # 15% higher at the center seems reasonable + ) + KIA_STINGER_2022 = HyundaiPlatformConfig( + [HyundaiCarDocs("Kia Stinger 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))], + KIA_STINGER.specs, + ) + KIA_CEED = HyundaiPlatformConfig( + [HyundaiCarDocs("Kia Ceed 2019", car_parts=CarParts.common([CarHarness.hyundai_e]))], + CarSpecs(mass=1450, wheelbase=2.65, steerRatio=13.75, tireStiffnessFactor=0.5), + flags=HyundaiFlags.LEGACY, + ) + KIA_EV6 = HyundaiCanFDPlatformConfig( + [ + HyundaiCarDocs("Kia EV6 (Non-US only) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_p])), + HyundaiCarDocs("Kia EV6 (without HDA II) 2022-24", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])), + HyundaiCarDocs("Kia EV6 (with HDA II) 2022-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])) + ], + CarSpecs(mass=2055, wheelbase=2.9, steerRatio=16, tireStiffnessFactor=0.65), + flags=HyundaiFlags.EV, + ) + KIA_CARNIVAL_4TH_GEN = HyundaiCanFDPlatformConfig( + [ + HyundaiCarDocs("Kia Carnival 2022-24", car_parts=CarParts.common([CarHarness.hyundai_a])), + HyundaiCarDocs("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k])) + ], + CarSpecs(mass=2087, wheelbase=3.09, steerRatio=14.23), + flags=HyundaiFlags.RADAR_SCC, + ) + + # Genesis + GENESIS_GV60_EV_1ST_GEN = HyundaiCanFDPlatformConfig( + [ + HyundaiCarDocs("Genesis GV60 (Advanced Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), + HyundaiCarDocs("Genesis GV60 (Performance Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), + ], + CarSpecs(mass=2205, wheelbase=2.9, steerRatio=12.6), # steerRatio: https://www.motor1.com/reviews/586376/2023-genesis-gv60-first-drive/#:~:text=Relative%20to%20the%20related%20Ioniq,5%2FEV6%27s%2014.3%3A1. + flags=HyundaiFlags.EV, + ) + GENESIS_G70 = HyundaiPlatformConfig( + [HyundaiCarDocs("Genesis G70 2018", "All", car_parts=CarParts.common([CarHarness.hyundai_f]))], + CarSpecs(mass=1640, wheelbase=2.84, steerRatio=13.56), + flags=HyundaiFlags.LEGACY, + ) + GENESIS_G70_2020 = HyundaiPlatformConfig( + [ + # TODO: 2021 MY harness is unknown + HyundaiCarDocs("Genesis G70 2019-21", "All", car_parts=CarParts.common([CarHarness.hyundai_f])), + # TODO: From 3.3T Sport Advanced 2022 & Prestige 2023 Trim, 2.0T is unknown + HyundaiCarDocs("Genesis G70 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])), + ], + GENESIS_G70.specs, + flags=HyundaiFlags.MANDO_RADAR, + ) + GENESIS_GV70_1ST_GEN = HyundaiCanFDPlatformConfig( + [ + # TODO: Hyundai P is likely the correct harness for HDA II for 2.5T (unsupported due to missing ADAS ECU, is that the radar?) + HyundaiCarDocs("Genesis GV70 (2.5T Trim, without HDA II) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])), + HyundaiCarDocs("Genesis GV70 (3.5T Trim, without HDA II) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])), + ], + CarSpecs(mass=1950, wheelbase=2.87, steerRatio=14.6), + flags=HyundaiFlags.RADAR_SCC, + ) + GENESIS_G80 = HyundaiPlatformConfig( + [HyundaiCarDocs("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))], + CarSpecs(mass=2060, wheelbase=3.01, steerRatio=16.5), + flags=HyundaiFlags.LEGACY, + ) + GENESIS_G90 = HyundaiPlatformConfig( + [HyundaiCarDocs("Genesis G90 2017-20", "All", car_parts=CarParts.common([CarHarness.hyundai_c]))], + CarSpecs(mass=2200, wheelbase=3.15, steerRatio=12.069), + ) + GENESIS_GV80 = HyundaiCanFDPlatformConfig( + [HyundaiCarDocs("Genesis GV80 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_m]))], + CarSpecs(mass=2258, wheelbase=2.95, steerRatio=14.14), + flags=HyundaiFlags.RADAR_SCC, + ) + + # Non-SCC Cars + HYUNDAI_BAYON_1ST_GEN_NON_SCC = HyundaiPlatformConfig( + [HyundaiCarDocs("Hyundai Bayon Non-SCC 2021", "No Smart Cruise Control (SCC)", car_parts=CarParts.common([CarHarness.hyundai_n]))], + CarSpecs(mass=1150, wheelbase=2.58, steerRatio=13.27 * 1.15), + flags=HyundaiFlags.CHECKSUM_CRC8, + spFlags=HyundaiFlagsSP.SP_NON_SCC | HyundaiFlagsSP.SP_NON_SCC_FCA, + ) + HYUNDAI_ELANTRA_2022_NON_SCC = HyundaiPlatformConfig( + [HyundaiCarDocs("Hyundai Elantra Non-SCC 2022", "No Smart Cruise Control (SCC)", car_parts=CarParts.common([CarHarness.hyundai_k]))], + HYUNDAI_ELANTRA_2021.specs, + flags=HyundaiFlags.CHECKSUM_CRC8, + spFlags=HyundaiFlagsSP.SP_NON_SCC | HyundaiFlagsSP.SP_NON_SCC_FCA, + ) + HYUNDAI_KONA_NON_SCC = HyundaiPlatformConfig( + [HyundaiCarDocs("Hyundai Kona Non-SCC 2019", "No Smart Cruise Control (SCC)", car_parts=CarParts.common([CarHarness.hyundai_b]))], + HYUNDAI_KONA.specs, + spFlags=HyundaiFlagsSP.SP_NON_SCC | HyundaiFlagsSP.SP_NON_SCC_FCA, + ) + HYUNDAI_KONA_EV_NON_SCC = HyundaiPlatformConfig( + [HyundaiCarDocs("Hyundai Kona Electric Non-SCC 2019", "No Smart Cruise Control (SCC)", car_parts=CarParts.common([CarHarness.hyundai_g]))], + HYUNDAI_KONA.specs, + flags=HyundaiFlags.EV, + spFlags=HyundaiFlagsSP.SP_NON_SCC | HyundaiFlagsSP.SP_NON_SCC_FCA, + ) + KIA_CEED_PHEV_2022_NON_SCC = HyundaiPlatformConfig( + [HyundaiCarDocs("Kia Ceed PHEV Non-SCC 2022", "No Smart Cruise Control (SCC)", car_parts=CarParts.common([CarHarness.hyundai_i]))], + CarSpecs(mass=1650, wheelbase=2.65, steerRatio=13.75, tireStiffnessFactor=0.5), + flags=HyundaiFlags.HYBRID, + spFlags=HyundaiFlagsSP.SP_NON_SCC | HyundaiFlagsSP.SP_NON_SCC_FCA, + ) + KIA_FORTE_2019_NON_SCC = HyundaiPlatformConfig( + [HyundaiCarDocs("Kia Forte Non-SCC 2019", "No Smart Cruise Control (SCC)", car_parts=CarParts.common([CarHarness.hyundai_g]))], + KIA_FORTE.specs, + spFlags=HyundaiFlagsSP.SP_NON_SCC, + ) + KIA_FORTE_2021_NON_SCC = HyundaiPlatformConfig( + [HyundaiCarDocs("Kia Forte Non-SCC 2021", "No Smart Cruise Control (SCC)", car_parts=CarParts.common([CarHarness.hyundai_g]))], + KIA_FORTE.specs, + spFlags=HyundaiFlagsSP.SP_NON_SCC | HyundaiFlagsSP.SP_NON_SCC_FCA, + ) + KIA_SELTOS_2023_NON_SCC = HyundaiPlatformConfig( + [HyundaiCarDocs("Kia Seltos Non-SCC 2023-24", "No Smart Cruise Control (SCC)", car_parts=CarParts.common([CarHarness.hyundai_l]))], + KIA_SELTOS.specs, + flags=HyundaiFlags.CHECKSUM_CRC8, + spFlags=HyundaiFlagsSP.SP_NON_SCC | HyundaiFlagsSP.SP_NON_SCC_FCA, + ) + GENESIS_G70_2021_NON_SCC = HyundaiPlatformConfig( + [HyundaiCarDocs("Genesis G70 Non-SCC 2021", "No Smart Cruise Control (SCC)", car_parts=CarParts.common([CarHarness.hyundai_f]))], + GENESIS_G70_2020.specs, + flags=HyundaiFlags.CHECKSUM_CRC8, + spFlags=HyundaiFlagsSP.SP_NON_SCC | HyundaiFlagsSP.SP_NON_SCC_FCA | HyundaiFlagsSP.SP_NON_SCC_RADAR_FCA, + ) + + +class Buttons: + NONE = 0 + RES_ACCEL = 1 + SET_DECEL = 2 + GAP_DIST = 3 + CANCEL = 4 # on newer models, this is a pause/resume button + + +def get_platform_codes(fw_versions: list[bytes]) -> set[tuple[bytes, bytes | None]]: + # Returns unique, platform-specific identification codes for a set of versions + codes = set() # (code-Optional[part], date) + for fw in fw_versions: + code_match = PLATFORM_CODE_FW_PATTERN.search(fw) + part_match = PART_NUMBER_FW_PATTERN.search(fw) + date_match = DATE_FW_PATTERN.search(fw) + if code_match is not None: + code: bytes = code_match.group() + part = part_match.group() if part_match else None + date = date_match.group() if date_match else None + if part is not None: + # part number starts with generic ECU part type, add what is specific to platform + code += b"-" + part[-5:] + + codes.add((code, date)) + return codes + + +def match_fw_to_car_fuzzy(live_fw_versions, vin, offline_fw_versions) -> set[str]: + # Non-electric CAN FD platforms often do not have platform code specifiers needed + # to distinguish between hybrid and ICE. All EVs so far are either exclusively + # electric or specify electric in the platform code. + fuzzy_platform_blacklist = {str(c) for c in (CANFD_CAR - EV_CAR - CANFD_FUZZY_WHITELIST)} + candidates: set[str] = set() + + for candidate, fws in offline_fw_versions.items(): + # Keep track of ECUs which pass all checks (platform codes, within date range) + valid_found_ecus = set() + valid_expected_ecus = {ecu[1:] for ecu in fws if ecu[0] in PLATFORM_CODE_ECUS} + for ecu, expected_versions in fws.items(): + addr = ecu[1:] + # Only check ECUs expected to have platform codes + if ecu[0] not in PLATFORM_CODE_ECUS: + continue + + # Expected platform codes & dates + codes = get_platform_codes(expected_versions) + expected_platform_codes = {code for code, _ in codes} + expected_dates = {date for _, date in codes if date is not None} + + # Found platform codes & dates + codes = get_platform_codes(live_fw_versions.get(addr, set())) + found_platform_codes = {code for code, _ in codes} + found_dates = {date for _, date in codes if date is not None} + + # Check platform code + part number matches for any found versions + if not any(found_platform_code in expected_platform_codes for found_platform_code in found_platform_codes): + break + + if ecu[0] in DATE_FW_ECUS: + # If ECU can have a FW date, require it to exist + # (this excludes candidates in the database without dates) + if not len(expected_dates) or not len(found_dates): + break + + # Check any date within range in the database, format is %y%m%d + if not any(min(expected_dates) <= found_date <= max(expected_dates) for found_date in found_dates): + break + + valid_found_ecus.add(addr) + + # If all live ECUs pass all checks for candidate, add it as a match + if valid_expected_ecus.issubset(valid_found_ecus): + candidates.add(candidate) + + return candidates - fuzzy_platform_blacklist + + +HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ + p16(0xf100) # Long description + +HYUNDAI_VERSION_REQUEST_ALT = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ + p16(0xf110) # Alt long description + +HYUNDAI_ECU_MANUFACTURING_DATE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.ECU_MANUFACTURING_DATE) + +HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + +# Regex patterns for parsing platform code, FW date, and part number from FW versions +PLATFORM_CODE_FW_PATTERN = re.compile(b'((?<=' + HYUNDAI_VERSION_REQUEST_LONG[1:] + + b')[A-Z]{2}[A-Za-z0-9]{0,2})') +DATE_FW_PATTERN = re.compile(b'(?<=[ -])([0-9]{6}$)') +PART_NUMBER_FW_PATTERN = re.compile(b'(?<=[0-9][.,][0-9]{2} )([0-9]{5}[-/]?[A-Z][A-Z0-9]{3}[0-9])') + +# We've seen both ICE and hybrid for these platforms, and they have hybrid descriptors (e.g. MQ4 vs MQ4H) +CANFD_FUZZY_WHITELIST = {CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_K8_HEV_1ST_GEN, + # TODO: the hybrid variant is not out yet + CAR.KIA_CARNIVAL_4TH_GEN} + +# List of ECUs expected to have platform codes, camera and radar should exist on all cars +# TODO: use abs, it has the platform code and part number on many platforms +PLATFORM_CODE_ECUS = [Ecu.fwdRadar, Ecu.fwdCamera, Ecu.eps] +# So far we've only seen dates in fwdCamera +# TODO: there are date codes in the ABS firmware versions in hex +DATE_FW_ECUS = [Ecu.fwdCamera] + +# Note: an ECU on CAN FD cars may sometimes send 0x30080aaaaaaaaaaa (flow control continue) while we +# are attempting to query ECUs. This currently does not seem to affect fingerprinting from the camera +FW_QUERY_CONFIG = FwQueryConfig( + requests=[ + # TODO: add back whitelists + # CAN queries (OBD-II port) + Request( + [HYUNDAI_VERSION_REQUEST_LONG], + [HYUNDAI_VERSION_RESPONSE], + ), + + # CAN & CAN-FD queries (from camera) + Request( + [HYUNDAI_VERSION_REQUEST_LONG], + [HYUNDAI_VERSION_RESPONSE], + bus=0, + auxiliary=True, + ), + Request( + [HYUNDAI_VERSION_REQUEST_LONG], + [HYUNDAI_VERSION_RESPONSE], + bus=1, + auxiliary=True, + obd_multiplexing=False, + ), + + # CAN & CAN FD query to understand the three digit date code + # HDA2 cars usually use 6 digit date codes, so skip bus 1 + Request( + [HYUNDAI_ECU_MANUFACTURING_DATE], + [HYUNDAI_VERSION_RESPONSE], + bus=0, + auxiliary=True, + logging=True, + ), + + # CAN-FD alt request logging queries for hvac and parkingAdas + Request( + [HYUNDAI_VERSION_REQUEST_ALT], + [HYUNDAI_VERSION_RESPONSE], + bus=0, + auxiliary=True, + logging=True, + ), + Request( + [HYUNDAI_VERSION_REQUEST_ALT], + [HYUNDAI_VERSION_RESPONSE], + bus=1, + auxiliary=True, + logging=True, + obd_multiplexing=False, + ), + ], + # We lose these ECUs without the comma power on these cars. + # Note that we still attempt to match with them when they are present + non_essential_ecus={ + Ecu.abs: [CAR.HYUNDAI_PALISADE, CAR.HYUNDAI_SONATA, CAR.HYUNDAI_SANTA_FE_2022, CAR.KIA_K5_2021, CAR.HYUNDAI_ELANTRA_2021, + CAR.HYUNDAI_SANTA_FE, CAR.HYUNDAI_KONA_EV_2022, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_CUSTIN_1ST_GEN, CAR.KIA_SORENTO, + CAR.KIA_CEED, CAR.KIA_SELTOS], + }, + extra_ecus=[ + (Ecu.adas, 0x730, None), # ADAS Driving ECU on HDA2 platforms + (Ecu.parkingAdas, 0x7b1, None), # ADAS Parking ECU (may exist on all platforms) + (Ecu.hvac, 0x7b3, None), # HVAC Control Assembly + (Ecu.cornerRadar, 0x7b7, None), + (Ecu.combinationMeter, 0x7c6, None), # CAN FD Instrument cluster + ], + # Custom fuzzy fingerprinting function using platform codes, part numbers + FW dates: + match_fw_to_car_fuzzy=match_fw_to_car_fuzzy, +) + +CHECKSUM = { + "crc8": CAR.with_flags(HyundaiFlags.CHECKSUM_CRC8), + "6B": CAR.with_flags(HyundaiFlags.CHECKSUM_6B), +} + +CAN_GEARS = { + # which message has the gear. hybrid and EV use ELECT_GEAR + "use_cluster_gears": CAR.with_flags(HyundaiFlags.CLUSTER_GEARS), + "use_tcu_gears": CAR.with_flags(HyundaiFlags.TCU_GEARS), +} + +CANFD_CAR = CAR.with_flags(HyundaiFlags.CANFD) +CANFD_RADAR_SCC_CAR = CAR.with_flags(HyundaiFlags.RADAR_SCC) + +# These CAN FD cars do not accept communication control to disable the ADAS ECU, +# responds with 0x7F2822 - 'conditions not correct' +CANFD_UNSUPPORTED_LONGITUDINAL_CAR = CAR.with_flags(HyundaiFlags.CANFD_NO_RADAR_DISABLE) + +# The camera does SCC on these cars, rather than the radar +CAMERA_SCC_CAR = CAR.with_flags(HyundaiFlags.CAMERA_SCC) + +HYBRID_CAR = CAR.with_flags(HyundaiFlags.HYBRID) + +EV_CAR = CAR.with_flags(HyundaiFlags.EV) + +LEGACY_SAFETY_MODE_CAR = CAR.with_flags(HyundaiFlags.LEGACY) + +UNSUPPORTED_LONGITUDINAL_CAR = CAR.with_flags(HyundaiFlags.LEGACY) | CAR.with_flags(HyundaiFlags.UNSUPPORTED_LONGITUDINAL) + +NON_SCC_CAR = CAR.with_sp_flags(HyundaiFlagsSP.SP_NON_SCC) +NON_SCC_FCA_CAR = CAR.with_sp_flags(HyundaiFlagsSP.SP_NON_SCC_FCA) +NON_SCC_RADAR_FCA_CAR = CAR.with_sp_flags(HyundaiFlagsSP.SP_NON_SCC_RADAR_FCA) + +DBC = CAR.create_dbc_map() diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py new file mode 100644 index 0000000000..473e527bea --- /dev/null +++ b/selfdrive/car/interfaces.py @@ -0,0 +1,933 @@ +import capnp +import json +import os +import numpy as np +import time +import tomllib +from abc import abstractmethod, ABC +from difflib import SequenceMatcher +from enum import StrEnum +from types import SimpleNamespace +from typing import Any, NamedTuple +from collections.abc import Callable +from functools import cache + +from cereal import car +from openpilot.common.basedir import BASEDIR +from openpilot.common.conversions import Conversions as CV +from openpilot.common.simple_kalman import KF1D, get_kalman_gain +from openpilot.common.numpy_fast import clip +from openpilot.common.params import Params +from openpilot.selfdrive.car import DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, get_friction, STD_CARGO_KG, \ + ButtonEvents +from openpilot.selfdrive.car.param_manager import ParamManager +from openpilot.selfdrive.car.values import PLATFORMS +from openpilot.selfdrive.controls.lib.desire_helper import get_min_lateral_speed +from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, V_CRUISE_UNSET +from openpilot.selfdrive.controls.lib.events import Events +from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel +from openpilot.selfdrive.pandad import can_capnp_to_list + +ButtonType = car.CarState.ButtonEvent.Type +GearShifter = car.CarState.GearShifter +EventName = car.CarEvent.EventName + +MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS +ACCEL_MAX = 2.0 +ACCEL_MIN = -3.5 +FRICTION_THRESHOLD = 0.3 + +TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.toml') +TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.toml') +TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/substitute.toml') +TORQUE_NN_MODEL_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/lat_models') + +# dict used to rename activation functions whose names aren't valid python identifiers +ACTIVATION_FUNCTION_NAMES = {'σ': 'sigmoid'} + +FORWARD_GEARS = [GearShifter.drive, GearShifter.low, GearShifter.eco, + GearShifter.sport, GearShifter.manumatic, GearShifter.brake] + + +def similarity(s1: str, s2: str) -> float: + return SequenceMatcher(None, s1, s2).ratio() + +GEAR_SHIFTER_MAP: dict[str, car.CarState.GearShifter] = { + 'P': GearShifter.park, 'PARK': GearShifter.park, + 'R': GearShifter.reverse, 'REVERSE': GearShifter.reverse, + 'N': GearShifter.neutral, 'NEUTRAL': GearShifter.neutral, + 'E': GearShifter.eco, 'ECO': GearShifter.eco, + 'T': GearShifter.manumatic, 'MANUAL': GearShifter.manumatic, + 'D': GearShifter.drive, 'DRIVE': GearShifter.drive, + 'S': GearShifter.sport, 'SPORT': GearShifter.sport, + 'L': GearShifter.low, 'LOW': GearShifter.low, + 'B': GearShifter.brake, 'BRAKE': GearShifter.brake, +} + + +class LatControlInputs(NamedTuple): + lateral_acceleration: float + roll_compensation: float + vego: float + aego: float + + +SendCan = tuple[int, bytes, int] +TorqueFromLateralAccelCallbackType = Callable[[LatControlInputs, car.CarParams.LateralTorqueTuning, float, float, bool, bool], float] + + +@cache +def get_torque_params(): + with open(TORQUE_SUBSTITUTE_PATH, 'rb') as f: + sub = tomllib.load(f) + with open(TORQUE_PARAMS_PATH, 'rb') as f: + params = tomllib.load(f) + with open(TORQUE_OVERRIDE_PATH, 'rb') as f: + override = tomllib.load(f) + + torque_params = {} + for candidate in (sub.keys() | params.keys() | override.keys()) - {'legend'}: + if sum([candidate in x for x in [sub, params, override]]) > 1: + raise RuntimeError(f'{candidate} is defined twice in torque config') + + sub_candidate = sub.get(candidate, candidate) + + if sub_candidate in override: + out = override[sub_candidate] + elif sub_candidate in params: + out = params[sub_candidate] + else: + raise NotImplementedError(f"Did not find torque params for {sub_candidate}") + + torque_params[sub_candidate] = {key: out[i] for i, key in enumerate(params['legend'])} + if candidate in sub: + torque_params[candidate] = torque_params[sub_candidate] + + return torque_params + +# lateral neural network feedforward +class FluxModel: + def __init__(self, params_file, zero_bias=False): + with open(params_file, "r") as f: + params = json.load(f) + + self.input_size = params["input_size"] + self.output_size = params["output_size"] + self.input_mean = np.array(params["input_mean"], dtype=np.float32).T + self.input_std = np.array(params["input_std"], dtype=np.float32).T + self.layers = [] + self.friction_override = False + + for layer_params in params["layers"]: + W = np.array(layer_params[next(key for key in layer_params.keys() if key.endswith('_W'))], dtype=np.float32).T + b = np.array(layer_params[next(key for key in layer_params.keys() if key.endswith('_b'))], dtype=np.float32).T + if zero_bias: + b = np.zeros_like(b) + activation = layer_params["activation"] + for k, v in ACTIVATION_FUNCTION_NAMES.items(): + activation = activation.replace(k, v) + self.layers.append((W, b, activation)) + + self.validate_layers() + self.check_for_friction_override() + + # Begin activation functions. + # These are called by name using the keys in the model json file + @staticmethod + def sigmoid(x): + return 1 / (1 + np.exp(-x)) + + @staticmethod + def identity(x): + return x + # End activation functions + + def forward(self, x): + for W, b, activation in self.layers: + x = getattr(self, activation)(x.dot(W) + b) + return x + + def evaluate(self, input_array): + in_len = len(input_array) + if in_len != self.input_size: + # If the input is length 2-4, then it's a simplified evaluation. + # In that case, need to add on zeros to fill out the input array to match the correct length. + if 2 <= in_len: + input_array = input_array + [0] * (self.input_size - in_len) + else: + raise ValueError(f"Input array length {len(input_array)} must be length 2 or greater") + + input_array = np.array(input_array, dtype=np.float32) + + # Rescale the input array using the input_mean and input_std + input_array = (input_array - self.input_mean) / self.input_std + + output_array = self.forward(input_array) + + return float(output_array[0, 0]) + + def validate_layers(self): + for W, b, activation in self.layers: + if not hasattr(self, activation): + raise ValueError(f"Unknown activation: {activation}") + + def check_for_friction_override(self): + y = self.evaluate([10.0, 0.0, 0.2]) + self.friction_override = (y < 0.1) + + +def get_nn_model_path(_car, eps_firmware) -> tuple[str | None, float]: + def check_nn_path(_check_model): + _model_path = None + _max_similarity = -1.0 + for f in os.listdir(TORQUE_NN_MODEL_PATH): + if f.endswith(".json"): + model = f.replace(".json", "").replace(f"{TORQUE_NN_MODEL_PATH}/", "") + similarity_score = similarity(model, _check_model) + if similarity_score > _max_similarity: + _max_similarity = similarity_score + _model_path = os.path.join(TORQUE_NN_MODEL_PATH, f) + return _model_path, _max_similarity + + if len(eps_firmware) > 3: + eps_firmware = eps_firmware.replace("\\", "") + check_model = f"{_car} {eps_firmware}" + else: + check_model = _car + model_path, max_similarity = check_nn_path(check_model) + if _car not in model_path or 0.0 <= max_similarity < 0.9: + check_model = _car + model_path, max_similarity = check_nn_path(check_model) + if _car not in model_path or 0.0 <= max_similarity < 0.9: + model_path = None + return model_path, max_similarity + + +def get_nn_model(_car, eps_firmware) -> tuple[FluxModel | None, float]: + model, similarity_score = get_nn_model_path(_car, eps_firmware) + if model is not None: + model = FluxModel(model) + return model, similarity_score + + +# generic car and radar interfaces + +class CarInterfaceBase(ABC): + def __init__(self, CP, CarController, CarState): + self.CP = CP + self.VM = VehicleModel(CP) + + self.frame = 0 + self.steering_unpressed = 0 + self.low_speed_alert = False + self.no_steer_warning = False + self.silent_steer_warning = True + self.v_ego_cluster_seen = False + + self.CS = CarState(CP) + self.cp = self.CS.get_can_parser(CP) + self.cp_cam = self.CS.get_cam_can_parser(CP) + self.cp_adas = self.CS.get_adas_can_parser(CP) + self.cp_body = self.CS.get_body_can_parser(CP) + self.cp_loopback = self.CS.get_loopback_can_parser(CP) + self.can_parsers = [self.cp, self.cp_cam, self.cp_adas, self.cp_body, self.cp_loopback] + + dbc_name = "" if self.cp is None else self.cp.dbc_name + self.CC: CarControllerBase = CarController(dbc_name, CP, self.VM) + + self.param_s = Params() + self.disengage_on_accelerator = self.param_s.get_bool("DisengageOnAccelerator") + self.enable_mads = self.param_s.get_bool("EnableMads") + self.mads_disengage_lateral_on_brake = self.param_s.get_bool("DisengageLateralOnBrake") + self.mads_ndlob = self.enable_mads and not self.mads_disengage_lateral_on_brake + self.gear_warning = 0 + self.cruise_cancelled_btn = True + self.prev_acc_mads_combo = False + self.mads_event_lock = True + self.last_mads_init = 0. + self.madsEnabledInit = False + self.madsEnabledInitPrev = False + self.button_events = ButtonEvents() + + self.lat_torque_nn_model = None + eps_firmware = str(next((fw.fwVersion for fw in CP.carFw if fw.ecu == "eps"), "")) + self.has_lateral_torque_nn = self.initialize_lat_torque_nn(CP.carFingerprint, eps_firmware) + + def get_ff_nn(self, x): + return self.lat_torque_nn_model.evaluate(x) + + def initialize_lat_torque_nn(self, _car, eps_firmware) -> bool: + self.lat_torque_nn_model, _ = get_nn_model(_car, eps_firmware) + return self.lat_torque_nn_model is not None and self.param_s.get_bool("NNFF") + + def apply(self, c: car.CarControl, now_nanos: int) -> tuple[car.CarControl.Actuators, list[SendCan]]: + return self.CC.update(c, self.CS, now_nanos) + + @staticmethod + def get_pid_accel_limits(CP, current_speed, cruise_speed): + return ACCEL_MIN, ACCEL_MAX + + @classmethod + def get_non_essential_params(cls, candidate: str): + """ + Parameters essential to controlling the car may be incomplete or wrong without FW versions or fingerprints. + """ + return cls.get_params(candidate, gen_empty_fingerprint(), list(), False, False) + + @classmethod + def get_params(cls, candidate: str, fingerprint: dict[int, dict[int, int]], car_fw: list[car.CarParams.CarFw], experimental_long: bool, docs: bool): + ret = CarInterfaceBase.get_std_params(candidate) + + platform = PLATFORMS[candidate] + ret.mass = platform.config.specs.mass + ret.wheelbase = platform.config.specs.wheelbase + ret.steerRatio = platform.config.specs.steerRatio + ret.centerToFront = ret.wheelbase * platform.config.specs.centerToFrontRatio + ret.minEnableSpeed = platform.config.specs.minEnableSpeed + ret.minSteerSpeed = platform.config.specs.minSteerSpeed + ret.tireStiffnessFactor = platform.config.specs.tireStiffnessFactor + ret.flags |= int(platform.config.flags) + ret.spFlags |= int(platform.config.spFlags) + + ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs) + + params = Params() + if ret.steerControlType != car.CarParams.SteerControlType.angle: + if params.get_bool("EnforceTorqueLateral") or params.get_bool("NNFF"): + ret = CarInterfaceBase.sp_configure_torque_tune(candidate, ret) + if params.get_bool("CustomTorqueLateral"): + ret = CarInterfaceBase.sp_configure_custom_torque_tune(ret, params) + + if ret.lateralTuning.which() == 'torque': + eps_firmware = str(next((fw.fwVersion for fw in car_fw if fw.ecu == "eps"), "")) + model, similarity_score = get_nn_model_path(candidate, eps_firmware) + if model is not None: + ret.lateralTuning.torque.nnModelName = nn_model_name = os.path.splitext(os.path.basename(model))[0] + ret.lateralTuning.torque.nnModelFuzzyMatch = (similarity_score < 0.99) + if 'b\'' in nn_model_name: + nn_model, _ = nn_model_name.split('b\'') + else: + nn_model = nn_model_name + params.put("NNFFCarModel", nn_model) + else: + ret.lateralTuning.torque.nnModelName = "mock" + + # Vehicle mass is published curb weight plus assumed payload such as a human driver; notCars have no assumed payload + if not ret.notCar: + ret.mass = ret.mass + STD_CARGO_KG + + # Set params dependent on values set by the car interface + ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) + ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, ret.tireStiffnessFactor) + + return ret + + @staticmethod + @abstractmethod + def _get_params(ret: car.CarParams, candidate, fingerprint: dict[int, dict[int, int]], + car_fw: list[car.CarParams.CarFw], experimental_long: bool, docs: bool): + raise NotImplementedError + + @staticmethod + def init(CP, logcan, sendcan): + pass + + @staticmethod + def get_steer_feedforward_default(desired_angle, v_ego): + # Proportional to realigning tire momentum: lateral acceleration. + return desired_angle * (v_ego**2) + + def get_steer_feedforward_function(self): + return self.get_steer_feedforward_default + + def torque_from_lateral_accel_linear(self, latcontrol_inputs: LatControlInputs, torque_params: car.CarParams.LateralTorqueTuning, + lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool, gravity_adjusted: bool) -> float: + # The default is a linear relationship between torque and lateral acceleration (accounting for road roll and steering friction) + friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation) + return (latcontrol_inputs.lateral_acceleration / float(torque_params.latAccelFactor)) + friction + + def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType: + return self.torque_from_lateral_accel_linear + + # returns a set of default params to avoid repetition in car specific params + @staticmethod + def get_std_params(candidate): + ret = car.CarParams.new_message() + ret.carFingerprint = candidate + + # Car docs fields + ret.maxLateralAccel = get_torque_params()[candidate]['MAX_LAT_ACCEL_MEASURED'] + ret.autoResumeSng = True # describes whether car can resume from a stop automatically + + # standard ALC params + ret.tireStiffnessFactor = 1.0 + ret.steerControlType = car.CarParams.SteerControlType.torque + ret.minSteerSpeed = 0. + ret.wheelSpeedFactor = 1.0 + + ret.pcmCruise = True # openpilot's state is tied to the PCM's cruise state on most cars + ret.pcmCruiseSpeed = True # openpilot's state is tied to the PCM's cruise speed + ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this + ret.steerRatioRear = 0. # no rear steering, at least on the listed cars aboveA + ret.openpilotLongitudinalControl = False + ret.stopAccel = -2.0 + ret.stoppingDecelRate = 0.8 # brake_travel/s while trying to stop + ret.vEgoStopping = 0.5 + ret.vEgoStarting = 0.5 + ret.stoppingControl = True + ret.longitudinalTuning.kf = 1. + ret.longitudinalTuning.kpBP = [0.] + ret.longitudinalTuning.kpV = [0.] + ret.longitudinalTuning.kiBP = [0.] + ret.longitudinalTuning.kiV = [0.] + # TODO estimate car specific lag, use .15s for now + ret.longitudinalActuatorDelay = 0.15 + ret.steerLimitTimer = 1.0 + return ret + + @staticmethod + def configure_torque_tune(candidate, tune, steering_angle_deadzone_deg=0.0, use_steering_angle=True): + params = get_torque_params()[candidate] + + tune.init('torque') + tune.torque.useSteeringAngle = use_steering_angle + tune.torque.kp = 1.0 + tune.torque.kf = 1.0 + tune.torque.ki = 0.1 + tune.torque.friction = params['FRICTION'] + tune.torque.latAccelFactor = params['LAT_ACCEL_FACTOR'] + tune.torque.latAccelOffset = 0.0 + tune.torque.steeringAngleDeadzoneDeg = steering_angle_deadzone_deg + + @staticmethod + def sp_configure_torque_tune(candidate, ret): + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + return ret + + @staticmethod + def sp_configure_custom_torque_tune(ret, params): + ret.lateralTuning.torque.friction = float(params.get("TorqueFriction", encoding="utf8")) * 0.001 + ret.lateralTuning.torque.latAccelFactor = float(params.get("TorqueMaxLatAccel", encoding="utf8")) * 0.01 + return ret + + @abstractmethod + def _update(self, c: car.CarControl) -> car.CarState: + pass + + def update(self, c: car.CarControl, can_strings: list[bytes], params_list: SimpleNamespace) -> car.CarState: + # parse can + can_list = can_capnp_to_list(can_strings) + for cp in self.can_parsers: + if cp is not None: + cp.update_strings(can_list) + + self.CS.button_events = [] + self.CS.params_list = params_list + + # get CarState + ret = self._update(c) + + ret.canValid = all(cp.can_valid for cp in self.can_parsers if cp is not None) + ret.canTimeout = any(cp.bus_timeout for cp in self.can_parsers if cp is not None) + + if ret.vEgoCluster == 0.0 and not self.v_ego_cluster_seen: + ret.vEgoCluster = ret.vEgo + else: + self.v_ego_cluster_seen = True + + # Many cars apply hysteresis to the ego dash speed + if self.CS is not None: + ret.vEgoCluster = apply_hysteresis(ret.vEgoCluster, self.CS.out.vEgoCluster, self.CS.cluster_speed_hyst_gap) + if abs(ret.vEgo) < self.CS.cluster_min_speed: + ret.vEgoCluster = 0.0 + + if ret.cruiseState.speedCluster == 0: + ret.cruiseState.speedCluster = ret.cruiseState.speed + + # copy back for next iteration + if self.CS is not None: + self.CS.out = ret.as_reader() + + return ret + + + def create_common_events(self, cs_out, c, extra_gears=None, pcm_enable=True, allow_enable=True, + enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)): + events = Events() + + if cs_out.doorOpen and (c.latActive or c.longActive): + events.add(EventName.doorOpen) + if cs_out.seatbeltUnlatched and cs_out.gearShifter != GearShifter.park: + events.add(EventName.seatbeltNotLatched) + if cs_out.gearShifter != GearShifter.drive and (extra_gears is None or + cs_out.gearShifter not in extra_gears) and not (cs_out.gearShifter == GearShifter.unknown and + self.gear_warning < int(0.5/DT_CTRL)): + if cs_out.vEgo < 5: + events.add(EventName.silentWrongGear) + else: + events.add(EventName.wrongGear) + if cs_out.gearShifter == GearShifter.reverse: + if not self.CS.params_list.reverse_dm_cam and cs_out.vEgo < 5: + events.add(EventName.spReverseGear) + elif cs_out.vEgo >= 5: + events.add(EventName.reverseGear) + if not cs_out.cruiseState.available and cs_out.cruiseState.enabled: + events.add(EventName.wrongCarMode) + if cs_out.espDisabled: + events.add(EventName.espDisabled) + if cs_out.espActive: + events.add(EventName.espActive) + if cs_out.stockFcw: + events.add(EventName.stockFcw) + if cs_out.stockAeb: + events.add(EventName.stockAeb) + if cs_out.vEgo > MAX_CTRL_SPEED: + events.add(EventName.speedTooHigh) + if cs_out.cruiseState.nonAdaptive: + events.add(EventName.wrongCruiseMode) + if cs_out.brakeHoldActive and self.CP.openpilotLongitudinalControl: + if cs_out.madsEnabled: + cs_out.disengageByBrake = True + if cs_out.cruiseState.enabled: + events.add(EventName.brakeHold) + else: + events.add(EventName.silentBrakeHold) + if cs_out.parkingBrake: + events.add(EventName.parkBrake) + if cs_out.accFaulted: + events.add(EventName.accFaulted) + if cs_out.steeringPressed: + events.add(EventName.steerOverride) + if cs_out.brakePressed and cs_out.standstill and cs_out.cruiseState.enabled: + events.add(EventName.preEnableStandstill) + if cs_out.gasPressed and cs_out.cruiseState.enabled: + events.add(EventName.gasPressedOverride) + + self.gear_warning = self.gear_warning + 1 if cs_out.gearShifter == GearShifter.unknown else 0 + + # Handle button presses + #for b in cs_out.buttonEvents: + # # Enable OP long on falling edge of enable buttons (defaults to accelCruise and decelCruise, overridable per-port) + # if not self.CP.pcmCruise and (b.type in enable_buttons and not b.pressed): + # events.add(EventName.buttonEnable) + # # Disable on rising and falling edge of cancel for both stock and OP long + # if b.type == ButtonType.cancel: + # events.add(EventName.buttonCancel) + + # Handle permanent and temporary steering faults + self.steering_unpressed = 0 if cs_out.steeringPressed else self.steering_unpressed + 1 + if cs_out.steerFaultTemporary: + if cs_out.steeringPressed and (not self.CS.out.steerFaultTemporary or self.no_steer_warning): + self.no_steer_warning = True + else: + self.no_steer_warning = False + + # if the user overrode recently, show a less harsh alert + if self.silent_steer_warning or cs_out.standstill or self.steering_unpressed < int(1.5 / DT_CTRL): + self.silent_steer_warning = True + events.add(EventName.steerTempUnavailableSilent) + else: + events.add(EventName.steerTempUnavailable) + else: + self.no_steer_warning = False + self.silent_steer_warning = False + if cs_out.steerFaultPermanent: + events.add(EventName.steerUnavailable) + + # we engage when pcm is active (rising edge) + # enabling can optionally be blocked by the car interface + if pcm_enable: + if cs_out.cruiseState.enabled and not self.CS.out.cruiseState.enabled and allow_enable: + events.add(EventName.pcmEnable) + elif not cs_out.cruiseState.enabled: + events.add(EventName.pcmDisable) + + return events + + @staticmethod + def sp_v_cruise_initialized(v_cruise): + return v_cruise != V_CRUISE_UNSET + + def get_acc_mads(self, cs_out, mads_enabled): + if self.CS.params_list.acc_mads_combo: + if not self.prev_acc_mads_combo and (cs_out.cruiseState.enabled or self.CS.accEnabled): + mads_enabled = True + self.prev_acc_mads_combo = (cs_out.cruiseState.enabled or self.CS.accEnabled) + + return mads_enabled + + def get_sp_v_cruise_non_pcm_state(self, cs_out, vCruise, acc_enabled, + enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise), + resume_button=(ButtonType.accelCruise, ButtonType.resumeCruise)): + + if cs_out.cruiseState.available: + for b in self.CS.button_events: + if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed: + if b.type in enable_buttons and not b.pressed: + acc_enabled = True + if not self.CP.pcmCruise: + if b.type in resume_button and not self.sp_v_cruise_initialized(vCruise): + acc_enabled = False + if not self.CP.pcmCruiseSpeed: + if b.type == ButtonType.accelCruise and not cs_out.cruiseState.enabled: + acc_enabled = False + else: + acc_enabled = False + + return acc_enabled + + def get_sp_cancel_cruise_state(self): + self.CS.madsEnabled = False if not self.enable_mads or self.disengage_on_accelerator else self.CS.madsEnabled + self.CS.accEnabled = False + + def get_sp_pedal_disengage(self, cs_out): + accel_pedal = cs_out.gasPressed and not self.CS.out.gasPressed and self.disengage_on_accelerator + brake = cs_out.brakePressed and (not self.CS.out.brakePressed or not cs_out.standstill) + regen = cs_out.regenBraking and (not self.CS.out.regenBraking or not cs_out.standstill) + return accel_pedal or brake or regen + + def get_sp_cruise_main_state(self, cs_out): + if not self.CS.control_initialized: + return False + elif not self.CS.params_list.mads_main_toggle: + return False + else: + return cs_out.cruiseState.available + + def get_sp_started_mads(self, cs_out, mads_enabled): + if not cs_out.cruiseState.available and self.CS.out.cruiseState.available: + self.madsEnabledInit = False + self.madsEnabledInitPrev = False + return False + if not self.CS.params_list.mads_main_toggle or self.prev_acc_mads_combo: + return mads_enabled + if not self.madsEnabledInit and self.CS.madsEnabled: + self.madsEnabledInit = True + self.last_mads_init = time.monotonic() + if cs_out.gearShifter not in FORWARD_GEARS: + self.last_mads_init = time.monotonic() + if self.madsEnabledInit and (not self.madsEnabledInitPrev or cs_out.gearShifter not in FORWARD_GEARS): + if time.monotonic() < self.last_mads_init + 1.: + return False + self.madsEnabledInitPrev = True + return cs_out.cruiseState.available + else: + return mads_enabled + + def get_sp_common_state(self, cs_out, gear_allowed=True): + cs_out.cruiseState.enabled = self.CS.accEnabled if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed else cs_out.cruiseState.enabled + + if not self.enable_mads: + if cs_out.cruiseState.enabled and not self.CS.out.cruiseState.enabled: + self.CS.madsEnabled = True + elif not cs_out.cruiseState.enabled and self.CS.out.cruiseState.enabled: + self.CS.madsEnabled = False + + lane_change_speed_min = get_min_lateral_speed(self.CS.params_list.pause_lateral_speed, self.CS.params_list.is_metric) + + cs_out.belowLaneChangeSpeed = cs_out.vEgo < lane_change_speed_min and self.CS.params_list.below_speed_pause + + if cs_out.gearShifter in [GearShifter.park, GearShifter.reverse] or cs_out.doorOpen or \ + (cs_out.seatbeltUnlatched and cs_out.gearShifter != GearShifter.park): + gear_allowed = False + + cs_out.latActive = gear_allowed + + if not self.CS.control_initialized: + self.CS.control_initialized = True + + # Disable on rising edge of gas or brake. Also disable on brake when speed > 0. + if (cs_out.gasPressed and not self.CS.out.gasPressed and self.disengage_on_accelerator) or \ + (cs_out.brakePressed and (not self.CS.out.brakePressed or not cs_out.standstill)) or \ + (cs_out.regenBraking and (not self.CS.out.regenBraking or not cs_out.standstill)): + if self.CS.madsEnabled: + self.CS.disengageByBrake = True + + cs_out.madsEnabled = self.CS.madsEnabled + cs_out.accEnabled = self.CS.accEnabled + cs_out.disengageByBrake = self.CS.disengageByBrake + cs_out.brakeLightsDEPRECATED |= cs_out.brakePressed or cs_out.brakeHoldActive or cs_out.parkingBrake or cs_out.regenBraking + + return cs_out + + def create_sp_events(self, cs_out, events, main_enabled=False, allow_enable=True, enable_pressed=False, + enable_from_brake=False, enable_pressed_long=False, + enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)): + + if not cs_out.brakePressed and not cs_out.brakeHoldActive and not cs_out.parkingBrake and not cs_out.regenBraking: + if cs_out.disengageByBrake and cs_out.madsEnabled: + enable_pressed = True + enable_from_brake = True + self.CS.disengageByBrake = False + cs_out.disengageByBrake = False + + for b in cs_out.buttonEvents: + # Enable OP long on falling edge of enable buttons (defaults to accelCruise and decelCruise, overridable per-port) + if not self.CP.pcmCruise: + if b.type in enable_buttons and not b.pressed: + enable_pressed = True + enable_pressed_long = True + # Disable on rising and falling edge of cancel for both stock and OP long + if b.type == ButtonType.cancel: + if not cs_out.madsEnabled: + events.add(EventName.buttonCancel) + elif not self.cruise_cancelled_btn: + self.cruise_cancelled_btn = True + events.add(EventName.manualLongitudinalRequired) + # do disable on MADS button if ACC is disabled + if b.type == ButtonType.altButton1 and b.pressed and self.enable_mads: + if not cs_out.madsEnabled: # disabled MADS + if not cs_out.cruiseState.enabled: + events.add(EventName.buttonCancel) + else: + events.add(EventName.manualSteeringRequired) + else: # enabled MADS + if not cs_out.cruiseState.enabled: + enable_pressed = True + if self.CP.pcmCruise: + # do disable on button down + if main_enabled: + if any(self.CS.main_buttons) and not cs_out.cruiseState.enabled: + if not cs_out.madsEnabled: + events.add(EventName.buttonCancel) + # do enable on both accel and decel buttons + if cs_out.cruiseState.enabled and not self.CS.out.cruiseState.enabled and allow_enable: + enable_pressed = True + enable_pressed_long = True + elif not cs_out.cruiseState.enabled: + if not cs_out.madsEnabled: + events.add(EventName.buttonCancel) + elif not self.enable_mads: + cs_out.madsEnabled = False + if enable_pressed: + if enable_from_brake: + events.add(EventName.silentButtonEnable) + else: + events.add(EventName.buttonEnable) + if cs_out.disengageByBrake and not cs_out.standstill and enable_pressed_long: + events.add(EventName.cruiseEngageBlocked) + + self.cruise_cancelled_btn = False if cs_out.cruiseState.enabled else True + + return events, cs_out + + def update_custom_stock_long(self): + customStockLong = car.CarState.CustomStockLong.new_message() + customStockLong.cruiseButton = 0 if self.CC.cruise_button is None else int(self.CC.cruise_button) + customStockLong.finalSpeedKph = float(self.CC.final_speed_kph) + customStockLong.targetSpeed = float(self.CC.target_speed) + customStockLong.vSetDis = float(self.CC.v_set_dis) + customStockLong.speedDiff = float(self.CC.speed_diff) + customStockLong.buttonType = int(self.CC.button_type) + return customStockLong + +class RadarInterfaceBase(ABC): + def __init__(self, CP): + self.CP = CP + self.rcp = None + self.pts = {} + self.delay = 0 + self.radar_ts = CP.radarTimeStep + self.frame = 0 + + def update(self, can_strings): + self.frame += 1 + if (self.frame % int(100 * self.radar_ts)) == 0: + return car.RadarData.new_message() + return None + + +class CarStateBase(ABC): + def __init__(self, CP): + self.CP = CP + self.car_fingerprint = CP.carFingerprint + self.out = car.CarState.new_message() + + self.cruise_buttons = 0 + self.left_blinker_cnt = 0 + self.right_blinker_cnt = 0 + self.steering_pressed_cnt = 0 + self.left_blinker_prev = False + self.right_blinker_prev = False + self.cluster_speed_hyst_gap = 0.0 + self.cluster_min_speed = 0.0 # min speed before dropping to 0 + + self.accEnabled = False + self.madsEnabled = False + self.disengageByBrake = False + self.mads_enabled = False + self.prev_mads_enabled = False + self.control_initialized = False + + self.button_events: list[capnp.lib.capnp._DynamicStructBuilder] = [] + self.params_list: SimpleNamespace = ParamManager().get_params() + + Q = [[0.0, 0.0], [0.0, 100.0]] + R = 0.3 + A = [[1.0, DT_CTRL], [0.0, 1.0]] + C = [[1.0, 0.0]] + x0=[[0.0], [0.0]] + K = get_kalman_gain(DT_CTRL, np.array(A), np.array(C), np.array(Q), R) + self.v_ego_kf = KF1D(x0=x0, A=A, C=C[0], K=K) + + def update_speed_kf(self, v_ego_raw): + if abs(v_ego_raw - self.v_ego_kf.x[0][0]) > 2.0: # Prevent large accelerations when car starts at non zero speed + self.v_ego_kf.set_x([[v_ego_raw], [0.0]]) + + v_ego_x = self.v_ego_kf.update(v_ego_raw) + return float(v_ego_x[0]), float(v_ego_x[1]) + + def get_wheel_speeds(self, fl, fr, rl, rr, unit=CV.KPH_TO_MS): + factor = unit * self.CP.wheelSpeedFactor + + wheelSpeeds = car.CarState.WheelSpeeds.new_message() + wheelSpeeds.fl = fl * factor + wheelSpeeds.fr = fr * factor + wheelSpeeds.rl = rl * factor + wheelSpeeds.rr = rr * factor + return wheelSpeeds + + def update_blinker_from_lamp(self, blinker_time: int, left_blinker_lamp: bool, right_blinker_lamp: bool): + """Update blinkers from lights. Enable output when light was seen within the last `blinker_time` + iterations""" + # TODO: Handle case when switching direction. Now both blinkers can be on at the same time + self.left_blinker_cnt = blinker_time if left_blinker_lamp else max(self.left_blinker_cnt - 1, 0) + self.right_blinker_cnt = blinker_time if right_blinker_lamp else max(self.right_blinker_cnt - 1, 0) + return self.left_blinker_cnt > 0, self.right_blinker_cnt > 0 + + def update_steering_pressed(self, steering_pressed, steering_pressed_min_count): + """Applies filtering on steering pressed for noisy driver torque signals.""" + self.steering_pressed_cnt += 1 if steering_pressed else -1 + self.steering_pressed_cnt = clip(self.steering_pressed_cnt, 0, steering_pressed_min_count * 2) + return self.steering_pressed_cnt > steering_pressed_min_count + + def update_blinker_from_stalk(self, blinker_time: int, left_blinker_stalk: bool, right_blinker_stalk: bool): + """Update blinkers from stalk position. When stalk is seen the blinker will be on for at least blinker_time, + or until the stalk is turned off, whichever is longer. If the opposite stalk direction is seen the blinker + is forced to the other side. On a rising edge of the stalk the timeout is reset.""" + + if left_blinker_stalk: + self.right_blinker_cnt = 0 + if not self.left_blinker_prev: + self.left_blinker_cnt = blinker_time + + if right_blinker_stalk: + self.left_blinker_cnt = 0 + if not self.right_blinker_prev: + self.right_blinker_cnt = blinker_time + + self.left_blinker_cnt = max(self.left_blinker_cnt - 1, 0) + self.right_blinker_cnt = max(self.right_blinker_cnt - 1, 0) + + self.left_blinker_prev = left_blinker_stalk + self.right_blinker_prev = right_blinker_stalk + + return bool(left_blinker_stalk or self.left_blinker_cnt > 0), bool(right_blinker_stalk or self.right_blinker_cnt > 0) + + @staticmethod + def parse_gear_shifter(gear: str | None) -> car.CarState.GearShifter: + if gear is None: + return GearShifter.unknown + return GEAR_SHIFTER_MAP.get(gear.upper(), GearShifter.unknown) + + @staticmethod + def get_can_parser(CP): + return None + + @staticmethod + def get_cam_can_parser(CP): + return None + + @staticmethod + def get_adas_can_parser(CP): + return None + + @staticmethod + def get_body_can_parser(CP): + return None + + @staticmethod + def get_loopback_can_parser(CP): + return None + + +class CarControllerBase(ABC): + def __init__(self, dbc_name: str, CP, VM): + self.CP = CP + self.frame = 0 + + self.cruise_button = 0 + self.final_speed_kph = 0.0 + self.target_speed = 0.0 + self.v_set_dis = 0.0 + self.speed_diff = 0.0 + self.button_type = 0 + + @abstractmethod + def update(self, CC: car.CarControl.Actuators, CS: car.CarState, now_nanos: int) -> tuple[car.CarControl.Actuators, list[SendCan]]: + pass + + +INTERFACE_ATTR_FILE = { + "FINGERPRINTS": "fingerprints", + "FW_VERSIONS": "fingerprints", +} + +# interface-specific helpers + +def get_interface_attr(attr: str, combine_brands: bool = False, ignore_none: bool = False) -> dict[str | StrEnum, Any]: + # read all the folders in selfdrive/car and return a dict where: + # - keys are all the car models or brand names + # - values are attr values from all car folders + result = {} + for car_folder in sorted([x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]): + try: + brand_name = car_folder.split('/')[-1] + brand_values = __import__(f'openpilot.selfdrive.car.{brand_name}.{INTERFACE_ATTR_FILE.get(attr, "values")}', fromlist=[attr]) + if hasattr(brand_values, attr) or not ignore_none: + attr_data = getattr(brand_values, attr, None) + else: + continue + + if combine_brands: + if isinstance(attr_data, dict): + for f, v in attr_data.items(): + result[f] = v + else: + result[brand_name] = attr_data + except (ImportError, OSError): + pass + + return result + + +class NanoFFModel: + def __init__(self, weights_loc: str, platform: str): + self.weights_loc = weights_loc + self.platform = platform + self.load_weights(platform) + + def load_weights(self, platform: str): + with open(self.weights_loc) as fob: + self.weights = {k: np.array(v) for k, v in json.load(fob)[platform].items()} + + def relu(self, x: np.ndarray): + return np.maximum(0.0, x) + + def forward(self, x: np.ndarray): + assert x.ndim == 1 + x = (x - self.weights['input_norm_mat'][:, 0]) / (self.weights['input_norm_mat'][:, 1] - self.weights['input_norm_mat'][:, 0]) + x = self.relu(np.dot(x, self.weights['w_1']) + self.weights['b_1']) + x = self.relu(np.dot(x, self.weights['w_2']) + self.weights['b_2']) + x = self.relu(np.dot(x, self.weights['w_3']) + self.weights['b_3']) + x = np.dot(x, self.weights['w_4']) + self.weights['b_4'] + return x + + def predict(self, x: list[float], do_sample: bool = False): + x = self.forward(np.array(x)) + if do_sample: + pred = np.random.laplace(x[0], np.exp(x[1]) / self.weights['temperature']) + else: + pred = x[0] + pred = pred * (self.weights['output_norm_mat'][1] - self.weights['output_norm_mat'][0]) + self.weights['output_norm_mat'][0] + return pred diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py new file mode 100644 index 0000000000..b5158f2126 --- /dev/null +++ b/selfdrive/car/isotp_parallel_query.py @@ -0,0 +1,173 @@ +import time +from collections import defaultdict +from functools import partial + +import cereal.messaging as messaging +from openpilot.common.swaglog import cloudlog +from openpilot.selfdrive.pandad import can_list_to_can_capnp +from openpilot.selfdrive.car.fw_query_definitions import AddrType +from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_addr_for_tx_addr + + +class IsoTpParallelQuery: + def __init__(self, sendcan: messaging.PubSocket, logcan: messaging.SubSocket, bus: int, addrs: list[int] | list[AddrType], + request: list[bytes], response: list[bytes], response_offset: int = 0x8, + functional_addrs: list[int] = None, debug: bool = False, response_pending_timeout: float = 10) -> None: + self.sendcan = sendcan + self.logcan = logcan + self.bus = bus + self.request = request + self.response = response + self.functional_addrs = functional_addrs or [] + self.debug = debug + self.response_pending_timeout = response_pending_timeout + + real_addrs = [a if isinstance(a, tuple) else (a, None) for a in addrs] + for tx_addr, _ in real_addrs: + assert tx_addr not in FUNCTIONAL_ADDRS, f"Functional address should be defined in functional_addrs: {hex(tx_addr)}" + + self.msg_addrs = {tx_addr: get_rx_addr_for_tx_addr(tx_addr[0], rx_offset=response_offset) for tx_addr in real_addrs} + self.msg_buffer: dict[int, list[tuple[int, bytes, int]]] = defaultdict(list) + + def rx(self): + """Drain can socket and sort messages into buffers based on address""" + can_packets = messaging.drain_sock(self.logcan, wait_for_one=True) + + for packet in can_packets: + for msg in packet.can: + if msg.src == self.bus and msg.address in self.msg_addrs.values(): + self.msg_buffer[msg.address].append((msg.address, msg.dat, msg.src)) + + def _can_tx(self, tx_addr, dat, bus): + """Helper function to send single message""" + msg = [tx_addr, dat, bus] + self.sendcan.send(can_list_to_can_capnp([msg], msgtype='sendcan')) + + def _can_rx(self, addr, sub_addr=None): + """Helper function to retrieve message with specified address and subadress from buffer""" + keep_msgs = [] + + if sub_addr is None: + msgs = self.msg_buffer[addr] + else: + # Filter based on subadress + msgs = [] + for m in self.msg_buffer[addr]: + first_byte = m[1][0] + if first_byte == sub_addr: + msgs.append(m) + else: + keep_msgs.append(m) + + self.msg_buffer[addr] = keep_msgs + return msgs + + def _drain_rx(self): + messaging.drain_sock_raw(self.logcan) + self.msg_buffer = defaultdict(list) + + def _create_isotp_msg(self, tx_addr: int, sub_addr: int | None, rx_addr: int): + can_client = CanClient(self._can_tx, partial(self._can_rx, rx_addr, sub_addr=sub_addr), tx_addr, rx_addr, + self.bus, sub_addr=sub_addr, debug=self.debug) + + max_len = 8 if sub_addr is None else 7 + # uses iso-tp frame separation time of 10 ms + # TODO: use single_frame_mode so ECUs can send as fast as they want, + # as well as reduces chances we process messages from previous queries + return IsoTpMessage(can_client, timeout=0, separation_time=0.01, debug=self.debug, max_len=max_len) + + def get_data(self, timeout: float, total_timeout: float = 60.) -> dict[AddrType, bytes]: + self._drain_rx() + + # Create message objects + msgs = {} + request_counter = {} + request_done = {} + for tx_addr, rx_addr in self.msg_addrs.items(): + msgs[tx_addr] = self._create_isotp_msg(*tx_addr, rx_addr) + request_counter[tx_addr] = 0 + request_done[tx_addr] = False + + # Send first request to functional addrs, subsequent responses are handled on physical addrs + if len(self.functional_addrs): + for addr in self.functional_addrs: + self._create_isotp_msg(addr, None, -1).send(self.request[0]) + + # Send first frame (single or first) to all addresses and receive asynchronously in the loop below. + # If querying functional addrs, only set up physical IsoTpMessages to send consecutive frames + for msg in msgs.values(): + msg.send(self.request[0], setup_only=len(self.functional_addrs) > 0) + + results = {} + start_time = time.monotonic() + addrs_responded = set() # track addresses that have ever sent a valid iso-tp frame for timeout logging + response_timeouts = {tx_addr: start_time + timeout for tx_addr in self.msg_addrs} + while True: + self.rx() + + for tx_addr, msg in msgs.items(): + try: + dat, rx_in_progress = msg.recv() + except Exception: + cloudlog.exception(f"Error processing UDS response: {tx_addr}") + request_done[tx_addr] = True + continue + + # Extend timeout for each consecutive ISO-TP frame to avoid timing out on long responses + if rx_in_progress: + addrs_responded.add(tx_addr) + response_timeouts[tx_addr] = time.monotonic() + timeout + + if dat is None: + continue + + # Log unexpected empty responses + if len(dat) == 0: + cloudlog.error(f"iso-tp query empty response: {tx_addr}") + request_done[tx_addr] = True + continue + + counter = request_counter[tx_addr] + expected_response = self.response[counter] + response_valid = dat.startswith(expected_response) + + if response_valid: + if counter + 1 < len(self.request): + response_timeouts[tx_addr] = time.monotonic() + timeout + msg.send(self.request[counter + 1]) + request_counter[tx_addr] += 1 + else: + results[tx_addr] = dat[len(expected_response):] + request_done[tx_addr] = True + else: + error_code = dat[2] if len(dat) > 2 else -1 + if error_code == 0x78: + response_timeouts[tx_addr] = time.monotonic() + self.response_pending_timeout + cloudlog.error(f"iso-tp query response pending: {tx_addr}") + else: + request_done[tx_addr] = True + cloudlog.error(f"iso-tp query bad response: {tx_addr} - 0x{dat.hex()}") + + # Mark request done if address timed out + cur_time = time.monotonic() + for tx_addr in response_timeouts: + if cur_time - response_timeouts[tx_addr] > 0: + if not request_done[tx_addr]: + if request_counter[tx_addr] > 0: + cloudlog.error(f"iso-tp query timeout after receiving partial response: {tx_addr}") + elif tx_addr in addrs_responded: + cloudlog.error(f"iso-tp query timeout while receiving response: {tx_addr}") + # TODO: handle functional addresses + # else: + # cloudlog.error(f"iso-tp query timeout with no response: {tx_addr}") + request_done[tx_addr] = True + + # Break if all requests are done (finished or timed out) + if all(request_done.values()): + break + + if cur_time - start_time > total_timeout: + cloudlog.error("iso-tp query timeout while receiving data") + break + + return results diff --git a/selfdrive/car/mazda/__init__.py b/selfdrive/car/mazda/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py new file mode 100644 index 0000000000..4bbc9e1c67 --- /dev/null +++ b/selfdrive/car/mazda/carcontroller.py @@ -0,0 +1,252 @@ +from cereal import car +import cereal.messaging as messaging +from openpilot.common.conversions import Conversions as CV +from openpilot.common.params import Params +from openpilot.common.realtime import DT_CTRL +from opendbc.can.packer import CANPacker +from openpilot.selfdrive.car import apply_driver_steer_torque_limits +from openpilot.selfdrive.car.interfaces import CarControllerBase +from openpilot.selfdrive.car.mazda import mazdacan +from openpilot.selfdrive.car.mazda.values import CarControllerParams, Buttons +from openpilot.selfdrive.controls.lib.drive_helpers import MAZDA_V_CRUISE_MIN + +VisualAlert = car.CarControl.HUDControl.VisualAlert +ButtonType = car.CarState.ButtonEvent.Type + + +class CarController(CarControllerBase): + def __init__(self, dbc_name, CP, VM): + super().__init__(dbc_name, CP, VM) + self.apply_steer_last = 0 + self.packer = CANPacker(dbc_name) + self.brake_counter = 0 + + self.sm = messaging.SubMaster(['longitudinalPlanSP']) + self.param_s = Params() + self.last_speed_limit_sign_tap_prev = False + self.speed_limit = 0. + self.speed_limit_offset = 0 + self.timer = 0 + self.final_speed_kph = 0 + self.init_speed = 0 + self.current_speed = 0 + self.v_set_dis = 0 + self.v_cruise_min = 0 + self.button_type = 0 + self.button_select = 0 + self.button_count = 0 + self.target_speed = 0 + self.t_interval = 7 + self.slc_active_stock = False + self.sl_force_active_timer = 0 + self.v_tsc_state = 0 + self.slc_state = 0 + self.m_tsc_state = 0 + self.cruise_button = None + self.speed_diff = 0 + self.v_tsc = 0 + self.m_tsc = 0 + self.steady_speed = 0 + + def update(self, CC, CS, now_nanos): + if not self.CP.pcmCruiseSpeed: + self.sm.update(0) + + if self.sm.updated['longitudinalPlanSP']: + self.v_tsc_state = self.sm['longitudinalPlanSP'].visionTurnControllerState + self.slc_state = self.sm['longitudinalPlanSP'].speedLimitControlState + self.m_tsc_state = self.sm['longitudinalPlanSP'].turnSpeedControlState + self.speed_limit = self.sm['longitudinalPlanSP'].speedLimit + self.speed_limit_offset = self.sm['longitudinalPlanSP'].speedLimitOffset + self.v_tsc = self.sm['longitudinalPlanSP'].visionTurnSpeed + self.m_tsc = self.sm['longitudinalPlanSP'].turnSpeed + + self.v_cruise_min = MAZDA_V_CRUISE_MIN[CS.params_list.is_metric] * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1) + + can_sends = [] + + if not self.CP.pcmCruiseSpeed: + if not self.last_speed_limit_sign_tap_prev and CS.params_list.last_speed_limit_sign_tap: + self.sl_force_active_timer = self.frame + self.param_s.put_bool_nonblocking("LastSpeedLimitSignTap", False) + self.last_speed_limit_sign_tap_prev = CS.params_list.last_speed_limit_sign_tap + + sl_force_active = CS.params_list.speed_limit_control_enabled and (self.frame < (self.sl_force_active_timer * DT_CTRL + 2.0)) + sl_inactive = not sl_force_active and (not CS.params_list.speed_limit_control_enabled or (True if self.slc_state == 0 else False)) + sl_temp_inactive = not sl_force_active and (CS.params_list.speed_limit_control_enabled and (True if self.slc_state == 1 else False)) + slc_active = not sl_inactive and not sl_temp_inactive + + self.slc_active_stock = slc_active + + apply_steer = 0 + + if CC.latActive: + # calculate steer and also set limits due to driver torque + new_steer = int(round(CC.actuators.steer * CarControllerParams.STEER_MAX)) + apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, + CS.out.steeringTorque, CarControllerParams) + + if CC.cruiseControl.cancel: + # If brake is pressed, let us wait >70ms before trying to disable crz to avoid + # a race condition with the stock system, where the second cancel from openpilot + # will disable the crz 'main on'. crz ctrl msg runs at 50hz. 70ms allows us to + # read 3 messages and most likely sync state before we attempt cancel. + self.brake_counter = self.brake_counter + 1 + if self.frame % 10 == 0 and not (CS.out.brakePressed and self.brake_counter < 7): + # Cancel Stock ACC if it's enabled while OP is disengaged + # Send at a rate of 10hz until we sync with stock ACC state + can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP, CS.crz_btns_counter, Buttons.CANCEL)) + else: + self.brake_counter = 0 + if CC.cruiseControl.resume and self.frame % 5 == 0: + # Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds + # Send Resume button when planner wants car to move + can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP, CS.crz_btns_counter, Buttons.RESUME)) + elif CS.out.cruiseState.enabled and not self.CP.pcmCruiseSpeed: + self.cruise_button = self.get_cruise_buttons(CS, CC.vCruise) + if self.cruise_button is not None: + if self.frame % 10 == 0: + can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP, self.frame // 10, self.cruise_button)) + + self.apply_steer_last = apply_steer + + # send HUD alerts + if self.frame % 50 == 0: + ldw = CC.hudControl.visualAlert == VisualAlert.ldw + steer_required = CC.hudControl.visualAlert == VisualAlert.steerRequired + # TODO: find a way to silence audible warnings so we can add more hud alerts + steer_required = steer_required and CS.lkas_allowed_speed + can_sends.append(mazdacan.create_alert_command(self.packer, CS.cam_laneinfo, ldw, steer_required)) + + # send steering command + can_sends.append(mazdacan.create_steering_control(self.packer, self.CP, + self.frame, apply_steer, CS.cam_lkas)) + + new_actuators = CC.actuators.as_builder() + new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX + new_actuators.steerOutputCan = apply_steer + + self.frame += 1 + return new_actuators, can_sends + + # multikyd methods, sunnyhaibin logic + def get_cruise_buttons_status(self, CS): + if not CS.out.cruiseState.enabled: + for be in CS.out.buttonEvents: + if be.type in (ButtonType.accelCruise, ButtonType.resumeCruise, + ButtonType.decelCruise, ButtonType.setCruise) and be.pressed: + self.timer = 40 + elif self.timer: + self.timer -= 1 + else: + return 1 + return 0 + + def get_target_speed(self, v_cruise_kph_prev): + v_cruise_kph = v_cruise_kph_prev + if self.slc_state > 1: + v_cruise_kph = (self.speed_limit + self.speed_limit_offset) * CV.MS_TO_KPH + if not self.slc_active_stock: + v_cruise_kph = v_cruise_kph_prev + return v_cruise_kph + + def get_button_type(self, button_type): + self.type_status = "type_" + str(button_type) + self.button_picker = getattr(self, self.type_status, lambda: "default") + return self.button_picker() + + def reset_button(self): + if self.button_type != 3: + self.button_type = 0 + + def type_default(self): + self.button_type = 0 + return None + + def type_0(self): + self.button_count = 0 + self.target_speed = self.init_speed + self.speed_diff = self.target_speed - self.v_set_dis + if self.target_speed > self.v_set_dis: + return Buttons.SET_PLUS + self.button_type = 1 + elif self.target_speed < self.v_set_dis and self.v_set_dis > self.v_cruise_min: + return Buttons.SET_MINUS + self.button_type = 2 + return None + + def type_1(self): + cruise_button = Buttons.SET_PLUS + self.button_count += 1 + if self.target_speed <= self.v_set_dis: + self.button_count = 0 + self.button_type = 3 + elif self.button_count > 5: + self.button_count = 0 + self.button_type = 3 + return cruise_button + + def type_2(self): + cruise_button = Buttons.SET_MINUS + self.button_count += 1 + if self.target_speed >= self.v_set_dis or self.v_set_dis <= self.v_cruise_min: + self.button_count = 0 + self.button_type = 3 + elif self.button_count > 5: + self.button_count = 0 + self.button_type = 3 + return cruise_button + + def type_3(self): + cruise_button = None + self.button_count += 1 + if self.button_count > self.t_interval: + self.button_type = 0 + return cruise_button + + def get_curve_speed(self, target_speed_kph, v_cruise_kph_prev): + if self.v_tsc_state != 0: + vision_v_cruise_kph = self.v_tsc * CV.MS_TO_KPH + if int(vision_v_cruise_kph) == int(v_cruise_kph_prev): + vision_v_cruise_kph = 255 + else: + vision_v_cruise_kph = 255 + if self.m_tsc_state > 1: + map_v_cruise_kph = self.m_tsc * CV.MS_TO_KPH + if int(map_v_cruise_kph) == 0.0: + map_v_cruise_kph = 255 + else: + map_v_cruise_kph = 255 + curve_speed = self.curve_speed_hysteresis(min(vision_v_cruise_kph, map_v_cruise_kph) + 2 * CV.MPH_TO_KPH) + return min(target_speed_kph, curve_speed) + + def get_button_control(self, CS, final_speed, v_cruise_kph_prev): + self.init_speed = round(min(final_speed, v_cruise_kph_prev) * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1)) + self.v_set_dis = round(CS.out.cruiseState.speed * (CV.MS_TO_MPH if not CS.params_list.is_metric else CV.MS_TO_KPH)) + cruise_button = self.get_button_type(self.button_type) + return cruise_button + + def curve_speed_hysteresis(self, cur_speed: float, hyst=(0.75 * CV.MPH_TO_KPH)): + if cur_speed > self.steady_speed: + self.steady_speed = cur_speed + elif cur_speed < self.steady_speed - hyst: + self.steady_speed = cur_speed + return self.steady_speed + + def get_cruise_buttons(self, CS, v_cruise_kph_prev): + cruise_button = None + if not self.get_cruise_buttons_status(CS): + pass + elif CS.out.cruiseState.enabled: + set_speed_kph = self.get_target_speed(v_cruise_kph_prev) + if self.slc_state > 1: + target_speed_kph = set_speed_kph + else: + target_speed_kph = min(v_cruise_kph_prev, set_speed_kph) + if self.v_tsc_state != 0 or self.m_tsc_state > 1: + self.final_speed_kph = self.get_curve_speed(target_speed_kph, v_cruise_kph_prev) + else: + self.final_speed_kph = target_speed_kph + + cruise_button = self.get_button_control(CS, self.final_speed_kph, v_cruise_kph_prev) # MPH/KPH based button presses + return cruise_button diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py new file mode 100644 index 0000000000..e5808238f8 --- /dev/null +++ b/selfdrive/car/mazda/carstate.py @@ -0,0 +1,173 @@ +from cereal import car +from openpilot.common.conversions import Conversions as CV +from opendbc.can.can_define import CANDefine +from opendbc.can.parser import CANParser +from openpilot.selfdrive.car.interfaces import CarStateBase +from openpilot.selfdrive.car.mazda.values import DBC, LKAS_LIMITS, MazdaFlags, BUTTONS + +class CarState(CarStateBase): + def __init__(self, CP): + super().__init__(CP) + + can_define = CANDefine(DBC[CP.carFingerprint]["pt"]) + self.shifter_values = can_define.dv["GEAR"]["GEAR"] + + self.crz_btns_counter = 0 + self.acc_active_last = False + self.low_speed_alert = False + self.lkas_allowed_speed = False + self.lkas_disabled = False + + self.prev_distance_button = 0 + self.distance_button = 0 + + self.lkas_enabled = False + self.prev_lkas_enabled = False + + self.button_states = {button.event_type: False for button in BUTTONS} + + def update(self, cp, cp_cam): + + ret = car.CarState.new_message() + + self.prev_distance_button = self.distance_button + self.distance_button = cp.vl["CRZ_BTNS"]["DISTANCE_LESS"] + + self.prev_mads_enabled = self.mads_enabled + self.prev_lkas_enabled = self.lkas_enabled + + ret.wheelSpeeds = self.get_wheel_speeds( + cp.vl["WHEEL_SPEEDS"]["FL"], + cp.vl["WHEEL_SPEEDS"]["FR"], + cp.vl["WHEEL_SPEEDS"]["RL"], + cp.vl["WHEEL_SPEEDS"]["RR"], + ) + ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4. + ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) + + # Match panda speed reading + speed_kph = cp.vl["ENGINE_DATA"]["SPEED"] + ret.standstill = speed_kph <= .1 + + self.lkas_enabled = not self.lkas_disabled + + can_gear = int(cp.vl["GEAR"]["GEAR"]) + ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None)) + + # Buttons + for button in BUTTONS: + state = (cp.vl[button.can_addr][button.can_msg] in button.values) + if self.button_states[button.event_type] != state: + event = car.CarState.ButtonEvent.new_message() + event.type = button.event_type + event.pressed = state + self.button_events.append(event) + self.button_states[button.event_type] = state + + ret.genericToggle = bool(cp.vl["BLINK_INFO"]["HIGH_BEAMS"]) + ret.leftBlindspot = cp.vl["BSM"]["LEFT_BS_STATUS"] != 0 + ret.rightBlindspot = cp.vl["BSM"]["RIGHT_BS_STATUS"] != 0 + ret.leftBlinker, ret.rightBlinker = ret.leftBlinkerOn, ret.rightBlinkerOn = self.update_blinker_from_lamp(40, cp.vl["BLINK_INFO"]["LEFT_BLINK"] == 1, + cp.vl["BLINK_INFO"]["RIGHT_BLINK"] == 1) + + ret.steeringAngleDeg = cp.vl["STEER"]["STEER_ANGLE"] + ret.steeringTorque = cp.vl["STEER_TORQUE"]["STEER_TORQUE_SENSOR"] + ret.steeringPressed = abs(ret.steeringTorque) > LKAS_LIMITS.STEER_THRESHOLD + + ret.steeringTorqueEps = cp.vl["STEER_TORQUE"]["STEER_TORQUE_MOTOR"] + ret.steeringRateDeg = cp.vl["STEER_RATE"]["STEER_ANGLE_RATE"] + + # TODO: this should be from 0 - 1. + ret.brakePressed = cp.vl["PEDALS"]["BRAKE_ON"] == 1 + ret.brake = cp.vl["BRAKE"]["BRAKE_PRESSURE"] + + ret.seatbeltUnlatched = cp.vl["SEATBELT"]["DRIVER_SEATBELT"] == 0 + ret.doorOpen = any([cp.vl["DOORS"]["FL"], cp.vl["DOORS"]["FR"], + cp.vl["DOORS"]["BL"], cp.vl["DOORS"]["BR"]]) + + # TODO: this should be from 0 - 1. + ret.gas = cp.vl["ENGINE_DATA"]["PEDAL_GAS"] + ret.gasPressed = ret.gas > 0 + + # Either due to low speed or hands off + lkas_blocked = cp.vl["STEER_RATE"]["LKAS_BLOCK"] == 1 + + if self.CP.minSteerSpeed > 0: + # LKAS is enabled at 52kph going up and disabled at 45kph going down + # wait for LKAS_BLOCK signal to clear when going up since it lags behind the speed sometimes + if speed_kph > LKAS_LIMITS.ENABLE_SPEED and not lkas_blocked: + self.lkas_allowed_speed = True + elif speed_kph < LKAS_LIMITS.DISABLE_SPEED: + self.lkas_allowed_speed = False + else: + self.lkas_allowed_speed = True + + # TODO: the signal used for available seems to be the adaptive cruise signal, instead of the main on + # it should be used for carState.cruiseState.nonAdaptive instead + ret.cruiseState.available = cp.vl["CRZ_CTRL"]["CRZ_AVAILABLE"] == 1 + ret.cruiseState.enabled = cp.vl["CRZ_CTRL"]["CRZ_ACTIVE"] == 1 + ret.cruiseState.standstill = cp.vl["PEDALS"]["STANDSTILL"] == 1 + ret.cruiseState.speed = cp.vl["CRZ_EVENTS"]["CRZ_SPEED"] * CV.KPH_TO_MS + + if ret.cruiseState.enabled: + if not self.lkas_allowed_speed and self.acc_active_last: + self.low_speed_alert = True + else: + self.low_speed_alert = False + + # Check if LKAS is disabled due to lack of driver torque when all other states indicate + # it should be enabled (steer lockout). Don't warn until we actually get lkas active + # and lose it again, i.e, after initial lkas activation + ret.steerFaultTemporary = self.lkas_allowed_speed and lkas_blocked + + self.acc_active_last = ret.cruiseState.enabled + + self.crz_btns_counter = cp.vl["CRZ_BTNS"]["CTR"] + + # camera signals + self.lkas_disabled = cp_cam.vl["CAM_LANEINFO"]["LANE_LINES"] == 0 + self.cam_lkas = cp_cam.vl["CAM_LKAS"] + self.cam_laneinfo = cp_cam.vl["CAM_LANEINFO"] + ret.steerFaultPermanent = cp_cam.vl["CAM_LKAS"]["ERR_BIT_1"] == 1 + + return ret + + @staticmethod + def get_can_parser(CP): + messages = [ + # sig_address, frequency + ("BLINK_INFO", 10), + ("STEER", 67), + ("STEER_RATE", 83), + ("STEER_TORQUE", 83), + ("WHEEL_SPEEDS", 100), + ] + + if CP.flags & MazdaFlags.GEN1: + messages += [ + ("ENGINE_DATA", 100), + ("CRZ_CTRL", 50), + ("CRZ_EVENTS", 50), + ("CRZ_BTNS", 10), + ("PEDALS", 50), + ("BRAKE", 50), + ("SEATBELT", 10), + ("DOORS", 10), + ("GEAR", 20), + ("BSM", 10), + ] + + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0) + + @staticmethod + def get_cam_can_parser(CP): + messages = [] + + if CP.flags & MazdaFlags.GEN1: + messages += [ + # sig_address, frequency + ("CAM_LANEINFO", 2), + ("CAM_LKAS", 16), + ] + + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2) diff --git a/selfdrive/car/mazda/fingerprints.py b/selfdrive/car/mazda/fingerprints.py new file mode 100644 index 0000000000..c7b331b1cb --- /dev/null +++ b/selfdrive/car/mazda/fingerprints.py @@ -0,0 +1,266 @@ +from cereal import car +from openpilot.selfdrive.car.mazda.values import CAR + +Ecu = car.CarParams.Ecu + +FW_VERSIONS = { + CAR.MAZDA_CX5_2022: { + (Ecu.eps, 0x730, None): [ + b'KSD5-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'PEW5-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PW67-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2D-188K2-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2G-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2H-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2H-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX85-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXFG-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXFG-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'SH54-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'KGWD-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KSD5-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'GSH7-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-U\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'PG69-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PW66-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXDL-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXFG-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXFG-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYB2-21PS1-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYJ3-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'SH51-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.MAZDA_CX5: { + (Ecu.eps, 0x730, None): [ + b'K319-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KCB8-3210X-B-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KJ01-3210X-G-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KJ01-3210X-J-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KJ01-3210X-M-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + 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+ ], + (Ecu.fwdRadar, 0x764, None): [ + b'B63C-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GHP9-67Y10---41\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K131-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'B45A-437AS-0-08\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'B61L-67XK2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'B61L-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'B61L-67XK2-Q\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'P52G-21PS1-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PY2S-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYKA-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYKE-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYKE-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.MAZDA_6: { + (Ecu.eps, 0x730, None): [ + b'GBEF-3210X-B-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GBEF-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GFBC-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'PA34-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX4F-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYH7-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYH7-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'K131-67XK2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'GBVH-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GBVH-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GDDM-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'B61L-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'PA28-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYH3-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYH7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.MAZDA_CX9_2021: { + (Ecu.eps, 0x730, None): [ + b'TC3M-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'PXGW-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXGW-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXM4-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXM4-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXM6-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXM7-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'TA0B-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'GSH7-67XK2-M\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-N\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-U\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'PXM4-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXM6-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXM7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, +} diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py new file mode 100755 index 0000000000..3ce3bd35c9 --- /dev/null +++ b/selfdrive/car/mazda/interface.py @@ -0,0 +1,96 @@ +#!/usr/bin/env python3 +from cereal import car +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car.mazda.values import CAR, LKAS_LIMITS +from openpilot.selfdrive.car import create_button_events, get_safety_config +from openpilot.selfdrive.car.interfaces import CarInterfaceBase + +ButtonType = car.CarState.ButtonEvent.Type +EventName = car.CarEvent.EventName +GearShifter = car.CarState.GearShifter + +class CarInterface(CarInterfaceBase): + def __init__(self, CP, CarController, CarState): + super().__init__(CP, CarController, CarState) + + @staticmethod + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): + ret.carName = "mazda" + ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)] + ret.radarUnavailable = True + ret.customStockLongAvailable = True + + ret.dashcamOnly = candidate not in (CAR.MAZDA_CX5_2022, CAR.MAZDA_CX9_2021) + + ret.steerActuatorDelay = 0.1 + ret.steerLimitTimer = 0.8 + + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + + if candidate not in (CAR.MAZDA_CX5_2022, ): + ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS + + ret.centerToFront = ret.wheelbase * 0.41 + + return ret + + # returns a car.CarState + def _update(self, c): + ret = self.CS.update(self.cp, self.cp_cam) + + # TODO: add button types for inc and dec + self.CS.button_events = [ + *self.CS.button_events, + *create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}), + *create_button_events(self.CS.lkas_enabled, self.CS.prev_lkas_enabled, {1: ButtonType.altButton1}), + ] + + self.CS.mads_enabled = self.get_sp_cruise_main_state(ret) + + self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, c.vCruise, self.CS.accEnabled) + + if ret.cruiseState.available: + if self.enable_mads: + if not self.CS.prev_mads_enabled and self.CS.mads_enabled: + self.CS.madsEnabled = True + if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events): + self.CS.madsEnabled = not self.CS.madsEnabled + self.CS.madsEnabled = self.get_acc_mads(ret, self.CS.madsEnabled) + else: + self.CS.madsEnabled = False + + if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0) or not self.CP.pcmCruiseSpeed: + if any(b.type == ButtonType.cancel for b in self.CS.button_events): + self.get_sp_cancel_cruise_state() + if self.get_sp_pedal_disengage(ret): + self.get_sp_cancel_cruise_state() + ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled + + if self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed: + if ret.gasPressed and not ret.cruiseState.enabled: + self.CS.accEnabled = False + self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled + + ret = self.get_sp_common_state(ret) + + ret.buttonEvents = [ + *self.CS.button_events, + *self.button_events.create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled) # MADS BUTTON + ] + + # events + events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low, GearShifter.brake], + pcm_enable=False) + + events, ret = self.create_sp_events(ret, events) + + #if self.CS.lkas_disabled: + # events.add(EventName.lkasDisabled) + if self.CS.low_speed_alert: + events.add(EventName.belowSteerSpeed) + + ret.customStockLong = self.update_custom_stock_long() + + ret.events = events.to_msg() + + return ret diff --git a/selfdrive/car/mazda/mazdacan.py b/selfdrive/car/mazda/mazdacan.py new file mode 100644 index 0000000000..7c56809918 --- /dev/null +++ b/selfdrive/car/mazda/mazdacan.py @@ -0,0 +1,130 @@ +from openpilot.selfdrive.car.mazda.values import Buttons, MazdaFlags + + +def create_steering_control(packer, CP, frame, apply_steer, lkas): + + tmp = apply_steer + 2048 + + lo = tmp & 0xFF + hi = tmp >> 8 + + # copy values from camera + b1 = int(lkas["BIT_1"]) + er1 = int(lkas["ERR_BIT_1"]) + lnv = 0 + ldw = 0 + er2 = int(lkas["ERR_BIT_2"]) + + # Some older models do have these, newer models don't. + # Either way, they all work just fine if set to zero. + steering_angle = 0 + b2 = 0 + + tmp = steering_angle + 2048 + ahi = tmp >> 10 + amd = (tmp & 0x3FF) >> 2 + amd = (amd >> 4) | (( amd & 0xF) << 4) + alo = (tmp & 0x3) << 2 + + ctr = frame % 16 + # bytes: [ 1 ] [ 2 ] [ 3 ] [ 4 ] + csum = 249 - ctr - hi - lo - (lnv << 3) - er1 - (ldw << 7) - ( er2 << 4) - (b1 << 5) + + # bytes [ 5 ] [ 6 ] [ 7 ] + csum = csum - ahi - amd - alo - b2 + + if ahi == 1: + csum = csum + 15 + + if csum < 0: + if csum < -256: + csum = csum + 512 + else: + csum = csum + 256 + + csum = csum % 256 + + values = {} + if CP.flags & MazdaFlags.GEN1: + values = { + "LKAS_REQUEST": apply_steer, + "CTR": ctr, + "ERR_BIT_1": er1, + "LINE_NOT_VISIBLE" : lnv, + "LDW": ldw, + "BIT_1": b1, + "ERR_BIT_2": er2, + "STEERING_ANGLE": steering_angle, + "ANGLE_ENABLED": b2, + "CHKSUM": csum + } + + return packer.make_can_msg("CAM_LKAS", 0, values) + + +def create_alert_command(packer, cam_msg: dict, ldw: bool, steer_required: bool): + values = {s: cam_msg[s] for s in [ + "LINE_VISIBLE", + "LINE_NOT_VISIBLE", + "LANE_LINES", + "BIT1", + "BIT2", + "BIT3", + "NO_ERR_BIT", + "S1", + "S1_HBEAM", + ]} + values.update({ + # TODO: what's the difference between all these? do we need to send all? + "HANDS_WARN_3_BITS": 0b111 if steer_required else 0, + "HANDS_ON_STEER_WARN": steer_required, + "HANDS_ON_STEER_WARN_2": steer_required, + + # TODO: right lane works, left doesn't + # TODO: need to do something about L/R + "LDW_WARN_LL": 0, + "LDW_WARN_RL": 0, + }) + return packer.make_can_msg("CAM_LANEINFO", 0, values) + + +def create_button_cmd(packer, CP, counter, button): + + can = int(button == Buttons.CANCEL) + res = int(button == Buttons.RESUME) + inc = int(button == Buttons.SET_PLUS) + dec = int(button == Buttons.SET_MINUS) + + if CP.flags & MazdaFlags.GEN1: + values = { + "CAN_OFF": can, + "CAN_OFF_INV": (can + 1) % 2, + + "SET_P": inc, + "SET_P_INV": (inc + 1) % 2, + + "RES": res, + "RES_INV": (res + 1) % 2, + + "SET_M": dec, + "SET_M_INV": (dec + 1) % 2, + + "DISTANCE_LESS": 0, + "DISTANCE_LESS_INV": 1, + + "DISTANCE_MORE": 0, + "DISTANCE_MORE_INV": 1, + + "MODE_X": 0, + "MODE_X_INV": 1, + + "MODE_Y": 0, + "MODE_Y_INV": 1, + + "BIT1": 1, + "BIT2": 1, + "BIT3": 1, + "CTR": (counter + 1) % 16, + } + + return packer.make_can_msg("CRZ_BTNS", 0, values) diff --git a/selfdrive/car/mazda/radar_interface.py b/selfdrive/car/mazda/radar_interface.py new file mode 100755 index 0000000000..b461fcd5f8 --- /dev/null +++ b/selfdrive/car/mazda/radar_interface.py @@ -0,0 +1,5 @@ +#!/usr/bin/env python3 +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase + +class RadarInterface(RadarInterfaceBase): + pass diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py new file mode 100644 index 0000000000..2889cbb7b2 --- /dev/null +++ b/selfdrive/car/mazda/values.py @@ -0,0 +1,114 @@ +from collections import namedtuple +from dataclasses import dataclass, field +from enum import IntFlag + +from cereal import car +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict +from openpilot.selfdrive.car.docs_definitions import CarHarness, CarDocs, CarParts +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries + +Ecu = car.CarParams.Ecu +Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values']) + + +# Steer torque limits + +class CarControllerParams: + STEER_MAX = 800 # theoretical max_steer 2047 + STEER_DELTA_UP = 10 # torque increase per refresh + STEER_DELTA_DOWN = 25 # torque decrease per refresh + STEER_DRIVER_ALLOWANCE = 15 # allowed driver torque before start limiting + STEER_DRIVER_MULTIPLIER = 1 # weight driver torque + STEER_DRIVER_FACTOR = 1 # from dbc + STEER_ERROR_MAX = 350 # max delta between torque cmd and torque motor + STEER_STEP = 1 # 100 Hz + + def __init__(self, CP): + pass + + +@dataclass +class MazdaCarDocs(CarDocs): + package: str = "All" + car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.mazda])) + + +@dataclass(frozen=True, kw_only=True) +class MazdaCarSpecs(CarSpecs): + tireStiffnessFactor: float = 0.7 # not optimized yet + + +class MazdaFlags(IntFlag): + # Static flags + # Gen 1 hardware: same CAN messages and same camera + GEN1 = 1 + + +@dataclass +class MazdaPlatformConfig(PlatformConfig): + dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('mazda_2017', None)) + flags: int = MazdaFlags.GEN1 + + +class CAR(Platforms): + MAZDA_CX5 = MazdaPlatformConfig( + [MazdaCarDocs("Mazda CX-5 2017-21")], + MazdaCarSpecs(mass=3655 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.5) + ) + MAZDA_CX9 = MazdaPlatformConfig( + [MazdaCarDocs("Mazda CX-9 2016-20")], + MazdaCarSpecs(mass=4217 * CV.LB_TO_KG, wheelbase=3.1, steerRatio=17.6) + ) + MAZDA_3 = MazdaPlatformConfig( + [MazdaCarDocs("Mazda 3 2017-18")], + MazdaCarSpecs(mass=2875 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=14.0) + ) + MAZDA_6 = MazdaPlatformConfig( + [MazdaCarDocs("Mazda 6 2017-20")], + MazdaCarSpecs(mass=3443 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=15.5) + ) + MAZDA_CX9_2021 = MazdaPlatformConfig( + [MazdaCarDocs("Mazda CX-9 2021-23", video_link="https://youtu.be/dA3duO4a0O4")], + MAZDA_CX9.specs + ) + MAZDA_CX5_2022 = MazdaPlatformConfig( + [MazdaCarDocs("Mazda CX-5 2022-24")], + MAZDA_CX5.specs, + ) + + +class LKAS_LIMITS: + STEER_THRESHOLD = 15 + DISABLE_SPEED = 45 # kph + ENABLE_SPEED = 52 # kph + + +class Buttons: + NONE = 0 + SET_PLUS = 1 + SET_MINUS = 2 + RESUME = 3 + CANCEL = 4 + + +BUTTONS = [ + Button(car.CarState.ButtonEvent.Type.accelCruise, "CRZ_BTNS", "SET_P", [1]), + Button(car.CarState.ButtonEvent.Type.decelCruise, "CRZ_BTNS", "SET_M", [1]), + Button(car.CarState.ButtonEvent.Type.cancel, "CRZ_BTNS", "CAN_OFF", [1]), + Button(car.CarState.ButtonEvent.Type.resumeCruise, "CRZ_BTNS", "RES", [1]), +] + + +FW_QUERY_CONFIG = FwQueryConfig( + requests=[ + # TODO: check data to ensure ABS does not skip ISO-TP frames on bus 0 + Request( + [StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST], + [StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE], + bus=0, + ), + ], +) + +DBC = CAR.create_dbc_map() diff --git a/selfdrive/car/mock/__init__.py b/selfdrive/car/mock/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/car/mock/carcontroller.py b/selfdrive/car/mock/carcontroller.py new file mode 100644 index 0000000000..0cd37c0369 --- /dev/null +++ b/selfdrive/car/mock/carcontroller.py @@ -0,0 +1,5 @@ +from openpilot.selfdrive.car.interfaces import CarControllerBase + +class CarController(CarControllerBase): + def update(self, CC, CS, now_nanos): + return CC.actuators.as_builder(), [] diff --git a/selfdrive/car/mock/carstate.py b/selfdrive/car/mock/carstate.py new file mode 100644 index 0000000000..ece908b51c --- /dev/null +++ b/selfdrive/car/mock/carstate.py @@ -0,0 +1,4 @@ +from openpilot.selfdrive.car.interfaces import CarStateBase + +class CarState(CarStateBase): + pass diff --git a/selfdrive/car/mock/interface.py b/selfdrive/car/mock/interface.py new file mode 100755 index 0000000000..7506bab053 --- /dev/null +++ b/selfdrive/car/mock/interface.py @@ -0,0 +1,32 @@ +#!/usr/bin/env python3 +from cereal import car +import cereal.messaging as messaging +from openpilot.selfdrive.car.interfaces import CarInterfaceBase + +# mocked car interface for dashcam mode +class CarInterface(CarInterfaceBase): + def __init__(self, CP, CarController, CarState): + super().__init__(CP, CarController, CarState) + + self.speed = 0. + self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal']) + + @staticmethod + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): + ret.carName = "mock" + ret.mass = 1700. + ret.wheelbase = 2.70 + ret.centerToFront = ret.wheelbase * 0.5 + ret.steerRatio = 13. + ret.dashcamOnly = True + return ret + + def _update(self, c): + self.sm.update(0) + gps_sock = 'gpsLocationExternal' if self.sm.recv_frame['gpsLocationExternal'] > 1 else 'gpsLocation' + + ret = car.CarState.new_message() + ret.vEgo = self.sm[gps_sock].speed + ret.vEgoRaw = self.sm[gps_sock].speed + + return ret diff --git a/selfdrive/car/mock/radar_interface.py b/selfdrive/car/mock/radar_interface.py new file mode 100644 index 0000000000..e654bd61fd --- /dev/null +++ b/selfdrive/car/mock/radar_interface.py @@ -0,0 +1,4 @@ +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase + +class RadarInterface(RadarInterfaceBase): + pass diff --git a/selfdrive/car/mock/values.py b/selfdrive/car/mock/values.py new file mode 100644 index 0000000000..f98aac2ee3 --- /dev/null +++ b/selfdrive/car/mock/values.py @@ -0,0 +1,9 @@ +from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms + + +class CAR(Platforms): + MOCK = PlatformConfig( + [], + CarSpecs(mass=1700, wheelbase=2.7, steerRatio=13), + {} + ) diff --git a/selfdrive/car/nissan/__init__.py b/selfdrive/car/nissan/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/car/nissan/carcontroller.py b/selfdrive/car/nissan/carcontroller.py new file mode 100644 index 0000000000..ddaeb785ab --- /dev/null +++ b/selfdrive/car/nissan/carcontroller.py @@ -0,0 +1,100 @@ +from cereal import car +from openpilot.common.realtime import DT_CTRL +from opendbc.can.packer import CANPacker +from openpilot.selfdrive.car import apply_std_steer_angle_limits +from openpilot.selfdrive.car.interfaces import CarControllerBase +from openpilot.selfdrive.car.nissan import nissancan +from openpilot.selfdrive.car.nissan.values import CAR, CarControllerParams + +VisualAlert = car.CarControl.HUDControl.VisualAlert + + +class CarController(CarControllerBase): + def __init__(self, dbc_name, CP, VM): + super().__init__(dbc_name, CP, VM) + self.car_fingerprint = CP.carFingerprint + + self.lkas_max_torque = 0 + self.apply_angle_last = 0 + + self.packer = CANPacker(dbc_name) + + self.disengage_blink = 0. + self.lat_disengage_init = False + self.lat_active_last = False + + def update(self, CC, CS, now_nanos): + actuators = CC.actuators + hud_control = CC.hudControl + pcm_cancel_cmd = CC.cruiseControl.cancel + + lateral_paused = CS.madsEnabled and not CC.latActive + if CC.latActive: + self.lat_disengage_init = False + elif self.lat_active_last: + self.lat_disengage_init = True + + if not self.lat_disengage_init: + self.disengage_blink = self.frame + + blinking_icon = (self.frame - self.disengage_blink) * DT_CTRL < 1.0 if self.lat_disengage_init else False + + self.lat_active_last = CC.latActive + + can_sends = [] + + ### STEER ### + steer_hud_alert = 1 if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0 + + if CC.latActive: + # windup slower + apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgoRaw, CarControllerParams) + + # Max torque from driver before EPS will give up and not apply torque + if not bool(CS.out.steeringPressed): + self.lkas_max_torque = CarControllerParams.LKAS_MAX_TORQUE + else: + # Scale max torque based on how much torque the driver is applying to the wheel + self.lkas_max_torque = max( + # Scale max torque down to half LKAX_MAX_TORQUE as a minimum + CarControllerParams.LKAS_MAX_TORQUE * 0.5, + # Start scaling torque at STEER_THRESHOLD + CarControllerParams.LKAS_MAX_TORQUE - 0.6 * max(0, abs(CS.out.steeringTorque) - CarControllerParams.STEER_THRESHOLD) + ) + + else: + apply_angle = CS.out.steeringAngleDeg + self.lkas_max_torque = 0 + + self.apply_angle_last = apply_angle + + if self.CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL, CAR.NISSAN_ALTIMA) and pcm_cancel_cmd: + can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, self.car_fingerprint, CS.cruise_throttle_msg)) + + # TODO: Find better way to cancel! + # For some reason spamming the cancel button is unreliable on the Leaf + # We now cancel by making propilot think the seatbelt is unlatched, + # this generates a beep and a warning message every time you disengage + if self.CP.carFingerprint in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC) and self.frame % 2 == 0: + can_sends.append(nissancan.create_cancel_msg(self.packer, CS.cancel_msg, pcm_cancel_cmd)) + + can_sends.append(nissancan.create_steering_control( + self.packer, apply_angle, self.frame, CC.latActive, self.lkas_max_torque)) + + # Below are the HUD messages. We copy the stock message and modify + if self.CP.carFingerprint != CAR.NISSAN_ALTIMA: + if self.frame % 2 == 0: + can_sends.append(nissancan.create_lkas_hud_msg(self.packer, CS.lkas_hud_msg, CC.latActive, blinking_icon, lateral_paused, + hud_control.leftLaneVisible, hud_control.rightLaneVisible, + hud_control.leftLaneDepart, hud_control.rightLaneDepart)) + + if self.frame % 50 == 0: + can_sends.append(nissancan.create_lkas_hud_info_msg( + self.packer, CS.lkas_hud_info_msg, steer_hud_alert + )) + + new_actuators = actuators.as_builder() + new_actuators.steeringAngleDeg = apply_angle + + self.frame += 1 + return new_actuators, can_sends diff --git a/selfdrive/car/nissan/carstate.py b/selfdrive/car/nissan/carstate.py new file mode 100644 index 0000000000..17c6abf681 --- /dev/null +++ b/selfdrive/car/nissan/carstate.py @@ -0,0 +1,199 @@ +import copy +from collections import deque +from cereal import car +from opendbc.can.can_define import CANDefine +from openpilot.selfdrive.car.interfaces import CarStateBase +from openpilot.common.conversions import Conversions as CV +from opendbc.can.parser import CANParser +from openpilot.selfdrive.car.nissan.values import CAR, DBC, CarControllerParams + +TORQUE_SAMPLES = 12 + +class CarState(CarStateBase): + def __init__(self, CP): + super().__init__(CP) + can_define = CANDefine(DBC[CP.carFingerprint]["pt"]) + + self.lkas_hud_msg = {} + self.lkas_hud_info_msg = {} + + self.steeringTorqueSamples = deque(TORQUE_SAMPLES*[0], TORQUE_SAMPLES) + self.shifter_values = can_define.dv["GEARBOX"]["GEAR_SHIFTER"] + + self.prev_distance_button = 0 + self.distance_button = 0 + + def update(self, cp, cp_adas, cp_cam): + ret = car.CarState.new_message() + + self.prev_distance_button = self.distance_button + self.distance_button = cp.vl["CRUISE_THROTTLE"]["FOLLOW_DISTANCE_BUTTON"] + + self.prev_mads_enabled = self.mads_enabled + + if self.CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL, CAR.NISSAN_ALTIMA): + ret.gas = cp.vl["GAS_PEDAL"]["GAS_PEDAL"] + elif self.CP.carFingerprint in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC): + ret.gas = cp.vl["CRUISE_THROTTLE"]["GAS_PEDAL"] + + ret.gasPressed = bool(ret.gas > 3) + + if self.CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL, CAR.NISSAN_ALTIMA): + ret.brakePressed = bool(cp.vl["DOORS_LIGHTS"]["USER_BRAKE_PRESSED"]) + elif self.CP.carFingerprint in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC): + ret.brakePressed = bool(cp.vl["CRUISE_THROTTLE"]["USER_BRAKE_PRESSED"]) + + ret.wheelSpeeds = self.get_wheel_speeds( + cp.vl["WHEEL_SPEEDS_FRONT"]["WHEEL_SPEED_FL"], + cp.vl["WHEEL_SPEEDS_FRONT"]["WHEEL_SPEED_FR"], + cp.vl["WHEEL_SPEEDS_REAR"]["WHEEL_SPEED_RL"], + cp.vl["WHEEL_SPEEDS_REAR"]["WHEEL_SPEED_RR"], + ) + ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4. + + ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) + ret.standstill = cp.vl["WHEEL_SPEEDS_REAR"]["WHEEL_SPEED_RL"] == 0.0 and cp.vl["WHEEL_SPEEDS_REAR"]["WHEEL_SPEED_RR"] == 0.0 + + if self.CP.carFingerprint == CAR.NISSAN_ALTIMA: + ret.cruiseState.enabled = bool(cp.vl["CRUISE_STATE"]["CRUISE_ENABLED"]) + else: + ret.cruiseState.enabled = bool(cp_adas.vl["CRUISE_STATE"]["CRUISE_ENABLED"]) + + if self.CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL): + ret.seatbeltUnlatched = cp.vl["HUD"]["SEATBELT_DRIVER_LATCHED"] == 0 + ret.cruiseState.available = bool(cp_cam.vl["PRO_PILOT"]["CRUISE_ON"]) + elif self.CP.carFingerprint in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC): + if self.CP.carFingerprint == CAR.NISSAN_LEAF: + ret.seatbeltUnlatched = cp.vl["SEATBELT"]["SEATBELT_DRIVER_LATCHED"] == 0 + elif self.CP.carFingerprint == CAR.NISSAN_LEAF_IC: + ret.seatbeltUnlatched = cp.vl["CANCEL_MSG"]["CANCEL_SEATBELT"] == 1 + ret.cruiseState.available = bool(cp.vl["CRUISE_THROTTLE"]["CRUISE_AVAILABLE"]) + elif self.CP.carFingerprint == CAR.NISSAN_ALTIMA: + ret.seatbeltUnlatched = cp.vl["HUD"]["SEATBELT_DRIVER_LATCHED"] == 0 + ret.cruiseState.available = bool(cp_adas.vl["PRO_PILOT"]["CRUISE_ON"]) + + if self.CP.carFingerprint == CAR.NISSAN_ALTIMA: + speed = cp.vl["PROPILOT_HUD"]["SET_SPEED"] + else: + speed = cp_adas.vl["PROPILOT_HUD"]["SET_SPEED"] + + if speed != 255: + if self.CP.carFingerprint in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC): + conversion = CV.MPH_TO_MS if cp.vl["HUD_SETTINGS"]["SPEED_MPH"] else CV.KPH_TO_MS + else: + conversion = CV.MPH_TO_MS if cp.vl["HUD"]["SPEED_MPH"] else CV.KPH_TO_MS + ret.cruiseState.speed = speed * conversion + ret.cruiseState.speedCluster = (speed - 1) * conversion # Speed on HUD is always 1 lower than actually sent on can bus + + if self.CP.carFingerprint == CAR.NISSAN_ALTIMA: + ret.steeringTorque = cp_cam.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"] + else: + ret.steeringTorque = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"] + + self.steeringTorqueSamples.append(ret.steeringTorque) + # Filtering driver torque to prevent steeringPressed false positives + ret.steeringPressed = bool(abs(sum(self.steeringTorqueSamples) / TORQUE_SAMPLES) > CarControllerParams.STEER_THRESHOLD) + + ret.steeringAngleDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_ANGLE"] + + ret.leftBlinker = ret.leftBlinkerOn = bool(cp.vl["LIGHTS"]["LEFT_BLINKER"]) + ret.rightBlinker = ret.rightBlinkerOn = bool(cp.vl["LIGHTS"]["RIGHT_BLINKER"]) + + ret.doorOpen = any([cp.vl["DOORS_LIGHTS"]["DOOR_OPEN_RR"], + cp.vl["DOORS_LIGHTS"]["DOOR_OPEN_RL"], + cp.vl["DOORS_LIGHTS"]["DOOR_OPEN_FR"], + cp.vl["DOORS_LIGHTS"]["DOOR_OPEN_FL"]]) + + ret.espDisabled = bool(cp.vl["ESP"]["ESP_DISABLED"]) + + can_gear = int(cp.vl["GEARBOX"]["GEAR_SHIFTER"]) + ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None)) + + if self.CP.carFingerprint == CAR.NISSAN_ALTIMA: + self.lkas_enabled = bool(cp.vl["LKAS_SETTINGS"]["LKAS_ENABLED"]) + else: + self.lkas_enabled = bool(cp_adas.vl["LKAS_SETTINGS"]["LKAS_ENABLED"]) + + self.cruise_throttle_msg = copy.copy(cp.vl["CRUISE_THROTTLE"]) + + if self.CP.carFingerprint in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC): + self.cancel_msg = copy.copy(cp.vl["CANCEL_MSG"]) + + if self.CP.carFingerprint != CAR.NISSAN_ALTIMA: + self.lkas_hud_msg = copy.copy(cp_adas.vl["PROPILOT_HUD"]) + self.lkas_hud_info_msg = copy.copy(cp_adas.vl["PROPILOT_HUD_INFO_MSG"]) + + return ret + + @staticmethod + def get_can_parser(CP): + messages = [ + # sig_address, frequency + ("STEER_ANGLE_SENSOR", 100), + ("WHEEL_SPEEDS_REAR", 50), + ("WHEEL_SPEEDS_FRONT", 50), + ("ESP", 25), + ("GEARBOX", 25), + ("DOORS_LIGHTS", 10), + ("LIGHTS", 10), + ] + + if CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL, CAR.NISSAN_ALTIMA): + messages += [ + ("GAS_PEDAL", 100), + ("CRUISE_THROTTLE", 50), + ("HUD", 25), + ] + + elif CP.carFingerprint in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC): + messages += [ + ("BRAKE_PEDAL", 100), + ("CRUISE_THROTTLE", 50), + ("CANCEL_MSG", 50), + ("HUD_SETTINGS", 25), + ("SEATBELT", 10), + ] + + if CP.carFingerprint == CAR.NISSAN_ALTIMA: + messages += [ + ("CRUISE_STATE", 10), + ("LKAS_SETTINGS", 10), + ("PROPILOT_HUD", 50), + ] + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 1) + + messages.append(("STEER_TORQUE_SENSOR", 100)) + + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0) + + @staticmethod + def get_adas_can_parser(CP): + # this function generates lists for signal, messages and initial values + + if CP.carFingerprint == CAR.NISSAN_ALTIMA: + messages = [ + ("LKAS", 100), + ("PRO_PILOT", 100), + ] + else: + messages = [ + ("PROPILOT_HUD_INFO_MSG", 2), + ("LKAS_SETTINGS", 10), + ("CRUISE_STATE", 50), + ("PROPILOT_HUD", 50), + ("LKAS", 100), + ] + + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2) + + @staticmethod + def get_cam_can_parser(CP): + messages = [] + + if CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL): + messages.append(("PRO_PILOT", 100)) + elif CP.carFingerprint == CAR.NISSAN_ALTIMA: + messages.append(("STEER_TORQUE_SENSOR", 100)) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0) + + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 1) diff --git a/selfdrive/car/nissan/fingerprints.py b/selfdrive/car/nissan/fingerprints.py new file mode 100644 index 0000000000..743feeace9 --- /dev/null +++ b/selfdrive/car/nissan/fingerprints.py @@ -0,0 +1,119 @@ +# ruff: noqa: E501 +from cereal import car +from openpilot.selfdrive.car.nissan.values import CAR + +Ecu = car.CarParams.Ecu + +FINGERPRINTS = { + CAR.NISSAN_XTRAIL: [{ + 2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 548: 8, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 768: 2, 783: 3, 851: 8, 855: 8, 1041: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1111: 4, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 2, 1497: 3, 1821: 8, 1823: 8, 1837: 8, 2015: 8, 2016: 8, 2024: 8 + }, + { + 2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 527: 1, 548: 8, 637: 4, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 768: 6, 783: 3, 851: 8, 855: 8, 1041: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1111: 4, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 8, 1497: 3, 1534: 6, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 2015: 8, 2016: 8, 2024: 8 + }], + CAR.NISSAN_LEAF: [{ + 2: 5, 42: 6, 264: 3, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 724: 6, 758: 3, 761: 2, 783: 3, 852: 8, 853: 8, 856: 8, 861: 8, 944: 1, 976: 6, 1008: 7, 1011: 7, 1057: 3, 1227: 8, 1228: 8, 1261: 5, 1342: 1, 1354: 8, 1361: 8, 1459: 8, 1477: 8, 1497: 3, 1549: 8, 1573: 6, 1821: 8, 1837: 8, 1856: 8, 1859: 8, 1861: 8, 1864: 8, 1874: 8, 1888: 8, 1891: 8, 1893: 8, 1906: 8, 1947: 8, 1949: 8, 1979: 8, 1981: 8, 2016: 8, 2017: 8, 2021: 8, 643: 5, 1792: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8 + }, + { + 2: 5, 42: 8, 264: 3, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 643: 5, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 724: 6, 758: 3, 761: 2, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 783: 3, 852: 8, 853: 8, 856: 8, 861: 8, 943: 8, 944: 1, 976: 6, 1008: 7, 1009: 8, 1010: 8, 1011: 7, 1012: 8, 1013: 8, 1019: 8, 1020: 8, 1021: 8, 1022: 8, 1057: 3, 1227: 8, 1228: 8, 1261: 5, 1342: 1, 1354: 8, 1361: 8, 1402: 8, 1459: 8, 1477: 8, 1497: 3, 1549: 8, 1573: 6, 1821: 8, 1837: 8 + }], + CAR.NISSAN_LEAF_IC: [{ + 2: 5, 42: 6, 264: 3, 282: 8, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 643: 5, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 756: 5, 758: 3, 761: 2, 783: 3, 830: 2, 852: 8, 853: 8, 856: 8, 861: 8, 943: 8, 944: 1, 1001: 6, 1057: 3, 1227: 8, 1228: 8, 1229: 8, 1342: 1, 1354: 8, 1361: 8, 1459: 8, 1477: 8, 1497: 3, 1514: 6, 1549: 8, 1573: 6, 1792: 8, 1821: 8, 1822: 8, 1837: 8, 1838: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8 + }], + CAR.NISSAN_ROGUE: [{ + 2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 548: 8, 634: 7, 643: 5, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 783: 3, 851: 8, 855: 8, 1041: 8, 1042: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1110: 7, 1111: 7, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 2, 1497: 3, 1534: 7, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1839: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 + }], + CAR.NISSAN_ALTIMA: [{ + 2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 438: 8, 451: 8, 517: 8, 520: 2, 522: 8, 523: 6, 539: 8, 541: 7, 542: 8, 543: 8, 544: 8, 545: 8, 546: 8, 547: 8, 548: 8, 570: 8, 576: 8, 577: 8, 582: 8, 583: 8, 584: 8, 586: 8, 587: 8, 588: 8, 589: 8, 590: 8, 591: 8, 592: 8, 600: 8, 601: 8, 610: 8, 611: 8, 612: 8, 614: 8, 615: 8, 616: 8, 617: 8, 622: 8, 623: 8, 634: 7, 638: 8, 645: 8, 648: 5, 654: 6, 658: 8, 659: 8, 660: 8, 661: 8, 665: 8, 666: 8, 674: 2, 675: 8, 676: 8, 682: 8, 683: 8, 684: 8, 685: 8, 686: 8, 687: 8, 689: 8, 690: 8, 703: 8, 708: 7, 709: 7, 711: 7, 712: 7, 713: 7, 714: 8, 715: 8, 716: 8, 717: 7, 718: 7, 719: 7, 720: 7, 723: 8, 726: 7, 727: 7, 728: 7, 735: 8, 746: 8, 748: 6, 749: 6, 750: 8, 758: 3, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 779: 7, 781: 7, 782: 7, 783: 3, 851: 8, 855: 5, 1001: 6, 1041: 8, 1042: 8, 1055: 3, 1100: 7, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1110: 7, 1111: 7, 1144: 7, 1145: 7, 1227: 8, 1228: 8, 1229: 8, 1232: 8, 1247: 4, 1258: 8, 1259: 8, 1266: 8, 1273: 7, 1306: 1, 1314: 8, 1323: 8, 1324: 8, 1342: 1, 1376: 8, 1401: 8, 1454: 8, 1497: 3, 1514: 6, 1526: 8, 1527: 5, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 + }], +} + +FW_VERSIONS = { + CAR.NISSAN_ALTIMA: { + (Ecu.fwdCamera, 0x707, None): [ + b'284N86CA1D', + ], + (Ecu.eps, 0x742, None): [ + b'6CA2B\xa9A\x02\x02G8A89P90D6A\x00\x00\x01\x80', + ], + (Ecu.engine, 0x7e0, None): [ + b'237109HE2B', + ], + (Ecu.gateway, 0x18dad0f1, None): [ + b'284U29HE0A', + ], + }, + CAR.NISSAN_LEAF: { + (Ecu.abs, 0x740, None): [ + b'476605SA1C', + b'476605SA7D', + b'476605SC2D', + b'476606WK7B', + b'476606WK9B', + ], + (Ecu.eps, 0x742, None): [ + b'5SA2A\x99A\x05\x02N123F\x15b\x00\x00\x00\x00\x00\x00\x00\x80', + b'5SA2A\xb7A\x05\x02N123F\x15\xa2\x00\x00\x00\x00\x00\x00\x00\x80', + b'5SN2A\xb7A\x05\x02N123F\x15\xa2\x00\x00\x00\x00\x00\x00\x00\x80', + b'5SN2A\xb7A\x05\x02N126F\x15\xb2\x00\x00\x00\x00\x00\x00\x00\x80', + ], + (Ecu.fwdCamera, 0x707, None): [ + b'5SA0ADB\x04\x18\x00\x00\x00\x00\x00_*6\x04\x94a\x00\x00\x00\x80', + b'5SA2ADB\x04\x18\x00\x00\x00\x00\x00_*6\x04\x94a\x00\x00\x00\x80', + b'6WK2ADB\x04\x18\x00\x00\x00\x00\x00R;1\x18\x99\x10\x00\x00\x00\x80', + b'6WK2BDB\x04\x18\x00\x00\x00\x00\x00R;1\x18\x99\x10\x00\x00\x00\x80', + b'6WK2CDB\x04\x18\x00\x00\x00\x00\x00R=1\x18\x99\x10\x00\x00\x00\x80', + ], + (Ecu.gateway, 0x18dad0f1, None): [ + b'284U25SA3C', + b'284U25SP0C', + b'284U25SP1C', + b'284U26WK0A', + b'284U26WK0C', + ], + }, + CAR.NISSAN_LEAF_IC: { + (Ecu.fwdCamera, 0x707, None): [ + b'5SH1BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80', + b'5SH4BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80', + b'5SK0ADB\x04\x18\x00\x00\x00\x00\x00_(5\x07\x9aQ\x00\x00\x00\x80', + ], + (Ecu.abs, 0x740, None): [ + b'476605SD2E', + b'476605SH1D', + b'476605SK2A', + ], + (Ecu.eps, 0x742, None): [ + b'5SH2A\x99A\x05\x02N123F\x15\x81\x00\x00\x00\x00\x00\x00\x00\x80', + b'5SH2C\xb7A\x05\x02N123F\x15\xa3\x00\x00\x00\x00\x00\x00\x00\x80', + b'5SK3A\x99A\x05\x02N123F\x15u\x00\x00\x00\x00\x00\x00\x00\x80', + ], + (Ecu.gateway, 0x18dad0f1, None): [ + b'284U25SF0C', + b'284U25SH3A', + b'284U25SK2D', + ], + }, + CAR.NISSAN_XTRAIL: { + (Ecu.fwdCamera, 0x707, None): [ + b'284N86FR2A', + ], + (Ecu.abs, 0x740, None): [ + b'6FU0AD\x11\x02\x00\x02e\x95e\x80iQ#\x01\x00\x00\x00\x00\x00\x80', + b'6FU1BD\x11\x02\x00\x02e\x95e\x80iX#\x01\x00\x00\x00\x00\x00\x80', + ], + (Ecu.eps, 0x742, None): [ + b'6FP2A\x99A\x05\x02N123F\x18\x02\x00\x00\x00\x00\x00\x00\x00\x80', + ], + (Ecu.combinationMeter, 0x743, None): [ + b'6FR2A\x18B\x05\x17\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x80', + ], + (Ecu.engine, 0x7e0, None): [ + b'6FR9A\xa0A\x06\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x80', + b'6FU9B\xa0A\x06\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x80', + ], + (Ecu.gateway, 0x18dad0f1, None): [ + b'284U26FR0E', + ], + }, +} diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py new file mode 100644 index 0000000000..7062c173e9 --- /dev/null +++ b/selfdrive/car/nissan/interface.py @@ -0,0 +1,71 @@ +from cereal import car +from panda import Panda +from openpilot.selfdrive.car import create_button_events, get_safety_config +from openpilot.selfdrive.car.interfaces import CarInterfaceBase +from openpilot.selfdrive.car.nissan.values import CAR + +ButtonType = car.CarState.ButtonEvent.Type +GearShifter = car.CarState.GearShifter + + +class CarInterface(CarInterfaceBase): + + @staticmethod + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): + ret.carName = "nissan" + ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.nissan)] + ret.autoResumeSng = False + + ret.steerLimitTimer = 1.0 + + ret.steerActuatorDelay = 0.1 + + ret.steerControlType = car.CarParams.SteerControlType.angle + ret.radarUnavailable = True + + if candidate == CAR.NISSAN_ALTIMA: + # Altima has EPS on C-CAN unlike the others that have it on V-CAN + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_NISSAN_ALT_EPS_BUS + + return ret + + # returns a car.CarState + def _update(self, c): + ret = self.CS.update(self.cp, self.cp_adas, self.cp_cam) + + self.CS.button_events = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}) + + self.CS.mads_enabled = self.get_sp_cruise_main_state(ret) + + if ret.cruiseState.available: + if self.enable_mads: + if not self.CS.prev_mads_enabled and self.CS.mads_enabled: + self.CS.madsEnabled = True + self.CS.madsEnabled = self.get_acc_mads(ret, self.CS.madsEnabled) + else: + self.CS.madsEnabled = False + + if (not ret.cruiseState.enabled and self.CS.out.cruiseState.enabled) or \ + self.get_sp_pedal_disengage(ret): + self.get_sp_cancel_cruise_state() + ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled + + ret = self.get_sp_common_state(ret) + + ret.buttonEvents = [ + *self.CS.button_events, + *self.button_events.create_cancel_event(ret.cruiseState.enabled, self.CS.out.cruiseState.enabled), + *self.button_events.create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled) # MADS BUTTON + ] + + events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low, GearShifter.brake], + pcm_enable=False) + + events, ret = self.create_sp_events(ret, events) + + if self.CS.lkas_enabled: + events.add(car.CarEvent.EventName.invalidLkasSetting) + + ret.events = events.to_msg() + + return ret diff --git a/selfdrive/car/nissan/nissancan.py b/selfdrive/car/nissan/nissancan.py new file mode 100644 index 0000000000..7191488d65 --- /dev/null +++ b/selfdrive/car/nissan/nissancan.py @@ -0,0 +1,154 @@ +import crcmod +from openpilot.selfdrive.car.nissan.values import CAR + +# TODO: add this checksum to the CANPacker +nissan_checksum = crcmod.mkCrcFun(0x11d, initCrc=0x00, rev=False, xorOut=0xff) + + +def create_steering_control(packer, apply_steer, frame, steer_on, lkas_max_torque): + values = { + "COUNTER": frame % 0x10, + "DESIRED_ANGLE": apply_steer, + "SET_0x80_2": 0x80, + "SET_0x80": 0x80, + "MAX_TORQUE": lkas_max_torque if steer_on else 0, + "LKA_ACTIVE": steer_on, + } + + dat = packer.make_can_msg("LKAS", 0, values)[1] + + values["CHECKSUM"] = nissan_checksum(dat[:7]) + return packer.make_can_msg("LKAS", 0, values) + + +def create_acc_cancel_cmd(packer, car_fingerprint, cruise_throttle_msg): + values = {s: cruise_throttle_msg[s] for s in [ + "COUNTER", + "PROPILOT_BUTTON", + "CANCEL_BUTTON", + "GAS_PEDAL_INVERTED", + "SET_BUTTON", + "RES_BUTTON", + "FOLLOW_DISTANCE_BUTTON", + "NO_BUTTON_PRESSED", + "GAS_PEDAL", + "USER_BRAKE_PRESSED", + "NEW_SIGNAL_2", + "GAS_PRESSED_INVERTED", + "unsure1", + "unsure2", + "unsure3", + ]} + can_bus = 1 if car_fingerprint == CAR.NISSAN_ALTIMA else 2 + + values["CANCEL_BUTTON"] = 1 + values["NO_BUTTON_PRESSED"] = 0 + values["PROPILOT_BUTTON"] = 0 + values["SET_BUTTON"] = 0 + values["RES_BUTTON"] = 0 + values["FOLLOW_DISTANCE_BUTTON"] = 0 + + return packer.make_can_msg("CRUISE_THROTTLE", can_bus, values) + + +def create_cancel_msg(packer, cancel_msg, cruise_cancel): + values = {s: cancel_msg[s] for s in [ + "CANCEL_SEATBELT", + "NEW_SIGNAL_1", + "NEW_SIGNAL_2", + "NEW_SIGNAL_3", + ]} + + if cruise_cancel: + values["CANCEL_SEATBELT"] = 1 + + return packer.make_can_msg("CANCEL_MSG", 2, values) + + +def create_lkas_hud_msg(packer, lkas_hud_msg, lat_active, blinking_icon, lateral_paused, left_line, right_line, left_lane_depart, right_lane_depart): + values = {s: lkas_hud_msg[s] for s in [ + "LARGE_WARNING_FLASHING", + "SIDE_RADAR_ERROR_FLASHING1", + "SIDE_RADAR_ERROR_FLASHING2", + "LEAD_CAR", + "LEAD_CAR_ERROR", + "FRONT_RADAR_ERROR", + "FRONT_RADAR_ERROR_FLASHING", + "SIDE_RADAR_ERROR_FLASHING3", + "LKAS_ERROR_FLASHING", + "SAFETY_SHIELD_ACTIVE", + "RIGHT_LANE_GREEN_FLASH", + "LEFT_LANE_GREEN_FLASH", + "FOLLOW_DISTANCE", + "AUDIBLE_TONE", + "SPEED_SET_ICON", + "SMALL_STEERING_WHEEL_ICON", + "unknown59", + "unknown55", + "unknown26", + "unknown28", + "unknown31", + "SET_SPEED", + "unknown43", + "unknown08", + "unknown05", + "unknown02", + ]} + + values["RIGHT_LANE_YELLOW_FLASH"] = 1 if right_lane_depart else 0 + values["LEFT_LANE_YELLOW_FLASH"] = 1 if left_lane_depart else 0 + + values["LARGE_STEERING_WHEEL_ICON"] = 2 if lat_active else 3 if blinking_icon else 1 if lateral_paused else 0 + values["RIGHT_LANE_GREEN"] = 1 if right_line and lat_active else 0 + values["LEFT_LANE_GREEN"] = 1 if left_line and lat_active else 0 + + return packer.make_can_msg("PROPILOT_HUD", 0, values) + + +def create_lkas_hud_info_msg(packer, lkas_hud_info_msg, steer_hud_alert): + values = {s: lkas_hud_info_msg[s] for s in [ + "NA_HIGH_ACCEL_TEMP", + "SIDE_RADAR_NA_HIGH_CABIN_TEMP", + "SIDE_RADAR_MALFUNCTION", + "LKAS_MALFUNCTION", + "FRONT_RADAR_MALFUNCTION", + "SIDE_RADAR_NA_CLEAN_REAR_CAMERA", + "NA_POOR_ROAD_CONDITIONS", + "CURRENTLY_UNAVAILABLE", + "SAFETY_SHIELD_OFF", + "FRONT_COLLISION_NA_FRONT_RADAR_OBSTRUCTION", + "PEDAL_MISSAPPLICATION_SYSTEM_ACTIVATED", + "SIDE_IMPACT_NA_RADAR_OBSTRUCTION", + "WARNING_DO_NOT_ENTER", + "SIDE_IMPACT_SYSTEM_OFF", + "SIDE_IMPACT_MALFUNCTION", + "FRONT_COLLISION_MALFUNCTION", + "SIDE_RADAR_MALFUNCTION2", + "LKAS_MALFUNCTION2", + "FRONT_RADAR_MALFUNCTION2", + "PROPILOT_NA_MSGS", + "BOTTOM_MSG", + "HANDS_ON_WHEEL_WARNING", + "WARNING_STEP_ON_BRAKE_NOW", + "PROPILOT_NA_FRONT_CAMERA_OBSTRUCTED", + "PROPILOT_NA_HIGH_CABIN_TEMP", + "WARNING_PROPILOT_MALFUNCTION", + "ACC_UNAVAILABLE_HIGH_CABIN_TEMP", + "ACC_NA_FRONT_CAMERA_IMPARED", + "unknown07", + "unknown10", + "unknown15", + "unknown23", + "unknown19", + "unknown31", + "unknown32", + "unknown46", + "unknown61", + "unknown55", + "unknown50", + ]} + + if steer_hud_alert: + values["HANDS_ON_WHEEL_WARNING"] = 1 + + return packer.make_can_msg("PROPILOT_HUD_INFO_MSG", 0, values) diff --git a/selfdrive/car/nissan/radar_interface.py b/selfdrive/car/nissan/radar_interface.py new file mode 100644 index 0000000000..e654bd61fd --- /dev/null +++ b/selfdrive/car/nissan/radar_interface.py @@ -0,0 +1,4 @@ +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase + +class RadarInterface(RadarInterfaceBase): + pass diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py new file mode 100644 index 0000000000..9fbb4cf88b --- /dev/null +++ b/selfdrive/car/nissan/values.py @@ -0,0 +1,111 @@ +from dataclasses import dataclass, field + +from cereal import car +from panda.python import uds +from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict +from openpilot.selfdrive.car.docs_definitions import CarDocs, CarHarness, CarParts +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries + +Ecu = car.CarParams.Ecu + + +class CarControllerParams: + ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[5., .8, .15]) + ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[5., 3.5, 0.4]) + LKAS_MAX_TORQUE = 1 # A value of 1 is easy to overpower + STEER_THRESHOLD = 1.0 + + def __init__(self, CP): + pass + + +@dataclass +class NissanCarDocs(CarDocs): + package: str = "ProPILOT Assist" + car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.nissan_a])) + + +@dataclass(frozen=True) +class NissanCarSpecs(CarSpecs): + centerToFrontRatio: float = 0.44 + steerRatio: float = 17. + + +@dataclass +class NissanPlatformConfig(PlatformConfig): + dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('nissan_x_trail_2017_generated', None)) + + +class CAR(Platforms): + NISSAN_XTRAIL = NissanPlatformConfig( + [NissanCarDocs("Nissan X-Trail 2017")], + NissanCarSpecs(mass=1610, wheelbase=2.705) + ) + NISSAN_LEAF = NissanPlatformConfig( + [NissanCarDocs("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY")], + NissanCarSpecs(mass=1610, wheelbase=2.705), + dbc_dict('nissan_leaf_2018_generated', None), + ) + # Leaf with ADAS ECU found behind instrument cluster instead of glovebox + # Currently the only known difference between them is the inverted seatbelt signal. + NISSAN_LEAF_IC = NissanPlatformConfig( + [NissanCarDocs("Nissan Leaf Instrument Cluster 2018-23", video_link="https://youtu.be/vaMbtAh_0cY")], + NISSAN_LEAF.specs, + dbc_dict('nissan_leaf_2018_generated', None), + ) + NISSAN_ROGUE = NissanPlatformConfig( + [NissanCarDocs("Nissan Rogue 2018-20")], + NissanCarSpecs(mass=1610, wheelbase=2.705) + ) + NISSAN_ALTIMA = NissanPlatformConfig( + [NissanCarDocs("Nissan Altima 2019-20", car_parts=CarParts.common([CarHarness.nissan_b]))], + NissanCarSpecs(mass=1492, wheelbase=2.824) + ) + + +DBC = CAR.create_dbc_map() + +# Default diagnostic session +NISSAN_DIAGNOSTIC_REQUEST_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0x81]) +NISSAN_DIAGNOSTIC_RESPONSE_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, 0x81]) + +# Manufacturer specific +NISSAN_DIAGNOSTIC_REQUEST_KWP_2 = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0xda]) +NISSAN_DIAGNOSTIC_RESPONSE_KWP_2 = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, 0xda]) + +NISSAN_VERSION_REQUEST_KWP = b'\x21\x83' +NISSAN_VERSION_RESPONSE_KWP = b'\x61\x83' + +NISSAN_RX_OFFSET = 0x20 + +FW_QUERY_CONFIG = FwQueryConfig( + requests=[request for bus, logging in ((0, False), (1, True)) for request in [ + Request( + [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP], + [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP], + bus=bus, + logging=logging, + ), + Request( + [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP], + [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP], + rx_offset=NISSAN_RX_OFFSET, + bus=bus, + logging=logging, + ), + # Rogue's engine solely responds to this + Request( + [NISSAN_DIAGNOSTIC_REQUEST_KWP_2, NISSAN_VERSION_REQUEST_KWP], + [NISSAN_DIAGNOSTIC_RESPONSE_KWP_2, NISSAN_VERSION_RESPONSE_KWP], + bus=bus, + logging=logging, + ), + Request( + [StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST], + [StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE], + rx_offset=NISSAN_RX_OFFSET, + bus=bus, + logging=logging, + ), + ]], +) diff --git a/selfdrive/car/param_manager.py b/selfdrive/car/param_manager.py new file mode 100644 index 0000000000..00e7bb382d --- /dev/null +++ b/selfdrive/car/param_manager.py @@ -0,0 +1,56 @@ +from types import SimpleNamespace + +from openpilot.common.params import Params + + +class ParamManager: + def __init__(self): + self._params_list: SimpleNamespace = self._create_namespace({ + "acc_mads_combo": False, + "below_speed_pause": False, + "experimental_mode": False, + "hyundai_radar_tracks_available": False, + "hyundai_radar_tracks_available_cache": False, + "is_metric": False, + "last_speed_limit_sign_tap": False, + "hyundai_cruise_main_default": False, + "mads_main_toggle": False, + "pause_lateral_speed": 0, + "reverse_acc_change": False, + "reverse_dm_cam": False, + "speed_limit_control_enabled": False, + "subaru_manual_parking_brake": False, + "toyota_auto_lock_by_speed": False, + "toyota_auto_unlock_by_shifter": False, + "toyota_lkas_toggle": False, + "toyota_sng_hack": False, + }) + + @staticmethod + def _create_namespace(data: dict) -> SimpleNamespace: + return SimpleNamespace(**data) + + def get_params(self) -> SimpleNamespace: + return self._params_list + + def update(self, params: Params) -> None: + self._params_list = self._create_namespace({ + "acc_mads_combo": params.get_bool("AccMadsCombo"), + "below_speed_pause": params.get_bool("BelowSpeedPause"), + "experimental_mode": params.get_bool("ExperimentalMode"), + "hyundai_radar_tracks_available": params.get_bool("HyundaiRadarTracksAvailable"), + "hyundai_radar_tracks_available_cache": params.get_bool("HyundaiRadarTracksAvailableCache"), + "is_metric": params.get_bool("IsMetric"), + "last_speed_limit_sign_tap": params.get_bool("LastSpeedLimitSignTap"), + "hyundai_cruise_main_default": params.get_bool("HyundaiCruiseMainDefault"), + "mads_main_toggle": params.get_bool("MadsCruiseMain"), + "pause_lateral_speed": int(params.get("PauseLateralSpeed", encoding="utf8")), + "reverse_acc_change": params.get_bool("ReverseAccChange"), + "reverse_dm_cam": params.get_bool("ReverseDmCam"), + "speed_limit_control_enabled": params.get_bool("EnableSlc"), + "subaru_manual_parking_brake": params.get_bool("SubaruManualParkingBrakeSng"), + "toyota_auto_lock_by_speed": params.get_bool("ToyotaAutoLockBySpeed"), + "toyota_auto_unlock_by_shifter": params.get_bool("ToyotaAutoUnlockByShifter"), + "toyota_lkas_toggle": params.get_bool("LkasToggle"), + "toyota_sng_hack": params.get_bool("ToyotaSnG"), + }) diff --git a/selfdrive/car/subaru/__init__.py b/selfdrive/car/subaru/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py new file mode 100644 index 0000000000..36ff514b2c --- /dev/null +++ b/selfdrive/car/subaru/carcontroller.py @@ -0,0 +1,225 @@ +from cereal import car +from openpilot.common.numpy_fast import clip, interp +from opendbc.can.packer import CANPacker +from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance, make_tester_present_msg +from openpilot.selfdrive.car.interfaces import CarControllerBase +from openpilot.selfdrive.car.subaru import subarucan +from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_ES_ADDR, CanBus, CarControllerParams, SubaruFlags, SubaruFlagsSP + +# FIXME: These limits aren't exact. The real limit is more than likely over a larger time period and +# involves the total steering angle change rather than rate, but these limits work well for now +MAX_STEER_RATE = 25 # deg/s +MAX_STEER_RATE_FRAMES = 7 # tx control frames needed before torque can be cut + +_SNG_ACC_MIN_DIST = 3 +_SNG_ACC_MAX_DIST = 4.5 + + +class CarController(CarControllerBase): + def __init__(self, dbc_name, CP, VM): + super().__init__(dbc_name, CP, VM) + self.apply_steer_last = 0 + + self.cruise_button_prev = 0 + self.steer_rate_counter = 0 + + self.subaru_sng = False + if CP.spFlags & SubaruFlagsSP.SP_SUBARU_SNG: + self.subaru_sng = True + self.prev_close_distance = 0 + self.prev_standstill = False + self.standstill_start = 0 + self.sng_acc_resume = False + self.sng_acc_resume_cnt = -1 + self.manual_hold = False + self.prev_cruise_state = 0 + + self.p = CarControllerParams(CP) + self.packer = CANPacker(DBC[CP.carFingerprint]['pt']) + + def update(self, CC, CS, now_nanos): + actuators = CC.actuators + hud_control = CC.hudControl + pcm_cancel_cmd = CC.cruiseControl.cancel + + can_sends = [] + + # *** steering *** + if (self.frame % self.p.STEER_STEP) == 0: + apply_steer = int(round(actuators.steer * self.p.STEER_MAX)) + + # limits due to driver torque + + new_steer = int(round(apply_steer)) + apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p) + + if not CC.latActive: + apply_steer = 0 + + if self.CP.flags & SubaruFlags.PREGLOBAL: + can_sends.append(subarucan.create_preglobal_steering_control(self.packer, self.frame // self.p.STEER_STEP, apply_steer, CC.latActive)) + else: + apply_steer_req = CC.latActive + + if self.CP.flags & SubaruFlags.STEER_RATE_LIMITED: + # Steering rate fault prevention + self.steer_rate_counter, apply_steer_req = \ + common_fault_avoidance(abs(CS.out.steeringRateDeg) > MAX_STEER_RATE, apply_steer_req, + self.steer_rate_counter, MAX_STEER_RATE_FRAMES) + + can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, apply_steer_req)) + + self.apply_steer_last = apply_steer + + # *** stop and go *** + throttle_cmd, speed_cmd = self.stop_and_go(CC, CS) + + # *** longitudinal *** + + if CC.longActive: + apply_throttle = int(round(interp(actuators.accel, CarControllerParams.THROTTLE_LOOKUP_BP, CarControllerParams.THROTTLE_LOOKUP_V))) + apply_rpm = int(round(interp(actuators.accel, CarControllerParams.RPM_LOOKUP_BP, CarControllerParams.RPM_LOOKUP_V))) + apply_brake = int(round(interp(actuators.accel, CarControllerParams.BRAKE_LOOKUP_BP, CarControllerParams.BRAKE_LOOKUP_V))) + + # limit min and max values + cruise_throttle = clip(apply_throttle, CarControllerParams.THROTTLE_MIN, CarControllerParams.THROTTLE_MAX) + cruise_rpm = clip(apply_rpm, CarControllerParams.RPM_MIN, CarControllerParams.RPM_MAX) + cruise_brake = clip(apply_brake, CarControllerParams.BRAKE_MIN, CarControllerParams.BRAKE_MAX) + else: + cruise_throttle = CarControllerParams.THROTTLE_INACTIVE + cruise_rpm = CarControllerParams.RPM_MIN + cruise_brake = CarControllerParams.BRAKE_MIN + + # *** alerts and pcm cancel *** + if self.CP.flags & SubaruFlags.PREGLOBAL: + if self.frame % 5 == 0: + # 1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 = resume deep + # disengage ACC when OP is disengaged + if pcm_cancel_cmd: + cruise_button = 1 + # turn main on if off and past start-up state + elif not CS.out.cruiseState.available and CS.ready: + cruise_button = 1 + else: + cruise_button = CS.cruise_button + + # unstick previous mocked button press + if cruise_button == 1 and self.cruise_button_prev == 1: + cruise_button = 0 + self.cruise_button_prev = cruise_button + + can_sends.append(subarucan.create_preglobal_es_distance(self.packer, cruise_button, CS.es_distance_msg)) + + if self.subaru_sng: + can_sends.append(subarucan.create_preglobal_throttle(self.packer, CS.throttle_msg["COUNTER"] + 1, CS.throttle_msg, throttle_cmd)) + + else: + if self.frame % 10 == 0: + can_sends.append(subarucan.create_es_dashstatus(self.packer, self.frame // 10, CS.es_dashstatus_msg, CC.enabled, + self.CP.openpilotLongitudinalControl, CC.longActive, hud_control.leadVisible)) + + can_sends.append(subarucan.create_es_lkas_state(self.packer, self.frame // 10, CS.es_lkas_state_msg, CC.latActive, CS.madsEnabled, hud_control.visualAlert, + hud_control.leftLaneVisible, hud_control.rightLaneVisible, + hud_control.leftLaneDepart, hud_control.rightLaneDepart)) + + if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT: + can_sends.append(subarucan.create_es_infotainment(self.packer, self.frame // 10, CS.es_infotainment_msg, hud_control.visualAlert)) + + if self.subaru_sng: + can_sends.append(subarucan.create_throttle(self.packer, CS.throttle_msg["COUNTER"] + 1, CS.throttle_msg, throttle_cmd)) + + if self.frame % 2 == 0: + can_sends.append(subarucan.create_brake_pedal(self.packer, self.frame // 2, CS.brake_pedal_msg, speed_cmd, pcm_cancel_cmd)) + + if self.CP.openpilotLongitudinalControl: + if self.frame % 5 == 0: + can_sends.append(subarucan.create_es_status(self.packer, self.frame // 5, CS.es_status_msg, + self.CP.openpilotLongitudinalControl, CC.longActive, cruise_rpm)) + + can_sends.append(subarucan.create_es_brake(self.packer, self.frame // 5, CS.es_brake_msg, + self.CP.openpilotLongitudinalControl, CC.longActive, cruise_brake)) + + can_sends.append(subarucan.create_es_distance(self.packer, self.frame // 5, CS.es_distance_msg, 0, pcm_cancel_cmd, + self.CP.openpilotLongitudinalControl, cruise_brake > 0, cruise_throttle)) + else: + if pcm_cancel_cmd: + if not (self.CP.flags & SubaruFlags.HYBRID): + bus = CanBus.alt if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else CanBus.main + can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg["COUNTER"] + 1, CS.es_distance_msg, bus, pcm_cancel_cmd)) + + if self.CP.flags & SubaruFlags.DISABLE_EYESIGHT: + # Tester present (keeps eyesight disabled) + if self.frame % 100 == 0: + can_sends.append(make_tester_present_msg(GLOBAL_ES_ADDR, CanBus.camera, suppress_response=True)) + + # Create all of the other eyesight messages to keep the rest of the car happy when eyesight is disabled + if self.frame % 5 == 0: + can_sends.append(subarucan.create_es_highbeamassist(self.packer)) + + if self.frame % 10 == 0: + can_sends.append(subarucan.create_es_static_1(self.packer)) + + if self.frame % 2 == 0: + can_sends.append(subarucan.create_es_static_2(self.packer)) + + new_actuators = actuators.as_builder() + new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX + new_actuators.steerOutputCan = self.apply_steer_last + + self.frame += 1 + return new_actuators, can_sends + + # Stop and Go auto-resume thanks to martinl from subaru-community + def stop_and_go(self, CC: car.CarControl, CS: car.CarState, throttle_cmd: bool = False, speed_cmd: bool = False) -> tuple[bool, bool]: + if not self.subaru_sng: + return throttle_cmd, speed_cmd + if self.CP.flags & SubaruFlags.PREGLOBAL: + # Initiate the ACC resume sequence if conditions are met + if (CC.enabled # ACC active + and CS.car_follow == 1 # lead car + and CS.out.standstill # must be standing still + and CS.close_distance > _SNG_ACC_MIN_DIST # acc resume trigger low threshold + and CS.close_distance < _SNG_ACC_MAX_DIST # acc resume trigger high threshold + and CS.close_distance > self.prev_close_distance): # distance with lead car is increasing + self.sng_acc_resume = True + elif not (self.CP.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID)): + if CS.params_list.subaru_manual_parking_brake and self.subaru_sng: + # Send brake message with non-zero speed in standstill to avoid non-EPB ACC disengage + if (CC.enabled # ACC active + and CS.car_follow == 1 # lead car + and CS.out.standstill + and self.frame > self.standstill_start + 50): # standstill for >0.5 second + speed_cmd = True + else: + # Record manual hold set while in standstill and no car in front + if CS.out.standstill and self.prev_cruise_state == 1 and CS.cruise_state == 3 and CS.car_follow == 0: + self.manual_hold = True + # Cancel manual hold when car starts moving + if not CS.out.standstill: + self.manual_hold = False + # Initiate the ACC resume sequence if conditions are met + if (CC.enabled # ACC active + and not self.manual_hold + and CS.car_follow == 1 # lead car + and CS.cruise_state == 3 # ACC HOLD (only with EPB) + and CS.close_distance > _SNG_ACC_MIN_DIST # acc resume trigger low threshold + and CS.close_distance < _SNG_ACC_MAX_DIST # acc resume trigger high threshold + and CS.close_distance > self.prev_close_distance): # distance with lead car is increasing + self.sng_acc_resume = True + + if CS.out.standstill and not self.prev_standstill: + self.standstill_start = self.frame + self.prev_standstill = CS.out.standstill + self.prev_cruise_state = CS.cruise_state + + if self.sng_acc_resume: + if self.sng_acc_resume_cnt < 5: + throttle_cmd = True + self.sng_acc_resume_cnt += 1 + else: + self.sng_acc_resume = False + self.sng_acc_resume_cnt = -1 + + self.prev_close_distance = CS.close_distance + + return throttle_cmd, speed_cmd diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py new file mode 100644 index 0000000000..5cff425efe --- /dev/null +++ b/selfdrive/car/subaru/carstate.py @@ -0,0 +1,252 @@ +import copy +from cereal import car +from opendbc.can.can_define import CANDefine +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car.interfaces import CarStateBase +from opendbc.can.parser import CANParser +from openpilot.selfdrive.car.subaru.values import DBC, CanBus, SubaruFlags, SubaruFlagsSP +from openpilot.selfdrive.car import CanSignalRateCalculator + + +class CarState(CarStateBase): + def __init__(self, CP): + super().__init__(CP) + can_define = CANDefine(DBC[CP.carFingerprint]["pt"]) + self.shifter_values = can_define.dv["Transmission"]["Gear"] + + self.angle_rate_calulator = CanSignalRateCalculator(50) + + self.lkas_enabled = None + self.prev_lkas_enabled = None + + def update(self, cp, cp_cam, cp_body): + ret = car.CarState.new_message() + + self.prev_mads_enabled = self.mads_enabled + self.prev_lkas_enabled = self.lkas_enabled + + throttle_msg = cp.vl["Throttle"] if not (self.CP.flags & SubaruFlags.HYBRID) else cp_body.vl["Throttle_Hybrid"] + ret.gas = throttle_msg["Throttle_Pedal"] / 255. + ret.gasPressed = ret.gas > 1e-5 + if self.CP.flags & SubaruFlags.PREGLOBAL: + ret.brakePressed = cp.vl["Brake_Pedal"]["Brake_Pedal"] > 0 + else: + cp_brakes = cp_body if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp + ret.brakePressed = cp_brakes.vl["Brake_Status"]["Brake"] == 1 + + brake_msg = "ES_Brake" if self.CP.flags & SubaruFlags.PREGLOBAL else "ES_DashStatus" + brake_sig = "Cruise_Brake_Lights" if self.CP.flags & SubaruFlags.PREGLOBAL else "Brake_Lights" + ret.brakeLightsDEPRECATED = bool(cp_cam.vl[brake_msg][brake_sig]) + + cp_es_distance = cp_body if self.CP.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID) else cp_cam + if not (self.CP.flags & SubaruFlags.HYBRID): + eyesight_fault = bool(cp_es_distance.vl["ES_Distance"]["Cruise_Fault"]) + + # if openpilot is controlling long, an eyesight fault is a non-critical fault. otherwise it's an ACC fault + if self.CP.openpilotLongitudinalControl: + ret.carFaultedNonCritical = eyesight_fault + else: + ret.accFaulted = eyesight_fault + + cp_wheels = cp_body if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp + ret.wheelSpeeds = self.get_wheel_speeds( + cp_wheels.vl["Wheel_Speeds"]["FL"], + cp_wheels.vl["Wheel_Speeds"]["FR"], + cp_wheels.vl["Wheel_Speeds"]["RL"], + cp_wheels.vl["Wheel_Speeds"]["RR"], + ) + ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4. + ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) + ret.standstill = ret.vEgoRaw == 0 + + if not self.CP.flags & SubaruFlags.PREGLOBAL: + self.lkas_enabled = cp_cam.vl["ES_LKAS_State"]["LKAS_Dash_State"] + if self.prev_lkas_enabled is None: + self.prev_lkas_enabled = self.lkas_enabled + + # continuous blinker signals for assisted lane change + ret.leftBlinker, ret.rightBlinker = ret.leftBlinkerOn, ret.rightBlinkerOn = self.update_blinker_from_lamp(50, cp.vl["Dashlights"]["LEFT_BLINKER"], + cp.vl["Dashlights"]["RIGHT_BLINKER"]) + + if self.CP.enableBsm: + ret.leftBlindspot = (cp.vl["BSD_RCTA"]["L_ADJACENT"] == 1) or (cp.vl["BSD_RCTA"]["L_APPROACHING"] == 1) + ret.rightBlindspot = (cp.vl["BSD_RCTA"]["R_ADJACENT"] == 1) or (cp.vl["BSD_RCTA"]["R_APPROACHING"] == 1) + + cp_transmission = cp_body if self.CP.flags & SubaruFlags.HYBRID else cp + can_gear = int(cp_transmission.vl["Transmission"]["Gear"]) + ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None)) + + ret.steeringAngleDeg = cp.vl["Steering_Torque"]["Steering_Angle"] + + if not (self.CP.flags & SubaruFlags.PREGLOBAL): + # ideally we get this from the car, but unclear if it exists. diagnostic software doesn't even have it + ret.steeringRateDeg = self.angle_rate_calulator.update(ret.steeringAngleDeg, cp.vl["Steering_Torque"]["COUNTER"]) + + ret.steeringTorque = cp.vl["Steering_Torque"]["Steer_Torque_Sensor"] + ret.steeringTorqueEps = cp.vl["Steering_Torque"]["Steer_Torque_Output"] + + steer_threshold = 75 if self.CP.flags & SubaruFlags.PREGLOBAL else 80 + ret.steeringPressed = abs(ret.steeringTorque) > steer_threshold + + cp_cruise = cp_body if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp + if self.CP.flags & SubaruFlags.HYBRID: + ret.cruiseState.enabled = cp_cam.vl["ES_DashStatus"]['Cruise_Activated'] != 0 + ret.cruiseState.available = cp_cam.vl["ES_DashStatus"]['Cruise_On'] != 0 + else: + ret.cruiseState.enabled = cp_cruise.vl["CruiseControl"]["Cruise_Activated"] != 0 + ret.cruiseState.available = cp_cruise.vl["CruiseControl"]["Cruise_On"] != 0 + ret.cruiseState.speed = cp_cam.vl["ES_DashStatus"]["Cruise_Set_Speed"] * CV.KPH_TO_MS + + if (self.CP.flags & SubaruFlags.PREGLOBAL and cp.vl["Dash_State2"]["UNITS"] == 1) or \ + (not (self.CP.flags & SubaruFlags.PREGLOBAL) and cp.vl["Dashlights"]["UNITS"] == 1): + ret.cruiseState.speed *= CV.MPH_TO_KPH + + ret.seatbeltUnlatched = cp.vl["Dashlights"]["SEATBELT_FL"] == 1 + ret.doorOpen = any([cp.vl["BodyInfo"]["DOOR_OPEN_RR"], + cp.vl["BodyInfo"]["DOOR_OPEN_RL"], + cp.vl["BodyInfo"]["DOOR_OPEN_FR"], + cp.vl["BodyInfo"]["DOOR_OPEN_FL"]]) + ret.steerFaultPermanent = cp.vl["Steering_Torque"]["Steer_Error_1"] == 1 + + if self.CP.flags & SubaruFlags.PREGLOBAL: + self.cruise_button = cp_cam.vl["ES_Distance"]["Cruise_Button"] + self.ready = not cp_cam.vl["ES_DashStatus"]["Not_Ready_Startup"] + else: + ret.steerFaultTemporary = cp.vl["Steering_Torque"]["Steer_Warning"] == 1 + ret.cruiseState.nonAdaptive = cp_cam.vl["ES_DashStatus"]["Conventional_Cruise"] == 1 + ret.cruiseState.standstill = cp_cam.vl["ES_DashStatus"]["Cruise_State"] == 3 + ret.stockFcw = (cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 1) or \ + (cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 2) + + self.es_lkas_state_msg = copy.copy(cp_cam.vl["ES_LKAS_State"]) + cp_es_brake = cp_body if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp_cam + self.es_brake_msg = copy.copy(cp_es_brake.vl["ES_Brake"]) + cp_es_status = cp_body if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp_cam + + # TODO: Hybrid cars don't have ES_Distance, need a replacement + if not (self.CP.flags & SubaruFlags.HYBRID): + # 8 is known AEB, there are a few other values related to AEB we ignore + ret.stockAeb = (cp_es_distance.vl["ES_Brake"]["AEB_Status"] == 8) and \ + (cp_es_distance.vl["ES_Brake"]["Brake_Pressure"] != 0) + + self.es_status_msg = copy.copy(cp_es_status.vl["ES_Status"]) + self.cruise_control_msg = copy.copy(cp_cruise.vl["CruiseControl"]) + + if self.CP.spFlags & SubaruFlagsSP.SP_SUBARU_SNG: + self.cruise_state = cp_cam.vl["ES_DashStatus"]["Cruise_State"] + self.brake_pedal_msg = copy.copy(cp.vl["Brake_Pedal"]) + + if not (self.CP.flags & SubaruFlags.HYBRID): + self.es_distance_msg = copy.copy(cp_es_distance.vl["ES_Distance"]) + if self.CP.spFlags & SubaruFlagsSP.SP_SUBARU_SNG: + self.throttle_msg = copy.copy(cp.vl["Throttle"]) + self.car_follow = cp_es_distance.vl["ES_Distance"]["Car_Follow"] + self.close_distance = cp_es_distance.vl["ES_Distance"]["Close_Distance"] + + self.es_dashstatus_msg = copy.copy(cp_cam.vl["ES_DashStatus"]) + if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT: + self.es_infotainment_msg = copy.copy(cp_cam.vl["ES_Infotainment"]) + + return ret + + @staticmethod + def get_common_global_body_messages(CP): + messages = [ + ("Wheel_Speeds", 50), + ("Brake_Status", 50), + ] + + if not (CP.flags & SubaruFlags.HYBRID): + messages.append(("CruiseControl", 20)) + + return messages + + @staticmethod + def get_common_global_es_messages(CP): + messages = [ + ("ES_Brake", 20), + ] + + if not (CP.flags & SubaruFlags.HYBRID): + messages += [ + ("ES_Distance", 20), + ("ES_Status", 20) + ] + + return messages + + @staticmethod + def get_common_preglobal_body_messages(): + messages = [ + ("CruiseControl", 50), + ("Wheel_Speeds", 50), + ("Dash_State2", 1), + ] + + return messages + + @staticmethod + def get_can_parser(CP): + messages = [ + # sig_address, frequency + ("Dashlights", 10), + ("Steering_Torque", 50), + ("BodyInfo", 1), + ("Brake_Pedal", 50), + ] + + if not (CP.flags & SubaruFlags.HYBRID): + messages += [ + ("Throttle", 100), + ("Transmission", 100) + ] + + if CP.enableBsm: + messages.append(("BSD_RCTA", 17)) + + if not (CP.flags & SubaruFlags.PREGLOBAL): + if not (CP.flags & SubaruFlags.GLOBAL_GEN2): + messages += CarState.get_common_global_body_messages(CP) + else: + messages += CarState.get_common_preglobal_body_messages() + + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.main) + + @staticmethod + def get_cam_can_parser(CP): + if CP.flags & SubaruFlags.PREGLOBAL: + messages = [ + ("ES_DashStatus", 20), + ("ES_Distance", 20), + ("ES_Brake", 20), + ] + else: + messages = [ + ("ES_DashStatus", 10), + ("ES_LKAS_State", 10), + ] + + if not (CP.flags & SubaruFlags.GLOBAL_GEN2): + messages += CarState.get_common_global_es_messages(CP) + + if CP.flags & SubaruFlags.SEND_INFOTAINMENT: + messages.append(("ES_Infotainment", 10)) + + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.camera) + + @staticmethod + def get_body_can_parser(CP): + messages = [] + + if CP.flags & SubaruFlags.GLOBAL_GEN2: + messages += CarState.get_common_global_body_messages(CP) + messages += CarState.get_common_global_es_messages(CP) + + if CP.flags & SubaruFlags.HYBRID: + messages += [ + ("Throttle_Hybrid", 40), + ("Transmission", 100) + ] + + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.alt) + diff --git a/selfdrive/car/subaru/fingerprints.py b/selfdrive/car/subaru/fingerprints.py new file mode 100644 index 0000000000..7f3ae73163 --- /dev/null +++ b/selfdrive/car/subaru/fingerprints.py @@ -0,0 +1,563 @@ +from cereal import car +from openpilot.selfdrive.car.subaru.values import CAR + +Ecu = car.CarParams.Ecu + +FW_VERSIONS = { + CAR.SUBARU_ASCENT: { + (Ecu.abs, 0x7b0, None): [ + b'\xa5 \x19\x02\x00', + b'\xa5 !\x02\x00', + ], + (Ecu.eps, 0x746, None): [ + b'\x05\xc0\xd0\x00', + b'\x85\xc0\xd0\x00', + b'\x95\xc0\xd0\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00d\xb9\x00\x00\x00\x00', + b'\x00\x00d\xb9\x1f@ \x10', + b'\x00\x00e@\x00\x00\x00\x00', + b'\x00\x00e@\x1f@ $', + b"\x00\x00e~\x1f@ '", + ], + (Ecu.engine, 0x7e0, None): [ + b'\xbb,\xa0t\x07', + b'\xd1,\xa0q\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\x00>\xf0\x00\x00', + b'\x00\xfe\xf7\x00\x00', + b'\x01\xfe\xf7\x00\x00', + b'\x01\xfe\xf9\x00\x00', + b'\x01\xfe\xfa\x00\x00', + ], + }, + CAR.SUBARU_ASCENT_2023: { + (Ecu.abs, 0x7b0, None): [ + b'\xa5 #\x03\x00', + ], + (Ecu.eps, 0x746, None): [ + b'%\xc0\xd0\x11', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x05!\x08\x1dK\x05!\x08\x01/', + ], + (Ecu.engine, 0x7a2, None): [ + b'\xe5,\xa0P\x07', + ], + (Ecu.transmission, 0x7a3, None): [ + b'\x04\xfe\xf3\x00\x00', + ], + }, + CAR.SUBARU_LEGACY: { + (Ecu.abs, 0x7b0, None): [ + b'\xa1 \x02\x01', + b'\xa1 \x02\x02', + b'\xa1 \x03\x03', + b'\xa1 \x04\x01', + ], + (Ecu.eps, 0x746, None): [ + b'\x9b\xc0\x11\x00', + b'\x9b\xc0\x11\x02', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00e\x80\x00\x1f@ \x19\x00', + b'\x00\x00e\x9a\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xde"a0\x07', + b'\xde,\xa0@\x07', + b'\xe2"aq\x07', + b'\xe2,\xa0@\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xa5\xf6\x05@\x00', + b'\xa5\xfe\xc7@\x00', + b'\xa7\xf6\x04@\x00', + b'\xa7\xfe\xc4@\x00', + ], + }, + CAR.SUBARU_IMPREZA: { + (Ecu.abs, 0x7b0, None): [ + b'z\x84\x19\x90\x00', + b'z\x94\x08\x90\x00', + b'z\x94\x08\x90\x01', + b'z\x94\x0c\x90\x00', + b'z\x94\x0c\x90\x01', + b'z\x94.\x90\x00', + b'z\x94?\x90\x00', + b'z\x9c\x19\x80\x01', + b'\xa2 \x185\x00', + b'\xa2 \x193\x00', + b'\xa2 \x194\x00', + b'\xa2 \x19`\x00', + ], + (Ecu.eps, 0x746, None): [ + b'z\xc0\x00\x00', + b'z\xc0\x04\x00', + b'z\xc0\x08\x00', + b'z\xc0\n\x00', + b'z\xc0\x0c\x00', + b'\x8a\xc0\x00\x00', + b'\x8a\xc0\x10\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00c\xf4\x00\x00\x00\x00', + b'\x00\x00c\xf4\x1f@ \x07', + b'\x00\x00d)\x00\x00\x00\x00', + b'\x00\x00d)\x1f@ \x07', + b'\x00\x00dd\x00\x00\x00\x00', + b'\x00\x00dd\x1f@ \x0e', + b'\x00\x00d\xb5\x1f@ \x0e', + b'\x00\x00d\xdc\x00\x00\x00\x00', + b'\x00\x00d\xdc\x1f@ \x0e', + b'\x00\x00e\x02\x1f@ \x14', + b'\x00\x00e\x1c\x00\x00\x00\x00', + b'\x00\x00e\x1c\x1f@ \x14', + b'\x00\x00e+\x00\x00\x00\x00', + b'\x00\x00e+\x1f@ \x14', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xaa\x00Bu\x07', + b'\xaa\x01bt\x07', + b'\xaa!`u\x07', + b'\xaa!au\x07', + b'\xaa!av\x07', + b'\xaa!aw\x07', + b'\xaa!dq\x07', + b'\xaa!ds\x07', + b'\xaa!dt\x07', + b'\xaaafs\x07', + b'\xbe!as\x07', + b'\xbe!at\x07', + b'\xbeacr\x07', + b'\xc5!`r\x07', + b'\xc5!`s\x07', + b'\xc5!ap\x07', + b'\xc5!ar\x07', + b'\xc5!as\x07', + b'\xc5!dr\x07', + b'\xc5!ds\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xe3\xd0\x081\x00', + b'\xe3\xd5\x161\x00', + b'\xe3\xe5F1\x00', + b'\xe3\xf5\x06\x00\x00', + b'\xe3\xf5\x07\x00\x00', + b'\xe3\xf5C\x00\x00', + b'\xe3\xf5F\x00\x00', + b'\xe3\xf5G\x00\x00', + b'\xe4\xe5\x021\x00', + b'\xe4\xe5\x061\x00', + b'\xe4\xf5\x02\x00\x00', + b'\xe4\xf5\x07\x00\x00', + b'\xe5\xf5\x04\x00\x00', + b'\xe5\xf5$\x00\x00', + b'\xe5\xf5B\x00\x00', + ], + }, + CAR.SUBARU_IMPREZA_2020: { + (Ecu.abs, 0x7b0, None): [ + b'\xa2 \x193\x00', + b'\xa2 \x194\x00', + b'\xa2 `\x00', + b'\xa2 !3\x00', + b'\xa2 !6\x00', + b'\xa2 !`\x00', + b'\xa2 !i\x00', + ], + (Ecu.eps, 0x746, None): [ + b'\n\xc0\x04\x00', + b'\n\xc0\x04\x01', + b'\x9a\xc0\x00\x00', + b'\x9a\xc0\x04\x00', + b'\x9a\xc0\n\x01', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00eb\x1f@ "', + b'\x00\x00eq\x00\x00\x00\x00', + b'\x00\x00eq\x1f@ "', + b'\x00\x00e\x8f\x00\x00\x00\x00', + b'\x00\x00e\x8f\x1f@ )', + b'\x00\x00e\x92\x00\x00\x00\x00', + b'\x00\x00e\xa4\x00\x00\x00\x00', + b'\x00\x00e\xa4\x1f@ (', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xca!`0\x07', + b'\xca!`p\x07', + b'\xca!ap\x07', + b'\xca!f@\x07', + b'\xca!fp\x07', + b'\xcaacp\x07', + b'\xcc!`p\x07', + b'\xcc!fp\x07', + b'\xcc"f0\x07', + b'\xe6!`@\x07', + b'\xe6!fp\x07', + b'\xe6"f0\x07', + b'\xe6"fp\x07', + b'\xf3"f@\x07', + b'\xf3"fp\x07', + b'\xf3"fr\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xe6\x15\x042\x00', + b'\xe6\xf5\x04\x00\x00', + b'\xe6\xf5$\x00\x00', + b'\xe6\xf5D0\x00', + b'\xe7\xf5\x04\x00\x00', + b'\xe7\xf5D0\x00', + b'\xe7\xf6B0\x00', + b'\xe9\xf5"\x00\x00', + b'\xe9\xf5B0\x00', + b'\xe9\xf6B0\x00', + b'\xe9\xf6F0\x00', + ], + }, + CAR.SUBARU_CROSSTREK_HYBRID: { + (Ecu.abs, 0x7b0, None): [ + b'\xa2 \x19e\x01', + b'\xa2 !e\x01', + ], + (Ecu.eps, 0x746, None): [ + b'\n\xc2\x01\x00', + b'\x9a\xc2\x01\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00el\x1f@ #', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xd7!`@\x07', + b'\xd7!`p\x07', + b'\xf4!`0\x07', + ], + }, + CAR.SUBARU_FORESTER: { + (Ecu.abs, 0x7b0, None): [ + b'\xa3 \x18\x14\x00', + b'\xa3 \x18&\x00', + b'\xa3 \x19\x14\x00', + b'\xa3 \x19&\x00', + b'\xa3 \x19h\x00', + b'\xa3 \x14\x00', + b'\xa3 \x14\x01', + ], + (Ecu.eps, 0x746, None): [ + b'\x8d\xc0\x00\x00', + b'\x8d\xc0\x04\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00e!\x00\x00\x00\x00', + b'\x00\x00e!\x1f@ \x11', + b'\x00\x00e^\x00\x00\x00\x00', + b'\x00\x00e^\x1f@ !', + b'\x00\x00e`\x00\x00\x00\x00', + b'\x00\x00e`\x1f@ ', + b'\x00\x00e\x97\x00\x00\x00\x00', + b'\x00\x00e\x97\x1f@ 0', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xb6"`A\x07', + b'\xb6\xa2`A\x07', + b'\xcb"`@\x07', + b'\xcb"`p\x07', + b'\xcf"`0\x07', + b'\xcf"`p\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\x1a\xe6B1\x00', + b'\x1a\xe6F1\x00', + b'\x1a\xf6B0\x00', + b'\x1a\xf6B`\x00', + b'\x1a\xf6F`\x00', + b'\x1a\xf6b0\x00', + b'\x1a\xf6b`\x00', + b'\x1a\xf6f`\x00', + ], + }, + CAR.SUBARU_FORESTER_HYBRID: { + (Ecu.abs, 0x7b0, None): [ + b'\xa3 \x19T\x00', + ], + (Ecu.eps, 0x746, None): [ + b'\x8d\xc2\x00\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00eY\x1f@ !', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xd2\xa1`r\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\x1b\xa7@a\x00', + ], + }, + CAR.SUBARU_FORESTER_PREGLOBAL: { + (Ecu.abs, 0x7b0, None): [ + b'm\x97\x14@', + b'}\x97\x14@', + ], + (Ecu.eps, 0x746, None): [ + b'm\xc0\x10\x00', + b'}\xc0\x10\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00c\xe9\x00\x00\x00\x00', + b'\x00\x00c\xe9\x1f@ \x03', + b'\x00\x00d5\x1f@ \t', + b'\x00\x00d\xd3\x1f@ \t', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xa7"@0\x07', + b'\xa7"@p\x07', + b'\xa7)\xa0q\x07', + b'\xba"@@\x07', + b'\xba"@p\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\x1a\xf6F`\x00', + b'\xda\xf2`p\x00', + b'\xda\xf2`\x80\x00', + b'\xda\xfd\xe0\x80\x00', + b'\xdc\xf2@`\x00', + b'\xdc\xf2``\x00', + b'\xdc\xf2`\x80\x00', + b'\xdc\xf2`\x81\x00', + ], + }, + CAR.SUBARU_LEGACY_PREGLOBAL: { + (Ecu.abs, 0x7b0, None): [ + b'[\x97D\x00', + b'[\xba\xc4\x03', + b'k\x97D\x00', + b'k\x9aD\x00', + b'{\x97D\x00', + ], + (Ecu.eps, 0x746, None): [ + b'K\xb0\x00\x01', + b'[\xb0\x00\x01', + b'k\xb0\x00\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00c\x94\x1f@\x10\x08', + b'\x00\x00c\xb7\x1f@\x10\x16', + b'\x00\x00c\xec\x1f@ \x04', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xa0"@q\x07', + b'\xa0+@p\x07', + b'\xab*@r\x07', + b'\xab+@p\x07', + b'\xb4"@0\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xbd\xf2\x00`\x00', + b'\xbe\xf2\x00p\x00', + b'\xbe\xfb\xc0p\x00', + b'\xbf\xf2\x00\x80\x00', + b'\xbf\xfb\xc0\x80\x00', + ], + }, + CAR.SUBARU_OUTBACK_PREGLOBAL: { + (Ecu.abs, 0x7b0, None): [ + b'[\xba\xac\x03', + b'[\xf7\xac\x00', + b'[\xf7\xac\x03', + b'[\xf7\xbc\x03', + b'k\x97\xac\x00', + b'k\x9a\xac\x00', + b'{\x97\xac\x00', + b'{\x9a\xac\x00', + ], + (Ecu.eps, 0x746, None): [ + b'K\xb0\x00\x00', + b'K\xb0\x00\x02', + b'[\xb0\x00\x00', + b'k\xb0\x00\x00', + b'{\xb0\x00\x01', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00c\x90\x1f@\x10\x0e', + b'\x00\x00c\x94\x00\x00\x00\x00', + b'\x00\x00c\x94\x1f@\x10\x08', + b'\x00\x00c\xb7\x1f@\x10\x16', + b'\x00\x00c\xd1\x1f@\x10\x17', + b'\x00\x00c\xec\x1f@ \x04', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xa0"@\x80\x07', + b'\xa0*@q\x07', + b'\xa0*@u\x07', + b'\xa0+@@\x07', + b'\xa0bAq\x07', + b'\xab"@@\x07', + b'\xab"@s\x07', + b'\xab*@@\x07', + b'\xab+@@\x07', + b'\xb4"@0\x07', + b'\xb4"@p\x07', + b'\xb4"@r\x07', + b'\xb4+@p\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xbd\xf2@`\x00', + b'\xbd\xf2@\x81\x00', + b'\xbd\xfb\xe0\x80\x00', + b'\xbe\xf2@p\x00', + b'\xbe\xf2@\x80\x00', + b'\xbe\xfb\xe0p\x00', + b'\xbf\xe2@\x80\x00', + b'\xbf\xf2@\x80\x00', + b'\xbf\xfb\xe0b\x00', + ], + }, + CAR.SUBARU_OUTBACK_PREGLOBAL_2018: { + (Ecu.abs, 0x7b0, None): [ + b'\x8b\x97\xac\x00', + b'\x8b\x97\xbc\x00', + b'\x8b\x99\xac\x00', + b'\x8b\x9a\xac\x00', + b'\x9b\x97\xac\x00', + b'\x9b\x97\xbe\x10', + b'\x9b\x9a\xac\x00', + ], + (Ecu.eps, 0x746, None): [ + b'{\xb0\x00\x00', + b'{\xb0\x00\x01', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00df\x1f@ \n', + b'\x00\x00d\x95\x00\x00\x00\x00', + b'\x00\x00d\x95\x1f@ \x0f', + b'\x00\x00d\xfe\x00\x00\x00\x00', + b'\x00\x00d\xfe\x1f@ \x15', + b'\x00\x00e\x19\x1f@ \x15', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xb5"@P\x07', + b'\xb5"@p\x07', + b'\xb5+@@\x07', + b'\xb5b@1\x07', + b'\xb5q\xe0@\x07', + b'\xc4"@0\x07', + b'\xc4+@0\x07', + b'\xc4b@p\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xbb\xf2@`\x00', + b'\xbb\xfb\xe0`\x00', + b'\xbc\xaf\xe0`\x00', + b'\xbc\xe2@\x80\x00', + b'\xbc\xf2@\x80\x00', + b'\xbc\xf2@\x81\x00', + b'\xbc\xfb\xe0`\x00', + b'\xbc\xfb\xe0\x80\x00', + ], + }, + CAR.SUBARU_OUTBACK: { + (Ecu.abs, 0x7b0, None): [ + b'\xa1 \x06\x00', + b'\xa1 \x06\x01', + b'\xa1 \x06\x02', + b'\xa1 \x07\x00', + b'\xa1 \x07\x02', + b'\xa1 \x07\x03', + b'\xa1 \x08\x00', + b'\xa1 \x08\x01', + b'\xa1 \x08\x02', + b'\xa1 "\t\x00', + b'\xa1 "\t\x01', + ], + (Ecu.eps, 0x746, None): [ + b'\x1b\xc0\x10\x00', + b'\x9b\xc0\x10\x00', + b'\x9b\xc0\x10\x02', + b'\x9b\xc0 \x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00eJ\x00\x00\x00\x00\x00\x00', + b'\x00\x00eJ\x00\x1f@ \x19\x00', + b'\x00\x00e\x80\x00\x1f@ \x19\x00', + b'\x00\x00e\x9a\x00\x00\x00\x00\x00\x00', + b'\x00\x00e\x9a\x00\x1f@ 1\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xbc"`@\x07', + b'\xbc"`q\x07', + b'\xbc,\xa0q\x07', + b'\xbc,\xa0u\x07', + b'\xde"`0\x07', + b'\xde,\xa0@\x07', + b'\xe2"`0\x07', + b'\xe2"`p\x07', + b'\xe2"`q\x07', + b'\xe3,\xa0@\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xa5\xf6D@\x00', + b'\xa5\xfe\xf6@\x00', + b'\xa5\xfe\xf7@\x00', + b'\xa5\xfe\xf8@\x00', + b'\xa7\x8e\xf40\x00', + b'\xa7\xf6D@\x00', + b'\xa7\xfe\xf4@\x00', + ], + }, + CAR.SUBARU_FORESTER_2022: { + (Ecu.abs, 0x7b0, None): [ + b'\xa3 !v\x00', + b'\xa3 !x\x00', + b'\xa3 "v\x00', + b'\xa3 "x\x00', + ], + (Ecu.eps, 0x746, None): [ + b'-\xc0\x040', + b'-\xc0%0', + b'=\xc0%\x02', + b'=\xc04\x02', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x04!\x01\x1eD\x07!\x00\x04,', + b'\x04!\x08\x01.\x07!\x08\x022', + b'\r!\x08\x017\n!\x08\x003', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xd5"`0\x07', + b'\xd5"a0\x07', + b'\xf1"`q\x07', + b'\xf1"aq\x07', + b'\xfa"ap\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\x1d\x86B0\x00', + b'\x1d\xf6B0\x00', + b'\x1e\x86B0\x00', + b'\x1e\x86F0\x00', + b'\x1e\xf6D0\x00', + ], + }, + CAR.SUBARU_OUTBACK_2023: { + (Ecu.abs, 0x7b0, None): [ + b'\xa1 #\x14\x00', + b'\xa1 #\x17\x00', + ], + (Ecu.eps, 0x746, None): [ + b'+\xc0\x10\x11\x00', + b'+\xc0\x12\x11\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\t!\x08\x046\x05!\x08\x01/', + ], + (Ecu.engine, 0x7a2, None): [ + b'\xed,\xa0q\x07', + b'\xed,\xa2q\x07', + ], + (Ecu.transmission, 0x7a3, None): [ + b'\xa8\x8e\xf41\x00', + b'\xa8\xfe\xf41\x00', + ], + }, +} diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py new file mode 100644 index 0000000000..dbde2b7cbc --- /dev/null +++ b/selfdrive/car/subaru/interface.py @@ -0,0 +1,162 @@ +from cereal import car +from panda import Panda +from openpilot.selfdrive.car import get_safety_config +from openpilot.selfdrive.car.disable_ecu import disable_ecu +from openpilot.selfdrive.car.interfaces import CarInterfaceBase +from openpilot.selfdrive.car.subaru.values import CAR, GLOBAL_ES_ADDR, SubaruFlags, SubaruFlagsSP + + +ButtonType = car.CarState.ButtonEvent.Type +EventName = car.CarEvent.EventName +GearShifter = car.CarState.GearShifter + +class CarInterface(CarInterfaceBase): + + @staticmethod + def _get_params(ret, candidate: CAR, fingerprint, car_fw, experimental_long, docs): + ret.carName = "subaru" + ret.radarUnavailable = True + # for HYBRID CARS to be upstreamed, we need: + # - replacement for ES_Distance so we can cancel the cruise control + # - to find the Cruise_Activated bit from the car + # - proper panda safety setup (use the correct cruise_activated bit, throttle from Throttle_Hybrid, etc) + ret.dashcamOnly = bool(ret.flags & (SubaruFlags.LKAS_ANGLE | SubaruFlags.HYBRID)) + ret.autoResumeSng = False + + # Detect infotainment message sent from the camera + if not (ret.flags & SubaruFlags.PREGLOBAL) and 0x323 in fingerprint[2]: + ret.flags |= SubaruFlags.SEND_INFOTAINMENT.value + + if ret.flags & SubaruFlags.PREGLOBAL: + ret.enableBsm = 0x25c in fingerprint[0] + ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaruPreglobal)] + else: + ret.enableBsm = 0x228 in fingerprint[0] + ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaru)] + if ret.flags & SubaruFlags.GLOBAL_GEN2: + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_GEN2 + + if not bool(ret.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID)): + ret.autoResumeSng = True + ret.spFlags |= SubaruFlagsSP.SP_SUBARU_SNG.value + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_SNG + + ret.steerLimitTimer = 0.4 + ret.steerActuatorDelay = 0.1 + + if ret.flags & SubaruFlags.LKAS_ANGLE: + ret.steerControlType = car.CarParams.SteerControlType.angle + else: + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + + if candidate in (CAR.SUBARU_ASCENT, CAR.SUBARU_ASCENT_2023): + ret.steerActuatorDelay = 0.3 # end-to-end angle controller + ret.lateralTuning.init('pid') + ret.lateralTuning.pid.kf = 0.00003 + ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.0025, 0.1], [0.00025, 0.01]] + + elif candidate == CAR.SUBARU_IMPREZA: + ret.steerActuatorDelay = 0.4 # end-to-end angle controller + ret.lateralTuning.init('pid') + ret.lateralTuning.pid.kf = 0.00005 + ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3], [0.02, 0.03]] + # Certain Impreza / Crosstrek EPS use 3071 max value and do not work with stock value/scaling. + if any(fw.ecu == "eps" and fw.fwVersion in (b'z\xc0\x00\x00', b'z\xc0\x04\x00', b'z\xc0\x08\x00', b'\x8a\xc0\x00\x00', + b'\x8a\xc0\x10\x00') for fw in car_fw): + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_MAX_STEER_IMPREZA_2018 + ret.steerActuatorDelay = 0.18 # measured + ret.lateralTuning.pid.kf = 0.00003333 + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.133, 0.2], [0.0133, 0.02]] + + elif candidate == CAR.SUBARU_IMPREZA_2020: + ret.lateralTuning.init('pid') + ret.lateralTuning.pid.kf = 0.00005 + ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]] + + elif candidate == CAR.SUBARU_CROSSTREK_HYBRID: + ret.steerActuatorDelay = 0.1 + + elif candidate in (CAR.SUBARU_FORESTER, CAR.SUBARU_FORESTER_2022, CAR.SUBARU_FORESTER_HYBRID): + ret.lateralTuning.init('pid') + ret.lateralTuning.pid.kf = 0.000038 + ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]] + + elif candidate in (CAR.SUBARU_OUTBACK, CAR.SUBARU_LEGACY, CAR.SUBARU_OUTBACK_2023): + ret.steerActuatorDelay = 0.1 + + elif candidate in (CAR.SUBARU_FORESTER_PREGLOBAL, CAR.SUBARU_OUTBACK_PREGLOBAL_2018): + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_PREGLOBAL_REVERSED_DRIVER_TORQUE # Outback 2018-2019 and Forester have reversed driver torque signal + + elif candidate == CAR.SUBARU_LEGACY_PREGLOBAL: + ret.steerActuatorDelay = 0.15 + + elif candidate == CAR.SUBARU_OUTBACK_PREGLOBAL: + pass + else: + raise ValueError(f"unknown car: {candidate}") + + ret.experimentalLongitudinalAvailable = not (ret.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.PREGLOBAL | + SubaruFlags.LKAS_ANGLE | SubaruFlags.HYBRID)) + ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable + + if ret.flags & SubaruFlags.GLOBAL_GEN2 and ret.openpilotLongitudinalControl: + ret.flags |= SubaruFlags.DISABLE_EYESIGHT.value + + if ret.openpilotLongitudinalControl: + ret.stoppingControl = True + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_LONG + + return ret + + # returns a car.CarState + def _update(self, c): + + ret = self.CS.update(self.cp, self.cp_cam, self.cp_body) + + self.CS.mads_enabled = self.get_sp_cruise_main_state(ret) + + if ret.cruiseState.available: + if self.enable_mads: + if not self.CS.prev_mads_enabled and self.CS.mads_enabled: + self.CS.madsEnabled = True + if not (self.CP.flags & SubaruFlags.PREGLOBAL): + if self.CS.prev_lkas_enabled != self.CS.lkas_enabled and self.CS.lkas_enabled != 2 and not (self.CS.prev_lkas_enabled == 2 and self.CS.lkas_enabled == 1): + self.CS.madsEnabled = not self.CS.madsEnabled + elif self.CS.prev_lkas_enabled != self.CS.lkas_enabled and self.CS.prev_lkas_enabled == 2 and self.CS.lkas_enabled != 1: + self.CS.madsEnabled = not self.CS.madsEnabled + self.CS.madsEnabled = self.get_acc_mads(ret, self.CS.madsEnabled) + else: + self.CS.madsEnabled = False + + if self.CS.out.cruiseState.enabled: # CANCEL + if not ret.cruiseState.enabled: + if not self.enable_mads: + self.CS.madsEnabled = False + if self.get_sp_pedal_disengage(ret): + self.get_sp_cancel_cruise_state() + ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled + + ret = self.get_sp_common_state(ret) + + ret.buttonEvents = [ + *self.CS.button_events, + *self.button_events.create_cancel_event(ret.cruiseState.enabled, self.CS.out.cruiseState.enabled), + *self.button_events.create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled) # MADS BUTTON + ] + + events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low], pcm_enable=False) + + events, ret = self.create_sp_events(ret, events) + + ret.events = events.to_msg() + + return ret + + @staticmethod + def init(CP, logcan, sendcan): + if CP.flags & SubaruFlags.DISABLE_EYESIGHT: + disable_ecu(logcan, sendcan, bus=2, addr=GLOBAL_ES_ADDR, com_cont_req=b'\x28\x03\x01') diff --git a/selfdrive/car/subaru/radar_interface.py b/selfdrive/car/subaru/radar_interface.py new file mode 100644 index 0000000000..e654bd61fd --- /dev/null +++ b/selfdrive/car/subaru/radar_interface.py @@ -0,0 +1,4 @@ +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase + +class RadarInterface(RadarInterfaceBase): + pass diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py new file mode 100644 index 0000000000..ef62fc01da --- /dev/null +++ b/selfdrive/car/subaru/subarucan.py @@ -0,0 +1,393 @@ +from cereal import car +from openpilot.selfdrive.car.subaru.values import CanBus + +VisualAlert = car.CarControl.HUDControl.VisualAlert + + +def create_steering_control(packer, apply_steer, steer_req): + values = { + "LKAS_Output": apply_steer, + "LKAS_Request": steer_req, + "SET_1": 1 + } + return packer.make_can_msg("ES_LKAS", 0, values) + + +def create_steering_control_angle(packer, apply_steer, steer_req): + values = { + "LKAS_Output": apply_steer, + "LKAS_Request": steer_req, + "SET_3": 3 + } + return packer.make_can_msg("ES_LKAS_ANGLE", 0, values) + + +def create_steering_status(packer): + return packer.make_can_msg("ES_LKAS_State", 0, {}) + +def create_es_distance(packer, frame, es_distance_msg, bus, pcm_cancel_cmd, long_enabled = False, brake_cmd = False, cruise_throttle = 0): + values = {s: es_distance_msg[s] for s in [ + "CHECKSUM", + "Signal1", + "Cruise_Fault", + "Cruise_Throttle", + "Signal2", + "Car_Follow", + "Low_Speed_Follow", + "Cruise_Soft_Disable", + "Signal7", + "Cruise_Brake_Active", + "Distance_Swap", + "Cruise_EPB", + "Signal4", + "Close_Distance", + "Signal5", + "Cruise_Cancel", + "Cruise_Set", + "Cruise_Resume", + "Signal6", + ]} + + values["COUNTER"] = frame % 0x10 + + if long_enabled: + values["Cruise_Throttle"] = cruise_throttle + + # Do not disable openpilot on Eyesight Soft Disable, if openpilot is controlling long + values["Cruise_Soft_Disable"] = 0 + values["Cruise_Fault"] = 0 + + values["Cruise_Brake_Active"] = brake_cmd + + if pcm_cancel_cmd: + values["Cruise_Cancel"] = 1 + values["Cruise_Throttle"] = 1818 # inactive throttle + + return packer.make_can_msg("ES_Distance", bus, values) + + +def create_es_lkas_state(packer, frame, es_lkas_state_msg, lat_active, mads_enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart): + values = {s: es_lkas_state_msg[s] for s in [ + "CHECKSUM", + "LKAS_Alert_Msg", + "Signal1", + "LKAS_ACTIVE", + "LKAS_Dash_State", + "Signal2", + "Backward_Speed_Limit_Menu", + "LKAS_Left_Line_Enable", + "LKAS_Left_Line_Light_Blink", + "LKAS_Right_Line_Enable", + "LKAS_Right_Line_Light_Blink", + "LKAS_Left_Line_Visible", + "LKAS_Right_Line_Visible", + "LKAS_Alert", + "Signal3", + ]} + + values["COUNTER"] = frame % 0x10 + + # Filter the stock LKAS "Keep hands on wheel" alert + if values["LKAS_Alert_Msg"] == 1: + values["LKAS_Alert_Msg"] = 0 + + # Filter the stock LKAS sending an audible alert when it turns off LKAS + if values["LKAS_Alert"] == 27: + values["LKAS_Alert"] = 0 + + # Filter the stock LKAS sending an audible alert when "Keep hands on wheel" alert is active (2020+ models) + if values["LKAS_Alert"] == 28 and values["LKAS_Alert_Msg"] == 7: + values["LKAS_Alert"] = 0 + + # Filter the stock LKAS sending an audible alert when "Keep hands on wheel OFF" alert is active (2020+ models) + if values["LKAS_Alert"] == 30: + values["LKAS_Alert"] = 0 + + # Filter the stock LKAS sending "Keep hands on wheel OFF" alert (2020+ models) + if values["LKAS_Alert_Msg"] == 7: + values["LKAS_Alert_Msg"] = 0 + + # Show Keep hands on wheel alert for openpilot steerRequired alert + if visual_alert == VisualAlert.steerRequired: + values["LKAS_Alert_Msg"] = 1 + + # Ensure we don't overwrite potentially more important alerts from stock (e.g. FCW) + if visual_alert == VisualAlert.ldw and values["LKAS_Alert"] == 0: + if left_lane_depart: + values["LKAS_Alert"] = 12 # Left lane departure dash alert + elif right_lane_depart: + values["LKAS_Alert"] = 11 # Right lane departure dash alert + + if lat_active: + values["LKAS_ACTIVE"] = 1 # Show LKAS lane lines + values["LKAS_Dash_State"] = 2 # Green enabled indicator + + values["LKAS_Left_Line_Enable"] = 1 + values["LKAS_Right_Line_Enable"] = 1 + elif mads_enabled and not lat_active: + values["LKAS_Dash_State"] = 1 # White ready indicator + else: + values["LKAS_Dash_State"] = 0 # LKAS Not enabled + + values["LKAS_Left_Line_Visible"] = int(left_line) + values["LKAS_Right_Line_Visible"] = int(right_line) + + return packer.make_can_msg("ES_LKAS_State", CanBus.main, values) + +def create_es_dashstatus(packer, frame, dashstatus_msg, enabled, long_enabled, long_active, lead_visible): + values = {s: dashstatus_msg[s] for s in [ + "CHECKSUM", + "PCB_Off", + "LDW_Off", + "Signal1", + "Cruise_State_Msg", + "LKAS_State_Msg", + "Signal2", + "Cruise_Soft_Disable", + "Cruise_Status_Msg", + "Signal3", + "Cruise_Distance", + "Signal4", + "Conventional_Cruise", + "Signal5", + "Cruise_Disengaged", + "Cruise_Activated", + "Signal6", + "Cruise_Set_Speed", + "Cruise_Fault", + "Cruise_On", + "Display_Own_Car", + "Brake_Lights", + "Car_Follow", + "Signal7", + "Far_Distance", + "Cruise_State", + ]} + + values["COUNTER"] = frame % 0x10 + + if long_enabled: + values["Cruise_State"] = 0 + values["Cruise_Activated"] = enabled + values["Cruise_Disengaged"] = 0 + values["Car_Follow"] = int(lead_visible) + + values["PCB_Off"] = 1 # AEB is not presevered, so show the PCB_Off on dash + values["LDW_Off"] = 0 + values["Cruise_Fault"] = 0 + + # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts + if values["LKAS_State_Msg"] in (2, 3): + values["LKAS_State_Msg"] = 0 + + return packer.make_can_msg("ES_DashStatus", CanBus.main, values) + +def create_es_brake(packer, frame, es_brake_msg, long_enabled, long_active, brake_value): + values = {s: es_brake_msg[s] for s in [ + "CHECKSUM", + "Signal1", + "Brake_Pressure", + "AEB_Status", + "Cruise_Brake_Lights", + "Cruise_Brake_Fault", + "Cruise_Brake_Active", + "Cruise_Activated", + "Signal3", + ]} + + values["COUNTER"] = frame % 0x10 + + if long_enabled: + values["Cruise_Brake_Fault"] = 0 + values["Cruise_Activated"] = long_active + + values["Brake_Pressure"] = brake_value + + values["Cruise_Brake_Active"] = brake_value > 0 + values["Cruise_Brake_Lights"] = brake_value >= 70 + + return packer.make_can_msg("ES_Brake", CanBus.main, values) + +def create_es_status(packer, frame, es_status_msg, long_enabled, long_active, cruise_rpm): + values = {s: es_status_msg[s] for s in [ + "CHECKSUM", + "Signal1", + "Cruise_Fault", + "Cruise_RPM", + "Cruise_Activated", + "Brake_Lights", + "Cruise_Hold", + "Signal3", + ]} + + values["COUNTER"] = frame % 0x10 + + if long_enabled: + values["Cruise_RPM"] = cruise_rpm + values["Cruise_Fault"] = 0 + + values["Cruise_Activated"] = long_active + + return packer.make_can_msg("ES_Status", CanBus.main, values) + + +def create_es_infotainment(packer, frame, es_infotainment_msg, visual_alert): + # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts + values = {s: es_infotainment_msg[s] for s in [ + "CHECKSUM", + "LKAS_State_Infotainment", + "LKAS_Blue_Lines", + "Signal1", + "Signal2", + ]} + + values["COUNTER"] = frame % 0x10 + + if values["LKAS_State_Infotainment"] in (3, 4): + values["LKAS_State_Infotainment"] = 0 + + # Show Keep hands on wheel alert for openpilot steerRequired alert + if visual_alert == VisualAlert.steerRequired: + values["LKAS_State_Infotainment"] = 3 + + # Show Obstacle Detected for fcw + if visual_alert == VisualAlert.fcw: + values["LKAS_State_Infotainment"] = 2 + + return packer.make_can_msg("ES_Infotainment", CanBus.main, values) + + +def create_es_highbeamassist(packer): + values = { + "HBA_Available": False, + } + + return packer.make_can_msg("ES_HighBeamAssist", CanBus.main, values) + + +def create_es_static_1(packer): + values = { + "SET_3": 3, + } + + return packer.make_can_msg("ES_STATIC_1", CanBus.main, values) + + +def create_es_static_2(packer): + values = { + "SET_3": 3, + } + + return packer.make_can_msg("ES_STATIC_2", CanBus.main, values) + + +# *** Subaru Pre-global *** + +def subaru_preglobal_checksum(packer, values, addr, checksum_byte=7): + dat = packer.make_can_msg(addr, 0, values)[1] + return (sum(dat[:checksum_byte]) + sum(dat[checksum_byte+1:])) % 256 + + +def create_preglobal_steering_control(packer, frame, apply_steer, steer_req): + values = { + "COUNTER": frame % 0x08, + "LKAS_Command": apply_steer, + "LKAS_Active": steer_req, + } + values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_LKAS") + + return packer.make_can_msg("ES_LKAS", CanBus.main, values) + + +def create_preglobal_es_distance(packer, cruise_button, es_distance_msg): + values = {s: es_distance_msg[s] for s in [ + "Cruise_Throttle", + "Signal1", + "Car_Follow", + "Signal2", + "Cruise_Brake_Active", + "Distance_Swap", + "Standstill", + "Signal3", + "Close_Distance", + "Signal4", + "Standstill_2", + "Cruise_Fault", + "Signal5", + "COUNTER", + "Signal6", + "Cruise_Button", + "Signal7", + ]} + + values["Cruise_Button"] = cruise_button + values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_Distance") + + return packer.make_can_msg("ES_Distance", CanBus.main, values) + + +def create_brake_pedal(packer, frame, brake_pedal_msg, speed_cmd, brake_cmd): + values = {s: brake_pedal_msg[s] for s in [ + "Signal1", + "Speed", + "Signal2", + "Brake_Lights", + "Signal3", + "Brake_Pedal", + "Signal4", + ]} + + values["COUNTER"] = frame % 0x10 + + if speed_cmd: + values["Speed"] = 3 + if brake_cmd: + values["Brake_Pedal"] = 5 + values["Brake_Lights"] = 1 + + return packer.make_can_msg("Brake_Pedal", CanBus.camera, values) + + +def create_throttle(packer, frame, throttle_msg, throttle_cmd): + values = {s: throttle_msg[s] for s in [ + "CHECKSUM", + "Signal1", + "Engine_RPM", + "Signal2", + "Throttle_Pedal", + "Throttle_Cruise", + "Throttle_Combo", + "Signal3", + "Off_Accel", + ]} + + values["COUNTER"] = frame % 0x10 + + if throttle_cmd: + values["Throttle_Pedal"] = 5 + + return packer.make_can_msg("Throttle", 2, values) + + +def create_preglobal_throttle(packer, frame, throttle_msg, throttle_cmd): + values = {s: throttle_msg[s] for s in [ + "Throttle_Pedal", + "Signal1", + "Not_Full_Throttle", + "Signal2", + "Engine_RPM", + "Off_Throttle", + "Signal3", + "Throttle_Cruise", + "Throttle_Combo", + "Throttle_Body", + "Off_Throttle_2", + "Signal4", + ]} + + values["COUNTER"] = frame % 0x10 + + if throttle_cmd: + values["Throttle_Pedal"] = 5 + + return packer.make_can_msg("Throttle", 2, values) diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py new file mode 100644 index 0000000000..8d33a2d965 --- /dev/null +++ b/selfdrive/car/subaru/values.py @@ -0,0 +1,282 @@ +from dataclasses import dataclass, field +from enum import Enum, IntFlag +from panda import Panda + +from cereal import car +from panda.python import uds +from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict +from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Tool, Column +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16 + +Ecu = car.CarParams.Ecu + + +class CarControllerParams: + def __init__(self, CP): + self.STEER_STEP = 2 # how often we update the steer cmd + self.STEER_DELTA_UP = 50 # torque increase per refresh, 0.8s to max + self.STEER_DELTA_DOWN = 70 # torque decrease per refresh + self.STEER_DRIVER_ALLOWANCE = 60 # allowed driver torque before start limiting + self.STEER_DRIVER_MULTIPLIER = 50 # weight driver torque heavily + self.STEER_DRIVER_FACTOR = 1 # from dbc + + if CP.flags & SubaruFlags.GLOBAL_GEN2: + self.STEER_MAX = 1600 + self.STEER_DELTA_UP = 40 + self.STEER_DELTA_DOWN = 40 + elif CP.carFingerprint == CAR.SUBARU_IMPREZA_2020: + self.STEER_MAX = 1439 + elif CP.safetyConfigs[0].safetyParam & Panda.FLAG_SUBARU_MAX_STEER_IMPREZA_2018: + self.STEER_MAX = 3071 + else: + self.STEER_MAX = 2047 + + THROTTLE_MIN = 808 + THROTTLE_MAX = 3400 + + THROTTLE_INACTIVE = 1818 # corresponds to zero acceleration + THROTTLE_ENGINE_BRAKE = 808 # while braking, eyesight sets throttle to this, probably for engine braking + + BRAKE_MIN = 0 + BRAKE_MAX = 600 # about -3.5m/s2 from testing + + RPM_MIN = 0 + RPM_MAX = 3600 + + RPM_INACTIVE = 600 # a good base rpm for zero acceleration + + THROTTLE_LOOKUP_BP = [0, 2] + THROTTLE_LOOKUP_V = [THROTTLE_INACTIVE, THROTTLE_MAX] + + RPM_LOOKUP_BP = [0, 2] + RPM_LOOKUP_V = [RPM_INACTIVE, RPM_MAX] + + BRAKE_LOOKUP_BP = [-3.5, 0] + BRAKE_LOOKUP_V = [BRAKE_MAX, BRAKE_MIN] + + +class SubaruFlags(IntFlag): + # Detected flags + SEND_INFOTAINMENT = 1 + DISABLE_EYESIGHT = 2 + + # Static flags + GLOBAL_GEN2 = 4 + + # Cars that temporarily fault when steering angle rate is greater than some threshold. + # Appears to be all torque-based cars produced around 2019 - present + STEER_RATE_LIMITED = 8 + PREGLOBAL = 16 + HYBRID = 32 + LKAS_ANGLE = 64 + + +GLOBAL_ES_ADDR = 0x787 +GEN2_ES_BUTTONS_DID = b'\x11\x30' + + +class SubaruFlagsSP(IntFlag): + SP_SUBARU_SNG = 1 + + +class CanBus: + main = 0 + alt = 1 + camera = 2 + + +class Footnote(Enum): + GLOBAL = CarFootnote( + "In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance.", + Column.PACKAGE) + EXP_LONG = CarFootnote( + "Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB.", + Column.LONGITUDINAL) + + +@dataclass +class SubaruCarDocs(CarDocs): + package: str = "EyeSight Driver Assistance" + car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.subaru_a])) + footnotes: list[Enum] = field(default_factory=lambda: [Footnote.GLOBAL]) + + def init_make(self, CP: car.CarParams): + self.car_parts.parts.extend([Tool.socket_8mm_deep, Tool.pry_tool]) + + if CP.experimentalLongitudinalAvailable: + self.footnotes.append(Footnote.EXP_LONG) + + +@dataclass +class SubaruPlatformConfig(PlatformConfig): + dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('subaru_global_2017_generated', None)) + + def init(self): + if self.flags & SubaruFlags.HYBRID: + self.dbc_dict = dbc_dict('subaru_global_2020_hybrid_generated', None) + + +@dataclass +class SubaruGen2PlatformConfig(SubaruPlatformConfig): + def init(self): + super().init() + self.flags |= SubaruFlags.GLOBAL_GEN2 + if not (self.flags & SubaruFlags.LKAS_ANGLE): + self.flags |= SubaruFlags.STEER_RATE_LIMITED + + +class CAR(Platforms): + # Global platform + SUBARU_ASCENT = SubaruPlatformConfig( + [SubaruCarDocs("Subaru Ascent 2019-21", "All")], + CarSpecs(mass=2031, wheelbase=2.89, steerRatio=13.5), + ) + SUBARU_OUTBACK = SubaruGen2PlatformConfig( + [SubaruCarDocs("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b]))], + CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17), + ) + SUBARU_LEGACY = SubaruGen2PlatformConfig( + [SubaruCarDocs("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b]))], + SUBARU_OUTBACK.specs, + ) + SUBARU_IMPREZA = SubaruPlatformConfig( + [ + SubaruCarDocs("Subaru Impreza 2017-19"), + SubaruCarDocs("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"), + SubaruCarDocs("Subaru XV 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"), + ], + CarSpecs(mass=1568, wheelbase=2.67, steerRatio=15), + ) + SUBARU_IMPREZA_2020 = SubaruPlatformConfig( + [ + SubaruCarDocs("Subaru Impreza 2020-22"), + SubaruCarDocs("Subaru Crosstrek 2020-23"), + SubaruCarDocs("Subaru XV 2020-21"), + ], + CarSpecs(mass=1480, wheelbase=2.67, steerRatio=17), + flags=SubaruFlags.STEER_RATE_LIMITED, + ) + # TODO: is there an XV and Impreza too? + SUBARU_CROSSTREK_HYBRID = SubaruPlatformConfig( + [SubaruCarDocs("Subaru Crosstrek Hybrid 2020", car_parts=CarParts.common([CarHarness.subaru_b]))], + CarSpecs(mass=1668, wheelbase=2.67, steerRatio=17), + flags=SubaruFlags.HYBRID, + ) + SUBARU_FORESTER = SubaruPlatformConfig( + [SubaruCarDocs("Subaru Forester 2019-21", "All")], + CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17), + flags=SubaruFlags.STEER_RATE_LIMITED, + ) + SUBARU_FORESTER_HYBRID = SubaruPlatformConfig( + [SubaruCarDocs("Subaru Forester Hybrid 2020")], + SUBARU_FORESTER.specs, + flags=SubaruFlags.HYBRID, + ) + # Pre-global + SUBARU_FORESTER_PREGLOBAL = SubaruPlatformConfig( + [SubaruCarDocs("Subaru Forester 2017-18")], + CarSpecs(mass=1568, wheelbase=2.67, steerRatio=20), + dbc_dict('subaru_forester_2017_generated', None), + flags=SubaruFlags.PREGLOBAL, + ) + SUBARU_LEGACY_PREGLOBAL = SubaruPlatformConfig( + [SubaruCarDocs("Subaru Legacy 2015-18")], + CarSpecs(mass=1568, wheelbase=2.67, steerRatio=12.5), + dbc_dict('subaru_outback_2015_generated', None), + flags=SubaruFlags.PREGLOBAL, + ) + SUBARU_OUTBACK_PREGLOBAL = SubaruPlatformConfig( + [SubaruCarDocs("Subaru Outback 2015-17")], + SUBARU_FORESTER_PREGLOBAL.specs, + dbc_dict('subaru_outback_2015_generated', None), + flags=SubaruFlags.PREGLOBAL, + ) + SUBARU_OUTBACK_PREGLOBAL_2018 = SubaruPlatformConfig( + [SubaruCarDocs("Subaru Outback 2018-19")], + SUBARU_FORESTER_PREGLOBAL.specs, + dbc_dict('subaru_outback_2019_generated', None), + flags=SubaruFlags.PREGLOBAL, + ) + # Angle LKAS + SUBARU_FORESTER_2022 = SubaruPlatformConfig( + [SubaruCarDocs("Subaru Forester 2022-24", "All", car_parts=CarParts.common([CarHarness.subaru_c]))], + SUBARU_FORESTER.specs, + flags=SubaruFlags.LKAS_ANGLE, + ) + SUBARU_OUTBACK_2023 = SubaruGen2PlatformConfig( + [SubaruCarDocs("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d]))], + SUBARU_OUTBACK.specs, + flags=SubaruFlags.LKAS_ANGLE, + ) + SUBARU_ASCENT_2023 = SubaruGen2PlatformConfig( + [SubaruCarDocs("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d]))], + SUBARU_ASCENT.specs, + flags=SubaruFlags.LKAS_ANGLE, + ) + + +SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION) +SUBARU_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION) + +# The EyeSight ECU takes 10s to respond to SUBARU_VERSION_REQUEST properly, +# log this alternate manufacturer-specific query +SUBARU_ALT_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ + p16(0xf100) +SUBARU_ALT_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ + p16(0xf100) + +FW_QUERY_CONFIG = FwQueryConfig( + requests=[ + Request( + [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST], + [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE], + whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission], + logging=True, + ), + # Non-OBD requests + # Some Eyesight modules fail on TESTER_PRESENT_REQUEST + # TODO: check if this resolves the fingerprinting issue for the 2023 Ascent and other new Subaru cars + Request( + [SUBARU_VERSION_REQUEST], + [SUBARU_VERSION_RESPONSE], + whitelist_ecus=[Ecu.fwdCamera], + bus=0, + ), + Request( + [SUBARU_ALT_VERSION_REQUEST], + [SUBARU_ALT_VERSION_RESPONSE], + whitelist_ecus=[Ecu.fwdCamera], + bus=0, + logging=True, + ), + Request( + [StdQueries.DEFAULT_DIAGNOSTIC_REQUEST, StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST], + [StdQueries.DEFAULT_DIAGNOSTIC_RESPONSE, StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE], + whitelist_ecus=[Ecu.fwdCamera], + bus=0, + logging=True, + ), + Request( + [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST], + [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE], + whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission], + bus=0, + ), + # GEN2 powertrain bus query + Request( + [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST], + [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE], + whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission], + bus=1, + obd_multiplexing=False, + ), + ], + # We don't get the EPS from non-OBD queries on GEN2 cars. Note that we still attempt to match when it exists + non_essential_ecus={ + Ecu.eps: list(CAR.with_flags(SubaruFlags.GLOBAL_GEN2)), + } +) + +DBC = CAR.create_dbc_map() diff --git a/selfdrive/car/sunnypilot/fingerprinting.py b/selfdrive/car/sunnypilot/fingerprinting.py new file mode 100644 index 0000000000..3551067204 --- /dev/null +++ b/selfdrive/car/sunnypilot/fingerprinting.py @@ -0,0 +1,37 @@ +from collections.abc import Callable + +import cereal.messaging as messaging +from openpilot.selfdrive.car import gen_empty_fingerprint + +FRAME_FINGERPRINT = 25 # 0.25s + + +def get_one_can(logcan): + while True: + can = messaging.recv_one_retry(logcan) + if len(can.can) > 0: + return can + + +def can_fingerprint(next_can: Callable) -> tuple[str | None, dict[int, dict]]: + finger = gen_empty_fingerprint() + frame = 0 + done = False + + while not done: + a = next_can() + + for can in a.can: + # The fingerprint dict is generated for all buses, this way the car interface + # can use it to detect a (valid) multipanda setup and initialize accordingly + if can.src < 128: + if can.src not in finger: + finger[can.src] = {} + finger[can.src][can.address] = len(can.dat) + + # bail if we've been waiting for more than 2s + done = frame > 100 + + frame += 1 + + return finger diff --git a/selfdrive/car/sunnypilot_carname.json b/selfdrive/car/sunnypilot_carname.json new file mode 100644 index 0000000000..16ff623e23 --- /dev/null +++ b/selfdrive/car/sunnypilot_carname.json @@ -0,0 +1,314 @@ +{ + "=== Not Selected ===": "", + "Acura ILX 2016-19": "ACURA_ILX", + "Acura RDX 2016-18": "ACURA_RDX", + "Acura RDX 2019-22": "ACURA_RDX_3G", + "Audi A3 2014-19": "AUDI_A3_MK3", + "Audi A3 Sportback e-tron 2017-18": "AUDI_A3_MK3", + "Audi Q2 2018": "AUDI_Q2_MK1", + "Audi Q3 2019-23": "AUDI_Q3_MK2", + "Audi RS3 2018": "AUDI_A3_MK3", + "Audi S3 2015-17": "AUDI_A3_MK3", + "Chevrolet Bolt EUV 2022-23": "CHEVROLET_BOLT_EUV", + "Chevrolet Bolt EV 2022-23": "CHEVROLET_BOLT_EUV", + "Chevrolet Equinox 2019-22": "CHEVROLET_EQUINOX", + "Chevrolet Silverado 1500 2020-21": "CHEVROLET_SILVERADO", + "Chevrolet Trailblazer 2021-22": "CHEVROLET_TRAILBLAZER", + "Chrysler Pacifica 2017-18": "CHRYSLER_PACIFICA_2018", + "Chrysler Pacifica 2019-20": "CHRYSLER_PACIFICA_2020", + "Chrysler Pacifica 2021-23": "CHRYSLER_PACIFICA_2020", + "Chrysler Pacifica Hybrid 2017": "CHRYSLER_PACIFICA_2017_HYBRID", + "Chrysler Pacifica Hybrid 2018": "CHRYSLER_PACIFICA_2018_HYBRID", + "Chrysler Pacifica Hybrid 2019-24": "CHRYSLER_PACIFICA_2019_HYBRID", + "comma body": "COMMA_BODY", + "CUPRA Ateca 2018-23": "SEAT_ATECA_MK1", + "Dodge Durango 2020-21": "DODGE_DURANGO", + "Ford Bronco Sport 2021-23": "FORD_BRONCO_SPORT_MK1", + "Ford Escape 2020-22": "FORD_ESCAPE_MK4", + "Ford Escape Hybrid 2020-22": "FORD_ESCAPE_MK4", + "Ford Escape Plug-in Hybrid 2020-22": "FORD_ESCAPE_MK4", + "Ford Explorer 2020-23": "FORD_EXPLORER_MK6", + "Ford Explorer Hybrid 2020-23": "FORD_EXPLORER_MK6", + "Ford F-150 2022-23": "FORD_F_150_MK14", + "Ford F-150 Hybrid 2022-23": "FORD_F_150_MK14", + "Ford F-150 Lightning 2021-23": "FORD_F_150_LIGHTNING_MK1", + "Ford Focus 2018": "FORD_FOCUS_MK4", + "Ford Focus Hybrid 2018": "FORD_FOCUS_MK4", + "Ford Kuga 2020-22": "FORD_ESCAPE_MK4", + "Ford Kuga Hybrid 2020-22": "FORD_ESCAPE_MK4", + "Ford Kuga Plug-in Hybrid 2020-22": "FORD_ESCAPE_MK4", + "Ford Maverick 2022": "FORD_MAVERICK_MK1", + "Ford Maverick 2023-24": "FORD_MAVERICK_MK1", + "Ford Maverick Hybrid 2022": "FORD_MAVERICK_MK1", + "Ford Maverick Hybrid 2023-24": "FORD_MAVERICK_MK1", + "Ford Mustang Mach-E 2021-23": "FORD_MUSTANG_MACH_E_MK1", + "Ford Ranger 2024": "FORD_RANGER_MK2", + "Genesis G70 2018": "GENESIS_G70", + "Genesis G70 2019-21": "GENESIS_G70_2020", + "Genesis G70 2022-23": "GENESIS_G70_2020", + "Genesis G70 Non-SCC 2021": "GENESIS_G70_2021_NON_SCC", + "Genesis G80 2017": "HYUNDAI_GENESIS", + "Genesis G80 2018-19": "GENESIS_G80", + "Genesis G90 2017-20": "GENESIS_G90", + "Genesis GV60 (Advanced Trim) 2023": "GENESIS_GV60_EV_1ST_GEN", + "Genesis GV60 (Performance Trim) 2023": "GENESIS_GV60_EV_1ST_GEN", + "Genesis GV70 (2.5T Trim, without HDA II) 2022-23": "GENESIS_GV70_1ST_GEN", + "Genesis GV70 (3.5T Trim, without HDA II) 2022-23": "GENESIS_GV70_1ST_GEN", + "Genesis GV80 2023": "GENESIS_GV80", + "GMC Sierra 1500 2020-21": "CHEVROLET_SILVERADO", + "Honda Accord 4-Cylinder 2016-17": "HONDA_ACCORD_4CYL_9TH_GEN", + "Honda Accord 2018-22": "HONDA_ACCORD", + "Honda Accord Hybrid 2018-22": "HONDA_ACCORD", + "Honda Civic 2016-18": "HONDA_CIVIC", + "Honda Civic 2019-21": "HONDA_CIVIC_BOSCH", + "Honda Civic 2022-24": "HONDA_CIVIC_2022", + "Honda Civic Hatchback 2017-21": "HONDA_CIVIC_BOSCH", + "Honda Civic Hatchback 2022-24": "HONDA_CIVIC_2022", + "Honda Clarity 2018-22": "HONDA_CLARITY", + "Honda CR-V 2015-16": "HONDA_CRV", + "Honda CR-V 2017-22": "HONDA_CRV_5G", + "Honda CR-V Hybrid 2017-21": "HONDA_CRV_HYBRID", + "Honda e 2020": "HONDA_E", + "Honda Fit 2018-20": "HONDA_FIT", + "Honda Freed 2020": "HONDA_FREED", + "Honda HR-V 2019-22": "HONDA_HRV", + "Honda HR-V 2023": "HONDA_HRV_3G", + "Honda Insight 2019-22": "HONDA_INSIGHT", + "Honda Inspire 2018": "HONDA_ACCORD", + "Honda Odyssey 2018-20": "HONDA_ODYSSEY", + "Honda Passport 2019-23": "HONDA_PILOT", + "Honda Pilot 2016-22": "HONDA_PILOT", + "Honda Ridgeline 2017-24": "HONDA_RIDGELINE", + "Hyundai Azera 2022": "HYUNDAI_AZERA_6TH_GEN", + "Hyundai Azera Hybrid 2019": "HYUNDAI_AZERA_HEV_6TH_GEN", + "Hyundai Azera Hybrid 2020": "HYUNDAI_AZERA_HEV_6TH_GEN", + "Hyundai Bayon Non-SCC 2021": "HYUNDAI_BAYON_1ST_GEN_NON_SCC", + "Hyundai Custin 2023": "HYUNDAI_CUSTIN_1ST_GEN", + "Hyundai Elantra 2017-18": "HYUNDAI_ELANTRA", + "Hyundai Elantra 2019": "HYUNDAI_ELANTRA", + "Hyundai Elantra 2021-23": "HYUNDAI_ELANTRA_2021", + "Hyundai Elantra GT 2017-19": "HYUNDAI_ELANTRA_GT_I30", + "Hyundai Elantra Hybrid 2021-23": "HYUNDAI_ELANTRA_HEV_2021", + "Hyundai Elantra Non-SCC 2022": "HYUNDAI_ELANTRA_2022_NON_SCC", + "Hyundai Genesis 2015-16": "HYUNDAI_GENESIS", + "Hyundai i30 2017-19": "HYUNDAI_ELANTRA_GT_I30", + "Hyundai Ioniq 5 (Non-US only) 2022-24": "HYUNDAI_IONIQ_5", + "Hyundai Ioniq 5 (with HDA II) 2022-24": "HYUNDAI_IONIQ_5", + "Hyundai Ioniq 5 (without HDA II) 2022-24": "HYUNDAI_IONIQ_5", + "Hyundai Ioniq 6 (with HDA II) 2023-24": "HYUNDAI_IONIQ_6", + "Hyundai Ioniq Electric 2019": "HYUNDAI_IONIQ_EV_LTD", + "Hyundai Ioniq Electric 2020": "HYUNDAI_IONIQ_EV_2020", + "Hyundai Ioniq Hybrid 2017-19": "HYUNDAI_IONIQ", + "Hyundai Ioniq Hybrid 2020-22": "HYUNDAI_IONIQ_HEV_2022", + "Hyundai Ioniq Plug-in Hybrid 2019": "HYUNDAI_IONIQ_PHEV_2019", + "Hyundai Ioniq Plug-in Hybrid 2020-22": "HYUNDAI_IONIQ_PHEV", + "Hyundai Kona 2020": "HYUNDAI_KONA", + "Hyundai Kona Electric 2018-21": "HYUNDAI_KONA_EV", + "Hyundai Kona Electric 2022-23": "HYUNDAI_KONA_EV_2022", + "Hyundai Kona Electric (with HDA II, Korea only) 2023": "HYUNDAI_KONA_EV_2ND_GEN", + "Hyundai Kona Electric Non-SCC 2019": "HYUNDAI_KONA_EV_NON_SCC", + "Hyundai Kona Hybrid 2020": "HYUNDAI_KONA_HEV", + "Hyundai Kona Non-SCC 2019": "HYUNDAI_KONA_NON_SCC", + "Hyundai Palisade 2020-22": "HYUNDAI_PALISADE", + "Hyundai Santa Cruz 2022-24": "HYUNDAI_SANTA_CRUZ_1ST_GEN", + "Hyundai Santa Fe 2019-20": "HYUNDAI_SANTA_FE", + "Hyundai Santa Fe 2021-23": "HYUNDAI_SANTA_FE_2022", + "Hyundai Santa Fe Hybrid 2022-23": "HYUNDAI_SANTA_FE_HEV_2022", + "Hyundai Santa Fe Plug-in Hybrid 2022-23": "HYUNDAI_SANTA_FE_PHEV_2022", + "Hyundai Sonata 2018-19": "HYUNDAI_SONATA_LF", + "Hyundai Sonata 2020-23": "HYUNDAI_SONATA", + "Hyundai Sonata Hybrid 2020-23": "HYUNDAI_SONATA_HYBRID", + "Hyundai Staria 2023": "HYUNDAI_STARIA_4TH_GEN", + "Hyundai Tucson 2021": "HYUNDAI_TUCSON", + "Hyundai Tucson 2022": "HYUNDAI_TUCSON_4TH_GEN", + "Hyundai Tucson 2023-24": "HYUNDAI_TUCSON_4TH_GEN", + "Hyundai Tucson Diesel 2019": "HYUNDAI_TUCSON", + "Hyundai Tucson Hybrid 2022-24": "HYUNDAI_TUCSON_4TH_GEN", + "Hyundai Tucson Plug-in Hybrid 2024": "HYUNDAI_TUCSON_4TH_GEN", + "Hyundai Veloster 2019-20": "HYUNDAI_VELOSTER", + "Jeep Grand Cherokee 2016-18": "JEEP_GRAND_CHEROKEE", + "Jeep Grand Cherokee 2019-21": "JEEP_GRAND_CHEROKEE_2019", + "Kia Carnival 2022-24": "KIA_CARNIVAL_4TH_GEN", + "Kia Carnival (China only) 2023": "KIA_CARNIVAL_4TH_GEN", + "Kia Ceed 2019": "KIA_CEED", + "Kia Ceed PHEV Non-SCC 2022": "KIA_CEED_PHEV_2022_NON_SCC", + "Kia EV6 (Non-US only) 2022-24": "KIA_EV6", + "Kia EV6 (with HDA II) 2022-24": "KIA_EV6", + "Kia EV6 (without HDA II) 2022-24": "KIA_EV6", + "Kia Forte 2019-21": "KIA_FORTE", + "Kia Forte 2022-23": "KIA_FORTE", + "Kia Forte Non-SCC 2019": "KIA_FORTE_2019_NON_SCC", + "Kia Forte Non-SCC 2021": "KIA_FORTE_2021_NON_SCC", + "Kia K5 2021-24": "KIA_K5_2021", + "Kia K5 Hybrid 2020-22": "KIA_K5_HEV_2020", + "Kia K8 Hybrid (with HDA II) 2023": "KIA_K8_HEV_1ST_GEN", + "Kia Niro EV 2019": "KIA_NIRO_EV", + "Kia Niro EV 2020": "KIA_NIRO_EV", + "Kia Niro EV 2021": "KIA_NIRO_EV", + "Kia Niro EV 2022": "KIA_NIRO_EV", + "Kia Niro EV 2023": "KIA_NIRO_EV_2ND_GEN", + "Kia Niro Hybrid 2018": "KIA_NIRO_PHEV", + "Kia Niro Hybrid 2021": "KIA_NIRO_HEV_2021", + "Kia Niro Hybrid 2022": "KIA_NIRO_HEV_2021", + "Kia Niro Hybrid 2023": "KIA_NIRO_HEV_2ND_GEN", + "Kia Niro Plug-in Hybrid 2018-19": "KIA_NIRO_PHEV", + "Kia Niro Plug-in Hybrid 2020": "KIA_NIRO_PHEV", + "Kia Niro Plug-in Hybrid 2021": "KIA_NIRO_PHEV_2022", + "Kia Niro Plug-in Hybrid 2022": "KIA_NIRO_PHEV_2022", + "Kia Optima 2017": "KIA_OPTIMA_G4", + "Kia Optima 2019-20": "KIA_OPTIMA_G4_FL", + "Kia Optima Hybrid 2019": "KIA_OPTIMA_H_G4_FL", + "Kia Seltos 2021": "KIA_SELTOS", + "Kia Seltos Non-SCC 2023-24": "KIA_SELTOS_2023_NON_SCC", + "Kia Sorento 2018": "KIA_SORENTO", + "Kia Sorento 2019": "KIA_SORENTO", + "Kia Sorento 2021-23": "KIA_SORENTO_4TH_GEN", + "Kia Sorento Hybrid 2021-23": "KIA_SORENTO_HEV_4TH_GEN", + "Kia Sorento Plug-in Hybrid 2022-23": "KIA_SORENTO_HEV_4TH_GEN", + "Kia Sportage 2023-24": "KIA_SPORTAGE_5TH_GEN", + "Kia Sportage Hybrid 2023": "KIA_SPORTAGE_5TH_GEN", + "Kia Stinger 2018-20": "KIA_STINGER", + "Kia Stinger 2022-23": "KIA_STINGER_2022", + "Kia Telluride 2020-22": "HYUNDAI_PALISADE", + "Lexus CT Hybrid 2017-18": "LEXUS_CTH", + "Lexus ES 2017-18": "LEXUS_ES", + "Lexus ES 2019-24": "LEXUS_ES_TSS2", + "Lexus ES Hybrid 2017-18": "LEXUS_ES", + "Lexus ES Hybrid 2019-24": "LEXUS_ES_TSS2", + "Lexus GS F 2016": "LEXUS_GS_F", + "Lexus IS 2017-19": "LEXUS_IS", + "Lexus IS 2022-23": "LEXUS_IS_TSS2", + "Lexus LC 2024": "LEXUS_LC_TSS2", + "Lexus NX 2018-19": "LEXUS_NX", + "Lexus NX 2020-21": "LEXUS_NX_TSS2", + "Lexus NX Hybrid 2018-19": "LEXUS_NX", + "Lexus NX Hybrid 2020-21": "LEXUS_NX_TSS2", + "Lexus RC 2018-20": "LEXUS_RC", + "Lexus RX 2016": "LEXUS_RX", + "Lexus RX 2017-19": "LEXUS_RX", + "Lexus RX 2020-22": "LEXUS_RX_TSS2", + "Lexus RX Hybrid 2016": "LEXUS_RX", + "Lexus RX Hybrid 2017-19": "LEXUS_RX", + "Lexus RX Hybrid 2020-22": "LEXUS_RX_TSS2", + "Lexus UX Hybrid 2019-23": "TOYOTA_COROLLA_TSS2", + "Lincoln Aviator 2020-23": "FORD_EXPLORER_MK6", + "Lincoln Aviator Plug-in Hybrid 2020-23": "FORD_EXPLORER_MK6", + "MAN eTGE 2020-24": "VOLKSWAGEN_CRAFTER_MK2", + "MAN TGE 2017-24": "VOLKSWAGEN_CRAFTER_MK2", + "Mazda CX-5 2022-24": "MAZDA_CX5_2022", + "Mazda CX-9 2021-23": "MAZDA_CX9_2021", + "Nissan Altima 2019-20": "NISSAN_ALTIMA", + "Nissan Leaf 2018-23": "NISSAN_LEAF", + "Nissan Leaf Instrument Cluster 2018-23": "NISSAN_LEAF_IC", + "Nissan Rogue 2018-20": "NISSAN_ROGUE", + "Nissan X-Trail 2017": "NISSAN_XTRAIL", + "Ram 1500 2019-24": "RAM_1500_5TH_GEN", + "Ram 2500 2020-24": "RAM_HD_5TH_GEN", + "Ram 3500 2019-22": "RAM_HD_5TH_GEN", + "SEAT Ateca 2016-23": "SEAT_ATECA_MK1", + "SEAT Leon 2014-20": "SEAT_ATECA_MK1", + "Subaru Ascent 2019-21": "SUBARU_ASCENT", + "Subaru Crosstrek 2018-19": "SUBARU_IMPREZA", + "Subaru Crosstrek 2020-23": "SUBARU_IMPREZA_2020", + "Subaru Forester 2017-18": "SUBARU_FORESTER_PREGLOBAL", + "Subaru Forester 2019-21": "SUBARU_FORESTER", + "Subaru Impreza 2017-19": "SUBARU_IMPREZA", + "Subaru Impreza 2020-22": "SUBARU_IMPREZA_2020", + "Subaru Legacy 2015-18": "SUBARU_LEGACY_PREGLOBAL", + "Subaru Legacy 2020-22": "SUBARU_LEGACY", + "Subaru Outback 2015-17": "SUBARU_OUTBACK_PREGLOBAL", + "Subaru Outback 2018-19": "SUBARU_OUTBACK_PREGLOBAL_2018", + "Subaru Outback 2020-22": "SUBARU_OUTBACK", + "Subaru XV 2018-19": "SUBARU_IMPREZA", + "Subaru XV 2020-21": "SUBARU_IMPREZA_2020", + "Škoda Fabia 2022-23": "SKODA_FABIA_MK4", + "Škoda Kamiq 2021-23": "SKODA_KAMIQ_MK1", + "Škoda Karoq 2019-23": "SKODA_KAROQ_MK1", + "Škoda Kodiaq 2017-23": "SKODA_KODIAQ_MK1", + "Škoda Octavia 2015-19": "SKODA_OCTAVIA_MK3", + "Škoda Octavia RS 2016": "SKODA_OCTAVIA_MK3", + "Škoda Octavia Scout 2017-19": "SKODA_OCTAVIA_MK3", + "Škoda Scala 2020-23": "SKODA_KAMIQ_MK1", + "Škoda Superb 2015-22": "SKODA_SUPERB_MK3", + "Toyota Alphard 2019-20": "TOYOTA_ALPHARD_TSS2", + "Toyota Alphard Hybrid 2021": "TOYOTA_ALPHARD_TSS2", + "Toyota Avalon 2016": "TOYOTA_AVALON", + "Toyota Avalon 2017-18": "TOYOTA_AVALON", + "Toyota Avalon 2019-21": "TOYOTA_AVALON_2019", + "Toyota Avalon 2022": "TOYOTA_AVALON_TSS2", + "Toyota Avalon Hybrid 2019-21": "TOYOTA_AVALON_2019", + "Toyota Avalon Hybrid 2022": "TOYOTA_AVALON_TSS2", + "Toyota C-HR 2017-20": "TOYOTA_CHR", + "Toyota C-HR 2021": "TOYOTA_CHR_TSS2", + "Toyota C-HR Hybrid 2017-20": "TOYOTA_CHR", + "Toyota C-HR Hybrid 2021-22": "TOYOTA_CHR_TSS2", + "Toyota Camry 2018-20": "TOYOTA_CAMRY", + "Toyota Camry 2021-24": "TOYOTA_CAMRY_TSS2", + "Toyota Camry Hybrid 2018-20": "TOYOTA_CAMRY", + "Toyota Camry Hybrid 2021-24": "TOYOTA_CAMRY_TSS2", + "Toyota Corolla 2017-19": "TOYOTA_COROLLA", + "Toyota Corolla 2020-22": "TOYOTA_COROLLA_TSS2", + "Toyota Corolla Cross (Non-US only) 2020-23": "TOYOTA_COROLLA_TSS2", + "Toyota Corolla Cross Hybrid (Non-US only) 2020-22": "TOYOTA_COROLLA_TSS2", + "Toyota Corolla Hatchback 2019-22": "TOYOTA_COROLLA_TSS2", + "Toyota Corolla Hybrid 2020-22": "TOYOTA_COROLLA_TSS2", + "Toyota Corolla Hybrid (South America only) 2020-23": "TOYOTA_COROLLA_TSS2", + "Toyota Highlander 2017-19": "TOYOTA_HIGHLANDER", + "Toyota Highlander 2020-23": "TOYOTA_HIGHLANDER_TSS2", + "Toyota Highlander Hybrid 2017-19": "TOYOTA_HIGHLANDER", + "Toyota Highlander Hybrid 2020-23": "TOYOTA_HIGHLANDER_TSS2", + "Toyota Mirai 2021": "TOYOTA_MIRAI", + "Toyota Prius 2016": "TOYOTA_PRIUS", + "Toyota Prius 2017-20": "TOYOTA_PRIUS", + "Toyota Prius 2021-22": "TOYOTA_PRIUS_TSS2", + "Toyota Prius Prime 2017-20": "TOYOTA_PRIUS", + "Toyota Prius Prime 2021-22": "TOYOTA_PRIUS_TSS2", + "Toyota Prius v 2017": "TOYOTA_PRIUS_V", + "Toyota RAV4 2016": "TOYOTA_RAV4", + "Toyota RAV4 2017-18": "TOYOTA_RAV4", + "Toyota RAV4 2019-21": "TOYOTA_RAV4_TSS2", + "Toyota RAV4 2022": "TOYOTA_RAV4_TSS2_2022", + "Toyota RAV4 2023-24": "TOYOTA_RAV4_TSS2_2023", + "Toyota RAV4 Hybrid 2016": "TOYOTA_RAV4H", + "Toyota RAV4 Hybrid 2017-18": "TOYOTA_RAV4H", + "Toyota RAV4 Hybrid 2019-21": "TOYOTA_RAV4_TSS2", + "Toyota RAV4 Hybrid 2022": "TOYOTA_RAV4_TSS2_2022", + "Toyota RAV4 Hybrid 2023-24": "TOYOTA_RAV4_TSS2_2023", + "Toyota Sienna 2018-20": "TOYOTA_SIENNA", + "Volkswagen Arteon 2018-23": "VOLKSWAGEN_ARTEON_MK1", + "Volkswagen Arteon eHybrid 2020-23": "VOLKSWAGEN_ARTEON_MK1", + "Volkswagen Arteon R 2020-23": "VOLKSWAGEN_ARTEON_MK1", + "Volkswagen Arteon Shooting Brake 2020-23": "VOLKSWAGEN_ARTEON_MK1", + "Volkswagen Atlas 2018-23": "VOLKSWAGEN_ATLAS_MK1", + "Volkswagen Atlas Cross Sport 2020-22": "VOLKSWAGEN_ATLAS_MK1", + "Volkswagen California 2021-23": "VOLKSWAGEN_TRANSPORTER_T61", + "Volkswagen Caravelle 2020": "VOLKSWAGEN_TRANSPORTER_T61", + "Volkswagen CC 2018-22": "VOLKSWAGEN_ARTEON_MK1", + "Volkswagen Crafter 2017-24": "VOLKSWAGEN_CRAFTER_MK2", + "Volkswagen e-Crafter 2018-24": "VOLKSWAGEN_CRAFTER_MK2", + "Volkswagen e-Golf 2014-20": "VOLKSWAGEN_GOLF_MK7", + "Volkswagen Golf 2015-20": "VOLKSWAGEN_GOLF_MK7", + "Volkswagen Golf Alltrack 2015-19": "VOLKSWAGEN_GOLF_MK7", + "Volkswagen Golf GTD 2015-20": "VOLKSWAGEN_GOLF_MK7", + "Volkswagen Golf GTE 2015-20": "VOLKSWAGEN_GOLF_MK7", + "Volkswagen Golf GTI 2015-21": "VOLKSWAGEN_GOLF_MK7", + "Volkswagen Golf R 2015-19": "VOLKSWAGEN_GOLF_MK7", + "Volkswagen Golf SportsVan 2015-20": "VOLKSWAGEN_GOLF_MK7", + "Volkswagen Grand California 2019-24": "VOLKSWAGEN_CRAFTER_MK2", + "Volkswagen Jetta 2018-24": "VOLKSWAGEN_JETTA_MK7", + "Volkswagen Jetta GLI 2021-24": "VOLKSWAGEN_JETTA_MK7", + "Volkswagen Passat 2015-22": "VOLKSWAGEN_PASSAT_MK8", + "Volkswagen Passat Alltrack 2015-22": "VOLKSWAGEN_PASSAT_MK8", + "Volkswagen Passat GTE 2015-22": "VOLKSWAGEN_PASSAT_MK8", + "Volkswagen Polo 2018-23": "VOLKSWAGEN_POLO_MK6", + "Volkswagen Polo GTI 2018-23": "VOLKSWAGEN_POLO_MK6", + "Volkswagen T-Cross 2021": "VOLKSWAGEN_TCROSS_MK1", + "Volkswagen T-Roc 2018-23": "VOLKSWAGEN_TROC_MK1", + "Volkswagen Taos 2022-23": "VOLKSWAGEN_TAOS_MK1", + "Volkswagen Teramont 2018-22": "VOLKSWAGEN_ATLAS_MK1", + "Volkswagen Teramont Cross Sport 2021-22": "VOLKSWAGEN_ATLAS_MK1", + "Volkswagen Teramont X 2021-22": "VOLKSWAGEN_ATLAS_MK1", + "Volkswagen Tiguan 2018-24": "VOLKSWAGEN_TIGUAN_MK2", + "Volkswagen Tiguan eHybrid 2021-23": "VOLKSWAGEN_TIGUAN_MK2", + "Volkswagen Touran 2016-23": "VOLKSWAGEN_TOURAN_MK2" +} diff --git a/selfdrive/car/tesla/__init__.py b/selfdrive/car/tesla/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/car/tesla/carcontroller.py b/selfdrive/car/tesla/carcontroller.py new file mode 100644 index 0000000000..8ee2a2165e --- /dev/null +++ b/selfdrive/car/tesla/carcontroller.py @@ -0,0 +1,66 @@ +from openpilot.common.numpy_fast import clip +from opendbc.can.packer import CANPacker +from openpilot.selfdrive.car import apply_std_steer_angle_limits +from openpilot.selfdrive.car.interfaces import CarControllerBase +from openpilot.selfdrive.car.tesla.teslacan import TeslaCAN +from openpilot.selfdrive.car.tesla.values import DBC, CANBUS, CarControllerParams + + +class CarController(CarControllerBase): + def __init__(self, dbc_name, CP, VM): + super().__init__(dbc_name, CP, VM) + self.apply_angle_last = 0 + self.packer = CANPacker(dbc_name) + self.pt_packer = CANPacker(DBC[CP.carFingerprint]['pt']) + self.tesla_can = TeslaCAN(self.packer, self.pt_packer) + + def update(self, CC, CS, now_nanos): + actuators = CC.actuators + pcm_cancel_cmd = CC.cruiseControl.cancel + + can_sends = [] + + # Temp disable steering on a hands_on_fault, and allow for user override + hands_on_fault = CS.steer_warning == "EAC_ERROR_HANDS_ON" and CS.hands_on_level >= 3 + lkas_enabled = CC.latActive and not hands_on_fault + + if self.frame % 2 == 0: + if lkas_enabled: + # Angular rate limit based on speed + apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo, CarControllerParams) + + # To not fault the EPS + apply_angle = clip(apply_angle, CS.out.steeringAngleDeg - 20, CS.out.steeringAngleDeg + 20) + else: + apply_angle = CS.out.steeringAngleDeg + + self.apply_angle_last = apply_angle + can_sends.append(self.tesla_can.create_steering_control(apply_angle, lkas_enabled, (self.frame // 2) % 16)) + + # Longitudinal control (in sync with stock message, about 40Hz) + if self.CP.openpilotLongitudinalControl: + target_accel = actuators.accel + target_speed = max(CS.out.vEgo + (target_accel * CarControllerParams.ACCEL_TO_SPEED_MULTIPLIER), 0) + max_accel = 0 if target_accel < 0 else target_accel + min_accel = 0 if target_accel > 0 else target_accel + + while len(CS.das_control_counters) > 0: + can_sends.extend(self.tesla_can.create_longitudinal_commands(CS.acc_state, target_speed, min_accel, max_accel, CS.das_control_counters.popleft())) + + # Cancel on user steering override, since there is no steering torque blending + if hands_on_fault: + pcm_cancel_cmd = True + + if self.frame % 10 == 0 and pcm_cancel_cmd: + # Spam every possible counter value, otherwise it might not be accepted + for counter in range(16): + can_sends.append(self.tesla_can.create_action_request(CS.msg_stw_actn_req, pcm_cancel_cmd, CANBUS.chassis, counter)) + can_sends.append(self.tesla_can.create_action_request(CS.msg_stw_actn_req, pcm_cancel_cmd, CANBUS.autopilot_chassis, counter)) + + # TODO: HUD control + + new_actuators = actuators.as_builder() + new_actuators.steeringAngleDeg = self.apply_angle_last + + self.frame += 1 + return new_actuators, can_sends diff --git a/selfdrive/car/tesla/carstate.py b/selfdrive/car/tesla/carstate.py new file mode 100644 index 0000000000..645ea46014 --- /dev/null +++ b/selfdrive/car/tesla/carstate.py @@ -0,0 +1,139 @@ +import copy +from collections import deque +from cereal import car +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car.tesla.values import CAR, DBC, CANBUS, GEAR_MAP, DOORS, BUTTONS +from openpilot.selfdrive.car.interfaces import CarStateBase +from opendbc.can.parser import CANParser +from opendbc.can.can_define import CANDefine + +class CarState(CarStateBase): + def __init__(self, CP): + super().__init__(CP) + self.button_states = {button.event_type: False for button in BUTTONS} + self.can_define = CANDefine(DBC[CP.carFingerprint]['chassis']) + + # Needed by carcontroller + self.msg_stw_actn_req = None + self.hands_on_level = 0 + self.steer_warning = None + self.acc_state = 0 + self.das_control_counters = deque(maxlen=32) + + def update(self, cp, cp_cam): + ret = car.CarState.new_message() + + # Vehicle speed + ret.vEgoRaw = cp.vl["ESP_B"]["ESP_vehicleSpeed"] * CV.KPH_TO_MS + ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) + ret.standstill = (ret.vEgo < 0.1) + + # Gas pedal + ret.gas = cp.vl["DI_torque1"]["DI_pedalPos"] / 100.0 + ret.gasPressed = (ret.gas > 0) + + # Brake pedal + ret.brake = 0 + ret.brakePressed = bool(cp.vl["BrakeMessage"]["driverBrakeStatus"] != 1) + + # Steering wheel + epas_status = cp_cam.vl["EPAS3P_sysStatus"] if self.CP.carFingerprint == CAR.TESLA_MODELS_RAVEN else cp.vl["EPAS_sysStatus"] + + self.hands_on_level = epas_status["EPAS_handsOnLevel"] + self.steer_warning = self.can_define.dv["EPAS_sysStatus"]["EPAS_eacErrorCode"].get(int(epas_status["EPAS_eacErrorCode"]), None) + steer_status = self.can_define.dv["EPAS_sysStatus"]["EPAS_eacStatus"].get(int(epas_status["EPAS_eacStatus"]), None) + + ret.steeringAngleDeg = -epas_status["EPAS_internalSAS"] + ret.steeringRateDeg = -cp.vl["STW_ANGLHP_STAT"]["StW_AnglHP_Spd"] # This is from a different angle sensor, and at different rate + ret.steeringTorque = -epas_status["EPAS_torsionBarTorque"] + ret.steeringPressed = (self.hands_on_level > 0) + ret.steerFaultPermanent = steer_status == "EAC_FAULT" + ret.steerFaultTemporary = (self.steer_warning not in ("EAC_ERROR_IDLE", "EAC_ERROR_HANDS_ON")) + + # Cruise state + cruise_state = self.can_define.dv["DI_state"]["DI_cruiseState"].get(int(cp.vl["DI_state"]["DI_cruiseState"]), None) + speed_units = self.can_define.dv["DI_state"]["DI_speedUnits"].get(int(cp.vl["DI_state"]["DI_speedUnits"]), None) + + acc_enabled = (cruise_state in ("ENABLED", "STANDSTILL", "OVERRIDE", "PRE_FAULT", "PRE_CANCEL")) + + ret.cruiseState.enabled = acc_enabled + if speed_units == "KPH": + ret.cruiseState.speed = cp.vl["DI_state"]["DI_digitalSpeed"] * CV.KPH_TO_MS + elif speed_units == "MPH": + ret.cruiseState.speed = cp.vl["DI_state"]["DI_digitalSpeed"] * CV.MPH_TO_MS + ret.cruiseState.available = ((cruise_state == "STANDBY") or ret.cruiseState.enabled) + ret.cruiseState.standstill = False # This needs to be false, since we can resume from stop without sending anything special + + # Gear + ret.gearShifter = GEAR_MAP[self.can_define.dv["DI_torque2"]["DI_gear"].get(int(cp.vl["DI_torque2"]["DI_gear"]), "DI_GEAR_INVALID")] + + # Buttons + buttonEvents = [] + for button in BUTTONS: + state = (cp.vl[button.can_addr][button.can_msg] in button.values) + if self.button_states[button.event_type] != state: + event = car.CarState.ButtonEvent.new_message() + event.type = button.event_type + event.pressed = state + buttonEvents.append(event) + self.button_states[button.event_type] = state + ret.buttonEvents = buttonEvents + + # Doors + ret.doorOpen = any((self.can_define.dv["GTW_carState"][door].get(int(cp.vl["GTW_carState"][door]), "OPEN") == "OPEN") for door in DOORS) + + # Blinkers + ret.leftBlinker = (cp.vl["GTW_carState"]["BC_indicatorLStatus"] == 1) + ret.rightBlinker = (cp.vl["GTW_carState"]["BC_indicatorRStatus"] == 1) + + # Seatbelt + if self.CP.carFingerprint == CAR.TESLA_MODELS_RAVEN: + ret.seatbeltUnlatched = (cp.vl["DriverSeat"]["buckleStatus"] != 1) + else: + ret.seatbeltUnlatched = (cp.vl["SDM1"]["SDM_bcklDrivStatus"] != 1) + + # TODO: blindspot + + # AEB + ret.stockAeb = (cp_cam.vl["DAS_control"]["DAS_aebEvent"] == 1) + + # Messages needed by carcontroller + self.msg_stw_actn_req = copy.copy(cp.vl["STW_ACTN_RQ"]) + self.acc_state = cp_cam.vl["DAS_control"]["DAS_accState"] + self.das_control_counters.extend(cp_cam.vl_all["DAS_control"]["DAS_controlCounter"]) + + return ret + + @staticmethod + def get_can_parser(CP): + messages = [ + # sig_address, frequency + ("ESP_B", 50), + ("DI_torque1", 100), + ("DI_torque2", 100), + ("STW_ANGLHP_STAT", 100), + ("EPAS_sysStatus", 25), + ("DI_state", 10), + ("STW_ACTN_RQ", 10), + ("GTW_carState", 10), + ("BrakeMessage", 50), + ] + + if CP.carFingerprint == CAR.TESLA_MODELS_RAVEN: + messages.append(("DriverSeat", 20)) + else: + messages.append(("SDM1", 10)) + + return CANParser(DBC[CP.carFingerprint]['chassis'], messages, CANBUS.chassis) + + @staticmethod + def get_cam_can_parser(CP): + messages = [ + # sig_address, frequency + ("DAS_control", 40), + ] + + if CP.carFingerprint == CAR.TESLA_MODELS_RAVEN: + messages.append(("EPAS3P_sysStatus", 100)) + + return CANParser(DBC[CP.carFingerprint]['chassis'], messages, CANBUS.autopilot_chassis) diff --git a/selfdrive/car/tesla/fingerprints.py b/selfdrive/car/tesla/fingerprints.py new file mode 100644 index 0000000000..68c50a62ed --- /dev/null +++ b/selfdrive/car/tesla/fingerprints.py @@ -0,0 +1,32 @@ +from cereal import car +from openpilot.selfdrive.car.tesla.values import CAR + +Ecu = car.CarParams.Ecu + +FW_VERSIONS = { + CAR.TESLA_AP2_MODELS: { + (Ecu.adas, 0x649, None): [ + b'\x01\x00\x8b\x07\x01\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x11', + ], + (Ecu.electricBrakeBooster, 0x64d, None): [ + b'1037123-00-A', + ], + (Ecu.fwdRadar, 0x671, None): [ + b'\x01\x00W\x00\x00\x00\x07\x00\x00\x00\x00\x08\x01\x00\x00\x00\x07\xff\xfe', + ], + (Ecu.eps, 0x730, None): [ + b'\x10#\x01', + ], + }, + CAR.TESLA_MODELS_RAVEN: { + (Ecu.electricBrakeBooster, 0x64d, None): [ + b'1037123-00-A', + ], + (Ecu.fwdRadar, 0x671, None): [ + b'\x01\x00\x99\x02\x01\x00\x10\x00\x00AP8.3.03\x00\x10', + ], + (Ecu.eps, 0x730, None): [ + b'SX_0.0.0 (99),SR013.7', + ], + }, +} diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py new file mode 100755 index 0000000000..deb0e00230 --- /dev/null +++ b/selfdrive/car/tesla/interface.py @@ -0,0 +1,47 @@ +#!/usr/bin/env python3 +from cereal import car +from panda import Panda +from openpilot.selfdrive.car.tesla.values import CANBUS, CAR +from openpilot.selfdrive.car import get_safety_config +from openpilot.selfdrive.car.interfaces import CarInterfaceBase + + +class CarInterface(CarInterfaceBase): + @staticmethod + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): + ret.carName = "tesla" + + # There is no safe way to do steer blending with user torque, + # so the steering behaves like autopilot. This is not + # how openpilot should be, hence dashcamOnly + ret.dashcamOnly = True + + ret.steerControlType = car.CarParams.SteerControlType.angle + + ret.longitudinalActuatorDelay = 0.5 # s + ret.radarTimeStep = (1.0 / 8) # 8Hz + + # Check if we have messages on an auxiliary panda, and that 0x2bf (DAS_control) is present on the AP powertrain bus + # If so, we assume that it is connected to the longitudinal harness. + flags = (Panda.FLAG_TESLA_RAVEN if candidate == CAR.TESLA_MODELS_RAVEN else 0) + if (CANBUS.autopilot_powertrain in fingerprint.keys()) and (0x2bf in fingerprint[CANBUS.autopilot_powertrain].keys()): + ret.openpilotLongitudinalControl = True + flags |= Panda.FLAG_TESLA_LONG_CONTROL + ret.safetyConfigs = [ + get_safety_config(car.CarParams.SafetyModel.tesla, flags), + get_safety_config(car.CarParams.SafetyModel.tesla, flags | Panda.FLAG_TESLA_POWERTRAIN), + ] + else: + ret.openpilotLongitudinalControl = False + ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.tesla, flags)] + + ret.steerLimitTimer = 1.0 + ret.steerActuatorDelay = 0.25 + return ret + + def _update(self, c): + ret = self.CS.update(self.cp, self.cp_cam) + + ret.events = self.create_common_events(ret).to_msg() + + return ret diff --git a/selfdrive/car/tesla/radar_interface.py b/selfdrive/car/tesla/radar_interface.py new file mode 100755 index 0000000000..1684e42e7f --- /dev/null +++ b/selfdrive/car/tesla/radar_interface.py @@ -0,0 +1,90 @@ +#!/usr/bin/env python3 +from cereal import car +from opendbc.can.parser import CANParser +from openpilot.selfdrive.car.tesla.values import CAR, DBC, CANBUS +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase + + +class RadarInterface(RadarInterfaceBase): + def __init__(self, CP): + super().__init__(CP) + + if CP.carFingerprint == CAR.TESLA_MODELS_RAVEN: + messages = [('RadarStatus', 16)] + self.num_points = 40 + self.trigger_msg = 1119 + else: + messages = [('TeslaRadarSguInfo', 10)] + self.num_points = 32 + self.trigger_msg = 878 + + for i in range(self.num_points): + messages.extend([ + (f'RadarPoint{i}_A', 16), + (f'RadarPoint{i}_B', 16), + ]) + + self.rcp = CANParser(DBC[CP.carFingerprint]['radar'], messages, CANBUS.radar) + self.updated_messages = set() + self.track_id = 0 + + def update(self, can_strings): + if self.rcp is None: + return super().update(None) + + values = self.rcp.update_strings(can_strings) + self.updated_messages.update(values) + + if self.trigger_msg not in self.updated_messages: + return None + + ret = car.RadarData.new_message() + + # Errors + errors = [] + if not self.rcp.can_valid: + errors.append('canError') + + if self.CP.carFingerprint == CAR.TESLA_MODELS_RAVEN: + radar_status = self.rcp.vl['RadarStatus'] + if radar_status['sensorBlocked'] or radar_status['shortTermUnavailable'] or radar_status['vehDynamicsError']: + errors.append('fault') + else: + radar_status = self.rcp.vl['TeslaRadarSguInfo'] + if radar_status['RADC_HWFail'] or radar_status['RADC_SGUFail'] or radar_status['RADC_SensorDirty']: + errors.append('fault') + + ret.errors = errors + + # Radar tracks + for i in range(self.num_points): + msg_a = self.rcp.vl[f'RadarPoint{i}_A'] + msg_b = self.rcp.vl[f'RadarPoint{i}_B'] + + # Make sure msg A and B are together + if msg_a['Index'] != msg_b['Index2']: + continue + + # Check if it's a valid track + if not msg_a['Tracked']: + if i in self.pts: + del self.pts[i] + continue + + # New track! + if i not in self.pts: + self.pts[i] = car.RadarData.RadarPoint.new_message() + self.pts[i].trackId = self.track_id + self.track_id += 1 + + # Parse track data + self.pts[i].dRel = msg_a['LongDist'] + self.pts[i].yRel = msg_a['LatDist'] + self.pts[i].vRel = msg_a['LongSpeed'] + self.pts[i].aRel = msg_a['LongAccel'] + self.pts[i].yvRel = msg_b['LatSpeed'] + self.pts[i].measured = bool(msg_a['Meas']) + + ret.points = list(self.pts.values()) + self.updated_messages.clear() + return ret diff --git a/selfdrive/car/tesla/teslacan.py b/selfdrive/car/tesla/teslacan.py new file mode 100644 index 0000000000..f8cd138e77 --- /dev/null +++ b/selfdrive/car/tesla/teslacan.py @@ -0,0 +1,94 @@ +import crcmod + +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car.tesla.values import CANBUS, CarControllerParams + + +class TeslaCAN: + def __init__(self, packer, pt_packer): + self.packer = packer + self.pt_packer = pt_packer + self.crc = crcmod.mkCrcFun(0x11d, initCrc=0x00, rev=False, xorOut=0xff) + + @staticmethod + def checksum(msg_id, dat): + # TODO: get message ID from name instead + ret = (msg_id & 0xFF) + ((msg_id >> 8) & 0xFF) + ret += sum(dat) + return ret & 0xFF + + def create_steering_control(self, angle, enabled, counter): + values = { + "DAS_steeringAngleRequest": -angle, + "DAS_steeringHapticRequest": 0, + "DAS_steeringControlType": 1 if enabled else 0, + "DAS_steeringControlCounter": counter, + } + + data = self.packer.make_can_msg("DAS_steeringControl", CANBUS.chassis, values)[1] + values["DAS_steeringControlChecksum"] = self.checksum(0x488, data[:3]) + return self.packer.make_can_msg("DAS_steeringControl", CANBUS.chassis, values) + + def create_action_request(self, msg_stw_actn_req, cancel, bus, counter): + # We copy this whole message when spamming cancel + values = {s: msg_stw_actn_req[s] for s in [ + "SpdCtrlLvr_Stat", + "VSL_Enbl_Rq", + "SpdCtrlLvrStat_Inv", + "DTR_Dist_Rq", + "TurnIndLvr_Stat", + "HiBmLvr_Stat", + "WprWashSw_Psd", + "WprWash_R_Sw_Posn_V2", + "StW_Lvr_Stat", + "StW_Cond_Flt", + "StW_Cond_Psd", + "HrnSw_Psd", + "StW_Sw00_Psd", + "StW_Sw01_Psd", + "StW_Sw02_Psd", + "StW_Sw03_Psd", + "StW_Sw04_Psd", + "StW_Sw05_Psd", + "StW_Sw06_Psd", + "StW_Sw07_Psd", + "StW_Sw08_Psd", + "StW_Sw09_Psd", + "StW_Sw10_Psd", + "StW_Sw11_Psd", + "StW_Sw12_Psd", + "StW_Sw13_Psd", + "StW_Sw14_Psd", + "StW_Sw15_Psd", + "WprSw6Posn", + "MC_STW_ACTN_RQ", + "CRC_STW_ACTN_RQ", + ]} + + if cancel: + values["SpdCtrlLvr_Stat"] = 1 + values["MC_STW_ACTN_RQ"] = counter + + data = self.packer.make_can_msg("STW_ACTN_RQ", bus, values)[1] + values["CRC_STW_ACTN_RQ"] = self.crc(data[:7]) + return self.packer.make_can_msg("STW_ACTN_RQ", bus, values) + + def create_longitudinal_commands(self, acc_state, speed, min_accel, max_accel, cnt): + messages = [] + values = { + "DAS_setSpeed": speed * CV.MS_TO_KPH, + "DAS_accState": acc_state, + "DAS_aebEvent": 0, + "DAS_jerkMin": CarControllerParams.JERK_LIMIT_MIN, + "DAS_jerkMax": CarControllerParams.JERK_LIMIT_MAX, + "DAS_accelMin": min_accel, + "DAS_accelMax": max_accel, + "DAS_controlCounter": cnt, + "DAS_controlChecksum": 0, + } + + for packer, bus in [(self.packer, CANBUS.chassis), (self.pt_packer, CANBUS.powertrain)]: + data = packer.make_can_msg("DAS_control", bus, values)[1] + values["DAS_controlChecksum"] = self.checksum(0x2b9, data[:7]) + messages.append(packer.make_can_msg("DAS_control", bus, values)) + return messages diff --git a/selfdrive/car/tesla/values.py b/selfdrive/car/tesla/values.py new file mode 100644 index 0000000000..0f9cd00f63 --- /dev/null +++ b/selfdrive/car/tesla/values.py @@ -0,0 +1,98 @@ +from collections import namedtuple + +from cereal import car +from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, PlatformConfig, Platforms, dbc_dict +from openpilot.selfdrive.car.docs_definitions import CarDocs +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries + +Ecu = car.CarParams.Ecu + +Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values']) + +class CAR(Platforms): + TESLA_AP1_MODELS = PlatformConfig( + [CarDocs("Tesla AP1 Model S", "All")], + CarSpecs(mass=2100., wheelbase=2.959, steerRatio=15.0), + dbc_dict('tesla_powertrain', 'tesla_radar_bosch_generated', chassis_dbc='tesla_can') + ) + TESLA_AP2_MODELS = PlatformConfig( + [CarDocs("Tesla AP2 Model S", "All")], + TESLA_AP1_MODELS.specs, + TESLA_AP1_MODELS.dbc_dict + ) + TESLA_MODELS_RAVEN = PlatformConfig( + [CarDocs("Tesla Model S Raven", "All")], + TESLA_AP1_MODELS.specs, + dbc_dict('tesla_powertrain', 'tesla_radar_continental_generated', chassis_dbc='tesla_can') + ) + +FW_QUERY_CONFIG = FwQueryConfig( + requests=[ + Request( + [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST], + [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE], + whitelist_ecus=[Ecu.eps], + rx_offset=0x08, + bus=0, + ), + Request( + [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.SUPPLIER_SOFTWARE_VERSION_REQUEST], + [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.SUPPLIER_SOFTWARE_VERSION_RESPONSE], + whitelist_ecus=[Ecu.eps], + rx_offset=0x08, + bus=0, + ), + Request( + [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST], + [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE], + whitelist_ecus=[Ecu.adas, Ecu.electricBrakeBooster, Ecu.fwdRadar], + rx_offset=0x10, + bus=0, + ), + ] +) + +class CANBUS: + # Lateral harness + chassis = 0 + radar = 1 + autopilot_chassis = 2 + + # Longitudinal harness + powertrain = 4 + private = 5 + autopilot_powertrain = 6 + +GEAR_MAP = { + "DI_GEAR_INVALID": car.CarState.GearShifter.unknown, + "DI_GEAR_P": car.CarState.GearShifter.park, + "DI_GEAR_R": car.CarState.GearShifter.reverse, + "DI_GEAR_N": car.CarState.GearShifter.neutral, + "DI_GEAR_D": car.CarState.GearShifter.drive, + "DI_GEAR_SNA": car.CarState.GearShifter.unknown, +} + +DOORS = ["DOOR_STATE_FL", "DOOR_STATE_FR", "DOOR_STATE_RL", "DOOR_STATE_RR", "DOOR_STATE_FrontTrunk", "BOOT_STATE"] + +# Make sure the message and addr is also in the CAN parser! +BUTTONS = [ + Button(car.CarState.ButtonEvent.Type.leftBlinker, "STW_ACTN_RQ", "TurnIndLvr_Stat", [1]), + Button(car.CarState.ButtonEvent.Type.rightBlinker, "STW_ACTN_RQ", "TurnIndLvr_Stat", [2]), + Button(car.CarState.ButtonEvent.Type.accelCruise, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [4, 16]), + Button(car.CarState.ButtonEvent.Type.decelCruise, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [8, 32]), + Button(car.CarState.ButtonEvent.Type.cancel, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [1]), + Button(car.CarState.ButtonEvent.Type.resumeCruise, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [2]), +] + +class CarControllerParams: + ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[10., 1.6, .3]) + ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[10., 7.0, 0.8]) + JERK_LIMIT_MAX = 8 + JERK_LIMIT_MIN = -8 + ACCEL_TO_SPEED_MULTIPLIER = 3 + + def __init__(self, CP): + pass + + +DBC = CAR.create_dbc_map() diff --git a/selfdrive/car/tests/__init__.py b/selfdrive/car/tests/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py new file mode 100644 index 0000000000..3aa2ea221e --- /dev/null +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -0,0 +1,163 @@ +import os +import math +import hypothesis.strategies as st +from hypothesis import Phase, given, settings +import importlib +from parameterized import parameterized + +from cereal import car, messaging +from openpilot.selfdrive.car import DT_CTRL, gen_empty_fingerprint +from openpilot.selfdrive.car.car_helpers import interfaces +from openpilot.selfdrive.car.fingerprints import all_known_cars +from openpilot.selfdrive.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS +from openpilot.selfdrive.car.interfaces import get_interface_attr +from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle +from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID +from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque +from openpilot.selfdrive.controls.lib.longcontrol import LongControl +from openpilot.selfdrive.pandad import can_capnp_to_list +from openpilot.selfdrive.test.fuzzy_generation import DrawType, FuzzyGenerator + +ALL_ECUS = {ecu for ecus in FW_VERSIONS.values() for ecu in ecus.keys()} +ALL_ECUS |= {ecu for config in FW_QUERY_CONFIGS.values() for ecu in config.extra_ecus} + +ALL_REQUESTS = {tuple(r.request) for config in FW_QUERY_CONFIGS.values() for r in config.requests} + +MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '60')) + + +def get_fuzzy_car_interface_args(draw: DrawType) -> dict: + # Fuzzy CAN fingerprints and FW versions to test more states of the CarInterface + fingerprint_strategy = st.fixed_dictionaries({key: st.dictionaries(st.integers(min_value=0, max_value=0x800), + st.integers(min_value=0, max_value=64)) for key in + gen_empty_fingerprint()}) + + # only pick from possible ecus to reduce search space + car_fw_strategy = st.lists(st.sampled_from(sorted(ALL_ECUS))) + + params_strategy = st.fixed_dictionaries({ + 'fingerprints': fingerprint_strategy, + 'car_fw': car_fw_strategy, + 'experimental_long': st.booleans(), + }) + + params: dict = draw(params_strategy) + params['car_fw'] = [car.CarParams.CarFw(ecu=fw[0], address=fw[1], subAddress=fw[2] or 0, + request=draw(st.sampled_from(sorted(ALL_REQUESTS)))) + for fw in params['car_fw']] + return params + + +class TestCarInterfaces: + # FIXME: Due to the lists used in carParams, Phase.target is very slow and will cause + # many generated examples to overrun when max_examples > ~20, don't use it + @parameterized.expand([(car,) for car in sorted(all_known_cars())]) + @settings(max_examples=MAX_EXAMPLES, deadline=None, + phases=(Phase.reuse, Phase.generate, Phase.shrink)) + @given(data=st.data()) + def test_car_interfaces(self, car_name, data): + CarInterface, CarController, CarState = interfaces[car_name] + + args = get_fuzzy_car_interface_args(data.draw) + + car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'], + experimental_long=args['experimental_long'], docs=False) + car_params = car_params.as_reader() + car_interface = CarInterface(car_params, CarController, CarState) + assert car_params + assert car_interface + + assert car_params.mass > 1 + assert car_params.wheelbase > 0 + # centerToFront is center of gravity to front wheels, assert a reasonable range + assert car_params.wheelbase * 0.3 < car_params.centerToFront < car_params.wheelbase * 0.7 + assert car_params.maxLateralAccel > 0 + + # Longitudinal sanity checks + assert len(car_params.longitudinalTuning.kpV) == len(car_params.longitudinalTuning.kpBP) + assert len(car_params.longitudinalTuning.kiV) == len(car_params.longitudinalTuning.kiBP) + + # If we're using the interceptor for gasPressed, we should be commanding gas with it + if car_params.enableGasInterceptorDEPRECATED: + self.assertTrue(car_params.openpilotLongitudinalControl) + + # Lateral sanity checks + if car_params.steerControlType != car.CarParams.SteerControlType.angle: + tune = car_params.lateralTuning + if tune.which() == 'pid': + assert not math.isnan(tune.pid.kf) and tune.pid.kf > 0 + assert len(tune.pid.kpV) > 0 and len(tune.pid.kpV) == len(tune.pid.kpBP) + assert len(tune.pid.kiV) > 0 and len(tune.pid.kiV) == len(tune.pid.kiBP) + + elif tune.which() == 'torque': + assert not math.isnan(tune.torque.kf) and tune.torque.kf > 0 + assert not math.isnan(tune.torque.friction) and tune.torque.friction > 0 + + cc_msg = FuzzyGenerator.get_random_msg(data.draw, car.CarControl, real_floats=True) + # Run car interface + now_nanos = 0 + CC = car.CarControl.new_message(**cc_msg) + for _ in range(10): + car_interface.update(CC, []) + car_interface.apply(CC.as_reader(), now_nanos) + now_nanos += DT_CTRL * 1e9 # 10 ms + + CC = car.CarControl.new_message(**cc_msg) + CC.enabled = True + for _ in range(10): + car_interface.update(CC, []) + car_interface.apply(CC.as_reader(), now_nanos) + now_nanos += DT_CTRL * 1e9 # 10ms + + # Test controller initialization + # TODO: wait until card refactor is merged to run controller a few times, + # hypothesis also slows down significantly with just one more message draw + LongControl(car_params) + if car_params.steerControlType == car.CarParams.SteerControlType.angle: + LatControlAngle(car_params, car_interface) + elif car_params.lateralTuning.which() == 'pid': + LatControlPID(car_params, car_interface) + elif car_params.lateralTuning.which() == 'torque': + LatControlTorque(car_params, car_interface) + + # Test radar interface + RadarInterface = importlib.import_module(f'selfdrive.car.{car_params.carName}.radar_interface').RadarInterface + radar_interface = RadarInterface(car_params) + assert radar_interface + + # Run radar interface once + radar_interface.update([]) + if not car_params.radarUnavailable and radar_interface.rcp is not None and \ + hasattr(radar_interface, '_update') and hasattr(radar_interface, 'trigger_msg'): + radar_interface._update([radar_interface.trigger_msg]) + + # Test radar fault + if not car_params.radarUnavailable and radar_interface.rcp is not None: + cans = can_capnp_to_list([messaging.new_message('can', 1).to_bytes() for _ in range(5)]) + rr = radar_interface.update(cans) + assert rr is None or len(rr.errors) > 0 + + def test_interface_attrs(self): + """Asserts basic behavior of interface attribute getter""" + num_brands = len(get_interface_attr('CAR')) + assert num_brands >= 13 + + # Should return value for all brands when not combining, even if attribute doesn't exist + ret = get_interface_attr('FAKE_ATTR') + assert len(ret) == num_brands + + # Make sure we can combine dicts + ret = get_interface_attr('DBC', combine_brands=True) + assert len(ret) >= 160 + + # We don't support combining non-dicts + ret = get_interface_attr('CAR', combine_brands=True) + assert len(ret) == 0 + + # If brand has None value, it shouldn't return when ignore_none=True is specified + none_brands = {b for b, v in get_interface_attr('FINGERPRINTS').items() if v is None} + assert len(none_brands) >= 1 + + ret = get_interface_attr('FINGERPRINTS', ignore_none=True) + none_brands_in_ret = none_brands.intersection(ret) + assert len(none_brands_in_ret) == 0, f'Brands with None values in ignore_none=True result: {none_brands_in_ret}' diff --git a/selfdrive/car/torque_data/lat_models/ACURA_RDX_3G.json b/selfdrive/car/torque_data/lat_models/ACURA_RDX_3G.json new file mode 100644 index 0000000000..68c6079aea --- /dev/null +++ b/selfdrive/car/torque_data/lat_models/ACURA_RDX_3G.json @@ -0,0 +1 @@ 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\ No newline at end of file diff --git a/selfdrive/car/torque_data/lat_models/AUDI_A3_MK3.json b/selfdrive/car/torque_data/lat_models/AUDI_A3_MK3.json new file mode 100644 index 0000000000..61fac13379 --- /dev/null +++ b/selfdrive/car/torque_data/lat_models/AUDI_A3_MK3.json @@ -0,0 +1 @@ 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\ No newline at end of file diff --git a/selfdrive/car/torque_data/lat_models/AUDI_Q3_MK2.json b/selfdrive/car/torque_data/lat_models/AUDI_Q3_MK2.json new file mode 100644 index 0000000000..04a37fb732 --- /dev/null +++ b/selfdrive/car/torque_data/lat_models/AUDI_Q3_MK2.json @@ -0,0 +1 @@ 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0.24106740951538086, -0.008969511836767197, 0.2872662842273712], "w_3": [[-1.364486813545227, -0.11682678014039993, 0.01764785870909691, 0.03926877677440643], [-0.05695437639951706, 0.05472218990325928, 0.1266128271818161, 0.09950875490903854], [0.11415273696184158, -0.10069356113672256, 0.0864749327301979, -0.043946366757154465], [-0.10138195008039474, -0.040128443390131, -0.08937158435583115, -0.0048376512713730335], [-0.0028251828625798225, -0.04743027314543724, 0.06340016424655914, 0.07277824729681015], [0.49482327699661255, -0.06410001963376999, -0.0999293103814125, -0.14250673353672028], [0.042802367359399796, 0.0015462725423276424, -0.05991362780332565, 0.1022040992975235], [0.3523194193840027, 0.07343732565641403, 0.04157765582203865, -0.12358107417821884]], "b_3": [0.2653026282787323, -0.058485131710767746, -0.0744510293006897, 0.012550175189971924], "w_4": [[0.5988775491714478, 0.09668736904859543], [-0.04360569268465042, 0.06491032242774963], [-0.11868984252214432, -0.09601487964391708], [-0.06554870307445526, -0.14189276099205017]], "b_4": [-0.08148707449436188, -2.8251802921295166], "input_norm_mat": [[-3.0, 3.0], [-3.0, 3.0], [0.0, 40.0], [-3.0, 3.0]], "output_norm_mat": [-1.0, 1.0], "temperature": 100.0}} \ No newline at end of file diff --git a/selfdrive/car/torque_data/override.toml b/selfdrive/car/torque_data/override.toml new file mode 100644 index 0000000000..2949bbb82f --- /dev/null +++ b/selfdrive/car/torque_data/override.toml @@ -0,0 +1,80 @@ +legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"] +### angle control +# Nissan appears to have torque +"NISSAN_XTRAIL" = [nan, 1.5, nan] +"NISSAN_ALTIMA" = [nan, 1.5, nan] +"NISSAN_LEAF_IC" = [nan, 1.5, nan] +"NISSAN_LEAF" = [nan, 1.5, nan] +"NISSAN_ROGUE" = [nan, 1.5, nan] + +# New subarus angle based controllers +"SUBARU_FORESTER_2022" = [nan, 3.0, nan] +"SUBARU_OUTBACK_2023" = [nan, 3.0, nan] +"SUBARU_ASCENT_2023" = [nan, 3.0, nan] + +# Toyota LTA also has torque +"TOYOTA_RAV4_TSS2_2023" = [nan, 3.0, nan] + +# Tesla has high torque +"TESLA_AP1_MODELS" = [nan, 2.5, nan] +"TESLA_AP2_MODELS" = [nan, 2.5, nan] +"TESLA_MODELS_RAVEN" = [nan, 2.5, nan] + +# Guess +"FORD_BRONCO_SPORT_MK1" = [nan, 1.5, nan] +"FORD_ESCAPE_MK4" = [nan, 1.5, nan] +"FORD_EXPLORER_MK6" = [nan, 1.5, nan] +"FORD_F_150_MK14" = [nan, 1.5, nan] +"FORD_FOCUS_MK4" = [nan, 1.5, nan] +"FORD_MAVERICK_MK1" = [nan, 1.5, nan] +"FORD_F_150_LIGHTNING_MK1" = [nan, 1.5, nan] +"FORD_MUSTANG_MACH_E_MK1" = [nan, 1.5, nan] +"FORD_RANGER_MK2" = [nan, 1.5, nan] +### + +# No steering wheel +"COMMA_BODY" = [nan, 1000, nan] + +# Totally new cars +"RAM_1500_5TH_GEN" = [2.0, 2.0, 0.05] +"RAM_HD_5TH_GEN" = [1.4, 1.4, 0.05] +"SUBARU_OUTBACK" = [2.0, 1.5, 0.2] +"CADILLAC_ESCALADE" = [1.899999976158142, 1.842270016670227, 0.1120000034570694] +"CADILLAC_ESCALADE_ESV_2019" = [1.15, 1.3, 0.2] +"CHEVROLET_BOLT_EUV" = [2.0, 2.0, 0.05] +"CHEVROLET_SILVERADO" = [1.9, 1.9, 0.112] +"CHEVROLET_TRAILBLAZER" = [1.33, 1.9, 0.16] +"CHEVROLET_EQUINOX" = [2.5, 2.5, 0.05] +"VOLKSWAGEN_CADDY_MK3" = [1.2, 1.2, 0.1] +"VOLKSWAGEN_PASSAT_NMS" = [2.5, 2.5, 0.1] +"VOLKSWAGEN_SHARAN_MK2" = [2.5, 2.5, 0.1] +"HYUNDAI_SANTA_CRUZ_1ST_GEN" = [2.7, 2.7, 0.1] +"KIA_SPORTAGE_5TH_GEN" = [2.6, 2.6, 0.1] +"GENESIS_GV70_1ST_GEN" = [2.42, 2.42, 0.1] +"GENESIS_GV60_EV_1ST_GEN" = [2.5, 2.5, 0.1] +"KIA_SORENTO_4TH_GEN" = [2.5, 2.5, 0.1] +"KIA_SORENTO_HEV_4TH_GEN" = [2.5, 2.5, 0.1] +"KIA_NIRO_HEV_2ND_GEN" = [2.42, 2.5, 0.12] +"KIA_NIRO_EV_2ND_GEN" = [2.05, 2.5, 0.14] +"GENESIS_GV80" = [2.5, 2.5, 0.1] +"KIA_CARNIVAL_4TH_GEN" = [1.75, 1.75, 0.15] +"GMC_ACADIA" = [1.6, 1.6, 0.2] +"LEXUS_IS_TSS2" = [2.0, 2.0, 0.1] +"HYUNDAI_KONA_EV_2ND_GEN" = [2.5, 2.5, 0.1] +"HYUNDAI_IONIQ_6" = [2.5, 2.5, 0.005] +"HYUNDAI_AZERA_6TH_GEN" = [1.8, 1.8, 0.1] +"HYUNDAI_AZERA_HEV_6TH_GEN" = [1.8, 1.8, 0.1] +"KIA_K8_HEV_1ST_GEN" = [2.5, 2.5, 0.1] +"HYUNDAI_CUSTIN_1ST_GEN" = [2.5, 2.5, 0.1] +"LEXUS_GS_F" = [2.5, 2.5, 0.08] +"HYUNDAI_STARIA_4TH_GEN" = [1.8, 2.0, 0.15] + +# Dashcam or fallback configured as ideal car +"MOCK" = [10.0, 10, 0.0] + +# Manually checked +"HONDA_CIVIC_2022" = [2.5, 1.2, 0.15] +"HONDA_HRV_3G" = [2.5, 1.2, 0.2] + +"HONDA_ACCORD_4CYL_9TH_GEN" = [1.7, 0.35, 0.21] +"HYUNDAI_BAYON_1ST_GEN_NON_SCC" = [2.5, 2.5, 0.1] diff --git a/selfdrive/car/torque_data/params.toml b/selfdrive/car/torque_data/params.toml new file mode 100644 index 0000000000..f8884b1866 --- /dev/null +++ b/selfdrive/car/torque_data/params.toml @@ -0,0 +1,82 @@ +legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"] +"ACURA_ILX" = [1.524988973896102, 0.519011053086259, 0.34236219253028] +"ACURA_RDX" = [0.9987728568686902, 0.5323765166196301, 0.303218805715844] +"ACURA_RDX_3G" = [1.4314459806646749, 0.33874701282109954, 0.18048847083897598] +"AUDI_A3_MK3" = [1.5122414863077502, 1.7443517531719404, 0.15194151892450905] +"AUDI_Q3_MK2" = [1.4439223359448605, 1.2254955789112076, 0.1413798895978097] +"CHEVROLET_VOLT" = [1.5961527626411784, 1.8422651988094612, 0.1572393918005158] +"CHRYSLER_PACIFICA_2018" = [2.07140, 1.3366521181047952, 0.13776367250652022] +"CHRYSLER_PACIFICA_2020" = [1.86206, 1.509076559398423, 0.14328246159386085] +"CHRYSLER_PACIFICA_2018_HYBRID" = [2.08887, 1.2943025830995154, 0.114818] +"CHRYSLER_PACIFICA_2019_HYBRID" = [1.90120, 1.1958788168371808, 0.131520] +"GENESIS_G70" = [3.8520195946707947, 2.354697063349854, 0.06830285485626221] +"HONDA_ACCORD" = [1.6893333799149202, 0.3246749081720698, 0.2120497022936265] +"HONDA_CIVIC_BOSCH" = [1.691708637466905, 0.40132900729454185, 0.25460295304024094] +"HONDA_CIVIC" = [1.6528895627785531, 0.4018518740819229, 0.25458812851328544] +"HONDA_CLARITY" = [1.6528895627785531, 0.4018518740819229, 0.25458812851328544] +"HONDA_CRV" = [0.7667141440182675, 0.5927571534745969, 0.40909087636157127] +"HONDA_CRV_5G" = [2.01323205142022, 0.2700612209345081, 0.2238412881331528] +"HONDA_CRV_HYBRID" = [2.072034634644233, 0.7152085160516978, 0.20237105008376083] +"HONDA_FIT" = [1.5719981427109775, 0.5712761407108976, 0.110773383324281] +"HONDA_HRV" = [2.0661212805710205, 0.7521343418694775, 0.17760375789242094] +"HONDA_INSIGHT" = [1.5201671214069354, 0.5660229120683284, 0.25808042580281876] +"HONDA_ODYSSEY" = [1.8774809275211801, 0.8394431662987996, 0.2096978613792822] +"HONDA_PILOT" = [1.7262026201812795, 0.9470005614967523, 0.21351430733218763] +"HONDA_RIDGELINE" = [1.4146525028237624, 0.7356572861629564, 0.23307177552211328] +"HYUNDAI_ELANTRA_2021" = [3.169, 2.1259108157250735, 0.0819] +"HYUNDAI_GENESIS" = [2.7807965280270794, 2.325, 0.0984484465421171] +"HYUNDAI_IONIQ_5" = [3.172929, 2.713050, 0.096019] +"HYUNDAI_IONIQ_EV_LTD" = [1.7662975472852054, 1.613755614526594, 0.17087579756306276] +"HYUNDAI_IONIQ_PHEV" = [3.2928700076638537, 2.1193482926455656, 0.12463700961468778] +"HYUNDAI_IONIQ_PHEV_2019" = [2.970807902012267, 1.6312321830002083, 0.1088964990357482] +"HYUNDAI_KONA_EV" = [3.078814714619148, 2.307336938253934, 0.12359762054065548] +"HYUNDAI_PALISADE" = [2.544642494803999, 1.8721703683337008, 0.1301424599248651] +"HYUNDAI_SANTA_FE" = [3.0787027729757632, 2.6173437483495565, 0.1207019341823945] +"HYUNDAI_SANTA_FE_HEV_2022" = [3.501877602644835, 2.729064118456137, 0.10384068104538963] +"HYUNDAI_SANTA_FE_PHEV_2022" = [1.6953050513611045, 1.5837614296206861, 0.12672855941458458] +"HYUNDAI_SONATA_LF" = [2.2200457811703953, 1.2967330275895228, 0.14039920986586393] +"HYUNDAI_SONATA" = [2.9638737459977467, 2.1259108157250735, 0.07813665616927593] +"HYUNDAI_SONATA_HYBRID" = [2.8990264092395734, 2.061410192222139, 0.0899805488717382] +"HYUNDAI_TUCSON_4TH_GEN" = [2.960174, 2.860284, 0.108745] +"JEEP_GRAND_CHEROKEE_2019" = [2.30972, 1.289689569171081, 0.117048] +"JEEP_GRAND_CHEROKEE" = [2.27116, 1.4057367824262523, 0.11725947414922003] +"KIA_EV6" = [3.2, 2.093457, 0.005] +"KIA_K5_2021" = [2.405339728085138, 1.460032270828705, 0.11650989850813716] +"KIA_NIRO_EV" = [2.9215954981365337, 2.1500583840260044, 0.09236802474810267] +"KIA_SORENTO" = [2.464854685101844, 1.5335274218367956, 0.12056170567599558] +"KIA_STINGER" = [2.7499043387418967, 1.849652021986449, 0.12048334239559202] +"LEXUS_ES_TSS2" = [2.0357564999999997, 1.999082295195227, 0.101533] +"LEXUS_NX" = [2.3525924753753613, 1.9731412277641067, 0.15168101064205927] +"LEXUS_NX_TSS2" = [2.4331999786982936, 2.1045680431705414, 0.14099899317761067] +"LEXUS_RX" = [1.6430539050086406, 1.181960058934143, 0.19768806040843034] +"LEXUS_RX_TSS2" = [1.5375561442049257, 1.343166476215164, 0.1931062001527557] +"MAZDA_CX9_2021" = [1.7601682915983443, 1.0889677335154337, 0.17713792194297195] +"SKODA_SUPERB_MK3" = [1.166437404652981, 1.1686163012668165, 0.12194533036948708] +"SUBARU_FORESTER" = [3.6617001649776793, 2.342197172531713, 0.11075960785398745] +"SUBARU_IMPREZA" = [1.0670704910352047, 0.8234374840709592, 0.20986563268614938] +"SUBARU_IMPREZA_2020" = [2.6068223389108303, 2.134872342760203, 0.15261513193561627] +"TOYOTA_AVALON" = [2.5185770183845646, 1.7153346784214922, 0.10603968787111022] +"TOYOTA_AVALON_2019" = [1.7036141952825095, 1.239619084240008, 0.08459830394899492] +"TOYOTA_AVALON_TSS2" = [2.3154403649717357, 2.7777922854327124, 0.11453999639164605] +"TOYOTA_CHR" = [1.5591084333664578, 1.271271459066948, 0.20259087058453193] +"TOYOTA_CHR_TSS2" = [1.7678810166088303, 1.3742176337919942, 0.2319674583741509] +"TOYOTA_CAMRY" = [2.0568162685952505, 1.7576185169559122, 0.108878753] +"TOYOTA_CAMRY_TSS2" = [2.3548324999999997, 2.368900128946771, 0.118436] +"TOYOTA_COROLLA" = [3.117154369115421, 1.8438132575043773, 0.12289685869250652] +"TOYOTA_COROLLA_TSS2" = [1.991132339206426, 1.868866242720403, 0.19570063298031432] +"TOYOTA_HIGHLANDER" = [1.8108348718624456, 1.6348421600679828, 0.15972686105120398] +"TOYOTA_HIGHLANDER_TSS2" = [1.9617570834136164, 1.8611643317268927, 0.14519673256119725] +"TOYOTA_MIRAI" = [2.506899832157829, 1.7417213930750164, 0.20182618449440565] +"TOYOTA_PRIUS" = [1.60, 1.5023147650693636, 0.151515] +"TOYOTA_PRIUS_TSS2" = [1.972600, 1.9104337425537743, 0.170968] +"TOYOTA_RAV4" = [2.085695074355425, 2.2142832316984733, 0.13339165270103975] +"TOYOTA_RAV4_TSS2" = [2.279239424615458, 2.087101966779332, 0.13682208413446817] +"TOYOTA_RAV4H" = [1.9796257271652042, 1.7503987331707576, 0.14628860048885406] +"TOYOTA_RAV4_TSS2_2022" = [2.241883248393209, 1.9304407208090029, 0.112174] +"TOYOTA_SIENNA" = [1.689726, 1.3208264576110418, 0.140456] +"VOLKSWAGEN_ARTEON_MK1" = [1.45136518053819, 1.3639364049316804, 0.23806361745695032] +"VOLKSWAGEN_ATLAS_MK1" = [1.4677006726964945, 1.6733266634075656, 0.12959584092073367] +"VOLKSWAGEN_GOLF_MK7" = [1.3750394140491293, 1.5814743077200641, 0.2018321939386586] +"VOLKSWAGEN_JETTA_MK7" = [1.2271623034089392, 1.216955117387, 0.19437384688370712] +"VOLKSWAGEN_PASSAT_MK8" = [1.3432120736752917, 1.7087275587362314, 0.19444383787326647] +"VOLKSWAGEN_TIGUAN_MK2" = [0.9711965500094828, 1.0001565939459098, 0.1465626137072916] diff --git a/selfdrive/car/torque_data/substitute.toml b/selfdrive/car/torque_data/substitute.toml new file mode 100644 index 0000000000..7fb8ec7f3f --- /dev/null +++ b/selfdrive/car/torque_data/substitute.toml @@ -0,0 +1,92 @@ +legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"] +"MAZDA_3" = "MAZDA_CX9_2021" +"MAZDA_6" = "MAZDA_CX9_2021" +"MAZDA_CX5" = "MAZDA_CX9_2021" +"MAZDA_CX5_2022" = "MAZDA_CX9_2021" +"MAZDA_CX9" = "MAZDA_CX9_2021" + +"DODGE_DURANGO" = "CHRYSLER_PACIFICA_2020" + +"TOYOTA_ALPHARD_TSS2" = "TOYOTA_SIENNA" +"TOYOTA_PRIUS_V" = "TOYOTA_PRIUS" +"LEXUS_IS" = "LEXUS_NX" +"LEXUS_CTH" = "LEXUS_NX" +"LEXUS_ES" = "TOYOTA_CAMRY" +"LEXUS_RC" = "LEXUS_NX_TSS2" +"LEXUS_LC_TSS2" = "LEXUS_NX_TSS2" + +"KIA_OPTIMA_G4" = "HYUNDAI_SONATA" +"KIA_OPTIMA_G4_FL" = "HYUNDAI_SONATA" +"KIA_OPTIMA_H" = "HYUNDAI_SONATA" +"KIA_OPTIMA_H_G4_FL" = "HYUNDAI_SONATA" +"KIA_FORTE" = "HYUNDAI_SONATA" +"KIA_CEED" = "HYUNDAI_SONATA" +"KIA_SELTOS" = "HYUNDAI_SONATA" +"KIA_NIRO_PHEV" = "KIA_NIRO_EV" +"KIA_NIRO_PHEV_2022" = "KIA_NIRO_EV" +"KIA_NIRO_HEV_2021" = "KIA_NIRO_EV" +"HYUNDAI_VELOSTER" = "HYUNDAI_SONATA_LF" +"HYUNDAI_KONA" = "HYUNDAI_KONA_EV" +"HYUNDAI_KONA_HEV" = "HYUNDAI_KONA_EV" +"HYUNDAI_KONA_EV_2022" = "HYUNDAI_KONA_EV" +"HYUNDAI_IONIQ" = "HYUNDAI_IONIQ_PHEV_2019" +"HYUNDAI_IONIQ_HEV_2022" = "HYUNDAI_IONIQ_PHEV_2019" +"HYUNDAI_IONIQ_EV_2020" = "HYUNDAI_IONIQ_PHEV_2019" +"HYUNDAI_ELANTRA" = "HYUNDAI_SONATA_LF" +"HYUNDAI_ELANTRA_GT_I30" = "HYUNDAI_SONATA_LF" +"HYUNDAI_ELANTRA_HEV_2021" = "HYUNDAI_SONATA" +"HYUNDAI_TUCSON" = "HYUNDAI_SANTA_FE" +"HYUNDAI_SANTA_FE_2022" = "HYUNDAI_SANTA_FE_HEV_2022" +"KIA_K5_HEV_2020" = "KIA_K5_2021" +"KIA_STINGER_2022" = "KIA_STINGER" +"GENESIS_G90" = "GENESIS_G70" +"GENESIS_G80" = "GENESIS_G70" +"GENESIS_G70_2020" = "HYUNDAI_SONATA" + +"HONDA_FREED" = "HONDA_ODYSSEY" +"HONDA_CRV_EU" = "HONDA_CRV" +"HONDA_CIVIC_BOSCH_DIESEL" = "HONDA_CIVIC_BOSCH" +"HONDA_E" = "HONDA_CIVIC_BOSCH" +"HONDA_ODYSSEY_CHN" = "HONDA_ODYSSEY" + +"BUICK_LACROSSE" = "CHEVROLET_VOLT" +"BUICK_REGAL" = "CHEVROLET_VOLT" +"CADILLAC_ESCALADE_ESV" = "CHEVROLET_VOLT" +"CADILLAC_ATS" = "CHEVROLET_VOLT" +"CHEVROLET_MALIBU" = "CHEVROLET_VOLT" +"HOLDEN_ASTRA" = "CHEVROLET_VOLT" + +"SKODA_FABIA_MK4" = "VOLKSWAGEN_GOLF_MK7" +"SKODA_OCTAVIA_MK3" = "SKODA_SUPERB_MK3" +"SKODA_KODIAQ_MK1" = "SKODA_SUPERB_MK3" +"SKODA_KAROQ_MK1" = "SKODA_SUPERB_MK3" +"SKODA_KAMIQ_MK1" = "SKODA_SUPERB_MK3" +"VOLKSWAGEN_CRAFTER_MK2" = "VOLKSWAGEN_TIGUAN_MK2" +"VOLKSWAGEN_TROC_MK1" = "VOLKSWAGEN_TIGUAN_MK2" +"VOLKSWAGEN_TCROSS_MK1" = "VOLKSWAGEN_TIGUAN_MK2" +"VOLKSWAGEN_TOURAN_MK2" = "VOLKSWAGEN_TIGUAN_MK2" +"VOLKSWAGEN_TRANSPORTER_T61" = "VOLKSWAGEN_TIGUAN_MK2" +"AUDI_Q2_MK1" = "VOLKSWAGEN_TIGUAN_MK2" +"VOLKSWAGEN_TAOS_MK1" = "VOLKSWAGEN_TIGUAN_MK2" +"VOLKSWAGEN_POLO_MK6" = "VOLKSWAGEN_GOLF_MK7" +"SEAT_ATECA_MK1" = "VOLKSWAGEN_GOLF_MK7" + +"SUBARU_CROSSTREK_HYBRID" = "SUBARU_IMPREZA_2020" +"SUBARU_FORESTER_HYBRID" = "SUBARU_IMPREZA_2020" +"SUBARU_LEGACY" = "SUBARU_OUTBACK" + +# Old subarus don't have much data guessing it's like low torque impreza" +"SUBARU_OUTBACK_PREGLOBAL_2018" = "SUBARU_IMPREZA" +"SUBARU_OUTBACK_PREGLOBAL" = "SUBARU_IMPREZA" +"SUBARU_FORESTER_PREGLOBAL" = "SUBARU_IMPREZA" +"SUBARU_LEGACY_PREGLOBAL" = "SUBARU_IMPREZA" +"SUBARU_ASCENT" = "SUBARU_FORESTER" + +"KIA_FORTE_2019_NON_SCC" = "HYUNDAI_SONATA" +"KIA_FORTE_2021_NON_SCC" = "HYUNDAI_SONATA" +"KIA_SELTOS_2023_NON_SCC" = "HYUNDAI_SONATA" +"HYUNDAI_KONA_NON_SCC" = "HYUNDAI_KONA_EV" +"HYUNDAI_KONA_EV_NON_SCC" = "HYUNDAI_KONA_EV" +"HYUNDAI_ELANTRA_2022_NON_SCC" = "HYUNDAI_ELANTRA_2021" +"GENESIS_G70_2021_NON_SCC" = "HYUNDAI_SONATA" +"KIA_CEED_PHEV_2022_NON_SCC" = "HYUNDAI_SONATA" diff --git a/selfdrive/car/toyota/__init__.py b/selfdrive/car/toyota/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py new file mode 100644 index 0000000000..b71fbe4f38 --- /dev/null +++ b/selfdrive/car/toyota/carcontroller.py @@ -0,0 +1,288 @@ +from cereal import car +from common.conversions import Conversions as CV +from openpilot.common.numpy_fast import clip, interp +from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, make_can_msg, make_tester_present_msg, \ + create_gas_interceptor_command +from openpilot.selfdrive.car.interfaces import CarControllerBase +from openpilot.selfdrive.car.toyota import toyotacan +from openpilot.selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \ + MIN_ACC_SPEED, PEDAL_TRANSITION, CarControllerParams, ToyotaFlags, ToyotaFlagsSP, \ + UNSUPPORTED_DSU_CAR +from opendbc.can.packer import CANPacker + +GearShifter = car.CarState.GearShifter +SteerControlType = car.CarParams.SteerControlType +VisualAlert = car.CarControl.HUDControl.VisualAlert + +# LKA limits +# EPS faults if you apply torque while the steering rate is above 100 deg/s for too long +MAX_STEER_RATE = 100 # deg/s +MAX_STEER_RATE_FRAMES = 18 # tx control frames needed before torque can be cut + +# EPS allows user torque above threshold for 50 frames before permanently faulting +MAX_USER_TORQUE = 500 + +# LTA limits +# EPS ignores commands above this angle and causes PCS to fault +MAX_LTA_ANGLE = 94.9461 # deg +MAX_LTA_DRIVER_TORQUE_ALLOWANCE = 150 # slightly above steering pressed allows some resistance when changing lanes + +LEFT_BLINDSPOT = b"\x41" +RIGHT_BLINDSPOT = b"\x42" + +UNLOCK_CMD = b"\x40\x05\x30\x11\x00\x40\x00\x00" +LOCK_CMD = b"\x40\x05\x30\x11\x00\x80\x00\x00" + + +class CarController(CarControllerBase): + def __init__(self, dbc_name, CP, VM): + super().__init__(dbc_name, CP, VM) + self.params = CarControllerParams(self.CP) + self.last_steer = 0 + self.last_angle = 0 + self.alert_active = False + self.last_standstill = False + self.standstill_req = False + self.steer_rate_counter = 0 + self.distance_button = 0 + + self.packer = CANPacker(dbc_name) + self.gas = 0 + self.accel = 0 + + self.left_blindspot_debug_enabled = False + self.right_blindspot_debug_enabled = False + self.last_blindspot_frame = 0 + + self._auto_lock_speed = 0.0 + self._auto_lock_once = False + self._gear_prev = GearShifter.park + + def update(self, CC, CS, now_nanos): + self._auto_lock_speed = 10 * (CV.KPH_TO_MS if CS.params_list.is_metric else CV.MPH_TO_MS) + + actuators = CC.actuators + hud_control = CC.hudControl + pcm_cancel_cmd = CC.cruiseControl.cancel + lat_active = CC.latActive and abs(CS.out.steeringTorque) < MAX_USER_TORQUE and abs(CS.out.steeringAngleDeg) < MAX_USER_TORQUE + + # *** control msgs *** + can_sends = [] + + # automatic door locking and unlocking logic (@dragonpilot-community) + # thanks to AlexandreSato & cydia2020 + # https://github.com/AlexandreSato/animalpilot/blob/personal/doors.py + gear = CS.out.gearShifter + if not CS.out.doorOpen: + if gear == GearShifter.park and self._gear_prev != gear: + if CS.params_list.toyota_auto_unlock_by_shifter: + can_sends.append(make_can_msg(0x750, UNLOCK_CMD, 0)) + self._auto_lock_once = False + elif gear == GearShifter.drive and not self._auto_lock_once and CS.out.vEgo >= self._auto_lock_speed: + if CS.params_list.toyota_auto_lock_by_speed: + can_sends.append(make_can_msg(0x750, LOCK_CMD, 0)) + self._auto_lock_once = True + self._gear_prev = gear + + # *** steer torque *** + new_steer = int(round(actuators.steer * self.params.STEER_MAX)) + apply_steer = apply_meas_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.params) + + # >100 degree/sec steering fault prevention + self.steer_rate_counter, apply_steer_req = common_fault_avoidance(abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE, lat_active, + self.steer_rate_counter, MAX_STEER_RATE_FRAMES) + + if not lat_active: + apply_steer = 0 + + # *** steer angle *** + if self.CP.steerControlType == SteerControlType.angle: + # If using LTA control, disable LKA and set steering angle command + apply_steer = 0 + apply_steer_req = False + if self.frame % 2 == 0: + # EPS uses the torque sensor angle to control with, offset to compensate + apply_angle = actuators.steeringAngleDeg + CS.out.steeringAngleOffsetDeg + + # Angular rate limit based on speed + apply_angle = apply_std_steer_angle_limits(apply_angle, self.last_angle, CS.out.vEgoRaw, self.params) + + if not lat_active: + apply_angle = CS.out.steeringAngleDeg + CS.out.steeringAngleOffsetDeg + + self.last_angle = clip(apply_angle, -MAX_LTA_ANGLE, MAX_LTA_ANGLE) + + self.last_steer = apply_steer + + # toyota can trace shows STEERING_LKA at 42Hz, with counter adding alternatively 1 and 2; + # sending it at 100Hz seem to allow a higher rate limit, as the rate limit seems imposed + # on consecutive messages + can_sends.append(toyotacan.create_steer_command(self.packer, apply_steer, apply_steer_req and lat_active)) + + # STEERING_LTA does not seem to allow more rate by sending faster, and may wind up easier + if self.frame % 2 == 0 and self.CP.carFingerprint in TSS2_CAR: + lta_active = lat_active and self.CP.steerControlType == SteerControlType.angle + # cut steering torque with TORQUE_WIND_DOWN when either EPS torque or driver torque is above + # the threshold, to limit max lateral acceleration and for driver torque blending respectively. + full_torque_condition = (abs(CS.out.steeringTorqueEps) < self.params.STEER_MAX and + abs(CS.out.steeringTorque) < MAX_LTA_DRIVER_TORQUE_ALLOWANCE) + + # TORQUE_WIND_DOWN at 0 ramps down torque at roughly the max down rate of 1500 units/sec + torque_wind_down = 100 if lta_active and full_torque_condition else 0 + can_sends.append(toyotacan.create_lta_steer_command(self.packer, self.CP.steerControlType, self.last_angle, + lta_active, self.frame // 2, torque_wind_down)) + + # *** gas and brake *** + if self.CP.enableGasInterceptorDEPRECATED and CC.longActive: + MAX_INTERCEPTOR_GAS = 0.5 + # RAV4 has very sensitive gas pedal + if self.CP.carFingerprint in (CAR.TOYOTA_RAV4, CAR.TOYOTA_RAV4H, CAR.TOYOTA_HIGHLANDER): + PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.15, 0.3, 0.0]) + elif self.CP.carFingerprint in (CAR.TOYOTA_COROLLA,): + PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.3, 0.4, 0.0]) + else: + PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.4, 0.5, 0.0]) + # offset for creep and windbrake + pedal_offset = interp(CS.out.vEgo, [0.0, 2.3, MIN_ACC_SPEED + PEDAL_TRANSITION], [-.4, 0.0, 0.2]) + pedal_command = PEDAL_SCALE * (actuators.accel + pedal_offset) + interceptor_gas_cmd = clip(pedal_command, 0., MAX_INTERCEPTOR_GAS) + else: + interceptor_gas_cmd = 0. + pcm_accel_cmd = clip(actuators.accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX) + + # TODO: probably can delete this. CS.pcm_acc_status uses a different signal + # than CS.cruiseState.enabled. confirm they're not meaningfully different + if not (CC.enabled and CS.out.cruiseState.enabled) and CS.pcm_acc_status: + pcm_cancel_cmd = 1 + + if self.CP.pcmCruise and not CS.pcm_acc_status and CS.out.cruiseState.enabled and self.CP.carFingerprint not in UNSUPPORTED_DSU_CAR: + pcm_cancel_cmd = 1 + + # on entering standstill, send standstill request + if CS.out.standstill and not self.last_standstill and (self.CP.carFingerprint not in NO_STOP_TIMER_CAR or self.CP.enableGasInterceptorDEPRECATED) and \ + not CS.params_list.toyota_sng_hack: + self.standstill_req = True + if CS.pcm_acc_status != 8: + # pcm entered standstill or it's disabled + self.standstill_req = False + + self.last_standstill = CS.out.standstill + + # handle UI messages + fcw_alert = hud_control.visualAlert == VisualAlert.fcw + steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) + + # we can spam can to cancel the system even if we are using lat only control + if (self.frame % 3 == 0 and self.CP.openpilotLongitudinalControl) or pcm_cancel_cmd: + lead = hud_control.leadVisible or CS.out.vEgo < 12. # at low speed we always assume the lead is present so ACC can be engaged + reverse_acc = 2 if CS.params_list.reverse_acc_change else 1 + + # Press distance button until we are at the correct bar length. Only change while enabled to avoid skipping startup popup + if self.frame % 6 == 0 and self.CP.openpilotLongitudinalControl: + desired_distance = 4 - hud_control.leadDistanceBars + if CS.out.cruiseState.enabled and CS.pcm_follow_distance != desired_distance: + self.distance_button = not self.distance_button + else: + self.distance_button = 0 + + # Lexus IS uses a different cancellation message + if pcm_cancel_cmd and self.CP.carFingerprint in UNSUPPORTED_DSU_CAR: + can_sends.append(toyotacan.create_acc_cancel_command(self.packer)) + elif self.CP.openpilotLongitudinalControl: + can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, fcw_alert, + self.distance_button, reverse_acc)) + self.accel = pcm_accel_cmd + else: + can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False, self.distance_button, reverse_acc)) + + if self.frame % 2 == 0 and self.CP.enableGasInterceptorDEPRECATED and self.CP.openpilotLongitudinalControl: + # send exactly zero if gas cmd is zero. Interceptor will send the max between read value and gas cmd. + # This prevents unexpected pedal range rescaling + can_sends.append(create_gas_interceptor_command(self.packer, interceptor_gas_cmd, self.frame // 2)) + self.gas = interceptor_gas_cmd + + # *** hud ui *** + if self.CP.carFingerprint != CAR.TOYOTA_PRIUS_V: + # ui mesg is at 1Hz but we send asap if: + # - there is something to display + # - there is something to stop displaying + send_ui = False + if ((fcw_alert or steer_alert) and not self.alert_active) or \ + (not (fcw_alert or steer_alert) and self.alert_active): + send_ui = True + self.alert_active = not self.alert_active + elif pcm_cancel_cmd: + # forcing the pcm to disengage causes a bad fault sound so play a good sound instead + send_ui = True + + if self.frame % 20 == 0 or send_ui: + can_sends.append(toyotacan.create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, hud_control.leftLaneVisible, + hud_control.rightLaneVisible, hud_control.leftLaneDepart, + hud_control.rightLaneDepart, CC.latActive and lat_active, CS.lkas_hud, CS.madsEnabled)) + + if (self.frame % 100 == 0 or send_ui) and (self.CP.enableDsu or self.CP.flags & ToyotaFlags.DISABLE_RADAR.value): + can_sends.append(toyotacan.create_fcw_command(self.packer, fcw_alert)) + + # *** static msgs *** + for addr, cars, bus, fr_step, vl in STATIC_DSU_MSGS: + if self.frame % fr_step == 0 and self.CP.enableDsu and self.CP.carFingerprint in cars: + can_sends.append(make_can_msg(addr, vl, bus)) + + # keep radar disabled + if self.frame % 20 == 0 and self.CP.flags & ToyotaFlags.DISABLE_RADAR.value: + can_sends.append(make_tester_present_msg(0x750, 0, 0xF)) + + if self.CP.spFlags & ToyotaFlagsSP.SP_ENHANCED_BSM and self.frame > 200: + can_sends.extend(self.create_enhanced_bsm_messages(CS, 20, True)) + + new_actuators = actuators.as_builder() + new_actuators.steer = apply_steer / self.params.STEER_MAX + new_actuators.steerOutputCan = apply_steer + new_actuators.steeringAngleDeg = self.last_angle + new_actuators.accel = self.accel + new_actuators.gas = self.gas + + self.frame += 1 + return new_actuators, can_sends + + # Enhanced BSM (@arne182, @rav4kumar) + def create_enhanced_bsm_messages(self, CS: car.CarState, e_bsm_rate: int = 20, always_on: bool = True): + # let's keep all the commented out code for easy debug purpose for future. + can_sends = [] + + # left bsm + if not self.left_blindspot_debug_enabled: + if always_on or CS.out.vEgo > 6: # eagle eye camera will stop working if left bsm is switched on under 6m/s + can_sends.append(toyotacan.create_set_bsm_debug_mode(LEFT_BLINDSPOT, True)) + self.left_blindspot_debug_enabled = True + # print("bsm debug left, on") + else: + if not always_on and self.frame - self.last_blindspot_frame > 50: + can_sends.append(toyotacan.create_set_bsm_debug_mode(LEFT_BLINDSPOT, False)) + self.left_blindspot_debug_enabled = False + # print("bsm debug left, off") + if self.frame % e_bsm_rate == 0: + can_sends.append(toyotacan.create_bsm_polling_status(LEFT_BLINDSPOT)) + # if CS.out.leftBlinker: + self.last_blindspot_frame = self.frame + # print(self.last_blindspot_frame) + # print("bsm poll left") + # right bsm + if not self.right_blindspot_debug_enabled: + if always_on or CS.out.vEgo > 6: # eagle eye camera will stop working if right bsm is switched on under 6m/s + can_sends.append(toyotacan.create_set_bsm_debug_mode(RIGHT_BLINDSPOT, True)) + self.right_blindspot_debug_enabled = True + # print("bsm debug right, on") + else: + if not always_on and self.frame - self.last_blindspot_frame > 50: + can_sends.append(toyotacan.create_set_bsm_debug_mode(RIGHT_BLINDSPOT, False)) + self.right_blindspot_debug_enabled = False + # print("bsm debug right, off") + if self.frame % e_bsm_rate == e_bsm_rate / 2: + can_sends.append(toyotacan.create_bsm_polling_status(RIGHT_BLINDSPOT)) + # if CS.out.rightBlinker: + self.last_blindspot_frame = self.frame + # print(self.last_blindspot_frame) + # print("bsm poll right") + + return can_sends diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py new file mode 100644 index 0000000000..f15288422e --- /dev/null +++ b/selfdrive/car/toyota/carstate.py @@ -0,0 +1,519 @@ +import copy + +from cereal import car, custom +from openpilot.common.conversions import Conversions as CV +from openpilot.common.numpy_fast import mean +from openpilot.common.filter_simple import FirstOrderFilter +from opendbc.can.can_define import CANDefine +from opendbc.can.parser import CANParser +from openpilot.selfdrive.car import DT_CTRL +from openpilot.common.params import Params +from openpilot.selfdrive.car.interfaces import CarStateBase +from openpilot.selfdrive.car.toyota.values import ToyotaFlags, ToyotaFlagsSP, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \ + TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR + +SteerControlType = car.CarParams.SteerControlType +AccelPersonality = custom.AccelerationPersonality +# These steering fault definitions seem to be common across LKA (torque) and LTA (angle): +# - high steer rate fault: goes to 21 or 25 for 1 frame, then 9 for 2 seconds +# - lka/lta msg drop out: goes to 9 then 11 for a combined total of 2 seconds, then 3. +# if using the other control command, goes directly to 3 after 1.5 seconds +# - initializing: LTA can report 0 as long as STEER_TORQUE_SENSOR->STEER_ANGLE_INITIALIZING is 1, +# and is a catch-all for LKA +TEMP_STEER_FAULTS = (0, 9, 11, 21, 25) +# - lka/lta msg drop out: 3 (recoverable) +# - prolonged high driver torque: 17 (permanent) +PERM_STEER_FAULTS = (3, 17) + +_TRAFFIC_SINGAL_MAP = { + 1: "kph", + 36: "mph", + 65: "No overtake", + 66: "No overtake" +} + + +class CarState(CarStateBase): + def __init__(self, CP): + super().__init__(CP) + can_define = CANDefine(DBC[CP.carFingerprint]["pt"]) + self.shifter_values = can_define.dv["GEAR_PACKET"]["GEAR"] + self.eps_torque_scale = EPS_SCALE[CP.carFingerprint] / 100. + self.cluster_speed_hyst_gap = CV.KPH_TO_MS / 2. + self.cluster_min_speed = CV.KPH_TO_MS / 2. + + # On cars with cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"] + # the signal is zeroed to where the steering angle is at start. + # Need to apply an offset as soon as the steering angle measurements are both received + self.accurate_steer_angle_seen = False + self.angle_offset = FirstOrderFilter(None, 60.0, DT_CTRL, initialized=False) + self._init_traffic_signals() + + self.prev_distance_button = 0 + self.distance_button = 0 + + self.pcm_follow_distance = 0 + + self.low_speed_lockout = False + self.acc_type = 1 + self.lkas_hud = {} + + self.lkas_enabled = None + self.prev_lkas_enabled = None + self.lta_status = False + self.prev_lta_status = False + self.lta_status_active = False + + if CP.spFlags & ToyotaFlagsSP.SP_ZSS: + self.zss_compute = False + self.zss_cruise_active_last = False + self.zss_angle_offset = 0. + self.zss_threshold_count = 0 + + self._left_blindspot = False + self._left_blindspot_d1 = 0 + self._left_blindspot_d2 = 0 + self._left_blindspot_counter = 0 + + self._right_blindspot = False + self._right_blindspot_d1 = 0 + self._right_blindspot_d2 = 0 + self._right_blindspot_counter = 0 + + self.signals_checked = False + self.sport_signal_seen = False + self.eco_signal_seen = False + self.accel_profile = None + self.prev_accel_profile = None + self.accel_profile_init = False + self.toyota_drive_mode = Params().get_bool('ToyotaDriveMode') + self.frame = 0 + + def update(self, cp, cp_cam): + ret = car.CarState.new_message() + + self.prev_mads_enabled = self.mads_enabled + self.prev_lkas_enabled = self.lkas_enabled + self.prev_lta_status = self.lta_status + + ret.doorOpen = any([cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_FL"], cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_FR"], + cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_RL"], cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_RR"]]) + ret.seatbeltUnlatched = cp.vl["BODY_CONTROL_STATE"]["SEATBELT_DRIVER_UNLATCHED"] != 0 + ret.parkingBrake = cp.vl["BODY_CONTROL_STATE"]["PARKING_BRAKE"] == 1 + + ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0 + ret.brakeHoldActive = cp.vl["ESP_CONTROL"]["BRAKE_HOLD_ACTIVE"] == 1 + ret.brakeLightsDEPRECATED = bool(cp.vl["ESP_CONTROL"]["BRAKE_LIGHTS_ACC"]) + + if self.CP.enableGasInterceptorDEPRECATED: + ret.gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) // 2 + ret.gasPressed = ret.gas > 805 + else: + # TODO: find a common gas pedal percentage signal + ret.gasPressed = cp.vl["PCM_CRUISE"]["GAS_RELEASED"] == 0 + + ret.wheelSpeeds = self.get_wheel_speeds( + cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"], + cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"], + cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RL"], + cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RR"], + ) + ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr]) + ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) + ret.vEgoCluster = ret.vEgo * 1.015 # minimum of all the cars + + ret.standstill = abs(ret.vEgoRaw) < 1e-3 + + if self.CP.carFingerprint != CAR.TOYOTA_PRIUS_V: + self.lta_status = cp_cam.vl["LKAS_HUD"]["SET_ME_X02"] + if ((self.prev_lta_status == 16 and self.lta_status == 0) or + (self.prev_lta_status == 0 and self.lta_status == 16)) and not self.lta_status_active: + self.lta_status_active = True + if self.prev_lta_status is None: + self.prev_lta_status = self.lta_status + if self.lta_status_active: + self.lkas_enabled = self.lta_status + elif self.CP.carFingerprint != CAR.TOYOTA_PRIUS_V: + self.lkas_enabled = cp_cam.vl["LKAS_HUD"]["LKAS_STATUS"] + if self.prev_lkas_enabled is None: + self.prev_lkas_enabled = self.lkas_enabled + + ret.steeringAngleDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_ANGLE"] + cp.vl["STEER_ANGLE_SENSOR"]["STEER_FRACTION"] + ret.steeringRateDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_RATE"] + torque_sensor_angle_deg = cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"] + + # On some cars, the angle measurement is non-zero while initializing + if abs(torque_sensor_angle_deg) > 1e-3 and not bool(cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE_INITIALIZING"]): + self.accurate_steer_angle_seen = True + + if self.accurate_steer_angle_seen: + # Offset seems to be invalid for large steering angles and high angle rates + if abs(ret.steeringAngleDeg) < 90 and abs(ret.steeringRateDeg) < 100 and cp.can_valid: + self.angle_offset.update(torque_sensor_angle_deg - ret.steeringAngleDeg) + + if self.angle_offset.initialized: + ret.steeringAngleOffsetDeg = self.angle_offset.x + ret.steeringAngleDeg = torque_sensor_angle_deg - self.angle_offset.x + + # ZSS support thanks to dragonpilot and ErichMoraga + if self.CP.spFlags & ToyotaFlagsSP.SP_ZSS: + if self.zss_threshold_count <= 10: + zorro_steer = cp.vl["SECONDARY_STEER_ANGLE"]["ZORRO_STEER"] + # Only compute ZSS offset when control is active + control_active = self.madsEnabled or bool(cp.vl["PCM_CRUISE"]["CRUISE_ACTIVE"]) + if control_active and not self.zss_cruise_active_last: + self.zss_threshold_count = 0 + self.zss_compute = True # Control was just activated, so allow offset to be recomputed + self.zss_cruise_active_last = control_active + + # Compute ZSS offset + if self.zss_compute: + if abs(ret.steeringAngleDeg) > 1e-3 and abs(zorro_steer) > 1e-3: + self.zss_compute = False + self.zss_angle_offset = zorro_steer - ret.steeringAngleDeg + + # Safety checks + steering_angle_deg = zorro_steer - self.zss_angle_offset + if abs(ret.steeringAngleDeg - steering_angle_deg) > 4: + self.zss_threshold_count += 1 + else: + ret.steeringAngleDeg = steering_angle_deg + + can_gear = int(cp.vl["GEAR_PACKET"]["GEAR"]) + ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None)) + ret.leftBlinker = ret.leftBlinkerOn = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 1 + ret.rightBlinker = ret.rightBlinkerOn = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 2 + + if self.toyota_drive_mode: + # Determine sport signal based on car model + sport_signal = 'SPORT_ON_2' if self.CP.carFingerprint in (CAR.TOYOTA_RAV4_TSS2, CAR.LEXUS_ES_TSS2, CAR.TOYOTA_HIGHLANDER_TSS2) else 'SPORT_ON' + + # Check signals once + if not self.signals_checked: + self.signals_checked = True + + # Try to detect sport mode signal, handle missing signal with a fallback + try: + sport_mode = cp.vl["GEAR_PACKET"][sport_signal] + self.sport_signal_seen = True + except KeyError: + sport_mode = 0 + self.sport_signal_seen = False + + # Try to detect eco mode signal, handle missing signal with a fallback + try: + eco_mode = cp.vl["GEAR_PACKET"]['ECON_ON'] + self.eco_signal_seen = True + except KeyError: + eco_mode = 0 + self.eco_signal_seen = False + else: + # Always re-check the signals to account for mode changes + sport_mode = cp.vl["GEAR_PACKET"][sport_signal] if self.sport_signal_seen else 0 + eco_mode = cp.vl["GEAR_PACKET"]['ECON_ON'] if self.eco_signal_seen else 0 + + # Set acceleration profile based on detected modes, with sport mode having higher priority + if sport_mode == 1: + self.accel_profile = AccelPersonality.sport + elif eco_mode == 1: + self.accel_profile = AccelPersonality.eco + else: + self.accel_profile = AccelPersonality.normal + + print(f"Accel profile set to: {self.accel_profile}") + + # If not initialized, sync profile with the current mode on the car + if not self.accel_profile_init or self.accel_profile != self.prev_accel_profile: + Params().put_nonblocking('AccelPersonality', str(self.accel_profile)) + self.accel_profile_init = True + # Update the previous profile to prevent unnecessary re-syncing + self.prev_accel_profile = self.accel_profile + + if self.CP.carFingerprint != CAR.TOYOTA_MIRAI: + ret.engineRpm = cp.vl["ENGINE_RPM"]["RPM"] + + ret.steeringTorque = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"] + ret.steeringTorqueEps = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_EPS"] * self.eps_torque_scale + # we could use the override bit from dbc, but it's triggered at too high torque values + ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD + + # Check EPS LKA/LTA fault status + ret.steerFaultTemporary = cp.vl["EPS_STATUS"]["LKA_STATE"] in TEMP_STEER_FAULTS + ret.steerFaultPermanent = cp.vl["EPS_STATUS"]["LKA_STATE"] in PERM_STEER_FAULTS + + if self.CP.steerControlType == SteerControlType.angle: + ret.steerFaultTemporary = ret.steerFaultTemporary or cp.vl["EPS_STATUS"]["LTA_STATE"] in TEMP_STEER_FAULTS + ret.steerFaultPermanent = ret.steerFaultPermanent or cp.vl["EPS_STATUS"]["LTA_STATE"] in PERM_STEER_FAULTS + + if self.CP.carFingerprint in UNSUPPORTED_DSU_CAR: + # TODO: find the bit likely in DSU_CRUISE that describes an ACC fault. one may also exist in CLUTCH + ret.cruiseState.available = cp.vl["DSU_CRUISE"]["MAIN_ON"] != 0 + ret.cruiseState.speed = cp.vl["DSU_CRUISE"]["SET_SPEED"] * CV.KPH_TO_MS + cluster_set_speed = cp.vl["PCM_CRUISE_ALT"]["UI_SET_SPEED"] + else: + ret.accFaulted = cp.vl["PCM_CRUISE_2"]["ACC_FAULTED"] != 0 + ret.cruiseState.available = cp.vl["PCM_CRUISE_2"]["MAIN_ON"] != 0 + ret.cruiseState.speed = cp.vl["PCM_CRUISE_2"]["SET_SPEED"] * CV.KPH_TO_MS + cluster_set_speed = cp.vl["PCM_CRUISE_SM"]["UI_SET_SPEED"] + + # UI_SET_SPEED is always non-zero when main is on, hide until first enable + if ret.cruiseState.speed != 0: + is_metric = cp.vl["BODY_CONTROL_STATE_2"]["UNITS"] in (1, 2) + conversion_factor = CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS + ret.cruiseState.speedCluster = cluster_set_speed * conversion_factor + + cp_acc = cp_cam if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) else cp + + if self.CP.carFingerprint in TSS2_CAR and not self.CP.flags & ToyotaFlags.DISABLE_RADAR.value: + if not (self.CP.flags & ToyotaFlags.SMART_DSU.value): + self.acc_type = cp_acc.vl["ACC_CONTROL"]["ACC_TYPE"] + ret.stockFcw = bool(cp_acc.vl["PCS_HUD"]["FCW"]) + + fd_src = "PCM_CRUISE_ALT" if self.CP.carFingerprint in UNSUPPORTED_DSU_CAR else "PCM_CRUISE_2" + + # some TSS2 cars have low speed lockout permanently set, so ignore on those cars + # these cars are identified by an ACC_TYPE value of 2. + # TODO: it is possible to avoid the lockout and gain stop and go if you + # send your own ACC_CONTROL msg on startup with ACC_TYPE set to 1 + if (self.CP.carFingerprint not in TSS2_CAR and self.CP.carFingerprint not in UNSUPPORTED_DSU_CAR) or \ + (self.CP.carFingerprint in TSS2_CAR and self.acc_type == 1): + self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]["LOW_SPEED_LOCKOUT"] == 2 + + self.pcm_acc_status = cp.vl["PCM_CRUISE"]["CRUISE_STATE"] + if self.CP.carFingerprint not in (NO_STOP_TIMER_CAR - TSS2_CAR): + # ignore standstill state in certain vehicles, since pcm allows to restart with just an acceleration request + ret.cruiseState.standstill = self.pcm_acc_status == 7 + ret.cruiseState.enabled = bool(cp.vl["PCM_CRUISE"]["CRUISE_ACTIVE"]) + ret.cruiseState.nonAdaptive = self.pcm_acc_status in (1, 2, 3, 4, 5, 6) + + ret.genericToggle = bool(cp.vl["LIGHT_STALK"]["AUTO_HIGH_BEAM"]) + ret.espDisabled = cp.vl["ESP_CONTROL"]["TC_DISABLED"] != 0 + + if not self.CP.enableDsu and not self.CP.flags & ToyotaFlags.DISABLE_RADAR.value: + ret.stockAeb = bool(cp_acc.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_acc.vl["PRE_COLLISION"]["FORCE"] < -1e-5) + + if self.CP.enableBsm: + ret.leftBlindspot = (cp.vl["BSM"]["L_ADJACENT"] == 1) or (cp.vl["BSM"]["L_APPROACHING"] == 1) + ret.rightBlindspot = (cp.vl["BSM"]["R_ADJACENT"] == 1) or (cp.vl["BSM"]["R_APPROACHING"] == 1) + + if self.CP.carFingerprint != CAR.TOYOTA_PRIUS_V: + self.lkas_hud = copy.copy(cp_cam.vl["LKAS_HUD"]) + + if self.CP.carFingerprint not in UNSUPPORTED_DSU_CAR: + self.pcm_follow_distance = cp.vl["PCM_CRUISE_2"]["PCM_FOLLOW_DISTANCE"] + + if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) or (self.CP.flags & ToyotaFlags.SMART_DSU and not self.CP.flags & ToyotaFlags.RADAR_CAN_FILTER): + # distance button is wired to the ACC module (camera or radar) + self.prev_distance_button = self.distance_button + if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR): + self.distance_button = cp_acc.vl["ACC_CONTROL"]["DISTANCE"] + else: + self.distance_button = cp.vl["SDSU"]["FD_BUTTON"] + + if self.CP.spFlags & ToyotaFlagsSP.SP_ENHANCED_BSM and self.frame > 199: + ret.leftBlindspot, ret.rightBlindspot = self.sp_get_enhanced_bsm(cp) + + self._update_traffic_signals(cp_cam) + ret.cruiseState.speedLimit = self._calculate_speed_limit() + self.frame += 1 + + return ret + + def _init_traffic_signals(self): + self._tsgn1 = None + self._spdval1 = None + self._splsgn1 = None + self._tsgn2 = None + self._splsgn2 = None + self._tsgn3 = None + self._splsgn3 = None + self._tsgn4 = None + self._splsgn4 = None + + def _update_traffic_signals(self, cp_cam): + # Print out car signals for traffic signal detection + tsgn1 = cp_cam.vl["RSA1"]['TSGN1'] + spdval1 = cp_cam.vl["RSA1"]['SPDVAL1'] + splsgn1 = cp_cam.vl["RSA1"]['SPLSGN1'] + tsgn2 = cp_cam.vl["RSA1"]['TSGN2'] + splsgn2 = cp_cam.vl["RSA1"]['SPLSGN2'] + tsgn3 = cp_cam.vl["RSA2"]['TSGN3'] + splsgn3 = cp_cam.vl["RSA2"]['SPLSGN3'] + tsgn4 = cp_cam.vl["RSA2"]['TSGN4'] + splsgn4 = cp_cam.vl["RSA2"]['SPLSGN4'] + + has_changed = tsgn1 != self._tsgn1 \ + or spdval1 != self._spdval1 \ + or splsgn1 != self._splsgn1 \ + or tsgn2 != self._tsgn2 \ + or splsgn2 != self._splsgn2 \ + or tsgn3 != self._tsgn3 \ + or splsgn3 != self._splsgn3 \ + or tsgn4 != self._tsgn4 \ + or splsgn4 != self._splsgn4 + + self._tsgn1 = tsgn1 + self._spdval1 = spdval1 + self._splsgn1 = splsgn1 + self._tsgn2 = tsgn2 + self._splsgn2 = splsgn2 + self._tsgn3 = tsgn3 + self._splsgn3 = splsgn3 + self._tsgn4 = tsgn4 + self._splsgn4 = splsgn4 + + if not has_changed: + return + + print('---- TRAFFIC SIGNAL UPDATE -----') + if tsgn1 is not None and tsgn1 != 0: + print(f'TSGN1: {self._traffic_signal_description(tsgn1)}') + if spdval1 is not None and spdval1 != 0: + print(f'SPDVAL1: {spdval1}') + if splsgn1 is not None and splsgn1 != 0: + print(f'SPLSGN1: {splsgn1}') + if tsgn2 is not None and tsgn2 != 0: + print(f'TSGN2: {self._traffic_signal_description(tsgn2)}') + if splsgn2 is not None and splsgn2 != 0: + print(f'SPLSGN2: {splsgn2}') + if tsgn3 is not None and tsgn3 != 0: + print(f'TSGN3: {self._traffic_signal_description(tsgn3)}') + if splsgn3 is not None and splsgn3 != 0: + print(f'SPLSGN3: {splsgn3}') + if tsgn4 is not None and tsgn4 != 0: + print(f'TSGN4: {self._traffic_signal_description(tsgn4)}') + if splsgn4 is not None and splsgn4 != 0: + print(f'SPLSGN4: {splsgn4}') + print('------------------------') + + def _traffic_signal_description(self, tsgn): + desc = _TRAFFIC_SINGAL_MAP.get(int(tsgn)) + return f'{tsgn}: {desc}' if desc is not None else f'{tsgn}' + + def _calculate_speed_limit(self): + if self._tsgn1 == 1: + return self._spdval1 * CV.KPH_TO_MS + if self._tsgn1 == 36: + return self._spdval1 * CV.MPH_TO_MS + return 0 + + # Enhanced BSM (@arne182, @rav4kumar) + def sp_get_enhanced_bsm(self, cp): + # Let's keep all the commented out code for easy debug purposes in the future. + distance_1 = cp.vl["DEBUG"].get('BLINDSPOTD1') + distance_2 = cp.vl["DEBUG"].get('BLINDSPOTD2') + side = cp.vl["DEBUG"].get('BLINDSPOTSIDE') + + if all(val is not None for val in [distance_1, distance_2, side]): + if side == 65: # left blind spot + if distance_1 != self._left_blindspot_d1 or distance_2 != self._left_blindspot_d2: + self._left_blindspot_d1 = distance_1 + self._left_blindspot_d2 = distance_2 + self._left_blindspot_counter = 100 + self._left_blindspot = distance_1 > 10 or distance_2 > 10 + + elif side == 66: # right blind spot + if distance_1 != self._right_blindspot_d1 or distance_2 != self._right_blindspot_d2: + self._right_blindspot_d1 = distance_1 + self._right_blindspot_d2 = distance_2 + self._right_blindspot_counter = 100 + self._right_blindspot = distance_1 > 10 or distance_2 > 10 + + # update counters + self._left_blindspot_counter = max(0, self._left_blindspot_counter - 1) + self._right_blindspot_counter = max(0, self._right_blindspot_counter - 1) + + # reset blind spot status if counter reaches 0 + if self._left_blindspot_counter == 0: + self._left_blindspot = False + self._left_blindspot_d1 = self._left_blindspot_d2 = 0 + + if self._right_blindspot_counter == 0: + self._right_blindspot = False + self._right_blindspot_d1 = self._right_blindspot_d2 = 0 + + return self._left_blindspot, self._right_blindspot + + @staticmethod + def get_can_parser(CP): + messages = [ + ("GEAR_PACKET", 1), + ("LIGHT_STALK", 1), + ("BLINKERS_STATE", 0.15), + ("BODY_CONTROL_STATE", 3), + ("BODY_CONTROL_STATE_2", 2), + ("ESP_CONTROL", 3), + ("EPS_STATUS", 25), + ("BRAKE_MODULE", 40), + ("WHEEL_SPEEDS", 80), + ("STEER_ANGLE_SENSOR", 80), + ("PCM_CRUISE", 33), + ("PCM_CRUISE_SM", 1), + ("STEER_TORQUE_SENSOR", 50), + ] + + if CP.carFingerprint != CAR.TOYOTA_MIRAI: + messages.append(("ENGINE_RPM", 42)) + + if CP.carFingerprint in UNSUPPORTED_DSU_CAR: + messages.append(("DSU_CRUISE", 5)) + messages.append(("PCM_CRUISE_ALT", 1)) + else: + messages.append(("PCM_CRUISE_2", 33)) + + # add gas interceptor reading if we are using it + if CP.enableGasInterceptorDEPRECATED: + messages.append(("GAS_SENSOR", 50)) + + if CP.enableBsm: + messages.append(("BSM", 1)) + + if CP.carFingerprint in RADAR_ACC_CAR and not CP.flags & ToyotaFlags.DISABLE_RADAR.value: + if not CP.flags & ToyotaFlags.SMART_DSU.value: + messages += [ + ("ACC_CONTROL", 33), + ] + messages += [ + ("PCS_HUD", 1), + ] + + if CP.carFingerprint not in (TSS2_CAR - RADAR_ACC_CAR) and not CP.enableDsu and not CP.flags & ToyotaFlags.DISABLE_RADAR.value: + messages += [ + ("PRE_COLLISION", 33), + ] + + if CP.flags & ToyotaFlags.SMART_DSU and not CP.flags & ToyotaFlags.RADAR_CAN_FILTER: + messages += [ + ("SDSU", 100), + ] + + if CP.spFlags & ToyotaFlagsSP.SP_ZSS: + messages.append(("SECONDARY_STEER_ANGLE", 0)) + + if CP.spFlags & ToyotaFlagsSP.SP_ENHANCED_BSM: + messages.append(("DEBUG", 65)) + + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0) + + @staticmethod + def get_cam_can_parser(CP): + messages = [] + + messages += [ + ("RSA1", 0), + ("RSA2", 0), + ] + + if CP.carFingerprint != CAR.TOYOTA_PRIUS_V: + messages += [ + ("LKAS_HUD", 1), + ] + + if CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR): + messages += [ + ("PRE_COLLISION", 33), + ("ACC_CONTROL", 33), + ("PCS_HUD", 1), + ] + + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2) diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py new file mode 100644 index 0000000000..a7ea14f203 --- /dev/null +++ b/selfdrive/car/toyota/fingerprints.py @@ -0,0 +1,1695 @@ +from cereal import car +from openpilot.selfdrive.car.toyota.values import CAR + +Ecu = car.CarParams.Ecu + +FW_VERSIONS = { + CAR.TOYOTA_AVALON: { + (Ecu.abs, 0x7b0, None): [ + b'F152607060\x00\x00\x00\x00\x00\x00', + ], + (Ecu.dsu, 0x791, None): [ + b'881510701300\x00\x00\x00\x00', + b'881510705100\x00\x00\x00\x00', + b'881510705200\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B41051\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\x0230721100\x00\x00\x00\x00\x00\x00\x00\x00A0C01000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x0230721200\x00\x00\x00\x00\x00\x00\x00\x00A0C01000\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'8821F4702000\x00\x00\x00\x00', + b'8821F4702100\x00\x00\x00\x00', + b'8821F4702300\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'8646F0701100\x00\x00\x00\x00', + b'8646F0703000\x00\x00\x00\x00', + ], + }, + CAR.TOYOTA_AVALON_2019: { + (Ecu.abs, 0x7b0, None): [ + b'F152607110\x00\x00\x00\x00\x00\x00', + b'F152607140\x00\x00\x00\x00\x00\x00', + b'F152607171\x00\x00\x00\x00\x00\x00', + b'F152607180\x00\x00\x00\x00\x00\x00', + b'F152641040\x00\x00\x00\x00\x00\x00', + b'F152641050\x00\x00\x00\x00\x00\x00', + b'F152641060\x00\x00\x00\x00\x00\x00', + b'F152641061\x00\x00\x00\x00\x00\x00', + ], + (Ecu.dsu, 0x791, None): [ + b'881510703200\x00\x00\x00\x00', + b'881510704200\x00\x00\x00\x00', + b'881514107100\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B07010\x00\x00\x00\x00\x00\x00', + b'8965B41070\x00\x00\x00\x00\x00\x00', + b'8965B41080\x00\x00\x00\x00\x00\x00', + b'8965B41090\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x700, None): [ + b'\x01896630725100\x00\x00\x00\x00', + b'\x01896630725200\x00\x00\x00\x00', + b'\x01896630725300\x00\x00\x00\x00', + b'\x01896630725400\x00\x00\x00\x00', + b'\x01896630735100\x00\x00\x00\x00', + b'\x01896630738000\x00\x00\x00\x00', + b'\x02896630724000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', + b'\x02896630728000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', + b'\x02896630734000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', + b'\x02896630737000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'8821F4702300\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'8646F0702100\x00\x00\x00\x00', + ], + }, + CAR.TOYOTA_AVALON_TSS2: { + (Ecu.abs, 0x7b0, None): [ + b'\x01F152607240\x00\x00\x00\x00\x00\x00', + b'\x01F152607250\x00\x00\x00\x00\x00\x00', + b'\x01F152607280\x00\x00\x00\x00\x00\x00', + b'F152641080\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B41110\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x700, None): [ + b'\x018966306Q6000\x00\x00\x00\x00', + b'\x01896630742000\x00\x00\x00\x00', + b'\x01896630743000\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F6201200\x00\x00\x00\x00', + b'\x018821F6201300\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F4104100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', + b'\x028646F4104100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', + ], + }, + CAR.TOYOTA_CAMRY: { + (Ecu.engine, 0x700, None): [ + b'\x018966306L3100\x00\x00\x00\x00', + b'\x018966306L4200\x00\x00\x00\x00', + b'\x018966306L5200\x00\x00\x00\x00', + b'\x018966306L9000\x00\x00\x00\x00', + b'\x018966306P8000\x00\x00\x00\x00', + b'\x018966306Q3100\x00\x00\x00\x00', + b'\x018966306Q4000\x00\x00\x00\x00', + b'\x018966306Q4100\x00\x00\x00\x00', + b'\x018966306Q4200\x00\x00\x00\x00', + b'\x018966306Q6000\x00\x00\x00\x00', + b'\x018966333N1100\x00\x00\x00\x00', + b'\x018966333N4300\x00\x00\x00\x00', + b'\x018966333P3100\x00\x00\x00\x00', + b'\x018966333P3200\x00\x00\x00\x00', + b'\x018966333P4200\x00\x00\x00\x00', + b'\x018966333P4300\x00\x00\x00\x00', + b'\x018966333P4400\x00\x00\x00\x00', + b'\x018966333P4500\x00\x00\x00\x00', + b'\x018966333P4700\x00\x00\x00\x00', + b'\x018966333P4900\x00\x00\x00\x00', + b'\x018966333Q6000\x00\x00\x00\x00', + b'\x018966333Q6200\x00\x00\x00\x00', + b'\x018966333Q6300\x00\x00\x00\x00', + b'\x018966333Q6500\x00\x00\x00\x00', + b'\x018966333Q9200\x00\x00\x00\x00', + b'\x018966333W6000\x00\x00\x00\x00', + b'\x018966333X0000\x00\x00\x00\x00', + b'\x018966333X4000\x00\x00\x00\x00', + b'\x01896633T16000\x00\x00\x00\x00', + b'\x028966306B2100\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', + b'\x028966306B2300\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', + b'\x028966306B2500\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', + b'\x028966306N8100\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', + b'\x028966306N8200\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', + b'\x028966306N8300\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', + b'\x028966306N8400\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', + b'\x028966306R5000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', + b'\x028966306R5000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', + b'\x028966306R6000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', + b'\x028966306R6000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', + b'\x028966306S0000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', + b'\x028966306S0100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', + b'\x028966306S1100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\x02333P1100\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.dsu, 0x791, None): [ + b'8821F0601200 ', + b'8821F0601300 ', + b'8821F0601400 ', + b'8821F0601500 ', + b'8821F0602000 ', + b'8821F0603300 ', + b'8821F0603400 ', + b'8821F0604000 ', + b'8821F0604100 ', + b'8821F0604200 ', + b'8821F0605200 ', + b'8821F0606200 ', + b'8821F0607200 ', + b'8821F0608000 ', + b'8821F0608200 ', + b'8821F0608300 ', + b'8821F0609000 ', + b'8821F0609100 ', + ], + (Ecu.abs, 0x7b0, None): [ + b'F152606210\x00\x00\x00\x00\x00\x00', + b'F152606230\x00\x00\x00\x00\x00\x00', + b'F152606260\x00\x00\x00\x00\x00\x00', + b'F152606270\x00\x00\x00\x00\x00\x00', + b'F152606290\x00\x00\x00\x00\x00\x00', + b'F152606410\x00\x00\x00\x00\x00\x00', + b'F152633214\x00\x00\x00\x00\x00\x00', + b'F152633540\x00\x00\x00\x00\x00\x00', + b'F152633660\x00\x00\x00\x00\x00\x00', + b'F152633712\x00\x00\x00\x00\x00\x00', + b'F152633713\x00\x00\x00\x00\x00\x00', + b'F152633A10\x00\x00\x00\x00\x00\x00', + b'F152633A20\x00\x00\x00\x00\x00\x00', + b'F152633B51\x00\x00\x00\x00\x00\x00', + b'F152633B60\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B33540\x00\x00\x00\x00\x00\x00', + b'8965B33542\x00\x00\x00\x00\x00\x00', + b'8965B33550\x00\x00\x00\x00\x00\x00', + b'8965B33551\x00\x00\x00\x00\x00\x00', + b'8965B33580\x00\x00\x00\x00\x00\x00', + b'8965B33581\x00\x00\x00\x00\x00\x00', + b'8965B33611\x00\x00\x00\x00\x00\x00', + b'8965B33621\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'8821F0601200 ', + b'8821F0601300 ', + b'8821F0601400 ', + b'8821F0601500 ', + b'8821F0602000 ', + b'8821F0603300 ', + b'8821F0603400 ', + b'8821F0604000 ', + b'8821F0604100 ', + b'8821F0604200 ', + b'8821F0605200 ', + b'8821F0606200 ', + b'8821F0607200 ', + b'8821F0608000 ', + b'8821F0608200 ', + b'8821F0608300 ', + b'8821F0609000 ', + b'8821F0609100 ', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'8646F0601200 ', + b'8646F0601300 ', + b'8646F0601400 ', + b'8646F0603400 ', + b'8646F0603500 ', + b'8646F0604000 ', + b'8646F0604100 ', + b'8646F0605000 ', + b'8646F0606000 ', + b'8646F0606100 ', + b'8646F0607000 ', + b'8646F0607100 ', + ], + }, + CAR.TOYOTA_CAMRY_TSS2: { + (Ecu.eps, 0x7a1, None): [ + b'8965B33630\x00\x00\x00\x00\x00\x00', + b'8965B33640\x00\x00\x00\x00\x00\x00', + b'8965B33650\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x7b0, None): [ + b'\x01F152606370\x00\x00\x00\x00\x00\x00', + b'\x01F152606390\x00\x00\x00\x00\x00\x00', + b'\x01F152606400\x00\x00\x00\x00\x00\x00', + b'\x01F152606431\x00\x00\x00\x00\x00\x00', + b'\x01F152633E11\x00\x00\x00\x00\x00\x00', + b'F152633310\x00\x00\x00\x00\x00\x00', + b'F152633D00\x00\x00\x00\x00\x00\x00', + b'F152633D60\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x700, None): [ + b'\x018966306Q5000\x00\x00\x00\x00', + b'\x018966306Q6000\x00\x00\x00\x00', + b'\x018966306Q7000\x00\x00\x00\x00', + b'\x018966306Q9000\x00\x00\x00\x00', + b'\x018966306R3000\x00\x00\x00\x00', + b'\x018966306R8000\x00\x00\x00\x00', + b'\x018966306T0000\x00\x00\x00\x00', + b'\x018966306T3100\x00\x00\x00\x00', + b'\x018966306T3200\x00\x00\x00\x00', + b'\x018966306T4000\x00\x00\x00\x00', + b'\x018966306T4100\x00\x00\x00\x00', + b'\x018966306V1000\x00\x00\x00\x00', + b'\x018966333Z1000\x00\x00\x00\x00', + b'\x01896633T20000\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F6201200\x00\x00\x00\x00', + b'\x018821F6201300\x00\x00\x00\x00', + b'\x018821F6201400\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F0602100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', + b'\x028646F0602200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', + b'\x028646F0602300\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', + b'\x028646F3305200\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', + b'\x028646F3305200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', + b'\x028646F3305300\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', + b'\x028646F3305300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', + b'\x028646F3305400\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', + b'\x028646F3305500\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', + ], + }, + CAR.TOYOTA_CHR: { + (Ecu.engine, 0x700, None): [ + b'\x01896631017100\x00\x00\x00\x00', + b'\x01896631017200\x00\x00\x00\x00', + b'\x01896631021100\x00\x00\x00\x00', + b'\x0189663F413100\x00\x00\x00\x00', + b'\x0189663F414100\x00\x00\x00\x00', + b'\x0189663F438000\x00\x00\x00\x00', + b'\x02896631013200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x0289663F405000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x0289663F405100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x0289663F418000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x0289663F423000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x0289663F431000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + ], + (Ecu.dsu, 0x791, None): [ + b'8821F0W01000 ', + b'8821F0W01100 ', + b'8821FF401600 ', + b'8821FF402300 ', + b'8821FF402400 ', + b'8821FF404000 ', + b'8821FF404100 ', + b'8821FF405000 ', + b'8821FF405100 ', + b'8821FF406000 ', + b'8821FF407100 ', + ], + (Ecu.abs, 0x7b0, None): [ + b'F152610012\x00\x00\x00\x00\x00\x00', + b'F152610013\x00\x00\x00\x00\x00\x00', + b'F152610014\x00\x00\x00\x00\x00\x00', + b'F152610020\x00\x00\x00\x00\x00\x00', + b'F152610040\x00\x00\x00\x00\x00\x00', + b'F152610153\x00\x00\x00\x00\x00\x00', + b'F152610190\x00\x00\x00\x00\x00\x00', + b'F152610200\x00\x00\x00\x00\x00\x00', + b'F152610210\x00\x00\x00\x00\x00\x00', + b'F152610220\x00\x00\x00\x00\x00\x00', + b'F152610230\x00\x00\x00\x00\x00\x00', + b'F1526F4034\x00\x00\x00\x00\x00\x00', + b'F1526F4044\x00\x00\x00\x00\x00\x00', + b'F1526F4073\x00\x00\x00\x00\x00\x00', + b'F1526F4121\x00\x00\x00\x00\x00\x00', + b'F1526F4122\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B10011\x00\x00\x00\x00\x00\x00', + b'8965B10020\x00\x00\x00\x00\x00\x00', + b'8965B10040\x00\x00\x00\x00\x00\x00', + b'8965B10050\x00\x00\x00\x00\x00\x00', + b'8965B10070\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\x0331024000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00', + b'\x0331024000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00', + b'\x0331036000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00', + b'\x033F401100\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203102\x00\x00\x00\x00', + b'\x033F401200\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00', + b'\x033F424000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00', + b'\x033F424000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'8821F0W01000 ', + b'8821F0W01100 ', + b'8821FF401600 ', + b'8821FF402300 ', + b'8821FF402400 ', + b'8821FF404000 ', + b'8821FF404100 ', + b'8821FF405000 ', + b'8821FF405100 ', + b'8821FF406000 ', + b'8821FF407100 ', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'8646FF401700 ', + b'8646FF401800 ', + b'8646FF402100 ', + b'8646FF404000 ', + b'8646FF406000 ', + b'8646FF407000 ', + b'8646FF407100 ', + ], + }, + CAR.TOYOTA_CHR_TSS2: { + (Ecu.abs, 0x7b0, None): [ + b'F152610041\x00\x00\x00\x00\x00\x00', + b'F152610260\x00\x00\x00\x00\x00\x00', + b'F1526F4270\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B10091\x00\x00\x00\x00\x00\x00', + b'8965B10092\x00\x00\x00\x00\x00\x00', + b'8965B10110\x00\x00\x00\x00\x00\x00', + b'8965B10111\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x700, None): [ + b'\x0189663F438000\x00\x00\x00\x00', + b'\x0189663F459000\x00\x00\x00\x00', + b'\x02896631025000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + 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b'\x028646F4810100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00', + b'\x028646F4810200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', + b'\x028646F4810300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', + b'\x028646F4810400\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', + ], + }, + CAR.TOYOTA_PRIUS_TSS2: { + (Ecu.engine, 0x700, None): [ + b'\x028966347B1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x028966347C4000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x028966347C6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x028966347C7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x028966347C8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x038966347C0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710101\x00\x00\x00\x00', + b'\x038966347C1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710101\x00\x00\x00\x00', + b'\x038966347C5000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4707101\x00\x00\x00\x00', + b'\x038966347C5100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4707101\x00\x00\x00\x00', + ], + (Ecu.abs, 0x7b0, None): [ + b'F152647500\x00\x00\x00\x00\x00\x00', + b'F152647510\x00\x00\x00\x00\x00\x00', + b'F152647520\x00\x00\x00\x00\x00\x00', + b'F152647521\x00\x00\x00\x00\x00\x00', + b'F152647531\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B47070\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F3301400\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F4707000\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', + b'\x028646F4710000\x00\x00\x00\x008646G2601500\x00\x00\x00\x00', + b'\x028646F4712000\x00\x00\x00\x008646G2601500\x00\x00\x00\x00', + ], + }, + CAR.TOYOTA_MIRAI: { + (Ecu.abs, 0x7d1, None): [ + b'\x01898A36203000\x00\x00\x00\x00', + ], + (Ecu.abs, 0x7b0, None): [ + b'\x01F15266203200\x00\x00\x00\x00', + b'\x01F15266203500\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'\x028965B6204100\x00\x00\x00\x008965B6203100\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F6201200\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F6201400\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', + ], + }, + CAR.TOYOTA_ALPHARD_TSS2: { + (Ecu.engine, 0x7e0, None): [ + b'\x0235870000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x0235879000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x0235883000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B58040\x00\x00\x00\x00\x00\x00', + b'8965B58052\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x7b0, None): [ + b'F152658320\x00\x00\x00\x00\x00\x00', + b'F152658341\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F3301200\x00\x00\x00\x00', + b'\x018821F3301400\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F58010C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00', + b'\x028646F5803200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', + b'\x028646FV201000\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', + ], + }, +} diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py new file mode 100644 index 0000000000..8b8fe99db7 --- /dev/null +++ b/selfdrive/car/toyota/interface.py @@ -0,0 +1,273 @@ +from cereal import car +from openpilot.common.numpy_fast import clip +from openpilot.common.params import Params +from panda import Panda +from panda.python import uds +from openpilot.selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, ToyotaFlagsSP, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \ + MIN_ACC_SPEED, EPS_SCALE, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR +from openpilot.selfdrive.car import create_button_events, get_safety_config +from openpilot.selfdrive.car.disable_ecu import disable_ecu +from openpilot.selfdrive.car.interfaces import CarInterfaceBase + +ButtonType = car.CarState.ButtonEvent.Type +EventName = car.CarEvent.EventName +SteerControlType = car.CarParams.SteerControlType +GearShifter = car.CarState.GearShifter + +class CarInterface(CarInterfaceBase): + @staticmethod + def get_pid_accel_limits(CP, current_speed, cruise_speed): + return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX + + @staticmethod + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): + ret.carName = "toyota" + ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.toyota)] + ret.safetyConfigs[0].safetyParam = EPS_SCALE[candidate] + + # BRAKE_MODULE is on a different address for these cars + if DBC[candidate]["pt"] == "toyota_new_mc_pt_generated": + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_ALT_BRAKE + + if candidate in ANGLE_CONTROL_CAR: + ret.steerControlType = SteerControlType.angle + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_LTA + + # LTA control can be more delayed and winds up more often + ret.steerActuatorDelay = 0.18 + ret.steerLimitTimer = 0.8 + else: + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + + ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay + ret.steerLimitTimer = 0.4 + + if 0x23 in fingerprint[0]: # Detect if ZSS is present + ret.spFlags |= ToyotaFlagsSP.SP_ZSS.value + + ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop + + stop_and_go = candidate in TSS2_CAR + + # Detect smartDSU, which intercepts ACC_CMD from the DSU (or radar) allowing openpilot to send it + # 0x2AA is sent by a similar device which intercepts the radar instead of DSU on NO_DSU_CARs + if 0x2FF in fingerprint[0] or (0x2AA in fingerprint[0] and candidate in NO_DSU_CAR): + ret.flags |= ToyotaFlags.SMART_DSU.value + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_SDSU + + if 0x2AA in fingerprint[0] and candidate in NO_DSU_CAR: + ret.flags |= ToyotaFlags.RADAR_CAN_FILTER.value + + # In TSS2 cars, the camera does long control + found_ecus = [fw.ecu for fw in car_fw] + ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) \ + and not (ret.flags & ToyotaFlags.SMART_DSU) + + if candidate == CAR.TOYOTA_PRIUS: + zss = ret.spFlags & ToyotaFlagsSP.SP_ZSS + stop_and_go = True + ret.steerRatio = 15.0 if zss else 15.74 # unknown end-to-end spec + ret.mass = 1529. if zss else 1381. + # Only give steer angle deadzone to for bad angle sensor prius + for fw in car_fw: + if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00': + ret.steerActuatorDelay = 0.25 + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg=0.0 if zss else 0.2) + + elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2): + stop_and_go = True + ret.wheelSpeedFactor = 1.035 + + elif candidate in (CAR.TOYOTA_AVALON, CAR.TOYOTA_AVALON_2019, CAR.TOYOTA_AVALON_TSS2): + # starting from 2019, all Avalon variants have stop and go + # https://engage.toyota.com/static/images/toyota_safety_sense/TSS_Applicability_Chart.pdf + stop_and_go = candidate != CAR.TOYOTA_AVALON + + elif candidate in (CAR.TOYOTA_RAV4_TSS2, CAR.TOYOTA_RAV4_TSS2_2022, CAR.TOYOTA_RAV4_TSS2_2023): + ret.lateralTuning.init('pid') + ret.lateralTuning.pid.kiBP = [0.0] + ret.lateralTuning.pid.kpBP = [0.0] + ret.lateralTuning.pid.kpV = [0.6] + ret.lateralTuning.pid.kiV = [0.1] + ret.lateralTuning.pid.kf = 0.00007818594 + + # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary. + # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891 + for fw in car_fw: + if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']): + ret.lateralTuning.pid.kpV = [0.15] + ret.lateralTuning.pid.kiV = [0.05] + ret.lateralTuning.pid.kf = 0.00004 + break + + elif candidate in (CAR.TOYOTA_CHR, CAR.TOYOTA_CAMRY, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_NX): + # TODO: Some of these platforms are not advertised to have full range ACC, are they similar to SNG_WITHOUT_DSU cars? + stop_and_go = True + + # TODO: these models can do stop and go, but unclear if it requires sDSU or unplugging DSU. + # For now, don't list stop and go functionality in the docs + if ret.flags & ToyotaFlags.SNG_WITHOUT_DSU: + stop_and_go = stop_and_go or bool(ret.flags & ToyotaFlags.SMART_DSU.value) or (ret.enableDsu and not docs) + + ret.centerToFront = ret.wheelbase * 0.44 + + # TODO: Some TSS-P platforms have BSM, but are flipped based on region or driving direction. + # Detect flipped signals and enable for C-HR and others + ret.enableBsm = 0x3F6 in fingerprint[0] and candidate in TSS2_CAR + + # No radar dbc for cars without DSU which are not TSS 2.0 + # TODO: make an adas dbc file for dsu-less models + ret.radarUnavailable = DBC[candidate]['radar'] is None or candidate in (NO_DSU_CAR - TSS2_CAR) + + # if the smartDSU is detected, openpilot can send ACC_CONTROL and the smartDSU will block it from the DSU or radar. + # since we don't yet parse radar on TSS2/TSS-P radar-based ACC cars, gate longitudinal behind experimental toggle + use_sdsu = bool(ret.flags & ToyotaFlags.SMART_DSU) + if candidate in (RADAR_ACC_CAR | NO_DSU_CAR): + ret.experimentalLongitudinalAvailable = use_sdsu or candidate in RADAR_ACC_CAR + + if not use_sdsu: + # Disabling radar is only supported on TSS2 radar-ACC cars + if experimental_long and candidate in RADAR_ACC_CAR: + ret.flags |= ToyotaFlags.DISABLE_RADAR.value + else: + use_sdsu = use_sdsu and experimental_long + + # openpilot longitudinal enabled by default: + # - non-(TSS2 radar ACC cars) w/ smartDSU installed + # - cars w/ DSU disconnected + # - TSS2 cars with camera sending ACC_CONTROL where we can block it + # openpilot longitudinal behind experimental long toggle: + # - TSS2 radar ACC cars w/ smartDSU installed + # - TSS2 radar ACC cars w/o smartDSU installed (disables radar) + # - TSS-P DSU-less cars w/ CAN filter installed (no radar parser yet) + ret.openpilotLongitudinalControl = (use_sdsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) or bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value)) and \ + not Params().get_bool("StockLongToyota") + ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR + ret.enableGasInterceptorDEPRECATED = 0x201 in fingerprint[0] and ret.openpilotLongitudinalControl + + if not ret.openpilotLongitudinalControl: + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL + + if ret.enableGasInterceptorDEPRECATED: + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_GAS_INTERCEPTOR + + if candidate in UNSUPPORTED_DSU_CAR: + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_UNSUPPORTED_DSU_CAR + + # min speed to enable ACC. if car can do stop and go, then set enabling speed + # to a negative value, so it won't matter. + ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptorDEPRECATED) else MIN_ACC_SPEED + + sp_tss2_long_tune = Params().get_bool("ToyotaTSS2Long") + + # Last updated: September 29, 2024 + def custom_tss2_longitudinal_tuning(): # hand tuned + ret.vEgoStopping = 0.25 + ret.vEgoStarting = 0.01 + ret.stoppingDecelRate = 0.006 + + def default_tss2_longitudinal_tuning(): # stock comma + ret.vEgoStopping = 0.25 + ret.vEgoStarting = 0.10 + ret.stoppingDecelRate = 0.007 # reach stopping target smoothly + + def default_longitudinal_tuning(): # stock comma + tune.kiBP = [0., 5., 35.] + tune.kiV = [3.6, 2.4, 1.5] + + tune = ret.longitudinalTuning + if candidate in TSS2_CAR or ret.enableGasInterceptorDEPRECATED: + if sp_tss2_long_tune: + tune.kiBP = [0., 5., 12., 20., 27., 36., 40.] + tune.kiV = [0.34, 0.234, 0.20, 0.17, 0.105, 0.09, 0.08] + custom_tss2_longitudinal_tuning() + else: + tune.kpV = [0.0] + tune.kiV = [0.5] + if candidate in TSS2_CAR: + default_tss2_longitudinal_tuning() + else: + default_longitudinal_tuning() + + if Params().get_bool("ToyotaEnhancedBsm"): + ret.spFlags |= ToyotaFlagsSP.SP_ENHANCED_BSM.value + + if candidate == CAR.TOYOTA_PRIUS_TSS2: + ret.spFlags |= ToyotaFlagsSP.SP_NEED_DEBUG_BSM.value + + return ret + + @staticmethod + def init(CP, logcan, sendcan): + # disable radar if alpha longitudinal toggled on radar-ACC car without CAN filter/smartDSU + if CP.flags & ToyotaFlags.DISABLE_RADAR.value: + communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX, uds.MESSAGE_TYPE.NORMAL]) + disable_ecu(logcan, sendcan, bus=0, addr=0x750, sub_addr=0xf, com_cont_req=communication_control) + + # returns a car.CarState + def _update(self, c): + ret = self.CS.update(self.cp, self.cp_cam) + + if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) or (self.CP.flags & ToyotaFlags.SMART_DSU and not self.CP.flags & ToyotaFlags.RADAR_CAN_FILTER): + self.CS.button_events = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}) + + self.CS.mads_enabled = self.get_sp_cruise_main_state(ret) + + if ret.cruiseState.available: + if self.enable_mads: + if not self.CS.prev_mads_enabled and self.CS.mads_enabled: + self.CS.madsEnabled = True + if self.CS.params_list.toyota_lkas_toggle: + if self.CS.lta_status_active: + if (self.CS.prev_lkas_enabled == 16 and self.CS.lkas_enabled == 0) or \ + (self.CS.prev_lkas_enabled == 0 and self.CS.lkas_enabled == 16): + self.CS.madsEnabled = not self.CS.madsEnabled + else: + if (not self.CS.prev_lkas_enabled and self.CS.lkas_enabled) or \ + (self.CS.prev_lkas_enabled == 1 and not self.CS.lkas_enabled): + self.CS.madsEnabled = not self.CS.madsEnabled + self.CS.madsEnabled = self.get_acc_mads(ret, self.CS.madsEnabled) + else: + self.CS.madsEnabled = False + + if self.get_sp_pedal_disengage(ret): + self.get_sp_cancel_cruise_state() + if not self.CP.pcmCruise: + ret.cruiseState.enabled = self.CS.accEnabled + + ret = self.get_sp_common_state(ret) + + ret.buttonEvents = [ + *self.CS.button_events, + *self.button_events.create_cancel_event(ret.cruiseState.enabled, self.CS.out.cruiseState.enabled), + *self.button_events.create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled) # MADS BUTTON + ] + + # events + events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low, GearShifter.brake], + pcm_enable=False) + + events, ret = self.create_sp_events(ret, events) + + # Lane Tracing Assist control is unavailable (EPS_STATUS->LTA_STATE=0) until + # the more accurate angle sensor signal is initialized + if self.CP.steerControlType == SteerControlType.angle and not self.CS.accurate_steer_angle_seen: + events.add(EventName.vehicleSensorsInvalid) + + if self.CP.openpilotLongitudinalControl: + if ret.cruiseState.standstill and not ret.brakePressed and not self.CP.enableGasInterceptorDEPRECATED: + events.add(EventName.resumeRequired) + if self.CS.low_speed_lockout: + events.add(EventName.lowSpeedLockout) + if ret.vEgo < self.CP.minEnableSpeed: + events.add(EventName.belowEngageSpeed) + if c.actuators.accel > 0.3: + # some margin on the actuator to not false trigger cancellation while stopping + events.add(EventName.speedTooLow) + if ret.vEgo < 0.001: + # while in standstill, send a user alert + events.add(EventName.manualRestart) + + ret.events = events.to_msg() + + return ret diff --git a/selfdrive/car/toyota/radar_interface.py b/selfdrive/car/toyota/radar_interface.py new file mode 100755 index 0000000000..fae6eecaf6 --- /dev/null +++ b/selfdrive/car/toyota/radar_interface.py @@ -0,0 +1,94 @@ +#!/usr/bin/env python3 +from opendbc.can.parser import CANParser +from cereal import car +from openpilot.selfdrive.car.toyota.values import DBC, TSS2_CAR +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase + + +def _create_radar_can_parser(car_fingerprint): + if car_fingerprint in TSS2_CAR: + RADAR_A_MSGS = list(range(0x180, 0x190)) + RADAR_B_MSGS = list(range(0x190, 0x1a0)) + else: + RADAR_A_MSGS = list(range(0x210, 0x220)) + RADAR_B_MSGS = list(range(0x220, 0x230)) + + msg_a_n = len(RADAR_A_MSGS) + msg_b_n = len(RADAR_B_MSGS) + messages = list(zip(RADAR_A_MSGS + RADAR_B_MSGS, [20] * (msg_a_n + msg_b_n), strict=True)) + + return CANParser(DBC[car_fingerprint]['radar'], messages, 1) + +class RadarInterface(RadarInterfaceBase): + def __init__(self, CP): + super().__init__(CP) + self.track_id = 0 + self.radar_ts = CP.radarTimeStep + + if CP.carFingerprint in TSS2_CAR: + self.RADAR_A_MSGS = list(range(0x180, 0x190)) + self.RADAR_B_MSGS = list(range(0x190, 0x1a0)) + else: + self.RADAR_A_MSGS = list(range(0x210, 0x220)) + self.RADAR_B_MSGS = list(range(0x220, 0x230)) + + self.valid_cnt = {key: 0 for key in self.RADAR_A_MSGS} + + self.rcp = None if CP.radarUnavailable else _create_radar_can_parser(CP.carFingerprint) + self.trigger_msg = self.RADAR_B_MSGS[-1] + self.updated_messages = set() + + def update(self, can_strings): + if self.rcp is None: + return super().update(None) + + vls = self.rcp.update_strings(can_strings) + self.updated_messages.update(vls) + + if self.trigger_msg not in self.updated_messages: + return None + + rr = self._update(self.updated_messages) + self.updated_messages.clear() + + return rr + + def _update(self, updated_messages): + ret = car.RadarData.new_message() + errors = [] + if not self.rcp.can_valid: + errors.append("canError") + ret.errors = errors + + for ii in sorted(updated_messages): + if ii in self.RADAR_A_MSGS: + cpt = self.rcp.vl[ii] + + if cpt['LONG_DIST'] >= 255 or cpt['NEW_TRACK']: + self.valid_cnt[ii] = 0 # reset counter + if cpt['VALID'] and cpt['LONG_DIST'] < 255: + self.valid_cnt[ii] += 1 + else: + self.valid_cnt[ii] = max(self.valid_cnt[ii] - 1, 0) + + score = self.rcp.vl[ii+16]['SCORE'] + # print ii, self.valid_cnt[ii], score, cpt['VALID'], cpt['LONG_DIST'], cpt['LAT_DIST'] + + # radar point only valid if it's a valid measurement and score is above 50 + if cpt['VALID'] or (score > 50 and cpt['LONG_DIST'] < 255 and self.valid_cnt[ii] > 0): + if ii not in self.pts or cpt['NEW_TRACK']: + self.pts[ii] = car.RadarData.RadarPoint.new_message() + self.pts[ii].trackId = self.track_id + self.track_id += 1 + self.pts[ii].dRel = cpt['LONG_DIST'] # from front of car + self.pts[ii].yRel = -cpt['LAT_DIST'] # in car frame's y axis, left is positive + self.pts[ii].vRel = cpt['REL_SPEED'] + self.pts[ii].aRel = float('nan') + self.pts[ii].yvRel = float('nan') + self.pts[ii].measured = bool(cpt['VALID']) + else: + if ii in self.pts: + del self.pts[ii] + + ret.points = list(self.pts.values()) + return ret diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py new file mode 100644 index 0000000000..abde32bc07 --- /dev/null +++ b/selfdrive/car/toyota/toyotacan.py @@ -0,0 +1,132 @@ +from cereal import car +from openpilot.selfdrive.car import make_can_msg + +SteerControlType = car.CarParams.SteerControlType + + +def create_steer_command(packer, steer, steer_req): + """Creates a CAN message for the Toyota Steer Command.""" + + values = { + "STEER_REQUEST": steer_req, + "STEER_TORQUE_CMD": steer, + "SET_ME_1": 1, + } + return packer.make_can_msg("STEERING_LKA", 0, values) + + +def create_lta_steer_command(packer, steer_control_type, steer_angle, steer_req, frame, torque_wind_down): + """Creates a CAN message for the Toyota LTA Steer Command.""" + + values = { + "COUNTER": frame + 128, + "SETME_X1": 1, # suspected LTA feature availability + # 1 for TSS 2.5 cars, 3 for TSS 2.0. Send based on whether we're using LTA for lateral control + "SETME_X3": 1 if steer_control_type == SteerControlType.angle else 3, + "PERCENTAGE": 100, + "TORQUE_WIND_DOWN": torque_wind_down, + "ANGLE": 0, + "STEER_ANGLE_CMD": steer_angle, + "STEER_REQUEST": steer_req, + "STEER_REQUEST_2": steer_req, + "CLEAR_HOLD_STEERING_ALERT": 0, + } + return packer.make_can_msg("STEERING_LTA", 0, values) + + +def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type, fcw_alert, distance, reverse_acc): + # TODO: find the exact canceling bit that does not create a chime + values = { + "ACCEL_CMD": 0 if pcm_cancel else accel, + "ACC_TYPE": acc_type, + "DISTANCE": distance, + "MINI_CAR": lead, + "PERMIT_BRAKING": 1, + "RELEASE_STANDSTILL": not standstill_req, + "CANCEL_REQ": pcm_cancel, + "ALLOW_LONG_PRESS": reverse_acc, + "ACC_CUT_IN": fcw_alert, # only shown when ACC enabled + } + return packer.make_can_msg("ACC_CONTROL", 0, values) + + +def create_acc_cancel_command(packer): + values = { + "GAS_RELEASED": 0, + "CRUISE_ACTIVE": 0, + "ACC_BRAKING": 0, + "ACCEL_NET": 0, + "CRUISE_STATE": 0, + "CANCEL_REQ": 1, + } + return packer.make_can_msg("PCM_CRUISE", 0, values) + + +def create_fcw_command(packer, fcw): + values = { + "PCS_INDICATOR": 1, # PCS turned off + "FCW": fcw, + "SET_ME_X20": 0x20, + "SET_ME_X10": 0x10, + "PCS_OFF": 1, + "PCS_SENSITIVITY": 0, + } + return packer.make_can_msg("PCS_HUD", 0, values) + + +def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart, lat_active, stock_lkas_hud, + mads_enabled): + lateral_paused = mads_enabled and not lat_active + values = { + "TWO_BEEPS": chime, + "LDA_ALERT": steer if mads_enabled else 0, + "RIGHT_LINE": 0 if not mads_enabled else 2 if lateral_paused else 3 if right_lane_depart else 1 if right_line else 2, + "LEFT_LINE": 0 if not mads_enabled else 2 if lateral_paused else 3 if left_lane_depart else 1 if left_line else 2, + "BARRIERS": 1 if lat_active else 0, + "LKAS_STATUS": 2 if mads_enabled else 1 if lateral_paused else 0, + + # static signals + "SET_ME_X02": 2, + "SET_ME_X01": 1, + "REPEATED_BEEPS": 0, + "LANE_SWAY_FLD": 7, + "LANE_SWAY_BUZZER": 0, + "LANE_SWAY_WARNING": 0, + "LDA_FRONT_CAMERA_BLOCKED": 0, + "TAKE_CONTROL": 0, + "LANE_SWAY_SENSITIVITY": 2, + "LANE_SWAY_TOGGLE": 1, + "LDA_ON_MESSAGE": 0, + "LDA_MESSAGES": 0, + "LDA_SA_TOGGLE": 1, + "LDA_SENSITIVITY": 2, + "LDA_UNAVAILABLE": 0, + "LDA_MALFUNCTION": 0, + "LDA_UNAVAILABLE_QUIET": 0, + "ADJUSTING_CAMERA": 0, + "LDW_EXIST": 1, + } + + # lane sway functionality + # not all cars have LKAS_HUD — update with camera values if available + if len(stock_lkas_hud): + values.update({s: stock_lkas_hud[s] for s in [ + "LANE_SWAY_FLD", + "LANE_SWAY_BUZZER", + "LANE_SWAY_WARNING", + "LANE_SWAY_SENSITIVITY", + "LANE_SWAY_TOGGLE", + ]}) + + return packer.make_can_msg("LKAS_HUD", 0, values) + + +def create_set_bsm_debug_mode(lr_blindspot, enabled): + dat = b"\x02\x10\x60\x00\x00\x00\x00" if enabled else b"\x02\x10\x01\x00\x00\x00\x00" + dat = lr_blindspot + dat + + return make_can_msg(0x750, dat, 0) + + +def create_bsm_polling_status(lr_blindspot): + return make_can_msg(0x750, lr_blindspot + b"\x02\x21\x69\x00\x00\x00\x00", 0) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py new file mode 100644 index 0000000000..6952bb41bd --- /dev/null +++ b/selfdrive/car/toyota/values.py @@ -0,0 +1,581 @@ +import re +from collections import defaultdict +from dataclasses import dataclass, field +from enum import Enum, IntFlag + +from cereal import car +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms +from openpilot.selfdrive.car import AngleRateLimit, dbc_dict +from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarDocs, Column, CarParts, CarHarness +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries + +Ecu = car.CarParams.Ecu +MIN_ACC_SPEED = 19. * CV.MPH_TO_MS +PEDAL_TRANSITION = 10. * CV.MPH_TO_MS + + +class CarControllerParams: + ACCEL_MAX = 1.5 # m/s2, lower than allowed 2.0 m/s2 for tuning reasons + ACCEL_MIN = -3.5 # m/s2 + + STEER_STEP = 1 + STEER_MAX = 1500 + STEER_ERROR_MAX = 350 # max delta between torque cmd and torque motor + + # Lane Tracing Assist (LTA) control limits + # Assuming a steering ratio of 13.7: + # Limit to ~2.0 m/s^3 up (7.5 deg/s), ~3.5 m/s^3 down (13 deg/s) at 75 mph + # Worst case, the low speed limits will allow ~4.0 m/s^3 up (15 deg/s) and ~4.9 m/s^3 down (18 deg/s) at 75 mph, + # however the EPS has its own internal limits at all speeds which are less than that: + # Observed internal torque rate limit on TSS 2.5 Camry and RAV4 is ~1500 units/sec up and down when using LTA + ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.3, 0.15]) + ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.36, 0.26]) + + def __init__(self, CP): + if CP.lateralTuning.which == 'torque': + self.STEER_DELTA_UP = 15 # 1.0s time to peak torque + self.STEER_DELTA_DOWN = 25 # always lower than 45 otherwise the Rav4 faults (Prius seems ok with 50) + else: + self.STEER_DELTA_UP = 10 # 1.5s time to peak torque + self.STEER_DELTA_DOWN = 25 # always lower than 45 otherwise the Rav4 faults (Prius seems ok with 50) + + +class ToyotaFlags(IntFlag): + # Detected flags + HYBRID = 1 + SMART_DSU = 2 + DISABLE_RADAR = 4 + RADAR_CAN_FILTER = 1024 + + # Static flags + TSS2 = 8 + NO_DSU = 16 + UNSUPPORTED_DSU = 32 + RADAR_ACC = 64 + # these cars use the Lane Tracing Assist (LTA) message for lateral control + ANGLE_CONTROL = 128 + NO_STOP_TIMER = 256 + # these cars are speculated to allow stop and go when the DSU is unplugged or disabled with sDSU + SNG_WITHOUT_DSU = 512 + + +class ToyotaFlagsSP(IntFlag): + SP_ZSS = 1 + SP_ENHANCED_BSM = 2 + SP_NEED_DEBUG_BSM = 4 + + +class Footnote(Enum): + CAMRY = CarFootnote( + "openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.", + Column.FSR_LONGITUDINAL) + + +@dataclass +class ToyotaCarDocs(CarDocs): + package: str = "All" + car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.toyota_a])) + + +@dataclass +class ToyotaTSS2PlatformConfig(PlatformConfig): + dbc_dict: dict = field(default_factory=lambda: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas')) + + def init(self): + self.flags |= ToyotaFlags.TSS2 | ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.NO_DSU + + if self.flags & ToyotaFlags.RADAR_ACC: + self.dbc_dict = dbc_dict('toyota_nodsu_pt_generated', None) + + +class CAR(Platforms): + # Toyota + TOYOTA_ALPHARD_TSS2 = ToyotaTSS2PlatformConfig( + [ + ToyotaCarDocs("Toyota Alphard 2019-20"), + ToyotaCarDocs("Toyota Alphard Hybrid 2021"), + ], + CarSpecs(mass=4305. * CV.LB_TO_KG, wheelbase=3.0, steerRatio=14.2, tireStiffnessFactor=0.444), + ) + TOYOTA_AVALON = PlatformConfig( + [ + ToyotaCarDocs("Toyota Avalon 2016", "Toyota Safety Sense P"), + ToyotaCarDocs("Toyota Avalon 2017-18"), + ], + CarSpecs(mass=3505. * CV.LB_TO_KG, wheelbase=2.82, steerRatio=14.8, tireStiffnessFactor=0.7983), + dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), + ) + TOYOTA_AVALON_2019 = PlatformConfig( + [ + ToyotaCarDocs("Toyota Avalon 2019-21"), + ToyotaCarDocs("Toyota Avalon Hybrid 2019-21"), + ], + TOYOTA_AVALON.specs, + dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), + ) + TOYOTA_AVALON_TSS2 = ToyotaTSS2PlatformConfig( # TSS 2.5 + [ + ToyotaCarDocs("Toyota Avalon 2022"), + ToyotaCarDocs("Toyota Avalon Hybrid 2022"), + ], + TOYOTA_AVALON.specs, + ) + TOYOTA_CAMRY = PlatformConfig( + [ + ToyotaCarDocs("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]), + ToyotaCarDocs("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"), + ], + CarSpecs(mass=3400. * CV.LB_TO_KG, wheelbase=2.82448, steerRatio=13.7, tireStiffnessFactor=0.7933), + dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), + flags=ToyotaFlags.NO_DSU, + ) + TOYOTA_CAMRY_TSS2 = ToyotaTSS2PlatformConfig( # TSS 2.5 + [ + ToyotaCarDocs("Toyota Camry 2021-24", footnotes=[Footnote.CAMRY]), + ToyotaCarDocs("Toyota Camry Hybrid 2021-24"), + ], + TOYOTA_CAMRY.specs, + ) + TOYOTA_CHR = PlatformConfig( + [ + ToyotaCarDocs("Toyota C-HR 2017-20"), + ToyotaCarDocs("Toyota C-HR Hybrid 2017-20"), + ], + CarSpecs(mass=3300. * CV.LB_TO_KG, wheelbase=2.63906, steerRatio=13.6, tireStiffnessFactor=0.7933), + dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), + flags=ToyotaFlags.NO_DSU, + ) + TOYOTA_CHR_TSS2 = ToyotaTSS2PlatformConfig( + [ + ToyotaCarDocs("Toyota C-HR 2021"), + ToyotaCarDocs("Toyota C-HR Hybrid 2021-22"), + ], + TOYOTA_CHR.specs, + flags=ToyotaFlags.RADAR_ACC, + ) + TOYOTA_COROLLA = PlatformConfig( + [ToyotaCarDocs("Toyota Corolla 2017-19")], + CarSpecs(mass=2860. * CV.LB_TO_KG, wheelbase=2.7, steerRatio=18.27, tireStiffnessFactor=0.444), + dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), + ) + # LSS2 Lexus UX Hybrid is same as a TSS2 Corolla Hybrid + TOYOTA_COROLLA_TSS2 = ToyotaTSS2PlatformConfig( + [ + ToyotaCarDocs("Toyota Corolla 2020-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"), + ToyotaCarDocs("Toyota Corolla Cross (Non-US only) 2020-23", min_enable_speed=7.5), + ToyotaCarDocs("Toyota Corolla Hatchback 2019-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"), + # Hybrid platforms + ToyotaCarDocs("Toyota Corolla Hybrid 2020-22"), + ToyotaCarDocs("Toyota Corolla Hybrid (South America only) 2020-23", min_enable_speed=7.5), + ToyotaCarDocs("Toyota Corolla Cross Hybrid (Non-US only) 2020-22", min_enable_speed=7.5), + ToyotaCarDocs("Lexus UX Hybrid 2019-23"), + ], + CarSpecs(mass=3060. * CV.LB_TO_KG, wheelbase=2.67, steerRatio=13.9, tireStiffnessFactor=0.444), + ) + TOYOTA_HIGHLANDER = PlatformConfig( + [ + ToyotaCarDocs("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo"), + ToyotaCarDocs("Toyota Highlander Hybrid 2017-19"), + ], + CarSpecs(mass=4516. * CV.LB_TO_KG, wheelbase=2.8194, steerRatio=16.0, tireStiffnessFactor=0.8), + dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), + flags=ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.SNG_WITHOUT_DSU, + ) + TOYOTA_HIGHLANDER_TSS2 = ToyotaTSS2PlatformConfig( + [ + ToyotaCarDocs("Toyota Highlander 2020-23"), + ToyotaCarDocs("Toyota Highlander Hybrid 2020-23"), + ], + TOYOTA_HIGHLANDER.specs, + ) + TOYOTA_PRIUS = PlatformConfig( + [ + ToyotaCarDocs("Toyota Prius 2016", "Toyota Safety Sense P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"), + ToyotaCarDocs("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"), + ToyotaCarDocs("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"), + ], + CarSpecs(mass=3045. * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.74, tireStiffnessFactor=0.6371), + dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), + ) + TOYOTA_PRIUS_V = PlatformConfig( + [ToyotaCarDocs("Toyota Prius v 2017", "Toyota Safety Sense P", min_enable_speed=MIN_ACC_SPEED)], + CarSpecs(mass=3340. * CV.LB_TO_KG, wheelbase=2.78, steerRatio=17.4, tireStiffnessFactor=0.5533), + dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), + flags=ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.SNG_WITHOUT_DSU, + ) + TOYOTA_PRIUS_TSS2 = ToyotaTSS2PlatformConfig( + [ + ToyotaCarDocs("Toyota Prius 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"), + ToyotaCarDocs("Toyota Prius Prime 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"), + ], + CarSpecs(mass=3115. * CV.LB_TO_KG, wheelbase=2.70002, steerRatio=13.4, tireStiffnessFactor=0.6371), + ) + TOYOTA_RAV4 = PlatformConfig( + [ + ToyotaCarDocs("Toyota RAV4 2016", "Toyota Safety Sense P"), + ToyotaCarDocs("Toyota RAV4 2017-18") + ], + CarSpecs(mass=3650. * CV.LB_TO_KG, wheelbase=2.65, steerRatio=16.88, tireStiffnessFactor=0.5533), + dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), + ) + TOYOTA_RAV4H = PlatformConfig( + [ + ToyotaCarDocs("Toyota RAV4 Hybrid 2016", "Toyota Safety Sense P", video_link="https://youtu.be/LhT5VzJVfNI?t=26"), + ToyotaCarDocs("Toyota RAV4 Hybrid 2017-18", video_link="https://youtu.be/LhT5VzJVfNI?t=26") + ], + TOYOTA_RAV4.specs, + dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), + # Note that the ICE RAV4 does not respect positive acceleration commands under 19 mph + flags=ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.SNG_WITHOUT_DSU, + ) + TOYOTA_RAV4_TSS2 = ToyotaTSS2PlatformConfig( + [ + ToyotaCarDocs("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"), + ToyotaCarDocs("Toyota RAV4 Hybrid 2019-21"), + ], + CarSpecs(mass=3585. * CV.LB_TO_KG, wheelbase=2.68986, steerRatio=14.3, tireStiffnessFactor=0.7933), + ) + TOYOTA_RAV4_TSS2_2022 = ToyotaTSS2PlatformConfig( + [ + ToyotaCarDocs("Toyota RAV4 2022"), + ToyotaCarDocs("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"), + ], + TOYOTA_RAV4_TSS2.specs, + flags=ToyotaFlags.RADAR_ACC, + ) + TOYOTA_RAV4_TSS2_2023 = ToyotaTSS2PlatformConfig( + [ + ToyotaCarDocs("Toyota RAV4 2023-24"), + ToyotaCarDocs("Toyota RAV4 Hybrid 2023-24"), + ], + TOYOTA_RAV4_TSS2.specs, + flags=ToyotaFlags.RADAR_ACC | ToyotaFlags.ANGLE_CONTROL, + ) + TOYOTA_MIRAI = ToyotaTSS2PlatformConfig( # TSS 2.5 + [ToyotaCarDocs("Toyota Mirai 2021")], + CarSpecs(mass=4300. * CV.LB_TO_KG, wheelbase=2.91, steerRatio=14.8, tireStiffnessFactor=0.8), + ) + TOYOTA_SIENNA = PlatformConfig( + [ToyotaCarDocs("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", min_enable_speed=MIN_ACC_SPEED)], + CarSpecs(mass=4590. * CV.LB_TO_KG, wheelbase=3.03, steerRatio=15.5, tireStiffnessFactor=0.444), + dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), + flags=ToyotaFlags.NO_STOP_TIMER, + ) + + # Lexus + LEXUS_CTH = PlatformConfig( + [ToyotaCarDocs("Lexus CT Hybrid 2017-18", "Lexus Safety System+")], + CarSpecs(mass=3108. * CV.LB_TO_KG, wheelbase=2.6, steerRatio=18.6, tireStiffnessFactor=0.517), + dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), + ) + LEXUS_ES = PlatformConfig( + [ + ToyotaCarDocs("Lexus ES 2017-18"), + ToyotaCarDocs("Lexus ES Hybrid 2017-18"), + ], + CarSpecs(mass=3677. * CV.LB_TO_KG, wheelbase=2.8702, steerRatio=16.0, tireStiffnessFactor=0.444), + dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), + ) + LEXUS_ES_TSS2 = ToyotaTSS2PlatformConfig( + [ + ToyotaCarDocs("Lexus ES 2019-24"), + ToyotaCarDocs("Lexus ES Hybrid 2019-24", video_link="https://youtu.be/BZ29osRVJeg?t=12"), + ], + LEXUS_ES.specs, + ) + LEXUS_IS = PlatformConfig( + [ToyotaCarDocs("Lexus IS 2017-19")], + CarSpecs(mass=3736.8 * CV.LB_TO_KG, wheelbase=2.79908, steerRatio=13.3, tireStiffnessFactor=0.444), + dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), + flags=ToyotaFlags.UNSUPPORTED_DSU, + ) + LEXUS_IS_TSS2 = ToyotaTSS2PlatformConfig( + [ToyotaCarDocs("Lexus IS 2022-23")], + LEXUS_IS.specs, + ) + LEXUS_NX = PlatformConfig( + [ + ToyotaCarDocs("Lexus NX 2018-19"), + ToyotaCarDocs("Lexus NX Hybrid 2018-19"), + ], + CarSpecs(mass=4070. * CV.LB_TO_KG, wheelbase=2.66, steerRatio=14.7, tireStiffnessFactor=0.444), + dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), + ) + LEXUS_NX_TSS2 = ToyotaTSS2PlatformConfig( + [ + ToyotaCarDocs("Lexus NX 2020-21"), + ToyotaCarDocs("Lexus NX Hybrid 2020-21"), + ], + LEXUS_NX.specs, + ) + LEXUS_LC_TSS2 = ToyotaTSS2PlatformConfig( + [ToyotaCarDocs("Lexus LC 2024")], + CarSpecs(mass=4500. * CV.LB_TO_KG, wheelbase=2.87, steerRatio=13.0, tireStiffnessFactor=0.444), + ) + LEXUS_RC = PlatformConfig( + [ToyotaCarDocs("Lexus RC 2018-20")], + LEXUS_IS.specs, + dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), + flags=ToyotaFlags.UNSUPPORTED_DSU, + ) + LEXUS_RX = PlatformConfig( + [ + ToyotaCarDocs("Lexus RX 2016", "Lexus Safety System+"), + ToyotaCarDocs("Lexus RX 2017-19"), + # Hybrid platforms + ToyotaCarDocs("Lexus RX Hybrid 2016", "Lexus Safety System+"), + ToyotaCarDocs("Lexus RX Hybrid 2017-19"), + ], + CarSpecs(mass=4481. * CV.LB_TO_KG, wheelbase=2.79, steerRatio=16., tireStiffnessFactor=0.5533), + dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), + ) + LEXUS_RX_TSS2 = ToyotaTSS2PlatformConfig( + [ + ToyotaCarDocs("Lexus RX 2020-22"), + ToyotaCarDocs("Lexus RX Hybrid 2020-22"), + ], + LEXUS_RX.specs, + ) + LEXUS_GS_F = PlatformConfig( + [ToyotaCarDocs("Lexus GS F 2016")], + CarSpecs(mass=4034. * CV.LB_TO_KG, wheelbase=2.84988, steerRatio=13.3, tireStiffnessFactor=0.444), + dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), + flags=ToyotaFlags.UNSUPPORTED_DSU, + ) + + +# (addr, cars, bus, 1/freq*100, vl) +STATIC_DSU_MSGS = [ + (0x128, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_AVALON), \ + 1, 3, b'\xf4\x01\x90\x83\x00\x37'), + (0x128, (CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES), 1, 3, b'\x03\x00\x20\x00\x00\x52'), + (0x141, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_AVALON, + CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V), 1, 2, b'\x00\x00\x00\x46'), + (0x160, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_AVALON, + CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V), 1, 7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'), + (0x161, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_AVALON, CAR.TOYOTA_PRIUS_V), + 1, 7, b'\x00\x1e\x00\x00\x00\x80\x07'), + (0X161, (CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES), 1, 7, b'\x00\x1e\x00\xd4\x00\x00\x5b'), + (0x283, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_AVALON, + CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V), 0, 3, b'\x00\x00\x00\x00\x00\x00\x8c'), + (0x2E6, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX), 0, 3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'), + (0x2E7, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX), 0, 3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'), + (0x33E, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX), 0, 20, b'\x0f\xff\x26\x40\x00\x1f\x00'), + (0x344, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_AVALON, + CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V), 0, 5, b'\x00\x00\x01\x00\x00\x00\x00\x50'), + (0x365, (CAR.TOYOTA_PRIUS, CAR.LEXUS_NX, CAR.TOYOTA_HIGHLANDER), 0, 20, b'\x00\x00\x00\x80\x03\x00\x08'), + (0x365, (CAR.TOYOTA_RAV4, CAR.TOYOTA_RAV4H, CAR.TOYOTA_COROLLA, CAR.TOYOTA_AVALON, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_RX, + CAR.TOYOTA_PRIUS_V), 0, 20, b'\x00\x00\x00\x80\xfc\x00\x08'), + (0x366, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_HIGHLANDER), 0, 20, b'\x00\x00\x4d\x82\x40\x02\x00'), + (0x366, (CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_AVALON, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V), + 0, 20, b'\x00\x72\x07\xff\x09\xfe\x00'), + (0x470, (CAR.TOYOTA_PRIUS, CAR.LEXUS_RX), 1, 100, b'\x00\x00\x02\x7a'), + (0x470, (CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_RAV4H, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V), 1, 100, b'\x00\x00\x01\x79'), + (0x4CB, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_AVALON, + CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'), +] + + +def get_platform_codes(fw_versions: list[bytes]) -> dict[bytes, set[bytes]]: + # Returns sub versions in a dict so comparisons can be made within part-platform-major_version combos + codes = defaultdict(set) # Optional[part]-platform-major_version: set of sub_version + for fw in fw_versions: + # FW versions returned from UDS queries can return multiple fields/chunks of data (different ECU calibrations, different data?) + # and are prefixed with a byte that describes how many chunks of data there are. + # But FW returned from KWP requires querying of each sub-data id and does not have a length prefix. + + length_code = 1 + length_code_match = FW_LEN_CODE.search(fw) + if length_code_match is not None: + length_code = length_code_match.group()[0] + fw = fw[1:] + + # fw length should be multiple of 16 bytes (per chunk, even if no length code), skip parsing if unexpected length + if length_code * FW_CHUNK_LEN != len(fw): + continue + + chunks = [fw[FW_CHUNK_LEN * i:FW_CHUNK_LEN * i + FW_CHUNK_LEN].strip(b'\x00 ') for i in range(length_code)] + + # only first is considered for now since second is commonly shared (TODO: understand that) + first_chunk = chunks[0] + if len(first_chunk) == 8: + # TODO: no part number, but some short chunks have it in subsequent chunks + fw_match = SHORT_FW_PATTERN.search(first_chunk) + if fw_match is not None: + platform, major_version, sub_version = fw_match.groups() + codes[b'-'.join((platform, major_version))].add(sub_version) + + elif len(first_chunk) == 10: + fw_match = MEDIUM_FW_PATTERN.search(first_chunk) + if fw_match is not None: + part, platform, major_version, sub_version = fw_match.groups() + codes[b'-'.join((part, platform, major_version))].add(sub_version) + + elif len(first_chunk) == 12: + fw_match = LONG_FW_PATTERN.search(first_chunk) + if fw_match is not None: + part, platform, major_version, sub_version = fw_match.groups() + codes[b'-'.join((part, platform, major_version))].add(sub_version) + + return dict(codes) + + +def match_fw_to_car_fuzzy(live_fw_versions, vin, offline_fw_versions) -> set[str]: + candidates = set() + + for candidate, fws in offline_fw_versions.items(): + # Keep track of ECUs which pass all checks (platform codes, within sub-version range) + valid_found_ecus = set() + valid_expected_ecus = {ecu[1:] for ecu in fws if ecu[0] in PLATFORM_CODE_ECUS} + for ecu, expected_versions in fws.items(): + addr = ecu[1:] + # Only check ECUs expected to have platform codes + if ecu[0] not in PLATFORM_CODE_ECUS: + continue + + # Expected platform codes & versions + expected_platform_codes = get_platform_codes(expected_versions) + + # Found platform codes & versions + found_platform_codes = get_platform_codes(live_fw_versions.get(addr, set())) + + # Check part number + platform code + major version matches for any found versions + # Platform codes and major versions change for different physical parts, generation, API, etc. + # Sub-versions are incremented for minor recalls, do not need to be checked. + if not any(found_platform_code in expected_platform_codes for found_platform_code in found_platform_codes): + break + + valid_found_ecus.add(addr) + + # If all live ECUs pass all checks for candidate, add it as a match + if valid_expected_ecus.issubset(valid_found_ecus): + candidates.add(candidate) + + return {str(c) for c in (candidates - FUZZY_EXCLUDED_PLATFORMS)} + + +# Regex patterns for parsing more general platform-specific identifiers from FW versions. +# - Part number: Toyota part number (usually last character needs to be ignored to find a match). +# Each ECU address has just one part number. +# - Platform: usually multiple codes per an openpilot platform, however this is the least variable and +# is usually shared across ECUs and model years signifying this describes something about the specific platform. +# This describes more generational changes (TSS-P vs TSS2), or manufacture region. +# - Major version: second least variable part of the FW version. Seen splitting cars by model year/API such as +# RAV4 2022/2023 and Avalon. Used to differentiate cars where API has changed slightly, but is not a generational change. +# It is important to note that these aren't always consecutive, for example: +# Avalon 2016-18's fwdCamera has these major versions: 01, 03 while 2019 has: 02 +# - Sub version: exclusive to major version, but shared with other cars. Should only be used for further filtering. +# Seen bumped in TSB FW updates, and describes other minor differences. +SHORT_FW_PATTERN = re.compile(b'[A-Z0-9](?P[A-Z0-9]{2})(?P[A-Z0-9]{2})(?P[A-Z0-9]{3})') +MEDIUM_FW_PATTERN = re.compile(b'(?P[A-Z0-9]{5})(?P[A-Z0-9]{2})(?P[A-Z0-9]{1})(?P[A-Z0-9]{2})') +LONG_FW_PATTERN = re.compile(b'(?P[A-Z0-9]{5})(?P[A-Z0-9]{2})(?P[A-Z0-9]{2})(?P[A-Z0-9]{3})') +FW_LEN_CODE = re.compile(b'^[\x01-\x03]') # highest seen is 3 chunks, 16 bytes each +FW_CHUNK_LEN = 16 + +# List of ECUs that are most unique across openpilot platforms +# - fwdCamera: describes actual features related to ADAS. For example, on the Avalon it describes +# when TSS-P became standard, whether the car supports stop and go, and whether it's TSS2. +# On the RAV4, it describes the move to the radar doing ACC, and the use of LTA for lane keeping. +# Note that the platform codes & major versions do not describe features in plain text, only with +# matching against other seen FW versions in the database they can describe features. +# - fwdRadar: sanity check against fwdCamera, commonly shares a platform code. +# For example the RAV4 2022's new radar architecture is shown for both with platform code. +# - abs: differentiates hybrid/ICE on most cars (Corolla TSS2 is an exception, not used due to hybrid platform combination) +# - eps: describes lateral API changes for the EPS, such as using LTA for lane keeping and rejecting LKA messages +PLATFORM_CODE_ECUS = (Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps) + +# These platforms have at least one platform code for all ECUs shared with another platform. +FUZZY_EXCLUDED_PLATFORMS: set[CAR] = set() + +# Some ECUs that use KWP2000 have their FW versions on non-standard data identifiers. +# Toyota diagnostic software first gets the supported data ids, then queries them one by one. +# For example, sends: 0x1a8800, receives: 0x1a8800010203, queries: 0x1a8801, 0x1a8802, 0x1a8803 +TOYOTA_VERSION_REQUEST_KWP = b'\x1a\x88\x01' +TOYOTA_VERSION_RESPONSE_KWP = b'\x5a\x88\x01' + +FW_QUERY_CONFIG = FwQueryConfig( + # TODO: look at data to whitelist new ECUs effectively + requests=[ + Request( + [StdQueries.SHORT_TESTER_PRESENT_REQUEST, TOYOTA_VERSION_REQUEST_KWP], + [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, TOYOTA_VERSION_RESPONSE_KWP], + whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.dsu, Ecu.abs, Ecu.eps, Ecu.srs, Ecu.transmission, Ecu.hvac], + bus=0, + ), + Request( + [StdQueries.SHORT_TESTER_PRESENT_REQUEST, StdQueries.OBD_VERSION_REQUEST], + [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, StdQueries.OBD_VERSION_RESPONSE], + whitelist_ecus=[Ecu.engine, Ecu.hybrid, Ecu.srs, Ecu.transmission, Ecu.hvac], + bus=0, + ), + Request( + [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.DEFAULT_DIAGNOSTIC_REQUEST, StdQueries.EXTENDED_DIAGNOSTIC_REQUEST, StdQueries.UDS_VERSION_REQUEST], + [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.DEFAULT_DIAGNOSTIC_RESPONSE, StdQueries.EXTENDED_DIAGNOSTIC_RESPONSE, StdQueries.UDS_VERSION_RESPONSE], + whitelist_ecus=[Ecu.engine, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.abs, Ecu.eps, + Ecu.hybrid, Ecu.srs, Ecu.transmission, Ecu.hvac], + bus=0, + ), + ], + non_essential_ecus={ + # FIXME: On some models, abs can sometimes be missing + Ecu.abs: [CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_SIENNA, CAR.LEXUS_IS, CAR.TOYOTA_ALPHARD_TSS2], + # On some models, the engine can show on two different addresses + Ecu.engine: [CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_CAMRY, CAR.TOYOTA_COROLLA_TSS2, CAR.TOYOTA_CHR, CAR.TOYOTA_CHR_TSS2, CAR.LEXUS_IS, + CAR.LEXUS_IS_TSS2, CAR.LEXUS_RC, CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2, CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2], + }, + extra_ecus=[ + # All known ECUs on a late-model Toyota vehicle not queried here: + # Responds to UDS: + # - Combination Meter (0x7c0) + # - HV Battery (0x713, 0x747) + # - Motor Generator (0x716, 0x724) + # - 2nd ABS "Brake/EPB" (0x730) + # - Electronic Parking Brake ((0x750, 0x2c)) + # - Telematics ((0x750, 0xc7)) + # Responds to KWP (0x1a8801): + # - Steering Angle Sensor (0x7b3) + # - EPS/EMPS (0x7a0, 0x7a1) + # - 2nd SRS Airbag (0x784) + # - Central Gateway ((0x750, 0x5f)) + # - Telematics ((0x750, 0xc7)) + # Responds to KWP (0x1a8881): + # - Body Control Module ((0x750, 0x40)) + # - Telematics ((0x750, 0xc7)) + + # Hybrid control computer can be on 0x7e2 (KWP) or 0x7d2 (UDS) depending on platform + (Ecu.hybrid, 0x7e2, None), # Hybrid Control Assembly & Computer + (Ecu.srs, 0x780, None), # SRS Airbag + # Transmission is combined with engine on some platforms, such as TSS-P RAV4 + (Ecu.transmission, 0x701, None), + # A few platforms have a tester present response on this address, add to log + (Ecu.transmission, 0x7e1, None), + (Ecu.hvac, 0x7c4, None), + ], + match_fw_to_car_fuzzy=match_fw_to_car_fuzzy, +) + + +STEER_THRESHOLD = 100 + +# These cars have non-standard EPS torque scale factors. All others are 73 +EPS_SCALE = defaultdict(lambda: 73, + {CAR.TOYOTA_PRIUS: 66, CAR.TOYOTA_COROLLA: 88, CAR.LEXUS_IS: 77, CAR.LEXUS_RC: 77, CAR.LEXUS_CTH: 100, CAR.TOYOTA_PRIUS_V: 100}) + +# Toyota/Lexus Safety Sense 2.0 and 2.5 +TSS2_CAR = CAR.with_flags(ToyotaFlags.TSS2) + +NO_DSU_CAR = CAR.with_flags(ToyotaFlags.NO_DSU) + +# the DSU uses the AEB message for longitudinal on these cars +UNSUPPORTED_DSU_CAR = CAR.with_flags(ToyotaFlags.UNSUPPORTED_DSU) + +# these cars have a radar which sends ACC messages instead of the camera +RADAR_ACC_CAR = CAR.with_flags(ToyotaFlags.RADAR_ACC) + +ANGLE_CONTROL_CAR = CAR.with_flags(ToyotaFlags.ANGLE_CONTROL) + +# no resume button press required +NO_STOP_TIMER_CAR = CAR.with_flags(ToyotaFlags.NO_STOP_TIMER) + +DBC = CAR.create_dbc_map() diff --git a/selfdrive/car/values.py b/selfdrive/car/values.py new file mode 100644 index 0000000000..bf5d378ab4 --- /dev/null +++ b/selfdrive/car/values.py @@ -0,0 +1,19 @@ +from typing import get_args +from openpilot.selfdrive.car.body.values import CAR as BODY +from openpilot.selfdrive.car.chrysler.values import CAR as CHRYSLER +from openpilot.selfdrive.car.ford.values import CAR as FORD +from openpilot.selfdrive.car.gm.values import CAR as GM +from openpilot.selfdrive.car.honda.values import CAR as HONDA +from openpilot.selfdrive.car.hyundai.values import CAR as HYUNDAI +from openpilot.selfdrive.car.mazda.values import CAR as MAZDA +from openpilot.selfdrive.car.mock.values import CAR as MOCK +from openpilot.selfdrive.car.nissan.values import CAR as NISSAN +from openpilot.selfdrive.car.subaru.values import CAR as SUBARU +from openpilot.selfdrive.car.tesla.values import CAR as TESLA +from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA +from openpilot.selfdrive.car.volkswagen.values import CAR as VOLKSWAGEN + +Platform = BODY | CHRYSLER | FORD | GM | HONDA | HYUNDAI | MAZDA | MOCK | NISSAN | SUBARU | TESLA | TOYOTA | VOLKSWAGEN +BRANDS = get_args(Platform) + +PLATFORMS: dict[str, Platform] = {str(platform): platform for brand in BRANDS for platform in brand} diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py new file mode 100755 index 0000000000..e8c9c58042 --- /dev/null +++ b/selfdrive/car/vin.py @@ -0,0 +1,79 @@ +#!/usr/bin/env python3 +import re + +import cereal.messaging as messaging +from panda.python.uds import get_rx_addr_for_tx_addr, FUNCTIONAL_ADDRS +from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery +from openpilot.selfdrive.car.fw_query_definitions import STANDARD_VIN_ADDRS, StdQueries +from openpilot.common.swaglog import cloudlog + +VIN_UNKNOWN = "0" * 17 +VIN_RE = "[A-HJ-NPR-Z0-9]{17}" + + +def is_valid_vin(vin: str): + return re.fullmatch(VIN_RE, vin) is not None + + +def get_vin(logcan, sendcan, buses, timeout=0.1, retry=2, debug=False): + for i in range(retry): + for bus in buses: + for request, response, valid_buses, vin_addrs, functional_addrs, rx_offset in ( + (StdQueries.UDS_VIN_REQUEST, StdQueries.UDS_VIN_RESPONSE, (0, 1), STANDARD_VIN_ADDRS, FUNCTIONAL_ADDRS, 0x8), + (StdQueries.OBD_VIN_REQUEST, StdQueries.OBD_VIN_RESPONSE, (0, 1), STANDARD_VIN_ADDRS, FUNCTIONAL_ADDRS, 0x8), + (StdQueries.GM_VIN_REQUEST, StdQueries.GM_VIN_RESPONSE, (0,), [0x24b], None, 0x400), # Bolt fwdCamera + (StdQueries.KWP_VIN_REQUEST, StdQueries.KWP_VIN_RESPONSE, (0,), [0x797], None, 0x3), # Nissan Leaf VCM + (StdQueries.UDS_VIN_REQUEST, StdQueries.UDS_VIN_RESPONSE, (0,), [0x74f], None, 0x6a), # Volkswagen fwdCamera + ): + if bus not in valid_buses: + continue + + # When querying functional addresses, ideally we respond to everything that sends a first frame to avoid leaving the + # ECU in a temporary bad state. Note that we may not cover all ECUs and response offsets. TODO: query physical addrs + tx_addrs = vin_addrs + if functional_addrs is not None: + tx_addrs = [a for a in range(0x700, 0x800) if a != 0x7DF] + list(range(0x18DA00F1, 0x18DB00F1, 0x100)) + + try: + query = IsoTpParallelQuery(sendcan, logcan, bus, tx_addrs, [request, ], [response, ], response_offset=rx_offset, + functional_addrs=functional_addrs, debug=debug) + results = query.get_data(timeout) + + for addr in vin_addrs: + vin = results.get((addr, None)) + if vin is not None: + # Ford and Nissan pads with null bytes + if len(vin) in (19, 24): + vin = re.sub(b'\x00*$', b'', vin) + + # Honda Bosch response starts with a length, trim to correct length + if vin.startswith(b'\x11'): + vin = vin[1:18] + + cloudlog.error(f"got vin with {request=}") + return get_rx_addr_for_tx_addr(addr, rx_offset=rx_offset), bus, vin.decode() + except Exception: + cloudlog.exception("VIN query exception") + + cloudlog.error(f"vin query retry ({i+1}) ...") + + return -1, -1, VIN_UNKNOWN + + +if __name__ == "__main__": + import argparse + import time + + parser = argparse.ArgumentParser(description='Get VIN of the car') + parser.add_argument('--debug', action='store_true') + parser.add_argument('--bus', type=int, default=1) + parser.add_argument('--timeout', type=float, default=0.1) + parser.add_argument('--retry', type=int, default=5) + args = parser.parse_args() + + sendcan = messaging.pub_sock('sendcan') + logcan = messaging.sub_sock('can') + time.sleep(1) + + vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (args.bus,), args.timeout, args.retry, debug=args.debug) + print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}') diff --git a/selfdrive/car/volkswagen/__init__.py b/selfdrive/car/volkswagen/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py new file mode 100644 index 0000000000..28c48283a7 --- /dev/null +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -0,0 +1,325 @@ +from cereal import car +import cereal.messaging as messaging +from opendbc.can.packer import CANPacker +from openpilot.common.numpy_fast import clip +from openpilot.common.conversions import Conversions as CV +from openpilot.common.params import Params +from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits +from openpilot.selfdrive.car.interfaces import CarControllerBase +from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan +from openpilot.selfdrive.car.volkswagen.values import CANBUS, CarControllerParams, VolkswagenFlags +from openpilot.selfdrive.controls.lib.drive_helpers import VOLKSWAGEN_V_CRUISE_MIN + +VisualAlert = car.CarControl.HUDControl.VisualAlert +LongCtrlState = car.CarControl.Actuators.LongControlState +ButtonType = car.CarState.ButtonEvent.Type + + +class CarController(CarControllerBase): + def __init__(self, dbc_name, CP, VM): + super().__init__(dbc_name, CP, VM) + self.CCP = CarControllerParams(CP) + self.CCS = pqcan if CP.flags & VolkswagenFlags.PQ else mqbcan + self.packer_pt = CANPacker(dbc_name) + self.ext_bus = CANBUS.pt if CP.networkLocation == car.CarParams.NetworkLocation.fwdCamera else CANBUS.cam + + self.apply_steer_last = 0 + self.gra_acc_counter_last = None + self.eps_timer_soft_disable_alert = False + self.hca_frame_timer_running = 0 + self.hca_frame_same_torque = 0 + self.last_button_frame = 0 + + self.sm = messaging.SubMaster(['longitudinalPlanSP']) + self.param_s = Params() + self.last_speed_limit_sign_tap_prev = False + self.speed_limit = 0. + self.speed_limit_offset = 0 + self.timer = 0 + self.final_speed_kph = 0 + self.init_speed = 0 + self.current_speed = 0 + self.v_set_dis = 0 + self.v_set_dis_prev = 0 + self.v_cruise_min = 0 + self.button_type = 0 + self.button_select = 0 + self.button_count = 0 + self.target_speed = 0 + self.t_interval = 7 + self.slc_active_stock = False + self.sl_force_active_timer = 0 + self.v_tsc_state = 0 + self.slc_state = 0 + self.m_tsc_state = 0 + self.cruise_button = None + self.last_cruise_button = None + self.speed_diff = 0 + self.v_tsc = 0 + self.m_tsc = 0 + self.steady_speed = 0 + self.acc_type = -1 + self.send_count = 0 + + def update(self, CC, CS, now_nanos): + if not self.CP.pcmCruiseSpeed: + self.sm.update(0) + + if self.sm.updated['longitudinalPlanSP']: + self.v_tsc_state = self.sm['longitudinalPlanSP'].visionTurnControllerState + self.slc_state = self.sm['longitudinalPlanSP'].speedLimitControlState + self.m_tsc_state = self.sm['longitudinalPlanSP'].turnSpeedControlState + self.speed_limit = self.sm['longitudinalPlanSP'].speedLimit + self.speed_limit_offset = self.sm['longitudinalPlanSP'].speedLimitOffset + self.v_tsc = self.sm['longitudinalPlanSP'].visionTurnSpeed + self.m_tsc = self.sm['longitudinalPlanSP'].turnSpeed + + self.v_cruise_min = VOLKSWAGEN_V_CRUISE_MIN[CS.params_list.is_metric] * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1) + actuators = CC.actuators + hud_control = CC.hudControl + can_sends = [] + + if not self.CP.pcmCruiseSpeed: + if not self.last_speed_limit_sign_tap_prev and CS.params_list.last_speed_limit_sign_tap: + self.sl_force_active_timer = self.frame + self.param_s.put_bool_nonblocking("LastSpeedLimitSignTap", False) + self.last_speed_limit_sign_tap_prev = CS.params_list.last_speed_limit_sign_tap + + sl_force_active = CS.params_list.speed_limit_control_enabled and (self.frame < (self.sl_force_active_timer * DT_CTRL + 2.0)) + sl_inactive = not sl_force_active and (not CS.params_list.speed_limit_control_enabled or (True if self.slc_state == 0 else False)) + sl_temp_inactive = not sl_force_active and (CS.params_list.speed_limit_control_enabled and (True if self.slc_state == 1 else False)) + slc_active = not sl_inactive and not sl_temp_inactive + + self.slc_active_stock = slc_active + + # **** Steering Controls ************************************************ # + + if self.frame % self.CCP.STEER_STEP == 0: + # Logic to avoid HCA state 4 "refused": + # * Don't steer unless HCA is in state 3 "ready" or 5 "active" + # * Don't steer at standstill + # * Don't send > 3.00 Newton-meters torque + # * Don't send the same torque for > 6 seconds + # * Don't send uninterrupted steering for > 360 seconds + # MQB racks reset the uninterrupted steering timer after a single frame + # of HCA disabled; this is done whenever output happens to be zero. + + if CC.latActive: + new_steer = int(round(actuators.steer * self.CCP.STEER_MAX)) + apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.CCP) + self.hca_frame_timer_running += self.CCP.STEER_STEP + if self.apply_steer_last == apply_steer: + self.hca_frame_same_torque += self.CCP.STEER_STEP + if self.hca_frame_same_torque > self.CCP.STEER_TIME_STUCK_TORQUE / DT_CTRL: + apply_steer -= (1, -1)[apply_steer < 0] + self.hca_frame_same_torque = 0 + else: + self.hca_frame_same_torque = 0 + hca_enabled = abs(apply_steer) > 0 + else: + hca_enabled = False + apply_steer = 0 + + if not hca_enabled: + self.hca_frame_timer_running = 0 + + self.eps_timer_soft_disable_alert = self.hca_frame_timer_running > self.CCP.STEER_TIME_ALERT / DT_CTRL + self.apply_steer_last = apply_steer + can_sends.append(self.CCS.create_steering_control(self.packer_pt, CANBUS.pt, apply_steer, hca_enabled)) + + if self.CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT: + # Pacify VW Emergency Assist driver inactivity detection by changing its view of driver steering input torque + # to the greatest of actual driver input or 2x openpilot's output (1x openpilot output is not enough to + # consistently reset inactivity detection on straight level roads). See commaai/openpilot#23274 for background. + ea_simulated_torque = clip(apply_steer * 2, -self.CCP.STEER_MAX, self.CCP.STEER_MAX) + if abs(CS.out.steeringTorque) > abs(ea_simulated_torque): + ea_simulated_torque = CS.out.steeringTorque + can_sends.append(self.CCS.create_eps_update(self.packer_pt, CANBUS.cam, CS.eps_stock_values, ea_simulated_torque)) + + # **** Acceleration Controls ******************************************** # + + if self.frame % self.CCP.ACC_CONTROL_STEP == 0 and self.CP.openpilotLongitudinalControl: + acc_control = self.CCS.acc_control_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive) + accel = clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0 + stopping = actuators.longControlState == LongCtrlState.stopping + starting = actuators.longControlState == LongCtrlState.pid and (CS.esp_hold_confirmation or CS.out.vEgo < self.CP.vEgoStopping) + can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, CANBUS.pt, CS.acc_type, CC.longActive, accel, + acc_control, stopping, starting, CS.esp_hold_confirmation)) + + # **** HUD Controls ***************************************************** # + + if self.frame % self.CCP.LDW_STEP == 0: + hud_alert = 0 + if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw): + hud_alert = self.CCP.LDW_MESSAGES["laneAssistTakeOver"] + can_sends.append(self.CCS.create_lka_hud_control(self.packer_pt, CANBUS.pt, CS.ldw_stock_values, CC.latActive, + CS.out.steeringPressed, hud_alert, hud_control)) + + if self.frame % self.CCP.ACC_HUD_STEP == 0 and self.CP.openpilotLongitudinalControl: + lead_distance = 0 + if hud_control.leadVisible and self.frame * DT_CTRL > 1.0: # Don't display lead until we know the scaling factor + lead_distance = 512 if CS.upscale_lead_car_signal else 8 + acc_hud_status = self.CCS.acc_hud_status_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive) + # FIXME: follow the recent displayed-speed updates, also use mph_kmh toggle to fix display rounding problem? + set_speed = hud_control.setSpeed * CV.MS_TO_KPH + can_sends.append(self.CCS.create_acc_hud_control(self.packer_pt, CANBUS.pt, acc_hud_status, set_speed, + lead_distance, hud_control.leadDistanceBars)) + + # **** Stock ACC Button Controls **************************************** # + + gra_send_ready = self.CP.pcmCruise and CS.gra_stock_values["COUNTER"] != self.gra_acc_counter_last + if gra_send_ready and (CC.cruiseControl.cancel or CC.cruiseControl.resume): + can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, self.ext_bus, CS.gra_stock_values, + cancel=CC.cruiseControl.cancel, resume=CC.cruiseControl.resume)) + if not (CC.cruiseControl.cancel or CC.cruiseControl.resume) and CS.out.cruiseState.enabled: + if not self.CP.pcmCruiseSpeed: + self.cruise_button = self.get_cruise_buttons(CS, CC.vCruise) + if self.cruise_button is not None: + if self.acc_type == -1: + if self.button_count >= 2 and self.v_set_dis_prev != self.v_set_dis: + self.acc_type = 1 if abs(self.v_set_dis - self.v_set_dis_prev) >= 10 and self.last_cruise_button in (1, 2) else \ + 0 if abs(self.v_set_dis - self.v_set_dis_prev) < 10 and self.last_cruise_button not in (1, 2) else 1 + if self.send_count >= 10 and self.v_set_dis_prev == self.v_set_dis: + self.cruise_button = 3 if self.cruise_button == 1 else 4 + if self.acc_type == 0: + self.cruise_button = 1 if self.cruise_button == 1 else 2 # accel, decel + elif self.acc_type == 1: + self.cruise_button = 3 if self.cruise_button == 1 else 4 # resume, set + if self.frame % self.CCP.BTN_STEP == 0: + can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, CS.gra_stock_values, frame=(self.frame // self.CCP.BTN_STEP), + buttons=self.cruise_button, custom_stock_long=True)) + self.send_count += 1 + else: + self.send_count = 0 + self.last_cruise_button = self.cruise_button + + new_actuators = actuators.as_builder() + new_actuators.steer = self.apply_steer_last / self.CCP.STEER_MAX + new_actuators.steerOutputCan = self.apply_steer_last + + self.gra_acc_counter_last = CS.gra_stock_values["COUNTER"] + self.v_set_dis_prev = self.v_set_dis + self.frame += 1 + return new_actuators, can_sends + + # multikyd methods, sunnyhaibin logic + def get_cruise_buttons_status(self, CS): + if not CS.out.cruiseState.enabled: + for be in CS.out.buttonEvents: + if be.type in (ButtonType.accelCruise, ButtonType.resumeCruise, + ButtonType.decelCruise, ButtonType.setCruise) and be.pressed: + self.timer = 40 + elif be.type == ButtonType.gapAdjustCruise and be.pressed: + self.timer = 300 + elif self.timer: + self.timer -= 1 + else: + return 1 + return 0 + + def get_target_speed(self, v_cruise_kph_prev): + v_cruise_kph = v_cruise_kph_prev + if self.slc_state > 1: + v_cruise_kph = (self.speed_limit + self.speed_limit_offset) * CV.MS_TO_KPH + if not self.slc_active_stock: + v_cruise_kph = v_cruise_kph_prev + return v_cruise_kph + + def get_button_type(self, button_type): + self.type_status = "type_" + str(button_type) + self.button_picker = getattr(self, self.type_status, lambda: "default") + return self.button_picker() + + def reset_button(self): + if self.button_type != 3: + self.button_type = 0 + + def type_default(self): + self.button_type = 0 + return None + + def type_0(self): + self.button_count = 0 + self.target_speed = self.init_speed + self.speed_diff = self.target_speed - self.v_set_dis + if self.target_speed > self.v_set_dis: + self.button_type = 1 + elif self.target_speed < self.v_set_dis and self.v_set_dis > self.v_cruise_min: + self.button_type = 2 + return None + + def type_1(self): + cruise_button = 1 + self.button_count += 1 + if self.target_speed <= self.v_set_dis: + self.button_count = 0 + self.button_type = 3 + elif self.button_count > 5: + self.button_count = 0 + self.button_type = 3 + return cruise_button + + def type_2(self): + cruise_button = 2 + self.button_count += 1 + if self.target_speed >= self.v_set_dis or self.v_set_dis <= self.v_cruise_min: + self.button_count = 0 + self.button_type = 3 + elif self.button_count > 5: + self.button_count = 0 + self.button_type = 3 + return cruise_button + + def type_3(self): + cruise_button = None + self.button_count += 1 + if self.button_count > self.t_interval: + self.button_type = 0 + return cruise_button + + def get_curve_speed(self, target_speed_kph, v_cruise_kph_prev): + if self.v_tsc_state != 0: + vision_v_cruise_kph = self.v_tsc * CV.MS_TO_KPH + if int(vision_v_cruise_kph) == int(v_cruise_kph_prev): + vision_v_cruise_kph = 255 + else: + vision_v_cruise_kph = 255 + if self.m_tsc_state > 1: + map_v_cruise_kph = self.m_tsc * CV.MS_TO_KPH + if int(map_v_cruise_kph) == 0.0: + map_v_cruise_kph = 255 + else: + map_v_cruise_kph = 255 + curve_speed = self.curve_speed_hysteresis(min(vision_v_cruise_kph, map_v_cruise_kph) + 2 * CV.MPH_TO_KPH) + return min(target_speed_kph, curve_speed) + + def get_button_control(self, CS, final_speed, v_cruise_kph_prev): + self.init_speed = round(min(final_speed, v_cruise_kph_prev) * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1)) + self.v_set_dis = round(CS.out.cruiseState.speed * (CV.MS_TO_MPH if not CS.params_list.is_metric else CV.MS_TO_KPH)) + cruise_button = self.get_button_type(self.button_type) + return cruise_button + + def curve_speed_hysteresis(self, cur_speed: float, hyst=(0.75 * CV.MPH_TO_KPH)): + if cur_speed > self.steady_speed: + self.steady_speed = cur_speed + elif cur_speed < self.steady_speed - hyst: + self.steady_speed = cur_speed + return self.steady_speed + + def get_cruise_buttons(self, CS, v_cruise_kph_prev): + cruise_button = None + if not self.get_cruise_buttons_status(CS): + pass + elif CS.out.cruiseState.enabled: + set_speed_kph = self.get_target_speed(v_cruise_kph_prev) + if self.slc_state > 1: + target_speed_kph = set_speed_kph + else: + target_speed_kph = min(v_cruise_kph_prev, set_speed_kph) + if self.v_tsc_state != 0 or self.m_tsc_state > 1: + self.final_speed_kph = self.get_curve_speed(target_speed_kph, v_cruise_kph_prev) + else: + self.final_speed_kph = target_speed_kph + + cruise_button = self.get_button_control(CS, self.final_speed_kph, v_cruise_kph_prev) # MPH/KPH based button presses + return cruise_button diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py new file mode 100644 index 0000000000..1dc4c0e430 --- /dev/null +++ b/selfdrive/car/volkswagen/carstate.py @@ -0,0 +1,415 @@ +import numpy as np +from cereal import car +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car.interfaces import CarStateBase +from opendbc.can.parser import CANParser +from openpilot.selfdrive.car.volkswagen.values import DBC, CANBUS, NetworkLocation, TransmissionType, GearShifter, \ + CarControllerParams, VolkswagenFlags, VolkswagenFlagsSP + + +class CarState(CarStateBase): + def __init__(self, CP): + super().__init__(CP) + self.frame = 0 + self.eps_init_complete = False + self.CCP = CarControllerParams(CP) + self.button_states = {button.event_type: False for button in self.CCP.BUTTONS} + self.esp_hold_confirmation = False + self.upscale_lead_car_signal = False + self.eps_stock_values = False + + def create_button_events(self, pt_cp, buttons): + button_events = [] + + for button in buttons: + state = pt_cp.vl[button.can_addr][button.can_msg] in button.values + if self.button_states[button.event_type] != state: + event = car.CarState.ButtonEvent.new_message() + event.type = button.event_type + event.pressed = state + button_events.append(event) + self.button_states[button.event_type] = state + + return button_events + + def update(self, pt_cp, cam_cp, ext_cp, trans_type): + if self.CP.flags & VolkswagenFlags.PQ: + return self.update_pq(pt_cp, cam_cp, ext_cp, trans_type) + + ret = car.CarState.new_message() + + self.prev_mads_enabled = self.mads_enabled + + # Update vehicle speed and acceleration from ABS wheel speeds. + ret.wheelSpeeds = self.get_wheel_speeds( + pt_cp.vl["ESP_19"]["ESP_VL_Radgeschw_02"], + pt_cp.vl["ESP_19"]["ESP_VR_Radgeschw_02"], + pt_cp.vl["ESP_19"]["ESP_HL_Radgeschw_02"], + pt_cp.vl["ESP_19"]["ESP_HR_Radgeschw_02"], + ) + + ret.vEgoRaw = float(np.mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr])) + ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) + ret.standstill = ret.vEgoRaw == 0 + + # Update EPS position and state info. For signed values, VW sends the sign in a separate signal. + ret.steeringAngleDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradwinkel"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradwinkel"])] + ret.steeringRateDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradw_Geschw"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradw_Geschw"])] + ret.steeringTorque = pt_cp.vl["LH_EPS_03"]["EPS_Lenkmoment"] * (1, -1)[int(pt_cp.vl["LH_EPS_03"]["EPS_VZ_Lenkmoment"])] + ret.steeringPressed = abs(ret.steeringTorque) > self.CCP.STEER_DRIVER_ALLOWANCE + ret.yawRate = pt_cp.vl["ESP_02"]["ESP_Gierrate"] * (1, -1)[int(pt_cp.vl["ESP_02"]["ESP_VZ_Gierrate"])] * CV.DEG_TO_RAD + hca_status = self.CCP.hca_status_values.get(pt_cp.vl["LH_EPS_03"]["EPS_HCA_Status"]) + ret.steerFaultTemporary, ret.steerFaultPermanent = self.update_hca_state(hca_status) + + # VW Emergency Assist status tracking and mitigation + self.eps_stock_values = pt_cp.vl["LH_EPS_03"] + if self.CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT: + ret.carFaultedNonCritical = bool(cam_cp.vl["HCA_01"]["EA_Ruckfreigabe"]) or cam_cp.vl["HCA_01"]["EA_ACC_Sollstatus"] > 0 + + # Update gas, brakes, and gearshift. + ret.gas = pt_cp.vl["Motor_20"]["MO_Fahrpedalrohwert_01"] / 100.0 + ret.gasPressed = ret.gas > 0 + ret.brake = pt_cp.vl["ESP_05"]["ESP_Bremsdruck"] / 250.0 # FIXME: this is pressure in Bar, not sure what OP expects + brake_pedal_pressed = bool(pt_cp.vl["Motor_14"]["MO_Fahrer_bremst"]) + brake_pressure_detected = bool(pt_cp.vl["ESP_05"]["ESP_Fahrer_bremst"]) + ret.brakePressed = brake_pedal_pressed or brake_pressure_detected + ret.parkingBrake = bool(pt_cp.vl["Kombi_01"]["KBI_Handbremse"]) # FIXME: need to include an EPB check as well + ret.brakeLightsDEPRECATED = bool(pt_cp.vl["ESP_05"]['ESP_Status_Bremsdruck']) + + # Update gear and/or clutch position data. + if trans_type == TransmissionType.automatic: + ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["Getriebe_11"]["GE_Fahrstufe"], None)) + elif trans_type == TransmissionType.direct: + ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["EV_Gearshift"]["GearPosition"], None)) + elif trans_type == TransmissionType.manual: + ret.clutchPressed = not pt_cp.vl["Motor_14"]["MO_Kuppl_schalter"] + if bool(pt_cp.vl["Gateway_72"]["BCM1_Rueckfahrlicht_Schalter"]): + ret.gearShifter = GearShifter.reverse + else: + ret.gearShifter = GearShifter.drive + + # Update door and trunk/hatch lid open status. + ret.doorOpen = any([pt_cp.vl["Gateway_72"]["ZV_FT_offen"], + pt_cp.vl["Gateway_72"]["ZV_BT_offen"], + pt_cp.vl["Gateway_72"]["ZV_HFS_offen"], + pt_cp.vl["Gateway_72"]["ZV_HBFS_offen"], + pt_cp.vl["Gateway_72"]["ZV_HD_offen"]]) + + # Update seatbelt fastened status. + ret.seatbeltUnlatched = pt_cp.vl["Airbag_02"]["AB_Gurtschloss_FA"] != 3 + + # Consume blind-spot monitoring info/warning LED states, if available. + # Infostufe: BSM LED on, Warnung: BSM LED flashing + if self.CP.enableBsm: + ret.leftBlindspot = bool(ext_cp.vl["SWA_01"]["SWA_Infostufe_SWA_li"]) or bool(ext_cp.vl["SWA_01"]["SWA_Warnung_SWA_li"]) + ret.rightBlindspot = bool(ext_cp.vl["SWA_01"]["SWA_Infostufe_SWA_re"]) or bool(ext_cp.vl["SWA_01"]["SWA_Warnung_SWA_re"]) + + # Consume factory LDW data relevant for factory SWA (Lane Change Assist) + # and capture it for forwarding to the blind spot radar controller + self.ldw_stock_values = cam_cp.vl["LDW_02"] if self.CP.networkLocation == NetworkLocation.fwdCamera else {} + + # Stock FCW is considered active if the release bit for brake-jerk warning + # is set. Stock AEB considered active if the partial braking or target + # braking release bits are set. + # Refer to VW Self Study Program 890253: Volkswagen Driver Assistance + # Systems, chapter on Front Assist with Braking: Golf Family for all MQB + if not self.CP.spFlags & VolkswagenFlagsSP.SP_CC_ONLY_NO_RADAR: + ret.stockFcw = bool(ext_cp.vl["ACC_10"]["AWV2_Freigabe"]) + ret.stockAeb = bool(ext_cp.vl["ACC_10"]["ANB_Teilbremsung_Freigabe"]) or bool(ext_cp.vl["ACC_10"]["ANB_Zielbremsung_Freigabe"]) + + # Update ACC radar status. + if not self.CP.spFlags & VolkswagenFlagsSP.SP_CC_ONLY_NO_RADAR or self.CP.spFlags & VolkswagenFlagsSP.SP_CC_ONLY: + _acc_type = 0 if self.CP.spFlags & VolkswagenFlagsSP.SP_CC_ONLY else ext_cp.vl["ACC_06"]["ACC_Typ"] + self.acc_type = _acc_type + + # ACC okay but disabled (1), ACC ready (2), a radar visibility or other fault/disruption (6 or 7) + # currently regulating speed (3), driver accel override (4), brake only (5) + ret.cruiseState.available = pt_cp.vl["TSK_06"]["TSK_Status"] in (2, 3, 4, 5) + ret.cruiseState.enabled = pt_cp.vl["TSK_06"]["TSK_Status"] in (3, 4, 5) + + if self.CP.pcmCruise and not self.CP.spFlags & VolkswagenFlagsSP.SP_CC_ONLY_NO_RADAR: + # Cruise Control mode; check for distance UI setting from the radar. + # ECM does not manage this, so do not need to check for openpilot longitudinal + ret.cruiseState.nonAdaptive = ext_cp.vl["ACC_02"]["ACC_Gesetzte_Zeitluecke"] == 0 + else: + # Speed limiter mode; ECM faults if we command ACC while not pcmCruise + ret.cruiseState.nonAdaptive = bool(pt_cp.vl["TSK_06"]["TSK_Limiter_ausgewaehlt"]) + + ret.accFaulted = pt_cp.vl["TSK_06"]["TSK_Status"] in (6, 7) + + self.esp_hold_confirmation = bool(pt_cp.vl["ESP_21"]["ESP_Haltebestaetigung"]) + ret.cruiseState.standstill = self.CP.pcmCruise and self.esp_hold_confirmation + + # Update ACC setpoint. When the setpoint is zero or there's an error, the + # radar sends a set-speed of ~90.69 m/s / 203mph. + if self.CP.pcmCruise and not self.CP.spFlags & VolkswagenFlagsSP.SP_CC_ONLY_NO_RADAR: + ret.cruiseState.speed = ext_cp.vl["ACC_02"]["ACC_Wunschgeschw_02"] * CV.KPH_TO_MS + if ret.cruiseState.speed > 90: + ret.cruiseState.speed = 0 + + # Update button states for turn signals and ACC controls, capture all ACC button state/config for passthrough + ret.leftBlinker = ret.leftBlinkerOn = bool(pt_cp.vl["Blinkmodi_02"]["Comfort_Signal_Left"]) + ret.rightBlinker = ret.rightBlinkerOn = bool(pt_cp.vl["Blinkmodi_02"]["Comfort_Signal_Right"]) + self.button_events = self.create_button_events(pt_cp, self.CCP.BUTTONS) + self.gra_stock_values = pt_cp.vl["GRA_ACC_01"] + + # Additional safety checks performed in CarInterface. + ret.espDisabled = pt_cp.vl["ESP_21"]["ESP_Tastung_passiv"] != 0 + + # Digital instrument clusters expect the ACC HUD lead car distance to be scaled differently + self.upscale_lead_car_signal = bool(pt_cp.vl["Kombi_03"]["KBI_Variante"]) + + self.frame += 1 + return ret + + def update_pq(self, pt_cp, cam_cp, ext_cp, trans_type): + ret = car.CarState.new_message() + + self.prev_mads_enabled = self.mads_enabled + + # Update vehicle speed and acceleration from ABS wheel speeds. + ret.wheelSpeeds = self.get_wheel_speeds( + pt_cp.vl["Bremse_3"]["Radgeschw__VL_4_1"], + pt_cp.vl["Bremse_3"]["Radgeschw__VR_4_1"], + pt_cp.vl["Bremse_3"]["Radgeschw__HL_4_1"], + pt_cp.vl["Bremse_3"]["Radgeschw__HR_4_1"], + ) + + # vEgo obtained from Bremse_1 vehicle speed rather than Bremse_3 wheel speeds because Bremse_3 isn't present on NSF + ret.vEgoRaw = pt_cp.vl["Bremse_1"]["Geschwindigkeit_neu__Bremse_1_"] * CV.KPH_TO_MS + ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) + ret.standstill = ret.vEgoRaw == 0 + + # Update EPS position and state info. For signed values, VW sends the sign in a separate signal. + ret.steeringAngleDeg = pt_cp.vl["Lenkhilfe_3"]["LH3_BLW"] * (1, -1)[int(pt_cp.vl["Lenkhilfe_3"]["LH3_BLWSign"])] + ret.steeringRateDeg = pt_cp.vl["Lenkwinkel_1"]["Lenkradwinkel_Geschwindigkeit"] * (1, -1)[int(pt_cp.vl["Lenkwinkel_1"]["Lenkradwinkel_Geschwindigkeit_S"])] + ret.steeringTorque = pt_cp.vl["Lenkhilfe_3"]["LH3_LM"] * (1, -1)[int(pt_cp.vl["Lenkhilfe_3"]["LH3_LMSign"])] + ret.steeringPressed = abs(ret.steeringTorque) > self.CCP.STEER_DRIVER_ALLOWANCE + ret.yawRate = pt_cp.vl["Bremse_5"]["Giergeschwindigkeit"] * (1, -1)[int(pt_cp.vl["Bremse_5"]["Vorzeichen_der_Giergeschwindigk"])] * CV.DEG_TO_RAD + hca_status = self.CCP.hca_status_values.get(pt_cp.vl["Lenkhilfe_2"]["LH2_Sta_HCA"]) + ret.steerFaultTemporary, ret.steerFaultPermanent = self.update_hca_state(hca_status) + + # Update gas, brakes, and gearshift. + ret.gas = pt_cp.vl["Motor_3"]["Fahrpedal_Rohsignal"] / 100.0 + ret.gasPressed = ret.gas > 0 + ret.brake = pt_cp.vl["Bremse_5"]["Bremsdruck"] / 250.0 # FIXME: this is pressure in Bar, not sure what OP expects + ret.brakePressed = bool(pt_cp.vl["Motor_2"]["Bremslichtschalter"]) + ret.parkingBrake = bool(pt_cp.vl["Kombi_1"]["Bremsinfo"]) + ret.brakeLightsDEPRECATED = bool(pt_cp.vl["Motor_2"]['Bremstestschalter']) + + # Update gear and/or clutch position data. + if trans_type == TransmissionType.automatic: + ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["Getriebe_1"]["Waehlhebelposition__Getriebe_1_"], None)) + elif trans_type == TransmissionType.manual: + ret.clutchPressed = not pt_cp.vl["Motor_1"]["Kupplungsschalter"] + reverse_light = bool(pt_cp.vl["Gate_Komf_1"]["GK1_Rueckfahr"]) + if reverse_light: + ret.gearShifter = GearShifter.reverse + else: + ret.gearShifter = GearShifter.drive + + # Update door and trunk/hatch lid open status. + ret.doorOpen = any([pt_cp.vl["Gate_Komf_1"]["GK1_Fa_Tuerkont"], + pt_cp.vl["Gate_Komf_1"]["BSK_BT_geoeffnet"], + pt_cp.vl["Gate_Komf_1"]["BSK_HL_geoeffnet"], + pt_cp.vl["Gate_Komf_1"]["BSK_HR_geoeffnet"], + pt_cp.vl["Gate_Komf_1"]["BSK_HD_Hauptraste"]]) + + # Update seatbelt fastened status. + ret.seatbeltUnlatched = not bool(pt_cp.vl["Airbag_1"]["Gurtschalter_Fahrer"]) + + # Consume blind-spot monitoring info/warning LED states, if available. + # Infostufe: BSM LED on, Warnung: BSM LED flashing + if self.CP.enableBsm: + ret.leftBlindspot = bool(ext_cp.vl["SWA_1"]["SWA_Infostufe_SWA_li"]) or bool(ext_cp.vl["SWA_1"]["SWA_Warnung_SWA_li"]) + ret.rightBlindspot = bool(ext_cp.vl["SWA_1"]["SWA_Infostufe_SWA_re"]) or bool(ext_cp.vl["SWA_1"]["SWA_Warnung_SWA_re"]) + + # Consume factory LDW data relevant for factory SWA (Lane Change Assist) + # and capture it for forwarding to the blind spot radar controller + self.ldw_stock_values = cam_cp.vl["LDW_Status"] if self.CP.networkLocation == NetworkLocation.fwdCamera else {} + + # Stock FCW is considered active if the release bit for brake-jerk warning + # is set. Stock AEB considered active if the partial braking or target + # braking release bits are set. + # Refer to VW Self Study Program 890253: Volkswagen Driver Assistance + # Systems, chapters on Front Assist with Braking and City Emergency + # Braking for the 2016 Passat NMS + # TODO: deferred until we can collect data on pre-MY2016 behavior, AWV message may be shorter with fewer signals + ret.stockFcw = False + ret.stockAeb = False + + # Update ACC radar status. + self.acc_type = ext_cp.vl["ACC_System"]["ACS_Typ_ACC"] + ret.cruiseState.available = bool(pt_cp.vl["Motor_5"]["GRA_Hauptschalter"]) + ret.cruiseState.enabled = pt_cp.vl["Motor_2"]["GRA_Status"] in (1, 2) + if self.CP.pcmCruise: + ret.accFaulted = ext_cp.vl["ACC_GRA_Anzeige"]["ACA_StaACC"] in (6, 7) + else: + ret.accFaulted = pt_cp.vl["Motor_2"]["GRA_Status"] == 3 + + # Update ACC setpoint. When the setpoint reads as 255, the driver has not + # yet established an ACC setpoint, so treat it as zero. + ret.cruiseState.speed = ext_cp.vl["ACC_GRA_Anzeige"]["ACA_V_Wunsch"] * CV.KPH_TO_MS + if ret.cruiseState.speed > 70: # 255 kph in m/s == no current setpoint + ret.cruiseState.speed = 0 + + # Update button states for turn signals and ACC controls, capture all ACC button state/config for passthrough + ret.leftBlinker, ret.rightBlinker = ret.leftBlinkerOn, ret.rightBlinkerOn = self.update_blinker_from_stalk(300, pt_cp.vl["Gate_Komf_1"]["GK1_Blinker_li"], + pt_cp.vl["Gate_Komf_1"]["GK1_Blinker_re"]) + self.button_events = self.create_button_events(pt_cp, self.CCP.BUTTONS) + self.gra_stock_values = pt_cp.vl["GRA_Neu"] + + # Additional safety checks performed in CarInterface. + ret.espDisabled = bool(pt_cp.vl["Bremse_1"]["ESP_Passiv_getastet"]) + + self.frame += 1 + return ret + + def update_hca_state(self, hca_status): + # Treat INITIALIZING and FAULT as temporary for worst likely EPS recovery time, for cars without factory Lane Assist + # DISABLED means the EPS hasn't been configured to support Lane Assist + self.eps_init_complete = self.eps_init_complete or (hca_status in ("DISABLED", "READY", "ACTIVE") or self.frame > 600) + perm_fault = hca_status == "DISABLED" or (self.eps_init_complete and hca_status in ("INITIALIZING", "FAULT")) + temp_fault = hca_status in ("REJECTED", "PREEMPTED") or not self.eps_init_complete + return temp_fault, perm_fault + + @staticmethod + def get_can_parser(CP): + if CP.flags & VolkswagenFlags.PQ: + return CarState.get_can_parser_pq(CP) + + messages = [ + # sig_address, frequency + ("LWI_01", 100), # From J500 Steering Assist with integrated sensors + ("LH_EPS_03", 100), # From J500 Steering Assist with integrated sensors + ("ESP_19", 100), # From J104 ABS/ESP controller + ("ESP_05", 50), # From J104 ABS/ESP controller + ("ESP_21", 50), # From J104 ABS/ESP controller + ("Motor_20", 50), # From J623 Engine control module + ("TSK_06", 50), # From J623 Engine control module + ("ESP_02", 50), # From J104 ABS/ESP controller + ("GRA_ACC_01", 33), # From J533 CAN gateway (via LIN from steering wheel controls) + ("Gateway_72", 10), # From J533 CAN gateway (aggregated data) + ("Motor_14", 10), # From J623 Engine control module + ("Airbag_02", 5), # From J234 Airbag control module + ("Kombi_01", 2), # From J285 Instrument cluster + ("Blinkmodi_02", 1), # From J519 BCM (sent at 1Hz when no lights active, 50Hz when active) + ("Kombi_03", 0), # From J285 instrument cluster (not present on older cars, 1Hz when present) + ] + + if CP.transmissionType == TransmissionType.automatic: + messages.append(("Getriebe_11", 20)) # From J743 Auto transmission control module + elif CP.transmissionType == TransmissionType.direct: + messages.append(("EV_Gearshift", 10)) # From J??? unknown EV control module + + if CP.networkLocation == NetworkLocation.fwdCamera: + # Radars are here on CANBUS.pt + if not CP.spFlags & VolkswagenFlagsSP.SP_CC_ONLY_NO_RADAR: + messages += MqbExtraSignals.fwd_radar_messages + if CP.spFlags & VolkswagenFlagsSP.SP_CC_ONLY: + messages.remove(("ACC_06", 50)) + if CP.enableBsm: + messages += MqbExtraSignals.bsm_radar_messages + + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CANBUS.pt) + + @staticmethod + def get_cam_can_parser(CP): + if CP.flags & VolkswagenFlags.PQ: + return CarState.get_cam_can_parser_pq(CP) + + messages = [] + + if CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT: + messages += [ + ("HCA_01", 1), # From R242 Driver assistance camera, 50Hz if steering/1Hz if not + ] + + if CP.networkLocation == NetworkLocation.fwdCamera: + messages += [ + # sig_address, frequency + ("LDW_02", 10) # From R242 Driver assistance camera + ] + else: + # Radars are here on CANBUS.cam + if not CP.spFlags & VolkswagenFlagsSP.SP_CC_ONLY_NO_RADAR: + messages += MqbExtraSignals.fwd_radar_messages + if CP.spFlags & VolkswagenFlagsSP.SP_CC_ONLY: + messages.remove(("ACC_06", 50)) + if CP.enableBsm: + messages += MqbExtraSignals.bsm_radar_messages + + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CANBUS.cam) + + @staticmethod + def get_can_parser_pq(CP): + messages = [ + # sig_address, frequency + ("Bremse_1", 100), # From J104 ABS/ESP controller + ("Bremse_3", 100), # From J104 ABS/ESP controller + ("Lenkhilfe_3", 100), # From J500 Steering Assist with integrated sensors + ("Lenkwinkel_1", 100), # From J500 Steering Assist with integrated sensors + ("Motor_3", 100), # From J623 Engine control module + ("Airbag_1", 50), # From J234 Airbag control module + ("Bremse_5", 50), # From J104 ABS/ESP controller + ("GRA_Neu", 50), # From J??? steering wheel control buttons + ("Kombi_1", 50), # From J285 Instrument cluster + ("Motor_2", 50), # From J623 Engine control module + ("Motor_5", 50), # From J623 Engine control module + ("Lenkhilfe_2", 20), # From J500 Steering Assist with integrated sensors + ("Gate_Komf_1", 10), # From J533 CAN gateway + ] + + if CP.transmissionType == TransmissionType.automatic: + messages += [("Getriebe_1", 100)] # From J743 Auto transmission control module + elif CP.transmissionType == TransmissionType.manual: + messages += [("Motor_1", 100)] # From J623 Engine control module + + if CP.networkLocation == NetworkLocation.fwdCamera: + # Extended CAN devices other than the camera are here on CANBUS.pt + messages += PqExtraSignals.fwd_radar_messages + if CP.enableBsm: + messages += PqExtraSignals.bsm_radar_messages + + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CANBUS.pt) + + @staticmethod + def get_cam_can_parser_pq(CP): + + messages = [] + + if CP.networkLocation == NetworkLocation.fwdCamera: + messages += [ + # sig_address, frequency + ("LDW_Status", 10) # From R242 Driver assistance camera + ] + + if CP.networkLocation == NetworkLocation.gateway: + # Radars are here on CANBUS.cam + messages += PqExtraSignals.fwd_radar_messages + if CP.enableBsm: + messages += PqExtraSignals.bsm_radar_messages + + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CANBUS.cam) + + +class MqbExtraSignals: + # Additional signal and message lists for optional or bus-portable controllers + fwd_radar_messages = [ + ("ACC_06", 50), # From J428 ACC radar control module + ("ACC_10", 50), # From J428 ACC radar control module + ("ACC_02", 17), # From J428 ACC radar control module + ] + bsm_radar_messages = [ + ("SWA_01", 20), # From J1086 Lane Change Assist + ] + +class PqExtraSignals: + # Additional signal and message lists for optional or bus-portable controllers + fwd_radar_messages = [ + ("ACC_System", 50), # From J428 ACC radar control module + ("ACC_GRA_Anzeige", 25), # From J428 ACC radar control module + ] + bsm_radar_messages = [ + ("SWA_1", 20), # From J1086 Lane Change Assist + ] diff --git a/selfdrive/car/volkswagen/fingerprints.py b/selfdrive/car/volkswagen/fingerprints.py new file mode 100644 index 0000000000..71bdb2cfd4 --- /dev/null +++ b/selfdrive/car/volkswagen/fingerprints.py @@ -0,0 +1,1208 @@ +from cereal import car +from openpilot.selfdrive.car.volkswagen.values import CAR + +Ecu = car.CarParams.Ecu + +# TODO: Sharan Mk2 EPS and DQ250 auto trans both require KWP2000 support for fingerprinting + + +FW_VERSIONS = { + CAR.VOLKSWAGEN_ARTEON_MK1: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x873G0906259AH\xf1\x890001', + b'\xf1\x873G0906259F \xf1\x890004', + b'\xf1\x873G0906259G \xf1\x890004', + b'\xf1\x873G0906259G \xf1\x890005', + b'\xf1\x873G0906259M \xf1\x890003', + b'\xf1\x873G0906259N \xf1\x890004', + b'\xf1\x873G0906259P \xf1\x890001', + b'\xf1\x875NA907115H \xf1\x890002', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x8709G927158L \xf1\x893611', + b'\xf1\x870DL300014C \xf1\x893704', + b'\xf1\x870GC300011L \xf1\x891401', + b'\xf1\x870GC300014M \xf1\x892802', + b'\xf1\x870GC300019G \xf1\x892804', + b'\xf1\x870GC300040P \xf1\x891401', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121157161111572900', + b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121177161113772900', + b'\xf1\x873Q0959655CK\xf1\x890711\xf1\x82\x0e1712141712141105121122052900', + b'\xf1\x873Q0959655DA\xf1\x890720\xf1\x82\x0e1712141712141105121122052900', + b'\xf1\x873Q0959655DL\xf1\x890732\xf1\x82\x0e1812141812171105141123052J00', + b'\xf1\x875QF959655AP\xf1\x890755\xf1\x82\x1311110011111311111100110200--1611125F49', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571B41815A1', + b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571B00817A1', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567B0020800', + b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002MB4092M7N', + b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002NB4202N7N', + b'\xf1\x875WA907145Q \xf1\x891063\xf1\x82\x002KB4092KOM', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x872Q0907572AA\xf1\x890396', + b'\xf1\x872Q0907572T \xf1\x890383', + b'\xf1\x875Q0907572J \xf1\x890654', + b'\xf1\x875Q0907572R \xf1\x890771', + ], + }, + CAR.VOLKSWAGEN_ATLAS_MK1: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8703H906026AA\xf1\x899970', + b'\xf1\x8703H906026AG\xf1\x899973', + b'\xf1\x8703H906026AJ\xf1\x890638', + b'\xf1\x8703H906026AJ\xf1\x891017', + b'\xf1\x8703H906026AT\xf1\x891922', + b'\xf1\x8703H906026BC\xf1\x892664', + b'\xf1\x8703H906026F \xf1\x896696', + b'\xf1\x8703H906026F \xf1\x899970', + b'\xf1\x8703H906026J \xf1\x896026', + b'\xf1\x8703H906026J \xf1\x899970', + b'\xf1\x8703H906026J \xf1\x899971', + b'\xf1\x8703H906026S \xf1\x896693', + b'\xf1\x8703H906026S \xf1\x899970', + b'\xf1\x873CN906259 \xf1\x890005', + b'\xf1\x873CN906259F \xf1\x890002', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x8709G927158A \xf1\x893387', + b'\xf1\x8709G927158DR\xf1\x893536', + b'\xf1\x8709G927158DR\xf1\x893742', + b'\xf1\x8709G927158EN\xf1\x893691', + b'\xf1\x8709G927158F \xf1\x893489', + b'\xf1\x8709G927158FT\xf1\x893835', + b'\xf1\x8709G927158GL\xf1\x893939', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x873Q0959655BC\xf1\x890503\xf1\x82\x0e1914151912001103111122031200', + b'\xf1\x873Q0959655BN\xf1\x890713\xf1\x82\x0e2214152212001105141122052900', + b'\xf1\x873Q0959655DB\xf1\x890720\xf1\x82\x0e1114151112001105111122052900', + b'\xf1\x873Q0959655DB\xf1\x890720\xf1\x82\x0e2214152212001105141122052900', + b'\xf1\x873Q0959655DM\xf1\x890732\xf1\x82\x0e1114151112001105111122052J00', + b'\xf1\x873Q0959655DM\xf1\x890732\xf1\x82\x0e1114151112001105161122052J00', + b'\xf1\x873Q0959655DM\xf1\x890732\xf1\x82\x0e1115151112001105171122052J00', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\x0571B60924A1', + b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\x0571B6G920A1', + b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\x0571B6M921A1', + b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\x0571B6N920A1', + b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820528B6080105', + b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820528B6090105', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x872Q0907572AA\xf1\x890396', + b'\xf1\x872Q0907572R \xf1\x890372', + b'\xf1\x872Q0907572T \xf1\x890383', + b'\xf1\x875Q0907572H \xf1\x890620', + b'\xf1\x875Q0907572J \xf1\x890654', + b'\xf1\x875Q0907572P \xf1\x890682', + b'\xf1\x875Q0907572S \xf1\x890780', + ], + }, + CAR.VOLKSWAGEN_CADDY_MK3: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8704E906027T \xf1\x892363', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x872K5959655E \xf1\x890018\xf1\x82\x05000P037605', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x877N0907572C \xf1\x890211\xf1\x82\x0155', + ], + }, + CAR.VOLKSWAGEN_CRAFTER_MK2: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8704L906056BP\xf1\x894729', + b'\xf1\x8704L906056EK\xf1\x896391', + b'\xf1\x8705L906023BC\xf1\x892688', + b'\xf1\x8705L906023MH\xf1\x892588', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x873Q0959655AL\xf1\x890505\xf1\x82\x0e1411001413001203151311031100', + b'\xf1\x873Q0959655BG\xf1\x890703\xf1\x82\x0e16120016130012051G1313052900', + b'\xf1\x875QF959655AS\xf1\x890755\xf1\x82\x1315140015150011111100050200--1311120749', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x872N0909143D\x00\xf1\x897010\xf1\x82\x05183AZ306A2', + b'\xf1\x872N0909143E \xf1\x897021\xf1\x82\x05163AZ306A2', + b'\xf1\x872N0909143H \xf1\x897045\xf1\x82\x05263AZ309A2', + b'\xf1\x872N0909144K \xf1\x897045\xf1\x82\x05233AZ810A2', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x872Q0907572AA\xf1\x890396', + b'\xf1\x872Q0907572J \xf1\x890156', + b'\xf1\x872Q0907572M \xf1\x890233', + ], + }, + CAR.VOLKSWAGEN_GOLF_MK7: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8704E906016A \xf1\x897697', + b'\xf1\x8704E906016AD\xf1\x895758', + b'\xf1\x8704E906016CE\xf1\x899096', + b'\xf1\x8704E906016CH\xf1\x899226', + b'\xf1\x8704E906016N \xf1\x899105', + b'\xf1\x8704E906023AG\xf1\x891726', + b'\xf1\x8704E906023BN\xf1\x894518', + b'\xf1\x8704E906024K \xf1\x896811', + b'\xf1\x8704E906024K \xf1\x899970', + b'\xf1\x8704E906027GR\xf1\x892394', + b'\xf1\x8704E906027HD\xf1\x892603', + b'\xf1\x8704E906027HD\xf1\x893742', + b'\xf1\x8704E906027MA\xf1\x894958', + b'\xf1\x8704L906021DT\xf1\x895520', + b'\xf1\x8704L906021DT\xf1\x898127', + b'\xf1\x8704L906021N \xf1\x895518', + b'\xf1\x8704L906021N \xf1\x898138', + b'\xf1\x8704L906026BN\xf1\x891197', + b'\xf1\x8704L906026BP\xf1\x897608', + b'\xf1\x8704L906026NF\xf1\x899528', + b'\xf1\x8704L906056CL\xf1\x893823', + b'\xf1\x8704L906056CR\xf1\x895813', + b'\xf1\x8704L906056HE\xf1\x893758', + b'\xf1\x8704L906056HN\xf1\x896590', + b'\xf1\x8704L906056HT\xf1\x896591', + b'\xf1\x8704L997022N \xf1\x899459', + b'\xf1\x870EA906016A \xf1\x898343', + b'\xf1\x870EA906016E \xf1\x894219', + b'\xf1\x870EA906016F \xf1\x894238', + b'\xf1\x870EA906016F \xf1\x895002', + b'\xf1\x870EA906016Q \xf1\x895993', + b'\xf1\x870EA906016S \xf1\x897207', + b'\xf1\x875G0906259 \xf1\x890007', + b'\xf1\x875G0906259D \xf1\x890002', + b'\xf1\x875G0906259J \xf1\x890002', + b'\xf1\x875G0906259L \xf1\x890002', + b'\xf1\x875G0906259N \xf1\x890003', + b'\xf1\x875G0906259Q \xf1\x890002', + b'\xf1\x875G0906259Q \xf1\x892313', + b'\xf1\x875G0906259T \xf1\x890003', + b'\xf1\x878V0906259H \xf1\x890002', + b'\xf1\x878V0906259J \xf1\x890003', + b'\xf1\x878V0906259J \xf1\x890103', + b'\xf1\x878V0906259K \xf1\x890001', + b'\xf1\x878V0906259K \xf1\x890003', + b'\xf1\x878V0906259P \xf1\x890001', + b'\xf1\x878V0906259Q \xf1\x890002', + b'\xf1\x878V0906259R \xf1\x890002', + b'\xf1\x878V0906264F \xf1\x890003', + b'\xf1\x878V0906264L \xf1\x890002', + b'\xf1\x878V0906264M \xf1\x890001', + b'\xf1\x878V09C0BB01 \xf1\x890001', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x8709G927749AP\xf1\x892943', + b'\xf1\x8709S927158A \xf1\x893585', + b'\xf1\x870CW300040H \xf1\x890606', + b'\xf1\x870CW300041D \xf1\x891004', + b'\xf1\x870CW300041H \xf1\x891010', + b'\xf1\x870CW300042F \xf1\x891604', + b'\xf1\x870CW300043B \xf1\x891601', + b'\xf1\x870CW300043E \xf1\x891603', + b'\xf1\x870CW300044S \xf1\x894530', + b'\xf1\x870CW300044T \xf1\x895245', + b'\xf1\x870CW300045 \xf1\x894531', + b'\xf1\x870CW300047D \xf1\x895261', + b'\xf1\x870CW300047E \xf1\x895261', + b'\xf1\x870CW300048J \xf1\x890611', + b'\xf1\x870CW300049H \xf1\x890905', + b'\xf1\x870CW300050G \xf1\x891905', + b'\xf1\x870D9300012 \xf1\x894904', + b'\xf1\x870D9300012 \xf1\x894913', + b'\xf1\x870D9300012 \xf1\x894937', + b'\xf1\x870D9300012 \xf1\x895045', + b'\xf1\x870D9300012 \xf1\x895046', + b'\xf1\x870D9300014M \xf1\x895004', + b'\xf1\x870D9300014Q \xf1\x895006', + b'\xf1\x870D9300018 \xf1\x895201', + b'\xf1\x870D9300020J \xf1\x894902', + b'\xf1\x870D9300020Q \xf1\x895201', + b'\xf1\x870D9300020S \xf1\x895201', + b'\xf1\x870D9300040A \xf1\x893613', + b'\xf1\x870D9300040S \xf1\x894311', + b'\xf1\x870D9300041H \xf1\x895220', + b'\xf1\x870D9300041N \xf1\x894512', + b'\xf1\x870D9300041P \xf1\x894507', + b'\xf1\x870DD300045K \xf1\x891120', + b'\xf1\x870DD300046F \xf1\x891601', + b'\xf1\x870GC300012A \xf1\x891401', + b'\xf1\x870GC300012A \xf1\x891403', + b'\xf1\x870GC300012A \xf1\x891422', + b'\xf1\x870GC300012M \xf1\x892301', + b'\xf1\x870GC300014B \xf1\x892401', + b'\xf1\x870GC300014B \xf1\x892403', + b'\xf1\x870GC300014B \xf1\x892405', + b'\xf1\x870GC300020G \xf1\x892401', + b'\xf1\x870GC300020G \xf1\x892403', + b'\xf1\x870GC300020G \xf1\x892404', + b'\xf1\x870GC300020N \xf1\x892804', + b'\xf1\x870GC300043T \xf1\x899999', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x875Q0959655AA\xf1\x890386\xf1\x82\x111413001113120043114317121C111C9113', + b'\xf1\x875Q0959655AA\xf1\x890386\xf1\x82\x111413001113120053114317121C111C9113', + b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120043114317121C111C9113', + b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120043114417121411149113', + b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120053114317121C111C9113', + b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\x13141500111233003142114A2131219333313100', + b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1314160011123300314211012230229333423100', + b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1314160011123300314211012230229333463100', + b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x13141600111233003142115A2232229333463100', + b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1314160011123300314240012250229333463100', + b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2251229333463100', + b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2252229333463100', + b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142405A2251229333463100', + b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142405A2252229333463100', + b'\xf1\x875Q0959655C \xf1\x890361\xf1\x82\x111413001112120004110415121610169112', + b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1314160011123300314240012250229333463100', + b'\xf1\x875Q0959655D \xf1\x890388\xf1\x82\x111413001113120006110417121A101A9113', + b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\x13271112111312--071104171825102591131211', + b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13271112111312--071104171825102591131211', + b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13271212111312--071104171838103891131211', + b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13272512111312--07110417182C102C91131211', + b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13341512112212--071104172328102891131211', + b'\xf1\x875Q0959655M \xf1\x890361\xf1\x82\x111413001112120041114115121611169112', + b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1315120011211200061104171717101791132111', + b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1315120011211200621143171717111791132111', + b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1324230011211200061104171724102491132111', + b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1324230011211200621143171724112491132111', + b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1324230011211200631143171724122491132111', + b'\xf1\x875Q0959655T \xf1\x890825\xf1\x82\x13271200111312--071104171837103791132111', + b'\xf1\x875Q0959655T \xf1\x890830\xf1\x82\x13271100111312--071104171826102691131211', + b'\xf1\x875QD959655 \xf1\x890388\xf1\x82\x111413001113120006110417121D101D9112', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x873Q0909144F \xf1\x895043\xf1\x82\x0561A01612A0', + b'\xf1\x873Q0909144H \xf1\x895061\xf1\x82\x0566A0J612A1', + b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A00514A1', + b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A01613A1', + b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A0J712A1', + b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571A0J714A1', + b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571A0JA15A1', + b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A01A18A1', + b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A02A16A1', + b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A0JA16A1', + b'\xf1\x873QM909144 \xf1\x895072\xf1\x82\x0571A01714A1', + b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820519A9040203', + b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521A00441A1', + b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521A00608A1', + b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521A00641A1', + b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A00442A1', + b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A00642A1', + b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A07B05A1', + b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\x0521A00502A0', + b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\x0521A00602A0', + b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\x0522A00402A0', + b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\x0511A00403A0', + b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\x0516A00604A1', + b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00404A1', + b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00504A1', + b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00604A1', + b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A07A02A1', + b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A00407A1', + b'\xf1\x875Q0909144T 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b'\xf1\x875Q0907572C \xf1\x890210\xf1\x82\x0101', + b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\x0101', + b'\xf1\x875Q0907572E \xf1\x89X310\xf1\x82\x0101', + b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\x0101', + b'\xf1\x875Q0907572G \xf1\x890571', + b'\xf1\x875Q0907572H \xf1\x890620', + b'\xf1\x875Q0907572J \xf1\x890653', + b'\xf1\x875Q0907572J \xf1\x890654', + b'\xf1\x875Q0907572P \xf1\x890682', + b'\xf1\x875Q0907572R \xf1\x890771', + b'\xf1\x875Q0907572S \xf1\x890780', + ], + }, + CAR.VOLKSWAGEN_JETTA_MK7: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8704E906024AK\xf1\x899937', + b'\xf1\x8704E906024AS\xf1\x899912', + b'\xf1\x8704E906024B \xf1\x895594', + b'\xf1\x8704E906024BC\xf1\x899971', + b'\xf1\x8704E906024BG\xf1\x891057', + b'\xf1\x8704E906024C \xf1\x899970', + b'\xf1\x8704E906024C \xf1\x899971', + b'\xf1\x8704E906024L \xf1\x895595', + b'\xf1\x8704E906024L \xf1\x899970', + b'\xf1\x8704E906027MS\xf1\x896223', + b'\xf1\x8705E906013DB\xf1\x893361', + b'\xf1\x875G0906259T \xf1\x890003', + 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b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1314171231313500314643021650169333613100', + b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1317171231313500314642023050309333613100', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A10A11A1', + b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x000_A1080_OM', + b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A10A01A1', + b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521B00404A1', + b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521A00642A1', + b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521A10A01A1', + b'\xf1\x875QN909144B \xf1\x895082\xf1\x82\x0571A10A11A1', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x872Q0907572AA\xf1\x890396', + b'\xf1\x875Q0907572N \xf1\x890681', + b'\xf1\x875Q0907572P \xf1\x890682', + b'\xf1\x875Q0907572R \xf1\x890771', + ], + }, + CAR.VOLKSWAGEN_PASSAT_MK8: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8703N906026E \xf1\x892114', + b'\xf1\x8704E906023AH\xf1\x893379', + b'\xf1\x8704E906023BM\xf1\x894522', + b'\xf1\x8704L906026DP\xf1\x891538', + b'\xf1\x8704L906026ET\xf1\x891990', + b'\xf1\x8704L906026FP\xf1\x892012', + b'\xf1\x8704L906026GA\xf1\x892013', + b'\xf1\x8704L906026GK\xf1\x899971', + b'\xf1\x8704L906026KD\xf1\x894798', + b'\xf1\x8705L906022A \xf1\x890827', + b'\xf1\x873G0906259 \xf1\x890004', + b'\xf1\x873G0906259B \xf1\x890002', + b'\xf1\x873G0906264 \xf1\x890004', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x870CW300041E \xf1\x891006', + b'\xf1\x870CW300042H \xf1\x891601', + b'\xf1\x870CW300042H \xf1\x891607', + b'\xf1\x870CW300043H \xf1\x891601', + b'\xf1\x870CW300048R \xf1\x890610', + b'\xf1\x870D9300013A \xf1\x894905', + b'\xf1\x870D9300014L \xf1\x895002', + b'\xf1\x870D9300018C \xf1\x895297', + b'\xf1\x870D9300041A \xf1\x894801', + b'\xf1\x870D9300042H \xf1\x894901', + b'\xf1\x870DD300045T \xf1\x891601', + b'\xf1\x870DD300046H \xf1\x891601', + b'\xf1\x870DL300011H \xf1\x895201', + b'\xf1\x870GC300042H \xf1\x891404', + 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b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e5915005914001305701311052900', + b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1315120011111200631145171716121691132111', + b'\xf1\x875QF959655S \xf1\x890639\xf1\x82\x13131100131300111111000120----2211114A48', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566B00611A1', + b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566B00711A1', + b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820514B0060703', + b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0060803', + b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0080803', + b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526B0060905', + b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820531B0062105', + b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521B00606A1', + b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516B00501A1', + b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521B00603A1', + b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521B00703A1', + b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563B0000600', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567B0020600', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x873Q0907572A \xf1\x890126', + b'\xf1\x873Q0907572A \xf1\x890130', + b'\xf1\x873Q0907572B \xf1\x890192', + b'\xf1\x873Q0907572B \xf1\x890194', + b'\xf1\x873Q0907572C \xf1\x890195', + b'\xf1\x873Q0907572C \xf1\x890196', + b'\xf1\x875Q0907572P \xf1\x890682', + b'\xf1\x875Q0907572R \xf1\x890771', + b'\xf1\x875Q0907572S \xf1\x890780', + ], + }, + CAR.VOLKSWAGEN_PASSAT_NMS: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8706K906016C \xf1\x899609', + b'\xf1\x8706K906016E \xf1\x899830', + b'\xf1\x8706K906016G \xf1\x891124', + b'\xf1\x8706K906071BJ\xf1\x894891', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x8709G927158AB\xf1\x893318', + b'\xf1\x8709G927158BD\xf1\x893121', + b'\xf1\x8709G927158DK\xf1\x893594', + b'\xf1\x8709G927158FQ\xf1\x893745', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x87561959655 \xf1\x890210\xf1\x82\x1212121111113000102011--121012--101312', + b'\xf1\x87561959655C 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b'\xf1\x8704E906027MH\xf1\x894786', + b'\xf1\x8704L906021DT\xf1\x898127', + b'\xf1\x8704L906021ER\xf1\x898361', + b'\xf1\x8704L906026BP\xf1\x897608', + b'\xf1\x8704L906026BS\xf1\x891541', + b'\xf1\x8704L906026BT\xf1\x897612', + b'\xf1\x875G0906259C \xf1\x890002', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x870CW300041L \xf1\x891601', + b'\xf1\x870CW300041N \xf1\x891605', + b'\xf1\x870CW300043B \xf1\x891601', + b'\xf1\x870CW300043P \xf1\x891605', + b'\xf1\x870D9300012H \xf1\x894518', + b'\xf1\x870D9300014T \xf1\x895221', + b'\xf1\x870D9300041C \xf1\x894936', + b'\xf1\x870D9300041H \xf1\x895220', + b'\xf1\x870D9300041J \xf1\x894902', + b'\xf1\x870D9300041P \xf1\x894507', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x873Q0959655AC\xf1\x890200\xf1\x82\r11120011100010022212110200', + b'\xf1\x873Q0959655AK\xf1\x890306\xf1\x82\r31210031210021033733310331', + b'\xf1\x873Q0959655AP\xf1\x890305\xf1\x82\r11110011110011213331312131', + b'\xf1\x873Q0959655AQ\xf1\x890200\xf1\x82\r11120011100010312212113100', + b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r11120011100010022212110200', + b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e3221003221002105755331052100', + b'\xf1\x873Q0959655CM\xf1\x890720\xf1\x82\x0e3221003221002105755331052100', + b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e3221003221002105755331052100', + b'\xf1\x875QD959655 \xf1\x890388\xf1\x82\x111101000011110006110411111111119111', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A01513A1', + b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521T00403A1', + b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521T00403A1', + b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521T00603A1', + b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\x0516A00604A1', + b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521T00601A1', + b'\xf1\x875QD909144E \xf1\x891081\xf1\x82\x0521T00503A1', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x875Q0907567P \xf1\x890100\xf1\x82\x0101', + b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\x0101', + b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\x0101', + b'\xf1\x875Q0907572H \xf1\x890620', + b'\xf1\x875Q0907572J \xf1\x890654', + b'\xf1\x875Q0907572K \xf1\x890402\xf1\x82\x0101', + b'\xf1\x875Q0907572P \xf1\x890682', + b'\xf1\x875Q0907572R \xf1\x890771', + ], + }, + CAR.SKODA_SUPERB_MK3: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8704E906027BS\xf1\x892887', + b'\xf1\x8704E906027BT\xf1\x899042', + b'\xf1\x8704L906026ET\xf1\x891343', + b'\xf1\x8704L906026ET\xf1\x891990', + b'\xf1\x8704L906026FP\xf1\x891196', + b'\xf1\x8704L906026KA\xf1\x896014', + b'\xf1\x8704L906026KB\xf1\x894071', + b'\xf1\x8704L906026KD\xf1\x894798', + b'\xf1\x8704L906026MT\xf1\x893076', + b'\xf1\x8705L906022BK\xf1\x899971', + b'\xf1\x873G0906259 \xf1\x890004', + b'\xf1\x873G0906259B \xf1\x890002', + b'\xf1\x873G0906259L \xf1\x890003', + b'\xf1\x873G0906264A \xf1\x890002', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x870CW300042H \xf1\x891601', + b'\xf1\x870CW300043B \xf1\x891603', + b'\xf1\x870CW300049Q \xf1\x890906', + b'\xf1\x870D9300011T \xf1\x894801', + b'\xf1\x870D9300012 \xf1\x894940', + b'\xf1\x870D9300013A \xf1\x894905', + b'\xf1\x870D9300014K \xf1\x895006', + b'\xf1\x870D9300041H \xf1\x894905', + b'\xf1\x870D9300042M \xf1\x895013', + b'\xf1\x870D9300043F \xf1\x895202', + b'\xf1\x870GC300013K \xf1\x892403', + b'\xf1\x870GC300014M \xf1\x892801', + b'\xf1\x870GC300019G \xf1\x892803', + b'\xf1\x870GC300043 \xf1\x892301', + b'\xf1\x870GC300046D \xf1\x892402', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\x12111200111121001121110012211292221111', + b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\x12111200111121001121118112231292221111', + b'\xf1\x875Q0959655AK\xf1\x890130\xf1\x82\x12111200111121001121110012211292221111', + b'\xf1\x875Q0959655AS\xf1\x890317\xf1\x82\x1331310031313100313131823133319331313100', + b'\xf1\x875Q0959655AT\xf1\x890317\xf1\x82\x1331310031313100313131013131319331313100', + b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1331310031313100313131013141319331413100', + b'\xf1\x875Q0959655BK\xf1\x890336\xf1\x82\x1331310031313100313131013141319331413100', + b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1333310031313100313152015351539331423100', + b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151013141319331423100', + b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151823143319331423100', + b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152025350539331463100', + b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152855372539331463100', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820514UZ070203', + b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522UZ050303', + b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522UZ070303', + b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526UZ060505', + b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526UZ070505', + b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563UZ060600', + b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563UZ060700', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070500', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070600', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070700', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x873Q0907572B \xf1\x890192', + b'\xf1\x873Q0907572B \xf1\x890194', + b'\xf1\x873Q0907572C \xf1\x890195', + b'\xf1\x875Q0907572R \xf1\x890771', + b'\xf1\x875Q0907572S \xf1\x890780', + ], + }, +} diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py new file mode 100644 index 0000000000..42b4e96602 --- /dev/null +++ b/selfdrive/car/volkswagen/interface.py @@ -0,0 +1,178 @@ +from cereal import car +from panda import Panda +from openpilot.common.params import Params +from openpilot.selfdrive.car import get_safety_config +from openpilot.selfdrive.car.interfaces import CarInterfaceBase +from openpilot.selfdrive.car.volkswagen.values import CAR, CANBUS, CarControllerParams, NetworkLocation, TransmissionType, GearShifter, VolkswagenFlags, \ + VolkswagenFlagsSP + +ButtonType = car.CarState.ButtonEvent.Type +EventName = car.CarEvent.EventName + + +class CarInterface(CarInterfaceBase): + def __init__(self, CP, CarController, CarState): + super().__init__(CP, CarController, CarState) + + if CP.networkLocation == NetworkLocation.fwdCamera: + self.ext_bus = CANBUS.pt + self.cp_ext = self.cp + else: + self.ext_bus = CANBUS.cam + self.cp_ext = self.cp_cam + + @staticmethod + def _get_params(ret, candidate: CAR, fingerprint, car_fw, experimental_long, docs): + ret.carName = "volkswagen" + ret.radarUnavailable = True + + if ret.flags & VolkswagenFlags.PQ: + # Set global PQ35/PQ46/NMS parameters + ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagenPq)] + ret.enableBsm = 0x3BA in fingerprint[0] # SWA_1 + + if 0x440 in fingerprint[0] or docs: # Getriebe_1 + ret.transmissionType = TransmissionType.automatic + else: + ret.transmissionType = TransmissionType.manual + + if any(msg in fingerprint[1] for msg in (0x1A0, 0xC2)): # Bremse_1, Lenkwinkel_1 + ret.networkLocation = NetworkLocation.gateway + else: + ret.networkLocation = NetworkLocation.fwdCamera + + # The PQ port is in dashcam-only mode due to a fixed six-minute maximum timer on HCA steering. An unsupported + # EPS flash update to work around this timer, and enable steering down to zero, is available from: + # https://github.com/pd0wm/pq-flasher + # It is documented in a four-part blog series: + # https://blog.willemmelching.nl/carhacking/2022/01/02/vw-part1/ + # Panda ALLOW_DEBUG firmware required. + ret.dashcamOnly = True + + else: + # Set global MQB parameters + ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagen)] + ret.enableBsm = 0x30F in fingerprint[0] # SWA_01 + + if 0xAD in fingerprint[0] or docs: # Getriebe_11 + ret.transmissionType = TransmissionType.automatic + elif 0x187 in fingerprint[0]: # EV_Gearshift + ret.transmissionType = TransmissionType.direct + else: + ret.transmissionType = TransmissionType.manual + + if any(msg in fingerprint[1] for msg in (0x40, 0x86, 0xB2, 0xFD)): # Airbag_01, LWI_01, ESP_19, ESP_21 + ret.networkLocation = NetworkLocation.gateway + else: + ret.networkLocation = NetworkLocation.fwdCamera + + if 0x126 in fingerprint[2]: # HCA_01 + ret.flags |= VolkswagenFlags.STOCK_HCA_PRESENT.value + + # Global lateral tuning defaults, can be overridden per-vehicle + + ret.steerLimitTimer = 0.4 + if ret.flags & VolkswagenFlags.PQ: + ret.steerActuatorDelay = 0.2 + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + else: + ret.steerActuatorDelay = 0.1 + ret.lateralTuning.pid.kpBP = [0.] + ret.lateralTuning.pid.kiBP = [0.] + ret.lateralTuning.pid.kf = 0.00006 + ret.lateralTuning.pid.kpV = [0.6] + ret.lateralTuning.pid.kiV = [0.2] + + # Global longitudinal tuning defaults, can be overridden per-vehicle + + ret.experimentalLongitudinalAvailable = ret.networkLocation == NetworkLocation.gateway or docs + if experimental_long: + # Proof-of-concept, prep for E2E only. No radar points available. Panda ALLOW_DEBUG firmware required. + ret.openpilotLongitudinalControl = True + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_VOLKSWAGEN_LONG_CONTROL + if ret.transmissionType == TransmissionType.manual: + ret.minEnableSpeed = 4.5 + + if Params().get_bool("VwCCOnly"): + if car_fw is not None and not any(fw.ecu == "fwdRadar" for fw in car_fw): + ret.spFlags |= VolkswagenFlagsSP.SP_CC_ONLY_NO_RADAR.value + else: + ret.spFlags |= VolkswagenFlagsSP.SP_CC_ONLY.value + ret.openpilotLongitudinalControl = False + + ret.pcmCruise = not ret.openpilotLongitudinalControl + ret.customStockLongAvailable = True + ret.stoppingControl = True + ret.stopAccel = -0.55 + ret.vEgoStarting = 0.1 + ret.vEgoStopping = 0.5 + ret.autoResumeSng = ret.minEnableSpeed == -1 + + return ret + + # returns a car.CarState + def _update(self, c): + ret = self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType) + + self.CS.mads_enabled = self.get_sp_cruise_main_state(ret) + + self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, c.vCruise, self.CS.accEnabled, + enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise)) + + if ret.cruiseState.available: + if self.enable_mads: + if not self.CS.prev_mads_enabled and self.CS.mads_enabled: + self.CS.madsEnabled = True + self.CS.madsEnabled = self.get_acc_mads(ret, self.CS.madsEnabled) + else: + self.CS.madsEnabled = False + self.CS.madsEnabled = self.get_sp_started_mads(ret, self.CS.madsEnabled) + + if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0) or not self.CP.pcmCruiseSpeed: + if any(b.type == ButtonType.cancel for b in self.CS.button_events): + self.get_sp_cancel_cruise_state() + if self.get_sp_pedal_disengage(ret): + self.get_sp_cancel_cruise_state() + ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled + + if self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed: + if ret.gasPressed and not ret.cruiseState.enabled: + self.CS.accEnabled = False + self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled + + ret = self.get_sp_common_state(ret) + + ret.buttonEvents = [ + *self.CS.button_events, + *self.button_events.create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled) # MADS BUTTON + ] + + events = self.create_common_events(ret, c, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic], + pcm_enable=False, + enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise)) + + events, ret = self.create_sp_events(ret, events, + enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise)) + + # Low speed steer alert hysteresis logic + if (self.CP.minSteerSpeed - 1e-3) > CarControllerParams.DEFAULT_MIN_STEER_SPEED and ret.vEgo < (self.CP.minSteerSpeed + 1.): + self.low_speed_alert = True + elif ret.vEgo > (self.CP.minSteerSpeed + 2.): + self.low_speed_alert = False + if self.low_speed_alert and self.CS.madsEnabled: + events.add(EventName.belowSteerSpeed) + + if self.CS.CP.openpilotLongitudinalControl: + if ret.vEgo < self.CP.minEnableSpeed + 0.5: + events.add(EventName.belowEngageSpeed) + if c.enabled and ret.vEgo < self.CP.minEnableSpeed: + events.add(EventName.speedTooLow) + + if self.CC.eps_timer_soft_disable_alert: + events.add(EventName.steerTimeLimit) + + ret.customStockLong = self.update_custom_stock_long() + + ret.events = events.to_msg() + + return ret diff --git a/selfdrive/car/volkswagen/mqbcan.py b/selfdrive/car/volkswagen/mqbcan.py new file mode 100644 index 0000000000..23ce7f5357 --- /dev/null +++ b/selfdrive/car/volkswagen/mqbcan.py @@ -0,0 +1,145 @@ +def create_steering_control(packer, bus, apply_steer, lkas_enabled): + values = { + "HCA_01_Status_HCA": 5 if lkas_enabled else 3, + "HCA_01_LM_Offset": abs(apply_steer), + "HCA_01_LM_OffSign": 1 if apply_steer < 0 else 0, + "HCA_01_Vib_Freq": 18, + "HCA_01_Sendestatus": 1 if lkas_enabled else 0, + "EA_ACC_Wunschgeschwindigkeit": 327.36, + } + return packer.make_can_msg("HCA_01", bus, values) + + +def create_eps_update(packer, bus, eps_stock_values, ea_simulated_torque): + values = {s: eps_stock_values[s] for s in [ + "COUNTER", # Sync counter value to EPS output + "EPS_Lenkungstyp", # EPS rack type + "EPS_Berechneter_LW", # Absolute raw steering angle + "EPS_VZ_BLW", # Raw steering angle sign + "EPS_HCA_Status", # EPS HCA control status + ]} + + values.update({ + # Absolute driver torque input and sign, with EA inactivity mitigation + "EPS_Lenkmoment": abs(ea_simulated_torque), + "EPS_VZ_Lenkmoment": 1 if ea_simulated_torque < 0 else 0, + }) + + return packer.make_can_msg("LH_EPS_03", bus, values) + + +def create_lka_hud_control(packer, bus, ldw_stock_values, lat_active, steering_pressed, hud_alert, hud_control): + values = {} + if len(ldw_stock_values): + values = {s: ldw_stock_values[s] for s in [ + "LDW_SW_Warnung_links", # Blind spot in warning mode on left side due to lane departure + "LDW_SW_Warnung_rechts", # Blind spot in warning mode on right side due to lane departure + "LDW_Seite_DLCTLC", # Direction of most likely lane departure (left or right) + "LDW_DLC", # Lane departure, distance to line crossing + "LDW_TLC", # Lane departure, time to line crossing + ]} + + values.update({ + "LDW_Status_LED_gelb": 1 if lat_active and steering_pressed else 0, + "LDW_Status_LED_gruen": 1 if lat_active and not steering_pressed else 0, + "LDW_Lernmodus_links": 3 if hud_control.leftLaneDepart else 1 + hud_control.leftLaneVisible, + "LDW_Lernmodus_rechts": 3 if hud_control.rightLaneDepart else 1 + hud_control.rightLaneVisible, + "LDW_Texte": hud_alert, + }) + return packer.make_can_msg("LDW_02", bus, values) + + +def create_acc_buttons_control(packer, bus, gra_stock_values, frame=0, buttons=0, cancel=False, resume=False, custom_stock_long=False): + values = {s: gra_stock_values[s] for s in [ + "GRA_Hauptschalter", # ACC button, on/off + "GRA_Typ_Hauptschalter", # ACC main button type + "GRA_Codierung", # ACC button configuration/coding + "GRA_Tip_Stufe_2", # unknown related to stalk type + "GRA_ButtonTypeInfo", # unknown related to stalk type + ]} + + accel_cruise = 1 if buttons == 1 else 0 + decel_cruise = 1 if buttons == 2 else 0 + resume_cruise = 1 if buttons == 3 else 0 + set_cruise = 1 if buttons == 4 else 0 + + values.update({ + "COUNTER": (frame + 1) % 0x10 if custom_stock_long else (gra_stock_values["COUNTER"] + 1) % 16, + "GRA_Abbrechen": cancel, + "GRA_Tip_Wiederaufnahme": resume or resume_cruise, + "GRA_Tip_Setzen": set_cruise, + "GRA_Tip_Runter": decel_cruise, + "GRA_Tip_Hoch": accel_cruise, + }) + + return packer.make_can_msg("GRA_ACC_01", bus, values) + + +def acc_control_value(main_switch_on, acc_faulted, long_active): + if acc_faulted: + acc_control = 6 + elif long_active: + acc_control = 3 + elif main_switch_on: + acc_control = 2 + else: + acc_control = 0 + + return acc_control + + +def acc_hud_status_value(main_switch_on, acc_faulted, long_active): + # TODO: happens to resemble the ACC control value for now, but extend this for init/gas override later + return acc_control_value(main_switch_on, acc_faulted, long_active) + + +def create_acc_accel_control(packer, bus, acc_type, acc_enabled, accel, acc_control, stopping, starting, esp_hold): + commands = [] + + acc_06_values = { + "ACC_Typ": acc_type, + "ACC_Status_ACC": acc_control, + "ACC_StartStopp_Info": acc_enabled, + "ACC_Sollbeschleunigung_02": accel if acc_enabled else 3.01, + "ACC_zul_Regelabw_unten": 0.2, # TODO: dynamic adjustment of comfort-band + "ACC_zul_Regelabw_oben": 0.2, # TODO: dynamic adjustment of comfort-band + "ACC_neg_Sollbeschl_Grad_02": 4.0 if acc_enabled else 0, # TODO: dynamic adjustment of jerk limits + "ACC_pos_Sollbeschl_Grad_02": 4.0 if acc_enabled else 0, # TODO: dynamic adjustment of jerk limits + "ACC_Anfahren": starting, + "ACC_Anhalten": stopping, + } + commands.append(packer.make_can_msg("ACC_06", bus, acc_06_values)) + + if starting: + acc_hold_type = 4 # hold release / startup + elif esp_hold: + acc_hold_type = 3 # hold standby + elif stopping: + acc_hold_type = 1 # hold request + else: + acc_hold_type = 0 + + acc_07_values = { + "ACC_Anhalteweg": 0.3 if stopping else 20.46, # Distance to stop (stopping coordinator handles terminal roll-out) + "ACC_Freilauf_Info": 2 if acc_enabled else 0, + "ACC_Folgebeschl": 3.02, # Not using secondary controller accel unless and until we understand its impact + "ACC_Sollbeschleunigung_02": accel if acc_enabled else 3.01, + "ACC_Anforderung_HMS": acc_hold_type, + "ACC_Anfahren": starting, + "ACC_Anhalten": stopping, + } + commands.append(packer.make_can_msg("ACC_07", bus, acc_07_values)) + + return commands + + +def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance, distance): + values = { + "ACC_Status_Anzeige": acc_hud_status, + "ACC_Wunschgeschw_02": set_speed if set_speed < 250 else 327.36, + "ACC_Gesetzte_Zeitluecke": distance + 2, + "ACC_Display_Prio": 3, + "ACC_Abstandsindex": lead_distance, + } + + return packer.make_can_msg("ACC_02", bus, values) diff --git a/selfdrive/car/volkswagen/pqcan.py b/selfdrive/car/volkswagen/pqcan.py new file mode 100644 index 0000000000..14c49db7c5 --- /dev/null +++ b/selfdrive/car/volkswagen/pqcan.py @@ -0,0 +1,113 @@ +def create_steering_control(packer, bus, apply_steer, lkas_enabled): + values = { + "LM_Offset": abs(apply_steer), + "LM_OffSign": 1 if apply_steer < 0 else 0, + "HCA_Status": 5 if (lkas_enabled and apply_steer != 0) else 3, + "Vib_Freq": 16, + } + + return packer.make_can_msg("HCA_1", bus, values) + + +def create_lka_hud_control(packer, bus, ldw_stock_values, lat_active, steering_pressed, hud_alert, hud_control): + values = {} + if len(ldw_stock_values): + values = {s: ldw_stock_values[s] for s in [ + "LDW_SW_Warnung_links", # Blind spot in warning mode on left side due to lane departure + "LDW_SW_Warnung_rechts", # Blind spot in warning mode on right side due to lane departure + "LDW_Seite_DLCTLC", # Direction of most likely lane departure (left or right) + "LDW_DLC", # Lane departure, distance to line crossing + "LDW_TLC", # Lane departure, time to line crossing + ]} + + values.update({ + "LDW_Lampe_gelb": 1 if lat_active and steering_pressed else 0, + "LDW_Lampe_gruen": 1 if lat_active and not steering_pressed else 0, + "LDW_Lernmodus_links": 3 if hud_control.leftLaneDepart else 1 + hud_control.leftLaneVisible, + "LDW_Lernmodus_rechts": 3 if hud_control.rightLaneDepart else 1 + hud_control.rightLaneVisible, + "LDW_Textbits": hud_alert, + }) + + return packer.make_can_msg("LDW_Status", bus, values) + + +def create_acc_buttons_control(packer, bus, gra_stock_values, frame=0, buttons=0, cancel=False, resume=False, custom_stock_long=False): + values = {s: gra_stock_values[s] for s in [ + "GRA_Hauptschalt", # ACC button, on/off + "GRA_Typ_Hauptschalt", # ACC button, momentary vs latching + "GRA_Kodierinfo", # ACC button, configuration + "GRA_Sender", # ACC button, CAN message originator + ]} + + accel_cruise = 1 if buttons == 1 else 0 + decel_cruise = 1 if buttons == 2 else 0 + resume_cruise = 1 if buttons == 3 else 0 + set_cruise = 1 if buttons == 4 else 0 + + values.update({ + "COUNTER": (frame + 1) % 0x10 if custom_stock_long else (gra_stock_values["COUNTER"] + 1) % 16, + "GRA_Abbrechen": cancel, + "GRA_Recall": resume or resume_cruise, + "GRA_Neu_Setzen": set_cruise, + "GRA_Down_kurz": decel_cruise, + "GRA_Up_kurz": accel_cruise, + }) + + return packer.make_can_msg("GRA_Neu", bus, values) + + +def acc_control_value(main_switch_on, acc_faulted, long_active): + if long_active: + acc_control = 1 + elif main_switch_on: + acc_control = 2 + else: + acc_control = 0 + + return acc_control + + +def acc_hud_status_value(main_switch_on, acc_faulted, long_active): + if acc_faulted: + hud_status = 6 + elif long_active: + hud_status = 3 + elif main_switch_on: + hud_status = 2 + else: + hud_status = 0 + + return hud_status + + +def create_acc_accel_control(packer, bus, acc_type, acc_enabled, accel, acc_control, stopping, starting, esp_hold): + commands = [] + + values = { + "ACS_Sta_ADR": acc_control, + "ACS_StSt_Info": acc_enabled, + "ACS_Typ_ACC": acc_type, + "ACS_Anhaltewunsch": acc_type == 1 and stopping, + "ACS_FreigSollB": acc_enabled, + "ACS_Sollbeschl": accel if acc_enabled else 3.01, + "ACS_zul_Regelabw": 0.2 if acc_enabled else 1.27, + "ACS_max_AendGrad": 3.0 if acc_enabled else 5.08, + } + + commands.append(packer.make_can_msg("ACC_System", bus, values)) + + return commands + + +def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance, distance): + values = { + "ACA_StaACC": acc_hud_status, + "ACA_Zeitluecke": distance + 2, + "ACA_V_Wunsch": set_speed, + "ACA_gemZeitl": lead_distance, + "ACA_PrioDisp": 3, + # TODO: restore dynamic pop-to-foreground/highlight behavior with ACA_PrioDisp and ACA_AnzDisplay + # TODO: ACA_kmh_mph handling probably needed to resolve rounding errors in displayed setpoint + } + + return packer.make_can_msg("ACC_GRA_Anzeige", bus, values) diff --git a/selfdrive/car/volkswagen/radar_interface.py b/selfdrive/car/volkswagen/radar_interface.py new file mode 100644 index 0000000000..e654bd61fd --- /dev/null +++ b/selfdrive/car/volkswagen/radar_interface.py @@ -0,0 +1,4 @@ +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase + +class RadarInterface(RadarInterfaceBase): + pass diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py new file mode 100644 index 0000000000..80b7ca0b0b --- /dev/null +++ b/selfdrive/car/volkswagen/values.py @@ -0,0 +1,523 @@ +from collections import defaultdict, namedtuple +from dataclasses import dataclass, field +from enum import Enum, IntFlag, StrEnum + +from cereal import car +from panda.python import uds +from opendbc.can.can_define import CANDefine +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car import dbc_dict, CarSpecs, DbcDict, PlatformConfig, Platforms +from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column, \ + Device +from openpilot.selfdrive.car.fw_query_definitions import EcuAddrSubAddr, FwQueryConfig, Request, p16 + +Ecu = car.CarParams.Ecu +NetworkLocation = car.CarParams.NetworkLocation +TransmissionType = car.CarParams.TransmissionType +GearShifter = car.CarState.GearShifter +Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values']) + + +class CarControllerParams: + STEER_STEP = 2 # HCA_01/HCA_1 message frequency 50Hz + ACC_CONTROL_STEP = 2 # ACC_06/ACC_07/ACC_System frequency 50Hz + + # Documented lateral limits: 3.00 Nm max, rate of change 5.00 Nm/sec. + # MQB vs PQ maximums are shared, but rate-of-change limited differently + # based on safety requirements driven by lateral accel testing. + + STEER_MAX = 300 # Max heading control assist torque 3.00 Nm + STEER_DRIVER_MULTIPLIER = 3 # weight driver torque heavily + STEER_DRIVER_FACTOR = 1 # from dbc + + STEER_TIME_MAX = 360 # Max time that EPS allows uninterrupted HCA steering control + STEER_TIME_ALERT = STEER_TIME_MAX - 10 # If mitigation fails, time to soft disengage before EPS timer expires + STEER_TIME_STUCK_TORQUE = 1.9 # EPS limits same torque to 6 seconds, reset timer 3x within that period + + DEFAULT_MIN_STEER_SPEED = 0.4 # m/s, newer EPS racks fault below this speed, don't show a low speed alert + + ACCEL_MAX = 2.0 # 2.0 m/s max acceleration + ACCEL_MIN = -3.5 # 3.5 m/s max deceleration + + def __init__(self, CP): + can_define = CANDefine(DBC[CP.carFingerprint]["pt"]) + + if CP.flags & VolkswagenFlags.PQ: + self.LDW_STEP = 5 # LDW_1 message frequency 20Hz + self.ACC_HUD_STEP = 4 # ACC_GRA_Anzeige frequency 25Hz + self.STEER_DRIVER_ALLOWANCE = 80 # Driver intervention threshold 0.8 Nm + self.STEER_DELTA_UP = 6 # Max HCA reached in 1.00s (STEER_MAX / (50Hz * 1.00)) + self.STEER_DELTA_DOWN = 10 # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60)) + self.BTN_STEP = 2 + + if CP.transmissionType == TransmissionType.automatic: + self.shifter_values = can_define.dv["Getriebe_1"]["Waehlhebelposition__Getriebe_1_"] + self.hca_status_values = can_define.dv["Lenkhilfe_2"]["LH2_Sta_HCA"] + + self.BUTTONS = [ + Button(car.CarState.ButtonEvent.Type.setCruise, "GRA_Neu", "GRA_Neu_Setzen", [1]), + Button(car.CarState.ButtonEvent.Type.resumeCruise, "GRA_Neu", "GRA_Recall", [1]), + Button(car.CarState.ButtonEvent.Type.accelCruise, "GRA_Neu", "GRA_Up_kurz", [1]), + Button(car.CarState.ButtonEvent.Type.decelCruise, "GRA_Neu", "GRA_Down_kurz", [1]), + Button(car.CarState.ButtonEvent.Type.cancel, "GRA_Neu", "GRA_Abbrechen", [1]), + Button(car.CarState.ButtonEvent.Type.gapAdjustCruise, "GRA_Neu", "GRA_Zeitluecke", [1]), + ] + + self.LDW_MESSAGES = { + "none": 0, # Nothing to display + "laneAssistUnavail": 1, # "Lane Assist currently not available." + "laneAssistUnavailSysError": 2, # "Lane Assist system error" + "laneAssistUnavailNoSensorView": 3, # "Lane Assist not available. No sensor view." + "laneAssistTakeOver": 4, # "Lane Assist: Please Take Over Steering" + "laneAssistDeactivTrailer": 5, # "Lane Assist: no function with trailer" + } + + else: + self.LDW_STEP = 10 # LDW_02 message frequency 10Hz + self.ACC_HUD_STEP = 6 # ACC_02 message frequency 16Hz + self.STEER_DRIVER_ALLOWANCE = 80 # Driver intervention threshold 0.8 Nm + self.STEER_DELTA_UP = 4 # Max HCA reached in 1.50s (STEER_MAX / (50Hz * 1.50)) + self.STEER_DELTA_DOWN = 10 # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60)) + self.BTN_STEP = 3 + + if CP.transmissionType == TransmissionType.automatic: + self.shifter_values = can_define.dv["Getriebe_11"]["GE_Fahrstufe"] + elif CP.transmissionType == TransmissionType.direct: + self.shifter_values = can_define.dv["EV_Gearshift"]["GearPosition"] + self.hca_status_values = can_define.dv["LH_EPS_03"]["EPS_HCA_Status"] + + self.BUTTONS = [ + Button(car.CarState.ButtonEvent.Type.setCruise, "GRA_ACC_01", "GRA_Tip_Setzen", [1]), + Button(car.CarState.ButtonEvent.Type.resumeCruise, "GRA_ACC_01", "GRA_Tip_Wiederaufnahme", [1]), + Button(car.CarState.ButtonEvent.Type.accelCruise, "GRA_ACC_01", "GRA_Tip_Hoch", [1]), + Button(car.CarState.ButtonEvent.Type.decelCruise, "GRA_ACC_01", "GRA_Tip_Runter", [1]), + Button(car.CarState.ButtonEvent.Type.cancel, "GRA_ACC_01", "GRA_Abbrechen", [1]), + Button(car.CarState.ButtonEvent.Type.gapAdjustCruise, "GRA_ACC_01", "GRA_Verstellung_Zeitluecke", [1]), + ] + + self.LDW_MESSAGES = { + "none": 0, # Nothing to display + "laneAssistUnavailChime": 1, # "Lane Assist currently not available." with chime + "laneAssistUnavailNoSensorChime": 3, # "Lane Assist not available. No sensor view." with chime + "laneAssistTakeOverUrgent": 4, # "Lane Assist: Please Take Over Steering" with urgent beep + "emergencyAssistUrgent": 6, # "Emergency Assist: Please Take Over Steering" with urgent beep + "laneAssistTakeOverChime": 7, # "Lane Assist: Please Take Over Steering" with chime + "laneAssistTakeOver": 8, # "Lane Assist: Please Take Over Steering" silent + "emergencyAssistChangingLanes": 9, # "Emergency Assist: Changing lanes..." with urgent beep + "laneAssistDeactivated": 10, # "Lane Assist deactivated." silent with persistent icon afterward + } + + +class CANBUS: + pt = 0 + cam = 2 + + +class WMI(StrEnum): + VOLKSWAGEN_USA_SUV = "1V2" + VOLKSWAGEN_USA_CAR = "1VW" + VOLKSWAGEN_MEXICO_SUV = "3VV" + VOLKSWAGEN_MEXICO_CAR = "3VW" + VOLKSWAGEN_ARGENTINA = "8AW" + VOLKSWAGEN_BRASIL = "9BW" + SAIC_VOLKSWAGEN = "LSV" + SKODA = "TMB" + SEAT = "VSS" + AUDI_EUROPE_MPV = "WA1" + AUDI_GERMANY_CAR = "WAU" + MAN = "WMA" + AUDI_SPORT = "WUA" + VOLKSWAGEN_COMMERCIAL = "WV1" + VOLKSWAGEN_COMMERCIAL_BUS_VAN = "WV2" + VOLKSWAGEN_EUROPE_SUV = "WVG" + VOLKSWAGEN_EUROPE_CAR = "WVW" + VOLKSWAGEN_GROUP_RUS = "XW8" + + +class VolkswagenFlags(IntFlag): + # Detected flags + STOCK_HCA_PRESENT = 1 + + # Static flags + PQ = 2 + + +class VolkswagenFlagsSP(IntFlag): + SP_CC_ONLY = 1 + SP_CC_ONLY_NO_RADAR = 2 + + +@dataclass +class VolkswagenMQBPlatformConfig(PlatformConfig): + dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('vw_mqb_2010', None)) + # Volkswagen uses the VIN WMI and chassis code to match in the absence of the comma power + # on camera-integrated cars, as we lose too many ECUs to reliably identify the vehicle + chassis_codes: set[str] = field(default_factory=set) + wmis: set[WMI] = field(default_factory=set) + + +@dataclass +class VolkswagenPQPlatformConfig(VolkswagenMQBPlatformConfig): + dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('vw_golf_mk4', None)) + + def init(self): + self.flags |= VolkswagenFlags.PQ + + +@dataclass(frozen=True, kw_only=True) +class VolkswagenCarSpecs(CarSpecs): + centerToFrontRatio: float = 0.45 + steerRatio: float = 15.6 + minSteerSpeed: float = CarControllerParams.DEFAULT_MIN_STEER_SPEED + + +class Footnote(Enum): + KAMIQ = CarFootnote( + "Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.", + Column.MODEL) + PASSAT = CarFootnote( + "Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.", + Column.MODEL) + SKODA_HEATED_WINDSHIELD = CarFootnote( + "Some Škoda vehicles are equipped with heated windshields, which are known " + + "to block GPS signal needed for some comma 3X functionality.", + Column.MODEL) + VW_EXP_LONG = CarFootnote( + "Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness " + + "are limited to using stock ACC.", + Column.LONGITUDINAL) + VW_MQB_A0 = CarFootnote( + "Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot " + + "in software, but doesn't yet have a harness available from the comma store.", + Column.HARDWARE) + + +@dataclass +class VWCarDocs(CarDocs): + package: str = "Adaptive Cruise Control (ACC) & Lane Assist" + car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.vw_j533])) + + def init_make(self, CP: car.CarParams): + self.footnotes.append(Footnote.VW_EXP_LONG) + if "SKODA" in CP.carFingerprint: + self.footnotes.append(Footnote.SKODA_HEATED_WINDSHIELD) + + if CP.carFingerprint in (CAR.VOLKSWAGEN_CRAFTER_MK2, CAR.VOLKSWAGEN_TRANSPORTER_T61): + self.car_parts = CarParts([Device.threex_angled_mount, CarHarness.vw_j533]) + + if abs(CP.minSteerSpeed - CarControllerParams.DEFAULT_MIN_STEER_SPEED) < 1e-3: + self.min_steer_speed = 0 + + +# Check the 7th and 8th characters of the VIN before adding a new CAR. If the +# chassis code is already listed below, don't add a new CAR, just add to the +# FW_VERSIONS for that existing CAR. + +class CAR(Platforms): + config: VolkswagenMQBPlatformConfig | VolkswagenPQPlatformConfig + + VOLKSWAGEN_ARTEON_MK1 = VolkswagenMQBPlatformConfig( + [ + VWCarDocs("Volkswagen Arteon 2018-23", video_link="https://youtu.be/FAomFKPFlDA"), + VWCarDocs("Volkswagen Arteon R 2020-23", video_link="https://youtu.be/FAomFKPFlDA"), + VWCarDocs("Volkswagen Arteon eHybrid 2020-23", video_link="https://youtu.be/FAomFKPFlDA"), + VWCarDocs("Volkswagen Arteon Shooting Brake 2020-23", video_link="https://youtu.be/FAomFKPFlDA"), + VWCarDocs("Volkswagen CC 2018-22", video_link="https://youtu.be/FAomFKPFlDA"), + ], + VolkswagenCarSpecs(mass=1733, wheelbase=2.84), + chassis_codes={"AN", "3H"}, + wmis={WMI.VOLKSWAGEN_EUROPE_CAR}, + ) + VOLKSWAGEN_ATLAS_MK1 = VolkswagenMQBPlatformConfig( + [ + VWCarDocs("Volkswagen Atlas 2018-23"), + VWCarDocs("Volkswagen Atlas Cross Sport 2020-22"), + VWCarDocs("Volkswagen Teramont 2018-22"), + VWCarDocs("Volkswagen Teramont Cross Sport 2021-22"), + VWCarDocs("Volkswagen Teramont X 2021-22"), + ], + VolkswagenCarSpecs(mass=2011, wheelbase=2.98), + chassis_codes={"CA"}, + wmis={WMI.VOLKSWAGEN_USA_SUV, WMI.VOLKSWAGEN_EUROPE_SUV}, + ) + VOLKSWAGEN_CADDY_MK3 = VolkswagenPQPlatformConfig( + [ + VWCarDocs("Volkswagen Caddy 2019"), + VWCarDocs("Volkswagen Caddy Maxi 2019"), + ], + VolkswagenCarSpecs(mass=1613, wheelbase=2.6, minSteerSpeed=21 * CV.KPH_TO_MS), + chassis_codes={"2K"}, + wmis={WMI.VOLKSWAGEN_COMMERCIAL_BUS_VAN}, + ) + VOLKSWAGEN_CRAFTER_MK2 = VolkswagenMQBPlatformConfig( + [ + VWCarDocs("Volkswagen Crafter 2017-24", video_link="https://youtu.be/4100gLeabmo"), + VWCarDocs("Volkswagen e-Crafter 2018-24", video_link="https://youtu.be/4100gLeabmo"), + VWCarDocs("Volkswagen Grand California 2019-24", video_link="https://youtu.be/4100gLeabmo"), + VWCarDocs("MAN TGE 2017-24", video_link="https://youtu.be/4100gLeabmo"), + VWCarDocs("MAN eTGE 2020-24", video_link="https://youtu.be/4100gLeabmo"), + ], + VolkswagenCarSpecs(mass=2100, wheelbase=3.64, minSteerSpeed=50 * CV.KPH_TO_MS), + chassis_codes={"SY", "SZ", "UY", "UZ"}, + wmis={WMI.VOLKSWAGEN_COMMERCIAL, WMI.MAN}, + ) + VOLKSWAGEN_GOLF_MK7 = VolkswagenMQBPlatformConfig( + [ + VWCarDocs("Volkswagen e-Golf 2014-20"), + VWCarDocs("Volkswagen Golf 2015-20", auto_resume=False), + VWCarDocs("Volkswagen Golf Alltrack 2015-19", auto_resume=False), + VWCarDocs("Volkswagen Golf GTD 2015-20"), + VWCarDocs("Volkswagen Golf GTE 2015-20"), + VWCarDocs("Volkswagen Golf GTI 2015-21", auto_resume=False), + VWCarDocs("Volkswagen Golf R 2015-19"), + VWCarDocs("Volkswagen Golf SportsVan 2015-20"), + ], + VolkswagenCarSpecs(mass=1397, wheelbase=2.62), + chassis_codes={"5G", "AU", "BA", "BE"}, + wmis={WMI.VOLKSWAGEN_MEXICO_CAR, WMI.VOLKSWAGEN_EUROPE_CAR}, + ) + VOLKSWAGEN_JETTA_MK7 = VolkswagenMQBPlatformConfig( + [ + VWCarDocs("Volkswagen Jetta 2018-24"), + VWCarDocs("Volkswagen Jetta GLI 2021-24"), + ], + VolkswagenCarSpecs(mass=1328, wheelbase=2.71), + chassis_codes={"BU"}, + wmis={WMI.VOLKSWAGEN_MEXICO_CAR, WMI.VOLKSWAGEN_EUROPE_CAR}, + ) + VOLKSWAGEN_PASSAT_MK8 = VolkswagenMQBPlatformConfig( + [ + VWCarDocs("Volkswagen Passat 2015-22", footnotes=[Footnote.PASSAT]), + VWCarDocs("Volkswagen Passat Alltrack 2015-22"), + VWCarDocs("Volkswagen Passat GTE 2015-22"), + ], + VolkswagenCarSpecs(mass=1551, wheelbase=2.79), + chassis_codes={"3C", "3G"}, + wmis={WMI.VOLKSWAGEN_EUROPE_CAR}, + ) + VOLKSWAGEN_PASSAT_NMS = VolkswagenPQPlatformConfig( + [VWCarDocs("Volkswagen Passat NMS 2017-22")], + VolkswagenCarSpecs(mass=1503, wheelbase=2.80, minSteerSpeed=50 * CV.KPH_TO_MS, minEnableSpeed=20 * CV.KPH_TO_MS), + chassis_codes={"A3"}, + wmis={WMI.VOLKSWAGEN_USA_CAR}, + ) + VOLKSWAGEN_POLO_MK6 = VolkswagenMQBPlatformConfig( + [ + VWCarDocs("Volkswagen Polo 2018-23", footnotes=[Footnote.VW_MQB_A0]), + VWCarDocs("Volkswagen Polo GTI 2018-23", footnotes=[Footnote.VW_MQB_A0]), + ], + VolkswagenCarSpecs(mass=1230, wheelbase=2.55), + chassis_codes={"AW"}, + wmis={WMI.VOLKSWAGEN_EUROPE_CAR}, + ) + VOLKSWAGEN_SHARAN_MK2 = VolkswagenPQPlatformConfig( + [ + VWCarDocs("Volkswagen Sharan 2018-22"), + VWCarDocs("SEAT Alhambra 2018-20"), + ], + VolkswagenCarSpecs(mass=1639, wheelbase=2.92, minSteerSpeed=50 * CV.KPH_TO_MS), + chassis_codes={"7N"}, + wmis={WMI.VOLKSWAGEN_EUROPE_CAR}, + ) + VOLKSWAGEN_TAOS_MK1 = VolkswagenMQBPlatformConfig( + [VWCarDocs("Volkswagen Taos 2022-23")], + VolkswagenCarSpecs(mass=1498, wheelbase=2.69), + chassis_codes={"B2"}, + wmis={WMI.VOLKSWAGEN_MEXICO_SUV, WMI.VOLKSWAGEN_ARGENTINA}, + ) + VOLKSWAGEN_TCROSS_MK1 = VolkswagenMQBPlatformConfig( + [VWCarDocs("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_MQB_A0])], + VolkswagenCarSpecs(mass=1150, wheelbase=2.60), + chassis_codes={"C1"}, + wmis={WMI.VOLKSWAGEN_EUROPE_SUV}, + ) + VOLKSWAGEN_TIGUAN_MK2 = VolkswagenMQBPlatformConfig( + [ + VWCarDocs("Volkswagen Tiguan 2018-24"), + VWCarDocs("Volkswagen Tiguan eHybrid 2021-23"), + ], + VolkswagenCarSpecs(mass=1715, wheelbase=2.74), + chassis_codes={"5N", "AD", "AX", "BW"}, + wmis={WMI.VOLKSWAGEN_EUROPE_SUV, WMI.VOLKSWAGEN_MEXICO_SUV}, + ) + VOLKSWAGEN_TOURAN_MK2 = VolkswagenMQBPlatformConfig( + [VWCarDocs("Volkswagen Touran 2016-23")], + VolkswagenCarSpecs(mass=1516, wheelbase=2.79), + chassis_codes={"1T"}, + wmis={WMI.VOLKSWAGEN_EUROPE_SUV}, + ) + VOLKSWAGEN_TRANSPORTER_T61 = VolkswagenMQBPlatformConfig( + [ + VWCarDocs("Volkswagen Caravelle 2020"), + VWCarDocs("Volkswagen California 2021-23"), + ], + VolkswagenCarSpecs(mass=1926, wheelbase=3.00, minSteerSpeed=14.0), + chassis_codes={"7H", "7L"}, + wmis={WMI.VOLKSWAGEN_COMMERCIAL_BUS_VAN}, + ) + VOLKSWAGEN_TROC_MK1 = VolkswagenMQBPlatformConfig( + [VWCarDocs("Volkswagen T-Roc 2018-23")], + VolkswagenCarSpecs(mass=1413, wheelbase=2.63), + chassis_codes={"A1"}, + wmis={WMI.VOLKSWAGEN_EUROPE_SUV}, + ) + AUDI_A3_MK3 = VolkswagenMQBPlatformConfig( + [ + VWCarDocs("Audi A3 2014-19"), + VWCarDocs("Audi A3 Sportback e-tron 2017-18"), + VWCarDocs("Audi RS3 2018"), + VWCarDocs("Audi S3 2015-17"), + ], + VolkswagenCarSpecs(mass=1335, wheelbase=2.61), + chassis_codes={"8V", "FF"}, + wmis={WMI.AUDI_GERMANY_CAR, WMI.AUDI_SPORT}, + ) + AUDI_Q2_MK1 = VolkswagenMQBPlatformConfig( + [VWCarDocs("Audi Q2 2018")], + VolkswagenCarSpecs(mass=1205, wheelbase=2.61), + chassis_codes={"GA"}, + wmis={WMI.AUDI_GERMANY_CAR}, + ) + AUDI_Q3_MK2 = VolkswagenMQBPlatformConfig( + [VWCarDocs("Audi Q3 2019-23")], + VolkswagenCarSpecs(mass=1623, wheelbase=2.68), + chassis_codes={"8U", "F3", "FS"}, + wmis={WMI.AUDI_EUROPE_MPV, WMI.AUDI_GERMANY_CAR}, + ) + SEAT_ATECA_MK1 = VolkswagenMQBPlatformConfig( + [ + VWCarDocs("CUPRA Ateca 2018-23"), + VWCarDocs("SEAT Ateca 2016-23"), + VWCarDocs("SEAT Leon 2014-20"), + ], + VolkswagenCarSpecs(mass=1300, wheelbase=2.64), + chassis_codes={"5F"}, + wmis={WMI.SEAT}, + ) + SKODA_FABIA_MK4 = VolkswagenMQBPlatformConfig( + [VWCarDocs("Škoda Fabia 2022-23", footnotes=[Footnote.VW_MQB_A0])], + VolkswagenCarSpecs(mass=1266, wheelbase=2.56), + chassis_codes={"PJ"}, + wmis={WMI.SKODA}, + ) + SKODA_KAMIQ_MK1 = VolkswagenMQBPlatformConfig( + [ + VWCarDocs("Škoda Kamiq 2021-23", footnotes=[Footnote.VW_MQB_A0, Footnote.KAMIQ]), + VWCarDocs("Škoda Scala 2020-23", footnotes=[Footnote.VW_MQB_A0]), + ], + VolkswagenCarSpecs(mass=1230, wheelbase=2.66), + chassis_codes={"NW"}, + wmis={WMI.SKODA}, + ) + SKODA_KAROQ_MK1 = VolkswagenMQBPlatformConfig( + [VWCarDocs("Škoda Karoq 2019-23")], + VolkswagenCarSpecs(mass=1278, wheelbase=2.66), + chassis_codes={"NU"}, + wmis={WMI.SKODA}, + ) + SKODA_KODIAQ_MK1 = VolkswagenMQBPlatformConfig( + [VWCarDocs("Škoda Kodiaq 2017-23")], + VolkswagenCarSpecs(mass=1569, wheelbase=2.79), + chassis_codes={"NS"}, + wmis={WMI.SKODA, WMI.VOLKSWAGEN_GROUP_RUS}, + ) + SKODA_OCTAVIA_MK3 = VolkswagenMQBPlatformConfig( + [ + VWCarDocs("Škoda Octavia 2015-19"), + VWCarDocs("Škoda Octavia RS 2016"), + VWCarDocs("Škoda Octavia Scout 2017-19"), + ], + VolkswagenCarSpecs(mass=1388, wheelbase=2.68), + chassis_codes={"NE"}, + wmis={WMI.SKODA}, + ) + SKODA_SUPERB_MK3 = VolkswagenMQBPlatformConfig( + [VWCarDocs("Škoda Superb 2015-22")], + VolkswagenCarSpecs(mass=1505, wheelbase=2.84), + chassis_codes={"3V", "NP"}, + wmis={WMI.SKODA}, + ) + + +def match_fw_to_car_fuzzy(live_fw_versions, vin, offline_fw_versions) -> set[str]: + candidates = set() + + # Compile all FW versions for each ECU + all_ecu_versions: dict[EcuAddrSubAddr, set[str]] = defaultdict(set) + for ecus in offline_fw_versions.values(): + for ecu, versions in ecus.items(): + all_ecu_versions[ecu] |= set(versions) + + # Check the WMI and chassis code to determine the platform + wmi = vin[:3] + chassis_code = vin[6:8] + + for platform in CAR: + valid_ecus = set() + for ecu in offline_fw_versions[platform]: + addr = ecu[1:] + if ecu[0] not in CHECK_FUZZY_ECUS: + continue + + # Sanity check that live FW is in the superset of all FW, Volkswagen ECU part numbers are commonly shared + found_versions = live_fw_versions.get(addr, []) + expected_versions = all_ecu_versions[ecu] + if not any(found_version in expected_versions for found_version in found_versions): + break + + valid_ecus.add(ecu[0]) + + if valid_ecus != CHECK_FUZZY_ECUS: + continue + + if wmi in platform.config.wmis and chassis_code in platform.config.chassis_codes: + candidates.add(platform) + + return {str(c) for c in candidates} + + +# These ECUs are required to match to gain a VIN match +# TODO: do we want to check camera when we add its FW? +CHECK_FUZZY_ECUS = {Ecu.fwdRadar} + +# All supported cars should return FW from the engine, srs, eps, and fwdRadar. Cars +# with a manual trans won't return transmission firmware, but all other cars will. +# +# The 0xF187 SW part number query should return in the form of N[NX][NX] NNN NNN [X[X]], +# where N=number, X=letter, and the trailing two letters are optional. Performance +# tuners sometimes tamper with that field (e.g. 8V0 9C0 BB0 1 from COBB/EQT). Tampered +# ECU SW part numbers are invalid for vehicle ID and compatibility checks. Try to have +# them repaired by the tuner before including them in openpilot. + +VOLKSWAGEN_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \ + p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER) + \ + p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION) +VOLKSWAGEN_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + +VOLKSWAGEN_RX_OFFSET = 0x6a + +FW_QUERY_CONFIG = FwQueryConfig( + requests=[request for bus, obd_multiplexing in [(1, True), (1, False), (0, False)] for request in [ + Request( + [VOLKSWAGEN_VERSION_REQUEST_MULTI], + [VOLKSWAGEN_VERSION_RESPONSE], + whitelist_ecus=[Ecu.srs, Ecu.eps, Ecu.fwdRadar, Ecu.fwdCamera], + rx_offset=VOLKSWAGEN_RX_OFFSET, + bus=bus, + obd_multiplexing=obd_multiplexing, + ), + Request( + [VOLKSWAGEN_VERSION_REQUEST_MULTI], + [VOLKSWAGEN_VERSION_RESPONSE], + whitelist_ecus=[Ecu.engine, Ecu.transmission], + bus=bus, + obd_multiplexing=obd_multiplexing, + ), + ]], + non_essential_ecus={Ecu.eps: list(CAR)}, + extra_ecus=[(Ecu.fwdCamera, 0x74f, None)], + match_fw_to_car_fuzzy=match_fw_to_car_fuzzy, +) + +DBC = CAR.create_dbc_map() diff --git a/selfdrive/controls/.gitignore b/selfdrive/controls/.gitignore new file mode 100644 index 0000000000..22a371d8ff --- /dev/null +++ b/selfdrive/controls/.gitignore @@ -0,0 +1,2 @@ +calibration_param +traces diff --git a/selfdrive/controls/__init__.py b/selfdrive/controls/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py new file mode 100755 index 0000000000..5b5d128074 --- /dev/null +++ b/selfdrive/controls/controlsd.py @@ -0,0 +1,1014 @@ +#!/usr/bin/env python3 +import os +import math +import time +import threading +from typing import SupportsFloat + +import cereal.messaging as messaging + +from cereal import car, log, custom +from msgq.visionipc import VisionIpcClient, VisionStreamType + + +from openpilot.common.conversions import Conversions as CV +from openpilot.common.git import get_short_branch +from openpilot.common.numpy_fast import clip +from openpilot.common.params import Params +from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL +from openpilot.common.swaglog import cloudlog + +from openpilot.selfdrive.car.car_helpers import get_car_interface, get_startup_event +from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert +from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature, get_lag_adjusted_curvature, CRUISE_LONG_PRESS +from openpilot.selfdrive.controls.lib.events import Events, ET +from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED +from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID +from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD +from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque +from openpilot.selfdrive.controls.lib.longcontrol import LongControl +from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel +from openpilot.selfdrive.modeld.custom_model_metadata import CustomModelMetadata, ModelCapabilities + +from openpilot.system.athena.registration import is_registered_device +from openpilot.system.hardware import HARDWARE + +SOFT_DISABLE_TIME = 3 # seconds +LDW_MIN_SPEED = 31 * CV.MPH_TO_MS +LANE_DEPARTURE_THRESHOLD = 0.1 +CAMERA_OFFSET = 0.04 + +REPLAY = "REPLAY" in os.environ +SIMULATION = "SIMULATION" in os.environ +TESTING_CLOSET = "TESTING_CLOSET" in os.environ +IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd", "mapd", "gpxd", "gpxd_uploader", "mapd", "otisserv", "fleet_manager"} + +ThermalStatus = log.DeviceState.ThermalStatus +State = log.ControlsState.OpenpilotState +PandaType = log.PandaState.PandaType +Desire = log.Desire +LaneChangeState = log.LaneChangeState +LaneChangeDirection = log.LaneChangeDirection +EventName = car.CarEvent.EventName +ButtonType = car.CarState.ButtonEvent.Type +SafetyModel = car.CarParams.SafetyModel +GearShifter = car.CarState.GearShifter + +IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput) +CSID_MAP = {"1": EventName.roadCameraError, "2": EventName.wideRoadCameraError, "0": EventName.driverCameraError} +ACTUATOR_FIELDS = tuple(car.CarControl.Actuators.schema.fields.keys()) +ACTIVE_STATES = (State.enabled, State.softDisabling, State.overriding) +ENABLED_STATES = (State.preEnabled, *ACTIVE_STATES) + +PERSONALITY_MAPPING = {0: 0, 1: 1, 2: 2, 3: 2} + + +class Controls: + def __init__(self, CI=None): + self.params = Params() + + if CI is None: + cloudlog.info("controlsd is waiting for CarParams") + self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams) + cloudlog.info("controlsd got CarParams") + + # Uses car interface helper functions, altering state won't be considered by card for actuation + self.CI = get_car_interface(self.CP) + else: + self.CI, self.CP = CI, CI.CP + + # Ensure the current branch is cached, otherwise the first iteration of controlsd lags + self.branch = get_short_branch() + + # Setup sockets + self.pm = messaging.PubMaster(['controlsState', 'carControl', 'onroadEvents', 'controlsStateSP']) + + self.sensor_packets = ["accelerometer", "gyroscope"] + self.camera_packets = ["roadCameraState", "driverCameraState", "wideRoadCameraState"] + + self.log_sock = messaging.sub_sock('androidLog') + + # TODO: de-couple controlsd with card/conflate on carState without introducing controls mismatches + self.car_state_sock = messaging.sub_sock('carState', timeout=20) + + self.d_camera_hardware_missing = self.params.get_bool("DriverCameraHardwareMissing") and not is_registered_device() + if self.d_camera_hardware_missing: + IGNORE_PROCESSES.update({"dmonitoringd", "dmonitoringmodeld"}) + self.camera_packets.remove("driverCameraState") + + ignore = self.sensor_packets + ['testJoystick'] + if SIMULATION: + ignore += ['driverCameraState', 'managerState'] + if REPLAY: + # no vipc in replay will make them ignored anyways + ignore += ['roadCameraState', 'wideRoadCameraState'] + if self.d_camera_hardware_missing: + ignore += ['driverMonitoringState'] + lateral_plan_svs = ['lateralPlanDEPRECATED', 'lateralPlanSPDEPRECATED'] + self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration', + 'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman', + 'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', + 'testJoystick', 'longitudinalPlanSP', 'modelV2SP'] + self.camera_packets + self.sensor_packets + lateral_plan_svs, + ignore_alive=ignore, ignore_avg_freq=ignore+['radarState', 'testJoystick'], ignore_valid=['testJoystick', ], + frequency=int(1/DT_CTRL)) + + self.joystick_mode = self.params.get_bool("JoystickDebugMode") + + # read params + self.is_metric = self.params.get_bool("IsMetric") + self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled") + + # detect sound card presence and ensure successful init + sounds_available = HARDWARE.get_sound_card_online() + + car_recognized = self.CP.carName != 'mock' + + # cleanup old params + if not self.CP.experimentalLongitudinalAvailable: + self.params.remove("ExperimentalLongitudinalEnabled") + if not self.CP.openpilotLongitudinalControl: + self.params.remove("ExperimentalMode") + + self.CS_prev = car.CarState.new_message() + self.AM = AlertManager() + self.events = Events() + + self.LoC = LongControl(self.CP) + self.VM = VehicleModel(self.CP) + + self.LaC: LatControl + if self.CP.steerControlType == car.CarParams.SteerControlType.angle: + self.LaC = LatControlAngle(self.CP, self.CI) + elif self.CP.lateralTuning.which() == 'pid': + self.LaC = LatControlPID(self.CP, self.CI) + elif self.CP.lateralTuning.which() == 'torque': + self.LaC = LatControlTorque(self.CP, self.CI) + + self.initialized = False + self.state = State.disabled + self.enabled = False + self.enabled_long = False + self.active = False + self.soft_disable_timer = 0 + self.mismatch_counter = 0 + self.cruise_mismatch_counter = 0 + self.last_blinker_frame = 0 + self.last_steering_pressed_frame = 0 + self.distance_traveled = 0 + self.last_functional_fan_frame = 0 + self.events_prev = [] + self.current_alert_types = [ET.PERMANENT] + self.logged_comm_issue = None + self.not_running_prev = None + self.steer_limited = False + self.desired_curvature = 0.0 + self.experimental_mode = False + self.personality = self.read_personality_param() + self.v_cruise_helper = VCruiseHelper(self.CP) + self.recalibrating_seen = False + self.nn_alert_shown = False + self.enable_nnff = self.params.get_bool("NNFF") + + self.reverse_acc_change = False + self.dynamic_experimental_control = False + + self.live_torque = self.params.get_bool("LiveTorque") + self.torqued_override = self.params.get_bool("TorquedOverride") + self.custom_stock_planner_speed = self.params.get_bool("CustomStockLongPlanner") + + self.enable_mads = self.params.get_bool("EnableMads") + self.mads_disengage_lateral_on_brake = self.params.get_bool("DisengageLateralOnBrake") + self.mads_ndlob = self.enable_mads and not self.mads_disengage_lateral_on_brake + self.pcm_v_cruise_override = self.params.get_bool("PCMVCruiseOverride") + self.pcm_v_cruise_override_speed = int(self.params.get("PCMVCruiseOverrideSpeed", encoding="utf-8")) + self.process_not_running = False + self.experimental_mode_update = False + + self.custom_model_metadata = CustomModelMetadata(params=self.params, init_only=True) + self.model_use_lateral_planner = self.custom_model_metadata.valid and \ + self.custom_model_metadata.capabilities & ModelCapabilities.LateralPlannerSolution + + self.dynamic_personality = self.params.get_bool("DynamicPersonality") + self.overtaking_accel = self.params.get_bool("OvertakingAccelerationAssist") + self.overtaking_accel_engaged = False + self.prev_overtaking_accel_engaged = False + self.overtaking_accel_allowed = False + self.prev_overtaking_accel_allowed = False + self.overtaking_accel_blocked = False + + self.accel_personality = self.read_accel_personality_param() + + self.can_log_mono_time = 0 + + self.startup_event = get_startup_event(car_recognized, not self.CP.passive, len(self.CP.carFw) > 0) + + if not sounds_available: + self.events.add(EventName.soundsUnavailable, static=True) + if not car_recognized: + self.events.add(EventName.carUnrecognized, static=True) + if len(self.CP.carFw) > 0: + set_offroad_alert("Offroad_CarUnrecognized", True) + else: + set_offroad_alert("Offroad_NoFirmware", True) + elif self.CP.passive: + self.events.add(EventName.dashcamMode, static=True) + + # controlsd is driven by carState, expected at 100Hz + self.rk = Ratekeeper(100, print_delay_threshold=None) + + def set_initial_state(self): + if REPLAY: + controls_state = self.params.get("ReplayControlsState") + if controls_state is not None: + with log.ControlsState.from_bytes(controls_state) as controls_state: + self.v_cruise_helper.v_cruise_kph = controls_state.vCruise + + if any(ps.controlsAllowed for ps in self.sm['pandaStates']): + self.state = State.enabled + + def update_events(self, CS): + """Compute onroadEvents from carState""" + + self.events.clear() + + # Add joystick event, static on cars, dynamic on nonCars + if self.joystick_mode: + self.events.add(EventName.joystickDebug) + self.startup_event = None + + # Add startup event + if self.startup_event is not None: + self.events.add(self.startup_event) + self.startup_event = None + + # Don't add any more events if not initialized + if not self.initialized: + self.events.add(EventName.controlsInitializing) + return + + # no more events while in dashcam mode + if self.CP.passive: + return + + # show alert to indicate whether NNFF is loaded + if self.enable_nnff and not self.nn_alert_shown and self.sm.frame % 1000 == 0 and \ + self.CP.lateralTuning.which() == 'torque': + self.nn_alert_shown = True + self.events.add(EventName.torqueNNLoad) + + # Block resume if cruise never previously enabled + resume_pressed = any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in CS.buttonEvents) + if not self.CP.pcmCruise and not self.v_cruise_helper.v_cruise_initialized and resume_pressed: + self.events.add(EventName.resumeBlocked) + + if not self.CP.notCar: + if not self.d_camera_hardware_missing: + self.events.add_from_msg(self.sm['driverMonitoringState'].events) + self.events.add_from_msg(self.sm['longitudinalPlanSP'].events) + + # Add car events, ignore if CAN isn't valid + if CS.canValid: + self.events.add_from_msg(CS.events) + + # Create events for temperature, disk space, and memory + if self.sm['deviceState'].thermalStatus >= ThermalStatus.red: + self.events.add(EventName.overheat) + if self.sm['deviceState'].freeSpacePercent < 7 and not SIMULATION: + # under 7% of space free no enable allowed + self.events.add(EventName.outOfSpace) + if self.sm['deviceState'].memoryUsagePercent > 90 and not SIMULATION: + self.events.add(EventName.lowMemory) + + # TODO: enable this once loggerd CPU usage is more reasonable + #cpus = list(self.sm['deviceState'].cpuUsagePercent) + #if max(cpus, default=0) > 95 and not SIMULATION: + # self.events.add(EventName.highCpuUsage) + + # Alert if fan isn't spinning for 5 seconds + if self.sm['peripheralState'].pandaType != log.PandaState.PandaType.unknown: + if self.sm['peripheralState'].fanSpeedRpm < 500 and self.sm['deviceState'].fanSpeedPercentDesired > 50: + # allow enough time for the fan controller in the panda to recover from stalls + if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 15.0: + self.events.add(EventName.fanMalfunction) + else: + self.last_functional_fan_frame = self.sm.frame + + # Handle calibration status + cal_status = self.sm['liveCalibration'].calStatus + if cal_status != log.LiveCalibrationData.Status.calibrated: + if cal_status == log.LiveCalibrationData.Status.uncalibrated: + self.events.add(EventName.calibrationIncomplete) + elif cal_status == log.LiveCalibrationData.Status.recalibrating: + if not self.recalibrating_seen: + set_offroad_alert("Offroad_Recalibration", True) + self.recalibrating_seen = True + self.events.add(EventName.calibrationRecalibrating) + else: + self.events.add(EventName.calibrationInvalid) + + # Handle lane change + lane_change_edge_block = self.sm['lateralPlanSPDEPRECATED'].laneChangeEdgeBlockDEPRECATED if self.model_use_lateral_planner else self.sm['modelV2SP'].laneChangeEdgeBlock + lane_change_svs = self.sm['lateralPlanDEPRECATED'] if self.model_use_lateral_planner else self.sm['modelV2'].meta + if lane_change_svs.laneChangeState == LaneChangeState.preLaneChange and lane_change_edge_block: + self.events.add(EventName.laneChangeRoadEdge) + elif lane_change_svs.laneChangeState == LaneChangeState.preLaneChange: + direction = lane_change_svs.laneChangeDirection + if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \ + (CS.rightBlindspot and direction == LaneChangeDirection.right): + self.events.add(EventName.laneChangeBlocked) + else: + if direction == LaneChangeDirection.left: + self.events.add(EventName.preLaneChangeLeft) + else: + self.events.add(EventName.preLaneChangeRight) + elif lane_change_svs.laneChangeState in (LaneChangeState.laneChangeStarting, + LaneChangeState.laneChangeFinishing): + self.events.add(EventName.laneChange) + + for i, pandaState in enumerate(self.sm['pandaStates']): + # All pandas must match the list of safetyConfigs, and if outside this list, must be silent or noOutput + if i < len(self.CP.safetyConfigs): + safety_mismatch = pandaState.safetyModel != self.CP.safetyConfigs[i].safetyModel or \ + pandaState.safetyParam != self.CP.safetyConfigs[i].safetyParam or \ + pandaState.alternativeExperience != self.CP.alternativeExperience + else: + safety_mismatch = pandaState.safetyModel not in IGNORED_SAFETY_MODES + + # safety mismatch allows some time for pandad to set the safety mode and publish it back from panda + if (safety_mismatch and self.sm.frame*DT_CTRL > 10.) or pandaState.safetyRxChecksInvalid or self.mismatch_counter >= 200: + self.events.add(EventName.controlsMismatch) + + if log.PandaState.FaultType.relayMalfunction in pandaState.faults: + self.events.add(EventName.relayMalfunction) + + # Handle HW and system malfunctions + # Order is very intentional here. Be careful when modifying this. + # All events here should at least have NO_ENTRY and SOFT_DISABLE. + num_events = len(self.events) + + not_running = {p.name for p in self.sm['managerState'].processes if not p.running and p.shouldBeRunning} + if self.sm.recv_frame['managerState'] and (not_running - IGNORE_PROCESSES): + self.events.add(EventName.processNotRunning) + self.process_not_running = True + if not_running != self.not_running_prev: + cloudlog.event("process_not_running", not_running=not_running, error=True) + self.not_running_prev = not_running + else: + if not SIMULATION and not self.rk.lagging: + if not self.sm.all_alive(self.camera_packets): + self.events.add(EventName.cameraMalfunction) + if not self.sm.all_alive(['driverCameraState']) and not self.d_camera_hardware_missing: + self.d_camera_hardware_missing = True + self.params.put_bool_nonblocking("DriverCameraHardwareMissing", True) + elif not self.sm.all_freq_ok(self.camera_packets): + self.events.add(EventName.cameraFrameRate) + self.process_not_running = False + if not REPLAY and self.rk.lagging: + self.events.add(EventName.controlsdLagging) + if len(self.sm['radarState'].radarErrors) or ((not self.rk.lagging or REPLAY) and not self.sm.all_checks(['radarState'])): + self.events.add(EventName.radarFault) + if not self.sm.valid['pandaStates']: + self.events.add(EventName.usbError) + if CS.canTimeout: + self.events.add(EventName.canBusMissing) + elif not CS.canValid: + self.events.add(EventName.canError) + + # generic catch-all. ideally, a more specific event should be added above instead + has_disable_events = self.events.contains(ET.NO_ENTRY) and (self.events.contains(ET.SOFT_DISABLE) or self.events.contains(ET.IMMEDIATE_DISABLE)) + no_system_errors = (not has_disable_events) or (len(self.events) == num_events) + if not self.sm.all_checks() and no_system_errors: + if not self.sm.all_alive(): + self.events.add(EventName.commIssue) + elif not self.sm.all_freq_ok(): + self.events.add(EventName.commIssueAvgFreq) + else: + self.events.add(EventName.commIssue) + + logs = { + 'invalid': [s for s, valid in self.sm.valid.items() if not valid], + 'not_alive': [s for s, alive in self.sm.alive.items() if not alive], + 'not_freq_ok': [s for s, freq_ok in self.sm.freq_ok.items() if not freq_ok], + } + if logs != self.logged_comm_issue: + cloudlog.event("commIssue", error=True, **logs) + self.logged_comm_issue = logs + else: + self.logged_comm_issue = None + + if not (self.CP.notCar and self.joystick_mode): + if self.model_use_lateral_planner: + if not self.sm['lateralPlanDEPRECATED'].mpcSolutionValid: + self.events.add(EventName.plannerErrorDEPRECATED) + if not self.sm['liveLocationKalman'].posenetOK: + self.events.add(EventName.posenetInvalid) + if not self.sm['liveLocationKalman'].deviceStable: + self.events.add(EventName.deviceFalling) + if not self.sm['liveLocationKalman'].inputsOK: + self.events.add(EventName.locationdTemporaryError) + if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY): + self.events.add(EventName.paramsdTemporaryError) + + # conservative HW alert. if the data or frequency are off, locationd will throw an error + if any((self.sm.frame - self.sm.recv_frame[s])*DT_CTRL > 10. for s in self.sensor_packets): + self.events.add(EventName.sensorDataInvalid) + + if not REPLAY: + # Check for mismatch between openpilot and car's PCM + cruise_mismatch = CS.cruiseState.enabled and not self.enabled + self.cruise_mismatch_counter = self.cruise_mismatch_counter + 1 if cruise_mismatch else 0 + if self.cruise_mismatch_counter > int(6. / DT_CTRL): + self.events.add(EventName.cruiseMismatch) + + # Check for FCW + stock_long_is_braking = self.enabled and not self.CP.openpilotLongitudinalControl and CS.aEgo < -1.25 + model_fcw = self.sm['modelV2'].meta.hardBrakePredicted and not CS.brakePressed and not stock_long_is_braking + planner_fcw = self.sm['longitudinalPlan'].fcw and self.enabled + if (planner_fcw or model_fcw) and not (self.CP.notCar and self.joystick_mode): + self.events.add(EventName.fcw) + + for m in messaging.drain_sock(self.log_sock, wait_for_one=False): + try: + msg = m.androidLog.message + if any(err in msg for err in ("ERROR_CRC", "ERROR_ECC", "ERROR_STREAM_UNDERFLOW", "APPLY FAILED")): + csid = msg.split("CSID:")[-1].split(" ")[0] + evt = CSID_MAP.get(csid, None) + if evt is not None: + self.events.add(evt) + except UnicodeDecodeError: + pass + + # TODO: fix simulator + if not SIMULATION or REPLAY: + # Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes + if not self.sm['liveLocationKalman'].gpsOK and self.sm['liveLocationKalman'].inputsOK and (self.distance_traveled > 1500): + self.events.add(EventName.noGps) + if self.sm['liveLocationKalman'].gpsOK: + self.distance_traveled = 0 + self.distance_traveled += CS.vEgo * DT_CTRL + + if self.sm['modelV2'].frameDropPerc > 20: + self.events.add(EventName.modeldLagging) + + def data_sample(self): + """Receive data from sockets""" + + car_state = messaging.recv_one(self.car_state_sock) + CS = car_state.carState if car_state else self.CS_prev + + self.sm.update(0) + + if not self.initialized: + all_valid = CS.canValid and self.sm.all_checks() + timed_out = self.sm.frame * DT_CTRL > 6. + if all_valid or timed_out or (SIMULATION and not REPLAY): + available_streams = VisionIpcClient.available_streams("camerad", block=False) + if VisionStreamType.VISION_STREAM_ROAD not in available_streams: + self.sm.ignore_alive.append('roadCameraState') + if VisionStreamType.VISION_STREAM_WIDE_ROAD not in available_streams: + self.sm.ignore_alive.append('wideRoadCameraState') + + self.initialized = True + self.set_initial_state() + + cloudlog.event( + "controlsd.initialized", + dt=self.sm.frame*DT_CTRL, + timeout=timed_out, + canValid=CS.canValid, + invalid=[s for s, valid in self.sm.valid.items() if not valid], + not_alive=[s for s, alive in self.sm.alive.items() if not alive], + not_freq_ok=[s for s, freq_ok in self.sm.freq_ok.items() if not freq_ok], + error=True, + ) + + # When the panda and controlsd do not agree on controls_allowed + # we want to disengage openpilot. However the status from the panda goes through + # another socket other than the CAN messages and one can arrive earlier than the other. + # Therefore we allow a mismatch for two samples, then we trigger the disengagement. + if not self.enabled: + self.mismatch_counter = 0 + + # All pandas not in silent mode must have controlsAllowed when openpilot is enabled + if self.enabled and any(not ps.controlsAllowed for ps in self.sm['pandaStates'] + if ps.safetyModel not in IGNORED_SAFETY_MODES): + self.mismatch_counter += 1 + + return CS + + def state_transition(self, CS): + """Compute conditional state transitions and execute actions on state transitions""" + + # sp - PCM speed override + sp_override_speed = self.pcm_v_cruise_override_speed if self.pcm_v_cruise_override else False + self.v_cruise_helper.update_v_cruise(CS, self.enabled_long, self.is_metric, self.reverse_acc_change, sp_override_speed, self.sm['longitudinalPlanSP']) + + # decrement the soft disable timer at every step, as it's reset on + # entrance in SOFT_DISABLING state + self.soft_disable_timer = max(0, self.soft_disable_timer - 1) + + self.current_alert_types = [ET.PERMANENT] + + # ENABLED, SOFT DISABLING, PRE ENABLING, OVERRIDING + if self.state != State.disabled: + # user and immediate disable always have priority in a non-disabled state + if self.events.contains(ET.USER_DISABLE): + self.state = State.disabled + self.current_alert_types.append(ET.USER_DISABLE) + + elif self.events.contains(ET.IMMEDIATE_DISABLE): + self.state = State.disabled + if CS.gearShifter != GearShifter.park: + self.current_alert_types.append(ET.IMMEDIATE_DISABLE) + + else: + # ENABLED + if self.state == State.enabled: + if CS.cruiseState.enabled and not self.CS_prev.cruiseState.enabled: + self.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode, self.is_metric, self.dynamic_experimental_control) + # Block resume if cruise never previously enabled + resume_pressed = any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in CS.buttonEvents) + if not self.CP.pcmCruise and not self.v_cruise_helper.v_cruise_initialized and resume_pressed: + self.current_alert_types.append(ET.NO_ENTRY) + if self.events.contains(ET.SOFT_DISABLE): + self.state = State.softDisabling + self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL) + self.current_alert_types.append(ET.SOFT_DISABLE) + + elif self.events.contains(ET.PRE_ENABLE): + self.current_alert_types.append(ET.PRE_ENABLE) + + elif self.events.contains(ET.OVERRIDE_LATERAL) or self.events.contains(ET.OVERRIDE_LONGITUDINAL): + self.state = State.overriding + self.current_alert_types += [ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL] + + # SOFT DISABLING + elif self.state == State.softDisabling: + if not self.events.contains(ET.SOFT_DISABLE): + # no more soft disabling condition, so go back to ENABLED + self.state = State.enabled + + elif self.soft_disable_timer > 0: + self.current_alert_types.append(ET.SOFT_DISABLE) + + elif self.soft_disable_timer <= 0: + self.state = State.disabled + + # PRE ENABLING + elif self.state == State.preEnabled: + if not self.events.contains(ET.PRE_ENABLE): + self.state = State.enabled + else: + self.current_alert_types.append(ET.PRE_ENABLE) + + # OVERRIDING + elif self.state == State.overriding: + if self.events.contains(ET.SOFT_DISABLE): + self.state = State.softDisabling + self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL) + self.current_alert_types.append(ET.SOFT_DISABLE) + elif not (self.events.contains(ET.OVERRIDE_LATERAL) or self.events.contains(ET.OVERRIDE_LONGITUDINAL)): + self.state = State.enabled + else: + self.current_alert_types += [ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL] + if CS.cruiseState.enabled and not self.CS_prev.cruiseState.enabled: + self.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode, self.is_metric, self.dynamic_experimental_control) + + # DISABLED + elif self.state == State.disabled: + if self.events.contains(ET.ENABLE): + if self.events.contains(ET.NO_ENTRY): + self.current_alert_types.append(ET.NO_ENTRY) + + else: + if self.events.contains(ET.PRE_ENABLE): + self.state = State.preEnabled + elif self.events.contains(ET.OVERRIDE_LATERAL) or self.events.contains(ET.OVERRIDE_LONGITUDINAL): + self.state = State.overriding + else: + self.state = State.enabled + self.current_alert_types.append(ET.ENABLE) + if CS.cruiseState.enabled: + self.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode, self.is_metric, self.dynamic_experimental_control) + + # Check if openpilot is engaged and actuators are enabled + self.enabled = self.state in ENABLED_STATES + self.enabled_long = self.enabled and CS.cruiseState.enabled + self.active = self.state in ACTIVE_STATES + if self.active: + self.current_alert_types.append(ET.WARNING) + + def state_control(self, CS): + """Given the state, this function returns a CarControl packet""" + + # Update VehicleModel + lp = self.sm['liveParameters'] + x = max(lp.stiffnessFactor, 0.1) + sr = max(lp.steerRatio, 0.1) + self.VM.update_params(x, sr) + + # Update Torque Params + if self.CP.lateralTuning.which() == 'torque': + torque_params = self.sm['liveTorqueParameters'] + if self.sm.all_checks(['liveTorqueParameters']) and (torque_params.useParams or self.live_torque) and not self.torqued_override: + self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered, + torque_params.frictionCoefficientFiltered) + + lat_plan = self.sm['lateralPlanDEPRECATED'] + long_plan = self.sm['longitudinalPlan'] + model_v2 = self.sm['modelV2'] + blinker_svs = lat_plan if self.model_use_lateral_planner else model_v2.meta + + CC = car.CarControl.new_message() + CC.enabled = self.enabled + + # Check which actuators can be enabled + standstill = CS.vEgo <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill + CC.latActive = (self.active or self.mads_ndlob) and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \ + (not standstill or self.joystick_mode) and CS.madsEnabled and (not CS.brakePressed or self.mads_ndlob) and \ + (not CS.belowLaneChangeSpeed or (not (((self.sm.frame - self.last_blinker_frame) * DT_CTRL) < 1.0) and + not (CS.leftBlinker or CS.rightBlinker))) and CS.latActive and self.sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.calibrated and \ + not self.process_not_running + CC.longActive = self.enabled_long and not (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) and not self.events.contains(ET.OVERRIDE_LONGITUDINAL) + + actuators = CC.actuators + actuators.longControlState = self.LoC.long_control_state + + # Enable blinkers while lane changing + if blinker_svs.laneChangeState != LaneChangeState.off: + CC.leftBlinker = blinker_svs.laneChangeDirection == LaneChangeDirection.left + CC.rightBlinker = blinker_svs.laneChangeDirection == LaneChangeDirection.right + + if CS.leftBlinker or CS.rightBlinker: + self.last_blinker_frame = self.sm.frame + + # State specific actions + + if not CC.latActive: + self.LaC.reset() + if not CC.longActive: + self.LoC.reset() + + if not self.joystick_mode: + speeds = long_plan.speeds + a_lead = self.sm['radarState'].leadOne.aLeadK + resume = False + if len(speeds): + resume = self.enabled_long and CS.standstill and self.CP.carName == "hyundai" and speeds[-1] > 0.1 and a_lead > 0.1 + + # accel PID loop + pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_helper.v_cruise_kph * CV.KPH_TO_MS) + actuators.accel = self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits, resume) + + # Steering PID loop and lateral MPC + if self.model_use_lateral_planner: + self.desired_curvature = get_lag_adjusted_curvature(self.CP, CS.vEgo, lat_plan.psis, lat_plan.curvatures) + else: + self.desired_curvature = clip_curvature(CS.vEgo, self.desired_curvature, model_v2.action.desiredCurvature) + actuators.curvature = self.desired_curvature + actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp, + self.steer_limited, self.desired_curvature, + self.sm['liveLocationKalman'], + model_data=model_v2) + if self.model_use_lateral_planner: + actuators.curvature = self.desired_curvature + else: + lac_log = log.ControlsState.LateralDebugState.new_message() + if self.sm.recv_frame['testJoystick'] > 0: + # reset joystick if it hasn't been received in a while + should_reset_joystick = (self.sm.frame - self.sm.recv_frame['testJoystick'])*DT_CTRL > 0.2 + if not should_reset_joystick: + joystick_axes = self.sm['testJoystick'].axes + else: + joystick_axes = [0.0, 0.0] + + if CC.longActive: + actuators.accel = 4.0*clip(joystick_axes[0], -1, 1) + + if CC.latActive: + steer = clip(joystick_axes[1], -1, 1) + # max angle is 45 for angle-based cars, max curvature is 0.02 + actuators.steer, actuators.steeringAngleDeg, actuators.curvature = steer, steer * 90., steer * -0.02 + + lac_log.active = self.active + lac_log.steeringAngleDeg = CS.steeringAngleDeg + lac_log.output = actuators.steer + lac_log.saturated = abs(actuators.steer) >= 0.9 + + if CS.steeringPressed: + self.last_steering_pressed_frame = self.sm.frame + recent_steer_pressed = (self.sm.frame - self.last_steering_pressed_frame)*DT_CTRL < 2.0 + + # Send a "steering required alert" if saturation count has reached the limit + if lac_log.active and not recent_steer_pressed and not self.CP.notCar and CS.madsEnabled: + if self.CP.lateralTuning.which() == 'torque' and not self.joystick_mode: + undershooting = abs(lac_log.desiredLateralAccel) / abs(1e-3 + lac_log.actualLateralAccel) > 1.2 + turning = abs(lac_log.desiredLateralAccel) > 1.0 + good_speed = CS.vEgo > 5 + max_torque = abs(self.sm['carOutput'].actuatorsOutput.steer) > 0.99 + if undershooting and turning and good_speed and max_torque: + lac_log.active and self.events.add(EventName.steerSaturated) + elif lac_log.saturated: + # TODO probably should not use dpath_points but curvature + dpath_points = lat_plan.dPathPoints if self.model_use_lateral_planner else model_v2.position.y + if len(dpath_points): + # Check if we deviated from the path + # TODO use desired vs actual curvature + if self.CP.steerControlType == car.CarParams.SteerControlType.angle: + steering_value = actuators.steeringAngleDeg + else: + steering_value = actuators.steer + + left_deviation = steering_value > 0 and dpath_points[0] < -0.20 + right_deviation = steering_value < 0 and dpath_points[0] > 0.20 + + if left_deviation or right_deviation: + self.events.add(EventName.steerSaturated) + + # Ensure no NaNs/Infs + for p in ACTUATOR_FIELDS: + attr = getattr(actuators, p) + if not isinstance(attr, SupportsFloat): + continue + + if not math.isfinite(attr): + cloudlog.error(f"actuators.{p} not finite {actuators.to_dict()}") + setattr(actuators, p, 0.0) + + # toggle experimental mode once on distance button hold + if self.CP.openpilotLongitudinalControl: + if self.v_cruise_helper.button_timers[ButtonType.gapAdjustCruise] == CRUISE_LONG_PRESS and \ + not self.experimental_mode_update: + self.experimental_mode = not self.experimental_mode + self.params.put_bool_nonblocking("ExperimentalMode", self.experimental_mode) + self.experimental_mode_update = True + + # decrement personality on distance button press + if self.CP.openpilotLongitudinalControl: + if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents): + if not self.experimental_mode_update: + self.personality = (self.personality - 1) % 3 + self.params.put_nonblocking('LongitudinalPersonality', str(self.personality)) + self.experimental_mode_update = False + + return CC, lac_log + + def publish_logs(self, CS, start_time, CC, lac_log): + """Send actuators and hud commands to the car, send controlsstate and MPC logging""" + + # Orientation and angle rates can be useful for carcontroller + # Only calibrated (car) frame is relevant for the carcontroller + orientation_value = list(self.sm['liveLocationKalman'].calibratedOrientationNED.value) + if len(orientation_value) > 2: + CC.orientationNED = orientation_value + angular_rate_value = list(self.sm['liveLocationKalman'].angularVelocityCalibrated.value) + if len(angular_rate_value) > 2: + CC.angularVelocity = angular_rate_value + + CC.cruiseControl.override = self.enabled_long and not CC.longActive and self.CP.openpilotLongitudinalControl + CC.cruiseControl.cancel = CS.cruiseState.enabled and \ + (not self.enabled_long or (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or + (any(b.type == ButtonType.cancel for b in CS.buttonEvents) and self.CP.carName == "honda")) + if self.joystick_mode and self.sm.recv_frame['testJoystick'] > 0 and self.sm['testJoystick'].buttons[0]: + CC.cruiseControl.cancel = True + + speeds = self.sm['longitudinalPlan'].speeds + if len(speeds): + CC.cruiseControl.resume = self.enabled_long and CS.cruiseState.standstill and speeds[-1] > 0.1 + CC.vCruise = float(self.v_cruise_helper.v_cruise_kph) + + hudControl = CC.hudControl + hudControl.setSpeed = float(self.v_cruise_helper.v_cruise_cluster_kph * CV.KPH_TO_MS) + hudControl.speedVisible = self.enabled_long + hudControl.lanesVisible = self.enabled + hudControl.leadVisible = self.sm['longitudinalPlan'].hasLead + hudControl.leadDistanceBars = PERSONALITY_MAPPING.get(self.personality, log.LongitudinalPersonality.standard) + 1 + + hudControl.rightLaneVisible = True + hudControl.leftLaneVisible = True + + recent_blinker = (self.sm.frame - self.last_blinker_frame) * DT_CTRL < 5.0 # 5s blinker cooldown + ldw_allowed = self.is_ldw_enabled and CS.vEgo > LDW_MIN_SPEED and not recent_blinker \ + and not CC.latActive and self.sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.calibrated + + model_v2 = self.sm['modelV2'] + desire_prediction = model_v2.meta.desirePrediction + if len(desire_prediction) and ldw_allowed: + right_lane_visible = model_v2.laneLineProbs[2] > 0.5 + left_lane_visible = model_v2.laneLineProbs[1] > 0.5 + l_lane_change_prob = desire_prediction[Desire.laneChangeLeft] + r_lane_change_prob = desire_prediction[Desire.laneChangeRight] + + lane_lines = model_v2.laneLines + l_lane_close = left_lane_visible and (lane_lines[1].y[0] > -(1.08 + CAMERA_OFFSET)) + r_lane_close = right_lane_visible and (lane_lines[2].y[0] < (1.08 - CAMERA_OFFSET)) + + hudControl.leftLaneDepart = bool(l_lane_change_prob > LANE_DEPARTURE_THRESHOLD and l_lane_close) + hudControl.rightLaneDepart = bool(r_lane_change_prob > LANE_DEPARTURE_THRESHOLD and r_lane_close) + + if hudControl.rightLaneDepart or hudControl.leftLaneDepart: + self.events.add(EventName.ldw) + + clear_event_types = set() + if ET.WARNING not in self.current_alert_types: + clear_event_types.add(ET.WARNING) + if self.enabled and (self.CP.pcmCruise or (not self.CP.pcmCruise and self.v_cruise_helper.v_cruise_initialized)): + clear_event_types.add(ET.NO_ENTRY) + + alerts = self.events.create_alerts(self.current_alert_types, [self.CP, CS, self.sm, self.is_metric, self.soft_disable_timer]) + self.AM.add_many(self.sm.frame, alerts) + current_alert = self.AM.process_alerts(self.sm.frame, clear_event_types) + if current_alert: + hudControl.visualAlert = current_alert.visual_alert + + if not self.CP.passive and self.initialized: + CO = self.sm['carOutput'] + if self.CP.steerControlType == car.CarParams.SteerControlType.angle: + self.steer_limited = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \ + STEER_ANGLE_SATURATION_THRESHOLD + else: + self.steer_limited = abs(CC.actuators.steer - CO.actuatorsOutput.steer) > 1e-2 + + force_decel = (self.sm['driverMonitoringState'].awarenessStatus < 0.) or \ + (self.state == State.softDisabling) + + # Curvature & Steering angle + lp = self.sm['liveParameters'] + dh = 'lateralPlanDEPRECATED' if self.model_use_lateral_planner else 'modelV2' + + steer_angle_without_offset = math.radians(CS.steeringAngleDeg - lp.angleOffsetDeg) + curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo, lp.roll) + + lat_plan = self.sm['lateralPlanDEPRECATED'] + long_plan = self.sm['longitudinalPlan'] + dm_state = self.sm['driverMonitoringState'] + blinker_svs = lat_plan if self.model_use_lateral_planner else model_v2.meta + self.prev_overtaking_accel_allowed = self.overtaking_accel_allowed + if not self.overtaking_accel_allowed and not self.prev_overtaking_accel_allowed: + self.overtaking_accel_blocked = False + self.overtaking_accel_allowed = ((blinker_svs.laneChangeDirection == LaneChangeDirection.right and dm_state.isRHD) or + (blinker_svs.laneChangeDirection == LaneChangeDirection.left and not dm_state.isRHD)) and \ + (blinker_svs.laneChangeState in (LaneChangeState.preLaneChange, LaneChangeState.laneChangeStarting)) and \ + not self.overtaking_accel_blocked + self.prev_overtaking_accel_engaged = self.overtaking_accel_engaged + ttc = self.sm['radarState'].leadOne.dRel / CS.vEgo if CS.vEgo > 0 else 255 + overtaking_accel_engaged = self.overtaking_accel and self.overtaking_accel_allowed and \ + (CS.vEgo > ((60 * CV.KPH_TO_MS) if self.is_metric else (40 * CV.MPH_TO_MS))) and \ + not (CS.leftBlinker and CS.rightBlinker) + if ttc < 0.75 and self.prev_overtaking_accel_engaged and overtaking_accel_engaged: + overtaking_accel_engaged = False + self.overtaking_accel_blocked = True + if overtaking_accel_engaged and not self.prev_overtaking_accel_engaged and \ + long_plan.hasLead and long_plan.aTarget > -0.1 and (0.75 < ttc < 3.0): + self.overtaking_accel_engaged = True + elif not overtaking_accel_engaged: + self.overtaking_accel_engaged = False + + # controlsState + dat = messaging.new_message('controlsState') + dat.valid = CS.canValid + controlsState = dat.controlsState + if current_alert: + controlsState.alertText1 = current_alert.alert_text_1 + controlsState.alertText2 = current_alert.alert_text_2 + controlsState.alertSize = current_alert.alert_size + controlsState.alertStatus = current_alert.alert_status + controlsState.alertBlinkingRate = current_alert.alert_rate + controlsState.alertType = current_alert.alert_type + controlsState.alertSound = current_alert.audible_alert + + controlsState.longitudinalPlanMonoTime = self.sm.logMonoTime['longitudinalPlan'] + controlsState.lateralPlanMonoTime = self.sm.logMonoTime[dh] + controlsState.enabled = not (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) and (self.enabled or CS.cruiseState.enabled) and CS.gearShifter not in [GearShifter.park, GearShifter.reverse] + controlsState.active = not (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) and (self.active or CS.cruiseState.enabled) + controlsState.curvature = curvature + controlsState.desiredCurvature = self.desired_curvature + controlsState.state = self.state + controlsState.engageable = not self.events.contains(ET.NO_ENTRY) + controlsState.longControlState = self.LoC.long_control_state + controlsState.vCruise = float(self.v_cruise_helper.v_cruise_kph) + controlsState.vCruiseCluster = float(self.v_cruise_helper.v_cruise_cluster_kph) + controlsState.upAccelCmd = float(self.LoC.pid.p) + controlsState.uiAccelCmd = float(self.LoC.pid.i) + controlsState.ufAccelCmd = float(self.LoC.pid.f) + controlsState.cumLagMs = -self.rk.remaining * 1000. + controlsState.startMonoTime = int(start_time * 1e9) + controlsState.forceDecel = bool(force_decel) + controlsState.experimentalMode = self.experimental_mode + controlsState.personality = PERSONALITY_MAPPING.get(self.personality, log.LongitudinalPersonality.standard) + + lat_tuning = self.CP.lateralTuning.which() + if self.joystick_mode: + controlsState.lateralControlState.debugState = lac_log + elif self.CP.steerControlType == car.CarParams.SteerControlType.angle: + controlsState.lateralControlState.angleState = lac_log + elif lat_tuning == 'pid': + controlsState.lateralControlState.pidState = lac_log + elif lat_tuning == 'torque': + controlsState.lateralControlState.torqueState = lac_log + + self.pm.send('controlsState', dat) + + dat_sp = messaging.new_message('controlsStateSP') + controlsStateSP = dat_sp.controlsStateSP + + controlsStateSP.lateralState = lat_tuning + controlsStateSP.personality = self.personality + controlsStateSP.dynamicPersonality = self.dynamic_personality + controlsStateSP.accelPersonality = self.accel_personality + controlsStateSP.overtakingAccelerationAssist = self.overtaking_accel_engaged + + if self.enable_nnff and lat_tuning == 'torque': + controlsStateSP.lateralControlState.torqueState = self.LaC.pid_long_sp + + self.pm.send('controlsStateSP', dat_sp) + + # onroadEvents - logged every second or on change + if (self.sm.frame % int(1. / DT_CTRL) == 0) or (self.events.names != self.events_prev): + ce_send = messaging.new_message('onroadEvents', len(self.events)) + ce_send.valid = True + ce_send.onroadEvents = self.events.to_msg() + self.pm.send('onroadEvents', ce_send) + self.events_prev = self.events.names.copy() + + # carControl + cc_send = messaging.new_message('carControl') + cc_send.valid = CS.canValid + cc_send.carControl = CC + self.pm.send('carControl', cc_send) + + def step(self): + start_time = time.monotonic() + + # Sample data from sockets and get a carState + CS = self.data_sample() + cloudlog.timestamp("Data sampled") + + self.update_events(CS) + cloudlog.timestamp("Events updated") + + if not self.CP.passive and self.initialized: + # Update control state + self.state_transition(CS) + + # Compute actuators (runs PID loops and lateral MPC) + CC, lac_log = self.state_control(CS) + + # Publish data + self.publish_logs(CS, start_time, CC, lac_log) + + self.CS_prev = CS + + def read_personality_param(self): + try: + return int(self.params.get('LongitudinalPersonality')) + except (ValueError, TypeError): + return custom.LongitudinalPersonalitySP.standard + + def read_accel_personality_param(self): + try: + return int(self.params.get("AccelPersonality")) + except (ValueError, TypeError): + return custom.AccelerationPersonality.stock + + def params_thread(self, evt): + while not evt.is_set(): + self.is_metric = self.params.get_bool("IsMetric") + self.experimental_mode = self.params.get_bool("ExperimentalMode") and (self.CP.openpilotLongitudinalControl or + (not self.CP.pcmCruiseSpeed and self.custom_stock_planner_speed)) + self.personality = self.read_personality_param() + self.dynamic_personality = self.params.get_bool("DynamicPersonality") + self.accel_personality = self.read_accel_personality_param() + if self.CP.notCar: + self.joystick_mode = self.params.get_bool("JoystickDebugMode") + + self.reverse_acc_change = self.params.get_bool("ReverseAccChange") + self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl") + self.overtaking_accel = self.params.get_bool("OvertakingAccelerationAssist") + + if self.sm.frame % int(2.5 / DT_CTRL) == 0: + self.live_torque = self.params.get_bool("LiveTorque") + self.custom_stock_planner_speed = self.params.get_bool("CustomStockLongPlanner") + time.sleep(0.1) + + def controlsd_thread(self): + e = threading.Event() + t = threading.Thread(target=self.params_thread, args=(e, )) + try: + t.start() + while True: + self.step() + self.rk.monitor_time() + finally: + e.set() + t.join() + + +def main(): + config_realtime_process(4, Priority.CTRL_HIGH) + controls = Controls() + controls.controlsd_thread() + + +if __name__ == "__main__": + main() diff --git a/selfdrive/controls/lib/__init__.py b/selfdrive/controls/lib/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/controls/lib/alertmanager.py b/selfdrive/controls/lib/alertmanager.py new file mode 100644 index 0000000000..f67e269fa9 --- /dev/null +++ b/selfdrive/controls/lib/alertmanager.py @@ -0,0 +1,61 @@ +import copy +import os +import json +from collections import defaultdict +from dataclasses import dataclass + +from openpilot.common.basedir import BASEDIR +from openpilot.common.params import Params +from openpilot.selfdrive.controls.lib.events import Alert + + +with open(os.path.join(BASEDIR, "selfdrive/controls/lib/alerts_offroad.json")) as f: + OFFROAD_ALERTS = json.load(f) + + +def set_offroad_alert(alert: str, show_alert: bool, extra_text: str = None) -> None: + if show_alert: + a = copy.copy(OFFROAD_ALERTS[alert]) + a['extra'] = extra_text or '' + Params().put(alert, json.dumps(a)) + else: + Params().remove(alert) + + +@dataclass +class AlertEntry: + alert: Alert | None = None + start_frame: int = -1 + end_frame: int = -1 + + def active(self, frame: int) -> bool: + return frame <= self.end_frame + +class AlertManager: + def __init__(self): + self.alerts: dict[str, AlertEntry] = defaultdict(AlertEntry) + + def add_many(self, frame: int, alerts: list[Alert]) -> None: + for alert in alerts: + entry = self.alerts[alert.alert_type] + entry.alert = alert + if not entry.active(frame): + entry.start_frame = frame + min_end_frame = entry.start_frame + alert.duration + entry.end_frame = max(frame + 1, min_end_frame) + + def process_alerts(self, frame: int, clear_event_types: set) -> Alert | None: + current_alert = AlertEntry() + for v in self.alerts.values(): + if not v.alert: + continue + + if v.alert.event_type in clear_event_types: + v.end_frame = -1 + + # sort by priority first and then by start_frame + greater = current_alert.alert is None or (v.alert.priority, v.start_frame) > (current_alert.alert.priority, current_alert.start_frame) + if v.active(frame) and greater: + current_alert = v + + return current_alert.alert diff --git a/selfdrive/controls/lib/alerts_offroad.json b/selfdrive/controls/lib/alerts_offroad.json new file mode 100644 index 0000000000..4bb7fd1736 --- /dev/null +++ b/selfdrive/controls/lib/alerts_offroad.json @@ -0,0 +1,60 @@ +{ + "Offroad_TemperatureTooHigh": { + "text": "Device temperature too high. System cooling down before starting. Current internal component temperature: %1", + "severity": 0 + }, + "Offroad_ConnectivityNeededPrompt": { + "text": "Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won't engage in %1", + "severity": 0, + "_comment": "Set extra field to number of days" + }, + "Offroad_ConnectivityNeeded": { + "text": "Connect to internet to check for updates. openpilot won't automatically start until it connects to internet to check for updates.", + "severity": 1 + }, + "Offroad_UpdateFailed": { + "text": "Unable to download updates\n%1", + "severity": 1, + "_comment": "Set extra field to the failed reason." + }, + "Offroad_IsTakingSnapshot": { + "text": "Taking camera snapshots. System won't start until finished.", + "severity": 0 + }, + "Offroad_NeosUpdate": { + "text": "An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install.", + "severity": 0 + }, + "Offroad_UnofficialHardware": { + "text": "Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.", + "severity": 1 + }, + "Offroad_StorageMissing": { + "text": "NVMe drive not mounted.", + "severity": 1 + }, + "Offroad_BadNvme": { + "text": "Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.", + "severity": 1 + }, + "Offroad_CarUnrecognized": { + "text": "openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.", + "severity": 0 + }, + "Offroad_NoFirmware": { + "text": "openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.", + "severity": 0 + }, + "Offroad_Recalibration": { + "text": "openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.", + "severity": 0 + }, + "Offroad_OSMUpdateRequired": { + "text": "OpenStreetMap database is out of date. New maps must be downloaded if you wish to continue using OpenStreetMap data for Enhanced Speed Control and road name display.\n\n%1", + "severity": 0 + }, + "Offroad_ForceStatus": { + "text": "sunnypilot is now in Forced Offroad mode. sunnypilot won't start until Forced Offroad mode is disabled. Go to \"Settings\" -> \"Device\" -> \"Unforce Offroad\" to exit Force Offroad mode.", + "severity": 1 + } +} diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py new file mode 100644 index 0000000000..f335170adb --- /dev/null +++ b/selfdrive/controls/lib/desire_helper.py @@ -0,0 +1,183 @@ +from cereal import log +from openpilot.common.conversions import Conversions as CV +from openpilot.common.params import Params +from openpilot.common.realtime import DT_MDL +from openpilot.selfdrive.controls.lib.drive_helpers import get_road_edge +from openpilot.selfdrive.modeld.custom_model_metadata import CustomModelMetadata, ModelCapabilities + +LaneChangeState = log.LaneChangeState +LaneChangeDirection = log.LaneChangeDirection + +LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS +LANE_CHANGE_TIME_MAX = 10. + +DESIRES = { + LaneChangeDirection.none: { + LaneChangeState.off: log.Desire.none, + LaneChangeState.preLaneChange: log.Desire.none, + LaneChangeState.laneChangeStarting: log.Desire.none, + LaneChangeState.laneChangeFinishing: log.Desire.none, + }, + LaneChangeDirection.left: { + LaneChangeState.off: log.Desire.none, + LaneChangeState.preLaneChange: log.Desire.none, + LaneChangeState.laneChangeStarting: log.Desire.laneChangeLeft, + LaneChangeState.laneChangeFinishing: log.Desire.laneChangeLeft, + }, + LaneChangeDirection.right: { + LaneChangeState.off: log.Desire.none, + LaneChangeState.preLaneChange: log.Desire.none, + LaneChangeState.laneChangeStarting: log.Desire.laneChangeRight, + LaneChangeState.laneChangeFinishing: log.Desire.laneChangeRight, + }, +} + +AUTO_LANE_CHANGE_TIMER = { + -1: 0.0, + 0: 0.0, + 1: 0.1, + 2: 0.5, + 3: 1.0, + 4: 1.5, +} + + +def get_min_lateral_speed(value: int, is_metric: bool, default: float = LANE_CHANGE_SPEED_MIN): + speed: float = default if value == 0 else value * CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS + return speed + + +class DesireHelper: + def __init__(self): + self.lane_change_state = LaneChangeState.off + self.lane_change_direction = LaneChangeDirection.none + self.lane_change_timer = 0.0 + self.lane_change_ll_prob = 1.0 + self.keep_pulse_timer = 0.0 + self.prev_one_blinker = False + self.desire = log.Desire.none + + self.param_s = Params() + self.lane_change_wait_timer = 0 + self.prev_lane_change = False + self.prev_brake_pressed = False + self.road_edge = False + self.param_read_counter = 0 + self.read_param() + self.edge_toggle = self.param_s.get_bool("RoadEdge") + self.lane_change_set_timer = int(self.param_s.get("AutoLaneChangeTimer", encoding="utf8")) + self.lane_change_bsm_delay = self.param_s.get_bool("AutoLaneChangeBsmDelay") + + self.custom_model_metadata = CustomModelMetadata(params=self.param_s, init_only=True) + self.model_use_lateral_planner = self.custom_model_metadata.valid and \ + self.custom_model_metadata.capabilities & ModelCapabilities.LateralPlannerSolution + + def read_param(self): + self.edge_toggle = self.param_s.get_bool("RoadEdge") + self.lane_change_set_timer = int(self.param_s.get("AutoLaneChangeTimer", encoding="utf8")) + self.lane_change_bsm_delay = self.param_s.get_bool("AutoLaneChangeBsmDelay") + + def update(self, carstate, lateral_active, lane_change_prob, model_data=None, lat_plan_sp=None): + if self.param_read_counter % 50 == 0: + self.read_param() + self.param_read_counter += 1 + lane_change_auto_timer = AUTO_LANE_CHANGE_TIMER.get(self.lane_change_set_timer, 2.0) + v_ego = carstate.vEgo + one_blinker = carstate.leftBlinker != carstate.rightBlinker + # TODO: SP: !659: User-defined minimum lane change speed + below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN + + if self.model_use_lateral_planner: + self.road_edge = get_road_edge(carstate, model_data, self.edge_toggle) + + if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX or self.lane_change_set_timer == -1: + self.lane_change_state = LaneChangeState.off + self.lane_change_direction = LaneChangeDirection.none + self.prev_lane_change = False + self.prev_brake_pressed = False + else: + # LaneChangeState.off + if self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker and not below_lane_change_speed: + self.lane_change_state = LaneChangeState.preLaneChange + self.lane_change_ll_prob = 1.0 + self.lane_change_wait_timer = 0 + + # LaneChangeState.preLaneChange + elif self.lane_change_state == LaneChangeState.preLaneChange and (self.road_edge if self.model_use_lateral_planner else lat_plan_sp.laneChangeEdgeBlockDEPRECATED): + self.lane_change_direction = LaneChangeDirection.none + elif self.lane_change_state == LaneChangeState.preLaneChange: + # Set lane change direction + self.lane_change_direction = LaneChangeDirection.left if \ + carstate.leftBlinker else LaneChangeDirection.right + + torque_applied = carstate.steeringPressed and \ + ((carstate.steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or + (carstate.steeringTorque < 0 and self.lane_change_direction == LaneChangeDirection.right)) + + blindspot_detected = ((carstate.leftBlindspot and self.lane_change_direction == LaneChangeDirection.left) or + (carstate.rightBlindspot and self.lane_change_direction == LaneChangeDirection.right)) + + self.lane_change_wait_timer += DT_MDL + + if self.lane_change_bsm_delay and blindspot_detected and lane_change_auto_timer: + if lane_change_auto_timer == 0.1: + self.lane_change_wait_timer = -1 + else: + self.lane_change_wait_timer = lane_change_auto_timer - 1 + + auto_lane_change_allowed = lane_change_auto_timer and self.lane_change_wait_timer > lane_change_auto_timer + + if carstate.brakePressed and not self.prev_brake_pressed: + self.prev_brake_pressed = carstate.brakePressed + + if not one_blinker or below_lane_change_speed: + self.lane_change_state = LaneChangeState.off + self.lane_change_direction = LaneChangeDirection.none + self.prev_lane_change = False + self.prev_brake_pressed = False + elif (torque_applied or (auto_lane_change_allowed and not self.prev_lane_change and not self.prev_brake_pressed)) and \ + not blindspot_detected: + self.lane_change_state = LaneChangeState.laneChangeStarting + self.prev_lane_change = True + + # LaneChangeState.laneChangeStarting + elif self.lane_change_state == LaneChangeState.laneChangeStarting: + # fade out over .5s + self.lane_change_ll_prob = max(self.lane_change_ll_prob - 2 * DT_MDL, 0.0) + + # 98% certainty + if lane_change_prob < 0.02 and self.lane_change_ll_prob < 0.01: + self.lane_change_state = LaneChangeState.laneChangeFinishing + + # LaneChangeState.laneChangeFinishing + elif self.lane_change_state == LaneChangeState.laneChangeFinishing: + # fade in laneline over 1s + self.lane_change_ll_prob = min(self.lane_change_ll_prob + DT_MDL, 1.0) + + if self.lane_change_ll_prob > 0.99: + self.lane_change_direction = LaneChangeDirection.none + if one_blinker: + self.lane_change_state = LaneChangeState.preLaneChange + else: + self.lane_change_state = LaneChangeState.off + self.prev_lane_change = False + self.prev_brake_pressed = False + + if self.lane_change_state in (LaneChangeState.off, LaneChangeState.preLaneChange): + self.lane_change_timer = 0.0 + else: + self.lane_change_timer += DT_MDL + + self.prev_one_blinker = one_blinker + + self.desire = DESIRES[self.lane_change_direction][self.lane_change_state] + + # Send keep pulse once per second during LaneChangeStart.preLaneChange + if self.lane_change_state in (LaneChangeState.off, LaneChangeState.laneChangeStarting): + self.keep_pulse_timer = 0.0 + elif self.lane_change_state == LaneChangeState.preLaneChange: + self.keep_pulse_timer += DT_MDL + if self.keep_pulse_timer > 1.0: + self.keep_pulse_timer = 0.0 + elif self.desire in (log.Desire.keepLeft, log.Desire.keepRight): + self.desire = log.Desire.none diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py new file mode 100644 index 0000000000..55e2ff5f7a --- /dev/null +++ b/selfdrive/controls/lib/drive_helpers.py @@ -0,0 +1,346 @@ +import math +import numpy as np + +from cereal import car, log, custom +from openpilot.common.conversions import Conversions as CV +from openpilot.common.numpy_fast import clip, interp +from openpilot.common.realtime import DT_MDL, DT_CTRL +from openpilot.selfdrive.modeld.constants import ModelConstants + +# WARNING: this value was determined based on the model's training distribution, +# model predictions above this speed can be unpredictable +# V_CRUISE's are in kph +V_CRUISE_MIN = 8 +V_CRUISE_MAX = 145 +V_CRUISE_UNSET = 255 +V_CRUISE_INITIAL = 40 +V_CRUISE_INITIAL_EXPERIMENTAL_MODE = 105 +IMPERIAL_INCREMENT = round(CV.MPH_TO_KPH, 1) # round here to avoid rounding errors incrementing set speed + +MIN_SPEED = 1.0 +CONTROL_N = 17 +CAR_ROTATION_RADIUS = 0.0 + +# EU guidelines +MAX_LATERAL_JERK = 5.0 +MAX_VEL_ERR = 5.0 + +ButtonEvent = car.CarState.ButtonEvent +ButtonType = car.CarState.ButtonEvent.Type +CRUISE_LONG_PRESS = 50 +CRUISE_NEAREST_FUNC = { + ButtonType.accelCruise: math.ceil, + ButtonType.decelCruise: math.floor, +} +CRUISE_INTERVAL_SIGN = { + ButtonType.accelCruise: +1, + ButtonType.decelCruise: -1, +} + +# Constants for Limit controllers. +LIMIT_ADAPT_ACC = -1. # m/s^2 Ideal acceleration for the adapting (braking) phase when approaching speed limits. +LIMIT_MIN_ACC = -1.5 # m/s^2 Maximum deceleration allowed for limit controllers to provide. +LIMIT_MAX_ACC = 1.0 # m/s^2 Maximum acceleration allowed for limit controllers to provide while active. +LIMIT_MIN_SPEED = 8.33 # m/s, Minimum speed limit to provide as solution on limit controllers. +LIMIT_SPEED_OFFSET_TH = -1. # m/s Maximum offset between speed limit and current speed for adapting state. +LIMIT_MAX_MAP_DATA_AGE = 10. # s Maximum time to hold to map data, then consider it invalid inside limits controllers. + +FCA_V_CRUISE_MIN = { + True: 30, + False: int(20 * CV.MPH_TO_KPH), +} +HONDA_V_CRUISE_MIN = { + True: 40, + False: int(25 * CV.MPH_TO_KPH), +} +HYUNDAI_V_CRUISE_MIN = { + True: 30, + False: int(20 * CV.MPH_TO_KPH), +} +MAZDA_V_CRUISE_MIN = { + True: 30, + False: int(20 * CV.MPH_TO_KPH), +} +VOLKSWAGEN_V_CRUISE_MIN = { + True: 30, + False: int(20 * CV.MPH_TO_KPH), +} +GM_V_CRUISE_MIN = { + True: 30, + False: int(20 * CV.MPH_TO_KPH), +} + +SpeedLimitControlState = custom.LongitudinalPlanSP.SpeedLimitControlState + + +class VCruiseHelper: + def __init__(self, CP): + self.CP = CP + self.v_cruise_kph = V_CRUISE_UNSET + self.v_cruise_cluster_kph = V_CRUISE_UNSET + self.v_cruise_kph_last = 0 + self.button_timers = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0, ButtonType.gapAdjustCruise: 0} + self.button_change_states = {btn: {"standstill": False, "enabled": False} for btn in self.button_timers} + + self.is_metric_prev = None + self.v_cruise_min = V_CRUISE_MIN + self.slc_state = SpeedLimitControlState.inactive + self.slc_state_prev = SpeedLimitControlState.inactive + self.slc_speed_limit_offsetted = 0 + + # sp: PCM speed override + self.sp_override_v_cruise_kph = V_CRUISE_UNSET + self.sp_override_cruise_speed_last = V_CRUISE_UNSET + self.sp_override_enabled_last = False + + self.experimental_mode_update = False + + @property + def v_cruise_initialized(self): + return self.v_cruise_kph != V_CRUISE_UNSET + + def update_v_cruise(self, CS, enabled, is_metric, reverse_acc, sp_override_speed, long_plan_sp): + self.v_cruise_kph_last = self.v_cruise_kph + self.slc_state_prev = self.slc_state + self.slc_state = long_plan_sp.speedLimitControlState + + if not self.CP.pcmCruiseSpeed: + self._update_v_cruise_min(is_metric) + + if CS.cruiseState.available: + if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed: + # if stock cruise is completely disabled, then we can use our own set speed logic + self._update_v_cruise_non_pcm(CS, enabled, is_metric, reverse_acc) + self._update_v_cruise_slc(long_plan_sp) + self.v_cruise_cluster_kph = self.v_cruise_kph + else: + if enabled and sp_override_speed and CS.cruiseState.speed * CV.MS_TO_KPH < sp_override_speed: + if self.sp_override_v_cruise_kph == V_CRUISE_UNSET: + self.sp_override_v_cruise_kph = max(CS.vEgo * CV.MS_TO_KPH, V_CRUISE_MIN) + else: + self.sp_override_v_cruise_kph = V_CRUISE_UNSET + + # when we have an override_speed, use it + if self.sp_override_v_cruise_kph != V_CRUISE_UNSET: + self.v_cruise_kph = self.sp_override_v_cruise_kph + self.v_cruise_cluster_kph = self.sp_override_v_cruise_kph + else: + self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH + self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH + + #print("sp_override_v_cruise_kph:", self.sp_override_v_cruise_kph) + #print("v_cruise_kph:", self.v_cruise_kph) + #print("v_cruise_cluster_kph:", self.v_cruise_cluster_kph) + + self.sp_override_cruise_speed_last = CS.cruiseState.speed + self.sp_override_enabled_last = enabled + self.update_button_timers(CS, enabled) + else: + self.sp_override_v_cruise_kph = V_CRUISE_UNSET + self.v_cruise_kph = V_CRUISE_UNSET + self.v_cruise_cluster_kph = V_CRUISE_UNSET + self.experimental_mode_update = False + + def _update_v_cruise_non_pcm(self, CS, enabled, is_metric, reverse_acc): + # handle button presses. TODO: this should be in state_control, but a decelCruise press + # would have the effect of both enabling and changing speed is checked after the state transition + if not enabled: + return + + if self.slc_state == SpeedLimitControlState.active and self.slc_state_prev == SpeedLimitControlState.preActive: + return + + long_press = False + button_type = None + + v_cruise_delta = 1. if is_metric else IMPERIAL_INCREMENT + v_cruise_delta_mltplr = 10 if is_metric else 5 + + for b in CS.buttonEvents: + if b.type.raw in self.button_timers and not b.pressed: + if self.button_timers[b.type.raw] > CRUISE_LONG_PRESS: + return # end long press + button_type = b.type.raw + break + else: + for k in self.button_timers.keys(): + if self.button_timers[k] and self.button_timers[k] % CRUISE_LONG_PRESS == 0: + button_type = k + long_press = True + break + + if button_type is None or button_type == ButtonType.gapAdjustCruise: + return + + resume_button = ButtonType.accelCruise + if not self.CP.pcmCruiseSpeed: + if self.CP.carName == "chrysler": + resume_button = ButtonType.resumeCruise + + # Don't adjust speed when pressing resume to exit standstill + cruise_standstill = self.button_change_states[button_type]["standstill"] or CS.cruiseState.standstill + if button_type == resume_button and cruise_standstill: + return + + # Don't adjust speed if we've enabled since the button was depressed (some ports enable on rising edge) + if not self.button_change_states[button_type]["enabled"]: + return + + pressed_value = (1 if long_press else v_cruise_delta_mltplr) if reverse_acc else (v_cruise_delta_mltplr if long_press else 1) + long_press_state = not long_press if reverse_acc else long_press + v_cruise_delta = v_cruise_delta * pressed_value + if long_press_state and self.v_cruise_kph % v_cruise_delta != 0: # partial interval + self.v_cruise_kph = CRUISE_NEAREST_FUNC[button_type](self.v_cruise_kph / v_cruise_delta) * v_cruise_delta + else: + self.v_cruise_kph += v_cruise_delta * CRUISE_INTERVAL_SIGN[button_type] + + # If set is pressed while overriding, clip cruise speed to minimum of vEgo + if CS.gasPressed and button_type in (ButtonType.decelCruise, ButtonType.setCruise): + self.v_cruise_kph = max(self.v_cruise_kph, CS.vEgo * CV.MS_TO_KPH) + + self.v_cruise_kph = clip(round(self.v_cruise_kph, 1), self.v_cruise_min, V_CRUISE_MAX) + + def update_button_timers(self, CS, enabled): + # increment timer for buttons still pressed + for k in self.button_timers: + if self.button_timers[k] > 0: + self.button_timers[k] += 1 + + for b in CS.buttonEvents: + if b.type.raw in self.button_timers: + # Start/end timer and store current state on change of button pressed + self.button_timers[b.type.raw] = 1 if b.pressed else 0 + self.button_change_states[b.type.raw] = {"standstill": CS.cruiseState.standstill, "enabled": enabled} + + def initialize_v_cruise(self, CS, experimental_mode: bool, is_metric, dynamic_experimental_control: bool) -> None: + # initializing is handled by the PCM + if self.CP.pcmCruise and self.CP.pcmCruiseSpeed: + return + + initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if experimental_mode and not dynamic_experimental_control else V_CRUISE_INITIAL + + resume_buttons = (ButtonType.accelCruise, ButtonType.resumeCruise) + + if not self.CP.pcmCruiseSpeed: + if self.CP.carName == "honda": + initial = HONDA_V_CRUISE_MIN[is_metric] + elif self.CP.carName == "hyundai": + initial = HYUNDAI_V_CRUISE_MIN[is_metric] + elif self.CP.carName == "chrysler": + initial = FCA_V_CRUISE_MIN[is_metric] + if not self.CP.pcmCruiseSpeed: + resume_buttons = (ButtonType.resumeCruise,) + elif self.CP.carName == "mazda": + initial = MAZDA_V_CRUISE_MIN[is_metric] + elif self.CP.carName == "volkswagen": + initial = VOLKSWAGEN_V_CRUISE_MIN[is_metric] + elif self.CP.carName == "gm": + initial = GM_V_CRUISE_MIN[is_metric] + + # 250kph or above probably means we never had a set speed + if any(b.type in resume_buttons for b in CS.buttonEvents) and self.v_cruise_kph_last < 250: + self.v_cruise_kph = self.v_cruise_kph_last + else: + self.v_cruise_kph = int(round(clip(CS.vEgo * CV.MS_TO_KPH, initial, V_CRUISE_MAX))) + + self.v_cruise_cluster_kph = self.v_cruise_kph + + def _update_v_cruise_slc(self, long_plan_sp): + if self.slc_state == SpeedLimitControlState.active and self.slc_state_prev != SpeedLimitControlState.preActive: + return + + self.slc_speed_limit_offsetted = (long_plan_sp.speedLimit + long_plan_sp.speedLimitOffset) * CV.MS_TO_KPH + + if self.slc_state == SpeedLimitControlState.active and self.slc_state_prev == SpeedLimitControlState.preActive: + self.v_cruise_kph = clip(round(self.slc_speed_limit_offsetted, 1), self.v_cruise_min, V_CRUISE_MAX) + + def _update_v_cruise_min(self, is_metric): + if is_metric != self.is_metric_prev: + if self.CP.carName == "honda": + self.v_cruise_min = HONDA_V_CRUISE_MIN[is_metric] + elif self.CP.carName == "hyundai": + self.v_cruise_min = HYUNDAI_V_CRUISE_MIN[is_metric] + elif self.CP.carName == "chrysler": + self.v_cruise_min = FCA_V_CRUISE_MIN[is_metric] + elif self.CP.carName == "mazda": + self.v_cruise_min = MAZDA_V_CRUISE_MIN[is_metric] + elif self.CP.carName == "volkswagen": + self.v_cruise_min = VOLKSWAGEN_V_CRUISE_MIN[is_metric] + elif self.CP.carName == "gm": + self.v_cruise_min = GM_V_CRUISE_MIN[is_metric] + self.is_metric_prev = is_metric + + +def clip_curvature(v_ego, prev_curvature, new_curvature): + v_ego = max(MIN_SPEED, v_ego) + max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755 + safe_desired_curvature = clip(new_curvature, + prev_curvature - max_curvature_rate * DT_CTRL, + prev_curvature + max_curvature_rate * DT_CTRL) + + return safe_desired_curvature + + +def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures): + if len(psis) != CONTROL_N: + psis = [0.0]*CONTROL_N + curvatures = [0.0]*CONTROL_N + v_ego = max(MIN_SPEED, v_ego) + + # TODO this needs more thought, use .2s extra for now to estimate other delays + delay = CP.steerActuatorDelay + .2 + + # MPC can plan to turn the wheel and turn back before t_delay. This means + # in high delay cases some corrections never even get commanded. So just use + # psi to calculate a simple linearization of desired curvature + current_curvature_desired = curvatures[0] + psi = interp(delay, ModelConstants.T_IDXS[:CONTROL_N], psis) + average_curvature_desired = psi / (v_ego * delay) + desired_curvature = 2 * average_curvature_desired - current_curvature_desired + + # This is the "desired rate of the setpoint" not an actual desired rate + max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755 + safe_desired_curvature = clip(desired_curvature, + current_curvature_desired - max_curvature_rate * DT_MDL, + current_curvature_desired + max_curvature_rate * DT_MDL) + + return safe_desired_curvature + + +def get_speed_error(modelV2: log.ModelDataV2, v_ego: float) -> float: + # ToDo: Try relative error, and absolute speed + if len(modelV2.temporalPose.trans): + vel_err = clip(modelV2.temporalPose.trans[0] - v_ego, -MAX_VEL_ERR, MAX_VEL_ERR) + return float(vel_err) + return 0.0 + + +def get_road_edge(carstate, model_v2, toggle): + # Lane detection by FrogAi + one_blinker = carstate.leftBlinker != carstate.rightBlinker + if not toggle: + road_edge = False + elif one_blinker: + # Set the minimum lane threshold to 3.0 meters + min_lane_threshold = 3.0 + # Set the blinker index based on which signal is on + blinker_index = 0 if carstate.leftBlinker else 1 + desired_edge = model_v2.roadEdges[blinker_index] + current_lane = model_v2.laneLines[blinker_index + 1] + # Check if both the desired lane and the current lane have valid x and y values + if all([desired_edge.x, desired_edge.y, current_lane.x, current_lane.y]) and len(desired_edge.x) == len(current_lane.x): + # Interpolate the x and y values to the same length + x = np.linspace(desired_edge.x[0], desired_edge.x[-1], num=len(desired_edge.x)) + lane_y = np.interp(x, current_lane.x, current_lane.y) + desired_y = np.interp(x, desired_edge.x, desired_edge.y) + # Calculate the width of the lane we're wanting to change into + lane_width = np.abs(desired_y - lane_y) + # Set road_edge to False if the lane width is not larger than the threshold + road_edge = not (np.amax(lane_width) > min_lane_threshold) + else: + road_edge = True + else: + # Default to setting "road_edge" to False + road_edge = False + + return road_edge diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py new file mode 100755 index 0000000000..f6d6f5bd0c --- /dev/null +++ b/selfdrive/controls/lib/events.py @@ -0,0 +1,1176 @@ +#!/usr/bin/env python3 +import bisect +import math +import os +from enum import IntEnum +from collections.abc import Callable + +from cereal import log, car +import cereal.messaging as messaging +from openpilot.common.conversions import Conversions as CV +from openpilot.common.git import get_short_branch +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER + +AlertSize = log.ControlsState.AlertSize +AlertStatus = log.ControlsState.AlertStatus +VisualAlert = car.CarControl.HUDControl.VisualAlert +AudibleAlert = car.CarControl.HUDControl.AudibleAlert +EventName = car.CarEvent.EventName + + +# Alert priorities +class Priority(IntEnum): + LOWEST = 0 + LOWER = 1 + LOW = 2 + MID = 3 + HIGH = 4 + HIGHEST = 5 + + +# Event types +class ET: + ENABLE = 'enable' + PRE_ENABLE = 'preEnable' + OVERRIDE_LATERAL = 'overrideLateral' + OVERRIDE_LONGITUDINAL = 'overrideLongitudinal' + NO_ENTRY = 'noEntry' + WARNING = 'warning' + USER_DISABLE = 'userDisable' + SOFT_DISABLE = 'softDisable' + IMMEDIATE_DISABLE = 'immediateDisable' + PERMANENT = 'permanent' + + +# get event name from enum +EVENT_NAME = {v: k for k, v in EventName.schema.enumerants.items()} + + +class Events: + def __init__(self): + self.events: list[int] = [] + self.static_events: list[int] = [] + self.event_counters = dict.fromkeys(EVENTS.keys(), 0) + + @property + def names(self) -> list[int]: + return self.events + + def __len__(self) -> int: + return len(self.events) + + def add(self, event_name: int, static: bool=False) -> None: + if static: + bisect.insort(self.static_events, event_name) + bisect.insort(self.events, event_name) + + def clear(self) -> None: + self.event_counters = {k: (v + 1 if k in self.events else 0) for k, v in self.event_counters.items()} + self.events = self.static_events.copy() + + def contains(self, event_type: str) -> bool: + return any(event_type in EVENTS.get(e, {}) for e in self.events) + + def create_alerts(self, event_types: list[str], callback_args=None): + if callback_args is None: + callback_args = [] + + ret = [] + for e in self.events: + types = EVENTS[e].keys() + for et in event_types: + if et in types: + alert = EVENTS[e][et] + if not isinstance(alert, Alert): + alert = alert(*callback_args) + + if DT_CTRL * (self.event_counters[e] + 1) >= alert.creation_delay: + alert.alert_type = f"{EVENT_NAME[e]}/{et}" + alert.event_type = et + ret.append(alert) + return ret + + def add_from_msg(self, events): + for e in events: + bisect.insort(self.events, e.name.raw) + + def to_msg(self): + ret = [] + for event_name in self.events: + event = car.CarEvent.new_message() + event.name = event_name + for event_type in EVENTS.get(event_name, {}): + setattr(event, event_type, True) + ret.append(event) + return ret + + +class Alert: + def __init__(self, + alert_text_1: str, + alert_text_2: str, + alert_status: log.ControlsState.AlertStatus, + alert_size: log.ControlsState.AlertSize, + priority: Priority, + visual_alert: car.CarControl.HUDControl.VisualAlert, + audible_alert: car.CarControl.HUDControl.AudibleAlert, + duration: float, + alert_rate: float = 0., + creation_delay: float = 0.): + + self.alert_text_1 = alert_text_1 + self.alert_text_2 = alert_text_2 + self.alert_status = alert_status + self.alert_size = alert_size + self.priority = priority + self.visual_alert = visual_alert + self.audible_alert = audible_alert + + self.duration = int(duration / DT_CTRL) + + self.alert_rate = alert_rate + self.creation_delay = creation_delay + + self.alert_type = "" + self.event_type: str | None = None + + def __str__(self) -> str: + return f"{self.alert_text_1}/{self.alert_text_2} {self.priority} {self.visual_alert} {self.audible_alert}" + + def __gt__(self, alert2) -> bool: + if not isinstance(alert2, Alert): + return False + return self.priority > alert2.priority + + +class NoEntryAlert(Alert): + def __init__(self, alert_text_2: str, + alert_text_1: str = "openpilot Unavailable", + visual_alert: car.CarControl.HUDControl.VisualAlert=VisualAlert.none): + super().__init__(alert_text_1, alert_text_2, AlertStatus.normal, + AlertSize.mid, Priority.LOW, visual_alert, + AudibleAlert.refuse, 3.) + + +class SoftDisableAlert(Alert): + def __init__(self, alert_text_2: str): + super().__init__("TAKE CONTROL IMMEDIATELY", alert_text_2, + AlertStatus.userPrompt, AlertSize.full, + Priority.MID, VisualAlert.steerRequired, + AudibleAlert.warningSoft, 2.), + + +# less harsh version of SoftDisable, where the condition is user-triggered +class UserSoftDisableAlert(SoftDisableAlert): + def __init__(self, alert_text_2: str): + super().__init__(alert_text_2), + self.alert_text_1 = "openpilot will disengage" + + +class ImmediateDisableAlert(Alert): + def __init__(self, alert_text_2: str): + super().__init__("TAKE CONTROL IMMEDIATELY", alert_text_2, + AlertStatus.critical, AlertSize.full, + Priority.HIGHEST, VisualAlert.steerRequired, + AudibleAlert.warningImmediate, 4.), + + +class EngagementAlert(Alert): + def __init__(self, audible_alert: car.CarControl.HUDControl.AudibleAlert): + super().__init__("", "", + AlertStatus.normal, AlertSize.none, + Priority.MID, VisualAlert.none, + audible_alert, .2), + + +class NormalPermanentAlert(Alert): + def __init__(self, alert_text_1: str, alert_text_2: str = "", duration: float = 0.2, priority: Priority = Priority.LOWER, creation_delay: float = 0.): + super().__init__(alert_text_1, alert_text_2, + AlertStatus.normal, AlertSize.mid if len(alert_text_2) else AlertSize.small, + priority, VisualAlert.none, AudibleAlert.none, duration, creation_delay=creation_delay), + + +class StartupAlert(Alert): + def __init__(self, alert_text_1: str, alert_text_2: str = "Always keep hands on wheel and eyes on road", alert_status=AlertStatus.normal): + super().__init__(alert_text_1, alert_text_2, + alert_status, AlertSize.mid, + Priority.LOWER, VisualAlert.none, AudibleAlert.none, 5.), + + +# ********** helper functions ********** +def get_display_speed(speed_ms: float, metric: bool) -> str: + speed = int(round(speed_ms * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH))) + unit = 'km/h' if metric else 'mph' + return f"{speed} {unit}" + + +# ********** alert callback functions ********** + +AlertCallbackType = Callable[[car.CarParams, car.CarState, messaging.SubMaster, bool, int], Alert] + + +def soft_disable_alert(alert_text_2: str) -> AlertCallbackType: + def func(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + if soft_disable_time < int(0.5 / DT_CTRL): + return ImmediateDisableAlert(alert_text_2) + return SoftDisableAlert(alert_text_2) + return func + +def user_soft_disable_alert(alert_text_2: str) -> AlertCallbackType: + def func(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + if soft_disable_time < int(0.5 / DT_CTRL): + return ImmediateDisableAlert(alert_text_2) + return UserSoftDisableAlert(alert_text_2) + return func + +def startup_master_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + branch = get_short_branch() # Ensure get_short_branch is cached to avoid lags on startup + if "REPLAY" in os.environ: + branch = "replay" + + return StartupAlert("WARNING: This branch is not tested", branch, alert_status=AlertStatus.userPrompt) + +def below_engage_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + return NoEntryAlert(f"Drive above {get_display_speed(CP.minEnableSpeed, metric)} to engage") + + +def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + return Alert( + f"Steer Unavailable Below {get_display_speed(CP.minSteerSpeed, metric)}", + "", + AlertStatus.userPrompt, AlertSize.small, + Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, 0.4) + + +def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + first_word = 'Recalibration' if sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.recalibrating else 'Calibration' + return Alert( + f"{first_word} in Progress: {sm['liveCalibration'].calPerc:.0f}%", + f"Drive Above {get_display_speed(MIN_SPEED_FILTER, metric)}", + AlertStatus.normal, AlertSize.mid, + Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2) + + +def torque_nn_load_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + model_name = CP.lateralTuning.torque.nnModelName + if model_name in ("", "mock"): + return Alert( + "NN Lateral Controller Not Loaded", + '⚙️ -> "sunnypilot" for more details', + AlertStatus.userPrompt, AlertSize.mid, + Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 6.0) + else: + fuzzy = CP.lateralTuning.torque.nnModelFuzzyMatch + alert_text_2 = '⚙️ -> "sunnypilot" for more details [Match = Fuzzy]' if fuzzy else "" + alert_status = AlertStatus.userPrompt if fuzzy else AlertStatus.normal + alert_size = AlertSize.mid if fuzzy else AlertSize.small + audible_alert = AudibleAlert.prompt if fuzzy else AudibleAlert.none + return Alert( + "NN Lateral Controller Loaded", + alert_text_2, + alert_status, alert_size, + Priority.LOW, VisualAlert.none, audible_alert, 6.0) + +# *** debug alerts *** + +def out_of_space_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + full_perc = round(100. - sm['deviceState'].freeSpacePercent) + return NormalPermanentAlert("Out of Storage", f"{full_perc}% full") + + +def posenet_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + mdl = sm['modelV2'].velocity.x[0] if len(sm['modelV2'].velocity.x) else math.nan + err = CS.vEgo - mdl + msg = f"Speed Error: {err:.1f} m/s" + return NoEntryAlert(msg, alert_text_1="Posenet Speed Invalid") + + +def process_not_running_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + not_running = [p.name for p in sm['managerState'].processes if not p.running and p.shouldBeRunning] + msg = ', '.join(not_running) + return NoEntryAlert(msg, alert_text_1="Process Not Running") + + +def comm_issue_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + bs = [s for s in sm.data.keys() if not sm.all_checks([s, ])] + msg = ', '.join(bs[:4]) # can't fit too many on one line + return NoEntryAlert(msg, alert_text_1="Communication Issue Between Processes") + + +def camera_malfunction_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + all_cams = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState') + bad_cams = [s.replace('State', '') for s in all_cams if s in sm.data.keys() and not sm.all_checks([s, ])] + return NormalPermanentAlert("Camera Malfunction", ', '.join(bad_cams)) + + +def calibration_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + rpy = sm['liveCalibration'].rpyCalib + yaw = math.degrees(rpy[2] if len(rpy) == 3 else math.nan) + pitch = math.degrees(rpy[1] if len(rpy) == 3 else math.nan) + angles = f"Remount Device (Pitch: {pitch:.1f}°, Yaw: {yaw:.1f}°)" + return NormalPermanentAlert("Calibration Invalid", angles) + + +def overheat_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + cpu = max(sm['deviceState'].cpuTempC, default=0.) + gpu = max(sm['deviceState'].gpuTempC, default=0.) + temp = max((cpu, gpu, sm['deviceState'].memoryTempC)) + return NormalPermanentAlert("System Overheated", f"{temp:.0f} °C") + + +def low_memory_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + return NormalPermanentAlert("Low Memory", f"{sm['deviceState'].memoryUsagePercent}% used") + + +def high_cpu_usage_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + x = max(sm['deviceState'].cpuUsagePercent, default=0.) + return NormalPermanentAlert("High CPU Usage", f"{x}% used") + + +def modeld_lagging_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + return NormalPermanentAlert("Driving Model Lagging", f"{sm['modelV2'].frameDropPerc:.1f}% frames dropped") + + +def wrong_car_mode_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + text = "Enable Adaptive Cruise to Engage" + if CP.carName == "honda": + text = "Enable Main Switch to Engage" + return NoEntryAlert(text) + + +def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + axes = sm['testJoystick'].axes + gb, steer = list(axes)[:2] if len(axes) else (0., 0.) + vals = f"Gas: {round(gb * 100.)}%, Steer: {round(steer * 100.)}%" + return NormalPermanentAlert("Joystick Mode", vals) + +def speed_limit_adjust_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + speedLimit = sm['longitudinalPlanSP'].speedLimit + speed = round(speedLimit * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH)) + message = f'Adjusting to {speed} {"km/h" if metric else "mph"} speed limit' + return Alert( + message, + "", + AlertStatus.normal, AlertSize.small, + Priority.LOW, VisualAlert.none, AudibleAlert.none, 4.) + + + +EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { + # ********** events with no alerts ********** + + EventName.stockFcw: {}, + EventName.actuatorsApiUnavailable: {}, + + # ********** events only containing alerts displayed in all states ********** + + EventName.joystickDebug: { + ET.WARNING: joystick_alert, + ET.PERMANENT: NormalPermanentAlert("Joystick Mode"), + }, + + EventName.controlsInitializing: { + ET.NO_ENTRY: NoEntryAlert("System Initializing"), + }, + + EventName.startup: { + ET.PERMANENT: StartupAlert("Be ready to take over at any time") + }, + + EventName.startupMaster: { + ET.PERMANENT: startup_master_alert, + }, + + # Car is recognized, but marked as dashcam only + EventName.startupNoControl: { + ET.PERMANENT: StartupAlert("Dashcam mode"), + ET.NO_ENTRY: NoEntryAlert("Dashcam mode"), + }, + + # Car is not recognized + EventName.startupNoCar: { + ET.PERMANENT: StartupAlert("Dashcam mode for unsupported car"), + }, + + EventName.startupNoFw: { + ET.PERMANENT: StartupAlert("Car Unrecognized", + "Check comma power connections", + alert_status=AlertStatus.userPrompt), + }, + + EventName.dashcamMode: { + ET.PERMANENT: NormalPermanentAlert("Dashcam Mode", + priority=Priority.LOWEST), + }, + + EventName.invalidLkasSetting: { + ET.PERMANENT: NormalPermanentAlert("Stock LKAS is on", + "Turn off stock LKAS to engage"), + }, + + EventName.cruiseMismatch: { + #ET.PERMANENT: ImmediateDisableAlert("openpilot failed to cancel cruise"), + }, + + # openpilot doesn't recognize the car. This switches openpilot into a + # read-only mode. This can be solved by adding your fingerprint. + # See https://github.com/commaai/openpilot/wiki/Fingerprinting for more information + EventName.carUnrecognized: { + ET.PERMANENT: NormalPermanentAlert("Dashcam Mode", + '⚙️ -> "Vehicle" to select your car', + priority=Priority.LOWEST), + }, + + EventName.stockAeb: { + ET.PERMANENT: Alert( + "BRAKE!", + "Stock AEB: Risk of Collision", + AlertStatus.critical, AlertSize.full, + Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.none, 2.), + ET.NO_ENTRY: NoEntryAlert("Stock AEB: Risk of Collision"), + }, + + EventName.fcw: { + ET.PERMANENT: Alert( + "BRAKE!", + "Risk of Collision", + AlertStatus.critical, AlertSize.full, + Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.warningSoft, 2.), + }, + + EventName.ldw: { + ET.PERMANENT: Alert( + "Lane Departure Detected", + "", + AlertStatus.userPrompt, AlertSize.small, + Priority.LOW, VisualAlert.ldw, AudibleAlert.prompt, 3.), + }, + + # ********** events only containing alerts that display while engaged ********** + + EventName.steerTempUnavailableSilent: { + ET.WARNING: Alert( + "Steering Temporarily Unavailable", + "", + AlertStatus.userPrompt, AlertSize.small, + Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, 1.8), + }, + + EventName.preDriverDistracted: { + ET.PERMANENT: Alert( + "Pay Attention", + "", + AlertStatus.normal, AlertSize.small, + Priority.LOW, VisualAlert.none, AudibleAlert.none, .1), + }, + + EventName.promptDriverDistracted: { + ET.PERMANENT: Alert( + "Pay Attention", + "Driver Distracted", + AlertStatus.userPrompt, AlertSize.mid, + Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, .1), + }, + + EventName.driverDistracted: { + ET.PERMANENT: Alert( + "DISENGAGE IMMEDIATELY", + "Driver Distracted", + AlertStatus.critical, AlertSize.full, + Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.warningImmediate, .1), + }, + + EventName.preDriverUnresponsive: { + ET.PERMANENT: Alert( + "Touch Steering Wheel: No Face Detected", + "", + AlertStatus.normal, AlertSize.small, + Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .1, alert_rate=0.75), + }, + + EventName.promptDriverUnresponsive: { + ET.PERMANENT: Alert( + "Touch Steering Wheel", + "Driver Unresponsive", + AlertStatus.userPrompt, AlertSize.mid, + Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, .1), + }, + + EventName.driverUnresponsive: { + ET.PERMANENT: Alert( + "DISENGAGE IMMEDIATELY", + "Driver Unresponsive", + AlertStatus.critical, AlertSize.full, + Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.warningImmediate, .1), + }, + + EventName.preKeepHandsOnWheel: { + ET.WARNING: Alert( + "No hands on steering wheel detected", + "", + AlertStatus.userPrompt, AlertSize.small, + Priority.MID, VisualAlert.steerRequired, AudibleAlert.none, .1, alert_rate=0.75), + }, + + EventName.promptKeepHandsOnWheel: { + ET.WARNING: Alert( + "HANDS OFF STEERING WHEEL", + "Place hands on steering wheel", + AlertStatus.critical, AlertSize.mid, + Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, .1), + }, + + EventName.keepHandsOnWheel: { + ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Driver kept hands off sterring wheel"), + }, + + EventName.manualRestart: { + ET.WARNING: Alert( + "TAKE CONTROL", + "Resume Driving Manually", + AlertStatus.userPrompt, AlertSize.mid, + Priority.LOW, VisualAlert.none, AudibleAlert.none, .2), + }, + + EventName.resumeRequired: { + ET.WARNING: Alert( + "Press Resume to Exit Standstill", + "", + AlertStatus.userPrompt, AlertSize.small, + Priority.LOW, VisualAlert.none, AudibleAlert.none, .2), + }, + + EventName.belowSteerSpeed: { + ET.WARNING: below_steer_speed_alert, + }, + + EventName.preLaneChangeLeft: { + ET.WARNING: Alert( + "Steer Left to Start Lane Change Once Safe", + "", + AlertStatus.normal, AlertSize.small, + Priority.LOW, VisualAlert.none, AudibleAlert.none, .1, alert_rate=0.75), + }, + + EventName.preLaneChangeRight: { + ET.WARNING: Alert( + "Steer Right to Start Lane Change Once Safe", + "", + AlertStatus.normal, AlertSize.small, + Priority.LOW, VisualAlert.none, AudibleAlert.none, .1, alert_rate=0.75), + }, + + EventName.laneChangeBlocked: { + ET.WARNING: Alert( + "Car Detected in Blindspot", + "", + AlertStatus.userPrompt, AlertSize.small, + Priority.LOW, VisualAlert.none, AudibleAlert.prompt, .1), + }, + + EventName.laneChangeRoadEdge: { + ET.WARNING: Alert( + "Lane Change Unavailable: Road Edge", + "", + AlertStatus.userPrompt, AlertSize.small, + Priority.LOW, VisualAlert.none, AudibleAlert.prompt, .1), + }, + + EventName.laneChange: { + ET.WARNING: Alert( + "Changing Lanes", + "", + AlertStatus.normal, AlertSize.small, + Priority.LOW, VisualAlert.none, AudibleAlert.none, .1), + }, + + EventName.manualSteeringRequired: { + ET.WARNING: Alert( + "Automatic Lane Centering is OFF", + "Manual Steering Required", + AlertStatus.normal, AlertSize.mid, + Priority.LOW, VisualAlert.none, AudibleAlert.disengage, 1.), + }, + + EventName.manualLongitudinalRequired: { + ET.WARNING: Alert( + "Smart/Adaptive Cruise Control is OFF", + "Manual Gas/Brakes Required", + AlertStatus.normal, AlertSize.mid, + Priority.LOW, VisualAlert.none, AudibleAlert.none, 1.), + }, + + EventName.cruiseEngageBlocked: { + ET.WARNING: Alert( + "openpilot Unavailable", + "Pedal Pressed During Cruise Engage", + AlertStatus.normal, AlertSize.mid, + Priority.LOW, VisualAlert.brakePressed, AudibleAlert.refuse, 3.), + }, + + EventName.steerSaturated: { + ET.WARNING: Alert( + "Take Control", + "Turn Exceeds Steering Limit", + AlertStatus.userPrompt, AlertSize.mid, + Priority.LOW, VisualAlert.steerRequired, AudibleAlert.promptRepeat, 2.), + }, + + # Thrown when the fan is driven at >50% but is not rotating + EventName.fanMalfunction: { + ET.PERMANENT: NormalPermanentAlert("Fan Malfunction", "Likely Hardware Issue"), + }, + + # Camera is not outputting frames + EventName.cameraMalfunction: { + ET.PERMANENT: camera_malfunction_alert, + ET.SOFT_DISABLE: soft_disable_alert("Camera Malfunction"), + ET.NO_ENTRY: NoEntryAlert("Camera Malfunction: Reboot Your Device"), + }, + # Camera framerate too low + EventName.cameraFrameRate: { + ET.PERMANENT: NormalPermanentAlert("Camera Frame Rate Low", "Reboot your Device"), + ET.SOFT_DISABLE: soft_disable_alert("Camera Frame Rate Low"), + ET.NO_ENTRY: NoEntryAlert("Camera Frame Rate Low: Reboot Your Device"), + }, + + # Unused + + EventName.locationdTemporaryError: { + ET.NO_ENTRY: NoEntryAlert("locationd Temporary Error"), + ET.SOFT_DISABLE: soft_disable_alert("locationd Temporary Error"), + }, + + EventName.locationdPermanentError: { + ET.NO_ENTRY: NoEntryAlert("locationd Permanent Error"), + ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("locationd Permanent Error"), + ET.PERMANENT: NormalPermanentAlert("locationd Permanent Error"), + }, + + # openpilot tries to learn certain parameters about your car by observing + # how the car behaves to steering inputs from both human and openpilot driving. + # This includes: + # - steer ratio: gear ratio of the steering rack. Steering angle divided by tire angle + # - tire stiffness: how much grip your tires have + # - angle offset: most steering angle sensors are offset and measure a non zero angle when driving straight + # This alert is thrown when any of these values exceed a sanity check. This can be caused by + # bad alignment or bad sensor data. If this happens consistently consider creating an issue on GitHub + EventName.paramsdTemporaryError: { + ET.NO_ENTRY: NoEntryAlert("paramsd Temporary Error"), + ET.SOFT_DISABLE: soft_disable_alert("paramsd Temporary Error"), + }, + + EventName.paramsdPermanentError: { + ET.NO_ENTRY: NoEntryAlert("paramsd Permanent Error"), + ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("paramsd Permanent Error"), + ET.PERMANENT: NormalPermanentAlert("paramsd Permanent Error"), + }, + + EventName.speedLimitActive: { + ET.WARNING: Alert( + "Set speed changed to match posted speed limit", + "", + AlertStatus.normal, AlertSize.small, + Priority.LOW, VisualAlert.none, AudibleAlert.none, 3.), + }, + + EventName.speedLimitValueChange: { + ET.WARNING: speed_limit_adjust_alert, + }, + + EventName.e2eLongStart: { + ET.PERMANENT: Alert( + "", + "", + AlertStatus.normal, AlertSize.none, + Priority.MID, VisualAlert.none, AudibleAlert.promptStarting, 1.5), + }, + + EventName.speedLimitPreActive: { + ET.WARNING: Alert( + "", + "", + AlertStatus.normal, AlertSize.none, + Priority.MID, VisualAlert.none, AudibleAlert.promptSingleLow, .45), + }, + + EventName.speedLimitConfirmed: { + ET.WARNING: Alert( + "", + "", + AlertStatus.normal, AlertSize.none, + Priority.MID, VisualAlert.none, AudibleAlert.promptSingleHigh, .45), + }, + + # ********** events that affect controls state transitions ********** + + EventName.pcmEnable: { + ET.ENABLE: EngagementAlert(AudibleAlert.engage), + }, + + EventName.buttonEnable: { + ET.ENABLE: EngagementAlert(AudibleAlert.engage), + }, + + EventName.silentButtonEnable: { + ET.ENABLE: Alert( + "", + "", + AlertStatus.normal, AlertSize.none, + Priority.MID, VisualAlert.none, AudibleAlert.none, .2, 0., 0.), + }, + + EventName.pcmDisable: { + ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage), + }, + + EventName.buttonCancel: { + ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage), + ET.NO_ENTRY: NoEntryAlert("Cancel Pressed"), + }, + + EventName.brakeHold: { + ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage), + ET.NO_ENTRY: NoEntryAlert("Brake Hold Active"), + }, + + EventName.silentBrakeHold: { + ET.USER_DISABLE: Alert( + "", + "", + AlertStatus.normal, AlertSize.none, + Priority.MID, VisualAlert.none, AudibleAlert.none, .2, 0., 0.), + ET.NO_ENTRY: NoEntryAlert("Brake Hold Active"), + }, + + EventName.parkBrake: { + ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage), + ET.NO_ENTRY: NoEntryAlert("Parking Brake Engaged"), + }, + + EventName.pedalPressed: { + ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage), + ET.NO_ENTRY: NoEntryAlert("Pedal Pressed", + visual_alert=VisualAlert.brakePressed), + }, + + EventName.silentPedalPressed: { + ET.USER_DISABLE: Alert( + "", + "", + AlertStatus.normal, AlertSize.none, + Priority.MID, VisualAlert.none, AudibleAlert.none, .2), + ET.NO_ENTRY: NoEntryAlert("Pedal Pressed During Attempt", + visual_alert=VisualAlert.brakePressed), + }, + + EventName.preEnableStandstill: { + ET.PRE_ENABLE: Alert( + "Release Brake to Engage", + "", + AlertStatus.normal, AlertSize.small, + Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1, creation_delay=1.), + }, + + EventName.gasPressedOverride: { + ET.OVERRIDE_LONGITUDINAL: Alert( + "", + "", + AlertStatus.normal, AlertSize.none, + Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1), + }, + + EventName.steerOverride: { + ET.OVERRIDE_LATERAL: Alert( + "", + "", + AlertStatus.normal, AlertSize.none, + Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1), + }, + + EventName.wrongCarMode: { + ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage), + ET.NO_ENTRY: wrong_car_mode_alert, + }, + + EventName.resumeBlocked: { + ET.NO_ENTRY: NoEntryAlert("Press Set to Engage"), + }, + + EventName.wrongCruiseMode: { + ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage), + ET.NO_ENTRY: NoEntryAlert("Adaptive Cruise Disabled"), + }, + + EventName.steerTempUnavailable: { + ET.SOFT_DISABLE: soft_disable_alert("Steering Temporarily Unavailable"), + ET.NO_ENTRY: NoEntryAlert("Steering Temporarily Unavailable"), + }, + + EventName.steerTimeLimit: { + ET.SOFT_DISABLE: soft_disable_alert("Vehicle Steering Time Limit"), + ET.NO_ENTRY: NoEntryAlert("Vehicle Steering Time Limit"), + }, + + EventName.outOfSpace: { + ET.PERMANENT: out_of_space_alert, + ET.NO_ENTRY: NoEntryAlert("Out of Storage"), + }, + + EventName.belowEngageSpeed: { + ET.NO_ENTRY: below_engage_speed_alert, + }, + + EventName.sensorDataInvalid: { + ET.PERMANENT: Alert( + "Sensor Data Invalid", + "Possible Hardware Issue", + AlertStatus.normal, AlertSize.mid, + Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=1.), + ET.NO_ENTRY: NoEntryAlert("Sensor Data Invalid"), + ET.SOFT_DISABLE: soft_disable_alert("Sensor Data Invalid"), + }, + + EventName.noGps: { + ET.PERMANENT: Alert( + "Poor GPS reception", + "Ensure device has a clear view of the sky", + AlertStatus.normal, AlertSize.mid, + Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=600.) + }, + + EventName.soundsUnavailable: { + ET.PERMANENT: NormalPermanentAlert("Speaker not found", "Reboot your Device"), + ET.NO_ENTRY: NoEntryAlert("Speaker not found"), + }, + + EventName.tooDistracted: { + ET.NO_ENTRY: NoEntryAlert("Distraction Level Too High"), + }, + + EventName.overheat: { + ET.PERMANENT: overheat_alert, + ET.SOFT_DISABLE: soft_disable_alert("System Overheated"), + ET.NO_ENTRY: NoEntryAlert("System Overheated"), + }, + + EventName.wrongGear: { + ET.SOFT_DISABLE: user_soft_disable_alert("Gear not D"), + ET.NO_ENTRY: NoEntryAlert("Gear not D"), + }, + + EventName.silentWrongGear: { + ET.SOFT_DISABLE: Alert( + "Gear not D", + "openpilot Unavailable", + AlertStatus.normal, AlertSize.mid, + Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 2., 3.), + ET.NO_ENTRY: Alert( + "Gear not D", + "openpilot Unavailable", + AlertStatus.normal, AlertSize.mid, + Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 2., 3.), + }, + + # This alert is thrown when the calibration angles are outside of the acceptable range. + # For example if the device is pointed too much to the left or the right. + # Usually this can only be solved by removing the mount from the windshield completely, + # and attaching while making sure the device is pointed straight forward and is level. + # See https://comma.ai/setup for more information + EventName.calibrationInvalid: { + ET.PERMANENT: calibration_invalid_alert, + ET.SOFT_DISABLE: soft_disable_alert("Calibration Invalid: Remount Device & Recalibrate"), + ET.NO_ENTRY: NoEntryAlert("Calibration Invalid: Remount Device & Recalibrate"), + }, + + EventName.calibrationIncomplete: { + ET.PERMANENT: calibration_incomplete_alert, + ET.SOFT_DISABLE: soft_disable_alert("Calibration Incomplete"), + ET.NO_ENTRY: NoEntryAlert("Calibration in Progress"), + }, + + EventName.calibrationRecalibrating: { + ET.PERMANENT: calibration_incomplete_alert, + ET.SOFT_DISABLE: soft_disable_alert("Device Remount Detected: Recalibrating"), + ET.NO_ENTRY: NoEntryAlert("Remount Detected: Recalibrating"), + }, + + EventName.doorOpen: { + ET.SOFT_DISABLE: user_soft_disable_alert("Door Open"), + ET.NO_ENTRY: NoEntryAlert("Door Open"), + }, + + EventName.seatbeltNotLatched: { + ET.SOFT_DISABLE: user_soft_disable_alert("Seatbelt Unlatched"), + ET.NO_ENTRY: NoEntryAlert("Seatbelt Unlatched"), + }, + + EventName.espDisabled: { + ET.SOFT_DISABLE: soft_disable_alert("Electronic Stability Control Disabled"), + ET.NO_ENTRY: NoEntryAlert("Electronic Stability Control Disabled"), + }, + + EventName.lowBattery: { + ET.SOFT_DISABLE: soft_disable_alert("Low Battery"), + ET.NO_ENTRY: NoEntryAlert("Low Battery"), + }, + + # Different openpilot services communicate between each other at a certain + # interval. If communication does not follow the regular schedule this alert + # is thrown. This can mean a service crashed, did not broadcast a message for + # ten times the regular interval, or the average interval is more than 10% too high. + EventName.commIssue: { + ET.SOFT_DISABLE: soft_disable_alert("Communication Issue Between Processes"), + ET.NO_ENTRY: comm_issue_alert, + }, + EventName.commIssueAvgFreq: { + ET.SOFT_DISABLE: soft_disable_alert("Low Communication Rate Between Processes"), + ET.NO_ENTRY: NoEntryAlert("Low Communication Rate Between Processes"), + }, + + EventName.controlsdLagging: { + ET.SOFT_DISABLE: soft_disable_alert("Controls Lagging"), + ET.NO_ENTRY: NoEntryAlert("Controls Process Lagging: Reboot Your Device"), + }, + + # Thrown when manager detects a service exited unexpectedly while driving + EventName.processNotRunning: { + ET.NO_ENTRY: process_not_running_alert, + ET.SOFT_DISABLE: soft_disable_alert("Process Not Running"), + }, + + EventName.radarFault: { + ET.SOFT_DISABLE: soft_disable_alert("Radar Error: Restart the Car"), + ET.NO_ENTRY: NoEntryAlert("Radar Error: Restart the Car"), + }, + + # Every frame from the camera should be processed by the model. If modeld + # is not processing frames fast enough they have to be dropped. This alert is + # thrown when over 20% of frames are dropped. + EventName.modeldLagging: { + ET.SOFT_DISABLE: soft_disable_alert("Driving Model Lagging"), + ET.NO_ENTRY: NoEntryAlert("Driving Model Lagging"), + ET.PERMANENT: modeld_lagging_alert, + }, + + # Besides predicting the path, lane lines and lead car data the model also + # predicts the current velocity and rotation speed of the car. If the model is + # very uncertain about the current velocity while the car is moving, this + # usually means the model has trouble understanding the scene. This is used + # as a heuristic to warn the driver. + EventName.posenetInvalid: { + ET.SOFT_DISABLE: soft_disable_alert("Posenet Speed Invalid"), + ET.NO_ENTRY: posenet_invalid_alert, + }, + + # When the localizer detects an acceleration of more than 40 m/s^2 (~4G) we + # alert the driver the device might have fallen from the windshield. + EventName.deviceFalling: { + ET.SOFT_DISABLE: soft_disable_alert("Device Fell Off Mount"), + ET.NO_ENTRY: NoEntryAlert("Device Fell Off Mount"), + }, + + EventName.lowMemory: { + ET.SOFT_DISABLE: soft_disable_alert("Low Memory: Reboot Your Device"), + ET.PERMANENT: low_memory_alert, + ET.NO_ENTRY: NoEntryAlert("Low Memory: Reboot Your Device"), + }, + + EventName.highCpuUsage: { + #ET.SOFT_DISABLE: soft_disable_alert("System Malfunction: Reboot Your Device"), + #ET.PERMANENT: NormalPermanentAlert("System Malfunction", "Reboot your Device"), + ET.NO_ENTRY: high_cpu_usage_alert, + }, + + EventName.accFaulted: { + ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Cruise Fault: Restart the Car"), + ET.PERMANENT: NormalPermanentAlert("Cruise Fault: Restart the car to engage"), + ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"), + }, + + EventName.espActive: { + ET.SOFT_DISABLE: soft_disable_alert("Electronic Stability Control Active"), + ET.NO_ENTRY: NoEntryAlert("Electronic Stability Control Active"), + }, + + EventName.controlsMismatch: { + ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Controls Mismatch"), + ET.NO_ENTRY: NoEntryAlert("Controls Mismatch"), + }, + + EventName.controlsMismatchLong: { + ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Controls Mismatch\nLongitudinal"), + ET.NO_ENTRY: NoEntryAlert("Controls Mismatch\nLongitudinal"), + }, + + EventName.roadCameraError: { + ET.PERMANENT: NormalPermanentAlert("Camera CRC Error - Road", + duration=1., + creation_delay=30.), + }, + + EventName.wideRoadCameraError: { + ET.PERMANENT: NormalPermanentAlert("Camera CRC Error - Road Fisheye", + duration=1., + creation_delay=30.), + }, + + EventName.driverCameraError: { + ET.PERMANENT: NormalPermanentAlert("Camera CRC Error - Driver", + duration=1., + creation_delay=30.), + }, + + # Sometimes the USB stack on the device can get into a bad state + # causing the connection to the panda to be lost + EventName.usbError: { + ET.SOFT_DISABLE: soft_disable_alert("USB Error: Reboot Your Device"), + ET.PERMANENT: NormalPermanentAlert("USB Error: Reboot Your Device", ""), + ET.NO_ENTRY: NoEntryAlert("USB Error: Reboot Your Device"), + }, + + # This alert can be thrown for the following reasons: + # - No CAN data received at all + # - CAN data is received, but some message are not received at the right frequency + # If you're not writing a new car port, this is usually cause by faulty wiring + EventName.canError: { + ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("CAN Error"), + ET.PERMANENT: Alert( + "CAN Error: Check Connections", + "", + AlertStatus.normal, AlertSize.small, + Priority.LOW, VisualAlert.none, AudibleAlert.none, 1., creation_delay=1.), + ET.NO_ENTRY: NoEntryAlert("CAN Error: Check Connections"), + }, + + EventName.canBusMissing: { + ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("CAN Bus Disconnected"), + ET.PERMANENT: Alert( + "CAN Bus Disconnected: Likely Faulty Cable", + "", + AlertStatus.normal, AlertSize.small, + Priority.LOW, VisualAlert.none, AudibleAlert.none, 1., creation_delay=1.), + ET.NO_ENTRY: NoEntryAlert("CAN Bus Disconnected: Check Connections"), + }, + + EventName.steerUnavailable: { + ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("LKAS Fault: Restart the Car"), + ET.PERMANENT: NormalPermanentAlert("LKAS Fault: Restart the car to engage"), + ET.NO_ENTRY: NoEntryAlert("LKAS Fault: Restart the Car"), + }, + + EventName.reverseGear: { + ET.PERMANENT: Alert( + "Reverse\nGear", + "", + AlertStatus.normal, AlertSize.full, + Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5), + ET.USER_DISABLE: ImmediateDisableAlert("Reverse Gear"), + ET.NO_ENTRY: NoEntryAlert("Reverse Gear"), + }, + + EventName.spReverseGear: { + ET.PERMANENT: Alert( + "Reverse\nGear", + "", + AlertStatus.normal, AlertSize.full, + Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5), + ET.NO_ENTRY: NoEntryAlert("Reverse Gear"), + }, + + # On cars that use stock ACC the car can decide to cancel ACC for various reasons. + # When this happens we can no long control the car so the user needs to be warned immediately. + EventName.cruiseDisabled: { + ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Cruise Is Off"), + }, + + # For planning the trajectory Model Predictive Control (MPC) is used. This is + # an optimization algorithm that is not guaranteed to find a feasible solution. + # If no solution is found or the solution has a very high cost this alert is thrown. + EventName.plannerErrorDEPRECATED: { + ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Planner Solution Error"), + ET.NO_ENTRY: NoEntryAlert("Planner Solution Error"), + }, + + # When the relay in the harness box opens the CAN bus between the LKAS camera + # and the rest of the car is separated. When messages from the LKAS camera + # are received on the car side this usually means the relay hasn't opened correctly + # and this alert is thrown. + EventName.relayMalfunction: { + ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Harness Relay Malfunction"), + ET.PERMANENT: NormalPermanentAlert("Harness Relay Malfunction", "Check Hardware"), + ET.NO_ENTRY: NoEntryAlert("Harness Relay Malfunction"), + }, + + EventName.speedTooLow: { + ET.IMMEDIATE_DISABLE: Alert( + "openpilot Canceled", + "Speed too low", + AlertStatus.normal, AlertSize.mid, + Priority.HIGH, VisualAlert.none, AudibleAlert.disengage, 3.), + }, + + # When the car is driving faster than most cars in the training data, the model outputs can be unpredictable. + EventName.speedTooHigh: { + ET.WARNING: Alert( + "Speed Too High", + "Model uncertain at this speed", + AlertStatus.userPrompt, AlertSize.mid, + Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.promptRepeat, 4.), + ET.NO_ENTRY: NoEntryAlert("Slow down to engage"), + }, + + EventName.lowSpeedLockout: { + ET.PERMANENT: NormalPermanentAlert("Cruise Fault: Restart the car to engage"), + ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"), + }, + + EventName.lkasDisabled: { + ET.PERMANENT: NormalPermanentAlert("LKAS Disabled: Enable LKAS to engage"), + ET.NO_ENTRY: NoEntryAlert("LKAS Disabled"), + }, + + EventName.vehicleSensorsInvalid: { + ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Vehicle Sensors Invalid"), + ET.PERMANENT: NormalPermanentAlert("Vehicle Sensors Calibrating", "Drive to Calibrate"), + ET.NO_ENTRY: NoEntryAlert("Vehicle Sensors Calibrating"), + }, + + EventName.torqueNNLoad: { + ET.PERMANENT: torque_nn_load_alert, + }, + + EventName.hyundaiRadarTracksAvailable: { + ET.PERMANENT: NormalPermanentAlert("Radar tracks available. Restart the car to initialize") + } +} + + +if __name__ == '__main__': + # print all alerts by type and priority + from cereal.services import SERVICE_LIST + from collections import defaultdict + + event_names = {v: k for k, v in EventName.schema.enumerants.items()} + alerts_by_type: dict[str, dict[Priority, list[str]]] = defaultdict(lambda: defaultdict(list)) + + CP = car.CarParams.new_message() + CS = car.CarState.new_message() + sm = messaging.SubMaster(list(SERVICE_LIST.keys())) + + for i, alerts in EVENTS.items(): + for et, alert in alerts.items(): + if callable(alert): + alert = alert(CP, CS, sm, False, 1) + alerts_by_type[et][alert.priority].append(event_names[i]) + + all_alerts: dict[str, list[tuple[Priority, list[str]]]] = {} + for et, priority_alerts in alerts_by_type.items(): + all_alerts[et] = sorted(priority_alerts.items(), key=lambda x: x[0], reverse=True) + + for status, evs in sorted(all_alerts.items(), key=lambda x: x[0]): + print(f"**** {status} ****") + for p, alert_list in evs: + print(f" {repr(p)}:") + print(" ", ', '.join(alert_list), "\n") diff --git a/selfdrive/controls/lib/lane_planner.py b/selfdrive/controls/lib/lane_planner.py new file mode 100644 index 0000000000..db6f59b3ee --- /dev/null +++ b/selfdrive/controls/lib/lane_planner.py @@ -0,0 +1,117 @@ +import numpy as np +from cereal import log +from openpilot.common.filter_simple import FirstOrderFilter +from openpilot.common.numpy_fast import interp +from openpilot.common.params import Params +from openpilot.common.realtime import DT_MDL +from openpilot.common.swaglog import cloudlog + + +TRAJECTORY_SIZE = 33 +# camera offset is meters from center car to camera +# model path is in the frame of the camera +PATH_OFFSET = 0.00 +CAMERA_OFFSET = 0.04 + + +class LanePlanner: + def __init__(self): + self.ll_t = np.zeros((TRAJECTORY_SIZE,)) + self.ll_x = np.zeros((TRAJECTORY_SIZE,)) + self.lll_y = np.zeros((TRAJECTORY_SIZE,)) + self.rll_y = np.zeros((TRAJECTORY_SIZE,)) + self.lane_width_estimate = FirstOrderFilter(3.7, 9.95, DT_MDL) + self.lane_width_certainty = FirstOrderFilter(1.0, 0.95, DT_MDL) + self.lane_width = 3.7 + + self.lll_prob = 0. + self.rll_prob = 0. + self.d_prob = 0. + + self.lll_std = 0. + self.rll_std = 0. + + self.l_lane_change_prob = 0. + self.r_lane_change_prob = 0. + + self.camera_offset = CAMERA_OFFSET + self.path_offset = PATH_OFFSET + + self.param_s = Params() + self.custom_offsets = self.param_s.get_bool("CustomOffsets") + self._frame = 0 + + def update_custom_offsets(self): + self._frame += 1 + if self._frame % 50 == 0: + self.custom_offsets = self.param_s.get_bool("CustomOffsets") + if not self.custom_offsets: + self._frame = 0 + self.camera_offset = CAMERA_OFFSET + self.path_offset = PATH_OFFSET + return + + self.camera_offset = float(self.param_s.get("CameraOffset", encoding="utf8")) * 0.01 + self.path_offset = float(self.param_s.get("PathOffset", encoding="utf8")) * 0.01 + self._frame = 0 + + def parse_model(self, md): + self.update_custom_offsets() + lane_lines = md.laneLines + if len(lane_lines) == 4 and len(lane_lines[0].t) == TRAJECTORY_SIZE: + self.ll_t = (np.array(lane_lines[1].t) + np.array(lane_lines[2].t))/2 + # left and right ll x is the same + self.ll_x = lane_lines[1].x + self.lll_y = np.array(lane_lines[1].y) + self.camera_offset + self.rll_y = np.array(lane_lines[2].y) + self.camera_offset + self.lll_prob = md.laneLineProbs[1] + self.rll_prob = md.laneLineProbs[2] + self.lll_std = md.laneLineStds[1] + self.rll_std = md.laneLineStds[2] + + desire_state = md.meta.desireState + if len(desire_state): + self.l_lane_change_prob = desire_state[log.Desire.laneChangeLeft] + self.r_lane_change_prob = desire_state[log.Desire.laneChangeRight] + + def get_d_path(self, v_ego, path_t, path_xyz): + # Reduce reliance on lanelines that are too far apart or + # will be in a few seconds + path_xyz[:, 1] += self.path_offset + l_prob, r_prob = self.lll_prob, self.rll_prob + width_pts = self.rll_y - self.lll_y + prob_mods = [] + for t_check in (0.0, 1.5, 3.0): + width_at_t = interp(t_check * (v_ego + 7), self.ll_x, width_pts) + prob_mods.append(interp(width_at_t, [4.0, 5.0], [1.0, 0.0])) + mod = min(prob_mods) + l_prob *= mod + r_prob *= mod + + # Reduce reliance on uncertain lanelines + l_std_mod = interp(self.lll_std, [.15, .3], [1.0, 0.0]) + r_std_mod = interp(self.rll_std, [.15, .3], [1.0, 0.0]) + l_prob *= l_std_mod + r_prob *= r_std_mod + + # Find current lanewidth + self.lane_width_certainty.update(l_prob * r_prob) + current_lane_width = abs(self.rll_y[0] - self.lll_y[0]) + self.lane_width_estimate.update(current_lane_width) + speed_lane_width = interp(v_ego, [0., 31.], [2.8, 3.5]) + self.lane_width = self.lane_width_certainty.x * self.lane_width_estimate.x + \ + (1 - self.lane_width_certainty.x) * speed_lane_width + + clipped_lane_width = min(4.0, self.lane_width) + path_from_left_lane = self.lll_y + clipped_lane_width / 2.0 + path_from_right_lane = self.rll_y - clipped_lane_width / 2.0 + + self.d_prob = l_prob + r_prob - l_prob * r_prob + lane_path_y = (l_prob * path_from_left_lane + r_prob * path_from_right_lane) / (l_prob + r_prob + 0.0001) + safe_idxs = np.isfinite(self.ll_t) + if safe_idxs[0]: + lane_path_y_interp = np.interp(path_t, self.ll_t[safe_idxs], lane_path_y[safe_idxs]) + path_xyz[:,1] = self.d_prob * lane_path_y_interp + (1.0 - self.d_prob) * path_xyz[:,1] + else: + cloudlog.warning("Lateral mpc - NaNs in laneline times, ignoring") + return path_xyz diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py new file mode 100644 index 0000000000..1e7c5aaf31 --- /dev/null +++ b/selfdrive/controls/lib/latcontrol.py @@ -0,0 +1,32 @@ +from abc import abstractmethod, ABC + +from openpilot.common.numpy_fast import clip +from openpilot.common.realtime import DT_CTRL + +MIN_LATERAL_CONTROL_SPEED = 0.3 # m/s + + +class LatControl(ABC): + def __init__(self, CP, CI): + self.sat_count_rate = 1.0 * DT_CTRL + self.sat_limit = CP.steerLimitTimer + self.sat_count = 0. + self.sat_check_min_speed = 10. + + # we define the steer torque scale as [-1.0...1.0] + self.steer_max = 1.0 + + @abstractmethod + def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk, model_data=None): + pass + + def reset(self): + self.sat_count = 0. + + def _check_saturation(self, saturated, CS, steer_limited): + if saturated and CS.vEgo > self.sat_check_min_speed and not steer_limited and not CS.steeringPressed: + self.sat_count += self.sat_count_rate + else: + self.sat_count -= self.sat_count_rate + self.sat_count = clip(self.sat_count, 0.0, self.sat_limit) + return self.sat_count > (self.sat_limit - 1e-3) diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py new file mode 100644 index 0000000000..c532124385 --- /dev/null +++ b/selfdrive/controls/lib/latcontrol_angle.py @@ -0,0 +1,29 @@ +import math + +from cereal import log +from openpilot.selfdrive.controls.lib.latcontrol import LatControl + +STEER_ANGLE_SATURATION_THRESHOLD = 2.5 # Degrees + + +class LatControlAngle(LatControl): + def __init__(self, CP, CI): + super().__init__(CP, CI) + self.sat_check_min_speed = 5. + + def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk, model_data=None): + angle_log = log.ControlsState.LateralAngleState.new_message() + + if not active: + angle_log.active = False + angle_steers_des = float(CS.steeringAngleDeg) + else: + angle_log.active = True + angle_steers_des = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll)) + angle_steers_des += params.angleOffsetDeg + + angle_control_saturated = abs(angle_steers_des - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD + angle_log.saturated = self._check_saturation(angle_control_saturated, CS, False) + angle_log.steeringAngleDeg = float(CS.steeringAngleDeg) + angle_log.steeringAngleDesiredDeg = angle_steers_des + return 0, float(angle_steers_des), angle_log diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py new file mode 100644 index 0000000000..eb63588f0d --- /dev/null +++ b/selfdrive/controls/lib/latcontrol_pid.py @@ -0,0 +1,48 @@ +import math + +from cereal import log +from openpilot.selfdrive.controls.lib.latcontrol import LatControl +from openpilot.selfdrive.controls.lib.pid import PIDController + + +class LatControlPID(LatControl): + def __init__(self, CP, CI): + super().__init__(CP, CI) + self.pid = PIDController((CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV), + (CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV), + k_f=CP.lateralTuning.pid.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max) + self.get_steer_feedforward = CI.get_steer_feedforward_function() + + def reset(self): + super().reset() + self.pid.reset() + + def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk, model_data=None): + pid_log = log.ControlsState.LateralPIDState.new_message() + pid_log.steeringAngleDeg = float(CS.steeringAngleDeg) + pid_log.steeringRateDeg = float(CS.steeringRateDeg) + + angle_steers_des_no_offset = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll)) + angle_steers_des = angle_steers_des_no_offset + params.angleOffsetDeg + error = angle_steers_des - CS.steeringAngleDeg + + pid_log.steeringAngleDesiredDeg = angle_steers_des + pid_log.angleError = error + if not active: + output_steer = 0.0 + pid_log.active = False + self.pid.reset() + else: + # offset does not contribute to resistive torque + steer_feedforward = self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo) + + output_steer = self.pid.update(error, override=CS.steeringPressed, + feedforward=steer_feedforward, speed=CS.vEgo) + pid_log.active = True + pid_log.p = self.pid.p + pid_log.i = self.pid.i + pid_log.f = self.pid.f + pid_log.output = output_steer + pid_log.saturated = self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited) + + return output_steer, angle_steers_des, pid_log diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py new file mode 100644 index 0000000000..d4594a6a81 --- /dev/null +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -0,0 +1,297 @@ +from collections import deque +import math +import numpy as np + +from cereal import log, custom +from openpilot.common.filter_simple import FirstOrderFilter +from openpilot.common.numpy_fast import interp +from openpilot.selfdrive.car.interfaces import LatControlInputs +from openpilot.common.params import Params +from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N +from openpilot.selfdrive.controls.lib.latcontrol import LatControl +from openpilot.selfdrive.controls.lib.pid import PIDController +from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY +from openpilot.selfdrive.modeld.constants import ModelConstants + +# At higher speeds (25+mph) we can assume: +# Lateral acceleration achieved by a specific car correlates to +# torque applied to the steering rack. It does not correlate to +# wheel slip, or to speed. + +# This controller applies torque to achieve desired lateral +# accelerations. To compensate for the low speed effects we +# use a LOW_SPEED_FACTOR in the error. Additionally, there is +# friction in the steering wheel that needs to be overcome to +# move it at all, this is compensated for too. + +LOW_SPEED_X = [0, 10, 20, 30] +LOW_SPEED_Y = [15, 13, 10, 5] +LOW_SPEED_Y_NN = [12, 3, 1, 0] + +LAT_PLAN_MIN_IDX = 5 + + +def get_predicted_lateral_jerk(lat_accels, t_diffs): + # compute finite difference between subsequent model_data.acceleration.y values + # this is just two calls of np.diff followed by an element-wise division + lat_accel_diffs = np.diff(lat_accels) + lat_jerk = lat_accel_diffs / t_diffs + # return as python list + return lat_jerk.tolist() + + +def sign(x): + return 1.0 if x > 0.0 else (-1.0 if x < 0.0 else 0.0) + + +def get_lookahead_value(future_vals, current_val): + if len(future_vals) == 0: + return current_val + + same_sign_vals = [v for v in future_vals if sign(v) == sign(current_val)] + + # if any future val has opposite sign of current val, return 0 + if len(same_sign_vals) < len(future_vals): + return 0.0 + + # otherwise return the value with minimum absolute value + min_val = min(same_sign_vals + [current_val], key=lambda x: abs(x)) + return min_val + + +# At a given roll, if pitch magnitude increases, the +# gravitational acceleration component starts pointing +# in the longitudinal direction, decreasing the lateral +# acceleration component. Here we do the same thing +# to the roll value itself, then passed to nnff. +def roll_pitch_adjust(roll, pitch): + return roll * math.cos(pitch) + + +class LatControlTorque(LatControl): + def __init__(self, CP, CI): + super().__init__(CP, CI) + self.torque_params = CP.lateralTuning.torque.as_builder() + self.pid = PIDController(self.torque_params.kp, self.torque_params.ki, + k_f=self.torque_params.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max) + self.torque_from_lateral_accel = CI.torque_from_lateral_accel() + self.use_steering_angle = self.torque_params.useSteeringAngle + self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg + self._pid_long_sp = custom.ControlsStateSP.LateralTorqueState.new_message() + + self.param_s = Params() + self.torqued_override = self.param_s.get_bool("TorquedOverride") + self._frame = 0 + + self.use_lateral_jerk = self.param_s.get_bool("TorqueLateralJerk") # TODO: make this a parameter in the UI + self.nnff_no_lateral_jerk = self.param_s.get_bool("NNFFNoLateralJerk") # TODO: make this a parameter in the UI + + # Twilsonco's Lateral Neural Network Feedforward + self.use_nn = CI.has_lateral_torque_nn + + if self.use_nn or self.use_lateral_jerk: + # Instantaneous lateral jerk changes very rapidly, making it not useful on its own, + # however, we can "look ahead" to the future planned lateral jerk in order to guage + # whether the current desired lateral jerk will persist into the future, i.e. + # whether it's "deliberate" or not. This lets us simply ignore short-lived jerk. + # Note that LAT_PLAN_MIN_IDX is defined above and is used in order to prevent + # using a "future" value that is actually planned to occur before the "current" desired + # value, which is offset by the steerActuatorDelay. + self.friction_look_ahead_v = [1.4, 2.0] # how many seconds in the future to look ahead in [0, ~2.1] in 0.1 increments + self.friction_look_ahead_bp = [9.0, 30.0] # corresponding speeds in m/s in [0, ~40] in 1.0 increments + + # Scaling the lateral acceleration "friction response" could be helpful for some. + # Increase for a stronger response, decrease for a weaker response. + self.lat_jerk_friction_factor = 0.4 + self.lat_accel_friction_factor = 0.7 # in [0, 3], in 0.05 increments. 3 is arbitrary safety limit + + # precompute time differences between ModelConstants.T_IDXS + self.t_diffs = np.diff(ModelConstants.T_IDXS) + self.desired_lat_jerk_time = CP.steerActuatorDelay + 0.3 + if self.use_nn: + self.pitch = FirstOrderFilter(0.0, 0.5, 0.01) + # NN model takes current v_ego, lateral_accel, lat accel/jerk error, roll, and past/future/planned data + # of lat accel and roll + # Past value is computed using previous desired lat accel and observed roll + self.torque_from_nn = CI.get_ff_nn + self.nn_friction_override = CI.lat_torque_nn_model.friction_override + + # setup future time offsets + self.nn_time_offset = CP.steerActuatorDelay + 0.2 + future_times = [0.3, 0.6, 1.0, 1.5] # seconds in the future + self.nn_future_times = [i + self.nn_time_offset for i in future_times] + self.nn_future_times_np = np.array(self.nn_future_times) + + # setup past time offsets + self.past_times = [-0.3, -0.2, -0.1] + history_check_frames = [int(abs(i)*100) for i in self.past_times] + self.history_frame_offsets = [history_check_frames[0] - i for i in history_check_frames] + self.lateral_accel_desired_deque = deque(maxlen=history_check_frames[0]) + self.roll_deque = deque(maxlen=history_check_frames[0]) + self.error_deque = deque(maxlen=history_check_frames[0]) + self.past_future_len = len(self.past_times) + len(self.nn_future_times) + + def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction): + self.torque_params.latAccelFactor = latAccelFactor + self.torque_params.latAccelOffset = latAccelOffset + self.torque_params.friction = friction + + def update_live_tune(self): + self._frame += 1 + if self._frame % 250 == 0: + self._frame = 0 + self.torqued_override = self.param_s.get_bool("TorquedOverride") + self.use_lateral_jerk = self.param_s.get_bool("TorqueLateralJerk") + self.nnff_no_lateral_jerk = self.param_s.get_bool("NNFFNoLateralJerk") + if not self.torqued_override: + return + + self.torque_params.latAccelFactor = float(self.param_s.get("TorqueMaxLatAccel", encoding="utf8")) * 0.01 + self.torque_params.friction = float(self.param_s.get("TorqueFriction", encoding="utf8")) * 0.001 + + @property + def pid_long_sp(self): + return self._pid_long_sp + + def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk, model_data=None): + self.update_live_tune() + pid_log = log.ControlsState.LateralTorqueState.new_message() + + pid_log_sp = custom.ControlsStateSP.LateralTorqueState.new_message() + nn_log = None + + if not active: + output_torque = 0.0 + pid_log.active = False + else: + actual_curvature_vm = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll) + roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY + actual_lateral_jerk = 0.0 + if self.use_steering_angle: + actual_curvature = actual_curvature_vm + curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0)) + if self.use_nn or self.use_lateral_jerk: + actual_curvature_rate = -VM.calc_curvature(math.radians(CS.steeringRateDeg), CS.vEgo, 0.0) + actual_lateral_jerk = actual_curvature_rate * CS.vEgo ** 2 + else: + actual_curvature_llk = llk.angularVelocityCalibrated.value[2] / CS.vEgo + actual_curvature = interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_llk]) + curvature_deadzone = 0.0 + desired_lateral_accel = desired_curvature * CS.vEgo ** 2 + + # desired rate is the desired rate of change in the setpoint, not the absolute desired curvature + # desired_lateral_jerk = desired_curvature_rate * CS.vEgo ** 2 + actual_lateral_accel = actual_curvature * CS.vEgo ** 2 + lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2 + + low_speed_factor = interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y if not self.use_nn else LOW_SPEED_Y_NN)**2 + setpoint = desired_lateral_accel + low_speed_factor * desired_curvature + measurement = actual_lateral_accel + low_speed_factor * actual_curvature + + lateral_jerk_setpoint = 0 + lateral_jerk_measurement = 0 + lookahead_lateral_jerk = 0 + + model_good = model_data is not None and len(model_data.orientation.x) >= CONTROL_N + if model_good and (self.use_nn or self.use_lateral_jerk): + # prepare "look-ahead" desired lateral jerk + lookahead = interp(CS.vEgo, self.friction_look_ahead_bp, self.friction_look_ahead_v) + friction_upper_idx = next((i for i, val in enumerate(ModelConstants.T_IDXS) if val > lookahead), 16) + predicted_lateral_jerk = get_predicted_lateral_jerk(model_data.acceleration.y, self.t_diffs) + desired_lateral_jerk = (interp(self.desired_lat_jerk_time, ModelConstants.T_IDXS, model_data.acceleration.y) - desired_lateral_accel) / self.desired_lat_jerk_time + lookahead_lateral_jerk = get_lookahead_value(predicted_lateral_jerk[LAT_PLAN_MIN_IDX:friction_upper_idx], desired_lateral_jerk) + if self.nnff_no_lateral_jerk or self.use_steering_angle or lookahead_lateral_jerk == 0.0: + lookahead_lateral_jerk = 0.0 + actual_lateral_jerk = 0.0 + self.lat_accel_friction_factor = 1.0 + lateral_jerk_setpoint = self.lat_jerk_friction_factor * lookahead_lateral_jerk + lateral_jerk_measurement = self.lat_jerk_friction_factor * actual_lateral_jerk + + if self.use_nn and model_good: + # update past data + pitch = 0 + roll = params.roll + if len(llk.calibratedOrientationNED.value) > 1: + pitch = self.pitch.update(llk.calibratedOrientationNED.value[1]) + roll = roll_pitch_adjust(roll, pitch) + self.roll_deque.append(roll) + self.lateral_accel_desired_deque.append(desired_lateral_accel) + + # prepare past and future values + # adjust future times to account for longitudinal acceleration + adjusted_future_times = [t + 0.5*CS.aEgo*(t/max(CS.vEgo, 1.0)) for t in self.nn_future_times] + past_rolls = [self.roll_deque[min(len(self.roll_deque)-1, i)] for i in self.history_frame_offsets] + future_rolls = [roll_pitch_adjust(interp(t, ModelConstants.T_IDXS, model_data.orientation.x) + roll, interp(t, ModelConstants.T_IDXS, model_data.orientation.y) + pitch) for t in adjusted_future_times] + past_lateral_accels_desired = [self.lateral_accel_desired_deque[min(len(self.lateral_accel_desired_deque)-1, i)] for i in self.history_frame_offsets] + future_planned_lateral_accels = [interp(t, ModelConstants.T_IDXS[:CONTROL_N], model_data.acceleration.y) for t in adjusted_future_times] + + # compute NNFF error response + nnff_setpoint_input = [CS.vEgo, setpoint, lateral_jerk_setpoint, roll] \ + + [setpoint] * self.past_future_len \ + + past_rolls + future_rolls + # past lateral accel error shouldn't count, so use past desired like the setpoint input + nnff_measurement_input = [CS.vEgo, measurement, lateral_jerk_measurement, roll] \ + + [measurement] * self.past_future_len \ + + past_rolls + future_rolls + torque_from_setpoint = self.torque_from_nn(nnff_setpoint_input) + torque_from_measurement = self.torque_from_nn(nnff_measurement_input) + + pid_log.error = torque_from_setpoint - torque_from_measurement + error_blend_factor = interp(abs(desired_lateral_accel), [1.0, 2.0], [0.0, 1.0]) + if error_blend_factor > 0.0: # blend in stronger error response when in high lat accel + nnff_error_input = [CS.vEgo, setpoint - measurement, lateral_jerk_setpoint - lateral_jerk_measurement, 0.0] + torque_from_error = self.torque_from_nn(nnff_error_input) + if sign(pid_log.error) == sign(torque_from_error) and abs(pid_log.error) < abs(torque_from_error): + pid_log.error = pid_log.error * (1.0 - error_blend_factor) + torque_from_error * error_blend_factor + + # compute feedforward (same as nn setpoint output) + error = setpoint - measurement + friction_input = self.lat_accel_friction_factor * error + self.lat_jerk_friction_factor * lookahead_lateral_jerk + nn_input = [CS.vEgo, desired_lateral_accel, friction_input, roll] \ + + past_lateral_accels_desired + future_planned_lateral_accels \ + + past_rolls + future_rolls + ff = self.torque_from_nn(nn_input) + + # apply friction override for cars with low NN friction response + if self.nn_friction_override: + pid_log.error += self.torque_from_lateral_accel(LatControlInputs(0.0, 0.0, CS.vEgo, CS.aEgo), self.torque_params, + friction_input, + lateral_accel_deadzone, friction_compensation=True, gravity_adjusted=False) + nn_log = nn_input + nnff_setpoint_input + nnff_measurement_input + else: + gravity_adjusted_lateral_accel = desired_lateral_accel - roll_compensation + torque_from_setpoint = self.torque_from_lateral_accel(LatControlInputs(setpoint, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params, + lateral_jerk_setpoint, lateral_accel_deadzone, friction_compensation=self.use_lateral_jerk, gravity_adjusted=False) + torque_from_measurement = self.torque_from_lateral_accel(LatControlInputs(measurement, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params, + lateral_jerk_measurement, lateral_accel_deadzone, friction_compensation=self.use_lateral_jerk, gravity_adjusted=False) + pid_log.error = torque_from_setpoint - torque_from_measurement + error = desired_lateral_accel - actual_lateral_accel + if self.use_lateral_jerk: + friction_input = self.lat_accel_friction_factor * error + self.lat_jerk_friction_factor * lookahead_lateral_jerk + else: + friction_input = error + ff = self.torque_from_lateral_accel(LatControlInputs(gravity_adjusted_lateral_accel, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params, + friction_input, lateral_accel_deadzone, friction_compensation=True, + gravity_adjusted=True) + + freeze_integrator = steer_limited or CS.steeringPressed or CS.vEgo < 5 + output_torque = self.pid.update(pid_log.error, + feedforward=ff, + speed=CS.vEgo, + freeze_integrator=freeze_integrator) + + pid_log.active = True + pid_log.p = self.pid.p + pid_log.i = self.pid.i + pid_log.d = self.pid.d + pid_log.f = self.pid.f + pid_log.output = -output_torque + pid_log.actualLateralAccel = actual_lateral_accel + pid_log.desiredLateralAccel = desired_lateral_accel + pid_log.saturated = self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited) + if nn_log is not None: + pid_log_sp.nnLog = nn_log + self._pid_long_sp = pid_log_sp + + # TODO left is positive in this convention + return -output_torque, 0.0, pid_log diff --git a/selfdrive/controls/lib/lateral_mpc_lib/.gitignore b/selfdrive/controls/lib/lateral_mpc_lib/.gitignore new file mode 100644 index 0000000000..aff2eb082b --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/.gitignore @@ -0,0 +1,2 @@ +acados_ocp_lat.json +c_generated_code/ diff --git a/selfdrive/controls/lib/lateral_mpc_lib/__init__.py b/selfdrive/controls/lib/lateral_mpc_lib/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/Makefile b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/Makefile new file mode 100644 index 0000000000..7520bcda10 --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/Makefile @@ -0,0 +1,211 @@ +# +# Copyright (c) The acados authors. +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + + + + + +# define sources and use make's implicit rules to generate object files (*.o) + +# model +MODEL_SRC= +MODEL_SRC+= lat_model/lat_expl_ode_fun.c +MODEL_SRC+= lat_model/lat_expl_vde_forw.c +MODEL_SRC+= lat_model/lat_expl_vde_adj.c +MODEL_OBJ := $(MODEL_SRC:.c=.o) + +# optimal control problem - mostly CasADi exports +OCP_SRC= +OCP_SRC+= lat_cost/lat_cost_y_0_fun.c +OCP_SRC+= lat_cost/lat_cost_y_0_fun_jac_ut_xt.c +OCP_SRC+= lat_cost/lat_cost_y_0_hess.c +OCP_SRC+= lat_cost/lat_cost_y_fun.c +OCP_SRC+= lat_cost/lat_cost_y_fun_jac_ut_xt.c +OCP_SRC+= lat_cost/lat_cost_y_hess.c +OCP_SRC+= lat_cost/lat_cost_y_e_fun.c +OCP_SRC+= lat_cost/lat_cost_y_e_fun_jac_ut_xt.c +OCP_SRC+= lat_cost/lat_cost_y_e_hess.c + +OCP_SRC+= acados_solver_lat.c +OCP_OBJ := $(OCP_SRC:.c=.o) + +# for sim solver +SIM_SRC= acados_sim_solver_lat.c +SIM_OBJ := $(SIM_SRC:.c=.o) + +# for target example +EX_SRC= main_lat.c +EX_OBJ := $(EX_SRC:.c=.o) +EX_EXE := $(EX_SRC:.c=) + +# for target example_sim +EX_SIM_SRC= main_sim_lat.c +EX_SIM_OBJ := $(EX_SIM_SRC:.c=.o) +EX_SIM_EXE := $(EX_SIM_SRC:.c=) + +# combine model, sim and ocp object files +OBJ= +OBJ+= $(MODEL_OBJ) +OBJ+= $(SIM_OBJ) +OBJ+= $(OCP_OBJ) + +EXTERNAL_DIR= +EXTERNAL_LIB= + +INCLUDE_PATH = /data/openpilot/third_party/acados/include +LIB_PATH = /data/openpilot/third_party/acados/lib + +# preprocessor flags for make's implicit rules +CPPFLAGS+= -I$(INCLUDE_PATH) +CPPFLAGS+= -I$(INCLUDE_PATH)/acados +CPPFLAGS+= -I$(INCLUDE_PATH)/blasfeo/include +CPPFLAGS+= -I$(INCLUDE_PATH)/hpipm/include + + +# define the c-compiler flags for make's implicit rules +CFLAGS = -fPIC -std=c99 -O2#-fno-diagnostics-show-line-numbers -g +# # Debugging +# CFLAGS += -g3 + +# linker flags +LDFLAGS+= -L$(LIB_PATH) + +# link to libraries +LDLIBS+= -lacados +LDLIBS+= -lhpipm +LDLIBS+= -lblasfeo +LDLIBS+= -lm +LDLIBS+= + +# libraries +LIBACADOS_SOLVER=libacados_solver_lat.so +LIBACADOS_OCP_SOLVER=libacados_ocp_solver_lat.so +LIBACADOS_SIM_SOLVER=lib$(SIM_SRC:.c=.so) + +# virtual targets +.PHONY : all clean + +#all: clean example_sim example shared_lib + +all: clean example_sim example +shared_lib: bundled_shared_lib ocp_shared_lib sim_shared_lib + +# some linker targets +example: $(EX_OBJ) $(OBJ) + $(CC) $^ -o $(EX_EXE) $(LDFLAGS) $(LDLIBS) + +example_sim: $(EX_SIM_OBJ) $(MODEL_OBJ) $(SIM_OBJ) + $(CC) $^ -o $(EX_SIM_EXE) $(LDFLAGS) $(LDLIBS) + +bundled_shared_lib: $(OBJ) + $(CC) -shared $^ -o $(LIBACADOS_SOLVER) $(LDFLAGS) $(LDLIBS) + +ocp_shared_lib: $(OCP_OBJ) $(MODEL_OBJ) + $(CC) -shared $^ -o $(LIBACADOS_OCP_SOLVER) $(LDFLAGS) $(LDLIBS) \ + -L$(EXTERNAL_DIR) -l$(EXTERNAL_LIB) + +sim_shared_lib: $(SIM_OBJ) $(MODEL_OBJ) + $(CC) -shared $^ -o $(LIBACADOS_SIM_SOLVER) $(LDFLAGS) $(LDLIBS) + + +# Cython targets +ocp_cython_c: ocp_shared_lib + cython \ + -o acados_ocp_solver_pyx.c \ + -I $(INCLUDE_PATH)/../interfaces/acados_template/acados_template \ + $(INCLUDE_PATH)/../interfaces/acados_template/acados_template/acados_ocp_solver_pyx.pyx \ + -I /data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code \ + +ocp_cython_o: ocp_cython_c + $(CC) $(ACADOS_FLAGS) -c -O2 \ + -fPIC \ + -o acados_ocp_solver_pyx.o \ + -I $(INCLUDE_PATH)/blasfeo/include/ \ + -I $(INCLUDE_PATH)/hpipm/include/ \ + -I $(INCLUDE_PATH) \ + -I /usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/core/include \ + -I /usr/local/pyenv/versions/3.11.4/include/python3.11 \ + acados_ocp_solver_pyx.c \ + +ocp_cython: ocp_cython_o + $(CC) $(ACADOS_FLAGS) -shared \ + -o acados_ocp_solver_pyx.so \ + -Wl,-rpath=$(LIB_PATH) \ + acados_ocp_solver_pyx.o \ + $(abspath .)/libacados_ocp_solver_lat.so \ + $(LDFLAGS) $(LDLIBS) + +# Sim Cython targets +sim_cython_c: sim_shared_lib + cython \ + -o acados_sim_solver_pyx.c \ + -I $(INCLUDE_PATH)/../interfaces/acados_template/acados_template \ + $(INCLUDE_PATH)/../interfaces/acados_template/acados_template/acados_sim_solver_pyx.pyx \ + -I /data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code \ + +sim_cython_o: sim_cython_c + $(CC) $(ACADOS_FLAGS) -c -O2 \ + -fPIC \ + -o acados_sim_solver_pyx.o \ + -I $(INCLUDE_PATH)/blasfeo/include/ \ + -I $(INCLUDE_PATH)/hpipm/include/ \ + -I $(INCLUDE_PATH) \ + -I /usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/core/include \ + -I /usr/local/pyenv/versions/3.11.4/include/python3.11 \ + acados_sim_solver_pyx.c \ + +sim_cython: sim_cython_o + $(CC) $(ACADOS_FLAGS) -shared \ + -o acados_sim_solver_pyx.so \ + -Wl,-rpath=$(LIB_PATH) \ + acados_sim_solver_pyx.o \ + $(abspath .)/libacados_sim_solver_lat.so \ + $(LDFLAGS) $(LDLIBS) + +clean: + $(RM) $(OBJ) $(EX_OBJ) $(EX_SIM_OBJ) + $(RM) $(LIBACADOS_SOLVER) $(LIBACADOS_OCP_SOLVER) $(LIBACADOS_SIM_SOLVER) + $(RM) $(EX_EXE) $(EX_SIM_EXE) + +clean_ocp_shared_lib: + $(RM) $(LIBACADOS_OCP_SOLVER) + $(RM) $(OCP_OBJ) + +clean_ocp_cython: + $(RM) libacados_ocp_solver_lat.so + $(RM) acados_solver_lat.o + $(RM) acados_ocp_solver_pyx.so + $(RM) acados_ocp_solver_pyx.o + +clean_sim_cython: + $(RM) libacados_sim_solver_lat.so + $(RM) acados_sim_solver_lat.o + $(RM) acados_sim_solver_pyx.so + $(RM) acados_sim_solver_pyx.o diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.c new file mode 100644 index 0000000000..fcbe6f5be3 --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.c @@ -0,0 +1,44066 @@ +/* Generated by Cython 3.0.8 */ + +#ifndef PY_SSIZE_T_CLEAN +#define PY_SSIZE_T_CLEAN +#endif /* PY_SSIZE_T_CLEAN */ +#if defined(CYTHON_LIMITED_API) && 0 + #ifndef Py_LIMITED_API + #if CYTHON_LIMITED_API+0 > 0x03030000 + #define Py_LIMITED_API CYTHON_LIMITED_API + #else + #define Py_LIMITED_API 0x03030000 + #endif + #endif +#endif + +#include "Python.h" +#ifndef Py_PYTHON_H + #error Python headers needed to compile C extensions, please install development version of Python. +#elif PY_VERSION_HEX < 0x02070000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) + #error Cython requires Python 2.7+ or Python 3.3+. +#else +#if defined(CYTHON_LIMITED_API) && CYTHON_LIMITED_API +#define __PYX_EXTRA_ABI_MODULE_NAME "limited" +#else +#define __PYX_EXTRA_ABI_MODULE_NAME "" +#endif +#define CYTHON_ABI "3_0_8" __PYX_EXTRA_ABI_MODULE_NAME +#define __PYX_ABI_MODULE_NAME "_cython_" CYTHON_ABI +#define __PYX_TYPE_MODULE_PREFIX __PYX_ABI_MODULE_NAME "." +#define CYTHON_HEX_VERSION 0x030008F0 +#define CYTHON_FUTURE_DIVISION 1 +#include +#ifndef offsetof + #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) +#endif +#if !defined(_WIN32) && !defined(WIN32) && !defined(MS_WINDOWS) + #ifndef __stdcall + #define __stdcall + #endif + #ifndef __cdecl + #define __cdecl + #endif + #ifndef __fastcall + #define __fastcall + #endif +#endif +#ifndef DL_IMPORT + #define DL_IMPORT(t) t +#endif +#ifndef DL_EXPORT + #define DL_EXPORT(t) t +#endif +#define __PYX_COMMA , +#ifndef HAVE_LONG_LONG + #define HAVE_LONG_LONG +#endif +#ifndef PY_LONG_LONG + #define PY_LONG_LONG LONG_LONG +#endif +#ifndef Py_HUGE_VAL + #define Py_HUGE_VAL HUGE_VAL +#endif +#define __PYX_LIMITED_VERSION_HEX PY_VERSION_HEX +#if defined(GRAALVM_PYTHON) + /* For very preliminary testing purposes. Most variables are set the same as PyPy. + The existence of this section does not imply that anything works or is even tested */ + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 1 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(PYPY_VERSION) + #define CYTHON_COMPILING_IN_PYPY 1 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #if PY_VERSION_HEX < 0x03090000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1 && PYPY_VERSION_NUM >= 0x07030C00) + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(CYTHON_LIMITED_API) + #ifdef Py_LIMITED_API + #undef __PYX_LIMITED_VERSION_HEX + #define __PYX_LIMITED_VERSION_HEX Py_LIMITED_API + #endif + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 1 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_CLINE_IN_TRACEBACK + #define CYTHON_CLINE_IN_TRACEBACK 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 1 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #endif + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 1 + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(Py_GIL_DISABLED) || defined(Py_NOGIL) + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 1 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #ifndef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#else + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 1 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #ifndef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 1 + #endif + #if PY_MAJOR_VERSION < 3 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #ifndef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 1 + #endif + #ifndef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 1 + #endif + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #elif !defined(CYTHON_USE_UNICODE_WRITER) + #define CYTHON_USE_UNICODE_WRITER 1 + #endif + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #ifndef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 1 + #endif + #ifndef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL (PY_MAJOR_VERSION < 3 || PY_VERSION_HEX >= 0x03060000 && PY_VERSION_HEX < 0x030C00A6) + #endif + #ifndef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL (PY_VERSION_HEX >= 0x030700A1) + #endif + #ifndef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 1 + #endif + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #endif + #if PY_VERSION_HEX < 0x030400a1 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #elif !defined(CYTHON_USE_TP_FINALIZE) + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #if PY_VERSION_HEX < 0x030600B1 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #elif !defined(CYTHON_USE_DICT_VERSIONS) + #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX < 0x030C00A5) + #endif + #if PY_VERSION_HEX < 0x030700A3 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #elif !defined(CYTHON_USE_EXC_INFO_STACK) + #define CYTHON_USE_EXC_INFO_STACK 1 + #endif + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 1 + #endif +#endif +#if !defined(CYTHON_FAST_PYCCALL) +#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) +#endif +#if !defined(CYTHON_VECTORCALL) +#define CYTHON_VECTORCALL (CYTHON_FAST_PYCCALL && PY_VERSION_HEX >= 0x030800B1) +#endif +#define CYTHON_BACKPORT_VECTORCALL (CYTHON_METH_FASTCALL && PY_VERSION_HEX < 0x030800B1) +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_MAJOR_VERSION < 3 + #include "longintrepr.h" + #endif + #undef SHIFT + #undef BASE + #undef MASK + #ifdef SIZEOF_VOID_P + enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; + #endif +#endif +#ifndef __has_attribute + #define __has_attribute(x) 0 +#endif +#ifndef __has_cpp_attribute + #define __has_cpp_attribute(x) 0 +#endif +#ifndef CYTHON_RESTRICT + #if defined(__GNUC__) + #define CYTHON_RESTRICT __restrict__ + #elif defined(_MSC_VER) && _MSC_VER >= 1400 + #define CYTHON_RESTRICT __restrict + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_RESTRICT restrict + #else + #define CYTHON_RESTRICT + #endif +#endif +#ifndef CYTHON_UNUSED + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(maybe_unused) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(maybe_unused) + #define CYTHON_UNUSED [[maybe_unused]] + #endif + #endif + #endif +#endif +#ifndef CYTHON_UNUSED +# if defined(__GNUC__) +# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_UNUSED_VAR +# if defined(__cplusplus) + template void CYTHON_UNUSED_VAR( const T& ) { } +# else +# define CYTHON_UNUSED_VAR(x) (void)(x) +# endif +#endif +#ifndef CYTHON_MAYBE_UNUSED_VAR + #define CYTHON_MAYBE_UNUSED_VAR(x) CYTHON_UNUSED_VAR(x) +#endif +#ifndef CYTHON_NCP_UNUSED +# if CYTHON_COMPILING_IN_CPYTHON +# define CYTHON_NCP_UNUSED +# else +# define CYTHON_NCP_UNUSED CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_USE_CPP_STD_MOVE + #if defined(__cplusplus) && (\ + __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600)) + #define CYTHON_USE_CPP_STD_MOVE 1 + #else + #define CYTHON_USE_CPP_STD_MOVE 0 + #endif +#endif +#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) +#ifdef _MSC_VER + #ifndef _MSC_STDINT_H_ + #if _MSC_VER < 1300 + typedef unsigned char uint8_t; + typedef unsigned short uint16_t; + typedef unsigned int uint32_t; + #else + typedef unsigned __int8 uint8_t; + typedef unsigned __int16 uint16_t; + typedef unsigned __int32 uint32_t; + #endif + #endif + #if _MSC_VER < 1300 + #ifdef _WIN64 + typedef unsigned long long __pyx_uintptr_t; + #else + typedef unsigned int __pyx_uintptr_t; + #endif + #else + #ifdef _WIN64 + typedef unsigned __int64 __pyx_uintptr_t; + #else + typedef unsigned __int32 __pyx_uintptr_t; + #endif + #endif +#else + #include + typedef uintptr_t __pyx_uintptr_t; +#endif +#ifndef CYTHON_FALLTHROUGH + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(fallthrough) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(fallthrough) + #define CYTHON_FALLTHROUGH [[fallthrough]] + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_cpp_attribute(clang::fallthrough) + #define CYTHON_FALLTHROUGH [[clang::fallthrough]] + #elif __has_cpp_attribute(gnu::fallthrough) + #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] + #endif + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_attribute(fallthrough) + #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) + #else + #define CYTHON_FALLTHROUGH + #endif + #endif + #if defined(__clang__) && defined(__apple_build_version__) + #if __apple_build_version__ < 7000000 + #undef CYTHON_FALLTHROUGH + #define CYTHON_FALLTHROUGH + #endif + #endif +#endif +#ifdef __cplusplus + template + struct __PYX_IS_UNSIGNED_IMPL {static const bool value = T(0) < T(-1);}; + #define __PYX_IS_UNSIGNED(type) (__PYX_IS_UNSIGNED_IMPL::value) +#else + #define __PYX_IS_UNSIGNED(type) (((type)-1) > 0) +#endif +#if CYTHON_COMPILING_IN_PYPY == 1 + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x030A0000) +#else + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000) +#endif +#define __PYX_REINTERPRET_FUNCION(func_pointer, other_pointer) ((func_pointer)(void(*)(void))(other_pointer)) + +#ifndef CYTHON_INLINE + #if defined(__clang__) + #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) + #elif defined(__GNUC__) + #define CYTHON_INLINE __inline__ + #elif defined(_MSC_VER) + #define CYTHON_INLINE __inline + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_INLINE inline + #else + #define CYTHON_INLINE + #endif +#endif + +#define __PYX_BUILD_PY_SSIZE_T "n" +#define CYTHON_FORMAT_SSIZE_T "z" +#if PY_MAJOR_VERSION < 3 + #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" + #define __Pyx_DefaultClassType PyClass_Type + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_BUILTIN_MODULE_NAME "builtins" + #define __Pyx_DefaultClassType PyType_Type +#if CYTHON_COMPILING_IN_LIMITED_API + static CYTHON_INLINE PyObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyObject *exception_table = NULL; + PyObject *types_module=NULL, *code_type=NULL, *result=NULL; + #if __PYX_LIMITED_VERSION_HEX < 0x030B0000 + PyObject *version_info; + PyObject *py_minor_version = NULL; + #endif + long minor_version = 0; + PyObject *type, *value, *traceback; + PyErr_Fetch(&type, &value, &traceback); + #if __PYX_LIMITED_VERSION_HEX >= 0x030B0000 + minor_version = 11; + #else + if (!(version_info = PySys_GetObject("version_info"))) goto end; + if (!(py_minor_version = PySequence_GetItem(version_info, 1))) goto end; + minor_version = PyLong_AsLong(py_minor_version); + Py_DECREF(py_minor_version); + if (minor_version == -1 && PyErr_Occurred()) goto end; + #endif + if (!(types_module = PyImport_ImportModule("types"))) goto end; + if (!(code_type = PyObject_GetAttrString(types_module, "CodeType"))) goto end; + if (minor_version <= 7) { + (void)p; + result = PyObject_CallFunction(code_type, "iiiiiOOOOOOiOO", a, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else if (minor_version <= 10) { + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else { + if (!(exception_table = PyBytes_FromStringAndSize(NULL, 0))) goto end; + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, name, fline, lnos, exception_table, fv, cell); + } + end: + Py_XDECREF(code_type); + Py_XDECREF(exception_table); + Py_XDECREF(types_module); + if (type) { + PyErr_Restore(type, value, traceback); + } + return result; + } + #ifndef CO_OPTIMIZED + #define CO_OPTIMIZED 0x0001 + #endif + #ifndef CO_NEWLOCALS + #define CO_NEWLOCALS 0x0002 + #endif + #ifndef CO_VARARGS + #define CO_VARARGS 0x0004 + #endif + #ifndef CO_VARKEYWORDS + #define CO_VARKEYWORDS 0x0008 + #endif + #ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x0200 + #endif + #ifndef CO_GENERATOR + #define CO_GENERATOR 0x0020 + #endif + #ifndef CO_COROUTINE + #define CO_COROUTINE 0x0080 + #endif +#elif PY_VERSION_HEX >= 0x030B0000 + static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyCodeObject *result; + PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); + if (!empty_bytes) return NULL; + result = + #if PY_VERSION_HEX >= 0x030C0000 + PyUnstable_Code_NewWithPosOnlyArgs + #else + PyCode_NewWithPosOnlyArgs + #endif + (a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, name, fline, lnos, empty_bytes); + Py_DECREF(empty_bytes); + return result; + } +#elif PY_VERSION_HEX >= 0x030800B2 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_NewWithPosOnlyArgs(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#endif +#endif +#if PY_VERSION_HEX >= 0x030900A4 || defined(Py_IS_TYPE) + #define __Pyx_IS_TYPE(ob, type) Py_IS_TYPE(ob, type) +#else + #define __Pyx_IS_TYPE(ob, type) (((const PyObject*)ob)->ob_type == (type)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_Is) + #define __Pyx_Py_Is(x, y) Py_Is(x, y) +#else + #define __Pyx_Py_Is(x, y) ((x) == (y)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsNone) + #define __Pyx_Py_IsNone(ob) Py_IsNone(ob) +#else + #define __Pyx_Py_IsNone(ob) __Pyx_Py_Is((ob), Py_None) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsTrue) + #define __Pyx_Py_IsTrue(ob) Py_IsTrue(ob) +#else + #define __Pyx_Py_IsTrue(ob) __Pyx_Py_Is((ob), Py_True) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsFalse) + #define __Pyx_Py_IsFalse(ob) Py_IsFalse(ob) +#else + #define __Pyx_Py_IsFalse(ob) __Pyx_Py_Is((ob), Py_False) +#endif +#define __Pyx_NoneAsNull(obj) (__Pyx_Py_IsNone(obj) ? NULL : (obj)) +#if PY_VERSION_HEX >= 0x030900F0 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_GC_IsFinalized(o) PyObject_GC_IsFinalized(o) +#else + #define __Pyx_PyObject_GC_IsFinalized(o) _PyGC_FINALIZED(o) +#endif +#ifndef CO_COROUTINE + #define CO_COROUTINE 0x80 +#endif +#ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x200 +#endif +#ifndef Py_TPFLAGS_CHECKTYPES + #define Py_TPFLAGS_CHECKTYPES 0 +#endif +#ifndef Py_TPFLAGS_HAVE_INDEX + #define Py_TPFLAGS_HAVE_INDEX 0 +#endif +#ifndef Py_TPFLAGS_HAVE_NEWBUFFER + #define Py_TPFLAGS_HAVE_NEWBUFFER 0 +#endif +#ifndef Py_TPFLAGS_HAVE_FINALIZE + #define Py_TPFLAGS_HAVE_FINALIZE 0 +#endif +#ifndef Py_TPFLAGS_SEQUENCE + #define Py_TPFLAGS_SEQUENCE 0 +#endif +#ifndef Py_TPFLAGS_MAPPING + #define Py_TPFLAGS_MAPPING 0 +#endif +#ifndef METH_STACKLESS + #define METH_STACKLESS 0 +#endif +#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) + #ifndef METH_FASTCALL + #define METH_FASTCALL 0x80 + #endif + typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); + typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, + Py_ssize_t nargs, PyObject *kwnames); +#else + #define __Pyx_PyCFunctionFast _PyCFunctionFast + #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords +#endif +#if CYTHON_METH_FASTCALL + #define __Pyx_METH_FASTCALL METH_FASTCALL + #define __Pyx_PyCFunction_FastCall __Pyx_PyCFunctionFast + #define __Pyx_PyCFunction_FastCallWithKeywords __Pyx_PyCFunctionFastWithKeywords +#else + #define __Pyx_METH_FASTCALL METH_VARARGS + #define __Pyx_PyCFunction_FastCall PyCFunction + #define __Pyx_PyCFunction_FastCallWithKeywords PyCFunctionWithKeywords +#endif +#if CYTHON_VECTORCALL + #define __pyx_vectorcallfunc vectorcallfunc + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET PY_VECTORCALL_ARGUMENTS_OFFSET + #define __Pyx_PyVectorcall_NARGS(n) PyVectorcall_NARGS((size_t)(n)) +#elif CYTHON_BACKPORT_VECTORCALL + typedef PyObject *(*__pyx_vectorcallfunc)(PyObject *callable, PyObject *const *args, + size_t nargsf, PyObject *kwnames); + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET ((size_t)1 << (8 * sizeof(size_t) - 1)) + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(((size_t)(n)) & ~__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET)) +#else + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET 0 + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(n)) +#endif +#if PY_MAJOR_VERSION >= 0x030900B1 +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_CheckExact(func) +#else +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_Check(func) +#endif +#define __Pyx_CyOrPyCFunction_Check(func) PyCFunction_Check(func) +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) (((PyCFunctionObject*)(func))->m_ml->ml_meth) +#elif !CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) PyCFunction_GET_FUNCTION(func) +#endif +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FLAGS(func) (((PyCFunctionObject*)(func))->m_ml->ml_flags) +static CYTHON_INLINE PyObject* __Pyx_CyOrPyCFunction_GET_SELF(PyObject *func) { + return (__Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_STATIC) ? NULL : ((PyCFunctionObject*)func)->m_self; +} +#endif +static CYTHON_INLINE int __Pyx__IsSameCFunction(PyObject *func, void *cfunc) { +#if CYTHON_COMPILING_IN_LIMITED_API + return PyCFunction_Check(func) && PyCFunction_GetFunction(func) == (PyCFunction) cfunc; +#else + return PyCFunction_Check(func) && PyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +#endif +} +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCFunction(func, cfunc) +#if __PYX_LIMITED_VERSION_HEX < 0x030900B1 + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) ((void)m, PyType_FromSpecWithBases(s, b)) + typedef PyObject *(*__Pyx_PyCMethod)(PyObject *, PyTypeObject *, PyObject *const *, size_t, PyObject *); +#else + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) PyType_FromModuleAndSpec(m, s, b) + #define __Pyx_PyCMethod PyCMethod +#endif +#ifndef METH_METHOD + #define METH_METHOD 0x200 +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) + #define PyObject_Malloc(s) PyMem_Malloc(s) + #define PyObject_Free(p) PyMem_Free(p) + #define PyObject_Realloc(p) PyMem_Realloc(p) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) +#else + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyThreadState_Current PyThreadState_Get() +#elif !CYTHON_FAST_THREAD_STATE + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#elif PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyThreadState_Current PyThreadState_GetUnchecked() +#elif PY_VERSION_HEX >= 0x03060000 + #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() +#elif PY_VERSION_HEX >= 0x03000000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#else + #define __Pyx_PyThreadState_Current _PyThreadState_Current +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE void *__Pyx_PyModule_GetState(PyObject *op) +{ + void *result; + result = PyModule_GetState(op); + if (!result) + Py_FatalError("Couldn't find the module state"); + return result; +} +#endif +#define __Pyx_PyObject_GetSlot(obj, name, func_ctype) __Pyx_PyType_GetSlot(Py_TYPE(obj), name, func_ctype) +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((func_ctype) PyType_GetSlot((type), Py_##name)) +#else + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((type)->name) +#endif +#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) +#include "pythread.h" +#define Py_tss_NEEDS_INIT 0 +typedef int Py_tss_t; +static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { + *key = PyThread_create_key(); + return 0; +} +static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { + Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); + *key = Py_tss_NEEDS_INIT; + return key; +} +static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { + PyObject_Free(key); +} +static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { + return *key != Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { + PyThread_delete_key(*key); + *key = Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { + return PyThread_set_key_value(*key, value); +} +static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { + return PyThread_get_key_value(*key); +} +#endif +#if PY_MAJOR_VERSION < 3 + #if CYTHON_COMPILING_IN_PYPY + #if PYPY_VERSION_NUM < 0x07030600 + #if defined(__cplusplus) && __cplusplus >= 201402L + [[deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")]] + #elif defined(__GNUC__) || defined(__clang__) + __attribute__ ((__deprecated__("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6"))) + #elif defined(_MSC_VER) + __declspec(deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")) + #endif + static CYTHON_INLINE int PyGILState_Check(void) { + return 0; + } + #else // PYPY_VERSION_NUM < 0x07030600 + #endif // PYPY_VERSION_NUM < 0x07030600 + #else + static CYTHON_INLINE int PyGILState_Check(void) { + PyThreadState * tstate = _PyThreadState_Current; + return tstate && (tstate == PyGILState_GetThisThreadState()); + } + #endif +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030d0000 || defined(_PyDict_NewPresized) +#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) +#else +#define __Pyx_PyDict_NewPresized(n) PyDict_New() +#endif +#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION + #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) +#else + #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX > 0x030600B4 && PY_VERSION_HEX < 0x030d0000 && CYTHON_USE_UNICODE_INTERNALS +#define __Pyx_PyDict_GetItemStrWithError(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStr(PyObject *dict, PyObject *name) { + PyObject *res = __Pyx_PyDict_GetItemStrWithError(dict, name); + if (res == NULL) PyErr_Clear(); + return res; +} +#elif PY_MAJOR_VERSION >= 3 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07020000) +#define __Pyx_PyDict_GetItemStrWithError PyDict_GetItemWithError +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#else +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStrWithError(PyObject *dict, PyObject *name) { +#if CYTHON_COMPILING_IN_PYPY + return PyDict_GetItem(dict, name); +#else + PyDictEntry *ep; + PyDictObject *mp = (PyDictObject*) dict; + long hash = ((PyStringObject *) name)->ob_shash; + assert(hash != -1); + ep = (mp->ma_lookup)(mp, name, hash); + if (ep == NULL) { + return NULL; + } + return ep->me_value; +#endif +} +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#endif +#if CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyType_GetFlags(tp) (((PyTypeObject *)tp)->tp_flags) + #define __Pyx_PyType_HasFeature(type, feature) ((__Pyx_PyType_GetFlags(type) & (feature)) != 0) + #define __Pyx_PyObject_GetIterNextFunc(obj) (Py_TYPE(obj)->tp_iternext) +#else + #define __Pyx_PyType_GetFlags(tp) (PyType_GetFlags((PyTypeObject *)tp)) + #define __Pyx_PyType_HasFeature(type, feature) PyType_HasFeature(type, feature) + #define __Pyx_PyObject_GetIterNextFunc(obj) PyIter_Next +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyObject_GenericSetAttr((PyObject*)tp, k, v) +#else + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyDict_SetItem(tp->tp_dict, k, v) +#endif +#if CYTHON_USE_TYPE_SPECS && PY_VERSION_HEX >= 0x03080000 +#define __Pyx_PyHeapTypeObject_GC_Del(obj) {\ + PyTypeObject *type = Py_TYPE((PyObject*)obj);\ + assert(__Pyx_PyType_HasFeature(type, Py_TPFLAGS_HEAPTYPE));\ + PyObject_GC_Del(obj);\ + Py_DECREF(type);\ +} +#else +#define __Pyx_PyHeapTypeObject_GC_Del(obj) PyObject_GC_Del(obj) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define CYTHON_PEP393_ENABLED 1 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GetLength(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_ReadChar(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((void)u, 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((void)u, (0)) + #define __Pyx_PyUnicode_DATA(u) ((void*)u) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)k, PyUnicode_ReadChar((PyObject*)(d), i)) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GetLength(u)) +#elif PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) + #define CYTHON_PEP393_ENABLED 1 + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_READY(op) (0) + #else + #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ + 0 : _PyUnicode_Ready((PyObject *)(op))) + #endif + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) + #define __Pyx_PyUnicode_KIND(u) ((int)PyUnicode_KIND(u)) + #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) + #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, (Py_UCS4) ch) + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) + #else + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) + #endif + #endif +#else + #define CYTHON_PEP393_ENABLED 0 + #define PyUnicode_1BYTE_KIND 1 + #define PyUnicode_2BYTE_KIND 2 + #define PyUnicode_4BYTE_KIND 4 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535U : 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((int)sizeof(Py_UNICODE)) + #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = (Py_UNICODE) ch) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) +#else + #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ + PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #if !defined(PyUnicode_DecodeUnicodeEscape) + #define PyUnicode_DecodeUnicodeEscape(s, size, errors) PyUnicode_Decode(s, size, "unicode_escape", errors) + #endif + #if !defined(PyUnicode_Contains) || (PY_MAJOR_VERSION == 2 && PYPY_VERSION_NUM < 0x07030500) + #undef PyUnicode_Contains + #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) + #endif + #if !defined(PyByteArray_Check) + #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) + #endif + #if !defined(PyObject_Format) + #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) + #endif +#endif +#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) +#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) +#else + #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) +#endif +#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) + #define PyObject_ASCII(o) PyObject_Repr(o) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBaseString_Type PyUnicode_Type + #define PyStringObject PyUnicodeObject + #define PyString_Type PyUnicode_Type + #define PyString_Check PyUnicode_Check + #define PyString_CheckExact PyUnicode_CheckExact +#ifndef PyObject_Unicode + #define PyObject_Unicode PyObject_Str +#endif +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) + #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) +#else + #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) + #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) +#endif +#if CYTHON_COMPILING_IN_CPYTHON + #define __Pyx_PySequence_ListKeepNew(obj)\ + (likely(PyList_CheckExact(obj) && Py_REFCNT(obj) == 1) ? __Pyx_NewRef(obj) : PySequence_List(obj)) +#else + #define __Pyx_PySequence_ListKeepNew(obj) PySequence_List(obj) +#endif +#ifndef PySet_CheckExact + #define PySet_CheckExact(obj) __Pyx_IS_TYPE(obj, &PySet_Type) +#endif +#if PY_VERSION_HEX >= 0x030900A4 + #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) +#else + #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) +#endif +#if CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_PySequence_ITEM(o, i) PySequence_ITEM(o, i) + #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) (PyTuple_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyList_SET_ITEM(o, i, v) (PyList_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_GET_SIZE(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_GET_SIZE(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_GET_SIZE(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_GET_SIZE(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_GET_SIZE(o) +#else + #define __Pyx_PySequence_ITEM(o, i) PySequence_GetItem(o, i) + #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) PyTuple_SetItem(o, i, v) + #define __Pyx_PyList_SET_ITEM(o, i, v) PyList_SetItem(o, i, v) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_Size(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_Size(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_Size(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_Size(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_Size(o) +#endif +#if PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyImport_AddModuleRef(name) PyImport_AddModuleRef(name) +#else + static CYTHON_INLINE PyObject *__Pyx_PyImport_AddModuleRef(const char *name) { + PyObject *module = PyImport_AddModule(name); + Py_XINCREF(module); + return module; + } +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyIntObject PyLongObject + #define PyInt_Type PyLong_Type + #define PyInt_Check(op) PyLong_Check(op) + #define PyInt_CheckExact(op) PyLong_CheckExact(op) + #define __Pyx_Py3Int_Check(op) PyLong_Check(op) + #define __Pyx_Py3Int_CheckExact(op) PyLong_CheckExact(op) + #define PyInt_FromString PyLong_FromString + #define PyInt_FromUnicode PyLong_FromUnicode + #define PyInt_FromLong PyLong_FromLong + #define PyInt_FromSize_t PyLong_FromSize_t + #define PyInt_FromSsize_t PyLong_FromSsize_t + #define PyInt_AsLong PyLong_AsLong + #define PyInt_AS_LONG PyLong_AS_LONG + #define PyInt_AsSsize_t PyLong_AsSsize_t + #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask + #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask + #define PyNumber_Int PyNumber_Long +#else + #define __Pyx_Py3Int_Check(op) (PyLong_Check(op) || PyInt_Check(op)) + #define __Pyx_Py3Int_CheckExact(op) (PyLong_CheckExact(op) || PyInt_CheckExact(op)) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBoolObject PyLongObject +#endif +#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY + #ifndef PyUnicode_InternFromString + #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) + #endif +#endif +#if PY_VERSION_HEX < 0x030200A4 + typedef long Py_hash_t; + #define __Pyx_PyInt_FromHash_t PyInt_FromLong + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t +#else + #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t +#endif +#if CYTHON_USE_ASYNC_SLOTS + #if PY_VERSION_HEX >= 0x030500B1 + #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods + #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) + #else + #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) + #endif +#else + #define __Pyx_PyType_AsAsync(obj) NULL +#endif +#ifndef __Pyx_PyAsyncMethodsStruct + typedef struct { + unaryfunc am_await; + unaryfunc am_aiter; + unaryfunc am_anext; + } __Pyx_PyAsyncMethodsStruct; +#endif + +#if defined(_WIN32) || defined(WIN32) || defined(MS_WINDOWS) + #if !defined(_USE_MATH_DEFINES) + #define _USE_MATH_DEFINES + #endif +#endif +#include +#ifdef NAN +#define __PYX_NAN() ((float) NAN) +#else +static CYTHON_INLINE float __PYX_NAN() { + float value; + memset(&value, 0xFF, sizeof(value)); + return value; +} +#endif +#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) +#define __Pyx_truncl trunc +#else +#define __Pyx_truncl truncl +#endif + +#define __PYX_MARK_ERR_POS(f_index, lineno) \ + { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } +#define __PYX_ERR(f_index, lineno, Ln_error) \ + { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } + +#ifdef CYTHON_EXTERN_C + #undef __PYX_EXTERN_C + #define __PYX_EXTERN_C CYTHON_EXTERN_C +#elif defined(__PYX_EXTERN_C) + #ifdef _MSC_VER + #pragma message ("Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead.") + #else + #warning Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead. + #endif +#else + #ifdef __cplusplus + #define __PYX_EXTERN_C extern "C" + #else + #define __PYX_EXTERN_C extern + #endif +#endif + +#define __PYX_HAVE__acados_template__acados_ocp_solver_pyx +#define __PYX_HAVE_API__acados_template__acados_ocp_solver_pyx +/* Early includes */ +#include +#include "acados/ocp_nlp/ocp_nlp_common.h" +#include "acados_c/ocp_nlp_interface.h" +#include "acados_solver_lat.h" +#include + + /* Using NumPy API declarations from "numpy/__init__.cython-30.pxd" */ + +#include "numpy/arrayobject.h" +#include "numpy/ndarrayobject.h" +#include "numpy/ndarraytypes.h" +#include "numpy/arrayscalars.h" +#include "numpy/ufuncobject.h" +#include "pythread.h" +#include +#ifdef _OPENMP +#include +#endif /* _OPENMP */ + +#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) +#define CYTHON_WITHOUT_ASSERTIONS +#endif + +typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; + const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; + +#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) +#define __PYX_DEFAULT_STRING_ENCODING "" +#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString +#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#define __Pyx_uchar_cast(c) ((unsigned char)c) +#define __Pyx_long_cast(x) ((long)x) +#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ + (sizeof(type) < sizeof(Py_ssize_t)) ||\ + (sizeof(type) > sizeof(Py_ssize_t) &&\ + likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX) &&\ + (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ + v == (type)PY_SSIZE_T_MIN))) ||\ + (sizeof(type) == sizeof(Py_ssize_t) &&\ + (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX))) ) +static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { + return (size_t) i < (size_t) limit; +} +#if defined (__cplusplus) && __cplusplus >= 201103L + #include + #define __Pyx_sst_abs(value) std::abs(value) +#elif SIZEOF_INT >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) abs(value) +#elif SIZEOF_LONG >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) labs(value) +#elif defined (_MSC_VER) + #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) +#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define __Pyx_sst_abs(value) llabs(value) +#elif defined (__GNUC__) + #define __Pyx_sst_abs(value) __builtin_llabs(value) +#else + #define __Pyx_sst_abs(value) ((value<0) ? -value : value) +#endif +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s); +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char*); +#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) +#define __Pyx_PyBytes_FromString PyBytes_FromString +#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); +#if PY_MAJOR_VERSION < 3 + #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#else + #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize +#endif +#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyObject_AsWritableString(s) ((char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableSString(s) ((signed char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) +#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) +#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) +#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) +#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const wchar_t *u) +{ + const wchar_t *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#else +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) +{ + const Py_UNICODE *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#endif +#define __Pyx_PyUnicode_FromOrdinal(o) PyUnicode_FromOrdinal((int)o) +#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) +#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode +#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode +#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) +#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); +#define __Pyx_PySequence_Tuple(obj)\ + (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); +#if CYTHON_ASSUME_SAFE_MACROS +#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) +#else +#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) +#endif +#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) +#else +#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) +#endif +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_VERSION_HEX >= 0x030C00A7 + #ifndef _PyLong_SIGN_MASK + #define _PyLong_SIGN_MASK 3 + #endif + #ifndef _PyLong_NON_SIZE_BITS + #define _PyLong_NON_SIZE_BITS 3 + #endif + #define __Pyx_PyLong_Sign(x) (((PyLongObject*)x)->long_value.lv_tag & _PyLong_SIGN_MASK) + #define __Pyx_PyLong_IsNeg(x) ((__Pyx_PyLong_Sign(x) & 2) != 0) + #define __Pyx_PyLong_IsNonNeg(x) (!__Pyx_PyLong_IsNeg(x)) + #define __Pyx_PyLong_IsZero(x) (__Pyx_PyLong_Sign(x) & 1) + #define __Pyx_PyLong_IsPos(x) (__Pyx_PyLong_Sign(x) == 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) (__Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) ((Py_ssize_t) (((PyLongObject*)x)->long_value.lv_tag >> _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_SignedDigitCount(x)\ + ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * __Pyx_PyLong_DigitCount(x)) + #if defined(PyUnstable_Long_IsCompact) && defined(PyUnstable_Long_CompactValue) + #define __Pyx_PyLong_IsCompact(x) PyUnstable_Long_IsCompact((PyLongObject*) x) + #define __Pyx_PyLong_CompactValue(x) PyUnstable_Long_CompactValue((PyLongObject*) x) + #else + #define __Pyx_PyLong_IsCompact(x) (((PyLongObject*)x)->long_value.lv_tag < (2 << _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_CompactValue(x) ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * (Py_ssize_t) __Pyx_PyLong_Digits(x)[0]) + #endif + typedef Py_ssize_t __Pyx_compact_pylong; + typedef size_t __Pyx_compact_upylong; + #else + #define __Pyx_PyLong_IsNeg(x) (Py_SIZE(x) < 0) + #define __Pyx_PyLong_IsNonNeg(x) (Py_SIZE(x) >= 0) + #define __Pyx_PyLong_IsZero(x) (Py_SIZE(x) == 0) + #define __Pyx_PyLong_IsPos(x) (Py_SIZE(x) > 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) ((Py_SIZE(x) == 0) ? 0 : __Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) __Pyx_sst_abs(Py_SIZE(x)) + #define __Pyx_PyLong_SignedDigitCount(x) Py_SIZE(x) + #define __Pyx_PyLong_IsCompact(x) (Py_SIZE(x) == 0 || Py_SIZE(x) == 1 || Py_SIZE(x) == -1) + #define __Pyx_PyLong_CompactValue(x)\ + ((Py_SIZE(x) == 0) ? (sdigit) 0 : ((Py_SIZE(x) < 0) ? -(sdigit)__Pyx_PyLong_Digits(x)[0] : (sdigit)__Pyx_PyLong_Digits(x)[0])) + typedef sdigit __Pyx_compact_pylong; + typedef digit __Pyx_compact_upylong; + #endif + #if PY_VERSION_HEX >= 0x030C00A5 + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->long_value.ob_digit) + #else + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->ob_digit) + #endif +#endif +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII +#include +static int __Pyx_sys_getdefaultencoding_not_ascii; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + PyObject* ascii_chars_u = NULL; + PyObject* ascii_chars_b = NULL; + const char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + if (strcmp(default_encoding_c, "ascii") == 0) { + __Pyx_sys_getdefaultencoding_not_ascii = 0; + } else { + char ascii_chars[128]; + int c; + for (c = 0; c < 128; c++) { + ascii_chars[c] = (char) c; + } + __Pyx_sys_getdefaultencoding_not_ascii = 1; + ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); + if (!ascii_chars_u) goto bad; + ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); + if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { + PyErr_Format( + PyExc_ValueError, + "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", + default_encoding_c); + goto bad; + } + Py_DECREF(ascii_chars_u); + Py_DECREF(ascii_chars_b); + } + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + Py_XDECREF(ascii_chars_u); + Py_XDECREF(ascii_chars_b); + return -1; +} +#endif +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3 +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL) +#else +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL) +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#include +static char* __PYX_DEFAULT_STRING_ENCODING; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1); + if (!__PYX_DEFAULT_STRING_ENCODING) goto bad; + strcpy(__PYX_DEFAULT_STRING_ENCODING, default_encoding_c); + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + return -1; +} +#endif +#endif + + +/* Test for GCC > 2.95 */ +#if defined(__GNUC__) && (__GNUC__ > 2 || (__GNUC__ == 2 && (__GNUC_MINOR__ > 95))) + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#else /* !__GNUC__ or GCC < 2.95 */ + #define likely(x) (x) + #define unlikely(x) (x) +#endif /* __GNUC__ */ +static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void)ptr; } + +#if !CYTHON_USE_MODULE_STATE +static PyObject *__pyx_m = NULL; +#endif +static int __pyx_lineno; +static int __pyx_clineno = 0; +static const char * __pyx_cfilenm = __FILE__; +static const char *__pyx_filename; + +/* Header.proto */ +#if !defined(CYTHON_CCOMPLEX) + #if defined(__cplusplus) + #define CYTHON_CCOMPLEX 1 + #elif (defined(_Complex_I) && !defined(_MSC_VER)) || ((defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) && !defined(__STDC_NO_COMPLEX__) && !defined(_MSC_VER)) + #define CYTHON_CCOMPLEX 1 + #else + #define CYTHON_CCOMPLEX 0 + #endif +#endif +#if CYTHON_CCOMPLEX + #ifdef __cplusplus + #include + #else + #include + #endif +#endif +#if CYTHON_CCOMPLEX && !defined(__cplusplus) && defined(__sun__) && defined(__GNUC__) + #undef _Complex_I + #define _Complex_I 1.0fj +#endif + +/* #### Code section: filename_table ### */ + +static const char *__pyx_f[] = { + "third_party/acados/acados_template/acados_ocp_solver_pyx.pyx", + "", + "__init__.cython-30.pxd", + "type.pxd", +}; +/* #### Code section: utility_code_proto_before_types ### */ +/* ForceInitThreads.proto */ +#ifndef __PYX_FORCE_INIT_THREADS + #define __PYX_FORCE_INIT_THREADS 0 +#endif + +/* NoFastGil.proto */ +#define __Pyx_PyGILState_Ensure PyGILState_Ensure +#define __Pyx_PyGILState_Release PyGILState_Release +#define __Pyx_FastGIL_Remember() +#define __Pyx_FastGIL_Forget() +#define __Pyx_FastGilFuncInit() + +/* BufferFormatStructs.proto */ +struct __Pyx_StructField_; +#define __PYX_BUF_FLAGS_PACKED_STRUCT (1 << 0) +typedef struct { + const char* name; + struct __Pyx_StructField_* fields; + size_t size; + size_t arraysize[8]; + int ndim; + char typegroup; + char is_unsigned; + int flags; +} __Pyx_TypeInfo; +typedef struct __Pyx_StructField_ { + __Pyx_TypeInfo* type; + const char* name; + size_t offset; +} __Pyx_StructField; +typedef struct { + __Pyx_StructField* field; + size_t parent_offset; +} __Pyx_BufFmt_StackElem; +typedef struct { + __Pyx_StructField root; + __Pyx_BufFmt_StackElem* head; + size_t fmt_offset; + size_t new_count, enc_count; + size_t struct_alignment; + int is_complex; + char enc_type; + char new_packmode; + char enc_packmode; + char is_valid_array; +} __Pyx_BufFmt_Context; + +/* Atomics.proto */ +#include +#ifndef CYTHON_ATOMICS + #define CYTHON_ATOMICS 1 +#endif +#define __PYX_CYTHON_ATOMICS_ENABLED() CYTHON_ATOMICS +#define __pyx_atomic_int_type int +#define __pyx_nonatomic_int_type int +#if CYTHON_ATOMICS && (defined(__STDC_VERSION__) &&\ + (__STDC_VERSION__ >= 201112L) &&\ + !defined(__STDC_NO_ATOMICS__)) + #include +#elif CYTHON_ATOMICS && (defined(__cplusplus) && (\ + (__cplusplus >= 201103L) ||\ + (defined(_MSC_VER) && _MSC_VER >= 1700))) + #include +#endif +#if CYTHON_ATOMICS && (defined(__STDC_VERSION__) &&\ + (__STDC_VERSION__ >= 201112L) &&\ + !defined(__STDC_NO_ATOMICS__) &&\ + ATOMIC_INT_LOCK_FREE == 2) + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type atomic_int + #define __pyx_atomic_incr_aligned(value) atomic_fetch_add_explicit(value, 1, memory_order_relaxed) + #define __pyx_atomic_decr_aligned(value) atomic_fetch_sub_explicit(value, 1, memory_order_acq_rel) + #if defined(__PYX_DEBUG_ATOMICS) && defined(_MSC_VER) + #pragma message ("Using standard C atomics") + #elif defined(__PYX_DEBUG_ATOMICS) + #warning "Using standard C atomics" + #endif +#elif CYTHON_ATOMICS && (defined(__cplusplus) && (\ + (__cplusplus >= 201103L) ||\ +\ + (defined(_MSC_VER) && _MSC_VER >= 1700)) &&\ + ATOMIC_INT_LOCK_FREE == 2) + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type std::atomic_int + #define __pyx_atomic_incr_aligned(value) std::atomic_fetch_add_explicit(value, 1, std::memory_order_relaxed) + #define __pyx_atomic_decr_aligned(value) std::atomic_fetch_sub_explicit(value, 1, std::memory_order_acq_rel) + #if defined(__PYX_DEBUG_ATOMICS) && defined(_MSC_VER) + #pragma message ("Using standard C++ atomics") + #elif defined(__PYX_DEBUG_ATOMICS) + #warning "Using standard C++ atomics" + #endif +#elif CYTHON_ATOMICS && (__GNUC__ >= 5 || (__GNUC__ == 4 &&\ + (__GNUC_MINOR__ > 1 ||\ + (__GNUC_MINOR__ == 1 && __GNUC_PATCHLEVEL__ >= 2)))) + #define __pyx_atomic_incr_aligned(value) __sync_fetch_and_add(value, 1) + #define __pyx_atomic_decr_aligned(value) __sync_fetch_and_sub(value, 1) + #ifdef __PYX_DEBUG_ATOMICS + #warning "Using GNU atomics" + #endif +#elif CYTHON_ATOMICS && defined(_MSC_VER) + #include + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type long + #undef __pyx_nonatomic_int_type + #define __pyx_nonatomic_int_type long + #pragma intrinsic (_InterlockedExchangeAdd) + #define __pyx_atomic_incr_aligned(value) _InterlockedExchangeAdd(value, 1) + #define __pyx_atomic_decr_aligned(value) _InterlockedExchangeAdd(value, -1) + #ifdef __PYX_DEBUG_ATOMICS + #pragma message ("Using MSVC atomics") + #endif +#else + #undef CYTHON_ATOMICS + #define CYTHON_ATOMICS 0 + #ifdef __PYX_DEBUG_ATOMICS + #warning "Not using atomics" + #endif +#endif +#if CYTHON_ATOMICS + #define __pyx_add_acquisition_count(memview)\ + __pyx_atomic_incr_aligned(__pyx_get_slice_count_pointer(memview)) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_atomic_decr_aligned(__pyx_get_slice_count_pointer(memview)) +#else + #define __pyx_add_acquisition_count(memview)\ + __pyx_add_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_sub_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) +#endif + +/* MemviewSliceStruct.proto */ +struct __pyx_memoryview_obj; +typedef struct { + struct __pyx_memoryview_obj *memview; + char *data; + Py_ssize_t shape[8]; + Py_ssize_t strides[8]; + Py_ssize_t suboffsets[8]; +} __Pyx_memviewslice; +#define __Pyx_MemoryView_Len(m) (m.shape[0]) + +/* #### Code section: numeric_typedefs ### */ + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":730 + * # in Cython to enable them only on the right systems. + * + * ctypedef npy_int8 int8_t # <<<<<<<<<<<<<< + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t + */ +typedef npy_int8 __pyx_t_5numpy_int8_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":731 + * + * ctypedef npy_int8 int8_t + * ctypedef npy_int16 int16_t # <<<<<<<<<<<<<< + * ctypedef npy_int32 int32_t + * ctypedef npy_int64 int64_t + */ +typedef npy_int16 __pyx_t_5numpy_int16_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":732 + * ctypedef npy_int8 int8_t + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t # <<<<<<<<<<<<<< + * ctypedef npy_int64 int64_t + * #ctypedef npy_int96 int96_t + */ +typedef npy_int32 __pyx_t_5numpy_int32_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":733 + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t + * ctypedef npy_int64 int64_t # <<<<<<<<<<<<<< + * #ctypedef npy_int96 int96_t + * #ctypedef npy_int128 int128_t + */ +typedef npy_int64 __pyx_t_5numpy_int64_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":737 + * #ctypedef npy_int128 int128_t + * + * ctypedef npy_uint8 uint8_t # <<<<<<<<<<<<<< + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t + */ +typedef npy_uint8 __pyx_t_5numpy_uint8_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":738 + * + * ctypedef npy_uint8 uint8_t + * ctypedef npy_uint16 uint16_t # <<<<<<<<<<<<<< + * ctypedef npy_uint32 uint32_t + * ctypedef npy_uint64 uint64_t + */ +typedef npy_uint16 __pyx_t_5numpy_uint16_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":739 + * ctypedef npy_uint8 uint8_t + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t # <<<<<<<<<<<<<< + * ctypedef npy_uint64 uint64_t + * #ctypedef npy_uint96 uint96_t + */ +typedef npy_uint32 __pyx_t_5numpy_uint32_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":740 + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t + * ctypedef npy_uint64 uint64_t # <<<<<<<<<<<<<< + * #ctypedef npy_uint96 uint96_t + * #ctypedef npy_uint128 uint128_t + */ +typedef npy_uint64 __pyx_t_5numpy_uint64_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":744 + * #ctypedef npy_uint128 uint128_t + * + * ctypedef npy_float32 float32_t # <<<<<<<<<<<<<< + * ctypedef npy_float64 float64_t + * #ctypedef npy_float80 float80_t + */ +typedef npy_float32 __pyx_t_5numpy_float32_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":745 + * + * ctypedef npy_float32 float32_t + * ctypedef npy_float64 float64_t # <<<<<<<<<<<<<< + * #ctypedef npy_float80 float80_t + * #ctypedef npy_float128 float128_t + */ +typedef npy_float64 __pyx_t_5numpy_float64_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":754 + * # The int types are mapped a bit surprising -- + * # numpy.int corresponds to 'l' and numpy.long to 'q' + * ctypedef npy_long int_t # <<<<<<<<<<<<<< + * ctypedef npy_longlong longlong_t + * + */ +typedef npy_long __pyx_t_5numpy_int_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":755 + * # numpy.int corresponds to 'l' and numpy.long to 'q' + * ctypedef npy_long int_t + * ctypedef npy_longlong longlong_t # <<<<<<<<<<<<<< + * + * ctypedef npy_ulong uint_t + */ +typedef npy_longlong __pyx_t_5numpy_longlong_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":757 + * ctypedef npy_longlong longlong_t + * + * ctypedef npy_ulong uint_t # <<<<<<<<<<<<<< + * ctypedef npy_ulonglong ulonglong_t + * + */ +typedef npy_ulong __pyx_t_5numpy_uint_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":758 + * + * ctypedef npy_ulong uint_t + * ctypedef npy_ulonglong ulonglong_t # <<<<<<<<<<<<<< + * + * ctypedef npy_intp intp_t + */ +typedef npy_ulonglong __pyx_t_5numpy_ulonglong_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":760 + * ctypedef npy_ulonglong ulonglong_t + * + * ctypedef npy_intp intp_t # <<<<<<<<<<<<<< + * ctypedef npy_uintp uintp_t + * + */ +typedef npy_intp __pyx_t_5numpy_intp_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":761 + * + * ctypedef npy_intp intp_t + * ctypedef npy_uintp uintp_t # <<<<<<<<<<<<<< + * + * ctypedef npy_double float_t + */ +typedef npy_uintp __pyx_t_5numpy_uintp_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":763 + * ctypedef npy_uintp uintp_t + * + * ctypedef npy_double float_t # <<<<<<<<<<<<<< + * ctypedef npy_double double_t + * ctypedef npy_longdouble longdouble_t + */ +typedef npy_double __pyx_t_5numpy_float_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":764 + * + * ctypedef npy_double float_t + * ctypedef npy_double double_t # <<<<<<<<<<<<<< + * ctypedef npy_longdouble longdouble_t + * + */ +typedef npy_double __pyx_t_5numpy_double_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":765 + * ctypedef npy_double float_t + * ctypedef npy_double double_t + * ctypedef npy_longdouble longdouble_t # <<<<<<<<<<<<<< + * + * ctypedef npy_cfloat cfloat_t + */ +typedef npy_longdouble __pyx_t_5numpy_longdouble_t; +/* #### Code section: complex_type_declarations ### */ +/* Declarations.proto */ +#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #ifdef __cplusplus + typedef ::std::complex< float > __pyx_t_float_complex; + #else + typedef float _Complex __pyx_t_float_complex; + #endif +#else + typedef struct { float real, imag; } __pyx_t_float_complex; +#endif +static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float, float); + +/* Declarations.proto */ +#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #ifdef __cplusplus + typedef ::std::complex< double > __pyx_t_double_complex; + #else + typedef double _Complex __pyx_t_double_complex; + #endif +#else + typedef struct { double real, imag; } __pyx_t_double_complex; +#endif +static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double, double); + +/* #### Code section: type_declarations ### */ + +/*--- Type declarations ---*/ +struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython; +struct __pyx_array_obj; +struct __pyx_MemviewEnum_obj; +struct __pyx_memoryview_obj; +struct __pyx_memoryviewslice_obj; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":767 + * ctypedef npy_longdouble longdouble_t + * + * ctypedef npy_cfloat cfloat_t # <<<<<<<<<<<<<< + * ctypedef npy_cdouble cdouble_t + * ctypedef npy_clongdouble clongdouble_t + */ +typedef npy_cfloat __pyx_t_5numpy_cfloat_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":768 + * + * ctypedef npy_cfloat cfloat_t + * ctypedef npy_cdouble cdouble_t # <<<<<<<<<<<<<< + * ctypedef npy_clongdouble clongdouble_t + * + */ +typedef npy_cdouble __pyx_t_5numpy_cdouble_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":769 + * ctypedef npy_cfloat cfloat_t + * ctypedef npy_cdouble cdouble_t + * ctypedef npy_clongdouble clongdouble_t # <<<<<<<<<<<<<< + * + * ctypedef npy_cdouble complex_t + */ +typedef npy_clongdouble __pyx_t_5numpy_clongdouble_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":771 + * ctypedef npy_clongdouble clongdouble_t + * + * ctypedef npy_cdouble complex_t # <<<<<<<<<<<<<< + * + * cdef inline object PyArray_MultiIterNew1(a): + */ +typedef npy_cdouble __pyx_t_5numpy_complex_t; + +/* "acados_template/acados_ocp_solver_pyx.pyx":49 + * + * + * cdef class AcadosOcpSolverCython: # <<<<<<<<<<<<<< + * """ + * Class to interact with the acados ocp solver C object. + */ +struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython { + PyObject_HEAD + lat_solver_capsule *capsule; + void *nlp_opts; + ocp_nlp_dims *nlp_dims; + ocp_nlp_config *nlp_config; + ocp_nlp_out *nlp_out; + ocp_nlp_out *sens_out; + ocp_nlp_in *nlp_in; + ocp_nlp_solver *nlp_solver; + int solver_created; + PyObject *model_name; + int N; + PyObject *nlp_solver_type; +}; + + +/* "View.MemoryView":114 + * @cython.collection_type("sequence") + * @cname("__pyx_array") + * cdef class array: # <<<<<<<<<<<<<< + * + * cdef: + */ +struct __pyx_array_obj { + PyObject_HEAD + struct __pyx_vtabstruct_array *__pyx_vtab; + char *data; + Py_ssize_t len; + char *format; + int ndim; + Py_ssize_t *_shape; + Py_ssize_t *_strides; + Py_ssize_t itemsize; + PyObject *mode; + PyObject *_format; + void (*callback_free_data)(void *); + int free_data; + int dtype_is_object; +}; + + +/* "View.MemoryView":302 + * + * @cname('__pyx_MemviewEnum') + * cdef class Enum(object): # <<<<<<<<<<<<<< + * cdef object name + * def __init__(self, name): + */ +struct __pyx_MemviewEnum_obj { + PyObject_HEAD + PyObject *name; +}; + + +/* "View.MemoryView":337 + * + * @cname('__pyx_memoryview') + * cdef class memoryview: # <<<<<<<<<<<<<< + * + * cdef object obj + */ +struct __pyx_memoryview_obj { + PyObject_HEAD + struct __pyx_vtabstruct_memoryview *__pyx_vtab; + PyObject *obj; + PyObject *_size; + PyObject *_array_interface; + PyThread_type_lock lock; + __pyx_atomic_int_type acquisition_count; + Py_buffer view; + int flags; + int dtype_is_object; + __Pyx_TypeInfo *typeinfo; +}; + + +/* "View.MemoryView":952 + * @cython.collection_type("sequence") + * @cname('__pyx_memoryviewslice') + * cdef class _memoryviewslice(memoryview): # <<<<<<<<<<<<<< + * "Internal class for passing memoryview slices to Python" + * + */ +struct __pyx_memoryviewslice_obj { + struct __pyx_memoryview_obj __pyx_base; + __Pyx_memviewslice from_slice; + PyObject *from_object; + PyObject *(*to_object_func)(char *); + int (*to_dtype_func)(char *, PyObject *); +}; + + + +/* "View.MemoryView":114 + * @cython.collection_type("sequence") + * @cname("__pyx_array") + * cdef class array: # <<<<<<<<<<<<<< + * + * cdef: + */ + +struct __pyx_vtabstruct_array { + PyObject *(*get_memview)(struct __pyx_array_obj *); +}; +static struct __pyx_vtabstruct_array *__pyx_vtabptr_array; + + +/* "View.MemoryView":337 + * + * @cname('__pyx_memoryview') + * cdef class memoryview: # <<<<<<<<<<<<<< + * + * cdef object obj + */ + +struct __pyx_vtabstruct_memoryview { + char *(*get_item_pointer)(struct __pyx_memoryview_obj *, PyObject *); + PyObject *(*is_slice)(struct __pyx_memoryview_obj *, PyObject *); + PyObject *(*setitem_slice_assignment)(struct __pyx_memoryview_obj *, PyObject *, PyObject *); + PyObject *(*setitem_slice_assign_scalar)(struct __pyx_memoryview_obj *, struct __pyx_memoryview_obj *, PyObject *); + PyObject *(*setitem_indexed)(struct __pyx_memoryview_obj *, PyObject *, PyObject *); + PyObject *(*convert_item_to_object)(struct __pyx_memoryview_obj *, char *); + PyObject *(*assign_item_from_object)(struct __pyx_memoryview_obj *, char *, PyObject *); + PyObject *(*_get_base)(struct __pyx_memoryview_obj *); +}; +static struct __pyx_vtabstruct_memoryview *__pyx_vtabptr_memoryview; + + +/* "View.MemoryView":952 + * @cython.collection_type("sequence") + * @cname('__pyx_memoryviewslice') + * cdef class _memoryviewslice(memoryview): # <<<<<<<<<<<<<< + * "Internal class for passing memoryview slices to Python" + * + */ + +struct __pyx_vtabstruct__memoryviewslice { + struct __pyx_vtabstruct_memoryview __pyx_base; +}; +static struct __pyx_vtabstruct__memoryviewslice *__pyx_vtabptr__memoryviewslice; +/* #### Code section: utility_code_proto ### */ + +/* --- Runtime support code (head) --- */ +/* Refnanny.proto */ +#ifndef CYTHON_REFNANNY + #define CYTHON_REFNANNY 0 +#endif +#if CYTHON_REFNANNY + typedef struct { + void (*INCREF)(void*, PyObject*, Py_ssize_t); + void (*DECREF)(void*, PyObject*, Py_ssize_t); + void (*GOTREF)(void*, PyObject*, Py_ssize_t); + void (*GIVEREF)(void*, PyObject*, Py_ssize_t); + void* (*SetupContext)(const char*, Py_ssize_t, const char*); + void (*FinishContext)(void**); + } __Pyx_RefNannyAPIStruct; + static __Pyx_RefNannyAPIStruct *__Pyx_RefNanny = NULL; + static __Pyx_RefNannyAPIStruct *__Pyx_RefNannyImportAPI(const char *modname); + #define __Pyx_RefNannyDeclarations void *__pyx_refnanny = NULL; +#ifdef WITH_THREAD + #define __Pyx_RefNannySetupContext(name, acquire_gil)\ + if (acquire_gil) {\ + PyGILState_STATE __pyx_gilstate_save = PyGILState_Ensure();\ + __pyx_refnanny = __Pyx_RefNanny->SetupContext((name), (__LINE__), (__FILE__));\ + PyGILState_Release(__pyx_gilstate_save);\ + } else {\ + __pyx_refnanny = __Pyx_RefNanny->SetupContext((name), (__LINE__), (__FILE__));\ + } + #define __Pyx_RefNannyFinishContextNogil() {\ + PyGILState_STATE __pyx_gilstate_save = PyGILState_Ensure();\ + __Pyx_RefNannyFinishContext();\ + PyGILState_Release(__pyx_gilstate_save);\ + } +#else + #define __Pyx_RefNannySetupContext(name, acquire_gil)\ + __pyx_refnanny = __Pyx_RefNanny->SetupContext((name), (__LINE__), (__FILE__)) + #define __Pyx_RefNannyFinishContextNogil() __Pyx_RefNannyFinishContext() +#endif + #define __Pyx_RefNannyFinishContextNogil() {\ + PyGILState_STATE __pyx_gilstate_save = PyGILState_Ensure();\ + __Pyx_RefNannyFinishContext();\ + PyGILState_Release(__pyx_gilstate_save);\ + } + #define __Pyx_RefNannyFinishContext()\ + __Pyx_RefNanny->FinishContext(&__pyx_refnanny) + #define __Pyx_INCREF(r) __Pyx_RefNanny->INCREF(__pyx_refnanny, (PyObject *)(r), (__LINE__)) + #define __Pyx_DECREF(r) __Pyx_RefNanny->DECREF(__pyx_refnanny, (PyObject *)(r), (__LINE__)) + #define __Pyx_GOTREF(r) __Pyx_RefNanny->GOTREF(__pyx_refnanny, (PyObject *)(r), (__LINE__)) + #define __Pyx_GIVEREF(r) __Pyx_RefNanny->GIVEREF(__pyx_refnanny, (PyObject *)(r), (__LINE__)) + #define __Pyx_XINCREF(r) do { if((r) == NULL); else {__Pyx_INCREF(r); }} while(0) + #define __Pyx_XDECREF(r) do { if((r) == NULL); else {__Pyx_DECREF(r); }} while(0) + #define __Pyx_XGOTREF(r) do { if((r) == NULL); else {__Pyx_GOTREF(r); }} while(0) + #define __Pyx_XGIVEREF(r) do { if((r) == NULL); else {__Pyx_GIVEREF(r);}} while(0) +#else + #define __Pyx_RefNannyDeclarations + #define __Pyx_RefNannySetupContext(name, acquire_gil) + #define __Pyx_RefNannyFinishContextNogil() + #define __Pyx_RefNannyFinishContext() + #define __Pyx_INCREF(r) Py_INCREF(r) + #define __Pyx_DECREF(r) Py_DECREF(r) + #define __Pyx_GOTREF(r) + #define __Pyx_GIVEREF(r) + #define __Pyx_XINCREF(r) Py_XINCREF(r) + #define __Pyx_XDECREF(r) Py_XDECREF(r) + #define __Pyx_XGOTREF(r) + #define __Pyx_XGIVEREF(r) +#endif +#define __Pyx_Py_XDECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; Py_XDECREF(tmp);\ + } while (0) +#define __Pyx_XDECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_XDECREF(tmp);\ + } while (0) +#define __Pyx_DECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_DECREF(tmp);\ + } while (0) +#define __Pyx_CLEAR(r) do { PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);} while(0) +#define __Pyx_XCLEAR(r) do { if((r) != NULL) {PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);}} while(0) + +/* PyErrExceptionMatches.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_ExceptionMatches(err) __Pyx_PyErr_ExceptionMatchesInState(__pyx_tstate, err) +static CYTHON_INLINE int __Pyx_PyErr_ExceptionMatchesInState(PyThreadState* tstate, PyObject* err); +#else +#define __Pyx_PyErr_ExceptionMatches(err) PyErr_ExceptionMatches(err) +#endif + +/* PyThreadStateGet.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyThreadState_declare PyThreadState *__pyx_tstate; +#define __Pyx_PyThreadState_assign __pyx_tstate = __Pyx_PyThreadState_Current; +#if PY_VERSION_HEX >= 0x030C00A6 +#define __Pyx_PyErr_Occurred() (__pyx_tstate->current_exception != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->current_exception ? (PyObject*) Py_TYPE(__pyx_tstate->current_exception) : (PyObject*) NULL) +#else +#define __Pyx_PyErr_Occurred() (__pyx_tstate->curexc_type != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->curexc_type) +#endif +#else +#define __Pyx_PyThreadState_declare +#define __Pyx_PyThreadState_assign +#define __Pyx_PyErr_Occurred() (PyErr_Occurred() != NULL) +#define __Pyx_PyErr_CurrentExceptionType() PyErr_Occurred() +#endif + +/* PyErrFetchRestore.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_Clear() __Pyx_ErrRestore(NULL, NULL, NULL) +#define __Pyx_ErrRestoreWithState(type, value, tb) __Pyx_ErrRestoreInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) __Pyx_ErrFetchInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) __Pyx_ErrRestoreInState(__pyx_tstate, type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) __Pyx_ErrFetchInState(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A6 +#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) +#else +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#endif +#else +#define __Pyx_PyErr_Clear() PyErr_Clear() +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) +#endif + +/* PyObjectGetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n) +#endif + +/* PyObjectGetAttrStrNoError.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); + +/* GetBuiltinName.proto */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name); + +/* TupleAndListFromArray.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n); +static CYTHON_INLINE PyObject* __Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n); +#endif + +/* IncludeStringH.proto */ +#include + +/* BytesEquals.proto */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals); + +/* UnicodeEquals.proto */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals); + +/* fastcall.proto */ +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_VARARGS(args, i) PySequence_GetItem(args, i) +#elif CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GET_ITEM(args, i) +#else + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GetItem(args, i) +#endif +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_NewRef_VARARGS(arg) __Pyx_NewRef(arg) + #define __Pyx_Arg_XDECREF_VARARGS(arg) Py_XDECREF(arg) +#else + #define __Pyx_Arg_NewRef_VARARGS(arg) arg + #define __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#define __Pyx_NumKwargs_VARARGS(kwds) PyDict_Size(kwds) +#define __Pyx_KwValues_VARARGS(args, nargs) NULL +#define __Pyx_GetKwValue_VARARGS(kw, kwvalues, s) __Pyx_PyDict_GetItemStrWithError(kw, s) +#define __Pyx_KwargsAsDict_VARARGS(kw, kwvalues) PyDict_Copy(kw) +#if CYTHON_METH_FASTCALL + #define __Pyx_Arg_FASTCALL(args, i) args[i] + #define __Pyx_NumKwargs_FASTCALL(kwds) PyTuple_GET_SIZE(kwds) + #define __Pyx_KwValues_FASTCALL(args, nargs) ((args) + (nargs)) + static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); + #else + #define __Pyx_KwargsAsDict_FASTCALL(kw, kwvalues) _PyStack_AsDict(kwvalues, kw) + #endif + #define __Pyx_Arg_NewRef_FASTCALL(arg) arg /* no-op, __Pyx_Arg_FASTCALL is direct and this needs + to have the same reference counting */ + #define __Pyx_Arg_XDECREF_FASTCALL(arg) +#else + #define __Pyx_Arg_FASTCALL __Pyx_Arg_VARARGS + #define __Pyx_NumKwargs_FASTCALL __Pyx_NumKwargs_VARARGS + #define __Pyx_KwValues_FASTCALL __Pyx_KwValues_VARARGS + #define __Pyx_GetKwValue_FASTCALL __Pyx_GetKwValue_VARARGS + #define __Pyx_KwargsAsDict_FASTCALL __Pyx_KwargsAsDict_VARARGS + #define __Pyx_Arg_NewRef_FASTCALL(arg) __Pyx_Arg_NewRef_VARARGS(arg) + #define __Pyx_Arg_XDECREF_FASTCALL(arg) __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_VARARGS(args, start), stop - start) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_FASTCALL(args, start), stop - start) +#else +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) PyTuple_GetSlice(args, start, stop) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) PyTuple_GetSlice(args, start, stop) +#endif + +/* RaiseArgTupleInvalid.proto */ +static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, + Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); + +/* RaiseDoubleKeywords.proto */ +static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); + +/* ParseKeywords.proto */ +static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args, + const char* function_name); + +/* ArgTypeTest.proto */ +#define __Pyx_ArgTypeTest(obj, type, none_allowed, name, exact)\ + ((likely(__Pyx_IS_TYPE(obj, type) | (none_allowed && (obj == Py_None)))) ? 1 :\ + __Pyx__ArgTypeTest(obj, type, name, exact)) +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact); + +/* RaiseException.proto */ +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause); + +/* PyFunctionFastCall.proto */ +#if CYTHON_FAST_PYCALL +#if !CYTHON_VECTORCALL +#define __Pyx_PyFunction_FastCall(func, args, nargs)\ + __Pyx_PyFunction_FastCallDict((func), (args), (nargs), NULL) +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs); +#endif +#define __Pyx_BUILD_ASSERT_EXPR(cond)\ + (sizeof(char [1 - 2*!(cond)]) - 1) +#ifndef Py_MEMBER_SIZE +#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member) +#endif +#if !CYTHON_VECTORCALL +#if PY_VERSION_HEX >= 0x03080000 + #include "frameobject.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif + #define __Pxy_PyFrame_Initialize_Offsets() + #define __Pyx_PyFrame_GetLocalsplus(frame) ((frame)->f_localsplus) +#else + static size_t __pyx_pyframe_localsplus_offset = 0; + #include "frameobject.h" + #define __Pxy_PyFrame_Initialize_Offsets()\ + ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\ + (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus))) + #define __Pyx_PyFrame_GetLocalsplus(frame)\ + (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset)) +#endif +#endif +#endif + +/* PyObjectCall.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw); +#else +#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw) +#endif + +/* PyObjectCallMethO.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg); +#endif + +/* PyObjectFastCall.proto */ +#define __Pyx_PyObject_FastCall(func, args, nargs) __Pyx_PyObject_FastCallDict(func, args, (size_t)(nargs), NULL) +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs); + +/* RaiseUnexpectedTypeError.proto */ +static int __Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj); + +/* GCCDiagnostics.proto */ +#if !defined(__INTEL_COMPILER) && defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) +#define __Pyx_HAS_GCC_DIAGNOSTIC +#endif + +/* BuildPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_Py_ssize_t(Py_ssize_t value, Py_ssize_t width, char padding_char, char format_char); + +/* JoinPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char); + +/* StrEquals.proto */ +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyString_Equals __Pyx_PyUnicode_Equals +#else +#define __Pyx_PyString_Equals __Pyx_PyBytes_Equals +#endif + +/* PyObjectFormatSimple.proto */ +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#elif PY_MAJOR_VERSION < 3 + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyString_CheckExact(s)) ? PyUnicode_FromEncodedObject(s, NULL, "strict") :\ + PyObject_Format(s, f)) +#elif CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyLong_CheckExact(s)) ? PyLong_Type.tp_repr(s) :\ + likely(PyFloat_CheckExact(s)) ? PyFloat_Type.tp_repr(s) :\ + PyObject_Format(s, f)) +#else + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#endif + +CYTHON_UNUSED static int __pyx_array_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *); /*proto*/ +/* GetAttr.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *, PyObject *); + +/* GetItemInt.proto */ +#define __Pyx_GetItemInt(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Fast(o, (Py_ssize_t)i, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\ + __Pyx_GetItemInt_Generic(o, to_py_func(i)))) +#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j); +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, + int is_list, int wraparound, int boundscheck); + +/* PyObjectCallOneArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg); + +/* ObjectGetItem.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key); +#else +#define __Pyx_PyObject_GetItem(obj, key) PyObject_GetItem(obj, key) +#endif + +/* KeywordStringCheck.proto */ +static int __Pyx_CheckKeywordStrings(PyObject *kw, const char* function_name, int kw_allowed); + +/* DivInt[Py_ssize_t].proto */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t, Py_ssize_t); + +/* UnaryNegOverflows.proto */ +#define __Pyx_UNARY_NEG_WOULD_OVERFLOW(x)\ + (((x) < 0) & ((unsigned long)(x) == 0-(unsigned long)(x))) + +/* GetAttr3.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *, PyObject *, PyObject *); + +/* PyDictVersioning.proto */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) +#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ + (version_var) = __PYX_GET_DICT_VERSION(dict);\ + (cache_var) = (value); +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ + (VAR) = __pyx_dict_cached_value;\ + } else {\ + (VAR) = __pyx_dict_cached_value = (LOOKUP);\ + __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ + }\ +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); +#else +#define __PYX_GET_DICT_VERSION(dict) (0) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); +#endif + +/* GetModuleGlobalName.proto */ +#if CYTHON_USE_DICT_VERSIONS +#define __Pyx_GetModuleGlobalName(var, name) do {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + (var) = (likely(__pyx_dict_version == __PYX_GET_DICT_VERSION(__pyx_d))) ?\ + (likely(__pyx_dict_cached_value) ? __Pyx_NewRef(__pyx_dict_cached_value) : __Pyx_GetBuiltinName(name)) :\ + __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +#define __Pyx_GetModuleGlobalNameUncached(var, name) do {\ + PY_UINT64_T __pyx_dict_version;\ + PyObject *__pyx_dict_cached_value;\ + (var) = __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value); +#else +#define __Pyx_GetModuleGlobalName(var, name) (var) = __Pyx__GetModuleGlobalName(name) +#define __Pyx_GetModuleGlobalNameUncached(var, name) (var) = __Pyx__GetModuleGlobalName(name) +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name); +#endif + +/* AssertionsEnabled.proto */ +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag) + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (1) +#elif CYTHON_COMPILING_IN_LIMITED_API || (CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030C0000) + static int __pyx_assertions_enabled_flag; + #define __pyx_assertions_enabled() (__pyx_assertions_enabled_flag) + static int __Pyx_init_assertions_enabled(void) { + PyObject *builtins, *debug, *debug_str; + int flag; + builtins = PyEval_GetBuiltins(); + if (!builtins) goto bad; + debug_str = PyUnicode_FromStringAndSize("__debug__", 9); + if (!debug_str) goto bad; + debug = PyObject_GetItem(builtins, debug_str); + Py_DECREF(debug_str); + if (!debug) goto bad; + flag = PyObject_IsTrue(debug); + Py_DECREF(debug); + if (flag == -1) goto bad; + __pyx_assertions_enabled_flag = flag; + return 0; + bad: + __pyx_assertions_enabled_flag = 1; + return -1; + } +#else + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (!Py_OptimizeFlag) +#endif + +/* RaiseTooManyValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected); + +/* RaiseNeedMoreValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index); + +/* RaiseNoneIterError.proto */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void); + +/* ExtTypeTest.proto */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type); + +/* GetTopmostException.proto */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * __Pyx_PyErr_GetTopmostException(PyThreadState *tstate); +#endif + +/* SaveResetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSave(type, value, tb) __Pyx__ExceptionSave(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#define __Pyx_ExceptionReset(type, value, tb) __Pyx__ExceptionReset(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +#else +#define __Pyx_ExceptionSave(type, value, tb) PyErr_GetExcInfo(type, value, tb) +#define __Pyx_ExceptionReset(type, value, tb) PyErr_SetExcInfo(type, value, tb) +#endif + +/* GetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_GetException(type, value, tb) __Pyx__GetException(__pyx_tstate, type, value, tb) +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* SwapException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSwap(type, value, tb) __Pyx__ExceptionSwap(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* Import.proto */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level); + +/* ImportDottedModule.proto */ +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple); +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple); +#endif + +/* FastTypeChecks.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) __Pyx_IsAnySubtype2(Py_TYPE(obj), (PyTypeObject *)type1, (PyTypeObject *)type2) +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); +#else +#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) (PyObject_TypeCheck(obj, (PyTypeObject *)type1) || PyObject_TypeCheck(obj, (PyTypeObject *)type2)) +#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) +#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) +#endif +#define __Pyx_PyErr_ExceptionMatches2(err1, err2) __Pyx_PyErr_GivenExceptionMatches2(__Pyx_PyErr_CurrentExceptionType(), err1, err2) +#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) + +CYTHON_UNUSED static int __pyx_memoryview_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +/* ListCompAppend.proto */ +#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS +static CYTHON_INLINE int __Pyx_ListComp_Append(PyObject* list, PyObject* x) { + PyListObject* L = (PyListObject*) list; + Py_ssize_t len = Py_SIZE(list); + if (likely(L->allocated > len)) { + Py_INCREF(x); + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + L->ob_item[len] = x; + #else + PyList_SET_ITEM(list, len, x); + #endif + __Pyx_SET_SIZE(list, len + 1); + return 0; + } + return PyList_Append(list, x); +} +#else +#define __Pyx_ListComp_Append(L,x) PyList_Append(L,x) +#endif + +/* PySequenceMultiply.proto */ +#define __Pyx_PySequence_Multiply_Left(mul, seq) __Pyx_PySequence_Multiply(seq, mul) +static CYTHON_INLINE PyObject* __Pyx_PySequence_Multiply(PyObject *seq, Py_ssize_t mul); + +/* SetItemInt.proto */ +#define __Pyx_SetItemInt(o, i, v, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_SetItemInt_Fast(o, (Py_ssize_t)i, v, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list assignment index out of range"), -1) :\ + __Pyx_SetItemInt_Generic(o, to_py_func(i), v))) +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v); +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, + int is_list, int wraparound, int boundscheck); + +/* RaiseUnboundLocalError.proto */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname); + +/* DivInt[long].proto */ +static CYTHON_INLINE long __Pyx_div_long(long, long); + +/* PySequenceContains.proto */ +static CYTHON_INLINE int __Pyx_PySequence_ContainsTF(PyObject* item, PyObject* seq, int eq) { + int result = PySequence_Contains(seq, item); + return unlikely(result < 0) ? result : (result == (eq == Py_EQ)); +} + +/* ImportFrom.proto */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name); + +/* HasAttr.proto */ +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 +#define __Pyx_HasAttr(o, n) PyObject_HasAttrWithError(o, n) +#else +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *, PyObject *); +#endif + +/* PyIntCompare.proto */ +static CYTHON_INLINE int __Pyx_PyInt_BoolEqObjC(PyObject *op1, PyObject *op2, long intval, long inplace); + +/* PyIntCompare.proto */ +static CYTHON_INLINE int __Pyx_PyInt_BoolNeObjC(PyObject *op1, PyObject *op2, long intval, long inplace); + +/* IsLittleEndian.proto */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void); + +/* BufferFormatCheck.proto */ +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts); +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type); + +/* BufferGetAndValidate.proto */ +#define __Pyx_GetBufferAndValidate(buf, obj, dtype, flags, nd, cast, stack)\ + ((obj == Py_None || obj == NULL) ?\ + (__Pyx_ZeroBuffer(buf), 0) :\ + __Pyx__GetBufferAndValidate(buf, obj, dtype, flags, nd, cast, stack)) +static int __Pyx__GetBufferAndValidate(Py_buffer* buf, PyObject* obj, + __Pyx_TypeInfo* dtype, int flags, int nd, int cast, __Pyx_BufFmt_StackElem* stack); +static void __Pyx_ZeroBuffer(Py_buffer* buf); +static CYTHON_INLINE void __Pyx_SafeReleaseBuffer(Py_buffer* info); +static Py_ssize_t __Pyx_minusones[] = { -1, -1, -1, -1, -1, -1, -1, -1 }; +static Py_ssize_t __Pyx_zeros[] = { 0, 0, 0, 0, 0, 0, 0, 0 }; + +/* UnicodeConcatInPlace.proto */ +# if CYTHON_COMPILING_IN_CPYTHON && PY_MAJOR_VERSION >= 3 + #if CYTHON_REFNANNY + #define __Pyx_PyUnicode_ConcatInPlace(left, right) __Pyx_PyUnicode_ConcatInPlaceImpl(&left, right, __pyx_refnanny) + #else + #define __Pyx_PyUnicode_ConcatInPlace(left, right) __Pyx_PyUnicode_ConcatInPlaceImpl(&left, right) + #endif + static CYTHON_INLINE PyObject *__Pyx_PyUnicode_ConcatInPlaceImpl(PyObject **p_left, PyObject *right + #if CYTHON_REFNANNY + , void* __pyx_refnanny + #endif + ); +#else +#define __Pyx_PyUnicode_ConcatInPlace __Pyx_PyUnicode_Concat +#endif +#define __Pyx_PyUnicode_ConcatInPlaceSafe(left, right) ((unlikely((left) == Py_None) || unlikely((right) == Py_None)) ?\ + PyNumber_InPlaceAdd(left, right) : __Pyx_PyUnicode_ConcatInPlace(left, right)) + +/* SliceObject.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetSlice( + PyObject* obj, Py_ssize_t cstart, Py_ssize_t cstop, + PyObject** py_start, PyObject** py_stop, PyObject** py_slice, + int has_cstart, int has_cstop, int wraparound); + +/* PyObject_Str.proto */ +#define __Pyx_PyObject_Str(obj)\ + (likely(PyString_CheckExact(obj)) ? __Pyx_NewRef(obj) : PyObject_Str(obj)) + +/* PyObjectFormat.proto */ +#if CYTHON_USE_UNICODE_WRITER +static PyObject* __Pyx_PyObject_Format(PyObject* s, PyObject* f); +#else +#define __Pyx_PyObject_Format(s, f) PyObject_Format(s, f) +#endif + +/* py_dict_keys.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyDict_Keys(PyObject* d); + +/* UnpackUnboundCMethod.proto */ +typedef struct { + PyObject *type; + PyObject **method_name; + PyCFunction func; + PyObject *method; + int flag; +} __Pyx_CachedCFunction; + +/* CallUnboundCMethod0.proto */ +static PyObject* __Pyx__CallUnboundCMethod0(__Pyx_CachedCFunction* cfunc, PyObject* self); +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CallUnboundCMethod0(cfunc, self)\ + (likely((cfunc)->func) ?\ + (likely((cfunc)->flag == METH_NOARGS) ? (*((cfunc)->func))(self, NULL) :\ + (PY_VERSION_HEX >= 0x030600B1 && likely((cfunc)->flag == METH_FASTCALL) ?\ + (PY_VERSION_HEX >= 0x030700A0 ?\ + (*(__Pyx_PyCFunctionFast)(void*)(PyCFunction)(cfunc)->func)(self, &__pyx_empty_tuple, 0) :\ + (*(__Pyx_PyCFunctionFastWithKeywords)(void*)(PyCFunction)(cfunc)->func)(self, &__pyx_empty_tuple, 0, NULL)) :\ + (PY_VERSION_HEX >= 0x030700A0 && (cfunc)->flag == (METH_FASTCALL | METH_KEYWORDS) ?\ + (*(__Pyx_PyCFunctionFastWithKeywords)(void*)(PyCFunction)(cfunc)->func)(self, &__pyx_empty_tuple, 0, NULL) :\ + (likely((cfunc)->flag == (METH_VARARGS | METH_KEYWORDS)) ? ((*(PyCFunctionWithKeywords)(void*)(PyCFunction)(cfunc)->func)(self, __pyx_empty_tuple, NULL)) :\ + ((cfunc)->flag == METH_VARARGS ? (*((cfunc)->func))(self, __pyx_empty_tuple) :\ + __Pyx__CallUnboundCMethod0(cfunc, self)))))) :\ + __Pyx__CallUnboundCMethod0(cfunc, self)) +#else +#define __Pyx_CallUnboundCMethod0(cfunc, self) __Pyx__CallUnboundCMethod0(cfunc, self) +#endif + +/* DictGetItem.proto */ +#if PY_MAJOR_VERSION >= 3 && !CYTHON_COMPILING_IN_PYPY +static PyObject *__Pyx_PyDict_GetItem(PyObject *d, PyObject* key); +#define __Pyx_PyObject_Dict_GetItem(obj, name)\ + (likely(PyDict_CheckExact(obj)) ?\ + __Pyx_PyDict_GetItem(obj, name) : PyObject_GetItem(obj, name)) +#else +#define __Pyx_PyDict_GetItem(d, key) PyObject_GetItem(d, key) +#define __Pyx_PyObject_Dict_GetItem(obj, name) PyObject_GetItem(obj, name) +#endif + +/* PyObjectLookupSpecial.proto */ +#if CYTHON_USE_PYTYPE_LOOKUP && CYTHON_USE_TYPE_SLOTS +#define __Pyx_PyObject_LookupSpecialNoError(obj, attr_name) __Pyx__PyObject_LookupSpecial(obj, attr_name, 0) +#define __Pyx_PyObject_LookupSpecial(obj, attr_name) __Pyx__PyObject_LookupSpecial(obj, attr_name, 1) +static CYTHON_INLINE PyObject* __Pyx__PyObject_LookupSpecial(PyObject* obj, PyObject* attr_name, int with_error); +#else +#define __Pyx_PyObject_LookupSpecialNoError(o,n) __Pyx_PyObject_GetAttrStrNoError(o,n) +#define __Pyx_PyObject_LookupSpecial(o,n) __Pyx_PyObject_GetAttrStr(o,n) +#endif + +/* IncludeStructmemberH.proto */ +#include + +/* FixUpExtensionType.proto */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type); +#endif + +/* FetchSharedCythonModule.proto */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void); + +/* FetchCommonType.proto */ +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type); +#else +static PyTypeObject* __Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases); +#endif + +/* PyMethodNew.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + PyObject *typesModule=NULL, *methodType=NULL, *result=NULL; + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + typesModule = PyImport_ImportModule("types"); + if (!typesModule) return NULL; + methodType = PyObject_GetAttrString(typesModule, "MethodType"); + Py_DECREF(typesModule); + if (!methodType) return NULL; + result = PyObject_CallFunctionObjArgs(methodType, func, self, NULL); + Py_DECREF(methodType); + return result; +} +#elif PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + return PyMethod_New(func, self); +} +#else + #define __Pyx_PyMethod_New PyMethod_New +#endif + +/* PyVectorcallFastCallDict.proto */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw); +#endif + +/* CythonFunctionShared.proto */ +#define __Pyx_CyFunction_USED +#define __Pyx_CYFUNCTION_STATICMETHOD 0x01 +#define __Pyx_CYFUNCTION_CLASSMETHOD 0x02 +#define __Pyx_CYFUNCTION_CCLASS 0x04 +#define __Pyx_CYFUNCTION_COROUTINE 0x08 +#define __Pyx_CyFunction_GetClosure(f)\ + (((__pyx_CyFunctionObject *) (f))->func_closure) +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_CyFunction_GetClassObj(f)\ + (((__pyx_CyFunctionObject *) (f))->func_classobj) +#else + #define __Pyx_CyFunction_GetClassObj(f)\ + ((PyObject*) ((PyCMethodObject *) (f))->mm_class) +#endif +#define __Pyx_CyFunction_SetClassObj(f, classobj)\ + __Pyx__CyFunction_SetClassObj((__pyx_CyFunctionObject *) (f), (classobj)) +#define __Pyx_CyFunction_Defaults(type, f)\ + ((type *)(((__pyx_CyFunctionObject *) (f))->defaults)) +#define __Pyx_CyFunction_SetDefaultsGetter(f, g)\ + ((__pyx_CyFunctionObject *) (f))->defaults_getter = (g) +typedef struct { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject_HEAD + PyObject *func; +#elif PY_VERSION_HEX < 0x030900B1 + PyCFunctionObject func; +#else + PyCMethodObject func; +#endif +#if CYTHON_BACKPORT_VECTORCALL + __pyx_vectorcallfunc func_vectorcall; +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_weakreflist; +#endif + PyObject *func_dict; + PyObject *func_name; + PyObject *func_qualname; + PyObject *func_doc; + PyObject *func_globals; + PyObject *func_code; + PyObject *func_closure; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_classobj; +#endif + void *defaults; + int defaults_pyobjects; + size_t defaults_size; + int flags; + PyObject *defaults_tuple; + PyObject *defaults_kwdict; + PyObject *(*defaults_getter)(PyObject *); + PyObject *func_annotations; + PyObject *func_is_coroutine; +} __pyx_CyFunctionObject; +#undef __Pyx_CyOrPyCFunction_Check +#define __Pyx_CyFunction_Check(obj) __Pyx_TypeCheck(obj, __pyx_CyFunctionType) +#define __Pyx_CyOrPyCFunction_Check(obj) __Pyx_TypeCheck2(obj, __pyx_CyFunctionType, &PyCFunction_Type) +#define __Pyx_CyFunction_CheckExact(obj) __Pyx_IS_TYPE(obj, __pyx_CyFunctionType) +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc); +#undef __Pyx_IsSameCFunction +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCyOrCFunction(func, cfunc) +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject* op, PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj); +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *m, + size_t size, + int pyobjects); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *m, + PyObject *tuple); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *m, + PyObject *dict); +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *m, + PyObject *dict); +static int __pyx_CyFunction_init(PyObject *module); +#if CYTHON_METH_FASTCALL +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +#if CYTHON_BACKPORT_VECTORCALL +#define __Pyx_CyFunction_func_vectorcall(f) (((__pyx_CyFunctionObject*)f)->func_vectorcall) +#else +#define __Pyx_CyFunction_func_vectorcall(f) (((PyCFunctionObject*)f)->vectorcall) +#endif +#endif + +/* CythonFunction.proto */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); + +/* IterFinish.proto */ +static CYTHON_INLINE int __Pyx_IterFinish(void); + +/* PyObjectCallNoArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func); + +/* PyObjectGetMethod.proto */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method); + +/* PyObjectCallMethod0.proto */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name); + +/* UnpackItemEndCheck.proto */ +static int __Pyx_IternextUnpackEndCheck(PyObject *retval, Py_ssize_t expected); + +/* UnpackTupleError.proto */ +static void __Pyx_UnpackTupleError(PyObject *, Py_ssize_t index); + +/* UnpackTuple2.proto */ +#define __Pyx_unpack_tuple2(tuple, value1, value2, is_tuple, has_known_size, decref_tuple)\ + (likely(is_tuple || PyTuple_Check(tuple)) ?\ + (likely(has_known_size || PyTuple_GET_SIZE(tuple) == 2) ?\ + __Pyx_unpack_tuple2_exact(tuple, value1, value2, decref_tuple) :\ + (__Pyx_UnpackTupleError(tuple, 2), -1)) :\ + __Pyx_unpack_tuple2_generic(tuple, value1, value2, has_known_size, decref_tuple)) +static CYTHON_INLINE int __Pyx_unpack_tuple2_exact( + PyObject* tuple, PyObject** value1, PyObject** value2, int decref_tuple); +static int __Pyx_unpack_tuple2_generic( + PyObject* tuple, PyObject** value1, PyObject** value2, int has_known_size, int decref_tuple); + +/* dict_iter.proto */ +static CYTHON_INLINE PyObject* __Pyx_dict_iterator(PyObject* dict, int is_dict, PyObject* method_name, + Py_ssize_t* p_orig_length, int* p_is_dict); +static CYTHON_INLINE int __Pyx_dict_iter_next(PyObject* dict_or_iter, Py_ssize_t orig_length, Py_ssize_t* ppos, + PyObject** pkey, PyObject** pvalue, PyObject** pitem, int is_dict); + +/* PyIntBinop.proto */ +#if !CYTHON_COMPILING_IN_PYPY +static PyObject* __Pyx_PyInt_AddObjC(PyObject *op1, PyObject *op2, long intval, int inplace, int zerodivision_check); +#else +#define __Pyx_PyInt_AddObjC(op1, op2, intval, inplace, zerodivision_check)\ + (inplace ? PyNumber_InPlaceAdd(op1, op2) : PyNumber_Add(op1, op2)) +#endif + +/* BufferIndexError.proto */ +static void __Pyx_RaiseBufferIndexError(int axis); + +#define __Pyx_BufPtrStrided1d(type, buf, i0, s0) (type)((char*)buf + i0 * s0) +/* PyUnicode_Unicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_Unicode(PyObject *obj); + +/* PyObject_GenericGetAttrNoDict.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr +#endif + +/* PyObject_GenericGetAttr.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr +#endif + +/* ValidateBasesTuple.proto */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases); +#endif + +/* PyType_Ready.proto */ +CYTHON_UNUSED static int __Pyx_PyType_Ready(PyTypeObject *t); + +/* SetupReduce.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce(PyObject* type_obj); +#endif + +/* SetVTable.proto */ +static int __Pyx_SetVtable(PyTypeObject* typeptr , void* vtable); + +/* GetVTable.proto */ +static void* __Pyx_GetVtable(PyTypeObject *type); + +/* MergeVTables.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type); +#endif + +/* TypeImport.proto */ +#ifndef __PYX_HAVE_RT_ImportType_proto_3_0_8 +#define __PYX_HAVE_RT_ImportType_proto_3_0_8 +#if defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L +#include +#endif +#if (defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) || __cplusplus >= 201103L +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) alignof(s) +#else +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) sizeof(void*) +#endif +enum __Pyx_ImportType_CheckSize_3_0_8 { + __Pyx_ImportType_CheckSize_Error_3_0_8 = 0, + __Pyx_ImportType_CheckSize_Warn_3_0_8 = 1, + __Pyx_ImportType_CheckSize_Ignore_3_0_8 = 2 +}; +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject* module, const char *module_name, const char *class_name, size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size); +#endif + +/* CLineInTraceback.proto */ +#ifdef CYTHON_CLINE_IN_TRACEBACK +#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) +#else +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); +#endif + +/* CodeObjectCache.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +typedef struct { + PyCodeObject* code_object; + int code_line; +} __Pyx_CodeObjectCacheEntry; +struct __Pyx_CodeObjectCache { + int count; + int max_count; + __Pyx_CodeObjectCacheEntry* entries; +}; +static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); +static PyCodeObject *__pyx_find_code_object(int code_line); +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); +#endif + +/* AddTraceback.proto */ +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename); + +#if PY_MAJOR_VERSION < 3 + static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags); + static void __Pyx_ReleaseBuffer(Py_buffer *view); +#else + #define __Pyx_GetBuffer PyObject_GetBuffer + #define __Pyx_ReleaseBuffer PyBuffer_Release +#endif + + +/* BufferStructDeclare.proto */ +typedef struct { + Py_ssize_t shape, strides, suboffsets; +} __Pyx_Buf_DimInfo; +typedef struct { + size_t refcount; + Py_buffer pybuffer; +} __Pyx_Buffer; +typedef struct { + __Pyx_Buffer *rcbuffer; + char *data; + __Pyx_Buf_DimInfo diminfo[8]; +} __Pyx_LocalBuf_ND; + +/* MemviewSliceIsContig.proto */ +static int __pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim); + +/* OverlappingSlices.proto */ +static int __pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize); + +/* TypeInfoCompare.proto */ +static int __pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b); + +/* MemviewSliceValidateAndInit.proto */ +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj); + +/* ObjectToMemviewSlice.proto */ +static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dcd__double(PyObject *, int writable_flag); + +/* ObjectToMemviewSlice.proto */ +static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dc_unsigned_char(PyObject *, int writable_flag); + +/* RealImag.proto */ +#if CYTHON_CCOMPLEX + #ifdef __cplusplus + #define __Pyx_CREAL(z) ((z).real()) + #define __Pyx_CIMAG(z) ((z).imag()) + #else + #define __Pyx_CREAL(z) (__real__(z)) + #define __Pyx_CIMAG(z) (__imag__(z)) + #endif +#else + #define __Pyx_CREAL(z) ((z).real) + #define __Pyx_CIMAG(z) ((z).imag) +#endif +#if defined(__cplusplus) && CYTHON_CCOMPLEX\ + && (defined(_WIN32) || defined(__clang__) || (defined(__GNUC__) && (__GNUC__ >= 5 || __GNUC__ == 4 && __GNUC_MINOR__ >= 4 )) || __cplusplus >= 201103) + #define __Pyx_SET_CREAL(z,x) ((z).real(x)) + #define __Pyx_SET_CIMAG(z,y) ((z).imag(y)) +#else + #define __Pyx_SET_CREAL(z,x) __Pyx_CREAL(z) = (x) + #define __Pyx_SET_CIMAG(z,y) __Pyx_CIMAG(z) = (y) +#endif + +/* Arithmetic.proto */ +#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #define __Pyx_c_eq_float(a, b) ((a)==(b)) + #define __Pyx_c_sum_float(a, b) ((a)+(b)) + #define __Pyx_c_diff_float(a, b) ((a)-(b)) + #define __Pyx_c_prod_float(a, b) ((a)*(b)) + #define __Pyx_c_quot_float(a, b) ((a)/(b)) + #define __Pyx_c_neg_float(a) (-(a)) + #ifdef __cplusplus + #define __Pyx_c_is_zero_float(z) ((z)==(float)0) + #define __Pyx_c_conj_float(z) (::std::conj(z)) + #if 1 + #define __Pyx_c_abs_float(z) (::std::abs(z)) + #define __Pyx_c_pow_float(a, b) (::std::pow(a, b)) + #endif + #else + #define __Pyx_c_is_zero_float(z) ((z)==0) + #define __Pyx_c_conj_float(z) (conjf(z)) + #if 1 + #define __Pyx_c_abs_float(z) (cabsf(z)) + #define __Pyx_c_pow_float(a, b) (cpowf(a, b)) + #endif + #endif +#else + static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex); + static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex); + #if 1 + static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex, __pyx_t_float_complex); + #endif +#endif + +/* Arithmetic.proto */ +#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #define __Pyx_c_eq_double(a, b) ((a)==(b)) + #define __Pyx_c_sum_double(a, b) ((a)+(b)) + #define __Pyx_c_diff_double(a, b) ((a)-(b)) + #define __Pyx_c_prod_double(a, b) ((a)*(b)) + #define __Pyx_c_quot_double(a, b) ((a)/(b)) + #define __Pyx_c_neg_double(a) (-(a)) + #ifdef __cplusplus + #define __Pyx_c_is_zero_double(z) ((z)==(double)0) + #define __Pyx_c_conj_double(z) (::std::conj(z)) + #if 1 + #define __Pyx_c_abs_double(z) (::std::abs(z)) + #define __Pyx_c_pow_double(a, b) (::std::pow(a, b)) + #endif + #else + #define __Pyx_c_is_zero_double(z) ((z)==0) + #define __Pyx_c_conj_double(z) (conj(z)) + #if 1 + #define __Pyx_c_abs_double(z) (cabs(z)) + #define __Pyx_c_pow_double(a, b) (cpow(a, b)) + #endif + #endif +#else + static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex); + static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex); + #if 1 + static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex, __pyx_t_double_complex); + #endif +#endif + +/* MemviewSliceCopyTemplate.proto */ +static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object); + +/* MemviewSliceInit.proto */ +#define __Pyx_BUF_MAX_NDIMS %(BUF_MAX_NDIMS)d +#define __Pyx_MEMVIEW_DIRECT 1 +#define __Pyx_MEMVIEW_PTR 2 +#define __Pyx_MEMVIEW_FULL 4 +#define __Pyx_MEMVIEW_CONTIG 8 +#define __Pyx_MEMVIEW_STRIDED 16 +#define __Pyx_MEMVIEW_FOLLOW 32 +#define __Pyx_IS_C_CONTIG 1 +#define __Pyx_IS_F_CONTIG 2 +static int __Pyx_init_memviewslice( + struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference); +static CYTHON_INLINE int __pyx_add_acquisition_count_locked( + __pyx_atomic_int_type *acquisition_count, PyThread_type_lock lock); +static CYTHON_INLINE int __pyx_sub_acquisition_count_locked( + __pyx_atomic_int_type *acquisition_count, PyThread_type_lock lock); +#define __pyx_get_slice_count_pointer(memview) (&memview->acquisition_count) +#define __PYX_INC_MEMVIEW(slice, have_gil) __Pyx_INC_MEMVIEW(slice, have_gil, __LINE__) +#define __PYX_XCLEAR_MEMVIEW(slice, have_gil) __Pyx_XCLEAR_MEMVIEW(slice, have_gil, __LINE__) +static CYTHON_INLINE void __Pyx_INC_MEMVIEW(__Pyx_memviewslice *, int, int); +static CYTHON_INLINE void __Pyx_XCLEAR_MEMVIEW(__Pyx_memviewslice *, int, int); + +/* CIntFromPy.proto */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE size_t __Pyx_PyInt_As_size_t(PyObject *); + +/* CIntFromPy.proto */ +static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *); + +/* FormatTypeName.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +typedef PyObject *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%U" +static __Pyx_TypeName __Pyx_PyType_GetName(PyTypeObject* tp); +#define __Pyx_DECREF_TypeName(obj) Py_XDECREF(obj) +#else +typedef const char *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%.200s" +#define __Pyx_PyType_GetName(tp) ((tp)->tp_name) +#define __Pyx_DECREF_TypeName(obj) +#endif + +/* CheckBinaryVersion.proto */ +static unsigned long __Pyx_get_runtime_version(void); +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer); + +/* InitStrings.proto */ +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); + +/* #### Code section: module_declarations ### */ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *__pyx_v_self); /* proto*/ +static char *__pyx_memoryview_get_item_pointer(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto*/ +static PyObject *__pyx_memoryview_is_slice(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assignment(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_dst, PyObject *__pyx_v_src); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assign_scalar(struct __pyx_memoryview_obj *__pyx_v_self, struct __pyx_memoryview_obj *__pyx_v_dst, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_setitem_indexed(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_convert_item_to_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryview_assign_item_from_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview__get_base(struct __pyx_memoryview_obj *__pyx_v_self); /* proto*/ +static PyObject *__pyx_memoryviewslice_convert_item_to_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryviewslice_assign_item_from_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryviewslice__get_base(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto*/ +static CYTHON_INLINE PyObject *__pyx_f_5numpy_7ndarray_4base_base(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE PyArray_Descr *__pyx_f_5numpy_7ndarray_5descr_descr(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE int __pyx_f_5numpy_7ndarray_4ndim_ndim(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE npy_intp *__pyx_f_5numpy_7ndarray_5shape_shape(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE npy_intp *__pyx_f_5numpy_7ndarray_7strides_strides(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE npy_intp __pyx_f_5numpy_7ndarray_4size_size(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE char *__pyx_f_5numpy_7ndarray_4data_data(PyArrayObject *__pyx_v_self); /* proto*/ + +/* Module declarations from "cython.view" */ + +/* Module declarations from "cython.dataclasses" */ + +/* Module declarations from "cython" */ + +/* Module declarations from "libc.string" */ + +/* Module declarations from "libc.stdio" */ + +/* Module declarations from "libc" */ + +/* Module declarations from "acados_solver_common" */ + +/* Module declarations from "acados_solver" */ + +/* Module declarations from "__builtin__" */ + +/* Module declarations from "cpython.type" */ + +/* Module declarations from "cpython" */ + +/* Module declarations from "cpython.object" */ + +/* Module declarations from "cpython.ref" */ + +/* Module declarations from "numpy" */ + +/* Module declarations from "numpy" */ + +/* Module declarations from "acados_template.acados_ocp_solver_pyx" */ +static PyObject *__pyx_collections_abc_Sequence = 0; +static PyObject *generic = 0; +static PyObject *strided = 0; +static PyObject *indirect = 0; +static PyObject *contiguous = 0; +static PyObject *indirect_contiguous = 0; +static int __pyx_memoryview_thread_locks_used; +static PyThread_type_lock __pyx_memoryview_thread_locks[8]; +static CYTHON_INLINE PyObject *__Pyx_carray_to_py_int(int *, Py_ssize_t); /*proto*/ +static CYTHON_INLINE PyObject *__Pyx_carray_to_tuple_int(int *, Py_ssize_t); /*proto*/ +static int __pyx_array_allocate_buffer(struct __pyx_array_obj *); /*proto*/ +static struct __pyx_array_obj *__pyx_array_new(PyObject *, Py_ssize_t, char *, char *, char *); /*proto*/ +static PyObject *__pyx_memoryview_new(PyObject *, int, int, __Pyx_TypeInfo *); /*proto*/ +static CYTHON_INLINE int __pyx_memoryview_check(PyObject *); /*proto*/ +static PyObject *_unellipsify(PyObject *, int); /*proto*/ +static int assert_direct_dimensions(Py_ssize_t *, int); /*proto*/ +static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_obj *, PyObject *); /*proto*/ +static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int, int); /*proto*/ +static char *__pyx_pybuffer_index(Py_buffer *, char *, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memslice_transpose(__Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_fromslice(__Pyx_memviewslice, int, PyObject *(*)(char *), int (*)(char *, PyObject *), int); /*proto*/ +static __Pyx_memviewslice *__pyx_memoryview_get_slice_from_memoryview(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static void __pyx_memoryview_slice_copy(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object(struct __pyx_memoryview_obj *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object_from_slice(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static Py_ssize_t abs_py_ssize_t(Py_ssize_t); /*proto*/ +static char __pyx_get_best_slice_order(__Pyx_memviewslice *, int); /*proto*/ +static void _copy_strided_to_strided(char *, Py_ssize_t *, char *, Py_ssize_t *, Py_ssize_t *, Py_ssize_t *, int, size_t); /*proto*/ +static void copy_strided_to_strided(__Pyx_memviewslice *, __Pyx_memviewslice *, int, size_t); /*proto*/ +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *, int); /*proto*/ +static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *, Py_ssize_t *, Py_ssize_t, int, char); /*proto*/ +static void *__pyx_memoryview_copy_data_to_temp(__Pyx_memviewslice *, __Pyx_memviewslice *, char, int); /*proto*/ +static int __pyx_memoryview_err_extents(int, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memoryview_err_dim(PyObject *, PyObject *, int); /*proto*/ +static int __pyx_memoryview_err(PyObject *, PyObject *); /*proto*/ +static int __pyx_memoryview_err_no_memory(void); /*proto*/ +static int __pyx_memoryview_copy_contents(__Pyx_memviewslice, __Pyx_memviewslice, int, int, int); /*proto*/ +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *, int, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *, int, size_t, void *, int); /*proto*/ +static void __pyx_memoryview__slice_assign_scalar(char *, Py_ssize_t *, Py_ssize_t *, int, size_t, void *); /*proto*/ +static PyObject *__pyx_unpickle_Enum__set_state(struct __pyx_MemviewEnum_obj *, PyObject *); /*proto*/ +/* #### Code section: typeinfo ### */ +static __Pyx_TypeInfo __Pyx_TypeInfo_nn___pyx_t_5numpy_float64_t = { "float64_t", NULL, sizeof(__pyx_t_5numpy_float64_t), { 0 }, 0, 'R', 0, 0 }; +static __Pyx_TypeInfo __Pyx_TypeInfo_nn___pyx_t_5numpy_int32_t = { "int32_t", NULL, sizeof(__pyx_t_5numpy_int32_t), { 0 }, 0, __PYX_IS_UNSIGNED(__pyx_t_5numpy_int32_t) ? 'U' : 'I', __PYX_IS_UNSIGNED(__pyx_t_5numpy_int32_t), 0 }; +static __Pyx_TypeInfo __Pyx_TypeInfo_double = { "double", NULL, sizeof(double), { 0 }, 0, 'R', 0, 0 }; +static __Pyx_TypeInfo __Pyx_TypeInfo_unsigned_char = { "unsigned char", NULL, sizeof(unsigned char), { 0 }, 0, __PYX_IS_UNSIGNED(unsigned char) ? 'U' : 'I', __PYX_IS_UNSIGNED(unsigned char), 0 }; +/* #### Code section: before_global_var ### */ +#define __Pyx_MODULE_NAME "acados_template.acados_ocp_solver_pyx" +extern int __pyx_module_is_main_acados_template__acados_ocp_solver_pyx; +int __pyx_module_is_main_acados_template__acados_ocp_solver_pyx = 0; + +/* Implementation of "acados_template.acados_ocp_solver_pyx" */ +/* #### Code section: global_var ### */ +static PyObject *__pyx_builtin_AssertionError; +static PyObject *__pyx_builtin_print; +static PyObject *__pyx_builtin_NotImplementedError; +static PyObject *__pyx_builtin_range; +static PyObject *__pyx_builtin_open; +static PyObject *__pyx_builtin_TypeError; +static PyObject *__pyx_builtin___import__; +static PyObject *__pyx_builtin_ValueError; +static PyObject *__pyx_builtin_MemoryError; +static PyObject *__pyx_builtin_enumerate; +static PyObject *__pyx_builtin_Ellipsis; +static PyObject *__pyx_builtin_id; +static PyObject *__pyx_builtin_IndexError; +static PyObject *__pyx_builtin_ImportError; +/* #### Code section: string_decls ### */ +static const char __pyx_k_[] = ": "; +static const char __pyx_k_0[] = "0"; +static const char __pyx_k_F[] = "F"; +static const char __pyx_k_N[] = "N"; +static const char __pyx_k_O[] = "O"; +static const char __pyx_k_c[] = "c"; +static const char __pyx_k_d[] = "d"; +static const char __pyx_k_f[] = "f"; +static const char __pyx_k_i[] = "i"; +static const char __pyx_k_k[] = "k"; +static const char __pyx_k_m[] = "m"; +static const char __pyx_k_n[] = "n"; +static const char __pyx_k_p[] = "p"; +static const char __pyx_k_r[] = "r"; +static const char __pyx_k_t[] = "t"; +static const char __pyx_k_u[] = "u"; +static const char __pyx_k_w[] = "w"; +static const char __pyx_k_x[] = "x"; +static const char __pyx_k_z[] = "z"; +static const char __pyx_k__2[] = "."; +static const char __pyx_k__3[] = "*"; +static const char __pyx_k__6[] = "'"; +static const char __pyx_k__7[] = ")"; +static const char __pyx_k_ex[] = "ex"; +static const char __pyx_k_gc[] = "gc"; +static const char __pyx_k_id[] = "id"; +static const char __pyx_k_lN[] = "lN"; +static const char __pyx_k_np[] = "np"; +static const char __pyx_k_nx[] = "nx"; +static const char __pyx_k_os[] = "os"; +static const char __pyx_k_pi[] = "pi"; +static const char __pyx_k_sl[] = "sl"; +static const char __pyx_k_su[] = "su"; +static const char __pyx_k_u0[] = "u0"; +static const char __pyx_k_SQP[] = "SQP"; +static const char __pyx_k__16[] = ""; +static const char __pyx_k__17[] = "_"; +static const char __pyx_k__31[] = ", "; +static const char __pyx_k__94[] = "?"; +static const char __pyx_k_abc[] = "abc"; +static const char __pyx_k_and[] = " and "; +static const char __pyx_k_get[] = "get"; +static const char __pyx_k_got[] = " (got "; +static const char __pyx_k_idx[] = "idx"; +static const char __pyx_k_int[] = "int"; +static const char __pyx_k_key[] = "key"; +static const char __pyx_k_lam[] = "lam"; +static const char __pyx_k_lbu[] = "lbu"; +static const char __pyx_k_lbx[] = "lbx"; +static const char __pyx_k_msg[] = "msg"; +static const char __pyx_k_new[] = "__new__"; +static const char __pyx_k_obj[] = "obj"; +static const char __pyx_k_out[] = "out"; +static const char __pyx_k_set[] = "set"; +static const char __pyx_k_sys[] = "sys"; +static const char __pyx_k_t_2[] = "t_"; +static const char __pyx_k_u_2[] = "u_"; +static const char __pyx_k_ubu[] = "ubu"; +static const char __pyx_k_ubx[] = "ubx"; +static const char __pyx_k_x_2[] = "x_"; +static const char __pyx_k_z_2[] = "z_"; +static const char __pyx_k_None[] = "None"; +static const char __pyx_k_TODO[] = "TODO!"; +static const char __pyx_k_base[] = "base"; +static const char __pyx_k_data[] = "data_"; +static const char __pyx_k_dict[] = "__dict__"; +static const char __pyx_k_dims[] = "dims"; +static const char __pyx_k_dump[] = "dump"; +static const char __pyx_k_exit[] = "__exit__"; +static const char __pyx_k_join[] = "join"; +static const char __pyx_k_json[] = "json"; +static const char __pyx_k_keys[] = "keys"; +static const char __pyx_k_load[] = "load"; +static const char __pyx_k_main[] = "__main__"; +static const char __pyx_k_mode[] = "mode"; +static const char __pyx_k_name[] = "name"; +static const char __pyx_k_ndim[] = "ndim"; +static const char __pyx_k_open[] = "open"; +static const char __pyx_k_pack[] = "pack"; +static const char __pyx_k_path[] = "path"; +static const char __pyx_k_pi_2[] = "pi_"; +static const char __pyx_k_self[] = "self"; +static const char __pyx_k_size[] = "size"; +static const char __pyx_k_sl_2[] = "sl_"; +static const char __pyx_k_spec[] = "__spec__"; +static const char __pyx_k_step[] = "step"; +static const char __pyx_k_stop[] = "stop"; +static const char __pyx_k_su_2[] = "su_"; +static const char __pyx_k_test[] = "__test__"; +static const char __pyx_k_yref[] = "yref"; +static const char __pyx_k_ASCII[] = "ASCII"; +static const char __pyx_k_alpha[] = "alpha"; +static const char __pyx_k_array[] = "array"; +static const char __pyx_k_class[] = "__class__"; +static const char __pyx_k_count[] = "count"; +static const char __pyx_k_dtype[] = "dtype"; +static const char __pyx_k_enter[] = "__enter__"; +static const char __pyx_k_error[] = "error"; +static const char __pyx_k_field[] = "field"; +static const char __pyx_k_flags[] = "flags"; +static const char __pyx_k_index[] = "index"; +static const char __pyx_k_int32[] = "int32"; +static const char __pyx_k_lam_2[] = "lam_"; +static const char __pyx_k_numpy[] = "numpy"; +static const char __pyx_k_order[] = "order"; +static const char __pyx_k_print[] = "print"; +static const char __pyx_k_range[] = "range"; +static const char __pyx_k_reset[] = "reset"; +static const char __pyx_k_shape[] = "shape"; +static const char __pyx_k_solve[] = "solve"; +static const char __pyx_k_split[] = "split"; +static const char __pyx_k_stage[] = "stage"; +static const char __pyx_k_start[] = "start"; +static const char __pyx_k_utf_8[] = "utf-8"; +static const char __pyx_k_value[] = "value_"; +static const char __pyx_k_y_ref[] = "y_ref"; +static const char __pyx_k_zeros[] = "zeros"; +static const char __pyx_k_data_2[] = "data"; +static const char __pyx_k_enable[] = "enable"; +static const char __pyx_k_encode[] = "encode"; +static const char __pyx_k_fields[] = "fields"; +static const char __pyx_k_format[] = "format"; +static const char __pyx_k_getcwd[] = "getcwd"; +static const char __pyx_k_import[] = "__import__"; +static const char __pyx_k_indent[] = "indent"; +static const char __pyx_k_isfile[] = "isfile"; +static const char __pyx_k_json_2[] = ".json"; +static const char __pyx_k_name_2[] = "__name__"; +static const char __pyx_k_pickle[] = "pickle"; +static const char __pyx_k_qp_mu0[] = "qp_mu0"; +static const char __pyx_k_reduce[] = "__reduce__"; +static const char __pyx_k_res_eq[] = "res_eq"; +static const char __pyx_k_stat_m[] = "stat_m"; +static const char __pyx_k_stat_n[] = "stat_n"; +static const char __pyx_k_status[] = "status"; +static const char __pyx_k_struct[] = "struct"; +static const char __pyx_k_tol_eq[] = "tol_eq"; +static const char __pyx_k_tolist[] = "tolist"; +static const char __pyx_k_unpack[] = "unpack"; +static const char __pyx_k_update[] = "update"; +static const char __pyx_k_utcnow[] = "utcnow"; +static const char __pyx_k_x0_bar[] = "x0_bar"; +static const char __pyx_k_SQP_RTI[] = "SQP_RTI"; +static const char __pyx_k_default[] = "default"; +static const char __pyx_k_disable[] = "disable"; +static const char __pyx_k_field_2[] = "field_"; +static const char __pyx_k_float64[] = "float64"; +static const char __pyx_k_fortran[] = "fortran"; +static const char __pyx_k_iterate[] = "iterate"; +static const char __pyx_k_memview[] = "memview"; +static const char __pyx_k_ndarray[] = "ndarray"; +static const char __pyx_k_out_mat[] = "out_mat"; +static const char __pyx_k_qp_iter[] = "qp_iter"; +static const char __pyx_k_time_qp[] = "time_qp"; +static const char __pyx_k_value_2[] = "value"; +static const char __pyx_k_z_guess[] = "z_guess"; +static const char __pyx_k_Ellipsis[] = "Ellipsis"; +static const char __pyx_k_Sequence[] = "Sequence"; +static const char __pyx_k_at_stage[] = "\" at stage "; +static const char __pyx_k_cost_set[] = "cost_set"; +static const char __pyx_k_data_len[] = "data_len"; +static const char __pyx_k_datetime[] = "datetime"; +static const char __pyx_k_filename[] = "filename"; +static const char __pyx_k_get_cost[] = "get_cost"; +static const char __pyx_k_getstate[] = "__getstate__"; +static const char __pyx_k_i_string[] = "i_string"; +static const char __pyx_k_itemsize[] = "itemsize"; +static const char __pyx_k_min_size[] = "min_size"; +static const char __pyx_k_n_update[] = "n_update"; +static const char __pyx_k_pyx_type[] = "__pyx_type"; +static const char __pyx_k_register[] = "register"; +static const char __pyx_k_res_comp[] = "res_comp"; +static const char __pyx_k_res_ineq[] = "res_ineq"; +static const char __pyx_k_res_stat[] = "res_stat"; +static const char __pyx_k_setstate[] = "__setstate__"; +static const char __pyx_k_solution[] = "solution"; +static const char __pyx_k_sqp_iter[] = "sqp_iter"; +static const char __pyx_k_strftime[] = "strftime"; +static const char __pyx_k_time_lin[] = "time_lin"; +static const char __pyx_k_time_reg[] = "time_reg"; +static const char __pyx_k_time_sim[] = "time_sim"; +static const char __pyx_k_time_tot[] = "time_tot"; +static const char __pyx_k_tol_comp[] = "tol_comp"; +static const char __pyx_k_tol_ineq[] = "tol_ineq"; +static const char __pyx_k_tol_stat[] = "tol_stat"; +static const char __pyx_k_you_have[] = " (you have "; +static const char __pyx_k_TypeError[] = "TypeError"; +static const char __pyx_k_alpha_min[] = "alpha_min"; +static const char __pyx_k_enumerate[] = "enumerate"; +static const char __pyx_k_for_field[] = " for field \""; +static const char __pyx_k_get_stats[] = "get_stats"; +static const char __pyx_k_int_value[] = "int_value"; +static const char __pyx_k_isenabled[] = "isenabled"; +static const char __pyx_k_overwrite[] = "overwrite"; +static const char __pyx_k_pyx_state[] = "__pyx_state"; +static const char __pyx_k_qp_tol_eq[] = "qp_tol_eq"; +static const char __pyx_k_recompute[] = "recompute"; +static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; +static const char __pyx_k_residuals[] = "residuals"; +static const char __pyx_k_rti_phase[] = "rti_phase"; +static const char __pyx_k_sort_keys[] = "sort_keys"; +static const char __pyx_k_time_glob[] = "time_glob"; +static const char __pyx_k_IndexError[] = "IndexError"; +static const char __pyx_k_ValueError[] = "ValueError"; +static const char __pyx_k_full_stats[] = "full_stats"; +static const char __pyx_k_idx_values[] = "idx_values_"; +static const char __pyx_k_int_fields[] = "int_fields"; +static const char __pyx_k_mem_fields[] = "mem_fields"; +static const char __pyx_k_model_name[] = "model_name"; +static const char __pyx_k_out_fields[] = "out_fields"; +static const char __pyx_k_pyx_result[] = "__pyx_result"; +static const char __pyx_k_pyx_vtable[] = "__pyx_vtable__"; +static const char __pyx_k_qp_tau_min[] = "qp_tau_min"; +static const char __pyx_k_statistics[] = "statistics"; +static const char __pyx_k_xdot_guess[] = "xdot_guess"; +static const char __pyx_k_ImportError[] = "ImportError"; +static const char __pyx_k_MemoryError[] = "MemoryError"; +static const char __pyx_k_PickleError[] = "PickleError"; +static const char __pyx_k_collections[] = "collections"; +static const char __pyx_k_cost_fields[] = "cost_fields"; +static const char __pyx_k_options_set[] = "options_set"; +static const char __pyx_k_print_level[] = "print_level"; +static const char __pyx_k_qp_tol_comp[] = "qp_tol_comp"; +static const char __pyx_k_qp_tol_ineq[] = "qp_tol_ineq"; +static const char __pyx_k_qp_tol_stat[] = "qp_tol_stat"; +static const char __pyx_k_step_length[] = "step_length"; +static const char __pyx_k_time_sim_ad[] = "time_sim_ad"; +static const char __pyx_k_time_sim_la[] = "time_sim_la"; +static const char __pyx_k_value_shape[] = "value_shape"; +static const char __pyx_k_double_value[] = "double_value"; +static const char __pyx_k_get_stat_int[] = "__get_stat_int"; +static const char __pyx_k_initializing[] = "_initializing"; +static const char __pyx_k_is_coroutine[] = "_is_coroutine"; +static const char __pyx_k_load_iterate[] = "load_iterate"; +static const char __pyx_k_param_values[] = "param_values_"; +static const char __pyx_k_pyx_checksum[] = "__pyx_checksum"; +static const char __pyx_k_solve_for_x0[] = "solve_for_x0"; +static const char __pyx_k_string_value[] = "string_value"; +static const char __pyx_k_stringsource[] = ""; +static const char __pyx_k_version_info[] = "version_info"; +static const char __pyx_k_Got_sizes_idx[] = " Got sizes idx "; +static const char __pyx_k_Y_m_d_H_M_S_f[] = "%Y-%m-%d-%H:%M:%S.%f"; +static const char __pyx_k_class_getitem[] = "__class_getitem__"; +static const char __pyx_k_custom_update[] = "custom_update"; +static const char __pyx_k_double_fields[] = "double_fields"; +static const char __pyx_k_get_residuals[] = "get_residuals"; +static const char __pyx_k_globalization[] = "globalization"; +static const char __pyx_k_qp_warm_start[] = "qp_warm_start"; +static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; +static const char __pyx_k_store_iterate[] = "store_iterate"; +static const char __pyx_k_string_fields[] = "string_fields"; +static const char __pyx_k_time_qp_xcond[] = "time_qp_xcond"; +static const char __pyx_k_AssertionError[] = "AssertionError"; +static const char __pyx_k_asfortranarray[] = "asfortranarray"; +static const char __pyx_k_full_step_dual[] = "full_step_dual"; +static const char __pyx_k_get_from_qp_in[] = "get_from_qp_in"; +static const char __pyx_k_new_time_steps[] = "new_time_steps"; +static const char __pyx_k_param_values_2[] = ", param_values "; +static const char __pyx_k_with_dimension[] = " with dimension "; +static const char __pyx_k_View_MemoryView[] = "View.MemoryView"; +static const char __pyx_k_allocate_buffer[] = "allocate_buffer"; +static const char __pyx_k_alpha_reduction[] = "alpha_reduction"; +static const char __pyx_k_collections_abc[] = "collections.abc"; +static const char __pyx_k_constraints_set[] = "constraints_set"; +static const char __pyx_k_dtype_is_object[] = "dtype_is_object"; +static const char __pyx_k_eval_param_sens[] = "eval_param_sens"; +static const char __pyx_k_get_stat_double[] = "__get_stat_double"; +static const char __pyx_k_get_stat_matrix[] = "__get_stat_matrix"; +static const char __pyx_k_nlp_solver_type[] = "nlp_solver_type"; +static const char __pyx_k_pyx_PickleError[] = "__pyx_PickleError"; +static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; +static const char __pyx_k_print_statistics[] = "print_statistics"; +static const char __pyx_k_qp_solver_cond_N[] = "qp_solver_cond_N"; +static const char __pyx_k_ascontiguousarray[] = "ascontiguousarray"; +static const char __pyx_k_pyx_unpickle_Enum[] = "__pyx_unpickle_Enum"; +static const char __pyx_k_set_params_sparse[] = "set_params_sparse"; +static const char __pyx_k_asyncio_coroutines[] = "asyncio.coroutines"; +static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; +static const char __pyx_k_constraints_fields[] = "constraints_fields"; +static const char __pyx_k_set_new_time_steps[] = "set_new_time_steps"; +static const char __pyx_k_strided_and_direct[] = ""; +static const char __pyx_k_NotImplementedError[] = "NotImplementedError"; +static const char __pyx_k_get_pointers_solver[] = "__get_pointers_solver"; +static const char __pyx_k_initialize_t_slacks[] = "initialize_t_slacks"; +static const char __pyx_k_reset_qp_solver_mem[] = "reset_qp_solver_mem"; +static const char __pyx_k_time_qp_solver_call[] = "time_qp_solver_call"; +static const char __pyx_k_warm_start_first_qp[] = "warm_start_first_qp"; +static const char __pyx_k_strided_and_indirect[] = ""; +static const char __pyx_k_AcadosOcpSolverCython[] = "AcadosOcpSolverCython"; +static const char __pyx_k_Invalid_shape_in_axis[] = "Invalid shape in axis "; +static const char __pyx_k_contiguous_and_direct[] = ""; +static const char __pyx_k_globalization_use_SOC[] = "globalization_use_SOC"; +static const char __pyx_k_Cannot_index_with_type[] = "Cannot index with type '"; +static const char __pyx_k_MemoryView_of_r_object[] = ""; +static const char __pyx_k_eps_sufficient_descent[] = "eps_sufficient_descent"; +static const char __pyx_k_MemoryView_of_r_at_0x_x[] = ""; +static const char __pyx_k_contiguous_and_indirect[] = ""; +static const char __pyx_k_update_qp_solver_cond_N[] = "update_qp_solver_cond_N"; +static const char __pyx_k_with_dimension_you_have[] = "with dimension {} (you have {})"; +static const char __pyx_k_AcadosOcpSolverCython_get[] = "AcadosOcpSolverCython.get"; +static const char __pyx_k_AcadosOcpSolverCython_set[] = "AcadosOcpSolverCython.set"; +static const char __pyx_k_Dimension_d_is_not_direct[] = "Dimension %d is not direct"; +static const char __pyx_k_stored_current_iterate_in[] = "stored current iterate in "; +static const char __pyx_k_Index_out_of_bounds_axis_d[] = "Index out of bounds (axis %d)"; +static const char __pyx_k_AcadosOcpSolverCython_reset[] = "AcadosOcpSolverCython.reset"; +static const char __pyx_k_AcadosOcpSolverCython_solve[] = "AcadosOcpSolverCython.solve"; +static const char __pyx_k_Step_may_not_be_zero_axis_d[] = "Step may not be zero (axis %d)"; +static const char __pyx_k_itemsize_0_for_cython_array[] = "itemsize <= 0 for cython.array"; +static const char __pyx_k_store_iterate_locals_lambda[] = "store_iterate.."; +static const char __pyx_k_time_solution_sensitivities[] = "time_solution_sensitivities"; +static const char __pyx_k_unable_to_allocate_array_data[] = "unable to allocate array data."; +static const char __pyx_k_AcadosOcpSolverCython_cost_set[] = "AcadosOcpSolverCython.cost_set"; +static const char __pyx_k_AcadosOcpSolverCython_get_cost[] = "AcadosOcpSolverCython.get_cost"; +static const char __pyx_k_param_values__must_be_np_array[] = "param_values_ must be np.array."; +static const char __pyx_k_strided_and_direct_or_indirect[] = ""; +static const char __pyx_k_AcadosOcpSolverCython__get_poin[] = "_AcadosOcpSolverCython__get_pointers_solver"; +static const char __pyx_k_AcadosOcpSolverCython__get_stat[] = "_AcadosOcpSolverCython__get_stat_int"; +static const char __pyx_k_AcadosOcpSolverCython_get_field[] = "AcadosOcpSolverCython.get(): field {} does not exist at final stage {}."; +static const char __pyx_k_AcadosOcpSolverCython_get_is_an[] = "AcadosOcpSolverCython.get(): {} is an invalid argument. \n Possible values are {}."; +static const char __pyx_k_AcadosOcpSolverCython_get_stage[] = "AcadosOcpSolverCython.get(): stage index must be in [0, N], got: {}."; +static const char __pyx_k_AcadosOcpSolverCython_get_stats[] = "AcadosOcpSolverCython.get_stats"; +static const char __pyx_k_AcadosOcpSolverCython_solve_for[] = "AcadosOcpSolverCython.solve_for_x0"; +static const char __pyx_k_AcadosOcpSolverCython_update_qp[] = "AcadosOcpSolverCython.update_qp_solver_cond_N"; +static const char __pyx_k_numpy_core_multiarray_failed_to[] = "numpy.core.multiarray failed to import"; +static const char __pyx_k_AcadosOcpSolverCython___get_poin[] = "AcadosOcpSolverCython.__get_pointers_solver"; +static const char __pyx_k_AcadosOcpSolverCython___get_stat[] = "AcadosOcpSolverCython.__get_stat_int"; +static const char __pyx_k_AcadosOcpSolverCython___reduce_c[] = "AcadosOcpSolverCython.__reduce_cython__"; +static const char __pyx_k_AcadosOcpSolverCython___setstate[] = "AcadosOcpSolverCython.__setstate_cython__"; +static const char __pyx_k_AcadosOcpSolverCython_constraint[] = "AcadosOcpSolverCython.constraints_set(): mismatching dimension"; +static const char __pyx_k_AcadosOcpSolverCython_cost_set_m[] = "AcadosOcpSolverCython.cost_set(): mismatching dimension"; +static const char __pyx_k_AcadosOcpSolverCython_custom_upd[] = "AcadosOcpSolverCython.custom_update"; +static const char __pyx_k_AcadosOcpSolverCython_does_not_s[] = "AcadosOcpSolverCython: does not support set_new_time_steps() since it is only a prototyping feature"; +static const char __pyx_k_AcadosOcpSolverCython_eval_param[] = "AcadosOcpSolverCython.eval_param_sens(): index must be Integer."; +static const char __pyx_k_AcadosOcpSolverCython_get_from_q[] = "AcadosOcpSolverCython.get_from_qp_in"; +static const char __pyx_k_AcadosOcpSolverCython_get_residu[] = "AcadosOcpSolverCython.get_residuals"; +static const char __pyx_k_AcadosOcpSolverCython_load_itera[] = "AcadosOcpSolverCython.load_iterate"; +static const char __pyx_k_AcadosOcpSolverCython_options_se[] = "AcadosOcpSolverCython.options_set() does not support field {}.\n Possible values are {}."; +static const char __pyx_k_AcadosOcpSolverCython_print_stat[] = "AcadosOcpSolverCython.print_statistics"; +static const char __pyx_k_AcadosOcpSolverCython_set_is_not[] = "AcadosOcpSolverCython.set(): {} is not a valid argument. \nPossible values are {}."; +static const char __pyx_k_AcadosOcpSolverCython_set_mismat[] = "AcadosOcpSolverCython.set(): mismatching dimension for field \"{}\" "; +static const char __pyx_k_AcadosOcpSolverCython_set_new_ti[] = "AcadosOcpSolverCython.set_new_time_steps"; +static const char __pyx_k_AcadosOcpSolverCython_set_params[] = "AcadosOcpSolverCython.set_params_sparse"; +static const char __pyx_k_AcadosOcpSolverCython_solve_argu[] = "AcadosOcpSolverCython.solve(): argument 'rti_phase' can take only values 0, 1, 2 for SQP-RTI-type solvers"; +static const char __pyx_k_AcadosOcpSolverCython_store_iter[] = "AcadosOcpSolverCython.store_iterate"; +static const char __pyx_k_All_dimensions_preceding_dimensi[] = "All dimensions preceding dimension %d must be indexed and not sliced"; +static const char __pyx_k_Buffer_view_does_not_expose_stri[] = "Buffer view does not expose strides"; +static const char __pyx_k_Can_only_create_a_buffer_that_is[] = "Can only create a buffer that is contiguous in memory."; +static const char __pyx_k_Cannot_assign_to_read_only_memor[] = "Cannot assign to read-only memoryview"; +static const char __pyx_k_Cannot_create_writable_memory_vi[] = "Cannot create writable memory view from read-only memoryview"; +static const char __pyx_k_Cannot_transpose_memoryview_with[] = "Cannot transpose memoryview with indirect dimensions"; +static const char __pyx_k_Empty_shape_tuple_for_cython_arr[] = "Empty shape tuple for cython.array"; +static const char __pyx_k_Incompatible_checksums_0x_x_vs_0[] = "Incompatible checksums (0x%x vs (0x82a3537, 0x6ae9995, 0xb068931) = (name))"; +static const char __pyx_k_Indirect_dimensions_not_supporte[] = "Indirect dimensions not supported"; +static const char __pyx_k_Invalid_mode_expected_c_or_fortr[] = "Invalid mode, expected 'c' or 'fortran', got "; +static const char __pyx_k_Out_of_bounds_on_buffer_access_a[] = "Out of bounds on buffer access (axis "; +static const char __pyx_k_Unable_to_convert_item_to_object[] = "Unable to convert item to object"; +static const char __pyx_k_Warning_acados_ocp_solver_reache[] = "Warning: acados_ocp_solver reached maximum iterations."; +static const char __pyx_k_acados_acados_ocp_solver_returne[] = "acados acados_ocp_solver returned status "; +static const char __pyx_k_acados_template_acados_ocp_solve[] = "acados_template.acados_ocp_solver_pyx"; +static const char __pyx_k_alpha_values_are_not_available_f[] = "alpha values are not available for SQP_RTI"; +static const char __pyx_k_constraints_set_value_must_be_nu[] = "constraints_set: value must be numpy array, got "; +static const char __pyx_k_cost_set_value_must_be_numpy_arr[] = "cost_set: value must be numpy array, got "; +static const char __pyx_k_got_differing_extents_in_dimensi[] = "got differing extents in dimension "; +static const char __pyx_k_line_search_use_sufficient_desce[] = "line_search_use_sufficient_descent"; +static const char __pyx_k_load_iterate_failed_file_does_no[] = "load_iterate: failed, file does not exist: "; +static const char __pyx_k_no_default___reduce___due_to_non[] = "no default __reduce__ due to non-trivial __cinit__"; +static const char __pyx_k_numpy_core_umath_failed_to_impor[] = "numpy.core.umath failed to import"; +static const char __pyx_k_param_values__and_idx_values__mu[] = "param_values_ and idx_values_ must be of the same size."; +static const char __pyx_k_set_value_must_be_numpy_array_go[] = "set: value must be numpy array, got "; +static const char __pyx_k_solver_option_must_be_of_type_fl[] = "solver option {} must be of type float. You have {}."; +static const char __pyx_k_solver_option_must_be_of_type_in[] = "solver option {} must be of type int. You have {}."; +static const char __pyx_k_solver_option_must_be_of_type_st[] = "solver option {} must be of type str. You have {}."; +static const char __pyx_k_third_party_acados_acados_templa[] = "third_party/acados/acados_template/acados_ocp_solver_pyx.pyx"; +static const char __pyx_k_unable_to_allocate_shape_and_str[] = "unable to allocate shape and strides."; +static const char __pyx_k_AcadosOcpSolverCython__get_stat_2[] = "_AcadosOcpSolverCython__get_stat_double"; +static const char __pyx_k_AcadosOcpSolverCython__get_stat_3[] = "_AcadosOcpSolverCython__get_stat_matrix"; +static const char __pyx_k_AcadosOcpSolverCython___get_stat_2[] = "AcadosOcpSolverCython.__get_stat_double"; +static const char __pyx_k_AcadosOcpSolverCython___get_stat_3[] = "AcadosOcpSolverCython.__get_stat_matrix"; +static const char __pyx_k_AcadosOcpSolverCython_constraint_2[] = "AcadosOcpSolverCython.constraints_set"; +static const char __pyx_k_AcadosOcpSolverCython_does_not_s_2[] = "AcadosOcpSolverCython: does not support update_qp_solver_cond_N() since it is only a prototyping feature"; +static const char __pyx_k_AcadosOcpSolverCython_eval_param_2[] = "AcadosOcpSolverCython.eval_param_sens(): index must be in [0, nx-1], got: "; +static const char __pyx_k_AcadosOcpSolverCython_eval_param_3[] = "AcadosOcpSolverCython.eval_param_sens"; +static const char __pyx_k_AcadosOcpSolverCython_options_se_2[] = "AcadosOcpSolverCython.options_set"; +static const char __pyx_k_AcadosOcpSolverCython_solve_argu_2[] = "AcadosOcpSolverCython.solve(): argument 'rti_phase' can take only value 0 for SQP-type solvers"; +/* #### Code section: decls ### */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_shape, Py_ssize_t __pyx_v_itemsize, PyObject *__pyx_v_format, PyObject *__pyx_v_mode, int __pyx_v_allocate_buffer); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_2__getbuffer__(struct __pyx_array_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static void __pyx_array___pyx_pf_15View_dot_MemoryView_5array_4__dealloc__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_5array_7memview___get__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_array___pyx_pf_15View_dot_MemoryView_5array_6__len__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_8__getattr__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_attr); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_10__getitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_12__setitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item, PyObject *__pyx_v_value); /* proto */ +static PyObject *__pyx_pf___pyx_array___reduce_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_array_2__setstate_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum___init__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v_name); /* proto */ +static PyObject *__pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum_2__repr__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum___reduce_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum_2__setstate_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview___cinit__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj, int __pyx_v_flags, int __pyx_v_dtype_is_object); /* proto */ +static void __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_2__dealloc__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_4__getitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_6__setitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_8__getbuffer__(struct __pyx_memoryview_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_1T___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4base___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_5shape___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_7strides___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_10suboffsets___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4ndim___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_8itemsize___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_6nbytes___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4size___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_10__len__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_12__repr__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_14__str__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_16is_c_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_18is_f_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_20copy(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_22copy_fortran(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static void __pyx_memoryviewslice___pyx_pf_15View_dot_MemoryView_16_memoryviewslice___dealloc__(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView___pyx_unpickle_Enum(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v___pyx_type, long __pyx_v___pyx_checksum, PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython___cinit__(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_model_name, PyObject *__pyx_v_nlp_solver_type, PyObject *__pyx_v_N); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_2__get_pointers_solver(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_4solve_for_x0(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_x0_bar); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_6solve(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_8reset(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_reset_qp_solver_mem); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_10custom_update(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_data_); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_12set_new_time_steps(CYTHON_UNUSED struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v_new_time_steps); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_14update_qp_solver_cond_N(CYTHON_UNUSED struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v_qp_solver_cond_N); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_16eval_param_sens(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_stage, PyObject *__pyx_v_field); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_18get(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, int __pyx_v_stage, PyObject *__pyx_v_field_); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_20print_statistics(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ +static PyObject *__pyx_lambda_funcdef_lambda(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_x); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_22store_iterate(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_filename, PyObject *__pyx_v_overwrite); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_24load_iterate(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_filename); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_26get_stats(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_field_); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_28__get_stat_int(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_field); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_30__get_stat_double(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_field); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_32__get_stat_matrix(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_field, PyObject *__pyx_v_n, PyObject *__pyx_v_m); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_34get_cost(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_36get_residuals(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_recompute); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_38set(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, int __pyx_v_stage, PyObject *__pyx_v_field_, PyObject *__pyx_v_value_); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_40cost_set(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, int __pyx_v_stage, PyObject *__pyx_v_field_, PyObject *__pyx_v_value_); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_42constraints_set(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, int __pyx_v_stage, PyObject *__pyx_v_field_, PyObject *__pyx_v_value_); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_44get_from_qp_in(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, int __pyx_v_stage, PyObject *__pyx_v_field_); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_46options_set(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_field_, PyObject *__pyx_v_value_); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_48set_params_sparse(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, int __pyx_v_stage, PyObject *__pyx_v_idx_values_, PyObject *__pyx_v_param_values_); /* proto */ +static void __pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_50__del__(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_52__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_54__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_tp_new_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static __Pyx_CachedCFunction __pyx_umethod_PyDict_Type_keys = {0, 0, 0, 0, 0}; +/* #### Code section: late_includes ### */ +/* #### Code section: module_state ### */ +typedef struct { + PyObject *__pyx_d; + PyObject *__pyx_b; + PyObject *__pyx_cython_runtime; + PyObject *__pyx_empty_tuple; + PyObject *__pyx_empty_bytes; + PyObject *__pyx_empty_unicode; + #ifdef __Pyx_CyFunction_USED + PyTypeObject *__pyx_CyFunctionType; + #endif + #ifdef __Pyx_FusedFunction_USED + PyTypeObject *__pyx_FusedFunctionType; + #endif + #ifdef __Pyx_Generator_USED + PyTypeObject *__pyx_GeneratorType; + #endif + #ifdef __Pyx_IterableCoroutine_USED + PyTypeObject *__pyx_IterableCoroutineType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineAwaitType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineType; + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_7cpython_4type_type; + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_5numpy_dtype; + PyTypeObject *__pyx_ptype_5numpy_flatiter; + PyTypeObject *__pyx_ptype_5numpy_broadcast; + PyTypeObject *__pyx_ptype_5numpy_ndarray; + PyTypeObject *__pyx_ptype_5numpy_generic; + PyTypeObject *__pyx_ptype_5numpy_number; + PyTypeObject *__pyx_ptype_5numpy_integer; + PyTypeObject *__pyx_ptype_5numpy_signedinteger; + PyTypeObject *__pyx_ptype_5numpy_unsignedinteger; + PyTypeObject *__pyx_ptype_5numpy_inexact; + PyTypeObject *__pyx_ptype_5numpy_floating; + PyTypeObject *__pyx_ptype_5numpy_complexfloating; + PyTypeObject *__pyx_ptype_5numpy_flexible; + PyTypeObject *__pyx_ptype_5numpy_character; + PyTypeObject *__pyx_ptype_5numpy_ufunc; + #if CYTHON_USE_MODULE_STATE + PyObject *__pyx_type_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython; + PyObject *__pyx_type___pyx_array; + PyObject *__pyx_type___pyx_MemviewEnum; + PyObject *__pyx_type___pyx_memoryview; + PyObject *__pyx_type___pyx_memoryviewslice; + #endif + PyTypeObject *__pyx_ptype_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython; + PyTypeObject *__pyx_array_type; + PyTypeObject *__pyx_MemviewEnum_type; + PyTypeObject *__pyx_memoryview_type; + PyTypeObject *__pyx_memoryviewslice_type; + PyObject *__pyx_kp_u_; + PyObject *__pyx_kp_u_0; + PyObject *__pyx_n_s_ASCII; + PyObject *__pyx_n_s_AcadosOcpSolverCython; + PyObject *__pyx_n_s_AcadosOcpSolverCython___get_poin; + PyObject *__pyx_n_s_AcadosOcpSolverCython___get_stat; + PyObject *__pyx_n_s_AcadosOcpSolverCython___get_stat_2; + PyObject *__pyx_n_s_AcadosOcpSolverCython___get_stat_3; + PyObject *__pyx_n_s_AcadosOcpSolverCython___reduce_c; + PyObject *__pyx_n_s_AcadosOcpSolverCython___setstate; + PyObject *__pyx_n_s_AcadosOcpSolverCython__get_poin; + PyObject *__pyx_n_s_AcadosOcpSolverCython__get_stat; + PyObject *__pyx_n_s_AcadosOcpSolverCython__get_stat_2; + PyObject *__pyx_n_s_AcadosOcpSolverCython__get_stat_3; + PyObject *__pyx_kp_u_AcadosOcpSolverCython_constraint; + PyObject *__pyx_n_s_AcadosOcpSolverCython_constraint_2; + PyObject *__pyx_n_s_AcadosOcpSolverCython_cost_set; + PyObject *__pyx_kp_u_AcadosOcpSolverCython_cost_set_m; + PyObject *__pyx_n_s_AcadosOcpSolverCython_custom_upd; + PyObject *__pyx_kp_u_AcadosOcpSolverCython_does_not_s; + PyObject *__pyx_kp_u_AcadosOcpSolverCython_does_not_s_2; + PyObject *__pyx_kp_u_AcadosOcpSolverCython_eval_param; + PyObject *__pyx_kp_u_AcadosOcpSolverCython_eval_param_2; + PyObject *__pyx_n_s_AcadosOcpSolverCython_eval_param_3; + PyObject *__pyx_n_s_AcadosOcpSolverCython_get; + PyObject *__pyx_n_s_AcadosOcpSolverCython_get_cost; + PyObject *__pyx_kp_u_AcadosOcpSolverCython_get_field; + PyObject *__pyx_n_s_AcadosOcpSolverCython_get_from_q; + PyObject *__pyx_kp_u_AcadosOcpSolverCython_get_is_an; + PyObject *__pyx_n_s_AcadosOcpSolverCython_get_residu; + PyObject *__pyx_kp_u_AcadosOcpSolverCython_get_stage; + PyObject *__pyx_n_s_AcadosOcpSolverCython_get_stats; + PyObject *__pyx_n_s_AcadosOcpSolverCython_load_itera; + PyObject *__pyx_kp_u_AcadosOcpSolverCython_options_se; + PyObject *__pyx_n_s_AcadosOcpSolverCython_options_se_2; + PyObject *__pyx_n_s_AcadosOcpSolverCython_print_stat; + PyObject *__pyx_n_s_AcadosOcpSolverCython_reset; + PyObject *__pyx_n_s_AcadosOcpSolverCython_set; + PyObject *__pyx_kp_u_AcadosOcpSolverCython_set_is_not; + PyObject *__pyx_kp_u_AcadosOcpSolverCython_set_mismat; + PyObject *__pyx_n_s_AcadosOcpSolverCython_set_new_ti; + PyObject *__pyx_n_s_AcadosOcpSolverCython_set_params; + PyObject *__pyx_n_s_AcadosOcpSolverCython_solve; + PyObject *__pyx_kp_u_AcadosOcpSolverCython_solve_argu; + PyObject *__pyx_kp_u_AcadosOcpSolverCython_solve_argu_2; + PyObject *__pyx_n_s_AcadosOcpSolverCython_solve_for; + PyObject *__pyx_n_s_AcadosOcpSolverCython_store_iter; + PyObject *__pyx_n_s_AcadosOcpSolverCython_update_qp; + PyObject *__pyx_kp_s_All_dimensions_preceding_dimensi; + PyObject *__pyx_n_s_AssertionError; + PyObject *__pyx_kp_s_Buffer_view_does_not_expose_stri; + PyObject *__pyx_kp_s_Can_only_create_a_buffer_that_is; + PyObject *__pyx_kp_s_Cannot_assign_to_read_only_memor; + PyObject *__pyx_kp_s_Cannot_create_writable_memory_vi; + PyObject *__pyx_kp_u_Cannot_index_with_type; + PyObject *__pyx_kp_s_Cannot_transpose_memoryview_with; + PyObject *__pyx_kp_s_Dimension_d_is_not_direct; + PyObject *__pyx_n_s_Ellipsis; + PyObject *__pyx_kp_s_Empty_shape_tuple_for_cython_arr; + PyObject *__pyx_n_u_F; + PyObject 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PyObject *__pyx_n_s_get_stat_int; + PyObject *__pyx_n_s_get_stat_matrix; + PyObject *__pyx_n_s_get_stats; + PyObject *__pyx_n_s_getcwd; + PyObject *__pyx_n_s_getstate; + PyObject *__pyx_n_u_globalization; + PyObject *__pyx_n_u_globalization_use_SOC; + PyObject *__pyx_kp_u_got; + PyObject *__pyx_kp_u_got_differing_extents_in_dimensi; + PyObject *__pyx_n_s_i; + PyObject *__pyx_n_s_i_string; + PyObject *__pyx_n_s_id; + PyObject *__pyx_n_s_idx; + PyObject *__pyx_n_s_idx_values; + PyObject *__pyx_n_s_import; + PyObject *__pyx_n_s_indent; + PyObject *__pyx_n_s_index; + PyObject *__pyx_n_u_initialize_t_slacks; + PyObject *__pyx_n_s_initializing; + PyObject *__pyx_n_s_int; + PyObject *__pyx_n_s_int32; + PyObject *__pyx_n_s_int_fields; + PyObject *__pyx_n_s_int_value; + PyObject *__pyx_n_s_is_coroutine; + PyObject *__pyx_kp_u_isenabled; + PyObject *__pyx_n_s_isfile; + PyObject *__pyx_n_s_itemsize; + PyObject *__pyx_kp_s_itemsize_0_for_cython_array; + PyObject *__pyx_n_u_iterate; + PyObject *__pyx_n_s_join; + PyObject *__pyx_n_s_json; + PyObject *__pyx_kp_u_json_2; + PyObject *__pyx_n_s_k; + PyObject *__pyx_n_s_key; + PyObject *__pyx_n_s_keys; + PyObject *__pyx_n_s_lN; + PyObject *__pyx_n_u_lam; + PyObject *__pyx_n_u_lam_2; + PyObject *__pyx_n_u_lbu; + PyObject *__pyx_n_u_lbx; + PyObject *__pyx_n_u_line_search_use_sufficient_desce; + PyObject *__pyx_n_s_load; + PyObject *__pyx_n_s_load_iterate; + PyObject *__pyx_kp_u_load_iterate_failed_file_does_no; + PyObject *__pyx_n_s_m; + PyObject *__pyx_n_s_main; + PyObject *__pyx_n_s_mem_fields; + PyObject *__pyx_n_s_memview; + PyObject *__pyx_n_s_min_size; + PyObject *__pyx_n_s_mode; + PyObject *__pyx_n_s_model_name; + PyObject *__pyx_n_s_msg; + PyObject *__pyx_n_s_n; + PyObject *__pyx_n_s_n_update; + PyObject *__pyx_n_s_name; + PyObject *__pyx_n_s_name_2; + PyObject *__pyx_n_s_ndarray; + PyObject *__pyx_n_s_ndim; + PyObject *__pyx_n_s_new; + PyObject *__pyx_n_s_new_time_steps; + PyObject *__pyx_n_s_nlp_solver_type; + PyObject *__pyx_kp_s_no_default___reduce___due_to_non; + PyObject *__pyx_n_s_np; + PyObject *__pyx_n_s_numpy; + PyObject *__pyx_kp_u_numpy_core_multiarray_failed_to; + PyObject *__pyx_kp_u_numpy_core_umath_failed_to_impor; + PyObject *__pyx_n_s_nx; + PyObject *__pyx_n_s_obj; + PyObject *__pyx_n_s_open; + PyObject *__pyx_n_s_options_set; + PyObject *__pyx_n_s_order; + PyObject *__pyx_n_s_os; + PyObject *__pyx_n_s_out; + PyObject *__pyx_n_s_out_fields; + PyObject *__pyx_n_s_out_mat; + PyObject *__pyx_n_s_overwrite; + PyObject *__pyx_n_u_p; + PyObject *__pyx_n_s_pack; + PyObject *__pyx_n_s_param_values; + PyObject *__pyx_kp_u_param_values_2; + PyObject *__pyx_kp_u_param_values__and_idx_values__mu; + PyObject *__pyx_kp_u_param_values__must_be_np_array; + PyObject *__pyx_n_s_path; + PyObject *__pyx_n_u_pi; + PyObject *__pyx_n_u_pi_2; + PyObject *__pyx_n_s_pickle; + PyObject *__pyx_n_s_print; + PyObject *__pyx_n_u_print_level; + PyObject *__pyx_n_s_print_statistics; + PyObject *__pyx_n_s_pyx_PickleError; + PyObject *__pyx_n_s_pyx_checksum; + PyObject *__pyx_n_s_pyx_result; + PyObject *__pyx_n_s_pyx_state; + PyObject *__pyx_n_s_pyx_type; + PyObject *__pyx_n_s_pyx_unpickle_Enum; + PyObject *__pyx_n_s_pyx_vtable; + PyObject *__pyx_n_u_qp_iter; + PyObject *__pyx_n_u_qp_mu0; + PyObject *__pyx_n_s_qp_solver_cond_N; + PyObject *__pyx_n_u_qp_tau_min; + PyObject *__pyx_n_u_qp_tol_comp; + PyObject *__pyx_n_u_qp_tol_eq; + PyObject *__pyx_n_u_qp_tol_ineq; + PyObject *__pyx_n_u_qp_tol_stat; + PyObject *__pyx_n_u_qp_warm_start; + PyObject *__pyx_n_u_r; + PyObject *__pyx_n_s_range; + PyObject *__pyx_n_s_recompute; + PyObject *__pyx_n_s_reduce; + PyObject *__pyx_n_s_reduce_cython; + PyObject *__pyx_n_s_reduce_ex; + PyObject *__pyx_n_s_register; + PyObject *__pyx_n_b_res_comp; + PyObject *__pyx_n_b_res_eq; + PyObject *__pyx_n_b_res_ineq; + PyObject *__pyx_n_b_res_stat; + PyObject *__pyx_n_s_reset; + PyObject *__pyx_n_s_reset_qp_solver_mem; + PyObject *__pyx_n_u_residuals; + PyObject *__pyx_n_u_rti_phase; + PyObject *__pyx_n_s_self; + PyObject *__pyx_n_s_set; + PyObject *__pyx_n_s_set_new_time_steps; + PyObject *__pyx_n_s_set_params_sparse; + PyObject *__pyx_kp_u_set_value_must_be_numpy_array_go; + PyObject *__pyx_n_s_setstate; + PyObject *__pyx_n_s_setstate_cython; + PyObject *__pyx_n_s_shape; + PyObject *__pyx_n_s_size; + PyObject *__pyx_n_u_sl; + PyObject *__pyx_n_u_sl_2; + PyObject *__pyx_n_s_solution; + PyObject *__pyx_n_s_solve; + PyObject *__pyx_n_s_solve_for_x0; + PyObject *__pyx_kp_u_solver_option_must_be_of_type_fl; + PyObject *__pyx_kp_u_solver_option_must_be_of_type_in; + PyObject *__pyx_kp_u_solver_option_must_be_of_type_st; + PyObject *__pyx_n_s_sort_keys; + PyObject *__pyx_n_s_spec; + PyObject *__pyx_n_s_split; + PyObject *__pyx_n_s_sqp_iter; + PyObject *__pyx_n_u_sqp_iter; + PyObject *__pyx_n_s_stage; + PyObject *__pyx_n_s_start; + PyObject *__pyx_n_s_stat_m; + PyObject *__pyx_n_u_stat_m; + PyObject *__pyx_n_s_stat_n; + PyObject *__pyx_n_u_stat_n; + PyObject *__pyx_n_u_statistics; + PyObject *__pyx_n_s_status; + PyObject *__pyx_n_s_step; + PyObject *__pyx_n_u_step_length; + PyObject *__pyx_n_s_stop; + PyObject *__pyx_n_s_store_iterate; + PyObject *__pyx_n_s_store_iterate_locals_lambda; + PyObject *__pyx_kp_u_stored_current_iterate_in; + PyObject *__pyx_n_s_strftime; + PyObject *__pyx_kp_s_strided_and_direct; + PyObject *__pyx_kp_s_strided_and_direct_or_indirect; + PyObject *__pyx_kp_s_strided_and_indirect; + PyObject *__pyx_n_s_string_fields; + PyObject *__pyx_n_s_string_value; + PyObject *__pyx_kp_s_stringsource; + PyObject *__pyx_n_s_struct; + PyObject *__pyx_n_u_su; + PyObject *__pyx_n_u_su_2; + PyObject *__pyx_n_s_sys; + PyObject *__pyx_n_u_t; + PyObject *__pyx_n_u_t_2; + PyObject *__pyx_n_s_test; + PyObject *__pyx_kp_s_third_party_acados_acados_templa; + PyObject *__pyx_n_u_time_glob; + PyObject *__pyx_n_u_time_lin; + PyObject *__pyx_n_u_time_qp; + PyObject *__pyx_n_u_time_qp_solver_call; + PyObject *__pyx_n_u_time_qp_xcond; + PyObject *__pyx_n_u_time_reg; + PyObject *__pyx_n_u_time_sim; + PyObject *__pyx_n_u_time_sim_ad; + PyObject *__pyx_n_u_time_sim_la; + PyObject *__pyx_n_u_time_solution_sensitivities; + PyObject *__pyx_n_u_time_tot; + PyObject *__pyx_n_u_tol_comp; + PyObject *__pyx_n_u_tol_eq; + PyObject *__pyx_n_u_tol_ineq; + PyObject *__pyx_n_u_tol_stat; + PyObject *__pyx_n_s_tolist; + PyObject *__pyx_n_u_u; + PyObject *__pyx_n_s_u0; + PyObject *__pyx_n_u_u_2; + PyObject *__pyx_n_u_ubu; + PyObject *__pyx_n_u_ubx; + PyObject *__pyx_kp_s_unable_to_allocate_array_data; + PyObject *__pyx_kp_s_unable_to_allocate_shape_and_str; + PyObject *__pyx_n_s_unpack; + PyObject *__pyx_n_s_update; + PyObject *__pyx_n_s_update_qp_solver_cond_N; + PyObject *__pyx_n_s_utcnow; + PyObject *__pyx_kp_u_utf_8; + PyObject *__pyx_n_s_value; + PyObject *__pyx_n_s_value_2; + PyObject *__pyx_n_s_value_shape; + PyObject *__pyx_n_s_version_info; + PyObject *__pyx_n_u_w; + PyObject *__pyx_n_u_warm_start_first_qp; + PyObject *__pyx_kp_u_with_dimension; + PyObject *__pyx_kp_u_with_dimension_you_have; + PyObject *__pyx_n_b_x; + PyObject *__pyx_n_s_x; + PyObject *__pyx_n_u_x; + PyObject *__pyx_n_s_x0_bar; + PyObject *__pyx_n_u_x_2; + PyObject *__pyx_n_u_xdot_guess; + PyObject *__pyx_n_u_y_ref; + PyObject *__pyx_kp_u_you_have; + PyObject *__pyx_n_u_yref; + PyObject *__pyx_n_u_z; + PyObject *__pyx_n_u_z_2; + PyObject *__pyx_n_b_z_guess; + PyObject *__pyx_n_u_z_guess; + PyObject *__pyx_n_s_zeros; + PyObject *__pyx_int_0; + PyObject *__pyx_int_1; + PyObject *__pyx_int_2; + PyObject *__pyx_int_3; + PyObject *__pyx_int_4; + PyObject *__pyx_int_6; + PyObject *__pyx_int_7; + PyObject *__pyx_int_112105877; + PyObject *__pyx_int_136983863; + PyObject *__pyx_int_184977713; + PyObject *__pyx_int_neg_1; + PyObject *__pyx_int_neg_5; + PyObject *__pyx_slice__5; + PyObject *__pyx_tuple__4; + PyObject *__pyx_tuple__8; + PyObject *__pyx_tuple__9; + PyObject *__pyx_slice__18; + PyObject *__pyx_tuple__10; + PyObject *__pyx_tuple__11; + PyObject *__pyx_tuple__12; + PyObject *__pyx_tuple__13; + PyObject *__pyx_tuple__14; + PyObject *__pyx_tuple__15; + PyObject *__pyx_tuple__19; + PyObject *__pyx_tuple__20; + PyObject *__pyx_tuple__21; + PyObject *__pyx_tuple__22; + PyObject *__pyx_tuple__23; + PyObject *__pyx_tuple__24; + PyObject *__pyx_tuple__25; + PyObject *__pyx_tuple__26; + PyObject *__pyx_tuple__27; + PyObject *__pyx_tuple__28; + PyObject *__pyx_tuple__29; + PyObject *__pyx_tuple__30; + PyObject *__pyx_tuple__32; + PyObject *__pyx_tuple__33; + PyObject *__pyx_tuple__34; + PyObject *__pyx_tuple__35; + PyObject *__pyx_tuple__36; + PyObject *__pyx_tuple__37; + PyObject *__pyx_tuple__38; + PyObject *__pyx_tuple__39; + PyObject *__pyx_tuple__40; + PyObject *__pyx_tuple__41; + PyObject *__pyx_tuple__42; + PyObject *__pyx_tuple__44; + PyObject *__pyx_tuple__46; + PyObject *__pyx_tuple__49; + PyObject *__pyx_tuple__51; + PyObject *__pyx_tuple__53; + PyObject *__pyx_tuple__55; + PyObject *__pyx_tuple__57; + PyObject *__pyx_tuple__59; + PyObject *__pyx_tuple__60; + PyObject *__pyx_tuple__63; + PyObject *__pyx_tuple__65; + PyObject *__pyx_tuple__66; + PyObject *__pyx_tuple__68; + PyObject *__pyx_tuple__70; + PyObject *__pyx_tuple__73; + PyObject *__pyx_tuple__75; + PyObject *__pyx_tuple__77; + PyObject *__pyx_tuple__79; + PyObject *__pyx_tuple__80; + PyObject *__pyx_tuple__82; + PyObject *__pyx_tuple__85; + PyObject *__pyx_tuple__87; + PyObject *__pyx_tuple__89; + PyObject *__pyx_tuple__92; + PyObject *__pyx_codeobj__43; + PyObject *__pyx_codeobj__45; + PyObject *__pyx_codeobj__47; + PyObject *__pyx_codeobj__48; + PyObject *__pyx_codeobj__50; + PyObject *__pyx_codeobj__52; + PyObject *__pyx_codeobj__54; + PyObject *__pyx_codeobj__56; + PyObject *__pyx_codeobj__58; + PyObject *__pyx_codeobj__61; + PyObject *__pyx_codeobj__62; + PyObject *__pyx_codeobj__64; + PyObject *__pyx_codeobj__67; + PyObject *__pyx_codeobj__69; + PyObject *__pyx_codeobj__71; + PyObject *__pyx_codeobj__72; + PyObject *__pyx_codeobj__74; + PyObject *__pyx_codeobj__76; + PyObject *__pyx_codeobj__78; + PyObject *__pyx_codeobj__81; + PyObject *__pyx_codeobj__83; + PyObject *__pyx_codeobj__84; + PyObject *__pyx_codeobj__86; + PyObject *__pyx_codeobj__88; + PyObject *__pyx_codeobj__90; + PyObject *__pyx_codeobj__91; + PyObject *__pyx_codeobj__93; +} __pyx_mstate; + +#if CYTHON_USE_MODULE_STATE +#ifdef __cplusplus +namespace { + extern struct PyModuleDef __pyx_moduledef; +} /* anonymous namespace */ +#else +static struct PyModuleDef __pyx_moduledef; +#endif + +#define __pyx_mstate(o) ((__pyx_mstate *)__Pyx_PyModule_GetState(o)) + +#define __pyx_mstate_global (__pyx_mstate(PyState_FindModule(&__pyx_moduledef))) + +#define __pyx_m (PyState_FindModule(&__pyx_moduledef)) +#else +static __pyx_mstate __pyx_mstate_global_static = +#ifdef __cplusplus + {}; +#else + {0}; +#endif +static __pyx_mstate *__pyx_mstate_global = &__pyx_mstate_global_static; +#endif +/* #### Code section: module_state_clear ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_clear(PyObject *m) { + __pyx_mstate *clear_module_state = __pyx_mstate(m); + if (!clear_module_state) return 0; + Py_CLEAR(clear_module_state->__pyx_d); + Py_CLEAR(clear_module_state->__pyx_b); + Py_CLEAR(clear_module_state->__pyx_cython_runtime); + Py_CLEAR(clear_module_state->__pyx_empty_tuple); + Py_CLEAR(clear_module_state->__pyx_empty_bytes); + Py_CLEAR(clear_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_CLEAR(clear_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_CLEAR(clear_module_state->__pyx_FusedFunctionType); + #endif + Py_CLEAR(clear_module_state->__pyx_ptype_7cpython_4type_type); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_dtype); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_flatiter); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_broadcast); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_ndarray); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_generic); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_number); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_integer); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_signedinteger); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_unsignedinteger); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_inexact); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_floating); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_complexfloating); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_flexible); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_character); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_ufunc); + Py_CLEAR(clear_module_state->__pyx_ptype_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython); + Py_CLEAR(clear_module_state->__pyx_type_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython); + Py_CLEAR(clear_module_state->__pyx_array_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_array); + Py_CLEAR(clear_module_state->__pyx_MemviewEnum_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_MemviewEnum); + Py_CLEAR(clear_module_state->__pyx_memoryview_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_memoryview); + Py_CLEAR(clear_module_state->__pyx_memoryviewslice_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_memoryviewslice); + Py_CLEAR(clear_module_state->__pyx_kp_u_); + Py_CLEAR(clear_module_state->__pyx_kp_u_0); + Py_CLEAR(clear_module_state->__pyx_n_s_ASCII); + Py_CLEAR(clear_module_state->__pyx_n_s_AcadosOcpSolverCython); + Py_CLEAR(clear_module_state->__pyx_n_s_AcadosOcpSolverCython___get_poin); + Py_CLEAR(clear_module_state->__pyx_n_s_AcadosOcpSolverCython___get_stat); + Py_CLEAR(clear_module_state->__pyx_n_s_AcadosOcpSolverCython___get_stat_2); + Py_CLEAR(clear_module_state->__pyx_n_s_AcadosOcpSolverCython___get_stat_3); + 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Py_CLEAR(clear_module_state->__pyx_n_u_sqp_iter); + Py_CLEAR(clear_module_state->__pyx_n_s_stage); + Py_CLEAR(clear_module_state->__pyx_n_s_start); + Py_CLEAR(clear_module_state->__pyx_n_s_stat_m); + Py_CLEAR(clear_module_state->__pyx_n_u_stat_m); + Py_CLEAR(clear_module_state->__pyx_n_s_stat_n); + Py_CLEAR(clear_module_state->__pyx_n_u_stat_n); + Py_CLEAR(clear_module_state->__pyx_n_u_statistics); + Py_CLEAR(clear_module_state->__pyx_n_s_status); + Py_CLEAR(clear_module_state->__pyx_n_s_step); + Py_CLEAR(clear_module_state->__pyx_n_u_step_length); + Py_CLEAR(clear_module_state->__pyx_n_s_stop); + Py_CLEAR(clear_module_state->__pyx_n_s_store_iterate); + Py_CLEAR(clear_module_state->__pyx_n_s_store_iterate_locals_lambda); + Py_CLEAR(clear_module_state->__pyx_kp_u_stored_current_iterate_in); + Py_CLEAR(clear_module_state->__pyx_n_s_strftime); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_direct); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_direct_or_indirect); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_indirect); + Py_CLEAR(clear_module_state->__pyx_n_s_string_fields); + Py_CLEAR(clear_module_state->__pyx_n_s_string_value); + Py_CLEAR(clear_module_state->__pyx_kp_s_stringsource); + Py_CLEAR(clear_module_state->__pyx_n_s_struct); + Py_CLEAR(clear_module_state->__pyx_n_u_su); + Py_CLEAR(clear_module_state->__pyx_n_u_su_2); + Py_CLEAR(clear_module_state->__pyx_n_s_sys); + Py_CLEAR(clear_module_state->__pyx_n_u_t); + Py_CLEAR(clear_module_state->__pyx_n_u_t_2); + Py_CLEAR(clear_module_state->__pyx_n_s_test); + Py_CLEAR(clear_module_state->__pyx_kp_s_third_party_acados_acados_templa); + Py_CLEAR(clear_module_state->__pyx_n_u_time_glob); + Py_CLEAR(clear_module_state->__pyx_n_u_time_lin); + Py_CLEAR(clear_module_state->__pyx_n_u_time_qp); + Py_CLEAR(clear_module_state->__pyx_n_u_time_qp_solver_call); + Py_CLEAR(clear_module_state->__pyx_n_u_time_qp_xcond); + Py_CLEAR(clear_module_state->__pyx_n_u_time_reg); + Py_CLEAR(clear_module_state->__pyx_n_u_time_sim); + Py_CLEAR(clear_module_state->__pyx_n_u_time_sim_ad); + Py_CLEAR(clear_module_state->__pyx_n_u_time_sim_la); + Py_CLEAR(clear_module_state->__pyx_n_u_time_solution_sensitivities); + Py_CLEAR(clear_module_state->__pyx_n_u_time_tot); + Py_CLEAR(clear_module_state->__pyx_n_u_tol_comp); + Py_CLEAR(clear_module_state->__pyx_n_u_tol_eq); + Py_CLEAR(clear_module_state->__pyx_n_u_tol_ineq); + Py_CLEAR(clear_module_state->__pyx_n_u_tol_stat); + Py_CLEAR(clear_module_state->__pyx_n_s_tolist); + Py_CLEAR(clear_module_state->__pyx_n_u_u); + Py_CLEAR(clear_module_state->__pyx_n_s_u0); + Py_CLEAR(clear_module_state->__pyx_n_u_u_2); + Py_CLEAR(clear_module_state->__pyx_n_u_ubu); + Py_CLEAR(clear_module_state->__pyx_n_u_ubx); + Py_CLEAR(clear_module_state->__pyx_kp_s_unable_to_allocate_array_data); + Py_CLEAR(clear_module_state->__pyx_kp_s_unable_to_allocate_shape_and_str); + Py_CLEAR(clear_module_state->__pyx_n_s_unpack); + Py_CLEAR(clear_module_state->__pyx_n_s_update); + Py_CLEAR(clear_module_state->__pyx_n_s_update_qp_solver_cond_N); + Py_CLEAR(clear_module_state->__pyx_n_s_utcnow); + Py_CLEAR(clear_module_state->__pyx_kp_u_utf_8); + Py_CLEAR(clear_module_state->__pyx_n_s_value); + Py_CLEAR(clear_module_state->__pyx_n_s_value_2); + Py_CLEAR(clear_module_state->__pyx_n_s_value_shape); + Py_CLEAR(clear_module_state->__pyx_n_s_version_info); + Py_CLEAR(clear_module_state->__pyx_n_u_w); + Py_CLEAR(clear_module_state->__pyx_n_u_warm_start_first_qp); + Py_CLEAR(clear_module_state->__pyx_kp_u_with_dimension); + Py_CLEAR(clear_module_state->__pyx_kp_u_with_dimension_you_have); + Py_CLEAR(clear_module_state->__pyx_n_b_x); + Py_CLEAR(clear_module_state->__pyx_n_s_x); + Py_CLEAR(clear_module_state->__pyx_n_u_x); + Py_CLEAR(clear_module_state->__pyx_n_s_x0_bar); + Py_CLEAR(clear_module_state->__pyx_n_u_x_2); + Py_CLEAR(clear_module_state->__pyx_n_u_xdot_guess); + Py_CLEAR(clear_module_state->__pyx_n_u_y_ref); + Py_CLEAR(clear_module_state->__pyx_kp_u_you_have); + Py_CLEAR(clear_module_state->__pyx_n_u_yref); + Py_CLEAR(clear_module_state->__pyx_n_u_z); + Py_CLEAR(clear_module_state->__pyx_n_u_z_2); + Py_CLEAR(clear_module_state->__pyx_n_b_z_guess); + Py_CLEAR(clear_module_state->__pyx_n_u_z_guess); + Py_CLEAR(clear_module_state->__pyx_n_s_zeros); + Py_CLEAR(clear_module_state->__pyx_int_0); + Py_CLEAR(clear_module_state->__pyx_int_1); + Py_CLEAR(clear_module_state->__pyx_int_2); + Py_CLEAR(clear_module_state->__pyx_int_3); + Py_CLEAR(clear_module_state->__pyx_int_4); + Py_CLEAR(clear_module_state->__pyx_int_6); + Py_CLEAR(clear_module_state->__pyx_int_7); + Py_CLEAR(clear_module_state->__pyx_int_112105877); + Py_CLEAR(clear_module_state->__pyx_int_136983863); + Py_CLEAR(clear_module_state->__pyx_int_184977713); + Py_CLEAR(clear_module_state->__pyx_int_neg_1); + Py_CLEAR(clear_module_state->__pyx_int_neg_5); + Py_CLEAR(clear_module_state->__pyx_slice__5); + Py_CLEAR(clear_module_state->__pyx_tuple__4); + Py_CLEAR(clear_module_state->__pyx_tuple__8); + Py_CLEAR(clear_module_state->__pyx_tuple__9); + Py_CLEAR(clear_module_state->__pyx_slice__18); + Py_CLEAR(clear_module_state->__pyx_tuple__10); + Py_CLEAR(clear_module_state->__pyx_tuple__11); + Py_CLEAR(clear_module_state->__pyx_tuple__12); + Py_CLEAR(clear_module_state->__pyx_tuple__13); + Py_CLEAR(clear_module_state->__pyx_tuple__14); + Py_CLEAR(clear_module_state->__pyx_tuple__15); + Py_CLEAR(clear_module_state->__pyx_tuple__19); + Py_CLEAR(clear_module_state->__pyx_tuple__20); + Py_CLEAR(clear_module_state->__pyx_tuple__21); + Py_CLEAR(clear_module_state->__pyx_tuple__22); + Py_CLEAR(clear_module_state->__pyx_tuple__23); + Py_CLEAR(clear_module_state->__pyx_tuple__24); + Py_CLEAR(clear_module_state->__pyx_tuple__25); + Py_CLEAR(clear_module_state->__pyx_tuple__26); + Py_CLEAR(clear_module_state->__pyx_tuple__27); + Py_CLEAR(clear_module_state->__pyx_tuple__28); + Py_CLEAR(clear_module_state->__pyx_tuple__29); + Py_CLEAR(clear_module_state->__pyx_tuple__30); + Py_CLEAR(clear_module_state->__pyx_tuple__32); + Py_CLEAR(clear_module_state->__pyx_tuple__33); + Py_CLEAR(clear_module_state->__pyx_tuple__34); + Py_CLEAR(clear_module_state->__pyx_tuple__35); + Py_CLEAR(clear_module_state->__pyx_tuple__36); + Py_CLEAR(clear_module_state->__pyx_tuple__37); + Py_CLEAR(clear_module_state->__pyx_tuple__38); + Py_CLEAR(clear_module_state->__pyx_tuple__39); + Py_CLEAR(clear_module_state->__pyx_tuple__40); + Py_CLEAR(clear_module_state->__pyx_tuple__41); + Py_CLEAR(clear_module_state->__pyx_tuple__42); + Py_CLEAR(clear_module_state->__pyx_tuple__44); + Py_CLEAR(clear_module_state->__pyx_tuple__46); + Py_CLEAR(clear_module_state->__pyx_tuple__49); + Py_CLEAR(clear_module_state->__pyx_tuple__51); + Py_CLEAR(clear_module_state->__pyx_tuple__53); + Py_CLEAR(clear_module_state->__pyx_tuple__55); + Py_CLEAR(clear_module_state->__pyx_tuple__57); + Py_CLEAR(clear_module_state->__pyx_tuple__59); + Py_CLEAR(clear_module_state->__pyx_tuple__60); + Py_CLEAR(clear_module_state->__pyx_tuple__63); + Py_CLEAR(clear_module_state->__pyx_tuple__65); + Py_CLEAR(clear_module_state->__pyx_tuple__66); + Py_CLEAR(clear_module_state->__pyx_tuple__68); + Py_CLEAR(clear_module_state->__pyx_tuple__70); + Py_CLEAR(clear_module_state->__pyx_tuple__73); + Py_CLEAR(clear_module_state->__pyx_tuple__75); + Py_CLEAR(clear_module_state->__pyx_tuple__77); + Py_CLEAR(clear_module_state->__pyx_tuple__79); + Py_CLEAR(clear_module_state->__pyx_tuple__80); + Py_CLEAR(clear_module_state->__pyx_tuple__82); + Py_CLEAR(clear_module_state->__pyx_tuple__85); + Py_CLEAR(clear_module_state->__pyx_tuple__87); + Py_CLEAR(clear_module_state->__pyx_tuple__89); + Py_CLEAR(clear_module_state->__pyx_tuple__92); + Py_CLEAR(clear_module_state->__pyx_codeobj__43); + Py_CLEAR(clear_module_state->__pyx_codeobj__45); + Py_CLEAR(clear_module_state->__pyx_codeobj__47); + Py_CLEAR(clear_module_state->__pyx_codeobj__48); + Py_CLEAR(clear_module_state->__pyx_codeobj__50); + Py_CLEAR(clear_module_state->__pyx_codeobj__52); + Py_CLEAR(clear_module_state->__pyx_codeobj__54); + Py_CLEAR(clear_module_state->__pyx_codeobj__56); + Py_CLEAR(clear_module_state->__pyx_codeobj__58); + Py_CLEAR(clear_module_state->__pyx_codeobj__61); + Py_CLEAR(clear_module_state->__pyx_codeobj__62); + Py_CLEAR(clear_module_state->__pyx_codeobj__64); + Py_CLEAR(clear_module_state->__pyx_codeobj__67); + Py_CLEAR(clear_module_state->__pyx_codeobj__69); + Py_CLEAR(clear_module_state->__pyx_codeobj__71); + Py_CLEAR(clear_module_state->__pyx_codeobj__72); + Py_CLEAR(clear_module_state->__pyx_codeobj__74); + Py_CLEAR(clear_module_state->__pyx_codeobj__76); + Py_CLEAR(clear_module_state->__pyx_codeobj__78); + Py_CLEAR(clear_module_state->__pyx_codeobj__81); + Py_CLEAR(clear_module_state->__pyx_codeobj__83); + Py_CLEAR(clear_module_state->__pyx_codeobj__84); + Py_CLEAR(clear_module_state->__pyx_codeobj__86); + Py_CLEAR(clear_module_state->__pyx_codeobj__88); + Py_CLEAR(clear_module_state->__pyx_codeobj__90); + Py_CLEAR(clear_module_state->__pyx_codeobj__91); + Py_CLEAR(clear_module_state->__pyx_codeobj__93); + return 0; +} +#endif +/* #### Code section: module_state_traverse ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_traverse(PyObject *m, visitproc visit, void *arg) { + __pyx_mstate *traverse_module_state = __pyx_mstate(m); + if (!traverse_module_state) return 0; + Py_VISIT(traverse_module_state->__pyx_d); + Py_VISIT(traverse_module_state->__pyx_b); + Py_VISIT(traverse_module_state->__pyx_cython_runtime); + Py_VISIT(traverse_module_state->__pyx_empty_tuple); + Py_VISIT(traverse_module_state->__pyx_empty_bytes); + Py_VISIT(traverse_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_VISIT(traverse_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_VISIT(traverse_module_state->__pyx_FusedFunctionType); + #endif + Py_VISIT(traverse_module_state->__pyx_ptype_7cpython_4type_type); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_dtype); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_flatiter); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_broadcast); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_ndarray); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_generic); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_number); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_integer); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_signedinteger); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_unsignedinteger); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_inexact); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_floating); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_complexfloating); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_flexible); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_character); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_ufunc); + Py_VISIT(traverse_module_state->__pyx_ptype_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython); + Py_VISIT(traverse_module_state->__pyx_type_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython); + Py_VISIT(traverse_module_state->__pyx_array_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_array); + Py_VISIT(traverse_module_state->__pyx_MemviewEnum_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_MemviewEnum); + Py_VISIT(traverse_module_state->__pyx_memoryview_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_memoryview); + Py_VISIT(traverse_module_state->__pyx_memoryviewslice_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_memoryviewslice); + Py_VISIT(traverse_module_state->__pyx_kp_u_); + Py_VISIT(traverse_module_state->__pyx_kp_u_0); + Py_VISIT(traverse_module_state->__pyx_n_s_ASCII); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython___get_poin); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython___get_stat); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython___get_stat_2); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython___get_stat_3); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython___reduce_c); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython___setstate); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython__get_poin); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython__get_stat); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython__get_stat_2); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython__get_stat_3); + Py_VISIT(traverse_module_state->__pyx_kp_u_AcadosOcpSolverCython_constraint); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_constraint_2); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_cost_set); + Py_VISIT(traverse_module_state->__pyx_kp_u_AcadosOcpSolverCython_cost_set_m); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_custom_upd); + Py_VISIT(traverse_module_state->__pyx_kp_u_AcadosOcpSolverCython_does_not_s); + Py_VISIT(traverse_module_state->__pyx_kp_u_AcadosOcpSolverCython_does_not_s_2); + Py_VISIT(traverse_module_state->__pyx_kp_u_AcadosOcpSolverCython_eval_param); + Py_VISIT(traverse_module_state->__pyx_kp_u_AcadosOcpSolverCython_eval_param_2); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_eval_param_3); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_get); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_get_cost); + Py_VISIT(traverse_module_state->__pyx_kp_u_AcadosOcpSolverCython_get_field); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_get_from_q); + Py_VISIT(traverse_module_state->__pyx_kp_u_AcadosOcpSolverCython_get_is_an); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_get_residu); + Py_VISIT(traverse_module_state->__pyx_kp_u_AcadosOcpSolverCython_get_stage); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_get_stats); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_load_itera); + Py_VISIT(traverse_module_state->__pyx_kp_u_AcadosOcpSolverCython_options_se); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_options_se_2); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_print_stat); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_reset); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_set); + Py_VISIT(traverse_module_state->__pyx_kp_u_AcadosOcpSolverCython_set_is_not); + 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Py_VISIT(traverse_module_state->__pyx_n_u_su_2); + Py_VISIT(traverse_module_state->__pyx_n_s_sys); + Py_VISIT(traverse_module_state->__pyx_n_u_t); + Py_VISIT(traverse_module_state->__pyx_n_u_t_2); + Py_VISIT(traverse_module_state->__pyx_n_s_test); + Py_VISIT(traverse_module_state->__pyx_kp_s_third_party_acados_acados_templa); + Py_VISIT(traverse_module_state->__pyx_n_u_time_glob); + Py_VISIT(traverse_module_state->__pyx_n_u_time_lin); + Py_VISIT(traverse_module_state->__pyx_n_u_time_qp); + Py_VISIT(traverse_module_state->__pyx_n_u_time_qp_solver_call); + Py_VISIT(traverse_module_state->__pyx_n_u_time_qp_xcond); + Py_VISIT(traverse_module_state->__pyx_n_u_time_reg); + Py_VISIT(traverse_module_state->__pyx_n_u_time_sim); + Py_VISIT(traverse_module_state->__pyx_n_u_time_sim_ad); + Py_VISIT(traverse_module_state->__pyx_n_u_time_sim_la); + Py_VISIT(traverse_module_state->__pyx_n_u_time_solution_sensitivities); + Py_VISIT(traverse_module_state->__pyx_n_u_time_tot); + 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Py_VISIT(traverse_module_state->__pyx_tuple__59); + Py_VISIT(traverse_module_state->__pyx_tuple__60); + Py_VISIT(traverse_module_state->__pyx_tuple__63); + Py_VISIT(traverse_module_state->__pyx_tuple__65); + Py_VISIT(traverse_module_state->__pyx_tuple__66); + Py_VISIT(traverse_module_state->__pyx_tuple__68); + Py_VISIT(traverse_module_state->__pyx_tuple__70); + Py_VISIT(traverse_module_state->__pyx_tuple__73); + Py_VISIT(traverse_module_state->__pyx_tuple__75); + Py_VISIT(traverse_module_state->__pyx_tuple__77); + Py_VISIT(traverse_module_state->__pyx_tuple__79); + Py_VISIT(traverse_module_state->__pyx_tuple__80); + Py_VISIT(traverse_module_state->__pyx_tuple__82); + Py_VISIT(traverse_module_state->__pyx_tuple__85); + Py_VISIT(traverse_module_state->__pyx_tuple__87); + Py_VISIT(traverse_module_state->__pyx_tuple__89); + Py_VISIT(traverse_module_state->__pyx_tuple__92); + Py_VISIT(traverse_module_state->__pyx_codeobj__43); + Py_VISIT(traverse_module_state->__pyx_codeobj__45); + Py_VISIT(traverse_module_state->__pyx_codeobj__47); + Py_VISIT(traverse_module_state->__pyx_codeobj__48); + Py_VISIT(traverse_module_state->__pyx_codeobj__50); + Py_VISIT(traverse_module_state->__pyx_codeobj__52); + Py_VISIT(traverse_module_state->__pyx_codeobj__54); + Py_VISIT(traverse_module_state->__pyx_codeobj__56); + Py_VISIT(traverse_module_state->__pyx_codeobj__58); + Py_VISIT(traverse_module_state->__pyx_codeobj__61); + Py_VISIT(traverse_module_state->__pyx_codeobj__62); + Py_VISIT(traverse_module_state->__pyx_codeobj__64); + Py_VISIT(traverse_module_state->__pyx_codeobj__67); + Py_VISIT(traverse_module_state->__pyx_codeobj__69); + Py_VISIT(traverse_module_state->__pyx_codeobj__71); + Py_VISIT(traverse_module_state->__pyx_codeobj__72); + Py_VISIT(traverse_module_state->__pyx_codeobj__74); + Py_VISIT(traverse_module_state->__pyx_codeobj__76); + Py_VISIT(traverse_module_state->__pyx_codeobj__78); + Py_VISIT(traverse_module_state->__pyx_codeobj__81); + Py_VISIT(traverse_module_state->__pyx_codeobj__83); + Py_VISIT(traverse_module_state->__pyx_codeobj__84); + Py_VISIT(traverse_module_state->__pyx_codeobj__86); + Py_VISIT(traverse_module_state->__pyx_codeobj__88); + Py_VISIT(traverse_module_state->__pyx_codeobj__90); + Py_VISIT(traverse_module_state->__pyx_codeobj__91); + Py_VISIT(traverse_module_state->__pyx_codeobj__93); + return 0; +} +#endif +/* #### Code section: module_state_defines ### */ +#define __pyx_d __pyx_mstate_global->__pyx_d +#define __pyx_b __pyx_mstate_global->__pyx_b +#define __pyx_cython_runtime __pyx_mstate_global->__pyx_cython_runtime +#define __pyx_empty_tuple __pyx_mstate_global->__pyx_empty_tuple +#define __pyx_empty_bytes __pyx_mstate_global->__pyx_empty_bytes +#define __pyx_empty_unicode __pyx_mstate_global->__pyx_empty_unicode +#ifdef __Pyx_CyFunction_USED +#define __pyx_CyFunctionType __pyx_mstate_global->__pyx_CyFunctionType +#endif +#ifdef __Pyx_FusedFunction_USED +#define __pyx_FusedFunctionType __pyx_mstate_global->__pyx_FusedFunctionType +#endif +#ifdef __Pyx_Generator_USED +#define __pyx_GeneratorType __pyx_mstate_global->__pyx_GeneratorType +#endif +#ifdef __Pyx_IterableCoroutine_USED +#define __pyx_IterableCoroutineType __pyx_mstate_global->__pyx_IterableCoroutineType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineAwaitType __pyx_mstate_global->__pyx_CoroutineAwaitType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineType __pyx_mstate_global->__pyx_CoroutineType +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_7cpython_4type_type __pyx_mstate_global->__pyx_ptype_7cpython_4type_type +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_5numpy_dtype __pyx_mstate_global->__pyx_ptype_5numpy_dtype +#define __pyx_ptype_5numpy_flatiter __pyx_mstate_global->__pyx_ptype_5numpy_flatiter +#define __pyx_ptype_5numpy_broadcast __pyx_mstate_global->__pyx_ptype_5numpy_broadcast +#define __pyx_ptype_5numpy_ndarray __pyx_mstate_global->__pyx_ptype_5numpy_ndarray +#define __pyx_ptype_5numpy_generic __pyx_mstate_global->__pyx_ptype_5numpy_generic +#define __pyx_ptype_5numpy_number __pyx_mstate_global->__pyx_ptype_5numpy_number +#define __pyx_ptype_5numpy_integer __pyx_mstate_global->__pyx_ptype_5numpy_integer +#define __pyx_ptype_5numpy_signedinteger __pyx_mstate_global->__pyx_ptype_5numpy_signedinteger +#define __pyx_ptype_5numpy_unsignedinteger __pyx_mstate_global->__pyx_ptype_5numpy_unsignedinteger +#define __pyx_ptype_5numpy_inexact __pyx_mstate_global->__pyx_ptype_5numpy_inexact +#define __pyx_ptype_5numpy_floating __pyx_mstate_global->__pyx_ptype_5numpy_floating +#define __pyx_ptype_5numpy_complexfloating __pyx_mstate_global->__pyx_ptype_5numpy_complexfloating +#define __pyx_ptype_5numpy_flexible __pyx_mstate_global->__pyx_ptype_5numpy_flexible +#define __pyx_ptype_5numpy_character __pyx_mstate_global->__pyx_ptype_5numpy_character +#define __pyx_ptype_5numpy_ufunc __pyx_mstate_global->__pyx_ptype_5numpy_ufunc +#if CYTHON_USE_MODULE_STATE +#define __pyx_type_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython __pyx_mstate_global->__pyx_type_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython +#define __pyx_type___pyx_array __pyx_mstate_global->__pyx_type___pyx_array +#define __pyx_type___pyx_MemviewEnum __pyx_mstate_global->__pyx_type___pyx_MemviewEnum +#define __pyx_type___pyx_memoryview __pyx_mstate_global->__pyx_type___pyx_memoryview +#define __pyx_type___pyx_memoryviewslice __pyx_mstate_global->__pyx_type___pyx_memoryviewslice +#endif +#define __pyx_ptype_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython __pyx_mstate_global->__pyx_ptype_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython +#define __pyx_array_type __pyx_mstate_global->__pyx_array_type +#define __pyx_MemviewEnum_type __pyx_mstate_global->__pyx_MemviewEnum_type +#define __pyx_memoryview_type __pyx_mstate_global->__pyx_memoryview_type +#define __pyx_memoryviewslice_type __pyx_mstate_global->__pyx_memoryviewslice_type +#define __pyx_kp_u_ __pyx_mstate_global->__pyx_kp_u_ +#define __pyx_kp_u_0 __pyx_mstate_global->__pyx_kp_u_0 +#define __pyx_n_s_ASCII __pyx_mstate_global->__pyx_n_s_ASCII +#define __pyx_n_s_AcadosOcpSolverCython __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython +#define __pyx_n_s_AcadosOcpSolverCython___get_poin __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython___get_poin +#define __pyx_n_s_AcadosOcpSolverCython___get_stat __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython___get_stat +#define __pyx_n_s_AcadosOcpSolverCython___get_stat_2 __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython___get_stat_2 +#define __pyx_n_s_AcadosOcpSolverCython___get_stat_3 __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython___get_stat_3 +#define __pyx_n_s_AcadosOcpSolverCython___reduce_c __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython___reduce_c +#define __pyx_n_s_AcadosOcpSolverCython___setstate __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython___setstate +#define __pyx_n_s_AcadosOcpSolverCython__get_poin __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython__get_poin +#define __pyx_n_s_AcadosOcpSolverCython__get_stat __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython__get_stat +#define __pyx_n_s_AcadosOcpSolverCython__get_stat_2 __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython__get_stat_2 +#define __pyx_n_s_AcadosOcpSolverCython__get_stat_3 __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython__get_stat_3 +#define __pyx_kp_u_AcadosOcpSolverCython_constraint __pyx_mstate_global->__pyx_kp_u_AcadosOcpSolverCython_constraint +#define __pyx_n_s_AcadosOcpSolverCython_constraint_2 __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_constraint_2 +#define __pyx_n_s_AcadosOcpSolverCython_cost_set __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_cost_set +#define __pyx_kp_u_AcadosOcpSolverCython_cost_set_m __pyx_mstate_global->__pyx_kp_u_AcadosOcpSolverCython_cost_set_m +#define __pyx_n_s_AcadosOcpSolverCython_custom_upd __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_custom_upd +#define __pyx_kp_u_AcadosOcpSolverCython_does_not_s __pyx_mstate_global->__pyx_kp_u_AcadosOcpSolverCython_does_not_s +#define __pyx_kp_u_AcadosOcpSolverCython_does_not_s_2 __pyx_mstate_global->__pyx_kp_u_AcadosOcpSolverCython_does_not_s_2 +#define __pyx_kp_u_AcadosOcpSolverCython_eval_param __pyx_mstate_global->__pyx_kp_u_AcadosOcpSolverCython_eval_param +#define __pyx_kp_u_AcadosOcpSolverCython_eval_param_2 __pyx_mstate_global->__pyx_kp_u_AcadosOcpSolverCython_eval_param_2 +#define __pyx_n_s_AcadosOcpSolverCython_eval_param_3 __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_eval_param_3 +#define __pyx_n_s_AcadosOcpSolverCython_get __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_get +#define __pyx_n_s_AcadosOcpSolverCython_get_cost __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_get_cost +#define __pyx_kp_u_AcadosOcpSolverCython_get_field __pyx_mstate_global->__pyx_kp_u_AcadosOcpSolverCython_get_field +#define __pyx_n_s_AcadosOcpSolverCython_get_from_q __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_get_from_q +#define __pyx_kp_u_AcadosOcpSolverCython_get_is_an __pyx_mstate_global->__pyx_kp_u_AcadosOcpSolverCython_get_is_an +#define __pyx_n_s_AcadosOcpSolverCython_get_residu __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_get_residu +#define __pyx_kp_u_AcadosOcpSolverCython_get_stage __pyx_mstate_global->__pyx_kp_u_AcadosOcpSolverCython_get_stage +#define __pyx_n_s_AcadosOcpSolverCython_get_stats __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_get_stats +#define __pyx_n_s_AcadosOcpSolverCython_load_itera __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_load_itera +#define __pyx_kp_u_AcadosOcpSolverCython_options_se __pyx_mstate_global->__pyx_kp_u_AcadosOcpSolverCython_options_se +#define __pyx_n_s_AcadosOcpSolverCython_options_se_2 __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_options_se_2 +#define __pyx_n_s_AcadosOcpSolverCython_print_stat __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_print_stat +#define __pyx_n_s_AcadosOcpSolverCython_reset __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_reset +#define __pyx_n_s_AcadosOcpSolverCython_set __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_set +#define __pyx_kp_u_AcadosOcpSolverCython_set_is_not __pyx_mstate_global->__pyx_kp_u_AcadosOcpSolverCython_set_is_not +#define __pyx_kp_u_AcadosOcpSolverCython_set_mismat __pyx_mstate_global->__pyx_kp_u_AcadosOcpSolverCython_set_mismat +#define __pyx_n_s_AcadosOcpSolverCython_set_new_ti __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_set_new_ti +#define __pyx_n_s_AcadosOcpSolverCython_set_params __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_set_params +#define __pyx_n_s_AcadosOcpSolverCython_solve __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_solve +#define __pyx_kp_u_AcadosOcpSolverCython_solve_argu __pyx_mstate_global->__pyx_kp_u_AcadosOcpSolverCython_solve_argu +#define __pyx_kp_u_AcadosOcpSolverCython_solve_argu_2 __pyx_mstate_global->__pyx_kp_u_AcadosOcpSolverCython_solve_argu_2 +#define __pyx_n_s_AcadosOcpSolverCython_solve_for __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_solve_for +#define __pyx_n_s_AcadosOcpSolverCython_store_iter __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_store_iter +#define __pyx_n_s_AcadosOcpSolverCython_update_qp __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_update_qp +#define __pyx_kp_s_All_dimensions_preceding_dimensi __pyx_mstate_global->__pyx_kp_s_All_dimensions_preceding_dimensi +#define __pyx_n_s_AssertionError __pyx_mstate_global->__pyx_n_s_AssertionError +#define __pyx_kp_s_Buffer_view_does_not_expose_stri __pyx_mstate_global->__pyx_kp_s_Buffer_view_does_not_expose_stri +#define __pyx_kp_s_Can_only_create_a_buffer_that_is __pyx_mstate_global->__pyx_kp_s_Can_only_create_a_buffer_that_is +#define __pyx_kp_s_Cannot_assign_to_read_only_memor __pyx_mstate_global->__pyx_kp_s_Cannot_assign_to_read_only_memor +#define __pyx_kp_s_Cannot_create_writable_memory_vi __pyx_mstate_global->__pyx_kp_s_Cannot_create_writable_memory_vi +#define __pyx_kp_u_Cannot_index_with_type __pyx_mstate_global->__pyx_kp_u_Cannot_index_with_type +#define __pyx_kp_s_Cannot_transpose_memoryview_with __pyx_mstate_global->__pyx_kp_s_Cannot_transpose_memoryview_with +#define __pyx_kp_s_Dimension_d_is_not_direct __pyx_mstate_global->__pyx_kp_s_Dimension_d_is_not_direct +#define __pyx_n_s_Ellipsis __pyx_mstate_global->__pyx_n_s_Ellipsis +#define __pyx_kp_s_Empty_shape_tuple_for_cython_arr __pyx_mstate_global->__pyx_kp_s_Empty_shape_tuple_for_cython_arr +#define __pyx_n_u_F __pyx_mstate_global->__pyx_n_u_F +#define __pyx_kp_u_Got_sizes_idx __pyx_mstate_global->__pyx_kp_u_Got_sizes_idx +#define __pyx_n_s_ImportError __pyx_mstate_global->__pyx_n_s_ImportError +#define __pyx_kp_s_Incompatible_checksums_0x_x_vs_0 __pyx_mstate_global->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0 +#define __pyx_n_s_IndexError __pyx_mstate_global->__pyx_n_s_IndexError +#define __pyx_kp_s_Index_out_of_bounds_axis_d __pyx_mstate_global->__pyx_kp_s_Index_out_of_bounds_axis_d +#define __pyx_kp_s_Indirect_dimensions_not_supporte __pyx_mstate_global->__pyx_kp_s_Indirect_dimensions_not_supporte +#define __pyx_kp_u_Invalid_mode_expected_c_or_fortr __pyx_mstate_global->__pyx_kp_u_Invalid_mode_expected_c_or_fortr +#define __pyx_kp_u_Invalid_shape_in_axis __pyx_mstate_global->__pyx_kp_u_Invalid_shape_in_axis +#define __pyx_n_s_MemoryError __pyx_mstate_global->__pyx_n_s_MemoryError +#define __pyx_kp_s_MemoryView_of_r_at_0x_x __pyx_mstate_global->__pyx_kp_s_MemoryView_of_r_at_0x_x +#define __pyx_kp_s_MemoryView_of_r_object __pyx_mstate_global->__pyx_kp_s_MemoryView_of_r_object +#define __pyx_n_s_N __pyx_mstate_global->__pyx_n_s_N +#define __pyx_kp_u_None __pyx_mstate_global->__pyx_kp_u_None +#define __pyx_n_s_NotImplementedError __pyx_mstate_global->__pyx_n_s_NotImplementedError +#define __pyx_n_b_O __pyx_mstate_global->__pyx_n_b_O +#define __pyx_kp_u_Out_of_bounds_on_buffer_access_a __pyx_mstate_global->__pyx_kp_u_Out_of_bounds_on_buffer_access_a +#define __pyx_n_s_PickleError __pyx_mstate_global->__pyx_n_s_PickleError +#define __pyx_n_u_SQP __pyx_mstate_global->__pyx_n_u_SQP +#define __pyx_n_u_SQP_RTI __pyx_mstate_global->__pyx_n_u_SQP_RTI +#define __pyx_n_s_Sequence __pyx_mstate_global->__pyx_n_s_Sequence +#define __pyx_kp_s_Step_may_not_be_zero_axis_d __pyx_mstate_global->__pyx_kp_s_Step_may_not_be_zero_axis_d +#define __pyx_kp_u_TODO __pyx_mstate_global->__pyx_kp_u_TODO +#define __pyx_n_s_TypeError __pyx_mstate_global->__pyx_n_s_TypeError +#define __pyx_kp_s_Unable_to_convert_item_to_object __pyx_mstate_global->__pyx_kp_s_Unable_to_convert_item_to_object +#define __pyx_n_s_ValueError __pyx_mstate_global->__pyx_n_s_ValueError +#define __pyx_n_s_View_MemoryView __pyx_mstate_global->__pyx_n_s_View_MemoryView +#define __pyx_kp_u_Warning_acados_ocp_solver_reache __pyx_mstate_global->__pyx_kp_u_Warning_acados_ocp_solver_reache +#define __pyx_kp_u_Y_m_d_H_M_S_f __pyx_mstate_global->__pyx_kp_u_Y_m_d_H_M_S_f +#define __pyx_kp_u__16 __pyx_mstate_global->__pyx_kp_u__16 +#define __pyx_n_u__17 __pyx_mstate_global->__pyx_n_u__17 +#define __pyx_kp_u__2 __pyx_mstate_global->__pyx_kp_u__2 +#define __pyx_n_s__3 __pyx_mstate_global->__pyx_n_s__3 +#define __pyx_kp_u__31 __pyx_mstate_global->__pyx_kp_u__31 +#define __pyx_kp_u__6 __pyx_mstate_global->__pyx_kp_u__6 +#define __pyx_kp_u__7 __pyx_mstate_global->__pyx_kp_u__7 +#define __pyx_n_s__94 __pyx_mstate_global->__pyx_n_s__94 +#define __pyx_n_s_abc __pyx_mstate_global->__pyx_n_s_abc +#define __pyx_kp_u_acados_acados_ocp_solver_returne __pyx_mstate_global->__pyx_kp_u_acados_acados_ocp_solver_returne +#define __pyx_n_s_acados_template_acados_ocp_solve __pyx_mstate_global->__pyx_n_s_acados_template_acados_ocp_solve +#define __pyx_n_s_allocate_buffer __pyx_mstate_global->__pyx_n_s_allocate_buffer +#define __pyx_n_u_alpha __pyx_mstate_global->__pyx_n_u_alpha +#define __pyx_n_u_alpha_min __pyx_mstate_global->__pyx_n_u_alpha_min +#define __pyx_n_u_alpha_reduction __pyx_mstate_global->__pyx_n_u_alpha_reduction +#define __pyx_kp_u_alpha_values_are_not_available_f __pyx_mstate_global->__pyx_kp_u_alpha_values_are_not_available_f +#define __pyx_kp_u_and __pyx_mstate_global->__pyx_kp_u_and +#define __pyx_n_s_array __pyx_mstate_global->__pyx_n_s_array +#define __pyx_n_s_ascontiguousarray __pyx_mstate_global->__pyx_n_s_ascontiguousarray +#define __pyx_n_s_asfortranarray __pyx_mstate_global->__pyx_n_s_asfortranarray +#define __pyx_n_s_asyncio_coroutines __pyx_mstate_global->__pyx_n_s_asyncio_coroutines +#define __pyx_kp_u_at_stage __pyx_mstate_global->__pyx_kp_u_at_stage +#define __pyx_n_s_base __pyx_mstate_global->__pyx_n_s_base +#define __pyx_n_s_c __pyx_mstate_global->__pyx_n_s_c +#define __pyx_n_u_c __pyx_mstate_global->__pyx_n_u_c +#define __pyx_n_s_class __pyx_mstate_global->__pyx_n_s_class +#define __pyx_n_s_class_getitem __pyx_mstate_global->__pyx_n_s_class_getitem +#define __pyx_n_s_cline_in_traceback __pyx_mstate_global->__pyx_n_s_cline_in_traceback +#define __pyx_n_s_collections __pyx_mstate_global->__pyx_n_s_collections +#define __pyx_kp_s_collections_abc __pyx_mstate_global->__pyx_kp_s_collections_abc +#define __pyx_n_s_constraints_fields __pyx_mstate_global->__pyx_n_s_constraints_fields +#define __pyx_n_s_constraints_set __pyx_mstate_global->__pyx_n_s_constraints_set +#define __pyx_kp_u_constraints_set_value_must_be_nu __pyx_mstate_global->__pyx_kp_u_constraints_set_value_must_be_nu +#define __pyx_kp_s_contiguous_and_direct __pyx_mstate_global->__pyx_kp_s_contiguous_and_direct +#define __pyx_kp_s_contiguous_and_indirect __pyx_mstate_global->__pyx_kp_s_contiguous_and_indirect +#define __pyx_n_s_cost_fields __pyx_mstate_global->__pyx_n_s_cost_fields +#define __pyx_n_s_cost_set __pyx_mstate_global->__pyx_n_s_cost_set +#define __pyx_kp_u_cost_set_value_must_be_numpy_arr __pyx_mstate_global->__pyx_kp_u_cost_set_value_must_be_numpy_arr +#define __pyx_n_s_count __pyx_mstate_global->__pyx_n_s_count +#define __pyx_n_s_custom_update __pyx_mstate_global->__pyx_n_s_custom_update +#define __pyx_n_u_d __pyx_mstate_global->__pyx_n_u_d +#define __pyx_n_s_data __pyx_mstate_global->__pyx_n_s_data +#define __pyx_n_s_data_2 __pyx_mstate_global->__pyx_n_s_data_2 +#define __pyx_n_s_data_len __pyx_mstate_global->__pyx_n_s_data_len +#define __pyx_n_s_datetime __pyx_mstate_global->__pyx_n_s_datetime +#define __pyx_n_s_default __pyx_mstate_global->__pyx_n_s_default +#define __pyx_n_s_dict __pyx_mstate_global->__pyx_n_s_dict +#define __pyx_n_s_dims __pyx_mstate_global->__pyx_n_s_dims +#define __pyx_kp_u_disable __pyx_mstate_global->__pyx_kp_u_disable +#define __pyx_n_s_double_fields __pyx_mstate_global->__pyx_n_s_double_fields +#define __pyx_n_s_double_value __pyx_mstate_global->__pyx_n_s_double_value +#define __pyx_n_s_dtype __pyx_mstate_global->__pyx_n_s_dtype +#define __pyx_n_s_dtype_is_object __pyx_mstate_global->__pyx_n_s_dtype_is_object +#define __pyx_n_s_dump __pyx_mstate_global->__pyx_n_s_dump +#define __pyx_kp_u_enable __pyx_mstate_global->__pyx_kp_u_enable +#define __pyx_n_s_encode __pyx_mstate_global->__pyx_n_s_encode +#define __pyx_n_s_enter __pyx_mstate_global->__pyx_n_s_enter +#define __pyx_n_s_enumerate __pyx_mstate_global->__pyx_n_s_enumerate +#define __pyx_n_u_eps_sufficient_descent __pyx_mstate_global->__pyx_n_u_eps_sufficient_descent +#define __pyx_n_s_error __pyx_mstate_global->__pyx_n_s_error +#define __pyx_n_s_eval_param_sens __pyx_mstate_global->__pyx_n_s_eval_param_sens +#define __pyx_n_u_ex __pyx_mstate_global->__pyx_n_u_ex +#define __pyx_n_s_exit __pyx_mstate_global->__pyx_n_s_exit +#define __pyx_n_s_f __pyx_mstate_global->__pyx_n_s_f +#define __pyx_n_s_field __pyx_mstate_global->__pyx_n_s_field +#define __pyx_n_s_field_2 __pyx_mstate_global->__pyx_n_s_field_2 +#define __pyx_n_s_fields __pyx_mstate_global->__pyx_n_s_fields +#define __pyx_n_s_filename __pyx_mstate_global->__pyx_n_s_filename +#define __pyx_n_s_flags __pyx_mstate_global->__pyx_n_s_flags +#define __pyx_n_s_float64 __pyx_mstate_global->__pyx_n_s_float64 +#define __pyx_kp_u_for_field __pyx_mstate_global->__pyx_kp_u_for_field +#define __pyx_n_s_format __pyx_mstate_global->__pyx_n_s_format +#define __pyx_n_s_fortran __pyx_mstate_global->__pyx_n_s_fortran +#define __pyx_n_u_fortran __pyx_mstate_global->__pyx_n_u_fortran +#define __pyx_n_s_full_stats __pyx_mstate_global->__pyx_n_s_full_stats +#define __pyx_n_u_full_step_dual __pyx_mstate_global->__pyx_n_u_full_step_dual +#define __pyx_kp_u_gc __pyx_mstate_global->__pyx_kp_u_gc +#define __pyx_n_s_get __pyx_mstate_global->__pyx_n_s_get +#define __pyx_n_s_get_cost __pyx_mstate_global->__pyx_n_s_get_cost +#define __pyx_n_s_get_from_qp_in __pyx_mstate_global->__pyx_n_s_get_from_qp_in +#define __pyx_n_s_get_pointers_solver __pyx_mstate_global->__pyx_n_s_get_pointers_solver +#define __pyx_n_s_get_residuals __pyx_mstate_global->__pyx_n_s_get_residuals +#define __pyx_n_s_get_stat_double __pyx_mstate_global->__pyx_n_s_get_stat_double +#define __pyx_n_s_get_stat_int __pyx_mstate_global->__pyx_n_s_get_stat_int +#define __pyx_n_s_get_stat_matrix __pyx_mstate_global->__pyx_n_s_get_stat_matrix +#define __pyx_n_s_get_stats __pyx_mstate_global->__pyx_n_s_get_stats +#define __pyx_n_s_getcwd __pyx_mstate_global->__pyx_n_s_getcwd +#define __pyx_n_s_getstate __pyx_mstate_global->__pyx_n_s_getstate +#define __pyx_n_u_globalization __pyx_mstate_global->__pyx_n_u_globalization +#define __pyx_n_u_globalization_use_SOC __pyx_mstate_global->__pyx_n_u_globalization_use_SOC +#define __pyx_kp_u_got __pyx_mstate_global->__pyx_kp_u_got +#define __pyx_kp_u_got_differing_extents_in_dimensi __pyx_mstate_global->__pyx_kp_u_got_differing_extents_in_dimensi +#define __pyx_n_s_i __pyx_mstate_global->__pyx_n_s_i +#define __pyx_n_s_i_string __pyx_mstate_global->__pyx_n_s_i_string +#define __pyx_n_s_id __pyx_mstate_global->__pyx_n_s_id +#define __pyx_n_s_idx __pyx_mstate_global->__pyx_n_s_idx +#define __pyx_n_s_idx_values __pyx_mstate_global->__pyx_n_s_idx_values +#define __pyx_n_s_import __pyx_mstate_global->__pyx_n_s_import +#define __pyx_n_s_indent __pyx_mstate_global->__pyx_n_s_indent +#define __pyx_n_s_index __pyx_mstate_global->__pyx_n_s_index +#define __pyx_n_u_initialize_t_slacks __pyx_mstate_global->__pyx_n_u_initialize_t_slacks +#define __pyx_n_s_initializing __pyx_mstate_global->__pyx_n_s_initializing +#define __pyx_n_s_int __pyx_mstate_global->__pyx_n_s_int +#define __pyx_n_s_int32 __pyx_mstate_global->__pyx_n_s_int32 +#define __pyx_n_s_int_fields __pyx_mstate_global->__pyx_n_s_int_fields +#define __pyx_n_s_int_value __pyx_mstate_global->__pyx_n_s_int_value +#define __pyx_n_s_is_coroutine __pyx_mstate_global->__pyx_n_s_is_coroutine +#define __pyx_kp_u_isenabled __pyx_mstate_global->__pyx_kp_u_isenabled +#define __pyx_n_s_isfile __pyx_mstate_global->__pyx_n_s_isfile +#define __pyx_n_s_itemsize __pyx_mstate_global->__pyx_n_s_itemsize +#define __pyx_kp_s_itemsize_0_for_cython_array __pyx_mstate_global->__pyx_kp_s_itemsize_0_for_cython_array +#define __pyx_n_u_iterate __pyx_mstate_global->__pyx_n_u_iterate +#define __pyx_n_s_join __pyx_mstate_global->__pyx_n_s_join +#define __pyx_n_s_json __pyx_mstate_global->__pyx_n_s_json +#define __pyx_kp_u_json_2 __pyx_mstate_global->__pyx_kp_u_json_2 +#define __pyx_n_s_k __pyx_mstate_global->__pyx_n_s_k +#define __pyx_n_s_key __pyx_mstate_global->__pyx_n_s_key +#define __pyx_n_s_keys __pyx_mstate_global->__pyx_n_s_keys +#define __pyx_n_s_lN __pyx_mstate_global->__pyx_n_s_lN +#define __pyx_n_u_lam __pyx_mstate_global->__pyx_n_u_lam +#define __pyx_n_u_lam_2 __pyx_mstate_global->__pyx_n_u_lam_2 +#define __pyx_n_u_lbu __pyx_mstate_global->__pyx_n_u_lbu +#define __pyx_n_u_lbx __pyx_mstate_global->__pyx_n_u_lbx +#define __pyx_n_u_line_search_use_sufficient_desce __pyx_mstate_global->__pyx_n_u_line_search_use_sufficient_desce +#define __pyx_n_s_load __pyx_mstate_global->__pyx_n_s_load +#define __pyx_n_s_load_iterate __pyx_mstate_global->__pyx_n_s_load_iterate +#define __pyx_kp_u_load_iterate_failed_file_does_no __pyx_mstate_global->__pyx_kp_u_load_iterate_failed_file_does_no +#define __pyx_n_s_m __pyx_mstate_global->__pyx_n_s_m +#define __pyx_n_s_main __pyx_mstate_global->__pyx_n_s_main +#define __pyx_n_s_mem_fields __pyx_mstate_global->__pyx_n_s_mem_fields +#define __pyx_n_s_memview __pyx_mstate_global->__pyx_n_s_memview +#define __pyx_n_s_min_size __pyx_mstate_global->__pyx_n_s_min_size +#define __pyx_n_s_mode __pyx_mstate_global->__pyx_n_s_mode +#define __pyx_n_s_model_name __pyx_mstate_global->__pyx_n_s_model_name +#define __pyx_n_s_msg __pyx_mstate_global->__pyx_n_s_msg +#define __pyx_n_s_n __pyx_mstate_global->__pyx_n_s_n +#define __pyx_n_s_n_update __pyx_mstate_global->__pyx_n_s_n_update +#define __pyx_n_s_name __pyx_mstate_global->__pyx_n_s_name +#define __pyx_n_s_name_2 __pyx_mstate_global->__pyx_n_s_name_2 +#define __pyx_n_s_ndarray __pyx_mstate_global->__pyx_n_s_ndarray +#define __pyx_n_s_ndim __pyx_mstate_global->__pyx_n_s_ndim +#define __pyx_n_s_new __pyx_mstate_global->__pyx_n_s_new +#define __pyx_n_s_new_time_steps __pyx_mstate_global->__pyx_n_s_new_time_steps +#define __pyx_n_s_nlp_solver_type __pyx_mstate_global->__pyx_n_s_nlp_solver_type +#define __pyx_kp_s_no_default___reduce___due_to_non __pyx_mstate_global->__pyx_kp_s_no_default___reduce___due_to_non +#define __pyx_n_s_np __pyx_mstate_global->__pyx_n_s_np +#define __pyx_n_s_numpy __pyx_mstate_global->__pyx_n_s_numpy +#define __pyx_kp_u_numpy_core_multiarray_failed_to __pyx_mstate_global->__pyx_kp_u_numpy_core_multiarray_failed_to +#define __pyx_kp_u_numpy_core_umath_failed_to_impor __pyx_mstate_global->__pyx_kp_u_numpy_core_umath_failed_to_impor +#define __pyx_n_s_nx __pyx_mstate_global->__pyx_n_s_nx +#define __pyx_n_s_obj __pyx_mstate_global->__pyx_n_s_obj +#define __pyx_n_s_open __pyx_mstate_global->__pyx_n_s_open +#define __pyx_n_s_options_set __pyx_mstate_global->__pyx_n_s_options_set +#define __pyx_n_s_order __pyx_mstate_global->__pyx_n_s_order +#define __pyx_n_s_os __pyx_mstate_global->__pyx_n_s_os +#define __pyx_n_s_out __pyx_mstate_global->__pyx_n_s_out +#define __pyx_n_s_out_fields __pyx_mstate_global->__pyx_n_s_out_fields +#define __pyx_n_s_out_mat __pyx_mstate_global->__pyx_n_s_out_mat +#define __pyx_n_s_overwrite __pyx_mstate_global->__pyx_n_s_overwrite +#define __pyx_n_u_p __pyx_mstate_global->__pyx_n_u_p +#define __pyx_n_s_pack __pyx_mstate_global->__pyx_n_s_pack +#define __pyx_n_s_param_values __pyx_mstate_global->__pyx_n_s_param_values +#define __pyx_kp_u_param_values_2 __pyx_mstate_global->__pyx_kp_u_param_values_2 +#define __pyx_kp_u_param_values__and_idx_values__mu __pyx_mstate_global->__pyx_kp_u_param_values__and_idx_values__mu +#define __pyx_kp_u_param_values__must_be_np_array __pyx_mstate_global->__pyx_kp_u_param_values__must_be_np_array +#define __pyx_n_s_path __pyx_mstate_global->__pyx_n_s_path +#define __pyx_n_u_pi __pyx_mstate_global->__pyx_n_u_pi +#define __pyx_n_u_pi_2 __pyx_mstate_global->__pyx_n_u_pi_2 +#define __pyx_n_s_pickle __pyx_mstate_global->__pyx_n_s_pickle +#define __pyx_n_s_print __pyx_mstate_global->__pyx_n_s_print +#define __pyx_n_u_print_level __pyx_mstate_global->__pyx_n_u_print_level +#define __pyx_n_s_print_statistics __pyx_mstate_global->__pyx_n_s_print_statistics +#define __pyx_n_s_pyx_PickleError __pyx_mstate_global->__pyx_n_s_pyx_PickleError +#define __pyx_n_s_pyx_checksum __pyx_mstate_global->__pyx_n_s_pyx_checksum +#define __pyx_n_s_pyx_result __pyx_mstate_global->__pyx_n_s_pyx_result +#define __pyx_n_s_pyx_state __pyx_mstate_global->__pyx_n_s_pyx_state +#define __pyx_n_s_pyx_type __pyx_mstate_global->__pyx_n_s_pyx_type +#define __pyx_n_s_pyx_unpickle_Enum __pyx_mstate_global->__pyx_n_s_pyx_unpickle_Enum +#define __pyx_n_s_pyx_vtable __pyx_mstate_global->__pyx_n_s_pyx_vtable +#define __pyx_n_u_qp_iter __pyx_mstate_global->__pyx_n_u_qp_iter +#define __pyx_n_u_qp_mu0 __pyx_mstate_global->__pyx_n_u_qp_mu0 +#define __pyx_n_s_qp_solver_cond_N __pyx_mstate_global->__pyx_n_s_qp_solver_cond_N +#define __pyx_n_u_qp_tau_min __pyx_mstate_global->__pyx_n_u_qp_tau_min +#define __pyx_n_u_qp_tol_comp __pyx_mstate_global->__pyx_n_u_qp_tol_comp +#define __pyx_n_u_qp_tol_eq __pyx_mstate_global->__pyx_n_u_qp_tol_eq +#define __pyx_n_u_qp_tol_ineq __pyx_mstate_global->__pyx_n_u_qp_tol_ineq +#define __pyx_n_u_qp_tol_stat __pyx_mstate_global->__pyx_n_u_qp_tol_stat +#define __pyx_n_u_qp_warm_start __pyx_mstate_global->__pyx_n_u_qp_warm_start +#define __pyx_n_u_r __pyx_mstate_global->__pyx_n_u_r +#define __pyx_n_s_range __pyx_mstate_global->__pyx_n_s_range +#define __pyx_n_s_recompute __pyx_mstate_global->__pyx_n_s_recompute +#define __pyx_n_s_reduce __pyx_mstate_global->__pyx_n_s_reduce +#define __pyx_n_s_reduce_cython __pyx_mstate_global->__pyx_n_s_reduce_cython +#define __pyx_n_s_reduce_ex __pyx_mstate_global->__pyx_n_s_reduce_ex +#define __pyx_n_s_register __pyx_mstate_global->__pyx_n_s_register +#define __pyx_n_b_res_comp __pyx_mstate_global->__pyx_n_b_res_comp +#define __pyx_n_b_res_eq __pyx_mstate_global->__pyx_n_b_res_eq +#define __pyx_n_b_res_ineq __pyx_mstate_global->__pyx_n_b_res_ineq +#define __pyx_n_b_res_stat __pyx_mstate_global->__pyx_n_b_res_stat +#define __pyx_n_s_reset __pyx_mstate_global->__pyx_n_s_reset +#define __pyx_n_s_reset_qp_solver_mem __pyx_mstate_global->__pyx_n_s_reset_qp_solver_mem +#define __pyx_n_u_residuals __pyx_mstate_global->__pyx_n_u_residuals +#define __pyx_n_u_rti_phase __pyx_mstate_global->__pyx_n_u_rti_phase +#define __pyx_n_s_self __pyx_mstate_global->__pyx_n_s_self +#define __pyx_n_s_set __pyx_mstate_global->__pyx_n_s_set +#define __pyx_n_s_set_new_time_steps __pyx_mstate_global->__pyx_n_s_set_new_time_steps +#define __pyx_n_s_set_params_sparse __pyx_mstate_global->__pyx_n_s_set_params_sparse +#define __pyx_kp_u_set_value_must_be_numpy_array_go __pyx_mstate_global->__pyx_kp_u_set_value_must_be_numpy_array_go +#define __pyx_n_s_setstate __pyx_mstate_global->__pyx_n_s_setstate +#define __pyx_n_s_setstate_cython __pyx_mstate_global->__pyx_n_s_setstate_cython +#define __pyx_n_s_shape __pyx_mstate_global->__pyx_n_s_shape +#define __pyx_n_s_size __pyx_mstate_global->__pyx_n_s_size +#define __pyx_n_u_sl __pyx_mstate_global->__pyx_n_u_sl +#define __pyx_n_u_sl_2 __pyx_mstate_global->__pyx_n_u_sl_2 +#define __pyx_n_s_solution __pyx_mstate_global->__pyx_n_s_solution +#define __pyx_n_s_solve __pyx_mstate_global->__pyx_n_s_solve +#define __pyx_n_s_solve_for_x0 __pyx_mstate_global->__pyx_n_s_solve_for_x0 +#define __pyx_kp_u_solver_option_must_be_of_type_fl __pyx_mstate_global->__pyx_kp_u_solver_option_must_be_of_type_fl +#define __pyx_kp_u_solver_option_must_be_of_type_in __pyx_mstate_global->__pyx_kp_u_solver_option_must_be_of_type_in +#define __pyx_kp_u_solver_option_must_be_of_type_st __pyx_mstate_global->__pyx_kp_u_solver_option_must_be_of_type_st +#define __pyx_n_s_sort_keys __pyx_mstate_global->__pyx_n_s_sort_keys +#define __pyx_n_s_spec __pyx_mstate_global->__pyx_n_s_spec +#define __pyx_n_s_split __pyx_mstate_global->__pyx_n_s_split +#define __pyx_n_s_sqp_iter __pyx_mstate_global->__pyx_n_s_sqp_iter +#define __pyx_n_u_sqp_iter __pyx_mstate_global->__pyx_n_u_sqp_iter +#define __pyx_n_s_stage __pyx_mstate_global->__pyx_n_s_stage +#define __pyx_n_s_start __pyx_mstate_global->__pyx_n_s_start +#define __pyx_n_s_stat_m __pyx_mstate_global->__pyx_n_s_stat_m +#define __pyx_n_u_stat_m __pyx_mstate_global->__pyx_n_u_stat_m +#define __pyx_n_s_stat_n __pyx_mstate_global->__pyx_n_s_stat_n +#define __pyx_n_u_stat_n __pyx_mstate_global->__pyx_n_u_stat_n +#define __pyx_n_u_statistics __pyx_mstate_global->__pyx_n_u_statistics +#define __pyx_n_s_status __pyx_mstate_global->__pyx_n_s_status +#define __pyx_n_s_step __pyx_mstate_global->__pyx_n_s_step +#define __pyx_n_u_step_length __pyx_mstate_global->__pyx_n_u_step_length +#define __pyx_n_s_stop __pyx_mstate_global->__pyx_n_s_stop +#define __pyx_n_s_store_iterate __pyx_mstate_global->__pyx_n_s_store_iterate +#define __pyx_n_s_store_iterate_locals_lambda __pyx_mstate_global->__pyx_n_s_store_iterate_locals_lambda +#define __pyx_kp_u_stored_current_iterate_in __pyx_mstate_global->__pyx_kp_u_stored_current_iterate_in +#define __pyx_n_s_strftime __pyx_mstate_global->__pyx_n_s_strftime +#define __pyx_kp_s_strided_and_direct __pyx_mstate_global->__pyx_kp_s_strided_and_direct +#define __pyx_kp_s_strided_and_direct_or_indirect __pyx_mstate_global->__pyx_kp_s_strided_and_direct_or_indirect +#define __pyx_kp_s_strided_and_indirect __pyx_mstate_global->__pyx_kp_s_strided_and_indirect +#define __pyx_n_s_string_fields __pyx_mstate_global->__pyx_n_s_string_fields +#define __pyx_n_s_string_value __pyx_mstate_global->__pyx_n_s_string_value +#define __pyx_kp_s_stringsource __pyx_mstate_global->__pyx_kp_s_stringsource +#define __pyx_n_s_struct __pyx_mstate_global->__pyx_n_s_struct +#define __pyx_n_u_su __pyx_mstate_global->__pyx_n_u_su +#define __pyx_n_u_su_2 __pyx_mstate_global->__pyx_n_u_su_2 +#define __pyx_n_s_sys __pyx_mstate_global->__pyx_n_s_sys +#define __pyx_n_u_t __pyx_mstate_global->__pyx_n_u_t +#define __pyx_n_u_t_2 __pyx_mstate_global->__pyx_n_u_t_2 +#define __pyx_n_s_test __pyx_mstate_global->__pyx_n_s_test +#define __pyx_kp_s_third_party_acados_acados_templa __pyx_mstate_global->__pyx_kp_s_third_party_acados_acados_templa +#define __pyx_n_u_time_glob __pyx_mstate_global->__pyx_n_u_time_glob +#define __pyx_n_u_time_lin __pyx_mstate_global->__pyx_n_u_time_lin +#define __pyx_n_u_time_qp __pyx_mstate_global->__pyx_n_u_time_qp +#define __pyx_n_u_time_qp_solver_call __pyx_mstate_global->__pyx_n_u_time_qp_solver_call +#define __pyx_n_u_time_qp_xcond __pyx_mstate_global->__pyx_n_u_time_qp_xcond +#define __pyx_n_u_time_reg __pyx_mstate_global->__pyx_n_u_time_reg +#define __pyx_n_u_time_sim __pyx_mstate_global->__pyx_n_u_time_sim +#define __pyx_n_u_time_sim_ad __pyx_mstate_global->__pyx_n_u_time_sim_ad +#define __pyx_n_u_time_sim_la __pyx_mstate_global->__pyx_n_u_time_sim_la +#define __pyx_n_u_time_solution_sensitivities __pyx_mstate_global->__pyx_n_u_time_solution_sensitivities +#define __pyx_n_u_time_tot __pyx_mstate_global->__pyx_n_u_time_tot +#define __pyx_n_u_tol_comp __pyx_mstate_global->__pyx_n_u_tol_comp +#define __pyx_n_u_tol_eq __pyx_mstate_global->__pyx_n_u_tol_eq +#define __pyx_n_u_tol_ineq __pyx_mstate_global->__pyx_n_u_tol_ineq +#define __pyx_n_u_tol_stat __pyx_mstate_global->__pyx_n_u_tol_stat +#define __pyx_n_s_tolist __pyx_mstate_global->__pyx_n_s_tolist +#define __pyx_n_u_u __pyx_mstate_global->__pyx_n_u_u +#define __pyx_n_s_u0 __pyx_mstate_global->__pyx_n_s_u0 +#define __pyx_n_u_u_2 __pyx_mstate_global->__pyx_n_u_u_2 +#define __pyx_n_u_ubu __pyx_mstate_global->__pyx_n_u_ubu +#define __pyx_n_u_ubx __pyx_mstate_global->__pyx_n_u_ubx +#define __pyx_kp_s_unable_to_allocate_array_data __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_array_data +#define __pyx_kp_s_unable_to_allocate_shape_and_str __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_shape_and_str +#define __pyx_n_s_unpack __pyx_mstate_global->__pyx_n_s_unpack +#define __pyx_n_s_update __pyx_mstate_global->__pyx_n_s_update +#define __pyx_n_s_update_qp_solver_cond_N __pyx_mstate_global->__pyx_n_s_update_qp_solver_cond_N +#define __pyx_n_s_utcnow __pyx_mstate_global->__pyx_n_s_utcnow +#define __pyx_kp_u_utf_8 __pyx_mstate_global->__pyx_kp_u_utf_8 +#define __pyx_n_s_value __pyx_mstate_global->__pyx_n_s_value +#define __pyx_n_s_value_2 __pyx_mstate_global->__pyx_n_s_value_2 +#define __pyx_n_s_value_shape __pyx_mstate_global->__pyx_n_s_value_shape +#define __pyx_n_s_version_info __pyx_mstate_global->__pyx_n_s_version_info +#define __pyx_n_u_w __pyx_mstate_global->__pyx_n_u_w +#define __pyx_n_u_warm_start_first_qp __pyx_mstate_global->__pyx_n_u_warm_start_first_qp +#define __pyx_kp_u_with_dimension __pyx_mstate_global->__pyx_kp_u_with_dimension +#define __pyx_kp_u_with_dimension_you_have __pyx_mstate_global->__pyx_kp_u_with_dimension_you_have +#define __pyx_n_b_x __pyx_mstate_global->__pyx_n_b_x +#define __pyx_n_s_x __pyx_mstate_global->__pyx_n_s_x +#define __pyx_n_u_x __pyx_mstate_global->__pyx_n_u_x +#define __pyx_n_s_x0_bar __pyx_mstate_global->__pyx_n_s_x0_bar +#define __pyx_n_u_x_2 __pyx_mstate_global->__pyx_n_u_x_2 +#define __pyx_n_u_xdot_guess __pyx_mstate_global->__pyx_n_u_xdot_guess +#define __pyx_n_u_y_ref __pyx_mstate_global->__pyx_n_u_y_ref +#define __pyx_kp_u_you_have __pyx_mstate_global->__pyx_kp_u_you_have +#define __pyx_n_u_yref __pyx_mstate_global->__pyx_n_u_yref +#define __pyx_n_u_z __pyx_mstate_global->__pyx_n_u_z +#define __pyx_n_u_z_2 __pyx_mstate_global->__pyx_n_u_z_2 +#define __pyx_n_b_z_guess __pyx_mstate_global->__pyx_n_b_z_guess +#define __pyx_n_u_z_guess __pyx_mstate_global->__pyx_n_u_z_guess +#define __pyx_n_s_zeros __pyx_mstate_global->__pyx_n_s_zeros +#define __pyx_int_0 __pyx_mstate_global->__pyx_int_0 +#define __pyx_int_1 __pyx_mstate_global->__pyx_int_1 +#define __pyx_int_2 __pyx_mstate_global->__pyx_int_2 +#define __pyx_int_3 __pyx_mstate_global->__pyx_int_3 +#define __pyx_int_4 __pyx_mstate_global->__pyx_int_4 +#define __pyx_int_6 __pyx_mstate_global->__pyx_int_6 +#define __pyx_int_7 __pyx_mstate_global->__pyx_int_7 +#define __pyx_int_112105877 __pyx_mstate_global->__pyx_int_112105877 +#define __pyx_int_136983863 __pyx_mstate_global->__pyx_int_136983863 +#define __pyx_int_184977713 __pyx_mstate_global->__pyx_int_184977713 +#define __pyx_int_neg_1 __pyx_mstate_global->__pyx_int_neg_1 +#define __pyx_int_neg_5 __pyx_mstate_global->__pyx_int_neg_5 +#define __pyx_slice__5 __pyx_mstate_global->__pyx_slice__5 +#define __pyx_tuple__4 __pyx_mstate_global->__pyx_tuple__4 +#define __pyx_tuple__8 __pyx_mstate_global->__pyx_tuple__8 +#define __pyx_tuple__9 __pyx_mstate_global->__pyx_tuple__9 +#define __pyx_slice__18 __pyx_mstate_global->__pyx_slice__18 +#define __pyx_tuple__10 __pyx_mstate_global->__pyx_tuple__10 +#define __pyx_tuple__11 __pyx_mstate_global->__pyx_tuple__11 +#define __pyx_tuple__12 __pyx_mstate_global->__pyx_tuple__12 +#define __pyx_tuple__13 __pyx_mstate_global->__pyx_tuple__13 +#define __pyx_tuple__14 __pyx_mstate_global->__pyx_tuple__14 +#define __pyx_tuple__15 __pyx_mstate_global->__pyx_tuple__15 +#define __pyx_tuple__19 __pyx_mstate_global->__pyx_tuple__19 +#define __pyx_tuple__20 __pyx_mstate_global->__pyx_tuple__20 +#define __pyx_tuple__21 __pyx_mstate_global->__pyx_tuple__21 +#define __pyx_tuple__22 __pyx_mstate_global->__pyx_tuple__22 +#define __pyx_tuple__23 __pyx_mstate_global->__pyx_tuple__23 +#define __pyx_tuple__24 __pyx_mstate_global->__pyx_tuple__24 +#define __pyx_tuple__25 __pyx_mstate_global->__pyx_tuple__25 +#define __pyx_tuple__26 __pyx_mstate_global->__pyx_tuple__26 +#define __pyx_tuple__27 __pyx_mstate_global->__pyx_tuple__27 +#define __pyx_tuple__28 __pyx_mstate_global->__pyx_tuple__28 +#define __pyx_tuple__29 __pyx_mstate_global->__pyx_tuple__29 +#define __pyx_tuple__30 __pyx_mstate_global->__pyx_tuple__30 +#define __pyx_tuple__32 __pyx_mstate_global->__pyx_tuple__32 +#define __pyx_tuple__33 __pyx_mstate_global->__pyx_tuple__33 +#define __pyx_tuple__34 __pyx_mstate_global->__pyx_tuple__34 +#define __pyx_tuple__35 __pyx_mstate_global->__pyx_tuple__35 +#define __pyx_tuple__36 __pyx_mstate_global->__pyx_tuple__36 +#define __pyx_tuple__37 __pyx_mstate_global->__pyx_tuple__37 +#define __pyx_tuple__38 __pyx_mstate_global->__pyx_tuple__38 +#define __pyx_tuple__39 __pyx_mstate_global->__pyx_tuple__39 +#define __pyx_tuple__40 __pyx_mstate_global->__pyx_tuple__40 +#define __pyx_tuple__41 __pyx_mstate_global->__pyx_tuple__41 +#define __pyx_tuple__42 __pyx_mstate_global->__pyx_tuple__42 +#define __pyx_tuple__44 __pyx_mstate_global->__pyx_tuple__44 +#define __pyx_tuple__46 __pyx_mstate_global->__pyx_tuple__46 +#define __pyx_tuple__49 __pyx_mstate_global->__pyx_tuple__49 +#define __pyx_tuple__51 __pyx_mstate_global->__pyx_tuple__51 +#define 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new_ndim = 0, suboffset_dim = -1, dim + * cdef bint negative_step + */ + + /* function exit code */ + __pyx_L1_error:; + __Pyx_XDECREF(__pyx_t_2); + __Pyx_XDECREF(__pyx_t_8); + __Pyx_AddTraceback("View.MemoryView.memview_slice", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = 0; + __pyx_L0:; + __Pyx_XDECREF((PyObject *)__pyx_v_memviewsliceobj); + __Pyx_XDECREF(__pyx_v_index); + __Pyx_XGIVEREF((PyObject *)__pyx_r); + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +/* "View.MemoryView":793 + * + * @cname('__pyx_memoryview_slice_memviewslice') + * cdef int slice_memviewslice( # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * Py_ssize_t shape, Py_ssize_t stride, Py_ssize_t suboffset, + */ + +static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *__pyx_v_dst, Py_ssize_t __pyx_v_shape, Py_ssize_t __pyx_v_stride, Py_ssize_t __pyx_v_suboffset, int __pyx_v_dim, int __pyx_v_new_ndim, int *__pyx_v_suboffset_dim, Py_ssize_t __pyx_v_start, Py_ssize_t __pyx_v_stop, Py_ssize_t __pyx_v_step, int __pyx_v_have_start, int __pyx_v_have_stop, int __pyx_v_have_step, int __pyx_v_is_slice) { + Py_ssize_t __pyx_v_new_shape; + int __pyx_v_negative_step; + int __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save; + #endif + + /* "View.MemoryView":813 + * cdef bint negative_step + * + * if not is_slice: # <<<<<<<<<<<<<< + * + * if start < 0: + */ + __pyx_t_1 = (!__pyx_v_is_slice); + if (__pyx_t_1) { + + /* "View.MemoryView":815 + * if not is_slice: + * + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if not 0 <= start < shape: + */ + __pyx_t_1 = (__pyx_v_start < 0); + if (__pyx_t_1) { + + /* "View.MemoryView":816 + * + * if start < 0: + * start += shape # <<<<<<<<<<<<<< + * if not 0 <= start < shape: + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) + */ + __pyx_v_start = (__pyx_v_start + __pyx_v_shape); + + /* "View.MemoryView":815 + * if not is_slice: + * + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if not 0 <= start < shape: + */ + } + + /* "View.MemoryView":817 + * if start < 0: + * start += shape + * if not 0 <= start < shape: # <<<<<<<<<<<<<< + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) + * else: + */ + __pyx_t_1 = (0 <= __pyx_v_start); + if (__pyx_t_1) { + __pyx_t_1 = (__pyx_v_start < __pyx_v_shape); + } + __pyx_t_2 = (!__pyx_t_1); + if (__pyx_t_2) { + + /* "View.MemoryView":818 + * start += shape + * if not 0 <= start < shape: + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) # <<<<<<<<<<<<<< + * else: + * + */ + __pyx_t_3 = __pyx_memoryview_err_dim(PyExc_IndexError, __pyx_kp_s_Index_out_of_bounds_axis_d, __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(1, 818, __pyx_L1_error) + + /* "View.MemoryView":817 + * if start < 0: + * start += shape + * if not 0 <= start < shape: # <<<<<<<<<<<<<< + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) + * else: + */ + } + + /* "View.MemoryView":813 + * cdef bint negative_step + * + * if not is_slice: # <<<<<<<<<<<<<< + * + * if start < 0: + */ + goto __pyx_L3; + } + + /* "View.MemoryView":821 + * else: + * + * if have_step: # <<<<<<<<<<<<<< + * negative_step = step < 0 + * if step == 0: + */ + /*else*/ { + __pyx_t_2 = (__pyx_v_have_step != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":822 + * + * if have_step: + * negative_step = step < 0 # <<<<<<<<<<<<<< + * if step == 0: + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + */ + __pyx_v_negative_step = (__pyx_v_step < 0); + + /* "View.MemoryView":823 + * if have_step: + * negative_step = step < 0 + * if step == 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + */ + __pyx_t_2 = (__pyx_v_step == 0); + if (__pyx_t_2) { + + /* "View.MemoryView":824 + * negative_step = step < 0 + * if step == 0: + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) # <<<<<<<<<<<<<< + * else: + * negative_step = False + */ + __pyx_t_3 = __pyx_memoryview_err_dim(PyExc_ValueError, __pyx_kp_s_Step_may_not_be_zero_axis_d, __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(1, 824, __pyx_L1_error) + + /* "View.MemoryView":823 + * if have_step: + * negative_step = step < 0 + * if step == 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + */ + } + + /* "View.MemoryView":821 + * else: + * + * if have_step: # <<<<<<<<<<<<<< + * negative_step = step < 0 + * if step == 0: + */ + goto __pyx_L6; + } + + /* "View.MemoryView":826 + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + * negative_step = False # <<<<<<<<<<<<<< + * step = 1 + * + */ + /*else*/ { + __pyx_v_negative_step = 0; + + /* "View.MemoryView":827 + * else: + * negative_step = False + * step = 1 # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_step = 1; + } + __pyx_L6:; + + /* "View.MemoryView":830 + * + * + * if have_start: # <<<<<<<<<<<<<< + * if start < 0: + * start += shape + */ + __pyx_t_2 = (__pyx_v_have_start != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":831 + * + * if have_start: + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if start < 0: + */ + __pyx_t_2 = (__pyx_v_start < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":832 + * if have_start: + * if start < 0: + * start += shape # <<<<<<<<<<<<<< + * if start < 0: + * start = 0 + */ + __pyx_v_start = (__pyx_v_start + __pyx_v_shape); + + /* "View.MemoryView":833 + * if start < 0: + * start += shape + * if start < 0: # <<<<<<<<<<<<<< + * start = 0 + * elif start >= shape: + */ + __pyx_t_2 = (__pyx_v_start < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":834 + * start += shape + * if start < 0: + * start = 0 # <<<<<<<<<<<<<< + * elif start >= shape: + * if negative_step: + */ + __pyx_v_start = 0; + + /* "View.MemoryView":833 + * if start < 0: + * start += shape + * if start < 0: # <<<<<<<<<<<<<< + * start = 0 + * elif start >= shape: + */ + } + + /* "View.MemoryView":831 + * + * if have_start: + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if start < 0: + */ + goto __pyx_L9; + } + + /* "View.MemoryView":835 + * if start < 0: + * start = 0 + * elif start >= shape: # <<<<<<<<<<<<<< + * if negative_step: + * start = shape - 1 + */ + __pyx_t_2 = (__pyx_v_start >= __pyx_v_shape); + if (__pyx_t_2) { + + /* "View.MemoryView":836 + * start = 0 + * elif start >= shape: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + if (__pyx_v_negative_step) { + + /* "View.MemoryView":837 + * elif start >= shape: + * if negative_step: + * start = shape - 1 # <<<<<<<<<<<<<< + * else: + * start = shape + */ + __pyx_v_start = (__pyx_v_shape - 1); + + /* "View.MemoryView":836 + * start = 0 + * elif start >= shape: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + goto __pyx_L11; + } + + /* "View.MemoryView":839 + * start = shape - 1 + * else: + * start = shape # <<<<<<<<<<<<<< + * else: + * if negative_step: + */ + /*else*/ { + __pyx_v_start = __pyx_v_shape; + } + __pyx_L11:; + + /* "View.MemoryView":835 + * if start < 0: + * start = 0 + * elif start >= shape: # <<<<<<<<<<<<<< + * if negative_step: + * start = shape - 1 + */ + } + __pyx_L9:; + + /* "View.MemoryView":830 + * + * + * if have_start: # <<<<<<<<<<<<<< + * if start < 0: + * start += shape + */ + goto __pyx_L8; + } + + /* "View.MemoryView":841 + * start = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + /*else*/ { + if (__pyx_v_negative_step) { + + /* "View.MemoryView":842 + * else: + * if negative_step: + * start = shape - 1 # <<<<<<<<<<<<<< + * else: + * start = 0 + */ + __pyx_v_start = (__pyx_v_shape - 1); + + /* "View.MemoryView":841 + * start = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + goto __pyx_L12; + } + + /* "View.MemoryView":844 + * start = shape - 1 + * else: + * start = 0 # <<<<<<<<<<<<<< + * + * if have_stop: + */ + /*else*/ { + __pyx_v_start = 0; + } + __pyx_L12:; + } + __pyx_L8:; + + /* "View.MemoryView":846 + * start = 0 + * + * if have_stop: # <<<<<<<<<<<<<< + * if stop < 0: + * stop += shape + */ + __pyx_t_2 = (__pyx_v_have_stop != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":847 + * + * if have_stop: + * if stop < 0: # <<<<<<<<<<<<<< + * stop += shape + * if stop < 0: + */ + __pyx_t_2 = (__pyx_v_stop < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":848 + * if have_stop: + * if stop < 0: + * stop += shape # <<<<<<<<<<<<<< + * if stop < 0: + * stop = 0 + */ + __pyx_v_stop = (__pyx_v_stop + __pyx_v_shape); + + /* "View.MemoryView":849 + * if stop < 0: + * stop += shape + * if stop < 0: # <<<<<<<<<<<<<< + * stop = 0 + * elif stop > shape: + */ + __pyx_t_2 = (__pyx_v_stop < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":850 + * stop += shape + * if stop < 0: + * stop = 0 # <<<<<<<<<<<<<< + * elif stop > shape: + * stop = shape + */ + __pyx_v_stop = 0; + + /* "View.MemoryView":849 + * if stop < 0: + * stop += shape + * if stop < 0: # <<<<<<<<<<<<<< + * stop = 0 + * elif stop > shape: + */ + } + + /* "View.MemoryView":847 + * + * if have_stop: + * if stop < 0: # <<<<<<<<<<<<<< + * stop += shape + * if stop < 0: + */ + goto __pyx_L14; + } + + /* "View.MemoryView":851 + * if stop < 0: + * stop = 0 + * elif stop > shape: # <<<<<<<<<<<<<< + * stop = shape + * else: + */ + __pyx_t_2 = (__pyx_v_stop > __pyx_v_shape); + if (__pyx_t_2) { + + /* "View.MemoryView":852 + * stop = 0 + * elif stop > shape: + * stop = shape # <<<<<<<<<<<<<< + * else: + * if negative_step: + */ + __pyx_v_stop = __pyx_v_shape; + + /* "View.MemoryView":851 + * if stop < 0: + * stop = 0 + * elif stop > shape: # <<<<<<<<<<<<<< + * stop = shape + * else: + */ + } + __pyx_L14:; + + /* "View.MemoryView":846 + * start = 0 + * + * if have_stop: # <<<<<<<<<<<<<< + * if stop < 0: + * stop += shape + */ + goto __pyx_L13; + } + + /* "View.MemoryView":854 + * stop = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * stop = -1 + * else: + */ + /*else*/ { + if (__pyx_v_negative_step) { + + /* "View.MemoryView":855 + * else: + * if negative_step: + * stop = -1 # <<<<<<<<<<<<<< + * else: + * stop = shape + */ + __pyx_v_stop = -1L; + + /* "View.MemoryView":854 + * stop = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * stop = -1 + * else: + */ + goto __pyx_L16; + } + + /* "View.MemoryView":857 + * stop = -1 + * else: + * stop = shape # <<<<<<<<<<<<<< + * + * + */ + /*else*/ { + __pyx_v_stop = __pyx_v_shape; + } + __pyx_L16:; + } + __pyx_L13:; + + /* "View.MemoryView":861 + * + * with cython.cdivision(True): + * new_shape = (stop - start) // step # <<<<<<<<<<<<<< + * + * if (stop - start) - step * new_shape: + */ + __pyx_v_new_shape = ((__pyx_v_stop - __pyx_v_start) / __pyx_v_step); + + /* "View.MemoryView":863 + * new_shape = (stop - start) // step + * + * if (stop - start) - step * new_shape: # <<<<<<<<<<<<<< + * new_shape += 1 + * + */ + __pyx_t_2 = (((__pyx_v_stop - __pyx_v_start) - (__pyx_v_step * __pyx_v_new_shape)) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":864 + * + * if (stop - start) - step * new_shape: + * new_shape += 1 # <<<<<<<<<<<<<< + * + * if new_shape < 0: + */ + __pyx_v_new_shape = (__pyx_v_new_shape + 1); + + /* "View.MemoryView":863 + * new_shape = (stop - start) // step + * + * if (stop - start) - step * new_shape: # <<<<<<<<<<<<<< + * new_shape += 1 + * + */ + } + + /* "View.MemoryView":866 + * new_shape += 1 + * + * if new_shape < 0: # <<<<<<<<<<<<<< + * new_shape = 0 + * + */ + __pyx_t_2 = (__pyx_v_new_shape < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":867 + * + * if new_shape < 0: + * new_shape = 0 # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_new_shape = 0; + + /* "View.MemoryView":866 + * new_shape += 1 + * + * if new_shape < 0: # <<<<<<<<<<<<<< + * new_shape = 0 + * + */ + } + + /* "View.MemoryView":870 + * + * + * dst.strides[new_ndim] = stride * step # <<<<<<<<<<<<<< + * dst.shape[new_ndim] = new_shape + * dst.suboffsets[new_ndim] = suboffset + */ + (__pyx_v_dst->strides[__pyx_v_new_ndim]) = (__pyx_v_stride * __pyx_v_step); + + /* "View.MemoryView":871 + * + * dst.strides[new_ndim] = stride * step + * dst.shape[new_ndim] = new_shape # <<<<<<<<<<<<<< + * dst.suboffsets[new_ndim] = suboffset + * + */ + (__pyx_v_dst->shape[__pyx_v_new_ndim]) = __pyx_v_new_shape; + + /* "View.MemoryView":872 + * dst.strides[new_ndim] = stride * step + * dst.shape[new_ndim] = new_shape + * dst.suboffsets[new_ndim] = suboffset # <<<<<<<<<<<<<< + * + * + */ + (__pyx_v_dst->suboffsets[__pyx_v_new_ndim]) = __pyx_v_suboffset; + } + __pyx_L3:; + + /* "View.MemoryView":875 + * + * + * if suboffset_dim[0] < 0: # <<<<<<<<<<<<<< + * dst.data += start * stride + * else: + */ + __pyx_t_2 = ((__pyx_v_suboffset_dim[0]) < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":876 + * + * if suboffset_dim[0] < 0: + * dst.data += start * stride # <<<<<<<<<<<<<< + * else: + * dst.suboffsets[suboffset_dim[0]] += start * stride + */ + __pyx_v_dst->data = (__pyx_v_dst->data + (__pyx_v_start * __pyx_v_stride)); + + /* "View.MemoryView":875 + * + * + * if suboffset_dim[0] < 0: # <<<<<<<<<<<<<< + * dst.data += start * stride + * else: + */ + goto __pyx_L19; + } + + /* "View.MemoryView":878 + * dst.data += start * stride + * else: + * dst.suboffsets[suboffset_dim[0]] += start * stride # <<<<<<<<<<<<<< + * + * if suboffset >= 0: + */ + /*else*/ { + __pyx_t_3 = (__pyx_v_suboffset_dim[0]); + (__pyx_v_dst->suboffsets[__pyx_t_3]) = ((__pyx_v_dst->suboffsets[__pyx_t_3]) + (__pyx_v_start * __pyx_v_stride)); + } + __pyx_L19:; + + /* "View.MemoryView":880 + * dst.suboffsets[suboffset_dim[0]] += start * stride + * + * if suboffset >= 0: # <<<<<<<<<<<<<< + * if not is_slice: + * if new_ndim == 0: + */ + __pyx_t_2 = (__pyx_v_suboffset >= 0); + if (__pyx_t_2) { + + /* "View.MemoryView":881 + * + * if suboffset >= 0: + * if not is_slice: # 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= NULL + */ + __pyx_t_3 = ((struct __pyx_memoryviewslice_obj *)__pyx_v_memview)->to_dtype_func; + __pyx_v_to_dtype_func = __pyx_t_3; + + /* "View.MemoryView":1094 + * cdef int (*to_dtype_func)(char *, object) except 0 + * + * if isinstance(memview, _memoryviewslice): # <<<<<<<<<<<<<< + * to_object_func = (<_memoryviewslice> memview).to_object_func + * to_dtype_func = (<_memoryviewslice> memview).to_dtype_func + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1098 + * to_dtype_func = (<_memoryviewslice> memview).to_dtype_func + * else: + * to_object_func = NULL # <<<<<<<<<<<<<< + * to_dtype_func = NULL + * + */ + /*else*/ { + __pyx_v_to_object_func = NULL; + + /* "View.MemoryView":1099 + * else: + * to_object_func = NULL + * to_dtype_func = NULL # <<<<<<<<<<<<<< + * + * return memoryview_fromslice(memviewslice[0], memview.view.ndim, + */ + __pyx_v_to_dtype_func = NULL; + } + __pyx_L3:; + + /* "View.MemoryView":1101 + * to_dtype_func = NULL + * + * return memoryview_fromslice(memviewslice[0], memview.view.ndim, # <<<<<<<<<<<<<< + * to_object_func, to_dtype_func, + * memview.dtype_is_object) + */ + __Pyx_XDECREF(__pyx_r); + + /* "View.MemoryView":1103 + * return memoryview_fromslice(memviewslice[0], memview.view.ndim, + * to_object_func, to_dtype_func, + * memview.dtype_is_object) # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_4 = __pyx_memoryview_fromslice((__pyx_v_memviewslice[0]), __pyx_v_memview->view.ndim, __pyx_v_to_object_func, __pyx_v_to_dtype_func, __pyx_v_memview->dtype_is_object); if (unlikely(!__pyx_t_4)) __PYX_ERR(1, 1101, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_4); + __pyx_r = __pyx_t_4; + __pyx_t_4 = 0; + goto __pyx_L0; + + /* "View.MemoryView":1087 + * + * @cname('__pyx_memoryview_copy_object_from_slice') + * cdef memoryview_copy_from_slice(memoryview memview, __Pyx_memviewslice *memviewslice): # <<<<<<<<<<<<<< + * """ + * Create a new memoryview object from a given memoryview object and slice. + */ + + /* function exit code */ + __pyx_L1_error:; + __Pyx_XDECREF(__pyx_t_4); + __Pyx_AddTraceback("View.MemoryView.memoryview_copy_from_slice", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = 0; + __pyx_L0:; + __Pyx_XGIVEREF(__pyx_r); + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +/* "View.MemoryView":1109 + * + * + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) noexcept nogil: # <<<<<<<<<<<<<< + * return -arg if arg < 0 else arg + * + */ + +static Py_ssize_t abs_py_ssize_t(Py_ssize_t __pyx_v_arg) { + Py_ssize_t __pyx_r; + Py_ssize_t __pyx_t_1; + int __pyx_t_2; + + /* "View.MemoryView":1110 + * + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) noexcept nogil: + * return -arg if arg < 0 else arg # <<<<<<<<<<<<<< + * + * @cname('__pyx_get_best_slice_order') + */ + __pyx_t_2 = (__pyx_v_arg < 0); + if (__pyx_t_2) { + __pyx_t_1 = (-__pyx_v_arg); + } else { + __pyx_t_1 = __pyx_v_arg; + } + __pyx_r = __pyx_t_1; + goto __pyx_L0; + + /* "View.MemoryView":1109 + * + * + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) noexcept nogil: # <<<<<<<<<<<<<< + * return -arg if arg < 0 else arg + * + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1113 + * + * @cname('__pyx_get_best_slice_order') + * cdef char get_best_order(__Pyx_memviewslice *mslice, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * """ + * Figure out the best memory access order for a given slice. + */ + +static char __pyx_get_best_slice_order(__Pyx_memviewslice *__pyx_v_mslice, int __pyx_v_ndim) { + int __pyx_v_i; + Py_ssize_t __pyx_v_c_stride; + Py_ssize_t __pyx_v_f_stride; + char __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1118 + * """ + * cdef int i + * cdef Py_ssize_t c_stride = 0 # <<<<<<<<<<<<<< + * cdef Py_ssize_t f_stride = 0 + * + */ + __pyx_v_c_stride = 0; + + /* "View.MemoryView":1119 + * cdef int i + * cdef Py_ssize_t c_stride = 0 + * cdef Py_ssize_t f_stride = 0 # <<<<<<<<<<<<<< + * + * for i in range(ndim - 1, -1, -1): + */ + __pyx_v_f_stride = 0; + + /* "View.MemoryView":1121 + * cdef Py_ssize_t f_stride = 0 + * + * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] + */ + for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { + __pyx_v_i = __pyx_t_1; + + /* "View.MemoryView":1122 + * + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * c_stride = mslice.strides[i] + * break + */ + __pyx_t_2 = ((__pyx_v_mslice->shape[__pyx_v_i]) > 1); + if (__pyx_t_2) { + + /* "View.MemoryView":1123 + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] # <<<<<<<<<<<<<< + * break + * + */ + __pyx_v_c_stride = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1124 + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] + * break # <<<<<<<<<<<<<< + * + * for i in range(ndim): + */ + goto __pyx_L4_break; + + /* 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mslice.strides[i] + * break # <<<<<<<<<<<<<< + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): + */ + goto __pyx_L7_break; + + /* "View.MemoryView":1127 + * + * for i in range(ndim): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * f_stride = mslice.strides[i] + * break + */ + } + } + __pyx_L7_break:; + + /* "View.MemoryView":1131 + * break + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< + * return 'C' + * else: + */ + __pyx_t_2 = (abs_py_ssize_t(__pyx_v_c_stride) <= abs_py_ssize_t(__pyx_v_f_stride)); + if (__pyx_t_2) { + + /* "View.MemoryView":1132 + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): + * return 'C' # <<<<<<<<<<<<<< + * else: + * return 'F' + */ + __pyx_r = 'C'; + goto __pyx_L0; + + /* "View.MemoryView":1131 + * break + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< + * return 'C' + * else: + */ + } + + /* "View.MemoryView":1134 + * return 'C' + * else: + * return 'F' # <<<<<<<<<<<<<< + * + * @cython.cdivision(True) + */ + /*else*/ { + __pyx_r = 'F'; + goto __pyx_L0; + } + + /* "View.MemoryView":1113 + * + * @cname('__pyx_get_best_slice_order') + * cdef char get_best_order(__Pyx_memviewslice *mslice, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * """ + * Figure out the best memory access order for a given slice. + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1137 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + +static void _copy_strided_to_strided(char *__pyx_v_src_data, Py_ssize_t *__pyx_v_src_strides, char *__pyx_v_dst_data, Py_ssize_t *__pyx_v_dst_strides, Py_ssize_t *__pyx_v_src_shape, Py_ssize_t *__pyx_v_dst_shape, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + CYTHON_UNUSED Py_ssize_t __pyx_v_src_extent; + Py_ssize_t __pyx_v_dst_extent; + Py_ssize_t __pyx_v_src_stride; + Py_ssize_t __pyx_v_dst_stride; + int __pyx_t_1; + int __pyx_t_2; + Py_ssize_t __pyx_t_3; + Py_ssize_t __pyx_t_4; + Py_ssize_t __pyx_t_5; + + /* "View.MemoryView":1144 + * + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + */ + __pyx_v_src_extent = (__pyx_v_src_shape[0]); + + /* "View.MemoryView":1145 + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] + */ + __pyx_v_dst_extent = (__pyx_v_dst_shape[0]); + + /* "View.MemoryView":1146 + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + */ + __pyx_v_src_stride = (__pyx_v_src_strides[0]); + + /* "View.MemoryView":1147 + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] # <<<<<<<<<<<<<< + * + * if ndim == 1: + */ + __pyx_v_dst_stride = (__pyx_v_dst_strides[0]); + + /* "View.MemoryView":1149 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + __pyx_t_1 = (__pyx_v_ndim == 1); + if (__pyx_t_1) { + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + __pyx_t_2 = (__pyx_v_src_stride > 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + __pyx_t_2 = (__pyx_v_dst_stride > 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + + /* "View.MemoryView":1151 + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + */ + __pyx_t_2 = (((size_t)__pyx_v_src_stride) == __pyx_v_itemsize); + if (__pyx_t_2) { + __pyx_t_2 = (__pyx_v_itemsize == ((size_t)__pyx_v_dst_stride)); + } + __pyx_t_1 = __pyx_t_2; + __pyx_L5_bool_binop_done:; + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + if (__pyx_t_1) { + + /* "View.MemoryView":1152 + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, (__pyx_v_itemsize * __pyx_v_dst_extent))); + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + goto __pyx_L4; + } + + /* "View.MemoryView":1154 + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + */ + /*else*/ { + __pyx_t_3 = __pyx_v_dst_extent; + __pyx_t_4 = __pyx_t_3; + for (__pyx_t_5 = 0; __pyx_t_5 < __pyx_t_4; __pyx_t_5+=1) { + __pyx_v_i = __pyx_t_5; + + /* "View.MemoryView":1155 + * else: + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) # <<<<<<<<<<<<<< + * src_data += src_stride + * dst_data += dst_stride + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, __pyx_v_itemsize)); + + /* "View.MemoryView":1156 + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * else: + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1157 + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L4:; + + /* "View.MemoryView":1149 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1159 + * dst_data += dst_stride + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * _copy_strided_to_strided(src_data, src_strides + 1, + * dst_data, dst_strides + 1, + */ + /*else*/ { + __pyx_t_3 = __pyx_v_dst_extent; + __pyx_t_4 = __pyx_t_3; + for (__pyx_t_5 = 0; __pyx_t_5 < __pyx_t_4; __pyx_t_5+=1) { + __pyx_v_i = __pyx_t_5; + + /* "View.MemoryView":1160 + * else: + * for i in range(dst_extent): + * _copy_strided_to_strided(src_data, src_strides + 1, # <<<<<<<<<<<<<< + * dst_data, dst_strides + 1, + * src_shape + 1, dst_shape + 1, + */ + _copy_strided_to_strided(__pyx_v_src_data, (__pyx_v_src_strides + 1), __pyx_v_dst_data, (__pyx_v_dst_strides + 1), (__pyx_v_src_shape + 1), (__pyx_v_dst_shape + 1), (__pyx_v_ndim - 1), __pyx_v_itemsize); + + /* "View.MemoryView":1164 + * src_shape + 1, dst_shape + 1, + * ndim - 1, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1165 + * ndim - 1, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L3:; + + /* "View.MemoryView":1137 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + + /* function exit code */ +} + +/* "View.MemoryView":1167 + * dst_data += dst_stride + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + */ + +static void copy_strided_to_strided(__Pyx_memviewslice *__pyx_v_src, __Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + + /* "View.MemoryView":1170 + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + * _copy_strided_to_strided(src.data, src.strides, dst.data, dst.strides, # <<<<<<<<<<<<<< + * src.shape, dst.shape, ndim, itemsize) + * + */ + _copy_strided_to_strided(__pyx_v_src->data, __pyx_v_src->strides, __pyx_v_dst->data, __pyx_v_dst->strides, __pyx_v_src->shape, __pyx_v_dst->shape, __pyx_v_ndim, __pyx_v_itemsize); + + /* "View.MemoryView":1167 + * dst_data += dst_stride + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1174 + * + * @cname('__pyx_memoryview_slice_get_size') + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + */ + +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *__pyx_v_src, int __pyx_v_ndim) { + Py_ssize_t __pyx_v_shape; + Py_ssize_t __pyx_v_size; + Py_ssize_t __pyx_r; + Py_ssize_t __pyx_t_1; + Py_ssize_t *__pyx_t_2; + Py_ssize_t *__pyx_t_3; + Py_ssize_t *__pyx_t_4; + + /* "View.MemoryView":1176 + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize # <<<<<<<<<<<<<< + * + * for shape in src.shape[:ndim]: + */ + __pyx_t_1 = __pyx_v_src->memview->view.itemsize; + __pyx_v_size = __pyx_t_1; + + /* "View.MemoryView":1178 + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + * + * for shape in src.shape[:ndim]: # <<<<<<<<<<<<<< + * size *= shape + * + */ + __pyx_t_3 = (__pyx_v_src->shape + __pyx_v_ndim); + for (__pyx_t_4 = __pyx_v_src->shape; __pyx_t_4 < __pyx_t_3; __pyx_t_4++) { + __pyx_t_2 = __pyx_t_4; + __pyx_v_shape = (__pyx_t_2[0]); + + /* "View.MemoryView":1179 + * + * for shape in src.shape[:ndim]: + * size *= shape # <<<<<<<<<<<<<< + * + * return size + */ + __pyx_v_size = (__pyx_v_size * __pyx_v_shape); + } + + /* "View.MemoryView":1181 + * size *= shape + * + * return size # <<<<<<<<<<<<<< + * + * @cname('__pyx_fill_contig_strides_array') + */ + __pyx_r = __pyx_v_size; + goto __pyx_L0; + + /* "View.MemoryView":1174 + * + * @cname('__pyx_memoryview_slice_get_size') + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1184 + * + * @cname('__pyx_fill_contig_strides_array') + * cdef Py_ssize_t fill_contig_strides_array( # <<<<<<<<<<<<<< + * Py_ssize_t *shape, Py_ssize_t *strides, Py_ssize_t stride, + * int ndim, char order) noexcept nogil: + */ + +static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, Py_ssize_t __pyx_v_stride, int __pyx_v_ndim, char __pyx_v_order) { + int __pyx_v_idx; + Py_ssize_t __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1193 + * cdef int idx + * + * if order == 'F': # <<<<<<<<<<<<<< + * for idx in range(ndim): + * strides[idx] = stride + */ + __pyx_t_1 = (__pyx_v_order == 'F'); + if (__pyx_t_1) { + + /* "View.MemoryView":1194 + * + * if order == 'F': + * for idx in range(ndim): # <<<<<<<<<<<<<< + * strides[idx] = stride + * stride *= shape[idx] + */ + __pyx_t_2 = __pyx_v_ndim; + __pyx_t_3 = __pyx_t_2; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_idx = __pyx_t_4; + + /* "View.MemoryView":1195 + * if order == 'F': + * for idx in range(ndim): + * strides[idx] = stride # <<<<<<<<<<<<<< + * stride *= shape[idx] + * else: + */ + (__pyx_v_strides[__pyx_v_idx]) = __pyx_v_stride; + + /* "View.MemoryView":1196 + * for idx in range(ndim): + * strides[idx] = stride + * stride *= shape[idx] # <<<<<<<<<<<<<< + * else: + * for idx in range(ndim - 1, -1, -1): + */ + __pyx_v_stride = (__pyx_v_stride * (__pyx_v_shape[__pyx_v_idx])); + } + + /* "View.MemoryView":1193 + * cdef int idx + * + * if order == 'F': # <<<<<<<<<<<<<< + * for idx in range(ndim): + * strides[idx] = stride + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1198 + * stride *= shape[idx] + * else: + * for idx in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * strides[idx] = stride + * stride *= shape[idx] + */ + /*else*/ { + for (__pyx_t_2 = (__pyx_v_ndim - 1); __pyx_t_2 > -1; __pyx_t_2-=1) { + __pyx_v_idx = __pyx_t_2; + + /* "View.MemoryView":1199 + * else: + * for idx in range(ndim - 1, -1, -1): + * strides[idx] = stride # <<<<<<<<<<<<<< + * stride *= shape[idx] + * + */ + (__pyx_v_strides[__pyx_v_idx]) = __pyx_v_stride; + + /* "View.MemoryView":1200 + * for idx in range(ndim - 1, -1, -1): + * strides[idx] = stride + * stride *= shape[idx] # <<<<<<<<<<<<<< + * + * return stride + */ + __pyx_v_stride = (__pyx_v_stride * (__pyx_v_shape[__pyx_v_idx])); + } + } + __pyx_L3:; + + /* 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<<<<<<<<<<<<<< + * order = get_best_order(&dst, ndim) + * + */ + __pyx_t_2 = (!__pyx_memviewslice_is_contig(__pyx_v_src, __pyx_v_order, __pyx_v_ndim)); + if (__pyx_t_2) { + + /* "View.MemoryView":1302 + * + * if not slice_is_contig(src, order, ndim): + * order = get_best_order(&dst, ndim) # <<<<<<<<<<<<<< + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) + */ + __pyx_v_order = __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim); + + /* "View.MemoryView":1301 + * if slices_overlap(&src, &dst, ndim, itemsize): + * + * if not slice_is_contig(src, order, ndim): # <<<<<<<<<<<<<< + * order = get_best_order(&dst, ndim) + * + */ + } + + /* "View.MemoryView":1304 + * order = get_best_order(&dst, ndim) + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) # <<<<<<<<<<<<<< + * src = tmp + * + */ + __pyx_t_7 = __pyx_memoryview_copy_data_to_temp((&__pyx_v_src), (&__pyx_v_tmp), __pyx_v_order, __pyx_v_ndim); if (unlikely(__pyx_t_7 == ((void *)NULL))) __PYX_ERR(1, 1304, __pyx_L1_error) + __pyx_v_tmpdata = __pyx_t_7; + + /* "View.MemoryView":1305 + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) + * src = tmp # <<<<<<<<<<<<<< + * + * if not broadcasting: + */ + __pyx_v_src = __pyx_v_tmp; + + /* "View.MemoryView":1299 + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) + * + * if slices_overlap(&src, &dst, ndim, itemsize): # <<<<<<<<<<<<<< + * + * if not slice_is_contig(src, order, ndim): + */ + } + + /* "View.MemoryView":1307 + * src = tmp + * + * if not broadcasting: # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_2 = (!__pyx_v_broadcasting); + if (__pyx_t_2) { + + /* "View.MemoryView":1310 + * + * + * if slice_is_contig(src, 'C', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + */ + __pyx_t_2 = __pyx_memviewslice_is_contig(__pyx_v_src, 'C', __pyx_v_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1311 + * + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) # <<<<<<<<<<<<<< + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'C', __pyx_v_ndim); + + /* "View.MemoryView":1310 + * + * + * if slice_is_contig(src, 'C', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + */ + goto __pyx_L12; + } + + /* "View.MemoryView":1312 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + __pyx_t_2 = __pyx_memviewslice_is_contig(__pyx_v_src, 'F', __pyx_v_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1313 + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) # <<<<<<<<<<<<<< + * + * if direct_copy: + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'F', __pyx_v_ndim); + + /* "View.MemoryView":1312 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + } + __pyx_L12:; + + /* "View.MemoryView":1315 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + if (__pyx_v_direct_copy) { + + /* "View.MemoryView":1317 + * if direct_copy: + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1318 + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) + */ + (void)(memcpy(__pyx_v_dst.data, __pyx_v_src.data, __pyx_memoryview_slice_get_size((&__pyx_v_src), __pyx_v_ndim))); + + /* "View.MemoryView":1319 + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * free(tmpdata) + * return 0 + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1320 + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1321 + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * if order == 'F' == get_best_order(&dst, ndim): + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1315 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + } + + /* "View.MemoryView":1307 + * src = tmp + * + * if not broadcasting: # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1323 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_2 = (__pyx_v_order == 'F'); + if (__pyx_t_2) { + __pyx_t_2 = ('F' == __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim)); + } + if (__pyx_t_2) { + + /* "View.MemoryView":1326 + * + * + * transpose_memslice(&src) # <<<<<<<<<<<<<< + * transpose_memslice(&dst) + * + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_src)); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(1, 1326, __pyx_L1_error) + + /* "View.MemoryView":1327 + * + * transpose_memslice(&src) + * transpose_memslice(&dst) # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_dst)); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(1, 1327, __pyx_L1_error) + + /* "View.MemoryView":1323 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1329 + * transpose_memslice(&dst) + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1330 + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * + */ + copy_strided_to_strided((&__pyx_v_src), (&__pyx_v_dst), __pyx_v_ndim, __pyx_v_itemsize); + + /* "View.MemoryView":1331 + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * + * free(tmpdata) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1333 + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1334 + * + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_broadcast_leading') + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1265 + * + * @cname('__pyx_memoryview_copy_contents') + * cdef int memoryview_copy_contents(__Pyx_memviewslice src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice dst, + * int src_ndim, int dst_ndim, + */ + + /* function exit code */ + __pyx_L1_error:; + #ifdef WITH_THREAD + __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + __Pyx_AddTraceback("View.MemoryView.memoryview_copy_contents", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = -1; + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1337 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) noexcept nogil: + */ + +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *__pyx_v_mslice, int __pyx_v_ndim, int __pyx_v_ndim_other) { + int __pyx_v_i; + int __pyx_v_offset; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + + /* "View.MemoryView":1341 + * int ndim_other) noexcept nogil: + * cdef int i + * cdef int offset = ndim_other - ndim # <<<<<<<<<<<<<< + * + * for i in range(ndim - 1, -1, -1): + */ + __pyx_v_offset = (__pyx_v_ndim_other - __pyx_v_ndim); + + /* "View.MemoryView":1343 + * cdef int offset = ndim_other - ndim + * + * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + */ + for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { + __pyx_v_i = __pyx_t_1; + + /* "View.MemoryView":1344 + * + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] # <<<<<<<<<<<<<< + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + */ + (__pyx_v_mslice->shape[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->shape[__pyx_v_i]); + + /* "View.MemoryView":1345 + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] # <<<<<<<<<<<<<< + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + */ + (__pyx_v_mslice->strides[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1346 + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] # <<<<<<<<<<<<<< + * + * for i in range(offset): + */ + (__pyx_v_mslice->suboffsets[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->suboffsets[__pyx_v_i]); + } + + /* "View.MemoryView":1348 + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + * for i in range(offset): # <<<<<<<<<<<<<< + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + */ + __pyx_t_1 = __pyx_v_offset; + __pyx_t_2 = __pyx_t_1; + for (__pyx_t_3 = 0; __pyx_t_3 < __pyx_t_2; __pyx_t_3+=1) { + __pyx_v_i = __pyx_t_3; + + /* "View.MemoryView":1349 + * + * for i in range(offset): + * mslice.shape[i] = 1 # <<<<<<<<<<<<<< + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 + */ + (__pyx_v_mslice->shape[__pyx_v_i]) = 1; + + /* "View.MemoryView":1350 + * for i in range(offset): + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] # <<<<<<<<<<<<<< + * mslice.suboffsets[i] = -1 + * + */ + (__pyx_v_mslice->strides[__pyx_v_i]) = (__pyx_v_mslice->strides[0]); + + /* "View.MemoryView":1351 + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 # <<<<<<<<<<<<<< + * + * + */ + (__pyx_v_mslice->suboffsets[__pyx_v_i]) = -1L; + } + + /* "View.MemoryView":1337 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1359 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: # <<<<<<<<<<<<<< + * + * if dtype_is_object: + */ + +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_dtype_is_object, int __pyx_v_ndim, int __pyx_v_inc) { + + /* "View.MemoryView":1361 + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) + * + */ + if (__pyx_v_dtype_is_object) { + + /* "View.MemoryView":1362 + * + * if dtype_is_object: + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + */ + __pyx_memoryview_refcount_objects_in_slice_with_gil(__pyx_v_dst->data, __pyx_v_dst->shape, __pyx_v_dst->strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1361 + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) + * + */ + } + + /* "View.MemoryView":1359 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: # <<<<<<<<<<<<<< + * + * if dtype_is_object: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1365 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + * cdef void refcount_objects_in_slice_with_gil(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + */ + +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, int __pyx_v_inc) { + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + + /* "View.MemoryView":1368 + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + * refcount_objects_in_slice(data, shape, strides, ndim, inc) # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + */ + __pyx_memoryview_refcount_objects_in_slice(__pyx_v_data, __pyx_v_shape, __pyx_v_strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1365 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + * cdef void refcount_objects_in_slice_with_gil(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + */ + + /* function exit code */ + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif +} + +/* "View.MemoryView":1371 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + * cdef void refcount_objects_in_slice(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + */ + +static void __pyx_memoryview_refcount_objects_in_slice(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, int __pyx_v_inc) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + Py_ssize_t __pyx_v_stride; + Py_ssize_t __pyx_t_1; + Py_ssize_t __pyx_t_2; + Py_ssize_t __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1374 + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + * cdef Py_ssize_t stride = strides[0] # <<<<<<<<<<<<<< + * + * for i in range(shape[0]): + */ + __pyx_v_stride = (__pyx_v_strides[0]); + + /* "View.MemoryView":1376 + * cdef Py_ssize_t stride = strides[0] + * + * for i in range(shape[0]): # <<<<<<<<<<<<<< + * if ndim == 1: + * if inc: + */ + __pyx_t_1 = (__pyx_v_shape[0]); + __pyx_t_2 = __pyx_t_1; + for (__pyx_t_3 = 0; __pyx_t_3 < __pyx_t_2; __pyx_t_3+=1) { + __pyx_v_i = __pyx_t_3; + + /* "View.MemoryView":1377 + * + * for i in range(shape[0]): + * if ndim == 1: # <<<<<<<<<<<<<< + * if inc: + * Py_INCREF(( data)[0]) + */ + __pyx_t_4 = (__pyx_v_ndim == 1); + if (__pyx_t_4) { + + /* "View.MemoryView":1378 + * for i in range(shape[0]): + * if ndim == 1: + * if inc: # <<<<<<<<<<<<<< + * Py_INCREF(( data)[0]) + * else: + */ + if (__pyx_v_inc) { + + /* "View.MemoryView":1379 + * if ndim == 1: + * if inc: + * Py_INCREF(( data)[0]) # <<<<<<<<<<<<<< + * else: + * Py_DECREF(( data)[0]) + */ + Py_INCREF((((PyObject **)__pyx_v_data)[0])); + + /* "View.MemoryView":1378 + * for i in range(shape[0]): + * if ndim == 1: + * if inc: # <<<<<<<<<<<<<< + * Py_INCREF(( data)[0]) + * else: + */ + goto __pyx_L6; + } + + /* "View.MemoryView":1381 + * Py_INCREF(( data)[0]) + * else: + * Py_DECREF(( data)[0]) # <<<<<<<<<<<<<< + * else: + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) + */ + /*else*/ { + Py_DECREF((((PyObject **)__pyx_v_data)[0])); + } + __pyx_L6:; + + /* "View.MemoryView":1377 + * + * for i in range(shape[0]): + * if ndim == 1: # <<<<<<<<<<<<<< + * if inc: + * Py_INCREF(( data)[0]) + */ + goto __pyx_L5; + } + + /* "View.MemoryView":1383 + * Py_DECREF(( data)[0]) + * else: + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) # <<<<<<<<<<<<<< + * + * data += stride + */ + /*else*/ { + __pyx_memoryview_refcount_objects_in_slice(__pyx_v_data, (__pyx_v_shape + 1), (__pyx_v_strides + 1), (__pyx_v_ndim - 1), __pyx_v_inc); + } + __pyx_L5:; + + /* "View.MemoryView":1385 + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) + * + * data += stride # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_data = (__pyx_v_data + __pyx_v_stride); + } + + /* "View.MemoryView":1371 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + * cdef void refcount_objects_in_slice(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + */ + + /* function exit code */ +} + +/* "View.MemoryView":1391 + * + * @cname('__pyx_memoryview_slice_assign_scalar') + * cdef void slice_assign_scalar(__Pyx_memviewslice *dst, int ndim, # <<<<<<<<<<<<<< + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + */ + +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize, void *__pyx_v_item, int __pyx_v_dtype_is_object) { + + /* "View.MemoryView":1394 + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + * refcount_copying(dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) + * refcount_copying(dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying(__pyx_v_dst, __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1395 + * bint dtype_is_object) noexcept nogil: + * refcount_copying(dst, dtype_is_object, ndim, inc=False) + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) # <<<<<<<<<<<<<< + * 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__pyx_v___pyx_state); + + /* function exit code */ + { + Py_ssize_t __pyx_temp; + for (__pyx_temp=0; __pyx_temp < (Py_ssize_t)(sizeof(values)/sizeof(values[0])); ++__pyx_temp) { + __Pyx_Arg_XDECREF_FASTCALL(values[__pyx_temp]); + } + } + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_54__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state) { + PyObject *__pyx_r = NULL; + __Pyx_RefNannyDeclarations + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + __Pyx_RefNannySetupContext("__setstate_cython__", 1); + + /* "(tree fragment)":4 + * raise TypeError, "no default __reduce__ due to non-trivial __cinit__" + * def __setstate_cython__(self, __pyx_state): + * raise TypeError, "no default __reduce__ due to non-trivial __cinit__" # 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CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *)o); + p->model_name = ((PyObject*)Py_None); Py_INCREF(Py_None); + p->nlp_solver_type = ((PyObject*)Py_None); Py_INCREF(Py_None); + if (unlikely(__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_1__cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +#if CYTHON_USE_TP_FINALIZE +static void __pyx_tp_finalize_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython(PyObject *o) { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_51__del__(o); + PyErr_Restore(etype, eval, etb); +} +#endif + +static void __pyx_tp_dealloc_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython(PyObject *o) { + struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *p = (struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + Py_CLEAR(p->model_name); + Py_CLEAR(p->nlp_solver_type); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static PyMethodDef __pyx_methods_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython[] = { + {"_AcadosOcpSolverCython__get_pointers_solver", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_3_AcadosOcpSolverCython__get_pointers_solver, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_2__get_pointers_solver}, + {"solve_for_x0", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_5solve_for_x0, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_4solve_for_x0}, + {"solve", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_7solve, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_6solve}, + {"reset", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_9reset, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_8reset}, + {"custom_update", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_11custom_update, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_10custom_update}, + {"set_new_time_steps", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_13set_new_time_steps, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_12set_new_time_steps}, + {"update_qp_solver_cond_N", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_15update_qp_solver_cond_N, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_14update_qp_solver_cond_N}, + {"eval_param_sens", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_17eval_param_sens, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_16eval_param_sens}, + {"get", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_19get, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_18get}, + {"print_statistics", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_21print_statistics, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_20print_statistics}, + {"store_iterate", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_23store_iterate, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_22store_iterate}, + {"load_iterate", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_25load_iterate, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_24load_iterate}, + {"get_stats", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_27get_stats, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_26get_stats}, + {"_AcadosOcpSolverCython__get_stat_int", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_29_AcadosOcpSolverCython__get_stat_int, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"_AcadosOcpSolverCython__get_stat_double", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_31_AcadosOcpSolverCython__get_stat_double, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"_AcadosOcpSolverCython__get_stat_matrix", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_33_AcadosOcpSolverCython__get_stat_matrix, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"get_cost", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_35get_cost, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_34get_cost}, + {"get_residuals", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_37get_residuals, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_36get_residuals}, + {"set", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_39set, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_38set}, + {"cost_set", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_41cost_set, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_40cost_set}, + {"constraints_set", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_43constraints_set, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_42constraints_set}, + {"get_from_qp_in", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_45get_from_qp_in, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_44get_from_qp_in}, + {"options_set", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_47options_set, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_46options_set}, + {"set_params_sparse", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_49set_params_sparse, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_48set_params_sparse}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_53__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_55__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython}, + {Py_tp_doc, (void *)PyDoc_STR("\n Class to interact with the acados ocp solver C object.\n ")}, + {Py_tp_methods, (void *)__pyx_methods_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython}, + {Py_tp_new, (void *)__pyx_tp_new_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython}, + #if PY_VERSION_HEX >= 0x030400a1 + {Py_tp_finalize, (void *)__pyx_tp_finalize_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython}, + #endif + {0, 0}, +}; +static PyType_Spec __pyx_type_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython_spec = { + "acados_template.acados_ocp_solver_pyx.AcadosOcpSolverCython", + sizeof(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_FINALIZE, + __pyx_type_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython_slots, +}; +#else + +static PyTypeObject __pyx_type_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython = { + PyVarObject_HEAD_INIT(0, 0) + "acados_template.acados_ocp_solver_pyx.""AcadosOcpSolverCython", /*tp_name*/ + sizeof(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_FINALIZE, /*tp_flags*/ + PyDoc_STR("\n Class to interact with the acados ocp solver C object.\n "), /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + __pyx_tp_finalize_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_array __pyx_vtable_array; + +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_array_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_array_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_array; + p->mode = ((PyObject*)Py_None); Py_INCREF(Py_None); + p->_format = ((PyObject*)Py_None); Py_INCREF(Py_None); + if (unlikely(__pyx_array___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_array(PyObject *o) { + struct __pyx_array_obj *p = (struct __pyx_array_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_array) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_array___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->mode); + Py_CLEAR(p->_format); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} +static PyObject *__pyx_sq_item_array(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_array(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_array___setitem__(o, i, v); + } + else { + __Pyx_TypeName o_type_name; + o_type_name = __Pyx_PyType_GetName(Py_TYPE(o)); + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by " __Pyx_FMT_TYPENAME, o_type_name); + __Pyx_DECREF_TypeName(o_type_name); + return -1; + } +} + +static PyObject *__pyx_tp_getattro_array(PyObject *o, PyObject *n) { + PyObject *v = __Pyx_PyObject_GenericGetAttr(o, n); + if (!v && PyErr_ExceptionMatches(PyExc_AttributeError)) { + PyErr_Clear(); + v = __pyx_array___getattr__(o, n); + } + return v; +} + +static PyObject *__pyx_getprop___pyx_array_memview(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_5array_7memview_1__get__(o); +} + +static PyMethodDef __pyx_methods_array[] = { + {"__getattr__", (PyCFunction)__pyx_array___getattr__, METH_O|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_array_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_array_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_array[] = { + {(char *)"memview", __pyx_getprop___pyx_array_memview, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +#if !CYTHON_COMPILING_IN_LIMITED_API + +static PyBufferProcs __pyx_tp_as_buffer_array = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_array_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; +#endif +static PyType_Slot __pyx_type___pyx_array_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_array}, + {Py_sq_length, (void *)__pyx_array___len__}, + {Py_sq_item, (void *)__pyx_sq_item_array}, + {Py_mp_length, (void *)__pyx_array___len__}, + {Py_mp_subscript, (void *)__pyx_array___getitem__}, + {Py_mp_ass_subscript, (void *)__pyx_mp_ass_subscript_array}, + {Py_tp_getattro, (void *)__pyx_tp_getattro_array}, + #if defined(Py_bf_getbuffer) + {Py_bf_getbuffer, (void *)__pyx_array_getbuffer}, + #endif + {Py_tp_methods, (void *)__pyx_methods_array}, + {Py_tp_getset, (void *)__pyx_getsets_array}, + {Py_tp_new, (void *)__pyx_tp_new_array}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_array_spec = { + "acados_template.acados_ocp_solver_pyx.array", + sizeof(struct __pyx_array_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_SEQUENCE, + __pyx_type___pyx_array_slots, +}; +#else + +static PySequenceMethods __pyx_tp_as_sequence_array = { + __pyx_array___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_array, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_array = { + __pyx_array___len__, /*mp_length*/ + __pyx_array___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_array, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_array = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_array_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_array = { + PyVarObject_HEAD_INIT(0, 0) + "acados_template.acados_ocp_solver_pyx.""array", /*tp_name*/ + sizeof(struct __pyx_array_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_array, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_array, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_array, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + __pyx_tp_getattro_array, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_array, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_SEQUENCE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_array, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_array, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_array, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + struct __pyx_MemviewEnum_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_MemviewEnum_obj *)o); + p->name = Py_None; Py_INCREF(Py_None); + return o; +} + +static void __pyx_tp_dealloc_Enum(PyObject *o) { + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_Enum) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + Py_CLEAR(p->name); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_Enum(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + if (p->name) { + e = (*v)(p->name, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_Enum(PyObject *o) { + PyObject* tmp; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + tmp = ((PyObject*)p->name); + p->name = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + return 0; +} + +static PyObject *__pyx_specialmethod___pyx_MemviewEnum___repr__(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __pyx_MemviewEnum___repr__(self); +} + +static PyMethodDef __pyx_methods_Enum[] = { + {"__repr__", (PyCFunction)__pyx_specialmethod___pyx_MemviewEnum___repr__, METH_NOARGS|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_MemviewEnum_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_MemviewEnum_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type___pyx_MemviewEnum_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_Enum}, + {Py_tp_repr, (void *)__pyx_MemviewEnum___repr__}, + {Py_tp_traverse, (void *)__pyx_tp_traverse_Enum}, + {Py_tp_clear, (void *)__pyx_tp_clear_Enum}, + {Py_tp_methods, (void *)__pyx_methods_Enum}, + {Py_tp_init, (void *)__pyx_MemviewEnum___init__}, + {Py_tp_new, (void *)__pyx_tp_new_Enum}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_MemviewEnum_spec = { + "acados_template.acados_ocp_solver_pyx.Enum", + sizeof(struct __pyx_MemviewEnum_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type___pyx_MemviewEnum_slots, +}; +#else + +static PyTypeObject __pyx_type___pyx_MemviewEnum = { + PyVarObject_HEAD_INIT(0, 0) + "acados_template.acados_ocp_solver_pyx.""Enum", /*tp_name*/ + sizeof(struct __pyx_MemviewEnum_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_Enum, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_MemviewEnum___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_Enum, /*tp_traverse*/ + __pyx_tp_clear_Enum, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_Enum, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + __pyx_MemviewEnum___init__, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_Enum, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_memoryview __pyx_vtable_memoryview; + +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryview_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_memoryview_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_memoryview; + p->obj = Py_None; Py_INCREF(Py_None); + p->_size = Py_None; Py_INCREF(Py_None); + p->_array_interface = Py_None; Py_INCREF(Py_None); + p->view.obj = NULL; + if (unlikely(__pyx_memoryview___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_memoryview(PyObject *o) { + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_memoryview) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryview___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->obj); + Py_CLEAR(p->_size); + Py_CLEAR(p->_array_interface); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_memoryview(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + if (p->obj) { + e = (*v)(p->obj, a); if (e) return e; + } + if (p->_size) { + e = (*v)(p->_size, a); if (e) return e; + } + if (p->_array_interface) { + e = (*v)(p->_array_interface, a); if (e) return e; + } + if (p->view.obj) { + e = (*v)(p->view.obj, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_memoryview(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + tmp = ((PyObject*)p->obj); + p->obj = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_size); + p->_size = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_array_interface); + p->_array_interface = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + Py_CLEAR(p->view.obj); + return 0; +} +static PyObject *__pyx_sq_item_memoryview(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_memoryview(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_memoryview___setitem__(o, i, v); + } + else { + __Pyx_TypeName o_type_name; + o_type_name = __Pyx_PyType_GetName(Py_TYPE(o)); + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by " __Pyx_FMT_TYPENAME, o_type_name); + __Pyx_DECREF_TypeName(o_type_name); + return -1; + } +} + +static PyObject *__pyx_getprop___pyx_memoryview_T(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_1T_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_base(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4base_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_shape(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_5shape_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_strides(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_7strides_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_suboffsets(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_10suboffsets_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_ndim(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4ndim_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_itemsize(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_8itemsize_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_nbytes(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_6nbytes_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_size(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4size_1__get__(o); +} + +static PyObject *__pyx_specialmethod___pyx_memoryview___repr__(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __pyx_memoryview___repr__(self); +} + +static PyMethodDef __pyx_methods_memoryview[] = { + {"__repr__", (PyCFunction)__pyx_specialmethod___pyx_memoryview___repr__, METH_NOARGS|METH_COEXIST, 0}, + {"is_c_contig", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_is_c_contig, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"is_f_contig", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_is_f_contig, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"copy", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_copy, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"copy_fortran", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_copy_fortran, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryview_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryview_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_memoryview[] = { + {(char *)"T", __pyx_getprop___pyx_memoryview_T, 0, (char *)0, 0}, + {(char *)"base", __pyx_getprop___pyx_memoryview_base, 0, (char *)0, 0}, + {(char *)"shape", __pyx_getprop___pyx_memoryview_shape, 0, (char *)0, 0}, + {(char *)"strides", __pyx_getprop___pyx_memoryview_strides, 0, (char *)0, 0}, + {(char *)"suboffsets", __pyx_getprop___pyx_memoryview_suboffsets, 0, (char *)0, 0}, + {(char *)"ndim", __pyx_getprop___pyx_memoryview_ndim, 0, (char *)0, 0}, + {(char *)"itemsize", __pyx_getprop___pyx_memoryview_itemsize, 0, (char *)0, 0}, + {(char *)"nbytes", __pyx_getprop___pyx_memoryview_nbytes, 0, (char *)0, 0}, + {(char *)"size", __pyx_getprop___pyx_memoryview_size, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +#if !CYTHON_COMPILING_IN_LIMITED_API + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; +#endif +static PyType_Slot __pyx_type___pyx_memoryview_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_memoryview}, + {Py_tp_repr, (void *)__pyx_memoryview___repr__}, + {Py_sq_length, (void *)__pyx_memoryview___len__}, + {Py_sq_item, (void *)__pyx_sq_item_memoryview}, + {Py_mp_length, (void *)__pyx_memoryview___len__}, + {Py_mp_subscript, (void *)__pyx_memoryview___getitem__}, + {Py_mp_ass_subscript, (void *)__pyx_mp_ass_subscript_memoryview}, + {Py_tp_str, (void *)__pyx_memoryview___str__}, + #if defined(Py_bf_getbuffer) + {Py_bf_getbuffer, (void *)__pyx_memoryview_getbuffer}, + #endif + {Py_tp_traverse, (void *)__pyx_tp_traverse_memoryview}, + {Py_tp_clear, (void *)__pyx_tp_clear_memoryview}, + {Py_tp_methods, (void *)__pyx_methods_memoryview}, + {Py_tp_getset, (void *)__pyx_getsets_memoryview}, + {Py_tp_new, (void *)__pyx_tp_new_memoryview}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_memoryview_spec = { + "acados_template.acados_ocp_solver_pyx.memoryview", + sizeof(struct __pyx_memoryview_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type___pyx_memoryview_slots, +}; +#else + +static PySequenceMethods __pyx_tp_as_sequence_memoryview = { + __pyx_memoryview___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_memoryview, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_memoryview = { + __pyx_memoryview___len__, /*mp_length*/ + __pyx_memoryview___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_memoryview, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_memoryview = { + PyVarObject_HEAD_INIT(0, 0) + "acados_template.acados_ocp_solver_pyx.""memoryview", /*tp_name*/ + sizeof(struct __pyx_memoryview_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_memoryview, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_memoryview___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_memoryview, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_memoryview, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + __pyx_memoryview___str__, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_memoryview, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_memoryview, /*tp_traverse*/ + __pyx_tp_clear_memoryview, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_memoryview, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_memoryview, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_memoryview, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct__memoryviewslice __pyx_vtable__memoryviewslice; + +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryviewslice_obj *p; + PyObject *o = __pyx_tp_new_memoryview(t, a, k); + if (unlikely(!o)) return 0; + p = ((struct __pyx_memoryviewslice_obj *)o); + p->__pyx_base.__pyx_vtab = (struct __pyx_vtabstruct_memoryview*)__pyx_vtabptr__memoryviewslice; + p->from_object = Py_None; Py_INCREF(Py_None); + p->from_slice.memview = NULL; + return o; +} + +static void __pyx_tp_dealloc__memoryviewslice(PyObject *o) { + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc__memoryviewslice) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryviewslice___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->from_object); + PyObject_GC_Track(o); + __pyx_tp_dealloc_memoryview(o); +} + +static int __pyx_tp_traverse__memoryviewslice(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + e = __pyx_tp_traverse_memoryview(o, v, a); if (e) return e; + if (p->from_object) { + e = (*v)(p->from_object, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear__memoryviewslice(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + __pyx_tp_clear_memoryview(o); + tmp = ((PyObject*)p->from_object); + p->from_object = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + __PYX_XCLEAR_MEMVIEW(&p->from_slice, 1); + return 0; +} + +static PyMethodDef __pyx_methods__memoryviewslice[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryviewslice_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryviewslice_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type___pyx_memoryviewslice_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc__memoryviewslice}, + {Py_tp_doc, (void *)PyDoc_STR("Internal class for passing memoryview slices to Python")}, + {Py_tp_traverse, (void *)__pyx_tp_traverse__memoryviewslice}, + {Py_tp_clear, (void *)__pyx_tp_clear__memoryviewslice}, + {Py_tp_methods, (void *)__pyx_methods__memoryviewslice}, + {Py_tp_new, (void *)__pyx_tp_new__memoryviewslice}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_memoryviewslice_spec = { + "acados_template.acados_ocp_solver_pyx._memoryviewslice", + sizeof(struct __pyx_memoryviewslice_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_SEQUENCE, + __pyx_type___pyx_memoryviewslice_slots, +}; +#else + +static PyTypeObject __pyx_type___pyx_memoryviewslice = { + PyVarObject_HEAD_INIT(0, 0) + "acados_template.acados_ocp_solver_pyx.""_memoryviewslice", /*tp_name*/ + sizeof(struct __pyx_memoryviewslice_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc__memoryviewslice, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + #if CYTHON_COMPILING_IN_PYPY || 0 + __pyx_memoryview___repr__, /*tp_repr*/ + #else + 0, /*tp_repr*/ + #endif + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + #if CYTHON_COMPILING_IN_PYPY || 0 + __pyx_memoryview___str__, /*tp_str*/ + #else + 0, /*tp_str*/ + #endif + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_SEQUENCE, /*tp_flags*/ + PyDoc_STR("Internal class for passing memoryview slices to Python"), /*tp_doc*/ + __pyx_tp_traverse__memoryviewslice, /*tp_traverse*/ + __pyx_tp_clear__memoryviewslice, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods__memoryviewslice, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new__memoryviewslice, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyMethodDef __pyx_methods[] = { + {0, 0, 0, 0} +}; +#ifndef CYTHON_SMALL_CODE +#if defined(__clang__) + #define CYTHON_SMALL_CODE +#elif defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 3)) + #define CYTHON_SMALL_CODE __attribute__((cold)) +#else + #define CYTHON_SMALL_CODE +#endif +#endif +/* #### Code section: pystring_table ### */ + +static int __Pyx_CreateStringTabAndInitStrings(void) { + __Pyx_StringTabEntry __pyx_string_tab[] = { + {&__pyx_kp_u_, __pyx_k_, sizeof(__pyx_k_), 0, 1, 0, 0}, + {&__pyx_kp_u_0, __pyx_k_0, sizeof(__pyx_k_0), 0, 1, 0, 0}, + {&__pyx_n_s_ASCII, __pyx_k_ASCII, sizeof(__pyx_k_ASCII), 0, 0, 1, 1}, + {&__pyx_n_s_AcadosOcpSolverCython, __pyx_k_AcadosOcpSolverCython, sizeof(__pyx_k_AcadosOcpSolverCython), 0, 0, 1, 1}, + {&__pyx_n_s_AcadosOcpSolverCython___get_poin, __pyx_k_AcadosOcpSolverCython___get_poin, sizeof(__pyx_k_AcadosOcpSolverCython___get_poin), 0, 0, 1, 1}, + {&__pyx_n_s_AcadosOcpSolverCython___get_stat, __pyx_k_AcadosOcpSolverCython___get_stat, sizeof(__pyx_k_AcadosOcpSolverCython___get_stat), 0, 0, 1, 1}, + {&__pyx_n_s_AcadosOcpSolverCython___get_stat_2, __pyx_k_AcadosOcpSolverCython___get_stat_2, sizeof(__pyx_k_AcadosOcpSolverCython___get_stat_2), 0, 0, 1, 1}, + {&__pyx_n_s_AcadosOcpSolverCython___get_stat_3, __pyx_k_AcadosOcpSolverCython___get_stat_3, sizeof(__pyx_k_AcadosOcpSolverCython___get_stat_3), 0, 0, 1, 1}, + {&__pyx_n_s_AcadosOcpSolverCython___reduce_c, __pyx_k_AcadosOcpSolverCython___reduce_c, sizeof(__pyx_k_AcadosOcpSolverCython___reduce_c), 0, 0, 1, 1}, + {&__pyx_n_s_AcadosOcpSolverCython___setstate, __pyx_k_AcadosOcpSolverCython___setstate, sizeof(__pyx_k_AcadosOcpSolverCython___setstate), 0, 0, 1, 1}, + {&__pyx_n_s_AcadosOcpSolverCython__get_poin, __pyx_k_AcadosOcpSolverCython__get_poin, sizeof(__pyx_k_AcadosOcpSolverCython__get_poin), 0, 0, 1, 1}, + {&__pyx_n_s_AcadosOcpSolverCython__get_stat, __pyx_k_AcadosOcpSolverCython__get_stat, sizeof(__pyx_k_AcadosOcpSolverCython__get_stat), 0, 0, 1, 1}, + {&__pyx_n_s_AcadosOcpSolverCython__get_stat_2, __pyx_k_AcadosOcpSolverCython__get_stat_2, sizeof(__pyx_k_AcadosOcpSolverCython__get_stat_2), 0, 0, 1, 1}, + {&__pyx_n_s_AcadosOcpSolverCython__get_stat_3, __pyx_k_AcadosOcpSolverCython__get_stat_3, sizeof(__pyx_k_AcadosOcpSolverCython__get_stat_3), 0, 0, 1, 1}, + {&__pyx_kp_u_AcadosOcpSolverCython_constraint, __pyx_k_AcadosOcpSolverCython_constraint, sizeof(__pyx_k_AcadosOcpSolverCython_constraint), 0, 1, 0, 0}, + {&__pyx_n_s_AcadosOcpSolverCython_constraint_2, __pyx_k_AcadosOcpSolverCython_constraint_2, sizeof(__pyx_k_AcadosOcpSolverCython_constraint_2), 0, 0, 1, 1}, + {&__pyx_n_s_AcadosOcpSolverCython_cost_set, __pyx_k_AcadosOcpSolverCython_cost_set, sizeof(__pyx_k_AcadosOcpSolverCython_cost_set), 0, 0, 1, 1}, + {&__pyx_kp_u_AcadosOcpSolverCython_cost_set_m, __pyx_k_AcadosOcpSolverCython_cost_set_m, sizeof(__pyx_k_AcadosOcpSolverCython_cost_set_m), 0, 1, 0, 0}, + {&__pyx_n_s_AcadosOcpSolverCython_custom_upd, 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+ #else + Py_DECREF(__pyx_m); + if (pystate_addmodule_run) { + PyObject *tp, *value, *tb; + PyErr_Fetch(&tp, &value, &tb); + PyState_RemoveModule(&__pyx_moduledef); + PyErr_Restore(tp, value, tb); + } + #endif + } else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_ImportError, "init acados_template.acados_ocp_solver_pyx"); + } + __pyx_L0:; + __Pyx_RefNannyFinishContext(); + #if CYTHON_PEP489_MULTI_PHASE_INIT + return (__pyx_m != NULL) ? 0 : -1; + #elif PY_MAJOR_VERSION >= 3 + return __pyx_m; + #else + return; + #endif +} +/* #### Code section: cleanup_globals ### */ +/* #### Code section: cleanup_module ### */ +/* #### Code section: main_method ### */ +/* #### Code section: utility_code_pragmas ### */ +#ifdef _MSC_VER +#pragma warning( push ) +/* Warning 4127: conditional expression is constant + * Cython uses constant conditional expressions to allow in inline functions to be optimized at + * compile-time, so this warning is not useful + */ +#pragma warning( disable : 4127 ) +#endif + + + +/* #### Code section: utility_code_def ### */ + +/* --- Runtime support code --- */ +/* Refnanny */ +#if CYTHON_REFNANNY +static __Pyx_RefNannyAPIStruct *__Pyx_RefNannyImportAPI(const char *modname) { + PyObject *m = NULL, *p = NULL; 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+ Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#endif +} +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { +#if PY_VERSION_HEX >= 0x030C00A6 + PyObject* exc_value; + exc_value = tstate->current_exception; + tstate->current_exception = 0; + *value = exc_value; + *type = NULL; + *tb = NULL; + if (exc_value) { + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + #if CYTHON_COMPILING_IN_CPYTHON + *tb = ((PyBaseExceptionObject*) exc_value)->traceback; + Py_XINCREF(*tb); + #else + *tb = PyException_GetTraceback(exc_value); + #endif + } +#else + *type = tstate->curexc_type; + *value = tstate->curexc_value; + *tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; +#endif +} +#endif + +/* PyObjectGetAttrStr */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name) { + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro)) + return tp->tp_getattro(obj, attr_name); +#if PY_MAJOR_VERSION < 3 + if (likely(tp->tp_getattr)) + return tp->tp_getattr(obj, PyString_AS_STRING(attr_name)); +#endif + return PyObject_GetAttr(obj, attr_name); +} +#endif + +/* PyObjectGetAttrStrNoError */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + __Pyx_PyErr_Clear(); +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { + PyObject *result; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + (void) PyObject_GetOptionalAttr(obj, attr_name, &result); + return result; +#else +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { + return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); + } +#endif + result = __Pyx_PyObject_GetAttrStr(obj, attr_name); + if (unlikely(!result)) { + __Pyx_PyObject_GetAttrStr_ClearAttributeError(); + } + return result; +#endif +} + +/* GetBuiltinName */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name) { + PyObject* result = __Pyx_PyObject_GetAttrStrNoError(__pyx_b, name); + if (unlikely(!result) && !PyErr_Occurred()) { + PyErr_Format(PyExc_NameError, +#if PY_MAJOR_VERSION >= 3 + "name '%U' is not defined", name); +#else + "name '%.200s' is not defined", PyString_AS_STRING(name)); +#endif + } + return result; +} + +/* TupleAndListFromArray */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE void __Pyx_copy_object_array(PyObject *const *CYTHON_RESTRICT src, PyObject** CYTHON_RESTRICT dest, Py_ssize_t length) { + PyObject *v; + Py_ssize_t i; + for (i = 0; i < length; i++) { + v = dest[i] = src[i]; + Py_INCREF(v); + } +} +static CYTHON_INLINE PyObject * +__Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + Py_INCREF(__pyx_empty_tuple); + return __pyx_empty_tuple; + } + res = PyTuple_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyTupleObject*)res)->ob_item, n); + return res; +} +static CYTHON_INLINE PyObject * +__Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + return PyList_New(0); + } + res = PyList_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyListObject*)res)->ob_item, n); + return res; +} +#endif + +/* BytesEquals */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else + if (s1 == s2) { + return (equals == Py_EQ); + } else if (PyBytes_CheckExact(s1) & PyBytes_CheckExact(s2)) { + const char *ps1, *ps2; + Py_ssize_t length = PyBytes_GET_SIZE(s1); + if (length != PyBytes_GET_SIZE(s2)) + return (equals == Py_NE); + ps1 = PyBytes_AS_STRING(s1); + ps2 = PyBytes_AS_STRING(s2); + if (ps1[0] != ps2[0]) { + return (equals == Py_NE); + } else if (length == 1) { + return (equals == Py_EQ); + } else { + int result; +#if CYTHON_USE_UNICODE_INTERNALS && (PY_VERSION_HEX < 0x030B0000) + Py_hash_t hash1, hash2; + hash1 = ((PyBytesObject*)s1)->ob_shash; + hash2 = ((PyBytesObject*)s2)->ob_shash; + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + return (equals == Py_NE); + } +#endif + result = memcmp(ps1, ps2, (size_t)length); + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { + return (equals == Py_NE); + } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { + return (equals == Py_NE); + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +#endif +} + +/* UnicodeEquals */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else +#if PY_MAJOR_VERSION < 3 + PyObject* owned_ref = NULL; +#endif + int s1_is_unicode, s2_is_unicode; + if (s1 == s2) { + goto return_eq; + } + s1_is_unicode = PyUnicode_CheckExact(s1); + s2_is_unicode = PyUnicode_CheckExact(s2); +#if PY_MAJOR_VERSION < 3 + if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { + owned_ref = PyUnicode_FromObject(s2); + if (unlikely(!owned_ref)) + return -1; + s2 = owned_ref; + s2_is_unicode = 1; + } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { + owned_ref = PyUnicode_FromObject(s1); + if (unlikely(!owned_ref)) + return -1; + s1 = owned_ref; + s1_is_unicode = 1; + } else if (((!s2_is_unicode) & (!s1_is_unicode))) { + return __Pyx_PyBytes_Equals(s1, s2, equals); + } +#endif + if (s1_is_unicode & s2_is_unicode) { + Py_ssize_t length; + int kind; + void *data1, *data2; + if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) + return -1; + length = __Pyx_PyUnicode_GET_LENGTH(s1); + if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { + goto return_ne; + } +#if CYTHON_USE_UNICODE_INTERNALS + { + Py_hash_t hash1, hash2; + #if CYTHON_PEP393_ENABLED + hash1 = ((PyASCIIObject*)s1)->hash; + hash2 = ((PyASCIIObject*)s2)->hash; + #else + hash1 = ((PyUnicodeObject*)s1)->hash; + hash2 = ((PyUnicodeObject*)s2)->hash; + #endif + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + goto return_ne; + } + } +#endif + kind = __Pyx_PyUnicode_KIND(s1); + if (kind != __Pyx_PyUnicode_KIND(s2)) { + goto return_ne; + } + data1 = __Pyx_PyUnicode_DATA(s1); + data2 = __Pyx_PyUnicode_DATA(s2); + if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { + goto return_ne; + } else if (length == 1) { + goto return_eq; + } else { + int result = memcmp(data1, data2, (size_t)(length * kind)); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & s2_is_unicode) { + goto return_ne; + } else if ((s2 == Py_None) & s1_is_unicode) { + goto return_ne; + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +return_eq: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ); +return_ne: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_NE); +#endif +} + +/* fastcall */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s) +{ + Py_ssize_t i, n = PyTuple_GET_SIZE(kwnames); + for (i = 0; i < n; i++) + { + if (s == PyTuple_GET_ITEM(kwnames, i)) return kwvalues[i]; + } + for (i = 0; i < n; i++) + { + int eq = __Pyx_PyUnicode_Equals(s, PyTuple_GET_ITEM(kwnames, i), Py_EQ); + if (unlikely(eq != 0)) { + if (unlikely(eq < 0)) return NULL; + return kwvalues[i]; + } + } + return NULL; +} +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 +CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { + Py_ssize_t i, nkwargs = PyTuple_GET_SIZE(kwnames); + PyObject *dict; + dict = PyDict_New(); + if (unlikely(!dict)) + return NULL; + for (i=0; i= 3 + "%s() got multiple values for keyword argument '%U'", func_name, kw_name); + #else + "%s() got multiple values for keyword argument '%s'", func_name, + PyString_AsString(kw_name)); + #endif +} + +/* ParseKeywords */ +static int __Pyx_ParseOptionalKeywords( + PyObject *kwds, + PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, + PyObject *values[], + Py_ssize_t num_pos_args, + const char* function_name) +{ + PyObject *key = 0, *value = 0; + Py_ssize_t pos = 0; + PyObject*** name; + PyObject*** first_kw_arg = argnames + num_pos_args; + int kwds_is_tuple = CYTHON_METH_FASTCALL && likely(PyTuple_Check(kwds)); + while (1) { + Py_XDECREF(key); key = NULL; + Py_XDECREF(value); value = NULL; + if (kwds_is_tuple) { + Py_ssize_t size; +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(kwds); +#else + size = PyTuple_Size(kwds); + if (size < 0) goto bad; +#endif + if (pos >= size) break; +#if CYTHON_AVOID_BORROWED_REFS + key = __Pyx_PySequence_ITEM(kwds, pos); + if (!key) goto bad; +#elif CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kwds, pos); +#else + key = PyTuple_GetItem(kwds, pos); + if (!key) goto bad; +#endif + value = kwvalues[pos]; + pos++; + } + else + { + if (!PyDict_Next(kwds, &pos, &key, &value)) break; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + } + name = first_kw_arg; + while (*name && (**name != key)) name++; + if (*name) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(value); + Py_DECREF(key); +#endif + key = NULL; + value = NULL; + continue; + } +#if !CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + Py_INCREF(value); + name = first_kw_arg; + #if PY_MAJOR_VERSION < 3 + if (likely(PyString_Check(key))) { + while (*name) { + if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) + && _PyString_Eq(**name, key)) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + if ((**argname == key) || ( + (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) + && _PyString_Eq(**argname, key))) { + goto arg_passed_twice; + } + argname++; + } + } + } else + #endif + if (likely(PyUnicode_Check(key))) { + while (*name) { + int cmp = ( + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**name, key) + ); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + int cmp = (**argname == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**argname, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) goto arg_passed_twice; + argname++; + } + } + } else + goto invalid_keyword_type; + if (kwds2) { + if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; + } else { + goto invalid_keyword; + } + } + Py_XDECREF(key); + Py_XDECREF(value); + return 0; +arg_passed_twice: + __Pyx_RaiseDoubleKeywordsError(function_name, key); + goto bad; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + goto bad; +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif +bad: + Py_XDECREF(key); + Py_XDECREF(value); + return -1; +} + +/* ArgTypeTest */ +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact) +{ + __Pyx_TypeName type_name; + __Pyx_TypeName obj_type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + else if (exact) { + #if PY_MAJOR_VERSION == 2 + if ((type == &PyBaseString_Type) && likely(__Pyx_PyBaseString_CheckExact(obj))) return 1; + #endif + } + else { + if (likely(__Pyx_TypeCheck(obj, type))) return 1; + } + type_name = __Pyx_PyType_GetName(type); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "Argument '%.200s' has incorrect type (expected " __Pyx_FMT_TYPENAME + ", got " __Pyx_FMT_TYPENAME ")", name, type_name, obj_type_name); + __Pyx_DECREF_TypeName(type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* RaiseException */ +#if PY_MAJOR_VERSION < 3 +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + __Pyx_PyThreadState_declare + CYTHON_UNUSED_VAR(cause); + Py_XINCREF(type); + if (!value || value == Py_None) + value = NULL; + else + Py_INCREF(value); + if (!tb || tb == Py_None) + tb = NULL; + else { + Py_INCREF(tb); + if (!PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto raise_error; + } + } + if (PyType_Check(type)) { +#if CYTHON_COMPILING_IN_PYPY + if (!value) { + Py_INCREF(Py_None); + value = Py_None; + } +#endif + PyErr_NormalizeException(&type, &value, &tb); + } else { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto raise_error; + } + value = type; + type = (PyObject*) Py_TYPE(type); + Py_INCREF(type); + if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto raise_error; + } + } + __Pyx_PyThreadState_assign + __Pyx_ErrRestore(type, value, tb); + return; +raise_error: + Py_XDECREF(value); + Py_XDECREF(type); + Py_XDECREF(tb); + return; +} +#else +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + PyObject* owned_instance = NULL; + if (tb == Py_None) { + tb = 0; + } else if (tb && !PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto bad; + } + if (value == Py_None) + value = 0; + if (PyExceptionInstance_Check(type)) { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto bad; + } + value = type; + type = (PyObject*) Py_TYPE(value); + } else if (PyExceptionClass_Check(type)) { + PyObject *instance_class = NULL; + if (value && PyExceptionInstance_Check(value)) { + instance_class = (PyObject*) Py_TYPE(value); + if (instance_class != type) { + int is_subclass = PyObject_IsSubclass(instance_class, type); + if (!is_subclass) { + instance_class = NULL; + } else if (unlikely(is_subclass == -1)) { + goto bad; + } else { + type = instance_class; + } + } + } + if (!instance_class) { + PyObject *args; + if (!value) + args = PyTuple_New(0); + else if (PyTuple_Check(value)) { + Py_INCREF(value); + args = value; + } else + args = PyTuple_Pack(1, value); + if (!args) + goto bad; + owned_instance = PyObject_Call(type, args, NULL); + Py_DECREF(args); + if (!owned_instance) + goto bad; + value = owned_instance; + if (!PyExceptionInstance_Check(value)) { + PyErr_Format(PyExc_TypeError, + "calling %R should have returned an instance of " + "BaseException, not %R", + type, Py_TYPE(value)); + goto bad; + } + } + } else { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto bad; + } + if (cause) { + PyObject *fixed_cause; + if (cause == Py_None) { + fixed_cause = NULL; + } else if (PyExceptionClass_Check(cause)) { + fixed_cause = PyObject_CallObject(cause, NULL); + if (fixed_cause == NULL) + goto bad; + } else if (PyExceptionInstance_Check(cause)) { + fixed_cause = cause; + Py_INCREF(fixed_cause); + } else { + PyErr_SetString(PyExc_TypeError, + "exception causes must derive from " + "BaseException"); + goto bad; + } + PyException_SetCause(value, fixed_cause); + } + PyErr_SetObject(type, value); + if (tb) { + #if PY_VERSION_HEX >= 0x030C00A6 + PyException_SetTraceback(value, tb); + #elif CYTHON_FAST_THREAD_STATE + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* tmp_tb = tstate->curexc_traceback; + if (tb != tmp_tb) { + Py_INCREF(tb); + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_tb); + } +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); + Py_INCREF(tb); + PyErr_Restore(tmp_type, tmp_value, tb); + Py_XDECREF(tmp_tb); +#endif + } +bad: + Py_XDECREF(owned_instance); + return; +} +#endif + +/* PyFunctionFastCall */ +#if CYTHON_FAST_PYCALL && !CYTHON_VECTORCALL +static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, + PyObject *globals) { + PyFrameObject *f; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject **fastlocals; + Py_ssize_t i; + PyObject *result; + assert(globals != NULL); + /* XXX Perhaps we should create a specialized + PyFrame_New() that doesn't take locals, but does + take builtins without sanity checking them. + */ + assert(tstate != NULL); + f = PyFrame_New(tstate, co, globals, NULL); + if (f == NULL) { + return NULL; + } + fastlocals = __Pyx_PyFrame_GetLocalsplus(f); + for (i = 0; i < na; i++) { + Py_INCREF(*args); + fastlocals[i] = *args++; + } + result = PyEval_EvalFrameEx(f,0); + ++tstate->recursion_depth; + Py_DECREF(f); + --tstate->recursion_depth; + return result; +} +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { + PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); + PyObject *globals = PyFunction_GET_GLOBALS(func); + PyObject *argdefs = PyFunction_GET_DEFAULTS(func); + PyObject *closure; +#if PY_MAJOR_VERSION >= 3 + PyObject *kwdefs; +#endif + PyObject *kwtuple, **k; + PyObject **d; + Py_ssize_t nd; + Py_ssize_t nk; + PyObject *result; + assert(kwargs == NULL || PyDict_Check(kwargs)); + nk = kwargs ? PyDict_Size(kwargs) : 0; + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) { + return NULL; + } + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) { + return NULL; + } + #endif + if ( +#if PY_MAJOR_VERSION >= 3 + co->co_kwonlyargcount == 0 && +#endif + likely(kwargs == NULL || nk == 0) && + co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { + if (argdefs == NULL && co->co_argcount == nargs) { + result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); + goto done; + } + else if (nargs == 0 && argdefs != NULL + && co->co_argcount == Py_SIZE(argdefs)) { + /* function called with no arguments, but all parameters have + a default value: use default values as arguments .*/ + args = &PyTuple_GET_ITEM(argdefs, 0); + result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); + goto done; + } + } + if (kwargs != NULL) { + Py_ssize_t pos, i; + kwtuple = PyTuple_New(2 * nk); + if (kwtuple == NULL) { + result = NULL; + goto done; + } + k = &PyTuple_GET_ITEM(kwtuple, 0); + pos = i = 0; + while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { + Py_INCREF(k[i]); + Py_INCREF(k[i+1]); + i += 2; + } + nk = i / 2; + } + else { + kwtuple = NULL; + k = NULL; + } + closure = PyFunction_GET_CLOSURE(func); +#if PY_MAJOR_VERSION >= 3 + kwdefs = PyFunction_GET_KW_DEFAULTS(func); +#endif + if (argdefs != NULL) { + d = &PyTuple_GET_ITEM(argdefs, 0); + nd = Py_SIZE(argdefs); + } + else { + d = NULL; + nd = 0; + } +#if PY_MAJOR_VERSION >= 3 + result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, kwdefs, closure); +#else + result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, closure); +#endif + Py_XDECREF(kwtuple); +done: + Py_LeaveRecursiveCall(); + return result; +} +#endif + +/* PyObjectCall */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *result; + ternaryfunc call = Py_TYPE(func)->tp_call; + if (unlikely(!call)) + return PyObject_Call(func, arg, kw); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = (*call)(func, arg, kw); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCallMethO */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { + PyObject *self, *result; + PyCFunction cfunc; + cfunc = __Pyx_CyOrPyCFunction_GET_FUNCTION(func); + self = __Pyx_CyOrPyCFunction_GET_SELF(func); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = cfunc(self, arg); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectFastCall */ +#if PY_VERSION_HEX < 0x03090000 || CYTHON_COMPILING_IN_LIMITED_API +static PyObject* __Pyx_PyObject_FastCall_fallback(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs) { + PyObject *argstuple; + PyObject *result = 0; + size_t i; + argstuple = PyTuple_New((Py_ssize_t)nargs); + if (unlikely(!argstuple)) return NULL; + for (i = 0; i < nargs; i++) { + Py_INCREF(args[i]); + if (__Pyx_PyTuple_SET_ITEM(argstuple, (Py_ssize_t)i, args[i]) < 0) goto bad; + } + result = __Pyx_PyObject_Call(func, argstuple, kwargs); + bad: + Py_DECREF(argstuple); + return result; +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t _nargs, PyObject *kwargs) { + Py_ssize_t nargs = __Pyx_PyVectorcall_NARGS(_nargs); +#if CYTHON_COMPILING_IN_CPYTHON + if (nargs == 0 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_NOARGS)) + return __Pyx_PyObject_CallMethO(func, NULL); + } + else if (nargs == 1 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_O)) + return __Pyx_PyObject_CallMethO(func, args[0]); + } +#endif + #if PY_VERSION_HEX < 0x030800B1 + #if CYTHON_FAST_PYCCALL + if (PyCFunction_Check(func)) { + if (kwargs) { + return _PyCFunction_FastCallDict(func, args, nargs, kwargs); + } else { + return _PyCFunction_FastCallKeywords(func, args, nargs, NULL); + } + } + #if PY_VERSION_HEX >= 0x030700A1 + if (!kwargs && __Pyx_IS_TYPE(func, &PyMethodDescr_Type)) { + return _PyMethodDescr_FastCallKeywords(func, args, nargs, NULL); + } + #endif + #endif + #if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs); + } + #endif + #endif + if (kwargs == NULL) { + #if CYTHON_VECTORCALL + #if PY_VERSION_HEX < 0x03090000 + vectorcallfunc f = _PyVectorcall_Function(func); + #else + vectorcallfunc f = PyVectorcall_Function(func); + #endif + if (f) { + return f(func, args, (size_t)nargs, NULL); + } + #elif defined(__Pyx_CyFunction_USED) && CYTHON_BACKPORT_VECTORCALL + if (__Pyx_CyFunction_CheckExact(func)) { + __pyx_vectorcallfunc f = __Pyx_CyFunction_func_vectorcall(func); + if (f) return f(func, args, (size_t)nargs, NULL); + } + #endif + } + if (nargs == 0) { + return __Pyx_PyObject_Call(func, __pyx_empty_tuple, kwargs); + } + #if PY_VERSION_HEX >= 0x03090000 && !CYTHON_COMPILING_IN_LIMITED_API + return PyObject_VectorcallDict(func, args, (size_t)nargs, kwargs); + #else + return __Pyx_PyObject_FastCall_fallback(func, args, (size_t)nargs, kwargs); + #endif +} + +/* RaiseUnexpectedTypeError */ +static int +__Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj) +{ + __Pyx_TypeName obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, "Expected %s, got " __Pyx_FMT_TYPENAME, + expected, obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* CIntToDigits */ +static const char DIGIT_PAIRS_10[2*10*10+1] = { + "00010203040506070809" + "10111213141516171819" + "20212223242526272829" + "30313233343536373839" + "40414243444546474849" + "50515253545556575859" + "60616263646566676869" + "70717273747576777879" + "80818283848586878889" + "90919293949596979899" +}; +static const char DIGIT_PAIRS_8[2*8*8+1] = { + "0001020304050607" + "1011121314151617" + "2021222324252627" + "3031323334353637" + "4041424344454647" + "5051525354555657" + "6061626364656667" + "7071727374757677" +}; +static const char DIGITS_HEX[2*16+1] = { + "0123456789abcdef" + "0123456789ABCDEF" +}; + +/* BuildPyUnicode */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char) { + PyObject *uval; + Py_ssize_t uoffset = ulength - clength; +#if CYTHON_USE_UNICODE_INTERNALS + Py_ssize_t i; +#if CYTHON_PEP393_ENABLED + void *udata; + uval = PyUnicode_New(ulength, 127); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_DATA(uval); +#else + Py_UNICODE *udata; + uval = PyUnicode_FromUnicode(NULL, ulength); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_AS_UNICODE(uval); +#endif + if (uoffset > 0) { + i = 0; + if (prepend_sign) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, 0, '-'); + i++; + } + for (; i < uoffset; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, i, padding_char); + } + } + for (i=0; i < clength; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, uoffset+i, chars[i]); + } +#else + { + PyObject *sign = NULL, *padding = NULL; + uval = NULL; + if (uoffset > 0) { + prepend_sign = !!prepend_sign; + if (uoffset > prepend_sign) { + padding = PyUnicode_FromOrdinal(padding_char); + if (likely(padding) && uoffset > prepend_sign + 1) { + PyObject *tmp; + PyObject *repeat = PyInt_FromSsize_t(uoffset - prepend_sign); + if (unlikely(!repeat)) goto done_or_error; + tmp = PyNumber_Multiply(padding, repeat); + Py_DECREF(repeat); + Py_DECREF(padding); + padding = tmp; + } + if (unlikely(!padding)) goto done_or_error; + } + if (prepend_sign) { + sign = PyUnicode_FromOrdinal('-'); + if (unlikely(!sign)) goto done_or_error; + } + } + uval = PyUnicode_DecodeASCII(chars, clength, NULL); + if (likely(uval) && padding) { + PyObject *tmp = PyNumber_Add(padding, uval); + Py_DECREF(uval); + uval = tmp; + } + if (likely(uval) && sign) { + PyObject *tmp = PyNumber_Add(sign, uval); + Py_DECREF(uval); + uval = tmp; + } +done_or_error: + Py_XDECREF(padding); + Py_XDECREF(sign); + } +#endif + return uval; +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(int)*3+2]; + char *dpos, *end = digits + sizeof(int)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + int remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (int) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (int) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (int) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_Py_ssize_t(Py_ssize_t value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(Py_ssize_t)*3+2]; + char *dpos, *end = digits + sizeof(Py_ssize_t)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + Py_ssize_t remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const Py_ssize_t neg_one = (Py_ssize_t) -1, const_zero = (Py_ssize_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (Py_ssize_t) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (Py_ssize_t) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (Py_ssize_t) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* JoinPyUnicode */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char) { +#if CYTHON_USE_UNICODE_INTERNALS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + PyObject *result_uval; + int result_ukind, kind_shift; + Py_ssize_t i, char_pos; + void *result_udata; + CYTHON_MAYBE_UNUSED_VAR(max_char); +#if CYTHON_PEP393_ENABLED + result_uval = PyUnicode_New(result_ulength, max_char); + if (unlikely(!result_uval)) return NULL; + result_ukind = (max_char <= 255) ? PyUnicode_1BYTE_KIND : (max_char <= 65535) ? PyUnicode_2BYTE_KIND : PyUnicode_4BYTE_KIND; + kind_shift = (result_ukind == PyUnicode_4BYTE_KIND) ? 2 : result_ukind - 1; + result_udata = PyUnicode_DATA(result_uval); +#else + result_uval = PyUnicode_FromUnicode(NULL, result_ulength); + if (unlikely(!result_uval)) return NULL; + result_ukind = sizeof(Py_UNICODE); + kind_shift = (result_ukind == 4) ? 2 : result_ukind - 1; + result_udata = PyUnicode_AS_UNICODE(result_uval); +#endif + assert(kind_shift == 2 || kind_shift == 1 || kind_shift == 0); + char_pos = 0; + for (i=0; i < value_count; i++) { + int ukind; + Py_ssize_t ulength; + void *udata; + PyObject *uval = PyTuple_GET_ITEM(value_tuple, i); + if (unlikely(__Pyx_PyUnicode_READY(uval))) + goto bad; + ulength = __Pyx_PyUnicode_GET_LENGTH(uval); + if (unlikely(!ulength)) + continue; + if (unlikely((PY_SSIZE_T_MAX >> kind_shift) - ulength < char_pos)) + goto overflow; + ukind = __Pyx_PyUnicode_KIND(uval); + udata = __Pyx_PyUnicode_DATA(uval); + if (!CYTHON_PEP393_ENABLED || ukind == result_ukind) { + memcpy((char *)result_udata + (char_pos << kind_shift), udata, (size_t) (ulength << kind_shift)); + } else { + #if PY_VERSION_HEX >= 0x030d0000 + if (unlikely(PyUnicode_CopyCharacters(result_uval, char_pos, uval, 0, ulength) < 0)) goto bad; + #elif CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030300F0 || defined(_PyUnicode_FastCopyCharacters) + _PyUnicode_FastCopyCharacters(result_uval, char_pos, uval, 0, ulength); + #else + Py_ssize_t j; + for (j=0; j < ulength; j++) { + Py_UCS4 uchar = __Pyx_PyUnicode_READ(ukind, udata, j); + __Pyx_PyUnicode_WRITE(result_ukind, result_udata, char_pos+j, uchar); + } + #endif + } + char_pos += ulength; + } + return result_uval; +overflow: + PyErr_SetString(PyExc_OverflowError, "join() result is too long for a Python string"); +bad: + Py_DECREF(result_uval); + return NULL; +#else + CYTHON_UNUSED_VAR(max_char); + CYTHON_UNUSED_VAR(result_ulength); + CYTHON_UNUSED_VAR(value_count); + return PyUnicode_Join(__pyx_empty_unicode, value_tuple); +#endif +} + +/* GetAttr */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *o, PyObject *n) { +#if CYTHON_USE_TYPE_SLOTS +#if PY_MAJOR_VERSION >= 3 + if (likely(PyUnicode_Check(n))) +#else + if (likely(PyString_Check(n))) +#endif + return __Pyx_PyObject_GetAttrStr(o, n); +#endif + return PyObject_GetAttr(o, n); +} + +/* GetItemInt */ +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { + PyObject *r; + if (unlikely(!j)) return NULL; + r = PyObject_GetItem(o, j); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyList_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { + PyObject *r = PyList_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyTuple_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); + if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { + PyObject *r = PyList_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } + else if (PyTuple_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_subscript) { + PyObject *r, *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return NULL; + r = mm->mp_subscript(o, key); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return NULL; + PyErr_Clear(); + } + } + return sm->sq_item(o, i); + } + } +#else + if (is_list || !PyMapping_Check(o)) { + return PySequence_GetItem(o, i); + } +#endif + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +} + +/* PyObjectCallOneArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *args[2] = {NULL, arg}; + return __Pyx_PyObject_FastCall(func, args+1, 1 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* ObjectGetItem */ +#if CYTHON_USE_TYPE_SLOTS +static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject *index) { + PyObject *runerr = NULL; + Py_ssize_t key_value; + key_value = __Pyx_PyIndex_AsSsize_t(index); + if (likely(key_value != -1 || !(runerr = PyErr_Occurred()))) { + return __Pyx_GetItemInt_Fast(obj, key_value, 0, 1, 1); + } + if (PyErr_GivenExceptionMatches(runerr, PyExc_OverflowError)) { + __Pyx_TypeName index_type_name = __Pyx_PyType_GetName(Py_TYPE(index)); + PyErr_Clear(); + PyErr_Format(PyExc_IndexError, + "cannot fit '" __Pyx_FMT_TYPENAME "' into an index-sized integer", index_type_name); + __Pyx_DECREF_TypeName(index_type_name); + } + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem_Slow(PyObject *obj, PyObject *key) { + __Pyx_TypeName obj_type_name; + if (likely(PyType_Check(obj))) { + PyObject *meth = __Pyx_PyObject_GetAttrStrNoError(obj, __pyx_n_s_class_getitem); + if (!meth) { + PyErr_Clear(); + } else { + PyObject *result = __Pyx_PyObject_CallOneArg(meth, key); + Py_DECREF(meth); + return result; + } + } + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' object is not subscriptable", obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key) { + PyTypeObject *tp = Py_TYPE(obj); + PyMappingMethods *mm = tp->tp_as_mapping; + PySequenceMethods *sm = tp->tp_as_sequence; + if (likely(mm && mm->mp_subscript)) { + return mm->mp_subscript(obj, key); + } + if (likely(sm && sm->sq_item)) { + return __Pyx_PyObject_GetIndex(obj, key); + } + return __Pyx_PyObject_GetItem_Slow(obj, key); +} +#endif + +/* KeywordStringCheck */ +static int __Pyx_CheckKeywordStrings( + PyObject *kw, + const char* function_name, + int kw_allowed) +{ + PyObject* key = 0; + Py_ssize_t pos = 0; +#if CYTHON_COMPILING_IN_PYPY + if (!kw_allowed && PyDict_Next(kw, &pos, &key, 0)) + goto invalid_keyword; + return 1; +#else + if (CYTHON_METH_FASTCALL && likely(PyTuple_Check(kw))) { + Py_ssize_t kwsize; +#if CYTHON_ASSUME_SAFE_MACROS + kwsize = PyTuple_GET_SIZE(kw); +#else + kwsize = PyTuple_Size(kw); + if (kwsize < 0) return 0; +#endif + if (unlikely(kwsize == 0)) + return 1; + if (!kw_allowed) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, 0); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + goto invalid_keyword; + } +#if PY_VERSION_HEX < 0x03090000 + for (pos = 0; pos < kwsize; pos++) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, pos); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } +#endif + return 1; + } + while (PyDict_Next(kw, &pos, &key, 0)) { + #if PY_MAJOR_VERSION < 3 + if (unlikely(!PyString_Check(key))) + #endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } + if (!kw_allowed && unlikely(key)) + goto invalid_keyword; + return 1; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + return 0; +#endif +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif + return 0; +} + +/* DivInt[Py_ssize_t] */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t a, Py_ssize_t b) { + Py_ssize_t q = a / b; + Py_ssize_t r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* GetAttr3 */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static PyObject *__Pyx_GetAttr3Default(PyObject *d) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (unlikely(!__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + return NULL; + __Pyx_PyErr_Clear(); + Py_INCREF(d); + return d; +} +#endif +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *o, PyObject *n, PyObject *d) { + PyObject *r; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + int res = PyObject_GetOptionalAttr(o, n, &r); + return (res != 0) ? r : __Pyx_NewRef(d); +#else + #if CYTHON_USE_TYPE_SLOTS + if (likely(PyString_Check(n))) { + r = __Pyx_PyObject_GetAttrStrNoError(o, n); + if (unlikely(!r) && likely(!PyErr_Occurred())) { + r = __Pyx_NewRef(d); + } + return r; + } + #endif + r = PyObject_GetAttr(o, n); + return (likely(r)) ? r : __Pyx_GetAttr3Default(d); +#endif +} + +/* PyDictVersioning */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { + PyObject **dictptr = NULL; + Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; + if (offset) { +#if CYTHON_COMPILING_IN_CPYTHON + dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); +#else + dictptr = _PyObject_GetDictPtr(obj); +#endif + } + return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; +} +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) + return 0; + return obj_dict_version == __Pyx_get_object_dict_version(obj); +} +#endif + +/* GetModuleGlobalName */ +#if CYTHON_USE_DICT_VERSIONS +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) +#else +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) +#endif +{ + PyObject *result; +#if !CYTHON_AVOID_BORROWED_REFS +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && PY_VERSION_HEX < 0x030d0000 + result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } else if (unlikely(PyErr_Occurred())) { + return NULL; + } +#elif CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(!__pyx_m)) { + return NULL; + } + result = PyObject_GetAttr(__pyx_m, name); + if (likely(result)) { + return result; + } +#else + result = PyDict_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } +#endif +#else + result = PyObject_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } + PyErr_Clear(); +#endif + return __Pyx_GetBuiltinName(name); +} + +/* RaiseTooManyValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected) { + PyErr_Format(PyExc_ValueError, + "too many values to unpack (expected %" CYTHON_FORMAT_SSIZE_T "d)", expected); +} + +/* RaiseNeedMoreValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index) { + PyErr_Format(PyExc_ValueError, + "need more than %" CYTHON_FORMAT_SSIZE_T "d value%.1s to unpack", + index, (index == 1) ? "" : "s"); +} + +/* RaiseNoneIterError */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void) { + PyErr_SetString(PyExc_TypeError, "'NoneType' object is not iterable"); +} + +/* ExtTypeTest */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type) { + __Pyx_TypeName obj_type_name; + __Pyx_TypeName type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + if (likely(__Pyx_TypeCheck(obj, type))) + return 1; + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + type_name = __Pyx_PyType_GetName(type); + PyErr_Format(PyExc_TypeError, + "Cannot convert " __Pyx_FMT_TYPENAME " to " __Pyx_FMT_TYPENAME, + obj_type_name, type_name); + __Pyx_DECREF_TypeName(obj_type_name); + __Pyx_DECREF_TypeName(type_name); + return 0; +} + +/* GetTopmostException */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * +__Pyx_PyErr_GetTopmostException(PyThreadState *tstate) +{ + _PyErr_StackItem *exc_info = tstate->exc_info; + while ((exc_info->exc_value == NULL || exc_info->exc_value == Py_None) && + exc_info->previous_item != NULL) + { + exc_info = exc_info->previous_item; + } + return exc_info; +} +#endif + +/* SaveResetException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + PyObject *exc_value = exc_info->exc_value; + if (exc_value == NULL || exc_value == Py_None) { + *value = NULL; + *type = NULL; + *tb = NULL; + } else { + *value = exc_value; + Py_INCREF(*value); + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + *tb = PyException_GetTraceback(exc_value); + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + *type = exc_info->exc_type; + *value = exc_info->exc_value; + *tb = exc_info->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #else + *type = tstate->exc_type; + *value = tstate->exc_value; + *tb = tstate->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #endif +} +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + PyObject *tmp_value = exc_info->exc_value; + exc_info->exc_value = value; + Py_XDECREF(tmp_value); + Py_XDECREF(type); + Py_XDECREF(tb); + #else + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = type; + exc_info->exc_value = value; + exc_info->exc_traceback = tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = type; + tstate->exc_value = value; + tstate->exc_traceback = tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); + #endif +} +#endif + +/* GetException */ +#if CYTHON_FAST_THREAD_STATE +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb) +#endif +{ + PyObject *local_type = NULL, *local_value, *local_tb = NULL; +#if CYTHON_FAST_THREAD_STATE + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if PY_VERSION_HEX >= 0x030C00A6 + local_value = tstate->current_exception; + tstate->current_exception = 0; + if (likely(local_value)) { + local_type = (PyObject*) Py_TYPE(local_value); + Py_INCREF(local_type); + local_tb = PyException_GetTraceback(local_value); + } + #else + local_type = tstate->curexc_type; + local_value = tstate->curexc_value; + local_tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; + #endif +#else + PyErr_Fetch(&local_type, &local_value, &local_tb); +#endif + PyErr_NormalizeException(&local_type, &local_value, &local_tb); +#if CYTHON_FAST_THREAD_STATE && PY_VERSION_HEX >= 0x030C00A6 + if (unlikely(tstate->current_exception)) +#elif CYTHON_FAST_THREAD_STATE + if (unlikely(tstate->curexc_type)) +#else + if (unlikely(PyErr_Occurred())) +#endif + goto bad; + #if PY_MAJOR_VERSION >= 3 + if (local_tb) { + if (unlikely(PyException_SetTraceback(local_value, local_tb) < 0)) + goto bad; + } + #endif + Py_XINCREF(local_tb); + Py_XINCREF(local_type); + Py_XINCREF(local_value); + *type = local_type; + *value = local_value; + *tb = local_tb; +#if CYTHON_FAST_THREAD_STATE + #if CYTHON_USE_EXC_INFO_STACK + { + _PyErr_StackItem *exc_info = tstate->exc_info; + #if PY_VERSION_HEX >= 0x030B00a4 + tmp_value = exc_info->exc_value; + exc_info->exc_value = local_value; + tmp_type = NULL; + tmp_tb = NULL; + Py_XDECREF(local_type); + Py_XDECREF(local_tb); + #else + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = local_type; + exc_info->exc_value = local_value; + exc_info->exc_traceback = local_tb; + #endif + } + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = local_type; + tstate->exc_value = local_value; + tstate->exc_traceback = local_tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#else + PyErr_SetExcInfo(local_type, local_value, local_tb); +#endif + return 0; +bad: + *type = 0; + *value = 0; + *tb = 0; + Py_XDECREF(local_type); + Py_XDECREF(local_value); + Py_XDECREF(local_tb); + return -1; +} + +/* SwapException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_value = exc_info->exc_value; + exc_info->exc_value = *value; + if (tmp_value == NULL || tmp_value == Py_None) { + Py_XDECREF(tmp_value); + tmp_value = NULL; + tmp_type = NULL; + tmp_tb = NULL; + } else { + tmp_type = (PyObject*) Py_TYPE(tmp_value); + Py_INCREF(tmp_type); + #if CYTHON_COMPILING_IN_CPYTHON + tmp_tb = ((PyBaseExceptionObject*) tmp_value)->traceback; + Py_XINCREF(tmp_tb); + #else + tmp_tb = PyException_GetTraceback(tmp_value); + #endif + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = *type; + exc_info->exc_value = *value; + exc_info->exc_traceback = *tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = *type; + tstate->exc_value = *value; + tstate->exc_traceback = *tb; + #endif + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_GetExcInfo(&tmp_type, &tmp_value, &tmp_tb); + PyErr_SetExcInfo(*type, *value, *tb); + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#endif + +/* Import */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { + PyObject *module = 0; + PyObject *empty_dict = 0; + PyObject *empty_list = 0; + #if PY_MAJOR_VERSION < 3 + PyObject *py_import; + py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); + if (unlikely(!py_import)) + goto bad; + if (!from_list) { + empty_list = PyList_New(0); + if (unlikely(!empty_list)) + goto bad; + from_list = empty_list; + } + #endif + empty_dict = PyDict_New(); + if (unlikely(!empty_dict)) + goto bad; + { + #if PY_MAJOR_VERSION >= 3 + if (level == -1) { + if (strchr(__Pyx_MODULE_NAME, '.') != NULL) { + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, 1); + if (unlikely(!module)) { + if (unlikely(!PyErr_ExceptionMatches(PyExc_ImportError))) + goto bad; + PyErr_Clear(); + } + } + level = 0; + } + #endif + if (!module) { + #if PY_MAJOR_VERSION < 3 + PyObject *py_level = PyInt_FromLong(level); + if (unlikely(!py_level)) + goto bad; + module = PyObject_CallFunctionObjArgs(py_import, + name, __pyx_d, empty_dict, from_list, py_level, (PyObject *)NULL); + Py_DECREF(py_level); + #else + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, level); + #endif + } + } +bad: + Py_XDECREF(empty_dict); + Py_XDECREF(empty_list); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_import); + #endif + return module; +} + +/* ImportDottedModule */ +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Error(PyObject *name, PyObject *parts_tuple, Py_ssize_t count) { + PyObject *partial_name = NULL, *slice = NULL, *sep = NULL; + if (unlikely(PyErr_Occurred())) { + PyErr_Clear(); + } + if (likely(PyTuple_GET_SIZE(parts_tuple) == count)) { + partial_name = name; + } else { + slice = PySequence_GetSlice(parts_tuple, 0, count); + if (unlikely(!slice)) + goto bad; + sep = PyUnicode_FromStringAndSize(".", 1); + if (unlikely(!sep)) + goto bad; + partial_name = PyUnicode_Join(sep, slice); + } + PyErr_Format( +#if PY_MAJOR_VERSION < 3 + PyExc_ImportError, + "No module named '%s'", PyString_AS_STRING(partial_name)); +#else +#if PY_VERSION_HEX >= 0x030600B1 + PyExc_ModuleNotFoundError, +#else + PyExc_ImportError, +#endif + "No module named '%U'", partial_name); +#endif +bad: + Py_XDECREF(sep); + Py_XDECREF(slice); + Py_XDECREF(partial_name); + return NULL; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Lookup(PyObject *name) { + PyObject *imported_module; +#if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + return NULL; + imported_module = __Pyx_PyDict_GetItemStr(modules, name); + Py_XINCREF(imported_module); +#else + imported_module = PyImport_GetModule(name); +#endif + return imported_module; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple) { + Py_ssize_t i, nparts; + nparts = PyTuple_GET_SIZE(parts_tuple); + for (i=1; i < nparts && module; i++) { + PyObject *part, *submodule; +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + part = PyTuple_GET_ITEM(parts_tuple, i); +#else + part = PySequence_ITEM(parts_tuple, i); +#endif + submodule = __Pyx_PyObject_GetAttrStrNoError(module, part); +#if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(part); +#endif + Py_DECREF(module); + module = submodule; + } + if (unlikely(!module)) { + return __Pyx__ImportDottedModule_Error(name, parts_tuple, i); + } + return module; +} +#endif +static PyObject *__Pyx__ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if PY_MAJOR_VERSION < 3 + PyObject *module, *from_list, *star = __pyx_n_s__3; + CYTHON_UNUSED_VAR(parts_tuple); + from_list = PyList_New(1); + if (unlikely(!from_list)) + return NULL; + Py_INCREF(star); + PyList_SET_ITEM(from_list, 0, star); + module = __Pyx_Import(name, from_list, 0); + Py_DECREF(from_list); + return module; +#else + PyObject *imported_module; + PyObject *module = __Pyx_Import(name, NULL, 0); + if (!parts_tuple || unlikely(!module)) + return module; + imported_module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(imported_module)) { + Py_DECREF(module); + return imported_module; + } + PyErr_Clear(); + return __Pyx_ImportDottedModule_WalkParts(module, name, parts_tuple); +#endif +} +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030400B1 + PyObject *module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(module)) { + PyObject *spec = __Pyx_PyObject_GetAttrStrNoError(module, __pyx_n_s_spec); + if (likely(spec)) { + PyObject *unsafe = __Pyx_PyObject_GetAttrStrNoError(spec, __pyx_n_s_initializing); + if (likely(!unsafe || !__Pyx_PyObject_IsTrue(unsafe))) { + Py_DECREF(spec); + spec = NULL; + } + Py_XDECREF(unsafe); + } + if (likely(!spec)) { + PyErr_Clear(); + return module; + } + Py_DECREF(spec); + Py_DECREF(module); + } else if (PyErr_Occurred()) { + PyErr_Clear(); + } +#endif + return __Pyx__ImportDottedModule(name, parts_tuple); +} + +/* FastTypeChecks */ +#if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = __Pyx_PyType_GetSlot(a, tp_base, PyTypeObject*); + if (a == b) + return 1; + } + return b == &PyBaseObject_Type; +} +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(a, b); +} +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (cls == a || cls == b) return 1; + mro = cls->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + PyObject *base = PyTuple_GET_ITEM(mro, i); + if (base == (PyObject *)a || base == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(cls, a) || __Pyx_InBases(cls, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + } + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + if (exc_type1) { + return __Pyx_IsAnySubtype2((PyTypeObject*)err, (PyTypeObject*)exc_type1, (PyTypeObject*)exc_type2); + } else { + return __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } +} +#endif +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; itp_as_sequence && type->tp_as_sequence->sq_repeat)) { + return type->tp_as_sequence->sq_repeat(seq, mul); + } else +#endif + { + return __Pyx_PySequence_Multiply_Generic(seq, mul); + } +} + +/* SetItemInt */ +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v) { + int r; + if (unlikely(!j)) return -1; + r = PyObject_SetItem(o, j, v); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, int is_list, + CYTHON_NCP_UNUSED int wraparound, CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = (!wraparound) ? i : ((likely(i >= 0)) ? i : i + PyList_GET_SIZE(o)); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o)))) { + PyObject* old = PyList_GET_ITEM(o, n); + Py_INCREF(v); + PyList_SET_ITEM(o, n, v); + Py_DECREF(old); + return 1; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_ass_subscript) { + int r; + PyObject *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return -1; + r = mm->mp_ass_subscript(o, key, v); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_ass_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return -1; + PyErr_Clear(); + } + } + return sm->sq_ass_item(o, i, v); + } + } +#else + if (is_list || !PyMapping_Check(o)) + { + return PySequence_SetItem(o, i, v); + } +#endif + return __Pyx_SetItemInt_Generic(o, PyInt_FromSsize_t(i), v); +} + +/* RaiseUnboundLocalError */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname) { + PyErr_Format(PyExc_UnboundLocalError, "local variable '%s' referenced before assignment", varname); +} + +/* DivInt[long] */ +static CYTHON_INLINE long __Pyx_div_long(long a, long b) { + long q = a / b; + long r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* ImportFrom */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name) { + PyObject* value = __Pyx_PyObject_GetAttrStr(module, name); + if (unlikely(!value) && PyErr_ExceptionMatches(PyExc_AttributeError)) { + const char* module_name_str = 0; + PyObject* module_name = 0; + PyObject* module_dot = 0; + PyObject* full_name = 0; + PyErr_Clear(); + module_name_str = PyModule_GetName(module); + if (unlikely(!module_name_str)) { goto modbad; } + module_name = PyUnicode_FromString(module_name_str); + if (unlikely(!module_name)) { goto modbad; } + module_dot = PyUnicode_Concat(module_name, __pyx_kp_u__2); + if (unlikely(!module_dot)) { goto modbad; } + full_name = PyUnicode_Concat(module_dot, name); + if (unlikely(!full_name)) { goto modbad; } + #if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + { + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + goto modbad; + value = PyObject_GetItem(modules, full_name); + } + #else + value = PyImport_GetModule(full_name); + #endif + modbad: + Py_XDECREF(full_name); + Py_XDECREF(module_dot); + Py_XDECREF(module_name); + } + if (unlikely(!value)) { + PyErr_Format(PyExc_ImportError, + #if PY_MAJOR_VERSION < 3 + "cannot import name %.230s", PyString_AS_STRING(name)); + #else + "cannot import name %S", name); + #endif + } + return value; +} + +/* HasAttr */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *o, PyObject *n) { + PyObject *r; + if (unlikely(!__Pyx_PyBaseString_Check(n))) { + PyErr_SetString(PyExc_TypeError, + "hasattr(): attribute name must be string"); + return -1; + } + r = __Pyx_GetAttr(o, n); + if (!r) { + PyErr_Clear(); + return 0; + } else { + Py_DECREF(r); + return 1; + } +} +#endif + +/* PyIntCompare */ +static CYTHON_INLINE int __Pyx_PyInt_BoolEqObjC(PyObject *op1, PyObject *op2, long intval, long inplace) { + CYTHON_MAYBE_UNUSED_VAR(intval); + CYTHON_UNUSED_VAR(inplace); + if (op1 == op2) { + return 1; + } + #if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(op1))) { + const long b = intval; + long a = PyInt_AS_LONG(op1); + return (a == b); + } + #endif + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(PyLong_CheckExact(op1))) { + int unequal; + unsigned long uintval; + Py_ssize_t size = __Pyx_PyLong_DigitCount(op1); + const digit* digits = __Pyx_PyLong_Digits(op1); + if (intval == 0) { + return (__Pyx_PyLong_IsZero(op1) == 1); + } else if (intval < 0) { + if (__Pyx_PyLong_IsNonNeg(op1)) + return 0; + intval = -intval; + } else { + if (__Pyx_PyLong_IsNeg(op1)) + return 0; + } + uintval = (unsigned long) intval; +#if PyLong_SHIFT * 4 < SIZEOF_LONG*8 + if (uintval >> (PyLong_SHIFT * 4)) { + unequal = (size != 5) || (digits[0] != (uintval & (unsigned long) PyLong_MASK)) + | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[2] != ((uintval >> (2 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[3] != ((uintval >> (3 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[4] != ((uintval >> (4 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)); + } else +#endif +#if PyLong_SHIFT * 3 < SIZEOF_LONG*8 + if (uintval >> (PyLong_SHIFT * 3)) { + unequal = (size != 4) || (digits[0] != (uintval & (unsigned long) PyLong_MASK)) + | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[2] != ((uintval >> (2 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[3] != ((uintval >> (3 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)); + } else +#endif +#if PyLong_SHIFT * 2 < SIZEOF_LONG*8 + if (uintval >> (PyLong_SHIFT * 2)) { + unequal = (size != 3) || (digits[0] != (uintval & (unsigned long) PyLong_MASK)) + | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[2] != ((uintval >> (2 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)); + } else +#endif +#if PyLong_SHIFT * 1 < SIZEOF_LONG*8 + if (uintval >> (PyLong_SHIFT * 1)) { + unequal = (size != 2) || (digits[0] != (uintval & (unsigned long) PyLong_MASK)) + | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)); + } else +#endif + unequal = (size != 1) || (((unsigned long) digits[0]) != (uintval & (unsigned long) PyLong_MASK)); + return (unequal == 0); + } + #endif + if (PyFloat_CheckExact(op1)) { + const long b = intval; +#if CYTHON_COMPILING_IN_LIMITED_API + double a = __pyx_PyFloat_AsDouble(op1); +#else + double a = PyFloat_AS_DOUBLE(op1); +#endif + return ((double)a == (double)b); + } + return __Pyx_PyObject_IsTrueAndDecref( + PyObject_RichCompare(op1, op2, Py_EQ)); +} + +/* PyIntCompare */ +static CYTHON_INLINE int __Pyx_PyInt_BoolNeObjC(PyObject *op1, PyObject *op2, long intval, long inplace) { + CYTHON_MAYBE_UNUSED_VAR(intval); + CYTHON_UNUSED_VAR(inplace); + if (op1 == op2) { + return 0; + } + #if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(op1))) { + const long b = intval; + long a = PyInt_AS_LONG(op1); + return (a != b); + } + #endif + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(PyLong_CheckExact(op1))) { + int unequal; + unsigned long uintval; + Py_ssize_t size = __Pyx_PyLong_DigitCount(op1); + const digit* digits = __Pyx_PyLong_Digits(op1); + if (intval == 0) { + return (__Pyx_PyLong_IsZero(op1) != 1); + } else if (intval < 0) { + if (__Pyx_PyLong_IsNonNeg(op1)) + return 1; + intval = -intval; + } else { + if (__Pyx_PyLong_IsNeg(op1)) + return 1; + } + uintval = (unsigned long) intval; +#if PyLong_SHIFT * 4 < SIZEOF_LONG*8 + if (uintval >> (PyLong_SHIFT * 4)) { + unequal = (size != 5) || (digits[0] != (uintval & (unsigned long) PyLong_MASK)) + | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[2] != ((uintval >> (2 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[3] != ((uintval >> (3 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[4] != ((uintval >> (4 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)); + } else +#endif +#if PyLong_SHIFT * 3 < SIZEOF_LONG*8 + if (uintval >> (PyLong_SHIFT * 3)) { + unequal = (size != 4) || (digits[0] != (uintval & (unsigned long) PyLong_MASK)) + | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[2] != ((uintval >> (2 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[3] != ((uintval >> (3 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)); + } else +#endif +#if PyLong_SHIFT * 2 < SIZEOF_LONG*8 + if (uintval >> (PyLong_SHIFT * 2)) { + unequal = (size != 3) || (digits[0] != (uintval & (unsigned long) PyLong_MASK)) + | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[2] != ((uintval >> (2 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)); + } else +#endif +#if PyLong_SHIFT * 1 < SIZEOF_LONG*8 + if (uintval >> (PyLong_SHIFT * 1)) { + unequal = (size != 2) || (digits[0] != (uintval & (unsigned long) PyLong_MASK)) + | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)); + } else +#endif + unequal = (size != 1) || (((unsigned long) digits[0]) != (uintval & (unsigned long) PyLong_MASK)); + return (unequal != 0); + } + #endif + if (PyFloat_CheckExact(op1)) { + const long b = intval; +#if CYTHON_COMPILING_IN_LIMITED_API + double a = __pyx_PyFloat_AsDouble(op1); +#else + double a = PyFloat_AS_DOUBLE(op1); +#endif + return ((double)a != (double)b); + } + return __Pyx_PyObject_IsTrueAndDecref( + PyObject_RichCompare(op1, op2, Py_NE)); +} + +/* IsLittleEndian */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void) +{ + union { + uint32_t u32; + uint8_t u8[4]; + } S; + S.u32 = 0x01020304; + return S.u8[0] == 4; +} + +/* BufferFormatCheck */ +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type) { + stack[0].field = &ctx->root; + stack[0].parent_offset = 0; + ctx->root.type = type; + ctx->root.name = "buffer dtype"; + ctx->root.offset = 0; + ctx->head = stack; + ctx->head->field = &ctx->root; + ctx->fmt_offset = 0; + ctx->head->parent_offset = 0; + ctx->new_packmode = '@'; + ctx->enc_packmode = '@'; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->is_complex = 0; + ctx->is_valid_array = 0; + ctx->struct_alignment = 0; + while (type->typegroup == 'S') { + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = 0; + type = type->fields->type; + } +} +static int __Pyx_BufFmt_ParseNumber(const char** ts) { + int count; + const char* t = *ts; + if (*t < '0' || *t > '9') { + return -1; + } else { + count = *t++ - '0'; + while (*t >= '0' && *t <= '9') { + count *= 10; + count += *t++ - '0'; + } + } + *ts = t; + return count; +} +static int __Pyx_BufFmt_ExpectNumber(const char **ts) { + int number = __Pyx_BufFmt_ParseNumber(ts); + if (number == -1) + PyErr_Format(PyExc_ValueError,\ + "Does not understand character buffer dtype format string ('%c')", **ts); + return number; +} +static void __Pyx_BufFmt_RaiseUnexpectedChar(char ch) { + PyErr_Format(PyExc_ValueError, + "Unexpected format string character: '%c'", ch); +} +static const char* __Pyx_BufFmt_DescribeTypeChar(char ch, int is_complex) { + switch (ch) { + case '?': return "'bool'"; + case 'c': return "'char'"; + case 'b': return "'signed char'"; + case 'B': return "'unsigned char'"; + case 'h': return "'short'"; + case 'H': return "'unsigned short'"; + case 'i': return "'int'"; + case 'I': return "'unsigned int'"; + case 'l': return "'long'"; + case 'L': return "'unsigned long'"; + case 'q': return "'long long'"; + case 'Q': return "'unsigned long long'"; + case 'f': return (is_complex ? "'complex float'" : "'float'"); + case 'd': return (is_complex ? "'complex double'" : "'double'"); + case 'g': return (is_complex ? "'complex long double'" : "'long double'"); + case 'T': return "a struct"; + case 'O': return "Python object"; + case 'P': return "a pointer"; + case 's': case 'p': return "a string"; + case 0: return "end"; + default: return "unparsable format string"; + } +} +static size_t __Pyx_BufFmt_TypeCharToStandardSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return 2; + case 'i': case 'I': case 'l': case 'L': return 4; + case 'q': case 'Q': return 8; + case 'f': return (is_complex ? 8 : 4); + case 'd': return (is_complex ? 16 : 8); + case 'g': { + PyErr_SetString(PyExc_ValueError, "Python does not define a standard format string size for long double ('g').."); + return 0; + } + case 'O': case 'P': return sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static size_t __Pyx_BufFmt_TypeCharToNativeSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(short); + case 'i': case 'I': return sizeof(int); + case 'l': case 'L': return sizeof(long); + #ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(PY_LONG_LONG); + #endif + case 'f': return sizeof(float) * (is_complex ? 2 : 1); + case 'd': return sizeof(double) * (is_complex ? 2 : 1); + case 'g': return sizeof(long double) * (is_complex ? 2 : 1); + case 'O': case 'P': return sizeof(void*); + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +typedef struct { char c; short x; } __Pyx_st_short; +typedef struct { char c; int x; } __Pyx_st_int; +typedef struct { char c; long x; } __Pyx_st_long; +typedef struct { char c; float x; } __Pyx_st_float; +typedef struct { char c; double x; } __Pyx_st_double; +typedef struct { char c; long double x; } __Pyx_st_longdouble; +typedef struct { char c; void *x; } __Pyx_st_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { char c; PY_LONG_LONG x; } __Pyx_st_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToAlignment(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_st_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_st_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_st_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_st_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_st_float) - sizeof(float); + case 'd': return sizeof(__Pyx_st_double) - sizeof(double); + case 'g': return sizeof(__Pyx_st_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_st_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +/* These are for computing the padding at the end of the struct to align + on the first member of the struct. This will probably the same as above, + but we don't have any guarantees. + */ +typedef struct { short x; char c; } __Pyx_pad_short; +typedef struct { int x; char c; } __Pyx_pad_int; +typedef struct { long x; char c; } __Pyx_pad_long; +typedef struct { float x; char c; } __Pyx_pad_float; +typedef struct { double x; char c; } __Pyx_pad_double; +typedef struct { long double x; char c; } __Pyx_pad_longdouble; +typedef struct { void *x; char c; } __Pyx_pad_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { PY_LONG_LONG x; char c; } __Pyx_pad_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToPadding(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_pad_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_pad_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_pad_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_pad_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_pad_float) - sizeof(float); + case 'd': return sizeof(__Pyx_pad_double) - sizeof(double); + case 'g': return sizeof(__Pyx_pad_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_pad_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static char __Pyx_BufFmt_TypeCharToGroup(char ch, int is_complex) { + switch (ch) { + case 'c': + return 'H'; + case 'b': case 'h': case 'i': + case 'l': case 'q': case 's': case 'p': + return 'I'; + case '?': case 'B': case 'H': case 'I': case 'L': case 'Q': + return 'U'; + case 'f': case 'd': case 'g': + return (is_complex ? 'C' : 'R'); + case 'O': + return 'O'; + case 'P': + return 'P'; + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +static void __Pyx_BufFmt_RaiseExpected(__Pyx_BufFmt_Context* ctx) { + if (ctx->head == NULL || ctx->head->field == &ctx->root) { + const char* expected; + const char* quote; + if (ctx->head == NULL) { + expected = "end"; + quote = ""; + } else { + expected = ctx->head->field->type->name; + quote = "'"; + } + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected %s%s%s but got %s", + quote, expected, quote, + __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex)); + } else { + __Pyx_StructField* field = ctx->head->field; + __Pyx_StructField* parent = (ctx->head - 1)->field; + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected '%s' but got %s in '%s.%s'", + field->type->name, __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex), + parent->type->name, field->name); + } +} +static int __Pyx_BufFmt_ProcessTypeChunk(__Pyx_BufFmt_Context* ctx) { + char group; + size_t size, offset, arraysize = 1; + if (ctx->enc_type == 0) return 0; + if (ctx->head->field->type->arraysize[0]) { + int i, ndim = 0; + if (ctx->enc_type == 's' || ctx->enc_type == 'p') { + ctx->is_valid_array = ctx->head->field->type->ndim == 1; + ndim = 1; + if (ctx->enc_count != ctx->head->field->type->arraysize[0]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %zu", + ctx->head->field->type->arraysize[0], ctx->enc_count); + return -1; + } + } + if (!ctx->is_valid_array) { + PyErr_Format(PyExc_ValueError, "Expected %d dimensions, got %d", + ctx->head->field->type->ndim, ndim); + return -1; + } + for (i = 0; i < ctx->head->field->type->ndim; i++) { + arraysize *= ctx->head->field->type->arraysize[i]; + } + ctx->is_valid_array = 0; + ctx->enc_count = 1; + } + group = __Pyx_BufFmt_TypeCharToGroup(ctx->enc_type, ctx->is_complex); + do { + __Pyx_StructField* field = ctx->head->field; + __Pyx_TypeInfo* type = field->type; + if (ctx->enc_packmode == '@' || ctx->enc_packmode == '^') { + size = __Pyx_BufFmt_TypeCharToNativeSize(ctx->enc_type, ctx->is_complex); + } else { + size = __Pyx_BufFmt_TypeCharToStandardSize(ctx->enc_type, ctx->is_complex); + } + if (ctx->enc_packmode == '@') { + size_t align_at = __Pyx_BufFmt_TypeCharToAlignment(ctx->enc_type, ctx->is_complex); + size_t align_mod_offset; + if (align_at == 0) return -1; + align_mod_offset = ctx->fmt_offset % align_at; + if (align_mod_offset > 0) ctx->fmt_offset += align_at - align_mod_offset; + if (ctx->struct_alignment == 0) + ctx->struct_alignment = __Pyx_BufFmt_TypeCharToPadding(ctx->enc_type, + ctx->is_complex); + } + if (type->size != size || type->typegroup != group) { + if (type->typegroup == 'C' && type->fields != NULL) { + size_t parent_offset = ctx->head->parent_offset + field->offset; + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = parent_offset; + continue; + } + if ((type->typegroup == 'H' || group == 'H') && type->size == size) { + } else { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + } + offset = ctx->head->parent_offset + field->offset; + if (ctx->fmt_offset != offset) { + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch; next field is at offset %" CYTHON_FORMAT_SSIZE_T "d but %" CYTHON_FORMAT_SSIZE_T "d expected", + (Py_ssize_t)ctx->fmt_offset, (Py_ssize_t)offset); + return -1; + } + ctx->fmt_offset += size; + if (arraysize) + ctx->fmt_offset += (arraysize - 1) * size; + --ctx->enc_count; + while (1) { + if (field == &ctx->root) { + ctx->head = NULL; + if (ctx->enc_count != 0) { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + break; + } + ctx->head->field = ++field; + if (field->type == NULL) { + --ctx->head; + field = ctx->head->field; + continue; + } else if (field->type->typegroup == 'S') { + size_t parent_offset = ctx->head->parent_offset + field->offset; + if (field->type->fields->type == NULL) continue; + field = field->type->fields; + ++ctx->head; + ctx->head->field = field; + ctx->head->parent_offset = parent_offset; + break; + } else { + break; + } + } + } while (ctx->enc_count); + ctx->enc_type = 0; + ctx->is_complex = 0; + return 0; +} +static int +__pyx_buffmt_parse_array(__Pyx_BufFmt_Context* ctx, const char** tsp) +{ + const char *ts = *tsp; + int i = 0, number, ndim; + ++ts; + if (ctx->new_count != 1) { + PyErr_SetString(PyExc_ValueError, + "Cannot handle repeated arrays in format string"); + return -1; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return -1; + ndim = ctx->head->field->type->ndim; + while (*ts && *ts != ')') { + switch (*ts) { + case ' ': case '\f': case '\r': case '\n': case '\t': case '\v': continue; + default: break; + } + number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return -1; + if (i < ndim && (size_t) number != ctx->head->field->type->arraysize[i]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %d", + ctx->head->field->type->arraysize[i], number); + return -1; + } + if (*ts != ',' && *ts != ')') { + PyErr_Format(PyExc_ValueError, + "Expected a comma in format string, got '%c'", *ts); + return -1; + } + if (*ts == ',') ts++; + i++; + } + if (i != ndim) { + PyErr_Format(PyExc_ValueError, "Expected %d dimension(s), got %d", + ctx->head->field->type->ndim, i); + return -1; + } + if (!*ts) { + PyErr_SetString(PyExc_ValueError, + "Unexpected end of format string, expected ')'"); + return -1; + } + ctx->is_valid_array = 1; + ctx->new_count = 1; + *tsp = ++ts; + return 0; +} +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts) { + int got_Z = 0; + while (1) { + switch(*ts) { + case 0: + if (ctx->enc_type != 0 && ctx->head == NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + if (ctx->head != NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + return ts; + case ' ': + case '\r': + case '\n': + ++ts; + break; + case '<': + if (!__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Little-endian buffer not supported on big-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '>': + case '!': + if (__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Big-endian buffer not supported on little-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '=': + case '@': + case '^': + ctx->new_packmode = *ts++; + break; + case 'T': + { + const char* ts_after_sub; + size_t i, struct_count = ctx->new_count; + size_t struct_alignment = ctx->struct_alignment; + ctx->new_count = 1; + ++ts; + if (*ts != '{') { + PyErr_SetString(PyExc_ValueError, "Buffer acquisition: Expected '{' after 'T'"); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + ctx->enc_count = 0; + ctx->struct_alignment = 0; + ++ts; + ts_after_sub = ts; + for (i = 0; i != struct_count; ++i) { + ts_after_sub = __Pyx_BufFmt_CheckString(ctx, ts); + if (!ts_after_sub) return NULL; + } + ts = ts_after_sub; + if (struct_alignment) ctx->struct_alignment = struct_alignment; + } + break; + case '}': + { + size_t alignment = ctx->struct_alignment; + ++ts; + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + if (alignment && ctx->fmt_offset % alignment) { + ctx->fmt_offset += alignment - (ctx->fmt_offset % alignment); + } + } + return ts; + case 'x': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->fmt_offset += ctx->new_count; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->enc_packmode = ctx->new_packmode; + ++ts; + break; + case 'Z': + got_Z = 1; + ++ts; + if (*ts != 'f' && *ts != 'd' && *ts != 'g') { + __Pyx_BufFmt_RaiseUnexpectedChar('Z'); + return NULL; + } + CYTHON_FALLTHROUGH; + case '?': case 'c': case 'b': case 'B': case 'h': case 'H': case 'i': case 'I': + case 'l': case 'L': case 'q': case 'Q': + case 'f': case 'd': case 'g': + case 'O': case 'p': + if ((ctx->enc_type == *ts) && (got_Z == ctx->is_complex) && + (ctx->enc_packmode == ctx->new_packmode) && (!ctx->is_valid_array)) { + ctx->enc_count += ctx->new_count; + ctx->new_count = 1; + got_Z = 0; + ++ts; + break; + } + CYTHON_FALLTHROUGH; + case 's': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_count = ctx->new_count; + ctx->enc_packmode = ctx->new_packmode; + ctx->enc_type = *ts; + ctx->is_complex = got_Z; + ++ts; + ctx->new_count = 1; + got_Z = 0; + break; + case ':': + ++ts; + while(*ts != ':') ++ts; + ++ts; + break; + case '(': + if (__pyx_buffmt_parse_array(ctx, &ts) < 0) return NULL; + break; + default: + { + int number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return NULL; + ctx->new_count = (size_t)number; + } + } + } +} + +/* BufferGetAndValidate */ + static CYTHON_INLINE void __Pyx_SafeReleaseBuffer(Py_buffer* info) { + if (unlikely(info->buf == NULL)) return; + if (info->suboffsets == __Pyx_minusones) info->suboffsets = NULL; + __Pyx_ReleaseBuffer(info); +} +static void __Pyx_ZeroBuffer(Py_buffer* buf) { + buf->buf = NULL; + buf->obj = NULL; + buf->strides = __Pyx_zeros; + buf->shape = __Pyx_zeros; + buf->suboffsets = __Pyx_minusones; +} +static int __Pyx__GetBufferAndValidate( + Py_buffer* buf, PyObject* obj, __Pyx_TypeInfo* dtype, int flags, + int nd, int cast, __Pyx_BufFmt_StackElem* stack) +{ + buf->buf = NULL; + if (unlikely(__Pyx_GetBuffer(obj, buf, flags) == -1)) { + __Pyx_ZeroBuffer(buf); + return -1; + } + if (unlikely(buf->ndim != nd)) { + PyErr_Format(PyExc_ValueError, + "Buffer has wrong number of dimensions (expected %d, got %d)", + nd, buf->ndim); + goto fail; + } + if (!cast) { + __Pyx_BufFmt_Context ctx; + __Pyx_BufFmt_Init(&ctx, stack, dtype); + if (!__Pyx_BufFmt_CheckString(&ctx, buf->format)) goto fail; + } + if (unlikely((size_t)buf->itemsize != dtype->size)) { + PyErr_Format(PyExc_ValueError, + "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "d byte%s) does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "d byte%s)", + buf->itemsize, (buf->itemsize > 1) ? "s" : "", + dtype->name, (Py_ssize_t)dtype->size, (dtype->size > 1) ? "s" : ""); + goto fail; + } + if (buf->suboffsets == NULL) buf->suboffsets = __Pyx_minusones; + return 0; +fail:; + __Pyx_SafeReleaseBuffer(buf); + return -1; +} + +/* UnicodeConcatInPlace */ + # if CYTHON_COMPILING_IN_CPYTHON && PY_MAJOR_VERSION >= 3 +static int +__Pyx_unicode_modifiable(PyObject *unicode) +{ + if (Py_REFCNT(unicode) != 1) + return 0; + if (!PyUnicode_CheckExact(unicode)) + return 0; + if (PyUnicode_CHECK_INTERNED(unicode)) + return 0; + return 1; +} +static CYTHON_INLINE PyObject *__Pyx_PyUnicode_ConcatInPlaceImpl(PyObject **p_left, PyObject *right + #if CYTHON_REFNANNY + , void* __pyx_refnanny + #endif + ) { + PyObject *left = *p_left; + Py_ssize_t left_len, right_len, new_len; + if (unlikely(__Pyx_PyUnicode_READY(left) == -1)) + return NULL; + if (unlikely(__Pyx_PyUnicode_READY(right) == -1)) + return NULL; + left_len = PyUnicode_GET_LENGTH(left); + if (left_len == 0) { + Py_INCREF(right); + return right; + } + right_len = PyUnicode_GET_LENGTH(right); + if (right_len == 0) { + Py_INCREF(left); + return left; + } + if (unlikely(left_len > PY_SSIZE_T_MAX - right_len)) { + PyErr_SetString(PyExc_OverflowError, + "strings are too large to concat"); + return NULL; + } + new_len = left_len + right_len; + if (__Pyx_unicode_modifiable(left) + && PyUnicode_CheckExact(right) + && PyUnicode_KIND(right) <= PyUnicode_KIND(left) + && !(PyUnicode_IS_ASCII(left) && !PyUnicode_IS_ASCII(right))) { + int ret; + __Pyx_GIVEREF(*p_left); + ret = PyUnicode_Resize(p_left, new_len); + __Pyx_GOTREF(*p_left); + if (unlikely(ret != 0)) + return NULL; + #if PY_VERSION_HEX >= 0x030d0000 + if (unlikely(PyUnicode_CopyCharacters(*p_left, left_len, right, 0, right_len) < 0)) return NULL; + #else + _PyUnicode_FastCopyCharacters(*p_left, left_len, right, 0, right_len); + #endif + __Pyx_INCREF(*p_left); + __Pyx_GIVEREF(*p_left); + return *p_left; + } else { + return __Pyx_PyUnicode_Concat(left, right); + } + } +#endif + +/* SliceObject */ + static CYTHON_INLINE PyObject* __Pyx_PyObject_GetSlice(PyObject* obj, + Py_ssize_t cstart, Py_ssize_t cstop, + PyObject** _py_start, PyObject** _py_stop, PyObject** _py_slice, + int has_cstart, int has_cstop, int wraparound) { + __Pyx_TypeName obj_type_name; +#if CYTHON_USE_TYPE_SLOTS + PyMappingMethods* mp; +#if PY_MAJOR_VERSION < 3 + PySequenceMethods* ms = Py_TYPE(obj)->tp_as_sequence; + if (likely(ms && ms->sq_slice)) { + if (!has_cstart) { + if (_py_start && (*_py_start != Py_None)) { + cstart = __Pyx_PyIndex_AsSsize_t(*_py_start); + if ((cstart == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; + } else + cstart = 0; + } + if (!has_cstop) { + if (_py_stop && (*_py_stop != Py_None)) { + cstop = __Pyx_PyIndex_AsSsize_t(*_py_stop); + if ((cstop == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; + } else + cstop = PY_SSIZE_T_MAX; + } + if (wraparound && unlikely((cstart < 0) | (cstop < 0)) && likely(ms->sq_length)) { + Py_ssize_t l = ms->sq_length(obj); + if (likely(l >= 0)) { + if (cstop < 0) { + cstop += l; + if (cstop < 0) cstop = 0; + } + if (cstart < 0) { + cstart += l; + if (cstart < 0) cstart = 0; + } + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + goto bad; + PyErr_Clear(); + } + } + return ms->sq_slice(obj, cstart, cstop); + } +#else + CYTHON_UNUSED_VAR(wraparound); +#endif + mp = Py_TYPE(obj)->tp_as_mapping; + if (likely(mp && mp->mp_subscript)) +#else + CYTHON_UNUSED_VAR(wraparound); +#endif + { + PyObject* result; + PyObject *py_slice, *py_start, *py_stop; + if (_py_slice) { + py_slice = *_py_slice; + } else { + PyObject* owned_start = NULL; + PyObject* owned_stop = NULL; + if (_py_start) { + py_start = *_py_start; + } else { + if (has_cstart) { + owned_start = py_start = PyInt_FromSsize_t(cstart); + if (unlikely(!py_start)) goto bad; + } else + py_start = Py_None; + } + if (_py_stop) { + py_stop = *_py_stop; + } else { + if (has_cstop) { + owned_stop = py_stop = PyInt_FromSsize_t(cstop); + if (unlikely(!py_stop)) { + Py_XDECREF(owned_start); + goto bad; + } + } else + py_stop = Py_None; + } + py_slice = PySlice_New(py_start, py_stop, Py_None); + Py_XDECREF(owned_start); + Py_XDECREF(owned_stop); + if (unlikely(!py_slice)) goto bad; + } +#if CYTHON_USE_TYPE_SLOTS + result = mp->mp_subscript(obj, py_slice); +#else + result = PyObject_GetItem(obj, py_slice); +#endif + if (!_py_slice) { + Py_DECREF(py_slice); + } + return result; + } + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' object is unsliceable", obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); +bad: + return NULL; +} + +/* PyObjectFormat */ + #if CYTHON_USE_UNICODE_WRITER +static PyObject* __Pyx_PyObject_Format(PyObject* obj, PyObject* format_spec) { + int ret; + _PyUnicodeWriter writer; + if (likely(PyFloat_CheckExact(obj))) { +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x03040000 + _PyUnicodeWriter_Init(&writer, 0); +#else + _PyUnicodeWriter_Init(&writer); +#endif + ret = _PyFloat_FormatAdvancedWriter( + &writer, + obj, + format_spec, 0, PyUnicode_GET_LENGTH(format_spec)); + } else if (likely(PyLong_CheckExact(obj))) { +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x03040000 + _PyUnicodeWriter_Init(&writer, 0); +#else + _PyUnicodeWriter_Init(&writer); +#endif + ret = _PyLong_FormatAdvancedWriter( + &writer, + obj, + format_spec, 0, PyUnicode_GET_LENGTH(format_spec)); + } else { + return PyObject_Format(obj, format_spec); + } + if (unlikely(ret == -1)) { + _PyUnicodeWriter_Dealloc(&writer); + return NULL; + } + return _PyUnicodeWriter_Finish(&writer); +} +#endif + +/* UnpackUnboundCMethod */ + static PyObject *__Pyx_SelflessCall(PyObject *method, PyObject *args, PyObject *kwargs) { + PyObject *result; + PyObject *selfless_args = PyTuple_GetSlice(args, 1, PyTuple_Size(args)); + if (unlikely(!selfless_args)) return NULL; + result = PyObject_Call(method, selfless_args, kwargs); + Py_DECREF(selfless_args); + return result; +} +static PyMethodDef __Pyx_UnboundCMethod_Def = { + "CythonUnboundCMethod", + __PYX_REINTERPRET_FUNCION(PyCFunction, __Pyx_SelflessCall), + METH_VARARGS | METH_KEYWORDS, + NULL +}; +static int __Pyx_TryUnpackUnboundCMethod(__Pyx_CachedCFunction* target) { + PyObject *method; + method = __Pyx_PyObject_GetAttrStr(target->type, *target->method_name); + if (unlikely(!method)) + return -1; + target->method = method; +#if CYTHON_COMPILING_IN_CPYTHON + #if PY_MAJOR_VERSION >= 3 + if (likely(__Pyx_TypeCheck(method, &PyMethodDescr_Type))) + #else + if (likely(!__Pyx_CyOrPyCFunction_Check(method))) + #endif + { + PyMethodDescrObject *descr = (PyMethodDescrObject*) method; + target->func = descr->d_method->ml_meth; + target->flag = descr->d_method->ml_flags & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_STACKLESS); + } else +#endif +#if CYTHON_COMPILING_IN_PYPY +#else + if (PyCFunction_Check(method)) +#endif + { + PyObject *self; + int self_found; +#if CYTHON_COMPILING_IN_LIMITED_API || CYTHON_COMPILING_IN_PYPY + self = PyObject_GetAttrString(method, "__self__"); + if (!self) { + PyErr_Clear(); + } +#else + self = PyCFunction_GET_SELF(method); +#endif + self_found = (self && self != Py_None); +#if CYTHON_COMPILING_IN_LIMITED_API || CYTHON_COMPILING_IN_PYPY + Py_XDECREF(self); +#endif + if (self_found) { + PyObject *unbound_method = PyCFunction_New(&__Pyx_UnboundCMethod_Def, method); + if (unlikely(!unbound_method)) return -1; + Py_DECREF(method); + target->method = unbound_method; + } + } + return 0; +} + +/* CallUnboundCMethod0 */ + static PyObject* __Pyx__CallUnboundCMethod0(__Pyx_CachedCFunction* cfunc, PyObject* self) { + PyObject *args, *result = NULL; + if (unlikely(!cfunc->method) && unlikely(__Pyx_TryUnpackUnboundCMethod(cfunc) < 0)) return NULL; +#if CYTHON_ASSUME_SAFE_MACROS + args = PyTuple_New(1); + if (unlikely(!args)) goto bad; + Py_INCREF(self); + PyTuple_SET_ITEM(args, 0, self); +#else + args = PyTuple_Pack(1, self); + if (unlikely(!args)) goto bad; +#endif + result = __Pyx_PyObject_Call(cfunc->method, args, NULL); + Py_DECREF(args); +bad: + return result; +} + +/* py_dict_keys */ + static CYTHON_INLINE PyObject* __Pyx_PyDict_Keys(PyObject* d) { + if (PY_MAJOR_VERSION >= 3) + return __Pyx_CallUnboundCMethod0(&__pyx_umethod_PyDict_Type_keys, d); + else + return PyDict_Keys(d); +} + +/* DictGetItem */ + #if PY_MAJOR_VERSION >= 3 && !CYTHON_COMPILING_IN_PYPY +static PyObject *__Pyx_PyDict_GetItem(PyObject *d, PyObject* key) { + PyObject *value; + value = PyDict_GetItemWithError(d, key); + if (unlikely(!value)) { + if (!PyErr_Occurred()) { + if (unlikely(PyTuple_Check(key))) { + PyObject* args = PyTuple_Pack(1, key); + if (likely(args)) { + PyErr_SetObject(PyExc_KeyError, args); + Py_DECREF(args); + } + } else { + PyErr_SetObject(PyExc_KeyError, key); + } + } + return NULL; + } + Py_INCREF(value); + return value; +} +#endif + +/* PyObjectLookupSpecial */ + #if CYTHON_USE_PYTYPE_LOOKUP && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx__PyObject_LookupSpecial(PyObject* obj, PyObject* attr_name, int with_error) { + PyObject *res; + PyTypeObject *tp = Py_TYPE(obj); +#if PY_MAJOR_VERSION < 3 + if (unlikely(PyInstance_Check(obj))) + return with_error ? __Pyx_PyObject_GetAttrStr(obj, attr_name) : __Pyx_PyObject_GetAttrStrNoError(obj, attr_name); +#endif + res = _PyType_Lookup(tp, attr_name); + if (likely(res)) { + descrgetfunc f = Py_TYPE(res)->tp_descr_get; + if (!f) { + Py_INCREF(res); + } else { + res = f(res, obj, (PyObject *)tp); + } + } else if (with_error) { + PyErr_SetObject(PyExc_AttributeError, attr_name); + } + return res; +} +#endif + +/* FixUpExtensionType */ + #if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type) { +#if PY_VERSION_HEX > 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + CYTHON_UNUSED_VAR(spec); + CYTHON_UNUSED_VAR(type); +#else + const PyType_Slot *slot = spec->slots; + while (slot && slot->slot && slot->slot != Py_tp_members) + slot++; + if (slot && slot->slot == Py_tp_members) { + int changed = 0; +#if !(PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON) + const +#endif + PyMemberDef *memb = (PyMemberDef*) slot->pfunc; + while (memb && memb->name) { + if (memb->name[0] == '_' && memb->name[1] == '_') { +#if PY_VERSION_HEX < 0x030900b1 + if (strcmp(memb->name, "__weaklistoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_weaklistoffset = memb->offset; + changed = 1; + } + else if (strcmp(memb->name, "__dictoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_dictoffset = memb->offset; + changed = 1; + } +#if CYTHON_METH_FASTCALL + else if (strcmp(memb->name, "__vectorcalloffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); +#if PY_VERSION_HEX >= 0x030800b4 + type->tp_vectorcall_offset = memb->offset; +#else + type->tp_print = (printfunc) memb->offset; +#endif + changed = 1; + } +#endif +#else + if ((0)); +#endif +#if PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON + else if (strcmp(memb->name, "__module__") == 0) { + PyObject *descr; + assert(memb->type == T_OBJECT); + assert(memb->flags == 0 || memb->flags == READONLY); + descr = PyDescr_NewMember(type, memb); + if (unlikely(!descr)) + return -1; + if (unlikely(PyDict_SetItem(type->tp_dict, PyDescr_NAME(descr), descr) < 0)) { + Py_DECREF(descr); + return -1; + } + Py_DECREF(descr); + changed = 1; + } +#endif + } + memb++; + } + if (changed) + PyType_Modified(type); + } +#endif + return 0; +} +#endif + +/* FetchSharedCythonModule */ + static PyObject *__Pyx_FetchSharedCythonABIModule(void) { + return __Pyx_PyImport_AddModuleRef((char*) __PYX_ABI_MODULE_NAME); +} + +/* FetchCommonType */ + static int __Pyx_VerifyCachedType(PyObject *cached_type, + const char *name, + Py_ssize_t basicsize, + Py_ssize_t expected_basicsize) { + if (!PyType_Check(cached_type)) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s is not a type object", name); + return -1; + } + if (basicsize != expected_basicsize) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s has the wrong size, try recompiling", + name); + return -1; + } + return 0; +} +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) { + PyObject* abi_module; + const char* object_name; + PyTypeObject *cached_type = NULL; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + object_name = strrchr(type->tp_name, '.'); + object_name = object_name ? object_name+1 : type->tp_name; + cached_type = (PyTypeObject*) PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + if (__Pyx_VerifyCachedType( + (PyObject *)cached_type, + object_name, + cached_type->tp_basicsize, + type->tp_basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + if (PyType_Ready(type) < 0) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, (PyObject *)type) < 0) + goto bad; + Py_INCREF(type); + cached_type = type; +done: + Py_DECREF(abi_module); + return cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#else +static PyTypeObject *__Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases) { + PyObject *abi_module, *cached_type = NULL; + const char* object_name = strrchr(spec->name, '.'); + object_name = object_name ? object_name+1 : spec->name; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + cached_type = PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + Py_ssize_t basicsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + py_basicsize = PyObject_GetAttrString(cached_type, "__basicsize__"); + if (unlikely(!py_basicsize)) goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (unlikely(basicsize == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; +#else + basicsize = likely(PyType_Check(cached_type)) ? ((PyTypeObject*) cached_type)->tp_basicsize : -1; +#endif + if (__Pyx_VerifyCachedType( + cached_type, + object_name, + basicsize, + spec->basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + CYTHON_UNUSED_VAR(module); + cached_type = __Pyx_PyType_FromModuleAndSpec(abi_module, spec, bases); + if (unlikely(!cached_type)) goto bad; + if (unlikely(__Pyx_fix_up_extension_type_from_spec(spec, (PyTypeObject *) cached_type) < 0)) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, cached_type) < 0) goto bad; +done: + Py_DECREF(abi_module); + assert(cached_type == NULL || PyType_Check(cached_type)); + return (PyTypeObject *) cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#endif + +/* PyVectorcallFastCallDict */ + #if CYTHON_METH_FASTCALL +static PyObject *__Pyx_PyVectorcall_FastCallDict_kw(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + PyObject *res = NULL; + PyObject *kwnames; + PyObject **newargs; + PyObject **kwvalues; + Py_ssize_t i, pos; + size_t j; + PyObject *key, *value; + unsigned long keys_are_strings; + Py_ssize_t nkw = PyDict_GET_SIZE(kw); + newargs = (PyObject **)PyMem_Malloc((nargs + (size_t)nkw) * sizeof(args[0])); + if (unlikely(newargs == NULL)) { + PyErr_NoMemory(); + return NULL; + } + for (j = 0; j < nargs; j++) newargs[j] = args[j]; + kwnames = PyTuple_New(nkw); + if (unlikely(kwnames == NULL)) { + PyMem_Free(newargs); + return NULL; + } + kwvalues = newargs + nargs; + pos = i = 0; + keys_are_strings = Py_TPFLAGS_UNICODE_SUBCLASS; + while (PyDict_Next(kw, &pos, &key, &value)) { + keys_are_strings &= Py_TYPE(key)->tp_flags; + Py_INCREF(key); + Py_INCREF(value); + PyTuple_SET_ITEM(kwnames, i, key); + kwvalues[i] = value; + i++; + } + if (unlikely(!keys_are_strings)) { + PyErr_SetString(PyExc_TypeError, "keywords must be strings"); + goto cleanup; + } + res = vc(func, newargs, nargs, kwnames); +cleanup: + Py_DECREF(kwnames); + for (i = 0; i < nkw; i++) + Py_DECREF(kwvalues[i]); + PyMem_Free(newargs); + return res; +} +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + if (likely(kw == NULL) || PyDict_GET_SIZE(kw) == 0) { + return vc(func, args, nargs, NULL); + } + return __Pyx_PyVectorcall_FastCallDict_kw(func, vc, args, nargs, kw); +} +#endif + +/* CythonFunctionShared */ + #if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + if (__Pyx_CyFunction_Check(func)) { + return PyCFunction_GetFunction(((__pyx_CyFunctionObject*)func)->func) == (PyCFunction) cfunc; + } else if (PyCFunction_Check(func)) { + return PyCFunction_GetFunction(func) == (PyCFunction) cfunc; + } + return 0; +} +#else +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + return __Pyx_CyOrPyCFunction_Check(func) && __Pyx_CyOrPyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +} +#endif +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj) { +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + __Pyx_Py_XDECREF_SET( + __Pyx_CyFunction_GetClassObj(f), + ((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#else + __Pyx_Py_XDECREF_SET( + ((PyCMethodObject *) (f))->mm_class, + (PyTypeObject*)((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#endif +} +static PyObject * +__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, void *closure) +{ + CYTHON_UNUSED_VAR(closure); + if (unlikely(op->func_doc == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_doc = PyObject_GetAttrString(op->func, "__doc__"); + if (unlikely(!op->func_doc)) return NULL; +#else + if (((PyCFunctionObject*)op)->m_ml->ml_doc) { +#if PY_MAJOR_VERSION >= 3 + op->func_doc = PyUnicode_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#else + op->func_doc = PyString_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#endif + if (unlikely(op->func_doc == NULL)) + return NULL; + } else { + Py_INCREF(Py_None); + return Py_None; + } +#endif + } + Py_INCREF(op->func_doc); + return op->func_doc; +} +static int +__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (value == NULL) { + value = Py_None; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_doc, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_name == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_name = PyObject_GetAttrString(op->func, "__name__"); +#elif PY_MAJOR_VERSION >= 3 + op->func_name = PyUnicode_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#else + op->func_name = PyString_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#endif + if (unlikely(op->func_name == NULL)) + return NULL; + } + Py_INCREF(op->func_name); + return op->func_name; +} +static int +__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__name__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_name, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_qualname); + return op->func_qualname; +} +static int +__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__qualname__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_qualname, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_dict(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_dict == NULL)) { + op->func_dict = PyDict_New(); + if (unlikely(op->func_dict == NULL)) + return NULL; + } + Py_INCREF(op->func_dict); + return op->func_dict; +} +static int +__Pyx_CyFunction_set_dict(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(value == NULL)) { + PyErr_SetString(PyExc_TypeError, + "function's dictionary may not be deleted"); + return -1; + } + if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "setting function's dictionary to a non-dict"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_dict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_globals(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_globals); + return op->func_globals; +} +static PyObject * +__Pyx_CyFunction_get_closure(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(op); + CYTHON_UNUSED_VAR(context); + Py_INCREF(Py_None); + return Py_None; +} +static PyObject * +__Pyx_CyFunction_get_code(__pyx_CyFunctionObject *op, void *context) +{ + PyObject* result = (op->func_code) ? op->func_code : Py_None; + CYTHON_UNUSED_VAR(context); + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_init_defaults(__pyx_CyFunctionObject *op) { + int result = 0; + PyObject *res = op->defaults_getter((PyObject *) op); + if (unlikely(!res)) + return -1; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + op->defaults_tuple = PyTuple_GET_ITEM(res, 0); + Py_INCREF(op->defaults_tuple); + op->defaults_kwdict = PyTuple_GET_ITEM(res, 1); + Py_INCREF(op->defaults_kwdict); + #else + op->defaults_tuple = __Pyx_PySequence_ITEM(res, 0); + if (unlikely(!op->defaults_tuple)) result = -1; + else { + op->defaults_kwdict = __Pyx_PySequence_ITEM(res, 1); + if (unlikely(!op->defaults_kwdict)) result = -1; + } + #endif + Py_DECREF(res); + return result; +} +static int +__Pyx_CyFunction_set_defaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyTuple_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__defaults__ must be set to a tuple object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__defaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_tuple, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_defaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_tuple; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_tuple; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_kwdefaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__kwdefaults__ must be set to a dict object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__kwdefaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_kwdict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_kwdefaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_kwdict; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_kwdict; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_annotations(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value || value == Py_None) { + value = NULL; + } else if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__annotations__ must be set to a dict object"); + return -1; + } + Py_XINCREF(value); + __Pyx_Py_XDECREF_SET(op->func_annotations, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_annotations(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->func_annotations; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + result = PyDict_New(); + if (unlikely(!result)) return NULL; + op->func_annotations = result; + } + Py_INCREF(result); + return result; +} +static PyObject * +__Pyx_CyFunction_get_is_coroutine(__pyx_CyFunctionObject *op, void *context) { + int is_coroutine; + CYTHON_UNUSED_VAR(context); + if (op->func_is_coroutine) { + return __Pyx_NewRef(op->func_is_coroutine); + } + is_coroutine = op->flags & __Pyx_CYFUNCTION_COROUTINE; +#if PY_VERSION_HEX >= 0x03050000 + if (is_coroutine) { + PyObject *module, *fromlist, *marker = __pyx_n_s_is_coroutine; + fromlist = PyList_New(1); + if (unlikely(!fromlist)) return NULL; + Py_INCREF(marker); +#if CYTHON_ASSUME_SAFE_MACROS + PyList_SET_ITEM(fromlist, 0, marker); +#else + if (unlikely(PyList_SetItem(fromlist, 0, marker) < 0)) { + Py_DECREF(marker); + Py_DECREF(fromlist); + return NULL; + } +#endif + module = PyImport_ImportModuleLevelObject(__pyx_n_s_asyncio_coroutines, NULL, NULL, fromlist, 0); + Py_DECREF(fromlist); + if (unlikely(!module)) goto ignore; + op->func_is_coroutine = __Pyx_PyObject_GetAttrStr(module, marker); + Py_DECREF(module); + if (likely(op->func_is_coroutine)) { + return __Pyx_NewRef(op->func_is_coroutine); + } +ignore: + PyErr_Clear(); + } +#endif + op->func_is_coroutine = __Pyx_PyBool_FromLong(is_coroutine); + return __Pyx_NewRef(op->func_is_coroutine); +} +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject * +__Pyx_CyFunction_get_module(__pyx_CyFunctionObject *op, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_GetAttrString(op->func, "__module__"); +} +static int +__Pyx_CyFunction_set_module(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_SetAttrString(op->func, "__module__", value); +} +#endif +static PyGetSetDef __pyx_CyFunction_getsets[] = { + {(char *) "func_doc", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "__doc__", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "func_name", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__name__", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__qualname__", (getter)__Pyx_CyFunction_get_qualname, (setter)__Pyx_CyFunction_set_qualname, 0, 0}, + {(char *) "func_dict", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "__dict__", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "func_globals", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "__globals__", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "func_closure", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "__closure__", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "func_code", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "__code__", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "func_defaults", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__defaults__", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__kwdefaults__", (getter)__Pyx_CyFunction_get_kwdefaults, (setter)__Pyx_CyFunction_set_kwdefaults, 0, 0}, + {(char *) "__annotations__", (getter)__Pyx_CyFunction_get_annotations, (setter)__Pyx_CyFunction_set_annotations, 0, 0}, + {(char *) "_is_coroutine", (getter)__Pyx_CyFunction_get_is_coroutine, 0, 0, 0}, +#if CYTHON_COMPILING_IN_LIMITED_API + {"__module__", (getter)__Pyx_CyFunction_get_module, (setter)__Pyx_CyFunction_set_module, 0, 0}, +#endif + {0, 0, 0, 0, 0} +}; +static PyMemberDef __pyx_CyFunction_members[] = { +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__module__", T_OBJECT, offsetof(PyCFunctionObject, m_module), 0, 0}, +#endif +#if CYTHON_USE_TYPE_SPECS + {(char *) "__dictoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_dict), READONLY, 0}, +#if CYTHON_METH_FASTCALL +#if CYTHON_BACKPORT_VECTORCALL + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_vectorcall), READONLY, 0}, +#else +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(PyCFunctionObject, vectorcall), READONLY, 0}, +#endif +#endif +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_weakreflist), READONLY, 0}, +#else + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(PyCFunctionObject, m_weakreflist), READONLY, 0}, +#endif +#endif + {0, 0, 0, 0, 0} +}; +static PyObject * +__Pyx_CyFunction_reduce(__pyx_CyFunctionObject *m, PyObject *args) +{ + CYTHON_UNUSED_VAR(args); +#if PY_MAJOR_VERSION >= 3 + Py_INCREF(m->func_qualname); + return m->func_qualname; +#else + return PyString_FromString(((PyCFunctionObject*)m)->m_ml->ml_name); +#endif +} +static PyMethodDef __pyx_CyFunction_methods[] = { + {"__reduce__", (PyCFunction)__Pyx_CyFunction_reduce, METH_VARARGS, 0}, + {0, 0, 0, 0} +}; +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func_weakreflist) +#else +#define __Pyx_CyFunction_weakreflist(cyfunc) (((PyCFunctionObject*)cyfunc)->m_weakreflist) +#endif +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject *op, PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { +#if !CYTHON_COMPILING_IN_LIMITED_API + PyCFunctionObject *cf = (PyCFunctionObject*) op; +#endif + if (unlikely(op == NULL)) + return NULL; +#if CYTHON_COMPILING_IN_LIMITED_API + op->func = PyCFunction_NewEx(ml, (PyObject*)op, module); + if (unlikely(!op->func)) return NULL; +#endif + op->flags = flags; + __Pyx_CyFunction_weakreflist(op) = NULL; +#if !CYTHON_COMPILING_IN_LIMITED_API + cf->m_ml = ml; + cf->m_self = (PyObject *) op; +#endif + Py_XINCREF(closure); + op->func_closure = closure; +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_XINCREF(module); + cf->m_module = module; +#endif + op->func_dict = NULL; + op->func_name = NULL; + Py_INCREF(qualname); + op->func_qualname = qualname; + op->func_doc = NULL; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + op->func_classobj = NULL; +#else + ((PyCMethodObject*)op)->mm_class = NULL; +#endif + op->func_globals = globals; + Py_INCREF(op->func_globals); + Py_XINCREF(code); + op->func_code = code; + op->defaults_pyobjects = 0; + op->defaults_size = 0; + op->defaults = NULL; + op->defaults_tuple = NULL; + op->defaults_kwdict = NULL; + op->defaults_getter = NULL; + op->func_annotations = NULL; + op->func_is_coroutine = NULL; +#if CYTHON_METH_FASTCALL + switch (ml->ml_flags & (METH_VARARGS | METH_FASTCALL | METH_NOARGS | METH_O | METH_KEYWORDS | METH_METHOD)) { + case METH_NOARGS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_NOARGS; + break; + case METH_O: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_O; + break; + case METH_METHOD | METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD; + break; + case METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS; + break; + case METH_VARARGS | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = NULL; + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + Py_DECREF(op); + return NULL; + } +#endif + return (PyObject *) op; +} +static int +__Pyx_CyFunction_clear(__pyx_CyFunctionObject *m) +{ + Py_CLEAR(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_CLEAR(m->func); +#else + Py_CLEAR(((PyCFunctionObject*)m)->m_module); +#endif + Py_CLEAR(m->func_dict); + Py_CLEAR(m->func_name); + Py_CLEAR(m->func_qualname); + Py_CLEAR(m->func_doc); + Py_CLEAR(m->func_globals); + Py_CLEAR(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API +#if PY_VERSION_HEX < 0x030900B1 + Py_CLEAR(__Pyx_CyFunction_GetClassObj(m)); +#else + { + PyObject *cls = (PyObject*) ((PyCMethodObject *) (m))->mm_class; + ((PyCMethodObject *) (m))->mm_class = NULL; + Py_XDECREF(cls); + } +#endif +#endif + Py_CLEAR(m->defaults_tuple); + Py_CLEAR(m->defaults_kwdict); + Py_CLEAR(m->func_annotations); + Py_CLEAR(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_XDECREF(pydefaults[i]); + PyObject_Free(m->defaults); + m->defaults = NULL; + } + return 0; +} +static void __Pyx__CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + if (__Pyx_CyFunction_weakreflist(m) != NULL) + PyObject_ClearWeakRefs((PyObject *) m); + __Pyx_CyFunction_clear(m); + __Pyx_PyHeapTypeObject_GC_Del(m); +} +static void __Pyx_CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + PyObject_GC_UnTrack(m); + __Pyx__CyFunction_dealloc(m); +} +static int __Pyx_CyFunction_traverse(__pyx_CyFunctionObject *m, visitproc visit, void *arg) +{ + Py_VISIT(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(m->func); +#else + Py_VISIT(((PyCFunctionObject*)m)->m_module); +#endif + Py_VISIT(m->func_dict); + Py_VISIT(m->func_name); + Py_VISIT(m->func_qualname); + Py_VISIT(m->func_doc); + Py_VISIT(m->func_globals); + Py_VISIT(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(__Pyx_CyFunction_GetClassObj(m)); +#endif + Py_VISIT(m->defaults_tuple); + Py_VISIT(m->defaults_kwdict); + Py_VISIT(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_VISIT(pydefaults[i]); + } + return 0; +} +static PyObject* +__Pyx_CyFunction_repr(__pyx_CyFunctionObject *op) +{ +#if PY_MAJOR_VERSION >= 3 + return PyUnicode_FromFormat("", + op->func_qualname, (void *)op); +#else + return PyString_FromFormat("", + PyString_AsString(op->func_qualname), (void *)op); +#endif +} +static PyObject * __Pyx_CyFunction_CallMethod(PyObject *func, PyObject *self, PyObject *arg, PyObject *kw) { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *f = ((__pyx_CyFunctionObject*)func)->func; + PyObject *py_name = NULL; + PyCFunction meth; + int flags; + meth = PyCFunction_GetFunction(f); + if (unlikely(!meth)) return NULL; + flags = PyCFunction_GetFlags(f); + if (unlikely(flags < 0)) return NULL; +#else + PyCFunctionObject* f = (PyCFunctionObject*)func; + PyCFunction meth = f->m_ml->ml_meth; + int flags = f->m_ml->ml_flags; +#endif + Py_ssize_t size; + switch (flags & (METH_VARARGS | METH_KEYWORDS | METH_NOARGS | METH_O)) { + case METH_VARARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) + return (*meth)(self, arg); + break; + case METH_VARARGS | METH_KEYWORDS: + return (*(PyCFunctionWithKeywords)(void*)meth)(self, arg, kw); + case METH_NOARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 0)) + return (*meth)(self, NULL); +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + case METH_O: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 1)) { + PyObject *result, *arg0; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + arg0 = PyTuple_GET_ITEM(arg, 0); + #else + arg0 = __Pyx_PySequence_ITEM(arg, 0); if (unlikely(!arg0)) return NULL; + #endif + result = (*meth)(self, arg0); + #if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(arg0); + #endif + return result; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + return NULL; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, "%.200S() takes no keyword arguments", + py_name); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, "%.200s() takes no keyword arguments", + f->m_ml->ml_name); +#endif + return NULL; +} +static CYTHON_INLINE PyObject *__Pyx_CyFunction_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *self, *result; +#if CYTHON_COMPILING_IN_LIMITED_API + self = PyCFunction_GetSelf(((__pyx_CyFunctionObject*)func)->func); + if (unlikely(!self) && PyErr_Occurred()) return NULL; +#else + self = ((PyCFunctionObject*)func)->m_self; +#endif + result = __Pyx_CyFunction_CallMethod(func, self, arg, kw); + return result; +} +static PyObject *__Pyx_CyFunction_CallAsMethod(PyObject *func, PyObject *args, PyObject *kw) { + PyObject *result; + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *) func; +#if CYTHON_METH_FASTCALL + __pyx_vectorcallfunc vc = __Pyx_CyFunction_func_vectorcall(cyfunc); + if (vc) { +#if CYTHON_ASSUME_SAFE_MACROS + return __Pyx_PyVectorcall_FastCallDict(func, vc, &PyTuple_GET_ITEM(args, 0), (size_t)PyTuple_GET_SIZE(args), kw); +#else + (void) &__Pyx_PyVectorcall_FastCallDict; + return PyVectorcall_Call(func, args, kw); +#endif + } +#endif + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + Py_ssize_t argc; + PyObject *new_args; + PyObject *self; +#if CYTHON_ASSUME_SAFE_MACROS + argc = PyTuple_GET_SIZE(args); +#else + argc = PyTuple_Size(args); + if (unlikely(!argc) < 0) return NULL; +#endif + new_args = PyTuple_GetSlice(args, 1, argc); + if (unlikely(!new_args)) + return NULL; + self = PyTuple_GetItem(args, 0); + if (unlikely(!self)) { + Py_DECREF(new_args); +#if PY_MAJOR_VERSION > 2 + PyErr_Format(PyExc_TypeError, + "unbound method %.200S() needs an argument", + cyfunc->func_qualname); +#else + PyErr_SetString(PyExc_TypeError, + "unbound method needs an argument"); +#endif + return NULL; + } + result = __Pyx_CyFunction_CallMethod(func, self, new_args, kw); + Py_DECREF(new_args); + } else { + result = __Pyx_CyFunction_Call(func, args, kw); + } + return result; +} +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE int __Pyx_CyFunction_Vectorcall_CheckArgs(__pyx_CyFunctionObject *cyfunc, Py_ssize_t nargs, PyObject *kwnames) +{ + int ret = 0; + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + if (unlikely(nargs < 1)) { + PyErr_Format(PyExc_TypeError, "%.200s() needs an argument", + ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + ret = 1; + } + if (unlikely(kwnames) && unlikely(PyTuple_GET_SIZE(kwnames))) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no keyword arguments", ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + return ret; +} +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 0)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, NULL); +} +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 1)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, args[0]); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((_PyCFunctionFastWithKeywords)(void(*)(void))def->ml_meth)(self, args, nargs, kwnames); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; + PyTypeObject *cls = (PyTypeObject *) __Pyx_CyFunction_GetClassObj(cyfunc); +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((__Pyx_PyCMethod)(void(*)(void))def->ml_meth)(self, cls, args, (size_t)nargs, kwnames); +} +#endif +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_CyFunctionType_slots[] = { + {Py_tp_dealloc, (void *)__Pyx_CyFunction_dealloc}, + {Py_tp_repr, (void *)__Pyx_CyFunction_repr}, + {Py_tp_call, (void *)__Pyx_CyFunction_CallAsMethod}, + {Py_tp_traverse, (void *)__Pyx_CyFunction_traverse}, + {Py_tp_clear, (void *)__Pyx_CyFunction_clear}, + {Py_tp_methods, (void *)__pyx_CyFunction_methods}, + {Py_tp_members, (void *)__pyx_CyFunction_members}, + {Py_tp_getset, (void *)__pyx_CyFunction_getsets}, + {Py_tp_descr_get, (void *)__Pyx_PyMethod_New}, + {0, 0}, +}; +static PyType_Spec __pyx_CyFunctionType_spec = { + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if (defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL) + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + __pyx_CyFunctionType_slots +}; +#else +static PyTypeObject __pyx_CyFunctionType_type = { + PyVarObject_HEAD_INIT(0, 0) + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, + (destructor) __Pyx_CyFunction_dealloc, +#if !CYTHON_METH_FASTCALL + 0, +#elif CYTHON_BACKPORT_VECTORCALL + (printfunc)offsetof(__pyx_CyFunctionObject, func_vectorcall), +#else + offsetof(PyCFunctionObject, vectorcall), +#endif + 0, + 0, +#if PY_MAJOR_VERSION < 3 + 0, +#else + 0, +#endif + (reprfunc) __Pyx_CyFunction_repr, + 0, + 0, + 0, + 0, + __Pyx_CyFunction_CallAsMethod, + 0, + 0, + 0, + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + 0, + (traverseproc) __Pyx_CyFunction_traverse, + (inquiry) __Pyx_CyFunction_clear, + 0, +#if PY_VERSION_HEX < 0x030500A0 + offsetof(__pyx_CyFunctionObject, func_weakreflist), +#else + offsetof(PyCFunctionObject, m_weakreflist), +#endif + 0, + 0, + __pyx_CyFunction_methods, + __pyx_CyFunction_members, + __pyx_CyFunction_getsets, + 0, + 0, + __Pyx_PyMethod_New, + 0, + offsetof(__pyx_CyFunctionObject, func_dict), + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, +#if PY_VERSION_HEX >= 0x030400a1 + 0, +#endif +#if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, +#endif +#if __PYX_NEED_TP_PRINT_SLOT + 0, +#endif +#if PY_VERSION_HEX >= 0x030C0000 + 0, +#endif +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, +#endif +}; +#endif +static int __pyx_CyFunction_init(PyObject *module) { +#if CYTHON_USE_TYPE_SPECS + __pyx_CyFunctionType = __Pyx_FetchCommonTypeFromSpec(module, &__pyx_CyFunctionType_spec, NULL); +#else + CYTHON_UNUSED_VAR(module); + __pyx_CyFunctionType = __Pyx_FetchCommonType(&__pyx_CyFunctionType_type); +#endif + if (unlikely(__pyx_CyFunctionType == NULL)) { + return -1; + } + return 0; +} +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *func, size_t size, int pyobjects) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults = PyObject_Malloc(size); + if (unlikely(!m->defaults)) + return PyErr_NoMemory(); + memset(m->defaults, 0, size); + m->defaults_pyobjects = pyobjects; + m->defaults_size = size; + return m->defaults; +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *func, PyObject *tuple) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_tuple = tuple; + Py_INCREF(tuple); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_kwdict = dict; + Py_INCREF(dict); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->func_annotations = dict; + Py_INCREF(dict); +} + +/* CythonFunction */ + static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { + PyObject *op = __Pyx_CyFunction_Init( + PyObject_GC_New(__pyx_CyFunctionObject, __pyx_CyFunctionType), + ml, flags, qualname, closure, module, globals, code + ); + if (likely(op)) { + PyObject_GC_Track(op); + } + return op; +} + +/* IterFinish */ + static CYTHON_INLINE int __Pyx_IterFinish(void) { + PyObject* exc_type; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + exc_type = __Pyx_PyErr_CurrentExceptionType(); + if (unlikely(exc_type)) { + if (unlikely(!__Pyx_PyErr_GivenExceptionMatches(exc_type, PyExc_StopIteration))) + return -1; + __Pyx_PyErr_Clear(); + return 0; + } + return 0; +} + +/* PyObjectCallNoArg */ + static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { + PyObject *arg[2] = {NULL, NULL}; + return __Pyx_PyObject_FastCall(func, arg + 1, 0 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* PyObjectGetMethod */ + static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method) { + PyObject *attr; +#if CYTHON_UNPACK_METHODS && CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_PYTYPE_LOOKUP + __Pyx_TypeName type_name; + PyTypeObject *tp = Py_TYPE(obj); + PyObject *descr; + descrgetfunc f = NULL; + PyObject **dictptr, *dict; + int meth_found = 0; + assert (*method == NULL); + if (unlikely(tp->tp_getattro != PyObject_GenericGetAttr)) { + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; + } + if (unlikely(tp->tp_dict == NULL) && unlikely(PyType_Ready(tp) < 0)) { + return 0; + } + descr = _PyType_Lookup(tp, name); + if (likely(descr != NULL)) { + Py_INCREF(descr); +#if defined(Py_TPFLAGS_METHOD_DESCRIPTOR) && Py_TPFLAGS_METHOD_DESCRIPTOR + if (__Pyx_PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_METHOD_DESCRIPTOR)) +#elif PY_MAJOR_VERSION >= 3 + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type))) + #endif +#else + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr))) + #endif +#endif + { + meth_found = 1; + } else { + f = Py_TYPE(descr)->tp_descr_get; + if (f != NULL && PyDescr_IsData(descr)) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + } + } + dictptr = _PyObject_GetDictPtr(obj); + if (dictptr != NULL && (dict = *dictptr) != NULL) { + Py_INCREF(dict); + attr = __Pyx_PyDict_GetItemStr(dict, name); + if (attr != NULL) { + Py_INCREF(attr); + Py_DECREF(dict); + Py_XDECREF(descr); + goto try_unpack; + } + Py_DECREF(dict); + } + if (meth_found) { + *method = descr; + return 1; + } + if (f != NULL) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + if (likely(descr != NULL)) { + *method = descr; + return 0; + } + type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return 0; +#else + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; +#endif +try_unpack: +#if CYTHON_UNPACK_METHODS + if (likely(attr) && PyMethod_Check(attr) && likely(PyMethod_GET_SELF(attr) == obj)) { + PyObject *function = PyMethod_GET_FUNCTION(attr); + Py_INCREF(function); + Py_DECREF(attr); + *method = function; + return 1; + } +#endif + *method = attr; + return 0; +} + +/* PyObjectCallMethod0 */ + static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name) { + PyObject *method = NULL, *result = NULL; + int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); + if (likely(is_method)) { + result = __Pyx_PyObject_CallOneArg(method, obj); + Py_DECREF(method); + return result; + } + if (unlikely(!method)) goto bad; + result = __Pyx_PyObject_CallNoArg(method); + Py_DECREF(method); +bad: + return result; +} + +/* UnpackItemEndCheck */ + static int __Pyx_IternextUnpackEndCheck(PyObject *retval, Py_ssize_t expected) { + if (unlikely(retval)) { + Py_DECREF(retval); + __Pyx_RaiseTooManyValuesError(expected); + return -1; + } + return __Pyx_IterFinish(); +} + +/* UnpackTupleError */ + static void __Pyx_UnpackTupleError(PyObject *t, Py_ssize_t index) { + if (t == Py_None) { + __Pyx_RaiseNoneNotIterableError(); + } else if (PyTuple_GET_SIZE(t) < index) { + __Pyx_RaiseNeedMoreValuesError(PyTuple_GET_SIZE(t)); + } else { + __Pyx_RaiseTooManyValuesError(index); + } +} + +/* UnpackTuple2 */ + static CYTHON_INLINE int __Pyx_unpack_tuple2_exact( + PyObject* tuple, PyObject** pvalue1, PyObject** pvalue2, int decref_tuple) { + PyObject *value1 = NULL, *value2 = NULL; +#if CYTHON_COMPILING_IN_PYPY + value1 = PySequence_ITEM(tuple, 0); if (unlikely(!value1)) goto bad; + value2 = PySequence_ITEM(tuple, 1); if (unlikely(!value2)) goto bad; +#else + value1 = PyTuple_GET_ITEM(tuple, 0); Py_INCREF(value1); + value2 = PyTuple_GET_ITEM(tuple, 1); Py_INCREF(value2); +#endif + if (decref_tuple) { + Py_DECREF(tuple); + } + *pvalue1 = value1; + *pvalue2 = value2; + return 0; +#if CYTHON_COMPILING_IN_PYPY +bad: + Py_XDECREF(value1); + Py_XDECREF(value2); + if (decref_tuple) { Py_XDECREF(tuple); } + return -1; +#endif +} +static int __Pyx_unpack_tuple2_generic(PyObject* tuple, PyObject** pvalue1, PyObject** pvalue2, + int has_known_size, int decref_tuple) { + Py_ssize_t index; + PyObject *value1 = NULL, *value2 = NULL, *iter = NULL; + iternextfunc iternext; + iter = PyObject_GetIter(tuple); + if (unlikely(!iter)) goto bad; + if (decref_tuple) { Py_DECREF(tuple); tuple = NULL; } + iternext = __Pyx_PyObject_GetIterNextFunc(iter); + value1 = iternext(iter); if (unlikely(!value1)) { index = 0; goto unpacking_failed; } + value2 = iternext(iter); if (unlikely(!value2)) { index = 1; goto unpacking_failed; } + if (!has_known_size && unlikely(__Pyx_IternextUnpackEndCheck(iternext(iter), 2))) goto bad; + Py_DECREF(iter); + *pvalue1 = value1; + *pvalue2 = value2; + return 0; +unpacking_failed: + if (!has_known_size && __Pyx_IterFinish() == 0) + __Pyx_RaiseNeedMoreValuesError(index); +bad: + Py_XDECREF(iter); + Py_XDECREF(value1); + Py_XDECREF(value2); + if (decref_tuple) { Py_XDECREF(tuple); } + return -1; +} + +/* dict_iter */ + #if CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 +#include +#endif +static CYTHON_INLINE PyObject* __Pyx_dict_iterator(PyObject* iterable, int is_dict, PyObject* method_name, + Py_ssize_t* p_orig_length, int* p_source_is_dict) { + is_dict = is_dict || likely(PyDict_CheckExact(iterable)); + *p_source_is_dict = is_dict; + if (is_dict) { +#if !CYTHON_COMPILING_IN_PYPY + *p_orig_length = PyDict_Size(iterable); + Py_INCREF(iterable); + return iterable; +#elif PY_MAJOR_VERSION >= 3 + static PyObject *py_items = NULL, *py_keys = NULL, *py_values = NULL; + PyObject **pp = NULL; + if (method_name) { + const char *name = PyUnicode_AsUTF8(method_name); + if (strcmp(name, "iteritems") == 0) pp = &py_items; + else if (strcmp(name, "iterkeys") == 0) pp = &py_keys; + else if (strcmp(name, "itervalues") == 0) pp = &py_values; + if (pp) { + if (!*pp) { + *pp = PyUnicode_FromString(name + 4); + if (!*pp) + return NULL; + } + method_name = *pp; + } + } +#endif + } + *p_orig_length = 0; + if (method_name) { + PyObject* iter; + iterable = __Pyx_PyObject_CallMethod0(iterable, method_name); + if (!iterable) + return NULL; +#if !CYTHON_COMPILING_IN_PYPY + if (PyTuple_CheckExact(iterable) || PyList_CheckExact(iterable)) + return iterable; +#endif + iter = PyObject_GetIter(iterable); + Py_DECREF(iterable); + return iter; + } + return PyObject_GetIter(iterable); +} +static CYTHON_INLINE int __Pyx_dict_iter_next( + PyObject* iter_obj, CYTHON_NCP_UNUSED Py_ssize_t orig_length, CYTHON_NCP_UNUSED Py_ssize_t* ppos, + PyObject** pkey, PyObject** pvalue, PyObject** pitem, int source_is_dict) { + PyObject* next_item; +#if !CYTHON_COMPILING_IN_PYPY + if (source_is_dict) { + PyObject *key, *value; + if (unlikely(orig_length != PyDict_Size(iter_obj))) { + PyErr_SetString(PyExc_RuntimeError, "dictionary changed size during iteration"); + return -1; + } + if (unlikely(!PyDict_Next(iter_obj, ppos, &key, &value))) { + return 0; + } + if (pitem) { + PyObject* tuple = PyTuple_New(2); + if (unlikely(!tuple)) { + return -1; + } + Py_INCREF(key); + Py_INCREF(value); + PyTuple_SET_ITEM(tuple, 0, key); + PyTuple_SET_ITEM(tuple, 1, value); + *pitem = tuple; + } else { + if (pkey) { + Py_INCREF(key); + *pkey = key; + } + if (pvalue) { + Py_INCREF(value); + *pvalue = value; + } + } + return 1; + } else if (PyTuple_CheckExact(iter_obj)) { + Py_ssize_t pos = *ppos; + if (unlikely(pos >= PyTuple_GET_SIZE(iter_obj))) return 0; + *ppos = pos + 1; + next_item = PyTuple_GET_ITEM(iter_obj, pos); + Py_INCREF(next_item); + } else if (PyList_CheckExact(iter_obj)) { + Py_ssize_t pos = *ppos; + if (unlikely(pos >= PyList_GET_SIZE(iter_obj))) return 0; + *ppos = pos + 1; + next_item = PyList_GET_ITEM(iter_obj, pos); + Py_INCREF(next_item); + } else +#endif + { + next_item = PyIter_Next(iter_obj); + if (unlikely(!next_item)) { + return __Pyx_IterFinish(); + } + } + if (pitem) { + *pitem = next_item; + } else if (pkey && pvalue) { + if (__Pyx_unpack_tuple2(next_item, pkey, pvalue, source_is_dict, source_is_dict, 1)) + return -1; + } else if (pkey) { + *pkey = next_item; + } else { + *pvalue = next_item; + } + return 1; +} + +/* PyIntBinop */ + #if !CYTHON_COMPILING_IN_PYPY +static PyObject* __Pyx_PyInt_AddObjC(PyObject *op1, PyObject *op2, long intval, int inplace, int zerodivision_check) { + CYTHON_MAYBE_UNUSED_VAR(intval); + CYTHON_MAYBE_UNUSED_VAR(inplace); + CYTHON_UNUSED_VAR(zerodivision_check); + #if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(op1))) { + const long b = intval; + long x; + long a = PyInt_AS_LONG(op1); + + x = (long)((unsigned long)a + (unsigned long)b); + if (likely((x^a) >= 0 || (x^b) >= 0)) + return PyInt_FromLong(x); + return PyLong_Type.tp_as_number->nb_add(op1, op2); + } + #endif + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(PyLong_CheckExact(op1))) { + const long b = intval; + long a, x; +#ifdef HAVE_LONG_LONG + const PY_LONG_LONG llb = intval; + PY_LONG_LONG lla, llx; +#endif + if (unlikely(__Pyx_PyLong_IsZero(op1))) { + return __Pyx_NewRef(op2); + } + if (likely(__Pyx_PyLong_IsCompact(op1))) { + a = __Pyx_PyLong_CompactValue(op1); + } else { + const digit* digits = __Pyx_PyLong_Digits(op1); + const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(op1); + switch (size) { + case -2: + if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + a = -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; + #ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 2 * PyLong_SHIFT) { + lla = -(PY_LONG_LONG) (((((unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; + #endif + } + CYTHON_FALLTHROUGH; + case 2: + if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + a = (long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; + #ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 2 * PyLong_SHIFT) { + lla = (PY_LONG_LONG) (((((unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; + #endif + } + CYTHON_FALLTHROUGH; + case -3: + if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + a = -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; + #ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 3 * PyLong_SHIFT) { + lla = -(PY_LONG_LONG) (((((((unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; + #endif + } + CYTHON_FALLTHROUGH; + case 3: + if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + a = (long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; + #ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 3 * PyLong_SHIFT) { + lla = (PY_LONG_LONG) (((((((unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; + #endif + } + CYTHON_FALLTHROUGH; + case -4: + if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { + a = -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; + #ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 4 * PyLong_SHIFT) { + lla = -(PY_LONG_LONG) (((((((((unsigned PY_LONG_LONG)digits[3]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; + #endif + } + CYTHON_FALLTHROUGH; + case 4: + if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { + a = (long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; + #ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 4 * PyLong_SHIFT) { + lla = (PY_LONG_LONG) (((((((((unsigned PY_LONG_LONG)digits[3]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; + #endif + } + CYTHON_FALLTHROUGH; + default: return PyLong_Type.tp_as_number->nb_add(op1, op2); + } + } + x = a + b; + return PyLong_FromLong(x); +#ifdef HAVE_LONG_LONG + long_long: + llx = lla + llb; + return PyLong_FromLongLong(llx); +#endif + + + } + #endif + if (PyFloat_CheckExact(op1)) { + const long b = intval; +#if CYTHON_COMPILING_IN_LIMITED_API + double a = __pyx_PyFloat_AsDouble(op1); +#else + double a = PyFloat_AS_DOUBLE(op1); +#endif + double result; + + PyFPE_START_PROTECT("add", return NULL) + result = ((double)a) + (double)b; + PyFPE_END_PROTECT(result) + return PyFloat_FromDouble(result); + } + return (inplace ? PyNumber_InPlaceAdd : PyNumber_Add)(op1, op2); +} +#endif + +/* BufferIndexError */ + static void __Pyx_RaiseBufferIndexError(int axis) { + PyErr_Format(PyExc_IndexError, + "Out of bounds on buffer access (axis %d)", axis); +} + +/* PyUnicode_Unicode */ + static CYTHON_INLINE PyObject* __Pyx_PyUnicode_Unicode(PyObject *obj) { + if (unlikely(obj == Py_None)) + obj = __pyx_kp_u_None; + return __Pyx_NewRef(obj); +} + +/* PyObject_GenericGetAttrNoDict */ + #if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { + __Pyx_TypeName type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, attr_name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(attr_name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { + PyObject *descr; + PyTypeObject *tp = Py_TYPE(obj); + if (unlikely(!PyString_Check(attr_name))) { + return PyObject_GenericGetAttr(obj, attr_name); + } + assert(!tp->tp_dictoffset); + descr = _PyType_Lookup(tp, attr_name); + if (unlikely(!descr)) { + return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); + } + Py_INCREF(descr); + #if PY_MAJOR_VERSION < 3 + if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) + #endif + { + descrgetfunc f = Py_TYPE(descr)->tp_descr_get; + if (unlikely(f)) { + PyObject *res = f(descr, obj, (PyObject *)tp); + Py_DECREF(descr); + return res; + } + } + return descr; +} +#endif + +/* PyObject_GenericGetAttr */ + #if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { + if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { + return PyObject_GenericGetAttr(obj, attr_name); + } + return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); +} +#endif + +/* ValidateBasesTuple */ + #if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases) { + Py_ssize_t i, n; +#if CYTHON_ASSUME_SAFE_MACROS + n = PyTuple_GET_SIZE(bases); +#else + n = PyTuple_Size(bases); + if (n < 0) return -1; +#endif + for (i = 1; i < n; i++) + { +#if CYTHON_AVOID_BORROWED_REFS + PyObject *b0 = PySequence_GetItem(bases, i); + if (!b0) return -1; +#elif CYTHON_ASSUME_SAFE_MACROS + PyObject *b0 = PyTuple_GET_ITEM(bases, i); +#else + PyObject *b0 = PyTuple_GetItem(bases, i); + if (!b0) return -1; +#endif + PyTypeObject *b; +#if PY_MAJOR_VERSION < 3 + if (PyClass_Check(b0)) + { + PyErr_Format(PyExc_TypeError, "base class '%.200s' is an old-style class", + PyString_AS_STRING(((PyClassObject*)b0)->cl_name)); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } +#endif + b = (PyTypeObject*) b0; + if (!__Pyx_PyType_HasFeature(b, Py_TPFLAGS_HEAPTYPE)) + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "base class '" __Pyx_FMT_TYPENAME "' is not a heap type", b_name); + __Pyx_DECREF_TypeName(b_name); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + if (dictoffset == 0) + { + Py_ssize_t b_dictoffset = 0; +#if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + b_dictoffset = b->tp_dictoffset; +#else + PyObject *py_b_dictoffset = PyObject_GetAttrString((PyObject*)b, "__dictoffset__"); + if (!py_b_dictoffset) goto dictoffset_return; + b_dictoffset = PyLong_AsSsize_t(py_b_dictoffset); + Py_DECREF(py_b_dictoffset); + if (b_dictoffset == -1 && PyErr_Occurred()) goto dictoffset_return; +#endif + if (b_dictoffset) { + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "extension type '%.200s' has no __dict__ slot, " + "but base type '" __Pyx_FMT_TYPENAME "' has: " + "either add 'cdef dict __dict__' to the extension type " + "or add '__slots__ = [...]' to the base type", + type_name, b_name); + __Pyx_DECREF_TypeName(b_name); + } +#if !(CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY) + dictoffset_return: +#endif +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + } +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + } + return 0; +} +#endif + +/* PyType_Ready */ + static int __Pyx_PyType_Ready(PyTypeObject *t) { +#if CYTHON_USE_TYPE_SPECS || !(CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API) || defined(PYSTON_MAJOR_VERSION) + (void)__Pyx_PyObject_CallMethod0; +#if CYTHON_USE_TYPE_SPECS + (void)__Pyx_validate_bases_tuple; +#endif + return PyType_Ready(t); +#else + int r; + PyObject *bases = __Pyx_PyType_GetSlot(t, tp_bases, PyObject*); + if (bases && unlikely(__Pyx_validate_bases_tuple(t->tp_name, t->tp_dictoffset, bases) == -1)) + return -1; +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + { + int gc_was_enabled; + #if PY_VERSION_HEX >= 0x030A00b1 + gc_was_enabled = PyGC_Disable(); + (void)__Pyx_PyObject_CallMethod0; + #else + PyObject *ret, *py_status; + PyObject *gc = NULL; + #if PY_VERSION_HEX >= 0x030700a1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM+0 >= 0x07030400) + gc = PyImport_GetModule(__pyx_kp_u_gc); + #endif + if (unlikely(!gc)) gc = PyImport_Import(__pyx_kp_u_gc); + if (unlikely(!gc)) return -1; + py_status = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_isenabled); + if (unlikely(!py_status)) { + Py_DECREF(gc); + return -1; + } + gc_was_enabled = __Pyx_PyObject_IsTrue(py_status); + Py_DECREF(py_status); + if (gc_was_enabled > 0) { + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_disable); + if (unlikely(!ret)) { + Py_DECREF(gc); + return -1; + } + Py_DECREF(ret); + } else if (unlikely(gc_was_enabled == -1)) { + Py_DECREF(gc); + return -1; + } + #endif + t->tp_flags |= Py_TPFLAGS_HEAPTYPE; +#if PY_VERSION_HEX >= 0x030A0000 + t->tp_flags |= Py_TPFLAGS_IMMUTABLETYPE; +#endif +#else + (void)__Pyx_PyObject_CallMethod0; +#endif + r = PyType_Ready(t); +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + t->tp_flags &= ~Py_TPFLAGS_HEAPTYPE; + #if PY_VERSION_HEX >= 0x030A00b1 + if (gc_was_enabled) + PyGC_Enable(); + #else + if (gc_was_enabled) { + PyObject *tp, *v, *tb; + PyErr_Fetch(&tp, &v, &tb); + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_enable); + if (likely(ret || r == -1)) { + Py_XDECREF(ret); + PyErr_Restore(tp, v, tb); + } else { + Py_XDECREF(tp); + Py_XDECREF(v); + Py_XDECREF(tb); + r = -1; + } + } + Py_DECREF(gc); + #endif + } +#endif + return r; +#endif +} + +/* SetupReduce */ + #if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { + int ret; + PyObject *name_attr; + name_attr = __Pyx_PyObject_GetAttrStrNoError(meth, __pyx_n_s_name_2); + if (likely(name_attr)) { + ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); + } else { + ret = -1; + } + if (unlikely(ret < 0)) { + PyErr_Clear(); + ret = 0; + } + Py_XDECREF(name_attr); + return ret; +} +static int __Pyx_setup_reduce(PyObject* type_obj) { + int ret = 0; + PyObject *object_reduce = NULL; + PyObject *object_getstate = NULL; + PyObject *object_reduce_ex = NULL; + PyObject *reduce = NULL; + PyObject *reduce_ex = NULL; + PyObject *reduce_cython = NULL; + PyObject *setstate = NULL; + PyObject *setstate_cython = NULL; + PyObject *getstate = NULL; +#if CYTHON_USE_PYTYPE_LOOKUP + getstate = _PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate); +#else + getstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_getstate); + if (!getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (getstate) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_getstate = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_getstate); +#else + object_getstate = __Pyx_PyObject_GetAttrStrNoError((PyObject*)&PyBaseObject_Type, __pyx_n_s_getstate); + if (!object_getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (object_getstate != getstate) { + goto __PYX_GOOD; + } + } +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#else + object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#endif + reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; + if (reduce_ex == object_reduce_ex) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#else + object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#endif + reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; + if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { + reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); + if (likely(reduce_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (reduce == object_reduce || PyErr_Occurred()) { + goto __PYX_BAD; + } + setstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate); + if (!setstate) PyErr_Clear(); + if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { + setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); + if (likely(setstate_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (!setstate || PyErr_Occurred()) { + goto __PYX_BAD; + } + } + PyType_Modified((PyTypeObject*)type_obj); + } + } + goto __PYX_GOOD; +__PYX_BAD: + if (!PyErr_Occurred()) { + __Pyx_TypeName type_obj_name = + __Pyx_PyType_GetName((PyTypeObject*)type_obj); + PyErr_Format(PyExc_RuntimeError, + "Unable to initialize pickling for " __Pyx_FMT_TYPENAME, type_obj_name); + __Pyx_DECREF_TypeName(type_obj_name); + } + ret = -1; +__PYX_GOOD: +#if !CYTHON_USE_PYTYPE_LOOKUP + Py_XDECREF(object_reduce); + Py_XDECREF(object_reduce_ex); + Py_XDECREF(object_getstate); + Py_XDECREF(getstate); +#endif + Py_XDECREF(reduce); + Py_XDECREF(reduce_ex); + Py_XDECREF(reduce_cython); + Py_XDECREF(setstate); + Py_XDECREF(setstate_cython); + return ret; +} +#endif + +/* SetVTable */ + static int __Pyx_SetVtable(PyTypeObject *type, void *vtable) { + PyObject *ob = PyCapsule_New(vtable, 0, 0); + if (unlikely(!ob)) + goto bad; +#if CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(PyObject_SetAttr((PyObject *) type, __pyx_n_s_pyx_vtable, ob) < 0)) +#else + if (unlikely(PyDict_SetItem(type->tp_dict, __pyx_n_s_pyx_vtable, ob) < 0)) +#endif + goto bad; + Py_DECREF(ob); + return 0; +bad: + Py_XDECREF(ob); + return -1; +} + +/* GetVTable */ + static void* __Pyx_GetVtable(PyTypeObject *type) { + void* ptr; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *ob = PyObject_GetAttr((PyObject *)type, __pyx_n_s_pyx_vtable); +#else + PyObject *ob = PyObject_GetItem(type->tp_dict, __pyx_n_s_pyx_vtable); +#endif + if (!ob) + goto bad; + ptr = PyCapsule_GetPointer(ob, 0); + if (!ptr && !PyErr_Occurred()) + PyErr_SetString(PyExc_RuntimeError, "invalid vtable found for imported type"); + Py_DECREF(ob); + return ptr; +bad: + Py_XDECREF(ob); + return NULL; +} + +/* MergeVTables */ + #if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type) { + int i; + void** base_vtables; + __Pyx_TypeName tp_base_name; + __Pyx_TypeName base_name; + void* unknown = (void*)-1; + PyObject* bases = type->tp_bases; + int base_depth = 0; + { + PyTypeObject* base = type->tp_base; + while (base) { + base_depth += 1; + base = base->tp_base; + } + } + base_vtables = (void**) malloc(sizeof(void*) * (size_t)(base_depth + 1)); + base_vtables[0] = unknown; + for (i = 1; i < PyTuple_GET_SIZE(bases); i++) { + void* base_vtable = __Pyx_GetVtable(((PyTypeObject*)PyTuple_GET_ITEM(bases, i))); + if (base_vtable != NULL) { + int j; + PyTypeObject* base = type->tp_base; + for (j = 0; j < base_depth; j++) { + if (base_vtables[j] == unknown) { + base_vtables[j] = __Pyx_GetVtable(base); + base_vtables[j + 1] = unknown; + } + if (base_vtables[j] == base_vtable) { + break; + } else if (base_vtables[j] == NULL) { + goto bad; + } + base = base->tp_base; + } + } + } + PyErr_Clear(); + free(base_vtables); + return 0; +bad: + tp_base_name = __Pyx_PyType_GetName(type->tp_base); + base_name = __Pyx_PyType_GetName((PyTypeObject*)PyTuple_GET_ITEM(bases, i)); + PyErr_Format(PyExc_TypeError, + "multiple bases have vtable conflict: '" __Pyx_FMT_TYPENAME "' and '" __Pyx_FMT_TYPENAME "'", tp_base_name, base_name); + __Pyx_DECREF_TypeName(tp_base_name); + __Pyx_DECREF_TypeName(base_name); + free(base_vtables); + return -1; +} +#endif + +/* TypeImport */ + #ifndef __PYX_HAVE_RT_ImportType_3_0_8 +#define __PYX_HAVE_RT_ImportType_3_0_8 +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject *module, const char *module_name, const char *class_name, + size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size) +{ + PyObject *result = 0; + char warning[200]; + Py_ssize_t basicsize; + Py_ssize_t itemsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + PyObject *py_itemsize; +#endif + result = PyObject_GetAttrString(module, class_name); + if (!result) + goto bad; + if (!PyType_Check(result)) { + PyErr_Format(PyExc_TypeError, + "%.200s.%.200s is not a type object", + module_name, class_name); + goto bad; + } +#if !CYTHON_COMPILING_IN_LIMITED_API + basicsize = ((PyTypeObject *)result)->tp_basicsize; + itemsize = ((PyTypeObject *)result)->tp_itemsize; +#else + py_basicsize = PyObject_GetAttrString(result, "__basicsize__"); + if (!py_basicsize) + goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (basicsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; + py_itemsize = PyObject_GetAttrString(result, "__itemsize__"); + if (!py_itemsize) + goto bad; + itemsize = PyLong_AsSsize_t(py_itemsize); + Py_DECREF(py_itemsize); + py_itemsize = 0; + if (itemsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; +#endif + if (itemsize) { + if (size % alignment) { + alignment = size % alignment; + } + if (itemsize < (Py_ssize_t)alignment) + itemsize = (Py_ssize_t)alignment; + } + if ((size_t)(basicsize + itemsize) < size) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize+itemsize); + goto bad; + } + if (check_size == __Pyx_ImportType_CheckSize_Error_3_0_8 && + ((size_t)basicsize > size || (size_t)(basicsize + itemsize) < size)) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd-%zd from PyObject", + module_name, class_name, size, basicsize, basicsize+itemsize); + goto bad; + } + else if (check_size == __Pyx_ImportType_CheckSize_Warn_3_0_8 && (size_t)basicsize > size) { + PyOS_snprintf(warning, sizeof(warning), + "%s.%s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize); + if (PyErr_WarnEx(NULL, warning, 0) < 0) goto bad; + } + return (PyTypeObject *)result; +bad: + Py_XDECREF(result); + return NULL; +} +#endif + +/* CLineInTraceback */ + #ifndef CYTHON_CLINE_IN_TRACEBACK +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line) { + PyObject *use_cline; + PyObject *ptype, *pvalue, *ptraceback; +#if CYTHON_COMPILING_IN_CPYTHON + PyObject **cython_runtime_dict; +#endif + CYTHON_MAYBE_UNUSED_VAR(tstate); + if (unlikely(!__pyx_cython_runtime)) { + return c_line; + } + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); +#if CYTHON_COMPILING_IN_CPYTHON + cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); + if (likely(cython_runtime_dict)) { + __PYX_PY_DICT_LOOKUP_IF_MODIFIED( + use_cline, *cython_runtime_dict, + __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) + } else +#endif + { + PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStrNoError(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); + if (use_cline_obj) { + use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; +} +#endif + +/* CodeObjectCache */ + #if !CYTHON_COMPILING_IN_LIMITED_API +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; + } + } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } +} +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; + } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; +} +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; + } + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; + } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); +} +#endif + +/* AddTraceback */ + #include "compile.h" +#include "frameobject.h" +#include "traceback.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyCode_Replace_For_AddTraceback(PyObject *code, PyObject *scratch_dict, + PyObject *firstlineno, PyObject *name) { + PyObject *replace = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_firstlineno", firstlineno))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_name", name))) return NULL; + replace = PyObject_GetAttrString(code, "replace"); + if (likely(replace)) { + PyObject *result; + result = PyObject_Call(replace, __pyx_empty_tuple, scratch_dict); + Py_DECREF(replace); + return result; + } + PyErr_Clear(); + #if __PYX_LIMITED_VERSION_HEX < 0x030780000 + { + PyObject *compiled = NULL, *result = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "code", code))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "type", (PyObject*)(&PyType_Type)))) return NULL; + compiled = Py_CompileString( + "out = type(code)(\n" + " code.co_argcount, code.co_kwonlyargcount, code.co_nlocals, code.co_stacksize,\n" + " code.co_flags, code.co_code, code.co_consts, code.co_names,\n" + " code.co_varnames, code.co_filename, co_name, co_firstlineno,\n" + " code.co_lnotab)\n", "", Py_file_input); + if (!compiled) return NULL; + result = PyEval_EvalCode(compiled, scratch_dict, scratch_dict); + Py_DECREF(compiled); + if (!result) PyErr_Print(); + Py_DECREF(result); + result = PyDict_GetItemString(scratch_dict, "out"); + if (result) Py_INCREF(result); + return result; + } + #else + return NULL; + #endif +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyObject *code_object = NULL, *py_py_line = NULL, *py_funcname = NULL, *dict = NULL; + PyObject *replace = NULL, *getframe = NULL, *frame = NULL; + PyObject *exc_type, *exc_value, *exc_traceback; + int success = 0; + if (c_line) { + (void) __pyx_cfilenm; + (void) __Pyx_CLineForTraceback(__Pyx_PyThreadState_Current, c_line); + } + PyErr_Fetch(&exc_type, &exc_value, &exc_traceback); + code_object = Py_CompileString("_getframe()", filename, Py_eval_input); + if (unlikely(!code_object)) goto bad; + py_py_line = PyLong_FromLong(py_line); + if (unlikely(!py_py_line)) goto bad; + py_funcname = PyUnicode_FromString(funcname); + if (unlikely(!py_funcname)) goto bad; + dict = PyDict_New(); + if (unlikely(!dict)) goto bad; + { + PyObject *old_code_object = code_object; + code_object = __Pyx_PyCode_Replace_For_AddTraceback(code_object, dict, py_py_line, py_funcname); + Py_DECREF(old_code_object); + } + if (unlikely(!code_object)) goto bad; + getframe = PySys_GetObject("_getframe"); + if (unlikely(!getframe)) goto bad; + if (unlikely(PyDict_SetItemString(dict, "_getframe", getframe))) goto bad; + frame = PyEval_EvalCode(code_object, dict, dict); + if (unlikely(!frame) || frame == Py_None) goto bad; + success = 1; + bad: + PyErr_Restore(exc_type, exc_value, exc_traceback); + Py_XDECREF(code_object); + Py_XDECREF(py_py_line); + Py_XDECREF(py_funcname); + Py_XDECREF(dict); + Py_XDECREF(replace); + if (success) { + PyTraceBack_Here( + (struct _frame*)frame); + } + Py_XDECREF(frame); +} +#else +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = NULL; + PyObject *py_funcname = NULL; + #if PY_MAJOR_VERSION < 3 + PyObject *py_srcfile = NULL; + py_srcfile = PyString_FromString(filename); + if (!py_srcfile) goto bad; + #endif + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + funcname = PyUnicode_AsUTF8(py_funcname); + if (!funcname) goto bad; + #endif + } + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + if (!py_funcname) goto bad; + #endif + } + #if PY_MAJOR_VERSION < 3 + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + #else + py_code = PyCode_NewEmpty(filename, funcname, py_line); + #endif + Py_XDECREF(py_funcname); + return py_code; +bad: + Py_XDECREF(py_funcname); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_srcfile); + #endif + return NULL; +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject *ptype, *pvalue, *ptraceback; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); + } + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) { + /* If the code object creation fails, then we should clear the + fetched exception references and propagate the new exception */ + Py_XDECREF(ptype); + Py_XDECREF(pvalue); + Py_XDECREF(ptraceback); + goto bad; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + } + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} +#endif + +#if PY_MAJOR_VERSION < 3 +static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags) { + __Pyx_TypeName obj_type_name; + if (PyObject_CheckBuffer(obj)) return PyObject_GetBuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_array_type)) return __pyx_array_getbuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_memoryview_type)) return __pyx_memoryview_getbuffer(obj, view, flags); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' does not have the buffer interface", + obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return -1; +} +static void __Pyx_ReleaseBuffer(Py_buffer *view) { + PyObject *obj = view->obj; + if (!obj) return; + if (PyObject_CheckBuffer(obj)) { + PyBuffer_Release(view); + return; + } + if ((0)) {} + view->obj = NULL; + Py_DECREF(obj); +} +#endif + + + /* MemviewSliceIsContig */ + static int +__pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim) +{ + int i, index, step, start; + Py_ssize_t itemsize = mvs.memview->view.itemsize; + if (order == 'F') { + step = 1; + start = 0; + } else { + step = -1; + start = ndim - 1; + } + for (i = 0; i < ndim; i++) { + index = start + step * i; + if (mvs.suboffsets[index] >= 0 || mvs.strides[index] != itemsize) + return 0; + itemsize *= mvs.shape[index]; + } + return 1; +} + +/* OverlappingSlices */ + static void +__pyx_get_array_memory_extents(__Pyx_memviewslice *slice, + void **out_start, void **out_end, + int ndim, size_t itemsize) +{ + char *start, *end; + int i; + start = end = slice->data; + for (i = 0; i < ndim; i++) { + Py_ssize_t stride = slice->strides[i]; + Py_ssize_t extent = slice->shape[i]; + if (extent == 0) { + *out_start = *out_end = start; + return; + } else { + if (stride > 0) + end += stride * (extent - 1); + else + start += stride * (extent - 1); + } + } + *out_start = start; + *out_end = end + itemsize; +} +static int +__pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize) +{ + void *start1, *end1, *start2, *end2; + __pyx_get_array_memory_extents(slice1, &start1, &end1, ndim, itemsize); + __pyx_get_array_memory_extents(slice2, &start2, &end2, ndim, itemsize); + return (start1 < end2) && (start2 < end1); +} + +/* CIntFromPyVerify */ + #define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* TypeInfoCompare */ + static int +__pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b) +{ + int i; + if (!a || !b) + return 0; + if (a == b) + return 1; + if (a->size != b->size || a->typegroup != b->typegroup || + a->is_unsigned != b->is_unsigned || a->ndim != b->ndim) { + if (a->typegroup == 'H' || b->typegroup == 'H') { + return a->size == b->size; + } else { + return 0; + } + } + if (a->ndim) { + for (i = 0; i < a->ndim; i++) + if (a->arraysize[i] != b->arraysize[i]) + return 0; + } + if (a->typegroup == 'S') { + if (a->flags != b->flags) + return 0; + if (a->fields || b->fields) { + if (!(a->fields && b->fields)) + return 0; + for (i = 0; a->fields[i].type && b->fields[i].type; i++) { + __Pyx_StructField *field_a = a->fields + i; + __Pyx_StructField *field_b = b->fields + i; + if (field_a->offset != field_b->offset || + !__pyx_typeinfo_cmp(field_a->type, field_b->type)) + return 0; + } + return !a->fields[i].type && !b->fields[i].type; + } + } + return 1; +} + +/* MemviewSliceValidateAndInit */ + static int +__pyx_check_strides(Py_buffer *buf, int dim, int ndim, int spec) +{ + if (buf->shape[dim] <= 1) + return 1; + if (buf->strides) { + if (spec & __Pyx_MEMVIEW_CONTIG) { + if (spec & (__Pyx_MEMVIEW_PTR|__Pyx_MEMVIEW_FULL)) { + if (unlikely(buf->strides[dim] != sizeof(void *))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly contiguous " + "in dimension %d.", dim); + goto fail; + } + } else if (unlikely(buf->strides[dim] != buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_FOLLOW) { + Py_ssize_t stride = buf->strides[dim]; + if (stride < 0) + stride = -stride; + if (unlikely(stride < buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + } else { + if (unlikely(spec & __Pyx_MEMVIEW_CONTIG && dim != ndim - 1)) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not contiguous in " + "dimension %d", dim); + goto fail; + } else if (unlikely(spec & (__Pyx_MEMVIEW_PTR))) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not indirect in " + "dimension %d", dim); + goto fail; + } else if (unlikely(buf->suboffsets)) { + PyErr_SetString(PyExc_ValueError, + "Buffer exposes suboffsets but no strides"); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_check_suboffsets(Py_buffer *buf, int dim, int ndim, int spec) +{ + CYTHON_UNUSED_VAR(ndim); + if (spec & __Pyx_MEMVIEW_DIRECT) { + if (unlikely(buf->suboffsets && buf->suboffsets[dim] >= 0)) { + PyErr_Format(PyExc_ValueError, + "Buffer not compatible with direct access " + "in dimension %d.", dim); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_PTR) { + if (unlikely(!buf->suboffsets || (buf->suboffsets[dim] < 0))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly accessible " + "in dimension %d.", dim); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_verify_contig(Py_buffer *buf, int ndim, int c_or_f_flag) +{ + int i; + if (c_or_f_flag & __Pyx_IS_F_CONTIG) { + Py_ssize_t stride = 1; + for (i = 0; i < ndim; i++) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not fortran contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } else if (c_or_f_flag & __Pyx_IS_C_CONTIG) { + Py_ssize_t stride = 1; + for (i = ndim - 1; i >- 1; i--) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not C contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } + return 1; +fail: + return 0; +} +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj) +{ + struct __pyx_memoryview_obj *memview, *new_memview; + __Pyx_RefNannyDeclarations + Py_buffer *buf; + int i, spec = 0, retval = -1; + __Pyx_BufFmt_Context ctx; + int from_memoryview = __pyx_memoryview_check(original_obj); + __Pyx_RefNannySetupContext("ValidateAndInit_memviewslice", 0); + if (from_memoryview && __pyx_typeinfo_cmp(dtype, ((struct __pyx_memoryview_obj *) + original_obj)->typeinfo)) { + memview = (struct __pyx_memoryview_obj *) original_obj; + new_memview = NULL; + } else { + memview = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + original_obj, buf_flags, 0, dtype); + new_memview = memview; + if (unlikely(!memview)) + goto fail; + } + buf = &memview->view; + if (unlikely(buf->ndim != ndim)) { + PyErr_Format(PyExc_ValueError, + "Buffer has wrong number of dimensions (expected %d, got %d)", + ndim, buf->ndim); + goto fail; + } + if (new_memview) { + __Pyx_BufFmt_Init(&ctx, stack, dtype); + if (unlikely(!__Pyx_BufFmt_CheckString(&ctx, buf->format))) goto fail; + } + if (unlikely((unsigned) buf->itemsize != dtype->size)) { + PyErr_Format(PyExc_ValueError, + "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "u byte%s) " + "does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "u byte%s)", + buf->itemsize, + (buf->itemsize > 1) ? "s" : "", + dtype->name, + dtype->size, + (dtype->size > 1) ? "s" : ""); + goto fail; + } + if (buf->len > 0) { + for (i = 0; i < ndim; i++) { + spec = axes_specs[i]; + if (unlikely(!__pyx_check_strides(buf, i, ndim, spec))) + goto fail; + if (unlikely(!__pyx_check_suboffsets(buf, i, ndim, spec))) + goto fail; + } + if (unlikely(buf->strides && !__pyx_verify_contig(buf, ndim, c_or_f_flag))) + goto fail; + } + if (unlikely(__Pyx_init_memviewslice(memview, ndim, memviewslice, + new_memview != NULL) == -1)) { + goto fail; + } + retval = 0; + goto no_fail; +fail: + Py_XDECREF(new_memview); + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} + +/* ObjectToMemviewSlice */ + static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dcd__double(PyObject *obj, int writable_flag) { + __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; + __Pyx_BufFmt_StackElem stack[1]; + int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_CONTIG), (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_FOLLOW) }; + int retcode; + if (obj == Py_None) { + result.memview = (struct __pyx_memoryview_obj *) Py_None; + return result; + } + retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, __Pyx_IS_F_CONTIG, + (PyBUF_F_CONTIGUOUS | PyBUF_FORMAT) | writable_flag, 2, + &__Pyx_TypeInfo_double, stack, + &result, obj); + if (unlikely(retcode == -1)) + goto __pyx_fail; + return result; +__pyx_fail: + result.memview = NULL; + result.data = NULL; + return result; +} + +/* ObjectToMemviewSlice */ + static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dc_unsigned_char(PyObject *obj, int writable_flag) { + __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; + __Pyx_BufFmt_StackElem stack[1]; + int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_CONTIG) }; + int retcode; + if (obj == Py_None) { + result.memview = (struct __pyx_memoryview_obj *) Py_None; + return result; + } + retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, __Pyx_IS_C_CONTIG, + (PyBUF_C_CONTIGUOUS | PyBUF_FORMAT) | writable_flag, 1, + &__Pyx_TypeInfo_unsigned_char, stack, + &result, obj); + if (unlikely(retcode == -1)) + goto __pyx_fail; + return result; +__pyx_fail: + result.memview = NULL; + result.data = NULL; + return result; +} + +/* Declarations */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #ifdef __cplusplus + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + return ::std::complex< float >(x, y); + } + #else + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + return x + y*(__pyx_t_float_complex)_Complex_I; + } + #endif +#else + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + __pyx_t_float_complex z; + z.real = x; + z.imag = y; + return z; + } +#endif + +/* Arithmetic */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) +#else + static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + return (a.real == b.real) && (a.imag == b.imag); + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real + b.real; + z.imag = a.imag + b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real - b.real; + z.imag = a.imag - b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real * b.real - a.imag * b.imag; + z.imag = a.real * b.imag + a.imag * b.real; + return z; + } + #if 1 + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + if (b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); + } else if (fabsf(b.real) >= fabsf(b.imag)) { + if (b.real == 0 && b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.imag); + } else { + float r = b.imag / b.real; + float s = (float)(1.0) / (b.real + b.imag * r); + return __pyx_t_float_complex_from_parts( + (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); + } + } else { + float r = b.real / b.imag; + float s = (float)(1.0) / (b.imag + b.real * r); + return __pyx_t_float_complex_from_parts( + (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); + } + } + #else + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + if (b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); + } else { + float denom = b.real * b.real + b.imag * b.imag; + return __pyx_t_float_complex_from_parts( + (a.real * b.real + a.imag * b.imag) / denom, + (a.imag * b.real - a.real * b.imag) / denom); + } + } + #endif + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex a) { + __pyx_t_float_complex z; + z.real = -a.real; + z.imag = -a.imag; + return z; + } + static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex a) { + return (a.real == 0) && (a.imag == 0); + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex a) { + __pyx_t_float_complex z; + z.real = a.real; + z.imag = -a.imag; + return z; + } + #if 1 + static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex z) { + #if !defined(HAVE_HYPOT) || defined(_MSC_VER) + return sqrtf(z.real*z.real + z.imag*z.imag); + #else + return hypotf(z.real, z.imag); + #endif + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + float r, lnr, theta, z_r, z_theta; + if (b.imag == 0 && b.real == (int)b.real) { + if (b.real < 0) { + float denom = a.real * a.real + a.imag * a.imag; + a.real = a.real / denom; + a.imag = -a.imag / denom; + b.real = -b.real; + } + switch ((int)b.real) { + case 0: + z.real = 1; + z.imag = 0; + return z; + case 1: + return a; + case 2: + return __Pyx_c_prod_float(a, a); + case 3: + z = __Pyx_c_prod_float(a, a); + return __Pyx_c_prod_float(z, a); + case 4: + z = __Pyx_c_prod_float(a, a); + return __Pyx_c_prod_float(z, z); + } + } + if (a.imag == 0) { + if (a.real == 0) { + return a; + } else if ((b.imag == 0) && (a.real >= 0)) { + z.real = powf(a.real, b.real); + z.imag = 0; + return z; + } else if (a.real > 0) { + r = a.real; + theta = 0; + } else { + r = -a.real; + theta = atan2f(0.0, -1.0); + } + } else { + r = __Pyx_c_abs_float(a); + theta = atan2f(a.imag, a.real); + } + lnr = logf(r); + z_r = expf(lnr * b.real - theta * b.imag); + z_theta = theta * b.real + lnr * b.imag; + z.real = z_r * cosf(z_theta); + z.imag = z_r * sinf(z_theta); + return z; + } + #endif +#endif + +/* Declarations */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #ifdef __cplusplus + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + return ::std::complex< double >(x, y); + } + #else + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + return x + y*(__pyx_t_double_complex)_Complex_I; + } + #endif +#else + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + __pyx_t_double_complex z; + z.real = x; + z.imag = y; + return z; + } +#endif + +/* Arithmetic */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) +#else + static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + return (a.real == b.real) && (a.imag == b.imag); + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real + b.real; + z.imag = a.imag + b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real - b.real; + z.imag = a.imag - b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real * b.real - a.imag * b.imag; + z.imag = a.real * b.imag + a.imag * b.real; + return z; + } + #if 1 + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + if (b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); + } else if (fabs(b.real) >= fabs(b.imag)) { + if (b.real == 0 && b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.imag); + } else { + double r = b.imag / b.real; + double s = (double)(1.0) / (b.real + b.imag * r); + return __pyx_t_double_complex_from_parts( + (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); + } + } else { + double r = b.real / b.imag; + double s = (double)(1.0) / (b.imag + b.real * r); + return __pyx_t_double_complex_from_parts( + (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); + } + } + #else + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + if (b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); + } else { + double denom = b.real * b.real + b.imag * b.imag; + return __pyx_t_double_complex_from_parts( + (a.real * b.real + a.imag * b.imag) / denom, + (a.imag * b.real - a.real * b.imag) / denom); + } + } + #endif + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex a) { + __pyx_t_double_complex z; + z.real = -a.real; + z.imag = -a.imag; + return z; + } + static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex a) { + return (a.real == 0) && (a.imag == 0); + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex a) { + __pyx_t_double_complex z; + z.real = a.real; + z.imag = -a.imag; + return z; + } + #if 1 + static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex z) { + #if !defined(HAVE_HYPOT) || defined(_MSC_VER) + return sqrt(z.real*z.real + z.imag*z.imag); + #else + return hypot(z.real, z.imag); + #endif + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + double r, lnr, theta, z_r, z_theta; + if (b.imag == 0 && b.real == (int)b.real) { + if (b.real < 0) { + double denom = a.real * a.real + a.imag * a.imag; + a.real = a.real / denom; + a.imag = -a.imag / denom; + b.real = -b.real; + } + switch ((int)b.real) { + case 0: + z.real = 1; + z.imag = 0; + return z; + case 1: + return a; + case 2: + return __Pyx_c_prod_double(a, a); + case 3: + z = __Pyx_c_prod_double(a, a); + return __Pyx_c_prod_double(z, a); + case 4: + z = __Pyx_c_prod_double(a, a); + return __Pyx_c_prod_double(z, z); + } + } + if (a.imag == 0) { + if (a.real == 0) { + return a; + } else if ((b.imag == 0) && (a.real >= 0)) { + z.real = pow(a.real, b.real); + z.imag = 0; + return z; + } else if (a.real > 0) { + r = a.real; + theta = 0; + } else { + r = -a.real; + theta = atan2(0.0, -1.0); + } + } else { + r = __Pyx_c_abs_double(a); + theta = atan2(a.imag, a.real); + } + lnr = log(r); + z_r = exp(lnr * b.real - theta * b.imag); + z_theta = theta * b.real + lnr * b.imag; + z.real = z_r * cos(z_theta); + z.imag = z_r * sin(z_theta); + return z; + } + #endif +#endif + +/* MemviewSliceCopyTemplate */ + static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object) +{ + __Pyx_RefNannyDeclarations + int i; + __Pyx_memviewslice new_mvs = { 0, 0, { 0 }, { 0 }, { 0 } }; + struct __pyx_memoryview_obj *from_memview = from_mvs->memview; + Py_buffer *buf = &from_memview->view; + PyObject *shape_tuple = NULL; + PyObject *temp_int = NULL; + struct __pyx_array_obj *array_obj = NULL; + struct __pyx_memoryview_obj *memview_obj = NULL; + __Pyx_RefNannySetupContext("__pyx_memoryview_copy_new_contig", 0); + for (i = 0; i < ndim; i++) { + if (unlikely(from_mvs->suboffsets[i] >= 0)) { + PyErr_Format(PyExc_ValueError, "Cannot copy memoryview slice with " + "indirect dimensions (axis %d)", i); + goto fail; + } + } + shape_tuple = PyTuple_New(ndim); + if (unlikely(!shape_tuple)) { + goto fail; + } + __Pyx_GOTREF(shape_tuple); + for(i = 0; i < ndim; i++) { + temp_int = PyInt_FromSsize_t(from_mvs->shape[i]); + if(unlikely(!temp_int)) { + goto fail; + } else { + PyTuple_SET_ITEM(shape_tuple, i, temp_int); + temp_int = NULL; + } + } + array_obj = __pyx_array_new(shape_tuple, sizeof_dtype, buf->format, (char *) mode, NULL); + if (unlikely(!array_obj)) { + goto fail; + } + __Pyx_GOTREF(array_obj); + memview_obj = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + (PyObject *) array_obj, contig_flag, + dtype_is_object, + from_mvs->memview->typeinfo); + if (unlikely(!memview_obj)) + goto fail; + if (unlikely(__Pyx_init_memviewslice(memview_obj, ndim, &new_mvs, 1) < 0)) + goto fail; + if (unlikely(__pyx_memoryview_copy_contents(*from_mvs, new_mvs, ndim, ndim, + dtype_is_object) < 0)) + goto fail; + goto no_fail; +fail: + __Pyx_XDECREF(new_mvs.memview); + new_mvs.memview = NULL; + new_mvs.data = NULL; +no_fail: + __Pyx_XDECREF(shape_tuple); + __Pyx_XDECREF(temp_int); + __Pyx_XDECREF(array_obj); + __Pyx_RefNannyFinishContext(); + return new_mvs; +} + +/* MemviewSliceInit */ + static int +__Pyx_init_memviewslice(struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference) +{ + __Pyx_RefNannyDeclarations + int i, retval=-1; + Py_buffer *buf = &memview->view; + __Pyx_RefNannySetupContext("init_memviewslice", 0); + if (unlikely(memviewslice->memview || memviewslice->data)) { + PyErr_SetString(PyExc_ValueError, + "memviewslice is already initialized!"); + goto fail; + } + if (buf->strides) { + for (i = 0; i < ndim; i++) { + memviewslice->strides[i] = buf->strides[i]; + } + } else { + Py_ssize_t stride = buf->itemsize; + for (i = ndim - 1; i >= 0; i--) { + memviewslice->strides[i] = stride; + stride *= buf->shape[i]; + } + } + for (i = 0; i < ndim; i++) { + memviewslice->shape[i] = buf->shape[i]; + if (buf->suboffsets) { + memviewslice->suboffsets[i] = buf->suboffsets[i]; + } else { + memviewslice->suboffsets[i] = -1; + } + } + memviewslice->memview = memview; + memviewslice->data = (char *)buf->buf; + if (__pyx_add_acquisition_count(memview) == 0 && !memview_is_new_reference) { + Py_INCREF(memview); + } + retval = 0; + goto no_fail; +fail: + memviewslice->memview = 0; + memviewslice->data = 0; + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} +#ifndef Py_NO_RETURN +#define Py_NO_RETURN +#endif +static void __pyx_fatalerror(const char *fmt, ...) Py_NO_RETURN { + va_list vargs; + char msg[200]; +#if PY_VERSION_HEX >= 0x030A0000 || defined(HAVE_STDARG_PROTOTYPES) + va_start(vargs, fmt); +#else + va_start(vargs); +#endif + vsnprintf(msg, 200, fmt, vargs); + va_end(vargs); + Py_FatalError(msg); +} +static CYTHON_INLINE int +__pyx_add_acquisition_count_locked(__pyx_atomic_int_type *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)++; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE int +__pyx_sub_acquisition_count_locked(__pyx_atomic_int_type *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)--; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE void +__Pyx_INC_MEMVIEW(__Pyx_memviewslice *memslice, int have_gil, int lineno) +{ + __pyx_nonatomic_int_type old_acquisition_count; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + return; + } + old_acquisition_count = __pyx_add_acquisition_count(memview); + if (unlikely(old_acquisition_count <= 0)) { + if (likely(old_acquisition_count == 0)) { + if (have_gil) { + Py_INCREF((PyObject *) memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_INCREF((PyObject *) memview); + PyGILState_Release(_gilstate); + } + } else { + __pyx_fatalerror("Acquisition count is %d (line %d)", + old_acquisition_count+1, lineno); + } + } +} +static CYTHON_INLINE void __Pyx_XCLEAR_MEMVIEW(__Pyx_memviewslice *memslice, + int have_gil, int lineno) { + __pyx_nonatomic_int_type old_acquisition_count; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + memslice->memview = NULL; + return; + } + old_acquisition_count = __pyx_sub_acquisition_count(memview); + memslice->data = NULL; + if (likely(old_acquisition_count > 1)) { + memslice->memview = NULL; + } else if (likely(old_acquisition_count == 1)) { + if (have_gil) { + Py_CLEAR(memslice->memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_CLEAR(memslice->memview); + PyGILState_Release(_gilstate); + } + } else { + __pyx_fatalerror("Acquisition count is %d (line %d)", + old_acquisition_count-1, lineno); + } +} + +/* CIntFromPy */ + static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(int) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (int) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 2 * PyLong_SHIFT)) { + return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 3 * PyLong_SHIFT)) { + return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 4 * PyLong_SHIFT)) { + return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(int) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(int) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(int) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + int val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (int) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (int) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (int) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (int) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(int) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(int) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((int) 1) << (sizeof(int) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (int) -1; + } + } else { + int val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (int) -1; + val = __Pyx_PyInt_As_int(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to int"); + return (int) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to int"); + return (int) -1; +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(int) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(int) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(int) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(int), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(int)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPy */ + static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(long) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (long) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 2 * PyLong_SHIFT)) { + return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 3 * PyLong_SHIFT)) { + return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 4 * PyLong_SHIFT)) { + return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(long) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(long) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(long) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + long val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (long) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (long) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (long) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (long) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(long) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(long) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((long) 1) << (sizeof(long) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (long) -1; + } + } else { + long val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (long) -1; + val = __Pyx_PyInt_As_long(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to long"); + return (long) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to long"); + return (long) -1; +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(long)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPy */ + static CYTHON_INLINE size_t __Pyx_PyInt_As_size_t(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const size_t neg_one = (size_t) -1, const_zero = (size_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(size_t) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(size_t, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (size_t) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(size_t, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(size_t) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) >= 2 * PyLong_SHIFT)) { + return (size_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(size_t) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) >= 3 * PyLong_SHIFT)) { + return (size_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(size_t) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) >= 4 * PyLong_SHIFT)) { + return (size_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (size_t) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(size_t) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(size_t) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(size_t, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(size_t) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT)) { + return (size_t) (((size_t)-1)*(((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(size_t) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT)) { + return (size_t) ((((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT)) { + return (size_t) (((size_t)-1)*(((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(size_t) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT)) { + return (size_t) ((((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 4 * PyLong_SHIFT)) { + return (size_t) (((size_t)-1)*(((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(size_t) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 4 * PyLong_SHIFT)) { + return (size_t) ((((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(size_t) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(size_t) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + size_t val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (size_t) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (size_t) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (size_t) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (size_t) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (size_t) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(size_t) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((size_t) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(size_t) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((size_t) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((size_t) 1) << (sizeof(size_t) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (size_t) -1; + } + } else { + size_t val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (size_t) -1; + val = __Pyx_PyInt_As_size_t(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to size_t"); + return (size_t) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to size_t"); + return (size_t) -1; +} + +/* CIntFromPy */ + static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const char neg_one = (char) -1, const_zero = (char) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(char) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(char, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (char) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(char, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(char) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 2 * PyLong_SHIFT)) { + return (char) (((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(char) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 3 * PyLong_SHIFT)) { + return (char) (((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(char) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 4 * PyLong_SHIFT)) { + return (char) (((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(char) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(char) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(char, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(char) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(char) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + return (char) ((((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(char) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + return (char) ((((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 4 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(char) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 4 * PyLong_SHIFT)) { + return (char) ((((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(char) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(char, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(char) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(char, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + char val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (char) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (char) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (char) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (char) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(char) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((char) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(char) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((char) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((char) 1) << (sizeof(char) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (char) -1; + } + } else { + char val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (char) -1; + val = __Pyx_PyInt_As_char(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to char"); + return (char) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to char"); + return (char) -1; +} + +/* FormatTypeName */ + #if CYTHON_COMPILING_IN_LIMITED_API +static __Pyx_TypeName +__Pyx_PyType_GetName(PyTypeObject* tp) +{ + PyObject *name = __Pyx_PyObject_GetAttrStr((PyObject *)tp, + __pyx_n_s_name_2); + if (unlikely(name == NULL) || unlikely(!PyUnicode_Check(name))) { + PyErr_Clear(); + Py_XDECREF(name); + name = __Pyx_NewRef(__pyx_n_s__94); + } + return name; +} +#endif + +/* CheckBinaryVersion */ + static unsigned long __Pyx_get_runtime_version(void) { +#if __PYX_LIMITED_VERSION_HEX >= 0x030B00A4 + return Py_Version & ~0xFFUL; +#else + const char* rt_version = Py_GetVersion(); + unsigned long version = 0; + unsigned long factor = 0x01000000UL; + unsigned int digit = 0; + int i = 0; + while (factor) { + while ('0' <= rt_version[i] && rt_version[i] <= '9') { + digit = digit * 10 + (unsigned int) (rt_version[i] - '0'); + ++i; + } + version += factor * digit; + if (rt_version[i] != '.') + break; + digit = 0; + factor >>= 8; + ++i; + } + return version; +#endif +} +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer) { + const unsigned long MAJOR_MINOR = 0xFFFF0000UL; + if ((rt_version & MAJOR_MINOR) == (ct_version & MAJOR_MINOR)) + return 0; + if (likely(allow_newer && (rt_version & MAJOR_MINOR) > (ct_version & MAJOR_MINOR))) + return 1; + { + char message[200]; + PyOS_snprintf(message, sizeof(message), + "compile time Python version %d.%d " + "of module '%.100s' " + "%s " + "runtime version %d.%d", + (int) (ct_version >> 24), (int) ((ct_version >> 16) & 0xFF), + __Pyx_MODULE_NAME, + (allow_newer) ? "was newer than" : "does not match", + (int) (rt_version >> 24), (int) ((rt_version >> 16) & 0xFF) + ); + return PyErr_WarnEx(NULL, message, 1); + } +} + +/* InitStrings */ + #if PY_MAJOR_VERSION >= 3 +static int __Pyx_InitString(__Pyx_StringTabEntry t, PyObject **str) { + if (t.is_unicode | t.is_str) { + if (t.intern) { + *str = PyUnicode_InternFromString(t.s); + } else if (t.encoding) { + *str = PyUnicode_Decode(t.s, t.n - 1, t.encoding, NULL); + } else { + *str = PyUnicode_FromStringAndSize(t.s, t.n - 1); + } + } else { + *str = PyBytes_FromStringAndSize(t.s, t.n - 1); + } + if (!*str) + return -1; + if (PyObject_Hash(*str) == -1) + return -1; + return 0; +} +#endif +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t) { + while (t->p) { + #if PY_MAJOR_VERSION >= 3 + __Pyx_InitString(*t, t->p); + #else + if (t->is_unicode) { + *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); + } else if (t->intern) { + *t->p = PyString_InternFromString(t->s); + } else { + *t->p = PyString_FromStringAndSize(t->s, t->n - 1); + } + if (!*t->p) + return -1; + if (PyObject_Hash(*t->p) == -1) + return -1; + #endif + ++t; + } + return 0; +} + +#include +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s) { + size_t len = strlen(s); + if (unlikely(len > (size_t) PY_SSIZE_T_MAX)) { + PyErr_SetString(PyExc_OverflowError, "byte string is too long"); + return -1; + } + return (Py_ssize_t) len; +} +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return __Pyx_PyUnicode_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return PyByteArray_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { + Py_ssize_t ignore; + return __Pyx_PyObject_AsStringAndSize(o, &ignore); +} +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#if !CYTHON_PEP393_ENABLED +static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + char* defenc_c; + PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); + if (!defenc) return NULL; + defenc_c = PyBytes_AS_STRING(defenc); +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + { + char* end = defenc_c + PyBytes_GET_SIZE(defenc); + char* c; + for (c = defenc_c; c < end; c++) { + if ((unsigned char) (*c) >= 128) { + PyUnicode_AsASCIIString(o); + return NULL; + } + } + } +#endif + *length = PyBytes_GET_SIZE(defenc); + return defenc_c; +} +#else +static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + if (likely(PyUnicode_IS_ASCII(o))) { + *length = PyUnicode_GET_LENGTH(o); + return PyUnicode_AsUTF8(o); + } else { + PyUnicode_AsASCIIString(o); + return NULL; + } +#else + return PyUnicode_AsUTF8AndSize(o, length); +#endif +} +#endif +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT + if ( +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + __Pyx_sys_getdefaultencoding_not_ascii && +#endif + PyUnicode_Check(o)) { + return __Pyx_PyUnicode_AsStringAndSize(o, length); + } else +#endif +#if (!CYTHON_COMPILING_IN_PYPY && !CYTHON_COMPILING_IN_LIMITED_API) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) + if (PyByteArray_Check(o)) { + *length = PyByteArray_GET_SIZE(o); + return PyByteArray_AS_STRING(o); + } else +#endif + { + char* result; + int r = PyBytes_AsStringAndSize(o, &result, length); + if (unlikely(r < 0)) { + return NULL; + } else { + return result; + } + } +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { + int is_true = x == Py_True; + if (is_true | (x == Py_False) | (x == Py_None)) return is_true; + else return PyObject_IsTrue(x); +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { + int retval; + if (unlikely(!x)) return -1; + retval = __Pyx_PyObject_IsTrue(x); + Py_DECREF(x); + return retval; +} +static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { + __Pyx_TypeName result_type_name = __Pyx_PyType_GetName(Py_TYPE(result)); +#if PY_MAJOR_VERSION >= 3 + if (PyLong_Check(result)) { + if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, + "__int__ returned non-int (type " __Pyx_FMT_TYPENAME "). " + "The ability to return an instance of a strict subclass of int is deprecated, " + "and may be removed in a future version of Python.", + result_type_name)) { + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; + } + __Pyx_DECREF_TypeName(result_type_name); + return result; + } +#endif + PyErr_Format(PyExc_TypeError, + "__%.4s__ returned non-%.4s (type " __Pyx_FMT_TYPENAME ")", + type_name, type_name, result_type_name); + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { +#if CYTHON_USE_TYPE_SLOTS + PyNumberMethods *m; +#endif + const char *name = NULL; + PyObject *res = NULL; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x) || PyLong_Check(x))) +#else + if (likely(PyLong_Check(x))) +#endif + return __Pyx_NewRef(x); +#if CYTHON_USE_TYPE_SLOTS + m = Py_TYPE(x)->tp_as_number; + #if PY_MAJOR_VERSION < 3 + if (m && m->nb_int) { + name = "int"; + res = m->nb_int(x); + } + else if (m && m->nb_long) { + name = "long"; + res = m->nb_long(x); + } + #else + if (likely(m && m->nb_int)) { + name = "int"; + res = m->nb_int(x); + } + #endif +#else + if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { + res = PyNumber_Int(x); + } +#endif + if (likely(res)) { +#if PY_MAJOR_VERSION < 3 + if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { +#else + if (unlikely(!PyLong_CheckExact(res))) { +#endif + return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); + } + } + else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_TypeError, + "an integer is required"); + } + return res; +} +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { + Py_ssize_t ival; + PyObject *x; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(b))) { + if (sizeof(Py_ssize_t) >= sizeof(long)) + return PyInt_AS_LONG(b); + else + return PyInt_AsSsize_t(b); + } +#endif + if (likely(PyLong_CheckExact(b))) { + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(__Pyx_PyLong_IsCompact(b))) { + return __Pyx_PyLong_CompactValue(b); + } else { + const digit* digits = __Pyx_PyLong_Digits(b); + const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(b); + switch (size) { + case 2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + } + } + #endif + return PyLong_AsSsize_t(b); + } + x = PyNumber_Index(b); + if (!x) return -1; + ival = PyInt_AsSsize_t(x); + Py_DECREF(x); + return ival; +} +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { + if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { + return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); +#if PY_MAJOR_VERSION < 3 + } else if (likely(PyInt_CheckExact(o))) { + return PyInt_AS_LONG(o); +#endif + } else { + Py_ssize_t ival; + PyObject *x; + x = PyNumber_Index(o); + if (!x) return -1; + ival = PyInt_AsLong(x); + Py_DECREF(x); + return ival; + } +} +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { + return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); +} +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { + return PyInt_FromSize_t(ival); +} + + +/* #### Code section: utility_code_pragmas_end ### */ +#ifdef _MSC_VER +#pragma warning( pop ) +#endif + + + +/* #### Code section: end ### */ +#endif /* Py_PYTHON_H */ diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so new file mode 100755 index 0000000000..6f6f3e8baf Binary files /dev/null and b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so differ diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_sim_solver_lat.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_sim_solver_lat.c new file mode 100644 index 0000000000..0594aa27be --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_sim_solver_lat.c @@ -0,0 +1,290 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ +// standard +#include +#include + +// acados +#include "acados_c/external_function_interface.h" +#include "acados_c/sim_interface.h" +#include "acados_c/external_function_interface.h" + +#include "acados/sim/sim_common.h" +#include "acados/utils/external_function_generic.h" +#include "acados/utils/print.h" + + +// example specific +#include "lat_model/lat_model.h" +#include "acados_sim_solver_lat.h" + + +// ** solver data ** + +sim_solver_capsule * lat_acados_sim_solver_create_capsule() +{ + void* capsule_mem = malloc(sizeof(sim_solver_capsule)); + sim_solver_capsule *capsule = (sim_solver_capsule *) capsule_mem; + + return capsule; +} + + +int lat_acados_sim_solver_free_capsule(sim_solver_capsule * capsule) +{ + free(capsule); + return 0; +} + + +int lat_acados_sim_create(sim_solver_capsule * capsule) +{ + // initialize + const int nx = LAT_NX; + const int nu = LAT_NU; + const int nz = LAT_NZ; + const int np = LAT_NP; + bool tmp_bool; + + + double Tsim = 0.009765625; + + + // explicit ode + capsule->sim_forw_vde_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)); + capsule->sim_vde_adj_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)); + capsule->sim_expl_ode_fun_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)); + + capsule->sim_forw_vde_casadi->casadi_fun = &lat_expl_vde_forw; + capsule->sim_forw_vde_casadi->casadi_n_in = &lat_expl_vde_forw_n_in; + capsule->sim_forw_vde_casadi->casadi_n_out = &lat_expl_vde_forw_n_out; + capsule->sim_forw_vde_casadi->casadi_sparsity_in = &lat_expl_vde_forw_sparsity_in; + capsule->sim_forw_vde_casadi->casadi_sparsity_out = &lat_expl_vde_forw_sparsity_out; + capsule->sim_forw_vde_casadi->casadi_work = &lat_expl_vde_forw_work; + external_function_param_casadi_create(capsule->sim_forw_vde_casadi, np); + + capsule->sim_vde_adj_casadi->casadi_fun = &lat_expl_vde_adj; + capsule->sim_vde_adj_casadi->casadi_n_in = &lat_expl_vde_adj_n_in; + capsule->sim_vde_adj_casadi->casadi_n_out = &lat_expl_vde_adj_n_out; + capsule->sim_vde_adj_casadi->casadi_sparsity_in = &lat_expl_vde_adj_sparsity_in; + capsule->sim_vde_adj_casadi->casadi_sparsity_out = &lat_expl_vde_adj_sparsity_out; + capsule->sim_vde_adj_casadi->casadi_work = &lat_expl_vde_adj_work; + external_function_param_casadi_create(capsule->sim_vde_adj_casadi, np); + + capsule->sim_expl_ode_fun_casadi->casadi_fun = &lat_expl_ode_fun; + capsule->sim_expl_ode_fun_casadi->casadi_n_in = &lat_expl_ode_fun_n_in; + capsule->sim_expl_ode_fun_casadi->casadi_n_out = &lat_expl_ode_fun_n_out; + capsule->sim_expl_ode_fun_casadi->casadi_sparsity_in = &lat_expl_ode_fun_sparsity_in; + capsule->sim_expl_ode_fun_casadi->casadi_sparsity_out = &lat_expl_ode_fun_sparsity_out; + capsule->sim_expl_ode_fun_casadi->casadi_work = &lat_expl_ode_fun_work; + external_function_param_casadi_create(capsule->sim_expl_ode_fun_casadi, np); + + + + // sim plan & config + sim_solver_plan_t plan; + plan.sim_solver = ERK; + + // create correct config based on plan + sim_config * lat_sim_config = sim_config_create(plan); + capsule->acados_sim_config = lat_sim_config; + + // sim dims + void *lat_sim_dims = sim_dims_create(lat_sim_config); + capsule->acados_sim_dims = lat_sim_dims; + sim_dims_set(lat_sim_config, lat_sim_dims, "nx", &nx); + sim_dims_set(lat_sim_config, lat_sim_dims, "nu", &nu); + sim_dims_set(lat_sim_config, lat_sim_dims, "nz", &nz); + + + // sim opts + sim_opts *lat_sim_opts = sim_opts_create(lat_sim_config, lat_sim_dims); + capsule->acados_sim_opts = lat_sim_opts; + int tmp_int = 3; + sim_opts_set(lat_sim_config, lat_sim_opts, "newton_iter", &tmp_int); + double tmp_double = 0.0; + sim_opts_set(lat_sim_config, lat_sim_opts, "newton_tol", &tmp_double); + sim_collocation_type collocation_type = GAUSS_LEGENDRE; + sim_opts_set(lat_sim_config, lat_sim_opts, "collocation_type", &collocation_type); + + + tmp_int = 4; + sim_opts_set(lat_sim_config, lat_sim_opts, "num_stages", &tmp_int); + tmp_int = 1; + sim_opts_set(lat_sim_config, lat_sim_opts, "num_steps", &tmp_int); + tmp_bool = 0; + sim_opts_set(lat_sim_config, lat_sim_opts, "jac_reuse", &tmp_bool); + + + // sim in / out + sim_in *lat_sim_in = sim_in_create(lat_sim_config, lat_sim_dims); + capsule->acados_sim_in = lat_sim_in; + sim_out *lat_sim_out = sim_out_create(lat_sim_config, lat_sim_dims); + capsule->acados_sim_out = lat_sim_out; + + sim_in_set(lat_sim_config, lat_sim_dims, + lat_sim_in, "T", &Tsim); + + // model functions + lat_sim_config->model_set(lat_sim_in->model, + "expl_vde_forw", capsule->sim_forw_vde_casadi); + lat_sim_config->model_set(lat_sim_in->model, + "expl_vde_adj", capsule->sim_vde_adj_casadi); + lat_sim_config->model_set(lat_sim_in->model, + "expl_ode_fun", capsule->sim_expl_ode_fun_casadi); + + // sim solver + sim_solver *lat_sim_solver = sim_solver_create(lat_sim_config, + lat_sim_dims, lat_sim_opts); + capsule->acados_sim_solver = lat_sim_solver; + + + /* initialize parameter values */ + double* p = calloc(np, sizeof(double)); + + + lat_acados_sim_update_params(capsule, p, np); + free(p); + + + /* initialize input */ + // x + double x0[4]; + for (int ii = 0; ii < 4; ii++) + x0[ii] = 0.0; + + sim_in_set(lat_sim_config, lat_sim_dims, + lat_sim_in, "x", x0); + + + // u + double u0[1]; + for (int ii = 0; ii < 1; ii++) + u0[ii] = 0.0; + + sim_in_set(lat_sim_config, lat_sim_dims, + lat_sim_in, "u", u0); + + // S_forw + double S_forw[20]; + for (int ii = 0; ii < 20; ii++) + S_forw[ii] = 0.0; + for (int ii = 0; ii < 4; ii++) + S_forw[ii + ii * 4 ] = 1.0; + + + sim_in_set(lat_sim_config, lat_sim_dims, + lat_sim_in, "S_forw", S_forw); + + int status = sim_precompute(lat_sim_solver, lat_sim_in, lat_sim_out); + + return status; +} + + +int lat_acados_sim_solve(sim_solver_capsule *capsule) +{ + // integrate dynamics using acados sim_solver + int status = sim_solve(capsule->acados_sim_solver, + capsule->acados_sim_in, capsule->acados_sim_out); + if (status != 0) + printf("error in lat_acados_sim_solve()! Exiting.\n"); + + return status; +} + + +int lat_acados_sim_free(sim_solver_capsule *capsule) +{ + // free memory + sim_solver_destroy(capsule->acados_sim_solver); + sim_in_destroy(capsule->acados_sim_in); + sim_out_destroy(capsule->acados_sim_out); + sim_opts_destroy(capsule->acados_sim_opts); + sim_dims_destroy(capsule->acados_sim_dims); + sim_config_destroy(capsule->acados_sim_config); + + // free external function + external_function_param_casadi_free(capsule->sim_forw_vde_casadi); + external_function_param_casadi_free(capsule->sim_vde_adj_casadi); + external_function_param_casadi_free(capsule->sim_expl_ode_fun_casadi); + + return 0; +} + + +int lat_acados_sim_update_params(sim_solver_capsule *capsule, double *p, int np) +{ + int status = 0; + int casadi_np = LAT_NP; + + if (casadi_np != np) { + printf("lat_acados_sim_update_params: trying to set %i parameters for external functions." + " External function has %i parameters. Exiting.\n", np, casadi_np); + exit(1); + } + capsule->sim_forw_vde_casadi[0].set_param(capsule->sim_forw_vde_casadi, p); + capsule->sim_vde_adj_casadi[0].set_param(capsule->sim_vde_adj_casadi, p); + capsule->sim_expl_ode_fun_casadi[0].set_param(capsule->sim_expl_ode_fun_casadi, p); + + return status; +} + +/* getters pointers to C objects*/ +sim_config * lat_acados_get_sim_config(sim_solver_capsule *capsule) +{ + return capsule->acados_sim_config; +}; + +sim_in * lat_acados_get_sim_in(sim_solver_capsule *capsule) +{ + return capsule->acados_sim_in; +}; + +sim_out * lat_acados_get_sim_out(sim_solver_capsule *capsule) +{ + return capsule->acados_sim_out; +}; + +void * lat_acados_get_sim_dims(sim_solver_capsule *capsule) +{ + return capsule->acados_sim_dims; +}; + +sim_opts * lat_acados_get_sim_opts(sim_solver_capsule *capsule) +{ + return capsule->acados_sim_opts; +}; + +sim_solver * lat_acados_get_sim_solver(sim_solver_capsule *capsule) +{ + return capsule->acados_sim_solver; +}; + diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_sim_solver_lat.h b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_sim_solver_lat.h new file mode 100644 index 0000000000..e7e8a9d395 --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_sim_solver_lat.h @@ -0,0 +1,101 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +#ifndef ACADOS_SIM_lat_H_ +#define ACADOS_SIM_lat_H_ + +#include "acados_c/sim_interface.h" +#include "acados_c/external_function_interface.h" + +#define LAT_NX 4 +#define LAT_NZ 0 +#define LAT_NU 1 +#define LAT_NP 2 + +#ifdef __cplusplus +extern "C" { +#endif + + +// ** capsule for solver data ** +typedef struct sim_solver_capsule +{ + // acados objects + sim_in *acados_sim_in; + sim_out *acados_sim_out; + sim_solver *acados_sim_solver; + sim_opts *acados_sim_opts; + sim_config *acados_sim_config; + void *acados_sim_dims; + + /* external functions */ + // ERK + external_function_param_casadi * sim_forw_vde_casadi; + external_function_param_casadi * sim_vde_adj_casadi; + external_function_param_casadi * sim_expl_ode_fun_casadi; + external_function_param_casadi * sim_expl_ode_hess; + + // IRK + external_function_param_casadi * sim_impl_dae_fun; + external_function_param_casadi * sim_impl_dae_fun_jac_x_xdot_z; + external_function_param_casadi * sim_impl_dae_jac_x_xdot_u_z; + external_function_param_casadi * sim_impl_dae_hess; + + // GNSF + external_function_param_casadi * sim_gnsf_phi_fun; + external_function_param_casadi * sim_gnsf_phi_fun_jac_y; + external_function_param_casadi * sim_gnsf_phi_jac_y_uhat; + external_function_param_casadi * sim_gnsf_f_lo_jac_x1_x1dot_u_z; + external_function_param_casadi * sim_gnsf_get_matrices_fun; + +} sim_solver_capsule; + + +ACADOS_SYMBOL_EXPORT int lat_acados_sim_create(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT int lat_acados_sim_solve(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT int lat_acados_sim_free(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT int lat_acados_sim_update_params(sim_solver_capsule *capsule, double *value, int np); + +ACADOS_SYMBOL_EXPORT sim_config * lat_acados_get_sim_config(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT sim_in * lat_acados_get_sim_in(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT sim_out * lat_acados_get_sim_out(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT void * lat_acados_get_sim_dims(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT sim_opts * lat_acados_get_sim_opts(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT sim_solver * lat_acados_get_sim_solver(sim_solver_capsule *capsule); + + +ACADOS_SYMBOL_EXPORT sim_solver_capsule * lat_acados_sim_solver_create_capsule(void); +ACADOS_SYMBOL_EXPORT int lat_acados_sim_solver_free_capsule(sim_solver_capsule *capsule); + +#ifdef __cplusplus +} +#endif + +#endif // ACADOS_SIM_lat_H_ diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver.pxd b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver.pxd new file mode 100644 index 0000000000..208a515cc1 --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver.pxd @@ -0,0 +1,62 @@ +# +# Copyright (c) The acados authors. +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + +cimport acados_solver_common + +cdef extern from "acados_solver_lat.h": + ctypedef struct nlp_solver_capsule "lat_solver_capsule": + pass + + nlp_solver_capsule * acados_create_capsule "lat_acados_create_capsule"() + int acados_free_capsule "lat_acados_free_capsule"(nlp_solver_capsule *capsule) + + int acados_create "lat_acados_create"(nlp_solver_capsule * capsule) + + int acados_create_with_discretization "lat_acados_create_with_discretization"(nlp_solver_capsule * capsule, int n_time_steps, double* new_time_steps) + int acados_update_time_steps "lat_acados_update_time_steps"(nlp_solver_capsule * capsule, int N, double* new_time_steps) + int acados_update_qp_solver_cond_N "lat_acados_update_qp_solver_cond_N"(nlp_solver_capsule * capsule, int qp_solver_cond_N) + + int acados_update_params "lat_acados_update_params"(nlp_solver_capsule * capsule, int stage, double *value, int np_) + int acados_update_params_sparse "lat_acados_update_params_sparse"(nlp_solver_capsule * capsule, int stage, int *idx, double *p, int n_update) + int acados_solve "lat_acados_solve"(nlp_solver_capsule * capsule) + int acados_reset "lat_acados_reset"(nlp_solver_capsule * capsule, int reset_qp_solver_mem) + int acados_free "lat_acados_free"(nlp_solver_capsule * capsule) + void acados_print_stats "lat_acados_print_stats"(nlp_solver_capsule * capsule) + + int acados_custom_update "lat_acados_custom_update"(nlp_solver_capsule* capsule, double * data, int data_len) + + acados_solver_common.ocp_nlp_in *acados_get_nlp_in "lat_acados_get_nlp_in"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_out *acados_get_nlp_out "lat_acados_get_nlp_out"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_out *acados_get_sens_out "lat_acados_get_sens_out"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_solver *acados_get_nlp_solver "lat_acados_get_nlp_solver"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_config *acados_get_nlp_config "lat_acados_get_nlp_config"(nlp_solver_capsule * capsule) + void *acados_get_nlp_opts "lat_acados_get_nlp_opts"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_dims *acados_get_nlp_dims "lat_acados_get_nlp_dims"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_plan *acados_get_nlp_plan "lat_acados_get_nlp_plan"(nlp_solver_capsule * capsule) diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver_lat.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver_lat.c new file mode 100644 index 0000000000..3ecc293b7a --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver_lat.c @@ -0,0 +1,1034 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +// standard +#include +#include +#include +// acados +// #include "acados/utils/print.h" +#include "acados_c/ocp_nlp_interface.h" +#include "acados_c/external_function_interface.h" + +// example specific +#include "lat_model/lat_model.h" +#include "lat_constraints/lat_constraints.h" +#include "lat_cost/lat_cost.h" + + + + +#include "acados_solver_lat.h" + +#define NX LAT_NX +#define NZ LAT_NZ +#define NU LAT_NU +#define NP LAT_NP +#define NBX LAT_NBX +#define NBX0 LAT_NBX0 +#define NBU LAT_NBU +#define NSBX LAT_NSBX +#define NSBU LAT_NSBU +#define NSH LAT_NSH +#define NSG LAT_NSG +#define NSPHI LAT_NSPHI +#define NSHN LAT_NSHN +#define NSGN LAT_NSGN +#define NSPHIN LAT_NSPHIN +#define NSBXN LAT_NSBXN +#define NS LAT_NS +#define NSN LAT_NSN +#define NG LAT_NG +#define NBXN LAT_NBXN +#define NGN LAT_NGN +#define NY0 LAT_NY0 +#define NY LAT_NY +#define NYN LAT_NYN +// #define N LAT_N +#define NH LAT_NH +#define NPHI LAT_NPHI +#define NHN LAT_NHN +#define NPHIN LAT_NPHIN +#define NR LAT_NR + + +// ** solver data ** + +lat_solver_capsule * lat_acados_create_capsule(void) +{ + void* capsule_mem = malloc(sizeof(lat_solver_capsule)); + lat_solver_capsule *capsule = (lat_solver_capsule *) capsule_mem; + + return capsule; +} + + +int lat_acados_free_capsule(lat_solver_capsule *capsule) +{ + free(capsule); + return 0; +} + + +int lat_acados_create(lat_solver_capsule* capsule) +{ + int N_shooting_intervals = LAT_N; + double* new_time_steps = NULL; // NULL -> don't alter the code generated time-steps + return lat_acados_create_with_discretization(capsule, N_shooting_intervals, new_time_steps); +} + + +int lat_acados_update_time_steps(lat_solver_capsule* capsule, int N, double* new_time_steps) +{ + if (N != capsule->nlp_solver_plan->N) { + fprintf(stderr, "lat_acados_update_time_steps: given number of time steps (= %d) " \ + "differs from the currently allocated number of " \ + "time steps (= %d)!\n" \ + "Please recreate with new discretization and provide a new vector of time_stamps!\n", + N, capsule->nlp_solver_plan->N); + return 1; + } + + ocp_nlp_config * nlp_config = capsule->nlp_config; + ocp_nlp_dims * nlp_dims = capsule->nlp_dims; + ocp_nlp_in * nlp_in = capsule->nlp_in; + + for (int i = 0; i < N; i++) + { + ocp_nlp_in_set(nlp_config, nlp_dims, nlp_in, i, "Ts", &new_time_steps[i]); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "scaling", &new_time_steps[i]); + } + return 0; +} + +/** + * Internal function for lat_acados_create: step 1 + */ +void lat_acados_create_1_set_plan(ocp_nlp_plan_t* nlp_solver_plan, const int N) +{ + assert(N == nlp_solver_plan->N); + + /************************************************ + * plan + ************************************************/ + nlp_solver_plan->nlp_solver = SQP_RTI; + + nlp_solver_plan->ocp_qp_solver_plan.qp_solver = PARTIAL_CONDENSING_HPIPM; + + nlp_solver_plan->nlp_cost[0] = NONLINEAR_LS; + for (int i = 1; i < N; i++) + nlp_solver_plan->nlp_cost[i] = NONLINEAR_LS; + + nlp_solver_plan->nlp_cost[N] = NONLINEAR_LS; + + for (int i = 0; i < N; i++) + { + nlp_solver_plan->nlp_dynamics[i] = CONTINUOUS_MODEL; + nlp_solver_plan->sim_solver_plan[i].sim_solver = ERK; + } + + for (int i = 0; i < N; i++) + {nlp_solver_plan->nlp_constraints[i] = BGH; + } + nlp_solver_plan->nlp_constraints[N] = BGH; +} + + +/** + * Internal function for lat_acados_create: step 2 + */ +ocp_nlp_dims* lat_acados_create_2_create_and_set_dimensions(lat_solver_capsule* capsule) +{ + ocp_nlp_plan_t* nlp_solver_plan = capsule->nlp_solver_plan; + const int N = nlp_solver_plan->N; + ocp_nlp_config* nlp_config = capsule->nlp_config; + + /************************************************ + * dimensions + ************************************************/ + #define NINTNP1MEMS 17 + int* intNp1mem = (int*)malloc( (N+1)*sizeof(int)*NINTNP1MEMS ); + + int* nx = intNp1mem + (N+1)*0; + int* nu = intNp1mem + (N+1)*1; + int* nbx = intNp1mem + (N+1)*2; + int* nbu = intNp1mem + (N+1)*3; + int* nsbx = intNp1mem + (N+1)*4; + int* nsbu = intNp1mem + (N+1)*5; + int* nsg = intNp1mem + (N+1)*6; + int* nsh = intNp1mem + (N+1)*7; + int* nsphi = intNp1mem + (N+1)*8; + int* ns = intNp1mem + (N+1)*9; + int* ng = intNp1mem + (N+1)*10; + int* nh = intNp1mem + (N+1)*11; + int* nphi = intNp1mem + (N+1)*12; + int* nz = intNp1mem + (N+1)*13; + int* ny = intNp1mem + (N+1)*14; + int* nr = intNp1mem + (N+1)*15; + int* nbxe = intNp1mem + (N+1)*16; + + for (int i = 0; i < N+1; i++) + { + // common + nx[i] = NX; + nu[i] = NU; + nz[i] = NZ; + ns[i] = NS; + // cost + ny[i] = NY; + // constraints + nbx[i] = NBX; + nbu[i] = NBU; + nsbx[i] = NSBX; + nsbu[i] = NSBU; + nsg[i] = NSG; + nsh[i] = NSH; + nsphi[i] = NSPHI; + ng[i] = NG; + nh[i] = NH; + nphi[i] = NPHI; + nr[i] = NR; + nbxe[i] = 0; + } + + // for initial state + nbx[0] = NBX0; + nsbx[0] = 0; + ns[0] = NS - NSBX; + nbxe[0] = 4; + ny[0] = NY0; + + // terminal - common + nu[N] = 0; + nz[N] = 0; + ns[N] = NSN; + // cost + ny[N] = NYN; + // constraint + nbx[N] = NBXN; + nbu[N] = 0; + ng[N] = NGN; + nh[N] = NHN; + nphi[N] = NPHIN; + nr[N] = 0; + + nsbx[N] = NSBXN; + nsbu[N] = 0; + nsg[N] = NSGN; + nsh[N] = NSHN; + nsphi[N] = NSPHIN; + + /* create and set ocp_nlp_dims */ + ocp_nlp_dims * nlp_dims = ocp_nlp_dims_create(nlp_config); + + ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nx", nx); + ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nu", nu); + ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nz", nz); + ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "ns", ns); + + for (int i = 0; i <= N; i++) + { + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbx", &nbx[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbu", &nbu[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsbx", &nsbx[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsbu", &nsbu[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "ng", &ng[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsg", &nsg[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbxe", &nbxe[i]); + } + ocp_nlp_dims_set_cost(nlp_config, nlp_dims, 0, "ny", &ny[0]); + for (int i = 1; i < N; i++) + ocp_nlp_dims_set_cost(nlp_config, nlp_dims, i, "ny", &ny[i]); + + for (int i = 0; i < N; i++) + { + } + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nh", &nh[N]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nsh", &nsh[N]); + ocp_nlp_dims_set_cost(nlp_config, nlp_dims, N, "ny", &ny[N]); + free(intNp1mem); +return nlp_dims; +} + + +/** + * Internal function for lat_acados_create: step 3 + */ +void lat_acados_create_3_create_and_set_functions(lat_solver_capsule* capsule) +{ + const int N = capsule->nlp_solver_plan->N; + + /************************************************ + * external functions + ************************************************/ + +#define MAP_CASADI_FNC(__CAPSULE_FNC__, __MODEL_BASE_FNC__) do{ \ + capsule->__CAPSULE_FNC__.casadi_fun = & __MODEL_BASE_FNC__ ;\ + capsule->__CAPSULE_FNC__.casadi_n_in = & __MODEL_BASE_FNC__ ## _n_in; \ + capsule->__CAPSULE_FNC__.casadi_n_out = & __MODEL_BASE_FNC__ ## _n_out; \ + capsule->__CAPSULE_FNC__.casadi_sparsity_in = & __MODEL_BASE_FNC__ ## _sparsity_in; \ + capsule->__CAPSULE_FNC__.casadi_sparsity_out = & __MODEL_BASE_FNC__ ## _sparsity_out; \ + capsule->__CAPSULE_FNC__.casadi_work = & __MODEL_BASE_FNC__ ## _work; \ + external_function_param_casadi_create(&capsule->__CAPSULE_FNC__ , 2); \ + }while(false) + + + + + // explicit ode + capsule->forw_vde_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(forw_vde_casadi[i], lat_expl_vde_forw); + } + + capsule->expl_ode_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(expl_ode_fun[i], lat_expl_ode_fun); + } + + + // nonlinear least squares function + MAP_CASADI_FNC(cost_y_0_fun, lat_cost_y_0_fun); + MAP_CASADI_FNC(cost_y_0_fun_jac_ut_xt, lat_cost_y_0_fun_jac_ut_xt); + MAP_CASADI_FNC(cost_y_0_hess, lat_cost_y_0_hess); + // nonlinear least squares cost + capsule->cost_y_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N-1; i++) + { + MAP_CASADI_FNC(cost_y_fun[i], lat_cost_y_fun); + } + + capsule->cost_y_fun_jac_ut_xt = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N-1; i++) + { + MAP_CASADI_FNC(cost_y_fun_jac_ut_xt[i], lat_cost_y_fun_jac_ut_xt); + } + + capsule->cost_y_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N-1; i++) + { + MAP_CASADI_FNC(cost_y_hess[i], lat_cost_y_hess); + } + // nonlinear least square function + MAP_CASADI_FNC(cost_y_e_fun, lat_cost_y_e_fun); + MAP_CASADI_FNC(cost_y_e_fun_jac_ut_xt, lat_cost_y_e_fun_jac_ut_xt); + MAP_CASADI_FNC(cost_y_e_hess, lat_cost_y_e_hess); + +#undef MAP_CASADI_FNC +} + + +/** + * Internal function for lat_acados_create: step 4 + */ +void lat_acados_create_4_set_default_parameters(lat_solver_capsule* capsule) { + const int N = capsule->nlp_solver_plan->N; + // initialize parameters to nominal value + double* p = calloc(NP, sizeof(double)); + + for (int i = 0; i <= N; i++) { + lat_acados_update_params(capsule, i, p, NP); + } + free(p); +} + + +/** + * Internal function for lat_acados_create: step 5 + */ +void lat_acados_create_5_set_nlp_in(lat_solver_capsule* capsule, const int N, double* new_time_steps) +{ + assert(N == capsule->nlp_solver_plan->N); + ocp_nlp_config* nlp_config = capsule->nlp_config; + ocp_nlp_dims* nlp_dims = capsule->nlp_dims; + + /************************************************ + * nlp_in + ************************************************/ +// ocp_nlp_in * nlp_in = ocp_nlp_in_create(nlp_config, nlp_dims); +// capsule->nlp_in = nlp_in; + ocp_nlp_in * nlp_in = capsule->nlp_in; + + // set up time_steps + + + if (new_time_steps) { + lat_acados_update_time_steps(capsule, N, new_time_steps); + } else {// time_steps are different + double* time_steps = malloc(N*sizeof(double)); + time_steps[0] = 0.009765625; + time_steps[1] = 0.029296875; + time_steps[2] = 0.048828125; + time_steps[3] = 0.068359375; + time_steps[4] = 0.087890625; + time_steps[5] = 0.107421875; + time_steps[6] = 0.126953125; + time_steps[7] = 0.146484375; + time_steps[8] = 0.166015625; + time_steps[9] = 0.185546875; + time_steps[10] = 0.205078125; + time_steps[11] = 0.224609375; + time_steps[12] = 0.244140625; + time_steps[13] = 0.263671875; + time_steps[14] = 0.283203125; + time_steps[15] = 0.302734375; + time_steps[16] = 0.322265625; + time_steps[17] = 0.341796875; + time_steps[18] = 0.361328125; + time_steps[19] = 0.380859375; + time_steps[20] = 0.400390625; + time_steps[21] = 0.419921875; + time_steps[22] = 0.439453125; + time_steps[23] = 0.458984375; + time_steps[24] = 0.478515625; + time_steps[25] = 0.498046875; + time_steps[26] = 0.517578125; + time_steps[27] = 0.537109375; + time_steps[28] = 0.556640625; + time_steps[29] = 0.576171875; + time_steps[30] = 0.595703125; + time_steps[31] = 0.615234375; + lat_acados_update_time_steps(capsule, N, time_steps); + free(time_steps); + } + + /**** Dynamics ****/ + for (int i = 0; i < N; i++) + { + ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "expl_vde_forw", &capsule->forw_vde_casadi[i]); + ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "expl_ode_fun", &capsule->expl_ode_fun[i]); + + } + + /**** Cost ****/ + double* yref_0 = calloc(NY0, sizeof(double)); + // change only the non-zero elements: + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "yref", yref_0); + free(yref_0); + double* yref = calloc(NY, sizeof(double)); + // change only the non-zero elements: + + for (int i = 1; i < N; i++) + { + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "yref", yref); + } + free(yref); + double* yref_e = calloc(NYN, sizeof(double)); + // change only the non-zero elements: + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "yref", yref_e); + free(yref_e); + double* W_0 = calloc(NY0*NY0, sizeof(double)); + // change only the non-zero elements: + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "W", W_0); + free(W_0); + double* W = calloc(NY*NY, sizeof(double)); + // change only the non-zero elements: + + for (int i = 1; i < N; i++) + { + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "W", W); + } + free(W); + double* W_e = calloc(NYN*NYN, sizeof(double)); + // change only the non-zero elements: + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "W", W_e); + free(W_e); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_fun", &capsule->cost_y_0_fun); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_fun_jac", &capsule->cost_y_0_fun_jac_ut_xt); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_hess", &capsule->cost_y_0_hess); + for (int i = 1; i < N; i++) + { + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_fun", &capsule->cost_y_fun[i-1]); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_fun_jac", &capsule->cost_y_fun_jac_ut_xt[i-1]); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_hess", &capsule->cost_y_hess[i-1]); + } + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_fun", &capsule->cost_y_e_fun); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_fun_jac", &capsule->cost_y_e_fun_jac_ut_xt); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_hess", &capsule->cost_y_e_hess); + + + + /**** Constraints ****/ + + // bounds for initial stage + // x0 + int* idxbx0 = malloc(NBX0 * sizeof(int)); + idxbx0[0] = 0; + idxbx0[1] = 1; + idxbx0[2] = 2; + idxbx0[3] = 3; + + double* lubx0 = calloc(2*NBX0, sizeof(double)); + double* lbx0 = lubx0; + double* ubx0 = lubx0 + NBX0; + // change only the non-zero elements: + + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbx", idxbx0); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", lbx0); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", ubx0); + free(idxbx0); + free(lubx0); + // idxbxe_0 + int* idxbxe_0 = malloc(4 * sizeof(int)); + + idxbxe_0[0] = 0; + idxbxe_0[1] = 1; + idxbxe_0[2] = 2; + idxbxe_0[3] = 3; + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbxe", idxbxe_0); + free(idxbxe_0); + + /* constraints that are the same for initial and intermediate */ + + + + + + + + + // x + int* idxbx = malloc(NBX * sizeof(int)); + + idxbx[0] = 2; + idxbx[1] = 3; + double* lubx = calloc(2*NBX, sizeof(double)); + double* lbx = lubx; + double* ubx = lubx + NBX; + + lbx[0] = -1.5707963267948966; + ubx[0] = 1.5707963267948966; + lbx[1] = -0.8726646259971648; + ubx[1] = 0.8726646259971648; + + for (int i = 1; i < N; i++) + { + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxbx", idxbx); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lbx", lbx); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "ubx", ubx); + } + free(idxbx); + free(lubx); + + + + + + + + /* terminal constraints */ + + + + + + + + + + + + + + + +} + + +/** + * Internal function for lat_acados_create: step 6 + */ +void lat_acados_create_6_set_opts(lat_solver_capsule* capsule) +{ + const int N = capsule->nlp_solver_plan->N; + ocp_nlp_config* nlp_config = capsule->nlp_config; + void *nlp_opts = capsule->nlp_opts; + + /************************************************ + * opts + ************************************************/ + + + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "globalization", "fixed_step");int full_step_dual = 0; + ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "full_step_dual", &full_step_dual); + + // set collocation type (relevant for implicit integrators) + sim_collocation_type collocation_type = GAUSS_LEGENDRE; + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_collocation_type", &collocation_type); + + // set up sim_method_num_steps + // all sim_method_num_steps are identical + int sim_method_num_steps = 1; + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_steps", &sim_method_num_steps); + + // set up sim_method_num_stages + // all sim_method_num_stages are identical + int sim_method_num_stages = 4; + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_stages", &sim_method_num_stages); + + int newton_iter_val = 3; + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_newton_iter", &newton_iter_val); + + + // set up sim_method_jac_reuse + bool tmp_bool = (bool) 0; + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_jac_reuse", &tmp_bool); + + double nlp_solver_step_length = 1.0; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "step_length", &nlp_solver_step_length); + + double levenberg_marquardt = 0.0; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "levenberg_marquardt", &levenberg_marquardt); + + /* options QP solver */ + int qp_solver_cond_N; + + const int qp_solver_cond_N_ori = 1; + qp_solver_cond_N = N < qp_solver_cond_N_ori ? N : qp_solver_cond_N_ori; // use the minimum value here + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_cond_N", &qp_solver_cond_N); + + int nlp_solver_ext_qp_res = 0; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "ext_qp_res", &nlp_solver_ext_qp_res); + // set HPIPM mode: should be done before setting other QP solver options + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_hpipm_mode", "BALANCE"); + + + + int qp_solver_iter_max = 1; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_iter_max", &qp_solver_iter_max); + +int print_level = 0; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "print_level", &print_level); + int qp_solver_cond_ric_alg = 1; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_cond_ric_alg", &qp_solver_cond_ric_alg); + + int qp_solver_ric_alg = 1; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_ric_alg", &qp_solver_ric_alg); + + + int ext_cost_num_hess = 0; +} + + +/** + * Internal function for lat_acados_create: step 7 + */ +void lat_acados_create_7_set_nlp_out(lat_solver_capsule* capsule) +{ + const int N = capsule->nlp_solver_plan->N; + ocp_nlp_config* nlp_config = capsule->nlp_config; + ocp_nlp_dims* nlp_dims = capsule->nlp_dims; + ocp_nlp_out* nlp_out = capsule->nlp_out; + + // initialize primal solution + double* xu0 = calloc(NX+NU, sizeof(double)); + double* x0 = xu0; + + // initialize with x0 + + + + double* u0 = xu0 + NX; + + for (int i = 0; i < N; i++) + { + // x0 + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x0); + // u0 + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0); + } + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, N, "x", x0); + free(xu0); +} + + +/** + * Internal function for lat_acados_create: step 8 + */ +//void lat_acados_create_8_create_solver(lat_solver_capsule* capsule) +//{ +// capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts); +//} + +/** + * Internal function for lat_acados_create: step 9 + */ +int lat_acados_create_9_precompute(lat_solver_capsule* capsule) { + int status = ocp_nlp_precompute(capsule->nlp_solver, capsule->nlp_in, capsule->nlp_out); + + if (status != ACADOS_SUCCESS) { + printf("\nocp_nlp_precompute failed!\n\n"); + exit(1); + } + + return status; +} + + +int lat_acados_create_with_discretization(lat_solver_capsule* capsule, int N, double* new_time_steps) +{ + // If N does not match the number of shooting intervals used for code generation, new_time_steps must be given. + if (N != LAT_N && !new_time_steps) { + fprintf(stderr, "lat_acados_create_with_discretization: new_time_steps is NULL " \ + "but the number of shooting intervals (= %d) differs from the number of " \ + "shooting intervals (= %d) during code generation! Please provide a new vector of time_stamps!\n", \ + N, LAT_N); + return 1; + } + + // number of expected runtime parameters + capsule->nlp_np = NP; + + // 1) create and set nlp_solver_plan; create nlp_config + capsule->nlp_solver_plan = ocp_nlp_plan_create(N); + lat_acados_create_1_set_plan(capsule->nlp_solver_plan, N); + capsule->nlp_config = ocp_nlp_config_create(*capsule->nlp_solver_plan); + + // 3) create and set dimensions + capsule->nlp_dims = lat_acados_create_2_create_and_set_dimensions(capsule); + lat_acados_create_3_create_and_set_functions(capsule); + + // 4) set default parameters in functions + lat_acados_create_4_set_default_parameters(capsule); + + // 5) create and set nlp_in + capsule->nlp_in = ocp_nlp_in_create(capsule->nlp_config, capsule->nlp_dims); + lat_acados_create_5_set_nlp_in(capsule, N, new_time_steps); + + // 6) create and set nlp_opts + capsule->nlp_opts = ocp_nlp_solver_opts_create(capsule->nlp_config, capsule->nlp_dims); + lat_acados_create_6_set_opts(capsule); + + // 7) create and set nlp_out + // 7.1) nlp_out + capsule->nlp_out = ocp_nlp_out_create(capsule->nlp_config, capsule->nlp_dims); + // 7.2) sens_out + capsule->sens_out = ocp_nlp_out_create(capsule->nlp_config, capsule->nlp_dims); + lat_acados_create_7_set_nlp_out(capsule); + + // 8) create solver + capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts); + //lat_acados_create_8_create_solver(capsule); + + // 9) do precomputations + int status = lat_acados_create_9_precompute(capsule); + + return status; +} + +/** + * This function is for updating an already initialized solver with a different number of qp_cond_N. It is useful for code reuse after code export. + */ +int lat_acados_update_qp_solver_cond_N(lat_solver_capsule* capsule, int qp_solver_cond_N) +{ + // 1) destroy solver + ocp_nlp_solver_destroy(capsule->nlp_solver); + + // 2) set new value for "qp_cond_N" + const int N = capsule->nlp_solver_plan->N; + if(qp_solver_cond_N > N) + printf("Warning: qp_solver_cond_N = %d > N = %d\n", qp_solver_cond_N, N); + ocp_nlp_solver_opts_set(capsule->nlp_config, capsule->nlp_opts, "qp_cond_N", &qp_solver_cond_N); + + // 3) continue with the remaining steps from lat_acados_create_with_discretization(...): + // -> 8) create solver + capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts); + + // -> 9) do precomputations + int status = lat_acados_create_9_precompute(capsule); + return status; +} + + +int lat_acados_reset(lat_solver_capsule* capsule, int reset_qp_solver_mem) +{ + + // set initialization to all zeros + + const int N = capsule->nlp_solver_plan->N; + ocp_nlp_config* nlp_config = capsule->nlp_config; + ocp_nlp_dims* nlp_dims = capsule->nlp_dims; + ocp_nlp_out* nlp_out = capsule->nlp_out; + ocp_nlp_in* nlp_in = capsule->nlp_in; + ocp_nlp_solver* nlp_solver = capsule->nlp_solver; + + double* buffer = calloc(NX+NU+NZ+2*NS+2*NSN+NBX+NBU+NG+NH+NPHI+NBX0+NBXN+NHN+NPHIN+NGN, sizeof(double)); + + for(int i=0; i reset memory + int qp_status; + ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "qp_status", &qp_status); + if (reset_qp_solver_mem || (qp_status == 3)) + { + // printf("\nin reset qp_status %d -> resetting QP memory\n", qp_status); + ocp_nlp_solver_reset_qp_memory(nlp_solver, nlp_in, nlp_out); + } + + free(buffer); + return 0; +} + + + + +int lat_acados_update_params(lat_solver_capsule* capsule, int stage, double *p, int np) +{ + int solver_status = 0; + + int casadi_np = 2; + if (casadi_np != np) { + printf("acados_update_params: trying to set %i parameters for external functions." + " External function has %i parameters. Exiting.\n", np, casadi_np); + exit(1); + } + + const int N = capsule->nlp_solver_plan->N; + if (stage < N && stage >= 0) + { + capsule->forw_vde_casadi[stage].set_param(capsule->forw_vde_casadi+stage, p); + capsule->expl_ode_fun[stage].set_param(capsule->expl_ode_fun+stage, p); + + + // constraints + + + // cost + if (stage == 0) + { + capsule->cost_y_0_fun.set_param(&capsule->cost_y_0_fun, p); + capsule->cost_y_0_fun_jac_ut_xt.set_param(&capsule->cost_y_0_fun_jac_ut_xt, p); + capsule->cost_y_0_hess.set_param(&capsule->cost_y_0_hess, p); + } + else // 0 < stage < N + { + capsule->cost_y_fun[stage-1].set_param(capsule->cost_y_fun+stage-1, p); + capsule->cost_y_fun_jac_ut_xt[stage-1].set_param(capsule->cost_y_fun_jac_ut_xt+stage-1, p); + capsule->cost_y_hess[stage-1].set_param(capsule->cost_y_hess+stage-1, p); + } + } + + else // stage == N + { + // terminal shooting node has no dynamics + // cost + capsule->cost_y_e_fun.set_param(&capsule->cost_y_e_fun, p); + capsule->cost_y_e_fun_jac_ut_xt.set_param(&capsule->cost_y_e_fun_jac_ut_xt, p); + capsule->cost_y_e_hess.set_param(&capsule->cost_y_e_hess, p); + // constraints + + } + + return solver_status; +} + + +int lat_acados_update_params_sparse(lat_solver_capsule * capsule, int stage, int *idx, double *p, int n_update) +{ + int solver_status = 0; + + int casadi_np = 2; + if (casadi_np < n_update) { + printf("lat_acados_update_params_sparse: trying to set %d parameters for external functions." + " External function has %d parameters. Exiting.\n", n_update, casadi_np); + exit(1); + } + // for (int i = 0; i < n_update; i++) + // { + // if (idx[i] > casadi_np) { + // printf("lat_acados_update_params_sparse: attempt to set parameters with index %d, while" + // " external functions only has %d parameters. Exiting.\n", idx[i], casadi_np); + // exit(1); + // } + // printf("param %d value %e\n", idx[i], p[i]); + // } + const int N = capsule->nlp_solver_plan->N; + if (stage < N && stage >= 0) + { + capsule->forw_vde_casadi[stage].set_param_sparse(capsule->forw_vde_casadi+stage, n_update, idx, p); + capsule->expl_ode_fun[stage].set_param_sparse(capsule->expl_ode_fun+stage, n_update, idx, p); + + + // constraints + + + // cost + if (stage == 0) + { + capsule->cost_y_0_fun.set_param_sparse(&capsule->cost_y_0_fun, n_update, idx, p); + capsule->cost_y_0_fun_jac_ut_xt.set_param_sparse(&capsule->cost_y_0_fun_jac_ut_xt, n_update, idx, p); + capsule->cost_y_0_hess.set_param_sparse(&capsule->cost_y_0_hess, n_update, idx, p); + } + else // 0 < stage < N + { + capsule->cost_y_fun[stage-1].set_param_sparse(capsule->cost_y_fun+stage-1, n_update, idx, p); + capsule->cost_y_fun_jac_ut_xt[stage-1].set_param_sparse(capsule->cost_y_fun_jac_ut_xt+stage-1, n_update, idx, p); + capsule->cost_y_hess[stage-1].set_param_sparse(capsule->cost_y_hess+stage-1, n_update, idx, p); + } + } + + else // stage == N + { + // terminal shooting node has no dynamics + // cost + capsule->cost_y_e_fun.set_param_sparse(&capsule->cost_y_e_fun, n_update, idx, p); + capsule->cost_y_e_fun_jac_ut_xt.set_param_sparse(&capsule->cost_y_e_fun_jac_ut_xt, n_update, idx, p); + capsule->cost_y_e_hess.set_param_sparse(&capsule->cost_y_e_hess, n_update, idx, p); + // constraints + + } + + + return solver_status; +} + +int lat_acados_solve(lat_solver_capsule* capsule) +{ + // solve NLP + int solver_status = ocp_nlp_solve(capsule->nlp_solver, capsule->nlp_in, capsule->nlp_out); + + return solver_status; +} + + +int lat_acados_free(lat_solver_capsule* capsule) +{ + // before destroying, keep some info + const int N = capsule->nlp_solver_plan->N; + // free memory + ocp_nlp_solver_opts_destroy(capsule->nlp_opts); + ocp_nlp_in_destroy(capsule->nlp_in); + ocp_nlp_out_destroy(capsule->nlp_out); + ocp_nlp_out_destroy(capsule->sens_out); + ocp_nlp_solver_destroy(capsule->nlp_solver); + ocp_nlp_dims_destroy(capsule->nlp_dims); + ocp_nlp_config_destroy(capsule->nlp_config); + ocp_nlp_plan_destroy(capsule->nlp_solver_plan); + + /* free external function */ + // dynamics + for (int i = 0; i < N; i++) + { + external_function_param_casadi_free(&capsule->forw_vde_casadi[i]); + external_function_param_casadi_free(&capsule->expl_ode_fun[i]); + } + free(capsule->forw_vde_casadi); + free(capsule->expl_ode_fun); + + // cost + external_function_param_casadi_free(&capsule->cost_y_0_fun); + external_function_param_casadi_free(&capsule->cost_y_0_fun_jac_ut_xt); + external_function_param_casadi_free(&capsule->cost_y_0_hess); + for (int i = 0; i < N - 1; i++) + { + external_function_param_casadi_free(&capsule->cost_y_fun[i]); + external_function_param_casadi_free(&capsule->cost_y_fun_jac_ut_xt[i]); + external_function_param_casadi_free(&capsule->cost_y_hess[i]); + } + free(capsule->cost_y_fun); + free(capsule->cost_y_fun_jac_ut_xt); + free(capsule->cost_y_hess); + external_function_param_casadi_free(&capsule->cost_y_e_fun); + external_function_param_casadi_free(&capsule->cost_y_e_fun_jac_ut_xt); + external_function_param_casadi_free(&capsule->cost_y_e_hess); + + // constraints + + return 0; +} + + +void lat_acados_print_stats(lat_solver_capsule* capsule) +{ + int sqp_iter, stat_m, stat_n, tmp_int; + ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "sqp_iter", &sqp_iter); + ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "stat_n", &stat_n); + ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "stat_m", &stat_m); + + + double stat[1200]; + ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "statistics", stat); + + int nrow = sqp_iter+1 < stat_m ? sqp_iter+1 : stat_m; + + printf("iter\tres_stat\tres_eq\t\tres_ineq\tres_comp\tqp_stat\tqp_iter\talpha"); + if (stat_n > 8) + printf("\t\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp"); + printf("\n"); + printf("iter\tqp_stat\tqp_iter\n"); + for (int i = 0; i < nrow; i++) + { + for (int j = 0; j < stat_n + 1; j++) + { + tmp_int = (int) stat[i + j * nrow]; + printf("%d\t", tmp_int); + } + printf("\n"); + } +} + +int lat_acados_custom_update(lat_solver_capsule* capsule, double* data, int data_len) +{ + (void)capsule; + (void)data; + (void)data_len; + printf("\ndummy function that can be called in between solver calls to update parameters or numerical data efficiently in C.\n"); + printf("nothing set yet..\n"); + return 1; + +} + + + +ocp_nlp_in *lat_acados_get_nlp_in(lat_solver_capsule* capsule) { return capsule->nlp_in; } +ocp_nlp_out *lat_acados_get_nlp_out(lat_solver_capsule* capsule) { return capsule->nlp_out; } +ocp_nlp_out *lat_acados_get_sens_out(lat_solver_capsule* capsule) { return capsule->sens_out; } +ocp_nlp_solver *lat_acados_get_nlp_solver(lat_solver_capsule* capsule) { return capsule->nlp_solver; } +ocp_nlp_config *lat_acados_get_nlp_config(lat_solver_capsule* capsule) { return capsule->nlp_config; } +void *lat_acados_get_nlp_opts(lat_solver_capsule* capsule) { return capsule->nlp_opts; } +ocp_nlp_dims *lat_acados_get_nlp_dims(lat_solver_capsule* capsule) { return capsule->nlp_dims; } +ocp_nlp_plan_t *lat_acados_get_nlp_plan(lat_solver_capsule* capsule) { return capsule->nlp_solver_plan; } diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver_lat.h b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver_lat.h new file mode 100644 index 0000000000..90e5d202df --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver_lat.h @@ -0,0 +1,170 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +#ifndef ACADOS_SOLVER_lat_H_ +#define ACADOS_SOLVER_lat_H_ + +#include "acados/utils/types.h" + +#include "acados_c/ocp_nlp_interface.h" +#include "acados_c/external_function_interface.h" + +#define LAT_NX 4 +#define LAT_NZ 0 +#define LAT_NU 1 +#define LAT_NP 2 +#define LAT_NBX 2 +#define LAT_NBX0 4 +#define LAT_NBU 0 +#define LAT_NSBX 0 +#define LAT_NSBU 0 +#define LAT_NSH 0 +#define LAT_NSG 0 +#define LAT_NSPHI 0 +#define LAT_NSHN 0 +#define LAT_NSGN 0 +#define LAT_NSPHIN 0 +#define LAT_NSBXN 0 +#define LAT_NS 0 +#define LAT_NSN 0 +#define LAT_NG 0 +#define LAT_NBXN 0 +#define LAT_NGN 0 +#define LAT_NY0 5 +#define LAT_NY 5 +#define LAT_NYN 3 +#define LAT_N 32 +#define LAT_NH 0 +#define LAT_NPHI 0 +#define LAT_NHN 0 +#define LAT_NPHIN 0 +#define LAT_NR 0 + +#ifdef __cplusplus +extern "C" { +#endif + + +// ** capsule for solver data ** +typedef struct lat_solver_capsule +{ + // acados objects + ocp_nlp_in *nlp_in; + ocp_nlp_out *nlp_out; + ocp_nlp_out *sens_out; + ocp_nlp_solver *nlp_solver; + void *nlp_opts; + ocp_nlp_plan_t *nlp_solver_plan; + ocp_nlp_config *nlp_config; + ocp_nlp_dims *nlp_dims; + + // number of expected runtime parameters + unsigned int nlp_np; + + /* external functions */ + // dynamics + + external_function_param_casadi *forw_vde_casadi; + external_function_param_casadi *expl_ode_fun; + + + + + // cost + + external_function_param_casadi *cost_y_fun; + external_function_param_casadi *cost_y_fun_jac_ut_xt; + external_function_param_casadi *cost_y_hess; + + + + external_function_param_casadi cost_y_0_fun; + external_function_param_casadi cost_y_0_fun_jac_ut_xt; + external_function_param_casadi cost_y_0_hess; + + + + external_function_param_casadi cost_y_e_fun; + external_function_param_casadi cost_y_e_fun_jac_ut_xt; + external_function_param_casadi cost_y_e_hess; + + + // constraints + + + + +} lat_solver_capsule; + +ACADOS_SYMBOL_EXPORT lat_solver_capsule * lat_acados_create_capsule(void); +ACADOS_SYMBOL_EXPORT int lat_acados_free_capsule(lat_solver_capsule *capsule); + +ACADOS_SYMBOL_EXPORT int lat_acados_create(lat_solver_capsule * capsule); + +ACADOS_SYMBOL_EXPORT int lat_acados_reset(lat_solver_capsule* capsule, int reset_qp_solver_mem); + +/** + * Generic version of lat_acados_create which allows to use a different number of shooting intervals than + * the number used for code generation. If new_time_steps=NULL and n_time_steps matches the number used for code + * generation, the time-steps from code generation is used. + */ +ACADOS_SYMBOL_EXPORT int lat_acados_create_with_discretization(lat_solver_capsule * capsule, int n_time_steps, double* new_time_steps); +/** + * Update the time step vector. Number N must be identical to the currently set number of shooting nodes in the + * nlp_solver_plan. Returns 0 if no error occurred and a otherwise a value other than 0. + */ +ACADOS_SYMBOL_EXPORT int lat_acados_update_time_steps(lat_solver_capsule * capsule, int N, double* new_time_steps); +/** + * This function is used for updating an already initialized solver with a different number of qp_cond_N. + */ +ACADOS_SYMBOL_EXPORT int lat_acados_update_qp_solver_cond_N(lat_solver_capsule * capsule, int qp_solver_cond_N); +ACADOS_SYMBOL_EXPORT int lat_acados_update_params(lat_solver_capsule * capsule, int stage, double *value, int np); +ACADOS_SYMBOL_EXPORT int lat_acados_update_params_sparse(lat_solver_capsule * capsule, int stage, int *idx, double *p, int n_update); + +ACADOS_SYMBOL_EXPORT int lat_acados_solve(lat_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT int lat_acados_free(lat_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT void lat_acados_print_stats(lat_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT int lat_acados_custom_update(lat_solver_capsule* capsule, double* data, int data_len); + + +ACADOS_SYMBOL_EXPORT ocp_nlp_in *lat_acados_get_nlp_in(lat_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT ocp_nlp_out *lat_acados_get_nlp_out(lat_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT ocp_nlp_out *lat_acados_get_sens_out(lat_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT ocp_nlp_solver *lat_acados_get_nlp_solver(lat_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT ocp_nlp_config *lat_acados_get_nlp_config(lat_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT void *lat_acados_get_nlp_opts(lat_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT ocp_nlp_dims *lat_acados_get_nlp_dims(lat_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT ocp_nlp_plan_t *lat_acados_get_nlp_plan(lat_solver_capsule * capsule); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_SOLVER_lat_H_ diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_constraints/lat_constraints.h b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_constraints/lat_constraints.h new file mode 100644 index 0000000000..4e0f6e8545 --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_constraints/lat_constraints.h @@ -0,0 +1,50 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +#ifndef lat_CONSTRAINTS +#define lat_CONSTRAINTS + +#ifdef __cplusplus +extern "C" { +#endif + + + + + + + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // lat_CONSTRAINTS diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost.h b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost.h new file mode 100644 index 0000000000..b033ebda16 --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost.h @@ -0,0 +1,119 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef lat_COST +#define lat_COST + +#ifdef __cplusplus +extern "C" { +#endif + + +// Cost at initial shooting node + +int lat_cost_y_0_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int lat_cost_y_0_fun_work(int *, int *, int *, int *); +const int *lat_cost_y_0_fun_sparsity_in(int); +const int *lat_cost_y_0_fun_sparsity_out(int); +int lat_cost_y_0_fun_n_in(void); +int lat_cost_y_0_fun_n_out(void); + +int lat_cost_y_0_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int lat_cost_y_0_fun_jac_ut_xt_work(int *, int *, int *, int *); +const int *lat_cost_y_0_fun_jac_ut_xt_sparsity_in(int); +const int *lat_cost_y_0_fun_jac_ut_xt_sparsity_out(int); +int lat_cost_y_0_fun_jac_ut_xt_n_in(void); +int lat_cost_y_0_fun_jac_ut_xt_n_out(void); + +int lat_cost_y_0_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int lat_cost_y_0_hess_work(int *, int *, int *, int *); +const int *lat_cost_y_0_hess_sparsity_in(int); +const int *lat_cost_y_0_hess_sparsity_out(int); +int lat_cost_y_0_hess_n_in(void); +int lat_cost_y_0_hess_n_out(void); + + + +// Cost at path shooting node + +int lat_cost_y_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int lat_cost_y_fun_work(int *, int *, int *, int *); +const int *lat_cost_y_fun_sparsity_in(int); +const int *lat_cost_y_fun_sparsity_out(int); +int lat_cost_y_fun_n_in(void); +int lat_cost_y_fun_n_out(void); + +int lat_cost_y_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int lat_cost_y_fun_jac_ut_xt_work(int *, int *, int *, int *); +const int *lat_cost_y_fun_jac_ut_xt_sparsity_in(int); +const int *lat_cost_y_fun_jac_ut_xt_sparsity_out(int); +int lat_cost_y_fun_jac_ut_xt_n_in(void); +int lat_cost_y_fun_jac_ut_xt_n_out(void); + +int lat_cost_y_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int lat_cost_y_hess_work(int *, int *, int *, int *); +const int *lat_cost_y_hess_sparsity_in(int); +const int *lat_cost_y_hess_sparsity_out(int); +int lat_cost_y_hess_n_in(void); +int lat_cost_y_hess_n_out(void); + + + +// Cost at terminal shooting node + +int lat_cost_y_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int lat_cost_y_e_fun_work(int *, int *, int *, int *); +const int *lat_cost_y_e_fun_sparsity_in(int); +const int *lat_cost_y_e_fun_sparsity_out(int); +int lat_cost_y_e_fun_n_in(void); +int lat_cost_y_e_fun_n_out(void); + +int lat_cost_y_e_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int lat_cost_y_e_fun_jac_ut_xt_work(int *, int *, int *, int *); +const int *lat_cost_y_e_fun_jac_ut_xt_sparsity_in(int); +const int *lat_cost_y_e_fun_jac_ut_xt_sparsity_out(int); +int lat_cost_y_e_fun_jac_ut_xt_n_in(void); +int lat_cost_y_e_fun_jac_ut_xt_n_out(void); + +int lat_cost_y_e_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int lat_cost_y_e_hess_work(int *, int *, int *, int *); +const int *lat_cost_y_e_hess_sparsity_in(int); +const int *lat_cost_y_e_hess_sparsity_out(int); +int lat_cost_y_e_hess_n_in(void); +int lat_cost_y_e_hess_n_out(void); + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // lat_COST diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun.c new file mode 100644 index 0000000000..14e04af13c --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun.c @@ -0,0 +1,167 @@ +/* This file was automatically generated by CasADi 3.6.4. + * It consists of: + * 1) content generated by CasADi runtime: not copyrighted + * 2) template code copied from CasADi source: permissively licensed (MIT-0) + * 3) user code: owned by the user + * + */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) lat_cost_y_0_fun_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_s4 CASADI_PREFIX(s4) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[3] = {0, 0, 0}; +static const casadi_int casadi_s3[6] = {2, 1, 0, 2, 0, 1}; +static const casadi_int casadi_s4[9] = {5, 1, 0, 5, 0, 1, 2, 3, 4}; + +/* lat_cost_y_0_fun:(i0[4],i1,i2[],i3[2])->(o0[5]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a2; + a0=arg[0]? arg[0][1] : 0; + if (res[0]!=0) res[0][0]=a0; + a0=arg[3]? arg[3][0] : 0; + a1=10.; + a1=(a0+a1); + a2=arg[0]? arg[0][2] : 0; + a2=(a1*a2); + if (res[0]!=0) res[0][1]=a2; + a2=arg[0]? arg[0][3] : 0; + a2=(a1*a2); + if (res[0]!=0) res[0][2]=a2; + a2=arg[1]? arg[1][0] : 0; + a1=(a1*a2); + if (res[0]!=0) res[0][3]=a1; + a1=1.0000000000000001e-01; + a0=(a0+a1); + a2=(a2/a0); + if (res[0]!=0) res[0][4]=a2; + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_0_fun_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_0_fun_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_0_fun_incref(void) { +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_0_fun_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_0_fun_n_in(void) { return 4;} + +CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_0_fun_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real lat_cost_y_0_fun_default_in(casadi_int i) { + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_cost_y_0_fun_name_in(casadi_int i) { + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_cost_y_0_fun_name_out(casadi_int i) { + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_0_fun_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + case 3: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_0_fun_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s4; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 4; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun_jac_ut_xt.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun_jac_ut_xt.c new file mode 100644 index 0000000000..848abc64f3 --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun_jac_ut_xt.c @@ -0,0 +1,182 @@ +/* This file was automatically generated by CasADi 3.6.4. + * It consists of: + * 1) content generated by CasADi runtime: not copyrighted + * 2) template code copied from CasADi source: permissively licensed (MIT-0) + * 3) user code: owned by the user + * + */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) lat_cost_y_0_fun_jac_ut_xt_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_s4 CASADI_PREFIX(s4) +#define casadi_s5 CASADI_PREFIX(s5) +#define casadi_s6 CASADI_PREFIX(s6) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[3] = {0, 0, 0}; +static const casadi_int casadi_s3[6] = {2, 1, 0, 2, 0, 1}; +static const casadi_int casadi_s4[9] = {5, 1, 0, 5, 0, 1, 2, 3, 4}; +static const casadi_int casadi_s5[13] = {5, 5, 0, 1, 2, 3, 4, 5, 2, 3, 4, 0, 0}; +static const casadi_int casadi_s6[3] = {5, 0, 0}; + +/* lat_cost_y_0_fun_jac_ut_xt:(i0[4],i1,i2[],i3[2])->(o0[5],o1[5x5,5nz],o2[5x0]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a2, a3; + a0=arg[0]? arg[0][1] : 0; + if (res[0]!=0) res[0][0]=a0; + a0=arg[3]? arg[3][0] : 0; + a1=10.; + a1=(a0+a1); + a2=arg[0]? arg[0][2] : 0; + a2=(a1*a2); + if (res[0]!=0) res[0][1]=a2; + a2=arg[0]? arg[0][3] : 0; + a2=(a1*a2); + if (res[0]!=0) res[0][2]=a2; + a2=arg[1]? arg[1][0] : 0; + a3=(a1*a2); + if (res[0]!=0) res[0][3]=a3; + a3=1.0000000000000001e-01; + a0=(a0+a3); + a2=(a2/a0); + if (res[0]!=0) res[0][4]=a2; + a2=1.; + if (res[1]!=0) res[1][0]=a2; + if (res[1]!=0) res[1][1]=a1; + if (res[1]!=0) res[1][2]=a1; + if (res[1]!=0) res[1][3]=a1; + a0=(1./a0); + if (res[1]!=0) res[1][4]=a0; + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun_jac_ut_xt(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun_jac_ut_xt_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun_jac_ut_xt_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_0_fun_jac_ut_xt_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun_jac_ut_xt_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_0_fun_jac_ut_xt_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_0_fun_jac_ut_xt_incref(void) { +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_0_fun_jac_ut_xt_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_0_fun_jac_ut_xt_n_in(void) { return 4;} + +CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_0_fun_jac_ut_xt_n_out(void) { return 3;} + +CASADI_SYMBOL_EXPORT casadi_real lat_cost_y_0_fun_jac_ut_xt_default_in(casadi_int i) { + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_cost_y_0_fun_jac_ut_xt_name_in(casadi_int i) { + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_cost_y_0_fun_jac_ut_xt_name_out(casadi_int i) { + switch (i) { + case 0: return "o0"; + case 1: return "o1"; + case 2: return "o2"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_0_fun_jac_ut_xt_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + case 3: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_0_fun_jac_ut_xt_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s4; + case 1: return casadi_s5; + case 2: return casadi_s6; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun_jac_ut_xt_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 4; + if (sz_res) *sz_res = 3; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_hess.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_hess.c new file mode 100644 index 0000000000..8a52618847 --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_hess.c @@ -0,0 +1,152 @@ +/* This file was automatically generated by CasADi 3.6.4. + * It consists of: + * 1) content generated by CasADi runtime: not copyrighted + * 2) template code copied from CasADi source: permissively licensed (MIT-0) + * 3) user code: owned by the user + * + */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) lat_cost_y_0_hess_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_s4 CASADI_PREFIX(s4) +#define casadi_s5 CASADI_PREFIX(s5) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[3] = {0, 0, 0}; +static const casadi_int casadi_s3[9] = {5, 1, 0, 5, 0, 1, 2, 3, 4}; +static const casadi_int casadi_s4[6] = {2, 1, 0, 2, 0, 1}; +static const casadi_int casadi_s5[8] = {5, 5, 0, 0, 0, 0, 0, 0}; + +/* lat_cost_y_0_hess:(i0[4],i1,i2[],i3[5],i4[2])->(o0[5x5,0nz]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_0_hess(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_0_hess_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_0_hess_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_0_hess_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_0_hess_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_0_hess_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_0_hess_incref(void) { +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_0_hess_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_0_hess_n_in(void) { return 5;} + +CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_0_hess_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real lat_cost_y_0_hess_default_in(casadi_int i) { + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_cost_y_0_hess_name_in(casadi_int i) { + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + case 4: return "i4"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_cost_y_0_hess_name_out(casadi_int i) { + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_0_hess_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + case 3: return casadi_s3; + case 4: return casadi_s4; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_0_hess_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s5; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_0_hess_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 5; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun.c new file mode 100644 index 0000000000..9a7044c520 --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun.c @@ -0,0 +1,158 @@ +/* This file was automatically generated by CasADi 3.6.4. + * It consists of: + * 1) content generated by CasADi runtime: not copyrighted + * 2) template code copied from CasADi source: permissively licensed (MIT-0) + * 3) user code: owned by the user + * + */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) lat_cost_y_e_fun_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; +static const casadi_int casadi_s1[3] = {0, 0, 0}; +static const casadi_int casadi_s2[6] = {2, 1, 0, 2, 0, 1}; +static const casadi_int casadi_s3[7] = {3, 1, 0, 3, 0, 1, 2}; + +/* lat_cost_y_e_fun:(i0[4],i1[],i2[],i3[2])->(o0[3]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1; + a0=arg[0]? arg[0][1] : 0; + if (res[0]!=0) res[0][0]=a0; + a0=arg[3]? arg[3][0] : 0; + a1=10.; + a0=(a0+a1); + a1=arg[0]? arg[0][2] : 0; + a1=(a0*a1); + if (res[0]!=0) res[0][1]=a1; + a1=arg[0]? arg[0][3] : 0; + a0=(a0*a1); + if (res[0]!=0) res[0][2]=a0; + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_e_fun_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_e_fun_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_e_fun_incref(void) { +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_e_fun_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_e_fun_n_in(void) { return 4;} + +CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_e_fun_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real lat_cost_y_e_fun_default_in(casadi_int i) { + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_cost_y_e_fun_name_in(casadi_int i) { + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_cost_y_e_fun_name_out(casadi_int i) { + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_e_fun_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s1; + case 3: return casadi_s2; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_e_fun_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 4; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun_jac_ut_xt.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun_jac_ut_xt.c new file mode 100644 index 0000000000..c1b19acc1f --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun_jac_ut_xt.c @@ -0,0 +1,170 @@ +/* This file was automatically generated by CasADi 3.6.4. + * It consists of: + * 1) content generated by CasADi runtime: not copyrighted + * 2) template code copied from CasADi source: permissively licensed (MIT-0) + * 3) user code: owned by the user + * + */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) lat_cost_y_e_fun_jac_ut_xt_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_s4 CASADI_PREFIX(s4) +#define casadi_s5 CASADI_PREFIX(s5) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; +static const casadi_int casadi_s1[3] = {0, 0, 0}; +static const casadi_int casadi_s2[6] = {2, 1, 0, 2, 0, 1}; +static const casadi_int casadi_s3[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s4[9] = {4, 3, 0, 1, 2, 3, 1, 2, 3}; +static const casadi_int casadi_s5[3] = {3, 0, 0}; + +/* lat_cost_y_e_fun_jac_ut_xt:(i0[4],i1[],i2[],i3[2])->(o0[3],o1[4x3,3nz],o2[3x0]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1; + a0=arg[0]? arg[0][1] : 0; + if (res[0]!=0) res[0][0]=a0; + a0=arg[3]? arg[3][0] : 0; + a1=10.; + a0=(a0+a1); + a1=arg[0]? arg[0][2] : 0; + a1=(a0*a1); + if (res[0]!=0) res[0][1]=a1; + a1=arg[0]? arg[0][3] : 0; + a1=(a0*a1); + if (res[0]!=0) res[0][2]=a1; + a1=1.; + if (res[1]!=0) res[1][0]=a1; + if (res[1]!=0) res[1][1]=a0; + if (res[1]!=0) res[1][2]=a0; + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun_jac_ut_xt(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun_jac_ut_xt_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun_jac_ut_xt_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_e_fun_jac_ut_xt_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun_jac_ut_xt_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_e_fun_jac_ut_xt_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_e_fun_jac_ut_xt_incref(void) { +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_e_fun_jac_ut_xt_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_e_fun_jac_ut_xt_n_in(void) { return 4;} + +CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_e_fun_jac_ut_xt_n_out(void) { return 3;} + +CASADI_SYMBOL_EXPORT casadi_real lat_cost_y_e_fun_jac_ut_xt_default_in(casadi_int i) { + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_cost_y_e_fun_jac_ut_xt_name_in(casadi_int i) { + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_cost_y_e_fun_jac_ut_xt_name_out(casadi_int i) { + switch (i) { + case 0: return "o0"; + case 1: return "o1"; + case 2: return "o2"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_e_fun_jac_ut_xt_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s1; + case 3: return casadi_s2; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_e_fun_jac_ut_xt_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s3; + case 1: return casadi_s4; + case 2: return casadi_s5; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun_jac_ut_xt_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 4; + if (sz_res) *sz_res = 3; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_hess.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_hess.c new file mode 100644 index 0000000000..6da9aac934 --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_hess.c @@ -0,0 +1,150 @@ +/* This file was automatically generated by CasADi 3.6.4. + * It consists of: + * 1) content generated by CasADi runtime: not copyrighted + * 2) template code copied from CasADi source: permissively licensed (MIT-0) + * 3) user code: owned by the user + * + */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) lat_cost_y_e_hess_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_s4 CASADI_PREFIX(s4) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; +static const casadi_int casadi_s1[3] = {0, 0, 0}; +static const casadi_int casadi_s2[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s3[6] = {2, 1, 0, 2, 0, 1}; +static const casadi_int casadi_s4[7] = {4, 4, 0, 0, 0, 0, 0}; + +/* lat_cost_y_e_hess:(i0[4],i1[],i2[],i3[3],i4[2])->(o0[4x4,0nz]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_e_hess(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_e_hess_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_e_hess_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_e_hess_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_e_hess_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_e_hess_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_e_hess_incref(void) { +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_e_hess_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_e_hess_n_in(void) { return 5;} + +CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_e_hess_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real lat_cost_y_e_hess_default_in(casadi_int i) { + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_cost_y_e_hess_name_in(casadi_int i) { + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + case 4: return "i4"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_cost_y_e_hess_name_out(casadi_int i) { + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_e_hess_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s1; + case 3: return casadi_s2; + case 4: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_e_hess_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s4; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_e_hess_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 5; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun.c new file mode 100644 index 0000000000..8b2aec1391 --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun.c @@ -0,0 +1,167 @@ +/* This file was automatically generated by CasADi 3.6.4. + * It consists of: + * 1) content generated by CasADi runtime: not copyrighted + * 2) template code copied from CasADi source: permissively licensed (MIT-0) + * 3) user code: owned by the user + * + */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) lat_cost_y_fun_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_s4 CASADI_PREFIX(s4) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[3] = {0, 0, 0}; +static const casadi_int casadi_s3[6] = {2, 1, 0, 2, 0, 1}; +static const casadi_int casadi_s4[9] = {5, 1, 0, 5, 0, 1, 2, 3, 4}; + +/* lat_cost_y_fun:(i0[4],i1,i2[],i3[2])->(o0[5]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a2; + a0=arg[0]? arg[0][1] : 0; + if (res[0]!=0) res[0][0]=a0; + a0=arg[3]? arg[3][0] : 0; + a1=10.; + a1=(a0+a1); + a2=arg[0]? arg[0][2] : 0; + a2=(a1*a2); + if (res[0]!=0) res[0][1]=a2; + a2=arg[0]? arg[0][3] : 0; + a2=(a1*a2); + if (res[0]!=0) res[0][2]=a2; + a2=arg[1]? arg[1][0] : 0; + a1=(a1*a2); + if (res[0]!=0) res[0][3]=a1; + a1=1.0000000000000001e-01; + a0=(a0+a1); + a2=(a2/a0); + if (res[0]!=0) res[0][4]=a2; + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_fun_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_fun_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_fun_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_fun_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_fun_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_fun_incref(void) { +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_fun_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_fun_n_in(void) { return 4;} + +CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_fun_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real lat_cost_y_fun_default_in(casadi_int i) { + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_cost_y_fun_name_in(casadi_int i) { + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_cost_y_fun_name_out(casadi_int i) { + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_fun_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + case 3: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_fun_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s4; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 4; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun_jac_ut_xt.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun_jac_ut_xt.c new file mode 100644 index 0000000000..42e7ca7be8 --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun_jac_ut_xt.c @@ -0,0 +1,182 @@ +/* This file was automatically generated by CasADi 3.6.4. + * It consists of: + * 1) content generated by CasADi runtime: not copyrighted + * 2) template code copied from CasADi source: permissively licensed (MIT-0) + * 3) user code: owned by the user + * + */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) lat_cost_y_fun_jac_ut_xt_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_s4 CASADI_PREFIX(s4) +#define casadi_s5 CASADI_PREFIX(s5) +#define casadi_s6 CASADI_PREFIX(s6) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[3] = {0, 0, 0}; +static const casadi_int casadi_s3[6] = {2, 1, 0, 2, 0, 1}; +static const casadi_int casadi_s4[9] = {5, 1, 0, 5, 0, 1, 2, 3, 4}; +static const casadi_int casadi_s5[13] = {5, 5, 0, 1, 2, 3, 4, 5, 2, 3, 4, 0, 0}; +static const casadi_int casadi_s6[3] = {5, 0, 0}; + +/* lat_cost_y_fun_jac_ut_xt:(i0[4],i1,i2[],i3[2])->(o0[5],o1[5x5,5nz],o2[5x0]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a2, a3; + a0=arg[0]? arg[0][1] : 0; + if (res[0]!=0) res[0][0]=a0; + a0=arg[3]? arg[3][0] : 0; + a1=10.; + a1=(a0+a1); + a2=arg[0]? arg[0][2] : 0; + a2=(a1*a2); + if (res[0]!=0) res[0][1]=a2; + a2=arg[0]? arg[0][3] : 0; + a2=(a1*a2); + if (res[0]!=0) res[0][2]=a2; + a2=arg[1]? arg[1][0] : 0; + a3=(a1*a2); + if (res[0]!=0) res[0][3]=a3; + a3=1.0000000000000001e-01; + a0=(a0+a3); + a2=(a2/a0); + if (res[0]!=0) res[0][4]=a2; + a2=1.; + if (res[1]!=0) res[1][0]=a2; + if (res[1]!=0) res[1][1]=a1; + if (res[1]!=0) res[1][2]=a1; + if (res[1]!=0) res[1][3]=a1; + a0=(1./a0); + if (res[1]!=0) res[1][4]=a0; + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_fun_jac_ut_xt(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_fun_jac_ut_xt_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_fun_jac_ut_xt_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_fun_jac_ut_xt_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_fun_jac_ut_xt_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_fun_jac_ut_xt_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_fun_jac_ut_xt_incref(void) { +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_fun_jac_ut_xt_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_fun_jac_ut_xt_n_in(void) { return 4;} + +CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_fun_jac_ut_xt_n_out(void) { return 3;} + +CASADI_SYMBOL_EXPORT casadi_real lat_cost_y_fun_jac_ut_xt_default_in(casadi_int i) { + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_cost_y_fun_jac_ut_xt_name_in(casadi_int i) { + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_cost_y_fun_jac_ut_xt_name_out(casadi_int i) { + switch (i) { + case 0: return "o0"; + case 1: return "o1"; + case 2: return "o2"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_fun_jac_ut_xt_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + case 3: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_fun_jac_ut_xt_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s4; + case 1: return casadi_s5; + case 2: return casadi_s6; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_fun_jac_ut_xt_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 4; + if (sz_res) *sz_res = 3; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_hess.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_hess.c new file mode 100644 index 0000000000..422fe453d3 --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_hess.c @@ -0,0 +1,152 @@ +/* This file was automatically generated by CasADi 3.6.4. + * It consists of: + * 1) content generated by CasADi runtime: not copyrighted + * 2) template code copied from CasADi source: permissively licensed (MIT-0) + * 3) user code: owned by the user + * + */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) lat_cost_y_hess_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_s4 CASADI_PREFIX(s4) +#define casadi_s5 CASADI_PREFIX(s5) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[3] = {0, 0, 0}; +static const casadi_int casadi_s3[9] = {5, 1, 0, 5, 0, 1, 2, 3, 4}; +static const casadi_int casadi_s4[6] = {2, 1, 0, 2, 0, 1}; +static const casadi_int casadi_s5[8] = {5, 5, 0, 0, 0, 0, 0, 0}; + +/* lat_cost_y_hess:(i0[4],i1,i2[],i3[5],i4[2])->(o0[5x5,0nz]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_hess(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_hess_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_hess_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_hess_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_hess_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_hess_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_hess_incref(void) { +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_hess_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_hess_n_in(void) { return 5;} + +CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_hess_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real lat_cost_y_hess_default_in(casadi_int i) { + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_cost_y_hess_name_in(casadi_int i) { + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + case 4: return "i4"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_cost_y_hess_name_out(casadi_int i) { + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_hess_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + case 3: return casadi_s3; + case 4: return casadi_s4; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_hess_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s5; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_hess_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 5; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_ode_fun.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_ode_fun.c new file mode 100644 index 0000000000..df55b59611 --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_ode_fun.c @@ -0,0 +1,164 @@ +/* This file was automatically generated by CasADi 3.6.4. + * It consists of: + * 1) content generated by CasADi runtime: not copyrighted + * 2) template code copied from CasADi source: permissively licensed (MIT-0) + * 3) user code: owned by the user + * + */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) lat_expl_ode_fun_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[6] = {2, 1, 0, 2, 0, 1}; + +/* lat_expl_ode_fun:(i0[4],i1,i2[2])->(o0[4]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a2, a3, a4, a5; + a0=arg[2]? arg[2][0] : 0; + a1=arg[0]? arg[0][2] : 0; + a2=cos(a1); + a2=(a0*a2); + a3=arg[2]? arg[2][1] : 0; + a4=sin(a1); + a4=(a3*a4); + a5=arg[0]? arg[0][3] : 0; + a4=(a4*a5); + a2=(a2-a4); + if (res[0]!=0) res[0][0]=a2; + a2=sin(a1); + a0=(a0*a2); + a1=cos(a1); + a3=(a3*a1); + a3=(a3*a5); + a0=(a0+a3); + if (res[0]!=0) res[0][1]=a0; + if (res[0]!=0) res[0][2]=a5; + a5=arg[1]? arg[1][0] : 0; + if (res[0]!=0) res[0][3]=a5; + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_expl_ode_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int lat_expl_ode_fun_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_expl_ode_fun_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_expl_ode_fun_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int lat_expl_ode_fun_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_expl_ode_fun_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void lat_expl_ode_fun_incref(void) { +} + +CASADI_SYMBOL_EXPORT void lat_expl_ode_fun_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int lat_expl_ode_fun_n_in(void) { return 3;} + +CASADI_SYMBOL_EXPORT casadi_int lat_expl_ode_fun_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real lat_expl_ode_fun_default_in(casadi_int i) { + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_expl_ode_fun_name_in(casadi_int i) { + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_expl_ode_fun_name_out(casadi_int i) { + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_expl_ode_fun_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_expl_ode_fun_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int lat_expl_ode_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 3; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_vde_adj.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_vde_adj.c new file mode 100644 index 0000000000..6be7e00985 --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_vde_adj.c @@ -0,0 +1,186 @@ +/* This file was automatically generated by CasADi 3.6.4. + * It consists of: + * 1) content generated by CasADi runtime: not copyrighted + * 2) template code copied from CasADi source: permissively licensed (MIT-0) + * 3) user code: owned by the user + * + */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) lat_expl_vde_adj_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[6] = {2, 1, 0, 2, 0, 1}; +static const casadi_int casadi_s3[9] = {5, 1, 0, 5, 0, 1, 2, 3, 4}; + +/* lat_expl_vde_adj:(i0[4],i1[4],i2,i3[2])->(o0[5]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a2, a3, a4, a5, a6, a7; + a0=0.; + if (res[0]!=0) res[0][0]=a0; + if (res[0]!=0) res[0][1]=a0; + a0=arg[0]? arg[0][2] : 0; + a1=cos(a0); + a2=arg[3]? arg[3][0] : 0; + a3=arg[1]? arg[1][1] : 0; + a4=(a2*a3); + a1=(a1*a4); + a4=sin(a0); + a5=arg[3]? arg[3][1] : 0; + a6=arg[0]? arg[0][3] : 0; + a7=(a6*a3); + a7=(a5*a7); + a4=(a4*a7); + a1=(a1-a4); + a4=cos(a0); + a7=arg[1]? arg[1][0] : 0; + a6=(a6*a7); + a6=(a5*a6); + a4=(a4*a6); + a1=(a1-a4); + a4=sin(a0); + a2=(a2*a7); + a4=(a4*a2); + a1=(a1-a4); + if (res[0]!=0) res[0][2]=a1; + a1=arg[1]? arg[1][2] : 0; + a4=cos(a0); + a4=(a5*a4); + a4=(a4*a3); + a1=(a1+a4); + a0=sin(a0); + a5=(a5*a0); + a5=(a5*a7); + a1=(a1-a5); + if (res[0]!=0) res[0][3]=a1; + a1=arg[1]? arg[1][3] : 0; + if (res[0]!=0) res[0][4]=a1; + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_expl_vde_adj(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int lat_expl_vde_adj_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_expl_vde_adj_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_expl_vde_adj_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int lat_expl_vde_adj_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_expl_vde_adj_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void lat_expl_vde_adj_incref(void) { +} + +CASADI_SYMBOL_EXPORT void lat_expl_vde_adj_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int lat_expl_vde_adj_n_in(void) { return 4;} + +CASADI_SYMBOL_EXPORT casadi_int lat_expl_vde_adj_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real lat_expl_vde_adj_default_in(casadi_int i) { + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_expl_vde_adj_name_in(casadi_int i) { + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_expl_vde_adj_name_out(casadi_int i) { + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_expl_vde_adj_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s0; + case 2: return casadi_s1; + case 3: return casadi_s2; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_expl_vde_adj_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int lat_expl_vde_adj_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 4; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_vde_forw.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_vde_forw.c new file mode 100644 index 0000000000..664e14690b --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_vde_forw.c @@ -0,0 +1,299 @@ +/* This file was automatically generated by CasADi 3.6.4. + * It consists of: + * 1) content generated by CasADi runtime: not copyrighted + * 2) template code copied from CasADi source: permissively licensed (MIT-0) + * 3) user code: owned by the user + * + */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) lat_expl_vde_forw_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; +static const casadi_int casadi_s1[23] = {4, 4, 0, 4, 8, 12, 16, 0, 1, 2, 3, 0, 1, 2, 3, 0, 1, 2, 3, 0, 1, 2, 3}; +static const casadi_int casadi_s2[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s3[6] = {2, 1, 0, 2, 0, 1}; + +/* lat_expl_vde_forw:(i0[4],i1[4x4],i2[4],i3,i4[2])->(o0[4],o1[4x4],o2[4]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a10, a11, a12, a13, a14, a15, a2, a3, a4, a5, a6, a7, a8, a9; + a0=arg[4]? arg[4][0] : 0; + a1=arg[0]? arg[0][2] : 0; + a2=cos(a1); + a2=(a0*a2); + a3=arg[4]? arg[4][1] : 0; + a4=sin(a1); + a4=(a3*a4); + a5=arg[0]? arg[0][3] : 0; + a6=(a4*a5); + a2=(a2-a6); + if (res[0]!=0) res[0][0]=a2; + a2=sin(a1); + a2=(a0*a2); + a6=cos(a1); + a6=(a3*a6); + a7=(a6*a5); + a2=(a2+a7); + if (res[0]!=0) res[0][1]=a2; + if (res[0]!=0) res[0][2]=a5; + a2=arg[3]? arg[3][0] : 0; + if (res[0]!=0) res[0][3]=a2; + a2=sin(a1); + a7=arg[1]? arg[1][2] : 0; + a8=(a2*a7); + a8=(a0*a8); + a9=cos(a1); + a10=(a9*a7); + a10=(a3*a10); + a10=(a5*a10); + a11=arg[1]? arg[1][3] : 0; + a12=(a4*a11); + a10=(a10+a12); + a8=(a8+a10); + a8=(-a8); + if (res[1]!=0) res[1][0]=a8; + a8=cos(a1); + a10=(a8*a7); + a10=(a0*a10); + a12=(a6*a11); + a13=sin(a1); + a7=(a13*a7); + a7=(a3*a7); + a7=(a5*a7); + a12=(a12-a7); + a10=(a10+a12); + if (res[1]!=0) res[1][1]=a10; + if (res[1]!=0) res[1][2]=a11; + a11=0.; + if (res[1]!=0) res[1][3]=a11; + a10=arg[1]? arg[1][6] : 0; + a12=(a2*a10); + a12=(a0*a12); + a7=(a9*a10); + a7=(a3*a7); + a7=(a5*a7); + a14=arg[1]? arg[1][7] : 0; + a15=(a4*a14); + a7=(a7+a15); + a12=(a12+a7); + a12=(-a12); + if (res[1]!=0) res[1][4]=a12; + a12=(a8*a10); + a12=(a0*a12); + a7=(a6*a14); + a10=(a13*a10); + a10=(a3*a10); + a10=(a5*a10); + a7=(a7-a10); + a12=(a12+a7); + if (res[1]!=0) res[1][5]=a12; + if (res[1]!=0) res[1][6]=a14; + if (res[1]!=0) res[1][7]=a11; + a14=arg[1]? arg[1][10] : 0; + a12=(a2*a14); + a12=(a0*a12); + a7=(a9*a14); + a7=(a3*a7); + a7=(a5*a7); + a10=arg[1]? arg[1][11] : 0; + a15=(a4*a10); + a7=(a7+a15); + a12=(a12+a7); + a12=(-a12); + if (res[1]!=0) res[1][8]=a12; + a12=(a8*a14); + a12=(a0*a12); + a7=(a6*a10); + a14=(a13*a14); + a14=(a3*a14); + a14=(a5*a14); + a7=(a7-a14); + a12=(a12+a7); + if (res[1]!=0) res[1][9]=a12; + if (res[1]!=0) res[1][10]=a10; + if (res[1]!=0) res[1][11]=a11; + a10=arg[1]? arg[1][14] : 0; + a2=(a2*a10); + a2=(a0*a2); + a9=(a9*a10); + a9=(a3*a9); + a9=(a5*a9); + a12=arg[1]? arg[1][15] : 0; + a7=(a4*a12); + a9=(a9+a7); + a2=(a2+a9); + a2=(-a2); + if (res[1]!=0) res[1][12]=a2; + a8=(a8*a10); + a8=(a0*a8); + a2=(a6*a12); + a13=(a13*a10); + a13=(a3*a13); + a13=(a5*a13); + a2=(a2-a13); + a8=(a8+a2); + if (res[1]!=0) res[1][13]=a8; + if (res[1]!=0) res[1][14]=a12; + if (res[1]!=0) res[1][15]=a11; + a11=sin(a1); + a12=arg[2]? arg[2][2] : 0; + a11=(a11*a12); + a11=(a0*a11); + a8=cos(a1); + a8=(a8*a12); + a8=(a3*a8); + a8=(a5*a8); + a2=arg[2]? arg[2][3] : 0; + a4=(a4*a2); + a8=(a8+a4); + a11=(a11+a8); + a11=(-a11); + if (res[2]!=0) res[2][0]=a11; + a11=cos(a1); + a11=(a11*a12); + a0=(a0*a11); + a6=(a6*a2); + a1=sin(a1); + a1=(a1*a12); + a3=(a3*a1); + a5=(a5*a3); + a6=(a6-a5); + a0=(a0+a6); + if (res[2]!=0) res[2][1]=a0; + if (res[2]!=0) res[2][2]=a2; + a2=1.; + if (res[2]!=0) res[2][3]=a2; + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_expl_vde_forw(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int lat_expl_vde_forw_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_expl_vde_forw_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_expl_vde_forw_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int lat_expl_vde_forw_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_expl_vde_forw_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void lat_expl_vde_forw_incref(void) { +} + +CASADI_SYMBOL_EXPORT void lat_expl_vde_forw_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int lat_expl_vde_forw_n_in(void) { return 5;} + +CASADI_SYMBOL_EXPORT casadi_int lat_expl_vde_forw_n_out(void) { return 3;} + +CASADI_SYMBOL_EXPORT casadi_real lat_expl_vde_forw_default_in(casadi_int i) { + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_expl_vde_forw_name_in(casadi_int i) { + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + case 4: return "i4"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_expl_vde_forw_name_out(casadi_int i) { + switch (i) { + case 0: return "o0"; + case 1: return "o1"; + case 2: return "o2"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_expl_vde_forw_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s0; + case 3: return casadi_s2; + case 4: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_expl_vde_forw_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s0; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int lat_expl_vde_forw_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 5; + if (sz_res) *sz_res = 3; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_model.h b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_model.h new file mode 100644 index 0000000000..9d28e962d9 --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_model.h @@ -0,0 +1,71 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +#ifndef lat_MODEL +#define lat_MODEL + +#ifdef __cplusplus +extern "C" { +#endif + + +/* explicit ODE */ + +// explicit ODE +int lat_expl_ode_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int lat_expl_ode_fun_work(int *, int *, int *, int *); +const int *lat_expl_ode_fun_sparsity_in(int); +const int *lat_expl_ode_fun_sparsity_out(int); +int lat_expl_ode_fun_n_in(void); +int lat_expl_ode_fun_n_out(void); + +// explicit forward VDE +int lat_expl_vde_forw(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int lat_expl_vde_forw_work(int *, int *, int *, int *); +const int *lat_expl_vde_forw_sparsity_in(int); +const int *lat_expl_vde_forw_sparsity_out(int); +int lat_expl_vde_forw_n_in(void); +int lat_expl_vde_forw_n_out(void); + +// explicit adjoint VDE +int lat_expl_vde_adj(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int lat_expl_vde_adj_work(int *, int *, int *, int *); +const int *lat_expl_vde_adj_sparsity_in(int); +const int *lat_expl_vde_adj_sparsity_out(int); +int lat_expl_vde_adj_n_in(void); +int lat_expl_vde_adj_n_out(void); + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // lat_MODEL diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so new file mode 100755 index 0000000000..7ed2658ac2 Binary files /dev/null and b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so differ diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/main_lat.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/main_lat.c new file mode 100644 index 0000000000..01fbdc6d61 --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/main_lat.c @@ -0,0 +1,216 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +// standard +#include +#include +// acados +#include "acados/utils/print.h" +#include "acados/utils/math.h" +#include "acados_c/ocp_nlp_interface.h" +#include "acados_c/external_function_interface.h" +#include "acados_solver_lat.h" + +// blasfeo +#include "blasfeo/include/blasfeo_d_aux_ext_dep.h" + +#define NX LAT_NX +#define NZ LAT_NZ +#define NU LAT_NU +#define NP LAT_NP +#define NBX LAT_NBX +#define NBX0 LAT_NBX0 +#define NBU LAT_NBU +#define NSBX LAT_NSBX +#define NSBU LAT_NSBU +#define NSH LAT_NSH +#define NSG LAT_NSG +#define NSPHI LAT_NSPHI +#define NSHN LAT_NSHN +#define NSGN LAT_NSGN +#define NSPHIN LAT_NSPHIN +#define NSBXN LAT_NSBXN +#define NS LAT_NS +#define NSN LAT_NSN +#define NG LAT_NG +#define NBXN LAT_NBXN +#define NGN LAT_NGN +#define NY0 LAT_NY0 +#define NY LAT_NY +#define NYN LAT_NYN +#define NH LAT_NH +#define NPHI LAT_NPHI +#define NHN LAT_NHN +#define NPHIN LAT_NPHIN +#define NR LAT_NR + + +int main() +{ + + lat_solver_capsule *acados_ocp_capsule = lat_acados_create_capsule(); + // there is an opportunity to change the number of shooting intervals in C without new code generation + int N = LAT_N; + // allocate the array and fill it accordingly + double* new_time_steps = NULL; + int status = lat_acados_create_with_discretization(acados_ocp_capsule, N, new_time_steps); + + if (status) + { + printf("lat_acados_create() returned status %d. Exiting.\n", status); + exit(1); + } + + ocp_nlp_config *nlp_config = lat_acados_get_nlp_config(acados_ocp_capsule); + ocp_nlp_dims *nlp_dims = lat_acados_get_nlp_dims(acados_ocp_capsule); + ocp_nlp_in *nlp_in = lat_acados_get_nlp_in(acados_ocp_capsule); + ocp_nlp_out *nlp_out = lat_acados_get_nlp_out(acados_ocp_capsule); + ocp_nlp_solver *nlp_solver = lat_acados_get_nlp_solver(acados_ocp_capsule); + void *nlp_opts = lat_acados_get_nlp_opts(acados_ocp_capsule); + + // initial condition + int idxbx0[NBX0]; + idxbx0[0] = 0; + idxbx0[1] = 1; + idxbx0[2] = 2; + idxbx0[3] = 3; + + double lbx0[NBX0]; + double ubx0[NBX0]; + lbx0[0] = 0.0; + ubx0[0] = 0.0; + lbx0[1] = 0.0; + ubx0[1] = 0.0; + lbx0[2] = 0.0; + ubx0[2] = 0.0; + lbx0[3] = 0.0; + ubx0[3] = 0.0; + + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbx", idxbx0); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", lbx0); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", ubx0); + + // initialization for state values + double x_init[NX]; + x_init[0] = 0.0; + x_init[1] = 0.0; + x_init[2] = 0.0; + x_init[3] = 0.0; + + // initial value for control input + double u0[NU]; + u0[0] = 0.0; + // set parameters + double p[NP]; + p[0] = 0.0; + p[1] = 0.0; + + for (int ii = 0; ii <= N; ii++) + { + lat_acados_update_params(acados_ocp_capsule, ii, p, NP); + } + + + // prepare evaluation + int NTIMINGS = 1; + double min_time = 1e12; + double kkt_norm_inf; + double elapsed_time; + int sqp_iter; + + double xtraj[NX * (N+1)]; + double utraj[NU * N]; + + + // solve ocp in loop + int rti_phase = 0; + + for (int ii = 0; ii < NTIMINGS; ii++) + { + // initialize solution + for (int i = 0; i < N; i++) + { + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x_init); + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0); + } + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, N, "x", x_init); + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "rti_phase", &rti_phase); + status = lat_acados_solve(acados_ocp_capsule); + ocp_nlp_get(nlp_config, nlp_solver, "time_tot", &elapsed_time); + min_time = MIN(elapsed_time, min_time); + } + + /* print solution and statistics */ + for (int ii = 0; ii <= nlp_dims->N; ii++) + ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "x", &xtraj[ii*NX]); + for (int ii = 0; ii < nlp_dims->N; ii++) + ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "u", &utraj[ii*NU]); + + printf("\n--- xtraj ---\n"); + d_print_exp_tran_mat( NX, N+1, xtraj, NX); + printf("\n--- utraj ---\n"); + d_print_exp_tran_mat( NU, N, utraj, NU ); + // ocp_nlp_out_print(nlp_solver->dims, nlp_out); + + printf("\nsolved ocp %d times, solution printed above\n\n", NTIMINGS); + + if (status == ACADOS_SUCCESS) + { + printf("lat_acados_solve(): SUCCESS!\n"); + } + else + { + printf("lat_acados_solve() failed with status %d.\n", status); + } + + // get solution + ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 0, "kkt_norm_inf", &kkt_norm_inf); + ocp_nlp_get(nlp_config, nlp_solver, "sqp_iter", &sqp_iter); + + lat_acados_print_stats(acados_ocp_capsule); + + printf("\nSolver info:\n"); + printf(" SQP iterations %2d\n minimum time for %d solve %f [ms]\n KKT %e\n", + sqp_iter, NTIMINGS, min_time*1000, kkt_norm_inf); + + // free solver + status = lat_acados_free(acados_ocp_capsule); + if (status) { + printf("lat_acados_free() returned status %d. \n", status); + } + // free solver capsule + status = lat_acados_free_capsule(acados_ocp_capsule); + if (status) { + printf("lat_acados_free_capsule() returned status %d. \n", status); + } + + return status; +} diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/main_sim_lat.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/main_sim_lat.c new file mode 100644 index 0000000000..77bf8dddd6 --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/main_sim_lat.c @@ -0,0 +1,125 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +// standard +#include +#include +// acados +#include "acados/utils/print.h" +#include "acados/utils/math.h" +#include "acados_c/sim_interface.h" +#include "acados_sim_solver_lat.h" + +#define NX LAT_NX +#define NZ LAT_NZ +#define NU LAT_NU +#define NP LAT_NP + + +int main() +{ + int status = 0; + sim_solver_capsule *capsule = lat_acados_sim_solver_create_capsule(); + status = lat_acados_sim_create(capsule); + + if (status) + { + printf("acados_create() returned status %d. Exiting.\n", status); + exit(1); + } + + sim_config *acados_sim_config = lat_acados_get_sim_config(capsule); + sim_in *acados_sim_in = lat_acados_get_sim_in(capsule); + sim_out *acados_sim_out = lat_acados_get_sim_out(capsule); + void *acados_sim_dims = lat_acados_get_sim_dims(capsule); + + // initial condition + double x_current[NX]; + x_current[0] = 0.0; + x_current[1] = 0.0; + x_current[2] = 0.0; + x_current[3] = 0.0; + + + x_current[0] = 0.0; + x_current[1] = 0.0; + x_current[2] = 0.0; + x_current[3] = 0.0; + + + + + // initial value for control input + double u0[NU]; + u0[0] = 0.0; + // set parameters + double p[NP]; + p[0] = 0.0; + p[1] = 0.0; + + lat_acados_sim_update_params(capsule, p, NP); + + + int n_sim_steps = 3; + // solve ocp in loop + for (int ii = 0; ii < n_sim_steps; ii++) + { + sim_in_set(acados_sim_config, acados_sim_dims, + acados_sim_in, "x", x_current); + status = lat_acados_sim_solve(capsule); + + if (status != ACADOS_SUCCESS) + { + printf("acados_solve() failed with status %d.\n", status); + } + + sim_out_get(acados_sim_config, acados_sim_dims, + acados_sim_out, "x", x_current); + + printf("\nx_current, %d\n", ii); + for (int jj = 0; jj < NX; jj++) + { + printf("%e\n", x_current[jj]); + } + } + + printf("\nPerformed %d simulation steps with acados integrator successfully.\n\n", n_sim_steps); + + // free solver + status = lat_acados_sim_free(capsule); + if (status) { + printf("lat_acados_sim_free() returned status %d. \n", status); + } + + lat_acados_sim_solver_free_capsule(capsule); + + return status; +} diff --git a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py new file mode 100755 index 0000000000..ad60861088 --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py @@ -0,0 +1,199 @@ +#!/usr/bin/env python3 +import os +import time +import numpy as np + +from casadi import SX, vertcat, sin, cos +# WARNING: imports outside of constants will not trigger a rebuild +from openpilot.selfdrive.modeld.constants import ModelConstants + +if __name__ == '__main__': # generating code + from openpilot.third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver +else: + from openpilot.selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython + +LAT_MPC_DIR = os.path.dirname(os.path.abspath(__file__)) +EXPORT_DIR = os.path.join(LAT_MPC_DIR, "c_generated_code") +JSON_FILE = os.path.join(LAT_MPC_DIR, "acados_ocp_lat.json") +X_DIM = 4 +P_DIM = 2 +COST_E_DIM = 3 +COST_DIM = COST_E_DIM + 2 +SPEED_OFFSET = 10.0 +MODEL_NAME = 'lat' +ACADOS_SOLVER_TYPE = 'SQP_RTI' +N = 32 + +def gen_lat_model(): + model = AcadosModel() + model.name = MODEL_NAME + + # set up states & controls + x_ego = SX.sym('x_ego') + y_ego = SX.sym('y_ego') + psi_ego = SX.sym('psi_ego') + psi_rate_ego = SX.sym('psi_rate_ego') + model.x = vertcat(x_ego, y_ego, psi_ego, psi_rate_ego) + + # parameters + v_ego = SX.sym('v_ego') + rotation_radius = SX.sym('rotation_radius') + model.p = vertcat(v_ego, rotation_radius) + + # controls + psi_accel_ego = SX.sym('psi_accel_ego') + model.u = vertcat(psi_accel_ego) + + # xdot + x_ego_dot = SX.sym('x_ego_dot') + y_ego_dot = SX.sym('y_ego_dot') + psi_ego_dot = SX.sym('psi_ego_dot') + psi_rate_ego_dot = SX.sym('psi_rate_ego_dot') + + model.xdot = vertcat(x_ego_dot, y_ego_dot, psi_ego_dot, psi_rate_ego_dot) + + # dynamics model + f_expl = vertcat(v_ego * cos(psi_ego) - rotation_radius * sin(psi_ego) * psi_rate_ego, + v_ego * sin(psi_ego) + rotation_radius * cos(psi_ego) * psi_rate_ego, + psi_rate_ego, + psi_accel_ego) + model.f_impl_expr = model.xdot - f_expl + model.f_expl_expr = f_expl + return model + + +def gen_lat_ocp(): + ocp = AcadosOcp() + ocp.model = gen_lat_model() + + Tf = np.array(ModelConstants.T_IDXS)[N] + + # set dimensions + ocp.dims.N = N + + # set cost module + ocp.cost.cost_type = 'NONLINEAR_LS' + ocp.cost.cost_type_e = 'NONLINEAR_LS' + + Q = np.diag(np.zeros(COST_E_DIM)) + QR = np.diag(np.zeros(COST_DIM)) + + ocp.cost.W = QR + ocp.cost.W_e = Q + + y_ego, psi_ego, psi_rate_ego = ocp.model.x[1], ocp.model.x[2], ocp.model.x[3] + psi_rate_ego_dot = ocp.model.u[0] + v_ego = ocp.model.p[0] + + ocp.parameter_values = np.zeros((P_DIM, )) + + ocp.cost.yref = np.zeros((COST_DIM, )) + ocp.cost.yref_e = np.zeros((COST_E_DIM, )) + # Add offset to smooth out low speed control + # TODO unclear if this right solution long term + v_ego_offset = v_ego + SPEED_OFFSET + # TODO there are two costs on psi_rate_ego_dot, one + # is correlated to jerk the other to steering wheel movement + # the steering wheel movement cost is added to prevent excessive + # wheel movements + ocp.model.cost_y_expr = vertcat(y_ego, + v_ego_offset * psi_ego, + v_ego_offset * psi_rate_ego, + v_ego_offset * psi_rate_ego_dot, + psi_rate_ego_dot / (v_ego + 0.1)) + ocp.model.cost_y_expr_e = vertcat(y_ego, + v_ego_offset * psi_ego, + v_ego_offset * psi_rate_ego) + + # set constraints + ocp.constraints.constr_type = 'BGH' + ocp.constraints.idxbx = np.array([2,3]) + ocp.constraints.ubx = np.array([np.radians(90), np.radians(50)]) + ocp.constraints.lbx = np.array([-np.radians(90), -np.radians(50)]) + x0 = np.zeros((X_DIM,)) + ocp.constraints.x0 = x0 + + ocp.solver_options.qp_solver = 'PARTIAL_CONDENSING_HPIPM' + ocp.solver_options.hessian_approx = 'GAUSS_NEWTON' + ocp.solver_options.integrator_type = 'ERK' + ocp.solver_options.nlp_solver_type = ACADOS_SOLVER_TYPE + ocp.solver_options.qp_solver_iter_max = 1 + ocp.solver_options.qp_solver_cond_N = 1 + + # set prediction horizon + ocp.solver_options.tf = Tf + ocp.solver_options.shooting_nodes = np.array(ModelConstants.T_IDXS)[:N+1] + + ocp.code_export_directory = EXPORT_DIR + return ocp + + +class LateralMpc: + def __init__(self, x0=None): + if x0 is None: + x0 = np.zeros(X_DIM) + self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N) + self.reset(x0) + + def reset(self, x0=None): + if x0 is None: + x0 = np.zeros(X_DIM) + self.x_sol = np.zeros((N+1, X_DIM)) + self.u_sol = np.zeros((N, 1)) + self.yref = np.zeros((N+1, COST_DIM)) + for i in range(N): + self.solver.cost_set(i, "yref", self.yref[i]) + self.solver.cost_set(N, "yref", self.yref[N][:COST_E_DIM]) + + # Somehow needed for stable init + for i in range(N+1): + self.solver.set(i, 'x', np.zeros(X_DIM)) + self.solver.set(i, 'p', np.zeros(P_DIM)) + self.solver.constraints_set(0, "lbx", x0) + self.solver.constraints_set(0, "ubx", x0) + self.solver.solve() + self.solution_status = 0 + self.solve_time = 0.0 + self.cost = 0 + + def set_weights(self, path_weight, heading_weight, + lat_accel_weight, lat_jerk_weight, + steering_rate_weight): + W = np.asfortranarray(np.diag([path_weight, heading_weight, + lat_accel_weight, lat_jerk_weight, + steering_rate_weight])) + for i in range(N): + self.solver.cost_set(i, 'W', W) + self.solver.cost_set(N, 'W', W[:COST_E_DIM,:COST_E_DIM]) + + def run(self, x0, p, y_pts, heading_pts, yaw_rate_pts): + x0_cp = np.copy(x0) + p_cp = np.copy(p) + self.solver.constraints_set(0, "lbx", x0_cp) + self.solver.constraints_set(0, "ubx", x0_cp) + self.yref[:,0] = y_pts + v_ego = p_cp[0, 0] + # rotation_radius = p_cp[1] + self.yref[:,1] = heading_pts * (v_ego + SPEED_OFFSET) + self.yref[:,2] = yaw_rate_pts * (v_ego + SPEED_OFFSET) + for i in range(N): + self.solver.cost_set(i, "yref", self.yref[i]) + self.solver.set(i, "p", p_cp[i]) + self.solver.set(N, "p", p_cp[N]) + self.solver.cost_set(N, "yref", self.yref[N][:COST_E_DIM]) + + t = time.monotonic() + self.solution_status = self.solver.solve() + self.solve_time = time.monotonic() - t + + for i in range(N+1): + self.x_sol[i] = self.solver.get(i, 'x') + for i in range(N): + self.u_sol[i] = self.solver.get(i, 'u') + self.cost = self.solver.get_cost() + + +if __name__ == "__main__": + ocp = gen_lat_ocp() + AcadosOcpSolver.generate(ocp, json_file=JSON_FILE) + # AcadosOcpSolver.build(ocp.code_export_directory, with_cython=True) diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py new file mode 100644 index 0000000000..95809eb838 --- /dev/null +++ b/selfdrive/controls/lib/lateral_planner.py @@ -0,0 +1,254 @@ +import time +import numpy as np +from openpilot.common.conversions import Conversions as CV +from openpilot.common.realtime import DT_MDL +from openpilot.common.numpy_fast import interp +from openpilot.common.params import Params +from openpilot.common.swaglog import cloudlog +from openpilot.selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc +from openpilot.selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import N as LAT_MPC_N +from openpilot.selfdrive.controls.lib.lane_planner import LanePlanner, TRAJECTORY_SIZE +from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, MIN_SPEED, get_speed_error, get_road_edge +from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper + +import cereal.messaging as messaging +from cereal import log + +LaneChangeState = log.LaneChangeState + + +PATH_COST = 1.0 +LATERAL_MOTION_COST = 0.11 +LATERAL_ACCEL_COST = 0.0 +LATERAL_JERK_COST = 0.04 +# Extreme steering rate is unpleasant, even +# when it does not cause bad jerk. +# TODO this cost should be lowered when low +# speed lateral control is stable on all cars +STEERING_RATE_COST = 700.0 + + +class LateralPlanner: + def __init__(self, CP, debug=False, model_use_lateral_planner=False): + self.LP = LanePlanner() + self.DH = DesireHelper() + + # Vehicle model parameters used to calculate lateral movement of car + self.factor1 = CP.wheelbase - CP.centerToFront + self.factor2 = (CP.centerToFront * CP.mass) / (CP.wheelbase * CP.tireStiffnessRear) + self.last_cloudlog_t = 0 + self.solution_invalid_cnt = 0 + + self.path_xyz = np.zeros((TRAJECTORY_SIZE, 3)) + self.velocity_xyz = np.zeros((TRAJECTORY_SIZE, 3)) + self.plan_yaw = np.zeros((TRAJECTORY_SIZE,)) + self.plan_yaw_rate = np.zeros((TRAJECTORY_SIZE,)) + self.t_idxs = np.arange(TRAJECTORY_SIZE) + self.y_pts = np.zeros((TRAJECTORY_SIZE,)) + self.v_plan = np.zeros((TRAJECTORY_SIZE,)) + self.x_sol = np.zeros((TRAJECTORY_SIZE, 4), dtype=np.float32) + self.v_ego = MIN_SPEED + self.l_lane_change_prob = 0.0 + self.r_lane_change_prob = 0.0 + self.d_path_w_lines_xyz = np.zeros((TRAJECTORY_SIZE, 3)) + + self.debug_mode = debug + + self.lat_mpc = LateralMpc() + self.reset_mpc(np.zeros(4)) + + self.param_s = Params() + self.dynamic_lane_profile = int(self.param_s.get("DynamicLaneProfile", encoding="utf8")) + self.dynamic_lane_profile_status = True + self.dynamic_lane_profile_status_buffer = False + + self.standstill_elapsed = 0.0 + self.standstill = False + + self.vision_curve_laneless = self.param_s.get_bool("VisionCurveLaneless") + + self.road_edge = False + self.edge_toggle = self.param_s.get_bool("RoadEdge") + + self.param_read_counter = 0 + self.read_param() + + self.model_use_lateral_planner = model_use_lateral_planner + + def read_param(self): + self.dynamic_lane_profile = int(self.param_s.get("DynamicLaneProfile", encoding='utf8')) + if self.param_read_counter % 50 == 0: + self.vision_curve_laneless = self.param_s.get_bool("VisionCurveLaneless") + self.edge_toggle = self.param_s.get_bool("RoadEdge") + self.param_read_counter += 1 + + def reset_mpc(self, x0=None): + if x0 is None: + x0 = np.zeros(4) + self.x0 = x0 + self.lat_mpc.reset(x0=self.x0) + + def update(self, sm): + self.read_param() + self.standstill = sm['carState'].standstill + # clip speed , lateral planning is not possible at 0 speed + measured_curvature = sm['controlsState'].curvature + v_ego_car = sm['carState'].vEgo + + # Parse model predictions + md = sm['modelV2'] + + if self.model_use_lateral_planner: + self.LP.parse_model(md) + if len(md.position.x) == TRAJECTORY_SIZE and (len(md.orientation.x) == TRAJECTORY_SIZE or + (len(md.velocity.x) == TRAJECTORY_SIZE and len(md.lateralPlannerSolutionDEPRECATED.x) == TRAJECTORY_SIZE)): + if len(md.orientation.x) == TRAJECTORY_SIZE: + self.t_idxs = np.array(md.position.t) + self.plan_yaw = np.array(md.orientation.z) + self.plan_yaw_rate = np.array(md.orientationRate.z) + if len(md.velocity.x) == TRAJECTORY_SIZE and len(md.lateralPlannerSolutionDEPRECATED.x) == TRAJECTORY_SIZE: + self.x_sol = np.column_stack([md.lateralPlannerSolutionDEPRECATED.x, md.lateralPlannerSolutionDEPRECATED.y, md.lateralPlannerSolutionDEPRECATED.yaw, md.lateralPlannerSolutionDEPRECATED.yawRate]) + self.path_xyz = np.column_stack([md.position.x, md.position.y, md.position.z]) + self.velocity_xyz = np.column_stack([md.velocity.x, md.velocity.y, md.velocity.z]) + car_speed = np.linalg.norm(self.velocity_xyz, axis=1) - get_speed_error(md, v_ego_car) + self.v_plan = np.clip(car_speed, MIN_SPEED, np.inf) + self.v_ego = self.v_plan[0] + + # Lane change logic + lane_change_prob = self.LP.l_lane_change_prob + self.LP.r_lane_change_prob + self.DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, model_data=md) + + # Turn off lanes during lane change + if self.DH.desire == log.Desire.laneChangeRight or self.DH.desire == log.Desire.laneChangeLeft: + self.LP.lll_prob *= self.DH.lane_change_ll_prob + self.LP.rll_prob *= self.DH.lane_change_ll_prob + self.d_path_w_lines_xyz = self.LP.get_d_path(self.v_ego, self.t_idxs, self.path_xyz) + + low_speed = v_ego_car < 10 * CV.MPH_TO_MS + + if not self.get_dynamic_lane_profile(sm['longitudinalPlanSP']) and not low_speed: + self.path_xyz = self.d_path_w_lines_xyz + self.dynamic_lane_profile_status = False + else: + self.path_xyz[:, 1] += self.LP.path_offset + self.dynamic_lane_profile_status = True + + if not self.dynamic_lane_profile_status: + self.lat_mpc.set_weights(PATH_COST, LATERAL_MOTION_COST, + LATERAL_ACCEL_COST, LATERAL_JERK_COST, + STEERING_RATE_COST) + + y_pts = self.path_xyz[:LAT_MPC_N+1, 1] + heading_pts = self.plan_yaw[:LAT_MPC_N+1] + yaw_rate_pts = self.plan_yaw_rate[:LAT_MPC_N+1] + self.y_pts = y_pts + + assert len(y_pts) == LAT_MPC_N + 1 + assert len(heading_pts) == LAT_MPC_N + 1 + assert len(yaw_rate_pts) == LAT_MPC_N + 1 + lateral_factor = np.clip(self.factor1 - (self.factor2 * self.v_plan**2), 0.0, np.inf) + p = np.column_stack([self.v_plan, lateral_factor]) + self.lat_mpc.run(self.x0, + p, + y_pts, + heading_pts, + yaw_rate_pts) + # init state for next iteration + # mpc.u_sol is the desired second derivative of psi given x0 curv state. + # with x0[3] = measured_yaw_rate, this would be the actual desired yaw rate. + # instead, interpolate x_sol so that x0[3] is the desired yaw rate for lat_control. + self.x0[3] = interp(DT_MDL, self.t_idxs[:LAT_MPC_N + 1], self.lat_mpc.x_sol[:, 3]) + + # Check for infeasible MPC solution + mpc_nans = np.isnan(self.lat_mpc.x_sol[:, 3]).any() + t = time.monotonic() + if mpc_nans or self.lat_mpc.solution_status != 0: + self.reset_mpc() + self.x0[3] = measured_curvature * self.v_ego + if t > self.last_cloudlog_t + 5.0: + self.last_cloudlog_t = t + cloudlog.warning("Lateral mpc - nan: True") + + if self.lat_mpc.cost > 1e6 or mpc_nans: + self.solution_invalid_cnt += 1 + else: + self.solution_invalid_cnt = 0 + + if not self.model_use_lateral_planner: + self.road_edge = get_road_edge(sm['carState'], md, self.edge_toggle) + + def get_dynamic_lane_profile(self, longitudinal_plan_sp): + if self.dynamic_lane_profile == 1: + return True + elif self.dynamic_lane_profile == 0: + return False + elif self.dynamic_lane_profile == 2: + # laneless while lane change in progress + if self.DH.lane_change_state in (LaneChangeState.laneChangeStarting, LaneChangeState.laneChangeFinishing): + return True + # only while lane change is off + elif self.DH.lane_change_state == LaneChangeState.off: + # laneline probability too low, we switch to laneless mode + if (self.LP.lll_prob + self.LP.rll_prob) / 2 < 0.3 \ + or ((longitudinal_plan_sp.visionCurrentLatAcc > 1.0 or longitudinal_plan_sp.visionMaxPredLatAcc > 1.4) + and self.vision_curve_laneless): + self.dynamic_lane_profile_status_buffer = True + if (self.LP.lll_prob + self.LP.rll_prob) / 2 > 0.5 \ + and ((longitudinal_plan_sp.visionCurrentLatAcc < 0.6 and longitudinal_plan_sp.visionMaxPredLatAcc < 0.7) + or not self.vision_curve_laneless): + self.dynamic_lane_profile_status_buffer = False + if self.dynamic_lane_profile_status_buffer: # in buffer mode, always laneless + return True + return False + + def publish(self, sm, pm): + plan_solution_valid = self.solution_invalid_cnt < 2 + plan_send = messaging.new_message('lateralPlanDEPRECATED') + plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2']) + + lateralPlanDEPRECATED = plan_send.lateralPlanDEPRECATED + lateralPlanDEPRECATED.modelMonoTime = sm.logMonoTime['modelV2'] + lateralPlanDEPRECATED.dPathPoints = self.path_xyz[:,1].tolist() if self.dynamic_lane_profile_status else self.y_pts.tolist() + lateralPlanDEPRECATED.psis = self.x_sol[0:CONTROL_N, 2].tolist() if self.dynamic_lane_profile_status else self.lat_mpc.x_sol[0:CONTROL_N, 2].tolist() + + lateralPlanDEPRECATED.curvatures = (self.x_sol[0:CONTROL_N, 3]/self.v_ego).tolist() if self.dynamic_lane_profile_status else (self.lat_mpc.x_sol[0:CONTROL_N, 3]/self.v_ego).tolist() + lateralPlanDEPRECATED.curvatureRates = [float(0) for _ in range(CONTROL_N-1)] if self.dynamic_lane_profile_status else [float(x.item() / self.v_ego) for x in self.lat_mpc.u_sol[0:CONTROL_N - 1]] + [0.0] # TODO: unused + + lateralPlanDEPRECATED.mpcSolutionValid = bool(1) if self.dynamic_lane_profile_status else bool(plan_solution_valid) + lateralPlanDEPRECATED.solverExecutionTime = 0.0 if self.dynamic_lane_profile_status else self.lat_mpc.solve_time + if self.debug_mode: + lateralPlanDEPRECATED.solverState.x = self.x_sol.tolist() if self.dynamic_lane_profile_status else self.lat_mpc.x_sol.tolist() + if not self.dynamic_lane_profile_status: + lateralPlanDEPRECATED.solverCost = self.lat_mpc.cost + lateralPlanDEPRECATED.solverState = log.LateralPlan.SolverState.new_message() + lateralPlanDEPRECATED.solverState.u = self.lat_mpc.u_sol.flatten().tolist() + + lateralPlanDEPRECATED.desire = self.DH.desire + lateralPlanDEPRECATED.useLaneLines = not self.dynamic_lane_profile_status + lateralPlanDEPRECATED.laneChangeState = self.DH.lane_change_state + lateralPlanDEPRECATED.laneChangeDirection = self.DH.lane_change_direction + + pm.send('lateralPlanDEPRECATED', plan_send) + + plan_sp_send = messaging.new_message('lateralPlanSPDEPRECATED') + plan_sp_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2']) + + lateralPlanSPDEPRECATED = plan_sp_send.lateralPlanSPDEPRECATED + + lateralPlanSPDEPRECATED.laneWidth = float(self.LP.lane_width) + lateralPlanSPDEPRECATED.lProb = float(self.LP.lll_prob) + lateralPlanSPDEPRECATED.rProb = float(self.LP.rll_prob) + lateralPlanSPDEPRECATED.dProb = float(self.LP.d_prob) + + lateralPlanSPDEPRECATED.dynamicLaneProfile = int(self.dynamic_lane_profile) + lateralPlanSPDEPRECATED.dynamicLaneProfileStatus = bool(self.dynamic_lane_profile_status) + + lateralPlanSPDEPRECATED.laneChangeEdgeBlockDEPRECATED = self.road_edge + + if self.standstill: + self.standstill_elapsed += DT_MDL + else: + self.standstill_elapsed = 0.0 + lateralPlanSPDEPRECATED.standstillElapsed = int(self.standstill_elapsed) + + pm.send('lateralPlanSPDEPRECATED', plan_sp_send) diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py new file mode 100644 index 0000000000..1a9e7c2fb7 --- /dev/null +++ b/selfdrive/controls/lib/longcontrol.py @@ -0,0 +1,90 @@ +from cereal import car +from openpilot.common.numpy_fast import clip +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N +from openpilot.selfdrive.controls.lib.pid import PIDController +from openpilot.selfdrive.modeld.constants import ModelConstants + +CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N] + +LongCtrlState = car.CarControl.Actuators.LongControlState + + +def long_control_state_trans(CP, active, long_control_state, v_ego, + should_stop, brake_pressed, cruise_standstill, resume): + # Ignore cruise standstill if car has a gas interceptor + cruise_standstill = cruise_standstill and not CP.enableGasInterceptorDEPRECATED + stopping_condition = should_stop and not resume + starting_condition = ((not should_stop or resume) and + not cruise_standstill and + not brake_pressed) + started_condition = v_ego > CP.vEgoStarting + + if not active: + long_control_state = LongCtrlState.off + + else: + if long_control_state == LongCtrlState.off: + if not starting_condition: + long_control_state = LongCtrlState.stopping + else: + if starting_condition and CP.startingState: + long_control_state = LongCtrlState.starting + else: + long_control_state = LongCtrlState.pid + + elif long_control_state == LongCtrlState.stopping: + if starting_condition and CP.startingState: + long_control_state = LongCtrlState.starting + elif starting_condition: + long_control_state = LongCtrlState.pid + + elif long_control_state in [LongCtrlState.starting, LongCtrlState.pid]: + if stopping_condition: + long_control_state = LongCtrlState.stopping + elif started_condition: + long_control_state = LongCtrlState.pid + return long_control_state + +class LongControl: + def __init__(self, CP): + self.CP = CP + self.long_control_state = LongCtrlState.off + self.pid = PIDController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV), + (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV), + k_f=CP.longitudinalTuning.kf, rate=1 / DT_CTRL) + self.last_output_accel = 0.0 + + def reset(self): + self.pid.reset() + + def update(self, active, CS, a_target, should_stop, accel_limits, resume): + """Update longitudinal control. This updates the state machine and runs a PID loop""" + self.pid.neg_limit = accel_limits[0] + self.pid.pos_limit = accel_limits[1] + + self.long_control_state = long_control_state_trans(self.CP, active, self.long_control_state, CS.vEgo, + should_stop, CS.brakePressed, + CS.cruiseState.standstill, resume) + if self.long_control_state == LongCtrlState.off: + self.reset() + output_accel = 0. + + elif self.long_control_state == LongCtrlState.stopping: + output_accel = self.last_output_accel + if output_accel > self.CP.stopAccel: + output_accel = min(output_accel, 0.0) + output_accel -= self.CP.stoppingDecelRate * DT_CTRL + self.reset() + + elif self.long_control_state == LongCtrlState.starting: + output_accel = self.CP.startAccel + self.reset() + + else: # LongCtrlState.pid + error = a_target - CS.aEgo + output_accel = self.pid.update(error, speed=CS.vEgo, + feedforward=a_target) + + self.last_output_accel = clip(output_accel, accel_limits[0], accel_limits[1]) + return self.last_output_accel diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore b/selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore new file mode 100644 index 0000000000..6f09b1aa0c --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore @@ -0,0 +1,2 @@ +acados_ocp_long.json +c_generated_code/ diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/__init__.py b/selfdrive/controls/lib/longitudinal_mpc_lib/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/Makefile b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/Makefile new file mode 100644 index 0000000000..411a77be76 --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/Makefile @@ -0,0 +1,213 @@ +# +# Copyright (c) The acados authors. +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + + + + + +# define sources and use make's implicit rules to generate object files (*.o) + +# model +MODEL_SRC= +MODEL_SRC+= long_model/long_expl_ode_fun.c +MODEL_SRC+= long_model/long_expl_vde_forw.c +MODEL_SRC+= long_model/long_expl_vde_adj.c +MODEL_OBJ := $(MODEL_SRC:.c=.o) + +# optimal control problem - mostly CasADi exports +OCP_SRC= +OCP_SRC+= long_constraints/long_constr_h_fun_jac_uxt_zt.c +OCP_SRC+= long_constraints/long_constr_h_fun.c +OCP_SRC+= long_cost/long_cost_y_0_fun.c +OCP_SRC+= long_cost/long_cost_y_0_fun_jac_ut_xt.c +OCP_SRC+= long_cost/long_cost_y_0_hess.c +OCP_SRC+= long_cost/long_cost_y_fun.c +OCP_SRC+= long_cost/long_cost_y_fun_jac_ut_xt.c +OCP_SRC+= long_cost/long_cost_y_hess.c +OCP_SRC+= long_cost/long_cost_y_e_fun.c +OCP_SRC+= long_cost/long_cost_y_e_fun_jac_ut_xt.c +OCP_SRC+= long_cost/long_cost_y_e_hess.c + +OCP_SRC+= acados_solver_long.c +OCP_OBJ := $(OCP_SRC:.c=.o) + +# for sim solver +SIM_SRC= acados_sim_solver_long.c +SIM_OBJ := $(SIM_SRC:.c=.o) + +# for target example +EX_SRC= main_long.c +EX_OBJ := $(EX_SRC:.c=.o) +EX_EXE := $(EX_SRC:.c=) + +# for target example_sim +EX_SIM_SRC= main_sim_long.c +EX_SIM_OBJ := $(EX_SIM_SRC:.c=.o) +EX_SIM_EXE := $(EX_SIM_SRC:.c=) + +# combine model, sim and ocp object files +OBJ= +OBJ+= $(MODEL_OBJ) +OBJ+= $(SIM_OBJ) +OBJ+= $(OCP_OBJ) + +EXTERNAL_DIR= +EXTERNAL_LIB= + +INCLUDE_PATH = /data/openpilot/third_party/acados/include +LIB_PATH = /data/openpilot/third_party/acados/lib + +# preprocessor flags for make's implicit rules +CPPFLAGS+= -I$(INCLUDE_PATH) +CPPFLAGS+= -I$(INCLUDE_PATH)/acados +CPPFLAGS+= -I$(INCLUDE_PATH)/blasfeo/include +CPPFLAGS+= -I$(INCLUDE_PATH)/hpipm/include + + +# define the c-compiler flags for make's implicit rules +CFLAGS = -fPIC -std=c99 -O2#-fno-diagnostics-show-line-numbers -g +# # Debugging +# CFLAGS += -g3 + +# linker flags +LDFLAGS+= -L$(LIB_PATH) + +# link to libraries +LDLIBS+= -lacados +LDLIBS+= -lhpipm +LDLIBS+= -lblasfeo +LDLIBS+= -lm +LDLIBS+= + +# libraries +LIBACADOS_SOLVER=libacados_solver_long.so +LIBACADOS_OCP_SOLVER=libacados_ocp_solver_long.so +LIBACADOS_SIM_SOLVER=lib$(SIM_SRC:.c=.so) + +# virtual targets +.PHONY : all clean + +#all: clean example_sim example shared_lib + +all: clean example_sim example +shared_lib: bundled_shared_lib ocp_shared_lib sim_shared_lib + +# some linker targets +example: $(EX_OBJ) $(OBJ) + $(CC) $^ -o $(EX_EXE) $(LDFLAGS) $(LDLIBS) + +example_sim: $(EX_SIM_OBJ) $(MODEL_OBJ) $(SIM_OBJ) + $(CC) $^ -o $(EX_SIM_EXE) $(LDFLAGS) $(LDLIBS) + +bundled_shared_lib: $(OBJ) + $(CC) -shared $^ -o $(LIBACADOS_SOLVER) $(LDFLAGS) $(LDLIBS) + +ocp_shared_lib: $(OCP_OBJ) $(MODEL_OBJ) + $(CC) -shared $^ -o $(LIBACADOS_OCP_SOLVER) $(LDFLAGS) $(LDLIBS) \ + -L$(EXTERNAL_DIR) -l$(EXTERNAL_LIB) + +sim_shared_lib: $(SIM_OBJ) $(MODEL_OBJ) + $(CC) -shared $^ -o $(LIBACADOS_SIM_SOLVER) $(LDFLAGS) $(LDLIBS) + + +# Cython targets +ocp_cython_c: ocp_shared_lib + cython \ + -o acados_ocp_solver_pyx.c \ + -I $(INCLUDE_PATH)/../interfaces/acados_template/acados_template \ + $(INCLUDE_PATH)/../interfaces/acados_template/acados_template/acados_ocp_solver_pyx.pyx \ + -I /data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code \ + +ocp_cython_o: ocp_cython_c + $(CC) $(ACADOS_FLAGS) -c -O2 \ + -fPIC \ + -o acados_ocp_solver_pyx.o \ + -I $(INCLUDE_PATH)/blasfeo/include/ \ + -I $(INCLUDE_PATH)/hpipm/include/ \ + -I $(INCLUDE_PATH) \ + -I /usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/core/include \ + -I /usr/local/pyenv/versions/3.11.4/include/python3.11 \ + acados_ocp_solver_pyx.c \ + +ocp_cython: ocp_cython_o + $(CC) $(ACADOS_FLAGS) -shared \ + -o acados_ocp_solver_pyx.so \ + -Wl,-rpath=$(LIB_PATH) \ + acados_ocp_solver_pyx.o \ + $(abspath .)/libacados_ocp_solver_long.so \ + $(LDFLAGS) $(LDLIBS) + +# Sim Cython targets +sim_cython_c: sim_shared_lib + cython \ + -o acados_sim_solver_pyx.c \ + -I $(INCLUDE_PATH)/../interfaces/acados_template/acados_template \ + $(INCLUDE_PATH)/../interfaces/acados_template/acados_template/acados_sim_solver_pyx.pyx \ + -I /data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code \ + +sim_cython_o: sim_cython_c + $(CC) $(ACADOS_FLAGS) -c -O2 \ + -fPIC \ + -o acados_sim_solver_pyx.o \ + -I $(INCLUDE_PATH)/blasfeo/include/ \ + -I $(INCLUDE_PATH)/hpipm/include/ \ + -I $(INCLUDE_PATH) \ + -I /usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/core/include \ + -I /usr/local/pyenv/versions/3.11.4/include/python3.11 \ + acados_sim_solver_pyx.c \ + +sim_cython: sim_cython_o + $(CC) $(ACADOS_FLAGS) -shared \ + -o acados_sim_solver_pyx.so \ + -Wl,-rpath=$(LIB_PATH) \ + acados_sim_solver_pyx.o \ + $(abspath .)/libacados_sim_solver_long.so \ + $(LDFLAGS) $(LDLIBS) + +clean: + $(RM) $(OBJ) $(EX_OBJ) $(EX_SIM_OBJ) + $(RM) $(LIBACADOS_SOLVER) $(LIBACADOS_OCP_SOLVER) $(LIBACADOS_SIM_SOLVER) + $(RM) $(EX_EXE) $(EX_SIM_EXE) + +clean_ocp_shared_lib: + $(RM) $(LIBACADOS_OCP_SOLVER) + $(RM) $(OCP_OBJ) + +clean_ocp_cython: + $(RM) libacados_ocp_solver_long.so + $(RM) acados_solver_long.o + $(RM) acados_ocp_solver_pyx.so + $(RM) acados_ocp_solver_pyx.o + +clean_sim_cython: + $(RM) libacados_sim_solver_long.so + $(RM) acados_sim_solver_long.o + $(RM) acados_sim_solver_pyx.so + $(RM) acados_sim_solver_pyx.o diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.c new file mode 100644 index 0000000000..82838e8604 --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.c @@ -0,0 +1,44066 @@ +/* Generated by Cython 3.0.8 */ + +#ifndef PY_SSIZE_T_CLEAN +#define PY_SSIZE_T_CLEAN +#endif /* PY_SSIZE_T_CLEAN */ +#if defined(CYTHON_LIMITED_API) && 0 + #ifndef Py_LIMITED_API + #if CYTHON_LIMITED_API+0 > 0x03030000 + #define Py_LIMITED_API CYTHON_LIMITED_API + #else + #define Py_LIMITED_API 0x03030000 + #endif + #endif +#endif + +#include "Python.h" +#ifndef Py_PYTHON_H + #error Python headers needed to compile C extensions, please install development version of Python. +#elif PY_VERSION_HEX < 0x02070000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) + #error Cython requires Python 2.7+ or Python 3.3+. +#else +#if defined(CYTHON_LIMITED_API) && CYTHON_LIMITED_API +#define __PYX_EXTRA_ABI_MODULE_NAME "limited" +#else +#define __PYX_EXTRA_ABI_MODULE_NAME "" +#endif +#define CYTHON_ABI "3_0_8" __PYX_EXTRA_ABI_MODULE_NAME +#define __PYX_ABI_MODULE_NAME "_cython_" CYTHON_ABI +#define __PYX_TYPE_MODULE_PREFIX __PYX_ABI_MODULE_NAME "." +#define CYTHON_HEX_VERSION 0x030008F0 +#define CYTHON_FUTURE_DIVISION 1 +#include +#ifndef offsetof + #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) +#endif +#if !defined(_WIN32) && !defined(WIN32) && !defined(MS_WINDOWS) + #ifndef __stdcall + #define __stdcall + #endif + #ifndef __cdecl + #define __cdecl + #endif + #ifndef __fastcall + #define __fastcall + #endif +#endif +#ifndef DL_IMPORT + #define DL_IMPORT(t) t +#endif +#ifndef DL_EXPORT + #define DL_EXPORT(t) t +#endif +#define __PYX_COMMA , +#ifndef HAVE_LONG_LONG + #define HAVE_LONG_LONG +#endif +#ifndef PY_LONG_LONG + #define PY_LONG_LONG LONG_LONG +#endif +#ifndef Py_HUGE_VAL + #define Py_HUGE_VAL HUGE_VAL +#endif +#define __PYX_LIMITED_VERSION_HEX PY_VERSION_HEX +#if defined(GRAALVM_PYTHON) + /* For very preliminary testing purposes. Most variables are set the same as PyPy. + The existence of this section does not imply that anything works or is even tested */ + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 1 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(PYPY_VERSION) + #define CYTHON_COMPILING_IN_PYPY 1 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #if PY_VERSION_HEX < 0x03090000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1 && PYPY_VERSION_NUM >= 0x07030C00) + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(CYTHON_LIMITED_API) + #ifdef Py_LIMITED_API + #undef __PYX_LIMITED_VERSION_HEX + #define __PYX_LIMITED_VERSION_HEX Py_LIMITED_API + #endif + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 1 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_CLINE_IN_TRACEBACK + #define CYTHON_CLINE_IN_TRACEBACK 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 1 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #endif + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 1 + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(Py_GIL_DISABLED) || defined(Py_NOGIL) + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 1 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #ifndef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#else + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 1 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #ifndef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 1 + #endif + #if PY_MAJOR_VERSION < 3 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #ifndef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 1 + #endif + #ifndef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 1 + #endif + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #elif !defined(CYTHON_USE_UNICODE_WRITER) + #define CYTHON_USE_UNICODE_WRITER 1 + #endif + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #ifndef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 1 + #endif + #ifndef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL (PY_MAJOR_VERSION < 3 || PY_VERSION_HEX >= 0x03060000 && PY_VERSION_HEX < 0x030C00A6) + #endif + #ifndef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL (PY_VERSION_HEX >= 0x030700A1) + #endif + #ifndef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 1 + #endif + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #endif + #if PY_VERSION_HEX < 0x030400a1 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #elif !defined(CYTHON_USE_TP_FINALIZE) + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #if PY_VERSION_HEX < 0x030600B1 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #elif !defined(CYTHON_USE_DICT_VERSIONS) + #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX < 0x030C00A5) + #endif + #if PY_VERSION_HEX < 0x030700A3 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #elif !defined(CYTHON_USE_EXC_INFO_STACK) + #define CYTHON_USE_EXC_INFO_STACK 1 + #endif + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 1 + #endif +#endif +#if !defined(CYTHON_FAST_PYCCALL) +#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) +#endif +#if !defined(CYTHON_VECTORCALL) +#define CYTHON_VECTORCALL (CYTHON_FAST_PYCCALL && PY_VERSION_HEX >= 0x030800B1) +#endif +#define CYTHON_BACKPORT_VECTORCALL (CYTHON_METH_FASTCALL && PY_VERSION_HEX < 0x030800B1) +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_MAJOR_VERSION < 3 + #include "longintrepr.h" + #endif + #undef SHIFT + #undef BASE + #undef MASK + #ifdef SIZEOF_VOID_P + enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; + #endif +#endif +#ifndef __has_attribute + #define __has_attribute(x) 0 +#endif +#ifndef __has_cpp_attribute + #define __has_cpp_attribute(x) 0 +#endif +#ifndef CYTHON_RESTRICT + #if defined(__GNUC__) + #define CYTHON_RESTRICT __restrict__ + #elif defined(_MSC_VER) && _MSC_VER >= 1400 + #define CYTHON_RESTRICT __restrict + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_RESTRICT restrict + #else + #define CYTHON_RESTRICT + #endif +#endif +#ifndef CYTHON_UNUSED + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(maybe_unused) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(maybe_unused) + #define CYTHON_UNUSED [[maybe_unused]] + #endif + #endif + #endif +#endif +#ifndef CYTHON_UNUSED +# if defined(__GNUC__) +# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_UNUSED_VAR +# if defined(__cplusplus) + template void CYTHON_UNUSED_VAR( const T& ) { } +# else +# define CYTHON_UNUSED_VAR(x) (void)(x) +# endif +#endif +#ifndef CYTHON_MAYBE_UNUSED_VAR + #define CYTHON_MAYBE_UNUSED_VAR(x) CYTHON_UNUSED_VAR(x) +#endif +#ifndef CYTHON_NCP_UNUSED +# if CYTHON_COMPILING_IN_CPYTHON +# define CYTHON_NCP_UNUSED +# else +# define CYTHON_NCP_UNUSED CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_USE_CPP_STD_MOVE + #if defined(__cplusplus) && (\ + __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600)) + #define CYTHON_USE_CPP_STD_MOVE 1 + #else + #define CYTHON_USE_CPP_STD_MOVE 0 + #endif +#endif +#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) +#ifdef _MSC_VER + #ifndef _MSC_STDINT_H_ + #if _MSC_VER < 1300 + typedef unsigned char uint8_t; + typedef unsigned short uint16_t; + typedef unsigned int uint32_t; + #else + typedef unsigned __int8 uint8_t; + typedef unsigned __int16 uint16_t; + typedef unsigned __int32 uint32_t; + #endif + #endif + #if _MSC_VER < 1300 + #ifdef _WIN64 + typedef unsigned long long __pyx_uintptr_t; + #else + typedef unsigned int __pyx_uintptr_t; + #endif + #else + #ifdef _WIN64 + typedef unsigned __int64 __pyx_uintptr_t; + #else + typedef unsigned __int32 __pyx_uintptr_t; + #endif + #endif +#else + #include + typedef uintptr_t __pyx_uintptr_t; +#endif +#ifndef CYTHON_FALLTHROUGH + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(fallthrough) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(fallthrough) + #define CYTHON_FALLTHROUGH [[fallthrough]] + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_cpp_attribute(clang::fallthrough) + #define CYTHON_FALLTHROUGH [[clang::fallthrough]] + #elif __has_cpp_attribute(gnu::fallthrough) + #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] + #endif + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_attribute(fallthrough) + #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) + #else + #define CYTHON_FALLTHROUGH + #endif + #endif + #if defined(__clang__) && defined(__apple_build_version__) + #if __apple_build_version__ < 7000000 + #undef CYTHON_FALLTHROUGH + #define CYTHON_FALLTHROUGH + #endif + #endif +#endif +#ifdef __cplusplus + template + struct __PYX_IS_UNSIGNED_IMPL {static const bool value = T(0) < T(-1);}; + #define __PYX_IS_UNSIGNED(type) (__PYX_IS_UNSIGNED_IMPL::value) +#else + #define __PYX_IS_UNSIGNED(type) (((type)-1) > 0) +#endif +#if CYTHON_COMPILING_IN_PYPY == 1 + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x030A0000) +#else + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000) +#endif +#define __PYX_REINTERPRET_FUNCION(func_pointer, other_pointer) ((func_pointer)(void(*)(void))(other_pointer)) + +#ifndef CYTHON_INLINE + #if defined(__clang__) + #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) + #elif defined(__GNUC__) + #define CYTHON_INLINE __inline__ + #elif defined(_MSC_VER) + #define CYTHON_INLINE __inline + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_INLINE inline + #else + #define CYTHON_INLINE + #endif +#endif + +#define __PYX_BUILD_PY_SSIZE_T "n" +#define CYTHON_FORMAT_SSIZE_T "z" +#if PY_MAJOR_VERSION < 3 + #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" + #define __Pyx_DefaultClassType PyClass_Type + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_BUILTIN_MODULE_NAME "builtins" + #define __Pyx_DefaultClassType PyType_Type +#if CYTHON_COMPILING_IN_LIMITED_API + static CYTHON_INLINE PyObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyObject *exception_table = NULL; + PyObject *types_module=NULL, *code_type=NULL, *result=NULL; + #if __PYX_LIMITED_VERSION_HEX < 0x030B0000 + PyObject *version_info; + PyObject *py_minor_version = NULL; + #endif + long minor_version = 0; + PyObject *type, *value, *traceback; + PyErr_Fetch(&type, &value, &traceback); + #if __PYX_LIMITED_VERSION_HEX >= 0x030B0000 + minor_version = 11; + #else + if (!(version_info = PySys_GetObject("version_info"))) goto end; + if (!(py_minor_version = PySequence_GetItem(version_info, 1))) goto end; + minor_version = PyLong_AsLong(py_minor_version); + Py_DECREF(py_minor_version); + if (minor_version == -1 && PyErr_Occurred()) goto end; + #endif + if (!(types_module = PyImport_ImportModule("types"))) goto end; + if (!(code_type = PyObject_GetAttrString(types_module, "CodeType"))) goto end; + if (minor_version <= 7) { + (void)p; + result = PyObject_CallFunction(code_type, "iiiiiOOOOOOiOO", a, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else if (minor_version <= 10) { + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else { + if (!(exception_table = PyBytes_FromStringAndSize(NULL, 0))) goto end; + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, name, fline, lnos, exception_table, fv, cell); + } + end: + Py_XDECREF(code_type); + Py_XDECREF(exception_table); + Py_XDECREF(types_module); + if (type) { + PyErr_Restore(type, value, traceback); + } + return result; + } + #ifndef CO_OPTIMIZED + #define CO_OPTIMIZED 0x0001 + #endif + #ifndef CO_NEWLOCALS + #define CO_NEWLOCALS 0x0002 + #endif + #ifndef CO_VARARGS + #define CO_VARARGS 0x0004 + #endif + #ifndef CO_VARKEYWORDS + #define CO_VARKEYWORDS 0x0008 + #endif + #ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x0200 + #endif + #ifndef CO_GENERATOR + #define CO_GENERATOR 0x0020 + #endif + #ifndef CO_COROUTINE + #define CO_COROUTINE 0x0080 + #endif +#elif PY_VERSION_HEX >= 0x030B0000 + static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyCodeObject *result; + PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); + if (!empty_bytes) return NULL; + result = + #if PY_VERSION_HEX >= 0x030C0000 + PyUnstable_Code_NewWithPosOnlyArgs + #else + PyCode_NewWithPosOnlyArgs + #endif + (a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, name, fline, lnos, empty_bytes); + Py_DECREF(empty_bytes); + return result; + } +#elif PY_VERSION_HEX >= 0x030800B2 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_NewWithPosOnlyArgs(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#endif +#endif +#if PY_VERSION_HEX >= 0x030900A4 || defined(Py_IS_TYPE) + #define __Pyx_IS_TYPE(ob, type) Py_IS_TYPE(ob, type) +#else + #define __Pyx_IS_TYPE(ob, type) (((const PyObject*)ob)->ob_type == (type)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_Is) + #define __Pyx_Py_Is(x, y) Py_Is(x, y) +#else + #define __Pyx_Py_Is(x, y) ((x) == (y)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsNone) + #define __Pyx_Py_IsNone(ob) Py_IsNone(ob) +#else + #define __Pyx_Py_IsNone(ob) __Pyx_Py_Is((ob), Py_None) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsTrue) + #define __Pyx_Py_IsTrue(ob) Py_IsTrue(ob) +#else + #define __Pyx_Py_IsTrue(ob) __Pyx_Py_Is((ob), Py_True) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsFalse) + #define __Pyx_Py_IsFalse(ob) Py_IsFalse(ob) +#else + #define __Pyx_Py_IsFalse(ob) __Pyx_Py_Is((ob), Py_False) +#endif +#define __Pyx_NoneAsNull(obj) (__Pyx_Py_IsNone(obj) ? NULL : (obj)) +#if PY_VERSION_HEX >= 0x030900F0 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_GC_IsFinalized(o) PyObject_GC_IsFinalized(o) +#else + #define __Pyx_PyObject_GC_IsFinalized(o) _PyGC_FINALIZED(o) +#endif +#ifndef CO_COROUTINE + #define CO_COROUTINE 0x80 +#endif +#ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x200 +#endif +#ifndef Py_TPFLAGS_CHECKTYPES + #define Py_TPFLAGS_CHECKTYPES 0 +#endif +#ifndef Py_TPFLAGS_HAVE_INDEX + #define Py_TPFLAGS_HAVE_INDEX 0 +#endif +#ifndef Py_TPFLAGS_HAVE_NEWBUFFER + #define Py_TPFLAGS_HAVE_NEWBUFFER 0 +#endif +#ifndef Py_TPFLAGS_HAVE_FINALIZE + #define Py_TPFLAGS_HAVE_FINALIZE 0 +#endif +#ifndef Py_TPFLAGS_SEQUENCE + #define Py_TPFLAGS_SEQUENCE 0 +#endif +#ifndef Py_TPFLAGS_MAPPING + #define Py_TPFLAGS_MAPPING 0 +#endif +#ifndef METH_STACKLESS + #define METH_STACKLESS 0 +#endif +#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) + #ifndef METH_FASTCALL + #define METH_FASTCALL 0x80 + #endif + typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); + typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, + Py_ssize_t nargs, PyObject *kwnames); +#else + #define __Pyx_PyCFunctionFast _PyCFunctionFast + #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords +#endif +#if CYTHON_METH_FASTCALL + #define __Pyx_METH_FASTCALL METH_FASTCALL + #define __Pyx_PyCFunction_FastCall __Pyx_PyCFunctionFast + #define __Pyx_PyCFunction_FastCallWithKeywords __Pyx_PyCFunctionFastWithKeywords +#else + #define __Pyx_METH_FASTCALL METH_VARARGS + #define __Pyx_PyCFunction_FastCall PyCFunction + #define __Pyx_PyCFunction_FastCallWithKeywords PyCFunctionWithKeywords +#endif +#if CYTHON_VECTORCALL + #define __pyx_vectorcallfunc vectorcallfunc + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET PY_VECTORCALL_ARGUMENTS_OFFSET + #define __Pyx_PyVectorcall_NARGS(n) PyVectorcall_NARGS((size_t)(n)) +#elif CYTHON_BACKPORT_VECTORCALL + typedef PyObject *(*__pyx_vectorcallfunc)(PyObject *callable, PyObject *const *args, + size_t nargsf, PyObject *kwnames); + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET ((size_t)1 << (8 * sizeof(size_t) - 1)) + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(((size_t)(n)) & ~__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET)) +#else + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET 0 + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(n)) +#endif +#if PY_MAJOR_VERSION >= 0x030900B1 +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_CheckExact(func) +#else +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_Check(func) +#endif +#define __Pyx_CyOrPyCFunction_Check(func) PyCFunction_Check(func) +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) (((PyCFunctionObject*)(func))->m_ml->ml_meth) +#elif !CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) PyCFunction_GET_FUNCTION(func) +#endif +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FLAGS(func) (((PyCFunctionObject*)(func))->m_ml->ml_flags) +static CYTHON_INLINE PyObject* __Pyx_CyOrPyCFunction_GET_SELF(PyObject *func) { + return (__Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_STATIC) ? NULL : ((PyCFunctionObject*)func)->m_self; +} +#endif +static CYTHON_INLINE int __Pyx__IsSameCFunction(PyObject *func, void *cfunc) { +#if CYTHON_COMPILING_IN_LIMITED_API + return PyCFunction_Check(func) && PyCFunction_GetFunction(func) == (PyCFunction) cfunc; +#else + return PyCFunction_Check(func) && PyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +#endif +} +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCFunction(func, cfunc) +#if __PYX_LIMITED_VERSION_HEX < 0x030900B1 + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) ((void)m, PyType_FromSpecWithBases(s, b)) + typedef PyObject *(*__Pyx_PyCMethod)(PyObject *, PyTypeObject *, PyObject *const *, size_t, PyObject *); +#else + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) PyType_FromModuleAndSpec(m, s, b) + #define __Pyx_PyCMethod PyCMethod +#endif +#ifndef METH_METHOD + #define METH_METHOD 0x200 +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) + #define PyObject_Malloc(s) PyMem_Malloc(s) + #define PyObject_Free(p) PyMem_Free(p) + #define PyObject_Realloc(p) PyMem_Realloc(p) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) +#else + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyThreadState_Current PyThreadState_Get() +#elif !CYTHON_FAST_THREAD_STATE + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#elif PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyThreadState_Current PyThreadState_GetUnchecked() +#elif PY_VERSION_HEX >= 0x03060000 + #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() +#elif PY_VERSION_HEX >= 0x03000000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#else + #define __Pyx_PyThreadState_Current _PyThreadState_Current +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE void *__Pyx_PyModule_GetState(PyObject *op) +{ + void *result; + result = PyModule_GetState(op); + if (!result) + Py_FatalError("Couldn't find the module state"); + return result; +} +#endif +#define __Pyx_PyObject_GetSlot(obj, name, func_ctype) __Pyx_PyType_GetSlot(Py_TYPE(obj), name, func_ctype) +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((func_ctype) PyType_GetSlot((type), Py_##name)) +#else + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((type)->name) +#endif +#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) +#include "pythread.h" +#define Py_tss_NEEDS_INIT 0 +typedef int Py_tss_t; +static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { + *key = PyThread_create_key(); + return 0; +} +static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { + Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); + *key = Py_tss_NEEDS_INIT; + return key; +} +static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { + PyObject_Free(key); +} +static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { + return *key != Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { + PyThread_delete_key(*key); + *key = Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { + return PyThread_set_key_value(*key, value); +} +static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { + return PyThread_get_key_value(*key); +} +#endif +#if PY_MAJOR_VERSION < 3 + #if CYTHON_COMPILING_IN_PYPY + #if PYPY_VERSION_NUM < 0x07030600 + #if defined(__cplusplus) && __cplusplus >= 201402L + [[deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")]] + #elif defined(__GNUC__) || defined(__clang__) + __attribute__ ((__deprecated__("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6"))) + #elif defined(_MSC_VER) + __declspec(deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")) + #endif + static CYTHON_INLINE int PyGILState_Check(void) { + return 0; + } + #else // PYPY_VERSION_NUM < 0x07030600 + #endif // PYPY_VERSION_NUM < 0x07030600 + #else + static CYTHON_INLINE int PyGILState_Check(void) { + PyThreadState * tstate = _PyThreadState_Current; + return tstate && (tstate == PyGILState_GetThisThreadState()); + } + #endif +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030d0000 || defined(_PyDict_NewPresized) +#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) +#else +#define __Pyx_PyDict_NewPresized(n) PyDict_New() +#endif +#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION + #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) +#else + #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX > 0x030600B4 && PY_VERSION_HEX < 0x030d0000 && CYTHON_USE_UNICODE_INTERNALS +#define __Pyx_PyDict_GetItemStrWithError(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStr(PyObject *dict, PyObject *name) { + PyObject *res = __Pyx_PyDict_GetItemStrWithError(dict, name); + if (res == NULL) PyErr_Clear(); + return res; +} +#elif PY_MAJOR_VERSION >= 3 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07020000) +#define __Pyx_PyDict_GetItemStrWithError PyDict_GetItemWithError +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#else +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStrWithError(PyObject *dict, PyObject *name) { +#if CYTHON_COMPILING_IN_PYPY + return PyDict_GetItem(dict, name); +#else + PyDictEntry *ep; + PyDictObject *mp = (PyDictObject*) dict; + long hash = ((PyStringObject *) name)->ob_shash; + assert(hash != -1); + ep = (mp->ma_lookup)(mp, name, hash); + if (ep == NULL) { + return NULL; + } + return ep->me_value; +#endif +} +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#endif +#if CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyType_GetFlags(tp) (((PyTypeObject *)tp)->tp_flags) + #define __Pyx_PyType_HasFeature(type, feature) ((__Pyx_PyType_GetFlags(type) & (feature)) != 0) + #define __Pyx_PyObject_GetIterNextFunc(obj) (Py_TYPE(obj)->tp_iternext) +#else + #define __Pyx_PyType_GetFlags(tp) (PyType_GetFlags((PyTypeObject *)tp)) + #define __Pyx_PyType_HasFeature(type, feature) PyType_HasFeature(type, feature) + #define __Pyx_PyObject_GetIterNextFunc(obj) PyIter_Next +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyObject_GenericSetAttr((PyObject*)tp, k, v) +#else + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyDict_SetItem(tp->tp_dict, k, v) +#endif +#if CYTHON_USE_TYPE_SPECS && PY_VERSION_HEX >= 0x03080000 +#define __Pyx_PyHeapTypeObject_GC_Del(obj) {\ + PyTypeObject *type = Py_TYPE((PyObject*)obj);\ + assert(__Pyx_PyType_HasFeature(type, Py_TPFLAGS_HEAPTYPE));\ + PyObject_GC_Del(obj);\ + Py_DECREF(type);\ +} +#else +#define __Pyx_PyHeapTypeObject_GC_Del(obj) PyObject_GC_Del(obj) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define CYTHON_PEP393_ENABLED 1 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GetLength(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_ReadChar(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((void)u, 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((void)u, (0)) + #define __Pyx_PyUnicode_DATA(u) ((void*)u) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)k, PyUnicode_ReadChar((PyObject*)(d), i)) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GetLength(u)) +#elif PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) + #define CYTHON_PEP393_ENABLED 1 + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_READY(op) (0) + #else + #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ + 0 : _PyUnicode_Ready((PyObject *)(op))) + #endif + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) + #define __Pyx_PyUnicode_KIND(u) ((int)PyUnicode_KIND(u)) + #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) + #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, (Py_UCS4) ch) + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) + #else + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) + #endif + #endif +#else + #define CYTHON_PEP393_ENABLED 0 + #define PyUnicode_1BYTE_KIND 1 + #define PyUnicode_2BYTE_KIND 2 + #define PyUnicode_4BYTE_KIND 4 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535U : 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((int)sizeof(Py_UNICODE)) + #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = (Py_UNICODE) ch) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) +#else + #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ + PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #if !defined(PyUnicode_DecodeUnicodeEscape) + #define PyUnicode_DecodeUnicodeEscape(s, size, errors) PyUnicode_Decode(s, size, "unicode_escape", errors) + #endif + #if !defined(PyUnicode_Contains) || (PY_MAJOR_VERSION == 2 && PYPY_VERSION_NUM < 0x07030500) + #undef PyUnicode_Contains + #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) + #endif + #if !defined(PyByteArray_Check) + #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) + #endif + #if !defined(PyObject_Format) + #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) + #endif +#endif +#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) +#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) +#else + #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) +#endif +#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) + #define PyObject_ASCII(o) PyObject_Repr(o) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBaseString_Type PyUnicode_Type + #define PyStringObject PyUnicodeObject + #define PyString_Type PyUnicode_Type + #define PyString_Check PyUnicode_Check + #define PyString_CheckExact PyUnicode_CheckExact +#ifndef PyObject_Unicode + #define PyObject_Unicode PyObject_Str +#endif +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) + #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) +#else + #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) + #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) +#endif +#if CYTHON_COMPILING_IN_CPYTHON + #define __Pyx_PySequence_ListKeepNew(obj)\ + (likely(PyList_CheckExact(obj) && Py_REFCNT(obj) == 1) ? __Pyx_NewRef(obj) : PySequence_List(obj)) +#else + #define __Pyx_PySequence_ListKeepNew(obj) PySequence_List(obj) +#endif +#ifndef PySet_CheckExact + #define PySet_CheckExact(obj) __Pyx_IS_TYPE(obj, &PySet_Type) +#endif +#if PY_VERSION_HEX >= 0x030900A4 + #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) +#else + #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) +#endif +#if CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_PySequence_ITEM(o, i) PySequence_ITEM(o, i) + #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) (PyTuple_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyList_SET_ITEM(o, i, v) (PyList_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_GET_SIZE(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_GET_SIZE(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_GET_SIZE(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_GET_SIZE(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_GET_SIZE(o) +#else + #define __Pyx_PySequence_ITEM(o, i) PySequence_GetItem(o, i) + #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) PyTuple_SetItem(o, i, v) + #define __Pyx_PyList_SET_ITEM(o, i, v) PyList_SetItem(o, i, v) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_Size(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_Size(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_Size(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_Size(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_Size(o) +#endif +#if PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyImport_AddModuleRef(name) PyImport_AddModuleRef(name) +#else + static CYTHON_INLINE PyObject *__Pyx_PyImport_AddModuleRef(const char *name) { + PyObject *module = PyImport_AddModule(name); + Py_XINCREF(module); + return module; + } +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyIntObject PyLongObject + #define PyInt_Type PyLong_Type + #define PyInt_Check(op) PyLong_Check(op) + #define PyInt_CheckExact(op) PyLong_CheckExact(op) + #define __Pyx_Py3Int_Check(op) PyLong_Check(op) + #define __Pyx_Py3Int_CheckExact(op) PyLong_CheckExact(op) + #define PyInt_FromString PyLong_FromString + #define PyInt_FromUnicode PyLong_FromUnicode + #define PyInt_FromLong PyLong_FromLong + #define PyInt_FromSize_t PyLong_FromSize_t + #define PyInt_FromSsize_t PyLong_FromSsize_t + #define PyInt_AsLong PyLong_AsLong + #define PyInt_AS_LONG PyLong_AS_LONG + #define PyInt_AsSsize_t PyLong_AsSsize_t + #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask + #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask + #define PyNumber_Int PyNumber_Long +#else + #define __Pyx_Py3Int_Check(op) (PyLong_Check(op) || PyInt_Check(op)) + #define __Pyx_Py3Int_CheckExact(op) (PyLong_CheckExact(op) || PyInt_CheckExact(op)) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBoolObject PyLongObject +#endif +#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY + #ifndef PyUnicode_InternFromString + #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) + #endif +#endif +#if PY_VERSION_HEX < 0x030200A4 + typedef long Py_hash_t; + #define __Pyx_PyInt_FromHash_t PyInt_FromLong + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t +#else + #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t +#endif +#if CYTHON_USE_ASYNC_SLOTS + #if PY_VERSION_HEX >= 0x030500B1 + #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods + #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) + #else + #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) + #endif +#else + #define __Pyx_PyType_AsAsync(obj) NULL +#endif +#ifndef __Pyx_PyAsyncMethodsStruct + typedef struct { + unaryfunc am_await; + unaryfunc am_aiter; + unaryfunc am_anext; + } __Pyx_PyAsyncMethodsStruct; +#endif + +#if defined(_WIN32) || defined(WIN32) || defined(MS_WINDOWS) + #if !defined(_USE_MATH_DEFINES) + #define _USE_MATH_DEFINES + #endif +#endif +#include +#ifdef NAN +#define __PYX_NAN() ((float) NAN) +#else +static CYTHON_INLINE float __PYX_NAN() { + float value; + memset(&value, 0xFF, sizeof(value)); + return value; +} +#endif +#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) +#define __Pyx_truncl trunc +#else +#define __Pyx_truncl truncl +#endif + +#define __PYX_MARK_ERR_POS(f_index, lineno) \ + { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } +#define __PYX_ERR(f_index, lineno, Ln_error) \ + { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } + +#ifdef CYTHON_EXTERN_C + #undef __PYX_EXTERN_C + #define __PYX_EXTERN_C CYTHON_EXTERN_C +#elif defined(__PYX_EXTERN_C) + #ifdef _MSC_VER + #pragma message ("Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead.") + #else + #warning Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead. + #endif +#else + #ifdef __cplusplus + #define __PYX_EXTERN_C extern "C" + #else + #define __PYX_EXTERN_C extern + #endif +#endif + +#define __PYX_HAVE__acados_template__acados_ocp_solver_pyx +#define __PYX_HAVE_API__acados_template__acados_ocp_solver_pyx +/* Early includes */ +#include +#include "acados/ocp_nlp/ocp_nlp_common.h" +#include "acados_c/ocp_nlp_interface.h" +#include "acados_solver_long.h" +#include + + /* Using NumPy API declarations from "numpy/__init__.cython-30.pxd" */ + +#include "numpy/arrayobject.h" +#include "numpy/ndarrayobject.h" +#include "numpy/ndarraytypes.h" +#include "numpy/arrayscalars.h" +#include "numpy/ufuncobject.h" +#include "pythread.h" +#include +#ifdef _OPENMP +#include +#endif /* _OPENMP */ + +#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) +#define CYTHON_WITHOUT_ASSERTIONS +#endif + +typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; + const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; + +#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) +#define __PYX_DEFAULT_STRING_ENCODING "" +#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString +#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#define __Pyx_uchar_cast(c) ((unsigned char)c) +#define __Pyx_long_cast(x) ((long)x) +#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ + (sizeof(type) < sizeof(Py_ssize_t)) ||\ + (sizeof(type) > sizeof(Py_ssize_t) &&\ + likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX) &&\ + (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ + v == (type)PY_SSIZE_T_MIN))) ||\ + (sizeof(type) == sizeof(Py_ssize_t) &&\ + (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX))) ) +static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { + return (size_t) i < (size_t) limit; +} +#if defined (__cplusplus) && __cplusplus >= 201103L + #include + #define __Pyx_sst_abs(value) std::abs(value) +#elif SIZEOF_INT >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) abs(value) +#elif SIZEOF_LONG >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) labs(value) +#elif defined (_MSC_VER) + #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) +#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define __Pyx_sst_abs(value) llabs(value) +#elif defined (__GNUC__) + #define __Pyx_sst_abs(value) __builtin_llabs(value) +#else + #define __Pyx_sst_abs(value) ((value<0) ? -value : value) +#endif +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s); +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char*); +#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) +#define __Pyx_PyBytes_FromString PyBytes_FromString +#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); +#if PY_MAJOR_VERSION < 3 + #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#else + #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize +#endif +#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyObject_AsWritableString(s) ((char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableSString(s) ((signed char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) +#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) +#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) +#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) +#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const wchar_t *u) +{ + const wchar_t *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#else +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) +{ + const Py_UNICODE *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#endif +#define __Pyx_PyUnicode_FromOrdinal(o) PyUnicode_FromOrdinal((int)o) +#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) +#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode +#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode +#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) +#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); +#define __Pyx_PySequence_Tuple(obj)\ + (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); +#if CYTHON_ASSUME_SAFE_MACROS +#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) +#else +#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) +#endif +#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) +#else +#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) +#endif +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_VERSION_HEX >= 0x030C00A7 + #ifndef _PyLong_SIGN_MASK + #define _PyLong_SIGN_MASK 3 + #endif + #ifndef _PyLong_NON_SIZE_BITS + #define _PyLong_NON_SIZE_BITS 3 + #endif + #define __Pyx_PyLong_Sign(x) (((PyLongObject*)x)->long_value.lv_tag & _PyLong_SIGN_MASK) + #define __Pyx_PyLong_IsNeg(x) ((__Pyx_PyLong_Sign(x) & 2) != 0) + #define __Pyx_PyLong_IsNonNeg(x) (!__Pyx_PyLong_IsNeg(x)) + #define __Pyx_PyLong_IsZero(x) (__Pyx_PyLong_Sign(x) & 1) + #define __Pyx_PyLong_IsPos(x) (__Pyx_PyLong_Sign(x) == 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) (__Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) ((Py_ssize_t) (((PyLongObject*)x)->long_value.lv_tag >> _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_SignedDigitCount(x)\ + ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * __Pyx_PyLong_DigitCount(x)) + #if defined(PyUnstable_Long_IsCompact) && defined(PyUnstable_Long_CompactValue) + #define __Pyx_PyLong_IsCompact(x) PyUnstable_Long_IsCompact((PyLongObject*) x) + #define __Pyx_PyLong_CompactValue(x) PyUnstable_Long_CompactValue((PyLongObject*) x) + #else + #define __Pyx_PyLong_IsCompact(x) (((PyLongObject*)x)->long_value.lv_tag < (2 << _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_CompactValue(x) ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * (Py_ssize_t) __Pyx_PyLong_Digits(x)[0]) + #endif + typedef Py_ssize_t __Pyx_compact_pylong; + typedef size_t __Pyx_compact_upylong; + #else + #define __Pyx_PyLong_IsNeg(x) (Py_SIZE(x) < 0) + #define __Pyx_PyLong_IsNonNeg(x) (Py_SIZE(x) >= 0) + #define __Pyx_PyLong_IsZero(x) (Py_SIZE(x) == 0) + #define __Pyx_PyLong_IsPos(x) (Py_SIZE(x) > 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) ((Py_SIZE(x) == 0) ? 0 : __Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) __Pyx_sst_abs(Py_SIZE(x)) + #define __Pyx_PyLong_SignedDigitCount(x) Py_SIZE(x) + #define __Pyx_PyLong_IsCompact(x) (Py_SIZE(x) == 0 || Py_SIZE(x) == 1 || Py_SIZE(x) == -1) + #define __Pyx_PyLong_CompactValue(x)\ + ((Py_SIZE(x) == 0) ? (sdigit) 0 : ((Py_SIZE(x) < 0) ? -(sdigit)__Pyx_PyLong_Digits(x)[0] : (sdigit)__Pyx_PyLong_Digits(x)[0])) + typedef sdigit __Pyx_compact_pylong; + typedef digit __Pyx_compact_upylong; + #endif + #if PY_VERSION_HEX >= 0x030C00A5 + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->long_value.ob_digit) + #else + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->ob_digit) + #endif +#endif +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII +#include +static int __Pyx_sys_getdefaultencoding_not_ascii; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + PyObject* ascii_chars_u = NULL; + PyObject* ascii_chars_b = NULL; + const char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + if (strcmp(default_encoding_c, "ascii") == 0) { + __Pyx_sys_getdefaultencoding_not_ascii = 0; + } else { + char ascii_chars[128]; + int c; + for (c = 0; c < 128; c++) { + ascii_chars[c] = (char) c; + } + __Pyx_sys_getdefaultencoding_not_ascii = 1; + ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); + if (!ascii_chars_u) goto bad; + ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); + if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { + PyErr_Format( + PyExc_ValueError, + "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", + default_encoding_c); + goto bad; + } + Py_DECREF(ascii_chars_u); + Py_DECREF(ascii_chars_b); + } + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + Py_XDECREF(ascii_chars_u); + Py_XDECREF(ascii_chars_b); + return -1; +} +#endif +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3 +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL) +#else +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL) +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#include +static char* __PYX_DEFAULT_STRING_ENCODING; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1); + if (!__PYX_DEFAULT_STRING_ENCODING) goto bad; + strcpy(__PYX_DEFAULT_STRING_ENCODING, default_encoding_c); + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + return -1; +} +#endif +#endif + + +/* Test for GCC > 2.95 */ +#if defined(__GNUC__) && (__GNUC__ > 2 || (__GNUC__ == 2 && (__GNUC_MINOR__ > 95))) + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#else /* !__GNUC__ or GCC < 2.95 */ + #define likely(x) (x) + #define unlikely(x) (x) +#endif /* __GNUC__ */ +static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void)ptr; } + +#if !CYTHON_USE_MODULE_STATE +static PyObject *__pyx_m = NULL; +#endif +static int __pyx_lineno; +static int __pyx_clineno = 0; +static const char * __pyx_cfilenm = __FILE__; +static const char *__pyx_filename; + +/* Header.proto */ +#if !defined(CYTHON_CCOMPLEX) + #if defined(__cplusplus) + #define CYTHON_CCOMPLEX 1 + #elif (defined(_Complex_I) && !defined(_MSC_VER)) || ((defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) && !defined(__STDC_NO_COMPLEX__) && !defined(_MSC_VER)) + #define CYTHON_CCOMPLEX 1 + #else + #define CYTHON_CCOMPLEX 0 + #endif +#endif +#if CYTHON_CCOMPLEX + #ifdef __cplusplus + #include + #else + #include + #endif +#endif +#if CYTHON_CCOMPLEX && !defined(__cplusplus) && defined(__sun__) && defined(__GNUC__) + #undef _Complex_I + #define _Complex_I 1.0fj +#endif + +/* #### Code section: filename_table ### */ + +static const char *__pyx_f[] = { + "third_party/acados/acados_template/acados_ocp_solver_pyx.pyx", + "", + "__init__.cython-30.pxd", + "type.pxd", +}; +/* #### Code section: utility_code_proto_before_types ### */ +/* ForceInitThreads.proto */ +#ifndef __PYX_FORCE_INIT_THREADS + #define __PYX_FORCE_INIT_THREADS 0 +#endif + +/* NoFastGil.proto */ +#define __Pyx_PyGILState_Ensure PyGILState_Ensure +#define __Pyx_PyGILState_Release PyGILState_Release +#define __Pyx_FastGIL_Remember() +#define __Pyx_FastGIL_Forget() +#define __Pyx_FastGilFuncInit() + +/* BufferFormatStructs.proto */ +struct __Pyx_StructField_; +#define __PYX_BUF_FLAGS_PACKED_STRUCT (1 << 0) +typedef struct { + const char* name; + struct __Pyx_StructField_* fields; + size_t size; + size_t arraysize[8]; + int ndim; + char typegroup; + char is_unsigned; + int flags; +} __Pyx_TypeInfo; +typedef struct __Pyx_StructField_ { + __Pyx_TypeInfo* type; + const char* name; + size_t offset; +} __Pyx_StructField; +typedef struct { + __Pyx_StructField* field; + size_t parent_offset; +} __Pyx_BufFmt_StackElem; +typedef struct { + __Pyx_StructField root; + __Pyx_BufFmt_StackElem* head; + size_t fmt_offset; + size_t new_count, enc_count; + size_t struct_alignment; + int is_complex; + char enc_type; + char new_packmode; + char enc_packmode; + char is_valid_array; +} __Pyx_BufFmt_Context; + +/* Atomics.proto */ +#include +#ifndef CYTHON_ATOMICS + #define CYTHON_ATOMICS 1 +#endif +#define __PYX_CYTHON_ATOMICS_ENABLED() CYTHON_ATOMICS +#define __pyx_atomic_int_type int +#define __pyx_nonatomic_int_type int +#if CYTHON_ATOMICS && (defined(__STDC_VERSION__) &&\ + (__STDC_VERSION__ >= 201112L) &&\ + !defined(__STDC_NO_ATOMICS__)) + #include +#elif CYTHON_ATOMICS && (defined(__cplusplus) && (\ + (__cplusplus >= 201103L) ||\ + (defined(_MSC_VER) && _MSC_VER >= 1700))) + #include +#endif +#if CYTHON_ATOMICS && (defined(__STDC_VERSION__) &&\ + (__STDC_VERSION__ >= 201112L) &&\ + !defined(__STDC_NO_ATOMICS__) &&\ + ATOMIC_INT_LOCK_FREE == 2) + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type atomic_int + #define __pyx_atomic_incr_aligned(value) atomic_fetch_add_explicit(value, 1, memory_order_relaxed) + #define __pyx_atomic_decr_aligned(value) atomic_fetch_sub_explicit(value, 1, memory_order_acq_rel) + #if defined(__PYX_DEBUG_ATOMICS) && defined(_MSC_VER) + #pragma message ("Using standard C atomics") + #elif defined(__PYX_DEBUG_ATOMICS) + #warning "Using standard C atomics" + #endif +#elif CYTHON_ATOMICS && (defined(__cplusplus) && (\ + (__cplusplus >= 201103L) ||\ +\ + (defined(_MSC_VER) && _MSC_VER >= 1700)) &&\ + ATOMIC_INT_LOCK_FREE == 2) + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type std::atomic_int + #define __pyx_atomic_incr_aligned(value) std::atomic_fetch_add_explicit(value, 1, std::memory_order_relaxed) + #define __pyx_atomic_decr_aligned(value) std::atomic_fetch_sub_explicit(value, 1, std::memory_order_acq_rel) + #if defined(__PYX_DEBUG_ATOMICS) && defined(_MSC_VER) + #pragma message ("Using standard C++ atomics") + #elif defined(__PYX_DEBUG_ATOMICS) + #warning "Using standard C++ atomics" + #endif +#elif CYTHON_ATOMICS && (__GNUC__ >= 5 || (__GNUC__ == 4 &&\ + (__GNUC_MINOR__ > 1 ||\ + (__GNUC_MINOR__ == 1 && __GNUC_PATCHLEVEL__ >= 2)))) + #define __pyx_atomic_incr_aligned(value) __sync_fetch_and_add(value, 1) + #define __pyx_atomic_decr_aligned(value) __sync_fetch_and_sub(value, 1) + #ifdef __PYX_DEBUG_ATOMICS + #warning "Using GNU atomics" + #endif +#elif CYTHON_ATOMICS && defined(_MSC_VER) + #include + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type long + #undef __pyx_nonatomic_int_type + #define __pyx_nonatomic_int_type long + #pragma intrinsic (_InterlockedExchangeAdd) + #define __pyx_atomic_incr_aligned(value) _InterlockedExchangeAdd(value, 1) + #define __pyx_atomic_decr_aligned(value) _InterlockedExchangeAdd(value, -1) + #ifdef __PYX_DEBUG_ATOMICS + #pragma message ("Using MSVC atomics") + #endif +#else + #undef CYTHON_ATOMICS + #define CYTHON_ATOMICS 0 + #ifdef __PYX_DEBUG_ATOMICS + #warning "Not using atomics" + #endif +#endif +#if CYTHON_ATOMICS + #define __pyx_add_acquisition_count(memview)\ + __pyx_atomic_incr_aligned(__pyx_get_slice_count_pointer(memview)) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_atomic_decr_aligned(__pyx_get_slice_count_pointer(memview)) +#else + #define __pyx_add_acquisition_count(memview)\ + __pyx_add_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_sub_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) +#endif + +/* MemviewSliceStruct.proto */ +struct __pyx_memoryview_obj; +typedef struct { + struct __pyx_memoryview_obj *memview; + char *data; + Py_ssize_t shape[8]; + Py_ssize_t strides[8]; + Py_ssize_t suboffsets[8]; +} __Pyx_memviewslice; +#define __Pyx_MemoryView_Len(m) (m.shape[0]) + +/* #### Code section: numeric_typedefs ### */ + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":730 + * # in Cython to enable them only on the right systems. + * + * ctypedef npy_int8 int8_t # <<<<<<<<<<<<<< + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t + */ +typedef npy_int8 __pyx_t_5numpy_int8_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":731 + * + * ctypedef npy_int8 int8_t + * ctypedef npy_int16 int16_t # <<<<<<<<<<<<<< + * ctypedef npy_int32 int32_t + * ctypedef npy_int64 int64_t + */ +typedef npy_int16 __pyx_t_5numpy_int16_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":732 + * ctypedef npy_int8 int8_t + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t # <<<<<<<<<<<<<< + * ctypedef npy_int64 int64_t + * #ctypedef npy_int96 int96_t + */ +typedef npy_int32 __pyx_t_5numpy_int32_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":733 + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t + * ctypedef npy_int64 int64_t # <<<<<<<<<<<<<< + * #ctypedef npy_int96 int96_t + * #ctypedef npy_int128 int128_t + */ +typedef npy_int64 __pyx_t_5numpy_int64_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":737 + * #ctypedef npy_int128 int128_t + * + * ctypedef npy_uint8 uint8_t # <<<<<<<<<<<<<< + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t + */ +typedef npy_uint8 __pyx_t_5numpy_uint8_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":738 + * + * ctypedef npy_uint8 uint8_t + * ctypedef npy_uint16 uint16_t # <<<<<<<<<<<<<< + * ctypedef npy_uint32 uint32_t + * ctypedef npy_uint64 uint64_t + */ +typedef npy_uint16 __pyx_t_5numpy_uint16_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":739 + * ctypedef npy_uint8 uint8_t + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t # <<<<<<<<<<<<<< + * ctypedef npy_uint64 uint64_t + * #ctypedef npy_uint96 uint96_t + */ +typedef npy_uint32 __pyx_t_5numpy_uint32_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":740 + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t + * ctypedef npy_uint64 uint64_t # <<<<<<<<<<<<<< + * #ctypedef npy_uint96 uint96_t + * #ctypedef npy_uint128 uint128_t + */ +typedef npy_uint64 __pyx_t_5numpy_uint64_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":744 + * #ctypedef npy_uint128 uint128_t + * + * ctypedef npy_float32 float32_t # <<<<<<<<<<<<<< + * ctypedef npy_float64 float64_t + * #ctypedef npy_float80 float80_t + */ +typedef npy_float32 __pyx_t_5numpy_float32_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":745 + * + * ctypedef npy_float32 float32_t + * ctypedef npy_float64 float64_t # <<<<<<<<<<<<<< + * #ctypedef npy_float80 float80_t + * #ctypedef npy_float128 float128_t + */ +typedef npy_float64 __pyx_t_5numpy_float64_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":754 + * # The int types are mapped a bit surprising -- + * # numpy.int corresponds to 'l' and numpy.long to 'q' + * ctypedef npy_long int_t # <<<<<<<<<<<<<< + * ctypedef npy_longlong longlong_t + * + */ +typedef npy_long __pyx_t_5numpy_int_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":755 + * # numpy.int corresponds to 'l' and numpy.long to 'q' + * ctypedef npy_long int_t + * ctypedef npy_longlong longlong_t # <<<<<<<<<<<<<< + * + * ctypedef npy_ulong uint_t + */ +typedef npy_longlong __pyx_t_5numpy_longlong_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":757 + * ctypedef npy_longlong longlong_t + * + * ctypedef npy_ulong uint_t # <<<<<<<<<<<<<< + * ctypedef npy_ulonglong ulonglong_t + * + */ +typedef npy_ulong __pyx_t_5numpy_uint_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":758 + * + * ctypedef npy_ulong uint_t + * ctypedef npy_ulonglong ulonglong_t # <<<<<<<<<<<<<< + * + * ctypedef npy_intp intp_t + */ +typedef npy_ulonglong __pyx_t_5numpy_ulonglong_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":760 + * ctypedef npy_ulonglong ulonglong_t + * + * ctypedef npy_intp intp_t # <<<<<<<<<<<<<< + * ctypedef npy_uintp uintp_t + * + */ +typedef npy_intp __pyx_t_5numpy_intp_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":761 + * + * ctypedef npy_intp intp_t + * ctypedef npy_uintp uintp_t # <<<<<<<<<<<<<< + * + * ctypedef npy_double float_t + */ +typedef npy_uintp __pyx_t_5numpy_uintp_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":763 + * ctypedef npy_uintp uintp_t + * + * ctypedef npy_double float_t # <<<<<<<<<<<<<< + * ctypedef npy_double double_t + * ctypedef npy_longdouble longdouble_t + */ +typedef npy_double __pyx_t_5numpy_float_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":764 + * + * ctypedef npy_double float_t + * ctypedef npy_double double_t # <<<<<<<<<<<<<< + * ctypedef npy_longdouble longdouble_t + * + */ +typedef npy_double __pyx_t_5numpy_double_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":765 + * ctypedef npy_double float_t + * ctypedef npy_double double_t + * ctypedef npy_longdouble longdouble_t # <<<<<<<<<<<<<< + * + * ctypedef npy_cfloat cfloat_t + */ +typedef npy_longdouble __pyx_t_5numpy_longdouble_t; 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(PyObject*) Py_TYPE(__pyx_tstate->current_exception) : (PyObject*) NULL) +#else +#define __Pyx_PyErr_Occurred() (__pyx_tstate->curexc_type != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->curexc_type) +#endif +#else +#define __Pyx_PyThreadState_declare +#define __Pyx_PyThreadState_assign +#define __Pyx_PyErr_Occurred() (PyErr_Occurred() != NULL) +#define __Pyx_PyErr_CurrentExceptionType() PyErr_Occurred() +#endif + +/* PyErrFetchRestore.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_Clear() __Pyx_ErrRestore(NULL, NULL, NULL) +#define __Pyx_ErrRestoreWithState(type, value, tb) __Pyx_ErrRestoreInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) __Pyx_ErrFetchInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) __Pyx_ErrRestoreInState(__pyx_tstate, type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) __Pyx_ErrFetchInState(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A6 +#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) +#else +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#endif +#else +#define __Pyx_PyErr_Clear() PyErr_Clear() +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) +#endif + +/* PyObjectGetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n) +#endif + +/* PyObjectGetAttrStrNoError.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); + +/* GetBuiltinName.proto */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name); + +/* TupleAndListFromArray.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n); +static CYTHON_INLINE PyObject* __Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n); +#endif + +/* IncludeStringH.proto */ +#include + +/* BytesEquals.proto */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals); + +/* UnicodeEquals.proto */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals); + +/* fastcall.proto */ +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_VARARGS(args, i) PySequence_GetItem(args, i) +#elif CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GET_ITEM(args, i) +#else + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GetItem(args, i) +#endif +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_NewRef_VARARGS(arg) __Pyx_NewRef(arg) + #define __Pyx_Arg_XDECREF_VARARGS(arg) Py_XDECREF(arg) +#else + #define __Pyx_Arg_NewRef_VARARGS(arg) arg + #define __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#define __Pyx_NumKwargs_VARARGS(kwds) PyDict_Size(kwds) +#define __Pyx_KwValues_VARARGS(args, nargs) NULL +#define __Pyx_GetKwValue_VARARGS(kw, kwvalues, s) __Pyx_PyDict_GetItemStrWithError(kw, s) +#define __Pyx_KwargsAsDict_VARARGS(kw, kwvalues) PyDict_Copy(kw) +#if CYTHON_METH_FASTCALL + #define __Pyx_Arg_FASTCALL(args, i) args[i] + #define __Pyx_NumKwargs_FASTCALL(kwds) PyTuple_GET_SIZE(kwds) + #define __Pyx_KwValues_FASTCALL(args, nargs) ((args) + (nargs)) + static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); + #else + #define __Pyx_KwargsAsDict_FASTCALL(kw, kwvalues) _PyStack_AsDict(kwvalues, kw) + #endif + #define __Pyx_Arg_NewRef_FASTCALL(arg) arg /* no-op, __Pyx_Arg_FASTCALL is direct and this needs + to have the same reference counting */ + #define __Pyx_Arg_XDECREF_FASTCALL(arg) +#else + #define __Pyx_Arg_FASTCALL __Pyx_Arg_VARARGS + #define __Pyx_NumKwargs_FASTCALL __Pyx_NumKwargs_VARARGS + #define __Pyx_KwValues_FASTCALL __Pyx_KwValues_VARARGS + #define __Pyx_GetKwValue_FASTCALL __Pyx_GetKwValue_VARARGS + #define __Pyx_KwargsAsDict_FASTCALL __Pyx_KwargsAsDict_VARARGS + #define __Pyx_Arg_NewRef_FASTCALL(arg) __Pyx_Arg_NewRef_VARARGS(arg) + #define __Pyx_Arg_XDECREF_FASTCALL(arg) __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_VARARGS(args, start), stop - start) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_FASTCALL(args, start), stop - start) +#else +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) PyTuple_GetSlice(args, start, stop) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) PyTuple_GetSlice(args, start, stop) +#endif + +/* RaiseArgTupleInvalid.proto */ +static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, + Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); + +/* RaiseDoubleKeywords.proto */ +static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); + +/* ParseKeywords.proto */ +static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args, + const char* function_name); + +/* ArgTypeTest.proto */ +#define __Pyx_ArgTypeTest(obj, type, none_allowed, name, exact)\ + ((likely(__Pyx_IS_TYPE(obj, type) | (none_allowed && (obj == Py_None)))) ? 1 :\ + __Pyx__ArgTypeTest(obj, type, name, exact)) +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact); + +/* RaiseException.proto */ +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause); + +/* PyFunctionFastCall.proto */ +#if CYTHON_FAST_PYCALL +#if !CYTHON_VECTORCALL +#define __Pyx_PyFunction_FastCall(func, args, nargs)\ + __Pyx_PyFunction_FastCallDict((func), (args), (nargs), NULL) +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs); +#endif +#define __Pyx_BUILD_ASSERT_EXPR(cond)\ + (sizeof(char [1 - 2*!(cond)]) - 1) +#ifndef Py_MEMBER_SIZE +#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member) +#endif +#if !CYTHON_VECTORCALL +#if PY_VERSION_HEX >= 0x03080000 + #include "frameobject.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif + #define __Pxy_PyFrame_Initialize_Offsets() + #define __Pyx_PyFrame_GetLocalsplus(frame) ((frame)->f_localsplus) +#else + static size_t __pyx_pyframe_localsplus_offset = 0; + #include "frameobject.h" + #define __Pxy_PyFrame_Initialize_Offsets()\ + ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\ + (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus))) + #define __Pyx_PyFrame_GetLocalsplus(frame)\ + (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset)) +#endif +#endif +#endif + +/* PyObjectCall.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw); +#else +#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw) +#endif + +/* PyObjectCallMethO.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg); +#endif + +/* PyObjectFastCall.proto */ +#define __Pyx_PyObject_FastCall(func, args, nargs) __Pyx_PyObject_FastCallDict(func, args, (size_t)(nargs), NULL) +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs); + +/* RaiseUnexpectedTypeError.proto */ +static int __Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj); + +/* GCCDiagnostics.proto */ +#if !defined(__INTEL_COMPILER) && defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) +#define __Pyx_HAS_GCC_DIAGNOSTIC +#endif + +/* BuildPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_Py_ssize_t(Py_ssize_t value, Py_ssize_t width, char padding_char, char format_char); + +/* JoinPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char); + +/* StrEquals.proto */ +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyString_Equals __Pyx_PyUnicode_Equals +#else +#define __Pyx_PyString_Equals __Pyx_PyBytes_Equals +#endif + +/* PyObjectFormatSimple.proto */ +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#elif PY_MAJOR_VERSION < 3 + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyString_CheckExact(s)) ? PyUnicode_FromEncodedObject(s, NULL, "strict") :\ + PyObject_Format(s, f)) +#elif CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyLong_CheckExact(s)) ? PyLong_Type.tp_repr(s) :\ + likely(PyFloat_CheckExact(s)) ? PyFloat_Type.tp_repr(s) :\ + PyObject_Format(s, f)) +#else + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#endif + +CYTHON_UNUSED static int __pyx_array_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *); /*proto*/ +/* GetAttr.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *, PyObject *); + +/* GetItemInt.proto */ +#define __Pyx_GetItemInt(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Fast(o, (Py_ssize_t)i, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\ + __Pyx_GetItemInt_Generic(o, to_py_func(i)))) +#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j); +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, + int is_list, int wraparound, int boundscheck); + +/* PyObjectCallOneArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg); + +/* ObjectGetItem.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key); +#else +#define __Pyx_PyObject_GetItem(obj, key) PyObject_GetItem(obj, key) +#endif + +/* KeywordStringCheck.proto */ +static int __Pyx_CheckKeywordStrings(PyObject *kw, const char* function_name, int kw_allowed); + +/* DivInt[Py_ssize_t].proto */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t, Py_ssize_t); + +/* UnaryNegOverflows.proto */ +#define __Pyx_UNARY_NEG_WOULD_OVERFLOW(x)\ + (((x) < 0) & ((unsigned long)(x) == 0-(unsigned long)(x))) + +/* GetAttr3.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *, PyObject *, PyObject *); + +/* PyDictVersioning.proto */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) +#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ + (version_var) = __PYX_GET_DICT_VERSION(dict);\ + (cache_var) = (value); +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ + (VAR) = __pyx_dict_cached_value;\ + } else {\ + (VAR) = __pyx_dict_cached_value = (LOOKUP);\ + __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ + }\ +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); +#else +#define __PYX_GET_DICT_VERSION(dict) (0) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); +#endif + +/* GetModuleGlobalName.proto */ +#if CYTHON_USE_DICT_VERSIONS +#define __Pyx_GetModuleGlobalName(var, name) do {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + (var) = (likely(__pyx_dict_version == __PYX_GET_DICT_VERSION(__pyx_d))) ?\ + (likely(__pyx_dict_cached_value) ? __Pyx_NewRef(__pyx_dict_cached_value) : __Pyx_GetBuiltinName(name)) :\ + __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +#define __Pyx_GetModuleGlobalNameUncached(var, name) do {\ + PY_UINT64_T __pyx_dict_version;\ + PyObject *__pyx_dict_cached_value;\ + (var) = __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value); +#else +#define __Pyx_GetModuleGlobalName(var, name) (var) = __Pyx__GetModuleGlobalName(name) +#define __Pyx_GetModuleGlobalNameUncached(var, name) (var) = __Pyx__GetModuleGlobalName(name) +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name); +#endif + +/* AssertionsEnabled.proto */ +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag) + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (1) +#elif CYTHON_COMPILING_IN_LIMITED_API || (CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030C0000) + static int __pyx_assertions_enabled_flag; + #define __pyx_assertions_enabled() (__pyx_assertions_enabled_flag) + static int __Pyx_init_assertions_enabled(void) { + PyObject *builtins, *debug, *debug_str; + int flag; + builtins = PyEval_GetBuiltins(); + if (!builtins) goto bad; + debug_str = PyUnicode_FromStringAndSize("__debug__", 9); + if (!debug_str) goto bad; + debug = PyObject_GetItem(builtins, debug_str); + Py_DECREF(debug_str); + if (!debug) goto bad; + flag = PyObject_IsTrue(debug); + Py_DECREF(debug); + if (flag == -1) goto bad; + __pyx_assertions_enabled_flag = flag; + return 0; + bad: + __pyx_assertions_enabled_flag = 1; + return -1; + } +#else + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (!Py_OptimizeFlag) +#endif + +/* RaiseTooManyValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected); + +/* RaiseNeedMoreValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index); + +/* RaiseNoneIterError.proto */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void); + +/* ExtTypeTest.proto */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type); + +/* GetTopmostException.proto */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * __Pyx_PyErr_GetTopmostException(PyThreadState *tstate); +#endif + +/* SaveResetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSave(type, value, tb) __Pyx__ExceptionSave(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#define __Pyx_ExceptionReset(type, value, tb) __Pyx__ExceptionReset(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +#else +#define __Pyx_ExceptionSave(type, value, tb) PyErr_GetExcInfo(type, value, tb) +#define __Pyx_ExceptionReset(type, value, tb) PyErr_SetExcInfo(type, value, tb) +#endif + +/* GetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_GetException(type, value, tb) __Pyx__GetException(__pyx_tstate, type, value, tb) +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* SwapException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSwap(type, value, tb) __Pyx__ExceptionSwap(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* Import.proto */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level); + +/* ImportDottedModule.proto */ +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple); +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple); +#endif + +/* FastTypeChecks.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) __Pyx_IsAnySubtype2(Py_TYPE(obj), (PyTypeObject *)type1, (PyTypeObject *)type2) +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); +#else +#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) (PyObject_TypeCheck(obj, (PyTypeObject *)type1) || PyObject_TypeCheck(obj, (PyTypeObject *)type2)) +#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) +#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) +#endif +#define __Pyx_PyErr_ExceptionMatches2(err1, err2) __Pyx_PyErr_GivenExceptionMatches2(__Pyx_PyErr_CurrentExceptionType(), err1, err2) +#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) + +CYTHON_UNUSED static int __pyx_memoryview_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +/* ListCompAppend.proto */ +#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS +static CYTHON_INLINE int __Pyx_ListComp_Append(PyObject* list, PyObject* x) { + PyListObject* L = (PyListObject*) list; + Py_ssize_t len = Py_SIZE(list); + if (likely(L->allocated > len)) { + Py_INCREF(x); + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + L->ob_item[len] = x; + #else + PyList_SET_ITEM(list, len, x); + #endif + __Pyx_SET_SIZE(list, len + 1); + return 0; + } + return PyList_Append(list, x); +} +#else +#define __Pyx_ListComp_Append(L,x) PyList_Append(L,x) +#endif + +/* PySequenceMultiply.proto */ +#define __Pyx_PySequence_Multiply_Left(mul, seq) __Pyx_PySequence_Multiply(seq, mul) +static CYTHON_INLINE PyObject* __Pyx_PySequence_Multiply(PyObject *seq, Py_ssize_t mul); + +/* SetItemInt.proto */ +#define __Pyx_SetItemInt(o, i, v, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_SetItemInt_Fast(o, (Py_ssize_t)i, v, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list assignment index out of range"), -1) :\ + __Pyx_SetItemInt_Generic(o, to_py_func(i), v))) +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v); +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, + int is_list, int wraparound, int boundscheck); + +/* RaiseUnboundLocalError.proto */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname); + +/* DivInt[long].proto */ +static CYTHON_INLINE long __Pyx_div_long(long, long); + +/* PySequenceContains.proto */ +static CYTHON_INLINE int __Pyx_PySequence_ContainsTF(PyObject* item, PyObject* seq, int eq) { + int result = PySequence_Contains(seq, item); + return unlikely(result < 0) ? result : (result == (eq == Py_EQ)); +} + +/* ImportFrom.proto */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name); + +/* HasAttr.proto */ +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 +#define __Pyx_HasAttr(o, n) PyObject_HasAttrWithError(o, n) +#else +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *, PyObject *); +#endif + +/* PyIntCompare.proto */ +static CYTHON_INLINE int __Pyx_PyInt_BoolEqObjC(PyObject *op1, PyObject *op2, long intval, long inplace); + +/* PyIntCompare.proto */ +static CYTHON_INLINE int __Pyx_PyInt_BoolNeObjC(PyObject *op1, PyObject *op2, long intval, long inplace); + +/* IsLittleEndian.proto */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void); + +/* BufferFormatCheck.proto */ +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts); +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type); + +/* BufferGetAndValidate.proto */ +#define __Pyx_GetBufferAndValidate(buf, obj, dtype, flags, nd, cast, stack)\ + ((obj == Py_None || obj == NULL) ?\ + (__Pyx_ZeroBuffer(buf), 0) :\ + __Pyx__GetBufferAndValidate(buf, obj, dtype, flags, nd, cast, stack)) +static int __Pyx__GetBufferAndValidate(Py_buffer* buf, PyObject* obj, + __Pyx_TypeInfo* dtype, int flags, int nd, int cast, __Pyx_BufFmt_StackElem* stack); +static void __Pyx_ZeroBuffer(Py_buffer* buf); +static CYTHON_INLINE void __Pyx_SafeReleaseBuffer(Py_buffer* info); +static Py_ssize_t __Pyx_minusones[] = { -1, -1, -1, -1, -1, -1, -1, -1 }; +static Py_ssize_t __Pyx_zeros[] = { 0, 0, 0, 0, 0, 0, 0, 0 }; + +/* UnicodeConcatInPlace.proto */ +# if CYTHON_COMPILING_IN_CPYTHON && PY_MAJOR_VERSION >= 3 + #if CYTHON_REFNANNY + #define __Pyx_PyUnicode_ConcatInPlace(left, right) __Pyx_PyUnicode_ConcatInPlaceImpl(&left, right, __pyx_refnanny) + #else + #define __Pyx_PyUnicode_ConcatInPlace(left, right) __Pyx_PyUnicode_ConcatInPlaceImpl(&left, right) + #endif + static CYTHON_INLINE PyObject *__Pyx_PyUnicode_ConcatInPlaceImpl(PyObject **p_left, PyObject *right + #if CYTHON_REFNANNY + , void* __pyx_refnanny + #endif + ); +#else +#define __Pyx_PyUnicode_ConcatInPlace __Pyx_PyUnicode_Concat +#endif +#define __Pyx_PyUnicode_ConcatInPlaceSafe(left, right) ((unlikely((left) == Py_None) || unlikely((right) == Py_None)) ?\ + PyNumber_InPlaceAdd(left, right) : __Pyx_PyUnicode_ConcatInPlace(left, right)) + +/* SliceObject.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetSlice( + PyObject* obj, Py_ssize_t cstart, Py_ssize_t cstop, + PyObject** py_start, PyObject** py_stop, PyObject** py_slice, + int has_cstart, int has_cstop, int wraparound); + +/* PyObject_Str.proto */ +#define __Pyx_PyObject_Str(obj)\ + (likely(PyString_CheckExact(obj)) ? __Pyx_NewRef(obj) : PyObject_Str(obj)) + +/* PyObjectFormat.proto */ +#if CYTHON_USE_UNICODE_WRITER +static PyObject* __Pyx_PyObject_Format(PyObject* s, PyObject* f); +#else +#define __Pyx_PyObject_Format(s, f) PyObject_Format(s, f) +#endif + +/* py_dict_keys.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyDict_Keys(PyObject* d); + +/* UnpackUnboundCMethod.proto */ +typedef struct { + PyObject *type; + PyObject **method_name; + PyCFunction func; + PyObject *method; + int flag; +} __Pyx_CachedCFunction; + +/* CallUnboundCMethod0.proto */ +static PyObject* __Pyx__CallUnboundCMethod0(__Pyx_CachedCFunction* cfunc, PyObject* self); +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CallUnboundCMethod0(cfunc, self)\ + (likely((cfunc)->func) ?\ + (likely((cfunc)->flag == METH_NOARGS) ? (*((cfunc)->func))(self, NULL) :\ + (PY_VERSION_HEX >= 0x030600B1 && likely((cfunc)->flag == METH_FASTCALL) ?\ + (PY_VERSION_HEX >= 0x030700A0 ?\ + (*(__Pyx_PyCFunctionFast)(void*)(PyCFunction)(cfunc)->func)(self, &__pyx_empty_tuple, 0) :\ + (*(__Pyx_PyCFunctionFastWithKeywords)(void*)(PyCFunction)(cfunc)->func)(self, &__pyx_empty_tuple, 0, NULL)) :\ + (PY_VERSION_HEX >= 0x030700A0 && (cfunc)->flag == (METH_FASTCALL | METH_KEYWORDS) ?\ + (*(__Pyx_PyCFunctionFastWithKeywords)(void*)(PyCFunction)(cfunc)->func)(self, &__pyx_empty_tuple, 0, NULL) :\ + (likely((cfunc)->flag == (METH_VARARGS | METH_KEYWORDS)) ? ((*(PyCFunctionWithKeywords)(void*)(PyCFunction)(cfunc)->func)(self, __pyx_empty_tuple, NULL)) :\ + ((cfunc)->flag == METH_VARARGS ? (*((cfunc)->func))(self, __pyx_empty_tuple) :\ + __Pyx__CallUnboundCMethod0(cfunc, self)))))) :\ + __Pyx__CallUnboundCMethod0(cfunc, self)) +#else +#define __Pyx_CallUnboundCMethod0(cfunc, self) __Pyx__CallUnboundCMethod0(cfunc, self) +#endif + +/* DictGetItem.proto */ +#if PY_MAJOR_VERSION >= 3 && !CYTHON_COMPILING_IN_PYPY +static PyObject *__Pyx_PyDict_GetItem(PyObject *d, PyObject* key); +#define __Pyx_PyObject_Dict_GetItem(obj, name)\ + (likely(PyDict_CheckExact(obj)) ?\ + __Pyx_PyDict_GetItem(obj, name) : PyObject_GetItem(obj, name)) +#else +#define __Pyx_PyDict_GetItem(d, key) PyObject_GetItem(d, key) +#define __Pyx_PyObject_Dict_GetItem(obj, name) PyObject_GetItem(obj, name) +#endif + +/* PyObjectLookupSpecial.proto */ +#if CYTHON_USE_PYTYPE_LOOKUP && CYTHON_USE_TYPE_SLOTS +#define __Pyx_PyObject_LookupSpecialNoError(obj, attr_name) __Pyx__PyObject_LookupSpecial(obj, attr_name, 0) +#define __Pyx_PyObject_LookupSpecial(obj, attr_name) __Pyx__PyObject_LookupSpecial(obj, attr_name, 1) +static CYTHON_INLINE PyObject* __Pyx__PyObject_LookupSpecial(PyObject* obj, PyObject* attr_name, int with_error); +#else +#define __Pyx_PyObject_LookupSpecialNoError(o,n) __Pyx_PyObject_GetAttrStrNoError(o,n) +#define __Pyx_PyObject_LookupSpecial(o,n) __Pyx_PyObject_GetAttrStr(o,n) +#endif + +/* IncludeStructmemberH.proto */ +#include + +/* FixUpExtensionType.proto */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type); +#endif + +/* FetchSharedCythonModule.proto */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void); + +/* FetchCommonType.proto */ +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type); +#else +static PyTypeObject* __Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases); +#endif + +/* PyMethodNew.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + PyObject *typesModule=NULL, *methodType=NULL, *result=NULL; + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + typesModule = PyImport_ImportModule("types"); + if (!typesModule) return NULL; + methodType = PyObject_GetAttrString(typesModule, "MethodType"); + Py_DECREF(typesModule); + if (!methodType) return NULL; + result = PyObject_CallFunctionObjArgs(methodType, func, self, NULL); + Py_DECREF(methodType); + return result; +} +#elif PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + return PyMethod_New(func, self); +} +#else + #define __Pyx_PyMethod_New PyMethod_New +#endif + +/* PyVectorcallFastCallDict.proto */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw); +#endif + +/* CythonFunctionShared.proto */ +#define __Pyx_CyFunction_USED +#define __Pyx_CYFUNCTION_STATICMETHOD 0x01 +#define __Pyx_CYFUNCTION_CLASSMETHOD 0x02 +#define __Pyx_CYFUNCTION_CCLASS 0x04 +#define __Pyx_CYFUNCTION_COROUTINE 0x08 +#define __Pyx_CyFunction_GetClosure(f)\ + (((__pyx_CyFunctionObject *) (f))->func_closure) +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_CyFunction_GetClassObj(f)\ + (((__pyx_CyFunctionObject *) (f))->func_classobj) +#else + #define __Pyx_CyFunction_GetClassObj(f)\ + ((PyObject*) ((PyCMethodObject *) (f))->mm_class) +#endif +#define __Pyx_CyFunction_SetClassObj(f, classobj)\ + __Pyx__CyFunction_SetClassObj((__pyx_CyFunctionObject *) (f), (classobj)) +#define __Pyx_CyFunction_Defaults(type, f)\ + ((type *)(((__pyx_CyFunctionObject *) (f))->defaults)) +#define __Pyx_CyFunction_SetDefaultsGetter(f, g)\ + ((__pyx_CyFunctionObject *) (f))->defaults_getter = (g) +typedef struct { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject_HEAD + PyObject *func; +#elif PY_VERSION_HEX < 0x030900B1 + PyCFunctionObject func; +#else + PyCMethodObject func; +#endif +#if CYTHON_BACKPORT_VECTORCALL + __pyx_vectorcallfunc func_vectorcall; +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_weakreflist; +#endif + PyObject *func_dict; + PyObject *func_name; + PyObject *func_qualname; + PyObject *func_doc; + PyObject *func_globals; + PyObject *func_code; + PyObject *func_closure; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_classobj; +#endif + void *defaults; + int defaults_pyobjects; + size_t defaults_size; + int flags; + PyObject *defaults_tuple; + PyObject *defaults_kwdict; + PyObject *(*defaults_getter)(PyObject *); + PyObject *func_annotations; + PyObject *func_is_coroutine; +} __pyx_CyFunctionObject; +#undef __Pyx_CyOrPyCFunction_Check +#define __Pyx_CyFunction_Check(obj) __Pyx_TypeCheck(obj, __pyx_CyFunctionType) +#define __Pyx_CyOrPyCFunction_Check(obj) __Pyx_TypeCheck2(obj, __pyx_CyFunctionType, &PyCFunction_Type) +#define __Pyx_CyFunction_CheckExact(obj) __Pyx_IS_TYPE(obj, __pyx_CyFunctionType) +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc); +#undef __Pyx_IsSameCFunction +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCyOrCFunction(func, cfunc) +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject* op, PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj); +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *m, + size_t size, + int pyobjects); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *m, + PyObject *tuple); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *m, + PyObject *dict); +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *m, + PyObject *dict); +static int __pyx_CyFunction_init(PyObject *module); +#if CYTHON_METH_FASTCALL +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +#if CYTHON_BACKPORT_VECTORCALL +#define __Pyx_CyFunction_func_vectorcall(f) (((__pyx_CyFunctionObject*)f)->func_vectorcall) +#else +#define __Pyx_CyFunction_func_vectorcall(f) (((PyCFunctionObject*)f)->vectorcall) +#endif +#endif + +/* CythonFunction.proto */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); + +/* IterFinish.proto */ +static CYTHON_INLINE int __Pyx_IterFinish(void); + +/* PyObjectCallNoArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func); + +/* PyObjectGetMethod.proto */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method); + +/* PyObjectCallMethod0.proto */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name); + +/* UnpackItemEndCheck.proto */ +static int __Pyx_IternextUnpackEndCheck(PyObject *retval, Py_ssize_t expected); + +/* UnpackTupleError.proto */ +static void __Pyx_UnpackTupleError(PyObject *, Py_ssize_t index); + +/* UnpackTuple2.proto */ +#define __Pyx_unpack_tuple2(tuple, value1, value2, is_tuple, has_known_size, decref_tuple)\ + (likely(is_tuple || PyTuple_Check(tuple)) ?\ + (likely(has_known_size || PyTuple_GET_SIZE(tuple) == 2) ?\ + __Pyx_unpack_tuple2_exact(tuple, value1, value2, decref_tuple) :\ + (__Pyx_UnpackTupleError(tuple, 2), -1)) :\ + __Pyx_unpack_tuple2_generic(tuple, value1, value2, has_known_size, decref_tuple)) +static CYTHON_INLINE int __Pyx_unpack_tuple2_exact( + PyObject* tuple, PyObject** value1, PyObject** value2, int decref_tuple); +static int __Pyx_unpack_tuple2_generic( + PyObject* tuple, PyObject** value1, PyObject** value2, int has_known_size, int decref_tuple); + +/* dict_iter.proto */ +static CYTHON_INLINE PyObject* __Pyx_dict_iterator(PyObject* dict, int is_dict, PyObject* method_name, + Py_ssize_t* p_orig_length, int* p_is_dict); +static CYTHON_INLINE int __Pyx_dict_iter_next(PyObject* dict_or_iter, Py_ssize_t orig_length, Py_ssize_t* ppos, + PyObject** pkey, PyObject** pvalue, PyObject** pitem, int is_dict); + +/* PyIntBinop.proto */ +#if !CYTHON_COMPILING_IN_PYPY +static PyObject* __Pyx_PyInt_AddObjC(PyObject *op1, PyObject *op2, long intval, int inplace, int zerodivision_check); +#else +#define __Pyx_PyInt_AddObjC(op1, op2, intval, inplace, zerodivision_check)\ + (inplace ? PyNumber_InPlaceAdd(op1, op2) : PyNumber_Add(op1, op2)) +#endif + +/* BufferIndexError.proto */ +static void __Pyx_RaiseBufferIndexError(int axis); + +#define __Pyx_BufPtrStrided1d(type, buf, i0, s0) (type)((char*)buf + i0 * s0) +/* PyUnicode_Unicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_Unicode(PyObject *obj); + +/* PyObject_GenericGetAttrNoDict.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr +#endif + +/* PyObject_GenericGetAttr.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr +#endif + +/* ValidateBasesTuple.proto */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases); +#endif + +/* PyType_Ready.proto */ +CYTHON_UNUSED static int __Pyx_PyType_Ready(PyTypeObject *t); + +/* SetupReduce.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce(PyObject* type_obj); +#endif + +/* SetVTable.proto */ +static int __Pyx_SetVtable(PyTypeObject* typeptr , void* vtable); + +/* GetVTable.proto */ +static void* __Pyx_GetVtable(PyTypeObject *type); + +/* MergeVTables.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type); +#endif + +/* TypeImport.proto */ +#ifndef __PYX_HAVE_RT_ImportType_proto_3_0_8 +#define __PYX_HAVE_RT_ImportType_proto_3_0_8 +#if defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L +#include +#endif +#if (defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) || __cplusplus >= 201103L +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) alignof(s) +#else +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) sizeof(void*) +#endif +enum __Pyx_ImportType_CheckSize_3_0_8 { + __Pyx_ImportType_CheckSize_Error_3_0_8 = 0, + __Pyx_ImportType_CheckSize_Warn_3_0_8 = 1, + __Pyx_ImportType_CheckSize_Ignore_3_0_8 = 2 +}; +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject* module, const char *module_name, const char *class_name, size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size); +#endif + +/* CLineInTraceback.proto */ +#ifdef CYTHON_CLINE_IN_TRACEBACK +#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) +#else +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); +#endif + +/* CodeObjectCache.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +typedef struct { + PyCodeObject* code_object; + int code_line; +} __Pyx_CodeObjectCacheEntry; +struct __Pyx_CodeObjectCache { + int count; + int max_count; + __Pyx_CodeObjectCacheEntry* entries; +}; +static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); +static PyCodeObject *__pyx_find_code_object(int code_line); +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); +#endif + +/* AddTraceback.proto */ +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename); + +#if PY_MAJOR_VERSION < 3 + static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags); + static void __Pyx_ReleaseBuffer(Py_buffer *view); +#else + #define __Pyx_GetBuffer PyObject_GetBuffer + #define __Pyx_ReleaseBuffer PyBuffer_Release +#endif + + +/* BufferStructDeclare.proto */ +typedef struct { + Py_ssize_t shape, strides, suboffsets; +} __Pyx_Buf_DimInfo; +typedef struct { + size_t refcount; + Py_buffer pybuffer; +} __Pyx_Buffer; +typedef struct { + __Pyx_Buffer *rcbuffer; + char *data; + __Pyx_Buf_DimInfo diminfo[8]; +} __Pyx_LocalBuf_ND; + +/* MemviewSliceIsContig.proto */ +static int __pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim); + +/* OverlappingSlices.proto */ +static int __pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize); + +/* TypeInfoCompare.proto */ +static int __pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b); + +/* MemviewSliceValidateAndInit.proto */ +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj); + +/* ObjectToMemviewSlice.proto */ +static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dcd__double(PyObject *, int writable_flag); + +/* ObjectToMemviewSlice.proto */ +static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dc_unsigned_char(PyObject *, int writable_flag); + +/* RealImag.proto */ +#if CYTHON_CCOMPLEX + #ifdef __cplusplus + #define __Pyx_CREAL(z) ((z).real()) + #define __Pyx_CIMAG(z) ((z).imag()) + #else + #define __Pyx_CREAL(z) (__real__(z)) + #define __Pyx_CIMAG(z) (__imag__(z)) + #endif +#else + #define __Pyx_CREAL(z) ((z).real) + #define __Pyx_CIMAG(z) ((z).imag) +#endif +#if defined(__cplusplus) && CYTHON_CCOMPLEX\ + && (defined(_WIN32) || defined(__clang__) || (defined(__GNUC__) && (__GNUC__ >= 5 || __GNUC__ == 4 && __GNUC_MINOR__ >= 4 )) || __cplusplus >= 201103) + #define __Pyx_SET_CREAL(z,x) ((z).real(x)) + #define __Pyx_SET_CIMAG(z,y) ((z).imag(y)) +#else + #define __Pyx_SET_CREAL(z,x) __Pyx_CREAL(z) = (x) + #define __Pyx_SET_CIMAG(z,y) __Pyx_CIMAG(z) = (y) +#endif + +/* Arithmetic.proto */ +#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #define __Pyx_c_eq_float(a, b) ((a)==(b)) + #define __Pyx_c_sum_float(a, b) ((a)+(b)) + #define __Pyx_c_diff_float(a, b) ((a)-(b)) + #define __Pyx_c_prod_float(a, b) ((a)*(b)) + #define __Pyx_c_quot_float(a, b) ((a)/(b)) + #define __Pyx_c_neg_float(a) (-(a)) + #ifdef __cplusplus + #define __Pyx_c_is_zero_float(z) ((z)==(float)0) + #define __Pyx_c_conj_float(z) (::std::conj(z)) + #if 1 + #define __Pyx_c_abs_float(z) (::std::abs(z)) + #define __Pyx_c_pow_float(a, b) (::std::pow(a, b)) + #endif + #else + #define __Pyx_c_is_zero_float(z) ((z)==0) + #define __Pyx_c_conj_float(z) (conjf(z)) + #if 1 + #define __Pyx_c_abs_float(z) (cabsf(z)) + #define __Pyx_c_pow_float(a, b) (cpowf(a, b)) + #endif + #endif +#else + static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex); + static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex); + #if 1 + static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex, __pyx_t_float_complex); + #endif +#endif + +/* Arithmetic.proto */ +#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #define __Pyx_c_eq_double(a, b) ((a)==(b)) + #define __Pyx_c_sum_double(a, b) ((a)+(b)) + #define __Pyx_c_diff_double(a, b) ((a)-(b)) + #define __Pyx_c_prod_double(a, b) ((a)*(b)) + #define __Pyx_c_quot_double(a, b) ((a)/(b)) + #define __Pyx_c_neg_double(a) (-(a)) + #ifdef __cplusplus + #define __Pyx_c_is_zero_double(z) ((z)==(double)0) + #define __Pyx_c_conj_double(z) (::std::conj(z)) + #if 1 + #define __Pyx_c_abs_double(z) (::std::abs(z)) + #define __Pyx_c_pow_double(a, b) (::std::pow(a, b)) + #endif + #else + #define __Pyx_c_is_zero_double(z) ((z)==0) + #define __Pyx_c_conj_double(z) (conj(z)) + #if 1 + #define __Pyx_c_abs_double(z) (cabs(z)) + #define __Pyx_c_pow_double(a, b) (cpow(a, b)) + #endif + #endif +#else + static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex); + static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex); + #if 1 + static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex, __pyx_t_double_complex); + #endif +#endif + +/* MemviewSliceCopyTemplate.proto */ +static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object); + +/* MemviewSliceInit.proto */ +#define __Pyx_BUF_MAX_NDIMS %(BUF_MAX_NDIMS)d +#define __Pyx_MEMVIEW_DIRECT 1 +#define __Pyx_MEMVIEW_PTR 2 +#define __Pyx_MEMVIEW_FULL 4 +#define __Pyx_MEMVIEW_CONTIG 8 +#define __Pyx_MEMVIEW_STRIDED 16 +#define __Pyx_MEMVIEW_FOLLOW 32 +#define __Pyx_IS_C_CONTIG 1 +#define __Pyx_IS_F_CONTIG 2 +static int __Pyx_init_memviewslice( + struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference); +static CYTHON_INLINE int __pyx_add_acquisition_count_locked( + __pyx_atomic_int_type *acquisition_count, PyThread_type_lock lock); +static CYTHON_INLINE int __pyx_sub_acquisition_count_locked( + __pyx_atomic_int_type *acquisition_count, PyThread_type_lock lock); +#define __pyx_get_slice_count_pointer(memview) (&memview->acquisition_count) +#define __PYX_INC_MEMVIEW(slice, have_gil) __Pyx_INC_MEMVIEW(slice, have_gil, __LINE__) +#define __PYX_XCLEAR_MEMVIEW(slice, have_gil) __Pyx_XCLEAR_MEMVIEW(slice, have_gil, __LINE__) +static CYTHON_INLINE void __Pyx_INC_MEMVIEW(__Pyx_memviewslice *, int, int); +static CYTHON_INLINE void __Pyx_XCLEAR_MEMVIEW(__Pyx_memviewslice *, int, int); + +/* CIntFromPy.proto */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE size_t __Pyx_PyInt_As_size_t(PyObject *); + +/* CIntFromPy.proto */ +static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *); + +/* FormatTypeName.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +typedef PyObject *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%U" +static __Pyx_TypeName __Pyx_PyType_GetName(PyTypeObject* tp); +#define __Pyx_DECREF_TypeName(obj) Py_XDECREF(obj) +#else +typedef const char *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%.200s" +#define __Pyx_PyType_GetName(tp) ((tp)->tp_name) +#define __Pyx_DECREF_TypeName(obj) +#endif + +/* CheckBinaryVersion.proto */ +static unsigned long __Pyx_get_runtime_version(void); +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer); + +/* InitStrings.proto */ +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); + +/* #### Code section: module_declarations ### */ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *__pyx_v_self); /* proto*/ +static char *__pyx_memoryview_get_item_pointer(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto*/ +static PyObject *__pyx_memoryview_is_slice(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assignment(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_dst, PyObject *__pyx_v_src); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assign_scalar(struct __pyx_memoryview_obj *__pyx_v_self, struct __pyx_memoryview_obj *__pyx_v_dst, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_setitem_indexed(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_convert_item_to_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryview_assign_item_from_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview__get_base(struct __pyx_memoryview_obj *__pyx_v_self); /* proto*/ +static PyObject *__pyx_memoryviewslice_convert_item_to_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryviewslice_assign_item_from_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryviewslice__get_base(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto*/ +static CYTHON_INLINE PyObject *__pyx_f_5numpy_7ndarray_4base_base(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE PyArray_Descr *__pyx_f_5numpy_7ndarray_5descr_descr(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE int __pyx_f_5numpy_7ndarray_4ndim_ndim(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE npy_intp *__pyx_f_5numpy_7ndarray_5shape_shape(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE npy_intp *__pyx_f_5numpy_7ndarray_7strides_strides(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE npy_intp __pyx_f_5numpy_7ndarray_4size_size(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE char *__pyx_f_5numpy_7ndarray_4data_data(PyArrayObject *__pyx_v_self); /* proto*/ + +/* Module declarations from "cython.view" */ + +/* Module declarations from "cython.dataclasses" */ + +/* Module declarations from "cython" */ + +/* Module declarations from "libc.string" */ + +/* Module declarations from "libc.stdio" */ + +/* Module declarations from "libc" */ + +/* Module declarations from "acados_solver_common" */ + +/* Module declarations from "acados_solver" */ + +/* Module declarations from "__builtin__" */ + +/* Module declarations from "cpython.type" */ + +/* Module declarations from "cpython" */ + +/* Module declarations from "cpython.object" */ + +/* Module declarations from "cpython.ref" */ + +/* Module declarations from "numpy" */ + +/* Module declarations from "numpy" */ + +/* Module declarations from "acados_template.acados_ocp_solver_pyx" */ +static PyObject *__pyx_collections_abc_Sequence = 0; +static PyObject *generic = 0; +static PyObject *strided = 0; +static PyObject *indirect = 0; +static PyObject *contiguous = 0; +static PyObject *indirect_contiguous = 0; +static int __pyx_memoryview_thread_locks_used; +static PyThread_type_lock __pyx_memoryview_thread_locks[8]; +static CYTHON_INLINE PyObject *__Pyx_carray_to_py_int(int *, Py_ssize_t); /*proto*/ +static CYTHON_INLINE PyObject *__Pyx_carray_to_tuple_int(int *, Py_ssize_t); /*proto*/ +static int __pyx_array_allocate_buffer(struct __pyx_array_obj *); /*proto*/ +static struct __pyx_array_obj *__pyx_array_new(PyObject *, Py_ssize_t, char *, char *, char *); /*proto*/ +static PyObject *__pyx_memoryview_new(PyObject *, int, int, __Pyx_TypeInfo *); /*proto*/ +static CYTHON_INLINE int __pyx_memoryview_check(PyObject *); /*proto*/ +static PyObject *_unellipsify(PyObject *, int); /*proto*/ +static int assert_direct_dimensions(Py_ssize_t *, int); /*proto*/ +static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_obj *, PyObject *); /*proto*/ +static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int, int); /*proto*/ +static char *__pyx_pybuffer_index(Py_buffer *, char *, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memslice_transpose(__Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_fromslice(__Pyx_memviewslice, int, PyObject *(*)(char *), int (*)(char *, PyObject *), int); /*proto*/ +static __Pyx_memviewslice *__pyx_memoryview_get_slice_from_memoryview(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static void __pyx_memoryview_slice_copy(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object(struct __pyx_memoryview_obj *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object_from_slice(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static Py_ssize_t abs_py_ssize_t(Py_ssize_t); /*proto*/ +static char __pyx_get_best_slice_order(__Pyx_memviewslice *, int); /*proto*/ +static void _copy_strided_to_strided(char *, Py_ssize_t *, char *, Py_ssize_t *, Py_ssize_t *, Py_ssize_t *, int, size_t); /*proto*/ +static void copy_strided_to_strided(__Pyx_memviewslice *, __Pyx_memviewslice *, int, size_t); /*proto*/ +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *, int); /*proto*/ +static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *, Py_ssize_t *, Py_ssize_t, int, char); /*proto*/ +static void *__pyx_memoryview_copy_data_to_temp(__Pyx_memviewslice *, __Pyx_memviewslice *, char, int); /*proto*/ +static int __pyx_memoryview_err_extents(int, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memoryview_err_dim(PyObject *, PyObject *, int); /*proto*/ +static int __pyx_memoryview_err(PyObject *, PyObject *); /*proto*/ +static int __pyx_memoryview_err_no_memory(void); /*proto*/ +static int __pyx_memoryview_copy_contents(__Pyx_memviewslice, __Pyx_memviewslice, int, int, int); /*proto*/ +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *, int, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *, int, size_t, void *, int); /*proto*/ +static void __pyx_memoryview__slice_assign_scalar(char *, Py_ssize_t *, Py_ssize_t *, int, size_t, void *); /*proto*/ +static PyObject *__pyx_unpickle_Enum__set_state(struct __pyx_MemviewEnum_obj *, PyObject *); /*proto*/ +/* #### Code section: typeinfo ### */ +static __Pyx_TypeInfo __Pyx_TypeInfo_nn___pyx_t_5numpy_float64_t = { "float64_t", NULL, sizeof(__pyx_t_5numpy_float64_t), { 0 }, 0, 'R', 0, 0 }; +static __Pyx_TypeInfo __Pyx_TypeInfo_nn___pyx_t_5numpy_int32_t = { "int32_t", NULL, sizeof(__pyx_t_5numpy_int32_t), { 0 }, 0, __PYX_IS_UNSIGNED(__pyx_t_5numpy_int32_t) ? 'U' : 'I', __PYX_IS_UNSIGNED(__pyx_t_5numpy_int32_t), 0 }; +static __Pyx_TypeInfo __Pyx_TypeInfo_double = { "double", NULL, sizeof(double), { 0 }, 0, 'R', 0, 0 }; +static __Pyx_TypeInfo __Pyx_TypeInfo_unsigned_char = { "unsigned char", NULL, sizeof(unsigned char), { 0 }, 0, __PYX_IS_UNSIGNED(unsigned char) ? 'U' : 'I', __PYX_IS_UNSIGNED(unsigned char), 0 }; +/* #### Code section: before_global_var ### */ +#define __Pyx_MODULE_NAME "acados_template.acados_ocp_solver_pyx" +extern int __pyx_module_is_main_acados_template__acados_ocp_solver_pyx; +int __pyx_module_is_main_acados_template__acados_ocp_solver_pyx = 0; + +/* Implementation of "acados_template.acados_ocp_solver_pyx" */ +/* #### Code section: global_var ### */ +static PyObject *__pyx_builtin_AssertionError; +static PyObject *__pyx_builtin_print; +static PyObject *__pyx_builtin_NotImplementedError; +static PyObject *__pyx_builtin_range; +static PyObject *__pyx_builtin_open; +static PyObject *__pyx_builtin_TypeError; +static PyObject *__pyx_builtin___import__; +static PyObject *__pyx_builtin_ValueError; +static PyObject *__pyx_builtin_MemoryError; +static PyObject *__pyx_builtin_enumerate; +static PyObject *__pyx_builtin_Ellipsis; +static PyObject *__pyx_builtin_id; +static PyObject *__pyx_builtin_IndexError; +static PyObject *__pyx_builtin_ImportError; +/* #### Code section: string_decls ### */ +static const char __pyx_k_[] = ": "; +static const char __pyx_k_0[] = "0"; +static const char __pyx_k_F[] = "F"; +static const char __pyx_k_N[] = "N"; +static const char __pyx_k_O[] = "O"; +static const char __pyx_k_c[] = "c"; +static const char __pyx_k_d[] = "d"; +static const char __pyx_k_f[] = "f"; +static const char __pyx_k_i[] = "i"; +static const char __pyx_k_k[] = "k"; +static const char __pyx_k_m[] = "m"; +static const char __pyx_k_n[] = "n"; +static const char __pyx_k_p[] = "p"; +static const char __pyx_k_r[] = "r"; +static const char __pyx_k_t[] = "t"; +static const char __pyx_k_u[] = "u"; +static const char __pyx_k_w[] = "w"; +static const char __pyx_k_x[] = "x"; +static const char __pyx_k_z[] = "z"; +static const char __pyx_k__2[] = "."; +static const char __pyx_k__3[] = "*"; +static const char __pyx_k__6[] = "'"; +static const char __pyx_k__7[] = ")"; +static const char __pyx_k_ex[] = "ex"; +static const char __pyx_k_gc[] = "gc"; +static const char __pyx_k_id[] = "id"; +static const char __pyx_k_lN[] = "lN"; +static const char __pyx_k_np[] = "np"; +static const char __pyx_k_nx[] = "nx"; +static const char __pyx_k_os[] = "os"; +static const char __pyx_k_pi[] = "pi"; +static const char __pyx_k_sl[] = "sl"; +static const char __pyx_k_su[] = "su"; +static const char __pyx_k_u0[] = "u0"; +static const char __pyx_k_SQP[] = "SQP"; +static const char __pyx_k__16[] = ""; +static const char __pyx_k__17[] = "_"; +static const char __pyx_k__31[] = ", "; +static const char __pyx_k__94[] = "?"; +static const char __pyx_k_abc[] = "abc"; +static const char __pyx_k_and[] = " and "; +static const char __pyx_k_get[] = "get"; +static const char __pyx_k_got[] = " (got "; +static const char __pyx_k_idx[] = "idx"; +static const char __pyx_k_int[] = "int"; +static const char __pyx_k_key[] = "key"; +static const char __pyx_k_lam[] = "lam"; +static const char __pyx_k_lbu[] = "lbu"; +static const char __pyx_k_lbx[] = "lbx"; +static const char __pyx_k_msg[] = "msg"; +static const char __pyx_k_new[] = "__new__"; +static const char __pyx_k_obj[] = "obj"; +static const char __pyx_k_out[] = "out"; +static const char __pyx_k_set[] = "set"; +static const char __pyx_k_sys[] = "sys"; +static const char __pyx_k_t_2[] = "t_"; +static const char __pyx_k_u_2[] = "u_"; +static const char __pyx_k_ubu[] = "ubu"; +static const char __pyx_k_ubx[] = "ubx"; +static const char __pyx_k_x_2[] = "x_"; +static const char __pyx_k_z_2[] = "z_"; +static const char __pyx_k_None[] = "None"; +static const char __pyx_k_TODO[] = "TODO!"; +static const char __pyx_k_base[] = "base"; +static const char __pyx_k_data[] = "data_"; +static const char __pyx_k_dict[] = "__dict__"; +static const char __pyx_k_dims[] = "dims"; +static const char __pyx_k_dump[] = "dump"; +static const char __pyx_k_exit[] = "__exit__"; +static const char __pyx_k_join[] = "join"; +static const char __pyx_k_json[] = "json"; +static const char __pyx_k_keys[] = "keys"; +static const char __pyx_k_load[] = "load"; +static const char __pyx_k_main[] = "__main__"; +static const char __pyx_k_mode[] = "mode"; +static const char __pyx_k_name[] = "name"; +static const char __pyx_k_ndim[] = "ndim"; +static const char __pyx_k_open[] = "open"; +static const char __pyx_k_pack[] = "pack"; +static const char __pyx_k_path[] = "path"; +static const char __pyx_k_pi_2[] = "pi_"; +static const char __pyx_k_self[] = "self"; +static const char __pyx_k_size[] = "size"; +static const char __pyx_k_sl_2[] = "sl_"; +static const char __pyx_k_spec[] = "__spec__"; +static const char __pyx_k_step[] = "step"; +static const char __pyx_k_stop[] = "stop"; +static const char __pyx_k_su_2[] = "su_"; +static const char __pyx_k_test[] = "__test__"; +static const char __pyx_k_yref[] = "yref"; +static const char __pyx_k_ASCII[] = "ASCII"; +static const char __pyx_k_alpha[] = "alpha"; +static const char __pyx_k_array[] = "array"; +static const char __pyx_k_class[] = "__class__"; +static const char __pyx_k_count[] = "count"; +static const char __pyx_k_dtype[] = "dtype"; +static const char __pyx_k_enter[] = "__enter__"; +static const char __pyx_k_error[] = "error"; +static const char __pyx_k_field[] = "field"; +static const char __pyx_k_flags[] = "flags"; +static const char __pyx_k_index[] = "index"; +static const char __pyx_k_int32[] = "int32"; +static const char __pyx_k_lam_2[] = "lam_"; +static const char __pyx_k_numpy[] = "numpy"; +static const char __pyx_k_order[] = "order"; +static const char __pyx_k_print[] = "print"; +static const char __pyx_k_range[] = "range"; +static const char __pyx_k_reset[] = "reset"; +static const char __pyx_k_shape[] = "shape"; +static const char __pyx_k_solve[] = "solve"; +static const char __pyx_k_split[] = "split"; +static const char __pyx_k_stage[] = "stage"; +static const char __pyx_k_start[] = "start"; +static const char __pyx_k_utf_8[] = "utf-8"; +static const char __pyx_k_value[] = "value_"; +static const char __pyx_k_y_ref[] = "y_ref"; +static const char __pyx_k_zeros[] = "zeros"; +static const char __pyx_k_data_2[] = "data"; +static const char __pyx_k_enable[] = "enable"; +static const char __pyx_k_encode[] = "encode"; +static const char __pyx_k_fields[] = "fields"; +static const char __pyx_k_format[] = "format"; +static const char __pyx_k_getcwd[] = "getcwd"; +static const char __pyx_k_import[] = "__import__"; +static const char __pyx_k_indent[] = "indent"; +static const char __pyx_k_isfile[] = "isfile"; +static const char __pyx_k_json_2[] = ".json"; +static const char __pyx_k_name_2[] = "__name__"; +static const char __pyx_k_pickle[] = "pickle"; +static const char __pyx_k_qp_mu0[] = "qp_mu0"; +static const char __pyx_k_reduce[] = "__reduce__"; +static const char __pyx_k_res_eq[] = "res_eq"; +static const char __pyx_k_stat_m[] = "stat_m"; +static const char __pyx_k_stat_n[] = "stat_n"; +static const char __pyx_k_status[] = "status"; +static const char __pyx_k_struct[] = "struct"; +static const char __pyx_k_tol_eq[] = "tol_eq"; +static const char __pyx_k_tolist[] = "tolist"; +static const char __pyx_k_unpack[] = "unpack"; +static const char __pyx_k_update[] = "update"; +static const char __pyx_k_utcnow[] = "utcnow"; +static const char __pyx_k_x0_bar[] = "x0_bar"; +static const char __pyx_k_SQP_RTI[] = "SQP_RTI"; +static const char __pyx_k_default[] = "default"; +static const char __pyx_k_disable[] = "disable"; +static const char __pyx_k_field_2[] = "field_"; +static const char __pyx_k_float64[] = "float64"; +static const char __pyx_k_fortran[] = "fortran"; +static const char __pyx_k_iterate[] = "iterate"; +static const char __pyx_k_memview[] = "memview"; +static const char __pyx_k_ndarray[] = "ndarray"; +static const char __pyx_k_out_mat[] = "out_mat"; +static const char __pyx_k_qp_iter[] = "qp_iter"; +static const char __pyx_k_time_qp[] = "time_qp"; +static const char __pyx_k_value_2[] = "value"; +static const char __pyx_k_z_guess[] = "z_guess"; +static const char __pyx_k_Ellipsis[] = "Ellipsis"; +static const char __pyx_k_Sequence[] = "Sequence"; +static const char __pyx_k_at_stage[] = "\" at stage "; +static const char __pyx_k_cost_set[] = "cost_set"; +static const char __pyx_k_data_len[] = "data_len"; +static const char __pyx_k_datetime[] = "datetime"; +static const char __pyx_k_filename[] = "filename"; +static const char __pyx_k_get_cost[] = "get_cost"; +static const char __pyx_k_getstate[] = "__getstate__"; +static const char __pyx_k_i_string[] = "i_string"; +static const char __pyx_k_itemsize[] = "itemsize"; +static const char __pyx_k_min_size[] = "min_size"; +static const char __pyx_k_n_update[] = "n_update"; +static const char __pyx_k_pyx_type[] = "__pyx_type"; +static const char __pyx_k_register[] = "register"; +static const char __pyx_k_res_comp[] = "res_comp"; +static const char __pyx_k_res_ineq[] = "res_ineq"; +static const char __pyx_k_res_stat[] = "res_stat"; +static const char __pyx_k_setstate[] = "__setstate__"; +static const char __pyx_k_solution[] = "solution"; +static const char __pyx_k_sqp_iter[] = "sqp_iter"; +static const char __pyx_k_strftime[] = "strftime"; +static const char __pyx_k_time_lin[] = "time_lin"; +static const char __pyx_k_time_reg[] = "time_reg"; +static const char __pyx_k_time_sim[] = "time_sim"; +static const char __pyx_k_time_tot[] = "time_tot"; +static const char __pyx_k_tol_comp[] = "tol_comp"; +static const char __pyx_k_tol_ineq[] = "tol_ineq"; +static const char __pyx_k_tol_stat[] = "tol_stat"; +static const char __pyx_k_you_have[] = " (you have "; +static const char __pyx_k_TypeError[] = "TypeError"; +static const char __pyx_k_alpha_min[] = "alpha_min"; +static const char __pyx_k_enumerate[] = "enumerate"; +static const char __pyx_k_for_field[] = " for field \""; +static const char __pyx_k_get_stats[] = "get_stats"; +static const char __pyx_k_int_value[] = "int_value"; +static const char __pyx_k_isenabled[] = "isenabled"; +static const char __pyx_k_overwrite[] = "overwrite"; +static const char __pyx_k_pyx_state[] = "__pyx_state"; +static const char __pyx_k_qp_tol_eq[] = "qp_tol_eq"; +static const char __pyx_k_recompute[] = "recompute"; +static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; +static const char __pyx_k_residuals[] = "residuals"; +static const char __pyx_k_rti_phase[] = "rti_phase"; +static const char __pyx_k_sort_keys[] = "sort_keys"; +static const char __pyx_k_time_glob[] = "time_glob"; +static const char __pyx_k_IndexError[] = "IndexError"; +static const char __pyx_k_ValueError[] = "ValueError"; +static const char __pyx_k_full_stats[] = "full_stats"; +static const char __pyx_k_idx_values[] = "idx_values_"; +static const char __pyx_k_int_fields[] = "int_fields"; +static const char __pyx_k_mem_fields[] = "mem_fields"; +static const char __pyx_k_model_name[] = "model_name"; +static const char __pyx_k_out_fields[] = "out_fields"; +static const char __pyx_k_pyx_result[] = "__pyx_result"; +static const char __pyx_k_pyx_vtable[] = "__pyx_vtable__"; +static const char __pyx_k_qp_tau_min[] = "qp_tau_min"; +static const char __pyx_k_statistics[] = "statistics"; +static const char __pyx_k_xdot_guess[] = "xdot_guess"; +static const char __pyx_k_ImportError[] = "ImportError"; +static const char __pyx_k_MemoryError[] = "MemoryError"; +static const char __pyx_k_PickleError[] = "PickleError"; +static const char __pyx_k_collections[] = "collections"; +static const char __pyx_k_cost_fields[] = "cost_fields"; +static const char __pyx_k_options_set[] = "options_set"; +static const char __pyx_k_print_level[] = "print_level"; +static const char __pyx_k_qp_tol_comp[] = "qp_tol_comp"; +static const char __pyx_k_qp_tol_ineq[] = "qp_tol_ineq"; +static const char __pyx_k_qp_tol_stat[] = "qp_tol_stat"; +static const char __pyx_k_step_length[] = "step_length"; +static const char __pyx_k_time_sim_ad[] = "time_sim_ad"; +static const char __pyx_k_time_sim_la[] = "time_sim_la"; +static const char __pyx_k_value_shape[] = "value_shape"; +static const char __pyx_k_double_value[] = "double_value"; +static const char __pyx_k_get_stat_int[] = "__get_stat_int"; +static const char __pyx_k_initializing[] = "_initializing"; +static const char __pyx_k_is_coroutine[] = "_is_coroutine"; +static const char __pyx_k_load_iterate[] = "load_iterate"; +static const char __pyx_k_param_values[] = "param_values_"; +static const char __pyx_k_pyx_checksum[] = "__pyx_checksum"; +static const char __pyx_k_solve_for_x0[] = "solve_for_x0"; +static const char __pyx_k_string_value[] = "string_value"; +static const char __pyx_k_stringsource[] = ""; +static const char __pyx_k_version_info[] = "version_info"; +static const char __pyx_k_Got_sizes_idx[] = " Got sizes idx "; +static const char __pyx_k_Y_m_d_H_M_S_f[] = "%Y-%m-%d-%H:%M:%S.%f"; +static const char __pyx_k_class_getitem[] = "__class_getitem__"; +static const char __pyx_k_custom_update[] = "custom_update"; +static const char __pyx_k_double_fields[] = "double_fields"; +static const char __pyx_k_get_residuals[] = "get_residuals"; +static const char __pyx_k_globalization[] = "globalization"; +static const char __pyx_k_qp_warm_start[] = "qp_warm_start"; +static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; +static const char __pyx_k_store_iterate[] = "store_iterate"; +static const char __pyx_k_string_fields[] = "string_fields"; +static const char __pyx_k_time_qp_xcond[] = "time_qp_xcond"; +static const char __pyx_k_AssertionError[] = "AssertionError"; +static const char __pyx_k_asfortranarray[] = "asfortranarray"; +static const char __pyx_k_full_step_dual[] = "full_step_dual"; +static const char __pyx_k_get_from_qp_in[] = "get_from_qp_in"; +static const char __pyx_k_new_time_steps[] = "new_time_steps"; +static const char __pyx_k_param_values_2[] = ", param_values "; +static const char __pyx_k_with_dimension[] = " with dimension "; +static const char __pyx_k_View_MemoryView[] = "View.MemoryView"; +static const char __pyx_k_allocate_buffer[] = "allocate_buffer"; +static const char __pyx_k_alpha_reduction[] = "alpha_reduction"; +static const char __pyx_k_collections_abc[] = "collections.abc"; +static const char __pyx_k_constraints_set[] = "constraints_set"; +static const char __pyx_k_dtype_is_object[] = "dtype_is_object"; +static const char __pyx_k_eval_param_sens[] = "eval_param_sens"; +static const char __pyx_k_get_stat_double[] = "__get_stat_double"; +static const char __pyx_k_get_stat_matrix[] = "__get_stat_matrix"; +static const char __pyx_k_nlp_solver_type[] = "nlp_solver_type"; +static const char __pyx_k_pyx_PickleError[] = "__pyx_PickleError"; +static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; +static const char __pyx_k_print_statistics[] = "print_statistics"; +static const char __pyx_k_qp_solver_cond_N[] = "qp_solver_cond_N"; +static const char __pyx_k_ascontiguousarray[] = "ascontiguousarray"; +static const char __pyx_k_pyx_unpickle_Enum[] = "__pyx_unpickle_Enum"; +static const char __pyx_k_set_params_sparse[] = "set_params_sparse"; +static const char __pyx_k_asyncio_coroutines[] = "asyncio.coroutines"; +static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; +static const char __pyx_k_constraints_fields[] = "constraints_fields"; +static const char __pyx_k_set_new_time_steps[] = "set_new_time_steps"; +static const char __pyx_k_strided_and_direct[] = ""; +static const char __pyx_k_NotImplementedError[] = "NotImplementedError"; +static const char __pyx_k_get_pointers_solver[] = "__get_pointers_solver"; +static const char __pyx_k_initialize_t_slacks[] = "initialize_t_slacks"; +static const char __pyx_k_reset_qp_solver_mem[] = "reset_qp_solver_mem"; +static const char __pyx_k_time_qp_solver_call[] = "time_qp_solver_call"; +static const char __pyx_k_warm_start_first_qp[] = "warm_start_first_qp"; +static const char __pyx_k_strided_and_indirect[] = ""; +static const char __pyx_k_AcadosOcpSolverCython[] = "AcadosOcpSolverCython"; +static const char __pyx_k_Invalid_shape_in_axis[] = "Invalid shape in axis "; +static const char __pyx_k_contiguous_and_direct[] = ""; +static const char __pyx_k_globalization_use_SOC[] = "globalization_use_SOC"; +static const char __pyx_k_Cannot_index_with_type[] = "Cannot index with type '"; +static const char __pyx_k_MemoryView_of_r_object[] = ""; +static const char __pyx_k_eps_sufficient_descent[] = "eps_sufficient_descent"; +static const char __pyx_k_MemoryView_of_r_at_0x_x[] = ""; +static const char __pyx_k_contiguous_and_indirect[] = ""; +static const char __pyx_k_update_qp_solver_cond_N[] = "update_qp_solver_cond_N"; +static const char __pyx_k_with_dimension_you_have[] = "with dimension {} (you have {})"; +static const char __pyx_k_AcadosOcpSolverCython_get[] = "AcadosOcpSolverCython.get"; +static const char __pyx_k_AcadosOcpSolverCython_set[] = "AcadosOcpSolverCython.set"; +static const char __pyx_k_Dimension_d_is_not_direct[] = "Dimension %d is not direct"; +static const char __pyx_k_stored_current_iterate_in[] = "stored current iterate in "; +static const char __pyx_k_Index_out_of_bounds_axis_d[] = "Index out of bounds (axis %d)"; +static const char __pyx_k_AcadosOcpSolverCython_reset[] = "AcadosOcpSolverCython.reset"; +static const char __pyx_k_AcadosOcpSolverCython_solve[] = "AcadosOcpSolverCython.solve"; +static const char __pyx_k_Step_may_not_be_zero_axis_d[] = "Step may not be zero (axis %d)"; +static const char __pyx_k_itemsize_0_for_cython_array[] = "itemsize <= 0 for cython.array"; +static const char __pyx_k_store_iterate_locals_lambda[] = "store_iterate.."; +static const char __pyx_k_time_solution_sensitivities[] = "time_solution_sensitivities"; +static const char __pyx_k_unable_to_allocate_array_data[] = "unable to allocate array data."; +static const char __pyx_k_AcadosOcpSolverCython_cost_set[] = "AcadosOcpSolverCython.cost_set"; +static const char __pyx_k_AcadosOcpSolverCython_get_cost[] = "AcadosOcpSolverCython.get_cost"; +static const char __pyx_k_param_values__must_be_np_array[] = "param_values_ must be np.array."; +static const char __pyx_k_strided_and_direct_or_indirect[] = ""; +static const char __pyx_k_AcadosOcpSolverCython__get_poin[] = "_AcadosOcpSolverCython__get_pointers_solver"; +static const char __pyx_k_AcadosOcpSolverCython__get_stat[] = "_AcadosOcpSolverCython__get_stat_int"; +static const char __pyx_k_AcadosOcpSolverCython_get_field[] = "AcadosOcpSolverCython.get(): field {} does not exist at final stage {}."; +static const char __pyx_k_AcadosOcpSolverCython_get_is_an[] = "AcadosOcpSolverCython.get(): {} is an invalid argument. \n Possible values are {}."; +static const char __pyx_k_AcadosOcpSolverCython_get_stage[] = "AcadosOcpSolverCython.get(): stage index must be in [0, N], got: {}."; +static const char __pyx_k_AcadosOcpSolverCython_get_stats[] = "AcadosOcpSolverCython.get_stats"; +static const char __pyx_k_AcadosOcpSolverCython_solve_for[] = "AcadosOcpSolverCython.solve_for_x0"; +static const char __pyx_k_AcadosOcpSolverCython_update_qp[] = "AcadosOcpSolverCython.update_qp_solver_cond_N"; +static const char __pyx_k_numpy_core_multiarray_failed_to[] = "numpy.core.multiarray failed to import"; +static const char __pyx_k_AcadosOcpSolverCython___get_poin[] = "AcadosOcpSolverCython.__get_pointers_solver"; +static const char __pyx_k_AcadosOcpSolverCython___get_stat[] = "AcadosOcpSolverCython.__get_stat_int"; +static const char __pyx_k_AcadosOcpSolverCython___reduce_c[] = "AcadosOcpSolverCython.__reduce_cython__"; +static const char __pyx_k_AcadosOcpSolverCython___setstate[] = "AcadosOcpSolverCython.__setstate_cython__"; +static const char __pyx_k_AcadosOcpSolverCython_constraint[] = "AcadosOcpSolverCython.constraints_set(): mismatching dimension"; +static const char __pyx_k_AcadosOcpSolverCython_cost_set_m[] = "AcadosOcpSolverCython.cost_set(): mismatching dimension"; +static const char __pyx_k_AcadosOcpSolverCython_custom_upd[] = "AcadosOcpSolverCython.custom_update"; +static const char __pyx_k_AcadosOcpSolverCython_does_not_s[] = "AcadosOcpSolverCython: does not support set_new_time_steps() since it is only a prototyping feature"; +static const char __pyx_k_AcadosOcpSolverCython_eval_param[] = "AcadosOcpSolverCython.eval_param_sens(): index must be Integer."; +static const char __pyx_k_AcadosOcpSolverCython_get_from_q[] = "AcadosOcpSolverCython.get_from_qp_in"; +static const char __pyx_k_AcadosOcpSolverCython_get_residu[] = "AcadosOcpSolverCython.get_residuals"; +static const char __pyx_k_AcadosOcpSolverCython_load_itera[] = "AcadosOcpSolverCython.load_iterate"; +static const char __pyx_k_AcadosOcpSolverCython_options_se[] = "AcadosOcpSolverCython.options_set() does not support field {}.\n Possible values are {}."; +static const char __pyx_k_AcadosOcpSolverCython_print_stat[] = "AcadosOcpSolverCython.print_statistics"; +static const char __pyx_k_AcadosOcpSolverCython_set_is_not[] = "AcadosOcpSolverCython.set(): {} is not a valid argument. \nPossible values are {}."; +static const char __pyx_k_AcadosOcpSolverCython_set_mismat[] = "AcadosOcpSolverCython.set(): mismatching dimension for field \"{}\" "; +static const char __pyx_k_AcadosOcpSolverCython_set_new_ti[] = "AcadosOcpSolverCython.set_new_time_steps"; +static const char __pyx_k_AcadosOcpSolverCython_set_params[] = "AcadosOcpSolverCython.set_params_sparse"; +static const char __pyx_k_AcadosOcpSolverCython_solve_argu[] = "AcadosOcpSolverCython.solve(): argument 'rti_phase' can take only values 0, 1, 2 for SQP-RTI-type solvers"; +static const char __pyx_k_AcadosOcpSolverCython_store_iter[] = "AcadosOcpSolverCython.store_iterate"; +static const char __pyx_k_All_dimensions_preceding_dimensi[] = "All dimensions preceding dimension %d must be indexed and not sliced"; +static const char __pyx_k_Buffer_view_does_not_expose_stri[] = "Buffer view does not expose strides"; +static const char __pyx_k_Can_only_create_a_buffer_that_is[] = "Can only create a buffer that is contiguous in memory."; +static const char __pyx_k_Cannot_assign_to_read_only_memor[] = "Cannot assign to read-only memoryview"; +static const char __pyx_k_Cannot_create_writable_memory_vi[] = "Cannot create writable memory view from read-only memoryview"; +static const char __pyx_k_Cannot_transpose_memoryview_with[] = "Cannot transpose memoryview with indirect dimensions"; +static const char __pyx_k_Empty_shape_tuple_for_cython_arr[] = "Empty shape tuple for cython.array"; +static const char __pyx_k_Incompatible_checksums_0x_x_vs_0[] = "Incompatible checksums (0x%x vs (0x82a3537, 0x6ae9995, 0xb068931) = (name))"; +static const char __pyx_k_Indirect_dimensions_not_supporte[] = "Indirect dimensions not supported"; +static const char __pyx_k_Invalid_mode_expected_c_or_fortr[] = "Invalid mode, expected 'c' or 'fortran', got "; +static const char __pyx_k_Out_of_bounds_on_buffer_access_a[] = "Out of bounds on buffer access (axis "; +static const char __pyx_k_Unable_to_convert_item_to_object[] = "Unable to convert item to object"; +static const char __pyx_k_Warning_acados_ocp_solver_reache[] = "Warning: acados_ocp_solver reached maximum iterations."; +static const char __pyx_k_acados_acados_ocp_solver_returne[] = "acados acados_ocp_solver returned status "; +static const char __pyx_k_acados_template_acados_ocp_solve[] = "acados_template.acados_ocp_solver_pyx"; +static const char __pyx_k_alpha_values_are_not_available_f[] = "alpha values are not available for SQP_RTI"; +static const char __pyx_k_constraints_set_value_must_be_nu[] = "constraints_set: value must be numpy array, got "; +static const char __pyx_k_cost_set_value_must_be_numpy_arr[] = "cost_set: value must be numpy array, got "; +static const char __pyx_k_got_differing_extents_in_dimensi[] = "got differing extents in dimension "; +static const char __pyx_k_line_search_use_sufficient_desce[] = "line_search_use_sufficient_descent"; +static const char __pyx_k_load_iterate_failed_file_does_no[] = "load_iterate: failed, file does not exist: "; +static const char __pyx_k_no_default___reduce___due_to_non[] = "no default __reduce__ due to non-trivial __cinit__"; +static const char __pyx_k_numpy_core_umath_failed_to_impor[] = "numpy.core.umath failed to import"; +static const char __pyx_k_param_values__and_idx_values__mu[] = "param_values_ and idx_values_ must be of the same size."; +static const char __pyx_k_set_value_must_be_numpy_array_go[] = "set: value must be numpy array, got "; +static const char __pyx_k_solver_option_must_be_of_type_fl[] = "solver option {} must be of type float. You have {}."; +static const char __pyx_k_solver_option_must_be_of_type_in[] = "solver option {} must be of type int. You have {}."; +static const char __pyx_k_solver_option_must_be_of_type_st[] = "solver option {} must be of type str. You have {}."; +static const char __pyx_k_third_party_acados_acados_templa[] = "third_party/acados/acados_template/acados_ocp_solver_pyx.pyx"; +static const char __pyx_k_unable_to_allocate_shape_and_str[] = "unable to allocate shape and strides."; +static const char __pyx_k_AcadosOcpSolverCython__get_stat_2[] = "_AcadosOcpSolverCython__get_stat_double"; +static const char __pyx_k_AcadosOcpSolverCython__get_stat_3[] = "_AcadosOcpSolverCython__get_stat_matrix"; +static const char __pyx_k_AcadosOcpSolverCython___get_stat_2[] = "AcadosOcpSolverCython.__get_stat_double"; +static const char __pyx_k_AcadosOcpSolverCython___get_stat_3[] = "AcadosOcpSolverCython.__get_stat_matrix"; +static const char __pyx_k_AcadosOcpSolverCython_constraint_2[] = "AcadosOcpSolverCython.constraints_set"; +static const char __pyx_k_AcadosOcpSolverCython_does_not_s_2[] = "AcadosOcpSolverCython: does not support update_qp_solver_cond_N() since it is only a prototyping feature"; +static const char __pyx_k_AcadosOcpSolverCython_eval_param_2[] = "AcadosOcpSolverCython.eval_param_sens(): index must be in [0, nx-1], got: "; +static const char __pyx_k_AcadosOcpSolverCython_eval_param_3[] = "AcadosOcpSolverCython.eval_param_sens"; +static const char __pyx_k_AcadosOcpSolverCython_options_se_2[] = "AcadosOcpSolverCython.options_set"; +static const char __pyx_k_AcadosOcpSolverCython_solve_argu_2[] = "AcadosOcpSolverCython.solve(): argument 'rti_phase' can take only value 0 for SQP-type solvers"; +/* #### Code section: decls ### */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_shape, Py_ssize_t __pyx_v_itemsize, PyObject *__pyx_v_format, PyObject *__pyx_v_mode, int __pyx_v_allocate_buffer); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_2__getbuffer__(struct __pyx_array_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static void __pyx_array___pyx_pf_15View_dot_MemoryView_5array_4__dealloc__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_5array_7memview___get__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_array___pyx_pf_15View_dot_MemoryView_5array_6__len__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_8__getattr__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_attr); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_10__getitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_12__setitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item, PyObject *__pyx_v_value); /* proto */ +static PyObject *__pyx_pf___pyx_array___reduce_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_array_2__setstate_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum___init__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v_name); /* proto */ +static PyObject *__pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum_2__repr__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum___reduce_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum_2__setstate_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview___cinit__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj, int __pyx_v_flags, int __pyx_v_dtype_is_object); /* proto */ +static void __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_2__dealloc__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_4__getitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_6__setitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_8__getbuffer__(struct __pyx_memoryview_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_1T___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4base___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_5shape___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_7strides___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_10suboffsets___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4ndim___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_8itemsize___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_6nbytes___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4size___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_10__len__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_12__repr__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_14__str__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_16is_c_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_18is_f_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_20copy(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_22copy_fortran(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static void __pyx_memoryviewslice___pyx_pf_15View_dot_MemoryView_16_memoryviewslice___dealloc__(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView___pyx_unpickle_Enum(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v___pyx_type, long __pyx_v___pyx_checksum, PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython___cinit__(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_model_name, PyObject *__pyx_v_nlp_solver_type, PyObject *__pyx_v_N); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_2__get_pointers_solver(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_4solve_for_x0(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_x0_bar); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_6solve(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_8reset(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_reset_qp_solver_mem); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_10custom_update(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_data_); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_12set_new_time_steps(CYTHON_UNUSED struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v_new_time_steps); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_14update_qp_solver_cond_N(CYTHON_UNUSED struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v_qp_solver_cond_N); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_16eval_param_sens(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_stage, PyObject *__pyx_v_field); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_18get(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, int __pyx_v_stage, PyObject *__pyx_v_field_); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_20print_statistics(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ +static PyObject *__pyx_lambda_funcdef_lambda(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_x); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_22store_iterate(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_filename, PyObject *__pyx_v_overwrite); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_24load_iterate(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_filename); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_26get_stats(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_field_); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_28__get_stat_int(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_field); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_30__get_stat_double(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_field); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_32__get_stat_matrix(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_field, PyObject *__pyx_v_n, PyObject *__pyx_v_m); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_34get_cost(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_36get_residuals(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_recompute); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_38set(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, int __pyx_v_stage, PyObject *__pyx_v_field_, PyObject *__pyx_v_value_); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_40cost_set(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, int __pyx_v_stage, PyObject *__pyx_v_field_, PyObject *__pyx_v_value_); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_42constraints_set(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, int __pyx_v_stage, PyObject *__pyx_v_field_, PyObject *__pyx_v_value_); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_44get_from_qp_in(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, int __pyx_v_stage, PyObject *__pyx_v_field_); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_46options_set(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_field_, PyObject *__pyx_v_value_); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_48set_params_sparse(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, int __pyx_v_stage, PyObject *__pyx_v_idx_values_, PyObject *__pyx_v_param_values_); /* proto */ +static void __pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_50__del__(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_52__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_54__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_tp_new_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static __Pyx_CachedCFunction __pyx_umethod_PyDict_Type_keys = {0, 0, 0, 0, 0}; +/* #### Code section: late_includes ### */ +/* #### Code section: module_state ### */ +typedef struct { + PyObject *__pyx_d; + PyObject *__pyx_b; + PyObject *__pyx_cython_runtime; + PyObject *__pyx_empty_tuple; + PyObject *__pyx_empty_bytes; + PyObject *__pyx_empty_unicode; + #ifdef __Pyx_CyFunction_USED + PyTypeObject *__pyx_CyFunctionType; + #endif + #ifdef __Pyx_FusedFunction_USED + PyTypeObject *__pyx_FusedFunctionType; + #endif + #ifdef __Pyx_Generator_USED + PyTypeObject *__pyx_GeneratorType; + #endif + #ifdef __Pyx_IterableCoroutine_USED + PyTypeObject *__pyx_IterableCoroutineType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineAwaitType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineType; + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_7cpython_4type_type; + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_5numpy_dtype; + PyTypeObject *__pyx_ptype_5numpy_flatiter; + PyTypeObject *__pyx_ptype_5numpy_broadcast; + PyTypeObject *__pyx_ptype_5numpy_ndarray; + PyTypeObject *__pyx_ptype_5numpy_generic; + PyTypeObject *__pyx_ptype_5numpy_number; + PyTypeObject *__pyx_ptype_5numpy_integer; + PyTypeObject *__pyx_ptype_5numpy_signedinteger; + PyTypeObject *__pyx_ptype_5numpy_unsignedinteger; + PyTypeObject *__pyx_ptype_5numpy_inexact; + PyTypeObject *__pyx_ptype_5numpy_floating; + PyTypeObject *__pyx_ptype_5numpy_complexfloating; + PyTypeObject *__pyx_ptype_5numpy_flexible; + PyTypeObject *__pyx_ptype_5numpy_character; + PyTypeObject *__pyx_ptype_5numpy_ufunc; + #if CYTHON_USE_MODULE_STATE + PyObject *__pyx_type_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython; + PyObject *__pyx_type___pyx_array; + PyObject *__pyx_type___pyx_MemviewEnum; + PyObject *__pyx_type___pyx_memoryview; + PyObject *__pyx_type___pyx_memoryviewslice; + #endif + PyTypeObject *__pyx_ptype_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython; + PyTypeObject *__pyx_array_type; + PyTypeObject *__pyx_MemviewEnum_type; + PyTypeObject *__pyx_memoryview_type; + PyTypeObject *__pyx_memoryviewslice_type; + PyObject *__pyx_kp_u_; + PyObject *__pyx_kp_u_0; + PyObject *__pyx_n_s_ASCII; + PyObject *__pyx_n_s_AcadosOcpSolverCython; + PyObject *__pyx_n_s_AcadosOcpSolverCython___get_poin; + PyObject *__pyx_n_s_AcadosOcpSolverCython___get_stat; + PyObject *__pyx_n_s_AcadosOcpSolverCython___get_stat_2; + PyObject *__pyx_n_s_AcadosOcpSolverCython___get_stat_3; + PyObject *__pyx_n_s_AcadosOcpSolverCython___reduce_c; + PyObject *__pyx_n_s_AcadosOcpSolverCython___setstate; + PyObject *__pyx_n_s_AcadosOcpSolverCython__get_poin; + PyObject *__pyx_n_s_AcadosOcpSolverCython__get_stat; + PyObject *__pyx_n_s_AcadosOcpSolverCython__get_stat_2; + PyObject *__pyx_n_s_AcadosOcpSolverCython__get_stat_3; + PyObject *__pyx_kp_u_AcadosOcpSolverCython_constraint; + PyObject *__pyx_n_s_AcadosOcpSolverCython_constraint_2; + PyObject *__pyx_n_s_AcadosOcpSolverCython_cost_set; + PyObject *__pyx_kp_u_AcadosOcpSolverCython_cost_set_m; + PyObject *__pyx_n_s_AcadosOcpSolverCython_custom_upd; + PyObject *__pyx_kp_u_AcadosOcpSolverCython_does_not_s; + PyObject *__pyx_kp_u_AcadosOcpSolverCython_does_not_s_2; + PyObject *__pyx_kp_u_AcadosOcpSolverCython_eval_param; + PyObject *__pyx_kp_u_AcadosOcpSolverCython_eval_param_2; + PyObject *__pyx_n_s_AcadosOcpSolverCython_eval_param_3; + PyObject *__pyx_n_s_AcadosOcpSolverCython_get; + PyObject *__pyx_n_s_AcadosOcpSolverCython_get_cost; + PyObject *__pyx_kp_u_AcadosOcpSolverCython_get_field; + PyObject *__pyx_n_s_AcadosOcpSolverCython_get_from_q; + PyObject *__pyx_kp_u_AcadosOcpSolverCython_get_is_an; + PyObject *__pyx_n_s_AcadosOcpSolverCython_get_residu; + PyObject *__pyx_kp_u_AcadosOcpSolverCython_get_stage; + PyObject *__pyx_n_s_AcadosOcpSolverCython_get_stats; + PyObject *__pyx_n_s_AcadosOcpSolverCython_load_itera; + PyObject *__pyx_kp_u_AcadosOcpSolverCython_options_se; + PyObject *__pyx_n_s_AcadosOcpSolverCython_options_se_2; + PyObject *__pyx_n_s_AcadosOcpSolverCython_print_stat; + PyObject *__pyx_n_s_AcadosOcpSolverCython_reset; + PyObject *__pyx_n_s_AcadosOcpSolverCython_set; + PyObject *__pyx_kp_u_AcadosOcpSolverCython_set_is_not; + PyObject *__pyx_kp_u_AcadosOcpSolverCython_set_mismat; + PyObject *__pyx_n_s_AcadosOcpSolverCython_set_new_ti; + PyObject *__pyx_n_s_AcadosOcpSolverCython_set_params; + PyObject *__pyx_n_s_AcadosOcpSolverCython_solve; + PyObject *__pyx_kp_u_AcadosOcpSolverCython_solve_argu; + PyObject *__pyx_kp_u_AcadosOcpSolverCython_solve_argu_2; + PyObject *__pyx_n_s_AcadosOcpSolverCython_solve_for; + PyObject *__pyx_n_s_AcadosOcpSolverCython_store_iter; + PyObject *__pyx_n_s_AcadosOcpSolverCython_update_qp; + PyObject *__pyx_kp_s_All_dimensions_preceding_dimensi; + PyObject *__pyx_n_s_AssertionError; + PyObject *__pyx_kp_s_Buffer_view_does_not_expose_stri; + PyObject *__pyx_kp_s_Can_only_create_a_buffer_that_is; + PyObject *__pyx_kp_s_Cannot_assign_to_read_only_memor; + PyObject *__pyx_kp_s_Cannot_create_writable_memory_vi; + PyObject *__pyx_kp_u_Cannot_index_with_type; + PyObject *__pyx_kp_s_Cannot_transpose_memoryview_with; + PyObject *__pyx_kp_s_Dimension_d_is_not_direct; + PyObject *__pyx_n_s_Ellipsis; + PyObject *__pyx_kp_s_Empty_shape_tuple_for_cython_arr; + PyObject *__pyx_n_u_F; + PyObject 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*__pyx_n_s_ValueError; + PyObject *__pyx_n_s_View_MemoryView; + PyObject *__pyx_kp_u_Warning_acados_ocp_solver_reache; + PyObject *__pyx_kp_u_Y_m_d_H_M_S_f; + PyObject *__pyx_kp_u__16; + PyObject *__pyx_n_u__17; + PyObject *__pyx_kp_u__2; + PyObject *__pyx_n_s__3; + PyObject *__pyx_kp_u__31; + PyObject *__pyx_kp_u__6; + PyObject *__pyx_kp_u__7; + PyObject *__pyx_n_s__94; + PyObject *__pyx_n_s_abc; + PyObject *__pyx_kp_u_acados_acados_ocp_solver_returne; + PyObject *__pyx_n_s_acados_template_acados_ocp_solve; + PyObject *__pyx_n_s_allocate_buffer; + PyObject *__pyx_n_u_alpha; + PyObject *__pyx_n_u_alpha_min; + PyObject *__pyx_n_u_alpha_reduction; + PyObject *__pyx_kp_u_alpha_values_are_not_available_f; + PyObject *__pyx_kp_u_and; + PyObject *__pyx_n_s_array; + PyObject *__pyx_n_s_ascontiguousarray; + PyObject *__pyx_n_s_asfortranarray; + PyObject *__pyx_n_s_asyncio_coroutines; + PyObject *__pyx_kp_u_at_stage; + PyObject *__pyx_n_s_base; + PyObject *__pyx_n_s_c; + PyObject *__pyx_n_u_c; 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PyObject *__pyx_n_s_get_stat_int; + PyObject *__pyx_n_s_get_stat_matrix; + PyObject *__pyx_n_s_get_stats; + PyObject *__pyx_n_s_getcwd; + PyObject *__pyx_n_s_getstate; + PyObject *__pyx_n_u_globalization; + PyObject *__pyx_n_u_globalization_use_SOC; + PyObject *__pyx_kp_u_got; + PyObject *__pyx_kp_u_got_differing_extents_in_dimensi; + PyObject *__pyx_n_s_i; + PyObject *__pyx_n_s_i_string; + PyObject *__pyx_n_s_id; + PyObject *__pyx_n_s_idx; + PyObject *__pyx_n_s_idx_values; + PyObject *__pyx_n_s_import; + PyObject *__pyx_n_s_indent; + PyObject *__pyx_n_s_index; + PyObject *__pyx_n_u_initialize_t_slacks; + PyObject *__pyx_n_s_initializing; + PyObject *__pyx_n_s_int; + PyObject *__pyx_n_s_int32; + PyObject *__pyx_n_s_int_fields; + PyObject *__pyx_n_s_int_value; + PyObject *__pyx_n_s_is_coroutine; + PyObject *__pyx_kp_u_isenabled; + PyObject *__pyx_n_s_isfile; + PyObject *__pyx_n_s_itemsize; + PyObject *__pyx_kp_s_itemsize_0_for_cython_array; + PyObject *__pyx_n_u_iterate; + PyObject 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PyObject *__pyx_n_u_rti_phase; + PyObject *__pyx_n_s_self; + PyObject *__pyx_n_s_set; + PyObject *__pyx_n_s_set_new_time_steps; + PyObject *__pyx_n_s_set_params_sparse; + PyObject *__pyx_kp_u_set_value_must_be_numpy_array_go; + PyObject *__pyx_n_s_setstate; + PyObject *__pyx_n_s_setstate_cython; + PyObject *__pyx_n_s_shape; + PyObject *__pyx_n_s_size; + PyObject *__pyx_n_u_sl; + PyObject *__pyx_n_u_sl_2; + PyObject *__pyx_n_s_solution; + PyObject *__pyx_n_s_solve; + PyObject *__pyx_n_s_solve_for_x0; + PyObject *__pyx_kp_u_solver_option_must_be_of_type_fl; + PyObject *__pyx_kp_u_solver_option_must_be_of_type_in; + PyObject *__pyx_kp_u_solver_option_must_be_of_type_st; + PyObject *__pyx_n_s_sort_keys; + PyObject *__pyx_n_s_spec; + PyObject *__pyx_n_s_split; + PyObject *__pyx_n_s_sqp_iter; + PyObject *__pyx_n_u_sqp_iter; + PyObject *__pyx_n_s_stage; + PyObject *__pyx_n_s_start; + PyObject *__pyx_n_s_stat_m; + PyObject *__pyx_n_u_stat_m; + PyObject *__pyx_n_s_stat_n; + PyObject 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PyObject *__pyx_tuple__10; + PyObject *__pyx_tuple__11; + PyObject *__pyx_tuple__12; + PyObject *__pyx_tuple__13; + PyObject *__pyx_tuple__14; + PyObject *__pyx_tuple__15; + PyObject *__pyx_tuple__19; + PyObject *__pyx_tuple__20; + PyObject *__pyx_tuple__21; + PyObject *__pyx_tuple__22; + PyObject *__pyx_tuple__23; + PyObject *__pyx_tuple__24; + PyObject *__pyx_tuple__25; + PyObject *__pyx_tuple__26; + PyObject *__pyx_tuple__27; + PyObject *__pyx_tuple__28; + PyObject *__pyx_tuple__29; + PyObject *__pyx_tuple__30; + PyObject *__pyx_tuple__32; + PyObject *__pyx_tuple__33; + PyObject *__pyx_tuple__34; + PyObject *__pyx_tuple__35; + PyObject *__pyx_tuple__36; + PyObject *__pyx_tuple__37; + PyObject *__pyx_tuple__38; + PyObject *__pyx_tuple__39; + PyObject *__pyx_tuple__40; + PyObject *__pyx_tuple__41; + PyObject *__pyx_tuple__42; + PyObject *__pyx_tuple__44; + PyObject *__pyx_tuple__46; + PyObject *__pyx_tuple__49; + PyObject *__pyx_tuple__51; + PyObject *__pyx_tuple__53; + PyObject *__pyx_tuple__55; + PyObject *__pyx_tuple__57; + PyObject *__pyx_tuple__59; + PyObject *__pyx_tuple__60; + PyObject *__pyx_tuple__63; + PyObject *__pyx_tuple__65; + PyObject *__pyx_tuple__66; + PyObject *__pyx_tuple__68; + PyObject *__pyx_tuple__70; + PyObject *__pyx_tuple__73; + PyObject *__pyx_tuple__75; + PyObject *__pyx_tuple__77; + PyObject *__pyx_tuple__79; + PyObject *__pyx_tuple__80; + PyObject *__pyx_tuple__82; + PyObject *__pyx_tuple__85; + PyObject *__pyx_tuple__87; + PyObject *__pyx_tuple__89; + PyObject *__pyx_tuple__92; + PyObject *__pyx_codeobj__43; + PyObject *__pyx_codeobj__45; + PyObject *__pyx_codeobj__47; + PyObject *__pyx_codeobj__48; + PyObject *__pyx_codeobj__50; + PyObject *__pyx_codeobj__52; + PyObject *__pyx_codeobj__54; + PyObject *__pyx_codeobj__56; + PyObject *__pyx_codeobj__58; + PyObject *__pyx_codeobj__61; + PyObject *__pyx_codeobj__62; + PyObject *__pyx_codeobj__64; + PyObject *__pyx_codeobj__67; + PyObject *__pyx_codeobj__69; + PyObject *__pyx_codeobj__71; + PyObject *__pyx_codeobj__72; + PyObject *__pyx_codeobj__74; + PyObject *__pyx_codeobj__76; + PyObject *__pyx_codeobj__78; + PyObject *__pyx_codeobj__81; + PyObject *__pyx_codeobj__83; + PyObject *__pyx_codeobj__84; + PyObject *__pyx_codeobj__86; + PyObject *__pyx_codeobj__88; + PyObject *__pyx_codeobj__90; + PyObject *__pyx_codeobj__91; + PyObject *__pyx_codeobj__93; +} __pyx_mstate; + +#if CYTHON_USE_MODULE_STATE +#ifdef __cplusplus +namespace { + extern struct PyModuleDef __pyx_moduledef; +} /* anonymous namespace */ +#else +static struct PyModuleDef __pyx_moduledef; +#endif + +#define __pyx_mstate(o) ((__pyx_mstate *)__Pyx_PyModule_GetState(o)) + +#define __pyx_mstate_global (__pyx_mstate(PyState_FindModule(&__pyx_moduledef))) + +#define __pyx_m (PyState_FindModule(&__pyx_moduledef)) +#else +static __pyx_mstate __pyx_mstate_global_static = +#ifdef __cplusplus + {}; +#else + {0}; +#endif +static __pyx_mstate *__pyx_mstate_global = &__pyx_mstate_global_static; +#endif +/* #### Code section: module_state_clear ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_clear(PyObject *m) { + __pyx_mstate *clear_module_state = __pyx_mstate(m); + if (!clear_module_state) return 0; + Py_CLEAR(clear_module_state->__pyx_d); + Py_CLEAR(clear_module_state->__pyx_b); + Py_CLEAR(clear_module_state->__pyx_cython_runtime); + Py_CLEAR(clear_module_state->__pyx_empty_tuple); + Py_CLEAR(clear_module_state->__pyx_empty_bytes); + Py_CLEAR(clear_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_CLEAR(clear_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_CLEAR(clear_module_state->__pyx_FusedFunctionType); + #endif + Py_CLEAR(clear_module_state->__pyx_ptype_7cpython_4type_type); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_dtype); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_flatiter); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_broadcast); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_ndarray); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_generic); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_number); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_integer); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_signedinteger); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_unsignedinteger); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_inexact); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_floating); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_complexfloating); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_flexible); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_character); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_ufunc); + Py_CLEAR(clear_module_state->__pyx_ptype_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython); + Py_CLEAR(clear_module_state->__pyx_type_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython); + Py_CLEAR(clear_module_state->__pyx_array_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_array); + Py_CLEAR(clear_module_state->__pyx_MemviewEnum_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_MemviewEnum); + Py_CLEAR(clear_module_state->__pyx_memoryview_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_memoryview); + Py_CLEAR(clear_module_state->__pyx_memoryviewslice_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_memoryviewslice); + Py_CLEAR(clear_module_state->__pyx_kp_u_); + Py_CLEAR(clear_module_state->__pyx_kp_u_0); + Py_CLEAR(clear_module_state->__pyx_n_s_ASCII); + Py_CLEAR(clear_module_state->__pyx_n_s_AcadosOcpSolverCython); + Py_CLEAR(clear_module_state->__pyx_n_s_AcadosOcpSolverCython___get_poin); + Py_CLEAR(clear_module_state->__pyx_n_s_AcadosOcpSolverCython___get_stat); + Py_CLEAR(clear_module_state->__pyx_n_s_AcadosOcpSolverCython___get_stat_2); + Py_CLEAR(clear_module_state->__pyx_n_s_AcadosOcpSolverCython___get_stat_3); + Py_CLEAR(clear_module_state->__pyx_n_s_AcadosOcpSolverCython___reduce_c); + Py_CLEAR(clear_module_state->__pyx_n_s_AcadosOcpSolverCython___setstate); + Py_CLEAR(clear_module_state->__pyx_n_s_AcadosOcpSolverCython__get_poin); + Py_CLEAR(clear_module_state->__pyx_n_s_AcadosOcpSolverCython__get_stat); + Py_CLEAR(clear_module_state->__pyx_n_s_AcadosOcpSolverCython__get_stat_2); + Py_CLEAR(clear_module_state->__pyx_n_s_AcadosOcpSolverCython__get_stat_3); + Py_CLEAR(clear_module_state->__pyx_kp_u_AcadosOcpSolverCython_constraint); + Py_CLEAR(clear_module_state->__pyx_n_s_AcadosOcpSolverCython_constraint_2); + Py_CLEAR(clear_module_state->__pyx_n_s_AcadosOcpSolverCython_cost_set); + Py_CLEAR(clear_module_state->__pyx_kp_u_AcadosOcpSolverCython_cost_set_m); + Py_CLEAR(clear_module_state->__pyx_n_s_AcadosOcpSolverCython_custom_upd); + Py_CLEAR(clear_module_state->__pyx_kp_u_AcadosOcpSolverCython_does_not_s); + Py_CLEAR(clear_module_state->__pyx_kp_u_AcadosOcpSolverCython_does_not_s_2); + Py_CLEAR(clear_module_state->__pyx_kp_u_AcadosOcpSolverCython_eval_param); + Py_CLEAR(clear_module_state->__pyx_kp_u_AcadosOcpSolverCython_eval_param_2); + Py_CLEAR(clear_module_state->__pyx_n_s_AcadosOcpSolverCython_eval_param_3); + Py_CLEAR(clear_module_state->__pyx_n_s_AcadosOcpSolverCython_get); + Py_CLEAR(clear_module_state->__pyx_n_s_AcadosOcpSolverCython_get_cost); + Py_CLEAR(clear_module_state->__pyx_kp_u_AcadosOcpSolverCython_get_field); + Py_CLEAR(clear_module_state->__pyx_n_s_AcadosOcpSolverCython_get_from_q); + Py_CLEAR(clear_module_state->__pyx_kp_u_AcadosOcpSolverCython_get_is_an); + Py_CLEAR(clear_module_state->__pyx_n_s_AcadosOcpSolverCython_get_residu); + Py_CLEAR(clear_module_state->__pyx_kp_u_AcadosOcpSolverCython_get_stage); + Py_CLEAR(clear_module_state->__pyx_n_s_AcadosOcpSolverCython_get_stats); + Py_CLEAR(clear_module_state->__pyx_n_s_AcadosOcpSolverCython_load_itera); + Py_CLEAR(clear_module_state->__pyx_kp_u_AcadosOcpSolverCython_options_se); + Py_CLEAR(clear_module_state->__pyx_n_s_AcadosOcpSolverCython_options_se_2); + Py_CLEAR(clear_module_state->__pyx_n_s_AcadosOcpSolverCython_print_stat); + Py_CLEAR(clear_module_state->__pyx_n_s_AcadosOcpSolverCython_reset); + Py_CLEAR(clear_module_state->__pyx_n_s_AcadosOcpSolverCython_set); + Py_CLEAR(clear_module_state->__pyx_kp_u_AcadosOcpSolverCython_set_is_not); + Py_CLEAR(clear_module_state->__pyx_kp_u_AcadosOcpSolverCython_set_mismat); + Py_CLEAR(clear_module_state->__pyx_n_s_AcadosOcpSolverCython_set_new_ti); + Py_CLEAR(clear_module_state->__pyx_n_s_AcadosOcpSolverCython_set_params); + Py_CLEAR(clear_module_state->__pyx_n_s_AcadosOcpSolverCython_solve); + Py_CLEAR(clear_module_state->__pyx_kp_u_AcadosOcpSolverCython_solve_argu); + Py_CLEAR(clear_module_state->__pyx_kp_u_AcadosOcpSolverCython_solve_argu_2); + Py_CLEAR(clear_module_state->__pyx_n_s_AcadosOcpSolverCython_solve_for); + Py_CLEAR(clear_module_state->__pyx_n_s_AcadosOcpSolverCython_store_iter); + Py_CLEAR(clear_module_state->__pyx_n_s_AcadosOcpSolverCython_update_qp); + Py_CLEAR(clear_module_state->__pyx_kp_s_All_dimensions_preceding_dimensi); + Py_CLEAR(clear_module_state->__pyx_n_s_AssertionError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Buffer_view_does_not_expose_stri); + Py_CLEAR(clear_module_state->__pyx_kp_s_Can_only_create_a_buffer_that_is); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_assign_to_read_only_memor); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_create_writable_memory_vi); + Py_CLEAR(clear_module_state->__pyx_kp_u_Cannot_index_with_type); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_transpose_memoryview_with); + Py_CLEAR(clear_module_state->__pyx_kp_s_Dimension_d_is_not_direct); + Py_CLEAR(clear_module_state->__pyx_n_s_Ellipsis); + Py_CLEAR(clear_module_state->__pyx_kp_s_Empty_shape_tuple_for_cython_arr); + Py_CLEAR(clear_module_state->__pyx_n_u_F); + Py_CLEAR(clear_module_state->__pyx_kp_u_Got_sizes_idx); + Py_CLEAR(clear_module_state->__pyx_n_s_ImportError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0); + Py_CLEAR(clear_module_state->__pyx_n_s_IndexError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Index_out_of_bounds_axis_d); + Py_CLEAR(clear_module_state->__pyx_kp_s_Indirect_dimensions_not_supporte); + Py_CLEAR(clear_module_state->__pyx_kp_u_Invalid_mode_expected_c_or_fortr); + Py_CLEAR(clear_module_state->__pyx_kp_u_Invalid_shape_in_axis); + Py_CLEAR(clear_module_state->__pyx_n_s_MemoryError); + Py_CLEAR(clear_module_state->__pyx_kp_s_MemoryView_of_r_at_0x_x); + Py_CLEAR(clear_module_state->__pyx_kp_s_MemoryView_of_r_object); + Py_CLEAR(clear_module_state->__pyx_n_s_N); + Py_CLEAR(clear_module_state->__pyx_kp_u_None); + Py_CLEAR(clear_module_state->__pyx_n_s_NotImplementedError); + Py_CLEAR(clear_module_state->__pyx_n_b_O); + Py_CLEAR(clear_module_state->__pyx_kp_u_Out_of_bounds_on_buffer_access_a); + Py_CLEAR(clear_module_state->__pyx_n_s_PickleError); + Py_CLEAR(clear_module_state->__pyx_n_u_SQP); + Py_CLEAR(clear_module_state->__pyx_n_u_SQP_RTI); + Py_CLEAR(clear_module_state->__pyx_n_s_Sequence); + Py_CLEAR(clear_module_state->__pyx_kp_s_Step_may_not_be_zero_axis_d); + Py_CLEAR(clear_module_state->__pyx_kp_u_TODO); + Py_CLEAR(clear_module_state->__pyx_n_s_TypeError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Unable_to_convert_item_to_object); + Py_CLEAR(clear_module_state->__pyx_n_s_ValueError); + Py_CLEAR(clear_module_state->__pyx_n_s_View_MemoryView); + Py_CLEAR(clear_module_state->__pyx_kp_u_Warning_acados_ocp_solver_reache); + Py_CLEAR(clear_module_state->__pyx_kp_u_Y_m_d_H_M_S_f); + Py_CLEAR(clear_module_state->__pyx_kp_u__16); + Py_CLEAR(clear_module_state->__pyx_n_u__17); + Py_CLEAR(clear_module_state->__pyx_kp_u__2); + Py_CLEAR(clear_module_state->__pyx_n_s__3); + Py_CLEAR(clear_module_state->__pyx_kp_u__31); + Py_CLEAR(clear_module_state->__pyx_kp_u__6); + Py_CLEAR(clear_module_state->__pyx_kp_u__7); + 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Py_CLEAR(clear_module_state->__pyx_tuple__29); + Py_CLEAR(clear_module_state->__pyx_tuple__30); + Py_CLEAR(clear_module_state->__pyx_tuple__32); + Py_CLEAR(clear_module_state->__pyx_tuple__33); + Py_CLEAR(clear_module_state->__pyx_tuple__34); + Py_CLEAR(clear_module_state->__pyx_tuple__35); + Py_CLEAR(clear_module_state->__pyx_tuple__36); + Py_CLEAR(clear_module_state->__pyx_tuple__37); + Py_CLEAR(clear_module_state->__pyx_tuple__38); + Py_CLEAR(clear_module_state->__pyx_tuple__39); + Py_CLEAR(clear_module_state->__pyx_tuple__40); + Py_CLEAR(clear_module_state->__pyx_tuple__41); + Py_CLEAR(clear_module_state->__pyx_tuple__42); + Py_CLEAR(clear_module_state->__pyx_tuple__44); + Py_CLEAR(clear_module_state->__pyx_tuple__46); + Py_CLEAR(clear_module_state->__pyx_tuple__49); + Py_CLEAR(clear_module_state->__pyx_tuple__51); + Py_CLEAR(clear_module_state->__pyx_tuple__53); + Py_CLEAR(clear_module_state->__pyx_tuple__55); + Py_CLEAR(clear_module_state->__pyx_tuple__57); + Py_CLEAR(clear_module_state->__pyx_tuple__59); + Py_CLEAR(clear_module_state->__pyx_tuple__60); + Py_CLEAR(clear_module_state->__pyx_tuple__63); + Py_CLEAR(clear_module_state->__pyx_tuple__65); + Py_CLEAR(clear_module_state->__pyx_tuple__66); + Py_CLEAR(clear_module_state->__pyx_tuple__68); + Py_CLEAR(clear_module_state->__pyx_tuple__70); + Py_CLEAR(clear_module_state->__pyx_tuple__73); + Py_CLEAR(clear_module_state->__pyx_tuple__75); + Py_CLEAR(clear_module_state->__pyx_tuple__77); + Py_CLEAR(clear_module_state->__pyx_tuple__79); + Py_CLEAR(clear_module_state->__pyx_tuple__80); + Py_CLEAR(clear_module_state->__pyx_tuple__82); + Py_CLEAR(clear_module_state->__pyx_tuple__85); + Py_CLEAR(clear_module_state->__pyx_tuple__87); + Py_CLEAR(clear_module_state->__pyx_tuple__89); + Py_CLEAR(clear_module_state->__pyx_tuple__92); + Py_CLEAR(clear_module_state->__pyx_codeobj__43); + Py_CLEAR(clear_module_state->__pyx_codeobj__45); + Py_CLEAR(clear_module_state->__pyx_codeobj__47); + Py_CLEAR(clear_module_state->__pyx_codeobj__48); + Py_CLEAR(clear_module_state->__pyx_codeobj__50); + Py_CLEAR(clear_module_state->__pyx_codeobj__52); + Py_CLEAR(clear_module_state->__pyx_codeobj__54); + Py_CLEAR(clear_module_state->__pyx_codeobj__56); + Py_CLEAR(clear_module_state->__pyx_codeobj__58); + Py_CLEAR(clear_module_state->__pyx_codeobj__61); + Py_CLEAR(clear_module_state->__pyx_codeobj__62); + Py_CLEAR(clear_module_state->__pyx_codeobj__64); + Py_CLEAR(clear_module_state->__pyx_codeobj__67); + Py_CLEAR(clear_module_state->__pyx_codeobj__69); + Py_CLEAR(clear_module_state->__pyx_codeobj__71); + Py_CLEAR(clear_module_state->__pyx_codeobj__72); + Py_CLEAR(clear_module_state->__pyx_codeobj__74); + Py_CLEAR(clear_module_state->__pyx_codeobj__76); + Py_CLEAR(clear_module_state->__pyx_codeobj__78); + Py_CLEAR(clear_module_state->__pyx_codeobj__81); + Py_CLEAR(clear_module_state->__pyx_codeobj__83); + Py_CLEAR(clear_module_state->__pyx_codeobj__84); + Py_CLEAR(clear_module_state->__pyx_codeobj__86); + Py_CLEAR(clear_module_state->__pyx_codeobj__88); + Py_CLEAR(clear_module_state->__pyx_codeobj__90); + Py_CLEAR(clear_module_state->__pyx_codeobj__91); + Py_CLEAR(clear_module_state->__pyx_codeobj__93); + return 0; +} +#endif +/* #### Code section: module_state_traverse ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_traverse(PyObject *m, visitproc visit, void *arg) { + __pyx_mstate *traverse_module_state = __pyx_mstate(m); + if (!traverse_module_state) return 0; + Py_VISIT(traverse_module_state->__pyx_d); + Py_VISIT(traverse_module_state->__pyx_b); + Py_VISIT(traverse_module_state->__pyx_cython_runtime); + Py_VISIT(traverse_module_state->__pyx_empty_tuple); + Py_VISIT(traverse_module_state->__pyx_empty_bytes); + Py_VISIT(traverse_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_VISIT(traverse_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_VISIT(traverse_module_state->__pyx_FusedFunctionType); + #endif + Py_VISIT(traverse_module_state->__pyx_ptype_7cpython_4type_type); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_dtype); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_flatiter); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_broadcast); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_ndarray); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_generic); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_number); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_integer); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_signedinteger); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_unsignedinteger); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_inexact); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_floating); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_complexfloating); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_flexible); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_character); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_ufunc); + Py_VISIT(traverse_module_state->__pyx_ptype_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython); + Py_VISIT(traverse_module_state->__pyx_type_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython); + Py_VISIT(traverse_module_state->__pyx_array_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_array); + Py_VISIT(traverse_module_state->__pyx_MemviewEnum_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_MemviewEnum); + Py_VISIT(traverse_module_state->__pyx_memoryview_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_memoryview); + Py_VISIT(traverse_module_state->__pyx_memoryviewslice_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_memoryviewslice); + Py_VISIT(traverse_module_state->__pyx_kp_u_); + Py_VISIT(traverse_module_state->__pyx_kp_u_0); + Py_VISIT(traverse_module_state->__pyx_n_s_ASCII); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython___get_poin); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython___get_stat); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython___get_stat_2); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython___get_stat_3); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython___reduce_c); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython___setstate); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython__get_poin); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython__get_stat); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython__get_stat_2); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython__get_stat_3); + Py_VISIT(traverse_module_state->__pyx_kp_u_AcadosOcpSolverCython_constraint); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_constraint_2); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_cost_set); + Py_VISIT(traverse_module_state->__pyx_kp_u_AcadosOcpSolverCython_cost_set_m); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_custom_upd); + Py_VISIT(traverse_module_state->__pyx_kp_u_AcadosOcpSolverCython_does_not_s); + Py_VISIT(traverse_module_state->__pyx_kp_u_AcadosOcpSolverCython_does_not_s_2); + Py_VISIT(traverse_module_state->__pyx_kp_u_AcadosOcpSolverCython_eval_param); + Py_VISIT(traverse_module_state->__pyx_kp_u_AcadosOcpSolverCython_eval_param_2); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_eval_param_3); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_get); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_get_cost); + Py_VISIT(traverse_module_state->__pyx_kp_u_AcadosOcpSolverCython_get_field); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_get_from_q); + Py_VISIT(traverse_module_state->__pyx_kp_u_AcadosOcpSolverCython_get_is_an); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_get_residu); + Py_VISIT(traverse_module_state->__pyx_kp_u_AcadosOcpSolverCython_get_stage); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_get_stats); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_load_itera); + Py_VISIT(traverse_module_state->__pyx_kp_u_AcadosOcpSolverCython_options_se); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_options_se_2); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_print_stat); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_reset); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_set); + Py_VISIT(traverse_module_state->__pyx_kp_u_AcadosOcpSolverCython_set_is_not); + Py_VISIT(traverse_module_state->__pyx_kp_u_AcadosOcpSolverCython_set_mismat); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_set_new_ti); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_set_params); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_solve); + Py_VISIT(traverse_module_state->__pyx_kp_u_AcadosOcpSolverCython_solve_argu); + Py_VISIT(traverse_module_state->__pyx_kp_u_AcadosOcpSolverCython_solve_argu_2); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_solve_for); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_store_iter); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_update_qp); + Py_VISIT(traverse_module_state->__pyx_kp_s_All_dimensions_preceding_dimensi); + Py_VISIT(traverse_module_state->__pyx_n_s_AssertionError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Buffer_view_does_not_expose_stri); + Py_VISIT(traverse_module_state->__pyx_kp_s_Can_only_create_a_buffer_that_is); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_assign_to_read_only_memor); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_create_writable_memory_vi); + Py_VISIT(traverse_module_state->__pyx_kp_u_Cannot_index_with_type); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_transpose_memoryview_with); + Py_VISIT(traverse_module_state->__pyx_kp_s_Dimension_d_is_not_direct); + Py_VISIT(traverse_module_state->__pyx_n_s_Ellipsis); + Py_VISIT(traverse_module_state->__pyx_kp_s_Empty_shape_tuple_for_cython_arr); + Py_VISIT(traverse_module_state->__pyx_n_u_F); + Py_VISIT(traverse_module_state->__pyx_kp_u_Got_sizes_idx); + Py_VISIT(traverse_module_state->__pyx_n_s_ImportError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0); + Py_VISIT(traverse_module_state->__pyx_n_s_IndexError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Index_out_of_bounds_axis_d); + Py_VISIT(traverse_module_state->__pyx_kp_s_Indirect_dimensions_not_supporte); + Py_VISIT(traverse_module_state->__pyx_kp_u_Invalid_mode_expected_c_or_fortr); + Py_VISIT(traverse_module_state->__pyx_kp_u_Invalid_shape_in_axis); + Py_VISIT(traverse_module_state->__pyx_n_s_MemoryError); + Py_VISIT(traverse_module_state->__pyx_kp_s_MemoryView_of_r_at_0x_x); + Py_VISIT(traverse_module_state->__pyx_kp_s_MemoryView_of_r_object); + Py_VISIT(traverse_module_state->__pyx_n_s_N); + Py_VISIT(traverse_module_state->__pyx_kp_u_None); + Py_VISIT(traverse_module_state->__pyx_n_s_NotImplementedError); + Py_VISIT(traverse_module_state->__pyx_n_b_O); + Py_VISIT(traverse_module_state->__pyx_kp_u_Out_of_bounds_on_buffer_access_a); + Py_VISIT(traverse_module_state->__pyx_n_s_PickleError); + Py_VISIT(traverse_module_state->__pyx_n_u_SQP); + Py_VISIT(traverse_module_state->__pyx_n_u_SQP_RTI); + Py_VISIT(traverse_module_state->__pyx_n_s_Sequence); + 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Py_VISIT(traverse_module_state->__pyx_kp_u_acados_acados_ocp_solver_returne); + Py_VISIT(traverse_module_state->__pyx_n_s_acados_template_acados_ocp_solve); + Py_VISIT(traverse_module_state->__pyx_n_s_allocate_buffer); + Py_VISIT(traverse_module_state->__pyx_n_u_alpha); + Py_VISIT(traverse_module_state->__pyx_n_u_alpha_min); + Py_VISIT(traverse_module_state->__pyx_n_u_alpha_reduction); + Py_VISIT(traverse_module_state->__pyx_kp_u_alpha_values_are_not_available_f); + Py_VISIT(traverse_module_state->__pyx_kp_u_and); + Py_VISIT(traverse_module_state->__pyx_n_s_array); + Py_VISIT(traverse_module_state->__pyx_n_s_ascontiguousarray); + Py_VISIT(traverse_module_state->__pyx_n_s_asfortranarray); + Py_VISIT(traverse_module_state->__pyx_n_s_asyncio_coroutines); + Py_VISIT(traverse_module_state->__pyx_kp_u_at_stage); + Py_VISIT(traverse_module_state->__pyx_n_s_base); + Py_VISIT(traverse_module_state->__pyx_n_s_c); + Py_VISIT(traverse_module_state->__pyx_n_u_c); + Py_VISIT(traverse_module_state->__pyx_n_s_class); + Py_VISIT(traverse_module_state->__pyx_n_s_class_getitem); + Py_VISIT(traverse_module_state->__pyx_n_s_cline_in_traceback); + Py_VISIT(traverse_module_state->__pyx_n_s_collections); + Py_VISIT(traverse_module_state->__pyx_kp_s_collections_abc); + Py_VISIT(traverse_module_state->__pyx_n_s_constraints_fields); + Py_VISIT(traverse_module_state->__pyx_n_s_constraints_set); + Py_VISIT(traverse_module_state->__pyx_kp_u_constraints_set_value_must_be_nu); + Py_VISIT(traverse_module_state->__pyx_kp_s_contiguous_and_direct); + Py_VISIT(traverse_module_state->__pyx_kp_s_contiguous_and_indirect); + Py_VISIT(traverse_module_state->__pyx_n_s_cost_fields); + Py_VISIT(traverse_module_state->__pyx_n_s_cost_set); + Py_VISIT(traverse_module_state->__pyx_kp_u_cost_set_value_must_be_numpy_arr); + Py_VISIT(traverse_module_state->__pyx_n_s_count); + Py_VISIT(traverse_module_state->__pyx_n_s_custom_update); + Py_VISIT(traverse_module_state->__pyx_n_u_d); + 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Py_VISIT(traverse_module_state->__pyx_tuple__59); + Py_VISIT(traverse_module_state->__pyx_tuple__60); + Py_VISIT(traverse_module_state->__pyx_tuple__63); + Py_VISIT(traverse_module_state->__pyx_tuple__65); + Py_VISIT(traverse_module_state->__pyx_tuple__66); + Py_VISIT(traverse_module_state->__pyx_tuple__68); + Py_VISIT(traverse_module_state->__pyx_tuple__70); + Py_VISIT(traverse_module_state->__pyx_tuple__73); + Py_VISIT(traverse_module_state->__pyx_tuple__75); + Py_VISIT(traverse_module_state->__pyx_tuple__77); + Py_VISIT(traverse_module_state->__pyx_tuple__79); + Py_VISIT(traverse_module_state->__pyx_tuple__80); + Py_VISIT(traverse_module_state->__pyx_tuple__82); + Py_VISIT(traverse_module_state->__pyx_tuple__85); + Py_VISIT(traverse_module_state->__pyx_tuple__87); + Py_VISIT(traverse_module_state->__pyx_tuple__89); + Py_VISIT(traverse_module_state->__pyx_tuple__92); + Py_VISIT(traverse_module_state->__pyx_codeobj__43); + Py_VISIT(traverse_module_state->__pyx_codeobj__45); + Py_VISIT(traverse_module_state->__pyx_codeobj__47); + Py_VISIT(traverse_module_state->__pyx_codeobj__48); + Py_VISIT(traverse_module_state->__pyx_codeobj__50); + Py_VISIT(traverse_module_state->__pyx_codeobj__52); + Py_VISIT(traverse_module_state->__pyx_codeobj__54); + Py_VISIT(traverse_module_state->__pyx_codeobj__56); + Py_VISIT(traverse_module_state->__pyx_codeobj__58); + Py_VISIT(traverse_module_state->__pyx_codeobj__61); + Py_VISIT(traverse_module_state->__pyx_codeobj__62); + Py_VISIT(traverse_module_state->__pyx_codeobj__64); + Py_VISIT(traverse_module_state->__pyx_codeobj__67); + Py_VISIT(traverse_module_state->__pyx_codeobj__69); + Py_VISIT(traverse_module_state->__pyx_codeobj__71); + Py_VISIT(traverse_module_state->__pyx_codeobj__72); + Py_VISIT(traverse_module_state->__pyx_codeobj__74); + Py_VISIT(traverse_module_state->__pyx_codeobj__76); + Py_VISIT(traverse_module_state->__pyx_codeobj__78); + Py_VISIT(traverse_module_state->__pyx_codeobj__81); + Py_VISIT(traverse_module_state->__pyx_codeobj__83); + Py_VISIT(traverse_module_state->__pyx_codeobj__84); + Py_VISIT(traverse_module_state->__pyx_codeobj__86); + Py_VISIT(traverse_module_state->__pyx_codeobj__88); + Py_VISIT(traverse_module_state->__pyx_codeobj__90); + Py_VISIT(traverse_module_state->__pyx_codeobj__91); + Py_VISIT(traverse_module_state->__pyx_codeobj__93); + return 0; +} +#endif +/* #### Code section: module_state_defines ### */ +#define __pyx_d __pyx_mstate_global->__pyx_d +#define __pyx_b __pyx_mstate_global->__pyx_b +#define __pyx_cython_runtime __pyx_mstate_global->__pyx_cython_runtime +#define __pyx_empty_tuple __pyx_mstate_global->__pyx_empty_tuple +#define __pyx_empty_bytes __pyx_mstate_global->__pyx_empty_bytes +#define __pyx_empty_unicode __pyx_mstate_global->__pyx_empty_unicode +#ifdef __Pyx_CyFunction_USED +#define __pyx_CyFunctionType __pyx_mstate_global->__pyx_CyFunctionType +#endif +#ifdef __Pyx_FusedFunction_USED +#define __pyx_FusedFunctionType __pyx_mstate_global->__pyx_FusedFunctionType +#endif +#ifdef __Pyx_Generator_USED +#define __pyx_GeneratorType __pyx_mstate_global->__pyx_GeneratorType +#endif +#ifdef __Pyx_IterableCoroutine_USED +#define __pyx_IterableCoroutineType __pyx_mstate_global->__pyx_IterableCoroutineType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineAwaitType __pyx_mstate_global->__pyx_CoroutineAwaitType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineType __pyx_mstate_global->__pyx_CoroutineType +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_7cpython_4type_type __pyx_mstate_global->__pyx_ptype_7cpython_4type_type +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_5numpy_dtype __pyx_mstate_global->__pyx_ptype_5numpy_dtype +#define __pyx_ptype_5numpy_flatiter __pyx_mstate_global->__pyx_ptype_5numpy_flatiter +#define __pyx_ptype_5numpy_broadcast __pyx_mstate_global->__pyx_ptype_5numpy_broadcast +#define __pyx_ptype_5numpy_ndarray __pyx_mstate_global->__pyx_ptype_5numpy_ndarray +#define __pyx_ptype_5numpy_generic __pyx_mstate_global->__pyx_ptype_5numpy_generic +#define __pyx_ptype_5numpy_number __pyx_mstate_global->__pyx_ptype_5numpy_number +#define __pyx_ptype_5numpy_integer __pyx_mstate_global->__pyx_ptype_5numpy_integer +#define __pyx_ptype_5numpy_signedinteger __pyx_mstate_global->__pyx_ptype_5numpy_signedinteger +#define __pyx_ptype_5numpy_unsignedinteger __pyx_mstate_global->__pyx_ptype_5numpy_unsignedinteger +#define __pyx_ptype_5numpy_inexact __pyx_mstate_global->__pyx_ptype_5numpy_inexact +#define __pyx_ptype_5numpy_floating __pyx_mstate_global->__pyx_ptype_5numpy_floating +#define __pyx_ptype_5numpy_complexfloating __pyx_mstate_global->__pyx_ptype_5numpy_complexfloating +#define __pyx_ptype_5numpy_flexible __pyx_mstate_global->__pyx_ptype_5numpy_flexible +#define __pyx_ptype_5numpy_character __pyx_mstate_global->__pyx_ptype_5numpy_character +#define __pyx_ptype_5numpy_ufunc __pyx_mstate_global->__pyx_ptype_5numpy_ufunc +#if CYTHON_USE_MODULE_STATE +#define __pyx_type_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython __pyx_mstate_global->__pyx_type_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython +#define __pyx_type___pyx_array __pyx_mstate_global->__pyx_type___pyx_array +#define __pyx_type___pyx_MemviewEnum __pyx_mstate_global->__pyx_type___pyx_MemviewEnum +#define __pyx_type___pyx_memoryview __pyx_mstate_global->__pyx_type___pyx_memoryview +#define __pyx_type___pyx_memoryviewslice __pyx_mstate_global->__pyx_type___pyx_memoryviewslice +#endif +#define __pyx_ptype_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython __pyx_mstate_global->__pyx_ptype_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython +#define __pyx_array_type __pyx_mstate_global->__pyx_array_type +#define __pyx_MemviewEnum_type __pyx_mstate_global->__pyx_MemviewEnum_type +#define __pyx_memoryview_type __pyx_mstate_global->__pyx_memoryview_type +#define __pyx_memoryviewslice_type __pyx_mstate_global->__pyx_memoryviewslice_type +#define __pyx_kp_u_ __pyx_mstate_global->__pyx_kp_u_ +#define __pyx_kp_u_0 __pyx_mstate_global->__pyx_kp_u_0 +#define __pyx_n_s_ASCII __pyx_mstate_global->__pyx_n_s_ASCII +#define __pyx_n_s_AcadosOcpSolverCython __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython +#define __pyx_n_s_AcadosOcpSolverCython___get_poin __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython___get_poin +#define __pyx_n_s_AcadosOcpSolverCython___get_stat __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython___get_stat +#define __pyx_n_s_AcadosOcpSolverCython___get_stat_2 __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython___get_stat_2 +#define __pyx_n_s_AcadosOcpSolverCython___get_stat_3 __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython___get_stat_3 +#define __pyx_n_s_AcadosOcpSolverCython___reduce_c __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython___reduce_c +#define __pyx_n_s_AcadosOcpSolverCython___setstate __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython___setstate +#define __pyx_n_s_AcadosOcpSolverCython__get_poin __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython__get_poin +#define __pyx_n_s_AcadosOcpSolverCython__get_stat __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython__get_stat +#define __pyx_n_s_AcadosOcpSolverCython__get_stat_2 __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython__get_stat_2 +#define __pyx_n_s_AcadosOcpSolverCython__get_stat_3 __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython__get_stat_3 +#define __pyx_kp_u_AcadosOcpSolverCython_constraint __pyx_mstate_global->__pyx_kp_u_AcadosOcpSolverCython_constraint +#define __pyx_n_s_AcadosOcpSolverCython_constraint_2 __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_constraint_2 +#define __pyx_n_s_AcadosOcpSolverCython_cost_set __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_cost_set +#define __pyx_kp_u_AcadosOcpSolverCython_cost_set_m __pyx_mstate_global->__pyx_kp_u_AcadosOcpSolverCython_cost_set_m +#define __pyx_n_s_AcadosOcpSolverCython_custom_upd __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_custom_upd +#define __pyx_kp_u_AcadosOcpSolverCython_does_not_s __pyx_mstate_global->__pyx_kp_u_AcadosOcpSolverCython_does_not_s +#define __pyx_kp_u_AcadosOcpSolverCython_does_not_s_2 __pyx_mstate_global->__pyx_kp_u_AcadosOcpSolverCython_does_not_s_2 +#define __pyx_kp_u_AcadosOcpSolverCython_eval_param __pyx_mstate_global->__pyx_kp_u_AcadosOcpSolverCython_eval_param +#define __pyx_kp_u_AcadosOcpSolverCython_eval_param_2 __pyx_mstate_global->__pyx_kp_u_AcadosOcpSolverCython_eval_param_2 +#define __pyx_n_s_AcadosOcpSolverCython_eval_param_3 __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_eval_param_3 +#define __pyx_n_s_AcadosOcpSolverCython_get __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_get +#define __pyx_n_s_AcadosOcpSolverCython_get_cost __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_get_cost +#define __pyx_kp_u_AcadosOcpSolverCython_get_field __pyx_mstate_global->__pyx_kp_u_AcadosOcpSolverCython_get_field +#define __pyx_n_s_AcadosOcpSolverCython_get_from_q __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_get_from_q +#define __pyx_kp_u_AcadosOcpSolverCython_get_is_an __pyx_mstate_global->__pyx_kp_u_AcadosOcpSolverCython_get_is_an +#define __pyx_n_s_AcadosOcpSolverCython_get_residu __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_get_residu +#define __pyx_kp_u_AcadosOcpSolverCython_get_stage __pyx_mstate_global->__pyx_kp_u_AcadosOcpSolverCython_get_stage +#define __pyx_n_s_AcadosOcpSolverCython_get_stats __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_get_stats +#define __pyx_n_s_AcadosOcpSolverCython_load_itera __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_load_itera +#define __pyx_kp_u_AcadosOcpSolverCython_options_se __pyx_mstate_global->__pyx_kp_u_AcadosOcpSolverCython_options_se +#define __pyx_n_s_AcadosOcpSolverCython_options_se_2 __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_options_se_2 +#define __pyx_n_s_AcadosOcpSolverCython_print_stat __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_print_stat +#define __pyx_n_s_AcadosOcpSolverCython_reset __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_reset +#define __pyx_n_s_AcadosOcpSolverCython_set __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_set +#define __pyx_kp_u_AcadosOcpSolverCython_set_is_not __pyx_mstate_global->__pyx_kp_u_AcadosOcpSolverCython_set_is_not +#define __pyx_kp_u_AcadosOcpSolverCython_set_mismat __pyx_mstate_global->__pyx_kp_u_AcadosOcpSolverCython_set_mismat +#define __pyx_n_s_AcadosOcpSolverCython_set_new_ti __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_set_new_ti +#define __pyx_n_s_AcadosOcpSolverCython_set_params __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_set_params +#define __pyx_n_s_AcadosOcpSolverCython_solve __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_solve +#define __pyx_kp_u_AcadosOcpSolverCython_solve_argu __pyx_mstate_global->__pyx_kp_u_AcadosOcpSolverCython_solve_argu +#define __pyx_kp_u_AcadosOcpSolverCython_solve_argu_2 __pyx_mstate_global->__pyx_kp_u_AcadosOcpSolverCython_solve_argu_2 +#define __pyx_n_s_AcadosOcpSolverCython_solve_for __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_solve_for +#define __pyx_n_s_AcadosOcpSolverCython_store_iter __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_store_iter +#define __pyx_n_s_AcadosOcpSolverCython_update_qp __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_update_qp +#define __pyx_kp_s_All_dimensions_preceding_dimensi __pyx_mstate_global->__pyx_kp_s_All_dimensions_preceding_dimensi +#define __pyx_n_s_AssertionError __pyx_mstate_global->__pyx_n_s_AssertionError +#define __pyx_kp_s_Buffer_view_does_not_expose_stri __pyx_mstate_global->__pyx_kp_s_Buffer_view_does_not_expose_stri +#define __pyx_kp_s_Can_only_create_a_buffer_that_is __pyx_mstate_global->__pyx_kp_s_Can_only_create_a_buffer_that_is +#define __pyx_kp_s_Cannot_assign_to_read_only_memor __pyx_mstate_global->__pyx_kp_s_Cannot_assign_to_read_only_memor +#define __pyx_kp_s_Cannot_create_writable_memory_vi __pyx_mstate_global->__pyx_kp_s_Cannot_create_writable_memory_vi +#define __pyx_kp_u_Cannot_index_with_type __pyx_mstate_global->__pyx_kp_u_Cannot_index_with_type +#define __pyx_kp_s_Cannot_transpose_memoryview_with __pyx_mstate_global->__pyx_kp_s_Cannot_transpose_memoryview_with +#define __pyx_kp_s_Dimension_d_is_not_direct __pyx_mstate_global->__pyx_kp_s_Dimension_d_is_not_direct +#define __pyx_n_s_Ellipsis __pyx_mstate_global->__pyx_n_s_Ellipsis +#define __pyx_kp_s_Empty_shape_tuple_for_cython_arr __pyx_mstate_global->__pyx_kp_s_Empty_shape_tuple_for_cython_arr +#define __pyx_n_u_F __pyx_mstate_global->__pyx_n_u_F +#define __pyx_kp_u_Got_sizes_idx __pyx_mstate_global->__pyx_kp_u_Got_sizes_idx +#define __pyx_n_s_ImportError __pyx_mstate_global->__pyx_n_s_ImportError +#define __pyx_kp_s_Incompatible_checksums_0x_x_vs_0 __pyx_mstate_global->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0 +#define __pyx_n_s_IndexError __pyx_mstate_global->__pyx_n_s_IndexError +#define __pyx_kp_s_Index_out_of_bounds_axis_d __pyx_mstate_global->__pyx_kp_s_Index_out_of_bounds_axis_d +#define __pyx_kp_s_Indirect_dimensions_not_supporte __pyx_mstate_global->__pyx_kp_s_Indirect_dimensions_not_supporte +#define __pyx_kp_u_Invalid_mode_expected_c_or_fortr __pyx_mstate_global->__pyx_kp_u_Invalid_mode_expected_c_or_fortr +#define __pyx_kp_u_Invalid_shape_in_axis __pyx_mstate_global->__pyx_kp_u_Invalid_shape_in_axis +#define __pyx_n_s_MemoryError __pyx_mstate_global->__pyx_n_s_MemoryError +#define __pyx_kp_s_MemoryView_of_r_at_0x_x __pyx_mstate_global->__pyx_kp_s_MemoryView_of_r_at_0x_x +#define __pyx_kp_s_MemoryView_of_r_object __pyx_mstate_global->__pyx_kp_s_MemoryView_of_r_object +#define __pyx_n_s_N __pyx_mstate_global->__pyx_n_s_N +#define __pyx_kp_u_None __pyx_mstate_global->__pyx_kp_u_None +#define __pyx_n_s_NotImplementedError __pyx_mstate_global->__pyx_n_s_NotImplementedError +#define __pyx_n_b_O __pyx_mstate_global->__pyx_n_b_O +#define __pyx_kp_u_Out_of_bounds_on_buffer_access_a __pyx_mstate_global->__pyx_kp_u_Out_of_bounds_on_buffer_access_a +#define __pyx_n_s_PickleError __pyx_mstate_global->__pyx_n_s_PickleError +#define __pyx_n_u_SQP __pyx_mstate_global->__pyx_n_u_SQP +#define __pyx_n_u_SQP_RTI __pyx_mstate_global->__pyx_n_u_SQP_RTI +#define __pyx_n_s_Sequence __pyx_mstate_global->__pyx_n_s_Sequence +#define __pyx_kp_s_Step_may_not_be_zero_axis_d __pyx_mstate_global->__pyx_kp_s_Step_may_not_be_zero_axis_d +#define __pyx_kp_u_TODO __pyx_mstate_global->__pyx_kp_u_TODO +#define __pyx_n_s_TypeError __pyx_mstate_global->__pyx_n_s_TypeError +#define __pyx_kp_s_Unable_to_convert_item_to_object __pyx_mstate_global->__pyx_kp_s_Unable_to_convert_item_to_object +#define __pyx_n_s_ValueError __pyx_mstate_global->__pyx_n_s_ValueError +#define __pyx_n_s_View_MemoryView __pyx_mstate_global->__pyx_n_s_View_MemoryView +#define __pyx_kp_u_Warning_acados_ocp_solver_reache __pyx_mstate_global->__pyx_kp_u_Warning_acados_ocp_solver_reache +#define __pyx_kp_u_Y_m_d_H_M_S_f __pyx_mstate_global->__pyx_kp_u_Y_m_d_H_M_S_f +#define __pyx_kp_u__16 __pyx_mstate_global->__pyx_kp_u__16 +#define __pyx_n_u__17 __pyx_mstate_global->__pyx_n_u__17 +#define __pyx_kp_u__2 __pyx_mstate_global->__pyx_kp_u__2 +#define __pyx_n_s__3 __pyx_mstate_global->__pyx_n_s__3 +#define __pyx_kp_u__31 __pyx_mstate_global->__pyx_kp_u__31 +#define __pyx_kp_u__6 __pyx_mstate_global->__pyx_kp_u__6 +#define __pyx_kp_u__7 __pyx_mstate_global->__pyx_kp_u__7 +#define __pyx_n_s__94 __pyx_mstate_global->__pyx_n_s__94 +#define __pyx_n_s_abc __pyx_mstate_global->__pyx_n_s_abc +#define __pyx_kp_u_acados_acados_ocp_solver_returne __pyx_mstate_global->__pyx_kp_u_acados_acados_ocp_solver_returne +#define __pyx_n_s_acados_template_acados_ocp_solve __pyx_mstate_global->__pyx_n_s_acados_template_acados_ocp_solve +#define __pyx_n_s_allocate_buffer __pyx_mstate_global->__pyx_n_s_allocate_buffer +#define __pyx_n_u_alpha __pyx_mstate_global->__pyx_n_u_alpha +#define __pyx_n_u_alpha_min __pyx_mstate_global->__pyx_n_u_alpha_min +#define __pyx_n_u_alpha_reduction __pyx_mstate_global->__pyx_n_u_alpha_reduction +#define __pyx_kp_u_alpha_values_are_not_available_f __pyx_mstate_global->__pyx_kp_u_alpha_values_are_not_available_f +#define __pyx_kp_u_and __pyx_mstate_global->__pyx_kp_u_and +#define __pyx_n_s_array __pyx_mstate_global->__pyx_n_s_array +#define __pyx_n_s_ascontiguousarray __pyx_mstate_global->__pyx_n_s_ascontiguousarray +#define __pyx_n_s_asfortranarray __pyx_mstate_global->__pyx_n_s_asfortranarray +#define __pyx_n_s_asyncio_coroutines __pyx_mstate_global->__pyx_n_s_asyncio_coroutines +#define __pyx_kp_u_at_stage __pyx_mstate_global->__pyx_kp_u_at_stage +#define __pyx_n_s_base __pyx_mstate_global->__pyx_n_s_base +#define __pyx_n_s_c __pyx_mstate_global->__pyx_n_s_c +#define __pyx_n_u_c __pyx_mstate_global->__pyx_n_u_c +#define __pyx_n_s_class __pyx_mstate_global->__pyx_n_s_class +#define __pyx_n_s_class_getitem __pyx_mstate_global->__pyx_n_s_class_getitem +#define __pyx_n_s_cline_in_traceback __pyx_mstate_global->__pyx_n_s_cline_in_traceback +#define __pyx_n_s_collections __pyx_mstate_global->__pyx_n_s_collections +#define __pyx_kp_s_collections_abc __pyx_mstate_global->__pyx_kp_s_collections_abc +#define __pyx_n_s_constraints_fields __pyx_mstate_global->__pyx_n_s_constraints_fields +#define __pyx_n_s_constraints_set __pyx_mstate_global->__pyx_n_s_constraints_set +#define __pyx_kp_u_constraints_set_value_must_be_nu __pyx_mstate_global->__pyx_kp_u_constraints_set_value_must_be_nu +#define __pyx_kp_s_contiguous_and_direct __pyx_mstate_global->__pyx_kp_s_contiguous_and_direct +#define __pyx_kp_s_contiguous_and_indirect __pyx_mstate_global->__pyx_kp_s_contiguous_and_indirect +#define __pyx_n_s_cost_fields __pyx_mstate_global->__pyx_n_s_cost_fields +#define __pyx_n_s_cost_set __pyx_mstate_global->__pyx_n_s_cost_set +#define __pyx_kp_u_cost_set_value_must_be_numpy_arr __pyx_mstate_global->__pyx_kp_u_cost_set_value_must_be_numpy_arr +#define __pyx_n_s_count __pyx_mstate_global->__pyx_n_s_count +#define __pyx_n_s_custom_update __pyx_mstate_global->__pyx_n_s_custom_update +#define __pyx_n_u_d __pyx_mstate_global->__pyx_n_u_d +#define __pyx_n_s_data __pyx_mstate_global->__pyx_n_s_data +#define __pyx_n_s_data_2 __pyx_mstate_global->__pyx_n_s_data_2 +#define __pyx_n_s_data_len __pyx_mstate_global->__pyx_n_s_data_len +#define __pyx_n_s_datetime __pyx_mstate_global->__pyx_n_s_datetime +#define __pyx_n_s_default __pyx_mstate_global->__pyx_n_s_default +#define __pyx_n_s_dict __pyx_mstate_global->__pyx_n_s_dict +#define __pyx_n_s_dims __pyx_mstate_global->__pyx_n_s_dims +#define __pyx_kp_u_disable __pyx_mstate_global->__pyx_kp_u_disable +#define __pyx_n_s_double_fields __pyx_mstate_global->__pyx_n_s_double_fields +#define __pyx_n_s_double_value __pyx_mstate_global->__pyx_n_s_double_value +#define __pyx_n_s_dtype __pyx_mstate_global->__pyx_n_s_dtype +#define __pyx_n_s_dtype_is_object __pyx_mstate_global->__pyx_n_s_dtype_is_object +#define __pyx_n_s_dump __pyx_mstate_global->__pyx_n_s_dump +#define __pyx_kp_u_enable __pyx_mstate_global->__pyx_kp_u_enable +#define __pyx_n_s_encode __pyx_mstate_global->__pyx_n_s_encode +#define __pyx_n_s_enter __pyx_mstate_global->__pyx_n_s_enter +#define __pyx_n_s_enumerate __pyx_mstate_global->__pyx_n_s_enumerate +#define __pyx_n_u_eps_sufficient_descent __pyx_mstate_global->__pyx_n_u_eps_sufficient_descent +#define __pyx_n_s_error __pyx_mstate_global->__pyx_n_s_error +#define __pyx_n_s_eval_param_sens __pyx_mstate_global->__pyx_n_s_eval_param_sens +#define __pyx_n_u_ex __pyx_mstate_global->__pyx_n_u_ex +#define __pyx_n_s_exit __pyx_mstate_global->__pyx_n_s_exit +#define __pyx_n_s_f __pyx_mstate_global->__pyx_n_s_f +#define __pyx_n_s_field __pyx_mstate_global->__pyx_n_s_field +#define __pyx_n_s_field_2 __pyx_mstate_global->__pyx_n_s_field_2 +#define __pyx_n_s_fields __pyx_mstate_global->__pyx_n_s_fields +#define __pyx_n_s_filename __pyx_mstate_global->__pyx_n_s_filename +#define __pyx_n_s_flags __pyx_mstate_global->__pyx_n_s_flags +#define __pyx_n_s_float64 __pyx_mstate_global->__pyx_n_s_float64 +#define __pyx_kp_u_for_field __pyx_mstate_global->__pyx_kp_u_for_field +#define __pyx_n_s_format __pyx_mstate_global->__pyx_n_s_format +#define __pyx_n_s_fortran __pyx_mstate_global->__pyx_n_s_fortran +#define __pyx_n_u_fortran __pyx_mstate_global->__pyx_n_u_fortran +#define __pyx_n_s_full_stats __pyx_mstate_global->__pyx_n_s_full_stats +#define __pyx_n_u_full_step_dual __pyx_mstate_global->__pyx_n_u_full_step_dual +#define __pyx_kp_u_gc __pyx_mstate_global->__pyx_kp_u_gc +#define __pyx_n_s_get __pyx_mstate_global->__pyx_n_s_get +#define __pyx_n_s_get_cost __pyx_mstate_global->__pyx_n_s_get_cost +#define __pyx_n_s_get_from_qp_in __pyx_mstate_global->__pyx_n_s_get_from_qp_in +#define __pyx_n_s_get_pointers_solver __pyx_mstate_global->__pyx_n_s_get_pointers_solver +#define __pyx_n_s_get_residuals __pyx_mstate_global->__pyx_n_s_get_residuals +#define __pyx_n_s_get_stat_double __pyx_mstate_global->__pyx_n_s_get_stat_double +#define __pyx_n_s_get_stat_int __pyx_mstate_global->__pyx_n_s_get_stat_int +#define __pyx_n_s_get_stat_matrix __pyx_mstate_global->__pyx_n_s_get_stat_matrix +#define __pyx_n_s_get_stats __pyx_mstate_global->__pyx_n_s_get_stats +#define __pyx_n_s_getcwd __pyx_mstate_global->__pyx_n_s_getcwd +#define __pyx_n_s_getstate __pyx_mstate_global->__pyx_n_s_getstate +#define __pyx_n_u_globalization __pyx_mstate_global->__pyx_n_u_globalization +#define __pyx_n_u_globalization_use_SOC __pyx_mstate_global->__pyx_n_u_globalization_use_SOC +#define __pyx_kp_u_got __pyx_mstate_global->__pyx_kp_u_got +#define __pyx_kp_u_got_differing_extents_in_dimensi __pyx_mstate_global->__pyx_kp_u_got_differing_extents_in_dimensi +#define __pyx_n_s_i __pyx_mstate_global->__pyx_n_s_i +#define __pyx_n_s_i_string __pyx_mstate_global->__pyx_n_s_i_string +#define __pyx_n_s_id __pyx_mstate_global->__pyx_n_s_id +#define __pyx_n_s_idx __pyx_mstate_global->__pyx_n_s_idx +#define __pyx_n_s_idx_values __pyx_mstate_global->__pyx_n_s_idx_values +#define __pyx_n_s_import __pyx_mstate_global->__pyx_n_s_import +#define __pyx_n_s_indent __pyx_mstate_global->__pyx_n_s_indent +#define __pyx_n_s_index __pyx_mstate_global->__pyx_n_s_index +#define __pyx_n_u_initialize_t_slacks __pyx_mstate_global->__pyx_n_u_initialize_t_slacks +#define __pyx_n_s_initializing __pyx_mstate_global->__pyx_n_s_initializing +#define __pyx_n_s_int __pyx_mstate_global->__pyx_n_s_int +#define __pyx_n_s_int32 __pyx_mstate_global->__pyx_n_s_int32 +#define __pyx_n_s_int_fields __pyx_mstate_global->__pyx_n_s_int_fields +#define __pyx_n_s_int_value __pyx_mstate_global->__pyx_n_s_int_value +#define __pyx_n_s_is_coroutine __pyx_mstate_global->__pyx_n_s_is_coroutine +#define __pyx_kp_u_isenabled __pyx_mstate_global->__pyx_kp_u_isenabled +#define __pyx_n_s_isfile __pyx_mstate_global->__pyx_n_s_isfile +#define __pyx_n_s_itemsize __pyx_mstate_global->__pyx_n_s_itemsize +#define __pyx_kp_s_itemsize_0_for_cython_array __pyx_mstate_global->__pyx_kp_s_itemsize_0_for_cython_array +#define __pyx_n_u_iterate __pyx_mstate_global->__pyx_n_u_iterate +#define __pyx_n_s_join __pyx_mstate_global->__pyx_n_s_join +#define __pyx_n_s_json __pyx_mstate_global->__pyx_n_s_json +#define __pyx_kp_u_json_2 __pyx_mstate_global->__pyx_kp_u_json_2 +#define __pyx_n_s_k __pyx_mstate_global->__pyx_n_s_k +#define __pyx_n_s_key __pyx_mstate_global->__pyx_n_s_key +#define __pyx_n_s_keys __pyx_mstate_global->__pyx_n_s_keys +#define __pyx_n_s_lN __pyx_mstate_global->__pyx_n_s_lN +#define __pyx_n_u_lam __pyx_mstate_global->__pyx_n_u_lam +#define __pyx_n_u_lam_2 __pyx_mstate_global->__pyx_n_u_lam_2 +#define __pyx_n_u_lbu __pyx_mstate_global->__pyx_n_u_lbu +#define __pyx_n_u_lbx __pyx_mstate_global->__pyx_n_u_lbx +#define __pyx_n_u_line_search_use_sufficient_desce __pyx_mstate_global->__pyx_n_u_line_search_use_sufficient_desce +#define __pyx_n_s_load __pyx_mstate_global->__pyx_n_s_load +#define __pyx_n_s_load_iterate __pyx_mstate_global->__pyx_n_s_load_iterate +#define __pyx_kp_u_load_iterate_failed_file_does_no __pyx_mstate_global->__pyx_kp_u_load_iterate_failed_file_does_no +#define __pyx_n_s_m __pyx_mstate_global->__pyx_n_s_m +#define __pyx_n_s_main __pyx_mstate_global->__pyx_n_s_main +#define __pyx_n_s_mem_fields __pyx_mstate_global->__pyx_n_s_mem_fields +#define __pyx_n_s_memview __pyx_mstate_global->__pyx_n_s_memview +#define __pyx_n_s_min_size __pyx_mstate_global->__pyx_n_s_min_size +#define __pyx_n_s_mode __pyx_mstate_global->__pyx_n_s_mode +#define __pyx_n_s_model_name __pyx_mstate_global->__pyx_n_s_model_name +#define __pyx_n_s_msg __pyx_mstate_global->__pyx_n_s_msg +#define __pyx_n_s_n __pyx_mstate_global->__pyx_n_s_n +#define __pyx_n_s_n_update __pyx_mstate_global->__pyx_n_s_n_update +#define __pyx_n_s_name __pyx_mstate_global->__pyx_n_s_name +#define __pyx_n_s_name_2 __pyx_mstate_global->__pyx_n_s_name_2 +#define __pyx_n_s_ndarray __pyx_mstate_global->__pyx_n_s_ndarray +#define __pyx_n_s_ndim __pyx_mstate_global->__pyx_n_s_ndim +#define __pyx_n_s_new __pyx_mstate_global->__pyx_n_s_new +#define __pyx_n_s_new_time_steps __pyx_mstate_global->__pyx_n_s_new_time_steps +#define __pyx_n_s_nlp_solver_type __pyx_mstate_global->__pyx_n_s_nlp_solver_type +#define __pyx_kp_s_no_default___reduce___due_to_non __pyx_mstate_global->__pyx_kp_s_no_default___reduce___due_to_non +#define __pyx_n_s_np __pyx_mstate_global->__pyx_n_s_np +#define __pyx_n_s_numpy __pyx_mstate_global->__pyx_n_s_numpy +#define __pyx_kp_u_numpy_core_multiarray_failed_to __pyx_mstate_global->__pyx_kp_u_numpy_core_multiarray_failed_to +#define __pyx_kp_u_numpy_core_umath_failed_to_impor __pyx_mstate_global->__pyx_kp_u_numpy_core_umath_failed_to_impor +#define __pyx_n_s_nx __pyx_mstate_global->__pyx_n_s_nx +#define __pyx_n_s_obj __pyx_mstate_global->__pyx_n_s_obj +#define __pyx_n_s_open __pyx_mstate_global->__pyx_n_s_open +#define __pyx_n_s_options_set __pyx_mstate_global->__pyx_n_s_options_set +#define __pyx_n_s_order __pyx_mstate_global->__pyx_n_s_order +#define __pyx_n_s_os __pyx_mstate_global->__pyx_n_s_os +#define __pyx_n_s_out __pyx_mstate_global->__pyx_n_s_out +#define __pyx_n_s_out_fields __pyx_mstate_global->__pyx_n_s_out_fields +#define __pyx_n_s_out_mat __pyx_mstate_global->__pyx_n_s_out_mat +#define __pyx_n_s_overwrite __pyx_mstate_global->__pyx_n_s_overwrite +#define __pyx_n_u_p __pyx_mstate_global->__pyx_n_u_p +#define __pyx_n_s_pack __pyx_mstate_global->__pyx_n_s_pack +#define __pyx_n_s_param_values __pyx_mstate_global->__pyx_n_s_param_values +#define __pyx_kp_u_param_values_2 __pyx_mstate_global->__pyx_kp_u_param_values_2 +#define __pyx_kp_u_param_values__and_idx_values__mu __pyx_mstate_global->__pyx_kp_u_param_values__and_idx_values__mu +#define __pyx_kp_u_param_values__must_be_np_array __pyx_mstate_global->__pyx_kp_u_param_values__must_be_np_array +#define __pyx_n_s_path __pyx_mstate_global->__pyx_n_s_path +#define __pyx_n_u_pi __pyx_mstate_global->__pyx_n_u_pi +#define __pyx_n_u_pi_2 __pyx_mstate_global->__pyx_n_u_pi_2 +#define __pyx_n_s_pickle __pyx_mstate_global->__pyx_n_s_pickle +#define __pyx_n_s_print __pyx_mstate_global->__pyx_n_s_print +#define __pyx_n_u_print_level __pyx_mstate_global->__pyx_n_u_print_level +#define __pyx_n_s_print_statistics __pyx_mstate_global->__pyx_n_s_print_statistics +#define __pyx_n_s_pyx_PickleError __pyx_mstate_global->__pyx_n_s_pyx_PickleError +#define __pyx_n_s_pyx_checksum __pyx_mstate_global->__pyx_n_s_pyx_checksum +#define __pyx_n_s_pyx_result __pyx_mstate_global->__pyx_n_s_pyx_result +#define __pyx_n_s_pyx_state __pyx_mstate_global->__pyx_n_s_pyx_state +#define __pyx_n_s_pyx_type __pyx_mstate_global->__pyx_n_s_pyx_type +#define __pyx_n_s_pyx_unpickle_Enum __pyx_mstate_global->__pyx_n_s_pyx_unpickle_Enum +#define __pyx_n_s_pyx_vtable __pyx_mstate_global->__pyx_n_s_pyx_vtable +#define __pyx_n_u_qp_iter __pyx_mstate_global->__pyx_n_u_qp_iter +#define __pyx_n_u_qp_mu0 __pyx_mstate_global->__pyx_n_u_qp_mu0 +#define __pyx_n_s_qp_solver_cond_N __pyx_mstate_global->__pyx_n_s_qp_solver_cond_N +#define __pyx_n_u_qp_tau_min __pyx_mstate_global->__pyx_n_u_qp_tau_min +#define __pyx_n_u_qp_tol_comp __pyx_mstate_global->__pyx_n_u_qp_tol_comp +#define __pyx_n_u_qp_tol_eq __pyx_mstate_global->__pyx_n_u_qp_tol_eq +#define __pyx_n_u_qp_tol_ineq __pyx_mstate_global->__pyx_n_u_qp_tol_ineq +#define __pyx_n_u_qp_tol_stat __pyx_mstate_global->__pyx_n_u_qp_tol_stat +#define __pyx_n_u_qp_warm_start __pyx_mstate_global->__pyx_n_u_qp_warm_start +#define __pyx_n_u_r __pyx_mstate_global->__pyx_n_u_r +#define __pyx_n_s_range __pyx_mstate_global->__pyx_n_s_range +#define __pyx_n_s_recompute __pyx_mstate_global->__pyx_n_s_recompute +#define __pyx_n_s_reduce __pyx_mstate_global->__pyx_n_s_reduce +#define __pyx_n_s_reduce_cython __pyx_mstate_global->__pyx_n_s_reduce_cython +#define __pyx_n_s_reduce_ex __pyx_mstate_global->__pyx_n_s_reduce_ex +#define __pyx_n_s_register __pyx_mstate_global->__pyx_n_s_register +#define __pyx_n_b_res_comp __pyx_mstate_global->__pyx_n_b_res_comp +#define __pyx_n_b_res_eq __pyx_mstate_global->__pyx_n_b_res_eq +#define __pyx_n_b_res_ineq __pyx_mstate_global->__pyx_n_b_res_ineq +#define __pyx_n_b_res_stat __pyx_mstate_global->__pyx_n_b_res_stat +#define __pyx_n_s_reset __pyx_mstate_global->__pyx_n_s_reset +#define __pyx_n_s_reset_qp_solver_mem __pyx_mstate_global->__pyx_n_s_reset_qp_solver_mem +#define __pyx_n_u_residuals __pyx_mstate_global->__pyx_n_u_residuals +#define __pyx_n_u_rti_phase __pyx_mstate_global->__pyx_n_u_rti_phase +#define __pyx_n_s_self __pyx_mstate_global->__pyx_n_s_self +#define __pyx_n_s_set __pyx_mstate_global->__pyx_n_s_set +#define __pyx_n_s_set_new_time_steps __pyx_mstate_global->__pyx_n_s_set_new_time_steps +#define __pyx_n_s_set_params_sparse __pyx_mstate_global->__pyx_n_s_set_params_sparse +#define __pyx_kp_u_set_value_must_be_numpy_array_go __pyx_mstate_global->__pyx_kp_u_set_value_must_be_numpy_array_go +#define __pyx_n_s_setstate __pyx_mstate_global->__pyx_n_s_setstate +#define __pyx_n_s_setstate_cython __pyx_mstate_global->__pyx_n_s_setstate_cython +#define __pyx_n_s_shape __pyx_mstate_global->__pyx_n_s_shape +#define __pyx_n_s_size __pyx_mstate_global->__pyx_n_s_size +#define __pyx_n_u_sl __pyx_mstate_global->__pyx_n_u_sl +#define __pyx_n_u_sl_2 __pyx_mstate_global->__pyx_n_u_sl_2 +#define __pyx_n_s_solution __pyx_mstate_global->__pyx_n_s_solution +#define __pyx_n_s_solve __pyx_mstate_global->__pyx_n_s_solve +#define __pyx_n_s_solve_for_x0 __pyx_mstate_global->__pyx_n_s_solve_for_x0 +#define __pyx_kp_u_solver_option_must_be_of_type_fl __pyx_mstate_global->__pyx_kp_u_solver_option_must_be_of_type_fl +#define __pyx_kp_u_solver_option_must_be_of_type_in __pyx_mstate_global->__pyx_kp_u_solver_option_must_be_of_type_in +#define __pyx_kp_u_solver_option_must_be_of_type_st __pyx_mstate_global->__pyx_kp_u_solver_option_must_be_of_type_st +#define __pyx_n_s_sort_keys __pyx_mstate_global->__pyx_n_s_sort_keys +#define __pyx_n_s_spec __pyx_mstate_global->__pyx_n_s_spec +#define __pyx_n_s_split __pyx_mstate_global->__pyx_n_s_split +#define __pyx_n_s_sqp_iter __pyx_mstate_global->__pyx_n_s_sqp_iter +#define __pyx_n_u_sqp_iter __pyx_mstate_global->__pyx_n_u_sqp_iter +#define __pyx_n_s_stage __pyx_mstate_global->__pyx_n_s_stage +#define __pyx_n_s_start __pyx_mstate_global->__pyx_n_s_start +#define __pyx_n_s_stat_m __pyx_mstate_global->__pyx_n_s_stat_m +#define __pyx_n_u_stat_m __pyx_mstate_global->__pyx_n_u_stat_m +#define __pyx_n_s_stat_n __pyx_mstate_global->__pyx_n_s_stat_n +#define __pyx_n_u_stat_n __pyx_mstate_global->__pyx_n_u_stat_n +#define __pyx_n_u_statistics __pyx_mstate_global->__pyx_n_u_statistics +#define __pyx_n_s_status __pyx_mstate_global->__pyx_n_s_status +#define __pyx_n_s_step __pyx_mstate_global->__pyx_n_s_step +#define __pyx_n_u_step_length __pyx_mstate_global->__pyx_n_u_step_length +#define __pyx_n_s_stop __pyx_mstate_global->__pyx_n_s_stop +#define __pyx_n_s_store_iterate __pyx_mstate_global->__pyx_n_s_store_iterate +#define __pyx_n_s_store_iterate_locals_lambda __pyx_mstate_global->__pyx_n_s_store_iterate_locals_lambda +#define __pyx_kp_u_stored_current_iterate_in __pyx_mstate_global->__pyx_kp_u_stored_current_iterate_in +#define __pyx_n_s_strftime __pyx_mstate_global->__pyx_n_s_strftime +#define __pyx_kp_s_strided_and_direct __pyx_mstate_global->__pyx_kp_s_strided_and_direct +#define __pyx_kp_s_strided_and_direct_or_indirect __pyx_mstate_global->__pyx_kp_s_strided_and_direct_or_indirect +#define __pyx_kp_s_strided_and_indirect __pyx_mstate_global->__pyx_kp_s_strided_and_indirect +#define __pyx_n_s_string_fields __pyx_mstate_global->__pyx_n_s_string_fields +#define __pyx_n_s_string_value __pyx_mstate_global->__pyx_n_s_string_value +#define __pyx_kp_s_stringsource __pyx_mstate_global->__pyx_kp_s_stringsource +#define __pyx_n_s_struct __pyx_mstate_global->__pyx_n_s_struct +#define __pyx_n_u_su __pyx_mstate_global->__pyx_n_u_su +#define __pyx_n_u_su_2 __pyx_mstate_global->__pyx_n_u_su_2 +#define __pyx_n_s_sys __pyx_mstate_global->__pyx_n_s_sys +#define __pyx_n_u_t __pyx_mstate_global->__pyx_n_u_t +#define __pyx_n_u_t_2 __pyx_mstate_global->__pyx_n_u_t_2 +#define __pyx_n_s_test __pyx_mstate_global->__pyx_n_s_test +#define __pyx_kp_s_third_party_acados_acados_templa __pyx_mstate_global->__pyx_kp_s_third_party_acados_acados_templa +#define __pyx_n_u_time_glob __pyx_mstate_global->__pyx_n_u_time_glob +#define __pyx_n_u_time_lin __pyx_mstate_global->__pyx_n_u_time_lin +#define __pyx_n_u_time_qp __pyx_mstate_global->__pyx_n_u_time_qp +#define __pyx_n_u_time_qp_solver_call __pyx_mstate_global->__pyx_n_u_time_qp_solver_call +#define __pyx_n_u_time_qp_xcond __pyx_mstate_global->__pyx_n_u_time_qp_xcond +#define __pyx_n_u_time_reg __pyx_mstate_global->__pyx_n_u_time_reg +#define __pyx_n_u_time_sim __pyx_mstate_global->__pyx_n_u_time_sim +#define __pyx_n_u_time_sim_ad __pyx_mstate_global->__pyx_n_u_time_sim_ad +#define __pyx_n_u_time_sim_la __pyx_mstate_global->__pyx_n_u_time_sim_la +#define __pyx_n_u_time_solution_sensitivities __pyx_mstate_global->__pyx_n_u_time_solution_sensitivities +#define __pyx_n_u_time_tot __pyx_mstate_global->__pyx_n_u_time_tot +#define __pyx_n_u_tol_comp __pyx_mstate_global->__pyx_n_u_tol_comp +#define __pyx_n_u_tol_eq __pyx_mstate_global->__pyx_n_u_tol_eq +#define __pyx_n_u_tol_ineq __pyx_mstate_global->__pyx_n_u_tol_ineq +#define __pyx_n_u_tol_stat __pyx_mstate_global->__pyx_n_u_tol_stat +#define __pyx_n_s_tolist __pyx_mstate_global->__pyx_n_s_tolist +#define __pyx_n_u_u __pyx_mstate_global->__pyx_n_u_u +#define __pyx_n_s_u0 __pyx_mstate_global->__pyx_n_s_u0 +#define __pyx_n_u_u_2 __pyx_mstate_global->__pyx_n_u_u_2 +#define __pyx_n_u_ubu __pyx_mstate_global->__pyx_n_u_ubu +#define __pyx_n_u_ubx __pyx_mstate_global->__pyx_n_u_ubx +#define __pyx_kp_s_unable_to_allocate_array_data __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_array_data +#define __pyx_kp_s_unable_to_allocate_shape_and_str __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_shape_and_str +#define __pyx_n_s_unpack __pyx_mstate_global->__pyx_n_s_unpack +#define __pyx_n_s_update __pyx_mstate_global->__pyx_n_s_update +#define __pyx_n_s_update_qp_solver_cond_N __pyx_mstate_global->__pyx_n_s_update_qp_solver_cond_N +#define __pyx_n_s_utcnow __pyx_mstate_global->__pyx_n_s_utcnow +#define __pyx_kp_u_utf_8 __pyx_mstate_global->__pyx_kp_u_utf_8 +#define __pyx_n_s_value __pyx_mstate_global->__pyx_n_s_value +#define __pyx_n_s_value_2 __pyx_mstate_global->__pyx_n_s_value_2 +#define __pyx_n_s_value_shape __pyx_mstate_global->__pyx_n_s_value_shape +#define __pyx_n_s_version_info __pyx_mstate_global->__pyx_n_s_version_info +#define __pyx_n_u_w __pyx_mstate_global->__pyx_n_u_w +#define __pyx_n_u_warm_start_first_qp __pyx_mstate_global->__pyx_n_u_warm_start_first_qp +#define __pyx_kp_u_with_dimension __pyx_mstate_global->__pyx_kp_u_with_dimension +#define __pyx_kp_u_with_dimension_you_have __pyx_mstate_global->__pyx_kp_u_with_dimension_you_have +#define __pyx_n_b_x __pyx_mstate_global->__pyx_n_b_x +#define __pyx_n_s_x __pyx_mstate_global->__pyx_n_s_x +#define __pyx_n_u_x __pyx_mstate_global->__pyx_n_u_x +#define __pyx_n_s_x0_bar __pyx_mstate_global->__pyx_n_s_x0_bar +#define __pyx_n_u_x_2 __pyx_mstate_global->__pyx_n_u_x_2 +#define __pyx_n_u_xdot_guess __pyx_mstate_global->__pyx_n_u_xdot_guess +#define __pyx_n_u_y_ref __pyx_mstate_global->__pyx_n_u_y_ref +#define __pyx_kp_u_you_have __pyx_mstate_global->__pyx_kp_u_you_have +#define __pyx_n_u_yref __pyx_mstate_global->__pyx_n_u_yref +#define __pyx_n_u_z __pyx_mstate_global->__pyx_n_u_z +#define __pyx_n_u_z_2 __pyx_mstate_global->__pyx_n_u_z_2 +#define __pyx_n_b_z_guess __pyx_mstate_global->__pyx_n_b_z_guess +#define __pyx_n_u_z_guess __pyx_mstate_global->__pyx_n_u_z_guess +#define __pyx_n_s_zeros __pyx_mstate_global->__pyx_n_s_zeros +#define __pyx_int_0 __pyx_mstate_global->__pyx_int_0 +#define __pyx_int_1 __pyx_mstate_global->__pyx_int_1 +#define __pyx_int_2 __pyx_mstate_global->__pyx_int_2 +#define __pyx_int_3 __pyx_mstate_global->__pyx_int_3 +#define __pyx_int_4 __pyx_mstate_global->__pyx_int_4 +#define __pyx_int_6 __pyx_mstate_global->__pyx_int_6 +#define __pyx_int_7 __pyx_mstate_global->__pyx_int_7 +#define __pyx_int_112105877 __pyx_mstate_global->__pyx_int_112105877 +#define __pyx_int_136983863 __pyx_mstate_global->__pyx_int_136983863 +#define __pyx_int_184977713 __pyx_mstate_global->__pyx_int_184977713 +#define __pyx_int_neg_1 __pyx_mstate_global->__pyx_int_neg_1 +#define __pyx_int_neg_5 __pyx_mstate_global->__pyx_int_neg_5 +#define __pyx_slice__5 __pyx_mstate_global->__pyx_slice__5 +#define __pyx_tuple__4 __pyx_mstate_global->__pyx_tuple__4 +#define __pyx_tuple__8 __pyx_mstate_global->__pyx_tuple__8 +#define __pyx_tuple__9 __pyx_mstate_global->__pyx_tuple__9 +#define __pyx_slice__18 __pyx_mstate_global->__pyx_slice__18 +#define __pyx_tuple__10 __pyx_mstate_global->__pyx_tuple__10 +#define __pyx_tuple__11 __pyx_mstate_global->__pyx_tuple__11 +#define __pyx_tuple__12 __pyx_mstate_global->__pyx_tuple__12 +#define __pyx_tuple__13 __pyx_mstate_global->__pyx_tuple__13 +#define __pyx_tuple__14 __pyx_mstate_global->__pyx_tuple__14 +#define __pyx_tuple__15 __pyx_mstate_global->__pyx_tuple__15 +#define __pyx_tuple__19 __pyx_mstate_global->__pyx_tuple__19 +#define __pyx_tuple__20 __pyx_mstate_global->__pyx_tuple__20 +#define __pyx_tuple__21 __pyx_mstate_global->__pyx_tuple__21 +#define __pyx_tuple__22 __pyx_mstate_global->__pyx_tuple__22 +#define __pyx_tuple__23 __pyx_mstate_global->__pyx_tuple__23 +#define __pyx_tuple__24 __pyx_mstate_global->__pyx_tuple__24 +#define __pyx_tuple__25 __pyx_mstate_global->__pyx_tuple__25 +#define __pyx_tuple__26 __pyx_mstate_global->__pyx_tuple__26 +#define __pyx_tuple__27 __pyx_mstate_global->__pyx_tuple__27 +#define __pyx_tuple__28 __pyx_mstate_global->__pyx_tuple__28 +#define __pyx_tuple__29 __pyx_mstate_global->__pyx_tuple__29 +#define __pyx_tuple__30 __pyx_mstate_global->__pyx_tuple__30 +#define __pyx_tuple__32 __pyx_mstate_global->__pyx_tuple__32 +#define __pyx_tuple__33 __pyx_mstate_global->__pyx_tuple__33 +#define __pyx_tuple__34 __pyx_mstate_global->__pyx_tuple__34 +#define __pyx_tuple__35 __pyx_mstate_global->__pyx_tuple__35 +#define __pyx_tuple__36 __pyx_mstate_global->__pyx_tuple__36 +#define __pyx_tuple__37 __pyx_mstate_global->__pyx_tuple__37 +#define __pyx_tuple__38 __pyx_mstate_global->__pyx_tuple__38 +#define __pyx_tuple__39 __pyx_mstate_global->__pyx_tuple__39 +#define __pyx_tuple__40 __pyx_mstate_global->__pyx_tuple__40 +#define __pyx_tuple__41 __pyx_mstate_global->__pyx_tuple__41 +#define __pyx_tuple__42 __pyx_mstate_global->__pyx_tuple__42 +#define __pyx_tuple__44 __pyx_mstate_global->__pyx_tuple__44 +#define __pyx_tuple__46 __pyx_mstate_global->__pyx_tuple__46 +#define __pyx_tuple__49 __pyx_mstate_global->__pyx_tuple__49 +#define __pyx_tuple__51 __pyx_mstate_global->__pyx_tuple__51 +#define __pyx_tuple__53 __pyx_mstate_global->__pyx_tuple__53 +#define __pyx_tuple__55 __pyx_mstate_global->__pyx_tuple__55 +#define __pyx_tuple__57 __pyx_mstate_global->__pyx_tuple__57 +#define __pyx_tuple__59 __pyx_mstate_global->__pyx_tuple__59 +#define __pyx_tuple__60 __pyx_mstate_global->__pyx_tuple__60 +#define __pyx_tuple__63 __pyx_mstate_global->__pyx_tuple__63 +#define __pyx_tuple__65 __pyx_mstate_global->__pyx_tuple__65 +#define __pyx_tuple__66 __pyx_mstate_global->__pyx_tuple__66 +#define __pyx_tuple__68 __pyx_mstate_global->__pyx_tuple__68 +#define __pyx_tuple__70 __pyx_mstate_global->__pyx_tuple__70 +#define __pyx_tuple__73 __pyx_mstate_global->__pyx_tuple__73 +#define __pyx_tuple__75 __pyx_mstate_global->__pyx_tuple__75 +#define __pyx_tuple__77 __pyx_mstate_global->__pyx_tuple__77 +#define __pyx_tuple__79 __pyx_mstate_global->__pyx_tuple__79 +#define __pyx_tuple__80 __pyx_mstate_global->__pyx_tuple__80 +#define __pyx_tuple__82 __pyx_mstate_global->__pyx_tuple__82 +#define 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__pyx_memoryview_thread_locks_used: + * __pyx_memoryview_thread_locks[i], __pyx_memoryview_thread_locks[__pyx_memoryview_thread_locks_used] = ( + * __pyx_memoryview_thread_locks[__pyx_memoryview_thread_locks_used], __pyx_memoryview_thread_locks[i]) # <<<<<<<<<<<<<< + * break + * else: + */ + __pyx_t_5 = (__pyx_memoryview_thread_locks[__pyx_memoryview_thread_locks_used]); + __pyx_t_6 = (__pyx_memoryview_thread_locks[__pyx_v_i]); + + /* "View.MemoryView":391 + * __pyx_memoryview_thread_locks_used -= 1 + * if i != __pyx_memoryview_thread_locks_used: + * __pyx_memoryview_thread_locks[i], __pyx_memoryview_thread_locks[__pyx_memoryview_thread_locks_used] = ( # <<<<<<<<<<<<<< + * __pyx_memoryview_thread_locks[__pyx_memoryview_thread_locks_used], __pyx_memoryview_thread_locks[i]) + * break + */ + (__pyx_memoryview_thread_locks[__pyx_v_i]) = __pyx_t_5; + (__pyx_memoryview_thread_locks[__pyx_memoryview_thread_locks_used]) = __pyx_t_6; + + /* "View.MemoryView":390 + * if 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new_ndim = 0, suboffset_dim = -1, dim + * cdef bint negative_step + */ + + /* function exit code */ + __pyx_L1_error:; + __Pyx_XDECREF(__pyx_t_2); + __Pyx_XDECREF(__pyx_t_8); + __Pyx_AddTraceback("View.MemoryView.memview_slice", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = 0; + __pyx_L0:; + __Pyx_XDECREF((PyObject *)__pyx_v_memviewsliceobj); + __Pyx_XDECREF(__pyx_v_index); + __Pyx_XGIVEREF((PyObject *)__pyx_r); + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +/* "View.MemoryView":793 + * + * @cname('__pyx_memoryview_slice_memviewslice') + * cdef int slice_memviewslice( # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * Py_ssize_t shape, Py_ssize_t stride, Py_ssize_t suboffset, + */ + +static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *__pyx_v_dst, Py_ssize_t __pyx_v_shape, Py_ssize_t __pyx_v_stride, Py_ssize_t __pyx_v_suboffset, int __pyx_v_dim, int __pyx_v_new_ndim, int *__pyx_v_suboffset_dim, Py_ssize_t __pyx_v_start, Py_ssize_t __pyx_v_stop, Py_ssize_t __pyx_v_step, int __pyx_v_have_start, int __pyx_v_have_stop, int __pyx_v_have_step, int __pyx_v_is_slice) { + Py_ssize_t __pyx_v_new_shape; + int __pyx_v_negative_step; + int __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save; + #endif + + /* "View.MemoryView":813 + * cdef bint negative_step + * + * if not is_slice: # <<<<<<<<<<<<<< + * + * if start < 0: + */ + __pyx_t_1 = (!__pyx_v_is_slice); + if (__pyx_t_1) { + + /* "View.MemoryView":815 + * if not is_slice: + * + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if not 0 <= start < shape: + */ + __pyx_t_1 = (__pyx_v_start < 0); + if (__pyx_t_1) { + + /* "View.MemoryView":816 + * + * if start < 0: + * start += shape # <<<<<<<<<<<<<< + * if not 0 <= start < shape: + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) + */ + __pyx_v_start = (__pyx_v_start + __pyx_v_shape); + + /* "View.MemoryView":815 + * if not is_slice: + * + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if not 0 <= start < shape: + */ + } + + /* "View.MemoryView":817 + * if start < 0: + * start += shape + * if not 0 <= start < shape: # <<<<<<<<<<<<<< + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) + * else: + */ + __pyx_t_1 = (0 <= __pyx_v_start); + if (__pyx_t_1) { + __pyx_t_1 = (__pyx_v_start < __pyx_v_shape); + } + __pyx_t_2 = (!__pyx_t_1); + if (__pyx_t_2) { + + /* "View.MemoryView":818 + * start += shape + * if not 0 <= start < shape: + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) # <<<<<<<<<<<<<< + * else: + * + */ + __pyx_t_3 = __pyx_memoryview_err_dim(PyExc_IndexError, __pyx_kp_s_Index_out_of_bounds_axis_d, __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(1, 818, __pyx_L1_error) + + /* "View.MemoryView":817 + * if start < 0: + * start += shape + * if not 0 <= start < shape: # <<<<<<<<<<<<<< + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) + * else: + */ + } + + /* "View.MemoryView":813 + * cdef bint negative_step + * + * if not is_slice: # <<<<<<<<<<<<<< + * + * if start < 0: + */ + goto __pyx_L3; + } + + /* "View.MemoryView":821 + * else: + * + * if have_step: # <<<<<<<<<<<<<< + * negative_step = step < 0 + * if step == 0: + */ + /*else*/ { + __pyx_t_2 = (__pyx_v_have_step != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":822 + * + * if have_step: + * negative_step = step < 0 # <<<<<<<<<<<<<< + * if step == 0: + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + */ + __pyx_v_negative_step = (__pyx_v_step < 0); + + /* "View.MemoryView":823 + * if have_step: + * negative_step = step < 0 + * if step == 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + */ + __pyx_t_2 = (__pyx_v_step == 0); + if (__pyx_t_2) { + + /* "View.MemoryView":824 + * negative_step = step < 0 + * if step == 0: + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) # <<<<<<<<<<<<<< + * else: + * negative_step = False + */ + __pyx_t_3 = __pyx_memoryview_err_dim(PyExc_ValueError, __pyx_kp_s_Step_may_not_be_zero_axis_d, __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(1, 824, __pyx_L1_error) + + /* "View.MemoryView":823 + * if have_step: + * negative_step = step < 0 + * if step == 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + */ + } + + /* "View.MemoryView":821 + * else: + * + * if have_step: # <<<<<<<<<<<<<< + * negative_step = step < 0 + * if step == 0: + */ + goto __pyx_L6; + } + + /* "View.MemoryView":826 + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + * negative_step = False # <<<<<<<<<<<<<< + * step = 1 + * + */ + /*else*/ { + __pyx_v_negative_step = 0; + + /* "View.MemoryView":827 + * else: + * negative_step = False + * step = 1 # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_step = 1; + } + __pyx_L6:; + + /* "View.MemoryView":830 + * + * + * if have_start: # <<<<<<<<<<<<<< + * if start < 0: + * start += shape + */ + __pyx_t_2 = (__pyx_v_have_start != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":831 + * + * if have_start: + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if start < 0: + */ + __pyx_t_2 = (__pyx_v_start < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":832 + * if have_start: + * if start < 0: + * start += shape # <<<<<<<<<<<<<< + * if start < 0: + * start = 0 + */ + __pyx_v_start = (__pyx_v_start + __pyx_v_shape); + + /* "View.MemoryView":833 + * if start < 0: + * start += shape + * if start < 0: # <<<<<<<<<<<<<< + * start = 0 + * elif start >= shape: + */ + __pyx_t_2 = (__pyx_v_start < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":834 + * start += shape + * if start < 0: + * start = 0 # <<<<<<<<<<<<<< + * elif start >= shape: + * if negative_step: + */ + __pyx_v_start = 0; + + /* "View.MemoryView":833 + * if start < 0: + * start += shape + * if start < 0: # <<<<<<<<<<<<<< + * start = 0 + * elif start >= shape: + */ + } + + /* "View.MemoryView":831 + * + * if have_start: + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if start < 0: + */ + goto __pyx_L9; + } + + /* "View.MemoryView":835 + * if start < 0: + * start = 0 + * elif start >= shape: # <<<<<<<<<<<<<< + * if negative_step: + * start = shape - 1 + */ + __pyx_t_2 = (__pyx_v_start >= __pyx_v_shape); + if (__pyx_t_2) { + + /* "View.MemoryView":836 + * start = 0 + * elif start >= shape: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + if (__pyx_v_negative_step) { + + /* "View.MemoryView":837 + * elif start >= shape: + * if negative_step: + * start = shape - 1 # <<<<<<<<<<<<<< + * else: + * start = shape + */ + __pyx_v_start = (__pyx_v_shape - 1); + + /* "View.MemoryView":836 + * start = 0 + * elif start >= shape: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + goto __pyx_L11; + } + + /* "View.MemoryView":839 + * start = shape - 1 + * else: + * start = shape # <<<<<<<<<<<<<< + * else: + * if negative_step: + */ + /*else*/ { + __pyx_v_start = __pyx_v_shape; + } + __pyx_L11:; + + /* "View.MemoryView":835 + * if start < 0: + * start = 0 + * elif start >= shape: # <<<<<<<<<<<<<< + * if negative_step: + * start = shape - 1 + */ + } + __pyx_L9:; + + /* "View.MemoryView":830 + * + * + * if have_start: # <<<<<<<<<<<<<< + * if start < 0: + * start += shape + */ + goto __pyx_L8; + } + + /* "View.MemoryView":841 + * start = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + /*else*/ { + if (__pyx_v_negative_step) { + + /* "View.MemoryView":842 + * else: + * if negative_step: + * start = shape - 1 # <<<<<<<<<<<<<< + * else: + * start = 0 + */ + __pyx_v_start = (__pyx_v_shape - 1); + + /* "View.MemoryView":841 + * start = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + goto __pyx_L12; + } + + /* "View.MemoryView":844 + * start = shape - 1 + * else: + * start = 0 # <<<<<<<<<<<<<< + * + * if have_stop: + */ + /*else*/ { + __pyx_v_start = 0; + } + __pyx_L12:; + } + __pyx_L8:; + + /* "View.MemoryView":846 + * start = 0 + * + * if have_stop: # <<<<<<<<<<<<<< + * if stop < 0: + * stop += shape + */ + __pyx_t_2 = (__pyx_v_have_stop != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":847 + * + * if have_stop: + * if stop < 0: # <<<<<<<<<<<<<< + * stop += shape + * if stop < 0: + */ + __pyx_t_2 = (__pyx_v_stop < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":848 + * if have_stop: + * if stop < 0: + * stop += shape # <<<<<<<<<<<<<< + * if stop < 0: + * stop = 0 + */ + __pyx_v_stop = (__pyx_v_stop + __pyx_v_shape); + + /* "View.MemoryView":849 + * if stop < 0: + * stop += shape + * if stop < 0: # <<<<<<<<<<<<<< + * stop = 0 + * elif stop > shape: + */ + __pyx_t_2 = (__pyx_v_stop < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":850 + * stop += shape + * if stop < 0: + * stop = 0 # <<<<<<<<<<<<<< + * elif stop > shape: + * stop = shape + */ + __pyx_v_stop = 0; + + /* "View.MemoryView":849 + * if stop < 0: + * stop += shape + * if stop < 0: # <<<<<<<<<<<<<< + * stop = 0 + * elif stop > shape: + */ + } + + /* "View.MemoryView":847 + * + * if have_stop: + * if stop < 0: # <<<<<<<<<<<<<< + * stop += shape + * if stop < 0: + */ + goto __pyx_L14; + } + + /* "View.MemoryView":851 + * if stop < 0: + * stop = 0 + * elif stop > shape: # <<<<<<<<<<<<<< + * stop = shape + * else: + */ + __pyx_t_2 = (__pyx_v_stop > __pyx_v_shape); + if (__pyx_t_2) { + + /* "View.MemoryView":852 + * stop = 0 + * elif stop > shape: + * stop = shape # <<<<<<<<<<<<<< + * else: + * if negative_step: + */ + __pyx_v_stop = __pyx_v_shape; + + /* "View.MemoryView":851 + * if stop < 0: + * stop = 0 + * elif stop > shape: # <<<<<<<<<<<<<< + * stop = shape + * else: + */ + } + __pyx_L14:; + + /* "View.MemoryView":846 + * start = 0 + * + * if have_stop: # <<<<<<<<<<<<<< + * if stop < 0: + * stop += shape + */ + goto __pyx_L13; + } + + /* "View.MemoryView":854 + * stop = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * stop = -1 + * else: + */ + /*else*/ { + if (__pyx_v_negative_step) { + + /* "View.MemoryView":855 + * else: + * if negative_step: + * stop = -1 # <<<<<<<<<<<<<< + * else: + * stop = shape + */ + __pyx_v_stop = -1L; + + /* "View.MemoryView":854 + * stop = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * stop = -1 + * else: + */ + goto __pyx_L16; + } + + /* "View.MemoryView":857 + * stop = -1 + * else: + * stop = shape # <<<<<<<<<<<<<< + * + * + */ + /*else*/ { + __pyx_v_stop = __pyx_v_shape; + } + __pyx_L16:; + } + __pyx_L13:; + + /* "View.MemoryView":861 + * + * with cython.cdivision(True): + * new_shape = (stop - start) // step # <<<<<<<<<<<<<< + * + * if (stop - start) - step * new_shape: + */ + __pyx_v_new_shape = ((__pyx_v_stop - __pyx_v_start) / __pyx_v_step); + + /* "View.MemoryView":863 + * new_shape = (stop - start) // step + * + * if (stop - start) - step * new_shape: # <<<<<<<<<<<<<< + * new_shape += 1 + * + */ + __pyx_t_2 = (((__pyx_v_stop - __pyx_v_start) - (__pyx_v_step * __pyx_v_new_shape)) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":864 + * + * if (stop - start) - step * new_shape: + * new_shape += 1 # <<<<<<<<<<<<<< + * + * if new_shape < 0: + */ + __pyx_v_new_shape = (__pyx_v_new_shape + 1); + + /* "View.MemoryView":863 + * new_shape = (stop - start) // step + * + * if (stop - start) - step * new_shape: # <<<<<<<<<<<<<< + * new_shape += 1 + * + */ + } + + /* "View.MemoryView":866 + * new_shape += 1 + * + * if new_shape < 0: # <<<<<<<<<<<<<< + * new_shape = 0 + * + */ + __pyx_t_2 = (__pyx_v_new_shape < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":867 + * + * if new_shape < 0: + * new_shape = 0 # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_new_shape = 0; + + /* "View.MemoryView":866 + * new_shape += 1 + * + * if new_shape < 0: # <<<<<<<<<<<<<< + * new_shape = 0 + * + */ + } + + /* "View.MemoryView":870 + * + * + * dst.strides[new_ndim] = stride * step # <<<<<<<<<<<<<< + * dst.shape[new_ndim] = new_shape + * dst.suboffsets[new_ndim] = suboffset + */ + (__pyx_v_dst->strides[__pyx_v_new_ndim]) = (__pyx_v_stride * __pyx_v_step); + + /* "View.MemoryView":871 + * + * dst.strides[new_ndim] = stride * step + * dst.shape[new_ndim] = new_shape # <<<<<<<<<<<<<< + * dst.suboffsets[new_ndim] = suboffset + * + */ + (__pyx_v_dst->shape[__pyx_v_new_ndim]) = __pyx_v_new_shape; + + /* "View.MemoryView":872 + * dst.strides[new_ndim] = stride * step + * dst.shape[new_ndim] = new_shape + * dst.suboffsets[new_ndim] = suboffset # <<<<<<<<<<<<<< + * + * + */ + (__pyx_v_dst->suboffsets[__pyx_v_new_ndim]) = __pyx_v_suboffset; + } + __pyx_L3:; + + /* "View.MemoryView":875 + * + * + * if suboffset_dim[0] < 0: # <<<<<<<<<<<<<< + * dst.data += start * stride + * else: + */ + __pyx_t_2 = ((__pyx_v_suboffset_dim[0]) < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":876 + * + * if suboffset_dim[0] < 0: + * dst.data += start * stride # <<<<<<<<<<<<<< + * else: + * dst.suboffsets[suboffset_dim[0]] += start * stride + */ + __pyx_v_dst->data = (__pyx_v_dst->data + (__pyx_v_start * __pyx_v_stride)); + + /* "View.MemoryView":875 + * + * + * if suboffset_dim[0] < 0: # <<<<<<<<<<<<<< + * dst.data += start * stride + * else: + */ + goto __pyx_L19; + } + + /* "View.MemoryView":878 + * dst.data += start * stride + * else: + * dst.suboffsets[suboffset_dim[0]] += start * stride # <<<<<<<<<<<<<< + * + * if suboffset >= 0: + */ + /*else*/ { + __pyx_t_3 = (__pyx_v_suboffset_dim[0]); + (__pyx_v_dst->suboffsets[__pyx_t_3]) = ((__pyx_v_dst->suboffsets[__pyx_t_3]) + (__pyx_v_start * __pyx_v_stride)); + } + __pyx_L19:; + + /* "View.MemoryView":880 + * dst.suboffsets[suboffset_dim[0]] += start * stride + * + * if suboffset >= 0: # <<<<<<<<<<<<<< + * if not is_slice: + * if new_ndim == 0: + */ + __pyx_t_2 = (__pyx_v_suboffset >= 0); + if (__pyx_t_2) { + + /* "View.MemoryView":881 + * + * if suboffset >= 0: + * if not is_slice: # <<<<<<<<<<<<<< + * if new_ndim == 0: + * dst.data = ( dst.data)[0] + suboffset + */ + __pyx_t_2 = (!__pyx_v_is_slice); + if (__pyx_t_2) { + + /* "View.MemoryView":882 + * if suboffset >= 0: + * if not is_slice: + * if new_ndim == 0: # <<<<<<<<<<<<<< + * dst.data = ( dst.data)[0] + suboffset + * else: + */ + __pyx_t_2 = (__pyx_v_new_ndim == 0); + if (__pyx_t_2) { + + /* "View.MemoryView":883 + * if not is_slice: + * if new_ndim == 0: + * dst.data = ( dst.data)[0] + suboffset # <<<<<<<<<<<<<< + * else: + * _err_dim(PyExc_IndexError, "All dimensions preceding dimension %d " + */ + __pyx_v_dst->data = ((((char **)__pyx_v_dst->data)[0]) + __pyx_v_suboffset); + + /* "View.MemoryView":882 + * if suboffset >= 0: + * if not is_slice: + * if new_ndim == 0: # <<<<<<<<<<<<<< + * dst.data = ( dst.data)[0] + suboffset + * else: + */ + goto __pyx_L22; + } + + /* "View.MemoryView":885 + * dst.data = ( dst.data)[0] + suboffset + * else: + * _err_dim(PyExc_IndexError, "All dimensions preceding dimension %d " # <<<<<<<<<<<<<< + * "must be indexed and not sliced", dim) + * else: + */ + /*else*/ { + + /* "View.MemoryView":886 + * else: + * _err_dim(PyExc_IndexError, "All dimensions preceding dimension %d " + * "must be indexed and not sliced", dim) # <<<<<<<<<<<<<< + * else: + * suboffset_dim[0] = new_ndim + */ + __pyx_t_3 = __pyx_memoryview_err_dim(PyExc_IndexError, __pyx_kp_s_All_dimensions_preceding_dimensi, __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(1, 885, __pyx_L1_error) + } + __pyx_L22:; + + /* "View.MemoryView":881 + * + * if suboffset >= 0: + * if not is_slice: # <<<<<<<<<<<<<< + * if new_ndim == 0: + * dst.data = ( dst.data)[0] + suboffset + */ + goto __pyx_L21; + } + + /* "View.MemoryView":888 + * "must be indexed and not sliced", dim) + * else: + * suboffset_dim[0] = new_ndim # <<<<<<<<<<<<<< + * + * return 0 + */ + /*else*/ { + (__pyx_v_suboffset_dim[0]) = __pyx_v_new_ndim; + } + __pyx_L21:; + + /* "View.MemoryView":880 + * dst.suboffsets[suboffset_dim[0]] 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"View.MemoryView":1094 + * cdef int (*to_dtype_func)(char *, object) except 0 + * + * if isinstance(memview, _memoryviewslice): # <<<<<<<<<<<<<< + * to_object_func = (<_memoryviewslice> memview).to_object_func + * to_dtype_func = (<_memoryviewslice> memview).to_dtype_func + */ + __pyx_t_1 = __Pyx_TypeCheck(((PyObject *)__pyx_v_memview), __pyx_memoryviewslice_type); + if (__pyx_t_1) { + + /* "View.MemoryView":1095 + * + * if isinstance(memview, _memoryviewslice): + * to_object_func = (<_memoryviewslice> memview).to_object_func # <<<<<<<<<<<<<< + * to_dtype_func = (<_memoryviewslice> memview).to_dtype_func + * else: + */ + __pyx_t_2 = ((struct __pyx_memoryviewslice_obj *)__pyx_v_memview)->to_object_func; + __pyx_v_to_object_func = __pyx_t_2; + + /* "View.MemoryView":1096 + * if isinstance(memview, _memoryviewslice): + * to_object_func = (<_memoryviewslice> memview).to_object_func + * to_dtype_func = (<_memoryviewslice> memview).to_dtype_func # <<<<<<<<<<<<<< + * else: + * to_object_func = NULL + */ + __pyx_t_3 = ((struct __pyx_memoryviewslice_obj *)__pyx_v_memview)->to_dtype_func; + __pyx_v_to_dtype_func = __pyx_t_3; + + /* "View.MemoryView":1094 + * cdef int (*to_dtype_func)(char *, object) except 0 + * + * if isinstance(memview, _memoryviewslice): # <<<<<<<<<<<<<< + * to_object_func = (<_memoryviewslice> memview).to_object_func + * to_dtype_func = (<_memoryviewslice> memview).to_dtype_func + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1098 + * to_dtype_func = (<_memoryviewslice> memview).to_dtype_func + * else: + * to_object_func = NULL # <<<<<<<<<<<<<< + * to_dtype_func = NULL + * + */ + /*else*/ { + __pyx_v_to_object_func = NULL; + + /* "View.MemoryView":1099 + * else: + * to_object_func = NULL + * to_dtype_func = NULL # <<<<<<<<<<<<<< + * + * return memoryview_fromslice(memviewslice[0], memview.view.ndim, + */ + __pyx_v_to_dtype_func = NULL; + } + __pyx_L3:; + + /* "View.MemoryView":1101 + * to_dtype_func = NULL + * + * return memoryview_fromslice(memviewslice[0], memview.view.ndim, # <<<<<<<<<<<<<< + * to_object_func, to_dtype_func, + * memview.dtype_is_object) + */ + __Pyx_XDECREF(__pyx_r); + + /* "View.MemoryView":1103 + * return memoryview_fromslice(memviewslice[0], memview.view.ndim, + * to_object_func, to_dtype_func, + * memview.dtype_is_object) # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_4 = __pyx_memoryview_fromslice((__pyx_v_memviewslice[0]), __pyx_v_memview->view.ndim, __pyx_v_to_object_func, __pyx_v_to_dtype_func, __pyx_v_memview->dtype_is_object); if (unlikely(!__pyx_t_4)) __PYX_ERR(1, 1101, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_4); + __pyx_r = __pyx_t_4; + __pyx_t_4 = 0; + goto __pyx_L0; + + /* "View.MemoryView":1087 + * + * @cname('__pyx_memoryview_copy_object_from_slice') + * cdef memoryview_copy_from_slice(memoryview memview, __Pyx_memviewslice *memviewslice): # <<<<<<<<<<<<<< + * """ + * Create a new memoryview object from a given memoryview object and slice. + */ + + /* function exit code */ + __pyx_L1_error:; + __Pyx_XDECREF(__pyx_t_4); + __Pyx_AddTraceback("View.MemoryView.memoryview_copy_from_slice", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = 0; + __pyx_L0:; + __Pyx_XGIVEREF(__pyx_r); + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +/* "View.MemoryView":1109 + * + * + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) noexcept nogil: # <<<<<<<<<<<<<< + * return -arg if arg < 0 else arg + * + */ + +static Py_ssize_t abs_py_ssize_t(Py_ssize_t __pyx_v_arg) { + Py_ssize_t __pyx_r; + Py_ssize_t __pyx_t_1; + int __pyx_t_2; + + /* "View.MemoryView":1110 + * + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) noexcept nogil: + * return -arg if arg < 0 else arg # <<<<<<<<<<<<<< + * + * @cname('__pyx_get_best_slice_order') + */ + __pyx_t_2 = (__pyx_v_arg < 0); + if (__pyx_t_2) { + __pyx_t_1 = (-__pyx_v_arg); + } else { + __pyx_t_1 = __pyx_v_arg; + } + __pyx_r = __pyx_t_1; + goto __pyx_L0; + + /* "View.MemoryView":1109 + * + * + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) noexcept nogil: # <<<<<<<<<<<<<< + * return -arg if arg < 0 else arg + * + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1113 + * + * @cname('__pyx_get_best_slice_order') + * cdef char get_best_order(__Pyx_memviewslice *mslice, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * """ + * Figure out the best memory access order for a given slice. + */ + +static char __pyx_get_best_slice_order(__Pyx_memviewslice *__pyx_v_mslice, int __pyx_v_ndim) { + int __pyx_v_i; + Py_ssize_t __pyx_v_c_stride; + Py_ssize_t __pyx_v_f_stride; + char __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1118 + * """ + * cdef int i + * cdef Py_ssize_t c_stride = 0 # <<<<<<<<<<<<<< + * cdef Py_ssize_t f_stride = 0 + * + */ + __pyx_v_c_stride = 0; + + /* "View.MemoryView":1119 + * cdef int i + * cdef Py_ssize_t c_stride = 0 + * cdef Py_ssize_t f_stride = 0 # <<<<<<<<<<<<<< + * + * for i in range(ndim - 1, -1, -1): + */ + __pyx_v_f_stride = 0; + + /* "View.MemoryView":1121 + * cdef Py_ssize_t f_stride = 0 + * + * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] + */ + for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { + __pyx_v_i = __pyx_t_1; + + /* "View.MemoryView":1122 + * + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * c_stride = mslice.strides[i] + * break + */ + __pyx_t_2 = ((__pyx_v_mslice->shape[__pyx_v_i]) > 1); + if (__pyx_t_2) { + + /* "View.MemoryView":1123 + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] # <<<<<<<<<<<<<< + * break + * + */ + __pyx_v_c_stride = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1124 + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] + * break # <<<<<<<<<<<<<< + * + * for i in range(ndim): + */ + goto __pyx_L4_break; + + /* "View.MemoryView":1122 + * + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * c_stride = mslice.strides[i] + * break + */ + } + } + __pyx_L4_break:; + + /* "View.MemoryView":1126 + * break + * + * for i in range(ndim): # <<<<<<<<<<<<<< + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] + */ + __pyx_t_1 = __pyx_v_ndim; + __pyx_t_3 = __pyx_t_1; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_i = __pyx_t_4; + + /* "View.MemoryView":1127 + * + * for i in range(ndim): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * f_stride = mslice.strides[i] + * break + */ + __pyx_t_2 = ((__pyx_v_mslice->shape[__pyx_v_i]) > 1); + if (__pyx_t_2) { + + /* "View.MemoryView":1128 + * for i in range(ndim): + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] # <<<<<<<<<<<<<< + * break + * + */ + __pyx_v_f_stride = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1129 + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] + * break # <<<<<<<<<<<<<< + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): + */ + goto __pyx_L7_break; + + /* "View.MemoryView":1127 + * + * for i in range(ndim): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * f_stride = mslice.strides[i] + * break + */ + } + } + __pyx_L7_break:; + + /* "View.MemoryView":1131 + * break + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< + * return 'C' + * else: + */ + __pyx_t_2 = (abs_py_ssize_t(__pyx_v_c_stride) <= abs_py_ssize_t(__pyx_v_f_stride)); + if (__pyx_t_2) { + + /* "View.MemoryView":1132 + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): + * return 'C' # <<<<<<<<<<<<<< + * else: + * return 'F' + */ + __pyx_r = 'C'; + goto __pyx_L0; + + /* "View.MemoryView":1131 + * break + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< + * return 'C' + * else: + */ + } + + /* "View.MemoryView":1134 + * return 'C' + * else: + * return 'F' # <<<<<<<<<<<<<< + * + * @cython.cdivision(True) + */ + /*else*/ { + __pyx_r = 'F'; + goto __pyx_L0; + } + + /* "View.MemoryView":1113 + * + * @cname('__pyx_get_best_slice_order') + * cdef char get_best_order(__Pyx_memviewslice *mslice, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * """ + * Figure out the best memory access order for a given slice. + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1137 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + +static void _copy_strided_to_strided(char *__pyx_v_src_data, Py_ssize_t *__pyx_v_src_strides, char *__pyx_v_dst_data, Py_ssize_t *__pyx_v_dst_strides, Py_ssize_t *__pyx_v_src_shape, Py_ssize_t *__pyx_v_dst_shape, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + CYTHON_UNUSED Py_ssize_t __pyx_v_src_extent; + Py_ssize_t __pyx_v_dst_extent; + Py_ssize_t __pyx_v_src_stride; + Py_ssize_t __pyx_v_dst_stride; + int __pyx_t_1; + int __pyx_t_2; + Py_ssize_t __pyx_t_3; + Py_ssize_t __pyx_t_4; + Py_ssize_t __pyx_t_5; + + /* "View.MemoryView":1144 + * + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + */ + __pyx_v_src_extent = (__pyx_v_src_shape[0]); + + /* "View.MemoryView":1145 + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] + */ + __pyx_v_dst_extent = (__pyx_v_dst_shape[0]); + + /* "View.MemoryView":1146 + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + */ + __pyx_v_src_stride = (__pyx_v_src_strides[0]); + + /* "View.MemoryView":1147 + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] # <<<<<<<<<<<<<< + * + * if ndim == 1: + */ + __pyx_v_dst_stride = (__pyx_v_dst_strides[0]); + + /* "View.MemoryView":1149 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + __pyx_t_1 = (__pyx_v_ndim == 1); + if (__pyx_t_1) { + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + __pyx_t_2 = (__pyx_v_src_stride > 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + __pyx_t_2 = (__pyx_v_dst_stride > 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + + /* "View.MemoryView":1151 + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + */ + __pyx_t_2 = (((size_t)__pyx_v_src_stride) == __pyx_v_itemsize); + if (__pyx_t_2) { + __pyx_t_2 = (__pyx_v_itemsize == ((size_t)__pyx_v_dst_stride)); + } + __pyx_t_1 = __pyx_t_2; + __pyx_L5_bool_binop_done:; + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + if (__pyx_t_1) { + + /* "View.MemoryView":1152 + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, (__pyx_v_itemsize * __pyx_v_dst_extent))); + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + goto __pyx_L4; + } + + /* "View.MemoryView":1154 + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + */ + /*else*/ { + __pyx_t_3 = __pyx_v_dst_extent; + __pyx_t_4 = __pyx_t_3; + for (__pyx_t_5 = 0; __pyx_t_5 < __pyx_t_4; __pyx_t_5+=1) { + __pyx_v_i = __pyx_t_5; + + /* "View.MemoryView":1155 + * else: + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) # <<<<<<<<<<<<<< + * src_data += src_stride + * dst_data += dst_stride + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, __pyx_v_itemsize)); + + /* "View.MemoryView":1156 + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * else: + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1157 + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L4:; + + /* "View.MemoryView":1149 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1159 + * dst_data += dst_stride + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * _copy_strided_to_strided(src_data, src_strides + 1, + * dst_data, dst_strides + 1, + */ + /*else*/ { + __pyx_t_3 = __pyx_v_dst_extent; + __pyx_t_4 = __pyx_t_3; + for (__pyx_t_5 = 0; __pyx_t_5 < __pyx_t_4; __pyx_t_5+=1) { + __pyx_v_i = __pyx_t_5; + + /* "View.MemoryView":1160 + * else: + * for i in range(dst_extent): + * _copy_strided_to_strided(src_data, src_strides + 1, # <<<<<<<<<<<<<< + * dst_data, dst_strides + 1, + * src_shape + 1, dst_shape + 1, + */ + _copy_strided_to_strided(__pyx_v_src_data, (__pyx_v_src_strides + 1), __pyx_v_dst_data, (__pyx_v_dst_strides + 1), (__pyx_v_src_shape + 1), (__pyx_v_dst_shape + 1), (__pyx_v_ndim - 1), __pyx_v_itemsize); + + /* "View.MemoryView":1164 + * src_shape + 1, dst_shape + 1, + * ndim - 1, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1165 + * ndim - 1, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L3:; + + /* "View.MemoryView":1137 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + + /* function exit code */ +} + +/* "View.MemoryView":1167 + * dst_data += dst_stride + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + */ + +static void copy_strided_to_strided(__Pyx_memviewslice *__pyx_v_src, __Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + + /* "View.MemoryView":1170 + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + * _copy_strided_to_strided(src.data, src.strides, dst.data, dst.strides, # <<<<<<<<<<<<<< + * src.shape, dst.shape, ndim, itemsize) + * + */ + 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slice_is_contig(dst, 'C', ndim) # <<<<<<<<<<<<<< + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'C', __pyx_v_ndim); + + /* "View.MemoryView":1310 + * + * + * if slice_is_contig(src, 'C', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + */ + goto __pyx_L12; + } + + /* "View.MemoryView":1312 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + __pyx_t_2 = __pyx_memviewslice_is_contig(__pyx_v_src, 'F', __pyx_v_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1313 + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) # <<<<<<<<<<<<<< + * + * if direct_copy: + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'F', __pyx_v_ndim); + + /* "View.MemoryView":1312 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + } + __pyx_L12:; + + /* "View.MemoryView":1315 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + if (__pyx_v_direct_copy) { + + /* "View.MemoryView":1317 + * if direct_copy: + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1318 + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) + */ + (void)(memcpy(__pyx_v_dst.data, __pyx_v_src.data, __pyx_memoryview_slice_get_size((&__pyx_v_src), __pyx_v_ndim))); + + /* "View.MemoryView":1319 + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * free(tmpdata) + * return 0 + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1320 + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1321 + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * if order == 'F' == get_best_order(&dst, ndim): + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1315 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + } + + /* "View.MemoryView":1307 + * src = tmp + * + * if not broadcasting: # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1323 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_2 = (__pyx_v_order == 'F'); + if (__pyx_t_2) { + __pyx_t_2 = ('F' == __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim)); + } + if (__pyx_t_2) { + + /* "View.MemoryView":1326 + * + * + * transpose_memslice(&src) # <<<<<<<<<<<<<< + * transpose_memslice(&dst) + * + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_src)); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(1, 1326, __pyx_L1_error) + + /* "View.MemoryView":1327 + * + * transpose_memslice(&src) + * transpose_memslice(&dst) # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_dst)); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(1, 1327, __pyx_L1_error) + + /* "View.MemoryView":1323 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1329 + * transpose_memslice(&dst) + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1330 + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * + */ + copy_strided_to_strided((&__pyx_v_src), (&__pyx_v_dst), __pyx_v_ndim, __pyx_v_itemsize); + + /* "View.MemoryView":1331 + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * + * free(tmpdata) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1333 + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1334 + * + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_broadcast_leading') + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1265 + * + * @cname('__pyx_memoryview_copy_contents') + * cdef int memoryview_copy_contents(__Pyx_memviewslice src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice dst, + * int src_ndim, int dst_ndim, + */ + + /* function exit code */ + __pyx_L1_error:; + #ifdef WITH_THREAD + __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + __Pyx_AddTraceback("View.MemoryView.memoryview_copy_contents", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = -1; + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1337 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) noexcept nogil: + */ + +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *__pyx_v_mslice, int __pyx_v_ndim, int __pyx_v_ndim_other) { + int __pyx_v_i; + int __pyx_v_offset; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + + /* "View.MemoryView":1341 + * int ndim_other) noexcept nogil: + * cdef int i + * cdef int offset = ndim_other - ndim # <<<<<<<<<<<<<< + * + * for i in range(ndim - 1, -1, -1): + */ + __pyx_v_offset = (__pyx_v_ndim_other - __pyx_v_ndim); + + /* "View.MemoryView":1343 + * cdef int offset = ndim_other - ndim + * + * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + */ + for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { + __pyx_v_i = __pyx_t_1; + + /* "View.MemoryView":1344 + * + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] # <<<<<<<<<<<<<< + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + */ + (__pyx_v_mslice->shape[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->shape[__pyx_v_i]); + + /* "View.MemoryView":1345 + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] # <<<<<<<<<<<<<< + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + */ + (__pyx_v_mslice->strides[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1346 + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] # <<<<<<<<<<<<<< + * + * for i in range(offset): + */ + (__pyx_v_mslice->suboffsets[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->suboffsets[__pyx_v_i]); + } + + /* "View.MemoryView":1348 + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + * for i in range(offset): # <<<<<<<<<<<<<< + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + */ + __pyx_t_1 = __pyx_v_offset; + __pyx_t_2 = __pyx_t_1; + for (__pyx_t_3 = 0; __pyx_t_3 < __pyx_t_2; __pyx_t_3+=1) { + __pyx_v_i = __pyx_t_3; + + /* "View.MemoryView":1349 + * + * for i in range(offset): + * mslice.shape[i] = 1 # <<<<<<<<<<<<<< + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 + */ + (__pyx_v_mslice->shape[__pyx_v_i]) = 1; + + /* "View.MemoryView":1350 + * for i in range(offset): + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] # <<<<<<<<<<<<<< + * mslice.suboffsets[i] = -1 + * + */ + (__pyx_v_mslice->strides[__pyx_v_i]) = (__pyx_v_mslice->strides[0]); + + /* "View.MemoryView":1351 + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 # <<<<<<<<<<<<<< + * + * + */ + (__pyx_v_mslice->suboffsets[__pyx_v_i]) = -1L; + } + + /* "View.MemoryView":1337 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1359 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: # <<<<<<<<<<<<<< + * + * if dtype_is_object: + */ + +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_dtype_is_object, int __pyx_v_ndim, int __pyx_v_inc) { + + /* "View.MemoryView":1361 + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) + * + */ + if (__pyx_v_dtype_is_object) { + + /* "View.MemoryView":1362 + * + * if dtype_is_object: + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + */ + __pyx_memoryview_refcount_objects_in_slice_with_gil(__pyx_v_dst->data, __pyx_v_dst->shape, __pyx_v_dst->strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1361 + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) + * + */ + } + + /* "View.MemoryView":1359 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: # <<<<<<<<<<<<<< + * + * if dtype_is_object: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1365 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + * cdef void refcount_objects_in_slice_with_gil(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + */ + +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, int __pyx_v_inc) { + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + + /* "View.MemoryView":1368 + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + * refcount_objects_in_slice(data, shape, strides, ndim, inc) # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + */ + __pyx_memoryview_refcount_objects_in_slice(__pyx_v_data, __pyx_v_shape, __pyx_v_strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1365 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + * cdef void refcount_objects_in_slice_with_gil(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + */ + + /* function exit code */ + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif +} + +/* "View.MemoryView":1371 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + * cdef void refcount_objects_in_slice(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + */ + +static void __pyx_memoryview_refcount_objects_in_slice(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, int __pyx_v_inc) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + Py_ssize_t __pyx_v_stride; + Py_ssize_t __pyx_t_1; + Py_ssize_t __pyx_t_2; + Py_ssize_t __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1374 + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + * cdef Py_ssize_t stride = strides[0] # <<<<<<<<<<<<<< + * + * for i in range(shape[0]): + */ + __pyx_v_stride = (__pyx_v_strides[0]); + + /* "View.MemoryView":1376 + * cdef Py_ssize_t stride = strides[0] + * + * for i in range(shape[0]): # <<<<<<<<<<<<<< + * if ndim == 1: + * if inc: + */ + __pyx_t_1 = (__pyx_v_shape[0]); + __pyx_t_2 = __pyx_t_1; + for (__pyx_t_3 = 0; __pyx_t_3 < __pyx_t_2; __pyx_t_3+=1) { + __pyx_v_i = __pyx_t_3; + + /* "View.MemoryView":1377 + * + * for i in range(shape[0]): + * if ndim == 1: # <<<<<<<<<<<<<< + * if inc: + * Py_INCREF(( data)[0]) + */ + __pyx_t_4 = (__pyx_v_ndim == 1); + if (__pyx_t_4) { + + /* "View.MemoryView":1378 + * for i in range(shape[0]): + * if ndim == 1: + * if inc: # <<<<<<<<<<<<<< + * Py_INCREF(( data)[0]) + * else: + */ + if (__pyx_v_inc) { + + /* "View.MemoryView":1379 + * if ndim == 1: + * if inc: + * Py_INCREF(( data)[0]) # <<<<<<<<<<<<<< + * else: + * Py_DECREF(( data)[0]) + */ + Py_INCREF((((PyObject **)__pyx_v_data)[0])); + + /* "View.MemoryView":1378 + * for i in range(shape[0]): + * if ndim == 1: + * if inc: # <<<<<<<<<<<<<< + * Py_INCREF(( data)[0]) + * else: + */ + goto __pyx_L6; + } + + /* "View.MemoryView":1381 + * Py_INCREF(( data)[0]) + * else: + * Py_DECREF(( data)[0]) # <<<<<<<<<<<<<< + * else: + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) + */ + /*else*/ { + Py_DECREF((((PyObject **)__pyx_v_data)[0])); + } + __pyx_L6:; + + /* "View.MemoryView":1377 + * + * for i in range(shape[0]): + * if ndim == 1: # <<<<<<<<<<<<<< + * if inc: + * Py_INCREF(( data)[0]) + */ + goto __pyx_L5; + } + + /* "View.MemoryView":1383 + * Py_DECREF(( data)[0]) + * else: + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) # <<<<<<<<<<<<<< + * + * data += stride + */ + /*else*/ { + __pyx_memoryview_refcount_objects_in_slice(__pyx_v_data, (__pyx_v_shape + 1), (__pyx_v_strides + 1), (__pyx_v_ndim - 1), __pyx_v_inc); + } + __pyx_L5:; + + /* "View.MemoryView":1385 + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) + * + * data += stride # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_data = (__pyx_v_data + __pyx_v_stride); + } + + /* "View.MemoryView":1371 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + * cdef void refcount_objects_in_slice(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + */ + + /* function exit code */ +} + +/* "View.MemoryView":1391 + * + * @cname('__pyx_memoryview_slice_assign_scalar') + * cdef void slice_assign_scalar(__Pyx_memviewslice *dst, int ndim, # <<<<<<<<<<<<<< + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + */ + +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize, void *__pyx_v_item, int __pyx_v_dtype_is_object) { + + /* "View.MemoryView":1394 + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + * refcount_copying(dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) + * refcount_copying(dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying(__pyx_v_dst, __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1395 + * bint dtype_is_object) noexcept nogil: + * refcount_copying(dst, dtype_is_object, ndim, inc=False) + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) # <<<<<<<<<<<<<< + * refcount_copying(dst, dtype_is_object, ndim, inc=True) + * + */ + __pyx_memoryview__slice_assign_scalar(__pyx_v_dst->data, __pyx_v_dst->shape, __pyx_v_dst->strides, __pyx_v_ndim, __pyx_v_itemsize, __pyx_v_item); + + /* "View.MemoryView":1396 + * refcount_copying(dst, dtype_is_object, ndim, inc=False) + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) + * refcount_copying(dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * + * + */ + __pyx_memoryview_refcount_copying(__pyx_v_dst, __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1391 + * + * @cname('__pyx_memoryview_slice_assign_scalar') + * cdef void slice_assign_scalar(__Pyx_memviewslice *dst, int ndim, # <<<<<<<<<<<<<< + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1400 + * + * @cname('__pyx_memoryview__slice_assign_scalar') + * cdef void _slice_assign_scalar(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * size_t itemsize, void *item) noexcept nogil: + */ + +static void __pyx_memoryview__slice_assign_scalar(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, size_t __pyx_v_itemsize, void *__pyx_v_item) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + Py_ssize_t __pyx_v_stride; + Py_ssize_t __pyx_v_extent; + int __pyx_t_1; + Py_ssize_t __pyx_t_2; + Py_ssize_t __pyx_t_3; + Py_ssize_t __pyx_t_4; + + /* "View.MemoryView":1404 + * size_t itemsize, void *item) noexcept nogil: + * cdef Py_ssize_t i + * cdef Py_ssize_t stride = strides[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t extent = shape[0] + * + */ + __pyx_v_stride = (__pyx_v_strides[0]); + + /* "View.MemoryView":1405 + * cdef Py_ssize_t i + * cdef Py_ssize_t stride = strides[0] + * cdef Py_ssize_t extent = shape[0] # <<<<<<<<<<<<<< + * + * if ndim == 1: + */ + __pyx_v_extent = (__pyx_v_shape[0]); + + /* "View.MemoryView":1407 + * cdef Py_ssize_t extent = 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__pyx_v___pyx_state); + + /* function exit code */ + { + Py_ssize_t __pyx_temp; + for (__pyx_temp=0; __pyx_temp < (Py_ssize_t)(sizeof(values)/sizeof(values[0])); ++__pyx_temp) { + __Pyx_Arg_XDECREF_FASTCALL(values[__pyx_temp]); + } + } + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_54__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state) { + PyObject *__pyx_r = NULL; + __Pyx_RefNannyDeclarations + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + __Pyx_RefNannySetupContext("__setstate_cython__", 1); + + /* "(tree fragment)":4 + * raise TypeError, "no default __reduce__ due to non-trivial __cinit__" + * def __setstate_cython__(self, __pyx_state): + * raise TypeError, "no default __reduce__ due to non-trivial __cinit__" # 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CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *)o); + p->model_name = ((PyObject*)Py_None); Py_INCREF(Py_None); + p->nlp_solver_type = ((PyObject*)Py_None); Py_INCREF(Py_None); + if (unlikely(__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_1__cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +#if CYTHON_USE_TP_FINALIZE +static void __pyx_tp_finalize_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython(PyObject *o) { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_51__del__(o); + PyErr_Restore(etype, eval, etb); +} +#endif + +static void __pyx_tp_dealloc_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython(PyObject *o) { + struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *p = (struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + Py_CLEAR(p->model_name); + Py_CLEAR(p->nlp_solver_type); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static PyMethodDef __pyx_methods_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython[] = { + {"_AcadosOcpSolverCython__get_pointers_solver", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_3_AcadosOcpSolverCython__get_pointers_solver, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_2__get_pointers_solver}, + {"solve_for_x0", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_5solve_for_x0, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_4solve_for_x0}, + {"solve", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_7solve, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_6solve}, + {"reset", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_9reset, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_8reset}, + {"custom_update", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_11custom_update, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_10custom_update}, + {"set_new_time_steps", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_13set_new_time_steps, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_12set_new_time_steps}, + {"update_qp_solver_cond_N", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_15update_qp_solver_cond_N, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_14update_qp_solver_cond_N}, + {"eval_param_sens", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_17eval_param_sens, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_16eval_param_sens}, + {"get", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_19get, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_18get}, + {"print_statistics", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_21print_statistics, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_20print_statistics}, + {"store_iterate", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_23store_iterate, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_22store_iterate}, + {"load_iterate", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_25load_iterate, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_24load_iterate}, + {"get_stats", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_27get_stats, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_26get_stats}, + {"_AcadosOcpSolverCython__get_stat_int", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_29_AcadosOcpSolverCython__get_stat_int, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"_AcadosOcpSolverCython__get_stat_double", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_31_AcadosOcpSolverCython__get_stat_double, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"_AcadosOcpSolverCython__get_stat_matrix", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_33_AcadosOcpSolverCython__get_stat_matrix, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"get_cost", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_35get_cost, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_34get_cost}, + {"get_residuals", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_37get_residuals, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_36get_residuals}, + {"set", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_39set, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_38set}, + {"cost_set", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_41cost_set, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_40cost_set}, + {"constraints_set", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_43constraints_set, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_42constraints_set}, + {"get_from_qp_in", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_45get_from_qp_in, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_44get_from_qp_in}, + {"options_set", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_47options_set, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_46options_set}, + {"set_params_sparse", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_49set_params_sparse, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_48set_params_sparse}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_53__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_55__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython}, + {Py_tp_doc, (void *)PyDoc_STR("\n Class to interact with the acados ocp solver C object.\n ")}, + {Py_tp_methods, (void *)__pyx_methods_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython}, + {Py_tp_new, (void *)__pyx_tp_new_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython}, + #if PY_VERSION_HEX >= 0x030400a1 + {Py_tp_finalize, (void *)__pyx_tp_finalize_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython}, + #endif + {0, 0}, +}; +static PyType_Spec __pyx_type_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython_spec = { + "acados_template.acados_ocp_solver_pyx.AcadosOcpSolverCython", + sizeof(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_FINALIZE, + __pyx_type_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython_slots, +}; +#else + +static PyTypeObject __pyx_type_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython = { + PyVarObject_HEAD_INIT(0, 0) + "acados_template.acados_ocp_solver_pyx.""AcadosOcpSolverCython", /*tp_name*/ + sizeof(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_FINALIZE, /*tp_flags*/ + PyDoc_STR("\n Class to interact with the acados ocp solver C object.\n "), /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + __pyx_tp_finalize_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_array __pyx_vtable_array; + +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_array_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_array_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_array; + p->mode = ((PyObject*)Py_None); Py_INCREF(Py_None); + p->_format = ((PyObject*)Py_None); Py_INCREF(Py_None); + if (unlikely(__pyx_array___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_array(PyObject *o) { + struct __pyx_array_obj *p = (struct __pyx_array_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_array) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_array___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->mode); + Py_CLEAR(p->_format); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} +static PyObject *__pyx_sq_item_array(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_array(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_array___setitem__(o, i, v); + } + else { + __Pyx_TypeName o_type_name; + o_type_name = __Pyx_PyType_GetName(Py_TYPE(o)); + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by " __Pyx_FMT_TYPENAME, o_type_name); + __Pyx_DECREF_TypeName(o_type_name); + return -1; + } +} + +static PyObject *__pyx_tp_getattro_array(PyObject *o, PyObject *n) { + PyObject *v = __Pyx_PyObject_GenericGetAttr(o, n); + if (!v && PyErr_ExceptionMatches(PyExc_AttributeError)) { + PyErr_Clear(); + v = __pyx_array___getattr__(o, n); + } + return v; +} + +static PyObject *__pyx_getprop___pyx_array_memview(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_5array_7memview_1__get__(o); +} + +static PyMethodDef __pyx_methods_array[] = { + {"__getattr__", (PyCFunction)__pyx_array___getattr__, METH_O|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_array_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_array_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_array[] = { + {(char *)"memview", __pyx_getprop___pyx_array_memview, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +#if !CYTHON_COMPILING_IN_LIMITED_API + +static PyBufferProcs __pyx_tp_as_buffer_array = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_array_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; +#endif +static PyType_Slot __pyx_type___pyx_array_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_array}, + {Py_sq_length, (void *)__pyx_array___len__}, + {Py_sq_item, (void *)__pyx_sq_item_array}, + {Py_mp_length, (void *)__pyx_array___len__}, + {Py_mp_subscript, (void *)__pyx_array___getitem__}, + {Py_mp_ass_subscript, (void *)__pyx_mp_ass_subscript_array}, + {Py_tp_getattro, (void *)__pyx_tp_getattro_array}, + #if defined(Py_bf_getbuffer) + {Py_bf_getbuffer, (void *)__pyx_array_getbuffer}, + #endif + {Py_tp_methods, (void *)__pyx_methods_array}, + {Py_tp_getset, (void *)__pyx_getsets_array}, + {Py_tp_new, (void *)__pyx_tp_new_array}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_array_spec = { + "acados_template.acados_ocp_solver_pyx.array", + sizeof(struct __pyx_array_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_SEQUENCE, + __pyx_type___pyx_array_slots, +}; +#else + +static PySequenceMethods __pyx_tp_as_sequence_array = { + __pyx_array___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_array, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_array = { + __pyx_array___len__, /*mp_length*/ + __pyx_array___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_array, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_array = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_array_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_array = { + PyVarObject_HEAD_INIT(0, 0) + "acados_template.acados_ocp_solver_pyx.""array", /*tp_name*/ + sizeof(struct __pyx_array_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_array, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_array, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_array, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + __pyx_tp_getattro_array, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_array, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_SEQUENCE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_array, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_array, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_array, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + struct __pyx_MemviewEnum_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_MemviewEnum_obj *)o); + p->name = Py_None; Py_INCREF(Py_None); + return o; +} + +static void __pyx_tp_dealloc_Enum(PyObject *o) { + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_Enum) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + Py_CLEAR(p->name); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_Enum(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + if (p->name) { + e = (*v)(p->name, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_Enum(PyObject *o) { + PyObject* tmp; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + tmp = ((PyObject*)p->name); + p->name = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + return 0; +} + +static PyObject *__pyx_specialmethod___pyx_MemviewEnum___repr__(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __pyx_MemviewEnum___repr__(self); +} + +static PyMethodDef __pyx_methods_Enum[] = { + {"__repr__", (PyCFunction)__pyx_specialmethod___pyx_MemviewEnum___repr__, METH_NOARGS|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_MemviewEnum_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_MemviewEnum_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type___pyx_MemviewEnum_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_Enum}, + {Py_tp_repr, (void *)__pyx_MemviewEnum___repr__}, + {Py_tp_traverse, (void *)__pyx_tp_traverse_Enum}, + {Py_tp_clear, (void *)__pyx_tp_clear_Enum}, + {Py_tp_methods, (void *)__pyx_methods_Enum}, + {Py_tp_init, (void *)__pyx_MemviewEnum___init__}, + {Py_tp_new, (void *)__pyx_tp_new_Enum}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_MemviewEnum_spec = { + "acados_template.acados_ocp_solver_pyx.Enum", + sizeof(struct __pyx_MemviewEnum_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type___pyx_MemviewEnum_slots, +}; +#else + +static PyTypeObject __pyx_type___pyx_MemviewEnum = { + PyVarObject_HEAD_INIT(0, 0) + "acados_template.acados_ocp_solver_pyx.""Enum", /*tp_name*/ + sizeof(struct __pyx_MemviewEnum_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_Enum, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_MemviewEnum___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_Enum, /*tp_traverse*/ + __pyx_tp_clear_Enum, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_Enum, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + __pyx_MemviewEnum___init__, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_Enum, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_memoryview __pyx_vtable_memoryview; + +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryview_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_memoryview_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_memoryview; + p->obj = Py_None; Py_INCREF(Py_None); + p->_size = Py_None; Py_INCREF(Py_None); + p->_array_interface = Py_None; Py_INCREF(Py_None); + p->view.obj = NULL; + if (unlikely(__pyx_memoryview___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_memoryview(PyObject *o) { + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_memoryview) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryview___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->obj); + Py_CLEAR(p->_size); + Py_CLEAR(p->_array_interface); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_memoryview(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + if (p->obj) { + e = (*v)(p->obj, a); if (e) return e; + } + if (p->_size) { + e = (*v)(p->_size, a); if (e) return e; + } + if (p->_array_interface) { + e = (*v)(p->_array_interface, a); if (e) return e; + } + if (p->view.obj) { + e = (*v)(p->view.obj, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_memoryview(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + tmp = ((PyObject*)p->obj); + p->obj = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_size); + p->_size = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_array_interface); + p->_array_interface = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + Py_CLEAR(p->view.obj); + return 0; +} +static PyObject *__pyx_sq_item_memoryview(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_memoryview(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_memoryview___setitem__(o, i, v); + } + else { + __Pyx_TypeName o_type_name; + o_type_name = __Pyx_PyType_GetName(Py_TYPE(o)); + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by " __Pyx_FMT_TYPENAME, o_type_name); + __Pyx_DECREF_TypeName(o_type_name); + return -1; + } +} + +static PyObject *__pyx_getprop___pyx_memoryview_T(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_1T_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_base(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4base_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_shape(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_5shape_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_strides(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_7strides_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_suboffsets(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_10suboffsets_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_ndim(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4ndim_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_itemsize(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_8itemsize_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_nbytes(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_6nbytes_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_size(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4size_1__get__(o); +} + +static PyObject *__pyx_specialmethod___pyx_memoryview___repr__(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __pyx_memoryview___repr__(self); +} + +static PyMethodDef __pyx_methods_memoryview[] = { + {"__repr__", (PyCFunction)__pyx_specialmethod___pyx_memoryview___repr__, METH_NOARGS|METH_COEXIST, 0}, + {"is_c_contig", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_is_c_contig, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"is_f_contig", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_is_f_contig, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"copy", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_copy, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"copy_fortran", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_copy_fortran, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryview_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryview_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_memoryview[] = { + {(char *)"T", __pyx_getprop___pyx_memoryview_T, 0, (char *)0, 0}, + {(char *)"base", __pyx_getprop___pyx_memoryview_base, 0, (char *)0, 0}, + {(char *)"shape", __pyx_getprop___pyx_memoryview_shape, 0, (char *)0, 0}, + {(char *)"strides", __pyx_getprop___pyx_memoryview_strides, 0, (char *)0, 0}, + {(char *)"suboffsets", __pyx_getprop___pyx_memoryview_suboffsets, 0, (char *)0, 0}, + {(char *)"ndim", __pyx_getprop___pyx_memoryview_ndim, 0, (char *)0, 0}, + {(char *)"itemsize", __pyx_getprop___pyx_memoryview_itemsize, 0, (char *)0, 0}, + {(char *)"nbytes", __pyx_getprop___pyx_memoryview_nbytes, 0, (char *)0, 0}, + {(char *)"size", __pyx_getprop___pyx_memoryview_size, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +#if !CYTHON_COMPILING_IN_LIMITED_API + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; +#endif +static PyType_Slot __pyx_type___pyx_memoryview_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_memoryview}, + {Py_tp_repr, (void *)__pyx_memoryview___repr__}, + {Py_sq_length, (void *)__pyx_memoryview___len__}, + {Py_sq_item, (void *)__pyx_sq_item_memoryview}, + {Py_mp_length, (void *)__pyx_memoryview___len__}, + {Py_mp_subscript, (void *)__pyx_memoryview___getitem__}, + {Py_mp_ass_subscript, (void *)__pyx_mp_ass_subscript_memoryview}, + {Py_tp_str, (void *)__pyx_memoryview___str__}, + #if defined(Py_bf_getbuffer) + {Py_bf_getbuffer, (void *)__pyx_memoryview_getbuffer}, + #endif + {Py_tp_traverse, (void *)__pyx_tp_traverse_memoryview}, + {Py_tp_clear, (void *)__pyx_tp_clear_memoryview}, + {Py_tp_methods, (void *)__pyx_methods_memoryview}, + {Py_tp_getset, (void *)__pyx_getsets_memoryview}, + {Py_tp_new, (void *)__pyx_tp_new_memoryview}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_memoryview_spec = { + "acados_template.acados_ocp_solver_pyx.memoryview", + sizeof(struct __pyx_memoryview_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type___pyx_memoryview_slots, +}; +#else + +static PySequenceMethods __pyx_tp_as_sequence_memoryview = { + __pyx_memoryview___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_memoryview, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_memoryview = { + __pyx_memoryview___len__, /*mp_length*/ + __pyx_memoryview___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_memoryview, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_memoryview = { + PyVarObject_HEAD_INIT(0, 0) + "acados_template.acados_ocp_solver_pyx.""memoryview", /*tp_name*/ + sizeof(struct __pyx_memoryview_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_memoryview, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_memoryview___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_memoryview, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_memoryview, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + __pyx_memoryview___str__, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_memoryview, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_memoryview, /*tp_traverse*/ + __pyx_tp_clear_memoryview, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_memoryview, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_memoryview, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_memoryview, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct__memoryviewslice __pyx_vtable__memoryviewslice; + +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryviewslice_obj *p; + PyObject *o = __pyx_tp_new_memoryview(t, a, k); + if (unlikely(!o)) return 0; + p = ((struct __pyx_memoryviewslice_obj *)o); + p->__pyx_base.__pyx_vtab = (struct __pyx_vtabstruct_memoryview*)__pyx_vtabptr__memoryviewslice; + p->from_object = Py_None; Py_INCREF(Py_None); + p->from_slice.memview = NULL; + return o; +} + +static void __pyx_tp_dealloc__memoryviewslice(PyObject *o) { + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc__memoryviewslice) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryviewslice___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->from_object); + PyObject_GC_Track(o); + __pyx_tp_dealloc_memoryview(o); +} + +static int __pyx_tp_traverse__memoryviewslice(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + e = __pyx_tp_traverse_memoryview(o, v, a); if (e) return e; + if (p->from_object) { + e = (*v)(p->from_object, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear__memoryviewslice(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + __pyx_tp_clear_memoryview(o); + tmp = ((PyObject*)p->from_object); + p->from_object = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + __PYX_XCLEAR_MEMVIEW(&p->from_slice, 1); + return 0; +} + +static PyMethodDef __pyx_methods__memoryviewslice[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryviewslice_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryviewslice_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type___pyx_memoryviewslice_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc__memoryviewslice}, + {Py_tp_doc, (void *)PyDoc_STR("Internal class for passing memoryview slices to Python")}, + {Py_tp_traverse, (void *)__pyx_tp_traverse__memoryviewslice}, + {Py_tp_clear, (void *)__pyx_tp_clear__memoryviewslice}, + {Py_tp_methods, (void *)__pyx_methods__memoryviewslice}, + {Py_tp_new, (void *)__pyx_tp_new__memoryviewslice}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_memoryviewslice_spec = { + "acados_template.acados_ocp_solver_pyx._memoryviewslice", + sizeof(struct __pyx_memoryviewslice_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_SEQUENCE, + __pyx_type___pyx_memoryviewslice_slots, +}; +#else + +static PyTypeObject __pyx_type___pyx_memoryviewslice = { + PyVarObject_HEAD_INIT(0, 0) + "acados_template.acados_ocp_solver_pyx.""_memoryviewslice", /*tp_name*/ + sizeof(struct __pyx_memoryviewslice_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc__memoryviewslice, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + #if CYTHON_COMPILING_IN_PYPY || 0 + __pyx_memoryview___repr__, /*tp_repr*/ + #else + 0, /*tp_repr*/ + #endif + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + #if CYTHON_COMPILING_IN_PYPY || 0 + __pyx_memoryview___str__, /*tp_str*/ + #else + 0, /*tp_str*/ + #endif + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_SEQUENCE, /*tp_flags*/ + PyDoc_STR("Internal class for passing memoryview slices to Python"), /*tp_doc*/ + __pyx_tp_traverse__memoryviewslice, /*tp_traverse*/ + __pyx_tp_clear__memoryviewslice, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods__memoryviewslice, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new__memoryviewslice, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyMethodDef __pyx_methods[] = { + {0, 0, 0, 0} +}; +#ifndef CYTHON_SMALL_CODE +#if defined(__clang__) + #define CYTHON_SMALL_CODE +#elif defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 3)) + #define CYTHON_SMALL_CODE __attribute__((cold)) +#else + #define CYTHON_SMALL_CODE +#endif +#endif +/* #### Code section: pystring_table ### */ + +static int __Pyx_CreateStringTabAndInitStrings(void) { + __Pyx_StringTabEntry __pyx_string_tab[] = { + {&__pyx_kp_u_, __pyx_k_, sizeof(__pyx_k_), 0, 1, 0, 0}, + {&__pyx_kp_u_0, __pyx_k_0, sizeof(__pyx_k_0), 0, 1, 0, 0}, + {&__pyx_n_s_ASCII, __pyx_k_ASCII, sizeof(__pyx_k_ASCII), 0, 0, 1, 1}, + {&__pyx_n_s_AcadosOcpSolverCython, __pyx_k_AcadosOcpSolverCython, sizeof(__pyx_k_AcadosOcpSolverCython), 0, 0, 1, 1}, + {&__pyx_n_s_AcadosOcpSolverCython___get_poin, __pyx_k_AcadosOcpSolverCython___get_poin, sizeof(__pyx_k_AcadosOcpSolverCython___get_poin), 0, 0, 1, 1}, + {&__pyx_n_s_AcadosOcpSolverCython___get_stat, __pyx_k_AcadosOcpSolverCython___get_stat, sizeof(__pyx_k_AcadosOcpSolverCython___get_stat), 0, 0, 1, 1}, + {&__pyx_n_s_AcadosOcpSolverCython___get_stat_2, __pyx_k_AcadosOcpSolverCython___get_stat_2, sizeof(__pyx_k_AcadosOcpSolverCython___get_stat_2), 0, 0, 1, 1}, + {&__pyx_n_s_AcadosOcpSolverCython___get_stat_3, __pyx_k_AcadosOcpSolverCython___get_stat_3, sizeof(__pyx_k_AcadosOcpSolverCython___get_stat_3), 0, 0, 1, 1}, + {&__pyx_n_s_AcadosOcpSolverCython___reduce_c, __pyx_k_AcadosOcpSolverCython___reduce_c, sizeof(__pyx_k_AcadosOcpSolverCython___reduce_c), 0, 0, 1, 1}, + {&__pyx_n_s_AcadosOcpSolverCython___setstate, __pyx_k_AcadosOcpSolverCython___setstate, sizeof(__pyx_k_AcadosOcpSolverCython___setstate), 0, 0, 1, 1}, + {&__pyx_n_s_AcadosOcpSolverCython__get_poin, __pyx_k_AcadosOcpSolverCython__get_poin, sizeof(__pyx_k_AcadosOcpSolverCython__get_poin), 0, 0, 1, 1}, + {&__pyx_n_s_AcadosOcpSolverCython__get_stat, __pyx_k_AcadosOcpSolverCython__get_stat, sizeof(__pyx_k_AcadosOcpSolverCython__get_stat), 0, 0, 1, 1}, + {&__pyx_n_s_AcadosOcpSolverCython__get_stat_2, __pyx_k_AcadosOcpSolverCython__get_stat_2, sizeof(__pyx_k_AcadosOcpSolverCython__get_stat_2), 0, 0, 1, 1}, + {&__pyx_n_s_AcadosOcpSolverCython__get_stat_3, __pyx_k_AcadosOcpSolverCython__get_stat_3, sizeof(__pyx_k_AcadosOcpSolverCython__get_stat_3), 0, 0, 1, 1}, + {&__pyx_kp_u_AcadosOcpSolverCython_constraint, __pyx_k_AcadosOcpSolverCython_constraint, sizeof(__pyx_k_AcadosOcpSolverCython_constraint), 0, 1, 0, 0}, + {&__pyx_n_s_AcadosOcpSolverCython_constraint_2, __pyx_k_AcadosOcpSolverCython_constraint_2, sizeof(__pyx_k_AcadosOcpSolverCython_constraint_2), 0, 0, 1, 1}, + {&__pyx_n_s_AcadosOcpSolverCython_cost_set, __pyx_k_AcadosOcpSolverCython_cost_set, sizeof(__pyx_k_AcadosOcpSolverCython_cost_set), 0, 0, 1, 1}, + {&__pyx_kp_u_AcadosOcpSolverCython_cost_set_m, __pyx_k_AcadosOcpSolverCython_cost_set_m, sizeof(__pyx_k_AcadosOcpSolverCython_cost_set_m), 0, 1, 0, 0}, + {&__pyx_n_s_AcadosOcpSolverCython_custom_upd, 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+ #else + Py_DECREF(__pyx_m); + if (pystate_addmodule_run) { + PyObject *tp, *value, *tb; + PyErr_Fetch(&tp, &value, &tb); + PyState_RemoveModule(&__pyx_moduledef); + PyErr_Restore(tp, value, tb); + } + #endif + } else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_ImportError, "init acados_template.acados_ocp_solver_pyx"); + } + __pyx_L0:; + __Pyx_RefNannyFinishContext(); + #if CYTHON_PEP489_MULTI_PHASE_INIT + return (__pyx_m != NULL) ? 0 : -1; + #elif PY_MAJOR_VERSION >= 3 + return __pyx_m; + #else + return; + #endif +} +/* #### Code section: cleanup_globals ### */ +/* #### Code section: cleanup_module ### */ +/* #### Code section: main_method ### */ +/* #### Code section: utility_code_pragmas ### */ +#ifdef _MSC_VER +#pragma warning( push ) +/* Warning 4127: conditional expression is constant + * Cython uses constant conditional expressions to allow in inline functions to be optimized at + * compile-time, so this warning is not useful + */ +#pragma warning( disable : 4127 ) +#endif + + + +/* #### Code section: utility_code_def ### */ + +/* --- Runtime support code --- */ +/* Refnanny */ +#if CYTHON_REFNANNY +static __Pyx_RefNannyAPIStruct *__Pyx_RefNannyImportAPI(const char *modname) { + PyObject *m = NULL, *p = NULL; 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+ Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#endif +} +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { +#if PY_VERSION_HEX >= 0x030C00A6 + PyObject* exc_value; + exc_value = tstate->current_exception; + tstate->current_exception = 0; + *value = exc_value; + *type = NULL; + *tb = NULL; + if (exc_value) { + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + #if CYTHON_COMPILING_IN_CPYTHON + *tb = ((PyBaseExceptionObject*) exc_value)->traceback; + Py_XINCREF(*tb); + #else + *tb = PyException_GetTraceback(exc_value); + #endif + } +#else + *type = tstate->curexc_type; + *value = tstate->curexc_value; + *tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; +#endif +} +#endif + +/* PyObjectGetAttrStr */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name) { + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro)) + return tp->tp_getattro(obj, attr_name); +#if PY_MAJOR_VERSION < 3 + if (likely(tp->tp_getattr)) + return tp->tp_getattr(obj, PyString_AS_STRING(attr_name)); +#endif + return PyObject_GetAttr(obj, attr_name); +} +#endif + +/* PyObjectGetAttrStrNoError */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + __Pyx_PyErr_Clear(); +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { + PyObject *result; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + (void) PyObject_GetOptionalAttr(obj, attr_name, &result); + return result; +#else +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { + return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); + } +#endif + result = __Pyx_PyObject_GetAttrStr(obj, attr_name); + if (unlikely(!result)) { + __Pyx_PyObject_GetAttrStr_ClearAttributeError(); + } + return result; +#endif +} + +/* GetBuiltinName */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name) { + PyObject* result = __Pyx_PyObject_GetAttrStrNoError(__pyx_b, name); + if (unlikely(!result) && !PyErr_Occurred()) { + PyErr_Format(PyExc_NameError, +#if PY_MAJOR_VERSION >= 3 + "name '%U' is not defined", name); +#else + "name '%.200s' is not defined", PyString_AS_STRING(name)); +#endif + } + return result; +} + +/* TupleAndListFromArray */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE void __Pyx_copy_object_array(PyObject *const *CYTHON_RESTRICT src, PyObject** CYTHON_RESTRICT dest, Py_ssize_t length) { + PyObject *v; + Py_ssize_t i; + for (i = 0; i < length; i++) { + v = dest[i] = src[i]; + Py_INCREF(v); + } +} +static CYTHON_INLINE PyObject * +__Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + Py_INCREF(__pyx_empty_tuple); + return __pyx_empty_tuple; + } + res = PyTuple_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyTupleObject*)res)->ob_item, n); + return res; +} +static CYTHON_INLINE PyObject * +__Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + return PyList_New(0); + } + res = PyList_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyListObject*)res)->ob_item, n); + return res; +} +#endif + +/* BytesEquals */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else + if (s1 == s2) { + return (equals == Py_EQ); + } else if (PyBytes_CheckExact(s1) & PyBytes_CheckExact(s2)) { + const char *ps1, *ps2; + Py_ssize_t length = PyBytes_GET_SIZE(s1); + if (length != PyBytes_GET_SIZE(s2)) + return (equals == Py_NE); + ps1 = PyBytes_AS_STRING(s1); + ps2 = PyBytes_AS_STRING(s2); + if (ps1[0] != ps2[0]) { + return (equals == Py_NE); + } else if (length == 1) { + return (equals == Py_EQ); + } else { + int result; +#if CYTHON_USE_UNICODE_INTERNALS && (PY_VERSION_HEX < 0x030B0000) + Py_hash_t hash1, hash2; + hash1 = ((PyBytesObject*)s1)->ob_shash; + hash2 = ((PyBytesObject*)s2)->ob_shash; + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + return (equals == Py_NE); + } +#endif + result = memcmp(ps1, ps2, (size_t)length); + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { + return (equals == Py_NE); + } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { + return (equals == Py_NE); + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +#endif +} + +/* UnicodeEquals */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else +#if PY_MAJOR_VERSION < 3 + PyObject* owned_ref = NULL; +#endif + int s1_is_unicode, s2_is_unicode; + if (s1 == s2) { + goto return_eq; + } + s1_is_unicode = PyUnicode_CheckExact(s1); + s2_is_unicode = PyUnicode_CheckExact(s2); +#if PY_MAJOR_VERSION < 3 + if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { + owned_ref = PyUnicode_FromObject(s2); + if (unlikely(!owned_ref)) + return -1; + s2 = owned_ref; + s2_is_unicode = 1; + } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { + owned_ref = PyUnicode_FromObject(s1); + if (unlikely(!owned_ref)) + return -1; + s1 = owned_ref; + s1_is_unicode = 1; + } else if (((!s2_is_unicode) & (!s1_is_unicode))) { + return __Pyx_PyBytes_Equals(s1, s2, equals); + } +#endif + if (s1_is_unicode & s2_is_unicode) { + Py_ssize_t length; + int kind; + void *data1, *data2; + if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) + return -1; + length = __Pyx_PyUnicode_GET_LENGTH(s1); + if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { + goto return_ne; + } +#if CYTHON_USE_UNICODE_INTERNALS + { + Py_hash_t hash1, hash2; + #if CYTHON_PEP393_ENABLED + hash1 = ((PyASCIIObject*)s1)->hash; + hash2 = ((PyASCIIObject*)s2)->hash; + #else + hash1 = ((PyUnicodeObject*)s1)->hash; + hash2 = ((PyUnicodeObject*)s2)->hash; + #endif + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + goto return_ne; + } + } +#endif + kind = __Pyx_PyUnicode_KIND(s1); + if (kind != __Pyx_PyUnicode_KIND(s2)) { + goto return_ne; + } + data1 = __Pyx_PyUnicode_DATA(s1); + data2 = __Pyx_PyUnicode_DATA(s2); + if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { + goto return_ne; + } else if (length == 1) { + goto return_eq; + } else { + int result = memcmp(data1, data2, (size_t)(length * kind)); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & s2_is_unicode) { + goto return_ne; + } else if ((s2 == Py_None) & s1_is_unicode) { + goto return_ne; + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +return_eq: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ); +return_ne: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_NE); +#endif +} + +/* fastcall */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s) +{ + Py_ssize_t i, n = PyTuple_GET_SIZE(kwnames); + for (i = 0; i < n; i++) + { + if (s == PyTuple_GET_ITEM(kwnames, i)) return kwvalues[i]; + } + for (i = 0; i < n; i++) + { + int eq = __Pyx_PyUnicode_Equals(s, PyTuple_GET_ITEM(kwnames, i), Py_EQ); + if (unlikely(eq != 0)) { + if (unlikely(eq < 0)) return NULL; + return kwvalues[i]; + } + } + return NULL; +} +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 +CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { + Py_ssize_t i, nkwargs = PyTuple_GET_SIZE(kwnames); + PyObject *dict; + dict = PyDict_New(); + if (unlikely(!dict)) + return NULL; + for (i=0; i= 3 + "%s() got multiple values for keyword argument '%U'", func_name, kw_name); + #else + "%s() got multiple values for keyword argument '%s'", func_name, + PyString_AsString(kw_name)); + #endif +} + +/* ParseKeywords */ +static int __Pyx_ParseOptionalKeywords( + PyObject *kwds, + PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, + PyObject *values[], + Py_ssize_t num_pos_args, + const char* function_name) +{ + PyObject *key = 0, *value = 0; + Py_ssize_t pos = 0; + PyObject*** name; + PyObject*** first_kw_arg = argnames + num_pos_args; + int kwds_is_tuple = CYTHON_METH_FASTCALL && likely(PyTuple_Check(kwds)); + while (1) { + Py_XDECREF(key); key = NULL; + Py_XDECREF(value); value = NULL; + if (kwds_is_tuple) { + Py_ssize_t size; +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(kwds); +#else + size = PyTuple_Size(kwds); + if (size < 0) goto bad; +#endif + if (pos >= size) break; +#if CYTHON_AVOID_BORROWED_REFS + key = __Pyx_PySequence_ITEM(kwds, pos); + if (!key) goto bad; +#elif CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kwds, pos); +#else + key = PyTuple_GetItem(kwds, pos); + if (!key) goto bad; +#endif + value = kwvalues[pos]; + pos++; + } + else + { + if (!PyDict_Next(kwds, &pos, &key, &value)) break; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + } + name = first_kw_arg; + while (*name && (**name != key)) name++; + if (*name) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(value); + Py_DECREF(key); +#endif + key = NULL; + value = NULL; + continue; + } +#if !CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + Py_INCREF(value); + name = first_kw_arg; + #if PY_MAJOR_VERSION < 3 + if (likely(PyString_Check(key))) { + while (*name) { + if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) + && _PyString_Eq(**name, key)) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + if ((**argname == key) || ( + (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) + && _PyString_Eq(**argname, key))) { + goto arg_passed_twice; + } + argname++; + } + } + } else + #endif + if (likely(PyUnicode_Check(key))) { + while (*name) { + int cmp = ( + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**name, key) + ); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + int cmp = (**argname == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**argname, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) goto arg_passed_twice; + argname++; + } + } + } else + goto invalid_keyword_type; + if (kwds2) { + if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; + } else { + goto invalid_keyword; + } + } + Py_XDECREF(key); + Py_XDECREF(value); + return 0; +arg_passed_twice: + __Pyx_RaiseDoubleKeywordsError(function_name, key); + goto bad; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + goto bad; +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif +bad: + Py_XDECREF(key); + Py_XDECREF(value); + return -1; +} + +/* ArgTypeTest */ +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact) +{ + __Pyx_TypeName type_name; + __Pyx_TypeName obj_type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + else if (exact) { + #if PY_MAJOR_VERSION == 2 + if ((type == &PyBaseString_Type) && likely(__Pyx_PyBaseString_CheckExact(obj))) return 1; + #endif + } + else { + if (likely(__Pyx_TypeCheck(obj, type))) return 1; + } + type_name = __Pyx_PyType_GetName(type); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "Argument '%.200s' has incorrect type (expected " __Pyx_FMT_TYPENAME + ", got " __Pyx_FMT_TYPENAME ")", name, type_name, obj_type_name); + __Pyx_DECREF_TypeName(type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* RaiseException */ +#if PY_MAJOR_VERSION < 3 +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + __Pyx_PyThreadState_declare + CYTHON_UNUSED_VAR(cause); + Py_XINCREF(type); + if (!value || value == Py_None) + value = NULL; + else + Py_INCREF(value); + if (!tb || tb == Py_None) + tb = NULL; + else { + Py_INCREF(tb); + if (!PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto raise_error; + } + } + if (PyType_Check(type)) { +#if CYTHON_COMPILING_IN_PYPY + if (!value) { + Py_INCREF(Py_None); + value = Py_None; + } +#endif + PyErr_NormalizeException(&type, &value, &tb); + } else { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto raise_error; + } + value = type; + type = (PyObject*) Py_TYPE(type); + Py_INCREF(type); + if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto raise_error; + } + } + __Pyx_PyThreadState_assign + __Pyx_ErrRestore(type, value, tb); + return; +raise_error: + Py_XDECREF(value); + Py_XDECREF(type); + Py_XDECREF(tb); + return; +} +#else +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + PyObject* owned_instance = NULL; + if (tb == Py_None) { + tb = 0; + } else if (tb && !PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto bad; + } + if (value == Py_None) + value = 0; + if (PyExceptionInstance_Check(type)) { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto bad; + } + value = type; + type = (PyObject*) Py_TYPE(value); + } else if (PyExceptionClass_Check(type)) { + PyObject *instance_class = NULL; + if (value && PyExceptionInstance_Check(value)) { + instance_class = (PyObject*) Py_TYPE(value); + if (instance_class != type) { + int is_subclass = PyObject_IsSubclass(instance_class, type); + if (!is_subclass) { + instance_class = NULL; + } else if (unlikely(is_subclass == -1)) { + goto bad; + } else { + type = instance_class; + } + } + } + if (!instance_class) { + PyObject *args; + if (!value) + args = PyTuple_New(0); + else if (PyTuple_Check(value)) { + Py_INCREF(value); + args = value; + } else + args = PyTuple_Pack(1, value); + if (!args) + goto bad; + owned_instance = PyObject_Call(type, args, NULL); + Py_DECREF(args); + if (!owned_instance) + goto bad; + value = owned_instance; + if (!PyExceptionInstance_Check(value)) { + PyErr_Format(PyExc_TypeError, + "calling %R should have returned an instance of " + "BaseException, not %R", + type, Py_TYPE(value)); + goto bad; + } + } + } else { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto bad; + } + if (cause) { + PyObject *fixed_cause; + if (cause == Py_None) { + fixed_cause = NULL; + } else if (PyExceptionClass_Check(cause)) { + fixed_cause = PyObject_CallObject(cause, NULL); + if (fixed_cause == NULL) + goto bad; + } else if (PyExceptionInstance_Check(cause)) { + fixed_cause = cause; + Py_INCREF(fixed_cause); + } else { + PyErr_SetString(PyExc_TypeError, + "exception causes must derive from " + "BaseException"); + goto bad; + } + PyException_SetCause(value, fixed_cause); + } + PyErr_SetObject(type, value); + if (tb) { + #if PY_VERSION_HEX >= 0x030C00A6 + PyException_SetTraceback(value, tb); + #elif CYTHON_FAST_THREAD_STATE + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* tmp_tb = tstate->curexc_traceback; + if (tb != tmp_tb) { + Py_INCREF(tb); + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_tb); + } +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); + Py_INCREF(tb); + PyErr_Restore(tmp_type, tmp_value, tb); + Py_XDECREF(tmp_tb); +#endif + } +bad: + Py_XDECREF(owned_instance); + return; +} +#endif + +/* PyFunctionFastCall */ +#if CYTHON_FAST_PYCALL && !CYTHON_VECTORCALL +static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, + PyObject *globals) { + PyFrameObject *f; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject **fastlocals; + Py_ssize_t i; + PyObject *result; + assert(globals != NULL); + /* XXX Perhaps we should create a specialized + PyFrame_New() that doesn't take locals, but does + take builtins without sanity checking them. + */ + assert(tstate != NULL); + f = PyFrame_New(tstate, co, globals, NULL); + if (f == NULL) { + return NULL; + } + fastlocals = __Pyx_PyFrame_GetLocalsplus(f); + for (i = 0; i < na; i++) { + Py_INCREF(*args); + fastlocals[i] = *args++; + } + result = PyEval_EvalFrameEx(f,0); + ++tstate->recursion_depth; + Py_DECREF(f); + --tstate->recursion_depth; + return result; +} +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { + PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); + PyObject *globals = PyFunction_GET_GLOBALS(func); + PyObject *argdefs = PyFunction_GET_DEFAULTS(func); + PyObject *closure; +#if PY_MAJOR_VERSION >= 3 + PyObject *kwdefs; +#endif + PyObject *kwtuple, **k; + PyObject **d; + Py_ssize_t nd; + Py_ssize_t nk; + PyObject *result; + assert(kwargs == NULL || PyDict_Check(kwargs)); + nk = kwargs ? PyDict_Size(kwargs) : 0; + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) { + return NULL; + } + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) { + return NULL; + } + #endif + if ( +#if PY_MAJOR_VERSION >= 3 + co->co_kwonlyargcount == 0 && +#endif + likely(kwargs == NULL || nk == 0) && + co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { + if (argdefs == NULL && co->co_argcount == nargs) { + result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); + goto done; + } + else if (nargs == 0 && argdefs != NULL + && co->co_argcount == Py_SIZE(argdefs)) { + /* function called with no arguments, but all parameters have + a default value: use default values as arguments .*/ + args = &PyTuple_GET_ITEM(argdefs, 0); + result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); + goto done; + } + } + if (kwargs != NULL) { + Py_ssize_t pos, i; + kwtuple = PyTuple_New(2 * nk); + if (kwtuple == NULL) { + result = NULL; + goto done; + } + k = &PyTuple_GET_ITEM(kwtuple, 0); + pos = i = 0; + while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { + Py_INCREF(k[i]); + Py_INCREF(k[i+1]); + i += 2; + } + nk = i / 2; + } + else { + kwtuple = NULL; + k = NULL; + } + closure = PyFunction_GET_CLOSURE(func); +#if PY_MAJOR_VERSION >= 3 + kwdefs = PyFunction_GET_KW_DEFAULTS(func); +#endif + if (argdefs != NULL) { + d = &PyTuple_GET_ITEM(argdefs, 0); + nd = Py_SIZE(argdefs); + } + else { + d = NULL; + nd = 0; + } +#if PY_MAJOR_VERSION >= 3 + result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, kwdefs, closure); +#else + result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, closure); +#endif + Py_XDECREF(kwtuple); +done: + Py_LeaveRecursiveCall(); + return result; +} +#endif + +/* PyObjectCall */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *result; + ternaryfunc call = Py_TYPE(func)->tp_call; + if (unlikely(!call)) + return PyObject_Call(func, arg, kw); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = (*call)(func, arg, kw); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCallMethO */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { + PyObject *self, *result; + PyCFunction cfunc; + cfunc = __Pyx_CyOrPyCFunction_GET_FUNCTION(func); + self = __Pyx_CyOrPyCFunction_GET_SELF(func); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = cfunc(self, arg); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectFastCall */ +#if PY_VERSION_HEX < 0x03090000 || CYTHON_COMPILING_IN_LIMITED_API +static PyObject* __Pyx_PyObject_FastCall_fallback(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs) { + PyObject *argstuple; + PyObject *result = 0; + size_t i; + argstuple = PyTuple_New((Py_ssize_t)nargs); + if (unlikely(!argstuple)) return NULL; + for (i = 0; i < nargs; i++) { + Py_INCREF(args[i]); + if (__Pyx_PyTuple_SET_ITEM(argstuple, (Py_ssize_t)i, args[i]) < 0) goto bad; + } + result = __Pyx_PyObject_Call(func, argstuple, kwargs); + bad: + Py_DECREF(argstuple); + return result; +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t _nargs, PyObject *kwargs) { + Py_ssize_t nargs = __Pyx_PyVectorcall_NARGS(_nargs); +#if CYTHON_COMPILING_IN_CPYTHON + if (nargs == 0 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_NOARGS)) + return __Pyx_PyObject_CallMethO(func, NULL); + } + else if (nargs == 1 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_O)) + return __Pyx_PyObject_CallMethO(func, args[0]); + } +#endif + #if PY_VERSION_HEX < 0x030800B1 + #if CYTHON_FAST_PYCCALL + if (PyCFunction_Check(func)) { + if (kwargs) { + return _PyCFunction_FastCallDict(func, args, nargs, kwargs); + } else { + return _PyCFunction_FastCallKeywords(func, args, nargs, NULL); + } + } + #if PY_VERSION_HEX >= 0x030700A1 + if (!kwargs && __Pyx_IS_TYPE(func, &PyMethodDescr_Type)) { + return _PyMethodDescr_FastCallKeywords(func, args, nargs, NULL); + } + #endif + #endif + #if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs); + } + #endif + #endif + if (kwargs == NULL) { + #if CYTHON_VECTORCALL + #if PY_VERSION_HEX < 0x03090000 + vectorcallfunc f = _PyVectorcall_Function(func); + #else + vectorcallfunc f = PyVectorcall_Function(func); + #endif + if (f) { + return f(func, args, (size_t)nargs, NULL); + } + #elif defined(__Pyx_CyFunction_USED) && CYTHON_BACKPORT_VECTORCALL + if (__Pyx_CyFunction_CheckExact(func)) { + __pyx_vectorcallfunc f = __Pyx_CyFunction_func_vectorcall(func); + if (f) return f(func, args, (size_t)nargs, NULL); + } + #endif + } + if (nargs == 0) { + return __Pyx_PyObject_Call(func, __pyx_empty_tuple, kwargs); + } + #if PY_VERSION_HEX >= 0x03090000 && !CYTHON_COMPILING_IN_LIMITED_API + return PyObject_VectorcallDict(func, args, (size_t)nargs, kwargs); + #else + return __Pyx_PyObject_FastCall_fallback(func, args, (size_t)nargs, kwargs); + #endif +} + +/* RaiseUnexpectedTypeError */ +static int +__Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj) +{ + __Pyx_TypeName obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, "Expected %s, got " __Pyx_FMT_TYPENAME, + expected, obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* CIntToDigits */ +static const char DIGIT_PAIRS_10[2*10*10+1] = { + "00010203040506070809" + "10111213141516171819" + "20212223242526272829" + "30313233343536373839" + "40414243444546474849" + "50515253545556575859" + "60616263646566676869" + "70717273747576777879" + "80818283848586878889" + "90919293949596979899" +}; +static const char DIGIT_PAIRS_8[2*8*8+1] = { + "0001020304050607" + "1011121314151617" + "2021222324252627" + "3031323334353637" + "4041424344454647" + "5051525354555657" + "6061626364656667" + "7071727374757677" +}; +static const char DIGITS_HEX[2*16+1] = { + "0123456789abcdef" + "0123456789ABCDEF" +}; + +/* BuildPyUnicode */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char) { + PyObject *uval; + Py_ssize_t uoffset = ulength - clength; +#if CYTHON_USE_UNICODE_INTERNALS + Py_ssize_t i; +#if CYTHON_PEP393_ENABLED + void *udata; + uval = PyUnicode_New(ulength, 127); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_DATA(uval); +#else + Py_UNICODE *udata; + uval = PyUnicode_FromUnicode(NULL, ulength); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_AS_UNICODE(uval); +#endif + if (uoffset > 0) { + i = 0; + if (prepend_sign) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, 0, '-'); + i++; + } + for (; i < uoffset; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, i, padding_char); + } + } + for (i=0; i < clength; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, uoffset+i, chars[i]); + } +#else + { + PyObject *sign = NULL, *padding = NULL; + uval = NULL; + if (uoffset > 0) { + prepend_sign = !!prepend_sign; + if (uoffset > prepend_sign) { + padding = PyUnicode_FromOrdinal(padding_char); + if (likely(padding) && uoffset > prepend_sign + 1) { + PyObject *tmp; + PyObject *repeat = PyInt_FromSsize_t(uoffset - prepend_sign); + if (unlikely(!repeat)) goto done_or_error; + tmp = PyNumber_Multiply(padding, repeat); + Py_DECREF(repeat); + Py_DECREF(padding); + padding = tmp; + } + if (unlikely(!padding)) goto done_or_error; + } + if (prepend_sign) { + sign = PyUnicode_FromOrdinal('-'); + if (unlikely(!sign)) goto done_or_error; + } + } + uval = PyUnicode_DecodeASCII(chars, clength, NULL); + if (likely(uval) && padding) { + PyObject *tmp = PyNumber_Add(padding, uval); + Py_DECREF(uval); + uval = tmp; + } + if (likely(uval) && sign) { + PyObject *tmp = PyNumber_Add(sign, uval); + Py_DECREF(uval); + uval = tmp; + } +done_or_error: + Py_XDECREF(padding); + Py_XDECREF(sign); + } +#endif + return uval; +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(int)*3+2]; + char *dpos, *end = digits + sizeof(int)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + int remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (int) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (int) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (int) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_Py_ssize_t(Py_ssize_t value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(Py_ssize_t)*3+2]; + char *dpos, *end = digits + sizeof(Py_ssize_t)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + Py_ssize_t remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const Py_ssize_t neg_one = (Py_ssize_t) -1, const_zero = (Py_ssize_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (Py_ssize_t) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (Py_ssize_t) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (Py_ssize_t) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* JoinPyUnicode */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char) { +#if CYTHON_USE_UNICODE_INTERNALS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + PyObject *result_uval; + int result_ukind, kind_shift; + Py_ssize_t i, char_pos; + void *result_udata; + CYTHON_MAYBE_UNUSED_VAR(max_char); +#if CYTHON_PEP393_ENABLED + result_uval = PyUnicode_New(result_ulength, max_char); + if (unlikely(!result_uval)) return NULL; + result_ukind = (max_char <= 255) ? PyUnicode_1BYTE_KIND : (max_char <= 65535) ? PyUnicode_2BYTE_KIND : PyUnicode_4BYTE_KIND; + kind_shift = (result_ukind == PyUnicode_4BYTE_KIND) ? 2 : result_ukind - 1; + result_udata = PyUnicode_DATA(result_uval); +#else + result_uval = PyUnicode_FromUnicode(NULL, result_ulength); + if (unlikely(!result_uval)) return NULL; + result_ukind = sizeof(Py_UNICODE); + kind_shift = (result_ukind == 4) ? 2 : result_ukind - 1; + result_udata = PyUnicode_AS_UNICODE(result_uval); +#endif + assert(kind_shift == 2 || kind_shift == 1 || kind_shift == 0); + char_pos = 0; + for (i=0; i < value_count; i++) { + int ukind; + Py_ssize_t ulength; + void *udata; + PyObject *uval = PyTuple_GET_ITEM(value_tuple, i); + if (unlikely(__Pyx_PyUnicode_READY(uval))) + goto bad; + ulength = __Pyx_PyUnicode_GET_LENGTH(uval); + if (unlikely(!ulength)) + continue; + if (unlikely((PY_SSIZE_T_MAX >> kind_shift) - ulength < char_pos)) + goto overflow; + ukind = __Pyx_PyUnicode_KIND(uval); + udata = __Pyx_PyUnicode_DATA(uval); + if (!CYTHON_PEP393_ENABLED || ukind == result_ukind) { + memcpy((char *)result_udata + (char_pos << kind_shift), udata, (size_t) (ulength << kind_shift)); + } else { + #if PY_VERSION_HEX >= 0x030d0000 + if (unlikely(PyUnicode_CopyCharacters(result_uval, char_pos, uval, 0, ulength) < 0)) goto bad; + #elif CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030300F0 || defined(_PyUnicode_FastCopyCharacters) + _PyUnicode_FastCopyCharacters(result_uval, char_pos, uval, 0, ulength); + #else + Py_ssize_t j; + for (j=0; j < ulength; j++) { + Py_UCS4 uchar = __Pyx_PyUnicode_READ(ukind, udata, j); + __Pyx_PyUnicode_WRITE(result_ukind, result_udata, char_pos+j, uchar); + } + #endif + } + char_pos += ulength; + } + return result_uval; +overflow: + PyErr_SetString(PyExc_OverflowError, "join() result is too long for a Python string"); +bad: + Py_DECREF(result_uval); + return NULL; +#else + CYTHON_UNUSED_VAR(max_char); + CYTHON_UNUSED_VAR(result_ulength); + CYTHON_UNUSED_VAR(value_count); + return PyUnicode_Join(__pyx_empty_unicode, value_tuple); +#endif +} + +/* GetAttr */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *o, PyObject *n) { +#if CYTHON_USE_TYPE_SLOTS +#if PY_MAJOR_VERSION >= 3 + if (likely(PyUnicode_Check(n))) +#else + if (likely(PyString_Check(n))) +#endif + return __Pyx_PyObject_GetAttrStr(o, n); +#endif + return PyObject_GetAttr(o, n); +} + +/* GetItemInt */ +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { + PyObject *r; + if (unlikely(!j)) return NULL; + r = PyObject_GetItem(o, j); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyList_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { + PyObject *r = PyList_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyTuple_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); + if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { + PyObject *r = PyList_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } + else if (PyTuple_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_subscript) { + PyObject *r, *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return NULL; + r = mm->mp_subscript(o, key); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return NULL; + PyErr_Clear(); + } + } + return sm->sq_item(o, i); + } + } +#else + if (is_list || !PyMapping_Check(o)) { + return PySequence_GetItem(o, i); + } +#endif + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +} + +/* PyObjectCallOneArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *args[2] = {NULL, arg}; + return __Pyx_PyObject_FastCall(func, args+1, 1 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* ObjectGetItem */ +#if CYTHON_USE_TYPE_SLOTS +static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject *index) { + PyObject *runerr = NULL; + Py_ssize_t key_value; + key_value = __Pyx_PyIndex_AsSsize_t(index); + if (likely(key_value != -1 || !(runerr = PyErr_Occurred()))) { + return __Pyx_GetItemInt_Fast(obj, key_value, 0, 1, 1); + } + if (PyErr_GivenExceptionMatches(runerr, PyExc_OverflowError)) { + __Pyx_TypeName index_type_name = __Pyx_PyType_GetName(Py_TYPE(index)); + PyErr_Clear(); + PyErr_Format(PyExc_IndexError, + "cannot fit '" __Pyx_FMT_TYPENAME "' into an index-sized integer", index_type_name); + __Pyx_DECREF_TypeName(index_type_name); + } + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem_Slow(PyObject *obj, PyObject *key) { + __Pyx_TypeName obj_type_name; + if (likely(PyType_Check(obj))) { + PyObject *meth = __Pyx_PyObject_GetAttrStrNoError(obj, __pyx_n_s_class_getitem); + if (!meth) { + PyErr_Clear(); + } else { + PyObject *result = __Pyx_PyObject_CallOneArg(meth, key); + Py_DECREF(meth); + return result; + } + } + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' object is not subscriptable", obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key) { + PyTypeObject *tp = Py_TYPE(obj); + PyMappingMethods *mm = tp->tp_as_mapping; + PySequenceMethods *sm = tp->tp_as_sequence; + if (likely(mm && mm->mp_subscript)) { + return mm->mp_subscript(obj, key); + } + if (likely(sm && sm->sq_item)) { + return __Pyx_PyObject_GetIndex(obj, key); + } + return __Pyx_PyObject_GetItem_Slow(obj, key); +} +#endif + +/* KeywordStringCheck */ +static int __Pyx_CheckKeywordStrings( + PyObject *kw, + const char* function_name, + int kw_allowed) +{ + PyObject* key = 0; + Py_ssize_t pos = 0; +#if CYTHON_COMPILING_IN_PYPY + if (!kw_allowed && PyDict_Next(kw, &pos, &key, 0)) + goto invalid_keyword; + return 1; +#else + if (CYTHON_METH_FASTCALL && likely(PyTuple_Check(kw))) { + Py_ssize_t kwsize; +#if CYTHON_ASSUME_SAFE_MACROS + kwsize = PyTuple_GET_SIZE(kw); +#else + kwsize = PyTuple_Size(kw); + if (kwsize < 0) return 0; +#endif + if (unlikely(kwsize == 0)) + return 1; + if (!kw_allowed) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, 0); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + goto invalid_keyword; + } +#if PY_VERSION_HEX < 0x03090000 + for (pos = 0; pos < kwsize; pos++) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, pos); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } +#endif + return 1; + } + while (PyDict_Next(kw, &pos, &key, 0)) { + #if PY_MAJOR_VERSION < 3 + if (unlikely(!PyString_Check(key))) + #endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } + if (!kw_allowed && unlikely(key)) + goto invalid_keyword; + return 1; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + return 0; +#endif +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif + return 0; +} + +/* DivInt[Py_ssize_t] */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t a, Py_ssize_t b) { + Py_ssize_t q = a / b; + Py_ssize_t r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* GetAttr3 */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static PyObject *__Pyx_GetAttr3Default(PyObject *d) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (unlikely(!__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + return NULL; + __Pyx_PyErr_Clear(); + Py_INCREF(d); + return d; +} +#endif +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *o, PyObject *n, PyObject *d) { + PyObject *r; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + int res = PyObject_GetOptionalAttr(o, n, &r); + return (res != 0) ? r : __Pyx_NewRef(d); +#else + #if CYTHON_USE_TYPE_SLOTS + if (likely(PyString_Check(n))) { + r = __Pyx_PyObject_GetAttrStrNoError(o, n); + if (unlikely(!r) && likely(!PyErr_Occurred())) { + r = __Pyx_NewRef(d); + } + return r; + } + #endif + r = PyObject_GetAttr(o, n); + return (likely(r)) ? r : __Pyx_GetAttr3Default(d); +#endif +} + +/* PyDictVersioning */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { + PyObject **dictptr = NULL; + Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; + if (offset) { +#if CYTHON_COMPILING_IN_CPYTHON + dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); +#else + dictptr = _PyObject_GetDictPtr(obj); +#endif + } + return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; +} +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) + return 0; + return obj_dict_version == __Pyx_get_object_dict_version(obj); +} +#endif + +/* GetModuleGlobalName */ +#if CYTHON_USE_DICT_VERSIONS +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) +#else +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) +#endif +{ + PyObject *result; +#if !CYTHON_AVOID_BORROWED_REFS +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && PY_VERSION_HEX < 0x030d0000 + result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } else if (unlikely(PyErr_Occurred())) { + return NULL; + } +#elif CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(!__pyx_m)) { + return NULL; + } + result = PyObject_GetAttr(__pyx_m, name); + if (likely(result)) { + return result; + } +#else + result = PyDict_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } +#endif +#else + result = PyObject_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } + PyErr_Clear(); +#endif + return __Pyx_GetBuiltinName(name); +} + +/* RaiseTooManyValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected) { + PyErr_Format(PyExc_ValueError, + "too many values to unpack (expected %" CYTHON_FORMAT_SSIZE_T "d)", expected); +} + +/* RaiseNeedMoreValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index) { + PyErr_Format(PyExc_ValueError, + "need more than %" CYTHON_FORMAT_SSIZE_T "d value%.1s to unpack", + index, (index == 1) ? "" : "s"); +} + +/* RaiseNoneIterError */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void) { + PyErr_SetString(PyExc_TypeError, "'NoneType' object is not iterable"); +} + +/* ExtTypeTest */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type) { + __Pyx_TypeName obj_type_name; + __Pyx_TypeName type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + if (likely(__Pyx_TypeCheck(obj, type))) + return 1; + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + type_name = __Pyx_PyType_GetName(type); + PyErr_Format(PyExc_TypeError, + "Cannot convert " __Pyx_FMT_TYPENAME " to " __Pyx_FMT_TYPENAME, + obj_type_name, type_name); + __Pyx_DECREF_TypeName(obj_type_name); + __Pyx_DECREF_TypeName(type_name); + return 0; +} + +/* GetTopmostException */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * +__Pyx_PyErr_GetTopmostException(PyThreadState *tstate) +{ + _PyErr_StackItem *exc_info = tstate->exc_info; + while ((exc_info->exc_value == NULL || exc_info->exc_value == Py_None) && + exc_info->previous_item != NULL) + { + exc_info = exc_info->previous_item; + } + return exc_info; +} +#endif + +/* SaveResetException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + PyObject *exc_value = exc_info->exc_value; + if (exc_value == NULL || exc_value == Py_None) { + *value = NULL; + *type = NULL; + *tb = NULL; + } else { + *value = exc_value; + Py_INCREF(*value); + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + *tb = PyException_GetTraceback(exc_value); + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + *type = exc_info->exc_type; + *value = exc_info->exc_value; + *tb = exc_info->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #else + *type = tstate->exc_type; + *value = tstate->exc_value; + *tb = tstate->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #endif +} +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + PyObject *tmp_value = exc_info->exc_value; + exc_info->exc_value = value; + Py_XDECREF(tmp_value); + Py_XDECREF(type); + Py_XDECREF(tb); + #else + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = type; + exc_info->exc_value = value; + exc_info->exc_traceback = tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = type; + tstate->exc_value = value; + tstate->exc_traceback = tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); + #endif +} +#endif + +/* GetException */ +#if CYTHON_FAST_THREAD_STATE +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb) +#endif +{ + PyObject *local_type = NULL, *local_value, *local_tb = NULL; +#if CYTHON_FAST_THREAD_STATE + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if PY_VERSION_HEX >= 0x030C00A6 + local_value = tstate->current_exception; + tstate->current_exception = 0; + if (likely(local_value)) { + local_type = (PyObject*) Py_TYPE(local_value); + Py_INCREF(local_type); + local_tb = PyException_GetTraceback(local_value); + } + #else + local_type = tstate->curexc_type; + local_value = tstate->curexc_value; + local_tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; + #endif +#else + PyErr_Fetch(&local_type, &local_value, &local_tb); +#endif + PyErr_NormalizeException(&local_type, &local_value, &local_tb); +#if CYTHON_FAST_THREAD_STATE && PY_VERSION_HEX >= 0x030C00A6 + if (unlikely(tstate->current_exception)) +#elif CYTHON_FAST_THREAD_STATE + if (unlikely(tstate->curexc_type)) +#else + if (unlikely(PyErr_Occurred())) +#endif + goto bad; + #if PY_MAJOR_VERSION >= 3 + if (local_tb) { + if (unlikely(PyException_SetTraceback(local_value, local_tb) < 0)) + goto bad; + } + #endif + Py_XINCREF(local_tb); + Py_XINCREF(local_type); + Py_XINCREF(local_value); + *type = local_type; + *value = local_value; + *tb = local_tb; +#if CYTHON_FAST_THREAD_STATE + #if CYTHON_USE_EXC_INFO_STACK + { + _PyErr_StackItem *exc_info = tstate->exc_info; + #if PY_VERSION_HEX >= 0x030B00a4 + tmp_value = exc_info->exc_value; + exc_info->exc_value = local_value; + tmp_type = NULL; + tmp_tb = NULL; + Py_XDECREF(local_type); + Py_XDECREF(local_tb); + #else + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = local_type; + exc_info->exc_value = local_value; + exc_info->exc_traceback = local_tb; + #endif + } + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = local_type; + tstate->exc_value = local_value; + tstate->exc_traceback = local_tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#else + PyErr_SetExcInfo(local_type, local_value, local_tb); +#endif + return 0; +bad: + *type = 0; + *value = 0; + *tb = 0; + Py_XDECREF(local_type); + Py_XDECREF(local_value); + Py_XDECREF(local_tb); + return -1; +} + +/* SwapException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_value = exc_info->exc_value; + exc_info->exc_value = *value; + if (tmp_value == NULL || tmp_value == Py_None) { + Py_XDECREF(tmp_value); + tmp_value = NULL; + tmp_type = NULL; + tmp_tb = NULL; + } else { + tmp_type = (PyObject*) Py_TYPE(tmp_value); + Py_INCREF(tmp_type); + #if CYTHON_COMPILING_IN_CPYTHON + tmp_tb = ((PyBaseExceptionObject*) tmp_value)->traceback; + Py_XINCREF(tmp_tb); + #else + tmp_tb = PyException_GetTraceback(tmp_value); + #endif + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = *type; + exc_info->exc_value = *value; + exc_info->exc_traceback = *tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = *type; + tstate->exc_value = *value; + tstate->exc_traceback = *tb; + #endif + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_GetExcInfo(&tmp_type, &tmp_value, &tmp_tb); + PyErr_SetExcInfo(*type, *value, *tb); + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#endif + +/* Import */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { + PyObject *module = 0; + PyObject *empty_dict = 0; + PyObject *empty_list = 0; + #if PY_MAJOR_VERSION < 3 + PyObject *py_import; + py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); + if (unlikely(!py_import)) + goto bad; + if (!from_list) { + empty_list = PyList_New(0); + if (unlikely(!empty_list)) + goto bad; + from_list = empty_list; + } + #endif + empty_dict = PyDict_New(); + if (unlikely(!empty_dict)) + goto bad; + { + #if PY_MAJOR_VERSION >= 3 + if (level == -1) { + if (strchr(__Pyx_MODULE_NAME, '.') != NULL) { + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, 1); + if (unlikely(!module)) { + if (unlikely(!PyErr_ExceptionMatches(PyExc_ImportError))) + goto bad; + PyErr_Clear(); + } + } + level = 0; + } + #endif + if (!module) { + #if PY_MAJOR_VERSION < 3 + PyObject *py_level = PyInt_FromLong(level); + if (unlikely(!py_level)) + goto bad; + module = PyObject_CallFunctionObjArgs(py_import, + name, __pyx_d, empty_dict, from_list, py_level, (PyObject *)NULL); + Py_DECREF(py_level); + #else + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, level); + #endif + } + } +bad: + Py_XDECREF(empty_dict); + Py_XDECREF(empty_list); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_import); + #endif + return module; +} + +/* ImportDottedModule */ +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Error(PyObject *name, PyObject *parts_tuple, Py_ssize_t count) { + PyObject *partial_name = NULL, *slice = NULL, *sep = NULL; + if (unlikely(PyErr_Occurred())) { + PyErr_Clear(); + } + if (likely(PyTuple_GET_SIZE(parts_tuple) == count)) { + partial_name = name; + } else { + slice = PySequence_GetSlice(parts_tuple, 0, count); + if (unlikely(!slice)) + goto bad; + sep = PyUnicode_FromStringAndSize(".", 1); + if (unlikely(!sep)) + goto bad; + partial_name = PyUnicode_Join(sep, slice); + } + PyErr_Format( +#if PY_MAJOR_VERSION < 3 + PyExc_ImportError, + "No module named '%s'", PyString_AS_STRING(partial_name)); +#else +#if PY_VERSION_HEX >= 0x030600B1 + PyExc_ModuleNotFoundError, +#else + PyExc_ImportError, +#endif + "No module named '%U'", partial_name); +#endif +bad: + Py_XDECREF(sep); + Py_XDECREF(slice); + Py_XDECREF(partial_name); + return NULL; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Lookup(PyObject *name) { + PyObject *imported_module; +#if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + return NULL; + imported_module = __Pyx_PyDict_GetItemStr(modules, name); + Py_XINCREF(imported_module); +#else + imported_module = PyImport_GetModule(name); +#endif + return imported_module; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple) { + Py_ssize_t i, nparts; + nparts = PyTuple_GET_SIZE(parts_tuple); + for (i=1; i < nparts && module; i++) { + PyObject *part, *submodule; +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + part = PyTuple_GET_ITEM(parts_tuple, i); +#else + part = PySequence_ITEM(parts_tuple, i); +#endif + submodule = __Pyx_PyObject_GetAttrStrNoError(module, part); +#if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(part); +#endif + Py_DECREF(module); + module = submodule; + } + if (unlikely(!module)) { + return __Pyx__ImportDottedModule_Error(name, parts_tuple, i); + } + return module; +} +#endif +static PyObject *__Pyx__ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if PY_MAJOR_VERSION < 3 + PyObject *module, *from_list, *star = __pyx_n_s__3; + CYTHON_UNUSED_VAR(parts_tuple); + from_list = PyList_New(1); + if (unlikely(!from_list)) + return NULL; + Py_INCREF(star); + PyList_SET_ITEM(from_list, 0, star); + module = __Pyx_Import(name, from_list, 0); + Py_DECREF(from_list); + return module; +#else + PyObject *imported_module; + PyObject *module = __Pyx_Import(name, NULL, 0); + if (!parts_tuple || unlikely(!module)) + return module; + imported_module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(imported_module)) { + Py_DECREF(module); + return imported_module; + } + PyErr_Clear(); + return __Pyx_ImportDottedModule_WalkParts(module, name, parts_tuple); +#endif +} +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030400B1 + PyObject *module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(module)) { + PyObject *spec = __Pyx_PyObject_GetAttrStrNoError(module, __pyx_n_s_spec); + if (likely(spec)) { + PyObject *unsafe = __Pyx_PyObject_GetAttrStrNoError(spec, __pyx_n_s_initializing); + if (likely(!unsafe || !__Pyx_PyObject_IsTrue(unsafe))) { + Py_DECREF(spec); + spec = NULL; + } + Py_XDECREF(unsafe); + } + if (likely(!spec)) { + PyErr_Clear(); + return module; + } + Py_DECREF(spec); + Py_DECREF(module); + } else if (PyErr_Occurred()) { + PyErr_Clear(); + } +#endif + return __Pyx__ImportDottedModule(name, parts_tuple); +} + +/* FastTypeChecks */ +#if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = __Pyx_PyType_GetSlot(a, tp_base, PyTypeObject*); + if (a == b) + return 1; + } + return b == &PyBaseObject_Type; +} +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(a, b); +} +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (cls == a || cls == b) return 1; + mro = cls->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + PyObject *base = PyTuple_GET_ITEM(mro, i); + if (base == (PyObject *)a || base == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(cls, a) || __Pyx_InBases(cls, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + } + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + if (exc_type1) { + return __Pyx_IsAnySubtype2((PyTypeObject*)err, (PyTypeObject*)exc_type1, (PyTypeObject*)exc_type2); + } else { + return __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } +} +#endif +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; itp_as_sequence && type->tp_as_sequence->sq_repeat)) { + return type->tp_as_sequence->sq_repeat(seq, mul); + } else +#endif + { + return __Pyx_PySequence_Multiply_Generic(seq, mul); + } +} + +/* SetItemInt */ +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v) { + int r; + if (unlikely(!j)) return -1; + r = PyObject_SetItem(o, j, v); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, int is_list, + CYTHON_NCP_UNUSED int wraparound, CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = (!wraparound) ? i : ((likely(i >= 0)) ? i : i + PyList_GET_SIZE(o)); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o)))) { + PyObject* old = PyList_GET_ITEM(o, n); + Py_INCREF(v); + PyList_SET_ITEM(o, n, v); + Py_DECREF(old); + return 1; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_ass_subscript) { + int r; + PyObject *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return -1; + r = mm->mp_ass_subscript(o, key, v); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_ass_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return -1; + PyErr_Clear(); + } + } + return sm->sq_ass_item(o, i, v); + } + } +#else + if (is_list || !PyMapping_Check(o)) + { + return PySequence_SetItem(o, i, v); + } +#endif + return __Pyx_SetItemInt_Generic(o, PyInt_FromSsize_t(i), v); +} + +/* RaiseUnboundLocalError */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname) { + PyErr_Format(PyExc_UnboundLocalError, "local variable '%s' referenced before assignment", varname); +} + +/* DivInt[long] */ +static CYTHON_INLINE long __Pyx_div_long(long a, long b) { + long q = a / b; + long r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* ImportFrom */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name) { + PyObject* value = __Pyx_PyObject_GetAttrStr(module, name); + if (unlikely(!value) && PyErr_ExceptionMatches(PyExc_AttributeError)) { + const char* module_name_str = 0; + PyObject* module_name = 0; + PyObject* module_dot = 0; + PyObject* full_name = 0; + PyErr_Clear(); + module_name_str = PyModule_GetName(module); + if (unlikely(!module_name_str)) { goto modbad; } + module_name = PyUnicode_FromString(module_name_str); + if (unlikely(!module_name)) { goto modbad; } + module_dot = PyUnicode_Concat(module_name, __pyx_kp_u__2); + if (unlikely(!module_dot)) { goto modbad; } + full_name = PyUnicode_Concat(module_dot, name); + if (unlikely(!full_name)) { goto modbad; } + #if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + { + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + goto modbad; + value = PyObject_GetItem(modules, full_name); + } + #else + value = PyImport_GetModule(full_name); + #endif + modbad: + Py_XDECREF(full_name); + Py_XDECREF(module_dot); + Py_XDECREF(module_name); + } + if (unlikely(!value)) { + PyErr_Format(PyExc_ImportError, + #if PY_MAJOR_VERSION < 3 + "cannot import name %.230s", PyString_AS_STRING(name)); + #else + "cannot import name %S", name); + #endif + } + return value; +} + +/* HasAttr */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *o, PyObject *n) { + PyObject *r; + if (unlikely(!__Pyx_PyBaseString_Check(n))) { + PyErr_SetString(PyExc_TypeError, + "hasattr(): attribute name must be string"); + return -1; + } + r = __Pyx_GetAttr(o, n); + if (!r) { + PyErr_Clear(); + return 0; + } else { + Py_DECREF(r); + return 1; + } +} +#endif + +/* PyIntCompare */ +static CYTHON_INLINE int __Pyx_PyInt_BoolEqObjC(PyObject *op1, PyObject *op2, long intval, long inplace) { + CYTHON_MAYBE_UNUSED_VAR(intval); + CYTHON_UNUSED_VAR(inplace); + if (op1 == op2) { + return 1; + } + #if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(op1))) { + const long b = intval; + long a = PyInt_AS_LONG(op1); + return (a == b); + } + #endif + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(PyLong_CheckExact(op1))) { + int unequal; + unsigned long uintval; + Py_ssize_t size = __Pyx_PyLong_DigitCount(op1); + const digit* digits = __Pyx_PyLong_Digits(op1); + if (intval == 0) { + return (__Pyx_PyLong_IsZero(op1) == 1); + } else if (intval < 0) { + if (__Pyx_PyLong_IsNonNeg(op1)) + return 0; + intval = -intval; + } else { + if (__Pyx_PyLong_IsNeg(op1)) + return 0; + } + uintval = (unsigned long) intval; +#if PyLong_SHIFT * 4 < SIZEOF_LONG*8 + if (uintval >> (PyLong_SHIFT * 4)) { + unequal = (size != 5) || (digits[0] != (uintval & (unsigned long) PyLong_MASK)) + | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[2] != ((uintval >> (2 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[3] != ((uintval >> (3 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[4] != ((uintval >> (4 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)); + } else +#endif +#if PyLong_SHIFT * 3 < SIZEOF_LONG*8 + if (uintval >> (PyLong_SHIFT * 3)) { + unequal = (size != 4) || (digits[0] != (uintval & (unsigned long) PyLong_MASK)) + | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[2] != ((uintval >> (2 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[3] != ((uintval >> (3 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)); + } else +#endif +#if PyLong_SHIFT * 2 < SIZEOF_LONG*8 + if (uintval >> (PyLong_SHIFT * 2)) { + unequal = (size != 3) || (digits[0] != (uintval & (unsigned long) PyLong_MASK)) + | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[2] != ((uintval >> (2 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)); + } else +#endif +#if PyLong_SHIFT * 1 < SIZEOF_LONG*8 + if (uintval >> (PyLong_SHIFT * 1)) { + unequal = (size != 2) || (digits[0] != (uintval & (unsigned long) PyLong_MASK)) + | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)); + } else +#endif + unequal = (size != 1) || (((unsigned long) digits[0]) != (uintval & (unsigned long) PyLong_MASK)); + return (unequal == 0); + } + #endif + if (PyFloat_CheckExact(op1)) { + const long b = intval; +#if CYTHON_COMPILING_IN_LIMITED_API + double a = __pyx_PyFloat_AsDouble(op1); +#else + double a = PyFloat_AS_DOUBLE(op1); +#endif + return ((double)a == (double)b); + } + return __Pyx_PyObject_IsTrueAndDecref( + PyObject_RichCompare(op1, op2, Py_EQ)); +} + +/* PyIntCompare */ +static CYTHON_INLINE int __Pyx_PyInt_BoolNeObjC(PyObject *op1, PyObject *op2, long intval, long inplace) { + CYTHON_MAYBE_UNUSED_VAR(intval); + CYTHON_UNUSED_VAR(inplace); + if (op1 == op2) { + return 0; + } + #if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(op1))) { + const long b = intval; + long a = PyInt_AS_LONG(op1); + return (a != b); + } + #endif + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(PyLong_CheckExact(op1))) { + int unequal; + unsigned long uintval; + Py_ssize_t size = __Pyx_PyLong_DigitCount(op1); + const digit* digits = __Pyx_PyLong_Digits(op1); + if (intval == 0) { + return (__Pyx_PyLong_IsZero(op1) != 1); + } else if (intval < 0) { + if (__Pyx_PyLong_IsNonNeg(op1)) + return 1; + intval = -intval; + } else { + if (__Pyx_PyLong_IsNeg(op1)) + return 1; + } + uintval = (unsigned long) intval; +#if PyLong_SHIFT * 4 < SIZEOF_LONG*8 + if (uintval >> (PyLong_SHIFT * 4)) { + unequal = (size != 5) || (digits[0] != (uintval & (unsigned long) PyLong_MASK)) + | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[2] != ((uintval >> (2 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[3] != ((uintval >> (3 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[4] != ((uintval >> (4 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)); + } else +#endif +#if PyLong_SHIFT * 3 < SIZEOF_LONG*8 + if (uintval >> (PyLong_SHIFT * 3)) { + unequal = (size != 4) || (digits[0] != (uintval & (unsigned long) PyLong_MASK)) + | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[2] != ((uintval >> (2 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[3] != ((uintval >> (3 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)); + } else +#endif +#if PyLong_SHIFT * 2 < SIZEOF_LONG*8 + if (uintval >> (PyLong_SHIFT * 2)) { + unequal = (size != 3) || (digits[0] != (uintval & (unsigned long) PyLong_MASK)) + | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[2] != ((uintval >> (2 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)); + } else +#endif +#if PyLong_SHIFT * 1 < SIZEOF_LONG*8 + if (uintval >> (PyLong_SHIFT * 1)) { + unequal = (size != 2) || (digits[0] != (uintval & (unsigned long) PyLong_MASK)) + | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)); + } else +#endif + unequal = (size != 1) || (((unsigned long) digits[0]) != (uintval & (unsigned long) PyLong_MASK)); + return (unequal != 0); + } + #endif + if (PyFloat_CheckExact(op1)) { + const long b = intval; +#if CYTHON_COMPILING_IN_LIMITED_API + double a = __pyx_PyFloat_AsDouble(op1); +#else + double a = PyFloat_AS_DOUBLE(op1); +#endif + return ((double)a != (double)b); + } + return __Pyx_PyObject_IsTrueAndDecref( + PyObject_RichCompare(op1, op2, Py_NE)); +} + +/* IsLittleEndian */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void) +{ + union { + uint32_t u32; + uint8_t u8[4]; + } S; + S.u32 = 0x01020304; + return S.u8[0] == 4; +} + +/* BufferFormatCheck */ +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type) { + stack[0].field = &ctx->root; + stack[0].parent_offset = 0; + ctx->root.type = type; + ctx->root.name = "buffer dtype"; + ctx->root.offset = 0; + ctx->head = stack; + ctx->head->field = &ctx->root; + ctx->fmt_offset = 0; + ctx->head->parent_offset = 0; + ctx->new_packmode = '@'; + ctx->enc_packmode = '@'; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->is_complex = 0; + ctx->is_valid_array = 0; + ctx->struct_alignment = 0; + while (type->typegroup == 'S') { + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = 0; + type = type->fields->type; + } +} +static int __Pyx_BufFmt_ParseNumber(const char** ts) { + int count; + const char* t = *ts; + if (*t < '0' || *t > '9') { + return -1; + } else { + count = *t++ - '0'; + while (*t >= '0' && *t <= '9') { + count *= 10; + count += *t++ - '0'; + } + } + *ts = t; + return count; +} +static int __Pyx_BufFmt_ExpectNumber(const char **ts) { + int number = __Pyx_BufFmt_ParseNumber(ts); + if (number == -1) + PyErr_Format(PyExc_ValueError,\ + "Does not understand character buffer dtype format string ('%c')", **ts); + return number; +} +static void __Pyx_BufFmt_RaiseUnexpectedChar(char ch) { + PyErr_Format(PyExc_ValueError, + "Unexpected format string character: '%c'", ch); +} +static const char* __Pyx_BufFmt_DescribeTypeChar(char ch, int is_complex) { + switch (ch) { + case '?': return "'bool'"; + case 'c': return "'char'"; + case 'b': return "'signed char'"; + case 'B': return "'unsigned char'"; + case 'h': return "'short'"; + case 'H': return "'unsigned short'"; + case 'i': return "'int'"; + case 'I': return "'unsigned int'"; + case 'l': return "'long'"; + case 'L': return "'unsigned long'"; + case 'q': return "'long long'"; + case 'Q': return "'unsigned long long'"; + case 'f': return (is_complex ? "'complex float'" : "'float'"); + case 'd': return (is_complex ? "'complex double'" : "'double'"); + case 'g': return (is_complex ? "'complex long double'" : "'long double'"); + case 'T': return "a struct"; + case 'O': return "Python object"; + case 'P': return "a pointer"; + case 's': case 'p': return "a string"; + case 0: return "end"; + default: return "unparsable format string"; + } +} +static size_t __Pyx_BufFmt_TypeCharToStandardSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return 2; + case 'i': case 'I': case 'l': case 'L': return 4; + case 'q': case 'Q': return 8; + case 'f': return (is_complex ? 8 : 4); + case 'd': return (is_complex ? 16 : 8); + case 'g': { + PyErr_SetString(PyExc_ValueError, "Python does not define a standard format string size for long double ('g').."); + return 0; + } + case 'O': case 'P': return sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static size_t __Pyx_BufFmt_TypeCharToNativeSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(short); + case 'i': case 'I': return sizeof(int); + case 'l': case 'L': return sizeof(long); + #ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(PY_LONG_LONG); + #endif + case 'f': return sizeof(float) * (is_complex ? 2 : 1); + case 'd': return sizeof(double) * (is_complex ? 2 : 1); + case 'g': return sizeof(long double) * (is_complex ? 2 : 1); + case 'O': case 'P': return sizeof(void*); + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +typedef struct { char c; short x; } __Pyx_st_short; +typedef struct { char c; int x; } __Pyx_st_int; +typedef struct { char c; long x; } __Pyx_st_long; +typedef struct { char c; float x; } __Pyx_st_float; +typedef struct { char c; double x; } __Pyx_st_double; +typedef struct { char c; long double x; } __Pyx_st_longdouble; +typedef struct { char c; void *x; } __Pyx_st_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { char c; PY_LONG_LONG x; } __Pyx_st_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToAlignment(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_st_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_st_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_st_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_st_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_st_float) - sizeof(float); + case 'd': return sizeof(__Pyx_st_double) - sizeof(double); + case 'g': return sizeof(__Pyx_st_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_st_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +/* These are for computing the padding at the end of the struct to align + on the first member of the struct. This will probably the same as above, + but we don't have any guarantees. + */ +typedef struct { short x; char c; } __Pyx_pad_short; +typedef struct { int x; char c; } __Pyx_pad_int; +typedef struct { long x; char c; } __Pyx_pad_long; +typedef struct { float x; char c; } __Pyx_pad_float; +typedef struct { double x; char c; } __Pyx_pad_double; +typedef struct { long double x; char c; } __Pyx_pad_longdouble; +typedef struct { void *x; char c; } __Pyx_pad_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { PY_LONG_LONG x; char c; } __Pyx_pad_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToPadding(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_pad_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_pad_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_pad_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_pad_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_pad_float) - sizeof(float); + case 'd': return sizeof(__Pyx_pad_double) - sizeof(double); + case 'g': return sizeof(__Pyx_pad_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_pad_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static char __Pyx_BufFmt_TypeCharToGroup(char ch, int is_complex) { + switch (ch) { + case 'c': + return 'H'; + case 'b': case 'h': case 'i': + case 'l': case 'q': case 's': case 'p': + return 'I'; + case '?': case 'B': case 'H': case 'I': case 'L': case 'Q': + return 'U'; + case 'f': case 'd': case 'g': + return (is_complex ? 'C' : 'R'); + case 'O': + return 'O'; + case 'P': + return 'P'; + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +static void __Pyx_BufFmt_RaiseExpected(__Pyx_BufFmt_Context* ctx) { + if (ctx->head == NULL || ctx->head->field == &ctx->root) { + const char* expected; + const char* quote; + if (ctx->head == NULL) { + expected = "end"; + quote = ""; + } else { + expected = ctx->head->field->type->name; + quote = "'"; + } + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected %s%s%s but got %s", + quote, expected, quote, + __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex)); + } else { + __Pyx_StructField* field = ctx->head->field; + __Pyx_StructField* parent = (ctx->head - 1)->field; + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected '%s' but got %s in '%s.%s'", + field->type->name, __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex), + parent->type->name, field->name); + } +} +static int __Pyx_BufFmt_ProcessTypeChunk(__Pyx_BufFmt_Context* ctx) { + char group; + size_t size, offset, arraysize = 1; + if (ctx->enc_type == 0) return 0; + if (ctx->head->field->type->arraysize[0]) { + int i, ndim = 0; + if (ctx->enc_type == 's' || ctx->enc_type == 'p') { + ctx->is_valid_array = ctx->head->field->type->ndim == 1; + ndim = 1; + if (ctx->enc_count != ctx->head->field->type->arraysize[0]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %zu", + ctx->head->field->type->arraysize[0], ctx->enc_count); + return -1; + } + } + if (!ctx->is_valid_array) { + PyErr_Format(PyExc_ValueError, "Expected %d dimensions, got %d", + ctx->head->field->type->ndim, ndim); + return -1; + } + for (i = 0; i < ctx->head->field->type->ndim; i++) { + arraysize *= ctx->head->field->type->arraysize[i]; + } + ctx->is_valid_array = 0; + ctx->enc_count = 1; + } + group = __Pyx_BufFmt_TypeCharToGroup(ctx->enc_type, ctx->is_complex); + do { + __Pyx_StructField* field = ctx->head->field; + __Pyx_TypeInfo* type = field->type; + if (ctx->enc_packmode == '@' || ctx->enc_packmode == '^') { + size = __Pyx_BufFmt_TypeCharToNativeSize(ctx->enc_type, ctx->is_complex); + } else { + size = __Pyx_BufFmt_TypeCharToStandardSize(ctx->enc_type, ctx->is_complex); + } + if (ctx->enc_packmode == '@') { + size_t align_at = __Pyx_BufFmt_TypeCharToAlignment(ctx->enc_type, ctx->is_complex); + size_t align_mod_offset; + if (align_at == 0) return -1; + align_mod_offset = ctx->fmt_offset % align_at; + if (align_mod_offset > 0) ctx->fmt_offset += align_at - align_mod_offset; + if (ctx->struct_alignment == 0) + ctx->struct_alignment = __Pyx_BufFmt_TypeCharToPadding(ctx->enc_type, + ctx->is_complex); + } + if (type->size != size || type->typegroup != group) { + if (type->typegroup == 'C' && type->fields != NULL) { + size_t parent_offset = ctx->head->parent_offset + field->offset; + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = parent_offset; + continue; + } + if ((type->typegroup == 'H' || group == 'H') && type->size == size) { + } else { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + } + offset = ctx->head->parent_offset + field->offset; + if (ctx->fmt_offset != offset) { + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch; next field is at offset %" CYTHON_FORMAT_SSIZE_T "d but %" CYTHON_FORMAT_SSIZE_T "d expected", + (Py_ssize_t)ctx->fmt_offset, (Py_ssize_t)offset); + return -1; + } + ctx->fmt_offset += size; + if (arraysize) + ctx->fmt_offset += (arraysize - 1) * size; + --ctx->enc_count; + while (1) { + if (field == &ctx->root) { + ctx->head = NULL; + if (ctx->enc_count != 0) { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + break; + } + ctx->head->field = ++field; + if (field->type == NULL) { + --ctx->head; + field = ctx->head->field; + continue; + } else if (field->type->typegroup == 'S') { + size_t parent_offset = ctx->head->parent_offset + field->offset; + if (field->type->fields->type == NULL) continue; + field = field->type->fields; + ++ctx->head; + ctx->head->field = field; + ctx->head->parent_offset = parent_offset; + break; + } else { + break; + } + } + } while (ctx->enc_count); + ctx->enc_type = 0; + ctx->is_complex = 0; + return 0; +} +static int +__pyx_buffmt_parse_array(__Pyx_BufFmt_Context* ctx, const char** tsp) +{ + const char *ts = *tsp; + int i = 0, number, ndim; + ++ts; + if (ctx->new_count != 1) { + PyErr_SetString(PyExc_ValueError, + "Cannot handle repeated arrays in format string"); + return -1; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return -1; + ndim = ctx->head->field->type->ndim; + while (*ts && *ts != ')') { + switch (*ts) { + case ' ': case '\f': case '\r': case '\n': case '\t': case '\v': continue; + default: break; + } + number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return -1; + if (i < ndim && (size_t) number != ctx->head->field->type->arraysize[i]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %d", + ctx->head->field->type->arraysize[i], number); + return -1; + } + if (*ts != ',' && *ts != ')') { + PyErr_Format(PyExc_ValueError, + "Expected a comma in format string, got '%c'", *ts); + return -1; + } + if (*ts == ',') ts++; + i++; + } + if (i != ndim) { + PyErr_Format(PyExc_ValueError, "Expected %d dimension(s), got %d", + ctx->head->field->type->ndim, i); + return -1; + } + if (!*ts) { + PyErr_SetString(PyExc_ValueError, + "Unexpected end of format string, expected ')'"); + return -1; + } + ctx->is_valid_array = 1; + ctx->new_count = 1; + *tsp = ++ts; + return 0; +} +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts) { + int got_Z = 0; + while (1) { + switch(*ts) { + case 0: + if (ctx->enc_type != 0 && ctx->head == NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + if (ctx->head != NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + return ts; + case ' ': + case '\r': + case '\n': + ++ts; + break; + case '<': + if (!__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Little-endian buffer not supported on big-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '>': + case '!': + if (__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Big-endian buffer not supported on little-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '=': + case '@': + case '^': + ctx->new_packmode = *ts++; + break; + case 'T': + { + const char* ts_after_sub; + size_t i, struct_count = ctx->new_count; + size_t struct_alignment = ctx->struct_alignment; + ctx->new_count = 1; + ++ts; + if (*ts != '{') { + PyErr_SetString(PyExc_ValueError, "Buffer acquisition: Expected '{' after 'T'"); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + ctx->enc_count = 0; + ctx->struct_alignment = 0; + ++ts; + ts_after_sub = ts; + for (i = 0; i != struct_count; ++i) { + ts_after_sub = __Pyx_BufFmt_CheckString(ctx, ts); + if (!ts_after_sub) return NULL; + } + ts = ts_after_sub; + if (struct_alignment) ctx->struct_alignment = struct_alignment; + } + break; + case '}': + { + size_t alignment = ctx->struct_alignment; + ++ts; + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + if (alignment && ctx->fmt_offset % alignment) { + ctx->fmt_offset += alignment - (ctx->fmt_offset % alignment); + } + } + return ts; + case 'x': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->fmt_offset += ctx->new_count; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->enc_packmode = ctx->new_packmode; + ++ts; + break; + case 'Z': + got_Z = 1; + ++ts; + if (*ts != 'f' && *ts != 'd' && *ts != 'g') { + __Pyx_BufFmt_RaiseUnexpectedChar('Z'); + return NULL; + } + CYTHON_FALLTHROUGH; + case '?': case 'c': case 'b': case 'B': case 'h': case 'H': case 'i': case 'I': + case 'l': case 'L': case 'q': case 'Q': + case 'f': case 'd': case 'g': + case 'O': case 'p': + if ((ctx->enc_type == *ts) && (got_Z == ctx->is_complex) && + (ctx->enc_packmode == ctx->new_packmode) && (!ctx->is_valid_array)) { + ctx->enc_count += ctx->new_count; + ctx->new_count = 1; + got_Z = 0; + ++ts; + break; + } + CYTHON_FALLTHROUGH; + case 's': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_count = ctx->new_count; + ctx->enc_packmode = ctx->new_packmode; + ctx->enc_type = *ts; + ctx->is_complex = got_Z; + ++ts; + ctx->new_count = 1; + got_Z = 0; + break; + case ':': + ++ts; + while(*ts != ':') ++ts; + ++ts; + break; + case '(': + if (__pyx_buffmt_parse_array(ctx, &ts) < 0) return NULL; + break; + default: + { + int number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return NULL; + ctx->new_count = (size_t)number; + } + } + } +} + +/* BufferGetAndValidate */ + static CYTHON_INLINE void __Pyx_SafeReleaseBuffer(Py_buffer* info) { + if (unlikely(info->buf == NULL)) return; + if (info->suboffsets == __Pyx_minusones) info->suboffsets = NULL; + __Pyx_ReleaseBuffer(info); +} +static void __Pyx_ZeroBuffer(Py_buffer* buf) { + buf->buf = NULL; + buf->obj = NULL; + buf->strides = __Pyx_zeros; + buf->shape = __Pyx_zeros; + buf->suboffsets = __Pyx_minusones; +} +static int __Pyx__GetBufferAndValidate( + Py_buffer* buf, PyObject* obj, __Pyx_TypeInfo* dtype, int flags, + int nd, int cast, __Pyx_BufFmt_StackElem* stack) +{ + buf->buf = NULL; + if (unlikely(__Pyx_GetBuffer(obj, buf, flags) == -1)) { + __Pyx_ZeroBuffer(buf); + return -1; + } + if (unlikely(buf->ndim != nd)) { + PyErr_Format(PyExc_ValueError, + "Buffer has wrong number of dimensions (expected %d, got %d)", + nd, buf->ndim); + goto fail; + } + if (!cast) { + __Pyx_BufFmt_Context ctx; + __Pyx_BufFmt_Init(&ctx, stack, dtype); + if (!__Pyx_BufFmt_CheckString(&ctx, buf->format)) goto fail; + } + if (unlikely((size_t)buf->itemsize != dtype->size)) { + PyErr_Format(PyExc_ValueError, + "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "d byte%s) does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "d byte%s)", + buf->itemsize, (buf->itemsize > 1) ? "s" : "", + dtype->name, (Py_ssize_t)dtype->size, (dtype->size > 1) ? "s" : ""); + goto fail; + } + if (buf->suboffsets == NULL) buf->suboffsets = __Pyx_minusones; + return 0; +fail:; + __Pyx_SafeReleaseBuffer(buf); + return -1; +} + +/* UnicodeConcatInPlace */ + # if CYTHON_COMPILING_IN_CPYTHON && PY_MAJOR_VERSION >= 3 +static int +__Pyx_unicode_modifiable(PyObject *unicode) +{ + if (Py_REFCNT(unicode) != 1) + return 0; + if (!PyUnicode_CheckExact(unicode)) + return 0; + if (PyUnicode_CHECK_INTERNED(unicode)) + return 0; + return 1; +} +static CYTHON_INLINE PyObject *__Pyx_PyUnicode_ConcatInPlaceImpl(PyObject **p_left, PyObject *right + #if CYTHON_REFNANNY + , void* __pyx_refnanny + #endif + ) { + PyObject *left = *p_left; + Py_ssize_t left_len, right_len, new_len; + if (unlikely(__Pyx_PyUnicode_READY(left) == -1)) + return NULL; + if (unlikely(__Pyx_PyUnicode_READY(right) == -1)) + return NULL; + left_len = PyUnicode_GET_LENGTH(left); + if (left_len == 0) { + Py_INCREF(right); + return right; + } + right_len = PyUnicode_GET_LENGTH(right); + if (right_len == 0) { + Py_INCREF(left); + return left; + } + if (unlikely(left_len > PY_SSIZE_T_MAX - right_len)) { + PyErr_SetString(PyExc_OverflowError, + "strings are too large to concat"); + return NULL; + } + new_len = left_len + right_len; + if (__Pyx_unicode_modifiable(left) + && PyUnicode_CheckExact(right) + && PyUnicode_KIND(right) <= PyUnicode_KIND(left) + && !(PyUnicode_IS_ASCII(left) && !PyUnicode_IS_ASCII(right))) { + int ret; + __Pyx_GIVEREF(*p_left); + ret = PyUnicode_Resize(p_left, new_len); + __Pyx_GOTREF(*p_left); + if (unlikely(ret != 0)) + return NULL; + #if PY_VERSION_HEX >= 0x030d0000 + if (unlikely(PyUnicode_CopyCharacters(*p_left, left_len, right, 0, right_len) < 0)) return NULL; + #else + _PyUnicode_FastCopyCharacters(*p_left, left_len, right, 0, right_len); + #endif + __Pyx_INCREF(*p_left); + __Pyx_GIVEREF(*p_left); + return *p_left; + } else { + return __Pyx_PyUnicode_Concat(left, right); + } + } +#endif + +/* SliceObject */ + static CYTHON_INLINE PyObject* __Pyx_PyObject_GetSlice(PyObject* obj, + Py_ssize_t cstart, Py_ssize_t cstop, + PyObject** _py_start, PyObject** _py_stop, PyObject** _py_slice, + int has_cstart, int has_cstop, int wraparound) { + __Pyx_TypeName obj_type_name; +#if CYTHON_USE_TYPE_SLOTS + PyMappingMethods* mp; +#if PY_MAJOR_VERSION < 3 + PySequenceMethods* ms = Py_TYPE(obj)->tp_as_sequence; + if (likely(ms && ms->sq_slice)) { + if (!has_cstart) { + if (_py_start && (*_py_start != Py_None)) { + cstart = __Pyx_PyIndex_AsSsize_t(*_py_start); + if ((cstart == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; + } else + cstart = 0; + } + if (!has_cstop) { + if (_py_stop && (*_py_stop != Py_None)) { + cstop = __Pyx_PyIndex_AsSsize_t(*_py_stop); + if ((cstop == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; + } else + cstop = PY_SSIZE_T_MAX; + } + if (wraparound && unlikely((cstart < 0) | (cstop < 0)) && likely(ms->sq_length)) { + Py_ssize_t l = ms->sq_length(obj); + if (likely(l >= 0)) { + if (cstop < 0) { + cstop += l; + if (cstop < 0) cstop = 0; + } + if (cstart < 0) { + cstart += l; + if (cstart < 0) cstart = 0; + } + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + goto bad; + PyErr_Clear(); + } + } + return ms->sq_slice(obj, cstart, cstop); + } +#else + CYTHON_UNUSED_VAR(wraparound); +#endif + mp = Py_TYPE(obj)->tp_as_mapping; + if (likely(mp && mp->mp_subscript)) +#else + CYTHON_UNUSED_VAR(wraparound); +#endif + { + PyObject* result; + PyObject *py_slice, *py_start, *py_stop; + if (_py_slice) { + py_slice = *_py_slice; + } else { + PyObject* owned_start = NULL; + PyObject* owned_stop = NULL; + if (_py_start) { + py_start = *_py_start; + } else { + if (has_cstart) { + owned_start = py_start = PyInt_FromSsize_t(cstart); + if (unlikely(!py_start)) goto bad; + } else + py_start = Py_None; + } + if (_py_stop) { + py_stop = *_py_stop; + } else { + if (has_cstop) { + owned_stop = py_stop = PyInt_FromSsize_t(cstop); + if (unlikely(!py_stop)) { + Py_XDECREF(owned_start); + goto bad; + } + } else + py_stop = Py_None; + } + py_slice = PySlice_New(py_start, py_stop, Py_None); + Py_XDECREF(owned_start); + Py_XDECREF(owned_stop); + if (unlikely(!py_slice)) goto bad; + } +#if CYTHON_USE_TYPE_SLOTS + result = mp->mp_subscript(obj, py_slice); +#else + result = PyObject_GetItem(obj, py_slice); +#endif + if (!_py_slice) { + Py_DECREF(py_slice); + } + return result; + } + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' object is unsliceable", obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); +bad: + return NULL; +} + +/* PyObjectFormat */ + #if CYTHON_USE_UNICODE_WRITER +static PyObject* __Pyx_PyObject_Format(PyObject* obj, PyObject* format_spec) { + int ret; + _PyUnicodeWriter writer; + if (likely(PyFloat_CheckExact(obj))) { +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x03040000 + _PyUnicodeWriter_Init(&writer, 0); +#else + _PyUnicodeWriter_Init(&writer); +#endif + ret = _PyFloat_FormatAdvancedWriter( + &writer, + obj, + format_spec, 0, PyUnicode_GET_LENGTH(format_spec)); + } else if (likely(PyLong_CheckExact(obj))) { +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x03040000 + _PyUnicodeWriter_Init(&writer, 0); +#else + _PyUnicodeWriter_Init(&writer); +#endif + ret = _PyLong_FormatAdvancedWriter( + &writer, + obj, + format_spec, 0, PyUnicode_GET_LENGTH(format_spec)); + } else { + return PyObject_Format(obj, format_spec); + } + if (unlikely(ret == -1)) { + _PyUnicodeWriter_Dealloc(&writer); + return NULL; + } + return _PyUnicodeWriter_Finish(&writer); +} +#endif + +/* UnpackUnboundCMethod */ + static PyObject *__Pyx_SelflessCall(PyObject *method, PyObject *args, PyObject *kwargs) { + PyObject *result; + PyObject *selfless_args = PyTuple_GetSlice(args, 1, PyTuple_Size(args)); + if (unlikely(!selfless_args)) return NULL; + result = PyObject_Call(method, selfless_args, kwargs); + Py_DECREF(selfless_args); + return result; +} +static PyMethodDef __Pyx_UnboundCMethod_Def = { + "CythonUnboundCMethod", + __PYX_REINTERPRET_FUNCION(PyCFunction, __Pyx_SelflessCall), + METH_VARARGS | METH_KEYWORDS, + NULL +}; +static int __Pyx_TryUnpackUnboundCMethod(__Pyx_CachedCFunction* target) { + PyObject *method; + method = __Pyx_PyObject_GetAttrStr(target->type, *target->method_name); + if (unlikely(!method)) + return -1; + target->method = method; +#if CYTHON_COMPILING_IN_CPYTHON + #if PY_MAJOR_VERSION >= 3 + if (likely(__Pyx_TypeCheck(method, &PyMethodDescr_Type))) + #else + if (likely(!__Pyx_CyOrPyCFunction_Check(method))) + #endif + { + PyMethodDescrObject *descr = (PyMethodDescrObject*) method; + target->func = descr->d_method->ml_meth; + target->flag = descr->d_method->ml_flags & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_STACKLESS); + } else +#endif +#if CYTHON_COMPILING_IN_PYPY +#else + if (PyCFunction_Check(method)) +#endif + { + PyObject *self; + int self_found; +#if CYTHON_COMPILING_IN_LIMITED_API || CYTHON_COMPILING_IN_PYPY + self = PyObject_GetAttrString(method, "__self__"); + if (!self) { + PyErr_Clear(); + } +#else + self = PyCFunction_GET_SELF(method); +#endif + self_found = (self && self != Py_None); +#if CYTHON_COMPILING_IN_LIMITED_API || CYTHON_COMPILING_IN_PYPY + Py_XDECREF(self); +#endif + if (self_found) { + PyObject *unbound_method = PyCFunction_New(&__Pyx_UnboundCMethod_Def, method); + if (unlikely(!unbound_method)) return -1; + Py_DECREF(method); + target->method = unbound_method; + } + } + return 0; +} + +/* CallUnboundCMethod0 */ + static PyObject* __Pyx__CallUnboundCMethod0(__Pyx_CachedCFunction* cfunc, PyObject* self) { + PyObject *args, *result = NULL; + if (unlikely(!cfunc->method) && unlikely(__Pyx_TryUnpackUnboundCMethod(cfunc) < 0)) return NULL; +#if CYTHON_ASSUME_SAFE_MACROS + args = PyTuple_New(1); + if (unlikely(!args)) goto bad; + Py_INCREF(self); + PyTuple_SET_ITEM(args, 0, self); +#else + args = PyTuple_Pack(1, self); + if (unlikely(!args)) goto bad; +#endif + result = __Pyx_PyObject_Call(cfunc->method, args, NULL); + Py_DECREF(args); +bad: + return result; +} + +/* py_dict_keys */ + static CYTHON_INLINE PyObject* __Pyx_PyDict_Keys(PyObject* d) { + if (PY_MAJOR_VERSION >= 3) + return __Pyx_CallUnboundCMethod0(&__pyx_umethod_PyDict_Type_keys, d); + else + return PyDict_Keys(d); +} + +/* DictGetItem */ + #if PY_MAJOR_VERSION >= 3 && !CYTHON_COMPILING_IN_PYPY +static PyObject *__Pyx_PyDict_GetItem(PyObject *d, PyObject* key) { + PyObject *value; + value = PyDict_GetItemWithError(d, key); + if (unlikely(!value)) { + if (!PyErr_Occurred()) { + if (unlikely(PyTuple_Check(key))) { + PyObject* args = PyTuple_Pack(1, key); + if (likely(args)) { + PyErr_SetObject(PyExc_KeyError, args); + Py_DECREF(args); + } + } else { + PyErr_SetObject(PyExc_KeyError, key); + } + } + return NULL; + } + Py_INCREF(value); + return value; +} +#endif + +/* PyObjectLookupSpecial */ + #if CYTHON_USE_PYTYPE_LOOKUP && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx__PyObject_LookupSpecial(PyObject* obj, PyObject* attr_name, int with_error) { + PyObject *res; + PyTypeObject *tp = Py_TYPE(obj); +#if PY_MAJOR_VERSION < 3 + if (unlikely(PyInstance_Check(obj))) + return with_error ? __Pyx_PyObject_GetAttrStr(obj, attr_name) : __Pyx_PyObject_GetAttrStrNoError(obj, attr_name); +#endif + res = _PyType_Lookup(tp, attr_name); + if (likely(res)) { + descrgetfunc f = Py_TYPE(res)->tp_descr_get; + if (!f) { + Py_INCREF(res); + } else { + res = f(res, obj, (PyObject *)tp); + } + } else if (with_error) { + PyErr_SetObject(PyExc_AttributeError, attr_name); + } + return res; +} +#endif + +/* FixUpExtensionType */ + #if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type) { +#if PY_VERSION_HEX > 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + CYTHON_UNUSED_VAR(spec); + CYTHON_UNUSED_VAR(type); +#else + const PyType_Slot *slot = spec->slots; + while (slot && slot->slot && slot->slot != Py_tp_members) + slot++; + if (slot && slot->slot == Py_tp_members) { + int changed = 0; +#if !(PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON) + const +#endif + PyMemberDef *memb = (PyMemberDef*) slot->pfunc; + while (memb && memb->name) { + if (memb->name[0] == '_' && memb->name[1] == '_') { +#if PY_VERSION_HEX < 0x030900b1 + if (strcmp(memb->name, "__weaklistoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_weaklistoffset = memb->offset; + changed = 1; + } + else if (strcmp(memb->name, "__dictoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_dictoffset = memb->offset; + changed = 1; + } +#if CYTHON_METH_FASTCALL + else if (strcmp(memb->name, "__vectorcalloffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); +#if PY_VERSION_HEX >= 0x030800b4 + type->tp_vectorcall_offset = memb->offset; +#else + type->tp_print = (printfunc) memb->offset; +#endif + changed = 1; + } +#endif +#else + if ((0)); +#endif +#if PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON + else if (strcmp(memb->name, "__module__") == 0) { + PyObject *descr; + assert(memb->type == T_OBJECT); + assert(memb->flags == 0 || memb->flags == READONLY); + descr = PyDescr_NewMember(type, memb); + if (unlikely(!descr)) + return -1; + if (unlikely(PyDict_SetItem(type->tp_dict, PyDescr_NAME(descr), descr) < 0)) { + Py_DECREF(descr); + return -1; + } + Py_DECREF(descr); + changed = 1; + } +#endif + } + memb++; + } + if (changed) + PyType_Modified(type); + } +#endif + return 0; +} +#endif + +/* FetchSharedCythonModule */ + static PyObject *__Pyx_FetchSharedCythonABIModule(void) { + return __Pyx_PyImport_AddModuleRef((char*) __PYX_ABI_MODULE_NAME); +} + +/* FetchCommonType */ + static int __Pyx_VerifyCachedType(PyObject *cached_type, + const char *name, + Py_ssize_t basicsize, + Py_ssize_t expected_basicsize) { + if (!PyType_Check(cached_type)) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s is not a type object", name); + return -1; + } + if (basicsize != expected_basicsize) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s has the wrong size, try recompiling", + name); + return -1; + } + return 0; +} +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) { + PyObject* abi_module; + const char* object_name; + PyTypeObject *cached_type = NULL; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + object_name = strrchr(type->tp_name, '.'); + object_name = object_name ? object_name+1 : type->tp_name; + cached_type = (PyTypeObject*) PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + if (__Pyx_VerifyCachedType( + (PyObject *)cached_type, + object_name, + cached_type->tp_basicsize, + type->tp_basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + if (PyType_Ready(type) < 0) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, (PyObject *)type) < 0) + goto bad; + Py_INCREF(type); + cached_type = type; +done: + Py_DECREF(abi_module); + return cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#else +static PyTypeObject *__Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases) { + PyObject *abi_module, *cached_type = NULL; + const char* object_name = strrchr(spec->name, '.'); + object_name = object_name ? object_name+1 : spec->name; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + cached_type = PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + Py_ssize_t basicsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + py_basicsize = PyObject_GetAttrString(cached_type, "__basicsize__"); + if (unlikely(!py_basicsize)) goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (unlikely(basicsize == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; +#else + basicsize = likely(PyType_Check(cached_type)) ? ((PyTypeObject*) cached_type)->tp_basicsize : -1; +#endif + if (__Pyx_VerifyCachedType( + cached_type, + object_name, + basicsize, + spec->basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + CYTHON_UNUSED_VAR(module); + cached_type = __Pyx_PyType_FromModuleAndSpec(abi_module, spec, bases); + if (unlikely(!cached_type)) goto bad; + if (unlikely(__Pyx_fix_up_extension_type_from_spec(spec, (PyTypeObject *) cached_type) < 0)) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, cached_type) < 0) goto bad; +done: + Py_DECREF(abi_module); + assert(cached_type == NULL || PyType_Check(cached_type)); + return (PyTypeObject *) cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#endif + +/* PyVectorcallFastCallDict */ + #if CYTHON_METH_FASTCALL +static PyObject *__Pyx_PyVectorcall_FastCallDict_kw(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + PyObject *res = NULL; + PyObject *kwnames; + PyObject **newargs; + PyObject **kwvalues; + Py_ssize_t i, pos; + size_t j; + PyObject *key, *value; + unsigned long keys_are_strings; + Py_ssize_t nkw = PyDict_GET_SIZE(kw); + newargs = (PyObject **)PyMem_Malloc((nargs + (size_t)nkw) * sizeof(args[0])); + if (unlikely(newargs == NULL)) { + PyErr_NoMemory(); + return NULL; + } + for (j = 0; j < nargs; j++) newargs[j] = args[j]; + kwnames = PyTuple_New(nkw); + if (unlikely(kwnames == NULL)) { + PyMem_Free(newargs); + return NULL; + } + kwvalues = newargs + nargs; + pos = i = 0; + keys_are_strings = Py_TPFLAGS_UNICODE_SUBCLASS; + while (PyDict_Next(kw, &pos, &key, &value)) { + keys_are_strings &= Py_TYPE(key)->tp_flags; + Py_INCREF(key); + Py_INCREF(value); + PyTuple_SET_ITEM(kwnames, i, key); + kwvalues[i] = value; + i++; + } + if (unlikely(!keys_are_strings)) { + PyErr_SetString(PyExc_TypeError, "keywords must be strings"); + goto cleanup; + } + res = vc(func, newargs, nargs, kwnames); +cleanup: + Py_DECREF(kwnames); + for (i = 0; i < nkw; i++) + Py_DECREF(kwvalues[i]); + PyMem_Free(newargs); + return res; +} +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + if (likely(kw == NULL) || PyDict_GET_SIZE(kw) == 0) { + return vc(func, args, nargs, NULL); + } + return __Pyx_PyVectorcall_FastCallDict_kw(func, vc, args, nargs, kw); +} +#endif + +/* CythonFunctionShared */ + #if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + if (__Pyx_CyFunction_Check(func)) { + return PyCFunction_GetFunction(((__pyx_CyFunctionObject*)func)->func) == (PyCFunction) cfunc; + } else if (PyCFunction_Check(func)) { + return PyCFunction_GetFunction(func) == (PyCFunction) cfunc; + } + return 0; +} +#else +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + return __Pyx_CyOrPyCFunction_Check(func) && __Pyx_CyOrPyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +} +#endif +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj) { +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + __Pyx_Py_XDECREF_SET( + __Pyx_CyFunction_GetClassObj(f), + ((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#else + __Pyx_Py_XDECREF_SET( + ((PyCMethodObject *) (f))->mm_class, + (PyTypeObject*)((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#endif +} +static PyObject * +__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, void *closure) +{ + CYTHON_UNUSED_VAR(closure); + if (unlikely(op->func_doc == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_doc = PyObject_GetAttrString(op->func, "__doc__"); + if (unlikely(!op->func_doc)) return NULL; +#else + if (((PyCFunctionObject*)op)->m_ml->ml_doc) { +#if PY_MAJOR_VERSION >= 3 + op->func_doc = PyUnicode_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#else + op->func_doc = PyString_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#endif + if (unlikely(op->func_doc == NULL)) + return NULL; + } else { + Py_INCREF(Py_None); + return Py_None; + } +#endif + } + Py_INCREF(op->func_doc); + return op->func_doc; +} +static int +__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (value == NULL) { + value = Py_None; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_doc, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_name == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_name = PyObject_GetAttrString(op->func, "__name__"); +#elif PY_MAJOR_VERSION >= 3 + op->func_name = PyUnicode_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#else + op->func_name = PyString_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#endif + if (unlikely(op->func_name == NULL)) + return NULL; + } + Py_INCREF(op->func_name); + return op->func_name; +} +static int +__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__name__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_name, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_qualname); + return op->func_qualname; +} +static int +__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__qualname__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_qualname, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_dict(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_dict == NULL)) { + op->func_dict = PyDict_New(); + if (unlikely(op->func_dict == NULL)) + return NULL; + } + Py_INCREF(op->func_dict); + return op->func_dict; +} +static int +__Pyx_CyFunction_set_dict(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(value == NULL)) { + PyErr_SetString(PyExc_TypeError, + "function's dictionary may not be deleted"); + return -1; + } + if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "setting function's dictionary to a non-dict"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_dict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_globals(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_globals); + return op->func_globals; +} +static PyObject * +__Pyx_CyFunction_get_closure(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(op); + CYTHON_UNUSED_VAR(context); + Py_INCREF(Py_None); + return Py_None; +} +static PyObject * +__Pyx_CyFunction_get_code(__pyx_CyFunctionObject *op, void *context) +{ + PyObject* result = (op->func_code) ? op->func_code : Py_None; + CYTHON_UNUSED_VAR(context); + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_init_defaults(__pyx_CyFunctionObject *op) { + int result = 0; + PyObject *res = op->defaults_getter((PyObject *) op); + if (unlikely(!res)) + return -1; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + op->defaults_tuple = PyTuple_GET_ITEM(res, 0); + Py_INCREF(op->defaults_tuple); + op->defaults_kwdict = PyTuple_GET_ITEM(res, 1); + Py_INCREF(op->defaults_kwdict); + #else + op->defaults_tuple = __Pyx_PySequence_ITEM(res, 0); + if (unlikely(!op->defaults_tuple)) result = -1; + else { + op->defaults_kwdict = __Pyx_PySequence_ITEM(res, 1); + if (unlikely(!op->defaults_kwdict)) result = -1; + } + #endif + Py_DECREF(res); + return result; +} +static int +__Pyx_CyFunction_set_defaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyTuple_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__defaults__ must be set to a tuple object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__defaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_tuple, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_defaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_tuple; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_tuple; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_kwdefaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__kwdefaults__ must be set to a dict object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__kwdefaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_kwdict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_kwdefaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_kwdict; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_kwdict; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_annotations(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value || value == Py_None) { + value = NULL; + } else if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__annotations__ must be set to a dict object"); + return -1; + } + Py_XINCREF(value); + __Pyx_Py_XDECREF_SET(op->func_annotations, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_annotations(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->func_annotations; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + result = PyDict_New(); + if (unlikely(!result)) return NULL; + op->func_annotations = result; + } + Py_INCREF(result); + return result; +} +static PyObject * +__Pyx_CyFunction_get_is_coroutine(__pyx_CyFunctionObject *op, void *context) { + int is_coroutine; + CYTHON_UNUSED_VAR(context); + if (op->func_is_coroutine) { + return __Pyx_NewRef(op->func_is_coroutine); + } + is_coroutine = op->flags & __Pyx_CYFUNCTION_COROUTINE; +#if PY_VERSION_HEX >= 0x03050000 + if (is_coroutine) { + PyObject *module, *fromlist, *marker = __pyx_n_s_is_coroutine; + fromlist = PyList_New(1); + if (unlikely(!fromlist)) return NULL; + Py_INCREF(marker); +#if CYTHON_ASSUME_SAFE_MACROS + PyList_SET_ITEM(fromlist, 0, marker); +#else + if (unlikely(PyList_SetItem(fromlist, 0, marker) < 0)) { + Py_DECREF(marker); + Py_DECREF(fromlist); + return NULL; + } +#endif + module = PyImport_ImportModuleLevelObject(__pyx_n_s_asyncio_coroutines, NULL, NULL, fromlist, 0); + Py_DECREF(fromlist); + if (unlikely(!module)) goto ignore; + op->func_is_coroutine = __Pyx_PyObject_GetAttrStr(module, marker); + Py_DECREF(module); + if (likely(op->func_is_coroutine)) { + return __Pyx_NewRef(op->func_is_coroutine); + } +ignore: + PyErr_Clear(); + } +#endif + op->func_is_coroutine = __Pyx_PyBool_FromLong(is_coroutine); + return __Pyx_NewRef(op->func_is_coroutine); +} +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject * +__Pyx_CyFunction_get_module(__pyx_CyFunctionObject *op, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_GetAttrString(op->func, "__module__"); +} +static int +__Pyx_CyFunction_set_module(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_SetAttrString(op->func, "__module__", value); +} +#endif +static PyGetSetDef __pyx_CyFunction_getsets[] = { + {(char *) "func_doc", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "__doc__", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "func_name", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__name__", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__qualname__", (getter)__Pyx_CyFunction_get_qualname, (setter)__Pyx_CyFunction_set_qualname, 0, 0}, + {(char *) "func_dict", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "__dict__", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "func_globals", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "__globals__", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "func_closure", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "__closure__", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "func_code", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "__code__", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "func_defaults", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__defaults__", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__kwdefaults__", (getter)__Pyx_CyFunction_get_kwdefaults, (setter)__Pyx_CyFunction_set_kwdefaults, 0, 0}, + {(char *) "__annotations__", (getter)__Pyx_CyFunction_get_annotations, (setter)__Pyx_CyFunction_set_annotations, 0, 0}, + {(char *) "_is_coroutine", (getter)__Pyx_CyFunction_get_is_coroutine, 0, 0, 0}, +#if CYTHON_COMPILING_IN_LIMITED_API + {"__module__", (getter)__Pyx_CyFunction_get_module, (setter)__Pyx_CyFunction_set_module, 0, 0}, +#endif + {0, 0, 0, 0, 0} +}; +static PyMemberDef __pyx_CyFunction_members[] = { +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__module__", T_OBJECT, offsetof(PyCFunctionObject, m_module), 0, 0}, +#endif +#if CYTHON_USE_TYPE_SPECS + {(char *) "__dictoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_dict), READONLY, 0}, +#if CYTHON_METH_FASTCALL +#if CYTHON_BACKPORT_VECTORCALL + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_vectorcall), READONLY, 0}, +#else +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(PyCFunctionObject, vectorcall), READONLY, 0}, +#endif +#endif +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_weakreflist), READONLY, 0}, +#else + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(PyCFunctionObject, m_weakreflist), READONLY, 0}, +#endif +#endif + {0, 0, 0, 0, 0} +}; +static PyObject * +__Pyx_CyFunction_reduce(__pyx_CyFunctionObject *m, PyObject *args) +{ + CYTHON_UNUSED_VAR(args); +#if PY_MAJOR_VERSION >= 3 + Py_INCREF(m->func_qualname); + return m->func_qualname; +#else + return PyString_FromString(((PyCFunctionObject*)m)->m_ml->ml_name); +#endif +} +static PyMethodDef __pyx_CyFunction_methods[] = { + {"__reduce__", (PyCFunction)__Pyx_CyFunction_reduce, METH_VARARGS, 0}, + {0, 0, 0, 0} +}; +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func_weakreflist) +#else +#define __Pyx_CyFunction_weakreflist(cyfunc) (((PyCFunctionObject*)cyfunc)->m_weakreflist) +#endif +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject *op, PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { +#if !CYTHON_COMPILING_IN_LIMITED_API + PyCFunctionObject *cf = (PyCFunctionObject*) op; +#endif + if (unlikely(op == NULL)) + return NULL; +#if CYTHON_COMPILING_IN_LIMITED_API + op->func = PyCFunction_NewEx(ml, (PyObject*)op, module); + if (unlikely(!op->func)) return NULL; +#endif + op->flags = flags; + __Pyx_CyFunction_weakreflist(op) = NULL; +#if !CYTHON_COMPILING_IN_LIMITED_API + cf->m_ml = ml; + cf->m_self = (PyObject *) op; +#endif + Py_XINCREF(closure); + op->func_closure = closure; +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_XINCREF(module); + cf->m_module = module; +#endif + op->func_dict = NULL; + op->func_name = NULL; + Py_INCREF(qualname); + op->func_qualname = qualname; + op->func_doc = NULL; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + op->func_classobj = NULL; +#else + ((PyCMethodObject*)op)->mm_class = NULL; +#endif + op->func_globals = globals; + Py_INCREF(op->func_globals); + Py_XINCREF(code); + op->func_code = code; + op->defaults_pyobjects = 0; + op->defaults_size = 0; + op->defaults = NULL; + op->defaults_tuple = NULL; + op->defaults_kwdict = NULL; + op->defaults_getter = NULL; + op->func_annotations = NULL; + op->func_is_coroutine = NULL; +#if CYTHON_METH_FASTCALL + switch (ml->ml_flags & (METH_VARARGS | METH_FASTCALL | METH_NOARGS | METH_O | METH_KEYWORDS | METH_METHOD)) { + case METH_NOARGS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_NOARGS; + break; + case METH_O: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_O; + break; + case METH_METHOD | METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD; + break; + case METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS; + break; + case METH_VARARGS | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = NULL; + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + Py_DECREF(op); + return NULL; + } +#endif + return (PyObject *) op; +} +static int +__Pyx_CyFunction_clear(__pyx_CyFunctionObject *m) +{ + Py_CLEAR(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_CLEAR(m->func); +#else + Py_CLEAR(((PyCFunctionObject*)m)->m_module); +#endif + Py_CLEAR(m->func_dict); + Py_CLEAR(m->func_name); + Py_CLEAR(m->func_qualname); + Py_CLEAR(m->func_doc); + Py_CLEAR(m->func_globals); + Py_CLEAR(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API +#if PY_VERSION_HEX < 0x030900B1 + Py_CLEAR(__Pyx_CyFunction_GetClassObj(m)); +#else + { + PyObject *cls = (PyObject*) ((PyCMethodObject *) (m))->mm_class; + ((PyCMethodObject *) (m))->mm_class = NULL; + Py_XDECREF(cls); + } +#endif +#endif + Py_CLEAR(m->defaults_tuple); + Py_CLEAR(m->defaults_kwdict); + Py_CLEAR(m->func_annotations); + Py_CLEAR(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_XDECREF(pydefaults[i]); + PyObject_Free(m->defaults); + m->defaults = NULL; + } + return 0; +} +static void __Pyx__CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + if (__Pyx_CyFunction_weakreflist(m) != NULL) + PyObject_ClearWeakRefs((PyObject *) m); + __Pyx_CyFunction_clear(m); + __Pyx_PyHeapTypeObject_GC_Del(m); +} +static void __Pyx_CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + PyObject_GC_UnTrack(m); + __Pyx__CyFunction_dealloc(m); +} +static int __Pyx_CyFunction_traverse(__pyx_CyFunctionObject *m, visitproc visit, void *arg) +{ + Py_VISIT(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(m->func); +#else + Py_VISIT(((PyCFunctionObject*)m)->m_module); +#endif + Py_VISIT(m->func_dict); + Py_VISIT(m->func_name); + Py_VISIT(m->func_qualname); + Py_VISIT(m->func_doc); + Py_VISIT(m->func_globals); + Py_VISIT(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(__Pyx_CyFunction_GetClassObj(m)); +#endif + Py_VISIT(m->defaults_tuple); + Py_VISIT(m->defaults_kwdict); + Py_VISIT(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_VISIT(pydefaults[i]); + } + return 0; +} +static PyObject* +__Pyx_CyFunction_repr(__pyx_CyFunctionObject *op) +{ +#if PY_MAJOR_VERSION >= 3 + return PyUnicode_FromFormat("", + op->func_qualname, (void *)op); +#else + return PyString_FromFormat("", + PyString_AsString(op->func_qualname), (void *)op); +#endif +} +static PyObject * __Pyx_CyFunction_CallMethod(PyObject *func, PyObject *self, PyObject *arg, PyObject *kw) { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *f = ((__pyx_CyFunctionObject*)func)->func; + PyObject *py_name = NULL; + PyCFunction meth; + int flags; + meth = PyCFunction_GetFunction(f); + if (unlikely(!meth)) return NULL; + flags = PyCFunction_GetFlags(f); + if (unlikely(flags < 0)) return NULL; +#else + PyCFunctionObject* f = (PyCFunctionObject*)func; + PyCFunction meth = f->m_ml->ml_meth; + int flags = f->m_ml->ml_flags; +#endif + Py_ssize_t size; + switch (flags & (METH_VARARGS | METH_KEYWORDS | METH_NOARGS | METH_O)) { + case METH_VARARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) + return (*meth)(self, arg); + break; + case METH_VARARGS | METH_KEYWORDS: + return (*(PyCFunctionWithKeywords)(void*)meth)(self, arg, kw); + case METH_NOARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 0)) + return (*meth)(self, NULL); +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + case METH_O: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 1)) { + PyObject *result, *arg0; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + arg0 = PyTuple_GET_ITEM(arg, 0); + #else + arg0 = __Pyx_PySequence_ITEM(arg, 0); if (unlikely(!arg0)) return NULL; + #endif + result = (*meth)(self, arg0); + #if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(arg0); + #endif + return result; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + return NULL; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, "%.200S() takes no keyword arguments", + py_name); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, "%.200s() takes no keyword arguments", + f->m_ml->ml_name); +#endif + return NULL; +} +static CYTHON_INLINE PyObject *__Pyx_CyFunction_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *self, *result; +#if CYTHON_COMPILING_IN_LIMITED_API + self = PyCFunction_GetSelf(((__pyx_CyFunctionObject*)func)->func); + if (unlikely(!self) && PyErr_Occurred()) return NULL; +#else + self = ((PyCFunctionObject*)func)->m_self; +#endif + result = __Pyx_CyFunction_CallMethod(func, self, arg, kw); + return result; +} +static PyObject *__Pyx_CyFunction_CallAsMethod(PyObject *func, PyObject *args, PyObject *kw) { + PyObject *result; + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *) func; +#if CYTHON_METH_FASTCALL + __pyx_vectorcallfunc vc = __Pyx_CyFunction_func_vectorcall(cyfunc); + if (vc) { +#if CYTHON_ASSUME_SAFE_MACROS + return __Pyx_PyVectorcall_FastCallDict(func, vc, &PyTuple_GET_ITEM(args, 0), (size_t)PyTuple_GET_SIZE(args), kw); +#else + (void) &__Pyx_PyVectorcall_FastCallDict; + return PyVectorcall_Call(func, args, kw); +#endif + } +#endif + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + Py_ssize_t argc; + PyObject *new_args; + PyObject *self; +#if CYTHON_ASSUME_SAFE_MACROS + argc = PyTuple_GET_SIZE(args); +#else + argc = PyTuple_Size(args); + if (unlikely(!argc) < 0) return NULL; +#endif + new_args = PyTuple_GetSlice(args, 1, argc); + if (unlikely(!new_args)) + return NULL; + self = PyTuple_GetItem(args, 0); + if (unlikely(!self)) { + Py_DECREF(new_args); +#if PY_MAJOR_VERSION > 2 + PyErr_Format(PyExc_TypeError, + "unbound method %.200S() needs an argument", + cyfunc->func_qualname); +#else + PyErr_SetString(PyExc_TypeError, + "unbound method needs an argument"); +#endif + return NULL; + } + result = __Pyx_CyFunction_CallMethod(func, self, new_args, kw); + Py_DECREF(new_args); + } else { + result = __Pyx_CyFunction_Call(func, args, kw); + } + return result; +} +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE int __Pyx_CyFunction_Vectorcall_CheckArgs(__pyx_CyFunctionObject *cyfunc, Py_ssize_t nargs, PyObject *kwnames) +{ + int ret = 0; + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + if (unlikely(nargs < 1)) { + PyErr_Format(PyExc_TypeError, "%.200s() needs an argument", + ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + ret = 1; + } + if (unlikely(kwnames) && unlikely(PyTuple_GET_SIZE(kwnames))) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no keyword arguments", ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + return ret; +} +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 0)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, NULL); +} +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 1)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, args[0]); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((_PyCFunctionFastWithKeywords)(void(*)(void))def->ml_meth)(self, args, nargs, kwnames); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; + PyTypeObject *cls = (PyTypeObject *) __Pyx_CyFunction_GetClassObj(cyfunc); +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((__Pyx_PyCMethod)(void(*)(void))def->ml_meth)(self, cls, args, (size_t)nargs, kwnames); +} +#endif +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_CyFunctionType_slots[] = { + {Py_tp_dealloc, (void *)__Pyx_CyFunction_dealloc}, + {Py_tp_repr, (void *)__Pyx_CyFunction_repr}, + {Py_tp_call, (void *)__Pyx_CyFunction_CallAsMethod}, + {Py_tp_traverse, (void *)__Pyx_CyFunction_traverse}, + {Py_tp_clear, (void *)__Pyx_CyFunction_clear}, + {Py_tp_methods, (void *)__pyx_CyFunction_methods}, + {Py_tp_members, (void *)__pyx_CyFunction_members}, + {Py_tp_getset, (void *)__pyx_CyFunction_getsets}, + {Py_tp_descr_get, (void *)__Pyx_PyMethod_New}, + {0, 0}, +}; +static PyType_Spec __pyx_CyFunctionType_spec = { + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if (defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL) + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + __pyx_CyFunctionType_slots +}; +#else +static PyTypeObject __pyx_CyFunctionType_type = { + PyVarObject_HEAD_INIT(0, 0) + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, + (destructor) __Pyx_CyFunction_dealloc, +#if !CYTHON_METH_FASTCALL + 0, +#elif CYTHON_BACKPORT_VECTORCALL + (printfunc)offsetof(__pyx_CyFunctionObject, func_vectorcall), +#else + offsetof(PyCFunctionObject, vectorcall), +#endif + 0, + 0, +#if PY_MAJOR_VERSION < 3 + 0, +#else + 0, +#endif + (reprfunc) __Pyx_CyFunction_repr, + 0, + 0, + 0, + 0, + __Pyx_CyFunction_CallAsMethod, + 0, + 0, + 0, + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + 0, + (traverseproc) __Pyx_CyFunction_traverse, + (inquiry) __Pyx_CyFunction_clear, + 0, +#if PY_VERSION_HEX < 0x030500A0 + offsetof(__pyx_CyFunctionObject, func_weakreflist), +#else + offsetof(PyCFunctionObject, m_weakreflist), +#endif + 0, + 0, + __pyx_CyFunction_methods, + __pyx_CyFunction_members, + __pyx_CyFunction_getsets, + 0, + 0, + __Pyx_PyMethod_New, + 0, + offsetof(__pyx_CyFunctionObject, func_dict), + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, +#if PY_VERSION_HEX >= 0x030400a1 + 0, +#endif +#if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, +#endif +#if __PYX_NEED_TP_PRINT_SLOT + 0, +#endif +#if PY_VERSION_HEX >= 0x030C0000 + 0, +#endif +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, +#endif +}; +#endif +static int __pyx_CyFunction_init(PyObject *module) { +#if CYTHON_USE_TYPE_SPECS + __pyx_CyFunctionType = __Pyx_FetchCommonTypeFromSpec(module, &__pyx_CyFunctionType_spec, NULL); +#else + CYTHON_UNUSED_VAR(module); + __pyx_CyFunctionType = __Pyx_FetchCommonType(&__pyx_CyFunctionType_type); +#endif + if (unlikely(__pyx_CyFunctionType == NULL)) { + return -1; + } + return 0; +} +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *func, size_t size, int pyobjects) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults = PyObject_Malloc(size); + if (unlikely(!m->defaults)) + return PyErr_NoMemory(); + memset(m->defaults, 0, size); + m->defaults_pyobjects = pyobjects; + m->defaults_size = size; + return m->defaults; +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *func, PyObject *tuple) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_tuple = tuple; + Py_INCREF(tuple); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_kwdict = dict; + Py_INCREF(dict); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->func_annotations = dict; + Py_INCREF(dict); +} + +/* CythonFunction */ + static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { + PyObject *op = __Pyx_CyFunction_Init( + PyObject_GC_New(__pyx_CyFunctionObject, __pyx_CyFunctionType), + ml, flags, qualname, closure, module, globals, code + ); + if (likely(op)) { + PyObject_GC_Track(op); + } + return op; +} + +/* IterFinish */ + static CYTHON_INLINE int __Pyx_IterFinish(void) { + PyObject* exc_type; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + exc_type = __Pyx_PyErr_CurrentExceptionType(); + if (unlikely(exc_type)) { + if (unlikely(!__Pyx_PyErr_GivenExceptionMatches(exc_type, PyExc_StopIteration))) + return -1; + __Pyx_PyErr_Clear(); + return 0; + } + return 0; +} + +/* PyObjectCallNoArg */ + static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { + PyObject *arg[2] = {NULL, NULL}; + return __Pyx_PyObject_FastCall(func, arg + 1, 0 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* PyObjectGetMethod */ + static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method) { + PyObject *attr; +#if CYTHON_UNPACK_METHODS && CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_PYTYPE_LOOKUP + __Pyx_TypeName type_name; + PyTypeObject *tp = Py_TYPE(obj); + PyObject *descr; + descrgetfunc f = NULL; + PyObject **dictptr, *dict; + int meth_found = 0; + assert (*method == NULL); + if (unlikely(tp->tp_getattro != PyObject_GenericGetAttr)) { + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; + } + if (unlikely(tp->tp_dict == NULL) && unlikely(PyType_Ready(tp) < 0)) { + return 0; + } + descr = _PyType_Lookup(tp, name); + if (likely(descr != NULL)) { + Py_INCREF(descr); +#if defined(Py_TPFLAGS_METHOD_DESCRIPTOR) && Py_TPFLAGS_METHOD_DESCRIPTOR + if (__Pyx_PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_METHOD_DESCRIPTOR)) +#elif PY_MAJOR_VERSION >= 3 + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type))) + #endif +#else + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr))) + #endif +#endif + { + meth_found = 1; + } else { + f = Py_TYPE(descr)->tp_descr_get; + if (f != NULL && PyDescr_IsData(descr)) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + } + } + dictptr = _PyObject_GetDictPtr(obj); + if (dictptr != NULL && (dict = *dictptr) != NULL) { + Py_INCREF(dict); + attr = __Pyx_PyDict_GetItemStr(dict, name); + if (attr != NULL) { + Py_INCREF(attr); + Py_DECREF(dict); + Py_XDECREF(descr); + goto try_unpack; + } + Py_DECREF(dict); + } + if (meth_found) { + *method = descr; + return 1; + } + if (f != NULL) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + if (likely(descr != NULL)) { + *method = descr; + return 0; + } + type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return 0; +#else + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; +#endif +try_unpack: +#if CYTHON_UNPACK_METHODS + if (likely(attr) && PyMethod_Check(attr) && likely(PyMethod_GET_SELF(attr) == obj)) { + PyObject *function = PyMethod_GET_FUNCTION(attr); + Py_INCREF(function); + Py_DECREF(attr); + *method = function; + return 1; + } +#endif + *method = attr; + return 0; +} + +/* PyObjectCallMethod0 */ + static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name) { + PyObject *method = NULL, *result = NULL; + int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); + if (likely(is_method)) { + result = __Pyx_PyObject_CallOneArg(method, obj); + Py_DECREF(method); + return result; + } + if (unlikely(!method)) goto bad; + result = __Pyx_PyObject_CallNoArg(method); + Py_DECREF(method); +bad: + return result; +} + +/* UnpackItemEndCheck */ + static int __Pyx_IternextUnpackEndCheck(PyObject *retval, Py_ssize_t expected) { + if (unlikely(retval)) { + Py_DECREF(retval); + __Pyx_RaiseTooManyValuesError(expected); + return -1; + } + return __Pyx_IterFinish(); +} + +/* UnpackTupleError */ + static void __Pyx_UnpackTupleError(PyObject *t, Py_ssize_t index) { + if (t == Py_None) { + __Pyx_RaiseNoneNotIterableError(); + } else if (PyTuple_GET_SIZE(t) < index) { + __Pyx_RaiseNeedMoreValuesError(PyTuple_GET_SIZE(t)); + } else { + __Pyx_RaiseTooManyValuesError(index); + } +} + +/* UnpackTuple2 */ + static CYTHON_INLINE int __Pyx_unpack_tuple2_exact( + PyObject* tuple, PyObject** pvalue1, PyObject** pvalue2, int decref_tuple) { + PyObject *value1 = NULL, *value2 = NULL; +#if CYTHON_COMPILING_IN_PYPY + value1 = PySequence_ITEM(tuple, 0); if (unlikely(!value1)) goto bad; + value2 = PySequence_ITEM(tuple, 1); if (unlikely(!value2)) goto bad; +#else + value1 = PyTuple_GET_ITEM(tuple, 0); Py_INCREF(value1); + value2 = PyTuple_GET_ITEM(tuple, 1); Py_INCREF(value2); +#endif + if (decref_tuple) { + Py_DECREF(tuple); + } + *pvalue1 = value1; + *pvalue2 = value2; + return 0; +#if CYTHON_COMPILING_IN_PYPY +bad: + Py_XDECREF(value1); + Py_XDECREF(value2); + if (decref_tuple) { Py_XDECREF(tuple); } + return -1; +#endif +} +static int __Pyx_unpack_tuple2_generic(PyObject* tuple, PyObject** pvalue1, PyObject** pvalue2, + int has_known_size, int decref_tuple) { + Py_ssize_t index; + PyObject *value1 = NULL, *value2 = NULL, *iter = NULL; + iternextfunc iternext; + iter = PyObject_GetIter(tuple); + if (unlikely(!iter)) goto bad; + if (decref_tuple) { Py_DECREF(tuple); tuple = NULL; } + iternext = __Pyx_PyObject_GetIterNextFunc(iter); + value1 = iternext(iter); if (unlikely(!value1)) { index = 0; goto unpacking_failed; } + value2 = iternext(iter); if (unlikely(!value2)) { index = 1; goto unpacking_failed; } + if (!has_known_size && unlikely(__Pyx_IternextUnpackEndCheck(iternext(iter), 2))) goto bad; + Py_DECREF(iter); + *pvalue1 = value1; + *pvalue2 = value2; + return 0; +unpacking_failed: + if (!has_known_size && __Pyx_IterFinish() == 0) + __Pyx_RaiseNeedMoreValuesError(index); +bad: + Py_XDECREF(iter); + Py_XDECREF(value1); + Py_XDECREF(value2); + if (decref_tuple) { Py_XDECREF(tuple); } + return -1; +} + +/* dict_iter */ + #if CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 +#include +#endif +static CYTHON_INLINE PyObject* __Pyx_dict_iterator(PyObject* iterable, int is_dict, PyObject* method_name, + Py_ssize_t* p_orig_length, int* p_source_is_dict) { + is_dict = is_dict || likely(PyDict_CheckExact(iterable)); + *p_source_is_dict = is_dict; + if (is_dict) { +#if !CYTHON_COMPILING_IN_PYPY + *p_orig_length = PyDict_Size(iterable); + Py_INCREF(iterable); + return iterable; +#elif PY_MAJOR_VERSION >= 3 + static PyObject *py_items = NULL, *py_keys = NULL, *py_values = NULL; + PyObject **pp = NULL; + if (method_name) { + const char *name = PyUnicode_AsUTF8(method_name); + if (strcmp(name, "iteritems") == 0) pp = &py_items; + else if (strcmp(name, "iterkeys") == 0) pp = &py_keys; + else if (strcmp(name, "itervalues") == 0) pp = &py_values; + if (pp) { + if (!*pp) { + *pp = PyUnicode_FromString(name + 4); + if (!*pp) + return NULL; + } + method_name = *pp; + } + } +#endif + } + *p_orig_length = 0; + if (method_name) { + PyObject* iter; + iterable = __Pyx_PyObject_CallMethod0(iterable, method_name); + if (!iterable) + return NULL; +#if !CYTHON_COMPILING_IN_PYPY + if (PyTuple_CheckExact(iterable) || PyList_CheckExact(iterable)) + return iterable; +#endif + iter = PyObject_GetIter(iterable); + Py_DECREF(iterable); + return iter; + } + return PyObject_GetIter(iterable); +} +static CYTHON_INLINE int __Pyx_dict_iter_next( + PyObject* iter_obj, CYTHON_NCP_UNUSED Py_ssize_t orig_length, CYTHON_NCP_UNUSED Py_ssize_t* ppos, + PyObject** pkey, PyObject** pvalue, PyObject** pitem, int source_is_dict) { + PyObject* next_item; +#if !CYTHON_COMPILING_IN_PYPY + if (source_is_dict) { + PyObject *key, *value; + if (unlikely(orig_length != PyDict_Size(iter_obj))) { + PyErr_SetString(PyExc_RuntimeError, "dictionary changed size during iteration"); + return -1; + } + if (unlikely(!PyDict_Next(iter_obj, ppos, &key, &value))) { + return 0; + } + if (pitem) { + PyObject* tuple = PyTuple_New(2); + if (unlikely(!tuple)) { + return -1; + } + Py_INCREF(key); + Py_INCREF(value); + PyTuple_SET_ITEM(tuple, 0, key); + PyTuple_SET_ITEM(tuple, 1, value); + *pitem = tuple; + } else { + if (pkey) { + Py_INCREF(key); + *pkey = key; + } + if (pvalue) { + Py_INCREF(value); + *pvalue = value; + } + } + return 1; + } else if (PyTuple_CheckExact(iter_obj)) { + Py_ssize_t pos = *ppos; + if (unlikely(pos >= PyTuple_GET_SIZE(iter_obj))) return 0; + *ppos = pos + 1; + next_item = PyTuple_GET_ITEM(iter_obj, pos); + Py_INCREF(next_item); + } else if (PyList_CheckExact(iter_obj)) { + Py_ssize_t pos = *ppos; + if (unlikely(pos >= PyList_GET_SIZE(iter_obj))) return 0; + *ppos = pos + 1; + next_item = PyList_GET_ITEM(iter_obj, pos); + Py_INCREF(next_item); + } else +#endif + { + next_item = PyIter_Next(iter_obj); + if (unlikely(!next_item)) { + return __Pyx_IterFinish(); + } + } + if (pitem) { + *pitem = next_item; + } else if (pkey && pvalue) { + if (__Pyx_unpack_tuple2(next_item, pkey, pvalue, source_is_dict, source_is_dict, 1)) + return -1; + } else if (pkey) { + *pkey = next_item; + } else { + *pvalue = next_item; + } + return 1; +} + +/* PyIntBinop */ + #if !CYTHON_COMPILING_IN_PYPY +static PyObject* __Pyx_PyInt_AddObjC(PyObject *op1, PyObject *op2, long intval, int inplace, int zerodivision_check) { + CYTHON_MAYBE_UNUSED_VAR(intval); + CYTHON_MAYBE_UNUSED_VAR(inplace); + CYTHON_UNUSED_VAR(zerodivision_check); + #if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(op1))) { + const long b = intval; + long x; + long a = PyInt_AS_LONG(op1); + + x = (long)((unsigned long)a + (unsigned long)b); + if (likely((x^a) >= 0 || (x^b) >= 0)) + return PyInt_FromLong(x); + return PyLong_Type.tp_as_number->nb_add(op1, op2); + } + #endif + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(PyLong_CheckExact(op1))) { + const long b = intval; + long a, x; +#ifdef HAVE_LONG_LONG + const PY_LONG_LONG llb = intval; + PY_LONG_LONG lla, llx; +#endif + if (unlikely(__Pyx_PyLong_IsZero(op1))) { + return __Pyx_NewRef(op2); + } + if (likely(__Pyx_PyLong_IsCompact(op1))) { + a = __Pyx_PyLong_CompactValue(op1); + } else { + const digit* digits = __Pyx_PyLong_Digits(op1); + const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(op1); + switch (size) { + case -2: + if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + a = -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; + #ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 2 * PyLong_SHIFT) { + lla = -(PY_LONG_LONG) (((((unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; + #endif + } + CYTHON_FALLTHROUGH; + case 2: + if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + a = (long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; + #ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 2 * PyLong_SHIFT) { + lla = (PY_LONG_LONG) (((((unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; + #endif + } + CYTHON_FALLTHROUGH; + case -3: + if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + a = -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; + #ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 3 * PyLong_SHIFT) { + lla = -(PY_LONG_LONG) (((((((unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; + #endif + } + CYTHON_FALLTHROUGH; + case 3: + if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + a = (long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; + #ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 3 * PyLong_SHIFT) { + lla = (PY_LONG_LONG) (((((((unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; + #endif + } + CYTHON_FALLTHROUGH; + case -4: + if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { + a = -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; + #ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 4 * PyLong_SHIFT) { + lla = -(PY_LONG_LONG) (((((((((unsigned PY_LONG_LONG)digits[3]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; + #endif + } + CYTHON_FALLTHROUGH; + case 4: + if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { + a = (long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; + #ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 4 * PyLong_SHIFT) { + lla = (PY_LONG_LONG) (((((((((unsigned PY_LONG_LONG)digits[3]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; + #endif + } + CYTHON_FALLTHROUGH; + default: return PyLong_Type.tp_as_number->nb_add(op1, op2); + } + } + x = a + b; + return PyLong_FromLong(x); +#ifdef HAVE_LONG_LONG + long_long: + llx = lla + llb; + return PyLong_FromLongLong(llx); +#endif + + + } + #endif + if (PyFloat_CheckExact(op1)) { + const long b = intval; +#if CYTHON_COMPILING_IN_LIMITED_API + double a = __pyx_PyFloat_AsDouble(op1); +#else + double a = PyFloat_AS_DOUBLE(op1); +#endif + double result; + + PyFPE_START_PROTECT("add", return NULL) + result = ((double)a) + (double)b; + PyFPE_END_PROTECT(result) + return PyFloat_FromDouble(result); + } + return (inplace ? PyNumber_InPlaceAdd : PyNumber_Add)(op1, op2); +} +#endif + +/* BufferIndexError */ + static void __Pyx_RaiseBufferIndexError(int axis) { + PyErr_Format(PyExc_IndexError, + "Out of bounds on buffer access (axis %d)", axis); +} + +/* PyUnicode_Unicode */ + static CYTHON_INLINE PyObject* __Pyx_PyUnicode_Unicode(PyObject *obj) { + if (unlikely(obj == Py_None)) + obj = __pyx_kp_u_None; + return __Pyx_NewRef(obj); +} + +/* PyObject_GenericGetAttrNoDict */ + #if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { + __Pyx_TypeName type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, attr_name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(attr_name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { + PyObject *descr; + PyTypeObject *tp = Py_TYPE(obj); + if (unlikely(!PyString_Check(attr_name))) { + return PyObject_GenericGetAttr(obj, attr_name); + } + assert(!tp->tp_dictoffset); + descr = _PyType_Lookup(tp, attr_name); + if (unlikely(!descr)) { + return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); + } + Py_INCREF(descr); + #if PY_MAJOR_VERSION < 3 + if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) + #endif + { + descrgetfunc f = Py_TYPE(descr)->tp_descr_get; + if (unlikely(f)) { + PyObject *res = f(descr, obj, (PyObject *)tp); + Py_DECREF(descr); + return res; + } + } + return descr; +} +#endif + +/* PyObject_GenericGetAttr */ + #if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { + if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { + return PyObject_GenericGetAttr(obj, attr_name); + } + return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); +} +#endif + +/* ValidateBasesTuple */ + #if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases) { + Py_ssize_t i, n; +#if CYTHON_ASSUME_SAFE_MACROS + n = PyTuple_GET_SIZE(bases); +#else + n = PyTuple_Size(bases); + if (n < 0) return -1; +#endif + for (i = 1; i < n; i++) + { +#if CYTHON_AVOID_BORROWED_REFS + PyObject *b0 = PySequence_GetItem(bases, i); + if (!b0) return -1; +#elif CYTHON_ASSUME_SAFE_MACROS + PyObject *b0 = PyTuple_GET_ITEM(bases, i); +#else + PyObject *b0 = PyTuple_GetItem(bases, i); + if (!b0) return -1; +#endif + PyTypeObject *b; +#if PY_MAJOR_VERSION < 3 + if (PyClass_Check(b0)) + { + PyErr_Format(PyExc_TypeError, "base class '%.200s' is an old-style class", + PyString_AS_STRING(((PyClassObject*)b0)->cl_name)); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } +#endif + b = (PyTypeObject*) b0; + if (!__Pyx_PyType_HasFeature(b, Py_TPFLAGS_HEAPTYPE)) + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "base class '" __Pyx_FMT_TYPENAME "' is not a heap type", b_name); + __Pyx_DECREF_TypeName(b_name); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + if (dictoffset == 0) + { + Py_ssize_t b_dictoffset = 0; +#if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + b_dictoffset = b->tp_dictoffset; +#else + PyObject *py_b_dictoffset = PyObject_GetAttrString((PyObject*)b, "__dictoffset__"); + if (!py_b_dictoffset) goto dictoffset_return; + b_dictoffset = PyLong_AsSsize_t(py_b_dictoffset); + Py_DECREF(py_b_dictoffset); + if (b_dictoffset == -1 && PyErr_Occurred()) goto dictoffset_return; +#endif + if (b_dictoffset) { + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "extension type '%.200s' has no __dict__ slot, " + "but base type '" __Pyx_FMT_TYPENAME "' has: " + "either add 'cdef dict __dict__' to the extension type " + "or add '__slots__ = [...]' to the base type", + type_name, b_name); + __Pyx_DECREF_TypeName(b_name); + } +#if !(CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY) + dictoffset_return: +#endif +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + } +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + } + return 0; +} +#endif + +/* PyType_Ready */ + static int __Pyx_PyType_Ready(PyTypeObject *t) { +#if CYTHON_USE_TYPE_SPECS || !(CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API) || defined(PYSTON_MAJOR_VERSION) + (void)__Pyx_PyObject_CallMethod0; +#if CYTHON_USE_TYPE_SPECS + (void)__Pyx_validate_bases_tuple; +#endif + return PyType_Ready(t); +#else + int r; + PyObject *bases = __Pyx_PyType_GetSlot(t, tp_bases, PyObject*); + if (bases && unlikely(__Pyx_validate_bases_tuple(t->tp_name, t->tp_dictoffset, bases) == -1)) + return -1; +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + { + int gc_was_enabled; + #if PY_VERSION_HEX >= 0x030A00b1 + gc_was_enabled = PyGC_Disable(); + (void)__Pyx_PyObject_CallMethod0; + #else + PyObject *ret, *py_status; + PyObject *gc = NULL; + #if PY_VERSION_HEX >= 0x030700a1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM+0 >= 0x07030400) + gc = PyImport_GetModule(__pyx_kp_u_gc); + #endif + if (unlikely(!gc)) gc = PyImport_Import(__pyx_kp_u_gc); + if (unlikely(!gc)) return -1; + py_status = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_isenabled); + if (unlikely(!py_status)) { + Py_DECREF(gc); + return -1; + } + gc_was_enabled = __Pyx_PyObject_IsTrue(py_status); + Py_DECREF(py_status); + if (gc_was_enabled > 0) { + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_disable); + if (unlikely(!ret)) { + Py_DECREF(gc); + return -1; + } + Py_DECREF(ret); + } else if (unlikely(gc_was_enabled == -1)) { + Py_DECREF(gc); + return -1; + } + #endif + t->tp_flags |= Py_TPFLAGS_HEAPTYPE; +#if PY_VERSION_HEX >= 0x030A0000 + t->tp_flags |= Py_TPFLAGS_IMMUTABLETYPE; +#endif +#else + (void)__Pyx_PyObject_CallMethod0; +#endif + r = PyType_Ready(t); +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + t->tp_flags &= ~Py_TPFLAGS_HEAPTYPE; + #if PY_VERSION_HEX >= 0x030A00b1 + if (gc_was_enabled) + PyGC_Enable(); + #else + if (gc_was_enabled) { + PyObject *tp, *v, *tb; + PyErr_Fetch(&tp, &v, &tb); + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_enable); + if (likely(ret || r == -1)) { + Py_XDECREF(ret); + PyErr_Restore(tp, v, tb); + } else { + Py_XDECREF(tp); + Py_XDECREF(v); + Py_XDECREF(tb); + r = -1; + } + } + Py_DECREF(gc); + #endif + } +#endif + return r; +#endif +} + +/* SetupReduce */ + #if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { + int ret; + PyObject *name_attr; + name_attr = __Pyx_PyObject_GetAttrStrNoError(meth, __pyx_n_s_name_2); + if (likely(name_attr)) { + ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); + } else { + ret = -1; + } + if (unlikely(ret < 0)) { + PyErr_Clear(); + ret = 0; + } + Py_XDECREF(name_attr); + return ret; +} +static int __Pyx_setup_reduce(PyObject* type_obj) { + int ret = 0; + PyObject *object_reduce = NULL; + PyObject *object_getstate = NULL; + PyObject *object_reduce_ex = NULL; + PyObject *reduce = NULL; + PyObject *reduce_ex = NULL; + PyObject *reduce_cython = NULL; + PyObject *setstate = NULL; + PyObject *setstate_cython = NULL; + PyObject *getstate = NULL; +#if CYTHON_USE_PYTYPE_LOOKUP + getstate = _PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate); +#else + getstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_getstate); + if (!getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (getstate) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_getstate = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_getstate); +#else + object_getstate = __Pyx_PyObject_GetAttrStrNoError((PyObject*)&PyBaseObject_Type, __pyx_n_s_getstate); + if (!object_getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (object_getstate != getstate) { + goto __PYX_GOOD; + } + } +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#else + object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#endif + reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; + if (reduce_ex == object_reduce_ex) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#else + object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#endif + reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; + if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { + reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); + if (likely(reduce_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (reduce == object_reduce || PyErr_Occurred()) { + goto __PYX_BAD; + } + setstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate); + if (!setstate) PyErr_Clear(); + if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { + setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); + if (likely(setstate_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (!setstate || PyErr_Occurred()) { + goto __PYX_BAD; + } + } + PyType_Modified((PyTypeObject*)type_obj); + } + } + goto __PYX_GOOD; +__PYX_BAD: + if (!PyErr_Occurred()) { + __Pyx_TypeName type_obj_name = + __Pyx_PyType_GetName((PyTypeObject*)type_obj); + PyErr_Format(PyExc_RuntimeError, + "Unable to initialize pickling for " __Pyx_FMT_TYPENAME, type_obj_name); + __Pyx_DECREF_TypeName(type_obj_name); + } + ret = -1; +__PYX_GOOD: +#if !CYTHON_USE_PYTYPE_LOOKUP + Py_XDECREF(object_reduce); + Py_XDECREF(object_reduce_ex); + Py_XDECREF(object_getstate); + Py_XDECREF(getstate); +#endif + Py_XDECREF(reduce); + Py_XDECREF(reduce_ex); + Py_XDECREF(reduce_cython); + Py_XDECREF(setstate); + Py_XDECREF(setstate_cython); + return ret; +} +#endif + +/* SetVTable */ + static int __Pyx_SetVtable(PyTypeObject *type, void *vtable) { + PyObject *ob = PyCapsule_New(vtable, 0, 0); + if (unlikely(!ob)) + goto bad; +#if CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(PyObject_SetAttr((PyObject *) type, __pyx_n_s_pyx_vtable, ob) < 0)) +#else + if (unlikely(PyDict_SetItem(type->tp_dict, __pyx_n_s_pyx_vtable, ob) < 0)) +#endif + goto bad; + Py_DECREF(ob); + return 0; +bad: + Py_XDECREF(ob); + return -1; +} + +/* GetVTable */ + static void* __Pyx_GetVtable(PyTypeObject *type) { + void* ptr; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *ob = PyObject_GetAttr((PyObject *)type, __pyx_n_s_pyx_vtable); +#else + PyObject *ob = PyObject_GetItem(type->tp_dict, __pyx_n_s_pyx_vtable); +#endif + if (!ob) + goto bad; + ptr = PyCapsule_GetPointer(ob, 0); + if (!ptr && !PyErr_Occurred()) + PyErr_SetString(PyExc_RuntimeError, "invalid vtable found for imported type"); + Py_DECREF(ob); + return ptr; +bad: + Py_XDECREF(ob); + return NULL; +} + +/* MergeVTables */ + #if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type) { + int i; + void** base_vtables; + __Pyx_TypeName tp_base_name; + __Pyx_TypeName base_name; + void* unknown = (void*)-1; + PyObject* bases = type->tp_bases; + int base_depth = 0; + { + PyTypeObject* base = type->tp_base; + while (base) { + base_depth += 1; + base = base->tp_base; + } + } + base_vtables = (void**) malloc(sizeof(void*) * (size_t)(base_depth + 1)); + base_vtables[0] = unknown; + for (i = 1; i < PyTuple_GET_SIZE(bases); i++) { + void* base_vtable = __Pyx_GetVtable(((PyTypeObject*)PyTuple_GET_ITEM(bases, i))); + if (base_vtable != NULL) { + int j; + PyTypeObject* base = type->tp_base; + for (j = 0; j < base_depth; j++) { + if (base_vtables[j] == unknown) { + base_vtables[j] = __Pyx_GetVtable(base); + base_vtables[j + 1] = unknown; + } + if (base_vtables[j] == base_vtable) { + break; + } else if (base_vtables[j] == NULL) { + goto bad; + } + base = base->tp_base; + } + } + } + PyErr_Clear(); + free(base_vtables); + return 0; +bad: + tp_base_name = __Pyx_PyType_GetName(type->tp_base); + base_name = __Pyx_PyType_GetName((PyTypeObject*)PyTuple_GET_ITEM(bases, i)); + PyErr_Format(PyExc_TypeError, + "multiple bases have vtable conflict: '" __Pyx_FMT_TYPENAME "' and '" __Pyx_FMT_TYPENAME "'", tp_base_name, base_name); + __Pyx_DECREF_TypeName(tp_base_name); + __Pyx_DECREF_TypeName(base_name); + free(base_vtables); + return -1; +} +#endif + +/* TypeImport */ + #ifndef __PYX_HAVE_RT_ImportType_3_0_8 +#define __PYX_HAVE_RT_ImportType_3_0_8 +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject *module, const char *module_name, const char *class_name, + size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size) +{ + PyObject *result = 0; + char warning[200]; + Py_ssize_t basicsize; + Py_ssize_t itemsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + PyObject *py_itemsize; +#endif + result = PyObject_GetAttrString(module, class_name); + if (!result) + goto bad; + if (!PyType_Check(result)) { + PyErr_Format(PyExc_TypeError, + "%.200s.%.200s is not a type object", + module_name, class_name); + goto bad; + } +#if !CYTHON_COMPILING_IN_LIMITED_API + basicsize = ((PyTypeObject *)result)->tp_basicsize; + itemsize = ((PyTypeObject *)result)->tp_itemsize; +#else + py_basicsize = PyObject_GetAttrString(result, "__basicsize__"); + if (!py_basicsize) + goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (basicsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; + py_itemsize = PyObject_GetAttrString(result, "__itemsize__"); + if (!py_itemsize) + goto bad; + itemsize = PyLong_AsSsize_t(py_itemsize); + Py_DECREF(py_itemsize); + py_itemsize = 0; + if (itemsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; +#endif + if (itemsize) { + if (size % alignment) { + alignment = size % alignment; + } + if (itemsize < (Py_ssize_t)alignment) + itemsize = (Py_ssize_t)alignment; + } + if ((size_t)(basicsize + itemsize) < size) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize+itemsize); + goto bad; + } + if (check_size == __Pyx_ImportType_CheckSize_Error_3_0_8 && + ((size_t)basicsize > size || (size_t)(basicsize + itemsize) < size)) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd-%zd from PyObject", + module_name, class_name, size, basicsize, basicsize+itemsize); + goto bad; + } + else if (check_size == __Pyx_ImportType_CheckSize_Warn_3_0_8 && (size_t)basicsize > size) { + PyOS_snprintf(warning, sizeof(warning), + "%s.%s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize); + if (PyErr_WarnEx(NULL, warning, 0) < 0) goto bad; + } + return (PyTypeObject *)result; +bad: + Py_XDECREF(result); + return NULL; +} +#endif + +/* CLineInTraceback */ + #ifndef CYTHON_CLINE_IN_TRACEBACK +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line) { + PyObject *use_cline; + PyObject *ptype, *pvalue, *ptraceback; +#if CYTHON_COMPILING_IN_CPYTHON + PyObject **cython_runtime_dict; +#endif + CYTHON_MAYBE_UNUSED_VAR(tstate); + if (unlikely(!__pyx_cython_runtime)) { + return c_line; + } + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); +#if CYTHON_COMPILING_IN_CPYTHON + cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); + if (likely(cython_runtime_dict)) { + __PYX_PY_DICT_LOOKUP_IF_MODIFIED( + use_cline, *cython_runtime_dict, + __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) + } else +#endif + { + PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStrNoError(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); + if (use_cline_obj) { + use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; +} +#endif + +/* CodeObjectCache */ + #if !CYTHON_COMPILING_IN_LIMITED_API +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; + } + } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } +} +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; + } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; +} +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; + } + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; + } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); +} +#endif + +/* AddTraceback */ + #include "compile.h" +#include "frameobject.h" +#include "traceback.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyCode_Replace_For_AddTraceback(PyObject *code, PyObject *scratch_dict, + PyObject *firstlineno, PyObject *name) { + PyObject *replace = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_firstlineno", firstlineno))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_name", name))) return NULL; + replace = PyObject_GetAttrString(code, "replace"); + if (likely(replace)) { + PyObject *result; + result = PyObject_Call(replace, __pyx_empty_tuple, scratch_dict); + Py_DECREF(replace); + return result; + } + PyErr_Clear(); + #if __PYX_LIMITED_VERSION_HEX < 0x030780000 + { + PyObject *compiled = NULL, *result = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "code", code))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "type", (PyObject*)(&PyType_Type)))) return NULL; + compiled = Py_CompileString( + "out = type(code)(\n" + " code.co_argcount, code.co_kwonlyargcount, code.co_nlocals, code.co_stacksize,\n" + " code.co_flags, code.co_code, code.co_consts, code.co_names,\n" + " code.co_varnames, code.co_filename, co_name, co_firstlineno,\n" + " code.co_lnotab)\n", "", Py_file_input); + if (!compiled) return NULL; + result = PyEval_EvalCode(compiled, scratch_dict, scratch_dict); + Py_DECREF(compiled); + if (!result) PyErr_Print(); + Py_DECREF(result); + result = PyDict_GetItemString(scratch_dict, "out"); + if (result) Py_INCREF(result); + return result; + } + #else + return NULL; + #endif +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyObject *code_object = NULL, *py_py_line = NULL, *py_funcname = NULL, *dict = NULL; + PyObject *replace = NULL, *getframe = NULL, *frame = NULL; + PyObject *exc_type, *exc_value, *exc_traceback; + int success = 0; + if (c_line) { + (void) __pyx_cfilenm; + (void) __Pyx_CLineForTraceback(__Pyx_PyThreadState_Current, c_line); + } + PyErr_Fetch(&exc_type, &exc_value, &exc_traceback); + code_object = Py_CompileString("_getframe()", filename, Py_eval_input); + if (unlikely(!code_object)) goto bad; + py_py_line = PyLong_FromLong(py_line); + if (unlikely(!py_py_line)) goto bad; + py_funcname = PyUnicode_FromString(funcname); + if (unlikely(!py_funcname)) goto bad; + dict = PyDict_New(); + if (unlikely(!dict)) goto bad; + { + PyObject *old_code_object = code_object; + code_object = __Pyx_PyCode_Replace_For_AddTraceback(code_object, dict, py_py_line, py_funcname); + Py_DECREF(old_code_object); + } + if (unlikely(!code_object)) goto bad; + getframe = PySys_GetObject("_getframe"); + if (unlikely(!getframe)) goto bad; + if (unlikely(PyDict_SetItemString(dict, "_getframe", getframe))) goto bad; + frame = PyEval_EvalCode(code_object, dict, dict); + if (unlikely(!frame) || frame == Py_None) goto bad; + success = 1; + bad: + PyErr_Restore(exc_type, exc_value, exc_traceback); + Py_XDECREF(code_object); + Py_XDECREF(py_py_line); + Py_XDECREF(py_funcname); + Py_XDECREF(dict); + Py_XDECREF(replace); + if (success) { + PyTraceBack_Here( + (struct _frame*)frame); + } + Py_XDECREF(frame); +} +#else +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = NULL; + PyObject *py_funcname = NULL; + #if PY_MAJOR_VERSION < 3 + PyObject *py_srcfile = NULL; + py_srcfile = PyString_FromString(filename); + if (!py_srcfile) goto bad; + #endif + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + funcname = PyUnicode_AsUTF8(py_funcname); + if (!funcname) goto bad; + #endif + } + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + if (!py_funcname) goto bad; + #endif + } + #if PY_MAJOR_VERSION < 3 + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + #else + py_code = PyCode_NewEmpty(filename, funcname, py_line); + #endif + Py_XDECREF(py_funcname); + return py_code; +bad: + Py_XDECREF(py_funcname); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_srcfile); + #endif + return NULL; +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject *ptype, *pvalue, *ptraceback; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); + } + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) { + /* If the code object creation fails, then we should clear the + fetched exception references and propagate the new exception */ + Py_XDECREF(ptype); + Py_XDECREF(pvalue); + Py_XDECREF(ptraceback); + goto bad; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + } + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} +#endif + +#if PY_MAJOR_VERSION < 3 +static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags) { + __Pyx_TypeName obj_type_name; + if (PyObject_CheckBuffer(obj)) return PyObject_GetBuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_array_type)) return __pyx_array_getbuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_memoryview_type)) return __pyx_memoryview_getbuffer(obj, view, flags); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' does not have the buffer interface", + obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return -1; +} +static void __Pyx_ReleaseBuffer(Py_buffer *view) { + PyObject *obj = view->obj; + if (!obj) return; + if (PyObject_CheckBuffer(obj)) { + PyBuffer_Release(view); + return; + } + if ((0)) {} + view->obj = NULL; + Py_DECREF(obj); +} +#endif + + + /* MemviewSliceIsContig */ + static int +__pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim) +{ + int i, index, step, start; + Py_ssize_t itemsize = mvs.memview->view.itemsize; + if (order == 'F') { + step = 1; + start = 0; + } else { + step = -1; + start = ndim - 1; + } + for (i = 0; i < ndim; i++) { + index = start + step * i; + if (mvs.suboffsets[index] >= 0 || mvs.strides[index] != itemsize) + return 0; + itemsize *= mvs.shape[index]; + } + return 1; +} + +/* OverlappingSlices */ + static void +__pyx_get_array_memory_extents(__Pyx_memviewslice *slice, + void **out_start, void **out_end, + int ndim, size_t itemsize) +{ + char *start, *end; + int i; + start = end = slice->data; + for (i = 0; i < ndim; i++) { + Py_ssize_t stride = slice->strides[i]; + Py_ssize_t extent = slice->shape[i]; + if (extent == 0) { + *out_start = *out_end = start; + return; + } else { + if (stride > 0) + end += stride * (extent - 1); + else + start += stride * (extent - 1); + } + } + *out_start = start; + *out_end = end + itemsize; +} +static int +__pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize) +{ + void *start1, *end1, *start2, *end2; + __pyx_get_array_memory_extents(slice1, &start1, &end1, ndim, itemsize); + __pyx_get_array_memory_extents(slice2, &start2, &end2, ndim, itemsize); + return (start1 < end2) && (start2 < end1); +} + +/* CIntFromPyVerify */ + #define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* TypeInfoCompare */ + static int +__pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b) +{ + int i; + if (!a || !b) + return 0; + if (a == b) + return 1; + if (a->size != b->size || a->typegroup != b->typegroup || + a->is_unsigned != b->is_unsigned || a->ndim != b->ndim) { + if (a->typegroup == 'H' || b->typegroup == 'H') { + return a->size == b->size; + } else { + return 0; + } + } + if (a->ndim) { + for (i = 0; i < a->ndim; i++) + if (a->arraysize[i] != b->arraysize[i]) + return 0; + } + if (a->typegroup == 'S') { + if (a->flags != b->flags) + return 0; + if (a->fields || b->fields) { + if (!(a->fields && b->fields)) + return 0; + for (i = 0; a->fields[i].type && b->fields[i].type; i++) { + __Pyx_StructField *field_a = a->fields + i; + __Pyx_StructField *field_b = b->fields + i; + if (field_a->offset != field_b->offset || + !__pyx_typeinfo_cmp(field_a->type, field_b->type)) + return 0; + } + return !a->fields[i].type && !b->fields[i].type; + } + } + return 1; +} + +/* MemviewSliceValidateAndInit */ + static int +__pyx_check_strides(Py_buffer *buf, int dim, int ndim, int spec) +{ + if (buf->shape[dim] <= 1) + return 1; + if (buf->strides) { + if (spec & __Pyx_MEMVIEW_CONTIG) { + if (spec & (__Pyx_MEMVIEW_PTR|__Pyx_MEMVIEW_FULL)) { + if (unlikely(buf->strides[dim] != sizeof(void *))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly contiguous " + "in dimension %d.", dim); + goto fail; + } + } else if (unlikely(buf->strides[dim] != buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_FOLLOW) { + Py_ssize_t stride = buf->strides[dim]; + if (stride < 0) + stride = -stride; + if (unlikely(stride < buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + } else { + if (unlikely(spec & __Pyx_MEMVIEW_CONTIG && dim != ndim - 1)) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not contiguous in " + "dimension %d", dim); + goto fail; + } else if (unlikely(spec & (__Pyx_MEMVIEW_PTR))) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not indirect in " + "dimension %d", dim); + goto fail; + } else if (unlikely(buf->suboffsets)) { + PyErr_SetString(PyExc_ValueError, + "Buffer exposes suboffsets but no strides"); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_check_suboffsets(Py_buffer *buf, int dim, int ndim, int spec) +{ + CYTHON_UNUSED_VAR(ndim); + if (spec & __Pyx_MEMVIEW_DIRECT) { + if (unlikely(buf->suboffsets && buf->suboffsets[dim] >= 0)) { + PyErr_Format(PyExc_ValueError, + "Buffer not compatible with direct access " + "in dimension %d.", dim); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_PTR) { + if (unlikely(!buf->suboffsets || (buf->suboffsets[dim] < 0))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly accessible " + "in dimension %d.", dim); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_verify_contig(Py_buffer *buf, int ndim, int c_or_f_flag) +{ + int i; + if (c_or_f_flag & __Pyx_IS_F_CONTIG) { + Py_ssize_t stride = 1; + for (i = 0; i < ndim; i++) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not fortran contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } else if (c_or_f_flag & __Pyx_IS_C_CONTIG) { + Py_ssize_t stride = 1; + for (i = ndim - 1; i >- 1; i--) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not C contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } + return 1; +fail: + return 0; +} +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj) +{ + struct __pyx_memoryview_obj *memview, *new_memview; + __Pyx_RefNannyDeclarations + Py_buffer *buf; + int i, spec = 0, retval = -1; + __Pyx_BufFmt_Context ctx; + int from_memoryview = __pyx_memoryview_check(original_obj); + __Pyx_RefNannySetupContext("ValidateAndInit_memviewslice", 0); + if (from_memoryview && __pyx_typeinfo_cmp(dtype, ((struct __pyx_memoryview_obj *) + original_obj)->typeinfo)) { + memview = (struct __pyx_memoryview_obj *) original_obj; + new_memview = NULL; + } else { + memview = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + original_obj, buf_flags, 0, dtype); + new_memview = memview; + if (unlikely(!memview)) + goto fail; + } + buf = &memview->view; + if (unlikely(buf->ndim != ndim)) { + PyErr_Format(PyExc_ValueError, + "Buffer has wrong number of dimensions (expected %d, got %d)", + ndim, buf->ndim); + goto fail; + } + if (new_memview) { + __Pyx_BufFmt_Init(&ctx, stack, dtype); + if (unlikely(!__Pyx_BufFmt_CheckString(&ctx, buf->format))) goto fail; + } + if (unlikely((unsigned) buf->itemsize != dtype->size)) { + PyErr_Format(PyExc_ValueError, + "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "u byte%s) " + "does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "u byte%s)", + buf->itemsize, + (buf->itemsize > 1) ? "s" : "", + dtype->name, + dtype->size, + (dtype->size > 1) ? "s" : ""); + goto fail; + } + if (buf->len > 0) { + for (i = 0; i < ndim; i++) { + spec = axes_specs[i]; + if (unlikely(!__pyx_check_strides(buf, i, ndim, spec))) + goto fail; + if (unlikely(!__pyx_check_suboffsets(buf, i, ndim, spec))) + goto fail; + } + if (unlikely(buf->strides && !__pyx_verify_contig(buf, ndim, c_or_f_flag))) + goto fail; + } + if (unlikely(__Pyx_init_memviewslice(memview, ndim, memviewslice, + new_memview != NULL) == -1)) { + goto fail; + } + retval = 0; + goto no_fail; +fail: + Py_XDECREF(new_memview); + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} + +/* ObjectToMemviewSlice */ + static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dcd__double(PyObject *obj, int writable_flag) { + __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; + __Pyx_BufFmt_StackElem stack[1]; + int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_CONTIG), (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_FOLLOW) }; + int retcode; + if (obj == Py_None) { + result.memview = (struct __pyx_memoryview_obj *) Py_None; + return result; + } + retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, __Pyx_IS_F_CONTIG, + (PyBUF_F_CONTIGUOUS | PyBUF_FORMAT) | writable_flag, 2, + &__Pyx_TypeInfo_double, stack, + &result, obj); + if (unlikely(retcode == -1)) + goto __pyx_fail; + return result; +__pyx_fail: + result.memview = NULL; + result.data = NULL; + return result; +} + +/* ObjectToMemviewSlice */ + static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dc_unsigned_char(PyObject *obj, int writable_flag) { + __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; + __Pyx_BufFmt_StackElem stack[1]; + int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_CONTIG) }; + int retcode; + if (obj == Py_None) { + result.memview = (struct __pyx_memoryview_obj *) Py_None; + return result; + } + retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, __Pyx_IS_C_CONTIG, + (PyBUF_C_CONTIGUOUS | PyBUF_FORMAT) | writable_flag, 1, + &__Pyx_TypeInfo_unsigned_char, stack, + &result, obj); + if (unlikely(retcode == -1)) + goto __pyx_fail; + return result; +__pyx_fail: + result.memview = NULL; + result.data = NULL; + return result; +} + +/* Declarations */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #ifdef __cplusplus + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + return ::std::complex< float >(x, y); + } + #else + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + return x + y*(__pyx_t_float_complex)_Complex_I; + } + #endif +#else + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + __pyx_t_float_complex z; + z.real = x; + z.imag = y; + return z; + } +#endif + +/* Arithmetic */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) +#else + static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + return (a.real == b.real) && (a.imag == b.imag); + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real + b.real; + z.imag = a.imag + b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real - b.real; + z.imag = a.imag - b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real * b.real - a.imag * b.imag; + z.imag = a.real * b.imag + a.imag * b.real; + return z; + } + #if 1 + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + if (b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); + } else if (fabsf(b.real) >= fabsf(b.imag)) { + if (b.real == 0 && b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.imag); + } else { + float r = b.imag / b.real; + float s = (float)(1.0) / (b.real + b.imag * r); + return __pyx_t_float_complex_from_parts( + (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); + } + } else { + float r = b.real / b.imag; + float s = (float)(1.0) / (b.imag + b.real * r); + return __pyx_t_float_complex_from_parts( + (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); + } + } + #else + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + if (b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); + } else { + float denom = b.real * b.real + b.imag * b.imag; + return __pyx_t_float_complex_from_parts( + (a.real * b.real + a.imag * b.imag) / denom, + (a.imag * b.real - a.real * b.imag) / denom); + } + } + #endif + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex a) { + __pyx_t_float_complex z; + z.real = -a.real; + z.imag = -a.imag; + return z; + } + static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex a) { + return (a.real == 0) && (a.imag == 0); + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex a) { + __pyx_t_float_complex z; + z.real = a.real; + z.imag = -a.imag; + return z; + } + #if 1 + static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex z) { + #if !defined(HAVE_HYPOT) || defined(_MSC_VER) + return sqrtf(z.real*z.real + z.imag*z.imag); + #else + return hypotf(z.real, z.imag); + #endif + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + float r, lnr, theta, z_r, z_theta; + if (b.imag == 0 && b.real == (int)b.real) { + if (b.real < 0) { + float denom = a.real * a.real + a.imag * a.imag; + a.real = a.real / denom; + a.imag = -a.imag / denom; + b.real = -b.real; + } + switch ((int)b.real) { + case 0: + z.real = 1; + z.imag = 0; + return z; + case 1: + return a; + case 2: + return __Pyx_c_prod_float(a, a); + case 3: + z = __Pyx_c_prod_float(a, a); + return __Pyx_c_prod_float(z, a); + case 4: + z = __Pyx_c_prod_float(a, a); + return __Pyx_c_prod_float(z, z); + } + } + if (a.imag == 0) { + if (a.real == 0) { + return a; + } else if ((b.imag == 0) && (a.real >= 0)) { + z.real = powf(a.real, b.real); + z.imag = 0; + return z; + } else if (a.real > 0) { + r = a.real; + theta = 0; + } else { + r = -a.real; + theta = atan2f(0.0, -1.0); + } + } else { + r = __Pyx_c_abs_float(a); + theta = atan2f(a.imag, a.real); + } + lnr = logf(r); + z_r = expf(lnr * b.real - theta * b.imag); + z_theta = theta * b.real + lnr * b.imag; + z.real = z_r * cosf(z_theta); + z.imag = z_r * sinf(z_theta); + return z; + } + #endif +#endif + +/* Declarations */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #ifdef __cplusplus + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + return ::std::complex< double >(x, y); + } + #else + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + return x + y*(__pyx_t_double_complex)_Complex_I; + } + #endif +#else + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + __pyx_t_double_complex z; + z.real = x; + z.imag = y; + return z; + } +#endif + +/* Arithmetic */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) +#else + static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + return (a.real == b.real) && (a.imag == b.imag); + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real + b.real; + z.imag = a.imag + b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real - b.real; + z.imag = a.imag - b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real * b.real - a.imag * b.imag; + z.imag = a.real * b.imag + a.imag * b.real; + return z; + } + #if 1 + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + if (b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); + } else if (fabs(b.real) >= fabs(b.imag)) { + if (b.real == 0 && b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.imag); + } else { + double r = b.imag / b.real; + double s = (double)(1.0) / (b.real + b.imag * r); + return __pyx_t_double_complex_from_parts( + (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); + } + } else { + double r = b.real / b.imag; + double s = (double)(1.0) / (b.imag + b.real * r); + return __pyx_t_double_complex_from_parts( + (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); + } + } + #else + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + if (b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); + } else { + double denom = b.real * b.real + b.imag * b.imag; + return __pyx_t_double_complex_from_parts( + (a.real * b.real + a.imag * b.imag) / denom, + (a.imag * b.real - a.real * b.imag) / denom); + } + } + #endif + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex a) { + __pyx_t_double_complex z; + z.real = -a.real; + z.imag = -a.imag; + return z; + } + static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex a) { + return (a.real == 0) && (a.imag == 0); + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex a) { + __pyx_t_double_complex z; + z.real = a.real; + z.imag = -a.imag; + return z; + } + #if 1 + static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex z) { + #if !defined(HAVE_HYPOT) || defined(_MSC_VER) + return sqrt(z.real*z.real + z.imag*z.imag); + #else + return hypot(z.real, z.imag); + #endif + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + double r, lnr, theta, z_r, z_theta; + if (b.imag == 0 && b.real == (int)b.real) { + if (b.real < 0) { + double denom = a.real * a.real + a.imag * a.imag; + a.real = a.real / denom; + a.imag = -a.imag / denom; + b.real = -b.real; + } + switch ((int)b.real) { + case 0: + z.real = 1; + z.imag = 0; + return z; + case 1: + return a; + case 2: + return __Pyx_c_prod_double(a, a); + case 3: + z = __Pyx_c_prod_double(a, a); + return __Pyx_c_prod_double(z, a); + case 4: + z = __Pyx_c_prod_double(a, a); + return __Pyx_c_prod_double(z, z); + } + } + if (a.imag == 0) { + if (a.real == 0) { + return a; + } else if ((b.imag == 0) && (a.real >= 0)) { + z.real = pow(a.real, b.real); + z.imag = 0; + return z; + } else if (a.real > 0) { + r = a.real; + theta = 0; + } else { + r = -a.real; + theta = atan2(0.0, -1.0); + } + } else { + r = __Pyx_c_abs_double(a); + theta = atan2(a.imag, a.real); + } + lnr = log(r); + z_r = exp(lnr * b.real - theta * b.imag); + z_theta = theta * b.real + lnr * b.imag; + z.real = z_r * cos(z_theta); + z.imag = z_r * sin(z_theta); + return z; + } + #endif +#endif + +/* MemviewSliceCopyTemplate */ + static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object) +{ + __Pyx_RefNannyDeclarations + int i; + __Pyx_memviewslice new_mvs = { 0, 0, { 0 }, { 0 }, { 0 } }; + struct __pyx_memoryview_obj *from_memview = from_mvs->memview; + Py_buffer *buf = &from_memview->view; + PyObject *shape_tuple = NULL; + PyObject *temp_int = NULL; + struct __pyx_array_obj *array_obj = NULL; + struct __pyx_memoryview_obj *memview_obj = NULL; + __Pyx_RefNannySetupContext("__pyx_memoryview_copy_new_contig", 0); + for (i = 0; i < ndim; i++) { + if (unlikely(from_mvs->suboffsets[i] >= 0)) { + PyErr_Format(PyExc_ValueError, "Cannot copy memoryview slice with " + "indirect dimensions (axis %d)", i); + goto fail; + } + } + shape_tuple = PyTuple_New(ndim); + if (unlikely(!shape_tuple)) { + goto fail; + } + __Pyx_GOTREF(shape_tuple); + for(i = 0; i < ndim; i++) { + temp_int = PyInt_FromSsize_t(from_mvs->shape[i]); + if(unlikely(!temp_int)) { + goto fail; + } else { + PyTuple_SET_ITEM(shape_tuple, i, temp_int); + temp_int = NULL; + } + } + array_obj = __pyx_array_new(shape_tuple, sizeof_dtype, buf->format, (char *) mode, NULL); + if (unlikely(!array_obj)) { + goto fail; + } + __Pyx_GOTREF(array_obj); + memview_obj = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + (PyObject *) array_obj, contig_flag, + dtype_is_object, + from_mvs->memview->typeinfo); + if (unlikely(!memview_obj)) + goto fail; + if (unlikely(__Pyx_init_memviewslice(memview_obj, ndim, &new_mvs, 1) < 0)) + goto fail; + if (unlikely(__pyx_memoryview_copy_contents(*from_mvs, new_mvs, ndim, ndim, + dtype_is_object) < 0)) + goto fail; + goto no_fail; +fail: + __Pyx_XDECREF(new_mvs.memview); + new_mvs.memview = NULL; + new_mvs.data = NULL; +no_fail: + __Pyx_XDECREF(shape_tuple); + __Pyx_XDECREF(temp_int); + __Pyx_XDECREF(array_obj); + __Pyx_RefNannyFinishContext(); + return new_mvs; +} + +/* MemviewSliceInit */ + static int +__Pyx_init_memviewslice(struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference) +{ + __Pyx_RefNannyDeclarations + int i, retval=-1; + Py_buffer *buf = &memview->view; + __Pyx_RefNannySetupContext("init_memviewslice", 0); + if (unlikely(memviewslice->memview || memviewslice->data)) { + PyErr_SetString(PyExc_ValueError, + "memviewslice is already initialized!"); + goto fail; + } + if (buf->strides) { + for (i = 0; i < ndim; i++) { + memviewslice->strides[i] = buf->strides[i]; + } + } else { + Py_ssize_t stride = buf->itemsize; + for (i = ndim - 1; i >= 0; i--) { + memviewslice->strides[i] = stride; + stride *= buf->shape[i]; + } + } + for (i = 0; i < ndim; i++) { + memviewslice->shape[i] = buf->shape[i]; + if (buf->suboffsets) { + memviewslice->suboffsets[i] = buf->suboffsets[i]; + } else { + memviewslice->suboffsets[i] = -1; + } + } + memviewslice->memview = memview; + memviewslice->data = (char *)buf->buf; + if (__pyx_add_acquisition_count(memview) == 0 && !memview_is_new_reference) { + Py_INCREF(memview); + } + retval = 0; + goto no_fail; +fail: + memviewslice->memview = 0; + memviewslice->data = 0; + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} +#ifndef Py_NO_RETURN +#define Py_NO_RETURN +#endif +static void __pyx_fatalerror(const char *fmt, ...) Py_NO_RETURN { + va_list vargs; + char msg[200]; +#if PY_VERSION_HEX >= 0x030A0000 || defined(HAVE_STDARG_PROTOTYPES) + va_start(vargs, fmt); +#else + va_start(vargs); +#endif + vsnprintf(msg, 200, fmt, vargs); + va_end(vargs); + Py_FatalError(msg); +} +static CYTHON_INLINE int +__pyx_add_acquisition_count_locked(__pyx_atomic_int_type *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)++; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE int +__pyx_sub_acquisition_count_locked(__pyx_atomic_int_type *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)--; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE void +__Pyx_INC_MEMVIEW(__Pyx_memviewslice *memslice, int have_gil, int lineno) +{ + __pyx_nonatomic_int_type old_acquisition_count; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + return; + } + old_acquisition_count = __pyx_add_acquisition_count(memview); + if (unlikely(old_acquisition_count <= 0)) { + if (likely(old_acquisition_count == 0)) { + if (have_gil) { + Py_INCREF((PyObject *) memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_INCREF((PyObject *) memview); + PyGILState_Release(_gilstate); + } + } else { + __pyx_fatalerror("Acquisition count is %d (line %d)", + old_acquisition_count+1, lineno); + } + } +} +static CYTHON_INLINE void __Pyx_XCLEAR_MEMVIEW(__Pyx_memviewslice *memslice, + int have_gil, int lineno) { + __pyx_nonatomic_int_type old_acquisition_count; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + memslice->memview = NULL; + return; + } + old_acquisition_count = __pyx_sub_acquisition_count(memview); + memslice->data = NULL; + if (likely(old_acquisition_count > 1)) { + memslice->memview = NULL; + } else if (likely(old_acquisition_count == 1)) { + if (have_gil) { + Py_CLEAR(memslice->memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_CLEAR(memslice->memview); + PyGILState_Release(_gilstate); + } + } else { + __pyx_fatalerror("Acquisition count is %d (line %d)", + old_acquisition_count-1, lineno); + } +} + +/* CIntFromPy */ + static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(int) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (int) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 2 * PyLong_SHIFT)) { + return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 3 * PyLong_SHIFT)) { + return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 4 * PyLong_SHIFT)) { + return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(int) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(int) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(int) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + int val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (int) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (int) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (int) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (int) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(int) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(int) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((int) 1) << (sizeof(int) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (int) -1; + } + } else { + int val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (int) -1; + val = __Pyx_PyInt_As_int(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to int"); + return (int) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to int"); + return (int) -1; +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(int) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(int) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(int) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(int), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(int)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPy */ + static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(long) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (long) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 2 * PyLong_SHIFT)) { + return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 3 * PyLong_SHIFT)) { + return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 4 * PyLong_SHIFT)) { + return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(long) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(long) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(long) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + long val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (long) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (long) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (long) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (long) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(long) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(long) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((long) 1) << (sizeof(long) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (long) -1; + } + } else { + long val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (long) -1; + val = __Pyx_PyInt_As_long(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to long"); + return (long) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to long"); + return (long) -1; +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(long)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPy */ + static CYTHON_INLINE size_t __Pyx_PyInt_As_size_t(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const size_t neg_one = (size_t) -1, const_zero = (size_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(size_t) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(size_t, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (size_t) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(size_t, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(size_t) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) >= 2 * PyLong_SHIFT)) { + return (size_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(size_t) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) >= 3 * PyLong_SHIFT)) { + return (size_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(size_t) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) >= 4 * PyLong_SHIFT)) { + return (size_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (size_t) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(size_t) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(size_t) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(size_t, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(size_t) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT)) { + return (size_t) (((size_t)-1)*(((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(size_t) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT)) { + return (size_t) ((((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT)) { + return (size_t) (((size_t)-1)*(((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(size_t) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT)) { + return (size_t) ((((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 4 * PyLong_SHIFT)) { + return (size_t) (((size_t)-1)*(((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(size_t) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 4 * PyLong_SHIFT)) { + return (size_t) ((((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(size_t) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(size_t) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + size_t val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (size_t) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (size_t) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (size_t) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (size_t) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (size_t) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(size_t) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((size_t) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(size_t) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((size_t) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((size_t) 1) << (sizeof(size_t) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (size_t) -1; + } + } else { + size_t val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (size_t) -1; + val = __Pyx_PyInt_As_size_t(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to size_t"); + return (size_t) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to size_t"); + return (size_t) -1; +} + +/* CIntFromPy */ + static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const char neg_one = (char) -1, const_zero = (char) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(char) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(char, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (char) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(char, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(char) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 2 * PyLong_SHIFT)) { + return (char) (((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(char) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 3 * PyLong_SHIFT)) { + return (char) (((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(char) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 4 * PyLong_SHIFT)) { + return (char) (((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(char) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(char) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(char, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(char) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(char) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + return (char) ((((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(char) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + return (char) ((((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 4 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(char) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 4 * PyLong_SHIFT)) { + return (char) ((((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(char) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(char, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(char) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(char, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + char val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (char) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (char) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (char) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (char) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(char) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((char) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(char) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((char) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((char) 1) << (sizeof(char) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (char) -1; + } + } else { + char val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (char) -1; + val = __Pyx_PyInt_As_char(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to char"); + return (char) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to char"); + return (char) -1; +} + +/* FormatTypeName */ + #if CYTHON_COMPILING_IN_LIMITED_API +static __Pyx_TypeName +__Pyx_PyType_GetName(PyTypeObject* tp) +{ + PyObject *name = __Pyx_PyObject_GetAttrStr((PyObject *)tp, + __pyx_n_s_name_2); + if (unlikely(name == NULL) || unlikely(!PyUnicode_Check(name))) { + PyErr_Clear(); + Py_XDECREF(name); + name = __Pyx_NewRef(__pyx_n_s__94); + } + return name; +} +#endif + +/* CheckBinaryVersion */ + static unsigned long __Pyx_get_runtime_version(void) { +#if __PYX_LIMITED_VERSION_HEX >= 0x030B00A4 + return Py_Version & ~0xFFUL; +#else + const char* rt_version = Py_GetVersion(); + unsigned long version = 0; + unsigned long factor = 0x01000000UL; + unsigned int digit = 0; + int i = 0; + while (factor) { + while ('0' <= rt_version[i] && rt_version[i] <= '9') { + digit = digit * 10 + (unsigned int) (rt_version[i] - '0'); + ++i; + } + version += factor * digit; + if (rt_version[i] != '.') + break; + digit = 0; + factor >>= 8; + ++i; + } + return version; +#endif +} +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer) { + const unsigned long MAJOR_MINOR = 0xFFFF0000UL; + if ((rt_version & MAJOR_MINOR) == (ct_version & MAJOR_MINOR)) + return 0; + if (likely(allow_newer && (rt_version & MAJOR_MINOR) > (ct_version & MAJOR_MINOR))) + return 1; + { + char message[200]; + PyOS_snprintf(message, sizeof(message), + "compile time Python version %d.%d " + "of module '%.100s' " + "%s " + "runtime version %d.%d", + (int) (ct_version >> 24), (int) ((ct_version >> 16) & 0xFF), + __Pyx_MODULE_NAME, + (allow_newer) ? "was newer than" : "does not match", + (int) (rt_version >> 24), (int) ((rt_version >> 16) & 0xFF) + ); + return PyErr_WarnEx(NULL, message, 1); + } +} + +/* InitStrings */ + #if PY_MAJOR_VERSION >= 3 +static int __Pyx_InitString(__Pyx_StringTabEntry t, PyObject **str) { + if (t.is_unicode | t.is_str) { + if (t.intern) { + *str = PyUnicode_InternFromString(t.s); + } else if (t.encoding) { + *str = PyUnicode_Decode(t.s, t.n - 1, t.encoding, NULL); + } else { + *str = PyUnicode_FromStringAndSize(t.s, t.n - 1); + } + } else { + *str = PyBytes_FromStringAndSize(t.s, t.n - 1); + } + if (!*str) + return -1; + if (PyObject_Hash(*str) == -1) + return -1; + return 0; +} +#endif +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t) { + while (t->p) { + #if PY_MAJOR_VERSION >= 3 + __Pyx_InitString(*t, t->p); + #else + if (t->is_unicode) { + *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); + } else if (t->intern) { + *t->p = PyString_InternFromString(t->s); + } else { + *t->p = PyString_FromStringAndSize(t->s, t->n - 1); + } + if (!*t->p) + return -1; + if (PyObject_Hash(*t->p) == -1) + return -1; + #endif + ++t; + } + return 0; +} + +#include +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s) { + size_t len = strlen(s); + if (unlikely(len > (size_t) PY_SSIZE_T_MAX)) { + PyErr_SetString(PyExc_OverflowError, "byte string is too long"); + return -1; + } + return (Py_ssize_t) len; +} +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return __Pyx_PyUnicode_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return PyByteArray_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { + Py_ssize_t ignore; + return __Pyx_PyObject_AsStringAndSize(o, &ignore); +} +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#if !CYTHON_PEP393_ENABLED +static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + char* defenc_c; + PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); + if (!defenc) return NULL; + defenc_c = PyBytes_AS_STRING(defenc); +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + { + char* end = defenc_c + PyBytes_GET_SIZE(defenc); + char* c; + for (c = defenc_c; c < end; c++) { + if ((unsigned char) (*c) >= 128) { + PyUnicode_AsASCIIString(o); + return NULL; + } + } + } +#endif + *length = PyBytes_GET_SIZE(defenc); + return defenc_c; +} +#else +static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + if (likely(PyUnicode_IS_ASCII(o))) { + *length = PyUnicode_GET_LENGTH(o); + return PyUnicode_AsUTF8(o); + } else { + PyUnicode_AsASCIIString(o); + return NULL; + } +#else + return PyUnicode_AsUTF8AndSize(o, length); +#endif +} +#endif +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT + if ( +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + __Pyx_sys_getdefaultencoding_not_ascii && +#endif + PyUnicode_Check(o)) { + return __Pyx_PyUnicode_AsStringAndSize(o, length); + } else +#endif +#if (!CYTHON_COMPILING_IN_PYPY && !CYTHON_COMPILING_IN_LIMITED_API) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) + if (PyByteArray_Check(o)) { + *length = PyByteArray_GET_SIZE(o); + return PyByteArray_AS_STRING(o); + } else +#endif + { + char* result; + int r = PyBytes_AsStringAndSize(o, &result, length); + if (unlikely(r < 0)) { + return NULL; + } else { + return result; + } + } +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { + int is_true = x == Py_True; + if (is_true | (x == Py_False) | (x == Py_None)) return is_true; + else return PyObject_IsTrue(x); +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { + int retval; + if (unlikely(!x)) return -1; + retval = __Pyx_PyObject_IsTrue(x); + Py_DECREF(x); + return retval; +} +static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { + __Pyx_TypeName result_type_name = __Pyx_PyType_GetName(Py_TYPE(result)); +#if PY_MAJOR_VERSION >= 3 + if (PyLong_Check(result)) { + if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, + "__int__ returned non-int (type " __Pyx_FMT_TYPENAME "). " + "The ability to return an instance of a strict subclass of int is deprecated, " + "and may be removed in a future version of Python.", + result_type_name)) { + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; + } + __Pyx_DECREF_TypeName(result_type_name); + return result; + } +#endif + PyErr_Format(PyExc_TypeError, + "__%.4s__ returned non-%.4s (type " __Pyx_FMT_TYPENAME ")", + type_name, type_name, result_type_name); + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { +#if CYTHON_USE_TYPE_SLOTS + PyNumberMethods *m; +#endif + const char *name = NULL; + PyObject *res = NULL; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x) || PyLong_Check(x))) +#else + if (likely(PyLong_Check(x))) +#endif + return __Pyx_NewRef(x); +#if CYTHON_USE_TYPE_SLOTS + m = Py_TYPE(x)->tp_as_number; + #if PY_MAJOR_VERSION < 3 + if (m && m->nb_int) { + name = "int"; + res = m->nb_int(x); + } + else if (m && m->nb_long) { + name = "long"; + res = m->nb_long(x); + } + #else + if (likely(m && m->nb_int)) { + name = "int"; + res = m->nb_int(x); + } + #endif +#else + if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { + res = PyNumber_Int(x); + } +#endif + if (likely(res)) { +#if PY_MAJOR_VERSION < 3 + if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { +#else + if (unlikely(!PyLong_CheckExact(res))) { +#endif + return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); + } + } + else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_TypeError, + "an integer is required"); + } + return res; +} +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { + Py_ssize_t ival; + PyObject *x; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(b))) { + if (sizeof(Py_ssize_t) >= sizeof(long)) + return PyInt_AS_LONG(b); + else + return PyInt_AsSsize_t(b); + } +#endif + if (likely(PyLong_CheckExact(b))) { + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(__Pyx_PyLong_IsCompact(b))) { + return __Pyx_PyLong_CompactValue(b); + } else { + const digit* digits = __Pyx_PyLong_Digits(b); + const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(b); + switch (size) { + case 2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + } + } + #endif + return PyLong_AsSsize_t(b); + } + x = PyNumber_Index(b); + if (!x) return -1; + ival = PyInt_AsSsize_t(x); + Py_DECREF(x); + return ival; +} +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { + if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { + return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); +#if PY_MAJOR_VERSION < 3 + } else if (likely(PyInt_CheckExact(o))) { + return PyInt_AS_LONG(o); +#endif + } else { + Py_ssize_t ival; + PyObject *x; + x = PyNumber_Index(o); + if (!x) return -1; + ival = PyInt_AsLong(x); + Py_DECREF(x); + return ival; + } +} +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { + return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); +} +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { + return PyInt_FromSize_t(ival); +} + + +/* #### Code section: utility_code_pragmas_end ### */ +#ifdef _MSC_VER +#pragma warning( pop ) +#endif + + + +/* #### Code section: end ### */ +#endif /* Py_PYTHON_H */ diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so new file mode 100755 index 0000000000..848eaefac1 Binary files /dev/null and b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so differ diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_sim_solver_long.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_sim_solver_long.c new file mode 100644 index 0000000000..d451c5609a --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_sim_solver_long.c @@ -0,0 +1,294 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ +// standard +#include +#include + +// acados +#include "acados_c/external_function_interface.h" +#include "acados_c/sim_interface.h" +#include "acados_c/external_function_interface.h" + +#include "acados/sim/sim_common.h" +#include "acados/utils/external_function_generic.h" +#include "acados/utils/print.h" + + +// example specific +#include "long_model/long_model.h" +#include "acados_sim_solver_long.h" + + +// ** solver data ** + +sim_solver_capsule * long_acados_sim_solver_create_capsule() +{ + void* capsule_mem = malloc(sizeof(sim_solver_capsule)); + sim_solver_capsule *capsule = (sim_solver_capsule *) capsule_mem; + + return capsule; +} + + +int long_acados_sim_solver_free_capsule(sim_solver_capsule * capsule) +{ + free(capsule); + return 0; +} + + +int long_acados_sim_create(sim_solver_capsule * capsule) +{ + // initialize + const int nx = LONG_NX; + const int nu = LONG_NU; + const int nz = LONG_NZ; + const int np = LONG_NP; + bool tmp_bool; + + + double Tsim = 0.06944444444444445; + + + // explicit ode + capsule->sim_forw_vde_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)); + capsule->sim_vde_adj_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)); + capsule->sim_expl_ode_fun_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)); + + capsule->sim_forw_vde_casadi->casadi_fun = &long_expl_vde_forw; + capsule->sim_forw_vde_casadi->casadi_n_in = &long_expl_vde_forw_n_in; + capsule->sim_forw_vde_casadi->casadi_n_out = &long_expl_vde_forw_n_out; + capsule->sim_forw_vde_casadi->casadi_sparsity_in = &long_expl_vde_forw_sparsity_in; + capsule->sim_forw_vde_casadi->casadi_sparsity_out = &long_expl_vde_forw_sparsity_out; + capsule->sim_forw_vde_casadi->casadi_work = &long_expl_vde_forw_work; + external_function_param_casadi_create(capsule->sim_forw_vde_casadi, np); + + capsule->sim_vde_adj_casadi->casadi_fun = &long_expl_vde_adj; + capsule->sim_vde_adj_casadi->casadi_n_in = &long_expl_vde_adj_n_in; + capsule->sim_vde_adj_casadi->casadi_n_out = &long_expl_vde_adj_n_out; + capsule->sim_vde_adj_casadi->casadi_sparsity_in = &long_expl_vde_adj_sparsity_in; + capsule->sim_vde_adj_casadi->casadi_sparsity_out = &long_expl_vde_adj_sparsity_out; + capsule->sim_vde_adj_casadi->casadi_work = &long_expl_vde_adj_work; + external_function_param_casadi_create(capsule->sim_vde_adj_casadi, np); + + capsule->sim_expl_ode_fun_casadi->casadi_fun = &long_expl_ode_fun; + capsule->sim_expl_ode_fun_casadi->casadi_n_in = &long_expl_ode_fun_n_in; + capsule->sim_expl_ode_fun_casadi->casadi_n_out = &long_expl_ode_fun_n_out; + capsule->sim_expl_ode_fun_casadi->casadi_sparsity_in = &long_expl_ode_fun_sparsity_in; + capsule->sim_expl_ode_fun_casadi->casadi_sparsity_out = &long_expl_ode_fun_sparsity_out; + capsule->sim_expl_ode_fun_casadi->casadi_work = &long_expl_ode_fun_work; + external_function_param_casadi_create(capsule->sim_expl_ode_fun_casadi, np); + + + + // sim plan & config + sim_solver_plan_t plan; + plan.sim_solver = ERK; + + // create correct config based on plan + sim_config * long_sim_config = sim_config_create(plan); + capsule->acados_sim_config = long_sim_config; + + // sim dims + void *long_sim_dims = sim_dims_create(long_sim_config); + capsule->acados_sim_dims = long_sim_dims; + sim_dims_set(long_sim_config, long_sim_dims, "nx", &nx); + sim_dims_set(long_sim_config, long_sim_dims, "nu", &nu); + sim_dims_set(long_sim_config, long_sim_dims, "nz", &nz); + + + // sim opts + sim_opts *long_sim_opts = sim_opts_create(long_sim_config, long_sim_dims); + capsule->acados_sim_opts = long_sim_opts; + int tmp_int = 3; + sim_opts_set(long_sim_config, long_sim_opts, "newton_iter", &tmp_int); + double tmp_double = 0.0; + sim_opts_set(long_sim_config, long_sim_opts, "newton_tol", &tmp_double); + sim_collocation_type collocation_type = GAUSS_LEGENDRE; + sim_opts_set(long_sim_config, long_sim_opts, "collocation_type", &collocation_type); + + + tmp_int = 4; + sim_opts_set(long_sim_config, long_sim_opts, "num_stages", &tmp_int); + tmp_int = 1; + sim_opts_set(long_sim_config, long_sim_opts, "num_steps", &tmp_int); + tmp_bool = 0; + sim_opts_set(long_sim_config, long_sim_opts, "jac_reuse", &tmp_bool); + + + // sim in / out + sim_in *long_sim_in = sim_in_create(long_sim_config, long_sim_dims); + capsule->acados_sim_in = long_sim_in; + sim_out *long_sim_out = sim_out_create(long_sim_config, long_sim_dims); + capsule->acados_sim_out = long_sim_out; + + sim_in_set(long_sim_config, long_sim_dims, + long_sim_in, "T", &Tsim); + + // model functions + long_sim_config->model_set(long_sim_in->model, + "expl_vde_forw", capsule->sim_forw_vde_casadi); + long_sim_config->model_set(long_sim_in->model, + "expl_vde_adj", capsule->sim_vde_adj_casadi); + long_sim_config->model_set(long_sim_in->model, + "expl_ode_fun", capsule->sim_expl_ode_fun_casadi); + + // sim solver + sim_solver *long_sim_solver = sim_solver_create(long_sim_config, + long_sim_dims, long_sim_opts); + capsule->acados_sim_solver = long_sim_solver; + + + /* initialize parameter values */ + double* p = calloc(np, sizeof(double)); + + p[0] = -1.2; + p[1] = 1.2; + p[4] = 1.45; + p[5] = 0.75; + + long_acados_sim_update_params(capsule, p, np); + free(p); + + + /* initialize input */ + // x + double x0[3]; + for (int ii = 0; ii < 3; ii++) + x0[ii] = 0.0; + + sim_in_set(long_sim_config, long_sim_dims, + long_sim_in, "x", x0); + + + // u + double u0[1]; + for (int ii = 0; ii < 1; ii++) + u0[ii] = 0.0; + + sim_in_set(long_sim_config, long_sim_dims, + long_sim_in, "u", u0); + + // S_forw + double S_forw[12]; + for (int ii = 0; ii < 12; ii++) + S_forw[ii] = 0.0; + for (int ii = 0; ii < 3; ii++) + S_forw[ii + ii * 3 ] = 1.0; + + + sim_in_set(long_sim_config, long_sim_dims, + long_sim_in, "S_forw", S_forw); + + int status = sim_precompute(long_sim_solver, long_sim_in, long_sim_out); + + return status; +} + + +int long_acados_sim_solve(sim_solver_capsule *capsule) +{ + // integrate dynamics using acados sim_solver + int status = sim_solve(capsule->acados_sim_solver, + capsule->acados_sim_in, capsule->acados_sim_out); + if (status != 0) + printf("error in long_acados_sim_solve()! Exiting.\n"); + + return status; +} + + +int long_acados_sim_free(sim_solver_capsule *capsule) +{ + // free memory + sim_solver_destroy(capsule->acados_sim_solver); + sim_in_destroy(capsule->acados_sim_in); + sim_out_destroy(capsule->acados_sim_out); + sim_opts_destroy(capsule->acados_sim_opts); + sim_dims_destroy(capsule->acados_sim_dims); + sim_config_destroy(capsule->acados_sim_config); + + // free external function + external_function_param_casadi_free(capsule->sim_forw_vde_casadi); + external_function_param_casadi_free(capsule->sim_vde_adj_casadi); + external_function_param_casadi_free(capsule->sim_expl_ode_fun_casadi); + + return 0; +} + + +int long_acados_sim_update_params(sim_solver_capsule *capsule, double *p, int np) +{ + int status = 0; + int casadi_np = LONG_NP; + + if (casadi_np != np) { + printf("long_acados_sim_update_params: trying to set %i parameters for external functions." + " External function has %i parameters. Exiting.\n", np, casadi_np); + exit(1); + } + capsule->sim_forw_vde_casadi[0].set_param(capsule->sim_forw_vde_casadi, p); + capsule->sim_vde_adj_casadi[0].set_param(capsule->sim_vde_adj_casadi, p); + capsule->sim_expl_ode_fun_casadi[0].set_param(capsule->sim_expl_ode_fun_casadi, p); + + return status; +} + +/* getters pointers to C objects*/ +sim_config * long_acados_get_sim_config(sim_solver_capsule *capsule) +{ + return capsule->acados_sim_config; +}; + +sim_in * long_acados_get_sim_in(sim_solver_capsule *capsule) +{ + return capsule->acados_sim_in; +}; + +sim_out * long_acados_get_sim_out(sim_solver_capsule *capsule) +{ + return capsule->acados_sim_out; +}; + +void * long_acados_get_sim_dims(sim_solver_capsule *capsule) +{ + return capsule->acados_sim_dims; +}; + +sim_opts * long_acados_get_sim_opts(sim_solver_capsule *capsule) +{ + return capsule->acados_sim_opts; +}; + +sim_solver * long_acados_get_sim_solver(sim_solver_capsule *capsule) +{ + return capsule->acados_sim_solver; +}; + diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_sim_solver_long.h b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_sim_solver_long.h new file mode 100644 index 0000000000..36326b9994 --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_sim_solver_long.h @@ -0,0 +1,101 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +#ifndef ACADOS_SIM_long_H_ +#define ACADOS_SIM_long_H_ + +#include "acados_c/sim_interface.h" +#include "acados_c/external_function_interface.h" + +#define LONG_NX 3 +#define LONG_NZ 0 +#define LONG_NU 1 +#define LONG_NP 6 + +#ifdef __cplusplus +extern "C" { +#endif + + +// ** capsule for solver data ** +typedef struct sim_solver_capsule +{ + // acados objects + sim_in *acados_sim_in; + sim_out *acados_sim_out; + sim_solver *acados_sim_solver; + sim_opts *acados_sim_opts; + sim_config *acados_sim_config; + void *acados_sim_dims; + + /* external functions */ + // ERK + external_function_param_casadi * sim_forw_vde_casadi; + external_function_param_casadi * sim_vde_adj_casadi; + external_function_param_casadi * sim_expl_ode_fun_casadi; + external_function_param_casadi * sim_expl_ode_hess; + + // IRK + external_function_param_casadi * sim_impl_dae_fun; + external_function_param_casadi * sim_impl_dae_fun_jac_x_xdot_z; + external_function_param_casadi * sim_impl_dae_jac_x_xdot_u_z; + external_function_param_casadi * sim_impl_dae_hess; + + // GNSF + external_function_param_casadi * sim_gnsf_phi_fun; + external_function_param_casadi * sim_gnsf_phi_fun_jac_y; + external_function_param_casadi * sim_gnsf_phi_jac_y_uhat; + external_function_param_casadi * sim_gnsf_f_lo_jac_x1_x1dot_u_z; + external_function_param_casadi * sim_gnsf_get_matrices_fun; + +} sim_solver_capsule; + + +ACADOS_SYMBOL_EXPORT int long_acados_sim_create(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT int long_acados_sim_solve(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT int long_acados_sim_free(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT int long_acados_sim_update_params(sim_solver_capsule *capsule, double *value, int np); + +ACADOS_SYMBOL_EXPORT sim_config * long_acados_get_sim_config(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT sim_in * long_acados_get_sim_in(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT sim_out * long_acados_get_sim_out(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT void * long_acados_get_sim_dims(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT sim_opts * long_acados_get_sim_opts(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT sim_solver * long_acados_get_sim_solver(sim_solver_capsule *capsule); + + +ACADOS_SYMBOL_EXPORT sim_solver_capsule * long_acados_sim_solver_create_capsule(void); +ACADOS_SYMBOL_EXPORT int long_acados_sim_solver_free_capsule(sim_solver_capsule *capsule); + +#ifdef __cplusplus +} +#endif + +#endif // ACADOS_SIM_long_H_ diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver.pxd b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver.pxd new file mode 100644 index 0000000000..c04a1b20b4 --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver.pxd @@ -0,0 +1,62 @@ +# +# Copyright (c) The acados authors. +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + +cimport acados_solver_common + +cdef extern from "acados_solver_long.h": + ctypedef struct nlp_solver_capsule "long_solver_capsule": + pass + + nlp_solver_capsule * acados_create_capsule "long_acados_create_capsule"() + int acados_free_capsule "long_acados_free_capsule"(nlp_solver_capsule *capsule) + + int acados_create "long_acados_create"(nlp_solver_capsule * capsule) + + int acados_create_with_discretization "long_acados_create_with_discretization"(nlp_solver_capsule * capsule, int n_time_steps, double* new_time_steps) + int acados_update_time_steps "long_acados_update_time_steps"(nlp_solver_capsule * capsule, int N, double* new_time_steps) + int acados_update_qp_solver_cond_N "long_acados_update_qp_solver_cond_N"(nlp_solver_capsule * capsule, int qp_solver_cond_N) + + int acados_update_params "long_acados_update_params"(nlp_solver_capsule * capsule, int stage, double *value, int np_) + int acados_update_params_sparse "long_acados_update_params_sparse"(nlp_solver_capsule * capsule, int stage, int *idx, double *p, int n_update) + int acados_solve "long_acados_solve"(nlp_solver_capsule * capsule) + int acados_reset "long_acados_reset"(nlp_solver_capsule * capsule, int reset_qp_solver_mem) + int acados_free "long_acados_free"(nlp_solver_capsule * capsule) + void acados_print_stats "long_acados_print_stats"(nlp_solver_capsule * capsule) + + int acados_custom_update "long_acados_custom_update"(nlp_solver_capsule* capsule, double * data, int data_len) + + acados_solver_common.ocp_nlp_in *acados_get_nlp_in "long_acados_get_nlp_in"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_out *acados_get_nlp_out "long_acados_get_nlp_out"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_out *acados_get_sens_out "long_acados_get_sens_out"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_solver *acados_get_nlp_solver "long_acados_get_nlp_solver"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_config *acados_get_nlp_config "long_acados_get_nlp_config"(nlp_solver_capsule * capsule) + void *acados_get_nlp_opts "long_acados_get_nlp_opts"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_dims *acados_get_nlp_dims "long_acados_get_nlp_dims"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_plan *acados_get_nlp_plan "long_acados_get_nlp_plan"(nlp_solver_capsule * capsule) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver_long.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver_long.c new file mode 100644 index 0000000000..bdeec91e94 --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver_long.c @@ -0,0 +1,1087 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +// standard +#include +#include +#include +// acados +// #include "acados/utils/print.h" +#include "acados_c/ocp_nlp_interface.h" +#include "acados_c/external_function_interface.h" + +// example specific +#include "long_model/long_model.h" +#include "long_constraints/long_constraints.h" +#include "long_cost/long_cost.h" + + + + +#include "acados_solver_long.h" + +#define NX LONG_NX +#define NZ LONG_NZ +#define NU LONG_NU +#define NP LONG_NP +#define NBX LONG_NBX +#define NBX0 LONG_NBX0 +#define NBU LONG_NBU +#define NSBX LONG_NSBX +#define NSBU LONG_NSBU +#define NSH LONG_NSH +#define NSG LONG_NSG +#define NSPHI LONG_NSPHI +#define NSHN LONG_NSHN +#define NSGN LONG_NSGN +#define NSPHIN LONG_NSPHIN +#define NSBXN LONG_NSBXN +#define NS LONG_NS +#define NSN LONG_NSN +#define NG LONG_NG +#define NBXN LONG_NBXN +#define NGN LONG_NGN +#define NY0 LONG_NY0 +#define NY LONG_NY +#define NYN LONG_NYN +// #define N LONG_N +#define NH LONG_NH +#define NPHI LONG_NPHI +#define NHN LONG_NHN +#define NPHIN LONG_NPHIN +#define NR LONG_NR + + +// ** solver data ** + +long_solver_capsule * long_acados_create_capsule(void) +{ + void* capsule_mem = malloc(sizeof(long_solver_capsule)); + long_solver_capsule *capsule = (long_solver_capsule *) capsule_mem; + + return capsule; +} + + +int long_acados_free_capsule(long_solver_capsule *capsule) +{ + free(capsule); + return 0; +} + + +int long_acados_create(long_solver_capsule* capsule) +{ + int N_shooting_intervals = LONG_N; + double* new_time_steps = NULL; // NULL -> don't alter the code generated time-steps + return long_acados_create_with_discretization(capsule, N_shooting_intervals, new_time_steps); +} + + +int long_acados_update_time_steps(long_solver_capsule* capsule, int N, double* new_time_steps) +{ + if (N != capsule->nlp_solver_plan->N) { + fprintf(stderr, "long_acados_update_time_steps: given number of time steps (= %d) " \ + "differs from the currently allocated number of " \ + "time steps (= %d)!\n" \ + "Please recreate with new discretization and provide a new vector of time_stamps!\n", + N, capsule->nlp_solver_plan->N); + return 1; + } + + ocp_nlp_config * nlp_config = capsule->nlp_config; + ocp_nlp_dims * nlp_dims = capsule->nlp_dims; + ocp_nlp_in * nlp_in = capsule->nlp_in; + + for (int i = 0; i < N; i++) + { + ocp_nlp_in_set(nlp_config, nlp_dims, nlp_in, i, "Ts", &new_time_steps[i]); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "scaling", &new_time_steps[i]); + } + return 0; +} + +/** + * Internal function for long_acados_create: step 1 + */ +void long_acados_create_1_set_plan(ocp_nlp_plan_t* nlp_solver_plan, const int N) +{ + assert(N == nlp_solver_plan->N); + + /************************************************ + * plan + ************************************************/ + nlp_solver_plan->nlp_solver = SQP_RTI; + + nlp_solver_plan->ocp_qp_solver_plan.qp_solver = PARTIAL_CONDENSING_HPIPM; + + nlp_solver_plan->nlp_cost[0] = NONLINEAR_LS; + for (int i = 1; i < N; i++) + nlp_solver_plan->nlp_cost[i] = NONLINEAR_LS; + + nlp_solver_plan->nlp_cost[N] = NONLINEAR_LS; + + for (int i = 0; i < N; i++) + { + nlp_solver_plan->nlp_dynamics[i] = CONTINUOUS_MODEL; + nlp_solver_plan->sim_solver_plan[i].sim_solver = ERK; + } + + for (int i = 0; i < N; i++) + {nlp_solver_plan->nlp_constraints[i] = BGH; + } + nlp_solver_plan->nlp_constraints[N] = BGH; +} + + +/** + * Internal function for long_acados_create: step 2 + */ +ocp_nlp_dims* long_acados_create_2_create_and_set_dimensions(long_solver_capsule* capsule) +{ + ocp_nlp_plan_t* nlp_solver_plan = capsule->nlp_solver_plan; + const int N = nlp_solver_plan->N; + ocp_nlp_config* nlp_config = capsule->nlp_config; + + /************************************************ + * dimensions + ************************************************/ + #define NINTNP1MEMS 17 + int* intNp1mem = (int*)malloc( (N+1)*sizeof(int)*NINTNP1MEMS ); + + int* nx = intNp1mem + (N+1)*0; + int* nu = intNp1mem + (N+1)*1; + int* nbx = intNp1mem + (N+1)*2; + int* nbu = intNp1mem + (N+1)*3; + int* nsbx = intNp1mem + (N+1)*4; + int* nsbu = intNp1mem + (N+1)*5; + int* nsg = intNp1mem + (N+1)*6; + int* nsh = intNp1mem + (N+1)*7; + int* nsphi = intNp1mem + (N+1)*8; + int* ns = intNp1mem + (N+1)*9; + int* ng = intNp1mem + (N+1)*10; + int* nh = intNp1mem + (N+1)*11; + int* nphi = intNp1mem + (N+1)*12; + int* nz = intNp1mem + (N+1)*13; + int* ny = intNp1mem + (N+1)*14; + int* nr = intNp1mem + (N+1)*15; + int* nbxe = intNp1mem + (N+1)*16; + + for (int i = 0; i < N+1; i++) + { + // common + nx[i] = NX; + nu[i] = NU; + nz[i] = NZ; + ns[i] = NS; + // cost + ny[i] = NY; + // constraints + nbx[i] = NBX; + nbu[i] = NBU; + nsbx[i] = NSBX; + nsbu[i] = NSBU; + nsg[i] = NSG; + nsh[i] = NSH; + nsphi[i] = NSPHI; + ng[i] = NG; + nh[i] = NH; + nphi[i] = NPHI; + nr[i] = NR; + nbxe[i] = 0; + } + + // for initial state + nbx[0] = NBX0; + nsbx[0] = 0; + ns[0] = NS - NSBX; + nbxe[0] = 3; + ny[0] = NY0; + + // terminal - common + nu[N] = 0; + nz[N] = 0; + ns[N] = NSN; + // cost + ny[N] = NYN; + // constraint + nbx[N] = NBXN; + nbu[N] = 0; + ng[N] = NGN; + nh[N] = NHN; + nphi[N] = NPHIN; + nr[N] = 0; + + nsbx[N] = NSBXN; + nsbu[N] = 0; + nsg[N] = NSGN; + nsh[N] = NSHN; + nsphi[N] = NSPHIN; + + /* create and set ocp_nlp_dims */ + ocp_nlp_dims * nlp_dims = ocp_nlp_dims_create(nlp_config); + + ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nx", nx); + ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nu", nu); + ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nz", nz); + ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "ns", ns); + + for (int i = 0; i <= N; i++) + { + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbx", &nbx[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbu", &nbu[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsbx", &nsbx[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsbu", &nsbu[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "ng", &ng[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsg", &nsg[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbxe", &nbxe[i]); + } + ocp_nlp_dims_set_cost(nlp_config, nlp_dims, 0, "ny", &ny[0]); + for (int i = 1; i < N; i++) + ocp_nlp_dims_set_cost(nlp_config, nlp_dims, i, "ny", &ny[i]); + + for (int i = 0; i < N; i++) + { + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nh", &nh[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsh", &nsh[i]); + } + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nh", &nh[N]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nsh", &nsh[N]); + ocp_nlp_dims_set_cost(nlp_config, nlp_dims, N, "ny", &ny[N]); + free(intNp1mem); +return nlp_dims; +} + + +/** + * Internal function for long_acados_create: step 3 + */ +void long_acados_create_3_create_and_set_functions(long_solver_capsule* capsule) +{ + const int N = capsule->nlp_solver_plan->N; + + /************************************************ + * external functions + ************************************************/ + +#define MAP_CASADI_FNC(__CAPSULE_FNC__, __MODEL_BASE_FNC__) do{ \ + capsule->__CAPSULE_FNC__.casadi_fun = & __MODEL_BASE_FNC__ ;\ + capsule->__CAPSULE_FNC__.casadi_n_in = & __MODEL_BASE_FNC__ ## _n_in; \ + capsule->__CAPSULE_FNC__.casadi_n_out = & __MODEL_BASE_FNC__ ## _n_out; \ + capsule->__CAPSULE_FNC__.casadi_sparsity_in = & __MODEL_BASE_FNC__ ## _sparsity_in; \ + capsule->__CAPSULE_FNC__.casadi_sparsity_out = & __MODEL_BASE_FNC__ ## _sparsity_out; \ + capsule->__CAPSULE_FNC__.casadi_work = & __MODEL_BASE_FNC__ ## _work; \ + external_function_param_casadi_create(&capsule->__CAPSULE_FNC__ , 6); \ + }while(false) + + + // constraints.constr_type == "BGH" and dims.nh > 0 + capsule->nl_constr_h_fun_jac = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(nl_constr_h_fun_jac[i], long_constr_h_fun_jac_uxt_zt); + } + capsule->nl_constr_h_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(nl_constr_h_fun[i], long_constr_h_fun); + } + + + + + // explicit ode + capsule->forw_vde_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(forw_vde_casadi[i], long_expl_vde_forw); + } + + capsule->expl_ode_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(expl_ode_fun[i], long_expl_ode_fun); + } + + + // nonlinear least squares function + MAP_CASADI_FNC(cost_y_0_fun, long_cost_y_0_fun); + MAP_CASADI_FNC(cost_y_0_fun_jac_ut_xt, long_cost_y_0_fun_jac_ut_xt); + MAP_CASADI_FNC(cost_y_0_hess, long_cost_y_0_hess); + // nonlinear least squares cost + capsule->cost_y_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N-1; i++) + { + MAP_CASADI_FNC(cost_y_fun[i], long_cost_y_fun); + } + + capsule->cost_y_fun_jac_ut_xt = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N-1; i++) + { + MAP_CASADI_FNC(cost_y_fun_jac_ut_xt[i], long_cost_y_fun_jac_ut_xt); + } + + capsule->cost_y_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N-1; i++) + { + MAP_CASADI_FNC(cost_y_hess[i], long_cost_y_hess); + } + // nonlinear least square function + MAP_CASADI_FNC(cost_y_e_fun, long_cost_y_e_fun); + MAP_CASADI_FNC(cost_y_e_fun_jac_ut_xt, long_cost_y_e_fun_jac_ut_xt); + MAP_CASADI_FNC(cost_y_e_hess, long_cost_y_e_hess); + +#undef MAP_CASADI_FNC +} + + +/** + * Internal function for long_acados_create: step 4 + */ +void long_acados_create_4_set_default_parameters(long_solver_capsule* capsule) { + const int N = capsule->nlp_solver_plan->N; + // initialize parameters to nominal value + double* p = calloc(NP, sizeof(double)); + p[0] = -1.2; + p[1] = 1.2; + p[4] = 1.45; + p[5] = 0.75; + + for (int i = 0; i <= N; i++) { + long_acados_update_params(capsule, i, p, NP); + } + free(p); +} + + +/** + * Internal function for long_acados_create: step 5 + */ +void long_acados_create_5_set_nlp_in(long_solver_capsule* capsule, const int N, double* new_time_steps) +{ + assert(N == capsule->nlp_solver_plan->N); + ocp_nlp_config* nlp_config = capsule->nlp_config; + ocp_nlp_dims* nlp_dims = capsule->nlp_dims; + + /************************************************ + * nlp_in + ************************************************/ +// ocp_nlp_in * nlp_in = ocp_nlp_in_create(nlp_config, nlp_dims); +// capsule->nlp_in = nlp_in; + ocp_nlp_in * nlp_in = capsule->nlp_in; + + // set up time_steps + + + if (new_time_steps) { + long_acados_update_time_steps(capsule, N, new_time_steps); + } else {// time_steps are different + double* time_steps = malloc(N*sizeof(double)); + time_steps[0] = 0.06944444444444445; + time_steps[1] = 0.20833333333333337; + time_steps[2] = 0.3472222222222222; + time_steps[3] = 0.4861111111111112; + time_steps[4] = 0.6250000000000002; + time_steps[5] = 0.7638888888888886; + time_steps[6] = 0.9027777777777786; + time_steps[7] = 1.041666666666666; + time_steps[8] = 1.1805555555555554; + time_steps[9] = 1.3194444444444455; + time_steps[10] = 1.4583333333333313; + time_steps[11] = 1.5972222222222232; + long_acados_update_time_steps(capsule, N, time_steps); + free(time_steps); + } + + /**** Dynamics ****/ + for (int i = 0; i < N; i++) + { + ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "expl_vde_forw", &capsule->forw_vde_casadi[i]); + ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "expl_ode_fun", &capsule->expl_ode_fun[i]); + + } + + /**** Cost ****/ + double* yref_0 = calloc(NY0, sizeof(double)); + // change only the non-zero elements: + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "yref", yref_0); + free(yref_0); + double* yref = calloc(NY, sizeof(double)); + // change only the non-zero elements: + + for (int i = 1; i < N; i++) + { + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "yref", yref); + } + free(yref); + double* yref_e = calloc(NYN, sizeof(double)); + // change only the non-zero elements: + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "yref", yref_e); + free(yref_e); + double* W_0 = calloc(NY0*NY0, sizeof(double)); + // change only the non-zero elements: + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "W", W_0); + free(W_0); + double* W = calloc(NY*NY, sizeof(double)); + // change only the non-zero elements: + + for (int i = 1; i < N; i++) + { + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "W", W); + } + free(W); + double* W_e = calloc(NYN*NYN, sizeof(double)); + // change only the non-zero elements: + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "W", W_e); + free(W_e); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_fun", &capsule->cost_y_0_fun); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_fun_jac", &capsule->cost_y_0_fun_jac_ut_xt); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_hess", &capsule->cost_y_0_hess); + for (int i = 1; i < N; i++) + { + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_fun", &capsule->cost_y_fun[i-1]); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_fun_jac", &capsule->cost_y_fun_jac_ut_xt[i-1]); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_hess", &capsule->cost_y_hess[i-1]); + } + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_fun", &capsule->cost_y_e_fun); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_fun_jac", &capsule->cost_y_e_fun_jac_ut_xt); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_hess", &capsule->cost_y_e_hess); + // slacks + double* zlumem = calloc(4*NS, sizeof(double)); + double* Zl = zlumem+NS*0; + double* Zu = zlumem+NS*1; + double* zl = zlumem+NS*2; + double* zu = zlumem+NS*3; + // change only the non-zero elements: + + for (int i = 0; i < N; i++) + { + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Zl", Zl); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Zu", Zu); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "zl", zl); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "zu", zu); + } + free(zlumem); + + + + /**** Constraints ****/ + + // bounds for initial stage + // x0 + int* idxbx0 = malloc(NBX0 * sizeof(int)); + idxbx0[0] = 0; + idxbx0[1] = 1; + idxbx0[2] = 2; + + double* lubx0 = calloc(2*NBX0, sizeof(double)); + double* lbx0 = lubx0; + double* ubx0 = lubx0 + NBX0; + // change only the non-zero elements: + + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbx", idxbx0); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", lbx0); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", ubx0); + free(idxbx0); + free(lubx0); + // idxbxe_0 + int* idxbxe_0 = malloc(3 * sizeof(int)); + + idxbxe_0[0] = 0; + idxbxe_0[1] = 1; + idxbxe_0[2] = 2; + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbxe", idxbxe_0); + free(idxbxe_0); + + /* constraints that are the same for initial and intermediate */ + + + + + // set up soft bounds for nonlinear constraints + int* idxsh = malloc(NSH * sizeof(int)); + + idxsh[0] = 0; + idxsh[1] = 1; + idxsh[2] = 2; + idxsh[3] = 3; + double* lush = calloc(2*NSH, sizeof(double)); + double* lsh = lush; + double* ush = lush + NSH; + + + for (int i = 0; i < N; i++) + { + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxsh", idxsh); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lsh", lsh); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "ush", ush); + } + free(idxsh); + free(lush); + + + + + + + + + // set up nonlinear constraints for stage 0 to N-1 + double* luh = calloc(2*NH, sizeof(double)); + double* lh = luh; + double* uh = luh + NH; + + + + + uh[0] = 10000.0; + uh[1] = 10000.0; + uh[2] = 10000.0; + uh[3] = 10000.0; + + for (int i = 0; i < N; i++) + { + // nonlinear constraints for stages 0 to N-1 + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "nl_constr_h_fun_jac", + &capsule->nl_constr_h_fun_jac[i]); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "nl_constr_h_fun", + &capsule->nl_constr_h_fun[i]); + + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lh", lh); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "uh", uh); + } + free(luh); + + + + /* terminal constraints */ + + + + + + + + + + + + + + + +} + + +/** + * Internal function for long_acados_create: step 6 + */ +void long_acados_create_6_set_opts(long_solver_capsule* capsule) +{ + const int N = capsule->nlp_solver_plan->N; + ocp_nlp_config* nlp_config = capsule->nlp_config; + void *nlp_opts = capsule->nlp_opts; + + /************************************************ + * opts + ************************************************/ + + + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "globalization", "fixed_step");int full_step_dual = 0; + ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "full_step_dual", &full_step_dual); + + // set collocation type (relevant for implicit integrators) + sim_collocation_type collocation_type = GAUSS_LEGENDRE; + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_collocation_type", &collocation_type); + + // set up sim_method_num_steps + // all sim_method_num_steps are identical + int sim_method_num_steps = 1; + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_steps", &sim_method_num_steps); + + // set up sim_method_num_stages + // all sim_method_num_stages are identical + int sim_method_num_stages = 4; + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_stages", &sim_method_num_stages); + + int newton_iter_val = 3; + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_newton_iter", &newton_iter_val); + + + // set up sim_method_jac_reuse + bool tmp_bool = (bool) 0; + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_jac_reuse", &tmp_bool); + + double nlp_solver_step_length = 1.0; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "step_length", &nlp_solver_step_length); + + double levenberg_marquardt = 0.0; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "levenberg_marquardt", &levenberg_marquardt); + + /* options QP solver */ + int qp_solver_cond_N; + + const int qp_solver_cond_N_ori = 1; + qp_solver_cond_N = N < qp_solver_cond_N_ori ? N : qp_solver_cond_N_ori; // use the minimum value here + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_cond_N", &qp_solver_cond_N); + + int nlp_solver_ext_qp_res = 0; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "ext_qp_res", &nlp_solver_ext_qp_res); + // set HPIPM mode: should be done before setting other QP solver options + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_hpipm_mode", "BALANCE"); + + + + int qp_solver_iter_max = 10; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_iter_max", &qp_solver_iter_max); + + + double qp_solver_tol_stat = 0.001; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_tol_stat", &qp_solver_tol_stat); + double qp_solver_tol_eq = 0.001; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_tol_eq", &qp_solver_tol_eq); + double qp_solver_tol_ineq = 0.001; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_tol_ineq", &qp_solver_tol_ineq); + double qp_solver_tol_comp = 0.001; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_tol_comp", &qp_solver_tol_comp);int print_level = 0; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "print_level", &print_level); + int qp_solver_cond_ric_alg = 1; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_cond_ric_alg", &qp_solver_cond_ric_alg); + + int qp_solver_ric_alg = 1; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_ric_alg", &qp_solver_ric_alg); + + + int ext_cost_num_hess = 0; +} + + +/** + * Internal function for long_acados_create: step 7 + */ +void long_acados_create_7_set_nlp_out(long_solver_capsule* capsule) +{ + const int N = capsule->nlp_solver_plan->N; + ocp_nlp_config* nlp_config = capsule->nlp_config; + ocp_nlp_dims* nlp_dims = capsule->nlp_dims; + ocp_nlp_out* nlp_out = capsule->nlp_out; + + // initialize primal solution + double* xu0 = calloc(NX+NU, sizeof(double)); + double* x0 = xu0; + + // initialize with x0 + + + + double* u0 = xu0 + NX; + + for (int i = 0; i < N; i++) + { + // x0 + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x0); + // u0 + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0); + } + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, N, "x", x0); + free(xu0); +} + + +/** + * Internal function for long_acados_create: step 8 + */ +//void long_acados_create_8_create_solver(long_solver_capsule* capsule) +//{ +// capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts); +//} + +/** + * Internal function for long_acados_create: step 9 + */ +int long_acados_create_9_precompute(long_solver_capsule* capsule) { + int status = ocp_nlp_precompute(capsule->nlp_solver, capsule->nlp_in, capsule->nlp_out); + + if (status != ACADOS_SUCCESS) { + printf("\nocp_nlp_precompute failed!\n\n"); + exit(1); + } + + return status; +} + + +int long_acados_create_with_discretization(long_solver_capsule* capsule, int N, double* new_time_steps) +{ + // If N does not match the number of shooting intervals used for code generation, new_time_steps must be given. + if (N != LONG_N && !new_time_steps) { + fprintf(stderr, "long_acados_create_with_discretization: new_time_steps is NULL " \ + "but the number of shooting intervals (= %d) differs from the number of " \ + "shooting intervals (= %d) during code generation! Please provide a new vector of time_stamps!\n", \ + N, LONG_N); + return 1; + } + + // number of expected runtime parameters + capsule->nlp_np = NP; + + // 1) create and set nlp_solver_plan; create nlp_config + capsule->nlp_solver_plan = ocp_nlp_plan_create(N); + long_acados_create_1_set_plan(capsule->nlp_solver_plan, N); + capsule->nlp_config = ocp_nlp_config_create(*capsule->nlp_solver_plan); + + // 3) create and set dimensions + capsule->nlp_dims = long_acados_create_2_create_and_set_dimensions(capsule); + long_acados_create_3_create_and_set_functions(capsule); + + // 4) set default parameters in functions + long_acados_create_4_set_default_parameters(capsule); + + // 5) create and set nlp_in + capsule->nlp_in = ocp_nlp_in_create(capsule->nlp_config, capsule->nlp_dims); + long_acados_create_5_set_nlp_in(capsule, N, new_time_steps); + + // 6) create and set nlp_opts + capsule->nlp_opts = ocp_nlp_solver_opts_create(capsule->nlp_config, capsule->nlp_dims); + long_acados_create_6_set_opts(capsule); + + // 7) create and set nlp_out + // 7.1) nlp_out + capsule->nlp_out = ocp_nlp_out_create(capsule->nlp_config, capsule->nlp_dims); + // 7.2) sens_out + capsule->sens_out = ocp_nlp_out_create(capsule->nlp_config, capsule->nlp_dims); + long_acados_create_7_set_nlp_out(capsule); + + // 8) create solver + capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts); + //long_acados_create_8_create_solver(capsule); + + // 9) do precomputations + int status = long_acados_create_9_precompute(capsule); + + return status; +} + +/** + * This function is for updating an already initialized solver with a different number of qp_cond_N. It is useful for code reuse after code export. + */ +int long_acados_update_qp_solver_cond_N(long_solver_capsule* capsule, int qp_solver_cond_N) +{ + // 1) destroy solver + ocp_nlp_solver_destroy(capsule->nlp_solver); + + // 2) set new value for "qp_cond_N" + const int N = capsule->nlp_solver_plan->N; + if(qp_solver_cond_N > N) + printf("Warning: qp_solver_cond_N = %d > N = %d\n", qp_solver_cond_N, N); + ocp_nlp_solver_opts_set(capsule->nlp_config, capsule->nlp_opts, "qp_cond_N", &qp_solver_cond_N); + + // 3) continue with the remaining steps from long_acados_create_with_discretization(...): + // -> 8) create solver + capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts); + + // -> 9) do precomputations + int status = long_acados_create_9_precompute(capsule); + return status; +} + + +int long_acados_reset(long_solver_capsule* capsule, int reset_qp_solver_mem) +{ + + // set initialization to all zeros + + const int N = capsule->nlp_solver_plan->N; + ocp_nlp_config* nlp_config = capsule->nlp_config; + ocp_nlp_dims* nlp_dims = capsule->nlp_dims; + ocp_nlp_out* nlp_out = capsule->nlp_out; + ocp_nlp_in* nlp_in = capsule->nlp_in; + ocp_nlp_solver* nlp_solver = capsule->nlp_solver; + + double* buffer = calloc(NX+NU+NZ+2*NS+2*NSN+NBX+NBU+NG+NH+NPHI+NBX0+NBXN+NHN+NPHIN+NGN, sizeof(double)); + + for(int i=0; i reset memory + int qp_status; + ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "qp_status", &qp_status); + if (reset_qp_solver_mem || (qp_status == 3)) + { + // printf("\nin reset qp_status %d -> resetting QP memory\n", qp_status); + ocp_nlp_solver_reset_qp_memory(nlp_solver, nlp_in, nlp_out); + } + + free(buffer); + return 0; +} + + + + +int long_acados_update_params(long_solver_capsule* capsule, int stage, double *p, int np) +{ + int solver_status = 0; + + int casadi_np = 6; + if (casadi_np != np) { + printf("acados_update_params: trying to set %i parameters for external functions." + " External function has %i parameters. Exiting.\n", np, casadi_np); + exit(1); + } + + const int N = capsule->nlp_solver_plan->N; + if (stage < N && stage >= 0) + { + capsule->forw_vde_casadi[stage].set_param(capsule->forw_vde_casadi+stage, p); + capsule->expl_ode_fun[stage].set_param(capsule->expl_ode_fun+stage, p); + + + // constraints + + capsule->nl_constr_h_fun_jac[stage].set_param(capsule->nl_constr_h_fun_jac+stage, p); + capsule->nl_constr_h_fun[stage].set_param(capsule->nl_constr_h_fun+stage, p); + + // cost + if (stage == 0) + { + capsule->cost_y_0_fun.set_param(&capsule->cost_y_0_fun, p); + capsule->cost_y_0_fun_jac_ut_xt.set_param(&capsule->cost_y_0_fun_jac_ut_xt, p); + capsule->cost_y_0_hess.set_param(&capsule->cost_y_0_hess, p); + } + else // 0 < stage < N + { + capsule->cost_y_fun[stage-1].set_param(capsule->cost_y_fun+stage-1, p); + capsule->cost_y_fun_jac_ut_xt[stage-1].set_param(capsule->cost_y_fun_jac_ut_xt+stage-1, p); + capsule->cost_y_hess[stage-1].set_param(capsule->cost_y_hess+stage-1, p); + } + } + + else // stage == N + { + // terminal shooting node has no dynamics + // cost + capsule->cost_y_e_fun.set_param(&capsule->cost_y_e_fun, p); + capsule->cost_y_e_fun_jac_ut_xt.set_param(&capsule->cost_y_e_fun_jac_ut_xt, p); + capsule->cost_y_e_hess.set_param(&capsule->cost_y_e_hess, p); + // constraints + + } + + return solver_status; +} + + +int long_acados_update_params_sparse(long_solver_capsule * capsule, int stage, int *idx, double *p, int n_update) +{ + int solver_status = 0; + + int casadi_np = 6; + if (casadi_np < n_update) { + printf("long_acados_update_params_sparse: trying to set %d parameters for external functions." + " External function has %d parameters. Exiting.\n", n_update, casadi_np); + exit(1); + } + // for (int i = 0; i < n_update; i++) + // { + // if (idx[i] > casadi_np) { + // printf("long_acados_update_params_sparse: attempt to set parameters with index %d, while" + // " external functions only has %d parameters. Exiting.\n", idx[i], casadi_np); + // exit(1); + // } + // printf("param %d value %e\n", idx[i], p[i]); + // } + const int N = capsule->nlp_solver_plan->N; + if (stage < N && stage >= 0) + { + capsule->forw_vde_casadi[stage].set_param_sparse(capsule->forw_vde_casadi+stage, n_update, idx, p); + capsule->expl_ode_fun[stage].set_param_sparse(capsule->expl_ode_fun+stage, n_update, idx, p); + + + // constraints + + capsule->nl_constr_h_fun_jac[stage].set_param_sparse(capsule->nl_constr_h_fun_jac+stage, n_update, idx, p); + capsule->nl_constr_h_fun[stage].set_param_sparse(capsule->nl_constr_h_fun+stage, n_update, idx, p); + + // cost + if (stage == 0) + { + capsule->cost_y_0_fun.set_param_sparse(&capsule->cost_y_0_fun, n_update, idx, p); + capsule->cost_y_0_fun_jac_ut_xt.set_param_sparse(&capsule->cost_y_0_fun_jac_ut_xt, n_update, idx, p); + capsule->cost_y_0_hess.set_param_sparse(&capsule->cost_y_0_hess, n_update, idx, p); + } + else // 0 < stage < N + { + capsule->cost_y_fun[stage-1].set_param_sparse(capsule->cost_y_fun+stage-1, n_update, idx, p); + capsule->cost_y_fun_jac_ut_xt[stage-1].set_param_sparse(capsule->cost_y_fun_jac_ut_xt+stage-1, n_update, idx, p); + capsule->cost_y_hess[stage-1].set_param_sparse(capsule->cost_y_hess+stage-1, n_update, idx, p); + } + } + + else // stage == N + { + // terminal shooting node has no dynamics + // cost + capsule->cost_y_e_fun.set_param_sparse(&capsule->cost_y_e_fun, n_update, idx, p); + capsule->cost_y_e_fun_jac_ut_xt.set_param_sparse(&capsule->cost_y_e_fun_jac_ut_xt, n_update, idx, p); + capsule->cost_y_e_hess.set_param_sparse(&capsule->cost_y_e_hess, n_update, idx, p); + // constraints + + } + + + return solver_status; +} + +int long_acados_solve(long_solver_capsule* capsule) +{ + // solve NLP + int solver_status = ocp_nlp_solve(capsule->nlp_solver, capsule->nlp_in, capsule->nlp_out); + + return solver_status; +} + + +int long_acados_free(long_solver_capsule* capsule) +{ + // before destroying, keep some info + const int N = capsule->nlp_solver_plan->N; + // free memory + ocp_nlp_solver_opts_destroy(capsule->nlp_opts); + ocp_nlp_in_destroy(capsule->nlp_in); + ocp_nlp_out_destroy(capsule->nlp_out); + ocp_nlp_out_destroy(capsule->sens_out); + ocp_nlp_solver_destroy(capsule->nlp_solver); + ocp_nlp_dims_destroy(capsule->nlp_dims); + ocp_nlp_config_destroy(capsule->nlp_config); + ocp_nlp_plan_destroy(capsule->nlp_solver_plan); + + /* free external function */ + // dynamics + for (int i = 0; i < N; i++) + { + external_function_param_casadi_free(&capsule->forw_vde_casadi[i]); + external_function_param_casadi_free(&capsule->expl_ode_fun[i]); + } + free(capsule->forw_vde_casadi); + free(capsule->expl_ode_fun); + + // cost + external_function_param_casadi_free(&capsule->cost_y_0_fun); + external_function_param_casadi_free(&capsule->cost_y_0_fun_jac_ut_xt); + external_function_param_casadi_free(&capsule->cost_y_0_hess); + for (int i = 0; i < N - 1; i++) + { + external_function_param_casadi_free(&capsule->cost_y_fun[i]); + external_function_param_casadi_free(&capsule->cost_y_fun_jac_ut_xt[i]); + external_function_param_casadi_free(&capsule->cost_y_hess[i]); + } + free(capsule->cost_y_fun); + free(capsule->cost_y_fun_jac_ut_xt); + free(capsule->cost_y_hess); + external_function_param_casadi_free(&capsule->cost_y_e_fun); + external_function_param_casadi_free(&capsule->cost_y_e_fun_jac_ut_xt); + external_function_param_casadi_free(&capsule->cost_y_e_hess); + + // constraints + for (int i = 0; i < N; i++) + { + external_function_param_casadi_free(&capsule->nl_constr_h_fun_jac[i]); + external_function_param_casadi_free(&capsule->nl_constr_h_fun[i]); + } + free(capsule->nl_constr_h_fun_jac); + free(capsule->nl_constr_h_fun); + + return 0; +} + + +void long_acados_print_stats(long_solver_capsule* capsule) +{ + int sqp_iter, stat_m, stat_n, tmp_int; + ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "sqp_iter", &sqp_iter); + ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "stat_n", &stat_n); + ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "stat_m", &stat_m); + + + double stat[1200]; + ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "statistics", stat); + + int nrow = sqp_iter+1 < stat_m ? sqp_iter+1 : stat_m; + + printf("iter\tres_stat\tres_eq\t\tres_ineq\tres_comp\tqp_stat\tqp_iter\talpha"); + if (stat_n > 8) + printf("\t\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp"); + printf("\n"); + printf("iter\tqp_stat\tqp_iter\n"); + for (int i = 0; i < nrow; i++) + { + for (int j = 0; j < stat_n + 1; j++) + { + tmp_int = (int) stat[i + j * nrow]; + printf("%d\t", tmp_int); + } + printf("\n"); + } +} + +int long_acados_custom_update(long_solver_capsule* capsule, double* data, int data_len) +{ + (void)capsule; + (void)data; + (void)data_len; + printf("\ndummy function that can be called in between solver calls to update parameters or numerical data efficiently in C.\n"); + printf("nothing set yet..\n"); + return 1; + +} + + + +ocp_nlp_in *long_acados_get_nlp_in(long_solver_capsule* capsule) { return capsule->nlp_in; } +ocp_nlp_out *long_acados_get_nlp_out(long_solver_capsule* capsule) { return capsule->nlp_out; } +ocp_nlp_out *long_acados_get_sens_out(long_solver_capsule* capsule) { return capsule->sens_out; } +ocp_nlp_solver *long_acados_get_nlp_solver(long_solver_capsule* capsule) { return capsule->nlp_solver; } +ocp_nlp_config *long_acados_get_nlp_config(long_solver_capsule* capsule) { return capsule->nlp_config; } +void *long_acados_get_nlp_opts(long_solver_capsule* capsule) { return capsule->nlp_opts; } +ocp_nlp_dims *long_acados_get_nlp_dims(long_solver_capsule* capsule) { return capsule->nlp_dims; } +ocp_nlp_plan_t *long_acados_get_nlp_plan(long_solver_capsule* capsule) { return capsule->nlp_solver_plan; } diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver_long.h b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver_long.h new file mode 100644 index 0000000000..351d6ac8cc --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver_long.h @@ -0,0 +1,172 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +#ifndef ACADOS_SOLVER_long_H_ +#define ACADOS_SOLVER_long_H_ + +#include "acados/utils/types.h" + +#include "acados_c/ocp_nlp_interface.h" +#include "acados_c/external_function_interface.h" + +#define LONG_NX 3 +#define LONG_NZ 0 +#define LONG_NU 1 +#define LONG_NP 6 +#define LONG_NBX 0 +#define LONG_NBX0 3 +#define LONG_NBU 0 +#define LONG_NSBX 0 +#define LONG_NSBU 0 +#define LONG_NSH 4 +#define LONG_NSG 0 +#define LONG_NSPHI 0 +#define LONG_NSHN 0 +#define LONG_NSGN 0 +#define LONG_NSPHIN 0 +#define LONG_NSBXN 0 +#define LONG_NS 4 +#define LONG_NSN 0 +#define LONG_NG 0 +#define LONG_NBXN 0 +#define LONG_NGN 0 +#define LONG_NY0 6 +#define LONG_NY 6 +#define LONG_NYN 5 +#define LONG_N 12 +#define LONG_NH 4 +#define LONG_NPHI 0 +#define LONG_NHN 0 +#define LONG_NPHIN 0 +#define LONG_NR 0 + +#ifdef __cplusplus +extern "C" { +#endif + + +// ** capsule for solver data ** +typedef struct long_solver_capsule +{ + // acados objects + ocp_nlp_in *nlp_in; + ocp_nlp_out *nlp_out; + ocp_nlp_out *sens_out; + ocp_nlp_solver *nlp_solver; + void *nlp_opts; + ocp_nlp_plan_t *nlp_solver_plan; + ocp_nlp_config *nlp_config; + ocp_nlp_dims *nlp_dims; + + // number of expected runtime parameters + unsigned int nlp_np; + + /* external functions */ + // dynamics + + external_function_param_casadi *forw_vde_casadi; + external_function_param_casadi *expl_ode_fun; + + + + + // cost + + external_function_param_casadi *cost_y_fun; + external_function_param_casadi *cost_y_fun_jac_ut_xt; + external_function_param_casadi *cost_y_hess; + + + + external_function_param_casadi cost_y_0_fun; + external_function_param_casadi cost_y_0_fun_jac_ut_xt; + external_function_param_casadi cost_y_0_hess; + + + + external_function_param_casadi cost_y_e_fun; + external_function_param_casadi cost_y_e_fun_jac_ut_xt; + external_function_param_casadi cost_y_e_hess; + + + // constraints + external_function_param_casadi *nl_constr_h_fun_jac; + external_function_param_casadi *nl_constr_h_fun; + + + + +} long_solver_capsule; + +ACADOS_SYMBOL_EXPORT long_solver_capsule * long_acados_create_capsule(void); +ACADOS_SYMBOL_EXPORT int long_acados_free_capsule(long_solver_capsule *capsule); + +ACADOS_SYMBOL_EXPORT int long_acados_create(long_solver_capsule * capsule); + +ACADOS_SYMBOL_EXPORT int long_acados_reset(long_solver_capsule* capsule, int reset_qp_solver_mem); + +/** + * Generic version of long_acados_create which allows to use a different number of shooting intervals than + * the number used for code generation. If new_time_steps=NULL and n_time_steps matches the number used for code + * generation, the time-steps from code generation is used. + */ +ACADOS_SYMBOL_EXPORT int long_acados_create_with_discretization(long_solver_capsule * capsule, int n_time_steps, double* new_time_steps); +/** + * Update the time step vector. Number N must be identical to the currently set number of shooting nodes in the + * nlp_solver_plan. Returns 0 if no error occurred and a otherwise a value other than 0. + */ +ACADOS_SYMBOL_EXPORT int long_acados_update_time_steps(long_solver_capsule * capsule, int N, double* new_time_steps); +/** + * This function is used for updating an already initialized solver with a different number of qp_cond_N. + */ +ACADOS_SYMBOL_EXPORT int long_acados_update_qp_solver_cond_N(long_solver_capsule * capsule, int qp_solver_cond_N); +ACADOS_SYMBOL_EXPORT int long_acados_update_params(long_solver_capsule * capsule, int stage, double *value, int np); +ACADOS_SYMBOL_EXPORT int long_acados_update_params_sparse(long_solver_capsule * capsule, int stage, int *idx, double *p, int n_update); + +ACADOS_SYMBOL_EXPORT int long_acados_solve(long_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT int long_acados_free(long_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT void long_acados_print_stats(long_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT int long_acados_custom_update(long_solver_capsule* capsule, double* data, int data_len); + + +ACADOS_SYMBOL_EXPORT ocp_nlp_in *long_acados_get_nlp_in(long_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT ocp_nlp_out *long_acados_get_nlp_out(long_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT ocp_nlp_out *long_acados_get_sens_out(long_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT ocp_nlp_solver *long_acados_get_nlp_solver(long_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT ocp_nlp_config *long_acados_get_nlp_config(long_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT void *long_acados_get_nlp_opts(long_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT ocp_nlp_dims *long_acados_get_nlp_dims(long_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT ocp_nlp_plan_t *long_acados_get_nlp_plan(long_solver_capsule * capsule); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_SOLVER_long_H_ diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so new file mode 100755 index 0000000000..00e02a49a3 Binary files /dev/null and b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so differ diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun.c new file mode 100644 index 0000000000..be006b8bf2 --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun.c @@ -0,0 +1,179 @@ +/* This file was automatically generated by CasADi 3.6.4. + * It consists of: + * 1) content generated by CasADi runtime: not copyrighted + * 2) template code copied from CasADi source: permissively licensed (MIT-0) + * 3) user code: owned by the user + * + */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) long_constr_h_fun_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_s4 CASADI_PREFIX(s4) +#define casadi_sq CASADI_PREFIX(sq) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +casadi_real casadi_sq(casadi_real x) { return x*x;} + +static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[3] = {0, 0, 0}; +static const casadi_int casadi_s3[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; +static const casadi_int casadi_s4[8] = {4, 1, 0, 4, 0, 1, 2, 3}; + +/* long_constr_h_fun:(i0[3],i1,i2[],i3[6])->(o0[4]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a2, a3, a4; + a0=arg[0]? arg[0][1] : 0; + if (res[0]!=0) res[0][0]=a0; + a1=arg[0]? arg[0][2] : 0; + a2=arg[3]? arg[3][0] : 0; + a2=(a1-a2); + if (res[0]!=0) res[0][1]=a2; + a2=arg[3]? arg[3][1] : 0; + a2=(a2-a1); + if (res[0]!=0) res[0][2]=a2; + a2=arg[3]? arg[3][2] : 0; + a1=arg[0]? arg[0][0] : 0; + a2=(a2-a1); + a1=arg[3]? arg[3][5] : 0; + a3=casadi_sq(a0); + a4=5.; + a3=(a3/a4); + a4=arg[3]? arg[3][4] : 0; + a4=(a4*a0); + a3=(a3+a4); + a4=6.; + a3=(a3+a4); + a1=(a1*a3); + a2=(a2-a1); + a1=10.; + a0=(a0+a1); + a2=(a2/a0); + if (res[0]!=0) res[0][3]=a2; + return 0; +} + +CASADI_SYMBOL_EXPORT int long_constr_h_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int long_constr_h_fun_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int long_constr_h_fun_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_constr_h_fun_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int long_constr_h_fun_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_constr_h_fun_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void long_constr_h_fun_incref(void) { +} + +CASADI_SYMBOL_EXPORT void long_constr_h_fun_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int long_constr_h_fun_n_in(void) { return 4;} + +CASADI_SYMBOL_EXPORT casadi_int long_constr_h_fun_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real long_constr_h_fun_default_in(casadi_int i) { + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_constr_h_fun_name_in(casadi_int i) { + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_constr_h_fun_name_out(casadi_int i) { + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_constr_h_fun_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + case 3: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_constr_h_fun_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s4; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int long_constr_h_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 4; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun_jac_uxt_zt.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun_jac_uxt_zt.c new file mode 100644 index 0000000000..7f78a873fa --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun_jac_uxt_zt.c @@ -0,0 +1,205 @@ +/* This file was automatically generated by CasADi 3.6.4. + * It consists of: + * 1) content generated by CasADi runtime: not copyrighted + * 2) template code copied from CasADi source: permissively licensed (MIT-0) + * 3) user code: owned by the user + * + */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) long_constr_h_fun_jac_uxt_zt_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_s4 CASADI_PREFIX(s4) +#define casadi_s5 CASADI_PREFIX(s5) +#define casadi_s6 CASADI_PREFIX(s6) +#define casadi_sq CASADI_PREFIX(sq) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +casadi_real casadi_sq(casadi_real x) { return x*x;} + +static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[3] = {0, 0, 0}; +static const casadi_int casadi_s3[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; +static const casadi_int casadi_s4[8] = {4, 1, 0, 4, 0, 1, 2, 3}; +static const casadi_int casadi_s5[12] = {4, 4, 0, 1, 2, 3, 5, 2, 3, 3, 1, 2}; +static const casadi_int casadi_s6[3] = {4, 0, 0}; + +/* long_constr_h_fun_jac_uxt_zt:(i0[3],i1,i2[],i3[6])->(o0[4],o1[4x4,5nz],o2[4x0]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a2, a3, a4, a5; + a0=arg[0]? arg[0][1] : 0; + if (res[0]!=0) res[0][0]=a0; + a1=arg[0]? arg[0][2] : 0; + a2=arg[3]? arg[3][0] : 0; + a2=(a1-a2); + if (res[0]!=0) res[0][1]=a2; + a2=arg[3]? arg[3][1] : 0; + a2=(a2-a1); + if (res[0]!=0) res[0][2]=a2; + a2=arg[3]? arg[3][2] : 0; + a1=arg[0]? arg[0][0] : 0; + a2=(a2-a1); + a1=arg[3]? arg[3][5] : 0; + a3=casadi_sq(a0); + a4=5.; + a3=(a3/a4); + a4=arg[3]? arg[3][4] : 0; + a5=(a4*a0); + a3=(a3+a5); + a5=6.; + a3=(a3+a5); + a3=(a1*a3); + a2=(a2-a3); + a3=10.; + a3=(a0+a3); + a2=(a2/a3); + if (res[0]!=0) res[0][3]=a2; + a5=1.; + if (res[1]!=0) res[1][0]=a5; + if (res[1]!=0) res[1][1]=a5; + a5=-1.; + if (res[1]!=0) res[1][2]=a5; + a5=(1./a3); + a5=(-a5); + if (res[1]!=0) res[1][3]=a5; + a5=2.0000000000000001e-01; + a0=(a0+a0); + a5=(a5*a0); + a5=(a5+a4); + a1=(a1*a5); + a1=(a1/a3); + a2=(a2/a3); + a1=(a1+a2); + a1=(-a1); + if (res[1]!=0) res[1][4]=a1; + return 0; +} + +CASADI_SYMBOL_EXPORT int long_constr_h_fun_jac_uxt_zt(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int long_constr_h_fun_jac_uxt_zt_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int long_constr_h_fun_jac_uxt_zt_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_constr_h_fun_jac_uxt_zt_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int long_constr_h_fun_jac_uxt_zt_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_constr_h_fun_jac_uxt_zt_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void long_constr_h_fun_jac_uxt_zt_incref(void) { +} + +CASADI_SYMBOL_EXPORT void long_constr_h_fun_jac_uxt_zt_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int long_constr_h_fun_jac_uxt_zt_n_in(void) { return 4;} + +CASADI_SYMBOL_EXPORT casadi_int long_constr_h_fun_jac_uxt_zt_n_out(void) { return 3;} + +CASADI_SYMBOL_EXPORT casadi_real long_constr_h_fun_jac_uxt_zt_default_in(casadi_int i) { + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_constr_h_fun_jac_uxt_zt_name_in(casadi_int i) { + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_constr_h_fun_jac_uxt_zt_name_out(casadi_int i) { + switch (i) { + case 0: return "o0"; + case 1: return "o1"; + case 2: return "o2"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_constr_h_fun_jac_uxt_zt_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + case 3: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_constr_h_fun_jac_uxt_zt_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s4; + case 1: return casadi_s5; + case 2: return casadi_s6; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int long_constr_h_fun_jac_uxt_zt_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 4; + if (sz_res) *sz_res = 3; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constraints.h b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constraints.h new file mode 100644 index 0000000000..d0abd78bd1 --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constraints.h @@ -0,0 +1,66 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +#ifndef long_CONSTRAINTS +#define long_CONSTRAINTS + +#ifdef __cplusplus +extern "C" { +#endif + + + + + + +int long_constr_h_fun_jac_uxt_zt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int long_constr_h_fun_jac_uxt_zt_work(int *, int *, int *, int *); +const int *long_constr_h_fun_jac_uxt_zt_sparsity_in(int); +const int *long_constr_h_fun_jac_uxt_zt_sparsity_out(int); +int long_constr_h_fun_jac_uxt_zt_n_in(void); +int long_constr_h_fun_jac_uxt_zt_n_out(void); + +int long_constr_h_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int long_constr_h_fun_work(int *, int *, int *, int *); +const int *long_constr_h_fun_sparsity_in(int); +const int *long_constr_h_fun_sparsity_out(int); +int long_constr_h_fun_n_in(void); +int long_constr_h_fun_n_out(void); + + + + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // long_CONSTRAINTS diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost.h b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost.h new file mode 100644 index 0000000000..03878fd754 --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost.h @@ -0,0 +1,119 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef long_COST +#define long_COST + +#ifdef __cplusplus +extern "C" { +#endif + + +// Cost at initial shooting node + +int long_cost_y_0_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int long_cost_y_0_fun_work(int *, int *, int *, int *); +const int *long_cost_y_0_fun_sparsity_in(int); +const int *long_cost_y_0_fun_sparsity_out(int); +int long_cost_y_0_fun_n_in(void); +int long_cost_y_0_fun_n_out(void); + +int long_cost_y_0_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int long_cost_y_0_fun_jac_ut_xt_work(int *, int *, int *, int *); +const int *long_cost_y_0_fun_jac_ut_xt_sparsity_in(int); +const int *long_cost_y_0_fun_jac_ut_xt_sparsity_out(int); +int long_cost_y_0_fun_jac_ut_xt_n_in(void); +int long_cost_y_0_fun_jac_ut_xt_n_out(void); + +int long_cost_y_0_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int long_cost_y_0_hess_work(int *, int *, int *, int *); +const int *long_cost_y_0_hess_sparsity_in(int); +const int *long_cost_y_0_hess_sparsity_out(int); +int long_cost_y_0_hess_n_in(void); +int long_cost_y_0_hess_n_out(void); + + + +// Cost at path shooting node + +int long_cost_y_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int long_cost_y_fun_work(int *, int *, int *, int *); +const int *long_cost_y_fun_sparsity_in(int); +const int *long_cost_y_fun_sparsity_out(int); +int long_cost_y_fun_n_in(void); +int long_cost_y_fun_n_out(void); + +int long_cost_y_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int long_cost_y_fun_jac_ut_xt_work(int *, int *, int *, int *); +const int *long_cost_y_fun_jac_ut_xt_sparsity_in(int); +const int *long_cost_y_fun_jac_ut_xt_sparsity_out(int); +int long_cost_y_fun_jac_ut_xt_n_in(void); +int long_cost_y_fun_jac_ut_xt_n_out(void); + +int long_cost_y_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int long_cost_y_hess_work(int *, int *, int *, int *); +const int *long_cost_y_hess_sparsity_in(int); +const int *long_cost_y_hess_sparsity_out(int); +int long_cost_y_hess_n_in(void); +int long_cost_y_hess_n_out(void); + + + +// Cost at terminal shooting node + +int long_cost_y_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int long_cost_y_e_fun_work(int *, int *, int *, int *); +const int *long_cost_y_e_fun_sparsity_in(int); +const int *long_cost_y_e_fun_sparsity_out(int); +int long_cost_y_e_fun_n_in(void); +int long_cost_y_e_fun_n_out(void); + +int long_cost_y_e_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int long_cost_y_e_fun_jac_ut_xt_work(int *, int *, int *, int *); +const int *long_cost_y_e_fun_jac_ut_xt_sparsity_in(int); +const int *long_cost_y_e_fun_jac_ut_xt_sparsity_out(int); +int long_cost_y_e_fun_jac_ut_xt_n_in(void); +int long_cost_y_e_fun_jac_ut_xt_n_out(void); + +int long_cost_y_e_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int long_cost_y_e_hess_work(int *, int *, int *, int *); +const int *long_cost_y_e_hess_sparsity_in(int); +const int *long_cost_y_e_hess_sparsity_out(int); +int long_cost_y_e_hess_n_in(void); +int long_cost_y_e_hess_n_out(void); + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // long_COST diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun.c new file mode 100644 index 0000000000..1189293c22 --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun.c @@ -0,0 +1,176 @@ +/* This file was automatically generated by CasADi 3.6.4. + * It consists of: + * 1) content generated by CasADi runtime: not copyrighted + * 2) template code copied from CasADi source: permissively licensed (MIT-0) + * 3) user code: owned by the user + * + */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) long_cost_y_0_fun_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_sq CASADI_PREFIX(sq) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +casadi_real casadi_sq(casadi_real x) { return x*x;} + +static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[3] = {0, 0, 0}; +static const casadi_int casadi_s3[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; + +/* long_cost_y_0_fun:(i0[3],i1,i2[],i3[6])->(o0[6]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a2, a3, a4; + a0=arg[3]? arg[3][2] : 0; + a1=arg[0]? arg[0][0] : 0; + a0=(a0-a1); + a2=arg[0]? arg[0][1] : 0; + a3=casadi_sq(a2); + a4=5.; + a3=(a3/a4); + a4=arg[3]? arg[3][4] : 0; + a4=(a4*a2); + a3=(a3+a4); + a4=6.; + a3=(a3+a4); + a0=(a0-a3); + a3=10.; + a3=(a2+a3); + a0=(a0/a3); + if (res[0]!=0) res[0][0]=a0; + if (res[0]!=0) res[0][1]=a1; + if (res[0]!=0) res[0][2]=a2; + a2=arg[0]? arg[0][2] : 0; + if (res[0]!=0) res[0][3]=a2; + a1=arg[3]? arg[3][3] : 0; + a2=(a2-a1); + if (res[0]!=0) res[0][4]=a2; + a2=arg[1]? arg[1][0] : 0; + if (res[0]!=0) res[0][5]=a2; + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_0_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_0_fun_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_0_fun_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_0_fun_incref(void) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_0_fun_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_0_fun_n_in(void) { return 4;} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_0_fun_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real long_cost_y_0_fun_default_in(casadi_int i) { + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_0_fun_name_in(casadi_int i) { + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_0_fun_name_out(casadi_int i) { + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_0_fun_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + case 3: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_0_fun_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 4; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun_jac_ut_xt.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun_jac_ut_xt.c new file mode 100644 index 0000000000..7227e03650 --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun_jac_ut_xt.c @@ -0,0 +1,202 @@ +/* This file was automatically generated by CasADi 3.6.4. + * It consists of: + * 1) content generated by CasADi runtime: not copyrighted + * 2) template code copied from CasADi source: permissively licensed (MIT-0) + * 3) user code: owned by the user + * + */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) long_cost_y_0_fun_jac_ut_xt_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_s4 CASADI_PREFIX(s4) +#define casadi_s5 CASADI_PREFIX(s5) +#define casadi_sq CASADI_PREFIX(sq) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +casadi_real casadi_sq(casadi_real x) { return x*x;} + +static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[3] = {0, 0, 0}; +static const casadi_int casadi_s3[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; +static const casadi_int casadi_s4[16] = {4, 6, 0, 2, 3, 4, 5, 6, 7, 1, 2, 1, 2, 3, 3, 0}; +static const casadi_int casadi_s5[3] = {6, 0, 0}; + +/* long_cost_y_0_fun_jac_ut_xt:(i0[3],i1,i2[],i3[6])->(o0[6],o1[4x6,7nz],o2[6x0]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a2, a3, a4, a5; + a0=arg[3]? arg[3][2] : 0; + a1=arg[0]? arg[0][0] : 0; + a0=(a0-a1); + a2=arg[0]? arg[0][1] : 0; + a3=casadi_sq(a2); + a4=5.; + a3=(a3/a4); + a4=arg[3]? arg[3][4] : 0; + a5=(a4*a2); + a3=(a3+a5); + a5=6.; + a3=(a3+a5); + a0=(a0-a3); + a3=10.; + a3=(a2+a3); + a0=(a0/a3); + if (res[0]!=0) res[0][0]=a0; + if (res[0]!=0) res[0][1]=a1; + if (res[0]!=0) res[0][2]=a2; + a1=arg[0]? arg[0][2] : 0; + if (res[0]!=0) res[0][3]=a1; + a5=arg[3]? arg[3][3] : 0; + a1=(a1-a5); + if (res[0]!=0) res[0][4]=a1; + a1=arg[1]? arg[1][0] : 0; + if (res[0]!=0) res[0][5]=a1; + a1=(1./a3); + a1=(-a1); + if (res[1]!=0) res[1][0]=a1; + a1=2.0000000000000001e-01; + a2=(a2+a2); + a1=(a1*a2); + a1=(a1+a4); + a1=(a1/a3); + a0=(a0/a3); + a1=(a1+a0); + a1=(-a1); + if (res[1]!=0) res[1][1]=a1; + a1=1.; + if (res[1]!=0) res[1][2]=a1; + if (res[1]!=0) res[1][3]=a1; + if (res[1]!=0) res[1][4]=a1; + if (res[1]!=0) res[1][5]=a1; + if (res[1]!=0) res[1][6]=a1; + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_jac_ut_xt(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_jac_ut_xt_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_jac_ut_xt_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_0_fun_jac_ut_xt_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_jac_ut_xt_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_0_fun_jac_ut_xt_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_0_fun_jac_ut_xt_incref(void) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_0_fun_jac_ut_xt_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_0_fun_jac_ut_xt_n_in(void) { return 4;} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_0_fun_jac_ut_xt_n_out(void) { return 3;} + +CASADI_SYMBOL_EXPORT casadi_real long_cost_y_0_fun_jac_ut_xt_default_in(casadi_int i) { + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_0_fun_jac_ut_xt_name_in(casadi_int i) { + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_0_fun_jac_ut_xt_name_out(casadi_int i) { + switch (i) { + case 0: return "o0"; + case 1: return "o1"; + case 2: return "o2"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_0_fun_jac_ut_xt_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + case 3: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_0_fun_jac_ut_xt_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s3; + case 1: return casadi_s4; + case 2: return casadi_s5; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_jac_ut_xt_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 4; + if (sz_res) *sz_res = 3; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_hess.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_hess.c new file mode 100644 index 0000000000..74eec0d0cd --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_hess.c @@ -0,0 +1,201 @@ +/* This file was automatically generated by CasADi 3.6.4. + * It consists of: + * 1) content generated by CasADi runtime: not copyrighted + * 2) template code copied from CasADi source: permissively licensed (MIT-0) + * 3) user code: owned by the user + * + */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) long_cost_y_0_hess_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_s4 CASADI_PREFIX(s4) +#define casadi_sq CASADI_PREFIX(sq) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +casadi_real casadi_sq(casadi_real x) { return x*x;} + +static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[3] = {0, 0, 0}; +static const casadi_int casadi_s3[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; +static const casadi_int casadi_s4[10] = {4, 4, 0, 0, 1, 3, 3, 2, 1, 2}; + +/* long_cost_y_0_hess:(i0[3],i1,i2[],i3[6],i4[6])->(o0[4x4,3nz]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a10, a2, a3, a4, a5, a6, a7, a8, a9; + a0=arg[3]? arg[3][0] : 0; + a1=arg[0]? arg[0][1] : 0; + a2=10.; + a2=(a1+a2); + a3=(1./a2); + a3=(a3/a2); + a3=(a0*a3); + if (res[0]!=0) res[0][0]=a3; + a3=(a0/a2); + a4=(a3/a2); + if (res[0]!=0) res[0][1]=a4; + a5=2.0000000000000001e-01; + a6=(a1+a1); + a6=(a5*a6); + a7=arg[4]? arg[4][4] : 0; + a6=(a6+a7); + a6=(a6/a2); + a8=arg[4]? arg[4][2] : 0; + a9=arg[0]? arg[0][0] : 0; + a8=(a8-a9); + a9=casadi_sq(a1); + a10=5.; + a9=(a9/a10); + a10=(a7*a1); + a9=(a9+a10); + a10=6.; + a9=(a9+a10); + a8=(a8-a9); + a8=(a8/a2); + a9=(a8/a2); + a6=(a6+a9); + a6=(a6/a2); + a8=(a8/a2); + a8=(a8/a2); + a6=(a6+a8); + a0=(a0*a6); + a7=(a7*a4); + a0=(a0+a7); + a7=2.; + a3=(a5*a3); + a7=(a7*a3); + a1=(a1+a1); + a5=(a5*a4); + a1=(a1*a5); + a7=(a7-a1); + a0=(a0-a7); + if (res[0]!=0) res[0][2]=a0; + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_0_hess(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int long_cost_y_0_hess_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_0_hess_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_0_hess_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int long_cost_y_0_hess_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_0_hess_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_0_hess_incref(void) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_0_hess_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_0_hess_n_in(void) { return 5;} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_0_hess_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real long_cost_y_0_hess_default_in(casadi_int i) { + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_0_hess_name_in(casadi_int i) { + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + case 4: return "i4"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_0_hess_name_out(casadi_int i) { + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_0_hess_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + case 3: return casadi_s3; + case 4: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_0_hess_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s4; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int long_cost_y_0_hess_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 5; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun.c new file mode 100644 index 0000000000..92dcef2cf5 --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun.c @@ -0,0 +1,174 @@ +/* This file was automatically generated by CasADi 3.6.4. + * It consists of: + * 1) content generated by CasADi runtime: not copyrighted + * 2) template code copied from CasADi source: permissively licensed (MIT-0) + * 3) user code: owned by the user + * + */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) long_cost_y_e_fun_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_sq CASADI_PREFIX(sq) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +casadi_real casadi_sq(casadi_real x) { return x*x;} + +static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s1[3] = {0, 0, 0}; +static const casadi_int casadi_s2[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; +static const casadi_int casadi_s3[9] = {5, 1, 0, 5, 0, 1, 2, 3, 4}; + +/* long_cost_y_e_fun:(i0[3],i1[],i2[],i3[6])->(o0[5]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a2, a3, a4; + a0=arg[3]? arg[3][2] : 0; + a1=arg[0]? arg[0][0] : 0; + a0=(a0-a1); + a2=arg[0]? arg[0][1] : 0; + a3=casadi_sq(a2); + a4=5.; + a3=(a3/a4); + a4=arg[3]? arg[3][4] : 0; + a4=(a4*a2); + a3=(a3+a4); + a4=6.; + a3=(a3+a4); + a0=(a0-a3); + a3=10.; + a3=(a2+a3); + a0=(a0/a3); + if (res[0]!=0) res[0][0]=a0; + if (res[0]!=0) res[0][1]=a1; + if (res[0]!=0) res[0][2]=a2; + a2=arg[0]? arg[0][2] : 0; + if (res[0]!=0) res[0][3]=a2; + a1=arg[3]? arg[3][3] : 0; + a2=(a2-a1); + if (res[0]!=0) res[0][4]=a2; + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_e_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_e_fun_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_e_fun_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_e_fun_incref(void) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_e_fun_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_e_fun_n_in(void) { return 4;} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_e_fun_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real long_cost_y_e_fun_default_in(casadi_int i) { + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_e_fun_name_in(casadi_int i) { + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_e_fun_name_out(casadi_int i) { + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_e_fun_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s1; + case 3: return casadi_s2; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_e_fun_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 4; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun_jac_ut_xt.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun_jac_ut_xt.c new file mode 100644 index 0000000000..3cef9bbf36 --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun_jac_ut_xt.c @@ -0,0 +1,199 @@ +/* This file was automatically generated by CasADi 3.6.4. + * It consists of: + * 1) content generated by CasADi runtime: not copyrighted + * 2) template code copied from CasADi source: permissively licensed (MIT-0) + * 3) user code: owned by the user + * + */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) long_cost_y_e_fun_jac_ut_xt_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_s4 CASADI_PREFIX(s4) +#define casadi_s5 CASADI_PREFIX(s5) +#define casadi_sq CASADI_PREFIX(sq) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +casadi_real casadi_sq(casadi_real x) { return x*x;} + +static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s1[3] = {0, 0, 0}; +static const casadi_int casadi_s2[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; +static const casadi_int casadi_s3[9] = {5, 1, 0, 5, 0, 1, 2, 3, 4}; +static const casadi_int casadi_s4[14] = {3, 5, 0, 2, 3, 4, 5, 6, 0, 1, 0, 1, 2, 2}; +static const casadi_int casadi_s5[3] = {5, 0, 0}; + +/* long_cost_y_e_fun_jac_ut_xt:(i0[3],i1[],i2[],i3[6])->(o0[5],o1[3x5,6nz],o2[5x0]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a2, a3, a4, a5; + a0=arg[3]? arg[3][2] : 0; + a1=arg[0]? arg[0][0] : 0; + a0=(a0-a1); + a2=arg[0]? arg[0][1] : 0; + a3=casadi_sq(a2); + a4=5.; + a3=(a3/a4); + a4=arg[3]? arg[3][4] : 0; + a5=(a4*a2); + a3=(a3+a5); + a5=6.; + a3=(a3+a5); + a0=(a0-a3); + a3=10.; + a3=(a2+a3); + a0=(a0/a3); + if (res[0]!=0) res[0][0]=a0; + if (res[0]!=0) res[0][1]=a1; + if (res[0]!=0) res[0][2]=a2; + a1=arg[0]? arg[0][2] : 0; + if (res[0]!=0) res[0][3]=a1; + a5=arg[3]? arg[3][3] : 0; + a1=(a1-a5); + if (res[0]!=0) res[0][4]=a1; + a1=(1./a3); + a1=(-a1); + if (res[1]!=0) res[1][0]=a1; + a1=2.0000000000000001e-01; + a2=(a2+a2); + a1=(a1*a2); + a1=(a1+a4); + a1=(a1/a3); + a0=(a0/a3); + a1=(a1+a0); + a1=(-a1); + if (res[1]!=0) res[1][1]=a1; + a1=1.; + if (res[1]!=0) res[1][2]=a1; + if (res[1]!=0) res[1][3]=a1; + if (res[1]!=0) res[1][4]=a1; + if (res[1]!=0) res[1][5]=a1; + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_jac_ut_xt(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_jac_ut_xt_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_jac_ut_xt_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_e_fun_jac_ut_xt_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_jac_ut_xt_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_e_fun_jac_ut_xt_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_e_fun_jac_ut_xt_incref(void) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_e_fun_jac_ut_xt_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_e_fun_jac_ut_xt_n_in(void) { return 4;} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_e_fun_jac_ut_xt_n_out(void) { return 3;} + +CASADI_SYMBOL_EXPORT casadi_real long_cost_y_e_fun_jac_ut_xt_default_in(casadi_int i) { + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_e_fun_jac_ut_xt_name_in(casadi_int i) { + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_e_fun_jac_ut_xt_name_out(casadi_int i) { + switch (i) { + case 0: return "o0"; + case 1: return "o1"; + case 2: return "o2"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_e_fun_jac_ut_xt_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s1; + case 3: return casadi_s2; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_e_fun_jac_ut_xt_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s3; + case 1: return casadi_s4; + case 2: return casadi_s5; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_jac_ut_xt_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 4; + if (sz_res) *sz_res = 3; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_hess.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_hess.c new file mode 100644 index 0000000000..b14ef579e6 --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_hess.c @@ -0,0 +1,201 @@ +/* This file was automatically generated by CasADi 3.6.4. + * It consists of: + * 1) content generated by CasADi runtime: not copyrighted + * 2) template code copied from CasADi source: permissively licensed (MIT-0) + * 3) user code: owned by the user + * + */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) long_cost_y_e_hess_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_s4 CASADI_PREFIX(s4) +#define casadi_sq CASADI_PREFIX(sq) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +casadi_real casadi_sq(casadi_real x) { return x*x;} + +static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s1[3] = {0, 0, 0}; +static const casadi_int casadi_s2[9] = {5, 1, 0, 5, 0, 1, 2, 3, 4}; +static const casadi_int casadi_s3[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; +static const casadi_int casadi_s4[9] = {3, 3, 0, 1, 3, 3, 1, 0, 1}; + +/* long_cost_y_e_hess:(i0[3],i1[],i2[],i3[5],i4[6])->(o0[3x3,3nz]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a10, a2, a3, a4, a5, a6, a7, a8, a9; + a0=arg[3]? arg[3][0] : 0; + a1=arg[0]? arg[0][1] : 0; + a2=10.; + a2=(a1+a2); + a3=(1./a2); + a3=(a3/a2); + a3=(a0*a3); + if (res[0]!=0) res[0][0]=a3; + a3=(a0/a2); + a4=(a3/a2); + if (res[0]!=0) res[0][1]=a4; + a5=2.0000000000000001e-01; + a6=(a1+a1); + a6=(a5*a6); + a7=arg[4]? arg[4][4] : 0; + a6=(a6+a7); + a6=(a6/a2); + a8=arg[4]? arg[4][2] : 0; + a9=arg[0]? arg[0][0] : 0; + a8=(a8-a9); + a9=casadi_sq(a1); + a10=5.; + a9=(a9/a10); + a10=(a7*a1); + a9=(a9+a10); + a10=6.; + a9=(a9+a10); + a8=(a8-a9); + a8=(a8/a2); + a9=(a8/a2); + a6=(a6+a9); + a6=(a6/a2); + a8=(a8/a2); + a8=(a8/a2); + a6=(a6+a8); + a0=(a0*a6); + a7=(a7*a4); + a0=(a0+a7); + a7=2.; + a3=(a5*a3); + a7=(a7*a3); + a1=(a1+a1); + a5=(a5*a4); + a1=(a1*a5); + a7=(a7-a1); + a0=(a0-a7); + if (res[0]!=0) res[0][2]=a0; + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_e_hess(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int long_cost_y_e_hess_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_e_hess_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_e_hess_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int long_cost_y_e_hess_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_e_hess_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_e_hess_incref(void) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_e_hess_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_e_hess_n_in(void) { return 5;} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_e_hess_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real long_cost_y_e_hess_default_in(casadi_int i) { + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_e_hess_name_in(casadi_int i) { + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + case 4: return "i4"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_e_hess_name_out(casadi_int i) { + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_e_hess_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s1; + case 3: return casadi_s2; + case 4: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_e_hess_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s4; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int long_cost_y_e_hess_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 5; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun.c new file mode 100644 index 0000000000..2c5e7d635c --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun.c @@ -0,0 +1,176 @@ +/* This file was automatically generated by CasADi 3.6.4. + * It consists of: + * 1) content generated by CasADi runtime: not copyrighted + * 2) template code copied from CasADi source: permissively licensed (MIT-0) + * 3) user code: owned by the user + * + */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) long_cost_y_fun_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_sq CASADI_PREFIX(sq) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +casadi_real casadi_sq(casadi_real x) { return x*x;} + +static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[3] = {0, 0, 0}; +static const casadi_int casadi_s3[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; + +/* long_cost_y_fun:(i0[3],i1,i2[],i3[6])->(o0[6]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a2, a3, a4; + a0=arg[3]? arg[3][2] : 0; + a1=arg[0]? arg[0][0] : 0; + a0=(a0-a1); + a2=arg[0]? arg[0][1] : 0; + a3=casadi_sq(a2); + a4=5.; + a3=(a3/a4); + a4=arg[3]? arg[3][4] : 0; + a4=(a4*a2); + a3=(a3+a4); + a4=6.; + a3=(a3+a4); + a0=(a0-a3); + a3=10.; + a3=(a2+a3); + a0=(a0/a3); + if (res[0]!=0) res[0][0]=a0; + if (res[0]!=0) res[0][1]=a1; + if (res[0]!=0) res[0][2]=a2; + a2=arg[0]? arg[0][2] : 0; + if (res[0]!=0) res[0][3]=a2; + a1=arg[3]? arg[3][3] : 0; + a2=(a2-a1); + if (res[0]!=0) res[0][4]=a2; + a2=arg[1]? arg[1][0] : 0; + if (res[0]!=0) res[0][5]=a2; + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int long_cost_y_fun_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_fun_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_fun_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int long_cost_y_fun_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_fun_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_fun_incref(void) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_fun_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_fun_n_in(void) { return 4;} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_fun_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real long_cost_y_fun_default_in(casadi_int i) { + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_fun_name_in(casadi_int i) { + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_fun_name_out(casadi_int i) { + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_fun_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + case 3: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_fun_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int long_cost_y_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 4; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun_jac_ut_xt.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun_jac_ut_xt.c new file mode 100644 index 0000000000..6d1e496cf1 --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun_jac_ut_xt.c @@ -0,0 +1,202 @@ +/* This file was automatically generated by CasADi 3.6.4. + * It consists of: + * 1) content generated by CasADi runtime: not copyrighted + * 2) template code copied from CasADi source: permissively licensed (MIT-0) + * 3) user code: owned by the user + * + */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) long_cost_y_fun_jac_ut_xt_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_s4 CASADI_PREFIX(s4) +#define casadi_s5 CASADI_PREFIX(s5) +#define casadi_sq CASADI_PREFIX(sq) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +casadi_real casadi_sq(casadi_real x) { return x*x;} + +static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[3] = {0, 0, 0}; +static const casadi_int casadi_s3[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; +static const casadi_int casadi_s4[16] = {4, 6, 0, 2, 3, 4, 5, 6, 7, 1, 2, 1, 2, 3, 3, 0}; +static const casadi_int casadi_s5[3] = {6, 0, 0}; + +/* long_cost_y_fun_jac_ut_xt:(i0[3],i1,i2[],i3[6])->(o0[6],o1[4x6,7nz],o2[6x0]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a2, a3, a4, a5; + a0=arg[3]? arg[3][2] : 0; + a1=arg[0]? arg[0][0] : 0; + a0=(a0-a1); + a2=arg[0]? arg[0][1] : 0; + a3=casadi_sq(a2); + a4=5.; + a3=(a3/a4); + a4=arg[3]? arg[3][4] : 0; + a5=(a4*a2); + a3=(a3+a5); + a5=6.; + a3=(a3+a5); + a0=(a0-a3); + a3=10.; + a3=(a2+a3); + a0=(a0/a3); + if (res[0]!=0) res[0][0]=a0; + if (res[0]!=0) res[0][1]=a1; + if (res[0]!=0) res[0][2]=a2; + a1=arg[0]? arg[0][2] : 0; + if (res[0]!=0) res[0][3]=a1; + a5=arg[3]? arg[3][3] : 0; + a1=(a1-a5); + if (res[0]!=0) res[0][4]=a1; + a1=arg[1]? arg[1][0] : 0; + if (res[0]!=0) res[0][5]=a1; + a1=(1./a3); + a1=(-a1); + if (res[1]!=0) res[1][0]=a1; + a1=2.0000000000000001e-01; + a2=(a2+a2); + a1=(a1*a2); + a1=(a1+a4); + a1=(a1/a3); + a0=(a0/a3); + a1=(a1+a0); + a1=(-a1); + if (res[1]!=0) res[1][1]=a1; + a1=1.; + if (res[1]!=0) res[1][2]=a1; + if (res[1]!=0) res[1][3]=a1; + if (res[1]!=0) res[1][4]=a1; + if (res[1]!=0) res[1][5]=a1; + if (res[1]!=0) res[1][6]=a1; + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_fun_jac_ut_xt(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int long_cost_y_fun_jac_ut_xt_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_fun_jac_ut_xt_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_fun_jac_ut_xt_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int long_cost_y_fun_jac_ut_xt_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_fun_jac_ut_xt_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_fun_jac_ut_xt_incref(void) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_fun_jac_ut_xt_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_fun_jac_ut_xt_n_in(void) { return 4;} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_fun_jac_ut_xt_n_out(void) { return 3;} + +CASADI_SYMBOL_EXPORT casadi_real long_cost_y_fun_jac_ut_xt_default_in(casadi_int i) { + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_fun_jac_ut_xt_name_in(casadi_int i) { + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_fun_jac_ut_xt_name_out(casadi_int i) { + switch (i) { + case 0: return "o0"; + case 1: return "o1"; + case 2: return "o2"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_fun_jac_ut_xt_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + case 3: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_fun_jac_ut_xt_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s3; + case 1: return casadi_s4; + case 2: return casadi_s5; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int long_cost_y_fun_jac_ut_xt_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 4; + if (sz_res) *sz_res = 3; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_hess.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_hess.c new file mode 100644 index 0000000000..fc43b0714d --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_hess.c @@ -0,0 +1,201 @@ +/* This file was automatically generated by CasADi 3.6.4. + * It consists of: + * 1) content generated by CasADi runtime: not copyrighted + * 2) template code copied from CasADi source: permissively licensed (MIT-0) + * 3) user code: owned by the user + * + */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) long_cost_y_hess_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_s4 CASADI_PREFIX(s4) +#define casadi_sq CASADI_PREFIX(sq) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +casadi_real casadi_sq(casadi_real x) { return x*x;} + +static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[3] = {0, 0, 0}; +static const casadi_int casadi_s3[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; +static const casadi_int casadi_s4[10] = {4, 4, 0, 0, 1, 3, 3, 2, 1, 2}; + +/* long_cost_y_hess:(i0[3],i1,i2[],i3[6],i4[6])->(o0[4x4,3nz]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a10, a2, a3, a4, a5, a6, a7, a8, a9; + a0=arg[3]? arg[3][0] : 0; + a1=arg[0]? arg[0][1] : 0; + a2=10.; + a2=(a1+a2); + a3=(1./a2); + a3=(a3/a2); + a3=(a0*a3); + if (res[0]!=0) res[0][0]=a3; + a3=(a0/a2); + a4=(a3/a2); + if (res[0]!=0) res[0][1]=a4; + a5=2.0000000000000001e-01; + a6=(a1+a1); + a6=(a5*a6); + a7=arg[4]? arg[4][4] : 0; + a6=(a6+a7); + a6=(a6/a2); + a8=arg[4]? arg[4][2] : 0; + a9=arg[0]? arg[0][0] : 0; + a8=(a8-a9); + a9=casadi_sq(a1); + a10=5.; + a9=(a9/a10); + a10=(a7*a1); + a9=(a9+a10); + a10=6.; + a9=(a9+a10); + a8=(a8-a9); + a8=(a8/a2); + a9=(a8/a2); + a6=(a6+a9); + a6=(a6/a2); + a8=(a8/a2); + a8=(a8/a2); + a6=(a6+a8); + a0=(a0*a6); + a7=(a7*a4); + a0=(a0+a7); + a7=2.; + a3=(a5*a3); + a7=(a7*a3); + a1=(a1+a1); + a5=(a5*a4); + a1=(a1*a5); + a7=(a7-a1); + a0=(a0-a7); + if (res[0]!=0) res[0][2]=a0; + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_hess(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int long_cost_y_hess_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_hess_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_hess_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int long_cost_y_hess_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_hess_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_hess_incref(void) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_hess_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_hess_n_in(void) { return 5;} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_hess_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real long_cost_y_hess_default_in(casadi_int i) { + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_hess_name_in(casadi_int i) { + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + case 4: return "i4"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_hess_name_out(casadi_int i) { + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_hess_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + case 3: return casadi_s3; + case 4: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_hess_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s4; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int long_cost_y_hess_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 5; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_ode_fun.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_ode_fun.c new file mode 100644 index 0000000000..29598d602c --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_ode_fun.c @@ -0,0 +1,149 @@ +/* This file was automatically generated by CasADi 3.6.4. + * It consists of: + * 1) content generated by CasADi runtime: not copyrighted + * 2) template code copied from CasADi source: permissively licensed (MIT-0) + * 3) user code: owned by the user + * + */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) long_expl_ode_fun_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; + +/* long_expl_ode_fun:(i0[3],i1,i2[6])->(o0[3]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0; + a0=arg[0]? arg[0][1] : 0; + if (res[0]!=0) res[0][0]=a0; + a0=arg[0]? arg[0][2] : 0; + if (res[0]!=0) res[0][1]=a0; + a0=arg[1]? arg[1][0] : 0; + if (res[0]!=0) res[0][2]=a0; + return 0; +} + +CASADI_SYMBOL_EXPORT int long_expl_ode_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int long_expl_ode_fun_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int long_expl_ode_fun_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_expl_ode_fun_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int long_expl_ode_fun_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_expl_ode_fun_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void long_expl_ode_fun_incref(void) { +} + +CASADI_SYMBOL_EXPORT void long_expl_ode_fun_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int long_expl_ode_fun_n_in(void) { return 3;} + +CASADI_SYMBOL_EXPORT casadi_int long_expl_ode_fun_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real long_expl_ode_fun_default_in(casadi_int i) { + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_expl_ode_fun_name_in(casadi_int i) { + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_expl_ode_fun_name_out(casadi_int i) { + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_expl_ode_fun_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_expl_ode_fun_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int long_expl_ode_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 3; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_vde_adj.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_vde_adj.c new file mode 100644 index 0000000000..d8bd4d0f7d --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_vde_adj.c @@ -0,0 +1,155 @@ +/* This file was automatically generated by CasADi 3.6.4. + * It consists of: + * 1) content generated by CasADi runtime: not copyrighted + * 2) template code copied from CasADi source: permissively licensed (MIT-0) + * 3) user code: owned by the user + * + */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) long_expl_vde_adj_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; +static const casadi_int casadi_s3[8] = {4, 1, 0, 4, 0, 1, 2, 3}; + +/* long_expl_vde_adj:(i0[3],i1[3],i2,i3[6])->(o0[4]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0; + a0=0.; + if (res[0]!=0) res[0][0]=a0; + a0=arg[1]? arg[1][0] : 0; + if (res[0]!=0) res[0][1]=a0; + a0=arg[1]? arg[1][1] : 0; + if (res[0]!=0) res[0][2]=a0; + a0=arg[1]? arg[1][2] : 0; + if (res[0]!=0) res[0][3]=a0; + return 0; +} + +CASADI_SYMBOL_EXPORT int long_expl_vde_adj(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int long_expl_vde_adj_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int long_expl_vde_adj_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_expl_vde_adj_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int long_expl_vde_adj_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_expl_vde_adj_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void long_expl_vde_adj_incref(void) { +} + +CASADI_SYMBOL_EXPORT void long_expl_vde_adj_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int long_expl_vde_adj_n_in(void) { return 4;} + +CASADI_SYMBOL_EXPORT casadi_int long_expl_vde_adj_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real long_expl_vde_adj_default_in(casadi_int i) { + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_expl_vde_adj_name_in(casadi_int i) { + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_expl_vde_adj_name_out(casadi_int i) { + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_expl_vde_adj_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s0; + case 2: return casadi_s1; + case 3: return casadi_s2; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_expl_vde_adj_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int long_expl_vde_adj_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 4; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_vde_forw.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_vde_forw.c new file mode 100644 index 0000000000..ecde7cc6d8 --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_vde_forw.c @@ -0,0 +1,181 @@ +/* This file was automatically generated by CasADi 3.6.4. + * It consists of: + * 1) content generated by CasADi runtime: not copyrighted + * 2) template code copied from CasADi source: permissively licensed (MIT-0) + * 3) user code: owned by the user + * + */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) long_expl_vde_forw_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s1[15] = {3, 3, 0, 3, 6, 9, 0, 1, 2, 0, 1, 2, 0, 1, 2}; +static const casadi_int casadi_s2[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s3[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; + +/* long_expl_vde_forw:(i0[3],i1[3x3],i2[3],i3,i4[6])->(o0[3],o1[3x3],o2[3]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1; + a0=arg[0]? arg[0][1] : 0; + if (res[0]!=0) res[0][0]=a0; + a0=arg[0]? arg[0][2] : 0; + if (res[0]!=0) res[0][1]=a0; + a0=arg[3]? arg[3][0] : 0; + if (res[0]!=0) res[0][2]=a0; + a0=arg[1]? arg[1][1] : 0; + if (res[1]!=0) res[1][0]=a0; + a0=arg[1]? arg[1][2] : 0; + if (res[1]!=0) res[1][1]=a0; + a0=0.; + if (res[1]!=0) res[1][2]=a0; + a1=arg[1]? arg[1][4] : 0; + if (res[1]!=0) res[1][3]=a1; + a1=arg[1]? arg[1][5] : 0; + if (res[1]!=0) res[1][4]=a1; + if (res[1]!=0) res[1][5]=a0; + a1=arg[1]? arg[1][7] : 0; + if (res[1]!=0) res[1][6]=a1; + a1=arg[1]? arg[1][8] : 0; + if (res[1]!=0) res[1][7]=a1; + if (res[1]!=0) res[1][8]=a0; + a0=arg[2]? arg[2][1] : 0; + if (res[2]!=0) res[2][0]=a0; + a0=arg[2]? arg[2][2] : 0; + if (res[2]!=0) res[2][1]=a0; + a0=1.; + if (res[2]!=0) res[2][2]=a0; + return 0; +} + +CASADI_SYMBOL_EXPORT int long_expl_vde_forw(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int long_expl_vde_forw_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int long_expl_vde_forw_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_expl_vde_forw_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int long_expl_vde_forw_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_expl_vde_forw_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void long_expl_vde_forw_incref(void) { +} + +CASADI_SYMBOL_EXPORT void long_expl_vde_forw_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int long_expl_vde_forw_n_in(void) { return 5;} + +CASADI_SYMBOL_EXPORT casadi_int long_expl_vde_forw_n_out(void) { return 3;} + +CASADI_SYMBOL_EXPORT casadi_real long_expl_vde_forw_default_in(casadi_int i) { + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_expl_vde_forw_name_in(casadi_int i) { + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + case 4: return "i4"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_expl_vde_forw_name_out(casadi_int i) { + switch (i) { + case 0: return "o0"; + case 1: return "o1"; + case 2: return "o2"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_expl_vde_forw_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s0; + case 3: return casadi_s2; + case 4: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_expl_vde_forw_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s0; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int long_expl_vde_forw_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 5; + if (sz_res) *sz_res = 3; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_model.h b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_model.h new file mode 100644 index 0000000000..cfe3a885e4 --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_model.h @@ -0,0 +1,71 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +#ifndef long_MODEL +#define long_MODEL + +#ifdef __cplusplus +extern "C" { +#endif + + +/* explicit ODE */ + +// explicit ODE +int long_expl_ode_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int long_expl_ode_fun_work(int *, int *, int *, int *); +const int *long_expl_ode_fun_sparsity_in(int); +const int *long_expl_ode_fun_sparsity_out(int); +int long_expl_ode_fun_n_in(void); +int long_expl_ode_fun_n_out(void); + +// explicit forward VDE +int long_expl_vde_forw(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int long_expl_vde_forw_work(int *, int *, int *, int *); +const int *long_expl_vde_forw_sparsity_in(int); +const int *long_expl_vde_forw_sparsity_out(int); +int long_expl_vde_forw_n_in(void); +int long_expl_vde_forw_n_out(void); + +// explicit adjoint VDE +int long_expl_vde_adj(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int long_expl_vde_adj_work(int *, int *, int *, int *); +const int *long_expl_vde_adj_sparsity_in(int); +const int *long_expl_vde_adj_sparsity_out(int); +int long_expl_vde_adj_n_in(void); +int long_expl_vde_adj_n_out(void); + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // long_MODEL diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/main_long.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/main_long.c new file mode 100644 index 0000000000..94ff7c1f7a --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/main_long.c @@ -0,0 +1,216 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +// standard +#include +#include +// acados +#include "acados/utils/print.h" +#include "acados/utils/math.h" +#include "acados_c/ocp_nlp_interface.h" +#include "acados_c/external_function_interface.h" +#include "acados_solver_long.h" + +// blasfeo +#include "blasfeo/include/blasfeo_d_aux_ext_dep.h" + +#define NX LONG_NX +#define NZ LONG_NZ +#define NU LONG_NU +#define NP LONG_NP +#define NBX LONG_NBX +#define NBX0 LONG_NBX0 +#define NBU LONG_NBU +#define NSBX LONG_NSBX +#define NSBU LONG_NSBU +#define NSH LONG_NSH +#define NSG LONG_NSG +#define NSPHI LONG_NSPHI +#define NSHN LONG_NSHN +#define NSGN LONG_NSGN +#define NSPHIN LONG_NSPHIN +#define NSBXN LONG_NSBXN +#define NS LONG_NS +#define NSN LONG_NSN +#define NG LONG_NG +#define NBXN LONG_NBXN +#define NGN LONG_NGN +#define NY0 LONG_NY0 +#define NY LONG_NY +#define NYN LONG_NYN +#define NH LONG_NH +#define NPHI LONG_NPHI +#define NHN LONG_NHN +#define NPHIN LONG_NPHIN +#define NR LONG_NR + + +int main() +{ + + long_solver_capsule *acados_ocp_capsule = long_acados_create_capsule(); + // there is an opportunity to change the number of shooting intervals in C without new code generation + int N = LONG_N; + // allocate the array and fill it accordingly + double* new_time_steps = NULL; + int status = long_acados_create_with_discretization(acados_ocp_capsule, N, new_time_steps); + + if (status) + { + printf("long_acados_create() returned status %d. Exiting.\n", status); + exit(1); + } + + ocp_nlp_config *nlp_config = long_acados_get_nlp_config(acados_ocp_capsule); + ocp_nlp_dims *nlp_dims = long_acados_get_nlp_dims(acados_ocp_capsule); + ocp_nlp_in *nlp_in = long_acados_get_nlp_in(acados_ocp_capsule); + ocp_nlp_out *nlp_out = long_acados_get_nlp_out(acados_ocp_capsule); + ocp_nlp_solver *nlp_solver = long_acados_get_nlp_solver(acados_ocp_capsule); + void *nlp_opts = long_acados_get_nlp_opts(acados_ocp_capsule); + + // initial condition + int idxbx0[NBX0]; + idxbx0[0] = 0; + idxbx0[1] = 1; + idxbx0[2] = 2; + + double lbx0[NBX0]; + double ubx0[NBX0]; + lbx0[0] = 0.0; + ubx0[0] = 0.0; + lbx0[1] = 0.0; + ubx0[1] = 0.0; + lbx0[2] = 0.0; + ubx0[2] = 0.0; + + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbx", idxbx0); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", lbx0); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", ubx0); + + // initialization for state values + double x_init[NX]; + x_init[0] = 0.0; + x_init[1] = 0.0; + x_init[2] = 0.0; + + // initial value for control input + double u0[NU]; + u0[0] = 0.0; + // set parameters + double p[NP]; + p[0] = -1.2; + p[1] = 1.2; + p[2] = 0.0; + p[3] = 0.0; + p[4] = 1.45; + p[5] = 0.75; + + for (int ii = 0; ii <= N; ii++) + { + long_acados_update_params(acados_ocp_capsule, ii, p, NP); + } + + + // prepare evaluation + int NTIMINGS = 1; + double min_time = 1e12; + double kkt_norm_inf; + double elapsed_time; + int sqp_iter; + + double xtraj[NX * (N+1)]; + double utraj[NU * N]; + + + // solve ocp in loop + int rti_phase = 0; + + for (int ii = 0; ii < NTIMINGS; ii++) + { + // initialize solution + for (int i = 0; i < N; i++) + { + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x_init); + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0); + } + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, N, "x", x_init); + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "rti_phase", &rti_phase); + status = long_acados_solve(acados_ocp_capsule); + ocp_nlp_get(nlp_config, nlp_solver, "time_tot", &elapsed_time); + min_time = MIN(elapsed_time, min_time); + } + + /* print solution and statistics */ + for (int ii = 0; ii <= nlp_dims->N; ii++) + ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "x", &xtraj[ii*NX]); + for (int ii = 0; ii < nlp_dims->N; ii++) + ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "u", &utraj[ii*NU]); + + printf("\n--- xtraj ---\n"); + d_print_exp_tran_mat( NX, N+1, xtraj, NX); + printf("\n--- utraj ---\n"); + d_print_exp_tran_mat( NU, N, utraj, NU ); + // ocp_nlp_out_print(nlp_solver->dims, nlp_out); + + printf("\nsolved ocp %d times, solution printed above\n\n", NTIMINGS); + + if (status == ACADOS_SUCCESS) + { + printf("long_acados_solve(): SUCCESS!\n"); + } + else + { + printf("long_acados_solve() failed with status %d.\n", status); + } + + // get solution + ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 0, "kkt_norm_inf", &kkt_norm_inf); + ocp_nlp_get(nlp_config, nlp_solver, "sqp_iter", &sqp_iter); + + long_acados_print_stats(acados_ocp_capsule); + + printf("\nSolver info:\n"); + printf(" SQP iterations %2d\n minimum time for %d solve %f [ms]\n KKT %e\n", + sqp_iter, NTIMINGS, min_time*1000, kkt_norm_inf); + + // free solver + status = long_acados_free(acados_ocp_capsule); + if (status) { + printf("long_acados_free() returned status %d. \n", status); + } + // free solver capsule + status = long_acados_free_capsule(acados_ocp_capsule); + if (status) { + printf("long_acados_free_capsule() returned status %d. \n", status); + } + + return status; +} diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/main_sim_long.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/main_sim_long.c new file mode 100644 index 0000000000..67fa56069a --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/main_sim_long.c @@ -0,0 +1,127 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +// standard +#include +#include +// acados +#include "acados/utils/print.h" +#include "acados/utils/math.h" +#include "acados_c/sim_interface.h" +#include "acados_sim_solver_long.h" + +#define NX LONG_NX +#define NZ LONG_NZ +#define NU LONG_NU +#define NP LONG_NP + + +int main() +{ + int status = 0; + sim_solver_capsule *capsule = long_acados_sim_solver_create_capsule(); + status = long_acados_sim_create(capsule); + + if (status) + { + printf("acados_create() returned status %d. Exiting.\n", status); + exit(1); + } + + sim_config *acados_sim_config = long_acados_get_sim_config(capsule); + sim_in *acados_sim_in = long_acados_get_sim_in(capsule); + sim_out *acados_sim_out = long_acados_get_sim_out(capsule); + void *acados_sim_dims = long_acados_get_sim_dims(capsule); + + // initial condition + double x_current[NX]; + x_current[0] = 0.0; + x_current[1] = 0.0; + x_current[2] = 0.0; + + + x_current[0] = 0.0; + x_current[1] = 0.0; + x_current[2] = 0.0; + + + + + // initial value for control input + double u0[NU]; + u0[0] = 0.0; + // set parameters + double p[NP]; + p[0] = -1.2; + p[1] = 1.2; + p[2] = 0.0; + p[3] = 0.0; + p[4] = 1.45; + p[5] = 0.75; + + long_acados_sim_update_params(capsule, p, NP); + + + int n_sim_steps = 3; + // solve ocp in loop + for (int ii = 0; ii < n_sim_steps; ii++) + { + sim_in_set(acados_sim_config, acados_sim_dims, + acados_sim_in, "x", x_current); + status = long_acados_sim_solve(capsule); + + if (status != ACADOS_SUCCESS) + { + printf("acados_solve() failed with status %d.\n", status); + } + + sim_out_get(acados_sim_config, acados_sim_dims, + acados_sim_out, "x", x_current); + + printf("\nx_current, %d\n", ii); + for (int jj = 0; jj < NX; jj++) + { + printf("%e\n", x_current[jj]); + } + } + + printf("\nPerformed %d simulation steps with acados integrator successfully.\n\n", n_sim_steps); + + // free solver + status = long_acados_sim_free(capsule); + if (status) { + printf("long_acados_sim_free() returned status %d. \n", status); + } + + long_acados_sim_solver_free_capsule(capsule); + + return status; +} diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py new file mode 100755 index 0000000000..6cc5504af9 --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -0,0 +1,501 @@ +#!/usr/bin/env python3 +import os +import time +import numpy as np +from cereal import custom +from openpilot.common.numpy_fast import clip +from openpilot.common.realtime import DT_MDL +from openpilot.common.swaglog import cloudlog +# WARNING: imports outside of constants will not trigger a rebuild +from openpilot.selfdrive.modeld.constants import index_function +from openpilot.selfdrive.car.interfaces import ACCEL_MIN +from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU + +if __name__ == '__main__': # generating code + from openpilot.third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver +else: + from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython + +from casadi import SX, vertcat + +MODEL_NAME = 'long' +LONG_MPC_DIR = os.path.dirname(os.path.abspath(__file__)) +EXPORT_DIR = os.path.join(LONG_MPC_DIR, "c_generated_code") +JSON_FILE = os.path.join(LONG_MPC_DIR, "acados_ocp_long.json") + +SOURCES = ['lead0', 'lead1', 'cruise', 'e2e'] + +X_DIM = 3 +U_DIM = 1 +PARAM_DIM = 6 +COST_E_DIM = 5 +COST_DIM = COST_E_DIM + 1 +CONSTR_DIM = 4 + +X_EGO_OBSTACLE_COST = 3. +X_EGO_COST = 0. +V_EGO_COST = 0. +A_EGO_COST = 0. +J_EGO_COST = 5.0 +A_CHANGE_COST = 200. +DANGER_ZONE_COST = 100. +CRASH_DISTANCE = .25 +LEAD_DANGER_FACTOR = 0.75 +LIMIT_COST = 1e6 +ACADOS_SOLVER_TYPE = 'SQP_RTI' + + +# Fewer timestamps don't hurt performance and lead to +# much better convergence of the MPC with low iterations +N = 12 +MAX_T = 10.0 +T_IDXS_LST = [index_function(idx, max_val=MAX_T, max_idx=N) for idx in range(N+1)] + +T_IDXS = np.array(T_IDXS_LST) +FCW_IDXS = T_IDXS < 5.0 +T_DIFFS = np.diff(T_IDXS, prepend=[0.]) +COMFORT_BRAKE = 2.5 +STOP_DISTANCE = 6.0 + +def get_jerk_factor(personality=custom.LongitudinalPersonalitySP.standard): + if personality==custom.LongitudinalPersonalitySP.relaxed: + return 1.0 + elif personality==custom.LongitudinalPersonalitySP.standard: + return 1.0 + elif personality==custom.LongitudinalPersonalitySP.moderate: + return 0.9 + elif personality==custom.LongitudinalPersonalitySP.aggressive: + return 0.8 + elif personality==custom.LongitudinalPersonalitySP.overtake: + return 0.1 + else: + raise NotImplementedError("Longitudinal personality not supported") + + +def get_T_FOLLOW(personality=custom.LongitudinalPersonalitySP.standard): + if personality==custom.LongitudinalPersonalitySP.relaxed: + return 1.75 + elif personality==custom.LongitudinalPersonalitySP.standard: + return 1.45 + elif personality==custom.LongitudinalPersonalitySP.moderate: + return 1.25 + elif personality==custom.LongitudinalPersonalitySP.aggressive: + return 1.0 + elif personality==custom.LongitudinalPersonalitySP.overtake: + return 0.25 + else: + raise NotImplementedError("Longitudinal personality not supported") + +# Last updated: September 29, 2024 +def get_dynamic_personality(v_ego, personality=custom.LongitudinalPersonalitySP.standard): + if personality==custom.LongitudinalPersonalitySP.relaxed: + x_vel = [0, 14., 27.7] + y_dist = [1.75, 1.75, 2.00] + elif personality==custom.LongitudinalPersonalitySP.standard: + x_vel = [0, 14., 27.7] + y_dist = [1.75, 1.75, 1.70] + elif personality==custom.LongitudinalPersonalitySP.moderate: + x_vel = [0, 14., 27.7] + y_dist = [1.45, 1.45, 1.48] + elif personality==custom.LongitudinalPersonalitySP.aggressive: + x_vel = [0, 14., 27.7] + y_dist = [1.25, 1.25, 1.28] + else: + raise NotImplementedError("Dynamic personality not supported") + return np.interp(v_ego, x_vel, y_dist) + + +def get_stopped_equivalence_factor(v_lead): + return (v_lead**2) / (2 * COMFORT_BRAKE) + +def get_safe_obstacle_distance(v_ego, t_follow): + return (v_ego**2) / (2 * COMFORT_BRAKE) + t_follow * v_ego + STOP_DISTANCE + +def desired_follow_distance(v_ego, v_lead, t_follow=None): + if t_follow is None: + t_follow = get_T_FOLLOW() + return get_safe_obstacle_distance(v_ego, t_follow) - get_stopped_equivalence_factor(v_lead) + + +def gen_long_model(): + model = AcadosModel() + model.name = MODEL_NAME + + # set up states & controls + x_ego = SX.sym('x_ego') + v_ego = SX.sym('v_ego') + a_ego = SX.sym('a_ego') + model.x = vertcat(x_ego, v_ego, a_ego) + + # controls + j_ego = SX.sym('j_ego') + model.u = vertcat(j_ego) + + # xdot + x_ego_dot = SX.sym('x_ego_dot') + v_ego_dot = SX.sym('v_ego_dot') + a_ego_dot = SX.sym('a_ego_dot') + model.xdot = vertcat(x_ego_dot, v_ego_dot, a_ego_dot) + + # live parameters + a_min = SX.sym('a_min') + a_max = SX.sym('a_max') + x_obstacle = SX.sym('x_obstacle') + prev_a = SX.sym('prev_a') + lead_t_follow = SX.sym('lead_t_follow') + lead_danger_factor = SX.sym('lead_danger_factor') + model.p = vertcat(a_min, a_max, x_obstacle, prev_a, lead_t_follow, lead_danger_factor) + + # dynamics model + f_expl = vertcat(v_ego, a_ego, j_ego) + model.f_impl_expr = model.xdot - f_expl + model.f_expl_expr = f_expl + return model + + +def gen_long_ocp(): + ocp = AcadosOcp() + ocp.model = gen_long_model() + + Tf = T_IDXS[-1] + + # set dimensions + ocp.dims.N = N + + # set cost module + ocp.cost.cost_type = 'NONLINEAR_LS' + ocp.cost.cost_type_e = 'NONLINEAR_LS' + + QR = np.zeros((COST_DIM, COST_DIM)) + Q = np.zeros((COST_E_DIM, COST_E_DIM)) + + ocp.cost.W = QR + ocp.cost.W_e = Q + + x_ego, v_ego, a_ego = ocp.model.x[0], ocp.model.x[1], ocp.model.x[2] + j_ego = ocp.model.u[0] + + a_min, a_max = ocp.model.p[0], ocp.model.p[1] + x_obstacle = ocp.model.p[2] + prev_a = ocp.model.p[3] + lead_t_follow = ocp.model.p[4] + lead_danger_factor = ocp.model.p[5] + + ocp.cost.yref = np.zeros((COST_DIM, )) + ocp.cost.yref_e = np.zeros((COST_E_DIM, )) + + desired_dist_comfort = get_safe_obstacle_distance(v_ego, lead_t_follow) + + # The main cost in normal operation is how close you are to the "desired" distance + # from an obstacle at every timestep. This obstacle can be a lead car + # or other object. In e2e mode we can use x_position targets as a cost + # instead. + costs = [((x_obstacle - x_ego) - (desired_dist_comfort)) / (v_ego + 10.), + x_ego, + v_ego, + a_ego, + a_ego - prev_a, + j_ego] + ocp.model.cost_y_expr = vertcat(*costs) + ocp.model.cost_y_expr_e = vertcat(*costs[:-1]) + + # Constraints on speed, acceleration and desired distance to + # the obstacle, which is treated as a slack constraint so it + # behaves like an asymmetrical cost. + constraints = vertcat(v_ego, + (a_ego - a_min), + (a_max - a_ego), + ((x_obstacle - x_ego) - lead_danger_factor * (desired_dist_comfort)) / (v_ego + 10.)) + ocp.model.con_h_expr = constraints + + x0 = np.zeros(X_DIM) + ocp.constraints.x0 = x0 + ocp.parameter_values = np.array([-1.2, 1.2, 0.0, 0.0, get_T_FOLLOW(), LEAD_DANGER_FACTOR]) + + + # We put all constraint cost weights to 0 and only set them at runtime + cost_weights = np.zeros(CONSTR_DIM) + ocp.cost.zl = cost_weights + ocp.cost.Zl = cost_weights + ocp.cost.Zu = cost_weights + ocp.cost.zu = cost_weights + + ocp.constraints.lh = np.zeros(CONSTR_DIM) + ocp.constraints.uh = 1e4*np.ones(CONSTR_DIM) + ocp.constraints.idxsh = np.arange(CONSTR_DIM) + + # The HPIPM solver can give decent solutions even when it is stopped early + # Which is critical for our purpose where compute time is strictly bounded + # We use HPIPM in the SPEED_ABS mode, which ensures fastest runtime. This + # does not cause issues since the problem is well bounded. + ocp.solver_options.qp_solver = 'PARTIAL_CONDENSING_HPIPM' + ocp.solver_options.hessian_approx = 'GAUSS_NEWTON' + ocp.solver_options.integrator_type = 'ERK' + ocp.solver_options.nlp_solver_type = ACADOS_SOLVER_TYPE + ocp.solver_options.qp_solver_cond_N = 1 + + # More iterations take too much time and less lead to inaccurate convergence in + # some situations. Ideally we would run just 1 iteration to ensure fixed runtime. + ocp.solver_options.qp_solver_iter_max = 10 + ocp.solver_options.qp_tol = 1e-3 + + # set prediction horizon + ocp.solver_options.tf = Tf + ocp.solver_options.shooting_nodes = T_IDXS + + ocp.code_export_directory = EXPORT_DIR + return ocp + + +class LongitudinalMpc: + def __init__(self, mode='acc', dt=DT_MDL): + self.mode = mode + self.dt = dt + self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N) + self.reset() + self.source = SOURCES[2] + + self.e2e_x = np.zeros(13, dtype=np.float64) + + def reset(self): + # self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N) + self.solver.reset() + # self.solver.options_set('print_level', 2) + self.v_solution = np.zeros(N+1) + self.a_solution = np.zeros(N+1) + self.prev_a = np.array(self.a_solution) + self.j_solution = np.zeros(N) + self.yref = np.zeros((N+1, COST_DIM)) + for i in range(N): + self.solver.cost_set(i, "yref", self.yref[i]) + self.solver.cost_set(N, "yref", self.yref[N][:COST_E_DIM]) + self.x_sol = np.zeros((N+1, X_DIM)) + self.u_sol = np.zeros((N,1)) + self.params = np.zeros((N+1, PARAM_DIM)) + for i in range(N+1): + self.solver.set(i, 'x', np.zeros(X_DIM)) + self.last_cloudlog_t = 0 + self.status = False + self.crash_cnt = 0.0 + self.solution_status = 0 + # timers + self.solve_time = 0.0 + self.time_qp_solution = 0.0 + self.time_linearization = 0.0 + self.time_integrator = 0.0 + self.x0 = np.zeros(X_DIM) + self.set_weights() + + def set_cost_weights(self, cost_weights, constraint_cost_weights): + W = np.asfortranarray(np.diag(cost_weights)) + for i in range(N): + # TODO don't hardcode A_CHANGE_COST idx + # reduce the cost on (a-a_prev) later in the horizon. + W[4,4] = cost_weights[4] * np.interp(T_IDXS[i], [0.0, 1.0, 2.0], [1.0, 1.0, 0.0]) + self.solver.cost_set(i, 'W', W) + # Setting the slice without the copy make the array not contiguous, + # causing issues with the C interface. + self.solver.cost_set(N, 'W', np.copy(W[:COST_E_DIM, :COST_E_DIM])) + + # Set L2 slack cost on lower bound constraints + Zl = np.array(constraint_cost_weights) + for i in range(N): + self.solver.cost_set(i, 'Zl', Zl) + + def set_weights(self, prev_accel_constraint=True, personality=custom.LongitudinalPersonalitySP.standard): + jerk_factor = get_jerk_factor(personality) + if self.mode == 'acc': + a_change_cost = A_CHANGE_COST if prev_accel_constraint else 0 + cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, jerk_factor * a_change_cost, jerk_factor * J_EGO_COST] + constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST] + elif self.mode == 'blended': + a_change_cost = 40.0 if prev_accel_constraint else 0 + cost_weights = [0., 0.1, 0.2, 5.0, a_change_cost, 1.0] + constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, 50.0] + else: + raise NotImplementedError(f'Planner mode {self.mode} not recognized in planner cost set') + self.set_cost_weights(cost_weights, constraint_cost_weights) + + def set_cur_state(self, v, a): + v_prev = self.x0[1] + self.x0[1] = v + self.x0[2] = a + if abs(v_prev - v) > 2.: # probably only helps if v < v_prev + for i in range(N+1): + self.solver.set(i, 'x', self.x0) + + @staticmethod + def extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau): + a_lead_traj = a_lead * np.exp(-a_lead_tau * (T_IDXS**2)/2.) + v_lead_traj = np.clip(v_lead + np.cumsum(T_DIFFS * a_lead_traj), 0.0, 1e8) + x_lead_traj = x_lead + np.cumsum(T_DIFFS * v_lead_traj) + lead_xv = np.column_stack((x_lead_traj, v_lead_traj)) + return lead_xv + + def process_lead(self, lead): + v_ego = self.x0[1] + if lead is not None and lead.status: + x_lead = lead.dRel + v_lead = lead.vLead + a_lead = lead.aLeadK + a_lead_tau = lead.aLeadTau + else: + # Fake a fast lead car, so mpc can keep running in the same mode + x_lead = 50.0 + v_lead = v_ego + 10.0 + a_lead = 0.0 + a_lead_tau = _LEAD_ACCEL_TAU + + # MPC will not converge if immediate crash is expected + # Clip lead distance to what is still possible to brake for + min_x_lead = ((v_ego + v_lead)/2) * (v_ego - v_lead) / (-ACCEL_MIN * 2) + x_lead = clip(x_lead, min_x_lead, 1e8) + v_lead = clip(v_lead, 0.0, 1e8) + a_lead = clip(a_lead, -10., 5.) + lead_xv = self.extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau) + return lead_xv + + def set_accel_limits(self, min_a, max_a): + # TODO this sets a max accel limit, but the minimum limit is only for cruise decel + # needs refactor + self.cruise_min_a = min_a + self.max_a = max_a + + def update(self, radarstate, v_cruise, x, v, a, j, personality=custom.LongitudinalPersonalitySP.standard, + dynamic_personality=False, overtaking_acceleration_assist=False): + v_ego = self.x0[1] + t_follow = get_dynamic_personality(v_ego, personality) if dynamic_personality else get_T_FOLLOW(personality) + t_follow = get_T_FOLLOW(custom.LongitudinalPersonalitySP.overtake) if overtaking_acceleration_assist else t_follow + self.status = radarstate.leadOne.status or radarstate.leadTwo.status + + lead_xv_0 = self.process_lead(radarstate.leadOne) + lead_xv_1 = self.process_lead(radarstate.leadTwo) + + # To estimate a safe distance from a moving lead, we calculate how much stopping + # distance that lead needs as a minimum. We can add that to the current distance + # and then treat that as a stopped car/obstacle at this new distance. + lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1]) + lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1]) + + cruise_target_e2ex = T_IDXS * np.clip(v_cruise, v_ego - 2.0, 1e3) + x[0] + e2e_xforward = ((v[1:] + v[:-1]) / 2) * (T_IDXS[1:] - T_IDXS[:-1]) + e2e_x = np.cumsum(np.insert(e2e_xforward, 0, x[0])) + + x_and_cruise_e2ex = np.column_stack([e2e_x, cruise_target_e2ex]) + e2e_x = np.min(x_and_cruise_e2ex, axis=1) + + self.params[:,0] = ACCEL_MIN + self.params[:,1] = self.max_a + + # Update in ACC mode or ACC/e2e blend + if self.mode == 'acc': + self.params[:,5] = LEAD_DANGER_FACTOR + + # Fake an obstacle for cruise, this ensures smooth acceleration to set speed + # when the leads are no factor. + v_lower = v_ego + (T_IDXS * self.cruise_min_a * 1.05) + v_upper = v_ego + (T_IDXS * self.max_a * 1.05) + v_cruise_clipped = np.clip(v_cruise * np.ones(N+1), + v_lower, + v_upper) + cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, t_follow) + x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle]) + self.source = SOURCES[np.argmin(x_obstacles[0])] + + # These are not used in ACC mode + x[:], v[:], a[:], j[:] = 0.0, 0.0, 0.0, 0.0 + + elif self.mode == 'blended': + self.params[:,5] = 1.0 + + x_obstacles = np.column_stack([lead_0_obstacle, + lead_1_obstacle]) + cruise_target = T_IDXS * np.clip(v_cruise, v_ego - 2.0, 1e3) + x[0] + xforward = ((v[1:] + v[:-1]) / 2) * (T_IDXS[1:] - T_IDXS[:-1]) + x = np.cumsum(np.insert(xforward, 0, x[0])) + + x_and_cruise = np.column_stack([x, cruise_target]) + x = np.min(x_and_cruise, axis=1) + + self.source = 'e2e' if x_and_cruise[1,0] < x_and_cruise[1,1] else 'cruise' + + else: + raise NotImplementedError(f'Planner mode {self.mode} not recognized in planner update') + + self.e2e_x = e2e_x[:] + + self.yref[:,1] = x + self.yref[:,2] = v + self.yref[:,3] = a + self.yref[:,5] = j + for i in range(N): + self.solver.set(i, "yref", self.yref[i]) + self.solver.set(N, "yref", self.yref[N][:COST_E_DIM]) + + self.params[:,2] = np.min(x_obstacles, axis=1) + self.params[:,3] = np.copy(self.prev_a) + self.params[:,4] = t_follow + + self.run() + if (np.any(lead_xv_0[FCW_IDXS,0] - self.x_sol[FCW_IDXS,0] < CRASH_DISTANCE) and + radarstate.leadOne.modelProb > 0.9): + self.crash_cnt += 1 + else: + self.crash_cnt = 0 + + # Check if it got within lead comfort range + # TODO This should be done cleaner + if self.mode == 'blended': + if any((lead_0_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], t_follow))- self.x_sol[:,0] < 0.0): + self.source = 'lead0' + if any((lead_1_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], t_follow))- self.x_sol[:,0] < 0.0) and \ + (lead_1_obstacle[0] - lead_0_obstacle[0]): + self.source = 'lead1' + + def run(self): + # t0 = time.monotonic() + # reset = 0 + for i in range(N+1): + self.solver.set(i, 'p', self.params[i]) + self.solver.constraints_set(0, "lbx", self.x0) + self.solver.constraints_set(0, "ubx", self.x0) + + self.solution_status = self.solver.solve() + self.solve_time = float(self.solver.get_stats('time_tot')[0]) + self.time_qp_solution = float(self.solver.get_stats('time_qp')[0]) + self.time_linearization = float(self.solver.get_stats('time_lin')[0]) + self.time_integrator = float(self.solver.get_stats('time_sim')[0]) + + # qp_iter = self.solver.get_stats('statistics')[-1][-1] # SQP_RTI specific + # print(f"long_mpc timings: tot {self.solve_time:.2e}, qp {self.time_qp_solution:.2e}, lin {self.time_linearization:.2e}, \ + # integrator {self.time_integrator:.2e}, qp_iter {qp_iter}") + # res = self.solver.get_residuals() + # print(f"long_mpc residuals: {res[0]:.2e}, {res[1]:.2e}, {res[2]:.2e}, {res[3]:.2e}") + # self.solver.print_statistics() + + for i in range(N+1): + self.x_sol[i] = self.solver.get(i, 'x') + for i in range(N): + self.u_sol[i] = self.solver.get(i, 'u') + + self.v_solution = self.x_sol[:,1] + self.a_solution = self.x_sol[:,2] + self.j_solution = self.u_sol[:,0] + + self.prev_a = np.interp(T_IDXS + self.dt, T_IDXS, self.a_solution) + + t = time.monotonic() + if self.solution_status != 0: + if t > self.last_cloudlog_t + 5.0: + self.last_cloudlog_t = t + cloudlog.warning(f"Long mpc reset, solution_status: {self.solution_status}") + self.reset() + # reset = 1 + # print(f"long_mpc timings: total internal {self.solve_time:.2e}, external: {(time.monotonic() - t0):.2e} qp {self.time_qp_solution:.2e}, \ + # lin {self.time_linearization:.2e} qp_iter {qp_iter}, reset {reset}") + + +if __name__ == "__main__": + ocp = gen_long_ocp() + AcadosOcpSolver.generate(ocp, json_file=JSON_FILE) + # AcadosOcpSolver.build(ocp.code_export_directory, with_cython=True) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py new file mode 100755 index 0000000000..0cd4d84629 --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -0,0 +1,299 @@ +#!/usr/bin/env python3 +import math +import numpy as np +from openpilot.common.numpy_fast import clip, interp +from openpilot.common.params import Params +from cereal import car, log, custom + +import cereal.messaging as messaging +from openpilot.common.conversions import Conversions as CV +from openpilot.common.filter_simple import FirstOrderFilter +from openpilot.common.realtime import DT_MDL +from openpilot.selfdrive.modeld.constants import ModelConstants +from openpilot.selfdrive.controls.lib.sunnypilot.common import Source +from openpilot.selfdrive.controls.lib.sunnypilot.speed_limit_controller import SpeedLimitController +from openpilot.selfdrive.car.hyundai.values import HyundaiFlags +from openpilot.selfdrive.car.interfaces import ACCEL_MIN, ACCEL_MAX +from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState +from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc +from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC +from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N, get_speed_error +from openpilot.selfdrive.controls.lib.vision_turn_controller import VisionTurnController +from openpilot.selfdrive.controls.lib.turn_speed_controller import TurnSpeedController +from openpilot.selfdrive.controls.lib.sunnypilot.accel_controller import AccelController +from openpilot.selfdrive.controls.lib.sunnypilot.dynamic_experimental_controller import DynamicExperimentalController +from openpilot.selfdrive.controls.lib.events import Events +from openpilot.common.swaglog import cloudlog + +LON_MPC_STEP = 0.2 # first step is 0.2s +A_CRUISE_MIN = -1.2 +A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6] +A_CRUISE_MAX_BP = [0., 10.0, 25., 40.] +CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N] + +# Lookup table for turns +_A_TOTAL_MAX_V = [1.7, 3.2] +_A_TOTAL_MAX_BP = [20., 40.] + + +MpcSource = custom.MpcSource +EventName = car.CarEvent.EventName + + +def get_max_accel(v_ego): + return interp(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_VALS) + + +def limit_accel_in_turns(v_ego, angle_steers, a_target, CP): + """ + This function returns a limited long acceleration allowed, depending on the existing lateral acceleration + this should avoid accelerating when losing the target in turns + """ + # FIXME: This function to calculate lateral accel is incorrect and should use the VehicleModel + # The lookup table for turns should also be updated if we do this + a_total_max = interp(v_ego, _A_TOTAL_MAX_BP, _A_TOTAL_MAX_V) + a_y = v_ego ** 2 * angle_steers * CV.DEG_TO_RAD / (CP.steerRatio * CP.wheelbase) + a_x_allowed = math.sqrt(max(a_total_max ** 2 - a_y ** 2, 0.)) + + return [a_target[0], min(a_target[1], a_x_allowed)] + + +def get_accel_from_plan(CP, speeds, accels): + if len(speeds) == CONTROL_N: + v_target_now = interp(DT_MDL, CONTROL_N_T_IDX, speeds) + a_target_now = interp(DT_MDL, CONTROL_N_T_IDX, accels) + + v_target = interp(CP.longitudinalActuatorDelay + DT_MDL, CONTROL_N_T_IDX, speeds) + a_target = 2 * (v_target - v_target_now) / CP.longitudinalActuatorDelay - a_target_now + + v_target_1sec = interp(CP.longitudinalActuatorDelay + DT_MDL + 1.0, CONTROL_N_T_IDX, speeds) + else: + v_target = 0.0 + v_target_1sec = 0.0 + a_target = 0.0 + should_stop = (v_target < CP.vEgoStopping and + v_target_1sec < CP.vEgoStopping) + return a_target, should_stop + + +class LongitudinalPlanner: + def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL): + self.CP = CP + self.mpc = LongitudinalMpc(dt=dt) + self.fcw = False + self.dt = dt + + self.a_desired = init_a + v_ego_sec = 0.6 if CP.carName == "hyundai" and not CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV) else 2.0 + self.v_desired_filter = FirstOrderFilter(init_v, v_ego_sec, self.dt) + self.v_model_error = 0.0 + + self.v_desired_trajectory = np.zeros(CONTROL_N) + self.a_desired_trajectory = np.zeros(CONTROL_N) + self.j_desired_trajectory = np.zeros(CONTROL_N) + self.solverExecutionTime = 0.0 + self.params = Params() + self.param_read_counter = 0 + self.read_param() + + self.cruise_source = 'cruise' + self.vision_turn_controller = VisionTurnController(CP) + self.speed_limit_controller = SpeedLimitController(CP) + self.events = Events() + self.turn_speed_controller = TurnSpeedController() + self.dynamic_experimental_controller = DynamicExperimentalController() + self.accel_controller = AccelController() + + def read_param(self): + try: + self.dynamic_experimental_controller.set_enabled(self.params.get_bool("DynamicExperimentalControl")) + except AttributeError: + self.dynamic_experimental_controller = DynamicExperimentalController() + self.accel_controller = AccelController() + + @staticmethod + def parse_model(model_msg, model_error): + if (len(model_msg.position.x) == ModelConstants.IDX_N and + len(model_msg.velocity.x) == ModelConstants.IDX_N and + len(model_msg.acceleration.x) == ModelConstants.IDX_N): + x = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.position.x) - model_error * T_IDXS_MPC + v = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.velocity.x) - model_error + a = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.acceleration.x) + j = np.zeros(len(T_IDXS_MPC)) + else: + x = np.zeros(len(T_IDXS_MPC)) + v = np.zeros(len(T_IDXS_MPC)) + a = np.zeros(len(T_IDXS_MPC)) + j = np.zeros(len(T_IDXS_MPC)) + return x, v, a, j + + def update(self, sm): + if self.param_read_counter % 50 == 0: + self.read_param() + self.param_read_counter += 1 + if self.dynamic_experimental_controller.is_enabled() and sm['controlsState'].experimentalMode: + self.dynamic_experimental_controller.set_mpc_fcw_crash_cnt(self.mpc.crash_cnt) + self.dynamic_experimental_controller.update(self.CP.radarUnavailable, sm['carState'], sm['radarState'].leadOne, sm['modelV2'], sm['controlsState'], sm['navInstruction'].maneuverDistance) + self.mpc.mode = self.dynamic_experimental_controller.get_mpc_mode() + else: + self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc' + + + v_ego = sm['carState'].vEgo + v_cruise_kph = min(sm['controlsState'].vCruise, V_CRUISE_MAX) + v_cruise = v_cruise_kph * CV.KPH_TO_MS + + long_control_off = sm['controlsState'].longControlState == LongCtrlState.off + force_slow_decel = sm['controlsState'].forceDecel + + # Reset current state when not engaged, or user is controlling the speed + reset_state = long_control_off if self.CP.openpilotLongitudinalControl else not sm['carControl'].hudControl.speedVisible + + # No change cost when user is controlling the speed, or when standstill + prev_accel_constraint = not (reset_state or sm['carState'].standstill) + + if self.mpc.mode == 'acc': + accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)] + accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP) + else: + accel_limits = [ACCEL_MIN, ACCEL_MAX] + accel_limits_turns = [ACCEL_MIN, ACCEL_MAX] + + overtaking_accel_engaged = sm['controlsStateSP'].overtakingAccelerationAssist + # override accel using Accel Controller + if self.accel_controller.is_enabled(accel_personality=custom.AccelerationPersonality.sport if overtaking_accel_engaged else + sm['controlsStateSP'].accelPersonality): + # get min, max from accel controller + min_limit, max_limit = self.accel_controller.get_accel_limits(v_ego, accel_limits) + if self.mpc.mode == 'acc': + # VOACC car, just give it max min (-1.2) so I can brake harder + accel_limits = [A_CRUISE_MIN, max_limit] if self.CP.radarUnavailable else [min_limit, max_limit] + # recalculate limit turn according to the new min, max + accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP) + else: + # blended, just give it max min (-3.5) and max from accel controller + accel_limits = [ACCEL_MIN, ACCEL_MAX] + accel_limits_turns = [ACCEL_MIN, ACCEL_MAX] + + if reset_state: + self.v_desired_filter.x = v_ego + # Clip aEgo to cruise limits to prevent large accelerations when becoming active + self.a_desired = clip(sm['carState'].aEgo, accel_limits[0], accel_limits[1]) + + # Prevent divergence, smooth in current v_ego + self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego)) + # Compute model v_ego error + self.v_model_error = get_speed_error(sm['modelV2'], v_ego) + + if force_slow_decel: + v_cruise = 0.0 + + # Get active solutions for custom long mpc. + v_cruise = self.cruise_solutions( + not reset_state and (self.CP.openpilotLongitudinalControl or not self.CP.pcmCruiseSpeed), + self.v_desired_filter.x, self.a_desired, v_cruise, sm) + + # clip limits, cannot init MPC outside of bounds + accel_limits_turns[0] = min(accel_limits_turns[0], self.a_desired + 0.05) + accel_limits_turns[1] = max(accel_limits_turns[1], self.a_desired - 0.05) + + self.mpc.set_weights(prev_accel_constraint, personality=custom.LongitudinalPersonalitySP.overtake if overtaking_accel_engaged else sm['controlsStateSP'].personality) + self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1]) + self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired) + x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error) + self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['controlsStateSP'].personality, + dynamic_personality=sm['controlsStateSP'].dynamicPersonality, overtaking_acceleration_assist=overtaking_accel_engaged) + + self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution) + self.a_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.a_solution) + self.j_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC[:-1], self.mpc.j_solution) + + # TODO counter is only needed because radar is glitchy, remove once radar is gone + self.fcw = self.mpc.crash_cnt > 2 and not sm['carState'].standstill + if self.fcw: + cloudlog.info("FCW triggered") + + # Interpolate 0.05 seconds and save as starting point for next iteration + a_prev = self.a_desired + self.a_desired = float(interp(self.dt, CONTROL_N_T_IDX, self.a_desired_trajectory)) + self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0 + + self.e2e_events(sm) + + def publish(self, sm, pm): + plan_send = messaging.new_message('longitudinalPlan') + + plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState']) + + longitudinalPlan = plan_send.longitudinalPlan + longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2'] + longitudinalPlan.processingDelay = (plan_send.logMonoTime / 1e9) - sm.logMonoTime['modelV2'] + longitudinalPlan.solverExecutionTime = self.mpc.solve_time + + longitudinalPlan.speeds = self.v_desired_trajectory.tolist() + longitudinalPlan.accels = self.a_desired_trajectory.tolist() + longitudinalPlan.jerks = self.j_desired_trajectory.tolist() + + longitudinalPlan.hasLead = sm['radarState'].leadOne.status + longitudinalPlan.longitudinalPlanSource = self.mpc.source + longitudinalPlan.fcw = self.fcw + + a_target, should_stop = get_accel_from_plan(self.CP, longitudinalPlan.speeds, longitudinalPlan.accels) + longitudinalPlan.aTarget = a_target + longitudinalPlan.shouldStop = should_stop + longitudinalPlan.allowBrake = True + longitudinalPlan.allowThrottle = True + + pm.send('longitudinalPlan', plan_send) + + plan_sp_send = messaging.new_message('longitudinalPlanSP') + + plan_sp_send.valid = sm.all_checks(service_list=['carState', 'controlsState']) + + longitudinalPlanSP = plan_sp_send.longitudinalPlanSP + + longitudinalPlanSP.longitudinalPlanSource = self.mpc.source if self.mpc.source != 'cruise' else self.cruise_source + + longitudinalPlanSP.e2eX = self.mpc.e2e_x.tolist() + + longitudinalPlanSP.visionTurnControllerState = self.vision_turn_controller.state + longitudinalPlanSP.visionTurnSpeed = float(self.vision_turn_controller.v_target) + longitudinalPlanSP.visionCurrentLatAcc = float(self.vision_turn_controller.current_lat_acc) + longitudinalPlanSP.visionMaxPredLatAcc = float(self.vision_turn_controller.max_pred_lat_acc) + + longitudinalPlanSP.speedLimitControlState = self.speed_limit_controller.state + longitudinalPlanSP.speedLimit = float(self.speed_limit_controller.speed_limit) + longitudinalPlanSP.speedLimitOffset = float(self.speed_limit_controller.speed_limit_offset) + longitudinalPlanSP.distToSpeedLimit = float(self.speed_limit_controller.distance) + longitudinalPlanSP.isMapSpeedLimit = bool(self.speed_limit_controller.source not in (Source.none, Source.nav)) + longitudinalPlanSP.events = self.events.to_msg() + + longitudinalPlanSP.turnSpeedControlState = self.turn_speed_controller.state + longitudinalPlanSP.turnSpeed = float(self.turn_speed_controller.v_target) + + longitudinalPlanSP.mpcSource = MpcSource.blended if self.mpc.mode == 'blended' else MpcSource.acc + longitudinalPlanSP.dynamicExperimentalControl = self.dynamic_experimental_controller.is_enabled() + + pm.send('longitudinalPlanSP', plan_sp_send) + + def cruise_solutions(self, enabled, v_ego, a_ego, v_cruise, sm): + # Update controllers + self.vision_turn_controller.update(enabled, v_ego, v_cruise, sm) + self.events = Events() + self.speed_limit_controller.update(enabled, v_ego, a_ego, sm, v_cruise, self.events) + self.turn_speed_controller.update(enabled, v_ego, sm, v_cruise) + + v_tsc_target = self.vision_turn_controller.v_target if self.vision_turn_controller.is_active else 255 + slc_target = self.speed_limit_controller.speed_limit_offseted if self.speed_limit_controller.is_active else 255 + m_tsc_target = self.turn_speed_controller.v_target if self.turn_speed_controller.is_active else 255 + + # Pick solution with the lowest velocity target. + v_solutions = min(v_cruise, v_tsc_target, slc_target, m_tsc_target) + + return v_solutions + + def e2e_events(self, sm): + e2e_long_status = sm['e2eLongStateSP'].status + + if e2e_long_status in (1, 2): + self.events.add(EventName.e2eLongStart) diff --git a/selfdrive/controls/lib/pid.py b/selfdrive/controls/lib/pid.py new file mode 100644 index 0000000000..29c4d8bd46 --- /dev/null +++ b/selfdrive/controls/lib/pid.py @@ -0,0 +1,75 @@ +import numpy as np +from numbers import Number + +from openpilot.common.numpy_fast import clip, interp + + +class PIDController: + def __init__(self, k_p, k_i, k_f=0., k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100): + self._k_p = k_p + self._k_i = k_i + self._k_d = k_d + self.k_f = k_f # feedforward gain + if isinstance(self._k_p, Number): + self._k_p = [[0], [self._k_p]] + if isinstance(self._k_i, Number): + self._k_i = [[0], [self._k_i]] + if isinstance(self._k_d, Number): + self._k_d = [[0], [self._k_d]] + + self.pos_limit = pos_limit + self.neg_limit = neg_limit + + self.i_unwind_rate = 0.3 / rate + self.i_rate = 1.0 / rate + self.speed = 0.0 + + self.reset() + + @property + def k_p(self): + return interp(self.speed, self._k_p[0], self._k_p[1]) + + @property + def k_i(self): + return interp(self.speed, self._k_i[0], self._k_i[1]) + + @property + def k_d(self): + return interp(self.speed, self._k_d[0], self._k_d[1]) + + @property + def error_integral(self): + return self.i/self.k_i + + def reset(self): + self.p = 0.0 + self.i = 0.0 + self.d = 0.0 + self.f = 0.0 + self.control = 0 + + def update(self, error, error_rate=0.0, speed=0.0, override=False, feedforward=0., freeze_integrator=False): + self.speed = speed + + self.p = float(error) * self.k_p + self.f = feedforward * self.k_f + self.d = error_rate * self.k_d + + if override: + self.i -= self.i_unwind_rate * float(np.sign(self.i)) + else: + i = self.i + error * self.k_i * self.i_rate + control = self.p + i + self.d + self.f + + # Update when changing i will move the control away from the limits + # or when i will move towards the sign of the error + if ((error >= 0 and (control <= self.pos_limit or i < 0.0)) or + (error <= 0 and (control >= self.neg_limit or i > 0.0))) and \ + not freeze_integrator: + self.i = i + + control = self.p + self.i + self.d + self.f + + self.control = clip(control, self.neg_limit, self.pos_limit) + return self.control diff --git a/selfdrive/controls/lib/sunnypilot/__init__.py b/selfdrive/controls/lib/sunnypilot/__init__.py new file mode 100644 index 0000000000..27aef8996f --- /dev/null +++ b/selfdrive/controls/lib/sunnypilot/__init__.py @@ -0,0 +1,13 @@ +from cereal import custom, car + +DEBUG = False +PARAMS_UPDATE_PERIOD = 2. # secs. Time between parameter updates. +TEMP_INACTIVE_GUARD_PERIOD = 1. # secs. Time to wait after activation before considering temp deactivation signal. + +# Lookup table for speed limit percent offset depending on speed. +LIMIT_PERC_OFFSET_V = [0.1, 0.05, 0.038] # 55, 105, 135 km/h +LIMIT_PERC_OFFSET_BP = [13.9, 27.8, 36.1] # 50, 100, 130 km/h + +SpeedLimitControlState = custom.LongitudinalPlanSP.SpeedLimitControlState +EventName = car.CarEvent.EventName + diff --git a/selfdrive/controls/lib/sunnypilot/accel_controller.py b/selfdrive/controls/lib/sunnypilot/accel_controller.py new file mode 100644 index 0000000000..9f0f8f5359 --- /dev/null +++ b/selfdrive/controls/lib/sunnypilot/accel_controller.py @@ -0,0 +1,68 @@ +#!/usr/bin/env python3 +# The MIT License +# +# Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors. +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. + +# Last updated: September 29, 2024 + +from cereal import custom +from openpilot.common.numpy_fast import interp + +AccelPersonality = custom.AccelerationPersonality + +# accel personality by @arne182 modified by cgw and kumar +_DP_CRUISE_MIN_V = [-1.0, -1.0, -0.88] +_DP_CRUISE_MIN_V_ECO = [-1.0, -1.0, -0.76] +_DP_CRUISE_MIN_V_SPORT = [-1.0, -1.0, -1.0] +_DP_CRUISE_MIN_BP = [0., 11.1, 20.] + +_DP_CRUISE_MAX_V = [2.0, 2.0, 2.0, 1.75, 1.03, .72, .53, .42, .13] +_DP_CRUISE_MAX_V_ECO = [2.0, 2.0, 2.0, 1.50, 0.92, .54, .43, .32, .088] +_DP_CRUISE_MAX_V_SPORT = [2.0, 2.0, 2.0, 2.00, 1.25, .96, .78, .60, .4] +_DP_CRUISE_MAX_BP = [0., 1., 6., 8., 11., 20., 25., 30., 55.] + + +class AccelController: + def __init__(self): + self._personality = AccelPersonality.stock + + def _dp_calc_cruise_accel_limits(self, v_ego: float) -> tuple[float, float]: + if self._personality == AccelPersonality.eco: + min_v = _DP_CRUISE_MIN_V_ECO + max_v = _DP_CRUISE_MAX_V_ECO + elif self._personality == AccelPersonality.sport: + min_v = _DP_CRUISE_MIN_V_SPORT + max_v = _DP_CRUISE_MAX_V_SPORT + else: + min_v = _DP_CRUISE_MIN_V + max_v = _DP_CRUISE_MAX_V + + a_cruise_min = interp(v_ego, _DP_CRUISE_MIN_BP, min_v) + a_cruise_max = interp(v_ego, _DP_CRUISE_MAX_BP, max_v) + + return a_cruise_min, a_cruise_max + + def get_accel_limits(self, v_ego: float, accel_limits: list[float]) -> tuple[float, float]: + return accel_limits if self._personality == AccelPersonality.stock else self._dp_calc_cruise_accel_limits(v_ego) + + def is_enabled(self, accel_personality: int = AccelPersonality.stock) -> bool: + self._personality = accel_personality + return self._personality != AccelPersonality.stock diff --git a/selfdrive/controls/lib/sunnypilot/common.py b/selfdrive/controls/lib/sunnypilot/common.py new file mode 100644 index 0000000000..731cc413c6 --- /dev/null +++ b/selfdrive/controls/lib/sunnypilot/common.py @@ -0,0 +1,29 @@ +from enum import IntEnum + + +class Source(IntEnum): + none = 0 + car_state = 1 + map_data = 2 + nav = 3 + + +class Policy(IntEnum): + nav_only = 0 + map_data_only = 1 + car_state_only = 2 + nav_priority = 3 + map_data_priority = 4 + car_state_priority = 5 + combined = 6 + + +class Engage(IntEnum): + auto = 0 + user_confirm = 1 + + +class OffsetType(IntEnum): + default = 0 + fixed = 1 + percentage = 2 diff --git a/selfdrive/controls/lib/sunnypilot/dynamic_experimental_controller.py b/selfdrive/controls/lib/sunnypilot/dynamic_experimental_controller.py new file mode 100644 index 0000000000..477394623c --- /dev/null +++ b/selfdrive/controls/lib/sunnypilot/dynamic_experimental_controller.py @@ -0,0 +1,379 @@ +#!/usr/bin/env python3 +# The MIT License +# +# Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors. +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. +# +# Version = 2024-9-28 +from common.numpy_fast import interp +import numpy as np + +# d-e2e, from modeldata.h +TRAJECTORY_SIZE = 33 + +LEAD_WINDOW_SIZE = 4 +LEAD_PROB = 0.6 + +SLOW_DOWN_WINDOW_SIZE = 4 +SLOW_DOWN_PROB = 0.6 + +SLOW_DOWN_BP = [0., 10., 20., 30., 40., 50., 55., 60.] +SLOW_DOWN_DIST = [25., 38., 55., 75., 95., 115., 130., 150.] + +SLOWNESS_WINDOW_SIZE = 12 +SLOWNESS_PROB = 0.5 +SLOWNESS_CRUISE_OFFSET = 1.05 + +DANGEROUS_TTC_WINDOW_SIZE = 3 +DANGEROUS_TTC = 2.3 + +HIGHWAY_CRUISE_KPH = 70 + +STOP_AND_GO_FRAME = 60 + +SET_MODE_TIMEOUT = 10 + +MPC_FCW_WINDOW_SIZE = 10 +MPC_FCW_PROB = 0.5 + +V_ACC_MIN = 9.72 + + +class SNG_State: + off = 0 + stopped = 1 + going = 2 + + +class GenericMovingAverageCalculator: + def __init__(self, window_size): + self.window_size = window_size + self.data = [] + self.total = 0 + + def add_data(self, value): + if len(self.data) == self.window_size: + self.total -= self.data.pop(0) + self.data.append(value) + self.total += value + + def get_moving_average(self): + if len(self.data) == 0: + return None + return self.total / len(self.data) + + def reset_data(self): + self.data = [] + self.total = 0 + +class WeightedMovingAverageCalculator: + def __init__(self, window_size): + self.window_size = window_size + self.data = [] + self.weights = np.linspace(1, 3, window_size) # Linear weights, adjust as needed + + def add_data(self, value): + if len(self.data) == self.window_size: + self.data.pop(0) + self.data.append(value) + + def get_weighted_average(self): + if len(self.data) == 0: + return None + weighted_sum = np.dot(self.data, self.weights[-len(self.data):]) + weight_total = np.sum(self.weights[-len(self.data):]) + return weighted_sum / weight_total + + def reset_data(self): + self.data = [] + +class DynamicExperimentalController: + def __init__(self): + self._is_enabled = False + self._mode = 'acc' + self._mode_prev = 'acc' + self._mode_changed = False + self._frame = 0 + + # Use weighted moving average for filtering leads + self._lead_gmac = WeightedMovingAverageCalculator(window_size=LEAD_WINDOW_SIZE) + self._has_lead_filtered = False + self._has_lead_filtered_prev = False + + self._slow_down_gmac = WeightedMovingAverageCalculator(window_size=SLOW_DOWN_WINDOW_SIZE) + self._has_slow_down = False + + self._has_blinkers = False + + self._slowness_gmac = WeightedMovingAverageCalculator(window_size=SLOWNESS_WINDOW_SIZE) + self._has_slowness = False + + self._has_nav_instruction = False + + self._dangerous_ttc_gmac = WeightedMovingAverageCalculator(window_size=DANGEROUS_TTC_WINDOW_SIZE) + self._has_dangerous_ttc = False + + self._v_ego_kph = 0. + self._v_cruise_kph = 0. + + self._has_lead = False + + self._has_standstill = False + self._has_standstill_prev = False + + self._sng_transit_frame = 0 + self._sng_state = SNG_State.off + + self._mpc_fcw_gmac = WeightedMovingAverageCalculator(window_size=MPC_FCW_WINDOW_SIZE) + self._has_mpc_fcw = False + self._mpc_fcw_crash_cnt = 0 + + self._set_mode_timeout = 0 + pass + + + def _adaptive_slowdown_threshold(self): + """ + Adapts the slow down threshold based on vehicle speed and recent behavior. + """ + return interp(self._v_ego_kph, SLOW_DOWN_BP, SLOW_DOWN_DIST) * (1.0 + 0.03 * np.log(1 + len(self._slow_down_gmac.data))) + + def _anomaly_detection(self, recent_data, threshold=2.0, context_check=True): + """ + Basic anomaly detection using standard deviation. + """ + if len(recent_data) < 5: + return False + mean = np.mean(recent_data) + std_dev = np.std(recent_data) + anomaly = recent_data[-1] > mean + threshold * std_dev + + # Context check to ensure repeated anomaly + if context_check: + return np.count_nonzero(np.array(recent_data) > mean + threshold * std_dev) > 1 + return anomaly + + def _smoothed_lead_detection(self, lead_prob, smoothing_factor=0.2): + """ + Smoothing the lead detection to avoid erratic behavior. + """ + self._has_lead_filtered = (1 - smoothing_factor) * self._has_lead_filtered + smoothing_factor * lead_prob + return self._has_lead_filtered > LEAD_PROB + + def _adaptive_lead_prob_threshold(self): + """ + Adapts lead probability threshold based on driving conditions. + """ + if self._v_ego_kph > HIGHWAY_CRUISE_KPH: + return LEAD_PROB + 0.1 # Increase the threshold on highways + return LEAD_PROB + + def _update(self, car_state, lead_one, md, controls_state, maneuver_distance): + self._v_ego_kph = car_state.vEgo * 3.6 + self._v_cruise_kph = controls_state.vCruise + self._has_lead = lead_one.status + self._has_standstill = car_state.standstill + + # fcw detection + self._mpc_fcw_gmac.add_data(self._mpc_fcw_crash_cnt > 0) + self._has_mpc_fcw = self._mpc_fcw_gmac.get_weighted_average() > MPC_FCW_PROB + + # nav enable detection + self._has_nav_instruction = md.navEnabledDEPRECATED and maneuver_distance / max(car_state.vEgo, 1) < 13 + + # lead detection with smoothing + self._lead_gmac.add_data(lead_one.status) + self._has_lead_filtered = self._lead_gmac.get_weighted_average() > LEAD_PROB + #lead_prob = self._lead_gmac.get_weighted_average() or 0 + #self._has_lead_filtered = self._smoothed_lead_detection(lead_prob) + + # adaptive slow down detection + adaptive_threshold = self._adaptive_slowdown_threshold() + slow_down_trigger = len(md.orientation.x) == len(md.position.x) == TRAJECTORY_SIZE and md.position.x[TRAJECTORY_SIZE - 1] < adaptive_threshold + self._slow_down_gmac.add_data(slow_down_trigger) + self._has_slow_down = self._slow_down_gmac.get_weighted_average() > SLOW_DOWN_PROB + + # anomaly detection for slow down events + if self._anomaly_detection(self._slow_down_gmac.data): + # Handle anomaly: potentially log it, adjust behavior, or issue a warning + self._has_slow_down = False # Reset slow down if anomaly detected + + # blinker detection + self._has_blinkers = car_state.leftBlinker or car_state.rightBlinker + + # sng detection + if self._has_standstill: + self._sng_state = SNG_State.stopped + self._sng_transit_frame = 0 + else: + if self._sng_transit_frame == 0: + if self._sng_state == SNG_State.stopped: + self._sng_state = SNG_State.going + self._sng_transit_frame = STOP_AND_GO_FRAME + elif self._sng_state == SNG_State.going: + self._sng_state = SNG_State.off + elif self._sng_transit_frame > 0: + self._sng_transit_frame -= 1 + + # slowness detection + if not self._has_standstill: + self._slowness_gmac.add_data(self._v_ego_kph <= (self._v_cruise_kph*SLOWNESS_CRUISE_OFFSET)) + self._has_slowness = self._slowness_gmac.get_weighted_average() > SLOWNESS_PROB + + # dangerous TTC detection + if not self._has_lead_filtered and self._has_lead_filtered_prev: + self._dangerous_ttc_gmac.reset_data() + self._has_dangerous_ttc = False + + if self._has_lead and car_state.vEgo >= 0.01: + self._dangerous_ttc_gmac.add_data(lead_one.dRel/car_state.vEgo) + + self._has_dangerous_ttc = self._dangerous_ttc_gmac.get_weighted_average() is not None and self._dangerous_ttc_gmac.get_weighted_average() <= DANGEROUS_TTC + + # keep prev values + self._has_standstill_prev = self._has_standstill + self._has_lead_filtered_prev = self._has_lead_filtered + self._frame += 1 + + def _radarless_mode(self): + # when mpc fcw crash prob is high + # use blended to slow down quickly + if self._has_mpc_fcw: + self._set_mode('blended') + return + + # Nav enabled and distance to upcoming turning is 300 or below + if self._has_nav_instruction: + self._set_mode('blended') + return + + # when blinker is on and speed is driving below V_ACC_MIN: blended + # we dont want it to switch mode at higher speed, blended may trigger hard brake + #if self._has_blinkers and self._v_ego_kph < V_ACC_MIN: + # self._set_mode('blended') + # return + + # when at highway cruise and SNG: blended + # ensuring blended mode is used because acc is bad at catching SNG lead car + # especially those who accel very fast and then brake very hard. + #if self._sng_state == SNG_State.going and self._v_cruise_kph >= V_ACC_MIN: + # self._set_mode('blended') + # return + + # when standstill: blended + # in case of lead car suddenly move away under traffic light, acc mode won't brake at traffic light. + if self._has_standstill: + self._set_mode('blended') + return + + # when detecting slow down scenario: blended + # e.g. traffic light, curve, stop sign etc. + if self._has_slow_down: + self._set_mode('blended') + return + + # when detecting lead slow down: blended + # use blended for higher braking capability + if self._has_dangerous_ttc: + self._set_mode('blended') + return + + # car driving at speed lower than set speed: acc + if self._has_slowness: + self._set_mode('acc') + return + + self._set_mode('acc') + + def _radar_mode(self): + # when mpc fcw crash prob is high + # use blended to slow down quickly + if self._has_mpc_fcw: + self._set_mode('blended') + return + + # If there is a filtered lead, the vehicle is not in standstill, and the lead vehicle's yRel meets the condition, + if self._has_lead_filtered and not self._has_standstill: + self._set_mode('acc') + return + + # when blinker is on and speed is driving below V_ACC_MIN: blended + # we dont want it to switch mode at higher speed, blended may trigger hard brake + #if self._has_blinkers and self._v_ego_kph < V_ACC_MIN: + # self._set_mode('blended') + # return + + # when standstill: blended + # in case of lead car suddenly move away under traffic light, acc mode won't brake at traffic light. + if self._has_standstill: + self._set_mode('blended') + return + + # when detecting slow down scenario: blended + # e.g. traffic light, curve, stop sign etc. + if self._has_slow_down: + self._set_mode('blended') + return + + # car driving at speed lower than set speed: acc + if self._has_slowness: + self._set_mode('acc') + return + + # Nav enabled and distance to upcoming turning is 300 or below + if self._has_nav_instruction: + self._set_mode('blended') + return + + self._set_mode('acc') + + def update(self, radar_unavailable, car_state, lead_one, md, controls_state, maneuver_distance): + if self._is_enabled: + self._update(car_state, lead_one, md, controls_state, maneuver_distance) + if radar_unavailable: + self._radarless_mode() + else: + self._radar_mode() + self._mode_changed = self._mode != self._mode_prev + self._mode_prev = self._mode + + def get_mpc_mode(self): + return self._mode + + def has_changed(self): + return self._mode_changed + + def set_enabled(self, enabled): + self._is_enabled = enabled + + def is_enabled(self): + return self._is_enabled + + def set_mpc_fcw_crash_cnt(self, crash_cnt): + self._mpc_fcw_crash_cnt = crash_cnt + + def _set_mode(self, mode): + if self._set_mode_timeout == 0: + self._mode = mode + if mode == "blended": + self._set_mode_timeout = SET_MODE_TIMEOUT + + if self._set_mode_timeout > 0: + self._set_mode_timeout -= 1 \ No newline at end of file diff --git a/selfdrive/controls/lib/sunnypilot/helpers.py b/selfdrive/controls/lib/sunnypilot/helpers.py new file mode 100644 index 0000000000..e84856418d --- /dev/null +++ b/selfdrive/controls/lib/sunnypilot/helpers.py @@ -0,0 +1,19 @@ +from openpilot.selfdrive.controls.lib.sunnypilot import DEBUG, SpeedLimitControlState +from openpilot.common.swaglog import cloudlog + + +def debug(msg): + if not DEBUG: + return + cloudlog.debug(msg) + + +def description_for_state(speed_limit_control_state): + if speed_limit_control_state == SpeedLimitControlState.inactive: + return 'INACTIVE' + if speed_limit_control_state == SpeedLimitControlState.tempInactive: + return 'TEMP_INACTIVE' + if speed_limit_control_state == SpeedLimitControlState.adapting: + return 'ADAPTING' + if speed_limit_control_state == SpeedLimitControlState.active: + return 'ACTIVE' diff --git a/selfdrive/controls/lib/sunnypilot/speed_limit_controller.py b/selfdrive/controls/lib/sunnypilot/speed_limit_controller.py new file mode 100644 index 0000000000..27b3de88e9 --- /dev/null +++ b/selfdrive/controls/lib/sunnypilot/speed_limit_controller.py @@ -0,0 +1,313 @@ +import time +from openpilot.common.conversions import Conversions as CV +from openpilot.common.numpy_fast import clip, interp +from openpilot.common.params import Params +from openpilot.selfdrive.controls.lib.sunnypilot import LIMIT_PERC_OFFSET_BP, LIMIT_PERC_OFFSET_V, \ + PARAMS_UPDATE_PERIOD, TEMP_INACTIVE_GUARD_PERIOD, EventName, SpeedLimitControlState +from openpilot.selfdrive.controls.lib.drive_helpers import LIMIT_SPEED_OFFSET_TH, CONTROL_N +from openpilot.selfdrive.controls.lib.events import Events, ET +from openpilot.selfdrive.controls.lib.sunnypilot.common import Source, Policy, Engage, OffsetType +from openpilot.selfdrive.controls.lib.sunnypilot.helpers import description_for_state, debug +from openpilot.selfdrive.controls.lib.sunnypilot.speed_limit_resolver import SpeedLimitResolver +from openpilot.selfdrive.modeld.constants import ModelConstants + +ACTIVE_STATES = (SpeedLimitControlState.active, SpeedLimitControlState.adapting) + + +class SpeedLimitController: + def __init__(self, CP): + self._params = Params() + self._CP = CP + self._policy = Policy(int(self._params.get("SpeedLimitControlPolicy", encoding='utf8'))) + self._resolver = SpeedLimitResolver(self._policy) + self._last_params_update = 0.0 + self._last_op_enabled_time = 0.0 + self._is_metric = self._params.get_bool("IsMetric") + self._is_enabled = self._params.get_bool("EnableSlc") + self._disengage_on_accelerator = self._params.get_bool("DisengageOnAccelerator") + self._op_enabled = False + self._op_enabled_prev = False + self._v_ego = 0. + self._a_ego = 0. + self._v_offset = 0. + self._v_cruise_setpoint = 0. + self._v_cruise_setpoint_prev = 0. + self._v_cruise_setpoint_changed = False + self._speed_limit = 0. + self._speed_limit_prev = 0. + self._speed_limit_changed = False + self._distance = 0. + self._source = Source.none + self._state = SpeedLimitControlState.inactive + self._state_prev = SpeedLimitControlState.inactive + self._gas_pressed = False + self._pcm_cruise_op_long = CP.openpilotLongitudinalControl and CP.pcmCruise + + self._offset_type = int(self._params.get("SpeedLimitOffsetType", encoding='utf8')) + self._offset_value = float(self._params.get("SpeedLimitValueOffset", encoding='utf8')) + self._warning_type_type = int(self._params.get("SpeedLimitWarningType", encoding='utf8')) + self._warning_offset_type = int(self._params.get("SpeedLimitWarningOffsetType", encoding='utf8')) + self._warning_offset_value = float(self._params.get("SpeedLimitWarningValueOffset", encoding='utf8')) + self._engage_type = clip(int(self._params.get("SpeedLimitEngageType", encoding='utf8')), Engage.auto, Engage.user_confirm) + self._brake_pressed = False + self._brake_pressed_prev = False + self._current_time = 0. + self._v_cruise_rounded = 0. + self._v_cruise_prev_rounded = 0. + self._speed_limit_offsetted_rounded = 0. + self._speed_limit_warning_offsetted_rounded = 0. + self._ms_to_local = CV.MS_TO_KPH if self._is_metric else CV.MS_TO_MPH + + # Mapping functions to state transitions + self.state_transition_strategy = { + # Transition functions for each state + SpeedLimitControlState.inactive: self.transition_state_from_inactive, + SpeedLimitControlState.tempInactive: self.transition_state_from_temp_inactive, + SpeedLimitControlState.adapting: self.transition_state_from_adapting, + SpeedLimitControlState.active: self.transition_state_from_active, + SpeedLimitControlState.preActive: self.transition_state_from_pre_active, + } + + # Solution functions mapped to respective states + self.acceleration_solutions = { + # Solution functions for each state + SpeedLimitControlState.tempInactive: self.get_current_acceleration_as_target, + SpeedLimitControlState.inactive: self.get_current_acceleration_as_target, + SpeedLimitControlState.adapting: self.get_adapting_state_target_acceleration, + SpeedLimitControlState.active: self.get_active_state_target_acceleration, + SpeedLimitControlState.preActive: self.get_current_acceleration_as_target, + } + + @property + def state(self): + return self._state + + @state.setter + def state(self, value): + if value != self._state: + debug(f'Speed Limit Controller state: {description_for_state(value)}') + + if value == SpeedLimitControlState.tempInactive: + # Reset previous speed limit to current value as to prevent going out of tempInactive in + # a single cycle when the speed limit changes at the same time the user has temporarily deactivated it. + self._speed_limit_prev = self._speed_limit + + self._state = value + + @property + def is_active(self): + return self.state in ACTIVE_STATES and self._is_enabled + + @property + def speed_limit_offseted(self): + return self._speed_limit + self.speed_limit_offset + + @property + def speed_limit_offset(self): + if self._offset_type == OffsetType.default: + return interp(self._speed_limit, LIMIT_PERC_OFFSET_BP, LIMIT_PERC_OFFSET_V) * self._speed_limit + elif self._offset_type == OffsetType.fixed: + return self._offset_value * (CV.KPH_TO_MS if self._is_metric else CV.MPH_TO_MS) + elif self._offset_type == OffsetType.percentage: + return self._offset_value * 0.01 * self._speed_limit + return 0. + + @property + def speed_limit_warning_offset(self): + if self._warning_offset_type == OffsetType.default: + return interp(self._speed_limit, LIMIT_PERC_OFFSET_BP, LIMIT_PERC_OFFSET_V) * self._speed_limit + elif self._warning_offset_type == OffsetType.fixed: + return self._warning_offset_value * (CV.KPH_TO_MS if self._is_metric else CV.MPH_TO_MS) + elif self._warning_offset_type == OffsetType.percentage: + return self._warning_offset_value * 0.01 * self._speed_limit + return 0. + + @property + def speed_limit(self): + return self._speed_limit + + @property + def distance(self): + return self._distance + + @property + def source(self): + return self._source + + def _update_v_cruise_setpoint_prev(self): + self._v_cruise_setpoint_prev = self._v_cruise_setpoint + + def _update_params(self): + if self._current_time > self._last_params_update + PARAMS_UPDATE_PERIOD: + self._is_enabled = self._params.get_bool("EnableSlc") + self._offset_type = int(self._params.get("SpeedLimitOffsetType", encoding='utf8')) + self._offset_value = float(self._params.get("SpeedLimitValueOffset", encoding='utf8')) + self._warning_type_type = int(self._params.get("SpeedLimitWarningType", encoding='utf8')) + self._warning_offset_type = int(self._params.get("SpeedLimitWarningOffsetType", encoding='utf8')) + self._warning_offset_value = float(self._params.get("SpeedLimitWarningValueOffset", encoding='utf8')) + self._policy = Policy(int(self._params.get("SpeedLimitControlPolicy", encoding='utf8'))) + self._is_metric = self._params.get_bool("IsMetric") + self._ms_to_local = CV.MS_TO_KPH if self._is_metric else CV.MS_TO_MPH + self._resolver.change_policy(self._policy) + self._engage_type = Engage.auto if self._pcm_cruise_op_long else clip(int(self._params.get("SpeedLimitEngageType", encoding='utf8')), Engage.auto, Engage.user_confirm) + debug(f'Updated Speed limit params. enabled: {self._is_enabled}, with offset: {self._offset_type}') + self._last_params_update = self._current_time + + def _update_calculations(self): + # Update current velocity offset (error) + self._v_offset = self.speed_limit_offseted - self._v_ego + + # Track the time op becomes active to prevent going to tempInactive right away after + # op enabling since controlsd will change the cruise speed every time on enabling and this will + # cause a temp inactive transition if the controller is updated before controlsd sets actual cruise + # speed. + if not self._op_enabled_prev and self._op_enabled: + self._last_op_enabled_time = self._current_time + + # Update change tracking variables + self._speed_limit_changed = self._speed_limit != self._speed_limit_prev + self._v_cruise_setpoint_changed = self._v_cruise_setpoint != self._v_cruise_setpoint_prev + self._speed_limit_prev = self._speed_limit + if self._engage_type != Engage.user_confirm: + self._update_v_cruise_setpoint_prev() + self._op_enabled_prev = self._op_enabled + self._brake_pressed_prev = self._brake_pressed + + self._v_cruise_rounded = int(round(self._v_cruise_setpoint * self._ms_to_local)) + self._v_cruise_prev_rounded = int(round(self._v_cruise_setpoint_prev * self._ms_to_local)) + self._speed_limit_offsetted_rounded = int(0) if self._speed_limit == 0 else int(round((self._speed_limit + self.speed_limit_offset) * self._ms_to_local)) + self._speed_limit_warning_offsetted_rounded = int(0) if self._speed_limit == 0 else int(round((self._speed_limit + self.speed_limit_warning_offset) * self._ms_to_local)) + + def transition_state_from_inactive(self): + """ Make state transition from inactive state """ + if self._engage_type == Engage.user_confirm: + if (((self._last_op_enabled_time + 7.) >= self._current_time >= (self._last_op_enabled_time + 2.)) or + self._speed_limit_changed): + if self._speed_limit_changed: + self._last_op_enabled_time = self._current_time - 2. # immediately prompt confirmation + self.state = SpeedLimitControlState.preActive + elif self._engage_type == Engage.auto: + if self._v_offset < LIMIT_SPEED_OFFSET_TH: + self.state = SpeedLimitControlState.adapting + else: + self.state = SpeedLimitControlState.active + + def transition_state_from_temp_inactive(self): + """ Make state transition from temporary inactive state """ + if self._speed_limit_changed: + if self._engage_type == Engage.user_confirm: + self._last_op_enabled_time = self._current_time - 2. # immediately prompt confirmation + self.state = SpeedLimitControlState.preActive + elif self._engage_type == Engage.auto: + self.state = SpeedLimitControlState.inactive + + def transition_state_from_pre_active(self): + """ Make state transition from preActive state """ + if self._current_time >= (self._last_op_enabled_time + 7.): + self.state = SpeedLimitControlState.inactive + elif (self._last_op_enabled_time + 7.) > self._current_time > (self._last_op_enabled_time + 2.): + if self._speed_limit_changed: + self._last_op_enabled_time = self._current_time - 2. # immediately prompt confirmation + elif self._v_cruise_prev_rounded < self._speed_limit_offsetted_rounded: + if self._v_cruise_setpoint > self._v_cruise_setpoint_prev: + self.state = SpeedLimitControlState.active + elif self._v_cruise_prev_rounded > self._speed_limit_offsetted_rounded: + if self._v_cruise_setpoint < self._v_cruise_setpoint_prev: + self.state = SpeedLimitControlState.active + elif self._v_cruise_prev_rounded == self._speed_limit_offsetted_rounded: + self.state = SpeedLimitControlState.active + + def transition_state_from_adapting(self): + """ Make state transition from adapting state """ + if self._v_offset >= LIMIT_SPEED_OFFSET_TH: + self.state = SpeedLimitControlState.active + + def transition_state_from_active(self): + """ Make state transition from active state """ + if self._engage_type == Engage.user_confirm: + if self._state_prev == SpeedLimitControlState.active: + if self._v_cruise_setpoint_changed and self._v_cruise_rounded != self._speed_limit_offsetted_rounded: + self.state = SpeedLimitControlState.tempInactive + elif self._speed_limit_changed: + self._last_op_enabled_time = self._current_time - 2. # immediately prompt confirmation + self.state = SpeedLimitControlState.preActive + elif self._engage_type == Engage.auto: + if self._v_offset < LIMIT_SPEED_OFFSET_TH: + self.state = SpeedLimitControlState.adapting + + def _state_transition(self): + self._state_prev = self._state + + # In any case, if op is disabled, or speed limit control is disabled + # or the reported speed limit is 0 or gas is pressed, deactivate. + if not self._op_enabled or not self._is_enabled or self._speed_limit == 0 or \ + (self._gas_pressed and self._disengage_on_accelerator): + self.state = SpeedLimitControlState.inactive + return + + # In any case, we deactivate the speed limit controller temporarily if the user changes the cruise speed. + # Ignore if a minimum amount of time has not passed since activation. This is to prevent temp inactivations + # due to controlsd logic changing cruise setpoint when going active. + if self._engage_type == Engage.auto and self._v_cruise_setpoint_changed and \ + self._current_time > (self._last_op_enabled_time + TEMP_INACTIVE_GUARD_PERIOD): + self.state = SpeedLimitControlState.tempInactive + return + + self.state_transition_strategy[self.state]() + + if self._engage_type == Engage.user_confirm: + self._update_v_cruise_setpoint_prev() + + def get_current_acceleration_as_target(self): + """ When state is inactive or tempInactive, preserve current acceleration """ + return self._a_ego + + def get_adapting_state_target_acceleration(self): + """ In adapting state, calculate target acceleration based on speed limit and current velocity """ + if self.distance > 0: + return (self.speed_limit_offseted**2 - self._v_ego**2) / (2. * self.distance) + + return self._v_offset / ModelConstants.T_IDXS[CONTROL_N] + + def get_active_state_target_acceleration(self): + """ In active state, aim to keep speed constant around control time horizon """ + return self._v_offset / ModelConstants.T_IDXS[CONTROL_N] + + def _update_events(self, events): + if self._speed_limit > 0 and self._warning_type_type == 2 and \ + self._speed_limit_warning_offsetted_rounded < int(round(self._v_ego * self._ms_to_local)): + events.add(EventName.speedLimitPreActive) + + if not self.is_active: + if self._state == SpeedLimitControlState.preActive and self._state_prev != SpeedLimitControlState.preActive and \ + self._v_cruise_rounded != self._speed_limit_offsetted_rounded: + events.add(EventName.speedLimitPreActive) + else: + if self._engage_type == Engage.user_confirm: + if self._state_prev == SpeedLimitControlState.preActive: + events.add(EventName.speedLimitConfirmed) + events.add(EventName.speedLimitActive) + elif self._engage_type == Engage.auto: + if self._state_prev not in ACTIVE_STATES: + events.add(EventName.speedLimitActive) + elif self._speed_limit_changed != 0: + events.add(EventName.speedLimitValueChange) + + def update(self, enabled, v_ego, a_ego, sm, v_cruise_setpoint, events=Events()): + _car_state = sm['carState'] + self._op_enabled = enabled and sm['controlsState'].enabled and _car_state.cruiseState.enabled and \ + not (_car_state.brakePressed and (not self._brake_pressed_prev or not _car_state.standstill)) and \ + not (events.contains(ET.OVERRIDE_LONGITUDINAL) and self._disengage_on_accelerator) + self._v_ego = v_ego + self._a_ego = a_ego + self._v_cruise_setpoint = v_cruise_setpoint + self._gas_pressed = _car_state.gasPressed + self._brake_pressed = _car_state.brakePressed + self._current_time = time.monotonic() + + self._speed_limit, self._distance, self._source = self._resolver.resolve(v_ego, self.speed_limit, sm) + + self._update_params() + self._update_calculations() + self._state_transition() + self._update_events(events) diff --git a/selfdrive/controls/lib/sunnypilot/speed_limit_resolver.py b/selfdrive/controls/lib/sunnypilot/speed_limit_resolver.py new file mode 100644 index 0000000000..c604f024fa --- /dev/null +++ b/selfdrive/controls/lib/sunnypilot/speed_limit_resolver.py @@ -0,0 +1,132 @@ +import time +import numpy as np + +from openpilot.selfdrive.controls.lib.drive_helpers import LIMIT_MAX_MAP_DATA_AGE, LIMIT_ADAPT_ACC +from openpilot.selfdrive.controls.lib.sunnypilot.common import Source, Policy +from openpilot.selfdrive.controls.lib.sunnypilot.helpers import debug + + +class SpeedLimitResolver: + def __init__(self, policy=Policy.nav_priority): + self._limit_solutions = {} # Store for speed limit solutions from different sources + self._distance_solutions = {} # Store for distance to current speed limit start for different sources + + self._policy = policy + self._policy_to_sources_map = { + Policy.car_state_only: [Source.car_state], + Policy.car_state_priority: [Source.car_state, Source.nav, Source.map_data], + Policy.map_data_priority: [Source.map_data, Source.nav, Source.car_state], + Policy.nav_priority: [Source.nav, Source.map_data, Source.car_state], + Policy.map_data_only: [Source.map_data], + Policy.combined: [Source.car_state, Source.nav, Source.map_data], + Policy.nav_only: [Source.nav] + } + for source in Source: + self._reset_limit_sources(source) + + def change_policy(self, policy: Policy): + self._policy = policy + + def _reset_limit_sources(self, source): + self._limit_solutions[source] = 0. + self._distance_solutions[source] = 0. + + def _is_sock_updated(self, sock): + return self._sm.alive[sock] and self._sm.updated[sock] + + def resolve(self, v_ego, current_speed_limit, sm): + self._v_ego = v_ego + self._current_speed_limit = current_speed_limit + self._sm = sm + + self._resolve_limit_sources() + return self._consolidate() + + def _resolve_limit_sources(self): + """Get limit solutions from each data source""" + self._get_from_car_state() + self._get_from_nav() + self._get_from_map_data() + + def _get_from_car_state(self): + if not self._is_sock_updated('carState'): + debug('SL: No carState instruction for speed limit') + return + + self._reset_limit_sources(Source.car_state) + self._limit_solutions[Source.car_state] = self._sm['carState'].cruiseState.speedLimit + self._distance_solutions[Source.car_state] = 0. + + def _get_from_nav(self): + if not self._is_sock_updated('navInstruction'): + debug('SL: No nav instruction for speed limit') + return + + # Load limits from nav instruction + self._reset_limit_sources(Source.nav) + self._limit_solutions[Source.nav] = self._sm['navInstruction'].speedLimit + self._distance_solutions[Source.nav] = 0. + + def _get_from_map_data(self): + sock = 'liveMapDataSP' + + if not self._is_sock_updated(sock): + debug('SL: No map data for speed limit') + return + + # Load limits from map_data + self._reset_limit_sources(Source.map_data) + self._process_map_data(self._sm[sock]) + + def _process_map_data(self, map_data): + gps_fix_age = time.time() - map_data.lastGpsTimestamp * 1e-3 + if gps_fix_age > LIMIT_MAX_MAP_DATA_AGE: + debug(f'SL: Ignoring map data as is too old. Age: {gps_fix_age}') + return + + speed_limit = map_data.speedLimit if map_data.speedLimitValid else 0. + next_speed_limit = map_data.speedLimitAhead if map_data.speedLimitAheadValid else 0. + + self._calculate_map_data_limits(speed_limit, next_speed_limit, map_data) + + def _calculate_map_data_limits(self, speed_limit, next_speed_limit, map_data): + distance_since_fix = self._v_ego * (time.time() - map_data.lastGpsTimestamp * 1e-3) + distance_to_speed_limit_ahead = max(0., map_data.speedLimitAheadDistance - distance_since_fix) + + self._limit_solutions[Source.map_data] = speed_limit + self._distance_solutions[Source.map_data] = 0. + + if 0. < next_speed_limit < self._v_ego: + adapt_time = (next_speed_limit - self._v_ego) / LIMIT_ADAPT_ACC + adapt_distance = self._v_ego * adapt_time + 0.5 * LIMIT_ADAPT_ACC * adapt_time**2 + + if distance_to_speed_limit_ahead <= adapt_distance: + self._limit_solutions[Source.map_data] = next_speed_limit + self._distance_solutions[Source.map_data] = distance_to_speed_limit_ahead + + def _consolidate(self): + source = self._get_source_solution_according_to_policy() + self.speed_limit = self._limit_solutions[source] if source else 0. + self.distance = self._distance_solutions[source] if source else 0. + self.source = source or Source.none + + debug(f'SL: *** Speed Limit set: {self.speed_limit}, distance: {self.distance}, source: {self.source}') + return self.speed_limit, self.distance, self.source + + def _get_source_solution_according_to_policy(self) -> Source | None: + sources_for_policy = self._policy_to_sources_map[self._policy] + + if self._policy != Policy.combined: + # They are ordered in the order of preference, so we pick the first that's non zero + for source in sources_for_policy: + if self._limit_solutions[source] > 0.: + return source + + limits = np.array([self._limit_solutions[source] for source in sources_for_policy], dtype=float) + sources = np.array([source.value for source in sources_for_policy], dtype=int) + + if len(limits) > 0: + min_idx = np.argmin(limits) + return sources[min_idx] + + return None diff --git a/selfdrive/controls/lib/turn_speed_controller.py b/selfdrive/controls/lib/turn_speed_controller.py new file mode 100644 index 0000000000..3900d56ab0 --- /dev/null +++ b/selfdrive/controls/lib/turn_speed_controller.py @@ -0,0 +1,226 @@ +import json +import math +import time +from cereal import custom +from openpilot.common.params import Params + +R = 6373000.0 # approximate radius of earth in meters +TO_RADIANS = math.pi / 180 +TO_DEGREES = 180 / math.pi +TARGET_JERK = -0.6 # m/s^3 There's some jounce limits that are not consistent so we're fudging this some +TARGET_ACCEL = -1.2 # m/s^2 should match up with the long planner limit +TARGET_OFFSET = 1.0 # seconds - This controls how soon before the curve you reach the target velocity. It also helps + # reach the target velocity when innacuracies in the distance modeling logic would cause overshoot. + # The value is multiplied against the target velocity to determine the additional distance. This is + # done to keep the distance calculations consistent but results in the offset actually being less + # time than specified depending on how much of a speed diffrential there is between v_ego and the + # target velocity. + + +def calculate_accel(t, target_jerk, a_ego): + return a_ego + target_jerk * t + + +def calculate_velocity(t, target_jerk, a_ego, v_ego): + return v_ego + a_ego * t + target_jerk/2 * (t ** 2) + + +def calculate_distance(t, target_jerk, a_ego, v_ego): + return t * v_ego + a_ego/2 * (t ** 2) + target_jerk/6 * (t ** 3) + + +PARAMS_UPDATE_PERIOD = 5. + +TurnSpeedControlState = custom.LongitudinalPlanSP.SpeedLimitControlState + + +# points should be in radians +# output is meters +def distance_to_point(ax, ay, bx, by): + a = math.sin((bx-ax)/2)*math.sin((bx-ax)/2) + math.cos(ax) * math.cos(bx)*math.sin((by-ay)/2)*math.sin((by-ay)/2) + c = 2 * math.atan2(math.sqrt(a), math.sqrt(1-a)) + + return R * c # in meters + + +class TurnSpeedController: + def __init__(self): + self.params = Params() + self.mem_params = Params("/dev/shm/params") + self.enabled = self.params.get_bool("TurnSpeedControl") + self.last_params_update = 0 + self._op_enabled = False + self._gas_pressed = False + self._state = TurnSpeedControlState.inactive + self._v_cruise = 0 + self._min_v = 0 + self.target_lat = 0.0 + self.target_lon = 0.0 + self.target_v = 0.0 + + @property + def state(self): + return self._state + + @state.setter + def state(self, value): + self._state = value + + @property + def is_active(self): + return self.state > TurnSpeedControlState.tempInactive and self.enabled + + @property + def v_target(self): + return self._min_v + + def update_params(self): + t = time.monotonic() + if t > self.last_params_update + PARAMS_UPDATE_PERIOD: + self.enabled = self.params.get_bool("TurnSpeedControl") + self.last_params_update = t + + def target_speed(self, v_ego, a_ego) -> float: + if not self.enabled: + return 0.0 + + lat = 0.0 + lon = 0.0 + try: + position = json.loads(self.mem_params.get("LastGPSPosition")) + lat = position["latitude"] + lon = position["longitude"] + except: return 0.0 + + try: + target_velocities = json.loads(self.mem_params.get("MapTargetVelocities")) + except: return 0.0 + + min_dist = 1000 + min_idx = 0 + distances = [] + + # find our location in the path + for i in range(len(target_velocities)): + target_velocity = target_velocities[i] + tlat = target_velocity["latitude"] + tlon = target_velocity["longitude"] + d = distance_to_point(lat * TO_RADIANS, lon * TO_RADIANS, tlat * TO_RADIANS, tlon * TO_RADIANS) + distances.append(d) + if d < min_dist: + min_dist = d + min_idx = i + + # only look at values from our current position forward + forward_points = target_velocities[min_idx:] + forward_distances = distances[min_idx:] + + # find velocities that we are within the distance we need to adjust for + valid_velocities = [] + for i in range(len(forward_points)): + target_velocity = forward_points[i] + tlat = target_velocity["latitude"] + tlon = target_velocity["longitude"] + tv = target_velocity["velocity"] + if tv > v_ego: + continue + + d = forward_distances[i] + + a_diff = (a_ego - TARGET_ACCEL) + accel_t = abs(a_diff / TARGET_JERK) + min_accel_v = calculate_velocity(accel_t, TARGET_JERK, a_ego, v_ego) + + max_d = 0 + if tv > min_accel_v: + # calculate time needed based on target jerk + a = 0.5 * TARGET_JERK + b = a_ego + c = v_ego - tv + t_a = -1 * ((b**2 - 4 * a * c) ** 0.5 + b) / 2 * a + t_b = ((b**2 - 4 * a * c) ** 0.5 - b) / 2 * a + if not isinstance(t_a, complex) and t_a > 0: + t = t_a + else: + t = t_b + if isinstance(t, complex): + continue + + max_d = max_d + calculate_distance(t, TARGET_JERK, a_ego, v_ego) + else: + t = accel_t + max_d = calculate_distance(t, TARGET_JERK, a_ego, v_ego) + + # calculate additional time needed based on target accel + t = abs((min_accel_v - tv) / TARGET_ACCEL) + max_d += calculate_distance(t, 0, TARGET_ACCEL, min_accel_v) + + if d < max_d + tv * TARGET_OFFSET: + valid_velocities.append((float(tv), tlat, tlon)) + + # Find the smallest velocity we need to adjust for + min_v = 100.0 + target_lat = 0.0 + target_lon = 0.0 + for tv, lat, lon in valid_velocities: + if tv < min_v: + min_v = tv + target_lat = lat + target_lon = lon + + if self.target_v < min_v and not (self.target_lat == 0 and self.target_lon == 0): + for i in range(len(forward_points)): + target_velocity = forward_points[i] + tlat = target_velocity["latitude"] + tlon = target_velocity["longitude"] + tv = target_velocity["velocity"] + if tv > v_ego: + continue + + if tlat == self.target_lat and tlon == self.target_lon and tv == self.target_v: + return float(self.target_v) + # not found so lets reset + self.target_v = 0.0 + self.target_lat = 0.0 + self.target_lon = 0.0 + + self.target_v = min_v + self.target_lat = target_lat + self.target_lon = target_lon + + return min_v + + def _state_transition(self): + if not self._op_enabled or not self.enabled: + self.state = TurnSpeedControlState.inactive + return + + if self._gas_pressed: + self.state = TurnSpeedControlState.tempInactive + return + + # INACTIVE + if self.state == TurnSpeedControlState.inactive: + if self._v_cruise > self._min_v != 0: + self.state = TurnSpeedControlState.active + + # TEMP INACTIVE + elif self.state == TurnSpeedControlState.tempInactive: + if self._v_cruise > self._min_v != 0: + self.state = TurnSpeedControlState.active + else: + self.state = TurnSpeedControlState.inactive + + # ACTIVE + elif self.state == TurnSpeedControlState.active: + if not (self._v_cruise > self._min_v != 0): + self.state = TurnSpeedControlState.inactive + + def update(self, op_enabled, v_ego, sm, v_cruise): + self.update_params() + self._op_enabled = op_enabled + self._gas_pressed = sm['carState'].gasPressed + self._v_cruise = v_cruise + self._min_v = self.target_speed(v_ego, sm['carState'].aEgo) + + self._state_transition() diff --git a/selfdrive/controls/lib/vehicle_model.py b/selfdrive/controls/lib/vehicle_model.py new file mode 100755 index 0000000000..b6f50b4ba8 --- /dev/null +++ b/selfdrive/controls/lib/vehicle_model.py @@ -0,0 +1,230 @@ +#!/usr/bin/env python3 +""" +Dynamic bicycle model from "The Science of Vehicle Dynamics (2014), M. Guiggiani" + +The state is x = [v, r]^T +with v lateral speed [m/s], and r rotational speed [rad/s] + +The input u is the steering angle [rad], and roll [rad] + +The system is defined by +x_dot = A*x + B*u + +A depends on longitudinal speed, u [m/s], and vehicle parameters CP +""" + +import numpy as np +from numpy.linalg import solve + +from cereal import car + +ACCELERATION_DUE_TO_GRAVITY = 9.8 + + +class VehicleModel: + def __init__(self, CP: car.CarParams): + """ + Args: + CP: Car Parameters + """ + # for math readability, convert long names car params into short names + self.m: float = CP.mass + self.j: float = CP.rotationalInertia + self.l: float = CP.wheelbase + self.aF: float = CP.centerToFront + self.aR: float = CP.wheelbase - CP.centerToFront + self.chi: float = CP.steerRatioRear + + self.cF_orig: float = CP.tireStiffnessFront + self.cR_orig: float = CP.tireStiffnessRear + self.update_params(1.0, CP.steerRatio) + + def update_params(self, stiffness_factor: float, steer_ratio: float) -> None: + """Update the vehicle model with a new stiffness factor and steer ratio""" + self.cF: float = stiffness_factor * self.cF_orig + self.cR: float = stiffness_factor * self.cR_orig + self.sR: float = steer_ratio + + def steady_state_sol(self, sa: float, u: float, roll: float) -> np.ndarray: + """Returns the steady state solution. + + If the speed is too low we can't use the dynamic model (tire slip is undefined), + we then have to use the kinematic model + + Args: + sa: Steering wheel angle [rad] + u: Speed [m/s] + roll: Road Roll [rad] + + Returns: + 2x1 matrix with steady state solution (lateral speed, rotational speed) + """ + if u > 0.1: + return dyn_ss_sol(sa, u, roll, self) + else: + return kin_ss_sol(sa, u, self) + + def calc_curvature(self, sa: float, u: float, roll: float) -> float: + """Returns the curvature. Multiplied by the speed this will give the yaw rate. + + Args: + sa: Steering wheel angle [rad] + u: Speed [m/s] + roll: Road Roll [rad] + + Returns: + Curvature factor [1/m] + """ + return (self.curvature_factor(u) * sa / self.sR) + self.roll_compensation(roll, u) + + def curvature_factor(self, u: float) -> float: + """Returns the curvature factor. + Multiplied by wheel angle (not steering wheel angle) this will give the curvature. + + Args: + u: Speed [m/s] + + Returns: + Curvature factor [1/m] + """ + sf = calc_slip_factor(self) + return (1. - self.chi) / (1. - sf * u**2) / self.l + + def get_steer_from_curvature(self, curv: float, u: float, roll: float) -> float: + """Calculates the required steering wheel angle for a given curvature + + Args: + curv: Desired curvature [1/m] + u: Speed [m/s] + roll: Road Roll [rad] + + Returns: + Steering wheel angle [rad] + """ + + return (curv - self.roll_compensation(roll, u)) * self.sR * 1.0 / self.curvature_factor(u) + + def roll_compensation(self, roll: float, u: float) -> float: + """Calculates the roll-compensation to curvature + + Args: + roll: Road Roll [rad] + u: Speed [m/s] + + Returns: + Roll compensation curvature [rad] + """ + sf = calc_slip_factor(self) + + if abs(sf) < 1e-6: + return 0 + else: + return (ACCELERATION_DUE_TO_GRAVITY * roll) / ((1 / sf) - u**2) + + def get_steer_from_yaw_rate(self, yaw_rate: float, u: float, roll: float) -> float: + """Calculates the required steering wheel angle for a given yaw_rate + + Args: + yaw_rate: Desired yaw rate [rad/s] + u: Speed [m/s] + roll: Road Roll [rad] + + Returns: + Steering wheel angle [rad] + """ + curv = yaw_rate / u + return self.get_steer_from_curvature(curv, u, roll) + + def yaw_rate(self, sa: float, u: float, roll: float) -> float: + """Calculate yaw rate + + Args: + sa: Steering wheel angle [rad] + u: Speed [m/s] + roll: Road Roll [rad] + + Returns: + Yaw rate [rad/s] + """ + return self.calc_curvature(sa, u, roll) * u + + +def kin_ss_sol(sa: float, u: float, VM: VehicleModel) -> np.ndarray: + """Calculate the steady state solution at low speeds + At low speeds the tire slip is undefined, so a kinematic + model is used. + + Args: + sa: Steering angle [rad] + u: Speed [m/s] + VM: Vehicle model + + Returns: + 2x1 matrix with steady state solution + """ + K = np.zeros((2, 1)) + K[0, 0] = VM.aR / VM.sR / VM.l * u + K[1, 0] = 1. / VM.sR / VM.l * u + return K * sa + + +def create_dyn_state_matrices(u: float, VM: VehicleModel) -> tuple[np.ndarray, np.ndarray]: + """Returns the A and B matrix for the dynamics system + + Args: + u: Vehicle speed [m/s] + VM: Vehicle model + + Returns: + A tuple with the 2x2 A matrix, and 2x2 B matrix + + Parameters in the vehicle model: + cF: Tire stiffness Front [N/rad] + cR: Tire stiffness Front [N/rad] + aF: Distance from CG to front wheels [m] + aR: Distance from CG to rear wheels [m] + m: Mass [kg] + j: Rotational inertia [kg m^2] + sR: Steering ratio [-] + chi: Steer ratio rear [-] + """ + A = np.zeros((2, 2)) + B = np.zeros((2, 2)) + A[0, 0] = - (VM.cF + VM.cR) / (VM.m * u) + A[0, 1] = - (VM.cF * VM.aF - VM.cR * VM.aR) / (VM.m * u) - u + A[1, 0] = - (VM.cF * VM.aF - VM.cR * VM.aR) / (VM.j * u) + A[1, 1] = - (VM.cF * VM.aF**2 + VM.cR * VM.aR**2) / (VM.j * u) + + # Steering input + B[0, 0] = (VM.cF + VM.chi * VM.cR) / VM.m / VM.sR + B[1, 0] = (VM.cF * VM.aF - VM.chi * VM.cR * VM.aR) / VM.j / VM.sR + + # Roll input + B[0, 1] = -ACCELERATION_DUE_TO_GRAVITY + + return A, B + + +def dyn_ss_sol(sa: float, u: float, roll: float, VM: VehicleModel) -> np.ndarray: + """Calculate the steady state solution when x_dot = 0, + Ax + Bu = 0 => x = -A^{-1} B u + + Args: + sa: Steering angle [rad] + u: Speed [m/s] + roll: Road Roll [rad] + VM: Vehicle model + + Returns: + 2x1 matrix with steady state solution + """ + A, B = create_dyn_state_matrices(u, VM) + inp = np.array([[sa], [roll]]) + return -solve(A, B) @ inp # type: ignore + + +def calc_slip_factor(VM: VehicleModel) -> float: + """The slip factor is a measure of how the curvature changes with speed + it's positive for Oversteering vehicle, negative (usual case) otherwise. + """ + return VM.m * (VM.cF * VM.aF - VM.cR * VM.aR) / (VM.l**2 * VM.cF * VM.cR) diff --git a/selfdrive/controls/lib/vision_turn_controller.py b/selfdrive/controls/lib/vision_turn_controller.py new file mode 100644 index 0000000000..5d90a5578a --- /dev/null +++ b/selfdrive/controls/lib/vision_turn_controller.py @@ -0,0 +1,132 @@ +# PFEIFER - VTSC + +# Acknowledgements: +# Past versions of this code were based on the move-fast teams vtsc +# implementation. (https://github.com/move-fast/openpilot) Huge thanks to them +# for their initial implementation. I also used sunnypilot as a reference. +# (https://github.com/sunnyhaibin/sunnypilot) Big thanks for sunny's amazing work + +import numpy as np +import time +from cereal import custom +from openpilot.common.conversions import Conversions as CV +from openpilot.common.params import Params +from openpilot.selfdrive.controls.lib.sunnypilot.helpers import debug + +TARGET_LAT_A = 1.9 # m/s^2 +MIN_TARGET_V = 5 # m/s + +PARAMS_UPDATE_PERIOD = 5. + +VisionTurnControllerState = custom.LongitudinalPlanSP.VisionTurnControllerState + + +def _description_for_state(turn_controller_state): + if turn_controller_state == VisionTurnControllerState.disabled: + return 'DISABLED' + if turn_controller_state == VisionTurnControllerState.entering: + return 'ENTERING' + if turn_controller_state == VisionTurnControllerState.turning: + return 'TURNING' + if turn_controller_state == VisionTurnControllerState.leaving: + return 'LEAVING' + + +class VisionTurnController: + def __init__(self, CP): + self._params = Params() + self._CP = CP + self._op_enabled = False + self._gas_pressed = False + self._is_enabled = self._params.get_bool("TurnVisionControl") + self._last_params_update = 0. + self._v_ego = 0. + self._v_target = MIN_TARGET_V + self._current_lat_acc = 0. + self._max_pred_lat_acc = 0. + self._v_cruise = 0. + self._state = VisionTurnControllerState.disabled + + self._reset() + + @property + def state(self): + return self._state + + @state.setter + def state(self, value): + if value != self._state: + debug(f"V-TSC: VisionTurnControllerState state: {_description_for_state(value)}") + if value == VisionTurnControllerState.disabled: + self._reset() + self._state = value + + @property + def v_target(self): + return self._v_target + + @property + def is_active(self): + return self._state != VisionTurnControllerState.disabled and self._is_enabled + + @property + def current_lat_acc(self): + return self._current_lat_acc + + @property + def max_pred_lat_acc(self): + return self._max_pred_lat_acc + + def _reset(self): + self._current_lat_acc = 0. + self._max_pred_lat_acc = 0. + + def _update_params(self): + t = time.monotonic() + if t > self._last_params_update + PARAMS_UPDATE_PERIOD: + self._is_enabled = self._params.get_bool("TurnVisionControl") + self._last_params_update = t + + def _update_calculations(self, sm): + rate_plan = np.array(np.abs(sm['modelV2'].orientationRate.z)) + vel_plan = np.array(sm['modelV2'].velocity.x) + + current_curvature = abs( + sm['carState'].steeringAngleDeg * CV.DEG_TO_RAD / (self._CP.steerRatio * self._CP.wheelbase)) + self._current_lat_acc = current_curvature * self._v_ego**2 + + # get the maximum lat accel from the model + predicted_lat_accels = rate_plan * vel_plan + self._max_pred_lat_acc = np.amax(predicted_lat_accels) + + # get the maximum curve based on the current velocity + v_ego = max(self._v_ego, 0.1) # ensure a value greater than 0 for calculations + max_curve = self.max_pred_lat_acc / (v_ego**2) + + # Get the target velocity for the maximum curve + self._v_target = (TARGET_LAT_A / max_curve) ** 0.5 + self._v_target = max(self._v_target, MIN_TARGET_V) + + def _state_transition(self): + if not self._op_enabled or not self._is_enabled or self._gas_pressed or self._v_ego < MIN_TARGET_V: + self.state = VisionTurnControllerState.disabled + return + + # DISABLED + if self.state == VisionTurnControllerState.disabled: + if self._v_cruise > self._v_target: + self.state = VisionTurnControllerState.turning + # TURNING + elif self.state == VisionTurnControllerState.turning: + if not (self._v_cruise > self._v_target): + self.state = VisionTurnControllerState.disabled + + def update(self, enabled, v_ego, v_cruise, sm): + self._op_enabled = enabled + self._gas_pressed = sm['carState'].gasPressed + self._v_ego = v_ego + self._v_cruise = v_cruise + + self._update_params() + self._update_calculations(sm) + self._state_transition() diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py new file mode 100755 index 0000000000..daef841c19 --- /dev/null +++ b/selfdrive/controls/plannerd.py @@ -0,0 +1,52 @@ +#!/usr/bin/env python3 +import os +import numpy as np +from cereal import car +from openpilot.common.params import Params +from openpilot.common.realtime import Priority, config_realtime_process +from openpilot.common.swaglog import cloudlog +from openpilot.selfdrive.modeld.constants import ModelConstants +from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner +from openpilot.selfdrive.controls.lib.lateral_planner import LateralPlanner +from openpilot.selfdrive.modeld.custom_model_metadata import CustomModelMetadata, ModelCapabilities +import cereal.messaging as messaging + + +def plannerd_thread(): + config_realtime_process(5, Priority.CTRL_LOW) + + cloudlog.info("plannerd is waiting for CarParams") + params = Params() + CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams) + cloudlog.info("plannerd got CarParams: %s", CP.carName) + + debug_mode = bool(int(os.getenv("DEBUG", "0"))) + + longitudinal_planner = LongitudinalPlanner(CP) + + custom_model_metadata = CustomModelMetadata(params=params, init_only=True) + model_use_lateral_planner = custom_model_metadata.valid and custom_model_metadata.capabilities & ModelCapabilities.LateralPlannerSolution + lateral_planner = LateralPlanner(CP, debug=debug_mode, model_use_lateral_planner=model_use_lateral_planner) + lateral_planner_svs = ['lateralPlanDEPRECATED', 'lateralPlanSPDEPRECATED'] + + pm = messaging.PubMaster(['longitudinalPlan', 'longitudinalPlanSP'] + lateral_planner_svs) + sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2', + 'longitudinalPlan', 'navInstruction', 'longitudinalPlanSP', + 'liveMapDataSP', 'e2eLongStateSP', 'controlsStateSP', 'driverMonitoringState'] + lateral_planner_svs, + poll='modelV2', ignore_avg_freq=['radarState']) + + while True: + sm.update() + if sm.updated['modelV2']: + lateral_planner.update(sm) + lateral_planner.publish(sm, pm) + longitudinal_planner.update(sm) + longitudinal_planner.publish(sm, pm) + + +def main(): + plannerd_thread() + + +if __name__ == "__main__": + main() diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py new file mode 100755 index 0000000000..0c8c9ff179 --- /dev/null +++ b/selfdrive/controls/radard.py @@ -0,0 +1,326 @@ +#!/usr/bin/env python3 +import importlib +import math +from collections import deque +from typing import Any + +import capnp +from cereal import messaging, log, car +from openpilot.common.numpy_fast import interp +from openpilot.common.params import Params +from openpilot.common.realtime import DT_CTRL, Ratekeeper, Priority, config_realtime_process +from openpilot.common.swaglog import cloudlog +from openpilot.common.simple_kalman import KF1D +from openpilot.selfdrive.car.hyundai.values import HyundaiFlagsSP +from openpilot.selfdrive.pandad import can_capnp_to_list + + +# Default lead acceleration decay set to 50% at 1s +_LEAD_ACCEL_TAU = 1.5 + +# radar tracks +SPEED, ACCEL = 0, 1 # Kalman filter states enum + +# stationary qualification parameters +V_EGO_STATIONARY = 4. # no stationary object flag below this speed + +RADAR_TO_CENTER = 2.7 # (deprecated) RADAR is ~ 2.7m ahead from center of car +RADAR_TO_CAMERA = 1.52 # RADAR is ~ 1.5m ahead from center of mesh frame + + +class KalmanParams: + def __init__(self, dt: float): + # Lead Kalman Filter params, calculating K from A, C, Q, R requires the control library. + # hardcoding a lookup table to compute K for values of radar_ts between 0.01s and 0.2s + assert dt > .01 and dt < .2, "Radar time step must be between .01s and 0.2s" + self.A = [[1.0, dt], [0.0, 1.0]] + self.C = [1.0, 0.0] + #Q = np.matrix([[10., 0.0], [0.0, 100.]]) + #R = 1e3 + #K = np.matrix([[ 0.05705578], [ 0.03073241]]) + dts = [i * 0.01 for i in range(1, 21)] + K0 = [0.12287673, 0.14556536, 0.16522756, 0.18281627, 0.1988689, 0.21372394, + 0.22761098, 0.24069424, 0.253096, 0.26491023, 0.27621103, 0.28705801, + 0.29750003, 0.30757767, 0.31732515, 0.32677158, 0.33594201, 0.34485814, + 0.35353899, 0.36200124] + K1 = [0.29666309, 0.29330885, 0.29042818, 0.28787125, 0.28555364, 0.28342219, + 0.28144091, 0.27958406, 0.27783249, 0.27617149, 0.27458948, 0.27307714, + 0.27162685, 0.27023228, 0.26888809, 0.26758976, 0.26633338, 0.26511557, + 0.26393339, 0.26278425] + self.K = [[interp(dt, dts, K0)], [interp(dt, dts, K1)]] + + +class Track: + def __init__(self, identifier: int, v_lead: float, kalman_params: KalmanParams): + self.identifier = identifier + self.cnt = 0 + self.aLeadTau = _LEAD_ACCEL_TAU + self.K_A = kalman_params.A + self.K_C = kalman_params.C + self.K_K = kalman_params.K + self.kf = KF1D([[v_lead], [0.0]], self.K_A, self.K_C, self.K_K) + + def update(self, d_rel: float, y_rel: float, v_rel: float, v_lead: float, measured: float): + # relative values, copy + self.dRel = d_rel # LONG_DIST + self.yRel = y_rel # -LAT_DIST + self.vRel = v_rel # REL_SPEED + self.vLead = v_lead + self.measured = measured # measured or estimate + + # computed velocity and accelerations + if self.cnt > 0: + self.kf.update(self.vLead) + + self.vLeadK = float(self.kf.x[SPEED][0]) + self.aLeadK = float(self.kf.x[ACCEL][0]) + + # Learn if constant acceleration + if abs(self.aLeadK) < 0.5: + self.aLeadTau = _LEAD_ACCEL_TAU + else: + self.aLeadTau *= 0.9 + + self.cnt += 1 + + def get_key_for_cluster(self): + # Weigh y higher since radar is inaccurate in this dimension + return [self.dRel, self.yRel*2, self.vRel] + + def reset_a_lead(self, aLeadK: float, aLeadTau: float): + self.kf = KF1D([[self.vLead], [aLeadK]], self.K_A, self.K_C, self.K_K) + self.aLeadK = aLeadK + self.aLeadTau = aLeadTau + + def get_RadarState(self, CP: car.CarParams = None, lead_msg_y: float = 0.0, model_prob: float = 0.0): + y_rel_vision = False if CP is None or CP.carName != "hyundai" else CP.spFlags & HyundaiFlagsSP.SP_CAMERA_SCC_LEAD + return { + "dRel": float(self.dRel), + "yRel": float(-lead_msg_y) if y_rel_vision else float(self.yRel), + "vRel": float(self.vRel), + "vLead": float(self.vLead), + "vLeadK": float(self.vLeadK), + "aLeadK": float(self.aLeadK), + "aLeadTau": float(self.aLeadTau), + "status": True, + "fcw": self.is_potential_fcw(model_prob), + "modelProb": model_prob, + "radar": True, + "radarTrackId": self.identifier, + } + + def potential_low_speed_lead(self, v_ego: float): + # stop for stuff in front of you and low speed, even without model confirmation + # Radar points closer than 0.75, are almost always glitches on toyota radars + return abs(self.yRel) < 1.0 and (v_ego < V_EGO_STATIONARY) and (0.75 < self.dRel < 25) + + def is_potential_fcw(self, model_prob: float): + return model_prob > .9 + + def __str__(self): + ret = f"x: {self.dRel:4.1f} y: {self.yRel:4.1f} v: {self.vRel:4.1f} a: {self.aLeadK:4.1f}" + return ret + + +def laplacian_pdf(x: float, mu: float, b: float): + b = max(b, 1e-4) + return math.exp(-abs(x-mu)/b) + + +def match_vision_to_track(v_ego: float, lead: capnp._DynamicStructReader, tracks: dict[int, Track]): + offset_vision_dist = lead.x[0] - RADAR_TO_CAMERA + + def prob(c): + prob_d = laplacian_pdf(c.dRel, offset_vision_dist, lead.xStd[0]) + prob_y = laplacian_pdf(c.yRel, -lead.y[0], lead.yStd[0]) + prob_v = laplacian_pdf(c.vRel + v_ego, lead.v[0], lead.vStd[0]) + + # This isn't exactly right, but it's a good heuristic + return prob_d * prob_y * prob_v + + track = max(tracks.values(), key=prob) + + # if no 'sane' match is found return -1 + # stationary radar points can be false positives + dist_sane = abs(track.dRel - offset_vision_dist) < max([(offset_vision_dist)*.25, 5.0]) + vel_sane = (abs(track.vRel + v_ego - lead.v[0]) < 10) or (v_ego + track.vRel > 3) + if dist_sane and vel_sane: + return track + else: + return None + + +def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: float, model_v_ego: float): + lead_v_rel_pred = lead_msg.v[0] - model_v_ego + return { + "dRel": float(lead_msg.x[0] - RADAR_TO_CAMERA), + "yRel": float(-lead_msg.y[0]), + "vRel": float(lead_v_rel_pred), + "vLead": float(v_ego + lead_v_rel_pred), + "vLeadK": float(v_ego + lead_v_rel_pred), + "aLeadK": 0.0, + "aLeadTau": 0.3, + "fcw": False, + "modelProb": float(lead_msg.prob), + "status": True, + "radar": False, + "radarTrackId": -1, + } + + +def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capnp._DynamicStructReader, + model_v_ego: float, CP: car.CarParams, low_speed_override: bool = True) -> dict[str, Any]: + # Determine leads, this is where the essential logic happens + if len(tracks) > 0 and ready and lead_msg.prob > .5: + track = match_vision_to_track(v_ego, lead_msg, tracks) + else: + track = None + + lead_dict = {'status': False} + if track is not None: + lead_dict = track.get_RadarState(CP, lead_msg.y[0], lead_msg.prob) + elif (track is None) and ready and (lead_msg.prob > .5): + lead_dict = get_RadarState_from_vision(lead_msg, v_ego, model_v_ego) + + if low_speed_override: + low_speed_tracks = [c for c in tracks.values() if c.potential_low_speed_lead(v_ego)] + if len(low_speed_tracks) > 0: + closest_track = min(low_speed_tracks, key=lambda c: c.dRel) + + # Only choose new track if it is actually closer than the previous one + if (not lead_dict['status']) or (closest_track.dRel < lead_dict['dRel']): + lead_dict = closest_track.get_RadarState() + + return lead_dict + + +class RadarD: + def __init__(self, radar_ts: float, CP: car.CarParams, delay: int = 0): + self.current_time = 0.0 + + self.tracks: dict[int, Track] = {} + self.kalman_params = KalmanParams(radar_ts) + + self.v_ego = 0.0 + self.v_ego_hist = deque([0.0], maxlen=delay+1) + self.last_v_ego_frame = -1 + + self.radar_state: capnp._DynamicStructBuilder | None = None + self.radar_state_valid = False + + self.ready = False + + self.CP = CP + + def update(self, sm: messaging.SubMaster, rr): + self.ready = sm.seen['modelV2'] + self.current_time = 1e-9*max(sm.logMonoTime.values()) + + radar_points = [] + radar_errors = [] + if rr is not None: + radar_points = rr.points + radar_errors = rr.errors + + if sm.recv_frame['carState'] != self.last_v_ego_frame: + self.v_ego = sm['carState'].vEgo + self.v_ego_hist.append(self.v_ego) + self.last_v_ego_frame = sm.recv_frame['carState'] + + ar_pts = {} + for pt in radar_points: + ar_pts[pt.trackId] = [pt.dRel, pt.yRel, pt.vRel, pt.measured] + + # *** remove missing points from meta data *** + for ids in list(self.tracks.keys()): + if ids not in ar_pts: + self.tracks.pop(ids, None) + + # *** compute the tracks *** + for ids in ar_pts: + rpt = ar_pts[ids] + + # align v_ego by a fixed time to align it with the radar measurement + v_lead = rpt[2] + self.v_ego_hist[0] + + # create the track if it doesn't exist or it's a new track + if ids not in self.tracks: + self.tracks[ids] = Track(ids, v_lead, self.kalman_params) + self.tracks[ids].update(rpt[0], rpt[1], rpt[2], v_lead, rpt[3]) + + # *** publish radarState *** + self.radar_state_valid = sm.all_checks() and len(radar_errors) == 0 + self.radar_state = log.RadarState.new_message() + self.radar_state.mdMonoTime = sm.logMonoTime['modelV2'] + self.radar_state.radarErrors = list(radar_errors) + self.radar_state.carStateMonoTime = sm.logMonoTime['carState'] + + if len(sm['modelV2'].temporalPose.trans): + model_v_ego = sm['modelV2'].temporalPose.trans[0] + else: + model_v_ego = self.v_ego + leads_v3 = sm['modelV2'].leadsV3 + if len(leads_v3) > 1: + self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, self.CP, low_speed_override=True) + self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, self.CP, low_speed_override=False) + + def publish(self, pm: messaging.PubMaster, lag_ms: float): + assert self.radar_state is not None + + radar_msg = messaging.new_message("radarState") + radar_msg.valid = self.radar_state_valid + radar_msg.radarState = self.radar_state + radar_msg.radarState.cumLagMs = lag_ms + pm.send("radarState", radar_msg) + + # publish tracks for UI debugging (keep last) + tracks_msg = messaging.new_message('liveTracks', len(self.tracks)) + tracks_msg.valid = self.radar_state_valid + for index, tid in enumerate(sorted(self.tracks.keys())): + tracks_msg.liveTracks[index] = { + "trackId": tid, + "dRel": float(self.tracks[tid].dRel), + "yRel": float(self.tracks[tid].yRel), + "vRel": float(self.tracks[tid].vRel), + } + pm.send('liveTracks', tracks_msg) + + +# fuses camera and radar data for best lead detection +def main(): + config_realtime_process(5, Priority.CTRL_LOW) + + # wait for stats about the car to come in from controls + cloudlog.info("radard is waiting for CarParams") + CP = messaging.log_from_bytes(Params().get("CarParams", block=True), car.CarParams) + cloudlog.info("radard got CarParams") + + # import the radar from the fingerprint + cloudlog.info("radard is importing %s", CP.carName) + RadarInterface = importlib.import_module(f'selfdrive.car.{CP.carName}.radar_interface').RadarInterface + + # *** setup messaging + can_sock = messaging.sub_sock('can') + sm = messaging.SubMaster(['modelV2', 'carState'], frequency=int(1./DT_CTRL)) + pm = messaging.PubMaster(['radarState', 'liveTracks']) + + RI = RadarInterface(CP) + + rk = Ratekeeper(1.0 / CP.radarTimeStep, print_delay_threshold=None) + RD = RadarD(CP.radarTimeStep, CP, RI.delay) + + while 1: + can_strings = messaging.drain_sock_raw(can_sock, wait_for_one=True) + rr = RI.update(can_capnp_to_list(can_strings)) + sm.update(0) + if rr is None: + continue + + RD.update(sm, rr) + RD.publish(pm, -rk.remaining*1000.0) + + rk.monitor_time() + + +if __name__ == "__main__": + main() diff --git a/selfdrive/debug/__init__.py b/selfdrive/debug/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/debug/adb.sh b/selfdrive/debug/adb.sh new file mode 100755 index 0000000000..919a82fefc --- /dev/null +++ b/selfdrive/debug/adb.sh @@ -0,0 +1,11 @@ +#!/usr/bin/bash +set -e + +PORT=5555 + +setprop service.adb.tcp.port $PORT +sudo systemctl start adbd + +IP=$(echo $SSH_CONNECTION | awk '{ print $3}') +echo "then, connect on your computer:" +echo "adb connect $IP:$PORT" diff --git a/selfdrive/debug/can_print_changes.py b/selfdrive/debug/can_print_changes.py new file mode 100755 index 0000000000..97d60b2b05 --- /dev/null +++ b/selfdrive/debug/can_print_changes.py @@ -0,0 +1,109 @@ +#!/usr/bin/env python3 +import argparse +import binascii +import time +from collections import defaultdict + +import cereal.messaging as messaging +from openpilot.selfdrive.debug.can_table import can_table +from openpilot.tools.lib.logreader import LogIterable, LogReader + +RED = '\033[91m' +CLEAR = '\033[0m' + +def update(msgs, bus, dat, low_to_high, high_to_low, quiet=False): + for x in msgs: + if x.which() != 'can': + continue + + for y in x.can: + if y.src == bus: + dat[y.address] = y.dat + + i = int.from_bytes(y.dat, byteorder='big') + l_h = low_to_high[y.address] + h_l = high_to_low[y.address] + + change = None + if (i | l_h) != l_h: + low_to_high[y.address] = i | l_h + change = "+" + + if (~i | h_l) != h_l: + high_to_low[y.address] = ~i | h_l + change = "-" + + if change and not quiet: + print(f"{time.monotonic():.2f}\t{hex(y.address)} ({y.address})\t{change}{binascii.hexlify(y.dat)}") + + +def can_printer(bus=0, init_msgs=None, new_msgs=None, table=False): + logcan = messaging.sub_sock('can', timeout=10) + + dat = defaultdict(int) + low_to_high = defaultdict(int) + high_to_low = defaultdict(int) + + if init_msgs is not None: + update(init_msgs, bus, dat, low_to_high, high_to_low, quiet=True) + + low_to_high_init = low_to_high.copy() + high_to_low_init = high_to_low.copy() + + if new_msgs is not None: + update(new_msgs, bus, dat, low_to_high, high_to_low) + else: + # Live mode + print(f"Waiting for messages on bus {bus}") + try: + while 1: + can_recv = messaging.drain_sock(logcan) + update(can_recv, bus, dat, low_to_high, high_to_low) + time.sleep(0.02) + except KeyboardInterrupt: + pass + + print("\n\n") + tables = "" + for addr in sorted(dat.keys()): + init = low_to_high_init[addr] & high_to_low_init[addr] + now = low_to_high[addr] & high_to_low[addr] + d = now & ~init + if d == 0: + continue + b = d.to_bytes(len(dat[addr]), byteorder='big') + + byts = ''.join([(c if c == '0' else f'{RED}{c}{CLEAR}') for c in str(binascii.hexlify(b))[2:-1]]) + header = f"{hex(addr).ljust(6)}({str(addr).ljust(4)})" + print(header, byts) + tables += f"{header}\n" + tables += can_table(b) + "\n\n" + + if table: + print(tables) + +if __name__ == "__main__": + desc = """Collects messages and prints when a new bit transition is observed. + This is very useful to find signals based on user triggered actions, such as blinkers and seatbelt. + Leave the script running until no new transitions are seen, then perform the action.""" + parser = argparse.ArgumentParser(description=desc, + formatter_class=argparse.ArgumentDefaultsHelpFormatter) + parser.add_argument("--bus", type=int, help="CAN bus to print out", default=0) + parser.add_argument("--table", action="store_true", help="Print a cabana-like table") + parser.add_argument("init", type=str, nargs='?', help="Route or segment to initialize with. Use empty quotes to compare against all zeros.") + parser.add_argument("comp", type=str, nargs='?', help="Route or segment to compare against init") + + args = parser.parse_args() + + init_lr: LogIterable | None = None + new_lr: LogIterable | None = None + + if args.init: + if args.init == '': + init_lr = [] + else: + init_lr = LogReader(args.init) + if args.comp: + new_lr = LogReader(args.comp) + + can_printer(args.bus, init_msgs=init_lr, new_msgs=new_lr, table=args.table) diff --git a/selfdrive/debug/can_printer.py b/selfdrive/debug/can_printer.py new file mode 100755 index 0000000000..b93e48ba73 --- /dev/null +++ b/selfdrive/debug/can_printer.py @@ -0,0 +1,45 @@ +#!/usr/bin/env python3 +import argparse +import binascii +import time +from collections import defaultdict + +import cereal.messaging as messaging + + +def can_printer(bus, max_msg, addr, ascii_decode): + logcan = messaging.sub_sock('can', addr=addr) + + start = time.monotonic() + lp = time.monotonic() + msgs = defaultdict(list) + while 1: + can_recv = messaging.drain_sock(logcan, wait_for_one=True) + for x in can_recv: + for y in x.can: + if y.src == bus: + msgs[y.address].append(y.dat) + + if time.monotonic() - lp > 0.1: + dd = chr(27) + "[2J" + dd += f"{time.monotonic() - start:5.2f}\n" + for _addr in sorted(msgs.keys()): + a = f"\"{msgs[_addr][-1].decode('ascii', 'backslashreplace')}\"" if ascii_decode else "" + x = binascii.hexlify(msgs[_addr][-1]).decode('ascii') + freq = len(msgs[_addr]) / (time.monotonic() - start) + if max_msg is None or _addr < max_msg: + dd += "%04X(%4d)(%6d)(%3dHz) %s %s\n" % (_addr, _addr, len(msgs[_addr]), freq, x.ljust(20), a) + print(dd) + lp = time.monotonic() + +if __name__ == "__main__": + parser = argparse.ArgumentParser(description="simple CAN data viewer", + formatter_class=argparse.ArgumentDefaultsHelpFormatter) + + parser.add_argument("--bus", type=int, help="CAN bus to print out", default=0) + parser.add_argument("--max_msg", type=int, help="max addr") + parser.add_argument("--ascii", action='store_true', help="decode as ascii") + parser.add_argument("--addr", default="127.0.0.1") + + args = parser.parse_args() + can_printer(args.bus, args.max_msg, args.addr, args.ascii) diff --git a/selfdrive/debug/can_table.py b/selfdrive/debug/can_table.py new file mode 100755 index 0000000000..11d070e708 --- /dev/null +++ b/selfdrive/debug/can_table.py @@ -0,0 +1,45 @@ +#!/usr/bin/env python3 +import argparse +import pandas as pd + +import cereal.messaging as messaging + + +def can_table(dat): + rows = [] + for b in dat: + r = list(bin(b).lstrip('0b').zfill(8)) + r += [hex(b)] + rows.append(r) + + df = pd.DataFrame(data=rows) + df.columns = [str(n) for n in range(7, -1, -1)] + [' '] + table = df.to_markdown(tablefmt='grid') + return table + + +if __name__ == "__main__": + parser = argparse.ArgumentParser(description="Cabana-like table of bits for your terminal", + formatter_class=argparse.ArgumentDefaultsHelpFormatter) + parser.add_argument("addr", type=str, nargs=1) + parser.add_argument("bus", type=int, default=0, nargs='?') + + args = parser.parse_args() + + addr = int(args.addr[0], 0) + can = messaging.sub_sock('can', conflate=False, timeout=None) + + print(f"waiting for {hex(addr)} ({addr}) on bus {args.bus}...") + + latest = None + while True: + for msg in messaging.drain_sock(can, wait_for_one=True): + for m in msg.can: + if m.address == addr and m.src == args.bus: + latest = m + + if latest is None: + continue + + table = can_table(latest.dat) + print(f"\n\n{hex(addr)} ({addr}) on bus {args.bus}\n{table}") diff --git a/selfdrive/debug/check_can_parser_performance.py b/selfdrive/debug/check_can_parser_performance.py new file mode 100755 index 0000000000..a5155f0126 --- /dev/null +++ b/selfdrive/debug/check_can_parser_performance.py @@ -0,0 +1,40 @@ +#!/usr/bin/env python3 +import numpy as np +import time +from tqdm import tqdm + +from cereal import car +from openpilot.selfdrive.car.tests.routes import CarTestRoute +from openpilot.selfdrive.car.tests.test_models import TestCarModelBase +from openpilot.selfdrive.pandad import can_capnp_to_list +from openpilot.tools.plotjuggler.juggle import DEMO_ROUTE + +N_RUNS = 10 + + +class CarModelTestCase(TestCarModelBase): + test_route = CarTestRoute(DEMO_ROUTE, None) + ci = False + + +if __name__ == '__main__': + # Get CAN messages and parsers + tm = CarModelTestCase() + tm.setUpClass() + tm.setUp() + + CC = car.CarControl.new_message() + ets = [] + for _ in tqdm(range(N_RUNS)): + msgs = [m.as_builder().to_bytes() for m in tm.can_msgs] + start_t = time.process_time_ns() + for msg in msgs: + can_list = can_capnp_to_list([msg]) + for cp in tm.CI.can_parsers: + if cp is not None: + cp.update_strings(can_list) + ets.append((time.process_time_ns() - start_t) * 1e-6) + + print(f'{len(tm.can_msgs)} CAN packets, {N_RUNS} runs') + print(f'{np.mean(ets):.2f} mean ms, {max(ets):.2f} max ms, {min(ets):.2f} min ms, {np.std(ets):.2f} std ms') + print(f'{np.mean(ets) / len(tm.can_msgs):.4f} mean ms / CAN packet') diff --git a/selfdrive/debug/check_freq.py b/selfdrive/debug/check_freq.py new file mode 100755 index 0000000000..1765aeb86b --- /dev/null +++ b/selfdrive/debug/check_freq.py @@ -0,0 +1,50 @@ +#!/usr/bin/env python3 +import argparse +import numpy as np +import time +from collections import defaultdict, deque +from collections.abc import MutableSequence + +import cereal.messaging as messaging + + +if __name__ == "__main__": + context = messaging.Context() + poller = messaging.Poller() + + parser = argparse.ArgumentParser() + parser.add_argument("socket", type=str, nargs='*', help="socket name") + args = parser.parse_args() + + socket_names = args.socket + sockets = {} + + rcv_times: defaultdict[str, MutableSequence[float]] = defaultdict(lambda: deque(maxlen=100)) + valids: defaultdict[str, deque[bool]] = defaultdict(lambda: deque(maxlen=100)) + + t = time.monotonic() + for name in socket_names: + sock = messaging.sub_sock(name, poller=poller) + sockets[sock] = name + + prev_print = t + while True: + for socket in poller.poll(100): + msg = messaging.recv_one(socket) + if msg is None: + continue + + name = msg.which() + + t = time.monotonic() + rcv_times[name].append(msg.logMonoTime / 1e9) + valids[name].append(msg.valid) + + if t - prev_print > 1: + print() + for name in socket_names: + dts = np.diff(rcv_times[name]) + mean = np.mean(dts) + print(f"{name}: Freq {1.0 / mean:.2f} Hz, Min {np.min(dts) / mean * 100:.2f}%, Max {np.max(dts) / mean * 100:.2f}%, valid ", all(valids[name])) + + prev_print = t diff --git a/selfdrive/debug/check_lag.py b/selfdrive/debug/check_lag.py new file mode 100755 index 0000000000..341ae79c8b --- /dev/null +++ b/selfdrive/debug/check_lag.py @@ -0,0 +1,27 @@ +#!/usr/bin/env python3 + +import cereal.messaging as messaging +from cereal.services import SERVICE_LIST + +TO_CHECK = ['carState'] + + +if __name__ == "__main__": + sm = messaging.SubMaster(TO_CHECK) + + prev_t: dict[str, float] = {} + + while True: + sm.update() + + for s in TO_CHECK: + if sm.updated[s]: + t = sm.logMonoTime[s] / 1e9 + + if s in prev_t: + expected = 1.0 / (SERVICE_LIST[s].frequency) + dt = t - prev_t[s] + if dt > 10 * expected: + print(t, s, dt) + + prev_t[s] = t diff --git a/selfdrive/debug/check_timings.py b/selfdrive/debug/check_timings.py new file mode 100755 index 0000000000..fc527cd81b --- /dev/null +++ b/selfdrive/debug/check_timings.py @@ -0,0 +1,36 @@ +#!/usr/bin/env python3 +import sys +import time +import numpy as np +import datetime +from collections.abc import MutableSequence +from collections import defaultdict + +import cereal.messaging as messaging + + +if __name__ == "__main__": + ts: defaultdict[str, MutableSequence[float]] = defaultdict(list) + socks = {s: messaging.sub_sock(s, conflate=False) for s in sys.argv[1:]} + try: + st = time.monotonic() + while True: + print() + for s, sock in socks.items(): + msgs = messaging.drain_sock(sock) + for m in msgs: + ts[s].append(m.logMonoTime / 1e6) + + if len(ts[s]) > 2: + d = np.diff(ts[s])[-100:] + print(f"{s:25} {np.mean(d):7.2f} {np.std(d):7.2f} {np.max(d):7.2f} {np.min(d):7.2f}") + time.sleep(1) + except KeyboardInterrupt: + print("\n") + print("="*5, "timing summary", "="*5) + for s, sock in socks.items(): + msgs = messaging.drain_sock(sock) + if len(ts[s]) > 2: + d = np.diff(ts[s]) + print(f"{s:25} {np.mean(d):7.2f} {np.std(d):7.2f} {np.max(d):7.2f} {np.min(d):7.2f}") + print("="*5, datetime.timedelta(seconds=time.monotonic()-st), "="*5) diff --git a/selfdrive/debug/clear_dtc.py b/selfdrive/debug/clear_dtc.py new file mode 100755 index 0000000000..a931c423a9 --- /dev/null +++ b/selfdrive/debug/clear_dtc.py @@ -0,0 +1,40 @@ +#!/usr/bin/env python3 +import sys +import argparse +from subprocess import check_output, CalledProcessError +from panda import Panda +from panda.python.uds import UdsClient, MessageTimeoutError, SESSION_TYPE, DTC_GROUP_TYPE + +parser = argparse.ArgumentParser(description="clear DTC status") +parser.add_argument("addr", type=lambda x: int(x,0), nargs="?", default=0x7DF) # default is functional (broadcast) address +parser.add_argument("--bus", type=int, default=0) +parser.add_argument('--debug', action='store_true') +args = parser.parse_args() + +try: + check_output(["pidof", "pandad"]) + print("pandad is running, please kill openpilot before running this script! (aborted)") + sys.exit(1) +except CalledProcessError as e: + if e.returncode != 1: # 1 == no process found (pandad not running) + raise e + +panda = Panda() +panda.set_safety_mode(Panda.SAFETY_ELM327) +uds_client = UdsClient(panda, args.addr, bus=args.bus, debug=args.debug) +print("extended diagnostic session ...") +try: + uds_client.diagnostic_session_control(SESSION_TYPE.EXTENDED_DIAGNOSTIC) +except MessageTimeoutError: + # functional address isn't properly handled so a timeout occurs + if args.addr != 0x7DF: + raise +print("clear diagnostic info ...") +try: + uds_client.clear_diagnostic_information(DTC_GROUP_TYPE.ALL) +except MessageTimeoutError: + # functional address isn't properly handled so a timeout occurs + if args.addr != 0x7DF: + pass +print("") +print("you may need to power cycle your vehicle now") diff --git a/selfdrive/debug/count_events.py b/selfdrive/debug/count_events.py new file mode 100755 index 0000000000..5942054757 --- /dev/null +++ b/selfdrive/debug/count_events.py @@ -0,0 +1,76 @@ +#!/usr/bin/env python3 +import sys +import math +import datetime +from collections import Counter +from pprint import pprint +from typing import cast + +from cereal.services import SERVICE_LIST +from openpilot.tools.lib.logreader import LogReader, ReadMode + +if __name__ == "__main__": + cnt_events: Counter = Counter() + + cams = [s for s in SERVICE_LIST if s.endswith('CameraState')] + cnt_cameras = dict.fromkeys(cams, 0) + + events: list[tuple[float, set[str]]] = [] + alerts: list[tuple[float, str]] = [] + start_time = math.inf + end_time = -math.inf + ignition_off = None + for msg in LogReader(sys.argv[1], ReadMode.QLOG): + t = (msg.logMonoTime - start_time) / 1e9 + end_time = max(end_time, msg.logMonoTime) + start_time = min(start_time, msg.logMonoTime) + + if msg.which() == 'onroadEvents': + for e in msg.onroadEvents: + cnt_events[e.name] += 1 + + ae = {str(e.name) for e in msg.onroadEvents if e.name not in ('pedalPressed', 'steerOverride', 'gasPressedOverride')} + if len(events) == 0 or ae != events[-1][1]: + events.append((t, ae)) + + elif msg.which() == 'controlsState': + at = msg.controlsState.alertType + if "/override" not in at or "lanechange" in at.lower(): + if len(alerts) == 0 or alerts[-1][1] != at: + alerts.append((t, at)) + elif msg.which() == 'pandaStates': + if ignition_off is None: + ign = any(ps.ignitionLine or ps.ignitionCan for ps in msg.pandaStates) + if not ign: + ignition_off = msg.logMonoTime + break + elif msg.which() in cams: + cnt_cameras[msg.which()] += 1 + + duration = (end_time - start_time) / 1e9 + + print("Events") + pprint(cnt_events) + + print("\n") + print("Events") + for t, evt in events: + print(f"{t:8.2f} {evt}") + + print("\n") + print("Cameras") + for k, v in cnt_cameras.items(): + s = SERVICE_LIST[k] + expected_frames = int(s.frequency * duration / cast(float, s.decimation)) + print(" ", k.ljust(20), f"{v}, {v/expected_frames:.1%} of expected") + + print("\n") + print("Alerts") + for t, a in alerts: + print(f"{t:8.2f} {a}") + + print("\n") + if ignition_off is not None: + ignition_off = round((ignition_off - start_time) / 1e9, 2) + print("Ignition off at", ignition_off) + print("Route duration", datetime.timedelta(seconds=duration)) diff --git a/selfdrive/debug/cpu_usage_stat.py b/selfdrive/debug/cpu_usage_stat.py new file mode 100755 index 0000000000..234dfea3cc --- /dev/null +++ b/selfdrive/debug/cpu_usage_stat.py @@ -0,0 +1,123 @@ +#!/usr/bin/env python3 +# type: ignore +''' +System tools like top/htop can only show current cpu usage values, so I write this script to do statistics jobs. + Features: + Use psutil library to sample cpu usage(avergage for all cores) of openpilot processes, at a rate of 5 samples/sec. + Do cpu usage statistics periodically, 5 seconds as a cycle. + Calculate the average cpu usage within this cycle. + Calculate minumium/maximum/accumulated_average cpu usage as long term inspections. + Monitor multiple processes simuteneously. + Sample usage: + root@localhost:/data/openpilot$ python selfdrive/debug/cpu_usage_stat.py pandad,ubloxd + ('Add monitored proc:', './pandad') + ('Add monitored proc:', 'python locationd/ubloxd.py') + pandad: 1.96%, min: 1.96%, max: 1.96%, acc: 1.96% + ubloxd.py: 0.39%, min: 0.39%, max: 0.39%, acc: 0.39% +''' +import psutil +import time +import os +import sys +import numpy as np +import argparse +import re +from collections import defaultdict + +from openpilot.system.manager.process_config import managed_processes + +# Do statistics every 5 seconds +PRINT_INTERVAL = 5 +SLEEP_INTERVAL = 0.2 + +monitored_proc_names = [ + # android procs + 'SurfaceFlinger', 'sensors.qcom' +] + list(managed_processes.keys()) + +cpu_time_names = ['user', 'system', 'children_user', 'children_system'] + +timer = getattr(time, 'monotonic', time.time) + + +def get_arg_parser(): + parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter) + + parser.add_argument("proc_names", nargs="?", default='', + help="Process names to be monitored, comma separated") + parser.add_argument("--list_all", action='store_true', + help="Show all running processes' cmdline") + parser.add_argument("--detailed_times", action='store_true', + help="show cpu time details (split by user, system, child user, child system)") + return parser + + +if __name__ == "__main__": + args = get_arg_parser().parse_args(sys.argv[1:]) + if args.list_all: + for p in psutil.process_iter(): + print('cmdline', p.cmdline(), 'name', p.name()) + sys.exit(0) + + if len(args.proc_names) > 0: + monitored_proc_names = args.proc_names.split(',') + monitored_procs = [] + stats = {} + for p in psutil.process_iter(): + if p == psutil.Process(): + continue + matched = any(l for l in p.cmdline() if any(pn for pn in monitored_proc_names if re.match(fr'.*{pn}.*', l, re.M | re.I))) + if matched: + k = ' '.join(p.cmdline()) + print('Add monitored proc:', k) + stats[k] = {'cpu_samples': defaultdict(list), 'min': defaultdict(lambda: None), 'max': defaultdict(lambda: None), + 'avg': defaultdict(float), 'last_cpu_times': None, 'last_sys_time': None} + stats[k]['last_sys_time'] = timer() + stats[k]['last_cpu_times'] = p.cpu_times() + monitored_procs.append(p) + i = 0 + interval_int = int(PRINT_INTERVAL / SLEEP_INTERVAL) + while True: + for p in monitored_procs: + k = ' '.join(p.cmdline()) + cur_sys_time = timer() + cur_cpu_times = p.cpu_times() + cpu_times = np.subtract(cur_cpu_times, stats[k]['last_cpu_times']) / (cur_sys_time - stats[k]['last_sys_time']) + stats[k]['last_sys_time'] = cur_sys_time + stats[k]['last_cpu_times'] = cur_cpu_times + cpu_percent = 0 + for num, name in enumerate(cpu_time_names): + stats[k]['cpu_samples'][name].append(cpu_times[num]) + cpu_percent += cpu_times[num] + stats[k]['cpu_samples']['total'].append(cpu_percent) + time.sleep(SLEEP_INTERVAL) + i += 1 + if i % interval_int == 0: + l = [] + for k, stat in stats.items(): + if len(stat['cpu_samples']) <= 0: + continue + for name, samples in stat['cpu_samples'].items(): + samples = np.array(samples) + avg = samples.mean() + c = samples.size + min_cpu = np.amin(samples) + max_cpu = np.amax(samples) + if stat['min'][name] is None or min_cpu < stat['min'][name]: + stat['min'][name] = min_cpu + if stat['max'][name] is None or max_cpu > stat['max'][name]: + stat['max'][name] = max_cpu + stat['avg'][name] = (stat['avg'][name] * (i - c) + avg * c) / (i) + stat['cpu_samples'][name] = [] + + msg = f"avg: {stat['avg']['total']:.2%}, min: {stat['min']['total']:.2%}, max: {stat['max']['total']:.2%} {os.path.basename(k)}" + if args.detailed_times: + for stat_type in ['avg', 'min', 'max']: + msg += f"\n {stat_type}: {[(name + ':' + str(round(stat[stat_type][name] * 100, 2))) for name in cpu_time_names]}" + l.append((os.path.basename(k), stat['avg']['total'], msg)) + l.sort(key=lambda x: -x[1]) + for x in l: + print(x[2]) + print('avg sum: {:.2%} over {} samples {} seconds\n'.format( + sum(stat['avg']['total'] for k, stat in stats.items()), i, i * SLEEP_INTERVAL + )) diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py new file mode 100755 index 0000000000..c0f92cde18 --- /dev/null +++ b/selfdrive/debug/cycle_alerts.py @@ -0,0 +1,130 @@ +#!/usr/bin/env python3 +import time +import random + +from cereal import car, log +import cereal.messaging as messaging +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.car.honda.interface import CarInterface +from openpilot.selfdrive.controls.lib.events import ET, Events +from openpilot.selfdrive.controls.lib.alertmanager import AlertManager +from openpilot.system.manager.process_config import managed_processes + +EventName = car.CarEvent.EventName + +def randperc() -> float: + return 100. * random.random() + +def cycle_alerts(duration=200, is_metric=False): + # all alerts + #alerts = list(EVENTS.keys()) + + # this plays each type of audible alert + alerts = [ + (EventName.buttonEnable, ET.ENABLE), + (EventName.buttonCancel, ET.USER_DISABLE), + (EventName.wrongGear, ET.NO_ENTRY), + + (EventName.locationdTemporaryError, ET.SOFT_DISABLE), + (EventName.paramsdTemporaryError, ET.SOFT_DISABLE), + (EventName.accFaulted, ET.IMMEDIATE_DISABLE), + + # DM sequence + (EventName.preDriverDistracted, ET.WARNING), + (EventName.promptDriverDistracted, ET.WARNING), + (EventName.driverDistracted, ET.WARNING), + ] + + # debug alerts + alerts = [ + #(EventName.highCpuUsage, ET.NO_ENTRY), + #(EventName.lowMemory, ET.PERMANENT), + #(EventName.overheat, ET.PERMANENT), + #(EventName.outOfSpace, ET.PERMANENT), + #(EventName.modeldLagging, ET.PERMANENT), + #(EventName.processNotRunning, ET.NO_ENTRY), + #(EventName.commIssue, ET.NO_ENTRY), + #(EventName.calibrationInvalid, ET.PERMANENT), + (EventName.cameraMalfunction, ET.PERMANENT), + (EventName.cameraFrameRate, ET.PERMANENT), + ] + + cameras = ['roadCameraState', 'wideRoadCameraState', 'driverCameraState'] + + CS = car.CarState.new_message() + CP = CarInterface.get_non_essential_params("HONDA_CIVIC") + sm = messaging.SubMaster(['deviceState', 'pandaStates', 'roadCameraState', 'modelV2', 'liveCalibration', + 'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman', + 'managerState', 'longitudinalPlanSP', 'driverMonitoringStateSP'] + cameras) + + pm = messaging.PubMaster(['controlsState', 'pandaStates', 'deviceState']) + + events = Events() + AM = AlertManager() + + frame = 0 + while True: + for alert, et in alerts: + events.clear() + events.add(alert) + + sm['deviceState'].freeSpacePercent = randperc() + sm['deviceState'].memoryUsagePercent = int(randperc()) + sm['deviceState'].cpuTempC = [randperc() for _ in range(3)] + sm['deviceState'].gpuTempC = [randperc() for _ in range(3)] + sm['deviceState'].cpuUsagePercent = [int(randperc()) for _ in range(8)] + sm['modelV2'].frameDropPerc = randperc() + + if random.random() > 0.25: + sm['modelV2'].velocity.x = [random.random(), ] + if random.random() > 0.25: + CS.vEgo = random.random() + + procs = [p.get_process_state_msg() for p in managed_processes.values()] + random.shuffle(procs) + for i in range(random.randint(0, 10)): + procs[i].shouldBeRunning = True + sm['managerState'].processes = procs + + sm['liveCalibration'].rpyCalib = [-1 * random.random() for _ in range(random.randint(0, 3))] + + for s in sm.data.keys(): + prob = 0.3 if s in cameras else 0.08 + sm.alive[s] = random.random() > prob + sm.valid[s] = random.random() > prob + sm.freq_ok[s] = random.random() > prob + + a = events.create_alerts([et, ], [CP, CS, sm, is_metric, 0]) + AM.add_many(frame, a) + alert = AM.process_alerts(frame, []) + print(alert) + for _ in range(duration): + dat = messaging.new_message() + dat.init('controlsState') + dat.controlsState.enabled = False + + if alert: + dat.controlsState.alertText1 = alert.alert_text_1 + dat.controlsState.alertText2 = alert.alert_text_2 + dat.controlsState.alertSize = alert.alert_size + dat.controlsState.alertStatus = alert.alert_status + dat.controlsState.alertBlinkingRate = alert.alert_rate + dat.controlsState.alertType = alert.alert_type + dat.controlsState.alertSound = alert.audible_alert + pm.send('controlsState', dat) + + dat = messaging.new_message() + dat.init('deviceState') + dat.deviceState.started = True + pm.send('deviceState', dat) + + dat = messaging.new_message('pandaStates', 1) + dat.pandaStates[0].ignitionLine = True + dat.pandaStates[0].pandaType = log.PandaState.PandaType.uno + pm.send('pandaStates', dat) + + frame += 1 + time.sleep(DT_CTRL) + +if __name__ == '__main__': + cycle_alerts() diff --git a/selfdrive/debug/debug_fw_fingerprinting_offline.py b/selfdrive/debug/debug_fw_fingerprinting_offline.py new file mode 100755 index 0000000000..3df2924738 --- /dev/null +++ b/selfdrive/debug/debug_fw_fingerprinting_offline.py @@ -0,0 +1,50 @@ +#!/usr/bin/env python3 +import argparse + +from openpilot.tools.lib.live_logreader import live_logreader +from openpilot.tools.lib.logreader import LogReader, ReadMode +from panda.python import uds + + +def main(route: str | None, addrs: list[int]): + """ + TODO: + - highlight TX vs RX clearly + - disambiguate sendcan and can (useful to know if something sent on sendcan made it to the bus on can->128) + - print as fixed width table, easier to read + """ + + if route is None: + lr = live_logreader() + else: + lr = LogReader(route, default_mode=ReadMode.RLOG, sort_by_time=True) + + start_mono_time = None + prev_mono_time = 0 + + # include rx addresses + addrs = addrs + [uds.get_rx_addr_for_tx_addr(addr) for addr in addrs] + + for msg in lr: + if msg.which() == 'can': + if start_mono_time is None: + start_mono_time = msg.logMonoTime + + if msg.which() in ("can", 'sendcan'): + for can in getattr(msg, msg.which()): + if can.address in addrs or not len(addrs): + if msg.logMonoTime != prev_mono_time: + print() + prev_mono_time = msg.logMonoTime + print(f"{msg.which():>7}: rxaddr={can.address}, bus={can.src}, {round((msg.logMonoTime - start_mono_time) * 1e-6, 2)} ms, " + + f"0x{can.dat.hex()}, {can.dat}, {len(can.dat)=}") + + +if __name__ == "__main__": + parser = argparse.ArgumentParser(description='View back and forth ISO-TP communication between various ECUs given an address') + parser.add_argument('route', nargs='?', help='Route name, live if not specified') + parser.add_argument('--addrs', nargs='*', default=[], help='List of tx address to view (0x7e0 for engine)') + args = parser.parse_args() + + addrs = [int(addr, base=16) if addr.startswith('0x') else int(addr) for addr in args.addrs] + main(args.route, addrs) diff --git a/selfdrive/debug/dump.py b/selfdrive/debug/dump.py new file mode 100755 index 0000000000..78cf51e3db --- /dev/null +++ b/selfdrive/debug/dump.py @@ -0,0 +1,74 @@ +#!/usr/bin/env python3 +import sys +import argparse +import json +import codecs + +from cereal import log +from cereal.services import SERVICE_LIST +from openpilot.tools.lib.live_logreader import raw_live_logreader + + +codecs.register_error("strict", codecs.backslashreplace_errors) + +def hexdump(msg): + m = str.upper(msg.hex()) + m = [m[i:i+2] for i in range(0,len(m),2)] + m = [m[i:i+16] for i in range(0,len(m),16)] + for row,dump in enumerate(m): + addr = '%08X:' % (row*16) + raw = ' '.join(dump[:8]) + ' ' + ' '.join(dump[8:]) + space = ' ' * (48 - len(raw)) + asci = ''.join(chr(int(x,16)) if 0x20 <= int(x,16) <= 0x7E else '.' for x in dump) + print(f'{addr} {raw} {space} {asci}') + + +if __name__ == "__main__": + + parser = argparse.ArgumentParser(description='Dump communication sockets. See cereal/services.py for a complete list of available sockets.') + parser.add_argument('--pipe', action='store_true') + parser.add_argument('--raw', action='store_true') + parser.add_argument('--json', action='store_true') + parser.add_argument('--dump-json', action='store_true') + parser.add_argument('--no-print', action='store_true') + parser.add_argument('--addr', default='127.0.0.1') + parser.add_argument('--values', help='values to monitor (instead of entire event)') + parser.add_argument("socket", type=str, nargs='*', default=list(SERVICE_LIST.keys()), help="socket names to dump. defaults to all services defined in cereal") + args = parser.parse_args() + + lr = raw_live_logreader(args.socket, args.addr) + + values = None + if args.values: + values = [s.strip().split(".") for s in args.values.split(",")] + + for msg in lr: + with log.Event.from_bytes(msg) as evt: + if not args.no_print: + if args.pipe: + sys.stdout.write(str(msg)) + sys.stdout.flush() + elif args.raw: + hexdump(msg) + elif args.json: + print(json.loads(msg)) + elif args.dump_json: + print(json.dumps(evt.to_dict())) + elif values: + print(f"logMonotime = {evt.logMonoTime}") + for value in values: + if hasattr(evt, value[0]): + item = evt + for key in value: + item = getattr(item, key) + print(f"{'.'.join(value)} = {item}") + print("") + else: + try: + print(evt) + except UnicodeDecodeError: + w = evt.which() + s = f"( logMonoTime {evt.logMonoTime} \n {w} = " + s += str(evt.__getattr__(w)) + s += f"\n valid = {evt.valid} )" + print(s) diff --git a/selfdrive/debug/dump_car_docs.py b/selfdrive/debug/dump_car_docs.py new file mode 100755 index 0000000000..f09c602cff --- /dev/null +++ b/selfdrive/debug/dump_car_docs.py @@ -0,0 +1,18 @@ +#!/usr/bin/env python3 +import argparse +import pickle + +from openpilot.selfdrive.car.docs import get_all_car_docs + + +def dump_car_docs(path): + with open(path, 'wb') as f: + pickle.dump(get_all_car_docs(), f) + print(f'Dumping car info to {path}') + + +if __name__ == "__main__": + parser = argparse.ArgumentParser() + parser.add_argument("--path", required=True) + args = parser.parse_args() + dump_car_docs(args.path) diff --git a/selfdrive/debug/filter_log_message.py b/selfdrive/debug/filter_log_message.py new file mode 100755 index 0000000000..9cbab0b41f --- /dev/null +++ b/selfdrive/debug/filter_log_message.py @@ -0,0 +1,79 @@ +#!/usr/bin/env python3 +import argparse +import json + +import cereal.messaging as messaging +from openpilot.tools.lib.logreader import LogReader + +LEVELS = { + "DEBUG": 10, + "INFO": 20, + "WARNING": 30, + "ERROR": 40, + "CRITICAL": 50, +} + +ANDROID_LOG_SOURCE = { + 0: "MAIN", + 1: "RADIO", + 2: "EVENTS", + 3: "SYSTEM", + 4: "CRASH", + 5: "KERNEL", +} + + +def print_logmessage(t, msg, min_level): + try: + log = json.loads(msg) + if log['levelnum'] >= min_level: + print(f"[{t / 1e9:.6f}] {log['filename']}:{log.get('lineno', '')} - {log.get('funcname', '')}: {log['msg']}") + if 'exc_info' in log: + print(log['exc_info']) + except json.decoder.JSONDecodeError: + print(f"[{t / 1e9:.6f}] decode error: {msg}") + + +def print_androidlog(t, msg): + source = ANDROID_LOG_SOURCE[msg.id] + try: + m = json.loads(msg.message)['MESSAGE'] + except Exception: + m = msg.message + + print(f"[{t / 1e9:.6f}] {source} {msg.pid} {msg.tag} - {m}") + + +if __name__ == "__main__": + parser = argparse.ArgumentParser() + parser.add_argument('--absolute', action='store_true') + parser.add_argument('--level', default='DEBUG') + parser.add_argument('--addr', default='127.0.0.1') + parser.add_argument("route", type=str, nargs='*', help="route name + segment number for offline usage") + args = parser.parse_args() + + min_level = LEVELS[args.level] + + if args.route: + st = None if not args.absolute else 0 + for route in args.route: + lr = LogReader(route, sort_by_time=True) + for m in lr: + if st is None: + st = m.logMonoTime + if m.which() == 'logMessage': + print_logmessage(m.logMonoTime-st, m.logMessage, min_level) + elif m.which() == 'errorLogMessage': + print_logmessage(m.logMonoTime-st, m.errorLogMessage, min_level) + elif m.which() == 'androidLog': + print_androidlog(m.logMonoTime-st, m.androidLog) + else: + sm = messaging.SubMaster(['logMessage', 'androidLog'], addr=args.addr) + while True: + sm.update() + + if sm.updated['logMessage']: + print_logmessage(sm.logMonoTime['logMessage'], sm['logMessage'], min_level) + + if sm.updated['androidLog']: + print_androidlog(sm.logMonoTime['androidLog'], sm['androidLog']) diff --git a/selfdrive/debug/fingerprint_from_route.py b/selfdrive/debug/fingerprint_from_route.py new file mode 100755 index 0000000000..68308bb627 --- /dev/null +++ b/selfdrive/debug/fingerprint_from_route.py @@ -0,0 +1,43 @@ +#!/usr/bin/env python3 + +import sys +from openpilot.tools.lib.logreader import LogReader, ReadMode + + +def get_fingerprint(lr): + # TODO: make this a nice tool for car ports. should also work with qlogs for FW + + fw = None + msgs = {} + for msg in lr: + if msg.which() == 'carParams': + fw = msg.carParams.carFw + elif msg.which() == 'can': + for c in msg.can: + # read also msgs sent by EON on CAN bus 0x80 and filter out the + # addr with more than 11 bits + if c.src % 0x80 == 0 and c.address < 0x800 and c.address not in (0x7df, 0x7e0, 0x7e8): + msgs[c.address] = len(c.dat) + + # show CAN fingerprint + fingerprint = ', '.join("%d: %d" % v for v in sorted(msgs.items())) + print(f"\nfound {len(msgs)} messages. CAN fingerprint:\n") + print(fingerprint) + + # TODO: also print the fw fingerprint merged with the existing ones + # show FW fingerprint + print("\nFW fingerprint:\n") + for f in fw: + print(f" (Ecu.{f.ecu}, {hex(f.address)}, {None if f.subAddress == 0 else f.subAddress}): [") + print(f" {f.fwVersion},") + print(" ],") + print() + + +if __name__ == "__main__": + if len(sys.argv) < 2: + print("Usage: ./fingerprint_from_route.py ") + sys.exit(1) + + lr = LogReader(sys.argv[1], ReadMode.QLOG) + get_fingerprint(lr) diff --git a/selfdrive/debug/format_fingerprints.py b/selfdrive/debug/format_fingerprints.py new file mode 100755 index 0000000000..2a5e4e6080 --- /dev/null +++ b/selfdrive/debug/format_fingerprints.py @@ -0,0 +1,81 @@ +#!/usr/bin/env python3 +import jinja2 +import os + +from cereal import car +from openpilot.common.basedir import BASEDIR +from openpilot.selfdrive.car.interfaces import get_interface_attr + +Ecu = car.CarParams.Ecu + +CARS = get_interface_attr('CAR') +FW_VERSIONS = get_interface_attr('FW_VERSIONS') +FINGERPRINTS = get_interface_attr('FINGERPRINTS') +ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} + +FINGERPRINTS_PY_TEMPLATE = jinja2.Template(""" +{%- if FINGERPRINTS[brand] %} +# ruff: noqa: E501 +{% endif %} +{% if FW_VERSIONS[brand] %} +from cereal import car +{% endif %} +from openpilot.selfdrive.car.{{brand}}.values import CAR +{% if FW_VERSIONS[brand] %} + +Ecu = car.CarParams.Ecu +{% endif %} +{% if comments +%} +{{ comments | join() }} +{% endif %} +{% if FINGERPRINTS[brand] %} + +FINGERPRINTS = { +{% for car, fingerprints in FINGERPRINTS[brand].items() %} + CAR.{{car.name}}: [{ +{% for fingerprint in fingerprints %} +{% if not loop.first %} + {{ "{" }} +{% endif %} + {% for key, value in fingerprint.items() %}{{key}}: {{value}}{% if not loop.last %}, {% endif %}{% endfor %} + + }{% if loop.last %}]{% endif %}, +{% endfor %} +{% endfor %} +} +{% endif %} + +FW_VERSIONS{% if not FW_VERSIONS[brand] %}: dict[str, dict[tuple, list[bytes]]]{% endif %} = { +{% for car, _ in FW_VERSIONS[brand].items() %} + CAR.{{car.name}}: { +{% for key, fw_versions in FW_VERSIONS[brand][car].items() %} + (Ecu.{{ECU_NAME[key[0]]}}, 0x{{"%0x" | format(key[1] | int)}}, \ +{% if key[2] %}0x{{"%0x" | format(key[2] | int)}}{% else %}{{key[2]}}{% endif %}): [ + {% for fw_version in (fw_versions + extra_fw_versions.get(car, {}).get(key, [])) | unique | sort %} + {{fw_version}}, + {% endfor %} + ], +{% endfor %} + }, +{% endfor %} +} + +""", trim_blocks=True) + + +def format_brand_fw_versions(brand, extra_fw_versions: None | dict[str, dict[tuple, list[bytes]]] = None): + extra_fw_versions = extra_fw_versions or {} + + fingerprints_file = os.path.join(BASEDIR, f"selfdrive/car/{brand}/fingerprints.py") + with open(fingerprints_file) as f: + comments = [line for line in f.readlines() if line.startswith("#") and "noqa" not in line] + + with open(fingerprints_file, "w") as f: + f.write(FINGERPRINTS_PY_TEMPLATE.render(brand=brand, comments=comments, ECU_NAME=ECU_NAME, + FINGERPRINTS=FINGERPRINTS, FW_VERSIONS=FW_VERSIONS, + extra_fw_versions=extra_fw_versions)) + + +if __name__ == "__main__": + for brand in FW_VERSIONS.keys(): + format_brand_fw_versions(brand) diff --git a/selfdrive/debug/get_fingerprint.py b/selfdrive/debug/get_fingerprint.py new file mode 100755 index 0000000000..14f6c0e33c --- /dev/null +++ b/selfdrive/debug/get_fingerprint.py @@ -0,0 +1,31 @@ +#!/usr/bin/env python3 + +# simple script to get a vehicle fingerprint. + +# Instructions: +# - connect to a Panda +# - run selfdrive/pandad/pandad +# - launching this script +# Note: it's very important that the car is in stock mode, in order to collect a complete fingerprint +# - since some messages are published at low frequency, keep this script running for at least 30s, +# until all messages are received at least once + +import cereal.messaging as messaging + +logcan = messaging.sub_sock('can') +msgs = {} +while True: + lc = messaging.recv_sock(logcan, True) + if lc is None: + continue + + for c in lc.can: + # read also msgs sent by EON on CAN bus 0x80 and filter out the + # addr with more than 11 bits + if c.src % 0x80 == 0 and c.address < 0x800 and c.address not in (0x7df, 0x7e0, 0x7e8): + msgs[c.address] = len(c.dat) + + fingerprint = ', '.join("%d: %d" % v for v in sorted(msgs.items())) + + print(f"number of messages {len(msgs)}:") + print(f"fingerprint {fingerprint}") diff --git a/selfdrive/debug/hyundai_enable_radar_points.py b/selfdrive/debug/hyundai_enable_radar_points.py new file mode 100755 index 0000000000..5e7080ef64 --- /dev/null +++ b/selfdrive/debug/hyundai_enable_radar_points.py @@ -0,0 +1,131 @@ +#!/usr/bin/env python3 +"""Some Hyundai radars can be reconfigured to output (debug) radar points on bus 1. +Reconfiguration is done over UDS by reading/writing to 0x0142 using the Read/Write Data By Identifier +endpoints (0x22 & 0x2E). This script checks your radar firmware version against a list of known +firmware versions. If you want to try on a new radar make sure to note the default config value +in case it's different from the other radars and you need to revert the changes. + +After changing the config the car should not show any faults when openpilot is not running. +These config changes are persistent across car reboots. You need to run this script again +to go back to the default values. + +USE AT YOUR OWN RISK! Safety features, like AEB and FCW, might be affected by these changes.""" + +import sys +import argparse +from typing import NamedTuple +from subprocess import check_output, CalledProcessError + +from panda.python import Panda +from panda.python.uds import UdsClient, SESSION_TYPE, DATA_IDENTIFIER_TYPE + +class ConfigValues(NamedTuple): + default_config: bytes + tracks_enabled: bytes + +# If your radar supports changing data identifier 0x0142 as well make a PR to +# this file to add your firmware version. Make sure to post a drive as proof! +# NOTE: these firmware versions do not match what openpilot uses +# because this script uses a different diagnostic session type +SUPPORTED_FW_VERSIONS = { + # 2020 SONATA + b"DN8_ SCC FHCUP 1.00 1.00 99110-L0000\x19\x08)\x15T ": ConfigValues( + default_config=b"\x00\x00\x00\x01\x00\x00", + tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), + b"DN8_ SCC F-CUP 1.00 1.00 99110-L0000\x19\x08)\x15T ": ConfigValues( + default_config=b"\x00\x00\x00\x01\x00\x00", + tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), + # 2021 SONATA HYBRID + b"DNhe SCC FHCUP 1.00 1.00 99110-L5000\x19\x04&\x13' ": ConfigValues( + default_config=b"\x00\x00\x00\x01\x00\x00", + tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), + b"DNhe SCC FHCUP 1.00 1.02 99110-L5000 \x01#\x15# ": ConfigValues( + default_config=b"\x00\x00\x00\x01\x00\x00", + tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), + # 2020 PALISADE + b"LX2_ SCC FHCUP 1.00 1.04 99110-S8100\x19\x05\x02\x16V ": ConfigValues( + default_config=b"\x00\x00\x00\x01\x00\x00", + tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), + # 2022 PALISADE + b"LX2_ SCC FHCUP 1.00 1.00 99110-S8110!\x04\x05\x17\x01 ": ConfigValues( + default_config=b"\x00\x00\x00\x01\x00\x00", + tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), + # 2020 SANTA FE + b"TM__ SCC F-CUP 1.00 1.03 99110-S2000\x19\x050\x13' ": ConfigValues( + default_config=b"\x00\x00\x00\x01\x00\x00", + tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), + # 2020 GENESIS G70 + b'IK__ SCC F-CUP 1.00 1.02 96400-G9100\x18\x07\x06\x17\x12 ': ConfigValues( + default_config=b"\x00\x00\x00\x01\x00\x00", + tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), + # 2019 SANTA FE + b"TM__ SCC F-CUP 1.00 1.00 99110-S1210\x19\x01%\x168 ": ConfigValues( + default_config=b"\x00\x00\x00\x01\x00\x00", + tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), + b"TM__ SCC F-CUP 1.00 1.02 99110-S2000\x18\x07\x08\x18W ": ConfigValues( + default_config=b"\x00\x00\x00\x01\x00\x00", + tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), + # 2021 K5 HEV + b"DLhe SCC FHCUP 1.00 1.02 99110-L7000 \x01 \x102 ": ConfigValues( + default_config=b"\x00\x00\x00\x01\x00\x00", + tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), +} + +if __name__ == "__main__": + parser = argparse.ArgumentParser(description='configure radar to output points (or reset to default)') + parser.add_argument('--default', action="store_true", default=False, help='reset to default configuration (default: false)') + parser.add_argument('--debug', action="store_true", default=False, help='enable debug output (default: false)') + parser.add_argument('--bus', type=int, default=0, help='can bus to use (default: 0)') + args = parser.parse_args() + + try: + check_output(["pidof", "pandad"]) + print("pandad is running, please kill openpilot before running this script! (aborted)") + sys.exit(1) + except CalledProcessError as e: + if e.returncode != 1: # 1 == no process found (pandad not running) + raise e + + confirm = input("power on the vehicle keeping the engine off (press start button twice) then type OK to continue: ").upper().strip() + if confirm != "OK": + print("\nyou didn't type 'OK! (aborted)") + sys.exit(0) + + panda = Panda() + panda.set_safety_mode(Panda.SAFETY_ELM327) + uds_client = UdsClient(panda, 0x7D0, bus=args.bus, debug=args.debug) + + print("\n[START DIAGNOSTIC SESSION]") + session_type : SESSION_TYPE = 0x07 # type: ignore + uds_client.diagnostic_session_control(session_type) + + print("[HARDWARE/SOFTWARE VERSION]") + fw_version_data_id : DATA_IDENTIFIER_TYPE = 0xf100 # type: ignore + fw_version = uds_client.read_data_by_identifier(fw_version_data_id) + print(fw_version) + if fw_version not in SUPPORTED_FW_VERSIONS.keys(): + print("radar not supported! (aborted)") + sys.exit(1) + + print("[GET CONFIGURATION]") + config_data_id : DATA_IDENTIFIER_TYPE = 0x0142 # type: ignore + current_config = uds_client.read_data_by_identifier(config_data_id) + config_values = SUPPORTED_FW_VERSIONS[fw_version] + new_config = config_values.default_config if args.default else config_values.tracks_enabled + print(f"current config: 0x{current_config.hex()}") + if current_config != new_config: + print("[CHANGE CONFIGURATION]") + print(f"new config: 0x{new_config.hex()}") + uds_client.write_data_by_identifier(config_data_id, new_config) + if not args.default and current_config != SUPPORTED_FW_VERSIONS[fw_version].default_config: + print("\ncurrent config does not match expected default! (aborted)") + sys.exit(1) + + print("[DONE]") + print("\nrestart your vehicle and ensure there are no faults") + if not args.default: + print("you can run this script again with --default to go back to the original (factory) settings") + else: + print("[DONE]") + print("\ncurrent config is already the desired configuration") + sys.exit(0) diff --git a/selfdrive/debug/live_cpu_and_temp.py b/selfdrive/debug/live_cpu_and_temp.py new file mode 100755 index 0000000000..8549b92665 --- /dev/null +++ b/selfdrive/debug/live_cpu_and_temp.py @@ -0,0 +1,106 @@ +#!/usr/bin/env python3 +import argparse +import capnp +from collections import defaultdict + +from cereal.messaging import SubMaster +from openpilot.common.numpy_fast import mean + +def cputime_total(ct): + return ct.user + ct.nice + ct.system + ct.idle + ct.iowait + ct.irq + ct.softirq + + +def cputime_busy(ct): + return ct.user + ct.nice + ct.system + ct.irq + ct.softirq + + +def proc_cputime_total(ct): + return ct.cpuUser + ct.cpuSystem + ct.cpuChildrenUser + ct.cpuChildrenSystem + + +def proc_name(proc): + name = proc.name + if len(proc.cmdline): + name = proc.cmdline[0] + if len(proc.exe): + name = proc.exe + " - " + name + + return name + + +if __name__ == "__main__": + parser = argparse.ArgumentParser() + parser.add_argument('--mem', action='store_true') + parser.add_argument('--cpu', action='store_true') + args = parser.parse_args() + + sm = SubMaster(['deviceState', 'procLog']) + + last_temp = 0.0 + last_mem = 0.0 + total_times = [0.]*8 + busy_times = [0.]*8 + + prev_proclog: capnp._DynamicStructReader | None = None + prev_proclog_t: int | None = None + + while True: + sm.update() + + if sm.updated['deviceState']: + t = sm['deviceState'] + last_temp = mean(t.cpuTempC) + last_mem = t.memoryUsagePercent + + if sm.updated['procLog']: + m = sm['procLog'] + + cores = [0.]*8 + total_times_new = [0.]*8 + busy_times_new = [0.]*8 + + for c in m.cpuTimes: + n = c.cpuNum + total_times_new[n] = cputime_total(c) + busy_times_new[n] = cputime_busy(c) + + for n in range(8): + t_busy = busy_times_new[n] - busy_times[n] + t_total = total_times_new[n] - total_times[n] + cores[n] = t_busy / t_total + + total_times = total_times_new[:] + busy_times = busy_times_new[:] + + print(f"CPU {100.0 * mean(cores):.2f}% - RAM: {last_mem:.2f}% - Temp {last_temp:.2f}C") + + if args.cpu and prev_proclog is not None and prev_proclog_t is not None: + procs: dict[str, float] = defaultdict(float) + dt = (sm.logMonoTime['procLog'] - prev_proclog_t) / 1e9 + for proc in m.procs: + try: + name = proc_name(proc) + prev_proc = [p for p in prev_proclog.procs if proc.pid == p.pid][0] + cpu_time = proc_cputime_total(proc) - proc_cputime_total(prev_proc) + cpu_usage = cpu_time / dt * 100. + procs[name] += cpu_usage + except IndexError: + pass + + print("Top CPU usage:") + for k, v in sorted(procs.items(), key=lambda item: item[1], reverse=True)[:10]: + print(f"{k.rjust(70)} {v:.2f} %") + print() + + if args.mem: + mems = {} + for proc in m.procs: + name = proc_name(proc) + mems[name] = float(proc.memRss) / 1e6 + print("Top memory usage:") + for k, v in sorted(mems.items(), key=lambda item: item[1], reverse=True)[:10]: + print(f"{k.rjust(70)} {v:.2f} MB") + print() + + prev_proclog = m + prev_proclog_t = sm.logMonoTime['procLog'] diff --git a/selfdrive/debug/print_docs_diff.py b/selfdrive/debug/print_docs_diff.py new file mode 100755 index 0000000000..7ef89a6eca --- /dev/null +++ b/selfdrive/debug/print_docs_diff.py @@ -0,0 +1,120 @@ +#!/usr/bin/env python3 +import argparse +from collections import defaultdict +import difflib +import pickle + +from openpilot.selfdrive.car.docs import get_all_car_docs +from openpilot.selfdrive.car.docs_definitions import Column + +FOOTNOTE_TAG = "{}" +STAR_ICON = '' +VIDEO_ICON = '' + \ + '' +COLUMNS = "|" + "|".join([column.value for column in Column]) + "|" +COLUMN_HEADER = "|---|---|---|{}|".format("|".join([":---:"] * (len(Column) - 3))) +ARROW_SYMBOL = "➡️" + + +def load_base_car_docs(path): + with open(path, "rb") as f: + return pickle.load(f) + + +def match_cars(base_cars, new_cars): + changes = [] + additions = [] + for new in new_cars: + # Addition if no close matches or close match already used + # Change if close match and not already used + matches = difflib.get_close_matches(new.name, [b.name for b in base_cars], cutoff=0.) + if not len(matches) or matches[0] in [c[1].name for c in changes]: + additions.append(new) + else: + changes.append((new, next(car for car in base_cars if car.name == matches[0]))) + + # Removal if base car not in changes + removals = [b for b in base_cars if b.name not in [c[1].name for c in changes]] + return changes, additions, removals + + +def build_column_diff(base_car, new_car): + row_builder = [] + for column in Column: + base_column = base_car.get_column(column, STAR_ICON, VIDEO_ICON, FOOTNOTE_TAG) + new_column = new_car.get_column(column, STAR_ICON, VIDEO_ICON, FOOTNOTE_TAG) + + if base_column != new_column: + row_builder.append(f"{base_column} {ARROW_SYMBOL} {new_column}") + else: + row_builder.append(new_column) + + return format_row(row_builder) + + +def format_row(builder): + return "|" + "|".join(builder) + "|" + + +def print_car_docs_diff(path): + base_car_docs = defaultdict(list) + new_car_docs = defaultdict(list) + + for car in load_base_car_docs(path): + base_car_docs[car.car_fingerprint].append(car) + for car in get_all_car_docs(): + new_car_docs[car.car_fingerprint].append(car) + + # Add new platforms to base cars so we can detect additions and removals in one pass + base_car_docs.update({car: [] for car in new_car_docs if car not in base_car_docs}) + + changes = defaultdict(list) + for base_car_model, base_cars in base_car_docs.items(): + # Match car info changes, and get additions and removals + new_cars = new_car_docs[base_car_model] + car_changes, car_additions, car_removals = match_cars(base_cars, new_cars) + + # Removals + for car_docs in car_removals: + changes["removals"].append(format_row([car_docs.get_column(column, STAR_ICON, VIDEO_ICON, FOOTNOTE_TAG) for column in Column])) + + # Additions + for car_docs in car_additions: + changes["additions"].append(format_row([car_docs.get_column(column, STAR_ICON, VIDEO_ICON, FOOTNOTE_TAG) for column in Column])) + + for new_car, base_car in car_changes: + # Column changes + row_diff = build_column_diff(base_car, new_car) + if ARROW_SYMBOL in row_diff: + changes["column"].append(row_diff) + + # Detail sentence changes + if base_car.detail_sentence != new_car.detail_sentence: + changes["detail"].append(f"- Sentence for {base_car.name} changed!\n" + + " ```diff\n" + + f" - {base_car.detail_sentence}\n" + + f" + {new_car.detail_sentence}\n" + + " ```") + + # Print diff + if any(len(c) for c in changes.values()): + markdown_builder = ["### ⚠️ This PR makes changes to [CARS.md](../blob/master/docs/CARS.md) ⚠️"] + + for title, category in (("## 🔀 Column Changes", "column"), ("## ❌ Removed", "removals"), + ("## ➕ Added", "additions"), ("## 📖 Detail Sentence Changes", "detail")): + if len(changes[category]): + markdown_builder.append(title) + if category not in ("detail",): + markdown_builder.append(COLUMNS) + markdown_builder.append(COLUMN_HEADER) + markdown_builder.extend(changes[category]) + + print("\n".join(markdown_builder)) + + +if __name__ == "__main__": + parser = argparse.ArgumentParser() + parser.add_argument("--path", required=True) + args = parser.parse_args() + print_car_docs_diff(args.path) diff --git a/selfdrive/debug/print_flags.py b/selfdrive/debug/print_flags.py new file mode 100755 index 0000000000..c69765550e --- /dev/null +++ b/selfdrive/debug/print_flags.py @@ -0,0 +1,14 @@ +#!/usr/bin/env python3 +from openpilot.selfdrive.car.values import BRANDS + +for brand in BRANDS: + all_flags = set() + for platform in brand: + if platform.config.flags != 0: + all_flags |= set(platform.config.flags) + + if len(all_flags): + print(brand.__module__.split('.')[-2].upper() + ':') + for flag in sorted(all_flags): + print(f' {flag.name:<24}:', {platform.name for platform in brand.with_flags(flag)}) + print() diff --git a/selfdrive/debug/read_dtc_status.py b/selfdrive/debug/read_dtc_status.py new file mode 100755 index 0000000000..2d27dd2bb2 --- /dev/null +++ b/selfdrive/debug/read_dtc_status.py @@ -0,0 +1,35 @@ +#!/usr/bin/env python3 +import sys +import argparse +from subprocess import check_output, CalledProcessError +from panda import Panda +from panda.python.uds import UdsClient, SESSION_TYPE, DTC_REPORT_TYPE, DTC_STATUS_MASK_TYPE +from panda.python.uds import get_dtc_num_as_str, get_dtc_status_names + +parser = argparse.ArgumentParser(description="read DTC status") +parser.add_argument("addr", type=lambda x: int(x,0)) +parser.add_argument("--bus", type=int, default=0) +parser.add_argument('--debug', action='store_true') +args = parser.parse_args() + +try: + check_output(["pidof", "pandad"]) + print("pandad is running, please kill openpilot before running this script! (aborted)") + sys.exit(1) +except CalledProcessError as e: + if e.returncode != 1: # 1 == no process found (pandad not running) + raise e + +panda = Panda() +panda.set_safety_mode(Panda.SAFETY_ELM327) +uds_client = UdsClient(panda, args.addr, bus=args.bus, debug=args.debug) +print("extended diagnostic session ...") +uds_client.diagnostic_session_control(SESSION_TYPE.EXTENDED_DIAGNOSTIC) +print("read diagnostic codes ...") +data = uds_client.read_dtc_information(DTC_REPORT_TYPE.DTC_BY_STATUS_MASK, DTC_STATUS_MASK_TYPE.ALL) +print("status availability:", " ".join(get_dtc_status_names(data[0]))) +print("DTC status:") +for i in range(1, len(data), 4): + dtc_num = get_dtc_num_as_str(data[i:i+3]) + dtc_status = " ".join(get_dtc_status_names(data[i+3])) + print(dtc_num, dtc_status) diff --git a/selfdrive/debug/run_process_on_route.py b/selfdrive/debug/run_process_on_route.py new file mode 100755 index 0000000000..c98763f3c9 --- /dev/null +++ b/selfdrive/debug/run_process_on_route.py @@ -0,0 +1,30 @@ +#!/usr/bin/env python3 + +import argparse + +from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, replay_process +from openpilot.tools.lib.logreader import LogReader, save_log + +if __name__ == "__main__": + parser = argparse.ArgumentParser(description="Run process on route and create new logs", + formatter_class=argparse.ArgumentDefaultsHelpFormatter) + parser.add_argument("--fingerprint", help="The fingerprint to use") + parser.add_argument("route", help="The route name to use") + parser.add_argument("process", help="The process to run") + args = parser.parse_args() + + cfg = [c for c in CONFIGS if c.proc_name == args.process][0] + + lr = LogReader(args.route) + inputs = list(lr) + + outputs = replay_process(cfg, inputs, fingerprint=args.fingerprint) + + # Remove message generated by the process under test and merge in the new messages + produces = {o.which() for o in outputs} + inputs = [i for i in inputs if i.which() not in produces] + outputs = sorted(inputs + outputs, key=lambda x: x.logMonoTime) + + fn = f"{args.route.replace('/', '_')}_{args.process}.bz2" + print(f"Saved log to {fn}") + save_log(fn, outputs) diff --git a/selfdrive/debug/set_car_params.py b/selfdrive/debug/set_car_params.py new file mode 100755 index 0000000000..6060dfbc36 --- /dev/null +++ b/selfdrive/debug/set_car_params.py @@ -0,0 +1,22 @@ +#!/usr/bin/env python3 +import sys + +from cereal import car +from openpilot.common.params import Params +from openpilot.tools.lib.route import Route +from openpilot.tools.lib.logreader import LogReader + +if __name__ == "__main__": + CP = None + if len(sys.argv) > 1: + r = Route(sys.argv[1]) + cps = [m for m in LogReader(r.qlog_paths()[0]) if m.which() == 'carParams'] + CP = cps[0].carParams.as_builder() + else: + CP = car.CarParams.new_message() + CP.openpilotLongitudinalControl = True + CP.experimentalLongitudinalAvailable = False + + cp_bytes = CP.to_bytes() + for p in ("CarParams", "CarParamsCache", "CarParamsPersistent"): + Params().put(p, cp_bytes) diff --git a/selfdrive/debug/show_matching_cars.py b/selfdrive/debug/show_matching_cars.py new file mode 100755 index 0000000000..19144ead7e --- /dev/null +++ b/selfdrive/debug/show_matching_cars.py @@ -0,0 +1,20 @@ +#!/usr/bin/env python3 +from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars +import cereal.messaging as messaging + + +# rav4 2019 and corolla tss2 +fingerprint = {896: 8, 898: 8, 900: 6, 976: 1, 1541: 8, 902: 6, 905: 8, 810: 2, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1552: 8, 1553: 8, 1556: 8, 1571: 8, 921: 8, 1056: 8, 544: 4, 1570: 8, 1059: 1, 36: 8, 37: 8, 550: 8, 935: 8, 552: 4, 170: 8, 812: 8, 944: 8, 945: 8, 562: 6, 180: 8, 1077: 8, 951: 8, 1592: 8, 1076: 8, 186: 4, 955: 8, 956: 8, 1001: 8, 705: 8, 452: 8, 1788: 8, 464: 8, 824: 8, 466: 8, 467: 8, 761: 8, 728: 8, 1572: 8, 1114: 8, 933: 8, 800: 8, 608: 8, 865: 8, 610: 8, 1595: 8, 934: 8, 998: 5, 1745: 8, 1000: 8, 764: 8, 1002: 8, 999: 7, 1789: 8, 1649: 8, 1779: 8, 1568: 8, 1017: 8, 1786: 8, 1787: 8, 1020: 8, 426: 6, 1279: 8} # noqa: E501 + +candidate_cars = all_legacy_fingerprint_cars() + + +for addr, l in fingerprint.items(): + dat = messaging.new_message('can', 1) + + msg = dat.can[0] + msg.address = addr + msg.dat = " " * l + + candidate_cars = eliminate_incompatible_cars(msg, candidate_cars) + print(candidate_cars) diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py new file mode 100755 index 0000000000..e338110a7d --- /dev/null +++ b/selfdrive/debug/test_fw_query_on_routes.py @@ -0,0 +1,183 @@ +#!/usr/bin/env python3 +# type: ignore + +from collections import defaultdict +import argparse +import os +import traceback +from tqdm import tqdm +from openpilot.tools.lib.logreader import LogReader, ReadMode +from openpilot.tools.lib.route import SegmentRange +from openpilot.selfdrive.car.car_helpers import interface_names +from openpilot.selfdrive.car.fingerprints import MIGRATION +from openpilot.selfdrive.car.fw_versions import VERSIONS, match_fw_to_car + + +NO_API = "NO_API" in os.environ +SUPPORTED_BRANDS = VERSIONS.keys() +SUPPORTED_CARS = [brand for brand in SUPPORTED_BRANDS for brand in interface_names[brand]] +UNKNOWN_BRAND = "unknown" + +if __name__ == "__main__": + parser = argparse.ArgumentParser(description='Run FW fingerprint on Qlog of route or list of routes') + parser.add_argument('route', help='Route or file with list of routes') + parser.add_argument('--car', help='Force comparison fingerprint to known car') + args = parser.parse_args() + + if os.path.exists(args.route): + routes = list(open(args.route)) + else: + routes = [args.route] + + mismatches = defaultdict(list) + + not_fingerprinted = 0 + solved_by_fuzzy = 0 + + good_exact = 0 + wrong_fuzzy = 0 + good_fuzzy = 0 + + dongles = [] + for route in tqdm(routes): + sr = SegmentRange(route) + dongle_id = sr.dongle_id + + if dongle_id in dongles: + continue + + if sr.slice == '' and sr.selector is None: + route += '/0' + + lr = LogReader(route, default_mode=ReadMode.QLOG) + + try: + dongles.append(dongle_id) + + CP = None + for msg in lr: + if msg.which() == "pandaStates": + if msg.pandaStates[0].pandaType in ('unknown', 'whitePanda', 'greyPanda', 'pedal'): + print("wrong panda type") + break + + elif msg.which() == "carParams": + CP = msg.carParams + car_fw = [fw for fw in CP.carFw if not fw.logging] + if len(car_fw) == 0: + print("no fw") + break + + live_fingerprint = CP.carFingerprint + live_fingerprint = MIGRATION.get(live_fingerprint, live_fingerprint) + + if args.car is not None: + live_fingerprint = args.car + + if live_fingerprint not in SUPPORTED_CARS: + print("not in supported cars") + break + + _, exact_matches = match_fw_to_car(car_fw, CP.carVin, allow_exact=True, allow_fuzzy=False) + _, fuzzy_matches = match_fw_to_car(car_fw, CP.carVin, allow_exact=False, allow_fuzzy=True) + + if (len(exact_matches) == 1) and (list(exact_matches)[0] == live_fingerprint): + good_exact += 1 + print(f"Correct! Live: {live_fingerprint} - Fuzzy: {fuzzy_matches}") + + # Check if fuzzy match was correct + if len(fuzzy_matches) == 1: + if list(fuzzy_matches)[0] != live_fingerprint: + wrong_fuzzy += 1 + print("Fuzzy match wrong! Fuzzy:", fuzzy_matches, "Live:", live_fingerprint) + else: + good_fuzzy += 1 + break + + print("Old style:", live_fingerprint, "Vin", CP.carVin) + print("New style (exact):", exact_matches) + print("New style (fuzzy):", fuzzy_matches) + + padding = max([len(fw.brand or UNKNOWN_BRAND) for fw in car_fw]) + for version in sorted(car_fw, key=lambda fw: fw.brand): + subaddr = None if version.subAddress == 0 else hex(version.subAddress) + print(f" Brand: {version.brand or UNKNOWN_BRAND:{padding}}, bus: {version.bus} - " + + f"(Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],") + + print("Mismatches") + found = False + for brand in SUPPORTED_BRANDS: + car_fws = VERSIONS[brand] + if live_fingerprint in car_fws: + found = True + expected = car_fws[live_fingerprint] + for (_, expected_addr, expected_sub_addr), v in expected.items(): + for version in car_fw: + if version.brand != brand and len(version.brand): + continue + sub_addr = None if version.subAddress == 0 else version.subAddress + addr = version.address + + if (addr, sub_addr) == (expected_addr, expected_sub_addr): + if version.fwVersion not in v: + print(f"({hex(addr)}, {'None' if sub_addr is None else hex(sub_addr)}) - {version.fwVersion}") + + # Add to global list of mismatches + mismatch = (addr, sub_addr, version.fwVersion) + if mismatch not in mismatches[live_fingerprint]: + mismatches[live_fingerprint].append(mismatch) + + # No FW versions for this car yet, add them all to mismatch list + if not found: + for version in car_fw: + sub_addr = None if version.subAddress == 0 else version.subAddress + addr = version.address + mismatch = (addr, sub_addr, version.fwVersion) + if mismatch not in mismatches[live_fingerprint]: + mismatches[live_fingerprint].append(mismatch) + + print() + not_fingerprinted += 1 + + if len(fuzzy_matches) == 1: + if list(fuzzy_matches)[0] == live_fingerprint: + solved_by_fuzzy += 1 + else: + wrong_fuzzy += 1 + print("Fuzzy match wrong! Fuzzy:", fuzzy_matches, "Live:", live_fingerprint) + + break + + if CP is None: + print("no CarParams in logs") + except Exception: + traceback.print_exc() + except KeyboardInterrupt: + break + + print() + # Print FW versions that need to be added separated out by car and address + for car, m in sorted(mismatches.items()): + print(car) + addrs = defaultdict(list) + for (addr, sub_addr, version) in m: + addrs[(addr, sub_addr)].append(version) + + for (addr, sub_addr), versions in addrs.items(): + print(f" ({hex(addr)}, {'None' if sub_addr is None else hex(sub_addr)}): [") + for v in versions: + print(f" {v},") + print(" ]") + print() + + print() + print(f"Number of dongle ids checked: {len(dongles)}") + print(f"Fingerprinted: {good_exact}") + print(f"Not fingerprinted: {not_fingerprinted}") + print(f" of which had a fuzzy match: {solved_by_fuzzy}") + + print() + print(f"Correct fuzzy matches: {good_fuzzy}") + print(f"Wrong fuzzy matches: {wrong_fuzzy}") + print() + diff --git a/selfdrive/debug/toyota_eps_factor.py b/selfdrive/debug/toyota_eps_factor.py new file mode 100755 index 0000000000..dc83c8f7a4 --- /dev/null +++ b/selfdrive/debug/toyota_eps_factor.py @@ -0,0 +1,62 @@ +#!/usr/bin/env python3 +import sys +import numpy as np +import matplotlib.pyplot as plt +from sklearn import linear_model +from openpilot.selfdrive.car.toyota.values import STEER_THRESHOLD + +from openpilot.tools.lib.logreader import LogReader + +MIN_SAMPLES = 30 * 100 + + +def to_signed(n, bits): + if n >= (1 << max((bits - 1), 0)): + n = n - (1 << max(bits, 0)) + return n + + +def get_eps_factor(lr, plot=False): + engaged = False + steering_pressed = False + torque_cmd, eps_torque = None, None + cmds, eps = [], [] + + for msg in lr: + if msg.which() != 'can': + continue + + for m in msg.can: + if m.address == 0x2e4 and m.src == 128: + engaged = bool(m.dat[0] & 1) + torque_cmd = to_signed((m.dat[1] << 8) | m.dat[2], 16) + elif m.address == 0x260 and m.src == 0: + eps_torque = to_signed((m.dat[5] << 8) | m.dat[6], 16) + steering_pressed = abs(to_signed((m.dat[1] << 8) | m.dat[2], 16)) > STEER_THRESHOLD + + if engaged and torque_cmd is not None and eps_torque is not None and not steering_pressed: + cmds.append(torque_cmd) + eps.append(eps_torque) + else: + if len(cmds) > MIN_SAMPLES: + break + cmds, eps = [], [] + + if len(cmds) < MIN_SAMPLES: + raise Exception("too few samples found in route") + + lm = linear_model.LinearRegression(fit_intercept=False) + lm.fit(np.array(cmds).reshape(-1, 1), eps) + scale_factor = 1. / lm.coef_[0] + + if plot: + plt.plot(np.array(eps) * scale_factor) + plt.plot(cmds) + plt.show() + return scale_factor + + +if __name__ == "__main__": + lr = LogReader(sys.argv[1]) + n = get_eps_factor(lr, plot="--plot" in sys.argv) + print("EPS torque factor: ", n) diff --git a/selfdrive/debug/uiview.py b/selfdrive/debug/uiview.py new file mode 100755 index 0000000000..733b764a95 --- /dev/null +++ b/selfdrive/debug/uiview.py @@ -0,0 +1,42 @@ +#!/usr/bin/env python3 +import time + +from cereal import car, log, messaging +from openpilot.common.params import Params +from openpilot.system.manager.process_config import managed_processes +from openpilot.system.hardware import HARDWARE + +if __name__ == "__main__": + CP = car.CarParams(notCar=True, wheelbase=1, steerRatio=10) + Params().put("CarParams", CP.to_bytes()) + + procs = ['camerad', 'ui', 'modeld', 'calibrationd', 'plannerd', 'dmonitoringmodeld', 'dmonitoringd'] + for p in procs: + managed_processes[p].start() + + pm = messaging.PubMaster(['controlsState', 'deviceState', 'pandaStates', 'carParams', 'lateralPlan', 'carState']) + + msgs = {s: messaging.new_message(s) for s in ['controlsState', 'deviceState', 'carParams', 'carState']} + msgs['deviceState'].deviceState.started = True + msgs['deviceState'].deviceState.deviceType = HARDWARE.get_device_type() + msgs['carParams'].carParams.openpilotLongitudinalControl = True + + msgs['pandaStates'] = messaging.new_message('pandaStates', 1) + msgs['pandaStates'].pandaStates[0].ignitionLine = True + msgs['pandaStates'].pandaStates[0].pandaType = log.PandaState.PandaType.uno + + v_ego = 0 + try: + while True: + time.sleep(1 / 100) # continually send, rate doesn't matter + + msgs['carState'].carState.vEgoCluster = v_ego + v_ego += 0.02 + if v_ego > 40: + v_ego = 0 + + for s in msgs: + pm.send(s, msgs[s]) + except KeyboardInterrupt: + for p in procs: + managed_processes[p].stop() diff --git a/selfdrive/debug/vw_mqb_config.py b/selfdrive/debug/vw_mqb_config.py new file mode 100755 index 0000000000..6df1e57ce3 --- /dev/null +++ b/selfdrive/debug/vw_mqb_config.py @@ -0,0 +1,160 @@ +#!/usr/bin/env python3 + +import argparse +import struct +from enum import IntEnum +from panda import Panda +from panda.python.uds import UdsClient, MessageTimeoutError, NegativeResponseError, SESSION_TYPE,\ + DATA_IDENTIFIER_TYPE, ACCESS_TYPE +from datetime import date + +# TODO: extend UDS library to allow custom/vendor-defined data identifiers without ignoring type checks +class VOLKSWAGEN_DATA_IDENTIFIER_TYPE(IntEnum): + CODING = 0x0600 + +# TODO: extend UDS library security_access() to take an access level offset per ISO 14229-1:2020 10.4 and remove this +class ACCESS_TYPE_LEVEL_1(IntEnum): + REQUEST_SEED = ACCESS_TYPE.REQUEST_SEED + 2 + SEND_KEY = ACCESS_TYPE.SEND_KEY + 2 + +MQB_EPS_CAN_ADDR = 0x712 +RX_OFFSET = 0x6a + +if __name__ == "__main__": + desc_text = "Shows Volkswagen EPS software and coding info, and enables or disables Heading Control Assist " + \ + "(Lane Assist). Useful for enabling HCA on cars without factory Lane Assist that want to use " + \ + "openpilot integrated at the CAN gateway (J533)." + epilog_text = "This tool is meant to run directly on a vehicle-installed comma three, with the " + \ + "openpilot/tmux processes stopped. It should also work on a separate PC with a USB-attached comma " + \ + "panda. Vehicle ignition must be on. Recommend engine not be running when making changes. Must " + \ + "turn ignition off and on again for any changes to take effect." + parser = argparse.ArgumentParser(description=desc_text, epilog=epilog_text) + parser.add_argument("--debug", action="store_true", help="enable ISO-TP/UDS stack debugging output") + parser.add_argument("action", choices={"show", "enable", "disable"}, help="show or modify current EPS HCA config") + args = parser.parse_args() + + panda = Panda() + panda.set_safety_mode(Panda.SAFETY_ELM327) + bus = 1 if panda.has_obd() else 0 + uds_client = UdsClient(panda, MQB_EPS_CAN_ADDR, MQB_EPS_CAN_ADDR + RX_OFFSET, bus, timeout=0.2, debug=args.debug) + + try: + uds_client.diagnostic_session_control(SESSION_TYPE.EXTENDED_DIAGNOSTIC) + except MessageTimeoutError: + print("Timeout opening session with EPS") + quit() + + odx_file, current_coding = None, None + try: + hw_pn = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_HARDWARE_NUMBER).decode("utf-8") + sw_pn = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER).decode("utf-8") + sw_ver = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER).decode("utf-8") + component = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.SYSTEM_NAME_OR_ENGINE_TYPE).decode("utf-8") + odx_file = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.ODX_FILE).decode("utf-8").rstrip('\x00') + current_coding = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING) # type: ignore + coding_text = current_coding.hex() + + print("\nEPS diagnostic data\n") + print(f" Part No HW: {hw_pn}") + print(f" Part No SW: {sw_pn}") + print(f" SW Version: {sw_ver}") + print(f" Component: {component}") + print(f" Coding: {coding_text}") + print(f" ASAM Dataset: {odx_file}") + except NegativeResponseError: + print("Error fetching data from EPS") + quit() + except MessageTimeoutError: + print("Timeout fetching data from EPS") + quit() + + coding_variant, current_coding_array, coding_byte, coding_bit = None, None, 0, 0 + coding_length = len(current_coding) + + # EPS_MQB_ZFLS + if odx_file in ("EV_SteerAssisMQB", "EV_SteerAssisMNB"): + coding_variant = "ZFLS" + coding_byte = 0 + coding_bit = 4 + + # MQB_PP_APA, MQB_VWBS_GEN2 + elif odx_file in ("EV_SteerAssisVWBSMQBA", "EV_SteerAssisVWBSMQBGen2"): + coding_variant = "APA" + coding_byte = 3 + coding_bit = 0 + + else: + print("Configuration changes not yet supported on this EPS!") + quit() + + current_coding_array = struct.unpack(f"!{coding_length}B", current_coding) + hca_enabled = (current_coding_array[coding_byte] & (1 << coding_bit) != 0) + hca_text = ("DISABLED", "ENABLED")[hca_enabled] + print(f" Lane Assist: {hca_text}") + + try: + params = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION).decode("utf-8") + param_version_system_params = params[1:3] + param_vehicle_type = params[3:5] + param_index_char_curve = params[5:7] + param_version_char_values = params[7:9] + param_version_memory_map = params[9:11] + print("\nEPS parameterization (per-vehicle calibration) data\n") + print(f" Version of system parameters: {param_version_system_params}") + print(f" Vehicle type: {param_vehicle_type}") + print(f" Index of characteristic curve: {param_index_char_curve}") + print(f" Version of characteristic values: {param_version_char_values}") + print(f" Version of memory map: {param_version_memory_map}") + except (NegativeResponseError, MessageTimeoutError): + print("Error fetching parameterization data from EPS!") + quit() + + if args.action in ["enable", "disable"]: + print("\nAttempting configuration update") + + assert(coding_variant in ("ZFLS", "APA")) + # ZFLS EPS config coding length can be anywhere from 1 to 4 bytes, but the + # bit we care about is always in the same place in the first byte + if args.action == "enable": + new_byte = current_coding_array[coding_byte] | (1 << coding_bit) + else: + new_byte = current_coding_array[coding_byte] & ~(1 << coding_bit) + new_coding = current_coding[0:coding_byte] + new_byte.to_bytes(1, "little") + current_coding[coding_byte+1:] + + try: + seed = uds_client.security_access(ACCESS_TYPE_LEVEL_1.REQUEST_SEED) # type: ignore + key = struct.unpack("!I", seed)[0] + 28183 # yeah, it's like that + uds_client.security_access(ACCESS_TYPE_LEVEL_1.SEND_KEY, struct.pack("!I", key)) # type: ignore + except (NegativeResponseError, MessageTimeoutError): + print("Security access failed!") + print("Open the hood and retry (disables the \"diagnostic firewall\" on newer vehicles)") + quit() + + try: + # Programming date and tester number must be written before making + # a change, or write to CODING will fail with request sequence error + # Encoding on tester is unclear, it contains the workshop code in the + # last two bytes, but not the VZ/importer or tester serial number + # Can't seem to read it back, but we can read the calibration tester, + # so fib a little and say that same tester did the programming + current_date = date.today() + formatted_date = current_date.strftime('%y-%m-%d') + year, month, day = (int(part) for part in formatted_date.split('-')) + prog_date = bytes([year, month, day]) + uds_client.write_data_by_identifier(DATA_IDENTIFIER_TYPE.PROGRAMMING_DATE, prog_date) + tester_num = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.CALIBRATION_REPAIR_SHOP_CODE_OR_CALIBRATION_EQUIPMENT_SERIAL_NUMBER) + uds_client.write_data_by_identifier(DATA_IDENTIFIER_TYPE.REPAIR_SHOP_CODE_OR_TESTER_SERIAL_NUMBER, tester_num) + uds_client.write_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING, new_coding) # type: ignore + except (NegativeResponseError, MessageTimeoutError): + print("Writing new configuration failed!") + print("Make sure the comma processes are stopped: tmux kill-session -t comma") + quit() + + try: + # Read back result just to make 100% sure everything worked + current_coding_text = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING).hex() # type: ignore + print(f" New coding: {current_coding_text}") + except (NegativeResponseError, MessageTimeoutError): + print("Reading back updated coding failed!") + quit() + print("EPS configuration successfully updated") diff --git a/selfdrive/locationd/.gitignore b/selfdrive/locationd/.gitignore new file mode 100644 index 0000000000..11b9f127b2 --- /dev/null +++ b/selfdrive/locationd/.gitignore @@ -0,0 +1,3 @@ +params_learner +paramsd +locationd diff --git a/selfdrive/locationd/__init__.py b/selfdrive/locationd/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py new file mode 100755 index 0000000000..6e154bf07c --- /dev/null +++ b/selfdrive/locationd/calibrationd.py @@ -0,0 +1,291 @@ +#!/usr/bin/env python3 +''' +This process finds calibration values. More info on what these calibration values +are can be found here https://github.com/commaai/openpilot/tree/master/common/transformations +While the roll calibration is a real value that can be estimated, here we assume it's zero, +and the image input into the neural network is not corrected for roll. +''' + +import gc +import os +import capnp +import numpy as np +from typing import NoReturn + +from cereal import log +import cereal.messaging as messaging +from openpilot.common.conversions import Conversions as CV +from openpilot.common.params import Params +from openpilot.common.realtime import set_realtime_priority +from openpilot.common.transformations.orientation import rot_from_euler, euler_from_rot +from openpilot.common.swaglog import cloudlog + +MIN_SPEED_FILTER = 15 * CV.MPH_TO_MS +MAX_VEL_ANGLE_STD = np.radians(0.25) +MAX_YAW_RATE_FILTER = np.radians(2) # per second + +MAX_HEIGHT_STD = np.exp(-3.5) + +# This is at model frequency, blocks needed for efficiency +SMOOTH_CYCLES = 10 +BLOCK_SIZE = 100 +INPUTS_NEEDED = 5 # Minimum blocks needed for valid calibration +INPUTS_WANTED = 50 # We want a little bit more than we need for stability +MAX_ALLOWED_YAW_SPREAD = np.radians(2) +MAX_ALLOWED_PITCH_SPREAD = np.radians(4) +RPY_INIT = np.array([0.0,0.0,0.0]) +WIDE_FROM_DEVICE_EULER_INIT = np.array([0.0, 0.0, 0.0]) +HEIGHT_INIT = np.array([1.22]) + +# These values are needed to accommodate the model frame in the narrow cam of the C3 +PITCH_LIMITS = np.array([-0.09074112085129739, 0.17]) +YAW_LIMITS = np.array([-0.06912048084718224, 0.06912048084718235]) +DEBUG = os.getenv("DEBUG") is not None + + +def is_calibration_valid(rpy: np.ndarray) -> bool: + return (PITCH_LIMITS[0] < rpy[1] < PITCH_LIMITS[1]) and (YAW_LIMITS[0] < rpy[2] < YAW_LIMITS[1]) # type: ignore + + +def sanity_clip(rpy: np.ndarray) -> np.ndarray: + if np.isnan(rpy).any(): + rpy = RPY_INIT + return np.array([rpy[0], + np.clip(rpy[1], PITCH_LIMITS[0] - .005, PITCH_LIMITS[1] + .005), + np.clip(rpy[2], YAW_LIMITS[0] - .005, YAW_LIMITS[1] + .005)]) + +def moving_avg_with_linear_decay(prev_mean: np.ndarray, new_val: np.ndarray, idx: int, block_size: float) -> np.ndarray: + return (idx*prev_mean + (block_size - idx) * new_val) / block_size + +class Calibrator: + def __init__(self, param_put: bool = False): + self.param_put = param_put + + self.not_car = False + + # Read saved calibration + self.params = Params() + calibration_params = self.params.get("CalibrationParams") + rpy_init = RPY_INIT + wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT + height = HEIGHT_INIT + valid_blocks = 0 + self.cal_status = log.LiveCalibrationData.Status.uncalibrated + + if param_put and calibration_params: + try: + with log.Event.from_bytes(calibration_params) as msg: + rpy_init = np.array(msg.liveCalibration.rpyCalib) + valid_blocks = msg.liveCalibration.validBlocks + wide_from_device_euler = np.array(msg.liveCalibration.wideFromDeviceEuler) + height = np.array(msg.liveCalibration.height) + except Exception: + cloudlog.exception("Error reading cached CalibrationParams") + + self.reset(rpy_init, valid_blocks, wide_from_device_euler, height) + self.update_status() + + def reset(self, rpy_init: np.ndarray = RPY_INIT, + valid_blocks: int = 0, + wide_from_device_euler_init: np.ndarray = WIDE_FROM_DEVICE_EULER_INIT, + height_init: np.ndarray = HEIGHT_INIT, + smooth_from: np.ndarray = None) -> None: + if not np.isfinite(rpy_init).all(): + self.rpy = RPY_INIT.copy() + else: + self.rpy = rpy_init.copy() + + if not np.isfinite(height_init).all() or len(height_init) != 1: + self.height = HEIGHT_INIT.copy() + else: + self.height = height_init.copy() + + if not np.isfinite(wide_from_device_euler_init).all() or len(wide_from_device_euler_init) != 3: + self.wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT.copy() + else: + self.wide_from_device_euler = wide_from_device_euler_init.copy() + + if not np.isfinite(valid_blocks) or valid_blocks < 0: + self.valid_blocks = 0 + else: + self.valid_blocks = valid_blocks + + self.rpys = np.tile(self.rpy, (INPUTS_WANTED, 1)) + self.wide_from_device_eulers = np.tile(self.wide_from_device_euler, (INPUTS_WANTED, 1)) + self.heights = np.tile(self.height, (INPUTS_WANTED, 1)) + + self.idx = 0 + self.block_idx = 0 + self.v_ego = 0.0 + + if smooth_from is None: + self.old_rpy = RPY_INIT + self.old_rpy_weight = 0.0 + else: + self.old_rpy = smooth_from + self.old_rpy_weight = 1.0 + + def get_valid_idxs(self) -> list[int]: + # exclude current block_idx from validity window + before_current = list(range(self.block_idx)) + after_current = list(range(min(self.valid_blocks, self.block_idx + 1), self.valid_blocks)) + return before_current + after_current + + def update_status(self) -> None: + valid_idxs = self.get_valid_idxs() + if valid_idxs: + self.wide_from_device_euler = np.mean(self.wide_from_device_eulers[valid_idxs], axis=0) + self.height = np.mean(self.heights[valid_idxs], axis=0) + rpys = self.rpys[valid_idxs] + self.rpy = np.mean(rpys, axis=0) + max_rpy_calib = np.array(np.max(rpys, axis=0)) + min_rpy_calib = np.array(np.min(rpys, axis=0)) + self.calib_spread = np.abs(max_rpy_calib - min_rpy_calib) + else: + self.calib_spread = np.zeros(3) + + if self.valid_blocks < INPUTS_NEEDED: + if self.cal_status == log.LiveCalibrationData.Status.recalibrating: + self.cal_status = log.LiveCalibrationData.Status.recalibrating + else: + self.cal_status = log.LiveCalibrationData.Status.uncalibrated + elif is_calibration_valid(self.rpy): + self.cal_status = log.LiveCalibrationData.Status.calibrated + else: + self.cal_status = log.LiveCalibrationData.Status.invalid + + # If spread is too high, assume mounting was changed and reset to last block. + # Make the transition smooth. Abrupt transitions are not good for feedback loop through supercombo model. + # TODO: add height spread check with smooth transition too + spread_too_high = self.calib_spread[1] > MAX_ALLOWED_PITCH_SPREAD or self.calib_spread[2] > MAX_ALLOWED_YAW_SPREAD + if spread_too_high and self.cal_status == log.LiveCalibrationData.Status.calibrated: + self.reset(self.rpys[self.block_idx - 1], valid_blocks=1, smooth_from=self.rpy) + self.cal_status = log.LiveCalibrationData.Status.recalibrating + + write_this_cycle = (self.idx == 0) and (self.block_idx % (INPUTS_WANTED//5) == 5) + if self.param_put and write_this_cycle: + self.params.put_nonblocking("CalibrationParams", self.get_msg(True).to_bytes()) + + def handle_v_ego(self, v_ego: float) -> None: + self.v_ego = v_ego + + def get_smooth_rpy(self) -> np.ndarray: + if self.old_rpy_weight > 0: + return self.old_rpy_weight * self.old_rpy + (1.0 - self.old_rpy_weight) * self.rpy + else: + return self.rpy + + def handle_cam_odom(self, trans: list[float], + rot: list[float], + wide_from_device_euler: list[float], + trans_std: list[float], + road_transform_trans: list[float], + road_transform_trans_std: list[float]) -> np.ndarray | None: + self.old_rpy_weight = max(0.0, self.old_rpy_weight - 1/SMOOTH_CYCLES) + + straight_and_fast = ((self.v_ego > MIN_SPEED_FILTER) and (trans[0] > MIN_SPEED_FILTER) and (abs(rot[2]) < MAX_YAW_RATE_FILTER)) + angle_std_threshold = MAX_VEL_ANGLE_STD + height_std_threshold = MAX_HEIGHT_STD + rpy_certain = np.arctan2(trans_std[1], trans[0]) < angle_std_threshold + if len(road_transform_trans_std) == 3: + height_certain = road_transform_trans_std[2] < height_std_threshold + else: + height_certain = True + + certain_if_calib = (rpy_certain and height_certain) or (self.valid_blocks < INPUTS_NEEDED) + if not (straight_and_fast and certain_if_calib): + return None + + observed_rpy = np.array([0, + -np.arctan2(trans[2], trans[0]), + np.arctan2(trans[1], trans[0])]) + new_rpy = euler_from_rot(rot_from_euler(self.get_smooth_rpy()).dot(rot_from_euler(observed_rpy))) + new_rpy = sanity_clip(new_rpy) + + if len(wide_from_device_euler) == 3: + new_wide_from_device_euler = np.array(wide_from_device_euler) + else: + new_wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT + + if (len(road_transform_trans) == 3): + new_height = np.array([road_transform_trans[2]]) + else: + new_height = HEIGHT_INIT + + self.rpys[self.block_idx] = moving_avg_with_linear_decay(self.rpys[self.block_idx], new_rpy, self.idx, float(BLOCK_SIZE)) + self.wide_from_device_eulers[self.block_idx] = moving_avg_with_linear_decay(self.wide_from_device_eulers[self.block_idx], + new_wide_from_device_euler, self.idx, float(BLOCK_SIZE)) + self.heights[self.block_idx] = moving_avg_with_linear_decay(self.heights[self.block_idx], new_height, self.idx, float(BLOCK_SIZE)) + + self.idx = (self.idx + 1) % BLOCK_SIZE + if self.idx == 0: + self.block_idx += 1 + self.valid_blocks = max(self.block_idx, self.valid_blocks) + self.block_idx = self.block_idx % INPUTS_WANTED + + self.update_status() + + return new_rpy + + def get_msg(self, valid: bool) -> capnp.lib.capnp._DynamicStructBuilder: + smooth_rpy = self.get_smooth_rpy() + + msg = messaging.new_message('liveCalibration') + msg.valid = valid + + liveCalibration = msg.liveCalibration + liveCalibration.validBlocks = self.valid_blocks + liveCalibration.calStatus = self.cal_status + liveCalibration.calPerc = min(100 * (self.valid_blocks * BLOCK_SIZE + self.idx) // (INPUTS_NEEDED * BLOCK_SIZE), 100) + liveCalibration.rpyCalib = smooth_rpy.tolist() + liveCalibration.rpyCalibSpread = self.calib_spread.tolist() + liveCalibration.wideFromDeviceEuler = self.wide_from_device_euler.tolist() + liveCalibration.height = self.height.tolist() + + if self.not_car: + liveCalibration.validBlocks = INPUTS_NEEDED + liveCalibration.calStatus = log.LiveCalibrationData.Status.calibrated + liveCalibration.calPerc = 100. + liveCalibration.rpyCalib = [0, 0, 0] + liveCalibration.rpyCalibSpread = self.calib_spread.tolist() + + return msg + + def send_data(self, pm: messaging.PubMaster, valid: bool) -> None: + pm.send('liveCalibration', self.get_msg(valid)) + + +def main() -> NoReturn: + gc.disable() + set_realtime_priority(1) + + pm = messaging.PubMaster(['liveCalibration']) + sm = messaging.SubMaster(['cameraOdometry', 'carState', 'carParams'], poll='cameraOdometry') + + calibrator = Calibrator(param_put=True) + + while 1: + timeout = 0 if sm.frame == -1 else 100 + sm.update(timeout) + + calibrator.not_car = sm['carParams'].notCar + + if sm.updated['cameraOdometry']: + calibrator.handle_v_ego(sm['carState'].vEgo) + new_rpy = calibrator.handle_cam_odom(sm['cameraOdometry'].trans, + sm['cameraOdometry'].rot, + sm['cameraOdometry'].wideFromDeviceEuler, + sm['cameraOdometry'].transStd, + sm['cameraOdometry'].roadTransformTrans, + sm['cameraOdometry'].roadTransformTransStd) + + if DEBUG and new_rpy is not None: + print('got new rpy', new_rpy) + + # 4Hz driven by cameraOdometry + if sm.frame % 5 == 0: + calibrator.send_data(pm, sm.all_checks()) + + +if __name__ == "__main__": + main() diff --git a/selfdrive/locationd/helpers.py b/selfdrive/locationd/helpers.py new file mode 100644 index 0000000000..af8a3d3726 --- /dev/null +++ b/selfdrive/locationd/helpers.py @@ -0,0 +1,72 @@ +import numpy as np +from typing import Any + +from cereal import log + + +def rotate_cov(rot_matrix, cov_in): + return rot_matrix @ cov_in @ rot_matrix.T + + +def rotate_std(rot_matrix, std_in): + return np.sqrt(np.diag(rotate_cov(rot_matrix, np.diag(std_in**2)))) + + +class NPQueue: + def __init__(self, maxlen: int, rowsize: int) -> None: + self.maxlen = maxlen + self.arr = np.empty((0, rowsize)) + + def __len__(self) -> int: + return len(self.arr) + + def append(self, pt: list[float]) -> None: + if len(self.arr) < self.maxlen: + self.arr = np.append(self.arr, [pt], axis=0) + else: + self.arr[:-1] = self.arr[1:] + self.arr[-1] = pt + + +class PointBuckets: + def __init__(self, x_bounds: list[tuple[float, float]], min_points: list[float], min_points_total: int, points_per_bucket: int, rowsize: int) -> None: + self.x_bounds = x_bounds + self.buckets = {bounds: NPQueue(maxlen=points_per_bucket, rowsize=rowsize) for bounds in x_bounds} + self.buckets_min_points = dict(zip(x_bounds, min_points, strict=True)) + self.min_points_total = min_points_total + + def __len__(self) -> int: + return sum([len(v) for v in self.buckets.values()]) + + def is_valid(self) -> bool: + individual_buckets_valid = all(len(v) >= min_pts for v, min_pts in zip(self.buckets.values(), self.buckets_min_points.values(), strict=True)) + total_points_valid = self.__len__() >= self.min_points_total + return individual_buckets_valid and total_points_valid + + def is_calculable(self) -> bool: + return all(len(v) > 0 for v in self.buckets.values()) + + def add_point(self, x: float, y: float) -> None: + raise NotImplementedError + + def get_points(self, num_points: int = None) -> Any: + points = np.vstack([x.arr for x in self.buckets.values()]) + if num_points is None: + return points + return points[np.random.choice(np.arange(len(points)), min(len(points), num_points), replace=False)] + + def load_points(self, points: list[list[float]]) -> None: + for point in points: + self.add_point(*point) + + +class ParameterEstimator: + """ Base class for parameter estimators """ + def reset(self) -> None: + raise NotImplementedError + + def handle_log(self, t: int, which: str, msg: log.Event) -> None: + raise NotImplementedError + + def get_msg(self, valid: bool, with_points: bool) -> log.Event: + raise NotImplementedError diff --git a/selfdrive/locationd/locationd b/selfdrive/locationd/locationd new file mode 100755 index 0000000000..2cdbf5a970 Binary files /dev/null and b/selfdrive/locationd/locationd differ diff --git a/selfdrive/locationd/locationd.h b/selfdrive/locationd/locationd.h new file mode 100644 index 0000000000..615f31c9d0 --- /dev/null +++ b/selfdrive/locationd/locationd.h @@ -0,0 +1,103 @@ +#pragma once + +#include +#include +#include +#include +#include +#include + +#include "cereal/messaging/messaging.h" +#include "common/transformations/coordinates.hpp" +#include "common/transformations/orientation.hpp" +#include "common/params.h" +#include "common/swaglog.h" +#include "common/timing.h" +#include "common/util.h" + +#include "system/sensord/sensors/constants.h" +#define VISION_DECIMATION 2 +#define SENSOR_DECIMATION 10 +#include "selfdrive/locationd/models/live_kf.h" + +#define POSENET_STD_HIST_HALF 20 + +enum LocalizerGnssSource { + UBLOX, QCOM +}; + +class Localizer { +public: + Localizer(LocalizerGnssSource gnss_source = LocalizerGnssSource::UBLOX); + + int locationd_thread(); + + void reset_kalman(double current_time = NAN); + void reset_kalman(double current_time, const Eigen::VectorXd &init_orient, const Eigen::VectorXd &init_pos, const Eigen::VectorXd &init_vel, const MatrixXdr &init_pos_R, const MatrixXdr &init_vel_R); + void reset_kalman(double current_time, const Eigen::VectorXd &init_x, const MatrixXdr &init_P); + void finite_check(double current_time = NAN); + void time_check(double current_time = NAN); + void update_reset_tracker(); + bool is_gps_ok(); + bool critical_services_valid(const std::map &critical_services); + bool is_timestamp_valid(double current_time); + void determine_gps_mode(double current_time); + bool are_inputs_ok(); + void observation_timings_invalid_reset(); + + void build_location_message( + MessageBuilder& msg_builder, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid); + void build_pose_message( + MessageBuilder& msg_builder, MessageBuilder& location_msg_builder, bool inputsOK, bool sensorsOK, bool msgValid); + void build_live_location(cereal::LiveLocationKalman::Builder& fix); + void build_live_pose(cereal::LivePose::Builder& livePose, cereal::LiveLocationKalman::Reader& liveLocation); + + Eigen::VectorXd get_position_geodetic(); + Eigen::VectorXd get_state(); + Eigen::VectorXd get_stdev(); + + void handle_msg_bytes(const char *data, const size_t size); + void handle_msg(const cereal::Event::Reader& log); + void handle_sensor(double current_time, const cereal::SensorEventData::Reader& log); + void handle_gps(double current_time, const cereal::GpsLocationData::Reader& log, const double sensor_time_offset); + void handle_gnss(double current_time, const cereal::GnssMeasurements::Reader& log); + void handle_car_state(double current_time, const cereal::CarState::Reader& log); + void handle_cam_odo(double current_time, const cereal::CameraOdometry::Reader& log); + void handle_live_calib(double current_time, const cereal::LiveCalibrationData::Reader& log); + + void input_fake_gps_observations(double current_time); + +private: + std::unique_ptr kf; + + Eigen::VectorXd calib; + MatrixXdr device_from_calib; + MatrixXdr calib_from_device; + bool calibrated = false; + + double car_speed = 0.0; + double last_reset_time = NAN; + std::deque posenet_stds; + + std::unique_ptr converter; + + int64_t unix_timestamp_millis = 0; + double reset_tracker = 0.0; + bool device_fell = false; + bool gps_mode = false; + double first_valid_log_time = NAN; + double ttff = NAN; + double last_gps_msg = 0; + LocalizerGnssSource gnss_source; + bool observation_timings_invalid = false; + std::map observation_values_invalid; + bool standstill = true; + int32_t orientation_reset_count = 0; + float gps_std_factor; + float gps_variance_factor; + float gps_vertical_variance_factor; + double gps_time_offset; + Eigen::VectorXd camodo_yawrate_distribution = Eigen::Vector2d(0.0, 10.0); // mean, std + + void configure_gnss_source(const LocalizerGnssSource &source); +}; diff --git a/selfdrive/locationd/models/.gitignore b/selfdrive/locationd/models/.gitignore new file mode 100644 index 0000000000..9ab870da89 --- /dev/null +++ b/selfdrive/locationd/models/.gitignore @@ -0,0 +1 @@ +generated/ diff --git a/selfdrive/locationd/models/__init__.py b/selfdrive/locationd/models/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/locationd/models/car_kf.py b/selfdrive/locationd/models/car_kf.py new file mode 100755 index 0000000000..87a93cdd0c --- /dev/null +++ b/selfdrive/locationd/models/car_kf.py @@ -0,0 +1,180 @@ +#!/usr/bin/env python3 +import math +import sys +from typing import Any + +import numpy as np + +from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY +from openpilot.selfdrive.locationd.models.constants import ObservationKind +from openpilot.common.swaglog import cloudlog + +from rednose.helpers.kalmanfilter import KalmanFilter + +if __name__ == '__main__': # Generating sympy + import sympy as sp + from rednose.helpers.ekf_sym import gen_code +else: + from rednose.helpers.ekf_sym_pyx import EKF_sym_pyx + + +i = 0 + +def _slice(n): + global i + s = slice(i, i + n) + i += n + + return s + + +class States: + # Vehicle model params + STIFFNESS = _slice(1) # [-] + STEER_RATIO = _slice(1) # [-] + ANGLE_OFFSET = _slice(1) # [rad] + ANGLE_OFFSET_FAST = _slice(1) # [rad] + + VELOCITY = _slice(2) # (x, y) [m/s] + YAW_RATE = _slice(1) # [rad/s] + STEER_ANGLE = _slice(1) # [rad] + ROAD_ROLL = _slice(1) # [rad] + + +class CarKalman(KalmanFilter): + name = 'car' + + initial_x = np.array([ + 1.0, + 15.0, + 0.0, + 0.0, + + 10.0, 0.0, + 0.0, + 0.0, + 0.0 + ]) + + # process noise + Q = np.diag([ + (.05 / 100)**2, + .01**2, + math.radians(0.02)**2, + math.radians(0.25)**2, + + .1**2, .01**2, + math.radians(0.1)**2, + math.radians(0.1)**2, + math.radians(1)**2, + ]) + P_initial = Q.copy() + + obs_noise: dict[int, Any] = { + ObservationKind.STEER_ANGLE: np.atleast_2d(math.radians(0.05)**2), + ObservationKind.ANGLE_OFFSET_FAST: np.atleast_2d(math.radians(10.0)**2), + ObservationKind.ROAD_ROLL: np.atleast_2d(math.radians(1.0)**2), + ObservationKind.STEER_RATIO: np.atleast_2d(5.0**2), + ObservationKind.STIFFNESS: np.atleast_2d(0.5**2), + ObservationKind.ROAD_FRAME_X_SPEED: np.atleast_2d(0.1**2), + } + + global_vars = [ + 'mass', + 'rotational_inertia', + 'center_to_front', + 'center_to_rear', + 'stiffness_front', + 'stiffness_rear', + ] + + @staticmethod + def generate_code(generated_dir): + dim_state = CarKalman.initial_x.shape[0] + name = CarKalman.name + + # vehicle models comes from The Science of Vehicle Dynamics: Handling, Braking, and Ride of Road and Race Cars + # Model used is in 6.15 with formula from 6.198 + + # globals + global_vars = [sp.Symbol(name) for name in CarKalman.global_vars] + m, j, aF, aR, cF_orig, cR_orig = global_vars + + # make functions and jacobians with sympy + # state variables + state_sym = sp.MatrixSymbol('state', dim_state, 1) + state = sp.Matrix(state_sym) + + # Vehicle model constants + sf = state[States.STIFFNESS, :][0, 0] + + cF, cR = sf * cF_orig, sf * cR_orig + angle_offset = state[States.ANGLE_OFFSET, :][0, 0] + angle_offset_fast = state[States.ANGLE_OFFSET_FAST, :][0, 0] + theta = state[States.ROAD_ROLL, :][0, 0] + sa = state[States.STEER_ANGLE, :][0, 0] + + sR = state[States.STEER_RATIO, :][0, 0] + u, v = state[States.VELOCITY, :] + r = state[States.YAW_RATE, :][0, 0] + + A = sp.Matrix(np.zeros((2, 2))) + A[0, 0] = -(cF + cR) / (m * u) + A[0, 1] = -(cF * aF - cR * aR) / (m * u) - u + A[1, 0] = -(cF * aF - cR * aR) / (j * u) + A[1, 1] = -(cF * aF**2 + cR * aR**2) / (j * u) + + B = sp.Matrix(np.zeros((2, 1))) + B[0, 0] = cF / m / sR + B[1, 0] = (cF * aF) / j / sR + + C = sp.Matrix(np.zeros((2, 1))) + C[0, 0] = ACCELERATION_DUE_TO_GRAVITY + C[1, 0] = 0 + + x = sp.Matrix([v, r]) # lateral velocity, yaw rate + x_dot = A * x + B * (sa - angle_offset - angle_offset_fast) - C * theta + + dt = sp.Symbol('dt') + state_dot = sp.Matrix(np.zeros((dim_state, 1))) + state_dot[States.VELOCITY.start + 1, 0] = x_dot[0] + state_dot[States.YAW_RATE.start, 0] = x_dot[1] + + # Basic descretization, 1st order integrator + # Can be pretty bad if dt is big + f_sym = state + dt * state_dot + + # + # Observation functions + # + obs_eqs = [ + [sp.Matrix([r]), ObservationKind.ROAD_FRAME_YAW_RATE, None], + [sp.Matrix([u, v]), ObservationKind.ROAD_FRAME_XY_SPEED, None], + [sp.Matrix([u]), ObservationKind.ROAD_FRAME_X_SPEED, None], + [sp.Matrix([sa]), ObservationKind.STEER_ANGLE, None], + [sp.Matrix([angle_offset_fast]), ObservationKind.ANGLE_OFFSET_FAST, None], + [sp.Matrix([sR]), ObservationKind.STEER_RATIO, None], + [sp.Matrix([sf]), ObservationKind.STIFFNESS, None], + [sp.Matrix([theta]), ObservationKind.ROAD_ROLL, None], + ] + + gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state, global_vars=global_vars) + + def __init__(self, generated_dir, steer_ratio=15, stiffness_factor=1, angle_offset=0, P_initial=None): + dim_state = self.initial_x.shape[0] + dim_state_err = self.P_initial.shape[0] + x_init = self.initial_x + x_init[States.STEER_RATIO] = steer_ratio + x_init[States.STIFFNESS] = stiffness_factor + x_init[States.ANGLE_OFFSET] = angle_offset + + if P_initial is not None: + self.P_initial = P_initial + # init filter + self.filter = EKF_sym_pyx(generated_dir, self.name, self.Q, self.initial_x, self.P_initial, + dim_state, dim_state_err, global_vars=self.global_vars, logger=cloudlog) + + +if __name__ == "__main__": + generated_dir = sys.argv[2] + CarKalman.generate_code(generated_dir) diff --git a/selfdrive/locationd/models/constants.py b/selfdrive/locationd/models/constants.py new file mode 100644 index 0000000000..6d328ce6f5 --- /dev/null +++ b/selfdrive/locationd/models/constants.py @@ -0,0 +1,92 @@ +import os + +GENERATED_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), 'generated')) + +class ObservationKind: + UNKNOWN = 0 + NO_OBSERVATION = 1 + GPS_NED = 2 + ODOMETRIC_SPEED = 3 + PHONE_GYRO = 4 + GPS_VEL = 5 + PSEUDORANGE_GPS = 6 + PSEUDORANGE_RATE_GPS = 7 + SPEED = 8 + NO_ROT = 9 + PHONE_ACCEL = 10 + ORB_POINT = 11 + ECEF_POS = 12 + CAMERA_ODO_TRANSLATION = 13 + CAMERA_ODO_ROTATION = 14 + ORB_FEATURES = 15 + MSCKF_TEST = 16 + FEATURE_TRACK_TEST = 17 + LANE_PT = 18 + IMU_FRAME = 19 + PSEUDORANGE_GLONASS = 20 + PSEUDORANGE_RATE_GLONASS = 21 + PSEUDORANGE = 22 + PSEUDORANGE_RATE = 23 + ECEF_VEL = 35 + ECEF_ORIENTATION_FROM_GPS = 32 + NO_ACCEL = 33 + ORB_FEATURES_WIDE = 34 + + ROAD_FRAME_XY_SPEED = 24 # (x, y) [m/s] + ROAD_FRAME_YAW_RATE = 25 # [rad/s] + STEER_ANGLE = 26 # [rad] + ANGLE_OFFSET_FAST = 27 # [rad] + STIFFNESS = 28 # [-] + STEER_RATIO = 29 # [-] + ROAD_FRAME_X_SPEED = 30 # (x) [m/s] + ROAD_ROLL = 31 # [rad] + + names = [ + 'Unknown', + 'No observation', + 'GPS NED', + 'Odometric speed', + 'Phone gyro', + 'GPS velocity', + 'GPS pseudorange', + 'GPS pseudorange rate', + 'Speed', + 'No rotation', + 'Phone acceleration', + 'ORB point', + 'ECEF pos', + 'camera odometric translation', + 'camera odometric rotation', + 'ORB features', + 'MSCKF test', + 'Feature track test', + 'Lane ecef point', + 'imu frame eulers', + 'GLONASS pseudorange', + 'GLONASS pseudorange rate', + 'pseudorange', + 'pseudorange rate', + + 'Road Frame x,y speed', + 'Road Frame yaw rate', + 'Steer Angle', + 'Fast Angle Offset', + 'Stiffness', + 'Steer Ratio', + 'Road Frame x speed', + 'Road Roll', + 'ECEF orientation from GPS', + 'NO accel', + 'ORB features wide camera', + 'ECEF_VEL', + ] + + @classmethod + def to_string(cls, kind): + return cls.names[kind] + + +SAT_OBS = [ObservationKind.PSEUDORANGE_GPS, + ObservationKind.PSEUDORANGE_RATE_GPS, + ObservationKind.PSEUDORANGE_GLONASS, + ObservationKind.PSEUDORANGE_RATE_GLONASS] diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp new file mode 100644 index 0000000000..ddc8c3628a --- /dev/null +++ b/selfdrive/locationd/models/generated/car.cpp @@ -0,0 +1,661 @@ +#include "car.h" + +namespace { +#define DIM 9 +#define EDIM 9 +#define MEDIM 9 +typedef void (*Hfun)(double *, double *, double *); + +double mass; + +void set_mass(double x){ mass = x;} + +double rotational_inertia; + +void set_rotational_inertia(double x){ rotational_inertia = x;} + +double center_to_front; + +void set_center_to_front(double x){ center_to_front = x;} + +double center_to_rear; + +void set_center_to_rear(double x){ center_to_rear = x;} + +double stiffness_front; + +void set_stiffness_front(double x){ stiffness_front = x;} + +double stiffness_rear; + +void set_stiffness_rear(double x){ stiffness_rear = x;} +const static double MAHA_THRESH_25 = 3.8414588206941227; +const static double MAHA_THRESH_24 = 5.991464547107981; +const static double MAHA_THRESH_30 = 3.8414588206941227; +const static double MAHA_THRESH_26 = 3.8414588206941227; +const static double MAHA_THRESH_27 = 3.8414588206941227; +const static double MAHA_THRESH_29 = 3.8414588206941227; +const static double MAHA_THRESH_28 = 3.8414588206941227; +const static double MAHA_THRESH_31 = 3.8414588206941227; + +/****************************************************************************** + * Code generated with SymPy 1.12 * + * * + * See http://www.sympy.org/ for more information. * + * * + * This file is part of 'ekf' * + ******************************************************************************/ +void err_fun(double *nom_x, double *delta_x, double *out_8249429775729676839) { + out_8249429775729676839[0] = delta_x[0] + nom_x[0]; + out_8249429775729676839[1] = delta_x[1] + nom_x[1]; + out_8249429775729676839[2] = delta_x[2] + nom_x[2]; + out_8249429775729676839[3] = delta_x[3] + nom_x[3]; + out_8249429775729676839[4] = delta_x[4] + nom_x[4]; + out_8249429775729676839[5] = delta_x[5] + nom_x[5]; + out_8249429775729676839[6] = delta_x[6] + nom_x[6]; + out_8249429775729676839[7] = delta_x[7] + nom_x[7]; + out_8249429775729676839[8] = delta_x[8] + nom_x[8]; +} +void inv_err_fun(double *nom_x, double *true_x, double *out_830104287538898022) { + out_830104287538898022[0] = -nom_x[0] + true_x[0]; + out_830104287538898022[1] = -nom_x[1] + true_x[1]; + out_830104287538898022[2] = -nom_x[2] + true_x[2]; + out_830104287538898022[3] = -nom_x[3] + true_x[3]; + out_830104287538898022[4] = -nom_x[4] + true_x[4]; + out_830104287538898022[5] = -nom_x[5] + true_x[5]; + out_830104287538898022[6] = -nom_x[6] + true_x[6]; + out_830104287538898022[7] = -nom_x[7] + true_x[7]; + out_830104287538898022[8] = -nom_x[8] + true_x[8]; +} +void H_mod_fun(double *state, double *out_4361542019279921949) { + out_4361542019279921949[0] = 1.0; + out_4361542019279921949[1] = 0; + out_4361542019279921949[2] = 0; + out_4361542019279921949[3] = 0; + out_4361542019279921949[4] = 0; + out_4361542019279921949[5] = 0; + out_4361542019279921949[6] = 0; + out_4361542019279921949[7] = 0; + out_4361542019279921949[8] = 0; + out_4361542019279921949[9] = 0; + out_4361542019279921949[10] = 1.0; + out_4361542019279921949[11] = 0; + out_4361542019279921949[12] = 0; + out_4361542019279921949[13] = 0; + out_4361542019279921949[14] = 0; + out_4361542019279921949[15] = 0; + out_4361542019279921949[16] = 0; + out_4361542019279921949[17] = 0; + out_4361542019279921949[18] = 0; + out_4361542019279921949[19] = 0; + out_4361542019279921949[20] = 1.0; + out_4361542019279921949[21] = 0; + out_4361542019279921949[22] = 0; + out_4361542019279921949[23] = 0; + out_4361542019279921949[24] = 0; + out_4361542019279921949[25] = 0; + out_4361542019279921949[26] = 0; + out_4361542019279921949[27] = 0; + out_4361542019279921949[28] = 0; + out_4361542019279921949[29] = 0; + out_4361542019279921949[30] = 1.0; + out_4361542019279921949[31] = 0; + out_4361542019279921949[32] = 0; + out_4361542019279921949[33] = 0; + out_4361542019279921949[34] = 0; + out_4361542019279921949[35] = 0; + out_4361542019279921949[36] = 0; + out_4361542019279921949[37] = 0; + out_4361542019279921949[38] = 0; + out_4361542019279921949[39] = 0; + out_4361542019279921949[40] = 1.0; + out_4361542019279921949[41] = 0; + out_4361542019279921949[42] = 0; + out_4361542019279921949[43] = 0; + out_4361542019279921949[44] = 0; + out_4361542019279921949[45] = 0; + out_4361542019279921949[46] = 0; + out_4361542019279921949[47] = 0; + out_4361542019279921949[48] = 0; + out_4361542019279921949[49] = 0; + out_4361542019279921949[50] = 1.0; + out_4361542019279921949[51] = 0; + out_4361542019279921949[52] = 0; + out_4361542019279921949[53] = 0; + out_4361542019279921949[54] = 0; + out_4361542019279921949[55] = 0; + out_4361542019279921949[56] = 0; + out_4361542019279921949[57] = 0; + out_4361542019279921949[58] = 0; + out_4361542019279921949[59] = 0; + out_4361542019279921949[60] = 1.0; + out_4361542019279921949[61] = 0; + out_4361542019279921949[62] = 0; + out_4361542019279921949[63] = 0; + out_4361542019279921949[64] = 0; + out_4361542019279921949[65] = 0; + out_4361542019279921949[66] = 0; + out_4361542019279921949[67] = 0; + out_4361542019279921949[68] = 0; + out_4361542019279921949[69] = 0; + out_4361542019279921949[70] = 1.0; + out_4361542019279921949[71] = 0; + out_4361542019279921949[72] = 0; + out_4361542019279921949[73] = 0; + out_4361542019279921949[74] = 0; + out_4361542019279921949[75] = 0; + out_4361542019279921949[76] = 0; + out_4361542019279921949[77] = 0; + out_4361542019279921949[78] = 0; + out_4361542019279921949[79] = 0; + out_4361542019279921949[80] = 1.0; +} +void f_fun(double *state, double dt, double *out_2834190715000315846) { + out_2834190715000315846[0] = state[0]; + out_2834190715000315846[1] = state[1]; + out_2834190715000315846[2] = state[2]; + out_2834190715000315846[3] = state[3]; + out_2834190715000315846[4] = state[4]; + out_2834190715000315846[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8000000000000007*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5]; + out_2834190715000315846[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6]; + out_2834190715000315846[7] = state[7]; + out_2834190715000315846[8] = state[8]; +} +void F_fun(double *state, double dt, double *out_8944307819367133251) { + out_8944307819367133251[0] = 1; + out_8944307819367133251[1] = 0; + out_8944307819367133251[2] = 0; + out_8944307819367133251[3] = 0; + out_8944307819367133251[4] = 0; + out_8944307819367133251[5] = 0; + out_8944307819367133251[6] = 0; + out_8944307819367133251[7] = 0; + out_8944307819367133251[8] = 0; + out_8944307819367133251[9] = 0; + out_8944307819367133251[10] = 1; + out_8944307819367133251[11] = 0; + out_8944307819367133251[12] = 0; + out_8944307819367133251[13] = 0; + out_8944307819367133251[14] = 0; + out_8944307819367133251[15] = 0; + out_8944307819367133251[16] = 0; + out_8944307819367133251[17] = 0; + out_8944307819367133251[18] = 0; + out_8944307819367133251[19] = 0; + out_8944307819367133251[20] = 1; + out_8944307819367133251[21] = 0; + out_8944307819367133251[22] = 0; + out_8944307819367133251[23] = 0; + out_8944307819367133251[24] = 0; + out_8944307819367133251[25] = 0; + out_8944307819367133251[26] = 0; + out_8944307819367133251[27] = 0; + out_8944307819367133251[28] = 0; + out_8944307819367133251[29] = 0; + out_8944307819367133251[30] = 1; + out_8944307819367133251[31] = 0; + out_8944307819367133251[32] = 0; + out_8944307819367133251[33] = 0; + out_8944307819367133251[34] = 0; + out_8944307819367133251[35] = 0; + out_8944307819367133251[36] = 0; + out_8944307819367133251[37] = 0; + out_8944307819367133251[38] = 0; + out_8944307819367133251[39] = 0; + out_8944307819367133251[40] = 1; + out_8944307819367133251[41] = 0; + out_8944307819367133251[42] = 0; + out_8944307819367133251[43] = 0; + out_8944307819367133251[44] = 0; + out_8944307819367133251[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4])); + out_8944307819367133251[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_8944307819367133251[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_8944307819367133251[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_8944307819367133251[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2))); + out_8944307819367133251[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_8944307819367133251[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_8944307819367133251[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_8944307819367133251[53] = -9.8000000000000007*dt; + out_8944307819367133251[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4])); + out_8944307819367133251[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_8944307819367133251[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_8944307819367133251[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_8944307819367133251[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2))); + out_8944307819367133251[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_8944307819367133251[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1; + out_8944307819367133251[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_8944307819367133251[62] = 0; + out_8944307819367133251[63] = 0; + out_8944307819367133251[64] = 0; + out_8944307819367133251[65] = 0; + out_8944307819367133251[66] = 0; + out_8944307819367133251[67] = 0; + out_8944307819367133251[68] = 0; + out_8944307819367133251[69] = 0; + out_8944307819367133251[70] = 1; + out_8944307819367133251[71] = 0; + out_8944307819367133251[72] = 0; + out_8944307819367133251[73] = 0; + out_8944307819367133251[74] = 0; + out_8944307819367133251[75] = 0; + out_8944307819367133251[76] = 0; + out_8944307819367133251[77] = 0; + out_8944307819367133251[78] = 0; + out_8944307819367133251[79] = 0; + out_8944307819367133251[80] = 1; +} +void h_25(double *state, double *unused, double *out_4307604535579416709) { + out_4307604535579416709[0] = state[6]; +} +void H_25(double *state, double *unused, double *out_7813441128818867203) { + out_7813441128818867203[0] = 0; + out_7813441128818867203[1] = 0; + out_7813441128818867203[2] = 0; + out_7813441128818867203[3] = 0; + out_7813441128818867203[4] = 0; + out_7813441128818867203[5] = 0; + out_7813441128818867203[6] = 1; + out_7813441128818867203[7] = 0; + out_7813441128818867203[8] = 0; +} +void h_24(double *state, double *unused, double *out_6273662611818280039) { + out_6273662611818280039[0] = state[4]; + out_6273662611818280039[1] = state[5]; +} +void H_24(double *state, double *unused, double *out_5886793617924175379) { + out_5886793617924175379[0] = 0; + out_5886793617924175379[1] = 0; + out_5886793617924175379[2] = 0; + out_5886793617924175379[3] = 0; + out_5886793617924175379[4] = 1; + out_5886793617924175379[5] = 0; + out_5886793617924175379[6] = 0; + out_5886793617924175379[7] = 0; + out_5886793617924175379[8] = 0; + out_5886793617924175379[9] = 0; + out_5886793617924175379[10] = 0; + out_5886793617924175379[11] = 0; + out_5886793617924175379[12] = 0; + out_5886793617924175379[13] = 0; + out_5886793617924175379[14] = 1; + out_5886793617924175379[15] = 0; + out_5886793617924175379[16] = 0; + out_5886793617924175379[17] = 0; +} +void h_30(double *state, double *unused, double *out_5931642792047228057) { + out_5931642792047228057[0] = state[4]; +} +void H_30(double *state, double *unused, double *out_896750787327250448) { + out_896750787327250448[0] = 0; + out_896750787327250448[1] = 0; + out_896750787327250448[2] = 0; + out_896750787327250448[3] = 0; + out_896750787327250448[4] = 1; + out_896750787327250448[5] = 0; + out_896750787327250448[6] = 0; + out_896750787327250448[7] = 0; + out_896750787327250448[8] = 0; +} +void h_26(double *state, double *unused, double *out_6116059764248474413) { + out_6116059764248474413[0] = state[7]; +} +void H_26(double *state, double *unused, double *out_6891799626016628189) { + out_6891799626016628189[0] = 0; + out_6891799626016628189[1] = 0; + out_6891799626016628189[2] = 0; + out_6891799626016628189[3] = 0; + out_6891799626016628189[4] = 0; + out_6891799626016628189[5] = 0; + out_6891799626016628189[6] = 0; + out_6891799626016628189[7] = 1; + out_6891799626016628189[8] = 0; +} +void h_27(double *state, double *unused, double *out_4488704928686580431) { + out_4488704928686580431[0] = state[3]; +} +void H_27(double *state, double *unused, double *out_8329200685947019432) { + out_8329200685947019432[0] = 0; + out_8329200685947019432[1] = 0; + out_8329200685947019432[2] = 0; + out_8329200685947019432[3] = 1; + out_8329200685947019432[4] = 0; + out_8329200685947019432[5] = 0; + out_8329200685947019432[6] = 0; + out_8329200685947019432[7] = 0; + out_8329200685947019432[8] = 0; +} +void h_29(double *state, double *unused, double *out_8350388405115082083) { + out_8350388405115082083[0] = state[1]; +} +void H_29(double *state, double *unused, double *out_7432548731647715089) { + out_7432548731647715089[0] = 0; + out_7432548731647715089[1] = 1; + out_7432548731647715089[2] = 0; + out_7432548731647715089[3] = 0; + out_7432548731647715089[4] = 0; + out_7432548731647715089[5] = 0; + out_7432548731647715089[6] = 0; + out_7432548731647715089[7] = 0; + out_7432548731647715089[8] = 0; +} +void h_28(double *state, double *unused, double *out_2722204557567641080) { + out_2722204557567641080[0] = state[0]; +} +void H_28(double *state, double *unused, double *out_8579468230642794650) { + out_8579468230642794650[0] = 1; + out_8579468230642794650[1] = 0; + out_8579468230642794650[2] = 0; + out_8579468230642794650[3] = 0; + out_8579468230642794650[4] = 0; + out_8579468230642794650[5] = 0; + out_8579468230642794650[6] = 0; + out_8579468230642794650[7] = 0; + out_8579468230642794650[8] = 0; +} +void h_31(double *state, double *unused, double *out_4150417867228287564) { + out_4150417867228287564[0] = state[8]; +} +void H_31(double *state, double *unused, double *out_7782795166941906775) { + out_7782795166941906775[0] = 0; + out_7782795166941906775[1] = 0; + out_7782795166941906775[2] = 0; + out_7782795166941906775[3] = 0; + out_7782795166941906775[4] = 0; + out_7782795166941906775[5] = 0; + out_7782795166941906775[6] = 0; + out_7782795166941906775[7] = 0; + out_7782795166941906775[8] = 1; +} +#include +#include + +typedef Eigen::Matrix DDM; +typedef Eigen::Matrix EEM; +typedef Eigen::Matrix DEM; + +void predict(double *in_x, double *in_P, double *in_Q, double dt) { + typedef Eigen::Matrix RRM; + + double nx[DIM] = {0}; + double in_F[EDIM*EDIM] = {0}; + + // functions from sympy + f_fun(in_x, dt, nx); + F_fun(in_x, dt, in_F); + + + EEM F(in_F); + EEM P(in_P); + EEM Q(in_Q); + + RRM F_main = F.topLeftCorner(MEDIM, MEDIM); + P.topLeftCorner(MEDIM, MEDIM) = (F_main * P.topLeftCorner(MEDIM, MEDIM)) * F_main.transpose(); + P.topRightCorner(MEDIM, EDIM - MEDIM) = F_main * P.topRightCorner(MEDIM, EDIM - MEDIM); + P.bottomLeftCorner(EDIM - MEDIM, MEDIM) = P.bottomLeftCorner(EDIM - MEDIM, MEDIM) * F_main.transpose(); + + P = P + dt*Q; + + // copy out state + memcpy(in_x, nx, DIM * sizeof(double)); + memcpy(in_P, P.data(), EDIM * EDIM * sizeof(double)); +} + +// note: extra_args dim only correct when null space projecting +// otherwise 1 +template +void update(double *in_x, double *in_P, Hfun h_fun, Hfun H_fun, Hfun Hea_fun, double *in_z, double *in_R, double *in_ea, double MAHA_THRESHOLD) { + typedef Eigen::Matrix ZZM; + typedef Eigen::Matrix ZDM; + typedef Eigen::Matrix XEM; + //typedef Eigen::Matrix EZM; + typedef Eigen::Matrix X1M; + typedef Eigen::Matrix XXM; + + double in_hx[ZDIM] = {0}; + double in_H[ZDIM * DIM] = {0}; + double in_H_mod[EDIM * DIM] = {0}; + double delta_x[EDIM] = {0}; + double x_new[DIM] = {0}; + + + // state x, P + Eigen::Matrix z(in_z); + EEM P(in_P); + ZZM pre_R(in_R); + + // functions from sympy + h_fun(in_x, in_ea, in_hx); + H_fun(in_x, in_ea, in_H); + ZDM pre_H(in_H); + + // get y (y = z - hx) + Eigen::Matrix pre_y(in_hx); pre_y = z - pre_y; + X1M y; XXM H; XXM R; + if (Hea_fun){ + typedef Eigen::Matrix ZAM; + double in_Hea[ZDIM * EADIM] = {0}; + Hea_fun(in_x, in_ea, in_Hea); + ZAM Hea(in_Hea); + XXM A = Hea.transpose().fullPivLu().kernel(); + + + y = A.transpose() * pre_y; + H = A.transpose() * pre_H; + R = A.transpose() * pre_R * A; + } else { + y = pre_y; + H = pre_H; + R = pre_R; + } + // get modified H + H_mod_fun(in_x, in_H_mod); + DEM H_mod(in_H_mod); + XEM H_err = H * H_mod; + + // Do mahalobis distance test + if (MAHA_TEST){ + XXM a = (H_err * P * H_err.transpose() + R).inverse(); + double maha_dist = y.transpose() * a * y; + if (maha_dist > MAHA_THRESHOLD){ + R = 1.0e16 * R; + } + } + + // Outlier resilient weighting + double weight = 1;//(1.5)/(1 + y.squaredNorm()/R.sum()); + + // kalman gains and I_KH + XXM S = ((H_err * P) * H_err.transpose()) + R/weight; + XEM KT = S.fullPivLu().solve(H_err * P.transpose()); + //EZM K = KT.transpose(); TODO: WHY DOES THIS NOT COMPILE? + //EZM K = S.fullPivLu().solve(H_err * P.transpose()).transpose(); + //std::cout << "Here is the matrix rot:\n" << K << std::endl; + EEM I_KH = Eigen::Matrix::Identity() - (KT.transpose() * H_err); + + // update state by injecting dx + Eigen::Matrix dx(delta_x); + dx = (KT.transpose() * y); + memcpy(delta_x, dx.data(), EDIM * sizeof(double)); + err_fun(in_x, delta_x, x_new); + Eigen::Matrix x(x_new); + + // update cov + P = ((I_KH * P) * I_KH.transpose()) + ((KT.transpose() * R) * KT); + + // copy out state + memcpy(in_x, x.data(), DIM * sizeof(double)); + memcpy(in_P, P.data(), EDIM * EDIM * sizeof(double)); + memcpy(in_z, y.data(), y.rows() * sizeof(double)); +} + + + + +} +extern "C" { + +void car_update_25(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { + update<1, 3, 0>(in_x, in_P, h_25, H_25, NULL, in_z, in_R, in_ea, MAHA_THRESH_25); +} +void car_update_24(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { + update<2, 3, 0>(in_x, in_P, h_24, H_24, NULL, in_z, in_R, in_ea, MAHA_THRESH_24); +} +void car_update_30(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { + update<1, 3, 0>(in_x, in_P, h_30, H_30, NULL, in_z, in_R, in_ea, MAHA_THRESH_30); +} +void car_update_26(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { + update<1, 3, 0>(in_x, in_P, h_26, H_26, NULL, in_z, in_R, in_ea, MAHA_THRESH_26); +} +void car_update_27(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { + update<1, 3, 0>(in_x, in_P, h_27, H_27, NULL, in_z, in_R, in_ea, MAHA_THRESH_27); +} +void car_update_29(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { + update<1, 3, 0>(in_x, in_P, h_29, H_29, NULL, in_z, in_R, in_ea, MAHA_THRESH_29); +} +void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { + update<1, 3, 0>(in_x, in_P, h_28, H_28, NULL, in_z, in_R, in_ea, MAHA_THRESH_28); +} +void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { + update<1, 3, 0>(in_x, in_P, h_31, H_31, NULL, in_z, in_R, in_ea, MAHA_THRESH_31); +} +void car_err_fun(double *nom_x, double *delta_x, double *out_8249429775729676839) { + err_fun(nom_x, delta_x, out_8249429775729676839); +} +void car_inv_err_fun(double *nom_x, double *true_x, double *out_830104287538898022) { + inv_err_fun(nom_x, true_x, out_830104287538898022); +} +void car_H_mod_fun(double *state, double *out_4361542019279921949) { + H_mod_fun(state, out_4361542019279921949); +} +void car_f_fun(double *state, double dt, double *out_2834190715000315846) { + f_fun(state, dt, out_2834190715000315846); +} +void car_F_fun(double *state, double dt, double *out_8944307819367133251) { + F_fun(state, dt, out_8944307819367133251); +} +void car_h_25(double *state, double *unused, double *out_4307604535579416709) { + h_25(state, unused, out_4307604535579416709); +} +void car_H_25(double *state, double *unused, double *out_7813441128818867203) { + H_25(state, unused, out_7813441128818867203); +} +void car_h_24(double *state, double *unused, double *out_6273662611818280039) { + h_24(state, unused, out_6273662611818280039); +} +void car_H_24(double *state, double *unused, double *out_5886793617924175379) { + H_24(state, unused, out_5886793617924175379); +} +void car_h_30(double *state, double *unused, double *out_5931642792047228057) { + h_30(state, unused, out_5931642792047228057); +} +void car_H_30(double *state, double *unused, double *out_896750787327250448) { + H_30(state, unused, out_896750787327250448); +} +void car_h_26(double *state, double *unused, double *out_6116059764248474413) { + h_26(state, unused, out_6116059764248474413); +} +void car_H_26(double *state, double *unused, double *out_6891799626016628189) { + H_26(state, unused, out_6891799626016628189); +} +void car_h_27(double *state, double *unused, double *out_4488704928686580431) { + h_27(state, unused, out_4488704928686580431); +} +void car_H_27(double *state, double *unused, double *out_8329200685947019432) { + H_27(state, unused, out_8329200685947019432); +} +void car_h_29(double *state, double *unused, double *out_8350388405115082083) { + h_29(state, unused, out_8350388405115082083); +} +void car_H_29(double *state, double *unused, double *out_7432548731647715089) { + H_29(state, unused, out_7432548731647715089); +} +void car_h_28(double *state, double *unused, double *out_2722204557567641080) { + h_28(state, unused, out_2722204557567641080); +} +void car_H_28(double *state, double *unused, double *out_8579468230642794650) { + H_28(state, unused, out_8579468230642794650); +} +void car_h_31(double *state, double *unused, double *out_4150417867228287564) { + h_31(state, unused, out_4150417867228287564); +} +void car_H_31(double *state, double *unused, double *out_7782795166941906775) { + H_31(state, unused, out_7782795166941906775); +} +void car_predict(double *in_x, double *in_P, double *in_Q, double dt) { + predict(in_x, in_P, in_Q, dt); +} +void car_set_mass(double x) { + set_mass(x); +} +void car_set_rotational_inertia(double x) { + set_rotational_inertia(x); +} +void car_set_center_to_front(double x) { + set_center_to_front(x); +} +void car_set_center_to_rear(double x) { + set_center_to_rear(x); +} +void car_set_stiffness_front(double x) { + set_stiffness_front(x); +} +void car_set_stiffness_rear(double x) { + set_stiffness_rear(x); +} +} + +const EKF car = { + .name = "car", + .kinds = { 25, 24, 30, 26, 27, 29, 28, 31 }, + .feature_kinds = { }, + .f_fun = car_f_fun, + .F_fun = car_F_fun, + .err_fun = car_err_fun, + .inv_err_fun = car_inv_err_fun, + .H_mod_fun = car_H_mod_fun, + .predict = car_predict, + .hs = { + { 25, car_h_25 }, + { 24, car_h_24 }, + { 30, car_h_30 }, + { 26, car_h_26 }, + { 27, car_h_27 }, + { 29, car_h_29 }, + { 28, car_h_28 }, + { 31, car_h_31 }, + }, + .Hs = { + { 25, car_H_25 }, + { 24, car_H_24 }, + { 30, car_H_30 }, + { 26, car_H_26 }, + { 27, car_H_27 }, + { 29, car_H_29 }, + { 28, car_H_28 }, + { 31, car_H_31 }, + }, + .updates = { + { 25, car_update_25 }, + { 24, car_update_24 }, + { 30, car_update_30 }, + { 26, car_update_26 }, + { 27, car_update_27 }, + { 29, car_update_29 }, + { 28, car_update_28 }, + { 31, car_update_31 }, + }, + .Hes = { + }, + .sets = { + { "mass", car_set_mass }, + { "rotational_inertia", car_set_rotational_inertia }, + { "center_to_front", car_set_center_to_front }, + { "center_to_rear", car_set_center_to_rear }, + { "stiffness_front", car_set_stiffness_front }, + { "stiffness_rear", car_set_stiffness_rear }, + }, + .extra_routines = { + }, +}; + +ekf_lib_init(car) diff --git a/selfdrive/locationd/models/generated/car.h b/selfdrive/locationd/models/generated/car.h new file mode 100644 index 0000000000..f6400d2a7c --- /dev/null +++ b/selfdrive/locationd/models/generated/car.h @@ -0,0 +1,40 @@ +#pragma once +#include "rednose/helpers/ekf.h" +extern "C" { +void car_update_25(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); +void car_update_24(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); +void car_update_30(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); +void car_update_26(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); +void car_update_27(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); +void car_update_29(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); +void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); +void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); +void car_err_fun(double *nom_x, double *delta_x, double *out_8249429775729676839); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_830104287538898022); +void car_H_mod_fun(double *state, double *out_4361542019279921949); +void car_f_fun(double *state, double dt, double *out_2834190715000315846); +void car_F_fun(double *state, double dt, double *out_8944307819367133251); +void car_h_25(double *state, double *unused, double *out_4307604535579416709); +void car_H_25(double *state, double *unused, double *out_7813441128818867203); +void car_h_24(double *state, double *unused, double *out_6273662611818280039); +void car_H_24(double *state, double *unused, double *out_5886793617924175379); +void car_h_30(double *state, double *unused, double *out_5931642792047228057); +void car_H_30(double *state, double *unused, double *out_896750787327250448); +void car_h_26(double *state, double *unused, double *out_6116059764248474413); +void car_H_26(double *state, double *unused, double *out_6891799626016628189); +void car_h_27(double *state, double *unused, double *out_4488704928686580431); +void car_H_27(double *state, double *unused, double *out_8329200685947019432); +void car_h_29(double *state, double *unused, double *out_8350388405115082083); +void car_H_29(double *state, double *unused, double *out_7432548731647715089); +void car_h_28(double *state, double *unused, double *out_2722204557567641080); +void car_H_28(double *state, double *unused, double *out_8579468230642794650); +void car_h_31(double *state, double *unused, double *out_4150417867228287564); +void car_H_31(double *state, double *unused, double *out_7782795166941906775); +void car_predict(double *in_x, double *in_P, double *in_Q, double dt); +void car_set_mass(double x); +void car_set_rotational_inertia(double x); +void car_set_center_to_front(double x); +void car_set_center_to_rear(double x); +void car_set_stiffness_front(double x); +void car_set_stiffness_rear(double x); +} \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/libcar.so b/selfdrive/locationd/models/generated/libcar.so new file mode 100755 index 0000000000..4ad65095cf Binary files /dev/null and b/selfdrive/locationd/models/generated/libcar.so differ diff --git a/selfdrive/locationd/models/generated/liblive.so b/selfdrive/locationd/models/generated/liblive.so new file mode 100755 index 0000000000..b1ace976ee Binary files /dev/null and b/selfdrive/locationd/models/generated/liblive.so differ diff --git a/selfdrive/locationd/models/generated/live.cpp b/selfdrive/locationd/models/generated/live.cpp new file mode 100644 index 0000000000..716e15a555 --- /dev/null +++ b/selfdrive/locationd/models/generated/live.cpp @@ -0,0 +1,1987 @@ +#include "live.h" + +namespace { +#define DIM 22 +#define EDIM 21 +#define MEDIM 21 +typedef void (*Hfun)(double *, double *, double *); +const static double MAHA_THRESH_4 = 7.814727903251177; +const static double MAHA_THRESH_9 = 7.814727903251177; +const static double MAHA_THRESH_10 = 7.814727903251177; +const static double MAHA_THRESH_12 = 7.814727903251177; +const static double MAHA_THRESH_35 = 7.814727903251177; +const static double MAHA_THRESH_32 = 9.487729036781154; +const static double MAHA_THRESH_13 = 7.814727903251177; +const static double MAHA_THRESH_14 = 7.814727903251177; +const static double MAHA_THRESH_33 = 7.814727903251177; + +/****************************************************************************** + * Code generated with SymPy 1.12 * + * * + * See http://www.sympy.org/ for more information. * + * * + * This file is part of 'ekf' * + ******************************************************************************/ +void H(double *in_vec, double *out_4105801305165243309) { + out_4105801305165243309[0] = 0; + out_4105801305165243309[1] = -sin(in_vec[1])*sin(in_vec[2])*in_vec[4] - sin(in_vec[1])*cos(in_vec[2])*in_vec[3] - cos(in_vec[1])*in_vec[5]; + out_4105801305165243309[2] = -sin(in_vec[2])*cos(in_vec[1])*in_vec[3] + cos(in_vec[1])*cos(in_vec[2])*in_vec[4]; + out_4105801305165243309[3] = cos(in_vec[1])*cos(in_vec[2]); + out_4105801305165243309[4] = sin(in_vec[2])*cos(in_vec[1]); + out_4105801305165243309[5] = -sin(in_vec[1]); + out_4105801305165243309[6] = (sin(in_vec[0])*sin(in_vec[2]) + sin(in_vec[1])*cos(in_vec[0])*cos(in_vec[2]))*in_vec[3] + (-sin(in_vec[0])*cos(in_vec[2]) + sin(in_vec[1])*sin(in_vec[2])*cos(in_vec[0]))*in_vec[4] + cos(in_vec[0])*cos(in_vec[1])*in_vec[5]; + out_4105801305165243309[7] = -sin(in_vec[0])*sin(in_vec[1])*in_vec[5] + sin(in_vec[0])*sin(in_vec[2])*cos(in_vec[1])*in_vec[4] + sin(in_vec[0])*cos(in_vec[1])*cos(in_vec[2])*in_vec[3]; + out_4105801305165243309[8] = (-sin(in_vec[0])*sin(in_vec[1])*sin(in_vec[2]) - cos(in_vec[0])*cos(in_vec[2]))*in_vec[3] + (sin(in_vec[0])*sin(in_vec[1])*cos(in_vec[2]) - sin(in_vec[2])*cos(in_vec[0]))*in_vec[4]; + out_4105801305165243309[9] = sin(in_vec[0])*sin(in_vec[1])*cos(in_vec[2]) - sin(in_vec[2])*cos(in_vec[0]); + out_4105801305165243309[10] = sin(in_vec[0])*sin(in_vec[1])*sin(in_vec[2]) + cos(in_vec[0])*cos(in_vec[2]); + out_4105801305165243309[11] = sin(in_vec[0])*cos(in_vec[1]); + out_4105801305165243309[12] = (-sin(in_vec[0])*sin(in_vec[1])*sin(in_vec[2]) - cos(in_vec[0])*cos(in_vec[2]))*in_vec[4] + (-sin(in_vec[0])*sin(in_vec[1])*cos(in_vec[2]) + sin(in_vec[2])*cos(in_vec[0]))*in_vec[3] - sin(in_vec[0])*cos(in_vec[1])*in_vec[5]; + out_4105801305165243309[13] = -sin(in_vec[1])*cos(in_vec[0])*in_vec[5] + sin(in_vec[2])*cos(in_vec[0])*cos(in_vec[1])*in_vec[4] + cos(in_vec[0])*cos(in_vec[1])*cos(in_vec[2])*in_vec[3]; + out_4105801305165243309[14] = (sin(in_vec[0])*sin(in_vec[2]) + sin(in_vec[1])*cos(in_vec[0])*cos(in_vec[2]))*in_vec[4] + (sin(in_vec[0])*cos(in_vec[2]) - sin(in_vec[1])*sin(in_vec[2])*cos(in_vec[0]))*in_vec[3]; + out_4105801305165243309[15] = sin(in_vec[0])*sin(in_vec[2]) + sin(in_vec[1])*cos(in_vec[0])*cos(in_vec[2]); + out_4105801305165243309[16] = -sin(in_vec[0])*cos(in_vec[2]) + sin(in_vec[1])*sin(in_vec[2])*cos(in_vec[0]); + out_4105801305165243309[17] = cos(in_vec[0])*cos(in_vec[1]); +} +void err_fun(double *nom_x, double *delta_x, double *out_1527353819069813548) { + out_1527353819069813548[0] = delta_x[0] + nom_x[0]; + out_1527353819069813548[1] = delta_x[1] + nom_x[1]; + out_1527353819069813548[2] = delta_x[2] + nom_x[2]; + out_1527353819069813548[3] = -0.5*delta_x[3]*nom_x[4] - 0.5*delta_x[4]*nom_x[5] - 0.5*delta_x[5]*nom_x[6] + 1.0*nom_x[3]; + out_1527353819069813548[4] = 0.5*delta_x[3]*nom_x[3] + 0.5*delta_x[4]*nom_x[6] - 0.5*delta_x[5]*nom_x[5] + 1.0*nom_x[4]; + out_1527353819069813548[5] = -0.5*delta_x[3]*nom_x[6] + 0.5*delta_x[4]*nom_x[3] + 0.5*delta_x[5]*nom_x[4] + 1.0*nom_x[5]; + out_1527353819069813548[6] = 0.5*delta_x[3]*nom_x[5] - 0.5*delta_x[4]*nom_x[4] + 0.5*delta_x[5]*nom_x[3] + 1.0*nom_x[6]; + out_1527353819069813548[7] = delta_x[6] + nom_x[7]; + out_1527353819069813548[8] = delta_x[7] + nom_x[8]; + out_1527353819069813548[9] = delta_x[8] + nom_x[9]; + out_1527353819069813548[10] = delta_x[9] + nom_x[10]; + out_1527353819069813548[11] = delta_x[10] + nom_x[11]; + out_1527353819069813548[12] = delta_x[11] + nom_x[12]; + out_1527353819069813548[13] = delta_x[12] + nom_x[13]; + out_1527353819069813548[14] = delta_x[13] + nom_x[14]; + out_1527353819069813548[15] = delta_x[14] + nom_x[15]; + out_1527353819069813548[16] = delta_x[15] + nom_x[16]; + out_1527353819069813548[17] = delta_x[16] + nom_x[17]; + out_1527353819069813548[18] = delta_x[17] + nom_x[18]; + out_1527353819069813548[19] = delta_x[18] + nom_x[19]; + out_1527353819069813548[20] = delta_x[19] + nom_x[20]; + out_1527353819069813548[21] = delta_x[20] + nom_x[21]; +} +void inv_err_fun(double *nom_x, double *true_x, double *out_1150508097319133450) { + out_1150508097319133450[0] = -nom_x[0] + true_x[0]; + out_1150508097319133450[1] = -nom_x[1] + true_x[1]; + out_1150508097319133450[2] = -nom_x[2] + true_x[2]; + out_1150508097319133450[3] = 2*nom_x[3]*true_x[4] - 2*nom_x[4]*true_x[3] + 2*nom_x[5]*true_x[6] - 2*nom_x[6]*true_x[5]; + out_1150508097319133450[4] = 2*nom_x[3]*true_x[5] - 2*nom_x[4]*true_x[6] - 2*nom_x[5]*true_x[3] + 2*nom_x[6]*true_x[4]; + out_1150508097319133450[5] = 2*nom_x[3]*true_x[6] + 2*nom_x[4]*true_x[5] - 2*nom_x[5]*true_x[4] - 2*nom_x[6]*true_x[3]; + out_1150508097319133450[6] = -nom_x[7] + true_x[7]; + out_1150508097319133450[7] = -nom_x[8] + true_x[8]; + out_1150508097319133450[8] = -nom_x[9] + true_x[9]; + out_1150508097319133450[9] = -nom_x[10] + true_x[10]; + out_1150508097319133450[10] = -nom_x[11] + true_x[11]; + out_1150508097319133450[11] = -nom_x[12] + true_x[12]; + out_1150508097319133450[12] = -nom_x[13] + true_x[13]; + out_1150508097319133450[13] = -nom_x[14] + true_x[14]; + out_1150508097319133450[14] = -nom_x[15] + true_x[15]; + out_1150508097319133450[15] = -nom_x[16] + true_x[16]; + out_1150508097319133450[16] = -nom_x[17] + true_x[17]; + out_1150508097319133450[17] = -nom_x[18] + true_x[18]; + out_1150508097319133450[18] = -nom_x[19] + true_x[19]; + out_1150508097319133450[19] = -nom_x[20] + true_x[20]; + out_1150508097319133450[20] = -nom_x[21] + true_x[21]; +} +void H_mod_fun(double *state, double *out_9201410054075636868) { + out_9201410054075636868[0] = 1.0; + out_9201410054075636868[1] = 0; + out_9201410054075636868[2] = 0; + out_9201410054075636868[3] = 0; + out_9201410054075636868[4] = 0; + out_9201410054075636868[5] = 0; + out_9201410054075636868[6] = 0; + out_9201410054075636868[7] = 0; + out_9201410054075636868[8] = 0; + out_9201410054075636868[9] = 0; + out_9201410054075636868[10] = 0; + out_9201410054075636868[11] = 0; + out_9201410054075636868[12] = 0; + out_9201410054075636868[13] = 0; + out_9201410054075636868[14] = 0; + out_9201410054075636868[15] = 0; + out_9201410054075636868[16] = 0; + out_9201410054075636868[17] = 0; + out_9201410054075636868[18] = 0; + out_9201410054075636868[19] = 0; + out_9201410054075636868[20] = 0; + out_9201410054075636868[21] = 0; + out_9201410054075636868[22] = 1.0; + out_9201410054075636868[23] = 0; + out_9201410054075636868[24] = 0; + out_9201410054075636868[25] = 0; + out_9201410054075636868[26] = 0; + out_9201410054075636868[27] = 0; + out_9201410054075636868[28] = 0; + out_9201410054075636868[29] = 0; + out_9201410054075636868[30] = 0; + out_9201410054075636868[31] = 0; + out_9201410054075636868[32] = 0; + out_9201410054075636868[33] = 0; + out_9201410054075636868[34] = 0; + out_9201410054075636868[35] = 0; + out_9201410054075636868[36] = 0; + out_9201410054075636868[37] = 0; + out_9201410054075636868[38] = 0; + out_9201410054075636868[39] = 0; + out_9201410054075636868[40] = 0; + out_9201410054075636868[41] = 0; + out_9201410054075636868[42] = 0; + out_9201410054075636868[43] = 0; + out_9201410054075636868[44] = 1.0; + out_9201410054075636868[45] = 0; + out_9201410054075636868[46] = 0; + out_9201410054075636868[47] = 0; + out_9201410054075636868[48] = 0; + out_9201410054075636868[49] = 0; + out_9201410054075636868[50] = 0; + out_9201410054075636868[51] = 0; + out_9201410054075636868[52] = 0; + out_9201410054075636868[53] = 0; + out_9201410054075636868[54] = 0; + out_9201410054075636868[55] = 0; + out_9201410054075636868[56] = 0; + out_9201410054075636868[57] = 0; + out_9201410054075636868[58] = 0; + out_9201410054075636868[59] = 0; + out_9201410054075636868[60] = 0; + out_9201410054075636868[61] = 0; + out_9201410054075636868[62] = 0; + out_9201410054075636868[63] = 0; + out_9201410054075636868[64] = 0; + out_9201410054075636868[65] = 0; + out_9201410054075636868[66] = -0.5*state[4]; + out_9201410054075636868[67] = -0.5*state[5]; + out_9201410054075636868[68] = -0.5*state[6]; + out_9201410054075636868[69] = 0; + out_9201410054075636868[70] = 0; + out_9201410054075636868[71] = 0; + out_9201410054075636868[72] = 0; + out_9201410054075636868[73] = 0; + out_9201410054075636868[74] = 0; + out_9201410054075636868[75] = 0; + out_9201410054075636868[76] = 0; + out_9201410054075636868[77] = 0; + out_9201410054075636868[78] = 0; + out_9201410054075636868[79] = 0; + out_9201410054075636868[80] = 0; + out_9201410054075636868[81] = 0; + out_9201410054075636868[82] = 0; + out_9201410054075636868[83] = 0; + out_9201410054075636868[84] = 0; + out_9201410054075636868[85] = 0; + out_9201410054075636868[86] = 0; + out_9201410054075636868[87] = 0.5*state[3]; + out_9201410054075636868[88] = 0.5*state[6]; + out_9201410054075636868[89] = -0.5*state[5]; + out_9201410054075636868[90] = 0; + out_9201410054075636868[91] = 0; + out_9201410054075636868[92] = 0; + out_9201410054075636868[93] = 0; + out_9201410054075636868[94] = 0; + out_9201410054075636868[95] = 0; + out_9201410054075636868[96] = 0; + out_9201410054075636868[97] = 0; + out_9201410054075636868[98] = 0; + out_9201410054075636868[99] = 0; + out_9201410054075636868[100] = 0; + out_9201410054075636868[101] = 0; + out_9201410054075636868[102] = 0; + out_9201410054075636868[103] = 0; + out_9201410054075636868[104] = 0; + out_9201410054075636868[105] = 0; + out_9201410054075636868[106] = 0; + out_9201410054075636868[107] = 0; + out_9201410054075636868[108] = -0.5*state[6]; + out_9201410054075636868[109] = 0.5*state[3]; + out_9201410054075636868[110] = 0.5*state[4]; + out_9201410054075636868[111] = 0; + out_9201410054075636868[112] = 0; + out_9201410054075636868[113] = 0; + out_9201410054075636868[114] = 0; + out_9201410054075636868[115] = 0; + out_9201410054075636868[116] = 0; + out_9201410054075636868[117] = 0; + out_9201410054075636868[118] = 0; + out_9201410054075636868[119] = 0; + out_9201410054075636868[120] = 0; + out_9201410054075636868[121] = 0; + out_9201410054075636868[122] = 0; + out_9201410054075636868[123] = 0; + out_9201410054075636868[124] = 0; + out_9201410054075636868[125] = 0; + out_9201410054075636868[126] = 0; + out_9201410054075636868[127] = 0; + out_9201410054075636868[128] = 0; + out_9201410054075636868[129] = 0.5*state[5]; + out_9201410054075636868[130] = -0.5*state[4]; + out_9201410054075636868[131] = 0.5*state[3]; + out_9201410054075636868[132] = 0; + out_9201410054075636868[133] = 0; + out_9201410054075636868[134] = 0; + out_9201410054075636868[135] = 0; + out_9201410054075636868[136] = 0; + out_9201410054075636868[137] = 0; + out_9201410054075636868[138] = 0; + out_9201410054075636868[139] = 0; + out_9201410054075636868[140] = 0; + out_9201410054075636868[141] = 0; + out_9201410054075636868[142] = 0; + out_9201410054075636868[143] = 0; + out_9201410054075636868[144] = 0; + out_9201410054075636868[145] = 0; + out_9201410054075636868[146] = 0; + out_9201410054075636868[147] = 0; + out_9201410054075636868[148] = 0; + out_9201410054075636868[149] = 0; + out_9201410054075636868[150] = 0; + out_9201410054075636868[151] = 0; + out_9201410054075636868[152] = 0; + out_9201410054075636868[153] = 1.0; + out_9201410054075636868[154] = 0; + out_9201410054075636868[155] = 0; + out_9201410054075636868[156] = 0; + out_9201410054075636868[157] = 0; + out_9201410054075636868[158] = 0; + out_9201410054075636868[159] = 0; + out_9201410054075636868[160] = 0; + out_9201410054075636868[161] = 0; + out_9201410054075636868[162] = 0; + out_9201410054075636868[163] = 0; + out_9201410054075636868[164] = 0; + out_9201410054075636868[165] = 0; + out_9201410054075636868[166] = 0; + out_9201410054075636868[167] = 0; + out_9201410054075636868[168] = 0; + out_9201410054075636868[169] = 0; + out_9201410054075636868[170] = 0; + out_9201410054075636868[171] = 0; + out_9201410054075636868[172] = 0; + out_9201410054075636868[173] = 0; + out_9201410054075636868[174] = 0; + out_9201410054075636868[175] = 1.0; + out_9201410054075636868[176] = 0; + out_9201410054075636868[177] = 0; + out_9201410054075636868[178] = 0; + out_9201410054075636868[179] = 0; + out_9201410054075636868[180] = 0; + out_9201410054075636868[181] = 0; + out_9201410054075636868[182] = 0; + out_9201410054075636868[183] = 0; + out_9201410054075636868[184] = 0; + out_9201410054075636868[185] = 0; + out_9201410054075636868[186] = 0; + out_9201410054075636868[187] = 0; + out_9201410054075636868[188] = 0; + out_9201410054075636868[189] = 0; + out_9201410054075636868[190] = 0; + out_9201410054075636868[191] = 0; + out_9201410054075636868[192] = 0; + out_9201410054075636868[193] = 0; + out_9201410054075636868[194] = 0; + out_9201410054075636868[195] = 0; + out_9201410054075636868[196] = 0; + out_9201410054075636868[197] = 1.0; + out_9201410054075636868[198] = 0; + out_9201410054075636868[199] = 0; + out_9201410054075636868[200] = 0; + out_9201410054075636868[201] = 0; + out_9201410054075636868[202] = 0; + out_9201410054075636868[203] = 0; + out_9201410054075636868[204] = 0; + out_9201410054075636868[205] = 0; + out_9201410054075636868[206] = 0; + out_9201410054075636868[207] = 0; + out_9201410054075636868[208] = 0; + out_9201410054075636868[209] = 0; + out_9201410054075636868[210] = 0; + out_9201410054075636868[211] = 0; + out_9201410054075636868[212] = 0; + out_9201410054075636868[213] = 0; + out_9201410054075636868[214] = 0; + out_9201410054075636868[215] = 0; + out_9201410054075636868[216] = 0; + out_9201410054075636868[217] = 0; + out_9201410054075636868[218] = 0; + out_9201410054075636868[219] = 1.0; + out_9201410054075636868[220] = 0; + out_9201410054075636868[221] = 0; + out_9201410054075636868[222] = 0; + out_9201410054075636868[223] = 0; + out_9201410054075636868[224] = 0; + out_9201410054075636868[225] = 0; + out_9201410054075636868[226] = 0; + out_9201410054075636868[227] = 0; + out_9201410054075636868[228] = 0; + out_9201410054075636868[229] = 0; + out_9201410054075636868[230] = 0; + out_9201410054075636868[231] = 0; + out_9201410054075636868[232] = 0; + out_9201410054075636868[233] = 0; + out_9201410054075636868[234] = 0; + out_9201410054075636868[235] = 0; + out_9201410054075636868[236] = 0; + out_9201410054075636868[237] = 0; + out_9201410054075636868[238] = 0; + out_9201410054075636868[239] = 0; + out_9201410054075636868[240] = 0; + out_9201410054075636868[241] = 1.0; + out_9201410054075636868[242] = 0; + out_9201410054075636868[243] = 0; + out_9201410054075636868[244] = 0; + out_9201410054075636868[245] = 0; + out_9201410054075636868[246] = 0; + out_9201410054075636868[247] = 0; + out_9201410054075636868[248] = 0; + out_9201410054075636868[249] = 0; + out_9201410054075636868[250] = 0; + out_9201410054075636868[251] = 0; + out_9201410054075636868[252] = 0; + out_9201410054075636868[253] = 0; + out_9201410054075636868[254] = 0; + out_9201410054075636868[255] = 0; + out_9201410054075636868[256] = 0; + out_9201410054075636868[257] = 0; + out_9201410054075636868[258] = 0; + out_9201410054075636868[259] = 0; + out_9201410054075636868[260] = 0; + out_9201410054075636868[261] = 0; + out_9201410054075636868[262] = 0; + out_9201410054075636868[263] = 1.0; + out_9201410054075636868[264] = 0; + out_9201410054075636868[265] = 0; + out_9201410054075636868[266] = 0; + out_9201410054075636868[267] = 0; + out_9201410054075636868[268] = 0; + out_9201410054075636868[269] = 0; + out_9201410054075636868[270] = 0; + out_9201410054075636868[271] = 0; + out_9201410054075636868[272] = 0; + out_9201410054075636868[273] = 0; + out_9201410054075636868[274] = 0; + out_9201410054075636868[275] = 0; + out_9201410054075636868[276] = 0; + out_9201410054075636868[277] = 0; + out_9201410054075636868[278] = 0; + out_9201410054075636868[279] = 0; + out_9201410054075636868[280] = 0; + out_9201410054075636868[281] = 0; + out_9201410054075636868[282] = 0; + out_9201410054075636868[283] = 0; + out_9201410054075636868[284] = 0; + out_9201410054075636868[285] = 1.0; + out_9201410054075636868[286] = 0; + out_9201410054075636868[287] = 0; + out_9201410054075636868[288] = 0; + out_9201410054075636868[289] = 0; + out_9201410054075636868[290] = 0; + out_9201410054075636868[291] = 0; + out_9201410054075636868[292] = 0; + out_9201410054075636868[293] = 0; + out_9201410054075636868[294] = 0; + out_9201410054075636868[295] = 0; + out_9201410054075636868[296] = 0; + out_9201410054075636868[297] = 0; + out_9201410054075636868[298] = 0; + out_9201410054075636868[299] = 0; + out_9201410054075636868[300] = 0; + out_9201410054075636868[301] = 0; + out_9201410054075636868[302] = 0; + out_9201410054075636868[303] = 0; + out_9201410054075636868[304] = 0; + out_9201410054075636868[305] = 0; + out_9201410054075636868[306] = 0; + out_9201410054075636868[307] = 1.0; + out_9201410054075636868[308] = 0; + out_9201410054075636868[309] = 0; + out_9201410054075636868[310] = 0; + out_9201410054075636868[311] = 0; + out_9201410054075636868[312] = 0; + out_9201410054075636868[313] = 0; + out_9201410054075636868[314] = 0; + out_9201410054075636868[315] = 0; + out_9201410054075636868[316] = 0; + out_9201410054075636868[317] = 0; + out_9201410054075636868[318] = 0; + out_9201410054075636868[319] = 0; + out_9201410054075636868[320] = 0; + out_9201410054075636868[321] = 0; + out_9201410054075636868[322] = 0; + out_9201410054075636868[323] = 0; + out_9201410054075636868[324] = 0; + out_9201410054075636868[325] = 0; + out_9201410054075636868[326] = 0; + out_9201410054075636868[327] = 0; + out_9201410054075636868[328] = 0; + out_9201410054075636868[329] = 1.0; + out_9201410054075636868[330] = 0; + out_9201410054075636868[331] = 0; + out_9201410054075636868[332] = 0; + out_9201410054075636868[333] = 0; + out_9201410054075636868[334] = 0; + out_9201410054075636868[335] = 0; + out_9201410054075636868[336] = 0; + out_9201410054075636868[337] = 0; + out_9201410054075636868[338] = 0; + out_9201410054075636868[339] = 0; + out_9201410054075636868[340] = 0; + out_9201410054075636868[341] = 0; + out_9201410054075636868[342] = 0; + out_9201410054075636868[343] = 0; + out_9201410054075636868[344] = 0; + out_9201410054075636868[345] = 0; + out_9201410054075636868[346] = 0; + out_9201410054075636868[347] = 0; + out_9201410054075636868[348] = 0; + out_9201410054075636868[349] = 0; + out_9201410054075636868[350] = 0; + out_9201410054075636868[351] = 1.0; + out_9201410054075636868[352] = 0; + out_9201410054075636868[353] = 0; + out_9201410054075636868[354] = 0; + out_9201410054075636868[355] = 0; + out_9201410054075636868[356] = 0; + out_9201410054075636868[357] = 0; + out_9201410054075636868[358] = 0; + out_9201410054075636868[359] = 0; + out_9201410054075636868[360] = 0; + out_9201410054075636868[361] = 0; + out_9201410054075636868[362] = 0; + out_9201410054075636868[363] = 0; + out_9201410054075636868[364] = 0; + out_9201410054075636868[365] = 0; + out_9201410054075636868[366] = 0; + out_9201410054075636868[367] = 0; + out_9201410054075636868[368] = 0; + out_9201410054075636868[369] = 0; + out_9201410054075636868[370] = 0; + out_9201410054075636868[371] = 0; + out_9201410054075636868[372] = 0; + out_9201410054075636868[373] = 1.0; + out_9201410054075636868[374] = 0; + out_9201410054075636868[375] = 0; + out_9201410054075636868[376] = 0; + out_9201410054075636868[377] = 0; + out_9201410054075636868[378] = 0; + out_9201410054075636868[379] = 0; + out_9201410054075636868[380] = 0; + out_9201410054075636868[381] = 0; + out_9201410054075636868[382] = 0; + out_9201410054075636868[383] = 0; + out_9201410054075636868[384] = 0; + out_9201410054075636868[385] = 0; + out_9201410054075636868[386] = 0; + out_9201410054075636868[387] = 0; + out_9201410054075636868[388] = 0; + out_9201410054075636868[389] = 0; + out_9201410054075636868[390] = 0; + out_9201410054075636868[391] = 0; + out_9201410054075636868[392] = 0; + out_9201410054075636868[393] = 0; + out_9201410054075636868[394] = 0; + out_9201410054075636868[395] = 1.0; + out_9201410054075636868[396] = 0; + out_9201410054075636868[397] = 0; + out_9201410054075636868[398] = 0; + out_9201410054075636868[399] = 0; + out_9201410054075636868[400] = 0; + out_9201410054075636868[401] = 0; + out_9201410054075636868[402] = 0; + out_9201410054075636868[403] = 0; + out_9201410054075636868[404] = 0; + out_9201410054075636868[405] = 0; + out_9201410054075636868[406] = 0; + out_9201410054075636868[407] = 0; + out_9201410054075636868[408] = 0; + out_9201410054075636868[409] = 0; + out_9201410054075636868[410] = 0; + out_9201410054075636868[411] = 0; + out_9201410054075636868[412] = 0; + out_9201410054075636868[413] = 0; + out_9201410054075636868[414] = 0; + out_9201410054075636868[415] = 0; + out_9201410054075636868[416] = 0; + out_9201410054075636868[417] = 1.0; + out_9201410054075636868[418] = 0; + out_9201410054075636868[419] = 0; + out_9201410054075636868[420] = 0; + out_9201410054075636868[421] = 0; + out_9201410054075636868[422] = 0; + out_9201410054075636868[423] = 0; + out_9201410054075636868[424] = 0; + out_9201410054075636868[425] = 0; + out_9201410054075636868[426] = 0; + out_9201410054075636868[427] = 0; + out_9201410054075636868[428] = 0; + out_9201410054075636868[429] = 0; + out_9201410054075636868[430] = 0; + out_9201410054075636868[431] = 0; + out_9201410054075636868[432] = 0; + out_9201410054075636868[433] = 0; + out_9201410054075636868[434] = 0; + out_9201410054075636868[435] = 0; + out_9201410054075636868[436] = 0; + out_9201410054075636868[437] = 0; + out_9201410054075636868[438] = 0; + out_9201410054075636868[439] = 1.0; + out_9201410054075636868[440] = 0; + out_9201410054075636868[441] = 0; + out_9201410054075636868[442] = 0; + out_9201410054075636868[443] = 0; + out_9201410054075636868[444] = 0; + out_9201410054075636868[445] = 0; + out_9201410054075636868[446] = 0; + out_9201410054075636868[447] = 0; + out_9201410054075636868[448] = 0; + out_9201410054075636868[449] = 0; + out_9201410054075636868[450] = 0; + out_9201410054075636868[451] = 0; + out_9201410054075636868[452] = 0; + out_9201410054075636868[453] = 0; + out_9201410054075636868[454] = 0; + out_9201410054075636868[455] = 0; + out_9201410054075636868[456] = 0; + out_9201410054075636868[457] = 0; + out_9201410054075636868[458] = 0; + out_9201410054075636868[459] = 0; + out_9201410054075636868[460] = 0; + out_9201410054075636868[461] = 1.0; +} +void f_fun(double *state, double dt, double *out_2750541304600187330) { + out_2750541304600187330[0] = dt*state[7] + state[0]; + out_2750541304600187330[1] = dt*state[8] + state[1]; + out_2750541304600187330[2] = dt*state[9] + state[2]; + out_2750541304600187330[3] = dt*(-0.5*state[4]*state[10] - 0.5*state[5]*state[11] - 0.5*state[6]*state[12]) + state[3]; + out_2750541304600187330[4] = dt*(0.5*state[3]*state[10] + 0.5*state[5]*state[12] - 0.5*state[6]*state[11]) + state[4]; + out_2750541304600187330[5] = dt*(0.5*state[3]*state[11] - 0.5*state[4]*state[12] + 0.5*state[6]*state[10]) + state[5]; + out_2750541304600187330[6] = dt*(0.5*state[3]*state[12] + 0.5*state[4]*state[11] - 0.5*state[5]*state[10]) + state[6]; + out_2750541304600187330[7] = dt*((2*state[3]*state[5] + 2*state[4]*state[6])*state[18] + (-2*state[3]*state[6] + 2*state[4]*state[5])*state[17] + (pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[16]) + state[7]; + out_2750541304600187330[8] = dt*((-2*state[3]*state[4] + 2*state[5]*state[6])*state[18] + (2*state[3]*state[6] + 2*state[4]*state[5])*state[16] + (pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[17]) + state[8]; + out_2750541304600187330[9] = dt*((2*state[3]*state[4] + 2*state[5]*state[6])*state[17] + (-2*state[3]*state[5] + 2*state[4]*state[6])*state[16] + (pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[18]) + state[9]; + out_2750541304600187330[10] = state[10]; + out_2750541304600187330[11] = state[11]; + out_2750541304600187330[12] = state[12]; + out_2750541304600187330[13] = state[13]; + out_2750541304600187330[14] = state[14]; + out_2750541304600187330[15] = state[15]; + out_2750541304600187330[16] = state[16]; + out_2750541304600187330[17] = state[17]; + out_2750541304600187330[18] = state[18]; + out_2750541304600187330[19] = state[19]; + out_2750541304600187330[20] = state[20]; + out_2750541304600187330[21] = state[21]; +} +void F_fun(double *state, double dt, double *out_9007604950648021352) { + out_9007604950648021352[0] = 1; + out_9007604950648021352[1] = 0; + out_9007604950648021352[2] = 0; + out_9007604950648021352[3] = 0; + out_9007604950648021352[4] = 0; + out_9007604950648021352[5] = 0; + out_9007604950648021352[6] = dt; + out_9007604950648021352[7] = 0; + out_9007604950648021352[8] = 0; + out_9007604950648021352[9] = 0; + out_9007604950648021352[10] = 0; + out_9007604950648021352[11] = 0; + out_9007604950648021352[12] = 0; + out_9007604950648021352[13] = 0; + out_9007604950648021352[14] = 0; + out_9007604950648021352[15] = 0; + out_9007604950648021352[16] = 0; + out_9007604950648021352[17] = 0; + out_9007604950648021352[18] = 0; + out_9007604950648021352[19] = 0; + out_9007604950648021352[20] = 0; + out_9007604950648021352[21] = 0; + out_9007604950648021352[22] = 1; + out_9007604950648021352[23] = 0; + out_9007604950648021352[24] = 0; + out_9007604950648021352[25] = 0; + out_9007604950648021352[26] = 0; + out_9007604950648021352[27] = 0; + out_9007604950648021352[28] = dt; + out_9007604950648021352[29] = 0; + out_9007604950648021352[30] = 0; + out_9007604950648021352[31] = 0; + out_9007604950648021352[32] = 0; + out_9007604950648021352[33] = 0; + out_9007604950648021352[34] = 0; + out_9007604950648021352[35] = 0; + out_9007604950648021352[36] = 0; + out_9007604950648021352[37] = 0; + out_9007604950648021352[38] = 0; + out_9007604950648021352[39] = 0; + out_9007604950648021352[40] = 0; + out_9007604950648021352[41] = 0; + out_9007604950648021352[42] = 0; + out_9007604950648021352[43] = 0; + out_9007604950648021352[44] = 1; + out_9007604950648021352[45] = 0; + out_9007604950648021352[46] = 0; + out_9007604950648021352[47] = 0; + out_9007604950648021352[48] = 0; + out_9007604950648021352[49] = 0; + out_9007604950648021352[50] = dt; + out_9007604950648021352[51] = 0; + out_9007604950648021352[52] = 0; + out_9007604950648021352[53] = 0; + out_9007604950648021352[54] = 0; + out_9007604950648021352[55] = 0; + out_9007604950648021352[56] = 0; + out_9007604950648021352[57] = 0; + out_9007604950648021352[58] = 0; + out_9007604950648021352[59] = 0; + out_9007604950648021352[60] = 0; + out_9007604950648021352[61] = 0; + out_9007604950648021352[62] = 0; + out_9007604950648021352[63] = 0; + out_9007604950648021352[64] = 0; + out_9007604950648021352[65] = 0; + out_9007604950648021352[66] = 1; + out_9007604950648021352[67] = dt*((2*state[3]*state[4] + 2*state[5]*state[6])*state[11] + (-2*state[3]*state[5] + 2*state[4]*state[6])*state[10] + (pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[12]); + out_9007604950648021352[68] = dt*((2*state[3]*state[4] - 2*state[5]*state[6])*state[12] + (-2*state[3]*state[6] - 2*state[4]*state[5])*state[10] + (-pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[11]); + out_9007604950648021352[69] = 0; + out_9007604950648021352[70] = 0; + out_9007604950648021352[71] = 0; + out_9007604950648021352[72] = dt*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2)); + out_9007604950648021352[73] = dt*(-2*state[3]*state[6] + 2*state[4]*state[5]); + out_9007604950648021352[74] = dt*(2*state[3]*state[5] + 2*state[4]*state[6]); + out_9007604950648021352[75] = 0; + out_9007604950648021352[76] = 0; + out_9007604950648021352[77] = 0; + out_9007604950648021352[78] = 0; + out_9007604950648021352[79] = 0; + out_9007604950648021352[80] = 0; + out_9007604950648021352[81] = 0; + out_9007604950648021352[82] = 0; + out_9007604950648021352[83] = 0; + out_9007604950648021352[84] = 0; + out_9007604950648021352[85] = 0; + out_9007604950648021352[86] = 0; + out_9007604950648021352[87] = dt*(-(2*state[3]*state[4] + 2*state[5]*state[6])*state[11] - (-2*state[3]*state[5] + 2*state[4]*state[6])*state[10] - (pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[12]); + out_9007604950648021352[88] = 1; + out_9007604950648021352[89] = dt*((2*state[3]*state[5] + 2*state[4]*state[6])*state[12] + (-2*state[3]*state[6] + 2*state[4]*state[5])*state[11] + (pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[10]); + out_9007604950648021352[90] = 0; + out_9007604950648021352[91] = 0; + out_9007604950648021352[92] = 0; + out_9007604950648021352[93] = dt*(2*state[3]*state[6] + 2*state[4]*state[5]); + out_9007604950648021352[94] = dt*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2)); + out_9007604950648021352[95] = dt*(-2*state[3]*state[4] + 2*state[5]*state[6]); + out_9007604950648021352[96] = 0; + out_9007604950648021352[97] = 0; + out_9007604950648021352[98] = 0; + out_9007604950648021352[99] = 0; + out_9007604950648021352[100] = 0; + out_9007604950648021352[101] = 0; + out_9007604950648021352[102] = 0; + out_9007604950648021352[103] = 0; + out_9007604950648021352[104] = 0; + out_9007604950648021352[105] = 0; + out_9007604950648021352[106] = 0; + out_9007604950648021352[107] = 0; + out_9007604950648021352[108] = dt*((-2*state[3]*state[4] + 2*state[5]*state[6])*state[12] + (2*state[3]*state[6] + 2*state[4]*state[5])*state[10] + (pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[11]); + out_9007604950648021352[109] = dt*((-2*state[3]*state[5] - 2*state[4]*state[6])*state[12] + (2*state[3]*state[6] - 2*state[4]*state[5])*state[11] + (-pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) + pow(state[6], 2))*state[10]); + out_9007604950648021352[110] = 1; + out_9007604950648021352[111] = 0; + out_9007604950648021352[112] = 0; + out_9007604950648021352[113] = 0; + out_9007604950648021352[114] = dt*(-2*state[3]*state[5] + 2*state[4]*state[6]); + out_9007604950648021352[115] = dt*(2*state[3]*state[4] + 2*state[5]*state[6]); + out_9007604950648021352[116] = dt*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2)); + out_9007604950648021352[117] = 0; + out_9007604950648021352[118] = 0; + out_9007604950648021352[119] = 0; + out_9007604950648021352[120] = 0; + out_9007604950648021352[121] = 0; + out_9007604950648021352[122] = 0; + out_9007604950648021352[123] = 0; + out_9007604950648021352[124] = 0; + out_9007604950648021352[125] = 0; + out_9007604950648021352[126] = 0; + out_9007604950648021352[127] = 0; + out_9007604950648021352[128] = 0; + out_9007604950648021352[129] = 0; + out_9007604950648021352[130] = dt*((2*state[3]*state[4] + 2*state[5]*state[6])*state[17] + (-2*state[3]*state[5] + 2*state[4]*state[6])*state[16] + (pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[18]); + out_9007604950648021352[131] = dt*((2*state[3]*state[4] - 2*state[5]*state[6])*state[18] + (-2*state[3]*state[6] - 2*state[4]*state[5])*state[16] + (-pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[17]); + out_9007604950648021352[132] = 1; + out_9007604950648021352[133] = 0; + out_9007604950648021352[134] = 0; + out_9007604950648021352[135] = 0; + out_9007604950648021352[136] = 0; + out_9007604950648021352[137] = 0; + out_9007604950648021352[138] = 0; + out_9007604950648021352[139] = 0; + out_9007604950648021352[140] = 0; + out_9007604950648021352[141] = dt*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2)); + out_9007604950648021352[142] = dt*(-2*state[3]*state[6] + 2*state[4]*state[5]); + out_9007604950648021352[143] = dt*(2*state[3]*state[5] + 2*state[4]*state[6]); + out_9007604950648021352[144] = 0; + out_9007604950648021352[145] = 0; + out_9007604950648021352[146] = 0; + out_9007604950648021352[147] = 0; + out_9007604950648021352[148] = 0; + out_9007604950648021352[149] = 0; + out_9007604950648021352[150] = dt*(-(2*state[3]*state[4] + 2*state[5]*state[6])*state[17] - (-2*state[3]*state[5] + 2*state[4]*state[6])*state[16] - (pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[18]); + out_9007604950648021352[151] = 0; + out_9007604950648021352[152] = dt*((2*state[3]*state[5] + 2*state[4]*state[6])*state[18] + (-2*state[3]*state[6] + 2*state[4]*state[5])*state[17] + (pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[16]); + out_9007604950648021352[153] = 0; + out_9007604950648021352[154] = 1; + out_9007604950648021352[155] = 0; + out_9007604950648021352[156] = 0; + out_9007604950648021352[157] = 0; + out_9007604950648021352[158] = 0; + out_9007604950648021352[159] = 0; + out_9007604950648021352[160] = 0; + out_9007604950648021352[161] = 0; + out_9007604950648021352[162] = dt*(2*state[3]*state[6] + 2*state[4]*state[5]); + out_9007604950648021352[163] = dt*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2)); + out_9007604950648021352[164] = dt*(-2*state[3]*state[4] + 2*state[5]*state[6]); + out_9007604950648021352[165] = 0; + out_9007604950648021352[166] = 0; + out_9007604950648021352[167] = 0; + out_9007604950648021352[168] = 0; + out_9007604950648021352[169] = 0; + out_9007604950648021352[170] = 0; + out_9007604950648021352[171] = dt*((-2*state[3]*state[4] + 2*state[5]*state[6])*state[18] + (2*state[3]*state[6] + 2*state[4]*state[5])*state[16] + (pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[17]); + out_9007604950648021352[172] = dt*((-2*state[3]*state[5] - 2*state[4]*state[6])*state[18] + (2*state[3]*state[6] - 2*state[4]*state[5])*state[17] + (-pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) + pow(state[6], 2))*state[16]); + out_9007604950648021352[173] = 0; + out_9007604950648021352[174] = 0; + out_9007604950648021352[175] = 0; + out_9007604950648021352[176] = 1; + out_9007604950648021352[177] = 0; + out_9007604950648021352[178] = 0; + out_9007604950648021352[179] = 0; + out_9007604950648021352[180] = 0; + out_9007604950648021352[181] = 0; + out_9007604950648021352[182] = 0; + out_9007604950648021352[183] = dt*(-2*state[3]*state[5] + 2*state[4]*state[6]); + out_9007604950648021352[184] = dt*(2*state[3]*state[4] + 2*state[5]*state[6]); + out_9007604950648021352[185] = dt*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2)); + out_9007604950648021352[186] = 0; + out_9007604950648021352[187] = 0; + out_9007604950648021352[188] = 0; + out_9007604950648021352[189] = 0; + out_9007604950648021352[190] = 0; + out_9007604950648021352[191] = 0; + out_9007604950648021352[192] = 0; + out_9007604950648021352[193] = 0; + out_9007604950648021352[194] = 0; + out_9007604950648021352[195] = 0; + out_9007604950648021352[196] = 0; + out_9007604950648021352[197] = 0; + out_9007604950648021352[198] = 1; + out_9007604950648021352[199] = 0; + out_9007604950648021352[200] = 0; + out_9007604950648021352[201] = 0; + out_9007604950648021352[202] = 0; + out_9007604950648021352[203] = 0; + out_9007604950648021352[204] = 0; + out_9007604950648021352[205] = 0; + out_9007604950648021352[206] = 0; + out_9007604950648021352[207] = 0; + out_9007604950648021352[208] = 0; + out_9007604950648021352[209] = 0; + out_9007604950648021352[210] = 0; + out_9007604950648021352[211] = 0; + out_9007604950648021352[212] = 0; + out_9007604950648021352[213] = 0; + out_9007604950648021352[214] = 0; + out_9007604950648021352[215] = 0; + out_9007604950648021352[216] = 0; + out_9007604950648021352[217] = 0; + out_9007604950648021352[218] = 0; + out_9007604950648021352[219] = 0; + out_9007604950648021352[220] = 1; + out_9007604950648021352[221] = 0; + out_9007604950648021352[222] = 0; + out_9007604950648021352[223] = 0; + out_9007604950648021352[224] = 0; + out_9007604950648021352[225] = 0; + out_9007604950648021352[226] = 0; + out_9007604950648021352[227] = 0; + out_9007604950648021352[228] = 0; + out_9007604950648021352[229] = 0; + out_9007604950648021352[230] = 0; + out_9007604950648021352[231] = 0; + out_9007604950648021352[232] = 0; + out_9007604950648021352[233] = 0; + out_9007604950648021352[234] = 0; + out_9007604950648021352[235] = 0; + out_9007604950648021352[236] = 0; + out_9007604950648021352[237] = 0; + out_9007604950648021352[238] = 0; + out_9007604950648021352[239] = 0; + out_9007604950648021352[240] = 0; + out_9007604950648021352[241] = 0; + out_9007604950648021352[242] = 1; + out_9007604950648021352[243] = 0; + out_9007604950648021352[244] = 0; + out_9007604950648021352[245] = 0; + out_9007604950648021352[246] = 0; + out_9007604950648021352[247] = 0; + out_9007604950648021352[248] = 0; + out_9007604950648021352[249] = 0; + out_9007604950648021352[250] = 0; + out_9007604950648021352[251] = 0; + out_9007604950648021352[252] = 0; + out_9007604950648021352[253] = 0; + out_9007604950648021352[254] = 0; + out_9007604950648021352[255] = 0; + out_9007604950648021352[256] = 0; + out_9007604950648021352[257] = 0; + out_9007604950648021352[258] = 0; + out_9007604950648021352[259] = 0; + out_9007604950648021352[260] = 0; + out_9007604950648021352[261] = 0; + out_9007604950648021352[262] = 0; + out_9007604950648021352[263] = 0; + out_9007604950648021352[264] = 1; + out_9007604950648021352[265] = 0; + out_9007604950648021352[266] = 0; + out_9007604950648021352[267] = 0; + out_9007604950648021352[268] = 0; + out_9007604950648021352[269] = 0; + out_9007604950648021352[270] = 0; + out_9007604950648021352[271] = 0; + out_9007604950648021352[272] = 0; + out_9007604950648021352[273] = 0; + out_9007604950648021352[274] = 0; + out_9007604950648021352[275] = 0; + out_9007604950648021352[276] = 0; + out_9007604950648021352[277] = 0; + out_9007604950648021352[278] = 0; + out_9007604950648021352[279] = 0; + out_9007604950648021352[280] = 0; + out_9007604950648021352[281] = 0; + out_9007604950648021352[282] = 0; + out_9007604950648021352[283] = 0; + out_9007604950648021352[284] = 0; + out_9007604950648021352[285] = 0; + out_9007604950648021352[286] = 1; + out_9007604950648021352[287] = 0; + out_9007604950648021352[288] = 0; + out_9007604950648021352[289] = 0; + out_9007604950648021352[290] = 0; + out_9007604950648021352[291] = 0; + out_9007604950648021352[292] = 0; + out_9007604950648021352[293] = 0; + out_9007604950648021352[294] = 0; + out_9007604950648021352[295] = 0; + out_9007604950648021352[296] = 0; + out_9007604950648021352[297] = 0; + out_9007604950648021352[298] = 0; + out_9007604950648021352[299] = 0; + out_9007604950648021352[300] = 0; + out_9007604950648021352[301] = 0; + out_9007604950648021352[302] = 0; + out_9007604950648021352[303] = 0; + out_9007604950648021352[304] = 0; + out_9007604950648021352[305] = 0; + out_9007604950648021352[306] = 0; + out_9007604950648021352[307] = 0; + out_9007604950648021352[308] = 1; + out_9007604950648021352[309] = 0; + out_9007604950648021352[310] = 0; + out_9007604950648021352[311] = 0; + out_9007604950648021352[312] = 0; + out_9007604950648021352[313] = 0; + out_9007604950648021352[314] = 0; + out_9007604950648021352[315] = 0; + out_9007604950648021352[316] = 0; + out_9007604950648021352[317] = 0; + out_9007604950648021352[318] = 0; + out_9007604950648021352[319] = 0; + out_9007604950648021352[320] = 0; + out_9007604950648021352[321] = 0; + out_9007604950648021352[322] = 0; + out_9007604950648021352[323] = 0; + out_9007604950648021352[324] = 0; + out_9007604950648021352[325] = 0; + out_9007604950648021352[326] = 0; + out_9007604950648021352[327] = 0; + out_9007604950648021352[328] = 0; + out_9007604950648021352[329] = 0; + out_9007604950648021352[330] = 1; + out_9007604950648021352[331] = 0; + out_9007604950648021352[332] = 0; + out_9007604950648021352[333] = 0; + out_9007604950648021352[334] = 0; + out_9007604950648021352[335] = 0; + out_9007604950648021352[336] = 0; + out_9007604950648021352[337] = 0; + out_9007604950648021352[338] = 0; + out_9007604950648021352[339] = 0; + out_9007604950648021352[340] = 0; + out_9007604950648021352[341] = 0; + out_9007604950648021352[342] = 0; + out_9007604950648021352[343] = 0; + out_9007604950648021352[344] = 0; + out_9007604950648021352[345] = 0; + out_9007604950648021352[346] = 0; + out_9007604950648021352[347] = 0; + out_9007604950648021352[348] = 0; + out_9007604950648021352[349] = 0; + out_9007604950648021352[350] = 0; + out_9007604950648021352[351] = 0; + out_9007604950648021352[352] = 1; + out_9007604950648021352[353] = 0; + out_9007604950648021352[354] = 0; + out_9007604950648021352[355] = 0; + out_9007604950648021352[356] = 0; + out_9007604950648021352[357] = 0; + out_9007604950648021352[358] = 0; + out_9007604950648021352[359] = 0; + out_9007604950648021352[360] = 0; + out_9007604950648021352[361] = 0; + out_9007604950648021352[362] = 0; + out_9007604950648021352[363] = 0; + out_9007604950648021352[364] = 0; + out_9007604950648021352[365] = 0; + out_9007604950648021352[366] = 0; + out_9007604950648021352[367] = 0; + out_9007604950648021352[368] = 0; + out_9007604950648021352[369] = 0; + out_9007604950648021352[370] = 0; + out_9007604950648021352[371] = 0; + out_9007604950648021352[372] = 0; + out_9007604950648021352[373] = 0; + out_9007604950648021352[374] = 1; + out_9007604950648021352[375] = 0; + out_9007604950648021352[376] = 0; + out_9007604950648021352[377] = 0; + out_9007604950648021352[378] = 0; + out_9007604950648021352[379] = 0; + out_9007604950648021352[380] = 0; + out_9007604950648021352[381] = 0; + out_9007604950648021352[382] = 0; + out_9007604950648021352[383] = 0; + out_9007604950648021352[384] = 0; + out_9007604950648021352[385] = 0; + out_9007604950648021352[386] = 0; + out_9007604950648021352[387] = 0; + out_9007604950648021352[388] = 0; + out_9007604950648021352[389] = 0; + out_9007604950648021352[390] = 0; + out_9007604950648021352[391] = 0; + out_9007604950648021352[392] = 0; + out_9007604950648021352[393] = 0; + out_9007604950648021352[394] = 0; + out_9007604950648021352[395] = 0; + out_9007604950648021352[396] = 1; + out_9007604950648021352[397] = 0; + out_9007604950648021352[398] = 0; + out_9007604950648021352[399] = 0; + out_9007604950648021352[400] = 0; + out_9007604950648021352[401] = 0; + out_9007604950648021352[402] = 0; + out_9007604950648021352[403] = 0; + out_9007604950648021352[404] = 0; + out_9007604950648021352[405] = 0; + out_9007604950648021352[406] = 0; + out_9007604950648021352[407] = 0; + out_9007604950648021352[408] = 0; + out_9007604950648021352[409] = 0; + out_9007604950648021352[410] = 0; + out_9007604950648021352[411] = 0; + out_9007604950648021352[412] = 0; + out_9007604950648021352[413] = 0; + out_9007604950648021352[414] = 0; + out_9007604950648021352[415] = 0; + out_9007604950648021352[416] = 0; + out_9007604950648021352[417] = 0; + out_9007604950648021352[418] = 1; + out_9007604950648021352[419] = 0; + out_9007604950648021352[420] = 0; + out_9007604950648021352[421] = 0; + out_9007604950648021352[422] = 0; + out_9007604950648021352[423] = 0; + out_9007604950648021352[424] = 0; + out_9007604950648021352[425] = 0; + out_9007604950648021352[426] = 0; + out_9007604950648021352[427] = 0; + out_9007604950648021352[428] = 0; + out_9007604950648021352[429] = 0; + out_9007604950648021352[430] = 0; + out_9007604950648021352[431] = 0; + out_9007604950648021352[432] = 0; + out_9007604950648021352[433] = 0; + out_9007604950648021352[434] = 0; + out_9007604950648021352[435] = 0; + out_9007604950648021352[436] = 0; + out_9007604950648021352[437] = 0; + out_9007604950648021352[438] = 0; + out_9007604950648021352[439] = 0; + out_9007604950648021352[440] = 1; +} +void h_4(double *state, double *unused, double *out_8038839072030675567) { + out_8038839072030675567[0] = state[10] + state[13]; + out_8038839072030675567[1] = state[11] + state[14]; + out_8038839072030675567[2] = state[12] + state[15]; +} +void H_4(double *state, double *unused, double *out_1131593618317370348) { + out_1131593618317370348[0] = 0; + out_1131593618317370348[1] = 0; + out_1131593618317370348[2] = 0; + out_1131593618317370348[3] = 0; + out_1131593618317370348[4] = 0; + out_1131593618317370348[5] = 0; + out_1131593618317370348[6] = 0; + out_1131593618317370348[7] = 0; + out_1131593618317370348[8] = 0; + out_1131593618317370348[9] = 0; + out_1131593618317370348[10] = 1; + out_1131593618317370348[11] = 0; + out_1131593618317370348[12] = 0; + out_1131593618317370348[13] = 1; + out_1131593618317370348[14] = 0; + out_1131593618317370348[15] = 0; + out_1131593618317370348[16] = 0; + out_1131593618317370348[17] = 0; + out_1131593618317370348[18] = 0; + out_1131593618317370348[19] = 0; + out_1131593618317370348[20] = 0; + out_1131593618317370348[21] = 0; + out_1131593618317370348[22] = 0; + out_1131593618317370348[23] = 0; + out_1131593618317370348[24] = 0; + out_1131593618317370348[25] = 0; + out_1131593618317370348[26] = 0; + out_1131593618317370348[27] = 0; + out_1131593618317370348[28] = 0; + out_1131593618317370348[29] = 0; + out_1131593618317370348[30] = 0; + out_1131593618317370348[31] = 0; + out_1131593618317370348[32] = 0; + out_1131593618317370348[33] = 1; + out_1131593618317370348[34] = 0; + out_1131593618317370348[35] = 0; + out_1131593618317370348[36] = 1; + out_1131593618317370348[37] = 0; + out_1131593618317370348[38] = 0; + out_1131593618317370348[39] = 0; + out_1131593618317370348[40] = 0; + out_1131593618317370348[41] = 0; + out_1131593618317370348[42] = 0; + out_1131593618317370348[43] = 0; + out_1131593618317370348[44] = 0; + out_1131593618317370348[45] = 0; + out_1131593618317370348[46] = 0; + out_1131593618317370348[47] = 0; + out_1131593618317370348[48] = 0; + out_1131593618317370348[49] = 0; + out_1131593618317370348[50] = 0; + out_1131593618317370348[51] = 0; + out_1131593618317370348[52] = 0; + out_1131593618317370348[53] = 0; + out_1131593618317370348[54] = 0; + out_1131593618317370348[55] = 0; + out_1131593618317370348[56] = 1; + out_1131593618317370348[57] = 0; + out_1131593618317370348[58] = 0; + out_1131593618317370348[59] = 1; + out_1131593618317370348[60] = 0; + out_1131593618317370348[61] = 0; + out_1131593618317370348[62] = 0; + out_1131593618317370348[63] = 0; + out_1131593618317370348[64] = 0; + out_1131593618317370348[65] = 0; +} +void h_9(double *state, double *unused, double *out_3419344664469703150) { + out_3419344664469703150[0] = state[10]; + out_3419344664469703150[1] = state[11]; + out_3419344664469703150[2] = state[12]; +} +void H_9(double *state, double *unused, double *out_6155625316947077122) { + out_6155625316947077122[0] = 0; + out_6155625316947077122[1] = 0; + out_6155625316947077122[2] = 0; + out_6155625316947077122[3] = 0; + out_6155625316947077122[4] = 0; + out_6155625316947077122[5] = 0; + out_6155625316947077122[6] = 0; + out_6155625316947077122[7] = 0; + out_6155625316947077122[8] = 0; + out_6155625316947077122[9] = 0; + out_6155625316947077122[10] = 1; + out_6155625316947077122[11] = 0; + out_6155625316947077122[12] = 0; + out_6155625316947077122[13] = 0; + out_6155625316947077122[14] = 0; + out_6155625316947077122[15] = 0; + out_6155625316947077122[16] = 0; + out_6155625316947077122[17] = 0; + out_6155625316947077122[18] = 0; + out_6155625316947077122[19] = 0; + out_6155625316947077122[20] = 0; + out_6155625316947077122[21] = 0; + out_6155625316947077122[22] = 0; + out_6155625316947077122[23] = 0; + out_6155625316947077122[24] = 0; + out_6155625316947077122[25] = 0; + out_6155625316947077122[26] = 0; + out_6155625316947077122[27] = 0; + out_6155625316947077122[28] = 0; + out_6155625316947077122[29] = 0; + out_6155625316947077122[30] = 0; + out_6155625316947077122[31] = 0; + out_6155625316947077122[32] = 0; + out_6155625316947077122[33] = 1; + out_6155625316947077122[34] = 0; + out_6155625316947077122[35] = 0; + out_6155625316947077122[36] = 0; + out_6155625316947077122[37] = 0; + out_6155625316947077122[38] = 0; + out_6155625316947077122[39] = 0; + out_6155625316947077122[40] = 0; + out_6155625316947077122[41] = 0; + out_6155625316947077122[42] = 0; + out_6155625316947077122[43] = 0; + out_6155625316947077122[44] = 0; + out_6155625316947077122[45] = 0; + out_6155625316947077122[46] = 0; + out_6155625316947077122[47] = 0; + out_6155625316947077122[48] = 0; + out_6155625316947077122[49] = 0; + out_6155625316947077122[50] = 0; + out_6155625316947077122[51] = 0; + out_6155625316947077122[52] = 0; + out_6155625316947077122[53] = 0; + out_6155625316947077122[54] = 0; + out_6155625316947077122[55] = 0; + out_6155625316947077122[56] = 1; + out_6155625316947077122[57] = 0; + out_6155625316947077122[58] = 0; + out_6155625316947077122[59] = 0; + out_6155625316947077122[60] = 0; + out_6155625316947077122[61] = 0; + out_6155625316947077122[62] = 0; + out_6155625316947077122[63] = 0; + out_6155625316947077122[64] = 0; + out_6155625316947077122[65] = 0; +} +void h_10(double *state, double *unused, double *out_5003270737099408033) { + out_5003270737099408033[0] = 398600500000000.0*(-2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2] + 398600500000000.0*(2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1] + 398600500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[0] + state[16] + state[19]; + out_5003270737099408033[1] = 398600500000000.0*(2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2] + 398600500000000.0*(-2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0] + 398600500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[1] + state[17] + state[20]; + out_5003270737099408033[2] = 398600500000000.0*(-2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1] + 398600500000000.0*(2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0] + 398600500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[2] + state[18] + state[21]; +} +void H_10(double *state, double *unused, double *out_3493184430272708612) { + out_3493184430272708612[0] = -1195801500000000.0*(-2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[2] - 1195801500000000.0*(2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[1] - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*pow(state[0], 2) + 398600500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2)); + out_3493184430272708612[1] = -1195801500000000.0*(-2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[1]*state[2] - 1195801500000000.0*(2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*pow(state[1], 2) + 398600500000000.0*(2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5) - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[0]*state[1]; + out_3493184430272708612[2] = -1195801500000000.0*(-2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*pow(state[2], 2) + 398600500000000.0*(-2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5) - 1195801500000000.0*(2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[1]*state[2] - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[0]*state[2]; + out_3493184430272708612[3] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[3] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[6] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[5]; + out_3493184430272708612[4] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[4] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[5] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[6]; + out_3493184430272708612[5] = -797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[5] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[4] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[3]; + out_3493184430272708612[6] = -797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[6] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[3] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[4]; + out_3493184430272708612[7] = 0; + out_3493184430272708612[8] = 0; + out_3493184430272708612[9] = 0; + out_3493184430272708612[10] = 0; + out_3493184430272708612[11] = 0; + out_3493184430272708612[12] = 0; + out_3493184430272708612[13] = 0; + out_3493184430272708612[14] = 0; + out_3493184430272708612[15] = 0; + out_3493184430272708612[16] = 1; + out_3493184430272708612[17] = 0; + out_3493184430272708612[18] = 0; + out_3493184430272708612[19] = 1; + out_3493184430272708612[20] = 0; + out_3493184430272708612[21] = 0; + out_3493184430272708612[22] = -1195801500000000.0*(2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[2] - 1195801500000000.0*(-2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*pow(state[0], 2) + 398600500000000.0*(-2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5) - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[0]*state[1]; + out_3493184430272708612[23] = -1195801500000000.0*(2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[1]*state[2] - 1195801500000000.0*(-2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[1] - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*pow(state[1], 2) + 398600500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2)); + out_3493184430272708612[24] = -1195801500000000.0*(2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*pow(state[2], 2) + 398600500000000.0*(2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5) - 1195801500000000.0*(-2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[2] - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[1]*state[2]; + out_3493184430272708612[25] = -797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[6] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[3] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[4]; + out_3493184430272708612[26] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[5] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[4] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[3]; + out_3493184430272708612[27] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[4] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[5] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[6]; + out_3493184430272708612[28] = -797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[3] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[6] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[5]; + out_3493184430272708612[29] = 0; + out_3493184430272708612[30] = 0; + out_3493184430272708612[31] = 0; + out_3493184430272708612[32] = 0; + out_3493184430272708612[33] = 0; + out_3493184430272708612[34] = 0; + out_3493184430272708612[35] = 0; + out_3493184430272708612[36] = 0; + out_3493184430272708612[37] = 0; + out_3493184430272708612[38] = 0; + out_3493184430272708612[39] = 1; + out_3493184430272708612[40] = 0; + out_3493184430272708612[41] = 0; + out_3493184430272708612[42] = 1; + out_3493184430272708612[43] = 0; + out_3493184430272708612[44] = -1195801500000000.0*(-2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[1] - 1195801500000000.0*(2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*pow(state[0], 2) + 398600500000000.0*(2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5) - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[0]*state[2]; + out_3493184430272708612[45] = -1195801500000000.0*(-2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*pow(state[1], 2) + 398600500000000.0*(-2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5) - 1195801500000000.0*(2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[1] - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[1]*state[2]; + out_3493184430272708612[46] = -1195801500000000.0*(-2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[1]*state[2] - 1195801500000000.0*(2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[2] - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*pow(state[2], 2) + 398600500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2)); + out_3493184430272708612[47] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[5] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[4] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[3]; + out_3493184430272708612[48] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[6] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[3] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[4]; + out_3493184430272708612[49] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[3] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[6] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[5]; + out_3493184430272708612[50] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[4] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[5] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[6]; + out_3493184430272708612[51] = 0; + out_3493184430272708612[52] = 0; + out_3493184430272708612[53] = 0; + out_3493184430272708612[54] = 0; + out_3493184430272708612[55] = 0; + out_3493184430272708612[56] = 0; + out_3493184430272708612[57] = 0; + out_3493184430272708612[58] = 0; + out_3493184430272708612[59] = 0; + out_3493184430272708612[60] = 0; + out_3493184430272708612[61] = 0; + out_3493184430272708612[62] = 1; + out_3493184430272708612[63] = 0; + out_3493184430272708612[64] = 0; + out_3493184430272708612[65] = 1; +} +void h_12(double *state, double *unused, double *out_5639048575738913533) { + out_5639048575738913533[0] = state[0]; + out_5639048575738913533[1] = state[1]; + out_5639048575738913533[2] = state[2]; +} +void H_12(double *state, double *unused, double *out_7512851995360103344) { + out_7512851995360103344[0] = 1; + out_7512851995360103344[1] = 0; + out_7512851995360103344[2] = 0; + out_7512851995360103344[3] = 0; + out_7512851995360103344[4] = 0; + out_7512851995360103344[5] = 0; + out_7512851995360103344[6] = 0; + out_7512851995360103344[7] = 0; + out_7512851995360103344[8] = 0; + out_7512851995360103344[9] = 0; + out_7512851995360103344[10] = 0; + out_7512851995360103344[11] = 0; + out_7512851995360103344[12] = 0; + out_7512851995360103344[13] = 0; + out_7512851995360103344[14] = 0; + out_7512851995360103344[15] = 0; + out_7512851995360103344[16] = 0; + out_7512851995360103344[17] = 0; + out_7512851995360103344[18] = 0; + out_7512851995360103344[19] = 0; + out_7512851995360103344[20] = 0; + out_7512851995360103344[21] = 0; + out_7512851995360103344[22] = 0; + out_7512851995360103344[23] = 1; + out_7512851995360103344[24] = 0; + out_7512851995360103344[25] = 0; + out_7512851995360103344[26] = 0; + out_7512851995360103344[27] = 0; + out_7512851995360103344[28] = 0; + out_7512851995360103344[29] = 0; + out_7512851995360103344[30] = 0; + out_7512851995360103344[31] = 0; + out_7512851995360103344[32] = 0; + out_7512851995360103344[33] = 0; + out_7512851995360103344[34] = 0; + out_7512851995360103344[35] = 0; + out_7512851995360103344[36] = 0; + out_7512851995360103344[37] = 0; + out_7512851995360103344[38] = 0; + out_7512851995360103344[39] = 0; + out_7512851995360103344[40] = 0; + out_7512851995360103344[41] = 0; + out_7512851995360103344[42] = 0; + out_7512851995360103344[43] = 0; + out_7512851995360103344[44] = 0; + out_7512851995360103344[45] = 0; + out_7512851995360103344[46] = 1; + out_7512851995360103344[47] = 0; + out_7512851995360103344[48] = 0; + out_7512851995360103344[49] = 0; + out_7512851995360103344[50] = 0; + out_7512851995360103344[51] = 0; + out_7512851995360103344[52] = 0; + out_7512851995360103344[53] = 0; + out_7512851995360103344[54] = 0; + out_7512851995360103344[55] = 0; + out_7512851995360103344[56] = 0; + out_7512851995360103344[57] = 0; + out_7512851995360103344[58] = 0; + out_7512851995360103344[59] = 0; + out_7512851995360103344[60] = 0; + out_7512851995360103344[61] = 0; + out_7512851995360103344[62] = 0; + out_7512851995360103344[63] = 0; + out_7512851995360103344[64] = 0; + out_7512851995360103344[65] = 0; +} +void h_35(double *state, double *unused, double *out_6940864320378296078) { + out_6940864320378296078[0] = state[7]; + out_6940864320378296078[1] = state[8]; + out_6940864320378296078[2] = state[9]; +} +void H_35(double *state, double *unused, double *out_6633425822039605156) { + out_6633425822039605156[0] = 0; + out_6633425822039605156[1] = 0; + out_6633425822039605156[2] = 0; + out_6633425822039605156[3] = 0; + out_6633425822039605156[4] = 0; + out_6633425822039605156[5] = 0; + out_6633425822039605156[6] = 0; + out_6633425822039605156[7] = 1; + out_6633425822039605156[8] = 0; + out_6633425822039605156[9] = 0; + out_6633425822039605156[10] = 0; + out_6633425822039605156[11] = 0; + out_6633425822039605156[12] = 0; + out_6633425822039605156[13] = 0; + out_6633425822039605156[14] = 0; + out_6633425822039605156[15] = 0; + out_6633425822039605156[16] = 0; + out_6633425822039605156[17] = 0; + out_6633425822039605156[18] = 0; + out_6633425822039605156[19] = 0; + out_6633425822039605156[20] = 0; + out_6633425822039605156[21] = 0; + out_6633425822039605156[22] = 0; + out_6633425822039605156[23] = 0; + out_6633425822039605156[24] = 0; + out_6633425822039605156[25] = 0; + out_6633425822039605156[26] = 0; + out_6633425822039605156[27] = 0; + out_6633425822039605156[28] = 0; + out_6633425822039605156[29] = 0; + out_6633425822039605156[30] = 1; + out_6633425822039605156[31] = 0; + out_6633425822039605156[32] = 0; + out_6633425822039605156[33] = 0; + out_6633425822039605156[34] = 0; + out_6633425822039605156[35] = 0; + out_6633425822039605156[36] = 0; + out_6633425822039605156[37] = 0; + out_6633425822039605156[38] = 0; + out_6633425822039605156[39] = 0; + out_6633425822039605156[40] = 0; + out_6633425822039605156[41] = 0; + out_6633425822039605156[42] = 0; + out_6633425822039605156[43] = 0; + out_6633425822039605156[44] = 0; + out_6633425822039605156[45] = 0; + out_6633425822039605156[46] = 0; + out_6633425822039605156[47] = 0; + out_6633425822039605156[48] = 0; + out_6633425822039605156[49] = 0; + out_6633425822039605156[50] = 0; + out_6633425822039605156[51] = 0; + out_6633425822039605156[52] = 0; + out_6633425822039605156[53] = 1; + out_6633425822039605156[54] = 0; + out_6633425822039605156[55] = 0; + out_6633425822039605156[56] = 0; + out_6633425822039605156[57] = 0; + out_6633425822039605156[58] = 0; + out_6633425822039605156[59] = 0; + out_6633425822039605156[60] = 0; + out_6633425822039605156[61] = 0; + out_6633425822039605156[62] = 0; + out_6633425822039605156[63] = 0; + out_6633425822039605156[64] = 0; + out_6633425822039605156[65] = 0; +} +void h_32(double *state, double *unused, double *out_1777780279760841959) { + out_1777780279760841959[0] = state[3]; + out_1777780279760841959[1] = state[4]; + out_1777780279760841959[2] = state[5]; + out_1777780279760841959[3] = state[6]; +} +void H_32(double *state, double *unused, double *out_1034015409172522923) { + out_1034015409172522923[0] = 0; + out_1034015409172522923[1] = 0; + out_1034015409172522923[2] = 0; + out_1034015409172522923[3] = 1; + out_1034015409172522923[4] = 0; + out_1034015409172522923[5] = 0; + out_1034015409172522923[6] = 0; + out_1034015409172522923[7] = 0; + out_1034015409172522923[8] = 0; + out_1034015409172522923[9] = 0; + out_1034015409172522923[10] = 0; + out_1034015409172522923[11] = 0; + out_1034015409172522923[12] = 0; + out_1034015409172522923[13] = 0; + out_1034015409172522923[14] = 0; + out_1034015409172522923[15] = 0; + out_1034015409172522923[16] = 0; + out_1034015409172522923[17] = 0; + out_1034015409172522923[18] = 0; + out_1034015409172522923[19] = 0; + out_1034015409172522923[20] = 0; + out_1034015409172522923[21] = 0; + out_1034015409172522923[22] = 0; + out_1034015409172522923[23] = 0; + out_1034015409172522923[24] = 0; + out_1034015409172522923[25] = 0; + out_1034015409172522923[26] = 1; + out_1034015409172522923[27] = 0; + out_1034015409172522923[28] = 0; + out_1034015409172522923[29] = 0; + out_1034015409172522923[30] = 0; + out_1034015409172522923[31] = 0; + out_1034015409172522923[32] = 0; + out_1034015409172522923[33] = 0; + out_1034015409172522923[34] = 0; + out_1034015409172522923[35] = 0; + out_1034015409172522923[36] = 0; + out_1034015409172522923[37] = 0; + out_1034015409172522923[38] = 0; + out_1034015409172522923[39] = 0; + out_1034015409172522923[40] = 0; + out_1034015409172522923[41] = 0; + out_1034015409172522923[42] = 0; + out_1034015409172522923[43] = 0; + out_1034015409172522923[44] = 0; + out_1034015409172522923[45] = 0; + out_1034015409172522923[46] = 0; + out_1034015409172522923[47] = 0; + out_1034015409172522923[48] = 0; + out_1034015409172522923[49] = 1; + out_1034015409172522923[50] = 0; + out_1034015409172522923[51] = 0; + out_1034015409172522923[52] = 0; + out_1034015409172522923[53] = 0; + out_1034015409172522923[54] = 0; + out_1034015409172522923[55] = 0; + out_1034015409172522923[56] = 0; + out_1034015409172522923[57] = 0; + out_1034015409172522923[58] = 0; + out_1034015409172522923[59] = 0; + out_1034015409172522923[60] = 0; + out_1034015409172522923[61] = 0; + out_1034015409172522923[62] = 0; + out_1034015409172522923[63] = 0; + out_1034015409172522923[64] = 0; + out_1034015409172522923[65] = 0; + out_1034015409172522923[66] = 0; + out_1034015409172522923[67] = 0; + out_1034015409172522923[68] = 0; + out_1034015409172522923[69] = 0; + out_1034015409172522923[70] = 0; + out_1034015409172522923[71] = 0; + out_1034015409172522923[72] = 1; + out_1034015409172522923[73] = 0; + out_1034015409172522923[74] = 0; + out_1034015409172522923[75] = 0; + out_1034015409172522923[76] = 0; + out_1034015409172522923[77] = 0; + out_1034015409172522923[78] = 0; + out_1034015409172522923[79] = 0; + out_1034015409172522923[80] = 0; + out_1034015409172522923[81] = 0; + out_1034015409172522923[82] = 0; + out_1034015409172522923[83] = 0; + out_1034015409172522923[84] = 0; + out_1034015409172522923[85] = 0; + out_1034015409172522923[86] = 0; + out_1034015409172522923[87] = 0; +} +void h_13(double *state, double *unused, double *out_6698752759045524612) { + out_6698752759045524612[0] = (-2*state[3]*state[5] + 2*state[4]*state[6])*state[9] + (2*state[3]*state[6] + 2*state[4]*state[5])*state[8] + (pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[7]; + out_6698752759045524612[1] = (2*state[3]*state[4] + 2*state[5]*state[6])*state[9] + (-2*state[3]*state[6] + 2*state[4]*state[5])*state[7] + (pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[8]; + out_6698752759045524612[2] = (-2*state[3]*state[4] + 2*state[5]*state[6])*state[8] + (2*state[3]*state[5] + 2*state[4]*state[6])*state[7] + (pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[9]; +} +void H_13(double *state, double *unused, double *out_4680425477733587786) { + out_4680425477733587786[0] = 0; + out_4680425477733587786[1] = 0; + out_4680425477733587786[2] = 0; + out_4680425477733587786[3] = 2*state[3]*state[7] - 2*state[5]*state[9] + 2*state[6]*state[8]; + out_4680425477733587786[4] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9]; + out_4680425477733587786[5] = -2*state[3]*state[9] + 2*state[4]*state[8] - 2*state[5]*state[7]; + out_4680425477733587786[6] = 2*state[3]*state[8] + 2*state[4]*state[9] - 2*state[6]*state[7]; + out_4680425477733587786[7] = pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2); + out_4680425477733587786[8] = 2*state[3]*state[6] + 2*state[4]*state[5]; + out_4680425477733587786[9] = -2*state[3]*state[5] + 2*state[4]*state[6]; + out_4680425477733587786[10] = 0; + out_4680425477733587786[11] = 0; + out_4680425477733587786[12] = 0; + out_4680425477733587786[13] = 0; + out_4680425477733587786[14] = 0; + out_4680425477733587786[15] = 0; + out_4680425477733587786[16] = 0; + out_4680425477733587786[17] = 0; + out_4680425477733587786[18] = 0; + out_4680425477733587786[19] = 0; + out_4680425477733587786[20] = 0; + out_4680425477733587786[21] = 0; + out_4680425477733587786[22] = 0; + out_4680425477733587786[23] = 0; + out_4680425477733587786[24] = 0; + out_4680425477733587786[25] = 2*state[3]*state[8] + 2*state[4]*state[9] - 2*state[6]*state[7]; + out_4680425477733587786[26] = 2*state[3]*state[9] - 2*state[4]*state[8] + 2*state[5]*state[7]; + out_4680425477733587786[27] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9]; + out_4680425477733587786[28] = -2*state[3]*state[7] + 2*state[5]*state[9] - 2*state[6]*state[8]; + out_4680425477733587786[29] = -2*state[3]*state[6] + 2*state[4]*state[5]; + out_4680425477733587786[30] = pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2); + out_4680425477733587786[31] = 2*state[3]*state[4] + 2*state[5]*state[6]; + out_4680425477733587786[32] = 0; + out_4680425477733587786[33] = 0; + out_4680425477733587786[34] = 0; + out_4680425477733587786[35] = 0; + out_4680425477733587786[36] = 0; + out_4680425477733587786[37] = 0; + out_4680425477733587786[38] = 0; + out_4680425477733587786[39] = 0; + out_4680425477733587786[40] = 0; + out_4680425477733587786[41] = 0; + out_4680425477733587786[42] = 0; + out_4680425477733587786[43] = 0; + out_4680425477733587786[44] = 0; + out_4680425477733587786[45] = 0; + out_4680425477733587786[46] = 0; + out_4680425477733587786[47] = 2*state[3]*state[9] - 2*state[4]*state[8] + 2*state[5]*state[7]; + out_4680425477733587786[48] = -2*state[3]*state[8] - 2*state[4]*state[9] + 2*state[6]*state[7]; + out_4680425477733587786[49] = 2*state[3]*state[7] - 2*state[5]*state[9] + 2*state[6]*state[8]; + out_4680425477733587786[50] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9]; + out_4680425477733587786[51] = 2*state[3]*state[5] + 2*state[4]*state[6]; + out_4680425477733587786[52] = -2*state[3]*state[4] + 2*state[5]*state[6]; + out_4680425477733587786[53] = pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2); + out_4680425477733587786[54] = 0; + out_4680425477733587786[55] = 0; + out_4680425477733587786[56] = 0; + out_4680425477733587786[57] = 0; + out_4680425477733587786[58] = 0; + out_4680425477733587786[59] = 0; + out_4680425477733587786[60] = 0; + out_4680425477733587786[61] = 0; + out_4680425477733587786[62] = 0; + out_4680425477733587786[63] = 0; + out_4680425477733587786[64] = 0; + out_4680425477733587786[65] = 0; +} +void h_14(double *state, double *unused, double *out_3419344664469703150) { + out_3419344664469703150[0] = state[10]; + out_3419344664469703150[1] = state[11]; + out_3419344664469703150[2] = state[12]; +} +void H_14(double *state, double *unused, double *out_6155625316947077122) { + out_6155625316947077122[0] = 0; + out_6155625316947077122[1] = 0; + out_6155625316947077122[2] = 0; + out_6155625316947077122[3] = 0; + out_6155625316947077122[4] = 0; + out_6155625316947077122[5] = 0; + out_6155625316947077122[6] = 0; + out_6155625316947077122[7] = 0; + out_6155625316947077122[8] = 0; + out_6155625316947077122[9] = 0; + out_6155625316947077122[10] = 1; + out_6155625316947077122[11] = 0; + out_6155625316947077122[12] = 0; + out_6155625316947077122[13] = 0; + out_6155625316947077122[14] = 0; + out_6155625316947077122[15] = 0; + out_6155625316947077122[16] = 0; + out_6155625316947077122[17] = 0; + out_6155625316947077122[18] = 0; + out_6155625316947077122[19] = 0; + out_6155625316947077122[20] = 0; + out_6155625316947077122[21] = 0; + out_6155625316947077122[22] = 0; + out_6155625316947077122[23] = 0; + out_6155625316947077122[24] = 0; + out_6155625316947077122[25] = 0; + out_6155625316947077122[26] = 0; + out_6155625316947077122[27] = 0; + out_6155625316947077122[28] = 0; + out_6155625316947077122[29] = 0; + out_6155625316947077122[30] = 0; + out_6155625316947077122[31] = 0; + out_6155625316947077122[32] = 0; + out_6155625316947077122[33] = 1; + out_6155625316947077122[34] = 0; + out_6155625316947077122[35] = 0; + out_6155625316947077122[36] = 0; + out_6155625316947077122[37] = 0; + out_6155625316947077122[38] = 0; + out_6155625316947077122[39] = 0; + out_6155625316947077122[40] = 0; + out_6155625316947077122[41] = 0; + out_6155625316947077122[42] = 0; + out_6155625316947077122[43] = 0; + out_6155625316947077122[44] = 0; + out_6155625316947077122[45] = 0; + out_6155625316947077122[46] = 0; + out_6155625316947077122[47] = 0; + out_6155625316947077122[48] = 0; + out_6155625316947077122[49] = 0; + out_6155625316947077122[50] = 0; + out_6155625316947077122[51] = 0; + out_6155625316947077122[52] = 0; + out_6155625316947077122[53] = 0; + out_6155625316947077122[54] = 0; + out_6155625316947077122[55] = 0; + out_6155625316947077122[56] = 1; + out_6155625316947077122[57] = 0; + out_6155625316947077122[58] = 0; + out_6155625316947077122[59] = 0; + out_6155625316947077122[60] = 0; + out_6155625316947077122[61] = 0; + out_6155625316947077122[62] = 0; + out_6155625316947077122[63] = 0; + out_6155625316947077122[64] = 0; + out_6155625316947077122[65] = 0; +} +void h_33(double *state, double *unused, double *out_2535265115295483406) { + out_2535265115295483406[0] = state[16]; + out_2535265115295483406[1] = state[17]; + out_2535265115295483406[2] = state[18]; +} +void H_33(double *state, double *unused, double *out_5385625443694094632) { + out_5385625443694094632[0] = 0; + out_5385625443694094632[1] = 0; + out_5385625443694094632[2] = 0; + out_5385625443694094632[3] = 0; + out_5385625443694094632[4] = 0; + out_5385625443694094632[5] = 0; + out_5385625443694094632[6] = 0; + out_5385625443694094632[7] = 0; + out_5385625443694094632[8] = 0; + out_5385625443694094632[9] = 0; + out_5385625443694094632[10] = 0; + out_5385625443694094632[11] = 0; + out_5385625443694094632[12] = 0; + out_5385625443694094632[13] = 0; + out_5385625443694094632[14] = 0; + out_5385625443694094632[15] = 0; + out_5385625443694094632[16] = 1; + out_5385625443694094632[17] = 0; + out_5385625443694094632[18] = 0; + out_5385625443694094632[19] = 0; + out_5385625443694094632[20] = 0; + out_5385625443694094632[21] = 0; + out_5385625443694094632[22] = 0; + out_5385625443694094632[23] = 0; + out_5385625443694094632[24] = 0; + out_5385625443694094632[25] = 0; + out_5385625443694094632[26] = 0; + out_5385625443694094632[27] = 0; + out_5385625443694094632[28] = 0; + out_5385625443694094632[29] = 0; + out_5385625443694094632[30] = 0; + out_5385625443694094632[31] = 0; + out_5385625443694094632[32] = 0; + out_5385625443694094632[33] = 0; + out_5385625443694094632[34] = 0; + out_5385625443694094632[35] = 0; + out_5385625443694094632[36] = 0; + out_5385625443694094632[37] = 0; + out_5385625443694094632[38] = 0; + out_5385625443694094632[39] = 1; + out_5385625443694094632[40] = 0; + out_5385625443694094632[41] = 0; + out_5385625443694094632[42] = 0; + out_5385625443694094632[43] = 0; + out_5385625443694094632[44] = 0; + out_5385625443694094632[45] = 0; + out_5385625443694094632[46] = 0; + out_5385625443694094632[47] = 0; + out_5385625443694094632[48] = 0; + out_5385625443694094632[49] = 0; + out_5385625443694094632[50] = 0; + out_5385625443694094632[51] = 0; + out_5385625443694094632[52] = 0; + out_5385625443694094632[53] = 0; + out_5385625443694094632[54] = 0; + out_5385625443694094632[55] = 0; + out_5385625443694094632[56] = 0; + out_5385625443694094632[57] = 0; + out_5385625443694094632[58] = 0; + out_5385625443694094632[59] = 0; + out_5385625443694094632[60] = 0; + out_5385625443694094632[61] = 0; + out_5385625443694094632[62] = 1; + out_5385625443694094632[63] = 0; + out_5385625443694094632[64] = 0; + out_5385625443694094632[65] = 0; +} +#include +#include + +typedef Eigen::Matrix DDM; +typedef Eigen::Matrix EEM; +typedef Eigen::Matrix DEM; + +void predict(double *in_x, double *in_P, double *in_Q, double dt) { + typedef Eigen::Matrix RRM; + + double nx[DIM] = {0}; + double in_F[EDIM*EDIM] = {0}; + + // functions from sympy + f_fun(in_x, dt, nx); + F_fun(in_x, dt, in_F); + + + EEM F(in_F); + EEM P(in_P); + EEM Q(in_Q); + + RRM F_main = F.topLeftCorner(MEDIM, MEDIM); + P.topLeftCorner(MEDIM, MEDIM) = (F_main * P.topLeftCorner(MEDIM, MEDIM)) * F_main.transpose(); + P.topRightCorner(MEDIM, EDIM - MEDIM) = F_main * P.topRightCorner(MEDIM, EDIM - MEDIM); + P.bottomLeftCorner(EDIM - MEDIM, MEDIM) = P.bottomLeftCorner(EDIM - MEDIM, MEDIM) * F_main.transpose(); + + P = P + dt*Q; + + // copy out state + memcpy(in_x, nx, DIM * sizeof(double)); + memcpy(in_P, P.data(), EDIM * EDIM * sizeof(double)); +} + +// note: extra_args dim only correct when null space projecting +// otherwise 1 +template +void update(double *in_x, double *in_P, Hfun h_fun, Hfun H_fun, Hfun Hea_fun, double *in_z, double *in_R, double *in_ea, double MAHA_THRESHOLD) { + typedef Eigen::Matrix ZZM; + typedef Eigen::Matrix ZDM; + typedef Eigen::Matrix XEM; + //typedef Eigen::Matrix EZM; + typedef Eigen::Matrix X1M; + typedef Eigen::Matrix XXM; + + double in_hx[ZDIM] = {0}; + double in_H[ZDIM * DIM] = {0}; + double in_H_mod[EDIM * DIM] = {0}; + double delta_x[EDIM] = {0}; + double x_new[DIM] = {0}; + + + // state x, P + Eigen::Matrix z(in_z); + EEM P(in_P); + ZZM pre_R(in_R); + + // functions from sympy + h_fun(in_x, in_ea, in_hx); + H_fun(in_x, in_ea, in_H); + ZDM pre_H(in_H); + + // get y (y = z - hx) + Eigen::Matrix pre_y(in_hx); pre_y = z - pre_y; + X1M y; XXM H; XXM R; + if (Hea_fun){ + typedef Eigen::Matrix ZAM; + double in_Hea[ZDIM * EADIM] = {0}; + Hea_fun(in_x, in_ea, in_Hea); + ZAM Hea(in_Hea); + XXM A = Hea.transpose().fullPivLu().kernel(); + + + y = A.transpose() * pre_y; + H = A.transpose() * pre_H; + R = A.transpose() * pre_R * A; + } else { + y = pre_y; + H = pre_H; + R = pre_R; + } + // get modified H + H_mod_fun(in_x, in_H_mod); + DEM H_mod(in_H_mod); + XEM H_err = H * H_mod; + + // Do mahalobis distance test + if (MAHA_TEST){ + XXM a = (H_err * P * H_err.transpose() + R).inverse(); + double maha_dist = y.transpose() * a * y; + if (maha_dist > MAHA_THRESHOLD){ + R = 1.0e16 * R; + } + } + + // Outlier resilient weighting + double weight = 1;//(1.5)/(1 + y.squaredNorm()/R.sum()); + + // kalman gains and I_KH + XXM S = ((H_err * P) * H_err.transpose()) + R/weight; + XEM KT = S.fullPivLu().solve(H_err * P.transpose()); + //EZM K = KT.transpose(); TODO: WHY DOES THIS NOT COMPILE? + //EZM K = S.fullPivLu().solve(H_err * P.transpose()).transpose(); + //std::cout << "Here is the matrix rot:\n" << K << std::endl; + EEM I_KH = Eigen::Matrix::Identity() - (KT.transpose() * H_err); + + // update state by injecting dx + Eigen::Matrix dx(delta_x); + dx = (KT.transpose() * y); + memcpy(delta_x, dx.data(), EDIM * sizeof(double)); + err_fun(in_x, delta_x, x_new); + Eigen::Matrix x(x_new); + + // update cov + P = ((I_KH * P) * I_KH.transpose()) + ((KT.transpose() * R) * KT); + + // copy out state + memcpy(in_x, x.data(), DIM * sizeof(double)); + memcpy(in_P, P.data(), EDIM * EDIM * sizeof(double)); + memcpy(in_z, y.data(), y.rows() * sizeof(double)); +} + + + + +} +extern "C" { + +void live_update_4(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { + update<3, 3, 0>(in_x, in_P, h_4, H_4, NULL, in_z, in_R, in_ea, MAHA_THRESH_4); +} +void live_update_9(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { + update<3, 3, 0>(in_x, in_P, h_9, H_9, NULL, in_z, in_R, in_ea, MAHA_THRESH_9); +} +void live_update_10(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { + update<3, 3, 0>(in_x, in_P, h_10, H_10, NULL, in_z, in_R, in_ea, MAHA_THRESH_10); +} +void live_update_12(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { + update<3, 3, 0>(in_x, in_P, h_12, H_12, NULL, in_z, in_R, in_ea, MAHA_THRESH_12); +} +void live_update_35(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { + update<3, 3, 0>(in_x, in_P, h_35, H_35, NULL, in_z, in_R, in_ea, MAHA_THRESH_35); +} +void live_update_32(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { + update<4, 3, 0>(in_x, in_P, h_32, H_32, NULL, in_z, in_R, in_ea, MAHA_THRESH_32); +} +void live_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { + update<3, 3, 0>(in_x, in_P, h_13, H_13, NULL, in_z, in_R, in_ea, MAHA_THRESH_13); +} +void live_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { + update<3, 3, 0>(in_x, in_P, h_14, H_14, NULL, in_z, in_R, in_ea, MAHA_THRESH_14); +} +void live_update_33(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { + update<3, 3, 0>(in_x, in_P, h_33, H_33, NULL, in_z, in_R, in_ea, MAHA_THRESH_33); +} +void live_H(double *in_vec, double *out_4105801305165243309) { + H(in_vec, out_4105801305165243309); +} +void live_err_fun(double *nom_x, double *delta_x, double *out_1527353819069813548) { + err_fun(nom_x, delta_x, out_1527353819069813548); +} +void live_inv_err_fun(double *nom_x, double *true_x, double *out_1150508097319133450) { + inv_err_fun(nom_x, true_x, out_1150508097319133450); +} +void live_H_mod_fun(double *state, double *out_9201410054075636868) { + H_mod_fun(state, out_9201410054075636868); +} +void live_f_fun(double *state, double dt, double *out_2750541304600187330) { + f_fun(state, dt, out_2750541304600187330); +} +void live_F_fun(double *state, double dt, double *out_9007604950648021352) { + F_fun(state, dt, out_9007604950648021352); +} +void live_h_4(double *state, double *unused, double *out_8038839072030675567) { + h_4(state, unused, out_8038839072030675567); +} +void live_H_4(double *state, double *unused, double *out_1131593618317370348) { + H_4(state, unused, out_1131593618317370348); +} +void live_h_9(double *state, double *unused, double *out_3419344664469703150) { + h_9(state, unused, out_3419344664469703150); +} +void live_H_9(double *state, double *unused, double *out_6155625316947077122) { + H_9(state, unused, out_6155625316947077122); +} +void live_h_10(double *state, double *unused, double *out_5003270737099408033) { + h_10(state, unused, out_5003270737099408033); +} +void live_H_10(double *state, double *unused, double *out_3493184430272708612) { + H_10(state, unused, out_3493184430272708612); +} +void live_h_12(double *state, double *unused, double *out_5639048575738913533) { + h_12(state, unused, out_5639048575738913533); +} +void live_H_12(double *state, double *unused, double *out_7512851995360103344) { + H_12(state, unused, out_7512851995360103344); +} +void live_h_35(double *state, double *unused, double *out_6940864320378296078) { + h_35(state, unused, out_6940864320378296078); +} +void live_H_35(double *state, double *unused, double *out_6633425822039605156) { + H_35(state, unused, out_6633425822039605156); +} +void live_h_32(double *state, double *unused, double *out_1777780279760841959) { + h_32(state, unused, out_1777780279760841959); +} +void live_H_32(double *state, double *unused, double *out_1034015409172522923) { + H_32(state, unused, out_1034015409172522923); +} +void live_h_13(double *state, double *unused, double *out_6698752759045524612) { + h_13(state, unused, out_6698752759045524612); +} +void live_H_13(double *state, double *unused, double *out_4680425477733587786) { + H_13(state, unused, out_4680425477733587786); +} +void live_h_14(double *state, double *unused, double *out_3419344664469703150) { + h_14(state, unused, out_3419344664469703150); +} +void live_H_14(double *state, double *unused, double *out_6155625316947077122) { + H_14(state, unused, out_6155625316947077122); +} +void live_h_33(double *state, double *unused, double *out_2535265115295483406) { + h_33(state, unused, out_2535265115295483406); +} +void live_H_33(double *state, double *unused, double *out_5385625443694094632) { + H_33(state, unused, out_5385625443694094632); +} +void live_predict(double *in_x, double *in_P, double *in_Q, double dt) { + predict(in_x, in_P, in_Q, dt); +} +} + +const EKF live = { + .name = "live", + .kinds = { 4, 9, 10, 12, 35, 32, 13, 14, 33 }, + .feature_kinds = { }, + .f_fun = live_f_fun, + .F_fun = live_F_fun, + .err_fun = live_err_fun, + .inv_err_fun = live_inv_err_fun, + .H_mod_fun = live_H_mod_fun, + .predict = live_predict, + .hs = { + { 4, live_h_4 }, + { 9, live_h_9 }, + { 10, live_h_10 }, + { 12, live_h_12 }, + { 35, live_h_35 }, + { 32, live_h_32 }, + { 13, live_h_13 }, + { 14, live_h_14 }, + { 33, live_h_33 }, + }, + .Hs = { + { 4, live_H_4 }, + { 9, live_H_9 }, + { 10, live_H_10 }, + { 12, live_H_12 }, + { 35, live_H_35 }, + { 32, live_H_32 }, + { 13, live_H_13 }, + { 14, live_H_14 }, + { 33, live_H_33 }, + }, + .updates = { + { 4, live_update_4 }, + { 9, live_update_9 }, + { 10, live_update_10 }, + { 12, live_update_12 }, + { 35, live_update_35 }, + { 32, live_update_32 }, + { 13, live_update_13 }, + { 14, live_update_14 }, + { 33, live_update_33 }, + }, + .Hes = { + }, + .sets = { + }, + .extra_routines = { + { "H", live_H }, + }, +}; + +ekf_lib_init(live) diff --git a/selfdrive/locationd/models/generated/live.h b/selfdrive/locationd/models/generated/live.h new file mode 100644 index 0000000000..c08bd4846d --- /dev/null +++ b/selfdrive/locationd/models/generated/live.h @@ -0,0 +1,38 @@ +#pragma once +#include "rednose/helpers/ekf.h" +extern "C" { +void live_update_4(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); +void live_update_9(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); +void live_update_10(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); +void live_update_12(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); +void live_update_35(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); +void live_update_32(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); +void live_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); +void live_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); +void live_update_33(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); +void live_H(double *in_vec, double *out_4105801305165243309); +void live_err_fun(double *nom_x, double *delta_x, double *out_1527353819069813548); +void live_inv_err_fun(double *nom_x, double *true_x, double *out_1150508097319133450); +void live_H_mod_fun(double *state, double *out_9201410054075636868); +void live_f_fun(double *state, double dt, double *out_2750541304600187330); +void live_F_fun(double *state, double dt, double *out_9007604950648021352); +void live_h_4(double *state, double *unused, double *out_8038839072030675567); +void live_H_4(double *state, double *unused, double *out_1131593618317370348); +void live_h_9(double *state, double *unused, double *out_3419344664469703150); +void live_H_9(double *state, double *unused, double *out_6155625316947077122); +void live_h_10(double *state, double *unused, double *out_5003270737099408033); +void live_H_10(double *state, double *unused, double *out_3493184430272708612); +void live_h_12(double *state, double *unused, double *out_5639048575738913533); +void live_H_12(double *state, double *unused, double *out_7512851995360103344); +void live_h_35(double *state, double *unused, double *out_6940864320378296078); +void live_H_35(double *state, double *unused, double *out_6633425822039605156); +void live_h_32(double *state, double *unused, double *out_1777780279760841959); +void live_H_32(double *state, double *unused, double *out_1034015409172522923); +void live_h_13(double *state, double *unused, double *out_6698752759045524612); +void live_H_13(double *state, double *unused, double *out_4680425477733587786); +void live_h_14(double *state, double *unused, double *out_3419344664469703150); +void live_H_14(double *state, double *unused, double *out_6155625316947077122); +void live_h_33(double *state, double *unused, double *out_2535265115295483406); +void live_H_33(double *state, double *unused, double *out_5385625443694094632); +void live_predict(double *in_x, double *in_P, double *in_Q, double dt); +} \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/live_kf_constants.h b/selfdrive/locationd/models/generated/live_kf_constants.h new file mode 100644 index 0000000000..7cdcba0550 --- /dev/null +++ b/selfdrive/locationd/models/generated/live_kf_constants.h @@ -0,0 +1,102 @@ +#pragma once + +#include +#include + +#define STATE_ACCELERATION_START 16 +#define STATE_ACCELERATION_END 19 +#define STATE_ACCELERATION_LEN 3 +#define STATE_ACCELERATION_ERR_START 15 +#define STATE_ACCELERATION_ERR_END 18 +#define STATE_ACCELERATION_ERR_LEN 3 +#define STATE_ACC_BIAS_START 19 +#define STATE_ACC_BIAS_END 22 +#define STATE_ACC_BIAS_LEN 3 +#define STATE_ACC_BIAS_ERR_START 18 +#define STATE_ACC_BIAS_ERR_END 21 +#define STATE_ACC_BIAS_ERR_LEN 3 +#define STATE_ANGULAR_VELOCITY_START 10 +#define STATE_ANGULAR_VELOCITY_END 13 +#define STATE_ANGULAR_VELOCITY_LEN 3 +#define STATE_ANGULAR_VELOCITY_ERR_START 9 +#define STATE_ANGULAR_VELOCITY_ERR_END 12 +#define STATE_ANGULAR_VELOCITY_ERR_LEN 3 +#define STATE_ECEF_ORIENTATION_START 3 +#define STATE_ECEF_ORIENTATION_END 7 +#define STATE_ECEF_ORIENTATION_LEN 4 +#define STATE_ECEF_ORIENTATION_ERR_START 3 +#define STATE_ECEF_ORIENTATION_ERR_END 6 +#define STATE_ECEF_ORIENTATION_ERR_LEN 3 +#define STATE_ECEF_POS_START 0 +#define STATE_ECEF_POS_END 3 +#define STATE_ECEF_POS_LEN 3 +#define STATE_ECEF_POS_ERR_START 0 +#define STATE_ECEF_POS_ERR_END 3 +#define STATE_ECEF_POS_ERR_LEN 3 +#define STATE_ECEF_VELOCITY_START 7 +#define STATE_ECEF_VELOCITY_END 10 +#define STATE_ECEF_VELOCITY_LEN 3 +#define STATE_ECEF_VELOCITY_ERR_START 6 +#define STATE_ECEF_VELOCITY_ERR_END 9 +#define STATE_ECEF_VELOCITY_ERR_LEN 3 +#define STATE_GYRO_BIAS_START 13 +#define STATE_GYRO_BIAS_END 16 +#define STATE_GYRO_BIAS_LEN 3 +#define STATE_GYRO_BIAS_ERR_START 12 +#define STATE_GYRO_BIAS_ERR_END 15 +#define STATE_GYRO_BIAS_ERR_LEN 3 + +#define OBSERVATION_ANGLE_OFFSET_FAST 27 +#define OBSERVATION_CAMERA_ODO_ROTATION 14 +#define OBSERVATION_CAMERA_ODO_TRANSLATION 13 +#define OBSERVATION_ECEF_ORIENTATION_FROM_GPS 32 +#define OBSERVATION_ECEF_POS 12 +#define OBSERVATION_ECEF_VEL 35 +#define OBSERVATION_FEATURE_TRACK_TEST 17 +#define OBSERVATION_GPS_NED 2 +#define OBSERVATION_GPS_VEL 5 +#define OBSERVATION_IMU_FRAME 19 +#define OBSERVATION_LANE_PT 18 +#define OBSERVATION_MSCKF_TEST 16 +#define OBSERVATION_NO_ACCEL 33 +#define OBSERVATION_NO_OBSERVATION 1 +#define OBSERVATION_NO_ROT 9 +#define OBSERVATION_ODOMETRIC_SPEED 3 +#define OBSERVATION_ORB_FEATURES 15 +#define OBSERVATION_ORB_FEATURES_WIDE 34 +#define OBSERVATION_ORB_POINT 11 +#define OBSERVATION_PHONE_ACCEL 10 +#define OBSERVATION_PHONE_GYRO 4 +#define OBSERVATION_PSEUDORANGE 22 +#define OBSERVATION_PSEUDORANGE_GLONASS 20 +#define OBSERVATION_PSEUDORANGE_GPS 6 +#define OBSERVATION_PSEUDORANGE_RATE 23 +#define OBSERVATION_PSEUDORANGE_RATE_GLONASS 21 +#define OBSERVATION_PSEUDORANGE_RATE_GPS 7 +#define OBSERVATION_ROAD_FRAME_XY_SPEED 24 +#define OBSERVATION_ROAD_FRAME_X_SPEED 30 +#define OBSERVATION_ROAD_FRAME_YAW_RATE 25 +#define OBSERVATION_ROAD_ROLL 31 +#define OBSERVATION_SPEED 8 +#define OBSERVATION_STEER_ANGLE 26 +#define OBSERVATION_STEER_RATIO 29 +#define OBSERVATION_STIFFNESS 28 +#define OBSERVATION_UNKNOWN 0 + +static const Eigen::VectorXd live_initial_x = (Eigen::VectorXd(22) << 3.8800000e+06,-3.3700000e+06,3.7600000e+06,4.2254641e-01,-3.1238054e-01,-8.3602975e-01,-1.5788347e-01,0.0000000e+00,0.0000000e+00,0.0000000e+00,0.0000000e+00,0.0000000e+00,0.0000000e+00,0.0000000e+00,0.0000000e+00,0.0000000e+00,0.0000000e+00,0.0000000e+00,0.0000000e+00,0.0000000e+00,0.0000000e+00,0.0000000e+00).finished(); +static const Eigen::VectorXd live_initial_P_diag = (Eigen::VectorXd(21) << 1.e+02,1.e+02,1.e+02,1.e-04,1.e-04,1.e-04,1.e+02,1.e+02,1.e+02,1.e+00,1.e+00,1.e+00,1.e+00,1.e+00,1.e+00,1.e+04,1.e+04,1.e+04,1.e-04,1.e-04,1.e-04).finished(); +static const Eigen::VectorXd live_fake_gps_pos_cov_diag = (Eigen::VectorXd(3) << 1000000,1000000,1000000).finished(); +static const Eigen::VectorXd live_fake_gps_vel_cov_diag = (Eigen::VectorXd(3) << 100,100,100).finished(); +static const Eigen::VectorXd live_reset_orientation_diag = (Eigen::VectorXd(3) << 1,1,1).finished(); +static const Eigen::VectorXd live_Q_diag = (Eigen::VectorXd(21) << 8.9999999999999998e-04,8.9999999999999998e-04,8.9999999999999998e-04,9.9999999999999995e-07,9.9999999999999995e-07,9.9999999999999995e-07,1.0000000000000000e-04,1.0000000000000000e-04,1.0000000000000000e-04,1.0000000000000002e-02,1.0000000000000002e-02,1.0000000000000002e-02,2.5000000000000001e-09,2.5000000000000001e-09,2.5000000000000001e-09,9.0000000000000000e+00,9.0000000000000000e+00,9.0000000000000000e+00,2.5000000000000001e-05,2.5000000000000001e-05,2.5000000000000001e-05).finished(); +static const std::unordered_map> live_obs_noise_diag = { + { 4, (Eigen::VectorXd(3) << 0.0006250000000000001,0.0006250000000000001,0.0006250000000000001).finished() }, + { 10, (Eigen::VectorXd(3) << 0.25,0.25,0.25).finished() }, + { 14, (Eigen::VectorXd(3) << 0.0025000000000000005,0.0025000000000000005,0.0025000000000000005).finished() }, + { 9, (Eigen::VectorXd(3) << 2.5e-05,2.5e-05,2.5e-05).finished() }, + { 33, (Eigen::VectorXd(3) << 0.0025000000000000005,0.0025000000000000005,0.0025000000000000005).finished() }, + { 12, (Eigen::VectorXd(3) << 25,25,25).finished() }, + { 35, (Eigen::VectorXd(3) << 0.25,0.25,0.25).finished() }, + { 32, (Eigen::VectorXd(4) << 0.04000000000000001,0.04000000000000001,0.04000000000000001,0.04000000000000001).finished() }, +}; + diff --git a/selfdrive/locationd/models/live_kf.h b/selfdrive/locationd/models/live_kf.h new file mode 100644 index 0000000000..e4b3e326b3 --- /dev/null +++ b/selfdrive/locationd/models/live_kf.h @@ -0,0 +1,66 @@ +#pragma once + +#include +#include +#include +#include +#include + +#include +#include + +#include "generated/live_kf_constants.h" +#include "rednose/helpers/ekf_sym.h" + +#define EARTH_GM 3.986005e14 // m^3/s^2 (gravitational constant * mass of earth) + +using namespace EKFS; + +Eigen::Map get_mapvec(const Eigen::VectorXd &vec); +Eigen::Map get_mapmat(const MatrixXdr &mat); +std::vector> get_vec_mapvec(const std::vector &vec_vec); +std::vector> get_vec_mapmat(const std::vector &mat_vec); + +class LiveKalman { +public: + LiveKalman(); + + void init_state(const Eigen::VectorXd &state, const Eigen::VectorXd &covs_diag, double filter_time); + void init_state(const Eigen::VectorXd &state, const MatrixXdr &covs, double filter_time); + void init_state(const Eigen::VectorXd &state, double filter_time); + + Eigen::VectorXd get_x(); + MatrixXdr get_P(); + double get_filter_time(); + std::vector get_R(int kind, int n); + + std::optional predict_and_observe(double t, int kind, const std::vector &meas, std::vector R = {}); + std::optional predict_and_update_odo_speed(std::vector speed, double t, int kind); + std::optional predict_and_update_odo_trans(std::vector trans, double t, int kind); + std::optional predict_and_update_odo_rot(std::vector rot, double t, int kind); + void predict(double t); + + const Eigen::VectorXd &get_initial_x(); + const MatrixXdr &get_initial_P(); + const MatrixXdr &get_fake_gps_pos_cov(); + const MatrixXdr &get_fake_gps_vel_cov(); + const MatrixXdr &get_reset_orientation_P(); + + MatrixXdr H(const Eigen::VectorXd &in); + +private: + std::string name = "live"; + + std::shared_ptr filter; + + int dim_state; + int dim_state_err; + + Eigen::VectorXd initial_x; + MatrixXdr initial_P; + MatrixXdr fake_gps_pos_cov; + MatrixXdr fake_gps_vel_cov; + MatrixXdr reset_orientation_P; + MatrixXdr Q; // process noise + std::unordered_map obs_noise; +}; diff --git a/selfdrive/locationd/models/live_kf.py b/selfdrive/locationd/models/live_kf.py new file mode 100755 index 0000000000..0cc3eca61d --- /dev/null +++ b/selfdrive/locationd/models/live_kf.py @@ -0,0 +1,242 @@ +#!/usr/bin/env python3 + +import sys +import os +import numpy as np + +from openpilot.selfdrive.locationd.models.constants import ObservationKind + +import sympy as sp +import inspect +from rednose.helpers.sympy_helpers import euler_rotate, quat_matrix_r, quat_rotate +from rednose.helpers.ekf_sym import gen_code + +EARTH_GM = 3.986005e14 # m^3/s^2 (gravitational constant * mass of earth) + + +def numpy2eigenstring(arr): + assert(len(arr.shape) == 1) + arr_str = np.array2string(arr, precision=20, separator=',')[1:-1].replace(' ', '').replace('\n', '') + return f"(Eigen::VectorXd({len(arr)}) << {arr_str}).finished()" + + +class States: + ECEF_POS = slice(0, 3) # x, y and z in ECEF in meters + ECEF_ORIENTATION = slice(3, 7) # quat for pose of phone in ecef + ECEF_VELOCITY = slice(7, 10) # ecef velocity in m/s + ANGULAR_VELOCITY = slice(10, 13) # roll, pitch and yaw rates in device frame in radians/s + GYRO_BIAS = slice(13, 16) # roll, pitch and yaw biases + ACCELERATION = slice(16, 19) # Acceleration in device frame in m/s**2 + ACC_BIAS = slice(19, 22) # Acceletometer bias in m/s**2 + + # Error-state has different slices because it is an ESKF + ECEF_POS_ERR = slice(0, 3) + ECEF_ORIENTATION_ERR = slice(3, 6) # euler angles for orientation error + ECEF_VELOCITY_ERR = slice(6, 9) + ANGULAR_VELOCITY_ERR = slice(9, 12) + GYRO_BIAS_ERR = slice(12, 15) + ACCELERATION_ERR = slice(15, 18) + ACC_BIAS_ERR = slice(18, 21) + + +class LiveKalman: + name = 'live' + + initial_x = np.array([3.88e6, -3.37e6, 3.76e6, + 0.42254641, -0.31238054, -0.83602975, -0.15788347, # NED [0,0,0] -> ECEF Quat + 0, 0, 0, + 0, 0, 0, + 0, 0, 0, + 0, 0, 0, + 0, 0, 0]) + + # state covariance + initial_P_diag = np.array([10**2, 10**2, 10**2, + 0.01**2, 0.01**2, 0.01**2, + 10**2, 10**2, 10**2, + 1**2, 1**2, 1**2, + 1**2, 1**2, 1**2, + 100**2, 100**2, 100**2, + 0.01**2, 0.01**2, 0.01**2]) + + # state covariance when resetting midway in a segment + reset_orientation_diag = np.array([1**2, 1**2, 1**2]) + + # fake observation covariance, to ensure the uncertainty estimate of the filter is under control + fake_gps_pos_cov_diag = np.array([1000**2, 1000**2, 1000**2]) + fake_gps_vel_cov_diag = np.array([10**2, 10**2, 10**2]) + + # process noise + Q_diag = np.array([0.03**2, 0.03**2, 0.03**2, + 0.001**2, 0.001**2, 0.001**2, + 0.01**2, 0.01**2, 0.01**2, + 0.1**2, 0.1**2, 0.1**2, + (0.005 / 100)**2, (0.005 / 100)**2, (0.005 / 100)**2, + 3**2, 3**2, 3**2, + 0.005**2, 0.005**2, 0.005**2]) + + obs_noise_diag = {ObservationKind.PHONE_GYRO: np.array([0.025**2, 0.025**2, 0.025**2]), + ObservationKind.PHONE_ACCEL: np.array([.5**2, .5**2, .5**2]), + ObservationKind.CAMERA_ODO_ROTATION: np.array([0.05**2, 0.05**2, 0.05**2]), + ObservationKind.NO_ROT: np.array([0.005**2, 0.005**2, 0.005**2]), + ObservationKind.NO_ACCEL: np.array([0.05**2, 0.05**2, 0.05**2]), + ObservationKind.ECEF_POS: np.array([5**2, 5**2, 5**2]), + ObservationKind.ECEF_VEL: np.array([.5**2, .5**2, .5**2]), + ObservationKind.ECEF_ORIENTATION_FROM_GPS: np.array([.2**2, .2**2, .2**2, .2**2])} + + @staticmethod + def generate_code(generated_dir): + name = LiveKalman.name + dim_state = LiveKalman.initial_x.shape[0] + dim_state_err = LiveKalman.initial_P_diag.shape[0] + + state_sym = sp.MatrixSymbol('state', dim_state, 1) + state = sp.Matrix(state_sym) + x, y, z = state[States.ECEF_POS, :] + q = state[States.ECEF_ORIENTATION, :] + v = state[States.ECEF_VELOCITY, :] + vx, vy, vz = v + omega = state[States.ANGULAR_VELOCITY, :] + vroll, vpitch, vyaw = omega + roll_bias, pitch_bias, yaw_bias = state[States.GYRO_BIAS, :] + acceleration = state[States.ACCELERATION, :] + acc_bias = state[States.ACC_BIAS, :] + + dt = sp.Symbol('dt') + + # calibration and attitude rotation matrices + quat_rot = quat_rotate(*q) + + # Got the quat predict equations from here + # A New Quaternion-Based Kalman Filter for + # Real-Time Attitude Estimation Using the Two-Step + # Geometrically-Intuitive Correction Algorithm + A = 0.5 * sp.Matrix([[0, -vroll, -vpitch, -vyaw], + [vroll, 0, vyaw, -vpitch], + [vpitch, -vyaw, 0, vroll], + [vyaw, vpitch, -vroll, 0]]) + q_dot = A * q + + # Time derivative of the state as a function of state + state_dot = sp.Matrix(np.zeros((dim_state, 1))) + state_dot[States.ECEF_POS, :] = v + state_dot[States.ECEF_ORIENTATION, :] = q_dot + state_dot[States.ECEF_VELOCITY, 0] = quat_rot * acceleration + + # Basic descretization, 1st order intergrator + # Can be pretty bad if dt is big + f_sym = state + dt * state_dot + + state_err_sym = sp.MatrixSymbol('state_err', dim_state_err, 1) + state_err = sp.Matrix(state_err_sym) + quat_err = state_err[States.ECEF_ORIENTATION_ERR, :] + v_err = state_err[States.ECEF_VELOCITY_ERR, :] + omega_err = state_err[States.ANGULAR_VELOCITY_ERR, :] + acceleration_err = state_err[States.ACCELERATION_ERR, :] + + # Time derivative of the state error as a function of state error and state + quat_err_matrix = euler_rotate(quat_err[0], quat_err[1], quat_err[2]) + q_err_dot = quat_err_matrix * quat_rot * (omega + omega_err) + state_err_dot = sp.Matrix(np.zeros((dim_state_err, 1))) + state_err_dot[States.ECEF_POS_ERR, :] = v_err + state_err_dot[States.ECEF_ORIENTATION_ERR, :] = q_err_dot + state_err_dot[States.ECEF_VELOCITY_ERR, :] = quat_err_matrix * quat_rot * (acceleration + acceleration_err) + f_err_sym = state_err + dt * state_err_dot + + # Observation matrix modifier + H_mod_sym = sp.Matrix(np.zeros((dim_state, dim_state_err))) + H_mod_sym[States.ECEF_POS, States.ECEF_POS_ERR] = np.eye(States.ECEF_POS.stop - States.ECEF_POS.start) + H_mod_sym[States.ECEF_ORIENTATION, States.ECEF_ORIENTATION_ERR] = 0.5 * quat_matrix_r(state[3:7])[:, 1:] + H_mod_sym[States.ECEF_ORIENTATION.stop:, States.ECEF_ORIENTATION_ERR.stop:] = np.eye(dim_state - States.ECEF_ORIENTATION.stop) + + # these error functions are defined so that say there + # is a nominal x and true x: + # true x = err_function(nominal x, delta x) + # delta x = inv_err_function(nominal x, true x) + nom_x = sp.MatrixSymbol('nom_x', dim_state, 1) + true_x = sp.MatrixSymbol('true_x', dim_state, 1) + delta_x = sp.MatrixSymbol('delta_x', dim_state_err, 1) + + err_function_sym = sp.Matrix(np.zeros((dim_state, 1))) + delta_quat = sp.Matrix(np.ones(4)) + delta_quat[1:, :] = sp.Matrix(0.5 * delta_x[States.ECEF_ORIENTATION_ERR, :]) + err_function_sym[States.ECEF_POS, :] = sp.Matrix(nom_x[States.ECEF_POS, :] + delta_x[States.ECEF_POS_ERR, :]) + err_function_sym[States.ECEF_ORIENTATION, 0] = quat_matrix_r(nom_x[States.ECEF_ORIENTATION, 0]) * delta_quat + err_function_sym[States.ECEF_ORIENTATION.stop:, :] = sp.Matrix(nom_x[States.ECEF_ORIENTATION.stop:, :] + delta_x[States.ECEF_ORIENTATION_ERR.stop:, :]) + + inv_err_function_sym = sp.Matrix(np.zeros((dim_state_err, 1))) + inv_err_function_sym[States.ECEF_POS_ERR, 0] = sp.Matrix(-nom_x[States.ECEF_POS, 0] + true_x[States.ECEF_POS, 0]) + delta_quat = quat_matrix_r(nom_x[States.ECEF_ORIENTATION, 0]).T * true_x[States.ECEF_ORIENTATION, 0] + inv_err_function_sym[States.ECEF_ORIENTATION_ERR, 0] = sp.Matrix(2 * delta_quat[1:]) + inv_err_function_sym[States.ECEF_ORIENTATION_ERR.stop:, 0] = sp.Matrix(-nom_x[States.ECEF_ORIENTATION.stop:, 0] + true_x[States.ECEF_ORIENTATION.stop:, 0]) + + eskf_params = [[err_function_sym, nom_x, delta_x], + [inv_err_function_sym, nom_x, true_x], + H_mod_sym, f_err_sym, state_err_sym] + # + # Observation functions + # + h_gyro_sym = sp.Matrix([ + vroll + roll_bias, + vpitch + pitch_bias, + vyaw + yaw_bias]) + + pos = sp.Matrix([x, y, z]) + gravity = quat_rot.T * ((EARTH_GM / ((x**2 + y**2 + z**2)**(3.0 / 2.0))) * pos) + h_acc_sym = (gravity + acceleration + acc_bias) + h_acc_stationary_sym = acceleration + h_phone_rot_sym = sp.Matrix([vroll, vpitch, vyaw]) + h_pos_sym = sp.Matrix([x, y, z]) + h_vel_sym = sp.Matrix([vx, vy, vz]) + h_orientation_sym = q + h_relative_motion = sp.Matrix(quat_rot.T * v) + + obs_eqs = [[h_gyro_sym, ObservationKind.PHONE_GYRO, None], + [h_phone_rot_sym, ObservationKind.NO_ROT, None], + [h_acc_sym, ObservationKind.PHONE_ACCEL, None], + [h_pos_sym, ObservationKind.ECEF_POS, None], + [h_vel_sym, ObservationKind.ECEF_VEL, None], + [h_orientation_sym, ObservationKind.ECEF_ORIENTATION_FROM_GPS, None], + [h_relative_motion, ObservationKind.CAMERA_ODO_TRANSLATION, None], + [h_phone_rot_sym, ObservationKind.CAMERA_ODO_ROTATION, None], + [h_acc_stationary_sym, ObservationKind.NO_ACCEL, None]] + + # this returns a sympy routine for the jacobian of the observation function of the local vel + in_vec = sp.MatrixSymbol('in_vec', 6, 1) # roll, pitch, yaw, vx, vy, vz + h = euler_rotate(in_vec[0], in_vec[1], in_vec[2]).T * (sp.Matrix([in_vec[3], in_vec[4], in_vec[5]])) + extra_routines = [('H', h.jacobian(in_vec), [in_vec])] + + gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state_err, eskf_params, extra_routines=extra_routines) + + # write constants to extra header file for use in cpp + live_kf_header = "#pragma once\n\n" + live_kf_header += "#include \n" + live_kf_header += "#include \n\n" + for state, slc in inspect.getmembers(States, lambda x: isinstance(x, slice)): + assert(slc.step is None) # unsupported + live_kf_header += f'#define STATE_{state}_START {slc.start}\n' + live_kf_header += f'#define STATE_{state}_END {slc.stop}\n' + live_kf_header += f'#define STATE_{state}_LEN {slc.stop - slc.start}\n' + live_kf_header += "\n" + + for kind, val in inspect.getmembers(ObservationKind, lambda x: isinstance(x, int)): + live_kf_header += f'#define OBSERVATION_{kind} {val}\n' + live_kf_header += "\n" + + live_kf_header += f"static const Eigen::VectorXd live_initial_x = {numpy2eigenstring(LiveKalman.initial_x)};\n" + live_kf_header += f"static const Eigen::VectorXd live_initial_P_diag = {numpy2eigenstring(LiveKalman.initial_P_diag)};\n" + live_kf_header += f"static const Eigen::VectorXd live_fake_gps_pos_cov_diag = {numpy2eigenstring(LiveKalman.fake_gps_pos_cov_diag)};\n" + live_kf_header += f"static const Eigen::VectorXd live_fake_gps_vel_cov_diag = {numpy2eigenstring(LiveKalman.fake_gps_vel_cov_diag)};\n" + live_kf_header += f"static const Eigen::VectorXd live_reset_orientation_diag = {numpy2eigenstring(LiveKalman.reset_orientation_diag)};\n" + live_kf_header += f"static const Eigen::VectorXd live_Q_diag = {numpy2eigenstring(LiveKalman.Q_diag)};\n" + live_kf_header += "static const std::unordered_map> live_obs_noise_diag = {\n" + for kind, noise in LiveKalman.obs_noise_diag.items(): + live_kf_header += f" {{ {kind}, {numpy2eigenstring(noise)} }},\n" + live_kf_header += "};\n\n" + + open(os.path.join(generated_dir, "live_kf_constants.h"), 'w').write(live_kf_header) + + +if __name__ == "__main__": + generated_dir = sys.argv[2] + LiveKalman.generate_code(generated_dir) diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py new file mode 100755 index 0000000000..2447ffd9a8 --- /dev/null +++ b/selfdrive/locationd/paramsd.py @@ -0,0 +1,276 @@ +#!/usr/bin/env python3 +import os +import math +import json +import numpy as np + +import cereal.messaging as messaging +from cereal import car, log +from openpilot.common.params import Params +from openpilot.common.realtime import config_realtime_process, DT_MDL +from openpilot.common.numpy_fast import clip +from openpilot.common.transformations.orientation import rot_from_euler +from openpilot.selfdrive.car.chrysler.values import ChryslerFlagsSP +from openpilot.selfdrive.locationd.models.car_kf import CarKalman, ObservationKind, States +from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR +from openpilot.selfdrive.locationd.helpers import rotate_std +from openpilot.common.swaglog import cloudlog + + +MAX_ANGLE_OFFSET_DELTA = 20 * DT_MDL # Max 20 deg/s +ROLL_MAX_DELTA = math.radians(20.0) * DT_MDL # 20deg in 1 second is well within curvature limits +ROLL_MIN, ROLL_MAX = math.radians(-10), math.radians(10) +ROLL_LOWERED_MAX = math.radians(8) +ROLL_STD_MAX = math.radians(1.5) +LATERAL_ACC_SENSOR_THRESHOLD = 4.0 +OFFSET_MAX = 10.0 +OFFSET_LOWERED_MAX = 8.0 +MIN_ACTIVE_SPEED = 1.0 +LOW_ACTIVE_SPEED = 10.0 + + +class ParamsLearner: + def __init__(self, CP, steer_ratio, stiffness_factor, angle_offset, P_initial=None): + self.kf = CarKalman(GENERATED_DIR, steer_ratio, stiffness_factor, angle_offset, P_initial) + + self.kf.filter.set_global("mass", CP.mass) + self.kf.filter.set_global("rotational_inertia", CP.rotationalInertia) + self.kf.filter.set_global("center_to_front", CP.centerToFront) + self.kf.filter.set_global("center_to_rear", CP.wheelbase - CP.centerToFront) + self.kf.filter.set_global("stiffness_front", CP.tireStiffnessFront) + self.kf.filter.set_global("stiffness_rear", CP.tireStiffnessRear) + + self.active = False + self.calibrated = False + + self.calib_from_device = np.eye(3) + + self.speed = 0.0 + self.yaw_rate = 0.0 + self.yaw_rate_std = 0.0 + self.roll = 0.0 + self.steering_angle = 0.0 + self.roll_valid = False + + def handle_log(self, t, which, msg): + if which == 'livePose': + angular_velocity_device = np.array([msg.angularVelocityDevice.x, msg.angularVelocityDevice.y, msg.angularVelocityDevice.z]) + angular_velocity_device_std = np.array([msg.angularVelocityDevice.xStd, msg.angularVelocityDevice.yStd, msg.angularVelocityDevice.zStd]) + angular_velocity_calibrated = np.matmul(self.calib_from_device, angular_velocity_device) + angular_velocity_calibrated_std = rotate_std(self.calib_from_device, angular_velocity_device_std) + + self.yaw_rate, self.yaw_rate_std = angular_velocity_calibrated[2], angular_velocity_calibrated_std[2] + + localizer_roll = msg.orientationNED.x + localizer_roll_std = np.radians(1) if np.isnan(msg.orientationNED.xStd) else msg.orientationNED.xStd + self.roll_valid = (localizer_roll_std < ROLL_STD_MAX) and (ROLL_MIN < localizer_roll < ROLL_MAX) and msg.sensorsOK + if self.roll_valid: + roll = localizer_roll + # Experimentally found multiplier of 2 to be best trade-off between stability and accuracy or similar? + roll_std = 2 * localizer_roll_std + else: + # This is done to bound the road roll estimate when localizer values are invalid + roll = 0.0 + roll_std = np.radians(10.0) + self.roll = clip(roll, self.roll - ROLL_MAX_DELTA, self.roll + ROLL_MAX_DELTA) + + yaw_rate_valid = msg.angularVelocityDevice.valid and self.calibrated + yaw_rate_valid = yaw_rate_valid and 0 < self.yaw_rate_std < 10 # rad/s + yaw_rate_valid = yaw_rate_valid and abs(self.yaw_rate) < 1 # rad/s + + if self.active: + if msg.posenetOK: + + if yaw_rate_valid: + self.kf.predict_and_observe(t, + ObservationKind.ROAD_FRAME_YAW_RATE, + np.array([[-self.yaw_rate]]), + np.array([np.atleast_2d(self.yaw_rate_std**2)])) + + self.kf.predict_and_observe(t, + ObservationKind.ROAD_ROLL, + np.array([[self.roll]]), + np.array([np.atleast_2d(roll_std**2)])) + self.kf.predict_and_observe(t, ObservationKind.ANGLE_OFFSET_FAST, np.array([[0]])) + + # We observe the current stiffness and steer ratio (with a high observation noise) to bound + # the respective estimate STD. Otherwise the STDs keep increasing, causing rapid changes in the + # states in longer routes (especially straight stretches). + stiffness = float(self.kf.x[States.STIFFNESS].item()) + steer_ratio = float(self.kf.x[States.STEER_RATIO].item()) + self.kf.predict_and_observe(t, ObservationKind.STIFFNESS, np.array([[stiffness]])) + self.kf.predict_and_observe(t, ObservationKind.STEER_RATIO, np.array([[steer_ratio]])) + + elif which == 'liveCalibration': + self.calibrated = msg.calStatus == log.LiveCalibrationData.Status.calibrated + device_from_calib = rot_from_euler(np.array(msg.rpyCalib)) + self.calib_from_device = device_from_calib.T + + elif which == 'carState': + self.steering_angle = msg.steeringAngleDeg + self.speed = msg.vEgo + + in_linear_region = abs(self.steering_angle) < 45 + self.active = self.speed > MIN_ACTIVE_SPEED and in_linear_region + + if self.active: + self.kf.predict_and_observe(t, ObservationKind.STEER_ANGLE, np.array([[math.radians(msg.steeringAngleDeg)]])) + self.kf.predict_and_observe(t, ObservationKind.ROAD_FRAME_X_SPEED, np.array([[self.speed]])) + + if not self.active: + # Reset time when stopped so uncertainty doesn't grow + self.kf.filter.set_filter_time(t) + self.kf.filter.reset_rewind() + + +def check_valid_with_hysteresis(current_valid: bool, val: float, threshold: float, lowered_threshold: float): + if current_valid: + current_valid = abs(val) < threshold + else: + current_valid = abs(val) < lowered_threshold + return current_valid + + +def main(): + config_realtime_process([0, 1, 2, 3], 5) + + DEBUG = bool(int(os.getenv("DEBUG", "0"))) + REPLAY = bool(int(os.getenv("REPLAY", "0"))) + + pm = messaging.PubMaster(['liveParameters']) + sm = messaging.SubMaster(['livePose', 'liveCalibration', 'carState'], poll='livePose') + + params_reader = Params() + # wait for stats about the car to come in from controls + cloudlog.info("paramsd is waiting for CarParams") + CP = messaging.log_from_bytes(params_reader.get("CarParams", block=True), car.CarParams) + cloudlog.info("paramsd got CarParams") + + min_sr, max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio + + params = params_reader.get("LiveParameters") + + # Check if car model matches + if params is not None: + params = json.loads(params) + if params.get('carFingerprint', None) != CP.carFingerprint: + cloudlog.info("Parameter learner found parameters for wrong car.") + params = None + + # Check if starting values are sane + if params is not None: + try: + steer_ratio_sane = min_sr <= params['steerRatio'] <= max_sr + if not steer_ratio_sane: + cloudlog.info(f"Invalid starting values found {params}") + params = None + except Exception as e: + cloudlog.info(f"Error reading params {params}: {str(e)}") + params = None + + # TODO: cache the params with the capnp struct + if params is None: + params = { + 'carFingerprint': CP.carFingerprint, + 'steerRatio': CP.steerRatio, + 'stiffnessFactor': 1.0, + 'angleOffsetAverageDeg': 0.0, + } + cloudlog.info("Parameter learner resetting to default values") + + if not REPLAY: + # When driving in wet conditions the stiffness can go down, and then be too low on the next drive + # Without a way to detect this we have to reset the stiffness every drive + params['stiffnessFactor'] = 1.0 + + pInitial = None + if DEBUG: + pInitial = np.array(params['filterState']['std']) if 'filterState' in params else None + + learner = ParamsLearner(CP, params['steerRatio'], params['stiffnessFactor'], math.radians(params['angleOffsetAverageDeg']), pInitial) + angle_offset_average = params['angleOffsetAverageDeg'] + angle_offset = angle_offset_average + roll = 0.0 + avg_offset_valid = True + total_offset_valid = True + roll_valid = True + + while True: + sm.update() + if sm.all_checks(): + for which in sorted(sm.updated.keys(), key=lambda x: sm.logMonoTime[x]): + if sm.updated[which]: + t = sm.logMonoTime[which] * 1e-9 + learner.handle_log(t, which, sm[which]) + + if sm.updated['livePose']: + x = learner.kf.x + P = np.sqrt(learner.kf.P.diagonal()) + if not all(map(math.isfinite, x)): + cloudlog.error("NaN in liveParameters estimate. Resetting to default values") + learner = ParamsLearner(CP, CP.steerRatio, 1.0, 0.0) + x = learner.kf.x + + angle_offset_average = clip(math.degrees(x[States.ANGLE_OFFSET].item()), + angle_offset_average - MAX_ANGLE_OFFSET_DELTA, angle_offset_average + MAX_ANGLE_OFFSET_DELTA) + angle_offset = clip(math.degrees(x[States.ANGLE_OFFSET].item() + x[States.ANGLE_OFFSET_FAST].item()), + angle_offset - MAX_ANGLE_OFFSET_DELTA, angle_offset + MAX_ANGLE_OFFSET_DELTA) + roll = clip(float(x[States.ROAD_ROLL].item()), roll - ROLL_MAX_DELTA, roll + ROLL_MAX_DELTA) + roll_std = float(P[States.ROAD_ROLL].item()) + if learner.active and learner.speed > LOW_ACTIVE_SPEED: + # Account for the opposite signs of the yaw rates + # At low speeds, bumping into a curb can cause the yaw rate to be very high + sensors_valid = bool(abs(learner.speed * (x[States.YAW_RATE].item() + learner.yaw_rate)) < LATERAL_ACC_SENSOR_THRESHOLD) + else: + sensors_valid = True + avg_offset_valid = check_valid_with_hysteresis(avg_offset_valid, angle_offset_average, OFFSET_MAX, OFFSET_LOWERED_MAX) + total_offset_valid = check_valid_with_hysteresis(total_offset_valid, angle_offset, OFFSET_MAX, OFFSET_LOWERED_MAX) + roll_valid = check_valid_with_hysteresis(roll_valid, roll, ROLL_MAX, ROLL_LOWERED_MAX) + + msg = messaging.new_message('liveParameters') + + liveParameters = msg.liveParameters + liveParameters.posenetValid = True + liveParameters.sensorValid = sensors_valid + liveParameters.steerRatio = float(x[States.STEER_RATIO].item()) + liveParameters.stiffnessFactor = float(x[States.STIFFNESS].item()) + liveParameters.roll = roll + liveParameters.angleOffsetAverageDeg = angle_offset_average + liveParameters.angleOffsetDeg = angle_offset + liveParameters.valid = all(( + avg_offset_valid, + total_offset_valid, + roll_valid, + roll_std < ROLL_STD_MAX, + 0.2 <= liveParameters.stiffnessFactor <= 5.0, + min_sr <= liveParameters.steerRatio <= max_sr, + )) + if (CP.carName == "chrysler" and CP.spFlags & ChryslerFlagsSP.SP_RAM_HD_PARAMSD_IGNORE) or \ + (CP.carName == "subaru" and CP.lateralTuning.which() == 'torque'): + liveParameters.valid = True + liveParameters.steerRatioStd = float(P[States.STEER_RATIO].item()) + liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS].item()) + liveParameters.angleOffsetAverageStd = float(P[States.ANGLE_OFFSET].item()) + liveParameters.angleOffsetFastStd = float(P[States.ANGLE_OFFSET_FAST].item()) + if DEBUG: + liveParameters.filterState = log.LiveLocationKalman.Measurement.new_message() + liveParameters.filterState.value = x.tolist() + liveParameters.filterState.std = P.tolist() + liveParameters.filterState.valid = True + + msg.valid = sm.all_checks() + + if sm.frame % 1200 == 0: # once a minute + params = { + 'carFingerprint': CP.carFingerprint, + 'steerRatio': liveParameters.steerRatio, + 'stiffnessFactor': liveParameters.stiffnessFactor, + 'angleOffsetAverageDeg': liveParameters.angleOffsetAverageDeg, + } + params_reader.put_nonblocking("LiveParameters", json.dumps(params)) + + pm.send('liveParameters', msg) + + +if __name__ == "__main__": + main() diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py new file mode 100755 index 0000000000..1c972b2ba2 --- /dev/null +++ b/selfdrive/locationd/torqued.py @@ -0,0 +1,283 @@ +#!/usr/bin/env python3 +import numpy as np +from collections import deque, defaultdict + +import cereal.messaging as messaging +from cereal import car, log +from openpilot.common.params import Params +from openpilot.common.realtime import config_realtime_process, DT_MDL +from openpilot.common.filter_simple import FirstOrderFilter +from openpilot.common.swaglog import cloudlog +from openpilot.common.transformations.orientation import rot_from_euler +from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY +from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator + +HISTORY = 5 # secs +POINTS_PER_BUCKET = 1500 +MIN_POINTS_TOTAL = 4000 +MIN_POINTS_TOTAL_QLOG = 600 +FIT_POINTS_TOTAL = 2000 +FIT_POINTS_TOTAL_QLOG = 600 +MIN_VEL = 15 # m/s +FRICTION_FACTOR = 1.5 # ~85% of data coverage +FACTOR_SANITY = 0.3 +FACTOR_SANITY_QLOG = 0.5 +FRICTION_SANITY = 0.5 +FRICTION_SANITY_QLOG = 0.8 +STEER_MIN_THRESHOLD = 0.02 +MIN_FILTER_DECAY = 50 +MAX_FILTER_DECAY = 250 +LAT_ACC_THRESHOLD = 1 +STEER_BUCKET_BOUNDS = [(-0.5, -0.3), (-0.3, -0.2), (-0.2, -0.1), (-0.1, 0), (0, 0.1), (0.1, 0.2), (0.2, 0.3), (0.3, 0.5)] +MIN_BUCKET_POINTS = np.array([100, 300, 500, 500, 500, 500, 300, 100]) +MIN_ENGAGE_BUFFER = 2 # secs + +VERSION = 1 # bump this to invalidate old parameter caches +ALLOWED_CARS = ['toyota', 'hyundai'] + + +def slope2rot(slope): + sin = np.sqrt(slope ** 2 / (slope ** 2 + 1)) + cos = np.sqrt(1 / (slope ** 2 + 1)) + return np.array([[cos, -sin], [sin, cos]]) + + +class TorqueBuckets(PointBuckets): + def add_point(self, x, y): + for bound_min, bound_max in self.x_bounds: + if (x >= bound_min) and (x < bound_max): + self.buckets[(bound_min, bound_max)].append([x, 1.0, y]) + break + + +class TorqueEstimator(ParameterEstimator): + def __init__(self, CP, decimated=False, track_all_points=False): + self.hist_len = int(HISTORY / DT_MDL) + self.lag = CP.steerActuatorDelay + .2 # from controlsd + self.track_all_points = track_all_points # for offline analysis, without max lateral accel or max steer torque filters + if decimated: + self.min_bucket_points = MIN_BUCKET_POINTS / 10 + self.min_points_total = MIN_POINTS_TOTAL_QLOG + self.fit_points = FIT_POINTS_TOTAL_QLOG + self.factor_sanity = FACTOR_SANITY_QLOG + self.friction_sanity = FRICTION_SANITY_QLOG + + else: + self.min_bucket_points = MIN_BUCKET_POINTS + self.min_points_total = MIN_POINTS_TOTAL + self.fit_points = FIT_POINTS_TOTAL + self.factor_sanity = FACTOR_SANITY + self.friction_sanity = FRICTION_SANITY + + self.offline_friction = 0.0 + self.offline_latAccelFactor = 0.0 + self.resets = 0.0 + self.use_params = CP.carName in ALLOWED_CARS and CP.lateralTuning.which() == 'torque' + + if CP.lateralTuning.which() == 'torque': + self.offline_friction = CP.lateralTuning.torque.friction + self.offline_latAccelFactor = CP.lateralTuning.torque.latAccelFactor + + self.calib_from_device = np.eye(3) + + params = Params() + if params.get_bool("EnforceTorqueLateral"): + if params.get_bool("CustomTorqueLateral"): + self.offline_friction = float(params.get("TorqueFriction", encoding="utf8")) * 0.001 + self.offline_latAccelFactor = float(params.get("TorqueMaxLatAccel", encoding="utf8")) * 0.01 + if params.get_bool("LiveTorqueRelaxed"): + self.min_bucket_points = np.array([0, 200, 300, 500, 500, 300, 200, 0]) / (10 if decimated else 1) + self.factor_sanity = FACTOR_SANITY_QLOG if decimated else 1.0 + self.friction_sanity = FRICTION_SANITY_QLOG if decimated else 1.0 + + self.reset() + + initial_params = { + 'latAccelFactor': self.offline_latAccelFactor, + 'latAccelOffset': 0.0, + 'frictionCoefficient': self.offline_friction, + 'points': [] + } + self.decay = MIN_FILTER_DECAY + self.min_lataccel_factor = (1.0 - self.factor_sanity) * self.offline_latAccelFactor + self.max_lataccel_factor = (1.0 + self.factor_sanity) * self.offline_latAccelFactor + self.min_friction = (1.0 - self.friction_sanity) * self.offline_friction + self.max_friction = (1.0 + self.friction_sanity) * self.offline_friction + + # try to restore cached params + params_cache = params.get("CarParamsPrevRoute") + torque_cache = params.get("LiveTorqueParameters") + if params_cache is not None and torque_cache is not None: + try: + with log.Event.from_bytes(torque_cache) as log_evt: + cache_ltp = log_evt.liveTorqueParameters + with car.CarParams.from_bytes(params_cache) as msg: + cache_CP = msg + if self.get_restore_key(cache_CP, cache_ltp.version) == self.get_restore_key(CP, VERSION): + if cache_ltp.liveValid: + initial_params = { + 'latAccelFactor': cache_ltp.latAccelFactorFiltered, + 'latAccelOffset': cache_ltp.latAccelOffsetFiltered, + 'frictionCoefficient': cache_ltp.frictionCoefficientFiltered + } + initial_params['points'] = cache_ltp.points + self.decay = cache_ltp.decay + self.filtered_points.load_points(initial_params['points']) + cloudlog.info("restored torque params from cache") + except Exception: + cloudlog.exception("failed to restore cached torque params") + params.remove("LiveTorqueParameters") + + self.filtered_params = {} + for param in initial_params: + self.filtered_params[param] = FirstOrderFilter(initial_params[param], self.decay, DT_MDL) + + @staticmethod + def get_restore_key(CP, version): + a, b = None, None + if CP.lateralTuning.which() == 'torque': + a = CP.lateralTuning.torque.friction + b = CP.lateralTuning.torque.latAccelFactor + return (CP.carFingerprint, CP.lateralTuning.which(), a, b, version) + + def reset(self): + self.resets += 1.0 + self.decay = MIN_FILTER_DECAY + self.raw_points = defaultdict(lambda: deque(maxlen=self.hist_len)) + self.filtered_points = TorqueBuckets(x_bounds=STEER_BUCKET_BOUNDS, + min_points=self.min_bucket_points, + min_points_total=self.min_points_total, + points_per_bucket=POINTS_PER_BUCKET, + rowsize=3) + self.all_torque_points = [] + + def estimate_params(self): + points = self.filtered_points.get_points(self.fit_points) + # total least square solution as both x and y are noisy observations + # this is empirically the slope of the hysteresis parallelogram as opposed to the line through the diagonals + try: + _, _, v = np.linalg.svd(points, full_matrices=False) + slope, offset = -v.T[0:2, 2] / v.T[2, 2] + _, spread = np.matmul(points[:, [0, 2]], slope2rot(slope)).T + friction_coeff = np.std(spread) * FRICTION_FACTOR + except np.linalg.LinAlgError as e: + cloudlog.exception(f"Error computing live torque params: {e}") + slope = offset = friction_coeff = np.nan + return slope, offset, friction_coeff + + def update_params(self, params): + self.decay = min(self.decay + DT_MDL, MAX_FILTER_DECAY) + for param, value in params.items(): + self.filtered_params[param].update(value) + self.filtered_params[param].update_alpha(self.decay) + + def handle_log(self, t, which, msg): + if which == "carControl": + self.raw_points["carControl_t"].append(t + self.lag) + self.raw_points["lat_active"].append(msg.latActive) + elif which == "carOutput": + self.raw_points["carOutput_t"].append(t + self.lag) + self.raw_points["steer_torque"].append(-msg.actuatorsOutput.steer) + elif which == "carState": + self.raw_points["carState_t"].append(t + self.lag) + # TODO: check if high aEgo affects resulting lateral accel + self.raw_points["vego"].append(msg.vEgo) + self.raw_points["steer_override"].append(msg.steeringPressed) + elif which == "liveCalibration": + device_from_calib = rot_from_euler(np.array(msg.rpyCalib)) + self.calib_from_device = device_from_calib.T + + # calculate lateral accel from past steering torque + elif which == "livePose": + if len(self.raw_points['steer_torque']) == self.hist_len: + angular_velocity_device = np.array([msg.angularVelocityDevice.x, msg.angularVelocityDevice.y, msg.angularVelocityDevice.z]) + angular_velocity_calibrated = np.matmul(self.calib_from_device, angular_velocity_device) + + yaw_rate = angular_velocity_calibrated[2] + roll = msg.orientationNED.x + # check lat active up to now (without lag compensation) + lat_active = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t + self.lag, DT_MDL), + self.raw_points['carControl_t'], self.raw_points['lat_active']).astype(bool) + steer_override = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t + self.lag, DT_MDL), + self.raw_points['carState_t'], self.raw_points['steer_override']).astype(bool) + vego = np.interp(t, self.raw_points['carState_t'], self.raw_points['vego']) + steer = np.interp(t, self.raw_points['carOutput_t'], self.raw_points['steer_torque']).item() + lateral_acc = (vego * yaw_rate) - (np.sin(roll) * ACCELERATION_DUE_TO_GRAVITY).item() + if all(lat_active) and not any(steer_override) and (vego > MIN_VEL) and (abs(steer) > STEER_MIN_THRESHOLD): + if abs(lateral_acc) <= LAT_ACC_THRESHOLD: + self.filtered_points.add_point(steer, lateral_acc) + + if self.track_all_points: + self.all_torque_points.append([steer, lateral_acc]) + + def get_msg(self, valid=True, with_points=False): + msg = messaging.new_message('liveTorqueParameters') + msg.valid = valid + liveTorqueParameters = msg.liveTorqueParameters + liveTorqueParameters.version = VERSION + liveTorqueParameters.useParams = self.use_params + + # Calculate raw estimates when possible, only update filters when enough points are gathered + if self.filtered_points.is_calculable(): + latAccelFactor, latAccelOffset, frictionCoeff = self.estimate_params() + liveTorqueParameters.latAccelFactorRaw = float(latAccelFactor) + liveTorqueParameters.latAccelOffsetRaw = float(latAccelOffset) + liveTorqueParameters.frictionCoefficientRaw = float(frictionCoeff) + + if self.filtered_points.is_valid(): + if any(val is None or np.isnan(val) for val in [latAccelFactor, latAccelOffset, frictionCoeff]): + cloudlog.exception("Live torque parameters are invalid.") + liveTorqueParameters.liveValid = False + self.reset() + else: + liveTorqueParameters.liveValid = True + latAccelFactor = np.clip(latAccelFactor, self.min_lataccel_factor, self.max_lataccel_factor) + frictionCoeff = np.clip(frictionCoeff, self.min_friction, self.max_friction) + self.update_params({'latAccelFactor': latAccelFactor, 'latAccelOffset': latAccelOffset, 'frictionCoefficient': frictionCoeff}) + + if with_points: + liveTorqueParameters.points = self.filtered_points.get_points()[:, [0, 2]].tolist() + + liveTorqueParameters.latAccelFactorFiltered = float(self.filtered_params['latAccelFactor'].x) + liveTorqueParameters.latAccelOffsetFiltered = float(self.filtered_params['latAccelOffset'].x) + liveTorqueParameters.frictionCoefficientFiltered = float(self.filtered_params['frictionCoefficient'].x) + liveTorqueParameters.totalBucketPoints = len(self.filtered_points) + liveTorqueParameters.decay = self.decay + liveTorqueParameters.maxResets = self.resets + return msg + + +def main(demo=False): + config_realtime_process([0, 1, 2, 3], 5) + + pm = messaging.PubMaster(['liveTorqueParameters']) + sm = messaging.SubMaster(['carControl', 'carOutput', 'carState', 'liveCalibration', 'livePose'], poll='livePose') + + params = Params() + estimator = TorqueEstimator(messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)) + + while True: + sm.update() + if sm.all_checks(): + for which in sm.updated.keys(): + if sm.updated[which]: + t = sm.logMonoTime[which] * 1e-9 + estimator.handle_log(t, which, sm[which]) + + # 4Hz driven by livePose + if sm.frame % 5 == 0: + pm.send('liveTorqueParameters', estimator.get_msg(valid=sm.all_checks())) + + # Cache points every 60 seconds while onroad + if sm.frame % 240 == 0: + msg = estimator.get_msg(valid=sm.all_checks(), with_points=True) + params.put_nonblocking("LiveTorqueParameters", msg.to_bytes()) + + +if __name__ == "__main__": + import argparse + + parser = argparse.ArgumentParser(description='Process the --demo argument.') + parser.add_argument('--demo', action='store_true', help='A boolean for demo mode.') + args = parser.parse_args() + main(demo=args.demo) diff --git a/selfdrive/modeld/.gitignore b/selfdrive/modeld/.gitignore new file mode 100644 index 0000000000..742d3d1205 --- /dev/null +++ b/selfdrive/modeld/.gitignore @@ -0,0 +1 @@ +*_pyx.cpp diff --git a/selfdrive/modeld/__init__.py b/selfdrive/modeld/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/modeld/constants.py b/selfdrive/modeld/constants.py new file mode 100644 index 0000000000..2a2d6d39fe --- /dev/null +++ b/selfdrive/modeld/constants.py @@ -0,0 +1,88 @@ +import numpy as np + +def index_function(idx, max_val=192, max_idx=32): + return (max_val) * ((idx/max_idx)**2) + +class ModelConstants: + # time and distance indices + IDX_N = 33 + T_IDXS = [index_function(idx, max_val=10.0) for idx in range(IDX_N)] + X_IDXS = [index_function(idx, max_val=192.0) for idx in range(IDX_N)] + LEAD_T_IDXS = [0., 2., 4., 6., 8., 10.] + LEAD_T_OFFSETS = [0., 2., 4.] + META_T_IDXS = [2., 4., 6., 8., 10.] + + # model inputs constants + MODEL_FREQ = 20 + FEATURE_LEN = 512 + HISTORY_BUFFER_LEN = 99 + DESIRE_LEN = 8 + TRAFFIC_CONVENTION_LEN = 2 + NAV_FEATURE_LEN = 256 + NAV_INSTRUCTION_LEN = 150 + DRIVING_STYLE_LEN = 12 + LAT_PLANNER_STATE_LEN = 4 + LATERAL_CONTROL_PARAMS_LEN = 2 + PREV_DESIRED_CURVS_LEN = 20 + PREV_DESIRED_CURV_LEN = 1 + + # model outputs constants + FCW_THRESHOLDS_5MS2 = np.array([.05, .05, .15, .15, .15], dtype=np.float32) + FCW_THRESHOLDS_3MS2 = np.array([.7, .7], dtype=np.float32) + FCW_5MS2_PROBS_WIDTH = 5 + FCW_3MS2_PROBS_WIDTH = 2 + + DISENGAGE_WIDTH = 5 + POSE_WIDTH = 6 + WIDE_FROM_DEVICE_WIDTH = 3 + SIM_POSE_WIDTH = 6 + LEAD_WIDTH = 4 + LANE_LINES_WIDTH = 2 + ROAD_EDGES_WIDTH = 2 + PLAN_WIDTH = 15 + DESIRE_PRED_WIDTH = 8 + LAT_PLANNER_SOLUTION_WIDTH = 4 + DESIRED_CURV_WIDTH = 1 + + NUM_LANE_LINES = 4 + NUM_ROAD_EDGES = 2 + + LEAD_TRAJ_LEN = 6 + DESIRE_PRED_LEN = 4 + + PLAN_MHP_N = 5 + LEAD_MHP_N = 2 + PLAN_MHP_SELECTION = 1 + LEAD_MHP_SELECTION = 3 + + FCW_THRESHOLD_5MS2_HIGH = 0.15 + FCW_THRESHOLD_5MS2_LOW = 0.05 + FCW_THRESHOLD_3MS2 = 0.7 + + CONFIDENCE_BUFFER_LEN = 5 + RYG_GREEN = 0.01165 + RYG_YELLOW = 0.06157 + + POLY_PATH_DEGREE = 4 + +# model outputs slices +class Plan: + POSITION = slice(0, 3) + VELOCITY = slice(3, 6) + ACCELERATION = slice(6, 9) + T_FROM_CURRENT_EULER = slice(9, 12) + ORIENTATION_RATE = slice(12, 15) + +class Meta: + ENGAGED = slice(0, 1) + # next 2, 4, 6, 8, 10 seconds + GAS_DISENGAGE = slice(1, 36, 7) + BRAKE_DISENGAGE = slice(2, 36, 7) + STEER_OVERRIDE = slice(3, 36, 7) + HARD_BRAKE_3 = slice(4, 36, 7) + HARD_BRAKE_4 = slice(5, 36, 7) + HARD_BRAKE_5 = slice(6, 36, 7) + GAS_PRESS = slice(7, 36, 7) + # next 0, 2, 4, 6, 8, 10 seconds + LEFT_BLINKER = slice(36, 48, 2) + RIGHT_BLINKER = slice(37, 48, 2) diff --git a/selfdrive/modeld/custom_model_metadata.py b/selfdrive/modeld/custom_model_metadata.py new file mode 100644 index 0000000000..0469bd189c --- /dev/null +++ b/selfdrive/modeld/custom_model_metadata.py @@ -0,0 +1,66 @@ +from enum import IntFlag +import os + +from cereal import custom +from openpilot.common.params import Params + +SIMULATION = "SIMULATION" in os.environ + +ModelGeneration = custom.ModelGeneration + + +class ModelCapabilities(IntFlag): + """Model capabilities for different generations of models.""" + + Default = 1 + """Default capability, used for the prebuilt model.""" + + NoO = 2 + """Navigation on Openpilot capability, used for models support navigation.""" + + LateralPlannerSolution = 2 ** 2 + """LateralPlannerSolution capability, used for models that support the lateral planner solution.""" + + DesiredCurvatureV1 = 2 ** 3 + """ + DesiredCurvatureV1 capability: This capability is used for models that support the desired curvature. + In this version, 'prev_desired_curvs' is used as the input for the 'desired_curvature' output. + """ + + DesiredCurvatureV2 = 2 ** 4 + """ + DesiredCurvatureV2 capability: This capability is used for models that support the desired curvature. + In V2, 'prev_desired_curv' (no plural) is used as the input for the same 'desired_curvature' output. + """ + + +class CustomModelMetadata: + def __init__(self, params=None, init_only=False) -> None: + # TODO: Handle this with cereal + if not init_only: + raise RuntimeError("cannot be used in a loop, this should only be used on init") + + self.params: Params = params + self.generation: ModelGeneration = self.read_model_generation_param() + self.capabilities: ModelCapabilities = self.get_model_capabilities() + self.valid: bool = self.params.get_bool("CustomDrivingModel") and not SIMULATION and \ + self.capabilities != ModelCapabilities.Default + + def read_model_generation_param(self) -> ModelGeneration: + return int(self.params.get('DrivingModelGeneration') or ModelGeneration.default) + + def get_model_capabilities(self) -> ModelCapabilities: + """Returns the model capabilities for a given generation.""" + if self.generation == ModelGeneration.five: + return ModelCapabilities.DesiredCurvatureV2 + elif self.generation == ModelGeneration.four: + return ModelCapabilities.DesiredCurvatureV2 + elif self.generation == ModelGeneration.three: + return ModelCapabilities.DesiredCurvatureV2 | ModelCapabilities.NoO + elif self.generation == ModelGeneration.two: + return ModelCapabilities.DesiredCurvatureV1 | ModelCapabilities.NoO + elif self.generation == ModelGeneration.one: + return ModelCapabilities.LateralPlannerSolution | ModelCapabilities.NoO + else: + # Default model is meant to represent the capabilities of the prebuilt model + return ModelCapabilities.Default diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py new file mode 100755 index 0000000000..a388bf089c --- /dev/null +++ b/selfdrive/modeld/dmonitoringmodeld.py @@ -0,0 +1,156 @@ +#!/usr/bin/env python3 +import os +import gc +import math +import time +import ctypes +import numpy as np +from pathlib import Path + +from cereal import messaging +from cereal.messaging import PubMaster, SubMaster +from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf +from openpilot.common.swaglog import cloudlog +from openpilot.common.params import Params +from openpilot.common.realtime import set_realtime_priority +from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime +from openpilot.selfdrive.modeld.models.commonmodel_pyx import sigmoid + +CALIB_LEN = 3 +REG_SCALE = 0.25 +MODEL_WIDTH = 1440 +MODEL_HEIGHT = 960 +OUTPUT_SIZE = 84 +SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') +MODEL_PATHS = { + ModelRunner.SNPE: Path(__file__).parent / 'models/dmonitoring_model_q.dlc', + ModelRunner.ONNX: Path(__file__).parent / 'models/dmonitoring_model.onnx'} + +class DriverStateResult(ctypes.Structure): + _fields_ = [ + ("face_orientation", ctypes.c_float*3), + ("face_position", ctypes.c_float*3), + ("face_orientation_std", ctypes.c_float*3), + ("face_position_std", ctypes.c_float*3), + ("face_prob", ctypes.c_float), + ("_unused_a", ctypes.c_float*8), + ("left_eye_prob", ctypes.c_float), + ("_unused_b", ctypes.c_float*8), + ("right_eye_prob", ctypes.c_float), + ("left_blink_prob", ctypes.c_float), + ("right_blink_prob", ctypes.c_float), + ("sunglasses_prob", ctypes.c_float), + ("occluded_prob", ctypes.c_float), + ("ready_prob", ctypes.c_float*4), + ("not_ready_prob", ctypes.c_float*2)] + +class DMonitoringModelResult(ctypes.Structure): + _fields_ = [ + ("driver_state_lhd", DriverStateResult), + ("driver_state_rhd", DriverStateResult), + ("poor_vision_prob", ctypes.c_float), + ("wheel_on_right_prob", ctypes.c_float)] + +class ModelState: + inputs: dict[str, np.ndarray] + output: np.ndarray + model: ModelRunner + + def __init__(self): + assert ctypes.sizeof(DMonitoringModelResult) == OUTPUT_SIZE * ctypes.sizeof(ctypes.c_float) + self.output = np.zeros(OUTPUT_SIZE, dtype=np.float32) + self.inputs = { + 'input_img': np.zeros(MODEL_HEIGHT * MODEL_WIDTH, dtype=np.uint8), + 'calib': np.zeros(CALIB_LEN, dtype=np.float32)} + + self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.DSP, True, None) + self.model.addInput("input_img", None) + self.model.addInput("calib", self.inputs['calib']) + + def run(self, buf:VisionBuf, calib:np.ndarray) -> tuple[np.ndarray, float]: + self.inputs['calib'][:] = calib + + v_offset = buf.height - MODEL_HEIGHT + h_offset = (buf.width - MODEL_WIDTH) // 2 + buf_data = buf.data.reshape(-1, buf.stride) + input_data = self.inputs['input_img'].reshape(MODEL_HEIGHT, MODEL_WIDTH) + input_data[:] = buf_data[v_offset:v_offset+MODEL_HEIGHT, h_offset:h_offset+MODEL_WIDTH] + + t1 = time.perf_counter() + self.model.setInputBuffer("input_img", self.inputs['input_img'].view(np.float32)) + self.model.execute() + t2 = time.perf_counter() + return self.output, t2 - t1 + + +def fill_driver_state(msg, ds_result: DriverStateResult): + msg.faceOrientation = [x * REG_SCALE for x in ds_result.face_orientation] + msg.faceOrientationStd = [math.exp(x) for x in ds_result.face_orientation_std] + msg.facePosition = [x * REG_SCALE for x in ds_result.face_position[:2]] + msg.facePositionStd = [math.exp(x) for x in ds_result.face_position_std[:2]] + msg.faceProb = sigmoid(ds_result.face_prob) + msg.leftEyeProb = sigmoid(ds_result.left_eye_prob) + msg.rightEyeProb = sigmoid(ds_result.right_eye_prob) + msg.leftBlinkProb = sigmoid(ds_result.left_blink_prob) + msg.rightBlinkProb = sigmoid(ds_result.right_blink_prob) + msg.sunglassesProb = sigmoid(ds_result.sunglasses_prob) + msg.occludedProb = sigmoid(ds_result.occluded_prob) + msg.readyProb = [sigmoid(x) for x in ds_result.ready_prob] + msg.notReadyProb = [sigmoid(x) for x in ds_result.not_ready_prob] + +def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts: int, execution_time: float, dsp_execution_time: float): + model_result = ctypes.cast(model_output.ctypes.data, ctypes.POINTER(DMonitoringModelResult)).contents + msg = messaging.new_message('driverStateV2', valid=True) + ds = msg.driverStateV2 + ds.frameId = frame_id + ds.modelExecutionTime = execution_time + ds.dspExecutionTime = dsp_execution_time + ds.poorVisionProb = sigmoid(model_result.poor_vision_prob) + ds.wheelOnRightProb = sigmoid(model_result.wheel_on_right_prob) + ds.rawPredictions = model_output.tobytes() if SEND_RAW_PRED else b'' + fill_driver_state(ds.leftDriverData, model_result.driver_state_lhd) + fill_driver_state(ds.rightDriverData, model_result.driver_state_rhd) + return msg + + +def main(): + gc.disable() + set_realtime_priority(1) + + model = ModelState() + cloudlog.warning("models loaded, dmonitoringmodeld starting") + Params().put_bool("DmModelInitialized", True) + + cloudlog.warning("connecting to driver stream") + vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True) + while not vipc_client.connect(False): + time.sleep(0.1) + assert vipc_client.is_connected() + cloudlog.warning(f"connected with buffer size: {vipc_client.buffer_len}") + + sm = SubMaster(["liveCalibration"]) + pm = PubMaster(["driverStateV2"]) + + calib = np.zeros(CALIB_LEN, dtype=np.float32) + # last = 0 + + while True: + buf = vipc_client.recv() + if buf is None: + continue + + sm.update(0) + if sm.updated["liveCalibration"]: + calib[:] = np.array(sm["liveCalibration"].rpyCalib) + + t1 = time.perf_counter() + model_output, dsp_execution_time = model.run(buf, calib) + t2 = time.perf_counter() + + pm.send("driverStateV2", get_driverstate_packet(model_output, vipc_client.frame_id, vipc_client.timestamp_sof, t2 - t1, dsp_execution_time)) + # print("dmonitoring process: %.2fms, from last %.2fms\n" % (t2 - t1, t1 - last)) + # last = t1 + + +if __name__ == "__main__": + main() diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py new file mode 100644 index 0000000000..8d2bcc0ef4 --- /dev/null +++ b/selfdrive/modeld/fill_model_msg.py @@ -0,0 +1,233 @@ +import os +import capnp +import numpy as np +from cereal import log +from openpilot.selfdrive.modeld.constants import ModelConstants, Plan, Meta +from openpilot.selfdrive.modeld.custom_model_metadata import ModelCapabilities + +SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') + +ConfidenceClass = log.ModelDataV2.ConfidenceClass + + +class PublishState: + def __init__(self): + self.disengage_buffer = np.zeros(ModelConstants.CONFIDENCE_BUFFER_LEN*ModelConstants.DISENGAGE_WIDTH, dtype=np.float32) + self.prev_brake_5ms2_probs = np.zeros(ModelConstants.FCW_5MS2_PROBS_WIDTH, dtype=np.float32) + self.prev_brake_3ms2_probs = np.zeros(ModelConstants.FCW_3MS2_PROBS_WIDTH, dtype=np.float32) + +def fill_xyzt(builder, t, x, y, z, x_std=None, y_std=None, z_std=None): + builder.t = t + builder.x = x.tolist() + builder.y = y.tolist() + builder.z = z.tolist() + if x_std is not None: + builder.xStd = x_std.tolist() + if y_std is not None: + builder.yStd = y_std.tolist() + if z_std is not None: + builder.zStd = z_std.tolist() + +def fill_xyvat(builder, t, x, y, v, a, x_std=None, y_std=None, v_std=None, a_std=None): + builder.t = t + builder.x = x.tolist() + builder.y = y.tolist() + builder.v = v.tolist() + builder.a = a.tolist() + if x_std is not None: + builder.xStd = x_std.tolist() + if y_std is not None: + builder.yStd = y_std.tolist() + if v_std is not None: + builder.vStd = v_std.tolist() + if a_std is not None: + builder.aStd = a_std.tolist() + +def fill_xyz_poly(builder, degree, x, y, z): + xyz = np.stack([x, y, z], axis=1) + coeffs = np.polynomial.polynomial.polyfit(ModelConstants.T_IDXS, xyz, deg=degree) + builder.xCoefficients = coeffs[:, 0].tolist() + builder.yCoefficients = coeffs[:, 1].tolist() + builder.zCoefficients = coeffs[:, 2].tolist() + +def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._DynamicStructBuilder, + net_output_data: dict[str, np.ndarray], publish_state: PublishState, + vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float, + timestamp_eof: int, timestamp_llk: int, model_execution_time: float, + nav_enabled: bool, valid: bool, + custom_model_valid: bool, custom_model_capabilities: ModelCapabilities) -> None: + frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0 + frame_drop_perc = frame_drop * 100 + extended_msg.valid = valid + base_msg.valid = valid + + driving_model_data = base_msg.drivingModelData + + driving_model_data.frameId = vipc_frame_id + driving_model_data.frameIdExtra = vipc_frame_id_extra + driving_model_data.frameDropPerc = frame_drop_perc + + action = driving_model_data.action + model_use_lateral_planner = custom_model_valid and custom_model_capabilities & ModelCapabilities.LateralPlannerSolution + if not model_use_lateral_planner: + action.desiredCurvature = float(net_output_data['desired_curvature'][0,0]) + + modelV2 = extended_msg.modelV2 + modelV2.frameId = vipc_frame_id + modelV2.frameIdExtra = vipc_frame_id_extra + modelV2.frameAge = frame_age + modelV2.frameDropPerc = frame_drop_perc + modelV2.timestampEof = timestamp_eof + model_use_nav = custom_model_valid and custom_model_capabilities & ModelCapabilities.NoO + if model_use_nav: + modelV2.locationMonoTimeDEPRECATED = timestamp_llk + modelV2.modelExecutionTime = model_execution_time + if model_use_nav: + modelV2.navEnabledDEPRECATED = nav_enabled + + # plan + position = modelV2.position + fill_xyzt(position, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.POSITION].T, *net_output_data['plan_stds'][0,:,Plan.POSITION].T) + velocity = modelV2.velocity + fill_xyzt(velocity, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.VELOCITY].T) + acceleration = modelV2.acceleration + fill_xyzt(acceleration, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ACCELERATION].T) + orientation = modelV2.orientation + fill_xyzt(orientation, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.T_FROM_CURRENT_EULER].T) + orientation_rate = modelV2.orientationRate + fill_xyzt(orientation_rate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T) + + # poly path + poly_path = driving_model_data.path + fill_xyz_poly(poly_path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T) + + # lateral planning + if model_use_lateral_planner: + solution = modelV2.lateralPlannerSolutionDEPRECATED + solution.x, solution.y, solution.yaw, solution.yawRate = [net_output_data['lat_planner_solution'][0,:,i].tolist() for i in range(4)] + solution.xStd, solution.yStd, solution.yawStd, solution.yawRateStd = [net_output_data['lat_planner_solution_stds'][0,:,i].tolist() for i in range(4)] + else: + action = modelV2.action + action.desiredCurvature = float(net_output_data['desired_curvature'][0,0]) + + # times at X_IDXS according to model plan + PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N + PLAN_T_IDXS[0] = 0.0 + plan_x = net_output_data['plan'][0,:,Plan.POSITION][:,0].tolist() + for xidx in range(1, ModelConstants.IDX_N): + tidx = 0 + # increment tidx until we find an element that's further away than the current xidx + while tidx < ModelConstants.IDX_N - 1 and plan_x[tidx+1] < ModelConstants.X_IDXS[xidx]: + tidx += 1 + if tidx == ModelConstants.IDX_N - 1: + # if the Plan doesn't extend far enough, set plan_t to the max value (10s), then break + PLAN_T_IDXS[xidx] = ModelConstants.T_IDXS[ModelConstants.IDX_N - 1] + break + # interpolate to find `t` for the current xidx + current_x_val = plan_x[tidx] + next_x_val = plan_x[tidx+1] + p = (ModelConstants.X_IDXS[xidx] - current_x_val) / (next_x_val - current_x_val) if abs(next_x_val - current_x_val) > 1e-9 else float('nan') + PLAN_T_IDXS[xidx] = p * ModelConstants.T_IDXS[tidx+1] + (1 - p) * ModelConstants.T_IDXS[tidx] + + # lane lines + modelV2.init('laneLines', 4) + for i in range(4): + lane_line = modelV2.laneLines[i] + fill_xyzt(lane_line, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['lane_lines'][0,i,:,0], net_output_data['lane_lines'][0,i,:,1]) + modelV2.laneLineStds = net_output_data['lane_lines_stds'][0,:,0,0].tolist() + modelV2.laneLineProbs = net_output_data['lane_lines_prob'][0,1::2].tolist() + + lane_line_meta = driving_model_data.laneLineMeta + lane_line_meta.leftY = modelV2.laneLines[1].y[0] + lane_line_meta.leftProb = modelV2.laneLineProbs[1] + lane_line_meta.rightY = modelV2.laneLines[2].y[0] + lane_line_meta.rightProb = modelV2.laneLineProbs[2] + + # road edges + modelV2.init('roadEdges', 2) + for i in range(2): + road_edge = modelV2.roadEdges[i] + fill_xyzt(road_edge, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['road_edges'][0,i,:,0], net_output_data['road_edges'][0,i,:,1]) + modelV2.roadEdgeStds = net_output_data['road_edges_stds'][0,:,0,0].tolist() + + # leads + modelV2.init('leadsV3', 3) + for i in range(3): + lead = modelV2.leadsV3[i] + fill_xyvat(lead, ModelConstants.LEAD_T_IDXS, *net_output_data['lead'][0,i].T, *net_output_data['lead_stds'][0,i].T) + lead.prob = net_output_data['lead_prob'][0,i].tolist() + lead.probTime = ModelConstants.LEAD_T_OFFSETS[i] + + # meta + meta = modelV2.meta + meta.desireState = net_output_data['desire_state'][0].reshape(-1).tolist() + meta.desirePrediction = net_output_data['desire_pred'][0].reshape(-1).tolist() + meta.engagedProb = net_output_data['meta'][0,Meta.ENGAGED].item() + meta.init('disengagePredictions') + disengage_predictions = meta.disengagePredictions + disengage_predictions.t = ModelConstants.META_T_IDXS + disengage_predictions.brakeDisengageProbs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE].tolist() + disengage_predictions.gasDisengageProbs = net_output_data['meta'][0,Meta.GAS_DISENGAGE].tolist() + disengage_predictions.steerOverrideProbs = net_output_data['meta'][0,Meta.STEER_OVERRIDE].tolist() + disengage_predictions.brake3MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_3].tolist() + disengage_predictions.brake4MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_4].tolist() + disengage_predictions.brake5MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_5].tolist() + + publish_state.prev_brake_5ms2_probs[:-1] = publish_state.prev_brake_5ms2_probs[1:] + publish_state.prev_brake_5ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_5][0] + publish_state.prev_brake_3ms2_probs[:-1] = publish_state.prev_brake_3ms2_probs[1:] + publish_state.prev_brake_3ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_3][0] + hard_brake_predicted = (publish_state.prev_brake_5ms2_probs > ModelConstants.FCW_THRESHOLDS_5MS2).all() and \ + (publish_state.prev_brake_3ms2_probs > ModelConstants.FCW_THRESHOLDS_3MS2).all() + meta.hardBrakePredicted = hard_brake_predicted.item() + + # temporal pose + temporal_pose = modelV2.temporalPose + temporal_pose.trans = net_output_data['sim_pose'][0,:3].tolist() + temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:3].tolist() + temporal_pose.rot = net_output_data['sim_pose'][0,3:].tolist() + temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,3:].tolist() + + # confidence + if vipc_frame_id % (2*ModelConstants.MODEL_FREQ) == 0: + # any disengage prob + brake_disengage_probs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE] + gas_disengage_probs = net_output_data['meta'][0,Meta.GAS_DISENGAGE] + steer_override_probs = net_output_data['meta'][0,Meta.STEER_OVERRIDE] + any_disengage_probs = 1-((1-brake_disengage_probs)*(1-gas_disengage_probs)*(1-steer_override_probs)) + # independent disengage prob for each 2s slice + ind_disengage_probs = np.r_[any_disengage_probs[0], np.diff(any_disengage_probs) / (1 - any_disengage_probs[:-1])] + # rolling buf for 2, 4, 6, 8, 10s + publish_state.disengage_buffer[:-ModelConstants.DISENGAGE_WIDTH] = publish_state.disengage_buffer[ModelConstants.DISENGAGE_WIDTH:] + publish_state.disengage_buffer[-ModelConstants.DISENGAGE_WIDTH:] = ind_disengage_probs + + score = 0. + for i in range(ModelConstants.DISENGAGE_WIDTH): + score += publish_state.disengage_buffer[i*ModelConstants.DISENGAGE_WIDTH+ModelConstants.DISENGAGE_WIDTH-1-i].item() / ModelConstants.DISENGAGE_WIDTH + if score < ModelConstants.RYG_GREEN: + modelV2.confidence = ConfidenceClass.green + elif score < ModelConstants.RYG_YELLOW: + modelV2.confidence = ConfidenceClass.yellow + else: + modelV2.confidence = ConfidenceClass.red + + # raw prediction if enabled + if SEND_RAW_PRED: + modelV2.rawPredictions = net_output_data['raw_pred'].tobytes() + +def fill_pose_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str, np.ndarray], + vipc_frame_id: int, vipc_dropped_frames: int, timestamp_eof: int, live_calib_seen: bool) -> None: + msg.valid = live_calib_seen & (vipc_dropped_frames < 1) + cameraOdometry = msg.cameraOdometry + + cameraOdometry.frameId = vipc_frame_id + cameraOdometry.timestampEof = timestamp_eof + + cameraOdometry.trans = net_output_data['pose'][0,:3].tolist() + cameraOdometry.rot = net_output_data['pose'][0,3:].tolist() + cameraOdometry.wideFromDeviceEuler = net_output_data['wide_from_device_euler'][0,:].tolist() + cameraOdometry.roadTransformTrans = net_output_data['road_transform'][0,:3].tolist() + cameraOdometry.transStd = net_output_data['pose_stds'][0,:3].tolist() + cameraOdometry.rotStd = net_output_data['pose_stds'][0,3:].tolist() + cameraOdometry.wideFromDeviceEulerStd = net_output_data['wide_from_device_euler_stds'][0,:].tolist() + cameraOdometry.roadTransformTransStd = net_output_data['road_transform_stds'][0,:3].tolist() diff --git a/selfdrive/modeld/get_model_metadata.py b/selfdrive/modeld/get_model_metadata.py new file mode 100755 index 0000000000..144860204f --- /dev/null +++ b/selfdrive/modeld/get_model_metadata.py @@ -0,0 +1,28 @@ +#!/usr/bin/env python3 +import sys +import pathlib +import onnx +import codecs +import pickle + +def get_name_and_shape(value_info:onnx.ValueInfoProto) -> tuple[str, tuple[int,...]]: + shape = tuple([int(dim.dim_value) for dim in value_info.type.tensor_type.shape.dim]) + name = value_info.name + return name, shape + +if __name__ == "__main__": + model_path = pathlib.Path(sys.argv[1]) + model = onnx.load(str(model_path)) + i = [x.key for x in model.metadata_props].index('output_slices') + output_slices = model.metadata_props[i].value + + metadata = {} + metadata['output_slices'] = pickle.loads(codecs.decode(output_slices.encode(), "base64")) + metadata['input_shapes'] = dict([get_name_and_shape(x) for x in model.graph.input]) + metadata['output_shapes'] = dict([get_name_and_shape(x) for x in model.graph.output]) + + metadata_path = model_path.parent / (model_path.stem + '_metadata.pkl') + with open(metadata_path, 'wb') as f: + pickle.dump(metadata, f) + + print(f'saved metadata to {metadata_path}') diff --git a/selfdrive/modeld/libthneed.so b/selfdrive/modeld/libthneed.so new file mode 100755 index 0000000000..b39b2aa319 Binary files /dev/null and b/selfdrive/modeld/libthneed.so differ diff --git a/selfdrive/modeld/modeld b/selfdrive/modeld/modeld new file mode 100755 index 0000000000..e1cef4dcc3 --- /dev/null +++ b/selfdrive/modeld/modeld @@ -0,0 +1,10 @@ +#!/usr/bin/env bash + +DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" +cd "$DIR/../../" + +if [ -f "$DIR/libthneed.so" ]; then + export LD_PRELOAD="$DIR/libthneed.so" +fi + +exec "$DIR/modeld.py" "$@" diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py new file mode 100755 index 0000000000..bb883c32cb --- /dev/null +++ b/selfdrive/modeld/modeld.py @@ -0,0 +1,424 @@ +#!/usr/bin/env python3 +import os +import time +import pickle +import numpy as np +import cereal.messaging as messaging +from cereal import car, log +from pathlib import Path +from openpilot.common.threadname import setthreadname +from cereal.messaging import PubMaster, SubMaster +from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf +from openpilot.common.swaglog import cloudlog +from openpilot.common.params import Params +from openpilot.common.realtime import DT_MDL +from openpilot.common.numpy_fast import interp +from openpilot.common.filter_simple import FirstOrderFilter +from openpilot.common.realtime import config_realtime_process +from openpilot.common.transformations.camera import DEVICE_CAMERAS +from openpilot.common.transformations.model import get_warp_matrix +from openpilot.system import sentry +from openpilot.selfdrive.car.car_helpers import get_demo_car_params +from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper +from openpilot.selfdrive.modeld.custom_model_metadata import CustomModelMetadata, ModelCapabilities +from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime +from openpilot.selfdrive.modeld.parse_model_outputs import Parser +from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState +from openpilot.selfdrive.modeld.constants import ModelConstants +from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext +from openpilot.system.hardware.hw import Paths + +THREAD_NAME = "selfdrive.modeld.modeld" +SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') + +MODEL_PATHS = { + ModelRunner.THNEED: Path(__file__).parent / 'models/supercombo.thneed', + ModelRunner.ONNX: Path(__file__).parent / 'models/supercombo.onnx'} + +METADATA_PATH = Path(__file__).parent / 'models/supercombo_metadata.pkl' + +CUSTOM_MODEL_PATH = Paths.model_root() + +LaneChangeState = log.LaneChangeState + + +class FrameMeta: + frame_id: int = 0 + timestamp_sof: int = 0 + timestamp_eof: int = 0 + + def __init__(self, vipc=None): + if vipc is not None: + self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof + +class ModelState: + frame: ModelFrame + wide_frame: ModelFrame + inputs: dict[str, np.ndarray] + output: np.ndarray + prev_desire: np.ndarray # for tracking the rising edge of the pulse + model: ModelRunner + + def __init__(self, context: CLContext): + self.param_s = Params() + self.custom_model_metadata = CustomModelMetadata(params=self.param_s, init_only=True) + self.frame = ModelFrame(context) + self.wide_frame = ModelFrame(context) + self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32) + # Default model, and as of time of writing, this model uses DesiredCurvatureV2 + _inputs = { + 'lateral_control_params': np.zeros(ModelConstants.LATERAL_CONTROL_PARAMS_LEN, dtype=np.float32), + 'prev_desired_curv': np.zeros(ModelConstants.PREV_DESIRED_CURV_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32), + } + _inputs_2 = {} + if self.custom_model_metadata.valid: + if self.custom_model_metadata.capabilities & ModelCapabilities.LateralPlannerSolution: + _inputs = { + 'lat_planner_state': np.zeros(ModelConstants.LAT_PLANNER_STATE_LEN, dtype=np.float32), + } + if self.custom_model_metadata.capabilities & ModelCapabilities.DesiredCurvatureV1: + _inputs = { + 'lateral_control_params': np.zeros(ModelConstants.LATERAL_CONTROL_PARAMS_LEN, dtype=np.float32), + 'prev_desired_curvs': np.zeros(ModelConstants.PREV_DESIRED_CURVS_LEN, dtype=np.float32), + } + if self.custom_model_metadata.capabilities & ModelCapabilities.NoO: + _inputs_2 = { + 'nav_features': np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32), + 'nav_instructions': np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32), + } + + self.inputs = { + 'desire': np.zeros(ModelConstants.DESIRE_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32), + 'traffic_convention': np.zeros(ModelConstants.TRAFFIC_CONVENTION_LEN, dtype=np.float32), + **_inputs, + **_inputs_2, + 'features_buffer': np.zeros(ModelConstants.HISTORY_BUFFER_LEN * ModelConstants.FEATURE_LEN, dtype=np.float32), + } + + if self.custom_model_metadata.valid: + _model_name = self.param_s.get("DrivingModelText", encoding="utf8") + _model_paths = {ModelRunner.THNEED: f"{CUSTOM_MODEL_PATH}/supercombo-{_model_name}.thneed"} + _metadata_name = self.param_s.get("DrivingModelMetadataText", encoding="utf8") + _metadata_path = f"{CUSTOM_MODEL_PATH}/supercombo_metadata_{_metadata_name}.pkl" if _model_name else METADATA_PATH + else: + _model_paths = MODEL_PATHS + _metadata_path = METADATA_PATH + + with open(_metadata_path, 'rb') as f: + model_metadata = pickle.load(f) + + self.output_slices = model_metadata['output_slices'] + net_output_size = model_metadata['output_shapes']['outputs'][1] + self.output = np.zeros(net_output_size, dtype=np.float32) + self.parser = Parser() + + self.model = ModelRunner(_model_paths, self.output, Runtime.GPU, False, context) + self.model.addInput("input_imgs", None) + self.model.addInput("big_input_imgs", None) + for k,v in self.inputs.items(): + self.model.addInput(k, v) + + def slice_outputs(self, model_outputs: np.ndarray) -> dict[str, np.ndarray]: + parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in self.output_slices.items()} + if SEND_RAW_PRED: + parsed_model_outputs['raw_pred'] = model_outputs.copy() + return parsed_model_outputs + + def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray, + inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None: + # Model decides when action is completed, so desire input is just a pulse triggered on rising edge + inputs['desire'][0] = 0 + self.inputs['desire'][:-ModelConstants.DESIRE_LEN] = self.inputs['desire'][ModelConstants.DESIRE_LEN:] + self.inputs['desire'][-ModelConstants.DESIRE_LEN:] = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0) + self.prev_desire[:] = inputs['desire'] + + self.inputs['traffic_convention'][:] = inputs['traffic_convention'] + if not (self.custom_model_metadata.valid and self.custom_model_metadata.capabilities & ModelCapabilities.LateralPlannerSolution): + self.inputs['lateral_control_params'][:] = inputs['lateral_control_params'] + if self.custom_model_metadata.valid and self.custom_model_metadata.capabilities & ModelCapabilities.NoO: + self.inputs['nav_features'][:] = inputs['nav_features'] + self.inputs['nav_instructions'][:] = inputs['nav_instructions'] + + # if getCLBuffer is not None, frame will be None + self.model.setInputBuffer("input_imgs", self.frame.prepare(buf, transform.flatten(), self.model.getCLBuffer("input_imgs"))) + if wbuf is not None: + self.model.setInputBuffer("big_input_imgs", self.wide_frame.prepare(wbuf, transform_wide.flatten(), self.model.getCLBuffer("big_input_imgs"))) + + if prepare_only: + return None + + self.model.execute() + outputs = self.parser.parse_outputs(self.slice_outputs(self.output)) + + self.inputs['features_buffer'][:-ModelConstants.FEATURE_LEN] = self.inputs['features_buffer'][ModelConstants.FEATURE_LEN:] + self.inputs['features_buffer'][-ModelConstants.FEATURE_LEN:] = outputs['hidden_state'][0, :] + if self.custom_model_metadata.valid: + if self.custom_model_metadata.capabilities & ModelCapabilities.LateralPlannerSolution: + self.inputs['lat_planner_state'][2] = interp(DT_MDL, ModelConstants.T_IDXS, outputs['lat_planner_solution'][0, :, 2]) + self.inputs['lat_planner_state'][3] = interp(DT_MDL, ModelConstants.T_IDXS, outputs['lat_planner_solution'][0, :, 3]) + elif self.custom_model_metadata.capabilities & ModelCapabilities.DesiredCurvatureV1: + self.inputs['prev_desired_curvs'][:-1] = self.inputs['prev_desired_curvs'][1:] + self.inputs['prev_desired_curvs'][-1] = outputs['desired_curvature'][0, 0] + else: # Default model, and as of time of writing, this model uses DesiredCurvatureV2 + self.inputs['prev_desired_curv'][:-ModelConstants.PREV_DESIRED_CURV_LEN] = self.inputs['prev_desired_curv'][ModelConstants.PREV_DESIRED_CURV_LEN:] + self.inputs['prev_desired_curv'][-ModelConstants.PREV_DESIRED_CURV_LEN:] = outputs['desired_curvature'][0, :] + return outputs + + +def main(demo=False): + cloudlog.warning("modeld init") + + sentry.set_tag("daemon", THREAD_NAME) + cloudlog.bind(daemon=THREAD_NAME) + setthreadname("modeld") + config_realtime_process(7, 54) + + cloudlog.warning("setting up CL context") + cl_context = CLContext() + cloudlog.warning("CL context ready; loading model") + model = ModelState(cl_context) + cloudlog.warning("models loaded, modeld starting") + + # visionipc clients + while True: + available_streams = VisionIpcClient.available_streams("camerad", block=False) + if available_streams: + use_extra_client = VisionStreamType.VISION_STREAM_WIDE_ROAD in available_streams and VisionStreamType.VISION_STREAM_ROAD in available_streams + main_wide_camera = VisionStreamType.VISION_STREAM_ROAD not in available_streams + break + time.sleep(.1) + + vipc_client_main_stream = VisionStreamType.VISION_STREAM_WIDE_ROAD if main_wide_camera else VisionStreamType.VISION_STREAM_ROAD + vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True, cl_context) + vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False, cl_context) + cloudlog.warning(f"vision stream set up, main_wide_camera: {main_wide_camera}, use_extra_client: {use_extra_client}") + + while not vipc_client_main.connect(False): + time.sleep(0.1) + while use_extra_client and not vipc_client_extra.connect(False): + time.sleep(0.1) + + cloudlog.warning(f"connected main cam with buffer size: {vipc_client_main.buffer_len} ({vipc_client_main.width} x {vipc_client_main.height})") + if use_extra_client: + cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})") + + params = Params() + custom_model_metadata = CustomModelMetadata(params=params, init_only=True) + + # messaging + extended_svs = ["lateralPlanDEPRECATED", "lateralPlanSPDEPRECATED"] + if custom_model_metadata.valid and custom_model_metadata.capabilities & ModelCapabilities.NoO: + extended_svs += ["navModelDEPRECATED", "navInstruction"] + pm = PubMaster(["modelV2", "modelV2SP", "drivingModelData", "cameraOdometry"]) + sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl"] + extended_svs) + + publish_state = PublishState() + + # setup filter to track dropped frames + frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_FREQ) + frame_id = 0 + last_vipc_frame_id = 0 + run_count = 0 + + model_transform_main = np.zeros((3, 3), dtype=np.float32) + model_transform_extra = np.zeros((3, 3), dtype=np.float32) + live_calib_seen = False + if custom_model_metadata.valid and custom_model_metadata.capabilities & ModelCapabilities.LateralPlannerSolution: + driving_style = np.array([1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0], dtype=np.float32) + if custom_model_metadata.valid and custom_model_metadata.capabilities & ModelCapabilities.NoO: + nav_features = np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32) + nav_instructions = np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32) + buf_main, buf_extra = None, None + meta_main = FrameMeta() + meta_extra = FrameMeta() + + + if demo: + CP = get_demo_car_params() + else: + CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams) + + cloudlog.info("modeld got CarParams: %s", CP.carName) + + # TODO this needs more thought, use .2s extra for now to estimate other delays + steer_delay = CP.steerActuatorDelay + .2 + + DH = DesireHelper() + + while True: + # Keep receiving frames until we are at least 1 frame ahead of previous extra frame + while meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000: + buf_main = vipc_client_main.recv() + meta_main = FrameMeta(vipc_client_main) + if buf_main is None: + break + + if buf_main is None: + cloudlog.debug("vipc_client_main no frame") + continue + + if use_extra_client: + # Keep receiving extra frames until frame id matches main camera + while True: + buf_extra = vipc_client_extra.recv() + meta_extra = FrameMeta(vipc_client_extra) + if buf_extra is None or meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000: + break + + if buf_extra is None: + cloudlog.debug("vipc_client_extra no frame") + continue + + if abs(meta_main.timestamp_sof - meta_extra.timestamp_sof) > 10000000: + cloudlog.error(f"frames out of sync! main: {meta_main.frame_id} ({meta_main.timestamp_sof / 1e9:.5f}),\ + extra: {meta_extra.frame_id} ({meta_extra.timestamp_sof / 1e9:.5f})") + + else: + # Use single camera + buf_extra = buf_main + meta_extra = meta_main + + sm.update(0) + if custom_model_metadata.valid and custom_model_metadata.capabilities & ModelCapabilities.LateralPlannerSolution: + desire = sm["lateralPlanDEPRECATED"].desire.raw + else: + desire = DH.desire + is_rhd = sm["driverMonitoringState"].isRHD + frame_id = sm["roadCameraState"].frameId + if not (custom_model_metadata.valid and custom_model_metadata.capabilities & ModelCapabilities.LateralPlannerSolution): + lateral_control_params = np.array([sm["carState"].vEgo, steer_delay], dtype=np.float32) + if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']: + device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32) + dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))] + model_transform_main = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics if main_wide_camera else dc.fcam.intrinsics, False).astype(np.float32) + model_transform_extra = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics, True).astype(np.float32) + live_calib_seen = True + + traffic_convention = np.zeros(2) + traffic_convention[int(is_rhd)] = 1 + + vec_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32) + if desire >= 0 and desire < ModelConstants.DESIRE_LEN: + vec_desire[desire] = 1 + + timestamp_llk = 0 + nav_enabled = False + if custom_model_metadata.valid and custom_model_metadata.capabilities & ModelCapabilities.NoO: + # Enable/disable nav features + timestamp_llk = sm["navModelDEPRECATED"].locationMonoTime + nav_valid = sm.valid["navModelDEPRECATED"] # and (nanos_since_boot() - timestamp_llk < 1e9) + nav_enabled = nav_valid + + if not nav_enabled: + nav_features[:] = 0 + nav_instructions[:] = 0 + + if nav_enabled and sm.updated["navModelDEPRECATED"]: + nav_features = np.array(sm["navModelDEPRECATED"].features) + + if nav_enabled and sm.updated["navInstruction"]: + nav_instructions[:] = 0 + for maneuver in sm["navInstruction"].allManeuvers: + distance_idx = 25 + int(maneuver.distance / 20) + direction_idx = 0 + if maneuver.modifier in ("left", "slight left", "sharp left"): + direction_idx = 1 + if maneuver.modifier in ("right", "slight right", "sharp right"): + direction_idx = 2 + if 0 <= distance_idx < 50: + nav_instructions[distance_idx*3 + direction_idx] = 1 + + # tracked dropped frames + vipc_dropped_frames = max(0, meta_main.frame_id - last_vipc_frame_id - 1) + frames_dropped = frame_dropped_filter.update(min(vipc_dropped_frames, 10)) + if run_count < 10: # let frame drops warm up + frame_dropped_filter.x = 0. + frames_dropped = 0. + run_count = run_count + 1 + + frame_drop_ratio = frames_dropped / (1 + frames_dropped) + prepare_only = vipc_dropped_frames > 0 + if prepare_only: + cloudlog.error(f"skipping model eval. Dropped {vipc_dropped_frames} frames") + + if custom_model_metadata.valid and custom_model_metadata.capabilities & ModelCapabilities.LateralPlannerSolution: + _inputs = { + 'driving_style': driving_style + } + else: + _inputs = { + 'lateral_control_params': lateral_control_params + } + if custom_model_metadata.valid and custom_model_metadata.capabilities & ModelCapabilities.NoO: + _inputs_2 = { + 'nav_features': nav_features, + 'nav_instructions': nav_instructions + } + else: + _inputs_2 = {} + + inputs:dict[str, np.ndarray] = { + 'desire': vec_desire, + 'traffic_convention': traffic_convention, + **_inputs, + **_inputs_2, + } + + mt1 = time.perf_counter() + model_output = model.run(buf_main, buf_extra, model_transform_main, model_transform_extra, inputs, prepare_only) + mt2 = time.perf_counter() + model_execution_time = mt2 - mt1 + + lat_plan_sp = sm['lateralPlanSPDEPRECATED'] + + if model_output is not None: + modelv2_send = messaging.new_message('modelV2') + drivingdata_send = messaging.new_message('drivingModelData') + posenet_send = messaging.new_message('cameraOdometry') + fill_model_msg(drivingdata_send, modelv2_send, model_output, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id, + frame_drop_ratio, meta_main.timestamp_eof, timestamp_llk, model_execution_time, nav_enabled, live_calib_seen, + custom_model_metadata.valid, custom_model_metadata.capabilities) + + if not (custom_model_metadata.valid and custom_model_metadata.capabilities & ModelCapabilities.LateralPlannerSolution): + desire_state = modelv2_send.modelV2.meta.desireState + l_lane_change_prob = desire_state[log.Desire.laneChangeLeft] + r_lane_change_prob = desire_state[log.Desire.laneChangeRight] + lane_change_prob = l_lane_change_prob + r_lane_change_prob + DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, lat_plan_sp=lat_plan_sp) + modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state + modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction + + drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state + drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction + + fill_pose_msg(posenet_send, model_output, meta_main.frame_id, vipc_dropped_frames, meta_main.timestamp_eof, live_calib_seen) + pm.send('modelV2', modelv2_send) + pm.send('drivingModelData', drivingdata_send) + pm.send('cameraOdometry', posenet_send) + + modelv2_sp_send = messaging.new_message('modelV2SP') + modelv2_sp_send.valid = True + modelV2SP = modelv2_sp_send.modelV2SP + if not (custom_model_metadata.valid and custom_model_metadata.capabilities & ModelCapabilities.LateralPlannerSolution): + modelV2SP.laneChangePrev = DH.prev_lane_change + modelV2SP.laneChangeEdgeBlock = lat_plan_sp.laneChangeEdgeBlockDEPRECATED + modelV2SP.customModel = custom_model_metadata.valid + modelV2SP.modelGeneration = custom_model_metadata.generation + modelV2SP.modelCapabilities = int(custom_model_metadata.capabilities) + pm.send('modelV2SP', modelv2_sp_send) + + last_vipc_frame_id = meta_main.frame_id + + +if __name__ == "__main__": + try: + import argparse + parser = argparse.ArgumentParser() + parser.add_argument('--demo', action='store_true', help='A boolean for demo mode.') + args = parser.parse_args() + main(demo=args.demo) + except KeyboardInterrupt: + cloudlog.warning(f"child {THREAD_NAME} got SIGINT") + except Exception: + sentry.capture_exception() + raise diff --git a/selfdrive/modeld/models/__init__.py b/selfdrive/modeld/models/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/modeld/models/commonmodel.h b/selfdrive/modeld/models/commonmodel.h new file mode 100644 index 0000000000..2cf79094a6 --- /dev/null +++ b/selfdrive/modeld/models/commonmodel.h @@ -0,0 +1,38 @@ +#pragma once + +#include +#include + +#include + +#define CL_USE_DEPRECATED_OPENCL_1_2_APIS +#ifdef __APPLE__ +#include +#else +#include +#endif + +#include "common/mat.h" +#include "selfdrive/modeld/transforms/loadyuv.h" +#include "selfdrive/modeld/transforms/transform.h" + +float sigmoid(float input); + +class ModelFrame { +public: + ModelFrame(cl_device_id device_id, cl_context context); + ~ModelFrame(); + float* prepare(cl_mem yuv_cl, int width, int height, int frame_stride, int frame_uv_offset, const mat3& transform, cl_mem *output); + + const int MODEL_WIDTH = 512; + const int MODEL_HEIGHT = 256; + const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2; + const int buf_size = MODEL_FRAME_SIZE * 2; + +private: + Transform transform; + LoadYUVState loadyuv; + cl_command_queue q; + cl_mem y_cl, u_cl, v_cl, net_input_cl; + std::unique_ptr input_frames; +}; diff --git a/selfdrive/modeld/models/commonmodel.pxd b/selfdrive/modeld/models/commonmodel.pxd new file mode 100644 index 0000000000..7c3eb0b3d7 --- /dev/null +++ b/selfdrive/modeld/models/commonmodel.pxd @@ -0,0 +1,20 @@ +# distutils: language = c++ + +from msgq.visionipc.visionipc cimport cl_device_id, cl_context, cl_mem + +cdef extern from "common/mat.h": + cdef struct mat3: + float v[9] + +cdef extern from "common/clutil.h": + cdef unsigned long CL_DEVICE_TYPE_DEFAULT + cl_device_id cl_get_device_id(unsigned long) + cl_context cl_create_context(cl_device_id) + +cdef extern from "selfdrive/modeld/models/commonmodel.h": + float sigmoid(float) + + cppclass ModelFrame: + int buf_size + ModelFrame(cl_device_id, cl_context) + float * prepare(cl_mem, int, int, int, int, mat3, cl_mem*) diff --git a/selfdrive/modeld/models/commonmodel_pyx.cpp b/selfdrive/modeld/models/commonmodel_pyx.cpp new file mode 100644 index 0000000000..6c8d7ae3c1 --- /dev/null +++ b/selfdrive/modeld/models/commonmodel_pyx.cpp @@ -0,0 +1,32064 @@ +/* Generated by Cython 3.0.8 */ + +/* BEGIN: Cython Metadata +{ + "distutils": { + "depends": [ + "common/clutil.h", + "common/mat.h", + "msgq/visionipc/visionbuf.h", + "msgq/visionipc/visionipc.h", + "msgq/visionipc/visionipc_client.h", + "msgq/visionipc/visionipc_server.h", + "selfdrive/modeld/models/commonmodel.h" + ], + "language": "c++", + "name": "selfdrive.modeld.models.commonmodel_pyx", + "sources": [ + "/data/openpilot/selfdrive/modeld/models/commonmodel_pyx.pyx" + ] + }, + "module_name": "selfdrive.modeld.models.commonmodel_pyx" +} +END: Cython Metadata */ + +#ifndef PY_SSIZE_T_CLEAN +#define PY_SSIZE_T_CLEAN +#endif /* PY_SSIZE_T_CLEAN */ +#if defined(CYTHON_LIMITED_API) && 0 + #ifndef Py_LIMITED_API + #if CYTHON_LIMITED_API+0 > 0x03030000 + #define Py_LIMITED_API CYTHON_LIMITED_API + #else + #define Py_LIMITED_API 0x03030000 + #endif + #endif +#endif + +#include "Python.h" +#ifndef Py_PYTHON_H + #error Python headers needed to compile C extensions, please install development version of Python. +#elif PY_VERSION_HEX < 0x02070000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) + #error Cython requires Python 2.7+ or Python 3.3+. +#else +#if defined(CYTHON_LIMITED_API) && CYTHON_LIMITED_API +#define __PYX_EXTRA_ABI_MODULE_NAME "limited" +#else +#define __PYX_EXTRA_ABI_MODULE_NAME "" +#endif +#define CYTHON_ABI "3_0_8" __PYX_EXTRA_ABI_MODULE_NAME +#define __PYX_ABI_MODULE_NAME "_cython_" CYTHON_ABI +#define __PYX_TYPE_MODULE_PREFIX __PYX_ABI_MODULE_NAME "." +#define CYTHON_HEX_VERSION 0x030008F0 +#define CYTHON_FUTURE_DIVISION 1 +#include +#ifndef offsetof + #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) +#endif +#if !defined(_WIN32) && !defined(WIN32) && !defined(MS_WINDOWS) + #ifndef __stdcall + #define __stdcall + #endif + #ifndef __cdecl + #define __cdecl + #endif + #ifndef __fastcall + #define __fastcall + #endif +#endif +#ifndef DL_IMPORT + #define DL_IMPORT(t) t +#endif +#ifndef DL_EXPORT + #define DL_EXPORT(t) t +#endif +#define __PYX_COMMA , +#ifndef HAVE_LONG_LONG + #define HAVE_LONG_LONG +#endif +#ifndef PY_LONG_LONG + #define PY_LONG_LONG LONG_LONG +#endif +#ifndef Py_HUGE_VAL + #define Py_HUGE_VAL HUGE_VAL +#endif +#define __PYX_LIMITED_VERSION_HEX PY_VERSION_HEX +#if defined(GRAALVM_PYTHON) + /* For very preliminary testing purposes. Most variables are set the same as PyPy. + The existence of this section does not imply that anything works or is even tested */ + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 1 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(PYPY_VERSION) + #define CYTHON_COMPILING_IN_PYPY 1 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #if PY_VERSION_HEX < 0x03090000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1 && PYPY_VERSION_NUM >= 0x07030C00) + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(CYTHON_LIMITED_API) + #ifdef Py_LIMITED_API + #undef __PYX_LIMITED_VERSION_HEX + #define __PYX_LIMITED_VERSION_HEX Py_LIMITED_API + #endif + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 1 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_CLINE_IN_TRACEBACK + #define CYTHON_CLINE_IN_TRACEBACK 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 1 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #endif + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 1 + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(Py_GIL_DISABLED) || defined(Py_NOGIL) + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 1 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #ifndef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#else + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 1 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #ifndef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 1 + #endif + #if PY_MAJOR_VERSION < 3 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #ifndef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 1 + #endif + #ifndef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 1 + #endif + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #elif !defined(CYTHON_USE_UNICODE_WRITER) + #define CYTHON_USE_UNICODE_WRITER 1 + #endif + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #ifndef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 1 + #endif + #ifndef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL (PY_MAJOR_VERSION < 3 || PY_VERSION_HEX >= 0x03060000 && PY_VERSION_HEX < 0x030C00A6) + #endif + #ifndef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL (PY_VERSION_HEX >= 0x030700A1) + #endif + #ifndef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 1 + #endif + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #endif + #if PY_VERSION_HEX < 0x030400a1 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #elif !defined(CYTHON_USE_TP_FINALIZE) + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #if PY_VERSION_HEX < 0x030600B1 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #elif !defined(CYTHON_USE_DICT_VERSIONS) + #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX < 0x030C00A5) + #endif + #if PY_VERSION_HEX < 0x030700A3 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #elif !defined(CYTHON_USE_EXC_INFO_STACK) + #define CYTHON_USE_EXC_INFO_STACK 1 + #endif + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 1 + #endif +#endif +#if !defined(CYTHON_FAST_PYCCALL) +#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) +#endif +#if !defined(CYTHON_VECTORCALL) +#define CYTHON_VECTORCALL (CYTHON_FAST_PYCCALL && PY_VERSION_HEX >= 0x030800B1) +#endif +#define CYTHON_BACKPORT_VECTORCALL (CYTHON_METH_FASTCALL && PY_VERSION_HEX < 0x030800B1) +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_MAJOR_VERSION < 3 + #include "longintrepr.h" + #endif + #undef SHIFT + #undef BASE + #undef MASK + #ifdef SIZEOF_VOID_P + enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; + #endif +#endif +#ifndef __has_attribute + #define __has_attribute(x) 0 +#endif +#ifndef __has_cpp_attribute + #define __has_cpp_attribute(x) 0 +#endif +#ifndef CYTHON_RESTRICT + #if defined(__GNUC__) + #define CYTHON_RESTRICT __restrict__ + #elif defined(_MSC_VER) && _MSC_VER >= 1400 + #define CYTHON_RESTRICT __restrict + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_RESTRICT restrict + #else + #define CYTHON_RESTRICT + #endif +#endif +#ifndef CYTHON_UNUSED + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(maybe_unused) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(maybe_unused) + #define CYTHON_UNUSED [[maybe_unused]] + #endif + #endif + #endif +#endif +#ifndef CYTHON_UNUSED +# if defined(__GNUC__) +# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_UNUSED_VAR +# if defined(__cplusplus) + template void CYTHON_UNUSED_VAR( const T& ) { } +# else +# define CYTHON_UNUSED_VAR(x) (void)(x) +# endif +#endif +#ifndef CYTHON_MAYBE_UNUSED_VAR + #define CYTHON_MAYBE_UNUSED_VAR(x) CYTHON_UNUSED_VAR(x) +#endif +#ifndef CYTHON_NCP_UNUSED +# if CYTHON_COMPILING_IN_CPYTHON +# define CYTHON_NCP_UNUSED +# else +# define CYTHON_NCP_UNUSED CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_USE_CPP_STD_MOVE + #if defined(__cplusplus) && (\ + __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600)) + #define CYTHON_USE_CPP_STD_MOVE 1 + #else + #define CYTHON_USE_CPP_STD_MOVE 0 + #endif +#endif +#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) +#ifdef _MSC_VER + #ifndef _MSC_STDINT_H_ + #if _MSC_VER < 1300 + typedef unsigned char uint8_t; + typedef unsigned short uint16_t; + typedef unsigned int uint32_t; + #else + typedef unsigned __int8 uint8_t; + typedef unsigned __int16 uint16_t; + typedef unsigned __int32 uint32_t; + #endif + #endif + #if _MSC_VER < 1300 + #ifdef _WIN64 + typedef unsigned long long __pyx_uintptr_t; + #else + typedef unsigned int __pyx_uintptr_t; + #endif + #else + #ifdef _WIN64 + typedef unsigned __int64 __pyx_uintptr_t; + #else + typedef unsigned __int32 __pyx_uintptr_t; + #endif + #endif +#else + #include + typedef uintptr_t __pyx_uintptr_t; +#endif +#ifndef CYTHON_FALLTHROUGH + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(fallthrough) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(fallthrough) + #define CYTHON_FALLTHROUGH [[fallthrough]] + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_cpp_attribute(clang::fallthrough) + #define CYTHON_FALLTHROUGH [[clang::fallthrough]] + #elif __has_cpp_attribute(gnu::fallthrough) + #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] + #endif + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_attribute(fallthrough) + #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) + #else + #define CYTHON_FALLTHROUGH + #endif + #endif + #if defined(__clang__) && defined(__apple_build_version__) + #if __apple_build_version__ < 7000000 + #undef CYTHON_FALLTHROUGH + #define CYTHON_FALLTHROUGH + #endif + #endif +#endif +#ifdef __cplusplus + template + struct __PYX_IS_UNSIGNED_IMPL {static const bool value = T(0) < T(-1);}; + #define __PYX_IS_UNSIGNED(type) (__PYX_IS_UNSIGNED_IMPL::value) +#else + #define __PYX_IS_UNSIGNED(type) (((type)-1) > 0) +#endif +#if CYTHON_COMPILING_IN_PYPY == 1 + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x030A0000) +#else + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000) +#endif +#define __PYX_REINTERPRET_FUNCION(func_pointer, other_pointer) ((func_pointer)(void(*)(void))(other_pointer)) + +#ifndef __cplusplus + #error "Cython files generated with the C++ option must be compiled with a C++ compiler." +#endif +#ifndef CYTHON_INLINE + #if defined(__clang__) + #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) + #else + #define CYTHON_INLINE inline + #endif +#endif +template +void __Pyx_call_destructor(T& x) { + x.~T(); +} +template +class __Pyx_FakeReference { + public: + __Pyx_FakeReference() : ptr(NULL) { } + __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } + T *operator->() { return ptr; } + T *operator&() { return ptr; } + operator T&() { return *ptr; } + template bool operator ==(const U& other) const { return *ptr == other; } + template bool operator !=(const U& other) const { return *ptr != other; } + template bool operator==(const __Pyx_FakeReference& other) const { return *ptr == *other.ptr; } + template bool operator!=(const __Pyx_FakeReference& other) const { return *ptr != *other.ptr; } + private: + T *ptr; +}; + +#define __PYX_BUILD_PY_SSIZE_T "n" +#define CYTHON_FORMAT_SSIZE_T "z" +#if PY_MAJOR_VERSION < 3 + #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" + #define __Pyx_DefaultClassType PyClass_Type + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_BUILTIN_MODULE_NAME "builtins" + #define __Pyx_DefaultClassType PyType_Type +#if CYTHON_COMPILING_IN_LIMITED_API + static CYTHON_INLINE PyObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyObject *exception_table = NULL; + PyObject *types_module=NULL, *code_type=NULL, *result=NULL; + #if __PYX_LIMITED_VERSION_HEX < 0x030B0000 + PyObject *version_info; + PyObject *py_minor_version = NULL; + #endif + long minor_version = 0; + PyObject *type, *value, *traceback; + PyErr_Fetch(&type, &value, &traceback); + #if __PYX_LIMITED_VERSION_HEX >= 0x030B0000 + minor_version = 11; + #else + if (!(version_info = PySys_GetObject("version_info"))) goto end; + if (!(py_minor_version = PySequence_GetItem(version_info, 1))) goto end; + minor_version = PyLong_AsLong(py_minor_version); + Py_DECREF(py_minor_version); + if (minor_version == -1 && PyErr_Occurred()) goto end; + #endif + if (!(types_module = PyImport_ImportModule("types"))) goto end; + if (!(code_type = PyObject_GetAttrString(types_module, "CodeType"))) goto end; + if (minor_version <= 7) { + (void)p; + result = PyObject_CallFunction(code_type, "iiiiiOOOOOOiOO", a, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else if (minor_version <= 10) { + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else { + if (!(exception_table = PyBytes_FromStringAndSize(NULL, 0))) goto end; + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, name, fline, lnos, exception_table, fv, cell); + } + end: + Py_XDECREF(code_type); + Py_XDECREF(exception_table); + Py_XDECREF(types_module); + if (type) { + PyErr_Restore(type, value, traceback); + } + return result; + } + #ifndef CO_OPTIMIZED + #define CO_OPTIMIZED 0x0001 + #endif + #ifndef CO_NEWLOCALS + #define CO_NEWLOCALS 0x0002 + #endif + #ifndef CO_VARARGS + #define CO_VARARGS 0x0004 + #endif + #ifndef CO_VARKEYWORDS + #define CO_VARKEYWORDS 0x0008 + #endif + #ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x0200 + #endif + #ifndef CO_GENERATOR + #define CO_GENERATOR 0x0020 + #endif + #ifndef CO_COROUTINE + #define CO_COROUTINE 0x0080 + #endif +#elif PY_VERSION_HEX >= 0x030B0000 + static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyCodeObject *result; + PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); + if (!empty_bytes) return NULL; + result = + #if PY_VERSION_HEX >= 0x030C0000 + PyUnstable_Code_NewWithPosOnlyArgs + #else + PyCode_NewWithPosOnlyArgs + #endif + (a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, name, fline, lnos, empty_bytes); + Py_DECREF(empty_bytes); + return result; + } +#elif PY_VERSION_HEX >= 0x030800B2 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_NewWithPosOnlyArgs(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#endif +#endif +#if PY_VERSION_HEX >= 0x030900A4 || defined(Py_IS_TYPE) + #define __Pyx_IS_TYPE(ob, type) Py_IS_TYPE(ob, type) +#else + #define __Pyx_IS_TYPE(ob, type) (((const PyObject*)ob)->ob_type == (type)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_Is) + #define __Pyx_Py_Is(x, y) Py_Is(x, y) +#else + #define __Pyx_Py_Is(x, y) ((x) == (y)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsNone) + #define __Pyx_Py_IsNone(ob) Py_IsNone(ob) +#else + #define __Pyx_Py_IsNone(ob) __Pyx_Py_Is((ob), Py_None) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsTrue) + #define __Pyx_Py_IsTrue(ob) Py_IsTrue(ob) +#else + #define __Pyx_Py_IsTrue(ob) __Pyx_Py_Is((ob), Py_True) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsFalse) + #define __Pyx_Py_IsFalse(ob) Py_IsFalse(ob) +#else + #define __Pyx_Py_IsFalse(ob) __Pyx_Py_Is((ob), Py_False) +#endif +#define __Pyx_NoneAsNull(obj) (__Pyx_Py_IsNone(obj) ? NULL : (obj)) +#if PY_VERSION_HEX >= 0x030900F0 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_GC_IsFinalized(o) PyObject_GC_IsFinalized(o) +#else + #define __Pyx_PyObject_GC_IsFinalized(o) _PyGC_FINALIZED(o) +#endif +#ifndef CO_COROUTINE + #define CO_COROUTINE 0x80 +#endif +#ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x200 +#endif +#ifndef Py_TPFLAGS_CHECKTYPES + #define Py_TPFLAGS_CHECKTYPES 0 +#endif +#ifndef Py_TPFLAGS_HAVE_INDEX + #define Py_TPFLAGS_HAVE_INDEX 0 +#endif +#ifndef Py_TPFLAGS_HAVE_NEWBUFFER + #define Py_TPFLAGS_HAVE_NEWBUFFER 0 +#endif +#ifndef Py_TPFLAGS_HAVE_FINALIZE + #define Py_TPFLAGS_HAVE_FINALIZE 0 +#endif +#ifndef Py_TPFLAGS_SEQUENCE + #define Py_TPFLAGS_SEQUENCE 0 +#endif +#ifndef Py_TPFLAGS_MAPPING + #define Py_TPFLAGS_MAPPING 0 +#endif +#ifndef METH_STACKLESS + #define METH_STACKLESS 0 +#endif +#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) + #ifndef METH_FASTCALL + #define METH_FASTCALL 0x80 + #endif + typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); + typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, + Py_ssize_t nargs, PyObject *kwnames); +#else + #define __Pyx_PyCFunctionFast _PyCFunctionFast + #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords +#endif +#if CYTHON_METH_FASTCALL + #define __Pyx_METH_FASTCALL METH_FASTCALL + #define __Pyx_PyCFunction_FastCall __Pyx_PyCFunctionFast + #define __Pyx_PyCFunction_FastCallWithKeywords __Pyx_PyCFunctionFastWithKeywords +#else + #define __Pyx_METH_FASTCALL METH_VARARGS + #define __Pyx_PyCFunction_FastCall PyCFunction + #define __Pyx_PyCFunction_FastCallWithKeywords PyCFunctionWithKeywords +#endif +#if CYTHON_VECTORCALL + #define __pyx_vectorcallfunc vectorcallfunc + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET PY_VECTORCALL_ARGUMENTS_OFFSET + #define __Pyx_PyVectorcall_NARGS(n) PyVectorcall_NARGS((size_t)(n)) +#elif CYTHON_BACKPORT_VECTORCALL + typedef PyObject *(*__pyx_vectorcallfunc)(PyObject *callable, PyObject *const *args, + size_t nargsf, PyObject *kwnames); + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET ((size_t)1 << (8 * sizeof(size_t) - 1)) + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(((size_t)(n)) & ~__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET)) +#else + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET 0 + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(n)) +#endif +#if PY_MAJOR_VERSION >= 0x030900B1 +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_CheckExact(func) +#else +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_Check(func) +#endif +#define __Pyx_CyOrPyCFunction_Check(func) PyCFunction_Check(func) +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) (((PyCFunctionObject*)(func))->m_ml->ml_meth) +#elif !CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) PyCFunction_GET_FUNCTION(func) +#endif +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FLAGS(func) (((PyCFunctionObject*)(func))->m_ml->ml_flags) +static CYTHON_INLINE PyObject* __Pyx_CyOrPyCFunction_GET_SELF(PyObject *func) { + return (__Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_STATIC) ? NULL : ((PyCFunctionObject*)func)->m_self; +} +#endif +static CYTHON_INLINE int __Pyx__IsSameCFunction(PyObject *func, void *cfunc) { +#if CYTHON_COMPILING_IN_LIMITED_API + return PyCFunction_Check(func) && PyCFunction_GetFunction(func) == (PyCFunction) cfunc; +#else + return PyCFunction_Check(func) && PyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +#endif +} +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCFunction(func, cfunc) +#if __PYX_LIMITED_VERSION_HEX < 0x030900B1 + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) ((void)m, PyType_FromSpecWithBases(s, b)) + typedef PyObject *(*__Pyx_PyCMethod)(PyObject *, PyTypeObject *, PyObject *const *, size_t, PyObject *); +#else + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) PyType_FromModuleAndSpec(m, s, b) + #define __Pyx_PyCMethod PyCMethod +#endif +#ifndef METH_METHOD + #define METH_METHOD 0x200 +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) + #define PyObject_Malloc(s) PyMem_Malloc(s) + #define PyObject_Free(p) PyMem_Free(p) + #define PyObject_Realloc(p) PyMem_Realloc(p) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) +#else + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyThreadState_Current PyThreadState_Get() +#elif !CYTHON_FAST_THREAD_STATE + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#elif PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyThreadState_Current PyThreadState_GetUnchecked() +#elif PY_VERSION_HEX >= 0x03060000 + #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() +#elif PY_VERSION_HEX >= 0x03000000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#else + #define __Pyx_PyThreadState_Current _PyThreadState_Current +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE void *__Pyx_PyModule_GetState(PyObject *op) +{ + void *result; + result = PyModule_GetState(op); + if (!result) + Py_FatalError("Couldn't find the module state"); + return result; +} +#endif +#define __Pyx_PyObject_GetSlot(obj, name, func_ctype) __Pyx_PyType_GetSlot(Py_TYPE(obj), name, func_ctype) +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((func_ctype) PyType_GetSlot((type), Py_##name)) +#else + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((type)->name) +#endif +#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) +#include "pythread.h" +#define Py_tss_NEEDS_INIT 0 +typedef int Py_tss_t; +static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { + *key = PyThread_create_key(); + return 0; +} +static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { + Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); + *key = Py_tss_NEEDS_INIT; + return key; +} +static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { + PyObject_Free(key); +} +static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { + return *key != Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { + PyThread_delete_key(*key); + *key = Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { + return PyThread_set_key_value(*key, value); +} +static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { + return PyThread_get_key_value(*key); +} +#endif +#if PY_MAJOR_VERSION < 3 + #if CYTHON_COMPILING_IN_PYPY + #if PYPY_VERSION_NUM < 0x07030600 + #if defined(__cplusplus) && __cplusplus >= 201402L + [[deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")]] + #elif defined(__GNUC__) || defined(__clang__) + __attribute__ ((__deprecated__("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6"))) + #elif defined(_MSC_VER) + __declspec(deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")) + #endif + static CYTHON_INLINE int PyGILState_Check(void) { + return 0; + } + #else // PYPY_VERSION_NUM < 0x07030600 + #endif // PYPY_VERSION_NUM < 0x07030600 + #else + static CYTHON_INLINE int PyGILState_Check(void) { + PyThreadState * tstate = _PyThreadState_Current; + return tstate && (tstate == PyGILState_GetThisThreadState()); + } + #endif +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030d0000 || defined(_PyDict_NewPresized) +#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) +#else +#define __Pyx_PyDict_NewPresized(n) PyDict_New() +#endif +#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION + #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) +#else + #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX > 0x030600B4 && PY_VERSION_HEX < 0x030d0000 && CYTHON_USE_UNICODE_INTERNALS +#define __Pyx_PyDict_GetItemStrWithError(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStr(PyObject *dict, PyObject *name) { + PyObject *res = __Pyx_PyDict_GetItemStrWithError(dict, name); + if (res == NULL) PyErr_Clear(); + return res; +} +#elif PY_MAJOR_VERSION >= 3 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07020000) +#define __Pyx_PyDict_GetItemStrWithError PyDict_GetItemWithError +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#else +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStrWithError(PyObject *dict, PyObject *name) { +#if CYTHON_COMPILING_IN_PYPY + return PyDict_GetItem(dict, name); +#else + PyDictEntry *ep; + PyDictObject *mp = (PyDictObject*) dict; + long hash = ((PyStringObject *) name)->ob_shash; + assert(hash != -1); + ep = (mp->ma_lookup)(mp, name, hash); + if (ep == NULL) { + return NULL; + } + return ep->me_value; +#endif +} +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#endif +#if CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyType_GetFlags(tp) (((PyTypeObject *)tp)->tp_flags) + #define __Pyx_PyType_HasFeature(type, feature) ((__Pyx_PyType_GetFlags(type) & (feature)) != 0) + #define __Pyx_PyObject_GetIterNextFunc(obj) (Py_TYPE(obj)->tp_iternext) +#else + #define __Pyx_PyType_GetFlags(tp) (PyType_GetFlags((PyTypeObject *)tp)) + #define __Pyx_PyType_HasFeature(type, feature) PyType_HasFeature(type, feature) + #define __Pyx_PyObject_GetIterNextFunc(obj) PyIter_Next +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyObject_GenericSetAttr((PyObject*)tp, k, v) +#else + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyDict_SetItem(tp->tp_dict, k, v) +#endif +#if CYTHON_USE_TYPE_SPECS && PY_VERSION_HEX >= 0x03080000 +#define __Pyx_PyHeapTypeObject_GC_Del(obj) {\ + PyTypeObject *type = Py_TYPE((PyObject*)obj);\ + assert(__Pyx_PyType_HasFeature(type, Py_TPFLAGS_HEAPTYPE));\ + PyObject_GC_Del(obj);\ + Py_DECREF(type);\ +} +#else +#define __Pyx_PyHeapTypeObject_GC_Del(obj) PyObject_GC_Del(obj) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define CYTHON_PEP393_ENABLED 1 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GetLength(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_ReadChar(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((void)u, 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((void)u, (0)) + #define __Pyx_PyUnicode_DATA(u) ((void*)u) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)k, PyUnicode_ReadChar((PyObject*)(d), i)) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GetLength(u)) +#elif PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) + #define CYTHON_PEP393_ENABLED 1 + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_READY(op) (0) + #else + #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ + 0 : _PyUnicode_Ready((PyObject *)(op))) + #endif + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) + #define __Pyx_PyUnicode_KIND(u) ((int)PyUnicode_KIND(u)) + #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) + #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, (Py_UCS4) ch) + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) + #else + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) + #endif + #endif +#else + #define CYTHON_PEP393_ENABLED 0 + #define PyUnicode_1BYTE_KIND 1 + #define PyUnicode_2BYTE_KIND 2 + #define PyUnicode_4BYTE_KIND 4 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535U : 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((int)sizeof(Py_UNICODE)) + #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = (Py_UNICODE) ch) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) +#else + #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ + PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #if !defined(PyUnicode_DecodeUnicodeEscape) + #define PyUnicode_DecodeUnicodeEscape(s, size, errors) PyUnicode_Decode(s, size, "unicode_escape", errors) + #endif + #if !defined(PyUnicode_Contains) || (PY_MAJOR_VERSION == 2 && PYPY_VERSION_NUM < 0x07030500) + #undef PyUnicode_Contains + #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) + #endif + #if !defined(PyByteArray_Check) + #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) + #endif + #if !defined(PyObject_Format) + #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) + #endif +#endif +#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) +#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) +#else + #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) +#endif +#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) + #define PyObject_ASCII(o) PyObject_Repr(o) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBaseString_Type PyUnicode_Type + #define PyStringObject PyUnicodeObject + #define PyString_Type PyUnicode_Type + #define PyString_Check PyUnicode_Check + #define PyString_CheckExact PyUnicode_CheckExact +#ifndef PyObject_Unicode + #define PyObject_Unicode PyObject_Str +#endif +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) + #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) +#else + #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) + #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) +#endif +#if CYTHON_COMPILING_IN_CPYTHON + #define __Pyx_PySequence_ListKeepNew(obj)\ + (likely(PyList_CheckExact(obj) && Py_REFCNT(obj) == 1) ? __Pyx_NewRef(obj) : PySequence_List(obj)) +#else + #define __Pyx_PySequence_ListKeepNew(obj) PySequence_List(obj) +#endif +#ifndef PySet_CheckExact + #define PySet_CheckExact(obj) __Pyx_IS_TYPE(obj, &PySet_Type) +#endif +#if PY_VERSION_HEX >= 0x030900A4 + #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) +#else + #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) +#endif +#if CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_PySequence_ITEM(o, i) PySequence_ITEM(o, i) + #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) (PyTuple_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyList_SET_ITEM(o, i, v) (PyList_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_GET_SIZE(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_GET_SIZE(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_GET_SIZE(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_GET_SIZE(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_GET_SIZE(o) +#else + #define __Pyx_PySequence_ITEM(o, i) PySequence_GetItem(o, i) + #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) PyTuple_SetItem(o, i, v) + #define __Pyx_PyList_SET_ITEM(o, i, v) PyList_SetItem(o, i, v) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_Size(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_Size(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_Size(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_Size(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_Size(o) +#endif +#if PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyImport_AddModuleRef(name) PyImport_AddModuleRef(name) +#else + static CYTHON_INLINE PyObject *__Pyx_PyImport_AddModuleRef(const char *name) { + PyObject *module = PyImport_AddModule(name); + Py_XINCREF(module); + return module; + } +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyIntObject PyLongObject + #define PyInt_Type PyLong_Type + #define PyInt_Check(op) PyLong_Check(op) + #define PyInt_CheckExact(op) PyLong_CheckExact(op) + #define __Pyx_Py3Int_Check(op) PyLong_Check(op) + #define __Pyx_Py3Int_CheckExact(op) PyLong_CheckExact(op) + #define PyInt_FromString PyLong_FromString + #define PyInt_FromUnicode PyLong_FromUnicode + #define PyInt_FromLong PyLong_FromLong + #define PyInt_FromSize_t PyLong_FromSize_t + #define PyInt_FromSsize_t PyLong_FromSsize_t + #define PyInt_AsLong PyLong_AsLong + #define PyInt_AS_LONG PyLong_AS_LONG + #define PyInt_AsSsize_t PyLong_AsSsize_t + #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask + #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask + #define PyNumber_Int PyNumber_Long +#else + #define __Pyx_Py3Int_Check(op) (PyLong_Check(op) || PyInt_Check(op)) + #define __Pyx_Py3Int_CheckExact(op) (PyLong_CheckExact(op) || PyInt_CheckExact(op)) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBoolObject PyLongObject +#endif +#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY + #ifndef PyUnicode_InternFromString + #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) + #endif +#endif +#if PY_VERSION_HEX < 0x030200A4 + typedef long Py_hash_t; + #define __Pyx_PyInt_FromHash_t PyInt_FromLong + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t +#else + #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t +#endif +#if CYTHON_USE_ASYNC_SLOTS + #if PY_VERSION_HEX >= 0x030500B1 + #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods + #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) + #else + #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) + #endif +#else + #define __Pyx_PyType_AsAsync(obj) NULL +#endif +#ifndef __Pyx_PyAsyncMethodsStruct + typedef struct { + unaryfunc am_await; + unaryfunc am_aiter; + unaryfunc am_anext; + } __Pyx_PyAsyncMethodsStruct; +#endif + +#if defined(_WIN32) || defined(WIN32) || defined(MS_WINDOWS) + #if !defined(_USE_MATH_DEFINES) + #define _USE_MATH_DEFINES + #endif +#endif +#include +#ifdef NAN +#define __PYX_NAN() ((float) NAN) +#else +static CYTHON_INLINE float __PYX_NAN() { + float value; + memset(&value, 0xFF, sizeof(value)); + return value; +} +#endif +#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) +#define __Pyx_truncl trunc +#else +#define __Pyx_truncl truncl +#endif + +#define __PYX_MARK_ERR_POS(f_index, lineno) \ + { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } +#define __PYX_ERR(f_index, lineno, Ln_error) \ + { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } + +#ifdef CYTHON_EXTERN_C + #undef __PYX_EXTERN_C + #define __PYX_EXTERN_C CYTHON_EXTERN_C +#elif defined(__PYX_EXTERN_C) + #ifdef _MSC_VER + #pragma message ("Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead.") + #else + #warning Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead. + #endif +#else + #define __PYX_EXTERN_C extern "C++" +#endif + +#define __PYX_HAVE__selfdrive__modeld__models__commonmodel_pyx +#define __PYX_HAVE_API__selfdrive__modeld__models__commonmodel_pyx +/* Early includes */ +#include +#include +#include "ios" +#include "new" +#include "stdexcept" +#include "typeinfo" +#include +#include + + #if __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600) + // move should be defined for these versions of MSVC, but __cplusplus isn't set usefully + #include + + namespace cython_std { + template typename std::remove_reference::type&& move(T& t) noexcept { return std::move(t); } + template typename std::remove_reference::type&& move(T&& t) noexcept { return std::move(t); } + } + + #endif + +#include +#include +#include "msgq/visionipc/visionbuf.h" +#include "msgq/visionipc/visionipc.h" +#include "msgq/visionipc/visionipc_server.h" +#include "msgq/visionipc/visionipc_client.h" +#include + + /* Using NumPy API declarations from "numpy/__init__.cython-30.pxd" */ + +#include "numpy/arrayobject.h" +#include "numpy/ndarrayobject.h" +#include "numpy/ndarraytypes.h" +#include "numpy/arrayscalars.h" +#include "numpy/ufuncobject.h" +#include "common/mat.h" +#include "common/clutil.h" +#include "selfdrive/modeld/models/commonmodel.h" +#include "pythread.h" +#include +#ifdef _OPENMP +#include +#endif /* _OPENMP */ + +#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) +#define CYTHON_WITHOUT_ASSERTIONS +#endif + +typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; + const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; + +#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 1 +#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) +#define __PYX_DEFAULT_STRING_ENCODING "ascii" +#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString +#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#define __Pyx_uchar_cast(c) ((unsigned char)c) +#define __Pyx_long_cast(x) ((long)x) +#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ + (sizeof(type) < sizeof(Py_ssize_t)) ||\ + (sizeof(type) > sizeof(Py_ssize_t) &&\ + likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX) &&\ + (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ + v == (type)PY_SSIZE_T_MIN))) ||\ + (sizeof(type) == sizeof(Py_ssize_t) &&\ + (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX))) ) +static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { + return (size_t) i < (size_t) limit; +} +#if defined (__cplusplus) && __cplusplus >= 201103L + #include + #define __Pyx_sst_abs(value) std::abs(value) +#elif SIZEOF_INT >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) abs(value) +#elif SIZEOF_LONG >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) labs(value) +#elif defined (_MSC_VER) + #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) +#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define __Pyx_sst_abs(value) llabs(value) +#elif defined (__GNUC__) + #define __Pyx_sst_abs(value) __builtin_llabs(value) +#else + #define __Pyx_sst_abs(value) ((value<0) ? -value : value) +#endif +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s); +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char*); +#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) +#define __Pyx_PyBytes_FromString PyBytes_FromString +#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); +#if PY_MAJOR_VERSION < 3 + #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#else + #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize +#endif +#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyObject_AsWritableString(s) ((char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableSString(s) ((signed char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) +#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) +#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) +#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) +#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const wchar_t *u) +{ + const wchar_t *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#else +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) +{ + const Py_UNICODE *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#endif +#define __Pyx_PyUnicode_FromOrdinal(o) PyUnicode_FromOrdinal((int)o) +#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) +#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode +#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode +#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) +#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); +#define __Pyx_PySequence_Tuple(obj)\ + (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); +#if CYTHON_ASSUME_SAFE_MACROS +#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) +#else +#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) +#endif +#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) +#else +#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) +#endif +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_VERSION_HEX >= 0x030C00A7 + #ifndef _PyLong_SIGN_MASK + #define _PyLong_SIGN_MASK 3 + #endif + #ifndef _PyLong_NON_SIZE_BITS + #define _PyLong_NON_SIZE_BITS 3 + #endif + #define __Pyx_PyLong_Sign(x) (((PyLongObject*)x)->long_value.lv_tag & _PyLong_SIGN_MASK) + #define __Pyx_PyLong_IsNeg(x) ((__Pyx_PyLong_Sign(x) & 2) != 0) + #define __Pyx_PyLong_IsNonNeg(x) (!__Pyx_PyLong_IsNeg(x)) + #define __Pyx_PyLong_IsZero(x) (__Pyx_PyLong_Sign(x) & 1) + #define __Pyx_PyLong_IsPos(x) (__Pyx_PyLong_Sign(x) == 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) (__Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) ((Py_ssize_t) (((PyLongObject*)x)->long_value.lv_tag >> _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_SignedDigitCount(x)\ + ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * __Pyx_PyLong_DigitCount(x)) + #if defined(PyUnstable_Long_IsCompact) && defined(PyUnstable_Long_CompactValue) + #define __Pyx_PyLong_IsCompact(x) PyUnstable_Long_IsCompact((PyLongObject*) x) + #define __Pyx_PyLong_CompactValue(x) PyUnstable_Long_CompactValue((PyLongObject*) x) + #else + #define __Pyx_PyLong_IsCompact(x) (((PyLongObject*)x)->long_value.lv_tag < (2 << _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_CompactValue(x) ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * (Py_ssize_t) __Pyx_PyLong_Digits(x)[0]) + #endif + typedef Py_ssize_t __Pyx_compact_pylong; + typedef size_t __Pyx_compact_upylong; + #else + #define __Pyx_PyLong_IsNeg(x) (Py_SIZE(x) < 0) + #define __Pyx_PyLong_IsNonNeg(x) (Py_SIZE(x) >= 0) + #define __Pyx_PyLong_IsZero(x) (Py_SIZE(x) == 0) + #define __Pyx_PyLong_IsPos(x) (Py_SIZE(x) > 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) ((Py_SIZE(x) == 0) ? 0 : __Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) __Pyx_sst_abs(Py_SIZE(x)) + #define __Pyx_PyLong_SignedDigitCount(x) Py_SIZE(x) + #define __Pyx_PyLong_IsCompact(x) (Py_SIZE(x) == 0 || Py_SIZE(x) == 1 || Py_SIZE(x) == -1) + #define __Pyx_PyLong_CompactValue(x)\ + ((Py_SIZE(x) == 0) ? (sdigit) 0 : ((Py_SIZE(x) < 0) ? -(sdigit)__Pyx_PyLong_Digits(x)[0] : (sdigit)__Pyx_PyLong_Digits(x)[0])) + typedef sdigit __Pyx_compact_pylong; + typedef digit __Pyx_compact_upylong; + #endif + #if PY_VERSION_HEX >= 0x030C00A5 + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->long_value.ob_digit) + #else + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->ob_digit) + #endif +#endif +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII +#include +static int __Pyx_sys_getdefaultencoding_not_ascii; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + PyObject* ascii_chars_u = NULL; + PyObject* ascii_chars_b = NULL; + const char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + if (strcmp(default_encoding_c, "ascii") == 0) { + __Pyx_sys_getdefaultencoding_not_ascii = 0; + } else { + char ascii_chars[128]; + int c; + for (c = 0; c < 128; c++) { + ascii_chars[c] = (char) c; + } + __Pyx_sys_getdefaultencoding_not_ascii = 1; + ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); + if (!ascii_chars_u) goto bad; + ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); + if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { + PyErr_Format( + PyExc_ValueError, + "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", + default_encoding_c); + goto bad; + } + Py_DECREF(ascii_chars_u); + Py_DECREF(ascii_chars_b); + } + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + Py_XDECREF(ascii_chars_u); + Py_XDECREF(ascii_chars_b); + return -1; +} +#endif +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3 +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL) +#else +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL) +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#include +static char* __PYX_DEFAULT_STRING_ENCODING; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1); + if (!__PYX_DEFAULT_STRING_ENCODING) goto bad; + strcpy(__PYX_DEFAULT_STRING_ENCODING, default_encoding_c); + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + return -1; +} +#endif +#endif + + +/* Test for GCC > 2.95 */ +#if defined(__GNUC__) && (__GNUC__ > 2 || (__GNUC__ == 2 && (__GNUC_MINOR__ > 95))) + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#else /* !__GNUC__ or GCC < 2.95 */ + #define likely(x) (x) + #define unlikely(x) (x) +#endif /* __GNUC__ */ +static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void)ptr; } + +#if !CYTHON_USE_MODULE_STATE +static PyObject *__pyx_m = NULL; +#endif +static int __pyx_lineno; +static int __pyx_clineno = 0; +static const char * __pyx_cfilenm = __FILE__; +static const char *__pyx_filename; + +/* Header.proto */ +#if !defined(CYTHON_CCOMPLEX) + #if defined(__cplusplus) + #define CYTHON_CCOMPLEX 1 + #elif (defined(_Complex_I) && !defined(_MSC_VER)) || ((defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) && !defined(__STDC_NO_COMPLEX__) && !defined(_MSC_VER)) + #define CYTHON_CCOMPLEX 1 + #else + #define CYTHON_CCOMPLEX 0 + #endif +#endif +#if CYTHON_CCOMPLEX + #ifdef __cplusplus + #include + #else + #include + #endif +#endif +#if CYTHON_CCOMPLEX && !defined(__cplusplus) && defined(__sun__) && defined(__GNUC__) + #undef _Complex_I + #define _Complex_I 1.0fj +#endif + +/* #### Code section: filename_table ### */ + +static const char *__pyx_f[] = { + "", + "selfdrive/modeld/models/commonmodel_pyx.pyx", + "__init__.cython-30.pxd", + "msgq/visionipc/visionipc_pyx.pxd", + "type.pxd", +}; +/* #### Code section: utility_code_proto_before_types ### */ +/* ForceInitThreads.proto */ +#ifndef __PYX_FORCE_INIT_THREADS + #define __PYX_FORCE_INIT_THREADS 0 +#endif + +/* NoFastGil.proto */ +#define __Pyx_PyGILState_Ensure PyGILState_Ensure +#define __Pyx_PyGILState_Release PyGILState_Release +#define __Pyx_FastGIL_Remember() +#define __Pyx_FastGIL_Forget() +#define __Pyx_FastGilFuncInit() + +/* BufferFormatStructs.proto */ +struct __Pyx_StructField_; +#define __PYX_BUF_FLAGS_PACKED_STRUCT (1 << 0) +typedef struct { + const char* name; + struct __Pyx_StructField_* fields; + size_t size; + size_t arraysize[8]; + int ndim; + char typegroup; + char is_unsigned; + int flags; +} __Pyx_TypeInfo; +typedef struct __Pyx_StructField_ { + __Pyx_TypeInfo* type; + const char* name; + size_t offset; +} __Pyx_StructField; +typedef struct { + __Pyx_StructField* field; + size_t parent_offset; +} __Pyx_BufFmt_StackElem; +typedef struct { + __Pyx_StructField root; + __Pyx_BufFmt_StackElem* head; + size_t fmt_offset; + size_t new_count, enc_count; + size_t struct_alignment; + int is_complex; + char enc_type; + char new_packmode; + char enc_packmode; + char is_valid_array; +} __Pyx_BufFmt_Context; + +/* Atomics.proto */ +#include +#ifndef CYTHON_ATOMICS + #define CYTHON_ATOMICS 1 +#endif +#define __PYX_CYTHON_ATOMICS_ENABLED() CYTHON_ATOMICS +#define __pyx_atomic_int_type int +#define __pyx_nonatomic_int_type int +#if CYTHON_ATOMICS && (defined(__STDC_VERSION__) &&\ + (__STDC_VERSION__ >= 201112L) &&\ + !defined(__STDC_NO_ATOMICS__)) + #include +#elif CYTHON_ATOMICS && (defined(__cplusplus) && (\ + (__cplusplus >= 201103L) ||\ + (defined(_MSC_VER) && _MSC_VER >= 1700))) + #include +#endif +#if CYTHON_ATOMICS && (defined(__STDC_VERSION__) &&\ + (__STDC_VERSION__ >= 201112L) &&\ + !defined(__STDC_NO_ATOMICS__) &&\ + ATOMIC_INT_LOCK_FREE == 2) + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type atomic_int + #define __pyx_atomic_incr_aligned(value) atomic_fetch_add_explicit(value, 1, memory_order_relaxed) + #define __pyx_atomic_decr_aligned(value) atomic_fetch_sub_explicit(value, 1, memory_order_acq_rel) + #if defined(__PYX_DEBUG_ATOMICS) && defined(_MSC_VER) + #pragma message ("Using standard C atomics") + #elif defined(__PYX_DEBUG_ATOMICS) + #warning "Using standard C atomics" + #endif +#elif CYTHON_ATOMICS && (defined(__cplusplus) && (\ + (__cplusplus >= 201103L) ||\ +\ + (defined(_MSC_VER) && _MSC_VER >= 1700)) &&\ + ATOMIC_INT_LOCK_FREE == 2) + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type std::atomic_int + #define __pyx_atomic_incr_aligned(value) std::atomic_fetch_add_explicit(value, 1, std::memory_order_relaxed) + #define __pyx_atomic_decr_aligned(value) std::atomic_fetch_sub_explicit(value, 1, std::memory_order_acq_rel) + #if defined(__PYX_DEBUG_ATOMICS) && defined(_MSC_VER) + #pragma message ("Using standard C++ atomics") + #elif defined(__PYX_DEBUG_ATOMICS) + #warning "Using standard C++ atomics" + #endif +#elif CYTHON_ATOMICS && (__GNUC__ >= 5 || (__GNUC__ == 4 &&\ + (__GNUC_MINOR__ > 1 ||\ + (__GNUC_MINOR__ == 1 && __GNUC_PATCHLEVEL__ >= 2)))) + #define __pyx_atomic_incr_aligned(value) __sync_fetch_and_add(value, 1) + #define __pyx_atomic_decr_aligned(value) __sync_fetch_and_sub(value, 1) + #ifdef __PYX_DEBUG_ATOMICS + #warning "Using GNU atomics" + #endif +#elif CYTHON_ATOMICS && defined(_MSC_VER) + #include + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type long + #undef __pyx_nonatomic_int_type + #define __pyx_nonatomic_int_type long + #pragma intrinsic (_InterlockedExchangeAdd) + #define __pyx_atomic_incr_aligned(value) _InterlockedExchangeAdd(value, 1) + #define __pyx_atomic_decr_aligned(value) _InterlockedExchangeAdd(value, -1) + #ifdef __PYX_DEBUG_ATOMICS + #pragma message ("Using MSVC atomics") + #endif +#else + #undef CYTHON_ATOMICS + #define CYTHON_ATOMICS 0 + #ifdef __PYX_DEBUG_ATOMICS + #warning "Not using atomics" + #endif +#endif +#if CYTHON_ATOMICS + #define __pyx_add_acquisition_count(memview)\ + __pyx_atomic_incr_aligned(__pyx_get_slice_count_pointer(memview)) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_atomic_decr_aligned(__pyx_get_slice_count_pointer(memview)) +#else + #define __pyx_add_acquisition_count(memview)\ + __pyx_add_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_sub_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) +#endif + +/* MemviewSliceStruct.proto */ +struct __pyx_memoryview_obj; +typedef struct { + struct __pyx_memoryview_obj *memview; + char *data; + Py_ssize_t shape[8]; + Py_ssize_t strides[8]; + Py_ssize_t suboffsets[8]; +} __Pyx_memviewslice; +#define __Pyx_MemoryView_Len(m) (m.shape[0]) + +/* #### Code section: numeric_typedefs ### */ + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":730 + * # in Cython to enable them only on the right systems. + * + * ctypedef npy_int8 int8_t # <<<<<<<<<<<<<< + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t + */ +typedef npy_int8 __pyx_t_5numpy_int8_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":731 + * + * ctypedef npy_int8 int8_t + * ctypedef npy_int16 int16_t # <<<<<<<<<<<<<< + * ctypedef npy_int32 int32_t + * ctypedef npy_int64 int64_t + */ +typedef npy_int16 __pyx_t_5numpy_int16_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":732 + * ctypedef npy_int8 int8_t + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t # <<<<<<<<<<<<<< + * ctypedef npy_int64 int64_t + * #ctypedef npy_int96 int96_t + */ +typedef npy_int32 __pyx_t_5numpy_int32_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":733 + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t + * ctypedef npy_int64 int64_t # <<<<<<<<<<<<<< + * #ctypedef npy_int96 int96_t + * #ctypedef npy_int128 int128_t + */ +typedef npy_int64 __pyx_t_5numpy_int64_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":737 + * #ctypedef npy_int128 int128_t + * + * ctypedef npy_uint8 uint8_t # <<<<<<<<<<<<<< + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t + */ +typedef npy_uint8 __pyx_t_5numpy_uint8_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":738 + * + * ctypedef npy_uint8 uint8_t + * ctypedef npy_uint16 uint16_t # <<<<<<<<<<<<<< + * ctypedef npy_uint32 uint32_t + * ctypedef npy_uint64 uint64_t + */ +typedef npy_uint16 __pyx_t_5numpy_uint16_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":739 + * ctypedef npy_uint8 uint8_t + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t # <<<<<<<<<<<<<< + * ctypedef npy_uint64 uint64_t + * #ctypedef npy_uint96 uint96_t + */ +typedef npy_uint32 __pyx_t_5numpy_uint32_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":740 + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t + * ctypedef npy_uint64 uint64_t # <<<<<<<<<<<<<< + * #ctypedef npy_uint96 uint96_t + * #ctypedef npy_uint128 uint128_t + */ +typedef npy_uint64 __pyx_t_5numpy_uint64_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":744 + * #ctypedef npy_uint128 uint128_t + * + * ctypedef npy_float32 float32_t # <<<<<<<<<<<<<< + * ctypedef npy_float64 float64_t + * #ctypedef npy_float80 float80_t + */ +typedef npy_float32 __pyx_t_5numpy_float32_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":745 + * + * ctypedef npy_float32 float32_t + * ctypedef npy_float64 float64_t # <<<<<<<<<<<<<< + * #ctypedef npy_float80 float80_t + * #ctypedef npy_float128 float128_t + */ +typedef npy_float64 __pyx_t_5numpy_float64_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":754 + * # The int types are mapped a bit surprising -- + * # numpy.int corresponds to 'l' and numpy.long to 'q' + * ctypedef npy_long int_t # <<<<<<<<<<<<<< + * ctypedef npy_longlong longlong_t + * + */ +typedef npy_long __pyx_t_5numpy_int_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":755 + * # numpy.int corresponds to 'l' and numpy.long to 'q' + * ctypedef npy_long int_t + * ctypedef npy_longlong longlong_t # <<<<<<<<<<<<<< + * + * ctypedef npy_ulong uint_t + */ +typedef npy_longlong __pyx_t_5numpy_longlong_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":757 + * ctypedef npy_longlong longlong_t + * + * ctypedef npy_ulong uint_t # <<<<<<<<<<<<<< + * ctypedef npy_ulonglong ulonglong_t + * + */ +typedef npy_ulong __pyx_t_5numpy_uint_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":758 + * + * ctypedef npy_ulong uint_t + * ctypedef npy_ulonglong ulonglong_t # <<<<<<<<<<<<<< + * + * ctypedef npy_intp intp_t + */ +typedef npy_ulonglong __pyx_t_5numpy_ulonglong_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":760 + * ctypedef npy_ulonglong ulonglong_t + * + * ctypedef npy_intp intp_t # <<<<<<<<<<<<<< + * ctypedef npy_uintp uintp_t + * + */ +typedef npy_intp __pyx_t_5numpy_intp_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":761 + * + * ctypedef npy_intp intp_t + * ctypedef npy_uintp uintp_t # <<<<<<<<<<<<<< + * + * ctypedef npy_double float_t + */ +typedef npy_uintp __pyx_t_5numpy_uintp_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":763 + * ctypedef npy_uintp uintp_t + * + * ctypedef npy_double float_t # <<<<<<<<<<<<<< + * ctypedef npy_double double_t + * ctypedef npy_longdouble longdouble_t + */ +typedef npy_double __pyx_t_5numpy_float_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":764 + * + * ctypedef npy_double float_t + * ctypedef npy_double double_t # <<<<<<<<<<<<<< + * ctypedef npy_longdouble longdouble_t + * + */ +typedef npy_double __pyx_t_5numpy_double_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":765 + * ctypedef npy_double float_t + * ctypedef npy_double double_t + * ctypedef npy_longdouble longdouble_t # <<<<<<<<<<<<<< + * + * ctypedef npy_cfloat cfloat_t + */ +typedef npy_longdouble __pyx_t_5numpy_longdouble_t; +/* #### Code section: complex_type_declarations ### */ +/* Declarations.proto */ +#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #ifdef __cplusplus + typedef ::std::complex< float > __pyx_t_float_complex; + #else + typedef float _Complex __pyx_t_float_complex; + #endif +#else + typedef struct { float real, imag; } __pyx_t_float_complex; +#endif +static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float, float); + +/* Declarations.proto */ +#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #ifdef __cplusplus + typedef ::std::complex< double > __pyx_t_double_complex; + #else + typedef double _Complex __pyx_t_double_complex; + #endif +#else + typedef struct { double real, imag; } __pyx_t_double_complex; +#endif +static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double, double); + +/* #### Code section: type_declarations ### */ + +/*--- Type declarations ---*/ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext; +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf; +struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext; +struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem; +struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame; +struct __pyx_array_obj; +struct __pyx_MemviewEnum_obj; +struct __pyx_memoryview_obj; +struct __pyx_memoryviewslice_obj; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":767 + * ctypedef npy_longdouble longdouble_t + * + * ctypedef npy_cfloat cfloat_t # <<<<<<<<<<<<<< + * ctypedef npy_cdouble cdouble_t + * ctypedef npy_clongdouble clongdouble_t + */ +typedef npy_cfloat __pyx_t_5numpy_cfloat_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":768 + * + * ctypedef npy_cfloat cfloat_t + * ctypedef npy_cdouble cdouble_t # <<<<<<<<<<<<<< + * ctypedef npy_clongdouble clongdouble_t + * + */ +typedef npy_cdouble __pyx_t_5numpy_cdouble_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":769 + * ctypedef npy_cfloat cfloat_t + * ctypedef npy_cdouble cdouble_t + * ctypedef npy_clongdouble clongdouble_t # <<<<<<<<<<<<<< + * + * ctypedef npy_cdouble complex_t + */ +typedef npy_clongdouble __pyx_t_5numpy_clongdouble_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":771 + * ctypedef npy_clongdouble clongdouble_t + * + * ctypedef npy_cdouble complex_t # <<<<<<<<<<<<<< + * + * cdef inline object PyArray_MultiIterNew1(a): + */ +typedef npy_cdouble __pyx_t_5numpy_complex_t; + +/* "msgq/visionipc/visionipc_pyx.pxd":7 + * from .visionipc cimport cl_device_id, cl_context + * + * cdef class CLContext: # <<<<<<<<<<<<<< + * cdef cl_device_id device_id + * cdef cl_context context + */ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext { + PyObject_HEAD + cl_device_id device_id; + cl_context context; +}; + + +/* "msgq/visionipc/visionipc_pyx.pxd":11 + * cdef cl_context context + * + * cdef class VisionBuf: # <<<<<<<<<<<<<< + * cdef cppVisionBuf * buf + * + */ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf { + PyObject_HEAD + struct __pyx_vtabstruct_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_vtab; + VisionBuf *buf; +}; + + +/* "selfdrive/modeld/models/commonmodel_pyx.pxd":6 + * from msgq.visionipc.visionipc_pyx cimport CLContext as BaseCLContext + * + * cdef class CLContext(BaseCLContext): # <<<<<<<<<<<<<< + * pass + * + */ +struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext { + struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext __pyx_base; +}; + + +/* "selfdrive/modeld/models/commonmodel_pyx.pxd":9 + * pass + * + * cdef class CLMem: # <<<<<<<<<<<<<< + * cdef cl_mem * mem + * + */ +struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem { + PyObject_HEAD + struct __pyx_vtabstruct_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem *__pyx_vtab; + cl_mem *mem; +}; + + +/* "selfdrive/modeld/models/commonmodel_pyx.pyx":28 + * return mem + * + * cdef class ModelFrame: # <<<<<<<<<<<<<< + * cdef cppModelFrame * frame + * + */ +struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame { + PyObject_HEAD + ModelFrame *frame; +}; + + +/* "View.MemoryView":114 + * @cython.collection_type("sequence") + * @cname("__pyx_array") + * cdef class array: # <<<<<<<<<<<<<< + * + * cdef: + */ +struct __pyx_array_obj { + PyObject_HEAD + struct __pyx_vtabstruct_array *__pyx_vtab; + char *data; + Py_ssize_t len; + char *format; + int ndim; + Py_ssize_t *_shape; + Py_ssize_t *_strides; + Py_ssize_t itemsize; + PyObject *mode; + PyObject *_format; + void (*callback_free_data)(void *); + int free_data; + int dtype_is_object; +}; + + +/* "View.MemoryView":302 + * + * @cname('__pyx_MemviewEnum') + * cdef class Enum(object): # <<<<<<<<<<<<<< + * cdef object name + * def __init__(self, name): + */ +struct __pyx_MemviewEnum_obj { + PyObject_HEAD + PyObject *name; +}; + + +/* "View.MemoryView":337 + * + * @cname('__pyx_memoryview') + * cdef class memoryview: # <<<<<<<<<<<<<< + * + * cdef object obj + */ +struct __pyx_memoryview_obj { + PyObject_HEAD + struct __pyx_vtabstruct_memoryview *__pyx_vtab; + PyObject *obj; + PyObject *_size; + PyObject *_array_interface; + PyThread_type_lock lock; + __pyx_atomic_int_type acquisition_count; + Py_buffer view; + int flags; + int dtype_is_object; + __Pyx_TypeInfo *typeinfo; +}; + + +/* "View.MemoryView":952 + * @cython.collection_type("sequence") + * @cname('__pyx_memoryviewslice') + * cdef class _memoryviewslice(memoryview): # <<<<<<<<<<<<<< + * "Internal class for passing memoryview slices to Python" + * + */ +struct __pyx_memoryviewslice_obj { + struct __pyx_memoryview_obj __pyx_base; + __Pyx_memviewslice from_slice; + PyObject *from_object; + PyObject *(*to_object_func)(char *); + int (*to_dtype_func)(char *, PyObject *); +}; + + + +/* "msgq/visionipc/visionipc_pyx.pxd":11 + * cdef cl_context context + * + * cdef class VisionBuf: # <<<<<<<<<<<<<< + * cdef cppVisionBuf * buf + * + */ + +struct __pyx_vtabstruct_4msgq_9visionipc_13visionipc_pyx_VisionBuf { + PyObject *(*create)(VisionBuf *); +}; +static struct __pyx_vtabstruct_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_vtabptr_4msgq_9visionipc_13visionipc_pyx_VisionBuf; + + +/* "selfdrive/modeld/models/commonmodel_pyx.pyx":21 + * self.context = cl_create_context(self.device_id) + * + * cdef class CLMem: # <<<<<<<<<<<<<< + * @staticmethod + * cdef create(void * cmem): + */ + +struct __pyx_vtabstruct_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem { + PyObject *(*create)(void *); +}; +static struct __pyx_vtabstruct_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem *__pyx_vtabptr_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem; + + +/* "View.MemoryView":114 + * @cython.collection_type("sequence") + * @cname("__pyx_array") + * cdef class array: # <<<<<<<<<<<<<< + * + * cdef: + */ + +struct __pyx_vtabstruct_array { + PyObject *(*get_memview)(struct __pyx_array_obj *); +}; +static struct __pyx_vtabstruct_array *__pyx_vtabptr_array; + + +/* "View.MemoryView":337 + * + * @cname('__pyx_memoryview') + * cdef class memoryview: # <<<<<<<<<<<<<< + * + * cdef object obj + */ + +struct __pyx_vtabstruct_memoryview { + char *(*get_item_pointer)(struct __pyx_memoryview_obj *, PyObject *); + PyObject *(*is_slice)(struct __pyx_memoryview_obj *, PyObject *); + PyObject *(*setitem_slice_assignment)(struct __pyx_memoryview_obj *, PyObject *, PyObject *); + PyObject *(*setitem_slice_assign_scalar)(struct __pyx_memoryview_obj *, struct __pyx_memoryview_obj *, PyObject *); + PyObject *(*setitem_indexed)(struct __pyx_memoryview_obj *, PyObject *, PyObject *); + PyObject *(*convert_item_to_object)(struct __pyx_memoryview_obj *, char *); + PyObject *(*assign_item_from_object)(struct __pyx_memoryview_obj *, char *, PyObject *); + PyObject *(*_get_base)(struct __pyx_memoryview_obj *); +}; +static struct __pyx_vtabstruct_memoryview *__pyx_vtabptr_memoryview; + + +/* "View.MemoryView":952 + * @cython.collection_type("sequence") + * @cname('__pyx_memoryviewslice') + * cdef class _memoryviewslice(memoryview): # <<<<<<<<<<<<<< + * "Internal class for passing memoryview slices to Python" + * + */ + +struct __pyx_vtabstruct__memoryviewslice { + struct __pyx_vtabstruct_memoryview __pyx_base; +}; +static struct __pyx_vtabstruct__memoryviewslice *__pyx_vtabptr__memoryviewslice; +/* #### Code section: utility_code_proto ### */ + +/* --- Runtime support code (head) --- */ +/* Refnanny.proto */ +#ifndef CYTHON_REFNANNY + #define CYTHON_REFNANNY 0 +#endif +#if CYTHON_REFNANNY + typedef struct { + void (*INCREF)(void*, PyObject*, Py_ssize_t); + void (*DECREF)(void*, PyObject*, Py_ssize_t); + void (*GOTREF)(void*, PyObject*, Py_ssize_t); 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else {__Pyx_INCREF(r); }} while(0) + #define __Pyx_XDECREF(r) do { if((r) == NULL); else {__Pyx_DECREF(r); }} while(0) + #define __Pyx_XGOTREF(r) do { if((r) == NULL); else {__Pyx_GOTREF(r); }} while(0) + #define __Pyx_XGIVEREF(r) do { if((r) == NULL); else {__Pyx_GIVEREF(r);}} while(0) +#else + #define __Pyx_RefNannyDeclarations + #define __Pyx_RefNannySetupContext(name, acquire_gil) + #define __Pyx_RefNannyFinishContextNogil() + #define __Pyx_RefNannyFinishContext() + #define __Pyx_INCREF(r) Py_INCREF(r) + #define __Pyx_DECREF(r) Py_DECREF(r) + #define __Pyx_GOTREF(r) + #define __Pyx_GIVEREF(r) + #define __Pyx_XINCREF(r) Py_XINCREF(r) + #define __Pyx_XDECREF(r) Py_XDECREF(r) + #define __Pyx_XGOTREF(r) + #define __Pyx_XGIVEREF(r) +#endif +#define __Pyx_Py_XDECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; Py_XDECREF(tmp);\ + } while (0) +#define __Pyx_XDECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_XDECREF(tmp);\ + } while (0) +#define __Pyx_DECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_DECREF(tmp);\ + } while (0) +#define __Pyx_CLEAR(r) do { PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);} while(0) +#define __Pyx_XCLEAR(r) do { if((r) != NULL) {PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);}} while(0) + +/* PyErrExceptionMatches.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_ExceptionMatches(err) __Pyx_PyErr_ExceptionMatchesInState(__pyx_tstate, err) +static CYTHON_INLINE int __Pyx_PyErr_ExceptionMatchesInState(PyThreadState* tstate, PyObject* err); +#else +#define __Pyx_PyErr_ExceptionMatches(err) PyErr_ExceptionMatches(err) +#endif + +/* PyThreadStateGet.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyThreadState_declare PyThreadState *__pyx_tstate; +#define __Pyx_PyThreadState_assign __pyx_tstate = __Pyx_PyThreadState_Current; +#if PY_VERSION_HEX >= 0x030C00A6 +#define __Pyx_PyErr_Occurred() (__pyx_tstate->current_exception != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->current_exception ? (PyObject*) Py_TYPE(__pyx_tstate->current_exception) : (PyObject*) NULL) +#else +#define __Pyx_PyErr_Occurred() (__pyx_tstate->curexc_type != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->curexc_type) +#endif +#else +#define __Pyx_PyThreadState_declare +#define __Pyx_PyThreadState_assign +#define __Pyx_PyErr_Occurred() (PyErr_Occurred() != NULL) +#define __Pyx_PyErr_CurrentExceptionType() PyErr_Occurred() +#endif + +/* PyErrFetchRestore.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_Clear() __Pyx_ErrRestore(NULL, NULL, NULL) +#define __Pyx_ErrRestoreWithState(type, value, tb) __Pyx_ErrRestoreInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) __Pyx_ErrFetchInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) __Pyx_ErrRestoreInState(__pyx_tstate, type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) __Pyx_ErrFetchInState(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A6 +#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) +#else +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#endif +#else +#define __Pyx_PyErr_Clear() PyErr_Clear() +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) +#endif + +/* PyObjectGetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n) +#endif + +/* PyObjectGetAttrStrNoError.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); + +/* GetBuiltinName.proto */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name); + +/* TupleAndListFromArray.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n); +static CYTHON_INLINE PyObject* __Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n); +#endif + +/* IncludeStringH.proto */ +#include + +/* BytesEquals.proto */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals); + +/* UnicodeEquals.proto */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals); + +/* fastcall.proto */ +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_VARARGS(args, i) PySequence_GetItem(args, i) +#elif CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GET_ITEM(args, i) +#else + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GetItem(args, i) +#endif +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_NewRef_VARARGS(arg) __Pyx_NewRef(arg) + #define __Pyx_Arg_XDECREF_VARARGS(arg) Py_XDECREF(arg) +#else + #define __Pyx_Arg_NewRef_VARARGS(arg) arg + #define __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#define __Pyx_NumKwargs_VARARGS(kwds) PyDict_Size(kwds) +#define __Pyx_KwValues_VARARGS(args, nargs) NULL +#define __Pyx_GetKwValue_VARARGS(kw, kwvalues, s) __Pyx_PyDict_GetItemStrWithError(kw, s) +#define __Pyx_KwargsAsDict_VARARGS(kw, kwvalues) PyDict_Copy(kw) +#if CYTHON_METH_FASTCALL + #define __Pyx_Arg_FASTCALL(args, i) args[i] + #define __Pyx_NumKwargs_FASTCALL(kwds) PyTuple_GET_SIZE(kwds) + #define __Pyx_KwValues_FASTCALL(args, nargs) ((args) + (nargs)) + static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); + #else + #define __Pyx_KwargsAsDict_FASTCALL(kw, kwvalues) _PyStack_AsDict(kwvalues, kw) + #endif + #define __Pyx_Arg_NewRef_FASTCALL(arg) arg /* no-op, __Pyx_Arg_FASTCALL is direct and this needs + to have the same reference counting */ + #define __Pyx_Arg_XDECREF_FASTCALL(arg) +#else + #define __Pyx_Arg_FASTCALL __Pyx_Arg_VARARGS + #define __Pyx_NumKwargs_FASTCALL __Pyx_NumKwargs_VARARGS + #define __Pyx_KwValues_FASTCALL __Pyx_KwValues_VARARGS + #define __Pyx_GetKwValue_FASTCALL __Pyx_GetKwValue_VARARGS + #define __Pyx_KwargsAsDict_FASTCALL __Pyx_KwargsAsDict_VARARGS + #define __Pyx_Arg_NewRef_FASTCALL(arg) __Pyx_Arg_NewRef_VARARGS(arg) + #define __Pyx_Arg_XDECREF_FASTCALL(arg) __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_VARARGS(args, start), stop - start) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_FASTCALL(args, start), stop - start) +#else +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) PyTuple_GetSlice(args, start, stop) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) PyTuple_GetSlice(args, start, stop) +#endif + +/* RaiseArgTupleInvalid.proto */ +static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, + Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); + +/* RaiseDoubleKeywords.proto */ +static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); + +/* ParseKeywords.proto */ +static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args, + const char* function_name); + +/* ArgTypeTest.proto */ +#define __Pyx_ArgTypeTest(obj, type, none_allowed, name, exact)\ + ((likely(__Pyx_IS_TYPE(obj, type) | (none_allowed && (obj == Py_None)))) ? 1 :\ + __Pyx__ArgTypeTest(obj, type, name, exact)) +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact); + +/* RaiseException.proto */ +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause); + +/* PyFunctionFastCall.proto */ +#if CYTHON_FAST_PYCALL +#if !CYTHON_VECTORCALL +#define __Pyx_PyFunction_FastCall(func, args, nargs)\ + __Pyx_PyFunction_FastCallDict((func), (args), (nargs), NULL) +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs); +#endif +#define __Pyx_BUILD_ASSERT_EXPR(cond)\ + (sizeof(char [1 - 2*!(cond)]) - 1) +#ifndef Py_MEMBER_SIZE +#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member) +#endif +#if !CYTHON_VECTORCALL +#if PY_VERSION_HEX >= 0x03080000 + #include "frameobject.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif + #define __Pxy_PyFrame_Initialize_Offsets() + #define __Pyx_PyFrame_GetLocalsplus(frame) ((frame)->f_localsplus) +#else + static size_t __pyx_pyframe_localsplus_offset = 0; + #include "frameobject.h" + #define __Pxy_PyFrame_Initialize_Offsets()\ + ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\ + (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus))) + #define __Pyx_PyFrame_GetLocalsplus(frame)\ + (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset)) +#endif +#endif +#endif + +/* PyObjectCall.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw); +#else +#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw) +#endif + +/* PyObjectCallMethO.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg); +#endif + +/* PyObjectFastCall.proto */ +#define __Pyx_PyObject_FastCall(func, args, nargs) __Pyx_PyObject_FastCallDict(func, args, (size_t)(nargs), NULL) +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs); + +/* RaiseUnexpectedTypeError.proto */ +static int __Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj); + +/* GCCDiagnostics.proto */ +#if !defined(__INTEL_COMPILER) && defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) +#define __Pyx_HAS_GCC_DIAGNOSTIC +#endif + +/* BuildPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_Py_ssize_t(Py_ssize_t value, Py_ssize_t width, char padding_char, char format_char); + +/* JoinPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char); + +/* StrEquals.proto */ +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyString_Equals __Pyx_PyUnicode_Equals +#else +#define __Pyx_PyString_Equals __Pyx_PyBytes_Equals +#endif + +/* PyObjectFormatSimple.proto */ +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#elif PY_MAJOR_VERSION < 3 + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyString_CheckExact(s)) ? PyUnicode_FromEncodedObject(s, NULL, "strict") :\ + PyObject_Format(s, f)) +#elif CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyLong_CheckExact(s)) ? PyLong_Type.tp_repr(s) :\ + likely(PyFloat_CheckExact(s)) ? PyFloat_Type.tp_repr(s) :\ + PyObject_Format(s, f)) +#else + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#endif + +CYTHON_UNUSED static int __pyx_array_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *); /*proto*/ +/* GetAttr.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *, PyObject *); + +/* GetItemInt.proto */ +#define __Pyx_GetItemInt(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Fast(o, (Py_ssize_t)i, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\ + __Pyx_GetItemInt_Generic(o, to_py_func(i)))) +#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j); +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, + int is_list, int wraparound, int boundscheck); + +/* PyObjectCallOneArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg); + +/* ObjectGetItem.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key); +#else +#define __Pyx_PyObject_GetItem(obj, key) PyObject_GetItem(obj, key) +#endif + +/* KeywordStringCheck.proto */ +static int __Pyx_CheckKeywordStrings(PyObject *kw, const char* function_name, int kw_allowed); + +/* DivInt[Py_ssize_t].proto */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t, Py_ssize_t); + +/* UnaryNegOverflows.proto */ +#define __Pyx_UNARY_NEG_WOULD_OVERFLOW(x)\ + (((x) < 0) & ((unsigned long)(x) == 0-(unsigned long)(x))) + +/* GetAttr3.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *, PyObject *, PyObject *); + +/* PyDictVersioning.proto */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) +#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ + (version_var) = __PYX_GET_DICT_VERSION(dict);\ + (cache_var) = (value); +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ + (VAR) = __pyx_dict_cached_value;\ + } else {\ + (VAR) = __pyx_dict_cached_value = (LOOKUP);\ + __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ + }\ +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); +#else +#define __PYX_GET_DICT_VERSION(dict) (0) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); +#endif + +/* GetModuleGlobalName.proto */ +#if CYTHON_USE_DICT_VERSIONS +#define __Pyx_GetModuleGlobalName(var, name) do {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + (var) = (likely(__pyx_dict_version == __PYX_GET_DICT_VERSION(__pyx_d))) ?\ + (likely(__pyx_dict_cached_value) ? __Pyx_NewRef(__pyx_dict_cached_value) : __Pyx_GetBuiltinName(name)) :\ + __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +#define __Pyx_GetModuleGlobalNameUncached(var, name) do {\ + PY_UINT64_T __pyx_dict_version;\ + PyObject *__pyx_dict_cached_value;\ + (var) = __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value); +#else +#define __Pyx_GetModuleGlobalName(var, name) (var) = __Pyx__GetModuleGlobalName(name) +#define __Pyx_GetModuleGlobalNameUncached(var, name) (var) = __Pyx__GetModuleGlobalName(name) +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name); +#endif + +/* AssertionsEnabled.proto */ +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag) + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (1) +#elif CYTHON_COMPILING_IN_LIMITED_API || (CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030C0000) + static int __pyx_assertions_enabled_flag; + #define __pyx_assertions_enabled() (__pyx_assertions_enabled_flag) + static int __Pyx_init_assertions_enabled(void) { + PyObject *builtins, *debug, *debug_str; + int flag; + builtins = PyEval_GetBuiltins(); + if (!builtins) goto bad; + debug_str = PyUnicode_FromStringAndSize("__debug__", 9); + if (!debug_str) goto bad; + debug = PyObject_GetItem(builtins, debug_str); + Py_DECREF(debug_str); + if (!debug) goto bad; + flag = PyObject_IsTrue(debug); + Py_DECREF(debug); + if (flag == -1) goto bad; + __pyx_assertions_enabled_flag = flag; + return 0; + bad: + __pyx_assertions_enabled_flag = 1; + return -1; + } +#else + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (!Py_OptimizeFlag) +#endif + +/* RaiseTooManyValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected); + +/* RaiseNeedMoreValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index); + +/* RaiseNoneIterError.proto */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void); + +/* ExtTypeTest.proto */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type); + +/* GetTopmostException.proto */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * __Pyx_PyErr_GetTopmostException(PyThreadState *tstate); +#endif + +/* SaveResetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSave(type, value, tb) __Pyx__ExceptionSave(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#define __Pyx_ExceptionReset(type, value, tb) __Pyx__ExceptionReset(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +#else +#define __Pyx_ExceptionSave(type, value, tb) PyErr_GetExcInfo(type, value, tb) +#define __Pyx_ExceptionReset(type, value, tb) PyErr_SetExcInfo(type, value, tb) +#endif + +/* GetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_GetException(type, value, tb) __Pyx__GetException(__pyx_tstate, type, value, tb) +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* SwapException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSwap(type, value, tb) __Pyx__ExceptionSwap(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* Import.proto */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level); + +/* ImportDottedModule.proto */ +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple); +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple); +#endif + +/* FastTypeChecks.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) __Pyx_IsAnySubtype2(Py_TYPE(obj), (PyTypeObject *)type1, (PyTypeObject *)type2) +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); +#else +#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) (PyObject_TypeCheck(obj, (PyTypeObject *)type1) || PyObject_TypeCheck(obj, (PyTypeObject *)type2)) +#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) +#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) +#endif +#define __Pyx_PyErr_ExceptionMatches2(err1, err2) __Pyx_PyErr_GivenExceptionMatches2(__Pyx_PyErr_CurrentExceptionType(), err1, err2) +#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) + +CYTHON_UNUSED static int __pyx_memoryview_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +/* ListCompAppend.proto */ +#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS +static CYTHON_INLINE int __Pyx_ListComp_Append(PyObject* list, PyObject* x) { + PyListObject* L = (PyListObject*) list; + Py_ssize_t len = Py_SIZE(list); + if (likely(L->allocated > len)) { + Py_INCREF(x); + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + L->ob_item[len] = x; + #else + PyList_SET_ITEM(list, len, x); + #endif + __Pyx_SET_SIZE(list, len + 1); + return 0; + } + return PyList_Append(list, x); +} +#else +#define __Pyx_ListComp_Append(L,x) PyList_Append(L,x) +#endif + +/* PySequenceMultiply.proto */ +#define __Pyx_PySequence_Multiply_Left(mul, seq) __Pyx_PySequence_Multiply(seq, mul) +static CYTHON_INLINE PyObject* __Pyx_PySequence_Multiply(PyObject *seq, Py_ssize_t mul); + +/* SetItemInt.proto */ +#define __Pyx_SetItemInt(o, i, v, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_SetItemInt_Fast(o, (Py_ssize_t)i, v, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list assignment index out of range"), -1) :\ + __Pyx_SetItemInt_Generic(o, to_py_func(i), v))) +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v); +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, + int is_list, int wraparound, int boundscheck); + +/* RaiseUnboundLocalError.proto */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname); + +/* DivInt[long].proto */ +static CYTHON_INLINE long __Pyx_div_long(long, long); + +/* PySequenceContains.proto */ +static CYTHON_INLINE int __Pyx_PySequence_ContainsTF(PyObject* item, PyObject* seq, int eq) { + int result = PySequence_Contains(seq, item); + return unlikely(result < 0) ? result : (result == (eq == Py_EQ)); +} + +/* ImportFrom.proto */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name); + +/* HasAttr.proto */ +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 +#define __Pyx_HasAttr(o, n) PyObject_HasAttrWithError(o, n) +#else +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *, PyObject *); +#endif + +/* ListAppend.proto */ +#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS +static CYTHON_INLINE int __Pyx_PyList_Append(PyObject* list, PyObject* x) { + PyListObject* L = (PyListObject*) list; + Py_ssize_t len = Py_SIZE(list); + if (likely(L->allocated > len) & likely(len > (L->allocated >> 1))) { + Py_INCREF(x); + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + L->ob_item[len] = x; + #else + PyList_SET_ITEM(list, len, x); + #endif + __Pyx_SET_SIZE(list, len + 1); + return 0; + } + return PyList_Append(list, x); +} +#else +#define __Pyx_PyList_Append(L,x) PyList_Append(L,x) +#endif + +/* PyObjectCall2Args.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2); + +/* PyObjectGetMethod.proto */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method); + +/* PyObjectCallMethod1.proto */ +static PyObject* __Pyx_PyObject_CallMethod1(PyObject* obj, PyObject* method_name, PyObject* arg); + +/* StringJoin.proto */ +#if PY_MAJOR_VERSION < 3 +#define __Pyx_PyString_Join __Pyx_PyBytes_Join +#define __Pyx_PyBaseString_Join(s, v) (PyUnicode_CheckExact(s) ? PyUnicode_Join(s, v) : __Pyx_PyBytes_Join(s, v)) +#else +#define __Pyx_PyString_Join PyUnicode_Join +#define __Pyx_PyBaseString_Join PyUnicode_Join +#endif +static CYTHON_INLINE PyObject* __Pyx_PyBytes_Join(PyObject* sep, PyObject* values); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_size_t(size_t value, Py_ssize_t width, char padding_char, char format_char); + +/* PyObjectCallNoArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func); + +/* BufferIndexError.proto */ +static void __Pyx_RaiseBufferIndexError(int axis); + +/* PyObject_GenericGetAttrNoDict.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr +#endif + +/* PyObject_GenericGetAttr.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr +#endif + +/* TypeImport.proto */ +#ifndef __PYX_HAVE_RT_ImportType_proto_3_0_8 +#define __PYX_HAVE_RT_ImportType_proto_3_0_8 +#if defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L +#include +#endif +#if (defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) || __cplusplus >= 201103L +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) alignof(s) +#else +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) sizeof(void*) +#endif +enum __Pyx_ImportType_CheckSize_3_0_8 { + __Pyx_ImportType_CheckSize_Error_3_0_8 = 0, + __Pyx_ImportType_CheckSize_Warn_3_0_8 = 1, + __Pyx_ImportType_CheckSize_Ignore_3_0_8 = 2 +}; +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject* module, const char *module_name, const char *class_name, size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size); +#endif + +/* IncludeStructmemberH.proto */ +#include + +/* FixUpExtensionType.proto */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type); +#endif + +/* PyObjectCallMethod0.proto */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name); + +/* ValidateBasesTuple.proto */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases); +#endif + +/* PyType_Ready.proto */ +CYTHON_UNUSED static int __Pyx_PyType_Ready(PyTypeObject *t); + +/* SetupReduce.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce(PyObject* type_obj); +#endif + +/* SetVTable.proto */ +static int __Pyx_SetVtable(PyTypeObject* typeptr , void* vtable); + +/* GetVTable.proto */ +static void* __Pyx_GetVtable(PyTypeObject *type); + +/* MergeVTables.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type); +#endif + +/* FetchSharedCythonModule.proto */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void); + +/* FetchCommonType.proto */ +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type); +#else +static PyTypeObject* __Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases); +#endif + +/* PyMethodNew.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + PyObject *typesModule=NULL, *methodType=NULL, *result=NULL; + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + typesModule = PyImport_ImportModule("types"); + if (!typesModule) return NULL; + methodType = PyObject_GetAttrString(typesModule, "MethodType"); + Py_DECREF(typesModule); + if (!methodType) return NULL; + result = PyObject_CallFunctionObjArgs(methodType, func, self, NULL); + Py_DECREF(methodType); + return result; +} +#elif PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + return PyMethod_New(func, self); +} +#else + #define __Pyx_PyMethod_New PyMethod_New +#endif + +/* PyVectorcallFastCallDict.proto */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw); +#endif + +/* CythonFunctionShared.proto */ +#define __Pyx_CyFunction_USED +#define __Pyx_CYFUNCTION_STATICMETHOD 0x01 +#define __Pyx_CYFUNCTION_CLASSMETHOD 0x02 +#define __Pyx_CYFUNCTION_CCLASS 0x04 +#define __Pyx_CYFUNCTION_COROUTINE 0x08 +#define __Pyx_CyFunction_GetClosure(f)\ + (((__pyx_CyFunctionObject *) (f))->func_closure) +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_CyFunction_GetClassObj(f)\ + (((__pyx_CyFunctionObject *) (f))->func_classobj) +#else + #define __Pyx_CyFunction_GetClassObj(f)\ + ((PyObject*) ((PyCMethodObject *) (f))->mm_class) +#endif +#define __Pyx_CyFunction_SetClassObj(f, classobj)\ + __Pyx__CyFunction_SetClassObj((__pyx_CyFunctionObject *) (f), (classobj)) +#define __Pyx_CyFunction_Defaults(type, f)\ + ((type *)(((__pyx_CyFunctionObject *) (f))->defaults)) +#define __Pyx_CyFunction_SetDefaultsGetter(f, g)\ + ((__pyx_CyFunctionObject *) (f))->defaults_getter = (g) +typedef struct { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject_HEAD + PyObject *func; +#elif PY_VERSION_HEX < 0x030900B1 + PyCFunctionObject func; +#else + PyCMethodObject func; +#endif +#if CYTHON_BACKPORT_VECTORCALL + __pyx_vectorcallfunc func_vectorcall; +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_weakreflist; +#endif + PyObject *func_dict; + PyObject *func_name; + PyObject *func_qualname; + PyObject *func_doc; + PyObject *func_globals; + PyObject *func_code; + PyObject *func_closure; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_classobj; +#endif + void *defaults; + int defaults_pyobjects; + size_t defaults_size; + int flags; + PyObject *defaults_tuple; + PyObject *defaults_kwdict; + PyObject *(*defaults_getter)(PyObject *); + PyObject *func_annotations; + PyObject *func_is_coroutine; +} __pyx_CyFunctionObject; +#undef __Pyx_CyOrPyCFunction_Check +#define __Pyx_CyFunction_Check(obj) __Pyx_TypeCheck(obj, __pyx_CyFunctionType) +#define __Pyx_CyOrPyCFunction_Check(obj) __Pyx_TypeCheck2(obj, __pyx_CyFunctionType, &PyCFunction_Type) +#define __Pyx_CyFunction_CheckExact(obj) __Pyx_IS_TYPE(obj, __pyx_CyFunctionType) +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc); +#undef __Pyx_IsSameCFunction +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCyOrCFunction(func, cfunc) +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject* op, PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj); +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *m, + size_t size, + int pyobjects); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *m, + PyObject *tuple); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *m, + PyObject *dict); +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *m, + PyObject *dict); +static int __pyx_CyFunction_init(PyObject *module); +#if CYTHON_METH_FASTCALL +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +#if CYTHON_BACKPORT_VECTORCALL +#define __Pyx_CyFunction_func_vectorcall(f) (((__pyx_CyFunctionObject*)f)->func_vectorcall) +#else +#define __Pyx_CyFunction_func_vectorcall(f) (((PyCFunctionObject*)f)->vectorcall) +#endif +#endif + +/* CythonFunction.proto */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); + +/* CLineInTraceback.proto */ +#ifdef CYTHON_CLINE_IN_TRACEBACK +#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) +#else +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); +#endif + +/* CodeObjectCache.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +typedef struct { + PyCodeObject* code_object; + int code_line; +} __Pyx_CodeObjectCacheEntry; +struct __Pyx_CodeObjectCache { + int count; + int max_count; + __Pyx_CodeObjectCacheEntry* entries; +}; +static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); +static PyCodeObject *__pyx_find_code_object(int code_line); +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); +#endif + +/* AddTraceback.proto */ +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename); + +#if PY_MAJOR_VERSION < 3 + static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags); + static void __Pyx_ReleaseBuffer(Py_buffer *view); +#else + #define __Pyx_GetBuffer PyObject_GetBuffer + #define __Pyx_ReleaseBuffer PyBuffer_Release +#endif + + +/* BufferStructDeclare.proto */ +typedef struct { + Py_ssize_t shape, strides, suboffsets; +} __Pyx_Buf_DimInfo; +typedef struct { + size_t refcount; + Py_buffer pybuffer; +} __Pyx_Buffer; +typedef struct { + __Pyx_Buffer *rcbuffer; + char *data; + __Pyx_Buf_DimInfo diminfo[8]; +} __Pyx_LocalBuf_ND; + +/* MemviewSliceIsContig.proto */ +static int __pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim); + +/* OverlappingSlices.proto */ +static int __pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize); + +/* IsLittleEndian.proto */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void); + +/* BufferFormatCheck.proto */ +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts); +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type); + +/* TypeInfoCompare.proto */ +static int __pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b); + +/* MemviewSliceValidateAndInit.proto */ +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj); + +/* ObjectToMemviewSlice.proto */ +static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_float(PyObject *, int writable_flag); + +/* MemviewDtypeToObject.proto */ +static CYTHON_INLINE PyObject *__pyx_memview_get_nn___pyx_t_5numpy_float32_t(const char *itemp); +static CYTHON_INLINE int __pyx_memview_set_nn___pyx_t_5numpy_float32_t(const char *itemp, PyObject *obj); + +/* RealImag.proto */ +#if CYTHON_CCOMPLEX + #ifdef __cplusplus + #define __Pyx_CREAL(z) ((z).real()) + #define __Pyx_CIMAG(z) ((z).imag()) + #else + #define __Pyx_CREAL(z) (__real__(z)) + #define __Pyx_CIMAG(z) (__imag__(z)) + #endif +#else + #define __Pyx_CREAL(z) ((z).real) + #define __Pyx_CIMAG(z) ((z).imag) +#endif +#if defined(__cplusplus) && CYTHON_CCOMPLEX\ + && (defined(_WIN32) || defined(__clang__) || (defined(__GNUC__) && (__GNUC__ >= 5 || __GNUC__ == 4 && __GNUC_MINOR__ >= 4 )) || __cplusplus >= 201103) + #define __Pyx_SET_CREAL(z,x) ((z).real(x)) + #define __Pyx_SET_CIMAG(z,y) ((z).imag(y)) +#else + #define __Pyx_SET_CREAL(z,x) __Pyx_CREAL(z) = (x) + #define __Pyx_SET_CIMAG(z,y) __Pyx_CIMAG(z) = (y) +#endif + +/* Arithmetic.proto */ +#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #define __Pyx_c_eq_float(a, b) ((a)==(b)) + #define __Pyx_c_sum_float(a, b) ((a)+(b)) + #define __Pyx_c_diff_float(a, b) ((a)-(b)) + #define __Pyx_c_prod_float(a, b) ((a)*(b)) + #define __Pyx_c_quot_float(a, b) ((a)/(b)) + #define __Pyx_c_neg_float(a) (-(a)) + #ifdef __cplusplus + #define __Pyx_c_is_zero_float(z) ((z)==(float)0) + #define __Pyx_c_conj_float(z) (::std::conj(z)) + #if 1 + #define __Pyx_c_abs_float(z) (::std::abs(z)) + #define __Pyx_c_pow_float(a, b) (::std::pow(a, b)) + #endif + #else + #define __Pyx_c_is_zero_float(z) ((z)==0) + #define __Pyx_c_conj_float(z) (conjf(z)) + #if 1 + #define __Pyx_c_abs_float(z) (cabsf(z)) + #define __Pyx_c_pow_float(a, b) (cpowf(a, b)) + #endif + #endif +#else + static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex); + static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex); + #if 1 + static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex, __pyx_t_float_complex); + #endif +#endif + +/* Arithmetic.proto */ +#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #define __Pyx_c_eq_double(a, b) ((a)==(b)) + #define __Pyx_c_sum_double(a, b) ((a)+(b)) + #define __Pyx_c_diff_double(a, b) ((a)-(b)) + #define __Pyx_c_prod_double(a, b) ((a)*(b)) + #define __Pyx_c_quot_double(a, b) ((a)/(b)) + #define __Pyx_c_neg_double(a) (-(a)) + #ifdef __cplusplus + #define __Pyx_c_is_zero_double(z) ((z)==(double)0) + #define __Pyx_c_conj_double(z) (::std::conj(z)) + #if 1 + #define __Pyx_c_abs_double(z) (::std::abs(z)) + #define __Pyx_c_pow_double(a, b) (::std::pow(a, b)) + #endif + #else + #define __Pyx_c_is_zero_double(z) ((z)==0) + #define __Pyx_c_conj_double(z) (conj(z)) + #if 1 + #define __Pyx_c_abs_double(z) (cabs(z)) + #define __Pyx_c_pow_double(a, b) (cpow(a, b)) + #endif + #endif +#else + static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex); + static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex); + #if 1 + static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex, __pyx_t_double_complex); + #endif +#endif + +/* MemviewSliceCopyTemplate.proto */ +static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object); + +/* MemviewSliceInit.proto */ +#define __Pyx_BUF_MAX_NDIMS %(BUF_MAX_NDIMS)d +#define __Pyx_MEMVIEW_DIRECT 1 +#define __Pyx_MEMVIEW_PTR 2 +#define __Pyx_MEMVIEW_FULL 4 +#define __Pyx_MEMVIEW_CONTIG 8 +#define __Pyx_MEMVIEW_STRIDED 16 +#define __Pyx_MEMVIEW_FOLLOW 32 +#define __Pyx_IS_C_CONTIG 1 +#define __Pyx_IS_F_CONTIG 2 +static int __Pyx_init_memviewslice( + struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference); +static CYTHON_INLINE int __pyx_add_acquisition_count_locked( + __pyx_atomic_int_type *acquisition_count, PyThread_type_lock lock); +static CYTHON_INLINE int __pyx_sub_acquisition_count_locked( + __pyx_atomic_int_type *acquisition_count, PyThread_type_lock lock); +#define __pyx_get_slice_count_pointer(memview) (&memview->acquisition_count) +#define __PYX_INC_MEMVIEW(slice, have_gil) __Pyx_INC_MEMVIEW(slice, have_gil, __LINE__) +#define __PYX_XCLEAR_MEMVIEW(slice, have_gil) __Pyx_XCLEAR_MEMVIEW(slice, have_gil, __LINE__) +static CYTHON_INLINE void __Pyx_INC_MEMVIEW(__Pyx_memviewslice *, int, int); +static CYTHON_INLINE void __Pyx_XCLEAR_MEMVIEW(__Pyx_memviewslice *, int, int); + +/* TypeInfoToFormat.proto */ +struct __pyx_typeinfo_string { + char string[3]; +}; +static struct __pyx_typeinfo_string __Pyx_TypeInfoToFormat(__Pyx_TypeInfo *type); + +/* CIntFromPy.proto */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); + +/* None.proto */ +#include + +/* CIntFromPy.proto */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *); + +/* FormatTypeName.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +typedef PyObject *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%U" +static __Pyx_TypeName __Pyx_PyType_GetName(PyTypeObject* tp); +#define __Pyx_DECREF_TypeName(obj) Py_XDECREF(obj) +#else +typedef const char *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%.200s" +#define __Pyx_PyType_GetName(tp) ((tp)->tp_name) +#define __Pyx_DECREF_TypeName(obj) +#endif + +/* CheckBinaryVersion.proto */ +static unsigned long __Pyx_get_runtime_version(void); +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer); + +/* InitStrings.proto */ +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); + +/* #### Code section: module_declarations ### */ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *__pyx_v_self); /* proto*/ +static char *__pyx_memoryview_get_item_pointer(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto*/ +static PyObject *__pyx_memoryview_is_slice(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assignment(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_dst, PyObject *__pyx_v_src); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assign_scalar(struct __pyx_memoryview_obj *__pyx_v_self, struct __pyx_memoryview_obj *__pyx_v_dst, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_setitem_indexed(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_convert_item_to_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryview_assign_item_from_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview__get_base(struct __pyx_memoryview_obj *__pyx_v_self); /* proto*/ +static PyObject *__pyx_memoryviewslice_convert_item_to_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryviewslice_assign_item_from_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryviewslice__get_base(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto*/ +static CYTHON_INLINE PyObject *__pyx_f_5numpy_7ndarray_4base_base(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE PyArray_Descr *__pyx_f_5numpy_7ndarray_5descr_descr(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE int __pyx_f_5numpy_7ndarray_4ndim_ndim(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE npy_intp *__pyx_f_5numpy_7ndarray_5shape_shape(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE npy_intp *__pyx_f_5numpy_7ndarray_7strides_strides(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE npy_intp __pyx_f_5numpy_7ndarray_4size_size(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE char *__pyx_f_5numpy_7ndarray_4data_data(PyArrayObject *__pyx_v_self); /* proto*/ +static PyObject *__pyx_f_9selfdrive_6modeld_6models_15commonmodel_pyx_5CLMem_create(void *__pyx_v_cmem); /* proto*/ + +/* Module declarations from "libc.string" */ + +/* Module declarations from "libcpp.string" */ + +/* Module declarations from "libcpp.vector" */ + +/* Module declarations from "libcpp.utility" */ + +/* Module declarations from "libcpp.set" */ + +/* Module declarations from "libc.stdint" */ + +/* Module declarations from "libcpp" */ + +/* Module declarations from "msgq.visionipc.visionipc" */ + +/* Module declarations from "msgq.visionipc.visionipc_pyx" */ + +/* Module declarations from "libc.stdio" */ + +/* Module declarations from "__builtin__" */ + +/* Module declarations from "cpython.type" */ + +/* Module declarations from "cpython" */ + +/* Module declarations from "cpython.object" */ + +/* Module declarations from "cpython.ref" */ + +/* Module declarations from "numpy" */ + +/* Module declarations from "numpy" */ + +/* Module declarations from "selfdrive.modeld.models.commonmodel" */ + +/* Module declarations from "selfdrive.modeld.models.commonmodel_pyx" */ +static PyObject *__pyx_collections_abc_Sequence = 0; +static PyObject *generic = 0; +static PyObject *strided = 0; +static PyObject *indirect = 0; +static PyObject *contiguous = 0; +static PyObject *indirect_contiguous = 0; +static int __pyx_memoryview_thread_locks_used; +static PyThread_type_lock __pyx_memoryview_thread_locks[8]; +static int __pyx_array_allocate_buffer(struct __pyx_array_obj *); /*proto*/ +static struct __pyx_array_obj *__pyx_array_new(PyObject *, Py_ssize_t, char *, char *, char *); /*proto*/ +static PyObject *__pyx_memoryview_new(PyObject *, int, int, __Pyx_TypeInfo *); /*proto*/ +static CYTHON_INLINE int __pyx_memoryview_check(PyObject *); /*proto*/ +static PyObject *_unellipsify(PyObject *, int); /*proto*/ +static int assert_direct_dimensions(Py_ssize_t *, int); /*proto*/ +static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_obj *, PyObject *); /*proto*/ +static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int, int); /*proto*/ +static char *__pyx_pybuffer_index(Py_buffer *, char *, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memslice_transpose(__Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_fromslice(__Pyx_memviewslice, int, PyObject *(*)(char *), int (*)(char *, PyObject *), int); /*proto*/ +static __Pyx_memviewslice *__pyx_memoryview_get_slice_from_memoryview(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static void __pyx_memoryview_slice_copy(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object(struct __pyx_memoryview_obj *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object_from_slice(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static Py_ssize_t abs_py_ssize_t(Py_ssize_t); /*proto*/ +static char __pyx_get_best_slice_order(__Pyx_memviewslice *, int); /*proto*/ +static void _copy_strided_to_strided(char *, Py_ssize_t *, char *, Py_ssize_t *, Py_ssize_t *, Py_ssize_t *, int, size_t); /*proto*/ +static void copy_strided_to_strided(__Pyx_memviewslice *, __Pyx_memviewslice *, int, size_t); /*proto*/ +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *, int); /*proto*/ +static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *, Py_ssize_t *, Py_ssize_t, int, char); /*proto*/ +static void *__pyx_memoryview_copy_data_to_temp(__Pyx_memviewslice *, __Pyx_memviewslice *, char, int); /*proto*/ +static int __pyx_memoryview_err_extents(int, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memoryview_err_dim(PyObject *, PyObject *, int); /*proto*/ +static int __pyx_memoryview_err(PyObject *, PyObject *); /*proto*/ +static int __pyx_memoryview_err_no_memory(void); /*proto*/ +static int __pyx_memoryview_copy_contents(__Pyx_memviewslice, __Pyx_memviewslice, int, int, int); /*proto*/ +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *, int, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *, int, size_t, void *, int); /*proto*/ +static void __pyx_memoryview__slice_assign_scalar(char *, Py_ssize_t *, Py_ssize_t *, int, size_t, void *); /*proto*/ +static PyObject *__pyx_unpickle_Enum__set_state(struct __pyx_MemviewEnum_obj *, PyObject *); /*proto*/ +static PyObject *__pyx_format_from_typeinfo(__Pyx_TypeInfo *); /*proto*/ +/* #### Code section: typeinfo ### */ +static __Pyx_TypeInfo __Pyx_TypeInfo_nn___pyx_t_5numpy_float32_t = { "float32_t", NULL, sizeof(__pyx_t_5numpy_float32_t), { 0 }, 0, 'R', 0, 0 }; +static __Pyx_TypeInfo __Pyx_TypeInfo_float = { "float", NULL, sizeof(float), { 0 }, 0, 'R', 0, 0 }; +/* #### Code section: before_global_var ### */ +#define __Pyx_MODULE_NAME "selfdrive.modeld.models.commonmodel_pyx" +extern int __pyx_module_is_main_selfdrive__modeld__models__commonmodel_pyx; +int __pyx_module_is_main_selfdrive__modeld__models__commonmodel_pyx = 0; + +/* Implementation of "selfdrive.modeld.models.commonmodel_pyx" */ +/* #### Code section: global_var ### */ +static PyObject *__pyx_builtin_TypeError; +static PyObject *__pyx_builtin___import__; +static PyObject *__pyx_builtin_ValueError; +static PyObject *__pyx_builtin_MemoryError; +static PyObject *__pyx_builtin_enumerate; +static PyObject *__pyx_builtin_range; +static PyObject *__pyx_builtin_AssertionError; +static PyObject *__pyx_builtin_Ellipsis; +static PyObject *__pyx_builtin_id; +static PyObject *__pyx_builtin_IndexError; +static PyObject *__pyx_builtin_ImportError; +/* #### Code section: string_decls ### */ +static const char __pyx_k_[] = ": "; +static const char __pyx_k_O[] = "O"; +static const char __pyx_k_T[] = "T{"; + static const char __pyx_k_c[] = "c"; + static const char __pyx_k_x[] = "x"; + static const char __pyx_k__2[] = "."; + static const char __pyx_k__3[] = "*"; + static const char __pyx_k__6[] = "'"; + static const char __pyx_k__7[] = ")"; + static const char __pyx_k__9[] = "^"; + static const char __pyx_k_gc[] = "gc"; + static const char __pyx_k_id[] = "id"; + static const char __pyx_k_np[] = "np"; + static const char __pyx_k__10[] = ""; + static const char __pyx_k__11[] = ":"; +static const char __pyx_k__12[] = "}"; +static const char __pyx_k__13[] = "("; +static const char __pyx_k__14[] = ","; +static const char __pyx_k__40[] = "?"; +static const char __pyx_k_abc[] = "abc"; +static const char __pyx_k_and[] = " and "; +static const char __pyx_k_buf[] = "buf"; +static const char __pyx_k_got[] = " (got "; +static const char __pyx_k_new[] = "__new__"; +static const char __pyx_k_obj[] = "obj"; +static const char __pyx_k_sys[] = "sys"; +static const char __pyx_k_base[] = "base"; +static const char __pyx_k_data[] = "data"; +static const char __pyx_k_dict[] = "__dict__"; +static const char __pyx_k_join[] = "join"; +static const char __pyx_k_main[] = "__main__"; +static const char __pyx_k_mode[] = "mode"; +static const char __pyx_k_name[] = "name"; +static const char __pyx_k_ndim[] = "ndim"; +static const char __pyx_k_pack[] = "pack"; +static const char __pyx_k_self[] = "self"; +static const char __pyx_k_size[] = "size"; +static const char __pyx_k_spec[] = "__spec__"; +static const char __pyx_k_step[] = "step"; +static const char __pyx_k_stop[] = "stop"; +static const char __pyx_k_test[] = "__test__"; +static const char __pyx_k_ASCII[] = "ASCII"; +static const char __pyx_k_CLMem[] = "CLMem"; +static const char __pyx_k_class[] = "__class__"; +static const char __pyx_k_count[] = "count"; +static const char __pyx_k_error[] = "error"; +static const char __pyx_k_flags[] = "flags"; +static const char __pyx_k_index[] = "index"; +static const char __pyx_k_numpy[] = "numpy"; +static const char __pyx_k_range[] = "range"; +static const char __pyx_k_shape[] = "shape"; +static const char __pyx_k_start[] = "start"; +static const char __pyx_k_width[] = "width"; +static const char __pyx_k_enable[] = "enable"; +static const char __pyx_k_encode[] = "encode"; +static const char __pyx_k_format[] = "format"; +static const char __pyx_k_height[] = "height"; +static const char __pyx_k_import[] = "__import__"; +static const char __pyx_k_name_2[] = "__name__"; +static const char __pyx_k_output[] = "output"; +static const char __pyx_k_pickle[] = "pickle"; +static const char __pyx_k_reduce[] = "__reduce__"; +static const char __pyx_k_stride[] = "stride"; +static const char __pyx_k_struct[] = "struct"; +static const char __pyx_k_unpack[] = "unpack"; +static const char __pyx_k_update[] = "update"; +static const char __pyx_k_asarray[] = "asarray"; +static const char __pyx_k_context[] = "context"; +static const char __pyx_k_disable[] = "disable"; +static const char __pyx_k_fortran[] = "fortran"; +static const char __pyx_k_memview[] = "memview"; +static const char __pyx_k_prepare[] = "prepare"; +static const char __pyx_k_sigmoid[] = "sigmoid"; +static const char __pyx_k_Ellipsis[] = "Ellipsis"; +static const char __pyx_k_Sequence[] = "Sequence"; +static const char __pyx_k_getstate[] = "__getstate__"; +static const char __pyx_k_itemsize[] = "itemsize"; +static const char __pyx_k_pyx_type[] = "__pyx_type"; +static const char __pyx_k_register[] = "register"; +static const char __pyx_k_setstate[] = "__setstate__"; +static const char __pyx_k_CLContext[] = "CLContext"; +static const char __pyx_k_TypeError[] = "TypeError"; +static const char __pyx_k_enumerate[] = "enumerate"; +static const char __pyx_k_isenabled[] = "isenabled"; +static const char __pyx_k_pyx_state[] = "__pyx_state"; +static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; +static const char __pyx_k_uv_offset[] = "uv_offset"; +static const char __pyx_k_IndexError[] = "IndexError"; +static const char __pyx_k_ModelFrame[] = "ModelFrame"; +static const char __pyx_k_ValueError[] = "ValueError"; +static const char __pyx_k_projection[] = "projection"; +static const char __pyx_k_pyx_result[] = "__pyx_result"; +static const char __pyx_k_pyx_vtable[] = "__pyx_vtable__"; +static const char __pyx_k_ImportError[] = "ImportError"; +static const char __pyx_k_MemoryError[] = "MemoryError"; +static const char __pyx_k_PickleError[] = "PickleError"; +static const char __pyx_k_collections[] = "collections"; +static const char __pyx_k_cprojection[] = "cprojection"; +static const char __pyx_k_initializing[] = "_initializing"; +static const char __pyx_k_is_coroutine[] = "_is_coroutine"; +static const char __pyx_k_pyx_checksum[] = "__pyx_checksum"; +static const char __pyx_k_stringsource[] = ""; +static const char __pyx_k_version_info[] = "version_info"; +static const char __pyx_k_class_getitem[] = "__class_getitem__"; +static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; +static const char __pyx_k_AssertionError[] = "AssertionError"; +static const char __pyx_k_View_MemoryView[] = "View.MemoryView"; +static const char __pyx_k_allocate_buffer[] = "allocate_buffer"; +static const char __pyx_k_collections_abc[] = "collections.abc"; +static const char __pyx_k_dtype_is_object[] = "dtype_is_object"; +static const char __pyx_k_pyx_PickleError[] = "__pyx_PickleError"; +static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; +static const char __pyx_k_pyx_unpickle_Enum[] = "__pyx_unpickle_Enum"; +static const char __pyx_k_ModelFrame_prepare[] = "ModelFrame.prepare"; +static const char __pyx_k_asyncio_coroutines[] = "asyncio.coroutines"; +static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; +static const char __pyx_k_strided_and_direct[] = ""; +static const char __pyx_k_strided_and_indirect[] = ""; +static const char __pyx_k_CLMem___reduce_cython[] = "CLMem.__reduce_cython__"; +static const char __pyx_k_Invalid_shape_in_axis[] = "Invalid shape in axis "; +static const char __pyx_k_contiguous_and_direct[] = ""; +static const char __pyx_k_Cannot_index_with_type[] = "Cannot index with type '"; +static const char __pyx_k_MemoryView_of_r_object[] = ""; +static const char __pyx_k_CLMem___setstate_cython[] = "CLMem.__setstate_cython__"; +static const char __pyx_k_MemoryView_of_r_at_0x_x[] = ""; +static const char __pyx_k_contiguous_and_indirect[] = ""; +static const char __pyx_k_CLContext___reduce_cython[] = "CLContext.__reduce_cython__"; +static const char __pyx_k_Dimension_d_is_not_direct[] = "Dimension %d is not direct"; +static const char __pyx_k_Index_out_of_bounds_axis_d[] = "Index out of bounds (axis %d)"; +static const char __pyx_k_ModelFrame___reduce_cython[] = "ModelFrame.__reduce_cython__"; +static const char __pyx_k_CLContext___setstate_cython[] = "CLContext.__setstate_cython__"; +static const char __pyx_k_Step_may_not_be_zero_axis_d[] = "Step may not be zero (axis %d)"; +static const char __pyx_k_itemsize_0_for_cython_array[] = "itemsize <= 0 for cython.array"; +static const char __pyx_k_ModelFrame___setstate_cython[] = "ModelFrame.__setstate_cython__"; +static const char __pyx_k_unable_to_allocate_array_data[] = "unable to allocate array data."; +static const char __pyx_k_strided_and_direct_or_indirect[] = ""; +static const char __pyx_k_numpy_core_multiarray_failed_to[] = "numpy.core.multiarray failed to import"; +static const char __pyx_k_self_mem_cannot_be_converted_to[] = "self.mem cannot be converted to a Python object for pickling"; +static const char __pyx_k_All_dimensions_preceding_dimensi[] = "All dimensions preceding dimension %d must be indexed and not sliced"; +static const char __pyx_k_Buffer_view_does_not_expose_stri[] = "Buffer view does not expose strides"; +static const char __pyx_k_Can_only_create_a_buffer_that_is[] = "Can only create a buffer that is contiguous in memory."; +static const char __pyx_k_Cannot_assign_to_read_only_memor[] = "Cannot assign to read-only memoryview"; +static const char __pyx_k_Cannot_create_writable_memory_vi[] = "Cannot create writable memory view from read-only memoryview"; +static const char __pyx_k_Cannot_transpose_memoryview_with[] = "Cannot transpose memoryview with indirect dimensions"; +static const char __pyx_k_Empty_shape_tuple_for_cython_arr[] = "Empty shape tuple for cython.array"; +static const char __pyx_k_Incompatible_checksums_0x_x_vs_0[] = "Incompatible checksums (0x%x vs (0x82a3537, 0x6ae9995, 0xb068931) = (name))"; +static const char __pyx_k_Indirect_dimensions_not_supporte[] = "Indirect dimensions not supported"; +static const char __pyx_k_Invalid_mode_expected_c_or_fortr[] = "Invalid mode, expected 'c' or 'fortran', got "; +static const char __pyx_k_Out_of_bounds_on_buffer_access_a[] = "Out of bounds on buffer access (axis "; +static const char __pyx_k_Unable_to_convert_item_to_object[] = "Unable to convert item to object"; +static const char __pyx_k_got_differing_extents_in_dimensi[] = "got differing extents in dimension "; +static const char __pyx_k_no_default___reduce___due_to_non[] = "no default __reduce__ due to non-trivial __cinit__"; +static const char __pyx_k_numpy_core_umath_failed_to_impor[] = "numpy.core.umath failed to import"; +static const char __pyx_k_selfdrive_modeld_models_commonmo[] = "selfdrive/modeld/models/commonmodel_pyx.pyx"; +static const char __pyx_k_unable_to_allocate_shape_and_str[] = "unable to allocate shape and strides."; +static const char __pyx_k_selfdrive_modeld_models_commonmo_2[] = "selfdrive.modeld.models.commonmodel_pyx"; +/* #### Code section: decls ### */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_shape, Py_ssize_t __pyx_v_itemsize, PyObject *__pyx_v_format, PyObject *__pyx_v_mode, int __pyx_v_allocate_buffer); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_2__getbuffer__(struct __pyx_array_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static void __pyx_array___pyx_pf_15View_dot_MemoryView_5array_4__dealloc__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_5array_7memview___get__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_array___pyx_pf_15View_dot_MemoryView_5array_6__len__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_8__getattr__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_attr); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_10__getitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_12__setitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item, PyObject *__pyx_v_value); /* proto */ +static PyObject *__pyx_pf___pyx_array___reduce_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_array_2__setstate_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum___init__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v_name); /* proto */ +static PyObject *__pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum_2__repr__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum___reduce_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum_2__setstate_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview___cinit__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj, int __pyx_v_flags, int __pyx_v_dtype_is_object); /* proto */ +static void __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_2__dealloc__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_4__getitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_6__setitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_8__getbuffer__(struct __pyx_memoryview_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_1T___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4base___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_5shape___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_7strides___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_10suboffsets___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4ndim___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_8itemsize___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_6nbytes___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4size___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_10__len__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_12__repr__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_14__str__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_16is_c_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_18is_f_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_20copy(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_22copy_fortran(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static void __pyx_memoryviewslice___pyx_pf_15View_dot_MemoryView_16_memoryviewslice___dealloc__(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView___pyx_unpickle_Enum(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v___pyx_type, long __pyx_v___pyx_checksum, PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_pf_9selfdrive_6modeld_6models_15commonmodel_pyx_sigmoid(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_x); /* proto */ +static int __pyx_pf_9selfdrive_6modeld_6models_15commonmodel_pyx_9CLContext___cinit__(struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_9selfdrive_6modeld_6models_15commonmodel_pyx_9CLContext_2__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_9selfdrive_6modeld_6models_15commonmodel_pyx_9CLContext_4__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_pf_9selfdrive_6modeld_6models_15commonmodel_pyx_5CLMem___reduce_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_9selfdrive_6modeld_6models_15commonmodel_pyx_5CLMem_2__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_pf_9selfdrive_6modeld_6models_15commonmodel_pyx_10ModelFrame___cinit__(struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame *__pyx_v_self, struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext *__pyx_v_context); /* proto */ +static void __pyx_pf_9selfdrive_6modeld_6models_15commonmodel_pyx_10ModelFrame_2__dealloc__(struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_9selfdrive_6modeld_6models_15commonmodel_pyx_10ModelFrame_4prepare(struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame *__pyx_v_self, struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_v_buf, __Pyx_memviewslice __pyx_v_projection, struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem *__pyx_v_output); /* proto */ +static PyObject *__pyx_pf_9selfdrive_6modeld_6models_15commonmodel_pyx_10ModelFrame_6__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_9selfdrive_6modeld_6models_15commonmodel_pyx_10ModelFrame_8__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_tp_new_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +/* #### Code section: late_includes ### */ +/* #### Code section: module_state ### */ +typedef struct { + PyObject *__pyx_d; + PyObject *__pyx_b; + PyObject *__pyx_cython_runtime; + PyObject *__pyx_empty_tuple; + PyObject *__pyx_empty_bytes; + PyObject *__pyx_empty_unicode; + #ifdef __Pyx_CyFunction_USED + PyTypeObject *__pyx_CyFunctionType; + #endif + #ifdef __Pyx_FusedFunction_USED + PyTypeObject *__pyx_FusedFunctionType; + #endif + #ifdef __Pyx_Generator_USED + PyTypeObject *__pyx_GeneratorType; + #endif + #ifdef __Pyx_IterableCoroutine_USED + PyTypeObject *__pyx_IterableCoroutineType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineAwaitType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineType; + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext; + PyTypeObject *__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf; + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_7cpython_4type_type; + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_5numpy_dtype; + PyTypeObject *__pyx_ptype_5numpy_flatiter; + PyTypeObject *__pyx_ptype_5numpy_broadcast; + PyTypeObject *__pyx_ptype_5numpy_ndarray; + PyTypeObject *__pyx_ptype_5numpy_generic; + PyTypeObject *__pyx_ptype_5numpy_number; + PyTypeObject *__pyx_ptype_5numpy_integer; + PyTypeObject *__pyx_ptype_5numpy_signedinteger; + PyTypeObject *__pyx_ptype_5numpy_unsignedinteger; + PyTypeObject *__pyx_ptype_5numpy_inexact; + PyTypeObject *__pyx_ptype_5numpy_floating; + PyTypeObject *__pyx_ptype_5numpy_complexfloating; + PyTypeObject *__pyx_ptype_5numpy_flexible; + PyTypeObject *__pyx_ptype_5numpy_character; + PyTypeObject *__pyx_ptype_5numpy_ufunc; + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + PyObject *__pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext; + PyObject *__pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem; + PyObject *__pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame; + PyObject *__pyx_type___pyx_array; + PyObject *__pyx_type___pyx_MemviewEnum; + PyObject *__pyx_type___pyx_memoryview; + PyObject *__pyx_type___pyx_memoryviewslice; + #endif + PyTypeObject *__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext; + PyTypeObject *__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem; + PyTypeObject *__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame; + PyTypeObject *__pyx_array_type; + PyTypeObject *__pyx_MemviewEnum_type; + PyTypeObject *__pyx_memoryview_type; + PyTypeObject *__pyx_memoryviewslice_type; + PyObject *__pyx_kp_u_; + PyObject *__pyx_n_s_ASCII; + PyObject *__pyx_kp_s_All_dimensions_preceding_dimensi; + PyObject *__pyx_n_s_AssertionError; + PyObject *__pyx_kp_s_Buffer_view_does_not_expose_stri; + PyObject *__pyx_n_s_CLContext; + PyObject *__pyx_n_s_CLContext___reduce_cython; + PyObject *__pyx_n_s_CLContext___setstate_cython; + PyObject *__pyx_n_s_CLMem; + PyObject *__pyx_n_s_CLMem___reduce_cython; + PyObject *__pyx_n_s_CLMem___setstate_cython; + PyObject *__pyx_kp_s_Can_only_create_a_buffer_that_is; + PyObject *__pyx_kp_s_Cannot_assign_to_read_only_memor; + PyObject *__pyx_kp_s_Cannot_create_writable_memory_vi; + PyObject *__pyx_kp_u_Cannot_index_with_type; + PyObject *__pyx_kp_s_Cannot_transpose_memoryview_with; + PyObject *__pyx_kp_s_Dimension_d_is_not_direct; + PyObject *__pyx_n_s_Ellipsis; + PyObject *__pyx_kp_s_Empty_shape_tuple_for_cython_arr; + PyObject *__pyx_n_s_ImportError; + PyObject *__pyx_kp_s_Incompatible_checksums_0x_x_vs_0; + PyObject *__pyx_n_s_IndexError; + PyObject *__pyx_kp_s_Index_out_of_bounds_axis_d; + PyObject *__pyx_kp_s_Indirect_dimensions_not_supporte; + PyObject *__pyx_kp_u_Invalid_mode_expected_c_or_fortr; + PyObject *__pyx_kp_u_Invalid_shape_in_axis; + PyObject *__pyx_n_s_MemoryError; + PyObject *__pyx_kp_s_MemoryView_of_r_at_0x_x; + PyObject *__pyx_kp_s_MemoryView_of_r_object; + PyObject *__pyx_n_s_ModelFrame; + PyObject *__pyx_n_s_ModelFrame___reduce_cython; + PyObject *__pyx_n_s_ModelFrame___setstate_cython; + PyObject *__pyx_n_s_ModelFrame_prepare; + PyObject *__pyx_n_b_O; + PyObject 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PyObject *__pyx_n_s_cline_in_traceback; + PyObject *__pyx_n_s_collections; + PyObject *__pyx_kp_s_collections_abc; + PyObject *__pyx_n_s_context; + PyObject *__pyx_kp_s_contiguous_and_direct; + PyObject *__pyx_kp_s_contiguous_and_indirect; + PyObject *__pyx_n_s_count; + PyObject *__pyx_n_s_cprojection; + PyObject *__pyx_n_s_data; + PyObject *__pyx_n_s_dict; + PyObject *__pyx_kp_u_disable; + PyObject *__pyx_n_s_dtype_is_object; + PyObject *__pyx_kp_u_enable; + PyObject *__pyx_n_s_encode; + PyObject *__pyx_n_s_enumerate; + PyObject *__pyx_n_s_error; + PyObject *__pyx_n_s_flags; + PyObject *__pyx_n_s_format; + PyObject *__pyx_n_s_fortran; + PyObject *__pyx_n_u_fortran; + PyObject *__pyx_kp_u_gc; + PyObject *__pyx_n_s_getstate; + PyObject *__pyx_kp_u_got; + PyObject *__pyx_kp_u_got_differing_extents_in_dimensi; + PyObject *__pyx_n_s_height; + PyObject *__pyx_n_s_id; + PyObject *__pyx_n_s_import; + PyObject *__pyx_n_s_index; + PyObject *__pyx_n_s_initializing; + PyObject *__pyx_n_s_is_coroutine; + PyObject *__pyx_kp_u_isenabled; + PyObject *__pyx_n_s_itemsize; + PyObject *__pyx_kp_s_itemsize_0_for_cython_array; + PyObject *__pyx_n_s_join; + PyObject *__pyx_n_s_main; + PyObject *__pyx_n_s_memview; + PyObject *__pyx_n_s_mode; + PyObject *__pyx_n_s_name; + PyObject *__pyx_n_s_name_2; + PyObject *__pyx_n_s_ndim; + PyObject *__pyx_n_s_new; + PyObject *__pyx_kp_s_no_default___reduce___due_to_non; + PyObject *__pyx_n_s_np; + PyObject *__pyx_n_s_numpy; + PyObject *__pyx_kp_u_numpy_core_multiarray_failed_to; + PyObject *__pyx_kp_u_numpy_core_umath_failed_to_impor; + PyObject *__pyx_n_s_obj; + PyObject *__pyx_n_s_output; + PyObject *__pyx_n_s_pack; + PyObject *__pyx_n_s_pickle; + PyObject *__pyx_n_s_prepare; + PyObject *__pyx_n_s_projection; + PyObject *__pyx_n_s_pyx_PickleError; + PyObject *__pyx_n_s_pyx_checksum; + PyObject *__pyx_n_s_pyx_result; + PyObject *__pyx_n_s_pyx_state; + PyObject *__pyx_n_s_pyx_type; + PyObject *__pyx_n_s_pyx_unpickle_Enum; + PyObject *__pyx_n_s_pyx_vtable; + PyObject *__pyx_n_s_range; + PyObject *__pyx_n_s_reduce; + PyObject *__pyx_n_s_reduce_cython; + PyObject *__pyx_n_s_reduce_ex; + PyObject *__pyx_n_s_register; + PyObject *__pyx_n_s_self; + PyObject *__pyx_kp_s_self_mem_cannot_be_converted_to; + PyObject *__pyx_kp_s_selfdrive_modeld_models_commonmo; + PyObject *__pyx_n_s_selfdrive_modeld_models_commonmo_2; + PyObject *__pyx_n_s_setstate; + PyObject *__pyx_n_s_setstate_cython; + PyObject *__pyx_n_s_shape; + PyObject *__pyx_n_s_sigmoid; + PyObject *__pyx_n_s_size; + PyObject *__pyx_n_s_spec; + PyObject *__pyx_n_s_start; + PyObject *__pyx_n_s_step; + PyObject *__pyx_n_s_stop; + PyObject *__pyx_n_s_stride; + PyObject *__pyx_kp_s_strided_and_direct; + PyObject *__pyx_kp_s_strided_and_direct_or_indirect; + PyObject *__pyx_kp_s_strided_and_indirect; + PyObject *__pyx_kp_s_stringsource; + PyObject *__pyx_n_s_struct; + PyObject *__pyx_n_s_sys; + PyObject *__pyx_n_s_test; + PyObject *__pyx_kp_s_unable_to_allocate_array_data; + PyObject *__pyx_kp_s_unable_to_allocate_shape_and_str; + PyObject *__pyx_n_s_unpack; + PyObject *__pyx_n_s_update; + PyObject *__pyx_n_s_uv_offset; + PyObject *__pyx_n_s_version_info; + PyObject *__pyx_n_s_width; + PyObject *__pyx_n_s_x; + PyObject *__pyx_int_0; + PyObject *__pyx_int_1; + PyObject *__pyx_int_3; + PyObject *__pyx_int_112105877; + PyObject *__pyx_int_136983863; + PyObject *__pyx_int_184977713; + PyObject *__pyx_int_neg_1; + PyObject *__pyx_slice__5; + PyObject *__pyx_tuple__4; + PyObject *__pyx_tuple__8; + PyObject *__pyx_tuple__15; + PyObject *__pyx_tuple__16; + PyObject *__pyx_tuple__17; + PyObject *__pyx_tuple__18; + PyObject *__pyx_tuple__19; + PyObject *__pyx_tuple__20; + PyObject *__pyx_tuple__21; + PyObject *__pyx_tuple__22; + PyObject *__pyx_tuple__23; + PyObject *__pyx_tuple__24; + PyObject *__pyx_tuple__25; + PyObject *__pyx_tuple__26; + PyObject *__pyx_tuple__28; + PyObject *__pyx_tuple__30; + PyObject *__pyx_tuple__32; + PyObject *__pyx_tuple__36; + PyObject *__pyx_codeobj__27; + PyObject *__pyx_codeobj__29; + PyObject *__pyx_codeobj__31; + PyObject *__pyx_codeobj__33; + PyObject *__pyx_codeobj__34; + PyObject *__pyx_codeobj__35; + PyObject *__pyx_codeobj__37; + PyObject *__pyx_codeobj__38; + PyObject *__pyx_codeobj__39; +} __pyx_mstate; + +#if CYTHON_USE_MODULE_STATE +#ifdef __cplusplus +namespace { + extern struct PyModuleDef __pyx_moduledef; +} /* anonymous namespace */ +#else +static struct PyModuleDef __pyx_moduledef; +#endif + +#define __pyx_mstate(o) ((__pyx_mstate *)__Pyx_PyModule_GetState(o)) + +#define __pyx_mstate_global (__pyx_mstate(PyState_FindModule(&__pyx_moduledef))) + +#define __pyx_m (PyState_FindModule(&__pyx_moduledef)) +#else +static __pyx_mstate __pyx_mstate_global_static = +#ifdef __cplusplus + {}; +#else + {0}; +#endif +static __pyx_mstate *__pyx_mstate_global = &__pyx_mstate_global_static; +#endif +/* #### Code section: module_state_clear ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_clear(PyObject *m) { + __pyx_mstate *clear_module_state = __pyx_mstate(m); + if (!clear_module_state) return 0; + Py_CLEAR(clear_module_state->__pyx_d); + Py_CLEAR(clear_module_state->__pyx_b); + Py_CLEAR(clear_module_state->__pyx_cython_runtime); + Py_CLEAR(clear_module_state->__pyx_empty_tuple); + Py_CLEAR(clear_module_state->__pyx_empty_bytes); + Py_CLEAR(clear_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_CLEAR(clear_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_CLEAR(clear_module_state->__pyx_FusedFunctionType); + #endif + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext); + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf); + Py_CLEAR(clear_module_state->__pyx_ptype_7cpython_4type_type); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_dtype); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_flatiter); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_broadcast); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_ndarray); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_generic); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_number); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_integer); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_signedinteger); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_unsignedinteger); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_inexact); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_floating); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_complexfloating); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_flexible); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_character); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_ufunc); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext); + Py_CLEAR(clear_module_state->__pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem); + Py_CLEAR(clear_module_state->__pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame); + Py_CLEAR(clear_module_state->__pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame); + Py_CLEAR(clear_module_state->__pyx_array_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_array); + Py_CLEAR(clear_module_state->__pyx_MemviewEnum_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_MemviewEnum); + Py_CLEAR(clear_module_state->__pyx_memoryview_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_memoryview); + Py_CLEAR(clear_module_state->__pyx_memoryviewslice_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_memoryviewslice); + Py_CLEAR(clear_module_state->__pyx_kp_u_); + Py_CLEAR(clear_module_state->__pyx_n_s_ASCII); + Py_CLEAR(clear_module_state->__pyx_kp_s_All_dimensions_preceding_dimensi); + Py_CLEAR(clear_module_state->__pyx_n_s_AssertionError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Buffer_view_does_not_expose_stri); + Py_CLEAR(clear_module_state->__pyx_n_s_CLContext); + Py_CLEAR(clear_module_state->__pyx_n_s_CLContext___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_CLContext___setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_CLMem); + Py_CLEAR(clear_module_state->__pyx_n_s_CLMem___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_CLMem___setstate_cython); + Py_CLEAR(clear_module_state->__pyx_kp_s_Can_only_create_a_buffer_that_is); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_assign_to_read_only_memor); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_create_writable_memory_vi); + Py_CLEAR(clear_module_state->__pyx_kp_u_Cannot_index_with_type); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_transpose_memoryview_with); + Py_CLEAR(clear_module_state->__pyx_kp_s_Dimension_d_is_not_direct); + Py_CLEAR(clear_module_state->__pyx_n_s_Ellipsis); + Py_CLEAR(clear_module_state->__pyx_kp_s_Empty_shape_tuple_for_cython_arr); + Py_CLEAR(clear_module_state->__pyx_n_s_ImportError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0); + Py_CLEAR(clear_module_state->__pyx_n_s_IndexError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Index_out_of_bounds_axis_d); + Py_CLEAR(clear_module_state->__pyx_kp_s_Indirect_dimensions_not_supporte); + Py_CLEAR(clear_module_state->__pyx_kp_u_Invalid_mode_expected_c_or_fortr); + Py_CLEAR(clear_module_state->__pyx_kp_u_Invalid_shape_in_axis); + Py_CLEAR(clear_module_state->__pyx_n_s_MemoryError); + Py_CLEAR(clear_module_state->__pyx_kp_s_MemoryView_of_r_at_0x_x); + Py_CLEAR(clear_module_state->__pyx_kp_s_MemoryView_of_r_object); + Py_CLEAR(clear_module_state->__pyx_n_s_ModelFrame); + Py_CLEAR(clear_module_state->__pyx_n_s_ModelFrame___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_ModelFrame___setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_ModelFrame_prepare); + Py_CLEAR(clear_module_state->__pyx_n_b_O); + Py_CLEAR(clear_module_state->__pyx_kp_u_Out_of_bounds_on_buffer_access_a); + Py_CLEAR(clear_module_state->__pyx_n_s_PickleError); + Py_CLEAR(clear_module_state->__pyx_n_s_Sequence); + Py_CLEAR(clear_module_state->__pyx_kp_s_Step_may_not_be_zero_axis_d); + Py_CLEAR(clear_module_state->__pyx_kp_b_T); + Py_CLEAR(clear_module_state->__pyx_n_s_TypeError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Unable_to_convert_item_to_object); + Py_CLEAR(clear_module_state->__pyx_n_s_ValueError); + Py_CLEAR(clear_module_state->__pyx_n_s_View_MemoryView); + Py_CLEAR(clear_module_state->__pyx_kp_b__10); + Py_CLEAR(clear_module_state->__pyx_kp_b__11); + Py_CLEAR(clear_module_state->__pyx_kp_b__12); + Py_CLEAR(clear_module_state->__pyx_kp_u__13); + Py_CLEAR(clear_module_state->__pyx_kp_u__14); + Py_CLEAR(clear_module_state->__pyx_kp_u__2); + Py_CLEAR(clear_module_state->__pyx_n_s__3); + Py_CLEAR(clear_module_state->__pyx_n_s__40); + Py_CLEAR(clear_module_state->__pyx_kp_u__6); + Py_CLEAR(clear_module_state->__pyx_kp_u__7); + Py_CLEAR(clear_module_state->__pyx_kp_b__9); + Py_CLEAR(clear_module_state->__pyx_n_s_abc); + Py_CLEAR(clear_module_state->__pyx_n_s_allocate_buffer); + Py_CLEAR(clear_module_state->__pyx_kp_u_and); + Py_CLEAR(clear_module_state->__pyx_n_s_asarray); + Py_CLEAR(clear_module_state->__pyx_n_s_asyncio_coroutines); + Py_CLEAR(clear_module_state->__pyx_n_s_base); + Py_CLEAR(clear_module_state->__pyx_n_s_buf); + Py_CLEAR(clear_module_state->__pyx_n_s_c); + Py_CLEAR(clear_module_state->__pyx_n_u_c); + Py_CLEAR(clear_module_state->__pyx_n_s_class); + Py_CLEAR(clear_module_state->__pyx_n_s_class_getitem); + Py_CLEAR(clear_module_state->__pyx_n_s_cline_in_traceback); + Py_CLEAR(clear_module_state->__pyx_n_s_collections); + Py_CLEAR(clear_module_state->__pyx_kp_s_collections_abc); + Py_CLEAR(clear_module_state->__pyx_n_s_context); + Py_CLEAR(clear_module_state->__pyx_kp_s_contiguous_and_direct); + Py_CLEAR(clear_module_state->__pyx_kp_s_contiguous_and_indirect); + Py_CLEAR(clear_module_state->__pyx_n_s_count); + Py_CLEAR(clear_module_state->__pyx_n_s_cprojection); + Py_CLEAR(clear_module_state->__pyx_n_s_data); + Py_CLEAR(clear_module_state->__pyx_n_s_dict); + Py_CLEAR(clear_module_state->__pyx_kp_u_disable); + Py_CLEAR(clear_module_state->__pyx_n_s_dtype_is_object); + Py_CLEAR(clear_module_state->__pyx_kp_u_enable); + Py_CLEAR(clear_module_state->__pyx_n_s_encode); + Py_CLEAR(clear_module_state->__pyx_n_s_enumerate); + Py_CLEAR(clear_module_state->__pyx_n_s_error); + Py_CLEAR(clear_module_state->__pyx_n_s_flags); + Py_CLEAR(clear_module_state->__pyx_n_s_format); + Py_CLEAR(clear_module_state->__pyx_n_s_fortran); + Py_CLEAR(clear_module_state->__pyx_n_u_fortran); + Py_CLEAR(clear_module_state->__pyx_kp_u_gc); + Py_CLEAR(clear_module_state->__pyx_n_s_getstate); + Py_CLEAR(clear_module_state->__pyx_kp_u_got); + Py_CLEAR(clear_module_state->__pyx_kp_u_got_differing_extents_in_dimensi); + Py_CLEAR(clear_module_state->__pyx_n_s_height); + Py_CLEAR(clear_module_state->__pyx_n_s_id); + Py_CLEAR(clear_module_state->__pyx_n_s_import); + Py_CLEAR(clear_module_state->__pyx_n_s_index); + Py_CLEAR(clear_module_state->__pyx_n_s_initializing); + Py_CLEAR(clear_module_state->__pyx_n_s_is_coroutine); + Py_CLEAR(clear_module_state->__pyx_kp_u_isenabled); + Py_CLEAR(clear_module_state->__pyx_n_s_itemsize); + Py_CLEAR(clear_module_state->__pyx_kp_s_itemsize_0_for_cython_array); + Py_CLEAR(clear_module_state->__pyx_n_s_join); + Py_CLEAR(clear_module_state->__pyx_n_s_main); + Py_CLEAR(clear_module_state->__pyx_n_s_memview); + Py_CLEAR(clear_module_state->__pyx_n_s_mode); + Py_CLEAR(clear_module_state->__pyx_n_s_name); + Py_CLEAR(clear_module_state->__pyx_n_s_name_2); + Py_CLEAR(clear_module_state->__pyx_n_s_ndim); + Py_CLEAR(clear_module_state->__pyx_n_s_new); + Py_CLEAR(clear_module_state->__pyx_kp_s_no_default___reduce___due_to_non); + Py_CLEAR(clear_module_state->__pyx_n_s_np); + Py_CLEAR(clear_module_state->__pyx_n_s_numpy); + Py_CLEAR(clear_module_state->__pyx_kp_u_numpy_core_multiarray_failed_to); + Py_CLEAR(clear_module_state->__pyx_kp_u_numpy_core_umath_failed_to_impor); + Py_CLEAR(clear_module_state->__pyx_n_s_obj); + Py_CLEAR(clear_module_state->__pyx_n_s_output); + Py_CLEAR(clear_module_state->__pyx_n_s_pack); + Py_CLEAR(clear_module_state->__pyx_n_s_pickle); + Py_CLEAR(clear_module_state->__pyx_n_s_prepare); + Py_CLEAR(clear_module_state->__pyx_n_s_projection); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_PickleError); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_checksum); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_result); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_state); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_type); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_unpickle_Enum); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_vtable); + Py_CLEAR(clear_module_state->__pyx_n_s_range); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_ex); + Py_CLEAR(clear_module_state->__pyx_n_s_register); + Py_CLEAR(clear_module_state->__pyx_n_s_self); + Py_CLEAR(clear_module_state->__pyx_kp_s_self_mem_cannot_be_converted_to); + Py_CLEAR(clear_module_state->__pyx_kp_s_selfdrive_modeld_models_commonmo); + Py_CLEAR(clear_module_state->__pyx_n_s_selfdrive_modeld_models_commonmo_2); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_shape); + Py_CLEAR(clear_module_state->__pyx_n_s_sigmoid); + Py_CLEAR(clear_module_state->__pyx_n_s_size); + Py_CLEAR(clear_module_state->__pyx_n_s_spec); + Py_CLEAR(clear_module_state->__pyx_n_s_start); + Py_CLEAR(clear_module_state->__pyx_n_s_step); + Py_CLEAR(clear_module_state->__pyx_n_s_stop); + Py_CLEAR(clear_module_state->__pyx_n_s_stride); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_direct); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_direct_or_indirect); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_indirect); + Py_CLEAR(clear_module_state->__pyx_kp_s_stringsource); + Py_CLEAR(clear_module_state->__pyx_n_s_struct); + Py_CLEAR(clear_module_state->__pyx_n_s_sys); + Py_CLEAR(clear_module_state->__pyx_n_s_test); + Py_CLEAR(clear_module_state->__pyx_kp_s_unable_to_allocate_array_data); + Py_CLEAR(clear_module_state->__pyx_kp_s_unable_to_allocate_shape_and_str); + Py_CLEAR(clear_module_state->__pyx_n_s_unpack); + Py_CLEAR(clear_module_state->__pyx_n_s_update); + Py_CLEAR(clear_module_state->__pyx_n_s_uv_offset); + Py_CLEAR(clear_module_state->__pyx_n_s_version_info); + Py_CLEAR(clear_module_state->__pyx_n_s_width); + Py_CLEAR(clear_module_state->__pyx_n_s_x); + Py_CLEAR(clear_module_state->__pyx_int_0); + Py_CLEAR(clear_module_state->__pyx_int_1); + Py_CLEAR(clear_module_state->__pyx_int_3); + Py_CLEAR(clear_module_state->__pyx_int_112105877); + Py_CLEAR(clear_module_state->__pyx_int_136983863); + Py_CLEAR(clear_module_state->__pyx_int_184977713); + Py_CLEAR(clear_module_state->__pyx_int_neg_1); + Py_CLEAR(clear_module_state->__pyx_slice__5); + Py_CLEAR(clear_module_state->__pyx_tuple__4); + Py_CLEAR(clear_module_state->__pyx_tuple__8); + Py_CLEAR(clear_module_state->__pyx_tuple__15); + Py_CLEAR(clear_module_state->__pyx_tuple__16); + Py_CLEAR(clear_module_state->__pyx_tuple__17); + Py_CLEAR(clear_module_state->__pyx_tuple__18); + Py_CLEAR(clear_module_state->__pyx_tuple__19); + Py_CLEAR(clear_module_state->__pyx_tuple__20); + Py_CLEAR(clear_module_state->__pyx_tuple__21); + Py_CLEAR(clear_module_state->__pyx_tuple__22); + Py_CLEAR(clear_module_state->__pyx_tuple__23); + Py_CLEAR(clear_module_state->__pyx_tuple__24); + Py_CLEAR(clear_module_state->__pyx_tuple__25); + Py_CLEAR(clear_module_state->__pyx_tuple__26); + Py_CLEAR(clear_module_state->__pyx_tuple__28); + Py_CLEAR(clear_module_state->__pyx_tuple__30); + Py_CLEAR(clear_module_state->__pyx_tuple__32); + Py_CLEAR(clear_module_state->__pyx_tuple__36); + Py_CLEAR(clear_module_state->__pyx_codeobj__27); + Py_CLEAR(clear_module_state->__pyx_codeobj__29); + Py_CLEAR(clear_module_state->__pyx_codeobj__31); + Py_CLEAR(clear_module_state->__pyx_codeobj__33); + Py_CLEAR(clear_module_state->__pyx_codeobj__34); + Py_CLEAR(clear_module_state->__pyx_codeobj__35); + Py_CLEAR(clear_module_state->__pyx_codeobj__37); + Py_CLEAR(clear_module_state->__pyx_codeobj__38); + Py_CLEAR(clear_module_state->__pyx_codeobj__39); + return 0; +} +#endif +/* #### Code section: module_state_traverse ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_traverse(PyObject *m, visitproc visit, void *arg) { + __pyx_mstate *traverse_module_state = __pyx_mstate(m); + if (!traverse_module_state) return 0; + Py_VISIT(traverse_module_state->__pyx_d); + Py_VISIT(traverse_module_state->__pyx_b); + Py_VISIT(traverse_module_state->__pyx_cython_runtime); + Py_VISIT(traverse_module_state->__pyx_empty_tuple); + Py_VISIT(traverse_module_state->__pyx_empty_bytes); + Py_VISIT(traverse_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_VISIT(traverse_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_VISIT(traverse_module_state->__pyx_FusedFunctionType); + #endif + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext); + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf); + Py_VISIT(traverse_module_state->__pyx_ptype_7cpython_4type_type); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_dtype); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_flatiter); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_broadcast); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_ndarray); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_generic); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_number); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_integer); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_signedinteger); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_unsignedinteger); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_inexact); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_floating); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_complexfloating); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_flexible); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_character); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_ufunc); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext); + Py_VISIT(traverse_module_state->__pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem); + Py_VISIT(traverse_module_state->__pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame); + Py_VISIT(traverse_module_state->__pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame); + Py_VISIT(traverse_module_state->__pyx_array_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_array); + Py_VISIT(traverse_module_state->__pyx_MemviewEnum_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_MemviewEnum); + Py_VISIT(traverse_module_state->__pyx_memoryview_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_memoryview); + Py_VISIT(traverse_module_state->__pyx_memoryviewslice_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_memoryviewslice); + Py_VISIT(traverse_module_state->__pyx_kp_u_); + Py_VISIT(traverse_module_state->__pyx_n_s_ASCII); + Py_VISIT(traverse_module_state->__pyx_kp_s_All_dimensions_preceding_dimensi); + Py_VISIT(traverse_module_state->__pyx_n_s_AssertionError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Buffer_view_does_not_expose_stri); + Py_VISIT(traverse_module_state->__pyx_n_s_CLContext); + Py_VISIT(traverse_module_state->__pyx_n_s_CLContext___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_CLContext___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_CLMem); + Py_VISIT(traverse_module_state->__pyx_n_s_CLMem___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_CLMem___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_kp_s_Can_only_create_a_buffer_that_is); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_assign_to_read_only_memor); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_create_writable_memory_vi); + Py_VISIT(traverse_module_state->__pyx_kp_u_Cannot_index_with_type); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_transpose_memoryview_with); + Py_VISIT(traverse_module_state->__pyx_kp_s_Dimension_d_is_not_direct); + Py_VISIT(traverse_module_state->__pyx_n_s_Ellipsis); + Py_VISIT(traverse_module_state->__pyx_kp_s_Empty_shape_tuple_for_cython_arr); + Py_VISIT(traverse_module_state->__pyx_n_s_ImportError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0); + Py_VISIT(traverse_module_state->__pyx_n_s_IndexError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Index_out_of_bounds_axis_d); + Py_VISIT(traverse_module_state->__pyx_kp_s_Indirect_dimensions_not_supporte); + Py_VISIT(traverse_module_state->__pyx_kp_u_Invalid_mode_expected_c_or_fortr); + Py_VISIT(traverse_module_state->__pyx_kp_u_Invalid_shape_in_axis); + Py_VISIT(traverse_module_state->__pyx_n_s_MemoryError); + Py_VISIT(traverse_module_state->__pyx_kp_s_MemoryView_of_r_at_0x_x); + Py_VISIT(traverse_module_state->__pyx_kp_s_MemoryView_of_r_object); + Py_VISIT(traverse_module_state->__pyx_n_s_ModelFrame); + Py_VISIT(traverse_module_state->__pyx_n_s_ModelFrame___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_ModelFrame___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_ModelFrame_prepare); + Py_VISIT(traverse_module_state->__pyx_n_b_O); + Py_VISIT(traverse_module_state->__pyx_kp_u_Out_of_bounds_on_buffer_access_a); + Py_VISIT(traverse_module_state->__pyx_n_s_PickleError); + Py_VISIT(traverse_module_state->__pyx_n_s_Sequence); + Py_VISIT(traverse_module_state->__pyx_kp_s_Step_may_not_be_zero_axis_d); + Py_VISIT(traverse_module_state->__pyx_kp_b_T); + Py_VISIT(traverse_module_state->__pyx_n_s_TypeError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Unable_to_convert_item_to_object); + Py_VISIT(traverse_module_state->__pyx_n_s_ValueError); + Py_VISIT(traverse_module_state->__pyx_n_s_View_MemoryView); + Py_VISIT(traverse_module_state->__pyx_kp_b__10); + Py_VISIT(traverse_module_state->__pyx_kp_b__11); + Py_VISIT(traverse_module_state->__pyx_kp_b__12); + Py_VISIT(traverse_module_state->__pyx_kp_u__13); + Py_VISIT(traverse_module_state->__pyx_kp_u__14); + Py_VISIT(traverse_module_state->__pyx_kp_u__2); + Py_VISIT(traverse_module_state->__pyx_n_s__3); + Py_VISIT(traverse_module_state->__pyx_n_s__40); + Py_VISIT(traverse_module_state->__pyx_kp_u__6); + Py_VISIT(traverse_module_state->__pyx_kp_u__7); + Py_VISIT(traverse_module_state->__pyx_kp_b__9); + Py_VISIT(traverse_module_state->__pyx_n_s_abc); + Py_VISIT(traverse_module_state->__pyx_n_s_allocate_buffer); + Py_VISIT(traverse_module_state->__pyx_kp_u_and); + Py_VISIT(traverse_module_state->__pyx_n_s_asarray); + Py_VISIT(traverse_module_state->__pyx_n_s_asyncio_coroutines); + Py_VISIT(traverse_module_state->__pyx_n_s_base); + Py_VISIT(traverse_module_state->__pyx_n_s_buf); + Py_VISIT(traverse_module_state->__pyx_n_s_c); + Py_VISIT(traverse_module_state->__pyx_n_u_c); + Py_VISIT(traverse_module_state->__pyx_n_s_class); + Py_VISIT(traverse_module_state->__pyx_n_s_class_getitem); + Py_VISIT(traverse_module_state->__pyx_n_s_cline_in_traceback); + Py_VISIT(traverse_module_state->__pyx_n_s_collections); + Py_VISIT(traverse_module_state->__pyx_kp_s_collections_abc); + Py_VISIT(traverse_module_state->__pyx_n_s_context); + Py_VISIT(traverse_module_state->__pyx_kp_s_contiguous_and_direct); + Py_VISIT(traverse_module_state->__pyx_kp_s_contiguous_and_indirect); + Py_VISIT(traverse_module_state->__pyx_n_s_count); + Py_VISIT(traverse_module_state->__pyx_n_s_cprojection); + Py_VISIT(traverse_module_state->__pyx_n_s_data); + Py_VISIT(traverse_module_state->__pyx_n_s_dict); + Py_VISIT(traverse_module_state->__pyx_kp_u_disable); + Py_VISIT(traverse_module_state->__pyx_n_s_dtype_is_object); + Py_VISIT(traverse_module_state->__pyx_kp_u_enable); + Py_VISIT(traverse_module_state->__pyx_n_s_encode); + Py_VISIT(traverse_module_state->__pyx_n_s_enumerate); + Py_VISIT(traverse_module_state->__pyx_n_s_error); + Py_VISIT(traverse_module_state->__pyx_n_s_flags); + Py_VISIT(traverse_module_state->__pyx_n_s_format); + Py_VISIT(traverse_module_state->__pyx_n_s_fortran); + Py_VISIT(traverse_module_state->__pyx_n_u_fortran); + Py_VISIT(traverse_module_state->__pyx_kp_u_gc); + Py_VISIT(traverse_module_state->__pyx_n_s_getstate); + Py_VISIT(traverse_module_state->__pyx_kp_u_got); + Py_VISIT(traverse_module_state->__pyx_kp_u_got_differing_extents_in_dimensi); + Py_VISIT(traverse_module_state->__pyx_n_s_height); + Py_VISIT(traverse_module_state->__pyx_n_s_id); + Py_VISIT(traverse_module_state->__pyx_n_s_import); + Py_VISIT(traverse_module_state->__pyx_n_s_index); + Py_VISIT(traverse_module_state->__pyx_n_s_initializing); + Py_VISIT(traverse_module_state->__pyx_n_s_is_coroutine); + Py_VISIT(traverse_module_state->__pyx_kp_u_isenabled); + Py_VISIT(traverse_module_state->__pyx_n_s_itemsize); + Py_VISIT(traverse_module_state->__pyx_kp_s_itemsize_0_for_cython_array); + Py_VISIT(traverse_module_state->__pyx_n_s_join); + Py_VISIT(traverse_module_state->__pyx_n_s_main); + Py_VISIT(traverse_module_state->__pyx_n_s_memview); + Py_VISIT(traverse_module_state->__pyx_n_s_mode); + Py_VISIT(traverse_module_state->__pyx_n_s_name); + Py_VISIT(traverse_module_state->__pyx_n_s_name_2); + Py_VISIT(traverse_module_state->__pyx_n_s_ndim); + Py_VISIT(traverse_module_state->__pyx_n_s_new); + Py_VISIT(traverse_module_state->__pyx_kp_s_no_default___reduce___due_to_non); + Py_VISIT(traverse_module_state->__pyx_n_s_np); + Py_VISIT(traverse_module_state->__pyx_n_s_numpy); + Py_VISIT(traverse_module_state->__pyx_kp_u_numpy_core_multiarray_failed_to); + Py_VISIT(traverse_module_state->__pyx_kp_u_numpy_core_umath_failed_to_impor); + Py_VISIT(traverse_module_state->__pyx_n_s_obj); + Py_VISIT(traverse_module_state->__pyx_n_s_output); + Py_VISIT(traverse_module_state->__pyx_n_s_pack); + Py_VISIT(traverse_module_state->__pyx_n_s_pickle); + Py_VISIT(traverse_module_state->__pyx_n_s_prepare); + Py_VISIT(traverse_module_state->__pyx_n_s_projection); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_PickleError); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_checksum); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_result); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_state); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_type); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_unpickle_Enum); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_vtable); + Py_VISIT(traverse_module_state->__pyx_n_s_range); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_ex); + Py_VISIT(traverse_module_state->__pyx_n_s_register); + Py_VISIT(traverse_module_state->__pyx_n_s_self); + Py_VISIT(traverse_module_state->__pyx_kp_s_self_mem_cannot_be_converted_to); + Py_VISIT(traverse_module_state->__pyx_kp_s_selfdrive_modeld_models_commonmo); + Py_VISIT(traverse_module_state->__pyx_n_s_selfdrive_modeld_models_commonmo_2); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_shape); + Py_VISIT(traverse_module_state->__pyx_n_s_sigmoid); + Py_VISIT(traverse_module_state->__pyx_n_s_size); + Py_VISIT(traverse_module_state->__pyx_n_s_spec); + Py_VISIT(traverse_module_state->__pyx_n_s_start); + Py_VISIT(traverse_module_state->__pyx_n_s_step); + Py_VISIT(traverse_module_state->__pyx_n_s_stop); + Py_VISIT(traverse_module_state->__pyx_n_s_stride); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_direct); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_direct_or_indirect); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_indirect); + Py_VISIT(traverse_module_state->__pyx_kp_s_stringsource); + Py_VISIT(traverse_module_state->__pyx_n_s_struct); + Py_VISIT(traverse_module_state->__pyx_n_s_sys); + Py_VISIT(traverse_module_state->__pyx_n_s_test); + Py_VISIT(traverse_module_state->__pyx_kp_s_unable_to_allocate_array_data); + Py_VISIT(traverse_module_state->__pyx_kp_s_unable_to_allocate_shape_and_str); + Py_VISIT(traverse_module_state->__pyx_n_s_unpack); + Py_VISIT(traverse_module_state->__pyx_n_s_update); + Py_VISIT(traverse_module_state->__pyx_n_s_uv_offset); + Py_VISIT(traverse_module_state->__pyx_n_s_version_info); + Py_VISIT(traverse_module_state->__pyx_n_s_width); + Py_VISIT(traverse_module_state->__pyx_n_s_x); + Py_VISIT(traverse_module_state->__pyx_int_0); + Py_VISIT(traverse_module_state->__pyx_int_1); + Py_VISIT(traverse_module_state->__pyx_int_3); + Py_VISIT(traverse_module_state->__pyx_int_112105877); + Py_VISIT(traverse_module_state->__pyx_int_136983863); + Py_VISIT(traverse_module_state->__pyx_int_184977713); + Py_VISIT(traverse_module_state->__pyx_int_neg_1); + Py_VISIT(traverse_module_state->__pyx_slice__5); + Py_VISIT(traverse_module_state->__pyx_tuple__4); + Py_VISIT(traverse_module_state->__pyx_tuple__8); + Py_VISIT(traverse_module_state->__pyx_tuple__15); + Py_VISIT(traverse_module_state->__pyx_tuple__16); + Py_VISIT(traverse_module_state->__pyx_tuple__17); + Py_VISIT(traverse_module_state->__pyx_tuple__18); + Py_VISIT(traverse_module_state->__pyx_tuple__19); + Py_VISIT(traverse_module_state->__pyx_tuple__20); + Py_VISIT(traverse_module_state->__pyx_tuple__21); + Py_VISIT(traverse_module_state->__pyx_tuple__22); + Py_VISIT(traverse_module_state->__pyx_tuple__23); + Py_VISIT(traverse_module_state->__pyx_tuple__24); + Py_VISIT(traverse_module_state->__pyx_tuple__25); + Py_VISIT(traverse_module_state->__pyx_tuple__26); + Py_VISIT(traverse_module_state->__pyx_tuple__28); + Py_VISIT(traverse_module_state->__pyx_tuple__30); + Py_VISIT(traverse_module_state->__pyx_tuple__32); + Py_VISIT(traverse_module_state->__pyx_tuple__36); + Py_VISIT(traverse_module_state->__pyx_codeobj__27); + Py_VISIT(traverse_module_state->__pyx_codeobj__29); + Py_VISIT(traverse_module_state->__pyx_codeobj__31); + Py_VISIT(traverse_module_state->__pyx_codeobj__33); + Py_VISIT(traverse_module_state->__pyx_codeobj__34); + Py_VISIT(traverse_module_state->__pyx_codeobj__35); + Py_VISIT(traverse_module_state->__pyx_codeobj__37); + Py_VISIT(traverse_module_state->__pyx_codeobj__38); + Py_VISIT(traverse_module_state->__pyx_codeobj__39); + return 0; +} +#endif +/* #### Code section: module_state_defines ### */ +#define __pyx_d __pyx_mstate_global->__pyx_d +#define __pyx_b __pyx_mstate_global->__pyx_b +#define __pyx_cython_runtime __pyx_mstate_global->__pyx_cython_runtime +#define __pyx_empty_tuple __pyx_mstate_global->__pyx_empty_tuple +#define __pyx_empty_bytes __pyx_mstate_global->__pyx_empty_bytes +#define __pyx_empty_unicode __pyx_mstate_global->__pyx_empty_unicode +#ifdef __Pyx_CyFunction_USED +#define __pyx_CyFunctionType __pyx_mstate_global->__pyx_CyFunctionType +#endif +#ifdef __Pyx_FusedFunction_USED +#define __pyx_FusedFunctionType __pyx_mstate_global->__pyx_FusedFunctionType +#endif +#ifdef __Pyx_Generator_USED +#define __pyx_GeneratorType __pyx_mstate_global->__pyx_GeneratorType +#endif +#ifdef __Pyx_IterableCoroutine_USED +#define __pyx_IterableCoroutineType __pyx_mstate_global->__pyx_IterableCoroutineType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineAwaitType __pyx_mstate_global->__pyx_CoroutineAwaitType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineType __pyx_mstate_global->__pyx_CoroutineType +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext __pyx_mstate_global->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext +#define __pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf __pyx_mstate_global->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_7cpython_4type_type __pyx_mstate_global->__pyx_ptype_7cpython_4type_type +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_5numpy_dtype __pyx_mstate_global->__pyx_ptype_5numpy_dtype +#define __pyx_ptype_5numpy_flatiter __pyx_mstate_global->__pyx_ptype_5numpy_flatiter +#define __pyx_ptype_5numpy_broadcast __pyx_mstate_global->__pyx_ptype_5numpy_broadcast +#define __pyx_ptype_5numpy_ndarray __pyx_mstate_global->__pyx_ptype_5numpy_ndarray +#define __pyx_ptype_5numpy_generic __pyx_mstate_global->__pyx_ptype_5numpy_generic +#define __pyx_ptype_5numpy_number __pyx_mstate_global->__pyx_ptype_5numpy_number +#define __pyx_ptype_5numpy_integer __pyx_mstate_global->__pyx_ptype_5numpy_integer +#define __pyx_ptype_5numpy_signedinteger __pyx_mstate_global->__pyx_ptype_5numpy_signedinteger +#define __pyx_ptype_5numpy_unsignedinteger __pyx_mstate_global->__pyx_ptype_5numpy_unsignedinteger +#define __pyx_ptype_5numpy_inexact __pyx_mstate_global->__pyx_ptype_5numpy_inexact +#define __pyx_ptype_5numpy_floating __pyx_mstate_global->__pyx_ptype_5numpy_floating +#define __pyx_ptype_5numpy_complexfloating __pyx_mstate_global->__pyx_ptype_5numpy_complexfloating +#define __pyx_ptype_5numpy_flexible __pyx_mstate_global->__pyx_ptype_5numpy_flexible +#define __pyx_ptype_5numpy_character __pyx_mstate_global->__pyx_ptype_5numpy_character +#define __pyx_ptype_5numpy_ufunc __pyx_mstate_global->__pyx_ptype_5numpy_ufunc +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#define __pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext __pyx_mstate_global->__pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext +#define __pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem __pyx_mstate_global->__pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem +#define __pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame __pyx_mstate_global->__pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame +#define __pyx_type___pyx_array __pyx_mstate_global->__pyx_type___pyx_array +#define __pyx_type___pyx_MemviewEnum __pyx_mstate_global->__pyx_type___pyx_MemviewEnum +#define __pyx_type___pyx_memoryview __pyx_mstate_global->__pyx_type___pyx_memoryview +#define __pyx_type___pyx_memoryviewslice __pyx_mstate_global->__pyx_type___pyx_memoryviewslice +#endif +#define __pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext __pyx_mstate_global->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext +#define __pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem __pyx_mstate_global->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem +#define __pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame __pyx_mstate_global->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame +#define __pyx_array_type __pyx_mstate_global->__pyx_array_type +#define __pyx_MemviewEnum_type __pyx_mstate_global->__pyx_MemviewEnum_type +#define __pyx_memoryview_type __pyx_mstate_global->__pyx_memoryview_type +#define __pyx_memoryviewslice_type __pyx_mstate_global->__pyx_memoryviewslice_type +#define __pyx_kp_u_ __pyx_mstate_global->__pyx_kp_u_ +#define __pyx_n_s_ASCII __pyx_mstate_global->__pyx_n_s_ASCII +#define __pyx_kp_s_All_dimensions_preceding_dimensi __pyx_mstate_global->__pyx_kp_s_All_dimensions_preceding_dimensi +#define __pyx_n_s_AssertionError __pyx_mstate_global->__pyx_n_s_AssertionError +#define __pyx_kp_s_Buffer_view_does_not_expose_stri __pyx_mstate_global->__pyx_kp_s_Buffer_view_does_not_expose_stri +#define __pyx_n_s_CLContext __pyx_mstate_global->__pyx_n_s_CLContext +#define __pyx_n_s_CLContext___reduce_cython __pyx_mstate_global->__pyx_n_s_CLContext___reduce_cython +#define __pyx_n_s_CLContext___setstate_cython __pyx_mstate_global->__pyx_n_s_CLContext___setstate_cython +#define __pyx_n_s_CLMem __pyx_mstate_global->__pyx_n_s_CLMem +#define __pyx_n_s_CLMem___reduce_cython __pyx_mstate_global->__pyx_n_s_CLMem___reduce_cython +#define __pyx_n_s_CLMem___setstate_cython __pyx_mstate_global->__pyx_n_s_CLMem___setstate_cython +#define __pyx_kp_s_Can_only_create_a_buffer_that_is __pyx_mstate_global->__pyx_kp_s_Can_only_create_a_buffer_that_is +#define __pyx_kp_s_Cannot_assign_to_read_only_memor __pyx_mstate_global->__pyx_kp_s_Cannot_assign_to_read_only_memor +#define __pyx_kp_s_Cannot_create_writable_memory_vi __pyx_mstate_global->__pyx_kp_s_Cannot_create_writable_memory_vi +#define __pyx_kp_u_Cannot_index_with_type __pyx_mstate_global->__pyx_kp_u_Cannot_index_with_type +#define __pyx_kp_s_Cannot_transpose_memoryview_with __pyx_mstate_global->__pyx_kp_s_Cannot_transpose_memoryview_with +#define __pyx_kp_s_Dimension_d_is_not_direct __pyx_mstate_global->__pyx_kp_s_Dimension_d_is_not_direct +#define __pyx_n_s_Ellipsis __pyx_mstate_global->__pyx_n_s_Ellipsis +#define __pyx_kp_s_Empty_shape_tuple_for_cython_arr __pyx_mstate_global->__pyx_kp_s_Empty_shape_tuple_for_cython_arr +#define __pyx_n_s_ImportError __pyx_mstate_global->__pyx_n_s_ImportError +#define __pyx_kp_s_Incompatible_checksums_0x_x_vs_0 __pyx_mstate_global->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0 +#define __pyx_n_s_IndexError __pyx_mstate_global->__pyx_n_s_IndexError +#define __pyx_kp_s_Index_out_of_bounds_axis_d __pyx_mstate_global->__pyx_kp_s_Index_out_of_bounds_axis_d +#define __pyx_kp_s_Indirect_dimensions_not_supporte __pyx_mstate_global->__pyx_kp_s_Indirect_dimensions_not_supporte +#define __pyx_kp_u_Invalid_mode_expected_c_or_fortr __pyx_mstate_global->__pyx_kp_u_Invalid_mode_expected_c_or_fortr +#define __pyx_kp_u_Invalid_shape_in_axis __pyx_mstate_global->__pyx_kp_u_Invalid_shape_in_axis +#define __pyx_n_s_MemoryError __pyx_mstate_global->__pyx_n_s_MemoryError +#define __pyx_kp_s_MemoryView_of_r_at_0x_x __pyx_mstate_global->__pyx_kp_s_MemoryView_of_r_at_0x_x +#define __pyx_kp_s_MemoryView_of_r_object __pyx_mstate_global->__pyx_kp_s_MemoryView_of_r_object +#define __pyx_n_s_ModelFrame __pyx_mstate_global->__pyx_n_s_ModelFrame +#define __pyx_n_s_ModelFrame___reduce_cython __pyx_mstate_global->__pyx_n_s_ModelFrame___reduce_cython +#define __pyx_n_s_ModelFrame___setstate_cython __pyx_mstate_global->__pyx_n_s_ModelFrame___setstate_cython +#define __pyx_n_s_ModelFrame_prepare __pyx_mstate_global->__pyx_n_s_ModelFrame_prepare +#define __pyx_n_b_O __pyx_mstate_global->__pyx_n_b_O +#define __pyx_kp_u_Out_of_bounds_on_buffer_access_a __pyx_mstate_global->__pyx_kp_u_Out_of_bounds_on_buffer_access_a +#define __pyx_n_s_PickleError __pyx_mstate_global->__pyx_n_s_PickleError +#define __pyx_n_s_Sequence __pyx_mstate_global->__pyx_n_s_Sequence +#define __pyx_kp_s_Step_may_not_be_zero_axis_d __pyx_mstate_global->__pyx_kp_s_Step_may_not_be_zero_axis_d +#define __pyx_kp_b_T __pyx_mstate_global->__pyx_kp_b_T +#define __pyx_n_s_TypeError __pyx_mstate_global->__pyx_n_s_TypeError +#define __pyx_kp_s_Unable_to_convert_item_to_object __pyx_mstate_global->__pyx_kp_s_Unable_to_convert_item_to_object +#define __pyx_n_s_ValueError __pyx_mstate_global->__pyx_n_s_ValueError +#define __pyx_n_s_View_MemoryView __pyx_mstate_global->__pyx_n_s_View_MemoryView +#define __pyx_kp_b__10 __pyx_mstate_global->__pyx_kp_b__10 +#define __pyx_kp_b__11 __pyx_mstate_global->__pyx_kp_b__11 +#define __pyx_kp_b__12 __pyx_mstate_global->__pyx_kp_b__12 +#define __pyx_kp_u__13 __pyx_mstate_global->__pyx_kp_u__13 +#define __pyx_kp_u__14 __pyx_mstate_global->__pyx_kp_u__14 +#define __pyx_kp_u__2 __pyx_mstate_global->__pyx_kp_u__2 +#define __pyx_n_s__3 __pyx_mstate_global->__pyx_n_s__3 +#define __pyx_n_s__40 __pyx_mstate_global->__pyx_n_s__40 +#define __pyx_kp_u__6 __pyx_mstate_global->__pyx_kp_u__6 +#define __pyx_kp_u__7 __pyx_mstate_global->__pyx_kp_u__7 +#define __pyx_kp_b__9 __pyx_mstate_global->__pyx_kp_b__9 +#define __pyx_n_s_abc __pyx_mstate_global->__pyx_n_s_abc +#define __pyx_n_s_allocate_buffer __pyx_mstate_global->__pyx_n_s_allocate_buffer +#define __pyx_kp_u_and __pyx_mstate_global->__pyx_kp_u_and +#define __pyx_n_s_asarray __pyx_mstate_global->__pyx_n_s_asarray +#define __pyx_n_s_asyncio_coroutines __pyx_mstate_global->__pyx_n_s_asyncio_coroutines +#define __pyx_n_s_base __pyx_mstate_global->__pyx_n_s_base +#define __pyx_n_s_buf __pyx_mstate_global->__pyx_n_s_buf +#define __pyx_n_s_c __pyx_mstate_global->__pyx_n_s_c +#define __pyx_n_u_c __pyx_mstate_global->__pyx_n_u_c +#define __pyx_n_s_class __pyx_mstate_global->__pyx_n_s_class +#define __pyx_n_s_class_getitem __pyx_mstate_global->__pyx_n_s_class_getitem +#define __pyx_n_s_cline_in_traceback __pyx_mstate_global->__pyx_n_s_cline_in_traceback +#define __pyx_n_s_collections __pyx_mstate_global->__pyx_n_s_collections +#define __pyx_kp_s_collections_abc __pyx_mstate_global->__pyx_kp_s_collections_abc +#define __pyx_n_s_context __pyx_mstate_global->__pyx_n_s_context +#define __pyx_kp_s_contiguous_and_direct __pyx_mstate_global->__pyx_kp_s_contiguous_and_direct +#define __pyx_kp_s_contiguous_and_indirect __pyx_mstate_global->__pyx_kp_s_contiguous_and_indirect +#define __pyx_n_s_count __pyx_mstate_global->__pyx_n_s_count +#define __pyx_n_s_cprojection __pyx_mstate_global->__pyx_n_s_cprojection +#define __pyx_n_s_data __pyx_mstate_global->__pyx_n_s_data +#define __pyx_n_s_dict __pyx_mstate_global->__pyx_n_s_dict +#define __pyx_kp_u_disable __pyx_mstate_global->__pyx_kp_u_disable +#define __pyx_n_s_dtype_is_object __pyx_mstate_global->__pyx_n_s_dtype_is_object +#define __pyx_kp_u_enable __pyx_mstate_global->__pyx_kp_u_enable +#define __pyx_n_s_encode __pyx_mstate_global->__pyx_n_s_encode +#define __pyx_n_s_enumerate __pyx_mstate_global->__pyx_n_s_enumerate +#define __pyx_n_s_error __pyx_mstate_global->__pyx_n_s_error +#define __pyx_n_s_flags __pyx_mstate_global->__pyx_n_s_flags +#define __pyx_n_s_format __pyx_mstate_global->__pyx_n_s_format +#define __pyx_n_s_fortran __pyx_mstate_global->__pyx_n_s_fortran +#define __pyx_n_u_fortran __pyx_mstate_global->__pyx_n_u_fortran +#define __pyx_kp_u_gc __pyx_mstate_global->__pyx_kp_u_gc +#define __pyx_n_s_getstate __pyx_mstate_global->__pyx_n_s_getstate +#define __pyx_kp_u_got __pyx_mstate_global->__pyx_kp_u_got +#define __pyx_kp_u_got_differing_extents_in_dimensi __pyx_mstate_global->__pyx_kp_u_got_differing_extents_in_dimensi +#define __pyx_n_s_height __pyx_mstate_global->__pyx_n_s_height +#define __pyx_n_s_id __pyx_mstate_global->__pyx_n_s_id +#define __pyx_n_s_import __pyx_mstate_global->__pyx_n_s_import +#define __pyx_n_s_index __pyx_mstate_global->__pyx_n_s_index +#define __pyx_n_s_initializing __pyx_mstate_global->__pyx_n_s_initializing +#define __pyx_n_s_is_coroutine __pyx_mstate_global->__pyx_n_s_is_coroutine +#define __pyx_kp_u_isenabled __pyx_mstate_global->__pyx_kp_u_isenabled +#define __pyx_n_s_itemsize __pyx_mstate_global->__pyx_n_s_itemsize +#define __pyx_kp_s_itemsize_0_for_cython_array __pyx_mstate_global->__pyx_kp_s_itemsize_0_for_cython_array +#define __pyx_n_s_join __pyx_mstate_global->__pyx_n_s_join +#define __pyx_n_s_main __pyx_mstate_global->__pyx_n_s_main +#define __pyx_n_s_memview __pyx_mstate_global->__pyx_n_s_memview +#define __pyx_n_s_mode __pyx_mstate_global->__pyx_n_s_mode +#define __pyx_n_s_name __pyx_mstate_global->__pyx_n_s_name +#define __pyx_n_s_name_2 __pyx_mstate_global->__pyx_n_s_name_2 +#define __pyx_n_s_ndim __pyx_mstate_global->__pyx_n_s_ndim +#define __pyx_n_s_new __pyx_mstate_global->__pyx_n_s_new +#define __pyx_kp_s_no_default___reduce___due_to_non __pyx_mstate_global->__pyx_kp_s_no_default___reduce___due_to_non +#define __pyx_n_s_np __pyx_mstate_global->__pyx_n_s_np +#define __pyx_n_s_numpy __pyx_mstate_global->__pyx_n_s_numpy +#define __pyx_kp_u_numpy_core_multiarray_failed_to __pyx_mstate_global->__pyx_kp_u_numpy_core_multiarray_failed_to +#define __pyx_kp_u_numpy_core_umath_failed_to_impor __pyx_mstate_global->__pyx_kp_u_numpy_core_umath_failed_to_impor +#define __pyx_n_s_obj __pyx_mstate_global->__pyx_n_s_obj +#define __pyx_n_s_output __pyx_mstate_global->__pyx_n_s_output +#define __pyx_n_s_pack __pyx_mstate_global->__pyx_n_s_pack +#define __pyx_n_s_pickle __pyx_mstate_global->__pyx_n_s_pickle +#define __pyx_n_s_prepare __pyx_mstate_global->__pyx_n_s_prepare +#define __pyx_n_s_projection __pyx_mstate_global->__pyx_n_s_projection +#define __pyx_n_s_pyx_PickleError __pyx_mstate_global->__pyx_n_s_pyx_PickleError +#define __pyx_n_s_pyx_checksum __pyx_mstate_global->__pyx_n_s_pyx_checksum +#define __pyx_n_s_pyx_result __pyx_mstate_global->__pyx_n_s_pyx_result +#define __pyx_n_s_pyx_state __pyx_mstate_global->__pyx_n_s_pyx_state +#define __pyx_n_s_pyx_type __pyx_mstate_global->__pyx_n_s_pyx_type +#define __pyx_n_s_pyx_unpickle_Enum __pyx_mstate_global->__pyx_n_s_pyx_unpickle_Enum +#define __pyx_n_s_pyx_vtable __pyx_mstate_global->__pyx_n_s_pyx_vtable +#define __pyx_n_s_range __pyx_mstate_global->__pyx_n_s_range +#define __pyx_n_s_reduce __pyx_mstate_global->__pyx_n_s_reduce +#define __pyx_n_s_reduce_cython __pyx_mstate_global->__pyx_n_s_reduce_cython +#define __pyx_n_s_reduce_ex __pyx_mstate_global->__pyx_n_s_reduce_ex +#define __pyx_n_s_register __pyx_mstate_global->__pyx_n_s_register +#define __pyx_n_s_self __pyx_mstate_global->__pyx_n_s_self +#define __pyx_kp_s_self_mem_cannot_be_converted_to __pyx_mstate_global->__pyx_kp_s_self_mem_cannot_be_converted_to +#define __pyx_kp_s_selfdrive_modeld_models_commonmo __pyx_mstate_global->__pyx_kp_s_selfdrive_modeld_models_commonmo +#define __pyx_n_s_selfdrive_modeld_models_commonmo_2 __pyx_mstate_global->__pyx_n_s_selfdrive_modeld_models_commonmo_2 +#define __pyx_n_s_setstate __pyx_mstate_global->__pyx_n_s_setstate +#define __pyx_n_s_setstate_cython __pyx_mstate_global->__pyx_n_s_setstate_cython +#define __pyx_n_s_shape __pyx_mstate_global->__pyx_n_s_shape +#define __pyx_n_s_sigmoid __pyx_mstate_global->__pyx_n_s_sigmoid +#define __pyx_n_s_size __pyx_mstate_global->__pyx_n_s_size +#define __pyx_n_s_spec __pyx_mstate_global->__pyx_n_s_spec +#define __pyx_n_s_start __pyx_mstate_global->__pyx_n_s_start +#define __pyx_n_s_step __pyx_mstate_global->__pyx_n_s_step +#define __pyx_n_s_stop __pyx_mstate_global->__pyx_n_s_stop +#define __pyx_n_s_stride __pyx_mstate_global->__pyx_n_s_stride +#define __pyx_kp_s_strided_and_direct __pyx_mstate_global->__pyx_kp_s_strided_and_direct +#define __pyx_kp_s_strided_and_direct_or_indirect __pyx_mstate_global->__pyx_kp_s_strided_and_direct_or_indirect +#define __pyx_kp_s_strided_and_indirect __pyx_mstate_global->__pyx_kp_s_strided_and_indirect +#define __pyx_kp_s_stringsource __pyx_mstate_global->__pyx_kp_s_stringsource +#define __pyx_n_s_struct __pyx_mstate_global->__pyx_n_s_struct +#define __pyx_n_s_sys __pyx_mstate_global->__pyx_n_s_sys +#define __pyx_n_s_test __pyx_mstate_global->__pyx_n_s_test +#define __pyx_kp_s_unable_to_allocate_array_data __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_array_data +#define __pyx_kp_s_unable_to_allocate_shape_and_str __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_shape_and_str +#define __pyx_n_s_unpack __pyx_mstate_global->__pyx_n_s_unpack +#define __pyx_n_s_update __pyx_mstate_global->__pyx_n_s_update +#define __pyx_n_s_uv_offset __pyx_mstate_global->__pyx_n_s_uv_offset +#define __pyx_n_s_version_info __pyx_mstate_global->__pyx_n_s_version_info +#define __pyx_n_s_width __pyx_mstate_global->__pyx_n_s_width +#define __pyx_n_s_x __pyx_mstate_global->__pyx_n_s_x +#define __pyx_int_0 __pyx_mstate_global->__pyx_int_0 +#define __pyx_int_1 __pyx_mstate_global->__pyx_int_1 +#define __pyx_int_3 __pyx_mstate_global->__pyx_int_3 +#define __pyx_int_112105877 __pyx_mstate_global->__pyx_int_112105877 +#define __pyx_int_136983863 __pyx_mstate_global->__pyx_int_136983863 +#define __pyx_int_184977713 __pyx_mstate_global->__pyx_int_184977713 +#define __pyx_int_neg_1 __pyx_mstate_global->__pyx_int_neg_1 +#define __pyx_slice__5 __pyx_mstate_global->__pyx_slice__5 +#define __pyx_tuple__4 __pyx_mstate_global->__pyx_tuple__4 +#define __pyx_tuple__8 __pyx_mstate_global->__pyx_tuple__8 +#define __pyx_tuple__15 __pyx_mstate_global->__pyx_tuple__15 +#define __pyx_tuple__16 __pyx_mstate_global->__pyx_tuple__16 +#define __pyx_tuple__17 __pyx_mstate_global->__pyx_tuple__17 +#define __pyx_tuple__18 __pyx_mstate_global->__pyx_tuple__18 +#define __pyx_tuple__19 __pyx_mstate_global->__pyx_tuple__19 +#define __pyx_tuple__20 __pyx_mstate_global->__pyx_tuple__20 +#define __pyx_tuple__21 __pyx_mstate_global->__pyx_tuple__21 +#define __pyx_tuple__22 __pyx_mstate_global->__pyx_tuple__22 +#define __pyx_tuple__23 __pyx_mstate_global->__pyx_tuple__23 +#define __pyx_tuple__24 __pyx_mstate_global->__pyx_tuple__24 +#define __pyx_tuple__25 __pyx_mstate_global->__pyx_tuple__25 +#define __pyx_tuple__26 __pyx_mstate_global->__pyx_tuple__26 +#define __pyx_tuple__28 __pyx_mstate_global->__pyx_tuple__28 +#define __pyx_tuple__30 __pyx_mstate_global->__pyx_tuple__30 +#define __pyx_tuple__32 __pyx_mstate_global->__pyx_tuple__32 +#define __pyx_tuple__36 __pyx_mstate_global->__pyx_tuple__36 +#define __pyx_codeobj__27 __pyx_mstate_global->__pyx_codeobj__27 +#define __pyx_codeobj__29 __pyx_mstate_global->__pyx_codeobj__29 +#define __pyx_codeobj__31 __pyx_mstate_global->__pyx_codeobj__31 +#define __pyx_codeobj__33 __pyx_mstate_global->__pyx_codeobj__33 +#define __pyx_codeobj__34 __pyx_mstate_global->__pyx_codeobj__34 +#define __pyx_codeobj__35 __pyx_mstate_global->__pyx_codeobj__35 +#define __pyx_codeobj__37 __pyx_mstate_global->__pyx_codeobj__37 +#define __pyx_codeobj__38 __pyx_mstate_global->__pyx_codeobj__38 +#define __pyx_codeobj__39 __pyx_mstate_global->__pyx_codeobj__39 +/* #### Code section: module_code ### */ + +/* "View.MemoryView":131 + * cdef bint dtype_is_object + * + * def __cinit__(array self, tuple shape, Py_ssize_t itemsize, format not None, # <<<<<<<<<<<<<< + * mode="c", bint allocate_buffer=True): + * + */ + +/* Python wrapper */ +static int __pyx_array___cinit__(PyObject *__pyx_v_self, PyObject *__pyx_args, PyObject *__pyx_kwds); /*proto*/ +static int __pyx_array___cinit__(PyObject *__pyx_v_self, PyObject *__pyx_args, PyObject *__pyx_kwds) { + PyObject *__pyx_v_shape = 0; + Py_ssize_t __pyx_v_itemsize; + PyObject *__pyx_v_format = 0; + PyObject *__pyx_v_mode = 0; + int __pyx_v_allocate_buffer; + CYTHON_UNUSED Py_ssize_t __pyx_nargs; + CYTHON_UNUSED PyObject *const *__pyx_kwvalues; + PyObject* values[5] = {0,0,0,0,0}; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + int __pyx_r; + __Pyx_RefNannyDeclarations + __Pyx_RefNannySetupContext("__cinit__ (wrapper)", 0); + #if CYTHON_ASSUME_SAFE_MACROS + __pyx_nargs = PyTuple_GET_SIZE(__pyx_args); + #else + __pyx_nargs = PyTuple_Size(__pyx_args); if (unlikely(__pyx_nargs < 0)) return -1; + #endif + __pyx_kwvalues = __Pyx_KwValues_VARARGS(__pyx_args, __pyx_nargs); + { + PyObject **__pyx_pyargnames[] = {&__pyx_n_s_shape,&__pyx_n_s_itemsize,&__pyx_n_s_format,&__pyx_n_s_mode,&__pyx_n_s_allocate_buffer,0}; + values[3] = __Pyx_Arg_NewRef_VARARGS(((PyObject *)__pyx_n_s_c)); + if (__pyx_kwds) { + Py_ssize_t kw_args; + switch (__pyx_nargs) { + case 5: values[4] = __Pyx_Arg_VARARGS(__pyx_args, 4); + CYTHON_FALLTHROUGH; + case 4: values[3] = __Pyx_Arg_VARARGS(__pyx_args, 3); + CYTHON_FALLTHROUGH; + case 3: values[2] = __Pyx_Arg_VARARGS(__pyx_args, 2); + CYTHON_FALLTHROUGH; + case 2: values[1] = __Pyx_Arg_VARARGS(__pyx_args, 1); + CYTHON_FALLTHROUGH; + case 1: values[0] = __Pyx_Arg_VARARGS(__pyx_args, 0); + CYTHON_FALLTHROUGH; + case 0: break; + default: goto __pyx_L5_argtuple_error; + } + kw_args = __Pyx_NumKwargs_VARARGS(__pyx_kwds); + switch (__pyx_nargs) { + case 0: + if (likely((values[0] = __Pyx_GetKwValue_VARARGS(__pyx_kwds, __pyx_kwvalues, __pyx_n_s_shape)) != 0)) { + (void)__Pyx_Arg_NewRef_VARARGS(values[0]); + kw_args--; + } + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 131, __pyx_L3_error) + else goto __pyx_L5_argtuple_error; + CYTHON_FALLTHROUGH; + case 1: + if (likely((values[1] = __Pyx_GetKwValue_VARARGS(__pyx_kwds, __pyx_kwvalues, __pyx_n_s_itemsize)) != 0)) { + 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memview.dtype_is_object) + * else: + * return memoryview_fromslice(dst, new_ndim, NULL, NULL, # <<<<<<<<<<<<<< + * memview.dtype_is_object) + * + */ + if (!(likely(((__pyx_t_2) == Py_None) || likely(__Pyx_TypeTest(__pyx_t_2, __pyx_memoryview_type))))) __PYX_ERR(0, 784, __pyx_L1_error) + __pyx_r = ((struct __pyx_memoryview_obj *)__pyx_t_2); + __pyx_t_2 = 0; + goto __pyx_L0; + } + + /* "View.MemoryView":711 + * + * @cname('__pyx_memview_slice') + * cdef memoryview memview_slice(memoryview memview, object indices): # <<<<<<<<<<<<<< + * cdef int new_ndim = 0, suboffset_dim = -1, dim + * cdef bint negative_step + */ + + /* function exit code */ + __pyx_L1_error:; + __Pyx_XDECREF(__pyx_t_2); + __Pyx_XDECREF(__pyx_t_8); + __Pyx_AddTraceback("View.MemoryView.memview_slice", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = 0; + __pyx_L0:; + __Pyx_XDECREF((PyObject *)__pyx_v_memviewsliceobj); + __Pyx_XDECREF(__pyx_v_index); + __Pyx_XGIVEREF((PyObject *)__pyx_r); + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +/* "View.MemoryView":793 + * + * @cname('__pyx_memoryview_slice_memviewslice') + * cdef int slice_memviewslice( # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * Py_ssize_t shape, Py_ssize_t stride, Py_ssize_t suboffset, + */ + +static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *__pyx_v_dst, Py_ssize_t __pyx_v_shape, Py_ssize_t __pyx_v_stride, Py_ssize_t __pyx_v_suboffset, int __pyx_v_dim, int __pyx_v_new_ndim, int *__pyx_v_suboffset_dim, Py_ssize_t __pyx_v_start, Py_ssize_t __pyx_v_stop, Py_ssize_t __pyx_v_step, int __pyx_v_have_start, int __pyx_v_have_stop, int __pyx_v_have_step, int __pyx_v_is_slice) { + Py_ssize_t __pyx_v_new_shape; + int __pyx_v_negative_step; + int __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save; + #endif + + /* "View.MemoryView":813 + * cdef bint negative_step + * + * if not is_slice: # <<<<<<<<<<<<<< + * + * if start < 0: + */ + __pyx_t_1 = (!__pyx_v_is_slice); + if (__pyx_t_1) { + + /* "View.MemoryView":815 + * if not is_slice: + * + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if not 0 <= start < shape: + */ + __pyx_t_1 = (__pyx_v_start < 0); + if (__pyx_t_1) { + + /* "View.MemoryView":816 + * + * if start < 0: + * start += shape # <<<<<<<<<<<<<< + * if not 0 <= start < shape: + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) + */ + __pyx_v_start = (__pyx_v_start + __pyx_v_shape); + + /* "View.MemoryView":815 + * if not is_slice: + * + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if not 0 <= start < shape: + */ + } + + /* "View.MemoryView":817 + * if start < 0: + * start += shape + * if not 0 <= start < shape: # <<<<<<<<<<<<<< + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) + * else: + */ + __pyx_t_1 = (0 <= __pyx_v_start); + if (__pyx_t_1) { + __pyx_t_1 = (__pyx_v_start < __pyx_v_shape); + } + __pyx_t_2 = (!__pyx_t_1); + if (__pyx_t_2) { + + /* "View.MemoryView":818 + * start += shape + * if not 0 <= start < shape: + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) # <<<<<<<<<<<<<< + * else: + * + */ + __pyx_t_3 = __pyx_memoryview_err_dim(PyExc_IndexError, __pyx_kp_s_Index_out_of_bounds_axis_d, __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(0, 818, __pyx_L1_error) + + /* "View.MemoryView":817 + * if start < 0: + * start += shape + * if not 0 <= start < shape: # <<<<<<<<<<<<<< + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) + * else: + */ + } + + /* "View.MemoryView":813 + * cdef bint negative_step + * + * if not is_slice: # <<<<<<<<<<<<<< + * + * if start < 0: + */ + goto __pyx_L3; + } + + /* "View.MemoryView":821 + * else: + * + * if have_step: # <<<<<<<<<<<<<< + * negative_step = step < 0 + * if step == 0: + */ + /*else*/ { + __pyx_t_2 = (__pyx_v_have_step != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":822 + * + * if have_step: + * negative_step = step < 0 # <<<<<<<<<<<<<< + * if step == 0: + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + */ + __pyx_v_negative_step = (__pyx_v_step < 0); + + /* "View.MemoryView":823 + * if have_step: + * negative_step = step < 0 + * if step == 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + */ + __pyx_t_2 = (__pyx_v_step == 0); + if (__pyx_t_2) { + + /* "View.MemoryView":824 + * negative_step = step < 0 + * if step == 0: + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) # <<<<<<<<<<<<<< + * else: + * negative_step = False + */ + __pyx_t_3 = __pyx_memoryview_err_dim(PyExc_ValueError, __pyx_kp_s_Step_may_not_be_zero_axis_d, __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(0, 824, __pyx_L1_error) + + /* "View.MemoryView":823 + * if have_step: + * negative_step = step < 0 + * if step == 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + */ + } + + /* "View.MemoryView":821 + * else: + * + * if have_step: # <<<<<<<<<<<<<< + * negative_step = step < 0 + * if step == 0: + */ + goto __pyx_L6; + } + + /* "View.MemoryView":826 + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + * negative_step = False # <<<<<<<<<<<<<< + * step = 1 + * + */ + /*else*/ { + __pyx_v_negative_step = 0; + + /* "View.MemoryView":827 + * else: + * negative_step = False + * step = 1 # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_step = 1; + } + __pyx_L6:; + + /* "View.MemoryView":830 + * + * + * if have_start: # <<<<<<<<<<<<<< + * if start < 0: + * start += shape + */ + __pyx_t_2 = (__pyx_v_have_start != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":831 + * + * if have_start: + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if start < 0: + */ + __pyx_t_2 = (__pyx_v_start < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":832 + * if have_start: + * if start < 0: + * start += shape # <<<<<<<<<<<<<< + * if start < 0: + * start = 0 + */ + __pyx_v_start = (__pyx_v_start + __pyx_v_shape); + + /* "View.MemoryView":833 + * if start < 0: + * start += shape + * if start < 0: # <<<<<<<<<<<<<< + * start = 0 + * elif start >= shape: + */ + __pyx_t_2 = (__pyx_v_start < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":834 + * start += shape + * if start < 0: + * start = 0 # <<<<<<<<<<<<<< + * elif start >= shape: + * if negative_step: + */ + __pyx_v_start = 0; + + /* "View.MemoryView":833 + * if start < 0: + * start += shape + * if start < 0: # <<<<<<<<<<<<<< + * start = 0 + * elif start >= shape: + */ + } + + /* "View.MemoryView":831 + * + * if have_start: + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if start < 0: + */ + goto __pyx_L9; + } + + /* "View.MemoryView":835 + * if start < 0: + * start = 0 + * elif start >= shape: # <<<<<<<<<<<<<< + * if negative_step: + * start = shape - 1 + */ + __pyx_t_2 = (__pyx_v_start >= __pyx_v_shape); + if (__pyx_t_2) { + + /* "View.MemoryView":836 + * start = 0 + * elif start >= shape: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + if (__pyx_v_negative_step) { + + /* "View.MemoryView":837 + * elif start >= shape: + * if negative_step: + * start = shape - 1 # <<<<<<<<<<<<<< + * else: + * start = shape + */ + __pyx_v_start = (__pyx_v_shape - 1); + + /* "View.MemoryView":836 + * start = 0 + * elif start >= shape: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + goto __pyx_L11; + } + + /* "View.MemoryView":839 + * start = shape - 1 + * else: + * start = shape # <<<<<<<<<<<<<< + * else: + * if negative_step: + */ + /*else*/ { + __pyx_v_start = __pyx_v_shape; + } + __pyx_L11:; + + /* "View.MemoryView":835 + * if start < 0: + * start = 0 + * elif start >= shape: # <<<<<<<<<<<<<< + * if negative_step: + * start = shape - 1 + */ + } + __pyx_L9:; + + /* "View.MemoryView":830 + * + * + * if have_start: # <<<<<<<<<<<<<< + * if start < 0: + * start += shape + */ + goto __pyx_L8; + } + + /* "View.MemoryView":841 + * start = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + /*else*/ { + if (__pyx_v_negative_step) { + + /* "View.MemoryView":842 + * else: + * if negative_step: + * start = shape - 1 # <<<<<<<<<<<<<< + * else: + * start = 0 + */ + __pyx_v_start = (__pyx_v_shape - 1); + + /* "View.MemoryView":841 + * start = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + goto __pyx_L12; + } + + /* "View.MemoryView":844 + * start = shape - 1 + * else: + * start = 0 # <<<<<<<<<<<<<< + * + * if have_stop: + */ + /*else*/ { + __pyx_v_start = 0; + } + __pyx_L12:; + } + __pyx_L8:; + + /* "View.MemoryView":846 + * start = 0 + * + * if have_stop: # <<<<<<<<<<<<<< + * if stop < 0: + * stop += shape + */ + __pyx_t_2 = (__pyx_v_have_stop != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":847 + * + * if have_stop: + * if stop < 0: # <<<<<<<<<<<<<< + * stop += shape + * if stop < 0: + */ + __pyx_t_2 = (__pyx_v_stop < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":848 + * if have_stop: + * if stop < 0: + * stop += shape # <<<<<<<<<<<<<< + * if stop < 0: + * stop = 0 + */ + __pyx_v_stop = (__pyx_v_stop + __pyx_v_shape); + + /* "View.MemoryView":849 + * if stop < 0: + * stop += shape + * if stop < 0: # <<<<<<<<<<<<<< + * stop = 0 + * elif stop > shape: + */ + __pyx_t_2 = (__pyx_v_stop < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":850 + * stop += shape + * if stop < 0: + * stop = 0 # <<<<<<<<<<<<<< + * elif stop > shape: + * stop = shape + */ + __pyx_v_stop = 0; + + /* "View.MemoryView":849 + * if stop < 0: + * stop += shape + * if stop < 0: # <<<<<<<<<<<<<< + * stop = 0 + * elif stop > shape: + */ + } + + /* "View.MemoryView":847 + * + * if have_stop: + * if stop < 0: # <<<<<<<<<<<<<< + * stop += shape + * if stop < 0: + */ + goto __pyx_L14; + } + + /* "View.MemoryView":851 + * if stop < 0: + * stop = 0 + * elif stop > shape: # <<<<<<<<<<<<<< + * stop = shape + * else: + */ + __pyx_t_2 = (__pyx_v_stop > __pyx_v_shape); + if (__pyx_t_2) { + + /* "View.MemoryView":852 + * stop = 0 + * elif stop > shape: + * stop = shape # <<<<<<<<<<<<<< + * else: + * if negative_step: + */ + __pyx_v_stop = __pyx_v_shape; + + /* "View.MemoryView":851 + * if stop < 0: + * stop = 0 + * elif stop > shape: # <<<<<<<<<<<<<< + * stop = shape + * else: + */ + } + __pyx_L14:; + + /* "View.MemoryView":846 + * start = 0 + * + * if have_stop: # <<<<<<<<<<<<<< + * if stop < 0: + * stop += shape + */ + goto __pyx_L13; + } + + /* "View.MemoryView":854 + * stop = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * stop = -1 + * else: + */ + /*else*/ { + if (__pyx_v_negative_step) { + + /* "View.MemoryView":855 + * else: + * if negative_step: + * stop = -1 # <<<<<<<<<<<<<< + * else: + * stop = shape + */ + __pyx_v_stop = -1L; + + /* "View.MemoryView":854 + * stop = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * stop = -1 + * else: + */ + goto __pyx_L16; + } + + /* "View.MemoryView":857 + * stop = -1 + * else: + * stop = shape # <<<<<<<<<<<<<< + * + * + */ + /*else*/ { + __pyx_v_stop = __pyx_v_shape; + } + __pyx_L16:; + } + __pyx_L13:; + + /* "View.MemoryView":861 + * + * with cython.cdivision(True): + * new_shape = (stop - start) // step # <<<<<<<<<<<<<< + * + * if (stop - start) - step * new_shape: + */ + __pyx_v_new_shape = ((__pyx_v_stop - __pyx_v_start) / __pyx_v_step); + + /* "View.MemoryView":863 + * new_shape = (stop - start) // step + * + * if (stop - start) - step * new_shape: # <<<<<<<<<<<<<< + * new_shape += 1 + * + */ + __pyx_t_2 = (((__pyx_v_stop - __pyx_v_start) - (__pyx_v_step * __pyx_v_new_shape)) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":864 + * + * if (stop - start) - step * new_shape: + * new_shape += 1 # <<<<<<<<<<<<<< + * + * if new_shape < 0: + */ + __pyx_v_new_shape = (__pyx_v_new_shape + 1); + + /* "View.MemoryView":863 + * new_shape = (stop - start) // step + * + * if (stop - start) - step * new_shape: # <<<<<<<<<<<<<< + * new_shape += 1 + * + */ + } + + /* "View.MemoryView":866 + * new_shape += 1 + * + * if new_shape < 0: # <<<<<<<<<<<<<< + * new_shape = 0 + * + */ + __pyx_t_2 = (__pyx_v_new_shape < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":867 + * + * if new_shape < 0: + * new_shape = 0 # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_new_shape = 0; + + /* "View.MemoryView":866 + * new_shape += 1 + * + * if new_shape < 0: # <<<<<<<<<<<<<< + * new_shape = 0 + * + */ + } + + /* "View.MemoryView":870 + * + * + * dst.strides[new_ndim] = stride * step # <<<<<<<<<<<<<< + * dst.shape[new_ndim] = new_shape + * dst.suboffsets[new_ndim] = suboffset + */ + (__pyx_v_dst->strides[__pyx_v_new_ndim]) = (__pyx_v_stride * __pyx_v_step); + + /* "View.MemoryView":871 + * + * dst.strides[new_ndim] = stride * step + * dst.shape[new_ndim] = new_shape # <<<<<<<<<<<<<< + * dst.suboffsets[new_ndim] = suboffset + * + */ + (__pyx_v_dst->shape[__pyx_v_new_ndim]) = __pyx_v_new_shape; + + /* "View.MemoryView":872 + * dst.strides[new_ndim] = stride * step + * dst.shape[new_ndim] = new_shape + * dst.suboffsets[new_ndim] = suboffset # <<<<<<<<<<<<<< + * + * + */ + (__pyx_v_dst->suboffsets[__pyx_v_new_ndim]) = __pyx_v_suboffset; + } + __pyx_L3:; + + /* "View.MemoryView":875 + * + * + * if suboffset_dim[0] < 0: # <<<<<<<<<<<<<< + * dst.data += start * stride + * else: + */ + __pyx_t_2 = ((__pyx_v_suboffset_dim[0]) < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":876 + * + * if suboffset_dim[0] < 0: + * dst.data += start * stride # <<<<<<<<<<<<<< + * else: + * dst.suboffsets[suboffset_dim[0]] += start * stride + */ + __pyx_v_dst->data = (__pyx_v_dst->data + (__pyx_v_start * __pyx_v_stride)); + + /* "View.MemoryView":875 + * + * + * if suboffset_dim[0] < 0: # <<<<<<<<<<<<<< + * dst.data += start * stride + * else: + */ + goto __pyx_L19; + } + + /* "View.MemoryView":878 + * dst.data += start * stride + * else: + * dst.suboffsets[suboffset_dim[0]] += start * stride # <<<<<<<<<<<<<< + * + * if suboffset >= 0: + */ + /*else*/ { + __pyx_t_3 = (__pyx_v_suboffset_dim[0]); + (__pyx_v_dst->suboffsets[__pyx_t_3]) = ((__pyx_v_dst->suboffsets[__pyx_t_3]) + (__pyx_v_start * __pyx_v_stride)); + } + __pyx_L19:; + + /* "View.MemoryView":880 + * dst.suboffsets[suboffset_dim[0]] += start * stride + * + * if suboffset >= 0: # <<<<<<<<<<<<<< + * if not is_slice: + * if new_ndim == 0: + */ + __pyx_t_2 = (__pyx_v_suboffset >= 0); + if (__pyx_t_2) { + + /* "View.MemoryView":881 + * + * if suboffset >= 0: + * if not is_slice: # <<<<<<<<<<<<<< + * if new_ndim == 0: + * dst.data = ( dst.data)[0] + suboffset + */ + __pyx_t_2 = (!__pyx_v_is_slice); + if (__pyx_t_2) { + + /* "View.MemoryView":882 + * if suboffset >= 0: + * if not is_slice: + * if new_ndim == 0: # <<<<<<<<<<<<<< + * dst.data = ( dst.data)[0] + suboffset + * else: + */ + __pyx_t_2 = (__pyx_v_new_ndim == 0); + if (__pyx_t_2) { + + /* "View.MemoryView":883 + * 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memoryview object and slice. + */ + +static PyObject *__pyx_memoryview_copy_object_from_slice(struct __pyx_memoryview_obj *__pyx_v_memview, __Pyx_memviewslice *__pyx_v_memviewslice) { + PyObject *(*__pyx_v_to_object_func)(char *); + int (*__pyx_v_to_dtype_func)(char *, PyObject *); + PyObject *__pyx_r = NULL; + __Pyx_RefNannyDeclarations + int __pyx_t_1; + PyObject *(*__pyx_t_2)(char *); + int (*__pyx_t_3)(char *, PyObject *); + PyObject *__pyx_t_4 = NULL; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + __Pyx_RefNannySetupContext("memoryview_copy_from_slice", 1); + + /* "View.MemoryView":1094 + * cdef int (*to_dtype_func)(char *, object) except 0 + * + * if isinstance(memview, _memoryviewslice): # <<<<<<<<<<<<<< + * to_object_func = (<_memoryviewslice> memview).to_object_func + * to_dtype_func = (<_memoryviewslice> memview).to_dtype_func + */ + __pyx_t_1 = __Pyx_TypeCheck(((PyObject *)__pyx_v_memview), __pyx_memoryviewslice_type); + if 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<<<<<<<<<<<<<< + * return -arg if arg < 0 else arg + * + */ + +static Py_ssize_t abs_py_ssize_t(Py_ssize_t __pyx_v_arg) { + Py_ssize_t __pyx_r; + Py_ssize_t __pyx_t_1; + int __pyx_t_2; + + /* "View.MemoryView":1110 + * + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) noexcept nogil: + * return -arg if arg < 0 else arg # <<<<<<<<<<<<<< + * + * @cname('__pyx_get_best_slice_order') + */ + __pyx_t_2 = (__pyx_v_arg < 0); + if (__pyx_t_2) { + __pyx_t_1 = (-__pyx_v_arg); + } else { + __pyx_t_1 = __pyx_v_arg; + } + __pyx_r = __pyx_t_1; + goto __pyx_L0; + + /* "View.MemoryView":1109 + * + * + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) noexcept nogil: # <<<<<<<<<<<<<< + * return -arg if arg < 0 else arg + * + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1113 + * + * @cname('__pyx_get_best_slice_order') + * cdef char get_best_order(__Pyx_memviewslice *mslice, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * """ + * Figure out the best memory access order for a given slice. + */ + +static char __pyx_get_best_slice_order(__Pyx_memviewslice *__pyx_v_mslice, int __pyx_v_ndim) { + int __pyx_v_i; + Py_ssize_t __pyx_v_c_stride; + Py_ssize_t __pyx_v_f_stride; + char __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1118 + * """ + * cdef int i + * cdef Py_ssize_t c_stride = 0 # <<<<<<<<<<<<<< + * cdef Py_ssize_t f_stride = 0 + * + */ + __pyx_v_c_stride = 0; + + /* "View.MemoryView":1119 + * cdef int i + * cdef Py_ssize_t c_stride = 0 + * cdef Py_ssize_t f_stride = 0 # <<<<<<<<<<<<<< + * + * for i in range(ndim - 1, -1, -1): + */ + __pyx_v_f_stride = 0; + + /* "View.MemoryView":1121 + * cdef Py_ssize_t f_stride = 0 + * + * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] + */ + for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { + __pyx_v_i = __pyx_t_1; + + /* "View.MemoryView":1122 + * + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * c_stride = mslice.strides[i] + * break + */ + __pyx_t_2 = ((__pyx_v_mslice->shape[__pyx_v_i]) > 1); + if (__pyx_t_2) { + + /* "View.MemoryView":1123 + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] # <<<<<<<<<<<<<< + * break + * + */ + __pyx_v_c_stride = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1124 + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] + * break # <<<<<<<<<<<<<< + * + * for i in range(ndim): + */ + goto __pyx_L4_break; + + /* "View.MemoryView":1122 + * + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * c_stride = mslice.strides[i] + * break + */ + } + } + __pyx_L4_break:; + + /* "View.MemoryView":1126 + * break + * + * for i in range(ndim): # <<<<<<<<<<<<<< + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] + */ + __pyx_t_1 = __pyx_v_ndim; + __pyx_t_3 = __pyx_t_1; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_i = __pyx_t_4; + + /* "View.MemoryView":1127 + * + * for i in range(ndim): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * f_stride = mslice.strides[i] + * break + */ + __pyx_t_2 = ((__pyx_v_mslice->shape[__pyx_v_i]) > 1); + if (__pyx_t_2) { + + /* "View.MemoryView":1128 + * for i in range(ndim): + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] # <<<<<<<<<<<<<< + * break + * + */ + __pyx_v_f_stride = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1129 + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] + * break # <<<<<<<<<<<<<< + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): + */ + goto __pyx_L7_break; + + /* "View.MemoryView":1127 + * + * for i in range(ndim): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * f_stride = mslice.strides[i] + * break + */ + } + } + __pyx_L7_break:; + + /* "View.MemoryView":1131 + * break + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< + * return 'C' + * else: + */ + __pyx_t_2 = (abs_py_ssize_t(__pyx_v_c_stride) <= abs_py_ssize_t(__pyx_v_f_stride)); + if (__pyx_t_2) { + + /* "View.MemoryView":1132 + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): + * return 'C' # <<<<<<<<<<<<<< + * else: + * return 'F' + */ + __pyx_r = 'C'; + goto __pyx_L0; + + /* "View.MemoryView":1131 + * break + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< + * return 'C' + * else: + */ + } + + /* "View.MemoryView":1134 + * return 'C' + * else: + * return 'F' # <<<<<<<<<<<<<< + * + * @cython.cdivision(True) + */ + /*else*/ { + __pyx_r = 'F'; + goto __pyx_L0; + } + + /* "View.MemoryView":1113 + * + * @cname('__pyx_get_best_slice_order') + * cdef char get_best_order(__Pyx_memviewslice *mslice, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * """ + * Figure out the best memory access order for a given slice. + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1137 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + +static void _copy_strided_to_strided(char *__pyx_v_src_data, Py_ssize_t *__pyx_v_src_strides, char *__pyx_v_dst_data, Py_ssize_t *__pyx_v_dst_strides, Py_ssize_t *__pyx_v_src_shape, Py_ssize_t *__pyx_v_dst_shape, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + CYTHON_UNUSED Py_ssize_t __pyx_v_src_extent; + Py_ssize_t __pyx_v_dst_extent; + Py_ssize_t __pyx_v_src_stride; + Py_ssize_t __pyx_v_dst_stride; + int __pyx_t_1; + int __pyx_t_2; + Py_ssize_t __pyx_t_3; + Py_ssize_t __pyx_t_4; + Py_ssize_t __pyx_t_5; + + /* "View.MemoryView":1144 + * + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + */ + __pyx_v_src_extent = (__pyx_v_src_shape[0]); + + /* "View.MemoryView":1145 + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] + */ + __pyx_v_dst_extent = (__pyx_v_dst_shape[0]); + + /* "View.MemoryView":1146 + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + */ + __pyx_v_src_stride = (__pyx_v_src_strides[0]); + + /* "View.MemoryView":1147 + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] # <<<<<<<<<<<<<< + * + * if ndim == 1: + */ + __pyx_v_dst_stride = (__pyx_v_dst_strides[0]); + + /* "View.MemoryView":1149 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + __pyx_t_1 = (__pyx_v_ndim == 1); + if (__pyx_t_1) { + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + __pyx_t_2 = (__pyx_v_src_stride > 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + __pyx_t_2 = (__pyx_v_dst_stride > 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + + /* "View.MemoryView":1151 + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + */ + __pyx_t_2 = (((size_t)__pyx_v_src_stride) == __pyx_v_itemsize); + if (__pyx_t_2) { + __pyx_t_2 = (__pyx_v_itemsize == ((size_t)__pyx_v_dst_stride)); + } + __pyx_t_1 = __pyx_t_2; + __pyx_L5_bool_binop_done:; + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + if (__pyx_t_1) { + + /* "View.MemoryView":1152 + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, (__pyx_v_itemsize * __pyx_v_dst_extent))); + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + goto __pyx_L4; + } + + /* "View.MemoryView":1154 + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + */ + /*else*/ { + __pyx_t_3 = __pyx_v_dst_extent; + __pyx_t_4 = __pyx_t_3; + for (__pyx_t_5 = 0; __pyx_t_5 < __pyx_t_4; __pyx_t_5+=1) { + __pyx_v_i = __pyx_t_5; + + /* "View.MemoryView":1155 + * else: + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) # <<<<<<<<<<<<<< + * src_data += src_stride + * dst_data += dst_stride + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, __pyx_v_itemsize)); + + /* "View.MemoryView":1156 + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * else: + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1157 + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L4:; + + /* "View.MemoryView":1149 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1159 + * dst_data += dst_stride + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * _copy_strided_to_strided(src_data, src_strides + 1, + * dst_data, dst_strides + 1, + */ + /*else*/ { + __pyx_t_3 = __pyx_v_dst_extent; + __pyx_t_4 = __pyx_t_3; + for (__pyx_t_5 = 0; __pyx_t_5 < __pyx_t_4; __pyx_t_5+=1) { + __pyx_v_i = __pyx_t_5; + + /* "View.MemoryView":1160 + * else: + * for i in range(dst_extent): + * _copy_strided_to_strided(src_data, src_strides + 1, # <<<<<<<<<<<<<< + * dst_data, dst_strides + 1, + * src_shape + 1, dst_shape + 1, + */ + _copy_strided_to_strided(__pyx_v_src_data, (__pyx_v_src_strides + 1), __pyx_v_dst_data, (__pyx_v_dst_strides + 1), (__pyx_v_src_shape + 1), (__pyx_v_dst_shape + 1), (__pyx_v_ndim - 1), __pyx_v_itemsize); + + /* "View.MemoryView":1164 + * src_shape + 1, dst_shape + 1, + * ndim - 1, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1165 + * ndim - 1, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L3:; + + /* "View.MemoryView":1137 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + + /* function exit code */ +} + +/* "View.MemoryView":1167 + * dst_data += dst_stride + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + */ + +static void copy_strided_to_strided(__Pyx_memviewslice *__pyx_v_src, __Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + + /* "View.MemoryView":1170 + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + * _copy_strided_to_strided(src.data, src.strides, dst.data, dst.strides, # <<<<<<<<<<<<<< + * src.shape, dst.shape, ndim, itemsize) + * + */ + _copy_strided_to_strided(__pyx_v_src->data, __pyx_v_src->strides, __pyx_v_dst->data, __pyx_v_dst->strides, __pyx_v_src->shape, __pyx_v_dst->shape, __pyx_v_ndim, __pyx_v_itemsize); + + /* "View.MemoryView":1167 + * dst_data += dst_stride + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1174 + * + * @cname('__pyx_memoryview_slice_get_size') + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + */ + +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *__pyx_v_src, int __pyx_v_ndim) { + Py_ssize_t __pyx_v_shape; + Py_ssize_t __pyx_v_size; + Py_ssize_t __pyx_r; + Py_ssize_t __pyx_t_1; + Py_ssize_t *__pyx_t_2; + Py_ssize_t *__pyx_t_3; + Py_ssize_t *__pyx_t_4; + + /* "View.MemoryView":1176 + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize # <<<<<<<<<<<<<< + * + * for shape in src.shape[:ndim]: + */ + __pyx_t_1 = __pyx_v_src->memview->view.itemsize; + __pyx_v_size = __pyx_t_1; + + /* 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shape, size = src.memview.view.itemsize + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1184 + * + * @cname('__pyx_fill_contig_strides_array') + * cdef Py_ssize_t fill_contig_strides_array( # <<<<<<<<<<<<<< + * Py_ssize_t *shape, Py_ssize_t *strides, Py_ssize_t stride, + * int ndim, char order) noexcept nogil: + */ + +static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, Py_ssize_t __pyx_v_stride, int __pyx_v_ndim, char __pyx_v_order) { + int __pyx_v_idx; + Py_ssize_t __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1193 + * cdef int idx + * + * if order == 'F': # <<<<<<<<<<<<<< + * for idx in range(ndim): + * strides[idx] = stride + */ + __pyx_t_1 = (__pyx_v_order == 'F'); + if (__pyx_t_1) { + + /* "View.MemoryView":1194 + * + * if order == 'F': + * for idx in range(ndim): # <<<<<<<<<<<<<< + * strides[idx] = stride + * stride *= 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"View.MemoryView":1301 + * if slices_overlap(&src, &dst, ndim, itemsize): + * + * if not slice_is_contig(src, order, ndim): # <<<<<<<<<<<<<< + * order = get_best_order(&dst, ndim) + * + */ + } + + /* "View.MemoryView":1304 + * order = get_best_order(&dst, ndim) + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) # <<<<<<<<<<<<<< + * src = tmp + * + */ + __pyx_t_7 = __pyx_memoryview_copy_data_to_temp((&__pyx_v_src), (&__pyx_v_tmp), __pyx_v_order, __pyx_v_ndim); if (unlikely(__pyx_t_7 == ((void *)NULL))) __PYX_ERR(0, 1304, __pyx_L1_error) + __pyx_v_tmpdata = __pyx_t_7; + + /* "View.MemoryView":1305 + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) + * src = tmp # <<<<<<<<<<<<<< + * + * if not broadcasting: + */ + __pyx_v_src = __pyx_v_tmp; + + /* "View.MemoryView":1299 + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) + * + * if slices_overlap(&src, &dst, ndim, itemsize): # <<<<<<<<<<<<<< + * + * if not slice_is_contig(src, order, ndim): + */ + } + + /* 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"View.MemoryView":1312 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + __pyx_t_2 = __pyx_memviewslice_is_contig(__pyx_v_src, 'F', __pyx_v_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1313 + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) # <<<<<<<<<<<<<< + * + * if direct_copy: + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'F', __pyx_v_ndim); + + /* "View.MemoryView":1312 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + } + __pyx_L12:; + + /* "View.MemoryView":1315 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + if (__pyx_v_direct_copy) { + + /* "View.MemoryView":1317 + * if direct_copy: + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1318 + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) + */ + (void)(memcpy(__pyx_v_dst.data, __pyx_v_src.data, __pyx_memoryview_slice_get_size((&__pyx_v_src), __pyx_v_ndim))); + + /* "View.MemoryView":1319 + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * free(tmpdata) + * return 0 + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1320 + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1321 + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * if order == 'F' == get_best_order(&dst, ndim): + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1315 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + } + + /* "View.MemoryView":1307 + * src = tmp + * + * if not broadcasting: # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1323 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_2 = (__pyx_v_order == 'F'); + if (__pyx_t_2) { + __pyx_t_2 = ('F' == __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim)); + } + if (__pyx_t_2) { + + /* "View.MemoryView":1326 + * + * + * transpose_memslice(&src) # <<<<<<<<<<<<<< + * transpose_memslice(&dst) + * + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_src)); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(0, 1326, __pyx_L1_error) + + /* "View.MemoryView":1327 + * + * transpose_memslice(&src) + * transpose_memslice(&dst) # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_dst)); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(0, 1327, __pyx_L1_error) + + /* "View.MemoryView":1323 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1329 + * transpose_memslice(&dst) + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1330 + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * + */ + copy_strided_to_strided((&__pyx_v_src), (&__pyx_v_dst), __pyx_v_ndim, __pyx_v_itemsize); + + /* "View.MemoryView":1331 + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * + * free(tmpdata) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1333 + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1334 + * + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_broadcast_leading') + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1265 + * + * @cname('__pyx_memoryview_copy_contents') + * cdef int memoryview_copy_contents(__Pyx_memviewslice src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice dst, + * int src_ndim, int dst_ndim, + */ + + /* function exit code */ + __pyx_L1_error:; + #ifdef WITH_THREAD + __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + __Pyx_AddTraceback("View.MemoryView.memoryview_copy_contents", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = -1; + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1337 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) noexcept nogil: + */ + +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *__pyx_v_mslice, int __pyx_v_ndim, int __pyx_v_ndim_other) { + int __pyx_v_i; + int __pyx_v_offset; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + + /* "View.MemoryView":1341 + * int ndim_other) noexcept nogil: + * cdef int i + * cdef int offset = ndim_other - ndim # <<<<<<<<<<<<<< + * + * for i in range(ndim - 1, -1, -1): + */ + __pyx_v_offset = (__pyx_v_ndim_other - __pyx_v_ndim); + + /* "View.MemoryView":1343 + * cdef int offset = ndim_other - ndim + * + * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + */ + for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { + __pyx_v_i = __pyx_t_1; + + /* "View.MemoryView":1344 + * + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] # <<<<<<<<<<<<<< + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + */ + (__pyx_v_mslice->shape[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->shape[__pyx_v_i]); + + /* "View.MemoryView":1345 + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] # <<<<<<<<<<<<<< + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + */ + (__pyx_v_mslice->strides[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1346 + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] # <<<<<<<<<<<<<< + * + * for i in range(offset): + */ + (__pyx_v_mslice->suboffsets[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->suboffsets[__pyx_v_i]); + } + + /* "View.MemoryView":1348 + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + * for i in range(offset): # <<<<<<<<<<<<<< + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + */ + __pyx_t_1 = __pyx_v_offset; + __pyx_t_2 = __pyx_t_1; + for (__pyx_t_3 = 0; __pyx_t_3 < __pyx_t_2; __pyx_t_3+=1) { + __pyx_v_i = __pyx_t_3; + + /* "View.MemoryView":1349 + * + * for i in range(offset): + * mslice.shape[i] = 1 # <<<<<<<<<<<<<< + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 + */ + (__pyx_v_mslice->shape[__pyx_v_i]) = 1; + + /* "View.MemoryView":1350 + * for i in range(offset): + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] # <<<<<<<<<<<<<< + * mslice.suboffsets[i] = -1 + * + */ + (__pyx_v_mslice->strides[__pyx_v_i]) = (__pyx_v_mslice->strides[0]); + + /* "View.MemoryView":1351 + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 # <<<<<<<<<<<<<< + * + * + */ + (__pyx_v_mslice->suboffsets[__pyx_v_i]) = -1L; + } + + /* "View.MemoryView":1337 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1359 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: # <<<<<<<<<<<<<< + * + * if dtype_is_object: + */ + +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_dtype_is_object, int __pyx_v_ndim, int __pyx_v_inc) { + + /* "View.MemoryView":1361 + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) + * + */ + if (__pyx_v_dtype_is_object) { + + /* "View.MemoryView":1362 + * + * if dtype_is_object: + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + */ + __pyx_memoryview_refcount_objects_in_slice_with_gil(__pyx_v_dst->data, __pyx_v_dst->shape, __pyx_v_dst->strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1361 + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) + * + */ + } + + /* "View.MemoryView":1359 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: # <<<<<<<<<<<<<< + * + * if dtype_is_object: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1365 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + * cdef void refcount_objects_in_slice_with_gil(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + */ + +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, int __pyx_v_inc) { + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + + /* "View.MemoryView":1368 + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + * refcount_objects_in_slice(data, shape, strides, ndim, inc) # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + */ + __pyx_memoryview_refcount_objects_in_slice(__pyx_v_data, __pyx_v_shape, __pyx_v_strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1365 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + * cdef void refcount_objects_in_slice_with_gil(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + */ + + /* function exit code */ + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif +} + +/* "View.MemoryView":1371 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + * cdef void refcount_objects_in_slice(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + */ + +static void __pyx_memoryview_refcount_objects_in_slice(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, int __pyx_v_inc) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + Py_ssize_t __pyx_v_stride; + Py_ssize_t __pyx_t_1; + Py_ssize_t __pyx_t_2; + Py_ssize_t __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1374 + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + * cdef Py_ssize_t stride = strides[0] # <<<<<<<<<<<<<< + * + * for i in range(shape[0]): + */ + __pyx_v_stride = (__pyx_v_strides[0]); + + /* "View.MemoryView":1376 + * cdef Py_ssize_t stride = strides[0] + * + * for i in range(shape[0]): # <<<<<<<<<<<<<< + * if ndim == 1: + * if inc: + */ + __pyx_t_1 = (__pyx_v_shape[0]); + __pyx_t_2 = __pyx_t_1; + for (__pyx_t_3 = 0; __pyx_t_3 < __pyx_t_2; __pyx_t_3+=1) { + __pyx_v_i = __pyx_t_3; + + /* "View.MemoryView":1377 + * + * for i in range(shape[0]): + * if ndim == 1: # <<<<<<<<<<<<<< + * if inc: + * Py_INCREF(( data)[0]) + */ + __pyx_t_4 = (__pyx_v_ndim == 1); + if (__pyx_t_4) { + + /* "View.MemoryView":1378 + * for i in range(shape[0]): + * if ndim == 1: + * if inc: # <<<<<<<<<<<<<< + * Py_INCREF(( data)[0]) + * else: + */ + if (__pyx_v_inc) { + + /* "View.MemoryView":1379 + * if ndim == 1: + * if inc: + * Py_INCREF(( data)[0]) # <<<<<<<<<<<<<< + * else: + * Py_DECREF(( data)[0]) + */ + Py_INCREF((((PyObject **)__pyx_v_data)[0])); + + /* "View.MemoryView":1378 + * for i in range(shape[0]): + * if ndim == 1: + * if inc: # <<<<<<<<<<<<<< + * Py_INCREF(( data)[0]) + * else: + */ + goto __pyx_L6; + } + + /* "View.MemoryView":1381 + * Py_INCREF(( data)[0]) + * else: + * Py_DECREF(( data)[0]) # <<<<<<<<<<<<<< + * else: + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) + */ + /*else*/ { + Py_DECREF((((PyObject **)__pyx_v_data)[0])); + } + __pyx_L6:; + + /* "View.MemoryView":1377 + * + * for i in range(shape[0]): + * if ndim == 1: # <<<<<<<<<<<<<< + * if inc: + * Py_INCREF(( data)[0]) + */ + goto __pyx_L5; + } + + /* "View.MemoryView":1383 + * Py_DECREF(( data)[0]) + * else: + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) # <<<<<<<<<<<<<< + * + * data += stride + */ + /*else*/ { + __pyx_memoryview_refcount_objects_in_slice(__pyx_v_data, (__pyx_v_shape + 1), (__pyx_v_strides + 1), (__pyx_v_ndim - 1), __pyx_v_inc); + } + __pyx_L5:; + + /* "View.MemoryView":1385 + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) + * + * data += stride # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_data = (__pyx_v_data + __pyx_v_stride); + } + + /* "View.MemoryView":1371 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + * cdef void refcount_objects_in_slice(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + */ + + /* function exit code */ +} + +/* "View.MemoryView":1391 + * + * @cname('__pyx_memoryview_slice_assign_scalar') + * cdef void slice_assign_scalar(__Pyx_memviewslice *dst, int ndim, # <<<<<<<<<<<<<< + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + */ + +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize, void *__pyx_v_item, int __pyx_v_dtype_is_object) { + + /* "View.MemoryView":1394 + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + * refcount_copying(dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) + * refcount_copying(dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying(__pyx_v_dst, __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1395 + * bint dtype_is_object) noexcept nogil: + * refcount_copying(dst, dtype_is_object, ndim, inc=False) + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) # <<<<<<<<<<<<<< + * refcount_copying(dst, dtype_is_object, ndim, inc=True) + * + */ + __pyx_memoryview__slice_assign_scalar(__pyx_v_dst->data, __pyx_v_dst->shape, __pyx_v_dst->strides, __pyx_v_ndim, __pyx_v_itemsize, __pyx_v_item); + + /* "View.MemoryView":1396 + * refcount_copying(dst, dtype_is_object, ndim, inc=False) + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) + * refcount_copying(dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * + * + */ + __pyx_memoryview_refcount_copying(__pyx_v_dst, __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1391 + * + * @cname('__pyx_memoryview_slice_assign_scalar') + * cdef void slice_assign_scalar(__Pyx_memviewslice *dst, int ndim, # <<<<<<<<<<<<<< + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1400 + * + * @cname('__pyx_memoryview__slice_assign_scalar') + * cdef void _slice_assign_scalar(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * size_t itemsize, void *item) noexcept nogil: + */ + +static void __pyx_memoryview__slice_assign_scalar(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, size_t __pyx_v_itemsize, void *__pyx_v_item) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + Py_ssize_t __pyx_v_stride; + Py_ssize_t __pyx_v_extent; + int __pyx_t_1; + Py_ssize_t __pyx_t_2; + Py_ssize_t __pyx_t_3; + Py_ssize_t 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PyObject *__pyx_r = 0; + __Pyx_RefNannyDeclarations + __Pyx_RefNannySetupContext("__setstate_cython__ (wrapper)", 0); + #if !CYTHON_METH_FASTCALL + #if CYTHON_ASSUME_SAFE_MACROS + __pyx_nargs = PyTuple_GET_SIZE(__pyx_args); + #else + __pyx_nargs = PyTuple_Size(__pyx_args); if (unlikely(__pyx_nargs < 0)) return NULL; + #endif + #endif + __pyx_kwvalues = __Pyx_KwValues_FASTCALL(__pyx_args, __pyx_nargs); + { + PyObject **__pyx_pyargnames[] = {&__pyx_n_s_pyx_state,0}; + if (__pyx_kwds) { + Py_ssize_t kw_args; + switch (__pyx_nargs) { + case 1: values[0] = __Pyx_Arg_FASTCALL(__pyx_args, 0); + CYTHON_FALLTHROUGH; + case 0: break; + default: goto __pyx_L5_argtuple_error; + } + kw_args = __Pyx_NumKwargs_FASTCALL(__pyx_kwds); + switch (__pyx_nargs) { + case 0: + if (likely((values[0] = __Pyx_GetKwValue_FASTCALL(__pyx_kwds, __pyx_kwvalues, __pyx_n_s_pyx_state)) != 0)) { + (void)__Pyx_Arg_NewRef_FASTCALL(values[0]); + kw_args--; + } + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 3, 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__Pyx_AddTraceback("selfdrive.modeld.models.commonmodel_pyx.ModelFrame.__setstate_cython__", __pyx_clineno, __pyx_lineno, __pyx_filename); + __Pyx_RefNannyFinishContext(); + return NULL; + __pyx_L4_argument_unpacking_done:; + __pyx_r = __pyx_pf_9selfdrive_6modeld_6models_15commonmodel_pyx_10ModelFrame_8__setstate_cython__(((struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame *)__pyx_v_self), __pyx_v___pyx_state); + + /* function exit code */ + { + Py_ssize_t __pyx_temp; + for (__pyx_temp=0; __pyx_temp < (Py_ssize_t)(sizeof(values)/sizeof(values[0])); ++__pyx_temp) { + __Pyx_Arg_XDECREF_FASTCALL(values[__pyx_temp]); + } + } + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +static PyObject *__pyx_pf_9selfdrive_6modeld_6models_15commonmodel_pyx_10ModelFrame_8__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state) { + PyObject *__pyx_r = NULL; + 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__pyx_filename); + __pyx_r = NULL; + __Pyx_XGIVEREF(__pyx_r); + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +static PyObject *__pyx_tp_new_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext(PyTypeObject *t, PyObject *a, PyObject *k) { + PyObject *o = __Pyx_PyType_GetSlot(__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext, tp_new, newfunc)(t, a, k); + if (unlikely(!o)) return 0; + if (unlikely(__pyx_pw_9selfdrive_6modeld_6models_15commonmodel_pyx_9CLContext_1__cinit__(o, __pyx_empty_tuple, NULL) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static PyMethodDef __pyx_methods_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_6modeld_6models_15commonmodel_pyx_9CLContext_3__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_6modeld_6models_15commonmodel_pyx_9CLContext_5__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext_slots[] = { + {Py_tp_methods, (void *)__pyx_methods_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext}, + {Py_tp_new, (void *)__pyx_tp_new_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext}, + {0, 0}, +}; +static PyType_Spec __pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext_spec = { + "selfdrive.modeld.models.commonmodel_pyx.CLContext", + sizeof(struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_FINALIZE, + __pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext_slots, +}; +#else + +static PyTypeObject __pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.modeld.models.commonmodel_pyx.""CLContext", /*tp_name*/ + sizeof(struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + 0, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_FINALIZE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem __pyx_vtable_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem; + +static PyObject *__pyx_tp_new_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem *)o); + p->__pyx_vtab = __pyx_vtabptr_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem; + return o; +} + +static void __pyx_tp_dealloc_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem(PyObject *o) { + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static PyMethodDef __pyx_methods_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_6modeld_6models_15commonmodel_pyx_5CLMem_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_6modeld_6models_15commonmodel_pyx_5CLMem_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem}, + {Py_tp_methods, (void *)__pyx_methods_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem}, + {Py_tp_new, (void *)__pyx_tp_new_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem}, + {0, 0}, +}; +static PyType_Spec __pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem_spec = { + "selfdrive.modeld.models.commonmodel_pyx.CLMem", + sizeof(struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, + __pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem_slots, +}; +#else + +static PyTypeObject __pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.modeld.models.commonmodel_pyx.""CLMem", /*tp_name*/ + sizeof(struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyObject *__pyx_tp_new_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame(PyTypeObject *t, PyObject *a, PyObject *k) { + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + if (unlikely(__pyx_pw_9selfdrive_6modeld_6models_15commonmodel_pyx_10ModelFrame_1__cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame(PyObject *o) { + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_pw_9selfdrive_6modeld_6models_15commonmodel_pyx_10ModelFrame_3__dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static PyMethodDef __pyx_methods_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame[] = { + {"prepare", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_6modeld_6models_15commonmodel_pyx_10ModelFrame_5prepare, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_6modeld_6models_15commonmodel_pyx_10ModelFrame_7__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_6modeld_6models_15commonmodel_pyx_10ModelFrame_9__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame}, + {Py_tp_methods, (void *)__pyx_methods_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame}, + {Py_tp_new, (void *)__pyx_tp_new_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame}, + {0, 0}, +}; +static PyType_Spec __pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame_spec = { + "selfdrive.modeld.models.commonmodel_pyx.ModelFrame", + sizeof(struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, + __pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame_slots, +}; +#else + +static PyTypeObject __pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.modeld.models.commonmodel_pyx.""ModelFrame", /*tp_name*/ + sizeof(struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_array __pyx_vtable_array; + +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_array_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_array_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_array; + p->mode = ((PyObject*)Py_None); Py_INCREF(Py_None); + p->_format = ((PyObject*)Py_None); Py_INCREF(Py_None); + if (unlikely(__pyx_array___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_array(PyObject *o) { + struct __pyx_array_obj *p = (struct __pyx_array_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_array) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_array___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->mode); + Py_CLEAR(p->_format); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} +static PyObject *__pyx_sq_item_array(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_array(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_array___setitem__(o, i, v); + } + else { + __Pyx_TypeName o_type_name; + o_type_name = __Pyx_PyType_GetName(Py_TYPE(o)); + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by " __Pyx_FMT_TYPENAME, o_type_name); + __Pyx_DECREF_TypeName(o_type_name); + return -1; + } +} + +static PyObject *__pyx_tp_getattro_array(PyObject *o, PyObject *n) { + PyObject *v = __Pyx_PyObject_GenericGetAttr(o, n); + if (!v && PyErr_ExceptionMatches(PyExc_AttributeError)) { + PyErr_Clear(); + v = __pyx_array___getattr__(o, n); + } + return v; +} + +static PyObject *__pyx_getprop___pyx_array_memview(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_5array_7memview_1__get__(o); +} + +static PyMethodDef __pyx_methods_array[] = { + {"__getattr__", (PyCFunction)__pyx_array___getattr__, METH_O|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_array_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_array_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_array[] = { + {(char *)"memview", __pyx_getprop___pyx_array_memview, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +#if !CYTHON_COMPILING_IN_LIMITED_API + +static PyBufferProcs __pyx_tp_as_buffer_array = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_array_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; +#endif +static PyType_Slot __pyx_type___pyx_array_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_array}, + {Py_sq_length, (void *)__pyx_array___len__}, + {Py_sq_item, (void *)__pyx_sq_item_array}, + {Py_mp_length, (void *)__pyx_array___len__}, + {Py_mp_subscript, (void *)__pyx_array___getitem__}, + {Py_mp_ass_subscript, (void *)__pyx_mp_ass_subscript_array}, + {Py_tp_getattro, (void *)__pyx_tp_getattro_array}, + #if defined(Py_bf_getbuffer) + {Py_bf_getbuffer, (void *)__pyx_array_getbuffer}, + #endif + {Py_tp_methods, (void *)__pyx_methods_array}, + {Py_tp_getset, (void *)__pyx_getsets_array}, + {Py_tp_new, (void *)__pyx_tp_new_array}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_array_spec = { + "selfdrive.modeld.models.commonmodel_pyx.array", + sizeof(struct __pyx_array_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_SEQUENCE, + __pyx_type___pyx_array_slots, +}; +#else + +static PySequenceMethods __pyx_tp_as_sequence_array = { + __pyx_array___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_array, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_array = { + __pyx_array___len__, /*mp_length*/ + __pyx_array___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_array, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_array = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_array_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_array = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.modeld.models.commonmodel_pyx.""array", /*tp_name*/ + sizeof(struct __pyx_array_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_array, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_array, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_array, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + __pyx_tp_getattro_array, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_array, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_SEQUENCE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_array, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_array, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_array, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + struct __pyx_MemviewEnum_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_MemviewEnum_obj *)o); + p->name = Py_None; Py_INCREF(Py_None); + return o; +} + +static void __pyx_tp_dealloc_Enum(PyObject *o) { + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_Enum) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + Py_CLEAR(p->name); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_Enum(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + if (p->name) { + e = (*v)(p->name, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_Enum(PyObject *o) { + PyObject* tmp; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + tmp = ((PyObject*)p->name); + p->name = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + return 0; +} + +static PyObject *__pyx_specialmethod___pyx_MemviewEnum___repr__(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __pyx_MemviewEnum___repr__(self); +} + +static PyMethodDef __pyx_methods_Enum[] = { + {"__repr__", (PyCFunction)__pyx_specialmethod___pyx_MemviewEnum___repr__, METH_NOARGS|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_MemviewEnum_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_MemviewEnum_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type___pyx_MemviewEnum_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_Enum}, + {Py_tp_repr, (void *)__pyx_MemviewEnum___repr__}, + {Py_tp_traverse, (void *)__pyx_tp_traverse_Enum}, + {Py_tp_clear, (void *)__pyx_tp_clear_Enum}, + {Py_tp_methods, (void *)__pyx_methods_Enum}, + {Py_tp_init, (void *)__pyx_MemviewEnum___init__}, + {Py_tp_new, (void *)__pyx_tp_new_Enum}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_MemviewEnum_spec = { + "selfdrive.modeld.models.commonmodel_pyx.Enum", + sizeof(struct __pyx_MemviewEnum_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type___pyx_MemviewEnum_slots, +}; +#else + +static PyTypeObject __pyx_type___pyx_MemviewEnum = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.modeld.models.commonmodel_pyx.""Enum", /*tp_name*/ + sizeof(struct __pyx_MemviewEnum_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_Enum, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_MemviewEnum___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_Enum, /*tp_traverse*/ + __pyx_tp_clear_Enum, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_Enum, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + __pyx_MemviewEnum___init__, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_Enum, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_memoryview __pyx_vtable_memoryview; + +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryview_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_memoryview_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_memoryview; + p->obj = Py_None; Py_INCREF(Py_None); + p->_size = Py_None; Py_INCREF(Py_None); + p->_array_interface = Py_None; Py_INCREF(Py_None); + p->view.obj = NULL; + if (unlikely(__pyx_memoryview___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_memoryview(PyObject *o) { + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_memoryview) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryview___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->obj); + Py_CLEAR(p->_size); + Py_CLEAR(p->_array_interface); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_memoryview(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + if (p->obj) { + e = (*v)(p->obj, a); if (e) return e; + } + if (p->_size) { + e = (*v)(p->_size, a); if (e) return e; + } + if (p->_array_interface) { + e = (*v)(p->_array_interface, a); if (e) return e; + } + if (p->view.obj) { + e = (*v)(p->view.obj, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_memoryview(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + tmp = ((PyObject*)p->obj); + p->obj = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_size); + p->_size = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_array_interface); + p->_array_interface = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + Py_CLEAR(p->view.obj); + return 0; +} +static PyObject *__pyx_sq_item_memoryview(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_memoryview(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_memoryview___setitem__(o, i, v); + } + else { + __Pyx_TypeName o_type_name; + o_type_name = __Pyx_PyType_GetName(Py_TYPE(o)); + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by " __Pyx_FMT_TYPENAME, o_type_name); + __Pyx_DECREF_TypeName(o_type_name); + return -1; + } +} + +static PyObject *__pyx_getprop___pyx_memoryview_T(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_1T_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_base(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4base_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_shape(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_5shape_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_strides(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_7strides_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_suboffsets(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_10suboffsets_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_ndim(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4ndim_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_itemsize(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_8itemsize_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_nbytes(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_6nbytes_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_size(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4size_1__get__(o); +} + +static PyObject *__pyx_specialmethod___pyx_memoryview___repr__(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __pyx_memoryview___repr__(self); +} + +static PyMethodDef __pyx_methods_memoryview[] = { + {"__repr__", (PyCFunction)__pyx_specialmethod___pyx_memoryview___repr__, METH_NOARGS|METH_COEXIST, 0}, + {"is_c_contig", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_is_c_contig, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"is_f_contig", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_is_f_contig, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"copy", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_copy, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"copy_fortran", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_copy_fortran, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryview_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryview_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_memoryview[] = { + {(char *)"T", __pyx_getprop___pyx_memoryview_T, 0, (char *)0, 0}, + {(char *)"base", __pyx_getprop___pyx_memoryview_base, 0, (char *)0, 0}, + {(char *)"shape", __pyx_getprop___pyx_memoryview_shape, 0, (char *)0, 0}, + {(char *)"strides", __pyx_getprop___pyx_memoryview_strides, 0, (char *)0, 0}, + {(char *)"suboffsets", __pyx_getprop___pyx_memoryview_suboffsets, 0, (char *)0, 0}, + {(char *)"ndim", __pyx_getprop___pyx_memoryview_ndim, 0, (char *)0, 0}, + {(char *)"itemsize", __pyx_getprop___pyx_memoryview_itemsize, 0, (char *)0, 0}, + {(char *)"nbytes", __pyx_getprop___pyx_memoryview_nbytes, 0, (char *)0, 0}, + {(char *)"size", __pyx_getprop___pyx_memoryview_size, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +#if !CYTHON_COMPILING_IN_LIMITED_API + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; +#endif +static PyType_Slot __pyx_type___pyx_memoryview_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_memoryview}, + {Py_tp_repr, (void *)__pyx_memoryview___repr__}, + {Py_sq_length, (void *)__pyx_memoryview___len__}, + {Py_sq_item, (void *)__pyx_sq_item_memoryview}, + {Py_mp_length, (void *)__pyx_memoryview___len__}, + {Py_mp_subscript, (void *)__pyx_memoryview___getitem__}, + {Py_mp_ass_subscript, (void *)__pyx_mp_ass_subscript_memoryview}, + {Py_tp_str, (void *)__pyx_memoryview___str__}, + #if defined(Py_bf_getbuffer) + {Py_bf_getbuffer, (void *)__pyx_memoryview_getbuffer}, + #endif + {Py_tp_traverse, (void *)__pyx_tp_traverse_memoryview}, + {Py_tp_clear, (void *)__pyx_tp_clear_memoryview}, + {Py_tp_methods, (void *)__pyx_methods_memoryview}, + {Py_tp_getset, (void *)__pyx_getsets_memoryview}, + {Py_tp_new, (void *)__pyx_tp_new_memoryview}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_memoryview_spec = { + "selfdrive.modeld.models.commonmodel_pyx.memoryview", + sizeof(struct __pyx_memoryview_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type___pyx_memoryview_slots, +}; +#else + +static PySequenceMethods __pyx_tp_as_sequence_memoryview = { + __pyx_memoryview___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_memoryview, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_memoryview = { + __pyx_memoryview___len__, /*mp_length*/ + __pyx_memoryview___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_memoryview, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_memoryview = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.modeld.models.commonmodel_pyx.""memoryview", /*tp_name*/ + sizeof(struct __pyx_memoryview_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_memoryview, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_memoryview___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_memoryview, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_memoryview, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + __pyx_memoryview___str__, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_memoryview, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_memoryview, /*tp_traverse*/ + __pyx_tp_clear_memoryview, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_memoryview, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_memoryview, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_memoryview, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct__memoryviewslice __pyx_vtable__memoryviewslice; + +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryviewslice_obj *p; + PyObject *o = __pyx_tp_new_memoryview(t, a, k); + if (unlikely(!o)) return 0; + p = ((struct __pyx_memoryviewslice_obj *)o); + p->__pyx_base.__pyx_vtab = (struct __pyx_vtabstruct_memoryview*)__pyx_vtabptr__memoryviewslice; + new((void*)&(p->from_slice)) __Pyx_memviewslice(); + p->from_object = Py_None; Py_INCREF(Py_None); + p->from_slice.memview = NULL; + return o; +} + +static void __pyx_tp_dealloc__memoryviewslice(PyObject *o) { + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc__memoryviewslice) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryviewslice___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + __Pyx_call_destructor(p->from_slice); + Py_CLEAR(p->from_object); + PyObject_GC_Track(o); + __pyx_tp_dealloc_memoryview(o); +} + +static int __pyx_tp_traverse__memoryviewslice(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + e = __pyx_tp_traverse_memoryview(o, v, a); if (e) return e; + if (p->from_object) { + e = (*v)(p->from_object, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear__memoryviewslice(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + __pyx_tp_clear_memoryview(o); + tmp = ((PyObject*)p->from_object); + p->from_object = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + __PYX_XCLEAR_MEMVIEW(&p->from_slice, 1); + return 0; +} + +static PyMethodDef __pyx_methods__memoryviewslice[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryviewslice_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryviewslice_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type___pyx_memoryviewslice_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc__memoryviewslice}, + {Py_tp_doc, (void *)PyDoc_STR("Internal class for passing memoryview slices to Python")}, + {Py_tp_traverse, (void *)__pyx_tp_traverse__memoryviewslice}, + {Py_tp_clear, (void *)__pyx_tp_clear__memoryviewslice}, + {Py_tp_methods, (void *)__pyx_methods__memoryviewslice}, + {Py_tp_new, (void *)__pyx_tp_new__memoryviewslice}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_memoryviewslice_spec = { + "selfdrive.modeld.models.commonmodel_pyx._memoryviewslice", + sizeof(struct __pyx_memoryviewslice_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_SEQUENCE, + __pyx_type___pyx_memoryviewslice_slots, +}; +#else + +static PyTypeObject __pyx_type___pyx_memoryviewslice = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.modeld.models.commonmodel_pyx.""_memoryviewslice", /*tp_name*/ + sizeof(struct __pyx_memoryviewslice_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc__memoryviewslice, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + #if CYTHON_COMPILING_IN_PYPY || 0 + __pyx_memoryview___repr__, /*tp_repr*/ + #else + 0, /*tp_repr*/ + #endif + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + #if CYTHON_COMPILING_IN_PYPY || 0 + __pyx_memoryview___str__, /*tp_str*/ + #else + 0, /*tp_str*/ + #endif + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_SEQUENCE, /*tp_flags*/ + PyDoc_STR("Internal class for passing memoryview slices to Python"), /*tp_doc*/ + __pyx_tp_traverse__memoryviewslice, /*tp_traverse*/ + __pyx_tp_clear__memoryviewslice, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods__memoryviewslice, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new__memoryviewslice, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyMethodDef 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{&__pyx_n_s_CLContext, __pyx_k_CLContext, sizeof(__pyx_k_CLContext), 0, 0, 1, 1}, + {&__pyx_n_s_CLContext___reduce_cython, __pyx_k_CLContext___reduce_cython, sizeof(__pyx_k_CLContext___reduce_cython), 0, 0, 1, 1}, + {&__pyx_n_s_CLContext___setstate_cython, __pyx_k_CLContext___setstate_cython, sizeof(__pyx_k_CLContext___setstate_cython), 0, 0, 1, 1}, + {&__pyx_n_s_CLMem, __pyx_k_CLMem, sizeof(__pyx_k_CLMem), 0, 0, 1, 1}, + {&__pyx_n_s_CLMem___reduce_cython, __pyx_k_CLMem___reduce_cython, sizeof(__pyx_k_CLMem___reduce_cython), 0, 0, 1, 1}, + {&__pyx_n_s_CLMem___setstate_cython, __pyx_k_CLMem___setstate_cython, sizeof(__pyx_k_CLMem___setstate_cython), 0, 0, 1, 1}, + {&__pyx_kp_s_Can_only_create_a_buffer_that_is, __pyx_k_Can_only_create_a_buffer_that_is, sizeof(__pyx_k_Can_only_create_a_buffer_that_is), 0, 0, 1, 0}, + {&__pyx_kp_s_Cannot_assign_to_read_only_memor, __pyx_k_Cannot_assign_to_read_only_memor, sizeof(__pyx_k_Cannot_assign_to_read_only_memor), 0, 0, 1, 0}, + 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+ #ifdef __cplusplus +} /* anonymous namespace */ +#endif +#endif + +#ifndef CYTHON_NO_PYINIT_EXPORT +#define __Pyx_PyMODINIT_FUNC PyMODINIT_FUNC +#elif PY_MAJOR_VERSION < 3 +#ifdef __cplusplus +#define __Pyx_PyMODINIT_FUNC extern "C" void +#else +#define __Pyx_PyMODINIT_FUNC void +#endif +#else +#ifdef __cplusplus +#define __Pyx_PyMODINIT_FUNC extern "C" PyObject * +#else +#define __Pyx_PyMODINIT_FUNC PyObject * +#endif +#endif + + +#if PY_MAJOR_VERSION < 3 +__Pyx_PyMODINIT_FUNC initcommonmodel_pyx(void) CYTHON_SMALL_CODE; /*proto*/ +__Pyx_PyMODINIT_FUNC initcommonmodel_pyx(void) +#else +__Pyx_PyMODINIT_FUNC PyInit_commonmodel_pyx(void) CYTHON_SMALL_CODE; /*proto*/ +__Pyx_PyMODINIT_FUNC PyInit_commonmodel_pyx(void) +#if CYTHON_PEP489_MULTI_PHASE_INIT +{ + return PyModuleDef_Init(&__pyx_moduledef); +} +static CYTHON_SMALL_CODE int __Pyx_check_single_interpreter(void) { + #if PY_VERSION_HEX >= 0x030700A1 + static PY_INT64_T main_interpreter_id = -1; + PY_INT64_T current_id = PyInterpreterState_GetID(PyThreadState_Get()->interp); 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+ Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#endif +} +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { +#if PY_VERSION_HEX >= 0x030C00A6 + PyObject* exc_value; + exc_value = tstate->current_exception; + tstate->current_exception = 0; + *value = exc_value; + *type = NULL; + *tb = NULL; + if (exc_value) { + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + #if CYTHON_COMPILING_IN_CPYTHON + *tb = ((PyBaseExceptionObject*) exc_value)->traceback; + Py_XINCREF(*tb); + #else + *tb = PyException_GetTraceback(exc_value); + #endif + } +#else + *type = tstate->curexc_type; + *value = tstate->curexc_value; + *tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; +#endif +} +#endif + +/* PyObjectGetAttrStr */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name) { + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro)) + return tp->tp_getattro(obj, attr_name); +#if PY_MAJOR_VERSION < 3 + if (likely(tp->tp_getattr)) + return tp->tp_getattr(obj, PyString_AS_STRING(attr_name)); +#endif + return PyObject_GetAttr(obj, attr_name); +} +#endif + +/* PyObjectGetAttrStrNoError */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + __Pyx_PyErr_Clear(); +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { + PyObject *result; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + (void) PyObject_GetOptionalAttr(obj, attr_name, &result); + return result; +#else +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { + return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); + } +#endif + result = __Pyx_PyObject_GetAttrStr(obj, attr_name); + if (unlikely(!result)) { + __Pyx_PyObject_GetAttrStr_ClearAttributeError(); + } + return result; +#endif +} + +/* GetBuiltinName */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name) { + PyObject* result = __Pyx_PyObject_GetAttrStrNoError(__pyx_b, name); + if (unlikely(!result) && !PyErr_Occurred()) { + PyErr_Format(PyExc_NameError, +#if PY_MAJOR_VERSION >= 3 + "name '%U' is not defined", name); +#else + "name '%.200s' is not defined", PyString_AS_STRING(name)); +#endif + } + return result; +} + +/* TupleAndListFromArray */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE void __Pyx_copy_object_array(PyObject *const *CYTHON_RESTRICT src, PyObject** CYTHON_RESTRICT dest, Py_ssize_t length) { + PyObject *v; + Py_ssize_t i; + for (i = 0; i < length; i++) { + v = dest[i] = src[i]; + Py_INCREF(v); + } +} +static CYTHON_INLINE PyObject * +__Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + Py_INCREF(__pyx_empty_tuple); + return __pyx_empty_tuple; + } + res = PyTuple_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyTupleObject*)res)->ob_item, n); + return res; +} +static CYTHON_INLINE PyObject * +__Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + return PyList_New(0); + } + res = PyList_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyListObject*)res)->ob_item, n); + return res; +} +#endif + +/* BytesEquals */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else + if (s1 == s2) { + return (equals == Py_EQ); + } else if (PyBytes_CheckExact(s1) & PyBytes_CheckExact(s2)) { + const char *ps1, *ps2; + Py_ssize_t length = PyBytes_GET_SIZE(s1); + if (length != PyBytes_GET_SIZE(s2)) + return (equals == Py_NE); + ps1 = PyBytes_AS_STRING(s1); + ps2 = PyBytes_AS_STRING(s2); + if (ps1[0] != ps2[0]) { + return (equals == Py_NE); + } else if (length == 1) { + return (equals == Py_EQ); + } else { + int result; +#if CYTHON_USE_UNICODE_INTERNALS && (PY_VERSION_HEX < 0x030B0000) + Py_hash_t hash1, hash2; + hash1 = ((PyBytesObject*)s1)->ob_shash; + hash2 = ((PyBytesObject*)s2)->ob_shash; + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + return (equals == Py_NE); + } +#endif + result = memcmp(ps1, ps2, (size_t)length); + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { + return (equals == Py_NE); + } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { + return (equals == Py_NE); + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +#endif +} + +/* UnicodeEquals */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else +#if PY_MAJOR_VERSION < 3 + PyObject* owned_ref = NULL; +#endif + int s1_is_unicode, s2_is_unicode; + if (s1 == s2) { + goto return_eq; + } + s1_is_unicode = PyUnicode_CheckExact(s1); + s2_is_unicode = PyUnicode_CheckExact(s2); +#if PY_MAJOR_VERSION < 3 + if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { + owned_ref = PyUnicode_FromObject(s2); + if (unlikely(!owned_ref)) + return -1; + s2 = owned_ref; + s2_is_unicode = 1; + } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { + owned_ref = PyUnicode_FromObject(s1); + if (unlikely(!owned_ref)) + return -1; + s1 = owned_ref; + s1_is_unicode = 1; + } else if (((!s2_is_unicode) & (!s1_is_unicode))) { + return __Pyx_PyBytes_Equals(s1, s2, equals); + } +#endif + if (s1_is_unicode & s2_is_unicode) { + Py_ssize_t length; + int kind; + void *data1, *data2; + if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) + return -1; + length = __Pyx_PyUnicode_GET_LENGTH(s1); + if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { + goto return_ne; + } +#if CYTHON_USE_UNICODE_INTERNALS + { + Py_hash_t hash1, hash2; + #if CYTHON_PEP393_ENABLED + hash1 = ((PyASCIIObject*)s1)->hash; + hash2 = ((PyASCIIObject*)s2)->hash; + #else + hash1 = ((PyUnicodeObject*)s1)->hash; + hash2 = ((PyUnicodeObject*)s2)->hash; + #endif + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + goto return_ne; + } + } +#endif + kind = __Pyx_PyUnicode_KIND(s1); + if (kind != __Pyx_PyUnicode_KIND(s2)) { + goto return_ne; + } + data1 = __Pyx_PyUnicode_DATA(s1); + data2 = __Pyx_PyUnicode_DATA(s2); + if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { + goto return_ne; + } else if (length == 1) { + goto return_eq; + } else { + int result = memcmp(data1, data2, (size_t)(length * kind)); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & s2_is_unicode) { + goto return_ne; + } else if ((s2 == Py_None) & s1_is_unicode) { + goto return_ne; + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +return_eq: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ); +return_ne: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_NE); +#endif +} + +/* fastcall */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s) +{ + Py_ssize_t i, n = PyTuple_GET_SIZE(kwnames); + for (i = 0; i < n; i++) + { + if (s == PyTuple_GET_ITEM(kwnames, i)) return kwvalues[i]; + } + for (i = 0; i < n; i++) + { + int eq = __Pyx_PyUnicode_Equals(s, PyTuple_GET_ITEM(kwnames, i), Py_EQ); + if (unlikely(eq != 0)) { + if (unlikely(eq < 0)) return NULL; + return kwvalues[i]; + } + } + return NULL; +} +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 +CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { + Py_ssize_t i, nkwargs = PyTuple_GET_SIZE(kwnames); + PyObject *dict; + dict = PyDict_New(); + if (unlikely(!dict)) + return NULL; + for (i=0; i= 3 + "%s() got multiple values for keyword argument '%U'", func_name, kw_name); + #else + "%s() got multiple values for keyword argument '%s'", func_name, + PyString_AsString(kw_name)); + #endif +} + +/* ParseKeywords */ +static int __Pyx_ParseOptionalKeywords( + PyObject *kwds, + PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, + PyObject *values[], + Py_ssize_t num_pos_args, + const char* function_name) +{ + PyObject *key = 0, *value = 0; + Py_ssize_t pos = 0; + PyObject*** name; + PyObject*** first_kw_arg = argnames + num_pos_args; + int kwds_is_tuple = CYTHON_METH_FASTCALL && likely(PyTuple_Check(kwds)); + while (1) { + Py_XDECREF(key); key = NULL; + Py_XDECREF(value); value = NULL; + if (kwds_is_tuple) { + Py_ssize_t size; +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(kwds); +#else + size = PyTuple_Size(kwds); + if (size < 0) goto bad; +#endif + if (pos >= size) break; +#if CYTHON_AVOID_BORROWED_REFS + key = __Pyx_PySequence_ITEM(kwds, pos); + if (!key) goto bad; +#elif CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kwds, pos); +#else + key = PyTuple_GetItem(kwds, pos); + if (!key) goto bad; +#endif + value = kwvalues[pos]; + pos++; + } + else + { + if (!PyDict_Next(kwds, &pos, &key, &value)) break; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + } + name = first_kw_arg; + while (*name && (**name != key)) name++; + if (*name) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(value); + Py_DECREF(key); +#endif + key = NULL; + value = NULL; + continue; + } +#if !CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + Py_INCREF(value); + name = first_kw_arg; + #if PY_MAJOR_VERSION < 3 + if (likely(PyString_Check(key))) { + while (*name) { + if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) + && _PyString_Eq(**name, key)) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + if ((**argname == key) || ( + (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) + && _PyString_Eq(**argname, key))) { + goto arg_passed_twice; + } + argname++; + } + } + } else + #endif + if (likely(PyUnicode_Check(key))) { + while (*name) { + int cmp = ( + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**name, key) + ); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + int cmp = (**argname == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**argname, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) goto arg_passed_twice; + argname++; + } + } + } else + goto invalid_keyword_type; + if (kwds2) { + if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; + } else { + goto invalid_keyword; + } + } + Py_XDECREF(key); + Py_XDECREF(value); + return 0; +arg_passed_twice: + __Pyx_RaiseDoubleKeywordsError(function_name, key); + goto bad; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + goto bad; +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif +bad: + Py_XDECREF(key); + Py_XDECREF(value); + return -1; +} + +/* ArgTypeTest */ +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact) +{ + __Pyx_TypeName type_name; + __Pyx_TypeName obj_type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + else if (exact) { + #if PY_MAJOR_VERSION == 2 + if ((type == &PyBaseString_Type) && likely(__Pyx_PyBaseString_CheckExact(obj))) return 1; + #endif + } + else { + if (likely(__Pyx_TypeCheck(obj, type))) return 1; + } + type_name = __Pyx_PyType_GetName(type); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "Argument '%.200s' has incorrect type (expected " __Pyx_FMT_TYPENAME + ", got " __Pyx_FMT_TYPENAME ")", name, type_name, obj_type_name); + __Pyx_DECREF_TypeName(type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* RaiseException */ +#if PY_MAJOR_VERSION < 3 +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + __Pyx_PyThreadState_declare + CYTHON_UNUSED_VAR(cause); + Py_XINCREF(type); + if (!value || value == Py_None) + value = NULL; + else + Py_INCREF(value); + if (!tb || tb == Py_None) + tb = NULL; + else { + Py_INCREF(tb); + if (!PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto raise_error; + } + } + if (PyType_Check(type)) { +#if CYTHON_COMPILING_IN_PYPY + if (!value) { + Py_INCREF(Py_None); + value = Py_None; + } +#endif + PyErr_NormalizeException(&type, &value, &tb); + } else { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto raise_error; + } + value = type; + type = (PyObject*) Py_TYPE(type); + Py_INCREF(type); + if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto raise_error; + } + } + __Pyx_PyThreadState_assign + __Pyx_ErrRestore(type, value, tb); + return; +raise_error: + Py_XDECREF(value); + Py_XDECREF(type); + Py_XDECREF(tb); + return; +} +#else +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + PyObject* owned_instance = NULL; + if (tb == Py_None) { + tb = 0; + } else if (tb && !PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto bad; + } + if (value == Py_None) + value = 0; + if (PyExceptionInstance_Check(type)) { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto bad; + } + value = type; + type = (PyObject*) Py_TYPE(value); + } else if (PyExceptionClass_Check(type)) { + PyObject *instance_class = NULL; + if (value && PyExceptionInstance_Check(value)) { + instance_class = (PyObject*) Py_TYPE(value); + if (instance_class != type) { + int is_subclass = PyObject_IsSubclass(instance_class, type); + if (!is_subclass) { + instance_class = NULL; + } else if (unlikely(is_subclass == -1)) { + goto bad; + } else { + type = instance_class; + } + } + } + if (!instance_class) { + PyObject *args; + if (!value) + args = PyTuple_New(0); + else if (PyTuple_Check(value)) { + Py_INCREF(value); + args = value; + } else + args = PyTuple_Pack(1, value); + if (!args) + goto bad; + owned_instance = PyObject_Call(type, args, NULL); + Py_DECREF(args); + if (!owned_instance) + goto bad; + value = owned_instance; + if (!PyExceptionInstance_Check(value)) { + PyErr_Format(PyExc_TypeError, + "calling %R should have returned an instance of " + "BaseException, not %R", + type, Py_TYPE(value)); + goto bad; + } + } + } else { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto bad; + } + if (cause) { + PyObject *fixed_cause; + if (cause == Py_None) { + fixed_cause = NULL; + } else if (PyExceptionClass_Check(cause)) { + fixed_cause = PyObject_CallObject(cause, NULL); + if (fixed_cause == NULL) + goto bad; + } else if (PyExceptionInstance_Check(cause)) { + fixed_cause = cause; + Py_INCREF(fixed_cause); + } else { + PyErr_SetString(PyExc_TypeError, + "exception causes must derive from " + "BaseException"); + goto bad; + } + PyException_SetCause(value, fixed_cause); + } + PyErr_SetObject(type, value); + if (tb) { + #if PY_VERSION_HEX >= 0x030C00A6 + PyException_SetTraceback(value, tb); + #elif CYTHON_FAST_THREAD_STATE + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* tmp_tb = tstate->curexc_traceback; + if (tb != tmp_tb) { + Py_INCREF(tb); + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_tb); + } +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); + Py_INCREF(tb); + PyErr_Restore(tmp_type, tmp_value, tb); + Py_XDECREF(tmp_tb); +#endif + } +bad: + Py_XDECREF(owned_instance); + return; +} +#endif + +/* PyFunctionFastCall */ +#if CYTHON_FAST_PYCALL && !CYTHON_VECTORCALL +static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, + PyObject *globals) { + PyFrameObject *f; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject **fastlocals; + Py_ssize_t i; + PyObject *result; + assert(globals != NULL); + /* XXX Perhaps we should create a specialized + PyFrame_New() that doesn't take locals, but does + take builtins without sanity checking them. + */ + assert(tstate != NULL); + f = PyFrame_New(tstate, co, globals, NULL); + if (f == NULL) { + return NULL; + } + fastlocals = __Pyx_PyFrame_GetLocalsplus(f); + for (i = 0; i < na; i++) { + Py_INCREF(*args); + fastlocals[i] = *args++; + } + result = PyEval_EvalFrameEx(f,0); + ++tstate->recursion_depth; + Py_DECREF(f); + --tstate->recursion_depth; + return result; +} +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { + PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); + PyObject *globals = PyFunction_GET_GLOBALS(func); + PyObject *argdefs = PyFunction_GET_DEFAULTS(func); + PyObject *closure; +#if PY_MAJOR_VERSION >= 3 + PyObject *kwdefs; +#endif + PyObject *kwtuple, **k; + PyObject **d; + Py_ssize_t nd; + Py_ssize_t nk; + PyObject *result; + assert(kwargs == NULL || PyDict_Check(kwargs)); + nk = kwargs ? PyDict_Size(kwargs) : 0; + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) { + return NULL; + } + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) { + return NULL; + } + #endif + if ( +#if PY_MAJOR_VERSION >= 3 + co->co_kwonlyargcount == 0 && +#endif + likely(kwargs == NULL || nk == 0) && + co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { + if (argdefs == NULL && co->co_argcount == nargs) { + result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); + goto done; + } + else if (nargs == 0 && argdefs != NULL + && co->co_argcount == Py_SIZE(argdefs)) { + /* function called with no arguments, but all parameters have + a default value: use default values as arguments .*/ + args = &PyTuple_GET_ITEM(argdefs, 0); + result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); + goto done; + } + } + if (kwargs != NULL) { + Py_ssize_t pos, i; + kwtuple = PyTuple_New(2 * nk); + if (kwtuple == NULL) { + result = NULL; + goto done; + } + k = &PyTuple_GET_ITEM(kwtuple, 0); + pos = i = 0; + while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { + Py_INCREF(k[i]); + Py_INCREF(k[i+1]); + i += 2; + } + nk = i / 2; + } + else { + kwtuple = NULL; + k = NULL; + } + closure = PyFunction_GET_CLOSURE(func); +#if PY_MAJOR_VERSION >= 3 + kwdefs = PyFunction_GET_KW_DEFAULTS(func); +#endif + if (argdefs != NULL) { + d = &PyTuple_GET_ITEM(argdefs, 0); + nd = Py_SIZE(argdefs); + } + else { + d = NULL; + nd = 0; + } +#if PY_MAJOR_VERSION >= 3 + result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, kwdefs, closure); +#else + result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, closure); +#endif + Py_XDECREF(kwtuple); +done: + Py_LeaveRecursiveCall(); + return result; +} +#endif + +/* PyObjectCall */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *result; + ternaryfunc call = Py_TYPE(func)->tp_call; + if (unlikely(!call)) + return PyObject_Call(func, arg, kw); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = (*call)(func, arg, kw); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCallMethO */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { + PyObject *self, *result; + PyCFunction cfunc; + cfunc = __Pyx_CyOrPyCFunction_GET_FUNCTION(func); + self = __Pyx_CyOrPyCFunction_GET_SELF(func); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = cfunc(self, arg); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectFastCall */ +#if PY_VERSION_HEX < 0x03090000 || CYTHON_COMPILING_IN_LIMITED_API +static PyObject* __Pyx_PyObject_FastCall_fallback(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs) { + PyObject *argstuple; + PyObject *result = 0; + size_t i; + argstuple = PyTuple_New((Py_ssize_t)nargs); + if (unlikely(!argstuple)) return NULL; + for (i = 0; i < nargs; i++) { + Py_INCREF(args[i]); + if (__Pyx_PyTuple_SET_ITEM(argstuple, (Py_ssize_t)i, args[i]) < 0) goto bad; + } + result = __Pyx_PyObject_Call(func, argstuple, kwargs); + bad: + Py_DECREF(argstuple); + return result; +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t _nargs, PyObject *kwargs) { + Py_ssize_t nargs = __Pyx_PyVectorcall_NARGS(_nargs); +#if CYTHON_COMPILING_IN_CPYTHON + if (nargs == 0 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_NOARGS)) + return __Pyx_PyObject_CallMethO(func, NULL); + } + else if (nargs == 1 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_O)) + return __Pyx_PyObject_CallMethO(func, args[0]); + } +#endif + #if PY_VERSION_HEX < 0x030800B1 + #if CYTHON_FAST_PYCCALL + if (PyCFunction_Check(func)) { + if (kwargs) { + return _PyCFunction_FastCallDict(func, args, nargs, kwargs); + } else { + return _PyCFunction_FastCallKeywords(func, args, nargs, NULL); + } + } + #if PY_VERSION_HEX >= 0x030700A1 + if (!kwargs && __Pyx_IS_TYPE(func, &PyMethodDescr_Type)) { + return _PyMethodDescr_FastCallKeywords(func, args, nargs, NULL); + } + #endif + #endif + #if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs); + } + #endif + #endif + if (kwargs == NULL) { + #if CYTHON_VECTORCALL + #if PY_VERSION_HEX < 0x03090000 + vectorcallfunc f = _PyVectorcall_Function(func); + #else + vectorcallfunc f = PyVectorcall_Function(func); + #endif + if (f) { + return f(func, args, (size_t)nargs, NULL); + } + #elif defined(__Pyx_CyFunction_USED) && CYTHON_BACKPORT_VECTORCALL + if (__Pyx_CyFunction_CheckExact(func)) { + __pyx_vectorcallfunc f = __Pyx_CyFunction_func_vectorcall(func); + if (f) return f(func, args, (size_t)nargs, NULL); + } + #endif + } + if (nargs == 0) { + return __Pyx_PyObject_Call(func, __pyx_empty_tuple, kwargs); + } + #if PY_VERSION_HEX >= 0x03090000 && !CYTHON_COMPILING_IN_LIMITED_API + return PyObject_VectorcallDict(func, args, (size_t)nargs, kwargs); + #else + return __Pyx_PyObject_FastCall_fallback(func, args, (size_t)nargs, kwargs); + #endif +} + +/* RaiseUnexpectedTypeError */ +static int +__Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj) +{ + __Pyx_TypeName obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, "Expected %s, got " __Pyx_FMT_TYPENAME, + expected, obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* CIntToDigits */ +static const char DIGIT_PAIRS_10[2*10*10+1] = { + "00010203040506070809" + "10111213141516171819" + "20212223242526272829" + "30313233343536373839" + "40414243444546474849" + "50515253545556575859" + "60616263646566676869" + "70717273747576777879" + "80818283848586878889" + "90919293949596979899" +}; +static const char DIGIT_PAIRS_8[2*8*8+1] = { + "0001020304050607" + "1011121314151617" + "2021222324252627" + "3031323334353637" + "4041424344454647" + "5051525354555657" + "6061626364656667" + "7071727374757677" +}; +static const char DIGITS_HEX[2*16+1] = { + "0123456789abcdef" + "0123456789ABCDEF" +}; + +/* BuildPyUnicode */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char) { + PyObject *uval; + Py_ssize_t uoffset = ulength - clength; +#if CYTHON_USE_UNICODE_INTERNALS + Py_ssize_t i; +#if CYTHON_PEP393_ENABLED + void *udata; + uval = PyUnicode_New(ulength, 127); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_DATA(uval); +#else + Py_UNICODE *udata; + uval = PyUnicode_FromUnicode(NULL, ulength); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_AS_UNICODE(uval); +#endif + if (uoffset > 0) { + i = 0; + if (prepend_sign) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, 0, '-'); + i++; + } + for (; i < uoffset; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, i, padding_char); + } + } + for (i=0; i < clength; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, uoffset+i, chars[i]); + } +#else + { + PyObject *sign = NULL, *padding = NULL; + uval = NULL; + if (uoffset > 0) { + prepend_sign = !!prepend_sign; + if (uoffset > prepend_sign) { + padding = PyUnicode_FromOrdinal(padding_char); + if (likely(padding) && uoffset > prepend_sign + 1) { + PyObject *tmp; + PyObject *repeat = PyInt_FromSsize_t(uoffset - prepend_sign); + if (unlikely(!repeat)) goto done_or_error; + tmp = PyNumber_Multiply(padding, repeat); + Py_DECREF(repeat); + Py_DECREF(padding); + padding = tmp; + } + if (unlikely(!padding)) goto done_or_error; + } + if (prepend_sign) { + sign = PyUnicode_FromOrdinal('-'); + if (unlikely(!sign)) goto done_or_error; + } + } + uval = PyUnicode_DecodeASCII(chars, clength, NULL); + if (likely(uval) && padding) { + PyObject *tmp = PyNumber_Add(padding, uval); + Py_DECREF(uval); + uval = tmp; + } + if (likely(uval) && sign) { + PyObject *tmp = PyNumber_Add(sign, uval); + Py_DECREF(uval); + uval = tmp; + } +done_or_error: + Py_XDECREF(padding); + Py_XDECREF(sign); + } +#endif + return uval; +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(int)*3+2]; + char *dpos, *end = digits + sizeof(int)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + int remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (int) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (int) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (int) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_Py_ssize_t(Py_ssize_t value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(Py_ssize_t)*3+2]; + char *dpos, *end = digits + sizeof(Py_ssize_t)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + Py_ssize_t remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const Py_ssize_t neg_one = (Py_ssize_t) -1, const_zero = (Py_ssize_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (Py_ssize_t) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (Py_ssize_t) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (Py_ssize_t) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* JoinPyUnicode */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char) { +#if CYTHON_USE_UNICODE_INTERNALS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + PyObject *result_uval; + int result_ukind, kind_shift; + Py_ssize_t i, char_pos; + void *result_udata; + CYTHON_MAYBE_UNUSED_VAR(max_char); +#if CYTHON_PEP393_ENABLED + result_uval = PyUnicode_New(result_ulength, max_char); + if (unlikely(!result_uval)) return NULL; + result_ukind = (max_char <= 255) ? PyUnicode_1BYTE_KIND : (max_char <= 65535) ? PyUnicode_2BYTE_KIND : PyUnicode_4BYTE_KIND; + kind_shift = (result_ukind == PyUnicode_4BYTE_KIND) ? 2 : result_ukind - 1; + result_udata = PyUnicode_DATA(result_uval); +#else + result_uval = PyUnicode_FromUnicode(NULL, result_ulength); + if (unlikely(!result_uval)) return NULL; + result_ukind = sizeof(Py_UNICODE); + kind_shift = (result_ukind == 4) ? 2 : result_ukind - 1; + result_udata = PyUnicode_AS_UNICODE(result_uval); +#endif + assert(kind_shift == 2 || kind_shift == 1 || kind_shift == 0); + char_pos = 0; + for (i=0; i < value_count; i++) { + int ukind; + Py_ssize_t ulength; + void *udata; + PyObject *uval = PyTuple_GET_ITEM(value_tuple, i); + if (unlikely(__Pyx_PyUnicode_READY(uval))) + goto bad; + ulength = __Pyx_PyUnicode_GET_LENGTH(uval); + if (unlikely(!ulength)) + continue; + if (unlikely((PY_SSIZE_T_MAX >> kind_shift) - ulength < char_pos)) + goto overflow; + ukind = __Pyx_PyUnicode_KIND(uval); + udata = __Pyx_PyUnicode_DATA(uval); + if (!CYTHON_PEP393_ENABLED || ukind == result_ukind) { + memcpy((char *)result_udata + (char_pos << kind_shift), udata, (size_t) (ulength << kind_shift)); + } else { + #if PY_VERSION_HEX >= 0x030d0000 + if (unlikely(PyUnicode_CopyCharacters(result_uval, char_pos, uval, 0, ulength) < 0)) goto bad; + #elif CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030300F0 || defined(_PyUnicode_FastCopyCharacters) + _PyUnicode_FastCopyCharacters(result_uval, char_pos, uval, 0, ulength); + #else + Py_ssize_t j; + for (j=0; j < ulength; j++) { + Py_UCS4 uchar = __Pyx_PyUnicode_READ(ukind, udata, j); + __Pyx_PyUnicode_WRITE(result_ukind, result_udata, char_pos+j, uchar); + } + #endif + } + char_pos += ulength; + } + return result_uval; +overflow: + PyErr_SetString(PyExc_OverflowError, "join() result is too long for a Python string"); +bad: + Py_DECREF(result_uval); + return NULL; +#else + CYTHON_UNUSED_VAR(max_char); + CYTHON_UNUSED_VAR(result_ulength); + CYTHON_UNUSED_VAR(value_count); + return PyUnicode_Join(__pyx_empty_unicode, value_tuple); +#endif +} + +/* GetAttr */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *o, PyObject *n) { +#if CYTHON_USE_TYPE_SLOTS +#if PY_MAJOR_VERSION >= 3 + if (likely(PyUnicode_Check(n))) +#else + if (likely(PyString_Check(n))) +#endif + return __Pyx_PyObject_GetAttrStr(o, n); +#endif + return PyObject_GetAttr(o, n); +} + +/* GetItemInt */ +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { + PyObject *r; + if (unlikely(!j)) return NULL; + r = PyObject_GetItem(o, j); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyList_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { + PyObject *r = PyList_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyTuple_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); + if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { + PyObject *r = PyList_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } + else if (PyTuple_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_subscript) { + PyObject *r, *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return NULL; + r = mm->mp_subscript(o, key); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return NULL; + PyErr_Clear(); + } + } + return sm->sq_item(o, i); + } + } +#else + if (is_list || !PyMapping_Check(o)) { + return PySequence_GetItem(o, i); + } +#endif + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +} + +/* PyObjectCallOneArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *args[2] = {NULL, arg}; + return __Pyx_PyObject_FastCall(func, args+1, 1 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* ObjectGetItem */ +#if CYTHON_USE_TYPE_SLOTS +static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject *index) { + PyObject *runerr = NULL; + Py_ssize_t key_value; + key_value = __Pyx_PyIndex_AsSsize_t(index); + if (likely(key_value != -1 || !(runerr = PyErr_Occurred()))) { + return __Pyx_GetItemInt_Fast(obj, key_value, 0, 1, 1); + } + if (PyErr_GivenExceptionMatches(runerr, PyExc_OverflowError)) { + __Pyx_TypeName index_type_name = __Pyx_PyType_GetName(Py_TYPE(index)); + PyErr_Clear(); + PyErr_Format(PyExc_IndexError, + "cannot fit '" __Pyx_FMT_TYPENAME "' into an index-sized integer", index_type_name); + __Pyx_DECREF_TypeName(index_type_name); + } + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem_Slow(PyObject *obj, PyObject *key) { + __Pyx_TypeName obj_type_name; + if (likely(PyType_Check(obj))) { + PyObject *meth = __Pyx_PyObject_GetAttrStrNoError(obj, __pyx_n_s_class_getitem); + if (!meth) { + PyErr_Clear(); + } else { + PyObject *result = __Pyx_PyObject_CallOneArg(meth, key); + Py_DECREF(meth); + return result; + } + } + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' object is not subscriptable", obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key) { + PyTypeObject *tp = Py_TYPE(obj); + PyMappingMethods *mm = tp->tp_as_mapping; + PySequenceMethods *sm = tp->tp_as_sequence; + if (likely(mm && mm->mp_subscript)) { + return mm->mp_subscript(obj, key); + } + if (likely(sm && sm->sq_item)) { + return __Pyx_PyObject_GetIndex(obj, key); + } + return __Pyx_PyObject_GetItem_Slow(obj, key); +} +#endif + +/* KeywordStringCheck */ +static int __Pyx_CheckKeywordStrings( + PyObject *kw, + const char* function_name, + int kw_allowed) +{ + PyObject* key = 0; + Py_ssize_t pos = 0; +#if CYTHON_COMPILING_IN_PYPY + if (!kw_allowed && PyDict_Next(kw, &pos, &key, 0)) + goto invalid_keyword; + return 1; +#else + if (CYTHON_METH_FASTCALL && likely(PyTuple_Check(kw))) { + Py_ssize_t kwsize; +#if CYTHON_ASSUME_SAFE_MACROS + kwsize = PyTuple_GET_SIZE(kw); +#else + kwsize = PyTuple_Size(kw); + if (kwsize < 0) return 0; +#endif + if (unlikely(kwsize == 0)) + return 1; + if (!kw_allowed) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, 0); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + goto invalid_keyword; + } +#if PY_VERSION_HEX < 0x03090000 + for (pos = 0; pos < kwsize; pos++) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, pos); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } +#endif + return 1; + } + while (PyDict_Next(kw, &pos, &key, 0)) { + #if PY_MAJOR_VERSION < 3 + if (unlikely(!PyString_Check(key))) + #endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } + if (!kw_allowed && unlikely(key)) + goto invalid_keyword; + return 1; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + return 0; +#endif +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif + return 0; +} + +/* DivInt[Py_ssize_t] */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t a, Py_ssize_t b) { + Py_ssize_t q = a / b; + Py_ssize_t r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* GetAttr3 */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static PyObject *__Pyx_GetAttr3Default(PyObject *d) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (unlikely(!__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + return NULL; + __Pyx_PyErr_Clear(); + Py_INCREF(d); + return d; +} +#endif +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *o, PyObject *n, PyObject *d) { + PyObject *r; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + int res = PyObject_GetOptionalAttr(o, n, &r); + return (res != 0) ? r : __Pyx_NewRef(d); +#else + #if CYTHON_USE_TYPE_SLOTS + if (likely(PyString_Check(n))) { + r = __Pyx_PyObject_GetAttrStrNoError(o, n); + if (unlikely(!r) && likely(!PyErr_Occurred())) { + r = __Pyx_NewRef(d); + } + return r; + } + #endif + r = PyObject_GetAttr(o, n); + return (likely(r)) ? r : __Pyx_GetAttr3Default(d); +#endif +} + +/* PyDictVersioning */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { + PyObject **dictptr = NULL; + Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; + if (offset) { +#if CYTHON_COMPILING_IN_CPYTHON + dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); +#else + dictptr = _PyObject_GetDictPtr(obj); +#endif + } + return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; +} +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) + return 0; + return obj_dict_version == __Pyx_get_object_dict_version(obj); +} +#endif + +/* GetModuleGlobalName */ +#if CYTHON_USE_DICT_VERSIONS +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) +#else +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) +#endif +{ + PyObject *result; +#if !CYTHON_AVOID_BORROWED_REFS +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && PY_VERSION_HEX < 0x030d0000 + result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } else if (unlikely(PyErr_Occurred())) { + return NULL; + } +#elif CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(!__pyx_m)) { + return NULL; + } + result = PyObject_GetAttr(__pyx_m, name); + if (likely(result)) { + return result; + } +#else + result = PyDict_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } +#endif +#else + result = PyObject_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } + PyErr_Clear(); +#endif + return __Pyx_GetBuiltinName(name); +} + +/* RaiseTooManyValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected) { + PyErr_Format(PyExc_ValueError, + "too many values to unpack (expected %" CYTHON_FORMAT_SSIZE_T "d)", expected); +} + +/* RaiseNeedMoreValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index) { + PyErr_Format(PyExc_ValueError, + "need more than %" CYTHON_FORMAT_SSIZE_T "d value%.1s to unpack", + index, (index == 1) ? "" : "s"); +} + +/* RaiseNoneIterError */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void) { + PyErr_SetString(PyExc_TypeError, "'NoneType' object is not iterable"); +} + +/* ExtTypeTest */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type) { + __Pyx_TypeName obj_type_name; + __Pyx_TypeName type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + if (likely(__Pyx_TypeCheck(obj, type))) + return 1; + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + type_name = __Pyx_PyType_GetName(type); + PyErr_Format(PyExc_TypeError, + "Cannot convert " __Pyx_FMT_TYPENAME " to " __Pyx_FMT_TYPENAME, + obj_type_name, type_name); + __Pyx_DECREF_TypeName(obj_type_name); + __Pyx_DECREF_TypeName(type_name); + return 0; +} + +/* GetTopmostException */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * +__Pyx_PyErr_GetTopmostException(PyThreadState *tstate) +{ + _PyErr_StackItem *exc_info = tstate->exc_info; + while ((exc_info->exc_value == NULL || exc_info->exc_value == Py_None) && + exc_info->previous_item != NULL) + { + exc_info = exc_info->previous_item; + } + return exc_info; +} +#endif + +/* SaveResetException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + PyObject *exc_value = exc_info->exc_value; + if (exc_value == NULL || exc_value == Py_None) { + *value = NULL; + *type = NULL; + *tb = NULL; + } else { + *value = exc_value; + Py_INCREF(*value); + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + *tb = PyException_GetTraceback(exc_value); + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + *type = exc_info->exc_type; + *value = exc_info->exc_value; + *tb = exc_info->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #else + *type = tstate->exc_type; + *value = tstate->exc_value; + *tb = tstate->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #endif +} +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + PyObject *tmp_value = exc_info->exc_value; + exc_info->exc_value = value; + Py_XDECREF(tmp_value); + Py_XDECREF(type); + Py_XDECREF(tb); + #else + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = type; + exc_info->exc_value = value; + exc_info->exc_traceback = tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = type; + tstate->exc_value = value; + tstate->exc_traceback = tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); + #endif +} +#endif + +/* GetException */ +#if CYTHON_FAST_THREAD_STATE +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb) +#endif +{ + PyObject *local_type = NULL, *local_value, *local_tb = NULL; +#if CYTHON_FAST_THREAD_STATE + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if PY_VERSION_HEX >= 0x030C00A6 + local_value = tstate->current_exception; + tstate->current_exception = 0; + if (likely(local_value)) { + local_type = (PyObject*) Py_TYPE(local_value); + Py_INCREF(local_type); + local_tb = PyException_GetTraceback(local_value); + } + #else + local_type = tstate->curexc_type; + local_value = tstate->curexc_value; + local_tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; + #endif +#else + PyErr_Fetch(&local_type, &local_value, &local_tb); +#endif + PyErr_NormalizeException(&local_type, &local_value, &local_tb); +#if CYTHON_FAST_THREAD_STATE && PY_VERSION_HEX >= 0x030C00A6 + if (unlikely(tstate->current_exception)) +#elif CYTHON_FAST_THREAD_STATE + if (unlikely(tstate->curexc_type)) +#else + if (unlikely(PyErr_Occurred())) +#endif + goto bad; + #if PY_MAJOR_VERSION >= 3 + if (local_tb) { + if (unlikely(PyException_SetTraceback(local_value, local_tb) < 0)) + goto bad; + } + #endif + Py_XINCREF(local_tb); + Py_XINCREF(local_type); + Py_XINCREF(local_value); + *type = local_type; + *value = local_value; + *tb = local_tb; +#if CYTHON_FAST_THREAD_STATE + #if CYTHON_USE_EXC_INFO_STACK + { + _PyErr_StackItem *exc_info = tstate->exc_info; + #if PY_VERSION_HEX >= 0x030B00a4 + tmp_value = exc_info->exc_value; + exc_info->exc_value = local_value; + tmp_type = NULL; + tmp_tb = NULL; + Py_XDECREF(local_type); + Py_XDECREF(local_tb); + #else + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = local_type; + exc_info->exc_value = local_value; + exc_info->exc_traceback = local_tb; + #endif + } + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = local_type; + tstate->exc_value = local_value; + tstate->exc_traceback = local_tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#else + PyErr_SetExcInfo(local_type, local_value, local_tb); +#endif + return 0; +bad: + *type = 0; + *value = 0; + *tb = 0; + Py_XDECREF(local_type); + Py_XDECREF(local_value); + Py_XDECREF(local_tb); + return -1; +} + +/* SwapException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_value = exc_info->exc_value; + exc_info->exc_value = *value; + if (tmp_value == NULL || tmp_value == Py_None) { + Py_XDECREF(tmp_value); + tmp_value = NULL; + tmp_type = NULL; + tmp_tb = NULL; + } else { + tmp_type = (PyObject*) Py_TYPE(tmp_value); + Py_INCREF(tmp_type); + #if CYTHON_COMPILING_IN_CPYTHON + tmp_tb = ((PyBaseExceptionObject*) tmp_value)->traceback; + Py_XINCREF(tmp_tb); + #else + tmp_tb = PyException_GetTraceback(tmp_value); + #endif + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = *type; + exc_info->exc_value = *value; + exc_info->exc_traceback = *tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = *type; + tstate->exc_value = *value; + tstate->exc_traceback = *tb; + #endif + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_GetExcInfo(&tmp_type, &tmp_value, &tmp_tb); + PyErr_SetExcInfo(*type, *value, *tb); + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#endif + +/* Import */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { + PyObject *module = 0; + PyObject *empty_dict = 0; + PyObject *empty_list = 0; + #if PY_MAJOR_VERSION < 3 + PyObject *py_import; + py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); + if (unlikely(!py_import)) + goto bad; + if (!from_list) { + empty_list = PyList_New(0); + if (unlikely(!empty_list)) + goto bad; + from_list = empty_list; + } + #endif + empty_dict = PyDict_New(); + if (unlikely(!empty_dict)) + goto bad; + { + #if PY_MAJOR_VERSION >= 3 + if (level == -1) { + if (strchr(__Pyx_MODULE_NAME, '.') != NULL) { + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, 1); + if (unlikely(!module)) { + if (unlikely(!PyErr_ExceptionMatches(PyExc_ImportError))) + goto bad; + PyErr_Clear(); + } + } + level = 0; + } + #endif + if (!module) { + #if PY_MAJOR_VERSION < 3 + PyObject *py_level = PyInt_FromLong(level); + if (unlikely(!py_level)) + goto bad; + module = PyObject_CallFunctionObjArgs(py_import, + name, __pyx_d, empty_dict, from_list, py_level, (PyObject *)NULL); + Py_DECREF(py_level); + #else + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, level); + #endif + } + } +bad: + Py_XDECREF(empty_dict); + Py_XDECREF(empty_list); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_import); + #endif + return module; +} + +/* ImportDottedModule */ +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Error(PyObject *name, PyObject *parts_tuple, Py_ssize_t count) { + PyObject *partial_name = NULL, *slice = NULL, *sep = NULL; + if (unlikely(PyErr_Occurred())) { + PyErr_Clear(); + } + if (likely(PyTuple_GET_SIZE(parts_tuple) == count)) { + partial_name = name; + } else { + slice = PySequence_GetSlice(parts_tuple, 0, count); + if (unlikely(!slice)) + goto bad; + sep = PyUnicode_FromStringAndSize(".", 1); + if (unlikely(!sep)) + goto bad; + partial_name = PyUnicode_Join(sep, slice); + } + PyErr_Format( +#if PY_MAJOR_VERSION < 3 + PyExc_ImportError, + "No module named '%s'", PyString_AS_STRING(partial_name)); +#else +#if PY_VERSION_HEX >= 0x030600B1 + PyExc_ModuleNotFoundError, +#else + PyExc_ImportError, +#endif + "No module named '%U'", partial_name); +#endif +bad: + Py_XDECREF(sep); + Py_XDECREF(slice); + Py_XDECREF(partial_name); + return NULL; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Lookup(PyObject *name) { + PyObject *imported_module; +#if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + return NULL; + imported_module = __Pyx_PyDict_GetItemStr(modules, name); + Py_XINCREF(imported_module); +#else + imported_module = PyImport_GetModule(name); +#endif + return imported_module; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple) { + Py_ssize_t i, nparts; + nparts = PyTuple_GET_SIZE(parts_tuple); + for (i=1; i < nparts && module; i++) { + PyObject *part, *submodule; +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + part = PyTuple_GET_ITEM(parts_tuple, i); +#else + part = PySequence_ITEM(parts_tuple, i); +#endif + submodule = __Pyx_PyObject_GetAttrStrNoError(module, part); +#if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(part); +#endif + Py_DECREF(module); + module = submodule; + } + if (unlikely(!module)) { + return __Pyx__ImportDottedModule_Error(name, parts_tuple, i); + } + return module; +} +#endif +static PyObject *__Pyx__ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if PY_MAJOR_VERSION < 3 + PyObject *module, *from_list, *star = __pyx_n_s__3; + CYTHON_UNUSED_VAR(parts_tuple); + from_list = PyList_New(1); + if (unlikely(!from_list)) + return NULL; + Py_INCREF(star); + PyList_SET_ITEM(from_list, 0, star); + module = __Pyx_Import(name, from_list, 0); + Py_DECREF(from_list); + return module; +#else + PyObject *imported_module; + PyObject *module = __Pyx_Import(name, NULL, 0); + if (!parts_tuple || unlikely(!module)) + return module; + imported_module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(imported_module)) { + Py_DECREF(module); + return imported_module; + } + PyErr_Clear(); + return __Pyx_ImportDottedModule_WalkParts(module, name, parts_tuple); +#endif +} +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030400B1 + PyObject *module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(module)) { + PyObject *spec = __Pyx_PyObject_GetAttrStrNoError(module, __pyx_n_s_spec); + if (likely(spec)) { + PyObject *unsafe = __Pyx_PyObject_GetAttrStrNoError(spec, __pyx_n_s_initializing); + if (likely(!unsafe || !__Pyx_PyObject_IsTrue(unsafe))) { + Py_DECREF(spec); + spec = NULL; + } + Py_XDECREF(unsafe); + } + if (likely(!spec)) { + PyErr_Clear(); + return module; + } + Py_DECREF(spec); + Py_DECREF(module); + } else if (PyErr_Occurred()) { + PyErr_Clear(); + } +#endif + return __Pyx__ImportDottedModule(name, parts_tuple); +} + +/* FastTypeChecks */ +#if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = __Pyx_PyType_GetSlot(a, tp_base, PyTypeObject*); + if (a == b) + return 1; + } + return b == &PyBaseObject_Type; +} +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(a, b); +} +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (cls == a || cls == b) return 1; + mro = cls->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + PyObject *base = PyTuple_GET_ITEM(mro, i); + if (base == (PyObject *)a || base == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(cls, a) || __Pyx_InBases(cls, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + } + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + if (exc_type1) { + return __Pyx_IsAnySubtype2((PyTypeObject*)err, (PyTypeObject*)exc_type1, (PyTypeObject*)exc_type2); + } else { + return __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } +} +#endif +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; itp_as_sequence && type->tp_as_sequence->sq_repeat)) { + return type->tp_as_sequence->sq_repeat(seq, mul); + } else +#endif + { + return __Pyx_PySequence_Multiply_Generic(seq, mul); + } +} + +/* SetItemInt */ +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v) { + int r; + if (unlikely(!j)) return -1; + r = PyObject_SetItem(o, j, v); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, int is_list, + CYTHON_NCP_UNUSED int wraparound, CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = (!wraparound) ? i : ((likely(i >= 0)) ? i : i + PyList_GET_SIZE(o)); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o)))) { + PyObject* old = PyList_GET_ITEM(o, n); + Py_INCREF(v); + PyList_SET_ITEM(o, n, v); + Py_DECREF(old); + return 1; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_ass_subscript) { + int r; + PyObject *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return -1; + r = mm->mp_ass_subscript(o, key, v); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_ass_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return -1; + PyErr_Clear(); + } + } + return sm->sq_ass_item(o, i, v); + } + } +#else + if (is_list || !PyMapping_Check(o)) + { + return PySequence_SetItem(o, i, v); + } +#endif + return __Pyx_SetItemInt_Generic(o, PyInt_FromSsize_t(i), v); +} + +/* RaiseUnboundLocalError */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname) { + PyErr_Format(PyExc_UnboundLocalError, "local variable '%s' referenced before assignment", varname); +} + +/* DivInt[long] */ +static CYTHON_INLINE long __Pyx_div_long(long a, long b) { + long q = a / b; + long r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* ImportFrom */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name) { + PyObject* value = __Pyx_PyObject_GetAttrStr(module, name); + if (unlikely(!value) && PyErr_ExceptionMatches(PyExc_AttributeError)) { + const char* module_name_str = 0; + PyObject* module_name = 0; + PyObject* module_dot = 0; + PyObject* full_name = 0; + PyErr_Clear(); + module_name_str = PyModule_GetName(module); + if (unlikely(!module_name_str)) { goto modbad; } + module_name = PyUnicode_FromString(module_name_str); + if (unlikely(!module_name)) { goto modbad; } + module_dot = PyUnicode_Concat(module_name, __pyx_kp_u__2); + if (unlikely(!module_dot)) { goto modbad; } + full_name = PyUnicode_Concat(module_dot, name); + if (unlikely(!full_name)) { goto modbad; } + #if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + { + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + goto modbad; + value = PyObject_GetItem(modules, full_name); + } + #else + value = PyImport_GetModule(full_name); + #endif + modbad: + Py_XDECREF(full_name); + Py_XDECREF(module_dot); + Py_XDECREF(module_name); + } + if (unlikely(!value)) { + PyErr_Format(PyExc_ImportError, + #if PY_MAJOR_VERSION < 3 + "cannot import name %.230s", PyString_AS_STRING(name)); + #else + "cannot import name %S", name); + #endif + } + return value; +} + +/* HasAttr */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *o, PyObject *n) { + PyObject *r; + if (unlikely(!__Pyx_PyBaseString_Check(n))) { + PyErr_SetString(PyExc_TypeError, + "hasattr(): attribute name must be string"); + return -1; + } + r = __Pyx_GetAttr(o, n); + if (!r) { + PyErr_Clear(); + return 0; + } else { + Py_DECREF(r); + return 1; + } +} +#endif + +/* PyObjectCall2Args */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2) { + PyObject *args[3] = {NULL, arg1, arg2}; + return __Pyx_PyObject_FastCall(function, args+1, 2 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* PyObjectGetMethod */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method) { + PyObject *attr; +#if CYTHON_UNPACK_METHODS && CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_PYTYPE_LOOKUP + __Pyx_TypeName type_name; + PyTypeObject *tp = Py_TYPE(obj); + PyObject *descr; + descrgetfunc f = NULL; + PyObject **dictptr, *dict; + int meth_found = 0; + assert (*method == NULL); + if (unlikely(tp->tp_getattro != PyObject_GenericGetAttr)) { + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; + } + if (unlikely(tp->tp_dict == NULL) && unlikely(PyType_Ready(tp) < 0)) { + return 0; + } + descr = _PyType_Lookup(tp, name); + if (likely(descr != NULL)) { + Py_INCREF(descr); +#if defined(Py_TPFLAGS_METHOD_DESCRIPTOR) && Py_TPFLAGS_METHOD_DESCRIPTOR + if (__Pyx_PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_METHOD_DESCRIPTOR)) +#elif PY_MAJOR_VERSION >= 3 + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type))) + #endif +#else + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr))) + #endif +#endif + { + meth_found = 1; + } else { + f = Py_TYPE(descr)->tp_descr_get; + if (f != NULL && PyDescr_IsData(descr)) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + } + } + dictptr = _PyObject_GetDictPtr(obj); + if (dictptr != NULL && (dict = *dictptr) != NULL) { + Py_INCREF(dict); + attr = __Pyx_PyDict_GetItemStr(dict, name); + if (attr != NULL) { + Py_INCREF(attr); + Py_DECREF(dict); + Py_XDECREF(descr); + goto try_unpack; + } + Py_DECREF(dict); + } + if (meth_found) { + *method = descr; + return 1; + } + if (f != NULL) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + if (likely(descr != NULL)) { + *method = descr; + return 0; + } + type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return 0; +#else + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; +#endif +try_unpack: +#if CYTHON_UNPACK_METHODS + if (likely(attr) && PyMethod_Check(attr) && likely(PyMethod_GET_SELF(attr) == obj)) { + PyObject *function = PyMethod_GET_FUNCTION(attr); + Py_INCREF(function); + Py_DECREF(attr); + *method = function; + return 1; + } +#endif + *method = attr; + return 0; +} + +/* PyObjectCallMethod1 */ +#if !(CYTHON_VECTORCALL && __PYX_LIMITED_VERSION_HEX >= 0x030C00A2) +static PyObject* __Pyx__PyObject_CallMethod1(PyObject* method, PyObject* arg) { + PyObject *result = __Pyx_PyObject_CallOneArg(method, arg); + Py_DECREF(method); + return result; +} +#endif +static PyObject* __Pyx_PyObject_CallMethod1(PyObject* obj, PyObject* method_name, PyObject* arg) { +#if CYTHON_VECTORCALL && __PYX_LIMITED_VERSION_HEX >= 0x030C00A2 + PyObject *args[2] = {obj, arg}; + (void) __Pyx_PyObject_GetMethod; + (void) __Pyx_PyObject_CallOneArg; + (void) __Pyx_PyObject_Call2Args; + return PyObject_VectorcallMethod(method_name, args, 2 | PY_VECTORCALL_ARGUMENTS_OFFSET, NULL); +#else + PyObject *method = NULL, *result; + int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); + if (likely(is_method)) { + result = __Pyx_PyObject_Call2Args(method, obj, arg); + Py_DECREF(method); + return result; + } + if (unlikely(!method)) return NULL; + return __Pyx__PyObject_CallMethod1(method, arg); +#endif +} + +/* StringJoin */ +static CYTHON_INLINE PyObject* __Pyx_PyBytes_Join(PyObject* sep, PyObject* values) { + (void) __Pyx_PyObject_CallMethod1; +#if CYTHON_COMPILING_IN_CPYTHON && PY_MAJOR_VERSION < 3 + return _PyString_Join(sep, values); +#elif CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030d0000 + return _PyBytes_Join(sep, values); +#else + return __Pyx_PyObject_CallMethod1(sep, __pyx_n_s_join, values); +#endif +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_size_t(size_t value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(size_t)*3+2]; + char *dpos, *end = digits + sizeof(size_t)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + size_t remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const size_t neg_one = (size_t) -1, const_zero = (size_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (size_t) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (size_t) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (size_t) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* PyObjectCallNoArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { + PyObject *arg[2] = {NULL, NULL}; + return __Pyx_PyObject_FastCall(func, arg + 1, 0 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* BufferIndexError */ +static void __Pyx_RaiseBufferIndexError(int axis) { + PyErr_Format(PyExc_IndexError, + "Out of bounds on buffer access (axis %d)", axis); +} + +/* PyObject_GenericGetAttrNoDict */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { + __Pyx_TypeName type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, attr_name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(attr_name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { + PyObject *descr; + PyTypeObject *tp = Py_TYPE(obj); + if (unlikely(!PyString_Check(attr_name))) { + return PyObject_GenericGetAttr(obj, attr_name); + } + assert(!tp->tp_dictoffset); + descr = _PyType_Lookup(tp, attr_name); + if (unlikely(!descr)) { + return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); + } + Py_INCREF(descr); + #if PY_MAJOR_VERSION < 3 + if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) + #endif + { + descrgetfunc f = Py_TYPE(descr)->tp_descr_get; + if (unlikely(f)) { + PyObject *res = f(descr, obj, (PyObject *)tp); + Py_DECREF(descr); + return res; + } + } + return descr; +} +#endif + +/* PyObject_GenericGetAttr */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { + if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { + return PyObject_GenericGetAttr(obj, attr_name); + } + return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); +} +#endif + +/* TypeImport */ +#ifndef __PYX_HAVE_RT_ImportType_3_0_8 +#define __PYX_HAVE_RT_ImportType_3_0_8 +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject *module, const char *module_name, const char *class_name, + size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size) +{ + PyObject *result = 0; + char warning[200]; + Py_ssize_t basicsize; + Py_ssize_t itemsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + PyObject *py_itemsize; +#endif + result = PyObject_GetAttrString(module, class_name); + if (!result) + goto bad; + if (!PyType_Check(result)) { + PyErr_Format(PyExc_TypeError, + "%.200s.%.200s is not a type object", + module_name, class_name); + goto bad; + } +#if !CYTHON_COMPILING_IN_LIMITED_API + basicsize = ((PyTypeObject *)result)->tp_basicsize; + itemsize = ((PyTypeObject *)result)->tp_itemsize; +#else + py_basicsize = PyObject_GetAttrString(result, "__basicsize__"); + if (!py_basicsize) + goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (basicsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; + py_itemsize = PyObject_GetAttrString(result, "__itemsize__"); + if (!py_itemsize) + goto bad; + itemsize = PyLong_AsSsize_t(py_itemsize); + Py_DECREF(py_itemsize); + py_itemsize = 0; + if (itemsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; +#endif + if (itemsize) { + if (size % alignment) { + alignment = size % alignment; + } + if (itemsize < (Py_ssize_t)alignment) + itemsize = (Py_ssize_t)alignment; + } + if ((size_t)(basicsize + itemsize) < size) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize+itemsize); + goto bad; + } + if (check_size == __Pyx_ImportType_CheckSize_Error_3_0_8 && + ((size_t)basicsize > size || (size_t)(basicsize + itemsize) < size)) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd-%zd from PyObject", + module_name, class_name, size, basicsize, basicsize+itemsize); + goto bad; + } + else if (check_size == __Pyx_ImportType_CheckSize_Warn_3_0_8 && (size_t)basicsize > size) { + PyOS_snprintf(warning, sizeof(warning), + "%s.%s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize); + if (PyErr_WarnEx(NULL, warning, 0) < 0) goto bad; + } + return (PyTypeObject *)result; +bad: + Py_XDECREF(result); + return NULL; +} +#endif + +/* FixUpExtensionType */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type) { +#if PY_VERSION_HEX > 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + CYTHON_UNUSED_VAR(spec); + CYTHON_UNUSED_VAR(type); +#else + const PyType_Slot *slot = spec->slots; + while (slot && slot->slot && slot->slot != Py_tp_members) + slot++; + if (slot && slot->slot == Py_tp_members) { + int changed = 0; +#if !(PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON) + const +#endif + PyMemberDef *memb = (PyMemberDef*) slot->pfunc; + while (memb && memb->name) { + if (memb->name[0] == '_' && memb->name[1] == '_') { +#if PY_VERSION_HEX < 0x030900b1 + if (strcmp(memb->name, "__weaklistoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_weaklistoffset = memb->offset; + changed = 1; + } + else if (strcmp(memb->name, "__dictoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_dictoffset = memb->offset; + changed = 1; + } +#if CYTHON_METH_FASTCALL + else if (strcmp(memb->name, "__vectorcalloffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); +#if PY_VERSION_HEX >= 0x030800b4 + type->tp_vectorcall_offset = memb->offset; +#else + type->tp_print = (printfunc) memb->offset; +#endif + changed = 1; + } +#endif +#else + if ((0)); +#endif +#if PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON + else if (strcmp(memb->name, "__module__") == 0) { + PyObject *descr; + assert(memb->type == T_OBJECT); + assert(memb->flags == 0 || memb->flags == READONLY); + descr = PyDescr_NewMember(type, memb); + if (unlikely(!descr)) + return -1; + if (unlikely(PyDict_SetItem(type->tp_dict, PyDescr_NAME(descr), descr) < 0)) { + Py_DECREF(descr); + return -1; + } + Py_DECREF(descr); + changed = 1; + } +#endif + } + memb++; + } + if (changed) + PyType_Modified(type); + } +#endif + return 0; +} +#endif + +/* PyObjectCallMethod0 */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name) { + PyObject *method = NULL, *result = NULL; + int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); + if (likely(is_method)) { + result = __Pyx_PyObject_CallOneArg(method, obj); + Py_DECREF(method); + return result; + } + if (unlikely(!method)) goto bad; + result = __Pyx_PyObject_CallNoArg(method); + Py_DECREF(method); +bad: + return result; +} + +/* ValidateBasesTuple */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases) { + Py_ssize_t i, n; +#if CYTHON_ASSUME_SAFE_MACROS + n = PyTuple_GET_SIZE(bases); +#else + n = PyTuple_Size(bases); + if (n < 0) return -1; +#endif + for (i = 1; i < n; i++) + { +#if CYTHON_AVOID_BORROWED_REFS + PyObject *b0 = PySequence_GetItem(bases, i); + if (!b0) return -1; +#elif CYTHON_ASSUME_SAFE_MACROS + PyObject *b0 = PyTuple_GET_ITEM(bases, i); +#else + PyObject *b0 = PyTuple_GetItem(bases, i); + if (!b0) return -1; +#endif + PyTypeObject *b; +#if PY_MAJOR_VERSION < 3 + if (PyClass_Check(b0)) + { + PyErr_Format(PyExc_TypeError, "base class '%.200s' is an old-style class", + PyString_AS_STRING(((PyClassObject*)b0)->cl_name)); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } +#endif + b = (PyTypeObject*) b0; + if (!__Pyx_PyType_HasFeature(b, Py_TPFLAGS_HEAPTYPE)) + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "base class '" __Pyx_FMT_TYPENAME "' is not a heap type", b_name); + __Pyx_DECREF_TypeName(b_name); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + if (dictoffset == 0) + { + Py_ssize_t b_dictoffset = 0; +#if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + b_dictoffset = b->tp_dictoffset; +#else + PyObject *py_b_dictoffset = PyObject_GetAttrString((PyObject*)b, "__dictoffset__"); + if (!py_b_dictoffset) goto dictoffset_return; + b_dictoffset = PyLong_AsSsize_t(py_b_dictoffset); + Py_DECREF(py_b_dictoffset); + if (b_dictoffset == -1 && PyErr_Occurred()) goto dictoffset_return; +#endif + if (b_dictoffset) { + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "extension type '%.200s' has no __dict__ slot, " + "but base type '" __Pyx_FMT_TYPENAME "' has: " + "either add 'cdef dict __dict__' to the extension type " + "or add '__slots__ = [...]' to the base type", + type_name, b_name); + __Pyx_DECREF_TypeName(b_name); + } +#if !(CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY) + dictoffset_return: +#endif +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + } +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + } + return 0; +} +#endif + +/* PyType_Ready */ +static int __Pyx_PyType_Ready(PyTypeObject *t) { +#if CYTHON_USE_TYPE_SPECS || !(CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API) || defined(PYSTON_MAJOR_VERSION) + (void)__Pyx_PyObject_CallMethod0; +#if CYTHON_USE_TYPE_SPECS + (void)__Pyx_validate_bases_tuple; +#endif + return PyType_Ready(t); +#else + int r; + PyObject *bases = __Pyx_PyType_GetSlot(t, tp_bases, PyObject*); + if (bases && unlikely(__Pyx_validate_bases_tuple(t->tp_name, t->tp_dictoffset, bases) == -1)) + return -1; +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + { + int gc_was_enabled; + #if PY_VERSION_HEX >= 0x030A00b1 + gc_was_enabled = PyGC_Disable(); + (void)__Pyx_PyObject_CallMethod0; + #else + PyObject *ret, *py_status; + PyObject *gc = NULL; + #if PY_VERSION_HEX >= 0x030700a1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM+0 >= 0x07030400) + gc = PyImport_GetModule(__pyx_kp_u_gc); + #endif + if (unlikely(!gc)) gc = PyImport_Import(__pyx_kp_u_gc); + if (unlikely(!gc)) return -1; + py_status = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_isenabled); + if (unlikely(!py_status)) { + Py_DECREF(gc); + return -1; + } + gc_was_enabled = __Pyx_PyObject_IsTrue(py_status); + Py_DECREF(py_status); + if (gc_was_enabled > 0) { + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_disable); + if (unlikely(!ret)) { + Py_DECREF(gc); + return -1; + } + Py_DECREF(ret); + } else if (unlikely(gc_was_enabled == -1)) { + Py_DECREF(gc); + return -1; + } + #endif + t->tp_flags |= Py_TPFLAGS_HEAPTYPE; +#if PY_VERSION_HEX >= 0x030A0000 + t->tp_flags |= Py_TPFLAGS_IMMUTABLETYPE; +#endif +#else + (void)__Pyx_PyObject_CallMethod0; +#endif + r = PyType_Ready(t); +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + t->tp_flags &= ~Py_TPFLAGS_HEAPTYPE; + #if PY_VERSION_HEX >= 0x030A00b1 + if (gc_was_enabled) + PyGC_Enable(); + #else + if (gc_was_enabled) { + PyObject *tp, *v, *tb; + PyErr_Fetch(&tp, &v, &tb); + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_enable); + if (likely(ret || r == -1)) { + Py_XDECREF(ret); + PyErr_Restore(tp, v, tb); + } else { + Py_XDECREF(tp); + Py_XDECREF(v); + Py_XDECREF(tb); + r = -1; + } + } + Py_DECREF(gc); + #endif + } +#endif + return r; +#endif +} + +/* SetupReduce */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { + int ret; + PyObject *name_attr; + name_attr = __Pyx_PyObject_GetAttrStrNoError(meth, __pyx_n_s_name_2); + if (likely(name_attr)) { + ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); + } else { + ret = -1; + } + if (unlikely(ret < 0)) { + PyErr_Clear(); + ret = 0; + } + Py_XDECREF(name_attr); + return ret; +} +static int __Pyx_setup_reduce(PyObject* type_obj) { + int ret = 0; + PyObject *object_reduce = NULL; + PyObject *object_getstate = NULL; + PyObject *object_reduce_ex = NULL; + PyObject *reduce = NULL; + PyObject *reduce_ex = NULL; + PyObject *reduce_cython = NULL; + PyObject *setstate = NULL; + PyObject *setstate_cython = NULL; + PyObject *getstate = NULL; +#if CYTHON_USE_PYTYPE_LOOKUP + getstate = _PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate); +#else + getstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_getstate); + if (!getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (getstate) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_getstate = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_getstate); +#else + object_getstate = __Pyx_PyObject_GetAttrStrNoError((PyObject*)&PyBaseObject_Type, __pyx_n_s_getstate); + if (!object_getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (object_getstate != getstate) { + goto __PYX_GOOD; + } + } +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#else + object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#endif + reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; + if (reduce_ex == object_reduce_ex) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#else + object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#endif + reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; + if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { + reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); + if (likely(reduce_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (reduce == object_reduce || PyErr_Occurred()) { + goto __PYX_BAD; + } + setstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate); + if (!setstate) PyErr_Clear(); + if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { + setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); + if (likely(setstate_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (!setstate || PyErr_Occurred()) { + goto __PYX_BAD; + } + } + PyType_Modified((PyTypeObject*)type_obj); + } + } + goto __PYX_GOOD; +__PYX_BAD: + if (!PyErr_Occurred()) { + __Pyx_TypeName type_obj_name = + __Pyx_PyType_GetName((PyTypeObject*)type_obj); + PyErr_Format(PyExc_RuntimeError, + "Unable to initialize pickling for " __Pyx_FMT_TYPENAME, type_obj_name); + __Pyx_DECREF_TypeName(type_obj_name); + } + ret = -1; +__PYX_GOOD: +#if !CYTHON_USE_PYTYPE_LOOKUP + Py_XDECREF(object_reduce); + Py_XDECREF(object_reduce_ex); + Py_XDECREF(object_getstate); + Py_XDECREF(getstate); +#endif + Py_XDECREF(reduce); + Py_XDECREF(reduce_ex); + Py_XDECREF(reduce_cython); + Py_XDECREF(setstate); + Py_XDECREF(setstate_cython); + return ret; +} +#endif + +/* SetVTable */ +static int __Pyx_SetVtable(PyTypeObject *type, void *vtable) { + PyObject *ob = PyCapsule_New(vtable, 0, 0); + if (unlikely(!ob)) + goto bad; +#if CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(PyObject_SetAttr((PyObject *) type, __pyx_n_s_pyx_vtable, ob) < 0)) +#else + if (unlikely(PyDict_SetItem(type->tp_dict, __pyx_n_s_pyx_vtable, ob) < 0)) +#endif + goto bad; + Py_DECREF(ob); + return 0; +bad: + Py_XDECREF(ob); + return -1; +} + +/* GetVTable */ +static void* __Pyx_GetVtable(PyTypeObject *type) { + void* ptr; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *ob = PyObject_GetAttr((PyObject *)type, __pyx_n_s_pyx_vtable); +#else + PyObject *ob = PyObject_GetItem(type->tp_dict, __pyx_n_s_pyx_vtable); +#endif + if (!ob) + goto bad; + ptr = PyCapsule_GetPointer(ob, 0); + if (!ptr && !PyErr_Occurred()) + PyErr_SetString(PyExc_RuntimeError, "invalid vtable found for imported type"); + Py_DECREF(ob); + return ptr; +bad: + Py_XDECREF(ob); + return NULL; +} + +/* MergeVTables */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type) { + int i; + void** base_vtables; + __Pyx_TypeName tp_base_name; + __Pyx_TypeName base_name; + void* unknown = (void*)-1; + PyObject* bases = type->tp_bases; + int base_depth = 0; + { + PyTypeObject* base = type->tp_base; + while (base) { + base_depth += 1; + base = base->tp_base; + } + } + base_vtables = (void**) malloc(sizeof(void*) * (size_t)(base_depth + 1)); + base_vtables[0] = unknown; + for (i = 1; i < PyTuple_GET_SIZE(bases); i++) { + void* base_vtable = __Pyx_GetVtable(((PyTypeObject*)PyTuple_GET_ITEM(bases, i))); + if (base_vtable != NULL) { + int j; + PyTypeObject* base = type->tp_base; + for (j = 0; j < base_depth; j++) { + if (base_vtables[j] == unknown) { + base_vtables[j] = __Pyx_GetVtable(base); + base_vtables[j + 1] = unknown; + } + if (base_vtables[j] == base_vtable) { + break; + } else if (base_vtables[j] == NULL) { + goto bad; + } + base = base->tp_base; + } + } + } + PyErr_Clear(); + free(base_vtables); + return 0; +bad: + tp_base_name = __Pyx_PyType_GetName(type->tp_base); + base_name = __Pyx_PyType_GetName((PyTypeObject*)PyTuple_GET_ITEM(bases, i)); + PyErr_Format(PyExc_TypeError, + "multiple bases have vtable conflict: '" __Pyx_FMT_TYPENAME "' and '" __Pyx_FMT_TYPENAME "'", tp_base_name, base_name); + __Pyx_DECREF_TypeName(tp_base_name); + __Pyx_DECREF_TypeName(base_name); + free(base_vtables); + return -1; +} +#endif + +/* FetchSharedCythonModule */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void) { + return __Pyx_PyImport_AddModuleRef((char*) __PYX_ABI_MODULE_NAME); +} + +/* FetchCommonType */ +static int __Pyx_VerifyCachedType(PyObject *cached_type, + const char *name, + Py_ssize_t basicsize, + Py_ssize_t expected_basicsize) { + if (!PyType_Check(cached_type)) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s is not a type object", name); + return -1; + } + if (basicsize != expected_basicsize) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s has the wrong size, try recompiling", + name); + return -1; + } + return 0; +} +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) { + PyObject* abi_module; + const char* object_name; + PyTypeObject *cached_type = NULL; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + object_name = strrchr(type->tp_name, '.'); + object_name = object_name ? object_name+1 : type->tp_name; + cached_type = (PyTypeObject*) PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + if (__Pyx_VerifyCachedType( + (PyObject *)cached_type, + object_name, + cached_type->tp_basicsize, + type->tp_basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + if (PyType_Ready(type) < 0) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, (PyObject *)type) < 0) + goto bad; + Py_INCREF(type); + cached_type = type; +done: + Py_DECREF(abi_module); + return cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#else +static PyTypeObject *__Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases) { + PyObject *abi_module, *cached_type = NULL; + const char* object_name = strrchr(spec->name, '.'); + object_name = object_name ? object_name+1 : spec->name; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + cached_type = PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + Py_ssize_t basicsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + py_basicsize = PyObject_GetAttrString(cached_type, "__basicsize__"); + if (unlikely(!py_basicsize)) goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (unlikely(basicsize == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; +#else + basicsize = likely(PyType_Check(cached_type)) ? ((PyTypeObject*) cached_type)->tp_basicsize : -1; +#endif + if (__Pyx_VerifyCachedType( + cached_type, + object_name, + basicsize, + spec->basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + CYTHON_UNUSED_VAR(module); + cached_type = __Pyx_PyType_FromModuleAndSpec(abi_module, spec, bases); + if (unlikely(!cached_type)) goto bad; + if (unlikely(__Pyx_fix_up_extension_type_from_spec(spec, (PyTypeObject *) cached_type) < 0)) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, cached_type) < 0) goto bad; +done: + Py_DECREF(abi_module); + assert(cached_type == NULL || PyType_Check(cached_type)); + return (PyTypeObject *) cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#endif + +/* PyVectorcallFastCallDict */ +#if CYTHON_METH_FASTCALL +static PyObject *__Pyx_PyVectorcall_FastCallDict_kw(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + PyObject *res = NULL; + PyObject *kwnames; + PyObject **newargs; + PyObject **kwvalues; + Py_ssize_t i, pos; + size_t j; + PyObject *key, *value; + unsigned long keys_are_strings; + Py_ssize_t nkw = PyDict_GET_SIZE(kw); + newargs = (PyObject **)PyMem_Malloc((nargs + (size_t)nkw) * sizeof(args[0])); + if (unlikely(newargs == NULL)) { + PyErr_NoMemory(); + return NULL; + } + for (j = 0; j < nargs; j++) newargs[j] = args[j]; + kwnames = PyTuple_New(nkw); + if (unlikely(kwnames == NULL)) { + PyMem_Free(newargs); + return NULL; + } + kwvalues = newargs + nargs; + pos = i = 0; + keys_are_strings = Py_TPFLAGS_UNICODE_SUBCLASS; + while (PyDict_Next(kw, &pos, &key, &value)) { + keys_are_strings &= Py_TYPE(key)->tp_flags; + Py_INCREF(key); + Py_INCREF(value); + PyTuple_SET_ITEM(kwnames, i, key); + kwvalues[i] = value; + i++; + } + if (unlikely(!keys_are_strings)) { + PyErr_SetString(PyExc_TypeError, "keywords must be strings"); + goto cleanup; + } + res = vc(func, newargs, nargs, kwnames); +cleanup: + Py_DECREF(kwnames); + for (i = 0; i < nkw; i++) + Py_DECREF(kwvalues[i]); + PyMem_Free(newargs); + return res; +} +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + if (likely(kw == NULL) || PyDict_GET_SIZE(kw) == 0) { + return vc(func, args, nargs, NULL); + } + return __Pyx_PyVectorcall_FastCallDict_kw(func, vc, args, nargs, kw); +} +#endif + +/* CythonFunctionShared */ +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + if (__Pyx_CyFunction_Check(func)) { + return PyCFunction_GetFunction(((__pyx_CyFunctionObject*)func)->func) == (PyCFunction) cfunc; + } else if (PyCFunction_Check(func)) { + return PyCFunction_GetFunction(func) == (PyCFunction) cfunc; + } + return 0; +} +#else +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + return __Pyx_CyOrPyCFunction_Check(func) && __Pyx_CyOrPyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +} +#endif +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj) { +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + __Pyx_Py_XDECREF_SET( + __Pyx_CyFunction_GetClassObj(f), + ((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#else + __Pyx_Py_XDECREF_SET( + ((PyCMethodObject *) (f))->mm_class, + (PyTypeObject*)((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#endif +} +static PyObject * +__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, void *closure) +{ + CYTHON_UNUSED_VAR(closure); + if (unlikely(op->func_doc == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_doc = PyObject_GetAttrString(op->func, "__doc__"); + if (unlikely(!op->func_doc)) return NULL; +#else + if (((PyCFunctionObject*)op)->m_ml->ml_doc) { +#if PY_MAJOR_VERSION >= 3 + op->func_doc = PyUnicode_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#else + op->func_doc = PyString_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#endif + if (unlikely(op->func_doc == NULL)) + return NULL; + } else { + Py_INCREF(Py_None); + return Py_None; + } +#endif + } + Py_INCREF(op->func_doc); + return op->func_doc; +} +static int +__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (value == NULL) { + value = Py_None; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_doc, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_name == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_name = PyObject_GetAttrString(op->func, "__name__"); +#elif PY_MAJOR_VERSION >= 3 + op->func_name = PyUnicode_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#else + op->func_name = PyString_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#endif + if (unlikely(op->func_name == NULL)) + return NULL; + } + Py_INCREF(op->func_name); + return op->func_name; +} +static int +__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__name__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_name, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_qualname); + return op->func_qualname; +} +static int +__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__qualname__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_qualname, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_dict(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_dict == NULL)) { + op->func_dict = PyDict_New(); + if (unlikely(op->func_dict == NULL)) + return NULL; + } + Py_INCREF(op->func_dict); + return op->func_dict; +} +static int +__Pyx_CyFunction_set_dict(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(value == NULL)) { + PyErr_SetString(PyExc_TypeError, + "function's dictionary may not be deleted"); + return -1; + } + if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "setting function's dictionary to a non-dict"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_dict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_globals(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_globals); + return op->func_globals; +} +static PyObject * +__Pyx_CyFunction_get_closure(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(op); + CYTHON_UNUSED_VAR(context); + Py_INCREF(Py_None); + return Py_None; +} +static PyObject * +__Pyx_CyFunction_get_code(__pyx_CyFunctionObject *op, void *context) +{ + PyObject* result = (op->func_code) ? op->func_code : Py_None; + CYTHON_UNUSED_VAR(context); + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_init_defaults(__pyx_CyFunctionObject *op) { + int result = 0; + PyObject *res = op->defaults_getter((PyObject *) op); + if (unlikely(!res)) + return -1; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + op->defaults_tuple = PyTuple_GET_ITEM(res, 0); + Py_INCREF(op->defaults_tuple); + op->defaults_kwdict = PyTuple_GET_ITEM(res, 1); + Py_INCREF(op->defaults_kwdict); + #else + op->defaults_tuple = __Pyx_PySequence_ITEM(res, 0); + if (unlikely(!op->defaults_tuple)) result = -1; + else { + op->defaults_kwdict = __Pyx_PySequence_ITEM(res, 1); + if (unlikely(!op->defaults_kwdict)) result = -1; + } + #endif + Py_DECREF(res); + return result; +} +static int +__Pyx_CyFunction_set_defaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyTuple_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__defaults__ must be set to a tuple object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__defaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_tuple, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_defaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_tuple; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_tuple; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_kwdefaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__kwdefaults__ must be set to a dict object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__kwdefaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_kwdict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_kwdefaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_kwdict; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_kwdict; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_annotations(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value || value == Py_None) { + value = NULL; + } else if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__annotations__ must be set to a dict object"); + return -1; + } + Py_XINCREF(value); + __Pyx_Py_XDECREF_SET(op->func_annotations, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_annotations(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->func_annotations; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + result = PyDict_New(); + if (unlikely(!result)) return NULL; + op->func_annotations = result; + } + Py_INCREF(result); + return result; +} +static PyObject * +__Pyx_CyFunction_get_is_coroutine(__pyx_CyFunctionObject *op, void *context) { + int is_coroutine; + CYTHON_UNUSED_VAR(context); + if (op->func_is_coroutine) { + return __Pyx_NewRef(op->func_is_coroutine); + } + is_coroutine = op->flags & __Pyx_CYFUNCTION_COROUTINE; +#if PY_VERSION_HEX >= 0x03050000 + if (is_coroutine) { + PyObject *module, *fromlist, *marker = __pyx_n_s_is_coroutine; + fromlist = PyList_New(1); + if (unlikely(!fromlist)) return NULL; + Py_INCREF(marker); +#if CYTHON_ASSUME_SAFE_MACROS + PyList_SET_ITEM(fromlist, 0, marker); +#else + if (unlikely(PyList_SetItem(fromlist, 0, marker) < 0)) { + Py_DECREF(marker); + Py_DECREF(fromlist); + return NULL; + } +#endif + module = PyImport_ImportModuleLevelObject(__pyx_n_s_asyncio_coroutines, NULL, NULL, fromlist, 0); + Py_DECREF(fromlist); + if (unlikely(!module)) goto ignore; + op->func_is_coroutine = __Pyx_PyObject_GetAttrStr(module, marker); + Py_DECREF(module); + if (likely(op->func_is_coroutine)) { + return __Pyx_NewRef(op->func_is_coroutine); + } +ignore: + PyErr_Clear(); + } +#endif + op->func_is_coroutine = __Pyx_PyBool_FromLong(is_coroutine); + return __Pyx_NewRef(op->func_is_coroutine); +} +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject * +__Pyx_CyFunction_get_module(__pyx_CyFunctionObject *op, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_GetAttrString(op->func, "__module__"); +} +static int +__Pyx_CyFunction_set_module(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_SetAttrString(op->func, "__module__", value); +} +#endif +static PyGetSetDef __pyx_CyFunction_getsets[] = { + {(char *) "func_doc", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "__doc__", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "func_name", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__name__", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__qualname__", (getter)__Pyx_CyFunction_get_qualname, (setter)__Pyx_CyFunction_set_qualname, 0, 0}, + {(char *) "func_dict", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "__dict__", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "func_globals", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "__globals__", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "func_closure", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "__closure__", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "func_code", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "__code__", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "func_defaults", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__defaults__", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__kwdefaults__", (getter)__Pyx_CyFunction_get_kwdefaults, (setter)__Pyx_CyFunction_set_kwdefaults, 0, 0}, + {(char *) "__annotations__", (getter)__Pyx_CyFunction_get_annotations, (setter)__Pyx_CyFunction_set_annotations, 0, 0}, + {(char *) "_is_coroutine", (getter)__Pyx_CyFunction_get_is_coroutine, 0, 0, 0}, +#if CYTHON_COMPILING_IN_LIMITED_API + {"__module__", (getter)__Pyx_CyFunction_get_module, (setter)__Pyx_CyFunction_set_module, 0, 0}, +#endif + {0, 0, 0, 0, 0} +}; +static PyMemberDef __pyx_CyFunction_members[] = { +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__module__", T_OBJECT, offsetof(PyCFunctionObject, m_module), 0, 0}, +#endif +#if CYTHON_USE_TYPE_SPECS + {(char *) "__dictoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_dict), READONLY, 0}, +#if CYTHON_METH_FASTCALL +#if CYTHON_BACKPORT_VECTORCALL + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_vectorcall), READONLY, 0}, +#else +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(PyCFunctionObject, vectorcall), READONLY, 0}, +#endif +#endif +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_weakreflist), READONLY, 0}, +#else + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(PyCFunctionObject, m_weakreflist), READONLY, 0}, +#endif +#endif + {0, 0, 0, 0, 0} +}; +static PyObject * +__Pyx_CyFunction_reduce(__pyx_CyFunctionObject *m, PyObject *args) +{ + CYTHON_UNUSED_VAR(args); +#if PY_MAJOR_VERSION >= 3 + Py_INCREF(m->func_qualname); + return m->func_qualname; +#else + return PyString_FromString(((PyCFunctionObject*)m)->m_ml->ml_name); +#endif +} +static PyMethodDef __pyx_CyFunction_methods[] = { + {"__reduce__", (PyCFunction)__Pyx_CyFunction_reduce, METH_VARARGS, 0}, + {0, 0, 0, 0} +}; +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func_weakreflist) +#else +#define __Pyx_CyFunction_weakreflist(cyfunc) (((PyCFunctionObject*)cyfunc)->m_weakreflist) +#endif +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject *op, PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { +#if !CYTHON_COMPILING_IN_LIMITED_API + PyCFunctionObject *cf = (PyCFunctionObject*) op; +#endif + if (unlikely(op == NULL)) + return NULL; +#if CYTHON_COMPILING_IN_LIMITED_API + op->func = PyCFunction_NewEx(ml, (PyObject*)op, module); + if (unlikely(!op->func)) return NULL; +#endif + op->flags = flags; + __Pyx_CyFunction_weakreflist(op) = NULL; +#if !CYTHON_COMPILING_IN_LIMITED_API + cf->m_ml = ml; + cf->m_self = (PyObject *) op; +#endif + Py_XINCREF(closure); + op->func_closure = closure; +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_XINCREF(module); + cf->m_module = module; +#endif + op->func_dict = NULL; + op->func_name = NULL; + Py_INCREF(qualname); + op->func_qualname = qualname; + op->func_doc = NULL; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + op->func_classobj = NULL; +#else + ((PyCMethodObject*)op)->mm_class = NULL; +#endif + op->func_globals = globals; + Py_INCREF(op->func_globals); + Py_XINCREF(code); + op->func_code = code; + op->defaults_pyobjects = 0; + op->defaults_size = 0; + op->defaults = NULL; + op->defaults_tuple = NULL; + op->defaults_kwdict = NULL; + op->defaults_getter = NULL; + op->func_annotations = NULL; + op->func_is_coroutine = NULL; +#if CYTHON_METH_FASTCALL + switch (ml->ml_flags & (METH_VARARGS | METH_FASTCALL | METH_NOARGS | METH_O | METH_KEYWORDS | METH_METHOD)) { + case METH_NOARGS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_NOARGS; + break; + case METH_O: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_O; + break; + case METH_METHOD | METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD; + break; + case METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS; + break; + case METH_VARARGS | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = NULL; + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + Py_DECREF(op); + return NULL; + } +#endif + return (PyObject *) op; +} +static int +__Pyx_CyFunction_clear(__pyx_CyFunctionObject *m) +{ + Py_CLEAR(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_CLEAR(m->func); +#else + Py_CLEAR(((PyCFunctionObject*)m)->m_module); +#endif + Py_CLEAR(m->func_dict); + Py_CLEAR(m->func_name); + Py_CLEAR(m->func_qualname); + Py_CLEAR(m->func_doc); + Py_CLEAR(m->func_globals); + Py_CLEAR(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API +#if PY_VERSION_HEX < 0x030900B1 + Py_CLEAR(__Pyx_CyFunction_GetClassObj(m)); +#else + { + PyObject *cls = (PyObject*) ((PyCMethodObject *) (m))->mm_class; + ((PyCMethodObject *) (m))->mm_class = NULL; + Py_XDECREF(cls); + } +#endif +#endif + Py_CLEAR(m->defaults_tuple); + Py_CLEAR(m->defaults_kwdict); + Py_CLEAR(m->func_annotations); + Py_CLEAR(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_XDECREF(pydefaults[i]); + PyObject_Free(m->defaults); + m->defaults = NULL; + } + return 0; +} +static void __Pyx__CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + if (__Pyx_CyFunction_weakreflist(m) != NULL) + PyObject_ClearWeakRefs((PyObject *) m); + __Pyx_CyFunction_clear(m); + __Pyx_PyHeapTypeObject_GC_Del(m); +} +static void __Pyx_CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + PyObject_GC_UnTrack(m); + __Pyx__CyFunction_dealloc(m); +} +static int __Pyx_CyFunction_traverse(__pyx_CyFunctionObject *m, visitproc visit, void *arg) +{ + Py_VISIT(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(m->func); +#else + Py_VISIT(((PyCFunctionObject*)m)->m_module); +#endif + Py_VISIT(m->func_dict); + Py_VISIT(m->func_name); + Py_VISIT(m->func_qualname); + Py_VISIT(m->func_doc); + Py_VISIT(m->func_globals); + Py_VISIT(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(__Pyx_CyFunction_GetClassObj(m)); +#endif + Py_VISIT(m->defaults_tuple); + Py_VISIT(m->defaults_kwdict); + Py_VISIT(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_VISIT(pydefaults[i]); + } + return 0; +} +static PyObject* +__Pyx_CyFunction_repr(__pyx_CyFunctionObject *op) +{ +#if PY_MAJOR_VERSION >= 3 + return PyUnicode_FromFormat("", + op->func_qualname, (void *)op); +#else + return PyString_FromFormat("", + PyString_AsString(op->func_qualname), (void *)op); +#endif +} +static PyObject * __Pyx_CyFunction_CallMethod(PyObject *func, PyObject *self, PyObject *arg, PyObject *kw) { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *f = ((__pyx_CyFunctionObject*)func)->func; + PyObject *py_name = NULL; + PyCFunction meth; + int flags; + meth = PyCFunction_GetFunction(f); + if (unlikely(!meth)) return NULL; + flags = PyCFunction_GetFlags(f); + if (unlikely(flags < 0)) return NULL; +#else + PyCFunctionObject* f = (PyCFunctionObject*)func; + PyCFunction meth = f->m_ml->ml_meth; + int flags = f->m_ml->ml_flags; +#endif + Py_ssize_t size; + switch (flags & (METH_VARARGS | METH_KEYWORDS | METH_NOARGS | METH_O)) { + case METH_VARARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) + return (*meth)(self, arg); + break; + case METH_VARARGS | METH_KEYWORDS: + return (*(PyCFunctionWithKeywords)(void*)meth)(self, arg, kw); + case METH_NOARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 0)) + return (*meth)(self, NULL); +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + case METH_O: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 1)) { + PyObject *result, *arg0; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + arg0 = PyTuple_GET_ITEM(arg, 0); + #else + arg0 = __Pyx_PySequence_ITEM(arg, 0); if (unlikely(!arg0)) return NULL; + #endif + result = (*meth)(self, arg0); + #if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(arg0); + #endif + return result; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + return NULL; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, "%.200S() takes no keyword arguments", + py_name); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, "%.200s() takes no keyword arguments", + f->m_ml->ml_name); +#endif + return NULL; +} +static CYTHON_INLINE PyObject *__Pyx_CyFunction_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *self, *result; +#if CYTHON_COMPILING_IN_LIMITED_API + self = PyCFunction_GetSelf(((__pyx_CyFunctionObject*)func)->func); + if (unlikely(!self) && PyErr_Occurred()) return NULL; +#else + self = ((PyCFunctionObject*)func)->m_self; +#endif + result = __Pyx_CyFunction_CallMethod(func, self, arg, kw); + return result; +} +static PyObject *__Pyx_CyFunction_CallAsMethod(PyObject *func, PyObject *args, PyObject *kw) { + PyObject *result; + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *) func; +#if CYTHON_METH_FASTCALL + __pyx_vectorcallfunc vc = __Pyx_CyFunction_func_vectorcall(cyfunc); + if (vc) { +#if CYTHON_ASSUME_SAFE_MACROS + return __Pyx_PyVectorcall_FastCallDict(func, vc, &PyTuple_GET_ITEM(args, 0), (size_t)PyTuple_GET_SIZE(args), kw); +#else + (void) &__Pyx_PyVectorcall_FastCallDict; + return PyVectorcall_Call(func, args, kw); +#endif + } +#endif + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + Py_ssize_t argc; + PyObject *new_args; + PyObject *self; +#if CYTHON_ASSUME_SAFE_MACROS + argc = PyTuple_GET_SIZE(args); +#else + argc = PyTuple_Size(args); + if (unlikely(!argc) < 0) return NULL; +#endif + new_args = PyTuple_GetSlice(args, 1, argc); + if (unlikely(!new_args)) + return NULL; + self = PyTuple_GetItem(args, 0); + if (unlikely(!self)) { + Py_DECREF(new_args); +#if PY_MAJOR_VERSION > 2 + PyErr_Format(PyExc_TypeError, + "unbound method %.200S() needs an argument", + cyfunc->func_qualname); +#else + PyErr_SetString(PyExc_TypeError, + "unbound method needs an argument"); +#endif + return NULL; + } + result = __Pyx_CyFunction_CallMethod(func, self, new_args, kw); + Py_DECREF(new_args); + } else { + result = __Pyx_CyFunction_Call(func, args, kw); + } + return result; +} +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE int __Pyx_CyFunction_Vectorcall_CheckArgs(__pyx_CyFunctionObject *cyfunc, Py_ssize_t nargs, PyObject *kwnames) +{ + int ret = 0; + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + if (unlikely(nargs < 1)) { + PyErr_Format(PyExc_TypeError, "%.200s() needs an argument", + ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + ret = 1; + } + if (unlikely(kwnames) && unlikely(PyTuple_GET_SIZE(kwnames))) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no keyword arguments", ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + return ret; +} +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 0)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, NULL); +} +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 1)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, args[0]); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((_PyCFunctionFastWithKeywords)(void(*)(void))def->ml_meth)(self, args, nargs, kwnames); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; + PyTypeObject *cls = (PyTypeObject *) __Pyx_CyFunction_GetClassObj(cyfunc); +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((__Pyx_PyCMethod)(void(*)(void))def->ml_meth)(self, cls, args, (size_t)nargs, kwnames); +} +#endif +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_CyFunctionType_slots[] = { + {Py_tp_dealloc, (void *)__Pyx_CyFunction_dealloc}, + {Py_tp_repr, (void *)__Pyx_CyFunction_repr}, + {Py_tp_call, (void *)__Pyx_CyFunction_CallAsMethod}, + {Py_tp_traverse, (void *)__Pyx_CyFunction_traverse}, + {Py_tp_clear, (void *)__Pyx_CyFunction_clear}, + {Py_tp_methods, (void *)__pyx_CyFunction_methods}, + {Py_tp_members, (void *)__pyx_CyFunction_members}, + {Py_tp_getset, (void *)__pyx_CyFunction_getsets}, + {Py_tp_descr_get, (void *)__Pyx_PyMethod_New}, + {0, 0}, +}; +static PyType_Spec __pyx_CyFunctionType_spec = { + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if (defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL) + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + __pyx_CyFunctionType_slots +}; +#else +static PyTypeObject __pyx_CyFunctionType_type = { + PyVarObject_HEAD_INIT(0, 0) + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, + (destructor) __Pyx_CyFunction_dealloc, +#if !CYTHON_METH_FASTCALL + 0, +#elif CYTHON_BACKPORT_VECTORCALL + (printfunc)offsetof(__pyx_CyFunctionObject, func_vectorcall), +#else + offsetof(PyCFunctionObject, vectorcall), +#endif + 0, + 0, +#if PY_MAJOR_VERSION < 3 + 0, +#else + 0, +#endif + (reprfunc) __Pyx_CyFunction_repr, + 0, + 0, + 0, + 0, + __Pyx_CyFunction_CallAsMethod, + 0, + 0, + 0, + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + 0, + (traverseproc) __Pyx_CyFunction_traverse, + (inquiry) __Pyx_CyFunction_clear, + 0, +#if PY_VERSION_HEX < 0x030500A0 + offsetof(__pyx_CyFunctionObject, func_weakreflist), +#else + offsetof(PyCFunctionObject, m_weakreflist), +#endif + 0, + 0, + __pyx_CyFunction_methods, + __pyx_CyFunction_members, + __pyx_CyFunction_getsets, + 0, + 0, + __Pyx_PyMethod_New, + 0, + offsetof(__pyx_CyFunctionObject, func_dict), + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, +#if PY_VERSION_HEX >= 0x030400a1 + 0, +#endif +#if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, +#endif +#if __PYX_NEED_TP_PRINT_SLOT + 0, +#endif +#if PY_VERSION_HEX >= 0x030C0000 + 0, +#endif +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, +#endif +}; +#endif +static int __pyx_CyFunction_init(PyObject *module) { +#if CYTHON_USE_TYPE_SPECS + __pyx_CyFunctionType = __Pyx_FetchCommonTypeFromSpec(module, &__pyx_CyFunctionType_spec, NULL); +#else + CYTHON_UNUSED_VAR(module); + __pyx_CyFunctionType = __Pyx_FetchCommonType(&__pyx_CyFunctionType_type); +#endif + if (unlikely(__pyx_CyFunctionType == NULL)) { + return -1; + } + return 0; +} +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *func, size_t size, int pyobjects) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults = PyObject_Malloc(size); + if (unlikely(!m->defaults)) + return PyErr_NoMemory(); + memset(m->defaults, 0, size); + m->defaults_pyobjects = pyobjects; + m->defaults_size = size; + return m->defaults; +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *func, PyObject *tuple) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_tuple = tuple; + Py_INCREF(tuple); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_kwdict = dict; + Py_INCREF(dict); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->func_annotations = dict; + Py_INCREF(dict); +} + +/* CythonFunction */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { + PyObject *op = __Pyx_CyFunction_Init( + PyObject_GC_New(__pyx_CyFunctionObject, __pyx_CyFunctionType), + ml, flags, qualname, closure, module, globals, code + ); + if (likely(op)) { + PyObject_GC_Track(op); + } + return op; +} + +/* CLineInTraceback */ +#ifndef CYTHON_CLINE_IN_TRACEBACK +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line) { + PyObject *use_cline; + PyObject *ptype, *pvalue, *ptraceback; +#if CYTHON_COMPILING_IN_CPYTHON + PyObject **cython_runtime_dict; +#endif + CYTHON_MAYBE_UNUSED_VAR(tstate); + if (unlikely(!__pyx_cython_runtime)) { + return c_line; + } + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); +#if CYTHON_COMPILING_IN_CPYTHON + cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); + if (likely(cython_runtime_dict)) { + __PYX_PY_DICT_LOOKUP_IF_MODIFIED( + use_cline, *cython_runtime_dict, + __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) + } else +#endif + { + PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStrNoError(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); + if (use_cline_obj) { + use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; +} +#endif + +/* CodeObjectCache */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; + } + } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } +} +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; + } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; +} +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; + } + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; + } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); +} +#endif + +/* AddTraceback */ +#include "compile.h" +#include "frameobject.h" +#include "traceback.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyCode_Replace_For_AddTraceback(PyObject *code, PyObject *scratch_dict, + PyObject *firstlineno, PyObject *name) { + PyObject *replace = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_firstlineno", firstlineno))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_name", name))) return NULL; + replace = PyObject_GetAttrString(code, "replace"); + if (likely(replace)) { + PyObject *result; + result = PyObject_Call(replace, __pyx_empty_tuple, scratch_dict); + Py_DECREF(replace); + return result; + } + PyErr_Clear(); + #if __PYX_LIMITED_VERSION_HEX < 0x030780000 + { + PyObject *compiled = NULL, *result = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "code", code))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "type", (PyObject*)(&PyType_Type)))) return NULL; + compiled = Py_CompileString( + "out = type(code)(\n" + " code.co_argcount, code.co_kwonlyargcount, code.co_nlocals, code.co_stacksize,\n" + " code.co_flags, code.co_code, code.co_consts, code.co_names,\n" + " code.co_varnames, code.co_filename, co_name, co_firstlineno,\n" + " code.co_lnotab)\n", "", Py_file_input); + if (!compiled) return NULL; + result = PyEval_EvalCode(compiled, scratch_dict, scratch_dict); + Py_DECREF(compiled); + if (!result) PyErr_Print(); + Py_DECREF(result); + result = PyDict_GetItemString(scratch_dict, "out"); + if (result) Py_INCREF(result); + return result; + } + #else + return NULL; + #endif +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyObject *code_object = NULL, *py_py_line = NULL, *py_funcname = NULL, *dict = NULL; + PyObject *replace = NULL, *getframe = NULL, *frame = NULL; + PyObject *exc_type, *exc_value, *exc_traceback; + int success = 0; + if (c_line) { + (void) __pyx_cfilenm; + (void) __Pyx_CLineForTraceback(__Pyx_PyThreadState_Current, c_line); + } + PyErr_Fetch(&exc_type, &exc_value, &exc_traceback); + code_object = Py_CompileString("_getframe()", filename, Py_eval_input); + if (unlikely(!code_object)) goto bad; + py_py_line = PyLong_FromLong(py_line); + if (unlikely(!py_py_line)) goto bad; + py_funcname = PyUnicode_FromString(funcname); + if (unlikely(!py_funcname)) goto bad; + dict = PyDict_New(); + if (unlikely(!dict)) goto bad; + { + PyObject *old_code_object = code_object; + code_object = __Pyx_PyCode_Replace_For_AddTraceback(code_object, dict, py_py_line, py_funcname); + Py_DECREF(old_code_object); + } + if (unlikely(!code_object)) goto bad; + getframe = PySys_GetObject("_getframe"); + if (unlikely(!getframe)) goto bad; + if (unlikely(PyDict_SetItemString(dict, "_getframe", getframe))) goto bad; + frame = PyEval_EvalCode(code_object, dict, dict); + if (unlikely(!frame) || frame == Py_None) goto bad; + success = 1; + bad: + PyErr_Restore(exc_type, exc_value, exc_traceback); + Py_XDECREF(code_object); + Py_XDECREF(py_py_line); + Py_XDECREF(py_funcname); + Py_XDECREF(dict); + Py_XDECREF(replace); + if (success) { + PyTraceBack_Here( + (struct _frame*)frame); + } + Py_XDECREF(frame); +} +#else +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = NULL; + PyObject *py_funcname = NULL; + #if PY_MAJOR_VERSION < 3 + PyObject *py_srcfile = NULL; + py_srcfile = PyString_FromString(filename); + if (!py_srcfile) goto bad; + #endif + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + funcname = PyUnicode_AsUTF8(py_funcname); + if (!funcname) goto bad; + #endif + } + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + if (!py_funcname) goto bad; + #endif + } + #if PY_MAJOR_VERSION < 3 + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + #else + py_code = PyCode_NewEmpty(filename, funcname, py_line); + #endif + Py_XDECREF(py_funcname); + return py_code; +bad: + Py_XDECREF(py_funcname); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_srcfile); + #endif + return NULL; +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject *ptype, *pvalue, *ptraceback; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); + } + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) { + /* If the code object creation fails, then we should clear the + fetched exception references and propagate the new exception */ + Py_XDECREF(ptype); + Py_XDECREF(pvalue); + Py_XDECREF(ptraceback); + goto bad; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + } + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} +#endif + +#if PY_MAJOR_VERSION < 3 +static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags) { + __Pyx_TypeName obj_type_name; + if (PyObject_CheckBuffer(obj)) return PyObject_GetBuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_array_type)) return __pyx_array_getbuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_memoryview_type)) return __pyx_memoryview_getbuffer(obj, view, flags); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' does not have the buffer interface", + obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return -1; +} +static void __Pyx_ReleaseBuffer(Py_buffer *view) { + PyObject *obj = view->obj; + if (!obj) return; + if (PyObject_CheckBuffer(obj)) { + PyBuffer_Release(view); + return; + } + if ((0)) {} + view->obj = NULL; + Py_DECREF(obj); +} +#endif + + +/* MemviewSliceIsContig */ +static int +__pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim) +{ + int i, index, step, start; + Py_ssize_t itemsize = mvs.memview->view.itemsize; + if (order == 'F') { + step = 1; + start = 0; + } else { + step = -1; + start = ndim - 1; + } + for (i = 0; i < ndim; i++) { + index = start + step * i; + if (mvs.suboffsets[index] >= 0 || mvs.strides[index] != itemsize) + return 0; + itemsize *= mvs.shape[index]; + } + return 1; +} + +/* OverlappingSlices */ +static void +__pyx_get_array_memory_extents(__Pyx_memviewslice *slice, + void **out_start, void **out_end, + int ndim, size_t itemsize) +{ + char *start, *end; + int i; + start = end = slice->data; + for (i = 0; i < ndim; i++) { + Py_ssize_t stride = slice->strides[i]; + Py_ssize_t extent = slice->shape[i]; + if (extent == 0) { + *out_start = *out_end = start; + return; + } else { + if (stride > 0) + end += stride * (extent - 1); + else + start += stride * (extent - 1); + } + } + *out_start = start; + *out_end = end + itemsize; +} +static int +__pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize) +{ + void *start1, *end1, *start2, *end2; + __pyx_get_array_memory_extents(slice1, &start1, &end1, ndim, itemsize); + __pyx_get_array_memory_extents(slice2, &start2, &end2, ndim, itemsize); + return (start1 < end2) && (start2 < end1); +} + +/* IsLittleEndian */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void) +{ + union { + uint32_t u32; + uint8_t u8[4]; + } S; + S.u32 = 0x01020304; + return S.u8[0] == 4; +} + +/* BufferFormatCheck */ +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type) { + stack[0].field = &ctx->root; + stack[0].parent_offset = 0; + ctx->root.type = type; + ctx->root.name = "buffer dtype"; + ctx->root.offset = 0; + ctx->head = stack; + ctx->head->field = &ctx->root; + ctx->fmt_offset = 0; + ctx->head->parent_offset = 0; + ctx->new_packmode = '@'; + ctx->enc_packmode = '@'; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->is_complex = 0; + ctx->is_valid_array = 0; + ctx->struct_alignment = 0; + while (type->typegroup == 'S') { + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = 0; + type = type->fields->type; + } +} +static int __Pyx_BufFmt_ParseNumber(const char** ts) { + int count; + const char* t = *ts; + if (*t < '0' || *t > '9') { + return -1; + } else { + count = *t++ - '0'; + while (*t >= '0' && *t <= '9') { + count *= 10; + count += *t++ - '0'; + } + } + *ts = t; + return count; +} +static int __Pyx_BufFmt_ExpectNumber(const char **ts) { + int number = __Pyx_BufFmt_ParseNumber(ts); + if (number == -1) + PyErr_Format(PyExc_ValueError,\ + "Does not understand character buffer dtype format string ('%c')", **ts); + return number; +} +static void __Pyx_BufFmt_RaiseUnexpectedChar(char ch) { + PyErr_Format(PyExc_ValueError, + "Unexpected format string character: '%c'", ch); +} +static const char* __Pyx_BufFmt_DescribeTypeChar(char ch, int is_complex) { + switch (ch) { + case '?': return "'bool'"; + case 'c': return "'char'"; + case 'b': return "'signed char'"; + case 'B': return "'unsigned char'"; + case 'h': return "'short'"; + case 'H': return "'unsigned short'"; + case 'i': return "'int'"; + case 'I': return "'unsigned int'"; + case 'l': return "'long'"; + case 'L': return "'unsigned long'"; + case 'q': return "'long long'"; + case 'Q': return "'unsigned long long'"; + case 'f': return (is_complex ? "'complex float'" : "'float'"); + case 'd': return (is_complex ? "'complex double'" : "'double'"); + case 'g': return (is_complex ? "'complex long double'" : "'long double'"); + case 'T': return "a struct"; + case 'O': return "Python object"; + case 'P': return "a pointer"; + case 's': case 'p': return "a string"; + case 0: return "end"; + default: return "unparsable format string"; + } +} +static size_t __Pyx_BufFmt_TypeCharToStandardSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return 2; + case 'i': case 'I': case 'l': case 'L': return 4; + case 'q': case 'Q': return 8; + case 'f': return (is_complex ? 8 : 4); + case 'd': return (is_complex ? 16 : 8); + case 'g': { + PyErr_SetString(PyExc_ValueError, "Python does not define a standard format string size for long double ('g').."); + return 0; + } + case 'O': case 'P': return sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static size_t __Pyx_BufFmt_TypeCharToNativeSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(short); + case 'i': case 'I': return sizeof(int); + case 'l': case 'L': return sizeof(long); + #ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(PY_LONG_LONG); + #endif + case 'f': return sizeof(float) * (is_complex ? 2 : 1); + case 'd': return sizeof(double) * (is_complex ? 2 : 1); + case 'g': return sizeof(long double) * (is_complex ? 2 : 1); + case 'O': case 'P': return sizeof(void*); + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +typedef struct { char c; short x; } __Pyx_st_short; +typedef struct { char c; int x; } __Pyx_st_int; +typedef struct { char c; long x; } __Pyx_st_long; +typedef struct { char c; float x; } __Pyx_st_float; +typedef struct { char c; double x; } __Pyx_st_double; +typedef struct { char c; long double x; } __Pyx_st_longdouble; +typedef struct { char c; void *x; } __Pyx_st_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { char c; PY_LONG_LONG x; } __Pyx_st_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToAlignment(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_st_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_st_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_st_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_st_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_st_float) - sizeof(float); + case 'd': return sizeof(__Pyx_st_double) - sizeof(double); + case 'g': return sizeof(__Pyx_st_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_st_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +/* These are for computing the padding at the end of the struct to align + on the first member of the struct. This will probably the same as above, + but we don't have any guarantees. + */ +typedef struct { short x; char c; } __Pyx_pad_short; +typedef struct { int x; char c; } __Pyx_pad_int; +typedef struct { long x; char c; } __Pyx_pad_long; +typedef struct { float x; char c; } __Pyx_pad_float; +typedef struct { double x; char c; } __Pyx_pad_double; +typedef struct { long double x; char c; } __Pyx_pad_longdouble; +typedef struct { void *x; char c; } __Pyx_pad_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { PY_LONG_LONG x; char c; } __Pyx_pad_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToPadding(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_pad_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_pad_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_pad_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_pad_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_pad_float) - sizeof(float); + case 'd': return sizeof(__Pyx_pad_double) - sizeof(double); + case 'g': return sizeof(__Pyx_pad_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_pad_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static char __Pyx_BufFmt_TypeCharToGroup(char ch, int is_complex) { + switch (ch) { + case 'c': + return 'H'; + case 'b': case 'h': case 'i': + case 'l': case 'q': case 's': case 'p': + return 'I'; + case '?': case 'B': case 'H': case 'I': case 'L': case 'Q': + return 'U'; + case 'f': case 'd': case 'g': + return (is_complex ? 'C' : 'R'); + case 'O': + return 'O'; + case 'P': + return 'P'; + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +static void __Pyx_BufFmt_RaiseExpected(__Pyx_BufFmt_Context* ctx) { + if (ctx->head == NULL || ctx->head->field == &ctx->root) { + const char* expected; + const char* quote; + if (ctx->head == NULL) { + expected = "end"; + quote = ""; + } else { + expected = ctx->head->field->type->name; + quote = "'"; + } + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected %s%s%s but got %s", + quote, expected, quote, + __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex)); + } else { + __Pyx_StructField* field = ctx->head->field; + __Pyx_StructField* parent = (ctx->head - 1)->field; + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected '%s' but got %s in '%s.%s'", + field->type->name, __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex), + parent->type->name, field->name); + } +} +static int __Pyx_BufFmt_ProcessTypeChunk(__Pyx_BufFmt_Context* ctx) { + char group; + size_t size, offset, arraysize = 1; + if (ctx->enc_type == 0) return 0; + if (ctx->head->field->type->arraysize[0]) { + int i, ndim = 0; + if (ctx->enc_type == 's' || ctx->enc_type == 'p') { + ctx->is_valid_array = ctx->head->field->type->ndim == 1; + ndim = 1; + if (ctx->enc_count != ctx->head->field->type->arraysize[0]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %zu", + ctx->head->field->type->arraysize[0], ctx->enc_count); + return -1; + } + } + if (!ctx->is_valid_array) { + PyErr_Format(PyExc_ValueError, "Expected %d dimensions, got %d", + ctx->head->field->type->ndim, ndim); + return -1; + } + for (i = 0; i < ctx->head->field->type->ndim; i++) { + arraysize *= ctx->head->field->type->arraysize[i]; + } + ctx->is_valid_array = 0; + ctx->enc_count = 1; + } + group = __Pyx_BufFmt_TypeCharToGroup(ctx->enc_type, ctx->is_complex); + do { + __Pyx_StructField* field = ctx->head->field; + __Pyx_TypeInfo* type = field->type; + if (ctx->enc_packmode == '@' || ctx->enc_packmode == '^') { + size = __Pyx_BufFmt_TypeCharToNativeSize(ctx->enc_type, ctx->is_complex); + } else { + size = __Pyx_BufFmt_TypeCharToStandardSize(ctx->enc_type, ctx->is_complex); + } + if (ctx->enc_packmode == '@') { + size_t align_at = __Pyx_BufFmt_TypeCharToAlignment(ctx->enc_type, ctx->is_complex); + size_t align_mod_offset; + if (align_at == 0) return -1; + align_mod_offset = ctx->fmt_offset % align_at; + if (align_mod_offset > 0) ctx->fmt_offset += align_at - align_mod_offset; + if (ctx->struct_alignment == 0) + ctx->struct_alignment = __Pyx_BufFmt_TypeCharToPadding(ctx->enc_type, + ctx->is_complex); + } + if (type->size != size || type->typegroup != group) { + if (type->typegroup == 'C' && type->fields != NULL) { + size_t parent_offset = ctx->head->parent_offset + field->offset; + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = parent_offset; + continue; + } + if ((type->typegroup == 'H' || group == 'H') && type->size == size) { + } else { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + } + offset = ctx->head->parent_offset + field->offset; + if (ctx->fmt_offset != offset) { + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch; next field is at offset %" CYTHON_FORMAT_SSIZE_T "d but %" CYTHON_FORMAT_SSIZE_T "d expected", + (Py_ssize_t)ctx->fmt_offset, (Py_ssize_t)offset); + return -1; + } + ctx->fmt_offset += size; + if (arraysize) + ctx->fmt_offset += (arraysize - 1) * size; + --ctx->enc_count; + while (1) { + if (field == &ctx->root) { + ctx->head = NULL; + if (ctx->enc_count != 0) { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + break; + } + ctx->head->field = ++field; + if (field->type == NULL) { + --ctx->head; + field = ctx->head->field; + continue; + } else if (field->type->typegroup == 'S') { + size_t parent_offset = ctx->head->parent_offset + field->offset; + if (field->type->fields->type == NULL) continue; + field = field->type->fields; + ++ctx->head; + ctx->head->field = field; + ctx->head->parent_offset = parent_offset; + break; + } else { + break; + } + } + } while (ctx->enc_count); + ctx->enc_type = 0; + ctx->is_complex = 0; + return 0; +} +static int +__pyx_buffmt_parse_array(__Pyx_BufFmt_Context* ctx, const char** tsp) +{ + const char *ts = *tsp; + int i = 0, number, ndim; + ++ts; + if (ctx->new_count != 1) { + PyErr_SetString(PyExc_ValueError, + "Cannot handle repeated arrays in format string"); + return -1; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return -1; + ndim = ctx->head->field->type->ndim; + while (*ts && *ts != ')') { + switch (*ts) { + case ' ': case '\f': case '\r': case '\n': case '\t': case '\v': continue; + default: break; + } + number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return -1; + if (i < ndim && (size_t) number != ctx->head->field->type->arraysize[i]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %d", + ctx->head->field->type->arraysize[i], number); + return -1; + } + if (*ts != ',' && *ts != ')') { + PyErr_Format(PyExc_ValueError, + "Expected a comma in format string, got '%c'", *ts); + return -1; + } + if (*ts == ',') ts++; + i++; + } + if (i != ndim) { + PyErr_Format(PyExc_ValueError, "Expected %d dimension(s), got %d", + ctx->head->field->type->ndim, i); + return -1; + } + if (!*ts) { + PyErr_SetString(PyExc_ValueError, + "Unexpected end of format string, expected ')'"); + return -1; + } + ctx->is_valid_array = 1; + ctx->new_count = 1; + *tsp = ++ts; + return 0; +} +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts) { + int got_Z = 0; + while (1) { + switch(*ts) { + case 0: + if (ctx->enc_type != 0 && ctx->head == NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + if (ctx->head != NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + return ts; + case ' ': + case '\r': + case '\n': + ++ts; + break; + case '<': + if (!__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Little-endian buffer not supported on big-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '>': + case '!': + if (__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Big-endian buffer not supported on little-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '=': + case '@': + case '^': + ctx->new_packmode = *ts++; + break; + case 'T': + { + const char* ts_after_sub; + size_t i, struct_count = ctx->new_count; + size_t struct_alignment = ctx->struct_alignment; + ctx->new_count = 1; + ++ts; + if (*ts != '{') { + PyErr_SetString(PyExc_ValueError, "Buffer acquisition: Expected '{' after 'T'"); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + ctx->enc_count = 0; + ctx->struct_alignment = 0; + ++ts; + ts_after_sub = ts; + for (i = 0; i != struct_count; ++i) { + ts_after_sub = __Pyx_BufFmt_CheckString(ctx, ts); + if (!ts_after_sub) return NULL; + } + ts = ts_after_sub; + if (struct_alignment) ctx->struct_alignment = struct_alignment; + } + break; + case '}': + { + size_t alignment = ctx->struct_alignment; + ++ts; + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + if (alignment && ctx->fmt_offset % alignment) { + ctx->fmt_offset += alignment - (ctx->fmt_offset % alignment); + } + } + return ts; + case 'x': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->fmt_offset += ctx->new_count; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->enc_packmode = ctx->new_packmode; + ++ts; + break; + case 'Z': + got_Z = 1; + ++ts; + if (*ts != 'f' && *ts != 'd' && *ts != 'g') { + __Pyx_BufFmt_RaiseUnexpectedChar('Z'); + return NULL; + } + CYTHON_FALLTHROUGH; + case '?': case 'c': case 'b': case 'B': case 'h': case 'H': case 'i': case 'I': + case 'l': case 'L': case 'q': case 'Q': + case 'f': case 'd': case 'g': + case 'O': case 'p': + if ((ctx->enc_type == *ts) && (got_Z == ctx->is_complex) && + (ctx->enc_packmode == ctx->new_packmode) && (!ctx->is_valid_array)) { + ctx->enc_count += ctx->new_count; + ctx->new_count = 1; + got_Z = 0; + ++ts; + break; + } + CYTHON_FALLTHROUGH; + case 's': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_count = ctx->new_count; + ctx->enc_packmode = ctx->new_packmode; + ctx->enc_type = *ts; + ctx->is_complex = got_Z; + ++ts; + ctx->new_count = 1; + got_Z = 0; + break; + case ':': + ++ts; + while(*ts != ':') ++ts; + ++ts; + break; + case '(': + if (__pyx_buffmt_parse_array(ctx, &ts) < 0) return NULL; + break; + default: + { + int number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return NULL; + ctx->new_count = (size_t)number; + } + } + } +} + +/* TypeInfoCompare */ + static int +__pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b) +{ + int i; + if (!a || !b) + return 0; + if (a == b) + return 1; + if (a->size != b->size || a->typegroup != b->typegroup || + a->is_unsigned != b->is_unsigned || a->ndim != b->ndim) { + if (a->typegroup == 'H' || b->typegroup == 'H') { + return a->size == b->size; + } else { + return 0; + } + } + if (a->ndim) { + for (i = 0; i < a->ndim; i++) + if (a->arraysize[i] != b->arraysize[i]) + return 0; + } + if (a->typegroup == 'S') { + if (a->flags != b->flags) + return 0; + if (a->fields || b->fields) { + if (!(a->fields && b->fields)) + return 0; + for (i = 0; a->fields[i].type && b->fields[i].type; i++) { + __Pyx_StructField *field_a = a->fields + i; + __Pyx_StructField *field_b = b->fields + i; + if (field_a->offset != field_b->offset || + !__pyx_typeinfo_cmp(field_a->type, field_b->type)) + return 0; + } + return !a->fields[i].type && !b->fields[i].type; + } + } + return 1; +} + +/* MemviewSliceValidateAndInit */ + static int +__pyx_check_strides(Py_buffer *buf, int dim, int ndim, int spec) +{ + if (buf->shape[dim] <= 1) + return 1; + if (buf->strides) { + if (spec & __Pyx_MEMVIEW_CONTIG) { + if (spec & (__Pyx_MEMVIEW_PTR|__Pyx_MEMVIEW_FULL)) { + if (unlikely(buf->strides[dim] != sizeof(void *))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly contiguous " + "in dimension %d.", dim); + goto fail; + } + } else if (unlikely(buf->strides[dim] != buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_FOLLOW) { + Py_ssize_t stride = buf->strides[dim]; + if (stride < 0) + stride = -stride; + if (unlikely(stride < buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + } else { + if (unlikely(spec & __Pyx_MEMVIEW_CONTIG && dim != ndim - 1)) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not contiguous in " + "dimension %d", dim); + goto fail; + } else if (unlikely(spec & (__Pyx_MEMVIEW_PTR))) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not indirect in " + "dimension %d", dim); + goto fail; + } else if (unlikely(buf->suboffsets)) { + PyErr_SetString(PyExc_ValueError, + "Buffer exposes suboffsets but no strides"); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_check_suboffsets(Py_buffer *buf, int dim, int ndim, int spec) +{ + CYTHON_UNUSED_VAR(ndim); + if (spec & __Pyx_MEMVIEW_DIRECT) { + if (unlikely(buf->suboffsets && buf->suboffsets[dim] >= 0)) { + PyErr_Format(PyExc_ValueError, + "Buffer not compatible with direct access " + "in dimension %d.", dim); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_PTR) { + if (unlikely(!buf->suboffsets || (buf->suboffsets[dim] < 0))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly accessible " + "in dimension %d.", dim); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_verify_contig(Py_buffer *buf, int ndim, int c_or_f_flag) +{ + int i; + if (c_or_f_flag & __Pyx_IS_F_CONTIG) { + Py_ssize_t stride = 1; + for (i = 0; i < ndim; i++) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not fortran contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } else if (c_or_f_flag & __Pyx_IS_C_CONTIG) { + Py_ssize_t stride = 1; + for (i = ndim - 1; i >- 1; i--) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not C contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } + return 1; +fail: + return 0; +} +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj) +{ + struct __pyx_memoryview_obj *memview, *new_memview; + __Pyx_RefNannyDeclarations + Py_buffer *buf; + int i, spec = 0, retval = -1; + __Pyx_BufFmt_Context ctx; + int from_memoryview = __pyx_memoryview_check(original_obj); + __Pyx_RefNannySetupContext("ValidateAndInit_memviewslice", 0); + if (from_memoryview && __pyx_typeinfo_cmp(dtype, ((struct __pyx_memoryview_obj *) + original_obj)->typeinfo)) { + memview = (struct __pyx_memoryview_obj *) original_obj; + new_memview = NULL; + } else { + memview = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + original_obj, buf_flags, 0, dtype); + new_memview = memview; + if (unlikely(!memview)) + goto fail; + } + buf = &memview->view; + if (unlikely(buf->ndim != ndim)) { + PyErr_Format(PyExc_ValueError, + "Buffer has wrong number of dimensions (expected %d, got %d)", + ndim, buf->ndim); + goto fail; + } + if (new_memview) { + __Pyx_BufFmt_Init(&ctx, stack, dtype); + if (unlikely(!__Pyx_BufFmt_CheckString(&ctx, buf->format))) goto fail; + } + if (unlikely((unsigned) buf->itemsize != dtype->size)) { + PyErr_Format(PyExc_ValueError, + "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "u byte%s) " + "does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "u byte%s)", + buf->itemsize, + (buf->itemsize > 1) ? "s" : "", + dtype->name, + dtype->size, + (dtype->size > 1) ? "s" : ""); + goto fail; + } + if (buf->len > 0) { + for (i = 0; i < ndim; i++) { + spec = axes_specs[i]; + if (unlikely(!__pyx_check_strides(buf, i, ndim, spec))) + goto fail; + if (unlikely(!__pyx_check_suboffsets(buf, i, ndim, spec))) + goto fail; + } + if (unlikely(buf->strides && !__pyx_verify_contig(buf, ndim, c_or_f_flag))) + goto fail; + } + if (unlikely(__Pyx_init_memviewslice(memview, ndim, memviewslice, + new_memview != NULL) == -1)) { + goto fail; + } + retval = 0; + goto no_fail; +fail: + Py_XDECREF(new_memview); + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} + +/* ObjectToMemviewSlice */ + static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_float(PyObject *obj, int writable_flag) { + __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; + __Pyx_BufFmt_StackElem stack[1]; + int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_STRIDED) }; + int retcode; + if (obj == Py_None) { + result.memview = (struct __pyx_memoryview_obj *) Py_None; + return result; + } + retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, 0, + PyBUF_RECORDS_RO | writable_flag, 1, + &__Pyx_TypeInfo_float, stack, + &result, obj); + if (unlikely(retcode == -1)) + goto __pyx_fail; + return result; +__pyx_fail: + result.memview = NULL; + result.data = NULL; + return result; +} + +/* CIntFromPyVerify */ + #define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* MemviewDtypeToObject */ + static CYTHON_INLINE PyObject *__pyx_memview_get_nn___pyx_t_5numpy_float32_t(const char *itemp) { + return (PyObject *) PyFloat_FromDouble(*(__pyx_t_5numpy_float32_t *) itemp); +} +static CYTHON_INLINE int __pyx_memview_set_nn___pyx_t_5numpy_float32_t(const char *itemp, PyObject *obj) { + __pyx_t_5numpy_float32_t value = __pyx_PyFloat_AsFloat(obj); + if (unlikely((value == ((npy_float32)-1)) && PyErr_Occurred())) + return 0; + *(__pyx_t_5numpy_float32_t *) itemp = value; + return 1; +} + +/* Declarations */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #ifdef __cplusplus + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + return ::std::complex< float >(x, y); + } + #else + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + return x + y*(__pyx_t_float_complex)_Complex_I; + } + #endif +#else + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + __pyx_t_float_complex z; + z.real = x; + z.imag = y; + return z; + } +#endif + +/* Arithmetic */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) +#else + static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + return (a.real == b.real) && (a.imag == b.imag); + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real + b.real; + z.imag = a.imag + b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real - b.real; + z.imag = a.imag - b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real * b.real - a.imag * b.imag; + z.imag = a.real * b.imag + a.imag * b.real; + return z; + } + #if 1 + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + if (b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); + } else if (fabsf(b.real) >= fabsf(b.imag)) { + if (b.real == 0 && b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.imag); + } else { + float r = b.imag / b.real; + float s = (float)(1.0) / (b.real + b.imag * r); + return __pyx_t_float_complex_from_parts( + (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); + } + } else { + float r = b.real / b.imag; + float s = (float)(1.0) / (b.imag + b.real * r); + return __pyx_t_float_complex_from_parts( + (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); + } + } + #else + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + if (b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); + } else { + float denom = b.real * b.real + b.imag * b.imag; + return __pyx_t_float_complex_from_parts( + (a.real * b.real + a.imag * b.imag) / denom, + (a.imag * b.real - a.real * b.imag) / denom); + } + } + #endif + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex a) { + __pyx_t_float_complex z; + z.real = -a.real; + z.imag = -a.imag; + return z; + } + static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex a) { + return (a.real == 0) && (a.imag == 0); + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex a) { + __pyx_t_float_complex z; + z.real = a.real; + z.imag = -a.imag; + return z; + } + #if 1 + static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex z) { + #if !defined(HAVE_HYPOT) || defined(_MSC_VER) + return sqrtf(z.real*z.real + z.imag*z.imag); + #else + return hypotf(z.real, z.imag); + #endif + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + float r, lnr, theta, z_r, z_theta; + if (b.imag == 0 && b.real == (int)b.real) { + if (b.real < 0) { + float denom = a.real * a.real + a.imag * a.imag; + a.real = a.real / denom; + a.imag = -a.imag / denom; + b.real = -b.real; + } + switch ((int)b.real) { + case 0: + z.real = 1; + z.imag = 0; + return z; + case 1: + return a; + case 2: + return __Pyx_c_prod_float(a, a); + case 3: + z = __Pyx_c_prod_float(a, a); + return __Pyx_c_prod_float(z, a); + case 4: + z = __Pyx_c_prod_float(a, a); + return __Pyx_c_prod_float(z, z); + } + } + if (a.imag == 0) { + if (a.real == 0) { + return a; + } else if ((b.imag == 0) && (a.real >= 0)) { + z.real = powf(a.real, b.real); + z.imag = 0; + return z; + } else if (a.real > 0) { + r = a.real; + theta = 0; + } else { + r = -a.real; + theta = atan2f(0.0, -1.0); + } + } else { + r = __Pyx_c_abs_float(a); + theta = atan2f(a.imag, a.real); + } + lnr = logf(r); + z_r = expf(lnr * b.real - theta * b.imag); + z_theta = theta * b.real + lnr * b.imag; + z.real = z_r * cosf(z_theta); + z.imag = z_r * sinf(z_theta); + return z; + } + #endif +#endif + +/* Declarations */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #ifdef __cplusplus + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + return ::std::complex< double >(x, y); + } + #else + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + return x + y*(__pyx_t_double_complex)_Complex_I; + } + #endif +#else + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + __pyx_t_double_complex z; + z.real = x; + z.imag = y; + return z; + } +#endif + +/* Arithmetic */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) +#else + static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + return (a.real == b.real) && (a.imag == b.imag); + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real + b.real; + z.imag = a.imag + b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real - b.real; + z.imag = a.imag - b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real * b.real - a.imag * b.imag; + z.imag = a.real * b.imag + a.imag * b.real; + return z; + } + #if 1 + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + if (b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); + } else if (fabs(b.real) >= fabs(b.imag)) { + if (b.real == 0 && b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.imag); + } else { + double r = b.imag / b.real; + double s = (double)(1.0) / (b.real + b.imag * r); + return __pyx_t_double_complex_from_parts( + (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); + } + } else { + double r = b.real / b.imag; + double s = (double)(1.0) / (b.imag + b.real * r); + return __pyx_t_double_complex_from_parts( + (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); + } + } + #else + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + if (b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); + } else { + double denom = b.real * b.real + b.imag * b.imag; + return __pyx_t_double_complex_from_parts( + (a.real * b.real + a.imag * b.imag) / denom, + (a.imag * b.real - a.real * b.imag) / denom); + } + } + #endif + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex a) { + __pyx_t_double_complex z; + z.real = -a.real; + z.imag = -a.imag; + return z; + } + static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex a) { + return (a.real == 0) && (a.imag == 0); + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex a) { + __pyx_t_double_complex z; + z.real = a.real; + z.imag = -a.imag; + return z; + } + #if 1 + static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex z) { + #if !defined(HAVE_HYPOT) || defined(_MSC_VER) + return sqrt(z.real*z.real + z.imag*z.imag); + #else + return hypot(z.real, z.imag); + #endif + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + double r, lnr, theta, z_r, z_theta; + if (b.imag == 0 && b.real == (int)b.real) { + if (b.real < 0) { + double denom = a.real * a.real + a.imag * a.imag; + a.real = a.real / denom; + a.imag = -a.imag / denom; + b.real = -b.real; + } + switch ((int)b.real) { + case 0: + z.real = 1; + z.imag = 0; + return z; + case 1: + return a; + case 2: + return __Pyx_c_prod_double(a, a); + case 3: + z = __Pyx_c_prod_double(a, a); + return __Pyx_c_prod_double(z, a); + case 4: + z = __Pyx_c_prod_double(a, a); + return __Pyx_c_prod_double(z, z); + } + } + if (a.imag == 0) { + if (a.real == 0) { + return a; + } else if ((b.imag == 0) && (a.real >= 0)) { + z.real = pow(a.real, b.real); + z.imag = 0; + return z; + } else if (a.real > 0) { + r = a.real; + theta = 0; + } else { + r = -a.real; + theta = atan2(0.0, -1.0); + } + } else { + r = __Pyx_c_abs_double(a); + theta = atan2(a.imag, a.real); + } + lnr = log(r); + z_r = exp(lnr * b.real - theta * b.imag); + z_theta = theta * b.real + lnr * b.imag; + z.real = z_r * cos(z_theta); + z.imag = z_r * sin(z_theta); + return z; + } + #endif +#endif + +/* MemviewSliceCopyTemplate */ + static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object) +{ + __Pyx_RefNannyDeclarations + int i; + __Pyx_memviewslice new_mvs = { 0, 0, { 0 }, { 0 }, { 0 } }; + struct __pyx_memoryview_obj *from_memview = from_mvs->memview; + Py_buffer *buf = &from_memview->view; + PyObject *shape_tuple = NULL; + PyObject *temp_int = NULL; + struct __pyx_array_obj *array_obj = NULL; + struct __pyx_memoryview_obj *memview_obj = NULL; + __Pyx_RefNannySetupContext("__pyx_memoryview_copy_new_contig", 0); + for (i = 0; i < ndim; i++) { + if (unlikely(from_mvs->suboffsets[i] >= 0)) { + PyErr_Format(PyExc_ValueError, "Cannot copy memoryview slice with " + "indirect dimensions (axis %d)", i); + goto fail; + } + } + shape_tuple = PyTuple_New(ndim); + if (unlikely(!shape_tuple)) { + goto fail; + } + __Pyx_GOTREF(shape_tuple); + for(i = 0; i < ndim; i++) { + temp_int = PyInt_FromSsize_t(from_mvs->shape[i]); + if(unlikely(!temp_int)) { + goto fail; + } else { + PyTuple_SET_ITEM(shape_tuple, i, temp_int); + temp_int = NULL; + } + } + array_obj = __pyx_array_new(shape_tuple, sizeof_dtype, buf->format, (char *) mode, NULL); + if (unlikely(!array_obj)) { + goto fail; + } + __Pyx_GOTREF(array_obj); + memview_obj = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + (PyObject *) array_obj, contig_flag, + dtype_is_object, + from_mvs->memview->typeinfo); + if (unlikely(!memview_obj)) + goto fail; + if (unlikely(__Pyx_init_memviewslice(memview_obj, ndim, &new_mvs, 1) < 0)) + goto fail; + if (unlikely(__pyx_memoryview_copy_contents(*from_mvs, new_mvs, ndim, ndim, + dtype_is_object) < 0)) + goto fail; + goto no_fail; +fail: + __Pyx_XDECREF(new_mvs.memview); + new_mvs.memview = NULL; + new_mvs.data = NULL; +no_fail: + __Pyx_XDECREF(shape_tuple); + __Pyx_XDECREF(temp_int); + __Pyx_XDECREF(array_obj); + __Pyx_RefNannyFinishContext(); + return new_mvs; +} + +/* MemviewSliceInit */ + static int +__Pyx_init_memviewslice(struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference) +{ + __Pyx_RefNannyDeclarations + int i, retval=-1; + Py_buffer *buf = &memview->view; + __Pyx_RefNannySetupContext("init_memviewslice", 0); + if (unlikely(memviewslice->memview || memviewslice->data)) { + PyErr_SetString(PyExc_ValueError, + "memviewslice is already initialized!"); + goto fail; + } + if (buf->strides) { + for (i = 0; i < ndim; i++) { + memviewslice->strides[i] = buf->strides[i]; + } + } else { + Py_ssize_t stride = buf->itemsize; + for (i = ndim - 1; i >= 0; i--) { + memviewslice->strides[i] = stride; + stride *= buf->shape[i]; + } + } + for (i = 0; i < ndim; i++) { + memviewslice->shape[i] = buf->shape[i]; + if (buf->suboffsets) { + memviewslice->suboffsets[i] = buf->suboffsets[i]; + } else { + memviewslice->suboffsets[i] = -1; + } + } + memviewslice->memview = memview; + memviewslice->data = (char *)buf->buf; + if (__pyx_add_acquisition_count(memview) == 0 && !memview_is_new_reference) { + Py_INCREF(memview); + } + retval = 0; + goto no_fail; +fail: + memviewslice->memview = 0; + memviewslice->data = 0; + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} +#ifndef Py_NO_RETURN +#define Py_NO_RETURN +#endif +static void __pyx_fatalerror(const char *fmt, ...) Py_NO_RETURN { + va_list vargs; + char msg[200]; +#if PY_VERSION_HEX >= 0x030A0000 || defined(HAVE_STDARG_PROTOTYPES) + va_start(vargs, fmt); +#else + va_start(vargs); +#endif + vsnprintf(msg, 200, fmt, vargs); + va_end(vargs); + Py_FatalError(msg); +} +static CYTHON_INLINE int +__pyx_add_acquisition_count_locked(__pyx_atomic_int_type *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)++; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE int +__pyx_sub_acquisition_count_locked(__pyx_atomic_int_type *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)--; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE void +__Pyx_INC_MEMVIEW(__Pyx_memviewslice *memslice, int have_gil, int lineno) +{ + __pyx_nonatomic_int_type old_acquisition_count; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + return; + } + old_acquisition_count = __pyx_add_acquisition_count(memview); + if (unlikely(old_acquisition_count <= 0)) { + if (likely(old_acquisition_count == 0)) { + if (have_gil) { + Py_INCREF((PyObject *) memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_INCREF((PyObject *) memview); + PyGILState_Release(_gilstate); + } + } else { + __pyx_fatalerror("Acquisition count is %d (line %d)", + old_acquisition_count+1, lineno); + } + } +} +static CYTHON_INLINE void __Pyx_XCLEAR_MEMVIEW(__Pyx_memviewslice *memslice, + int have_gil, int lineno) { + __pyx_nonatomic_int_type old_acquisition_count; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + memslice->memview = NULL; + return; + } + old_acquisition_count = __pyx_sub_acquisition_count(memview); + memslice->data = NULL; + if (likely(old_acquisition_count > 1)) { + memslice->memview = NULL; + } else if (likely(old_acquisition_count == 1)) { + if (have_gil) { + Py_CLEAR(memslice->memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_CLEAR(memslice->memview); + PyGILState_Release(_gilstate); + } + } else { + __pyx_fatalerror("Acquisition count is %d (line %d)", + old_acquisition_count-1, lineno); + } +} + +/* TypeInfoToFormat */ + static struct __pyx_typeinfo_string __Pyx_TypeInfoToFormat(__Pyx_TypeInfo *type) { + struct __pyx_typeinfo_string result = { {0} }; + char *buf = (char *) result.string; + size_t size = type->size; + switch (type->typegroup) { + case 'H': + *buf = 'c'; + break; + case 'I': + case 'U': + if (size == 1) + *buf = (type->is_unsigned) ? 'B' : 'b'; + else if (size == 2) + *buf = (type->is_unsigned) ? 'H' : 'h'; + else if (size == 4) + *buf = (type->is_unsigned) ? 'I' : 'i'; + else if (size == 8) + *buf = (type->is_unsigned) ? 'Q' : 'q'; + break; + case 'P': + *buf = 'P'; + break; + case 'C': + { + __Pyx_TypeInfo complex_type = *type; + complex_type.typegroup = 'R'; + complex_type.size /= 2; + *buf++ = 'Z'; + *buf = __Pyx_TypeInfoToFormat(&complex_type).string[0]; + break; + } + case 'R': + if (size == 4) + *buf = 'f'; + else if (size == 8) + *buf = 'd'; + else + *buf = 'g'; + break; + } + return result; +} + +/* CIntFromPy */ + static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(int) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (int) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 2 * PyLong_SHIFT)) { + return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 3 * PyLong_SHIFT)) { + return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 4 * PyLong_SHIFT)) { + return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(int) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(int) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(int) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + int val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (int) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (int) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (int) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (int) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(int) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(int) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((int) 1) << (sizeof(int) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (int) -1; + } + } else { + int val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (int) -1; + val = __Pyx_PyInt_As_int(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to int"); + return (int) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to int"); + return (int) -1; +} + +/* CIntFromPy */ + static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(long) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (long) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 2 * PyLong_SHIFT)) { + return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 3 * PyLong_SHIFT)) { + return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 4 * PyLong_SHIFT)) { + return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(long) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(long) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(long) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + long val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (long) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (long) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (long) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (long) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(long) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(long) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((long) 1) << (sizeof(long) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (long) -1; + } + } else { + long val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (long) -1; + val = __Pyx_PyInt_As_long(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to long"); + return (long) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to long"); + return (long) -1; +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(int) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(int) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(int) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(int), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(int)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(long)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPy */ + static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const char neg_one = (char) -1, const_zero = (char) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(char) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(char, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (char) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(char, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(char) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 2 * PyLong_SHIFT)) { + return (char) (((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(char) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 3 * PyLong_SHIFT)) { + return (char) (((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(char) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 4 * PyLong_SHIFT)) { + return (char) (((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(char) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(char) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(char, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(char) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(char) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + return (char) ((((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(char) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + return (char) ((((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 4 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(char) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 4 * PyLong_SHIFT)) { + return (char) ((((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(char) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(char, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(char) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(char, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + char val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (char) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (char) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (char) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (char) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(char) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((char) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(char) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((char) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((char) 1) << (sizeof(char) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (char) -1; + } + } else { + char val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (char) -1; + val = __Pyx_PyInt_As_char(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to char"); + return (char) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to char"); + return (char) -1; +} + +/* FormatTypeName */ + #if CYTHON_COMPILING_IN_LIMITED_API +static __Pyx_TypeName +__Pyx_PyType_GetName(PyTypeObject* tp) +{ + PyObject *name = __Pyx_PyObject_GetAttrStr((PyObject *)tp, + __pyx_n_s_name_2); + if (unlikely(name == NULL) || unlikely(!PyUnicode_Check(name))) { + PyErr_Clear(); + Py_XDECREF(name); + name = __Pyx_NewRef(__pyx_n_s__40); + } + return name; +} +#endif + +/* CheckBinaryVersion */ + static unsigned long __Pyx_get_runtime_version(void) { +#if __PYX_LIMITED_VERSION_HEX >= 0x030B00A4 + return Py_Version & ~0xFFUL; +#else + const char* rt_version = Py_GetVersion(); + unsigned long version = 0; + unsigned long factor = 0x01000000UL; + unsigned int digit = 0; + int i = 0; + while (factor) { + while ('0' <= rt_version[i] && rt_version[i] <= '9') { + digit = digit * 10 + (unsigned int) (rt_version[i] - '0'); + ++i; + } + version += factor * digit; + if (rt_version[i] != '.') + break; + digit = 0; + factor >>= 8; + ++i; + } + return version; +#endif +} +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer) { + const unsigned long MAJOR_MINOR = 0xFFFF0000UL; + if ((rt_version & MAJOR_MINOR) == (ct_version & MAJOR_MINOR)) + return 0; + if (likely(allow_newer && (rt_version & MAJOR_MINOR) > (ct_version & MAJOR_MINOR))) + return 1; + { + char message[200]; + PyOS_snprintf(message, sizeof(message), + "compile time Python version %d.%d " + "of module '%.100s' " + "%s " + "runtime version %d.%d", + (int) (ct_version >> 24), (int) ((ct_version >> 16) & 0xFF), + __Pyx_MODULE_NAME, + (allow_newer) ? "was newer than" : "does not match", + (int) (rt_version >> 24), (int) ((rt_version >> 16) & 0xFF) + ); + return PyErr_WarnEx(NULL, message, 1); + } +} + +/* InitStrings */ + #if PY_MAJOR_VERSION >= 3 +static int __Pyx_InitString(__Pyx_StringTabEntry t, PyObject **str) { + if (t.is_unicode | t.is_str) { + if (t.intern) { + *str = PyUnicode_InternFromString(t.s); + } else if (t.encoding) { + *str = PyUnicode_Decode(t.s, t.n - 1, t.encoding, NULL); + } else { + *str = PyUnicode_FromStringAndSize(t.s, t.n - 1); + } + } else { + *str = PyBytes_FromStringAndSize(t.s, t.n - 1); + } + if (!*str) + return -1; + if (PyObject_Hash(*str) == -1) + return -1; + return 0; +} +#endif +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t) { + while (t->p) { + #if PY_MAJOR_VERSION >= 3 + __Pyx_InitString(*t, t->p); + #else + if (t->is_unicode) { + *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); + } else if (t->intern) { + *t->p = PyString_InternFromString(t->s); + } else { + *t->p = PyString_FromStringAndSize(t->s, t->n - 1); + } + if (!*t->p) + return -1; + if (PyObject_Hash(*t->p) == -1) + return -1; + #endif + ++t; + } + return 0; +} + +#include +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s) { + size_t len = strlen(s); + if (unlikely(len > (size_t) PY_SSIZE_T_MAX)) { + PyErr_SetString(PyExc_OverflowError, "byte string is too long"); + return -1; + } + return (Py_ssize_t) len; +} +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return __Pyx_PyUnicode_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return PyByteArray_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { + Py_ssize_t ignore; + return __Pyx_PyObject_AsStringAndSize(o, &ignore); +} +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#if !CYTHON_PEP393_ENABLED +static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + char* defenc_c; + PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); + if (!defenc) return NULL; + defenc_c = PyBytes_AS_STRING(defenc); +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + { + char* end = defenc_c + PyBytes_GET_SIZE(defenc); + char* c; + for (c = defenc_c; c < end; c++) { + if ((unsigned char) (*c) >= 128) { + PyUnicode_AsASCIIString(o); + return NULL; + } + } + } +#endif + *length = PyBytes_GET_SIZE(defenc); + return defenc_c; +} +#else +static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + if (likely(PyUnicode_IS_ASCII(o))) { + *length = PyUnicode_GET_LENGTH(o); + return PyUnicode_AsUTF8(o); + } else { + PyUnicode_AsASCIIString(o); + return NULL; + } +#else + return PyUnicode_AsUTF8AndSize(o, length); +#endif +} +#endif +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT + if ( +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + __Pyx_sys_getdefaultencoding_not_ascii && +#endif + PyUnicode_Check(o)) { + return __Pyx_PyUnicode_AsStringAndSize(o, length); + } else +#endif +#if (!CYTHON_COMPILING_IN_PYPY && !CYTHON_COMPILING_IN_LIMITED_API) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) + if (PyByteArray_Check(o)) { + *length = PyByteArray_GET_SIZE(o); + return PyByteArray_AS_STRING(o); + } else +#endif + { + char* result; + int r = PyBytes_AsStringAndSize(o, &result, length); + if (unlikely(r < 0)) { + return NULL; + } else { + return result; + } + } +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { + int is_true = x == Py_True; + if (is_true | (x == Py_False) | (x == Py_None)) return is_true; + else return PyObject_IsTrue(x); +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { + int retval; + if (unlikely(!x)) return -1; + retval = __Pyx_PyObject_IsTrue(x); + Py_DECREF(x); + return retval; +} +static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { + __Pyx_TypeName result_type_name = __Pyx_PyType_GetName(Py_TYPE(result)); +#if PY_MAJOR_VERSION >= 3 + if (PyLong_Check(result)) { + if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, + "__int__ returned non-int (type " __Pyx_FMT_TYPENAME "). " + "The ability to return an instance of a strict subclass of int is deprecated, " + "and may be removed in a future version of Python.", + result_type_name)) { + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; + } + __Pyx_DECREF_TypeName(result_type_name); + return result; + } +#endif + PyErr_Format(PyExc_TypeError, + "__%.4s__ returned non-%.4s (type " __Pyx_FMT_TYPENAME ")", + type_name, type_name, result_type_name); + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { +#if CYTHON_USE_TYPE_SLOTS + PyNumberMethods *m; +#endif + const char *name = NULL; + PyObject *res = NULL; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x) || PyLong_Check(x))) +#else + if (likely(PyLong_Check(x))) +#endif + return __Pyx_NewRef(x); +#if CYTHON_USE_TYPE_SLOTS + m = Py_TYPE(x)->tp_as_number; + #if PY_MAJOR_VERSION < 3 + if (m && m->nb_int) { + name = "int"; + res = m->nb_int(x); + } + else if (m && m->nb_long) { + name = "long"; + res = m->nb_long(x); + } + #else + if (likely(m && m->nb_int)) { + name = "int"; + res = m->nb_int(x); + } + #endif +#else + if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { + res = PyNumber_Int(x); + } +#endif + if (likely(res)) { +#if PY_MAJOR_VERSION < 3 + if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { +#else + if (unlikely(!PyLong_CheckExact(res))) { +#endif + return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); + } + } + else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_TypeError, + "an integer is required"); + } + return res; +} +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { + Py_ssize_t ival; + PyObject *x; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(b))) { + if (sizeof(Py_ssize_t) >= sizeof(long)) + return PyInt_AS_LONG(b); + else + return PyInt_AsSsize_t(b); + } +#endif + if (likely(PyLong_CheckExact(b))) { + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(__Pyx_PyLong_IsCompact(b))) { + return __Pyx_PyLong_CompactValue(b); + } else { + const digit* digits = __Pyx_PyLong_Digits(b); + const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(b); + switch (size) { + case 2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + } + } + #endif + return PyLong_AsSsize_t(b); + } + x = PyNumber_Index(b); + if (!x) return -1; + ival = PyInt_AsSsize_t(x); + Py_DECREF(x); + return ival; +} +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { + if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { + return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); +#if PY_MAJOR_VERSION < 3 + } else if (likely(PyInt_CheckExact(o))) { + return PyInt_AS_LONG(o); +#endif + } else { + Py_ssize_t ival; + PyObject *x; + x = PyNumber_Index(o); + if (!x) return -1; + ival = PyInt_AsLong(x); + Py_DECREF(x); + return ival; + } +} +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { + return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); +} +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { + return PyInt_FromSize_t(ival); +} + + +/* #### Code section: utility_code_pragmas_end ### */ +#ifdef _MSC_VER +#pragma warning( pop ) +#endif + + + +/* #### Code section: end ### */ +#endif /* Py_PYTHON_H */ diff --git a/selfdrive/modeld/models/commonmodel_pyx.pxd b/selfdrive/modeld/models/commonmodel_pyx.pxd new file mode 100644 index 0000000000..0bb798625b --- /dev/null +++ b/selfdrive/modeld/models/commonmodel_pyx.pxd @@ -0,0 +1,13 @@ +# distutils: language = c++ + +from msgq.visionipc.visionipc cimport cl_mem +from msgq.visionipc.visionipc_pyx cimport CLContext as BaseCLContext + +cdef class CLContext(BaseCLContext): + pass + +cdef class CLMem: + cdef cl_mem * mem + + @staticmethod + cdef create(void*) diff --git a/selfdrive/modeld/models/commonmodel_pyx.pyx b/selfdrive/modeld/models/commonmodel_pyx.pyx new file mode 100644 index 0000000000..ecbe644e09 --- /dev/null +++ b/selfdrive/modeld/models/commonmodel_pyx.pyx @@ -0,0 +1,47 @@ +# distutils: language = c++ +# cython: c_string_encoding=ascii, language_level=3 + +import numpy as np +cimport numpy as cnp +from libc.string cimport memcpy + +from msgq.visionipc.visionipc cimport cl_mem +from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext +from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context +from .commonmodel cimport mat3, sigmoid as cppSigmoid, ModelFrame as cppModelFrame + +def sigmoid(x): + return cppSigmoid(x) + +cdef class CLContext(BaseCLContext): + def __cinit__(self): + self.device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT) + self.context = cl_create_context(self.device_id) + +cdef class CLMem: + @staticmethod + cdef create(void * cmem): + mem = CLMem() + mem.mem = cmem + return mem + +cdef class ModelFrame: + cdef cppModelFrame * frame + + def __cinit__(self, CLContext context): + self.frame = new cppModelFrame(context.device_id, context.context) + + def __dealloc__(self): + del self.frame + + def prepare(self, VisionBuf buf, float[:] projection, CLMem output): + cdef mat3 cprojection + memcpy(cprojection.v, &projection[0], 9*sizeof(float)) + cdef float * data + if output is None: + data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, NULL) + else: + data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, output.mem) + if not data: + return None + return np.asarray( data) diff --git a/selfdrive/modeld/models/commonmodel_pyx.so b/selfdrive/modeld/models/commonmodel_pyx.so new file mode 100755 index 0000000000..244317262a Binary files /dev/null and b/selfdrive/modeld/models/commonmodel_pyx.so differ diff --git a/selfdrive/modeld/models/dmonitoring_model.current b/selfdrive/modeld/models/dmonitoring_model.current new file mode 100644 index 0000000000..f935ab06b3 --- /dev/null +++ b/selfdrive/modeld/models/dmonitoring_model.current @@ -0,0 +1,2 @@ +5ec97a39-0095-4cea-adfa-6d72b1966cc1 +26cac7a9757a27c783a365403040a1bd27ccdaea \ No newline at end of file diff --git a/selfdrive/modeld/models/dmonitoring_model.onnx b/selfdrive/modeld/models/dmonitoring_model.onnx new file mode 100644 index 0000000000..a9a1cede31 Binary files /dev/null and b/selfdrive/modeld/models/dmonitoring_model.onnx differ diff --git a/selfdrive/modeld/models/dmonitoring_model_q.dlc b/selfdrive/modeld/models/dmonitoring_model_q.dlc new file mode 100644 index 0000000000..1ed22c82ee Binary files /dev/null and b/selfdrive/modeld/models/dmonitoring_model_q.dlc differ diff --git a/selfdrive/modeld/models/supercombo.thneed b/selfdrive/modeld/models/supercombo.thneed new file mode 100644 index 0000000000..b090912bdd Binary files /dev/null and b/selfdrive/modeld/models/supercombo.thneed differ diff --git a/selfdrive/modeld/models/supercombo_metadata.pkl b/selfdrive/modeld/models/supercombo_metadata.pkl new file mode 100644 index 0000000000..23934f1988 Binary files /dev/null and b/selfdrive/modeld/models/supercombo_metadata.pkl differ diff --git a/selfdrive/modeld/navmodeld.py b/selfdrive/modeld/navmodeld.py new file mode 100755 index 0000000000..4eadddc713 --- /dev/null +++ b/selfdrive/modeld/navmodeld.py @@ -0,0 +1,128 @@ +#!/usr/bin/env python3 +import gc +import math +import time +import ctypes +import numpy as np +from pathlib import Path + +from cereal import messaging +from cereal.messaging import PubMaster, SubMaster +from msgq.visionipc import VisionIpcClient, VisionStreamType +from openpilot.common.swaglog import cloudlog +from openpilot.common.params import Params +from openpilot.common.realtime import set_realtime_priority +from openpilot.selfdrive.modeld.constants import ModelConstants +from openpilot.selfdrive.modeld.custom_model_metadata import CustomModelMetadata, ModelCapabilities +from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime +from openpilot.system.hardware.hw import Paths + +NAV_INPUT_SIZE = 256*256 +NAV_FEATURE_LEN = 256 +NAV_DESIRE_LEN = 32 +NAV_OUTPUT_SIZE = 2*2*ModelConstants.IDX_N + NAV_DESIRE_LEN + NAV_FEATURE_LEN +MODEL_PATHS = {} + +CUSTOM_MODEL_PATH = Paths.model_root() + +class NavModelOutputXY(ctypes.Structure): + _fields_ = [ + ("x", ctypes.c_float), + ("y", ctypes.c_float)] + +class NavModelOutputPlan(ctypes.Structure): + _fields_ = [ + ("mean", NavModelOutputXY*ModelConstants.IDX_N), + ("std", NavModelOutputXY*ModelConstants.IDX_N)] + +class NavModelResult(ctypes.Structure): + _fields_ = [ + ("plan", NavModelOutputPlan), + ("desire_pred", ctypes.c_float*NAV_DESIRE_LEN), + ("features", ctypes.c_float*NAV_FEATURE_LEN)] + +class ModelState: + inputs: dict[str, np.ndarray] + output: np.ndarray + model: ModelRunner + + def __init__(self): + assert ctypes.sizeof(NavModelResult) == NAV_OUTPUT_SIZE * ctypes.sizeof(ctypes.c_float) + self.output = np.zeros(NAV_OUTPUT_SIZE, dtype=np.float32) + self.param_s = Params() + self.custom_model_metadata = CustomModelMetadata(params=self.param_s, init_only=True) + if self.custom_model_metadata.valid and self.custom_model_metadata.capabilities & ModelCapabilities.NoO: + _model_name = self.param_s.get("NavModelText", encoding="utf8") + _model_paths = { + ModelRunner.SNPE: f"{CUSTOM_MODEL_PATH}/navmodel_q_{_model_name}.dlc"} + else: + _model_paths = MODEL_PATHS + self.inputs = {'input_img': np.zeros(NAV_INPUT_SIZE, dtype=np.uint8)} + self.model = ModelRunner(_model_paths, self.output, Runtime.DSP, True, None) + self.model.addInput("input_img", None) + + def run(self, buf:np.ndarray) -> tuple[np.ndarray, float]: + self.inputs['input_img'][:] = buf + + t1 = time.perf_counter() + self.model.setInputBuffer("input_img", self.inputs['input_img'].view(np.float32)) + self.model.execute() + t2 = time.perf_counter() + return self.output, t2 - t1 + +def get_navmodel_packet(model_output: np.ndarray, valid: bool, frame_id: int, location_ts: int, execution_time: float, dsp_execution_time: float): + model_result = ctypes.cast(model_output.ctypes.data, ctypes.POINTER(NavModelResult)).contents + msg = messaging.new_message('navModelDEPRECATED') + msg.valid = valid + navModel = msg.navModelDEPRECATED + navModel.frameId = frame_id + navModel.locationMonoTime = location_ts + navModel.modelExecutionTime = execution_time + navModel.dspExecutionTime = dsp_execution_time + navModel.features = model_result.features[:] + navModel.desirePrediction = model_result.desire_pred[:] + navModel.position.x = [p.x for p in model_result.plan.mean] + navModel.position.y = [p.y for p in model_result.plan.mean] + navModel.position.xStd = [math.exp(p.x) for p in model_result.plan.std] + navModel.position.yStd = [math.exp(p.y) for p in model_result.plan.std] + return msg + + +def main(): + gc.disable() + set_realtime_priority(1) + + # there exists a race condition when two processes try to create a + # SNPE model runner at the same time, wait for dmonitoringmodeld to finish + cloudlog.warning("waiting for dmonitoringmodeld to initialize") + if not Params().get_bool("DmModelInitialized", True): + return + + model = ModelState() + cloudlog.warning("models loaded, navmodeld starting") + + vipc_client = VisionIpcClient("navd", VisionStreamType.VISION_STREAM_MAP, True) + while not vipc_client.connect(False): + time.sleep(0.1) + assert vipc_client.is_connected() + cloudlog.warning(f"connected with buffer size: {vipc_client.buffer_len}") + + sm = SubMaster(["navInstruction"]) + pm = PubMaster(["navModelDEPRECATED"]) + + while True: + buf = vipc_client.recv() + if buf is None: + continue + + sm.update(0) + t1 = time.perf_counter() + model_output, dsp_execution_time = model.run(buf.data[:buf.uv_offset]) + t2 = time.perf_counter() + + valid = vipc_client.valid and sm.valid["navInstruction"] + pm.send("navModelDEPRECATED", get_navmodel_packet(model_output, valid, vipc_client.frame_id, vipc_client.timestamp_sof, t2 - t1, dsp_execution_time)) + + +if __name__ == "__main__": + main() diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py new file mode 100644 index 0000000000..03d03c5e1c --- /dev/null +++ b/selfdrive/modeld/parse_model_outputs.py @@ -0,0 +1,102 @@ +import numpy as np +from openpilot.selfdrive.modeld.constants import ModelConstants + +def sigmoid(x): + return 1. / (1. + np.exp(-x)) + +def softmax(x, axis=-1): + x -= np.max(x, axis=axis, keepdims=True) + if x.dtype == np.float32 or x.dtype == np.float64: + np.exp(x, out=x) + else: + x = np.exp(x) + x /= np.sum(x, axis=axis, keepdims=True) + return x + +class Parser: + def __init__(self, ignore_missing=False): + self.ignore_missing = ignore_missing + + def check_missing(self, outs, name): + if name not in outs and not self.ignore_missing: + raise ValueError(f"Missing output {name}") + return name not in outs + + def parse_categorical_crossentropy(self, name, outs, out_shape=None): + if self.check_missing(outs, name): + return + raw = outs[name] + if out_shape is not None: + raw = raw.reshape((raw.shape[0],) + out_shape) + outs[name] = softmax(raw, axis=-1) + + def parse_binary_crossentropy(self, name, outs): + if self.check_missing(outs, name): + return + raw = outs[name] + outs[name] = sigmoid(raw) + + def parse_mdn(self, name, outs, in_N=0, out_N=1, out_shape=None): + if self.check_missing(outs, name): + return + raw = outs[name] + raw = raw.reshape((raw.shape[0], max(in_N, 1), -1)) + + n_values = (raw.shape[2] - out_N)//2 + pred_mu = raw[:,:,:n_values] + pred_std = np.exp(raw[:,:,n_values: 2*n_values]) + + if in_N > 1: + weights = np.zeros((raw.shape[0], in_N, out_N), dtype=raw.dtype) + for i in range(out_N): + weights[:,:,i - out_N] = softmax(raw[:,:,i - out_N], axis=-1) + + if out_N == 1: + for fidx in range(weights.shape[0]): + idxs = np.argsort(weights[fidx][:,0])[::-1] + weights[fidx] = weights[fidx][idxs] + pred_mu[fidx] = pred_mu[fidx][idxs] + pred_std[fidx] = pred_std[fidx][idxs] + full_shape = tuple([raw.shape[0], in_N] + list(out_shape)) + outs[name + '_weights'] = weights + outs[name + '_hypotheses'] = pred_mu.reshape(full_shape) + outs[name + '_stds_hypotheses'] = pred_std.reshape(full_shape) + + pred_mu_final = np.zeros((raw.shape[0], out_N, n_values), dtype=raw.dtype) + pred_std_final = np.zeros((raw.shape[0], out_N, n_values), dtype=raw.dtype) + for fidx in range(weights.shape[0]): + for hidx in range(out_N): + idxs = np.argsort(weights[fidx,:,hidx])[::-1] + pred_mu_final[fidx, hidx] = pred_mu[fidx, idxs[0]] + pred_std_final[fidx, hidx] = pred_std[fidx, idxs[0]] + else: + pred_mu_final = pred_mu + pred_std_final = pred_std + + if out_N > 1: + final_shape = tuple([raw.shape[0], out_N] + list(out_shape)) + else: + final_shape = tuple([raw.shape[0],] + list(out_shape)) + outs[name] = pred_mu_final.reshape(final_shape) + outs[name + '_stds'] = pred_std_final.reshape(final_shape) + + def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: + self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION, + out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) + self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) + self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) + self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) + self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) + self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) + self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,)) + self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION, + out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) + if 'lat_planner_solution' in outs: + self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH)) + if 'desired_curvature' in outs: + self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,)) + for k in ['lead_prob', 'lane_lines_prob', 'meta']: + self.parse_binary_crossentropy(k, outs) + self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,)) + self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH)) + return outs diff --git a/selfdrive/modeld/runners/__init__.py b/selfdrive/modeld/runners/__init__.py new file mode 100644 index 0000000000..4c29bf3f1c --- /dev/null +++ b/selfdrive/modeld/runners/__init__.py @@ -0,0 +1,27 @@ +import os +from openpilot.system.hardware import TICI +from openpilot.selfdrive.modeld.runners.runmodel_pyx import RunModel, Runtime +assert Runtime + +USE_THNEED = int(os.getenv('USE_THNEED', str(int(TICI)))) +USE_SNPE = int(os.getenv('USE_SNPE', str(int(TICI)))) + +class ModelRunner(RunModel): + THNEED = 'THNEED' + SNPE = 'SNPE' + ONNX = 'ONNX' + + def __new__(cls, paths, *args, **kwargs): + if ModelRunner.THNEED in paths and USE_THNEED: + from openpilot.selfdrive.modeld.runners.thneedmodel_pyx import ThneedModel as Runner + runner_type = ModelRunner.THNEED + elif ModelRunner.SNPE in paths and USE_SNPE: + from openpilot.selfdrive.modeld.runners.snpemodel_pyx import SNPEModel as Runner + runner_type = ModelRunner.SNPE + elif ModelRunner.ONNX in paths: + from openpilot.selfdrive.modeld.runners.onnxmodel import ONNXModel as Runner + runner_type = ModelRunner.ONNX + else: + raise Exception("Couldn't select a model runner, make sure to pass at least one valid model path") + + return Runner(str(paths[runner_type]), *args, **kwargs) diff --git a/selfdrive/modeld/runners/onnxmodel.py b/selfdrive/modeld/runners/onnxmodel.py new file mode 100644 index 0000000000..69b44a5a97 --- /dev/null +++ b/selfdrive/modeld/runners/onnxmodel.py @@ -0,0 +1,93 @@ +import onnx +import itertools +import os +import sys +import numpy as np +from typing import Any + +from openpilot.selfdrive.modeld.runners.runmodel_pyx import RunModel + +ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8} + +def attributeproto_fp16_to_fp32(attr): + float32_list = np.frombuffer(attr.raw_data, dtype=np.float16) + attr.data_type = 1 + attr.raw_data = float32_list.astype(np.float32).tobytes() + +def convert_fp16_to_fp32(path): + model = onnx.load(path) + for i in model.graph.initializer: + if i.data_type == 10: + attributeproto_fp16_to_fp32(i) + for i in itertools.chain(model.graph.input, model.graph.output): + if i.type.tensor_type.elem_type == 10: + i.type.tensor_type.elem_type = 1 + for i in model.graph.node: + for a in i.attribute: + if hasattr(a, 't'): + if a.t.data_type == 10: + attributeproto_fp16_to_fp32(a.t) + return model.SerializeToString() + +def create_ort_session(path, fp16_to_fp32): + os.environ["OMP_NUM_THREADS"] = "4" + os.environ["OMP_WAIT_POLICY"] = "PASSIVE" + + import onnxruntime as ort + print("Onnx available providers: ", ort.get_available_providers(), file=sys.stderr) + options = ort.SessionOptions() + options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_DISABLE_ALL + + provider: str | tuple[str, dict[Any, Any]] + if 'OpenVINOExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ: + provider = 'OpenVINOExecutionProvider' + elif 'CUDAExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ: + options.intra_op_num_threads = 2 + provider = ('CUDAExecutionProvider', {'cudnn_conv_algo_search': 'DEFAULT'}) + else: + options.intra_op_num_threads = 2 + options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL + options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL + provider = 'CPUExecutionProvider' + + model_data = convert_fp16_to_fp32(path) if fp16_to_fp32 else path + print("Onnx selected provider: ", [provider], file=sys.stderr) + ort_session = ort.InferenceSession(model_data, options, providers=[provider]) + print("Onnx using ", ort_session.get_providers(), file=sys.stderr) + return ort_session + + +class ONNXModel(RunModel): + def __init__(self, path, output, runtime, use_tf8, cl_context): + self.inputs = {} + self.output = output + self.use_tf8 = use_tf8 + + self.session = create_ort_session(path, fp16_to_fp32=True) + self.input_names = [x.name for x in self.session.get_inputs()] + self.input_shapes = {x.name: [1, *x.shape[1:]] for x in self.session.get_inputs()} + self.input_dtypes = {x.name: ORT_TYPES_TO_NP_TYPES[x.type] for x in self.session.get_inputs()} + + # run once to initialize CUDA provider + if "CUDAExecutionProvider" in self.session.get_providers(): + self.session.run(None, {k: np.zeros(self.input_shapes[k], dtype=self.input_dtypes[k]) for k in self.input_names}) + print("ready to run onnx model", self.input_shapes, file=sys.stderr) + + def addInput(self, name, buffer): + assert name in self.input_names + self.inputs[name] = buffer + + def setInputBuffer(self, name, buffer): + assert name in self.inputs + self.inputs[name] = buffer + + def getCLBuffer(self, name): + return None + + def execute(self): + inputs = {k: (v.view(np.uint8) / 255. if self.use_tf8 and k == 'input_img' else v) for k,v in self.inputs.items()} + inputs = {k: v.reshape(self.input_shapes[k]).astype(self.input_dtypes[k]) for k,v in inputs.items()} + outputs = self.session.run(None, inputs) + assert len(outputs) == 1, "Only single model outputs are supported" + self.output[:] = outputs[0] + return self.output diff --git a/selfdrive/modeld/runners/run.h b/selfdrive/modeld/runners/run.h new file mode 100644 index 0000000000..36ad262a5b --- /dev/null +++ b/selfdrive/modeld/runners/run.h @@ -0,0 +1,4 @@ +#pragma once + +#include "selfdrive/modeld/runners/runmodel.h" +#include "selfdrive/modeld/runners/snpemodel.h" diff --git a/selfdrive/modeld/runners/runmodel.h b/selfdrive/modeld/runners/runmodel.h new file mode 100644 index 0000000000..18cc180cb7 --- /dev/null +++ b/selfdrive/modeld/runners/runmodel.h @@ -0,0 +1,49 @@ +#pragma once + +#include +#include +#include +#include + +#include "common/clutil.h" +#include "common/swaglog.h" + +#define USE_CPU_RUNTIME 0 +#define USE_GPU_RUNTIME 1 +#define USE_DSP_RUNTIME 2 + +struct ModelInput { + const std::string name; + float *buffer; + int size; + + ModelInput(const std::string _name, float *_buffer, int _size) : name(_name), buffer(_buffer), size(_size) {} + virtual void setBuffer(float *_buffer, int _size) { + assert(size == _size || size == 0); + buffer = _buffer; + size = _size; + } +}; + +class RunModel { +public: + std::vector> inputs; + + virtual ~RunModel() {} + virtual void execute() {} + virtual void* getCLBuffer(const std::string name) { return nullptr; } + + virtual void addInput(const std::string name, float *buffer, int size) { + inputs.push_back(std::unique_ptr(new ModelInput(name, buffer, size))); + } + virtual void setInputBuffer(const std::string name, float *buffer, int size) { + for (auto &input : inputs) { + if (name == input->name) { + input->setBuffer(buffer, size); + return; + } + } + LOGE("Tried to update input `%s` but no input with this name exists", name.c_str()); + assert(false); + } +}; diff --git a/selfdrive/modeld/runners/runmodel.pxd b/selfdrive/modeld/runners/runmodel.pxd new file mode 100644 index 0000000000..01b2a9cf2c --- /dev/null +++ b/selfdrive/modeld/runners/runmodel.pxd @@ -0,0 +1,14 @@ +# distutils: language = c++ + +from libcpp.string cimport string + +cdef extern from "selfdrive/modeld/runners/runmodel.h": + cdef int USE_CPU_RUNTIME + cdef int USE_GPU_RUNTIME + cdef int USE_DSP_RUNTIME + + cdef cppclass RunModel: + void addInput(string, float*, int) + void setInputBuffer(string, float*, int) + void * getCLBuffer(string) + void execute() diff --git a/selfdrive/modeld/runners/runmodel_pyx.cpp b/selfdrive/modeld/runners/runmodel_pyx.cpp new file mode 100644 index 0000000000..1fa0b3c522 --- /dev/null +++ b/selfdrive/modeld/runners/runmodel_pyx.cpp @@ -0,0 +1,28888 @@ +/* Generated by Cython 3.0.8 */ + +/* BEGIN: Cython Metadata +{ + "distutils": { + "depends": [ + "msgq/visionipc/visionbuf.h", + "msgq/visionipc/visionipc.h", + "msgq/visionipc/visionipc_client.h", + "msgq/visionipc/visionipc_server.h", + "selfdrive/modeld/runners/runmodel.h" + ], + "language": "c++", + "name": "selfdrive.modeld.runners.runmodel_pyx", + "sources": [ + "/data/openpilot/selfdrive/modeld/runners/runmodel_pyx.pyx" + ] + }, + "module_name": "selfdrive.modeld.runners.runmodel_pyx" +} +END: Cython Metadata */ + +#ifndef PY_SSIZE_T_CLEAN +#define PY_SSIZE_T_CLEAN +#endif /* PY_SSIZE_T_CLEAN */ +#if defined(CYTHON_LIMITED_API) && 0 + #ifndef Py_LIMITED_API + #if CYTHON_LIMITED_API+0 > 0x03030000 + #define Py_LIMITED_API CYTHON_LIMITED_API + #else + #define Py_LIMITED_API 0x03030000 + #endif + #endif +#endif + +#include "Python.h" +#ifndef Py_PYTHON_H + #error Python headers needed to compile C extensions, please install development version of Python. +#elif PY_VERSION_HEX < 0x02070000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) + #error Cython requires Python 2.7+ or Python 3.3+. +#else +#if defined(CYTHON_LIMITED_API) && CYTHON_LIMITED_API +#define __PYX_EXTRA_ABI_MODULE_NAME "limited" +#else +#define __PYX_EXTRA_ABI_MODULE_NAME "" +#endif +#define CYTHON_ABI "3_0_8" __PYX_EXTRA_ABI_MODULE_NAME +#define __PYX_ABI_MODULE_NAME "_cython_" CYTHON_ABI +#define __PYX_TYPE_MODULE_PREFIX __PYX_ABI_MODULE_NAME "." +#define CYTHON_HEX_VERSION 0x030008F0 +#define CYTHON_FUTURE_DIVISION 1 +#include +#ifndef offsetof + #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) +#endif +#if !defined(_WIN32) && !defined(WIN32) && !defined(MS_WINDOWS) + #ifndef __stdcall + #define __stdcall + #endif + #ifndef __cdecl + #define __cdecl + #endif + #ifndef __fastcall + #define __fastcall + #endif +#endif +#ifndef DL_IMPORT + #define DL_IMPORT(t) t +#endif +#ifndef DL_EXPORT + #define DL_EXPORT(t) t +#endif +#define __PYX_COMMA , +#ifndef HAVE_LONG_LONG + #define HAVE_LONG_LONG +#endif +#ifndef PY_LONG_LONG + #define PY_LONG_LONG LONG_LONG +#endif +#ifndef Py_HUGE_VAL + #define Py_HUGE_VAL HUGE_VAL +#endif +#define __PYX_LIMITED_VERSION_HEX PY_VERSION_HEX +#if defined(GRAALVM_PYTHON) + /* For very preliminary testing purposes. Most variables are set the same as PyPy. + The existence of this section does not imply that anything works or is even tested */ + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 1 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(PYPY_VERSION) + #define CYTHON_COMPILING_IN_PYPY 1 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #if PY_VERSION_HEX < 0x03090000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1 && PYPY_VERSION_NUM >= 0x07030C00) + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(CYTHON_LIMITED_API) + #ifdef Py_LIMITED_API + #undef __PYX_LIMITED_VERSION_HEX + #define __PYX_LIMITED_VERSION_HEX Py_LIMITED_API + #endif + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 1 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_CLINE_IN_TRACEBACK + #define CYTHON_CLINE_IN_TRACEBACK 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 1 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #endif + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 1 + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(Py_GIL_DISABLED) || defined(Py_NOGIL) + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 1 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #ifndef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#else + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 1 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #ifndef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 1 + #endif + #if PY_MAJOR_VERSION < 3 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #ifndef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 1 + #endif + #ifndef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 1 + #endif + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #elif !defined(CYTHON_USE_UNICODE_WRITER) + #define CYTHON_USE_UNICODE_WRITER 1 + #endif + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #ifndef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 1 + #endif + #ifndef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL (PY_MAJOR_VERSION < 3 || PY_VERSION_HEX >= 0x03060000 && PY_VERSION_HEX < 0x030C00A6) + #endif + #ifndef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL (PY_VERSION_HEX >= 0x030700A1) + #endif + #ifndef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 1 + #endif + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #endif + #if PY_VERSION_HEX < 0x030400a1 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #elif !defined(CYTHON_USE_TP_FINALIZE) + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #if PY_VERSION_HEX < 0x030600B1 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #elif !defined(CYTHON_USE_DICT_VERSIONS) + #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX < 0x030C00A5) + #endif + #if PY_VERSION_HEX < 0x030700A3 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #elif !defined(CYTHON_USE_EXC_INFO_STACK) + #define CYTHON_USE_EXC_INFO_STACK 1 + #endif + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 1 + #endif +#endif +#if !defined(CYTHON_FAST_PYCCALL) +#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) +#endif +#if !defined(CYTHON_VECTORCALL) +#define CYTHON_VECTORCALL (CYTHON_FAST_PYCCALL && PY_VERSION_HEX >= 0x030800B1) +#endif +#define CYTHON_BACKPORT_VECTORCALL (CYTHON_METH_FASTCALL && PY_VERSION_HEX < 0x030800B1) +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_MAJOR_VERSION < 3 + #include "longintrepr.h" + #endif + #undef SHIFT + #undef BASE + #undef MASK + #ifdef SIZEOF_VOID_P + enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; + #endif +#endif +#ifndef __has_attribute + #define __has_attribute(x) 0 +#endif +#ifndef __has_cpp_attribute + #define __has_cpp_attribute(x) 0 +#endif +#ifndef CYTHON_RESTRICT + #if defined(__GNUC__) + #define CYTHON_RESTRICT __restrict__ + #elif defined(_MSC_VER) && _MSC_VER >= 1400 + #define CYTHON_RESTRICT __restrict + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_RESTRICT restrict + #else + #define CYTHON_RESTRICT + #endif +#endif +#ifndef CYTHON_UNUSED + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(maybe_unused) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(maybe_unused) + #define CYTHON_UNUSED [[maybe_unused]] + #endif + #endif + #endif +#endif +#ifndef CYTHON_UNUSED +# if defined(__GNUC__) +# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_UNUSED_VAR +# if defined(__cplusplus) + template void CYTHON_UNUSED_VAR( const T& ) { } +# else +# define CYTHON_UNUSED_VAR(x) (void)(x) +# endif +#endif +#ifndef CYTHON_MAYBE_UNUSED_VAR + #define CYTHON_MAYBE_UNUSED_VAR(x) CYTHON_UNUSED_VAR(x) +#endif +#ifndef CYTHON_NCP_UNUSED +# if CYTHON_COMPILING_IN_CPYTHON +# define CYTHON_NCP_UNUSED +# else +# define CYTHON_NCP_UNUSED CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_USE_CPP_STD_MOVE + #if defined(__cplusplus) && (\ + __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600)) + #define CYTHON_USE_CPP_STD_MOVE 1 + #else + #define CYTHON_USE_CPP_STD_MOVE 0 + #endif +#endif +#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) +#ifdef _MSC_VER + #ifndef _MSC_STDINT_H_ + #if _MSC_VER < 1300 + typedef unsigned char uint8_t; + typedef unsigned short uint16_t; + typedef unsigned int uint32_t; + #else + typedef unsigned __int8 uint8_t; + typedef unsigned __int16 uint16_t; + typedef unsigned __int32 uint32_t; + #endif + #endif + #if _MSC_VER < 1300 + #ifdef _WIN64 + typedef unsigned long long __pyx_uintptr_t; + #else + typedef unsigned int __pyx_uintptr_t; + #endif + #else + #ifdef _WIN64 + typedef unsigned __int64 __pyx_uintptr_t; + #else + typedef unsigned __int32 __pyx_uintptr_t; + #endif + #endif +#else + #include + typedef uintptr_t __pyx_uintptr_t; +#endif +#ifndef CYTHON_FALLTHROUGH + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(fallthrough) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(fallthrough) + #define CYTHON_FALLTHROUGH [[fallthrough]] + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_cpp_attribute(clang::fallthrough) + #define CYTHON_FALLTHROUGH [[clang::fallthrough]] + #elif __has_cpp_attribute(gnu::fallthrough) + #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] + #endif + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_attribute(fallthrough) + #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) + #else + #define CYTHON_FALLTHROUGH + #endif + #endif + #if defined(__clang__) && defined(__apple_build_version__) + #if __apple_build_version__ < 7000000 + #undef CYTHON_FALLTHROUGH + #define CYTHON_FALLTHROUGH + #endif + #endif +#endif +#ifdef __cplusplus + template + struct __PYX_IS_UNSIGNED_IMPL {static const bool value = T(0) < T(-1);}; + #define __PYX_IS_UNSIGNED(type) (__PYX_IS_UNSIGNED_IMPL::value) +#else + #define __PYX_IS_UNSIGNED(type) (((type)-1) > 0) +#endif +#if CYTHON_COMPILING_IN_PYPY == 1 + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x030A0000) +#else + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000) +#endif +#define __PYX_REINTERPRET_FUNCION(func_pointer, other_pointer) ((func_pointer)(void(*)(void))(other_pointer)) + +#ifndef __cplusplus + #error "Cython files generated with the C++ option must be compiled with a C++ compiler." +#endif +#ifndef CYTHON_INLINE + #if defined(__clang__) + #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) + #else + #define CYTHON_INLINE inline + #endif +#endif +template +void __Pyx_call_destructor(T& x) { + x.~T(); +} +template +class __Pyx_FakeReference { + public: + __Pyx_FakeReference() : ptr(NULL) { } + __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } + T *operator->() { return ptr; } + T *operator&() { return ptr; } + operator T&() { return *ptr; } + template bool operator ==(const U& other) const { return *ptr == other; } + template bool operator !=(const U& other) const { return *ptr != other; } + template bool operator==(const __Pyx_FakeReference& other) const { return *ptr == *other.ptr; } + template bool operator!=(const __Pyx_FakeReference& other) const { return *ptr != *other.ptr; } + private: + T *ptr; +}; + +#define __PYX_BUILD_PY_SSIZE_T "n" +#define CYTHON_FORMAT_SSIZE_T "z" +#if PY_MAJOR_VERSION < 3 + #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" + #define __Pyx_DefaultClassType PyClass_Type + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_BUILTIN_MODULE_NAME "builtins" + #define __Pyx_DefaultClassType PyType_Type +#if CYTHON_COMPILING_IN_LIMITED_API + static CYTHON_INLINE PyObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyObject *exception_table = NULL; + PyObject *types_module=NULL, *code_type=NULL, *result=NULL; + #if __PYX_LIMITED_VERSION_HEX < 0x030B0000 + PyObject *version_info; + PyObject *py_minor_version = NULL; + #endif + long minor_version = 0; + PyObject *type, *value, *traceback; + PyErr_Fetch(&type, &value, &traceback); + #if __PYX_LIMITED_VERSION_HEX >= 0x030B0000 + minor_version = 11; + #else + if (!(version_info = PySys_GetObject("version_info"))) goto end; + if (!(py_minor_version = PySequence_GetItem(version_info, 1))) goto end; + minor_version = PyLong_AsLong(py_minor_version); + Py_DECREF(py_minor_version); + if (minor_version == -1 && PyErr_Occurred()) goto end; + #endif + if (!(types_module = PyImport_ImportModule("types"))) goto end; + if (!(code_type = PyObject_GetAttrString(types_module, "CodeType"))) goto end; + if (minor_version <= 7) { + (void)p; + result = PyObject_CallFunction(code_type, "iiiiiOOOOOOiOO", a, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else if (minor_version <= 10) { + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else { + if (!(exception_table = PyBytes_FromStringAndSize(NULL, 0))) goto end; + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, name, fline, lnos, exception_table, fv, cell); + } + end: + Py_XDECREF(code_type); + Py_XDECREF(exception_table); + Py_XDECREF(types_module); + if (type) { + PyErr_Restore(type, value, traceback); + } + return result; + } + #ifndef CO_OPTIMIZED + #define CO_OPTIMIZED 0x0001 + #endif + #ifndef CO_NEWLOCALS + #define CO_NEWLOCALS 0x0002 + #endif + #ifndef CO_VARARGS + #define CO_VARARGS 0x0004 + #endif + #ifndef CO_VARKEYWORDS + #define CO_VARKEYWORDS 0x0008 + #endif + #ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x0200 + #endif + #ifndef CO_GENERATOR + #define CO_GENERATOR 0x0020 + #endif + #ifndef CO_COROUTINE + #define CO_COROUTINE 0x0080 + #endif +#elif PY_VERSION_HEX >= 0x030B0000 + static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyCodeObject *result; + PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); + if (!empty_bytes) return NULL; + result = + #if PY_VERSION_HEX >= 0x030C0000 + PyUnstable_Code_NewWithPosOnlyArgs + #else + PyCode_NewWithPosOnlyArgs + #endif + (a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, name, fline, lnos, empty_bytes); + Py_DECREF(empty_bytes); + return result; + } +#elif PY_VERSION_HEX >= 0x030800B2 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_NewWithPosOnlyArgs(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#endif +#endif +#if PY_VERSION_HEX >= 0x030900A4 || defined(Py_IS_TYPE) + #define __Pyx_IS_TYPE(ob, type) Py_IS_TYPE(ob, type) +#else + #define __Pyx_IS_TYPE(ob, type) (((const PyObject*)ob)->ob_type == (type)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_Is) + #define __Pyx_Py_Is(x, y) Py_Is(x, y) +#else + #define __Pyx_Py_Is(x, y) ((x) == (y)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsNone) + #define __Pyx_Py_IsNone(ob) Py_IsNone(ob) +#else + #define __Pyx_Py_IsNone(ob) __Pyx_Py_Is((ob), Py_None) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsTrue) + #define __Pyx_Py_IsTrue(ob) Py_IsTrue(ob) +#else + #define __Pyx_Py_IsTrue(ob) __Pyx_Py_Is((ob), Py_True) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsFalse) + #define __Pyx_Py_IsFalse(ob) Py_IsFalse(ob) +#else + #define __Pyx_Py_IsFalse(ob) __Pyx_Py_Is((ob), Py_False) +#endif +#define __Pyx_NoneAsNull(obj) (__Pyx_Py_IsNone(obj) ? NULL : (obj)) +#if PY_VERSION_HEX >= 0x030900F0 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_GC_IsFinalized(o) PyObject_GC_IsFinalized(o) +#else + #define __Pyx_PyObject_GC_IsFinalized(o) _PyGC_FINALIZED(o) +#endif +#ifndef CO_COROUTINE + #define CO_COROUTINE 0x80 +#endif +#ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x200 +#endif +#ifndef Py_TPFLAGS_CHECKTYPES + #define Py_TPFLAGS_CHECKTYPES 0 +#endif +#ifndef Py_TPFLAGS_HAVE_INDEX + #define Py_TPFLAGS_HAVE_INDEX 0 +#endif +#ifndef Py_TPFLAGS_HAVE_NEWBUFFER + #define Py_TPFLAGS_HAVE_NEWBUFFER 0 +#endif +#ifndef Py_TPFLAGS_HAVE_FINALIZE + #define Py_TPFLAGS_HAVE_FINALIZE 0 +#endif +#ifndef Py_TPFLAGS_SEQUENCE + #define Py_TPFLAGS_SEQUENCE 0 +#endif +#ifndef Py_TPFLAGS_MAPPING + #define Py_TPFLAGS_MAPPING 0 +#endif +#ifndef METH_STACKLESS + #define METH_STACKLESS 0 +#endif +#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) + #ifndef METH_FASTCALL + #define METH_FASTCALL 0x80 + #endif + typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); + typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, + Py_ssize_t nargs, PyObject *kwnames); +#else + #define __Pyx_PyCFunctionFast _PyCFunctionFast + #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords +#endif +#if CYTHON_METH_FASTCALL + #define __Pyx_METH_FASTCALL METH_FASTCALL + #define __Pyx_PyCFunction_FastCall __Pyx_PyCFunctionFast + #define __Pyx_PyCFunction_FastCallWithKeywords __Pyx_PyCFunctionFastWithKeywords +#else + #define __Pyx_METH_FASTCALL METH_VARARGS + #define __Pyx_PyCFunction_FastCall PyCFunction + #define __Pyx_PyCFunction_FastCallWithKeywords PyCFunctionWithKeywords +#endif +#if CYTHON_VECTORCALL + #define __pyx_vectorcallfunc vectorcallfunc + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET PY_VECTORCALL_ARGUMENTS_OFFSET + #define __Pyx_PyVectorcall_NARGS(n) PyVectorcall_NARGS((size_t)(n)) +#elif CYTHON_BACKPORT_VECTORCALL + typedef PyObject *(*__pyx_vectorcallfunc)(PyObject *callable, PyObject *const *args, + size_t nargsf, PyObject *kwnames); + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET ((size_t)1 << (8 * sizeof(size_t) - 1)) + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(((size_t)(n)) & ~__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET)) +#else + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET 0 + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(n)) +#endif +#if PY_MAJOR_VERSION >= 0x030900B1 +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_CheckExact(func) +#else +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_Check(func) +#endif +#define __Pyx_CyOrPyCFunction_Check(func) PyCFunction_Check(func) +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) (((PyCFunctionObject*)(func))->m_ml->ml_meth) +#elif !CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) PyCFunction_GET_FUNCTION(func) +#endif +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FLAGS(func) (((PyCFunctionObject*)(func))->m_ml->ml_flags) +static CYTHON_INLINE PyObject* __Pyx_CyOrPyCFunction_GET_SELF(PyObject *func) { + return (__Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_STATIC) ? NULL : ((PyCFunctionObject*)func)->m_self; +} +#endif +static CYTHON_INLINE int __Pyx__IsSameCFunction(PyObject *func, void *cfunc) { +#if CYTHON_COMPILING_IN_LIMITED_API + return PyCFunction_Check(func) && PyCFunction_GetFunction(func) == (PyCFunction) cfunc; +#else + return PyCFunction_Check(func) && PyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +#endif +} +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCFunction(func, cfunc) +#if __PYX_LIMITED_VERSION_HEX < 0x030900B1 + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) ((void)m, PyType_FromSpecWithBases(s, b)) + typedef PyObject *(*__Pyx_PyCMethod)(PyObject *, PyTypeObject *, PyObject *const *, size_t, PyObject *); +#else + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) PyType_FromModuleAndSpec(m, s, b) + #define __Pyx_PyCMethod PyCMethod +#endif +#ifndef METH_METHOD + #define METH_METHOD 0x200 +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) + #define PyObject_Malloc(s) PyMem_Malloc(s) + #define PyObject_Free(p) PyMem_Free(p) + #define PyObject_Realloc(p) PyMem_Realloc(p) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) +#else + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyThreadState_Current PyThreadState_Get() +#elif !CYTHON_FAST_THREAD_STATE + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#elif PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyThreadState_Current PyThreadState_GetUnchecked() +#elif PY_VERSION_HEX >= 0x03060000 + #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() +#elif PY_VERSION_HEX >= 0x03000000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#else + #define __Pyx_PyThreadState_Current _PyThreadState_Current +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE void *__Pyx_PyModule_GetState(PyObject *op) +{ + void *result; + result = PyModule_GetState(op); + if (!result) + Py_FatalError("Couldn't find the module state"); + return result; +} +#endif +#define __Pyx_PyObject_GetSlot(obj, name, func_ctype) __Pyx_PyType_GetSlot(Py_TYPE(obj), name, func_ctype) +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((func_ctype) PyType_GetSlot((type), Py_##name)) +#else + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((type)->name) +#endif +#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) +#include "pythread.h" +#define Py_tss_NEEDS_INIT 0 +typedef int Py_tss_t; +static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { + *key = PyThread_create_key(); + return 0; +} +static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { + Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); + *key = Py_tss_NEEDS_INIT; + return key; +} +static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { + PyObject_Free(key); +} +static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { + return *key != Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { + PyThread_delete_key(*key); + *key = Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { + return PyThread_set_key_value(*key, value); +} +static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { + return PyThread_get_key_value(*key); +} +#endif +#if PY_MAJOR_VERSION < 3 + #if CYTHON_COMPILING_IN_PYPY + #if PYPY_VERSION_NUM < 0x07030600 + #if defined(__cplusplus) && __cplusplus >= 201402L + [[deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")]] + #elif defined(__GNUC__) || defined(__clang__) + __attribute__ ((__deprecated__("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6"))) + #elif defined(_MSC_VER) + __declspec(deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")) + #endif + static CYTHON_INLINE int PyGILState_Check(void) { + return 0; + } + #else // PYPY_VERSION_NUM < 0x07030600 + #endif // PYPY_VERSION_NUM < 0x07030600 + #else + static CYTHON_INLINE int PyGILState_Check(void) { + PyThreadState * tstate = _PyThreadState_Current; + return tstate && (tstate == PyGILState_GetThisThreadState()); + } + #endif +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030d0000 || defined(_PyDict_NewPresized) +#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) +#else +#define __Pyx_PyDict_NewPresized(n) PyDict_New() +#endif +#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION + #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) +#else + #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX > 0x030600B4 && PY_VERSION_HEX < 0x030d0000 && CYTHON_USE_UNICODE_INTERNALS +#define __Pyx_PyDict_GetItemStrWithError(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStr(PyObject *dict, PyObject *name) { + PyObject *res = __Pyx_PyDict_GetItemStrWithError(dict, name); + if (res == NULL) PyErr_Clear(); + return res; +} +#elif PY_MAJOR_VERSION >= 3 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07020000) +#define __Pyx_PyDict_GetItemStrWithError PyDict_GetItemWithError +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#else +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStrWithError(PyObject *dict, PyObject *name) { +#if CYTHON_COMPILING_IN_PYPY + return PyDict_GetItem(dict, name); +#else + PyDictEntry *ep; + PyDictObject *mp = (PyDictObject*) dict; + long hash = ((PyStringObject *) name)->ob_shash; + assert(hash != -1); + ep = (mp->ma_lookup)(mp, name, hash); + if (ep == NULL) { + return NULL; + } + return ep->me_value; +#endif +} +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#endif +#if CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyType_GetFlags(tp) (((PyTypeObject *)tp)->tp_flags) + #define __Pyx_PyType_HasFeature(type, feature) ((__Pyx_PyType_GetFlags(type) & (feature)) != 0) + #define __Pyx_PyObject_GetIterNextFunc(obj) (Py_TYPE(obj)->tp_iternext) +#else + #define __Pyx_PyType_GetFlags(tp) (PyType_GetFlags((PyTypeObject *)tp)) + #define __Pyx_PyType_HasFeature(type, feature) PyType_HasFeature(type, feature) + #define __Pyx_PyObject_GetIterNextFunc(obj) PyIter_Next +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyObject_GenericSetAttr((PyObject*)tp, k, v) +#else + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyDict_SetItem(tp->tp_dict, k, v) +#endif +#if CYTHON_USE_TYPE_SPECS && PY_VERSION_HEX >= 0x03080000 +#define __Pyx_PyHeapTypeObject_GC_Del(obj) {\ + PyTypeObject *type = Py_TYPE((PyObject*)obj);\ + assert(__Pyx_PyType_HasFeature(type, Py_TPFLAGS_HEAPTYPE));\ + PyObject_GC_Del(obj);\ + Py_DECREF(type);\ +} +#else +#define __Pyx_PyHeapTypeObject_GC_Del(obj) PyObject_GC_Del(obj) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define CYTHON_PEP393_ENABLED 1 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GetLength(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_ReadChar(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((void)u, 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((void)u, (0)) + #define __Pyx_PyUnicode_DATA(u) ((void*)u) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)k, PyUnicode_ReadChar((PyObject*)(d), i)) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GetLength(u)) +#elif PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) + #define CYTHON_PEP393_ENABLED 1 + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_READY(op) (0) + #else + #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ + 0 : _PyUnicode_Ready((PyObject *)(op))) + #endif + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) + #define __Pyx_PyUnicode_KIND(u) ((int)PyUnicode_KIND(u)) + #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) + #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, (Py_UCS4) ch) + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) + #else + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) + #endif + #endif +#else + #define CYTHON_PEP393_ENABLED 0 + #define PyUnicode_1BYTE_KIND 1 + #define PyUnicode_2BYTE_KIND 2 + #define PyUnicode_4BYTE_KIND 4 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535U : 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((int)sizeof(Py_UNICODE)) + #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = (Py_UNICODE) ch) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) +#else + #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ + PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #if !defined(PyUnicode_DecodeUnicodeEscape) + #define PyUnicode_DecodeUnicodeEscape(s, size, errors) PyUnicode_Decode(s, size, "unicode_escape", errors) + #endif + #if !defined(PyUnicode_Contains) || (PY_MAJOR_VERSION == 2 && PYPY_VERSION_NUM < 0x07030500) + #undef PyUnicode_Contains + #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) + #endif + #if !defined(PyByteArray_Check) + #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) + #endif + #if !defined(PyObject_Format) + #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) + #endif +#endif +#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) +#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) +#else + #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) +#endif +#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) + #define PyObject_ASCII(o) PyObject_Repr(o) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBaseString_Type PyUnicode_Type + #define PyStringObject PyUnicodeObject + #define PyString_Type PyUnicode_Type + #define PyString_Check PyUnicode_Check + #define PyString_CheckExact PyUnicode_CheckExact +#ifndef PyObject_Unicode + #define PyObject_Unicode PyObject_Str +#endif +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) + #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) +#else + #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) + #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) +#endif +#if CYTHON_COMPILING_IN_CPYTHON + #define __Pyx_PySequence_ListKeepNew(obj)\ + (likely(PyList_CheckExact(obj) && Py_REFCNT(obj) == 1) ? __Pyx_NewRef(obj) : PySequence_List(obj)) +#else + #define __Pyx_PySequence_ListKeepNew(obj) PySequence_List(obj) +#endif +#ifndef PySet_CheckExact + #define PySet_CheckExact(obj) __Pyx_IS_TYPE(obj, &PySet_Type) +#endif +#if PY_VERSION_HEX >= 0x030900A4 + #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) +#else + #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) +#endif +#if CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_PySequence_ITEM(o, i) PySequence_ITEM(o, i) + #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) (PyTuple_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyList_SET_ITEM(o, i, v) (PyList_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_GET_SIZE(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_GET_SIZE(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_GET_SIZE(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_GET_SIZE(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_GET_SIZE(o) +#else + #define __Pyx_PySequence_ITEM(o, i) PySequence_GetItem(o, i) + #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) PyTuple_SetItem(o, i, v) + #define __Pyx_PyList_SET_ITEM(o, i, v) PyList_SetItem(o, i, v) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_Size(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_Size(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_Size(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_Size(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_Size(o) +#endif +#if PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyImport_AddModuleRef(name) PyImport_AddModuleRef(name) +#else + static CYTHON_INLINE PyObject *__Pyx_PyImport_AddModuleRef(const char *name) { + PyObject *module = PyImport_AddModule(name); + Py_XINCREF(module); + return module; + } +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyIntObject PyLongObject + #define PyInt_Type PyLong_Type + #define PyInt_Check(op) PyLong_Check(op) + #define PyInt_CheckExact(op) PyLong_CheckExact(op) + #define __Pyx_Py3Int_Check(op) PyLong_Check(op) + #define __Pyx_Py3Int_CheckExact(op) PyLong_CheckExact(op) + #define PyInt_FromString PyLong_FromString + #define PyInt_FromUnicode PyLong_FromUnicode + #define PyInt_FromLong PyLong_FromLong + #define PyInt_FromSize_t PyLong_FromSize_t + #define PyInt_FromSsize_t PyLong_FromSsize_t + #define PyInt_AsLong PyLong_AsLong + #define PyInt_AS_LONG PyLong_AS_LONG + #define PyInt_AsSsize_t PyLong_AsSsize_t + #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask + #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask + #define PyNumber_Int PyNumber_Long +#else + #define __Pyx_Py3Int_Check(op) (PyLong_Check(op) || PyInt_Check(op)) + #define __Pyx_Py3Int_CheckExact(op) (PyLong_CheckExact(op) || PyInt_CheckExact(op)) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBoolObject PyLongObject +#endif +#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY + #ifndef PyUnicode_InternFromString + #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) + #endif +#endif +#if PY_VERSION_HEX < 0x030200A4 + typedef long Py_hash_t; + #define __Pyx_PyInt_FromHash_t PyInt_FromLong + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t +#else + #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t +#endif +#if CYTHON_USE_ASYNC_SLOTS + #if PY_VERSION_HEX >= 0x030500B1 + #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods + #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) + #else + #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) + #endif +#else + #define __Pyx_PyType_AsAsync(obj) NULL +#endif +#ifndef __Pyx_PyAsyncMethodsStruct + typedef struct { + unaryfunc am_await; + unaryfunc am_aiter; + unaryfunc am_anext; + } __Pyx_PyAsyncMethodsStruct; +#endif + +#if defined(_WIN32) || defined(WIN32) || defined(MS_WINDOWS) + #if !defined(_USE_MATH_DEFINES) + #define _USE_MATH_DEFINES + #endif +#endif +#include +#ifdef NAN +#define __PYX_NAN() ((float) NAN) +#else +static CYTHON_INLINE float __PYX_NAN() { + float value; + memset(&value, 0xFF, sizeof(value)); + return value; +} +#endif +#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) +#define __Pyx_truncl trunc +#else +#define __Pyx_truncl truncl +#endif + +#define __PYX_MARK_ERR_POS(f_index, lineno) \ + { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } +#define __PYX_ERR(f_index, lineno, Ln_error) \ + { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } + +#ifdef CYTHON_EXTERN_C + #undef __PYX_EXTERN_C + #define __PYX_EXTERN_C CYTHON_EXTERN_C +#elif defined(__PYX_EXTERN_C) + #ifdef _MSC_VER + #pragma message ("Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead.") + #else + #warning Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead. + #endif +#else + #define __PYX_EXTERN_C extern "C++" +#endif + +#define __PYX_HAVE__selfdrive__modeld__runners__runmodel_pyx +#define __PYX_HAVE_API__selfdrive__modeld__runners__runmodel_pyx +/* Early includes */ +#include +#include +#include "ios" +#include "new" +#include "stdexcept" +#include "typeinfo" +#include "selfdrive/modeld/runners/runmodel.h" +#include +#include + + #if __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600) + // move should be defined for these versions of MSVC, but __cplusplus isn't set usefully + #include + + namespace cython_std { + template typename std::remove_reference::type&& move(T& t) noexcept { return std::move(t); } + template typename std::remove_reference::type&& move(T&& t) noexcept { return std::move(t); } + } + + #endif + +#include +#include +#include "msgq/visionipc/visionbuf.h" +#include "msgq/visionipc/visionipc.h" +#include "msgq/visionipc/visionipc_server.h" +#include "msgq/visionipc/visionipc_client.h" +#include "pythread.h" +#include +#ifdef _OPENMP +#include +#endif /* _OPENMP */ + +#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) +#define CYTHON_WITHOUT_ASSERTIONS +#endif + +typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; + const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; + +#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 1 +#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) +#define __PYX_DEFAULT_STRING_ENCODING "ascii" +#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString +#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#define __Pyx_uchar_cast(c) ((unsigned char)c) +#define __Pyx_long_cast(x) ((long)x) +#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ + (sizeof(type) < sizeof(Py_ssize_t)) ||\ + (sizeof(type) > sizeof(Py_ssize_t) &&\ + likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX) &&\ + (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ + v == (type)PY_SSIZE_T_MIN))) ||\ + (sizeof(type) == sizeof(Py_ssize_t) &&\ + (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX))) ) +static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { + return (size_t) i < (size_t) limit; +} +#if defined (__cplusplus) && __cplusplus >= 201103L + #include + #define __Pyx_sst_abs(value) std::abs(value) +#elif SIZEOF_INT >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) abs(value) +#elif SIZEOF_LONG >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) labs(value) +#elif defined (_MSC_VER) + #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) +#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define __Pyx_sst_abs(value) llabs(value) +#elif defined (__GNUC__) + #define __Pyx_sst_abs(value) __builtin_llabs(value) +#else + #define __Pyx_sst_abs(value) ((value<0) ? -value : value) +#endif +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s); +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char*); +#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) +#define __Pyx_PyBytes_FromString PyBytes_FromString +#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); +#if PY_MAJOR_VERSION < 3 + #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#else + #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize +#endif +#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyObject_AsWritableString(s) ((char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableSString(s) ((signed char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) +#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) +#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) +#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) +#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const wchar_t *u) +{ + const wchar_t *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#else +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) +{ + const Py_UNICODE *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#endif +#define __Pyx_PyUnicode_FromOrdinal(o) PyUnicode_FromOrdinal((int)o) +#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) +#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode +#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode +#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) +#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); +#define __Pyx_PySequence_Tuple(obj)\ + (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); +#if CYTHON_ASSUME_SAFE_MACROS +#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) +#else +#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) +#endif +#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) +#else +#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) +#endif +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_VERSION_HEX >= 0x030C00A7 + #ifndef _PyLong_SIGN_MASK + #define _PyLong_SIGN_MASK 3 + #endif + #ifndef _PyLong_NON_SIZE_BITS + #define _PyLong_NON_SIZE_BITS 3 + #endif + #define __Pyx_PyLong_Sign(x) (((PyLongObject*)x)->long_value.lv_tag & _PyLong_SIGN_MASK) + #define __Pyx_PyLong_IsNeg(x) ((__Pyx_PyLong_Sign(x) & 2) != 0) + #define __Pyx_PyLong_IsNonNeg(x) (!__Pyx_PyLong_IsNeg(x)) + #define __Pyx_PyLong_IsZero(x) (__Pyx_PyLong_Sign(x) & 1) + #define __Pyx_PyLong_IsPos(x) (__Pyx_PyLong_Sign(x) == 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) (__Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) ((Py_ssize_t) (((PyLongObject*)x)->long_value.lv_tag >> _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_SignedDigitCount(x)\ + ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * __Pyx_PyLong_DigitCount(x)) + #if defined(PyUnstable_Long_IsCompact) && defined(PyUnstable_Long_CompactValue) + #define __Pyx_PyLong_IsCompact(x) PyUnstable_Long_IsCompact((PyLongObject*) x) + #define __Pyx_PyLong_CompactValue(x) PyUnstable_Long_CompactValue((PyLongObject*) x) + #else + #define __Pyx_PyLong_IsCompact(x) (((PyLongObject*)x)->long_value.lv_tag < (2 << _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_CompactValue(x) ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * (Py_ssize_t) __Pyx_PyLong_Digits(x)[0]) + #endif + typedef Py_ssize_t __Pyx_compact_pylong; + typedef size_t __Pyx_compact_upylong; + #else + #define __Pyx_PyLong_IsNeg(x) (Py_SIZE(x) < 0) + #define __Pyx_PyLong_IsNonNeg(x) (Py_SIZE(x) >= 0) + #define __Pyx_PyLong_IsZero(x) (Py_SIZE(x) == 0) + #define __Pyx_PyLong_IsPos(x) (Py_SIZE(x) > 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) ((Py_SIZE(x) == 0) ? 0 : __Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) __Pyx_sst_abs(Py_SIZE(x)) + #define __Pyx_PyLong_SignedDigitCount(x) Py_SIZE(x) + #define __Pyx_PyLong_IsCompact(x) (Py_SIZE(x) == 0 || Py_SIZE(x) == 1 || Py_SIZE(x) == -1) + #define __Pyx_PyLong_CompactValue(x)\ + ((Py_SIZE(x) == 0) ? (sdigit) 0 : ((Py_SIZE(x) < 0) ? -(sdigit)__Pyx_PyLong_Digits(x)[0] : (sdigit)__Pyx_PyLong_Digits(x)[0])) + typedef sdigit __Pyx_compact_pylong; + typedef digit __Pyx_compact_upylong; + #endif + #if PY_VERSION_HEX >= 0x030C00A5 + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->long_value.ob_digit) + #else + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->ob_digit) + #endif +#endif +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII +#include +static int __Pyx_sys_getdefaultencoding_not_ascii; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + PyObject* ascii_chars_u = NULL; + PyObject* ascii_chars_b = NULL; + const char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + if (strcmp(default_encoding_c, "ascii") == 0) { + __Pyx_sys_getdefaultencoding_not_ascii = 0; + } else { + char ascii_chars[128]; + int c; + for (c = 0; c < 128; c++) { + ascii_chars[c] = (char) c; + } + __Pyx_sys_getdefaultencoding_not_ascii = 1; + ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); + if (!ascii_chars_u) goto bad; + ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); + if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { + PyErr_Format( + PyExc_ValueError, + "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", + default_encoding_c); + goto bad; + } + Py_DECREF(ascii_chars_u); + Py_DECREF(ascii_chars_b); + } + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + Py_XDECREF(ascii_chars_u); + Py_XDECREF(ascii_chars_b); + return -1; +} +#endif +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3 +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL) +#else +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL) +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#include +static char* __PYX_DEFAULT_STRING_ENCODING; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1); + if (!__PYX_DEFAULT_STRING_ENCODING) goto bad; + strcpy(__PYX_DEFAULT_STRING_ENCODING, default_encoding_c); + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + return -1; +} +#endif +#endif + + +/* Test for GCC > 2.95 */ +#if defined(__GNUC__) && (__GNUC__ > 2 || (__GNUC__ == 2 && (__GNUC_MINOR__ > 95))) + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#else /* !__GNUC__ or GCC < 2.95 */ + #define likely(x) (x) + #define unlikely(x) (x) +#endif /* __GNUC__ */ +static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void)ptr; } + +#if !CYTHON_USE_MODULE_STATE +static PyObject *__pyx_m = NULL; +#endif +static int __pyx_lineno; +static int __pyx_clineno = 0; +static const char * __pyx_cfilenm = __FILE__; +static const char *__pyx_filename; + +/* #### Code section: filename_table ### */ + +static const char *__pyx_f[] = { + "", + "selfdrive/modeld/runners/runmodel_pyx.pyx", + "msgq/visionipc/visionipc_pyx.pxd", + "selfdrive/modeld/models/commonmodel_pyx.pxd", +}; +/* #### Code section: utility_code_proto_before_types ### */ +/* ForceInitThreads.proto */ +#ifndef __PYX_FORCE_INIT_THREADS + #define __PYX_FORCE_INIT_THREADS 0 +#endif + +/* NoFastGil.proto */ +#define __Pyx_PyGILState_Ensure PyGILState_Ensure +#define __Pyx_PyGILState_Release PyGILState_Release +#define __Pyx_FastGIL_Remember() +#define __Pyx_FastGIL_Forget() +#define __Pyx_FastGilFuncInit() + +/* BufferFormatStructs.proto */ +struct __Pyx_StructField_; +#define __PYX_BUF_FLAGS_PACKED_STRUCT (1 << 0) +typedef struct { + const char* name; + struct __Pyx_StructField_* fields; + size_t size; + size_t arraysize[8]; + int ndim; + char typegroup; + char is_unsigned; + int flags; +} __Pyx_TypeInfo; +typedef struct __Pyx_StructField_ { + __Pyx_TypeInfo* type; + const char* name; + size_t offset; +} __Pyx_StructField; +typedef struct { + __Pyx_StructField* field; + size_t parent_offset; +} __Pyx_BufFmt_StackElem; +typedef struct { + __Pyx_StructField root; + __Pyx_BufFmt_StackElem* head; + size_t fmt_offset; + size_t new_count, enc_count; + size_t struct_alignment; + int is_complex; + char enc_type; + char new_packmode; + char enc_packmode; + char is_valid_array; +} __Pyx_BufFmt_Context; + +/* Atomics.proto */ +#include +#ifndef CYTHON_ATOMICS + #define CYTHON_ATOMICS 1 +#endif +#define __PYX_CYTHON_ATOMICS_ENABLED() CYTHON_ATOMICS +#define __pyx_atomic_int_type int +#define __pyx_nonatomic_int_type int +#if CYTHON_ATOMICS && (defined(__STDC_VERSION__) &&\ + (__STDC_VERSION__ >= 201112L) &&\ + !defined(__STDC_NO_ATOMICS__)) + #include +#elif CYTHON_ATOMICS && (defined(__cplusplus) && (\ + (__cplusplus >= 201103L) ||\ + (defined(_MSC_VER) && _MSC_VER >= 1700))) + #include +#endif +#if CYTHON_ATOMICS && (defined(__STDC_VERSION__) &&\ + (__STDC_VERSION__ >= 201112L) &&\ + !defined(__STDC_NO_ATOMICS__) &&\ + ATOMIC_INT_LOCK_FREE == 2) + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type atomic_int + #define __pyx_atomic_incr_aligned(value) atomic_fetch_add_explicit(value, 1, memory_order_relaxed) + #define __pyx_atomic_decr_aligned(value) atomic_fetch_sub_explicit(value, 1, memory_order_acq_rel) + #if defined(__PYX_DEBUG_ATOMICS) && defined(_MSC_VER) + #pragma message ("Using standard C atomics") + #elif defined(__PYX_DEBUG_ATOMICS) + #warning "Using standard C atomics" + #endif +#elif CYTHON_ATOMICS && (defined(__cplusplus) && (\ + (__cplusplus >= 201103L) ||\ +\ + (defined(_MSC_VER) && _MSC_VER >= 1700)) &&\ + ATOMIC_INT_LOCK_FREE == 2) + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type std::atomic_int + #define __pyx_atomic_incr_aligned(value) std::atomic_fetch_add_explicit(value, 1, std::memory_order_relaxed) + #define __pyx_atomic_decr_aligned(value) std::atomic_fetch_sub_explicit(value, 1, std::memory_order_acq_rel) + #if defined(__PYX_DEBUG_ATOMICS) && defined(_MSC_VER) + #pragma message ("Using standard C++ atomics") + #elif defined(__PYX_DEBUG_ATOMICS) + #warning "Using standard C++ atomics" + #endif +#elif CYTHON_ATOMICS && (__GNUC__ >= 5 || (__GNUC__ == 4 &&\ + (__GNUC_MINOR__ > 1 ||\ + (__GNUC_MINOR__ == 1 && __GNUC_PATCHLEVEL__ >= 2)))) + #define __pyx_atomic_incr_aligned(value) __sync_fetch_and_add(value, 1) + #define __pyx_atomic_decr_aligned(value) __sync_fetch_and_sub(value, 1) + #ifdef __PYX_DEBUG_ATOMICS + #warning "Using GNU atomics" + #endif +#elif CYTHON_ATOMICS && defined(_MSC_VER) + #include + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type long + #undef __pyx_nonatomic_int_type + #define __pyx_nonatomic_int_type long + #pragma intrinsic (_InterlockedExchangeAdd) + #define __pyx_atomic_incr_aligned(value) _InterlockedExchangeAdd(value, 1) + #define __pyx_atomic_decr_aligned(value) _InterlockedExchangeAdd(value, -1) + #ifdef __PYX_DEBUG_ATOMICS + #pragma message ("Using MSVC atomics") + #endif +#else + #undef CYTHON_ATOMICS + #define CYTHON_ATOMICS 0 + #ifdef __PYX_DEBUG_ATOMICS + #warning "Not using atomics" + #endif +#endif +#if CYTHON_ATOMICS + #define __pyx_add_acquisition_count(memview)\ + __pyx_atomic_incr_aligned(__pyx_get_slice_count_pointer(memview)) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_atomic_decr_aligned(__pyx_get_slice_count_pointer(memview)) +#else + #define __pyx_add_acquisition_count(memview)\ + __pyx_add_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_sub_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) +#endif + +/* MemviewSliceStruct.proto */ +struct __pyx_memoryview_obj; +typedef struct { + struct __pyx_memoryview_obj *memview; + char *data; + Py_ssize_t shape[8]; + Py_ssize_t strides[8]; + Py_ssize_t suboffsets[8]; +} __Pyx_memviewslice; +#define __Pyx_MemoryView_Len(m) (m.shape[0]) + +/* #### Code section: numeric_typedefs ### */ +/* #### Code section: complex_type_declarations ### */ +/* #### Code section: type_declarations ### */ + +/*--- Type declarations ---*/ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext; +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf; +struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext; +struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem; +struct __pyx_obj_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel; +struct __pyx_array_obj; +struct __pyx_MemviewEnum_obj; +struct __pyx_memoryview_obj; +struct __pyx_memoryviewslice_obj; + +/* "msgq/visionipc/visionipc_pyx.pxd":7 + * from .visionipc cimport cl_device_id, cl_context + * + * cdef class CLContext: # <<<<<<<<<<<<<< + * cdef cl_device_id device_id + * cdef cl_context context + */ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext { + PyObject_HEAD + cl_device_id device_id; + cl_context context; +}; + + +/* "msgq/visionipc/visionipc_pyx.pxd":11 + * cdef cl_context context + * + * cdef class VisionBuf: # <<<<<<<<<<<<<< + * cdef cppVisionBuf * buf + * + */ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf { + PyObject_HEAD + struct __pyx_vtabstruct_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_vtab; + VisionBuf *buf; +}; + + +/* "selfdrive/modeld/models/commonmodel_pyx.pxd":6 + * from msgq.visionipc.visionipc_pyx cimport CLContext as BaseCLContext + * + * cdef class CLContext(BaseCLContext): # <<<<<<<<<<<<<< + * pass + * + */ +struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext { + struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext __pyx_base; +}; + + +/* "selfdrive/modeld/models/commonmodel_pyx.pxd":9 + * pass + * + * cdef class CLMem: # <<<<<<<<<<<<<< + * cdef cl_mem * mem + * + */ +struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem { + PyObject_HEAD + struct __pyx_vtabstruct_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem *__pyx_vtab; + cl_mem *mem; +}; + + +/* "selfdrive/modeld/runners/runmodel_pyx.pxd":5 + * from .runmodel cimport RunModel as cppRunModel + * + * cdef class RunModel: # <<<<<<<<<<<<<< + * cdef cppRunModel * model + */ +struct __pyx_obj_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel { + PyObject_HEAD + RunModel *model; +}; + + +/* "View.MemoryView":114 + * @cython.collection_type("sequence") + * @cname("__pyx_array") + * cdef class array: # <<<<<<<<<<<<<< + * + * cdef: + */ +struct __pyx_array_obj { + PyObject_HEAD + struct __pyx_vtabstruct_array *__pyx_vtab; + char *data; + Py_ssize_t len; + char *format; + int ndim; + Py_ssize_t *_shape; + Py_ssize_t *_strides; + Py_ssize_t itemsize; + PyObject *mode; + PyObject *_format; + void (*callback_free_data)(void *); + int free_data; + int dtype_is_object; +}; + + +/* "View.MemoryView":302 + * + * @cname('__pyx_MemviewEnum') + * cdef class Enum(object): # <<<<<<<<<<<<<< + * cdef object name + * def __init__(self, name): + */ +struct __pyx_MemviewEnum_obj { + PyObject_HEAD + PyObject *name; +}; + + +/* "View.MemoryView":337 + * + * @cname('__pyx_memoryview') + * cdef class memoryview: # <<<<<<<<<<<<<< + * + * cdef object obj + */ +struct __pyx_memoryview_obj { + PyObject_HEAD + struct __pyx_vtabstruct_memoryview *__pyx_vtab; + PyObject *obj; + PyObject *_size; + PyObject *_array_interface; + PyThread_type_lock lock; + __pyx_atomic_int_type acquisition_count; + Py_buffer view; + int flags; + int dtype_is_object; + __Pyx_TypeInfo *typeinfo; +}; + + +/* "View.MemoryView":952 + * @cython.collection_type("sequence") + * @cname('__pyx_memoryviewslice') + * cdef class _memoryviewslice(memoryview): # <<<<<<<<<<<<<< + * "Internal class for passing memoryview slices to Python" + * + */ +struct __pyx_memoryviewslice_obj { + struct __pyx_memoryview_obj __pyx_base; + __Pyx_memviewslice from_slice; + PyObject *from_object; + PyObject *(*to_object_func)(char *); + int (*to_dtype_func)(char *, PyObject *); +}; + + + +/* "msgq/visionipc/visionipc_pyx.pxd":11 + * cdef cl_context context + * + * cdef class VisionBuf: # <<<<<<<<<<<<<< + * cdef cppVisionBuf * buf + * + */ + +struct __pyx_vtabstruct_4msgq_9visionipc_13visionipc_pyx_VisionBuf { + PyObject *(*create)(VisionBuf *); 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(PyObject*) Py_TYPE(__pyx_tstate->current_exception) : (PyObject*) NULL) +#else +#define __Pyx_PyErr_Occurred() (__pyx_tstate->curexc_type != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->curexc_type) +#endif +#else +#define __Pyx_PyThreadState_declare +#define __Pyx_PyThreadState_assign +#define __Pyx_PyErr_Occurred() (PyErr_Occurred() != NULL) +#define __Pyx_PyErr_CurrentExceptionType() PyErr_Occurred() +#endif + +/* PyErrFetchRestore.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_Clear() __Pyx_ErrRestore(NULL, NULL, NULL) +#define __Pyx_ErrRestoreWithState(type, value, tb) __Pyx_ErrRestoreInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) __Pyx_ErrFetchInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) __Pyx_ErrRestoreInState(__pyx_tstate, type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) __Pyx_ErrFetchInState(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A6 +#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) +#else +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#endif +#else +#define __Pyx_PyErr_Clear() PyErr_Clear() +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) +#endif + +/* PyObjectGetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n) +#endif + +/* PyObjectGetAttrStrNoError.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); + +/* GetBuiltinName.proto */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name); + +/* TupleAndListFromArray.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n); +static CYTHON_INLINE PyObject* __Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n); +#endif + +/* IncludeStringH.proto */ +#include + +/* BytesEquals.proto */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals); + +/* UnicodeEquals.proto */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals); + +/* fastcall.proto */ +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_VARARGS(args, i) PySequence_GetItem(args, i) +#elif CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GET_ITEM(args, i) +#else + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GetItem(args, i) +#endif +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_NewRef_VARARGS(arg) __Pyx_NewRef(arg) + #define __Pyx_Arg_XDECREF_VARARGS(arg) Py_XDECREF(arg) +#else + #define __Pyx_Arg_NewRef_VARARGS(arg) arg + #define __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#define __Pyx_NumKwargs_VARARGS(kwds) PyDict_Size(kwds) +#define __Pyx_KwValues_VARARGS(args, nargs) NULL +#define __Pyx_GetKwValue_VARARGS(kw, kwvalues, s) __Pyx_PyDict_GetItemStrWithError(kw, s) +#define __Pyx_KwargsAsDict_VARARGS(kw, kwvalues) PyDict_Copy(kw) +#if CYTHON_METH_FASTCALL + #define __Pyx_Arg_FASTCALL(args, i) args[i] + #define __Pyx_NumKwargs_FASTCALL(kwds) PyTuple_GET_SIZE(kwds) + #define __Pyx_KwValues_FASTCALL(args, nargs) ((args) + (nargs)) + static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); + #else + #define __Pyx_KwargsAsDict_FASTCALL(kw, kwvalues) _PyStack_AsDict(kwvalues, kw) + #endif + #define __Pyx_Arg_NewRef_FASTCALL(arg) arg /* no-op, __Pyx_Arg_FASTCALL is direct and this needs + to have the same reference counting */ + #define __Pyx_Arg_XDECREF_FASTCALL(arg) +#else + #define __Pyx_Arg_FASTCALL __Pyx_Arg_VARARGS + #define __Pyx_NumKwargs_FASTCALL __Pyx_NumKwargs_VARARGS + #define __Pyx_KwValues_FASTCALL __Pyx_KwValues_VARARGS + #define __Pyx_GetKwValue_FASTCALL __Pyx_GetKwValue_VARARGS + #define __Pyx_KwargsAsDict_FASTCALL __Pyx_KwargsAsDict_VARARGS + #define __Pyx_Arg_NewRef_FASTCALL(arg) __Pyx_Arg_NewRef_VARARGS(arg) + #define __Pyx_Arg_XDECREF_FASTCALL(arg) __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_VARARGS(args, start), stop - start) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_FASTCALL(args, start), stop - start) +#else +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) PyTuple_GetSlice(args, start, stop) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) PyTuple_GetSlice(args, start, stop) +#endif + +/* RaiseArgTupleInvalid.proto */ +static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, + Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); + +/* RaiseDoubleKeywords.proto */ +static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); + +/* ParseKeywords.proto */ +static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args, + const char* function_name); + +/* ArgTypeTest.proto */ +#define __Pyx_ArgTypeTest(obj, type, none_allowed, name, exact)\ + ((likely(__Pyx_IS_TYPE(obj, type) | (none_allowed && (obj == Py_None)))) ? 1 :\ + __Pyx__ArgTypeTest(obj, type, name, exact)) +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact); + +/* RaiseException.proto */ +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause); + +/* PyFunctionFastCall.proto */ +#if CYTHON_FAST_PYCALL +#if !CYTHON_VECTORCALL +#define __Pyx_PyFunction_FastCall(func, args, nargs)\ + __Pyx_PyFunction_FastCallDict((func), (args), (nargs), NULL) +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs); +#endif +#define __Pyx_BUILD_ASSERT_EXPR(cond)\ + (sizeof(char [1 - 2*!(cond)]) - 1) +#ifndef Py_MEMBER_SIZE +#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member) +#endif +#if !CYTHON_VECTORCALL +#if PY_VERSION_HEX >= 0x03080000 + #include "frameobject.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif + #define __Pxy_PyFrame_Initialize_Offsets() + #define __Pyx_PyFrame_GetLocalsplus(frame) ((frame)->f_localsplus) +#else + static size_t __pyx_pyframe_localsplus_offset = 0; + #include "frameobject.h" + #define __Pxy_PyFrame_Initialize_Offsets()\ + ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\ + (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus))) + #define __Pyx_PyFrame_GetLocalsplus(frame)\ + (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset)) +#endif +#endif +#endif + +/* PyObjectCall.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw); +#else +#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw) +#endif + +/* PyObjectCallMethO.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg); +#endif + +/* PyObjectFastCall.proto */ +#define __Pyx_PyObject_FastCall(func, args, nargs) __Pyx_PyObject_FastCallDict(func, args, (size_t)(nargs), NULL) +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs); + +/* RaiseUnexpectedTypeError.proto */ +static int __Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj); + +/* GCCDiagnostics.proto */ +#if !defined(__INTEL_COMPILER) && defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) +#define __Pyx_HAS_GCC_DIAGNOSTIC +#endif + +/* BuildPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_Py_ssize_t(Py_ssize_t value, Py_ssize_t width, char padding_char, char format_char); + +/* JoinPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char); + +/* StrEquals.proto */ +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyString_Equals __Pyx_PyUnicode_Equals +#else +#define __Pyx_PyString_Equals __Pyx_PyBytes_Equals +#endif + +/* PyObjectFormatSimple.proto */ +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#elif PY_MAJOR_VERSION < 3 + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyString_CheckExact(s)) ? PyUnicode_FromEncodedObject(s, NULL, "strict") :\ + PyObject_Format(s, f)) +#elif CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyLong_CheckExact(s)) ? PyLong_Type.tp_repr(s) :\ + likely(PyFloat_CheckExact(s)) ? PyFloat_Type.tp_repr(s) :\ + PyObject_Format(s, f)) +#else + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#endif + +CYTHON_UNUSED static int __pyx_array_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *); /*proto*/ +/* GetAttr.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *, PyObject *); + +/* GetItemInt.proto */ +#define __Pyx_GetItemInt(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Fast(o, (Py_ssize_t)i, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\ + __Pyx_GetItemInt_Generic(o, to_py_func(i)))) +#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j); +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, + int is_list, int wraparound, int boundscheck); + +/* PyObjectCallOneArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg); + +/* ObjectGetItem.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key); +#else +#define __Pyx_PyObject_GetItem(obj, key) PyObject_GetItem(obj, key) +#endif + +/* KeywordStringCheck.proto */ +static int __Pyx_CheckKeywordStrings(PyObject *kw, const char* function_name, int kw_allowed); + +/* DivInt[Py_ssize_t].proto */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t, Py_ssize_t); + +/* UnaryNegOverflows.proto */ +#define __Pyx_UNARY_NEG_WOULD_OVERFLOW(x)\ + (((x) < 0) & ((unsigned long)(x) == 0-(unsigned long)(x))) + +/* GetAttr3.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *, PyObject *, PyObject *); + +/* PyDictVersioning.proto */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) +#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ + (version_var) = __PYX_GET_DICT_VERSION(dict);\ + (cache_var) = (value); +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ + (VAR) = __pyx_dict_cached_value;\ + } else {\ + (VAR) = __pyx_dict_cached_value = (LOOKUP);\ + __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ + }\ +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); +#else +#define __PYX_GET_DICT_VERSION(dict) (0) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); +#endif + +/* GetModuleGlobalName.proto */ +#if CYTHON_USE_DICT_VERSIONS +#define __Pyx_GetModuleGlobalName(var, name) do {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + (var) = (likely(__pyx_dict_version == __PYX_GET_DICT_VERSION(__pyx_d))) ?\ + (likely(__pyx_dict_cached_value) ? __Pyx_NewRef(__pyx_dict_cached_value) : __Pyx_GetBuiltinName(name)) :\ + __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +#define __Pyx_GetModuleGlobalNameUncached(var, name) do {\ + PY_UINT64_T __pyx_dict_version;\ + PyObject *__pyx_dict_cached_value;\ + (var) = __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value); +#else +#define __Pyx_GetModuleGlobalName(var, name) (var) = __Pyx__GetModuleGlobalName(name) +#define __Pyx_GetModuleGlobalNameUncached(var, name) (var) = __Pyx__GetModuleGlobalName(name) +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name); +#endif + +/* AssertionsEnabled.proto */ +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag) + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (1) +#elif CYTHON_COMPILING_IN_LIMITED_API || (CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030C0000) + static int __pyx_assertions_enabled_flag; + #define __pyx_assertions_enabled() (__pyx_assertions_enabled_flag) + static int __Pyx_init_assertions_enabled(void) { + PyObject *builtins, *debug, *debug_str; + int flag; + builtins = PyEval_GetBuiltins(); + if (!builtins) goto bad; + debug_str = PyUnicode_FromStringAndSize("__debug__", 9); + if (!debug_str) goto bad; + debug = PyObject_GetItem(builtins, debug_str); + Py_DECREF(debug_str); + if (!debug) goto bad; + flag = PyObject_IsTrue(debug); + Py_DECREF(debug); + if (flag == -1) goto bad; + __pyx_assertions_enabled_flag = flag; + return 0; + bad: + __pyx_assertions_enabled_flag = 1; + return -1; + } +#else + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (!Py_OptimizeFlag) +#endif + +/* RaiseTooManyValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected); + +/* RaiseNeedMoreValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index); + +/* RaiseNoneIterError.proto */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void); + +/* ExtTypeTest.proto */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type); + +/* GetTopmostException.proto */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * __Pyx_PyErr_GetTopmostException(PyThreadState *tstate); +#endif + +/* SaveResetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSave(type, value, tb) __Pyx__ExceptionSave(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#define __Pyx_ExceptionReset(type, value, tb) __Pyx__ExceptionReset(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +#else +#define __Pyx_ExceptionSave(type, value, tb) PyErr_GetExcInfo(type, value, tb) +#define __Pyx_ExceptionReset(type, value, tb) PyErr_SetExcInfo(type, value, tb) +#endif + +/* GetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_GetException(type, value, tb) __Pyx__GetException(__pyx_tstate, type, value, tb) +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* SwapException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSwap(type, value, tb) __Pyx__ExceptionSwap(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* Import.proto */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level); + +/* ImportDottedModule.proto */ +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple); +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple); +#endif + +/* FastTypeChecks.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) __Pyx_IsAnySubtype2(Py_TYPE(obj), (PyTypeObject *)type1, (PyTypeObject *)type2) +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); +#else +#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) (PyObject_TypeCheck(obj, (PyTypeObject *)type1) || PyObject_TypeCheck(obj, (PyTypeObject *)type2)) +#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) +#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) +#endif +#define __Pyx_PyErr_ExceptionMatches2(err1, err2) __Pyx_PyErr_GivenExceptionMatches2(__Pyx_PyErr_CurrentExceptionType(), err1, err2) +#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) + +CYTHON_UNUSED static int __pyx_memoryview_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +/* ListCompAppend.proto */ +#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS +static CYTHON_INLINE int __Pyx_ListComp_Append(PyObject* list, PyObject* x) { + PyListObject* L = (PyListObject*) list; + Py_ssize_t len = Py_SIZE(list); + if (likely(L->allocated > len)) { + Py_INCREF(x); + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + L->ob_item[len] = x; + #else + PyList_SET_ITEM(list, len, x); + #endif + __Pyx_SET_SIZE(list, len + 1); + return 0; + } + return PyList_Append(list, x); +} +#else +#define __Pyx_ListComp_Append(L,x) PyList_Append(L,x) +#endif + +/* PySequenceMultiply.proto */ +#define __Pyx_PySequence_Multiply_Left(mul, seq) __Pyx_PySequence_Multiply(seq, mul) +static CYTHON_INLINE PyObject* __Pyx_PySequence_Multiply(PyObject *seq, Py_ssize_t mul); + +/* SetItemInt.proto */ +#define __Pyx_SetItemInt(o, i, v, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_SetItemInt_Fast(o, (Py_ssize_t)i, v, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list assignment index out of range"), -1) :\ + __Pyx_SetItemInt_Generic(o, to_py_func(i), v))) +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v); +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, + int is_list, int wraparound, int boundscheck); + +/* RaiseUnboundLocalError.proto */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname); + +/* DivInt[long].proto */ +static CYTHON_INLINE long __Pyx_div_long(long, long); + +/* PySequenceContains.proto */ +static CYTHON_INLINE int __Pyx_PySequence_ContainsTF(PyObject* item, PyObject* seq, int eq) { + int result = PySequence_Contains(seq, item); + return unlikely(result < 0) ? result : (result == (eq == Py_EQ)); +} + +/* ImportFrom.proto */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name); + +/* HasAttr.proto */ +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 +#define __Pyx_HasAttr(o, n) PyObject_HasAttrWithError(o, n) +#else +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *, PyObject *); +#endif + +/* MoveIfSupported.proto */ +#if CYTHON_USE_CPP_STD_MOVE + #include + #define __PYX_STD_MOVE_IF_SUPPORTED(x) std::move(x) +#else + #define __PYX_STD_MOVE_IF_SUPPORTED(x) x +#endif + +/* BufferIndexError.proto */ +static void __Pyx_RaiseBufferIndexError(int axis); + +/* PyObject_GenericGetAttrNoDict.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr +#endif + +/* PyObject_GenericGetAttr.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr +#endif + +/* IncludeStructmemberH.proto */ +#include + +/* FixUpExtensionType.proto */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type); +#endif + +/* PyObjectCallNoArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func); + +/* PyObjectGetMethod.proto */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method); + +/* PyObjectCallMethod0.proto */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name); + +/* ValidateBasesTuple.proto */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases); +#endif + +/* PyType_Ready.proto */ +CYTHON_UNUSED static int __Pyx_PyType_Ready(PyTypeObject *t); + +/* SetupReduce.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce(PyObject* type_obj); +#endif + +/* SetVTable.proto */ +static int __Pyx_SetVtable(PyTypeObject* typeptr , void* vtable); + +/* GetVTable.proto */ +static void* __Pyx_GetVtable(PyTypeObject *type); + +/* MergeVTables.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type); +#endif + +/* TypeImport.proto */ +#ifndef __PYX_HAVE_RT_ImportType_proto_3_0_8 +#define __PYX_HAVE_RT_ImportType_proto_3_0_8 +#if defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L +#include +#endif +#if (defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) || __cplusplus >= 201103L +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) alignof(s) +#else +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) sizeof(void*) +#endif +enum __Pyx_ImportType_CheckSize_3_0_8 { + __Pyx_ImportType_CheckSize_Error_3_0_8 = 0, + __Pyx_ImportType_CheckSize_Warn_3_0_8 = 1, + __Pyx_ImportType_CheckSize_Ignore_3_0_8 = 2 +}; +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject* module, const char *module_name, const char *class_name, size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size); +#endif + +/* SetNameInClass.proto */ +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && PY_VERSION_HEX < 0x030d0000 +#define __Pyx_SetNameInClass(ns, name, value)\ + (likely(PyDict_CheckExact(ns)) ? _PyDict_SetItem_KnownHash(ns, name, value, ((PyASCIIObject *) name)->hash) : PyObject_SetItem(ns, name, value)) +#elif CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_SetNameInClass(ns, name, value)\ + (likely(PyDict_CheckExact(ns)) ? PyDict_SetItem(ns, name, value) : PyObject_SetItem(ns, name, value)) +#else +#define __Pyx_SetNameInClass(ns, name, value) PyObject_SetItem(ns, name, value) +#endif + +/* CalculateMetaclass.proto */ +static PyObject *__Pyx_CalculateMetaclass(PyTypeObject *metaclass, PyObject *bases); + +/* PyObjectCall2Args.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2); + +/* PyObjectLookupSpecial.proto */ +#if CYTHON_USE_PYTYPE_LOOKUP && CYTHON_USE_TYPE_SLOTS +#define __Pyx_PyObject_LookupSpecialNoError(obj, attr_name) __Pyx__PyObject_LookupSpecial(obj, attr_name, 0) +#define __Pyx_PyObject_LookupSpecial(obj, attr_name) __Pyx__PyObject_LookupSpecial(obj, attr_name, 1) +static CYTHON_INLINE PyObject* __Pyx__PyObject_LookupSpecial(PyObject* obj, PyObject* attr_name, int with_error); +#else +#define __Pyx_PyObject_LookupSpecialNoError(o,n) __Pyx_PyObject_GetAttrStrNoError(o,n) +#define __Pyx_PyObject_LookupSpecial(o,n) __Pyx_PyObject_GetAttrStr(o,n) +#endif + +/* Py3ClassCreate.proto */ +static PyObject *__Pyx_Py3MetaclassPrepare(PyObject *metaclass, PyObject *bases, PyObject *name, PyObject *qualname, + PyObject *mkw, PyObject *modname, PyObject *doc); +static PyObject *__Pyx_Py3ClassCreate(PyObject *metaclass, PyObject *name, PyObject *bases, PyObject *dict, + PyObject *mkw, int calculate_metaclass, int allow_py2_metaclass); + +/* FetchSharedCythonModule.proto */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void); + +/* FetchCommonType.proto */ +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type); +#else +static PyTypeObject* __Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases); +#endif + +/* PyMethodNew.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + PyObject *typesModule=NULL, *methodType=NULL, *result=NULL; + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + typesModule = PyImport_ImportModule("types"); + if (!typesModule) return NULL; + methodType = PyObject_GetAttrString(typesModule, "MethodType"); + Py_DECREF(typesModule); + if (!methodType) return NULL; + result = PyObject_CallFunctionObjArgs(methodType, func, self, NULL); + Py_DECREF(methodType); + return result; +} +#elif PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + return PyMethod_New(func, self); +} +#else + #define __Pyx_PyMethod_New PyMethod_New +#endif + +/* PyVectorcallFastCallDict.proto */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw); +#endif + +/* CythonFunctionShared.proto */ +#define __Pyx_CyFunction_USED +#define __Pyx_CYFUNCTION_STATICMETHOD 0x01 +#define __Pyx_CYFUNCTION_CLASSMETHOD 0x02 +#define __Pyx_CYFUNCTION_CCLASS 0x04 +#define __Pyx_CYFUNCTION_COROUTINE 0x08 +#define __Pyx_CyFunction_GetClosure(f)\ + (((__pyx_CyFunctionObject *) (f))->func_closure) +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_CyFunction_GetClassObj(f)\ + (((__pyx_CyFunctionObject *) (f))->func_classobj) +#else + #define __Pyx_CyFunction_GetClassObj(f)\ + ((PyObject*) ((PyCMethodObject *) (f))->mm_class) +#endif +#define __Pyx_CyFunction_SetClassObj(f, classobj)\ + __Pyx__CyFunction_SetClassObj((__pyx_CyFunctionObject *) (f), (classobj)) +#define __Pyx_CyFunction_Defaults(type, f)\ + ((type *)(((__pyx_CyFunctionObject *) (f))->defaults)) +#define __Pyx_CyFunction_SetDefaultsGetter(f, g)\ + ((__pyx_CyFunctionObject *) (f))->defaults_getter = (g) +typedef struct { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject_HEAD + PyObject *func; +#elif PY_VERSION_HEX < 0x030900B1 + PyCFunctionObject func; +#else + PyCMethodObject func; +#endif +#if CYTHON_BACKPORT_VECTORCALL + __pyx_vectorcallfunc func_vectorcall; +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_weakreflist; +#endif + PyObject *func_dict; + PyObject *func_name; + PyObject *func_qualname; + PyObject *func_doc; + PyObject *func_globals; + PyObject *func_code; + PyObject *func_closure; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_classobj; +#endif + void *defaults; + int defaults_pyobjects; + size_t defaults_size; + int flags; + PyObject *defaults_tuple; + PyObject *defaults_kwdict; + PyObject *(*defaults_getter)(PyObject *); + PyObject *func_annotations; + PyObject *func_is_coroutine; +} __pyx_CyFunctionObject; +#undef __Pyx_CyOrPyCFunction_Check +#define __Pyx_CyFunction_Check(obj) __Pyx_TypeCheck(obj, __pyx_CyFunctionType) +#define __Pyx_CyOrPyCFunction_Check(obj) __Pyx_TypeCheck2(obj, __pyx_CyFunctionType, &PyCFunction_Type) +#define __Pyx_CyFunction_CheckExact(obj) __Pyx_IS_TYPE(obj, __pyx_CyFunctionType) +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc); +#undef __Pyx_IsSameCFunction +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCyOrCFunction(func, cfunc) +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject* op, PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj); +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *m, + size_t size, + int pyobjects); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *m, + PyObject *tuple); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *m, + PyObject *dict); +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *m, + PyObject *dict); +static int __pyx_CyFunction_init(PyObject *module); +#if CYTHON_METH_FASTCALL +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +#if CYTHON_BACKPORT_VECTORCALL +#define __Pyx_CyFunction_func_vectorcall(f) (((__pyx_CyFunctionObject*)f)->func_vectorcall) +#else +#define __Pyx_CyFunction_func_vectorcall(f) (((PyCFunctionObject*)f)->vectorcall) +#endif +#endif + +/* CythonFunction.proto */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); + +/* CLineInTraceback.proto */ +#ifdef CYTHON_CLINE_IN_TRACEBACK +#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) +#else +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); +#endif + +/* CodeObjectCache.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +typedef struct { + PyCodeObject* code_object; + int code_line; +} __Pyx_CodeObjectCacheEntry; +struct __Pyx_CodeObjectCache { + int count; + int max_count; + __Pyx_CodeObjectCacheEntry* entries; +}; +static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); +static PyCodeObject *__pyx_find_code_object(int code_line); +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); +#endif + +/* AddTraceback.proto */ +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename); + +#if PY_MAJOR_VERSION < 3 + static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags); + static void __Pyx_ReleaseBuffer(Py_buffer *view); +#else + #define __Pyx_GetBuffer PyObject_GetBuffer + #define __Pyx_ReleaseBuffer PyBuffer_Release +#endif + + +/* BufferStructDeclare.proto */ +typedef struct { + Py_ssize_t shape, strides, suboffsets; +} __Pyx_Buf_DimInfo; +typedef struct { + size_t refcount; + Py_buffer pybuffer; +} __Pyx_Buffer; +typedef struct { + __Pyx_Buffer *rcbuffer; + char *data; + __Pyx_Buf_DimInfo diminfo[8]; +} __Pyx_LocalBuf_ND; + +/* MemviewSliceIsContig.proto */ +static int __pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim); + +/* OverlappingSlices.proto */ +static int __pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize); + +/* IsLittleEndian.proto */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void); + +/* BufferFormatCheck.proto */ +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts); +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type); + +/* TypeInfoCompare.proto */ +static int __pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b); + +/* MemviewSliceValidateAndInit.proto */ +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj); + +/* ObjectToMemviewSlice.proto */ +static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_float(PyObject *, int writable_flag); + +/* MemviewDtypeToObject.proto */ +static CYTHON_INLINE PyObject *__pyx_memview_get_float(const char *itemp); +static CYTHON_INLINE int __pyx_memview_set_float(const char *itemp, PyObject *obj); + +/* MemviewSliceCopyTemplate.proto */ +static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object); + +/* MemviewSliceInit.proto */ +#define __Pyx_BUF_MAX_NDIMS %(BUF_MAX_NDIMS)d +#define __Pyx_MEMVIEW_DIRECT 1 +#define __Pyx_MEMVIEW_PTR 2 +#define __Pyx_MEMVIEW_FULL 4 +#define __Pyx_MEMVIEW_CONTIG 8 +#define __Pyx_MEMVIEW_STRIDED 16 +#define __Pyx_MEMVIEW_FOLLOW 32 +#define __Pyx_IS_C_CONTIG 1 +#define __Pyx_IS_F_CONTIG 2 +static int __Pyx_init_memviewslice( + struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference); +static CYTHON_INLINE int __pyx_add_acquisition_count_locked( + __pyx_atomic_int_type *acquisition_count, PyThread_type_lock lock); +static CYTHON_INLINE int __pyx_sub_acquisition_count_locked( + __pyx_atomic_int_type *acquisition_count, PyThread_type_lock lock); +#define __pyx_get_slice_count_pointer(memview) (&memview->acquisition_count) +#define __PYX_INC_MEMVIEW(slice, have_gil) __Pyx_INC_MEMVIEW(slice, have_gil, __LINE__) +#define __PYX_XCLEAR_MEMVIEW(slice, have_gil) __Pyx_XCLEAR_MEMVIEW(slice, have_gil, __LINE__) +static CYTHON_INLINE void __Pyx_INC_MEMVIEW(__Pyx_memviewslice *, int, int); +static CYTHON_INLINE void __Pyx_XCLEAR_MEMVIEW(__Pyx_memviewslice *, int, int); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value); + +/* CppExceptionConversion.proto */ +#ifndef __Pyx_CppExn2PyErr +#include +#include +#include +#include +static void __Pyx_CppExn2PyErr() { + try { + if (PyErr_Occurred()) + ; // let the latest Python exn pass through and ignore the current one + else + throw; + } catch (const std::bad_alloc& exn) { + PyErr_SetString(PyExc_MemoryError, exn.what()); + } catch (const std::bad_cast& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::bad_typeid& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::domain_error& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::invalid_argument& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::ios_base::failure& exn) { + PyErr_SetString(PyExc_IOError, exn.what()); + } catch (const std::out_of_range& exn) { + PyErr_SetString(PyExc_IndexError, exn.what()); + } catch (const std::overflow_error& exn) { + PyErr_SetString(PyExc_OverflowError, exn.what()); + } catch (const std::range_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::underflow_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::exception& exn) { + PyErr_SetString(PyExc_RuntimeError, exn.what()); + } + catch (...) + { + PyErr_SetString(PyExc_RuntimeError, "Unknown exception"); + } +} +#endif + +/* None.proto */ +#include + +/* CIntFromPy.proto */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); + +/* CIntFromPy.proto */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *); + +/* FormatTypeName.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +typedef PyObject *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%U" +static __Pyx_TypeName __Pyx_PyType_GetName(PyTypeObject* tp); +#define __Pyx_DECREF_TypeName(obj) Py_XDECREF(obj) +#else +typedef const char *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%.200s" +#define __Pyx_PyType_GetName(tp) ((tp)->tp_name) +#define __Pyx_DECREF_TypeName(obj) +#endif + +/* CheckBinaryVersion.proto */ +static unsigned long __Pyx_get_runtime_version(void); +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer); + +/* InitStrings.proto */ +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); + +/* #### Code section: module_declarations ### */ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *__pyx_v_self); /* proto*/ +static char *__pyx_memoryview_get_item_pointer(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto*/ +static PyObject *__pyx_memoryview_is_slice(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assignment(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_dst, PyObject *__pyx_v_src); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assign_scalar(struct __pyx_memoryview_obj *__pyx_v_self, struct __pyx_memoryview_obj *__pyx_v_dst, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_setitem_indexed(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_convert_item_to_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryview_assign_item_from_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview__get_base(struct __pyx_memoryview_obj *__pyx_v_self); /* proto*/ +static PyObject *__pyx_memoryviewslice_convert_item_to_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryviewslice_assign_item_from_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryviewslice__get_base(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto*/ + +/* Module declarations from "libc.string" */ + +/* Module declarations from "libcpp.string" */ + +/* Module declarations from "selfdrive.modeld.runners.runmodel" */ + +/* Module declarations from "libcpp.vector" */ + +/* Module declarations from "libcpp.utility" */ + +/* Module declarations from "libcpp.set" */ + +/* Module declarations from "libc.stdint" */ + +/* Module declarations from "libcpp" */ + +/* Module declarations from "msgq.visionipc.visionipc" */ + +/* Module declarations from "msgq.visionipc.visionipc_pyx" */ + +/* Module declarations from "selfdrive.modeld.models.commonmodel_pyx" */ + +/* Module declarations from "selfdrive.modeld.runners.runmodel_pyx" */ +static PyObject *__pyx_collections_abc_Sequence = 0; +static PyObject *generic = 0; +static PyObject *strided = 0; +static PyObject *indirect = 0; +static PyObject *contiguous = 0; +static PyObject *indirect_contiguous = 0; +static int __pyx_memoryview_thread_locks_used; +static PyThread_type_lock __pyx_memoryview_thread_locks[8]; +static std::string __pyx_convert_string_from_py_std__in_string(PyObject *); /*proto*/ +static int __pyx_array_allocate_buffer(struct __pyx_array_obj *); /*proto*/ +static struct __pyx_array_obj *__pyx_array_new(PyObject *, Py_ssize_t, char *, char *, char *); /*proto*/ +static PyObject *__pyx_memoryview_new(PyObject *, int, int, __Pyx_TypeInfo *); /*proto*/ +static CYTHON_INLINE int __pyx_memoryview_check(PyObject *); /*proto*/ +static PyObject *_unellipsify(PyObject *, int); /*proto*/ +static int assert_direct_dimensions(Py_ssize_t *, int); /*proto*/ +static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_obj *, PyObject *); /*proto*/ +static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int, int); /*proto*/ +static char *__pyx_pybuffer_index(Py_buffer *, char *, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memslice_transpose(__Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_fromslice(__Pyx_memviewslice, int, PyObject *(*)(char *), int (*)(char *, PyObject *), int); /*proto*/ +static __Pyx_memviewslice *__pyx_memoryview_get_slice_from_memoryview(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static void __pyx_memoryview_slice_copy(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object(struct __pyx_memoryview_obj *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object_from_slice(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static Py_ssize_t abs_py_ssize_t(Py_ssize_t); /*proto*/ +static char __pyx_get_best_slice_order(__Pyx_memviewslice *, int); /*proto*/ +static void _copy_strided_to_strided(char *, Py_ssize_t *, char *, Py_ssize_t *, Py_ssize_t *, Py_ssize_t *, int, size_t); /*proto*/ +static void copy_strided_to_strided(__Pyx_memviewslice *, __Pyx_memviewslice *, int, size_t); /*proto*/ +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *, int); /*proto*/ +static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *, Py_ssize_t *, Py_ssize_t, int, char); /*proto*/ +static void *__pyx_memoryview_copy_data_to_temp(__Pyx_memviewslice *, __Pyx_memviewslice *, char, int); /*proto*/ +static int __pyx_memoryview_err_extents(int, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memoryview_err_dim(PyObject *, PyObject *, int); /*proto*/ +static int __pyx_memoryview_err(PyObject *, PyObject *); /*proto*/ +static int __pyx_memoryview_err_no_memory(void); /*proto*/ +static int __pyx_memoryview_copy_contents(__Pyx_memviewslice, __Pyx_memviewslice, int, int, int); /*proto*/ +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *, int, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *, int, size_t, void *, int); /*proto*/ +static void __pyx_memoryview__slice_assign_scalar(char *, Py_ssize_t *, Py_ssize_t *, int, size_t, void *); /*proto*/ +static PyObject *__pyx_unpickle_Enum__set_state(struct __pyx_MemviewEnum_obj *, PyObject *); /*proto*/ +/* #### Code section: typeinfo ### */ +static __Pyx_TypeInfo __Pyx_TypeInfo_float = { "float", NULL, sizeof(float), { 0 }, 0, 'R', 0, 0 }; +/* #### Code section: before_global_var ### */ +#define __Pyx_MODULE_NAME "selfdrive.modeld.runners.runmodel_pyx" +extern int __pyx_module_is_main_selfdrive__modeld__runners__runmodel_pyx; +int __pyx_module_is_main_selfdrive__modeld__runners__runmodel_pyx = 0; + +/* Implementation of "selfdrive.modeld.runners.runmodel_pyx" */ +/* #### Code section: global_var ### */ +static PyObject *__pyx_builtin_TypeError; +static PyObject *__pyx_builtin___import__; +static PyObject *__pyx_builtin_ValueError; +static PyObject *__pyx_builtin_MemoryError; +static PyObject *__pyx_builtin_enumerate; +static PyObject *__pyx_builtin_range; +static PyObject *__pyx_builtin_AssertionError; +static PyObject *__pyx_builtin_Ellipsis; +static PyObject *__pyx_builtin_id; +static PyObject *__pyx_builtin_IndexError; +/* #### Code section: string_decls ### */ +static const char __pyx_k_[] = ": "; +static const char __pyx_k_O[] = "O"; +static const char __pyx_k_c[] = "c"; +static const char __pyx_k__2[] = "."; +static const char __pyx_k__3[] = "*"; +static const char __pyx_k__6[] = "'"; +static const char __pyx_k__7[] = ")"; +static const char __pyx_k_gc[] = "gc"; +static const char __pyx_k_id[] = "id"; +static const char __pyx_k_CPU[] = "CPU"; +static const char __pyx_k_DSP[] = "DSP"; +static const char __pyx_k_GPU[] = "GPU"; +static const char __pyx_k__30[] = "?"; +static const char __pyx_k_abc[] = "abc"; +static const char __pyx_k_and[] = " and "; +static const char __pyx_k_doc[] = "__doc__"; +static const char __pyx_k_got[] = " (got "; +static const char __pyx_k_new[] = "__new__"; +static const char __pyx_k_obj[] = "obj"; +static const char __pyx_k_sys[] = "sys"; +static const char __pyx_k_base[] = "base"; +static const char __pyx_k_dict[] = "__dict__"; +static const char __pyx_k_main[] = "__main__"; +static const char __pyx_k_mode[] = "mode"; +static const char __pyx_k_name[] = "name"; +static const char __pyx_k_ndim[] = "ndim"; +static const char __pyx_k_pack[] = "pack"; +static const char __pyx_k_self[] = "self"; +static const char __pyx_k_size[] = "size"; +static const char __pyx_k_spec[] = "__spec__"; +static const char __pyx_k_step[] = "step"; +static const char __pyx_k_stop[] = "stop"; +static const char __pyx_k_test[] = "__test__"; +static const char __pyx_k_ASCII[] = "ASCII"; +static const char __pyx_k_class[] = "__class__"; +static const char __pyx_k_count[] = "count"; +static const char __pyx_k_error[] = "error"; +static const char __pyx_k_flags[] = "flags"; +static const char __pyx_k_index[] = "index"; +static const char __pyx_k_range[] = "range"; +static const char __pyx_k_shape[] = "shape"; +static const char __pyx_k_start[] = "start"; +static const char __pyx_k_super[] = "super"; +static const char __pyx_k_buffer[] = "buffer"; +static const char __pyx_k_cl_buf[] = "cl_buf"; +static const char __pyx_k_enable[] = "enable"; +static const char __pyx_k_encode[] = "encode"; +static const char __pyx_k_format[] = "format"; +static const char __pyx_k_import[] = "__import__"; +static const char __pyx_k_module[] = "__module__"; +static const char __pyx_k_name_2[] = "__name__"; +static const char __pyx_k_pickle[] = "pickle"; +static const char __pyx_k_reduce[] = "__reduce__"; +static const char __pyx_k_struct[] = "struct"; +static const char __pyx_k_unpack[] = "unpack"; +static const char __pyx_k_update[] = "update"; +static const char __pyx_k_Runtime[] = "Runtime"; +static const char __pyx_k_disable[] = "disable"; +static const char __pyx_k_execute[] = "execute"; +static const char __pyx_k_fortran[] = "fortran"; +static const char __pyx_k_memview[] = "memview"; +static const char __pyx_k_prepare[] = "__prepare__"; +static const char __pyx_k_Ellipsis[] = "Ellipsis"; +static const char __pyx_k_RunModel[] = "RunModel"; +static const char __pyx_k_Sequence[] = "Sequence"; +static const char __pyx_k_addInput[] = "addInput"; +static const char __pyx_k_getstate[] = "__getstate__"; +static const char __pyx_k_itemsize[] = "itemsize"; +static const char __pyx_k_pyx_type[] = "__pyx_type"; +static const char __pyx_k_qualname[] = "__qualname__"; +static const char __pyx_k_register[] = "register"; +static const char __pyx_k_set_name[] = "__set_name__"; +static const char __pyx_k_setstate[] = "__setstate__"; +static const char __pyx_k_TypeError[] = "TypeError"; +static const char __pyx_k_enumerate[] = "enumerate"; +static const char __pyx_k_isenabled[] = "isenabled"; +static const char __pyx_k_metaclass[] = "__metaclass__"; +static const char __pyx_k_pyx_state[] = "__pyx_state"; +static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; +static const char __pyx_k_IndexError[] = "IndexError"; +static const char __pyx_k_ValueError[] = "ValueError"; +static const char __pyx_k_pyx_result[] = "__pyx_result"; +static const char __pyx_k_pyx_vtable[] = "__pyx_vtable__"; +static const char __pyx_k_MemoryError[] = "MemoryError"; +static const char __pyx_k_PickleError[] = "PickleError"; +static const char __pyx_k_collections[] = "collections"; +static const char __pyx_k_getCLBuffer[] = "getCLBuffer"; +static const char __pyx_k_initializing[] = "_initializing"; +static const char __pyx_k_is_coroutine[] = "_is_coroutine"; +static const char __pyx_k_pyx_checksum[] = "__pyx_checksum"; +static const char __pyx_k_stringsource[] = ""; +static const char __pyx_k_version_info[] = "version_info"; +static const char __pyx_k_class_getitem[] = "__class_getitem__"; +static const char __pyx_k_init_subclass[] = "__init_subclass__"; +static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; +static const char __pyx_k_AssertionError[] = "AssertionError"; +static const char __pyx_k_setInputBuffer[] = "setInputBuffer"; +static const char __pyx_k_View_MemoryView[] = "View.MemoryView"; +static const char __pyx_k_allocate_buffer[] = "allocate_buffer"; +static const char __pyx_k_collections_abc[] = "collections.abc"; +static const char __pyx_k_dtype_is_object[] = "dtype_is_object"; +static const char __pyx_k_pyx_PickleError[] = "__pyx_PickleError"; +static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; +static const char __pyx_k_RunModel_execute[] = "RunModel.execute"; +static const char __pyx_k_RunModel_addInput[] = "RunModel.addInput"; +static const char __pyx_k_pyx_unpickle_Enum[] = "__pyx_unpickle_Enum"; +static const char __pyx_k_asyncio_coroutines[] = "asyncio.coroutines"; +static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; +static const char __pyx_k_strided_and_direct[] = ""; +static const char __pyx_k_RunModel_getCLBuffer[] = "RunModel.getCLBuffer"; +static const char __pyx_k_strided_and_indirect[] = ""; +static const char __pyx_k_Invalid_shape_in_axis[] = "Invalid shape in axis "; +static const char __pyx_k_contiguous_and_direct[] = ""; +static const char __pyx_k_Cannot_index_with_type[] = "Cannot index with type '"; +static const char __pyx_k_MemoryView_of_r_object[] = ""; +static const char __pyx_k_MemoryView_of_r_at_0x_x[] = ""; +static const char __pyx_k_RunModel_setInputBuffer[] = "RunModel.setInputBuffer"; +static const char __pyx_k_contiguous_and_indirect[] = ""; +static const char __pyx_k_RunModel___reduce_cython[] = "RunModel.__reduce_cython__"; +static const char __pyx_k_Dimension_d_is_not_direct[] = "Dimension %d is not direct"; +static const char __pyx_k_Index_out_of_bounds_axis_d[] = "Index out of bounds (axis %d)"; +static const char __pyx_k_RunModel___setstate_cython[] = "RunModel.__setstate_cython__"; +static const char __pyx_k_Step_may_not_be_zero_axis_d[] = "Step may not be zero (axis %d)"; +static const char __pyx_k_itemsize_0_for_cython_array[] = "itemsize <= 0 for cython.array"; +static const char __pyx_k_unable_to_allocate_array_data[] = "unable to allocate array data."; +static const char __pyx_k_strided_and_direct_or_indirect[] = ""; +static const char __pyx_k_All_dimensions_preceding_dimensi[] = "All dimensions preceding dimension %d must be indexed and not sliced"; +static const char __pyx_k_Buffer_view_does_not_expose_stri[] = "Buffer view does not expose strides"; +static const char __pyx_k_Can_only_create_a_buffer_that_is[] = "Can only create a buffer that is contiguous in memory."; +static const char __pyx_k_Cannot_assign_to_read_only_memor[] = "Cannot assign to read-only memoryview"; +static const char __pyx_k_Cannot_create_writable_memory_vi[] = "Cannot create writable memory view from read-only memoryview"; +static const char __pyx_k_Cannot_transpose_memoryview_with[] = "Cannot transpose memoryview with indirect dimensions"; +static const char __pyx_k_Empty_shape_tuple_for_cython_arr[] = "Empty shape tuple for cython.array"; +static const char __pyx_k_Incompatible_checksums_0x_x_vs_0[] = "Incompatible checksums (0x%x vs (0x82a3537, 0x6ae9995, 0xb068931) = (name))"; +static const char __pyx_k_Indirect_dimensions_not_supporte[] = "Indirect dimensions not supported"; +static const char __pyx_k_Invalid_mode_expected_c_or_fortr[] = "Invalid mode, expected 'c' or 'fortran', got "; +static const char __pyx_k_Out_of_bounds_on_buffer_access_a[] = "Out of bounds on buffer access (axis "; +static const char __pyx_k_Unable_to_convert_item_to_object[] = "Unable to convert item to object"; +static const char __pyx_k_got_differing_extents_in_dimensi[] = "got differing extents in dimension "; +static const char __pyx_k_no_default___reduce___due_to_non[] = "no default __reduce__ due to non-trivial __cinit__"; +static const char __pyx_k_self_model_cannot_be_converted_t[] = "self.model cannot be converted to a Python object for pickling"; +static const char __pyx_k_selfdrive_modeld_runners_runmode[] = "selfdrive.modeld.runners.runmodel_pyx"; +static const char __pyx_k_unable_to_allocate_shape_and_str[] = "unable to allocate shape and strides."; +static const char __pyx_k_selfdrive_modeld_runners_runmode_2[] = "selfdrive/modeld/runners/runmodel_pyx.pyx"; +/* #### Code section: decls ### */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_shape, Py_ssize_t __pyx_v_itemsize, PyObject *__pyx_v_format, PyObject *__pyx_v_mode, int __pyx_v_allocate_buffer); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_2__getbuffer__(struct __pyx_array_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static void __pyx_array___pyx_pf_15View_dot_MemoryView_5array_4__dealloc__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_5array_7memview___get__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_array___pyx_pf_15View_dot_MemoryView_5array_6__len__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_8__getattr__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_attr); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_10__getitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_12__setitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item, PyObject *__pyx_v_value); /* proto */ +static PyObject *__pyx_pf___pyx_array___reduce_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_array_2__setstate_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum___init__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v_name); /* proto */ +static PyObject *__pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum_2__repr__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum___reduce_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum_2__setstate_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview___cinit__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj, int __pyx_v_flags, int __pyx_v_dtype_is_object); /* proto */ +static void __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_2__dealloc__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_4__getitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_6__setitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_8__getbuffer__(struct __pyx_memoryview_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_1T___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4base___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_5shape___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_7strides___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_10suboffsets___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4ndim___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_8itemsize___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_6nbytes___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4size___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_10__len__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_12__repr__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_14__str__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_16is_c_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_18is_f_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_20copy(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_22copy_fortran(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static void __pyx_memoryviewslice___pyx_pf_15View_dot_MemoryView_16_memoryviewslice___dealloc__(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView___pyx_unpickle_Enum(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v___pyx_type, long __pyx_v___pyx_checksum, PyObject *__pyx_v___pyx_state); /* proto */ +static void __pyx_pf_9selfdrive_6modeld_7runners_12runmodel_pyx_8RunModel___dealloc__(struct __pyx_obj_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_9selfdrive_6modeld_7runners_12runmodel_pyx_8RunModel_2addInput(struct __pyx_obj_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel *__pyx_v_self, std::string __pyx_v_name, __Pyx_memviewslice __pyx_v_buffer); /* proto */ +static PyObject *__pyx_pf_9selfdrive_6modeld_7runners_12runmodel_pyx_8RunModel_4setInputBuffer(struct __pyx_obj_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel *__pyx_v_self, std::string __pyx_v_name, __Pyx_memviewslice __pyx_v_buffer); /* proto */ +static PyObject *__pyx_pf_9selfdrive_6modeld_7runners_12runmodel_pyx_8RunModel_6getCLBuffer(struct __pyx_obj_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel *__pyx_v_self, std::string __pyx_v_name); /* proto */ +static PyObject *__pyx_pf_9selfdrive_6modeld_7runners_12runmodel_pyx_8RunModel_8execute(struct __pyx_obj_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_9selfdrive_6modeld_7runners_12runmodel_pyx_8RunModel_10__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_9selfdrive_6modeld_7runners_12runmodel_pyx_8RunModel_12__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_tp_new_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +/* #### Code section: late_includes ### */ +/* #### Code section: module_state ### */ +typedef struct { + PyObject *__pyx_d; + PyObject *__pyx_b; + PyObject *__pyx_cython_runtime; + PyObject *__pyx_empty_tuple; + PyObject *__pyx_empty_bytes; + PyObject *__pyx_empty_unicode; + #ifdef __Pyx_CyFunction_USED + PyTypeObject *__pyx_CyFunctionType; + #endif + #ifdef __Pyx_FusedFunction_USED + PyTypeObject *__pyx_FusedFunctionType; + #endif + #ifdef __Pyx_Generator_USED + PyTypeObject *__pyx_GeneratorType; + #endif + #ifdef __Pyx_IterableCoroutine_USED + PyTypeObject *__pyx_IterableCoroutineType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineAwaitType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineType; + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext; + PyTypeObject *__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf; + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext; + PyTypeObject *__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem; + #if CYTHON_USE_MODULE_STATE + PyObject *__pyx_type_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel; + PyObject *__pyx_type___pyx_array; + PyObject *__pyx_type___pyx_MemviewEnum; + PyObject *__pyx_type___pyx_memoryview; + PyObject *__pyx_type___pyx_memoryviewslice; + #endif + PyTypeObject *__pyx_ptype_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel; + PyTypeObject *__pyx_array_type; + PyTypeObject *__pyx_MemviewEnum_type; + PyTypeObject *__pyx_memoryview_type; + PyTypeObject *__pyx_memoryviewslice_type; + PyObject *__pyx_kp_u_; + PyObject *__pyx_n_s_ASCII; + PyObject *__pyx_kp_s_All_dimensions_preceding_dimensi; + PyObject *__pyx_n_s_AssertionError; + PyObject *__pyx_kp_s_Buffer_view_does_not_expose_stri; + PyObject *__pyx_n_s_CPU; + PyObject *__pyx_kp_s_Can_only_create_a_buffer_that_is; + PyObject *__pyx_kp_s_Cannot_assign_to_read_only_memor; + PyObject *__pyx_kp_s_Cannot_create_writable_memory_vi; + PyObject *__pyx_kp_u_Cannot_index_with_type; + PyObject *__pyx_kp_s_Cannot_transpose_memoryview_with; + PyObject *__pyx_n_s_DSP; + PyObject *__pyx_kp_s_Dimension_d_is_not_direct; + PyObject *__pyx_n_s_Ellipsis; + PyObject *__pyx_kp_s_Empty_shape_tuple_for_cython_arr; + PyObject *__pyx_n_s_GPU; + PyObject *__pyx_kp_s_Incompatible_checksums_0x_x_vs_0; + PyObject *__pyx_n_s_IndexError; + PyObject *__pyx_kp_s_Index_out_of_bounds_axis_d; + PyObject *__pyx_kp_s_Indirect_dimensions_not_supporte; + PyObject *__pyx_kp_u_Invalid_mode_expected_c_or_fortr; + PyObject *__pyx_kp_u_Invalid_shape_in_axis; + PyObject *__pyx_n_s_MemoryError; + PyObject *__pyx_kp_s_MemoryView_of_r_at_0x_x; + PyObject *__pyx_kp_s_MemoryView_of_r_object; + PyObject *__pyx_n_b_O; + PyObject *__pyx_kp_u_Out_of_bounds_on_buffer_access_a; + PyObject *__pyx_n_s_PickleError; + PyObject *__pyx_n_s_RunModel; + PyObject *__pyx_n_s_RunModel___reduce_cython; + PyObject *__pyx_n_s_RunModel___setstate_cython; + PyObject *__pyx_n_s_RunModel_addInput; + PyObject *__pyx_n_s_RunModel_execute; + PyObject *__pyx_n_s_RunModel_getCLBuffer; + PyObject *__pyx_n_s_RunModel_setInputBuffer; + PyObject *__pyx_n_s_Runtime; + PyObject *__pyx_n_s_Sequence; + PyObject *__pyx_kp_s_Step_may_not_be_zero_axis_d; + PyObject *__pyx_n_s_TypeError; + PyObject *__pyx_kp_s_Unable_to_convert_item_to_object; + PyObject *__pyx_n_s_ValueError; + PyObject *__pyx_n_s_View_MemoryView; + PyObject *__pyx_kp_u__2; + PyObject *__pyx_n_s__3; + PyObject *__pyx_n_s__30; + PyObject *__pyx_kp_u__6; + PyObject *__pyx_kp_u__7; + PyObject *__pyx_n_s_abc; + PyObject *__pyx_n_s_addInput; + PyObject *__pyx_n_s_allocate_buffer; + PyObject *__pyx_kp_u_and; + PyObject *__pyx_n_s_asyncio_coroutines; + PyObject *__pyx_n_s_base; + PyObject *__pyx_n_s_buffer; + PyObject *__pyx_n_s_c; + PyObject *__pyx_n_u_c; + PyObject *__pyx_n_s_cl_buf; + PyObject *__pyx_n_s_class; + PyObject *__pyx_n_s_class_getitem; + PyObject *__pyx_n_s_cline_in_traceback; + PyObject *__pyx_n_s_collections; + PyObject *__pyx_kp_s_collections_abc; + PyObject *__pyx_kp_s_contiguous_and_direct; + PyObject *__pyx_kp_s_contiguous_and_indirect; + PyObject *__pyx_n_s_count; + PyObject *__pyx_n_s_dict; + PyObject *__pyx_kp_u_disable; + PyObject *__pyx_n_s_doc; + PyObject *__pyx_n_s_dtype_is_object; + PyObject *__pyx_kp_u_enable; + PyObject *__pyx_n_s_encode; + PyObject *__pyx_n_s_enumerate; + PyObject *__pyx_n_s_error; + PyObject *__pyx_n_s_execute; + PyObject *__pyx_n_s_flags; + PyObject *__pyx_n_s_format; + PyObject *__pyx_n_s_fortran; + PyObject *__pyx_n_u_fortran; + PyObject *__pyx_kp_u_gc; + PyObject *__pyx_n_s_getCLBuffer; + PyObject *__pyx_n_s_getstate; + PyObject *__pyx_kp_u_got; + PyObject *__pyx_kp_u_got_differing_extents_in_dimensi; + PyObject *__pyx_n_s_id; + PyObject *__pyx_n_s_import; + PyObject *__pyx_n_s_index; + PyObject *__pyx_n_s_init_subclass; + PyObject *__pyx_n_s_initializing; + PyObject *__pyx_n_s_is_coroutine; + PyObject *__pyx_kp_u_isenabled; + PyObject *__pyx_n_s_itemsize; + PyObject *__pyx_kp_s_itemsize_0_for_cython_array; + PyObject *__pyx_n_s_main; + PyObject *__pyx_n_s_memview; + PyObject *__pyx_n_s_metaclass; + PyObject *__pyx_n_s_mode; + PyObject *__pyx_n_s_module; + PyObject *__pyx_n_s_name; + PyObject *__pyx_n_s_name_2; + PyObject *__pyx_n_s_ndim; + PyObject *__pyx_n_s_new; + PyObject *__pyx_kp_s_no_default___reduce___due_to_non; + PyObject *__pyx_n_s_obj; + PyObject *__pyx_n_s_pack; + PyObject *__pyx_n_s_pickle; + PyObject *__pyx_n_s_prepare; + PyObject *__pyx_n_s_pyx_PickleError; + PyObject *__pyx_n_s_pyx_checksum; + PyObject *__pyx_n_s_pyx_result; + PyObject *__pyx_n_s_pyx_state; + PyObject *__pyx_n_s_pyx_type; + PyObject *__pyx_n_s_pyx_unpickle_Enum; + PyObject *__pyx_n_s_pyx_vtable; + PyObject *__pyx_n_s_qualname; + PyObject *__pyx_n_s_range; + PyObject *__pyx_n_s_reduce; + PyObject *__pyx_n_s_reduce_cython; + PyObject *__pyx_n_s_reduce_ex; + PyObject *__pyx_n_s_register; + PyObject *__pyx_n_s_self; + PyObject *__pyx_kp_s_self_model_cannot_be_converted_t; + PyObject *__pyx_n_s_selfdrive_modeld_runners_runmode; + PyObject *__pyx_kp_s_selfdrive_modeld_runners_runmode_2; + PyObject *__pyx_n_s_setInputBuffer; + PyObject *__pyx_n_s_set_name; + PyObject *__pyx_n_s_setstate; + PyObject *__pyx_n_s_setstate_cython; + PyObject *__pyx_n_s_shape; + PyObject *__pyx_n_s_size; + PyObject *__pyx_n_s_spec; + PyObject *__pyx_n_s_start; + PyObject *__pyx_n_s_step; + PyObject *__pyx_n_s_stop; + PyObject *__pyx_kp_s_strided_and_direct; + PyObject *__pyx_kp_s_strided_and_direct_or_indirect; + PyObject *__pyx_kp_s_strided_and_indirect; + PyObject *__pyx_kp_s_stringsource; + PyObject *__pyx_n_s_struct; + PyObject *__pyx_n_s_super; + PyObject *__pyx_n_s_sys; + PyObject *__pyx_n_s_test; + PyObject *__pyx_kp_s_unable_to_allocate_array_data; + PyObject *__pyx_kp_s_unable_to_allocate_shape_and_str; + PyObject *__pyx_n_s_unpack; + PyObject *__pyx_n_s_update; + PyObject *__pyx_n_s_version_info; + PyObject *__pyx_int_0; + PyObject *__pyx_int_1; + PyObject *__pyx_int_3; + PyObject *__pyx_int_112105877; + PyObject *__pyx_int_136983863; + PyObject *__pyx_int_184977713; + PyObject *__pyx_int_neg_1; + PyObject *__pyx_slice__5; + PyObject *__pyx_tuple__4; + PyObject *__pyx_tuple__8; + PyObject *__pyx_tuple__9; + PyObject *__pyx_tuple__10; + PyObject *__pyx_tuple__11; + PyObject *__pyx_tuple__12; + PyObject *__pyx_tuple__13; + PyObject *__pyx_tuple__14; + PyObject *__pyx_tuple__15; + PyObject *__pyx_tuple__16; + PyObject *__pyx_tuple__17; + PyObject *__pyx_tuple__18; + PyObject *__pyx_tuple__20; + PyObject *__pyx_tuple__23; + PyObject *__pyx_tuple__25; + PyObject *__pyx_tuple__28; + PyObject *__pyx_codeobj__19; + PyObject *__pyx_codeobj__21; + PyObject *__pyx_codeobj__22; + PyObject *__pyx_codeobj__24; + PyObject *__pyx_codeobj__26; + PyObject *__pyx_codeobj__27; + PyObject *__pyx_codeobj__29; +} __pyx_mstate; + +#if CYTHON_USE_MODULE_STATE +#ifdef __cplusplus +namespace { + extern struct PyModuleDef __pyx_moduledef; +} /* anonymous namespace */ +#else +static struct PyModuleDef __pyx_moduledef; +#endif + +#define __pyx_mstate(o) ((__pyx_mstate *)__Pyx_PyModule_GetState(o)) + +#define __pyx_mstate_global (__pyx_mstate(PyState_FindModule(&__pyx_moduledef))) + +#define __pyx_m (PyState_FindModule(&__pyx_moduledef)) +#else +static __pyx_mstate __pyx_mstate_global_static = +#ifdef __cplusplus + {}; +#else + {0}; +#endif +static __pyx_mstate *__pyx_mstate_global = &__pyx_mstate_global_static; +#endif +/* #### Code section: module_state_clear ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_clear(PyObject *m) { + __pyx_mstate *clear_module_state = __pyx_mstate(m); + if (!clear_module_state) return 0; + Py_CLEAR(clear_module_state->__pyx_d); + Py_CLEAR(clear_module_state->__pyx_b); + Py_CLEAR(clear_module_state->__pyx_cython_runtime); + Py_CLEAR(clear_module_state->__pyx_empty_tuple); + Py_CLEAR(clear_module_state->__pyx_empty_bytes); + Py_CLEAR(clear_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_CLEAR(clear_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_CLEAR(clear_module_state->__pyx_FusedFunctionType); + #endif + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext); + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel); + Py_CLEAR(clear_module_state->__pyx_type_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel); + Py_CLEAR(clear_module_state->__pyx_array_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_array); + Py_CLEAR(clear_module_state->__pyx_MemviewEnum_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_MemviewEnum); + Py_CLEAR(clear_module_state->__pyx_memoryview_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_memoryview); + Py_CLEAR(clear_module_state->__pyx_memoryviewslice_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_memoryviewslice); + Py_CLEAR(clear_module_state->__pyx_kp_u_); + Py_CLEAR(clear_module_state->__pyx_n_s_ASCII); + Py_CLEAR(clear_module_state->__pyx_kp_s_All_dimensions_preceding_dimensi); + Py_CLEAR(clear_module_state->__pyx_n_s_AssertionError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Buffer_view_does_not_expose_stri); + Py_CLEAR(clear_module_state->__pyx_n_s_CPU); + Py_CLEAR(clear_module_state->__pyx_kp_s_Can_only_create_a_buffer_that_is); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_assign_to_read_only_memor); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_create_writable_memory_vi); + Py_CLEAR(clear_module_state->__pyx_kp_u_Cannot_index_with_type); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_transpose_memoryview_with); + Py_CLEAR(clear_module_state->__pyx_n_s_DSP); + Py_CLEAR(clear_module_state->__pyx_kp_s_Dimension_d_is_not_direct); + Py_CLEAR(clear_module_state->__pyx_n_s_Ellipsis); + Py_CLEAR(clear_module_state->__pyx_kp_s_Empty_shape_tuple_for_cython_arr); + Py_CLEAR(clear_module_state->__pyx_n_s_GPU); + Py_CLEAR(clear_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0); + Py_CLEAR(clear_module_state->__pyx_n_s_IndexError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Index_out_of_bounds_axis_d); + Py_CLEAR(clear_module_state->__pyx_kp_s_Indirect_dimensions_not_supporte); + Py_CLEAR(clear_module_state->__pyx_kp_u_Invalid_mode_expected_c_or_fortr); + Py_CLEAR(clear_module_state->__pyx_kp_u_Invalid_shape_in_axis); + Py_CLEAR(clear_module_state->__pyx_n_s_MemoryError); + Py_CLEAR(clear_module_state->__pyx_kp_s_MemoryView_of_r_at_0x_x); + Py_CLEAR(clear_module_state->__pyx_kp_s_MemoryView_of_r_object); + Py_CLEAR(clear_module_state->__pyx_n_b_O); + Py_CLEAR(clear_module_state->__pyx_kp_u_Out_of_bounds_on_buffer_access_a); + Py_CLEAR(clear_module_state->__pyx_n_s_PickleError); + Py_CLEAR(clear_module_state->__pyx_n_s_RunModel); + Py_CLEAR(clear_module_state->__pyx_n_s_RunModel___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_RunModel___setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_RunModel_addInput); + Py_CLEAR(clear_module_state->__pyx_n_s_RunModel_execute); + Py_CLEAR(clear_module_state->__pyx_n_s_RunModel_getCLBuffer); + Py_CLEAR(clear_module_state->__pyx_n_s_RunModel_setInputBuffer); + Py_CLEAR(clear_module_state->__pyx_n_s_Runtime); + Py_CLEAR(clear_module_state->__pyx_n_s_Sequence); + Py_CLEAR(clear_module_state->__pyx_kp_s_Step_may_not_be_zero_axis_d); + Py_CLEAR(clear_module_state->__pyx_n_s_TypeError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Unable_to_convert_item_to_object); + Py_CLEAR(clear_module_state->__pyx_n_s_ValueError); + Py_CLEAR(clear_module_state->__pyx_n_s_View_MemoryView); + Py_CLEAR(clear_module_state->__pyx_kp_u__2); + Py_CLEAR(clear_module_state->__pyx_n_s__3); + Py_CLEAR(clear_module_state->__pyx_n_s__30); + Py_CLEAR(clear_module_state->__pyx_kp_u__6); + Py_CLEAR(clear_module_state->__pyx_kp_u__7); + Py_CLEAR(clear_module_state->__pyx_n_s_abc); + Py_CLEAR(clear_module_state->__pyx_n_s_addInput); + Py_CLEAR(clear_module_state->__pyx_n_s_allocate_buffer); + Py_CLEAR(clear_module_state->__pyx_kp_u_and); + Py_CLEAR(clear_module_state->__pyx_n_s_asyncio_coroutines); + Py_CLEAR(clear_module_state->__pyx_n_s_base); + Py_CLEAR(clear_module_state->__pyx_n_s_buffer); + Py_CLEAR(clear_module_state->__pyx_n_s_c); + Py_CLEAR(clear_module_state->__pyx_n_u_c); + Py_CLEAR(clear_module_state->__pyx_n_s_cl_buf); + Py_CLEAR(clear_module_state->__pyx_n_s_class); + Py_CLEAR(clear_module_state->__pyx_n_s_class_getitem); + Py_CLEAR(clear_module_state->__pyx_n_s_cline_in_traceback); + Py_CLEAR(clear_module_state->__pyx_n_s_collections); + Py_CLEAR(clear_module_state->__pyx_kp_s_collections_abc); + Py_CLEAR(clear_module_state->__pyx_kp_s_contiguous_and_direct); + Py_CLEAR(clear_module_state->__pyx_kp_s_contiguous_and_indirect); + Py_CLEAR(clear_module_state->__pyx_n_s_count); + Py_CLEAR(clear_module_state->__pyx_n_s_dict); + Py_CLEAR(clear_module_state->__pyx_kp_u_disable); + Py_CLEAR(clear_module_state->__pyx_n_s_doc); + Py_CLEAR(clear_module_state->__pyx_n_s_dtype_is_object); + Py_CLEAR(clear_module_state->__pyx_kp_u_enable); + Py_CLEAR(clear_module_state->__pyx_n_s_encode); + Py_CLEAR(clear_module_state->__pyx_n_s_enumerate); + Py_CLEAR(clear_module_state->__pyx_n_s_error); + Py_CLEAR(clear_module_state->__pyx_n_s_execute); + Py_CLEAR(clear_module_state->__pyx_n_s_flags); + Py_CLEAR(clear_module_state->__pyx_n_s_format); + Py_CLEAR(clear_module_state->__pyx_n_s_fortran); + Py_CLEAR(clear_module_state->__pyx_n_u_fortran); + Py_CLEAR(clear_module_state->__pyx_kp_u_gc); + Py_CLEAR(clear_module_state->__pyx_n_s_getCLBuffer); + Py_CLEAR(clear_module_state->__pyx_n_s_getstate); + Py_CLEAR(clear_module_state->__pyx_kp_u_got); + Py_CLEAR(clear_module_state->__pyx_kp_u_got_differing_extents_in_dimensi); + Py_CLEAR(clear_module_state->__pyx_n_s_id); + Py_CLEAR(clear_module_state->__pyx_n_s_import); + Py_CLEAR(clear_module_state->__pyx_n_s_index); + Py_CLEAR(clear_module_state->__pyx_n_s_init_subclass); + Py_CLEAR(clear_module_state->__pyx_n_s_initializing); + Py_CLEAR(clear_module_state->__pyx_n_s_is_coroutine); + Py_CLEAR(clear_module_state->__pyx_kp_u_isenabled); + Py_CLEAR(clear_module_state->__pyx_n_s_itemsize); + Py_CLEAR(clear_module_state->__pyx_kp_s_itemsize_0_for_cython_array); + Py_CLEAR(clear_module_state->__pyx_n_s_main); + Py_CLEAR(clear_module_state->__pyx_n_s_memview); + Py_CLEAR(clear_module_state->__pyx_n_s_metaclass); + Py_CLEAR(clear_module_state->__pyx_n_s_mode); + Py_CLEAR(clear_module_state->__pyx_n_s_module); + Py_CLEAR(clear_module_state->__pyx_n_s_name); + Py_CLEAR(clear_module_state->__pyx_n_s_name_2); + Py_CLEAR(clear_module_state->__pyx_n_s_ndim); + Py_CLEAR(clear_module_state->__pyx_n_s_new); + Py_CLEAR(clear_module_state->__pyx_kp_s_no_default___reduce___due_to_non); + Py_CLEAR(clear_module_state->__pyx_n_s_obj); + Py_CLEAR(clear_module_state->__pyx_n_s_pack); + Py_CLEAR(clear_module_state->__pyx_n_s_pickle); + Py_CLEAR(clear_module_state->__pyx_n_s_prepare); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_PickleError); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_checksum); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_result); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_state); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_type); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_unpickle_Enum); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_vtable); + Py_CLEAR(clear_module_state->__pyx_n_s_qualname); + Py_CLEAR(clear_module_state->__pyx_n_s_range); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_ex); + Py_CLEAR(clear_module_state->__pyx_n_s_register); + Py_CLEAR(clear_module_state->__pyx_n_s_self); + Py_CLEAR(clear_module_state->__pyx_kp_s_self_model_cannot_be_converted_t); + Py_CLEAR(clear_module_state->__pyx_n_s_selfdrive_modeld_runners_runmode); + Py_CLEAR(clear_module_state->__pyx_kp_s_selfdrive_modeld_runners_runmode_2); + Py_CLEAR(clear_module_state->__pyx_n_s_setInputBuffer); + Py_CLEAR(clear_module_state->__pyx_n_s_set_name); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_shape); + Py_CLEAR(clear_module_state->__pyx_n_s_size); + Py_CLEAR(clear_module_state->__pyx_n_s_spec); + Py_CLEAR(clear_module_state->__pyx_n_s_start); + Py_CLEAR(clear_module_state->__pyx_n_s_step); + Py_CLEAR(clear_module_state->__pyx_n_s_stop); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_direct); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_direct_or_indirect); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_indirect); + Py_CLEAR(clear_module_state->__pyx_kp_s_stringsource); + Py_CLEAR(clear_module_state->__pyx_n_s_struct); + Py_CLEAR(clear_module_state->__pyx_n_s_super); + Py_CLEAR(clear_module_state->__pyx_n_s_sys); + Py_CLEAR(clear_module_state->__pyx_n_s_test); + Py_CLEAR(clear_module_state->__pyx_kp_s_unable_to_allocate_array_data); + Py_CLEAR(clear_module_state->__pyx_kp_s_unable_to_allocate_shape_and_str); + Py_CLEAR(clear_module_state->__pyx_n_s_unpack); + Py_CLEAR(clear_module_state->__pyx_n_s_update); + Py_CLEAR(clear_module_state->__pyx_n_s_version_info); + Py_CLEAR(clear_module_state->__pyx_int_0); + Py_CLEAR(clear_module_state->__pyx_int_1); + Py_CLEAR(clear_module_state->__pyx_int_3); + Py_CLEAR(clear_module_state->__pyx_int_112105877); + Py_CLEAR(clear_module_state->__pyx_int_136983863); + Py_CLEAR(clear_module_state->__pyx_int_184977713); + Py_CLEAR(clear_module_state->__pyx_int_neg_1); + Py_CLEAR(clear_module_state->__pyx_slice__5); + Py_CLEAR(clear_module_state->__pyx_tuple__4); + Py_CLEAR(clear_module_state->__pyx_tuple__8); + Py_CLEAR(clear_module_state->__pyx_tuple__9); + Py_CLEAR(clear_module_state->__pyx_tuple__10); + Py_CLEAR(clear_module_state->__pyx_tuple__11); + Py_CLEAR(clear_module_state->__pyx_tuple__12); + Py_CLEAR(clear_module_state->__pyx_tuple__13); + Py_CLEAR(clear_module_state->__pyx_tuple__14); + Py_CLEAR(clear_module_state->__pyx_tuple__15); + Py_CLEAR(clear_module_state->__pyx_tuple__16); + Py_CLEAR(clear_module_state->__pyx_tuple__17); + Py_CLEAR(clear_module_state->__pyx_tuple__18); + Py_CLEAR(clear_module_state->__pyx_tuple__20); + Py_CLEAR(clear_module_state->__pyx_tuple__23); + Py_CLEAR(clear_module_state->__pyx_tuple__25); + Py_CLEAR(clear_module_state->__pyx_tuple__28); + Py_CLEAR(clear_module_state->__pyx_codeobj__19); + Py_CLEAR(clear_module_state->__pyx_codeobj__21); + Py_CLEAR(clear_module_state->__pyx_codeobj__22); + Py_CLEAR(clear_module_state->__pyx_codeobj__24); + Py_CLEAR(clear_module_state->__pyx_codeobj__26); + Py_CLEAR(clear_module_state->__pyx_codeobj__27); + Py_CLEAR(clear_module_state->__pyx_codeobj__29); + return 0; +} +#endif +/* #### Code section: module_state_traverse ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_traverse(PyObject *m, visitproc visit, void *arg) { + __pyx_mstate *traverse_module_state = __pyx_mstate(m); + if (!traverse_module_state) return 0; + Py_VISIT(traverse_module_state->__pyx_d); + Py_VISIT(traverse_module_state->__pyx_b); + Py_VISIT(traverse_module_state->__pyx_cython_runtime); + Py_VISIT(traverse_module_state->__pyx_empty_tuple); + Py_VISIT(traverse_module_state->__pyx_empty_bytes); + Py_VISIT(traverse_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_VISIT(traverse_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_VISIT(traverse_module_state->__pyx_FusedFunctionType); + #endif + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext); + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel); + Py_VISIT(traverse_module_state->__pyx_type_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel); + Py_VISIT(traverse_module_state->__pyx_array_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_array); + Py_VISIT(traverse_module_state->__pyx_MemviewEnum_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_MemviewEnum); + Py_VISIT(traverse_module_state->__pyx_memoryview_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_memoryview); + Py_VISIT(traverse_module_state->__pyx_memoryviewslice_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_memoryviewslice); + Py_VISIT(traverse_module_state->__pyx_kp_u_); + Py_VISIT(traverse_module_state->__pyx_n_s_ASCII); + Py_VISIT(traverse_module_state->__pyx_kp_s_All_dimensions_preceding_dimensi); + Py_VISIT(traverse_module_state->__pyx_n_s_AssertionError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Buffer_view_does_not_expose_stri); + Py_VISIT(traverse_module_state->__pyx_n_s_CPU); + Py_VISIT(traverse_module_state->__pyx_kp_s_Can_only_create_a_buffer_that_is); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_assign_to_read_only_memor); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_create_writable_memory_vi); + Py_VISIT(traverse_module_state->__pyx_kp_u_Cannot_index_with_type); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_transpose_memoryview_with); + Py_VISIT(traverse_module_state->__pyx_n_s_DSP); + Py_VISIT(traverse_module_state->__pyx_kp_s_Dimension_d_is_not_direct); + Py_VISIT(traverse_module_state->__pyx_n_s_Ellipsis); + Py_VISIT(traverse_module_state->__pyx_kp_s_Empty_shape_tuple_for_cython_arr); + Py_VISIT(traverse_module_state->__pyx_n_s_GPU); + Py_VISIT(traverse_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0); + Py_VISIT(traverse_module_state->__pyx_n_s_IndexError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Index_out_of_bounds_axis_d); + Py_VISIT(traverse_module_state->__pyx_kp_s_Indirect_dimensions_not_supporte); + Py_VISIT(traverse_module_state->__pyx_kp_u_Invalid_mode_expected_c_or_fortr); + Py_VISIT(traverse_module_state->__pyx_kp_u_Invalid_shape_in_axis); + Py_VISIT(traverse_module_state->__pyx_n_s_MemoryError); + Py_VISIT(traverse_module_state->__pyx_kp_s_MemoryView_of_r_at_0x_x); + Py_VISIT(traverse_module_state->__pyx_kp_s_MemoryView_of_r_object); + Py_VISIT(traverse_module_state->__pyx_n_b_O); + Py_VISIT(traverse_module_state->__pyx_kp_u_Out_of_bounds_on_buffer_access_a); + Py_VISIT(traverse_module_state->__pyx_n_s_PickleError); + Py_VISIT(traverse_module_state->__pyx_n_s_RunModel); + Py_VISIT(traverse_module_state->__pyx_n_s_RunModel___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_RunModel___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_RunModel_addInput); + Py_VISIT(traverse_module_state->__pyx_n_s_RunModel_execute); + Py_VISIT(traverse_module_state->__pyx_n_s_RunModel_getCLBuffer); + Py_VISIT(traverse_module_state->__pyx_n_s_RunModel_setInputBuffer); + Py_VISIT(traverse_module_state->__pyx_n_s_Runtime); + Py_VISIT(traverse_module_state->__pyx_n_s_Sequence); + Py_VISIT(traverse_module_state->__pyx_kp_s_Step_may_not_be_zero_axis_d); + Py_VISIT(traverse_module_state->__pyx_n_s_TypeError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Unable_to_convert_item_to_object); + Py_VISIT(traverse_module_state->__pyx_n_s_ValueError); + Py_VISIT(traverse_module_state->__pyx_n_s_View_MemoryView); + Py_VISIT(traverse_module_state->__pyx_kp_u__2); + Py_VISIT(traverse_module_state->__pyx_n_s__3); + Py_VISIT(traverse_module_state->__pyx_n_s__30); + Py_VISIT(traverse_module_state->__pyx_kp_u__6); + Py_VISIT(traverse_module_state->__pyx_kp_u__7); + Py_VISIT(traverse_module_state->__pyx_n_s_abc); + Py_VISIT(traverse_module_state->__pyx_n_s_addInput); + Py_VISIT(traverse_module_state->__pyx_n_s_allocate_buffer); + Py_VISIT(traverse_module_state->__pyx_kp_u_and); + Py_VISIT(traverse_module_state->__pyx_n_s_asyncio_coroutines); + Py_VISIT(traverse_module_state->__pyx_n_s_base); + Py_VISIT(traverse_module_state->__pyx_n_s_buffer); + Py_VISIT(traverse_module_state->__pyx_n_s_c); + Py_VISIT(traverse_module_state->__pyx_n_u_c); + Py_VISIT(traverse_module_state->__pyx_n_s_cl_buf); + Py_VISIT(traverse_module_state->__pyx_n_s_class); + Py_VISIT(traverse_module_state->__pyx_n_s_class_getitem); + Py_VISIT(traverse_module_state->__pyx_n_s_cline_in_traceback); + Py_VISIT(traverse_module_state->__pyx_n_s_collections); + Py_VISIT(traverse_module_state->__pyx_kp_s_collections_abc); + Py_VISIT(traverse_module_state->__pyx_kp_s_contiguous_and_direct); + Py_VISIT(traverse_module_state->__pyx_kp_s_contiguous_and_indirect); + Py_VISIT(traverse_module_state->__pyx_n_s_count); + Py_VISIT(traverse_module_state->__pyx_n_s_dict); + Py_VISIT(traverse_module_state->__pyx_kp_u_disable); + Py_VISIT(traverse_module_state->__pyx_n_s_doc); + Py_VISIT(traverse_module_state->__pyx_n_s_dtype_is_object); + Py_VISIT(traverse_module_state->__pyx_kp_u_enable); + Py_VISIT(traverse_module_state->__pyx_n_s_encode); + Py_VISIT(traverse_module_state->__pyx_n_s_enumerate); + Py_VISIT(traverse_module_state->__pyx_n_s_error); + Py_VISIT(traverse_module_state->__pyx_n_s_execute); + Py_VISIT(traverse_module_state->__pyx_n_s_flags); + Py_VISIT(traverse_module_state->__pyx_n_s_format); + Py_VISIT(traverse_module_state->__pyx_n_s_fortran); + Py_VISIT(traverse_module_state->__pyx_n_u_fortran); + Py_VISIT(traverse_module_state->__pyx_kp_u_gc); + Py_VISIT(traverse_module_state->__pyx_n_s_getCLBuffer); + Py_VISIT(traverse_module_state->__pyx_n_s_getstate); + Py_VISIT(traverse_module_state->__pyx_kp_u_got); + Py_VISIT(traverse_module_state->__pyx_kp_u_got_differing_extents_in_dimensi); + Py_VISIT(traverse_module_state->__pyx_n_s_id); + Py_VISIT(traverse_module_state->__pyx_n_s_import); + Py_VISIT(traverse_module_state->__pyx_n_s_index); + Py_VISIT(traverse_module_state->__pyx_n_s_init_subclass); + Py_VISIT(traverse_module_state->__pyx_n_s_initializing); + Py_VISIT(traverse_module_state->__pyx_n_s_is_coroutine); + Py_VISIT(traverse_module_state->__pyx_kp_u_isenabled); + Py_VISIT(traverse_module_state->__pyx_n_s_itemsize); + Py_VISIT(traverse_module_state->__pyx_kp_s_itemsize_0_for_cython_array); + Py_VISIT(traverse_module_state->__pyx_n_s_main); + Py_VISIT(traverse_module_state->__pyx_n_s_memview); + Py_VISIT(traverse_module_state->__pyx_n_s_metaclass); + Py_VISIT(traverse_module_state->__pyx_n_s_mode); + Py_VISIT(traverse_module_state->__pyx_n_s_module); + Py_VISIT(traverse_module_state->__pyx_n_s_name); + Py_VISIT(traverse_module_state->__pyx_n_s_name_2); + Py_VISIT(traverse_module_state->__pyx_n_s_ndim); + Py_VISIT(traverse_module_state->__pyx_n_s_new); + Py_VISIT(traverse_module_state->__pyx_kp_s_no_default___reduce___due_to_non); + Py_VISIT(traverse_module_state->__pyx_n_s_obj); + Py_VISIT(traverse_module_state->__pyx_n_s_pack); + Py_VISIT(traverse_module_state->__pyx_n_s_pickle); + Py_VISIT(traverse_module_state->__pyx_n_s_prepare); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_PickleError); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_checksum); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_result); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_state); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_type); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_unpickle_Enum); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_vtable); + Py_VISIT(traverse_module_state->__pyx_n_s_qualname); + Py_VISIT(traverse_module_state->__pyx_n_s_range); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_ex); + Py_VISIT(traverse_module_state->__pyx_n_s_register); + Py_VISIT(traverse_module_state->__pyx_n_s_self); + Py_VISIT(traverse_module_state->__pyx_kp_s_self_model_cannot_be_converted_t); + Py_VISIT(traverse_module_state->__pyx_n_s_selfdrive_modeld_runners_runmode); + Py_VISIT(traverse_module_state->__pyx_kp_s_selfdrive_modeld_runners_runmode_2); + Py_VISIT(traverse_module_state->__pyx_n_s_setInputBuffer); + Py_VISIT(traverse_module_state->__pyx_n_s_set_name); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_shape); + Py_VISIT(traverse_module_state->__pyx_n_s_size); + Py_VISIT(traverse_module_state->__pyx_n_s_spec); + Py_VISIT(traverse_module_state->__pyx_n_s_start); + Py_VISIT(traverse_module_state->__pyx_n_s_step); + Py_VISIT(traverse_module_state->__pyx_n_s_stop); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_direct); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_direct_or_indirect); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_indirect); + Py_VISIT(traverse_module_state->__pyx_kp_s_stringsource); + Py_VISIT(traverse_module_state->__pyx_n_s_struct); + Py_VISIT(traverse_module_state->__pyx_n_s_super); + Py_VISIT(traverse_module_state->__pyx_n_s_sys); + Py_VISIT(traverse_module_state->__pyx_n_s_test); + Py_VISIT(traverse_module_state->__pyx_kp_s_unable_to_allocate_array_data); + Py_VISIT(traverse_module_state->__pyx_kp_s_unable_to_allocate_shape_and_str); + Py_VISIT(traverse_module_state->__pyx_n_s_unpack); + Py_VISIT(traverse_module_state->__pyx_n_s_update); + Py_VISIT(traverse_module_state->__pyx_n_s_version_info); + Py_VISIT(traverse_module_state->__pyx_int_0); + Py_VISIT(traverse_module_state->__pyx_int_1); + Py_VISIT(traverse_module_state->__pyx_int_3); + Py_VISIT(traverse_module_state->__pyx_int_112105877); + Py_VISIT(traverse_module_state->__pyx_int_136983863); + Py_VISIT(traverse_module_state->__pyx_int_184977713); + Py_VISIT(traverse_module_state->__pyx_int_neg_1); + Py_VISIT(traverse_module_state->__pyx_slice__5); + Py_VISIT(traverse_module_state->__pyx_tuple__4); + Py_VISIT(traverse_module_state->__pyx_tuple__8); + Py_VISIT(traverse_module_state->__pyx_tuple__9); + Py_VISIT(traverse_module_state->__pyx_tuple__10); + Py_VISIT(traverse_module_state->__pyx_tuple__11); + Py_VISIT(traverse_module_state->__pyx_tuple__12); + Py_VISIT(traverse_module_state->__pyx_tuple__13); + Py_VISIT(traverse_module_state->__pyx_tuple__14); + Py_VISIT(traverse_module_state->__pyx_tuple__15); + Py_VISIT(traverse_module_state->__pyx_tuple__16); + Py_VISIT(traverse_module_state->__pyx_tuple__17); + Py_VISIT(traverse_module_state->__pyx_tuple__18); + Py_VISIT(traverse_module_state->__pyx_tuple__20); + Py_VISIT(traverse_module_state->__pyx_tuple__23); + Py_VISIT(traverse_module_state->__pyx_tuple__25); + Py_VISIT(traverse_module_state->__pyx_tuple__28); + Py_VISIT(traverse_module_state->__pyx_codeobj__19); + Py_VISIT(traverse_module_state->__pyx_codeobj__21); + Py_VISIT(traverse_module_state->__pyx_codeobj__22); + Py_VISIT(traverse_module_state->__pyx_codeobj__24); + Py_VISIT(traverse_module_state->__pyx_codeobj__26); + Py_VISIT(traverse_module_state->__pyx_codeobj__27); + Py_VISIT(traverse_module_state->__pyx_codeobj__29); + return 0; +} +#endif +/* #### Code section: module_state_defines ### */ +#define __pyx_d __pyx_mstate_global->__pyx_d +#define __pyx_b __pyx_mstate_global->__pyx_b +#define __pyx_cython_runtime __pyx_mstate_global->__pyx_cython_runtime +#define __pyx_empty_tuple __pyx_mstate_global->__pyx_empty_tuple +#define __pyx_empty_bytes __pyx_mstate_global->__pyx_empty_bytes +#define __pyx_empty_unicode __pyx_mstate_global->__pyx_empty_unicode +#ifdef __Pyx_CyFunction_USED +#define __pyx_CyFunctionType __pyx_mstate_global->__pyx_CyFunctionType +#endif +#ifdef __Pyx_FusedFunction_USED +#define __pyx_FusedFunctionType __pyx_mstate_global->__pyx_FusedFunctionType +#endif +#ifdef __Pyx_Generator_USED +#define __pyx_GeneratorType __pyx_mstate_global->__pyx_GeneratorType +#endif +#ifdef __Pyx_IterableCoroutine_USED +#define __pyx_IterableCoroutineType __pyx_mstate_global->__pyx_IterableCoroutineType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineAwaitType __pyx_mstate_global->__pyx_CoroutineAwaitType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineType __pyx_mstate_global->__pyx_CoroutineType +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext __pyx_mstate_global->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext +#define __pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf __pyx_mstate_global->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext __pyx_mstate_global->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext +#define __pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem __pyx_mstate_global->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem +#if CYTHON_USE_MODULE_STATE +#define __pyx_type_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel __pyx_mstate_global->__pyx_type_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel +#define __pyx_type___pyx_array __pyx_mstate_global->__pyx_type___pyx_array +#define __pyx_type___pyx_MemviewEnum __pyx_mstate_global->__pyx_type___pyx_MemviewEnum +#define __pyx_type___pyx_memoryview __pyx_mstate_global->__pyx_type___pyx_memoryview +#define __pyx_type___pyx_memoryviewslice __pyx_mstate_global->__pyx_type___pyx_memoryviewslice +#endif +#define __pyx_ptype_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel __pyx_mstate_global->__pyx_ptype_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel +#define __pyx_array_type __pyx_mstate_global->__pyx_array_type +#define __pyx_MemviewEnum_type __pyx_mstate_global->__pyx_MemviewEnum_type +#define __pyx_memoryview_type __pyx_mstate_global->__pyx_memoryview_type +#define __pyx_memoryviewslice_type __pyx_mstate_global->__pyx_memoryviewslice_type +#define __pyx_kp_u_ __pyx_mstate_global->__pyx_kp_u_ +#define __pyx_n_s_ASCII __pyx_mstate_global->__pyx_n_s_ASCII +#define __pyx_kp_s_All_dimensions_preceding_dimensi __pyx_mstate_global->__pyx_kp_s_All_dimensions_preceding_dimensi +#define __pyx_n_s_AssertionError __pyx_mstate_global->__pyx_n_s_AssertionError +#define __pyx_kp_s_Buffer_view_does_not_expose_stri __pyx_mstate_global->__pyx_kp_s_Buffer_view_does_not_expose_stri +#define __pyx_n_s_CPU __pyx_mstate_global->__pyx_n_s_CPU +#define __pyx_kp_s_Can_only_create_a_buffer_that_is __pyx_mstate_global->__pyx_kp_s_Can_only_create_a_buffer_that_is +#define __pyx_kp_s_Cannot_assign_to_read_only_memor __pyx_mstate_global->__pyx_kp_s_Cannot_assign_to_read_only_memor +#define __pyx_kp_s_Cannot_create_writable_memory_vi __pyx_mstate_global->__pyx_kp_s_Cannot_create_writable_memory_vi +#define __pyx_kp_u_Cannot_index_with_type __pyx_mstate_global->__pyx_kp_u_Cannot_index_with_type +#define __pyx_kp_s_Cannot_transpose_memoryview_with __pyx_mstate_global->__pyx_kp_s_Cannot_transpose_memoryview_with +#define __pyx_n_s_DSP __pyx_mstate_global->__pyx_n_s_DSP +#define __pyx_kp_s_Dimension_d_is_not_direct __pyx_mstate_global->__pyx_kp_s_Dimension_d_is_not_direct +#define __pyx_n_s_Ellipsis __pyx_mstate_global->__pyx_n_s_Ellipsis +#define __pyx_kp_s_Empty_shape_tuple_for_cython_arr __pyx_mstate_global->__pyx_kp_s_Empty_shape_tuple_for_cython_arr +#define __pyx_n_s_GPU __pyx_mstate_global->__pyx_n_s_GPU +#define __pyx_kp_s_Incompatible_checksums_0x_x_vs_0 __pyx_mstate_global->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0 +#define __pyx_n_s_IndexError __pyx_mstate_global->__pyx_n_s_IndexError +#define __pyx_kp_s_Index_out_of_bounds_axis_d __pyx_mstate_global->__pyx_kp_s_Index_out_of_bounds_axis_d +#define __pyx_kp_s_Indirect_dimensions_not_supporte __pyx_mstate_global->__pyx_kp_s_Indirect_dimensions_not_supporte +#define __pyx_kp_u_Invalid_mode_expected_c_or_fortr __pyx_mstate_global->__pyx_kp_u_Invalid_mode_expected_c_or_fortr +#define __pyx_kp_u_Invalid_shape_in_axis __pyx_mstate_global->__pyx_kp_u_Invalid_shape_in_axis +#define __pyx_n_s_MemoryError __pyx_mstate_global->__pyx_n_s_MemoryError +#define __pyx_kp_s_MemoryView_of_r_at_0x_x __pyx_mstate_global->__pyx_kp_s_MemoryView_of_r_at_0x_x +#define __pyx_kp_s_MemoryView_of_r_object __pyx_mstate_global->__pyx_kp_s_MemoryView_of_r_object +#define __pyx_n_b_O __pyx_mstate_global->__pyx_n_b_O +#define __pyx_kp_u_Out_of_bounds_on_buffer_access_a __pyx_mstate_global->__pyx_kp_u_Out_of_bounds_on_buffer_access_a +#define __pyx_n_s_PickleError __pyx_mstate_global->__pyx_n_s_PickleError +#define __pyx_n_s_RunModel __pyx_mstate_global->__pyx_n_s_RunModel +#define __pyx_n_s_RunModel___reduce_cython __pyx_mstate_global->__pyx_n_s_RunModel___reduce_cython +#define __pyx_n_s_RunModel___setstate_cython __pyx_mstate_global->__pyx_n_s_RunModel___setstate_cython +#define __pyx_n_s_RunModel_addInput __pyx_mstate_global->__pyx_n_s_RunModel_addInput +#define __pyx_n_s_RunModel_execute __pyx_mstate_global->__pyx_n_s_RunModel_execute +#define __pyx_n_s_RunModel_getCLBuffer __pyx_mstate_global->__pyx_n_s_RunModel_getCLBuffer +#define __pyx_n_s_RunModel_setInputBuffer __pyx_mstate_global->__pyx_n_s_RunModel_setInputBuffer +#define __pyx_n_s_Runtime __pyx_mstate_global->__pyx_n_s_Runtime +#define __pyx_n_s_Sequence __pyx_mstate_global->__pyx_n_s_Sequence +#define __pyx_kp_s_Step_may_not_be_zero_axis_d __pyx_mstate_global->__pyx_kp_s_Step_may_not_be_zero_axis_d +#define __pyx_n_s_TypeError __pyx_mstate_global->__pyx_n_s_TypeError +#define __pyx_kp_s_Unable_to_convert_item_to_object __pyx_mstate_global->__pyx_kp_s_Unable_to_convert_item_to_object +#define __pyx_n_s_ValueError __pyx_mstate_global->__pyx_n_s_ValueError +#define __pyx_n_s_View_MemoryView __pyx_mstate_global->__pyx_n_s_View_MemoryView +#define __pyx_kp_u__2 __pyx_mstate_global->__pyx_kp_u__2 +#define __pyx_n_s__3 __pyx_mstate_global->__pyx_n_s__3 +#define __pyx_n_s__30 __pyx_mstate_global->__pyx_n_s__30 +#define __pyx_kp_u__6 __pyx_mstate_global->__pyx_kp_u__6 +#define __pyx_kp_u__7 __pyx_mstate_global->__pyx_kp_u__7 +#define __pyx_n_s_abc __pyx_mstate_global->__pyx_n_s_abc +#define __pyx_n_s_addInput __pyx_mstate_global->__pyx_n_s_addInput +#define __pyx_n_s_allocate_buffer __pyx_mstate_global->__pyx_n_s_allocate_buffer +#define __pyx_kp_u_and __pyx_mstate_global->__pyx_kp_u_and +#define __pyx_n_s_asyncio_coroutines __pyx_mstate_global->__pyx_n_s_asyncio_coroutines +#define __pyx_n_s_base __pyx_mstate_global->__pyx_n_s_base +#define __pyx_n_s_buffer __pyx_mstate_global->__pyx_n_s_buffer +#define __pyx_n_s_c __pyx_mstate_global->__pyx_n_s_c +#define __pyx_n_u_c __pyx_mstate_global->__pyx_n_u_c +#define __pyx_n_s_cl_buf __pyx_mstate_global->__pyx_n_s_cl_buf +#define __pyx_n_s_class __pyx_mstate_global->__pyx_n_s_class +#define __pyx_n_s_class_getitem __pyx_mstate_global->__pyx_n_s_class_getitem +#define __pyx_n_s_cline_in_traceback __pyx_mstate_global->__pyx_n_s_cline_in_traceback +#define __pyx_n_s_collections __pyx_mstate_global->__pyx_n_s_collections +#define __pyx_kp_s_collections_abc __pyx_mstate_global->__pyx_kp_s_collections_abc +#define __pyx_kp_s_contiguous_and_direct __pyx_mstate_global->__pyx_kp_s_contiguous_and_direct +#define __pyx_kp_s_contiguous_and_indirect __pyx_mstate_global->__pyx_kp_s_contiguous_and_indirect +#define __pyx_n_s_count __pyx_mstate_global->__pyx_n_s_count +#define __pyx_n_s_dict __pyx_mstate_global->__pyx_n_s_dict +#define __pyx_kp_u_disable __pyx_mstate_global->__pyx_kp_u_disable +#define __pyx_n_s_doc __pyx_mstate_global->__pyx_n_s_doc +#define __pyx_n_s_dtype_is_object __pyx_mstate_global->__pyx_n_s_dtype_is_object +#define __pyx_kp_u_enable __pyx_mstate_global->__pyx_kp_u_enable +#define __pyx_n_s_encode __pyx_mstate_global->__pyx_n_s_encode +#define __pyx_n_s_enumerate __pyx_mstate_global->__pyx_n_s_enumerate +#define __pyx_n_s_error __pyx_mstate_global->__pyx_n_s_error +#define __pyx_n_s_execute __pyx_mstate_global->__pyx_n_s_execute +#define __pyx_n_s_flags __pyx_mstate_global->__pyx_n_s_flags +#define __pyx_n_s_format __pyx_mstate_global->__pyx_n_s_format +#define __pyx_n_s_fortran __pyx_mstate_global->__pyx_n_s_fortran +#define __pyx_n_u_fortran __pyx_mstate_global->__pyx_n_u_fortran +#define __pyx_kp_u_gc __pyx_mstate_global->__pyx_kp_u_gc +#define __pyx_n_s_getCLBuffer __pyx_mstate_global->__pyx_n_s_getCLBuffer +#define __pyx_n_s_getstate __pyx_mstate_global->__pyx_n_s_getstate +#define __pyx_kp_u_got __pyx_mstate_global->__pyx_kp_u_got +#define __pyx_kp_u_got_differing_extents_in_dimensi __pyx_mstate_global->__pyx_kp_u_got_differing_extents_in_dimensi +#define __pyx_n_s_id __pyx_mstate_global->__pyx_n_s_id +#define __pyx_n_s_import __pyx_mstate_global->__pyx_n_s_import +#define __pyx_n_s_index __pyx_mstate_global->__pyx_n_s_index +#define __pyx_n_s_init_subclass __pyx_mstate_global->__pyx_n_s_init_subclass +#define __pyx_n_s_initializing __pyx_mstate_global->__pyx_n_s_initializing +#define __pyx_n_s_is_coroutine __pyx_mstate_global->__pyx_n_s_is_coroutine +#define __pyx_kp_u_isenabled __pyx_mstate_global->__pyx_kp_u_isenabled +#define __pyx_n_s_itemsize __pyx_mstate_global->__pyx_n_s_itemsize +#define __pyx_kp_s_itemsize_0_for_cython_array __pyx_mstate_global->__pyx_kp_s_itemsize_0_for_cython_array +#define __pyx_n_s_main __pyx_mstate_global->__pyx_n_s_main +#define __pyx_n_s_memview __pyx_mstate_global->__pyx_n_s_memview +#define __pyx_n_s_metaclass __pyx_mstate_global->__pyx_n_s_metaclass +#define __pyx_n_s_mode __pyx_mstate_global->__pyx_n_s_mode +#define __pyx_n_s_module __pyx_mstate_global->__pyx_n_s_module +#define __pyx_n_s_name __pyx_mstate_global->__pyx_n_s_name +#define __pyx_n_s_name_2 __pyx_mstate_global->__pyx_n_s_name_2 +#define __pyx_n_s_ndim __pyx_mstate_global->__pyx_n_s_ndim +#define __pyx_n_s_new __pyx_mstate_global->__pyx_n_s_new +#define __pyx_kp_s_no_default___reduce___due_to_non __pyx_mstate_global->__pyx_kp_s_no_default___reduce___due_to_non +#define __pyx_n_s_obj __pyx_mstate_global->__pyx_n_s_obj +#define __pyx_n_s_pack __pyx_mstate_global->__pyx_n_s_pack +#define __pyx_n_s_pickle __pyx_mstate_global->__pyx_n_s_pickle +#define __pyx_n_s_prepare __pyx_mstate_global->__pyx_n_s_prepare +#define __pyx_n_s_pyx_PickleError __pyx_mstate_global->__pyx_n_s_pyx_PickleError +#define __pyx_n_s_pyx_checksum __pyx_mstate_global->__pyx_n_s_pyx_checksum +#define __pyx_n_s_pyx_result __pyx_mstate_global->__pyx_n_s_pyx_result +#define __pyx_n_s_pyx_state __pyx_mstate_global->__pyx_n_s_pyx_state +#define __pyx_n_s_pyx_type __pyx_mstate_global->__pyx_n_s_pyx_type +#define __pyx_n_s_pyx_unpickle_Enum __pyx_mstate_global->__pyx_n_s_pyx_unpickle_Enum +#define __pyx_n_s_pyx_vtable __pyx_mstate_global->__pyx_n_s_pyx_vtable +#define __pyx_n_s_qualname __pyx_mstate_global->__pyx_n_s_qualname +#define __pyx_n_s_range __pyx_mstate_global->__pyx_n_s_range +#define __pyx_n_s_reduce __pyx_mstate_global->__pyx_n_s_reduce +#define __pyx_n_s_reduce_cython __pyx_mstate_global->__pyx_n_s_reduce_cython +#define __pyx_n_s_reduce_ex __pyx_mstate_global->__pyx_n_s_reduce_ex +#define __pyx_n_s_register __pyx_mstate_global->__pyx_n_s_register +#define __pyx_n_s_self __pyx_mstate_global->__pyx_n_s_self +#define __pyx_kp_s_self_model_cannot_be_converted_t __pyx_mstate_global->__pyx_kp_s_self_model_cannot_be_converted_t +#define __pyx_n_s_selfdrive_modeld_runners_runmode __pyx_mstate_global->__pyx_n_s_selfdrive_modeld_runners_runmode +#define __pyx_kp_s_selfdrive_modeld_runners_runmode_2 __pyx_mstate_global->__pyx_kp_s_selfdrive_modeld_runners_runmode_2 +#define __pyx_n_s_setInputBuffer __pyx_mstate_global->__pyx_n_s_setInputBuffer +#define __pyx_n_s_set_name __pyx_mstate_global->__pyx_n_s_set_name +#define __pyx_n_s_setstate __pyx_mstate_global->__pyx_n_s_setstate +#define __pyx_n_s_setstate_cython __pyx_mstate_global->__pyx_n_s_setstate_cython +#define __pyx_n_s_shape __pyx_mstate_global->__pyx_n_s_shape +#define __pyx_n_s_size __pyx_mstate_global->__pyx_n_s_size +#define __pyx_n_s_spec __pyx_mstate_global->__pyx_n_s_spec +#define __pyx_n_s_start __pyx_mstate_global->__pyx_n_s_start +#define __pyx_n_s_step __pyx_mstate_global->__pyx_n_s_step +#define __pyx_n_s_stop __pyx_mstate_global->__pyx_n_s_stop +#define __pyx_kp_s_strided_and_direct __pyx_mstate_global->__pyx_kp_s_strided_and_direct +#define __pyx_kp_s_strided_and_direct_or_indirect __pyx_mstate_global->__pyx_kp_s_strided_and_direct_or_indirect +#define __pyx_kp_s_strided_and_indirect __pyx_mstate_global->__pyx_kp_s_strided_and_indirect +#define __pyx_kp_s_stringsource __pyx_mstate_global->__pyx_kp_s_stringsource +#define __pyx_n_s_struct __pyx_mstate_global->__pyx_n_s_struct +#define __pyx_n_s_super __pyx_mstate_global->__pyx_n_s_super +#define __pyx_n_s_sys __pyx_mstate_global->__pyx_n_s_sys +#define __pyx_n_s_test __pyx_mstate_global->__pyx_n_s_test +#define __pyx_kp_s_unable_to_allocate_array_data __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_array_data +#define __pyx_kp_s_unable_to_allocate_shape_and_str __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_shape_and_str +#define __pyx_n_s_unpack __pyx_mstate_global->__pyx_n_s_unpack +#define __pyx_n_s_update __pyx_mstate_global->__pyx_n_s_update +#define __pyx_n_s_version_info __pyx_mstate_global->__pyx_n_s_version_info +#define __pyx_int_0 __pyx_mstate_global->__pyx_int_0 +#define __pyx_int_1 __pyx_mstate_global->__pyx_int_1 +#define __pyx_int_3 __pyx_mstate_global->__pyx_int_3 +#define __pyx_int_112105877 __pyx_mstate_global->__pyx_int_112105877 +#define __pyx_int_136983863 __pyx_mstate_global->__pyx_int_136983863 +#define __pyx_int_184977713 __pyx_mstate_global->__pyx_int_184977713 +#define __pyx_int_neg_1 __pyx_mstate_global->__pyx_int_neg_1 +#define __pyx_slice__5 __pyx_mstate_global->__pyx_slice__5 +#define __pyx_tuple__4 __pyx_mstate_global->__pyx_tuple__4 +#define __pyx_tuple__8 __pyx_mstate_global->__pyx_tuple__8 +#define __pyx_tuple__9 __pyx_mstate_global->__pyx_tuple__9 +#define __pyx_tuple__10 __pyx_mstate_global->__pyx_tuple__10 +#define __pyx_tuple__11 __pyx_mstate_global->__pyx_tuple__11 +#define __pyx_tuple__12 __pyx_mstate_global->__pyx_tuple__12 +#define __pyx_tuple__13 __pyx_mstate_global->__pyx_tuple__13 +#define __pyx_tuple__14 __pyx_mstate_global->__pyx_tuple__14 +#define __pyx_tuple__15 __pyx_mstate_global->__pyx_tuple__15 +#define __pyx_tuple__16 __pyx_mstate_global->__pyx_tuple__16 +#define __pyx_tuple__17 __pyx_mstate_global->__pyx_tuple__17 +#define __pyx_tuple__18 __pyx_mstate_global->__pyx_tuple__18 +#define __pyx_tuple__20 __pyx_mstate_global->__pyx_tuple__20 +#define __pyx_tuple__23 __pyx_mstate_global->__pyx_tuple__23 +#define __pyx_tuple__25 __pyx_mstate_global->__pyx_tuple__25 +#define __pyx_tuple__28 __pyx_mstate_global->__pyx_tuple__28 +#define __pyx_codeobj__19 __pyx_mstate_global->__pyx_codeobj__19 +#define __pyx_codeobj__21 __pyx_mstate_global->__pyx_codeobj__21 +#define __pyx_codeobj__22 __pyx_mstate_global->__pyx_codeobj__22 +#define __pyx_codeobj__24 __pyx_mstate_global->__pyx_codeobj__24 +#define __pyx_codeobj__26 __pyx_mstate_global->__pyx_codeobj__26 +#define __pyx_codeobj__27 __pyx_mstate_global->__pyx_codeobj__27 +#define __pyx_codeobj__29 __pyx_mstate_global->__pyx_codeobj__29 +/* #### Code section: module_code ### */ + +/* "string.from_py":13 + * + * @cname("__pyx_convert_string_from_py_std__in_string") + * cdef string __pyx_convert_string_from_py_std__in_string(object o) except *: # <<<<<<<<<<<<<< + * cdef 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int __pyx_clineno = 0; + int __pyx_r; + __Pyx_RefNannyDeclarations + __Pyx_RefNannySetupContext("__cinit__ (wrapper)", 0); + #if CYTHON_ASSUME_SAFE_MACROS + __pyx_nargs = PyTuple_GET_SIZE(__pyx_args); + #else + __pyx_nargs = PyTuple_Size(__pyx_args); if (unlikely(__pyx_nargs < 0)) return -1; + #endif + __pyx_kwvalues = __Pyx_KwValues_VARARGS(__pyx_args, __pyx_nargs); + { + PyObject **__pyx_pyargnames[] = {&__pyx_n_s_shape,&__pyx_n_s_itemsize,&__pyx_n_s_format,&__pyx_n_s_mode,&__pyx_n_s_allocate_buffer,0}; + values[3] = __Pyx_Arg_NewRef_VARARGS(((PyObject *)__pyx_n_s_c)); + if (__pyx_kwds) { + Py_ssize_t kw_args; + switch (__pyx_nargs) { + case 5: values[4] = __Pyx_Arg_VARARGS(__pyx_args, 4); + CYTHON_FALLTHROUGH; + case 4: values[3] = __Pyx_Arg_VARARGS(__pyx_args, 3); + CYTHON_FALLTHROUGH; + case 3: values[2] = __Pyx_Arg_VARARGS(__pyx_args, 2); + CYTHON_FALLTHROUGH; + case 2: values[1] = __Pyx_Arg_VARARGS(__pyx_args, 1); + CYTHON_FALLTHROUGH; + case 1: values[0] = __Pyx_Arg_VARARGS(__pyx_args, 0); + CYTHON_FALLTHROUGH; + case 0: break; + default: goto __pyx_L5_argtuple_error; + } + kw_args = __Pyx_NumKwargs_VARARGS(__pyx_kwds); + switch (__pyx_nargs) { + case 0: + if (likely((values[0] = __Pyx_GetKwValue_VARARGS(__pyx_kwds, __pyx_kwvalues, __pyx_n_s_shape)) != 0)) { + (void)__Pyx_Arg_NewRef_VARARGS(values[0]); + kw_args--; + } + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 131, __pyx_L3_error) + else goto __pyx_L5_argtuple_error; + CYTHON_FALLTHROUGH; + case 1: + if (likely((values[1] = __Pyx_GetKwValue_VARARGS(__pyx_kwds, __pyx_kwvalues, __pyx_n_s_itemsize)) != 0)) { + (void)__Pyx_Arg_NewRef_VARARGS(values[1]); + kw_args--; + } + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 131, __pyx_L3_error) + else { + __Pyx_RaiseArgtupleInvalid("__cinit__", 0, 3, 5, 1); __PYX_ERR(0, 131, __pyx_L3_error) + } + CYTHON_FALLTHROUGH; + case 2: + if (likely((values[2] = __Pyx_GetKwValue_VARARGS(__pyx_kwds, __pyx_kwvalues, __pyx_n_s_format)) != 0)) { + 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Py_ssize_t __pyx_v_step, int __pyx_v_have_start, int __pyx_v_have_stop, int __pyx_v_have_step, int __pyx_v_is_slice) { + Py_ssize_t __pyx_v_new_shape; + int __pyx_v_negative_step; + int __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save; + #endif + + /* "View.MemoryView":813 + * cdef bint negative_step + * + * if not is_slice: # <<<<<<<<<<<<<< + * + * if start < 0: + */ + __pyx_t_1 = (!__pyx_v_is_slice); + if (__pyx_t_1) { + + /* "View.MemoryView":815 + * if not is_slice: + * + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if not 0 <= start < shape: + */ + __pyx_t_1 = (__pyx_v_start < 0); + if (__pyx_t_1) { + + /* "View.MemoryView":816 + * + * if start < 0: + * start += shape # <<<<<<<<<<<<<< + * if not 0 <= start < shape: + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) + */ + __pyx_v_start = (__pyx_v_start + __pyx_v_shape); + + /* "View.MemoryView":815 + * if not is_slice: + * + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if not 0 <= start < shape: + */ + } + + /* "View.MemoryView":817 + * if start < 0: + * start += shape + * if not 0 <= start < shape: # <<<<<<<<<<<<<< + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) + * else: + */ + __pyx_t_1 = (0 <= __pyx_v_start); + if (__pyx_t_1) { + __pyx_t_1 = (__pyx_v_start < __pyx_v_shape); + } + __pyx_t_2 = (!__pyx_t_1); + if (__pyx_t_2) { + + /* "View.MemoryView":818 + * start += shape + * if not 0 <= start < shape: + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) # <<<<<<<<<<<<<< + * else: + * + */ + __pyx_t_3 = __pyx_memoryview_err_dim(PyExc_IndexError, __pyx_kp_s_Index_out_of_bounds_axis_d, __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(0, 818, __pyx_L1_error) + + /* "View.MemoryView":817 + * if start < 0: + * start += shape + * if not 0 <= start < shape: # <<<<<<<<<<<<<< + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) + * else: + */ + } + + /* "View.MemoryView":813 + * cdef bint negative_step + * + * if not is_slice: # <<<<<<<<<<<<<< + * + * if start < 0: + */ + goto __pyx_L3; + } + + /* "View.MemoryView":821 + * else: + * + * if have_step: # <<<<<<<<<<<<<< + * negative_step = step < 0 + * if step == 0: + */ + /*else*/ { + __pyx_t_2 = (__pyx_v_have_step != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":822 + * + * if have_step: + * negative_step = step < 0 # <<<<<<<<<<<<<< + * if step == 0: + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + */ + __pyx_v_negative_step = (__pyx_v_step < 0); + + /* "View.MemoryView":823 + * if have_step: + * negative_step = step < 0 + * if step == 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + */ + __pyx_t_2 = (__pyx_v_step == 0); + if (__pyx_t_2) { + + /* "View.MemoryView":824 + * negative_step = step < 0 + * if step == 0: + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) # <<<<<<<<<<<<<< + * else: + * negative_step = False + */ + __pyx_t_3 = __pyx_memoryview_err_dim(PyExc_ValueError, __pyx_kp_s_Step_may_not_be_zero_axis_d, __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(0, 824, __pyx_L1_error) + + /* "View.MemoryView":823 + * if have_step: + * negative_step = step < 0 + * if step == 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + */ + } + + /* "View.MemoryView":821 + * else: + * + * if have_step: # <<<<<<<<<<<<<< + * negative_step = step < 0 + * if step == 0: + */ + goto __pyx_L6; + } + + /* "View.MemoryView":826 + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + * negative_step = False # <<<<<<<<<<<<<< + * step = 1 + * + */ + /*else*/ { + __pyx_v_negative_step = 0; + + /* "View.MemoryView":827 + * else: + * negative_step = False + * step = 1 # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_step = 1; + } + __pyx_L6:; + + /* "View.MemoryView":830 + * + * + * if have_start: # <<<<<<<<<<<<<< + * if start < 0: + * start += shape + */ + __pyx_t_2 = (__pyx_v_have_start != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":831 + * + * if have_start: + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if start < 0: + */ + __pyx_t_2 = (__pyx_v_start < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":832 + * if have_start: + * if start < 0: + * start += shape # <<<<<<<<<<<<<< + * if start < 0: + * start = 0 + */ + __pyx_v_start = (__pyx_v_start + __pyx_v_shape); + + /* "View.MemoryView":833 + * if start < 0: + * start += shape + * if start < 0: # <<<<<<<<<<<<<< + * start = 0 + * elif start >= shape: + */ + __pyx_t_2 = (__pyx_v_start < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":834 + * start += shape + * if start < 0: + * start = 0 # <<<<<<<<<<<<<< + * elif start >= shape: + * if negative_step: + */ + __pyx_v_start = 0; + + /* "View.MemoryView":833 + * if start < 0: + * start += shape + * if start < 0: # <<<<<<<<<<<<<< + * start = 0 + * elif start >= shape: + */ + } + + /* "View.MemoryView":831 + * + * if have_start: + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if start < 0: + */ + goto __pyx_L9; + } + + /* "View.MemoryView":835 + * if start < 0: + * start = 0 + * elif start >= shape: # <<<<<<<<<<<<<< + * if negative_step: + * start = shape - 1 + */ + __pyx_t_2 = (__pyx_v_start >= __pyx_v_shape); + if (__pyx_t_2) { + + /* "View.MemoryView":836 + * start = 0 + * elif start >= shape: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + if (__pyx_v_negative_step) { + + /* "View.MemoryView":837 + * elif start >= shape: + * if negative_step: + * start = shape - 1 # <<<<<<<<<<<<<< + * else: + * start = shape + */ + __pyx_v_start = (__pyx_v_shape - 1); + + /* "View.MemoryView":836 + * start = 0 + * elif start >= shape: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + goto __pyx_L11; + } + + /* "View.MemoryView":839 + * start = shape - 1 + * else: + * start = shape # <<<<<<<<<<<<<< + * else: + * if negative_step: + */ + /*else*/ { + __pyx_v_start = __pyx_v_shape; + } + __pyx_L11:; + + /* "View.MemoryView":835 + * if start < 0: + * start = 0 + * elif start >= shape: # <<<<<<<<<<<<<< + * if negative_step: + * start = shape - 1 + */ + } + __pyx_L9:; + + /* "View.MemoryView":830 + * + * + * if have_start: # <<<<<<<<<<<<<< + * if start < 0: + * start += shape + */ + goto __pyx_L8; + } + + /* "View.MemoryView":841 + * start = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + /*else*/ { + if (__pyx_v_negative_step) { + + /* "View.MemoryView":842 + * else: + * if negative_step: + * start = shape - 1 # <<<<<<<<<<<<<< + * else: + * start = 0 + */ + __pyx_v_start = (__pyx_v_shape - 1); + + /* "View.MemoryView":841 + * start = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + goto __pyx_L12; + } + + /* "View.MemoryView":844 + * start = shape - 1 + * else: + * start = 0 # <<<<<<<<<<<<<< + * + * if have_stop: + */ + /*else*/ { + __pyx_v_start = 0; + } + __pyx_L12:; + } + __pyx_L8:; + + /* "View.MemoryView":846 + * start = 0 + * + * if have_stop: # <<<<<<<<<<<<<< + * if stop < 0: + * stop += shape + */ + __pyx_t_2 = (__pyx_v_have_stop != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":847 + * + * if have_stop: + * if stop < 0: # <<<<<<<<<<<<<< + * stop += shape + * if stop < 0: + */ + __pyx_t_2 = (__pyx_v_stop < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":848 + * if have_stop: + * if stop < 0: + * stop += shape # <<<<<<<<<<<<<< + * if stop < 0: + * stop = 0 + */ + __pyx_v_stop = (__pyx_v_stop + __pyx_v_shape); + + /* "View.MemoryView":849 + * if stop < 0: + * stop += shape + * if stop < 0: # <<<<<<<<<<<<<< + * stop = 0 + * elif stop > shape: + */ + __pyx_t_2 = (__pyx_v_stop < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":850 + * stop += shape + * if stop < 0: + * stop = 0 # <<<<<<<<<<<<<< + * elif stop > shape: + * stop = shape + */ + __pyx_v_stop = 0; + + /* "View.MemoryView":849 + * if stop < 0: + * stop += shape + * if stop < 0: # <<<<<<<<<<<<<< + * stop = 0 + * elif stop > shape: + */ + } + + /* "View.MemoryView":847 + * + * if have_stop: + * if stop < 0: # <<<<<<<<<<<<<< + * stop += shape + * if stop < 0: + */ + goto __pyx_L14; + } + + /* "View.MemoryView":851 + * if stop < 0: + * stop = 0 + * elif stop > shape: # <<<<<<<<<<<<<< + * stop = shape + * else: + */ + __pyx_t_2 = (__pyx_v_stop > __pyx_v_shape); + if (__pyx_t_2) { + + /* "View.MemoryView":852 + * stop = 0 + * elif stop > shape: + * stop = shape # <<<<<<<<<<<<<< + * else: + * if negative_step: + */ + __pyx_v_stop = __pyx_v_shape; + + /* "View.MemoryView":851 + * if stop < 0: + * stop = 0 + * elif stop > shape: # <<<<<<<<<<<<<< + * stop = shape + * else: + */ + } + __pyx_L14:; + + /* "View.MemoryView":846 + * start = 0 + * + * if have_stop: # <<<<<<<<<<<<<< + * if stop < 0: + * stop += shape + */ + goto __pyx_L13; + } + + /* "View.MemoryView":854 + * stop = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * stop = -1 + * else: + */ + /*else*/ { + if (__pyx_v_negative_step) { + + /* "View.MemoryView":855 + * else: + * if negative_step: + * stop = -1 # <<<<<<<<<<<<<< + * else: + * stop = shape + */ + __pyx_v_stop = -1L; + + /* "View.MemoryView":854 + * stop = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * stop = -1 + * else: + */ + goto __pyx_L16; + } + + /* "View.MemoryView":857 + * stop = -1 + * else: + * stop = shape # <<<<<<<<<<<<<< + * + * + */ + /*else*/ { + __pyx_v_stop = __pyx_v_shape; + } + __pyx_L16:; + } + __pyx_L13:; + + /* "View.MemoryView":861 + * + * with cython.cdivision(True): + * new_shape = (stop - start) // step # <<<<<<<<<<<<<< + * + * if (stop - start) - step * new_shape: + */ + __pyx_v_new_shape = ((__pyx_v_stop - __pyx_v_start) / __pyx_v_step); + + /* "View.MemoryView":863 + * new_shape = (stop - start) // step + * + * if (stop - 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stride # <<<<<<<<<<<<<< + * else: + * dst.suboffsets[suboffset_dim[0]] += start * stride + */ + __pyx_v_dst->data = (__pyx_v_dst->data + (__pyx_v_start * __pyx_v_stride)); + + /* "View.MemoryView":875 + * + * + * if suboffset_dim[0] < 0: # <<<<<<<<<<<<<< + * dst.data += start * stride + * else: + */ + goto __pyx_L19; + } + + /* "View.MemoryView":878 + * dst.data += start * stride + * else: + * dst.suboffsets[suboffset_dim[0]] += start * stride # <<<<<<<<<<<<<< + * + * if suboffset >= 0: + */ + /*else*/ { + __pyx_t_3 = (__pyx_v_suboffset_dim[0]); + (__pyx_v_dst->suboffsets[__pyx_t_3]) = ((__pyx_v_dst->suboffsets[__pyx_t_3]) + (__pyx_v_start * __pyx_v_stride)); + } + __pyx_L19:; + + /* "View.MemoryView":880 + * dst.suboffsets[suboffset_dim[0]] += start * stride + * + * if suboffset >= 0: # <<<<<<<<<<<<<< + * if not is_slice: + * if new_ndim == 0: + */ + __pyx_t_2 = (__pyx_v_suboffset >= 0); + if (__pyx_t_2) { + + /* "View.MemoryView":881 + * + * if suboffset >= 0: + * if not is_slice: # <<<<<<<<<<<<<< + * if new_ndim == 0: + * dst.data = ( dst.data)[0] + suboffset + */ + __pyx_t_2 = (!__pyx_v_is_slice); + if (__pyx_t_2) { + + /* "View.MemoryView":882 + * if suboffset >= 0: + * if not is_slice: + * if new_ndim == 0: # <<<<<<<<<<<<<< + * dst.data = ( dst.data)[0] + suboffset + * else: + */ + __pyx_t_2 = (__pyx_v_new_ndim == 0); + if (__pyx_t_2) { + + /* "View.MemoryView":883 + * if not is_slice: + * if new_ndim == 0: + * dst.data = ( dst.data)[0] + suboffset # <<<<<<<<<<<<<< + * else: + * _err_dim(PyExc_IndexError, "All dimensions preceding dimension %d " + */ + __pyx_v_dst->data = ((((char **)__pyx_v_dst->data)[0]) + __pyx_v_suboffset); + + /* "View.MemoryView":882 + * if suboffset >= 0: + * if not is_slice: + * if new_ndim == 0: # <<<<<<<<<<<<<< + * dst.data = ( dst.data)[0] + suboffset + * else: + */ + goto __pyx_L22; + } + + /* "View.MemoryView":885 + * dst.data = ( dst.data)[0] + suboffset + * else: + * _err_dim(PyExc_IndexError, "All dimensions preceding dimension 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__pyx_filename); + __pyx_r = 0; + __pyx_L0:; + __Pyx_XGIVEREF(__pyx_r); + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +/* "View.MemoryView":1087 + * + * @cname('__pyx_memoryview_copy_object_from_slice') + * cdef memoryview_copy_from_slice(memoryview memview, __Pyx_memviewslice *memviewslice): # <<<<<<<<<<<<<< + * """ + * Create a new memoryview object from a given memoryview object and slice. + */ + +static PyObject *__pyx_memoryview_copy_object_from_slice(struct __pyx_memoryview_obj *__pyx_v_memview, __Pyx_memviewslice *__pyx_v_memviewslice) { + PyObject *(*__pyx_v_to_object_func)(char *); + int (*__pyx_v_to_dtype_func)(char *, PyObject *); + PyObject *__pyx_r = NULL; + __Pyx_RefNannyDeclarations + int __pyx_t_1; + PyObject *(*__pyx_t_2)(char *); + int (*__pyx_t_3)(char *, PyObject *); + PyObject *__pyx_t_4 = NULL; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + __Pyx_RefNannySetupContext("memoryview_copy_from_slice", 1); + + /* 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= NULL + */ + __pyx_t_3 = ((struct __pyx_memoryviewslice_obj *)__pyx_v_memview)->to_dtype_func; + __pyx_v_to_dtype_func = __pyx_t_3; + + /* "View.MemoryView":1094 + * cdef int (*to_dtype_func)(char *, object) except 0 + * + * if isinstance(memview, _memoryviewslice): # <<<<<<<<<<<<<< + * to_object_func = (<_memoryviewslice> memview).to_object_func + * to_dtype_func = (<_memoryviewslice> memview).to_dtype_func + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1098 + * to_dtype_func = (<_memoryviewslice> memview).to_dtype_func + * else: + * to_object_func = NULL # <<<<<<<<<<<<<< + * to_dtype_func = NULL + * + */ + /*else*/ { + __pyx_v_to_object_func = NULL; + + /* "View.MemoryView":1099 + * else: + * to_object_func = NULL + * to_dtype_func = NULL # <<<<<<<<<<<<<< + * + * return memoryview_fromslice(memviewslice[0], memview.view.ndim, + */ + __pyx_v_to_dtype_func = NULL; + } + __pyx_L3:; + + /* "View.MemoryView":1101 + * to_dtype_func = NULL + * + * return memoryview_fromslice(memviewslice[0], memview.view.ndim, # <<<<<<<<<<<<<< + * to_object_func, to_dtype_func, + * memview.dtype_is_object) + */ + __Pyx_XDECREF(__pyx_r); + + /* "View.MemoryView":1103 + * return memoryview_fromslice(memviewslice[0], memview.view.ndim, + * to_object_func, to_dtype_func, + * memview.dtype_is_object) # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_4 = __pyx_memoryview_fromslice((__pyx_v_memviewslice[0]), __pyx_v_memview->view.ndim, __pyx_v_to_object_func, __pyx_v_to_dtype_func, __pyx_v_memview->dtype_is_object); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 1101, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_4); + __pyx_r = __pyx_t_4; + __pyx_t_4 = 0; + goto __pyx_L0; + + /* "View.MemoryView":1087 + * + * @cname('__pyx_memoryview_copy_object_from_slice') + * cdef memoryview_copy_from_slice(memoryview memview, __Pyx_memviewslice *memviewslice): # <<<<<<<<<<<<<< + * """ + * Create a new memoryview object from a given memoryview object and slice. + */ + + /* function exit code */ + __pyx_L1_error:; + __Pyx_XDECREF(__pyx_t_4); + __Pyx_AddTraceback("View.MemoryView.memoryview_copy_from_slice", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = 0; + __pyx_L0:; + __Pyx_XGIVEREF(__pyx_r); + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +/* "View.MemoryView":1109 + * + * + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) noexcept nogil: # <<<<<<<<<<<<<< + * return -arg if arg < 0 else arg + * + */ + +static Py_ssize_t abs_py_ssize_t(Py_ssize_t __pyx_v_arg) { + Py_ssize_t __pyx_r; + Py_ssize_t __pyx_t_1; + int __pyx_t_2; + + /* "View.MemoryView":1110 + * + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) noexcept nogil: + * return -arg if arg < 0 else arg # <<<<<<<<<<<<<< + * + * @cname('__pyx_get_best_slice_order') + */ + __pyx_t_2 = (__pyx_v_arg < 0); + if (__pyx_t_2) { + __pyx_t_1 = (-__pyx_v_arg); + } else { + __pyx_t_1 = __pyx_v_arg; + } + __pyx_r = __pyx_t_1; + goto __pyx_L0; + + /* "View.MemoryView":1109 + * + * + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) noexcept nogil: # <<<<<<<<<<<<<< + * return -arg if arg < 0 else arg + * + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1113 + * + * @cname('__pyx_get_best_slice_order') + * cdef char get_best_order(__Pyx_memviewslice *mslice, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * """ + * Figure out the best memory access order for a given slice. + */ + +static char __pyx_get_best_slice_order(__Pyx_memviewslice *__pyx_v_mslice, int __pyx_v_ndim) { + int __pyx_v_i; + Py_ssize_t __pyx_v_c_stride; + Py_ssize_t __pyx_v_f_stride; + char __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1118 + * """ + * cdef int i + * cdef Py_ssize_t c_stride = 0 # <<<<<<<<<<<<<< + * cdef Py_ssize_t f_stride = 0 + * + */ + __pyx_v_c_stride = 0; + + /* "View.MemoryView":1119 + * cdef int i + * cdef Py_ssize_t c_stride = 0 + * cdef Py_ssize_t f_stride = 0 # <<<<<<<<<<<<<< + * + * for i in range(ndim - 1, -1, -1): + */ + __pyx_v_f_stride = 0; + + /* "View.MemoryView":1121 + * cdef Py_ssize_t f_stride = 0 + * + * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] + */ + for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { + __pyx_v_i = __pyx_t_1; + + /* "View.MemoryView":1122 + * + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * c_stride = mslice.strides[i] + * break + */ + __pyx_t_2 = ((__pyx_v_mslice->shape[__pyx_v_i]) > 1); + if (__pyx_t_2) { + + /* "View.MemoryView":1123 + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] # <<<<<<<<<<<<<< + * break + * + */ + __pyx_v_c_stride = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1124 + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] + * break # <<<<<<<<<<<<<< + * + * for i in range(ndim): + */ + goto __pyx_L4_break; + + /* "View.MemoryView":1122 + * + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * c_stride = mslice.strides[i] + * break + */ + } + } + __pyx_L4_break:; + + /* "View.MemoryView":1126 + * break + * + * for i in range(ndim): # <<<<<<<<<<<<<< + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] + */ + __pyx_t_1 = __pyx_v_ndim; + __pyx_t_3 = __pyx_t_1; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_i = __pyx_t_4; + + /* "View.MemoryView":1127 + * + * for i in range(ndim): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * f_stride = mslice.strides[i] + * break + */ + __pyx_t_2 = ((__pyx_v_mslice->shape[__pyx_v_i]) > 1); + if (__pyx_t_2) { + + /* "View.MemoryView":1128 + * for i in range(ndim): + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] # <<<<<<<<<<<<<< + * break + * + */ + __pyx_v_f_stride = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1129 + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] + * break # <<<<<<<<<<<<<< + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): + */ + goto __pyx_L7_break; + + /* "View.MemoryView":1127 + * + * for i in range(ndim): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * f_stride = mslice.strides[i] + * break + */ + } + } + __pyx_L7_break:; + + /* "View.MemoryView":1131 + * break + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< + * return 'C' + * else: + */ + __pyx_t_2 = (abs_py_ssize_t(__pyx_v_c_stride) <= abs_py_ssize_t(__pyx_v_f_stride)); + if (__pyx_t_2) { + + /* "View.MemoryView":1132 + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): + * return 'C' # <<<<<<<<<<<<<< + * else: + * return 'F' + */ + __pyx_r = 'C'; + goto __pyx_L0; + + /* "View.MemoryView":1131 + * break + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< + * return 'C' + * else: + */ + } + + /* "View.MemoryView":1134 + * return 'C' + * else: + * return 'F' # <<<<<<<<<<<<<< + * + * @cython.cdivision(True) + */ + /*else*/ { + __pyx_r = 'F'; + goto __pyx_L0; + } + + /* "View.MemoryView":1113 + * + * @cname('__pyx_get_best_slice_order') + * cdef char get_best_order(__Pyx_memviewslice *mslice, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * """ + * Figure out the best memory access order for a given slice. + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1137 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + +static void _copy_strided_to_strided(char *__pyx_v_src_data, Py_ssize_t *__pyx_v_src_strides, char *__pyx_v_dst_data, Py_ssize_t *__pyx_v_dst_strides, Py_ssize_t *__pyx_v_src_shape, Py_ssize_t *__pyx_v_dst_shape, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + CYTHON_UNUSED Py_ssize_t __pyx_v_src_extent; + Py_ssize_t __pyx_v_dst_extent; + Py_ssize_t __pyx_v_src_stride; + Py_ssize_t __pyx_v_dst_stride; + int __pyx_t_1; + int __pyx_t_2; + Py_ssize_t __pyx_t_3; + Py_ssize_t __pyx_t_4; + Py_ssize_t __pyx_t_5; + + /* "View.MemoryView":1144 + * + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + */ + __pyx_v_src_extent = (__pyx_v_src_shape[0]); + + /* "View.MemoryView":1145 + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] + */ + __pyx_v_dst_extent = (__pyx_v_dst_shape[0]); + + /* "View.MemoryView":1146 + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + */ + __pyx_v_src_stride = (__pyx_v_src_strides[0]); + + /* "View.MemoryView":1147 + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] # <<<<<<<<<<<<<< + * + * if ndim == 1: + */ + __pyx_v_dst_stride = (__pyx_v_dst_strides[0]); + + /* "View.MemoryView":1149 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + __pyx_t_1 = (__pyx_v_ndim == 1); + if (__pyx_t_1) { + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + __pyx_t_2 = (__pyx_v_src_stride > 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + __pyx_t_2 = (__pyx_v_dst_stride > 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + + /* "View.MemoryView":1151 + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + */ + __pyx_t_2 = (((size_t)__pyx_v_src_stride) == __pyx_v_itemsize); + if (__pyx_t_2) { + __pyx_t_2 = (__pyx_v_itemsize == ((size_t)__pyx_v_dst_stride)); + } + __pyx_t_1 = __pyx_t_2; + __pyx_L5_bool_binop_done:; + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + if (__pyx_t_1) { + + /* "View.MemoryView":1152 + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, (__pyx_v_itemsize * __pyx_v_dst_extent))); + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + goto __pyx_L4; + } + + /* "View.MemoryView":1154 + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + */ + /*else*/ { + __pyx_t_3 = __pyx_v_dst_extent; + __pyx_t_4 = __pyx_t_3; + for (__pyx_t_5 = 0; __pyx_t_5 < __pyx_t_4; __pyx_t_5+=1) { + __pyx_v_i = __pyx_t_5; + + /* "View.MemoryView":1155 + * else: + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) # <<<<<<<<<<<<<< + * src_data += src_stride + * dst_data += dst_stride + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, __pyx_v_itemsize)); + + /* "View.MemoryView":1156 + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * else: + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1157 + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L4:; + + /* "View.MemoryView":1149 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1159 + * dst_data += dst_stride + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * _copy_strided_to_strided(src_data, src_strides + 1, + * dst_data, dst_strides + 1, + */ + /*else*/ { + __pyx_t_3 = __pyx_v_dst_extent; + __pyx_t_4 = __pyx_t_3; + for (__pyx_t_5 = 0; __pyx_t_5 < __pyx_t_4; __pyx_t_5+=1) { + __pyx_v_i = __pyx_t_5; + + /* "View.MemoryView":1160 + * else: + * for i in range(dst_extent): + * _copy_strided_to_strided(src_data, src_strides + 1, # <<<<<<<<<<<<<< + * dst_data, dst_strides + 1, + * src_shape + 1, dst_shape + 1, + */ + _copy_strided_to_strided(__pyx_v_src_data, (__pyx_v_src_strides + 1), __pyx_v_dst_data, (__pyx_v_dst_strides + 1), (__pyx_v_src_shape + 1), (__pyx_v_dst_shape + 1), (__pyx_v_ndim - 1), __pyx_v_itemsize); + + /* "View.MemoryView":1164 + * src_shape + 1, dst_shape + 1, + * ndim - 1, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1165 + * ndim - 1, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L3:; + + /* "View.MemoryView":1137 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + + /* function exit code */ +} + +/* "View.MemoryView":1167 + * dst_data += dst_stride + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + */ + +static void copy_strided_to_strided(__Pyx_memviewslice *__pyx_v_src, __Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + + /* "View.MemoryView":1170 + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + * _copy_strided_to_strided(src.data, src.strides, dst.data, dst.strides, # <<<<<<<<<<<<<< + * src.shape, dst.shape, ndim, itemsize) + * + */ + 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slice_is_contig(dst, 'C', ndim) # <<<<<<<<<<<<<< + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'C', __pyx_v_ndim); + + /* "View.MemoryView":1310 + * + * + * if slice_is_contig(src, 'C', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + */ + goto __pyx_L12; + } + + /* "View.MemoryView":1312 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + __pyx_t_2 = __pyx_memviewslice_is_contig(__pyx_v_src, 'F', __pyx_v_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1313 + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) # <<<<<<<<<<<<<< + * + * if direct_copy: + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'F', __pyx_v_ndim); + + /* "View.MemoryView":1312 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + } + __pyx_L12:; + + /* "View.MemoryView":1315 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + if (__pyx_v_direct_copy) { + + /* "View.MemoryView":1317 + * if direct_copy: + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1318 + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) + */ + (void)(memcpy(__pyx_v_dst.data, __pyx_v_src.data, __pyx_memoryview_slice_get_size((&__pyx_v_src), __pyx_v_ndim))); + + /* "View.MemoryView":1319 + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * free(tmpdata) + * return 0 + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1320 + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1321 + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * if order == 'F' == get_best_order(&dst, ndim): + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1315 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + } + + /* "View.MemoryView":1307 + * src = tmp + * + * if not broadcasting: # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1323 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_2 = (__pyx_v_order == 'F'); + if (__pyx_t_2) { + __pyx_t_2 = ('F' == __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim)); + } + if (__pyx_t_2) { + + /* "View.MemoryView":1326 + * + * + * transpose_memslice(&src) # <<<<<<<<<<<<<< + * transpose_memslice(&dst) + * + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_src)); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(0, 1326, __pyx_L1_error) + + /* "View.MemoryView":1327 + * + * transpose_memslice(&src) + * transpose_memslice(&dst) # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_dst)); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(0, 1327, __pyx_L1_error) + + /* "View.MemoryView":1323 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1329 + * transpose_memslice(&dst) + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1330 + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * + */ + copy_strided_to_strided((&__pyx_v_src), (&__pyx_v_dst), __pyx_v_ndim, __pyx_v_itemsize); + + /* "View.MemoryView":1331 + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * + * free(tmpdata) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1333 + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1334 + * + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_broadcast_leading') + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1265 + * + * @cname('__pyx_memoryview_copy_contents') + * cdef int memoryview_copy_contents(__Pyx_memviewslice src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice dst, + * int src_ndim, int dst_ndim, + */ + + /* function exit code */ + __pyx_L1_error:; + #ifdef WITH_THREAD + __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + __Pyx_AddTraceback("View.MemoryView.memoryview_copy_contents", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = -1; + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1337 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) noexcept nogil: + */ + +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *__pyx_v_mslice, int __pyx_v_ndim, int __pyx_v_ndim_other) { + int __pyx_v_i; + int __pyx_v_offset; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + + /* "View.MemoryView":1341 + * int ndim_other) noexcept nogil: + * cdef int i + * cdef int offset = ndim_other - ndim # <<<<<<<<<<<<<< + * + * for i in range(ndim - 1, -1, -1): + */ + __pyx_v_offset = (__pyx_v_ndim_other - __pyx_v_ndim); + + /* "View.MemoryView":1343 + * cdef int offset = ndim_other - ndim + * + * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + */ + for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { + __pyx_v_i = __pyx_t_1; + + /* "View.MemoryView":1344 + * + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] # <<<<<<<<<<<<<< + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + */ + (__pyx_v_mslice->shape[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->shape[__pyx_v_i]); + + /* "View.MemoryView":1345 + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] # <<<<<<<<<<<<<< + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + */ + (__pyx_v_mslice->strides[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1346 + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] # <<<<<<<<<<<<<< + * + * for i in range(offset): + */ + (__pyx_v_mslice->suboffsets[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->suboffsets[__pyx_v_i]); + } + + /* "View.MemoryView":1348 + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + * for i in range(offset): # <<<<<<<<<<<<<< + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + */ + __pyx_t_1 = __pyx_v_offset; + __pyx_t_2 = __pyx_t_1; + for (__pyx_t_3 = 0; __pyx_t_3 < __pyx_t_2; __pyx_t_3+=1) { + __pyx_v_i = __pyx_t_3; + + /* "View.MemoryView":1349 + * + * for i in range(offset): + * mslice.shape[i] = 1 # <<<<<<<<<<<<<< + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 + */ + (__pyx_v_mslice->shape[__pyx_v_i]) = 1; + + /* "View.MemoryView":1350 + * for i in range(offset): + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] # <<<<<<<<<<<<<< + * mslice.suboffsets[i] = -1 + * + */ + (__pyx_v_mslice->strides[__pyx_v_i]) = (__pyx_v_mslice->strides[0]); + + /* "View.MemoryView":1351 + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 # <<<<<<<<<<<<<< + * + * + */ + (__pyx_v_mslice->suboffsets[__pyx_v_i]) = -1L; + } + + /* "View.MemoryView":1337 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1359 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: # <<<<<<<<<<<<<< + * + * if dtype_is_object: + */ + +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_dtype_is_object, int __pyx_v_ndim, int __pyx_v_inc) { + + /* "View.MemoryView":1361 + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) + * + */ + if (__pyx_v_dtype_is_object) { + + /* "View.MemoryView":1362 + * + * if dtype_is_object: + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + */ + __pyx_memoryview_refcount_objects_in_slice_with_gil(__pyx_v_dst->data, __pyx_v_dst->shape, __pyx_v_dst->strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1361 + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) + * + */ + } + + /* "View.MemoryView":1359 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: # <<<<<<<<<<<<<< + * + * if dtype_is_object: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1365 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + * cdef void refcount_objects_in_slice_with_gil(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + */ + +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, int __pyx_v_inc) { + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + + /* "View.MemoryView":1368 + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + * refcount_objects_in_slice(data, shape, strides, ndim, inc) # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + */ + __pyx_memoryview_refcount_objects_in_slice(__pyx_v_data, __pyx_v_shape, __pyx_v_strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1365 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + * cdef void refcount_objects_in_slice_with_gil(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + */ + + /* function exit code */ + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif +} + +/* "View.MemoryView":1371 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + * cdef void refcount_objects_in_slice(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + */ + +static void __pyx_memoryview_refcount_objects_in_slice(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, int __pyx_v_inc) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + Py_ssize_t __pyx_v_stride; + Py_ssize_t __pyx_t_1; + Py_ssize_t __pyx_t_2; + Py_ssize_t __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1374 + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + * cdef Py_ssize_t stride = strides[0] # <<<<<<<<<<<<<< + * + * for i in range(shape[0]): + */ + __pyx_v_stride = (__pyx_v_strides[0]); + + /* "View.MemoryView":1376 + * cdef Py_ssize_t stride = strides[0] + * + * for i in range(shape[0]): # <<<<<<<<<<<<<< + * if ndim == 1: + * if inc: + */ + __pyx_t_1 = (__pyx_v_shape[0]); + __pyx_t_2 = __pyx_t_1; + for (__pyx_t_3 = 0; __pyx_t_3 < __pyx_t_2; __pyx_t_3+=1) { + __pyx_v_i = __pyx_t_3; + + /* "View.MemoryView":1377 + * + * for i in range(shape[0]): + * if ndim == 1: # <<<<<<<<<<<<<< + * if inc: + * Py_INCREF(( data)[0]) + */ + __pyx_t_4 = (__pyx_v_ndim == 1); + if (__pyx_t_4) { + + /* "View.MemoryView":1378 + * for i in range(shape[0]): + * if ndim == 1: + * if inc: # <<<<<<<<<<<<<< + * Py_INCREF(( data)[0]) + * else: + */ + if (__pyx_v_inc) { + + /* "View.MemoryView":1379 + * if ndim == 1: + * if inc: + * Py_INCREF(( data)[0]) # <<<<<<<<<<<<<< + * else: + * Py_DECREF(( data)[0]) + */ + Py_INCREF((((PyObject **)__pyx_v_data)[0])); + + /* "View.MemoryView":1378 + * for i in range(shape[0]): + * if ndim == 1: + * if inc: # <<<<<<<<<<<<<< + * Py_INCREF(( data)[0]) + * else: + */ + goto __pyx_L6; + } + + /* "View.MemoryView":1381 + * Py_INCREF(( data)[0]) + * else: + * Py_DECREF(( data)[0]) # <<<<<<<<<<<<<< + * else: + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) + */ + /*else*/ { + Py_DECREF((((PyObject **)__pyx_v_data)[0])); + } + __pyx_L6:; + + /* "View.MemoryView":1377 + * + * for i in range(shape[0]): + * if ndim == 1: # <<<<<<<<<<<<<< + * if inc: + * Py_INCREF(( data)[0]) + */ + goto __pyx_L5; + } + + /* "View.MemoryView":1383 + * Py_DECREF(( data)[0]) + * else: + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) # <<<<<<<<<<<<<< + * + * data += stride + */ + /*else*/ { + __pyx_memoryview_refcount_objects_in_slice(__pyx_v_data, (__pyx_v_shape + 1), (__pyx_v_strides + 1), (__pyx_v_ndim - 1), __pyx_v_inc); + } + __pyx_L5:; + + /* "View.MemoryView":1385 + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) + * + * data += stride # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_data = (__pyx_v_data + __pyx_v_stride); + } + + /* "View.MemoryView":1371 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + * cdef void refcount_objects_in_slice(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + */ + + /* function exit code */ +} + +/* "View.MemoryView":1391 + * + * @cname('__pyx_memoryview_slice_assign_scalar') + * cdef void slice_assign_scalar(__Pyx_memviewslice *dst, int ndim, # <<<<<<<<<<<<<< + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + */ + +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize, void *__pyx_v_item, int __pyx_v_dtype_is_object) { + + /* "View.MemoryView":1394 + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + * refcount_copying(dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) + * refcount_copying(dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying(__pyx_v_dst, __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1395 + * bint dtype_is_object) noexcept nogil: + * refcount_copying(dst, dtype_is_object, ndim, inc=False) + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) # <<<<<<<<<<<<<< + * refcount_copying(dst, dtype_is_object, ndim, inc=True) + * + */ + __pyx_memoryview__slice_assign_scalar(__pyx_v_dst->data, __pyx_v_dst->shape, __pyx_v_dst->strides, __pyx_v_ndim, __pyx_v_itemsize, __pyx_v_item); + + /* "View.MemoryView":1396 + * refcount_copying(dst, dtype_is_object, ndim, inc=False) + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) + * refcount_copying(dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * + * + */ + __pyx_memoryview_refcount_copying(__pyx_v_dst, __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1391 + * + * @cname('__pyx_memoryview_slice_assign_scalar') + * cdef void slice_assign_scalar(__Pyx_memviewslice *dst, int ndim, # <<<<<<<<<<<<<< + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1400 + * + * @cname('__pyx_memoryview__slice_assign_scalar') + * cdef void _slice_assign_scalar(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * size_t itemsize, void *item) noexcept nogil: + */ + +static void __pyx_memoryview__slice_assign_scalar(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, size_t __pyx_v_itemsize, void *__pyx_v_item) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + Py_ssize_t __pyx_v_stride; + Py_ssize_t __pyx_v_extent; + int __pyx_t_1; + Py_ssize_t __pyx_t_2; + Py_ssize_t __pyx_t_3; + Py_ssize_t __pyx_t_4; + + /* "View.MemoryView":1404 + * size_t itemsize, void *item) noexcept nogil: + * cdef Py_ssize_t i + * cdef Py_ssize_t stride = strides[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t extent = shape[0] + * + */ + __pyx_v_stride = (__pyx_v_strides[0]); + + /* "View.MemoryView":1405 + * cdef Py_ssize_t i + * cdef Py_ssize_t stride = strides[0] + * cdef Py_ssize_t extent = shape[0] # <<<<<<<<<<<<<< + * + * if ndim == 1: + */ + __pyx_v_extent = (__pyx_v_shape[0]); + + /* "View.MemoryView":1407 + * cdef Py_ssize_t extent = 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(likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + return o; +} + +static void __pyx_tp_dealloc_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel(PyObject *o) { + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_pw_9selfdrive_6modeld_7runners_12runmodel_pyx_8RunModel_1__dealloc__(o); + 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*)__pyx_tp_new_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel}, + {0, 0}, +}; +static PyType_Spec __pyx_type_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel_spec = { + "selfdrive.modeld.runners.runmodel_pyx.RunModel", + sizeof(struct __pyx_obj_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, + __pyx_type_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel_slots, +}; +#else + +static PyTypeObject __pyx_type_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.modeld.runners.runmodel_pyx.""RunModel", /*tp_name*/ + sizeof(struct __pyx_obj_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 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|| !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_array) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_array___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->mode); + Py_CLEAR(p->_format); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} +static PyObject *__pyx_sq_item_array(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_array(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_array___setitem__(o, i, v); + } + else { + __Pyx_TypeName o_type_name; + o_type_name = __Pyx_PyType_GetName(Py_TYPE(o)); + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by " __Pyx_FMT_TYPENAME, o_type_name); + __Pyx_DECREF_TypeName(o_type_name); + return -1; + } +} + +static PyObject *__pyx_tp_getattro_array(PyObject *o, PyObject *n) { + PyObject *v = __Pyx_PyObject_GenericGetAttr(o, n); + if (!v && PyErr_ExceptionMatches(PyExc_AttributeError)) { + PyErr_Clear(); + v = __pyx_array___getattr__(o, n); + } + return v; +} + +static PyObject *__pyx_getprop___pyx_array_memview(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_5array_7memview_1__get__(o); +} + +static PyMethodDef __pyx_methods_array[] = { + {"__getattr__", (PyCFunction)__pyx_array___getattr__, METH_O|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_array_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_array_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_array[] = { + {(char *)"memview", __pyx_getprop___pyx_array_memview, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +#if !CYTHON_COMPILING_IN_LIMITED_API + +static PyBufferProcs __pyx_tp_as_buffer_array = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_array_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; +#endif +static PyType_Slot __pyx_type___pyx_array_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_array}, + {Py_sq_length, (void *)__pyx_array___len__}, + {Py_sq_item, (void *)__pyx_sq_item_array}, + {Py_mp_length, (void *)__pyx_array___len__}, + {Py_mp_subscript, (void *)__pyx_array___getitem__}, + {Py_mp_ass_subscript, (void *)__pyx_mp_ass_subscript_array}, + {Py_tp_getattro, (void *)__pyx_tp_getattro_array}, + #if defined(Py_bf_getbuffer) + {Py_bf_getbuffer, (void *)__pyx_array_getbuffer}, + #endif + {Py_tp_methods, (void *)__pyx_methods_array}, + {Py_tp_getset, (void *)__pyx_getsets_array}, + {Py_tp_new, (void *)__pyx_tp_new_array}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_array_spec = { + "selfdrive.modeld.runners.runmodel_pyx.array", + sizeof(struct __pyx_array_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_SEQUENCE, + __pyx_type___pyx_array_slots, +}; +#else + +static PySequenceMethods __pyx_tp_as_sequence_array = { + __pyx_array___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_array, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_array = { + __pyx_array___len__, /*mp_length*/ + __pyx_array___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_array, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_array = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_array_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_array = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.modeld.runners.runmodel_pyx.""array", /*tp_name*/ + sizeof(struct __pyx_array_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_array, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_array, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_array, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + __pyx_tp_getattro_array, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_array, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_SEQUENCE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_array, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_array, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_array, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + struct __pyx_MemviewEnum_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_MemviewEnum_obj *)o); + p->name = Py_None; Py_INCREF(Py_None); + return o; +} + +static void __pyx_tp_dealloc_Enum(PyObject *o) { + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_Enum) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + Py_CLEAR(p->name); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_Enum(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + if (p->name) { + e = (*v)(p->name, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_Enum(PyObject *o) { + PyObject* tmp; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + tmp = ((PyObject*)p->name); + p->name = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + return 0; +} + +static PyObject *__pyx_specialmethod___pyx_MemviewEnum___repr__(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __pyx_MemviewEnum___repr__(self); +} + +static PyMethodDef __pyx_methods_Enum[] = { + {"__repr__", (PyCFunction)__pyx_specialmethod___pyx_MemviewEnum___repr__, METH_NOARGS|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_MemviewEnum_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_MemviewEnum_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type___pyx_MemviewEnum_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_Enum}, + {Py_tp_repr, (void *)__pyx_MemviewEnum___repr__}, + {Py_tp_traverse, (void *)__pyx_tp_traverse_Enum}, + {Py_tp_clear, (void *)__pyx_tp_clear_Enum}, + {Py_tp_methods, (void *)__pyx_methods_Enum}, + {Py_tp_init, (void *)__pyx_MemviewEnum___init__}, + {Py_tp_new, (void *)__pyx_tp_new_Enum}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_MemviewEnum_spec = { + "selfdrive.modeld.runners.runmodel_pyx.Enum", + sizeof(struct __pyx_MemviewEnum_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type___pyx_MemviewEnum_slots, +}; +#else + +static PyTypeObject __pyx_type___pyx_MemviewEnum = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.modeld.runners.runmodel_pyx.""Enum", /*tp_name*/ + sizeof(struct __pyx_MemviewEnum_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_Enum, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_MemviewEnum___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_Enum, /*tp_traverse*/ + __pyx_tp_clear_Enum, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_Enum, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + __pyx_MemviewEnum___init__, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_Enum, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_memoryview __pyx_vtable_memoryview; + +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryview_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_memoryview_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_memoryview; + p->obj = Py_None; Py_INCREF(Py_None); + p->_size = Py_None; Py_INCREF(Py_None); + p->_array_interface = Py_None; Py_INCREF(Py_None); + p->view.obj = NULL; + if (unlikely(__pyx_memoryview___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_memoryview(PyObject *o) { + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_memoryview) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryview___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->obj); + Py_CLEAR(p->_size); + Py_CLEAR(p->_array_interface); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_memoryview(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + if (p->obj) { + e = (*v)(p->obj, a); if (e) return e; + } + if (p->_size) { + e = (*v)(p->_size, a); if (e) return e; + } + if (p->_array_interface) { + e = (*v)(p->_array_interface, a); if (e) return e; + } + if (p->view.obj) { + e = (*v)(p->view.obj, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_memoryview(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + tmp = ((PyObject*)p->obj); + p->obj = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_size); + p->_size = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_array_interface); + p->_array_interface = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + Py_CLEAR(p->view.obj); + return 0; +} +static PyObject *__pyx_sq_item_memoryview(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_memoryview(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_memoryview___setitem__(o, i, v); + } + else { + __Pyx_TypeName o_type_name; + o_type_name = __Pyx_PyType_GetName(Py_TYPE(o)); + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by " __Pyx_FMT_TYPENAME, o_type_name); + __Pyx_DECREF_TypeName(o_type_name); + return -1; + } +} + +static PyObject *__pyx_getprop___pyx_memoryview_T(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_1T_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_base(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4base_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_shape(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_5shape_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_strides(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_7strides_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_suboffsets(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_10suboffsets_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_ndim(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4ndim_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_itemsize(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_8itemsize_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_nbytes(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_6nbytes_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_size(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4size_1__get__(o); +} + +static PyObject *__pyx_specialmethod___pyx_memoryview___repr__(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __pyx_memoryview___repr__(self); +} + +static PyMethodDef __pyx_methods_memoryview[] = { + {"__repr__", (PyCFunction)__pyx_specialmethod___pyx_memoryview___repr__, METH_NOARGS|METH_COEXIST, 0}, + {"is_c_contig", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_is_c_contig, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"is_f_contig", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_is_f_contig, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"copy", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_copy, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"copy_fortran", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_copy_fortran, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryview_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryview_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_memoryview[] = { + {(char *)"T", __pyx_getprop___pyx_memoryview_T, 0, (char *)0, 0}, + {(char *)"base", __pyx_getprop___pyx_memoryview_base, 0, (char *)0, 0}, + {(char *)"shape", __pyx_getprop___pyx_memoryview_shape, 0, (char *)0, 0}, + {(char *)"strides", __pyx_getprop___pyx_memoryview_strides, 0, (char *)0, 0}, + {(char *)"suboffsets", __pyx_getprop___pyx_memoryview_suboffsets, 0, (char *)0, 0}, + {(char *)"ndim", __pyx_getprop___pyx_memoryview_ndim, 0, (char *)0, 0}, + {(char *)"itemsize", __pyx_getprop___pyx_memoryview_itemsize, 0, (char *)0, 0}, + {(char *)"nbytes", __pyx_getprop___pyx_memoryview_nbytes, 0, (char *)0, 0}, + {(char *)"size", __pyx_getprop___pyx_memoryview_size, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +#if !CYTHON_COMPILING_IN_LIMITED_API + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; +#endif +static PyType_Slot __pyx_type___pyx_memoryview_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_memoryview}, + {Py_tp_repr, (void *)__pyx_memoryview___repr__}, + {Py_sq_length, (void *)__pyx_memoryview___len__}, + {Py_sq_item, (void *)__pyx_sq_item_memoryview}, + {Py_mp_length, (void *)__pyx_memoryview___len__}, + {Py_mp_subscript, (void *)__pyx_memoryview___getitem__}, + {Py_mp_ass_subscript, (void *)__pyx_mp_ass_subscript_memoryview}, + {Py_tp_str, (void *)__pyx_memoryview___str__}, + #if defined(Py_bf_getbuffer) + {Py_bf_getbuffer, (void *)__pyx_memoryview_getbuffer}, + #endif + {Py_tp_traverse, (void *)__pyx_tp_traverse_memoryview}, + {Py_tp_clear, (void *)__pyx_tp_clear_memoryview}, + {Py_tp_methods, (void *)__pyx_methods_memoryview}, + {Py_tp_getset, (void *)__pyx_getsets_memoryview}, + {Py_tp_new, (void *)__pyx_tp_new_memoryview}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_memoryview_spec = { + "selfdrive.modeld.runners.runmodel_pyx.memoryview", + sizeof(struct __pyx_memoryview_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type___pyx_memoryview_slots, +}; +#else + +static PySequenceMethods __pyx_tp_as_sequence_memoryview = { + __pyx_memoryview___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_memoryview, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_memoryview = { + __pyx_memoryview___len__, /*mp_length*/ + __pyx_memoryview___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_memoryview, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_memoryview = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.modeld.runners.runmodel_pyx.""memoryview", /*tp_name*/ + sizeof(struct __pyx_memoryview_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_memoryview, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_memoryview___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_memoryview, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_memoryview, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + __pyx_memoryview___str__, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_memoryview, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_memoryview, /*tp_traverse*/ + __pyx_tp_clear_memoryview, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_memoryview, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_memoryview, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_memoryview, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct__memoryviewslice __pyx_vtable__memoryviewslice; + +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryviewslice_obj *p; + PyObject *o = __pyx_tp_new_memoryview(t, a, k); + if (unlikely(!o)) return 0; + p = ((struct __pyx_memoryviewslice_obj *)o); + p->__pyx_base.__pyx_vtab = (struct __pyx_vtabstruct_memoryview*)__pyx_vtabptr__memoryviewslice; + new((void*)&(p->from_slice)) __Pyx_memviewslice(); + p->from_object = Py_None; Py_INCREF(Py_None); + p->from_slice.memview = NULL; + return o; +} + +static void __pyx_tp_dealloc__memoryviewslice(PyObject *o) { + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc__memoryviewslice) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryviewslice___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + __Pyx_call_destructor(p->from_slice); + Py_CLEAR(p->from_object); + PyObject_GC_Track(o); + __pyx_tp_dealloc_memoryview(o); +} + +static int __pyx_tp_traverse__memoryviewslice(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + e = __pyx_tp_traverse_memoryview(o, v, a); if (e) return e; + if (p->from_object) { + e = (*v)(p->from_object, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear__memoryviewslice(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + __pyx_tp_clear_memoryview(o); + tmp = ((PyObject*)p->from_object); + p->from_object = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + __PYX_XCLEAR_MEMVIEW(&p->from_slice, 1); + return 0; +} + +static PyMethodDef __pyx_methods__memoryviewslice[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryviewslice_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryviewslice_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type___pyx_memoryviewslice_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc__memoryviewslice}, + {Py_tp_doc, (void *)PyDoc_STR("Internal class for passing memoryview slices to Python")}, + {Py_tp_traverse, (void *)__pyx_tp_traverse__memoryviewslice}, + {Py_tp_clear, (void *)__pyx_tp_clear__memoryviewslice}, + {Py_tp_methods, (void *)__pyx_methods__memoryviewslice}, + {Py_tp_new, (void *)__pyx_tp_new__memoryviewslice}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_memoryviewslice_spec = { + "selfdrive.modeld.runners.runmodel_pyx._memoryviewslice", + sizeof(struct __pyx_memoryviewslice_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_SEQUENCE, + __pyx_type___pyx_memoryviewslice_slots, +}; +#else + +static PyTypeObject __pyx_type___pyx_memoryviewslice = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.modeld.runners.runmodel_pyx.""_memoryviewslice", /*tp_name*/ + sizeof(struct __pyx_memoryviewslice_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc__memoryviewslice, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + #if CYTHON_COMPILING_IN_PYPY || 0 + __pyx_memoryview___repr__, /*tp_repr*/ + #else + 0, /*tp_repr*/ + #endif + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + #if CYTHON_COMPILING_IN_PYPY || 0 + __pyx_memoryview___str__, /*tp_str*/ + #else + 0, /*tp_str*/ + #endif + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_SEQUENCE, /*tp_flags*/ + PyDoc_STR("Internal class for passing memoryview slices to Python"), /*tp_doc*/ + __pyx_tp_traverse__memoryviewslice, /*tp_traverse*/ + __pyx_tp_clear__memoryviewslice, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods__memoryviewslice, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new__memoryviewslice, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyMethodDef __pyx_methods[] = { + {0, 0, 0, 0} +}; +#ifndef CYTHON_SMALL_CODE +#if defined(__clang__) + #define CYTHON_SMALL_CODE +#elif defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 3)) + #define CYTHON_SMALL_CODE __attribute__((cold)) +#else + #define CYTHON_SMALL_CODE +#endif 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+ } + #if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(exc_type); + #endif + return result; +} +#endif + +/* PyErrFetchRestore */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { +#if PY_VERSION_HEX >= 0x030C00A6 + PyObject *tmp_value; + assert(type == NULL || (value != NULL && type == (PyObject*) Py_TYPE(value))); + if (value) { + #if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(((PyBaseExceptionObject*) value)->traceback != tb)) + #endif + PyException_SetTraceback(value, tb); + } + tmp_value = tstate->current_exception; + tstate->current_exception = value; + Py_XDECREF(tmp_value); + Py_XDECREF(type); + Py_XDECREF(tb); +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + tmp_type = tstate->curexc_type; + tmp_value = tstate->curexc_value; + tmp_tb = tstate->curexc_traceback; + tstate->curexc_type = type; + tstate->curexc_value = value; + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#endif +} +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { +#if PY_VERSION_HEX >= 0x030C00A6 + PyObject* exc_value; + exc_value = tstate->current_exception; + tstate->current_exception = 0; + *value = exc_value; + *type = NULL; + *tb = NULL; + if (exc_value) { + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + #if CYTHON_COMPILING_IN_CPYTHON + *tb = ((PyBaseExceptionObject*) exc_value)->traceback; + Py_XINCREF(*tb); + #else + *tb = PyException_GetTraceback(exc_value); + #endif + } +#else + *type = tstate->curexc_type; + *value = tstate->curexc_value; + *tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; +#endif +} +#endif + +/* PyObjectGetAttrStr */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name) { + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro)) + return tp->tp_getattro(obj, attr_name); +#if PY_MAJOR_VERSION < 3 + if (likely(tp->tp_getattr)) + return tp->tp_getattr(obj, PyString_AS_STRING(attr_name)); +#endif + return PyObject_GetAttr(obj, attr_name); +} +#endif + +/* PyObjectGetAttrStrNoError */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + __Pyx_PyErr_Clear(); +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { + PyObject *result; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + (void) PyObject_GetOptionalAttr(obj, attr_name, &result); + return result; +#else +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { + return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); + } +#endif + result = __Pyx_PyObject_GetAttrStr(obj, attr_name); + if (unlikely(!result)) { + __Pyx_PyObject_GetAttrStr_ClearAttributeError(); + } + return result; +#endif +} + +/* GetBuiltinName */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name) { + PyObject* result = __Pyx_PyObject_GetAttrStrNoError(__pyx_b, name); + if (unlikely(!result) && !PyErr_Occurred()) { + PyErr_Format(PyExc_NameError, +#if PY_MAJOR_VERSION >= 3 + "name '%U' is not defined", name); +#else + "name '%.200s' is not defined", PyString_AS_STRING(name)); +#endif + } + return result; +} + +/* TupleAndListFromArray */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE void __Pyx_copy_object_array(PyObject *const *CYTHON_RESTRICT src, PyObject** CYTHON_RESTRICT dest, Py_ssize_t length) { + PyObject *v; + Py_ssize_t i; + for (i = 0; i < length; i++) { + v = dest[i] = src[i]; + Py_INCREF(v); + } +} +static CYTHON_INLINE PyObject * +__Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + Py_INCREF(__pyx_empty_tuple); + return __pyx_empty_tuple; + } + res = PyTuple_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyTupleObject*)res)->ob_item, n); + return res; +} +static CYTHON_INLINE PyObject * +__Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + return PyList_New(0); + } + res = PyList_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyListObject*)res)->ob_item, n); + return res; +} +#endif + +/* BytesEquals */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else + if (s1 == s2) { + return (equals == Py_EQ); + } else if (PyBytes_CheckExact(s1) & PyBytes_CheckExact(s2)) { + const char *ps1, *ps2; + Py_ssize_t length = PyBytes_GET_SIZE(s1); + if (length != PyBytes_GET_SIZE(s2)) + return (equals == Py_NE); + ps1 = PyBytes_AS_STRING(s1); + ps2 = PyBytes_AS_STRING(s2); + if (ps1[0] != ps2[0]) { + return (equals == Py_NE); + } else if (length == 1) { + return (equals == Py_EQ); + } else { + int result; +#if CYTHON_USE_UNICODE_INTERNALS && (PY_VERSION_HEX < 0x030B0000) + Py_hash_t hash1, hash2; + hash1 = ((PyBytesObject*)s1)->ob_shash; + hash2 = ((PyBytesObject*)s2)->ob_shash; + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + return (equals == Py_NE); + } +#endif + result = memcmp(ps1, ps2, (size_t)length); + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { + return (equals == Py_NE); + } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { + return (equals == Py_NE); + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +#endif +} + +/* UnicodeEquals */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else +#if PY_MAJOR_VERSION < 3 + PyObject* owned_ref = NULL; +#endif + int s1_is_unicode, s2_is_unicode; + if (s1 == s2) { + goto return_eq; + } + s1_is_unicode = PyUnicode_CheckExact(s1); + s2_is_unicode = PyUnicode_CheckExact(s2); +#if PY_MAJOR_VERSION < 3 + if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { + owned_ref = PyUnicode_FromObject(s2); + if (unlikely(!owned_ref)) + return -1; + s2 = owned_ref; + s2_is_unicode = 1; + } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { + owned_ref = PyUnicode_FromObject(s1); + if (unlikely(!owned_ref)) + return -1; + s1 = owned_ref; + s1_is_unicode = 1; + } else if (((!s2_is_unicode) & (!s1_is_unicode))) { + return __Pyx_PyBytes_Equals(s1, s2, equals); + } +#endif + if (s1_is_unicode & s2_is_unicode) { + Py_ssize_t length; + int kind; + void *data1, *data2; + if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) + return -1; + length = __Pyx_PyUnicode_GET_LENGTH(s1); + if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { + goto return_ne; + } +#if CYTHON_USE_UNICODE_INTERNALS + { + Py_hash_t hash1, hash2; + #if CYTHON_PEP393_ENABLED + hash1 = ((PyASCIIObject*)s1)->hash; + hash2 = ((PyASCIIObject*)s2)->hash; + #else + hash1 = ((PyUnicodeObject*)s1)->hash; + hash2 = ((PyUnicodeObject*)s2)->hash; + #endif + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + goto return_ne; + } + } +#endif + kind = __Pyx_PyUnicode_KIND(s1); + if (kind != __Pyx_PyUnicode_KIND(s2)) { + goto return_ne; + } + data1 = __Pyx_PyUnicode_DATA(s1); + data2 = __Pyx_PyUnicode_DATA(s2); + if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { + goto return_ne; + } else if (length == 1) { + goto return_eq; + } else { + int result = memcmp(data1, data2, (size_t)(length * kind)); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & s2_is_unicode) { + goto return_ne; + } else if ((s2 == Py_None) & s1_is_unicode) { + goto return_ne; + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +return_eq: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ); +return_ne: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_NE); +#endif +} + +/* fastcall */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s) +{ + Py_ssize_t i, n = PyTuple_GET_SIZE(kwnames); + for (i = 0; i < n; i++) + { + if (s == PyTuple_GET_ITEM(kwnames, i)) return kwvalues[i]; + } + for (i = 0; i < n; i++) + { + int eq = __Pyx_PyUnicode_Equals(s, PyTuple_GET_ITEM(kwnames, i), Py_EQ); + if (unlikely(eq != 0)) { + if (unlikely(eq < 0)) return NULL; + return kwvalues[i]; + } + } + return NULL; +} +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 +CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { + Py_ssize_t i, nkwargs = PyTuple_GET_SIZE(kwnames); + PyObject *dict; + dict = PyDict_New(); + if (unlikely(!dict)) + return NULL; + for (i=0; i= 3 + "%s() got multiple values for keyword argument '%U'", func_name, kw_name); + #else + "%s() got multiple values for keyword argument '%s'", func_name, + PyString_AsString(kw_name)); + #endif +} + +/* ParseKeywords */ +static int __Pyx_ParseOptionalKeywords( + PyObject *kwds, + PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, + PyObject *values[], + Py_ssize_t num_pos_args, + const char* function_name) +{ + PyObject *key = 0, *value = 0; + Py_ssize_t pos = 0; + PyObject*** name; + PyObject*** first_kw_arg = argnames + num_pos_args; + int kwds_is_tuple = CYTHON_METH_FASTCALL && likely(PyTuple_Check(kwds)); + while (1) { + Py_XDECREF(key); key = NULL; + Py_XDECREF(value); value = NULL; + if (kwds_is_tuple) { + Py_ssize_t size; +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(kwds); +#else + size = PyTuple_Size(kwds); + if (size < 0) goto bad; +#endif + if (pos >= size) break; +#if CYTHON_AVOID_BORROWED_REFS + key = __Pyx_PySequence_ITEM(kwds, pos); + if (!key) goto bad; +#elif CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kwds, pos); +#else + key = PyTuple_GetItem(kwds, pos); + if (!key) goto bad; +#endif + value = kwvalues[pos]; + pos++; + } + else + { + if (!PyDict_Next(kwds, &pos, &key, &value)) break; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + } + name = first_kw_arg; + while (*name && (**name != key)) name++; + if (*name) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(value); + Py_DECREF(key); +#endif + key = NULL; + value = NULL; + continue; + } +#if !CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + Py_INCREF(value); + name = first_kw_arg; + #if PY_MAJOR_VERSION < 3 + if (likely(PyString_Check(key))) { + while (*name) { + if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) + && _PyString_Eq(**name, key)) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + if ((**argname == key) || ( + (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) + && _PyString_Eq(**argname, key))) { + goto arg_passed_twice; + } + argname++; + } + } + } else + #endif + if (likely(PyUnicode_Check(key))) { + while (*name) { + int cmp = ( + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**name, key) + ); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + int cmp = (**argname == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**argname, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) goto arg_passed_twice; + argname++; + } + } + } else + goto invalid_keyword_type; + if (kwds2) { + if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; + } else { + goto invalid_keyword; + } + } + Py_XDECREF(key); + Py_XDECREF(value); + return 0; +arg_passed_twice: + __Pyx_RaiseDoubleKeywordsError(function_name, key); + goto bad; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + goto bad; +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif +bad: + Py_XDECREF(key); + Py_XDECREF(value); + return -1; +} + +/* ArgTypeTest */ +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact) +{ + __Pyx_TypeName type_name; + __Pyx_TypeName obj_type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + else if (exact) { + #if PY_MAJOR_VERSION == 2 + if ((type == &PyBaseString_Type) && likely(__Pyx_PyBaseString_CheckExact(obj))) return 1; + #endif + } + else { + if (likely(__Pyx_TypeCheck(obj, type))) return 1; + } + type_name = __Pyx_PyType_GetName(type); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "Argument '%.200s' has incorrect type (expected " __Pyx_FMT_TYPENAME + ", got " __Pyx_FMT_TYPENAME ")", name, type_name, obj_type_name); + __Pyx_DECREF_TypeName(type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* RaiseException */ +#if PY_MAJOR_VERSION < 3 +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + __Pyx_PyThreadState_declare + CYTHON_UNUSED_VAR(cause); + Py_XINCREF(type); + if (!value || value == Py_None) + value = NULL; + else + Py_INCREF(value); + if (!tb || tb == Py_None) + tb = NULL; + else { + Py_INCREF(tb); + if (!PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto raise_error; + } + } + if (PyType_Check(type)) { +#if CYTHON_COMPILING_IN_PYPY + if (!value) { + Py_INCREF(Py_None); + value = Py_None; + } +#endif + PyErr_NormalizeException(&type, &value, &tb); + } else { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto raise_error; + } + value = type; + type = (PyObject*) Py_TYPE(type); + Py_INCREF(type); + if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto raise_error; + } + } + __Pyx_PyThreadState_assign + __Pyx_ErrRestore(type, value, tb); + return; +raise_error: + Py_XDECREF(value); + Py_XDECREF(type); + Py_XDECREF(tb); + return; +} +#else +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + PyObject* owned_instance = NULL; + if (tb == Py_None) { + tb = 0; + } else if (tb && !PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto bad; + } + if (value == Py_None) + value = 0; + if (PyExceptionInstance_Check(type)) { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto bad; + } + value = type; + type = (PyObject*) Py_TYPE(value); + } else if (PyExceptionClass_Check(type)) { + PyObject *instance_class = NULL; + if (value && PyExceptionInstance_Check(value)) { + instance_class = (PyObject*) Py_TYPE(value); + if (instance_class != type) { + int is_subclass = PyObject_IsSubclass(instance_class, type); + if (!is_subclass) { + instance_class = NULL; + } else if (unlikely(is_subclass == -1)) { + goto bad; + } else { + type = instance_class; + } + } + } + if (!instance_class) { + PyObject *args; + if (!value) + args = PyTuple_New(0); + else if (PyTuple_Check(value)) { + Py_INCREF(value); + args = value; + } else + args = PyTuple_Pack(1, value); + if (!args) + goto bad; + owned_instance = PyObject_Call(type, args, NULL); + Py_DECREF(args); + if (!owned_instance) + goto bad; + value = owned_instance; + if (!PyExceptionInstance_Check(value)) { + PyErr_Format(PyExc_TypeError, + "calling %R should have returned an instance of " + "BaseException, not %R", + type, Py_TYPE(value)); + goto bad; + } + } + } else { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto bad; + } + if (cause) { + PyObject *fixed_cause; + if (cause == Py_None) { + fixed_cause = NULL; + } else if (PyExceptionClass_Check(cause)) { + fixed_cause = PyObject_CallObject(cause, NULL); + if (fixed_cause == NULL) + goto bad; + } else if (PyExceptionInstance_Check(cause)) { + fixed_cause = cause; + Py_INCREF(fixed_cause); + } else { + PyErr_SetString(PyExc_TypeError, + "exception causes must derive from " + "BaseException"); + goto bad; + } + PyException_SetCause(value, fixed_cause); + } + PyErr_SetObject(type, value); + if (tb) { + #if PY_VERSION_HEX >= 0x030C00A6 + PyException_SetTraceback(value, tb); + #elif CYTHON_FAST_THREAD_STATE + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* tmp_tb = tstate->curexc_traceback; + if (tb != tmp_tb) { + Py_INCREF(tb); + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_tb); + } +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); + Py_INCREF(tb); + PyErr_Restore(tmp_type, tmp_value, tb); + Py_XDECREF(tmp_tb); +#endif + } +bad: + Py_XDECREF(owned_instance); + return; +} +#endif + +/* PyFunctionFastCall */ +#if CYTHON_FAST_PYCALL && !CYTHON_VECTORCALL +static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, + PyObject *globals) { + PyFrameObject *f; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject **fastlocals; + Py_ssize_t i; + PyObject *result; + assert(globals != NULL); + /* XXX Perhaps we should create a specialized + PyFrame_New() that doesn't take locals, but does + take builtins without sanity checking them. + */ + assert(tstate != NULL); + f = PyFrame_New(tstate, co, globals, NULL); + if (f == NULL) { + return NULL; + } + fastlocals = __Pyx_PyFrame_GetLocalsplus(f); + for (i = 0; i < na; i++) { + Py_INCREF(*args); + fastlocals[i] = *args++; + } + result = PyEval_EvalFrameEx(f,0); + ++tstate->recursion_depth; + Py_DECREF(f); + --tstate->recursion_depth; + return result; +} +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { + PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); + PyObject *globals = PyFunction_GET_GLOBALS(func); + PyObject *argdefs = PyFunction_GET_DEFAULTS(func); + PyObject *closure; +#if PY_MAJOR_VERSION >= 3 + PyObject *kwdefs; +#endif + PyObject *kwtuple, **k; + PyObject **d; + Py_ssize_t nd; + Py_ssize_t nk; + PyObject *result; + assert(kwargs == NULL || PyDict_Check(kwargs)); + nk = kwargs ? PyDict_Size(kwargs) : 0; + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) { + return NULL; + } + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) { + return NULL; + } + #endif + if ( +#if PY_MAJOR_VERSION >= 3 + co->co_kwonlyargcount == 0 && +#endif + likely(kwargs == NULL || nk == 0) && + co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { + if (argdefs == NULL && co->co_argcount == nargs) { + result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); + goto done; + } + else if (nargs == 0 && argdefs != NULL + && co->co_argcount == Py_SIZE(argdefs)) { + /* function called with no arguments, but all parameters have + a default value: use default values as arguments .*/ + args = &PyTuple_GET_ITEM(argdefs, 0); + result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); + goto done; + } + } + if (kwargs != NULL) { + Py_ssize_t pos, i; + kwtuple = PyTuple_New(2 * nk); + if (kwtuple == NULL) { + result = NULL; + goto done; + } + k = &PyTuple_GET_ITEM(kwtuple, 0); + pos = i = 0; + while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { + Py_INCREF(k[i]); + Py_INCREF(k[i+1]); + i += 2; + } + nk = i / 2; + } + else { + kwtuple = NULL; + k = NULL; + } + closure = PyFunction_GET_CLOSURE(func); +#if PY_MAJOR_VERSION >= 3 + kwdefs = PyFunction_GET_KW_DEFAULTS(func); +#endif + if (argdefs != NULL) { + d = &PyTuple_GET_ITEM(argdefs, 0); + nd = Py_SIZE(argdefs); + } + else { + d = NULL; + nd = 0; + } +#if PY_MAJOR_VERSION >= 3 + result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, kwdefs, closure); +#else + result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, closure); +#endif + Py_XDECREF(kwtuple); +done: + Py_LeaveRecursiveCall(); + return result; +} +#endif + +/* PyObjectCall */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *result; + ternaryfunc call = Py_TYPE(func)->tp_call; + if (unlikely(!call)) + return PyObject_Call(func, arg, kw); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = (*call)(func, arg, kw); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCallMethO */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { + PyObject *self, *result; + PyCFunction cfunc; + cfunc = __Pyx_CyOrPyCFunction_GET_FUNCTION(func); + self = __Pyx_CyOrPyCFunction_GET_SELF(func); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = cfunc(self, arg); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectFastCall */ +#if PY_VERSION_HEX < 0x03090000 || CYTHON_COMPILING_IN_LIMITED_API +static PyObject* __Pyx_PyObject_FastCall_fallback(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs) { + PyObject *argstuple; + PyObject *result = 0; + size_t i; + argstuple = PyTuple_New((Py_ssize_t)nargs); + if (unlikely(!argstuple)) return NULL; + for (i = 0; i < nargs; i++) { + Py_INCREF(args[i]); + if (__Pyx_PyTuple_SET_ITEM(argstuple, (Py_ssize_t)i, args[i]) < 0) goto bad; + } + result = __Pyx_PyObject_Call(func, argstuple, kwargs); + bad: + Py_DECREF(argstuple); + return result; +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t _nargs, PyObject *kwargs) { + Py_ssize_t nargs = __Pyx_PyVectorcall_NARGS(_nargs); +#if CYTHON_COMPILING_IN_CPYTHON + if (nargs == 0 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_NOARGS)) + return __Pyx_PyObject_CallMethO(func, NULL); + } + else if (nargs == 1 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_O)) + return __Pyx_PyObject_CallMethO(func, args[0]); + } +#endif + #if PY_VERSION_HEX < 0x030800B1 + #if CYTHON_FAST_PYCCALL + if (PyCFunction_Check(func)) { + if (kwargs) { + return _PyCFunction_FastCallDict(func, args, nargs, kwargs); + } else { + return _PyCFunction_FastCallKeywords(func, args, nargs, NULL); + } + } + #if PY_VERSION_HEX >= 0x030700A1 + if (!kwargs && __Pyx_IS_TYPE(func, &PyMethodDescr_Type)) { + return _PyMethodDescr_FastCallKeywords(func, args, nargs, NULL); + } + #endif + #endif + #if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs); + } + #endif + #endif + if (kwargs == NULL) { + #if CYTHON_VECTORCALL + #if PY_VERSION_HEX < 0x03090000 + vectorcallfunc f = _PyVectorcall_Function(func); + #else + vectorcallfunc f = PyVectorcall_Function(func); + #endif + if (f) { + return f(func, args, (size_t)nargs, NULL); + } + #elif defined(__Pyx_CyFunction_USED) && CYTHON_BACKPORT_VECTORCALL + if (__Pyx_CyFunction_CheckExact(func)) { + __pyx_vectorcallfunc f = __Pyx_CyFunction_func_vectorcall(func); + if (f) return f(func, args, (size_t)nargs, NULL); + } + #endif + } + if (nargs == 0) { + return __Pyx_PyObject_Call(func, __pyx_empty_tuple, kwargs); + } + #if PY_VERSION_HEX >= 0x03090000 && !CYTHON_COMPILING_IN_LIMITED_API + return PyObject_VectorcallDict(func, args, (size_t)nargs, kwargs); + #else + return __Pyx_PyObject_FastCall_fallback(func, args, (size_t)nargs, kwargs); + #endif +} + +/* RaiseUnexpectedTypeError */ +static int +__Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj) +{ + __Pyx_TypeName obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, "Expected %s, got " __Pyx_FMT_TYPENAME, + expected, obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* CIntToDigits */ +static const char DIGIT_PAIRS_10[2*10*10+1] = { + "00010203040506070809" + "10111213141516171819" + "20212223242526272829" + "30313233343536373839" + "40414243444546474849" + "50515253545556575859" + "60616263646566676869" + "70717273747576777879" + "80818283848586878889" + "90919293949596979899" +}; +static const char DIGIT_PAIRS_8[2*8*8+1] = { + "0001020304050607" + "1011121314151617" + "2021222324252627" + "3031323334353637" + "4041424344454647" + "5051525354555657" + "6061626364656667" + "7071727374757677" +}; +static const char DIGITS_HEX[2*16+1] = { + "0123456789abcdef" + "0123456789ABCDEF" +}; + +/* BuildPyUnicode */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char) { + PyObject *uval; + Py_ssize_t uoffset = ulength - clength; +#if CYTHON_USE_UNICODE_INTERNALS + Py_ssize_t i; +#if CYTHON_PEP393_ENABLED + void *udata; + uval = PyUnicode_New(ulength, 127); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_DATA(uval); +#else + Py_UNICODE *udata; + uval = PyUnicode_FromUnicode(NULL, ulength); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_AS_UNICODE(uval); +#endif + if (uoffset > 0) { + i = 0; + if (prepend_sign) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, 0, '-'); + i++; + } + for (; i < uoffset; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, i, padding_char); + } + } + for (i=0; i < clength; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, uoffset+i, chars[i]); + } +#else + { + PyObject *sign = NULL, *padding = NULL; + uval = NULL; + if (uoffset > 0) { + prepend_sign = !!prepend_sign; + if (uoffset > prepend_sign) { + padding = PyUnicode_FromOrdinal(padding_char); + if (likely(padding) && uoffset > prepend_sign + 1) { + PyObject *tmp; + PyObject *repeat = PyInt_FromSsize_t(uoffset - prepend_sign); + if (unlikely(!repeat)) goto done_or_error; + tmp = PyNumber_Multiply(padding, repeat); + Py_DECREF(repeat); + Py_DECREF(padding); + padding = tmp; + } + if (unlikely(!padding)) goto done_or_error; + } + if (prepend_sign) { + sign = PyUnicode_FromOrdinal('-'); + if (unlikely(!sign)) goto done_or_error; + } + } + uval = PyUnicode_DecodeASCII(chars, clength, NULL); + if (likely(uval) && padding) { + PyObject *tmp = PyNumber_Add(padding, uval); + Py_DECREF(uval); + uval = tmp; + } + if (likely(uval) && sign) { + PyObject *tmp = PyNumber_Add(sign, uval); + Py_DECREF(uval); + uval = tmp; + } +done_or_error: + Py_XDECREF(padding); + Py_XDECREF(sign); + } +#endif + return uval; +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(int)*3+2]; + char *dpos, *end = digits + sizeof(int)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + int remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (int) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (int) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (int) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_Py_ssize_t(Py_ssize_t value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(Py_ssize_t)*3+2]; + char *dpos, *end = digits + sizeof(Py_ssize_t)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + Py_ssize_t remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const Py_ssize_t neg_one = (Py_ssize_t) -1, const_zero = (Py_ssize_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (Py_ssize_t) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (Py_ssize_t) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (Py_ssize_t) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* JoinPyUnicode */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char) { +#if CYTHON_USE_UNICODE_INTERNALS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + PyObject *result_uval; + int result_ukind, kind_shift; + Py_ssize_t i, char_pos; + void *result_udata; + CYTHON_MAYBE_UNUSED_VAR(max_char); +#if CYTHON_PEP393_ENABLED + result_uval = PyUnicode_New(result_ulength, max_char); + if (unlikely(!result_uval)) return NULL; + result_ukind = (max_char <= 255) ? PyUnicode_1BYTE_KIND : (max_char <= 65535) ? PyUnicode_2BYTE_KIND : PyUnicode_4BYTE_KIND; + kind_shift = (result_ukind == PyUnicode_4BYTE_KIND) ? 2 : result_ukind - 1; + result_udata = PyUnicode_DATA(result_uval); +#else + result_uval = PyUnicode_FromUnicode(NULL, result_ulength); + if (unlikely(!result_uval)) return NULL; + result_ukind = sizeof(Py_UNICODE); + kind_shift = (result_ukind == 4) ? 2 : result_ukind - 1; + result_udata = PyUnicode_AS_UNICODE(result_uval); +#endif + assert(kind_shift == 2 || kind_shift == 1 || kind_shift == 0); + char_pos = 0; + for (i=0; i < value_count; i++) { + int ukind; + Py_ssize_t ulength; + void *udata; + PyObject *uval = PyTuple_GET_ITEM(value_tuple, i); + if (unlikely(__Pyx_PyUnicode_READY(uval))) + goto bad; + ulength = __Pyx_PyUnicode_GET_LENGTH(uval); + if (unlikely(!ulength)) + continue; + if (unlikely((PY_SSIZE_T_MAX >> kind_shift) - ulength < char_pos)) + goto overflow; + ukind = __Pyx_PyUnicode_KIND(uval); + udata = __Pyx_PyUnicode_DATA(uval); + if (!CYTHON_PEP393_ENABLED || ukind == result_ukind) { + memcpy((char *)result_udata + (char_pos << kind_shift), udata, (size_t) (ulength << kind_shift)); + } else { + #if PY_VERSION_HEX >= 0x030d0000 + if (unlikely(PyUnicode_CopyCharacters(result_uval, char_pos, uval, 0, ulength) < 0)) goto bad; + #elif CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030300F0 || defined(_PyUnicode_FastCopyCharacters) + _PyUnicode_FastCopyCharacters(result_uval, char_pos, uval, 0, ulength); + #else + Py_ssize_t j; + for (j=0; j < ulength; j++) { + Py_UCS4 uchar = __Pyx_PyUnicode_READ(ukind, udata, j); + __Pyx_PyUnicode_WRITE(result_ukind, result_udata, char_pos+j, uchar); + } + #endif + } + char_pos += ulength; + } + return result_uval; +overflow: + PyErr_SetString(PyExc_OverflowError, "join() result is too long for a Python string"); +bad: + Py_DECREF(result_uval); + return NULL; +#else + CYTHON_UNUSED_VAR(max_char); + CYTHON_UNUSED_VAR(result_ulength); + CYTHON_UNUSED_VAR(value_count); + return PyUnicode_Join(__pyx_empty_unicode, value_tuple); +#endif +} + +/* GetAttr */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *o, PyObject *n) { +#if CYTHON_USE_TYPE_SLOTS +#if PY_MAJOR_VERSION >= 3 + if (likely(PyUnicode_Check(n))) +#else + if (likely(PyString_Check(n))) +#endif + return __Pyx_PyObject_GetAttrStr(o, n); +#endif + return PyObject_GetAttr(o, n); +} + +/* GetItemInt */ +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { + PyObject *r; + if (unlikely(!j)) return NULL; + r = PyObject_GetItem(o, j); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyList_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { + PyObject *r = PyList_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyTuple_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); + if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { + PyObject *r = PyList_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } + else if (PyTuple_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_subscript) { + PyObject *r, *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return NULL; + r = mm->mp_subscript(o, key); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return NULL; + PyErr_Clear(); + } + } + return sm->sq_item(o, i); + } + } +#else + if (is_list || !PyMapping_Check(o)) { + return PySequence_GetItem(o, i); + } +#endif + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +} + +/* PyObjectCallOneArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *args[2] = {NULL, arg}; + return __Pyx_PyObject_FastCall(func, args+1, 1 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* ObjectGetItem */ +#if CYTHON_USE_TYPE_SLOTS +static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject *index) { + PyObject *runerr = NULL; + Py_ssize_t key_value; + key_value = __Pyx_PyIndex_AsSsize_t(index); + if (likely(key_value != -1 || !(runerr = PyErr_Occurred()))) { + return __Pyx_GetItemInt_Fast(obj, key_value, 0, 1, 1); + } + if (PyErr_GivenExceptionMatches(runerr, PyExc_OverflowError)) { + __Pyx_TypeName index_type_name = __Pyx_PyType_GetName(Py_TYPE(index)); + PyErr_Clear(); + PyErr_Format(PyExc_IndexError, + "cannot fit '" __Pyx_FMT_TYPENAME "' into an index-sized integer", index_type_name); + __Pyx_DECREF_TypeName(index_type_name); + } + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem_Slow(PyObject *obj, PyObject *key) { + __Pyx_TypeName obj_type_name; + if (likely(PyType_Check(obj))) { + PyObject *meth = __Pyx_PyObject_GetAttrStrNoError(obj, __pyx_n_s_class_getitem); + if (!meth) { + PyErr_Clear(); + } else { + PyObject *result = __Pyx_PyObject_CallOneArg(meth, key); + Py_DECREF(meth); + return result; + } + } + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' object is not subscriptable", obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key) { + PyTypeObject *tp = Py_TYPE(obj); + PyMappingMethods *mm = tp->tp_as_mapping; + PySequenceMethods *sm = tp->tp_as_sequence; + if (likely(mm && mm->mp_subscript)) { + return mm->mp_subscript(obj, key); + } + if (likely(sm && sm->sq_item)) { + return __Pyx_PyObject_GetIndex(obj, key); + } + return __Pyx_PyObject_GetItem_Slow(obj, key); +} +#endif + +/* KeywordStringCheck */ +static int __Pyx_CheckKeywordStrings( + PyObject *kw, + const char* function_name, + int kw_allowed) +{ + PyObject* key = 0; + Py_ssize_t pos = 0; +#if CYTHON_COMPILING_IN_PYPY + if (!kw_allowed && PyDict_Next(kw, &pos, &key, 0)) + goto invalid_keyword; + return 1; +#else + if (CYTHON_METH_FASTCALL && likely(PyTuple_Check(kw))) { + Py_ssize_t kwsize; +#if CYTHON_ASSUME_SAFE_MACROS + kwsize = PyTuple_GET_SIZE(kw); +#else + kwsize = PyTuple_Size(kw); + if (kwsize < 0) return 0; +#endif + if (unlikely(kwsize == 0)) + return 1; + if (!kw_allowed) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, 0); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + goto invalid_keyword; + } +#if PY_VERSION_HEX < 0x03090000 + for (pos = 0; pos < kwsize; pos++) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, pos); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } +#endif + return 1; + } + while (PyDict_Next(kw, &pos, &key, 0)) { + #if PY_MAJOR_VERSION < 3 + if (unlikely(!PyString_Check(key))) + #endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } + if (!kw_allowed && unlikely(key)) + goto invalid_keyword; + return 1; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + return 0; +#endif +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif + return 0; +} + +/* DivInt[Py_ssize_t] */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t a, Py_ssize_t b) { + Py_ssize_t q = a / b; + Py_ssize_t r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* GetAttr3 */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static PyObject *__Pyx_GetAttr3Default(PyObject *d) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (unlikely(!__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + return NULL; + __Pyx_PyErr_Clear(); + Py_INCREF(d); + return d; +} +#endif +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *o, PyObject *n, PyObject *d) { + PyObject *r; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + int res = PyObject_GetOptionalAttr(o, n, &r); + return (res != 0) ? r : __Pyx_NewRef(d); +#else + #if CYTHON_USE_TYPE_SLOTS + if (likely(PyString_Check(n))) { + r = __Pyx_PyObject_GetAttrStrNoError(o, n); + if (unlikely(!r) && likely(!PyErr_Occurred())) { + r = __Pyx_NewRef(d); + } + return r; + } + #endif + r = PyObject_GetAttr(o, n); + return (likely(r)) ? r : __Pyx_GetAttr3Default(d); +#endif +} + +/* PyDictVersioning */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { + PyObject **dictptr = NULL; + Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; + if (offset) { +#if CYTHON_COMPILING_IN_CPYTHON + dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); +#else + dictptr = _PyObject_GetDictPtr(obj); +#endif + } + return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; +} +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) + return 0; + return obj_dict_version == __Pyx_get_object_dict_version(obj); +} +#endif + +/* GetModuleGlobalName */ +#if CYTHON_USE_DICT_VERSIONS +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) +#else +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) +#endif +{ + PyObject *result; +#if !CYTHON_AVOID_BORROWED_REFS +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && PY_VERSION_HEX < 0x030d0000 + result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } else if (unlikely(PyErr_Occurred())) { + return NULL; + } +#elif CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(!__pyx_m)) { + return NULL; + } + result = PyObject_GetAttr(__pyx_m, name); + if (likely(result)) { + return result; + } +#else + result = PyDict_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } +#endif +#else + result = PyObject_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } + PyErr_Clear(); +#endif + return __Pyx_GetBuiltinName(name); +} + +/* RaiseTooManyValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected) { + PyErr_Format(PyExc_ValueError, + "too many values to unpack (expected %" CYTHON_FORMAT_SSIZE_T "d)", expected); +} + +/* RaiseNeedMoreValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index) { + PyErr_Format(PyExc_ValueError, + "need more than %" CYTHON_FORMAT_SSIZE_T "d value%.1s to unpack", + index, (index == 1) ? "" : "s"); +} + +/* RaiseNoneIterError */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void) { + PyErr_SetString(PyExc_TypeError, "'NoneType' object is not iterable"); +} + +/* ExtTypeTest */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type) { + __Pyx_TypeName obj_type_name; + __Pyx_TypeName type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + if (likely(__Pyx_TypeCheck(obj, type))) + return 1; + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + type_name = __Pyx_PyType_GetName(type); + PyErr_Format(PyExc_TypeError, + "Cannot convert " __Pyx_FMT_TYPENAME " to " __Pyx_FMT_TYPENAME, + obj_type_name, type_name); + __Pyx_DECREF_TypeName(obj_type_name); + __Pyx_DECREF_TypeName(type_name); + return 0; +} + +/* GetTopmostException */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * +__Pyx_PyErr_GetTopmostException(PyThreadState *tstate) +{ + _PyErr_StackItem *exc_info = tstate->exc_info; + while ((exc_info->exc_value == NULL || exc_info->exc_value == Py_None) && + exc_info->previous_item != NULL) + { + exc_info = exc_info->previous_item; + } + return exc_info; +} +#endif + +/* SaveResetException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + PyObject *exc_value = exc_info->exc_value; + if (exc_value == NULL || exc_value == Py_None) { + *value = NULL; + *type = NULL; + *tb = NULL; + } else { + *value = exc_value; + Py_INCREF(*value); + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + *tb = PyException_GetTraceback(exc_value); + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + *type = exc_info->exc_type; + *value = exc_info->exc_value; + *tb = exc_info->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #else + *type = tstate->exc_type; + *value = tstate->exc_value; + *tb = tstate->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #endif +} +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + PyObject *tmp_value = exc_info->exc_value; + exc_info->exc_value = value; + Py_XDECREF(tmp_value); + Py_XDECREF(type); + Py_XDECREF(tb); + #else + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = type; + exc_info->exc_value = value; + exc_info->exc_traceback = tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = type; + tstate->exc_value = value; + tstate->exc_traceback = tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); + #endif +} +#endif + +/* GetException */ +#if CYTHON_FAST_THREAD_STATE +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb) +#endif +{ + PyObject *local_type = NULL, *local_value, *local_tb = NULL; +#if CYTHON_FAST_THREAD_STATE + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if PY_VERSION_HEX >= 0x030C00A6 + local_value = tstate->current_exception; + tstate->current_exception = 0; + if (likely(local_value)) { + local_type = (PyObject*) Py_TYPE(local_value); + Py_INCREF(local_type); + local_tb = PyException_GetTraceback(local_value); + } + #else + local_type = tstate->curexc_type; + local_value = tstate->curexc_value; + local_tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; + #endif +#else + PyErr_Fetch(&local_type, &local_value, &local_tb); +#endif + PyErr_NormalizeException(&local_type, &local_value, &local_tb); +#if CYTHON_FAST_THREAD_STATE && PY_VERSION_HEX >= 0x030C00A6 + if (unlikely(tstate->current_exception)) +#elif CYTHON_FAST_THREAD_STATE + if (unlikely(tstate->curexc_type)) +#else + if (unlikely(PyErr_Occurred())) +#endif + goto bad; + #if PY_MAJOR_VERSION >= 3 + if (local_tb) { + if (unlikely(PyException_SetTraceback(local_value, local_tb) < 0)) + goto bad; + } + #endif + Py_XINCREF(local_tb); + Py_XINCREF(local_type); + Py_XINCREF(local_value); + *type = local_type; + *value = local_value; + *tb = local_tb; +#if CYTHON_FAST_THREAD_STATE + #if CYTHON_USE_EXC_INFO_STACK + { + _PyErr_StackItem *exc_info = tstate->exc_info; + #if PY_VERSION_HEX >= 0x030B00a4 + tmp_value = exc_info->exc_value; + exc_info->exc_value = local_value; + tmp_type = NULL; + tmp_tb = NULL; + Py_XDECREF(local_type); + Py_XDECREF(local_tb); + #else + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = local_type; + exc_info->exc_value = local_value; + exc_info->exc_traceback = local_tb; + #endif + } + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = local_type; + tstate->exc_value = local_value; + tstate->exc_traceback = local_tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#else + PyErr_SetExcInfo(local_type, local_value, local_tb); +#endif + return 0; +bad: + *type = 0; + *value = 0; + *tb = 0; + Py_XDECREF(local_type); + Py_XDECREF(local_value); + Py_XDECREF(local_tb); + return -1; +} + +/* SwapException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_value = exc_info->exc_value; + exc_info->exc_value = *value; + if (tmp_value == NULL || tmp_value == Py_None) { + Py_XDECREF(tmp_value); + tmp_value = NULL; + tmp_type = NULL; + tmp_tb = NULL; + } else { + tmp_type = (PyObject*) Py_TYPE(tmp_value); + Py_INCREF(tmp_type); + #if CYTHON_COMPILING_IN_CPYTHON + tmp_tb = ((PyBaseExceptionObject*) tmp_value)->traceback; + Py_XINCREF(tmp_tb); + #else + tmp_tb = PyException_GetTraceback(tmp_value); + #endif + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = *type; + exc_info->exc_value = *value; + exc_info->exc_traceback = *tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = *type; + tstate->exc_value = *value; + tstate->exc_traceback = *tb; + #endif + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_GetExcInfo(&tmp_type, &tmp_value, &tmp_tb); + PyErr_SetExcInfo(*type, *value, *tb); + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#endif + +/* Import */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { + PyObject *module = 0; + PyObject *empty_dict = 0; + PyObject *empty_list = 0; + #if PY_MAJOR_VERSION < 3 + PyObject *py_import; + py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); + if (unlikely(!py_import)) + goto bad; + if (!from_list) { + empty_list = PyList_New(0); + if (unlikely(!empty_list)) + goto bad; + from_list = empty_list; + } + #endif + empty_dict = PyDict_New(); + if (unlikely(!empty_dict)) + goto bad; + { + #if PY_MAJOR_VERSION >= 3 + if (level == -1) { + if (strchr(__Pyx_MODULE_NAME, '.') != NULL) { + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, 1); + if (unlikely(!module)) { + if (unlikely(!PyErr_ExceptionMatches(PyExc_ImportError))) + goto bad; + PyErr_Clear(); + } + } + level = 0; + } + #endif + if (!module) { + #if PY_MAJOR_VERSION < 3 + PyObject *py_level = PyInt_FromLong(level); + if (unlikely(!py_level)) + goto bad; + module = PyObject_CallFunctionObjArgs(py_import, + name, __pyx_d, empty_dict, from_list, py_level, (PyObject *)NULL); + Py_DECREF(py_level); + #else + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, level); + #endif + } + } +bad: + Py_XDECREF(empty_dict); + Py_XDECREF(empty_list); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_import); + #endif + return module; +} + +/* ImportDottedModule */ +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Error(PyObject *name, PyObject *parts_tuple, Py_ssize_t count) { + PyObject *partial_name = NULL, *slice = NULL, *sep = NULL; + if (unlikely(PyErr_Occurred())) { + PyErr_Clear(); + } + if (likely(PyTuple_GET_SIZE(parts_tuple) == count)) { + partial_name = name; + } else { + slice = PySequence_GetSlice(parts_tuple, 0, count); + if (unlikely(!slice)) + goto bad; + sep = PyUnicode_FromStringAndSize(".", 1); + if (unlikely(!sep)) + goto bad; + partial_name = PyUnicode_Join(sep, slice); + } + PyErr_Format( +#if PY_MAJOR_VERSION < 3 + PyExc_ImportError, + "No module named '%s'", PyString_AS_STRING(partial_name)); +#else +#if PY_VERSION_HEX >= 0x030600B1 + PyExc_ModuleNotFoundError, +#else + PyExc_ImportError, +#endif + "No module named '%U'", partial_name); +#endif +bad: + Py_XDECREF(sep); + Py_XDECREF(slice); + Py_XDECREF(partial_name); + return NULL; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Lookup(PyObject *name) { + PyObject *imported_module; +#if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + return NULL; + imported_module = __Pyx_PyDict_GetItemStr(modules, name); + Py_XINCREF(imported_module); +#else + imported_module = PyImport_GetModule(name); +#endif + return imported_module; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple) { + Py_ssize_t i, nparts; + nparts = PyTuple_GET_SIZE(parts_tuple); + for (i=1; i < nparts && module; i++) { + PyObject *part, *submodule; +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + part = PyTuple_GET_ITEM(parts_tuple, i); +#else + part = PySequence_ITEM(parts_tuple, i); +#endif + submodule = __Pyx_PyObject_GetAttrStrNoError(module, part); +#if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(part); +#endif + Py_DECREF(module); + module = submodule; + } + if (unlikely(!module)) { + return __Pyx__ImportDottedModule_Error(name, parts_tuple, i); + } + return module; +} +#endif +static PyObject *__Pyx__ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if PY_MAJOR_VERSION < 3 + PyObject *module, *from_list, *star = __pyx_n_s__3; + CYTHON_UNUSED_VAR(parts_tuple); + from_list = PyList_New(1); + if (unlikely(!from_list)) + return NULL; + Py_INCREF(star); + PyList_SET_ITEM(from_list, 0, star); + module = __Pyx_Import(name, from_list, 0); + Py_DECREF(from_list); + return module; +#else + PyObject *imported_module; + PyObject *module = __Pyx_Import(name, NULL, 0); + if (!parts_tuple || unlikely(!module)) + return module; + imported_module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(imported_module)) { + Py_DECREF(module); + return imported_module; + } + PyErr_Clear(); + return __Pyx_ImportDottedModule_WalkParts(module, name, parts_tuple); +#endif +} +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030400B1 + PyObject *module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(module)) { + PyObject *spec = __Pyx_PyObject_GetAttrStrNoError(module, __pyx_n_s_spec); + if (likely(spec)) { + PyObject *unsafe = __Pyx_PyObject_GetAttrStrNoError(spec, __pyx_n_s_initializing); + if (likely(!unsafe || !__Pyx_PyObject_IsTrue(unsafe))) { + Py_DECREF(spec); + spec = NULL; + } + Py_XDECREF(unsafe); + } + if (likely(!spec)) { + PyErr_Clear(); + return module; + } + Py_DECREF(spec); + Py_DECREF(module); + } else if (PyErr_Occurred()) { + PyErr_Clear(); + } +#endif + return __Pyx__ImportDottedModule(name, parts_tuple); +} + +/* FastTypeChecks */ +#if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = __Pyx_PyType_GetSlot(a, tp_base, PyTypeObject*); + if (a == b) + return 1; + } + return b == &PyBaseObject_Type; +} +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(a, b); +} +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (cls == a || cls == b) return 1; + mro = cls->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + PyObject *base = PyTuple_GET_ITEM(mro, i); + if (base == (PyObject *)a || base == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(cls, a) || __Pyx_InBases(cls, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + } + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + if (exc_type1) { + return __Pyx_IsAnySubtype2((PyTypeObject*)err, (PyTypeObject*)exc_type1, (PyTypeObject*)exc_type2); + } else { + return __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } +} +#endif +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; itp_as_sequence && type->tp_as_sequence->sq_repeat)) { + return type->tp_as_sequence->sq_repeat(seq, mul); + } else +#endif + { + return __Pyx_PySequence_Multiply_Generic(seq, mul); + } +} + +/* SetItemInt */ +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v) { + int r; + if (unlikely(!j)) return -1; + r = PyObject_SetItem(o, j, v); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, int is_list, + CYTHON_NCP_UNUSED int wraparound, CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = (!wraparound) ? i : ((likely(i >= 0)) ? i : i + PyList_GET_SIZE(o)); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o)))) { + PyObject* old = PyList_GET_ITEM(o, n); + Py_INCREF(v); + PyList_SET_ITEM(o, n, v); + Py_DECREF(old); + return 1; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_ass_subscript) { + int r; + PyObject *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return -1; + r = mm->mp_ass_subscript(o, key, v); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_ass_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return -1; + PyErr_Clear(); + } + } + return sm->sq_ass_item(o, i, v); + } + } +#else + if (is_list || !PyMapping_Check(o)) + { + return PySequence_SetItem(o, i, v); + } +#endif + return __Pyx_SetItemInt_Generic(o, PyInt_FromSsize_t(i), v); +} + +/* RaiseUnboundLocalError */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname) { + PyErr_Format(PyExc_UnboundLocalError, "local variable '%s' referenced before assignment", varname); +} + +/* DivInt[long] */ +static CYTHON_INLINE long __Pyx_div_long(long a, long b) { + long q = a / b; + long r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* ImportFrom */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name) { + PyObject* value = __Pyx_PyObject_GetAttrStr(module, name); + if (unlikely(!value) && PyErr_ExceptionMatches(PyExc_AttributeError)) { + const char* module_name_str = 0; + PyObject* module_name = 0; + PyObject* module_dot = 0; + PyObject* full_name = 0; + PyErr_Clear(); + module_name_str = PyModule_GetName(module); + if (unlikely(!module_name_str)) { goto modbad; } + module_name = PyUnicode_FromString(module_name_str); + if (unlikely(!module_name)) { goto modbad; } + module_dot = PyUnicode_Concat(module_name, __pyx_kp_u__2); + if (unlikely(!module_dot)) { goto modbad; } + full_name = PyUnicode_Concat(module_dot, name); + if (unlikely(!full_name)) { goto modbad; } + #if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + { + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + goto modbad; + value = PyObject_GetItem(modules, full_name); + } + #else + value = PyImport_GetModule(full_name); + #endif + modbad: + Py_XDECREF(full_name); + Py_XDECREF(module_dot); + Py_XDECREF(module_name); + } + if (unlikely(!value)) { + PyErr_Format(PyExc_ImportError, + #if PY_MAJOR_VERSION < 3 + "cannot import name %.230s", PyString_AS_STRING(name)); + #else + "cannot import name %S", name); + #endif + } + return value; +} + +/* HasAttr */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *o, PyObject *n) { + PyObject *r; + if (unlikely(!__Pyx_PyBaseString_Check(n))) { + PyErr_SetString(PyExc_TypeError, + "hasattr(): attribute name must be string"); + return -1; + } + r = __Pyx_GetAttr(o, n); + if (!r) { + PyErr_Clear(); + return 0; + } else { + Py_DECREF(r); + return 1; + } +} +#endif + +/* BufferIndexError */ +static void __Pyx_RaiseBufferIndexError(int axis) { + PyErr_Format(PyExc_IndexError, + "Out of bounds on buffer access (axis %d)", axis); +} + +/* PyObject_GenericGetAttrNoDict */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { + __Pyx_TypeName type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, attr_name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(attr_name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { + PyObject *descr; + PyTypeObject *tp = Py_TYPE(obj); + if (unlikely(!PyString_Check(attr_name))) { + return PyObject_GenericGetAttr(obj, attr_name); + } + assert(!tp->tp_dictoffset); + descr = _PyType_Lookup(tp, attr_name); + if (unlikely(!descr)) { + return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); + } + Py_INCREF(descr); + #if PY_MAJOR_VERSION < 3 + if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) + #endif + { + descrgetfunc f = Py_TYPE(descr)->tp_descr_get; + if (unlikely(f)) { + PyObject *res = f(descr, obj, (PyObject *)tp); + Py_DECREF(descr); + return res; + } + } + return descr; +} +#endif + +/* PyObject_GenericGetAttr */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { + if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { + return PyObject_GenericGetAttr(obj, attr_name); + } + return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); +} +#endif + +/* FixUpExtensionType */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type) { +#if PY_VERSION_HEX > 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + CYTHON_UNUSED_VAR(spec); + CYTHON_UNUSED_VAR(type); +#else + const PyType_Slot *slot = spec->slots; + while (slot && slot->slot && slot->slot != Py_tp_members) + slot++; + if (slot && slot->slot == Py_tp_members) { + int changed = 0; +#if !(PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON) + const +#endif + PyMemberDef *memb = (PyMemberDef*) slot->pfunc; + while (memb && memb->name) { + if (memb->name[0] == '_' && memb->name[1] == '_') { +#if PY_VERSION_HEX < 0x030900b1 + if (strcmp(memb->name, "__weaklistoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_weaklistoffset = memb->offset; + changed = 1; + } + else if (strcmp(memb->name, "__dictoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_dictoffset = memb->offset; + changed = 1; + } +#if CYTHON_METH_FASTCALL + else if (strcmp(memb->name, "__vectorcalloffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); +#if PY_VERSION_HEX >= 0x030800b4 + type->tp_vectorcall_offset = memb->offset; +#else + type->tp_print = (printfunc) memb->offset; +#endif + changed = 1; + } +#endif +#else + if ((0)); +#endif +#if PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON + else if (strcmp(memb->name, "__module__") == 0) { + PyObject *descr; + assert(memb->type == T_OBJECT); + assert(memb->flags == 0 || memb->flags == READONLY); + descr = PyDescr_NewMember(type, memb); + if (unlikely(!descr)) + return -1; + if (unlikely(PyDict_SetItem(type->tp_dict, PyDescr_NAME(descr), descr) < 0)) { + Py_DECREF(descr); + return -1; + } + Py_DECREF(descr); + changed = 1; + } +#endif + } + memb++; + } + if (changed) + PyType_Modified(type); + } +#endif + return 0; +} +#endif + +/* PyObjectCallNoArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { + PyObject *arg[2] = {NULL, NULL}; + return __Pyx_PyObject_FastCall(func, arg + 1, 0 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* PyObjectGetMethod */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method) { + PyObject *attr; +#if CYTHON_UNPACK_METHODS && CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_PYTYPE_LOOKUP + __Pyx_TypeName type_name; + PyTypeObject *tp = Py_TYPE(obj); + PyObject *descr; + descrgetfunc f = NULL; + PyObject **dictptr, *dict; + int meth_found = 0; + assert (*method == NULL); + if (unlikely(tp->tp_getattro != PyObject_GenericGetAttr)) { + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; + } + if (unlikely(tp->tp_dict == NULL) && unlikely(PyType_Ready(tp) < 0)) { + return 0; + } + descr = _PyType_Lookup(tp, name); + if (likely(descr != NULL)) { + Py_INCREF(descr); +#if defined(Py_TPFLAGS_METHOD_DESCRIPTOR) && Py_TPFLAGS_METHOD_DESCRIPTOR + if (__Pyx_PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_METHOD_DESCRIPTOR)) +#elif PY_MAJOR_VERSION >= 3 + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type))) + #endif +#else + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr))) + #endif +#endif + { + meth_found = 1; + } else { + f = Py_TYPE(descr)->tp_descr_get; + if (f != NULL && PyDescr_IsData(descr)) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + } + } + dictptr = _PyObject_GetDictPtr(obj); + if (dictptr != NULL && (dict = *dictptr) != NULL) { + Py_INCREF(dict); + attr = __Pyx_PyDict_GetItemStr(dict, name); + if (attr != NULL) { + Py_INCREF(attr); + Py_DECREF(dict); + Py_XDECREF(descr); + goto try_unpack; + } + Py_DECREF(dict); + } + if (meth_found) { + *method = descr; + return 1; + } + if (f != NULL) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + if (likely(descr != NULL)) { + *method = descr; + return 0; + } + type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return 0; +#else + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; +#endif +try_unpack: +#if CYTHON_UNPACK_METHODS + if (likely(attr) && PyMethod_Check(attr) && likely(PyMethod_GET_SELF(attr) == obj)) { + PyObject *function = PyMethod_GET_FUNCTION(attr); + Py_INCREF(function); + Py_DECREF(attr); + *method = function; + return 1; + } +#endif + *method = attr; + return 0; +} + +/* PyObjectCallMethod0 */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name) { + PyObject *method = NULL, *result = NULL; + int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); + if (likely(is_method)) { + result = __Pyx_PyObject_CallOneArg(method, obj); + Py_DECREF(method); + return result; + } + if (unlikely(!method)) goto bad; + result = __Pyx_PyObject_CallNoArg(method); + Py_DECREF(method); +bad: + return result; +} + +/* ValidateBasesTuple */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases) { + Py_ssize_t i, n; +#if CYTHON_ASSUME_SAFE_MACROS + n = PyTuple_GET_SIZE(bases); +#else + n = PyTuple_Size(bases); + if (n < 0) return -1; +#endif + for (i = 1; i < n; i++) + { +#if CYTHON_AVOID_BORROWED_REFS + PyObject *b0 = PySequence_GetItem(bases, i); + if (!b0) return -1; +#elif CYTHON_ASSUME_SAFE_MACROS + PyObject *b0 = PyTuple_GET_ITEM(bases, i); +#else + PyObject *b0 = PyTuple_GetItem(bases, i); + if (!b0) return -1; +#endif + PyTypeObject *b; +#if PY_MAJOR_VERSION < 3 + if (PyClass_Check(b0)) + { + PyErr_Format(PyExc_TypeError, "base class '%.200s' is an old-style class", + PyString_AS_STRING(((PyClassObject*)b0)->cl_name)); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } +#endif + b = (PyTypeObject*) b0; + if (!__Pyx_PyType_HasFeature(b, Py_TPFLAGS_HEAPTYPE)) + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "base class '" __Pyx_FMT_TYPENAME "' is not a heap type", b_name); + __Pyx_DECREF_TypeName(b_name); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + if (dictoffset == 0) + { + Py_ssize_t b_dictoffset = 0; +#if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + b_dictoffset = b->tp_dictoffset; +#else + PyObject *py_b_dictoffset = PyObject_GetAttrString((PyObject*)b, "__dictoffset__"); + if (!py_b_dictoffset) goto dictoffset_return; + b_dictoffset = PyLong_AsSsize_t(py_b_dictoffset); + Py_DECREF(py_b_dictoffset); + if (b_dictoffset == -1 && PyErr_Occurred()) goto dictoffset_return; +#endif + if (b_dictoffset) { + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "extension type '%.200s' has no __dict__ slot, " + "but base type '" __Pyx_FMT_TYPENAME "' has: " + "either add 'cdef dict __dict__' to the extension type " + "or add '__slots__ = [...]' to the base type", + type_name, b_name); + __Pyx_DECREF_TypeName(b_name); + } +#if !(CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY) + dictoffset_return: +#endif +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + } +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + } + return 0; +} +#endif + +/* PyType_Ready */ +static int __Pyx_PyType_Ready(PyTypeObject *t) { +#if CYTHON_USE_TYPE_SPECS || !(CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API) || defined(PYSTON_MAJOR_VERSION) + (void)__Pyx_PyObject_CallMethod0; +#if CYTHON_USE_TYPE_SPECS + (void)__Pyx_validate_bases_tuple; +#endif + return PyType_Ready(t); +#else + int r; + PyObject *bases = __Pyx_PyType_GetSlot(t, tp_bases, PyObject*); + if (bases && unlikely(__Pyx_validate_bases_tuple(t->tp_name, t->tp_dictoffset, bases) == -1)) + return -1; +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + { + int gc_was_enabled; + #if PY_VERSION_HEX >= 0x030A00b1 + gc_was_enabled = PyGC_Disable(); + (void)__Pyx_PyObject_CallMethod0; + #else + PyObject *ret, *py_status; + PyObject *gc = NULL; + #if PY_VERSION_HEX >= 0x030700a1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM+0 >= 0x07030400) + gc = PyImport_GetModule(__pyx_kp_u_gc); + #endif + if (unlikely(!gc)) gc = PyImport_Import(__pyx_kp_u_gc); + if (unlikely(!gc)) return -1; + py_status = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_isenabled); + if (unlikely(!py_status)) { + Py_DECREF(gc); + return -1; + } + gc_was_enabled = __Pyx_PyObject_IsTrue(py_status); + Py_DECREF(py_status); + if (gc_was_enabled > 0) { + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_disable); + if (unlikely(!ret)) { + Py_DECREF(gc); + return -1; + } + Py_DECREF(ret); + } else if (unlikely(gc_was_enabled == -1)) { + Py_DECREF(gc); + return -1; + } + #endif + t->tp_flags |= Py_TPFLAGS_HEAPTYPE; +#if PY_VERSION_HEX >= 0x030A0000 + t->tp_flags |= Py_TPFLAGS_IMMUTABLETYPE; +#endif +#else + (void)__Pyx_PyObject_CallMethod0; +#endif + r = PyType_Ready(t); +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + t->tp_flags &= ~Py_TPFLAGS_HEAPTYPE; + #if PY_VERSION_HEX >= 0x030A00b1 + if (gc_was_enabled) + PyGC_Enable(); + #else + if (gc_was_enabled) { + PyObject *tp, *v, *tb; + PyErr_Fetch(&tp, &v, &tb); + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_enable); + if (likely(ret || r == -1)) { + Py_XDECREF(ret); + PyErr_Restore(tp, v, tb); + } else { + Py_XDECREF(tp); + Py_XDECREF(v); + Py_XDECREF(tb); + r = -1; + } + } + Py_DECREF(gc); + #endif + } +#endif + return r; +#endif +} + +/* SetupReduce */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { + int ret; + PyObject *name_attr; + name_attr = __Pyx_PyObject_GetAttrStrNoError(meth, __pyx_n_s_name_2); + if (likely(name_attr)) { + ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); + } else { + ret = -1; + } + if (unlikely(ret < 0)) { + PyErr_Clear(); + ret = 0; + } + Py_XDECREF(name_attr); + return ret; +} +static int __Pyx_setup_reduce(PyObject* type_obj) { + int ret = 0; + PyObject *object_reduce = NULL; + PyObject *object_getstate = NULL; + PyObject *object_reduce_ex = NULL; + PyObject *reduce = NULL; + PyObject *reduce_ex = NULL; + PyObject *reduce_cython = NULL; + PyObject *setstate = NULL; + PyObject *setstate_cython = NULL; + PyObject *getstate = NULL; +#if CYTHON_USE_PYTYPE_LOOKUP + getstate = _PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate); +#else + getstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_getstate); + if (!getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (getstate) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_getstate = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_getstate); +#else + object_getstate = __Pyx_PyObject_GetAttrStrNoError((PyObject*)&PyBaseObject_Type, __pyx_n_s_getstate); + if (!object_getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (object_getstate != getstate) { + goto __PYX_GOOD; + } + } +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#else + object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#endif + reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; + if (reduce_ex == object_reduce_ex) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#else + object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#endif + reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; + if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { + reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); + if (likely(reduce_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (reduce == object_reduce || PyErr_Occurred()) { + goto __PYX_BAD; + } + setstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate); + if (!setstate) PyErr_Clear(); + if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { + setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); + if (likely(setstate_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (!setstate || PyErr_Occurred()) { + goto __PYX_BAD; + } + } + PyType_Modified((PyTypeObject*)type_obj); + } + } + goto __PYX_GOOD; +__PYX_BAD: + if (!PyErr_Occurred()) { + __Pyx_TypeName type_obj_name = + __Pyx_PyType_GetName((PyTypeObject*)type_obj); + PyErr_Format(PyExc_RuntimeError, + "Unable to initialize pickling for " __Pyx_FMT_TYPENAME, type_obj_name); + __Pyx_DECREF_TypeName(type_obj_name); + } + ret = -1; +__PYX_GOOD: +#if !CYTHON_USE_PYTYPE_LOOKUP + Py_XDECREF(object_reduce); + Py_XDECREF(object_reduce_ex); + Py_XDECREF(object_getstate); + Py_XDECREF(getstate); +#endif + Py_XDECREF(reduce); + Py_XDECREF(reduce_ex); + Py_XDECREF(reduce_cython); + Py_XDECREF(setstate); + Py_XDECREF(setstate_cython); + return ret; +} +#endif + +/* SetVTable */ +static int __Pyx_SetVtable(PyTypeObject *type, void *vtable) { + PyObject *ob = PyCapsule_New(vtable, 0, 0); + if (unlikely(!ob)) + goto bad; +#if CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(PyObject_SetAttr((PyObject *) type, __pyx_n_s_pyx_vtable, ob) < 0)) +#else + if (unlikely(PyDict_SetItem(type->tp_dict, __pyx_n_s_pyx_vtable, ob) < 0)) +#endif + goto bad; + Py_DECREF(ob); + return 0; +bad: + Py_XDECREF(ob); + return -1; +} + +/* GetVTable */ +static void* __Pyx_GetVtable(PyTypeObject *type) { + void* ptr; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *ob = PyObject_GetAttr((PyObject *)type, __pyx_n_s_pyx_vtable); +#else + PyObject *ob = PyObject_GetItem(type->tp_dict, __pyx_n_s_pyx_vtable); +#endif + if (!ob) + goto bad; + ptr = PyCapsule_GetPointer(ob, 0); + if (!ptr && !PyErr_Occurred()) + PyErr_SetString(PyExc_RuntimeError, "invalid vtable found for imported type"); + Py_DECREF(ob); + return ptr; +bad: + Py_XDECREF(ob); + return NULL; +} + +/* MergeVTables */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type) { + int i; + void** base_vtables; + __Pyx_TypeName tp_base_name; + __Pyx_TypeName base_name; + void* unknown = (void*)-1; + PyObject* bases = type->tp_bases; + int base_depth = 0; + { + PyTypeObject* base = type->tp_base; + while (base) { + base_depth += 1; + base = base->tp_base; + } + } + base_vtables = (void**) malloc(sizeof(void*) * (size_t)(base_depth + 1)); + base_vtables[0] = unknown; + for (i = 1; i < PyTuple_GET_SIZE(bases); i++) { + void* base_vtable = __Pyx_GetVtable(((PyTypeObject*)PyTuple_GET_ITEM(bases, i))); + if (base_vtable != NULL) { + int j; + PyTypeObject* base = type->tp_base; + for (j = 0; j < base_depth; j++) { + if (base_vtables[j] == unknown) { + base_vtables[j] = __Pyx_GetVtable(base); + base_vtables[j + 1] = unknown; + } + if (base_vtables[j] == base_vtable) { + break; + } else if (base_vtables[j] == NULL) { + goto bad; + } + base = base->tp_base; + } + } + } + PyErr_Clear(); + free(base_vtables); + return 0; +bad: + tp_base_name = __Pyx_PyType_GetName(type->tp_base); + base_name = __Pyx_PyType_GetName((PyTypeObject*)PyTuple_GET_ITEM(bases, i)); + PyErr_Format(PyExc_TypeError, + "multiple bases have vtable conflict: '" __Pyx_FMT_TYPENAME "' and '" __Pyx_FMT_TYPENAME "'", tp_base_name, base_name); + __Pyx_DECREF_TypeName(tp_base_name); + __Pyx_DECREF_TypeName(base_name); + free(base_vtables); + return -1; +} +#endif + +/* TypeImport */ +#ifndef __PYX_HAVE_RT_ImportType_3_0_8 +#define __PYX_HAVE_RT_ImportType_3_0_8 +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject *module, const char *module_name, const char *class_name, + size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size) +{ + PyObject *result = 0; + char warning[200]; + Py_ssize_t basicsize; + Py_ssize_t itemsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + PyObject *py_itemsize; +#endif + result = PyObject_GetAttrString(module, class_name); + if (!result) + goto bad; + if (!PyType_Check(result)) { + PyErr_Format(PyExc_TypeError, + "%.200s.%.200s is not a type object", + module_name, class_name); + goto bad; + } +#if !CYTHON_COMPILING_IN_LIMITED_API + basicsize = ((PyTypeObject *)result)->tp_basicsize; + itemsize = ((PyTypeObject *)result)->tp_itemsize; +#else + py_basicsize = PyObject_GetAttrString(result, "__basicsize__"); + if (!py_basicsize) + goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (basicsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; + py_itemsize = PyObject_GetAttrString(result, "__itemsize__"); + if (!py_itemsize) + goto bad; + itemsize = PyLong_AsSsize_t(py_itemsize); + Py_DECREF(py_itemsize); + py_itemsize = 0; + if (itemsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; +#endif + if (itemsize) { + if (size % alignment) { + alignment = size % alignment; + } + if (itemsize < (Py_ssize_t)alignment) + itemsize = (Py_ssize_t)alignment; + } + if ((size_t)(basicsize + itemsize) < size) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize+itemsize); + goto bad; + } + if (check_size == __Pyx_ImportType_CheckSize_Error_3_0_8 && + ((size_t)basicsize > size || (size_t)(basicsize + itemsize) < size)) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd-%zd from PyObject", + module_name, class_name, size, basicsize, basicsize+itemsize); + goto bad; + } + else if (check_size == __Pyx_ImportType_CheckSize_Warn_3_0_8 && (size_t)basicsize > size) { + PyOS_snprintf(warning, sizeof(warning), + "%s.%s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize); + if (PyErr_WarnEx(NULL, warning, 0) < 0) goto bad; + } + return (PyTypeObject *)result; +bad: + Py_XDECREF(result); + return NULL; +} +#endif + +/* CalculateMetaclass */ +static PyObject *__Pyx_CalculateMetaclass(PyTypeObject *metaclass, PyObject *bases) { + Py_ssize_t i, nbases; +#if CYTHON_ASSUME_SAFE_MACROS + nbases = PyTuple_GET_SIZE(bases); +#else + nbases = PyTuple_Size(bases); + if (nbases < 0) return NULL; +#endif + for (i=0; i < nbases; i++) { + PyTypeObject *tmptype; +#if CYTHON_ASSUME_SAFE_MACROS + PyObject *tmp = PyTuple_GET_ITEM(bases, i); +#else + PyObject *tmp = PyTuple_GetItem(bases, i); + if (!tmp) return NULL; +#endif + tmptype = Py_TYPE(tmp); +#if PY_MAJOR_VERSION < 3 + if (tmptype == &PyClass_Type) + continue; +#endif + if (!metaclass) { + metaclass = tmptype; + continue; + } + if (PyType_IsSubtype(metaclass, tmptype)) + continue; + if (PyType_IsSubtype(tmptype, metaclass)) { + metaclass = tmptype; + continue; + } + PyErr_SetString(PyExc_TypeError, + "metaclass conflict: " + "the metaclass of a derived class " + "must be a (non-strict) subclass " + "of the metaclasses of all its bases"); + return NULL; + } + if (!metaclass) { +#if PY_MAJOR_VERSION < 3 + metaclass = &PyClass_Type; +#else + metaclass = &PyType_Type; +#endif + } + Py_INCREF((PyObject*) metaclass); + return (PyObject*) metaclass; +} + +/* PyObjectCall2Args */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2) { + PyObject *args[3] = {NULL, arg1, arg2}; + return __Pyx_PyObject_FastCall(function, args+1, 2 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* PyObjectLookupSpecial */ +#if CYTHON_USE_PYTYPE_LOOKUP && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx__PyObject_LookupSpecial(PyObject* obj, PyObject* attr_name, int with_error) { + PyObject *res; + PyTypeObject *tp = Py_TYPE(obj); +#if PY_MAJOR_VERSION < 3 + if (unlikely(PyInstance_Check(obj))) + return with_error ? __Pyx_PyObject_GetAttrStr(obj, attr_name) : __Pyx_PyObject_GetAttrStrNoError(obj, attr_name); +#endif + res = _PyType_Lookup(tp, attr_name); + if (likely(res)) { + descrgetfunc f = Py_TYPE(res)->tp_descr_get; + if (!f) { + Py_INCREF(res); + } else { + res = f(res, obj, (PyObject *)tp); + } + } else if (with_error) { + PyErr_SetObject(PyExc_AttributeError, attr_name); + } + return res; +} +#endif + +/* Py3ClassCreate */ +static PyObject *__Pyx_Py3MetaclassPrepare(PyObject *metaclass, PyObject *bases, PyObject *name, + PyObject *qualname, PyObject *mkw, PyObject *modname, PyObject *doc) { + PyObject *ns; + if (metaclass) { + PyObject *prep = __Pyx_PyObject_GetAttrStrNoError(metaclass, __pyx_n_s_prepare); + if (prep) { + PyObject *pargs[3] = {NULL, name, bases}; + ns = __Pyx_PyObject_FastCallDict(prep, pargs+1, 2 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET, mkw); + Py_DECREF(prep); + } else { + if (unlikely(PyErr_Occurred())) + return NULL; + ns = PyDict_New(); + } + } else { + ns = PyDict_New(); + } + if (unlikely(!ns)) + return NULL; + if (unlikely(PyObject_SetItem(ns, __pyx_n_s_module, modname) < 0)) goto bad; +#if PY_VERSION_HEX >= 0x03030000 + if (unlikely(PyObject_SetItem(ns, __pyx_n_s_qualname, qualname) < 0)) goto bad; +#else + CYTHON_MAYBE_UNUSED_VAR(qualname); +#endif + if (unlikely(doc && PyObject_SetItem(ns, __pyx_n_s_doc, doc) < 0)) goto bad; + return ns; +bad: + Py_DECREF(ns); + return NULL; +} +#if PY_VERSION_HEX < 0x030600A4 && CYTHON_PEP487_INIT_SUBCLASS +static int __Pyx_SetNamesPEP487(PyObject *type_obj) { + PyTypeObject *type = (PyTypeObject*) type_obj; + PyObject *names_to_set, *key, *value, *set_name, *tmp; + Py_ssize_t i = 0; +#if CYTHON_USE_TYPE_SLOTS + names_to_set = PyDict_Copy(type->tp_dict); +#else + { + PyObject *d = PyObject_GetAttr(type_obj, __pyx_n_s_dict); + names_to_set = NULL; + if (likely(d)) { + PyObject *names_to_set = PyDict_New(); + int ret = likely(names_to_set) ? PyDict_Update(names_to_set, d) : -1; + Py_DECREF(d); + if (unlikely(ret < 0)) + Py_CLEAR(names_to_set); + } + } +#endif + if (unlikely(names_to_set == NULL)) + goto bad; + while (PyDict_Next(names_to_set, &i, &key, &value)) { + set_name = __Pyx_PyObject_LookupSpecialNoError(value, __pyx_n_s_set_name); + if (unlikely(set_name != NULL)) { + tmp = __Pyx_PyObject_Call2Args(set_name, type_obj, key); + Py_DECREF(set_name); + if (unlikely(tmp == NULL)) { + __Pyx_TypeName value_type_name = + __Pyx_PyType_GetName(Py_TYPE(value)); + __Pyx_TypeName type_name = __Pyx_PyType_GetName(type); + PyErr_Format(PyExc_RuntimeError, +#if PY_MAJOR_VERSION >= 3 + "Error calling __set_name__ on '" __Pyx_FMT_TYPENAME "' instance %R " "in '" __Pyx_FMT_TYPENAME "'", + value_type_name, key, type_name); +#else + "Error calling __set_name__ on '" __Pyx_FMT_TYPENAME "' instance %.100s in '" __Pyx_FMT_TYPENAME "'", + value_type_name, + PyString_Check(key) ? PyString_AS_STRING(key) : "?", + type_name); +#endif + goto bad; + } else { + Py_DECREF(tmp); + } + } + else if (unlikely(PyErr_Occurred())) { + goto bad; + } + } + Py_DECREF(names_to_set); + return 0; +bad: + Py_XDECREF(names_to_set); + return -1; +} +static PyObject *__Pyx_InitSubclassPEP487(PyObject *type_obj, PyObject *mkw) { +#if CYTHON_USE_TYPE_SLOTS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + PyTypeObject *type = (PyTypeObject*) type_obj; + PyObject *mro = type->tp_mro; + Py_ssize_t i, nbases; + if (unlikely(!mro)) goto done; + (void) &__Pyx_GetBuiltinName; + Py_INCREF(mro); + nbases = PyTuple_GET_SIZE(mro); + assert(PyTuple_GET_ITEM(mro, 0) == type_obj); + for (i = 1; i < nbases-1; i++) { + PyObject *base, *dict, *meth; + base = PyTuple_GET_ITEM(mro, i); + dict = ((PyTypeObject *)base)->tp_dict; + meth = __Pyx_PyDict_GetItemStrWithError(dict, __pyx_n_s_init_subclass); + if (unlikely(meth)) { + descrgetfunc f = Py_TYPE(meth)->tp_descr_get; + PyObject *res; + Py_INCREF(meth); + if (likely(f)) { + res = f(meth, NULL, type_obj); + Py_DECREF(meth); + if (unlikely(!res)) goto bad; + meth = res; + } + res = __Pyx_PyObject_FastCallDict(meth, NULL, 0, mkw); + Py_DECREF(meth); + if (unlikely(!res)) goto bad; + Py_DECREF(res); + goto done; + } else if (unlikely(PyErr_Occurred())) { + goto bad; + } + } +done: + Py_XDECREF(mro); + return type_obj; +bad: + Py_XDECREF(mro); + Py_DECREF(type_obj); + return NULL; +#else + PyObject *super_type, *super, *func, *res; +#if CYTHON_COMPILING_IN_PYPY && !defined(PySuper_Type) + super_type = __Pyx_GetBuiltinName(__pyx_n_s_super); +#else + super_type = (PyObject*) &PySuper_Type; + (void) &__Pyx_GetBuiltinName; +#endif + super = likely(super_type) ? __Pyx_PyObject_Call2Args(super_type, type_obj, type_obj) : NULL; +#if CYTHON_COMPILING_IN_PYPY && !defined(PySuper_Type) + Py_XDECREF(super_type); +#endif + if (unlikely(!super)) { + Py_CLEAR(type_obj); + goto done; + } + func = __Pyx_PyObject_GetAttrStrNoError(super, __pyx_n_s_init_subclass); + Py_DECREF(super); + if (likely(!func)) { + if (unlikely(PyErr_Occurred())) + Py_CLEAR(type_obj); + goto done; + } + res = __Pyx_PyObject_FastCallDict(func, NULL, 0, mkw); + Py_DECREF(func); + if (unlikely(!res)) + Py_CLEAR(type_obj); + Py_XDECREF(res); +done: + return type_obj; +#endif +} +#endif +static PyObject *__Pyx_Py3ClassCreate(PyObject *metaclass, PyObject *name, PyObject *bases, + PyObject *dict, PyObject *mkw, + int calculate_metaclass, int allow_py2_metaclass) { + PyObject *result; + PyObject *owned_metaclass = NULL; + PyObject *margs[4] = {NULL, name, bases, dict}; + if (allow_py2_metaclass) { + owned_metaclass = PyObject_GetItem(dict, __pyx_n_s_metaclass); + if (owned_metaclass) { + metaclass = owned_metaclass; + } else if (likely(PyErr_ExceptionMatches(PyExc_KeyError))) { + PyErr_Clear(); + } else { + return NULL; + } + } + if (calculate_metaclass && (!metaclass || PyType_Check(metaclass))) { + metaclass = __Pyx_CalculateMetaclass((PyTypeObject*) metaclass, bases); + Py_XDECREF(owned_metaclass); + if (unlikely(!metaclass)) + return NULL; + owned_metaclass = metaclass; + } + result = __Pyx_PyObject_FastCallDict(metaclass, margs+1, 3 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET, +#if PY_VERSION_HEX < 0x030600A4 + (metaclass == (PyObject*)&PyType_Type) ? NULL : mkw +#else + mkw +#endif + ); + Py_XDECREF(owned_metaclass); +#if PY_VERSION_HEX < 0x030600A4 && CYTHON_PEP487_INIT_SUBCLASS + if (likely(result) && likely(PyType_Check(result))) { + if (unlikely(__Pyx_SetNamesPEP487(result) < 0)) { + Py_CLEAR(result); + } else { + result = __Pyx_InitSubclassPEP487(result, mkw); + } + } +#else + (void) &__Pyx_GetBuiltinName; +#endif + return result; +} + +/* FetchSharedCythonModule */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void) { + return __Pyx_PyImport_AddModuleRef((char*) __PYX_ABI_MODULE_NAME); +} + +/* FetchCommonType */ +static int __Pyx_VerifyCachedType(PyObject *cached_type, + const char *name, + Py_ssize_t basicsize, + Py_ssize_t expected_basicsize) { + if (!PyType_Check(cached_type)) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s is not a type object", name); + return -1; + } + if (basicsize != expected_basicsize) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s has the wrong size, try recompiling", + name); + return -1; + } + return 0; +} +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) { + PyObject* abi_module; + const char* object_name; + PyTypeObject *cached_type = NULL; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + object_name = strrchr(type->tp_name, '.'); + object_name = object_name ? object_name+1 : type->tp_name; + cached_type = (PyTypeObject*) PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + if (__Pyx_VerifyCachedType( + (PyObject *)cached_type, + object_name, + cached_type->tp_basicsize, + type->tp_basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + if (PyType_Ready(type) < 0) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, (PyObject *)type) < 0) + goto bad; + Py_INCREF(type); + cached_type = type; +done: + Py_DECREF(abi_module); + return cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#else +static PyTypeObject *__Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases) { + PyObject *abi_module, *cached_type = NULL; + const char* object_name = strrchr(spec->name, '.'); + object_name = object_name ? object_name+1 : spec->name; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + cached_type = PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + Py_ssize_t basicsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + py_basicsize = PyObject_GetAttrString(cached_type, "__basicsize__"); + if (unlikely(!py_basicsize)) goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (unlikely(basicsize == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; +#else + basicsize = likely(PyType_Check(cached_type)) ? ((PyTypeObject*) cached_type)->tp_basicsize : -1; +#endif + if (__Pyx_VerifyCachedType( + cached_type, + object_name, + basicsize, + spec->basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + CYTHON_UNUSED_VAR(module); + cached_type = __Pyx_PyType_FromModuleAndSpec(abi_module, spec, bases); + if (unlikely(!cached_type)) goto bad; + if (unlikely(__Pyx_fix_up_extension_type_from_spec(spec, (PyTypeObject *) cached_type) < 0)) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, cached_type) < 0) goto bad; +done: + Py_DECREF(abi_module); + assert(cached_type == NULL || PyType_Check(cached_type)); + return (PyTypeObject *) cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#endif + +/* PyVectorcallFastCallDict */ +#if CYTHON_METH_FASTCALL +static PyObject *__Pyx_PyVectorcall_FastCallDict_kw(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + PyObject *res = NULL; + PyObject *kwnames; + PyObject **newargs; + PyObject **kwvalues; + Py_ssize_t i, pos; + size_t j; + PyObject *key, *value; + unsigned long keys_are_strings; + Py_ssize_t nkw = PyDict_GET_SIZE(kw); + newargs = (PyObject **)PyMem_Malloc((nargs + (size_t)nkw) * sizeof(args[0])); + if (unlikely(newargs == NULL)) { + PyErr_NoMemory(); + return NULL; + } + for (j = 0; j < nargs; j++) newargs[j] = args[j]; + kwnames = PyTuple_New(nkw); + if (unlikely(kwnames == NULL)) { + PyMem_Free(newargs); + return NULL; + } + kwvalues = newargs + nargs; + pos = i = 0; + keys_are_strings = Py_TPFLAGS_UNICODE_SUBCLASS; + while (PyDict_Next(kw, &pos, &key, &value)) { + keys_are_strings &= Py_TYPE(key)->tp_flags; + Py_INCREF(key); + Py_INCREF(value); + PyTuple_SET_ITEM(kwnames, i, key); + kwvalues[i] = value; + i++; + } + if (unlikely(!keys_are_strings)) { + PyErr_SetString(PyExc_TypeError, "keywords must be strings"); + goto cleanup; + } + res = vc(func, newargs, nargs, kwnames); +cleanup: + Py_DECREF(kwnames); + for (i = 0; i < nkw; i++) + Py_DECREF(kwvalues[i]); + PyMem_Free(newargs); + return res; +} +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + if (likely(kw == NULL) || PyDict_GET_SIZE(kw) == 0) { + return vc(func, args, nargs, NULL); + } + return __Pyx_PyVectorcall_FastCallDict_kw(func, vc, args, nargs, kw); +} +#endif + +/* CythonFunctionShared */ +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + if (__Pyx_CyFunction_Check(func)) { + return PyCFunction_GetFunction(((__pyx_CyFunctionObject*)func)->func) == (PyCFunction) cfunc; + } else if (PyCFunction_Check(func)) { + return PyCFunction_GetFunction(func) == (PyCFunction) cfunc; + } + return 0; +} +#else +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + return __Pyx_CyOrPyCFunction_Check(func) && __Pyx_CyOrPyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +} +#endif +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj) { +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + __Pyx_Py_XDECREF_SET( + __Pyx_CyFunction_GetClassObj(f), + ((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#else + __Pyx_Py_XDECREF_SET( + ((PyCMethodObject *) (f))->mm_class, + (PyTypeObject*)((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#endif +} +static PyObject * +__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, void *closure) +{ + CYTHON_UNUSED_VAR(closure); + if (unlikely(op->func_doc == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_doc = PyObject_GetAttrString(op->func, "__doc__"); + if (unlikely(!op->func_doc)) return NULL; +#else + if (((PyCFunctionObject*)op)->m_ml->ml_doc) { +#if PY_MAJOR_VERSION >= 3 + op->func_doc = PyUnicode_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#else + op->func_doc = PyString_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#endif + if (unlikely(op->func_doc == NULL)) + return NULL; + } else { + Py_INCREF(Py_None); + return Py_None; + } +#endif + } + Py_INCREF(op->func_doc); + return op->func_doc; +} +static int +__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (value == NULL) { + value = Py_None; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_doc, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_name == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_name = PyObject_GetAttrString(op->func, "__name__"); +#elif PY_MAJOR_VERSION >= 3 + op->func_name = PyUnicode_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#else + op->func_name = PyString_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#endif + if (unlikely(op->func_name == NULL)) + return NULL; + } + Py_INCREF(op->func_name); + return op->func_name; +} +static int +__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__name__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_name, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_qualname); + return op->func_qualname; +} +static int +__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__qualname__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_qualname, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_dict(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_dict == NULL)) { + op->func_dict = PyDict_New(); + if (unlikely(op->func_dict == NULL)) + return NULL; + } + Py_INCREF(op->func_dict); + return op->func_dict; +} +static int +__Pyx_CyFunction_set_dict(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(value == NULL)) { + PyErr_SetString(PyExc_TypeError, + "function's dictionary may not be deleted"); + return -1; + } + if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "setting function's dictionary to a non-dict"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_dict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_globals(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_globals); + return op->func_globals; +} +static PyObject * +__Pyx_CyFunction_get_closure(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(op); + CYTHON_UNUSED_VAR(context); + Py_INCREF(Py_None); + return Py_None; +} +static PyObject * +__Pyx_CyFunction_get_code(__pyx_CyFunctionObject *op, void *context) +{ + PyObject* result = (op->func_code) ? op->func_code : Py_None; + CYTHON_UNUSED_VAR(context); + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_init_defaults(__pyx_CyFunctionObject *op) { + int result = 0; + PyObject *res = op->defaults_getter((PyObject *) op); + if (unlikely(!res)) + return -1; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + op->defaults_tuple = PyTuple_GET_ITEM(res, 0); + Py_INCREF(op->defaults_tuple); + op->defaults_kwdict = PyTuple_GET_ITEM(res, 1); + Py_INCREF(op->defaults_kwdict); + #else + op->defaults_tuple = __Pyx_PySequence_ITEM(res, 0); + if (unlikely(!op->defaults_tuple)) result = -1; + else { + op->defaults_kwdict = __Pyx_PySequence_ITEM(res, 1); + if (unlikely(!op->defaults_kwdict)) result = -1; + } + #endif + Py_DECREF(res); + return result; +} +static int +__Pyx_CyFunction_set_defaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyTuple_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__defaults__ must be set to a tuple object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__defaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_tuple, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_defaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_tuple; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_tuple; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_kwdefaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__kwdefaults__ must be set to a dict object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__kwdefaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_kwdict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_kwdefaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_kwdict; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_kwdict; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_annotations(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value || value == Py_None) { + value = NULL; + } else if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__annotations__ must be set to a dict object"); + return -1; + } + Py_XINCREF(value); + __Pyx_Py_XDECREF_SET(op->func_annotations, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_annotations(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->func_annotations; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + result = PyDict_New(); + if (unlikely(!result)) return NULL; + op->func_annotations = result; + } + Py_INCREF(result); + return result; +} +static PyObject * +__Pyx_CyFunction_get_is_coroutine(__pyx_CyFunctionObject *op, void *context) { + int is_coroutine; + CYTHON_UNUSED_VAR(context); + if (op->func_is_coroutine) { + return __Pyx_NewRef(op->func_is_coroutine); + } + is_coroutine = op->flags & __Pyx_CYFUNCTION_COROUTINE; +#if PY_VERSION_HEX >= 0x03050000 + if (is_coroutine) { + PyObject *module, *fromlist, *marker = __pyx_n_s_is_coroutine; + fromlist = PyList_New(1); + if (unlikely(!fromlist)) return NULL; + Py_INCREF(marker); +#if CYTHON_ASSUME_SAFE_MACROS + PyList_SET_ITEM(fromlist, 0, marker); +#else + if (unlikely(PyList_SetItem(fromlist, 0, marker) < 0)) { + Py_DECREF(marker); + Py_DECREF(fromlist); + return NULL; + } +#endif + module = PyImport_ImportModuleLevelObject(__pyx_n_s_asyncio_coroutines, NULL, NULL, fromlist, 0); + Py_DECREF(fromlist); + if (unlikely(!module)) goto ignore; + op->func_is_coroutine = __Pyx_PyObject_GetAttrStr(module, marker); + Py_DECREF(module); + if (likely(op->func_is_coroutine)) { + return __Pyx_NewRef(op->func_is_coroutine); + } +ignore: + PyErr_Clear(); + } +#endif + op->func_is_coroutine = __Pyx_PyBool_FromLong(is_coroutine); + return __Pyx_NewRef(op->func_is_coroutine); +} +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject * +__Pyx_CyFunction_get_module(__pyx_CyFunctionObject *op, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_GetAttrString(op->func, "__module__"); +} +static int +__Pyx_CyFunction_set_module(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_SetAttrString(op->func, "__module__", value); +} +#endif +static PyGetSetDef __pyx_CyFunction_getsets[] = { + {(char *) "func_doc", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "__doc__", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "func_name", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__name__", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__qualname__", (getter)__Pyx_CyFunction_get_qualname, (setter)__Pyx_CyFunction_set_qualname, 0, 0}, + {(char *) "func_dict", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "__dict__", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "func_globals", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "__globals__", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "func_closure", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "__closure__", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "func_code", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "__code__", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "func_defaults", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__defaults__", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__kwdefaults__", (getter)__Pyx_CyFunction_get_kwdefaults, (setter)__Pyx_CyFunction_set_kwdefaults, 0, 0}, + {(char *) "__annotations__", (getter)__Pyx_CyFunction_get_annotations, (setter)__Pyx_CyFunction_set_annotations, 0, 0}, + {(char *) "_is_coroutine", (getter)__Pyx_CyFunction_get_is_coroutine, 0, 0, 0}, +#if CYTHON_COMPILING_IN_LIMITED_API + {"__module__", (getter)__Pyx_CyFunction_get_module, (setter)__Pyx_CyFunction_set_module, 0, 0}, +#endif + {0, 0, 0, 0, 0} +}; +static PyMemberDef __pyx_CyFunction_members[] = { +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__module__", T_OBJECT, offsetof(PyCFunctionObject, m_module), 0, 0}, +#endif +#if CYTHON_USE_TYPE_SPECS + {(char *) "__dictoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_dict), READONLY, 0}, +#if CYTHON_METH_FASTCALL +#if CYTHON_BACKPORT_VECTORCALL + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_vectorcall), READONLY, 0}, +#else +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(PyCFunctionObject, vectorcall), READONLY, 0}, +#endif +#endif +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_weakreflist), READONLY, 0}, +#else + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(PyCFunctionObject, m_weakreflist), READONLY, 0}, +#endif +#endif + {0, 0, 0, 0, 0} +}; +static PyObject * +__Pyx_CyFunction_reduce(__pyx_CyFunctionObject *m, PyObject *args) +{ + CYTHON_UNUSED_VAR(args); +#if PY_MAJOR_VERSION >= 3 + Py_INCREF(m->func_qualname); + return m->func_qualname; +#else + return PyString_FromString(((PyCFunctionObject*)m)->m_ml->ml_name); +#endif +} +static PyMethodDef __pyx_CyFunction_methods[] = { + {"__reduce__", (PyCFunction)__Pyx_CyFunction_reduce, METH_VARARGS, 0}, + {0, 0, 0, 0} +}; +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func_weakreflist) +#else +#define __Pyx_CyFunction_weakreflist(cyfunc) (((PyCFunctionObject*)cyfunc)->m_weakreflist) +#endif +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject *op, PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { +#if !CYTHON_COMPILING_IN_LIMITED_API + PyCFunctionObject *cf = (PyCFunctionObject*) op; +#endif + if (unlikely(op == NULL)) + return NULL; +#if CYTHON_COMPILING_IN_LIMITED_API + op->func = PyCFunction_NewEx(ml, (PyObject*)op, module); + if (unlikely(!op->func)) return NULL; +#endif + op->flags = flags; + __Pyx_CyFunction_weakreflist(op) = NULL; +#if !CYTHON_COMPILING_IN_LIMITED_API + cf->m_ml = ml; + cf->m_self = (PyObject *) op; +#endif + Py_XINCREF(closure); + op->func_closure = closure; +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_XINCREF(module); + cf->m_module = module; +#endif + op->func_dict = NULL; + op->func_name = NULL; + Py_INCREF(qualname); + op->func_qualname = qualname; + op->func_doc = NULL; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + op->func_classobj = NULL; +#else + ((PyCMethodObject*)op)->mm_class = NULL; +#endif + op->func_globals = globals; + Py_INCREF(op->func_globals); + Py_XINCREF(code); + op->func_code = code; + op->defaults_pyobjects = 0; + op->defaults_size = 0; + op->defaults = NULL; + op->defaults_tuple = NULL; + op->defaults_kwdict = NULL; + op->defaults_getter = NULL; + op->func_annotations = NULL; + op->func_is_coroutine = NULL; +#if CYTHON_METH_FASTCALL + switch (ml->ml_flags & (METH_VARARGS | METH_FASTCALL | METH_NOARGS | METH_O | METH_KEYWORDS | METH_METHOD)) { + case METH_NOARGS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_NOARGS; + break; + case METH_O: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_O; + break; + case METH_METHOD | METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD; + break; + case METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS; + break; + case METH_VARARGS | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = NULL; + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + Py_DECREF(op); + return NULL; + } +#endif + return (PyObject *) op; +} +static int +__Pyx_CyFunction_clear(__pyx_CyFunctionObject *m) +{ + Py_CLEAR(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_CLEAR(m->func); +#else + Py_CLEAR(((PyCFunctionObject*)m)->m_module); +#endif + Py_CLEAR(m->func_dict); + Py_CLEAR(m->func_name); + Py_CLEAR(m->func_qualname); + Py_CLEAR(m->func_doc); + Py_CLEAR(m->func_globals); + Py_CLEAR(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API +#if PY_VERSION_HEX < 0x030900B1 + Py_CLEAR(__Pyx_CyFunction_GetClassObj(m)); +#else + { + PyObject *cls = (PyObject*) ((PyCMethodObject *) (m))->mm_class; + ((PyCMethodObject *) (m))->mm_class = NULL; + Py_XDECREF(cls); + } +#endif +#endif + Py_CLEAR(m->defaults_tuple); + Py_CLEAR(m->defaults_kwdict); + Py_CLEAR(m->func_annotations); + Py_CLEAR(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_XDECREF(pydefaults[i]); + PyObject_Free(m->defaults); + m->defaults = NULL; + } + return 0; +} +static void __Pyx__CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + if (__Pyx_CyFunction_weakreflist(m) != NULL) + PyObject_ClearWeakRefs((PyObject *) m); + __Pyx_CyFunction_clear(m); + __Pyx_PyHeapTypeObject_GC_Del(m); +} +static void __Pyx_CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + PyObject_GC_UnTrack(m); + __Pyx__CyFunction_dealloc(m); +} +static int __Pyx_CyFunction_traverse(__pyx_CyFunctionObject *m, visitproc visit, void *arg) +{ + Py_VISIT(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(m->func); +#else + Py_VISIT(((PyCFunctionObject*)m)->m_module); +#endif + Py_VISIT(m->func_dict); + Py_VISIT(m->func_name); + Py_VISIT(m->func_qualname); + Py_VISIT(m->func_doc); + Py_VISIT(m->func_globals); + Py_VISIT(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(__Pyx_CyFunction_GetClassObj(m)); +#endif + Py_VISIT(m->defaults_tuple); + Py_VISIT(m->defaults_kwdict); + Py_VISIT(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_VISIT(pydefaults[i]); + } + return 0; +} +static PyObject* +__Pyx_CyFunction_repr(__pyx_CyFunctionObject *op) +{ +#if PY_MAJOR_VERSION >= 3 + return PyUnicode_FromFormat("", + op->func_qualname, (void *)op); +#else + return PyString_FromFormat("", + PyString_AsString(op->func_qualname), (void *)op); +#endif +} +static PyObject * __Pyx_CyFunction_CallMethod(PyObject *func, PyObject *self, PyObject *arg, PyObject *kw) { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *f = ((__pyx_CyFunctionObject*)func)->func; + PyObject *py_name = NULL; + PyCFunction meth; + int flags; + meth = PyCFunction_GetFunction(f); + if (unlikely(!meth)) return NULL; + flags = PyCFunction_GetFlags(f); + if (unlikely(flags < 0)) return NULL; +#else + PyCFunctionObject* f = (PyCFunctionObject*)func; + PyCFunction meth = f->m_ml->ml_meth; + int flags = f->m_ml->ml_flags; +#endif + Py_ssize_t size; + switch (flags & (METH_VARARGS | METH_KEYWORDS | METH_NOARGS | METH_O)) { + case METH_VARARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) + return (*meth)(self, arg); + break; + case METH_VARARGS | METH_KEYWORDS: + return (*(PyCFunctionWithKeywords)(void*)meth)(self, arg, kw); + case METH_NOARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 0)) + return (*meth)(self, NULL); +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + case METH_O: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 1)) { + PyObject *result, *arg0; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + arg0 = PyTuple_GET_ITEM(arg, 0); + #else + arg0 = __Pyx_PySequence_ITEM(arg, 0); if (unlikely(!arg0)) return NULL; + #endif + result = (*meth)(self, arg0); + #if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(arg0); + #endif + return result; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + return NULL; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, "%.200S() takes no keyword arguments", + py_name); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, "%.200s() takes no keyword arguments", + f->m_ml->ml_name); +#endif + return NULL; +} +static CYTHON_INLINE PyObject *__Pyx_CyFunction_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *self, *result; +#if CYTHON_COMPILING_IN_LIMITED_API + self = PyCFunction_GetSelf(((__pyx_CyFunctionObject*)func)->func); + if (unlikely(!self) && PyErr_Occurred()) return NULL; +#else + self = ((PyCFunctionObject*)func)->m_self; +#endif + result = __Pyx_CyFunction_CallMethod(func, self, arg, kw); + return result; +} +static PyObject *__Pyx_CyFunction_CallAsMethod(PyObject *func, PyObject *args, PyObject *kw) { + PyObject *result; + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *) func; +#if CYTHON_METH_FASTCALL + __pyx_vectorcallfunc vc = __Pyx_CyFunction_func_vectorcall(cyfunc); + if (vc) { +#if CYTHON_ASSUME_SAFE_MACROS + return __Pyx_PyVectorcall_FastCallDict(func, vc, &PyTuple_GET_ITEM(args, 0), (size_t)PyTuple_GET_SIZE(args), kw); +#else + (void) &__Pyx_PyVectorcall_FastCallDict; + return PyVectorcall_Call(func, args, kw); +#endif + } +#endif + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + Py_ssize_t argc; + PyObject *new_args; + PyObject *self; +#if CYTHON_ASSUME_SAFE_MACROS + argc = PyTuple_GET_SIZE(args); +#else + argc = PyTuple_Size(args); + if (unlikely(!argc) < 0) return NULL; +#endif + new_args = PyTuple_GetSlice(args, 1, argc); + if (unlikely(!new_args)) + return NULL; + self = PyTuple_GetItem(args, 0); + if (unlikely(!self)) { + Py_DECREF(new_args); +#if PY_MAJOR_VERSION > 2 + PyErr_Format(PyExc_TypeError, + "unbound method %.200S() needs an argument", + cyfunc->func_qualname); +#else + PyErr_SetString(PyExc_TypeError, + "unbound method needs an argument"); +#endif + return NULL; + } + result = __Pyx_CyFunction_CallMethod(func, self, new_args, kw); + Py_DECREF(new_args); + } else { + result = __Pyx_CyFunction_Call(func, args, kw); + } + return result; +} +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE int __Pyx_CyFunction_Vectorcall_CheckArgs(__pyx_CyFunctionObject *cyfunc, Py_ssize_t nargs, PyObject *kwnames) +{ + int ret = 0; + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + if (unlikely(nargs < 1)) { + PyErr_Format(PyExc_TypeError, "%.200s() needs an argument", + ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + ret = 1; + } + if (unlikely(kwnames) && unlikely(PyTuple_GET_SIZE(kwnames))) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no keyword arguments", ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + return ret; +} +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 0)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, NULL); +} +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 1)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, args[0]); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((_PyCFunctionFastWithKeywords)(void(*)(void))def->ml_meth)(self, args, nargs, kwnames); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; + PyTypeObject *cls = (PyTypeObject *) __Pyx_CyFunction_GetClassObj(cyfunc); +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((__Pyx_PyCMethod)(void(*)(void))def->ml_meth)(self, cls, args, (size_t)nargs, kwnames); +} +#endif +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_CyFunctionType_slots[] = { + {Py_tp_dealloc, (void *)__Pyx_CyFunction_dealloc}, + {Py_tp_repr, (void *)__Pyx_CyFunction_repr}, + {Py_tp_call, (void *)__Pyx_CyFunction_CallAsMethod}, + {Py_tp_traverse, (void *)__Pyx_CyFunction_traverse}, + {Py_tp_clear, (void *)__Pyx_CyFunction_clear}, + {Py_tp_methods, (void *)__pyx_CyFunction_methods}, + {Py_tp_members, (void *)__pyx_CyFunction_members}, + {Py_tp_getset, (void *)__pyx_CyFunction_getsets}, + {Py_tp_descr_get, (void *)__Pyx_PyMethod_New}, + {0, 0}, +}; +static PyType_Spec __pyx_CyFunctionType_spec = { + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if (defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL) + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + __pyx_CyFunctionType_slots +}; +#else +static PyTypeObject __pyx_CyFunctionType_type = { + PyVarObject_HEAD_INIT(0, 0) + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, + (destructor) __Pyx_CyFunction_dealloc, +#if !CYTHON_METH_FASTCALL + 0, +#elif CYTHON_BACKPORT_VECTORCALL + (printfunc)offsetof(__pyx_CyFunctionObject, func_vectorcall), +#else + offsetof(PyCFunctionObject, vectorcall), +#endif + 0, + 0, +#if PY_MAJOR_VERSION < 3 + 0, +#else + 0, +#endif + (reprfunc) __Pyx_CyFunction_repr, + 0, + 0, + 0, + 0, + __Pyx_CyFunction_CallAsMethod, + 0, + 0, + 0, + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + 0, + (traverseproc) __Pyx_CyFunction_traverse, + (inquiry) __Pyx_CyFunction_clear, + 0, +#if PY_VERSION_HEX < 0x030500A0 + offsetof(__pyx_CyFunctionObject, func_weakreflist), +#else + offsetof(PyCFunctionObject, m_weakreflist), +#endif + 0, + 0, + __pyx_CyFunction_methods, + __pyx_CyFunction_members, + __pyx_CyFunction_getsets, + 0, + 0, + __Pyx_PyMethod_New, + 0, + offsetof(__pyx_CyFunctionObject, func_dict), + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, +#if PY_VERSION_HEX >= 0x030400a1 + 0, +#endif +#if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, +#endif +#if __PYX_NEED_TP_PRINT_SLOT + 0, +#endif +#if PY_VERSION_HEX >= 0x030C0000 + 0, +#endif +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, +#endif +}; +#endif +static int __pyx_CyFunction_init(PyObject *module) { +#if CYTHON_USE_TYPE_SPECS + __pyx_CyFunctionType = __Pyx_FetchCommonTypeFromSpec(module, &__pyx_CyFunctionType_spec, NULL); +#else + CYTHON_UNUSED_VAR(module); + __pyx_CyFunctionType = __Pyx_FetchCommonType(&__pyx_CyFunctionType_type); +#endif + if (unlikely(__pyx_CyFunctionType == NULL)) { + return -1; + } + return 0; +} +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *func, size_t size, int pyobjects) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults = PyObject_Malloc(size); + if (unlikely(!m->defaults)) + return PyErr_NoMemory(); + memset(m->defaults, 0, size); + m->defaults_pyobjects = pyobjects; + m->defaults_size = size; + return m->defaults; +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *func, PyObject *tuple) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_tuple = tuple; + Py_INCREF(tuple); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_kwdict = dict; + Py_INCREF(dict); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->func_annotations = dict; + Py_INCREF(dict); +} + +/* CythonFunction */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { + PyObject *op = __Pyx_CyFunction_Init( + PyObject_GC_New(__pyx_CyFunctionObject, __pyx_CyFunctionType), + ml, flags, qualname, closure, module, globals, code + ); + if (likely(op)) { + PyObject_GC_Track(op); + } + return op; +} + +/* CLineInTraceback */ +#ifndef CYTHON_CLINE_IN_TRACEBACK +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line) { + PyObject *use_cline; + PyObject *ptype, *pvalue, *ptraceback; +#if CYTHON_COMPILING_IN_CPYTHON + PyObject **cython_runtime_dict; +#endif + CYTHON_MAYBE_UNUSED_VAR(tstate); + if (unlikely(!__pyx_cython_runtime)) { + return c_line; + } + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); +#if CYTHON_COMPILING_IN_CPYTHON + cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); + if (likely(cython_runtime_dict)) { + __PYX_PY_DICT_LOOKUP_IF_MODIFIED( + use_cline, *cython_runtime_dict, + __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) + } else +#endif + { + PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStrNoError(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); + if (use_cline_obj) { + use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; +} +#endif + +/* CodeObjectCache */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; + } + } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } +} +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; + } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; +} +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; + } + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; + } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); +} +#endif + +/* AddTraceback */ +#include "compile.h" +#include "frameobject.h" +#include "traceback.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyCode_Replace_For_AddTraceback(PyObject *code, PyObject *scratch_dict, + PyObject *firstlineno, PyObject *name) { + PyObject *replace = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_firstlineno", firstlineno))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_name", name))) return NULL; + replace = PyObject_GetAttrString(code, "replace"); + if (likely(replace)) { + PyObject *result; + result = PyObject_Call(replace, __pyx_empty_tuple, scratch_dict); + Py_DECREF(replace); + return result; + } + PyErr_Clear(); + #if __PYX_LIMITED_VERSION_HEX < 0x030780000 + { + PyObject *compiled = NULL, *result = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "code", code))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "type", (PyObject*)(&PyType_Type)))) return NULL; + compiled = Py_CompileString( + "out = type(code)(\n" + " code.co_argcount, code.co_kwonlyargcount, code.co_nlocals, code.co_stacksize,\n" + " code.co_flags, code.co_code, code.co_consts, code.co_names,\n" + " code.co_varnames, code.co_filename, co_name, co_firstlineno,\n" + " code.co_lnotab)\n", "", Py_file_input); + if (!compiled) return NULL; + result = PyEval_EvalCode(compiled, scratch_dict, scratch_dict); + Py_DECREF(compiled); + if (!result) PyErr_Print(); + Py_DECREF(result); + result = PyDict_GetItemString(scratch_dict, "out"); + if (result) Py_INCREF(result); + return result; + } + #else + return NULL; + #endif +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyObject *code_object = NULL, *py_py_line = NULL, *py_funcname = NULL, *dict = NULL; + PyObject *replace = NULL, *getframe = NULL, *frame = NULL; + PyObject *exc_type, *exc_value, *exc_traceback; + int success = 0; + if (c_line) { + (void) __pyx_cfilenm; + (void) __Pyx_CLineForTraceback(__Pyx_PyThreadState_Current, c_line); + } + PyErr_Fetch(&exc_type, &exc_value, &exc_traceback); + code_object = Py_CompileString("_getframe()", filename, Py_eval_input); + if (unlikely(!code_object)) goto bad; + py_py_line = PyLong_FromLong(py_line); + if (unlikely(!py_py_line)) goto bad; + py_funcname = PyUnicode_FromString(funcname); + if (unlikely(!py_funcname)) goto bad; + dict = PyDict_New(); + if (unlikely(!dict)) goto bad; + { + PyObject *old_code_object = code_object; + code_object = __Pyx_PyCode_Replace_For_AddTraceback(code_object, dict, py_py_line, py_funcname); + Py_DECREF(old_code_object); + } + if (unlikely(!code_object)) goto bad; + getframe = PySys_GetObject("_getframe"); + if (unlikely(!getframe)) goto bad; + if (unlikely(PyDict_SetItemString(dict, "_getframe", getframe))) goto bad; + frame = PyEval_EvalCode(code_object, dict, dict); + if (unlikely(!frame) || frame == Py_None) goto bad; + success = 1; + bad: + PyErr_Restore(exc_type, exc_value, exc_traceback); + Py_XDECREF(code_object); + Py_XDECREF(py_py_line); + Py_XDECREF(py_funcname); + Py_XDECREF(dict); + Py_XDECREF(replace); + if (success) { + PyTraceBack_Here( + (struct _frame*)frame); + } + Py_XDECREF(frame); +} +#else +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = NULL; + PyObject *py_funcname = NULL; + #if PY_MAJOR_VERSION < 3 + PyObject *py_srcfile = NULL; + py_srcfile = PyString_FromString(filename); + if (!py_srcfile) goto bad; + #endif + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + funcname = PyUnicode_AsUTF8(py_funcname); + if (!funcname) goto bad; + #endif + } + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + if (!py_funcname) goto bad; + #endif + } + #if PY_MAJOR_VERSION < 3 + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + #else + py_code = PyCode_NewEmpty(filename, funcname, py_line); + #endif + Py_XDECREF(py_funcname); + return py_code; +bad: + Py_XDECREF(py_funcname); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_srcfile); + #endif + return NULL; +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject *ptype, *pvalue, *ptraceback; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); + } + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) { + /* If the code object creation fails, then we should clear the + fetched exception references and propagate the new exception */ + Py_XDECREF(ptype); + Py_XDECREF(pvalue); + Py_XDECREF(ptraceback); + goto bad; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + } + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} +#endif + +#if PY_MAJOR_VERSION < 3 +static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags) { + __Pyx_TypeName obj_type_name; + if (PyObject_CheckBuffer(obj)) return PyObject_GetBuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_array_type)) return __pyx_array_getbuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_memoryview_type)) return __pyx_memoryview_getbuffer(obj, view, flags); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' does not have the buffer interface", + obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return -1; +} +static void __Pyx_ReleaseBuffer(Py_buffer *view) { + PyObject *obj = view->obj; + if (!obj) return; + if (PyObject_CheckBuffer(obj)) { + PyBuffer_Release(view); + return; + } + if ((0)) {} + view->obj = NULL; + Py_DECREF(obj); +} +#endif + + +/* MemviewSliceIsContig */ +static int +__pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim) +{ + int i, index, step, start; + Py_ssize_t itemsize = mvs.memview->view.itemsize; + if (order == 'F') { + step = 1; + start = 0; + } else { + step = -1; + start = ndim - 1; + } + for (i = 0; i < ndim; i++) { + index = start + step * i; + if (mvs.suboffsets[index] >= 0 || mvs.strides[index] != itemsize) + return 0; + itemsize *= mvs.shape[index]; + } + return 1; +} + +/* OverlappingSlices */ +static void +__pyx_get_array_memory_extents(__Pyx_memviewslice *slice, + void **out_start, void **out_end, + int ndim, size_t itemsize) +{ + char *start, *end; + int i; + start = end = slice->data; + for (i = 0; i < ndim; i++) { + Py_ssize_t stride = slice->strides[i]; + Py_ssize_t extent = slice->shape[i]; + if (extent == 0) { + *out_start = *out_end = start; + return; + } else { + if (stride > 0) + end += stride * (extent - 1); + else + start += stride * (extent - 1); + } + } + *out_start = start; + *out_end = end + itemsize; +} +static int +__pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize) +{ + void *start1, *end1, *start2, *end2; + __pyx_get_array_memory_extents(slice1, &start1, &end1, ndim, itemsize); + __pyx_get_array_memory_extents(slice2, &start2, &end2, ndim, itemsize); + return (start1 < end2) && (start2 < end1); +} + +/* IsLittleEndian */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void) +{ + union { + uint32_t u32; + uint8_t u8[4]; + } S; + S.u32 = 0x01020304; + return S.u8[0] == 4; +} + +/* BufferFormatCheck */ +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type) { + stack[0].field = &ctx->root; + stack[0].parent_offset = 0; + ctx->root.type = type; + ctx->root.name = "buffer dtype"; + ctx->root.offset = 0; + ctx->head = stack; + ctx->head->field = &ctx->root; + ctx->fmt_offset = 0; + ctx->head->parent_offset = 0; + ctx->new_packmode = '@'; + ctx->enc_packmode = '@'; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->is_complex = 0; + ctx->is_valid_array = 0; + ctx->struct_alignment = 0; + while (type->typegroup == 'S') { + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = 0; + type = type->fields->type; + } +} +static int __Pyx_BufFmt_ParseNumber(const char** ts) { + int count; + const char* t = *ts; + if (*t < '0' || *t > '9') { + return -1; + } else { + count = *t++ - '0'; + while (*t >= '0' && *t <= '9') { + count *= 10; + count += *t++ - '0'; + } + } + *ts = t; + return count; +} +static int __Pyx_BufFmt_ExpectNumber(const char **ts) { + int number = __Pyx_BufFmt_ParseNumber(ts); + if (number == -1) + PyErr_Format(PyExc_ValueError,\ + "Does not understand character buffer dtype format string ('%c')", **ts); + return number; +} +static void __Pyx_BufFmt_RaiseUnexpectedChar(char ch) { + PyErr_Format(PyExc_ValueError, + "Unexpected format string character: '%c'", ch); +} +static const char* __Pyx_BufFmt_DescribeTypeChar(char ch, int is_complex) { + switch (ch) { + case '?': return "'bool'"; + case 'c': return "'char'"; + case 'b': return "'signed char'"; + case 'B': return "'unsigned char'"; + case 'h': return "'short'"; + case 'H': return "'unsigned short'"; + case 'i': return "'int'"; + case 'I': return "'unsigned int'"; + case 'l': return "'long'"; + case 'L': return "'unsigned long'"; + case 'q': return "'long long'"; + case 'Q': return "'unsigned long long'"; + case 'f': return (is_complex ? "'complex float'" : "'float'"); + case 'd': return (is_complex ? "'complex double'" : "'double'"); + case 'g': return (is_complex ? "'complex long double'" : "'long double'"); + case 'T': return "a struct"; + case 'O': return "Python object"; + case 'P': return "a pointer"; + case 's': case 'p': return "a string"; + case 0: return "end"; + default: return "unparsable format string"; + } +} +static size_t __Pyx_BufFmt_TypeCharToStandardSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return 2; + case 'i': case 'I': case 'l': case 'L': return 4; + case 'q': case 'Q': return 8; + case 'f': return (is_complex ? 8 : 4); + case 'd': return (is_complex ? 16 : 8); + case 'g': { + PyErr_SetString(PyExc_ValueError, "Python does not define a standard format string size for long double ('g').."); + return 0; + } + case 'O': case 'P': return sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static size_t __Pyx_BufFmt_TypeCharToNativeSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(short); + case 'i': case 'I': return sizeof(int); + case 'l': case 'L': return sizeof(long); + #ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(PY_LONG_LONG); + #endif + case 'f': return sizeof(float) * (is_complex ? 2 : 1); + case 'd': return sizeof(double) * (is_complex ? 2 : 1); + case 'g': return sizeof(long double) * (is_complex ? 2 : 1); + case 'O': case 'P': return sizeof(void*); + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +typedef struct { char c; short x; } __Pyx_st_short; +typedef struct { char c; int x; } __Pyx_st_int; +typedef struct { char c; long x; } __Pyx_st_long; +typedef struct { char c; float x; } __Pyx_st_float; +typedef struct { char c; double x; } __Pyx_st_double; +typedef struct { char c; long double x; } __Pyx_st_longdouble; +typedef struct { char c; void *x; } __Pyx_st_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { char c; PY_LONG_LONG x; } __Pyx_st_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToAlignment(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_st_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_st_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_st_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_st_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_st_float) - sizeof(float); + case 'd': return sizeof(__Pyx_st_double) - sizeof(double); + case 'g': return sizeof(__Pyx_st_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_st_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +/* These are for computing the padding at the end of the struct to align + on the first member of the struct. This will probably the same as above, + but we don't have any guarantees. + */ +typedef struct { short x; char c; } __Pyx_pad_short; +typedef struct { int x; char c; } __Pyx_pad_int; +typedef struct { long x; char c; } __Pyx_pad_long; +typedef struct { float x; char c; } __Pyx_pad_float; +typedef struct { double x; char c; } __Pyx_pad_double; +typedef struct { long double x; char c; } __Pyx_pad_longdouble; +typedef struct { void *x; char c; } __Pyx_pad_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { PY_LONG_LONG x; char c; } __Pyx_pad_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToPadding(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_pad_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_pad_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_pad_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_pad_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_pad_float) - sizeof(float); + case 'd': return sizeof(__Pyx_pad_double) - sizeof(double); + case 'g': return sizeof(__Pyx_pad_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_pad_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static char __Pyx_BufFmt_TypeCharToGroup(char ch, int is_complex) { + switch (ch) { + case 'c': + return 'H'; + case 'b': case 'h': case 'i': + case 'l': case 'q': case 's': case 'p': + return 'I'; + case '?': case 'B': case 'H': case 'I': case 'L': case 'Q': + return 'U'; + case 'f': case 'd': case 'g': + return (is_complex ? 'C' : 'R'); + case 'O': + return 'O'; + case 'P': + return 'P'; + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +static void __Pyx_BufFmt_RaiseExpected(__Pyx_BufFmt_Context* ctx) { + if (ctx->head == NULL || ctx->head->field == &ctx->root) { + const char* expected; + const char* quote; + if (ctx->head == NULL) { + expected = "end"; + quote = ""; + } else { + expected = ctx->head->field->type->name; + quote = "'"; + } + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected %s%s%s but got %s", + quote, expected, quote, + __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex)); + } else { + __Pyx_StructField* field = ctx->head->field; + __Pyx_StructField* parent = (ctx->head - 1)->field; + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected '%s' but got %s in '%s.%s'", + field->type->name, __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex), + parent->type->name, field->name); + } +} +static int __Pyx_BufFmt_ProcessTypeChunk(__Pyx_BufFmt_Context* ctx) { + char group; + size_t size, offset, arraysize = 1; + if (ctx->enc_type == 0) return 0; + if (ctx->head->field->type->arraysize[0]) { + int i, ndim = 0; + if (ctx->enc_type == 's' || ctx->enc_type == 'p') { + ctx->is_valid_array = ctx->head->field->type->ndim == 1; + ndim = 1; + if (ctx->enc_count != ctx->head->field->type->arraysize[0]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %zu", + ctx->head->field->type->arraysize[0], ctx->enc_count); + return -1; + } + } + if (!ctx->is_valid_array) { + PyErr_Format(PyExc_ValueError, "Expected %d dimensions, got %d", + ctx->head->field->type->ndim, ndim); + return -1; + } + for (i = 0; i < ctx->head->field->type->ndim; i++) { + arraysize *= ctx->head->field->type->arraysize[i]; + } + ctx->is_valid_array = 0; + ctx->enc_count = 1; + } + group = __Pyx_BufFmt_TypeCharToGroup(ctx->enc_type, ctx->is_complex); + do { + __Pyx_StructField* field = ctx->head->field; + __Pyx_TypeInfo* type = field->type; + if (ctx->enc_packmode == '@' || ctx->enc_packmode == '^') { + size = __Pyx_BufFmt_TypeCharToNativeSize(ctx->enc_type, ctx->is_complex); + } else { + size = __Pyx_BufFmt_TypeCharToStandardSize(ctx->enc_type, ctx->is_complex); + } + if (ctx->enc_packmode == '@') { + size_t align_at = __Pyx_BufFmt_TypeCharToAlignment(ctx->enc_type, ctx->is_complex); + size_t align_mod_offset; + if (align_at == 0) return -1; + align_mod_offset = ctx->fmt_offset % align_at; + if (align_mod_offset > 0) ctx->fmt_offset += align_at - align_mod_offset; + if (ctx->struct_alignment == 0) + ctx->struct_alignment = __Pyx_BufFmt_TypeCharToPadding(ctx->enc_type, + ctx->is_complex); + } + if (type->size != size || type->typegroup != group) { + if (type->typegroup == 'C' && type->fields != NULL) { + size_t parent_offset = ctx->head->parent_offset + field->offset; + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = parent_offset; + continue; + } + if ((type->typegroup == 'H' || group == 'H') && type->size == size) { + } else { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + } + offset = ctx->head->parent_offset + field->offset; + if (ctx->fmt_offset != offset) { + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch; next field is at offset %" CYTHON_FORMAT_SSIZE_T "d but %" CYTHON_FORMAT_SSIZE_T "d expected", + (Py_ssize_t)ctx->fmt_offset, (Py_ssize_t)offset); + return -1; + } + ctx->fmt_offset += size; + if (arraysize) + ctx->fmt_offset += (arraysize - 1) * size; + --ctx->enc_count; + while (1) { + if (field == &ctx->root) { + ctx->head = NULL; + if (ctx->enc_count != 0) { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + break; + } + ctx->head->field = ++field; + if (field->type == NULL) { + --ctx->head; + field = ctx->head->field; + continue; + } else if (field->type->typegroup == 'S') { + size_t parent_offset = ctx->head->parent_offset + field->offset; + if (field->type->fields->type == NULL) continue; + field = field->type->fields; + ++ctx->head; + ctx->head->field = field; + ctx->head->parent_offset = parent_offset; + break; + } else { + break; + } + } + } while (ctx->enc_count); + ctx->enc_type = 0; + ctx->is_complex = 0; + return 0; +} +static int +__pyx_buffmt_parse_array(__Pyx_BufFmt_Context* ctx, const char** tsp) +{ + const char *ts = *tsp; + int i = 0, number, ndim; + ++ts; + if (ctx->new_count != 1) { + PyErr_SetString(PyExc_ValueError, + "Cannot handle repeated arrays in format string"); + return -1; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return -1; + ndim = ctx->head->field->type->ndim; + while (*ts && *ts != ')') { + switch (*ts) { + case ' ': case '\f': case '\r': case '\n': case '\t': case '\v': continue; + default: break; + } + number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return -1; + if (i < ndim && (size_t) number != ctx->head->field->type->arraysize[i]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %d", + ctx->head->field->type->arraysize[i], number); + return -1; + } + if (*ts != ',' && *ts != ')') { + PyErr_Format(PyExc_ValueError, + "Expected a comma in format string, got '%c'", *ts); + return -1; + } + if (*ts == ',') ts++; + i++; + } + if (i != ndim) { + PyErr_Format(PyExc_ValueError, "Expected %d dimension(s), got %d", + ctx->head->field->type->ndim, i); + return -1; + } + if (!*ts) { + PyErr_SetString(PyExc_ValueError, + "Unexpected end of format string, expected ')'"); + return -1; + } + ctx->is_valid_array = 1; + ctx->new_count = 1; + *tsp = ++ts; + return 0; +} +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts) { + int got_Z = 0; + while (1) { + switch(*ts) { + case 0: + if (ctx->enc_type != 0 && ctx->head == NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + if (ctx->head != NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + return ts; + case ' ': + case '\r': + case '\n': + ++ts; + break; + case '<': + if (!__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Little-endian buffer not supported on big-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '>': + case '!': + if (__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Big-endian buffer not supported on little-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '=': + case '@': + case '^': + ctx->new_packmode = *ts++; + break; + case 'T': + { + const char* ts_after_sub; + size_t i, struct_count = ctx->new_count; + size_t struct_alignment = ctx->struct_alignment; + ctx->new_count = 1; + ++ts; + if (*ts != '{') { + PyErr_SetString(PyExc_ValueError, "Buffer acquisition: Expected '{' after 'T'"); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + ctx->enc_count = 0; + ctx->struct_alignment = 0; + ++ts; + ts_after_sub = ts; + for (i = 0; i != struct_count; ++i) { + ts_after_sub = __Pyx_BufFmt_CheckString(ctx, ts); + if (!ts_after_sub) return NULL; + } + ts = ts_after_sub; + if (struct_alignment) ctx->struct_alignment = struct_alignment; + } + break; + case '}': + { + size_t alignment = ctx->struct_alignment; + ++ts; + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + if (alignment && ctx->fmt_offset % alignment) { + ctx->fmt_offset += alignment - (ctx->fmt_offset % alignment); + } + } + return ts; + case 'x': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->fmt_offset += ctx->new_count; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->enc_packmode = ctx->new_packmode; + ++ts; + break; + case 'Z': + got_Z = 1; + ++ts; + if (*ts != 'f' && *ts != 'd' && *ts != 'g') { + __Pyx_BufFmt_RaiseUnexpectedChar('Z'); + return NULL; + } + CYTHON_FALLTHROUGH; + case '?': case 'c': case 'b': case 'B': case 'h': case 'H': case 'i': case 'I': + case 'l': case 'L': case 'q': case 'Q': + case 'f': case 'd': case 'g': + case 'O': case 'p': + if ((ctx->enc_type == *ts) && (got_Z == ctx->is_complex) && + (ctx->enc_packmode == ctx->new_packmode) && (!ctx->is_valid_array)) { + ctx->enc_count += ctx->new_count; + ctx->new_count = 1; + got_Z = 0; + ++ts; + break; + } + CYTHON_FALLTHROUGH; + case 's': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_count = ctx->new_count; + ctx->enc_packmode = ctx->new_packmode; + ctx->enc_type = *ts; + ctx->is_complex = got_Z; + ++ts; + ctx->new_count = 1; + got_Z = 0; + break; + case ':': + ++ts; + while(*ts != ':') ++ts; + ++ts; + break; + case '(': + if (__pyx_buffmt_parse_array(ctx, &ts) < 0) return NULL; + break; + default: + { + int number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return NULL; + ctx->new_count = (size_t)number; + } + } + } +} + +/* TypeInfoCompare */ + static int +__pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b) +{ + int i; + if (!a || !b) + return 0; + if (a == b) + return 1; + if (a->size != b->size || a->typegroup != b->typegroup || + a->is_unsigned != b->is_unsigned || a->ndim != b->ndim) { + if (a->typegroup == 'H' || b->typegroup == 'H') { + return a->size == b->size; + } else { + return 0; + } + } + if (a->ndim) { + for (i = 0; i < a->ndim; i++) + if (a->arraysize[i] != b->arraysize[i]) + return 0; + } + if (a->typegroup == 'S') { + if (a->flags != b->flags) + return 0; + if (a->fields || b->fields) { + if (!(a->fields && b->fields)) + return 0; + for (i = 0; a->fields[i].type && b->fields[i].type; i++) { + __Pyx_StructField *field_a = a->fields + i; + __Pyx_StructField *field_b = b->fields + i; + if (field_a->offset != field_b->offset || + !__pyx_typeinfo_cmp(field_a->type, field_b->type)) + return 0; + } + return !a->fields[i].type && !b->fields[i].type; + } + } + return 1; +} + +/* MemviewSliceValidateAndInit */ + static int +__pyx_check_strides(Py_buffer *buf, int dim, int ndim, int spec) +{ + if (buf->shape[dim] <= 1) + return 1; + if (buf->strides) { + if (spec & __Pyx_MEMVIEW_CONTIG) { + if (spec & (__Pyx_MEMVIEW_PTR|__Pyx_MEMVIEW_FULL)) { + if (unlikely(buf->strides[dim] != sizeof(void *))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly contiguous " + "in dimension %d.", dim); + goto fail; + } + } else if (unlikely(buf->strides[dim] != buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_FOLLOW) { + Py_ssize_t stride = buf->strides[dim]; + if (stride < 0) + stride = -stride; + if (unlikely(stride < buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + } else { + if (unlikely(spec & __Pyx_MEMVIEW_CONTIG && dim != ndim - 1)) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not contiguous in " + "dimension %d", dim); + goto fail; + } else if (unlikely(spec & (__Pyx_MEMVIEW_PTR))) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not indirect in " + "dimension %d", dim); + goto fail; + } else if (unlikely(buf->suboffsets)) { + PyErr_SetString(PyExc_ValueError, + "Buffer exposes suboffsets but no strides"); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_check_suboffsets(Py_buffer *buf, int dim, int ndim, int spec) +{ + CYTHON_UNUSED_VAR(ndim); + if (spec & __Pyx_MEMVIEW_DIRECT) { + if (unlikely(buf->suboffsets && buf->suboffsets[dim] >= 0)) { + PyErr_Format(PyExc_ValueError, + "Buffer not compatible with direct access " + "in dimension %d.", dim); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_PTR) { + if (unlikely(!buf->suboffsets || (buf->suboffsets[dim] < 0))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly accessible " + "in dimension %d.", dim); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_verify_contig(Py_buffer *buf, int ndim, int c_or_f_flag) +{ + int i; + if (c_or_f_flag & __Pyx_IS_F_CONTIG) { + Py_ssize_t stride = 1; + for (i = 0; i < ndim; i++) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not fortran contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } else if (c_or_f_flag & __Pyx_IS_C_CONTIG) { + Py_ssize_t stride = 1; + for (i = ndim - 1; i >- 1; i--) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not C contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } + return 1; +fail: + return 0; +} +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj) +{ + struct __pyx_memoryview_obj *memview, *new_memview; + __Pyx_RefNannyDeclarations + Py_buffer *buf; + int i, spec = 0, retval = -1; + __Pyx_BufFmt_Context ctx; + int from_memoryview = __pyx_memoryview_check(original_obj); + __Pyx_RefNannySetupContext("ValidateAndInit_memviewslice", 0); + if (from_memoryview && __pyx_typeinfo_cmp(dtype, ((struct __pyx_memoryview_obj *) + original_obj)->typeinfo)) { + memview = (struct __pyx_memoryview_obj *) original_obj; + new_memview = NULL; + } else { + memview = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + original_obj, buf_flags, 0, dtype); + new_memview = memview; + if (unlikely(!memview)) + goto fail; + } + buf = &memview->view; + if (unlikely(buf->ndim != ndim)) { + PyErr_Format(PyExc_ValueError, + "Buffer has wrong number of dimensions (expected %d, got %d)", + ndim, buf->ndim); + goto fail; + } + if (new_memview) { + __Pyx_BufFmt_Init(&ctx, stack, dtype); + if (unlikely(!__Pyx_BufFmt_CheckString(&ctx, buf->format))) goto fail; + } + if (unlikely((unsigned) buf->itemsize != dtype->size)) { + PyErr_Format(PyExc_ValueError, + "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "u byte%s) " + "does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "u byte%s)", + buf->itemsize, + (buf->itemsize > 1) ? "s" : "", + dtype->name, + dtype->size, + (dtype->size > 1) ? "s" : ""); + goto fail; + } + if (buf->len > 0) { + for (i = 0; i < ndim; i++) { + spec = axes_specs[i]; + if (unlikely(!__pyx_check_strides(buf, i, ndim, spec))) + goto fail; + if (unlikely(!__pyx_check_suboffsets(buf, i, ndim, spec))) + goto fail; + } + if (unlikely(buf->strides && !__pyx_verify_contig(buf, ndim, c_or_f_flag))) + goto fail; + } + if (unlikely(__Pyx_init_memviewslice(memview, ndim, memviewslice, + new_memview != NULL) == -1)) { + goto fail; + } + retval = 0; + goto no_fail; +fail: + Py_XDECREF(new_memview); + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} + +/* ObjectToMemviewSlice */ + static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_float(PyObject *obj, int writable_flag) { + __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; + __Pyx_BufFmt_StackElem stack[1]; + int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_STRIDED) }; + int retcode; + if (obj == Py_None) { + result.memview = (struct __pyx_memoryview_obj *) Py_None; + return result; + } + retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, 0, + PyBUF_RECORDS_RO | writable_flag, 1, + &__Pyx_TypeInfo_float, stack, + &result, obj); + if (unlikely(retcode == -1)) + goto __pyx_fail; + return result; +__pyx_fail: + result.memview = NULL; + result.data = NULL; + return result; +} + +/* MemviewDtypeToObject */ + static CYTHON_INLINE PyObject *__pyx_memview_get_float(const char *itemp) { + return (PyObject *) PyFloat_FromDouble(*(float *) itemp); +} +static CYTHON_INLINE int __pyx_memview_set_float(const char *itemp, PyObject *obj) { + float value = __pyx_PyFloat_AsFloat(obj); + if (unlikely((value == (float)-1) && PyErr_Occurred())) + return 0; + *(float *) itemp = value; + return 1; +} + +/* MemviewSliceCopyTemplate */ + static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object) +{ + __Pyx_RefNannyDeclarations + int i; + __Pyx_memviewslice new_mvs = { 0, 0, { 0 }, { 0 }, { 0 } }; + struct __pyx_memoryview_obj *from_memview = from_mvs->memview; + Py_buffer *buf = &from_memview->view; + PyObject *shape_tuple = NULL; + PyObject *temp_int = NULL; + struct __pyx_array_obj *array_obj = NULL; + struct __pyx_memoryview_obj *memview_obj = NULL; + __Pyx_RefNannySetupContext("__pyx_memoryview_copy_new_contig", 0); + for (i = 0; i < ndim; i++) { + if (unlikely(from_mvs->suboffsets[i] >= 0)) { + PyErr_Format(PyExc_ValueError, "Cannot copy memoryview slice with " + "indirect dimensions (axis %d)", i); + goto fail; + } + } + shape_tuple = PyTuple_New(ndim); + if (unlikely(!shape_tuple)) { + goto fail; + } + __Pyx_GOTREF(shape_tuple); + for(i = 0; i < ndim; i++) { + temp_int = PyInt_FromSsize_t(from_mvs->shape[i]); + if(unlikely(!temp_int)) { + goto fail; + } else { + PyTuple_SET_ITEM(shape_tuple, i, temp_int); + temp_int = NULL; + } + } + array_obj = __pyx_array_new(shape_tuple, sizeof_dtype, buf->format, (char *) mode, NULL); + if (unlikely(!array_obj)) { + goto fail; + } + __Pyx_GOTREF(array_obj); + memview_obj = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + (PyObject *) array_obj, contig_flag, + dtype_is_object, + from_mvs->memview->typeinfo); + if (unlikely(!memview_obj)) + goto fail; + if (unlikely(__Pyx_init_memviewslice(memview_obj, ndim, &new_mvs, 1) < 0)) + goto fail; + if (unlikely(__pyx_memoryview_copy_contents(*from_mvs, new_mvs, ndim, ndim, + dtype_is_object) < 0)) + goto fail; + goto no_fail; +fail: + __Pyx_XDECREF(new_mvs.memview); + new_mvs.memview = NULL; + new_mvs.data = NULL; +no_fail: + __Pyx_XDECREF(shape_tuple); + __Pyx_XDECREF(temp_int); + __Pyx_XDECREF(array_obj); + __Pyx_RefNannyFinishContext(); + return new_mvs; +} + +/* MemviewSliceInit */ + static int +__Pyx_init_memviewslice(struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference) +{ + __Pyx_RefNannyDeclarations + int i, retval=-1; + Py_buffer *buf = &memview->view; + __Pyx_RefNannySetupContext("init_memviewslice", 0); + if (unlikely(memviewslice->memview || memviewslice->data)) { + PyErr_SetString(PyExc_ValueError, + "memviewslice is already initialized!"); + goto fail; + } + if (buf->strides) { + for (i = 0; i < ndim; i++) { + memviewslice->strides[i] = buf->strides[i]; + } + } else { + Py_ssize_t stride = buf->itemsize; + for (i = ndim - 1; i >= 0; i--) { + memviewslice->strides[i] = stride; + stride *= buf->shape[i]; + } + } + for (i = 0; i < ndim; i++) { + memviewslice->shape[i] = buf->shape[i]; + if (buf->suboffsets) { + memviewslice->suboffsets[i] = buf->suboffsets[i]; + } else { + memviewslice->suboffsets[i] = -1; + } + } + memviewslice->memview = memview; + memviewslice->data = (char *)buf->buf; + if (__pyx_add_acquisition_count(memview) == 0 && !memview_is_new_reference) { + Py_INCREF(memview); + } + retval = 0; + goto no_fail; +fail: + memviewslice->memview = 0; + memviewslice->data = 0; + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} +#ifndef Py_NO_RETURN +#define Py_NO_RETURN +#endif +static void __pyx_fatalerror(const char *fmt, ...) Py_NO_RETURN { + va_list vargs; + char msg[200]; +#if PY_VERSION_HEX >= 0x030A0000 || defined(HAVE_STDARG_PROTOTYPES) + va_start(vargs, fmt); +#else + va_start(vargs); +#endif + vsnprintf(msg, 200, fmt, vargs); + va_end(vargs); + Py_FatalError(msg); +} +static CYTHON_INLINE int +__pyx_add_acquisition_count_locked(__pyx_atomic_int_type *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)++; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE int +__pyx_sub_acquisition_count_locked(__pyx_atomic_int_type *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)--; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE void +__Pyx_INC_MEMVIEW(__Pyx_memviewslice *memslice, int have_gil, int lineno) +{ + __pyx_nonatomic_int_type old_acquisition_count; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + return; + } + old_acquisition_count = __pyx_add_acquisition_count(memview); + if (unlikely(old_acquisition_count <= 0)) { + if (likely(old_acquisition_count == 0)) { + if (have_gil) { + Py_INCREF((PyObject *) memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_INCREF((PyObject *) memview); + PyGILState_Release(_gilstate); + } + } else { + __pyx_fatalerror("Acquisition count is %d (line %d)", + old_acquisition_count+1, lineno); + } + } +} +static CYTHON_INLINE void __Pyx_XCLEAR_MEMVIEW(__Pyx_memviewslice *memslice, + int have_gil, int lineno) { + __pyx_nonatomic_int_type old_acquisition_count; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + memslice->memview = NULL; + return; + } + old_acquisition_count = __pyx_sub_acquisition_count(memview); + memslice->data = NULL; + if (likely(old_acquisition_count > 1)) { + memslice->memview = NULL; + } else if (likely(old_acquisition_count == 1)) { + if (have_gil) { + Py_CLEAR(memslice->memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_CLEAR(memslice->memview); + PyGILState_Release(_gilstate); + } + } else { + __pyx_fatalerror("Acquisition count is %d (line %d)", + old_acquisition_count-1, lineno); + } +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(int) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(int) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(int) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(int), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(int)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPyVerify */ + #define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* CIntFromPy */ + static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(int) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (int) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 2 * PyLong_SHIFT)) { + return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 3 * PyLong_SHIFT)) { + return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 4 * PyLong_SHIFT)) { + return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(int) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(int) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(int) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + int val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (int) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (int) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (int) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (int) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(int) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(int) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((int) 1) << (sizeof(int) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (int) -1; + } + } else { + int val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (int) -1; + val = __Pyx_PyInt_As_int(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to int"); + return (int) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to int"); + return (int) -1; +} + +/* CIntFromPy */ + static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(long) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (long) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 2 * PyLong_SHIFT)) { + return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 3 * PyLong_SHIFT)) { + return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 4 * PyLong_SHIFT)) { + return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(long) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(long) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(long) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + long val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (long) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (long) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (long) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (long) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(long) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(long) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((long) 1) << (sizeof(long) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (long) -1; + } + } else { + long val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (long) -1; + val = __Pyx_PyInt_As_long(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to long"); + return (long) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to long"); + return (long) -1; +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(long)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPy */ + static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const char neg_one = (char) -1, const_zero = (char) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(char) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(char, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (char) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(char, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(char) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 2 * PyLong_SHIFT)) { + return (char) (((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(char) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 3 * PyLong_SHIFT)) { + return (char) (((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(char) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 4 * PyLong_SHIFT)) { + return (char) (((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(char) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(char) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(char, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(char) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(char) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + return (char) ((((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(char) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + return (char) ((((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 4 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(char) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 4 * PyLong_SHIFT)) { + return (char) ((((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(char) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(char, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(char) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(char, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + char val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (char) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (char) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (char) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (char) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(char) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((char) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(char) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((char) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((char) 1) << (sizeof(char) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (char) -1; + } + } else { + char val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (char) -1; + val = __Pyx_PyInt_As_char(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to char"); + return (char) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to char"); + return (char) -1; +} + +/* FormatTypeName */ + #if CYTHON_COMPILING_IN_LIMITED_API +static __Pyx_TypeName +__Pyx_PyType_GetName(PyTypeObject* tp) +{ + PyObject *name = __Pyx_PyObject_GetAttrStr((PyObject *)tp, + __pyx_n_s_name_2); + if (unlikely(name == NULL) || unlikely(!PyUnicode_Check(name))) { + PyErr_Clear(); + Py_XDECREF(name); + name = __Pyx_NewRef(__pyx_n_s__30); + } + return name; +} +#endif + +/* CheckBinaryVersion */ + static unsigned long __Pyx_get_runtime_version(void) { +#if __PYX_LIMITED_VERSION_HEX >= 0x030B00A4 + return Py_Version & ~0xFFUL; +#else + const char* rt_version = Py_GetVersion(); + unsigned long version = 0; + unsigned long factor = 0x01000000UL; + unsigned int digit = 0; + int i = 0; + while (factor) { + while ('0' <= rt_version[i] && rt_version[i] <= '9') { + digit = digit * 10 + (unsigned int) (rt_version[i] - '0'); + ++i; + } + version += factor * digit; + if (rt_version[i] != '.') + break; + digit = 0; + factor >>= 8; + ++i; + } + return version; +#endif +} +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer) { + const unsigned long MAJOR_MINOR = 0xFFFF0000UL; + if ((rt_version & MAJOR_MINOR) == (ct_version & MAJOR_MINOR)) + return 0; + if (likely(allow_newer && (rt_version & MAJOR_MINOR) > (ct_version & MAJOR_MINOR))) + return 1; + { + char message[200]; + PyOS_snprintf(message, sizeof(message), + "compile time Python version %d.%d " + "of module '%.100s' " + "%s " + "runtime version %d.%d", + (int) (ct_version >> 24), (int) ((ct_version >> 16) & 0xFF), + __Pyx_MODULE_NAME, + (allow_newer) ? "was newer than" : "does not match", + (int) (rt_version >> 24), (int) ((rt_version >> 16) & 0xFF) + ); + return PyErr_WarnEx(NULL, message, 1); + } +} + +/* InitStrings */ + #if PY_MAJOR_VERSION >= 3 +static int __Pyx_InitString(__Pyx_StringTabEntry t, PyObject **str) { + if (t.is_unicode | t.is_str) { + if (t.intern) { + *str = PyUnicode_InternFromString(t.s); + } else if (t.encoding) { + *str = PyUnicode_Decode(t.s, t.n - 1, t.encoding, NULL); + } else { + *str = PyUnicode_FromStringAndSize(t.s, t.n - 1); + } + } else { + *str = PyBytes_FromStringAndSize(t.s, t.n - 1); + } + if (!*str) + return -1; + if (PyObject_Hash(*str) == -1) + return -1; + return 0; +} +#endif +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t) { + while (t->p) { + #if PY_MAJOR_VERSION >= 3 + __Pyx_InitString(*t, t->p); + #else + if (t->is_unicode) { + *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); + } else if (t->intern) { + *t->p = PyString_InternFromString(t->s); + } else { + *t->p = PyString_FromStringAndSize(t->s, t->n - 1); + } + if (!*t->p) + return -1; + if (PyObject_Hash(*t->p) == -1) + return -1; + #endif + ++t; + } + return 0; +} + +#include +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s) { + size_t len = strlen(s); + if (unlikely(len > (size_t) PY_SSIZE_T_MAX)) { + PyErr_SetString(PyExc_OverflowError, "byte string is too long"); + return -1; + } + return (Py_ssize_t) len; +} +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return __Pyx_PyUnicode_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return PyByteArray_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { + Py_ssize_t ignore; + return __Pyx_PyObject_AsStringAndSize(o, &ignore); +} +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#if !CYTHON_PEP393_ENABLED +static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + char* defenc_c; + PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); + if (!defenc) return NULL; + defenc_c = PyBytes_AS_STRING(defenc); +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + { + char* end = defenc_c + PyBytes_GET_SIZE(defenc); + char* c; + for (c = defenc_c; c < end; c++) { + if ((unsigned char) (*c) >= 128) { + PyUnicode_AsASCIIString(o); + return NULL; + } + } + } +#endif + *length = PyBytes_GET_SIZE(defenc); + return defenc_c; +} +#else +static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + if (likely(PyUnicode_IS_ASCII(o))) { + *length = PyUnicode_GET_LENGTH(o); + return PyUnicode_AsUTF8(o); + } else { + PyUnicode_AsASCIIString(o); + return NULL; + } +#else + return PyUnicode_AsUTF8AndSize(o, length); +#endif +} +#endif +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT + if ( +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + __Pyx_sys_getdefaultencoding_not_ascii && +#endif + PyUnicode_Check(o)) { + return __Pyx_PyUnicode_AsStringAndSize(o, length); + } else +#endif +#if (!CYTHON_COMPILING_IN_PYPY && !CYTHON_COMPILING_IN_LIMITED_API) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) + if (PyByteArray_Check(o)) { + *length = PyByteArray_GET_SIZE(o); + return PyByteArray_AS_STRING(o); + } else +#endif + { + char* result; + int r = PyBytes_AsStringAndSize(o, &result, length); + if (unlikely(r < 0)) { + return NULL; + } else { + return result; + } + } +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { + int is_true = x == Py_True; + if (is_true | (x == Py_False) | (x == Py_None)) return is_true; + else return PyObject_IsTrue(x); +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { + int retval; + if (unlikely(!x)) return -1; + retval = __Pyx_PyObject_IsTrue(x); + Py_DECREF(x); + return retval; +} +static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { + __Pyx_TypeName result_type_name = __Pyx_PyType_GetName(Py_TYPE(result)); +#if PY_MAJOR_VERSION >= 3 + if (PyLong_Check(result)) { + if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, + "__int__ returned non-int (type " __Pyx_FMT_TYPENAME "). " + "The ability to return an instance of a strict subclass of int is deprecated, " + "and may be removed in a future version of Python.", + result_type_name)) { + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; + } + __Pyx_DECREF_TypeName(result_type_name); + return result; + } +#endif + PyErr_Format(PyExc_TypeError, + "__%.4s__ returned non-%.4s (type " __Pyx_FMT_TYPENAME ")", + type_name, type_name, result_type_name); + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { +#if CYTHON_USE_TYPE_SLOTS + PyNumberMethods *m; +#endif + const char *name = NULL; + PyObject *res = NULL; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x) || PyLong_Check(x))) +#else + if (likely(PyLong_Check(x))) +#endif + return __Pyx_NewRef(x); +#if CYTHON_USE_TYPE_SLOTS + m = Py_TYPE(x)->tp_as_number; + #if PY_MAJOR_VERSION < 3 + if (m && m->nb_int) { + name = "int"; + res = m->nb_int(x); + } + else if (m && m->nb_long) { + name = "long"; + res = m->nb_long(x); + } + #else + if (likely(m && m->nb_int)) { + name = "int"; + res = m->nb_int(x); + } + #endif +#else + if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { + res = PyNumber_Int(x); + } +#endif + if (likely(res)) { +#if PY_MAJOR_VERSION < 3 + if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { +#else + if (unlikely(!PyLong_CheckExact(res))) { +#endif + return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); + } + } + else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_TypeError, + "an integer is required"); + } + return res; +} +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { + Py_ssize_t ival; + PyObject *x; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(b))) { + if (sizeof(Py_ssize_t) >= sizeof(long)) + return PyInt_AS_LONG(b); + else + return PyInt_AsSsize_t(b); + } +#endif + if (likely(PyLong_CheckExact(b))) { + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(__Pyx_PyLong_IsCompact(b))) { + return __Pyx_PyLong_CompactValue(b); + } else { + const digit* digits = __Pyx_PyLong_Digits(b); + const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(b); + switch (size) { + case 2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + } + } + #endif + return PyLong_AsSsize_t(b); + } + x = PyNumber_Index(b); + if (!x) return -1; + ival = PyInt_AsSsize_t(x); + Py_DECREF(x); + return ival; +} +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { + if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { + return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); +#if PY_MAJOR_VERSION < 3 + } else if (likely(PyInt_CheckExact(o))) { + return PyInt_AS_LONG(o); +#endif + } else { + Py_ssize_t ival; + PyObject *x; + x = PyNumber_Index(o); + if (!x) return -1; + ival = PyInt_AsLong(x); + Py_DECREF(x); + return ival; + } +} +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { + return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); +} +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { + return PyInt_FromSize_t(ival); +} + + +/* #### Code section: utility_code_pragmas_end ### */ +#ifdef _MSC_VER +#pragma warning( pop ) +#endif + + + +/* #### Code section: end ### */ +#endif /* Py_PYTHON_H */ diff --git a/selfdrive/modeld/runners/runmodel_pyx.pxd b/selfdrive/modeld/runners/runmodel_pyx.pxd new file mode 100644 index 0000000000..b6ede7cf37 --- /dev/null +++ b/selfdrive/modeld/runners/runmodel_pyx.pxd @@ -0,0 +1,6 @@ +# distutils: language = c++ + +from .runmodel cimport RunModel as cppRunModel + +cdef class RunModel: + cdef cppRunModel * model diff --git a/selfdrive/modeld/runners/runmodel_pyx.pyx b/selfdrive/modeld/runners/runmodel_pyx.pyx new file mode 100644 index 0000000000..12b8ec10ff --- /dev/null +++ b/selfdrive/modeld/runners/runmodel_pyx.pyx @@ -0,0 +1,37 @@ +# distutils: language = c++ +# cython: c_string_encoding=ascii, language_level=3 + +from libcpp.string cimport string + +from .runmodel cimport USE_CPU_RUNTIME, USE_GPU_RUNTIME, USE_DSP_RUNTIME +from selfdrive.modeld.models.commonmodel_pyx cimport CLMem + +class Runtime: + CPU = USE_CPU_RUNTIME + GPU = USE_GPU_RUNTIME + DSP = USE_DSP_RUNTIME + +cdef class RunModel: + def __dealloc__(self): + del self.model + + def addInput(self, string name, float[:] buffer): + if buffer is not None: + self.model.addInput(name, &buffer[0], len(buffer)) + else: + self.model.addInput(name, NULL, 0) + + def setInputBuffer(self, string name, float[:] buffer): + if buffer is not None: + self.model.setInputBuffer(name, &buffer[0], len(buffer)) + else: + self.model.setInputBuffer(name, NULL, 0) + + def getCLBuffer(self, string name): + cdef void * cl_buf = self.model.getCLBuffer(name) + if not cl_buf: + return None + return CLMem.create(cl_buf) + + def execute(self): + self.model.execute() diff --git a/selfdrive/modeld/runners/runmodel_pyx.so b/selfdrive/modeld/runners/runmodel_pyx.so new file mode 100755 index 0000000000..3b4b0719b2 Binary files /dev/null and b/selfdrive/modeld/runners/runmodel_pyx.so differ diff --git a/selfdrive/modeld/runners/snpemodel.h b/selfdrive/modeld/runners/snpemodel.h new file mode 100644 index 0000000000..86b2c86084 --- /dev/null +++ b/selfdrive/modeld/runners/snpemodel.h @@ -0,0 +1,52 @@ +#pragma once +#pragma clang diagnostic ignored "-Wdeprecated-declarations" + +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "selfdrive/modeld/runners/runmodel.h" + +struct SNPEModelInput : public ModelInput { + std::unique_ptr snpe_buffer; + + SNPEModelInput(const std::string _name, float *_buffer, int _size, std::unique_ptr _snpe_buffer) : ModelInput(_name, _buffer, _size), snpe_buffer(std::move(_snpe_buffer)) {} + void setBuffer(float *_buffer, int _size) { + ModelInput::setBuffer(_buffer, _size); + assert(snpe_buffer->setBufferAddress(_buffer) == true); + } +}; + +class SNPEModel : public RunModel { +public: + SNPEModel(const std::string path, float *_output, size_t _output_size, int runtime, bool use_tf8 = false, cl_context context = NULL); + void addInput(const std::string name, float *buffer, int size); + void execute(); + +private: + std::string model_data; + +#ifdef QCOM2 + zdl::DlSystem::Runtime_t snpe_runtime; +#endif + + // snpe model stuff + std::unique_ptr snpe; + zdl::DlSystem::UserBufferMap input_map; + zdl::DlSystem::UserBufferMap output_map; + std::unique_ptr output_buffer; + + bool use_tf8; + float *output; + size_t output_size; +}; diff --git a/selfdrive/modeld/runners/snpemodel.pxd b/selfdrive/modeld/runners/snpemodel.pxd new file mode 100644 index 0000000000..a911b43584 --- /dev/null +++ b/selfdrive/modeld/runners/snpemodel.pxd @@ -0,0 +1,9 @@ +# distutils: language = c++ + +from libcpp.string cimport string + +from msgq.visionipc.visionipc cimport cl_context + +cdef extern from "selfdrive/modeld/runners/snpemodel.h": + cdef cppclass SNPEModel: + SNPEModel(string, float*, size_t, int, bool, cl_context) diff --git a/selfdrive/modeld/runners/snpemodel_pyx.cpp b/selfdrive/modeld/runners/snpemodel_pyx.cpp new file mode 100644 index 0000000000..359c6833f7 --- /dev/null +++ b/selfdrive/modeld/runners/snpemodel_pyx.cpp @@ -0,0 +1,27817 @@ +/* Generated by Cython 3.0.8 */ + +/* BEGIN: Cython Metadata +{ + "distutils": { + "depends": [ + "msgq/visionipc/visionbuf.h", + "msgq/visionipc/visionipc.h", + "msgq/visionipc/visionipc_client.h", + "msgq/visionipc/visionipc_server.h", + "selfdrive/modeld/runners/runmodel.h", + "selfdrive/modeld/runners/snpemodel.h" + ], + "language": "c++", + "name": "selfdrive.modeld.runners.snpemodel_pyx", + "sources": [ + "/data/openpilot/selfdrive/modeld/runners/snpemodel_pyx.pyx" + ] + }, + "module_name": "selfdrive.modeld.runners.snpemodel_pyx" +} +END: Cython Metadata */ + +#ifndef PY_SSIZE_T_CLEAN +#define PY_SSIZE_T_CLEAN +#endif /* PY_SSIZE_T_CLEAN */ +#if defined(CYTHON_LIMITED_API) && 0 + #ifndef Py_LIMITED_API + #if CYTHON_LIMITED_API+0 > 0x03030000 + #define Py_LIMITED_API CYTHON_LIMITED_API + #else + #define Py_LIMITED_API 0x03030000 + #endif + #endif +#endif + +#include "Python.h" +#ifndef Py_PYTHON_H + #error Python headers needed to compile C extensions, please install development version of Python. +#elif PY_VERSION_HEX < 0x02070000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) + #error Cython requires Python 2.7+ or Python 3.3+. +#else +#if defined(CYTHON_LIMITED_API) && CYTHON_LIMITED_API +#define __PYX_EXTRA_ABI_MODULE_NAME "limited" +#else +#define __PYX_EXTRA_ABI_MODULE_NAME "" +#endif +#define CYTHON_ABI "3_0_8" __PYX_EXTRA_ABI_MODULE_NAME +#define __PYX_ABI_MODULE_NAME "_cython_" CYTHON_ABI +#define __PYX_TYPE_MODULE_PREFIX __PYX_ABI_MODULE_NAME "." +#define CYTHON_HEX_VERSION 0x030008F0 +#define CYTHON_FUTURE_DIVISION 1 +#include +#ifndef offsetof + #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) +#endif +#if !defined(_WIN32) && !defined(WIN32) && !defined(MS_WINDOWS) + #ifndef __stdcall + #define __stdcall + #endif + #ifndef __cdecl + #define __cdecl + #endif + #ifndef __fastcall + #define __fastcall + #endif +#endif +#ifndef DL_IMPORT + #define DL_IMPORT(t) t +#endif +#ifndef DL_EXPORT + #define DL_EXPORT(t) t +#endif +#define __PYX_COMMA , +#ifndef HAVE_LONG_LONG + #define HAVE_LONG_LONG +#endif +#ifndef PY_LONG_LONG + #define PY_LONG_LONG LONG_LONG +#endif +#ifndef Py_HUGE_VAL + #define Py_HUGE_VAL HUGE_VAL +#endif +#define __PYX_LIMITED_VERSION_HEX PY_VERSION_HEX +#if defined(GRAALVM_PYTHON) + /* For very preliminary testing purposes. Most variables are set the same as PyPy. + The existence of this section does not imply that anything works or is even tested */ + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 1 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(PYPY_VERSION) + #define CYTHON_COMPILING_IN_PYPY 1 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #if PY_VERSION_HEX < 0x03090000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1 && PYPY_VERSION_NUM >= 0x07030C00) + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(CYTHON_LIMITED_API) + #ifdef Py_LIMITED_API + #undef __PYX_LIMITED_VERSION_HEX + #define __PYX_LIMITED_VERSION_HEX Py_LIMITED_API + #endif + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 1 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_CLINE_IN_TRACEBACK + #define CYTHON_CLINE_IN_TRACEBACK 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 1 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #endif + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 1 + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(Py_GIL_DISABLED) || defined(Py_NOGIL) + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 1 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #ifndef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#else + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 1 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #ifndef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 1 + #endif + #if PY_MAJOR_VERSION < 3 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #ifndef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 1 + #endif + #ifndef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 1 + #endif + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #elif !defined(CYTHON_USE_UNICODE_WRITER) + #define CYTHON_USE_UNICODE_WRITER 1 + #endif + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #ifndef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 1 + #endif + #ifndef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL (PY_MAJOR_VERSION < 3 || PY_VERSION_HEX >= 0x03060000 && PY_VERSION_HEX < 0x030C00A6) + #endif + #ifndef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL (PY_VERSION_HEX >= 0x030700A1) + #endif + #ifndef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 1 + #endif + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #endif + #if PY_VERSION_HEX < 0x030400a1 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #elif !defined(CYTHON_USE_TP_FINALIZE) + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #if PY_VERSION_HEX < 0x030600B1 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #elif !defined(CYTHON_USE_DICT_VERSIONS) + #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX < 0x030C00A5) + #endif + #if PY_VERSION_HEX < 0x030700A3 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #elif !defined(CYTHON_USE_EXC_INFO_STACK) + #define CYTHON_USE_EXC_INFO_STACK 1 + #endif + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 1 + #endif +#endif +#if !defined(CYTHON_FAST_PYCCALL) +#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) +#endif +#if !defined(CYTHON_VECTORCALL) +#define CYTHON_VECTORCALL (CYTHON_FAST_PYCCALL && PY_VERSION_HEX >= 0x030800B1) +#endif +#define CYTHON_BACKPORT_VECTORCALL (CYTHON_METH_FASTCALL && PY_VERSION_HEX < 0x030800B1) +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_MAJOR_VERSION < 3 + #include "longintrepr.h" + #endif + #undef SHIFT + #undef BASE + #undef MASK + #ifdef SIZEOF_VOID_P + enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; + #endif +#endif +#ifndef __has_attribute + #define __has_attribute(x) 0 +#endif +#ifndef __has_cpp_attribute + #define __has_cpp_attribute(x) 0 +#endif +#ifndef CYTHON_RESTRICT + #if defined(__GNUC__) + #define CYTHON_RESTRICT __restrict__ + #elif defined(_MSC_VER) && _MSC_VER >= 1400 + #define CYTHON_RESTRICT __restrict + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_RESTRICT restrict + #else + #define CYTHON_RESTRICT + #endif +#endif +#ifndef CYTHON_UNUSED + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(maybe_unused) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(maybe_unused) + #define CYTHON_UNUSED [[maybe_unused]] + #endif + #endif + #endif +#endif +#ifndef CYTHON_UNUSED +# if defined(__GNUC__) +# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_UNUSED_VAR +# if defined(__cplusplus) + template void CYTHON_UNUSED_VAR( const T& ) { } +# else +# define CYTHON_UNUSED_VAR(x) (void)(x) +# endif +#endif +#ifndef CYTHON_MAYBE_UNUSED_VAR + #define CYTHON_MAYBE_UNUSED_VAR(x) CYTHON_UNUSED_VAR(x) +#endif +#ifndef CYTHON_NCP_UNUSED +# if CYTHON_COMPILING_IN_CPYTHON +# define CYTHON_NCP_UNUSED +# else +# define CYTHON_NCP_UNUSED CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_USE_CPP_STD_MOVE + #if defined(__cplusplus) && (\ + __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600)) + #define CYTHON_USE_CPP_STD_MOVE 1 + #else + #define CYTHON_USE_CPP_STD_MOVE 0 + #endif +#endif +#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) +#ifdef _MSC_VER + #ifndef _MSC_STDINT_H_ + #if _MSC_VER < 1300 + typedef unsigned char uint8_t; + typedef unsigned short uint16_t; + typedef unsigned int uint32_t; + #else + typedef unsigned __int8 uint8_t; + typedef unsigned __int16 uint16_t; + typedef unsigned __int32 uint32_t; + #endif + #endif + #if _MSC_VER < 1300 + #ifdef _WIN64 + typedef unsigned long long __pyx_uintptr_t; + #else + typedef unsigned int __pyx_uintptr_t; + #endif + #else + #ifdef _WIN64 + typedef unsigned __int64 __pyx_uintptr_t; + #else + typedef unsigned __int32 __pyx_uintptr_t; + #endif + #endif +#else + #include + typedef uintptr_t __pyx_uintptr_t; +#endif +#ifndef CYTHON_FALLTHROUGH + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(fallthrough) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(fallthrough) + #define CYTHON_FALLTHROUGH [[fallthrough]] + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_cpp_attribute(clang::fallthrough) + #define CYTHON_FALLTHROUGH [[clang::fallthrough]] + #elif __has_cpp_attribute(gnu::fallthrough) + #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] + #endif + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_attribute(fallthrough) + #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) + #else + #define CYTHON_FALLTHROUGH + #endif + #endif + #if defined(__clang__) && defined(__apple_build_version__) + #if __apple_build_version__ < 7000000 + #undef CYTHON_FALLTHROUGH + #define CYTHON_FALLTHROUGH + #endif + #endif +#endif +#ifdef __cplusplus + template + struct __PYX_IS_UNSIGNED_IMPL {static const bool value = T(0) < T(-1);}; + #define __PYX_IS_UNSIGNED(type) (__PYX_IS_UNSIGNED_IMPL::value) +#else + #define __PYX_IS_UNSIGNED(type) (((type)-1) > 0) +#endif +#if CYTHON_COMPILING_IN_PYPY == 1 + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x030A0000) +#else + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000) +#endif +#define __PYX_REINTERPRET_FUNCION(func_pointer, other_pointer) ((func_pointer)(void(*)(void))(other_pointer)) + +#ifndef __cplusplus + #error "Cython files generated with the C++ option must be compiled with a C++ compiler." +#endif +#ifndef CYTHON_INLINE + #if defined(__clang__) + #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) + #else + #define CYTHON_INLINE inline + #endif +#endif +template +void __Pyx_call_destructor(T& x) { + x.~T(); +} +template +class __Pyx_FakeReference { + public: + __Pyx_FakeReference() : ptr(NULL) { } + __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } + T *operator->() { return ptr; } + T *operator&() { return ptr; } + operator T&() { return *ptr; } + template bool operator ==(const U& other) const { return *ptr == other; } + template bool operator !=(const U& other) const { return *ptr != other; } + template bool operator==(const __Pyx_FakeReference& other) const { return *ptr == *other.ptr; } + template bool operator!=(const __Pyx_FakeReference& other) const { return *ptr != *other.ptr; } + private: + T *ptr; +}; + +#define __PYX_BUILD_PY_SSIZE_T "n" +#define CYTHON_FORMAT_SSIZE_T "z" +#if PY_MAJOR_VERSION < 3 + #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" + #define __Pyx_DefaultClassType PyClass_Type + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_BUILTIN_MODULE_NAME "builtins" + #define __Pyx_DefaultClassType PyType_Type +#if CYTHON_COMPILING_IN_LIMITED_API + static CYTHON_INLINE PyObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyObject *exception_table = NULL; + PyObject *types_module=NULL, *code_type=NULL, *result=NULL; + #if __PYX_LIMITED_VERSION_HEX < 0x030B0000 + PyObject *version_info; + PyObject *py_minor_version = NULL; + #endif + long minor_version = 0; + PyObject *type, *value, *traceback; + PyErr_Fetch(&type, &value, &traceback); + #if __PYX_LIMITED_VERSION_HEX >= 0x030B0000 + minor_version = 11; + #else + if (!(version_info = PySys_GetObject("version_info"))) goto end; + if (!(py_minor_version = PySequence_GetItem(version_info, 1))) goto end; + minor_version = PyLong_AsLong(py_minor_version); + Py_DECREF(py_minor_version); + if (minor_version == -1 && PyErr_Occurred()) goto end; + #endif + if (!(types_module = PyImport_ImportModule("types"))) goto end; + if (!(code_type = PyObject_GetAttrString(types_module, "CodeType"))) goto end; + if (minor_version <= 7) { + (void)p; + result = PyObject_CallFunction(code_type, "iiiiiOOOOOOiOO", a, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else if (minor_version <= 10) { + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else { + if (!(exception_table = PyBytes_FromStringAndSize(NULL, 0))) goto end; + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, name, fline, lnos, exception_table, fv, cell); + } + end: + Py_XDECREF(code_type); + Py_XDECREF(exception_table); + Py_XDECREF(types_module); + if (type) { + PyErr_Restore(type, value, traceback); + } + return result; + } + #ifndef CO_OPTIMIZED + #define CO_OPTIMIZED 0x0001 + #endif + #ifndef CO_NEWLOCALS + #define CO_NEWLOCALS 0x0002 + #endif + #ifndef CO_VARARGS + #define CO_VARARGS 0x0004 + #endif + #ifndef CO_VARKEYWORDS + #define CO_VARKEYWORDS 0x0008 + #endif + #ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x0200 + #endif + #ifndef CO_GENERATOR + #define CO_GENERATOR 0x0020 + #endif + #ifndef CO_COROUTINE + #define CO_COROUTINE 0x0080 + #endif +#elif PY_VERSION_HEX >= 0x030B0000 + static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyCodeObject *result; + PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); + if (!empty_bytes) return NULL; + result = + #if PY_VERSION_HEX >= 0x030C0000 + PyUnstable_Code_NewWithPosOnlyArgs + #else + PyCode_NewWithPosOnlyArgs + #endif + (a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, name, fline, lnos, empty_bytes); + Py_DECREF(empty_bytes); + return result; + } +#elif PY_VERSION_HEX >= 0x030800B2 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_NewWithPosOnlyArgs(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#endif +#endif +#if PY_VERSION_HEX >= 0x030900A4 || defined(Py_IS_TYPE) + #define __Pyx_IS_TYPE(ob, type) Py_IS_TYPE(ob, type) +#else + #define __Pyx_IS_TYPE(ob, type) (((const PyObject*)ob)->ob_type == (type)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_Is) + #define __Pyx_Py_Is(x, y) Py_Is(x, y) +#else + #define __Pyx_Py_Is(x, y) ((x) == (y)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsNone) + #define __Pyx_Py_IsNone(ob) Py_IsNone(ob) +#else + #define __Pyx_Py_IsNone(ob) __Pyx_Py_Is((ob), Py_None) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsTrue) + #define __Pyx_Py_IsTrue(ob) Py_IsTrue(ob) +#else + #define __Pyx_Py_IsTrue(ob) __Pyx_Py_Is((ob), Py_True) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsFalse) + #define __Pyx_Py_IsFalse(ob) Py_IsFalse(ob) +#else + #define __Pyx_Py_IsFalse(ob) __Pyx_Py_Is((ob), Py_False) +#endif +#define __Pyx_NoneAsNull(obj) (__Pyx_Py_IsNone(obj) ? NULL : (obj)) +#if PY_VERSION_HEX >= 0x030900F0 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_GC_IsFinalized(o) PyObject_GC_IsFinalized(o) +#else + #define __Pyx_PyObject_GC_IsFinalized(o) _PyGC_FINALIZED(o) +#endif +#ifndef CO_COROUTINE + #define CO_COROUTINE 0x80 +#endif +#ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x200 +#endif +#ifndef Py_TPFLAGS_CHECKTYPES + #define Py_TPFLAGS_CHECKTYPES 0 +#endif +#ifndef Py_TPFLAGS_HAVE_INDEX + #define Py_TPFLAGS_HAVE_INDEX 0 +#endif +#ifndef Py_TPFLAGS_HAVE_NEWBUFFER + #define Py_TPFLAGS_HAVE_NEWBUFFER 0 +#endif +#ifndef Py_TPFLAGS_HAVE_FINALIZE + #define Py_TPFLAGS_HAVE_FINALIZE 0 +#endif +#ifndef Py_TPFLAGS_SEQUENCE + #define Py_TPFLAGS_SEQUENCE 0 +#endif +#ifndef Py_TPFLAGS_MAPPING + #define Py_TPFLAGS_MAPPING 0 +#endif +#ifndef METH_STACKLESS + #define METH_STACKLESS 0 +#endif +#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) + #ifndef METH_FASTCALL + #define METH_FASTCALL 0x80 + #endif + typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); + typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, + Py_ssize_t nargs, PyObject *kwnames); +#else + #define __Pyx_PyCFunctionFast _PyCFunctionFast + #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords +#endif +#if CYTHON_METH_FASTCALL + #define __Pyx_METH_FASTCALL METH_FASTCALL + #define __Pyx_PyCFunction_FastCall __Pyx_PyCFunctionFast + #define __Pyx_PyCFunction_FastCallWithKeywords __Pyx_PyCFunctionFastWithKeywords +#else + #define __Pyx_METH_FASTCALL METH_VARARGS + #define __Pyx_PyCFunction_FastCall PyCFunction + #define __Pyx_PyCFunction_FastCallWithKeywords PyCFunctionWithKeywords +#endif +#if CYTHON_VECTORCALL + #define __pyx_vectorcallfunc vectorcallfunc + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET PY_VECTORCALL_ARGUMENTS_OFFSET + #define __Pyx_PyVectorcall_NARGS(n) PyVectorcall_NARGS((size_t)(n)) +#elif CYTHON_BACKPORT_VECTORCALL + typedef PyObject *(*__pyx_vectorcallfunc)(PyObject *callable, PyObject *const *args, + size_t nargsf, PyObject *kwnames); + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET ((size_t)1 << (8 * sizeof(size_t) - 1)) + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(((size_t)(n)) & ~__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET)) +#else + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET 0 + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(n)) +#endif +#if PY_MAJOR_VERSION >= 0x030900B1 +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_CheckExact(func) +#else +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_Check(func) +#endif +#define __Pyx_CyOrPyCFunction_Check(func) PyCFunction_Check(func) +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) (((PyCFunctionObject*)(func))->m_ml->ml_meth) +#elif !CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) PyCFunction_GET_FUNCTION(func) +#endif +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FLAGS(func) (((PyCFunctionObject*)(func))->m_ml->ml_flags) +static CYTHON_INLINE PyObject* __Pyx_CyOrPyCFunction_GET_SELF(PyObject *func) { + return (__Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_STATIC) ? NULL : ((PyCFunctionObject*)func)->m_self; +} +#endif +static CYTHON_INLINE int __Pyx__IsSameCFunction(PyObject *func, void *cfunc) { +#if CYTHON_COMPILING_IN_LIMITED_API + return PyCFunction_Check(func) && PyCFunction_GetFunction(func) == (PyCFunction) cfunc; +#else + return PyCFunction_Check(func) && PyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +#endif +} +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCFunction(func, cfunc) +#if __PYX_LIMITED_VERSION_HEX < 0x030900B1 + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) ((void)m, PyType_FromSpecWithBases(s, b)) + typedef PyObject *(*__Pyx_PyCMethod)(PyObject *, PyTypeObject *, PyObject *const *, size_t, PyObject *); +#else + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) PyType_FromModuleAndSpec(m, s, b) + #define __Pyx_PyCMethod PyCMethod +#endif +#ifndef METH_METHOD + #define METH_METHOD 0x200 +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) + #define PyObject_Malloc(s) PyMem_Malloc(s) + #define PyObject_Free(p) PyMem_Free(p) + #define PyObject_Realloc(p) PyMem_Realloc(p) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) +#else + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyThreadState_Current PyThreadState_Get() +#elif !CYTHON_FAST_THREAD_STATE + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#elif PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyThreadState_Current PyThreadState_GetUnchecked() +#elif PY_VERSION_HEX >= 0x03060000 + #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() +#elif PY_VERSION_HEX >= 0x03000000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#else + #define __Pyx_PyThreadState_Current _PyThreadState_Current +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE void *__Pyx_PyModule_GetState(PyObject *op) +{ + void *result; + result = PyModule_GetState(op); + if (!result) + Py_FatalError("Couldn't find the module state"); + return result; +} +#endif +#define __Pyx_PyObject_GetSlot(obj, name, func_ctype) __Pyx_PyType_GetSlot(Py_TYPE(obj), name, func_ctype) +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((func_ctype) PyType_GetSlot((type), Py_##name)) +#else + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((type)->name) +#endif +#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) +#include "pythread.h" +#define Py_tss_NEEDS_INIT 0 +typedef int Py_tss_t; +static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { + *key = PyThread_create_key(); + return 0; +} +static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { + Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); + *key = Py_tss_NEEDS_INIT; + return key; +} +static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { + PyObject_Free(key); +} +static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { + return *key != Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { + PyThread_delete_key(*key); + *key = Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { + return PyThread_set_key_value(*key, value); +} +static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { + return PyThread_get_key_value(*key); +} +#endif +#if PY_MAJOR_VERSION < 3 + #if CYTHON_COMPILING_IN_PYPY + #if PYPY_VERSION_NUM < 0x07030600 + #if defined(__cplusplus) && __cplusplus >= 201402L + [[deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")]] + #elif defined(__GNUC__) || defined(__clang__) + __attribute__ ((__deprecated__("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6"))) + #elif defined(_MSC_VER) + __declspec(deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")) + #endif + static CYTHON_INLINE int PyGILState_Check(void) { + return 0; + } + #else // PYPY_VERSION_NUM < 0x07030600 + #endif // PYPY_VERSION_NUM < 0x07030600 + #else + static CYTHON_INLINE int PyGILState_Check(void) { + PyThreadState * tstate = _PyThreadState_Current; + return tstate && (tstate == PyGILState_GetThisThreadState()); + } + #endif +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030d0000 || defined(_PyDict_NewPresized) +#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) +#else +#define __Pyx_PyDict_NewPresized(n) PyDict_New() +#endif +#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION + #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) +#else + #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX > 0x030600B4 && PY_VERSION_HEX < 0x030d0000 && CYTHON_USE_UNICODE_INTERNALS +#define __Pyx_PyDict_GetItemStrWithError(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStr(PyObject *dict, PyObject *name) { + PyObject *res = __Pyx_PyDict_GetItemStrWithError(dict, name); + if (res == NULL) PyErr_Clear(); + return res; +} +#elif PY_MAJOR_VERSION >= 3 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07020000) +#define __Pyx_PyDict_GetItemStrWithError PyDict_GetItemWithError +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#else +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStrWithError(PyObject *dict, PyObject *name) { +#if CYTHON_COMPILING_IN_PYPY + return PyDict_GetItem(dict, name); +#else + PyDictEntry *ep; + PyDictObject *mp = (PyDictObject*) dict; + long hash = ((PyStringObject *) name)->ob_shash; + assert(hash != -1); + ep = (mp->ma_lookup)(mp, name, hash); + if (ep == NULL) { + return NULL; + } + return ep->me_value; +#endif +} +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#endif +#if CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyType_GetFlags(tp) (((PyTypeObject *)tp)->tp_flags) + #define __Pyx_PyType_HasFeature(type, feature) ((__Pyx_PyType_GetFlags(type) & (feature)) != 0) + #define __Pyx_PyObject_GetIterNextFunc(obj) (Py_TYPE(obj)->tp_iternext) +#else + #define __Pyx_PyType_GetFlags(tp) (PyType_GetFlags((PyTypeObject *)tp)) + #define __Pyx_PyType_HasFeature(type, feature) PyType_HasFeature(type, feature) + #define __Pyx_PyObject_GetIterNextFunc(obj) PyIter_Next +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyObject_GenericSetAttr((PyObject*)tp, k, v) +#else + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyDict_SetItem(tp->tp_dict, k, v) +#endif +#if CYTHON_USE_TYPE_SPECS && PY_VERSION_HEX >= 0x03080000 +#define __Pyx_PyHeapTypeObject_GC_Del(obj) {\ + PyTypeObject *type = Py_TYPE((PyObject*)obj);\ + assert(__Pyx_PyType_HasFeature(type, Py_TPFLAGS_HEAPTYPE));\ + PyObject_GC_Del(obj);\ + Py_DECREF(type);\ +} +#else +#define __Pyx_PyHeapTypeObject_GC_Del(obj) PyObject_GC_Del(obj) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define CYTHON_PEP393_ENABLED 1 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GetLength(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_ReadChar(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((void)u, 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((void)u, (0)) + #define __Pyx_PyUnicode_DATA(u) ((void*)u) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)k, PyUnicode_ReadChar((PyObject*)(d), i)) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GetLength(u)) +#elif PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) + #define CYTHON_PEP393_ENABLED 1 + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_READY(op) (0) + #else + #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ + 0 : _PyUnicode_Ready((PyObject *)(op))) + #endif + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) + #define __Pyx_PyUnicode_KIND(u) ((int)PyUnicode_KIND(u)) + #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) + #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, (Py_UCS4) ch) + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) + #else + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) + #endif + #endif +#else + #define CYTHON_PEP393_ENABLED 0 + #define PyUnicode_1BYTE_KIND 1 + #define PyUnicode_2BYTE_KIND 2 + #define PyUnicode_4BYTE_KIND 4 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535U : 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((int)sizeof(Py_UNICODE)) + #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = (Py_UNICODE) ch) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) +#else + #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ + PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #if !defined(PyUnicode_DecodeUnicodeEscape) + #define PyUnicode_DecodeUnicodeEscape(s, size, errors) PyUnicode_Decode(s, size, "unicode_escape", errors) + #endif + #if !defined(PyUnicode_Contains) || (PY_MAJOR_VERSION == 2 && PYPY_VERSION_NUM < 0x07030500) + #undef PyUnicode_Contains + #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) + #endif + #if !defined(PyByteArray_Check) + #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) + #endif + #if !defined(PyObject_Format) + #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) + #endif +#endif +#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) +#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) +#else + #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) +#endif +#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) + #define PyObject_ASCII(o) PyObject_Repr(o) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBaseString_Type PyUnicode_Type + #define PyStringObject PyUnicodeObject + #define PyString_Type PyUnicode_Type + #define PyString_Check PyUnicode_Check + #define PyString_CheckExact PyUnicode_CheckExact +#ifndef PyObject_Unicode + #define PyObject_Unicode PyObject_Str +#endif +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) + #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) +#else + #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) + #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) +#endif +#if CYTHON_COMPILING_IN_CPYTHON + #define __Pyx_PySequence_ListKeepNew(obj)\ + (likely(PyList_CheckExact(obj) && Py_REFCNT(obj) == 1) ? __Pyx_NewRef(obj) : PySequence_List(obj)) +#else + #define __Pyx_PySequence_ListKeepNew(obj) PySequence_List(obj) +#endif +#ifndef PySet_CheckExact + #define PySet_CheckExact(obj) __Pyx_IS_TYPE(obj, &PySet_Type) +#endif +#if PY_VERSION_HEX >= 0x030900A4 + #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) +#else + #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) +#endif +#if CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_PySequence_ITEM(o, i) PySequence_ITEM(o, i) + #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) (PyTuple_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyList_SET_ITEM(o, i, v) (PyList_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_GET_SIZE(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_GET_SIZE(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_GET_SIZE(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_GET_SIZE(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_GET_SIZE(o) +#else + #define __Pyx_PySequence_ITEM(o, i) PySequence_GetItem(o, i) + #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) PyTuple_SetItem(o, i, v) + #define __Pyx_PyList_SET_ITEM(o, i, v) PyList_SetItem(o, i, v) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_Size(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_Size(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_Size(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_Size(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_Size(o) +#endif +#if PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyImport_AddModuleRef(name) PyImport_AddModuleRef(name) +#else + static CYTHON_INLINE PyObject *__Pyx_PyImport_AddModuleRef(const char *name) { + PyObject *module = PyImport_AddModule(name); + Py_XINCREF(module); + return module; + } +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyIntObject PyLongObject + #define PyInt_Type PyLong_Type + #define PyInt_Check(op) PyLong_Check(op) + #define PyInt_CheckExact(op) PyLong_CheckExact(op) + #define __Pyx_Py3Int_Check(op) PyLong_Check(op) + #define __Pyx_Py3Int_CheckExact(op) PyLong_CheckExact(op) + #define PyInt_FromString PyLong_FromString + #define PyInt_FromUnicode PyLong_FromUnicode + #define PyInt_FromLong PyLong_FromLong + #define PyInt_FromSize_t PyLong_FromSize_t + #define PyInt_FromSsize_t PyLong_FromSsize_t + #define PyInt_AsLong PyLong_AsLong + #define PyInt_AS_LONG PyLong_AS_LONG + #define PyInt_AsSsize_t PyLong_AsSsize_t + #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask + #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask + #define PyNumber_Int PyNumber_Long +#else + #define __Pyx_Py3Int_Check(op) (PyLong_Check(op) || PyInt_Check(op)) + #define __Pyx_Py3Int_CheckExact(op) (PyLong_CheckExact(op) || PyInt_CheckExact(op)) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBoolObject PyLongObject +#endif +#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY + #ifndef PyUnicode_InternFromString + #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) + #endif +#endif +#if PY_VERSION_HEX < 0x030200A4 + typedef long Py_hash_t; + #define __Pyx_PyInt_FromHash_t PyInt_FromLong + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t +#else + #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t +#endif +#if CYTHON_USE_ASYNC_SLOTS + #if PY_VERSION_HEX >= 0x030500B1 + #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods + #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) + #else + #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) + #endif +#else + #define __Pyx_PyType_AsAsync(obj) NULL +#endif +#ifndef __Pyx_PyAsyncMethodsStruct + typedef struct { + unaryfunc am_await; + unaryfunc am_aiter; + unaryfunc am_anext; + } __Pyx_PyAsyncMethodsStruct; +#endif + +#if defined(_WIN32) || defined(WIN32) || defined(MS_WINDOWS) + #if !defined(_USE_MATH_DEFINES) + #define _USE_MATH_DEFINES + #endif +#endif +#include +#ifdef NAN +#define __PYX_NAN() ((float) NAN) +#else +static CYTHON_INLINE float __PYX_NAN() { + float value; + memset(&value, 0xFF, sizeof(value)); + return value; +} +#endif +#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) +#define __Pyx_truncl trunc +#else +#define __Pyx_truncl truncl +#endif + +#define __PYX_MARK_ERR_POS(f_index, lineno) \ + { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } +#define __PYX_ERR(f_index, lineno, Ln_error) \ + { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } + +#ifdef CYTHON_EXTERN_C + #undef __PYX_EXTERN_C + #define __PYX_EXTERN_C CYTHON_EXTERN_C +#elif defined(__PYX_EXTERN_C) + #ifdef _MSC_VER + #pragma message ("Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead.") + #else + #warning Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead. + #endif +#else + #define __PYX_EXTERN_C extern "C++" +#endif + +#define __PYX_HAVE__selfdrive__modeld__runners__snpemodel_pyx +#define __PYX_HAVE_API__selfdrive__modeld__runners__snpemodel_pyx +/* Early includes */ +#include +#include +#include "ios" +#include "new" +#include "stdexcept" +#include "typeinfo" +#include +#include + + #if __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600) + // move should be defined for these versions of MSVC, but __cplusplus isn't set usefully + #include + + namespace cython_std { + template typename std::remove_reference::type&& move(T& t) noexcept { return std::move(t); } + template typename std::remove_reference::type&& move(T&& t) noexcept { return std::move(t); } + } + + #endif + +#include +#include +#include "msgq/visionipc/visionbuf.h" +#include "msgq/visionipc/visionipc.h" +#include "msgq/visionipc/visionipc_server.h" +#include "msgq/visionipc/visionipc_client.h" +#include "selfdrive/modeld/runners/snpemodel.h" +#include "selfdrive/modeld/runners/runmodel.h" +#include "pythread.h" +#include +#ifdef _OPENMP +#include +#endif /* _OPENMP */ + +#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) +#define CYTHON_WITHOUT_ASSERTIONS +#endif + +typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; + const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; + +#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 1 +#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) +#define __PYX_DEFAULT_STRING_ENCODING "ascii" +#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString +#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#define __Pyx_uchar_cast(c) ((unsigned char)c) +#define __Pyx_long_cast(x) ((long)x) +#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ + (sizeof(type) < sizeof(Py_ssize_t)) ||\ + (sizeof(type) > sizeof(Py_ssize_t) &&\ + likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX) &&\ + (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ + v == (type)PY_SSIZE_T_MIN))) ||\ + (sizeof(type) == sizeof(Py_ssize_t) &&\ + (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX))) ) +static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { + return (size_t) i < (size_t) limit; +} +#if defined (__cplusplus) && __cplusplus >= 201103L + #include + #define __Pyx_sst_abs(value) std::abs(value) +#elif SIZEOF_INT >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) abs(value) +#elif SIZEOF_LONG >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) labs(value) +#elif defined (_MSC_VER) + #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) +#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define __Pyx_sst_abs(value) llabs(value) +#elif defined (__GNUC__) + #define __Pyx_sst_abs(value) __builtin_llabs(value) +#else + #define __Pyx_sst_abs(value) ((value<0) ? -value : value) +#endif +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s); +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char*); +#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) +#define __Pyx_PyBytes_FromString PyBytes_FromString +#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); +#if PY_MAJOR_VERSION < 3 + #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#else + #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize +#endif +#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyObject_AsWritableString(s) ((char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableSString(s) ((signed char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) +#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) +#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) +#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) +#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const wchar_t *u) +{ + const wchar_t *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#else +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) +{ + const Py_UNICODE *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#endif +#define __Pyx_PyUnicode_FromOrdinal(o) PyUnicode_FromOrdinal((int)o) +#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) +#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode +#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode +#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) +#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); +#define __Pyx_PySequence_Tuple(obj)\ + (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); +#if CYTHON_ASSUME_SAFE_MACROS +#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) +#else +#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) +#endif +#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) +#else +#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) +#endif +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_VERSION_HEX >= 0x030C00A7 + #ifndef _PyLong_SIGN_MASK + #define _PyLong_SIGN_MASK 3 + #endif + #ifndef _PyLong_NON_SIZE_BITS + #define _PyLong_NON_SIZE_BITS 3 + #endif + #define __Pyx_PyLong_Sign(x) (((PyLongObject*)x)->long_value.lv_tag & _PyLong_SIGN_MASK) + #define __Pyx_PyLong_IsNeg(x) ((__Pyx_PyLong_Sign(x) & 2) != 0) + #define __Pyx_PyLong_IsNonNeg(x) (!__Pyx_PyLong_IsNeg(x)) + #define __Pyx_PyLong_IsZero(x) (__Pyx_PyLong_Sign(x) & 1) + #define __Pyx_PyLong_IsPos(x) (__Pyx_PyLong_Sign(x) == 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) (__Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) ((Py_ssize_t) (((PyLongObject*)x)->long_value.lv_tag >> _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_SignedDigitCount(x)\ + ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * __Pyx_PyLong_DigitCount(x)) + #if defined(PyUnstable_Long_IsCompact) && defined(PyUnstable_Long_CompactValue) + #define __Pyx_PyLong_IsCompact(x) PyUnstable_Long_IsCompact((PyLongObject*) x) + #define __Pyx_PyLong_CompactValue(x) PyUnstable_Long_CompactValue((PyLongObject*) x) + #else + #define __Pyx_PyLong_IsCompact(x) (((PyLongObject*)x)->long_value.lv_tag < (2 << _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_CompactValue(x) ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * (Py_ssize_t) __Pyx_PyLong_Digits(x)[0]) + #endif + typedef Py_ssize_t __Pyx_compact_pylong; + typedef size_t __Pyx_compact_upylong; + #else + #define __Pyx_PyLong_IsNeg(x) (Py_SIZE(x) < 0) + #define __Pyx_PyLong_IsNonNeg(x) (Py_SIZE(x) >= 0) + #define __Pyx_PyLong_IsZero(x) (Py_SIZE(x) == 0) + #define __Pyx_PyLong_IsPos(x) (Py_SIZE(x) > 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) ((Py_SIZE(x) == 0) ? 0 : __Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) __Pyx_sst_abs(Py_SIZE(x)) + #define __Pyx_PyLong_SignedDigitCount(x) Py_SIZE(x) + #define __Pyx_PyLong_IsCompact(x) (Py_SIZE(x) == 0 || Py_SIZE(x) == 1 || Py_SIZE(x) == -1) + #define __Pyx_PyLong_CompactValue(x)\ + ((Py_SIZE(x) == 0) ? (sdigit) 0 : ((Py_SIZE(x) < 0) ? -(sdigit)__Pyx_PyLong_Digits(x)[0] : (sdigit)__Pyx_PyLong_Digits(x)[0])) + typedef sdigit __Pyx_compact_pylong; + typedef digit __Pyx_compact_upylong; + #endif + #if PY_VERSION_HEX >= 0x030C00A5 + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->long_value.ob_digit) + #else + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->ob_digit) + #endif +#endif +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII +#include +static int __Pyx_sys_getdefaultencoding_not_ascii; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + PyObject* ascii_chars_u = NULL; + PyObject* ascii_chars_b = NULL; + const char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + if (strcmp(default_encoding_c, "ascii") == 0) { + __Pyx_sys_getdefaultencoding_not_ascii = 0; + } else { + char ascii_chars[128]; + int c; + for (c = 0; c < 128; c++) { + ascii_chars[c] = (char) c; + } + __Pyx_sys_getdefaultencoding_not_ascii = 1; + ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); + if (!ascii_chars_u) goto bad; + ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); + if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { + PyErr_Format( + PyExc_ValueError, + "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", + default_encoding_c); + goto bad; + } + Py_DECREF(ascii_chars_u); + Py_DECREF(ascii_chars_b); + } + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + Py_XDECREF(ascii_chars_u); + Py_XDECREF(ascii_chars_b); + return -1; +} +#endif +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3 +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL) +#else +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL) +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#include +static char* __PYX_DEFAULT_STRING_ENCODING; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1); + if (!__PYX_DEFAULT_STRING_ENCODING) goto bad; + strcpy(__PYX_DEFAULT_STRING_ENCODING, default_encoding_c); + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + return -1; +} +#endif +#endif + + +/* Test for GCC > 2.95 */ +#if defined(__GNUC__) && (__GNUC__ > 2 || (__GNUC__ == 2 && (__GNUC_MINOR__ > 95))) + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#else /* !__GNUC__ or GCC < 2.95 */ + #define likely(x) (x) + #define unlikely(x) (x) +#endif /* __GNUC__ */ +static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void)ptr; } + +#if !CYTHON_USE_MODULE_STATE +static PyObject *__pyx_m = NULL; +#endif +static int __pyx_lineno; +static int __pyx_clineno = 0; +static const char * __pyx_cfilenm = __FILE__; +static const char *__pyx_filename; + +/* #### Code section: filename_table ### */ + +static const char *__pyx_f[] = { + "", + "selfdrive/modeld/runners/snpemodel_pyx.pyx", + "msgq/visionipc/visionipc_pyx.pxd", + "selfdrive/modeld/models/commonmodel_pyx.pxd", +}; +/* #### Code section: utility_code_proto_before_types ### */ +/* ForceInitThreads.proto */ +#ifndef __PYX_FORCE_INIT_THREADS + #define __PYX_FORCE_INIT_THREADS 0 +#endif + +/* NoFastGil.proto */ +#define __Pyx_PyGILState_Ensure PyGILState_Ensure +#define __Pyx_PyGILState_Release PyGILState_Release +#define __Pyx_FastGIL_Remember() +#define __Pyx_FastGIL_Forget() +#define __Pyx_FastGilFuncInit() + +/* BufferFormatStructs.proto */ +struct __Pyx_StructField_; +#define __PYX_BUF_FLAGS_PACKED_STRUCT (1 << 0) +typedef struct { + const char* name; + struct __Pyx_StructField_* fields; + size_t size; + size_t arraysize[8]; + int ndim; + char typegroup; + char is_unsigned; + int flags; +} __Pyx_TypeInfo; +typedef struct __Pyx_StructField_ { + __Pyx_TypeInfo* type; + const char* name; + size_t offset; +} __Pyx_StructField; +typedef struct { + __Pyx_StructField* field; + size_t parent_offset; +} __Pyx_BufFmt_StackElem; +typedef struct { + __Pyx_StructField root; + __Pyx_BufFmt_StackElem* head; + size_t fmt_offset; + size_t new_count, enc_count; + size_t struct_alignment; + int is_complex; + char enc_type; + char new_packmode; + char enc_packmode; + char is_valid_array; +} __Pyx_BufFmt_Context; + +/* Atomics.proto */ +#include +#ifndef CYTHON_ATOMICS + #define CYTHON_ATOMICS 1 +#endif +#define __PYX_CYTHON_ATOMICS_ENABLED() CYTHON_ATOMICS +#define __pyx_atomic_int_type int +#define __pyx_nonatomic_int_type int +#if CYTHON_ATOMICS && (defined(__STDC_VERSION__) &&\ + (__STDC_VERSION__ >= 201112L) &&\ + !defined(__STDC_NO_ATOMICS__)) + #include +#elif CYTHON_ATOMICS && (defined(__cplusplus) && (\ + (__cplusplus >= 201103L) ||\ + (defined(_MSC_VER) && _MSC_VER >= 1700))) + #include +#endif +#if CYTHON_ATOMICS && (defined(__STDC_VERSION__) &&\ + (__STDC_VERSION__ >= 201112L) &&\ + !defined(__STDC_NO_ATOMICS__) &&\ + ATOMIC_INT_LOCK_FREE == 2) + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type atomic_int + #define __pyx_atomic_incr_aligned(value) atomic_fetch_add_explicit(value, 1, memory_order_relaxed) + #define __pyx_atomic_decr_aligned(value) atomic_fetch_sub_explicit(value, 1, memory_order_acq_rel) + #if defined(__PYX_DEBUG_ATOMICS) && defined(_MSC_VER) + #pragma message ("Using standard C atomics") + #elif defined(__PYX_DEBUG_ATOMICS) + #warning "Using standard C atomics" + #endif +#elif CYTHON_ATOMICS && (defined(__cplusplus) && (\ + (__cplusplus >= 201103L) ||\ +\ + (defined(_MSC_VER) && _MSC_VER >= 1700)) &&\ + ATOMIC_INT_LOCK_FREE == 2) + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type std::atomic_int + #define __pyx_atomic_incr_aligned(value) std::atomic_fetch_add_explicit(value, 1, std::memory_order_relaxed) + #define __pyx_atomic_decr_aligned(value) std::atomic_fetch_sub_explicit(value, 1, std::memory_order_acq_rel) + #if defined(__PYX_DEBUG_ATOMICS) && defined(_MSC_VER) + #pragma message ("Using standard C++ atomics") + #elif defined(__PYX_DEBUG_ATOMICS) + #warning "Using standard C++ atomics" + #endif +#elif CYTHON_ATOMICS && (__GNUC__ >= 5 || (__GNUC__ == 4 &&\ + (__GNUC_MINOR__ > 1 ||\ + (__GNUC_MINOR__ == 1 && __GNUC_PATCHLEVEL__ >= 2)))) + #define __pyx_atomic_incr_aligned(value) __sync_fetch_and_add(value, 1) + #define __pyx_atomic_decr_aligned(value) __sync_fetch_and_sub(value, 1) + #ifdef __PYX_DEBUG_ATOMICS + #warning "Using GNU atomics" + #endif +#elif CYTHON_ATOMICS && defined(_MSC_VER) + #include + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type long + #undef __pyx_nonatomic_int_type + #define __pyx_nonatomic_int_type long + #pragma intrinsic (_InterlockedExchangeAdd) + #define __pyx_atomic_incr_aligned(value) _InterlockedExchangeAdd(value, 1) + #define __pyx_atomic_decr_aligned(value) _InterlockedExchangeAdd(value, -1) + #ifdef __PYX_DEBUG_ATOMICS + #pragma message ("Using MSVC atomics") + #endif +#else + #undef CYTHON_ATOMICS + #define CYTHON_ATOMICS 0 + #ifdef __PYX_DEBUG_ATOMICS + #warning "Not using atomics" + #endif +#endif +#if CYTHON_ATOMICS + #define __pyx_add_acquisition_count(memview)\ + __pyx_atomic_incr_aligned(__pyx_get_slice_count_pointer(memview)) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_atomic_decr_aligned(__pyx_get_slice_count_pointer(memview)) +#else + #define __pyx_add_acquisition_count(memview)\ + __pyx_add_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_sub_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) +#endif + +/* MemviewSliceStruct.proto */ +struct __pyx_memoryview_obj; +typedef struct { + struct __pyx_memoryview_obj *memview; + char *data; + Py_ssize_t shape[8]; + Py_ssize_t strides[8]; + Py_ssize_t suboffsets[8]; +} __Pyx_memviewslice; +#define __Pyx_MemoryView_Len(m) (m.shape[0]) + +/* #### Code section: numeric_typedefs ### */ +/* #### Code section: complex_type_declarations ### */ +/* #### Code section: type_declarations ### */ + +/*--- Type declarations ---*/ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext; +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf; +struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext; +struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem; +struct __pyx_obj_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel; +struct __pyx_obj_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel; +struct __pyx_array_obj; +struct __pyx_MemviewEnum_obj; +struct __pyx_memoryview_obj; +struct __pyx_memoryviewslice_obj; + +/* "msgq/visionipc/visionipc_pyx.pxd":7 + * from .visionipc cimport cl_device_id, cl_context + * + * cdef class CLContext: # <<<<<<<<<<<<<< + * cdef cl_device_id device_id + * cdef cl_context context + */ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext { + PyObject_HEAD + cl_device_id device_id; + cl_context context; +}; + + +/* "msgq/visionipc/visionipc_pyx.pxd":11 + * cdef cl_context context + * + * cdef class VisionBuf: # <<<<<<<<<<<<<< + * cdef cppVisionBuf * buf + * + */ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf { + PyObject_HEAD + struct __pyx_vtabstruct_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_vtab; + VisionBuf *buf; +}; + + +/* "selfdrive/modeld/models/commonmodel_pyx.pxd":6 + * from msgq.visionipc.visionipc_pyx cimport CLContext as BaseCLContext + * + * cdef class CLContext(BaseCLContext): # <<<<<<<<<<<<<< + * pass + * + */ +struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext { + struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext __pyx_base; +}; + + +/* "selfdrive/modeld/models/commonmodel_pyx.pxd":9 + * pass + * + * cdef class CLMem: # <<<<<<<<<<<<<< + * cdef cl_mem * mem + * + */ +struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem { + PyObject_HEAD + struct __pyx_vtabstruct_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem *__pyx_vtab; + cl_mem *mem; +}; + + +/* "selfdrive/modeld/runners/runmodel_pyx.pxd":5 + * from .runmodel cimport RunModel as cppRunModel + * + * cdef class RunModel: # <<<<<<<<<<<<<< + * cdef cppRunModel * model + */ +struct __pyx_obj_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel { + PyObject_HEAD + RunModel *model; +}; + + +/* "selfdrive/modeld/runners/snpemodel_pyx.pyx":15 + * os.environ['ADSP_LIBRARY_PATH'] = "/data/pythonpath/third_party/snpe/dsp/" + * + * cdef class SNPEModel(RunModel): # <<<<<<<<<<<<<< + * def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context): + * self.model = new cppSNPEModel(path, &output[0], len(output), runtime, use_tf8, context.context) + */ +struct __pyx_obj_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel { + struct __pyx_obj_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel __pyx_base; +}; + + +/* "View.MemoryView":114 + * @cython.collection_type("sequence") + * @cname("__pyx_array") + * cdef class array: # <<<<<<<<<<<<<< + * + * cdef: + */ +struct __pyx_array_obj { + PyObject_HEAD + struct __pyx_vtabstruct_array *__pyx_vtab; 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(PyObject*) Py_TYPE(__pyx_tstate->current_exception) : (PyObject*) NULL) +#else +#define __Pyx_PyErr_Occurred() (__pyx_tstate->curexc_type != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->curexc_type) +#endif +#else +#define __Pyx_PyThreadState_declare +#define __Pyx_PyThreadState_assign +#define __Pyx_PyErr_Occurred() (PyErr_Occurred() != NULL) +#define __Pyx_PyErr_CurrentExceptionType() PyErr_Occurred() +#endif + +/* PyErrFetchRestore.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_Clear() __Pyx_ErrRestore(NULL, NULL, NULL) +#define __Pyx_ErrRestoreWithState(type, value, tb) __Pyx_ErrRestoreInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) __Pyx_ErrFetchInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) __Pyx_ErrRestoreInState(__pyx_tstate, type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) __Pyx_ErrFetchInState(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A6 +#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) +#else +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#endif +#else +#define __Pyx_PyErr_Clear() PyErr_Clear() +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) +#endif + +/* PyObjectGetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n) +#endif + +/* PyObjectGetAttrStrNoError.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); + +/* GetBuiltinName.proto */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name); + +/* TupleAndListFromArray.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n); +static CYTHON_INLINE PyObject* __Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n); +#endif + +/* IncludeStringH.proto */ +#include + +/* BytesEquals.proto */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals); + +/* UnicodeEquals.proto */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals); + +/* fastcall.proto */ +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_VARARGS(args, i) PySequence_GetItem(args, i) +#elif CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GET_ITEM(args, i) +#else + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GetItem(args, i) +#endif +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_NewRef_VARARGS(arg) __Pyx_NewRef(arg) + #define __Pyx_Arg_XDECREF_VARARGS(arg) Py_XDECREF(arg) +#else + #define __Pyx_Arg_NewRef_VARARGS(arg) arg + #define __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#define __Pyx_NumKwargs_VARARGS(kwds) PyDict_Size(kwds) +#define __Pyx_KwValues_VARARGS(args, nargs) NULL +#define __Pyx_GetKwValue_VARARGS(kw, kwvalues, s) __Pyx_PyDict_GetItemStrWithError(kw, s) +#define __Pyx_KwargsAsDict_VARARGS(kw, kwvalues) PyDict_Copy(kw) +#if CYTHON_METH_FASTCALL + #define __Pyx_Arg_FASTCALL(args, i) args[i] + #define __Pyx_NumKwargs_FASTCALL(kwds) PyTuple_GET_SIZE(kwds) + #define __Pyx_KwValues_FASTCALL(args, nargs) ((args) + (nargs)) + static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); + #else + #define __Pyx_KwargsAsDict_FASTCALL(kw, kwvalues) _PyStack_AsDict(kwvalues, kw) + #endif + #define __Pyx_Arg_NewRef_FASTCALL(arg) arg /* no-op, __Pyx_Arg_FASTCALL is direct and this needs + to have the same reference counting */ + #define __Pyx_Arg_XDECREF_FASTCALL(arg) +#else + #define __Pyx_Arg_FASTCALL __Pyx_Arg_VARARGS + #define __Pyx_NumKwargs_FASTCALL __Pyx_NumKwargs_VARARGS + #define __Pyx_KwValues_FASTCALL __Pyx_KwValues_VARARGS + #define __Pyx_GetKwValue_FASTCALL __Pyx_GetKwValue_VARARGS + #define __Pyx_KwargsAsDict_FASTCALL __Pyx_KwargsAsDict_VARARGS + #define __Pyx_Arg_NewRef_FASTCALL(arg) __Pyx_Arg_NewRef_VARARGS(arg) + #define __Pyx_Arg_XDECREF_FASTCALL(arg) __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_VARARGS(args, start), stop - start) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_FASTCALL(args, start), stop - start) +#else +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) PyTuple_GetSlice(args, start, stop) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) PyTuple_GetSlice(args, start, stop) +#endif + +/* RaiseArgTupleInvalid.proto */ +static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, + Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); + +/* RaiseDoubleKeywords.proto */ +static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); + +/* ParseKeywords.proto */ +static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args, + const char* function_name); + +/* ArgTypeTest.proto */ +#define __Pyx_ArgTypeTest(obj, type, none_allowed, name, exact)\ + ((likely(__Pyx_IS_TYPE(obj, type) | (none_allowed && (obj == Py_None)))) ? 1 :\ + __Pyx__ArgTypeTest(obj, type, name, exact)) +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact); + +/* RaiseException.proto */ +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause); + +/* PyFunctionFastCall.proto */ +#if CYTHON_FAST_PYCALL +#if !CYTHON_VECTORCALL +#define __Pyx_PyFunction_FastCall(func, args, nargs)\ + __Pyx_PyFunction_FastCallDict((func), (args), (nargs), NULL) +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs); +#endif +#define __Pyx_BUILD_ASSERT_EXPR(cond)\ + (sizeof(char [1 - 2*!(cond)]) - 1) +#ifndef Py_MEMBER_SIZE +#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member) +#endif +#if !CYTHON_VECTORCALL +#if PY_VERSION_HEX >= 0x03080000 + #include "frameobject.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif + #define __Pxy_PyFrame_Initialize_Offsets() + #define __Pyx_PyFrame_GetLocalsplus(frame) ((frame)->f_localsplus) +#else + static size_t __pyx_pyframe_localsplus_offset = 0; + #include "frameobject.h" + #define __Pxy_PyFrame_Initialize_Offsets()\ + ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\ + (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus))) + #define __Pyx_PyFrame_GetLocalsplus(frame)\ + (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset)) +#endif +#endif +#endif + +/* PyObjectCall.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw); +#else +#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw) +#endif + +/* PyObjectCallMethO.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg); +#endif + +/* PyObjectFastCall.proto */ +#define __Pyx_PyObject_FastCall(func, args, nargs) __Pyx_PyObject_FastCallDict(func, args, (size_t)(nargs), NULL) +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs); + +/* RaiseUnexpectedTypeError.proto */ +static int __Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj); + +/* GCCDiagnostics.proto */ +#if !defined(__INTEL_COMPILER) && defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) +#define __Pyx_HAS_GCC_DIAGNOSTIC +#endif + +/* BuildPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_Py_ssize_t(Py_ssize_t value, Py_ssize_t width, char padding_char, char format_char); + +/* JoinPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char); + +/* StrEquals.proto */ +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyString_Equals __Pyx_PyUnicode_Equals +#else +#define __Pyx_PyString_Equals __Pyx_PyBytes_Equals +#endif + +/* PyObjectFormatSimple.proto */ +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#elif PY_MAJOR_VERSION < 3 + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyString_CheckExact(s)) ? PyUnicode_FromEncodedObject(s, NULL, "strict") :\ + PyObject_Format(s, f)) +#elif CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyLong_CheckExact(s)) ? PyLong_Type.tp_repr(s) :\ + likely(PyFloat_CheckExact(s)) ? PyFloat_Type.tp_repr(s) :\ + PyObject_Format(s, f)) +#else + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#endif + +CYTHON_UNUSED static int __pyx_array_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *); /*proto*/ +/* GetAttr.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *, PyObject *); + +/* GetItemInt.proto */ +#define __Pyx_GetItemInt(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Fast(o, (Py_ssize_t)i, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\ + __Pyx_GetItemInt_Generic(o, to_py_func(i)))) +#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j); +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, + int is_list, int wraparound, int boundscheck); + +/* PyObjectCallOneArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg); + +/* ObjectGetItem.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key); +#else +#define __Pyx_PyObject_GetItem(obj, key) PyObject_GetItem(obj, key) +#endif + +/* KeywordStringCheck.proto */ +static int __Pyx_CheckKeywordStrings(PyObject *kw, const char* function_name, int kw_allowed); + +/* DivInt[Py_ssize_t].proto */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t, Py_ssize_t); + +/* UnaryNegOverflows.proto */ +#define __Pyx_UNARY_NEG_WOULD_OVERFLOW(x)\ + (((x) < 0) & ((unsigned long)(x) == 0-(unsigned long)(x))) + +/* GetAttr3.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *, PyObject *, PyObject *); + +/* PyDictVersioning.proto */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) +#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ + (version_var) = __PYX_GET_DICT_VERSION(dict);\ + (cache_var) = (value); +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ + (VAR) = __pyx_dict_cached_value;\ + } else {\ + (VAR) = __pyx_dict_cached_value = (LOOKUP);\ + __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ + }\ +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); +#else +#define __PYX_GET_DICT_VERSION(dict) (0) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); +#endif + +/* GetModuleGlobalName.proto */ +#if CYTHON_USE_DICT_VERSIONS +#define __Pyx_GetModuleGlobalName(var, name) do {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + (var) = (likely(__pyx_dict_version == __PYX_GET_DICT_VERSION(__pyx_d))) ?\ + (likely(__pyx_dict_cached_value) ? __Pyx_NewRef(__pyx_dict_cached_value) : __Pyx_GetBuiltinName(name)) :\ + __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +#define __Pyx_GetModuleGlobalNameUncached(var, name) do {\ + PY_UINT64_T __pyx_dict_version;\ + PyObject *__pyx_dict_cached_value;\ + (var) = __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value); +#else +#define __Pyx_GetModuleGlobalName(var, name) (var) = __Pyx__GetModuleGlobalName(name) +#define __Pyx_GetModuleGlobalNameUncached(var, name) (var) = __Pyx__GetModuleGlobalName(name) +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name); +#endif + +/* AssertionsEnabled.proto */ +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag) + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (1) +#elif CYTHON_COMPILING_IN_LIMITED_API || (CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030C0000) + static int __pyx_assertions_enabled_flag; + #define __pyx_assertions_enabled() (__pyx_assertions_enabled_flag) + static int __Pyx_init_assertions_enabled(void) { + PyObject *builtins, *debug, *debug_str; + int flag; + builtins = PyEval_GetBuiltins(); + if (!builtins) goto bad; + debug_str = PyUnicode_FromStringAndSize("__debug__", 9); + if (!debug_str) goto bad; + debug = PyObject_GetItem(builtins, debug_str); + Py_DECREF(debug_str); + if (!debug) goto bad; + flag = PyObject_IsTrue(debug); + Py_DECREF(debug); + if (flag == -1) goto bad; + __pyx_assertions_enabled_flag = flag; + return 0; + bad: + __pyx_assertions_enabled_flag = 1; + return -1; + } +#else + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (!Py_OptimizeFlag) +#endif + +/* RaiseTooManyValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected); + +/* RaiseNeedMoreValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index); + +/* RaiseNoneIterError.proto */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void); + +/* ExtTypeTest.proto */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type); + +/* GetTopmostException.proto */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * __Pyx_PyErr_GetTopmostException(PyThreadState *tstate); +#endif + +/* SaveResetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSave(type, value, tb) __Pyx__ExceptionSave(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#define __Pyx_ExceptionReset(type, value, tb) __Pyx__ExceptionReset(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +#else +#define __Pyx_ExceptionSave(type, value, tb) PyErr_GetExcInfo(type, value, tb) +#define __Pyx_ExceptionReset(type, value, tb) PyErr_SetExcInfo(type, value, tb) +#endif + +/* GetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_GetException(type, value, tb) __Pyx__GetException(__pyx_tstate, type, value, tb) +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* SwapException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSwap(type, value, tb) __Pyx__ExceptionSwap(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* Import.proto */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level); + +/* ImportDottedModule.proto */ +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple); +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple); +#endif + +/* FastTypeChecks.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) __Pyx_IsAnySubtype2(Py_TYPE(obj), (PyTypeObject *)type1, (PyTypeObject *)type2) +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); +#else +#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) (PyObject_TypeCheck(obj, (PyTypeObject *)type1) || PyObject_TypeCheck(obj, (PyTypeObject *)type2)) +#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) +#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) +#endif +#define __Pyx_PyErr_ExceptionMatches2(err1, err2) __Pyx_PyErr_GivenExceptionMatches2(__Pyx_PyErr_CurrentExceptionType(), err1, err2) +#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) + +CYTHON_UNUSED static int __pyx_memoryview_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +/* ListCompAppend.proto */ +#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS +static CYTHON_INLINE int __Pyx_ListComp_Append(PyObject* list, PyObject* x) { + PyListObject* L = (PyListObject*) list; + Py_ssize_t len = Py_SIZE(list); + if (likely(L->allocated > len)) { + Py_INCREF(x); + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + L->ob_item[len] = x; + #else + PyList_SET_ITEM(list, len, x); + #endif + __Pyx_SET_SIZE(list, len + 1); + return 0; + } + return PyList_Append(list, x); +} +#else +#define __Pyx_ListComp_Append(L,x) PyList_Append(L,x) +#endif + +/* PySequenceMultiply.proto */ +#define __Pyx_PySequence_Multiply_Left(mul, seq) __Pyx_PySequence_Multiply(seq, mul) +static CYTHON_INLINE PyObject* __Pyx_PySequence_Multiply(PyObject *seq, Py_ssize_t mul); + +/* SetItemInt.proto */ +#define __Pyx_SetItemInt(o, i, v, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_SetItemInt_Fast(o, (Py_ssize_t)i, v, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list assignment index out of range"), -1) :\ + __Pyx_SetItemInt_Generic(o, to_py_func(i), v))) +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v); +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, + int is_list, int wraparound, int boundscheck); + +/* RaiseUnboundLocalError.proto */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname); + +/* DivInt[long].proto */ +static CYTHON_INLINE long __Pyx_div_long(long, long); + +/* PySequenceContains.proto */ +static CYTHON_INLINE int __Pyx_PySequence_ContainsTF(PyObject* item, PyObject* seq, int eq) { + int result = PySequence_Contains(seq, item); + return unlikely(result < 0) ? result : (result == (eq == Py_EQ)); +} + +/* ImportFrom.proto */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name); + +/* HasAttr.proto */ +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 +#define __Pyx_HasAttr(o, n) PyObject_HasAttrWithError(o, n) +#else +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *, PyObject *); +#endif + +/* MoveIfSupported.proto */ +#if CYTHON_USE_CPP_STD_MOVE + #include + #define __PYX_STD_MOVE_IF_SUPPORTED(x) std::move(x) +#else + #define __PYX_STD_MOVE_IF_SUPPORTED(x) x +#endif + +/* BufferIndexError.proto */ +static void __Pyx_RaiseBufferIndexError(int axis); + +/* PyObject_GenericGetAttrNoDict.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr +#endif + +/* PyObject_GenericGetAttr.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr +#endif + +/* TypeImport.proto */ +#ifndef __PYX_HAVE_RT_ImportType_proto_3_0_8 +#define __PYX_HAVE_RT_ImportType_proto_3_0_8 +#if defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L +#include +#endif +#if (defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) || __cplusplus >= 201103L +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) alignof(s) +#else +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) sizeof(void*) +#endif +enum __Pyx_ImportType_CheckSize_3_0_8 { + __Pyx_ImportType_CheckSize_Error_3_0_8 = 0, + __Pyx_ImportType_CheckSize_Warn_3_0_8 = 1, + __Pyx_ImportType_CheckSize_Ignore_3_0_8 = 2 +}; +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject* module, const char *module_name, const char *class_name, size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size); +#endif + +/* IncludeStructmemberH.proto */ +#include + +/* FixUpExtensionType.proto */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type); +#endif + +/* PyObjectCallNoArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func); + +/* PyObjectGetMethod.proto */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method); + +/* PyObjectCallMethod0.proto */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name); + +/* ValidateBasesTuple.proto */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases); +#endif + +/* PyType_Ready.proto */ +CYTHON_UNUSED static int __Pyx_PyType_Ready(PyTypeObject *t); + +/* SetupReduce.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce(PyObject* type_obj); +#endif + +/* SetVTable.proto */ +static int __Pyx_SetVtable(PyTypeObject* typeptr , void* vtable); + +/* GetVTable.proto */ +static void* __Pyx_GetVtable(PyTypeObject *type); + +/* MergeVTables.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type); +#endif + +/* FetchSharedCythonModule.proto */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void); + +/* FetchCommonType.proto */ +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type); +#else +static PyTypeObject* __Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases); +#endif + +/* PyMethodNew.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + PyObject *typesModule=NULL, *methodType=NULL, *result=NULL; + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + typesModule = PyImport_ImportModule("types"); + if (!typesModule) return NULL; + methodType = PyObject_GetAttrString(typesModule, "MethodType"); + Py_DECREF(typesModule); + if (!methodType) return NULL; + result = PyObject_CallFunctionObjArgs(methodType, func, self, NULL); + Py_DECREF(methodType); + return result; +} +#elif PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + return PyMethod_New(func, self); +} +#else + #define __Pyx_PyMethod_New PyMethod_New +#endif + +/* PyVectorcallFastCallDict.proto */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw); +#endif + +/* CythonFunctionShared.proto */ +#define __Pyx_CyFunction_USED +#define __Pyx_CYFUNCTION_STATICMETHOD 0x01 +#define __Pyx_CYFUNCTION_CLASSMETHOD 0x02 +#define __Pyx_CYFUNCTION_CCLASS 0x04 +#define __Pyx_CYFUNCTION_COROUTINE 0x08 +#define __Pyx_CyFunction_GetClosure(f)\ + (((__pyx_CyFunctionObject *) (f))->func_closure) +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_CyFunction_GetClassObj(f)\ + (((__pyx_CyFunctionObject *) (f))->func_classobj) +#else + #define __Pyx_CyFunction_GetClassObj(f)\ + ((PyObject*) ((PyCMethodObject *) (f))->mm_class) +#endif +#define __Pyx_CyFunction_SetClassObj(f, classobj)\ + __Pyx__CyFunction_SetClassObj((__pyx_CyFunctionObject *) (f), (classobj)) +#define __Pyx_CyFunction_Defaults(type, f)\ + ((type *)(((__pyx_CyFunctionObject *) (f))->defaults)) +#define __Pyx_CyFunction_SetDefaultsGetter(f, g)\ + ((__pyx_CyFunctionObject *) (f))->defaults_getter = (g) +typedef struct { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject_HEAD + PyObject *func; +#elif PY_VERSION_HEX < 0x030900B1 + PyCFunctionObject func; +#else + PyCMethodObject func; +#endif +#if CYTHON_BACKPORT_VECTORCALL + __pyx_vectorcallfunc func_vectorcall; +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_weakreflist; +#endif + PyObject *func_dict; + PyObject *func_name; + PyObject *func_qualname; + PyObject *func_doc; + PyObject *func_globals; + PyObject *func_code; + PyObject *func_closure; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_classobj; +#endif + void *defaults; + int defaults_pyobjects; + size_t defaults_size; + int flags; + PyObject *defaults_tuple; + PyObject *defaults_kwdict; + PyObject *(*defaults_getter)(PyObject *); + PyObject *func_annotations; + PyObject *func_is_coroutine; +} __pyx_CyFunctionObject; +#undef __Pyx_CyOrPyCFunction_Check +#define __Pyx_CyFunction_Check(obj) __Pyx_TypeCheck(obj, __pyx_CyFunctionType) +#define __Pyx_CyOrPyCFunction_Check(obj) __Pyx_TypeCheck2(obj, __pyx_CyFunctionType, &PyCFunction_Type) +#define __Pyx_CyFunction_CheckExact(obj) __Pyx_IS_TYPE(obj, __pyx_CyFunctionType) +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc); +#undef __Pyx_IsSameCFunction +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCyOrCFunction(func, cfunc) +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject* op, PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj); +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *m, + size_t size, + int pyobjects); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *m, + PyObject *tuple); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *m, + PyObject *dict); +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *m, + PyObject *dict); +static int __pyx_CyFunction_init(PyObject *module); +#if CYTHON_METH_FASTCALL +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +#if CYTHON_BACKPORT_VECTORCALL +#define __Pyx_CyFunction_func_vectorcall(f) (((__pyx_CyFunctionObject*)f)->func_vectorcall) +#else +#define __Pyx_CyFunction_func_vectorcall(f) (((PyCFunctionObject*)f)->vectorcall) +#endif +#endif + +/* CythonFunction.proto */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); + +/* CLineInTraceback.proto */ +#ifdef CYTHON_CLINE_IN_TRACEBACK +#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) +#else +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); +#endif + +/* CodeObjectCache.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +typedef struct { + PyCodeObject* code_object; + int code_line; +} __Pyx_CodeObjectCacheEntry; +struct __Pyx_CodeObjectCache { + int count; + int max_count; + __Pyx_CodeObjectCacheEntry* entries; +}; +static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); +static PyCodeObject *__pyx_find_code_object(int code_line); +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); +#endif + +/* AddTraceback.proto */ +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename); + +#if PY_MAJOR_VERSION < 3 + static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags); + static void __Pyx_ReleaseBuffer(Py_buffer *view); +#else + #define __Pyx_GetBuffer PyObject_GetBuffer + #define __Pyx_ReleaseBuffer PyBuffer_Release +#endif + + +/* BufferStructDeclare.proto */ +typedef struct { + Py_ssize_t shape, strides, suboffsets; +} __Pyx_Buf_DimInfo; +typedef struct { + size_t refcount; + Py_buffer pybuffer; +} __Pyx_Buffer; +typedef struct { + __Pyx_Buffer *rcbuffer; + char *data; + __Pyx_Buf_DimInfo diminfo[8]; +} __Pyx_LocalBuf_ND; + +/* MemviewSliceIsContig.proto */ +static int __pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim); + +/* OverlappingSlices.proto */ +static int __pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize); + +/* IsLittleEndian.proto */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void); + +/* BufferFormatCheck.proto */ +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts); +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type); + +/* TypeInfoCompare.proto */ +static int __pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b); + +/* MemviewSliceValidateAndInit.proto */ +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj); + +/* ObjectToMemviewSlice.proto */ +static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_float(PyObject *, int writable_flag); + +/* MemviewDtypeToObject.proto */ +static CYTHON_INLINE PyObject *__pyx_memview_get_float(const char *itemp); +static CYTHON_INLINE int __pyx_memview_set_float(const char *itemp, PyObject *obj); + +/* MemviewSliceCopyTemplate.proto */ +static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object); + +/* MemviewSliceInit.proto */ +#define __Pyx_BUF_MAX_NDIMS %(BUF_MAX_NDIMS)d +#define __Pyx_MEMVIEW_DIRECT 1 +#define __Pyx_MEMVIEW_PTR 2 +#define __Pyx_MEMVIEW_FULL 4 +#define __Pyx_MEMVIEW_CONTIG 8 +#define __Pyx_MEMVIEW_STRIDED 16 +#define __Pyx_MEMVIEW_FOLLOW 32 +#define __Pyx_IS_C_CONTIG 1 +#define __Pyx_IS_F_CONTIG 2 +static int __Pyx_init_memviewslice( + struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference); +static CYTHON_INLINE int __pyx_add_acquisition_count_locked( + __pyx_atomic_int_type *acquisition_count, PyThread_type_lock lock); +static CYTHON_INLINE int __pyx_sub_acquisition_count_locked( + __pyx_atomic_int_type *acquisition_count, PyThread_type_lock lock); +#define __pyx_get_slice_count_pointer(memview) (&memview->acquisition_count) +#define __PYX_INC_MEMVIEW(slice, have_gil) __Pyx_INC_MEMVIEW(slice, have_gil, __LINE__) +#define __PYX_XCLEAR_MEMVIEW(slice, have_gil) __Pyx_XCLEAR_MEMVIEW(slice, have_gil, __LINE__) +static CYTHON_INLINE void __Pyx_INC_MEMVIEW(__Pyx_memviewslice *, int, int); +static CYTHON_INLINE void __Pyx_XCLEAR_MEMVIEW(__Pyx_memviewslice *, int, int); + +/* CIntFromPy.proto */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); + +/* CppExceptionConversion.proto */ +#ifndef __Pyx_CppExn2PyErr +#include +#include +#include +#include +static void __Pyx_CppExn2PyErr() { + try { + if (PyErr_Occurred()) + ; // let the latest Python exn pass through and ignore the current one + else + throw; + } catch (const std::bad_alloc& exn) { + PyErr_SetString(PyExc_MemoryError, exn.what()); + } catch (const std::bad_cast& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::bad_typeid& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::domain_error& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::invalid_argument& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::ios_base::failure& exn) { + PyErr_SetString(PyExc_IOError, exn.what()); + } catch (const std::out_of_range& exn) { + PyErr_SetString(PyExc_IndexError, exn.what()); + } catch (const std::overflow_error& exn) { + PyErr_SetString(PyExc_OverflowError, exn.what()); + } catch (const std::range_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::underflow_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::exception& exn) { + PyErr_SetString(PyExc_RuntimeError, exn.what()); + } + catch (...) + { + PyErr_SetString(PyExc_RuntimeError, "Unknown exception"); + } +} +#endif + +/* None.proto */ +#include + +/* CIntFromPy.proto */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *); + +/* FormatTypeName.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +typedef PyObject *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%U" +static __Pyx_TypeName __Pyx_PyType_GetName(PyTypeObject* tp); +#define __Pyx_DECREF_TypeName(obj) Py_XDECREF(obj) +#else +typedef const char *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%.200s" +#define __Pyx_PyType_GetName(tp) ((tp)->tp_name) +#define __Pyx_DECREF_TypeName(obj) +#endif + +/* CheckBinaryVersion.proto */ +static unsigned long __Pyx_get_runtime_version(void); +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer); + +/* InitStrings.proto */ +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); + +/* #### Code section: module_declarations ### */ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *__pyx_v_self); /* proto*/ +static char *__pyx_memoryview_get_item_pointer(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto*/ +static PyObject *__pyx_memoryview_is_slice(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assignment(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_dst, PyObject *__pyx_v_src); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assign_scalar(struct __pyx_memoryview_obj *__pyx_v_self, struct __pyx_memoryview_obj *__pyx_v_dst, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_setitem_indexed(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_convert_item_to_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryview_assign_item_from_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview__get_base(struct __pyx_memoryview_obj *__pyx_v_self); /* proto*/ +static PyObject *__pyx_memoryviewslice_convert_item_to_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryviewslice_assign_item_from_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryviewslice__get_base(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto*/ + +/* Module declarations from "libcpp" */ + +/* Module declarations from "libc.string" */ + +/* Module declarations from "libcpp.string" */ + +/* Module declarations from "libcpp.vector" */ + +/* Module declarations from "libcpp.utility" */ + +/* Module declarations from "libcpp.set" */ + +/* Module declarations from "libc.stdint" */ + +/* Module declarations from "msgq.visionipc.visionipc" */ + +/* Module declarations from "selfdrive.modeld.runners.snpemodel" */ + +/* Module declarations from "msgq.visionipc.visionipc_pyx" */ + +/* Module declarations from "selfdrive.modeld.models.commonmodel_pyx" */ + +/* Module declarations from "selfdrive.modeld.runners.runmodel" */ + +/* Module declarations from "selfdrive.modeld.runners.runmodel_pyx" */ + +/* Module declarations from "selfdrive.modeld.runners.snpemodel_pyx" */ +static PyObject *__pyx_collections_abc_Sequence = 0; +static PyObject *generic = 0; +static PyObject *strided = 0; +static PyObject *indirect = 0; +static PyObject *contiguous = 0; +static PyObject *indirect_contiguous = 0; +static int __pyx_memoryview_thread_locks_used; +static PyThread_type_lock __pyx_memoryview_thread_locks[8]; +static std::string __pyx_convert_string_from_py_std__in_string(PyObject *); /*proto*/ +static int __pyx_array_allocate_buffer(struct __pyx_array_obj *); /*proto*/ +static struct __pyx_array_obj *__pyx_array_new(PyObject *, Py_ssize_t, char *, char *, char *); /*proto*/ +static PyObject *__pyx_memoryview_new(PyObject *, int, int, __Pyx_TypeInfo *); /*proto*/ +static CYTHON_INLINE int __pyx_memoryview_check(PyObject *); /*proto*/ +static PyObject *_unellipsify(PyObject *, int); /*proto*/ +static int assert_direct_dimensions(Py_ssize_t *, int); /*proto*/ +static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_obj *, PyObject *); /*proto*/ +static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int, int); /*proto*/ +static char *__pyx_pybuffer_index(Py_buffer *, char *, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memslice_transpose(__Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_fromslice(__Pyx_memviewslice, int, PyObject *(*)(char *), int (*)(char *, PyObject *), int); /*proto*/ +static __Pyx_memviewslice *__pyx_memoryview_get_slice_from_memoryview(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static void __pyx_memoryview_slice_copy(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object(struct __pyx_memoryview_obj *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object_from_slice(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static Py_ssize_t abs_py_ssize_t(Py_ssize_t); /*proto*/ +static char __pyx_get_best_slice_order(__Pyx_memviewslice *, int); /*proto*/ +static void _copy_strided_to_strided(char *, Py_ssize_t *, char *, Py_ssize_t *, Py_ssize_t *, Py_ssize_t *, int, size_t); /*proto*/ +static void copy_strided_to_strided(__Pyx_memviewslice *, __Pyx_memviewslice *, int, size_t); /*proto*/ +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *, int); /*proto*/ +static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *, Py_ssize_t *, Py_ssize_t, int, char); /*proto*/ +static void *__pyx_memoryview_copy_data_to_temp(__Pyx_memviewslice *, __Pyx_memviewslice *, char, int); /*proto*/ +static int __pyx_memoryview_err_extents(int, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memoryview_err_dim(PyObject *, PyObject *, int); /*proto*/ +static int __pyx_memoryview_err(PyObject *, PyObject *); /*proto*/ +static int __pyx_memoryview_err_no_memory(void); /*proto*/ +static int __pyx_memoryview_copy_contents(__Pyx_memviewslice, __Pyx_memviewslice, int, int, int); /*proto*/ +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *, int, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *, int, size_t, void *, int); /*proto*/ +static void __pyx_memoryview__slice_assign_scalar(char *, Py_ssize_t *, Py_ssize_t *, int, size_t, void *); /*proto*/ +static PyObject *__pyx_unpickle_Enum__set_state(struct __pyx_MemviewEnum_obj *, PyObject *); /*proto*/ +/* #### Code section: typeinfo ### */ +static __Pyx_TypeInfo __Pyx_TypeInfo_float = { "float", NULL, sizeof(float), { 0 }, 0, 'R', 0, 0 }; +/* #### Code section: before_global_var ### */ +#define __Pyx_MODULE_NAME "selfdrive.modeld.runners.snpemodel_pyx" +extern int __pyx_module_is_main_selfdrive__modeld__runners__snpemodel_pyx; +int __pyx_module_is_main_selfdrive__modeld__runners__snpemodel_pyx = 0; + +/* Implementation of "selfdrive.modeld.runners.snpemodel_pyx" */ +/* #### Code section: global_var ### */ +static PyObject *__pyx_builtin_TypeError; +static PyObject *__pyx_builtin___import__; +static PyObject *__pyx_builtin_ValueError; +static PyObject *__pyx_builtin_MemoryError; +static PyObject *__pyx_builtin_enumerate; +static PyObject *__pyx_builtin_range; +static PyObject *__pyx_builtin_AssertionError; +static PyObject *__pyx_builtin_Ellipsis; +static PyObject *__pyx_builtin_id; +static PyObject *__pyx_builtin_IndexError; +/* #### Code section: string_decls ### */ +static const char __pyx_k_[] = ": "; +static const char __pyx_k_O[] = "O"; +static const char __pyx_k_c[] = "c"; +static const char __pyx_k__2[] = "."; +static const char __pyx_k__3[] = "*"; +static const char __pyx_k__6[] = "'"; +static const char __pyx_k__7[] = ")"; +static const char __pyx_k_gc[] = "gc"; +static const char __pyx_k_id[] = "id"; +static const char __pyx_k_os[] = "os"; +static const char __pyx_k__24[] = "?"; +static const char __pyx_k_abc[] = "abc"; +static const char __pyx_k_and[] = " and "; +static const char __pyx_k_got[] = " (got "; +static const char __pyx_k_new[] = "__new__"; +static const char __pyx_k_obj[] = "obj"; +static const char __pyx_k_sys[] = "sys"; +static const char __pyx_k_base[] = "base"; +static const char __pyx_k_dict[] = "__dict__"; +static const char __pyx_k_main[] = "__main__"; +static const char __pyx_k_mode[] = "mode"; +static const char __pyx_k_name[] = "name"; +static const char __pyx_k_ndim[] = "ndim"; +static const char __pyx_k_pack[] = "pack"; +static const char __pyx_k_path[] = "path"; +static const char __pyx_k_self[] = "self"; +static const char __pyx_k_size[] = "size"; +static const char __pyx_k_spec[] = "__spec__"; +static const char __pyx_k_step[] = "step"; +static const char __pyx_k_stop[] = "stop"; +static const char __pyx_k_test[] = "__test__"; +static const char __pyx_k_ASCII[] = "ASCII"; +static const char __pyx_k_class[] = "__class__"; +static const char __pyx_k_count[] = "count"; +static const char __pyx_k_error[] = "error"; +static const char __pyx_k_flags[] = "flags"; +static const char __pyx_k_index[] = "index"; +static const char __pyx_k_range[] = "range"; +static const char __pyx_k_shape[] = "shape"; +static const char __pyx_k_start[] = "start"; +static const char __pyx_k_enable[] = "enable"; +static const char __pyx_k_encode[] = "encode"; +static const char __pyx_k_format[] = "format"; +static const char __pyx_k_import[] = "__import__"; +static const char __pyx_k_name_2[] = "__name__"; +static const char __pyx_k_output[] = "output"; +static const char __pyx_k_pickle[] = "pickle"; +static const char __pyx_k_reduce[] = "__reduce__"; +static const char __pyx_k_struct[] = "struct"; +static const char __pyx_k_unpack[] = "unpack"; +static const char __pyx_k_update[] = "update"; +static const char __pyx_k_context[] = "context"; +static const char __pyx_k_disable[] = "disable"; +static const char __pyx_k_environ[] = "environ"; +static const char __pyx_k_fortran[] = "fortran"; +static const char __pyx_k_memview[] = "memview"; +static const char __pyx_k_runtime[] = "runtime"; +static const char __pyx_k_use_tf8[] = "use_tf8"; +static const char __pyx_k_Ellipsis[] = "Ellipsis"; +static const char __pyx_k_Sequence[] = "Sequence"; +static const char __pyx_k_getstate[] = "__getstate__"; +static const char __pyx_k_itemsize[] = "itemsize"; +static const char __pyx_k_pyx_type[] = "__pyx_type"; +static const char __pyx_k_register[] = "register"; +static const char __pyx_k_setstate[] = "__setstate__"; +static const char __pyx_k_SNPEModel[] = "SNPEModel"; +static const char __pyx_k_TypeError[] = "TypeError"; +static const char __pyx_k_enumerate[] = "enumerate"; +static const char __pyx_k_isenabled[] = "isenabled"; +static const char __pyx_k_pyx_state[] = "__pyx_state"; +static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; +static const char __pyx_k_IndexError[] = "IndexError"; +static const char __pyx_k_ValueError[] = "ValueError"; +static const char __pyx_k_pyx_result[] = "__pyx_result"; +static const char __pyx_k_pyx_vtable[] = "__pyx_vtable__"; +static const char __pyx_k_MemoryError[] = "MemoryError"; +static const char __pyx_k_PickleError[] = "PickleError"; +static const char __pyx_k_collections[] = "collections"; +static const char __pyx_k_initializing[] = "_initializing"; +static const char __pyx_k_is_coroutine[] = "_is_coroutine"; +static const char __pyx_k_pyx_checksum[] = "__pyx_checksum"; +static const char __pyx_k_stringsource[] = ""; +static const char __pyx_k_version_info[] = "version_info"; +static const char __pyx_k_class_getitem[] = "__class_getitem__"; +static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; +static const char __pyx_k_AssertionError[] = "AssertionError"; +static const char __pyx_k_View_MemoryView[] = "View.MemoryView"; +static const char __pyx_k_allocate_buffer[] = "allocate_buffer"; +static const char __pyx_k_collections_abc[] = "collections.abc"; +static const char __pyx_k_dtype_is_object[] = "dtype_is_object"; +static const char __pyx_k_pyx_PickleError[] = "__pyx_PickleError"; +static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; +static const char __pyx_k_ADSP_LIBRARY_PATH[] = "ADSP_LIBRARY_PATH"; +static const char __pyx_k_pyx_unpickle_Enum[] = "__pyx_unpickle_Enum"; +static const char __pyx_k_asyncio_coroutines[] = "asyncio.coroutines"; +static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; +static const char __pyx_k_strided_and_direct[] = ""; +static const char __pyx_k_strided_and_indirect[] = ""; +static const char __pyx_k_Invalid_shape_in_axis[] = "Invalid shape in axis "; +static const char __pyx_k_contiguous_and_direct[] = ""; +static const char __pyx_k_Cannot_index_with_type[] = "Cannot index with type '"; +static const char __pyx_k_MemoryView_of_r_object[] = ""; +static const char __pyx_k_MemoryView_of_r_at_0x_x[] = ""; +static const char __pyx_k_contiguous_and_indirect[] = ""; +static const char __pyx_k_Dimension_d_is_not_direct[] = "Dimension %d is not direct"; +static const char __pyx_k_SNPEModel___reduce_cython[] = "SNPEModel.__reduce_cython__"; +static const char __pyx_k_Index_out_of_bounds_axis_d[] = "Index out of bounds (axis %d)"; +static const char __pyx_k_SNPEModel___setstate_cython[] = "SNPEModel.__setstate_cython__"; +static const char __pyx_k_Step_may_not_be_zero_axis_d[] = "Step may not be zero (axis %d)"; +static const char __pyx_k_itemsize_0_for_cython_array[] = "itemsize <= 0 for cython.array"; +static const char __pyx_k_unable_to_allocate_array_data[] = "unable to allocate array data."; +static const char __pyx_k_strided_and_direct_or_indirect[] = ""; +static const char __pyx_k_data_pythonpath_third_party_snp[] = "/data/pythonpath/third_party/snpe/dsp/"; +static const char __pyx_k_All_dimensions_preceding_dimensi[] = "All dimensions preceding dimension %d must be indexed and not sliced"; +static const char __pyx_k_Buffer_view_does_not_expose_stri[] = "Buffer view does not expose strides"; +static const char __pyx_k_Can_only_create_a_buffer_that_is[] = "Can only create a buffer that is contiguous in memory."; +static const char __pyx_k_Cannot_assign_to_read_only_memor[] = "Cannot assign to read-only memoryview"; +static const char __pyx_k_Cannot_create_writable_memory_vi[] = "Cannot create writable memory view from read-only memoryview"; +static const char __pyx_k_Cannot_transpose_memoryview_with[] = "Cannot transpose memoryview with indirect dimensions"; +static const char __pyx_k_Empty_shape_tuple_for_cython_arr[] = "Empty shape tuple for cython.array"; +static const char __pyx_k_Incompatible_checksums_0x_x_vs_0[] = "Incompatible checksums (0x%x vs (0x82a3537, 0x6ae9995, 0xb068931) = (name))"; +static const char __pyx_k_Indirect_dimensions_not_supporte[] = "Indirect dimensions not supported"; +static const char __pyx_k_Invalid_mode_expected_c_or_fortr[] = "Invalid mode, expected 'c' or 'fortran', got "; +static const char __pyx_k_Out_of_bounds_on_buffer_access_a[] = "Out of bounds on buffer access (axis "; +static const char __pyx_k_Unable_to_convert_item_to_object[] = "Unable to convert item to object"; +static const char __pyx_k_got_differing_extents_in_dimensi[] = "got differing extents in dimension "; +static const char __pyx_k_no_default___reduce___due_to_non[] = "no default __reduce__ due to non-trivial __cinit__"; +static const char __pyx_k_selfdrive_modeld_runners_snpemod[] = "selfdrive.modeld.runners.snpemodel_pyx"; +static const char __pyx_k_unable_to_allocate_shape_and_str[] = "unable to allocate shape and strides."; +/* #### Code section: decls ### */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_shape, Py_ssize_t __pyx_v_itemsize, PyObject *__pyx_v_format, PyObject *__pyx_v_mode, int __pyx_v_allocate_buffer); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_2__getbuffer__(struct __pyx_array_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static void __pyx_array___pyx_pf_15View_dot_MemoryView_5array_4__dealloc__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_5array_7memview___get__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_array___pyx_pf_15View_dot_MemoryView_5array_6__len__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_8__getattr__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_attr); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_10__getitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_12__setitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item, PyObject *__pyx_v_value); /* proto */ +static PyObject *__pyx_pf___pyx_array___reduce_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_array_2__setstate_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum___init__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v_name); /* proto */ +static PyObject *__pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum_2__repr__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum___reduce_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum_2__setstate_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview___cinit__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj, int __pyx_v_flags, int __pyx_v_dtype_is_object); /* proto */ +static void __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_2__dealloc__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_4__getitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_6__setitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_8__getbuffer__(struct __pyx_memoryview_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_1T___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4base___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_5shape___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_7strides___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_10suboffsets___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4ndim___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_8itemsize___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_6nbytes___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4size___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_10__len__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_12__repr__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_14__str__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_16is_c_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_18is_f_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_20copy(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_22copy_fortran(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static void __pyx_memoryviewslice___pyx_pf_15View_dot_MemoryView_16_memoryviewslice___dealloc__(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView___pyx_unpickle_Enum(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v___pyx_type, long __pyx_v___pyx_checksum, PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_pf_9selfdrive_6modeld_7runners_13snpemodel_pyx_9SNPEModel___cinit__(struct __pyx_obj_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel *__pyx_v_self, std::string __pyx_v_path, __Pyx_memviewslice __pyx_v_output, int __pyx_v_runtime, bool __pyx_v_use_tf8, struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext *__pyx_v_context); /* proto */ +static PyObject *__pyx_pf_9selfdrive_6modeld_7runners_13snpemodel_pyx_9SNPEModel_2__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_9selfdrive_6modeld_7runners_13snpemodel_pyx_9SNPEModel_4__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_tp_new_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +/* #### Code section: late_includes ### */ +/* #### Code section: module_state ### */ +typedef struct { + PyObject *__pyx_d; + PyObject *__pyx_b; + PyObject *__pyx_cython_runtime; + PyObject *__pyx_empty_tuple; + PyObject *__pyx_empty_bytes; + PyObject *__pyx_empty_unicode; + #ifdef __Pyx_CyFunction_USED + PyTypeObject *__pyx_CyFunctionType; + #endif + #ifdef __Pyx_FusedFunction_USED + PyTypeObject *__pyx_FusedFunctionType; + #endif + #ifdef __Pyx_Generator_USED + PyTypeObject *__pyx_GeneratorType; + #endif + #ifdef __Pyx_IterableCoroutine_USED + PyTypeObject *__pyx_IterableCoroutineType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineAwaitType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineType; + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext; + PyTypeObject *__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf; + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext; + PyTypeObject *__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem; + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel; + #if CYTHON_USE_MODULE_STATE + PyObject *__pyx_type_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel; + PyObject *__pyx_type___pyx_array; + PyObject *__pyx_type___pyx_MemviewEnum; + PyObject *__pyx_type___pyx_memoryview; + PyObject *__pyx_type___pyx_memoryviewslice; + #endif + PyTypeObject *__pyx_ptype_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel; + PyTypeObject *__pyx_array_type; + PyTypeObject *__pyx_MemviewEnum_type; + PyTypeObject *__pyx_memoryview_type; + PyTypeObject *__pyx_memoryviewslice_type; + PyObject *__pyx_kp_u_; + PyObject *__pyx_n_u_ADSP_LIBRARY_PATH; + PyObject *__pyx_n_s_ASCII; + PyObject *__pyx_kp_s_All_dimensions_preceding_dimensi; + PyObject *__pyx_n_s_AssertionError; + PyObject *__pyx_kp_s_Buffer_view_does_not_expose_stri; + PyObject *__pyx_kp_s_Can_only_create_a_buffer_that_is; + PyObject *__pyx_kp_s_Cannot_assign_to_read_only_memor; + PyObject *__pyx_kp_s_Cannot_create_writable_memory_vi; + PyObject *__pyx_kp_u_Cannot_index_with_type; + PyObject *__pyx_kp_s_Cannot_transpose_memoryview_with; + PyObject *__pyx_kp_s_Dimension_d_is_not_direct; + PyObject *__pyx_n_s_Ellipsis; + PyObject *__pyx_kp_s_Empty_shape_tuple_for_cython_arr; + PyObject *__pyx_kp_s_Incompatible_checksums_0x_x_vs_0; + PyObject *__pyx_n_s_IndexError; + PyObject *__pyx_kp_s_Index_out_of_bounds_axis_d; + PyObject *__pyx_kp_s_Indirect_dimensions_not_supporte; + PyObject *__pyx_kp_u_Invalid_mode_expected_c_or_fortr; + PyObject *__pyx_kp_u_Invalid_shape_in_axis; + PyObject *__pyx_n_s_MemoryError; + PyObject *__pyx_kp_s_MemoryView_of_r_at_0x_x; + PyObject *__pyx_kp_s_MemoryView_of_r_object; + PyObject *__pyx_n_b_O; + PyObject *__pyx_kp_u_Out_of_bounds_on_buffer_access_a; + PyObject *__pyx_n_s_PickleError; + PyObject *__pyx_n_s_SNPEModel; + PyObject *__pyx_n_s_SNPEModel___reduce_cython; + PyObject *__pyx_n_s_SNPEModel___setstate_cython; + PyObject *__pyx_n_s_Sequence; + PyObject *__pyx_kp_s_Step_may_not_be_zero_axis_d; + PyObject *__pyx_n_s_TypeError; + PyObject *__pyx_kp_s_Unable_to_convert_item_to_object; + PyObject *__pyx_n_s_ValueError; + PyObject *__pyx_n_s_View_MemoryView; + PyObject *__pyx_kp_u__2; + PyObject *__pyx_n_s__24; + PyObject *__pyx_n_s__3; + PyObject *__pyx_kp_u__6; + PyObject *__pyx_kp_u__7; + PyObject *__pyx_n_s_abc; + PyObject *__pyx_n_s_allocate_buffer; + PyObject *__pyx_kp_u_and; + PyObject *__pyx_n_s_asyncio_coroutines; + PyObject *__pyx_n_s_base; + PyObject *__pyx_n_s_c; + PyObject *__pyx_n_u_c; + PyObject *__pyx_n_s_class; + PyObject *__pyx_n_s_class_getitem; + PyObject *__pyx_n_s_cline_in_traceback; + PyObject *__pyx_n_s_collections; + PyObject *__pyx_kp_s_collections_abc; + PyObject *__pyx_n_s_context; + PyObject *__pyx_kp_s_contiguous_and_direct; + PyObject *__pyx_kp_s_contiguous_and_indirect; + PyObject *__pyx_n_s_count; + PyObject *__pyx_kp_u_data_pythonpath_third_party_snp; + PyObject *__pyx_n_s_dict; + PyObject *__pyx_kp_u_disable; + PyObject *__pyx_n_s_dtype_is_object; + PyObject *__pyx_kp_u_enable; + PyObject *__pyx_n_s_encode; + PyObject *__pyx_n_s_enumerate; + PyObject *__pyx_n_s_environ; + PyObject *__pyx_n_s_error; + PyObject *__pyx_n_s_flags; + PyObject *__pyx_n_s_format; + PyObject *__pyx_n_s_fortran; + PyObject *__pyx_n_u_fortran; + PyObject *__pyx_kp_u_gc; + PyObject *__pyx_n_s_getstate; + PyObject *__pyx_kp_u_got; + PyObject *__pyx_kp_u_got_differing_extents_in_dimensi; + PyObject *__pyx_n_s_id; + PyObject *__pyx_n_s_import; + PyObject *__pyx_n_s_index; + PyObject *__pyx_n_s_initializing; + PyObject *__pyx_n_s_is_coroutine; + PyObject *__pyx_kp_u_isenabled; + PyObject *__pyx_n_s_itemsize; + PyObject *__pyx_kp_s_itemsize_0_for_cython_array; + PyObject *__pyx_n_s_main; + PyObject *__pyx_n_s_memview; + PyObject *__pyx_n_s_mode; + PyObject *__pyx_n_s_name; + PyObject *__pyx_n_s_name_2; + PyObject *__pyx_n_s_ndim; + PyObject *__pyx_n_s_new; + PyObject *__pyx_kp_s_no_default___reduce___due_to_non; + PyObject *__pyx_n_s_obj; + PyObject *__pyx_n_s_os; + PyObject *__pyx_n_s_output; + PyObject *__pyx_n_s_pack; + PyObject *__pyx_n_s_path; + PyObject *__pyx_n_s_pickle; + PyObject *__pyx_n_s_pyx_PickleError; + PyObject *__pyx_n_s_pyx_checksum; + PyObject *__pyx_n_s_pyx_result; + PyObject *__pyx_n_s_pyx_state; + PyObject *__pyx_n_s_pyx_type; + PyObject *__pyx_n_s_pyx_unpickle_Enum; + PyObject *__pyx_n_s_pyx_vtable; + PyObject *__pyx_n_s_range; + PyObject *__pyx_n_s_reduce; + PyObject *__pyx_n_s_reduce_cython; + PyObject *__pyx_n_s_reduce_ex; + PyObject *__pyx_n_s_register; + PyObject *__pyx_n_s_runtime; + PyObject *__pyx_n_s_self; + PyObject *__pyx_n_s_selfdrive_modeld_runners_snpemod; + PyObject *__pyx_n_s_setstate; + PyObject *__pyx_n_s_setstate_cython; + PyObject *__pyx_n_s_shape; + PyObject *__pyx_n_s_size; + PyObject *__pyx_n_s_spec; + PyObject *__pyx_n_s_start; + PyObject *__pyx_n_s_step; + PyObject *__pyx_n_s_stop; + PyObject *__pyx_kp_s_strided_and_direct; + PyObject *__pyx_kp_s_strided_and_direct_or_indirect; + PyObject *__pyx_kp_s_strided_and_indirect; + PyObject *__pyx_kp_s_stringsource; + PyObject *__pyx_n_s_struct; + PyObject *__pyx_n_s_sys; + PyObject *__pyx_n_s_test; + PyObject *__pyx_kp_s_unable_to_allocate_array_data; + PyObject *__pyx_kp_s_unable_to_allocate_shape_and_str; + PyObject *__pyx_n_s_unpack; + PyObject *__pyx_n_s_update; + PyObject *__pyx_n_s_use_tf8; + PyObject *__pyx_n_s_version_info; + PyObject *__pyx_int_0; + PyObject *__pyx_int_1; + PyObject *__pyx_int_3; + PyObject *__pyx_int_112105877; + PyObject *__pyx_int_136983863; + PyObject *__pyx_int_184977713; + PyObject *__pyx_int_neg_1; + PyObject *__pyx_slice__5; + PyObject *__pyx_tuple__4; + PyObject *__pyx_tuple__8; + PyObject *__pyx_tuple__9; + PyObject *__pyx_tuple__10; + PyObject *__pyx_tuple__11; + PyObject *__pyx_tuple__12; + PyObject *__pyx_tuple__13; + PyObject *__pyx_tuple__14; + PyObject *__pyx_tuple__15; + PyObject *__pyx_tuple__16; + PyObject *__pyx_tuple__17; + PyObject *__pyx_tuple__18; + PyObject *__pyx_tuple__20; + PyObject *__pyx_tuple__22; + PyObject *__pyx_codeobj__19; + PyObject *__pyx_codeobj__21; + PyObject *__pyx_codeobj__23; +} __pyx_mstate; + +#if CYTHON_USE_MODULE_STATE +#ifdef __cplusplus +namespace { + extern struct PyModuleDef __pyx_moduledef; +} /* anonymous namespace */ +#else +static struct PyModuleDef __pyx_moduledef; +#endif + +#define __pyx_mstate(o) ((__pyx_mstate *)__Pyx_PyModule_GetState(o)) + +#define __pyx_mstate_global (__pyx_mstate(PyState_FindModule(&__pyx_moduledef))) + +#define __pyx_m (PyState_FindModule(&__pyx_moduledef)) +#else +static __pyx_mstate __pyx_mstate_global_static = +#ifdef __cplusplus + {}; +#else + {0}; +#endif +static __pyx_mstate *__pyx_mstate_global = &__pyx_mstate_global_static; +#endif +/* #### Code section: module_state_clear ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_clear(PyObject *m) { + __pyx_mstate *clear_module_state = __pyx_mstate(m); + if (!clear_module_state) return 0; + Py_CLEAR(clear_module_state->__pyx_d); + Py_CLEAR(clear_module_state->__pyx_b); + Py_CLEAR(clear_module_state->__pyx_cython_runtime); + Py_CLEAR(clear_module_state->__pyx_empty_tuple); + Py_CLEAR(clear_module_state->__pyx_empty_bytes); + Py_CLEAR(clear_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_CLEAR(clear_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_CLEAR(clear_module_state->__pyx_FusedFunctionType); + #endif + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext); + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel); + Py_CLEAR(clear_module_state->__pyx_type_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel); + Py_CLEAR(clear_module_state->__pyx_array_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_array); + Py_CLEAR(clear_module_state->__pyx_MemviewEnum_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_MemviewEnum); + Py_CLEAR(clear_module_state->__pyx_memoryview_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_memoryview); + Py_CLEAR(clear_module_state->__pyx_memoryviewslice_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_memoryviewslice); + Py_CLEAR(clear_module_state->__pyx_kp_u_); + Py_CLEAR(clear_module_state->__pyx_n_u_ADSP_LIBRARY_PATH); + Py_CLEAR(clear_module_state->__pyx_n_s_ASCII); + Py_CLEAR(clear_module_state->__pyx_kp_s_All_dimensions_preceding_dimensi); + Py_CLEAR(clear_module_state->__pyx_n_s_AssertionError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Buffer_view_does_not_expose_stri); + Py_CLEAR(clear_module_state->__pyx_kp_s_Can_only_create_a_buffer_that_is); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_assign_to_read_only_memor); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_create_writable_memory_vi); + Py_CLEAR(clear_module_state->__pyx_kp_u_Cannot_index_with_type); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_transpose_memoryview_with); + Py_CLEAR(clear_module_state->__pyx_kp_s_Dimension_d_is_not_direct); + Py_CLEAR(clear_module_state->__pyx_n_s_Ellipsis); + Py_CLEAR(clear_module_state->__pyx_kp_s_Empty_shape_tuple_for_cython_arr); + Py_CLEAR(clear_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0); + Py_CLEAR(clear_module_state->__pyx_n_s_IndexError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Index_out_of_bounds_axis_d); + Py_CLEAR(clear_module_state->__pyx_kp_s_Indirect_dimensions_not_supporte); + Py_CLEAR(clear_module_state->__pyx_kp_u_Invalid_mode_expected_c_or_fortr); + Py_CLEAR(clear_module_state->__pyx_kp_u_Invalid_shape_in_axis); + Py_CLEAR(clear_module_state->__pyx_n_s_MemoryError); + Py_CLEAR(clear_module_state->__pyx_kp_s_MemoryView_of_r_at_0x_x); + Py_CLEAR(clear_module_state->__pyx_kp_s_MemoryView_of_r_object); + Py_CLEAR(clear_module_state->__pyx_n_b_O); + Py_CLEAR(clear_module_state->__pyx_kp_u_Out_of_bounds_on_buffer_access_a); + Py_CLEAR(clear_module_state->__pyx_n_s_PickleError); + Py_CLEAR(clear_module_state->__pyx_n_s_SNPEModel); + Py_CLEAR(clear_module_state->__pyx_n_s_SNPEModel___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_SNPEModel___setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_Sequence); + Py_CLEAR(clear_module_state->__pyx_kp_s_Step_may_not_be_zero_axis_d); + Py_CLEAR(clear_module_state->__pyx_n_s_TypeError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Unable_to_convert_item_to_object); + Py_CLEAR(clear_module_state->__pyx_n_s_ValueError); + Py_CLEAR(clear_module_state->__pyx_n_s_View_MemoryView); + Py_CLEAR(clear_module_state->__pyx_kp_u__2); + Py_CLEAR(clear_module_state->__pyx_n_s__24); + Py_CLEAR(clear_module_state->__pyx_n_s__3); + Py_CLEAR(clear_module_state->__pyx_kp_u__6); + Py_CLEAR(clear_module_state->__pyx_kp_u__7); + Py_CLEAR(clear_module_state->__pyx_n_s_abc); + Py_CLEAR(clear_module_state->__pyx_n_s_allocate_buffer); + Py_CLEAR(clear_module_state->__pyx_kp_u_and); + Py_CLEAR(clear_module_state->__pyx_n_s_asyncio_coroutines); + Py_CLEAR(clear_module_state->__pyx_n_s_base); + Py_CLEAR(clear_module_state->__pyx_n_s_c); + Py_CLEAR(clear_module_state->__pyx_n_u_c); + Py_CLEAR(clear_module_state->__pyx_n_s_class); + Py_CLEAR(clear_module_state->__pyx_n_s_class_getitem); + Py_CLEAR(clear_module_state->__pyx_n_s_cline_in_traceback); + Py_CLEAR(clear_module_state->__pyx_n_s_collections); + Py_CLEAR(clear_module_state->__pyx_kp_s_collections_abc); + Py_CLEAR(clear_module_state->__pyx_n_s_context); + Py_CLEAR(clear_module_state->__pyx_kp_s_contiguous_and_direct); + Py_CLEAR(clear_module_state->__pyx_kp_s_contiguous_and_indirect); + Py_CLEAR(clear_module_state->__pyx_n_s_count); + Py_CLEAR(clear_module_state->__pyx_kp_u_data_pythonpath_third_party_snp); + Py_CLEAR(clear_module_state->__pyx_n_s_dict); + Py_CLEAR(clear_module_state->__pyx_kp_u_disable); + Py_CLEAR(clear_module_state->__pyx_n_s_dtype_is_object); + Py_CLEAR(clear_module_state->__pyx_kp_u_enable); + Py_CLEAR(clear_module_state->__pyx_n_s_encode); + Py_CLEAR(clear_module_state->__pyx_n_s_enumerate); + Py_CLEAR(clear_module_state->__pyx_n_s_environ); + Py_CLEAR(clear_module_state->__pyx_n_s_error); + Py_CLEAR(clear_module_state->__pyx_n_s_flags); + Py_CLEAR(clear_module_state->__pyx_n_s_format); + Py_CLEAR(clear_module_state->__pyx_n_s_fortran); + Py_CLEAR(clear_module_state->__pyx_n_u_fortran); + Py_CLEAR(clear_module_state->__pyx_kp_u_gc); + Py_CLEAR(clear_module_state->__pyx_n_s_getstate); + Py_CLEAR(clear_module_state->__pyx_kp_u_got); + Py_CLEAR(clear_module_state->__pyx_kp_u_got_differing_extents_in_dimensi); + Py_CLEAR(clear_module_state->__pyx_n_s_id); + Py_CLEAR(clear_module_state->__pyx_n_s_import); + Py_CLEAR(clear_module_state->__pyx_n_s_index); + Py_CLEAR(clear_module_state->__pyx_n_s_initializing); + Py_CLEAR(clear_module_state->__pyx_n_s_is_coroutine); + Py_CLEAR(clear_module_state->__pyx_kp_u_isenabled); + Py_CLEAR(clear_module_state->__pyx_n_s_itemsize); + Py_CLEAR(clear_module_state->__pyx_kp_s_itemsize_0_for_cython_array); + Py_CLEAR(clear_module_state->__pyx_n_s_main); + Py_CLEAR(clear_module_state->__pyx_n_s_memview); + Py_CLEAR(clear_module_state->__pyx_n_s_mode); + Py_CLEAR(clear_module_state->__pyx_n_s_name); + Py_CLEAR(clear_module_state->__pyx_n_s_name_2); + Py_CLEAR(clear_module_state->__pyx_n_s_ndim); + Py_CLEAR(clear_module_state->__pyx_n_s_new); + Py_CLEAR(clear_module_state->__pyx_kp_s_no_default___reduce___due_to_non); + Py_CLEAR(clear_module_state->__pyx_n_s_obj); + Py_CLEAR(clear_module_state->__pyx_n_s_os); + Py_CLEAR(clear_module_state->__pyx_n_s_output); + Py_CLEAR(clear_module_state->__pyx_n_s_pack); + Py_CLEAR(clear_module_state->__pyx_n_s_path); + Py_CLEAR(clear_module_state->__pyx_n_s_pickle); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_PickleError); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_checksum); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_result); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_state); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_type); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_unpickle_Enum); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_vtable); + Py_CLEAR(clear_module_state->__pyx_n_s_range); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_ex); + Py_CLEAR(clear_module_state->__pyx_n_s_register); + Py_CLEAR(clear_module_state->__pyx_n_s_runtime); + Py_CLEAR(clear_module_state->__pyx_n_s_self); + Py_CLEAR(clear_module_state->__pyx_n_s_selfdrive_modeld_runners_snpemod); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_shape); + Py_CLEAR(clear_module_state->__pyx_n_s_size); + Py_CLEAR(clear_module_state->__pyx_n_s_spec); + Py_CLEAR(clear_module_state->__pyx_n_s_start); + Py_CLEAR(clear_module_state->__pyx_n_s_step); + Py_CLEAR(clear_module_state->__pyx_n_s_stop); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_direct); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_direct_or_indirect); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_indirect); + Py_CLEAR(clear_module_state->__pyx_kp_s_stringsource); + Py_CLEAR(clear_module_state->__pyx_n_s_struct); + Py_CLEAR(clear_module_state->__pyx_n_s_sys); + Py_CLEAR(clear_module_state->__pyx_n_s_test); + Py_CLEAR(clear_module_state->__pyx_kp_s_unable_to_allocate_array_data); + Py_CLEAR(clear_module_state->__pyx_kp_s_unable_to_allocate_shape_and_str); + Py_CLEAR(clear_module_state->__pyx_n_s_unpack); + Py_CLEAR(clear_module_state->__pyx_n_s_update); + Py_CLEAR(clear_module_state->__pyx_n_s_use_tf8); + Py_CLEAR(clear_module_state->__pyx_n_s_version_info); + Py_CLEAR(clear_module_state->__pyx_int_0); + Py_CLEAR(clear_module_state->__pyx_int_1); + Py_CLEAR(clear_module_state->__pyx_int_3); + Py_CLEAR(clear_module_state->__pyx_int_112105877); + Py_CLEAR(clear_module_state->__pyx_int_136983863); + Py_CLEAR(clear_module_state->__pyx_int_184977713); + Py_CLEAR(clear_module_state->__pyx_int_neg_1); + Py_CLEAR(clear_module_state->__pyx_slice__5); + Py_CLEAR(clear_module_state->__pyx_tuple__4); + Py_CLEAR(clear_module_state->__pyx_tuple__8); + Py_CLEAR(clear_module_state->__pyx_tuple__9); + Py_CLEAR(clear_module_state->__pyx_tuple__10); + Py_CLEAR(clear_module_state->__pyx_tuple__11); + Py_CLEAR(clear_module_state->__pyx_tuple__12); + Py_CLEAR(clear_module_state->__pyx_tuple__13); + Py_CLEAR(clear_module_state->__pyx_tuple__14); + Py_CLEAR(clear_module_state->__pyx_tuple__15); + Py_CLEAR(clear_module_state->__pyx_tuple__16); + Py_CLEAR(clear_module_state->__pyx_tuple__17); + Py_CLEAR(clear_module_state->__pyx_tuple__18); + Py_CLEAR(clear_module_state->__pyx_tuple__20); + Py_CLEAR(clear_module_state->__pyx_tuple__22); + Py_CLEAR(clear_module_state->__pyx_codeobj__19); + Py_CLEAR(clear_module_state->__pyx_codeobj__21); + Py_CLEAR(clear_module_state->__pyx_codeobj__23); + return 0; +} +#endif +/* #### Code section: module_state_traverse ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_traverse(PyObject *m, visitproc visit, void *arg) { + __pyx_mstate *traverse_module_state = __pyx_mstate(m); + if (!traverse_module_state) return 0; + Py_VISIT(traverse_module_state->__pyx_d); + Py_VISIT(traverse_module_state->__pyx_b); + Py_VISIT(traverse_module_state->__pyx_cython_runtime); + Py_VISIT(traverse_module_state->__pyx_empty_tuple); + Py_VISIT(traverse_module_state->__pyx_empty_bytes); + Py_VISIT(traverse_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_VISIT(traverse_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_VISIT(traverse_module_state->__pyx_FusedFunctionType); + #endif + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext); + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel); + Py_VISIT(traverse_module_state->__pyx_type_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel); + Py_VISIT(traverse_module_state->__pyx_array_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_array); + Py_VISIT(traverse_module_state->__pyx_MemviewEnum_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_MemviewEnum); + Py_VISIT(traverse_module_state->__pyx_memoryview_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_memoryview); + Py_VISIT(traverse_module_state->__pyx_memoryviewslice_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_memoryviewslice); + Py_VISIT(traverse_module_state->__pyx_kp_u_); + Py_VISIT(traverse_module_state->__pyx_n_u_ADSP_LIBRARY_PATH); + Py_VISIT(traverse_module_state->__pyx_n_s_ASCII); + Py_VISIT(traverse_module_state->__pyx_kp_s_All_dimensions_preceding_dimensi); + Py_VISIT(traverse_module_state->__pyx_n_s_AssertionError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Buffer_view_does_not_expose_stri); + Py_VISIT(traverse_module_state->__pyx_kp_s_Can_only_create_a_buffer_that_is); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_assign_to_read_only_memor); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_create_writable_memory_vi); + Py_VISIT(traverse_module_state->__pyx_kp_u_Cannot_index_with_type); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_transpose_memoryview_with); + Py_VISIT(traverse_module_state->__pyx_kp_s_Dimension_d_is_not_direct); + Py_VISIT(traverse_module_state->__pyx_n_s_Ellipsis); + Py_VISIT(traverse_module_state->__pyx_kp_s_Empty_shape_tuple_for_cython_arr); + Py_VISIT(traverse_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0); + Py_VISIT(traverse_module_state->__pyx_n_s_IndexError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Index_out_of_bounds_axis_d); + Py_VISIT(traverse_module_state->__pyx_kp_s_Indirect_dimensions_not_supporte); + Py_VISIT(traverse_module_state->__pyx_kp_u_Invalid_mode_expected_c_or_fortr); + Py_VISIT(traverse_module_state->__pyx_kp_u_Invalid_shape_in_axis); + Py_VISIT(traverse_module_state->__pyx_n_s_MemoryError); + Py_VISIT(traverse_module_state->__pyx_kp_s_MemoryView_of_r_at_0x_x); + Py_VISIT(traverse_module_state->__pyx_kp_s_MemoryView_of_r_object); + Py_VISIT(traverse_module_state->__pyx_n_b_O); + Py_VISIT(traverse_module_state->__pyx_kp_u_Out_of_bounds_on_buffer_access_a); + Py_VISIT(traverse_module_state->__pyx_n_s_PickleError); + Py_VISIT(traverse_module_state->__pyx_n_s_SNPEModel); + Py_VISIT(traverse_module_state->__pyx_n_s_SNPEModel___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_SNPEModel___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_Sequence); + Py_VISIT(traverse_module_state->__pyx_kp_s_Step_may_not_be_zero_axis_d); + Py_VISIT(traverse_module_state->__pyx_n_s_TypeError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Unable_to_convert_item_to_object); + Py_VISIT(traverse_module_state->__pyx_n_s_ValueError); + Py_VISIT(traverse_module_state->__pyx_n_s_View_MemoryView); + Py_VISIT(traverse_module_state->__pyx_kp_u__2); + Py_VISIT(traverse_module_state->__pyx_n_s__24); + Py_VISIT(traverse_module_state->__pyx_n_s__3); + Py_VISIT(traverse_module_state->__pyx_kp_u__6); + Py_VISIT(traverse_module_state->__pyx_kp_u__7); + Py_VISIT(traverse_module_state->__pyx_n_s_abc); + Py_VISIT(traverse_module_state->__pyx_n_s_allocate_buffer); + Py_VISIT(traverse_module_state->__pyx_kp_u_and); + Py_VISIT(traverse_module_state->__pyx_n_s_asyncio_coroutines); + Py_VISIT(traverse_module_state->__pyx_n_s_base); + Py_VISIT(traverse_module_state->__pyx_n_s_c); + Py_VISIT(traverse_module_state->__pyx_n_u_c); + Py_VISIT(traverse_module_state->__pyx_n_s_class); + Py_VISIT(traverse_module_state->__pyx_n_s_class_getitem); + Py_VISIT(traverse_module_state->__pyx_n_s_cline_in_traceback); + Py_VISIT(traverse_module_state->__pyx_n_s_collections); + Py_VISIT(traverse_module_state->__pyx_kp_s_collections_abc); + Py_VISIT(traverse_module_state->__pyx_n_s_context); + Py_VISIT(traverse_module_state->__pyx_kp_s_contiguous_and_direct); + Py_VISIT(traverse_module_state->__pyx_kp_s_contiguous_and_indirect); + Py_VISIT(traverse_module_state->__pyx_n_s_count); + Py_VISIT(traverse_module_state->__pyx_kp_u_data_pythonpath_third_party_snp); + Py_VISIT(traverse_module_state->__pyx_n_s_dict); + Py_VISIT(traverse_module_state->__pyx_kp_u_disable); + Py_VISIT(traverse_module_state->__pyx_n_s_dtype_is_object); + Py_VISIT(traverse_module_state->__pyx_kp_u_enable); + Py_VISIT(traverse_module_state->__pyx_n_s_encode); + Py_VISIT(traverse_module_state->__pyx_n_s_enumerate); + Py_VISIT(traverse_module_state->__pyx_n_s_environ); + Py_VISIT(traverse_module_state->__pyx_n_s_error); + Py_VISIT(traverse_module_state->__pyx_n_s_flags); + Py_VISIT(traverse_module_state->__pyx_n_s_format); + Py_VISIT(traverse_module_state->__pyx_n_s_fortran); + Py_VISIT(traverse_module_state->__pyx_n_u_fortran); + Py_VISIT(traverse_module_state->__pyx_kp_u_gc); + Py_VISIT(traverse_module_state->__pyx_n_s_getstate); + Py_VISIT(traverse_module_state->__pyx_kp_u_got); + Py_VISIT(traverse_module_state->__pyx_kp_u_got_differing_extents_in_dimensi); + Py_VISIT(traverse_module_state->__pyx_n_s_id); + Py_VISIT(traverse_module_state->__pyx_n_s_import); + Py_VISIT(traverse_module_state->__pyx_n_s_index); + Py_VISIT(traverse_module_state->__pyx_n_s_initializing); + Py_VISIT(traverse_module_state->__pyx_n_s_is_coroutine); + Py_VISIT(traverse_module_state->__pyx_kp_u_isenabled); + Py_VISIT(traverse_module_state->__pyx_n_s_itemsize); + Py_VISIT(traverse_module_state->__pyx_kp_s_itemsize_0_for_cython_array); + Py_VISIT(traverse_module_state->__pyx_n_s_main); + Py_VISIT(traverse_module_state->__pyx_n_s_memview); + Py_VISIT(traverse_module_state->__pyx_n_s_mode); + Py_VISIT(traverse_module_state->__pyx_n_s_name); + Py_VISIT(traverse_module_state->__pyx_n_s_name_2); + Py_VISIT(traverse_module_state->__pyx_n_s_ndim); + Py_VISIT(traverse_module_state->__pyx_n_s_new); + Py_VISIT(traverse_module_state->__pyx_kp_s_no_default___reduce___due_to_non); + Py_VISIT(traverse_module_state->__pyx_n_s_obj); + Py_VISIT(traverse_module_state->__pyx_n_s_os); + Py_VISIT(traverse_module_state->__pyx_n_s_output); + Py_VISIT(traverse_module_state->__pyx_n_s_pack); + Py_VISIT(traverse_module_state->__pyx_n_s_path); + Py_VISIT(traverse_module_state->__pyx_n_s_pickle); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_PickleError); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_checksum); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_result); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_state); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_type); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_unpickle_Enum); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_vtable); + Py_VISIT(traverse_module_state->__pyx_n_s_range); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_ex); + Py_VISIT(traverse_module_state->__pyx_n_s_register); + Py_VISIT(traverse_module_state->__pyx_n_s_runtime); + Py_VISIT(traverse_module_state->__pyx_n_s_self); + Py_VISIT(traverse_module_state->__pyx_n_s_selfdrive_modeld_runners_snpemod); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_shape); + Py_VISIT(traverse_module_state->__pyx_n_s_size); + Py_VISIT(traverse_module_state->__pyx_n_s_spec); + Py_VISIT(traverse_module_state->__pyx_n_s_start); + Py_VISIT(traverse_module_state->__pyx_n_s_step); + Py_VISIT(traverse_module_state->__pyx_n_s_stop); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_direct); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_direct_or_indirect); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_indirect); + Py_VISIT(traverse_module_state->__pyx_kp_s_stringsource); + Py_VISIT(traverse_module_state->__pyx_n_s_struct); + Py_VISIT(traverse_module_state->__pyx_n_s_sys); + Py_VISIT(traverse_module_state->__pyx_n_s_test); + Py_VISIT(traverse_module_state->__pyx_kp_s_unable_to_allocate_array_data); + Py_VISIT(traverse_module_state->__pyx_kp_s_unable_to_allocate_shape_and_str); + Py_VISIT(traverse_module_state->__pyx_n_s_unpack); + Py_VISIT(traverse_module_state->__pyx_n_s_update); + Py_VISIT(traverse_module_state->__pyx_n_s_use_tf8); + Py_VISIT(traverse_module_state->__pyx_n_s_version_info); + Py_VISIT(traverse_module_state->__pyx_int_0); + Py_VISIT(traverse_module_state->__pyx_int_1); + Py_VISIT(traverse_module_state->__pyx_int_3); + Py_VISIT(traverse_module_state->__pyx_int_112105877); + Py_VISIT(traverse_module_state->__pyx_int_136983863); + Py_VISIT(traverse_module_state->__pyx_int_184977713); + Py_VISIT(traverse_module_state->__pyx_int_neg_1); + Py_VISIT(traverse_module_state->__pyx_slice__5); + Py_VISIT(traverse_module_state->__pyx_tuple__4); + Py_VISIT(traverse_module_state->__pyx_tuple__8); + Py_VISIT(traverse_module_state->__pyx_tuple__9); + Py_VISIT(traverse_module_state->__pyx_tuple__10); + Py_VISIT(traverse_module_state->__pyx_tuple__11); + Py_VISIT(traverse_module_state->__pyx_tuple__12); + Py_VISIT(traverse_module_state->__pyx_tuple__13); + Py_VISIT(traverse_module_state->__pyx_tuple__14); + Py_VISIT(traverse_module_state->__pyx_tuple__15); + Py_VISIT(traverse_module_state->__pyx_tuple__16); + Py_VISIT(traverse_module_state->__pyx_tuple__17); + Py_VISIT(traverse_module_state->__pyx_tuple__18); + Py_VISIT(traverse_module_state->__pyx_tuple__20); + Py_VISIT(traverse_module_state->__pyx_tuple__22); + Py_VISIT(traverse_module_state->__pyx_codeobj__19); + Py_VISIT(traverse_module_state->__pyx_codeobj__21); + Py_VISIT(traverse_module_state->__pyx_codeobj__23); + return 0; +} +#endif +/* #### Code section: module_state_defines ### */ +#define __pyx_d __pyx_mstate_global->__pyx_d +#define __pyx_b __pyx_mstate_global->__pyx_b +#define __pyx_cython_runtime __pyx_mstate_global->__pyx_cython_runtime +#define __pyx_empty_tuple __pyx_mstate_global->__pyx_empty_tuple +#define __pyx_empty_bytes __pyx_mstate_global->__pyx_empty_bytes +#define __pyx_empty_unicode __pyx_mstate_global->__pyx_empty_unicode +#ifdef __Pyx_CyFunction_USED +#define __pyx_CyFunctionType __pyx_mstate_global->__pyx_CyFunctionType +#endif +#ifdef __Pyx_FusedFunction_USED +#define __pyx_FusedFunctionType __pyx_mstate_global->__pyx_FusedFunctionType +#endif +#ifdef __Pyx_Generator_USED +#define __pyx_GeneratorType __pyx_mstate_global->__pyx_GeneratorType +#endif +#ifdef __Pyx_IterableCoroutine_USED +#define __pyx_IterableCoroutineType __pyx_mstate_global->__pyx_IterableCoroutineType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineAwaitType __pyx_mstate_global->__pyx_CoroutineAwaitType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineType __pyx_mstate_global->__pyx_CoroutineType +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext __pyx_mstate_global->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext +#define __pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf __pyx_mstate_global->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext __pyx_mstate_global->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext +#define __pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem __pyx_mstate_global->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel __pyx_mstate_global->__pyx_ptype_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel +#if CYTHON_USE_MODULE_STATE +#define __pyx_type_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel __pyx_mstate_global->__pyx_type_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel +#define __pyx_type___pyx_array __pyx_mstate_global->__pyx_type___pyx_array +#define __pyx_type___pyx_MemviewEnum __pyx_mstate_global->__pyx_type___pyx_MemviewEnum +#define __pyx_type___pyx_memoryview __pyx_mstate_global->__pyx_type___pyx_memoryview +#define __pyx_type___pyx_memoryviewslice __pyx_mstate_global->__pyx_type___pyx_memoryviewslice +#endif +#define __pyx_ptype_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel __pyx_mstate_global->__pyx_ptype_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel +#define __pyx_array_type __pyx_mstate_global->__pyx_array_type +#define __pyx_MemviewEnum_type __pyx_mstate_global->__pyx_MemviewEnum_type +#define __pyx_memoryview_type __pyx_mstate_global->__pyx_memoryview_type +#define __pyx_memoryviewslice_type __pyx_mstate_global->__pyx_memoryviewslice_type +#define __pyx_kp_u_ __pyx_mstate_global->__pyx_kp_u_ +#define __pyx_n_u_ADSP_LIBRARY_PATH __pyx_mstate_global->__pyx_n_u_ADSP_LIBRARY_PATH +#define __pyx_n_s_ASCII __pyx_mstate_global->__pyx_n_s_ASCII +#define __pyx_kp_s_All_dimensions_preceding_dimensi __pyx_mstate_global->__pyx_kp_s_All_dimensions_preceding_dimensi +#define __pyx_n_s_AssertionError __pyx_mstate_global->__pyx_n_s_AssertionError +#define __pyx_kp_s_Buffer_view_does_not_expose_stri __pyx_mstate_global->__pyx_kp_s_Buffer_view_does_not_expose_stri +#define __pyx_kp_s_Can_only_create_a_buffer_that_is __pyx_mstate_global->__pyx_kp_s_Can_only_create_a_buffer_that_is +#define __pyx_kp_s_Cannot_assign_to_read_only_memor __pyx_mstate_global->__pyx_kp_s_Cannot_assign_to_read_only_memor +#define __pyx_kp_s_Cannot_create_writable_memory_vi __pyx_mstate_global->__pyx_kp_s_Cannot_create_writable_memory_vi +#define __pyx_kp_u_Cannot_index_with_type __pyx_mstate_global->__pyx_kp_u_Cannot_index_with_type +#define __pyx_kp_s_Cannot_transpose_memoryview_with __pyx_mstate_global->__pyx_kp_s_Cannot_transpose_memoryview_with +#define __pyx_kp_s_Dimension_d_is_not_direct __pyx_mstate_global->__pyx_kp_s_Dimension_d_is_not_direct +#define __pyx_n_s_Ellipsis __pyx_mstate_global->__pyx_n_s_Ellipsis +#define __pyx_kp_s_Empty_shape_tuple_for_cython_arr __pyx_mstate_global->__pyx_kp_s_Empty_shape_tuple_for_cython_arr +#define __pyx_kp_s_Incompatible_checksums_0x_x_vs_0 __pyx_mstate_global->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0 +#define __pyx_n_s_IndexError __pyx_mstate_global->__pyx_n_s_IndexError +#define __pyx_kp_s_Index_out_of_bounds_axis_d __pyx_mstate_global->__pyx_kp_s_Index_out_of_bounds_axis_d +#define __pyx_kp_s_Indirect_dimensions_not_supporte __pyx_mstate_global->__pyx_kp_s_Indirect_dimensions_not_supporte +#define __pyx_kp_u_Invalid_mode_expected_c_or_fortr __pyx_mstate_global->__pyx_kp_u_Invalid_mode_expected_c_or_fortr +#define __pyx_kp_u_Invalid_shape_in_axis __pyx_mstate_global->__pyx_kp_u_Invalid_shape_in_axis +#define __pyx_n_s_MemoryError __pyx_mstate_global->__pyx_n_s_MemoryError +#define __pyx_kp_s_MemoryView_of_r_at_0x_x __pyx_mstate_global->__pyx_kp_s_MemoryView_of_r_at_0x_x +#define __pyx_kp_s_MemoryView_of_r_object __pyx_mstate_global->__pyx_kp_s_MemoryView_of_r_object +#define __pyx_n_b_O __pyx_mstate_global->__pyx_n_b_O +#define __pyx_kp_u_Out_of_bounds_on_buffer_access_a __pyx_mstate_global->__pyx_kp_u_Out_of_bounds_on_buffer_access_a +#define __pyx_n_s_PickleError __pyx_mstate_global->__pyx_n_s_PickleError +#define __pyx_n_s_SNPEModel __pyx_mstate_global->__pyx_n_s_SNPEModel +#define __pyx_n_s_SNPEModel___reduce_cython __pyx_mstate_global->__pyx_n_s_SNPEModel___reduce_cython +#define __pyx_n_s_SNPEModel___setstate_cython __pyx_mstate_global->__pyx_n_s_SNPEModel___setstate_cython +#define __pyx_n_s_Sequence __pyx_mstate_global->__pyx_n_s_Sequence +#define __pyx_kp_s_Step_may_not_be_zero_axis_d __pyx_mstate_global->__pyx_kp_s_Step_may_not_be_zero_axis_d +#define __pyx_n_s_TypeError __pyx_mstate_global->__pyx_n_s_TypeError +#define __pyx_kp_s_Unable_to_convert_item_to_object __pyx_mstate_global->__pyx_kp_s_Unable_to_convert_item_to_object +#define __pyx_n_s_ValueError __pyx_mstate_global->__pyx_n_s_ValueError +#define __pyx_n_s_View_MemoryView __pyx_mstate_global->__pyx_n_s_View_MemoryView +#define __pyx_kp_u__2 __pyx_mstate_global->__pyx_kp_u__2 +#define __pyx_n_s__24 __pyx_mstate_global->__pyx_n_s__24 +#define __pyx_n_s__3 __pyx_mstate_global->__pyx_n_s__3 +#define __pyx_kp_u__6 __pyx_mstate_global->__pyx_kp_u__6 +#define __pyx_kp_u__7 __pyx_mstate_global->__pyx_kp_u__7 +#define __pyx_n_s_abc __pyx_mstate_global->__pyx_n_s_abc +#define __pyx_n_s_allocate_buffer __pyx_mstate_global->__pyx_n_s_allocate_buffer +#define __pyx_kp_u_and __pyx_mstate_global->__pyx_kp_u_and +#define __pyx_n_s_asyncio_coroutines __pyx_mstate_global->__pyx_n_s_asyncio_coroutines +#define __pyx_n_s_base __pyx_mstate_global->__pyx_n_s_base +#define __pyx_n_s_c __pyx_mstate_global->__pyx_n_s_c +#define __pyx_n_u_c __pyx_mstate_global->__pyx_n_u_c +#define __pyx_n_s_class __pyx_mstate_global->__pyx_n_s_class +#define __pyx_n_s_class_getitem __pyx_mstate_global->__pyx_n_s_class_getitem +#define __pyx_n_s_cline_in_traceback __pyx_mstate_global->__pyx_n_s_cline_in_traceback +#define __pyx_n_s_collections __pyx_mstate_global->__pyx_n_s_collections +#define __pyx_kp_s_collections_abc __pyx_mstate_global->__pyx_kp_s_collections_abc +#define __pyx_n_s_context __pyx_mstate_global->__pyx_n_s_context +#define __pyx_kp_s_contiguous_and_direct __pyx_mstate_global->__pyx_kp_s_contiguous_and_direct +#define __pyx_kp_s_contiguous_and_indirect __pyx_mstate_global->__pyx_kp_s_contiguous_and_indirect +#define __pyx_n_s_count __pyx_mstate_global->__pyx_n_s_count +#define __pyx_kp_u_data_pythonpath_third_party_snp __pyx_mstate_global->__pyx_kp_u_data_pythonpath_third_party_snp +#define __pyx_n_s_dict __pyx_mstate_global->__pyx_n_s_dict +#define __pyx_kp_u_disable __pyx_mstate_global->__pyx_kp_u_disable +#define __pyx_n_s_dtype_is_object __pyx_mstate_global->__pyx_n_s_dtype_is_object +#define __pyx_kp_u_enable __pyx_mstate_global->__pyx_kp_u_enable +#define __pyx_n_s_encode __pyx_mstate_global->__pyx_n_s_encode +#define __pyx_n_s_enumerate __pyx_mstate_global->__pyx_n_s_enumerate +#define __pyx_n_s_environ __pyx_mstate_global->__pyx_n_s_environ +#define __pyx_n_s_error __pyx_mstate_global->__pyx_n_s_error +#define __pyx_n_s_flags __pyx_mstate_global->__pyx_n_s_flags +#define __pyx_n_s_format __pyx_mstate_global->__pyx_n_s_format +#define __pyx_n_s_fortran __pyx_mstate_global->__pyx_n_s_fortran +#define __pyx_n_u_fortran __pyx_mstate_global->__pyx_n_u_fortran +#define __pyx_kp_u_gc __pyx_mstate_global->__pyx_kp_u_gc +#define __pyx_n_s_getstate __pyx_mstate_global->__pyx_n_s_getstate +#define __pyx_kp_u_got __pyx_mstate_global->__pyx_kp_u_got +#define __pyx_kp_u_got_differing_extents_in_dimensi __pyx_mstate_global->__pyx_kp_u_got_differing_extents_in_dimensi +#define __pyx_n_s_id __pyx_mstate_global->__pyx_n_s_id +#define __pyx_n_s_import __pyx_mstate_global->__pyx_n_s_import +#define __pyx_n_s_index __pyx_mstate_global->__pyx_n_s_index +#define __pyx_n_s_initializing __pyx_mstate_global->__pyx_n_s_initializing +#define __pyx_n_s_is_coroutine __pyx_mstate_global->__pyx_n_s_is_coroutine +#define __pyx_kp_u_isenabled __pyx_mstate_global->__pyx_kp_u_isenabled +#define __pyx_n_s_itemsize __pyx_mstate_global->__pyx_n_s_itemsize +#define __pyx_kp_s_itemsize_0_for_cython_array __pyx_mstate_global->__pyx_kp_s_itemsize_0_for_cython_array +#define __pyx_n_s_main __pyx_mstate_global->__pyx_n_s_main +#define __pyx_n_s_memview __pyx_mstate_global->__pyx_n_s_memview +#define __pyx_n_s_mode __pyx_mstate_global->__pyx_n_s_mode +#define __pyx_n_s_name __pyx_mstate_global->__pyx_n_s_name +#define __pyx_n_s_name_2 __pyx_mstate_global->__pyx_n_s_name_2 +#define __pyx_n_s_ndim __pyx_mstate_global->__pyx_n_s_ndim +#define __pyx_n_s_new __pyx_mstate_global->__pyx_n_s_new +#define __pyx_kp_s_no_default___reduce___due_to_non __pyx_mstate_global->__pyx_kp_s_no_default___reduce___due_to_non +#define __pyx_n_s_obj __pyx_mstate_global->__pyx_n_s_obj +#define __pyx_n_s_os __pyx_mstate_global->__pyx_n_s_os +#define __pyx_n_s_output __pyx_mstate_global->__pyx_n_s_output +#define __pyx_n_s_pack __pyx_mstate_global->__pyx_n_s_pack +#define __pyx_n_s_path __pyx_mstate_global->__pyx_n_s_path +#define __pyx_n_s_pickle __pyx_mstate_global->__pyx_n_s_pickle +#define __pyx_n_s_pyx_PickleError __pyx_mstate_global->__pyx_n_s_pyx_PickleError +#define __pyx_n_s_pyx_checksum __pyx_mstate_global->__pyx_n_s_pyx_checksum +#define __pyx_n_s_pyx_result __pyx_mstate_global->__pyx_n_s_pyx_result +#define __pyx_n_s_pyx_state __pyx_mstate_global->__pyx_n_s_pyx_state +#define __pyx_n_s_pyx_type __pyx_mstate_global->__pyx_n_s_pyx_type +#define __pyx_n_s_pyx_unpickle_Enum __pyx_mstate_global->__pyx_n_s_pyx_unpickle_Enum +#define __pyx_n_s_pyx_vtable __pyx_mstate_global->__pyx_n_s_pyx_vtable +#define __pyx_n_s_range __pyx_mstate_global->__pyx_n_s_range +#define __pyx_n_s_reduce __pyx_mstate_global->__pyx_n_s_reduce +#define __pyx_n_s_reduce_cython __pyx_mstate_global->__pyx_n_s_reduce_cython +#define __pyx_n_s_reduce_ex __pyx_mstate_global->__pyx_n_s_reduce_ex +#define __pyx_n_s_register __pyx_mstate_global->__pyx_n_s_register +#define __pyx_n_s_runtime __pyx_mstate_global->__pyx_n_s_runtime +#define __pyx_n_s_self __pyx_mstate_global->__pyx_n_s_self +#define __pyx_n_s_selfdrive_modeld_runners_snpemod __pyx_mstate_global->__pyx_n_s_selfdrive_modeld_runners_snpemod +#define __pyx_n_s_setstate __pyx_mstate_global->__pyx_n_s_setstate +#define __pyx_n_s_setstate_cython __pyx_mstate_global->__pyx_n_s_setstate_cython +#define __pyx_n_s_shape __pyx_mstate_global->__pyx_n_s_shape +#define __pyx_n_s_size __pyx_mstate_global->__pyx_n_s_size +#define __pyx_n_s_spec __pyx_mstate_global->__pyx_n_s_spec +#define __pyx_n_s_start __pyx_mstate_global->__pyx_n_s_start +#define __pyx_n_s_step __pyx_mstate_global->__pyx_n_s_step +#define __pyx_n_s_stop __pyx_mstate_global->__pyx_n_s_stop +#define __pyx_kp_s_strided_and_direct __pyx_mstate_global->__pyx_kp_s_strided_and_direct +#define __pyx_kp_s_strided_and_direct_or_indirect __pyx_mstate_global->__pyx_kp_s_strided_and_direct_or_indirect +#define __pyx_kp_s_strided_and_indirect __pyx_mstate_global->__pyx_kp_s_strided_and_indirect +#define __pyx_kp_s_stringsource __pyx_mstate_global->__pyx_kp_s_stringsource +#define __pyx_n_s_struct __pyx_mstate_global->__pyx_n_s_struct +#define __pyx_n_s_sys __pyx_mstate_global->__pyx_n_s_sys +#define __pyx_n_s_test __pyx_mstate_global->__pyx_n_s_test +#define __pyx_kp_s_unable_to_allocate_array_data __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_array_data +#define __pyx_kp_s_unable_to_allocate_shape_and_str __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_shape_and_str +#define __pyx_n_s_unpack __pyx_mstate_global->__pyx_n_s_unpack +#define __pyx_n_s_update __pyx_mstate_global->__pyx_n_s_update +#define __pyx_n_s_use_tf8 __pyx_mstate_global->__pyx_n_s_use_tf8 +#define __pyx_n_s_version_info __pyx_mstate_global->__pyx_n_s_version_info +#define __pyx_int_0 __pyx_mstate_global->__pyx_int_0 +#define __pyx_int_1 __pyx_mstate_global->__pyx_int_1 +#define __pyx_int_3 __pyx_mstate_global->__pyx_int_3 +#define __pyx_int_112105877 __pyx_mstate_global->__pyx_int_112105877 +#define __pyx_int_136983863 __pyx_mstate_global->__pyx_int_136983863 +#define __pyx_int_184977713 __pyx_mstate_global->__pyx_int_184977713 +#define __pyx_int_neg_1 __pyx_mstate_global->__pyx_int_neg_1 +#define __pyx_slice__5 __pyx_mstate_global->__pyx_slice__5 +#define __pyx_tuple__4 __pyx_mstate_global->__pyx_tuple__4 +#define __pyx_tuple__8 __pyx_mstate_global->__pyx_tuple__8 +#define __pyx_tuple__9 __pyx_mstate_global->__pyx_tuple__9 +#define __pyx_tuple__10 __pyx_mstate_global->__pyx_tuple__10 +#define __pyx_tuple__11 __pyx_mstate_global->__pyx_tuple__11 +#define __pyx_tuple__12 __pyx_mstate_global->__pyx_tuple__12 +#define __pyx_tuple__13 __pyx_mstate_global->__pyx_tuple__13 +#define __pyx_tuple__14 __pyx_mstate_global->__pyx_tuple__14 +#define __pyx_tuple__15 __pyx_mstate_global->__pyx_tuple__15 +#define __pyx_tuple__16 __pyx_mstate_global->__pyx_tuple__16 +#define __pyx_tuple__17 __pyx_mstate_global->__pyx_tuple__17 +#define __pyx_tuple__18 __pyx_mstate_global->__pyx_tuple__18 +#define __pyx_tuple__20 __pyx_mstate_global->__pyx_tuple__20 +#define __pyx_tuple__22 __pyx_mstate_global->__pyx_tuple__22 +#define __pyx_codeobj__19 __pyx_mstate_global->__pyx_codeobj__19 +#define __pyx_codeobj__21 __pyx_mstate_global->__pyx_codeobj__21 +#define __pyx_codeobj__23 __pyx_mstate_global->__pyx_codeobj__23 +/* #### Code section: module_code ### */ + +/* "string.from_py":13 + * + * @cname("__pyx_convert_string_from_py_std__in_string") + * cdef string __pyx_convert_string_from_py_std__in_string(object o) except *: # <<<<<<<<<<<<<< + * cdef Py_ssize_t length = 0 + * cdef const char* data = __Pyx_PyObject_AsStringAndSize(o, &length) + */ + +static std::string __pyx_convert_string_from_py_std__in_string(PyObject *__pyx_v_o) { + Py_ssize_t __pyx_v_length; + char const *__pyx_v_data; + std::string __pyx_r; + char const *__pyx_t_1; + std::string __pyx_t_2; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + + /* "string.from_py":14 + * @cname("__pyx_convert_string_from_py_std__in_string") + * cdef string __pyx_convert_string_from_py_std__in_string(object o) except *: + * cdef Py_ssize_t length = 0 # <<<<<<<<<<<<<< + * cdef const char* data = __Pyx_PyObject_AsStringAndSize(o, &length) + * return string(data, length) + */ + __pyx_v_length = 0; + + /* "string.from_py":15 + * cdef string __pyx_convert_string_from_py_std__in_string(object o) except *: + * cdef Py_ssize_t length = 0 + * cdef const char* data = __Pyx_PyObject_AsStringAndSize(o, &length) # <<<<<<<<<<<<<< + * return string(data, length) + * + */ + __pyx_t_1 = __Pyx_PyObject_AsStringAndSize(__pyx_v_o, (&__pyx_v_length)); if (unlikely(__pyx_t_1 == ((char const *)NULL))) __PYX_ERR(0, 15, __pyx_L1_error) + __pyx_v_data = __pyx_t_1; + + /* "string.from_py":16 + * cdef Py_ssize_t length = 0 + * cdef const char* data = __Pyx_PyObject_AsStringAndSize(o, &length) + * return string(data, length) # <<<<<<<<<<<<<< + * + * + */ + try { + __pyx_t_2 = std::string(__pyx_v_data, __pyx_v_length); + } catch(...) { + __Pyx_CppExn2PyErr(); + __PYX_ERR(0, 16, __pyx_L1_error) + } + __pyx_r = __pyx_t_2; + goto __pyx_L0; + + /* "string.from_py":13 + * + * @cname("__pyx_convert_string_from_py_std__in_string") + * cdef string __pyx_convert_string_from_py_std__in_string(object o) except *: # <<<<<<<<<<<<<< + * cdef Py_ssize_t length = 0 + * cdef const char* data = __Pyx_PyObject_AsStringAndSize(o, &length) + */ + + /* function exit code */ + __pyx_L1_error:; + __Pyx_AddTraceback("string.from_py.__pyx_convert_string_from_py_std__in_string", __pyx_clineno, __pyx_lineno, __pyx_filename); + __Pyx_pretend_to_initialize(&__pyx_r); + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":131 + * cdef bint dtype_is_object + * + * def __cinit__(array self, tuple shape, Py_ssize_t itemsize, format not None, # <<<<<<<<<<<<<< + * mode="c", bint allocate_buffer=True): + * + */ + +/* Python wrapper */ +static int __pyx_array___cinit__(PyObject *__pyx_v_self, PyObject *__pyx_args, PyObject *__pyx_kwds); /*proto*/ +static int __pyx_array___cinit__(PyObject *__pyx_v_self, PyObject *__pyx_args, PyObject *__pyx_kwds) { + PyObject *__pyx_v_shape = 0; + Py_ssize_t __pyx_v_itemsize; + PyObject *__pyx_v_format = 0; + PyObject 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start >= shape: + */ + __pyx_t_2 = (__pyx_v_start < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":834 + * start += shape + * if start < 0: + * start = 0 # <<<<<<<<<<<<<< + * elif start >= shape: + * if negative_step: + */ + __pyx_v_start = 0; + + /* "View.MemoryView":833 + * if start < 0: + * start += shape + * if start < 0: # <<<<<<<<<<<<<< + * start = 0 + * elif start >= shape: + */ + } + + /* "View.MemoryView":831 + * + * if have_start: + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if start < 0: + */ + goto __pyx_L9; + } + + /* "View.MemoryView":835 + * if start < 0: + * start = 0 + * elif start >= shape: # <<<<<<<<<<<<<< + * if negative_step: + * start = shape - 1 + */ + __pyx_t_2 = (__pyx_v_start >= __pyx_v_shape); + if (__pyx_t_2) { + + /* "View.MemoryView":836 + * start = 0 + * elif start >= shape: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + if (__pyx_v_negative_step) { + + /* "View.MemoryView":837 + * elif start >= shape: + * if negative_step: + * start = shape - 1 # <<<<<<<<<<<<<< + * else: + * start = shape + */ + __pyx_v_start = (__pyx_v_shape - 1); + + /* "View.MemoryView":836 + * start = 0 + * elif start >= shape: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + goto __pyx_L11; + } + + /* "View.MemoryView":839 + * start = shape - 1 + * else: + * start = shape # <<<<<<<<<<<<<< + * else: + * if negative_step: + */ + /*else*/ { + __pyx_v_start = __pyx_v_shape; + } + __pyx_L11:; + + /* "View.MemoryView":835 + * if start < 0: + * start = 0 + * elif start >= shape: # <<<<<<<<<<<<<< + * if negative_step: + * start = shape - 1 + */ + } + __pyx_L9:; + + /* "View.MemoryView":830 + * + * + * if have_start: # <<<<<<<<<<<<<< + * if start < 0: + * start += shape + */ + goto __pyx_L8; + } + + /* "View.MemoryView":841 + * start = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + /*else*/ { + if (__pyx_v_negative_step) { + + /* "View.MemoryView":842 + * else: + * if negative_step: + * start = shape - 1 # <<<<<<<<<<<<<< + * else: + * start = 0 + */ + __pyx_v_start = (__pyx_v_shape - 1); + + /* "View.MemoryView":841 + * start = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + goto __pyx_L12; + } + + /* "View.MemoryView":844 + * start = shape - 1 + * else: + * start = 0 # <<<<<<<<<<<<<< + * + * if have_stop: + */ + /*else*/ { + __pyx_v_start = 0; + } + __pyx_L12:; + } + __pyx_L8:; + + /* "View.MemoryView":846 + * start = 0 + * + * if have_stop: # <<<<<<<<<<<<<< + * if stop < 0: + * stop += shape + */ + __pyx_t_2 = (__pyx_v_have_stop != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":847 + * + * if have_stop: + * if stop < 0: # <<<<<<<<<<<<<< + * stop += shape + * if stop < 0: + */ + __pyx_t_2 = (__pyx_v_stop < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":848 + * if have_stop: + * if stop < 0: + * stop += shape # <<<<<<<<<<<<<< + * if stop < 0: + * stop = 0 + */ + __pyx_v_stop = (__pyx_v_stop + __pyx_v_shape); + + /* "View.MemoryView":849 + * if stop < 0: + * stop += shape + * if stop < 0: # <<<<<<<<<<<<<< + * stop = 0 + * elif stop > shape: + */ + __pyx_t_2 = (__pyx_v_stop < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":850 + * stop += shape + * if stop < 0: + * stop = 0 # <<<<<<<<<<<<<< + * elif stop > shape: + * stop = shape + */ + __pyx_v_stop = 0; + + /* "View.MemoryView":849 + * if stop < 0: + * stop += shape + * if stop < 0: # <<<<<<<<<<<<<< + * stop = 0 + * elif stop > shape: + */ + } + + /* "View.MemoryView":847 + * + * if have_stop: + * if stop < 0: # <<<<<<<<<<<<<< + * stop += shape + * if stop < 0: + */ + goto __pyx_L14; + } + + /* "View.MemoryView":851 + * if stop < 0: + * stop = 0 + * elif stop > shape: # <<<<<<<<<<<<<< + * stop = shape + * else: + */ + __pyx_t_2 = (__pyx_v_stop > __pyx_v_shape); + if (__pyx_t_2) { + + /* "View.MemoryView":852 + * stop = 0 + * elif stop > shape: + * stop = shape # <<<<<<<<<<<<<< + * else: + * if negative_step: 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+ * + * with cython.cdivision(True): + * new_shape = (stop - start) // step # <<<<<<<<<<<<<< + * + * if (stop - start) - step * new_shape: + */ + __pyx_v_new_shape = ((__pyx_v_stop - __pyx_v_start) / __pyx_v_step); + + /* "View.MemoryView":863 + * new_shape = (stop - start) // step + * + * if (stop - start) - step * new_shape: # <<<<<<<<<<<<<< + * new_shape += 1 + * + */ + __pyx_t_2 = (((__pyx_v_stop - __pyx_v_start) - (__pyx_v_step * __pyx_v_new_shape)) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":864 + * + * if (stop - start) - step * new_shape: + * new_shape += 1 # <<<<<<<<<<<<<< + * + * if new_shape < 0: + */ + __pyx_v_new_shape = (__pyx_v_new_shape + 1); + + /* "View.MemoryView":863 + * new_shape = (stop - start) // step + * + * if (stop - start) - step * new_shape: # <<<<<<<<<<<<<< + * new_shape += 1 + * + */ + } + + /* "View.MemoryView":866 + * new_shape += 1 + * + * if new_shape < 0: # <<<<<<<<<<<<<< + * new_shape = 0 + * + */ + __pyx_t_2 = (__pyx_v_new_shape < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":867 + * + * if new_shape < 0: + * new_shape = 0 # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_new_shape = 0; + + /* "View.MemoryView":866 + * new_shape += 1 + * + * if new_shape < 0: # <<<<<<<<<<<<<< + * new_shape = 0 + * + */ + } + + /* "View.MemoryView":870 + * + * + * dst.strides[new_ndim] = stride * step # <<<<<<<<<<<<<< + * dst.shape[new_ndim] = new_shape + * dst.suboffsets[new_ndim] = suboffset + */ + (__pyx_v_dst->strides[__pyx_v_new_ndim]) = (__pyx_v_stride * __pyx_v_step); + + /* "View.MemoryView":871 + * + * dst.strides[new_ndim] = stride * step + * dst.shape[new_ndim] = new_shape # <<<<<<<<<<<<<< + * dst.suboffsets[new_ndim] = suboffset + * + */ + (__pyx_v_dst->shape[__pyx_v_new_ndim]) = __pyx_v_new_shape; + + /* "View.MemoryView":872 + * dst.strides[new_ndim] = stride * step + * dst.shape[new_ndim] = new_shape + * dst.suboffsets[new_ndim] = suboffset # <<<<<<<<<<<<<< + * + * + */ + (__pyx_v_dst->suboffsets[__pyx_v_new_ndim]) = 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__Pyx_GOTREF(__pyx_t_4); + __pyx_r = __pyx_t_4; + __pyx_t_4 = 0; + goto __pyx_L0; + + /* "View.MemoryView":1087 + * + * @cname('__pyx_memoryview_copy_object_from_slice') + * cdef memoryview_copy_from_slice(memoryview memview, __Pyx_memviewslice *memviewslice): # <<<<<<<<<<<<<< + * """ + * Create a new memoryview object from a given memoryview object and slice. + */ + + /* function exit code */ + __pyx_L1_error:; + __Pyx_XDECREF(__pyx_t_4); + __Pyx_AddTraceback("View.MemoryView.memoryview_copy_from_slice", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = 0; + __pyx_L0:; + __Pyx_XGIVEREF(__pyx_r); + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +/* "View.MemoryView":1109 + * + * + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) noexcept nogil: # <<<<<<<<<<<<<< + * return -arg if arg < 0 else arg + * + */ + +static Py_ssize_t abs_py_ssize_t(Py_ssize_t __pyx_v_arg) { + Py_ssize_t __pyx_r; + Py_ssize_t __pyx_t_1; + int __pyx_t_2; + + /* "View.MemoryView":1110 + * + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) noexcept nogil: + * return -arg if arg < 0 else arg # <<<<<<<<<<<<<< + * + * @cname('__pyx_get_best_slice_order') + */ + __pyx_t_2 = (__pyx_v_arg < 0); + if (__pyx_t_2) { + __pyx_t_1 = (-__pyx_v_arg); + } else { + __pyx_t_1 = __pyx_v_arg; + } + __pyx_r = __pyx_t_1; + goto __pyx_L0; + + /* "View.MemoryView":1109 + * + * + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) noexcept nogil: # <<<<<<<<<<<<<< + * return -arg if arg < 0 else arg + * + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1113 + * + * @cname('__pyx_get_best_slice_order') + * cdef char get_best_order(__Pyx_memviewslice *mslice, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * """ + * Figure out the best memory access order for a given slice. + */ + +static char __pyx_get_best_slice_order(__Pyx_memviewslice *__pyx_v_mslice, int __pyx_v_ndim) { + int __pyx_v_i; + Py_ssize_t __pyx_v_c_stride; + Py_ssize_t __pyx_v_f_stride; + char __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1118 + * """ + * cdef int i + * cdef Py_ssize_t c_stride = 0 # <<<<<<<<<<<<<< + * cdef Py_ssize_t f_stride = 0 + * + */ + __pyx_v_c_stride = 0; + + /* "View.MemoryView":1119 + * cdef int i + * cdef Py_ssize_t c_stride = 0 + * cdef Py_ssize_t f_stride = 0 # <<<<<<<<<<<<<< + * + * for i in range(ndim - 1, -1, -1): + */ + __pyx_v_f_stride = 0; + + /* "View.MemoryView":1121 + * cdef Py_ssize_t f_stride = 0 + * + * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] + */ + for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { + __pyx_v_i = __pyx_t_1; + + /* "View.MemoryView":1122 + * + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * c_stride = mslice.strides[i] + * break + */ + __pyx_t_2 = ((__pyx_v_mslice->shape[__pyx_v_i]) > 1); + if (__pyx_t_2) { + + /* "View.MemoryView":1123 + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] # <<<<<<<<<<<<<< + * break + * + */ + __pyx_v_c_stride = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1124 + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] + * break # <<<<<<<<<<<<<< + * + * for i in range(ndim): + */ + goto __pyx_L4_break; + + /* "View.MemoryView":1122 + * + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * c_stride = mslice.strides[i] + * break + */ + } + } + __pyx_L4_break:; + + /* "View.MemoryView":1126 + * break + * + * for i in range(ndim): # <<<<<<<<<<<<<< + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] + */ + __pyx_t_1 = __pyx_v_ndim; + __pyx_t_3 = __pyx_t_1; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_i = __pyx_t_4; + + /* "View.MemoryView":1127 + * + * for i in range(ndim): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * f_stride = mslice.strides[i] + * break + */ + __pyx_t_2 = ((__pyx_v_mslice->shape[__pyx_v_i]) > 1); + if (__pyx_t_2) { + + /* "View.MemoryView":1128 + * for i in range(ndim): + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] # <<<<<<<<<<<<<< + * break + * + */ + __pyx_v_f_stride = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1129 + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] + * break # <<<<<<<<<<<<<< + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): + */ + goto __pyx_L7_break; + + /* "View.MemoryView":1127 + * + * for i in range(ndim): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * f_stride = mslice.strides[i] + * break + */ + } + } + __pyx_L7_break:; + + /* "View.MemoryView":1131 + * break + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< + * return 'C' + * else: + */ + __pyx_t_2 = (abs_py_ssize_t(__pyx_v_c_stride) <= abs_py_ssize_t(__pyx_v_f_stride)); + if (__pyx_t_2) { + + /* "View.MemoryView":1132 + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): + * return 'C' # <<<<<<<<<<<<<< + * else: + * return 'F' + */ + __pyx_r = 'C'; + goto __pyx_L0; + + /* "View.MemoryView":1131 + * break + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< + * return 'C' + * else: + */ + } + + /* "View.MemoryView":1134 + * return 'C' + * else: + * return 'F' # <<<<<<<<<<<<<< + * + * @cython.cdivision(True) + */ + /*else*/ { + __pyx_r = 'F'; + goto __pyx_L0; + } + + /* "View.MemoryView":1113 + * + * @cname('__pyx_get_best_slice_order') + * cdef char get_best_order(__Pyx_memviewslice *mslice, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * """ + * Figure out the best memory access order for a given slice. + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1137 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + +static void _copy_strided_to_strided(char *__pyx_v_src_data, Py_ssize_t *__pyx_v_src_strides, char *__pyx_v_dst_data, Py_ssize_t *__pyx_v_dst_strides, Py_ssize_t *__pyx_v_src_shape, Py_ssize_t *__pyx_v_dst_shape, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + CYTHON_UNUSED Py_ssize_t __pyx_v_src_extent; + Py_ssize_t __pyx_v_dst_extent; + Py_ssize_t __pyx_v_src_stride; + Py_ssize_t __pyx_v_dst_stride; + int __pyx_t_1; + int __pyx_t_2; + Py_ssize_t __pyx_t_3; + Py_ssize_t __pyx_t_4; + Py_ssize_t __pyx_t_5; + + /* "View.MemoryView":1144 + * + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + */ + __pyx_v_src_extent = (__pyx_v_src_shape[0]); + + /* "View.MemoryView":1145 + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] + */ + __pyx_v_dst_extent = (__pyx_v_dst_shape[0]); + + /* "View.MemoryView":1146 + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + */ + __pyx_v_src_stride = (__pyx_v_src_strides[0]); + + /* "View.MemoryView":1147 + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] # <<<<<<<<<<<<<< + * + * if ndim == 1: + */ + __pyx_v_dst_stride = (__pyx_v_dst_strides[0]); + + /* "View.MemoryView":1149 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + __pyx_t_1 = (__pyx_v_ndim == 1); + if (__pyx_t_1) { + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + __pyx_t_2 = (__pyx_v_src_stride > 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + __pyx_t_2 = (__pyx_v_dst_stride > 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + + /* "View.MemoryView":1151 + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + */ + __pyx_t_2 = (((size_t)__pyx_v_src_stride) == __pyx_v_itemsize); + if (__pyx_t_2) { + __pyx_t_2 = (__pyx_v_itemsize == ((size_t)__pyx_v_dst_stride)); + } + __pyx_t_1 = __pyx_t_2; + __pyx_L5_bool_binop_done:; + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + if (__pyx_t_1) { + + /* "View.MemoryView":1152 + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, (__pyx_v_itemsize * __pyx_v_dst_extent))); + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + goto __pyx_L4; + } + + /* "View.MemoryView":1154 + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + */ + /*else*/ { + __pyx_t_3 = __pyx_v_dst_extent; + __pyx_t_4 = __pyx_t_3; + for (__pyx_t_5 = 0; __pyx_t_5 < __pyx_t_4; __pyx_t_5+=1) { + __pyx_v_i = __pyx_t_5; + + /* "View.MemoryView":1155 + * else: + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) # <<<<<<<<<<<<<< + * src_data += src_stride + * dst_data += dst_stride + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, __pyx_v_itemsize)); + + /* "View.MemoryView":1156 + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * else: + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1157 + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L4:; + + /* "View.MemoryView":1149 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1159 + * dst_data += dst_stride + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * _copy_strided_to_strided(src_data, src_strides + 1, + * dst_data, dst_strides + 1, + */ + /*else*/ { + __pyx_t_3 = __pyx_v_dst_extent; + __pyx_t_4 = __pyx_t_3; + for (__pyx_t_5 = 0; __pyx_t_5 < __pyx_t_4; __pyx_t_5+=1) { + __pyx_v_i = __pyx_t_5; + + /* "View.MemoryView":1160 + * else: + * for i in range(dst_extent): + * _copy_strided_to_strided(src_data, src_strides + 1, # <<<<<<<<<<<<<< + * dst_data, dst_strides + 1, + * src_shape + 1, dst_shape + 1, + */ + _copy_strided_to_strided(__pyx_v_src_data, (__pyx_v_src_strides + 1), __pyx_v_dst_data, (__pyx_v_dst_strides + 1), (__pyx_v_src_shape + 1), (__pyx_v_dst_shape + 1), (__pyx_v_ndim - 1), __pyx_v_itemsize); + + /* "View.MemoryView":1164 + * src_shape + 1, dst_shape + 1, + * ndim - 1, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1165 + * ndim - 1, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L3:; + + /* "View.MemoryView":1137 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + + /* function exit code */ +} + +/* "View.MemoryView":1167 + * dst_data += dst_stride + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + */ + +static void copy_strided_to_strided(__Pyx_memviewslice *__pyx_v_src, __Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + + /* "View.MemoryView":1170 + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + * _copy_strided_to_strided(src.data, src.strides, dst.data, dst.strides, # <<<<<<<<<<<<<< + * src.shape, dst.shape, ndim, itemsize) + * + */ + _copy_strided_to_strided(__pyx_v_src->data, __pyx_v_src->strides, __pyx_v_dst->data, __pyx_v_dst->strides, __pyx_v_src->shape, __pyx_v_dst->shape, __pyx_v_ndim, __pyx_v_itemsize); + + /* "View.MemoryView":1167 + * dst_data += dst_stride + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1174 + * + * @cname('__pyx_memoryview_slice_get_size') + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + */ + +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *__pyx_v_src, int __pyx_v_ndim) { + Py_ssize_t __pyx_v_shape; + Py_ssize_t __pyx_v_size; + Py_ssize_t __pyx_r; + Py_ssize_t __pyx_t_1; + Py_ssize_t *__pyx_t_2; + Py_ssize_t *__pyx_t_3; + Py_ssize_t *__pyx_t_4; + + /* "View.MemoryView":1176 + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize # <<<<<<<<<<<<<< + * + * for shape in src.shape[:ndim]: + */ + __pyx_t_1 = __pyx_v_src->memview->view.itemsize; + __pyx_v_size = __pyx_t_1; + + /* "View.MemoryView":1178 + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + * + * for shape in src.shape[:ndim]: # <<<<<<<<<<<<<< + * size *= shape + * + */ + __pyx_t_3 = (__pyx_v_src->shape + __pyx_v_ndim); + for (__pyx_t_4 = __pyx_v_src->shape; __pyx_t_4 < __pyx_t_3; __pyx_t_4++) { + __pyx_t_2 = __pyx_t_4; + __pyx_v_shape = (__pyx_t_2[0]); + + /* "View.MemoryView":1179 + * + * for shape in src.shape[:ndim]: + * size *= shape # <<<<<<<<<<<<<< + * + * return size + */ + __pyx_v_size = (__pyx_v_size * __pyx_v_shape); + } + + /* "View.MemoryView":1181 + * size *= shape + * + * return size # <<<<<<<<<<<<<< + * + * @cname('__pyx_fill_contig_strides_array') + */ + __pyx_r = __pyx_v_size; + goto __pyx_L0; + + /* "View.MemoryView":1174 + * + * @cname('__pyx_memoryview_slice_get_size') + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1184 + * + * @cname('__pyx_fill_contig_strides_array') + * cdef Py_ssize_t fill_contig_strides_array( # <<<<<<<<<<<<<< + * Py_ssize_t *shape, Py_ssize_t *strides, Py_ssize_t stride, + * int ndim, char order) noexcept nogil: + */ + +static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, Py_ssize_t __pyx_v_stride, int __pyx_v_ndim, char __pyx_v_order) { + int __pyx_v_idx; + Py_ssize_t __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1193 + * cdef int idx + * + * if order == 'F': # <<<<<<<<<<<<<< + * for idx in range(ndim): + * strides[idx] = stride + */ + __pyx_t_1 = (__pyx_v_order == 'F'); + if (__pyx_t_1) { + + /* "View.MemoryView":1194 + * + * if order == 'F': + * for idx in range(ndim): # <<<<<<<<<<<<<< + * strides[idx] = stride + * stride *= shape[idx] + */ + __pyx_t_2 = __pyx_v_ndim; + __pyx_t_3 = __pyx_t_2; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_idx = __pyx_t_4; + + /* "View.MemoryView":1195 + * if order == 'F': + * for idx in range(ndim): + * strides[idx] = stride # <<<<<<<<<<<<<< + * stride *= shape[idx] + * else: + */ + (__pyx_v_strides[__pyx_v_idx]) = __pyx_v_stride; + + /* "View.MemoryView":1196 + * for idx in range(ndim): + * strides[idx] = stride + * stride *= shape[idx] # <<<<<<<<<<<<<< + * else: + * for idx in range(ndim - 1, -1, -1): + */ + __pyx_v_stride = (__pyx_v_stride * (__pyx_v_shape[__pyx_v_idx])); + } + + /* "View.MemoryView":1193 + * cdef int idx + * + * if order == 'F': # <<<<<<<<<<<<<< + * for idx in range(ndim): + * strides[idx] = stride + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1198 + * stride *= shape[idx] + * else: + * for idx in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * strides[idx] = stride + * stride *= shape[idx] + */ + /*else*/ { + for (__pyx_t_2 = (__pyx_v_ndim - 1); __pyx_t_2 > -1; __pyx_t_2-=1) { + __pyx_v_idx = __pyx_t_2; + + /* "View.MemoryView":1199 + * else: + * for idx in range(ndim - 1, -1, -1): + * strides[idx] = stride # <<<<<<<<<<<<<< + * stride 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+ void *__pyx_v_tmpdata; + size_t __pyx_v_itemsize; + int __pyx_v_i; + char __pyx_v_order; + int __pyx_v_broadcasting; + int __pyx_v_direct_copy; + __Pyx_memviewslice __pyx_v_tmp; + int __pyx_v_ndim; + int __pyx_r; + Py_ssize_t __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_t_4; + int __pyx_t_5; + int __pyx_t_6; + void *__pyx_t_7; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save; + #endif + + /* "View.MemoryView":1273 + * Check for overlapping memory and verify the shapes. + * """ + * cdef void *tmpdata = NULL # <<<<<<<<<<<<<< + * cdef size_t itemsize = src.memview.view.itemsize + * cdef int i + */ + __pyx_v_tmpdata = NULL; + + /* "View.MemoryView":1274 + * """ + * cdef void *tmpdata = NULL + * cdef size_t itemsize = src.memview.view.itemsize # <<<<<<<<<<<<<< + * cdef int i + * cdef char order = get_best_order(&src, src_ndim) + */ + __pyx_t_1 = __pyx_v_src.memview->view.itemsize; + __pyx_v_itemsize = __pyx_t_1; + + /* "View.MemoryView":1276 + * cdef size_t itemsize = src.memview.view.itemsize + * cdef int i + * cdef char order = get_best_order(&src, src_ndim) # <<<<<<<<<<<<<< + * cdef bint broadcasting = False + * cdef bint direct_copy = False + */ + __pyx_v_order = __pyx_get_best_slice_order((&__pyx_v_src), __pyx_v_src_ndim); + + /* "View.MemoryView":1277 + * cdef int i + * cdef char order = get_best_order(&src, src_ndim) + * cdef bint broadcasting = False # <<<<<<<<<<<<<< + * cdef bint direct_copy = False + * cdef __Pyx_memviewslice tmp + */ + __pyx_v_broadcasting = 0; + + /* "View.MemoryView":1278 + * cdef char order = get_best_order(&src, src_ndim) + * cdef bint broadcasting = False + * cdef bint direct_copy = False # <<<<<<<<<<<<<< + * cdef __Pyx_memviewslice tmp + * + */ + __pyx_v_direct_copy = 0; + + /* "View.MemoryView":1281 + * cdef __Pyx_memviewslice tmp + * + * if src_ndim < dst_ndim: # <<<<<<<<<<<<<< + * broadcast_leading(&src, src_ndim, dst_ndim) + * elif dst_ndim < src_ndim: + */ + __pyx_t_2 = (__pyx_v_src_ndim < __pyx_v_dst_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1282 + * + * if src_ndim < dst_ndim: + * broadcast_leading(&src, src_ndim, dst_ndim) # <<<<<<<<<<<<<< + * elif dst_ndim < src_ndim: + * broadcast_leading(&dst, dst_ndim, src_ndim) + */ + __pyx_memoryview_broadcast_leading((&__pyx_v_src), __pyx_v_src_ndim, __pyx_v_dst_ndim); + + /* "View.MemoryView":1281 + * cdef __Pyx_memviewslice tmp + * + * if src_ndim < dst_ndim: # <<<<<<<<<<<<<< + * broadcast_leading(&src, src_ndim, dst_ndim) + * elif dst_ndim < src_ndim: + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1283 + * if src_ndim < dst_ndim: + * broadcast_leading(&src, src_ndim, dst_ndim) + * elif dst_ndim < src_ndim: # <<<<<<<<<<<<<< + * broadcast_leading(&dst, dst_ndim, src_ndim) + * + */ + __pyx_t_2 = (__pyx_v_dst_ndim < __pyx_v_src_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1284 + * broadcast_leading(&src, src_ndim, dst_ndim) + * elif dst_ndim < src_ndim: + * broadcast_leading(&dst, dst_ndim, src_ndim) # <<<<<<<<<<<<<< + * + * cdef int ndim = max(src_ndim, dst_ndim) + */ + __pyx_memoryview_broadcast_leading((&__pyx_v_dst), __pyx_v_dst_ndim, __pyx_v_src_ndim); + + /* "View.MemoryView":1283 + * if src_ndim < dst_ndim: + * broadcast_leading(&src, src_ndim, dst_ndim) + * elif dst_ndim < src_ndim: # <<<<<<<<<<<<<< + * broadcast_leading(&dst, dst_ndim, src_ndim) + * + */ + } + __pyx_L3:; + + /* "View.MemoryView":1286 + * broadcast_leading(&dst, dst_ndim, src_ndim) + * + * cdef int ndim = max(src_ndim, dst_ndim) # <<<<<<<<<<<<<< + * + * for i in range(ndim): + */ + __pyx_t_3 = __pyx_v_dst_ndim; + __pyx_t_4 = __pyx_v_src_ndim; + __pyx_t_2 = (__pyx_t_3 > __pyx_t_4); + if (__pyx_t_2) { + __pyx_t_5 = __pyx_t_3; + } else { + __pyx_t_5 = __pyx_t_4; + } + __pyx_v_ndim = __pyx_t_5; + + /* "View.MemoryView":1288 + * cdef int ndim = max(src_ndim, dst_ndim) + * + * for i in range(ndim): # <<<<<<<<<<<<<< + * if src.shape[i] != dst.shape[i]: + * if src.shape[i] == 1: + */ + __pyx_t_5 = __pyx_v_ndim; + __pyx_t_3 = __pyx_t_5; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_i = __pyx_t_4; + + /* "View.MemoryView":1289 + * + * for i in range(ndim): + * if src.shape[i] != dst.shape[i]: # <<<<<<<<<<<<<< + * if src.shape[i] == 1: + * broadcasting = True + */ + __pyx_t_2 = ((__pyx_v_src.shape[__pyx_v_i]) != (__pyx_v_dst.shape[__pyx_v_i])); + if (__pyx_t_2) { + + /* "View.MemoryView":1290 + * for i in range(ndim): + * if src.shape[i] != dst.shape[i]: + * if src.shape[i] == 1: # <<<<<<<<<<<<<< + * broadcasting = True + * src.strides[i] = 0 + */ + __pyx_t_2 = ((__pyx_v_src.shape[__pyx_v_i]) == 1); + if (__pyx_t_2) { + + /* "View.MemoryView":1291 + * if src.shape[i] != dst.shape[i]: + * if src.shape[i] == 1: + * broadcasting = True # <<<<<<<<<<<<<< + * src.strides[i] = 0 + * else: + */ + __pyx_v_broadcasting = 1; + + /* "View.MemoryView":1292 + * if src.shape[i] == 1: + * broadcasting = True + * src.strides[i] = 0 # <<<<<<<<<<<<<< + * else: + * _err_extents(i, dst.shape[i], src.shape[i]) + */ + (__pyx_v_src.strides[__pyx_v_i]) = 0; + + /* "View.MemoryView":1290 + * for i in range(ndim): + * if src.shape[i] != dst.shape[i]: + * if src.shape[i] == 1: # <<<<<<<<<<<<<< + * broadcasting = True + * src.strides[i] = 0 + */ + goto __pyx_L7; + } + + /* "View.MemoryView":1294 + * src.strides[i] = 0 + * else: + * _err_extents(i, dst.shape[i], src.shape[i]) # <<<<<<<<<<<<<< + * + * if src.suboffsets[i] >= 0: + */ + /*else*/ { + __pyx_t_6 = __pyx_memoryview_err_extents(__pyx_v_i, (__pyx_v_dst.shape[__pyx_v_i]), (__pyx_v_src.shape[__pyx_v_i])); if (unlikely(__pyx_t_6 == ((int)-1))) __PYX_ERR(0, 1294, __pyx_L1_error) + } + __pyx_L7:; + + /* "View.MemoryView":1289 + * + * for i in range(ndim): + * if src.shape[i] != dst.shape[i]: # <<<<<<<<<<<<<< + * if src.shape[i] == 1: + * broadcasting = True + */ + } + + /* "View.MemoryView":1296 + * _err_extents(i, dst.shape[i], src.shape[i]) + * + * if src.suboffsets[i] >= 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) + * + */ + __pyx_t_2 = ((__pyx_v_src.suboffsets[__pyx_v_i]) >= 0); + if (__pyx_t_2) { + + /* "View.MemoryView":1297 + * + * if src.suboffsets[i] >= 0: + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) # <<<<<<<<<<<<<< + * + * if slices_overlap(&src, &dst, ndim, itemsize): + */ + __pyx_t_6 = __pyx_memoryview_err_dim(PyExc_ValueError, __pyx_kp_s_Dimension_d_is_not_direct, __pyx_v_i); if (unlikely(__pyx_t_6 == ((int)-1))) __PYX_ERR(0, 1297, __pyx_L1_error) + + /* "View.MemoryView":1296 + * _err_extents(i, dst.shape[i], src.shape[i]) + * + * if src.suboffsets[i] >= 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) + * + */ + } + } + + /* "View.MemoryView":1299 + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) + * + * if slices_overlap(&src, &dst, ndim, itemsize): # <<<<<<<<<<<<<< + * + * if not slice_is_contig(src, order, ndim): + */ + __pyx_t_2 = __pyx_slices_overlap((&__pyx_v_src), (&__pyx_v_dst), __pyx_v_ndim, __pyx_v_itemsize); + if (__pyx_t_2) { + + /* "View.MemoryView":1301 + * if slices_overlap(&src, &dst, ndim, itemsize): + * + * if not slice_is_contig(src, order, ndim): # <<<<<<<<<<<<<< + * order = get_best_order(&dst, ndim) + * + */ + __pyx_t_2 = (!__pyx_memviewslice_is_contig(__pyx_v_src, __pyx_v_order, __pyx_v_ndim)); + if (__pyx_t_2) { + + /* "View.MemoryView":1302 + * + * if not slice_is_contig(src, order, ndim): + * order = get_best_order(&dst, ndim) # <<<<<<<<<<<<<< + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) + */ + __pyx_v_order = __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim); + + /* "View.MemoryView":1301 + * if slices_overlap(&src, &dst, ndim, itemsize): + * + * if not slice_is_contig(src, order, ndim): # <<<<<<<<<<<<<< + * order = get_best_order(&dst, ndim) + * + */ + } + + /* "View.MemoryView":1304 + * order = get_best_order(&dst, ndim) + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) # <<<<<<<<<<<<<< + * src = tmp + * + */ + __pyx_t_7 = __pyx_memoryview_copy_data_to_temp((&__pyx_v_src), (&__pyx_v_tmp), __pyx_v_order, __pyx_v_ndim); if (unlikely(__pyx_t_7 == ((void *)NULL))) __PYX_ERR(0, 1304, __pyx_L1_error) + __pyx_v_tmpdata = __pyx_t_7; + + /* "View.MemoryView":1305 + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) + * src = tmp # <<<<<<<<<<<<<< + * + * if not broadcasting: + */ + __pyx_v_src = __pyx_v_tmp; + + /* "View.MemoryView":1299 + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) + * + * if slices_overlap(&src, &dst, ndim, itemsize): # <<<<<<<<<<<<<< + * + * if not slice_is_contig(src, order, ndim): + */ + } + + /* "View.MemoryView":1307 + * src = tmp + * + * if not broadcasting: # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_2 = (!__pyx_v_broadcasting); + if (__pyx_t_2) { + + /* "View.MemoryView":1310 + * + * + * if slice_is_contig(src, 'C', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + */ + __pyx_t_2 = __pyx_memviewslice_is_contig(__pyx_v_src, 'C', __pyx_v_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1311 + * + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) # <<<<<<<<<<<<<< + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'C', __pyx_v_ndim); + + /* "View.MemoryView":1310 + * + * + * if slice_is_contig(src, 'C', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + */ + goto __pyx_L12; + } + + /* "View.MemoryView":1312 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + __pyx_t_2 = __pyx_memviewslice_is_contig(__pyx_v_src, 'F', __pyx_v_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1313 + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) # <<<<<<<<<<<<<< + * + * if direct_copy: + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'F', __pyx_v_ndim); + + /* "View.MemoryView":1312 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + } + __pyx_L12:; + + /* "View.MemoryView":1315 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + if (__pyx_v_direct_copy) { + + /* "View.MemoryView":1317 + * if direct_copy: + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1318 + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) + */ + (void)(memcpy(__pyx_v_dst.data, __pyx_v_src.data, __pyx_memoryview_slice_get_size((&__pyx_v_src), __pyx_v_ndim))); + + /* "View.MemoryView":1319 + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * free(tmpdata) + * return 0 + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1320 + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1321 + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * if order == 'F' == get_best_order(&dst, ndim): + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1315 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + } + + /* "View.MemoryView":1307 + * src = tmp + * + * if not broadcasting: # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1323 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_2 = (__pyx_v_order == 'F'); + if (__pyx_t_2) { + __pyx_t_2 = ('F' == __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim)); + } + if (__pyx_t_2) { + + /* "View.MemoryView":1326 + * + * + * transpose_memslice(&src) # <<<<<<<<<<<<<< + * transpose_memslice(&dst) + * + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_src)); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(0, 1326, __pyx_L1_error) + + /* "View.MemoryView":1327 + * + * transpose_memslice(&src) + * transpose_memslice(&dst) # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_dst)); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(0, 1327, __pyx_L1_error) + + /* "View.MemoryView":1323 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1329 + * transpose_memslice(&dst) + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1330 + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * + */ + copy_strided_to_strided((&__pyx_v_src), (&__pyx_v_dst), __pyx_v_ndim, __pyx_v_itemsize); + + /* "View.MemoryView":1331 + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * + * free(tmpdata) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1333 + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1334 + * + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_broadcast_leading') + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1265 + * + * @cname('__pyx_memoryview_copy_contents') + * cdef int memoryview_copy_contents(__Pyx_memviewslice src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice dst, + * int src_ndim, int dst_ndim, + */ + + /* function exit code */ + __pyx_L1_error:; + #ifdef WITH_THREAD + __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + __Pyx_AddTraceback("View.MemoryView.memoryview_copy_contents", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = -1; + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1337 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) noexcept nogil: + */ + +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *__pyx_v_mslice, int __pyx_v_ndim, int __pyx_v_ndim_other) { + int __pyx_v_i; + int __pyx_v_offset; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + + /* "View.MemoryView":1341 + * int ndim_other) noexcept nogil: + * cdef int i + * cdef int offset = ndim_other - ndim # <<<<<<<<<<<<<< + * + * for i in range(ndim - 1, -1, -1): + */ + __pyx_v_offset = (__pyx_v_ndim_other - __pyx_v_ndim); + + /* "View.MemoryView":1343 + * cdef int offset = ndim_other - ndim + * + * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + */ + for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { + __pyx_v_i = __pyx_t_1; + + /* "View.MemoryView":1344 + * + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] # <<<<<<<<<<<<<< + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + */ + (__pyx_v_mslice->shape[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->shape[__pyx_v_i]); + + /* "View.MemoryView":1345 + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] # <<<<<<<<<<<<<< + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + */ + (__pyx_v_mslice->strides[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1346 + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] # <<<<<<<<<<<<<< + * + * for i in range(offset): + */ + (__pyx_v_mslice->suboffsets[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->suboffsets[__pyx_v_i]); + } + + /* "View.MemoryView":1348 + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + * for i in range(offset): # <<<<<<<<<<<<<< + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + */ + __pyx_t_1 = __pyx_v_offset; + __pyx_t_2 = __pyx_t_1; + for (__pyx_t_3 = 0; __pyx_t_3 < __pyx_t_2; __pyx_t_3+=1) { + __pyx_v_i = __pyx_t_3; + + /* "View.MemoryView":1349 + * + * for i in range(offset): + * mslice.shape[i] = 1 # <<<<<<<<<<<<<< + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 + */ + (__pyx_v_mslice->shape[__pyx_v_i]) = 1; + + /* "View.MemoryView":1350 + * for i in range(offset): + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] # <<<<<<<<<<<<<< + * mslice.suboffsets[i] = -1 + * + */ + (__pyx_v_mslice->strides[__pyx_v_i]) = (__pyx_v_mslice->strides[0]); + + /* "View.MemoryView":1351 + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 # <<<<<<<<<<<<<< + * + * + */ + (__pyx_v_mslice->suboffsets[__pyx_v_i]) = -1L; + } + + /* "View.MemoryView":1337 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1359 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: # <<<<<<<<<<<<<< + * + * if dtype_is_object: + */ + +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_dtype_is_object, int __pyx_v_ndim, int __pyx_v_inc) { + + /* "View.MemoryView":1361 + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) + * + */ + if (__pyx_v_dtype_is_object) { + + /* "View.MemoryView":1362 + * + * if dtype_is_object: + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + */ + __pyx_memoryview_refcount_objects_in_slice_with_gil(__pyx_v_dst->data, __pyx_v_dst->shape, __pyx_v_dst->strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1361 + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) + * + */ + } + + /* "View.MemoryView":1359 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: # <<<<<<<<<<<<<< + * + * if dtype_is_object: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1365 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + * cdef void refcount_objects_in_slice_with_gil(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + */ + +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, int __pyx_v_inc) { + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + + /* "View.MemoryView":1368 + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + * refcount_objects_in_slice(data, shape, strides, ndim, inc) # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + */ + __pyx_memoryview_refcount_objects_in_slice(__pyx_v_data, __pyx_v_shape, __pyx_v_strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1365 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + * cdef void refcount_objects_in_slice_with_gil(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + */ + + /* function exit code */ + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif +} + +/* "View.MemoryView":1371 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + * cdef void refcount_objects_in_slice(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + */ + +static void __pyx_memoryview_refcount_objects_in_slice(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, int __pyx_v_inc) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + Py_ssize_t __pyx_v_stride; + Py_ssize_t __pyx_t_1; + Py_ssize_t __pyx_t_2; + Py_ssize_t __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1374 + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + * cdef Py_ssize_t stride = strides[0] # <<<<<<<<<<<<<< + * + * for i in range(shape[0]): + */ + __pyx_v_stride = (__pyx_v_strides[0]); + + /* "View.MemoryView":1376 + * cdef Py_ssize_t stride = strides[0] + * + * for i in range(shape[0]): # <<<<<<<<<<<<<< + * if ndim == 1: + * if inc: + */ + __pyx_t_1 = (__pyx_v_shape[0]); + __pyx_t_2 = __pyx_t_1; + for (__pyx_t_3 = 0; __pyx_t_3 < __pyx_t_2; __pyx_t_3+=1) { + __pyx_v_i = __pyx_t_3; + + /* "View.MemoryView":1377 + * + * for i in range(shape[0]): + * if ndim == 1: # <<<<<<<<<<<<<< + * if inc: + * Py_INCREF(( data)[0]) + */ + __pyx_t_4 = (__pyx_v_ndim == 1); + if (__pyx_t_4) { + + /* "View.MemoryView":1378 + * for i in range(shape[0]): + * if ndim == 1: + * if inc: # <<<<<<<<<<<<<< + * Py_INCREF(( data)[0]) + * else: + */ + if (__pyx_v_inc) { + + /* "View.MemoryView":1379 + * if ndim == 1: + * if inc: + * Py_INCREF(( data)[0]) # <<<<<<<<<<<<<< + * else: + * Py_DECREF(( data)[0]) + */ + Py_INCREF((((PyObject **)__pyx_v_data)[0])); + + /* "View.MemoryView":1378 + * for i in range(shape[0]): + * if ndim == 1: + * if inc: # <<<<<<<<<<<<<< + * Py_INCREF(( data)[0]) + * else: + */ + goto __pyx_L6; + } + + /* "View.MemoryView":1381 + * Py_INCREF(( data)[0]) + * else: + * Py_DECREF(( data)[0]) # <<<<<<<<<<<<<< + * else: + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) + */ + /*else*/ { + Py_DECREF((((PyObject **)__pyx_v_data)[0])); + } + __pyx_L6:; + + /* "View.MemoryView":1377 + * + * for i in range(shape[0]): + * if ndim == 1: # <<<<<<<<<<<<<< + * if inc: + * Py_INCREF(( data)[0]) + */ + goto __pyx_L5; + } + + /* "View.MemoryView":1383 + * Py_DECREF(( data)[0]) + * else: + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) # <<<<<<<<<<<<<< + * + * data += stride + */ + /*else*/ { + __pyx_memoryview_refcount_objects_in_slice(__pyx_v_data, (__pyx_v_shape + 1), (__pyx_v_strides + 1), (__pyx_v_ndim - 1), __pyx_v_inc); + } + __pyx_L5:; + + /* "View.MemoryView":1385 + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) + * + * data += stride # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_data = (__pyx_v_data + __pyx_v_stride); + } + + /* "View.MemoryView":1371 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + * cdef void refcount_objects_in_slice(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + */ + + /* function exit code */ +} + +/* "View.MemoryView":1391 + * + * @cname('__pyx_memoryview_slice_assign_scalar') + * cdef void slice_assign_scalar(__Pyx_memviewslice *dst, int ndim, # <<<<<<<<<<<<<< + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + */ + +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize, void *__pyx_v_item, int __pyx_v_dtype_is_object) { + + /* "View.MemoryView":1394 + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + * refcount_copying(dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) + * refcount_copying(dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying(__pyx_v_dst, __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1395 + * bint dtype_is_object) noexcept nogil: + * refcount_copying(dst, dtype_is_object, ndim, inc=False) + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) # <<<<<<<<<<<<<< + * refcount_copying(dst, dtype_is_object, ndim, inc=True) + * + */ + __pyx_memoryview__slice_assign_scalar(__pyx_v_dst->data, __pyx_v_dst->shape, __pyx_v_dst->strides, __pyx_v_ndim, __pyx_v_itemsize, __pyx_v_item); + + /* "View.MemoryView":1396 + * refcount_copying(dst, dtype_is_object, ndim, inc=False) + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) + * refcount_copying(dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * + * + */ + __pyx_memoryview_refcount_copying(__pyx_v_dst, __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1391 + * + * @cname('__pyx_memoryview_slice_assign_scalar') + * cdef void slice_assign_scalar(__Pyx_memviewslice *dst, int ndim, # <<<<<<<<<<<<<< + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1400 + * + * @cname('__pyx_memoryview__slice_assign_scalar') + * cdef void _slice_assign_scalar(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * size_t itemsize, void *item) noexcept nogil: + */ + +static void __pyx_memoryview__slice_assign_scalar(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, size_t __pyx_v_itemsize, void *__pyx_v_item) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + Py_ssize_t __pyx_v_stride; + Py_ssize_t __pyx_v_extent; + int __pyx_t_1; + Py_ssize_t __pyx_t_2; + Py_ssize_t __pyx_t_3; + Py_ssize_t __pyx_t_4; + + /* "View.MemoryView":1404 + * size_t itemsize, void *item) noexcept nogil: + * cdef Py_ssize_t i + * cdef Py_ssize_t stride = strides[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t extent = shape[0] + * + */ + __pyx_v_stride = (__pyx_v_strides[0]); + + /* "View.MemoryView":1405 + * cdef Py_ssize_t i + * cdef Py_ssize_t stride = strides[0] + * cdef Py_ssize_t extent = shape[0] # <<<<<<<<<<<<<< + * + * if ndim == 1: + */ + __pyx_v_extent = (__pyx_v_shape[0]); + + /* "View.MemoryView":1407 + * cdef Py_ssize_t extent = shape[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * for i in range(extent): + * memcpy(data, item, itemsize) + */ + __pyx_t_1 = (__pyx_v_ndim == 1); + if (__pyx_t_1) { + + /* "View.MemoryView":1408 + * + * if ndim == 1: + * for i in range(extent): # <<<<<<<<<<<<<< + * memcpy(data, item, itemsize) + * data += stride + */ + __pyx_t_2 = __pyx_v_extent; + __pyx_t_3 = __pyx_t_2; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_i = __pyx_t_4; + + /* "View.MemoryView":1409 + * if ndim == 1: + * for i in range(extent): + * memcpy(data, item, itemsize) # <<<<<<<<<<<<<< + * data += stride + * else: + */ + (void)(memcpy(__pyx_v_data, __pyx_v_item, __pyx_v_itemsize)); + + /* "View.MemoryView":1410 + * for i in range(extent): + * memcpy(data, item, itemsize) + * data += stride # <<<<<<<<<<<<<< + * else: + * for i in range(extent): + */ + __pyx_v_data = (__pyx_v_data + __pyx_v_stride); + } + + /* "View.MemoryView":1407 + * cdef Py_ssize_t extent = shape[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * for i in range(extent): + * memcpy(data, item, itemsize) + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1412 + * data += stride + * else: + * for i in range(extent): # <<<<<<<<<<<<<< + * _slice_assign_scalar(data, shape + 1, strides + 1, ndim - 1, itemsize, item) + * data += stride + */ + /*else*/ { + __pyx_t_2 = __pyx_v_extent; + __pyx_t_3 = __pyx_t_2; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_i = __pyx_t_4; + + /* "View.MemoryView":1413 + * else: + * for i in range(extent): + * _slice_assign_scalar(data, shape + 1, strides + 1, ndim - 1, itemsize, item) # <<<<<<<<<<<<<< + * data += stride + * + */ + __pyx_memoryview__slice_assign_scalar(__pyx_v_data, (__pyx_v_shape + 1), (__pyx_v_strides + 1), (__pyx_v_ndim - 1), __pyx_v_itemsize, __pyx_v_item); + + /* "View.MemoryView":1414 + * for i in range(extent): + * _slice_assign_scalar(data, shape + 1, strides + 1, ndim - 1, itemsize, item) + * data += stride # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_data = (__pyx_v_data + __pyx_v_stride); + } + } + __pyx_L3:; + + /* "View.MemoryView":1400 + * + * @cname('__pyx_memoryview__slice_assign_scalar') + * cdef void _slice_assign_scalar(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * size_t itemsize, void *item) noexcept nogil: + */ + + /* function exit code */ +} + +/* "(tree fragment)":1 + * def __pyx_unpickle_Enum(__pyx_type, long __pyx_checksum, __pyx_state): # <<<<<<<<<<<<<< + * cdef object __pyx_PickleError + * cdef object __pyx_result + */ + +/* Python wrapper */ +static PyObject *__pyx_pw_15View_dot_MemoryView_1__pyx_unpickle_Enum(PyObject *__pyx_self, 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3, __pyx_L3_error) + __pyx_L6_skip:; + goto __pyx_L4_argument_unpacking_done; + __pyx_L3_error:; + { + Py_ssize_t __pyx_temp; + for (__pyx_temp=0; __pyx_temp < (Py_ssize_t)(sizeof(values)/sizeof(values[0])); ++__pyx_temp) { + __Pyx_Arg_XDECREF_FASTCALL(values[__pyx_temp]); + } + } + __Pyx_AddTraceback("selfdrive.modeld.runners.snpemodel_pyx.SNPEModel.__setstate_cython__", __pyx_clineno, __pyx_lineno, __pyx_filename); + __Pyx_RefNannyFinishContext(); + return NULL; + __pyx_L4_argument_unpacking_done:; + __pyx_r = __pyx_pf_9selfdrive_6modeld_7runners_13snpemodel_pyx_9SNPEModel_4__setstate_cython__(((struct __pyx_obj_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel *)__pyx_v_self), __pyx_v___pyx_state); + + /* function exit code */ + { + Py_ssize_t __pyx_temp; + for (__pyx_temp=0; __pyx_temp < (Py_ssize_t)(sizeof(values)/sizeof(values[0])); ++__pyx_temp) { + __Pyx_Arg_XDECREF_FASTCALL(values[__pyx_temp]); + } + } + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +static PyObject *__pyx_pf_9selfdrive_6modeld_7runners_13snpemodel_pyx_9SNPEModel_4__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state) { + PyObject *__pyx_r = NULL; + __Pyx_RefNannyDeclarations + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + __Pyx_RefNannySetupContext("__setstate_cython__", 1); + + /* "(tree fragment)":4 + * raise TypeError, "no default __reduce__ due to non-trivial __cinit__" + * def __setstate_cython__(self, __pyx_state): + * raise TypeError, "no default __reduce__ due to non-trivial __cinit__" # <<<<<<<<<<<<<< + */ + __Pyx_Raise(__pyx_builtin_TypeError, __pyx_kp_s_no_default___reduce___due_to_non, 0, 0); + __PYX_ERR(0, 4, __pyx_L1_error) + + /* "(tree fragment)":3 + * def __reduce_cython__(self): + * raise TypeError, "no default __reduce__ due to non-trivial __cinit__" + * def __setstate_cython__(self, __pyx_state): # <<<<<<<<<<<<<< + * raise TypeError, "no default __reduce__ due to non-trivial __cinit__" + */ + + /* function exit code */ + __pyx_L1_error:; + __Pyx_AddTraceback("selfdrive.modeld.runners.snpemodel_pyx.SNPEModel.__setstate_cython__", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = NULL; + __Pyx_XGIVEREF(__pyx_r); + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +static PyObject *__pyx_tp_new_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel(PyTypeObject *t, PyObject *a, PyObject *k) { + PyObject *o = __Pyx_PyType_GetSlot(__pyx_ptype_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel, tp_new, newfunc)(t, a, k); + if (unlikely(!o)) return 0; + if (unlikely(__pyx_pw_9selfdrive_6modeld_7runners_13snpemodel_pyx_9SNPEModel_1__cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static PyMethodDef __pyx_methods_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_6modeld_7runners_13snpemodel_pyx_9SNPEModel_3__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_6modeld_7runners_13snpemodel_pyx_9SNPEModel_5__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel_slots[] = { + {Py_tp_methods, (void *)__pyx_methods_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel}, + {Py_tp_new, (void *)__pyx_tp_new_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel}, + {0, 0}, +}; +static PyType_Spec __pyx_type_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel_spec = { + "selfdrive.modeld.runners.snpemodel_pyx.SNPEModel", + sizeof(struct __pyx_obj_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_FINALIZE, + __pyx_type_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel_slots, +}; +#else + +static PyTypeObject __pyx_type_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.modeld.runners.snpemodel_pyx.""SNPEModel", /*tp_name*/ + sizeof(struct __pyx_obj_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + 0, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_FINALIZE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_array __pyx_vtable_array; + +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_array_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_array_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_array; + p->mode = ((PyObject*)Py_None); Py_INCREF(Py_None); + p->_format = ((PyObject*)Py_None); Py_INCREF(Py_None); + if (unlikely(__pyx_array___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_array(PyObject *o) { + struct __pyx_array_obj *p = (struct __pyx_array_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_array) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_array___dealloc__(o); + __Pyx_SET_REFCNT(o, 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PyObject *n) { + PyObject *v = __Pyx_PyObject_GenericGetAttr(o, n); + if (!v && PyErr_ExceptionMatches(PyExc_AttributeError)) { + PyErr_Clear(); + v = __pyx_array___getattr__(o, n); + } + return v; +} + +static PyObject *__pyx_getprop___pyx_array_memview(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_5array_7memview_1__get__(o); +} + +static PyMethodDef __pyx_methods_array[] = { + {"__getattr__", (PyCFunction)__pyx_array___getattr__, METH_O|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_array_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_array_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_array[] = { + {(char *)"memview", __pyx_getprop___pyx_array_memview, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; 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__pyx_MemviewEnum_obj *)o); + p->name = Py_None; Py_INCREF(Py_None); + return o; +} + +static void __pyx_tp_dealloc_Enum(PyObject *o) { + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_Enum) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + Py_CLEAR(p->name); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_Enum(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + if (p->name) { + e = (*v)(p->name, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_Enum(PyObject *o) { + PyObject* tmp; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + tmp = ((PyObject*)p->name); + p->name = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + return 0; +} + +static PyObject *__pyx_specialmethod___pyx_MemviewEnum___repr__(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __pyx_MemviewEnum___repr__(self); +} + +static PyMethodDef __pyx_methods_Enum[] = { + {"__repr__", (PyCFunction)__pyx_specialmethod___pyx_MemviewEnum___repr__, METH_NOARGS|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_MemviewEnum_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_MemviewEnum_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type___pyx_MemviewEnum_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_Enum}, + {Py_tp_repr, (void *)__pyx_MemviewEnum___repr__}, + {Py_tp_traverse, (void *)__pyx_tp_traverse_Enum}, + {Py_tp_clear, (void *)__pyx_tp_clear_Enum}, + {Py_tp_methods, (void *)__pyx_methods_Enum}, + {Py_tp_init, (void *)__pyx_MemviewEnum___init__}, + {Py_tp_new, (void *)__pyx_tp_new_Enum}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_MemviewEnum_spec = { + "selfdrive.modeld.runners.snpemodel_pyx.Enum", + sizeof(struct __pyx_MemviewEnum_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type___pyx_MemviewEnum_slots, +}; +#else + +static PyTypeObject __pyx_type___pyx_MemviewEnum = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.modeld.runners.snpemodel_pyx.""Enum", /*tp_name*/ + sizeof(struct __pyx_MemviewEnum_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_Enum, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_MemviewEnum___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_Enum, /*tp_traverse*/ + __pyx_tp_clear_Enum, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_Enum, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + __pyx_MemviewEnum___init__, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_Enum, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_memoryview __pyx_vtable_memoryview; + +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryview_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_memoryview_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_memoryview; + p->obj = Py_None; Py_INCREF(Py_None); + p->_size = Py_None; Py_INCREF(Py_None); + p->_array_interface = Py_None; Py_INCREF(Py_None); + p->view.obj = NULL; + if (unlikely(__pyx_memoryview___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_memoryview(PyObject *o) { + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_memoryview) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryview___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->obj); + Py_CLEAR(p->_size); + Py_CLEAR(p->_array_interface); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_memoryview(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + if (p->obj) { + e = (*v)(p->obj, a); if (e) return e; + } + if (p->_size) { + e = (*v)(p->_size, a); if (e) return e; + } + if (p->_array_interface) { + e = (*v)(p->_array_interface, a); if (e) return e; + } + if (p->view.obj) { + e = (*v)(p->view.obj, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_memoryview(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + tmp = ((PyObject*)p->obj); + p->obj = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_size); + p->_size = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_array_interface); + p->_array_interface = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + Py_CLEAR(p->view.obj); + return 0; +} +static PyObject *__pyx_sq_item_memoryview(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_memoryview(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_memoryview___setitem__(o, i, v); + } + else { + __Pyx_TypeName o_type_name; + o_type_name = __Pyx_PyType_GetName(Py_TYPE(o)); + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by " __Pyx_FMT_TYPENAME, o_type_name); + __Pyx_DECREF_TypeName(o_type_name); + return -1; + } +} + +static PyObject *__pyx_getprop___pyx_memoryview_T(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_1T_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_base(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4base_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_shape(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_5shape_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_strides(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_7strides_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_suboffsets(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_10suboffsets_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_ndim(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4ndim_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_itemsize(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_8itemsize_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_nbytes(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_6nbytes_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_size(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4size_1__get__(o); +} + +static PyObject *__pyx_specialmethod___pyx_memoryview___repr__(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __pyx_memoryview___repr__(self); +} + +static PyMethodDef __pyx_methods_memoryview[] = { + {"__repr__", (PyCFunction)__pyx_specialmethod___pyx_memoryview___repr__, METH_NOARGS|METH_COEXIST, 0}, + {"is_c_contig", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_is_c_contig, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"is_f_contig", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_is_f_contig, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"copy", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_copy, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"copy_fortran", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_copy_fortran, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryview_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryview_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_memoryview[] = { + {(char *)"T", __pyx_getprop___pyx_memoryview_T, 0, (char *)0, 0}, + {(char *)"base", __pyx_getprop___pyx_memoryview_base, 0, (char *)0, 0}, + {(char *)"shape", __pyx_getprop___pyx_memoryview_shape, 0, (char *)0, 0}, + {(char *)"strides", __pyx_getprop___pyx_memoryview_strides, 0, (char *)0, 0}, + {(char *)"suboffsets", __pyx_getprop___pyx_memoryview_suboffsets, 0, (char *)0, 0}, + {(char *)"ndim", __pyx_getprop___pyx_memoryview_ndim, 0, (char *)0, 0}, + {(char *)"itemsize", __pyx_getprop___pyx_memoryview_itemsize, 0, (char *)0, 0}, + {(char *)"nbytes", __pyx_getprop___pyx_memoryview_nbytes, 0, (char *)0, 0}, + {(char *)"size", __pyx_getprop___pyx_memoryview_size, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +#if !CYTHON_COMPILING_IN_LIMITED_API + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; +#endif +static PyType_Slot __pyx_type___pyx_memoryview_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_memoryview}, + {Py_tp_repr, (void *)__pyx_memoryview___repr__}, + {Py_sq_length, (void *)__pyx_memoryview___len__}, + {Py_sq_item, (void *)__pyx_sq_item_memoryview}, + {Py_mp_length, (void *)__pyx_memoryview___len__}, + {Py_mp_subscript, (void *)__pyx_memoryview___getitem__}, + {Py_mp_ass_subscript, (void *)__pyx_mp_ass_subscript_memoryview}, + {Py_tp_str, (void *)__pyx_memoryview___str__}, + #if defined(Py_bf_getbuffer) + {Py_bf_getbuffer, (void *)__pyx_memoryview_getbuffer}, + #endif + {Py_tp_traverse, (void *)__pyx_tp_traverse_memoryview}, + {Py_tp_clear, (void *)__pyx_tp_clear_memoryview}, + {Py_tp_methods, (void *)__pyx_methods_memoryview}, + {Py_tp_getset, (void *)__pyx_getsets_memoryview}, + {Py_tp_new, (void *)__pyx_tp_new_memoryview}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_memoryview_spec = { + "selfdrive.modeld.runners.snpemodel_pyx.memoryview", + sizeof(struct __pyx_memoryview_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type___pyx_memoryview_slots, +}; +#else + +static PySequenceMethods __pyx_tp_as_sequence_memoryview = { + __pyx_memoryview___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_memoryview, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_memoryview = { + __pyx_memoryview___len__, /*mp_length*/ + __pyx_memoryview___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_memoryview, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_memoryview = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.modeld.runners.snpemodel_pyx.""memoryview", /*tp_name*/ + sizeof(struct __pyx_memoryview_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_memoryview, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_memoryview___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_memoryview, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_memoryview, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + __pyx_memoryview___str__, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_memoryview, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_memoryview, /*tp_traverse*/ + __pyx_tp_clear_memoryview, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_memoryview, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_memoryview, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_memoryview, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct__memoryviewslice __pyx_vtable__memoryviewslice; + +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryviewslice_obj *p; + PyObject *o = __pyx_tp_new_memoryview(t, a, k); + if (unlikely(!o)) return 0; + p = ((struct __pyx_memoryviewslice_obj *)o); + p->__pyx_base.__pyx_vtab = (struct __pyx_vtabstruct_memoryview*)__pyx_vtabptr__memoryviewslice; + new((void*)&(p->from_slice)) __Pyx_memviewslice(); + p->from_object = Py_None; Py_INCREF(Py_None); + p->from_slice.memview = NULL; + return o; +} + +static void __pyx_tp_dealloc__memoryviewslice(PyObject *o) { + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc__memoryviewslice) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryviewslice___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + __Pyx_call_destructor(p->from_slice); + Py_CLEAR(p->from_object); + PyObject_GC_Track(o); + __pyx_tp_dealloc_memoryview(o); +} + +static int __pyx_tp_traverse__memoryviewslice(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + e = __pyx_tp_traverse_memoryview(o, v, a); if (e) return e; + if (p->from_object) { + e = (*v)(p->from_object, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear__memoryviewslice(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + __pyx_tp_clear_memoryview(o); + tmp = ((PyObject*)p->from_object); + p->from_object = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + __PYX_XCLEAR_MEMVIEW(&p->from_slice, 1); + return 0; +} + +static PyMethodDef __pyx_methods__memoryviewslice[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryviewslice_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryviewslice_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type___pyx_memoryviewslice_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc__memoryviewslice}, + {Py_tp_doc, (void *)PyDoc_STR("Internal class for passing memoryview slices to Python")}, + {Py_tp_traverse, (void *)__pyx_tp_traverse__memoryviewslice}, + {Py_tp_clear, (void *)__pyx_tp_clear__memoryviewslice}, + {Py_tp_methods, (void *)__pyx_methods__memoryviewslice}, + {Py_tp_new, (void *)__pyx_tp_new__memoryviewslice}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_memoryviewslice_spec = { + "selfdrive.modeld.runners.snpemodel_pyx._memoryviewslice", + sizeof(struct __pyx_memoryviewslice_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_SEQUENCE, + __pyx_type___pyx_memoryviewslice_slots, +}; +#else + +static PyTypeObject __pyx_type___pyx_memoryviewslice = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.modeld.runners.snpemodel_pyx.""_memoryviewslice", /*tp_name*/ + sizeof(struct __pyx_memoryviewslice_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc__memoryviewslice, 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+ } + #if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(exc_type); + #endif + return result; +} +#endif + +/* PyErrFetchRestore */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { +#if PY_VERSION_HEX >= 0x030C00A6 + PyObject *tmp_value; + assert(type == NULL || (value != NULL && type == (PyObject*) Py_TYPE(value))); + if (value) { + #if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(((PyBaseExceptionObject*) value)->traceback != tb)) + #endif + PyException_SetTraceback(value, tb); + } + tmp_value = tstate->current_exception; + tstate->current_exception = value; + Py_XDECREF(tmp_value); + Py_XDECREF(type); + Py_XDECREF(tb); +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + tmp_type = tstate->curexc_type; + tmp_value = tstate->curexc_value; + tmp_tb = tstate->curexc_traceback; + tstate->curexc_type = type; + tstate->curexc_value = value; + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#endif +} +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { +#if PY_VERSION_HEX >= 0x030C00A6 + PyObject* exc_value; + exc_value = tstate->current_exception; + tstate->current_exception = 0; + *value = exc_value; + *type = NULL; + *tb = NULL; + if (exc_value) { + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + #if CYTHON_COMPILING_IN_CPYTHON + *tb = ((PyBaseExceptionObject*) exc_value)->traceback; + Py_XINCREF(*tb); + #else + *tb = PyException_GetTraceback(exc_value); + #endif + } +#else + *type = tstate->curexc_type; + *value = tstate->curexc_value; + *tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; +#endif +} +#endif + +/* PyObjectGetAttrStr */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name) { + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro)) + return tp->tp_getattro(obj, attr_name); +#if PY_MAJOR_VERSION < 3 + if (likely(tp->tp_getattr)) + return tp->tp_getattr(obj, PyString_AS_STRING(attr_name)); +#endif + return PyObject_GetAttr(obj, attr_name); +} +#endif + +/* PyObjectGetAttrStrNoError */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + __Pyx_PyErr_Clear(); +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { + PyObject *result; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + (void) PyObject_GetOptionalAttr(obj, attr_name, &result); + return result; +#else +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { + return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); + } +#endif + result = __Pyx_PyObject_GetAttrStr(obj, attr_name); + if (unlikely(!result)) { + __Pyx_PyObject_GetAttrStr_ClearAttributeError(); + } + return result; +#endif +} + +/* GetBuiltinName */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name) { + PyObject* result = __Pyx_PyObject_GetAttrStrNoError(__pyx_b, name); + if (unlikely(!result) && !PyErr_Occurred()) { + PyErr_Format(PyExc_NameError, +#if PY_MAJOR_VERSION >= 3 + "name '%U' is not defined", name); +#else + "name '%.200s' is not defined", PyString_AS_STRING(name)); +#endif + } + return result; +} + +/* TupleAndListFromArray */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE void __Pyx_copy_object_array(PyObject *const *CYTHON_RESTRICT src, PyObject** CYTHON_RESTRICT dest, Py_ssize_t length) { + PyObject *v; + Py_ssize_t i; + for (i = 0; i < length; i++) { + v = dest[i] = src[i]; + Py_INCREF(v); + } +} +static CYTHON_INLINE PyObject * +__Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + Py_INCREF(__pyx_empty_tuple); + return __pyx_empty_tuple; + } + res = PyTuple_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyTupleObject*)res)->ob_item, n); + return res; +} +static CYTHON_INLINE PyObject * +__Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + return PyList_New(0); + } + res = PyList_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyListObject*)res)->ob_item, n); + return res; +} +#endif + +/* BytesEquals */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else + if (s1 == s2) { + return (equals == Py_EQ); + } else if (PyBytes_CheckExact(s1) & PyBytes_CheckExact(s2)) { + const char *ps1, *ps2; + Py_ssize_t length = PyBytes_GET_SIZE(s1); + if (length != PyBytes_GET_SIZE(s2)) + return (equals == Py_NE); + ps1 = PyBytes_AS_STRING(s1); + ps2 = PyBytes_AS_STRING(s2); + if (ps1[0] != ps2[0]) { + return (equals == Py_NE); + } else if (length == 1) { + return (equals == Py_EQ); + } else { + int result; +#if CYTHON_USE_UNICODE_INTERNALS && (PY_VERSION_HEX < 0x030B0000) + Py_hash_t hash1, hash2; + hash1 = ((PyBytesObject*)s1)->ob_shash; + hash2 = ((PyBytesObject*)s2)->ob_shash; + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + return (equals == Py_NE); + } +#endif + result = memcmp(ps1, ps2, (size_t)length); + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { + return (equals == Py_NE); + } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { + return (equals == Py_NE); + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +#endif +} + +/* UnicodeEquals */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else +#if PY_MAJOR_VERSION < 3 + PyObject* owned_ref = NULL; +#endif + int s1_is_unicode, s2_is_unicode; + if (s1 == s2) { + goto return_eq; + } + s1_is_unicode = PyUnicode_CheckExact(s1); + s2_is_unicode = PyUnicode_CheckExact(s2); +#if PY_MAJOR_VERSION < 3 + if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { + owned_ref = PyUnicode_FromObject(s2); + if (unlikely(!owned_ref)) + return -1; + s2 = owned_ref; + s2_is_unicode = 1; + } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { + owned_ref = PyUnicode_FromObject(s1); + if (unlikely(!owned_ref)) + return -1; + s1 = owned_ref; + s1_is_unicode = 1; + } else if (((!s2_is_unicode) & (!s1_is_unicode))) { + return __Pyx_PyBytes_Equals(s1, s2, equals); + } +#endif + if (s1_is_unicode & s2_is_unicode) { + Py_ssize_t length; + int kind; + void *data1, *data2; + if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) + return -1; + length = __Pyx_PyUnicode_GET_LENGTH(s1); + if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { + goto return_ne; + } +#if CYTHON_USE_UNICODE_INTERNALS + { + Py_hash_t hash1, hash2; + #if CYTHON_PEP393_ENABLED + hash1 = ((PyASCIIObject*)s1)->hash; + hash2 = ((PyASCIIObject*)s2)->hash; + #else + hash1 = ((PyUnicodeObject*)s1)->hash; + hash2 = ((PyUnicodeObject*)s2)->hash; + #endif + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + goto return_ne; + } + } +#endif + kind = __Pyx_PyUnicode_KIND(s1); + if (kind != __Pyx_PyUnicode_KIND(s2)) { + goto return_ne; + } + data1 = __Pyx_PyUnicode_DATA(s1); + data2 = __Pyx_PyUnicode_DATA(s2); + if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { + goto return_ne; + } else if (length == 1) { + goto return_eq; + } else { + int result = memcmp(data1, data2, (size_t)(length * kind)); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & s2_is_unicode) { + goto return_ne; + } else if ((s2 == Py_None) & s1_is_unicode) { + goto return_ne; + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +return_eq: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ); +return_ne: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_NE); +#endif +} + +/* fastcall */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s) +{ + Py_ssize_t i, n = PyTuple_GET_SIZE(kwnames); + for (i = 0; i < n; i++) + { + if (s == PyTuple_GET_ITEM(kwnames, i)) return kwvalues[i]; + } + for (i = 0; i < n; i++) + { + int eq = __Pyx_PyUnicode_Equals(s, PyTuple_GET_ITEM(kwnames, i), Py_EQ); + if (unlikely(eq != 0)) { + if (unlikely(eq < 0)) return NULL; + return kwvalues[i]; + } + } + return NULL; +} +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 +CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { + Py_ssize_t i, nkwargs = PyTuple_GET_SIZE(kwnames); + PyObject *dict; + dict = PyDict_New(); + if (unlikely(!dict)) + return NULL; + for (i=0; i= 3 + "%s() got multiple values for keyword argument '%U'", func_name, kw_name); + #else + "%s() got multiple values for keyword argument '%s'", func_name, + PyString_AsString(kw_name)); + #endif +} + +/* ParseKeywords */ +static int __Pyx_ParseOptionalKeywords( + PyObject *kwds, + PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, + PyObject *values[], + Py_ssize_t num_pos_args, + const char* function_name) +{ + PyObject *key = 0, *value = 0; + Py_ssize_t pos = 0; + PyObject*** name; + PyObject*** first_kw_arg = argnames + num_pos_args; + int kwds_is_tuple = CYTHON_METH_FASTCALL && likely(PyTuple_Check(kwds)); + while (1) { + Py_XDECREF(key); key = NULL; + Py_XDECREF(value); value = NULL; + if (kwds_is_tuple) { + Py_ssize_t size; +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(kwds); +#else + size = PyTuple_Size(kwds); + if (size < 0) goto bad; +#endif + if (pos >= size) break; +#if CYTHON_AVOID_BORROWED_REFS + key = __Pyx_PySequence_ITEM(kwds, pos); + if (!key) goto bad; +#elif CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kwds, pos); +#else + key = PyTuple_GetItem(kwds, pos); + if (!key) goto bad; +#endif + value = kwvalues[pos]; + pos++; + } + else + { + if (!PyDict_Next(kwds, &pos, &key, &value)) break; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + } + name = first_kw_arg; + while (*name && (**name != key)) name++; + if (*name) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(value); + Py_DECREF(key); +#endif + key = NULL; + value = NULL; + continue; + } +#if !CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + Py_INCREF(value); + name = first_kw_arg; + #if PY_MAJOR_VERSION < 3 + if (likely(PyString_Check(key))) { + while (*name) { + if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) + && _PyString_Eq(**name, key)) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + if ((**argname == key) || ( + (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) + && _PyString_Eq(**argname, key))) { + goto arg_passed_twice; + } + argname++; + } + } + } else + #endif + if (likely(PyUnicode_Check(key))) { + while (*name) { + int cmp = ( + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**name, key) + ); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + int cmp = (**argname == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**argname, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) goto arg_passed_twice; + argname++; + } + } + } else + goto invalid_keyword_type; + if (kwds2) { + if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; + } else { + goto invalid_keyword; + } + } + Py_XDECREF(key); + Py_XDECREF(value); + return 0; +arg_passed_twice: + __Pyx_RaiseDoubleKeywordsError(function_name, key); + goto bad; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + goto bad; +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif +bad: + Py_XDECREF(key); + Py_XDECREF(value); + return -1; +} + +/* ArgTypeTest */ +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact) +{ + __Pyx_TypeName type_name; + __Pyx_TypeName obj_type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + else if (exact) { + #if PY_MAJOR_VERSION == 2 + if ((type == &PyBaseString_Type) && likely(__Pyx_PyBaseString_CheckExact(obj))) return 1; + #endif + } + else { + if (likely(__Pyx_TypeCheck(obj, type))) return 1; + } + type_name = __Pyx_PyType_GetName(type); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "Argument '%.200s' has incorrect type (expected " __Pyx_FMT_TYPENAME + ", got " __Pyx_FMT_TYPENAME ")", name, type_name, obj_type_name); + __Pyx_DECREF_TypeName(type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* RaiseException */ +#if PY_MAJOR_VERSION < 3 +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + __Pyx_PyThreadState_declare + CYTHON_UNUSED_VAR(cause); + Py_XINCREF(type); + if (!value || value == Py_None) + value = NULL; + else + Py_INCREF(value); + if (!tb || tb == Py_None) + tb = NULL; + else { + Py_INCREF(tb); + if (!PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto raise_error; + } + } + if (PyType_Check(type)) { +#if CYTHON_COMPILING_IN_PYPY + if (!value) { + Py_INCREF(Py_None); + value = Py_None; + } +#endif + PyErr_NormalizeException(&type, &value, &tb); + } else { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto raise_error; + } + value = type; + type = (PyObject*) Py_TYPE(type); + Py_INCREF(type); + if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto raise_error; + } + } + __Pyx_PyThreadState_assign + __Pyx_ErrRestore(type, value, tb); + return; +raise_error: + Py_XDECREF(value); + Py_XDECREF(type); + Py_XDECREF(tb); + return; +} +#else +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + PyObject* owned_instance = NULL; + if (tb == Py_None) { + tb = 0; + } else if (tb && !PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto bad; + } + if (value == Py_None) + value = 0; + if (PyExceptionInstance_Check(type)) { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto bad; + } + value = type; + type = (PyObject*) Py_TYPE(value); + } else if (PyExceptionClass_Check(type)) { + PyObject *instance_class = NULL; + if (value && PyExceptionInstance_Check(value)) { + instance_class = (PyObject*) Py_TYPE(value); + if (instance_class != type) { + int is_subclass = PyObject_IsSubclass(instance_class, type); + if (!is_subclass) { + instance_class = NULL; + } else if (unlikely(is_subclass == -1)) { + goto bad; + } else { + type = instance_class; + } + } + } + if (!instance_class) { + PyObject *args; + if (!value) + args = PyTuple_New(0); + else if (PyTuple_Check(value)) { + Py_INCREF(value); + args = value; + } else + args = PyTuple_Pack(1, value); + if (!args) + goto bad; + owned_instance = PyObject_Call(type, args, NULL); + Py_DECREF(args); + if (!owned_instance) + goto bad; + value = owned_instance; + if (!PyExceptionInstance_Check(value)) { + PyErr_Format(PyExc_TypeError, + "calling %R should have returned an instance of " + "BaseException, not %R", + type, Py_TYPE(value)); + goto bad; + } + } + } else { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto bad; + } + if (cause) { + PyObject *fixed_cause; + if (cause == Py_None) { + fixed_cause = NULL; + } else if (PyExceptionClass_Check(cause)) { + fixed_cause = PyObject_CallObject(cause, NULL); + if (fixed_cause == NULL) + goto bad; + } else if (PyExceptionInstance_Check(cause)) { + fixed_cause = cause; + Py_INCREF(fixed_cause); + } else { + PyErr_SetString(PyExc_TypeError, + "exception causes must derive from " + "BaseException"); + goto bad; + } + PyException_SetCause(value, fixed_cause); + } + PyErr_SetObject(type, value); + if (tb) { + #if PY_VERSION_HEX >= 0x030C00A6 + PyException_SetTraceback(value, tb); + #elif CYTHON_FAST_THREAD_STATE + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* tmp_tb = tstate->curexc_traceback; + if (tb != tmp_tb) { + Py_INCREF(tb); + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_tb); + } +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); + Py_INCREF(tb); + PyErr_Restore(tmp_type, tmp_value, tb); + Py_XDECREF(tmp_tb); +#endif + } +bad: + Py_XDECREF(owned_instance); + return; +} +#endif + +/* PyFunctionFastCall */ +#if CYTHON_FAST_PYCALL && !CYTHON_VECTORCALL +static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, + PyObject *globals) { + PyFrameObject *f; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject **fastlocals; + Py_ssize_t i; + PyObject *result; + assert(globals != NULL); + /* XXX Perhaps we should create a specialized + PyFrame_New() that doesn't take locals, but does + take builtins without sanity checking them. + */ + assert(tstate != NULL); + f = PyFrame_New(tstate, co, globals, NULL); + if (f == NULL) { + return NULL; + } + fastlocals = __Pyx_PyFrame_GetLocalsplus(f); + for (i = 0; i < na; i++) { + Py_INCREF(*args); + fastlocals[i] = *args++; + } + result = PyEval_EvalFrameEx(f,0); + ++tstate->recursion_depth; + Py_DECREF(f); + --tstate->recursion_depth; + return result; +} +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { + PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); + PyObject *globals = PyFunction_GET_GLOBALS(func); + PyObject *argdefs = PyFunction_GET_DEFAULTS(func); + PyObject *closure; +#if PY_MAJOR_VERSION >= 3 + PyObject *kwdefs; +#endif + PyObject *kwtuple, **k; + PyObject **d; + Py_ssize_t nd; + Py_ssize_t nk; + PyObject *result; + assert(kwargs == NULL || PyDict_Check(kwargs)); + nk = kwargs ? PyDict_Size(kwargs) : 0; + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) { + return NULL; + } + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) { + return NULL; + } + #endif + if ( +#if PY_MAJOR_VERSION >= 3 + co->co_kwonlyargcount == 0 && +#endif + likely(kwargs == NULL || nk == 0) && + co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { + if (argdefs == NULL && co->co_argcount == nargs) { + result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); + goto done; + } + else if (nargs == 0 && argdefs != NULL + && co->co_argcount == Py_SIZE(argdefs)) { + /* function called with no arguments, but all parameters have + a default value: use default values as arguments .*/ + args = &PyTuple_GET_ITEM(argdefs, 0); + result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); + goto done; + } + } + if (kwargs != NULL) { + Py_ssize_t pos, i; + kwtuple = PyTuple_New(2 * nk); + if (kwtuple == NULL) { + result = NULL; + goto done; + } + k = &PyTuple_GET_ITEM(kwtuple, 0); + pos = i = 0; + while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { + Py_INCREF(k[i]); + Py_INCREF(k[i+1]); + i += 2; + } + nk = i / 2; + } + else { + kwtuple = NULL; + k = NULL; + } + closure = PyFunction_GET_CLOSURE(func); +#if PY_MAJOR_VERSION >= 3 + kwdefs = PyFunction_GET_KW_DEFAULTS(func); +#endif + if (argdefs != NULL) { + d = &PyTuple_GET_ITEM(argdefs, 0); + nd = Py_SIZE(argdefs); + } + else { + d = NULL; + nd = 0; + } +#if PY_MAJOR_VERSION >= 3 + result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, kwdefs, closure); +#else + result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, closure); +#endif + Py_XDECREF(kwtuple); +done: + Py_LeaveRecursiveCall(); + return result; +} +#endif + +/* PyObjectCall */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *result; + ternaryfunc call = Py_TYPE(func)->tp_call; + if (unlikely(!call)) + return PyObject_Call(func, arg, kw); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = (*call)(func, arg, kw); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCallMethO */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { + PyObject *self, *result; + PyCFunction cfunc; + cfunc = __Pyx_CyOrPyCFunction_GET_FUNCTION(func); + self = __Pyx_CyOrPyCFunction_GET_SELF(func); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = cfunc(self, arg); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectFastCall */ +#if PY_VERSION_HEX < 0x03090000 || CYTHON_COMPILING_IN_LIMITED_API +static PyObject* __Pyx_PyObject_FastCall_fallback(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs) { + PyObject *argstuple; + PyObject *result = 0; + size_t i; + argstuple = PyTuple_New((Py_ssize_t)nargs); + if (unlikely(!argstuple)) return NULL; + for (i = 0; i < nargs; i++) { + Py_INCREF(args[i]); + if (__Pyx_PyTuple_SET_ITEM(argstuple, (Py_ssize_t)i, args[i]) < 0) goto bad; + } + result = __Pyx_PyObject_Call(func, argstuple, kwargs); + bad: + Py_DECREF(argstuple); + return result; +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t _nargs, PyObject *kwargs) { + Py_ssize_t nargs = __Pyx_PyVectorcall_NARGS(_nargs); +#if CYTHON_COMPILING_IN_CPYTHON + if (nargs == 0 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_NOARGS)) + return __Pyx_PyObject_CallMethO(func, NULL); + } + else if (nargs == 1 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_O)) + return __Pyx_PyObject_CallMethO(func, args[0]); + } +#endif + #if PY_VERSION_HEX < 0x030800B1 + #if CYTHON_FAST_PYCCALL + if (PyCFunction_Check(func)) { + if (kwargs) { + return _PyCFunction_FastCallDict(func, args, nargs, kwargs); + } else { + return _PyCFunction_FastCallKeywords(func, args, nargs, NULL); + } + } + #if PY_VERSION_HEX >= 0x030700A1 + if (!kwargs && __Pyx_IS_TYPE(func, &PyMethodDescr_Type)) { + return _PyMethodDescr_FastCallKeywords(func, args, nargs, NULL); + } + #endif + #endif + #if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs); + } + #endif + #endif + if (kwargs == NULL) { + #if CYTHON_VECTORCALL + #if PY_VERSION_HEX < 0x03090000 + vectorcallfunc f = _PyVectorcall_Function(func); + #else + vectorcallfunc f = PyVectorcall_Function(func); + #endif + if (f) { + return f(func, args, (size_t)nargs, NULL); + } + #elif defined(__Pyx_CyFunction_USED) && CYTHON_BACKPORT_VECTORCALL + if (__Pyx_CyFunction_CheckExact(func)) { + __pyx_vectorcallfunc f = __Pyx_CyFunction_func_vectorcall(func); + if (f) return f(func, args, (size_t)nargs, NULL); + } + #endif + } + if (nargs == 0) { + return __Pyx_PyObject_Call(func, __pyx_empty_tuple, kwargs); + } + #if PY_VERSION_HEX >= 0x03090000 && !CYTHON_COMPILING_IN_LIMITED_API + return PyObject_VectorcallDict(func, args, (size_t)nargs, kwargs); + #else + return __Pyx_PyObject_FastCall_fallback(func, args, (size_t)nargs, kwargs); + #endif +} + +/* RaiseUnexpectedTypeError */ +static int +__Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj) +{ + __Pyx_TypeName obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, "Expected %s, got " __Pyx_FMT_TYPENAME, + expected, obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* CIntToDigits */ +static const char DIGIT_PAIRS_10[2*10*10+1] = { + "00010203040506070809" + "10111213141516171819" + "20212223242526272829" + "30313233343536373839" + "40414243444546474849" + "50515253545556575859" + "60616263646566676869" + "70717273747576777879" + "80818283848586878889" + "90919293949596979899" +}; +static const char DIGIT_PAIRS_8[2*8*8+1] = { + "0001020304050607" + "1011121314151617" + "2021222324252627" + "3031323334353637" + "4041424344454647" + "5051525354555657" + "6061626364656667" + "7071727374757677" +}; +static const char DIGITS_HEX[2*16+1] = { + "0123456789abcdef" + "0123456789ABCDEF" +}; + +/* BuildPyUnicode */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char) { + PyObject *uval; + Py_ssize_t uoffset = ulength - clength; +#if CYTHON_USE_UNICODE_INTERNALS + Py_ssize_t i; +#if CYTHON_PEP393_ENABLED + void *udata; + uval = PyUnicode_New(ulength, 127); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_DATA(uval); +#else + Py_UNICODE *udata; + uval = PyUnicode_FromUnicode(NULL, ulength); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_AS_UNICODE(uval); +#endif + if (uoffset > 0) { + i = 0; + if (prepend_sign) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, 0, '-'); + i++; + } + for (; i < uoffset; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, i, padding_char); + } + } + for (i=0; i < clength; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, uoffset+i, chars[i]); + } +#else + { + PyObject *sign = NULL, *padding = NULL; + uval = NULL; + if (uoffset > 0) { + prepend_sign = !!prepend_sign; + if (uoffset > prepend_sign) { + padding = PyUnicode_FromOrdinal(padding_char); + if (likely(padding) && uoffset > prepend_sign + 1) { + PyObject *tmp; + PyObject *repeat = PyInt_FromSsize_t(uoffset - prepend_sign); + if (unlikely(!repeat)) goto done_or_error; + tmp = PyNumber_Multiply(padding, repeat); + Py_DECREF(repeat); + Py_DECREF(padding); + padding = tmp; + } + if (unlikely(!padding)) goto done_or_error; + } + if (prepend_sign) { + sign = PyUnicode_FromOrdinal('-'); + if (unlikely(!sign)) goto done_or_error; + } + } + uval = PyUnicode_DecodeASCII(chars, clength, NULL); + if (likely(uval) && padding) { + PyObject *tmp = PyNumber_Add(padding, uval); + Py_DECREF(uval); + uval = tmp; + } + if (likely(uval) && sign) { + PyObject *tmp = PyNumber_Add(sign, uval); + Py_DECREF(uval); + uval = tmp; + } +done_or_error: + Py_XDECREF(padding); + Py_XDECREF(sign); + } +#endif + return uval; +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(int)*3+2]; + char *dpos, *end = digits + sizeof(int)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + int remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (int) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (int) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (int) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_Py_ssize_t(Py_ssize_t value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(Py_ssize_t)*3+2]; + char *dpos, *end = digits + sizeof(Py_ssize_t)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + Py_ssize_t remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const Py_ssize_t neg_one = (Py_ssize_t) -1, const_zero = (Py_ssize_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (Py_ssize_t) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (Py_ssize_t) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (Py_ssize_t) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* JoinPyUnicode */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char) { +#if CYTHON_USE_UNICODE_INTERNALS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + PyObject *result_uval; + int result_ukind, kind_shift; + Py_ssize_t i, char_pos; + void *result_udata; + CYTHON_MAYBE_UNUSED_VAR(max_char); +#if CYTHON_PEP393_ENABLED + result_uval = PyUnicode_New(result_ulength, max_char); + if (unlikely(!result_uval)) return NULL; + result_ukind = (max_char <= 255) ? PyUnicode_1BYTE_KIND : (max_char <= 65535) ? PyUnicode_2BYTE_KIND : PyUnicode_4BYTE_KIND; + kind_shift = (result_ukind == PyUnicode_4BYTE_KIND) ? 2 : result_ukind - 1; + result_udata = PyUnicode_DATA(result_uval); +#else + result_uval = PyUnicode_FromUnicode(NULL, result_ulength); + if (unlikely(!result_uval)) return NULL; + result_ukind = sizeof(Py_UNICODE); + kind_shift = (result_ukind == 4) ? 2 : result_ukind - 1; + result_udata = PyUnicode_AS_UNICODE(result_uval); +#endif + assert(kind_shift == 2 || kind_shift == 1 || kind_shift == 0); + char_pos = 0; + for (i=0; i < value_count; i++) { + int ukind; + Py_ssize_t ulength; + void *udata; + PyObject *uval = PyTuple_GET_ITEM(value_tuple, i); + if (unlikely(__Pyx_PyUnicode_READY(uval))) + goto bad; + ulength = __Pyx_PyUnicode_GET_LENGTH(uval); + if (unlikely(!ulength)) + continue; + if (unlikely((PY_SSIZE_T_MAX >> kind_shift) - ulength < char_pos)) + goto overflow; + ukind = __Pyx_PyUnicode_KIND(uval); + udata = __Pyx_PyUnicode_DATA(uval); + if (!CYTHON_PEP393_ENABLED || ukind == result_ukind) { + memcpy((char *)result_udata + (char_pos << kind_shift), udata, (size_t) (ulength << kind_shift)); + } else { + #if PY_VERSION_HEX >= 0x030d0000 + if (unlikely(PyUnicode_CopyCharacters(result_uval, char_pos, uval, 0, ulength) < 0)) goto bad; + #elif CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030300F0 || defined(_PyUnicode_FastCopyCharacters) + _PyUnicode_FastCopyCharacters(result_uval, char_pos, uval, 0, ulength); + #else + Py_ssize_t j; + for (j=0; j < ulength; j++) { + Py_UCS4 uchar = __Pyx_PyUnicode_READ(ukind, udata, j); + __Pyx_PyUnicode_WRITE(result_ukind, result_udata, char_pos+j, uchar); + } + #endif + } + char_pos += ulength; + } + return result_uval; +overflow: + PyErr_SetString(PyExc_OverflowError, "join() result is too long for a Python string"); +bad: + Py_DECREF(result_uval); + return NULL; +#else + CYTHON_UNUSED_VAR(max_char); + CYTHON_UNUSED_VAR(result_ulength); + CYTHON_UNUSED_VAR(value_count); + return PyUnicode_Join(__pyx_empty_unicode, value_tuple); +#endif +} + +/* GetAttr */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *o, PyObject *n) { +#if CYTHON_USE_TYPE_SLOTS +#if PY_MAJOR_VERSION >= 3 + if (likely(PyUnicode_Check(n))) +#else + if (likely(PyString_Check(n))) +#endif + return __Pyx_PyObject_GetAttrStr(o, n); +#endif + return PyObject_GetAttr(o, n); +} + +/* GetItemInt */ +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { + PyObject *r; + if (unlikely(!j)) return NULL; + r = PyObject_GetItem(o, j); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyList_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { + PyObject *r = PyList_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyTuple_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); + if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { + PyObject *r = PyList_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } + else if (PyTuple_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_subscript) { + PyObject *r, *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return NULL; + r = mm->mp_subscript(o, key); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return NULL; + PyErr_Clear(); + } + } + return sm->sq_item(o, i); + } + } +#else + if (is_list || !PyMapping_Check(o)) { + return PySequence_GetItem(o, i); + } +#endif + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +} + +/* PyObjectCallOneArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *args[2] = {NULL, arg}; + return __Pyx_PyObject_FastCall(func, args+1, 1 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* ObjectGetItem */ +#if CYTHON_USE_TYPE_SLOTS +static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject *index) { + PyObject *runerr = NULL; + Py_ssize_t key_value; + key_value = __Pyx_PyIndex_AsSsize_t(index); + if (likely(key_value != -1 || !(runerr = PyErr_Occurred()))) { + return __Pyx_GetItemInt_Fast(obj, key_value, 0, 1, 1); + } + if (PyErr_GivenExceptionMatches(runerr, PyExc_OverflowError)) { + __Pyx_TypeName index_type_name = __Pyx_PyType_GetName(Py_TYPE(index)); + PyErr_Clear(); + PyErr_Format(PyExc_IndexError, + "cannot fit '" __Pyx_FMT_TYPENAME "' into an index-sized integer", index_type_name); + __Pyx_DECREF_TypeName(index_type_name); + } + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem_Slow(PyObject *obj, PyObject *key) { + __Pyx_TypeName obj_type_name; + if (likely(PyType_Check(obj))) { + PyObject *meth = __Pyx_PyObject_GetAttrStrNoError(obj, __pyx_n_s_class_getitem); + if (!meth) { + PyErr_Clear(); + } else { + PyObject *result = __Pyx_PyObject_CallOneArg(meth, key); + Py_DECREF(meth); + return result; + } + } + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' object is not subscriptable", obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key) { + PyTypeObject *tp = Py_TYPE(obj); + PyMappingMethods *mm = tp->tp_as_mapping; + PySequenceMethods *sm = tp->tp_as_sequence; + if (likely(mm && mm->mp_subscript)) { + return mm->mp_subscript(obj, key); + } + if (likely(sm && sm->sq_item)) { + return __Pyx_PyObject_GetIndex(obj, key); + } + return __Pyx_PyObject_GetItem_Slow(obj, key); +} +#endif + +/* KeywordStringCheck */ +static int __Pyx_CheckKeywordStrings( + PyObject *kw, + const char* function_name, + int kw_allowed) +{ + PyObject* key = 0; + Py_ssize_t pos = 0; +#if CYTHON_COMPILING_IN_PYPY + if (!kw_allowed && PyDict_Next(kw, &pos, &key, 0)) + goto invalid_keyword; + return 1; +#else + if (CYTHON_METH_FASTCALL && likely(PyTuple_Check(kw))) { + Py_ssize_t kwsize; +#if CYTHON_ASSUME_SAFE_MACROS + kwsize = PyTuple_GET_SIZE(kw); +#else + kwsize = PyTuple_Size(kw); + if (kwsize < 0) return 0; +#endif + if (unlikely(kwsize == 0)) + return 1; + if (!kw_allowed) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, 0); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + goto invalid_keyword; + } +#if PY_VERSION_HEX < 0x03090000 + for (pos = 0; pos < kwsize; pos++) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, pos); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } +#endif + return 1; + } + while (PyDict_Next(kw, &pos, &key, 0)) { + #if PY_MAJOR_VERSION < 3 + if (unlikely(!PyString_Check(key))) + #endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } + if (!kw_allowed && unlikely(key)) + goto invalid_keyword; + return 1; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + return 0; +#endif +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif + return 0; +} + +/* DivInt[Py_ssize_t] */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t a, Py_ssize_t b) { + Py_ssize_t q = a / b; + Py_ssize_t r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* GetAttr3 */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static PyObject *__Pyx_GetAttr3Default(PyObject *d) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (unlikely(!__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + return NULL; + __Pyx_PyErr_Clear(); + Py_INCREF(d); + return d; +} +#endif +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *o, PyObject *n, PyObject *d) { + PyObject *r; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + int res = PyObject_GetOptionalAttr(o, n, &r); + return (res != 0) ? r : __Pyx_NewRef(d); +#else + #if CYTHON_USE_TYPE_SLOTS + if (likely(PyString_Check(n))) { + r = __Pyx_PyObject_GetAttrStrNoError(o, n); + if (unlikely(!r) && likely(!PyErr_Occurred())) { + r = __Pyx_NewRef(d); + } + return r; + } + #endif + r = PyObject_GetAttr(o, n); + return (likely(r)) ? r : __Pyx_GetAttr3Default(d); +#endif +} + +/* PyDictVersioning */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { + PyObject **dictptr = NULL; + Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; + if (offset) { +#if CYTHON_COMPILING_IN_CPYTHON + dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); +#else + dictptr = _PyObject_GetDictPtr(obj); +#endif + } + return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; +} +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) + return 0; + return obj_dict_version == __Pyx_get_object_dict_version(obj); +} +#endif + +/* GetModuleGlobalName */ +#if CYTHON_USE_DICT_VERSIONS +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) +#else +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) +#endif +{ + PyObject *result; +#if !CYTHON_AVOID_BORROWED_REFS +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && PY_VERSION_HEX < 0x030d0000 + result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } else if (unlikely(PyErr_Occurred())) { + return NULL; + } +#elif CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(!__pyx_m)) { + return NULL; + } + result = PyObject_GetAttr(__pyx_m, name); + if (likely(result)) { + return result; + } +#else + result = PyDict_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } +#endif +#else + result = PyObject_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } + PyErr_Clear(); +#endif + return __Pyx_GetBuiltinName(name); +} + +/* RaiseTooManyValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected) { + PyErr_Format(PyExc_ValueError, + "too many values to unpack (expected %" CYTHON_FORMAT_SSIZE_T "d)", expected); +} + +/* RaiseNeedMoreValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index) { + PyErr_Format(PyExc_ValueError, + "need more than %" CYTHON_FORMAT_SSIZE_T "d value%.1s to unpack", + index, (index == 1) ? "" : "s"); +} + +/* RaiseNoneIterError */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void) { + PyErr_SetString(PyExc_TypeError, "'NoneType' object is not iterable"); +} + +/* ExtTypeTest */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type) { + __Pyx_TypeName obj_type_name; + __Pyx_TypeName type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + if (likely(__Pyx_TypeCheck(obj, type))) + return 1; + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + type_name = __Pyx_PyType_GetName(type); + PyErr_Format(PyExc_TypeError, + "Cannot convert " __Pyx_FMT_TYPENAME " to " __Pyx_FMT_TYPENAME, + obj_type_name, type_name); + __Pyx_DECREF_TypeName(obj_type_name); + __Pyx_DECREF_TypeName(type_name); + return 0; +} + +/* GetTopmostException */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * +__Pyx_PyErr_GetTopmostException(PyThreadState *tstate) +{ + _PyErr_StackItem *exc_info = tstate->exc_info; + while ((exc_info->exc_value == NULL || exc_info->exc_value == Py_None) && + exc_info->previous_item != NULL) + { + exc_info = exc_info->previous_item; + } + return exc_info; +} +#endif + +/* SaveResetException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + PyObject *exc_value = exc_info->exc_value; + if (exc_value == NULL || exc_value == Py_None) { + *value = NULL; + *type = NULL; + *tb = NULL; + } else { + *value = exc_value; + Py_INCREF(*value); + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + *tb = PyException_GetTraceback(exc_value); + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + *type = exc_info->exc_type; + *value = exc_info->exc_value; + *tb = exc_info->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #else + *type = tstate->exc_type; + *value = tstate->exc_value; + *tb = tstate->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #endif +} +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + PyObject *tmp_value = exc_info->exc_value; + exc_info->exc_value = value; + Py_XDECREF(tmp_value); + Py_XDECREF(type); + Py_XDECREF(tb); + #else + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = type; + exc_info->exc_value = value; + exc_info->exc_traceback = tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = type; + tstate->exc_value = value; + tstate->exc_traceback = tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); + #endif +} +#endif + +/* GetException */ +#if CYTHON_FAST_THREAD_STATE +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb) +#endif +{ + PyObject *local_type = NULL, *local_value, *local_tb = NULL; +#if CYTHON_FAST_THREAD_STATE + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if PY_VERSION_HEX >= 0x030C00A6 + local_value = tstate->current_exception; + tstate->current_exception = 0; + if (likely(local_value)) { + local_type = (PyObject*) Py_TYPE(local_value); + Py_INCREF(local_type); + local_tb = PyException_GetTraceback(local_value); + } + #else + local_type = tstate->curexc_type; + local_value = tstate->curexc_value; + local_tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; + #endif +#else + PyErr_Fetch(&local_type, &local_value, &local_tb); +#endif + PyErr_NormalizeException(&local_type, &local_value, &local_tb); +#if CYTHON_FAST_THREAD_STATE && PY_VERSION_HEX >= 0x030C00A6 + if (unlikely(tstate->current_exception)) +#elif CYTHON_FAST_THREAD_STATE + if (unlikely(tstate->curexc_type)) +#else + if (unlikely(PyErr_Occurred())) +#endif + goto bad; + #if PY_MAJOR_VERSION >= 3 + if (local_tb) { + if (unlikely(PyException_SetTraceback(local_value, local_tb) < 0)) + goto bad; + } + #endif + Py_XINCREF(local_tb); + Py_XINCREF(local_type); + Py_XINCREF(local_value); + *type = local_type; + *value = local_value; + *tb = local_tb; +#if CYTHON_FAST_THREAD_STATE + #if CYTHON_USE_EXC_INFO_STACK + { + _PyErr_StackItem *exc_info = tstate->exc_info; + #if PY_VERSION_HEX >= 0x030B00a4 + tmp_value = exc_info->exc_value; + exc_info->exc_value = local_value; + tmp_type = NULL; + tmp_tb = NULL; + Py_XDECREF(local_type); + Py_XDECREF(local_tb); + #else + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = local_type; + exc_info->exc_value = local_value; + exc_info->exc_traceback = local_tb; + #endif + } + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = local_type; + tstate->exc_value = local_value; + tstate->exc_traceback = local_tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#else + PyErr_SetExcInfo(local_type, local_value, local_tb); +#endif + return 0; +bad: + *type = 0; + *value = 0; + *tb = 0; + Py_XDECREF(local_type); + Py_XDECREF(local_value); + Py_XDECREF(local_tb); + return -1; +} + +/* SwapException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_value = exc_info->exc_value; + exc_info->exc_value = *value; + if (tmp_value == NULL || tmp_value == Py_None) { + Py_XDECREF(tmp_value); + tmp_value = NULL; + tmp_type = NULL; + tmp_tb = NULL; + } else { + tmp_type = (PyObject*) Py_TYPE(tmp_value); + Py_INCREF(tmp_type); + #if CYTHON_COMPILING_IN_CPYTHON + tmp_tb = ((PyBaseExceptionObject*) tmp_value)->traceback; + Py_XINCREF(tmp_tb); + #else + tmp_tb = PyException_GetTraceback(tmp_value); + #endif + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = *type; + exc_info->exc_value = *value; + exc_info->exc_traceback = *tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = *type; + tstate->exc_value = *value; + tstate->exc_traceback = *tb; + #endif + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_GetExcInfo(&tmp_type, &tmp_value, &tmp_tb); + PyErr_SetExcInfo(*type, *value, *tb); + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#endif + +/* Import */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { + PyObject *module = 0; + PyObject *empty_dict = 0; + PyObject *empty_list = 0; + #if PY_MAJOR_VERSION < 3 + PyObject *py_import; + py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); + if (unlikely(!py_import)) + goto bad; + if (!from_list) { + empty_list = PyList_New(0); + if (unlikely(!empty_list)) + goto bad; + from_list = empty_list; + } + #endif + empty_dict = PyDict_New(); + if (unlikely(!empty_dict)) + goto bad; + { + #if PY_MAJOR_VERSION >= 3 + if (level == -1) { + if (strchr(__Pyx_MODULE_NAME, '.') != NULL) { + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, 1); + if (unlikely(!module)) { + if (unlikely(!PyErr_ExceptionMatches(PyExc_ImportError))) + goto bad; + PyErr_Clear(); + } + } + level = 0; + } + #endif + if (!module) { + #if PY_MAJOR_VERSION < 3 + PyObject *py_level = PyInt_FromLong(level); + if (unlikely(!py_level)) + goto bad; + module = PyObject_CallFunctionObjArgs(py_import, + name, __pyx_d, empty_dict, from_list, py_level, (PyObject *)NULL); + Py_DECREF(py_level); + #else + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, level); + #endif + } + } +bad: + Py_XDECREF(empty_dict); + Py_XDECREF(empty_list); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_import); + #endif + return module; +} + +/* ImportDottedModule */ +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Error(PyObject *name, PyObject *parts_tuple, Py_ssize_t count) { + PyObject *partial_name = NULL, *slice = NULL, *sep = NULL; + if (unlikely(PyErr_Occurred())) { + PyErr_Clear(); + } + if (likely(PyTuple_GET_SIZE(parts_tuple) == count)) { + partial_name = name; + } else { + slice = PySequence_GetSlice(parts_tuple, 0, count); + if (unlikely(!slice)) + goto bad; + sep = PyUnicode_FromStringAndSize(".", 1); + if (unlikely(!sep)) + goto bad; + partial_name = PyUnicode_Join(sep, slice); + } + PyErr_Format( +#if PY_MAJOR_VERSION < 3 + PyExc_ImportError, + "No module named '%s'", PyString_AS_STRING(partial_name)); +#else +#if PY_VERSION_HEX >= 0x030600B1 + PyExc_ModuleNotFoundError, +#else + PyExc_ImportError, +#endif + "No module named '%U'", partial_name); +#endif +bad: + Py_XDECREF(sep); + Py_XDECREF(slice); + Py_XDECREF(partial_name); + return NULL; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Lookup(PyObject *name) { + PyObject *imported_module; +#if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + return NULL; + imported_module = __Pyx_PyDict_GetItemStr(modules, name); + Py_XINCREF(imported_module); +#else + imported_module = PyImport_GetModule(name); +#endif + return imported_module; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple) { + Py_ssize_t i, nparts; + nparts = PyTuple_GET_SIZE(parts_tuple); + for (i=1; i < nparts && module; i++) { + PyObject *part, *submodule; +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + part = PyTuple_GET_ITEM(parts_tuple, i); +#else + part = PySequence_ITEM(parts_tuple, i); +#endif + submodule = __Pyx_PyObject_GetAttrStrNoError(module, part); +#if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(part); +#endif + Py_DECREF(module); + module = submodule; + } + if (unlikely(!module)) { + return __Pyx__ImportDottedModule_Error(name, parts_tuple, i); + } + return module; +} +#endif +static PyObject *__Pyx__ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if PY_MAJOR_VERSION < 3 + PyObject *module, *from_list, *star = __pyx_n_s__3; + CYTHON_UNUSED_VAR(parts_tuple); + from_list = PyList_New(1); + if (unlikely(!from_list)) + return NULL; + Py_INCREF(star); + PyList_SET_ITEM(from_list, 0, star); + module = __Pyx_Import(name, from_list, 0); + Py_DECREF(from_list); + return module; +#else + PyObject *imported_module; + PyObject *module = __Pyx_Import(name, NULL, 0); + if (!parts_tuple || unlikely(!module)) + return module; + imported_module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(imported_module)) { + Py_DECREF(module); + return imported_module; + } + PyErr_Clear(); + return __Pyx_ImportDottedModule_WalkParts(module, name, parts_tuple); +#endif +} +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030400B1 + PyObject *module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(module)) { + PyObject *spec = __Pyx_PyObject_GetAttrStrNoError(module, __pyx_n_s_spec); + if (likely(spec)) { + PyObject *unsafe = __Pyx_PyObject_GetAttrStrNoError(spec, __pyx_n_s_initializing); + if (likely(!unsafe || !__Pyx_PyObject_IsTrue(unsafe))) { + Py_DECREF(spec); + spec = NULL; + } + Py_XDECREF(unsafe); + } + if (likely(!spec)) { + PyErr_Clear(); + return module; + } + Py_DECREF(spec); + Py_DECREF(module); + } else if (PyErr_Occurred()) { + PyErr_Clear(); + } +#endif + return __Pyx__ImportDottedModule(name, parts_tuple); +} + +/* FastTypeChecks */ +#if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = __Pyx_PyType_GetSlot(a, tp_base, PyTypeObject*); + if (a == b) + return 1; + } + return b == &PyBaseObject_Type; +} +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(a, b); +} +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (cls == a || cls == b) return 1; + mro = cls->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + PyObject *base = PyTuple_GET_ITEM(mro, i); + if (base == (PyObject *)a || base == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(cls, a) || __Pyx_InBases(cls, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + } + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + if (exc_type1) { + return __Pyx_IsAnySubtype2((PyTypeObject*)err, (PyTypeObject*)exc_type1, (PyTypeObject*)exc_type2); + } else { + return __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } +} +#endif +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; itp_as_sequence && type->tp_as_sequence->sq_repeat)) { + return type->tp_as_sequence->sq_repeat(seq, mul); + } else +#endif + { + return __Pyx_PySequence_Multiply_Generic(seq, mul); + } +} + +/* SetItemInt */ +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v) { + int r; + if (unlikely(!j)) return -1; + r = PyObject_SetItem(o, j, v); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, int is_list, + CYTHON_NCP_UNUSED int wraparound, CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = (!wraparound) ? i : ((likely(i >= 0)) ? i : i + PyList_GET_SIZE(o)); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o)))) { + PyObject* old = PyList_GET_ITEM(o, n); + Py_INCREF(v); + PyList_SET_ITEM(o, n, v); + Py_DECREF(old); + return 1; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_ass_subscript) { + int r; + PyObject *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return -1; + r = mm->mp_ass_subscript(o, key, v); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_ass_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return -1; + PyErr_Clear(); + } + } + return sm->sq_ass_item(o, i, v); + } + } +#else + if (is_list || !PyMapping_Check(o)) + { + return PySequence_SetItem(o, i, v); + } +#endif + return __Pyx_SetItemInt_Generic(o, PyInt_FromSsize_t(i), v); +} + +/* RaiseUnboundLocalError */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname) { + PyErr_Format(PyExc_UnboundLocalError, "local variable '%s' referenced before assignment", varname); +} + +/* DivInt[long] */ +static CYTHON_INLINE long __Pyx_div_long(long a, long b) { + long q = a / b; + long r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* ImportFrom */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name) { + PyObject* value = __Pyx_PyObject_GetAttrStr(module, name); + if (unlikely(!value) && PyErr_ExceptionMatches(PyExc_AttributeError)) { + const char* module_name_str = 0; + PyObject* module_name = 0; + PyObject* module_dot = 0; + PyObject* full_name = 0; + PyErr_Clear(); + module_name_str = PyModule_GetName(module); + if (unlikely(!module_name_str)) { goto modbad; } + module_name = PyUnicode_FromString(module_name_str); + if (unlikely(!module_name)) { goto modbad; } + module_dot = PyUnicode_Concat(module_name, __pyx_kp_u__2); + if (unlikely(!module_dot)) { goto modbad; } + full_name = PyUnicode_Concat(module_dot, name); + if (unlikely(!full_name)) { goto modbad; } + #if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + { + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + goto modbad; + value = PyObject_GetItem(modules, full_name); + } + #else + value = PyImport_GetModule(full_name); + #endif + modbad: + Py_XDECREF(full_name); + Py_XDECREF(module_dot); + Py_XDECREF(module_name); + } + if (unlikely(!value)) { + PyErr_Format(PyExc_ImportError, + #if PY_MAJOR_VERSION < 3 + "cannot import name %.230s", PyString_AS_STRING(name)); + #else + "cannot import name %S", name); + #endif + } + return value; +} + +/* HasAttr */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *o, PyObject *n) { + PyObject *r; + if (unlikely(!__Pyx_PyBaseString_Check(n))) { + PyErr_SetString(PyExc_TypeError, + "hasattr(): attribute name must be string"); + return -1; + } + r = __Pyx_GetAttr(o, n); + if (!r) { + PyErr_Clear(); + return 0; + } else { + Py_DECREF(r); + return 1; + } +} +#endif + +/* BufferIndexError */ +static void __Pyx_RaiseBufferIndexError(int axis) { + PyErr_Format(PyExc_IndexError, + "Out of bounds on buffer access (axis %d)", axis); +} + +/* PyObject_GenericGetAttrNoDict */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { + __Pyx_TypeName type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, attr_name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(attr_name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { + PyObject *descr; + PyTypeObject *tp = Py_TYPE(obj); + if (unlikely(!PyString_Check(attr_name))) { + return PyObject_GenericGetAttr(obj, attr_name); + } + assert(!tp->tp_dictoffset); + descr = _PyType_Lookup(tp, attr_name); + if (unlikely(!descr)) { + return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); + } + Py_INCREF(descr); + #if PY_MAJOR_VERSION < 3 + if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) + #endif + { + descrgetfunc f = Py_TYPE(descr)->tp_descr_get; + if (unlikely(f)) { + PyObject *res = f(descr, obj, (PyObject *)tp); + Py_DECREF(descr); + return res; + } + } + return descr; +} +#endif + +/* PyObject_GenericGetAttr */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { + if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { + return PyObject_GenericGetAttr(obj, attr_name); + } + return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); +} +#endif + +/* TypeImport */ +#ifndef __PYX_HAVE_RT_ImportType_3_0_8 +#define __PYX_HAVE_RT_ImportType_3_0_8 +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject *module, const char *module_name, const char *class_name, + size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size) +{ + PyObject *result = 0; + char warning[200]; + Py_ssize_t basicsize; + Py_ssize_t itemsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + PyObject *py_itemsize; +#endif + result = PyObject_GetAttrString(module, class_name); + if (!result) + goto bad; + if (!PyType_Check(result)) { + PyErr_Format(PyExc_TypeError, + "%.200s.%.200s is not a type object", + module_name, class_name); + goto bad; + } +#if !CYTHON_COMPILING_IN_LIMITED_API + basicsize = ((PyTypeObject *)result)->tp_basicsize; + itemsize = ((PyTypeObject *)result)->tp_itemsize; +#else + py_basicsize = PyObject_GetAttrString(result, "__basicsize__"); + if (!py_basicsize) + goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (basicsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; + py_itemsize = PyObject_GetAttrString(result, "__itemsize__"); + if (!py_itemsize) + goto bad; + itemsize = PyLong_AsSsize_t(py_itemsize); + Py_DECREF(py_itemsize); + py_itemsize = 0; + if (itemsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; +#endif + if (itemsize) { + if (size % alignment) { + alignment = size % alignment; + } + if (itemsize < (Py_ssize_t)alignment) + itemsize = (Py_ssize_t)alignment; + } + if ((size_t)(basicsize + itemsize) < size) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize+itemsize); + goto bad; + } + if (check_size == __Pyx_ImportType_CheckSize_Error_3_0_8 && + ((size_t)basicsize > size || (size_t)(basicsize + itemsize) < size)) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd-%zd from PyObject", + module_name, class_name, size, basicsize, basicsize+itemsize); + goto bad; + } + else if (check_size == __Pyx_ImportType_CheckSize_Warn_3_0_8 && (size_t)basicsize > size) { + PyOS_snprintf(warning, sizeof(warning), + "%s.%s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize); + if (PyErr_WarnEx(NULL, warning, 0) < 0) goto bad; + } + return (PyTypeObject *)result; +bad: + Py_XDECREF(result); + return NULL; +} +#endif + +/* FixUpExtensionType */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type) { +#if PY_VERSION_HEX > 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + CYTHON_UNUSED_VAR(spec); + CYTHON_UNUSED_VAR(type); +#else + const PyType_Slot *slot = spec->slots; + while (slot && slot->slot && slot->slot != Py_tp_members) + slot++; + if (slot && slot->slot == Py_tp_members) { + int changed = 0; +#if !(PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON) + const +#endif + PyMemberDef *memb = (PyMemberDef*) slot->pfunc; + while (memb && memb->name) { + if (memb->name[0] == '_' && memb->name[1] == '_') { +#if PY_VERSION_HEX < 0x030900b1 + if (strcmp(memb->name, "__weaklistoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_weaklistoffset = memb->offset; + changed = 1; + } + else if (strcmp(memb->name, "__dictoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_dictoffset = memb->offset; + changed = 1; + } +#if CYTHON_METH_FASTCALL + else if (strcmp(memb->name, "__vectorcalloffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); +#if PY_VERSION_HEX >= 0x030800b4 + type->tp_vectorcall_offset = memb->offset; +#else + type->tp_print = (printfunc) memb->offset; +#endif + changed = 1; + } +#endif +#else + if ((0)); +#endif +#if PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON + else if (strcmp(memb->name, "__module__") == 0) { + PyObject *descr; + assert(memb->type == T_OBJECT); + assert(memb->flags == 0 || memb->flags == READONLY); + descr = PyDescr_NewMember(type, memb); + if (unlikely(!descr)) + return -1; + if (unlikely(PyDict_SetItem(type->tp_dict, PyDescr_NAME(descr), descr) < 0)) { + Py_DECREF(descr); + return -1; + } + Py_DECREF(descr); + changed = 1; + } +#endif + } + memb++; + } + if (changed) + PyType_Modified(type); + } +#endif + return 0; +} +#endif + +/* PyObjectCallNoArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { + PyObject *arg[2] = {NULL, NULL}; + return __Pyx_PyObject_FastCall(func, arg + 1, 0 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* PyObjectGetMethod */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method) { + PyObject *attr; +#if CYTHON_UNPACK_METHODS && CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_PYTYPE_LOOKUP + __Pyx_TypeName type_name; + PyTypeObject *tp = Py_TYPE(obj); + PyObject *descr; + descrgetfunc f = NULL; + PyObject **dictptr, *dict; + int meth_found = 0; + assert (*method == NULL); + if (unlikely(tp->tp_getattro != PyObject_GenericGetAttr)) { + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; + } + if (unlikely(tp->tp_dict == NULL) && unlikely(PyType_Ready(tp) < 0)) { + return 0; + } + descr = _PyType_Lookup(tp, name); + if (likely(descr != NULL)) { + Py_INCREF(descr); +#if defined(Py_TPFLAGS_METHOD_DESCRIPTOR) && Py_TPFLAGS_METHOD_DESCRIPTOR + if (__Pyx_PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_METHOD_DESCRIPTOR)) +#elif PY_MAJOR_VERSION >= 3 + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type))) + #endif +#else + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr))) + #endif +#endif + { + meth_found = 1; + } else { + f = Py_TYPE(descr)->tp_descr_get; + if (f != NULL && PyDescr_IsData(descr)) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + } + } + dictptr = _PyObject_GetDictPtr(obj); + if (dictptr != NULL && (dict = *dictptr) != NULL) { + Py_INCREF(dict); + attr = __Pyx_PyDict_GetItemStr(dict, name); + if (attr != NULL) { + Py_INCREF(attr); + Py_DECREF(dict); + Py_XDECREF(descr); + goto try_unpack; + } + Py_DECREF(dict); + } + if (meth_found) { + *method = descr; + return 1; + } + if (f != NULL) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + if (likely(descr != NULL)) { + *method = descr; + return 0; + } + type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return 0; +#else + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; +#endif +try_unpack: +#if CYTHON_UNPACK_METHODS + if (likely(attr) && PyMethod_Check(attr) && likely(PyMethod_GET_SELF(attr) == obj)) { + PyObject *function = PyMethod_GET_FUNCTION(attr); + Py_INCREF(function); + Py_DECREF(attr); + *method = function; + return 1; + } +#endif + *method = attr; + return 0; +} + +/* PyObjectCallMethod0 */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name) { + PyObject *method = NULL, *result = NULL; + int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); + if (likely(is_method)) { + result = __Pyx_PyObject_CallOneArg(method, obj); + Py_DECREF(method); + return result; + } + if (unlikely(!method)) goto bad; + result = __Pyx_PyObject_CallNoArg(method); + Py_DECREF(method); +bad: + return result; +} + +/* ValidateBasesTuple */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases) { + Py_ssize_t i, n; +#if CYTHON_ASSUME_SAFE_MACROS + n = PyTuple_GET_SIZE(bases); +#else + n = PyTuple_Size(bases); + if (n < 0) return -1; +#endif + for (i = 1; i < n; i++) + { +#if CYTHON_AVOID_BORROWED_REFS + PyObject *b0 = PySequence_GetItem(bases, i); + if (!b0) return -1; +#elif CYTHON_ASSUME_SAFE_MACROS + PyObject *b0 = PyTuple_GET_ITEM(bases, i); +#else + PyObject *b0 = PyTuple_GetItem(bases, i); + if (!b0) return -1; +#endif + PyTypeObject *b; +#if PY_MAJOR_VERSION < 3 + if (PyClass_Check(b0)) + { + PyErr_Format(PyExc_TypeError, "base class '%.200s' is an old-style class", + PyString_AS_STRING(((PyClassObject*)b0)->cl_name)); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } +#endif + b = (PyTypeObject*) b0; + if (!__Pyx_PyType_HasFeature(b, Py_TPFLAGS_HEAPTYPE)) + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "base class '" __Pyx_FMT_TYPENAME "' is not a heap type", b_name); + __Pyx_DECREF_TypeName(b_name); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + if (dictoffset == 0) + { + Py_ssize_t b_dictoffset = 0; +#if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + b_dictoffset = b->tp_dictoffset; +#else + PyObject *py_b_dictoffset = PyObject_GetAttrString((PyObject*)b, "__dictoffset__"); + if (!py_b_dictoffset) goto dictoffset_return; + b_dictoffset = PyLong_AsSsize_t(py_b_dictoffset); + Py_DECREF(py_b_dictoffset); + if (b_dictoffset == -1 && PyErr_Occurred()) goto dictoffset_return; +#endif + if (b_dictoffset) { + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "extension type '%.200s' has no __dict__ slot, " + "but base type '" __Pyx_FMT_TYPENAME "' has: " + "either add 'cdef dict __dict__' to the extension type " + "or add '__slots__ = [...]' to the base type", + type_name, b_name); + __Pyx_DECREF_TypeName(b_name); + } +#if !(CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY) + dictoffset_return: +#endif +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + } +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + } + return 0; +} +#endif + +/* PyType_Ready */ +static int __Pyx_PyType_Ready(PyTypeObject *t) { +#if CYTHON_USE_TYPE_SPECS || !(CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API) || defined(PYSTON_MAJOR_VERSION) + (void)__Pyx_PyObject_CallMethod0; +#if CYTHON_USE_TYPE_SPECS + (void)__Pyx_validate_bases_tuple; +#endif + return PyType_Ready(t); +#else + int r; + PyObject *bases = __Pyx_PyType_GetSlot(t, tp_bases, PyObject*); + if (bases && unlikely(__Pyx_validate_bases_tuple(t->tp_name, t->tp_dictoffset, bases) == -1)) + return -1; +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + { + int gc_was_enabled; + #if PY_VERSION_HEX >= 0x030A00b1 + gc_was_enabled = PyGC_Disable(); + (void)__Pyx_PyObject_CallMethod0; + #else + PyObject *ret, *py_status; + PyObject *gc = NULL; + #if PY_VERSION_HEX >= 0x030700a1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM+0 >= 0x07030400) + gc = PyImport_GetModule(__pyx_kp_u_gc); + #endif + if (unlikely(!gc)) gc = PyImport_Import(__pyx_kp_u_gc); + if (unlikely(!gc)) return -1; + py_status = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_isenabled); + if (unlikely(!py_status)) { + Py_DECREF(gc); + return -1; + } + gc_was_enabled = __Pyx_PyObject_IsTrue(py_status); + Py_DECREF(py_status); + if (gc_was_enabled > 0) { + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_disable); + if (unlikely(!ret)) { + Py_DECREF(gc); + return -1; + } + Py_DECREF(ret); + } else if (unlikely(gc_was_enabled == -1)) { + Py_DECREF(gc); + return -1; + } + #endif + t->tp_flags |= Py_TPFLAGS_HEAPTYPE; +#if PY_VERSION_HEX >= 0x030A0000 + t->tp_flags |= Py_TPFLAGS_IMMUTABLETYPE; +#endif +#else + (void)__Pyx_PyObject_CallMethod0; +#endif + r = PyType_Ready(t); +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + t->tp_flags &= ~Py_TPFLAGS_HEAPTYPE; + #if PY_VERSION_HEX >= 0x030A00b1 + if (gc_was_enabled) + PyGC_Enable(); + #else + if (gc_was_enabled) { + PyObject *tp, *v, *tb; + PyErr_Fetch(&tp, &v, &tb); + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_enable); + if (likely(ret || r == -1)) { + Py_XDECREF(ret); + PyErr_Restore(tp, v, tb); + } else { + Py_XDECREF(tp); + Py_XDECREF(v); + Py_XDECREF(tb); + r = -1; + } + } + Py_DECREF(gc); + #endif + } +#endif + return r; +#endif +} + +/* SetupReduce */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { + int ret; + PyObject *name_attr; + name_attr = __Pyx_PyObject_GetAttrStrNoError(meth, __pyx_n_s_name_2); + if (likely(name_attr)) { + ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); + } else { + ret = -1; + } + if (unlikely(ret < 0)) { + PyErr_Clear(); + ret = 0; + } + Py_XDECREF(name_attr); + return ret; +} +static int __Pyx_setup_reduce(PyObject* type_obj) { + int ret = 0; + PyObject *object_reduce = NULL; + PyObject *object_getstate = NULL; + PyObject *object_reduce_ex = NULL; + PyObject *reduce = NULL; + PyObject *reduce_ex = NULL; + PyObject *reduce_cython = NULL; + PyObject *setstate = NULL; + PyObject *setstate_cython = NULL; + PyObject *getstate = NULL; +#if CYTHON_USE_PYTYPE_LOOKUP + getstate = _PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate); +#else + getstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_getstate); + if (!getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (getstate) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_getstate = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_getstate); +#else + object_getstate = __Pyx_PyObject_GetAttrStrNoError((PyObject*)&PyBaseObject_Type, __pyx_n_s_getstate); + if (!object_getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (object_getstate != getstate) { + goto __PYX_GOOD; + } + } +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#else + object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#endif + reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; + if (reduce_ex == object_reduce_ex) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#else + object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#endif + reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; + if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { + reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); + if (likely(reduce_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (reduce == object_reduce || PyErr_Occurred()) { + goto __PYX_BAD; + } + setstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate); + if (!setstate) PyErr_Clear(); + if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { + setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); + if (likely(setstate_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (!setstate || PyErr_Occurred()) { + goto __PYX_BAD; + } + } + PyType_Modified((PyTypeObject*)type_obj); + } + } + goto __PYX_GOOD; +__PYX_BAD: + if (!PyErr_Occurred()) { + __Pyx_TypeName type_obj_name = + __Pyx_PyType_GetName((PyTypeObject*)type_obj); + PyErr_Format(PyExc_RuntimeError, + "Unable to initialize pickling for " __Pyx_FMT_TYPENAME, type_obj_name); + __Pyx_DECREF_TypeName(type_obj_name); + } + ret = -1; +__PYX_GOOD: +#if !CYTHON_USE_PYTYPE_LOOKUP + Py_XDECREF(object_reduce); + Py_XDECREF(object_reduce_ex); + Py_XDECREF(object_getstate); + Py_XDECREF(getstate); +#endif + Py_XDECREF(reduce); + Py_XDECREF(reduce_ex); + Py_XDECREF(reduce_cython); + Py_XDECREF(setstate); + Py_XDECREF(setstate_cython); + return ret; +} +#endif + +/* SetVTable */ +static int __Pyx_SetVtable(PyTypeObject *type, void *vtable) { + PyObject *ob = PyCapsule_New(vtable, 0, 0); + if (unlikely(!ob)) + goto bad; +#if CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(PyObject_SetAttr((PyObject *) type, __pyx_n_s_pyx_vtable, ob) < 0)) +#else + if (unlikely(PyDict_SetItem(type->tp_dict, __pyx_n_s_pyx_vtable, ob) < 0)) +#endif + goto bad; + Py_DECREF(ob); + return 0; +bad: + Py_XDECREF(ob); + return -1; +} + +/* GetVTable */ +static void* __Pyx_GetVtable(PyTypeObject *type) { + void* ptr; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *ob = PyObject_GetAttr((PyObject *)type, __pyx_n_s_pyx_vtable); +#else + PyObject *ob = PyObject_GetItem(type->tp_dict, __pyx_n_s_pyx_vtable); +#endif + if (!ob) + goto bad; + ptr = PyCapsule_GetPointer(ob, 0); + if (!ptr && !PyErr_Occurred()) + PyErr_SetString(PyExc_RuntimeError, "invalid vtable found for imported type"); + Py_DECREF(ob); + return ptr; +bad: + Py_XDECREF(ob); + return NULL; +} + +/* MergeVTables */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type) { + int i; + void** base_vtables; + __Pyx_TypeName tp_base_name; + __Pyx_TypeName base_name; + void* unknown = (void*)-1; + PyObject* bases = type->tp_bases; + int base_depth = 0; + { + PyTypeObject* base = type->tp_base; + while (base) { + base_depth += 1; + base = base->tp_base; + } + } + base_vtables = (void**) malloc(sizeof(void*) * (size_t)(base_depth + 1)); + base_vtables[0] = unknown; + for (i = 1; i < PyTuple_GET_SIZE(bases); i++) { + void* base_vtable = __Pyx_GetVtable(((PyTypeObject*)PyTuple_GET_ITEM(bases, i))); + if (base_vtable != NULL) { + int j; + PyTypeObject* base = type->tp_base; + for (j = 0; j < base_depth; j++) { + if (base_vtables[j] == unknown) { + base_vtables[j] = __Pyx_GetVtable(base); + base_vtables[j + 1] = unknown; + } + if (base_vtables[j] == base_vtable) { + break; + } else if (base_vtables[j] == NULL) { + goto bad; + } + base = base->tp_base; + } + } + } + PyErr_Clear(); + free(base_vtables); + return 0; +bad: + tp_base_name = __Pyx_PyType_GetName(type->tp_base); + base_name = __Pyx_PyType_GetName((PyTypeObject*)PyTuple_GET_ITEM(bases, i)); + PyErr_Format(PyExc_TypeError, + "multiple bases have vtable conflict: '" __Pyx_FMT_TYPENAME "' and '" __Pyx_FMT_TYPENAME "'", tp_base_name, base_name); + __Pyx_DECREF_TypeName(tp_base_name); + __Pyx_DECREF_TypeName(base_name); + free(base_vtables); + return -1; +} +#endif + +/* FetchSharedCythonModule */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void) { + return __Pyx_PyImport_AddModuleRef((char*) __PYX_ABI_MODULE_NAME); +} + +/* FetchCommonType */ +static int __Pyx_VerifyCachedType(PyObject *cached_type, + const char *name, + Py_ssize_t basicsize, + Py_ssize_t expected_basicsize) { + if (!PyType_Check(cached_type)) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s is not a type object", name); + return -1; + } + if (basicsize != expected_basicsize) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s has the wrong size, try recompiling", + name); + return -1; + } + return 0; +} +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) { + PyObject* abi_module; + const char* object_name; + PyTypeObject *cached_type = NULL; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + object_name = strrchr(type->tp_name, '.'); + object_name = object_name ? object_name+1 : type->tp_name; + cached_type = (PyTypeObject*) PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + if (__Pyx_VerifyCachedType( + (PyObject *)cached_type, + object_name, + cached_type->tp_basicsize, + type->tp_basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + if (PyType_Ready(type) < 0) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, (PyObject *)type) < 0) + goto bad; + Py_INCREF(type); + cached_type = type; +done: + Py_DECREF(abi_module); + return cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#else +static PyTypeObject *__Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases) { + PyObject *abi_module, *cached_type = NULL; + const char* object_name = strrchr(spec->name, '.'); + object_name = object_name ? object_name+1 : spec->name; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + cached_type = PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + Py_ssize_t basicsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + py_basicsize = PyObject_GetAttrString(cached_type, "__basicsize__"); + if (unlikely(!py_basicsize)) goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (unlikely(basicsize == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; +#else + basicsize = likely(PyType_Check(cached_type)) ? ((PyTypeObject*) cached_type)->tp_basicsize : -1; +#endif + if (__Pyx_VerifyCachedType( + cached_type, + object_name, + basicsize, + spec->basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + CYTHON_UNUSED_VAR(module); + cached_type = __Pyx_PyType_FromModuleAndSpec(abi_module, spec, bases); + if (unlikely(!cached_type)) goto bad; + if (unlikely(__Pyx_fix_up_extension_type_from_spec(spec, (PyTypeObject *) cached_type) < 0)) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, cached_type) < 0) goto bad; +done: + Py_DECREF(abi_module); + assert(cached_type == NULL || PyType_Check(cached_type)); + return (PyTypeObject *) cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#endif + +/* PyVectorcallFastCallDict */ +#if CYTHON_METH_FASTCALL +static PyObject *__Pyx_PyVectorcall_FastCallDict_kw(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + PyObject *res = NULL; + PyObject *kwnames; + PyObject **newargs; + PyObject **kwvalues; + Py_ssize_t i, pos; + size_t j; + PyObject *key, *value; + unsigned long keys_are_strings; + Py_ssize_t nkw = PyDict_GET_SIZE(kw); + newargs = (PyObject **)PyMem_Malloc((nargs + (size_t)nkw) * sizeof(args[0])); + if (unlikely(newargs == NULL)) { + PyErr_NoMemory(); + return NULL; + } + for (j = 0; j < nargs; j++) newargs[j] = args[j]; + kwnames = PyTuple_New(nkw); + if (unlikely(kwnames == NULL)) { + PyMem_Free(newargs); + return NULL; + } + kwvalues = newargs + nargs; + pos = i = 0; + keys_are_strings = Py_TPFLAGS_UNICODE_SUBCLASS; + while (PyDict_Next(kw, &pos, &key, &value)) { + keys_are_strings &= Py_TYPE(key)->tp_flags; + Py_INCREF(key); + Py_INCREF(value); + PyTuple_SET_ITEM(kwnames, i, key); + kwvalues[i] = value; + i++; + } + if (unlikely(!keys_are_strings)) { + PyErr_SetString(PyExc_TypeError, "keywords must be strings"); + goto cleanup; + } + res = vc(func, newargs, nargs, kwnames); +cleanup: + Py_DECREF(kwnames); + for (i = 0; i < nkw; i++) + Py_DECREF(kwvalues[i]); + PyMem_Free(newargs); + return res; +} +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + if (likely(kw == NULL) || PyDict_GET_SIZE(kw) == 0) { + return vc(func, args, nargs, NULL); + } + return __Pyx_PyVectorcall_FastCallDict_kw(func, vc, args, nargs, kw); +} +#endif + +/* CythonFunctionShared */ +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + if (__Pyx_CyFunction_Check(func)) { + return PyCFunction_GetFunction(((__pyx_CyFunctionObject*)func)->func) == (PyCFunction) cfunc; + } else if (PyCFunction_Check(func)) { + return PyCFunction_GetFunction(func) == (PyCFunction) cfunc; + } + return 0; +} +#else +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + return __Pyx_CyOrPyCFunction_Check(func) && __Pyx_CyOrPyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +} +#endif +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj) { +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + __Pyx_Py_XDECREF_SET( + __Pyx_CyFunction_GetClassObj(f), + ((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#else + __Pyx_Py_XDECREF_SET( + ((PyCMethodObject *) (f))->mm_class, + (PyTypeObject*)((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#endif +} +static PyObject * +__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, void *closure) +{ + CYTHON_UNUSED_VAR(closure); + if (unlikely(op->func_doc == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_doc = PyObject_GetAttrString(op->func, "__doc__"); + if (unlikely(!op->func_doc)) return NULL; +#else + if (((PyCFunctionObject*)op)->m_ml->ml_doc) { +#if PY_MAJOR_VERSION >= 3 + op->func_doc = PyUnicode_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#else + op->func_doc = PyString_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#endif + if (unlikely(op->func_doc == NULL)) + return NULL; + } else { + Py_INCREF(Py_None); + return Py_None; + } +#endif + } + Py_INCREF(op->func_doc); + return op->func_doc; +} +static int +__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (value == NULL) { + value = Py_None; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_doc, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_name == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_name = PyObject_GetAttrString(op->func, "__name__"); +#elif PY_MAJOR_VERSION >= 3 + op->func_name = PyUnicode_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#else + op->func_name = PyString_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#endif + if (unlikely(op->func_name == NULL)) + return NULL; + } + Py_INCREF(op->func_name); + return op->func_name; +} +static int +__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__name__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_name, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_qualname); + return op->func_qualname; +} +static int +__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__qualname__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_qualname, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_dict(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_dict == NULL)) { + op->func_dict = PyDict_New(); + if (unlikely(op->func_dict == NULL)) + return NULL; + } + Py_INCREF(op->func_dict); + return op->func_dict; +} +static int +__Pyx_CyFunction_set_dict(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(value == NULL)) { + PyErr_SetString(PyExc_TypeError, + "function's dictionary may not be deleted"); + return -1; + } + if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "setting function's dictionary to a non-dict"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_dict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_globals(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_globals); + return op->func_globals; +} +static PyObject * +__Pyx_CyFunction_get_closure(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(op); + CYTHON_UNUSED_VAR(context); + Py_INCREF(Py_None); + return Py_None; +} +static PyObject * +__Pyx_CyFunction_get_code(__pyx_CyFunctionObject *op, void *context) +{ + PyObject* result = (op->func_code) ? op->func_code : Py_None; + CYTHON_UNUSED_VAR(context); + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_init_defaults(__pyx_CyFunctionObject *op) { + int result = 0; + PyObject *res = op->defaults_getter((PyObject *) op); + if (unlikely(!res)) + return -1; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + op->defaults_tuple = PyTuple_GET_ITEM(res, 0); + Py_INCREF(op->defaults_tuple); + op->defaults_kwdict = PyTuple_GET_ITEM(res, 1); + Py_INCREF(op->defaults_kwdict); + #else + op->defaults_tuple = __Pyx_PySequence_ITEM(res, 0); + if (unlikely(!op->defaults_tuple)) result = -1; + else { + op->defaults_kwdict = __Pyx_PySequence_ITEM(res, 1); + if (unlikely(!op->defaults_kwdict)) result = -1; + } + #endif + Py_DECREF(res); + return result; +} +static int +__Pyx_CyFunction_set_defaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyTuple_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__defaults__ must be set to a tuple object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__defaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_tuple, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_defaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_tuple; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_tuple; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_kwdefaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__kwdefaults__ must be set to a dict object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__kwdefaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_kwdict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_kwdefaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_kwdict; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_kwdict; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_annotations(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value || value == Py_None) { + value = NULL; + } else if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__annotations__ must be set to a dict object"); + return -1; + } + Py_XINCREF(value); + __Pyx_Py_XDECREF_SET(op->func_annotations, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_annotations(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->func_annotations; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + result = PyDict_New(); + if (unlikely(!result)) return NULL; + op->func_annotations = result; + } + Py_INCREF(result); + return result; +} +static PyObject * +__Pyx_CyFunction_get_is_coroutine(__pyx_CyFunctionObject *op, void *context) { + int is_coroutine; + CYTHON_UNUSED_VAR(context); + if (op->func_is_coroutine) { + return __Pyx_NewRef(op->func_is_coroutine); + } + is_coroutine = op->flags & __Pyx_CYFUNCTION_COROUTINE; +#if PY_VERSION_HEX >= 0x03050000 + if (is_coroutine) { + PyObject *module, *fromlist, *marker = __pyx_n_s_is_coroutine; + fromlist = PyList_New(1); + if (unlikely(!fromlist)) return NULL; + Py_INCREF(marker); +#if CYTHON_ASSUME_SAFE_MACROS + PyList_SET_ITEM(fromlist, 0, marker); +#else + if (unlikely(PyList_SetItem(fromlist, 0, marker) < 0)) { + Py_DECREF(marker); + Py_DECREF(fromlist); + return NULL; + } +#endif + module = PyImport_ImportModuleLevelObject(__pyx_n_s_asyncio_coroutines, NULL, NULL, fromlist, 0); + Py_DECREF(fromlist); + if (unlikely(!module)) goto ignore; + op->func_is_coroutine = __Pyx_PyObject_GetAttrStr(module, marker); + Py_DECREF(module); + if (likely(op->func_is_coroutine)) { + return __Pyx_NewRef(op->func_is_coroutine); + } +ignore: + PyErr_Clear(); + } +#endif + op->func_is_coroutine = __Pyx_PyBool_FromLong(is_coroutine); + return __Pyx_NewRef(op->func_is_coroutine); +} +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject * +__Pyx_CyFunction_get_module(__pyx_CyFunctionObject *op, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_GetAttrString(op->func, "__module__"); +} +static int +__Pyx_CyFunction_set_module(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_SetAttrString(op->func, "__module__", value); +} +#endif +static PyGetSetDef __pyx_CyFunction_getsets[] = { + {(char *) "func_doc", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "__doc__", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "func_name", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__name__", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__qualname__", (getter)__Pyx_CyFunction_get_qualname, (setter)__Pyx_CyFunction_set_qualname, 0, 0}, + {(char *) "func_dict", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "__dict__", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "func_globals", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "__globals__", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "func_closure", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "__closure__", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "func_code", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "__code__", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "func_defaults", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__defaults__", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__kwdefaults__", (getter)__Pyx_CyFunction_get_kwdefaults, (setter)__Pyx_CyFunction_set_kwdefaults, 0, 0}, + {(char *) "__annotations__", (getter)__Pyx_CyFunction_get_annotations, (setter)__Pyx_CyFunction_set_annotations, 0, 0}, + {(char *) "_is_coroutine", (getter)__Pyx_CyFunction_get_is_coroutine, 0, 0, 0}, +#if CYTHON_COMPILING_IN_LIMITED_API + {"__module__", (getter)__Pyx_CyFunction_get_module, (setter)__Pyx_CyFunction_set_module, 0, 0}, +#endif + {0, 0, 0, 0, 0} +}; +static PyMemberDef __pyx_CyFunction_members[] = { +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__module__", T_OBJECT, offsetof(PyCFunctionObject, m_module), 0, 0}, +#endif +#if CYTHON_USE_TYPE_SPECS + {(char *) "__dictoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_dict), READONLY, 0}, +#if CYTHON_METH_FASTCALL +#if CYTHON_BACKPORT_VECTORCALL + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_vectorcall), READONLY, 0}, +#else +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(PyCFunctionObject, vectorcall), READONLY, 0}, +#endif +#endif +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_weakreflist), READONLY, 0}, +#else + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(PyCFunctionObject, m_weakreflist), READONLY, 0}, +#endif +#endif + {0, 0, 0, 0, 0} +}; +static PyObject * +__Pyx_CyFunction_reduce(__pyx_CyFunctionObject *m, PyObject *args) +{ + CYTHON_UNUSED_VAR(args); +#if PY_MAJOR_VERSION >= 3 + Py_INCREF(m->func_qualname); + return m->func_qualname; +#else + return PyString_FromString(((PyCFunctionObject*)m)->m_ml->ml_name); +#endif +} +static PyMethodDef __pyx_CyFunction_methods[] = { + {"__reduce__", (PyCFunction)__Pyx_CyFunction_reduce, METH_VARARGS, 0}, + {0, 0, 0, 0} +}; +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func_weakreflist) +#else +#define __Pyx_CyFunction_weakreflist(cyfunc) (((PyCFunctionObject*)cyfunc)->m_weakreflist) +#endif +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject *op, PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { +#if !CYTHON_COMPILING_IN_LIMITED_API + PyCFunctionObject *cf = (PyCFunctionObject*) op; +#endif + if (unlikely(op == NULL)) + return NULL; +#if CYTHON_COMPILING_IN_LIMITED_API + op->func = PyCFunction_NewEx(ml, (PyObject*)op, module); + if (unlikely(!op->func)) return NULL; +#endif + op->flags = flags; + __Pyx_CyFunction_weakreflist(op) = NULL; +#if !CYTHON_COMPILING_IN_LIMITED_API + cf->m_ml = ml; + cf->m_self = (PyObject *) op; +#endif + Py_XINCREF(closure); + op->func_closure = closure; +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_XINCREF(module); + cf->m_module = module; +#endif + op->func_dict = NULL; + op->func_name = NULL; + Py_INCREF(qualname); + op->func_qualname = qualname; + op->func_doc = NULL; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + op->func_classobj = NULL; +#else + ((PyCMethodObject*)op)->mm_class = NULL; +#endif + op->func_globals = globals; + Py_INCREF(op->func_globals); + Py_XINCREF(code); + op->func_code = code; + op->defaults_pyobjects = 0; + op->defaults_size = 0; + op->defaults = NULL; + op->defaults_tuple = NULL; + op->defaults_kwdict = NULL; + op->defaults_getter = NULL; + op->func_annotations = NULL; + op->func_is_coroutine = NULL; +#if CYTHON_METH_FASTCALL + switch (ml->ml_flags & (METH_VARARGS | METH_FASTCALL | METH_NOARGS | METH_O | METH_KEYWORDS | METH_METHOD)) { + case METH_NOARGS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_NOARGS; + break; + case METH_O: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_O; + break; + case METH_METHOD | METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD; + break; + case METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS; + break; + case METH_VARARGS | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = NULL; + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + Py_DECREF(op); + return NULL; + } +#endif + return (PyObject *) op; +} +static int +__Pyx_CyFunction_clear(__pyx_CyFunctionObject *m) +{ + Py_CLEAR(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_CLEAR(m->func); +#else + Py_CLEAR(((PyCFunctionObject*)m)->m_module); +#endif + Py_CLEAR(m->func_dict); + Py_CLEAR(m->func_name); + Py_CLEAR(m->func_qualname); + Py_CLEAR(m->func_doc); + Py_CLEAR(m->func_globals); + Py_CLEAR(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API +#if PY_VERSION_HEX < 0x030900B1 + Py_CLEAR(__Pyx_CyFunction_GetClassObj(m)); +#else + { + PyObject *cls = (PyObject*) ((PyCMethodObject *) (m))->mm_class; + ((PyCMethodObject *) (m))->mm_class = NULL; + Py_XDECREF(cls); + } +#endif +#endif + Py_CLEAR(m->defaults_tuple); + Py_CLEAR(m->defaults_kwdict); + Py_CLEAR(m->func_annotations); + Py_CLEAR(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_XDECREF(pydefaults[i]); + PyObject_Free(m->defaults); + m->defaults = NULL; + } + return 0; +} +static void __Pyx__CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + if (__Pyx_CyFunction_weakreflist(m) != NULL) + PyObject_ClearWeakRefs((PyObject *) m); + __Pyx_CyFunction_clear(m); + __Pyx_PyHeapTypeObject_GC_Del(m); +} +static void __Pyx_CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + PyObject_GC_UnTrack(m); + __Pyx__CyFunction_dealloc(m); +} +static int __Pyx_CyFunction_traverse(__pyx_CyFunctionObject *m, visitproc visit, void *arg) +{ + Py_VISIT(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(m->func); +#else + Py_VISIT(((PyCFunctionObject*)m)->m_module); +#endif + Py_VISIT(m->func_dict); + Py_VISIT(m->func_name); + Py_VISIT(m->func_qualname); + Py_VISIT(m->func_doc); + Py_VISIT(m->func_globals); + Py_VISIT(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(__Pyx_CyFunction_GetClassObj(m)); +#endif + Py_VISIT(m->defaults_tuple); + Py_VISIT(m->defaults_kwdict); + Py_VISIT(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_VISIT(pydefaults[i]); + } + return 0; +} +static PyObject* +__Pyx_CyFunction_repr(__pyx_CyFunctionObject *op) +{ +#if PY_MAJOR_VERSION >= 3 + return PyUnicode_FromFormat("", + op->func_qualname, (void *)op); +#else + return PyString_FromFormat("", + PyString_AsString(op->func_qualname), (void *)op); +#endif +} +static PyObject * __Pyx_CyFunction_CallMethod(PyObject *func, PyObject *self, PyObject *arg, PyObject *kw) { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *f = ((__pyx_CyFunctionObject*)func)->func; + PyObject *py_name = NULL; + PyCFunction meth; + int flags; + meth = PyCFunction_GetFunction(f); + if (unlikely(!meth)) return NULL; + flags = PyCFunction_GetFlags(f); + if (unlikely(flags < 0)) return NULL; +#else + PyCFunctionObject* f = (PyCFunctionObject*)func; + PyCFunction meth = f->m_ml->ml_meth; + int flags = f->m_ml->ml_flags; +#endif + Py_ssize_t size; + switch (flags & (METH_VARARGS | METH_KEYWORDS | METH_NOARGS | METH_O)) { + case METH_VARARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) + return (*meth)(self, arg); + break; + case METH_VARARGS | METH_KEYWORDS: + return (*(PyCFunctionWithKeywords)(void*)meth)(self, arg, kw); + case METH_NOARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 0)) + return (*meth)(self, NULL); +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + case METH_O: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 1)) { + PyObject *result, *arg0; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + arg0 = PyTuple_GET_ITEM(arg, 0); + #else + arg0 = __Pyx_PySequence_ITEM(arg, 0); if (unlikely(!arg0)) return NULL; + #endif + result = (*meth)(self, arg0); + #if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(arg0); + #endif + return result; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + return NULL; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, "%.200S() takes no keyword arguments", + py_name); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, "%.200s() takes no keyword arguments", + f->m_ml->ml_name); +#endif + return NULL; +} +static CYTHON_INLINE PyObject *__Pyx_CyFunction_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *self, *result; +#if CYTHON_COMPILING_IN_LIMITED_API + self = PyCFunction_GetSelf(((__pyx_CyFunctionObject*)func)->func); + if (unlikely(!self) && PyErr_Occurred()) return NULL; +#else + self = ((PyCFunctionObject*)func)->m_self; +#endif + result = __Pyx_CyFunction_CallMethod(func, self, arg, kw); + return result; +} +static PyObject *__Pyx_CyFunction_CallAsMethod(PyObject *func, PyObject *args, PyObject *kw) { + PyObject *result; + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *) func; +#if CYTHON_METH_FASTCALL + __pyx_vectorcallfunc vc = __Pyx_CyFunction_func_vectorcall(cyfunc); + if (vc) { +#if CYTHON_ASSUME_SAFE_MACROS + return __Pyx_PyVectorcall_FastCallDict(func, vc, &PyTuple_GET_ITEM(args, 0), (size_t)PyTuple_GET_SIZE(args), kw); +#else + (void) &__Pyx_PyVectorcall_FastCallDict; + return PyVectorcall_Call(func, args, kw); +#endif + } +#endif + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + Py_ssize_t argc; + PyObject *new_args; + PyObject *self; +#if CYTHON_ASSUME_SAFE_MACROS + argc = PyTuple_GET_SIZE(args); +#else + argc = PyTuple_Size(args); + if (unlikely(!argc) < 0) return NULL; +#endif + new_args = PyTuple_GetSlice(args, 1, argc); + if (unlikely(!new_args)) + return NULL; + self = PyTuple_GetItem(args, 0); + if (unlikely(!self)) { + Py_DECREF(new_args); +#if PY_MAJOR_VERSION > 2 + PyErr_Format(PyExc_TypeError, + "unbound method %.200S() needs an argument", + cyfunc->func_qualname); +#else + PyErr_SetString(PyExc_TypeError, + "unbound method needs an argument"); +#endif + return NULL; + } + result = __Pyx_CyFunction_CallMethod(func, self, new_args, kw); + Py_DECREF(new_args); + } else { + result = __Pyx_CyFunction_Call(func, args, kw); + } + return result; +} +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE int __Pyx_CyFunction_Vectorcall_CheckArgs(__pyx_CyFunctionObject *cyfunc, Py_ssize_t nargs, PyObject *kwnames) +{ + int ret = 0; + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + if (unlikely(nargs < 1)) { + PyErr_Format(PyExc_TypeError, "%.200s() needs an argument", + ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + ret = 1; + } + if (unlikely(kwnames) && unlikely(PyTuple_GET_SIZE(kwnames))) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no keyword arguments", ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + return ret; +} +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 0)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, NULL); +} +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 1)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, args[0]); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((_PyCFunctionFastWithKeywords)(void(*)(void))def->ml_meth)(self, args, nargs, kwnames); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; + PyTypeObject *cls = (PyTypeObject *) __Pyx_CyFunction_GetClassObj(cyfunc); +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((__Pyx_PyCMethod)(void(*)(void))def->ml_meth)(self, cls, args, (size_t)nargs, kwnames); +} +#endif +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_CyFunctionType_slots[] = { + {Py_tp_dealloc, (void *)__Pyx_CyFunction_dealloc}, + {Py_tp_repr, (void *)__Pyx_CyFunction_repr}, + {Py_tp_call, (void *)__Pyx_CyFunction_CallAsMethod}, + {Py_tp_traverse, (void *)__Pyx_CyFunction_traverse}, + {Py_tp_clear, (void *)__Pyx_CyFunction_clear}, + {Py_tp_methods, (void *)__pyx_CyFunction_methods}, + {Py_tp_members, (void *)__pyx_CyFunction_members}, + {Py_tp_getset, (void *)__pyx_CyFunction_getsets}, + {Py_tp_descr_get, (void *)__Pyx_PyMethod_New}, + {0, 0}, +}; +static PyType_Spec __pyx_CyFunctionType_spec = { + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if (defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL) + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + __pyx_CyFunctionType_slots +}; +#else +static PyTypeObject __pyx_CyFunctionType_type = { + PyVarObject_HEAD_INIT(0, 0) + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, + (destructor) __Pyx_CyFunction_dealloc, +#if !CYTHON_METH_FASTCALL + 0, +#elif CYTHON_BACKPORT_VECTORCALL + (printfunc)offsetof(__pyx_CyFunctionObject, func_vectorcall), +#else + offsetof(PyCFunctionObject, vectorcall), +#endif + 0, + 0, +#if PY_MAJOR_VERSION < 3 + 0, +#else + 0, +#endif + (reprfunc) __Pyx_CyFunction_repr, + 0, + 0, + 0, + 0, + __Pyx_CyFunction_CallAsMethod, + 0, + 0, + 0, + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + 0, + (traverseproc) __Pyx_CyFunction_traverse, + (inquiry) __Pyx_CyFunction_clear, + 0, +#if PY_VERSION_HEX < 0x030500A0 + offsetof(__pyx_CyFunctionObject, func_weakreflist), +#else + offsetof(PyCFunctionObject, m_weakreflist), +#endif + 0, + 0, + __pyx_CyFunction_methods, + __pyx_CyFunction_members, + __pyx_CyFunction_getsets, + 0, + 0, + __Pyx_PyMethod_New, + 0, + offsetof(__pyx_CyFunctionObject, func_dict), + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, +#if PY_VERSION_HEX >= 0x030400a1 + 0, +#endif +#if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, +#endif +#if __PYX_NEED_TP_PRINT_SLOT + 0, +#endif +#if PY_VERSION_HEX >= 0x030C0000 + 0, +#endif +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, +#endif +}; +#endif +static int __pyx_CyFunction_init(PyObject *module) { +#if CYTHON_USE_TYPE_SPECS + __pyx_CyFunctionType = __Pyx_FetchCommonTypeFromSpec(module, &__pyx_CyFunctionType_spec, NULL); +#else + CYTHON_UNUSED_VAR(module); + __pyx_CyFunctionType = __Pyx_FetchCommonType(&__pyx_CyFunctionType_type); +#endif + if (unlikely(__pyx_CyFunctionType == NULL)) { + return -1; + } + return 0; +} +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *func, size_t size, int pyobjects) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults = PyObject_Malloc(size); + if (unlikely(!m->defaults)) + return PyErr_NoMemory(); + memset(m->defaults, 0, size); + m->defaults_pyobjects = pyobjects; + m->defaults_size = size; + return m->defaults; +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *func, PyObject *tuple) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_tuple = tuple; + Py_INCREF(tuple); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_kwdict = dict; + Py_INCREF(dict); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->func_annotations = dict; + Py_INCREF(dict); +} + +/* CythonFunction */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { + PyObject *op = __Pyx_CyFunction_Init( + PyObject_GC_New(__pyx_CyFunctionObject, __pyx_CyFunctionType), + ml, flags, qualname, closure, module, globals, code + ); + if (likely(op)) { + PyObject_GC_Track(op); + } + return op; +} + +/* CLineInTraceback */ +#ifndef CYTHON_CLINE_IN_TRACEBACK +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line) { + PyObject *use_cline; + PyObject *ptype, *pvalue, *ptraceback; +#if CYTHON_COMPILING_IN_CPYTHON + PyObject **cython_runtime_dict; +#endif + CYTHON_MAYBE_UNUSED_VAR(tstate); + if (unlikely(!__pyx_cython_runtime)) { + return c_line; + } + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); +#if CYTHON_COMPILING_IN_CPYTHON + cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); + if (likely(cython_runtime_dict)) { + __PYX_PY_DICT_LOOKUP_IF_MODIFIED( + use_cline, *cython_runtime_dict, + __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) + } else +#endif + { + PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStrNoError(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); + if (use_cline_obj) { + use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; +} +#endif + +/* CodeObjectCache */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; + } + } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } +} +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; + } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; +} +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; + } + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; + } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); +} +#endif + +/* AddTraceback */ +#include "compile.h" +#include "frameobject.h" +#include "traceback.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyCode_Replace_For_AddTraceback(PyObject *code, PyObject *scratch_dict, + PyObject *firstlineno, PyObject *name) { + PyObject *replace = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_firstlineno", firstlineno))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_name", name))) return NULL; + replace = PyObject_GetAttrString(code, "replace"); + if (likely(replace)) { + PyObject *result; + result = PyObject_Call(replace, __pyx_empty_tuple, scratch_dict); + Py_DECREF(replace); + return result; + } + PyErr_Clear(); + #if __PYX_LIMITED_VERSION_HEX < 0x030780000 + { + PyObject *compiled = NULL, *result = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "code", code))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "type", (PyObject*)(&PyType_Type)))) return NULL; + compiled = Py_CompileString( + "out = type(code)(\n" + " code.co_argcount, code.co_kwonlyargcount, code.co_nlocals, code.co_stacksize,\n" + " code.co_flags, code.co_code, code.co_consts, code.co_names,\n" + " code.co_varnames, code.co_filename, co_name, co_firstlineno,\n" + " code.co_lnotab)\n", "", Py_file_input); + if (!compiled) return NULL; + result = PyEval_EvalCode(compiled, scratch_dict, scratch_dict); + Py_DECREF(compiled); + if (!result) PyErr_Print(); + Py_DECREF(result); + result = PyDict_GetItemString(scratch_dict, "out"); + if (result) Py_INCREF(result); + return result; + } + #else + return NULL; + #endif +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyObject *code_object = NULL, *py_py_line = NULL, *py_funcname = NULL, *dict = NULL; + PyObject *replace = NULL, *getframe = NULL, *frame = NULL; + PyObject *exc_type, *exc_value, *exc_traceback; + int success = 0; + if (c_line) { + (void) __pyx_cfilenm; + (void) __Pyx_CLineForTraceback(__Pyx_PyThreadState_Current, c_line); + } + PyErr_Fetch(&exc_type, &exc_value, &exc_traceback); + code_object = Py_CompileString("_getframe()", filename, Py_eval_input); + if (unlikely(!code_object)) goto bad; + py_py_line = PyLong_FromLong(py_line); + if (unlikely(!py_py_line)) goto bad; + py_funcname = PyUnicode_FromString(funcname); + if (unlikely(!py_funcname)) goto bad; + dict = PyDict_New(); + if (unlikely(!dict)) goto bad; + { + PyObject *old_code_object = code_object; + code_object = __Pyx_PyCode_Replace_For_AddTraceback(code_object, dict, py_py_line, py_funcname); + Py_DECREF(old_code_object); + } + if (unlikely(!code_object)) goto bad; + getframe = PySys_GetObject("_getframe"); + if (unlikely(!getframe)) goto bad; + if (unlikely(PyDict_SetItemString(dict, "_getframe", getframe))) goto bad; + frame = PyEval_EvalCode(code_object, dict, dict); + if (unlikely(!frame) || frame == Py_None) goto bad; + success = 1; + bad: + PyErr_Restore(exc_type, exc_value, exc_traceback); + Py_XDECREF(code_object); + Py_XDECREF(py_py_line); + Py_XDECREF(py_funcname); + Py_XDECREF(dict); + Py_XDECREF(replace); + if (success) { + PyTraceBack_Here( + (struct _frame*)frame); + } + Py_XDECREF(frame); +} +#else +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = NULL; + PyObject *py_funcname = NULL; + #if PY_MAJOR_VERSION < 3 + PyObject *py_srcfile = NULL; + py_srcfile = PyString_FromString(filename); + if (!py_srcfile) goto bad; + #endif + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + funcname = PyUnicode_AsUTF8(py_funcname); + if (!funcname) goto bad; + #endif + } + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + if (!py_funcname) goto bad; + #endif + } + #if PY_MAJOR_VERSION < 3 + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + #else + py_code = PyCode_NewEmpty(filename, funcname, py_line); + #endif + Py_XDECREF(py_funcname); + return py_code; +bad: + Py_XDECREF(py_funcname); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_srcfile); + #endif + return NULL; +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject *ptype, *pvalue, *ptraceback; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); + } + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) { + /* If the code object creation fails, then we should clear the + fetched exception references and propagate the new exception */ + Py_XDECREF(ptype); + Py_XDECREF(pvalue); + Py_XDECREF(ptraceback); + goto bad; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + } + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} +#endif + +#if PY_MAJOR_VERSION < 3 +static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags) { + __Pyx_TypeName obj_type_name; + if (PyObject_CheckBuffer(obj)) return PyObject_GetBuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_array_type)) return __pyx_array_getbuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_memoryview_type)) return __pyx_memoryview_getbuffer(obj, view, flags); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' does not have the buffer interface", + obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return -1; +} +static void __Pyx_ReleaseBuffer(Py_buffer *view) { + PyObject *obj = view->obj; + if (!obj) return; + if (PyObject_CheckBuffer(obj)) { + PyBuffer_Release(view); + return; + } + if ((0)) {} + view->obj = NULL; + Py_DECREF(obj); +} +#endif + + +/* MemviewSliceIsContig */ +static int +__pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim) +{ + int i, index, step, start; + Py_ssize_t itemsize = mvs.memview->view.itemsize; + if (order == 'F') { + step = 1; + start = 0; + } else { + step = -1; + start = ndim - 1; + } + for (i = 0; i < ndim; i++) { + index = start + step * i; + if (mvs.suboffsets[index] >= 0 || mvs.strides[index] != itemsize) + return 0; + itemsize *= mvs.shape[index]; + } + return 1; +} + +/* OverlappingSlices */ +static void +__pyx_get_array_memory_extents(__Pyx_memviewslice *slice, + void **out_start, void **out_end, + int ndim, size_t itemsize) +{ + char *start, *end; + int i; + start = end = slice->data; + for (i = 0; i < ndim; i++) { + Py_ssize_t stride = slice->strides[i]; + Py_ssize_t extent = slice->shape[i]; + if (extent == 0) { + *out_start = *out_end = start; + return; + } else { + if (stride > 0) + end += stride * (extent - 1); + else + start += stride * (extent - 1); + } + } + *out_start = start; + *out_end = end + itemsize; +} +static int +__pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize) +{ + void *start1, *end1, *start2, *end2; + __pyx_get_array_memory_extents(slice1, &start1, &end1, ndim, itemsize); + __pyx_get_array_memory_extents(slice2, &start2, &end2, ndim, itemsize); + return (start1 < end2) && (start2 < end1); +} + +/* IsLittleEndian */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void) +{ + union { + uint32_t u32; + uint8_t u8[4]; + } S; + S.u32 = 0x01020304; + return S.u8[0] == 4; +} + +/* BufferFormatCheck */ +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type) { + stack[0].field = &ctx->root; + stack[0].parent_offset = 0; + ctx->root.type = type; + ctx->root.name = "buffer dtype"; + ctx->root.offset = 0; + ctx->head = stack; + ctx->head->field = &ctx->root; + ctx->fmt_offset = 0; + ctx->head->parent_offset = 0; + ctx->new_packmode = '@'; + ctx->enc_packmode = '@'; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->is_complex = 0; + ctx->is_valid_array = 0; + ctx->struct_alignment = 0; + while (type->typegroup == 'S') { + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = 0; + type = type->fields->type; + } +} +static int __Pyx_BufFmt_ParseNumber(const char** ts) { + int count; + const char* t = *ts; + if (*t < '0' || *t > '9') { + return -1; + } else { + count = *t++ - '0'; + while (*t >= '0' && *t <= '9') { + count *= 10; + count += *t++ - '0'; + } + } + *ts = t; + return count; +} +static int __Pyx_BufFmt_ExpectNumber(const char **ts) { + int number = __Pyx_BufFmt_ParseNumber(ts); + if (number == -1) + PyErr_Format(PyExc_ValueError,\ + "Does not understand character buffer dtype format string ('%c')", **ts); + return number; +} +static void __Pyx_BufFmt_RaiseUnexpectedChar(char ch) { + PyErr_Format(PyExc_ValueError, + "Unexpected format string character: '%c'", ch); +} +static const char* __Pyx_BufFmt_DescribeTypeChar(char ch, int is_complex) { + switch (ch) { + case '?': return "'bool'"; + case 'c': return "'char'"; + case 'b': return "'signed char'"; + case 'B': return "'unsigned char'"; + case 'h': return "'short'"; + case 'H': return "'unsigned short'"; + case 'i': return "'int'"; + case 'I': return "'unsigned int'"; + case 'l': return "'long'"; + case 'L': return "'unsigned long'"; + case 'q': return "'long long'"; + case 'Q': return "'unsigned long long'"; + case 'f': return (is_complex ? "'complex float'" : "'float'"); + case 'd': return (is_complex ? "'complex double'" : "'double'"); + case 'g': return (is_complex ? "'complex long double'" : "'long double'"); + case 'T': return "a struct"; + case 'O': return "Python object"; + case 'P': return "a pointer"; + case 's': case 'p': return "a string"; + case 0: return "end"; + default: return "unparsable format string"; + } +} +static size_t __Pyx_BufFmt_TypeCharToStandardSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return 2; + case 'i': case 'I': case 'l': case 'L': return 4; + case 'q': case 'Q': return 8; + case 'f': return (is_complex ? 8 : 4); + case 'd': return (is_complex ? 16 : 8); + case 'g': { + PyErr_SetString(PyExc_ValueError, "Python does not define a standard format string size for long double ('g').."); + return 0; + } + case 'O': case 'P': return sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static size_t __Pyx_BufFmt_TypeCharToNativeSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(short); + case 'i': case 'I': return sizeof(int); + case 'l': case 'L': return sizeof(long); + #ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(PY_LONG_LONG); + #endif + case 'f': return sizeof(float) * (is_complex ? 2 : 1); + case 'd': return sizeof(double) * (is_complex ? 2 : 1); + case 'g': return sizeof(long double) * (is_complex ? 2 : 1); + case 'O': case 'P': return sizeof(void*); + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +typedef struct { char c; short x; } __Pyx_st_short; +typedef struct { char c; int x; } __Pyx_st_int; +typedef struct { char c; long x; } __Pyx_st_long; +typedef struct { char c; float x; } __Pyx_st_float; +typedef struct { char c; double x; } __Pyx_st_double; +typedef struct { char c; long double x; } __Pyx_st_longdouble; +typedef struct { char c; void *x; } __Pyx_st_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { char c; PY_LONG_LONG x; } __Pyx_st_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToAlignment(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_st_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_st_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_st_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_st_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_st_float) - sizeof(float); + case 'd': return sizeof(__Pyx_st_double) - sizeof(double); + case 'g': return sizeof(__Pyx_st_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_st_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +/* These are for computing the padding at the end of the struct to align + on the first member of the struct. This will probably the same as above, + but we don't have any guarantees. + */ +typedef struct { short x; char c; } __Pyx_pad_short; +typedef struct { int x; char c; } __Pyx_pad_int; +typedef struct { long x; char c; } __Pyx_pad_long; +typedef struct { float x; char c; } __Pyx_pad_float; +typedef struct { double x; char c; } __Pyx_pad_double; +typedef struct { long double x; char c; } __Pyx_pad_longdouble; +typedef struct { void *x; char c; } __Pyx_pad_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { PY_LONG_LONG x; char c; } __Pyx_pad_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToPadding(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_pad_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_pad_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_pad_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_pad_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_pad_float) - sizeof(float); + case 'd': return sizeof(__Pyx_pad_double) - sizeof(double); + case 'g': return sizeof(__Pyx_pad_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_pad_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static char __Pyx_BufFmt_TypeCharToGroup(char ch, int is_complex) { + switch (ch) { + case 'c': + return 'H'; + case 'b': case 'h': case 'i': + case 'l': case 'q': case 's': case 'p': + return 'I'; + case '?': case 'B': case 'H': case 'I': case 'L': case 'Q': + return 'U'; + case 'f': case 'd': case 'g': + return (is_complex ? 'C' : 'R'); + case 'O': + return 'O'; + case 'P': + return 'P'; + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +static void __Pyx_BufFmt_RaiseExpected(__Pyx_BufFmt_Context* ctx) { + if (ctx->head == NULL || ctx->head->field == &ctx->root) { + const char* expected; + const char* quote; + if (ctx->head == NULL) { + expected = "end"; + quote = ""; + } else { + expected = ctx->head->field->type->name; + quote = "'"; + } + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected %s%s%s but got %s", + quote, expected, quote, + __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex)); + } else { + __Pyx_StructField* field = ctx->head->field; + __Pyx_StructField* parent = (ctx->head - 1)->field; + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected '%s' but got %s in '%s.%s'", + field->type->name, __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex), + parent->type->name, field->name); + } +} +static int __Pyx_BufFmt_ProcessTypeChunk(__Pyx_BufFmt_Context* ctx) { + char group; + size_t size, offset, arraysize = 1; + if (ctx->enc_type == 0) return 0; + if (ctx->head->field->type->arraysize[0]) { + int i, ndim = 0; + if (ctx->enc_type == 's' || ctx->enc_type == 'p') { + ctx->is_valid_array = ctx->head->field->type->ndim == 1; + ndim = 1; + if (ctx->enc_count != ctx->head->field->type->arraysize[0]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %zu", + ctx->head->field->type->arraysize[0], ctx->enc_count); + return -1; + } + } + if (!ctx->is_valid_array) { + PyErr_Format(PyExc_ValueError, "Expected %d dimensions, got %d", + ctx->head->field->type->ndim, ndim); + return -1; + } + for (i = 0; i < ctx->head->field->type->ndim; i++) { + arraysize *= ctx->head->field->type->arraysize[i]; + } + ctx->is_valid_array = 0; + ctx->enc_count = 1; + } + group = __Pyx_BufFmt_TypeCharToGroup(ctx->enc_type, ctx->is_complex); + do { + __Pyx_StructField* field = ctx->head->field; + __Pyx_TypeInfo* type = field->type; + if (ctx->enc_packmode == '@' || ctx->enc_packmode == '^') { + size = __Pyx_BufFmt_TypeCharToNativeSize(ctx->enc_type, ctx->is_complex); + } else { + size = __Pyx_BufFmt_TypeCharToStandardSize(ctx->enc_type, ctx->is_complex); + } + if (ctx->enc_packmode == '@') { + size_t align_at = __Pyx_BufFmt_TypeCharToAlignment(ctx->enc_type, ctx->is_complex); + size_t align_mod_offset; + if (align_at == 0) return -1; + align_mod_offset = ctx->fmt_offset % align_at; + if (align_mod_offset > 0) ctx->fmt_offset += align_at - align_mod_offset; + if (ctx->struct_alignment == 0) + ctx->struct_alignment = __Pyx_BufFmt_TypeCharToPadding(ctx->enc_type, + ctx->is_complex); + } + if (type->size != size || type->typegroup != group) { + if (type->typegroup == 'C' && type->fields != NULL) { + size_t parent_offset = ctx->head->parent_offset + field->offset; + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = parent_offset; + continue; + } + if ((type->typegroup == 'H' || group == 'H') && type->size == size) { + } else { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + } + offset = ctx->head->parent_offset + field->offset; + if (ctx->fmt_offset != offset) { + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch; next field is at offset %" CYTHON_FORMAT_SSIZE_T "d but %" CYTHON_FORMAT_SSIZE_T "d expected", + (Py_ssize_t)ctx->fmt_offset, (Py_ssize_t)offset); + return -1; + } + ctx->fmt_offset += size; + if (arraysize) + ctx->fmt_offset += (arraysize - 1) * size; + --ctx->enc_count; + while (1) { + if (field == &ctx->root) { + ctx->head = NULL; + if (ctx->enc_count != 0) { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + break; + } + ctx->head->field = ++field; + if (field->type == NULL) { + --ctx->head; + field = ctx->head->field; + continue; + } else if (field->type->typegroup == 'S') { + size_t parent_offset = ctx->head->parent_offset + field->offset; + if (field->type->fields->type == NULL) continue; + field = field->type->fields; + ++ctx->head; + ctx->head->field = field; + ctx->head->parent_offset = parent_offset; + break; + } else { + break; + } + } + } while (ctx->enc_count); + ctx->enc_type = 0; + ctx->is_complex = 0; + return 0; +} +static int +__pyx_buffmt_parse_array(__Pyx_BufFmt_Context* ctx, const char** tsp) +{ + const char *ts = *tsp; + int i = 0, number, ndim; + ++ts; + if (ctx->new_count != 1) { + PyErr_SetString(PyExc_ValueError, + "Cannot handle repeated arrays in format string"); + return -1; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return -1; + ndim = ctx->head->field->type->ndim; + while (*ts && *ts != ')') { + switch (*ts) { + case ' ': case '\f': case '\r': case '\n': case '\t': case '\v': continue; + default: break; + } + number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return -1; + if (i < ndim && (size_t) number != ctx->head->field->type->arraysize[i]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %d", + ctx->head->field->type->arraysize[i], number); + return -1; + } + if (*ts != ',' && *ts != ')') { + PyErr_Format(PyExc_ValueError, + "Expected a comma in format string, got '%c'", *ts); + return -1; + } + if (*ts == ',') ts++; + i++; + } + if (i != ndim) { + PyErr_Format(PyExc_ValueError, "Expected %d dimension(s), got %d", + ctx->head->field->type->ndim, i); + return -1; + } + if (!*ts) { + PyErr_SetString(PyExc_ValueError, + "Unexpected end of format string, expected ')'"); + return -1; + } + ctx->is_valid_array = 1; + ctx->new_count = 1; + *tsp = ++ts; + return 0; +} +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts) { + int got_Z = 0; + while (1) { + switch(*ts) { + case 0: + if (ctx->enc_type != 0 && ctx->head == NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + if (ctx->head != NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + return ts; + case ' ': + case '\r': + case '\n': + ++ts; + break; + case '<': + if (!__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Little-endian buffer not supported on big-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '>': + case '!': + if (__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Big-endian buffer not supported on little-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '=': + case '@': + case '^': + ctx->new_packmode = *ts++; + break; + case 'T': + { + const char* ts_after_sub; + size_t i, struct_count = ctx->new_count; + size_t struct_alignment = ctx->struct_alignment; + ctx->new_count = 1; + ++ts; + if (*ts != '{') { + PyErr_SetString(PyExc_ValueError, "Buffer acquisition: Expected '{' after 'T'"); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + ctx->enc_count = 0; + ctx->struct_alignment = 0; + ++ts; + ts_after_sub = ts; + for (i = 0; i != struct_count; ++i) { + ts_after_sub = __Pyx_BufFmt_CheckString(ctx, ts); + if (!ts_after_sub) return NULL; + } + ts = ts_after_sub; + if (struct_alignment) ctx->struct_alignment = struct_alignment; + } + break; + case '}': + { + size_t alignment = ctx->struct_alignment; + ++ts; + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + if (alignment && ctx->fmt_offset % alignment) { + ctx->fmt_offset += alignment - (ctx->fmt_offset % alignment); + } + } + return ts; + case 'x': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->fmt_offset += ctx->new_count; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->enc_packmode = ctx->new_packmode; + ++ts; + break; + case 'Z': + got_Z = 1; + ++ts; + if (*ts != 'f' && *ts != 'd' && *ts != 'g') { + __Pyx_BufFmt_RaiseUnexpectedChar('Z'); + return NULL; + } + CYTHON_FALLTHROUGH; + case '?': case 'c': case 'b': case 'B': case 'h': case 'H': case 'i': case 'I': + case 'l': case 'L': case 'q': case 'Q': + case 'f': case 'd': case 'g': + case 'O': case 'p': + if ((ctx->enc_type == *ts) && (got_Z == ctx->is_complex) && + (ctx->enc_packmode == ctx->new_packmode) && (!ctx->is_valid_array)) { + ctx->enc_count += ctx->new_count; + ctx->new_count = 1; + got_Z = 0; + ++ts; + break; + } + CYTHON_FALLTHROUGH; + case 's': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_count = ctx->new_count; + ctx->enc_packmode = ctx->new_packmode; + ctx->enc_type = *ts; + ctx->is_complex = got_Z; + ++ts; + ctx->new_count = 1; + got_Z = 0; + break; + case ':': + ++ts; + while(*ts != ':') ++ts; + ++ts; + break; + case '(': + if (__pyx_buffmt_parse_array(ctx, &ts) < 0) return NULL; + break; + default: + { + int number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return NULL; + ctx->new_count = (size_t)number; + } + } + } +} + +/* TypeInfoCompare */ + static int +__pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b) +{ + int i; + if (!a || !b) + return 0; + if (a == b) + return 1; + if (a->size != b->size || a->typegroup != b->typegroup || + a->is_unsigned != b->is_unsigned || a->ndim != b->ndim) { + if (a->typegroup == 'H' || b->typegroup == 'H') { + return a->size == b->size; + } else { + return 0; + } + } + if (a->ndim) { + for (i = 0; i < a->ndim; i++) + if (a->arraysize[i] != b->arraysize[i]) + return 0; + } + if (a->typegroup == 'S') { + if (a->flags != b->flags) + return 0; + if (a->fields || b->fields) { + if (!(a->fields && b->fields)) + return 0; + for (i = 0; a->fields[i].type && b->fields[i].type; i++) { + __Pyx_StructField *field_a = a->fields + i; + __Pyx_StructField *field_b = b->fields + i; + if (field_a->offset != field_b->offset || + !__pyx_typeinfo_cmp(field_a->type, field_b->type)) + return 0; + } + return !a->fields[i].type && !b->fields[i].type; + } + } + return 1; +} + +/* MemviewSliceValidateAndInit */ + static int +__pyx_check_strides(Py_buffer *buf, int dim, int ndim, int spec) +{ + if (buf->shape[dim] <= 1) + return 1; + if (buf->strides) { + if (spec & __Pyx_MEMVIEW_CONTIG) { + if (spec & (__Pyx_MEMVIEW_PTR|__Pyx_MEMVIEW_FULL)) { + if (unlikely(buf->strides[dim] != sizeof(void *))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly contiguous " + "in dimension %d.", dim); + goto fail; + } + } else if (unlikely(buf->strides[dim] != buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_FOLLOW) { + Py_ssize_t stride = buf->strides[dim]; + if (stride < 0) + stride = -stride; + if (unlikely(stride < buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + } else { + if (unlikely(spec & __Pyx_MEMVIEW_CONTIG && dim != ndim - 1)) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not contiguous in " + "dimension %d", dim); + goto fail; + } else if (unlikely(spec & (__Pyx_MEMVIEW_PTR))) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not indirect in " + "dimension %d", dim); + goto fail; + } else if (unlikely(buf->suboffsets)) { + PyErr_SetString(PyExc_ValueError, + "Buffer exposes suboffsets but no strides"); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_check_suboffsets(Py_buffer *buf, int dim, int ndim, int spec) +{ + CYTHON_UNUSED_VAR(ndim); + if (spec & __Pyx_MEMVIEW_DIRECT) { + if (unlikely(buf->suboffsets && buf->suboffsets[dim] >= 0)) { + PyErr_Format(PyExc_ValueError, + "Buffer not compatible with direct access " + "in dimension %d.", dim); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_PTR) { + if (unlikely(!buf->suboffsets || (buf->suboffsets[dim] < 0))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly accessible " + "in dimension %d.", dim); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_verify_contig(Py_buffer *buf, int ndim, int c_or_f_flag) +{ + int i; + if (c_or_f_flag & __Pyx_IS_F_CONTIG) { + Py_ssize_t stride = 1; + for (i = 0; i < ndim; i++) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not fortran contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } else if (c_or_f_flag & __Pyx_IS_C_CONTIG) { + Py_ssize_t stride = 1; + for (i = ndim - 1; i >- 1; i--) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not C contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } + return 1; +fail: + return 0; +} +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj) +{ + struct __pyx_memoryview_obj *memview, *new_memview; + __Pyx_RefNannyDeclarations + Py_buffer *buf; + int i, spec = 0, retval = -1; + __Pyx_BufFmt_Context ctx; + int from_memoryview = __pyx_memoryview_check(original_obj); + __Pyx_RefNannySetupContext("ValidateAndInit_memviewslice", 0); + if (from_memoryview && __pyx_typeinfo_cmp(dtype, ((struct __pyx_memoryview_obj *) + original_obj)->typeinfo)) { + memview = (struct __pyx_memoryview_obj *) original_obj; + new_memview = NULL; + } else { + memview = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + original_obj, buf_flags, 0, dtype); + new_memview = memview; + if (unlikely(!memview)) + goto fail; + } + buf = &memview->view; + if (unlikely(buf->ndim != ndim)) { + PyErr_Format(PyExc_ValueError, + "Buffer has wrong number of dimensions (expected %d, got %d)", + ndim, buf->ndim); + goto fail; + } + if (new_memview) { + __Pyx_BufFmt_Init(&ctx, stack, dtype); + if (unlikely(!__Pyx_BufFmt_CheckString(&ctx, buf->format))) goto fail; + } + if (unlikely((unsigned) buf->itemsize != dtype->size)) { + PyErr_Format(PyExc_ValueError, + "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "u byte%s) " + "does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "u byte%s)", + buf->itemsize, + (buf->itemsize > 1) ? "s" : "", + dtype->name, + dtype->size, + (dtype->size > 1) ? "s" : ""); + goto fail; + } + if (buf->len > 0) { + for (i = 0; i < ndim; i++) { + spec = axes_specs[i]; + if (unlikely(!__pyx_check_strides(buf, i, ndim, spec))) + goto fail; + if (unlikely(!__pyx_check_suboffsets(buf, i, ndim, spec))) + goto fail; + } + if (unlikely(buf->strides && !__pyx_verify_contig(buf, ndim, c_or_f_flag))) + goto fail; + } + if (unlikely(__Pyx_init_memviewslice(memview, ndim, memviewslice, + new_memview != NULL) == -1)) { + goto fail; + } + retval = 0; + goto no_fail; +fail: + Py_XDECREF(new_memview); + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} + +/* ObjectToMemviewSlice */ + static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_float(PyObject *obj, int writable_flag) { + __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; + __Pyx_BufFmt_StackElem stack[1]; + int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_STRIDED) }; + int retcode; + if (obj == Py_None) { + result.memview = (struct __pyx_memoryview_obj *) Py_None; + return result; + } + retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, 0, + PyBUF_RECORDS_RO | writable_flag, 1, + &__Pyx_TypeInfo_float, stack, + &result, obj); + if (unlikely(retcode == -1)) + goto __pyx_fail; + return result; +__pyx_fail: + result.memview = NULL; + result.data = NULL; + return result; +} + +/* CIntFromPyVerify */ + #define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* MemviewDtypeToObject */ + static CYTHON_INLINE PyObject *__pyx_memview_get_float(const char *itemp) { + return (PyObject *) PyFloat_FromDouble(*(float *) itemp); +} +static CYTHON_INLINE int __pyx_memview_set_float(const char *itemp, PyObject *obj) { + float value = __pyx_PyFloat_AsFloat(obj); + if (unlikely((value == (float)-1) && PyErr_Occurred())) + return 0; + *(float *) itemp = value; + return 1; +} + +/* MemviewSliceCopyTemplate */ + static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object) +{ + __Pyx_RefNannyDeclarations + int i; + __Pyx_memviewslice new_mvs = { 0, 0, { 0 }, { 0 }, { 0 } }; + struct __pyx_memoryview_obj *from_memview = from_mvs->memview; + Py_buffer *buf = &from_memview->view; + PyObject *shape_tuple = NULL; + PyObject *temp_int = NULL; + struct __pyx_array_obj *array_obj = NULL; + struct __pyx_memoryview_obj *memview_obj = NULL; + __Pyx_RefNannySetupContext("__pyx_memoryview_copy_new_contig", 0); + for (i = 0; i < ndim; i++) { + if (unlikely(from_mvs->suboffsets[i] >= 0)) { + PyErr_Format(PyExc_ValueError, "Cannot copy memoryview slice with " + "indirect dimensions (axis %d)", i); + goto fail; + } + } + shape_tuple = PyTuple_New(ndim); + if (unlikely(!shape_tuple)) { + goto fail; + } + __Pyx_GOTREF(shape_tuple); + for(i = 0; i < ndim; i++) { + temp_int = PyInt_FromSsize_t(from_mvs->shape[i]); + if(unlikely(!temp_int)) { + goto fail; + } else { + PyTuple_SET_ITEM(shape_tuple, i, temp_int); + temp_int = NULL; + } + } + array_obj = __pyx_array_new(shape_tuple, sizeof_dtype, buf->format, (char *) mode, NULL); + if (unlikely(!array_obj)) { + goto fail; + } + __Pyx_GOTREF(array_obj); + memview_obj = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + (PyObject *) array_obj, contig_flag, + dtype_is_object, + from_mvs->memview->typeinfo); + if (unlikely(!memview_obj)) + goto fail; + if (unlikely(__Pyx_init_memviewslice(memview_obj, ndim, &new_mvs, 1) < 0)) + goto fail; + if (unlikely(__pyx_memoryview_copy_contents(*from_mvs, new_mvs, ndim, ndim, + dtype_is_object) < 0)) + goto fail; + goto no_fail; +fail: + __Pyx_XDECREF(new_mvs.memview); + new_mvs.memview = NULL; + new_mvs.data = NULL; +no_fail: + __Pyx_XDECREF(shape_tuple); + __Pyx_XDECREF(temp_int); + __Pyx_XDECREF(array_obj); + __Pyx_RefNannyFinishContext(); + return new_mvs; +} + +/* MemviewSliceInit */ + static int +__Pyx_init_memviewslice(struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference) +{ + __Pyx_RefNannyDeclarations + int i, retval=-1; + Py_buffer *buf = &memview->view; + __Pyx_RefNannySetupContext("init_memviewslice", 0); + if (unlikely(memviewslice->memview || memviewslice->data)) { + PyErr_SetString(PyExc_ValueError, + "memviewslice is already initialized!"); + goto fail; + } + if (buf->strides) { + for (i = 0; i < ndim; i++) { + memviewslice->strides[i] = buf->strides[i]; + } + } else { + Py_ssize_t stride = buf->itemsize; + for (i = ndim - 1; i >= 0; i--) { + memviewslice->strides[i] = stride; + stride *= buf->shape[i]; + } + } + for (i = 0; i < ndim; i++) { + memviewslice->shape[i] = buf->shape[i]; + if (buf->suboffsets) { + memviewslice->suboffsets[i] = buf->suboffsets[i]; + } else { + memviewslice->suboffsets[i] = -1; + } + } + memviewslice->memview = memview; + memviewslice->data = (char *)buf->buf; + if (__pyx_add_acquisition_count(memview) == 0 && !memview_is_new_reference) { + Py_INCREF(memview); + } + retval = 0; + goto no_fail; +fail: + memviewslice->memview = 0; + memviewslice->data = 0; + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} +#ifndef Py_NO_RETURN +#define Py_NO_RETURN +#endif +static void __pyx_fatalerror(const char *fmt, ...) Py_NO_RETURN { + va_list vargs; + char msg[200]; +#if PY_VERSION_HEX >= 0x030A0000 || defined(HAVE_STDARG_PROTOTYPES) + va_start(vargs, fmt); +#else + va_start(vargs); +#endif + vsnprintf(msg, 200, fmt, vargs); + va_end(vargs); + Py_FatalError(msg); +} +static CYTHON_INLINE int +__pyx_add_acquisition_count_locked(__pyx_atomic_int_type *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)++; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE int +__pyx_sub_acquisition_count_locked(__pyx_atomic_int_type *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)--; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE void +__Pyx_INC_MEMVIEW(__Pyx_memviewslice *memslice, int have_gil, int lineno) +{ + __pyx_nonatomic_int_type old_acquisition_count; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + return; + } + old_acquisition_count = __pyx_add_acquisition_count(memview); + if (unlikely(old_acquisition_count <= 0)) { + if (likely(old_acquisition_count == 0)) { + if (have_gil) { + Py_INCREF((PyObject *) memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_INCREF((PyObject *) memview); + PyGILState_Release(_gilstate); + } + } else { + __pyx_fatalerror("Acquisition count is %d (line %d)", + old_acquisition_count+1, lineno); + } + } +} +static CYTHON_INLINE void __Pyx_XCLEAR_MEMVIEW(__Pyx_memviewslice *memslice, + int have_gil, int lineno) { + __pyx_nonatomic_int_type old_acquisition_count; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + memslice->memview = NULL; + return; + } + old_acquisition_count = __pyx_sub_acquisition_count(memview); + memslice->data = NULL; + if (likely(old_acquisition_count > 1)) { + memslice->memview = NULL; + } else if (likely(old_acquisition_count == 1)) { + if (have_gil) { + Py_CLEAR(memslice->memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_CLEAR(memslice->memview); + PyGILState_Release(_gilstate); + } + } else { + __pyx_fatalerror("Acquisition count is %d (line %d)", + old_acquisition_count-1, lineno); + } +} + +/* CIntFromPy */ + static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(int) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (int) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 2 * PyLong_SHIFT)) { + return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 3 * PyLong_SHIFT)) { + return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 4 * PyLong_SHIFT)) { + return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(int) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(int) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(int) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + int val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (int) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (int) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (int) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (int) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(int) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(int) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((int) 1) << (sizeof(int) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (int) -1; + } + } else { + int val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (int) -1; + val = __Pyx_PyInt_As_int(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to int"); + return (int) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to int"); + return (int) -1; +} + +/* CIntFromPy */ + static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(long) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (long) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 2 * PyLong_SHIFT)) { + return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 3 * PyLong_SHIFT)) { + return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 4 * PyLong_SHIFT)) { + return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(long) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(long) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(long) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + long val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (long) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (long) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (long) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (long) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(long) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(long) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((long) 1) << (sizeof(long) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (long) -1; + } + } else { + long val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (long) -1; + val = __Pyx_PyInt_As_long(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to long"); + return (long) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to long"); + return (long) -1; +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(int) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(int) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(int) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(int), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(int)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(long)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPy */ + static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const char neg_one = (char) -1, const_zero = (char) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(char) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(char, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (char) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(char, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(char) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 2 * PyLong_SHIFT)) { + return (char) (((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(char) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 3 * PyLong_SHIFT)) { + return (char) (((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(char) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 4 * PyLong_SHIFT)) { + return (char) (((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(char) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(char) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(char, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(char) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(char) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + return (char) ((((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(char) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + return (char) ((((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 4 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(char) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 4 * PyLong_SHIFT)) { + return (char) ((((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(char) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(char, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(char) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(char, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + char val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (char) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (char) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (char) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (char) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(char) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((char) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(char) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((char) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((char) 1) << (sizeof(char) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (char) -1; + } + } else { + char val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (char) -1; + val = __Pyx_PyInt_As_char(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to char"); + return (char) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to char"); + return (char) -1; +} + +/* FormatTypeName */ + #if CYTHON_COMPILING_IN_LIMITED_API +static __Pyx_TypeName +__Pyx_PyType_GetName(PyTypeObject* tp) +{ + PyObject *name = __Pyx_PyObject_GetAttrStr((PyObject *)tp, + __pyx_n_s_name_2); + if (unlikely(name == NULL) || unlikely(!PyUnicode_Check(name))) { + PyErr_Clear(); + Py_XDECREF(name); + name = __Pyx_NewRef(__pyx_n_s__24); + } + return name; +} +#endif + +/* CheckBinaryVersion */ + static unsigned long __Pyx_get_runtime_version(void) { +#if __PYX_LIMITED_VERSION_HEX >= 0x030B00A4 + return Py_Version & ~0xFFUL; +#else + const char* rt_version = Py_GetVersion(); + unsigned long version = 0; + unsigned long factor = 0x01000000UL; + unsigned int digit = 0; + int i = 0; + while (factor) { + while ('0' <= rt_version[i] && rt_version[i] <= '9') { + digit = digit * 10 + (unsigned int) (rt_version[i] - '0'); + ++i; + } + version += factor * digit; + if (rt_version[i] != '.') + break; + digit = 0; + factor >>= 8; + ++i; + } + return version; +#endif +} +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer) { + const unsigned long MAJOR_MINOR = 0xFFFF0000UL; + if ((rt_version & MAJOR_MINOR) == (ct_version & MAJOR_MINOR)) + return 0; + if (likely(allow_newer && (rt_version & MAJOR_MINOR) > (ct_version & MAJOR_MINOR))) + return 1; + { + char message[200]; + PyOS_snprintf(message, sizeof(message), + "compile time Python version %d.%d " + "of module '%.100s' " + "%s " + "runtime version %d.%d", + (int) (ct_version >> 24), (int) ((ct_version >> 16) & 0xFF), + __Pyx_MODULE_NAME, + (allow_newer) ? "was newer than" : "does not match", + (int) (rt_version >> 24), (int) ((rt_version >> 16) & 0xFF) + ); + return PyErr_WarnEx(NULL, message, 1); + } +} + +/* InitStrings */ + #if PY_MAJOR_VERSION >= 3 +static int __Pyx_InitString(__Pyx_StringTabEntry t, PyObject **str) { + if (t.is_unicode | t.is_str) { + if (t.intern) { + *str = PyUnicode_InternFromString(t.s); + } else if (t.encoding) { + *str = PyUnicode_Decode(t.s, t.n - 1, t.encoding, NULL); + } else { + *str = PyUnicode_FromStringAndSize(t.s, t.n - 1); + } + } else { + *str = PyBytes_FromStringAndSize(t.s, t.n - 1); + } + if (!*str) + return -1; + if (PyObject_Hash(*str) == -1) + return -1; + return 0; +} +#endif +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t) { + while (t->p) { + #if PY_MAJOR_VERSION >= 3 + __Pyx_InitString(*t, t->p); + #else + if (t->is_unicode) { + *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); + } else if (t->intern) { + *t->p = PyString_InternFromString(t->s); + } else { + *t->p = PyString_FromStringAndSize(t->s, t->n - 1); + } + if (!*t->p) + return -1; + if (PyObject_Hash(*t->p) == -1) + return -1; + #endif + ++t; + } + return 0; +} + +#include +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s) { + size_t len = strlen(s); + if (unlikely(len > (size_t) PY_SSIZE_T_MAX)) { + PyErr_SetString(PyExc_OverflowError, "byte string is too long"); + return -1; + } + return (Py_ssize_t) len; +} +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return __Pyx_PyUnicode_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return PyByteArray_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { + Py_ssize_t ignore; + return __Pyx_PyObject_AsStringAndSize(o, &ignore); +} +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#if !CYTHON_PEP393_ENABLED +static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + char* defenc_c; + PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); + if (!defenc) return NULL; + defenc_c = PyBytes_AS_STRING(defenc); +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + { + char* end = defenc_c + PyBytes_GET_SIZE(defenc); + char* c; + for (c = defenc_c; c < end; c++) { + if ((unsigned char) (*c) >= 128) { + PyUnicode_AsASCIIString(o); + return NULL; + } + } + } +#endif + *length = PyBytes_GET_SIZE(defenc); + return defenc_c; +} +#else +static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + if (likely(PyUnicode_IS_ASCII(o))) { + *length = PyUnicode_GET_LENGTH(o); + return PyUnicode_AsUTF8(o); + } else { + PyUnicode_AsASCIIString(o); + return NULL; + } +#else + return PyUnicode_AsUTF8AndSize(o, length); +#endif +} +#endif +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT + if ( +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + __Pyx_sys_getdefaultencoding_not_ascii && +#endif + PyUnicode_Check(o)) { + return __Pyx_PyUnicode_AsStringAndSize(o, length); + } else +#endif +#if (!CYTHON_COMPILING_IN_PYPY && !CYTHON_COMPILING_IN_LIMITED_API) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) + if (PyByteArray_Check(o)) { + *length = PyByteArray_GET_SIZE(o); + return PyByteArray_AS_STRING(o); + } else +#endif + { + char* result; + int r = PyBytes_AsStringAndSize(o, &result, length); + if (unlikely(r < 0)) { + return NULL; + } else { + return result; + } + } +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { + int is_true = x == Py_True; + if (is_true | (x == Py_False) | (x == Py_None)) return is_true; + else return PyObject_IsTrue(x); +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { + int retval; + if (unlikely(!x)) return -1; + retval = __Pyx_PyObject_IsTrue(x); + Py_DECREF(x); + return retval; +} +static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { + __Pyx_TypeName result_type_name = __Pyx_PyType_GetName(Py_TYPE(result)); +#if PY_MAJOR_VERSION >= 3 + if (PyLong_Check(result)) { + if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, + "__int__ returned non-int (type " __Pyx_FMT_TYPENAME "). " + "The ability to return an instance of a strict subclass of int is deprecated, " + "and may be removed in a future version of Python.", + result_type_name)) { + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; + } + __Pyx_DECREF_TypeName(result_type_name); + return result; + } +#endif + PyErr_Format(PyExc_TypeError, + "__%.4s__ returned non-%.4s (type " __Pyx_FMT_TYPENAME ")", + type_name, type_name, result_type_name); + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { +#if CYTHON_USE_TYPE_SLOTS + PyNumberMethods *m; +#endif + const char *name = NULL; + PyObject *res = NULL; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x) || PyLong_Check(x))) +#else + if (likely(PyLong_Check(x))) +#endif + return __Pyx_NewRef(x); +#if CYTHON_USE_TYPE_SLOTS + m = Py_TYPE(x)->tp_as_number; + #if PY_MAJOR_VERSION < 3 + if (m && m->nb_int) { + name = "int"; + res = m->nb_int(x); + } + else if (m && m->nb_long) { + name = "long"; + res = m->nb_long(x); + } + #else + if (likely(m && m->nb_int)) { + name = "int"; + res = m->nb_int(x); + } + #endif +#else + if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { + res = PyNumber_Int(x); + } +#endif + if (likely(res)) { +#if PY_MAJOR_VERSION < 3 + if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { +#else + if (unlikely(!PyLong_CheckExact(res))) { +#endif + return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); + } + } + else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_TypeError, + "an integer is required"); + } + return res; +} +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { + Py_ssize_t ival; + PyObject *x; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(b))) { + if (sizeof(Py_ssize_t) >= sizeof(long)) + return PyInt_AS_LONG(b); + else + return PyInt_AsSsize_t(b); + } +#endif + if (likely(PyLong_CheckExact(b))) { + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(__Pyx_PyLong_IsCompact(b))) { + return __Pyx_PyLong_CompactValue(b); + } else { + const digit* digits = __Pyx_PyLong_Digits(b); + const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(b); + switch (size) { + case 2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + } + } + #endif + return PyLong_AsSsize_t(b); + } + x = PyNumber_Index(b); + if (!x) return -1; + ival = PyInt_AsSsize_t(x); + Py_DECREF(x); + return ival; +} +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { + if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { + return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); +#if PY_MAJOR_VERSION < 3 + } else if (likely(PyInt_CheckExact(o))) { + return PyInt_AS_LONG(o); +#endif + } else { + Py_ssize_t ival; + PyObject *x; + x = PyNumber_Index(o); + if (!x) return -1; + ival = PyInt_AsLong(x); + Py_DECREF(x); + return ival; + } +} +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { + return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); +} +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { + return PyInt_FromSize_t(ival); +} + + +/* #### Code section: utility_code_pragmas_end ### */ +#ifdef _MSC_VER +#pragma warning( pop ) +#endif + + + +/* #### Code section: end ### */ +#endif /* Py_PYTHON_H */ diff --git a/selfdrive/modeld/runners/snpemodel_pyx.pyx b/selfdrive/modeld/runners/snpemodel_pyx.pyx new file mode 100644 index 0000000000..f83b7c8cff --- /dev/null +++ b/selfdrive/modeld/runners/snpemodel_pyx.pyx @@ -0,0 +1,17 @@ +# distutils: language = c++ +# cython: c_string_encoding=ascii, language_level=3 + +import os +from libcpp cimport bool +from libcpp.string cimport string + +from .snpemodel cimport SNPEModel as cppSNPEModel +from selfdrive.modeld.models.commonmodel_pyx cimport CLContext +from selfdrive.modeld.runners.runmodel_pyx cimport RunModel +from selfdrive.modeld.runners.runmodel cimport RunModel as cppRunModel + +os.environ['ADSP_LIBRARY_PATH'] = "/data/pythonpath/third_party/snpe/dsp/" + +cdef class SNPEModel(RunModel): + def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context): + self.model = new cppSNPEModel(path, &output[0], len(output), runtime, use_tf8, context.context) diff --git a/selfdrive/modeld/runners/snpemodel_pyx.so b/selfdrive/modeld/runners/snpemodel_pyx.so new file mode 100755 index 0000000000..8e13df0961 Binary files /dev/null and b/selfdrive/modeld/runners/snpemodel_pyx.so differ diff --git a/selfdrive/modeld/runners/thneedmodel.h b/selfdrive/modeld/runners/thneedmodel.h new file mode 100644 index 0000000000..6ed479c081 --- /dev/null +++ b/selfdrive/modeld/runners/thneedmodel.h @@ -0,0 +1,17 @@ +#pragma once + +#include + +#include "selfdrive/modeld/runners/runmodel.h" +#include "selfdrive/modeld/thneed/thneed.h" + +class ThneedModel : public RunModel { +public: + ThneedModel(const std::string path, float *_output, size_t _output_size, int runtime, bool use_tf8 = false, cl_context context = NULL); + void *getCLBuffer(const std::string name); + void execute(); +private: + Thneed *thneed = NULL; + bool recorded; + float *output; +}; diff --git a/selfdrive/modeld/runners/thneedmodel.pxd b/selfdrive/modeld/runners/thneedmodel.pxd new file mode 100644 index 0000000000..79e24dbdd6 --- /dev/null +++ b/selfdrive/modeld/runners/thneedmodel.pxd @@ -0,0 +1,9 @@ +# distutils: language = c++ + +from libcpp.string cimport string + +from msgq.visionipc.visionipc cimport cl_context + +cdef extern from "selfdrive/modeld/runners/thneedmodel.h": + cdef cppclass ThneedModel: + ThneedModel(string, float*, size_t, int, bool, cl_context) diff --git a/selfdrive/modeld/runners/thneedmodel_pyx.cpp b/selfdrive/modeld/runners/thneedmodel_pyx.cpp new file mode 100644 index 0000000000..097aa8404d --- /dev/null +++ b/selfdrive/modeld/runners/thneedmodel_pyx.cpp @@ -0,0 +1,27767 @@ +/* Generated by Cython 3.0.8 */ + +/* BEGIN: Cython Metadata +{ + "distutils": { + "depends": [ + "msgq/visionipc/visionbuf.h", + "msgq/visionipc/visionipc.h", + "msgq/visionipc/visionipc_client.h", + "msgq/visionipc/visionipc_server.h", + "selfdrive/modeld/runners/runmodel.h", + "selfdrive/modeld/runners/thneedmodel.h" + ], + "language": "c++", + "name": "selfdrive.modeld.runners.thneedmodel_pyx", + "sources": [ + "/data/openpilot/selfdrive/modeld/runners/thneedmodel_pyx.pyx" + ] + }, + "module_name": "selfdrive.modeld.runners.thneedmodel_pyx" +} +END: Cython Metadata */ + +#ifndef PY_SSIZE_T_CLEAN +#define PY_SSIZE_T_CLEAN +#endif /* PY_SSIZE_T_CLEAN */ +#if defined(CYTHON_LIMITED_API) && 0 + #ifndef Py_LIMITED_API + #if CYTHON_LIMITED_API+0 > 0x03030000 + #define Py_LIMITED_API CYTHON_LIMITED_API + #else + #define Py_LIMITED_API 0x03030000 + #endif + #endif +#endif + +#include "Python.h" +#ifndef Py_PYTHON_H + #error Python headers needed to compile C extensions, please install development version of Python. +#elif PY_VERSION_HEX < 0x02070000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) + #error Cython requires Python 2.7+ or Python 3.3+. +#else +#if defined(CYTHON_LIMITED_API) && CYTHON_LIMITED_API +#define __PYX_EXTRA_ABI_MODULE_NAME "limited" +#else +#define __PYX_EXTRA_ABI_MODULE_NAME "" +#endif +#define CYTHON_ABI "3_0_8" __PYX_EXTRA_ABI_MODULE_NAME +#define __PYX_ABI_MODULE_NAME "_cython_" CYTHON_ABI +#define __PYX_TYPE_MODULE_PREFIX __PYX_ABI_MODULE_NAME "." +#define CYTHON_HEX_VERSION 0x030008F0 +#define CYTHON_FUTURE_DIVISION 1 +#include +#ifndef offsetof + #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) +#endif +#if !defined(_WIN32) && !defined(WIN32) && !defined(MS_WINDOWS) + #ifndef __stdcall + #define __stdcall + #endif + #ifndef __cdecl + #define __cdecl + #endif + #ifndef __fastcall + #define __fastcall + #endif +#endif +#ifndef DL_IMPORT + #define DL_IMPORT(t) t +#endif +#ifndef DL_EXPORT + #define DL_EXPORT(t) t +#endif +#define __PYX_COMMA , +#ifndef HAVE_LONG_LONG + #define HAVE_LONG_LONG +#endif +#ifndef PY_LONG_LONG + #define PY_LONG_LONG LONG_LONG +#endif +#ifndef Py_HUGE_VAL + #define Py_HUGE_VAL HUGE_VAL +#endif +#define __PYX_LIMITED_VERSION_HEX PY_VERSION_HEX +#if defined(GRAALVM_PYTHON) + /* For very preliminary testing purposes. Most variables are set the same as PyPy. + The existence of this section does not imply that anything works or is even tested */ + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 1 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(PYPY_VERSION) + #define CYTHON_COMPILING_IN_PYPY 1 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #if PY_VERSION_HEX < 0x03090000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1 && PYPY_VERSION_NUM >= 0x07030C00) + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(CYTHON_LIMITED_API) + #ifdef Py_LIMITED_API + #undef __PYX_LIMITED_VERSION_HEX + #define __PYX_LIMITED_VERSION_HEX Py_LIMITED_API + #endif + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 1 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_CLINE_IN_TRACEBACK + #define CYTHON_CLINE_IN_TRACEBACK 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 1 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #endif + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 1 + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(Py_GIL_DISABLED) || defined(Py_NOGIL) + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 1 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #ifndef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#else + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 1 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #ifndef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 1 + #endif + #if PY_MAJOR_VERSION < 3 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #ifndef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 1 + #endif + #ifndef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 1 + #endif + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #elif !defined(CYTHON_USE_UNICODE_WRITER) + #define CYTHON_USE_UNICODE_WRITER 1 + #endif + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #ifndef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 1 + #endif + #ifndef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL (PY_MAJOR_VERSION < 3 || PY_VERSION_HEX >= 0x03060000 && PY_VERSION_HEX < 0x030C00A6) + #endif + #ifndef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL (PY_VERSION_HEX >= 0x030700A1) + #endif + #ifndef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 1 + #endif + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #endif + #if PY_VERSION_HEX < 0x030400a1 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #elif !defined(CYTHON_USE_TP_FINALIZE) + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #if PY_VERSION_HEX < 0x030600B1 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #elif !defined(CYTHON_USE_DICT_VERSIONS) + #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX < 0x030C00A5) + #endif + #if PY_VERSION_HEX < 0x030700A3 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #elif !defined(CYTHON_USE_EXC_INFO_STACK) + #define CYTHON_USE_EXC_INFO_STACK 1 + #endif + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 1 + #endif +#endif +#if !defined(CYTHON_FAST_PYCCALL) +#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) +#endif +#if !defined(CYTHON_VECTORCALL) +#define CYTHON_VECTORCALL (CYTHON_FAST_PYCCALL && PY_VERSION_HEX >= 0x030800B1) +#endif +#define CYTHON_BACKPORT_VECTORCALL (CYTHON_METH_FASTCALL && PY_VERSION_HEX < 0x030800B1) +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_MAJOR_VERSION < 3 + #include "longintrepr.h" + #endif + #undef SHIFT + #undef BASE + #undef MASK + #ifdef SIZEOF_VOID_P + enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; + #endif +#endif +#ifndef __has_attribute + #define __has_attribute(x) 0 +#endif +#ifndef __has_cpp_attribute + #define __has_cpp_attribute(x) 0 +#endif +#ifndef CYTHON_RESTRICT + #if defined(__GNUC__) + #define CYTHON_RESTRICT __restrict__ + #elif defined(_MSC_VER) && _MSC_VER >= 1400 + #define CYTHON_RESTRICT __restrict + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_RESTRICT restrict + #else + #define CYTHON_RESTRICT + #endif +#endif +#ifndef CYTHON_UNUSED + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(maybe_unused) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(maybe_unused) + #define CYTHON_UNUSED [[maybe_unused]] + #endif + #endif + #endif +#endif +#ifndef CYTHON_UNUSED +# if defined(__GNUC__) +# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_UNUSED_VAR +# if defined(__cplusplus) + template void CYTHON_UNUSED_VAR( const T& ) { } +# else +# define CYTHON_UNUSED_VAR(x) (void)(x) +# endif +#endif +#ifndef CYTHON_MAYBE_UNUSED_VAR + #define CYTHON_MAYBE_UNUSED_VAR(x) CYTHON_UNUSED_VAR(x) +#endif +#ifndef CYTHON_NCP_UNUSED +# if CYTHON_COMPILING_IN_CPYTHON +# define CYTHON_NCP_UNUSED +# else +# define CYTHON_NCP_UNUSED CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_USE_CPP_STD_MOVE + #if defined(__cplusplus) && (\ + __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600)) + #define CYTHON_USE_CPP_STD_MOVE 1 + #else + #define CYTHON_USE_CPP_STD_MOVE 0 + #endif +#endif +#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) +#ifdef _MSC_VER + #ifndef _MSC_STDINT_H_ + #if _MSC_VER < 1300 + typedef unsigned char uint8_t; + typedef unsigned short uint16_t; + typedef unsigned int uint32_t; + #else + typedef unsigned __int8 uint8_t; + typedef unsigned __int16 uint16_t; + typedef unsigned __int32 uint32_t; + #endif + #endif + #if _MSC_VER < 1300 + #ifdef _WIN64 + typedef unsigned long long __pyx_uintptr_t; + #else + typedef unsigned int __pyx_uintptr_t; + #endif + #else + #ifdef _WIN64 + typedef unsigned __int64 __pyx_uintptr_t; + #else + typedef unsigned __int32 __pyx_uintptr_t; + #endif + #endif +#else + #include + typedef uintptr_t __pyx_uintptr_t; +#endif +#ifndef CYTHON_FALLTHROUGH + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(fallthrough) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(fallthrough) + #define CYTHON_FALLTHROUGH [[fallthrough]] + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_cpp_attribute(clang::fallthrough) + #define CYTHON_FALLTHROUGH [[clang::fallthrough]] + #elif __has_cpp_attribute(gnu::fallthrough) + #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] + #endif + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_attribute(fallthrough) + #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) + #else + #define CYTHON_FALLTHROUGH + #endif + #endif + #if defined(__clang__) && defined(__apple_build_version__) + #if __apple_build_version__ < 7000000 + #undef CYTHON_FALLTHROUGH + #define CYTHON_FALLTHROUGH + #endif + #endif +#endif +#ifdef __cplusplus + template + struct __PYX_IS_UNSIGNED_IMPL {static const bool value = T(0) < T(-1);}; + #define __PYX_IS_UNSIGNED(type) (__PYX_IS_UNSIGNED_IMPL::value) +#else + #define __PYX_IS_UNSIGNED(type) (((type)-1) > 0) +#endif +#if CYTHON_COMPILING_IN_PYPY == 1 + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x030A0000) +#else + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000) +#endif +#define __PYX_REINTERPRET_FUNCION(func_pointer, other_pointer) ((func_pointer)(void(*)(void))(other_pointer)) + +#ifndef __cplusplus + #error "Cython files generated with the C++ option must be compiled with a C++ compiler." +#endif +#ifndef CYTHON_INLINE + #if defined(__clang__) + #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) + #else + #define CYTHON_INLINE inline + #endif +#endif +template +void __Pyx_call_destructor(T& x) { + x.~T(); +} +template +class __Pyx_FakeReference { + public: + __Pyx_FakeReference() : ptr(NULL) { } + __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } + T *operator->() { return ptr; } + T *operator&() { return ptr; } + operator T&() { return *ptr; } + template bool operator ==(const U& other) const { return *ptr == other; } + template bool operator !=(const U& other) const { return *ptr != other; } + template bool operator==(const __Pyx_FakeReference& other) const { return *ptr == *other.ptr; } + template bool operator!=(const __Pyx_FakeReference& other) const { return *ptr != *other.ptr; } + private: + T *ptr; +}; + +#define __PYX_BUILD_PY_SSIZE_T "n" +#define CYTHON_FORMAT_SSIZE_T "z" +#if PY_MAJOR_VERSION < 3 + #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" + #define __Pyx_DefaultClassType PyClass_Type + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_BUILTIN_MODULE_NAME "builtins" + #define __Pyx_DefaultClassType PyType_Type +#if CYTHON_COMPILING_IN_LIMITED_API + static CYTHON_INLINE PyObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyObject *exception_table = NULL; + PyObject *types_module=NULL, *code_type=NULL, *result=NULL; + #if __PYX_LIMITED_VERSION_HEX < 0x030B0000 + PyObject *version_info; + PyObject *py_minor_version = NULL; + #endif + long minor_version = 0; + PyObject *type, *value, *traceback; + PyErr_Fetch(&type, &value, &traceback); + #if __PYX_LIMITED_VERSION_HEX >= 0x030B0000 + minor_version = 11; + #else + if (!(version_info = PySys_GetObject("version_info"))) goto end; + if (!(py_minor_version = PySequence_GetItem(version_info, 1))) goto end; + minor_version = PyLong_AsLong(py_minor_version); + Py_DECREF(py_minor_version); + if (minor_version == -1 && PyErr_Occurred()) goto end; + #endif + if (!(types_module = PyImport_ImportModule("types"))) goto end; + if (!(code_type = PyObject_GetAttrString(types_module, "CodeType"))) goto end; + if (minor_version <= 7) { + (void)p; + result = PyObject_CallFunction(code_type, "iiiiiOOOOOOiOO", a, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else if (minor_version <= 10) { + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else { + if (!(exception_table = PyBytes_FromStringAndSize(NULL, 0))) goto end; + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, name, fline, lnos, exception_table, fv, cell); + } + end: + Py_XDECREF(code_type); + Py_XDECREF(exception_table); + Py_XDECREF(types_module); + if (type) { + PyErr_Restore(type, value, traceback); + } + return result; + } + #ifndef CO_OPTIMIZED + #define CO_OPTIMIZED 0x0001 + #endif + #ifndef CO_NEWLOCALS + #define CO_NEWLOCALS 0x0002 + #endif + #ifndef CO_VARARGS + #define CO_VARARGS 0x0004 + #endif + #ifndef CO_VARKEYWORDS + #define CO_VARKEYWORDS 0x0008 + #endif + #ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x0200 + #endif + #ifndef CO_GENERATOR + #define CO_GENERATOR 0x0020 + #endif + #ifndef CO_COROUTINE + #define CO_COROUTINE 0x0080 + #endif +#elif PY_VERSION_HEX >= 0x030B0000 + static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyCodeObject *result; + PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); + if (!empty_bytes) return NULL; + result = + #if PY_VERSION_HEX >= 0x030C0000 + PyUnstable_Code_NewWithPosOnlyArgs + #else + PyCode_NewWithPosOnlyArgs + #endif + (a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, name, fline, lnos, empty_bytes); + Py_DECREF(empty_bytes); + return result; + } +#elif PY_VERSION_HEX >= 0x030800B2 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_NewWithPosOnlyArgs(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#endif +#endif +#if PY_VERSION_HEX >= 0x030900A4 || defined(Py_IS_TYPE) + #define __Pyx_IS_TYPE(ob, type) Py_IS_TYPE(ob, type) +#else + #define __Pyx_IS_TYPE(ob, type) (((const PyObject*)ob)->ob_type == (type)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_Is) + #define __Pyx_Py_Is(x, y) Py_Is(x, y) +#else + #define __Pyx_Py_Is(x, y) ((x) == (y)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsNone) + #define __Pyx_Py_IsNone(ob) Py_IsNone(ob) +#else + #define __Pyx_Py_IsNone(ob) __Pyx_Py_Is((ob), Py_None) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsTrue) + #define __Pyx_Py_IsTrue(ob) Py_IsTrue(ob) +#else + #define __Pyx_Py_IsTrue(ob) __Pyx_Py_Is((ob), Py_True) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsFalse) + #define __Pyx_Py_IsFalse(ob) Py_IsFalse(ob) +#else + #define __Pyx_Py_IsFalse(ob) __Pyx_Py_Is((ob), Py_False) +#endif +#define __Pyx_NoneAsNull(obj) (__Pyx_Py_IsNone(obj) ? NULL : (obj)) +#if PY_VERSION_HEX >= 0x030900F0 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_GC_IsFinalized(o) PyObject_GC_IsFinalized(o) +#else + #define __Pyx_PyObject_GC_IsFinalized(o) _PyGC_FINALIZED(o) +#endif +#ifndef CO_COROUTINE + #define CO_COROUTINE 0x80 +#endif +#ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x200 +#endif +#ifndef Py_TPFLAGS_CHECKTYPES + #define Py_TPFLAGS_CHECKTYPES 0 +#endif +#ifndef Py_TPFLAGS_HAVE_INDEX + #define Py_TPFLAGS_HAVE_INDEX 0 +#endif +#ifndef Py_TPFLAGS_HAVE_NEWBUFFER + #define Py_TPFLAGS_HAVE_NEWBUFFER 0 +#endif +#ifndef Py_TPFLAGS_HAVE_FINALIZE + #define Py_TPFLAGS_HAVE_FINALIZE 0 +#endif +#ifndef Py_TPFLAGS_SEQUENCE + #define Py_TPFLAGS_SEQUENCE 0 +#endif +#ifndef Py_TPFLAGS_MAPPING + #define Py_TPFLAGS_MAPPING 0 +#endif +#ifndef METH_STACKLESS + #define METH_STACKLESS 0 +#endif +#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) + #ifndef METH_FASTCALL + #define METH_FASTCALL 0x80 + #endif + typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); + typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, + Py_ssize_t nargs, PyObject *kwnames); +#else + #define __Pyx_PyCFunctionFast _PyCFunctionFast + #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords +#endif +#if CYTHON_METH_FASTCALL + #define __Pyx_METH_FASTCALL METH_FASTCALL + #define __Pyx_PyCFunction_FastCall __Pyx_PyCFunctionFast + #define __Pyx_PyCFunction_FastCallWithKeywords __Pyx_PyCFunctionFastWithKeywords +#else + #define __Pyx_METH_FASTCALL METH_VARARGS + #define __Pyx_PyCFunction_FastCall PyCFunction + #define __Pyx_PyCFunction_FastCallWithKeywords PyCFunctionWithKeywords +#endif +#if CYTHON_VECTORCALL + #define __pyx_vectorcallfunc vectorcallfunc + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET PY_VECTORCALL_ARGUMENTS_OFFSET + #define __Pyx_PyVectorcall_NARGS(n) PyVectorcall_NARGS((size_t)(n)) +#elif CYTHON_BACKPORT_VECTORCALL + typedef PyObject *(*__pyx_vectorcallfunc)(PyObject *callable, PyObject *const *args, + size_t nargsf, PyObject *kwnames); + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET ((size_t)1 << (8 * sizeof(size_t) - 1)) + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(((size_t)(n)) & ~__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET)) +#else + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET 0 + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(n)) +#endif +#if PY_MAJOR_VERSION >= 0x030900B1 +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_CheckExact(func) +#else +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_Check(func) +#endif +#define __Pyx_CyOrPyCFunction_Check(func) PyCFunction_Check(func) +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) (((PyCFunctionObject*)(func))->m_ml->ml_meth) +#elif !CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) PyCFunction_GET_FUNCTION(func) +#endif +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FLAGS(func) (((PyCFunctionObject*)(func))->m_ml->ml_flags) +static CYTHON_INLINE PyObject* __Pyx_CyOrPyCFunction_GET_SELF(PyObject *func) { + return (__Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_STATIC) ? NULL : ((PyCFunctionObject*)func)->m_self; +} +#endif +static CYTHON_INLINE int __Pyx__IsSameCFunction(PyObject *func, void *cfunc) { +#if CYTHON_COMPILING_IN_LIMITED_API + return PyCFunction_Check(func) && PyCFunction_GetFunction(func) == (PyCFunction) cfunc; +#else + return PyCFunction_Check(func) && PyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +#endif +} +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCFunction(func, cfunc) +#if __PYX_LIMITED_VERSION_HEX < 0x030900B1 + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) ((void)m, PyType_FromSpecWithBases(s, b)) + typedef PyObject *(*__Pyx_PyCMethod)(PyObject *, PyTypeObject *, PyObject *const *, size_t, PyObject *); +#else + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) PyType_FromModuleAndSpec(m, s, b) + #define __Pyx_PyCMethod PyCMethod +#endif +#ifndef METH_METHOD + #define METH_METHOD 0x200 +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) + #define PyObject_Malloc(s) PyMem_Malloc(s) + #define PyObject_Free(p) PyMem_Free(p) + #define PyObject_Realloc(p) PyMem_Realloc(p) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) +#else + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyThreadState_Current PyThreadState_Get() +#elif !CYTHON_FAST_THREAD_STATE + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#elif PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyThreadState_Current PyThreadState_GetUnchecked() +#elif PY_VERSION_HEX >= 0x03060000 + #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() +#elif PY_VERSION_HEX >= 0x03000000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#else + #define __Pyx_PyThreadState_Current _PyThreadState_Current +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE void *__Pyx_PyModule_GetState(PyObject *op) +{ + void *result; + result = PyModule_GetState(op); + if (!result) + Py_FatalError("Couldn't find the module state"); + return result; +} +#endif +#define __Pyx_PyObject_GetSlot(obj, name, func_ctype) __Pyx_PyType_GetSlot(Py_TYPE(obj), name, func_ctype) +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((func_ctype) PyType_GetSlot((type), Py_##name)) +#else + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((type)->name) +#endif +#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) +#include "pythread.h" +#define Py_tss_NEEDS_INIT 0 +typedef int Py_tss_t; +static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { + *key = PyThread_create_key(); + return 0; +} +static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { + Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); + *key = Py_tss_NEEDS_INIT; + return key; +} +static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { + PyObject_Free(key); +} +static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { + return *key != Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { + PyThread_delete_key(*key); + *key = Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { + return PyThread_set_key_value(*key, value); +} +static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { + return PyThread_get_key_value(*key); +} +#endif +#if PY_MAJOR_VERSION < 3 + #if CYTHON_COMPILING_IN_PYPY + #if PYPY_VERSION_NUM < 0x07030600 + #if defined(__cplusplus) && __cplusplus >= 201402L + [[deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")]] + #elif defined(__GNUC__) || defined(__clang__) + __attribute__ ((__deprecated__("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6"))) + #elif defined(_MSC_VER) + __declspec(deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")) + #endif + static CYTHON_INLINE int PyGILState_Check(void) { + return 0; + } + #else // PYPY_VERSION_NUM < 0x07030600 + #endif // PYPY_VERSION_NUM < 0x07030600 + #else + static CYTHON_INLINE int PyGILState_Check(void) { + PyThreadState * tstate = _PyThreadState_Current; + return tstate && (tstate == PyGILState_GetThisThreadState()); + } + #endif +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030d0000 || defined(_PyDict_NewPresized) +#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) +#else +#define __Pyx_PyDict_NewPresized(n) PyDict_New() +#endif +#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION + #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) +#else + #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX > 0x030600B4 && PY_VERSION_HEX < 0x030d0000 && CYTHON_USE_UNICODE_INTERNALS +#define __Pyx_PyDict_GetItemStrWithError(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStr(PyObject *dict, PyObject *name) { + PyObject *res = __Pyx_PyDict_GetItemStrWithError(dict, name); + if (res == NULL) PyErr_Clear(); + return res; +} +#elif PY_MAJOR_VERSION >= 3 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07020000) +#define __Pyx_PyDict_GetItemStrWithError PyDict_GetItemWithError +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#else +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStrWithError(PyObject *dict, PyObject *name) { +#if CYTHON_COMPILING_IN_PYPY + return PyDict_GetItem(dict, name); +#else + PyDictEntry *ep; + PyDictObject *mp = (PyDictObject*) dict; + long hash = ((PyStringObject *) name)->ob_shash; + assert(hash != -1); + ep = (mp->ma_lookup)(mp, name, hash); + if (ep == NULL) { + return NULL; + } + return ep->me_value; +#endif +} +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#endif +#if CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyType_GetFlags(tp) (((PyTypeObject *)tp)->tp_flags) + #define __Pyx_PyType_HasFeature(type, feature) ((__Pyx_PyType_GetFlags(type) & (feature)) != 0) + #define __Pyx_PyObject_GetIterNextFunc(obj) (Py_TYPE(obj)->tp_iternext) +#else + #define __Pyx_PyType_GetFlags(tp) (PyType_GetFlags((PyTypeObject *)tp)) + #define __Pyx_PyType_HasFeature(type, feature) PyType_HasFeature(type, feature) + #define __Pyx_PyObject_GetIterNextFunc(obj) PyIter_Next +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyObject_GenericSetAttr((PyObject*)tp, k, v) +#else + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyDict_SetItem(tp->tp_dict, k, v) +#endif +#if CYTHON_USE_TYPE_SPECS && PY_VERSION_HEX >= 0x03080000 +#define __Pyx_PyHeapTypeObject_GC_Del(obj) {\ + PyTypeObject *type = Py_TYPE((PyObject*)obj);\ + assert(__Pyx_PyType_HasFeature(type, Py_TPFLAGS_HEAPTYPE));\ + PyObject_GC_Del(obj);\ + Py_DECREF(type);\ +} +#else +#define __Pyx_PyHeapTypeObject_GC_Del(obj) PyObject_GC_Del(obj) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define CYTHON_PEP393_ENABLED 1 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GetLength(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_ReadChar(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((void)u, 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((void)u, (0)) + #define __Pyx_PyUnicode_DATA(u) ((void*)u) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)k, PyUnicode_ReadChar((PyObject*)(d), i)) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GetLength(u)) +#elif PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) + #define CYTHON_PEP393_ENABLED 1 + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_READY(op) (0) + #else + #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ + 0 : _PyUnicode_Ready((PyObject *)(op))) + #endif + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) + #define __Pyx_PyUnicode_KIND(u) ((int)PyUnicode_KIND(u)) + #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) + #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, (Py_UCS4) ch) + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) + #else + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) + #endif + #endif +#else + #define CYTHON_PEP393_ENABLED 0 + #define PyUnicode_1BYTE_KIND 1 + #define PyUnicode_2BYTE_KIND 2 + #define PyUnicode_4BYTE_KIND 4 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535U : 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((int)sizeof(Py_UNICODE)) + #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = (Py_UNICODE) ch) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) +#else + #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ + PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #if !defined(PyUnicode_DecodeUnicodeEscape) + #define PyUnicode_DecodeUnicodeEscape(s, size, errors) PyUnicode_Decode(s, size, "unicode_escape", errors) + #endif + #if !defined(PyUnicode_Contains) || (PY_MAJOR_VERSION == 2 && PYPY_VERSION_NUM < 0x07030500) + #undef PyUnicode_Contains + #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) + #endif + #if !defined(PyByteArray_Check) + #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) + #endif + #if !defined(PyObject_Format) + #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) + #endif +#endif +#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) +#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) +#else + #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) +#endif +#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) + #define PyObject_ASCII(o) PyObject_Repr(o) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBaseString_Type PyUnicode_Type + #define PyStringObject PyUnicodeObject + #define PyString_Type PyUnicode_Type + #define PyString_Check PyUnicode_Check + #define PyString_CheckExact PyUnicode_CheckExact +#ifndef PyObject_Unicode + #define PyObject_Unicode PyObject_Str +#endif +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) + #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) +#else + #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) + #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) +#endif +#if CYTHON_COMPILING_IN_CPYTHON + #define __Pyx_PySequence_ListKeepNew(obj)\ + (likely(PyList_CheckExact(obj) && Py_REFCNT(obj) == 1) ? __Pyx_NewRef(obj) : PySequence_List(obj)) +#else + #define __Pyx_PySequence_ListKeepNew(obj) PySequence_List(obj) +#endif +#ifndef PySet_CheckExact + #define PySet_CheckExact(obj) __Pyx_IS_TYPE(obj, &PySet_Type) +#endif +#if PY_VERSION_HEX >= 0x030900A4 + #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) +#else + #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) +#endif +#if CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_PySequence_ITEM(o, i) PySequence_ITEM(o, i) + #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) (PyTuple_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyList_SET_ITEM(o, i, v) (PyList_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_GET_SIZE(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_GET_SIZE(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_GET_SIZE(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_GET_SIZE(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_GET_SIZE(o) +#else + #define __Pyx_PySequence_ITEM(o, i) PySequence_GetItem(o, i) + #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) PyTuple_SetItem(o, i, v) + #define __Pyx_PyList_SET_ITEM(o, i, v) PyList_SetItem(o, i, v) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_Size(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_Size(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_Size(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_Size(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_Size(o) +#endif +#if PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyImport_AddModuleRef(name) PyImport_AddModuleRef(name) +#else + static CYTHON_INLINE PyObject *__Pyx_PyImport_AddModuleRef(const char *name) { + PyObject *module = PyImport_AddModule(name); + Py_XINCREF(module); + return module; + } +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyIntObject PyLongObject + #define PyInt_Type PyLong_Type + #define PyInt_Check(op) PyLong_Check(op) + #define PyInt_CheckExact(op) PyLong_CheckExact(op) + #define __Pyx_Py3Int_Check(op) PyLong_Check(op) + #define __Pyx_Py3Int_CheckExact(op) PyLong_CheckExact(op) + #define PyInt_FromString PyLong_FromString + #define PyInt_FromUnicode PyLong_FromUnicode + #define PyInt_FromLong PyLong_FromLong + #define PyInt_FromSize_t PyLong_FromSize_t + #define PyInt_FromSsize_t PyLong_FromSsize_t + #define PyInt_AsLong PyLong_AsLong + #define PyInt_AS_LONG PyLong_AS_LONG + #define PyInt_AsSsize_t PyLong_AsSsize_t + #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask + #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask + #define PyNumber_Int PyNumber_Long +#else + #define __Pyx_Py3Int_Check(op) (PyLong_Check(op) || PyInt_Check(op)) + #define __Pyx_Py3Int_CheckExact(op) (PyLong_CheckExact(op) || PyInt_CheckExact(op)) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBoolObject PyLongObject +#endif +#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY + #ifndef PyUnicode_InternFromString + #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) + #endif +#endif +#if PY_VERSION_HEX < 0x030200A4 + typedef long Py_hash_t; + #define __Pyx_PyInt_FromHash_t PyInt_FromLong + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t +#else + #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t +#endif +#if CYTHON_USE_ASYNC_SLOTS + #if PY_VERSION_HEX >= 0x030500B1 + #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods + #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) + #else + #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) + #endif +#else + #define __Pyx_PyType_AsAsync(obj) NULL +#endif +#ifndef __Pyx_PyAsyncMethodsStruct + typedef struct { + unaryfunc am_await; + unaryfunc am_aiter; + unaryfunc am_anext; + } __Pyx_PyAsyncMethodsStruct; +#endif + +#if defined(_WIN32) || defined(WIN32) || defined(MS_WINDOWS) + #if !defined(_USE_MATH_DEFINES) + #define _USE_MATH_DEFINES + #endif +#endif +#include +#ifdef NAN +#define __PYX_NAN() ((float) NAN) +#else +static CYTHON_INLINE float __PYX_NAN() { + float value; + memset(&value, 0xFF, sizeof(value)); + return value; +} +#endif +#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) +#define __Pyx_truncl trunc +#else +#define __Pyx_truncl truncl +#endif + +#define __PYX_MARK_ERR_POS(f_index, lineno) \ + { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } +#define __PYX_ERR(f_index, lineno, Ln_error) \ + { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } + +#ifdef CYTHON_EXTERN_C + #undef __PYX_EXTERN_C + #define __PYX_EXTERN_C CYTHON_EXTERN_C +#elif defined(__PYX_EXTERN_C) + #ifdef _MSC_VER + #pragma message ("Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead.") + #else + #warning Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead. + #endif +#else + #define __PYX_EXTERN_C extern "C++" +#endif + +#define __PYX_HAVE__selfdrive__modeld__runners__thneedmodel_pyx +#define __PYX_HAVE_API__selfdrive__modeld__runners__thneedmodel_pyx +/* Early includes */ +#include +#include +#include "ios" +#include "new" +#include "stdexcept" +#include "typeinfo" +#include +#include + + #if __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600) + // move should be defined for these versions of MSVC, but __cplusplus isn't set usefully + #include + + namespace cython_std { + template typename std::remove_reference::type&& move(T& t) noexcept { return std::move(t); } + template typename std::remove_reference::type&& move(T&& t) noexcept { return std::move(t); } + } + + #endif + +#include +#include +#include "msgq/visionipc/visionbuf.h" +#include "msgq/visionipc/visionipc.h" +#include "msgq/visionipc/visionipc_server.h" +#include "msgq/visionipc/visionipc_client.h" +#include "selfdrive/modeld/runners/thneedmodel.h" +#include "selfdrive/modeld/runners/runmodel.h" +#include "pythread.h" +#include +#ifdef _OPENMP +#include +#endif /* _OPENMP */ + +#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) +#define CYTHON_WITHOUT_ASSERTIONS +#endif + +typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; + const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; + +#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 1 +#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) +#define __PYX_DEFAULT_STRING_ENCODING "ascii" +#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString +#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#define __Pyx_uchar_cast(c) ((unsigned char)c) +#define __Pyx_long_cast(x) ((long)x) +#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ + (sizeof(type) < sizeof(Py_ssize_t)) ||\ + (sizeof(type) > sizeof(Py_ssize_t) &&\ + likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX) &&\ + (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ + v == (type)PY_SSIZE_T_MIN))) ||\ + (sizeof(type) == sizeof(Py_ssize_t) &&\ + (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX))) ) +static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { + return (size_t) i < (size_t) limit; +} +#if defined (__cplusplus) && __cplusplus >= 201103L + #include + #define __Pyx_sst_abs(value) std::abs(value) +#elif SIZEOF_INT >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) abs(value) +#elif SIZEOF_LONG >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) labs(value) +#elif defined (_MSC_VER) + #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) +#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define __Pyx_sst_abs(value) llabs(value) +#elif defined (__GNUC__) + #define __Pyx_sst_abs(value) __builtin_llabs(value) +#else + #define __Pyx_sst_abs(value) ((value<0) ? -value : value) +#endif +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s); +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char*); +#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) +#define __Pyx_PyBytes_FromString PyBytes_FromString +#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); +#if PY_MAJOR_VERSION < 3 + #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#else + #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize +#endif +#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyObject_AsWritableString(s) ((char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableSString(s) ((signed char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) +#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) +#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) +#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) +#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const wchar_t *u) +{ + const wchar_t *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#else +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) +{ + const Py_UNICODE *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#endif +#define __Pyx_PyUnicode_FromOrdinal(o) PyUnicode_FromOrdinal((int)o) +#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) +#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode +#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode +#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) +#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); +#define __Pyx_PySequence_Tuple(obj)\ + (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); +#if CYTHON_ASSUME_SAFE_MACROS +#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) +#else +#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) +#endif +#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) +#else +#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) +#endif +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_VERSION_HEX >= 0x030C00A7 + #ifndef _PyLong_SIGN_MASK + #define _PyLong_SIGN_MASK 3 + #endif + #ifndef _PyLong_NON_SIZE_BITS + #define _PyLong_NON_SIZE_BITS 3 + #endif + #define __Pyx_PyLong_Sign(x) (((PyLongObject*)x)->long_value.lv_tag & _PyLong_SIGN_MASK) + #define __Pyx_PyLong_IsNeg(x) ((__Pyx_PyLong_Sign(x) & 2) != 0) + #define __Pyx_PyLong_IsNonNeg(x) (!__Pyx_PyLong_IsNeg(x)) + #define __Pyx_PyLong_IsZero(x) (__Pyx_PyLong_Sign(x) & 1) + #define __Pyx_PyLong_IsPos(x) (__Pyx_PyLong_Sign(x) == 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) (__Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) ((Py_ssize_t) (((PyLongObject*)x)->long_value.lv_tag >> _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_SignedDigitCount(x)\ + ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * __Pyx_PyLong_DigitCount(x)) + #if defined(PyUnstable_Long_IsCompact) && defined(PyUnstable_Long_CompactValue) + #define __Pyx_PyLong_IsCompact(x) PyUnstable_Long_IsCompact((PyLongObject*) x) + #define __Pyx_PyLong_CompactValue(x) PyUnstable_Long_CompactValue((PyLongObject*) x) + #else + #define __Pyx_PyLong_IsCompact(x) (((PyLongObject*)x)->long_value.lv_tag < (2 << _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_CompactValue(x) ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * (Py_ssize_t) __Pyx_PyLong_Digits(x)[0]) + #endif + typedef Py_ssize_t __Pyx_compact_pylong; + typedef size_t __Pyx_compact_upylong; + #else + #define __Pyx_PyLong_IsNeg(x) (Py_SIZE(x) < 0) + #define __Pyx_PyLong_IsNonNeg(x) (Py_SIZE(x) >= 0) + #define __Pyx_PyLong_IsZero(x) (Py_SIZE(x) == 0) + #define __Pyx_PyLong_IsPos(x) (Py_SIZE(x) > 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) ((Py_SIZE(x) == 0) ? 0 : __Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) __Pyx_sst_abs(Py_SIZE(x)) + #define __Pyx_PyLong_SignedDigitCount(x) Py_SIZE(x) + #define __Pyx_PyLong_IsCompact(x) (Py_SIZE(x) == 0 || Py_SIZE(x) == 1 || Py_SIZE(x) == -1) + #define __Pyx_PyLong_CompactValue(x)\ + ((Py_SIZE(x) == 0) ? (sdigit) 0 : ((Py_SIZE(x) < 0) ? -(sdigit)__Pyx_PyLong_Digits(x)[0] : (sdigit)__Pyx_PyLong_Digits(x)[0])) + typedef sdigit __Pyx_compact_pylong; + typedef digit __Pyx_compact_upylong; + #endif + #if PY_VERSION_HEX >= 0x030C00A5 + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->long_value.ob_digit) + #else + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->ob_digit) + #endif +#endif +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII +#include +static int __Pyx_sys_getdefaultencoding_not_ascii; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + PyObject* ascii_chars_u = NULL; + PyObject* ascii_chars_b = NULL; + const char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + if (strcmp(default_encoding_c, "ascii") == 0) { + __Pyx_sys_getdefaultencoding_not_ascii = 0; + } else { + char ascii_chars[128]; + int c; + for (c = 0; c < 128; c++) { + ascii_chars[c] = (char) c; + } + __Pyx_sys_getdefaultencoding_not_ascii = 1; + ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); + if (!ascii_chars_u) goto bad; + ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); + if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { + PyErr_Format( + PyExc_ValueError, + "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", + default_encoding_c); + goto bad; + } + Py_DECREF(ascii_chars_u); + Py_DECREF(ascii_chars_b); + } + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + Py_XDECREF(ascii_chars_u); + Py_XDECREF(ascii_chars_b); + return -1; +} +#endif +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3 +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL) +#else +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL) +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#include +static char* __PYX_DEFAULT_STRING_ENCODING; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1); + if (!__PYX_DEFAULT_STRING_ENCODING) goto bad; + strcpy(__PYX_DEFAULT_STRING_ENCODING, default_encoding_c); + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + return -1; +} +#endif +#endif + + +/* Test for GCC > 2.95 */ +#if defined(__GNUC__) && (__GNUC__ > 2 || (__GNUC__ == 2 && (__GNUC_MINOR__ > 95))) + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#else /* !__GNUC__ or GCC < 2.95 */ + #define likely(x) (x) + #define unlikely(x) (x) +#endif /* __GNUC__ */ +static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void)ptr; } + +#if !CYTHON_USE_MODULE_STATE +static PyObject *__pyx_m = NULL; +#endif +static int __pyx_lineno; +static int __pyx_clineno = 0; +static const char * __pyx_cfilenm = __FILE__; +static const char *__pyx_filename; + +/* #### Code section: filename_table ### */ + +static const char *__pyx_f[] = { + "", + "selfdrive/modeld/runners/thneedmodel_pyx.pyx", + "msgq/visionipc/visionipc_pyx.pxd", + "selfdrive/modeld/models/commonmodel_pyx.pxd", +}; +/* #### Code section: utility_code_proto_before_types ### */ +/* ForceInitThreads.proto */ +#ifndef __PYX_FORCE_INIT_THREADS + #define __PYX_FORCE_INIT_THREADS 0 +#endif + +/* NoFastGil.proto */ +#define __Pyx_PyGILState_Ensure PyGILState_Ensure +#define __Pyx_PyGILState_Release PyGILState_Release +#define __Pyx_FastGIL_Remember() +#define __Pyx_FastGIL_Forget() +#define __Pyx_FastGilFuncInit() + +/* BufferFormatStructs.proto */ +struct __Pyx_StructField_; +#define __PYX_BUF_FLAGS_PACKED_STRUCT (1 << 0) +typedef struct { + const char* name; + struct __Pyx_StructField_* fields; + size_t size; + size_t arraysize[8]; + int ndim; + char typegroup; + char is_unsigned; + int flags; +} __Pyx_TypeInfo; +typedef struct __Pyx_StructField_ { + __Pyx_TypeInfo* type; + const char* name; + size_t offset; +} __Pyx_StructField; +typedef struct { + __Pyx_StructField* field; + size_t parent_offset; +} __Pyx_BufFmt_StackElem; +typedef struct { + __Pyx_StructField root; + __Pyx_BufFmt_StackElem* head; + size_t fmt_offset; + size_t new_count, enc_count; + size_t struct_alignment; + int is_complex; + char enc_type; + char new_packmode; + char enc_packmode; + char is_valid_array; +} __Pyx_BufFmt_Context; + +/* Atomics.proto */ +#include +#ifndef CYTHON_ATOMICS + #define CYTHON_ATOMICS 1 +#endif +#define __PYX_CYTHON_ATOMICS_ENABLED() CYTHON_ATOMICS +#define __pyx_atomic_int_type int +#define __pyx_nonatomic_int_type int +#if CYTHON_ATOMICS && (defined(__STDC_VERSION__) &&\ + (__STDC_VERSION__ >= 201112L) &&\ + !defined(__STDC_NO_ATOMICS__)) + #include +#elif CYTHON_ATOMICS && (defined(__cplusplus) && (\ + (__cplusplus >= 201103L) ||\ + (defined(_MSC_VER) && _MSC_VER >= 1700))) + #include +#endif +#if CYTHON_ATOMICS && (defined(__STDC_VERSION__) &&\ + (__STDC_VERSION__ >= 201112L) &&\ + !defined(__STDC_NO_ATOMICS__) &&\ + ATOMIC_INT_LOCK_FREE == 2) + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type atomic_int + #define __pyx_atomic_incr_aligned(value) atomic_fetch_add_explicit(value, 1, memory_order_relaxed) + #define __pyx_atomic_decr_aligned(value) atomic_fetch_sub_explicit(value, 1, memory_order_acq_rel) + #if defined(__PYX_DEBUG_ATOMICS) && defined(_MSC_VER) + #pragma message ("Using standard C atomics") + #elif defined(__PYX_DEBUG_ATOMICS) + #warning "Using standard C atomics" + #endif +#elif CYTHON_ATOMICS && (defined(__cplusplus) && (\ + (__cplusplus >= 201103L) ||\ +\ + (defined(_MSC_VER) && _MSC_VER >= 1700)) &&\ + ATOMIC_INT_LOCK_FREE == 2) + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type std::atomic_int + #define __pyx_atomic_incr_aligned(value) std::atomic_fetch_add_explicit(value, 1, std::memory_order_relaxed) + #define __pyx_atomic_decr_aligned(value) std::atomic_fetch_sub_explicit(value, 1, std::memory_order_acq_rel) + #if defined(__PYX_DEBUG_ATOMICS) && defined(_MSC_VER) + #pragma message ("Using standard C++ atomics") + #elif defined(__PYX_DEBUG_ATOMICS) + #warning "Using standard C++ atomics" + #endif +#elif CYTHON_ATOMICS && (__GNUC__ >= 5 || (__GNUC__ == 4 &&\ + (__GNUC_MINOR__ > 1 ||\ + (__GNUC_MINOR__ == 1 && __GNUC_PATCHLEVEL__ >= 2)))) + #define __pyx_atomic_incr_aligned(value) __sync_fetch_and_add(value, 1) + #define __pyx_atomic_decr_aligned(value) __sync_fetch_and_sub(value, 1) + #ifdef __PYX_DEBUG_ATOMICS + #warning "Using GNU atomics" + #endif +#elif CYTHON_ATOMICS && defined(_MSC_VER) + #include + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type long + #undef __pyx_nonatomic_int_type + #define __pyx_nonatomic_int_type long + #pragma intrinsic (_InterlockedExchangeAdd) + #define __pyx_atomic_incr_aligned(value) _InterlockedExchangeAdd(value, 1) + #define __pyx_atomic_decr_aligned(value) _InterlockedExchangeAdd(value, -1) + #ifdef __PYX_DEBUG_ATOMICS + #pragma message ("Using MSVC atomics") + #endif +#else + #undef CYTHON_ATOMICS + #define CYTHON_ATOMICS 0 + #ifdef __PYX_DEBUG_ATOMICS + #warning "Not using atomics" + #endif +#endif +#if CYTHON_ATOMICS + #define __pyx_add_acquisition_count(memview)\ + __pyx_atomic_incr_aligned(__pyx_get_slice_count_pointer(memview)) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_atomic_decr_aligned(__pyx_get_slice_count_pointer(memview)) +#else + #define __pyx_add_acquisition_count(memview)\ + __pyx_add_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_sub_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) +#endif + +/* MemviewSliceStruct.proto */ +struct __pyx_memoryview_obj; +typedef struct { + struct __pyx_memoryview_obj *memview; + char *data; + Py_ssize_t shape[8]; + Py_ssize_t strides[8]; + Py_ssize_t suboffsets[8]; +} __Pyx_memviewslice; +#define __Pyx_MemoryView_Len(m) (m.shape[0]) + +/* #### Code section: numeric_typedefs ### */ +/* #### Code section: complex_type_declarations ### */ +/* #### Code section: type_declarations ### */ + +/*--- Type declarations ---*/ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext; +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf; +struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext; +struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem; +struct __pyx_obj_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel; +struct __pyx_obj_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel; +struct __pyx_array_obj; +struct __pyx_MemviewEnum_obj; +struct __pyx_memoryview_obj; +struct __pyx_memoryviewslice_obj; + +/* "msgq/visionipc/visionipc_pyx.pxd":7 + * from .visionipc cimport cl_device_id, cl_context + * + * cdef class CLContext: # <<<<<<<<<<<<<< + * cdef cl_device_id device_id + * cdef cl_context context + */ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext { + PyObject_HEAD + cl_device_id device_id; + cl_context context; +}; + + +/* "msgq/visionipc/visionipc_pyx.pxd":11 + * cdef cl_context context + * + * cdef class VisionBuf: # <<<<<<<<<<<<<< + * cdef cppVisionBuf * buf + * + */ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf { + PyObject_HEAD + struct __pyx_vtabstruct_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_vtab; + VisionBuf *buf; +}; + + +/* "selfdrive/modeld/models/commonmodel_pyx.pxd":6 + * from msgq.visionipc.visionipc_pyx cimport CLContext as BaseCLContext + * + * cdef class CLContext(BaseCLContext): # <<<<<<<<<<<<<< + * pass + * + */ +struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext { + struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext __pyx_base; +}; + + +/* "selfdrive/modeld/models/commonmodel_pyx.pxd":9 + * pass + * + * cdef class CLMem: # <<<<<<<<<<<<<< + * cdef cl_mem * mem + * + */ +struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem { + PyObject_HEAD + struct __pyx_vtabstruct_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem *__pyx_vtab; + cl_mem *mem; +}; + + +/* "selfdrive/modeld/runners/runmodel_pyx.pxd":5 + * from .runmodel cimport RunModel as cppRunModel + * + * cdef class RunModel: # <<<<<<<<<<<<<< + * cdef cppRunModel * model + */ +struct __pyx_obj_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel { + PyObject_HEAD + RunModel *model; +}; + + +/* "selfdrive/modeld/runners/thneedmodel_pyx.pyx":12 + * from selfdrive.modeld.runners.runmodel cimport RunModel as cppRunModel + * + * cdef class ThneedModel(RunModel): # <<<<<<<<<<<<<< + * def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context): + * self.model = new cppThneedModel(path, &output[0], len(output), runtime, use_tf8, context.context) + */ +struct __pyx_obj_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel { + struct __pyx_obj_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel __pyx_base; +}; + + +/* "View.MemoryView":114 + * @cython.collection_type("sequence") + * @cname("__pyx_array") + * cdef class array: # <<<<<<<<<<<<<< + * + * cdef: + */ +struct __pyx_array_obj { + PyObject_HEAD + struct __pyx_vtabstruct_array *__pyx_vtab; 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(PyObject*) Py_TYPE(__pyx_tstate->current_exception) : (PyObject*) NULL) +#else +#define __Pyx_PyErr_Occurred() (__pyx_tstate->curexc_type != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->curexc_type) +#endif +#else +#define __Pyx_PyThreadState_declare +#define __Pyx_PyThreadState_assign +#define __Pyx_PyErr_Occurred() (PyErr_Occurred() != NULL) +#define __Pyx_PyErr_CurrentExceptionType() PyErr_Occurred() +#endif + +/* PyErrFetchRestore.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_Clear() __Pyx_ErrRestore(NULL, NULL, NULL) +#define __Pyx_ErrRestoreWithState(type, value, tb) __Pyx_ErrRestoreInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) __Pyx_ErrFetchInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) __Pyx_ErrRestoreInState(__pyx_tstate, type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) __Pyx_ErrFetchInState(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A6 +#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) +#else +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#endif +#else +#define __Pyx_PyErr_Clear() PyErr_Clear() +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) +#endif + +/* PyObjectGetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n) +#endif + +/* PyObjectGetAttrStrNoError.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); + +/* GetBuiltinName.proto */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name); + +/* TupleAndListFromArray.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n); +static CYTHON_INLINE PyObject* __Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n); +#endif + +/* IncludeStringH.proto */ +#include + +/* BytesEquals.proto */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals); + +/* UnicodeEquals.proto */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals); + +/* fastcall.proto */ +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_VARARGS(args, i) PySequence_GetItem(args, i) +#elif CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GET_ITEM(args, i) +#else + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GetItem(args, i) +#endif +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_NewRef_VARARGS(arg) __Pyx_NewRef(arg) + #define __Pyx_Arg_XDECREF_VARARGS(arg) Py_XDECREF(arg) +#else + #define __Pyx_Arg_NewRef_VARARGS(arg) arg + #define __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#define __Pyx_NumKwargs_VARARGS(kwds) PyDict_Size(kwds) +#define __Pyx_KwValues_VARARGS(args, nargs) NULL +#define __Pyx_GetKwValue_VARARGS(kw, kwvalues, s) __Pyx_PyDict_GetItemStrWithError(kw, s) +#define __Pyx_KwargsAsDict_VARARGS(kw, kwvalues) PyDict_Copy(kw) +#if CYTHON_METH_FASTCALL + #define __Pyx_Arg_FASTCALL(args, i) args[i] + #define __Pyx_NumKwargs_FASTCALL(kwds) PyTuple_GET_SIZE(kwds) + #define __Pyx_KwValues_FASTCALL(args, nargs) ((args) + (nargs)) + static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); + #else + #define __Pyx_KwargsAsDict_FASTCALL(kw, kwvalues) _PyStack_AsDict(kwvalues, kw) + #endif + #define __Pyx_Arg_NewRef_FASTCALL(arg) arg /* no-op, __Pyx_Arg_FASTCALL is direct and this needs + to have the same reference counting */ + #define __Pyx_Arg_XDECREF_FASTCALL(arg) +#else + #define __Pyx_Arg_FASTCALL __Pyx_Arg_VARARGS + #define __Pyx_NumKwargs_FASTCALL __Pyx_NumKwargs_VARARGS + #define __Pyx_KwValues_FASTCALL __Pyx_KwValues_VARARGS + #define __Pyx_GetKwValue_FASTCALL __Pyx_GetKwValue_VARARGS + #define __Pyx_KwargsAsDict_FASTCALL __Pyx_KwargsAsDict_VARARGS + #define __Pyx_Arg_NewRef_FASTCALL(arg) __Pyx_Arg_NewRef_VARARGS(arg) + #define __Pyx_Arg_XDECREF_FASTCALL(arg) __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_VARARGS(args, start), stop - start) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_FASTCALL(args, start), stop - start) +#else +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) PyTuple_GetSlice(args, start, stop) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) PyTuple_GetSlice(args, start, stop) +#endif + +/* RaiseArgTupleInvalid.proto */ +static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, + Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); + +/* RaiseDoubleKeywords.proto */ +static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); + +/* ParseKeywords.proto */ +static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args, + const char* function_name); + +/* ArgTypeTest.proto */ +#define __Pyx_ArgTypeTest(obj, type, none_allowed, name, exact)\ + ((likely(__Pyx_IS_TYPE(obj, type) | (none_allowed && (obj == Py_None)))) ? 1 :\ + __Pyx__ArgTypeTest(obj, type, name, exact)) +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact); + +/* RaiseException.proto */ +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause); + +/* PyFunctionFastCall.proto */ +#if CYTHON_FAST_PYCALL +#if !CYTHON_VECTORCALL +#define __Pyx_PyFunction_FastCall(func, args, nargs)\ + __Pyx_PyFunction_FastCallDict((func), (args), (nargs), NULL) +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs); +#endif +#define __Pyx_BUILD_ASSERT_EXPR(cond)\ + (sizeof(char [1 - 2*!(cond)]) - 1) +#ifndef Py_MEMBER_SIZE +#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member) +#endif +#if !CYTHON_VECTORCALL +#if PY_VERSION_HEX >= 0x03080000 + #include "frameobject.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif + #define __Pxy_PyFrame_Initialize_Offsets() + #define __Pyx_PyFrame_GetLocalsplus(frame) ((frame)->f_localsplus) +#else + static size_t __pyx_pyframe_localsplus_offset = 0; + #include "frameobject.h" + #define __Pxy_PyFrame_Initialize_Offsets()\ + ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\ + (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus))) + #define __Pyx_PyFrame_GetLocalsplus(frame)\ + (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset)) +#endif +#endif +#endif + +/* PyObjectCall.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw); +#else +#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw) +#endif + +/* PyObjectCallMethO.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg); +#endif + +/* PyObjectFastCall.proto */ +#define __Pyx_PyObject_FastCall(func, args, nargs) __Pyx_PyObject_FastCallDict(func, args, (size_t)(nargs), NULL) +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs); + +/* RaiseUnexpectedTypeError.proto */ +static int __Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj); + +/* GCCDiagnostics.proto */ +#if !defined(__INTEL_COMPILER) && defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) +#define __Pyx_HAS_GCC_DIAGNOSTIC +#endif + +/* BuildPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_Py_ssize_t(Py_ssize_t value, Py_ssize_t width, char padding_char, char format_char); + +/* JoinPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char); + +/* StrEquals.proto */ +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyString_Equals __Pyx_PyUnicode_Equals +#else +#define __Pyx_PyString_Equals __Pyx_PyBytes_Equals +#endif + +/* PyObjectFormatSimple.proto */ +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#elif PY_MAJOR_VERSION < 3 + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyString_CheckExact(s)) ? PyUnicode_FromEncodedObject(s, NULL, "strict") :\ + PyObject_Format(s, f)) +#elif CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyLong_CheckExact(s)) ? PyLong_Type.tp_repr(s) :\ + likely(PyFloat_CheckExact(s)) ? PyFloat_Type.tp_repr(s) :\ + PyObject_Format(s, f)) +#else + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#endif + +CYTHON_UNUSED static int __pyx_array_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *); /*proto*/ +/* GetAttr.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *, PyObject *); + +/* GetItemInt.proto */ +#define __Pyx_GetItemInt(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Fast(o, (Py_ssize_t)i, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\ + __Pyx_GetItemInt_Generic(o, to_py_func(i)))) +#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j); +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, + int is_list, int wraparound, int boundscheck); + +/* PyObjectCallOneArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg); + +/* ObjectGetItem.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key); +#else +#define __Pyx_PyObject_GetItem(obj, key) PyObject_GetItem(obj, key) +#endif + +/* KeywordStringCheck.proto */ +static int __Pyx_CheckKeywordStrings(PyObject *kw, const char* function_name, int kw_allowed); + +/* DivInt[Py_ssize_t].proto */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t, Py_ssize_t); + +/* UnaryNegOverflows.proto */ +#define __Pyx_UNARY_NEG_WOULD_OVERFLOW(x)\ + (((x) < 0) & ((unsigned long)(x) == 0-(unsigned long)(x))) + +/* GetAttr3.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *, PyObject *, PyObject *); + +/* PyDictVersioning.proto */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) +#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ + (version_var) = __PYX_GET_DICT_VERSION(dict);\ + (cache_var) = (value); +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ + (VAR) = __pyx_dict_cached_value;\ + } else {\ + (VAR) = __pyx_dict_cached_value = (LOOKUP);\ + __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ + }\ +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); +#else +#define __PYX_GET_DICT_VERSION(dict) (0) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); +#endif + +/* GetModuleGlobalName.proto */ +#if CYTHON_USE_DICT_VERSIONS +#define __Pyx_GetModuleGlobalName(var, name) do {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + (var) = (likely(__pyx_dict_version == __PYX_GET_DICT_VERSION(__pyx_d))) ?\ + (likely(__pyx_dict_cached_value) ? __Pyx_NewRef(__pyx_dict_cached_value) : __Pyx_GetBuiltinName(name)) :\ + __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +#define __Pyx_GetModuleGlobalNameUncached(var, name) do {\ + PY_UINT64_T __pyx_dict_version;\ + PyObject *__pyx_dict_cached_value;\ + (var) = __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value); +#else +#define __Pyx_GetModuleGlobalName(var, name) (var) = __Pyx__GetModuleGlobalName(name) +#define __Pyx_GetModuleGlobalNameUncached(var, name) (var) = __Pyx__GetModuleGlobalName(name) +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name); +#endif + +/* AssertionsEnabled.proto */ +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag) + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (1) +#elif CYTHON_COMPILING_IN_LIMITED_API || (CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030C0000) + static int __pyx_assertions_enabled_flag; + #define __pyx_assertions_enabled() (__pyx_assertions_enabled_flag) + static int __Pyx_init_assertions_enabled(void) { + PyObject *builtins, *debug, *debug_str; + int flag; + builtins = PyEval_GetBuiltins(); + if (!builtins) goto bad; + debug_str = PyUnicode_FromStringAndSize("__debug__", 9); + if (!debug_str) goto bad; + debug = PyObject_GetItem(builtins, debug_str); + Py_DECREF(debug_str); + if (!debug) goto bad; + flag = PyObject_IsTrue(debug); + Py_DECREF(debug); + if (flag == -1) goto bad; + __pyx_assertions_enabled_flag = flag; + return 0; + bad: + __pyx_assertions_enabled_flag = 1; + return -1; + } +#else + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (!Py_OptimizeFlag) +#endif + +/* RaiseTooManyValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected); + +/* RaiseNeedMoreValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index); + +/* RaiseNoneIterError.proto */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void); + +/* ExtTypeTest.proto */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type); + +/* GetTopmostException.proto */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * __Pyx_PyErr_GetTopmostException(PyThreadState *tstate); +#endif + +/* SaveResetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSave(type, value, tb) __Pyx__ExceptionSave(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#define __Pyx_ExceptionReset(type, value, tb) __Pyx__ExceptionReset(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +#else +#define __Pyx_ExceptionSave(type, value, tb) PyErr_GetExcInfo(type, value, tb) +#define __Pyx_ExceptionReset(type, value, tb) PyErr_SetExcInfo(type, value, tb) +#endif + +/* GetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_GetException(type, value, tb) __Pyx__GetException(__pyx_tstate, type, value, tb) +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* SwapException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSwap(type, value, tb) __Pyx__ExceptionSwap(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* Import.proto */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level); + +/* ImportDottedModule.proto */ +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple); +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple); +#endif + +/* FastTypeChecks.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) __Pyx_IsAnySubtype2(Py_TYPE(obj), (PyTypeObject *)type1, (PyTypeObject *)type2) +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); +#else +#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) (PyObject_TypeCheck(obj, (PyTypeObject *)type1) || PyObject_TypeCheck(obj, (PyTypeObject *)type2)) +#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) +#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) +#endif +#define __Pyx_PyErr_ExceptionMatches2(err1, err2) __Pyx_PyErr_GivenExceptionMatches2(__Pyx_PyErr_CurrentExceptionType(), err1, err2) +#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) + +CYTHON_UNUSED static int __pyx_memoryview_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +/* ListCompAppend.proto */ +#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS +static CYTHON_INLINE int __Pyx_ListComp_Append(PyObject* list, PyObject* x) { + PyListObject* L = (PyListObject*) list; + Py_ssize_t len = Py_SIZE(list); + if (likely(L->allocated > len)) { + Py_INCREF(x); + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + L->ob_item[len] = x; + #else + PyList_SET_ITEM(list, len, x); + #endif + __Pyx_SET_SIZE(list, len + 1); + return 0; + } + return PyList_Append(list, x); +} +#else +#define __Pyx_ListComp_Append(L,x) PyList_Append(L,x) +#endif + +/* PySequenceMultiply.proto */ +#define __Pyx_PySequence_Multiply_Left(mul, seq) __Pyx_PySequence_Multiply(seq, mul) +static CYTHON_INLINE PyObject* __Pyx_PySequence_Multiply(PyObject *seq, Py_ssize_t mul); + +/* SetItemInt.proto */ +#define __Pyx_SetItemInt(o, i, v, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_SetItemInt_Fast(o, (Py_ssize_t)i, v, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list assignment index out of range"), -1) :\ + __Pyx_SetItemInt_Generic(o, to_py_func(i), v))) +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v); +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, + int is_list, int wraparound, int boundscheck); + +/* RaiseUnboundLocalError.proto */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname); + +/* DivInt[long].proto */ +static CYTHON_INLINE long __Pyx_div_long(long, long); + +/* PySequenceContains.proto */ +static CYTHON_INLINE int __Pyx_PySequence_ContainsTF(PyObject* item, PyObject* seq, int eq) { + int result = PySequence_Contains(seq, item); + return unlikely(result < 0) ? result : (result == (eq == Py_EQ)); +} + +/* ImportFrom.proto */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name); + +/* HasAttr.proto */ +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 +#define __Pyx_HasAttr(o, n) PyObject_HasAttrWithError(o, n) +#else +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *, PyObject *); +#endif + +/* MoveIfSupported.proto */ +#if CYTHON_USE_CPP_STD_MOVE + #include + #define __PYX_STD_MOVE_IF_SUPPORTED(x) std::move(x) +#else + #define __PYX_STD_MOVE_IF_SUPPORTED(x) x +#endif + +/* BufferIndexError.proto */ +static void __Pyx_RaiseBufferIndexError(int axis); + +/* PyObject_GenericGetAttrNoDict.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr +#endif + +/* PyObject_GenericGetAttr.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr +#endif + +/* TypeImport.proto */ +#ifndef __PYX_HAVE_RT_ImportType_proto_3_0_8 +#define __PYX_HAVE_RT_ImportType_proto_3_0_8 +#if defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L +#include +#endif +#if (defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) || __cplusplus >= 201103L +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) alignof(s) +#else +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) sizeof(void*) +#endif +enum __Pyx_ImportType_CheckSize_3_0_8 { + __Pyx_ImportType_CheckSize_Error_3_0_8 = 0, + __Pyx_ImportType_CheckSize_Warn_3_0_8 = 1, + __Pyx_ImportType_CheckSize_Ignore_3_0_8 = 2 +}; +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject* module, const char *module_name, const char *class_name, size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size); +#endif + +/* IncludeStructmemberH.proto */ +#include + +/* FixUpExtensionType.proto */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type); +#endif + +/* PyObjectCallNoArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func); + +/* PyObjectGetMethod.proto */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method); + +/* PyObjectCallMethod0.proto */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name); + +/* ValidateBasesTuple.proto */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases); +#endif + +/* PyType_Ready.proto */ +CYTHON_UNUSED static int __Pyx_PyType_Ready(PyTypeObject *t); + +/* SetupReduce.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce(PyObject* type_obj); +#endif + +/* SetVTable.proto */ +static int __Pyx_SetVtable(PyTypeObject* typeptr , void* vtable); + +/* GetVTable.proto */ +static void* __Pyx_GetVtable(PyTypeObject *type); + +/* MergeVTables.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type); +#endif + +/* FetchSharedCythonModule.proto */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void); + +/* FetchCommonType.proto */ +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type); +#else +static PyTypeObject* __Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases); +#endif + +/* PyMethodNew.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + PyObject *typesModule=NULL, *methodType=NULL, *result=NULL; + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + typesModule = PyImport_ImportModule("types"); + if (!typesModule) return NULL; + methodType = PyObject_GetAttrString(typesModule, "MethodType"); + Py_DECREF(typesModule); + if (!methodType) return NULL; + result = PyObject_CallFunctionObjArgs(methodType, func, self, NULL); + Py_DECREF(methodType); + return result; +} +#elif PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + return PyMethod_New(func, self); +} +#else + #define __Pyx_PyMethod_New PyMethod_New +#endif + +/* PyVectorcallFastCallDict.proto */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw); +#endif + +/* CythonFunctionShared.proto */ +#define __Pyx_CyFunction_USED +#define __Pyx_CYFUNCTION_STATICMETHOD 0x01 +#define __Pyx_CYFUNCTION_CLASSMETHOD 0x02 +#define __Pyx_CYFUNCTION_CCLASS 0x04 +#define __Pyx_CYFUNCTION_COROUTINE 0x08 +#define __Pyx_CyFunction_GetClosure(f)\ + (((__pyx_CyFunctionObject *) (f))->func_closure) +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_CyFunction_GetClassObj(f)\ + (((__pyx_CyFunctionObject *) (f))->func_classobj) +#else + #define __Pyx_CyFunction_GetClassObj(f)\ + ((PyObject*) ((PyCMethodObject *) (f))->mm_class) +#endif +#define __Pyx_CyFunction_SetClassObj(f, classobj)\ + __Pyx__CyFunction_SetClassObj((__pyx_CyFunctionObject *) (f), (classobj)) +#define __Pyx_CyFunction_Defaults(type, f)\ + ((type *)(((__pyx_CyFunctionObject *) (f))->defaults)) +#define __Pyx_CyFunction_SetDefaultsGetter(f, g)\ + ((__pyx_CyFunctionObject *) (f))->defaults_getter = (g) +typedef struct { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject_HEAD + PyObject *func; +#elif PY_VERSION_HEX < 0x030900B1 + PyCFunctionObject func; +#else + PyCMethodObject func; +#endif +#if CYTHON_BACKPORT_VECTORCALL + __pyx_vectorcallfunc func_vectorcall; +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_weakreflist; +#endif + PyObject *func_dict; + PyObject *func_name; + PyObject *func_qualname; + PyObject *func_doc; + PyObject *func_globals; + PyObject *func_code; + PyObject *func_closure; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_classobj; +#endif + void *defaults; + int defaults_pyobjects; + size_t defaults_size; + int flags; + PyObject *defaults_tuple; + PyObject *defaults_kwdict; + PyObject *(*defaults_getter)(PyObject *); + PyObject *func_annotations; + PyObject *func_is_coroutine; +} __pyx_CyFunctionObject; +#undef __Pyx_CyOrPyCFunction_Check +#define __Pyx_CyFunction_Check(obj) __Pyx_TypeCheck(obj, __pyx_CyFunctionType) +#define __Pyx_CyOrPyCFunction_Check(obj) __Pyx_TypeCheck2(obj, __pyx_CyFunctionType, &PyCFunction_Type) +#define __Pyx_CyFunction_CheckExact(obj) __Pyx_IS_TYPE(obj, __pyx_CyFunctionType) +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc); +#undef __Pyx_IsSameCFunction +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCyOrCFunction(func, cfunc) +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject* op, PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj); +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *m, + size_t size, + int pyobjects); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *m, + PyObject *tuple); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *m, + PyObject *dict); +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *m, + PyObject *dict); +static int __pyx_CyFunction_init(PyObject *module); +#if CYTHON_METH_FASTCALL +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +#if CYTHON_BACKPORT_VECTORCALL +#define __Pyx_CyFunction_func_vectorcall(f) (((__pyx_CyFunctionObject*)f)->func_vectorcall) +#else +#define __Pyx_CyFunction_func_vectorcall(f) (((PyCFunctionObject*)f)->vectorcall) +#endif +#endif + +/* CythonFunction.proto */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); + +/* CLineInTraceback.proto */ +#ifdef CYTHON_CLINE_IN_TRACEBACK +#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) +#else +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); +#endif + +/* CodeObjectCache.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +typedef struct { + PyCodeObject* code_object; + int code_line; +} __Pyx_CodeObjectCacheEntry; +struct __Pyx_CodeObjectCache { + int count; + int max_count; + __Pyx_CodeObjectCacheEntry* entries; +}; +static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); +static PyCodeObject *__pyx_find_code_object(int code_line); +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); +#endif + +/* AddTraceback.proto */ +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename); + +#if PY_MAJOR_VERSION < 3 + static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags); + static void __Pyx_ReleaseBuffer(Py_buffer *view); +#else + #define __Pyx_GetBuffer PyObject_GetBuffer + #define __Pyx_ReleaseBuffer PyBuffer_Release +#endif + + +/* BufferStructDeclare.proto */ +typedef struct { + Py_ssize_t shape, strides, suboffsets; +} __Pyx_Buf_DimInfo; +typedef struct { + size_t refcount; + Py_buffer pybuffer; +} __Pyx_Buffer; +typedef struct { + __Pyx_Buffer *rcbuffer; + char *data; + __Pyx_Buf_DimInfo diminfo[8]; +} __Pyx_LocalBuf_ND; + +/* MemviewSliceIsContig.proto */ +static int __pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim); + +/* OverlappingSlices.proto */ +static int __pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize); + +/* IsLittleEndian.proto */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void); + +/* BufferFormatCheck.proto */ +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts); +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type); + +/* TypeInfoCompare.proto */ +static int __pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b); + +/* MemviewSliceValidateAndInit.proto */ +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj); + +/* ObjectToMemviewSlice.proto */ +static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_float(PyObject *, int writable_flag); + +/* MemviewDtypeToObject.proto */ +static CYTHON_INLINE PyObject *__pyx_memview_get_float(const char *itemp); +static CYTHON_INLINE int __pyx_memview_set_float(const char *itemp, PyObject *obj); + +/* MemviewSliceCopyTemplate.proto */ +static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object); + +/* MemviewSliceInit.proto */ +#define __Pyx_BUF_MAX_NDIMS %(BUF_MAX_NDIMS)d +#define __Pyx_MEMVIEW_DIRECT 1 +#define __Pyx_MEMVIEW_PTR 2 +#define __Pyx_MEMVIEW_FULL 4 +#define __Pyx_MEMVIEW_CONTIG 8 +#define __Pyx_MEMVIEW_STRIDED 16 +#define __Pyx_MEMVIEW_FOLLOW 32 +#define __Pyx_IS_C_CONTIG 1 +#define __Pyx_IS_F_CONTIG 2 +static int __Pyx_init_memviewslice( + struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference); +static CYTHON_INLINE int __pyx_add_acquisition_count_locked( + __pyx_atomic_int_type *acquisition_count, PyThread_type_lock lock); +static CYTHON_INLINE int __pyx_sub_acquisition_count_locked( + __pyx_atomic_int_type *acquisition_count, PyThread_type_lock lock); +#define __pyx_get_slice_count_pointer(memview) (&memview->acquisition_count) +#define __PYX_INC_MEMVIEW(slice, have_gil) __Pyx_INC_MEMVIEW(slice, have_gil, __LINE__) +#define __PYX_XCLEAR_MEMVIEW(slice, have_gil) __Pyx_XCLEAR_MEMVIEW(slice, have_gil, __LINE__) +static CYTHON_INLINE void __Pyx_INC_MEMVIEW(__Pyx_memviewslice *, int, int); +static CYTHON_INLINE void __Pyx_XCLEAR_MEMVIEW(__Pyx_memviewslice *, int, int); + +/* CIntFromPy.proto */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); + +/* CppExceptionConversion.proto */ +#ifndef __Pyx_CppExn2PyErr +#include +#include +#include +#include +static void __Pyx_CppExn2PyErr() { + try { + if (PyErr_Occurred()) + ; // let the latest Python exn pass through and ignore the current one + else + throw; + } catch (const std::bad_alloc& exn) { + PyErr_SetString(PyExc_MemoryError, exn.what()); + } catch (const std::bad_cast& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::bad_typeid& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::domain_error& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::invalid_argument& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::ios_base::failure& exn) { + PyErr_SetString(PyExc_IOError, exn.what()); + } catch (const std::out_of_range& exn) { + PyErr_SetString(PyExc_IndexError, exn.what()); + } catch (const std::overflow_error& exn) { + PyErr_SetString(PyExc_OverflowError, exn.what()); + } catch (const std::range_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::underflow_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::exception& exn) { + PyErr_SetString(PyExc_RuntimeError, exn.what()); + } + catch (...) + { + PyErr_SetString(PyExc_RuntimeError, "Unknown exception"); + } +} +#endif + +/* None.proto */ +#include + +/* CIntFromPy.proto */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *); + +/* FormatTypeName.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +typedef PyObject *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%U" +static __Pyx_TypeName __Pyx_PyType_GetName(PyTypeObject* tp); +#define __Pyx_DECREF_TypeName(obj) Py_XDECREF(obj) +#else +typedef const char *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%.200s" +#define __Pyx_PyType_GetName(tp) ((tp)->tp_name) +#define __Pyx_DECREF_TypeName(obj) +#endif + +/* CheckBinaryVersion.proto */ +static unsigned long __Pyx_get_runtime_version(void); +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer); + +/* InitStrings.proto */ +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); + +/* #### Code section: module_declarations ### */ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *__pyx_v_self); /* proto*/ +static char *__pyx_memoryview_get_item_pointer(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto*/ +static PyObject *__pyx_memoryview_is_slice(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assignment(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_dst, PyObject *__pyx_v_src); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assign_scalar(struct __pyx_memoryview_obj *__pyx_v_self, struct __pyx_memoryview_obj *__pyx_v_dst, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_setitem_indexed(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_convert_item_to_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryview_assign_item_from_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview__get_base(struct __pyx_memoryview_obj *__pyx_v_self); /* proto*/ +static PyObject *__pyx_memoryviewslice_convert_item_to_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryviewslice_assign_item_from_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryviewslice__get_base(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto*/ + +/* Module declarations from "libcpp" */ + +/* Module declarations from "libc.string" */ + +/* Module declarations from "libcpp.string" */ + +/* Module declarations from "libcpp.vector" */ + +/* Module declarations from "libcpp.utility" */ + +/* Module declarations from "libcpp.set" */ + +/* Module declarations from "libc.stdint" */ + +/* Module declarations from "msgq.visionipc.visionipc" */ + +/* Module declarations from "selfdrive.modeld.runners.thneedmodel" */ + +/* Module declarations from "msgq.visionipc.visionipc_pyx" */ + +/* Module declarations from "selfdrive.modeld.models.commonmodel_pyx" */ + +/* Module declarations from "selfdrive.modeld.runners.runmodel" */ + +/* Module declarations from "selfdrive.modeld.runners.runmodel_pyx" */ + +/* Module declarations from "selfdrive.modeld.runners.thneedmodel_pyx" */ +static PyObject *__pyx_collections_abc_Sequence = 0; +static PyObject *generic = 0; +static PyObject *strided = 0; +static PyObject *indirect = 0; +static PyObject *contiguous = 0; +static PyObject *indirect_contiguous = 0; +static int __pyx_memoryview_thread_locks_used; +static PyThread_type_lock __pyx_memoryview_thread_locks[8]; +static std::string __pyx_convert_string_from_py_std__in_string(PyObject *); /*proto*/ +static int __pyx_array_allocate_buffer(struct __pyx_array_obj *); /*proto*/ +static struct __pyx_array_obj *__pyx_array_new(PyObject *, Py_ssize_t, char *, char *, char *); /*proto*/ +static PyObject *__pyx_memoryview_new(PyObject *, int, int, __Pyx_TypeInfo *); /*proto*/ +static CYTHON_INLINE int __pyx_memoryview_check(PyObject *); /*proto*/ +static PyObject *_unellipsify(PyObject *, int); /*proto*/ +static int assert_direct_dimensions(Py_ssize_t *, int); /*proto*/ +static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_obj *, PyObject *); /*proto*/ +static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int, int); /*proto*/ +static char *__pyx_pybuffer_index(Py_buffer *, char *, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memslice_transpose(__Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_fromslice(__Pyx_memviewslice, int, PyObject *(*)(char *), int (*)(char *, PyObject *), int); /*proto*/ +static __Pyx_memviewslice *__pyx_memoryview_get_slice_from_memoryview(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static void __pyx_memoryview_slice_copy(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object(struct __pyx_memoryview_obj *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object_from_slice(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static Py_ssize_t abs_py_ssize_t(Py_ssize_t); /*proto*/ +static char __pyx_get_best_slice_order(__Pyx_memviewslice *, int); /*proto*/ +static void _copy_strided_to_strided(char *, Py_ssize_t *, char *, Py_ssize_t *, Py_ssize_t *, Py_ssize_t *, int, size_t); /*proto*/ +static void copy_strided_to_strided(__Pyx_memviewslice *, __Pyx_memviewslice *, int, size_t); /*proto*/ +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *, int); /*proto*/ +static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *, Py_ssize_t *, Py_ssize_t, int, char); /*proto*/ +static void *__pyx_memoryview_copy_data_to_temp(__Pyx_memviewslice *, __Pyx_memviewslice *, char, int); /*proto*/ +static int __pyx_memoryview_err_extents(int, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memoryview_err_dim(PyObject *, PyObject *, int); /*proto*/ +static int __pyx_memoryview_err(PyObject *, PyObject *); /*proto*/ +static int __pyx_memoryview_err_no_memory(void); /*proto*/ +static int __pyx_memoryview_copy_contents(__Pyx_memviewslice, __Pyx_memviewslice, int, int, int); /*proto*/ +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *, int, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *, int, size_t, void *, int); /*proto*/ +static void __pyx_memoryview__slice_assign_scalar(char *, Py_ssize_t *, Py_ssize_t *, int, size_t, void *); /*proto*/ +static PyObject *__pyx_unpickle_Enum__set_state(struct __pyx_MemviewEnum_obj *, PyObject *); /*proto*/ +/* #### Code section: typeinfo ### */ +static __Pyx_TypeInfo __Pyx_TypeInfo_float = { "float", NULL, sizeof(float), { 0 }, 0, 'R', 0, 0 }; +/* #### Code section: before_global_var ### */ +#define __Pyx_MODULE_NAME "selfdrive.modeld.runners.thneedmodel_pyx" +extern int __pyx_module_is_main_selfdrive__modeld__runners__thneedmodel_pyx; +int __pyx_module_is_main_selfdrive__modeld__runners__thneedmodel_pyx = 0; + +/* Implementation of "selfdrive.modeld.runners.thneedmodel_pyx" */ +/* #### Code section: global_var ### */ +static PyObject *__pyx_builtin_TypeError; +static PyObject *__pyx_builtin___import__; +static PyObject *__pyx_builtin_ValueError; +static PyObject *__pyx_builtin_MemoryError; +static PyObject *__pyx_builtin_enumerate; +static PyObject *__pyx_builtin_range; +static PyObject *__pyx_builtin_AssertionError; +static PyObject *__pyx_builtin_Ellipsis; +static PyObject *__pyx_builtin_id; +static PyObject *__pyx_builtin_IndexError; +/* #### Code section: string_decls ### */ +static const char __pyx_k_[] = ": "; +static const char __pyx_k_O[] = "O"; +static const char __pyx_k_c[] = "c"; +static const char __pyx_k__2[] = "."; +static const char __pyx_k__3[] = "*"; +static const char __pyx_k__6[] = "'"; +static const char __pyx_k__7[] = ")"; +static const char __pyx_k_gc[] = "gc"; +static const char __pyx_k_id[] = "id"; +static const char __pyx_k__24[] = "?"; +static const char __pyx_k_abc[] = "abc"; +static const char __pyx_k_and[] = " and "; +static const char __pyx_k_got[] = " (got "; +static const char __pyx_k_new[] = "__new__"; +static const char __pyx_k_obj[] = "obj"; +static const char __pyx_k_sys[] = "sys"; +static const char __pyx_k_base[] = "base"; +static const char __pyx_k_dict[] = "__dict__"; +static const char __pyx_k_main[] = "__main__"; +static const char __pyx_k_mode[] = "mode"; +static const char __pyx_k_name[] = "name"; +static const char __pyx_k_ndim[] = "ndim"; +static const char __pyx_k_pack[] = "pack"; +static const char __pyx_k_path[] = "path"; +static const char __pyx_k_self[] = "self"; +static const char __pyx_k_size[] = "size"; +static const char __pyx_k_spec[] = "__spec__"; +static const char __pyx_k_step[] = "step"; +static const char __pyx_k_stop[] = "stop"; +static const char __pyx_k_test[] = "__test__"; +static const char __pyx_k_ASCII[] = "ASCII"; +static const char __pyx_k_class[] = "__class__"; +static const char __pyx_k_count[] = "count"; +static const char __pyx_k_error[] = "error"; +static const char __pyx_k_flags[] = "flags"; +static const char __pyx_k_index[] = "index"; +static const char __pyx_k_range[] = "range"; +static const char __pyx_k_shape[] = "shape"; +static const char __pyx_k_start[] = "start"; +static const char __pyx_k_enable[] = "enable"; +static const char __pyx_k_encode[] = "encode"; +static const char __pyx_k_format[] = "format"; +static const char __pyx_k_import[] = "__import__"; +static const char __pyx_k_name_2[] = "__name__"; +static const char __pyx_k_output[] = "output"; +static const char __pyx_k_pickle[] = "pickle"; +static const char __pyx_k_reduce[] = "__reduce__"; +static const char __pyx_k_struct[] = "struct"; +static const char __pyx_k_unpack[] = "unpack"; +static const char __pyx_k_update[] = "update"; +static const char __pyx_k_context[] = "context"; +static const char __pyx_k_disable[] = "disable"; +static const char __pyx_k_fortran[] = "fortran"; +static const char __pyx_k_memview[] = "memview"; +static const char __pyx_k_runtime[] = "runtime"; +static const char __pyx_k_use_tf8[] = "use_tf8"; +static const char __pyx_k_Ellipsis[] = "Ellipsis"; +static const char __pyx_k_Sequence[] = "Sequence"; +static const char __pyx_k_getstate[] = "__getstate__"; +static const char __pyx_k_itemsize[] = "itemsize"; +static const char __pyx_k_pyx_type[] = "__pyx_type"; +static const char __pyx_k_register[] = "register"; +static const char __pyx_k_setstate[] = "__setstate__"; +static const char __pyx_k_TypeError[] = "TypeError"; +static const char __pyx_k_enumerate[] = "enumerate"; +static const char __pyx_k_isenabled[] = "isenabled"; +static const char __pyx_k_pyx_state[] = "__pyx_state"; +static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; +static const char __pyx_k_IndexError[] = "IndexError"; +static const char __pyx_k_ValueError[] = "ValueError"; +static const char __pyx_k_pyx_result[] = "__pyx_result"; +static const char __pyx_k_pyx_vtable[] = "__pyx_vtable__"; +static const char __pyx_k_MemoryError[] = "MemoryError"; +static const char __pyx_k_PickleError[] = "PickleError"; +static const char __pyx_k_ThneedModel[] = "ThneedModel"; +static const char __pyx_k_collections[] = "collections"; +static const char __pyx_k_initializing[] = "_initializing"; +static const char __pyx_k_is_coroutine[] = "_is_coroutine"; +static const char __pyx_k_pyx_checksum[] = "__pyx_checksum"; +static const char __pyx_k_stringsource[] = ""; +static const char __pyx_k_version_info[] = "version_info"; +static const char __pyx_k_class_getitem[] = "__class_getitem__"; +static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; +static const char __pyx_k_AssertionError[] = "AssertionError"; +static const char __pyx_k_View_MemoryView[] = "View.MemoryView"; +static const char __pyx_k_allocate_buffer[] = "allocate_buffer"; +static const char __pyx_k_collections_abc[] = "collections.abc"; +static const char __pyx_k_dtype_is_object[] = "dtype_is_object"; +static const char __pyx_k_pyx_PickleError[] = "__pyx_PickleError"; +static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; +static const char __pyx_k_pyx_unpickle_Enum[] = "__pyx_unpickle_Enum"; +static const char __pyx_k_asyncio_coroutines[] = "asyncio.coroutines"; +static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; +static const char __pyx_k_strided_and_direct[] = ""; +static const char __pyx_k_strided_and_indirect[] = ""; +static const char __pyx_k_Invalid_shape_in_axis[] = "Invalid shape in axis "; +static const char __pyx_k_contiguous_and_direct[] = ""; +static const char __pyx_k_Cannot_index_with_type[] = "Cannot index with type '"; +static const char __pyx_k_MemoryView_of_r_object[] = ""; +static const char __pyx_k_MemoryView_of_r_at_0x_x[] = ""; +static const char __pyx_k_contiguous_and_indirect[] = ""; +static const char __pyx_k_Dimension_d_is_not_direct[] = "Dimension %d is not direct"; +static const char __pyx_k_Index_out_of_bounds_axis_d[] = "Index out of bounds (axis %d)"; +static const char __pyx_k_Step_may_not_be_zero_axis_d[] = "Step may not be zero (axis %d)"; +static const char __pyx_k_ThneedModel___reduce_cython[] = "ThneedModel.__reduce_cython__"; +static const char __pyx_k_itemsize_0_for_cython_array[] = "itemsize <= 0 for cython.array"; +static const char __pyx_k_ThneedModel___setstate_cython[] = "ThneedModel.__setstate_cython__"; +static const char __pyx_k_unable_to_allocate_array_data[] = "unable to allocate array data."; +static const char __pyx_k_strided_and_direct_or_indirect[] = ""; +static const char __pyx_k_All_dimensions_preceding_dimensi[] = "All dimensions preceding dimension %d must be indexed and not sliced"; +static const char __pyx_k_Buffer_view_does_not_expose_stri[] = "Buffer view does not expose strides"; +static const char __pyx_k_Can_only_create_a_buffer_that_is[] = "Can only create a buffer that is contiguous in memory."; +static const char __pyx_k_Cannot_assign_to_read_only_memor[] = "Cannot assign to read-only memoryview"; +static const char __pyx_k_Cannot_create_writable_memory_vi[] = "Cannot create writable memory view from read-only memoryview"; +static const char __pyx_k_Cannot_transpose_memoryview_with[] = "Cannot transpose memoryview with indirect dimensions"; +static const char __pyx_k_Empty_shape_tuple_for_cython_arr[] = "Empty shape tuple for cython.array"; +static const char __pyx_k_Incompatible_checksums_0x_x_vs_0[] = "Incompatible checksums (0x%x vs (0x82a3537, 0x6ae9995, 0xb068931) = (name))"; +static const char __pyx_k_Indirect_dimensions_not_supporte[] = "Indirect dimensions not supported"; +static const char __pyx_k_Invalid_mode_expected_c_or_fortr[] = "Invalid mode, expected 'c' or 'fortran', got "; +static const char __pyx_k_Out_of_bounds_on_buffer_access_a[] = "Out of bounds on buffer access (axis "; +static const char __pyx_k_Unable_to_convert_item_to_object[] = "Unable to convert item to object"; +static const char __pyx_k_got_differing_extents_in_dimensi[] = "got differing extents in dimension "; +static const char __pyx_k_no_default___reduce___due_to_non[] = "no default __reduce__ due to non-trivial __cinit__"; +static const char __pyx_k_selfdrive_modeld_runners_thneedm[] = "selfdrive.modeld.runners.thneedmodel_pyx"; +static const char __pyx_k_unable_to_allocate_shape_and_str[] = "unable to allocate shape and strides."; +/* #### Code section: decls ### */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_shape, Py_ssize_t __pyx_v_itemsize, PyObject *__pyx_v_format, PyObject *__pyx_v_mode, int __pyx_v_allocate_buffer); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_2__getbuffer__(struct __pyx_array_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static void __pyx_array___pyx_pf_15View_dot_MemoryView_5array_4__dealloc__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_5array_7memview___get__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_array___pyx_pf_15View_dot_MemoryView_5array_6__len__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_8__getattr__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_attr); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_10__getitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_12__setitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item, PyObject *__pyx_v_value); /* proto */ +static PyObject *__pyx_pf___pyx_array___reduce_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_array_2__setstate_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum___init__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v_name); /* proto */ +static PyObject *__pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum_2__repr__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum___reduce_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum_2__setstate_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview___cinit__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj, int __pyx_v_flags, int __pyx_v_dtype_is_object); /* proto */ +static void __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_2__dealloc__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_4__getitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_6__setitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_8__getbuffer__(struct __pyx_memoryview_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_1T___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4base___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_5shape___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_7strides___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_10suboffsets___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4ndim___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_8itemsize___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_6nbytes___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4size___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_10__len__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_12__repr__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_14__str__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_16is_c_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_18is_f_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_20copy(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_22copy_fortran(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static void __pyx_memoryviewslice___pyx_pf_15View_dot_MemoryView_16_memoryviewslice___dealloc__(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView___pyx_unpickle_Enum(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v___pyx_type, long __pyx_v___pyx_checksum, PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_pf_9selfdrive_6modeld_7runners_15thneedmodel_pyx_11ThneedModel___cinit__(struct __pyx_obj_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel *__pyx_v_self, std::string __pyx_v_path, __Pyx_memviewslice __pyx_v_output, int __pyx_v_runtime, bool __pyx_v_use_tf8, struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext *__pyx_v_context); /* proto */ +static PyObject *__pyx_pf_9selfdrive_6modeld_7runners_15thneedmodel_pyx_11ThneedModel_2__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_9selfdrive_6modeld_7runners_15thneedmodel_pyx_11ThneedModel_4__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_tp_new_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +/* #### Code section: late_includes ### */ +/* #### Code section: module_state ### */ +typedef struct { + PyObject *__pyx_d; + PyObject *__pyx_b; + PyObject *__pyx_cython_runtime; + PyObject *__pyx_empty_tuple; + PyObject *__pyx_empty_bytes; + PyObject *__pyx_empty_unicode; + #ifdef __Pyx_CyFunction_USED + PyTypeObject *__pyx_CyFunctionType; + #endif + #ifdef __Pyx_FusedFunction_USED + PyTypeObject *__pyx_FusedFunctionType; + #endif + #ifdef __Pyx_Generator_USED + PyTypeObject *__pyx_GeneratorType; + #endif + #ifdef __Pyx_IterableCoroutine_USED + PyTypeObject *__pyx_IterableCoroutineType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineAwaitType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineType; + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext; + PyTypeObject *__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf; + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext; + PyTypeObject *__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem; + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel; + #if CYTHON_USE_MODULE_STATE + PyObject *__pyx_type_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel; + PyObject *__pyx_type___pyx_array; + PyObject *__pyx_type___pyx_MemviewEnum; + PyObject *__pyx_type___pyx_memoryview; + PyObject *__pyx_type___pyx_memoryviewslice; + #endif + PyTypeObject *__pyx_ptype_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel; + PyTypeObject *__pyx_array_type; + PyTypeObject *__pyx_MemviewEnum_type; + PyTypeObject *__pyx_memoryview_type; + PyTypeObject *__pyx_memoryviewslice_type; + PyObject *__pyx_kp_u_; + PyObject *__pyx_n_s_ASCII; + PyObject *__pyx_kp_s_All_dimensions_preceding_dimensi; + PyObject *__pyx_n_s_AssertionError; + PyObject *__pyx_kp_s_Buffer_view_does_not_expose_stri; + PyObject *__pyx_kp_s_Can_only_create_a_buffer_that_is; + PyObject *__pyx_kp_s_Cannot_assign_to_read_only_memor; + PyObject *__pyx_kp_s_Cannot_create_writable_memory_vi; + PyObject *__pyx_kp_u_Cannot_index_with_type; + PyObject *__pyx_kp_s_Cannot_transpose_memoryview_with; + PyObject *__pyx_kp_s_Dimension_d_is_not_direct; + PyObject *__pyx_n_s_Ellipsis; + PyObject *__pyx_kp_s_Empty_shape_tuple_for_cython_arr; + PyObject *__pyx_kp_s_Incompatible_checksums_0x_x_vs_0; + PyObject *__pyx_n_s_IndexError; + PyObject *__pyx_kp_s_Index_out_of_bounds_axis_d; + PyObject *__pyx_kp_s_Indirect_dimensions_not_supporte; + PyObject *__pyx_kp_u_Invalid_mode_expected_c_or_fortr; + PyObject *__pyx_kp_u_Invalid_shape_in_axis; + PyObject *__pyx_n_s_MemoryError; + PyObject *__pyx_kp_s_MemoryView_of_r_at_0x_x; + PyObject *__pyx_kp_s_MemoryView_of_r_object; + PyObject *__pyx_n_b_O; + PyObject *__pyx_kp_u_Out_of_bounds_on_buffer_access_a; + PyObject *__pyx_n_s_PickleError; + PyObject *__pyx_n_s_Sequence; + PyObject *__pyx_kp_s_Step_may_not_be_zero_axis_d; + PyObject *__pyx_n_s_ThneedModel; + PyObject *__pyx_n_s_ThneedModel___reduce_cython; + PyObject *__pyx_n_s_ThneedModel___setstate_cython; + PyObject *__pyx_n_s_TypeError; + PyObject *__pyx_kp_s_Unable_to_convert_item_to_object; + PyObject *__pyx_n_s_ValueError; + PyObject *__pyx_n_s_View_MemoryView; + PyObject *__pyx_kp_u__2; + PyObject *__pyx_n_s__24; + PyObject *__pyx_n_s__3; + PyObject *__pyx_kp_u__6; + PyObject *__pyx_kp_u__7; + PyObject *__pyx_n_s_abc; + PyObject *__pyx_n_s_allocate_buffer; + PyObject *__pyx_kp_u_and; + PyObject *__pyx_n_s_asyncio_coroutines; + PyObject *__pyx_n_s_base; + PyObject *__pyx_n_s_c; + PyObject *__pyx_n_u_c; + PyObject *__pyx_n_s_class; + PyObject *__pyx_n_s_class_getitem; + PyObject *__pyx_n_s_cline_in_traceback; + PyObject *__pyx_n_s_collections; + PyObject *__pyx_kp_s_collections_abc; + PyObject *__pyx_n_s_context; + PyObject *__pyx_kp_s_contiguous_and_direct; + PyObject *__pyx_kp_s_contiguous_and_indirect; + PyObject *__pyx_n_s_count; + PyObject *__pyx_n_s_dict; + PyObject *__pyx_kp_u_disable; + PyObject *__pyx_n_s_dtype_is_object; + PyObject *__pyx_kp_u_enable; + PyObject *__pyx_n_s_encode; + PyObject *__pyx_n_s_enumerate; + PyObject *__pyx_n_s_error; + PyObject *__pyx_n_s_flags; + PyObject *__pyx_n_s_format; + PyObject *__pyx_n_s_fortran; + PyObject *__pyx_n_u_fortran; + PyObject *__pyx_kp_u_gc; + PyObject *__pyx_n_s_getstate; + PyObject *__pyx_kp_u_got; + PyObject *__pyx_kp_u_got_differing_extents_in_dimensi; + PyObject *__pyx_n_s_id; + PyObject *__pyx_n_s_import; + PyObject *__pyx_n_s_index; + PyObject *__pyx_n_s_initializing; + PyObject *__pyx_n_s_is_coroutine; + PyObject *__pyx_kp_u_isenabled; + PyObject *__pyx_n_s_itemsize; + PyObject *__pyx_kp_s_itemsize_0_for_cython_array; + PyObject *__pyx_n_s_main; + PyObject *__pyx_n_s_memview; + PyObject *__pyx_n_s_mode; + PyObject *__pyx_n_s_name; + PyObject *__pyx_n_s_name_2; + PyObject *__pyx_n_s_ndim; + PyObject *__pyx_n_s_new; + PyObject *__pyx_kp_s_no_default___reduce___due_to_non; + PyObject *__pyx_n_s_obj; + PyObject *__pyx_n_s_output; + PyObject *__pyx_n_s_pack; + PyObject *__pyx_n_s_path; + PyObject *__pyx_n_s_pickle; + PyObject *__pyx_n_s_pyx_PickleError; + PyObject *__pyx_n_s_pyx_checksum; + PyObject *__pyx_n_s_pyx_result; + PyObject *__pyx_n_s_pyx_state; + PyObject *__pyx_n_s_pyx_type; + PyObject *__pyx_n_s_pyx_unpickle_Enum; + PyObject *__pyx_n_s_pyx_vtable; + PyObject *__pyx_n_s_range; + PyObject *__pyx_n_s_reduce; + PyObject *__pyx_n_s_reduce_cython; + PyObject *__pyx_n_s_reduce_ex; + PyObject *__pyx_n_s_register; + PyObject *__pyx_n_s_runtime; + PyObject *__pyx_n_s_self; + PyObject *__pyx_n_s_selfdrive_modeld_runners_thneedm; + PyObject *__pyx_n_s_setstate; + PyObject *__pyx_n_s_setstate_cython; + PyObject *__pyx_n_s_shape; + PyObject *__pyx_n_s_size; + PyObject *__pyx_n_s_spec; + PyObject *__pyx_n_s_start; + PyObject *__pyx_n_s_step; + PyObject *__pyx_n_s_stop; + PyObject *__pyx_kp_s_strided_and_direct; + PyObject *__pyx_kp_s_strided_and_direct_or_indirect; + PyObject *__pyx_kp_s_strided_and_indirect; + PyObject *__pyx_kp_s_stringsource; + PyObject *__pyx_n_s_struct; + PyObject *__pyx_n_s_sys; + PyObject *__pyx_n_s_test; + PyObject *__pyx_kp_s_unable_to_allocate_array_data; + PyObject *__pyx_kp_s_unable_to_allocate_shape_and_str; + PyObject *__pyx_n_s_unpack; + PyObject *__pyx_n_s_update; + PyObject *__pyx_n_s_use_tf8; + PyObject *__pyx_n_s_version_info; + PyObject *__pyx_int_0; + PyObject *__pyx_int_1; + PyObject *__pyx_int_3; + PyObject *__pyx_int_112105877; + PyObject *__pyx_int_136983863; + PyObject *__pyx_int_184977713; + PyObject *__pyx_int_neg_1; + PyObject *__pyx_slice__5; + PyObject *__pyx_tuple__4; + PyObject *__pyx_tuple__8; + PyObject *__pyx_tuple__9; + PyObject *__pyx_tuple__10; + PyObject *__pyx_tuple__11; + PyObject *__pyx_tuple__12; + PyObject *__pyx_tuple__13; + PyObject *__pyx_tuple__14; + PyObject *__pyx_tuple__15; + PyObject *__pyx_tuple__16; + PyObject *__pyx_tuple__17; + PyObject *__pyx_tuple__18; + PyObject *__pyx_tuple__20; + PyObject *__pyx_tuple__22; + PyObject *__pyx_codeobj__19; + PyObject *__pyx_codeobj__21; + PyObject *__pyx_codeobj__23; +} __pyx_mstate; + +#if CYTHON_USE_MODULE_STATE +#ifdef __cplusplus +namespace { + extern struct PyModuleDef __pyx_moduledef; +} /* anonymous namespace */ +#else +static struct PyModuleDef __pyx_moduledef; +#endif + +#define __pyx_mstate(o) ((__pyx_mstate *)__Pyx_PyModule_GetState(o)) + +#define __pyx_mstate_global (__pyx_mstate(PyState_FindModule(&__pyx_moduledef))) + +#define __pyx_m (PyState_FindModule(&__pyx_moduledef)) +#else +static __pyx_mstate __pyx_mstate_global_static = +#ifdef __cplusplus + {}; +#else + {0}; +#endif +static __pyx_mstate *__pyx_mstate_global = &__pyx_mstate_global_static; +#endif +/* #### Code section: module_state_clear ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_clear(PyObject *m) { + __pyx_mstate *clear_module_state = __pyx_mstate(m); + if (!clear_module_state) return 0; + Py_CLEAR(clear_module_state->__pyx_d); + Py_CLEAR(clear_module_state->__pyx_b); + Py_CLEAR(clear_module_state->__pyx_cython_runtime); + Py_CLEAR(clear_module_state->__pyx_empty_tuple); + Py_CLEAR(clear_module_state->__pyx_empty_bytes); + Py_CLEAR(clear_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_CLEAR(clear_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_CLEAR(clear_module_state->__pyx_FusedFunctionType); + #endif + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext); + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel); + Py_CLEAR(clear_module_state->__pyx_type_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel); + Py_CLEAR(clear_module_state->__pyx_array_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_array); + Py_CLEAR(clear_module_state->__pyx_MemviewEnum_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_MemviewEnum); + Py_CLEAR(clear_module_state->__pyx_memoryview_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_memoryview); + Py_CLEAR(clear_module_state->__pyx_memoryviewslice_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_memoryviewslice); + Py_CLEAR(clear_module_state->__pyx_kp_u_); + Py_CLEAR(clear_module_state->__pyx_n_s_ASCII); + Py_CLEAR(clear_module_state->__pyx_kp_s_All_dimensions_preceding_dimensi); + Py_CLEAR(clear_module_state->__pyx_n_s_AssertionError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Buffer_view_does_not_expose_stri); + Py_CLEAR(clear_module_state->__pyx_kp_s_Can_only_create_a_buffer_that_is); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_assign_to_read_only_memor); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_create_writable_memory_vi); + Py_CLEAR(clear_module_state->__pyx_kp_u_Cannot_index_with_type); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_transpose_memoryview_with); + Py_CLEAR(clear_module_state->__pyx_kp_s_Dimension_d_is_not_direct); + Py_CLEAR(clear_module_state->__pyx_n_s_Ellipsis); + Py_CLEAR(clear_module_state->__pyx_kp_s_Empty_shape_tuple_for_cython_arr); + Py_CLEAR(clear_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0); + Py_CLEAR(clear_module_state->__pyx_n_s_IndexError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Index_out_of_bounds_axis_d); + Py_CLEAR(clear_module_state->__pyx_kp_s_Indirect_dimensions_not_supporte); + Py_CLEAR(clear_module_state->__pyx_kp_u_Invalid_mode_expected_c_or_fortr); + Py_CLEAR(clear_module_state->__pyx_kp_u_Invalid_shape_in_axis); + Py_CLEAR(clear_module_state->__pyx_n_s_MemoryError); + Py_CLEAR(clear_module_state->__pyx_kp_s_MemoryView_of_r_at_0x_x); + Py_CLEAR(clear_module_state->__pyx_kp_s_MemoryView_of_r_object); + Py_CLEAR(clear_module_state->__pyx_n_b_O); + Py_CLEAR(clear_module_state->__pyx_kp_u_Out_of_bounds_on_buffer_access_a); + Py_CLEAR(clear_module_state->__pyx_n_s_PickleError); + Py_CLEAR(clear_module_state->__pyx_n_s_Sequence); + Py_CLEAR(clear_module_state->__pyx_kp_s_Step_may_not_be_zero_axis_d); + Py_CLEAR(clear_module_state->__pyx_n_s_ThneedModel); + Py_CLEAR(clear_module_state->__pyx_n_s_ThneedModel___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_ThneedModel___setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_TypeError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Unable_to_convert_item_to_object); + Py_CLEAR(clear_module_state->__pyx_n_s_ValueError); + Py_CLEAR(clear_module_state->__pyx_n_s_View_MemoryView); + Py_CLEAR(clear_module_state->__pyx_kp_u__2); + Py_CLEAR(clear_module_state->__pyx_n_s__24); + Py_CLEAR(clear_module_state->__pyx_n_s__3); + Py_CLEAR(clear_module_state->__pyx_kp_u__6); + Py_CLEAR(clear_module_state->__pyx_kp_u__7); + Py_CLEAR(clear_module_state->__pyx_n_s_abc); + Py_CLEAR(clear_module_state->__pyx_n_s_allocate_buffer); + Py_CLEAR(clear_module_state->__pyx_kp_u_and); + Py_CLEAR(clear_module_state->__pyx_n_s_asyncio_coroutines); + Py_CLEAR(clear_module_state->__pyx_n_s_base); + Py_CLEAR(clear_module_state->__pyx_n_s_c); + Py_CLEAR(clear_module_state->__pyx_n_u_c); + Py_CLEAR(clear_module_state->__pyx_n_s_class); + Py_CLEAR(clear_module_state->__pyx_n_s_class_getitem); + Py_CLEAR(clear_module_state->__pyx_n_s_cline_in_traceback); + Py_CLEAR(clear_module_state->__pyx_n_s_collections); + Py_CLEAR(clear_module_state->__pyx_kp_s_collections_abc); + Py_CLEAR(clear_module_state->__pyx_n_s_context); + Py_CLEAR(clear_module_state->__pyx_kp_s_contiguous_and_direct); + Py_CLEAR(clear_module_state->__pyx_kp_s_contiguous_and_indirect); + Py_CLEAR(clear_module_state->__pyx_n_s_count); + Py_CLEAR(clear_module_state->__pyx_n_s_dict); + Py_CLEAR(clear_module_state->__pyx_kp_u_disable); + Py_CLEAR(clear_module_state->__pyx_n_s_dtype_is_object); + Py_CLEAR(clear_module_state->__pyx_kp_u_enable); + Py_CLEAR(clear_module_state->__pyx_n_s_encode); + Py_CLEAR(clear_module_state->__pyx_n_s_enumerate); + Py_CLEAR(clear_module_state->__pyx_n_s_error); + Py_CLEAR(clear_module_state->__pyx_n_s_flags); + Py_CLEAR(clear_module_state->__pyx_n_s_format); + Py_CLEAR(clear_module_state->__pyx_n_s_fortran); + Py_CLEAR(clear_module_state->__pyx_n_u_fortran); + Py_CLEAR(clear_module_state->__pyx_kp_u_gc); + Py_CLEAR(clear_module_state->__pyx_n_s_getstate); + Py_CLEAR(clear_module_state->__pyx_kp_u_got); + Py_CLEAR(clear_module_state->__pyx_kp_u_got_differing_extents_in_dimensi); + Py_CLEAR(clear_module_state->__pyx_n_s_id); + Py_CLEAR(clear_module_state->__pyx_n_s_import); + Py_CLEAR(clear_module_state->__pyx_n_s_index); + Py_CLEAR(clear_module_state->__pyx_n_s_initializing); + Py_CLEAR(clear_module_state->__pyx_n_s_is_coroutine); + Py_CLEAR(clear_module_state->__pyx_kp_u_isenabled); + Py_CLEAR(clear_module_state->__pyx_n_s_itemsize); + Py_CLEAR(clear_module_state->__pyx_kp_s_itemsize_0_for_cython_array); + Py_CLEAR(clear_module_state->__pyx_n_s_main); + Py_CLEAR(clear_module_state->__pyx_n_s_memview); + Py_CLEAR(clear_module_state->__pyx_n_s_mode); + Py_CLEAR(clear_module_state->__pyx_n_s_name); + Py_CLEAR(clear_module_state->__pyx_n_s_name_2); + Py_CLEAR(clear_module_state->__pyx_n_s_ndim); + Py_CLEAR(clear_module_state->__pyx_n_s_new); + Py_CLEAR(clear_module_state->__pyx_kp_s_no_default___reduce___due_to_non); + Py_CLEAR(clear_module_state->__pyx_n_s_obj); + Py_CLEAR(clear_module_state->__pyx_n_s_output); + Py_CLEAR(clear_module_state->__pyx_n_s_pack); + Py_CLEAR(clear_module_state->__pyx_n_s_path); + Py_CLEAR(clear_module_state->__pyx_n_s_pickle); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_PickleError); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_checksum); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_result); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_state); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_type); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_unpickle_Enum); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_vtable); + Py_CLEAR(clear_module_state->__pyx_n_s_range); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_ex); + Py_CLEAR(clear_module_state->__pyx_n_s_register); + Py_CLEAR(clear_module_state->__pyx_n_s_runtime); + Py_CLEAR(clear_module_state->__pyx_n_s_self); + Py_CLEAR(clear_module_state->__pyx_n_s_selfdrive_modeld_runners_thneedm); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_shape); + Py_CLEAR(clear_module_state->__pyx_n_s_size); + Py_CLEAR(clear_module_state->__pyx_n_s_spec); + Py_CLEAR(clear_module_state->__pyx_n_s_start); + Py_CLEAR(clear_module_state->__pyx_n_s_step); + Py_CLEAR(clear_module_state->__pyx_n_s_stop); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_direct); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_direct_or_indirect); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_indirect); + Py_CLEAR(clear_module_state->__pyx_kp_s_stringsource); + Py_CLEAR(clear_module_state->__pyx_n_s_struct); + Py_CLEAR(clear_module_state->__pyx_n_s_sys); + Py_CLEAR(clear_module_state->__pyx_n_s_test); + Py_CLEAR(clear_module_state->__pyx_kp_s_unable_to_allocate_array_data); + Py_CLEAR(clear_module_state->__pyx_kp_s_unable_to_allocate_shape_and_str); + Py_CLEAR(clear_module_state->__pyx_n_s_unpack); + Py_CLEAR(clear_module_state->__pyx_n_s_update); + Py_CLEAR(clear_module_state->__pyx_n_s_use_tf8); + Py_CLEAR(clear_module_state->__pyx_n_s_version_info); + Py_CLEAR(clear_module_state->__pyx_int_0); + Py_CLEAR(clear_module_state->__pyx_int_1); + Py_CLEAR(clear_module_state->__pyx_int_3); + Py_CLEAR(clear_module_state->__pyx_int_112105877); + Py_CLEAR(clear_module_state->__pyx_int_136983863); + Py_CLEAR(clear_module_state->__pyx_int_184977713); + Py_CLEAR(clear_module_state->__pyx_int_neg_1); + Py_CLEAR(clear_module_state->__pyx_slice__5); + Py_CLEAR(clear_module_state->__pyx_tuple__4); + Py_CLEAR(clear_module_state->__pyx_tuple__8); + Py_CLEAR(clear_module_state->__pyx_tuple__9); + Py_CLEAR(clear_module_state->__pyx_tuple__10); + Py_CLEAR(clear_module_state->__pyx_tuple__11); + Py_CLEAR(clear_module_state->__pyx_tuple__12); + Py_CLEAR(clear_module_state->__pyx_tuple__13); + Py_CLEAR(clear_module_state->__pyx_tuple__14); + Py_CLEAR(clear_module_state->__pyx_tuple__15); + Py_CLEAR(clear_module_state->__pyx_tuple__16); + Py_CLEAR(clear_module_state->__pyx_tuple__17); + Py_CLEAR(clear_module_state->__pyx_tuple__18); + Py_CLEAR(clear_module_state->__pyx_tuple__20); + Py_CLEAR(clear_module_state->__pyx_tuple__22); + Py_CLEAR(clear_module_state->__pyx_codeobj__19); + Py_CLEAR(clear_module_state->__pyx_codeobj__21); + Py_CLEAR(clear_module_state->__pyx_codeobj__23); + return 0; +} +#endif +/* #### Code section: module_state_traverse ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_traverse(PyObject *m, visitproc visit, void *arg) { + __pyx_mstate *traverse_module_state = __pyx_mstate(m); + if (!traverse_module_state) return 0; + Py_VISIT(traverse_module_state->__pyx_d); + Py_VISIT(traverse_module_state->__pyx_b); + Py_VISIT(traverse_module_state->__pyx_cython_runtime); + Py_VISIT(traverse_module_state->__pyx_empty_tuple); + Py_VISIT(traverse_module_state->__pyx_empty_bytes); + Py_VISIT(traverse_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_VISIT(traverse_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_VISIT(traverse_module_state->__pyx_FusedFunctionType); + #endif + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext); + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel); + Py_VISIT(traverse_module_state->__pyx_type_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel); + Py_VISIT(traverse_module_state->__pyx_array_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_array); + Py_VISIT(traverse_module_state->__pyx_MemviewEnum_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_MemviewEnum); + Py_VISIT(traverse_module_state->__pyx_memoryview_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_memoryview); + Py_VISIT(traverse_module_state->__pyx_memoryviewslice_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_memoryviewslice); + Py_VISIT(traverse_module_state->__pyx_kp_u_); + Py_VISIT(traverse_module_state->__pyx_n_s_ASCII); + Py_VISIT(traverse_module_state->__pyx_kp_s_All_dimensions_preceding_dimensi); + Py_VISIT(traverse_module_state->__pyx_n_s_AssertionError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Buffer_view_does_not_expose_stri); + Py_VISIT(traverse_module_state->__pyx_kp_s_Can_only_create_a_buffer_that_is); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_assign_to_read_only_memor); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_create_writable_memory_vi); + Py_VISIT(traverse_module_state->__pyx_kp_u_Cannot_index_with_type); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_transpose_memoryview_with); + Py_VISIT(traverse_module_state->__pyx_kp_s_Dimension_d_is_not_direct); + Py_VISIT(traverse_module_state->__pyx_n_s_Ellipsis); + Py_VISIT(traverse_module_state->__pyx_kp_s_Empty_shape_tuple_for_cython_arr); + Py_VISIT(traverse_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0); + Py_VISIT(traverse_module_state->__pyx_n_s_IndexError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Index_out_of_bounds_axis_d); + Py_VISIT(traverse_module_state->__pyx_kp_s_Indirect_dimensions_not_supporte); + Py_VISIT(traverse_module_state->__pyx_kp_u_Invalid_mode_expected_c_or_fortr); + Py_VISIT(traverse_module_state->__pyx_kp_u_Invalid_shape_in_axis); + Py_VISIT(traverse_module_state->__pyx_n_s_MemoryError); + Py_VISIT(traverse_module_state->__pyx_kp_s_MemoryView_of_r_at_0x_x); + Py_VISIT(traverse_module_state->__pyx_kp_s_MemoryView_of_r_object); + Py_VISIT(traverse_module_state->__pyx_n_b_O); + Py_VISIT(traverse_module_state->__pyx_kp_u_Out_of_bounds_on_buffer_access_a); + Py_VISIT(traverse_module_state->__pyx_n_s_PickleError); + Py_VISIT(traverse_module_state->__pyx_n_s_Sequence); + Py_VISIT(traverse_module_state->__pyx_kp_s_Step_may_not_be_zero_axis_d); + Py_VISIT(traverse_module_state->__pyx_n_s_ThneedModel); + Py_VISIT(traverse_module_state->__pyx_n_s_ThneedModel___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_ThneedModel___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_TypeError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Unable_to_convert_item_to_object); + Py_VISIT(traverse_module_state->__pyx_n_s_ValueError); + Py_VISIT(traverse_module_state->__pyx_n_s_View_MemoryView); + Py_VISIT(traverse_module_state->__pyx_kp_u__2); + Py_VISIT(traverse_module_state->__pyx_n_s__24); + Py_VISIT(traverse_module_state->__pyx_n_s__3); + Py_VISIT(traverse_module_state->__pyx_kp_u__6); + Py_VISIT(traverse_module_state->__pyx_kp_u__7); + Py_VISIT(traverse_module_state->__pyx_n_s_abc); + Py_VISIT(traverse_module_state->__pyx_n_s_allocate_buffer); + Py_VISIT(traverse_module_state->__pyx_kp_u_and); + Py_VISIT(traverse_module_state->__pyx_n_s_asyncio_coroutines); + Py_VISIT(traverse_module_state->__pyx_n_s_base); + Py_VISIT(traverse_module_state->__pyx_n_s_c); + Py_VISIT(traverse_module_state->__pyx_n_u_c); + Py_VISIT(traverse_module_state->__pyx_n_s_class); + Py_VISIT(traverse_module_state->__pyx_n_s_class_getitem); + Py_VISIT(traverse_module_state->__pyx_n_s_cline_in_traceback); + Py_VISIT(traverse_module_state->__pyx_n_s_collections); + Py_VISIT(traverse_module_state->__pyx_kp_s_collections_abc); + Py_VISIT(traverse_module_state->__pyx_n_s_context); + Py_VISIT(traverse_module_state->__pyx_kp_s_contiguous_and_direct); + Py_VISIT(traverse_module_state->__pyx_kp_s_contiguous_and_indirect); + Py_VISIT(traverse_module_state->__pyx_n_s_count); + Py_VISIT(traverse_module_state->__pyx_n_s_dict); + Py_VISIT(traverse_module_state->__pyx_kp_u_disable); + Py_VISIT(traverse_module_state->__pyx_n_s_dtype_is_object); + Py_VISIT(traverse_module_state->__pyx_kp_u_enable); + Py_VISIT(traverse_module_state->__pyx_n_s_encode); + Py_VISIT(traverse_module_state->__pyx_n_s_enumerate); + Py_VISIT(traverse_module_state->__pyx_n_s_error); + Py_VISIT(traverse_module_state->__pyx_n_s_flags); + Py_VISIT(traverse_module_state->__pyx_n_s_format); + Py_VISIT(traverse_module_state->__pyx_n_s_fortran); + Py_VISIT(traverse_module_state->__pyx_n_u_fortran); + Py_VISIT(traverse_module_state->__pyx_kp_u_gc); + Py_VISIT(traverse_module_state->__pyx_n_s_getstate); + Py_VISIT(traverse_module_state->__pyx_kp_u_got); + Py_VISIT(traverse_module_state->__pyx_kp_u_got_differing_extents_in_dimensi); + Py_VISIT(traverse_module_state->__pyx_n_s_id); + Py_VISIT(traverse_module_state->__pyx_n_s_import); + Py_VISIT(traverse_module_state->__pyx_n_s_index); + Py_VISIT(traverse_module_state->__pyx_n_s_initializing); + Py_VISIT(traverse_module_state->__pyx_n_s_is_coroutine); + Py_VISIT(traverse_module_state->__pyx_kp_u_isenabled); + Py_VISIT(traverse_module_state->__pyx_n_s_itemsize); + Py_VISIT(traverse_module_state->__pyx_kp_s_itemsize_0_for_cython_array); + Py_VISIT(traverse_module_state->__pyx_n_s_main); + Py_VISIT(traverse_module_state->__pyx_n_s_memview); + Py_VISIT(traverse_module_state->__pyx_n_s_mode); + Py_VISIT(traverse_module_state->__pyx_n_s_name); + Py_VISIT(traverse_module_state->__pyx_n_s_name_2); + Py_VISIT(traverse_module_state->__pyx_n_s_ndim); + Py_VISIT(traverse_module_state->__pyx_n_s_new); + Py_VISIT(traverse_module_state->__pyx_kp_s_no_default___reduce___due_to_non); + Py_VISIT(traverse_module_state->__pyx_n_s_obj); + Py_VISIT(traverse_module_state->__pyx_n_s_output); + Py_VISIT(traverse_module_state->__pyx_n_s_pack); + Py_VISIT(traverse_module_state->__pyx_n_s_path); + Py_VISIT(traverse_module_state->__pyx_n_s_pickle); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_PickleError); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_checksum); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_result); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_state); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_type); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_unpickle_Enum); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_vtable); + Py_VISIT(traverse_module_state->__pyx_n_s_range); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_ex); + Py_VISIT(traverse_module_state->__pyx_n_s_register); + Py_VISIT(traverse_module_state->__pyx_n_s_runtime); + Py_VISIT(traverse_module_state->__pyx_n_s_self); + Py_VISIT(traverse_module_state->__pyx_n_s_selfdrive_modeld_runners_thneedm); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_shape); + Py_VISIT(traverse_module_state->__pyx_n_s_size); + Py_VISIT(traverse_module_state->__pyx_n_s_spec); + Py_VISIT(traverse_module_state->__pyx_n_s_start); + Py_VISIT(traverse_module_state->__pyx_n_s_step); + Py_VISIT(traverse_module_state->__pyx_n_s_stop); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_direct); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_direct_or_indirect); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_indirect); + Py_VISIT(traverse_module_state->__pyx_kp_s_stringsource); + Py_VISIT(traverse_module_state->__pyx_n_s_struct); + Py_VISIT(traverse_module_state->__pyx_n_s_sys); + Py_VISIT(traverse_module_state->__pyx_n_s_test); + Py_VISIT(traverse_module_state->__pyx_kp_s_unable_to_allocate_array_data); + Py_VISIT(traverse_module_state->__pyx_kp_s_unable_to_allocate_shape_and_str); + Py_VISIT(traverse_module_state->__pyx_n_s_unpack); + Py_VISIT(traverse_module_state->__pyx_n_s_update); + Py_VISIT(traverse_module_state->__pyx_n_s_use_tf8); + Py_VISIT(traverse_module_state->__pyx_n_s_version_info); + Py_VISIT(traverse_module_state->__pyx_int_0); + Py_VISIT(traverse_module_state->__pyx_int_1); + Py_VISIT(traverse_module_state->__pyx_int_3); + Py_VISIT(traverse_module_state->__pyx_int_112105877); + Py_VISIT(traverse_module_state->__pyx_int_136983863); + Py_VISIT(traverse_module_state->__pyx_int_184977713); + Py_VISIT(traverse_module_state->__pyx_int_neg_1); + Py_VISIT(traverse_module_state->__pyx_slice__5); + Py_VISIT(traverse_module_state->__pyx_tuple__4); + Py_VISIT(traverse_module_state->__pyx_tuple__8); + Py_VISIT(traverse_module_state->__pyx_tuple__9); + Py_VISIT(traverse_module_state->__pyx_tuple__10); + Py_VISIT(traverse_module_state->__pyx_tuple__11); + Py_VISIT(traverse_module_state->__pyx_tuple__12); + Py_VISIT(traverse_module_state->__pyx_tuple__13); + Py_VISIT(traverse_module_state->__pyx_tuple__14); + Py_VISIT(traverse_module_state->__pyx_tuple__15); + Py_VISIT(traverse_module_state->__pyx_tuple__16); + Py_VISIT(traverse_module_state->__pyx_tuple__17); + Py_VISIT(traverse_module_state->__pyx_tuple__18); + Py_VISIT(traverse_module_state->__pyx_tuple__20); + Py_VISIT(traverse_module_state->__pyx_tuple__22); + Py_VISIT(traverse_module_state->__pyx_codeobj__19); + Py_VISIT(traverse_module_state->__pyx_codeobj__21); + Py_VISIT(traverse_module_state->__pyx_codeobj__23); + return 0; +} +#endif +/* #### Code section: module_state_defines ### */ +#define __pyx_d __pyx_mstate_global->__pyx_d +#define __pyx_b __pyx_mstate_global->__pyx_b +#define __pyx_cython_runtime __pyx_mstate_global->__pyx_cython_runtime +#define __pyx_empty_tuple __pyx_mstate_global->__pyx_empty_tuple +#define __pyx_empty_bytes __pyx_mstate_global->__pyx_empty_bytes +#define __pyx_empty_unicode __pyx_mstate_global->__pyx_empty_unicode +#ifdef __Pyx_CyFunction_USED +#define __pyx_CyFunctionType __pyx_mstate_global->__pyx_CyFunctionType +#endif +#ifdef __Pyx_FusedFunction_USED +#define __pyx_FusedFunctionType __pyx_mstate_global->__pyx_FusedFunctionType +#endif +#ifdef __Pyx_Generator_USED +#define __pyx_GeneratorType __pyx_mstate_global->__pyx_GeneratorType +#endif +#ifdef __Pyx_IterableCoroutine_USED +#define __pyx_IterableCoroutineType __pyx_mstate_global->__pyx_IterableCoroutineType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineAwaitType __pyx_mstate_global->__pyx_CoroutineAwaitType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineType __pyx_mstate_global->__pyx_CoroutineType +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext __pyx_mstate_global->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext +#define __pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf __pyx_mstate_global->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext __pyx_mstate_global->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext +#define __pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem __pyx_mstate_global->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel __pyx_mstate_global->__pyx_ptype_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel +#if CYTHON_USE_MODULE_STATE +#define __pyx_type_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel __pyx_mstate_global->__pyx_type_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel +#define __pyx_type___pyx_array __pyx_mstate_global->__pyx_type___pyx_array +#define __pyx_type___pyx_MemviewEnum __pyx_mstate_global->__pyx_type___pyx_MemviewEnum +#define __pyx_type___pyx_memoryview __pyx_mstate_global->__pyx_type___pyx_memoryview +#define __pyx_type___pyx_memoryviewslice __pyx_mstate_global->__pyx_type___pyx_memoryviewslice +#endif +#define __pyx_ptype_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel __pyx_mstate_global->__pyx_ptype_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel +#define __pyx_array_type __pyx_mstate_global->__pyx_array_type +#define __pyx_MemviewEnum_type __pyx_mstate_global->__pyx_MemviewEnum_type +#define __pyx_memoryview_type __pyx_mstate_global->__pyx_memoryview_type +#define __pyx_memoryviewslice_type __pyx_mstate_global->__pyx_memoryviewslice_type +#define __pyx_kp_u_ __pyx_mstate_global->__pyx_kp_u_ +#define __pyx_n_s_ASCII __pyx_mstate_global->__pyx_n_s_ASCII +#define __pyx_kp_s_All_dimensions_preceding_dimensi __pyx_mstate_global->__pyx_kp_s_All_dimensions_preceding_dimensi +#define __pyx_n_s_AssertionError __pyx_mstate_global->__pyx_n_s_AssertionError +#define __pyx_kp_s_Buffer_view_does_not_expose_stri __pyx_mstate_global->__pyx_kp_s_Buffer_view_does_not_expose_stri +#define __pyx_kp_s_Can_only_create_a_buffer_that_is __pyx_mstate_global->__pyx_kp_s_Can_only_create_a_buffer_that_is +#define __pyx_kp_s_Cannot_assign_to_read_only_memor __pyx_mstate_global->__pyx_kp_s_Cannot_assign_to_read_only_memor +#define __pyx_kp_s_Cannot_create_writable_memory_vi __pyx_mstate_global->__pyx_kp_s_Cannot_create_writable_memory_vi +#define __pyx_kp_u_Cannot_index_with_type __pyx_mstate_global->__pyx_kp_u_Cannot_index_with_type +#define __pyx_kp_s_Cannot_transpose_memoryview_with __pyx_mstate_global->__pyx_kp_s_Cannot_transpose_memoryview_with +#define __pyx_kp_s_Dimension_d_is_not_direct __pyx_mstate_global->__pyx_kp_s_Dimension_d_is_not_direct +#define __pyx_n_s_Ellipsis __pyx_mstate_global->__pyx_n_s_Ellipsis +#define __pyx_kp_s_Empty_shape_tuple_for_cython_arr __pyx_mstate_global->__pyx_kp_s_Empty_shape_tuple_for_cython_arr +#define __pyx_kp_s_Incompatible_checksums_0x_x_vs_0 __pyx_mstate_global->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0 +#define __pyx_n_s_IndexError __pyx_mstate_global->__pyx_n_s_IndexError +#define __pyx_kp_s_Index_out_of_bounds_axis_d __pyx_mstate_global->__pyx_kp_s_Index_out_of_bounds_axis_d +#define __pyx_kp_s_Indirect_dimensions_not_supporte __pyx_mstate_global->__pyx_kp_s_Indirect_dimensions_not_supporte +#define __pyx_kp_u_Invalid_mode_expected_c_or_fortr __pyx_mstate_global->__pyx_kp_u_Invalid_mode_expected_c_or_fortr +#define __pyx_kp_u_Invalid_shape_in_axis __pyx_mstate_global->__pyx_kp_u_Invalid_shape_in_axis +#define __pyx_n_s_MemoryError __pyx_mstate_global->__pyx_n_s_MemoryError +#define __pyx_kp_s_MemoryView_of_r_at_0x_x __pyx_mstate_global->__pyx_kp_s_MemoryView_of_r_at_0x_x +#define __pyx_kp_s_MemoryView_of_r_object __pyx_mstate_global->__pyx_kp_s_MemoryView_of_r_object +#define __pyx_n_b_O __pyx_mstate_global->__pyx_n_b_O +#define __pyx_kp_u_Out_of_bounds_on_buffer_access_a __pyx_mstate_global->__pyx_kp_u_Out_of_bounds_on_buffer_access_a +#define __pyx_n_s_PickleError __pyx_mstate_global->__pyx_n_s_PickleError +#define __pyx_n_s_Sequence __pyx_mstate_global->__pyx_n_s_Sequence +#define __pyx_kp_s_Step_may_not_be_zero_axis_d __pyx_mstate_global->__pyx_kp_s_Step_may_not_be_zero_axis_d +#define __pyx_n_s_ThneedModel __pyx_mstate_global->__pyx_n_s_ThneedModel +#define __pyx_n_s_ThneedModel___reduce_cython __pyx_mstate_global->__pyx_n_s_ThneedModel___reduce_cython +#define __pyx_n_s_ThneedModel___setstate_cython __pyx_mstate_global->__pyx_n_s_ThneedModel___setstate_cython +#define __pyx_n_s_TypeError __pyx_mstate_global->__pyx_n_s_TypeError +#define __pyx_kp_s_Unable_to_convert_item_to_object __pyx_mstate_global->__pyx_kp_s_Unable_to_convert_item_to_object +#define __pyx_n_s_ValueError __pyx_mstate_global->__pyx_n_s_ValueError +#define __pyx_n_s_View_MemoryView __pyx_mstate_global->__pyx_n_s_View_MemoryView +#define __pyx_kp_u__2 __pyx_mstate_global->__pyx_kp_u__2 +#define __pyx_n_s__24 __pyx_mstate_global->__pyx_n_s__24 +#define __pyx_n_s__3 __pyx_mstate_global->__pyx_n_s__3 +#define __pyx_kp_u__6 __pyx_mstate_global->__pyx_kp_u__6 +#define __pyx_kp_u__7 __pyx_mstate_global->__pyx_kp_u__7 +#define __pyx_n_s_abc __pyx_mstate_global->__pyx_n_s_abc +#define __pyx_n_s_allocate_buffer __pyx_mstate_global->__pyx_n_s_allocate_buffer +#define __pyx_kp_u_and __pyx_mstate_global->__pyx_kp_u_and +#define __pyx_n_s_asyncio_coroutines __pyx_mstate_global->__pyx_n_s_asyncio_coroutines +#define __pyx_n_s_base __pyx_mstate_global->__pyx_n_s_base +#define __pyx_n_s_c __pyx_mstate_global->__pyx_n_s_c +#define __pyx_n_u_c __pyx_mstate_global->__pyx_n_u_c +#define __pyx_n_s_class __pyx_mstate_global->__pyx_n_s_class +#define __pyx_n_s_class_getitem __pyx_mstate_global->__pyx_n_s_class_getitem +#define __pyx_n_s_cline_in_traceback __pyx_mstate_global->__pyx_n_s_cline_in_traceback +#define __pyx_n_s_collections __pyx_mstate_global->__pyx_n_s_collections +#define __pyx_kp_s_collections_abc __pyx_mstate_global->__pyx_kp_s_collections_abc +#define __pyx_n_s_context __pyx_mstate_global->__pyx_n_s_context +#define __pyx_kp_s_contiguous_and_direct __pyx_mstate_global->__pyx_kp_s_contiguous_and_direct +#define __pyx_kp_s_contiguous_and_indirect __pyx_mstate_global->__pyx_kp_s_contiguous_and_indirect +#define __pyx_n_s_count __pyx_mstate_global->__pyx_n_s_count +#define __pyx_n_s_dict __pyx_mstate_global->__pyx_n_s_dict +#define __pyx_kp_u_disable __pyx_mstate_global->__pyx_kp_u_disable +#define __pyx_n_s_dtype_is_object __pyx_mstate_global->__pyx_n_s_dtype_is_object +#define __pyx_kp_u_enable __pyx_mstate_global->__pyx_kp_u_enable +#define __pyx_n_s_encode __pyx_mstate_global->__pyx_n_s_encode +#define __pyx_n_s_enumerate __pyx_mstate_global->__pyx_n_s_enumerate +#define __pyx_n_s_error __pyx_mstate_global->__pyx_n_s_error +#define __pyx_n_s_flags __pyx_mstate_global->__pyx_n_s_flags +#define __pyx_n_s_format __pyx_mstate_global->__pyx_n_s_format +#define __pyx_n_s_fortran __pyx_mstate_global->__pyx_n_s_fortran +#define __pyx_n_u_fortran __pyx_mstate_global->__pyx_n_u_fortran +#define __pyx_kp_u_gc __pyx_mstate_global->__pyx_kp_u_gc +#define __pyx_n_s_getstate __pyx_mstate_global->__pyx_n_s_getstate +#define __pyx_kp_u_got __pyx_mstate_global->__pyx_kp_u_got +#define __pyx_kp_u_got_differing_extents_in_dimensi __pyx_mstate_global->__pyx_kp_u_got_differing_extents_in_dimensi +#define __pyx_n_s_id __pyx_mstate_global->__pyx_n_s_id +#define __pyx_n_s_import __pyx_mstate_global->__pyx_n_s_import +#define __pyx_n_s_index __pyx_mstate_global->__pyx_n_s_index +#define __pyx_n_s_initializing __pyx_mstate_global->__pyx_n_s_initializing +#define __pyx_n_s_is_coroutine __pyx_mstate_global->__pyx_n_s_is_coroutine +#define __pyx_kp_u_isenabled __pyx_mstate_global->__pyx_kp_u_isenabled +#define __pyx_n_s_itemsize __pyx_mstate_global->__pyx_n_s_itemsize +#define __pyx_kp_s_itemsize_0_for_cython_array __pyx_mstate_global->__pyx_kp_s_itemsize_0_for_cython_array +#define __pyx_n_s_main __pyx_mstate_global->__pyx_n_s_main +#define __pyx_n_s_memview __pyx_mstate_global->__pyx_n_s_memview +#define __pyx_n_s_mode __pyx_mstate_global->__pyx_n_s_mode +#define __pyx_n_s_name __pyx_mstate_global->__pyx_n_s_name +#define __pyx_n_s_name_2 __pyx_mstate_global->__pyx_n_s_name_2 +#define __pyx_n_s_ndim __pyx_mstate_global->__pyx_n_s_ndim +#define __pyx_n_s_new __pyx_mstate_global->__pyx_n_s_new +#define __pyx_kp_s_no_default___reduce___due_to_non __pyx_mstate_global->__pyx_kp_s_no_default___reduce___due_to_non +#define __pyx_n_s_obj __pyx_mstate_global->__pyx_n_s_obj +#define __pyx_n_s_output __pyx_mstate_global->__pyx_n_s_output +#define __pyx_n_s_pack __pyx_mstate_global->__pyx_n_s_pack +#define __pyx_n_s_path __pyx_mstate_global->__pyx_n_s_path +#define __pyx_n_s_pickle __pyx_mstate_global->__pyx_n_s_pickle +#define __pyx_n_s_pyx_PickleError __pyx_mstate_global->__pyx_n_s_pyx_PickleError +#define __pyx_n_s_pyx_checksum __pyx_mstate_global->__pyx_n_s_pyx_checksum +#define __pyx_n_s_pyx_result __pyx_mstate_global->__pyx_n_s_pyx_result +#define __pyx_n_s_pyx_state __pyx_mstate_global->__pyx_n_s_pyx_state +#define __pyx_n_s_pyx_type __pyx_mstate_global->__pyx_n_s_pyx_type +#define __pyx_n_s_pyx_unpickle_Enum __pyx_mstate_global->__pyx_n_s_pyx_unpickle_Enum +#define __pyx_n_s_pyx_vtable __pyx_mstate_global->__pyx_n_s_pyx_vtable +#define __pyx_n_s_range __pyx_mstate_global->__pyx_n_s_range +#define __pyx_n_s_reduce __pyx_mstate_global->__pyx_n_s_reduce +#define __pyx_n_s_reduce_cython __pyx_mstate_global->__pyx_n_s_reduce_cython +#define __pyx_n_s_reduce_ex __pyx_mstate_global->__pyx_n_s_reduce_ex +#define __pyx_n_s_register __pyx_mstate_global->__pyx_n_s_register +#define __pyx_n_s_runtime __pyx_mstate_global->__pyx_n_s_runtime +#define __pyx_n_s_self __pyx_mstate_global->__pyx_n_s_self +#define __pyx_n_s_selfdrive_modeld_runners_thneedm __pyx_mstate_global->__pyx_n_s_selfdrive_modeld_runners_thneedm +#define __pyx_n_s_setstate __pyx_mstate_global->__pyx_n_s_setstate +#define __pyx_n_s_setstate_cython __pyx_mstate_global->__pyx_n_s_setstate_cython +#define __pyx_n_s_shape __pyx_mstate_global->__pyx_n_s_shape +#define __pyx_n_s_size __pyx_mstate_global->__pyx_n_s_size +#define __pyx_n_s_spec __pyx_mstate_global->__pyx_n_s_spec +#define __pyx_n_s_start __pyx_mstate_global->__pyx_n_s_start +#define __pyx_n_s_step __pyx_mstate_global->__pyx_n_s_step +#define __pyx_n_s_stop __pyx_mstate_global->__pyx_n_s_stop +#define __pyx_kp_s_strided_and_direct __pyx_mstate_global->__pyx_kp_s_strided_and_direct +#define __pyx_kp_s_strided_and_direct_or_indirect __pyx_mstate_global->__pyx_kp_s_strided_and_direct_or_indirect +#define __pyx_kp_s_strided_and_indirect __pyx_mstate_global->__pyx_kp_s_strided_and_indirect +#define __pyx_kp_s_stringsource __pyx_mstate_global->__pyx_kp_s_stringsource +#define __pyx_n_s_struct __pyx_mstate_global->__pyx_n_s_struct +#define __pyx_n_s_sys __pyx_mstate_global->__pyx_n_s_sys +#define __pyx_n_s_test __pyx_mstate_global->__pyx_n_s_test +#define __pyx_kp_s_unable_to_allocate_array_data __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_array_data +#define __pyx_kp_s_unable_to_allocate_shape_and_str __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_shape_and_str +#define __pyx_n_s_unpack __pyx_mstate_global->__pyx_n_s_unpack +#define __pyx_n_s_update __pyx_mstate_global->__pyx_n_s_update +#define __pyx_n_s_use_tf8 __pyx_mstate_global->__pyx_n_s_use_tf8 +#define __pyx_n_s_version_info __pyx_mstate_global->__pyx_n_s_version_info +#define __pyx_int_0 __pyx_mstate_global->__pyx_int_0 +#define __pyx_int_1 __pyx_mstate_global->__pyx_int_1 +#define __pyx_int_3 __pyx_mstate_global->__pyx_int_3 +#define __pyx_int_112105877 __pyx_mstate_global->__pyx_int_112105877 +#define __pyx_int_136983863 __pyx_mstate_global->__pyx_int_136983863 +#define __pyx_int_184977713 __pyx_mstate_global->__pyx_int_184977713 +#define __pyx_int_neg_1 __pyx_mstate_global->__pyx_int_neg_1 +#define __pyx_slice__5 __pyx_mstate_global->__pyx_slice__5 +#define __pyx_tuple__4 __pyx_mstate_global->__pyx_tuple__4 +#define __pyx_tuple__8 __pyx_mstate_global->__pyx_tuple__8 +#define __pyx_tuple__9 __pyx_mstate_global->__pyx_tuple__9 +#define __pyx_tuple__10 __pyx_mstate_global->__pyx_tuple__10 +#define __pyx_tuple__11 __pyx_mstate_global->__pyx_tuple__11 +#define __pyx_tuple__12 __pyx_mstate_global->__pyx_tuple__12 +#define __pyx_tuple__13 __pyx_mstate_global->__pyx_tuple__13 +#define __pyx_tuple__14 __pyx_mstate_global->__pyx_tuple__14 +#define __pyx_tuple__15 __pyx_mstate_global->__pyx_tuple__15 +#define __pyx_tuple__16 __pyx_mstate_global->__pyx_tuple__16 +#define __pyx_tuple__17 __pyx_mstate_global->__pyx_tuple__17 +#define __pyx_tuple__18 __pyx_mstate_global->__pyx_tuple__18 +#define __pyx_tuple__20 __pyx_mstate_global->__pyx_tuple__20 +#define __pyx_tuple__22 __pyx_mstate_global->__pyx_tuple__22 +#define __pyx_codeobj__19 __pyx_mstate_global->__pyx_codeobj__19 +#define __pyx_codeobj__21 __pyx_mstate_global->__pyx_codeobj__21 +#define __pyx_codeobj__23 __pyx_mstate_global->__pyx_codeobj__23 +/* #### Code section: module_code ### */ + +/* "string.from_py":13 + * + * @cname("__pyx_convert_string_from_py_std__in_string") + * cdef string __pyx_convert_string_from_py_std__in_string(object o) except *: # <<<<<<<<<<<<<< + * cdef Py_ssize_t length = 0 + * cdef const char* data = __Pyx_PyObject_AsStringAndSize(o, &length) + */ + +static std::string __pyx_convert_string_from_py_std__in_string(PyObject *__pyx_v_o) { + Py_ssize_t __pyx_v_length; + char const *__pyx_v_data; + std::string __pyx_r; + char const *__pyx_t_1; + std::string __pyx_t_2; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + + /* "string.from_py":14 + * @cname("__pyx_convert_string_from_py_std__in_string") + * cdef string __pyx_convert_string_from_py_std__in_string(object o) except *: + * cdef Py_ssize_t length = 0 # <<<<<<<<<<<<<< + * cdef const char* data = __Pyx_PyObject_AsStringAndSize(o, &length) + * return string(data, length) + */ + __pyx_v_length = 0; + + /* "string.from_py":15 + * cdef string __pyx_convert_string_from_py_std__in_string(object o) except *: + * cdef Py_ssize_t length = 0 + * cdef const char* data = __Pyx_PyObject_AsStringAndSize(o, &length) # <<<<<<<<<<<<<< + * return string(data, length) + * + */ + __pyx_t_1 = __Pyx_PyObject_AsStringAndSize(__pyx_v_o, (&__pyx_v_length)); if (unlikely(__pyx_t_1 == ((char const *)NULL))) __PYX_ERR(0, 15, __pyx_L1_error) + __pyx_v_data = __pyx_t_1; + + /* "string.from_py":16 + * cdef Py_ssize_t length = 0 + * cdef const char* data = __Pyx_PyObject_AsStringAndSize(o, &length) + * return string(data, length) # <<<<<<<<<<<<<< + * + * + */ + try { + __pyx_t_2 = std::string(__pyx_v_data, __pyx_v_length); + } catch(...) { + __Pyx_CppExn2PyErr(); + __PYX_ERR(0, 16, __pyx_L1_error) + } + __pyx_r = __pyx_t_2; + goto __pyx_L0; + + /* "string.from_py":13 + * + * @cname("__pyx_convert_string_from_py_std__in_string") + * cdef string 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start >= shape: + */ + __pyx_t_2 = (__pyx_v_start < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":834 + * start += shape + * if start < 0: + * start = 0 # <<<<<<<<<<<<<< + * elif start >= shape: + * if negative_step: + */ + __pyx_v_start = 0; + + /* "View.MemoryView":833 + * if start < 0: + * start += shape + * if start < 0: # <<<<<<<<<<<<<< + * start = 0 + * elif start >= shape: + */ + } + + /* "View.MemoryView":831 + * + * if have_start: + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if start < 0: + */ + goto __pyx_L9; + } + + /* "View.MemoryView":835 + * if start < 0: + * start = 0 + * elif start >= shape: # <<<<<<<<<<<<<< + * if negative_step: + * start = shape - 1 + */ + __pyx_t_2 = (__pyx_v_start >= __pyx_v_shape); + if (__pyx_t_2) { + + /* "View.MemoryView":836 + * start = 0 + * elif start >= shape: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + if (__pyx_v_negative_step) { + + /* "View.MemoryView":837 + * elif start >= shape: + * if 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(__pyx_v_stop + __pyx_v_shape); + + /* "View.MemoryView":849 + * if stop < 0: + * stop += shape + * if stop < 0: # <<<<<<<<<<<<<< + * stop = 0 + * elif stop > shape: + */ + __pyx_t_2 = (__pyx_v_stop < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":850 + * stop += shape + * if stop < 0: + * stop = 0 # <<<<<<<<<<<<<< + * elif stop > shape: + * stop = shape + */ + __pyx_v_stop = 0; + + /* "View.MemoryView":849 + * if stop < 0: + * stop += shape + * if stop < 0: # <<<<<<<<<<<<<< + * stop = 0 + * elif stop > shape: + */ + } + + /* "View.MemoryView":847 + * + * if have_stop: + * if stop < 0: # <<<<<<<<<<<<<< + * stop += shape + * if stop < 0: + */ + goto __pyx_L14; + } + + /* "View.MemoryView":851 + * if stop < 0: + * stop = 0 + * elif stop > shape: # <<<<<<<<<<<<<< + * stop = shape + * else: + */ + __pyx_t_2 = (__pyx_v_stop > __pyx_v_shape); + if (__pyx_t_2) { + + /* "View.MemoryView":852 + * stop = 0 + * elif stop > shape: + * stop = shape # <<<<<<<<<<<<<< + * else: + * if negative_step: 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range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] # <<<<<<<<<<<<<< + * break + * + */ + __pyx_v_c_stride = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1124 + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] + * break # <<<<<<<<<<<<<< + * + * for i in range(ndim): + */ + goto __pyx_L4_break; + + /* "View.MemoryView":1122 + * + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * c_stride = mslice.strides[i] + * break + */ + } + } + __pyx_L4_break:; + + /* "View.MemoryView":1126 + * break + * + * for i in range(ndim): # <<<<<<<<<<<<<< + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] + */ + __pyx_t_1 = __pyx_v_ndim; + __pyx_t_3 = __pyx_t_1; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_i = __pyx_t_4; + + /* "View.MemoryView":1127 + * + * for i in range(ndim): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * f_stride = mslice.strides[i] + * break + */ + __pyx_t_2 = ((__pyx_v_mslice->shape[__pyx_v_i]) > 1); + if (__pyx_t_2) { + + /* "View.MemoryView":1128 + * for i in range(ndim): + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] # <<<<<<<<<<<<<< + * break + * + */ + __pyx_v_f_stride = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1129 + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] + * break # <<<<<<<<<<<<<< + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): + */ + goto __pyx_L7_break; + + /* "View.MemoryView":1127 + * + * for i in range(ndim): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * f_stride = mslice.strides[i] + * break + */ + } + } + __pyx_L7_break:; + + /* "View.MemoryView":1131 + * break + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< + * return 'C' + * else: + */ + __pyx_t_2 = (abs_py_ssize_t(__pyx_v_c_stride) <= abs_py_ssize_t(__pyx_v_f_stride)); + if (__pyx_t_2) { + + /* "View.MemoryView":1132 + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): + * return 'C' # <<<<<<<<<<<<<< + * else: + * return 'F' + */ + __pyx_r = 'C'; + goto __pyx_L0; + + /* "View.MemoryView":1131 + * break + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< + * return 'C' + * else: + */ + } + + /* "View.MemoryView":1134 + * return 'C' + * else: + * return 'F' # <<<<<<<<<<<<<< + * + * @cython.cdivision(True) + */ + /*else*/ { + __pyx_r = 'F'; + goto __pyx_L0; + } + + /* "View.MemoryView":1113 + * + * @cname('__pyx_get_best_slice_order') + * cdef char get_best_order(__Pyx_memviewslice *mslice, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * """ + * Figure out the best memory access order for a given slice. + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1137 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + +static void _copy_strided_to_strided(char *__pyx_v_src_data, Py_ssize_t *__pyx_v_src_strides, char *__pyx_v_dst_data, Py_ssize_t *__pyx_v_dst_strides, Py_ssize_t *__pyx_v_src_shape, Py_ssize_t *__pyx_v_dst_shape, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + CYTHON_UNUSED Py_ssize_t __pyx_v_src_extent; + Py_ssize_t __pyx_v_dst_extent; + Py_ssize_t __pyx_v_src_stride; + Py_ssize_t __pyx_v_dst_stride; + int __pyx_t_1; + int __pyx_t_2; + Py_ssize_t __pyx_t_3; + Py_ssize_t __pyx_t_4; + Py_ssize_t __pyx_t_5; + + /* "View.MemoryView":1144 + * + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + */ + __pyx_v_src_extent = (__pyx_v_src_shape[0]); + + /* "View.MemoryView":1145 + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] + */ + __pyx_v_dst_extent = (__pyx_v_dst_shape[0]); + + /* "View.MemoryView":1146 + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + */ + __pyx_v_src_stride = (__pyx_v_src_strides[0]); + + /* "View.MemoryView":1147 + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] # <<<<<<<<<<<<<< + * + * if ndim == 1: + */ + __pyx_v_dst_stride = (__pyx_v_dst_strides[0]); + + /* "View.MemoryView":1149 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + __pyx_t_1 = (__pyx_v_ndim == 1); + if (__pyx_t_1) { + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + __pyx_t_2 = (__pyx_v_src_stride > 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + __pyx_t_2 = (__pyx_v_dst_stride > 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + + /* "View.MemoryView":1151 + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + */ + __pyx_t_2 = (((size_t)__pyx_v_src_stride) == __pyx_v_itemsize); + if (__pyx_t_2) { + __pyx_t_2 = (__pyx_v_itemsize == ((size_t)__pyx_v_dst_stride)); + } + __pyx_t_1 = __pyx_t_2; + __pyx_L5_bool_binop_done:; + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + if (__pyx_t_1) { + + /* "View.MemoryView":1152 + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, (__pyx_v_itemsize * __pyx_v_dst_extent))); + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + goto __pyx_L4; + } + + /* "View.MemoryView":1154 + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + */ + /*else*/ { + __pyx_t_3 = __pyx_v_dst_extent; + __pyx_t_4 = __pyx_t_3; + for (__pyx_t_5 = 0; __pyx_t_5 < __pyx_t_4; __pyx_t_5+=1) { + __pyx_v_i = __pyx_t_5; + + /* "View.MemoryView":1155 + * else: + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) # <<<<<<<<<<<<<< + * src_data += src_stride + * dst_data += dst_stride + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, __pyx_v_itemsize)); + + /* "View.MemoryView":1156 + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * else: + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1157 + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L4:; + + /* "View.MemoryView":1149 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1159 + * dst_data += dst_stride + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * _copy_strided_to_strided(src_data, src_strides + 1, + * dst_data, dst_strides + 1, + */ + /*else*/ { + __pyx_t_3 = __pyx_v_dst_extent; + __pyx_t_4 = __pyx_t_3; + for (__pyx_t_5 = 0; __pyx_t_5 < __pyx_t_4; __pyx_t_5+=1) { + __pyx_v_i = __pyx_t_5; + + /* "View.MemoryView":1160 + * else: + * for i in range(dst_extent): + * _copy_strided_to_strided(src_data, src_strides + 1, # <<<<<<<<<<<<<< + * dst_data, dst_strides + 1, + * src_shape + 1, dst_shape + 1, + */ + _copy_strided_to_strided(__pyx_v_src_data, (__pyx_v_src_strides + 1), __pyx_v_dst_data, (__pyx_v_dst_strides + 1), (__pyx_v_src_shape + 1), (__pyx_v_dst_shape + 1), (__pyx_v_ndim - 1), __pyx_v_itemsize); + + /* "View.MemoryView":1164 + * src_shape + 1, dst_shape + 1, + * ndim - 1, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1165 + * ndim - 1, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L3:; + + /* "View.MemoryView":1137 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + + /* function exit code */ +} + +/* "View.MemoryView":1167 + * dst_data += dst_stride + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + */ + +static void copy_strided_to_strided(__Pyx_memviewslice *__pyx_v_src, __Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + + /* "View.MemoryView":1170 + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + * _copy_strided_to_strided(src.data, src.strides, dst.data, dst.strides, # <<<<<<<<<<<<<< + * src.shape, dst.shape, ndim, itemsize) + * + */ + _copy_strided_to_strided(__pyx_v_src->data, __pyx_v_src->strides, __pyx_v_dst->data, __pyx_v_dst->strides, __pyx_v_src->shape, __pyx_v_dst->shape, __pyx_v_ndim, __pyx_v_itemsize); + + /* "View.MemoryView":1167 + * dst_data += dst_stride + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1174 + * + * @cname('__pyx_memoryview_slice_get_size') + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + */ + +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *__pyx_v_src, int __pyx_v_ndim) { + Py_ssize_t __pyx_v_shape; + Py_ssize_t __pyx_v_size; + Py_ssize_t __pyx_r; + Py_ssize_t __pyx_t_1; + Py_ssize_t *__pyx_t_2; + Py_ssize_t *__pyx_t_3; + Py_ssize_t *__pyx_t_4; + + /* "View.MemoryView":1176 + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize # <<<<<<<<<<<<<< + * + * for shape in src.shape[:ndim]: + */ + __pyx_t_1 = __pyx_v_src->memview->view.itemsize; + __pyx_v_size = __pyx_t_1; + + /* "View.MemoryView":1178 + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + * + * for shape in src.shape[:ndim]: # <<<<<<<<<<<<<< + * size *= shape + * + */ + __pyx_t_3 = (__pyx_v_src->shape + __pyx_v_ndim); + for (__pyx_t_4 = __pyx_v_src->shape; __pyx_t_4 < __pyx_t_3; __pyx_t_4++) { + __pyx_t_2 = __pyx_t_4; + __pyx_v_shape = (__pyx_t_2[0]); + + /* "View.MemoryView":1179 + * + * for shape in src.shape[:ndim]: + * size *= shape # <<<<<<<<<<<<<< + * + * return size + */ + __pyx_v_size = (__pyx_v_size * __pyx_v_shape); + } + + /* "View.MemoryView":1181 + * size *= shape + * + * return size # <<<<<<<<<<<<<< + * + * @cname('__pyx_fill_contig_strides_array') + */ + __pyx_r = __pyx_v_size; + goto __pyx_L0; + + /* "View.MemoryView":1174 + * + * @cname('__pyx_memoryview_slice_get_size') + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1184 + * + * @cname('__pyx_fill_contig_strides_array') + * cdef Py_ssize_t fill_contig_strides_array( # <<<<<<<<<<<<<< + * Py_ssize_t *shape, Py_ssize_t *strides, Py_ssize_t stride, + * int ndim, char order) noexcept nogil: + */ + +static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, Py_ssize_t __pyx_v_stride, int __pyx_v_ndim, char __pyx_v_order) { + int __pyx_v_idx; + Py_ssize_t __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1193 + * cdef int idx + * + * if order == 'F': # <<<<<<<<<<<<<< + * for idx in range(ndim): + * strides[idx] = stride + */ + __pyx_t_1 = (__pyx_v_order == 'F'); + if (__pyx_t_1) { + + /* "View.MemoryView":1194 + * + * if order == 'F': + * for idx in range(ndim): # <<<<<<<<<<<<<< + * strides[idx] = stride + * stride *= shape[idx] + */ + __pyx_t_2 = __pyx_v_ndim; + __pyx_t_3 = __pyx_t_2; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_idx = __pyx_t_4; + + /* "View.MemoryView":1195 + * if order == 'F': + * for idx in range(ndim): + * strides[idx] = stride # <<<<<<<<<<<<<< + * stride *= shape[idx] + * else: + */ + (__pyx_v_strides[__pyx_v_idx]) = __pyx_v_stride; + + /* "View.MemoryView":1196 + * for idx in range(ndim): + * strides[idx] = stride + * stride *= shape[idx] # <<<<<<<<<<<<<< + * else: + * for idx in range(ndim - 1, -1, -1): + */ + __pyx_v_stride = (__pyx_v_stride * (__pyx_v_shape[__pyx_v_idx])); + } + + /* "View.MemoryView":1193 + * cdef int idx + * + * if order == 'F': # <<<<<<<<<<<<<< + * for idx in range(ndim): + * strides[idx] = stride + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1198 + * stride *= shape[idx] + * else: + * for idx in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * strides[idx] = stride + * stride *= shape[idx] + */ + /*else*/ { + for (__pyx_t_2 = (__pyx_v_ndim - 1); __pyx_t_2 > -1; __pyx_t_2-=1) { + __pyx_v_idx = __pyx_t_2; + + /* "View.MemoryView":1199 + * else: + * for idx in range(ndim - 1, -1, -1): + * strides[idx] = stride # <<<<<<<<<<<<<< + * stride *= shape[idx] + * + */ + (__pyx_v_strides[__pyx_v_idx]) = __pyx_v_stride; + + /* "View.MemoryView":1200 + * for idx in range(ndim - 1, -1, -1): + * strides[idx] = stride + * stride *= shape[idx] # <<<<<<<<<<<<<< + * + * return stride + */ + __pyx_v_stride = (__pyx_v_stride * (__pyx_v_shape[__pyx_v_idx])); + } + } + __pyx_L3:; + + /* "View.MemoryView":1202 + * stride *= shape[idx] + * + * return stride # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_copy_data_to_temp') + */ + __pyx_r = __pyx_v_stride; + goto __pyx_L0; + + /* "View.MemoryView":1184 + * + * @cname('__pyx_fill_contig_strides_array') + * cdef Py_ssize_t fill_contig_strides_array( # <<<<<<<<<<<<<< + * Py_ssize_t *shape, Py_ssize_t *strides, Py_ssize_t stride, + * int ndim, char order) noexcept nogil: + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1205 + * + * @cname('__pyx_memoryview_copy_data_to_temp') + * cdef void *copy_data_to_temp(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *tmpslice, + * char order, + */ + +static void *__pyx_memoryview_copy_data_to_temp(__Pyx_memviewslice *__pyx_v_src, __Pyx_memviewslice *__pyx_v_tmpslice, char __pyx_v_order, int __pyx_v_ndim) { + int __pyx_v_i; + void *__pyx_v_result; + size_t __pyx_v_itemsize; + size_t __pyx_v_size; + void *__pyx_r; + Py_ssize_t __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + struct __pyx_memoryview_obj *__pyx_t_4; + int __pyx_t_5; + int __pyx_t_6; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save; + #endif + + /* "View.MemoryView":1216 + * cdef void *result + * + * cdef size_t itemsize = src.memview.view.itemsize # <<<<<<<<<<<<<< + * cdef size_t size = slice_get_size(src, ndim) + * + */ + __pyx_t_1 = __pyx_v_src->memview->view.itemsize; + __pyx_v_itemsize = __pyx_t_1; + + /* "View.MemoryView":1217 + * + * cdef size_t itemsize = src.memview.view.itemsize + * cdef size_t size = slice_get_size(src, ndim) # <<<<<<<<<<<<<< + * + * result = malloc(size) + */ + __pyx_v_size = __pyx_memoryview_slice_get_size(__pyx_v_src, __pyx_v_ndim); + + /* "View.MemoryView":1219 + * cdef size_t size = slice_get_size(src, ndim) + * + * result = malloc(size) # <<<<<<<<<<<<<< + * if not result: + * _err_no_memory() + */ + __pyx_v_result = malloc(__pyx_v_size); + + /* "View.MemoryView":1220 + * + * result = malloc(size) + * if not result: # <<<<<<<<<<<<<< + * _err_no_memory() + * + */ + __pyx_t_2 = (!(__pyx_v_result != 0)); + if (__pyx_t_2) { + + /* "View.MemoryView":1221 + * result = malloc(size) + * if not result: + * _err_no_memory() # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_3 = __pyx_memoryview_err_no_memory(); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(0, 1221, __pyx_L1_error) + + /* "View.MemoryView":1220 + * + * result = malloc(size) + * if not result: # <<<<<<<<<<<<<< + * _err_no_memory() + * + */ + } + + /* "View.MemoryView":1224 + * + * + * tmpslice.data = result # 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* elif dst_ndim < src_ndim: + */ + __pyx_t_2 = (__pyx_v_src_ndim < __pyx_v_dst_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1282 + * + * if src_ndim < dst_ndim: + * broadcast_leading(&src, src_ndim, dst_ndim) # <<<<<<<<<<<<<< + * elif dst_ndim < src_ndim: + * broadcast_leading(&dst, dst_ndim, src_ndim) + */ + __pyx_memoryview_broadcast_leading((&__pyx_v_src), __pyx_v_src_ndim, __pyx_v_dst_ndim); + + /* "View.MemoryView":1281 + * cdef __Pyx_memviewslice tmp + * + * if src_ndim < dst_ndim: # <<<<<<<<<<<<<< + * broadcast_leading(&src, src_ndim, dst_ndim) + * elif dst_ndim < src_ndim: + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1283 + * if src_ndim < dst_ndim: + * broadcast_leading(&src, src_ndim, dst_ndim) + * elif dst_ndim < src_ndim: # <<<<<<<<<<<<<< + * broadcast_leading(&dst, dst_ndim, src_ndim) + * + */ + __pyx_t_2 = (__pyx_v_dst_ndim < __pyx_v_src_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1284 + * broadcast_leading(&src, src_ndim, dst_ndim) + * elif dst_ndim < src_ndim: + * broadcast_leading(&dst, dst_ndim, src_ndim) # <<<<<<<<<<<<<< + * + * cdef int ndim = max(src_ndim, dst_ndim) + */ + __pyx_memoryview_broadcast_leading((&__pyx_v_dst), __pyx_v_dst_ndim, __pyx_v_src_ndim); + + /* "View.MemoryView":1283 + * if src_ndim < dst_ndim: + * broadcast_leading(&src, src_ndim, dst_ndim) + * elif dst_ndim < src_ndim: # <<<<<<<<<<<<<< + * broadcast_leading(&dst, dst_ndim, src_ndim) + * + */ + } + __pyx_L3:; + + /* "View.MemoryView":1286 + * broadcast_leading(&dst, dst_ndim, src_ndim) + * + * cdef int ndim = max(src_ndim, dst_ndim) # <<<<<<<<<<<<<< + * + * for i in range(ndim): + */ + __pyx_t_3 = __pyx_v_dst_ndim; + __pyx_t_4 = __pyx_v_src_ndim; + __pyx_t_2 = (__pyx_t_3 > __pyx_t_4); + if (__pyx_t_2) { + __pyx_t_5 = __pyx_t_3; + } else { + __pyx_t_5 = __pyx_t_4; + } + __pyx_v_ndim = __pyx_t_5; + + /* "View.MemoryView":1288 + * cdef int ndim = max(src_ndim, dst_ndim) + * + * for i in range(ndim): # <<<<<<<<<<<<<< + * if src.shape[i] != dst.shape[i]: + * if src.shape[i] == 1: + */ + __pyx_t_5 = __pyx_v_ndim; + __pyx_t_3 = __pyx_t_5; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_i = __pyx_t_4; + + /* "View.MemoryView":1289 + * + * for i in range(ndim): + * if src.shape[i] != dst.shape[i]: # <<<<<<<<<<<<<< + * if src.shape[i] == 1: + * broadcasting = True + */ + __pyx_t_2 = ((__pyx_v_src.shape[__pyx_v_i]) != (__pyx_v_dst.shape[__pyx_v_i])); + if (__pyx_t_2) { + + /* "View.MemoryView":1290 + * for i in range(ndim): + * if src.shape[i] != dst.shape[i]: + * if src.shape[i] == 1: # <<<<<<<<<<<<<< + * broadcasting = True + * src.strides[i] = 0 + */ + __pyx_t_2 = ((__pyx_v_src.shape[__pyx_v_i]) == 1); + if (__pyx_t_2) { + + /* "View.MemoryView":1291 + * if src.shape[i] != dst.shape[i]: + * if src.shape[i] == 1: + * broadcasting = True # <<<<<<<<<<<<<< + * src.strides[i] = 0 + * else: + */ + __pyx_v_broadcasting = 1; + + /* "View.MemoryView":1292 + * if src.shape[i] == 1: + * broadcasting = True + * src.strides[i] = 0 # <<<<<<<<<<<<<< + * else: + * _err_extents(i, dst.shape[i], src.shape[i]) + */ + (__pyx_v_src.strides[__pyx_v_i]) = 0; + + /* "View.MemoryView":1290 + * for i in range(ndim): + * if src.shape[i] != dst.shape[i]: + * if src.shape[i] == 1: # <<<<<<<<<<<<<< + * broadcasting = True + * src.strides[i] = 0 + */ + goto __pyx_L7; + } + + /* "View.MemoryView":1294 + * src.strides[i] = 0 + * else: + * _err_extents(i, dst.shape[i], src.shape[i]) # <<<<<<<<<<<<<< + * + * if src.suboffsets[i] >= 0: + */ + /*else*/ { + __pyx_t_6 = __pyx_memoryview_err_extents(__pyx_v_i, (__pyx_v_dst.shape[__pyx_v_i]), (__pyx_v_src.shape[__pyx_v_i])); if (unlikely(__pyx_t_6 == ((int)-1))) __PYX_ERR(0, 1294, __pyx_L1_error) + } + __pyx_L7:; + + /* "View.MemoryView":1289 + * + * for i in range(ndim): + * if src.shape[i] != dst.shape[i]: # <<<<<<<<<<<<<< + * if src.shape[i] == 1: + * broadcasting = True + */ + } + + /* "View.MemoryView":1296 + * _err_extents(i, dst.shape[i], src.shape[i]) + * + * if src.suboffsets[i] >= 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) + * + */ + __pyx_t_2 = ((__pyx_v_src.suboffsets[__pyx_v_i]) >= 0); + if (__pyx_t_2) { + + /* "View.MemoryView":1297 + * + * if src.suboffsets[i] >= 0: + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) # <<<<<<<<<<<<<< + * + * if slices_overlap(&src, &dst, ndim, itemsize): + */ + __pyx_t_6 = __pyx_memoryview_err_dim(PyExc_ValueError, __pyx_kp_s_Dimension_d_is_not_direct, __pyx_v_i); if (unlikely(__pyx_t_6 == ((int)-1))) __PYX_ERR(0, 1297, __pyx_L1_error) + + /* "View.MemoryView":1296 + * _err_extents(i, dst.shape[i], src.shape[i]) + * + * if src.suboffsets[i] >= 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) + * + */ + } + } + + /* "View.MemoryView":1299 + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) + * + * if slices_overlap(&src, &dst, ndim, itemsize): # <<<<<<<<<<<<<< + * + * if not slice_is_contig(src, order, ndim): + */ + __pyx_t_2 = __pyx_slices_overlap((&__pyx_v_src), (&__pyx_v_dst), __pyx_v_ndim, __pyx_v_itemsize); + if (__pyx_t_2) { + + /* "View.MemoryView":1301 + * if slices_overlap(&src, &dst, ndim, itemsize): + * + * if not slice_is_contig(src, order, ndim): # <<<<<<<<<<<<<< + * order = get_best_order(&dst, ndim) + * + */ + __pyx_t_2 = (!__pyx_memviewslice_is_contig(__pyx_v_src, __pyx_v_order, __pyx_v_ndim)); + if (__pyx_t_2) { + + /* "View.MemoryView":1302 + * + * if not slice_is_contig(src, order, ndim): + * order = get_best_order(&dst, ndim) # <<<<<<<<<<<<<< + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) + */ + __pyx_v_order = __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim); + + /* "View.MemoryView":1301 + * if slices_overlap(&src, &dst, ndim, itemsize): + * + * if not slice_is_contig(src, order, ndim): # <<<<<<<<<<<<<< + * order = get_best_order(&dst, ndim) + * + */ + } + + /* "View.MemoryView":1304 + * order = get_best_order(&dst, ndim) + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) # <<<<<<<<<<<<<< + * src = tmp + * + */ + __pyx_t_7 = __pyx_memoryview_copy_data_to_temp((&__pyx_v_src), (&__pyx_v_tmp), __pyx_v_order, __pyx_v_ndim); if (unlikely(__pyx_t_7 == ((void *)NULL))) __PYX_ERR(0, 1304, __pyx_L1_error) + __pyx_v_tmpdata = __pyx_t_7; + + /* "View.MemoryView":1305 + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) + * src = tmp # <<<<<<<<<<<<<< + * + * if not broadcasting: + */ + __pyx_v_src = __pyx_v_tmp; + + /* "View.MemoryView":1299 + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) + * + * if slices_overlap(&src, &dst, ndim, itemsize): # <<<<<<<<<<<<<< + * + * if not slice_is_contig(src, order, ndim): + */ + } + + /* "View.MemoryView":1307 + * src = tmp + * + * if not broadcasting: # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_2 = (!__pyx_v_broadcasting); + if (__pyx_t_2) { + + /* "View.MemoryView":1310 + * + * + * if slice_is_contig(src, 'C', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + */ + __pyx_t_2 = __pyx_memviewslice_is_contig(__pyx_v_src, 'C', __pyx_v_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1311 + * + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) # <<<<<<<<<<<<<< + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'C', __pyx_v_ndim); + + /* "View.MemoryView":1310 + * + * + * if slice_is_contig(src, 'C', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + */ + goto __pyx_L12; + } + + /* "View.MemoryView":1312 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + __pyx_t_2 = __pyx_memviewslice_is_contig(__pyx_v_src, 'F', __pyx_v_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1313 + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) # <<<<<<<<<<<<<< + * + * if direct_copy: + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'F', __pyx_v_ndim); + + /* "View.MemoryView":1312 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + } + __pyx_L12:; + + /* "View.MemoryView":1315 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + if (__pyx_v_direct_copy) { + + /* "View.MemoryView":1317 + * if direct_copy: + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1318 + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) + */ + (void)(memcpy(__pyx_v_dst.data, __pyx_v_src.data, __pyx_memoryview_slice_get_size((&__pyx_v_src), __pyx_v_ndim))); + + /* "View.MemoryView":1319 + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * free(tmpdata) + * return 0 + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1320 + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1321 + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * if order == 'F' == get_best_order(&dst, ndim): + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1315 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + } + + /* "View.MemoryView":1307 + * src = tmp + * + * if not broadcasting: # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1323 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_2 = (__pyx_v_order == 'F'); + if (__pyx_t_2) { + __pyx_t_2 = ('F' == __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim)); + } + if (__pyx_t_2) { + + /* "View.MemoryView":1326 + * + * + * transpose_memslice(&src) # <<<<<<<<<<<<<< + * transpose_memslice(&dst) + * + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_src)); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(0, 1326, __pyx_L1_error) + + /* "View.MemoryView":1327 + * + * transpose_memslice(&src) + * transpose_memslice(&dst) # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_dst)); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(0, 1327, __pyx_L1_error) + + /* "View.MemoryView":1323 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1329 + * transpose_memslice(&dst) + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1330 + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * + */ + copy_strided_to_strided((&__pyx_v_src), (&__pyx_v_dst), __pyx_v_ndim, __pyx_v_itemsize); + + /* "View.MemoryView":1331 + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * + * free(tmpdata) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1333 + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1334 + * + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_broadcast_leading') + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1265 + * + * @cname('__pyx_memoryview_copy_contents') + * cdef int memoryview_copy_contents(__Pyx_memviewslice src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice dst, + * int src_ndim, int dst_ndim, + */ + + /* function exit code */ + __pyx_L1_error:; + #ifdef WITH_THREAD + __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + __Pyx_AddTraceback("View.MemoryView.memoryview_copy_contents", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = -1; + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1337 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) noexcept nogil: + */ + +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *__pyx_v_mslice, int __pyx_v_ndim, int __pyx_v_ndim_other) { + int __pyx_v_i; + int __pyx_v_offset; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + + /* "View.MemoryView":1341 + * int ndim_other) noexcept nogil: + * cdef int i + * cdef int offset = ndim_other - ndim # <<<<<<<<<<<<<< + * + * for i in range(ndim - 1, -1, -1): + */ + __pyx_v_offset = (__pyx_v_ndim_other - __pyx_v_ndim); + + /* "View.MemoryView":1343 + * cdef int offset = ndim_other - ndim + * + * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + */ + for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { + __pyx_v_i = __pyx_t_1; + + /* "View.MemoryView":1344 + * + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] # <<<<<<<<<<<<<< + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + */ + (__pyx_v_mslice->shape[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->shape[__pyx_v_i]); + + /* "View.MemoryView":1345 + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] # <<<<<<<<<<<<<< + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + */ + (__pyx_v_mslice->strides[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1346 + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] # <<<<<<<<<<<<<< + * + * for i in range(offset): + */ + (__pyx_v_mslice->suboffsets[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->suboffsets[__pyx_v_i]); + } + + /* "View.MemoryView":1348 + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + * for i in range(offset): # <<<<<<<<<<<<<< + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + */ + __pyx_t_1 = __pyx_v_offset; + __pyx_t_2 = __pyx_t_1; + for (__pyx_t_3 = 0; __pyx_t_3 < __pyx_t_2; __pyx_t_3+=1) { + __pyx_v_i = __pyx_t_3; + + /* "View.MemoryView":1349 + * + * for i in range(offset): + * mslice.shape[i] = 1 # <<<<<<<<<<<<<< + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 + */ + (__pyx_v_mslice->shape[__pyx_v_i]) = 1; + + /* "View.MemoryView":1350 + * for i in range(offset): + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] # <<<<<<<<<<<<<< + * mslice.suboffsets[i] = -1 + * + */ + (__pyx_v_mslice->strides[__pyx_v_i]) = (__pyx_v_mslice->strides[0]); + + /* "View.MemoryView":1351 + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 # <<<<<<<<<<<<<< + * + * + */ + (__pyx_v_mslice->suboffsets[__pyx_v_i]) = -1L; + } + + /* "View.MemoryView":1337 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1359 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: # <<<<<<<<<<<<<< + * + * if dtype_is_object: + */ + +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_dtype_is_object, int __pyx_v_ndim, int __pyx_v_inc) { + + /* "View.MemoryView":1361 + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) + * + */ + if (__pyx_v_dtype_is_object) { + + /* "View.MemoryView":1362 + * + * if dtype_is_object: + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + */ + __pyx_memoryview_refcount_objects_in_slice_with_gil(__pyx_v_dst->data, __pyx_v_dst->shape, __pyx_v_dst->strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1361 + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) + * + */ + } + + /* "View.MemoryView":1359 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: # <<<<<<<<<<<<<< + * + * if dtype_is_object: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1365 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + * cdef void refcount_objects_in_slice_with_gil(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + */ + +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, int __pyx_v_inc) { + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + + /* "View.MemoryView":1368 + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + * refcount_objects_in_slice(data, shape, strides, ndim, inc) # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + */ + __pyx_memoryview_refcount_objects_in_slice(__pyx_v_data, __pyx_v_shape, __pyx_v_strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1365 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + * cdef void refcount_objects_in_slice_with_gil(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + */ + + /* function exit code */ + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif +} + +/* "View.MemoryView":1371 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + * cdef void refcount_objects_in_slice(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + */ + +static void __pyx_memoryview_refcount_objects_in_slice(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, int __pyx_v_inc) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + Py_ssize_t __pyx_v_stride; + Py_ssize_t __pyx_t_1; + Py_ssize_t __pyx_t_2; + Py_ssize_t __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1374 + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + * cdef Py_ssize_t stride = strides[0] # <<<<<<<<<<<<<< + * + * for i in range(shape[0]): + */ + __pyx_v_stride = (__pyx_v_strides[0]); + + /* "View.MemoryView":1376 + * cdef Py_ssize_t stride = strides[0] + * + * for i in range(shape[0]): # <<<<<<<<<<<<<< + * if ndim == 1: + * if inc: + */ + 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refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) + */ + /*else*/ { + Py_DECREF((((PyObject **)__pyx_v_data)[0])); + } + __pyx_L6:; + + /* "View.MemoryView":1377 + * + * for i in range(shape[0]): + * if ndim == 1: # <<<<<<<<<<<<<< + * if inc: + * Py_INCREF(( data)[0]) + */ + goto __pyx_L5; + } + + /* "View.MemoryView":1383 + * Py_DECREF(( data)[0]) + * else: + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) # <<<<<<<<<<<<<< + * + * data += stride + */ + /*else*/ { + __pyx_memoryview_refcount_objects_in_slice(__pyx_v_data, (__pyx_v_shape + 1), (__pyx_v_strides + 1), (__pyx_v_ndim - 1), __pyx_v_inc); + } + __pyx_L5:; + + /* "View.MemoryView":1385 + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) + * + * data += stride # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_data = (__pyx_v_data + __pyx_v_stride); + } + + /* "View.MemoryView":1371 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + * cdef void refcount_objects_in_slice(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + */ + + /* function exit code */ +} + +/* "View.MemoryView":1391 + * + * @cname('__pyx_memoryview_slice_assign_scalar') + * cdef void slice_assign_scalar(__Pyx_memviewslice *dst, int ndim, # <<<<<<<<<<<<<< + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + */ + +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize, void *__pyx_v_item, int __pyx_v_dtype_is_object) { + + /* "View.MemoryView":1394 + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + * refcount_copying(dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) + * refcount_copying(dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying(__pyx_v_dst, __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1395 + * bint dtype_is_object) noexcept nogil: + * refcount_copying(dst, dtype_is_object, ndim, inc=False) + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) # <<<<<<<<<<<<<< + * refcount_copying(dst, dtype_is_object, ndim, inc=True) + * + */ + __pyx_memoryview__slice_assign_scalar(__pyx_v_dst->data, __pyx_v_dst->shape, __pyx_v_dst->strides, __pyx_v_ndim, __pyx_v_itemsize, __pyx_v_item); + + /* "View.MemoryView":1396 + * refcount_copying(dst, dtype_is_object, ndim, inc=False) + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) + * refcount_copying(dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * + * + */ + __pyx_memoryview_refcount_copying(__pyx_v_dst, __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1391 + * + * @cname('__pyx_memoryview_slice_assign_scalar') + * cdef void slice_assign_scalar(__Pyx_memviewslice *dst, int ndim, # <<<<<<<<<<<<<< + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1400 + * + * @cname('__pyx_memoryview__slice_assign_scalar') + * cdef void _slice_assign_scalar(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * size_t itemsize, void *item) noexcept nogil: + */ + +static void __pyx_memoryview__slice_assign_scalar(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, size_t __pyx_v_itemsize, void *__pyx_v_item) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + Py_ssize_t __pyx_v_stride; + Py_ssize_t __pyx_v_extent; + int __pyx_t_1; + Py_ssize_t __pyx_t_2; + Py_ssize_t __pyx_t_3; + Py_ssize_t __pyx_t_4; + + /* "View.MemoryView":1404 + * size_t itemsize, void *item) noexcept nogil: + * cdef Py_ssize_t i + * cdef Py_ssize_t stride = strides[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t extent = shape[0] + * + */ + __pyx_v_stride = (__pyx_v_strides[0]); + + /* "View.MemoryView":1405 + * cdef Py_ssize_t i + * cdef Py_ssize_t stride = strides[0] + * cdef Py_ssize_t extent = shape[0] # <<<<<<<<<<<<<< + * + * if ndim == 1: + */ + __pyx_v_extent = (__pyx_v_shape[0]); + + /* "View.MemoryView":1407 + * cdef Py_ssize_t extent = shape[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * for i in range(extent): + * memcpy(data, item, itemsize) + */ + __pyx_t_1 = (__pyx_v_ndim == 1); + if (__pyx_t_1) { + + /* "View.MemoryView":1408 + * + * if ndim == 1: + * for i in range(extent): # <<<<<<<<<<<<<< + * memcpy(data, item, itemsize) + * data += stride + */ + __pyx_t_2 = __pyx_v_extent; + __pyx_t_3 = __pyx_t_2; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_i = __pyx_t_4; + + /* "View.MemoryView":1409 + * if ndim == 1: + * for i in range(extent): + * memcpy(data, item, itemsize) # <<<<<<<<<<<<<< + * data += stride + * else: + */ + (void)(memcpy(__pyx_v_data, __pyx_v_item, __pyx_v_itemsize)); + + /* 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if (likely((values[0] = __Pyx_GetKwValue_FASTCALL(__pyx_kwds, __pyx_kwvalues, __pyx_n_s_pyx_type)) != 0)) { + (void)__Pyx_Arg_NewRef_FASTCALL(values[0]); + kw_args--; + } + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 1, __pyx_L3_error) + else goto __pyx_L5_argtuple_error; + CYTHON_FALLTHROUGH; + case 1: + if (likely((values[1] = __Pyx_GetKwValue_FASTCALL(__pyx_kwds, __pyx_kwvalues, __pyx_n_s_pyx_checksum)) != 0)) { + (void)__Pyx_Arg_NewRef_FASTCALL(values[1]); + kw_args--; + } + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 1, __pyx_L3_error) + else { + __Pyx_RaiseArgtupleInvalid("__pyx_unpickle_Enum", 1, 3, 3, 1); __PYX_ERR(0, 1, __pyx_L3_error) + } + CYTHON_FALLTHROUGH; + case 2: + if (likely((values[2] = __Pyx_GetKwValue_FASTCALL(__pyx_kwds, __pyx_kwvalues, __pyx_n_s_pyx_state)) != 0)) { + (void)__Pyx_Arg_NewRef_FASTCALL(values[2]); + kw_args--; + } + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 1, __pyx_L3_error) + else { + 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PyMethodDef __pyx_methods_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_6modeld_7runners_15thneedmodel_pyx_11ThneedModel_3__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_6modeld_7runners_15thneedmodel_pyx_11ThneedModel_5__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel_slots[] = { + {Py_tp_methods, (void *)__pyx_methods_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel}, + {Py_tp_new, (void *)__pyx_tp_new_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel}, + {0, 0}, +}; +static PyType_Spec __pyx_type_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel_spec = { + "selfdrive.modeld.runners.thneedmodel_pyx.ThneedModel", + sizeof(struct __pyx_obj_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_FINALIZE, + __pyx_type_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel_slots, +}; +#else + +static PyTypeObject __pyx_type_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.modeld.runners.thneedmodel_pyx.""ThneedModel", /*tp_name*/ + sizeof(struct __pyx_obj_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + 0, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_FINALIZE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_array __pyx_vtable_array; + +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_array_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_array_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_array; + p->mode = ((PyObject*)Py_None); Py_INCREF(Py_None); + p->_format = ((PyObject*)Py_None); Py_INCREF(Py_None); + if (unlikely(__pyx_array___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_array(PyObject *o) { + struct __pyx_array_obj *p = (struct __pyx_array_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_array) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_array___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->mode); + Py_CLEAR(p->_format); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} +static PyObject *__pyx_sq_item_array(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_array(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_array___setitem__(o, i, v); + } + else { + __Pyx_TypeName o_type_name; + o_type_name = __Pyx_PyType_GetName(Py_TYPE(o)); + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by " __Pyx_FMT_TYPENAME, o_type_name); + __Pyx_DECREF_TypeName(o_type_name); + return -1; + } +} + +static PyObject *__pyx_tp_getattro_array(PyObject *o, PyObject *n) { + PyObject *v = __Pyx_PyObject_GenericGetAttr(o, n); + if (!v && PyErr_ExceptionMatches(PyExc_AttributeError)) { + PyErr_Clear(); + v = __pyx_array___getattr__(o, n); + } + return v; +} + +static PyObject *__pyx_getprop___pyx_array_memview(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_5array_7memview_1__get__(o); +} + +static PyMethodDef __pyx_methods_array[] = { + {"__getattr__", (PyCFunction)__pyx_array___getattr__, METH_O|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_array_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_array_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_array[] = { + {(char *)"memview", __pyx_getprop___pyx_array_memview, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +#if !CYTHON_COMPILING_IN_LIMITED_API + +static PyBufferProcs __pyx_tp_as_buffer_array = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_array_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; +#endif +static PyType_Slot __pyx_type___pyx_array_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_array}, + {Py_sq_length, (void *)__pyx_array___len__}, + {Py_sq_item, (void *)__pyx_sq_item_array}, + {Py_mp_length, (void *)__pyx_array___len__}, + {Py_mp_subscript, (void *)__pyx_array___getitem__}, + {Py_mp_ass_subscript, (void *)__pyx_mp_ass_subscript_array}, + {Py_tp_getattro, (void *)__pyx_tp_getattro_array}, + #if defined(Py_bf_getbuffer) + {Py_bf_getbuffer, (void *)__pyx_array_getbuffer}, + #endif + {Py_tp_methods, (void *)__pyx_methods_array}, + {Py_tp_getset, (void *)__pyx_getsets_array}, + {Py_tp_new, (void *)__pyx_tp_new_array}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_array_spec = { + "selfdrive.modeld.runners.thneedmodel_pyx.array", + sizeof(struct __pyx_array_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_SEQUENCE, + __pyx_type___pyx_array_slots, +}; +#else + +static PySequenceMethods __pyx_tp_as_sequence_array = { + __pyx_array___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_array, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_array = { + __pyx_array___len__, /*mp_length*/ + __pyx_array___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_array, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_array = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_array_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_array = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.modeld.runners.thneedmodel_pyx.""array", /*tp_name*/ + sizeof(struct __pyx_array_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_array, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_array, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_array, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + __pyx_tp_getattro_array, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_array, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_SEQUENCE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_array, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_array, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_array, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + struct __pyx_MemviewEnum_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_MemviewEnum_obj *)o); + p->name = Py_None; Py_INCREF(Py_None); + return o; +} + +static void __pyx_tp_dealloc_Enum(PyObject *o) { + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_Enum) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + Py_CLEAR(p->name); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_Enum(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + if (p->name) { + e = (*v)(p->name, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_Enum(PyObject *o) { + PyObject* tmp; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + tmp = ((PyObject*)p->name); + p->name = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + return 0; +} + +static PyObject *__pyx_specialmethod___pyx_MemviewEnum___repr__(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __pyx_MemviewEnum___repr__(self); +} + +static PyMethodDef __pyx_methods_Enum[] = { + {"__repr__", (PyCFunction)__pyx_specialmethod___pyx_MemviewEnum___repr__, METH_NOARGS|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_MemviewEnum_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_MemviewEnum_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type___pyx_MemviewEnum_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_Enum}, + {Py_tp_repr, (void *)__pyx_MemviewEnum___repr__}, + {Py_tp_traverse, (void *)__pyx_tp_traverse_Enum}, + {Py_tp_clear, (void *)__pyx_tp_clear_Enum}, + {Py_tp_methods, (void *)__pyx_methods_Enum}, + {Py_tp_init, (void *)__pyx_MemviewEnum___init__}, + {Py_tp_new, (void *)__pyx_tp_new_Enum}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_MemviewEnum_spec = { + "selfdrive.modeld.runners.thneedmodel_pyx.Enum", + sizeof(struct __pyx_MemviewEnum_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type___pyx_MemviewEnum_slots, +}; +#else + +static PyTypeObject __pyx_type___pyx_MemviewEnum = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.modeld.runners.thneedmodel_pyx.""Enum", /*tp_name*/ + sizeof(struct __pyx_MemviewEnum_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_Enum, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_MemviewEnum___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_Enum, /*tp_traverse*/ + __pyx_tp_clear_Enum, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_Enum, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + __pyx_MemviewEnum___init__, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_Enum, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_memoryview __pyx_vtable_memoryview; + +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryview_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_memoryview_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_memoryview; + p->obj = Py_None; Py_INCREF(Py_None); + p->_size = Py_None; Py_INCREF(Py_None); + p->_array_interface = Py_None; Py_INCREF(Py_None); + p->view.obj = NULL; + if (unlikely(__pyx_memoryview___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_memoryview(PyObject *o) { + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_memoryview) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryview___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->obj); + Py_CLEAR(p->_size); + Py_CLEAR(p->_array_interface); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_memoryview(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + if (p->obj) { + e = (*v)(p->obj, a); if (e) return e; + } + if (p->_size) { + e = (*v)(p->_size, a); if (e) return e; + } + if (p->_array_interface) { + e = (*v)(p->_array_interface, a); if (e) return e; + } + if (p->view.obj) { + e = (*v)(p->view.obj, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_memoryview(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + tmp = ((PyObject*)p->obj); + p->obj = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_size); + p->_size = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_array_interface); + p->_array_interface = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + Py_CLEAR(p->view.obj); + return 0; +} +static PyObject *__pyx_sq_item_memoryview(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_memoryview(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_memoryview___setitem__(o, i, v); + } + else { + __Pyx_TypeName o_type_name; + o_type_name = __Pyx_PyType_GetName(Py_TYPE(o)); + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by " __Pyx_FMT_TYPENAME, o_type_name); + __Pyx_DECREF_TypeName(o_type_name); + return -1; + } +} + +static PyObject *__pyx_getprop___pyx_memoryview_T(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_1T_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_base(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4base_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_shape(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_5shape_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_strides(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_7strides_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_suboffsets(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_10suboffsets_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_ndim(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4ndim_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_itemsize(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_8itemsize_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_nbytes(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_6nbytes_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_size(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4size_1__get__(o); +} + +static PyObject *__pyx_specialmethod___pyx_memoryview___repr__(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __pyx_memoryview___repr__(self); +} + +static PyMethodDef __pyx_methods_memoryview[] = { + {"__repr__", (PyCFunction)__pyx_specialmethod___pyx_memoryview___repr__, METH_NOARGS|METH_COEXIST, 0}, + {"is_c_contig", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_is_c_contig, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"is_f_contig", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_is_f_contig, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"copy", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_copy, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"copy_fortran", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_copy_fortran, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryview_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryview_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_memoryview[] = { + {(char *)"T", __pyx_getprop___pyx_memoryview_T, 0, (char *)0, 0}, + {(char *)"base", __pyx_getprop___pyx_memoryview_base, 0, (char *)0, 0}, + {(char *)"shape", __pyx_getprop___pyx_memoryview_shape, 0, (char *)0, 0}, + {(char *)"strides", __pyx_getprop___pyx_memoryview_strides, 0, (char *)0, 0}, + {(char *)"suboffsets", __pyx_getprop___pyx_memoryview_suboffsets, 0, (char *)0, 0}, + {(char *)"ndim", __pyx_getprop___pyx_memoryview_ndim, 0, (char *)0, 0}, + {(char *)"itemsize", __pyx_getprop___pyx_memoryview_itemsize, 0, (char *)0, 0}, + {(char *)"nbytes", __pyx_getprop___pyx_memoryview_nbytes, 0, (char *)0, 0}, + {(char *)"size", __pyx_getprop___pyx_memoryview_size, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +#if !CYTHON_COMPILING_IN_LIMITED_API + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; +#endif +static PyType_Slot __pyx_type___pyx_memoryview_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_memoryview}, + {Py_tp_repr, (void *)__pyx_memoryview___repr__}, + {Py_sq_length, (void *)__pyx_memoryview___len__}, + {Py_sq_item, (void *)__pyx_sq_item_memoryview}, + {Py_mp_length, (void *)__pyx_memoryview___len__}, + {Py_mp_subscript, (void *)__pyx_memoryview___getitem__}, + {Py_mp_ass_subscript, (void *)__pyx_mp_ass_subscript_memoryview}, + {Py_tp_str, (void *)__pyx_memoryview___str__}, + #if defined(Py_bf_getbuffer) + {Py_bf_getbuffer, (void *)__pyx_memoryview_getbuffer}, + #endif + {Py_tp_traverse, (void *)__pyx_tp_traverse_memoryview}, + {Py_tp_clear, (void *)__pyx_tp_clear_memoryview}, + {Py_tp_methods, (void *)__pyx_methods_memoryview}, + {Py_tp_getset, (void *)__pyx_getsets_memoryview}, + {Py_tp_new, (void *)__pyx_tp_new_memoryview}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_memoryview_spec = { + "selfdrive.modeld.runners.thneedmodel_pyx.memoryview", + sizeof(struct __pyx_memoryview_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type___pyx_memoryview_slots, +}; +#else + +static PySequenceMethods __pyx_tp_as_sequence_memoryview = { + __pyx_memoryview___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_memoryview, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_memoryview = { + __pyx_memoryview___len__, /*mp_length*/ + __pyx_memoryview___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_memoryview, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_memoryview = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.modeld.runners.thneedmodel_pyx.""memoryview", /*tp_name*/ + sizeof(struct __pyx_memoryview_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_memoryview, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_memoryview___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_memoryview, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_memoryview, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + __pyx_memoryview___str__, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_memoryview, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_memoryview, /*tp_traverse*/ + __pyx_tp_clear_memoryview, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_memoryview, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_memoryview, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_memoryview, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct__memoryviewslice __pyx_vtable__memoryviewslice; + +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryviewslice_obj *p; + PyObject *o = __pyx_tp_new_memoryview(t, a, k); + if (unlikely(!o)) return 0; + p = ((struct __pyx_memoryviewslice_obj *)o); + p->__pyx_base.__pyx_vtab = (struct __pyx_vtabstruct_memoryview*)__pyx_vtabptr__memoryviewslice; + new((void*)&(p->from_slice)) __Pyx_memviewslice(); + p->from_object = Py_None; Py_INCREF(Py_None); + p->from_slice.memview = NULL; + return o; +} + +static void __pyx_tp_dealloc__memoryviewslice(PyObject *o) { + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc__memoryviewslice) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryviewslice___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + __Pyx_call_destructor(p->from_slice); + Py_CLEAR(p->from_object); + PyObject_GC_Track(o); + __pyx_tp_dealloc_memoryview(o); +} + +static int __pyx_tp_traverse__memoryviewslice(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + e = __pyx_tp_traverse_memoryview(o, v, a); if (e) return e; + if (p->from_object) { + e = (*v)(p->from_object, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear__memoryviewslice(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + __pyx_tp_clear_memoryview(o); + tmp = ((PyObject*)p->from_object); + p->from_object = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + __PYX_XCLEAR_MEMVIEW(&p->from_slice, 1); + return 0; +} + +static PyMethodDef __pyx_methods__memoryviewslice[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryviewslice_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryviewslice_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type___pyx_memoryviewslice_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc__memoryviewslice}, + {Py_tp_doc, (void *)PyDoc_STR("Internal class for passing memoryview slices to Python")}, + {Py_tp_traverse, (void *)__pyx_tp_traverse__memoryviewslice}, + {Py_tp_clear, (void *)__pyx_tp_clear__memoryviewslice}, + {Py_tp_methods, (void *)__pyx_methods__memoryviewslice}, + {Py_tp_new, (void *)__pyx_tp_new__memoryviewslice}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_memoryviewslice_spec = { + "selfdrive.modeld.runners.thneedmodel_pyx._memoryviewslice", + sizeof(struct __pyx_memoryviewslice_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_SEQUENCE, + __pyx_type___pyx_memoryviewslice_slots, +}; +#else + +static PyTypeObject __pyx_type___pyx_memoryviewslice = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.modeld.runners.thneedmodel_pyx.""_memoryviewslice", /*tp_name*/ + sizeof(struct __pyx_memoryviewslice_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc__memoryviewslice, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + #if CYTHON_COMPILING_IN_PYPY || 0 + __pyx_memoryview___repr__, /*tp_repr*/ + #else + 0, /*tp_repr*/ + #endif + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + #if CYTHON_COMPILING_IN_PYPY || 0 + __pyx_memoryview___str__, /*tp_str*/ + #else + 0, /*tp_str*/ + #endif + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_SEQUENCE, /*tp_flags*/ + PyDoc_STR("Internal class for passing memoryview slices to Python"), /*tp_doc*/ + __pyx_tp_traverse__memoryviewslice, /*tp_traverse*/ + __pyx_tp_clear__memoryviewslice, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods__memoryviewslice, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new__memoryviewslice, /*tp_new*/ + 0, /*tp_free*/ + 0, 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+ if (n <= 0) { + Py_INCREF(__pyx_empty_tuple); + return __pyx_empty_tuple; + } + res = PyTuple_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyTupleObject*)res)->ob_item, n); + return res; +} +static CYTHON_INLINE PyObject * +__Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + return PyList_New(0); + } + res = PyList_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyListObject*)res)->ob_item, n); + return res; +} +#endif + +/* BytesEquals */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else + if (s1 == s2) { + return (equals == Py_EQ); + } else if (PyBytes_CheckExact(s1) & PyBytes_CheckExact(s2)) { + const char *ps1, *ps2; + Py_ssize_t length = PyBytes_GET_SIZE(s1); + if (length != PyBytes_GET_SIZE(s2)) + return (equals == Py_NE); + ps1 = PyBytes_AS_STRING(s1); + ps2 = PyBytes_AS_STRING(s2); + if (ps1[0] != ps2[0]) { + return (equals == Py_NE); + } else if (length == 1) { + return (equals == Py_EQ); + } else { + int result; +#if CYTHON_USE_UNICODE_INTERNALS && (PY_VERSION_HEX < 0x030B0000) + Py_hash_t hash1, hash2; + hash1 = ((PyBytesObject*)s1)->ob_shash; + hash2 = ((PyBytesObject*)s2)->ob_shash; + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + return (equals == Py_NE); + } +#endif + result = memcmp(ps1, ps2, (size_t)length); + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { + return (equals == Py_NE); + } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { + return (equals == Py_NE); + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +#endif +} + +/* UnicodeEquals */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else +#if PY_MAJOR_VERSION < 3 + PyObject* owned_ref = NULL; +#endif + int s1_is_unicode, s2_is_unicode; + if (s1 == s2) { + goto return_eq; + } + s1_is_unicode = PyUnicode_CheckExact(s1); + s2_is_unicode = PyUnicode_CheckExact(s2); +#if PY_MAJOR_VERSION < 3 + if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { + owned_ref = PyUnicode_FromObject(s2); + if (unlikely(!owned_ref)) + return -1; + s2 = owned_ref; + s2_is_unicode = 1; + } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { + owned_ref = PyUnicode_FromObject(s1); + if (unlikely(!owned_ref)) + return -1; + s1 = owned_ref; + s1_is_unicode = 1; + } else if (((!s2_is_unicode) & (!s1_is_unicode))) { + return __Pyx_PyBytes_Equals(s1, s2, equals); + } +#endif + if (s1_is_unicode & s2_is_unicode) { + Py_ssize_t length; + int kind; + void *data1, *data2; + if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) + return -1; + length = __Pyx_PyUnicode_GET_LENGTH(s1); + if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { + goto return_ne; + } +#if CYTHON_USE_UNICODE_INTERNALS + { + Py_hash_t hash1, hash2; + #if CYTHON_PEP393_ENABLED + hash1 = ((PyASCIIObject*)s1)->hash; + hash2 = ((PyASCIIObject*)s2)->hash; + #else + hash1 = ((PyUnicodeObject*)s1)->hash; + hash2 = ((PyUnicodeObject*)s2)->hash; + #endif + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + goto return_ne; + } + } +#endif + kind = __Pyx_PyUnicode_KIND(s1); + if (kind != __Pyx_PyUnicode_KIND(s2)) { + goto return_ne; + } + data1 = __Pyx_PyUnicode_DATA(s1); + data2 = __Pyx_PyUnicode_DATA(s2); + if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { + goto return_ne; + } else if (length == 1) { + goto return_eq; + } else { + int result = memcmp(data1, data2, (size_t)(length * kind)); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & s2_is_unicode) { + goto return_ne; + } else if ((s2 == Py_None) & s1_is_unicode) { + goto return_ne; + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +return_eq: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ); +return_ne: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_NE); +#endif +} + +/* fastcall */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s) +{ + Py_ssize_t i, n = PyTuple_GET_SIZE(kwnames); + for (i = 0; i < n; i++) + { + if (s == PyTuple_GET_ITEM(kwnames, i)) return kwvalues[i]; + } + for (i = 0; i < n; i++) + { + int eq = __Pyx_PyUnicode_Equals(s, PyTuple_GET_ITEM(kwnames, i), Py_EQ); + if (unlikely(eq != 0)) { + if (unlikely(eq < 0)) return NULL; + return kwvalues[i]; + } + } + return NULL; +} +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 +CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { + Py_ssize_t i, nkwargs = PyTuple_GET_SIZE(kwnames); + PyObject *dict; + dict = PyDict_New(); + if (unlikely(!dict)) + return NULL; + for (i=0; i= 3 + "%s() got multiple values for keyword argument '%U'", func_name, kw_name); + #else + "%s() got multiple values for keyword argument '%s'", func_name, + PyString_AsString(kw_name)); + #endif +} + +/* ParseKeywords */ +static int __Pyx_ParseOptionalKeywords( + PyObject *kwds, + PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, + PyObject *values[], + Py_ssize_t num_pos_args, + const char* function_name) +{ + PyObject *key = 0, *value = 0; + Py_ssize_t pos = 0; + PyObject*** name; + PyObject*** first_kw_arg = argnames + num_pos_args; + int kwds_is_tuple = CYTHON_METH_FASTCALL && likely(PyTuple_Check(kwds)); + while (1) { + Py_XDECREF(key); key = NULL; + Py_XDECREF(value); value = NULL; + if (kwds_is_tuple) { + Py_ssize_t size; +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(kwds); +#else + size = PyTuple_Size(kwds); + if (size < 0) goto bad; +#endif + if (pos >= size) break; +#if CYTHON_AVOID_BORROWED_REFS + key = __Pyx_PySequence_ITEM(kwds, pos); + if (!key) goto bad; +#elif CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kwds, pos); +#else + key = PyTuple_GetItem(kwds, pos); + if (!key) goto bad; +#endif + value = kwvalues[pos]; + pos++; + } + else + { + if (!PyDict_Next(kwds, &pos, &key, &value)) break; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + } + name = first_kw_arg; + while (*name && (**name != key)) name++; + if (*name) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(value); + Py_DECREF(key); +#endif + key = NULL; + value = NULL; + continue; + } +#if !CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + Py_INCREF(value); + name = first_kw_arg; + #if PY_MAJOR_VERSION < 3 + if (likely(PyString_Check(key))) { + while (*name) { + if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) + && _PyString_Eq(**name, key)) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + if ((**argname == key) || ( + (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) + && _PyString_Eq(**argname, key))) { + goto arg_passed_twice; + } + argname++; + } + } + } else + #endif + if (likely(PyUnicode_Check(key))) { + while (*name) { + int cmp = ( + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**name, key) + ); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + int cmp = (**argname == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**argname, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) goto arg_passed_twice; + argname++; + } + } + } else + goto invalid_keyword_type; + if (kwds2) { + if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; + } else { + goto invalid_keyword; + } + } + Py_XDECREF(key); + Py_XDECREF(value); + return 0; +arg_passed_twice: + __Pyx_RaiseDoubleKeywordsError(function_name, key); + goto bad; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + goto bad; +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif +bad: + Py_XDECREF(key); + Py_XDECREF(value); + return -1; +} + +/* ArgTypeTest */ +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact) +{ + __Pyx_TypeName type_name; + __Pyx_TypeName obj_type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + else if (exact) { + #if PY_MAJOR_VERSION == 2 + if ((type == &PyBaseString_Type) && likely(__Pyx_PyBaseString_CheckExact(obj))) return 1; + #endif + } + else { + if (likely(__Pyx_TypeCheck(obj, type))) return 1; + } + type_name = __Pyx_PyType_GetName(type); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "Argument '%.200s' has incorrect type (expected " __Pyx_FMT_TYPENAME + ", got " __Pyx_FMT_TYPENAME ")", name, type_name, obj_type_name); + __Pyx_DECREF_TypeName(type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* RaiseException */ +#if PY_MAJOR_VERSION < 3 +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + __Pyx_PyThreadState_declare + CYTHON_UNUSED_VAR(cause); + Py_XINCREF(type); + if (!value || value == Py_None) + value = NULL; + else + Py_INCREF(value); + if (!tb || tb == Py_None) + tb = NULL; + else { + Py_INCREF(tb); + if (!PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto raise_error; + } + } + if (PyType_Check(type)) { +#if CYTHON_COMPILING_IN_PYPY + if (!value) { + Py_INCREF(Py_None); + value = Py_None; + } +#endif + PyErr_NormalizeException(&type, &value, &tb); + } else { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto raise_error; + } + value = type; + type = (PyObject*) Py_TYPE(type); + Py_INCREF(type); + if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto raise_error; + } + } + __Pyx_PyThreadState_assign + __Pyx_ErrRestore(type, value, tb); + return; +raise_error: + Py_XDECREF(value); + Py_XDECREF(type); + Py_XDECREF(tb); + return; +} +#else +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + PyObject* owned_instance = NULL; + if (tb == Py_None) { + tb = 0; + } else if (tb && !PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto bad; + } + if (value == Py_None) + value = 0; + if (PyExceptionInstance_Check(type)) { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto bad; + } + value = type; + type = (PyObject*) Py_TYPE(value); + } else if (PyExceptionClass_Check(type)) { + PyObject *instance_class = NULL; + if (value && PyExceptionInstance_Check(value)) { + instance_class = (PyObject*) Py_TYPE(value); + if (instance_class != type) { + int is_subclass = PyObject_IsSubclass(instance_class, type); + if (!is_subclass) { + instance_class = NULL; + } else if (unlikely(is_subclass == -1)) { + goto bad; + } else { + type = instance_class; + } + } + } + if (!instance_class) { + PyObject *args; + if (!value) + args = PyTuple_New(0); + else if (PyTuple_Check(value)) { + Py_INCREF(value); + args = value; + } else + args = PyTuple_Pack(1, value); + if (!args) + goto bad; + owned_instance = PyObject_Call(type, args, NULL); + Py_DECREF(args); + if (!owned_instance) + goto bad; + value = owned_instance; + if (!PyExceptionInstance_Check(value)) { + PyErr_Format(PyExc_TypeError, + "calling %R should have returned an instance of " + "BaseException, not %R", + type, Py_TYPE(value)); + goto bad; + } + } + } else { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto bad; + } + if (cause) { + PyObject *fixed_cause; + if (cause == Py_None) { + fixed_cause = NULL; + } else if (PyExceptionClass_Check(cause)) { + fixed_cause = PyObject_CallObject(cause, NULL); + if (fixed_cause == NULL) + goto bad; + } else if (PyExceptionInstance_Check(cause)) { + fixed_cause = cause; + Py_INCREF(fixed_cause); + } else { + PyErr_SetString(PyExc_TypeError, + "exception causes must derive from " + "BaseException"); + goto bad; + } + PyException_SetCause(value, fixed_cause); + } + PyErr_SetObject(type, value); + if (tb) { + #if PY_VERSION_HEX >= 0x030C00A6 + PyException_SetTraceback(value, tb); + #elif CYTHON_FAST_THREAD_STATE + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* tmp_tb = tstate->curexc_traceback; + if (tb != tmp_tb) { + Py_INCREF(tb); + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_tb); + } +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); + Py_INCREF(tb); + PyErr_Restore(tmp_type, tmp_value, tb); + Py_XDECREF(tmp_tb); +#endif + } +bad: + Py_XDECREF(owned_instance); + return; +} +#endif + +/* PyFunctionFastCall */ +#if CYTHON_FAST_PYCALL && !CYTHON_VECTORCALL +static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, + PyObject *globals) { + PyFrameObject *f; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject **fastlocals; + Py_ssize_t i; + PyObject *result; + assert(globals != NULL); + /* XXX Perhaps we should create a specialized + PyFrame_New() that doesn't take locals, but does + take builtins without sanity checking them. + */ + assert(tstate != NULL); + f = PyFrame_New(tstate, co, globals, NULL); + if (f == NULL) { + return NULL; + } + fastlocals = __Pyx_PyFrame_GetLocalsplus(f); + for (i = 0; i < na; i++) { + Py_INCREF(*args); + fastlocals[i] = *args++; + } + result = PyEval_EvalFrameEx(f,0); + ++tstate->recursion_depth; + Py_DECREF(f); + --tstate->recursion_depth; + return result; +} +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { + PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); + PyObject *globals = PyFunction_GET_GLOBALS(func); + PyObject *argdefs = PyFunction_GET_DEFAULTS(func); + PyObject *closure; +#if PY_MAJOR_VERSION >= 3 + PyObject *kwdefs; +#endif + PyObject *kwtuple, **k; + PyObject **d; + Py_ssize_t nd; + Py_ssize_t nk; + PyObject *result; + assert(kwargs == NULL || PyDict_Check(kwargs)); + nk = kwargs ? PyDict_Size(kwargs) : 0; + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) { + return NULL; + } + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) { + return NULL; + } + #endif + if ( +#if PY_MAJOR_VERSION >= 3 + co->co_kwonlyargcount == 0 && +#endif + likely(kwargs == NULL || nk == 0) && + co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { + if (argdefs == NULL && co->co_argcount == nargs) { + result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); + goto done; + } + else if (nargs == 0 && argdefs != NULL + && co->co_argcount == Py_SIZE(argdefs)) { + /* function called with no arguments, but all parameters have + a default value: use default values as arguments .*/ + args = &PyTuple_GET_ITEM(argdefs, 0); + result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); + goto done; + } + } + if (kwargs != NULL) { + Py_ssize_t pos, i; + kwtuple = PyTuple_New(2 * nk); + if (kwtuple == NULL) { + result = NULL; + goto done; + } + k = &PyTuple_GET_ITEM(kwtuple, 0); + pos = i = 0; + while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { + Py_INCREF(k[i]); + Py_INCREF(k[i+1]); + i += 2; + } + nk = i / 2; + } + else { + kwtuple = NULL; + k = NULL; + } + closure = PyFunction_GET_CLOSURE(func); +#if PY_MAJOR_VERSION >= 3 + kwdefs = PyFunction_GET_KW_DEFAULTS(func); +#endif + if (argdefs != NULL) { + d = &PyTuple_GET_ITEM(argdefs, 0); + nd = Py_SIZE(argdefs); + } + else { + d = NULL; + nd = 0; + } +#if PY_MAJOR_VERSION >= 3 + result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, kwdefs, closure); +#else + result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, closure); +#endif + Py_XDECREF(kwtuple); +done: + Py_LeaveRecursiveCall(); + return result; +} +#endif + +/* PyObjectCall */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *result; + ternaryfunc call = Py_TYPE(func)->tp_call; + if (unlikely(!call)) + return PyObject_Call(func, arg, kw); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = (*call)(func, arg, kw); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCallMethO */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { + PyObject *self, *result; + PyCFunction cfunc; + cfunc = __Pyx_CyOrPyCFunction_GET_FUNCTION(func); + self = __Pyx_CyOrPyCFunction_GET_SELF(func); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = cfunc(self, arg); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectFastCall */ +#if PY_VERSION_HEX < 0x03090000 || CYTHON_COMPILING_IN_LIMITED_API +static PyObject* __Pyx_PyObject_FastCall_fallback(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs) { + PyObject *argstuple; + PyObject *result = 0; + size_t i; + argstuple = PyTuple_New((Py_ssize_t)nargs); + if (unlikely(!argstuple)) return NULL; + for (i = 0; i < nargs; i++) { + Py_INCREF(args[i]); + if (__Pyx_PyTuple_SET_ITEM(argstuple, (Py_ssize_t)i, args[i]) < 0) goto bad; + } + result = __Pyx_PyObject_Call(func, argstuple, kwargs); + bad: + Py_DECREF(argstuple); + return result; +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t _nargs, PyObject *kwargs) { + Py_ssize_t nargs = __Pyx_PyVectorcall_NARGS(_nargs); +#if CYTHON_COMPILING_IN_CPYTHON + if (nargs == 0 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_NOARGS)) + return __Pyx_PyObject_CallMethO(func, NULL); + } + else if (nargs == 1 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_O)) + return __Pyx_PyObject_CallMethO(func, args[0]); + } +#endif + #if PY_VERSION_HEX < 0x030800B1 + #if CYTHON_FAST_PYCCALL + if (PyCFunction_Check(func)) { + if (kwargs) { + return _PyCFunction_FastCallDict(func, args, nargs, kwargs); + } else { + return _PyCFunction_FastCallKeywords(func, args, nargs, NULL); + } + } + #if PY_VERSION_HEX >= 0x030700A1 + if (!kwargs && __Pyx_IS_TYPE(func, &PyMethodDescr_Type)) { + return _PyMethodDescr_FastCallKeywords(func, args, nargs, NULL); + } + #endif + #endif + #if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs); + } + #endif + #endif + if (kwargs == NULL) { + #if CYTHON_VECTORCALL + #if PY_VERSION_HEX < 0x03090000 + vectorcallfunc f = _PyVectorcall_Function(func); + #else + vectorcallfunc f = PyVectorcall_Function(func); + #endif + if (f) { + return f(func, args, (size_t)nargs, NULL); + } + #elif defined(__Pyx_CyFunction_USED) && CYTHON_BACKPORT_VECTORCALL + if (__Pyx_CyFunction_CheckExact(func)) { + __pyx_vectorcallfunc f = __Pyx_CyFunction_func_vectorcall(func); + if (f) return f(func, args, (size_t)nargs, NULL); + } + #endif + } + if (nargs == 0) { + return __Pyx_PyObject_Call(func, __pyx_empty_tuple, kwargs); + } + #if PY_VERSION_HEX >= 0x03090000 && !CYTHON_COMPILING_IN_LIMITED_API + return PyObject_VectorcallDict(func, args, (size_t)nargs, kwargs); + #else + return __Pyx_PyObject_FastCall_fallback(func, args, (size_t)nargs, kwargs); + #endif +} + +/* RaiseUnexpectedTypeError */ +static int +__Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj) +{ + __Pyx_TypeName obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, "Expected %s, got " __Pyx_FMT_TYPENAME, + expected, obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* CIntToDigits */ +static const char DIGIT_PAIRS_10[2*10*10+1] = { + "00010203040506070809" + "10111213141516171819" + "20212223242526272829" + "30313233343536373839" + "40414243444546474849" + "50515253545556575859" + "60616263646566676869" + "70717273747576777879" + "80818283848586878889" + "90919293949596979899" +}; +static const char DIGIT_PAIRS_8[2*8*8+1] = { + "0001020304050607" + "1011121314151617" + "2021222324252627" + "3031323334353637" + "4041424344454647" + "5051525354555657" + "6061626364656667" + "7071727374757677" +}; +static const char DIGITS_HEX[2*16+1] = { + "0123456789abcdef" + "0123456789ABCDEF" +}; + +/* BuildPyUnicode */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char) { + PyObject *uval; + Py_ssize_t uoffset = ulength - clength; +#if CYTHON_USE_UNICODE_INTERNALS + Py_ssize_t i; +#if CYTHON_PEP393_ENABLED + void *udata; + uval = PyUnicode_New(ulength, 127); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_DATA(uval); +#else + Py_UNICODE *udata; + uval = PyUnicode_FromUnicode(NULL, ulength); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_AS_UNICODE(uval); +#endif + if (uoffset > 0) { + i = 0; + if (prepend_sign) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, 0, '-'); + i++; + } + for (; i < uoffset; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, i, padding_char); + } + } + for (i=0; i < clength; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, uoffset+i, chars[i]); + } +#else + { + PyObject *sign = NULL, *padding = NULL; + uval = NULL; + if (uoffset > 0) { + prepend_sign = !!prepend_sign; + if (uoffset > prepend_sign) { + padding = PyUnicode_FromOrdinal(padding_char); + if (likely(padding) && uoffset > prepend_sign + 1) { + PyObject *tmp; + PyObject *repeat = PyInt_FromSsize_t(uoffset - prepend_sign); + if (unlikely(!repeat)) goto done_or_error; + tmp = PyNumber_Multiply(padding, repeat); + Py_DECREF(repeat); + Py_DECREF(padding); + padding = tmp; + } + if (unlikely(!padding)) goto done_or_error; + } + if (prepend_sign) { + sign = PyUnicode_FromOrdinal('-'); + if (unlikely(!sign)) goto done_or_error; + } + } + uval = PyUnicode_DecodeASCII(chars, clength, NULL); + if (likely(uval) && padding) { + PyObject *tmp = PyNumber_Add(padding, uval); + Py_DECREF(uval); + uval = tmp; + } + if (likely(uval) && sign) { + PyObject *tmp = PyNumber_Add(sign, uval); + Py_DECREF(uval); + uval = tmp; + } +done_or_error: + Py_XDECREF(padding); + Py_XDECREF(sign); + } +#endif + return uval; +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(int)*3+2]; + char *dpos, *end = digits + sizeof(int)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + int remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (int) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (int) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (int) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_Py_ssize_t(Py_ssize_t value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(Py_ssize_t)*3+2]; + char *dpos, *end = digits + sizeof(Py_ssize_t)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + Py_ssize_t remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const Py_ssize_t neg_one = (Py_ssize_t) -1, const_zero = (Py_ssize_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (Py_ssize_t) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (Py_ssize_t) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (Py_ssize_t) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* JoinPyUnicode */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char) { +#if CYTHON_USE_UNICODE_INTERNALS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + PyObject *result_uval; + int result_ukind, kind_shift; + Py_ssize_t i, char_pos; + void *result_udata; + CYTHON_MAYBE_UNUSED_VAR(max_char); +#if CYTHON_PEP393_ENABLED + result_uval = PyUnicode_New(result_ulength, max_char); + if (unlikely(!result_uval)) return NULL; + result_ukind = (max_char <= 255) ? PyUnicode_1BYTE_KIND : (max_char <= 65535) ? PyUnicode_2BYTE_KIND : PyUnicode_4BYTE_KIND; + kind_shift = (result_ukind == PyUnicode_4BYTE_KIND) ? 2 : result_ukind - 1; + result_udata = PyUnicode_DATA(result_uval); +#else + result_uval = PyUnicode_FromUnicode(NULL, result_ulength); + if (unlikely(!result_uval)) return NULL; + result_ukind = sizeof(Py_UNICODE); + kind_shift = (result_ukind == 4) ? 2 : result_ukind - 1; + result_udata = PyUnicode_AS_UNICODE(result_uval); +#endif + assert(kind_shift == 2 || kind_shift == 1 || kind_shift == 0); + char_pos = 0; + for (i=0; i < value_count; i++) { + int ukind; + Py_ssize_t ulength; + void *udata; + PyObject *uval = PyTuple_GET_ITEM(value_tuple, i); + if (unlikely(__Pyx_PyUnicode_READY(uval))) + goto bad; + ulength = __Pyx_PyUnicode_GET_LENGTH(uval); + if (unlikely(!ulength)) + continue; + if (unlikely((PY_SSIZE_T_MAX >> kind_shift) - ulength < char_pos)) + goto overflow; + ukind = __Pyx_PyUnicode_KIND(uval); + udata = __Pyx_PyUnicode_DATA(uval); + if (!CYTHON_PEP393_ENABLED || ukind == result_ukind) { + memcpy((char *)result_udata + (char_pos << kind_shift), udata, (size_t) (ulength << kind_shift)); + } else { + #if PY_VERSION_HEX >= 0x030d0000 + if (unlikely(PyUnicode_CopyCharacters(result_uval, char_pos, uval, 0, ulength) < 0)) goto bad; + #elif CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030300F0 || defined(_PyUnicode_FastCopyCharacters) + _PyUnicode_FastCopyCharacters(result_uval, char_pos, uval, 0, ulength); + #else + Py_ssize_t j; + for (j=0; j < ulength; j++) { + Py_UCS4 uchar = __Pyx_PyUnicode_READ(ukind, udata, j); + __Pyx_PyUnicode_WRITE(result_ukind, result_udata, char_pos+j, uchar); + } + #endif + } + char_pos += ulength; + } + return result_uval; +overflow: + PyErr_SetString(PyExc_OverflowError, "join() result is too long for a Python string"); +bad: + Py_DECREF(result_uval); + return NULL; +#else + CYTHON_UNUSED_VAR(max_char); + CYTHON_UNUSED_VAR(result_ulength); + CYTHON_UNUSED_VAR(value_count); + return PyUnicode_Join(__pyx_empty_unicode, value_tuple); +#endif +} + +/* GetAttr */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *o, PyObject *n) { +#if CYTHON_USE_TYPE_SLOTS +#if PY_MAJOR_VERSION >= 3 + if (likely(PyUnicode_Check(n))) +#else + if (likely(PyString_Check(n))) +#endif + return __Pyx_PyObject_GetAttrStr(o, n); +#endif + return PyObject_GetAttr(o, n); +} + +/* GetItemInt */ +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { + PyObject *r; + if (unlikely(!j)) return NULL; + r = PyObject_GetItem(o, j); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyList_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { + PyObject *r = PyList_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyTuple_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); + if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { + PyObject *r = PyList_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } + else if (PyTuple_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_subscript) { + PyObject *r, *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return NULL; + r = mm->mp_subscript(o, key); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return NULL; + PyErr_Clear(); + } + } + return sm->sq_item(o, i); + } + } +#else + if (is_list || !PyMapping_Check(o)) { + return PySequence_GetItem(o, i); + } +#endif + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +} + +/* PyObjectCallOneArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *args[2] = {NULL, arg}; + return __Pyx_PyObject_FastCall(func, args+1, 1 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* ObjectGetItem */ +#if CYTHON_USE_TYPE_SLOTS +static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject *index) { + PyObject *runerr = NULL; + Py_ssize_t key_value; + key_value = __Pyx_PyIndex_AsSsize_t(index); + if (likely(key_value != -1 || !(runerr = PyErr_Occurred()))) { + return __Pyx_GetItemInt_Fast(obj, key_value, 0, 1, 1); + } + if (PyErr_GivenExceptionMatches(runerr, PyExc_OverflowError)) { + __Pyx_TypeName index_type_name = __Pyx_PyType_GetName(Py_TYPE(index)); + PyErr_Clear(); + PyErr_Format(PyExc_IndexError, + "cannot fit '" __Pyx_FMT_TYPENAME "' into an index-sized integer", index_type_name); + __Pyx_DECREF_TypeName(index_type_name); + } + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem_Slow(PyObject *obj, PyObject *key) { + __Pyx_TypeName obj_type_name; + if (likely(PyType_Check(obj))) { + PyObject *meth = __Pyx_PyObject_GetAttrStrNoError(obj, __pyx_n_s_class_getitem); + if (!meth) { + PyErr_Clear(); + } else { + PyObject *result = __Pyx_PyObject_CallOneArg(meth, key); + Py_DECREF(meth); + return result; + } + } + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' object is not subscriptable", obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key) { + PyTypeObject *tp = Py_TYPE(obj); + PyMappingMethods *mm = tp->tp_as_mapping; + PySequenceMethods *sm = tp->tp_as_sequence; + if (likely(mm && mm->mp_subscript)) { + return mm->mp_subscript(obj, key); + } + if (likely(sm && sm->sq_item)) { + return __Pyx_PyObject_GetIndex(obj, key); + } + return __Pyx_PyObject_GetItem_Slow(obj, key); +} +#endif + +/* KeywordStringCheck */ +static int __Pyx_CheckKeywordStrings( + PyObject *kw, + const char* function_name, + int kw_allowed) +{ + PyObject* key = 0; + Py_ssize_t pos = 0; +#if CYTHON_COMPILING_IN_PYPY + if (!kw_allowed && PyDict_Next(kw, &pos, &key, 0)) + goto invalid_keyword; + return 1; +#else + if (CYTHON_METH_FASTCALL && likely(PyTuple_Check(kw))) { + Py_ssize_t kwsize; +#if CYTHON_ASSUME_SAFE_MACROS + kwsize = PyTuple_GET_SIZE(kw); +#else + kwsize = PyTuple_Size(kw); + if (kwsize < 0) return 0; +#endif + if (unlikely(kwsize == 0)) + return 1; + if (!kw_allowed) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, 0); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + goto invalid_keyword; + } +#if PY_VERSION_HEX < 0x03090000 + for (pos = 0; pos < kwsize; pos++) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, pos); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } +#endif + return 1; + } + while (PyDict_Next(kw, &pos, &key, 0)) { + #if PY_MAJOR_VERSION < 3 + if (unlikely(!PyString_Check(key))) + #endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } + if (!kw_allowed && unlikely(key)) + goto invalid_keyword; + return 1; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + return 0; +#endif +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif + return 0; +} + +/* DivInt[Py_ssize_t] */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t a, Py_ssize_t b) { + Py_ssize_t q = a / b; + Py_ssize_t r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* GetAttr3 */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static PyObject *__Pyx_GetAttr3Default(PyObject *d) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (unlikely(!__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + return NULL; + __Pyx_PyErr_Clear(); + Py_INCREF(d); + return d; +} +#endif +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *o, PyObject *n, PyObject *d) { + PyObject *r; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + int res = PyObject_GetOptionalAttr(o, n, &r); + return (res != 0) ? r : __Pyx_NewRef(d); +#else + #if CYTHON_USE_TYPE_SLOTS + if (likely(PyString_Check(n))) { + r = __Pyx_PyObject_GetAttrStrNoError(o, n); + if (unlikely(!r) && likely(!PyErr_Occurred())) { + r = __Pyx_NewRef(d); + } + return r; + } + #endif + r = PyObject_GetAttr(o, n); + return (likely(r)) ? r : __Pyx_GetAttr3Default(d); +#endif +} + +/* PyDictVersioning */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { + PyObject **dictptr = NULL; + Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; + if (offset) { +#if CYTHON_COMPILING_IN_CPYTHON + dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); +#else + dictptr = _PyObject_GetDictPtr(obj); +#endif + } + return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; +} +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) + return 0; + return obj_dict_version == __Pyx_get_object_dict_version(obj); +} +#endif + +/* GetModuleGlobalName */ +#if CYTHON_USE_DICT_VERSIONS +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) +#else +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) +#endif +{ + PyObject *result; +#if !CYTHON_AVOID_BORROWED_REFS +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && PY_VERSION_HEX < 0x030d0000 + result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } else if (unlikely(PyErr_Occurred())) { + return NULL; + } +#elif CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(!__pyx_m)) { + return NULL; + } + result = PyObject_GetAttr(__pyx_m, name); + if (likely(result)) { + return result; + } +#else + result = PyDict_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } +#endif +#else + result = PyObject_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } + PyErr_Clear(); +#endif + return __Pyx_GetBuiltinName(name); +} + +/* RaiseTooManyValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected) { + PyErr_Format(PyExc_ValueError, + "too many values to unpack (expected %" CYTHON_FORMAT_SSIZE_T "d)", expected); +} + +/* RaiseNeedMoreValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index) { + PyErr_Format(PyExc_ValueError, + "need more than %" CYTHON_FORMAT_SSIZE_T "d value%.1s to unpack", + index, (index == 1) ? "" : "s"); +} + +/* RaiseNoneIterError */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void) { + PyErr_SetString(PyExc_TypeError, "'NoneType' object is not iterable"); +} + +/* ExtTypeTest */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type) { + __Pyx_TypeName obj_type_name; + __Pyx_TypeName type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + if (likely(__Pyx_TypeCheck(obj, type))) + return 1; + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + type_name = __Pyx_PyType_GetName(type); + PyErr_Format(PyExc_TypeError, + "Cannot convert " __Pyx_FMT_TYPENAME " to " __Pyx_FMT_TYPENAME, + obj_type_name, type_name); + __Pyx_DECREF_TypeName(obj_type_name); + __Pyx_DECREF_TypeName(type_name); + return 0; +} + +/* GetTopmostException */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * +__Pyx_PyErr_GetTopmostException(PyThreadState *tstate) +{ + _PyErr_StackItem *exc_info = tstate->exc_info; + while ((exc_info->exc_value == NULL || exc_info->exc_value == Py_None) && + exc_info->previous_item != NULL) + { + exc_info = exc_info->previous_item; + } + return exc_info; +} +#endif + +/* SaveResetException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + PyObject *exc_value = exc_info->exc_value; + if (exc_value == NULL || exc_value == Py_None) { + *value = NULL; + *type = NULL; + *tb = NULL; + } else { + *value = exc_value; + Py_INCREF(*value); + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + *tb = PyException_GetTraceback(exc_value); + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + *type = exc_info->exc_type; + *value = exc_info->exc_value; + *tb = exc_info->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #else + *type = tstate->exc_type; + *value = tstate->exc_value; + *tb = tstate->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #endif +} +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + PyObject *tmp_value = exc_info->exc_value; + exc_info->exc_value = value; + Py_XDECREF(tmp_value); + Py_XDECREF(type); + Py_XDECREF(tb); + #else + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = type; + exc_info->exc_value = value; + exc_info->exc_traceback = tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = type; + tstate->exc_value = value; + tstate->exc_traceback = tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); + #endif +} +#endif + +/* GetException */ +#if CYTHON_FAST_THREAD_STATE +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb) +#endif +{ + PyObject *local_type = NULL, *local_value, *local_tb = NULL; +#if CYTHON_FAST_THREAD_STATE + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if PY_VERSION_HEX >= 0x030C00A6 + local_value = tstate->current_exception; + tstate->current_exception = 0; + if (likely(local_value)) { + local_type = (PyObject*) Py_TYPE(local_value); + Py_INCREF(local_type); + local_tb = PyException_GetTraceback(local_value); + } + #else + local_type = tstate->curexc_type; + local_value = tstate->curexc_value; + local_tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; + #endif +#else + PyErr_Fetch(&local_type, &local_value, &local_tb); +#endif + PyErr_NormalizeException(&local_type, &local_value, &local_tb); +#if CYTHON_FAST_THREAD_STATE && PY_VERSION_HEX >= 0x030C00A6 + if (unlikely(tstate->current_exception)) +#elif CYTHON_FAST_THREAD_STATE + if (unlikely(tstate->curexc_type)) +#else + if (unlikely(PyErr_Occurred())) +#endif + goto bad; + #if PY_MAJOR_VERSION >= 3 + if (local_tb) { + if (unlikely(PyException_SetTraceback(local_value, local_tb) < 0)) + goto bad; + } + #endif + Py_XINCREF(local_tb); + Py_XINCREF(local_type); + Py_XINCREF(local_value); + *type = local_type; + *value = local_value; + *tb = local_tb; +#if CYTHON_FAST_THREAD_STATE + #if CYTHON_USE_EXC_INFO_STACK + { + _PyErr_StackItem *exc_info = tstate->exc_info; + #if PY_VERSION_HEX >= 0x030B00a4 + tmp_value = exc_info->exc_value; + exc_info->exc_value = local_value; + tmp_type = NULL; + tmp_tb = NULL; + Py_XDECREF(local_type); + Py_XDECREF(local_tb); + #else + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = local_type; + exc_info->exc_value = local_value; + exc_info->exc_traceback = local_tb; + #endif + } + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = local_type; + tstate->exc_value = local_value; + tstate->exc_traceback = local_tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#else + PyErr_SetExcInfo(local_type, local_value, local_tb); +#endif + return 0; +bad: + *type = 0; + *value = 0; + *tb = 0; + Py_XDECREF(local_type); + Py_XDECREF(local_value); + Py_XDECREF(local_tb); + return -1; +} + +/* SwapException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_value = exc_info->exc_value; + exc_info->exc_value = *value; + if (tmp_value == NULL || tmp_value == Py_None) { + Py_XDECREF(tmp_value); + tmp_value = NULL; + tmp_type = NULL; + tmp_tb = NULL; + } else { + tmp_type = (PyObject*) Py_TYPE(tmp_value); + Py_INCREF(tmp_type); + #if CYTHON_COMPILING_IN_CPYTHON + tmp_tb = ((PyBaseExceptionObject*) tmp_value)->traceback; + Py_XINCREF(tmp_tb); + #else + tmp_tb = PyException_GetTraceback(tmp_value); + #endif + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = *type; + exc_info->exc_value = *value; + exc_info->exc_traceback = *tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = *type; + tstate->exc_value = *value; + tstate->exc_traceback = *tb; + #endif + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_GetExcInfo(&tmp_type, &tmp_value, &tmp_tb); + PyErr_SetExcInfo(*type, *value, *tb); + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#endif + +/* Import */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { + PyObject *module = 0; + PyObject *empty_dict = 0; + PyObject *empty_list = 0; + #if PY_MAJOR_VERSION < 3 + PyObject *py_import; + py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); + if (unlikely(!py_import)) + goto bad; + if (!from_list) { + empty_list = PyList_New(0); + if (unlikely(!empty_list)) + goto bad; + from_list = empty_list; + } + #endif + empty_dict = PyDict_New(); + if (unlikely(!empty_dict)) + goto bad; + { + #if PY_MAJOR_VERSION >= 3 + if (level == -1) { + if (strchr(__Pyx_MODULE_NAME, '.') != NULL) { + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, 1); + if (unlikely(!module)) { + if (unlikely(!PyErr_ExceptionMatches(PyExc_ImportError))) + goto bad; + PyErr_Clear(); + } + } + level = 0; + } + #endif + if (!module) { + #if PY_MAJOR_VERSION < 3 + PyObject *py_level = PyInt_FromLong(level); + if (unlikely(!py_level)) + goto bad; + module = PyObject_CallFunctionObjArgs(py_import, + name, __pyx_d, empty_dict, from_list, py_level, (PyObject *)NULL); + Py_DECREF(py_level); + #else + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, level); + #endif + } + } +bad: + Py_XDECREF(empty_dict); + Py_XDECREF(empty_list); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_import); + #endif + return module; +} + +/* ImportDottedModule */ +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Error(PyObject *name, PyObject *parts_tuple, Py_ssize_t count) { + PyObject *partial_name = NULL, *slice = NULL, *sep = NULL; + if (unlikely(PyErr_Occurred())) { + PyErr_Clear(); + } + if (likely(PyTuple_GET_SIZE(parts_tuple) == count)) { + partial_name = name; + } else { + slice = PySequence_GetSlice(parts_tuple, 0, count); + if (unlikely(!slice)) + goto bad; + sep = PyUnicode_FromStringAndSize(".", 1); + if (unlikely(!sep)) + goto bad; + partial_name = PyUnicode_Join(sep, slice); + } + PyErr_Format( +#if PY_MAJOR_VERSION < 3 + PyExc_ImportError, + "No module named '%s'", PyString_AS_STRING(partial_name)); +#else +#if PY_VERSION_HEX >= 0x030600B1 + PyExc_ModuleNotFoundError, +#else + PyExc_ImportError, +#endif + "No module named '%U'", partial_name); +#endif +bad: + Py_XDECREF(sep); + Py_XDECREF(slice); + Py_XDECREF(partial_name); + return NULL; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Lookup(PyObject *name) { + PyObject *imported_module; +#if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + return NULL; + imported_module = __Pyx_PyDict_GetItemStr(modules, name); + Py_XINCREF(imported_module); +#else + imported_module = PyImport_GetModule(name); +#endif + return imported_module; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple) { + Py_ssize_t i, nparts; + nparts = PyTuple_GET_SIZE(parts_tuple); + for (i=1; i < nparts && module; i++) { + PyObject *part, *submodule; +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + part = PyTuple_GET_ITEM(parts_tuple, i); +#else + part = PySequence_ITEM(parts_tuple, i); +#endif + submodule = __Pyx_PyObject_GetAttrStrNoError(module, part); +#if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(part); +#endif + Py_DECREF(module); + module = submodule; + } + if (unlikely(!module)) { + return __Pyx__ImportDottedModule_Error(name, parts_tuple, i); + } + return module; +} +#endif +static PyObject *__Pyx__ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if PY_MAJOR_VERSION < 3 + PyObject *module, *from_list, *star = __pyx_n_s__3; + CYTHON_UNUSED_VAR(parts_tuple); + from_list = PyList_New(1); + if (unlikely(!from_list)) + return NULL; + Py_INCREF(star); + PyList_SET_ITEM(from_list, 0, star); + module = __Pyx_Import(name, from_list, 0); + Py_DECREF(from_list); + return module; +#else + PyObject *imported_module; + PyObject *module = __Pyx_Import(name, NULL, 0); + if (!parts_tuple || unlikely(!module)) + return module; + imported_module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(imported_module)) { + Py_DECREF(module); + return imported_module; + } + PyErr_Clear(); + return __Pyx_ImportDottedModule_WalkParts(module, name, parts_tuple); +#endif +} +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030400B1 + PyObject *module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(module)) { + PyObject *spec = __Pyx_PyObject_GetAttrStrNoError(module, __pyx_n_s_spec); + if (likely(spec)) { + PyObject *unsafe = __Pyx_PyObject_GetAttrStrNoError(spec, __pyx_n_s_initializing); + if (likely(!unsafe || !__Pyx_PyObject_IsTrue(unsafe))) { + Py_DECREF(spec); + spec = NULL; + } + Py_XDECREF(unsafe); + } + if (likely(!spec)) { + PyErr_Clear(); + return module; + } + Py_DECREF(spec); + Py_DECREF(module); + } else if (PyErr_Occurred()) { + PyErr_Clear(); + } +#endif + return __Pyx__ImportDottedModule(name, parts_tuple); +} + +/* FastTypeChecks */ +#if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = __Pyx_PyType_GetSlot(a, tp_base, PyTypeObject*); + if (a == b) + return 1; + } + return b == &PyBaseObject_Type; +} +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(a, b); +} +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (cls == a || cls == b) return 1; + mro = cls->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + PyObject *base = PyTuple_GET_ITEM(mro, i); + if (base == (PyObject *)a || base == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(cls, a) || __Pyx_InBases(cls, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + } + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + if (exc_type1) { + return __Pyx_IsAnySubtype2((PyTypeObject*)err, (PyTypeObject*)exc_type1, (PyTypeObject*)exc_type2); + } else { + return __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } +} +#endif +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; itp_as_sequence && type->tp_as_sequence->sq_repeat)) { + return type->tp_as_sequence->sq_repeat(seq, mul); + } else +#endif + { + return __Pyx_PySequence_Multiply_Generic(seq, mul); + } +} + +/* SetItemInt */ +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v) { + int r; + if (unlikely(!j)) return -1; + r = PyObject_SetItem(o, j, v); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, int is_list, + CYTHON_NCP_UNUSED int wraparound, CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = (!wraparound) ? i : ((likely(i >= 0)) ? i : i + PyList_GET_SIZE(o)); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o)))) { + PyObject* old = PyList_GET_ITEM(o, n); + Py_INCREF(v); + PyList_SET_ITEM(o, n, v); + Py_DECREF(old); + return 1; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_ass_subscript) { + int r; + PyObject *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return -1; + r = mm->mp_ass_subscript(o, key, v); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_ass_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return -1; + PyErr_Clear(); + } + } + return sm->sq_ass_item(o, i, v); + } + } +#else + if (is_list || !PyMapping_Check(o)) + { + return PySequence_SetItem(o, i, v); + } +#endif + return __Pyx_SetItemInt_Generic(o, PyInt_FromSsize_t(i), v); +} + +/* RaiseUnboundLocalError */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname) { + PyErr_Format(PyExc_UnboundLocalError, "local variable '%s' referenced before assignment", varname); +} + +/* DivInt[long] */ +static CYTHON_INLINE long __Pyx_div_long(long a, long b) { + long q = a / b; + long r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* ImportFrom */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name) { + PyObject* value = __Pyx_PyObject_GetAttrStr(module, name); + if (unlikely(!value) && PyErr_ExceptionMatches(PyExc_AttributeError)) { + const char* module_name_str = 0; + PyObject* module_name = 0; + PyObject* module_dot = 0; + PyObject* full_name = 0; + PyErr_Clear(); + module_name_str = PyModule_GetName(module); + if (unlikely(!module_name_str)) { goto modbad; } + module_name = PyUnicode_FromString(module_name_str); + if (unlikely(!module_name)) { goto modbad; } + module_dot = PyUnicode_Concat(module_name, __pyx_kp_u__2); + if (unlikely(!module_dot)) { goto modbad; } + full_name = PyUnicode_Concat(module_dot, name); + if (unlikely(!full_name)) { goto modbad; } + #if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + { + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + goto modbad; + value = PyObject_GetItem(modules, full_name); + } + #else + value = PyImport_GetModule(full_name); + #endif + modbad: + Py_XDECREF(full_name); + Py_XDECREF(module_dot); + Py_XDECREF(module_name); + } + if (unlikely(!value)) { + PyErr_Format(PyExc_ImportError, + #if PY_MAJOR_VERSION < 3 + "cannot import name %.230s", PyString_AS_STRING(name)); + #else + "cannot import name %S", name); + #endif + } + return value; +} + +/* HasAttr */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *o, PyObject *n) { + PyObject *r; + if (unlikely(!__Pyx_PyBaseString_Check(n))) { + PyErr_SetString(PyExc_TypeError, + "hasattr(): attribute name must be string"); + return -1; + } + r = __Pyx_GetAttr(o, n); + if (!r) { + PyErr_Clear(); + return 0; + } else { + Py_DECREF(r); + return 1; + } +} +#endif + +/* BufferIndexError */ +static void __Pyx_RaiseBufferIndexError(int axis) { + PyErr_Format(PyExc_IndexError, + "Out of bounds on buffer access (axis %d)", axis); +} + +/* PyObject_GenericGetAttrNoDict */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { + __Pyx_TypeName type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, attr_name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(attr_name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { + PyObject *descr; + PyTypeObject *tp = Py_TYPE(obj); + if (unlikely(!PyString_Check(attr_name))) { + return PyObject_GenericGetAttr(obj, attr_name); + } + assert(!tp->tp_dictoffset); + descr = _PyType_Lookup(tp, attr_name); + if (unlikely(!descr)) { + return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); + } + Py_INCREF(descr); + #if PY_MAJOR_VERSION < 3 + if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) + #endif + { + descrgetfunc f = Py_TYPE(descr)->tp_descr_get; + if (unlikely(f)) { + PyObject *res = f(descr, obj, (PyObject *)tp); + Py_DECREF(descr); + return res; + } + } + return descr; +} +#endif + +/* PyObject_GenericGetAttr */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { + if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { + return PyObject_GenericGetAttr(obj, attr_name); + } + return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); +} +#endif + +/* TypeImport */ +#ifndef __PYX_HAVE_RT_ImportType_3_0_8 +#define __PYX_HAVE_RT_ImportType_3_0_8 +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject *module, const char *module_name, const char *class_name, + size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size) +{ + PyObject *result = 0; + char warning[200]; + Py_ssize_t basicsize; + Py_ssize_t itemsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + PyObject *py_itemsize; +#endif + result = PyObject_GetAttrString(module, class_name); + if (!result) + goto bad; + if (!PyType_Check(result)) { + PyErr_Format(PyExc_TypeError, + "%.200s.%.200s is not a type object", + module_name, class_name); + goto bad; + } +#if !CYTHON_COMPILING_IN_LIMITED_API + basicsize = ((PyTypeObject *)result)->tp_basicsize; + itemsize = ((PyTypeObject *)result)->tp_itemsize; +#else + py_basicsize = PyObject_GetAttrString(result, "__basicsize__"); + if (!py_basicsize) + goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (basicsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; + py_itemsize = PyObject_GetAttrString(result, "__itemsize__"); + if (!py_itemsize) + goto bad; + itemsize = PyLong_AsSsize_t(py_itemsize); + Py_DECREF(py_itemsize); + py_itemsize = 0; + if (itemsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; +#endif + if (itemsize) { + if (size % alignment) { + alignment = size % alignment; + } + if (itemsize < (Py_ssize_t)alignment) + itemsize = (Py_ssize_t)alignment; + } + if ((size_t)(basicsize + itemsize) < size) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize+itemsize); + goto bad; + } + if (check_size == __Pyx_ImportType_CheckSize_Error_3_0_8 && + ((size_t)basicsize > size || (size_t)(basicsize + itemsize) < size)) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd-%zd from PyObject", + module_name, class_name, size, basicsize, basicsize+itemsize); + goto bad; + } + else if (check_size == __Pyx_ImportType_CheckSize_Warn_3_0_8 && (size_t)basicsize > size) { + PyOS_snprintf(warning, sizeof(warning), + "%s.%s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize); + if (PyErr_WarnEx(NULL, warning, 0) < 0) goto bad; + } + return (PyTypeObject *)result; +bad: + Py_XDECREF(result); + return NULL; +} +#endif + +/* FixUpExtensionType */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type) { +#if PY_VERSION_HEX > 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + CYTHON_UNUSED_VAR(spec); + CYTHON_UNUSED_VAR(type); +#else + const PyType_Slot *slot = spec->slots; + while (slot && slot->slot && slot->slot != Py_tp_members) + slot++; + if (slot && slot->slot == Py_tp_members) { + int changed = 0; +#if !(PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON) + const +#endif + PyMemberDef *memb = (PyMemberDef*) slot->pfunc; + while (memb && memb->name) { + if (memb->name[0] == '_' && memb->name[1] == '_') { +#if PY_VERSION_HEX < 0x030900b1 + if (strcmp(memb->name, "__weaklistoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_weaklistoffset = memb->offset; + changed = 1; + } + else if (strcmp(memb->name, "__dictoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_dictoffset = memb->offset; + changed = 1; + } +#if CYTHON_METH_FASTCALL + else if (strcmp(memb->name, "__vectorcalloffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); +#if PY_VERSION_HEX >= 0x030800b4 + type->tp_vectorcall_offset = memb->offset; +#else + type->tp_print = (printfunc) memb->offset; +#endif + changed = 1; + } +#endif +#else + if ((0)); +#endif +#if PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON + else if (strcmp(memb->name, "__module__") == 0) { + PyObject *descr; + assert(memb->type == T_OBJECT); + assert(memb->flags == 0 || memb->flags == READONLY); + descr = PyDescr_NewMember(type, memb); + if (unlikely(!descr)) + return -1; + if (unlikely(PyDict_SetItem(type->tp_dict, PyDescr_NAME(descr), descr) < 0)) { + Py_DECREF(descr); + return -1; + } + Py_DECREF(descr); + changed = 1; + } +#endif + } + memb++; + } + if (changed) + PyType_Modified(type); + } +#endif + return 0; +} +#endif + +/* PyObjectCallNoArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { + PyObject *arg[2] = {NULL, NULL}; + return __Pyx_PyObject_FastCall(func, arg + 1, 0 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* PyObjectGetMethod */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method) { + PyObject *attr; +#if CYTHON_UNPACK_METHODS && CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_PYTYPE_LOOKUP + __Pyx_TypeName type_name; + PyTypeObject *tp = Py_TYPE(obj); + PyObject *descr; + descrgetfunc f = NULL; + PyObject **dictptr, *dict; + int meth_found = 0; + assert (*method == NULL); + if (unlikely(tp->tp_getattro != PyObject_GenericGetAttr)) { + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; + } + if (unlikely(tp->tp_dict == NULL) && unlikely(PyType_Ready(tp) < 0)) { + return 0; + } + descr = _PyType_Lookup(tp, name); + if (likely(descr != NULL)) { + Py_INCREF(descr); +#if defined(Py_TPFLAGS_METHOD_DESCRIPTOR) && Py_TPFLAGS_METHOD_DESCRIPTOR + if (__Pyx_PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_METHOD_DESCRIPTOR)) +#elif PY_MAJOR_VERSION >= 3 + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type))) + #endif +#else + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr))) + #endif +#endif + { + meth_found = 1; + } else { + f = Py_TYPE(descr)->tp_descr_get; + if (f != NULL && PyDescr_IsData(descr)) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + } + } + dictptr = _PyObject_GetDictPtr(obj); + if (dictptr != NULL && (dict = *dictptr) != NULL) { + Py_INCREF(dict); + attr = __Pyx_PyDict_GetItemStr(dict, name); + if (attr != NULL) { + Py_INCREF(attr); + Py_DECREF(dict); + Py_XDECREF(descr); + goto try_unpack; + } + Py_DECREF(dict); + } + if (meth_found) { + *method = descr; + return 1; + } + if (f != NULL) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + if (likely(descr != NULL)) { + *method = descr; + return 0; + } + type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return 0; +#else + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; +#endif +try_unpack: +#if CYTHON_UNPACK_METHODS + if (likely(attr) && PyMethod_Check(attr) && likely(PyMethod_GET_SELF(attr) == obj)) { + PyObject *function = PyMethod_GET_FUNCTION(attr); + Py_INCREF(function); + Py_DECREF(attr); + *method = function; + return 1; + } +#endif + *method = attr; + return 0; +} + +/* PyObjectCallMethod0 */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name) { + PyObject *method = NULL, *result = NULL; + int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); + if (likely(is_method)) { + result = __Pyx_PyObject_CallOneArg(method, obj); + Py_DECREF(method); + return result; + } + if (unlikely(!method)) goto bad; + result = __Pyx_PyObject_CallNoArg(method); + Py_DECREF(method); +bad: + return result; +} + +/* ValidateBasesTuple */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases) { + Py_ssize_t i, n; +#if CYTHON_ASSUME_SAFE_MACROS + n = PyTuple_GET_SIZE(bases); +#else + n = PyTuple_Size(bases); + if (n < 0) return -1; +#endif + for (i = 1; i < n; i++) + { +#if CYTHON_AVOID_BORROWED_REFS + PyObject *b0 = PySequence_GetItem(bases, i); + if (!b0) return -1; +#elif CYTHON_ASSUME_SAFE_MACROS + PyObject *b0 = PyTuple_GET_ITEM(bases, i); +#else + PyObject *b0 = PyTuple_GetItem(bases, i); + if (!b0) return -1; +#endif + PyTypeObject *b; +#if PY_MAJOR_VERSION < 3 + if (PyClass_Check(b0)) + { + PyErr_Format(PyExc_TypeError, "base class '%.200s' is an old-style class", + PyString_AS_STRING(((PyClassObject*)b0)->cl_name)); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } +#endif + b = (PyTypeObject*) b0; + if (!__Pyx_PyType_HasFeature(b, Py_TPFLAGS_HEAPTYPE)) + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "base class '" __Pyx_FMT_TYPENAME "' is not a heap type", b_name); + __Pyx_DECREF_TypeName(b_name); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + if (dictoffset == 0) + { + Py_ssize_t b_dictoffset = 0; +#if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + b_dictoffset = b->tp_dictoffset; +#else + PyObject *py_b_dictoffset = PyObject_GetAttrString((PyObject*)b, "__dictoffset__"); + if (!py_b_dictoffset) goto dictoffset_return; + b_dictoffset = PyLong_AsSsize_t(py_b_dictoffset); + Py_DECREF(py_b_dictoffset); + if (b_dictoffset == -1 && PyErr_Occurred()) goto dictoffset_return; +#endif + if (b_dictoffset) { + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "extension type '%.200s' has no __dict__ slot, " + "but base type '" __Pyx_FMT_TYPENAME "' has: " + "either add 'cdef dict __dict__' to the extension type " + "or add '__slots__ = [...]' to the base type", + type_name, b_name); + __Pyx_DECREF_TypeName(b_name); + } +#if !(CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY) + dictoffset_return: +#endif +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + } +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + } + return 0; +} +#endif + +/* PyType_Ready */ +static int __Pyx_PyType_Ready(PyTypeObject *t) { +#if CYTHON_USE_TYPE_SPECS || !(CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API) || defined(PYSTON_MAJOR_VERSION) + (void)__Pyx_PyObject_CallMethod0; +#if CYTHON_USE_TYPE_SPECS + (void)__Pyx_validate_bases_tuple; +#endif + return PyType_Ready(t); +#else + int r; + PyObject *bases = __Pyx_PyType_GetSlot(t, tp_bases, PyObject*); + if (bases && unlikely(__Pyx_validate_bases_tuple(t->tp_name, t->tp_dictoffset, bases) == -1)) + return -1; +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + { + int gc_was_enabled; + #if PY_VERSION_HEX >= 0x030A00b1 + gc_was_enabled = PyGC_Disable(); + (void)__Pyx_PyObject_CallMethod0; + #else + PyObject *ret, *py_status; + PyObject *gc = NULL; + #if PY_VERSION_HEX >= 0x030700a1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM+0 >= 0x07030400) + gc = PyImport_GetModule(__pyx_kp_u_gc); + #endif + if (unlikely(!gc)) gc = PyImport_Import(__pyx_kp_u_gc); + if (unlikely(!gc)) return -1; + py_status = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_isenabled); + if (unlikely(!py_status)) { + Py_DECREF(gc); + return -1; + } + gc_was_enabled = __Pyx_PyObject_IsTrue(py_status); + Py_DECREF(py_status); + if (gc_was_enabled > 0) { + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_disable); + if (unlikely(!ret)) { + Py_DECREF(gc); + return -1; + } + Py_DECREF(ret); + } else if (unlikely(gc_was_enabled == -1)) { + Py_DECREF(gc); + return -1; + } + #endif + t->tp_flags |= Py_TPFLAGS_HEAPTYPE; +#if PY_VERSION_HEX >= 0x030A0000 + t->tp_flags |= Py_TPFLAGS_IMMUTABLETYPE; +#endif +#else + (void)__Pyx_PyObject_CallMethod0; +#endif + r = PyType_Ready(t); +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + t->tp_flags &= ~Py_TPFLAGS_HEAPTYPE; + #if PY_VERSION_HEX >= 0x030A00b1 + if (gc_was_enabled) + PyGC_Enable(); + #else + if (gc_was_enabled) { + PyObject *tp, *v, *tb; + PyErr_Fetch(&tp, &v, &tb); + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_enable); + if (likely(ret || r == -1)) { + Py_XDECREF(ret); + PyErr_Restore(tp, v, tb); + } else { + Py_XDECREF(tp); + Py_XDECREF(v); + Py_XDECREF(tb); + r = -1; + } + } + Py_DECREF(gc); + #endif + } +#endif + return r; +#endif +} + +/* SetupReduce */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { + int ret; + PyObject *name_attr; + name_attr = __Pyx_PyObject_GetAttrStrNoError(meth, __pyx_n_s_name_2); + if (likely(name_attr)) { + ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); + } else { + ret = -1; + } + if (unlikely(ret < 0)) { + PyErr_Clear(); + ret = 0; + } + Py_XDECREF(name_attr); + return ret; +} +static int __Pyx_setup_reduce(PyObject* type_obj) { + int ret = 0; + PyObject *object_reduce = NULL; + PyObject *object_getstate = NULL; + PyObject *object_reduce_ex = NULL; + PyObject *reduce = NULL; + PyObject *reduce_ex = NULL; + PyObject *reduce_cython = NULL; + PyObject *setstate = NULL; + PyObject *setstate_cython = NULL; + PyObject *getstate = NULL; +#if CYTHON_USE_PYTYPE_LOOKUP + getstate = _PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate); +#else + getstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_getstate); + if (!getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (getstate) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_getstate = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_getstate); +#else + object_getstate = __Pyx_PyObject_GetAttrStrNoError((PyObject*)&PyBaseObject_Type, __pyx_n_s_getstate); + if (!object_getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (object_getstate != getstate) { + goto __PYX_GOOD; + } + } +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#else + object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#endif + reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; + if (reduce_ex == object_reduce_ex) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#else + object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#endif + reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; + if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { + reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); + if (likely(reduce_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (reduce == object_reduce || PyErr_Occurred()) { + goto __PYX_BAD; + } + setstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate); + if (!setstate) PyErr_Clear(); + if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { + setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); + if (likely(setstate_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (!setstate || PyErr_Occurred()) { + goto __PYX_BAD; + } + } + PyType_Modified((PyTypeObject*)type_obj); + } + } + goto __PYX_GOOD; +__PYX_BAD: + if (!PyErr_Occurred()) { + __Pyx_TypeName type_obj_name = + __Pyx_PyType_GetName((PyTypeObject*)type_obj); + PyErr_Format(PyExc_RuntimeError, + "Unable to initialize pickling for " __Pyx_FMT_TYPENAME, type_obj_name); + __Pyx_DECREF_TypeName(type_obj_name); + } + ret = -1; +__PYX_GOOD: +#if !CYTHON_USE_PYTYPE_LOOKUP + Py_XDECREF(object_reduce); + Py_XDECREF(object_reduce_ex); + Py_XDECREF(object_getstate); + Py_XDECREF(getstate); +#endif + Py_XDECREF(reduce); + Py_XDECREF(reduce_ex); + Py_XDECREF(reduce_cython); + Py_XDECREF(setstate); + Py_XDECREF(setstate_cython); + return ret; +} +#endif + +/* SetVTable */ +static int __Pyx_SetVtable(PyTypeObject *type, void *vtable) { + PyObject *ob = PyCapsule_New(vtable, 0, 0); + if (unlikely(!ob)) + goto bad; +#if CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(PyObject_SetAttr((PyObject *) type, __pyx_n_s_pyx_vtable, ob) < 0)) +#else + if (unlikely(PyDict_SetItem(type->tp_dict, __pyx_n_s_pyx_vtable, ob) < 0)) +#endif + goto bad; + Py_DECREF(ob); + return 0; +bad: + Py_XDECREF(ob); + return -1; +} + +/* GetVTable */ +static void* __Pyx_GetVtable(PyTypeObject *type) { + void* ptr; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *ob = PyObject_GetAttr((PyObject *)type, __pyx_n_s_pyx_vtable); +#else + PyObject *ob = PyObject_GetItem(type->tp_dict, __pyx_n_s_pyx_vtable); +#endif + if (!ob) + goto bad; + ptr = PyCapsule_GetPointer(ob, 0); + if (!ptr && !PyErr_Occurred()) + PyErr_SetString(PyExc_RuntimeError, "invalid vtable found for imported type"); + Py_DECREF(ob); + return ptr; +bad: + Py_XDECREF(ob); + return NULL; +} + +/* MergeVTables */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type) { + int i; + void** base_vtables; + __Pyx_TypeName tp_base_name; + __Pyx_TypeName base_name; + void* unknown = (void*)-1; + PyObject* bases = type->tp_bases; + int base_depth = 0; + { + PyTypeObject* base = type->tp_base; + while (base) { + base_depth += 1; + base = base->tp_base; + } + } + base_vtables = (void**) malloc(sizeof(void*) * (size_t)(base_depth + 1)); + base_vtables[0] = unknown; + for (i = 1; i < PyTuple_GET_SIZE(bases); i++) { + void* base_vtable = __Pyx_GetVtable(((PyTypeObject*)PyTuple_GET_ITEM(bases, i))); + if (base_vtable != NULL) { + int j; + PyTypeObject* base = type->tp_base; + for (j = 0; j < base_depth; j++) { + if (base_vtables[j] == unknown) { + base_vtables[j] = __Pyx_GetVtable(base); + base_vtables[j + 1] = unknown; + } + if (base_vtables[j] == base_vtable) { + break; + } else if (base_vtables[j] == NULL) { + goto bad; + } + base = base->tp_base; + } + } + } + PyErr_Clear(); + free(base_vtables); + return 0; +bad: + tp_base_name = __Pyx_PyType_GetName(type->tp_base); + base_name = __Pyx_PyType_GetName((PyTypeObject*)PyTuple_GET_ITEM(bases, i)); + PyErr_Format(PyExc_TypeError, + "multiple bases have vtable conflict: '" __Pyx_FMT_TYPENAME "' and '" __Pyx_FMT_TYPENAME "'", tp_base_name, base_name); + __Pyx_DECREF_TypeName(tp_base_name); + __Pyx_DECREF_TypeName(base_name); + free(base_vtables); + return -1; +} +#endif + +/* FetchSharedCythonModule */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void) { + return __Pyx_PyImport_AddModuleRef((char*) __PYX_ABI_MODULE_NAME); +} + +/* FetchCommonType */ +static int __Pyx_VerifyCachedType(PyObject *cached_type, + const char *name, + Py_ssize_t basicsize, + Py_ssize_t expected_basicsize) { + if (!PyType_Check(cached_type)) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s is not a type object", name); + return -1; + } + if (basicsize != expected_basicsize) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s has the wrong size, try recompiling", + name); + return -1; + } + return 0; +} +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) { + PyObject* abi_module; + const char* object_name; + PyTypeObject *cached_type = NULL; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + object_name = strrchr(type->tp_name, '.'); + object_name = object_name ? object_name+1 : type->tp_name; + cached_type = (PyTypeObject*) PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + if (__Pyx_VerifyCachedType( + (PyObject *)cached_type, + object_name, + cached_type->tp_basicsize, + type->tp_basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + if (PyType_Ready(type) < 0) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, (PyObject *)type) < 0) + goto bad; + Py_INCREF(type); + cached_type = type; +done: + Py_DECREF(abi_module); + return cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#else +static PyTypeObject *__Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases) { + PyObject *abi_module, *cached_type = NULL; + const char* object_name = strrchr(spec->name, '.'); + object_name = object_name ? object_name+1 : spec->name; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + cached_type = PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + Py_ssize_t basicsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + py_basicsize = PyObject_GetAttrString(cached_type, "__basicsize__"); + if (unlikely(!py_basicsize)) goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (unlikely(basicsize == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; +#else + basicsize = likely(PyType_Check(cached_type)) ? ((PyTypeObject*) cached_type)->tp_basicsize : -1; +#endif + if (__Pyx_VerifyCachedType( + cached_type, + object_name, + basicsize, + spec->basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + CYTHON_UNUSED_VAR(module); + cached_type = __Pyx_PyType_FromModuleAndSpec(abi_module, spec, bases); + if (unlikely(!cached_type)) goto bad; + if (unlikely(__Pyx_fix_up_extension_type_from_spec(spec, (PyTypeObject *) cached_type) < 0)) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, cached_type) < 0) goto bad; +done: + Py_DECREF(abi_module); + assert(cached_type == NULL || PyType_Check(cached_type)); + return (PyTypeObject *) cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#endif + +/* PyVectorcallFastCallDict */ +#if CYTHON_METH_FASTCALL +static PyObject *__Pyx_PyVectorcall_FastCallDict_kw(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + PyObject *res = NULL; + PyObject *kwnames; + PyObject **newargs; + PyObject **kwvalues; + Py_ssize_t i, pos; + size_t j; + PyObject *key, *value; + unsigned long keys_are_strings; + Py_ssize_t nkw = PyDict_GET_SIZE(kw); + newargs = (PyObject **)PyMem_Malloc((nargs + (size_t)nkw) * sizeof(args[0])); + if (unlikely(newargs == NULL)) { + PyErr_NoMemory(); + return NULL; + } + for (j = 0; j < nargs; j++) newargs[j] = args[j]; + kwnames = PyTuple_New(nkw); + if (unlikely(kwnames == NULL)) { + PyMem_Free(newargs); + return NULL; + } + kwvalues = newargs + nargs; + pos = i = 0; + keys_are_strings = Py_TPFLAGS_UNICODE_SUBCLASS; + while (PyDict_Next(kw, &pos, &key, &value)) { + keys_are_strings &= Py_TYPE(key)->tp_flags; + Py_INCREF(key); + Py_INCREF(value); + PyTuple_SET_ITEM(kwnames, i, key); + kwvalues[i] = value; + i++; + } + if (unlikely(!keys_are_strings)) { + PyErr_SetString(PyExc_TypeError, "keywords must be strings"); + goto cleanup; + } + res = vc(func, newargs, nargs, kwnames); +cleanup: + Py_DECREF(kwnames); + for (i = 0; i < nkw; i++) + Py_DECREF(kwvalues[i]); + PyMem_Free(newargs); + return res; +} +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + if (likely(kw == NULL) || PyDict_GET_SIZE(kw) == 0) { + return vc(func, args, nargs, NULL); + } + return __Pyx_PyVectorcall_FastCallDict_kw(func, vc, args, nargs, kw); +} +#endif + +/* CythonFunctionShared */ +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + if (__Pyx_CyFunction_Check(func)) { + return PyCFunction_GetFunction(((__pyx_CyFunctionObject*)func)->func) == (PyCFunction) cfunc; + } else if (PyCFunction_Check(func)) { + return PyCFunction_GetFunction(func) == (PyCFunction) cfunc; + } + return 0; +} +#else +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + return __Pyx_CyOrPyCFunction_Check(func) && __Pyx_CyOrPyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +} +#endif +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj) { +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + __Pyx_Py_XDECREF_SET( + __Pyx_CyFunction_GetClassObj(f), + ((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#else + __Pyx_Py_XDECREF_SET( + ((PyCMethodObject *) (f))->mm_class, + (PyTypeObject*)((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#endif +} +static PyObject * +__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, void *closure) +{ + CYTHON_UNUSED_VAR(closure); + if (unlikely(op->func_doc == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_doc = PyObject_GetAttrString(op->func, "__doc__"); + if (unlikely(!op->func_doc)) return NULL; +#else + if (((PyCFunctionObject*)op)->m_ml->ml_doc) { +#if PY_MAJOR_VERSION >= 3 + op->func_doc = PyUnicode_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#else + op->func_doc = PyString_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#endif + if (unlikely(op->func_doc == NULL)) + return NULL; + } else { + Py_INCREF(Py_None); + return Py_None; + } +#endif + } + Py_INCREF(op->func_doc); + return op->func_doc; +} +static int +__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (value == NULL) { + value = Py_None; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_doc, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_name == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_name = PyObject_GetAttrString(op->func, "__name__"); +#elif PY_MAJOR_VERSION >= 3 + op->func_name = PyUnicode_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#else + op->func_name = PyString_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#endif + if (unlikely(op->func_name == NULL)) + return NULL; + } + Py_INCREF(op->func_name); + return op->func_name; +} +static int +__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__name__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_name, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_qualname); + return op->func_qualname; +} +static int +__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__qualname__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_qualname, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_dict(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_dict == NULL)) { + op->func_dict = PyDict_New(); + if (unlikely(op->func_dict == NULL)) + return NULL; + } + Py_INCREF(op->func_dict); + return op->func_dict; +} +static int +__Pyx_CyFunction_set_dict(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(value == NULL)) { + PyErr_SetString(PyExc_TypeError, + "function's dictionary may not be deleted"); + return -1; + } + if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "setting function's dictionary to a non-dict"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_dict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_globals(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_globals); + return op->func_globals; +} +static PyObject * +__Pyx_CyFunction_get_closure(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(op); + CYTHON_UNUSED_VAR(context); + Py_INCREF(Py_None); + return Py_None; +} +static PyObject * +__Pyx_CyFunction_get_code(__pyx_CyFunctionObject *op, void *context) +{ + PyObject* result = (op->func_code) ? op->func_code : Py_None; + CYTHON_UNUSED_VAR(context); + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_init_defaults(__pyx_CyFunctionObject *op) { + int result = 0; + PyObject *res = op->defaults_getter((PyObject *) op); + if (unlikely(!res)) + return -1; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + op->defaults_tuple = PyTuple_GET_ITEM(res, 0); + Py_INCREF(op->defaults_tuple); + op->defaults_kwdict = PyTuple_GET_ITEM(res, 1); + Py_INCREF(op->defaults_kwdict); + #else + op->defaults_tuple = __Pyx_PySequence_ITEM(res, 0); + if (unlikely(!op->defaults_tuple)) result = -1; + else { + op->defaults_kwdict = __Pyx_PySequence_ITEM(res, 1); + if (unlikely(!op->defaults_kwdict)) result = -1; + } + #endif + Py_DECREF(res); + return result; +} +static int +__Pyx_CyFunction_set_defaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyTuple_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__defaults__ must be set to a tuple object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__defaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_tuple, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_defaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_tuple; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_tuple; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_kwdefaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__kwdefaults__ must be set to a dict object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__kwdefaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_kwdict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_kwdefaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_kwdict; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_kwdict; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_annotations(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value || value == Py_None) { + value = NULL; + } else if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__annotations__ must be set to a dict object"); + return -1; + } + Py_XINCREF(value); + __Pyx_Py_XDECREF_SET(op->func_annotations, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_annotations(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->func_annotations; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + result = PyDict_New(); + if (unlikely(!result)) return NULL; + op->func_annotations = result; + } + Py_INCREF(result); + return result; +} +static PyObject * +__Pyx_CyFunction_get_is_coroutine(__pyx_CyFunctionObject *op, void *context) { + int is_coroutine; + CYTHON_UNUSED_VAR(context); + if (op->func_is_coroutine) { + return __Pyx_NewRef(op->func_is_coroutine); + } + is_coroutine = op->flags & __Pyx_CYFUNCTION_COROUTINE; +#if PY_VERSION_HEX >= 0x03050000 + if (is_coroutine) { + PyObject *module, *fromlist, *marker = __pyx_n_s_is_coroutine; + fromlist = PyList_New(1); + if (unlikely(!fromlist)) return NULL; + Py_INCREF(marker); +#if CYTHON_ASSUME_SAFE_MACROS + PyList_SET_ITEM(fromlist, 0, marker); +#else + if (unlikely(PyList_SetItem(fromlist, 0, marker) < 0)) { + Py_DECREF(marker); + Py_DECREF(fromlist); + return NULL; + } +#endif + module = PyImport_ImportModuleLevelObject(__pyx_n_s_asyncio_coroutines, NULL, NULL, fromlist, 0); + Py_DECREF(fromlist); + if (unlikely(!module)) goto ignore; + op->func_is_coroutine = __Pyx_PyObject_GetAttrStr(module, marker); + Py_DECREF(module); + if (likely(op->func_is_coroutine)) { + return __Pyx_NewRef(op->func_is_coroutine); + } +ignore: + PyErr_Clear(); + } +#endif + op->func_is_coroutine = __Pyx_PyBool_FromLong(is_coroutine); + return __Pyx_NewRef(op->func_is_coroutine); +} +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject * +__Pyx_CyFunction_get_module(__pyx_CyFunctionObject *op, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_GetAttrString(op->func, "__module__"); +} +static int +__Pyx_CyFunction_set_module(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_SetAttrString(op->func, "__module__", value); +} +#endif +static PyGetSetDef __pyx_CyFunction_getsets[] = { + {(char *) "func_doc", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "__doc__", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "func_name", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__name__", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__qualname__", (getter)__Pyx_CyFunction_get_qualname, (setter)__Pyx_CyFunction_set_qualname, 0, 0}, + {(char *) "func_dict", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "__dict__", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "func_globals", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "__globals__", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "func_closure", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "__closure__", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "func_code", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "__code__", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "func_defaults", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__defaults__", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__kwdefaults__", (getter)__Pyx_CyFunction_get_kwdefaults, (setter)__Pyx_CyFunction_set_kwdefaults, 0, 0}, + {(char *) "__annotations__", (getter)__Pyx_CyFunction_get_annotations, (setter)__Pyx_CyFunction_set_annotations, 0, 0}, + {(char *) "_is_coroutine", (getter)__Pyx_CyFunction_get_is_coroutine, 0, 0, 0}, +#if CYTHON_COMPILING_IN_LIMITED_API + {"__module__", (getter)__Pyx_CyFunction_get_module, (setter)__Pyx_CyFunction_set_module, 0, 0}, +#endif + {0, 0, 0, 0, 0} +}; +static PyMemberDef __pyx_CyFunction_members[] = { +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__module__", T_OBJECT, offsetof(PyCFunctionObject, m_module), 0, 0}, +#endif +#if CYTHON_USE_TYPE_SPECS + {(char *) "__dictoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_dict), READONLY, 0}, +#if CYTHON_METH_FASTCALL +#if CYTHON_BACKPORT_VECTORCALL + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_vectorcall), READONLY, 0}, +#else +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(PyCFunctionObject, vectorcall), READONLY, 0}, +#endif +#endif +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_weakreflist), READONLY, 0}, +#else + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(PyCFunctionObject, m_weakreflist), READONLY, 0}, +#endif +#endif + {0, 0, 0, 0, 0} +}; +static PyObject * +__Pyx_CyFunction_reduce(__pyx_CyFunctionObject *m, PyObject *args) +{ + CYTHON_UNUSED_VAR(args); +#if PY_MAJOR_VERSION >= 3 + Py_INCREF(m->func_qualname); + return m->func_qualname; +#else + return PyString_FromString(((PyCFunctionObject*)m)->m_ml->ml_name); +#endif +} +static PyMethodDef __pyx_CyFunction_methods[] = { + {"__reduce__", (PyCFunction)__Pyx_CyFunction_reduce, METH_VARARGS, 0}, + {0, 0, 0, 0} +}; +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func_weakreflist) +#else +#define __Pyx_CyFunction_weakreflist(cyfunc) (((PyCFunctionObject*)cyfunc)->m_weakreflist) +#endif +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject *op, PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { +#if !CYTHON_COMPILING_IN_LIMITED_API + PyCFunctionObject *cf = (PyCFunctionObject*) op; +#endif + if (unlikely(op == NULL)) + return NULL; +#if CYTHON_COMPILING_IN_LIMITED_API + op->func = PyCFunction_NewEx(ml, (PyObject*)op, module); + if (unlikely(!op->func)) return NULL; +#endif + op->flags = flags; + __Pyx_CyFunction_weakreflist(op) = NULL; +#if !CYTHON_COMPILING_IN_LIMITED_API + cf->m_ml = ml; + cf->m_self = (PyObject *) op; +#endif + Py_XINCREF(closure); + op->func_closure = closure; +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_XINCREF(module); + cf->m_module = module; +#endif + op->func_dict = NULL; + op->func_name = NULL; + Py_INCREF(qualname); + op->func_qualname = qualname; + op->func_doc = NULL; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + op->func_classobj = NULL; +#else + ((PyCMethodObject*)op)->mm_class = NULL; +#endif + op->func_globals = globals; + Py_INCREF(op->func_globals); + Py_XINCREF(code); + op->func_code = code; + op->defaults_pyobjects = 0; + op->defaults_size = 0; + op->defaults = NULL; + op->defaults_tuple = NULL; + op->defaults_kwdict = NULL; + op->defaults_getter = NULL; + op->func_annotations = NULL; + op->func_is_coroutine = NULL; +#if CYTHON_METH_FASTCALL + switch (ml->ml_flags & (METH_VARARGS | METH_FASTCALL | METH_NOARGS | METH_O | METH_KEYWORDS | METH_METHOD)) { + case METH_NOARGS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_NOARGS; + break; + case METH_O: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_O; + break; + case METH_METHOD | METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD; + break; + case METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS; + break; + case METH_VARARGS | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = NULL; + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + Py_DECREF(op); + return NULL; + } +#endif + return (PyObject *) op; +} +static int +__Pyx_CyFunction_clear(__pyx_CyFunctionObject *m) +{ + Py_CLEAR(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_CLEAR(m->func); +#else + Py_CLEAR(((PyCFunctionObject*)m)->m_module); +#endif + Py_CLEAR(m->func_dict); + Py_CLEAR(m->func_name); + Py_CLEAR(m->func_qualname); + Py_CLEAR(m->func_doc); + Py_CLEAR(m->func_globals); + Py_CLEAR(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API +#if PY_VERSION_HEX < 0x030900B1 + Py_CLEAR(__Pyx_CyFunction_GetClassObj(m)); +#else + { + PyObject *cls = (PyObject*) ((PyCMethodObject *) (m))->mm_class; + ((PyCMethodObject *) (m))->mm_class = NULL; + Py_XDECREF(cls); + } +#endif +#endif + Py_CLEAR(m->defaults_tuple); + Py_CLEAR(m->defaults_kwdict); + Py_CLEAR(m->func_annotations); + Py_CLEAR(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_XDECREF(pydefaults[i]); + PyObject_Free(m->defaults); + m->defaults = NULL; + } + return 0; +} +static void __Pyx__CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + if (__Pyx_CyFunction_weakreflist(m) != NULL) + PyObject_ClearWeakRefs((PyObject *) m); + __Pyx_CyFunction_clear(m); + __Pyx_PyHeapTypeObject_GC_Del(m); +} +static void __Pyx_CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + PyObject_GC_UnTrack(m); + __Pyx__CyFunction_dealloc(m); +} +static int __Pyx_CyFunction_traverse(__pyx_CyFunctionObject *m, visitproc visit, void *arg) +{ + Py_VISIT(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(m->func); +#else + Py_VISIT(((PyCFunctionObject*)m)->m_module); +#endif + Py_VISIT(m->func_dict); + Py_VISIT(m->func_name); + Py_VISIT(m->func_qualname); + Py_VISIT(m->func_doc); + Py_VISIT(m->func_globals); + Py_VISIT(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(__Pyx_CyFunction_GetClassObj(m)); +#endif + Py_VISIT(m->defaults_tuple); + Py_VISIT(m->defaults_kwdict); + Py_VISIT(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_VISIT(pydefaults[i]); + } + return 0; +} +static PyObject* +__Pyx_CyFunction_repr(__pyx_CyFunctionObject *op) +{ +#if PY_MAJOR_VERSION >= 3 + return PyUnicode_FromFormat("", + op->func_qualname, (void *)op); +#else + return PyString_FromFormat("", + PyString_AsString(op->func_qualname), (void *)op); +#endif +} +static PyObject * __Pyx_CyFunction_CallMethod(PyObject *func, PyObject *self, PyObject *arg, PyObject *kw) { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *f = ((__pyx_CyFunctionObject*)func)->func; + PyObject *py_name = NULL; + PyCFunction meth; + int flags; + meth = PyCFunction_GetFunction(f); + if (unlikely(!meth)) return NULL; + flags = PyCFunction_GetFlags(f); + if (unlikely(flags < 0)) return NULL; +#else + PyCFunctionObject* f = (PyCFunctionObject*)func; + PyCFunction meth = f->m_ml->ml_meth; + int flags = f->m_ml->ml_flags; +#endif + Py_ssize_t size; + switch (flags & (METH_VARARGS | METH_KEYWORDS | METH_NOARGS | METH_O)) { + case METH_VARARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) + return (*meth)(self, arg); + break; + case METH_VARARGS | METH_KEYWORDS: + return (*(PyCFunctionWithKeywords)(void*)meth)(self, arg, kw); + case METH_NOARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 0)) + return (*meth)(self, NULL); +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + case METH_O: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 1)) { + PyObject *result, *arg0; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + arg0 = PyTuple_GET_ITEM(arg, 0); + #else + arg0 = __Pyx_PySequence_ITEM(arg, 0); if (unlikely(!arg0)) return NULL; + #endif + result = (*meth)(self, arg0); + #if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(arg0); + #endif + return result; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + return NULL; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, "%.200S() takes no keyword arguments", + py_name); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, "%.200s() takes no keyword arguments", + f->m_ml->ml_name); +#endif + return NULL; +} +static CYTHON_INLINE PyObject *__Pyx_CyFunction_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *self, *result; +#if CYTHON_COMPILING_IN_LIMITED_API + self = PyCFunction_GetSelf(((__pyx_CyFunctionObject*)func)->func); + if (unlikely(!self) && PyErr_Occurred()) return NULL; +#else + self = ((PyCFunctionObject*)func)->m_self; +#endif + result = __Pyx_CyFunction_CallMethod(func, self, arg, kw); + return result; +} +static PyObject *__Pyx_CyFunction_CallAsMethod(PyObject *func, PyObject *args, PyObject *kw) { + PyObject *result; + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *) func; +#if CYTHON_METH_FASTCALL + __pyx_vectorcallfunc vc = __Pyx_CyFunction_func_vectorcall(cyfunc); + if (vc) { +#if CYTHON_ASSUME_SAFE_MACROS + return __Pyx_PyVectorcall_FastCallDict(func, vc, &PyTuple_GET_ITEM(args, 0), (size_t)PyTuple_GET_SIZE(args), kw); +#else + (void) &__Pyx_PyVectorcall_FastCallDict; + return PyVectorcall_Call(func, args, kw); +#endif + } +#endif + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + Py_ssize_t argc; + PyObject *new_args; + PyObject *self; +#if CYTHON_ASSUME_SAFE_MACROS + argc = PyTuple_GET_SIZE(args); +#else + argc = PyTuple_Size(args); + if (unlikely(!argc) < 0) return NULL; +#endif + new_args = PyTuple_GetSlice(args, 1, argc); + if (unlikely(!new_args)) + return NULL; + self = PyTuple_GetItem(args, 0); + if (unlikely(!self)) { + Py_DECREF(new_args); +#if PY_MAJOR_VERSION > 2 + PyErr_Format(PyExc_TypeError, + "unbound method %.200S() needs an argument", + cyfunc->func_qualname); +#else + PyErr_SetString(PyExc_TypeError, + "unbound method needs an argument"); +#endif + return NULL; + } + result = __Pyx_CyFunction_CallMethod(func, self, new_args, kw); + Py_DECREF(new_args); + } else { + result = __Pyx_CyFunction_Call(func, args, kw); + } + return result; +} +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE int __Pyx_CyFunction_Vectorcall_CheckArgs(__pyx_CyFunctionObject *cyfunc, Py_ssize_t nargs, PyObject *kwnames) +{ + int ret = 0; + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + if (unlikely(nargs < 1)) { + PyErr_Format(PyExc_TypeError, "%.200s() needs an argument", + ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + ret = 1; + } + if (unlikely(kwnames) && unlikely(PyTuple_GET_SIZE(kwnames))) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no keyword arguments", ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + return ret; +} +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 0)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, NULL); +} +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 1)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, args[0]); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((_PyCFunctionFastWithKeywords)(void(*)(void))def->ml_meth)(self, args, nargs, kwnames); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; + PyTypeObject *cls = (PyTypeObject *) __Pyx_CyFunction_GetClassObj(cyfunc); +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((__Pyx_PyCMethod)(void(*)(void))def->ml_meth)(self, cls, args, (size_t)nargs, kwnames); +} +#endif +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_CyFunctionType_slots[] = { + {Py_tp_dealloc, (void *)__Pyx_CyFunction_dealloc}, + {Py_tp_repr, (void *)__Pyx_CyFunction_repr}, + {Py_tp_call, (void *)__Pyx_CyFunction_CallAsMethod}, + {Py_tp_traverse, (void *)__Pyx_CyFunction_traverse}, + {Py_tp_clear, (void *)__Pyx_CyFunction_clear}, + {Py_tp_methods, (void *)__pyx_CyFunction_methods}, + {Py_tp_members, (void *)__pyx_CyFunction_members}, + {Py_tp_getset, (void *)__pyx_CyFunction_getsets}, + {Py_tp_descr_get, (void *)__Pyx_PyMethod_New}, + {0, 0}, +}; +static PyType_Spec __pyx_CyFunctionType_spec = { + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if (defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL) + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + __pyx_CyFunctionType_slots +}; +#else +static PyTypeObject __pyx_CyFunctionType_type = { + PyVarObject_HEAD_INIT(0, 0) + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, + (destructor) __Pyx_CyFunction_dealloc, +#if !CYTHON_METH_FASTCALL + 0, +#elif CYTHON_BACKPORT_VECTORCALL + (printfunc)offsetof(__pyx_CyFunctionObject, func_vectorcall), +#else + offsetof(PyCFunctionObject, vectorcall), +#endif + 0, + 0, +#if PY_MAJOR_VERSION < 3 + 0, +#else + 0, +#endif + (reprfunc) __Pyx_CyFunction_repr, + 0, + 0, + 0, + 0, + __Pyx_CyFunction_CallAsMethod, + 0, + 0, + 0, + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + 0, + (traverseproc) __Pyx_CyFunction_traverse, + (inquiry) __Pyx_CyFunction_clear, + 0, +#if PY_VERSION_HEX < 0x030500A0 + offsetof(__pyx_CyFunctionObject, func_weakreflist), +#else + offsetof(PyCFunctionObject, m_weakreflist), +#endif + 0, + 0, + __pyx_CyFunction_methods, + __pyx_CyFunction_members, + __pyx_CyFunction_getsets, + 0, + 0, + __Pyx_PyMethod_New, + 0, + offsetof(__pyx_CyFunctionObject, func_dict), + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, +#if PY_VERSION_HEX >= 0x030400a1 + 0, +#endif +#if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, +#endif +#if __PYX_NEED_TP_PRINT_SLOT + 0, +#endif +#if PY_VERSION_HEX >= 0x030C0000 + 0, +#endif +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, +#endif +}; +#endif +static int __pyx_CyFunction_init(PyObject *module) { +#if CYTHON_USE_TYPE_SPECS + __pyx_CyFunctionType = __Pyx_FetchCommonTypeFromSpec(module, &__pyx_CyFunctionType_spec, NULL); +#else + CYTHON_UNUSED_VAR(module); + __pyx_CyFunctionType = __Pyx_FetchCommonType(&__pyx_CyFunctionType_type); +#endif + if (unlikely(__pyx_CyFunctionType == NULL)) { + return -1; + } + return 0; +} +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *func, size_t size, int pyobjects) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults = PyObject_Malloc(size); + if (unlikely(!m->defaults)) + return PyErr_NoMemory(); + memset(m->defaults, 0, size); + m->defaults_pyobjects = pyobjects; + m->defaults_size = size; + return m->defaults; +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *func, PyObject *tuple) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_tuple = tuple; + Py_INCREF(tuple); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_kwdict = dict; + Py_INCREF(dict); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->func_annotations = dict; + Py_INCREF(dict); +} + +/* CythonFunction */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { + PyObject *op = __Pyx_CyFunction_Init( + PyObject_GC_New(__pyx_CyFunctionObject, __pyx_CyFunctionType), + ml, flags, qualname, closure, module, globals, code + ); + if (likely(op)) { + PyObject_GC_Track(op); + } + return op; +} + +/* CLineInTraceback */ +#ifndef CYTHON_CLINE_IN_TRACEBACK +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line) { + PyObject *use_cline; + PyObject *ptype, *pvalue, *ptraceback; +#if CYTHON_COMPILING_IN_CPYTHON + PyObject **cython_runtime_dict; +#endif + CYTHON_MAYBE_UNUSED_VAR(tstate); + if (unlikely(!__pyx_cython_runtime)) { + return c_line; + } + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); +#if CYTHON_COMPILING_IN_CPYTHON + cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); + if (likely(cython_runtime_dict)) { + __PYX_PY_DICT_LOOKUP_IF_MODIFIED( + use_cline, *cython_runtime_dict, + __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) + } else +#endif + { + PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStrNoError(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); + if (use_cline_obj) { + use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; +} +#endif + +/* CodeObjectCache */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; + } + } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } +} +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; + } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; +} +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; + } + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; + } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); +} +#endif + +/* AddTraceback */ +#include "compile.h" +#include "frameobject.h" +#include "traceback.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyCode_Replace_For_AddTraceback(PyObject *code, PyObject *scratch_dict, + PyObject *firstlineno, PyObject *name) { + PyObject *replace = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_firstlineno", firstlineno))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_name", name))) return NULL; + replace = PyObject_GetAttrString(code, "replace"); + if (likely(replace)) { + PyObject *result; + result = PyObject_Call(replace, __pyx_empty_tuple, scratch_dict); + Py_DECREF(replace); + return result; + } + PyErr_Clear(); + #if __PYX_LIMITED_VERSION_HEX < 0x030780000 + { + PyObject *compiled = NULL, *result = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "code", code))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "type", (PyObject*)(&PyType_Type)))) return NULL; + compiled = Py_CompileString( + "out = type(code)(\n" + " code.co_argcount, code.co_kwonlyargcount, code.co_nlocals, code.co_stacksize,\n" + " code.co_flags, code.co_code, code.co_consts, code.co_names,\n" + " code.co_varnames, code.co_filename, co_name, co_firstlineno,\n" + " code.co_lnotab)\n", "", Py_file_input); + if (!compiled) return NULL; + result = PyEval_EvalCode(compiled, scratch_dict, scratch_dict); + Py_DECREF(compiled); + if (!result) PyErr_Print(); + Py_DECREF(result); + result = PyDict_GetItemString(scratch_dict, "out"); + if (result) Py_INCREF(result); + return result; + } + #else + return NULL; + #endif +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyObject *code_object = NULL, *py_py_line = NULL, *py_funcname = NULL, *dict = NULL; + PyObject *replace = NULL, *getframe = NULL, *frame = NULL; + PyObject *exc_type, *exc_value, *exc_traceback; + int success = 0; + if (c_line) { + (void) __pyx_cfilenm; + (void) __Pyx_CLineForTraceback(__Pyx_PyThreadState_Current, c_line); + } + PyErr_Fetch(&exc_type, &exc_value, &exc_traceback); + code_object = Py_CompileString("_getframe()", filename, Py_eval_input); + if (unlikely(!code_object)) goto bad; + py_py_line = PyLong_FromLong(py_line); + if (unlikely(!py_py_line)) goto bad; + py_funcname = PyUnicode_FromString(funcname); + if (unlikely(!py_funcname)) goto bad; + dict = PyDict_New(); + if (unlikely(!dict)) goto bad; + { + PyObject *old_code_object = code_object; + code_object = __Pyx_PyCode_Replace_For_AddTraceback(code_object, dict, py_py_line, py_funcname); + Py_DECREF(old_code_object); + } + if (unlikely(!code_object)) goto bad; + getframe = PySys_GetObject("_getframe"); + if (unlikely(!getframe)) goto bad; + if (unlikely(PyDict_SetItemString(dict, "_getframe", getframe))) goto bad; + frame = PyEval_EvalCode(code_object, dict, dict); + if (unlikely(!frame) || frame == Py_None) goto bad; + success = 1; + bad: + PyErr_Restore(exc_type, exc_value, exc_traceback); + Py_XDECREF(code_object); + Py_XDECREF(py_py_line); + Py_XDECREF(py_funcname); + Py_XDECREF(dict); + Py_XDECREF(replace); + if (success) { + PyTraceBack_Here( + (struct _frame*)frame); + } + Py_XDECREF(frame); +} +#else +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = NULL; + PyObject *py_funcname = NULL; + #if PY_MAJOR_VERSION < 3 + PyObject *py_srcfile = NULL; + py_srcfile = PyString_FromString(filename); + if (!py_srcfile) goto bad; + #endif + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + funcname = PyUnicode_AsUTF8(py_funcname); + if (!funcname) goto bad; + #endif + } + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + if (!py_funcname) goto bad; + #endif + } + #if PY_MAJOR_VERSION < 3 + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + #else + py_code = PyCode_NewEmpty(filename, funcname, py_line); + #endif + Py_XDECREF(py_funcname); + return py_code; +bad: + Py_XDECREF(py_funcname); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_srcfile); + #endif + return NULL; +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject *ptype, *pvalue, *ptraceback; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); + } + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) { + /* If the code object creation fails, then we should clear the + fetched exception references and propagate the new exception */ + Py_XDECREF(ptype); + Py_XDECREF(pvalue); + Py_XDECREF(ptraceback); + goto bad; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + } + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} +#endif + +#if PY_MAJOR_VERSION < 3 +static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags) { + __Pyx_TypeName obj_type_name; + if (PyObject_CheckBuffer(obj)) return PyObject_GetBuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_array_type)) return __pyx_array_getbuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_memoryview_type)) return __pyx_memoryview_getbuffer(obj, view, flags); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' does not have the buffer interface", + obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return -1; +} +static void __Pyx_ReleaseBuffer(Py_buffer *view) { + PyObject *obj = view->obj; + if (!obj) return; + if (PyObject_CheckBuffer(obj)) { + PyBuffer_Release(view); + return; + } + if ((0)) {} + view->obj = NULL; + Py_DECREF(obj); +} +#endif + + +/* MemviewSliceIsContig */ +static int +__pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim) +{ + int i, index, step, start; + Py_ssize_t itemsize = mvs.memview->view.itemsize; + if (order == 'F') { + step = 1; + start = 0; + } else { + step = -1; + start = ndim - 1; + } + for (i = 0; i < ndim; i++) { + index = start + step * i; + if (mvs.suboffsets[index] >= 0 || mvs.strides[index] != itemsize) + return 0; + itemsize *= mvs.shape[index]; + } + return 1; +} + +/* OverlappingSlices */ +static void +__pyx_get_array_memory_extents(__Pyx_memviewslice *slice, + void **out_start, void **out_end, + int ndim, size_t itemsize) +{ + char *start, *end; + int i; + start = end = slice->data; + for (i = 0; i < ndim; i++) { + Py_ssize_t stride = slice->strides[i]; + Py_ssize_t extent = slice->shape[i]; + if (extent == 0) { + *out_start = *out_end = start; + return; + } else { + if (stride > 0) + end += stride * (extent - 1); + else + start += stride * (extent - 1); + } + } + *out_start = start; + *out_end = end + itemsize; +} +static int +__pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize) +{ + void *start1, *end1, *start2, *end2; + __pyx_get_array_memory_extents(slice1, &start1, &end1, ndim, itemsize); + __pyx_get_array_memory_extents(slice2, &start2, &end2, ndim, itemsize); + return (start1 < end2) && (start2 < end1); +} + +/* IsLittleEndian */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void) +{ + union { + uint32_t u32; + uint8_t u8[4]; + } S; + S.u32 = 0x01020304; + return S.u8[0] == 4; +} + +/* BufferFormatCheck */ +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type) { + stack[0].field = &ctx->root; + stack[0].parent_offset = 0; + ctx->root.type = type; + ctx->root.name = "buffer dtype"; + ctx->root.offset = 0; + ctx->head = stack; + ctx->head->field = &ctx->root; + ctx->fmt_offset = 0; + ctx->head->parent_offset = 0; + ctx->new_packmode = '@'; + ctx->enc_packmode = '@'; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->is_complex = 0; + ctx->is_valid_array = 0; + ctx->struct_alignment = 0; + while (type->typegroup == 'S') { + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = 0; + type = type->fields->type; + } +} +static int __Pyx_BufFmt_ParseNumber(const char** ts) { + int count; + const char* t = *ts; + if (*t < '0' || *t > '9') { + return -1; + } else { + count = *t++ - '0'; + while (*t >= '0' && *t <= '9') { + count *= 10; + count += *t++ - '0'; + } + } + *ts = t; + return count; +} +static int __Pyx_BufFmt_ExpectNumber(const char **ts) { + int number = __Pyx_BufFmt_ParseNumber(ts); + if (number == -1) + PyErr_Format(PyExc_ValueError,\ + "Does not understand character buffer dtype format string ('%c')", **ts); + return number; +} +static void __Pyx_BufFmt_RaiseUnexpectedChar(char ch) { + PyErr_Format(PyExc_ValueError, + "Unexpected format string character: '%c'", ch); +} +static const char* __Pyx_BufFmt_DescribeTypeChar(char ch, int is_complex) { + switch (ch) { + case '?': return "'bool'"; + case 'c': return "'char'"; + case 'b': return "'signed char'"; + case 'B': return "'unsigned char'"; + case 'h': return "'short'"; + case 'H': return "'unsigned short'"; + case 'i': return "'int'"; + case 'I': return "'unsigned int'"; + case 'l': return "'long'"; + case 'L': return "'unsigned long'"; + case 'q': return "'long long'"; + case 'Q': return "'unsigned long long'"; + case 'f': return (is_complex ? "'complex float'" : "'float'"); + case 'd': return (is_complex ? "'complex double'" : "'double'"); + case 'g': return (is_complex ? "'complex long double'" : "'long double'"); + case 'T': return "a struct"; + case 'O': return "Python object"; + case 'P': return "a pointer"; + case 's': case 'p': return "a string"; + case 0: return "end"; + default: return "unparsable format string"; + } +} +static size_t __Pyx_BufFmt_TypeCharToStandardSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return 2; + case 'i': case 'I': case 'l': case 'L': return 4; + case 'q': case 'Q': return 8; + case 'f': return (is_complex ? 8 : 4); + case 'd': return (is_complex ? 16 : 8); + case 'g': { + PyErr_SetString(PyExc_ValueError, "Python does not define a standard format string size for long double ('g').."); + return 0; + } + case 'O': case 'P': return sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static size_t __Pyx_BufFmt_TypeCharToNativeSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(short); + case 'i': case 'I': return sizeof(int); + case 'l': case 'L': return sizeof(long); + #ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(PY_LONG_LONG); + #endif + case 'f': return sizeof(float) * (is_complex ? 2 : 1); + case 'd': return sizeof(double) * (is_complex ? 2 : 1); + case 'g': return sizeof(long double) * (is_complex ? 2 : 1); + case 'O': case 'P': return sizeof(void*); + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +typedef struct { char c; short x; } __Pyx_st_short; +typedef struct { char c; int x; } __Pyx_st_int; +typedef struct { char c; long x; } __Pyx_st_long; +typedef struct { char c; float x; } __Pyx_st_float; +typedef struct { char c; double x; } __Pyx_st_double; +typedef struct { char c; long double x; } __Pyx_st_longdouble; +typedef struct { char c; void *x; } __Pyx_st_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { char c; PY_LONG_LONG x; } __Pyx_st_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToAlignment(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_st_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_st_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_st_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_st_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_st_float) - sizeof(float); + case 'd': return sizeof(__Pyx_st_double) - sizeof(double); + case 'g': return sizeof(__Pyx_st_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_st_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +/* These are for computing the padding at the end of the struct to align + on the first member of the struct. This will probably the same as above, + but we don't have any guarantees. + */ +typedef struct { short x; char c; } __Pyx_pad_short; +typedef struct { int x; char c; } __Pyx_pad_int; +typedef struct { long x; char c; } __Pyx_pad_long; +typedef struct { float x; char c; } __Pyx_pad_float; +typedef struct { double x; char c; } __Pyx_pad_double; +typedef struct { long double x; char c; } __Pyx_pad_longdouble; +typedef struct { void *x; char c; } __Pyx_pad_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { PY_LONG_LONG x; char c; } __Pyx_pad_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToPadding(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_pad_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_pad_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_pad_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_pad_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_pad_float) - sizeof(float); + case 'd': return sizeof(__Pyx_pad_double) - sizeof(double); + case 'g': return sizeof(__Pyx_pad_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_pad_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static char __Pyx_BufFmt_TypeCharToGroup(char ch, int is_complex) { + switch (ch) { + case 'c': + return 'H'; + case 'b': case 'h': case 'i': + case 'l': case 'q': case 's': case 'p': + return 'I'; + case '?': case 'B': case 'H': case 'I': case 'L': case 'Q': + return 'U'; + case 'f': case 'd': case 'g': + return (is_complex ? 'C' : 'R'); + case 'O': + return 'O'; + case 'P': + return 'P'; + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +static void __Pyx_BufFmt_RaiseExpected(__Pyx_BufFmt_Context* ctx) { + if (ctx->head == NULL || ctx->head->field == &ctx->root) { + const char* expected; + const char* quote; + if (ctx->head == NULL) { + expected = "end"; + quote = ""; + } else { + expected = ctx->head->field->type->name; + quote = "'"; + } + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected %s%s%s but got %s", + quote, expected, quote, + __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex)); + } else { + __Pyx_StructField* field = ctx->head->field; + __Pyx_StructField* parent = (ctx->head - 1)->field; + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected '%s' but got %s in '%s.%s'", + field->type->name, __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex), + parent->type->name, field->name); + } +} +static int __Pyx_BufFmt_ProcessTypeChunk(__Pyx_BufFmt_Context* ctx) { + char group; + size_t size, offset, arraysize = 1; + if (ctx->enc_type == 0) return 0; + if (ctx->head->field->type->arraysize[0]) { + int i, ndim = 0; + if (ctx->enc_type == 's' || ctx->enc_type == 'p') { + ctx->is_valid_array = ctx->head->field->type->ndim == 1; + ndim = 1; + if (ctx->enc_count != ctx->head->field->type->arraysize[0]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %zu", + ctx->head->field->type->arraysize[0], ctx->enc_count); + return -1; + } + } + if (!ctx->is_valid_array) { + PyErr_Format(PyExc_ValueError, "Expected %d dimensions, got %d", + ctx->head->field->type->ndim, ndim); + return -1; + } + for (i = 0; i < ctx->head->field->type->ndim; i++) { + arraysize *= ctx->head->field->type->arraysize[i]; + } + ctx->is_valid_array = 0; + ctx->enc_count = 1; + } + group = __Pyx_BufFmt_TypeCharToGroup(ctx->enc_type, ctx->is_complex); + do { + __Pyx_StructField* field = ctx->head->field; + __Pyx_TypeInfo* type = field->type; + if (ctx->enc_packmode == '@' || ctx->enc_packmode == '^') { + size = __Pyx_BufFmt_TypeCharToNativeSize(ctx->enc_type, ctx->is_complex); + } else { + size = __Pyx_BufFmt_TypeCharToStandardSize(ctx->enc_type, ctx->is_complex); + } + if (ctx->enc_packmode == '@') { + size_t align_at = __Pyx_BufFmt_TypeCharToAlignment(ctx->enc_type, ctx->is_complex); + size_t align_mod_offset; + if (align_at == 0) return -1; + align_mod_offset = ctx->fmt_offset % align_at; + if (align_mod_offset > 0) ctx->fmt_offset += align_at - align_mod_offset; + if (ctx->struct_alignment == 0) + ctx->struct_alignment = __Pyx_BufFmt_TypeCharToPadding(ctx->enc_type, + ctx->is_complex); + } + if (type->size != size || type->typegroup != group) { + if (type->typegroup == 'C' && type->fields != NULL) { + size_t parent_offset = ctx->head->parent_offset + field->offset; + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = parent_offset; + continue; + } + if ((type->typegroup == 'H' || group == 'H') && type->size == size) { + } else { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + } + offset = ctx->head->parent_offset + field->offset; + if (ctx->fmt_offset != offset) { + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch; next field is at offset %" CYTHON_FORMAT_SSIZE_T "d but %" CYTHON_FORMAT_SSIZE_T "d expected", + (Py_ssize_t)ctx->fmt_offset, (Py_ssize_t)offset); + return -1; + } + ctx->fmt_offset += size; + if (arraysize) + ctx->fmt_offset += (arraysize - 1) * size; + --ctx->enc_count; + while (1) { + if (field == &ctx->root) { + ctx->head = NULL; + if (ctx->enc_count != 0) { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + break; + } + ctx->head->field = ++field; + if (field->type == NULL) { + --ctx->head; + field = ctx->head->field; + continue; + } else if (field->type->typegroup == 'S') { + size_t parent_offset = ctx->head->parent_offset + field->offset; + if (field->type->fields->type == NULL) continue; + field = field->type->fields; + ++ctx->head; + ctx->head->field = field; + ctx->head->parent_offset = parent_offset; + break; + } else { + break; + } + } + } while (ctx->enc_count); + ctx->enc_type = 0; + ctx->is_complex = 0; + return 0; +} +static int +__pyx_buffmt_parse_array(__Pyx_BufFmt_Context* ctx, const char** tsp) +{ + const char *ts = *tsp; + int i = 0, number, ndim; + ++ts; + if (ctx->new_count != 1) { + PyErr_SetString(PyExc_ValueError, + "Cannot handle repeated arrays in format string"); + return -1; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return -1; + ndim = ctx->head->field->type->ndim; + while (*ts && *ts != ')') { + switch (*ts) { + case ' ': case '\f': case '\r': case '\n': case '\t': case '\v': continue; + default: break; + } + number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return -1; + if (i < ndim && (size_t) number != ctx->head->field->type->arraysize[i]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %d", + ctx->head->field->type->arraysize[i], number); + return -1; + } + if (*ts != ',' && *ts != ')') { + PyErr_Format(PyExc_ValueError, + "Expected a comma in format string, got '%c'", *ts); + return -1; + } + if (*ts == ',') ts++; + i++; + } + if (i != ndim) { + PyErr_Format(PyExc_ValueError, "Expected %d dimension(s), got %d", + ctx->head->field->type->ndim, i); + return -1; + } + if (!*ts) { + PyErr_SetString(PyExc_ValueError, + "Unexpected end of format string, expected ')'"); + return -1; + } + ctx->is_valid_array = 1; + ctx->new_count = 1; + *tsp = ++ts; + return 0; +} +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts) { + int got_Z = 0; + while (1) { + switch(*ts) { + case 0: + if (ctx->enc_type != 0 && ctx->head == NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + if (ctx->head != NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + return ts; + case ' ': + case '\r': + case '\n': + ++ts; + break; + case '<': + if (!__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Little-endian buffer not supported on big-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '>': + case '!': + if (__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Big-endian buffer not supported on little-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '=': + case '@': + case '^': + ctx->new_packmode = *ts++; + break; + case 'T': + { + const char* ts_after_sub; + size_t i, struct_count = ctx->new_count; + size_t struct_alignment = ctx->struct_alignment; + ctx->new_count = 1; + ++ts; + if (*ts != '{') { + PyErr_SetString(PyExc_ValueError, "Buffer acquisition: Expected '{' after 'T'"); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + ctx->enc_count = 0; + ctx->struct_alignment = 0; + ++ts; + ts_after_sub = ts; + for (i = 0; i != struct_count; ++i) { + ts_after_sub = __Pyx_BufFmt_CheckString(ctx, ts); + if (!ts_after_sub) return NULL; + } + ts = ts_after_sub; + if (struct_alignment) ctx->struct_alignment = struct_alignment; + } + break; + case '}': + { + size_t alignment = ctx->struct_alignment; + ++ts; + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + if (alignment && ctx->fmt_offset % alignment) { + ctx->fmt_offset += alignment - (ctx->fmt_offset % alignment); + } + } + return ts; + case 'x': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->fmt_offset += ctx->new_count; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->enc_packmode = ctx->new_packmode; + ++ts; + break; + case 'Z': + got_Z = 1; + ++ts; + if (*ts != 'f' && *ts != 'd' && *ts != 'g') { + __Pyx_BufFmt_RaiseUnexpectedChar('Z'); + return NULL; + } + CYTHON_FALLTHROUGH; + case '?': case 'c': case 'b': case 'B': case 'h': case 'H': case 'i': case 'I': + case 'l': case 'L': case 'q': case 'Q': + case 'f': case 'd': case 'g': + case 'O': case 'p': + if ((ctx->enc_type == *ts) && (got_Z == ctx->is_complex) && + (ctx->enc_packmode == ctx->new_packmode) && (!ctx->is_valid_array)) { + ctx->enc_count += ctx->new_count; + ctx->new_count = 1; + got_Z = 0; + ++ts; + break; + } + CYTHON_FALLTHROUGH; + case 's': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_count = ctx->new_count; + ctx->enc_packmode = ctx->new_packmode; + ctx->enc_type = *ts; + ctx->is_complex = got_Z; + ++ts; + ctx->new_count = 1; + got_Z = 0; + break; + case ':': + ++ts; + while(*ts != ':') ++ts; + ++ts; + break; + case '(': + if (__pyx_buffmt_parse_array(ctx, &ts) < 0) return NULL; + break; + default: + { + int number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return NULL; + ctx->new_count = (size_t)number; + } + } + } +} + +/* TypeInfoCompare */ + static int +__pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b) +{ + int i; + if (!a || !b) + return 0; + if (a == b) + return 1; + if (a->size != b->size || a->typegroup != b->typegroup || + a->is_unsigned != b->is_unsigned || a->ndim != b->ndim) { + if (a->typegroup == 'H' || b->typegroup == 'H') { + return a->size == b->size; + } else { + return 0; + } + } + if (a->ndim) { + for (i = 0; i < a->ndim; i++) + if (a->arraysize[i] != b->arraysize[i]) + return 0; + } + if (a->typegroup == 'S') { + if (a->flags != b->flags) + return 0; + if (a->fields || b->fields) { + if (!(a->fields && b->fields)) + return 0; + for (i = 0; a->fields[i].type && b->fields[i].type; i++) { + __Pyx_StructField *field_a = a->fields + i; + __Pyx_StructField *field_b = b->fields + i; + if (field_a->offset != field_b->offset || + !__pyx_typeinfo_cmp(field_a->type, field_b->type)) + return 0; + } + return !a->fields[i].type && !b->fields[i].type; + } + } + return 1; +} + +/* MemviewSliceValidateAndInit */ + static int +__pyx_check_strides(Py_buffer *buf, int dim, int ndim, int spec) +{ + if (buf->shape[dim] <= 1) + return 1; + if (buf->strides) { + if (spec & __Pyx_MEMVIEW_CONTIG) { + if (spec & (__Pyx_MEMVIEW_PTR|__Pyx_MEMVIEW_FULL)) { + if (unlikely(buf->strides[dim] != sizeof(void *))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly contiguous " + "in dimension %d.", dim); + goto fail; + } + } else if (unlikely(buf->strides[dim] != buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_FOLLOW) { + Py_ssize_t stride = buf->strides[dim]; + if (stride < 0) + stride = -stride; + if (unlikely(stride < buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + } else { + if (unlikely(spec & __Pyx_MEMVIEW_CONTIG && dim != ndim - 1)) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not contiguous in " + "dimension %d", dim); + goto fail; + } else if (unlikely(spec & (__Pyx_MEMVIEW_PTR))) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not indirect in " + "dimension %d", dim); + goto fail; + } else if (unlikely(buf->suboffsets)) { + PyErr_SetString(PyExc_ValueError, + "Buffer exposes suboffsets but no strides"); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_check_suboffsets(Py_buffer *buf, int dim, int ndim, int spec) +{ + CYTHON_UNUSED_VAR(ndim); + if (spec & __Pyx_MEMVIEW_DIRECT) { + if (unlikely(buf->suboffsets && buf->suboffsets[dim] >= 0)) { + PyErr_Format(PyExc_ValueError, + "Buffer not compatible with direct access " + "in dimension %d.", dim); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_PTR) { + if (unlikely(!buf->suboffsets || (buf->suboffsets[dim] < 0))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly accessible " + "in dimension %d.", dim); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_verify_contig(Py_buffer *buf, int ndim, int c_or_f_flag) +{ + int i; + if (c_or_f_flag & __Pyx_IS_F_CONTIG) { + Py_ssize_t stride = 1; + for (i = 0; i < ndim; i++) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not fortran contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } else if (c_or_f_flag & __Pyx_IS_C_CONTIG) { + Py_ssize_t stride = 1; + for (i = ndim - 1; i >- 1; i--) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not C contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } + return 1; +fail: + return 0; +} +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj) +{ + struct __pyx_memoryview_obj *memview, *new_memview; + __Pyx_RefNannyDeclarations + Py_buffer *buf; + int i, spec = 0, retval = -1; + __Pyx_BufFmt_Context ctx; + int from_memoryview = __pyx_memoryview_check(original_obj); + __Pyx_RefNannySetupContext("ValidateAndInit_memviewslice", 0); + if (from_memoryview && __pyx_typeinfo_cmp(dtype, ((struct __pyx_memoryview_obj *) + original_obj)->typeinfo)) { + memview = (struct __pyx_memoryview_obj *) original_obj; + new_memview = NULL; + } else { + memview = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + original_obj, buf_flags, 0, dtype); + new_memview = memview; + if (unlikely(!memview)) + goto fail; + } + buf = &memview->view; + if (unlikely(buf->ndim != ndim)) { + PyErr_Format(PyExc_ValueError, + "Buffer has wrong number of dimensions (expected %d, got %d)", + ndim, buf->ndim); + goto fail; + } + if (new_memview) { + __Pyx_BufFmt_Init(&ctx, stack, dtype); + if (unlikely(!__Pyx_BufFmt_CheckString(&ctx, buf->format))) goto fail; + } + if (unlikely((unsigned) buf->itemsize != dtype->size)) { + PyErr_Format(PyExc_ValueError, + "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "u byte%s) " + "does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "u byte%s)", + buf->itemsize, + (buf->itemsize > 1) ? "s" : "", + dtype->name, + dtype->size, + (dtype->size > 1) ? "s" : ""); + goto fail; + } + if (buf->len > 0) { + for (i = 0; i < ndim; i++) { + spec = axes_specs[i]; + if (unlikely(!__pyx_check_strides(buf, i, ndim, spec))) + goto fail; + if (unlikely(!__pyx_check_suboffsets(buf, i, ndim, spec))) + goto fail; + } + if (unlikely(buf->strides && !__pyx_verify_contig(buf, ndim, c_or_f_flag))) + goto fail; + } + if (unlikely(__Pyx_init_memviewslice(memview, ndim, memviewslice, + new_memview != NULL) == -1)) { + goto fail; + } + retval = 0; + goto no_fail; +fail: + Py_XDECREF(new_memview); + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} + +/* ObjectToMemviewSlice */ + static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_float(PyObject *obj, int writable_flag) { + __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; + __Pyx_BufFmt_StackElem stack[1]; + int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_STRIDED) }; + int retcode; + if (obj == Py_None) { + result.memview = (struct __pyx_memoryview_obj *) Py_None; + return result; + } + retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, 0, + PyBUF_RECORDS_RO | writable_flag, 1, + &__Pyx_TypeInfo_float, stack, + &result, obj); + if (unlikely(retcode == -1)) + goto __pyx_fail; + return result; +__pyx_fail: + result.memview = NULL; + result.data = NULL; + return result; +} + +/* CIntFromPyVerify */ + #define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* MemviewDtypeToObject */ + static CYTHON_INLINE PyObject *__pyx_memview_get_float(const char *itemp) { + return (PyObject *) PyFloat_FromDouble(*(float *) itemp); +} +static CYTHON_INLINE int __pyx_memview_set_float(const char *itemp, PyObject *obj) { + float value = __pyx_PyFloat_AsFloat(obj); + if (unlikely((value == (float)-1) && PyErr_Occurred())) + return 0; + *(float *) itemp = value; + return 1; +} + +/* MemviewSliceCopyTemplate */ + static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object) +{ + __Pyx_RefNannyDeclarations + int i; + __Pyx_memviewslice new_mvs = { 0, 0, { 0 }, { 0 }, { 0 } }; + struct __pyx_memoryview_obj *from_memview = from_mvs->memview; + Py_buffer *buf = &from_memview->view; + PyObject *shape_tuple = NULL; + PyObject *temp_int = NULL; + struct __pyx_array_obj *array_obj = NULL; + struct __pyx_memoryview_obj *memview_obj = NULL; + __Pyx_RefNannySetupContext("__pyx_memoryview_copy_new_contig", 0); + for (i = 0; i < ndim; i++) { + if (unlikely(from_mvs->suboffsets[i] >= 0)) { + PyErr_Format(PyExc_ValueError, "Cannot copy memoryview slice with " + "indirect dimensions (axis %d)", i); + goto fail; + } + } + shape_tuple = PyTuple_New(ndim); + if (unlikely(!shape_tuple)) { + goto fail; + } + __Pyx_GOTREF(shape_tuple); + for(i = 0; i < ndim; i++) { + temp_int = PyInt_FromSsize_t(from_mvs->shape[i]); + if(unlikely(!temp_int)) { + goto fail; + } else { + PyTuple_SET_ITEM(shape_tuple, i, temp_int); + temp_int = NULL; + } + } + array_obj = __pyx_array_new(shape_tuple, sizeof_dtype, buf->format, (char *) mode, NULL); + if (unlikely(!array_obj)) { + goto fail; + } + __Pyx_GOTREF(array_obj); + memview_obj = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + (PyObject *) array_obj, contig_flag, + dtype_is_object, + from_mvs->memview->typeinfo); + if (unlikely(!memview_obj)) + goto fail; + if (unlikely(__Pyx_init_memviewslice(memview_obj, ndim, &new_mvs, 1) < 0)) + goto fail; + if (unlikely(__pyx_memoryview_copy_contents(*from_mvs, new_mvs, ndim, ndim, + dtype_is_object) < 0)) + goto fail; + goto no_fail; +fail: + __Pyx_XDECREF(new_mvs.memview); + new_mvs.memview = NULL; + new_mvs.data = NULL; +no_fail: + __Pyx_XDECREF(shape_tuple); + __Pyx_XDECREF(temp_int); + __Pyx_XDECREF(array_obj); + __Pyx_RefNannyFinishContext(); + return new_mvs; +} + +/* MemviewSliceInit */ + static int +__Pyx_init_memviewslice(struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference) +{ + __Pyx_RefNannyDeclarations + int i, retval=-1; + Py_buffer *buf = &memview->view; + __Pyx_RefNannySetupContext("init_memviewslice", 0); + if (unlikely(memviewslice->memview || memviewslice->data)) { + PyErr_SetString(PyExc_ValueError, + "memviewslice is already initialized!"); + goto fail; + } + if (buf->strides) { + for (i = 0; i < ndim; i++) { + memviewslice->strides[i] = buf->strides[i]; + } + } else { + Py_ssize_t stride = buf->itemsize; + for (i = ndim - 1; i >= 0; i--) { + memviewslice->strides[i] = stride; + stride *= buf->shape[i]; + } + } + for (i = 0; i < ndim; i++) { + memviewslice->shape[i] = buf->shape[i]; + if (buf->suboffsets) { + memviewslice->suboffsets[i] = buf->suboffsets[i]; + } else { + memviewslice->suboffsets[i] = -1; + } + } + memviewslice->memview = memview; + memviewslice->data = (char *)buf->buf; + if (__pyx_add_acquisition_count(memview) == 0 && !memview_is_new_reference) { + Py_INCREF(memview); + } + retval = 0; + goto no_fail; +fail: + memviewslice->memview = 0; + memviewslice->data = 0; + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} +#ifndef Py_NO_RETURN +#define Py_NO_RETURN +#endif +static void __pyx_fatalerror(const char *fmt, ...) Py_NO_RETURN { + va_list vargs; + char msg[200]; +#if PY_VERSION_HEX >= 0x030A0000 || defined(HAVE_STDARG_PROTOTYPES) + va_start(vargs, fmt); +#else + va_start(vargs); +#endif + vsnprintf(msg, 200, fmt, vargs); + va_end(vargs); + Py_FatalError(msg); +} +static CYTHON_INLINE int +__pyx_add_acquisition_count_locked(__pyx_atomic_int_type *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)++; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE int +__pyx_sub_acquisition_count_locked(__pyx_atomic_int_type *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)--; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE void +__Pyx_INC_MEMVIEW(__Pyx_memviewslice *memslice, int have_gil, int lineno) +{ + __pyx_nonatomic_int_type old_acquisition_count; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + return; + } + old_acquisition_count = __pyx_add_acquisition_count(memview); + if (unlikely(old_acquisition_count <= 0)) { + if (likely(old_acquisition_count == 0)) { + if (have_gil) { + Py_INCREF((PyObject *) memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_INCREF((PyObject *) memview); + PyGILState_Release(_gilstate); + } + } else { + __pyx_fatalerror("Acquisition count is %d (line %d)", + old_acquisition_count+1, lineno); + } + } +} +static CYTHON_INLINE void __Pyx_XCLEAR_MEMVIEW(__Pyx_memviewslice *memslice, + int have_gil, int lineno) { + __pyx_nonatomic_int_type old_acquisition_count; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + memslice->memview = NULL; + return; + } + old_acquisition_count = __pyx_sub_acquisition_count(memview); + memslice->data = NULL; + if (likely(old_acquisition_count > 1)) { + memslice->memview = NULL; + } else if (likely(old_acquisition_count == 1)) { + if (have_gil) { + Py_CLEAR(memslice->memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_CLEAR(memslice->memview); + PyGILState_Release(_gilstate); + } + } else { + __pyx_fatalerror("Acquisition count is %d (line %d)", + old_acquisition_count-1, lineno); + } +} + +/* CIntFromPy */ + static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(int) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (int) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 2 * PyLong_SHIFT)) { + return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 3 * PyLong_SHIFT)) { + return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 4 * PyLong_SHIFT)) { + return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(int) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(int) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(int) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + int val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (int) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (int) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (int) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (int) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(int) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(int) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((int) 1) << (sizeof(int) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (int) -1; + } + } else { + int val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (int) -1; + val = __Pyx_PyInt_As_int(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to int"); + return (int) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to int"); + return (int) -1; +} + +/* CIntFromPy */ + static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(long) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (long) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 2 * PyLong_SHIFT)) { + return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 3 * PyLong_SHIFT)) { + return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 4 * PyLong_SHIFT)) { + return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(long) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(long) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(long) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + long val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (long) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (long) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (long) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (long) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(long) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(long) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((long) 1) << (sizeof(long) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (long) -1; + } + } else { + long val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (long) -1; + val = __Pyx_PyInt_As_long(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to long"); + return (long) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to long"); + return (long) -1; +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(int) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(int) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(int) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(int), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(int)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(long)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPy */ + static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const char neg_one = (char) -1, const_zero = (char) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(char) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(char, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (char) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(char, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(char) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 2 * PyLong_SHIFT)) { + return (char) (((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(char) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 3 * PyLong_SHIFT)) { + return (char) (((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(char) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 4 * PyLong_SHIFT)) { + return (char) (((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(char) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(char) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(char, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(char) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(char) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + return (char) ((((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(char) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + return (char) ((((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 4 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(char) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 4 * PyLong_SHIFT)) { + return (char) ((((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(char) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(char, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(char) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(char, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + char val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (char) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (char) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (char) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (char) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(char) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((char) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(char) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((char) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((char) 1) << (sizeof(char) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (char) -1; + } + } else { + char val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (char) -1; + val = __Pyx_PyInt_As_char(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to char"); + return (char) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to char"); + return (char) -1; +} + +/* FormatTypeName */ + #if CYTHON_COMPILING_IN_LIMITED_API +static __Pyx_TypeName +__Pyx_PyType_GetName(PyTypeObject* tp) +{ + PyObject *name = __Pyx_PyObject_GetAttrStr((PyObject *)tp, + __pyx_n_s_name_2); + if (unlikely(name == NULL) || unlikely(!PyUnicode_Check(name))) { + PyErr_Clear(); + Py_XDECREF(name); + name = __Pyx_NewRef(__pyx_n_s__24); + } + return name; +} +#endif + +/* CheckBinaryVersion */ + static unsigned long __Pyx_get_runtime_version(void) { +#if __PYX_LIMITED_VERSION_HEX >= 0x030B00A4 + return Py_Version & ~0xFFUL; +#else + const char* rt_version = Py_GetVersion(); + unsigned long version = 0; + unsigned long factor = 0x01000000UL; + unsigned int digit = 0; + int i = 0; + while (factor) { + while ('0' <= rt_version[i] && rt_version[i] <= '9') { + digit = digit * 10 + (unsigned int) (rt_version[i] - '0'); + ++i; + } + version += factor * digit; + if (rt_version[i] != '.') + break; + digit = 0; + factor >>= 8; + ++i; + } + return version; +#endif +} +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer) { + const unsigned long MAJOR_MINOR = 0xFFFF0000UL; + if ((rt_version & MAJOR_MINOR) == (ct_version & MAJOR_MINOR)) + return 0; + if (likely(allow_newer && (rt_version & MAJOR_MINOR) > (ct_version & MAJOR_MINOR))) + return 1; + { + char message[200]; + PyOS_snprintf(message, sizeof(message), + "compile time Python version %d.%d " + "of module '%.100s' " + "%s " + "runtime version %d.%d", + (int) (ct_version >> 24), (int) ((ct_version >> 16) & 0xFF), + __Pyx_MODULE_NAME, + (allow_newer) ? "was newer than" : "does not match", + (int) (rt_version >> 24), (int) ((rt_version >> 16) & 0xFF) + ); + return PyErr_WarnEx(NULL, message, 1); + } +} + +/* InitStrings */ + #if PY_MAJOR_VERSION >= 3 +static int __Pyx_InitString(__Pyx_StringTabEntry t, PyObject **str) { + if (t.is_unicode | t.is_str) { + if (t.intern) { + *str = PyUnicode_InternFromString(t.s); + } else if (t.encoding) { + *str = PyUnicode_Decode(t.s, t.n - 1, t.encoding, NULL); + } else { + *str = PyUnicode_FromStringAndSize(t.s, t.n - 1); + } + } else { + *str = PyBytes_FromStringAndSize(t.s, t.n - 1); + } + if (!*str) + return -1; + if (PyObject_Hash(*str) == -1) + return -1; + return 0; +} +#endif +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t) { + while (t->p) { + #if PY_MAJOR_VERSION >= 3 + __Pyx_InitString(*t, t->p); + #else + if (t->is_unicode) { + *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); + } else if (t->intern) { + *t->p = PyString_InternFromString(t->s); + } else { + *t->p = PyString_FromStringAndSize(t->s, t->n - 1); + } + if (!*t->p) + return -1; + if (PyObject_Hash(*t->p) == -1) + return -1; + #endif + ++t; + } + return 0; +} + +#include +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s) { + size_t len = strlen(s); + if (unlikely(len > (size_t) PY_SSIZE_T_MAX)) { + PyErr_SetString(PyExc_OverflowError, "byte string is too long"); + return -1; + } + return (Py_ssize_t) len; +} +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return __Pyx_PyUnicode_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return PyByteArray_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { + Py_ssize_t ignore; + return __Pyx_PyObject_AsStringAndSize(o, &ignore); +} +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#if !CYTHON_PEP393_ENABLED +static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + char* defenc_c; + PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); + if (!defenc) return NULL; + defenc_c = PyBytes_AS_STRING(defenc); +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + { + char* end = defenc_c + PyBytes_GET_SIZE(defenc); + char* c; + for (c = defenc_c; c < end; c++) { + if ((unsigned char) (*c) >= 128) { + PyUnicode_AsASCIIString(o); + return NULL; + } + } + } +#endif + *length = PyBytes_GET_SIZE(defenc); + return defenc_c; +} +#else +static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + if (likely(PyUnicode_IS_ASCII(o))) { + *length = PyUnicode_GET_LENGTH(o); + return PyUnicode_AsUTF8(o); + } else { + PyUnicode_AsASCIIString(o); + return NULL; + } +#else + return PyUnicode_AsUTF8AndSize(o, length); +#endif +} +#endif +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT + if ( +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + __Pyx_sys_getdefaultencoding_not_ascii && +#endif + PyUnicode_Check(o)) { + return __Pyx_PyUnicode_AsStringAndSize(o, length); + } else +#endif +#if (!CYTHON_COMPILING_IN_PYPY && !CYTHON_COMPILING_IN_LIMITED_API) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) + if (PyByteArray_Check(o)) { + *length = PyByteArray_GET_SIZE(o); + return PyByteArray_AS_STRING(o); + } else +#endif + { + char* result; + int r = PyBytes_AsStringAndSize(o, &result, length); + if (unlikely(r < 0)) { + return NULL; + } else { + return result; + } + } +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { + int is_true = x == Py_True; + if (is_true | (x == Py_False) | (x == Py_None)) return is_true; + else return PyObject_IsTrue(x); +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { + int retval; + if (unlikely(!x)) return -1; + retval = __Pyx_PyObject_IsTrue(x); + Py_DECREF(x); + return retval; +} +static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { + __Pyx_TypeName result_type_name = __Pyx_PyType_GetName(Py_TYPE(result)); +#if PY_MAJOR_VERSION >= 3 + if (PyLong_Check(result)) { + if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, + "__int__ returned non-int (type " __Pyx_FMT_TYPENAME "). " + "The ability to return an instance of a strict subclass of int is deprecated, " + "and may be removed in a future version of Python.", + result_type_name)) { + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; + } + __Pyx_DECREF_TypeName(result_type_name); + return result; + } +#endif + PyErr_Format(PyExc_TypeError, + "__%.4s__ returned non-%.4s (type " __Pyx_FMT_TYPENAME ")", + type_name, type_name, result_type_name); + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { +#if CYTHON_USE_TYPE_SLOTS + PyNumberMethods *m; +#endif + const char *name = NULL; + PyObject *res = NULL; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x) || PyLong_Check(x))) +#else + if (likely(PyLong_Check(x))) +#endif + return __Pyx_NewRef(x); +#if CYTHON_USE_TYPE_SLOTS + m = Py_TYPE(x)->tp_as_number; + #if PY_MAJOR_VERSION < 3 + if (m && m->nb_int) { + name = "int"; + res = m->nb_int(x); + } + else if (m && m->nb_long) { + name = "long"; + res = m->nb_long(x); + } + #else + if (likely(m && m->nb_int)) { + name = "int"; + res = m->nb_int(x); + } + #endif +#else + if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { + res = PyNumber_Int(x); + } +#endif + if (likely(res)) { +#if PY_MAJOR_VERSION < 3 + if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { +#else + if (unlikely(!PyLong_CheckExact(res))) { +#endif + return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); + } + } + else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_TypeError, + "an integer is required"); + } + return res; +} +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { + Py_ssize_t ival; + PyObject *x; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(b))) { + if (sizeof(Py_ssize_t) >= sizeof(long)) + return PyInt_AS_LONG(b); + else + return PyInt_AsSsize_t(b); + } +#endif + if (likely(PyLong_CheckExact(b))) { + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(__Pyx_PyLong_IsCompact(b))) { + return __Pyx_PyLong_CompactValue(b); + } else { + const digit* digits = __Pyx_PyLong_Digits(b); + const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(b); + switch (size) { + case 2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + } + } + #endif + return PyLong_AsSsize_t(b); + } + x = PyNumber_Index(b); + if (!x) return -1; + ival = PyInt_AsSsize_t(x); + Py_DECREF(x); + return ival; +} +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { + if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { + return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); +#if PY_MAJOR_VERSION < 3 + } else if (likely(PyInt_CheckExact(o))) { + return PyInt_AS_LONG(o); +#endif + } else { + Py_ssize_t ival; + PyObject *x; + x = PyNumber_Index(o); + if (!x) return -1; + ival = PyInt_AsLong(x); + Py_DECREF(x); + return ival; + } +} +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { + return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); +} +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { + return PyInt_FromSize_t(ival); +} + + +/* #### Code section: utility_code_pragmas_end ### */ +#ifdef _MSC_VER +#pragma warning( pop ) +#endif + + + +/* #### Code section: end ### */ +#endif /* Py_PYTHON_H */ diff --git a/selfdrive/modeld/runners/thneedmodel_pyx.pyx b/selfdrive/modeld/runners/thneedmodel_pyx.pyx new file mode 100644 index 0000000000..6f8fdd255f --- /dev/null +++ b/selfdrive/modeld/runners/thneedmodel_pyx.pyx @@ -0,0 +1,14 @@ +# distutils: language = c++ +# cython: c_string_encoding=ascii, language_level=3 + +from libcpp cimport bool +from libcpp.string cimport string + +from .thneedmodel cimport ThneedModel as cppThneedModel +from selfdrive.modeld.models.commonmodel_pyx cimport CLContext +from selfdrive.modeld.runners.runmodel_pyx cimport RunModel +from selfdrive.modeld.runners.runmodel cimport RunModel as cppRunModel + +cdef class ThneedModel(RunModel): + def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context): + self.model = new cppThneedModel(path, &output[0], len(output), runtime, use_tf8, context.context) diff --git a/selfdrive/modeld/runners/thneedmodel_pyx.so b/selfdrive/modeld/runners/thneedmodel_pyx.so new file mode 100755 index 0000000000..84127348f4 Binary files /dev/null and b/selfdrive/modeld/runners/thneedmodel_pyx.so differ diff --git a/selfdrive/modeld/thneed/README b/selfdrive/modeld/thneed/README new file mode 100644 index 0000000000..f3bc66d8fc --- /dev/null +++ b/selfdrive/modeld/thneed/README @@ -0,0 +1,8 @@ +thneed is an SNPE accelerator. I know SNPE is already an accelerator, but sometimes things need to go even faster.. + +It runs on the local device, and caches a single model run. Then it replays it, but fast. + +thneed slices through abstraction layers like a fish. + +You need a thneed. + diff --git a/selfdrive/modeld/thneed/__init__.py b/selfdrive/modeld/thneed/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/modeld/thneed/thneed.h b/selfdrive/modeld/thneed/thneed.h new file mode 100644 index 0000000000..47e18e0be3 --- /dev/null +++ b/selfdrive/modeld/thneed/thneed.h @@ -0,0 +1,133 @@ +#pragma once + +#ifndef __user +#define __user __attribute__(()) +#endif + +#include +#include +#include +#include +#include + +#include + +#include "third_party/linux/include/msm_kgsl.h" + +using namespace std; + +cl_int thneed_clSetKernelArg(cl_kernel kernel, cl_uint arg_index, size_t arg_size, const void *arg_value); + +namespace json11 { + class Json; +} +class Thneed; + +class GPUMalloc { + public: + GPUMalloc(int size, int fd); + ~GPUMalloc(); + void *alloc(int size); + private: + uint64_t base; + int remaining; +}; + +class CLQueuedKernel { + public: + CLQueuedKernel(Thneed *lthneed) { thneed = lthneed; } + CLQueuedKernel(Thneed *lthneed, + cl_kernel _kernel, + cl_uint _work_dim, + const size_t *_global_work_size, + const size_t *_local_work_size); + cl_int exec(); + void debug_print(bool verbose); + int get_arg_num(const char *search_arg_name); + cl_program program; + string name; + cl_uint num_args; + vector arg_names; + vector arg_types; + vector args; + vector args_size; + cl_kernel kernel = NULL; + json11::Json to_json() const; + + cl_uint work_dim; + size_t global_work_size[3] = {0}; + size_t local_work_size[3] = {0}; + private: + Thneed *thneed; +}; + +class CachedIoctl { + public: + virtual void exec() {} +}; + +class CachedSync: public CachedIoctl { + public: + CachedSync(Thneed *lthneed, string ldata) { thneed = lthneed; data = ldata; } + void exec(); + private: + Thneed *thneed; + string data; +}; + +class CachedCommand: public CachedIoctl { + public: + CachedCommand(Thneed *lthneed, struct kgsl_gpu_command *cmd); + void exec(); + private: + void disassemble(int cmd_index); + struct kgsl_gpu_command cache; + unique_ptr cmds; + unique_ptr objs; + Thneed *thneed; + vector > kq; +}; + +class Thneed { + public: + Thneed(bool do_clinit=false, cl_context _context = NULL); + void stop(); + void execute(float **finputs, float *foutput, bool slow=false); + void wait(); + + vector input_clmem; + vector inputs; + vector input_sizes; + cl_mem output = NULL; + + cl_context context = NULL; + cl_command_queue command_queue; + cl_device_id device_id; + int context_id; + + // protected? + bool record = false; + int debug; + int timestamp; + +#ifdef QCOM2 + unique_ptr ram; + vector > cmds; + int fd; +#endif + + // all CL kernels + void copy_inputs(float **finputs, bool internal=false); + void copy_output(float *foutput); + cl_int clexec(); + vector > kq; + + // pending CL kernels + vector > ckq; + + // loading + void load(const char *filename); + private: + void clinit(); +}; + diff --git a/selfdrive/modeld/transforms/loadyuv.cl b/selfdrive/modeld/transforms/loadyuv.cl new file mode 100644 index 0000000000..7dd3d973a3 --- /dev/null +++ b/selfdrive/modeld/transforms/loadyuv.cl @@ -0,0 +1,47 @@ +#define UV_SIZE ((TRANSFORMED_WIDTH/2)*(TRANSFORMED_HEIGHT/2)) + +__kernel void loadys(__global uchar8 const * const Y, + __global float * out, + int out_offset) +{ + const int gid = get_global_id(0); + const int ois = gid * 8; + const int oy = ois / TRANSFORMED_WIDTH; + const int ox = ois % TRANSFORMED_WIDTH; + + const uchar8 ys = Y[gid]; + const float8 ysf = convert_float8(ys); + + // 02 + // 13 + + __global float* outy0; + __global float* outy1; + if ((oy & 1) == 0) { + outy0 = out + out_offset; //y0 + outy1 = out + out_offset + UV_SIZE*2; //y2 + } else { + outy0 = out + out_offset + UV_SIZE; //y1 + outy1 = out + out_offset + UV_SIZE*3; //y3 + } + + vstore4(ysf.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2); + vstore4(ysf.s1357, 0, outy1 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2); +} + +__kernel void loaduv(__global uchar8 const * const in, + __global float8 * out, + int out_offset) +{ + const int gid = get_global_id(0); + const uchar8 inv = in[gid]; + const float8 outv = convert_float8(inv); + out[gid + out_offset / 8] = outv; +} + +__kernel void copy(__global float8 * inout, + int in_offset) +{ + const int gid = get_global_id(0); + inout[gid] = inout[gid + in_offset / 8]; +} diff --git a/selfdrive/modeld/transforms/loadyuv.h b/selfdrive/modeld/transforms/loadyuv.h new file mode 100644 index 0000000000..7d27ef5d46 --- /dev/null +++ b/selfdrive/modeld/transforms/loadyuv.h @@ -0,0 +1,16 @@ +#pragma once + +#include "common/clutil.h" + +typedef struct { + int width, height; + cl_kernel loadys_krnl, loaduv_krnl, copy_krnl; +} LoadYUVState; + +void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height); + +void loadyuv_destroy(LoadYUVState* s); + +void loadyuv_queue(LoadYUVState* s, cl_command_queue q, + cl_mem y_cl, cl_mem u_cl, cl_mem v_cl, + cl_mem out_cl, bool do_shift = false); diff --git a/selfdrive/modeld/transforms/transform.cl b/selfdrive/modeld/transforms/transform.cl new file mode 100644 index 0000000000..2ca25920cd --- /dev/null +++ b/selfdrive/modeld/transforms/transform.cl @@ -0,0 +1,54 @@ +#define INTER_BITS 5 +#define INTER_TAB_SIZE (1 << INTER_BITS) +#define INTER_SCALE 1.f / INTER_TAB_SIZE + +#define INTER_REMAP_COEF_BITS 15 +#define INTER_REMAP_COEF_SCALE (1 << INTER_REMAP_COEF_BITS) + +__kernel void warpPerspective(__global const uchar * src, + int src_row_stride, int src_px_stride, int src_offset, int src_rows, int src_cols, + __global uchar * dst, + int dst_row_stride, int dst_offset, int dst_rows, int dst_cols, + __constant float * M) +{ + int dx = get_global_id(0); + int dy = get_global_id(1); + + if (dx < dst_cols && dy < dst_rows) + { + float X0 = M[0] * dx + M[1] * dy + M[2]; + float Y0 = M[3] * dx + M[4] * dy + M[5]; + float W = M[6] * dx + M[7] * dy + M[8]; + W = W != 0.0f ? INTER_TAB_SIZE / W : 0.0f; + int X = rint(X0 * W), Y = rint(Y0 * W); + + int sx = convert_short_sat(X >> INTER_BITS); + int sy = convert_short_sat(Y >> INTER_BITS); + + short sx_clamp = clamp(sx, 0, src_cols - 1); + short sx_p1_clamp = clamp(sx + 1, 0, src_cols - 1); + short sy_clamp = clamp(sy, 0, src_rows - 1); + short sy_p1_clamp = clamp(sy + 1, 0, src_rows - 1); + int v0 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]); + int v1 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]); + int v2 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]); + int v3 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]); + + short ay = (short)(Y & (INTER_TAB_SIZE - 1)); + short ax = (short)(X & (INTER_TAB_SIZE - 1)); + float taby = 1.f/INTER_TAB_SIZE*ay; + float tabx = 1.f/INTER_TAB_SIZE*ax; + + int dst_index = mad24(dy, dst_row_stride, dst_offset + dx); + + int itab0 = convert_short_sat_rte( (1.0f-taby)*(1.0f-tabx) * INTER_REMAP_COEF_SCALE ); + int itab1 = convert_short_sat_rte( (1.0f-taby)*tabx * INTER_REMAP_COEF_SCALE ); + int itab2 = convert_short_sat_rte( taby*(1.0f-tabx) * INTER_REMAP_COEF_SCALE ); + int itab3 = convert_short_sat_rte( taby*tabx * INTER_REMAP_COEF_SCALE ); + + int val = v0 * itab0 + v1 * itab1 + v2 * itab2 + v3 * itab3; + + uchar pix = convert_uchar_sat((val + (1 << (INTER_REMAP_COEF_BITS-1))) >> INTER_REMAP_COEF_BITS); + dst[dst_index] = pix; + } +} diff --git a/selfdrive/modeld/transforms/transform.h b/selfdrive/modeld/transforms/transform.h new file mode 100644 index 0000000000..771a7054b3 --- /dev/null +++ b/selfdrive/modeld/transforms/transform.h @@ -0,0 +1,25 @@ +#pragma once + +#define CL_USE_DEPRECATED_OPENCL_1_2_APIS +#ifdef __APPLE__ +#include +#else +#include +#endif + +#include "common/mat.h" + +typedef struct { + cl_kernel krnl; + cl_mem m_y_cl, m_uv_cl; +} Transform; + +void transform_init(Transform* s, cl_context ctx, cl_device_id device_id); + +void transform_destroy(Transform* transform); + +void transform_queue(Transform* s, cl_command_queue q, + cl_mem yuv, int in_width, int in_height, int in_stride, int in_uv_offset, + cl_mem out_y, cl_mem out_u, cl_mem out_v, + int out_width, int out_height, + const mat3& projection); diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py new file mode 100755 index 0000000000..80df13f0cb --- /dev/null +++ b/selfdrive/monitoring/dmonitoringd.py @@ -0,0 +1,54 @@ +#!/usr/bin/env python3 +import gc + +import cereal.messaging as messaging +from openpilot.common.params import Params +from openpilot.common.realtime import set_realtime_priority +from openpilot.selfdrive.monitoring.helpers import DriverMonitoring + + +def dmonitoringd_thread(): + gc.disable() + set_realtime_priority(2) + + params = Params() + pm = messaging.PubMaster(['driverMonitoringState', 'driverMonitoringStateSP']) + sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll='driverStateV2') + + DM = DriverMonitoring(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM"), hands_on_wheel_monitoring=params.get_bool("HandsOnWheelMonitoring")) + + # 20Hz <- dmonitoringmodeld + while True: + sm.update() + if not sm.updated['driverStateV2']: + # iterate when model has new output + continue + + valid = sm.all_checks() + if valid: + DM.run_step(sm) + + # publish + dat = DM.get_state_packet(valid=valid) + pm.send('driverMonitoringState', dat) + + sp_dat = DM.get_sp_state_packet(valid=valid) + pm.send('driverMonitoringStateSP', sp_dat) + + # load live always-on toggle + if sm['driverStateV2'].frameId % 40 == 1: + DM.always_on = params.get_bool("AlwaysOnDM") + DM.hands_on_wheel_monitoring = params.get_bool("HandsOnWheelMonitoring") + + # save rhd virtual toggle every 5 mins + if (sm['driverStateV2'].frameId % 6000 == 0 and + DM.wheelpos_learner.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and + DM.wheel_on_right == (DM.wheelpos_learner.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)): + params.put_bool_nonblocking("IsRhdDetected", DM.wheel_on_right) + +def main(): + dmonitoringd_thread() + + +if __name__ == '__main__': + main() diff --git a/selfdrive/monitoring/hands_on_wheel_monitor.py b/selfdrive/monitoring/hands_on_wheel_monitor.py new file mode 100644 index 0000000000..e281c04909 --- /dev/null +++ b/selfdrive/monitoring/hands_on_wheel_monitor.py @@ -0,0 +1,54 @@ +from cereal import custom, car +from common.conversions import Conversions as CV + +EventName = car.CarEvent.EventName +HandsOnWheelState = custom.DriverMonitoringStateSP.HandsOnWheelState + +_PRE_ALERT_THRESHOLD = 150 # 15s +_PROMPT_ALERT_THRESHOLD = 300 # 30s +_TERMINAL_ALERT_THRESHOLD = 600 # 60s + +_MIN_MONITORING_SPEED = 10 * CV.KPH_TO_MS # No monitoring under 10kph + + +class HandsOnWheelStatus(): + def __init__(self): + self.hands_on_wheel_state = HandsOnWheelState.none + self.hands_off_wheel_cnt = 0 + + def update(self, events, steering_wheel_engaged, ctrl_active, v_ego, always_on, hands_on_wheel_monitoring): + if v_ego < _MIN_MONITORING_SPEED or \ + (not always_on and not ctrl_active) or \ + (always_on and not ctrl_active and self.hands_on_wheel_state == HandsOnWheelState.terminal) or \ + not hands_on_wheel_monitoring: + self.hands_on_wheel_state = HandsOnWheelState.none + self.hands_off_wheel_cnt = 0 + return + + if steering_wheel_engaged: + # Driver has hands on steering wheel + self.hands_on_wheel_state = HandsOnWheelState.ok + self.hands_off_wheel_cnt = 0 + return + + self.hands_off_wheel_cnt += 1 + alert = None + + if self.hands_off_wheel_cnt >= _TERMINAL_ALERT_THRESHOLD: + # terminal red alert: disengagement required + self.hands_on_wheel_state = HandsOnWheelState.terminal + alert = EventName.keepHandsOnWheel + elif self.hands_off_wheel_cnt >= _PROMPT_ALERT_THRESHOLD: + # prompt orange alert + self.hands_on_wheel_state = HandsOnWheelState.critical + alert = EventName.promptKeepHandsOnWheel + elif self.hands_off_wheel_cnt >= _PRE_ALERT_THRESHOLD: + # pre green alert + self.hands_on_wheel_state = HandsOnWheelState.warning + alert = EventName.preKeepHandsOnWheel + else: + # hands off wheel for acceptable period of time. + self.hands_on_wheel_state = HandsOnWheelState.minor + + if alert is not None: + events.add(alert) diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py new file mode 100644 index 0000000000..ec41b7855b --- /dev/null +++ b/selfdrive/monitoring/helpers.py @@ -0,0 +1,432 @@ +from math import atan2 + +from cereal import car +import cereal.messaging as messaging +from openpilot.selfdrive.controls.lib.events import Events +from openpilot.selfdrive.monitoring.hands_on_wheel_monitor import HandsOnWheelStatus +from openpilot.common.numpy_fast import interp +from openpilot.common.realtime import DT_DMON +from openpilot.common.filter_simple import FirstOrderFilter +from openpilot.common.stat_live import RunningStatFilter +from openpilot.common.transformations.camera import DEVICE_CAMERAS + +EventName = car.CarEvent.EventName + +# ****************************************************************************************** +# NOTE: To fork maintainers. +# Disabling or nerfing safety features will get you and your users banned from our servers. +# We recommend that you do not change these numbers from the defaults. +# ****************************************************************************************** + +class DRIVER_MONITOR_SETTINGS: + def __init__(self): + self._DT_DMON = DT_DMON + # ref (page15-16): https://eur-lex.europa.eu/legal-content/EN/TXT/PDF/?uri=CELEX:42018X1947&rid=2 + self._AWARENESS_TIME = 30. # passive wheeltouch total timeout + self._AWARENESS_PRE_TIME_TILL_TERMINAL = 15. + self._AWARENESS_PROMPT_TIME_TILL_TERMINAL = 6. + self._DISTRACTED_TIME = 11. # active monitoring total timeout + self._DISTRACTED_PRE_TIME_TILL_TERMINAL = 8. + self._DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6. + + self._FACE_THRESHOLD = 0.7 + self._EYE_THRESHOLD = 0.65 + self._SG_THRESHOLD = 0.9 + self._BLINK_THRESHOLD = 0.865 + + self._EE_THRESH11 = 0.25 + self._EE_THRESH12 = 7.5 + self._EE_MAX_OFFSET1 = 0.06 + self._EE_MIN_OFFSET1 = 0.025 + self._EE_THRESH21 = 0.01 + self._EE_THRESH22 = 0.35 + + self._POSE_PITCH_THRESHOLD = 0.3133 + self._POSE_PITCH_THRESHOLD_SLACK = 0.3237 + self._POSE_PITCH_THRESHOLD_STRICT = self._POSE_PITCH_THRESHOLD + self._POSE_YAW_THRESHOLD = 0.4020 + self._POSE_YAW_THRESHOLD_SLACK = 0.5042 + self._POSE_YAW_THRESHOLD_STRICT = self._POSE_YAW_THRESHOLD + self._PITCH_NATURAL_OFFSET = 0.029 # initial value before offset is learned + self._PITCH_NATURAL_THRESHOLD = 0.449 + self._YAW_NATURAL_OFFSET = 0.097 # initial value before offset is learned + self._PITCH_MAX_OFFSET = 0.124 + self._PITCH_MIN_OFFSET = -0.0881 + self._YAW_MAX_OFFSET = 0.289 + self._YAW_MIN_OFFSET = -0.0246 + + self._POSESTD_THRESHOLD = 0.3 + self._HI_STD_FALLBACK_TIME = int(10 / self._DT_DMON) # fall back to wheel touch if model is uncertain for 10s + self._DISTRACTED_FILTER_TS = 0.25 # 0.6Hz + self._ALWAYS_ON_ALERT_MIN_SPEED = 7 + + self._POSE_CALIB_MIN_SPEED = 13 # 30 mph + self._POSE_OFFSET_MIN_COUNT = int(60 / self._DT_DMON) # valid data counts before calibration completes, 1min cumulative + self._POSE_OFFSET_MAX_COUNT = int(360 / self._DT_DMON) # stop deweighting new data after 6 min, aka "short term memory" + + self._WHEELPOS_CALIB_MIN_SPEED = 11 + self._WHEELPOS_THRESHOLD = 0.5 + self._WHEELPOS_FILTER_MIN_COUNT = int(15 / self._DT_DMON) # allow 15 seconds to converge wheel side + + self._RECOVERY_FACTOR_MAX = 5. # relative to minus step change + self._RECOVERY_FACTOR_MIN = 1.25 # relative to minus step change + + self._MAX_TERMINAL_ALERTS = 3 # not allowed to engage after 3 terminal alerts + self._MAX_TERMINAL_DURATION = int(30 / self._DT_DMON) # not allowed to engage after 30s of terminal alerts + +class DistractedType: + NOT_DISTRACTED = 0 + DISTRACTED_POSE = 1 << 0 + DISTRACTED_BLINK = 1 << 1 + DISTRACTED_E2E = 1 << 2 + +class DriverPose: + def __init__(self, max_trackable): + self.yaw = 0. + self.pitch = 0. + self.roll = 0. + self.yaw_std = 0. + self.pitch_std = 0. + self.roll_std = 0. + self.pitch_offseter = RunningStatFilter(max_trackable=max_trackable) + self.yaw_offseter = RunningStatFilter(max_trackable=max_trackable) + self.calibrated = False + self.low_std = True + self.cfactor_pitch = 1. + self.cfactor_yaw = 1. + +class DriverBlink: + def __init__(self): + self.left = 0. + self.right = 0. + + +# model output refers to center of undistorted+leveled image +EFL = 598.0 # focal length in K +cam = DEVICE_CAMERAS[("tici", "ar0231")] # corrected image has same size as raw +W, H = (cam.dcam.width, cam.dcam.height) # corrected image has same size as raw + +def face_orientation_from_net(angles_desc, pos_desc, rpy_calib): + # the output of these angles are in device frame + # so from driver's perspective, pitch is up and yaw is right + + pitch_net, yaw_net, roll_net = angles_desc + + face_pixel_position = ((pos_desc[0]+0.5)*W, (pos_desc[1]+0.5)*H) + yaw_focal_angle = atan2(face_pixel_position[0] - W//2, EFL) + pitch_focal_angle = atan2(face_pixel_position[1] - H//2, EFL) + + pitch = pitch_net + pitch_focal_angle + yaw = -yaw_net + yaw_focal_angle + + # no calib for roll + pitch -= rpy_calib[1] + yaw -= rpy_calib[2] + return roll_net, pitch, yaw + + +class DriverMonitoring: + def __init__(self, rhd_saved=False, settings=None, always_on=False, hands_on_wheel_monitoring=False): + if settings is None: + settings = DRIVER_MONITOR_SETTINGS() + # init policy settings + self.settings = settings + + # init driver status + self.wheelpos_learner = RunningStatFilter() + self.pose = DriverPose(self.settings._POSE_OFFSET_MAX_COUNT) + self.blink = DriverBlink() + self.eev1 = 0. + self.eev2 = 1. + self.ee1_offseter = RunningStatFilter(max_trackable=self.settings._POSE_OFFSET_MAX_COUNT) + self.ee2_offseter = RunningStatFilter(max_trackable=self.settings._POSE_OFFSET_MAX_COUNT) + self.ee1_calibrated = False + self.ee2_calibrated = False + + self.always_on = always_on + self.distracted_types = [] + self.driver_distracted = False + self.driver_distraction_filter = FirstOrderFilter(0., self.settings._DISTRACTED_FILTER_TS, self.settings._DT_DMON) + self.wheel_on_right = False + self.wheel_on_right_last = None + self.wheel_on_right_default = rhd_saved + self.face_detected = False + self.terminal_alert_cnt = 0 + self.terminal_time = 0 + self.step_change = 0. + self.active_monitoring_mode = True + self.is_model_uncertain = False + self.hi_stds = 0 + self.threshold_pre = self.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME + self.threshold_prompt = self.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME + + self._reset_awareness() + self._set_timers(active_monitoring=True) + self._reset_events() + + self.hands_on_wheel_status = HandsOnWheelStatus() + self.hands_on_wheel_monitoring = hands_on_wheel_monitoring + + def _reset_awareness(self): + self.awareness = 1. + self.awareness_active = 1. + self.awareness_passive = 1. + + def _reset_events(self): + self.current_events = Events() + + def _set_timers(self, active_monitoring): + if self.active_monitoring_mode and self.awareness <= self.threshold_prompt: + if active_monitoring: + self.step_change = self.settings._DT_DMON / self.settings._DISTRACTED_TIME + else: + self.step_change = 0. + return # no exploit after orange alert + elif self.awareness <= 0.: + return + + if active_monitoring: + # when falling back from passive mode to active mode, reset awareness to avoid false alert + if not self.active_monitoring_mode: + self.awareness_passive = self.awareness + self.awareness = self.awareness_active + + self.threshold_pre = self.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME + self.threshold_prompt = self.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME + self.step_change = self.settings._DT_DMON / self.settings._DISTRACTED_TIME + self.active_monitoring_mode = True + else: + if self.active_monitoring_mode: + self.awareness_active = self.awareness + self.awareness = self.awareness_passive + + self.threshold_pre = self.settings._AWARENESS_PRE_TIME_TILL_TERMINAL / self.settings._AWARENESS_TIME + self.threshold_prompt = self.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL / self.settings._AWARENESS_TIME + self.step_change = self.settings._DT_DMON / self.settings._AWARENESS_TIME + self.active_monitoring_mode = False + + def _set_policy(self, model_data, car_speed): + bp = model_data.meta.disengagePredictions.brakeDisengageProbs[0] # brake disengage prob in next 2s + k1 = max(-0.00156*((car_speed-16)**2)+0.6, 0.2) + bp_normal = max(min(bp / k1, 0.5),0) + self.pose.cfactor_pitch = interp(bp_normal, [0, 0.5], + [self.settings._POSE_PITCH_THRESHOLD_SLACK, + self.settings._POSE_PITCH_THRESHOLD_STRICT]) / self.settings._POSE_PITCH_THRESHOLD + self.pose.cfactor_yaw = interp(bp_normal, [0, 0.5], + [self.settings._POSE_YAW_THRESHOLD_SLACK, + self.settings._POSE_YAW_THRESHOLD_STRICT]) / self.settings._POSE_YAW_THRESHOLD + + def _get_distracted_types(self): + distracted_types = [] + + if not self.pose.calibrated: + pitch_error = self.pose.pitch - self.settings._PITCH_NATURAL_OFFSET + yaw_error = self.pose.yaw - self.settings._YAW_NATURAL_OFFSET + else: + pitch_error = self.pose.pitch - min(max(self.pose.pitch_offseter.filtered_stat.mean(), + self.settings._PITCH_MIN_OFFSET), self.settings._PITCH_MAX_OFFSET) + yaw_error = self.pose.yaw - min(max(self.pose.yaw_offseter.filtered_stat.mean(), + self.settings._YAW_MIN_OFFSET), self.settings._YAW_MAX_OFFSET) + pitch_error = 0 if pitch_error > 0 else abs(pitch_error) # no positive pitch limit + yaw_error = abs(yaw_error) + if pitch_error > (self.settings._POSE_PITCH_THRESHOLD*self.pose.cfactor_pitch if self.pose.calibrated else self.settings._PITCH_NATURAL_THRESHOLD) or \ + yaw_error > self.settings._POSE_YAW_THRESHOLD*self.pose.cfactor_yaw: + distracted_types.append(DistractedType.DISTRACTED_POSE) + + if (self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD: + distracted_types.append(DistractedType.DISTRACTED_BLINK) + + if self.ee1_calibrated: + ee1_dist = self.eev1 > max(min(self.ee1_offseter.filtered_stat.M, self.settings._EE_MAX_OFFSET1), self.settings._EE_MIN_OFFSET1) \ + * self.settings._EE_THRESH12 + else: + ee1_dist = self.eev1 > self.settings._EE_THRESH11 + if ee1_dist: + distracted_types.append(DistractedType.DISTRACTED_E2E) + + return distracted_types + + def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged): + rhd_pred = driver_state.wheelOnRightProb + # calibrates only when there's movement and either face detected + if car_speed > self.settings._WHEELPOS_CALIB_MIN_SPEED and (driver_state.leftDriverData.faceProb > self.settings._FACE_THRESHOLD or + driver_state.rightDriverData.faceProb > self.settings._FACE_THRESHOLD): + self.wheelpos_learner.push_and_update(rhd_pred) + if self.wheelpos_learner.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT: + self.wheel_on_right = self.wheelpos_learner.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD + else: + self.wheel_on_right = self.wheel_on_right_default # use default/saved if calibration is unfinished + # make sure no switching when engaged + if op_engaged and self.wheel_on_right_last is not None and self.wheel_on_right_last != self.wheel_on_right: + self.wheel_on_right = self.wheel_on_right_last + driver_data = driver_state.rightDriverData if self.wheel_on_right else driver_state.leftDriverData + if not all(len(x) > 0 for x in (driver_data.faceOrientation, driver_data.facePosition, + driver_data.faceOrientationStd, driver_data.facePositionStd, + driver_data.readyProb, driver_data.notReadyProb)): + return + + self.face_detected = driver_data.faceProb > self.settings._FACE_THRESHOLD + self.pose.roll, self.pose.pitch, self.pose.yaw = face_orientation_from_net(driver_data.faceOrientation, driver_data.facePosition, cal_rpy) + if self.wheel_on_right: + self.pose.yaw *= -1 + self.wheel_on_right_last = self.wheel_on_right + self.pose.pitch_std = driver_data.faceOrientationStd[0] + self.pose.yaw_std = driver_data.faceOrientationStd[1] + model_std_max = max(self.pose.pitch_std, self.pose.yaw_std) + self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD + self.blink.left = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) \ + * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD) + self.blink.right = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \ + * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD) + self.eev1 = driver_data.notReadyProb[0] + self.eev2 = driver_data.readyProb[0] + + self.distracted_types = self._get_distracted_types() + self.driver_distracted = (DistractedType.DISTRACTED_E2E in self.distracted_types or DistractedType.DISTRACTED_POSE in self.distracted_types + or DistractedType.DISTRACTED_BLINK in self.distracted_types) \ + and driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std + self.driver_distraction_filter.update(self.driver_distracted) + + # update offseter + # only update when driver is actively driving the car above a certain speed + if self.face_detected and car_speed > self.settings._POSE_CALIB_MIN_SPEED and self.pose.low_std and (not op_engaged or not self.driver_distracted): + self.pose.pitch_offseter.push_and_update(self.pose.pitch) + self.pose.yaw_offseter.push_and_update(self.pose.yaw) + self.ee1_offseter.push_and_update(self.eev1) + self.ee2_offseter.push_and_update(self.eev2) + + self.pose.calibrated = self.pose.pitch_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT and \ + self.pose.yaw_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT + self.ee1_calibrated = self.ee1_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT + self.ee2_calibrated = self.ee2_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT + + self.is_model_uncertain = self.hi_stds > self.settings._HI_STD_FALLBACK_TIME + self._set_timers(self.face_detected and not self.is_model_uncertain) + if self.face_detected and not self.pose.low_std and not self.driver_distracted: + self.hi_stds += 1 + elif self.face_detected and self.pose.low_std: + self.hi_stds = 0 + + def _update_events(self, driver_engaged, op_engaged, standstill, wrong_gear, car_speed, steering_wheel_engaged): + self._reset_events() + # Block engaging after max number of distrations or when alert active + if self.terminal_alert_cnt >= self.settings._MAX_TERMINAL_ALERTS or \ + self.terminal_time >= self.settings._MAX_TERMINAL_DURATION or \ + self.always_on and self.awareness <= self.threshold_prompt: + self.current_events.add(EventName.tooDistracted) + + always_on_valid = self.always_on and not wrong_gear + + # Update events and state from hands on wheel monitoring status + self.hands_on_wheel_status.update(self.current_events, steering_wheel_engaged, op_engaged, car_speed, always_on_valid, self.hands_on_wheel_monitoring) + + if (driver_engaged and self.awareness > 0 and not self.active_monitoring_mode) or \ + (not always_on_valid and not op_engaged) or \ + (always_on_valid and not op_engaged and self.awareness <= 0): + # always reset on disengage with normal mode; disengage resets only on red if always on + self._reset_awareness() + return + + driver_attentive = self.driver_distraction_filter.x < 0.37 + awareness_prev = self.awareness + + if (driver_attentive and self.face_detected and self.pose.low_std and self.awareness > 0): + if driver_engaged: + self._reset_awareness() + return + # only restore awareness when paying attention and alert is not red + self.awareness = min(self.awareness + ((self.settings._RECOVERY_FACTOR_MAX-self.settings._RECOVERY_FACTOR_MIN)* + (1.-self.awareness)+self.settings._RECOVERY_FACTOR_MIN)*self.step_change, 1.) + if self.awareness == 1.: + self.awareness_passive = min(self.awareness_passive + self.step_change, 1.) + # don't display alert banner when awareness is recovering and has cleared orange + if self.awareness > self.threshold_prompt: + return + + _reaching_audible = self.awareness - self.step_change <= self.threshold_prompt + _reaching_terminal = self.awareness - self.step_change <= 0 + standstill_exemption = standstill and _reaching_audible + always_on_red_exemption = always_on_valid and not op_engaged and _reaching_terminal + always_on_lowspeed_exemption = always_on_valid and not op_engaged and car_speed < self.settings._ALWAYS_ON_ALERT_MIN_SPEED and _reaching_audible + + certainly_distracted = self.driver_distraction_filter.x > 0.63 and self.driver_distracted and self.face_detected + maybe_distracted = self.hi_stds > self.settings._HI_STD_FALLBACK_TIME or not self.face_detected + + if certainly_distracted or maybe_distracted: + # should always be counting if distracted unless at standstill (lowspeed for always-on) and reaching orange + # also will not be reaching 0 if DM is active when not engaged + if not (standstill_exemption or always_on_red_exemption or always_on_lowspeed_exemption): + self.awareness = max(self.awareness - self.step_change, -0.1) + + alert = None + if self.awareness <= 0.: + # terminal red alert: disengagement required + alert = EventName.driverDistracted if self.active_monitoring_mode else EventName.driverUnresponsive + self.terminal_time += 1 + if awareness_prev > 0.: + self.terminal_alert_cnt += 1 + elif self.awareness <= self.threshold_prompt: + # prompt orange alert + alert = EventName.promptDriverDistracted if self.active_monitoring_mode else EventName.promptDriverUnresponsive + elif self.awareness <= self.threshold_pre: + # pre green alert + alert = EventName.preDriverDistracted if self.active_monitoring_mode else EventName.preDriverUnresponsive + + if alert is not None: + self.current_events.add(alert) + + + def get_state_packet(self, valid=True): + # build driverMonitoringState packet + dat = messaging.new_message('driverMonitoringState', valid=valid) + dat.driverMonitoringState = { + "events": self.current_events.to_msg(), + "faceDetected": self.face_detected, + "isDistracted": self.driver_distracted, + "distractedType": sum(self.distracted_types), + "awarenessStatus": self.awareness, + "posePitchOffset": self.pose.pitch_offseter.filtered_stat.mean(), + "posePitchValidCount": self.pose.pitch_offseter.filtered_stat.n, + "poseYawOffset": self.pose.yaw_offseter.filtered_stat.mean(), + "poseYawValidCount": self.pose.yaw_offseter.filtered_stat.n, + "stepChange": self.step_change, + "awarenessActive": self.awareness_active, + "awarenessPassive": self.awareness_passive, + "isLowStd": self.pose.low_std, + "hiStdCount": self.hi_stds, + "isActiveMode": self.active_monitoring_mode, + "isRHD": self.wheel_on_right, + } + return dat + + def get_sp_state_packet(self, valid=True): + dat = messaging.new_message('driverMonitoringStateSP', valid=valid) + dat.driverMonitoringStateSP = { + "handsOnWheelState": self.hands_on_wheel_status.hands_on_wheel_state, + } + return dat + + def run_step(self, sm): + # Set strictness + self._set_policy( + model_data=sm['modelV2'], + car_speed=sm['carState'].vEgo + ) + + # Parse data from dmonitoringmodeld + self._update_states( + driver_state=sm['driverStateV2'], + cal_rpy=sm['liveCalibration'].rpyCalib, + car_speed=sm['carState'].vEgo, + op_engaged=sm['controlsState'].enabled + ) + + # Update distraction events + self._update_events( + driver_engaged=sm['carState'].steeringPressed or sm['carState'].gasPressed, + op_engaged=sm['controlsState'].enabled, + standstill=sm['carState'].standstill, + wrong_gear=sm['carState'].gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park], + car_speed=sm['carState'].vEgo, + steering_wheel_engaged=sm['carState'].steeringPressed + ) diff --git a/selfdrive/monitoring/test_hands_monitoring.py b/selfdrive/monitoring/test_hands_monitoring.py new file mode 100644 index 0000000000..05284bc077 --- /dev/null +++ b/selfdrive/monitoring/test_hands_monitoring.py @@ -0,0 +1,139 @@ +# flake8: noqa + +import unittest +import numpy as np +from cereal import car, custom +from common.realtime import DT_DMON +from selfdrive.controls.lib.events import Events +from selfdrive.monitoring.hands_on_wheel_monitor import HandsOnWheelStatus, _PRE_ALERT_THRESHOLD, \ + _PROMPT_ALERT_THRESHOLD, _TERMINAL_ALERT_THRESHOLD, \ + _MIN_MONITORING_SPEED + +EventName = car.CarEvent.EventName +HandsOnWheelState = custom.DriverMonitoringStateSP.HandsOnWheelState + +_TEST_TIMESPAN = 120 # seconds + +# some common state vectors +test_samples = int(_TEST_TIMESPAN / DT_DMON) +half_test_samples = int(test_samples / 2.) +always_speed_over_threshold = [_MIN_MONITORING_SPEED + 1.] * test_samples +always_speed_under_threshold = [_MIN_MONITORING_SPEED - 1.] * test_samples +always_true = [True] * test_samples +always_false = [False] * test_samples +true_then_false = [True] * half_test_samples + [False] * (test_samples - half_test_samples) + + +def run_HOWState_seq(steering_wheel_interaction, openpilot_status, speed_status): + # inputs are all 10Hz + HOWS = HandsOnWheelStatus() + events_from_HOWM = [] + hands_on_wheel_state_from_HOWM = [] + + for idx in range(len(steering_wheel_interaction)): + e = Events() + # evaluate events at 10Hz for tests + HOWS.update(e, steering_wheel_interaction[idx], openpilot_status[idx], speed_status[idx]) + events_from_HOWM.append(e) + hands_on_wheel_state_from_HOWM.append(HOWS.hands_on_wheel_state) + + assert len(events_from_HOWM) == len(steering_wheel_interaction), 'somethings wrong' + assert len(hands_on_wheel_state_from_HOWM) == len(steering_wheel_interaction), 'somethings wrong' + return events_from_HOWM, hands_on_wheel_state_from_HOWM + + +class TestHandsMonitoring(unittest.TestCase): + # 0. op engaged over monitoring speed, driver has hands on wheel all the time + def test_hands_on_all_the_time(self): + events_output, state_output = run_HOWState_seq(always_true, always_true, always_speed_over_threshold) + self.assertTrue(np.sum([len(event) for event in events_output]) == 0) + self.assertEqual(state_output, [HandsOnWheelState.ok for x in range(len(state_output))]) + + # 1. op engaged under monitoring speed, steering wheel interaction is irrelevant + def test_monitoring_under_threshold_speed(self): + events_output, state_output = run_HOWState_seq(true_then_false, always_true, always_speed_under_threshold) + self.assertTrue(np.sum([len(event) for event in events_output]) == 0) + self.assertEqual(state_output, [HandsOnWheelState.none for x in range(len(state_output))]) + + # 2. op engaged over monitoring speed, driver has no hands on wheel all the time + def test_hands_off_all_the_time(self): + events_output, state_output = run_HOWState_seq(always_false, always_true, always_speed_over_threshold) + # Assert correctness before _PRE_ALERT_THRESHOLD + self.assertTrue(np.sum([len(event) for event in events_output[:_PRE_ALERT_THRESHOLD - 1]]) == 0) + self.assertEqual(state_output[:_PRE_ALERT_THRESHOLD - 1], + [HandsOnWheelState.minor for x in range(_PRE_ALERT_THRESHOLD - 1)]) + # Assert correctness before _PROMPT_ALERT_THRESHOLD + self.assertEqual([event.names[0] for event in events_output[_PRE_ALERT_THRESHOLD:_PROMPT_ALERT_THRESHOLD - 1]], + [EventName.preKeepHandsOnWheel for x in range(_PROMPT_ALERT_THRESHOLD - 1 - _PRE_ALERT_THRESHOLD)]) + self.assertEqual(state_output[_PRE_ALERT_THRESHOLD:_PROMPT_ALERT_THRESHOLD - 1], + [HandsOnWheelState.warning for x in range(_PROMPT_ALERT_THRESHOLD - 1 - _PRE_ALERT_THRESHOLD)]) + # Assert correctness before _TERMINAL_ALERT_THRESHOLD + self.assertEqual( + [event.names[0] for event in events_output[_PROMPT_ALERT_THRESHOLD:_TERMINAL_ALERT_THRESHOLD - 1]], + [EventName.promptKeepHandsOnWheel for x in range(_TERMINAL_ALERT_THRESHOLD - 1 - _PROMPT_ALERT_THRESHOLD)]) + self.assertEqual( + state_output[_PROMPT_ALERT_THRESHOLD:_TERMINAL_ALERT_THRESHOLD - 1], + [HandsOnWheelState.critical for x in range(_TERMINAL_ALERT_THRESHOLD - 1 - _PROMPT_ALERT_THRESHOLD)]) + # Assert correctness after _TERMINAL_ALERT_THRESHOLD + self.assertEqual([event.names[0] for event in events_output[_TERMINAL_ALERT_THRESHOLD:]], + [EventName.keepHandsOnWheel for x in range(test_samples - _TERMINAL_ALERT_THRESHOLD)]) + self.assertEqual(state_output[_TERMINAL_ALERT_THRESHOLD:], + [HandsOnWheelState.terminal for x in range(test_samples - _TERMINAL_ALERT_THRESHOLD)]) + + # 3. op engaged over monitoring speed, alert status resets to none when going under monitoring speed + def test_status_none_when_speeds_goes_down(self): + speed_vector = always_speed_over_threshold[:-1] + [_MIN_MONITORING_SPEED - 1.] + events_output, state_output = run_HOWState_seq(always_false, always_true, speed_vector) + # Assert correctness after _TERMINAL_ALERT_THRESHOLD + self.assertEqual([event.names[0] for event in events_output[_TERMINAL_ALERT_THRESHOLD:test_samples - 1]], + [EventName.keepHandsOnWheel for x in range(test_samples - 1 - _TERMINAL_ALERT_THRESHOLD)]) + self.assertEqual(state_output[_TERMINAL_ALERT_THRESHOLD:test_samples - 1], + [HandsOnWheelState.terminal for x in range(test_samples - 1 - _TERMINAL_ALERT_THRESHOLD)]) + # Assert correctes on last sample where speed went under monitoring threshold + self.assertEqual(len(events_output[-1]), 0) + self.assertEqual(state_output[-1], HandsOnWheelState.none) + + # 4. op engaged over monitoring speed, alert status resets to ok when user interacts with steering wheel, + # process repeats once hands are off wheel. + def test_status_ok_after_interaction_with_wheel(self): + interaction_vector = always_false[:_TERMINAL_ALERT_THRESHOLD] + [True + ] + always_false[_TERMINAL_ALERT_THRESHOLD + 1:] + events_output, state_output = run_HOWState_seq(interaction_vector, always_true, always_speed_over_threshold) + # Assert correctness after _TERMINAL_ALERT_THRESHOLD + self.assertEqual(events_output[_TERMINAL_ALERT_THRESHOLD - 1].names[0], EventName.keepHandsOnWheel) + self.assertEqual(state_output[_TERMINAL_ALERT_THRESHOLD - 1], HandsOnWheelState.terminal) + # Assert correctness for one sample when user interacts with steering wheel + self.assertEqual(len(events_output[_TERMINAL_ALERT_THRESHOLD]), 0) + self.assertEqual(state_output[_TERMINAL_ALERT_THRESHOLD], HandsOnWheelState.ok) + # Assert process correctness on second run + offset = _TERMINAL_ALERT_THRESHOLD + 1 + self.assertTrue(np.sum([len(event) for event in events_output[offset:offset + _PRE_ALERT_THRESHOLD - 1]]) == 0) + self.assertEqual(state_output[offset:offset + _PRE_ALERT_THRESHOLD - 1], + [HandsOnWheelState.minor for x in range(_PRE_ALERT_THRESHOLD - 1)]) + self.assertEqual( + [event.names[0] for event in events_output[offset + _PRE_ALERT_THRESHOLD:offset + _PROMPT_ALERT_THRESHOLD - 1]], + [EventName.preKeepHandsOnWheel for x in range(_PROMPT_ALERT_THRESHOLD - 1 - _PRE_ALERT_THRESHOLD)]) + self.assertEqual(state_output[offset + _PRE_ALERT_THRESHOLD:offset + _PROMPT_ALERT_THRESHOLD - 1], + [HandsOnWheelState.warning for x in range(_PROMPT_ALERT_THRESHOLD - 1 - _PRE_ALERT_THRESHOLD)]) + self.assertEqual([ + event.names[0] + for event in events_output[offset + _PROMPT_ALERT_THRESHOLD:offset + _TERMINAL_ALERT_THRESHOLD - 1] + ], [EventName.promptKeepHandsOnWheel for x in range(_TERMINAL_ALERT_THRESHOLD - 1 - _PROMPT_ALERT_THRESHOLD)]) + self.assertEqual( + state_output[offset + _PROMPT_ALERT_THRESHOLD:offset + _TERMINAL_ALERT_THRESHOLD - 1], + [HandsOnWheelState.critical for x in range(_TERMINAL_ALERT_THRESHOLD - 1 - _PROMPT_ALERT_THRESHOLD)]) + self.assertEqual([event.names[0] for event in events_output[offset + _TERMINAL_ALERT_THRESHOLD:]], + [EventName.keepHandsOnWheel for x in range(test_samples - offset - _TERMINAL_ALERT_THRESHOLD)]) + self.assertEqual(state_output[offset + _TERMINAL_ALERT_THRESHOLD:], + [HandsOnWheelState.terminal for x in range(test_samples - offset - _TERMINAL_ALERT_THRESHOLD)]) + + # 5. op not engaged, always hands off wheel + # - monitor should stay quiet when not engaged + def test_pure_dashcam_user(self): + events_output, state_output = run_HOWState_seq(always_false, always_false, always_speed_over_threshold) + self.assertTrue(np.sum([len(event) for event in events_output]) == 0) + self.assertEqual(state_output, [HandsOnWheelState.none for x in range(len(state_output))]) + + +if __name__ == "__main__": + unittest.main() diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py new file mode 100644 index 0000000000..f750437dc3 --- /dev/null +++ b/selfdrive/monitoring/test_monitoring.py @@ -0,0 +1,206 @@ +import numpy as np + +from cereal import car, log +from openpilot.common.realtime import DT_DMON +from openpilot.selfdrive.monitoring.helpers import DriverMonitoring, DRIVER_MONITOR_SETTINGS + +EventName = car.CarEvent.EventName +dm_settings = DRIVER_MONITOR_SETTINGS() + +TEST_TIMESPAN = 120 # seconds +DISTRACTED_SECONDS_TO_ORANGE = dm_settings._DISTRACTED_TIME - dm_settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL + 1 +DISTRACTED_SECONDS_TO_RED = dm_settings._DISTRACTED_TIME + 1 +INVISIBLE_SECONDS_TO_ORANGE = dm_settings._AWARENESS_TIME - dm_settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL + 1 +INVISIBLE_SECONDS_TO_RED = dm_settings._AWARENESS_TIME + 1 + +def make_msg(face_detected, distracted=False, model_uncertain=False): + ds = log.DriverStateV2.new_message() + ds.leftDriverData.faceOrientation = [0., 0., 0.] + ds.leftDriverData.facePosition = [0., 0.] + ds.leftDriverData.faceProb = 1. * face_detected + ds.leftDriverData.leftEyeProb = 1. + ds.leftDriverData.rightEyeProb = 1. + ds.leftDriverData.leftBlinkProb = 1. * distracted + ds.leftDriverData.rightBlinkProb = 1. * distracted + ds.leftDriverData.faceOrientationStd = [1.*model_uncertain, 1.*model_uncertain, 1.*model_uncertain] + ds.leftDriverData.facePositionStd = [1.*model_uncertain, 1.*model_uncertain] + # TODO: test both separately when e2e is used + ds.leftDriverData.readyProb = [0., 0., 0., 0.] + ds.leftDriverData.notReadyProb = [0., 0.] + return ds + + +# driver state from neural net, 10Hz +msg_NO_FACE_DETECTED = make_msg(False) +msg_ATTENTIVE = make_msg(True) +msg_DISTRACTED = make_msg(True, distracted=True) +msg_ATTENTIVE_UNCERTAIN = make_msg(True, model_uncertain=True) +msg_DISTRACTED_UNCERTAIN = make_msg(True, distracted=True, model_uncertain=True) +msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN = make_msg(True, distracted=True, model_uncertain=dm_settings._POSESTD_THRESHOLD*1.5) + +# driver interaction with car +car_interaction_DETECTED = True +car_interaction_NOT_DETECTED = False + +# some common state vectors +always_no_face = [msg_NO_FACE_DETECTED] * int(TEST_TIMESPAN / DT_DMON) +always_attentive = [msg_ATTENTIVE] * int(TEST_TIMESPAN / DT_DMON) +always_distracted = [msg_DISTRACTED] * int(TEST_TIMESPAN / DT_DMON) +always_true = [True] * int(TEST_TIMESPAN / DT_DMON) +always_false = [False] * int(TEST_TIMESPAN / DT_DMON) + +class TestMonitoring: + def _run_seq(self, msgs, interaction, engaged, standstill): + DM = DriverMonitoring() + events = [] + for idx in range(len(msgs)): + DM._update_states(msgs[idx], [0, 0, 0], 0, engaged[idx]) + # cal_rpy and car_speed don't matter here + + # evaluate events at 10Hz for tests + DM._update_events(interaction[idx], engaged[idx], standstill[idx], 0, 0) + events.append(DM.current_events) + assert len(events) == len(msgs), f"got {len(events)} for {len(msgs)} driverState input msgs" + return events, DM + + def _assert_no_events(self, events): + assert all(not len(e) for e in events) + + # engaged, driver is attentive all the time + def test_fully_aware_driver(self): + events, _ = self._run_seq(always_attentive, always_false, always_true, always_false) + self._assert_no_events(events) + + # engaged, driver is distracted and does nothing + def test_fully_distracted_driver(self): + events, d_status = self._run_seq(always_distracted, always_false, always_true, always_false) + assert len(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0 + assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL + \ + ((d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == \ + EventName.preDriverDistracted + assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL + \ + ((d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.promptDriverDistracted + assert events[int((d_status.settings._DISTRACTED_TIME + \ + ((TEST_TIMESPAN-10-d_status.settings._DISTRACTED_TIME)/2))/DT_DMON)].names[0] == EventName.driverDistracted + assert isinstance(d_status.awareness, float) + + # engaged, no face detected the whole time, no action + def test_fully_invisible_driver(self): + events, d_status = self._run_seq(always_no_face, always_false, always_true, always_false) + assert len(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0 + assert events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL + \ + ((d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == \ + EventName.preDriverUnresponsive + assert events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL + \ + ((d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.promptDriverUnresponsive + assert events[int((d_status.settings._AWARENESS_TIME + \ + ((TEST_TIMESPAN-10-d_status.settings._AWARENESS_TIME)/2))/DT_DMON)].names[0] == EventName.driverUnresponsive + + # engaged, down to orange, driver pays attention, back to normal; then down to orange, driver touches wheel + # - should have short orange recovery time and no green afterwards; wheel touch only recovers when paying attention + def test_normal_driver(self): + ds_vector = [msg_DISTRACTED] * int(DISTRACTED_SECONDS_TO_ORANGE/DT_DMON) + \ + [msg_ATTENTIVE] * int(DISTRACTED_SECONDS_TO_ORANGE/DT_DMON) + \ + [msg_DISTRACTED] * int((DISTRACTED_SECONDS_TO_ORANGE+2)/DT_DMON) + \ + [msg_ATTENTIVE] * (int(TEST_TIMESPAN/DT_DMON)-int((DISTRACTED_SECONDS_TO_ORANGE*3+2)/DT_DMON)) + interaction_vector = [car_interaction_NOT_DETECTED] * int(DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON) + \ + [car_interaction_DETECTED] * (int(TEST_TIMESPAN/DT_DMON)-int(DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON)) + events, _ = self._run_seq(ds_vector, interaction_vector, always_true, always_false) + assert len(events[int(DISTRACTED_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0 + assert events[int((DISTRACTED_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.promptDriverDistracted + assert len(events[int(DISTRACTED_SECONDS_TO_ORANGE*1.5/DT_DMON)]) == 0 + assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3-0.1)/DT_DMON)].names[0] == EventName.promptDriverDistracted + assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3+0.1)/DT_DMON)].names[0] == EventName.promptDriverDistracted + assert len(events[int((DISTRACTED_SECONDS_TO_ORANGE*3+2.5)/DT_DMON)]) == 0 + + # engaged, down to orange, driver dodges camera, then comes back still distracted, down to red, \ + # driver dodges, and then touches wheel to no avail, disengages and reengages + # - orange/red alert should remain after disappearance, and only disengaging clears red + def test_biggest_comma_fan(self): + _invisible_time = 2 # seconds + ds_vector = always_distracted[:] + interaction_vector = always_false[:] + op_vector = always_true[:] + ds_vector[int(DISTRACTED_SECONDS_TO_ORANGE/DT_DMON):int((DISTRACTED_SECONDS_TO_ORANGE+_invisible_time)/DT_DMON)] \ + = [msg_NO_FACE_DETECTED] * int(_invisible_time/DT_DMON) + ds_vector[int((DISTRACTED_SECONDS_TO_RED+_invisible_time)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time)/DT_DMON)] \ + = [msg_NO_FACE_DETECTED] * int(_invisible_time/DT_DMON) + interaction_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+0.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)] \ + = [True] * int(1/DT_DMON) + op_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+2.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3)/DT_DMON)] \ + = [False] * int(0.5/DT_DMON) + events, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false) + assert events[int((DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)].names[0] == EventName.promptDriverDistracted + assert events[int((DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)].names[0] == EventName.driverDistracted + assert events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)].names[0] == EventName.driverDistracted + assert len(events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3.5)/DT_DMON)]) == 0 + + # engaged, invisible driver, down to orange, driver touches wheel; then down to orange again, driver appears + # - both actions should clear the alert, but momentary appearance should not + def test_sometimes_transparent_commuter(self): + _visible_time = np.random.choice([0.5, 10]) + ds_vector = always_no_face[:]*2 + interaction_vector = always_false[:]*2 + ds_vector[int((2*INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON):int((2*INVISIBLE_SECONDS_TO_ORANGE+1+_visible_time)/DT_DMON)] = \ + [msg_ATTENTIVE] * int(_visible_time/DT_DMON) + interaction_vector[int((INVISIBLE_SECONDS_TO_ORANGE)/DT_DMON):int((INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON)] = [True] * int(1/DT_DMON) + events, _ = self._run_seq(ds_vector, interaction_vector, 2*always_true, 2*always_false) + assert len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0 + assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive + assert len(events[int((INVISIBLE_SECONDS_TO_ORANGE+0.1)/DT_DMON)]) == 0 + if _visible_time == 0.5: + assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive + assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)].names[0] == EventName.preDriverUnresponsive + elif _visible_time == 10: + assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive + assert len(events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)]) == 0 + + # engaged, invisible driver, down to red, driver appears and then touches wheel, then disengages/reengages + # - only disengage will clear the alert + def test_last_second_responder(self): + _visible_time = 2 # seconds + ds_vector = always_no_face[:] + interaction_vector = always_false[:] + op_vector = always_true[:] + ds_vector[int(INVISIBLE_SECONDS_TO_RED/DT_DMON):int((INVISIBLE_SECONDS_TO_RED+_visible_time)/DT_DMON)] = [msg_ATTENTIVE] * int(_visible_time/DT_DMON) + interaction_vector[int((INVISIBLE_SECONDS_TO_RED+_visible_time)/DT_DMON):int((INVISIBLE_SECONDS_TO_RED+_visible_time+1)/DT_DMON)] = [True] * int(1/DT_DMON) + op_vector[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1)/DT_DMON):int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)] = [False] * int(0.5/DT_DMON) + events, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false) + assert len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0 + assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive + assert events[int((INVISIBLE_SECONDS_TO_RED-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive + assert events[int((INVISIBLE_SECONDS_TO_RED+0.5*_visible_time)/DT_DMON)].names[0] == EventName.driverUnresponsive + assert events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)].names[0] == EventName.driverUnresponsive + assert len(events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1+0.1)/DT_DMON)]) == 0 + + # disengaged, always distracted driver + # - dm should stay quiet when not engaged + def test_pure_dashcam_user(self): + events, _ = self._run_seq(always_distracted, always_false, always_false, always_false) + assert sum(len(event) for event in events) == 0 + + # engaged, car stops at traffic light, down to orange, no action, then car starts moving + # - should only reach green when stopped, but continues counting down on launch + def test_long_traffic_light_victim(self): + _redlight_time = 60 # seconds + standstill_vector = always_true[:] + standstill_vector[int(_redlight_time/DT_DMON):] = [False] * int((TEST_TIMESPAN-_redlight_time)/DT_DMON) + events, d_status = self._run_seq(always_distracted, always_false, always_true, standstill_vector) + assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL+1)/DT_DMON)].names[0] == \ + EventName.preDriverDistracted + assert events[int((_redlight_time-0.1)/DT_DMON)].names[0] == EventName.preDriverDistracted + assert events[int((_redlight_time+0.5)/DT_DMON)].names[0] == EventName.promptDriverDistracted + + # engaged, model is somehow uncertain and driver is distracted + # - should fall back to wheel touch after uncertain alert + def test_somehow_indecisive_model(self): + ds_vector = [msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN] * int(TEST_TIMESPAN/DT_DMON) + interaction_vector = always_false[:] + events, d_status = self._run_seq(ds_vector, interaction_vector, always_true, always_false) + assert EventName.preDriverUnresponsive in \ + events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME-0.1)/DT_DMON)].names + assert EventName.promptDriverUnresponsive in \ + events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names + assert EventName.driverUnresponsive in \ + events[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names + diff --git a/selfdrive/navd/.gitignore b/selfdrive/navd/.gitignore new file mode 100644 index 0000000000..4801d60a2c --- /dev/null +++ b/selfdrive/navd/.gitignore @@ -0,0 +1,6 @@ +moc_* +*.moc + +mapsd +map_renderer +libmap_renderer.so diff --git a/selfdrive/navd/__init__.py b/selfdrive/navd/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/navd/helpers.py b/selfdrive/navd/helpers.py new file mode 100644 index 0000000000..0f0410c2c7 --- /dev/null +++ b/selfdrive/navd/helpers.py @@ -0,0 +1,189 @@ +from __future__ import annotations + +import json +import math +from typing import Any, cast + +from openpilot.common.conversions import Conversions +from openpilot.common.numpy_fast import clip +from openpilot.common.params import Params + +DIRECTIONS = ('left', 'right', 'straight') +MODIFIABLE_DIRECTIONS = ('left', 'right') + +EARTH_MEAN_RADIUS = 6371007.2 +SPEED_CONVERSIONS = { + 'km/h': Conversions.KPH_TO_MS, + 'mph': Conversions.MPH_TO_MS, + } + + +class Coordinate: + def __init__(self, latitude: float, longitude: float) -> None: + self.latitude = latitude + self.longitude = longitude + self.annotations: dict[str, float] = {} + + @classmethod + def from_mapbox_tuple(cls, t: tuple[float, float]) -> Coordinate: + return cls(t[1], t[0]) + + def as_dict(self) -> dict[str, float]: + return {'latitude': self.latitude, 'longitude': self.longitude} + + def __str__(self) -> str: + return f'Coordinate({self.latitude}, {self.longitude})' + + def __repr__(self) -> str: + return self.__str__() + + def __eq__(self, other) -> bool: + if not isinstance(other, Coordinate): + return False + return (self.latitude == other.latitude) and (self.longitude == other.longitude) + + def __sub__(self, other: Coordinate) -> Coordinate: + return Coordinate(self.latitude - other.latitude, self.longitude - other.longitude) + + def __add__(self, other: Coordinate) -> Coordinate: + return Coordinate(self.latitude + other.latitude, self.longitude + other.longitude) + + def __mul__(self, c: float) -> Coordinate: + return Coordinate(self.latitude * c, self.longitude * c) + + def dot(self, other: Coordinate) -> float: + return self.latitude * other.latitude + self.longitude * other.longitude + + def distance_to(self, other: Coordinate) -> float: + # Haversine formula + dlat = math.radians(other.latitude - self.latitude) + dlon = math.radians(other.longitude - self.longitude) + + haversine_dlat = math.sin(dlat / 2.0) + haversine_dlat *= haversine_dlat + haversine_dlon = math.sin(dlon / 2.0) + haversine_dlon *= haversine_dlon + + y = haversine_dlat \ + + math.cos(math.radians(self.latitude)) \ + * math.cos(math.radians(other.latitude)) \ + * haversine_dlon + x = 2 * math.asin(math.sqrt(y)) + return x * EARTH_MEAN_RADIUS + + +def minimum_distance(a: Coordinate, b: Coordinate, p: Coordinate): + if a.distance_to(b) < 0.01: + return a.distance_to(p) + + ap = p - a + ab = b - a + t = clip(ap.dot(ab) / ab.dot(ab), 0.0, 1.0) + projection = a + ab * t + return projection.distance_to(p) + + +def distance_along_geometry(geometry: list[Coordinate], pos: Coordinate) -> float: + if len(geometry) <= 2: + return geometry[0].distance_to(pos) + + # 1. Find segment that is closest to current position + # 2. Total distance is sum of distance to start of closest segment + # + all previous segments + total_distance = 0.0 + total_distance_closest = 0.0 + closest_distance = 1e9 + + for i in range(len(geometry) - 1): + d = minimum_distance(geometry[i], geometry[i + 1], pos) + + if d < closest_distance: + closest_distance = d + total_distance_closest = total_distance + geometry[i].distance_to(pos) + + total_distance += geometry[i].distance_to(geometry[i + 1]) + + return total_distance_closest + + +def coordinate_from_param(param: str, params: Params = None) -> Coordinate | None: + if params is None: + params = Params() + + json_str = params.get(param) + if json_str is None: + return None + + pos = json.loads(json_str) + if 'latitude' not in pos or 'longitude' not in pos: + return None + + return Coordinate(pos['latitude'], pos['longitude']) + + +def string_to_direction(direction: str) -> str: + for d in DIRECTIONS: + if d in direction: + if 'slight' in direction and d in MODIFIABLE_DIRECTIONS: + return 'slight' + d.capitalize() + return d + return 'none' + + +def maxspeed_to_ms(maxspeed: dict[str, str | float]) -> float: + unit = cast(str, maxspeed['unit']) + speed = cast(float, maxspeed['speed']) + return SPEED_CONVERSIONS[unit] * speed + + +def field_valid(dat: dict, field: str) -> bool: + return field in dat and dat[field] is not None + + +def parse_banner_instructions(banners: Any, distance_to_maneuver: float = 0.0) -> dict[str, Any] | None: + if not len(banners): + return None + + instruction = {} + + # A segment can contain multiple banners, find one that we need to show now + current_banner = banners[0] + for banner in banners: + if distance_to_maneuver < banner['distanceAlongGeometry']: + current_banner = banner + + # Only show banner when close enough to maneuver + instruction['showFull'] = distance_to_maneuver < current_banner['distanceAlongGeometry'] + + # Primary + p = current_banner['primary'] + if field_valid(p, 'text'): + instruction['maneuverPrimaryText'] = p['text'] + if field_valid(p, 'type'): + instruction['maneuverType'] = p['type'] + if field_valid(p, 'modifier'): + instruction['maneuverModifier'] = p['modifier'] + + # Secondary + if field_valid(current_banner, 'secondary'): + instruction['maneuverSecondaryText'] = current_banner['secondary']['text'] + + # Lane lines + if field_valid(current_banner, 'sub'): + lanes = [] + for component in current_banner['sub']['components']: + if component['type'] != 'lane': + continue + + lane = { + 'active': component['active'], + 'directions': [string_to_direction(d) for d in component['directions']], + } + + if field_valid(component, 'active_direction'): + lane['activeDirection'] = string_to_direction(component['active_direction']) + + lanes.append(lane) + instruction['lanes'] = lanes + + return instruction diff --git a/selfdrive/navd/libmaprender.so b/selfdrive/navd/libmaprender.so new file mode 100755 index 0000000000..08f27fc5bb Binary files /dev/null and b/selfdrive/navd/libmaprender.so differ diff --git a/selfdrive/navd/map_renderer.h b/selfdrive/navd/map_renderer.h new file mode 100644 index 0000000000..ef29bb988d --- /dev/null +++ b/selfdrive/navd/map_renderer.h @@ -0,0 +1,59 @@ +#pragma once + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "msgq/visionipc/visionipc_server.h" +#include "cereal/messaging/messaging.h" + + +class MapRenderer : public QObject { + Q_OBJECT + +public: + MapRenderer(const QMapLibre::Settings &, bool online=true); + uint8_t* getImage(); + void update(); + bool loaded(); + ~MapRenderer(); + +private: + std::unique_ptr ctx; + std::unique_ptr surface; + std::unique_ptr gl_functions; + std::unique_ptr fbo; + + std::unique_ptr vipc_server; + std::unique_ptr pm; + std::unique_ptr sm; + void publish(const double render_time, const bool loaded); + void sendThumbnail(const uint64_t ts, const kj::Array &buf); + + QMapLibre::Settings m_settings; + QScopedPointer m_map; + + void initLayers(); + + uint32_t frame_id = 0; + uint64_t last_llk_rendered = 0; + bool rendered() { + return last_llk_rendered == (*sm)["liveLocationKalman"].getLogMonoTime(); + } + + QTimer* timer; + bool ever_loaded = false; + +public slots: + void updatePosition(QMapLibre::Coordinate position, float bearing); + void updateRoute(QList coordinates); + void msgUpdate(); +}; diff --git a/selfdrive/navd/map_renderer.py b/selfdrive/navd/map_renderer.py new file mode 100755 index 0000000000..e44b883436 --- /dev/null +++ b/selfdrive/navd/map_renderer.py @@ -0,0 +1,100 @@ +#!/usr/bin/env python3 +# You might need to uninstall the PyQt5 pip package to avoid conflicts + +import os +import time +import numpy as np +import polyline +from cffi import FFI + +from openpilot.common.ffi_wrapper import suffix +from openpilot.common.basedir import BASEDIR + +HEIGHT = WIDTH = SIZE = 256 +METERS_PER_PIXEL = 2 + + +def get_ffi(): + lib = os.path.join(BASEDIR, "selfdrive", "navd", "libmaprender" + suffix()) + + ffi = FFI() + ffi.cdef(""" +void* map_renderer_init(char *maps_host, char *token); +void map_renderer_update_position(void *inst, float lat, float lon, float bearing); +void map_renderer_update_route(void *inst, char *polyline); +void map_renderer_update(void *inst); +void map_renderer_process(void *inst); +bool map_renderer_loaded(void *inst); +uint8_t* map_renderer_get_image(void *inst); +void map_renderer_free_image(void *inst, uint8_t *buf); +""") + return ffi, ffi.dlopen(lib) + + +def wait_ready(lib, renderer, timeout=None): + st = time.time() + while not lib.map_renderer_loaded(renderer): + lib.map_renderer_update(renderer) + + # The main qt app is not execed, so we need to periodically process events for e.g. network requests + lib.map_renderer_process(renderer) + + time.sleep(0.01) + + if timeout is not None and time.time() - st > timeout: + raise TimeoutError("Timeout waiting for map renderer to be ready") + + +def get_image(lib, renderer): + buf = lib.map_renderer_get_image(renderer) + r = list(buf[0:WIDTH * HEIGHT]) + lib.map_renderer_free_image(renderer, buf) + + # Convert to numpy + r = np.asarray(r) + return r.reshape((WIDTH, HEIGHT)) + + +def navRoute_to_polyline(nr): + coords = [(m.latitude, m.longitude) for m in nr.navRoute.coordinates] + return coords_to_polyline(coords) + + +def coords_to_polyline(coords): + # TODO: where does this factor of 10 come from? + return polyline.encode([(lat * 10., lon * 10.) for lat, lon in coords]) + + +def polyline_to_coords(p): + coords = polyline.decode(p) + return [(lat / 10., lon / 10.) for lat, lon in coords] + + + +if __name__ == "__main__": + import matplotlib.pyplot as plt + + ffi, lib = get_ffi() + renderer = lib.map_renderer_init(ffi.NULL, ffi.NULL) + wait_ready(lib, renderer) + + geometry = r"{yxk}@|obn~Eg@@eCFqc@J{RFw@?kA@gA?q|@Riu@NuJBgi@ZqVNcRBaPBkG@iSD{I@_H@cH?gG@mG@gG?aD@{LDgDDkVVyQLiGDgX@q_@@qI@qKhS{R~[}NtYaDbGoIvLwNfP_b@|f@oFnF_JxHel@bf@{JlIuxAlpAkNnLmZrWqFhFoh@jd@kX|TkJxH_RnPy^|[uKtHoZ~Um`DlkCorC``CuShQogCtwB_ThQcr@fk@sVrWgRhVmSb\\oj@jxA{Qvg@u]tbAyHzSos@xjBeKbWszAbgEc~@~jCuTrl@cYfo@mRn\\_m@v}@ij@jp@om@lk@y|A`pAiXbVmWzUod@xj@wNlTw}@|uAwSn\\kRfYqOdS_IdJuK`KmKvJoOhLuLbHaMzGwO~GoOzFiSrEsOhD}PhCqw@vJmnAxSczA`Vyb@bHk[fFgl@pJeoDdl@}}@zIyr@hG}X`BmUdBcM^aRR}Oe@iZc@mR_@{FScHxAn_@vz@zCzH~GjPxAhDlB~DhEdJlIbMhFfG|F~GlHrGjNjItLnGvQ~EhLnBfOn@p`@AzAAvn@CfC?fc@`@lUrArStCfSxEtSzGxM|ElFlBrOzJlEbDnC~BfDtCnHjHlLvMdTnZzHpObOf^pKla@~G|a@dErg@rCbj@zArYlj@ttJ~AfZh@r]LzYg@`TkDbj@gIdv@oE|i@kKzhA{CdNsEfOiGlPsEvMiDpLgBpHyB`MkB|MmArPg@|N?|P^rUvFz~AWpOCdAkB|PuB`KeFfHkCfGy@tAqC~AsBPkDs@uAiAcJwMe@s@eKkPMoXQux@EuuCoH?eI?Kas@}Dy@wAUkMOgDL" # noqa: E501 + lib.map_renderer_update_route(renderer, geometry.encode()) + + POSITIONS = [ + (32.71569271952601, -117.16384270868463, 0), (32.71569271952601, -117.16384270868463, 45), # San Diego + (52.378641991483136, 4.902623379456488, 0), (52.378641991483136, 4.902623379456488, 45), # Amsterdam + ] + plt.figure() + + for i, pos in enumerate(POSITIONS): + t = time.time() + lib.map_renderer_update_position(renderer, *pos) + wait_ready(lib, renderer) + + print(f"{pos} took {time.time() - t:.2f} s") + + plt.subplot(2, 2, i + 1) + plt.imshow(get_image(lib, renderer), cmap='gray') + + plt.show() diff --git a/selfdrive/navd/mapsd b/selfdrive/navd/mapsd new file mode 100755 index 0000000000..1f66384ab8 Binary files /dev/null and b/selfdrive/navd/mapsd differ diff --git a/selfdrive/navd/navd.py b/selfdrive/navd/navd.py new file mode 100755 index 0000000000..961e2ffdb4 --- /dev/null +++ b/selfdrive/navd/navd.py @@ -0,0 +1,372 @@ +#!/usr/bin/env python3 +import json +import math +import os +import threading + +import requests + +import cereal.messaging as messaging +from cereal import log +from openpilot.common.api import Api +from openpilot.common.params import Params +from openpilot.common.realtime import Ratekeeper +from openpilot.selfdrive.navd.helpers import (Coordinate, coordinate_from_param, + distance_along_geometry, maxspeed_to_ms, + minimum_distance, + parse_banner_instructions) +from openpilot.common.swaglog import cloudlog + +REROUTE_DISTANCE = 25 +MANEUVER_TRANSITION_THRESHOLD = 10 +REROUTE_COUNTER_MIN = 3 + + +class RouteEngine: + def __init__(self, sm, pm): + self.sm = sm + self.pm = pm + + self.params = Params() + + # Get last gps position from params + self.last_position = coordinate_from_param("LastGPSPosition", self.params) + self.last_bearing = None + + self.gps_ok = False + self.localizer_valid = False + + self.nav_destination = None + self.step_idx = None + self.route = None + self.route_geometry = None + + self.recompute_backoff = 0 + self.recompute_countdown = 0 + + self.ui_pid = None + + self.reroute_counter = 0 + + + self.api = None + self.mapbox_token = None + if "MAPBOX_TOKEN" in os.environ: + self.mapbox_token = os.environ["MAPBOX_TOKEN"] + self.mapbox_host = "https://api.mapbox.com" + else: + self.api = Api(self.params.get("DongleId", encoding='utf8')) + self.mapbox_host = "https://maps.comma.ai" + + if self.mapbox_token != "" and self.params.get("CustomMapboxTokenSk") is not None: + self.mapbox_token = self.params.get("CustomMapboxTokenSk") + self.mapbox_host = "https://api.mapbox.com" + + def update(self): + self.sm.update(0) + + if self.sm.updated["managerState"]: + ui_pid = [p.pid for p in self.sm["managerState"].processes if p.name == "ui" and p.running] + if ui_pid: + if self.ui_pid and self.ui_pid != ui_pid[0]: + cloudlog.warning("UI restarting, sending route") + threading.Timer(5.0, self.send_route).start() + self.ui_pid = ui_pid[0] + + self.update_location() + try: + self.recompute_route() + self.send_instruction() + except Exception: + cloudlog.exception("navd.failed_to_compute") + + def update_location(self): + location = self.sm['liveLocationKalman'] + self.gps_ok = location.gpsOK + + self.localizer_valid = (location.status == log.LiveLocationKalman.Status.valid) and location.positionGeodetic.valid + + if self.localizer_valid: + self.last_bearing = math.degrees(location.calibratedOrientationNED.value[2]) + self.last_position = Coordinate(location.positionGeodetic.value[0], location.positionGeodetic.value[1]) + + def recompute_route(self): + if self.last_position is None: + return + + new_destination = coordinate_from_param("NavDestination", self.params) + if new_destination is None: + self.clear_route() + self.reset_recompute_limits() + return + + should_recompute = self.should_recompute() + if new_destination != self.nav_destination: + cloudlog.warning(f"Got new destination from NavDestination param {new_destination}") + should_recompute = True + + # Don't recompute when GPS drifts in tunnels + if not self.gps_ok and self.step_idx is not None: + return + + if self.recompute_countdown == 0 and should_recompute: + self.recompute_countdown = 2**self.recompute_backoff + self.recompute_backoff = min(6, self.recompute_backoff + 1) + self.calculate_route(new_destination) + self.reroute_counter = 0 + else: + self.recompute_countdown = max(0, self.recompute_countdown - 1) + + def calculate_route(self, destination): + cloudlog.warning(f"Calculating route {self.last_position} -> {destination}") + self.nav_destination = destination + + lang = self.params.get('LanguageSetting', encoding='utf8') + if lang is not None: + lang = lang.replace('main_', '') + + token = self.mapbox_token + if token is None: + token = self.api.get_token() + + params = { + 'access_token': token, + 'annotations': 'maxspeed', + 'geometries': 'geojson', + 'overview': 'full', + 'steps': 'true', + 'banner_instructions': 'true', + 'alternatives': 'false', + 'language': lang, + } + + # TODO: move waypoints into NavDestination param? + waypoints = self.params.get('NavDestinationWaypoints', encoding='utf8') + waypoint_coords = [] + if waypoints is not None and len(waypoints) > 0: + waypoint_coords = json.loads(waypoints) + + coords = [ + (self.last_position.longitude, self.last_position.latitude), + *waypoint_coords, + (destination.longitude, destination.latitude) + ] + params['waypoints'] = f'0;{len(coords)-1}' + if self.last_bearing is not None: + params['bearings'] = f"{(self.last_bearing + 360) % 360:.0f},90" + (';'*(len(coords)-1)) + + coords_str = ';'.join([f'{lon},{lat}' for lon, lat in coords]) + url = self.mapbox_host + '/directions/v5/mapbox/driving-traffic/' + coords_str + try: + resp = requests.get(url, params=params, timeout=10) + if resp.status_code != 200: + cloudlog.event("API request failed", status_code=resp.status_code, text=resp.text, error=True) + resp.raise_for_status() + + r = resp.json() + if len(r['routes']): + self.route = r['routes'][0]['legs'][0]['steps'] + self.route_geometry = [] + + maxspeed_idx = 0 + maxspeeds = r['routes'][0]['legs'][0]['annotation']['maxspeed'] + + # Convert coordinates + for step in self.route: + coords = [] + + for c in step['geometry']['coordinates']: + coord = Coordinate.from_mapbox_tuple(c) + + # Last step does not have maxspeed + if (maxspeed_idx < len(maxspeeds)): + maxspeed = maxspeeds[maxspeed_idx] + if ('unknown' not in maxspeed) and ('none' not in maxspeed): + coord.annotations['maxspeed'] = maxspeed_to_ms(maxspeed) + + coords.append(coord) + maxspeed_idx += 1 + + self.route_geometry.append(coords) + maxspeed_idx -= 1 # Every segment ends with the same coordinate as the start of the next + + self.step_idx = 0 + else: + cloudlog.warning("Got empty route response") + self.clear_route() + + # clear waypoints to avoid a re-route including past waypoints + # TODO: only clear once we're past a waypoint + self.params.remove('NavDestinationWaypoints') + + except requests.exceptions.RequestException: + cloudlog.exception("failed to get route") + self.clear_route() + + self.send_route() + + def send_instruction(self): + msg = messaging.new_message('navInstruction', valid=True) + + if self.step_idx is None: + msg.valid = False + self.pm.send('navInstruction', msg) + return + + step = self.route[self.step_idx] + geometry = self.route_geometry[self.step_idx] + along_geometry = distance_along_geometry(geometry, self.last_position) + distance_to_maneuver_along_geometry = step['distance'] - along_geometry + + # Banner instructions are for the following maneuver step, don't use empty last step + banner_step = step + if not len(banner_step['bannerInstructions']) and self.step_idx == len(self.route) - 1: + banner_step = self.route[max(self.step_idx - 1, 0)] + + # Current instruction + msg.navInstruction.maneuverDistance = distance_to_maneuver_along_geometry + instruction = parse_banner_instructions(banner_step['bannerInstructions'], distance_to_maneuver_along_geometry) + if instruction is not None: + for k,v in instruction.items(): + setattr(msg.navInstruction, k, v) + + # All instructions + maneuvers = [] + for i, step_i in enumerate(self.route): + if i < self.step_idx: + distance_to_maneuver = -sum(self.route[j]['distance'] for j in range(i+1, self.step_idx)) - along_geometry + elif i == self.step_idx: + distance_to_maneuver = distance_to_maneuver_along_geometry + else: + distance_to_maneuver = distance_to_maneuver_along_geometry + sum(self.route[j]['distance'] for j in range(self.step_idx+1, i+1)) + + instruction = parse_banner_instructions(step_i['bannerInstructions'], distance_to_maneuver) + if instruction is None: + continue + maneuver = {'distance': distance_to_maneuver} + if 'maneuverType' in instruction: + maneuver['type'] = instruction['maneuverType'] + if 'maneuverModifier' in instruction: + maneuver['modifier'] = instruction['maneuverModifier'] + maneuvers.append(maneuver) + + msg.navInstruction.allManeuvers = maneuvers + + # Compute total remaining time and distance + remaining = 1.0 - along_geometry / max(step['distance'], 1) + total_distance = step['distance'] * remaining + total_time = step['duration'] * remaining + + if step['duration_typical'] is None: + total_time_typical = total_time + else: + total_time_typical = step['duration_typical'] * remaining + + # Add up totals for future steps + for i in range(self.step_idx + 1, len(self.route)): + total_distance += self.route[i]['distance'] + total_time += self.route[i]['duration'] + if self.route[i]['duration_typical'] is None: + total_time_typical += self.route[i]['duration'] + else: + total_time_typical += self.route[i]['duration_typical'] + + msg.navInstruction.distanceRemaining = total_distance + msg.navInstruction.timeRemaining = total_time + msg.navInstruction.timeRemainingTypical = total_time_typical + + # Speed limit + closest_idx, closest = min(enumerate(geometry), key=lambda p: p[1].distance_to(self.last_position)) + if closest_idx > 0: + # If we are not past the closest point, show previous + if along_geometry < distance_along_geometry(geometry, geometry[closest_idx]): + closest = geometry[closest_idx - 1] + + if ('maxspeed' in closest.annotations) and self.localizer_valid: + msg.navInstruction.speedLimit = closest.annotations['maxspeed'] + + # Speed limit sign type + if 'speedLimitSign' in step: + if step['speedLimitSign'] == 'mutcd': + msg.navInstruction.speedLimitSign = log.NavInstruction.SpeedLimitSign.mutcd + elif step['speedLimitSign'] == 'vienna': + msg.navInstruction.speedLimitSign = log.NavInstruction.SpeedLimitSign.vienna + + self.pm.send('navInstruction', msg) + + # Transition to next route segment + if distance_to_maneuver_along_geometry < -MANEUVER_TRANSITION_THRESHOLD: + if self.step_idx + 1 < len(self.route): + self.step_idx += 1 + self.reset_recompute_limits() + else: + cloudlog.warning("Destination reached") + + # Clear route if driving away from destination + dist = self.nav_destination.distance_to(self.last_position) + if dist > REROUTE_DISTANCE: + self.params.remove("NavDestination") + self.clear_route() + + def send_route(self): + coords = [] + + if self.route is not None: + for path in self.route_geometry: + coords += [c.as_dict() for c in path] + + msg = messaging.new_message('navRoute', valid=True) + msg.navRoute.coordinates = coords + self.pm.send('navRoute', msg) + + def clear_route(self): + self.route = None + self.route_geometry = None + self.step_idx = None + self.nav_destination = None + + def reset_recompute_limits(self): + self.recompute_backoff = 0 + self.recompute_countdown = 0 + + def should_recompute(self): + if self.step_idx is None or self.route is None: + return True + + # Don't recompute in last segment, assume destination is reached + if self.step_idx == len(self.route) - 1: + return False + + # Compute closest distance to all line segments in the current path + min_d = REROUTE_DISTANCE + 1 + path = self.route_geometry[self.step_idx] + for i in range(len(path) - 1): + a = path[i] + b = path[i + 1] + + if a.distance_to(b) < 1.0: + continue + + min_d = min(min_d, minimum_distance(a, b, self.last_position)) + + if min_d > REROUTE_DISTANCE: + self.reroute_counter += 1 + else: + self.reroute_counter = 0 + return self.reroute_counter > REROUTE_COUNTER_MIN + # TODO: Check for going wrong way in segment + + +def main(): + pm = messaging.PubMaster(['navInstruction', 'navRoute']) + sm = messaging.SubMaster(['liveLocationKalman', 'managerState']) + + rk = Ratekeeper(1.0) + route_engine = RouteEngine(sm, pm) + while True: + route_engine.update() + rk.keep_time() + + +if __name__ == "__main__": + main() diff --git a/selfdrive/navd/otisserv.py b/selfdrive/navd/otisserv.py new file mode 100644 index 0000000000..f5110e2598 --- /dev/null +++ b/selfdrive/navd/otisserv.py @@ -0,0 +1,465 @@ +#!/usr/bin/env python3.8 +# The MIT License +# +# Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors. +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. + +from http.server import BaseHTTPRequestHandler, HTTPServer +from cgi import parse_header, parse_multipart +from urllib.parse import parse_qs, unquote +import json +import requests +import math +from openpilot.common.basedir import BASEDIR +from openpilot.common.params import Params +from openpilot.common.realtime import set_core_affinity +from openpilot.common.swaglog import cloudlog +params = Params() + +hostName = "" +serverPort = 8082 + +pi = 3.1415926535897932384626 +x_pi = 3.14159265358979324 * 3000.0 / 180.0 +a = 6378245.0 +ee = 0.00669342162296594323 + + +class OtisServ(BaseHTTPRequestHandler): + def do_GET(self): + use_amap = params.get_bool("EnableAmap") + use_gmap = not use_amap and params.get_bool("EnableGmap") + + if self.path == '/logo.png': + self.get_logo() + return + if self.path == '/?reset=1': + params.put("NavDestination", "") + if self.path == '/locations': + self.get_locations() + return + elif use_amap: + if self.path == '/style.css': + self.send_response(200) + self.send_header("Content-type", "text/css") + self.end_headers() + self.get_amap_css() + return + elif self.path == '/index.js': + self.send_response(200) + self.send_header("Content-type", "text/javascript") + self.end_headers() + self.get_amap_js() + return + else: + self.send_response(200) + self.send_header("Content-type", "text/html") + self.end_headers() + if self.get_amap_key() is None or self.get_amap_key_2() is None: + self.display_page_amap_key() + return + if self.get_app_token() is None: + self.display_page_app_token() + return + self.display_page_amap() + elif use_gmap: + if self.path == '/style.css': + self.send_response(200) + self.send_header("Content-type", "text/css") + self.end_headers() + self.get_gmap_css() + return + elif self.path == '/index.js': + self.send_response(200) + self.send_header("Content-type", "text/javascript") + self.end_headers() + self.get_gmap_js() + return + else: + self.send_response(200) + self.send_header("Content-type", "text/html") + self.end_headers() + if self.get_gmap_key() is None: + self.display_page_gmap_key() + return + if self.get_app_token() is None: + self.display_page_app_token() + return + self.display_page_gmap() + else: + self.send_response(200) + self.send_header("Content-type", "text/html") + self.end_headers() + if self.get_public_token() is None: + self.display_page_public_token() + return + if self.get_app_token() is None: + self.display_page_app_token() + return + if self.path != '/locations': + self.display_page_addr_input() + + def do_POST(self): + use_amap = params.get_bool("EnableAmap") + use_gmap = not use_amap and params.get_bool("EnableGmap") + + postvars = self.parse_POST() + # set_destination endpoint + if self.path == '/set_destination': + self.send_response(200) + self.send_header("Content-type", "application/json") + self.end_headers() + response_data = {'success': True} + self.wfile.write(json.dumps(response_data).encode('utf-8')) + else: + self.send_response(200) + self.send_header("Content-type", "text/html") + self.end_headers() + + if use_amap: + # amap token + if self.get_amap_key() is None or self.get_amap_key_2() is None: + if postvars is None or \ + ("amap_key_val" not in postvars or postvars.get("amap_key_val")[0] == "") or \ + ("amap_key_val_2" not in postvars or postvars.get("amap_key_val_2")[0] == ""): + self.display_page_amap_key() + return + params.put("AmapKey1", postvars.get("amap_key_val")[0]) + params.put("AmapKey2", postvars.get("amap_key_val_2")[0]) + + elif use_gmap: + # gmap token + if self.get_gmap_key() is None: + if postvars is None or "gmap_key_val" not in postvars or postvars.get("gmap_key_val")[0] == "": + self.display_page_gmap_key() + return + params.put("GmapKey", postvars.get("gmap_key_val")[0]) + + else: + # mapbox public key + if self.get_public_token() is None: + if postvars is None or "pk_token_val" not in postvars or postvars.get("pk_token_val")[0] == "": + self.display_page_public_token() + return + token = postvars.get("pk_token_val")[0] + if "pk." not in token: + self.display_page_public_token("Your token was incorrect!") + return + params.put('CustomMapboxTokenPk', token) + + # app key + if self.get_app_token() is None: + if postvars is None or "sk_token_val" not in postvars or postvars.get("sk_token_val")[0] == "": + self.display_page_app_token() + return + token = postvars.get("sk_token_val")[0] + if "sk." not in token: + self.display_page_app_token("Your token was incorrect!") + return + params.put('CustomMapboxTokenSk', token) + + # nav confirmed + if postvars is not None: + if "lat" in postvars and postvars.get("lat")[0] != "" and "lon" in postvars and postvars.get("lon")[0] != "": + lat = float(postvars.get("lat")[0]) + lng = float(postvars.get("lon")[0]) + save_type = postvars.get("save_type")[0] + name = postvars.get("name")[0] if postvars.get("name") is not None else "" + if use_amap: + lng, lat = self.gcj02towgs84(lng, lat) + params.put('NavDestination', "{\"latitude\": %f, \"longitude\": %f, \"place_name\": \"%s\"}" % (lat, lng, name)) + self.to_json(lat, lng, save_type, name) + if postvars is not None: + latitude_value = postvars.get("latitude") + longitude_value = postvars.get("longitude") + if latitude_value is not None and latitude_value != "" and longitude_value is not None and longitude_value != "": + lat = float(latitude_value) + lng = float(longitude_value) + save_type = "recent" + name = postvars.get("place_name", [""]) + params.put('NavDestination', "{\"latitude\": %f, \"longitude\": %f, \"place_name\": \"%s\"}" % (lat, lng, name)) + self.to_json(lat, lng, save_type, name) + # favorites + if not use_gmap and "fav_val" in postvars: + addr = postvars.get("fav_val")[0] + real_addr = None + lon = None + lat = None + if addr != "favorites": + val = params.get("ApiCache_NavDestinations", encoding='utf8') + if val is not None: + val = val.rstrip('\x00') + dests = json.loads(val) + for item in dests: + if "label" in item and item["label"] == addr: + lat = item["latitude"] + lon = item["longitude"] + real_addr = item["place_name"] + break + else: + real_addr = None + if real_addr is not None: + self.display_page_nav_confirmation(real_addr, lon, lat) + return + else: + self.display_page_addr_input("Place Not Found") + return + # search + if not use_gmap and "addr_val" in postvars: + addr = postvars.get("addr_val")[0] + if addr != "": + real_addr, lat, lon = self.query_addr(addr) + if real_addr is not None: + self.display_page_nav_confirmation(real_addr, lon, lat) + return + else: + self.display_page_addr_input("Place Not Found") + return + if self.path != '/set_destination': + if use_amap: + self.display_page_amap() + elif use_gmap: + self.display_page_gmap() + else: + self.display_page_addr_input() + + def get_logo(self): + self.send_response(200) + self.send_header('Content-type','image/png') + self.end_headers() + f = open("%s/selfdrive/assets/img_spinner_comma.png" % BASEDIR, "rb") + self.wfile.write(f.read()) + f.close() + + def get_locations(self): + self.send_response(200) + self.send_header('Content-type','application/json') + self.end_headers() + val = params.get("ApiCache_NavDestinations", encoding='utf-8') + if val is not None: + self.wfile.write(val.encode('utf-8')) + + def get_gmap_css(self): + self.wfile.write(bytes(self.get_parsed_template("gmap/style.css"), "utf-8")) + + def get_gmap_js(self): + lon, lat = self.get_last_lon_lat() + self.wfile.write(bytes(self.get_parsed_template("gmap/index.js", {"{{lat}}": lat, "{{lon}}": lon}), "utf-8")) + + def get_gmap_key(self): + token = params.get("GmapKey", encoding='utf8') + if token is not None and token != "": + return token.rstrip('\x00') + return None + + def get_amap_css(self): + self.wfile.write(bytes(self.get_parsed_template("amap/style.css"), "utf-8")) + + def get_amap_js(self): + lon, lat = self.get_last_lon_lat() + self.wfile.write(bytes(self.get_parsed_template("amap/index.js", {"{{lat}}": lat, "{{lon}}": lon}), "utf-8")) + + def get_amap_key(self): + token = params.get("AmapKey1", encoding='utf8') + if token is not None and token != "": + return token.rstrip('\x00') + return None + + def get_amap_key_2(self): + token = params.get("AmapKey2", encoding='utf8') + if token is not None and token != "": + return token.rstrip('\x00') + return None + + def get_public_token(self): + token = params.get("CustomMapboxTokenPk", encoding='utf8') + if token is not None and token != "": + return token.rstrip('\x00') + return None + + def get_app_token(self): + token = params.get("CustomMapboxTokenSk", encoding='utf8') + if token is not None and token != "": + return token.rstrip('\x00') + return None + + def get_last_lon_lat(self): + last_pos = Params().get("LastGPSPosition") + if last_pos is not None and last_pos != "": + l = json.loads(last_pos) + return l["longitude"], l["latitude"] + return "", "" + + def display_page_gmap_key(self): + self.wfile.write(bytes(self.get_parsed_template("body", {"{{content}}": self.get_parsed_template("gmap/key_input")}), "utf-8")) + + def display_page_amap_key(self): + self.wfile.write(bytes(self.get_parsed_template("body", {"{{content}}": self.get_parsed_template("amap/key_input")}), "utf-8")) + + def display_page_public_token(self, msg = ""): + self.wfile.write(bytes(self.get_parsed_template("body", {"{{content}}": self.get_parsed_template("public_token_input", {"{{msg}}": msg})}), "utf-8")) + + def display_page_app_token(self, msg = ""): + self.wfile.write(bytes(self.get_parsed_template("body", {"{{content}}": self.get_parsed_template("app_token_input", {"{{msg}}": msg})}), "utf-8")) + + def display_page_addr_input(self, msg = ""): + self.wfile.write(bytes(self.get_parsed_template("body", {"{{content}}": self.get_parsed_template("addr_input", {"{{msg}}": msg})}), "utf-8")) + + def display_page_nav_confirmation(self, addr, lon, lat): + content = self.get_parsed_template("addr_input", {"{{msg}}": ""}) + self.get_parsed_template("nav_confirmation", {"{{token}}": self.get_public_token(), "{{lon}}": lon, "{{lat}}": lat, "{{addr}}": addr}) + self.wfile.write(bytes(self.get_parsed_template("body", {"{{content}}": content }), "utf-8")) + + def display_page_gmap(self): + self.wfile.write(bytes(self.get_parsed_template("gmap/index.html", {"{{gmap_key}}": self.get_gmap_key()}), "utf-8")) + + def display_page_amap(self): + self.wfile.write(bytes(self.get_parsed_template("amap/index.html", {"{{amap_key}}": self.get_amap_key(), "{{amap_key_2}}": self.get_amap_key_2()}), "utf-8")) + + def get_parsed_template(self, name, replace = {}): + f = open('%s/selfdrive/navd/tpl/%s.tpl' % (BASEDIR, name), mode='r', encoding='utf-8') + content = f.read() + for key in replace: + content = content.replace(key, str(replace[key])) + f.close() + return content + + def query_addr(self, addr): + if addr == "": + return None, None, None + query = "https://api.mapbox.com/geocoding/v5/mapbox.places/" + unquote(addr) + ".json?access_token=" + self.get_public_token() + "&limit=1" + # focus on place around last gps position + last_pos = Params().get("LastGPSPosition") + if last_pos is not None and last_pos != "": + l = json.loads(last_pos) + query += "&proximity=%s,%s" % (l["longitude"], l["latitude"]) + + r = requests.get(query) + if r.status_code != 200: + return None, None, None + + j = json.loads(r.text) + if not j["features"]: + return None, None, None + + feature = j["features"][0] + return feature["place_name"], feature["center"][1], feature["center"][0] + + def parse_POST(self): + ctype, pdict = parse_header(self.headers['content-type']) + if ctype == 'application/x-www-form-urlencoded': + length = int(self.headers['content-length']) + postvars = parse_qs( + self.rfile.read(length).decode('utf-8'), + keep_blank_values=1) + elif ctype == 'application/json': + length = int(self.headers['content-length']) + post_data = self.rfile.read(length).decode('utf-8') + try: + postvars = json.loads(post_data) + except json.JSONDecodeError: + self.send_error(400, 'Invalid JSON data') + return None + else: + postvars = {} + return postvars + + def gcj02towgs84(self, lng, lat): + dlat = self.transform_lat(lng - 105.0, lat - 35.0) + dlng = self.transform_lng(lng - 105.0, lat - 35.0) + radlat = lat / 180.0 * pi + magic = math.sin(radlat) + magic = 1 - ee * magic * magic + sqrtmagic = math.sqrt(magic) + dlat = (dlat * 180.0) / ((a * (1 - ee)) / (magic * sqrtmagic) * pi) + dlng = (dlng * 180.0) / (a / sqrtmagic * math.cos(radlat) * pi) + mglat = lat + dlat + mglng = lng + dlng + return [lng * 2 - mglng, lat * 2 - mglat] + + def transform_lat(self, lng, lat): + ret = -100.0 + 2.0 * lng + 3.0 * lat + 0.2 * lat * lat + 0.1 * lng * lat + 0.2 * math.sqrt(abs(lng)) + ret += (20.0 * math.sin(6.0 * lng * pi) + 20.0 * math.sin(2.0 * lng * pi)) * 2.0 / 3.0 + ret += (20.0 * math.sin(lat * pi) + 40.0 * math.sin(lat / 3.0 * pi)) * 2.0 / 3.0 + ret += (160.0 * math.sin(lat / 12.0 * pi) + 320 * math.sin(lat * pi / 30.0)) * 2.0 / 3.0 + return ret + + def transform_lng(self, lng, lat): + ret = 300.0 + lng + 2.0 * lat + 0.1 * lng * lng + 0.1 * lng * lat + 0.1 * math.sqrt(abs(lng)) + ret += (20.0 * math.sin(6.0 * lng * pi) + 20.0 * math.sin(2.0 * lng * pi)) * 2.0 / 3.0 + ret += (20.0 * math.sin(lng * pi) + 40.0 * math.sin(lng / 3.0 * pi)) * 2.0 / 3.0 + ret += (150.0 * math.sin(lng / 12.0 * pi) + 300.0 * math.sin(lng / 30.0 * pi)) * 2.0 / 3.0 + return ret + + def to_json(self, lat, lng, type = "recent", name = ""): + if name == "": + name = str(lat) + "," + str(lng) + new_dest = {"latitude": float(lat), "longitude": float(lng), "place_name": name} + + if type == "recent": + new_dest["save_type"] = "recent" + else: + new_dest["save_type"] = "favorite" + new_dest["label"] = type + + val = params.get("ApiCache_NavDestinations", encoding='utf8') + if val is not None: + val = val.rstrip('\x00') + dests = [] if val is None else json.loads(val) + + # type idx + type_label_ids = {"home": None, "work": None, "fav1": None, "fav2": None, "fav3": None, "recent": []} + idx = 0 + for d in dests: + if d["save_type"] == "favorite": + type_label_ids[d["label"]] = idx + else: + type_label_ids["recent"].append(idx) + idx += 1 + + if type == "recent": + id = None + if len(type_label_ids["recent"]) > 10: + dests.pop(type_label_ids["recent"][-1]) + else: + id = type_label_ids[type] + + if id is None: + dests.insert(0, new_dest) + else: + dests[id] = new_dest + + params.put("ApiCache_NavDestinations", json.dumps(dests).rstrip("\n\r")) + +def main(): + try: + set_core_affinity([0, 1, 2, 3]) + except Exception: + cloudlog.exception("otisserv: failed to set core affinity") + webServer = HTTPServer((hostName, serverPort), OtisServ) + + try: + webServer.serve_forever() + except KeyboardInterrupt: + pass + + webServer.server_close() + +if __name__ == "__main__": + main() diff --git a/selfdrive/navd/set_destination.py b/selfdrive/navd/set_destination.py new file mode 100755 index 0000000000..811aa576d1 --- /dev/null +++ b/selfdrive/navd/set_destination.py @@ -0,0 +1,33 @@ +#!/usr/bin/env python3 +import json +import sys + +from openpilot.common.params import Params + +if __name__ == "__main__": + params = Params() + + # set from google maps url + if len(sys.argv) > 1: + coords = sys.argv[1].split("/@")[-1].split("/")[0].split(",") + dest = { + "latitude": float(coords[0]), + "longitude": float(coords[1]) + } + params.put("NavDestination", json.dumps(dest)) + params.remove("NavDestinationWaypoints") + else: + print("Setting to Taco Bell") + dest = { + "latitude": 32.71160109904473, + "longitude": -117.12556569985693, + } + params.put("NavDestination", json.dumps(dest)) + + waypoints = [ + (-117.16020713111648, 32.71997612490662), + ] + params.put("NavDestinationWaypoints", json.dumps(waypoints)) + + print(dest) + print(waypoints) diff --git a/selfdrive/navd/style.json b/selfdrive/navd/style.json new file mode 100644 index 0000000000..06bb750d1f --- /dev/null +++ b/selfdrive/navd/style.json @@ -0,0 +1 @@ +{"version": 8, "name": "Navigation Model", "metadata": {"mapbox:type": "default", "mapbox:origin": "monochrome-dark-v1", "mapbox:sdk-support": {"android": "10.0.0", "ios": "10.0.0", "js": "2.3.0"}, "mapbox:autocomposite": true, "mapbox:groups": {"Transit, transit-labels": {"name": "Transit, transit-labels", "collapsed": true}, "Administrative boundaries, admin": {"name": "Administrative boundaries, admin", "collapsed": true}, "Transit, bridges": {"name": "Transit, bridges", "collapsed": true}, "Transit, surface": {"name": "Transit, surface", "collapsed": true}, "Road network, bridges": {"name": "Road network, bridges", "collapsed": false}, "Land, water, & sky, water": {"name": "Land, water, & sky, water", "collapsed": true}, "Road network, tunnels": {"name": "Road network, tunnels", "collapsed": false}, "Road network, road-labels": {"name": "Road network, road-labels", "collapsed": true}, "Buildings, built": {"name": "Buildings, built", "collapsed": true}, "Natural features, natural-labels": {"name": "Natural features, natural-labels", "collapsed": true}, "Road network, surface": {"name": "Road network, surface", "collapsed": false}, "Land, water, & sky, built": {"name": "Land, water, & sky, built", "collapsed": true}, "Place labels, place-labels": {"name": "Place labels, place-labels", "collapsed": true}, "Point of interest labels, poi-labels": {"name": "Point of interest labels, poi-labels", "collapsed": true}, "Road network, tunnels-case": {"name": "Road network, tunnels-case", "collapsed": true}, "Transit, built": {"name": "Transit, built", "collapsed": true}, "Road network, surface-icons": {"name": "Road network, surface-icons", "collapsed": false}, "Land, water, & sky, land": {"name": "Land, water, & sky, land", "collapsed": true}}}, "center": [-117.19189443261149, 32.756553679559985], "zoom": 12.932776547838778, "bearing": 0, "pitch": 0.5017568344510897, "sources": {"composite": {"url": "mapbox://mapbox.mapbox-streets-v8", "type": "vector", "maxzoom": 13}}, "sprite": "mapbox://sprites/commaai/ckvmksrpd4n0a14pfdo5heqzr/bkx9h9tjdf3xedbnjvfo5xnbv", "glyphs": "mapbox://fonts/mapbox/{fontstack}/{range}.pbf", "layers": [{"id": "land", "type": "background", "layout": {"visibility": "none"}, "paint": {"background-color": "rgb(252, 252, 252)"}, "metadata": {"mapbox:featureComponent": "land-and-water", "mapbox:group": "Land, water, & sky, land"}}, {"minzoom": 5, "layout": {"visibility": "none"}, "metadata": {"mapbox:featureComponent": "land-and-water", "mapbox:group": "Land, water, & sky, land"}, "filter": ["==", ["get", "class"], "national_park"], "type": "fill", "source": "composite", "id": "national-park", "paint": {"fill-color": "rgb(240, 240, 240)", "fill-opacity": ["interpolate", ["linear"], ["zoom"], 5, 0, 6, 0.5, 10, 0.5]}, "source-layer": "landuse_overlay"}, {"minzoom": 5, "layout": {"visibility": "none"}, "metadata": {"mapbox:featureComponent": "land-and-water", "mapbox:group": "Land, water, & sky, land"}, "filter": ["match", ["get", "class"], ["park", "airport", "glacier", "pitch", "sand", "facility"], true, false], "type": "fill", "source": "composite", "id": "landuse", "paint": {"fill-color": "rgb(240, 240, 240)", "fill-opacity": ["interpolate", ["linear"], ["zoom"], 5, 0, 6, ["match", ["get", "class"], "glacier", 0.5, 1]]}, "source-layer": "landuse"}, {"id": "waterway-shadow", "type": "line", "source": "composite", "source-layer": "waterway", "minzoom": 8, "layout": {"line-cap": ["step", ["zoom"], "butt", 11, "round"], "line-join": "round", "visibility": "none"}, "paint": {"line-color": "rgb(204, 204, 204)", "line-width": ["interpolate", ["exponential", 1.3], ["zoom"], 9, ["match", ["get", "class"], ["canal", "river"], 0.1, 0], 20, ["match", ["get", "class"], ["canal", "river"], 8, 3]], "line-translate": ["interpolate", ["exponential", 1.2], ["zoom"], 7, ["literal", [0, 0]], 16, ["literal", [-1, -1]]], "line-translate-anchor": "viewport", "line-opacity": ["interpolate", ["linear"], ["zoom"], 8, 0, 8.5, 1]}, "metadata": {"mapbox:featureComponent": "land-and-water", "mapbox:group": "Land, water, & sky, water"}}, {"id": "water-shadow", "type": "fill", "source": "composite", "source-layer": "water", "layout": {"visibility": "none"}, "paint": {"fill-color": "rgb(204, 204, 204)", "fill-translate": ["interpolate", ["exponential", 1.2], ["zoom"], 7, ["literal", [0, 0]], 16, ["literal", [-1, -1]]], "fill-translate-anchor": "viewport"}, "metadata": {"mapbox:featureComponent": "land-and-water", "mapbox:group": "Land, water, & sky, water"}}, {"id": "waterway", "type": "line", "source": "composite", "source-layer": "waterway", "minzoom": 8, "layout": {"line-cap": ["step", 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["interpolate", ["linear"], ["zoom"], 7, ["step", ["get", "sizerank"], 20, 6, 18, 12, 12], 10, ["step", ["get", "sizerank"], 15, 9, 12], 18, ["step", ["get", "sizerank"], 15, 9, 14]], "text-max-angle": 30, "text-letter-spacing": ["match", ["get", "class"], "ocean", 0.25, ["sea", "bay"], 0.15, 0], "text-font": ["DIN Pro Italic", "Arial Unicode MS Regular"], "symbol-placement": "line-center", "text-pitch-alignment": "viewport", "text-field": ["coalesce", ["get", "name_en"], ["get", "name"]], "visibility": "none"}, "paint": {"text-color": "rgb(150, 150, 150)"}}, {"id": "water-point-label", "type": "symbol", "source": "composite", "source-layer": "natural_label", "filter": ["all", ["match", ["get", "class"], ["bay", "ocean", "reservoir", "sea", "water"], ["match", ["get", "worldview"], ["all", "US"], true, false], ["disputed_bay", "disputed_ocean", "disputed_reservoir", "disputed_sea", "disputed_water"], ["all", ["==", ["get", "disputed"], "true"], ["match", ["get", "worldview"], ["all", "US"], true, false]], false], ["==", ["geometry-type"], "Point"]], "layout": {"text-line-height": 1.3, "text-size": ["interpolate", ["linear"], ["zoom"], 7, ["step", ["get", "sizerank"], 20, 6, 15, 12, 12], 10, ["step", ["get", "sizerank"], 15, 9, 12]], "text-font": ["DIN Pro Italic", "Arial Unicode MS Regular"], "text-field": ["coalesce", ["get", "name_en"], ["get", "name"]], "text-letter-spacing": ["match", ["get", "class"], "ocean", 0.25, ["bay", "sea"], 0.15, 0.01], "text-max-width": ["match", ["get", "class"], "ocean", 4, "sea", 5, ["bay", "water"], 7, 10], "visibility": "none"}, "paint": {"text-color": "rgb(150, 150, 150)"}, "metadata": {"mapbox:featureComponent": "natural-features", "mapbox:group": "Natural features, natural-labels"}}, {"minzoom": 6, "layout": {"text-size": ["step", ["zoom"], ["step", ["get", "sizerank"], 18, 5, 12], 17, ["step", ["get", "sizerank"], 18, 13, 12]], "icon-image": "", "text-font": ["DIN Pro Medium", "Arial Unicode MS Regular"], "text-offset": [0, 0], "text-anchor": ["step", ["zoom"], ["step", ["get", "sizerank"], "center", 5, "top"], 17, ["step", ["get", "sizerank"], "center", 13, "top"]], "text-field": ["coalesce", ["get", "name_en"], ["get", "name"]], "visibility": "none"}, "metadata": {"mapbox:featureComponent": "point-of-interest-labels", "mapbox:group": "Point of interest labels, poi-labels"}, "filter": ["<=", ["get", "filterrank"], ["+", ["step", ["zoom"], 1, 2, 3, 4, 5], 1]], "type": "symbol", "source": "composite", "id": "poi-label", "paint": {"text-halo-color": "rgb(255, 255, 255)", "text-halo-width": 0.5, "text-halo-blur": 0.5, "text-color": ["step", ["zoom"], ["step", ["get", "sizerank"], "rgb(184, 184, 184)", 5, "rgb(161, 161, 161)"], 17, ["step", ["get", "sizerank"], "rgb(184, 184, 184)", 13, "rgb(161, 161, 161)"]]}, "source-layer": "poi_label"}, {"minzoom": 8, "layout": {"text-line-height": 1.1, "text-size": ["step", ["get", "sizerank"], 18, 9, 12], "icon-image": ["get", "maki"], "text-font": ["DIN Pro Medium", "Arial Unicode MS Regular"], "visibility": "none", "text-offset": [0, 0.75], "text-rotation-alignment": "viewport", "text-anchor": "top", "text-field": ["step", ["get", "sizerank"], ["coalesce", ["get", "name_en"], ["get", "name"]], 15, ["get", "ref"]], "text-letter-spacing": 0.01, "text-max-width": 9}, "metadata": {"mapbox:featureComponent": "transit", "mapbox:group": "Transit, transit-labels"}, "filter": ["match", ["get", "class"], ["military", "civil"], ["match", ["get", "worldview"], ["all", "US"], true, false], ["disputed_military", "disputed_civil"], ["all", ["==", ["get", "disputed"], "true"], ["match", ["get", "worldview"], ["all", "US"], true, false]], false], "type": "symbol", "source": "composite", "id": "airport-label", "paint": {"text-color": "rgb(128, 128, 128)", "text-halo-color": "rgb(255, 255, 255)", "text-halo-width": 1}, "source-layer": "airport_label"}, {"minzoom": 10, "layout": {"text-field": ["coalesce", ["get", "name_en"], ["get", "name"]], "text-transform": "uppercase", "text-font": ["DIN Pro Regular", "Arial Unicode MS Regular"], "text-letter-spacing": ["match", ["get", "type"], "suburb", 0.15, 0.1], "text-max-width": 7, "text-padding": 3, "text-size": ["interpolate", ["cubic-bezier", 0.5, 0, 1, 1], ["zoom"], 11, ["match", ["get", "type"], "suburb", 11, 10.5], 15, ["match", ["get", "type"], "suburb", 15, 14]], "visibility": "none"}, "metadata": {"mapbox:featureComponent": "place-labels", "mapbox:group": "Place labels, place-labels"}, "maxzoom": 15, "filter": ["all", ["match", ["get", "class"], "settlement_subdivision", ["match", ["get", "worldview"], ["all", "US"], true, false], "disputed_settlement_subdivision", ["all", ["==", ["get", "disputed"], "true"], ["match", ["get", "worldview"], ["all", "US"], true, false]], false], ["<=", ["get", "filterrank"], 4]], "type": "symbol", "source": "composite", "id": "settlement-subdivision-label", "paint": {"text-halo-color": "rgb(255, 255, 255)", "text-halo-width": 1, "text-color": "rgb(179, 179, 179)", "text-halo-blur": 0.5}, "source-layer": "place_label"}, {"minzoom": 3, "layout": {"text-line-height": 1.1, "text-size": ["interpolate", ["cubic-bezier", 0.2, 0, 0.9, 1], ["zoom"], 3, ["step", ["get", "symbolrank"], 12, 9, 11, 10, 10.5, 12, 9.5, 14, 8.5, 16, 6.5, 17, 4], 13, ["step", ["get", "symbolrank"], 23, 9, 21, 10, 19, 11, 17, 12, 16, 13, 15, 15, 13]], "text-radial-offset": ["step", ["zoom"], ["match", ["get", "capital"], 2, 0.6, 0.55], 8, 0], "icon-image": ["step", ["zoom"], ["case", ["==", ["get", "capital"], 2], "border-dot-13", ["step", ["get", "symbolrank"], "dot-11", 9, "dot-10", 11, "dot-9"]], 8, ""], "text-font": ["DIN Pro Regular", "Arial Unicode MS Regular"], "text-justify": "auto", "visibility": "none", "text-anchor": ["step", ["zoom"], ["get", "text_anchor"], 8, "center"], "text-field": ["coalesce", ["get", "name_en"], ["get", "name"]], "text-max-width": 7}, "metadata": {"mapbox:featureComponent": "place-labels", "mapbox:group": "Place labels, place-labels"}, "maxzoom": 13, "filter": ["all", ["<=", ["get", "filterrank"], 3], ["match", ["get", "class"], "settlement", ["match", ["get", "worldview"], ["all", "US"], true, false], "disputed_settlement", ["all", ["==", ["get", "disputed"], "true"], ["match", ["get", "worldview"], ["all", "US"], true, false]], false], ["step", ["zoom"], [">", ["get", "symbolrank"], 6], 1, [">=", ["get", "symbolrank"], 7], 2, [">=", ["get", "symbolrank"], 8], 3, [">=", ["get", "symbolrank"], 10], 4, [">=", ["get", "symbolrank"], 11], 5, [">=", ["get", "symbolrank"], 13], 6, [">=", ["get", "symbolrank"], 15]]], "type": "symbol", "source": "composite", "id": "settlement-minor-label", "paint": {"text-color": ["step", ["get", "symbolrank"], "rgb(128, 128, 128)", 11, "rgb(161, 161, 161)", 16, "rgb(184, 184, 184)"], "text-halo-color": "rgb(255, 255, 255)", "text-halo-width": 1, "text-halo-blur": 1}, "source-layer": "place_label"}, {"minzoom": 3, "layout": {"text-line-height": 1.1, "text-size": ["interpolate", 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{"mapbox:featureComponent": "place-labels", "mapbox:group": "Place labels, place-labels"}, "maxzoom": 15, "filter": ["all", ["<=", ["get", "filterrank"], 3], ["match", ["get", "class"], "settlement", ["match", ["get", "worldview"], ["all", "US"], true, false], "disputed_settlement", ["all", ["==", ["get", "disputed"], "true"], ["match", ["get", "worldview"], ["all", "US"], true, false]], false], ["step", ["zoom"], false, 1, ["<=", ["get", "symbolrank"], 6], 2, ["<", ["get", "symbolrank"], 7], 3, ["<", ["get", "symbolrank"], 8], 4, ["<", ["get", "symbolrank"], 10], 5, ["<", ["get", "symbolrank"], 11], 6, ["<", ["get", "symbolrank"], 13], 7, ["<", ["get", "symbolrank"], 15], 8, [">=", ["get", "symbolrank"], 11], 9, [">=", ["get", "symbolrank"], 15]]], "type": "symbol", "source": "composite", "id": "settlement-major-label", "paint": {"text-color": ["step", ["get", "symbolrank"], "rgb(128, 128, 128)", 11, "rgb(161, 161, 161)", 16, "rgb(184, 184, 184)"], "text-halo-color": "rgb(255, 255, 255)", "text-halo-width": 1, "text-halo-blur": 1}, "source-layer": "place_label"}, {"minzoom": 3, "layout": {"text-size": ["interpolate", ["cubic-bezier", 0.85, 0.7, 0.65, 1], ["zoom"], 4, ["step", ["get", "symbolrank"], 10, 6, 9.5, 7, 9], 9, ["step", ["get", "symbolrank"], 21, 6, 16, 7, 13]], "text-transform": "uppercase", "text-font": ["DIN Pro Bold", "Arial Unicode MS Bold"], "text-field": ["step", ["zoom"], ["step", ["get", "symbolrank"], ["coalesce", ["get", "name_en"], ["get", "name"]], 5, ["coalesce", ["get", "abbr"], ["get", "name_en"], ["get", "name"]]], 5, ["coalesce", ["get", "name_en"], ["get", "name"]]], "text-letter-spacing": 0.15, "text-max-width": 6, "visibility": "none"}, "metadata": {"mapbox:featureComponent": "place-labels", "mapbox:group": "Place labels, place-labels"}, "maxzoom": 9, "filter": ["match", ["get", "class"], "state", ["match", ["get", "worldview"], ["all", "US"], true, false], "disputed_state", ["all", ["==", ["get", "disputed"], "true"], ["match", ["get", "worldview"], ["all", "US"], true, false]], false], "type": "symbol", "source": "composite", "id": "state-label", "paint": {"text-color": "rgb(184, 184, 184)", "text-halo-color": "rgb(255, 255, 255)", "text-halo-width": 1}, "source-layer": "place_label"}, {"minzoom": 1, "layout": {"text-line-height": 1.1, "text-size": ["interpolate", ["cubic-bezier", 0.2, 0, 0.7, 1], ["zoom"], 1, ["step", ["get", "symbolrank"], 11, 4, 9, 5, 8], 9, ["step", ["get", "symbolrank"], 22, 4, 19, 5, 17]], "text-radial-offset": ["step", ["zoom"], 0.6, 8, 0], "icon-image": "", "text-font": ["DIN Pro Medium", "Arial Unicode MS Regular"], "text-justify": ["step", ["zoom"], ["match", ["get", "text_anchor"], ["left", "bottom-left", "top-left"], "left", ["right", "bottom-right", "top-right"], "right", "center"], 7, "auto"], "visibility": "none", "text-field": ["coalesce", ["get", "name_en"], ["get", "name"]], "text-max-width": 6}, "metadata": {"mapbox:featureComponent": "place-labels", "mapbox:group": "Place labels, place-labels"}, "maxzoom": 10, "filter": ["match", ["get", "class"], "country", ["match", ["get", "worldview"], ["all", "US"], true, false], "disputed_country", ["all", ["==", ["get", "disputed"], "true"], ["match", ["get", "worldview"], ["all", "US"], true, false]], false], "type": "symbol", "source": "composite", "id": "country-label", "paint": {"icon-opacity": ["step", ["zoom"], ["case", ["has", "text_anchor"], 1, 0], 7, 0], "text-color": "rgb(128, 128, 128)", "text-halo-color": "rgb(255, 255, 255)", "text-halo-width": 1.25}, "source-layer": "place_label"}], "created": "2021-11-05T16:12:04.822Z", "modified": "2021-11-25T13:58:04.167Z", "id": "ckvmksrpd4n0a14pfdo5heqzr", "owner": "commaai", "visibility": "private", "protected": false, "draft": false} \ No newline at end of file diff --git a/selfdrive/navd/tests/test_map_renderer.py b/selfdrive/navd/tests/test_map_renderer.py new file mode 100644 index 0000000000..d656882caf --- /dev/null +++ b/selfdrive/navd/tests/test_map_renderer.py @@ -0,0 +1,212 @@ +import time +import numpy as np +import os +import pytest +import requests +import threading +import http.server +import cereal.messaging as messaging + +from typing import Any +from msgq.visionipc import VisionIpcClient, VisionStreamType +from openpilot.common.mock.generators import LLK_DECIMATION, LOCATION1, LOCATION2, generate_liveLocationKalman +from openpilot.selfdrive.test.helpers import with_processes + +CACHE_PATH = "/data/mbgl-cache-navd.db" + +RENDER_FRAMES = 15 +DEFAULT_ITERATIONS = RENDER_FRAMES * LLK_DECIMATION +LOCATION1_REPEATED = [LOCATION1] * DEFAULT_ITERATIONS +LOCATION2_REPEATED = [LOCATION2] * DEFAULT_ITERATIONS + + +class MapBoxInternetDisabledRequestHandler(http.server.BaseHTTPRequestHandler): + INTERNET_ACTIVE = True + + def do_GET(self): + if not self.INTERNET_ACTIVE: + self.send_response(500) + self.end_headers() + return + + url = f'https://api.mapbox.com{self.path}' + + headers = dict(self.headers) + headers["Host"] = "api.mapbox.com" + + r = requests.get(url, headers=headers, timeout=5) + + self.send_response(r.status_code) + self.end_headers() + self.wfile.write(r.content) + + def log_message(self, *args: Any) -> None: + return + + def log_error(self, *args: Any) -> None: + return + + +class MapBoxInternetDisabledServer(threading.Thread): + def run(self): + self.server = http.server.HTTPServer(("127.0.0.1", 0), MapBoxInternetDisabledRequestHandler) + self.port = self.server.server_port + self.server.serve_forever() + + def stop(self): + self.server.shutdown() + + def disable_internet(self): + MapBoxInternetDisabledRequestHandler.INTERNET_ACTIVE = False + + def enable_internet(self): + MapBoxInternetDisabledRequestHandler.INTERNET_ACTIVE = True + + +@pytest.mark.skip(reason="not used") +class TestMapRenderer: + server: MapBoxInternetDisabledServer + + @classmethod + def setup_class(cls): + assert "MAPBOX_TOKEN" in os.environ + cls.original_token = os.environ["MAPBOX_TOKEN"] + cls.server = MapBoxInternetDisabledServer() + cls.server.start() + time.sleep(0.5) # wait for server to startup + + @classmethod + def teardown_class(cls) -> None: + cls.server.stop() + + def setup_method(self): + self.server.enable_internet() + os.environ['MAPS_HOST'] = f'http://localhost:{self.server.port}' + + self.sm = messaging.SubMaster(['mapRenderState']) + self.pm = messaging.PubMaster(['liveLocationKalman']) + self.vipc = VisionIpcClient("navd", VisionStreamType.VISION_STREAM_MAP, True) + + if os.path.exists(CACHE_PATH): + os.remove(CACHE_PATH) + + def _setup_test(self): + assert self.pm.wait_for_readers_to_update("liveLocationKalman", 10) + + time.sleep(0.5) + + assert VisionIpcClient.available_streams("navd", False) == {VisionStreamType.VISION_STREAM_MAP, } + assert self.vipc.connect(False) + self.vipc.recv() + + def _run_test(self, expect_valid, locations=LOCATION1_REPEATED): + starting_frame_id = None + + render_times = [] + + # run test + prev_frame_id = -1 + for i, location in enumerate(locations): + frame_expected = (i+1) % LLK_DECIMATION == 0 + + if self.sm.logMonoTime['mapRenderState'] == 0: + prev_valid = False + prev_frame_id = -1 + else: + prev_valid = self.sm.valid['mapRenderState'] + prev_frame_id = self.sm['mapRenderState'].frameId + + if starting_frame_id is None: + starting_frame_id = prev_frame_id + + llk = generate_liveLocationKalman(location) + self.pm.send("liveLocationKalman", llk) + self.pm.wait_for_readers_to_update("liveLocationKalman", 10) + self.sm.update(1000 if frame_expected else 0) + assert self.sm.updated['mapRenderState'] == frame_expected, "renderer running at wrong frequency" + + if not frame_expected: + continue + + frames_since_test_start = self.sm['mapRenderState'].frameId - starting_frame_id + + # give a few frames to switch from valid to invalid, or vice versa + invalid_and_not_previously_valid = (expect_valid and not self.sm.valid['mapRenderState'] and not prev_valid) + valid_and_not_previously_invalid = (not expect_valid and self.sm.valid['mapRenderState'] and prev_valid) + + if (invalid_and_not_previously_valid or valid_and_not_previously_invalid) and frames_since_test_start < 5: + continue + + # check output + assert self.sm.valid['mapRenderState'] == expect_valid + assert self.sm['mapRenderState'].frameId == (prev_frame_id + 1) + assert self.sm['mapRenderState'].locationMonoTime == llk.logMonoTime + if not expect_valid: + assert self.sm['mapRenderState'].renderTime == 0. + else: + assert 0. < self.sm['mapRenderState'].renderTime < 0.1 + render_times.append(self.sm['mapRenderState'].renderTime) + + # check vision ipc output + assert self.vipc.recv() is not None + assert self.vipc.valid == expect_valid + assert self.vipc.timestamp_sof == llk.logMonoTime + assert self.vipc.frame_id == self.sm['mapRenderState'].frameId + + assert frames_since_test_start >= RENDER_FRAMES + + return render_times + + @with_processes(["mapsd"]) + def test_with_internet(self): + self._setup_test() + self._run_test(True) + + @with_processes(["mapsd"]) + def test_with_no_internet(self): + self.server.disable_internet() + self._setup_test() + self._run_test(False) + + @with_processes(["mapsd"]) + @pytest.mark.skip(reason="slow, flaky, and unlikely to break") + def test_recover_from_no_internet(self): + self._setup_test() + self._run_test(True) + + self.server.disable_internet() + + # change locations to force mapsd to refetch + self._run_test(False, LOCATION2_REPEATED) + + self.server.enable_internet() + self._run_test(True, LOCATION2_REPEATED) + + @with_processes(["mapsd"]) + @pytest.mark.tici + def test_render_time_distribution(self): + self._setup_test() + # from location1 -> location2 and back + locations = np.array([*np.linspace(LOCATION1, LOCATION2, 2000), *np.linspace(LOCATION2, LOCATION1, 2000)]).tolist() + + render_times = self._run_test(True, locations) + + _min = np.min(render_times) + _max = np.max(render_times) + _mean = np.mean(render_times) + _median = np.median(render_times) + _stddev = np.std(render_times) + + print(f"Stats: min: {_min}, max: {_max}, mean: {_mean}, median: {_median}, stddev: {_stddev}, count: {len(render_times)}") + + def assert_stat(stat, nominal, tol=0.3): + tol = (nominal / (1+tol)), (nominal * (1+tol)) + assert tol[0] < stat < tol[1], f"{stat} not in tolerance {tol}" + + assert_stat(_mean, 0.030) + assert_stat(_median, 0.027) + assert_stat(_stddev, 0.0078) + + assert _max < 0.065 + assert _min > 0.015 + diff --git a/selfdrive/navd/tests/test_navd.py b/selfdrive/navd/tests/test_navd.py new file mode 100644 index 0000000000..b6580acff1 --- /dev/null +++ b/selfdrive/navd/tests/test_navd.py @@ -0,0 +1,57 @@ +import json +import random +import numpy as np + +from parameterized import parameterized + +import cereal.messaging as messaging +from openpilot.common.params import Params +from openpilot.system.manager.process_config import managed_processes + + +class TestNavd: + def setup_method(self): + self.params = Params() + self.sm = messaging.SubMaster(['navRoute', 'navInstruction']) + + def teardown_method(self): + managed_processes['navd'].stop() + + def _check_route(self, start, end, check_coords=True): + self.params.put("NavDestination", json.dumps(end)) + self.params.put("LastGPSPosition", json.dumps(start)) + + managed_processes['navd'].start() + for _ in range(30): + self.sm.update(1000) + if all(f > 0 for f in self.sm.recv_frame.values()): + break + else: + raise Exception("didn't get a route") + + assert managed_processes['navd'].proc.is_alive() + managed_processes['navd'].stop() + + # ensure start and end match up + if check_coords: + coords = self.sm['navRoute'].coordinates + assert np.allclose([start['latitude'], start['longitude'], end['latitude'], end['longitude']], + [coords[0].latitude, coords[0].longitude, coords[-1].latitude, coords[-1].longitude], + rtol=1e-3) + + def test_simple(self): + start = { + "latitude": 32.7427228, + "longitude": -117.2321177, + } + end = { + "latitude": 32.7557004, + "longitude": -117.268002, + } + self._check_route(start, end) + + @parameterized.expand([(i,) for i in range(10)]) + def test_random(self, index): + start = {"latitude": random.uniform(-90, 90), "longitude": random.uniform(-180, 180)} + end = {"latitude": random.uniform(-90, 90), "longitude": random.uniform(-180, 180)} + self._check_route(start, end, check_coords=False) diff --git a/selfdrive/navd/tpl/addr_input.tpl b/selfdrive/navd/tpl/addr_input.tpl new file mode 100644 index 0000000000..7ca478fcf9 --- /dev/null +++ b/selfdrive/navd/tpl/addr_input.tpl @@ -0,0 +1,16 @@ +
    +
    +
    + + +
    +
    +
    diff --git a/selfdrive/navd/tpl/amap/index.html.tpl b/selfdrive/navd/tpl/amap/index.html.tpl new file mode 100644 index 0000000000..e7fd6dd4a0 --- /dev/null +++ b/selfdrive/navd/tpl/amap/index.html.tpl @@ -0,0 +1,47 @@ + + + + + + + 输入提示后查询 + + + + + + + + + + + + +
    +
    +
    + +
    +
    + +
    +
    + + +
    + + + \ No newline at end of file diff --git a/selfdrive/navd/tpl/amap/index.js.tpl b/selfdrive/navd/tpl/amap/index.js.tpl new file mode 100644 index 0000000000..845c65bff1 --- /dev/null +++ b/selfdrive/navd/tpl/amap/index.js.tpl @@ -0,0 +1,120 @@ +var windowsArr = []; +var markers = []; +var map = new AMap.Map("container", { + resizeEnable: true, + center: [{{lon}}, {{lat}}], //地图中心点 + zoom: 13, //地图显示的缩放级别 + keyboardEnable: false, +}); + +var infoWindow; +function openInfo(name, addr, lng, lat) { + //构建信息窗体中显示的内容 + var info = []; + info.push('
    '); + info.push(''); + info.push("

    " + name + "

    "); + info.push("

    " + addr + "

    "); + info.push('
    '); + info.push('
    '); + info.push(' '); + info.push(' '); + info.push(' '); + info.push(' '); + info.push(' '); + info.push('
    '); + info.push('
    '); + info.push("
    "); + + var pos = new AMap.LngLat(lng, lat) + infoWindow = new AMap.InfoWindow({ + position: pos, + isCustom: true, + offset: new AMap.Pixel(0, -30), + content: info.join(""), //使用默认信息窗体框样式，显示信息内容 + }); + + infoWindow.open(map, pos); +} +AMap.plugin(["AMap.Autocomplete", "AMap.PlaceSearch"], function () { + var autoOptions = { + city: "全国", //城市，默认全国 + input: "keyword", //使用联想输入的input的id + }; + autocomplete = new AMap.Autocomplete(autoOptions); + var placeSearch = new AMap.PlaceSearch({ + map: "", + }); + AMap.event.addListener(autocomplete, "select", function (e) { + //TODO 针对选中的poi实现自己的功能 + //重寫搜尋點及其提示資訊begin===== + placeSearch.setCity(e.poi.adcode); + if (e.poi && e.poi.location) { + map.setZoom(17); + map.setCenter(e.poi.location); + } + placeSearch.search(e.poi.name, check_dest); //關鍵字查詢查詢 + + function check_dest(status, result) { + if (status === "complete" && result.info === "OK") { + for (var h = 0; h < result.poiList.pois.length; h++) { + //返回搜尋列表迴圈繫結marker + var jy = result.poiList.pois[h]["location"]; //經緯度 + var name = result.poiList.pois[h]["name"]; //地址 + marker = new AMap.Marker({ + //加點 + map: map, + position: jy, + }); + marker.extData = { + getLng: jy["lng"], + getLat: jy["lat"], + name: name, + address: result.poiList.pois[h]["address"], + }; //自定義想傳入的引數 + + marker.on("click", function (e) { + var hs = e.target.extData; + var content = openInfo( + hs["name"], + hs["address"], + hs["getLng"], + hs["getLat"] + ); + }); + markers.push(marker); + } + } + } + //重寫搜尋點及其提示資訊end===== + }); +}); +var clickEventListener = map.on('click', function(e) { + map.remove(markers); + document.getElementById('longitude').value = e.lnglat.getLng(); + document.getElementById('latitude').value = e.lnglat.getLat(); + lnglatXY = [e.lnglat.getLng(), e.lnglat.getLat()]; + var marker = new AMap.Marker({ + //加點 + map: map, + position: lnglatXY, + }); + marker.extData = { + getLng: e.lnglat.getLng(), + getLat: e.lnglat.getLat(), + }; //自定義想傳入的引數 + + marker.on("click", function (e) { + var hs = e.target.extData; + var content = openInfo( + "", + "(" + hs["getLat"] + ", " + hs["getLng"] + ")", + hs["getLng"], + hs["getLat"] + ); + }); + markers.push(marker); + if (typeof(infoWindow) != "undefined") { + infoWindow.close(); + } +}); \ No newline at end of file diff --git a/selfdrive/navd/tpl/amap/key_input.tpl b/selfdrive/navd/tpl/amap/key_input.tpl new file mode 100644 index 0000000000..f7efbb150b --- /dev/null +++ b/selfdrive/navd/tpl/amap/key_input.tpl @@ -0,0 +1,11 @@ +
    +
    + 请输入您的高德地图 API KEY +
    因系统升级，若于 2021/12/02 前申请 key 的人请重新申请新的「key」和「安全密钥」配对。
    +
    + + + +
    +
    +
    \ No newline at end of file diff --git a/selfdrive/navd/tpl/amap/style.css.tpl b/selfdrive/navd/tpl/amap/style.css.tpl new file mode 100644 index 0000000000..c83bb043f8 --- /dev/null +++ b/selfdrive/navd/tpl/amap/style.css.tpl @@ -0,0 +1,40 @@ +html, body { + margin: 0; + height: 100%; + width: 100%; + position: absolute; +} + +#mapContainer { + top: 0; + left: 0; + right: 0; + bottom: 0; + width: 100%; + height: 100%; +} + +.button-group { + position: absolute; + bottom: 20px; + right: 20px; + font-size: 12px; + padding: 10px; +} + +.button-group .button { + height: 28px; + line-height: 28px; + background-color: #0D9BF2; + color: #FFF; + border: 0; + outline: none; + padding-left: 5px; + padding-right: 5px; + border-radius: 3px; + margin-bottom: 4px; + cursor: pointer; +} +.amap-info-content { + font-size: 12px; +} \ No newline at end of file diff --git a/selfdrive/navd/tpl/app_token_input.tpl b/selfdrive/navd/tpl/app_token_input.tpl new file mode 100644 index 0000000000..7bd9b0b669 --- /dev/null +++ b/selfdrive/navd/tpl/app_token_input.tpl @@ -0,0 +1,10 @@ +
    +
    + Set your Mapbox APP TOKEN +
    {{msg}}
    +
    + + +
    +
    +
    \ No newline at end of file diff --git a/selfdrive/navd/tpl/body.tpl b/selfdrive/navd/tpl/body.tpl new file mode 100644 index 0000000000..fff70ab9fb --- /dev/null +++ b/selfdrive/navd/tpl/body.tpl @@ -0,0 +1,20 @@ + + + + + sunnypilot + + + + + + + + + +
    +
    + {{content}} +
    + + \ No newline at end of file diff --git a/selfdrive/navd/tpl/gmap/index.html.tpl b/selfdrive/navd/tpl/gmap/index.html.tpl new file mode 100644 index 0000000000..0e73e6020a --- /dev/null +++ b/selfdrive/navd/tpl/gmap/index.html.tpl @@ -0,0 +1,39 @@ + + + + + sunnypilot + + + + + + + + + + + + + +
    +
    +
    + +
    +
    + +
    +
    +
    + + + + \ No newline at end of file diff --git a/selfdrive/navd/tpl/gmap/index.js.tpl b/selfdrive/navd/tpl/gmap/index.js.tpl new file mode 100644 index 0000000000..201a2ef026 --- /dev/null +++ b/selfdrive/navd/tpl/gmap/index.js.tpl @@ -0,0 +1,86 @@ +// This example adds a search box to a map, using the Google Place Autocomplete +// feature. People can enter geographical searches. The search box will return a +// pick list containing a mix of places and predicted search terms. +// This example requires the Places library. Include the libraries=places +// parameter when you first load the API. For example: +// + sunnypilot: {% block title %}{% endblock %} + + + +
    {% block main %}{% endblock %}
    + {% block unformated %}{% endblock %} + + diff --git a/system/fleetmanager/templates/login.html b/system/fleetmanager/templates/login.html new file mode 100644 index 0000000000..e040141153 --- /dev/null +++ b/system/fleetmanager/templates/login.html @@ -0,0 +1,37 @@ +{% extends "layout.html" %} + +{% block title %} + Login +{% endblock %} + +{% block main %} +
    +
    +

    Login

    +
    + {% if error %} +

    {{ error }}

    + {% endif %} +
    +
    + +
    + +
    +
    +
    +
    + +
    +
    +
    + Where to find the PIN? +
    +

    The PIN can be found on the comma device:

    +

    Settings ➡️ Device ➡️ Fleet Manager PIN

    + Fleet Manager Pin Location +

    +
    +
    +
    +{% endblock %} diff --git a/system/fleetmanager/templates/route.html b/system/fleetmanager/templates/route.html new file mode 100644 index 0000000000..3d78cd089e --- /dev/null +++ b/system/fleetmanager/templates/route.html @@ -0,0 +1,57 @@ +{% extends "layout.html" %} + +{% block title %} + Dashcam Segments +{% endblock %} + + +{% block main %} +{% autoescape false %} +
    +

    Dashcam Segments (one per minute)

    +
    + +

    + current segment: +
    + current view: +
    + download full route {{ query_type }} +

    + qcamera - + fcamera - + dcamera - + ecamera +

    + {{ links }} + +{% endautoescape %} +

    +{% endblock %} diff --git a/system/fleetmanager/templates/screenrecords.html b/system/fleetmanager/templates/screenrecords.html new file mode 100644 index 0000000000..e1c995ed7e --- /dev/null +++ b/system/fleetmanager/templates/screenrecords.html @@ -0,0 +1,31 @@ +{% extends "layout.html" %} + +{% block title %} + Screen Recordings +{% endblock %} + +{% block main %} +
    +

    Screen Recordings

    +
    + +

    + current view: +
    + download: {{ clip }}

    + + {% for row in rows %} + {{ row }}
    + {% endfor %} +

    +{% endblock %} diff --git a/system/hardware/.gitignore b/system/hardware/.gitignore new file mode 100644 index 0000000000..980f09abfa --- /dev/null +++ b/system/hardware/.gitignore @@ -0,0 +1 @@ +eon/rat diff --git a/system/hardware/__init__.py b/system/hardware/__init__.py new file mode 100644 index 0000000000..99079b5ef3 --- /dev/null +++ b/system/hardware/__init__.py @@ -0,0 +1,16 @@ +import os +from typing import cast + +from openpilot.system.hardware.base import HardwareBase +from openpilot.system.hardware.tici.hardware import Tici +from openpilot.system.hardware.pc.hardware import Pc + +TICI = os.path.isfile('/TICI') +AGNOS = os.path.isfile('/AGNOS') +PC = not TICI + + +if TICI: + HARDWARE = cast(HardwareBase, Tici()) +else: + HARDWARE = cast(HardwareBase, Pc()) diff --git a/system/hardware/base.h b/system/hardware/base.h new file mode 100644 index 0000000000..ca24633a18 --- /dev/null +++ b/system/hardware/base.h @@ -0,0 +1,41 @@ +#pragma once + +#include +#include +#include +#include + +#include "cereal/gen/cpp/log.capnp.h" + +// no-op base hw class +class HardwareNone { +public: + static constexpr float MAX_VOLUME = 0.7; + static constexpr float MIN_VOLUME = 0.2; + + static std::string get_os_version() { return ""; } + static std::string get_name() { return ""; } + static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::UNKNOWN; } + static int get_voltage() { return 0; } + static int get_current() { return 0; } + + static std::string get_serial() { return "cccccc"; } + + static std::map get_init_logs() { + return {}; + } + + static void reboot() {} + static void poweroff() {} + static void set_brightness(int percent) {} + static void set_display_power(bool on) {} + + static bool get_ssh_enabled() { return false; } + static void set_ssh_enabled(bool enabled) {} + + static void config_cpu_rendering(bool offscreen); + + static bool PC() { return false; } + static bool TICI() { return false; } + static bool AGNOS() { return false; } +}; diff --git a/system/hardware/base.py b/system/hardware/base.py new file mode 100644 index 0000000000..6cdb4a4d64 --- /dev/null +++ b/system/hardware/base.py @@ -0,0 +1,146 @@ +from abc import abstractmethod, ABC +from collections import namedtuple + +from cereal import log + +ThermalConfig = namedtuple('ThermalConfig', ['cpu', 'gpu', 'mem', 'bat', 'pmic']) +NetworkType = log.DeviceState.NetworkType + + +class HardwareBase(ABC): + @staticmethod + def get_cmdline() -> dict[str, str]: + with open('/proc/cmdline') as f: + cmdline = f.read() + return {kv[0]: kv[1] for kv in [s.split('=') for s in cmdline.split(' ')] if len(kv) == 2} + + @staticmethod + def read_param_file(path, parser, default=0): + try: + with open(path) as f: + return parser(f.read()) + except Exception: + return default + + def booted(self) -> bool: + return True + + @abstractmethod + def reboot(self, reason=None): + pass + + @abstractmethod + def uninstall(self): + pass + + @abstractmethod + def get_os_version(self): + pass + + @abstractmethod + def get_device_type(self): + pass + + @abstractmethod + def get_sound_card_online(self): + pass + + @abstractmethod + def get_imei(self, slot) -> str: + pass + + @abstractmethod + def get_serial(self): + pass + + @abstractmethod + def get_network_info(self): + pass + + @abstractmethod + def get_network_type(self): + pass + + @abstractmethod + def get_sim_info(self): + pass + + @abstractmethod + def get_network_strength(self, network_type): + pass + + def get_network_metered(self, network_type) -> bool: + return network_type not in (NetworkType.none, NetworkType.wifi, NetworkType.ethernet) + + @staticmethod + def set_bandwidth_limit(upload_speed_kbps: int, download_speed_kbps: int) -> None: + pass + + @abstractmethod + def get_current_power_draw(self): + pass + + @abstractmethod + def get_som_power_draw(self): + pass + + @abstractmethod + def shutdown(self): + pass + + @abstractmethod + def get_thermal_config(self): + pass + + @abstractmethod + def set_screen_brightness(self, percentage): + pass + + @abstractmethod + def get_screen_brightness(self): + pass + + @abstractmethod + def set_power_save(self, powersave_enabled): + pass + + @abstractmethod + def get_gpu_usage_percent(self): + pass + + def get_modem_version(self): + return None + + def get_modem_nv(self): + return None + + @abstractmethod + def get_modem_temperatures(self): + pass + + @abstractmethod + def get_nvme_temperatures(self): + pass + + @abstractmethod + def initialize_hardware(self): + pass + + def configure_modem(self): + pass + + @abstractmethod + def get_networks(self): + pass + + def has_internal_panda(self) -> bool: + return False + + def reset_internal_panda(self): + pass + + def recover_internal_panda(self): + pass + + def get_modem_data_usage(self): + return -1, -1 diff --git a/system/hardware/fan_controller.py b/system/hardware/fan_controller.py new file mode 100755 index 0000000000..f32133f6bf --- /dev/null +++ b/system/hardware/fan_controller.py @@ -0,0 +1,38 @@ +#!/usr/bin/env python3 +from abc import ABC, abstractmethod + +from openpilot.common.realtime import DT_HW +from openpilot.common.numpy_fast import interp +from openpilot.common.swaglog import cloudlog +from openpilot.selfdrive.controls.lib.pid import PIDController + +class BaseFanController(ABC): + @abstractmethod + def update(self, cur_temp: float, ignition: bool) -> int: + pass + + +class TiciFanController(BaseFanController): + def __init__(self) -> None: + super().__init__() + cloudlog.info("Setting up TICI fan handler") + + self.last_ignition = False + self.controller = PIDController(k_p=0, k_i=4e-3, k_f=1, rate=(1 / DT_HW)) + + def update(self, cur_temp: float, ignition: bool) -> int: + self.controller.neg_limit = -(100 if ignition else 30) + self.controller.pos_limit = -(30 if ignition else 0) + + if ignition != self.last_ignition: + self.controller.reset() + + error = 70 - cur_temp + fan_pwr_out = -int(self.controller.update( + error=error, + feedforward=interp(cur_temp, [60.0, 100.0], [0, -100]) + )) + + self.last_ignition = ignition + return fan_pwr_out + diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py new file mode 100755 index 0000000000..67aec0e45c --- /dev/null +++ b/system/hardware/hardwared.py @@ -0,0 +1,483 @@ +#!/usr/bin/env python3 +import os +import json +import queue +import threading +import time +from collections import OrderedDict, namedtuple +from pathlib import Path + +import psutil + +import cereal.messaging as messaging +from cereal import log +from cereal.services import SERVICE_LIST +from openpilot.common.dict_helpers import strip_deprecated_keys +from openpilot.common.filter_simple import FirstOrderFilter +from openpilot.common.params import Params +from openpilot.common.realtime import DT_HW +from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert +from openpilot.system.hardware import HARDWARE, TICI, AGNOS +from openpilot.system.loggerd.config import get_available_percent +from openpilot.system.statsd import statlog +from openpilot.common.swaglog import cloudlog +from openpilot.system.hardware.power_monitoring import PowerMonitoring +from openpilot.system.hardware.fan_controller import TiciFanController +from openpilot.system.version import terms_version, terms_version_sp, training_version + +ThermalStatus = log.DeviceState.ThermalStatus +NetworkType = log.DeviceState.NetworkType +NetworkStrength = log.DeviceState.NetworkStrength +CURRENT_TAU = 15. # 15s time constant +TEMP_TAU = 5. # 5s time constant +DISCONNECT_TIMEOUT = 5. # wait 5 seconds before going offroad after disconnect so you get an alert +PANDA_STATES_TIMEOUT = round(1000 / SERVICE_LIST['pandaStates'].frequency * 1.5) # 1.5x the expected pandaState frequency + +ThermalBand = namedtuple("ThermalBand", ['min_temp', 'max_temp']) +HardwareState = namedtuple("HardwareState", ['network_type', 'network_info', 'network_strength', 'network_stats', + 'network_metered', 'nvme_temps', 'modem_temps']) + +# List of thermal bands. We will stay within this region as long as we are within the bounds. +# When exiting the bounds, we'll jump to the lower or higher band. Bands are ordered in the dict. +THERMAL_BANDS = OrderedDict({ + ThermalStatus.green: ThermalBand(None, 80.0), + ThermalStatus.yellow: ThermalBand(75.0, 96.0), + ThermalStatus.red: ThermalBand(88.0, 107.), + ThermalStatus.danger: ThermalBand(94.0, None), +}) + +# Override to highest thermal band when offroad and above this temp +OFFROAD_DANGER_TEMP = 75 + +prev_offroad_states: dict[str, tuple[bool, str | None]] = {} + +tz_by_type: dict[str, int] | None = None +def populate_tz_by_type(): + global tz_by_type + tz_by_type = {} + for n in os.listdir("/sys/devices/virtual/thermal"): + if not n.startswith("thermal_zone"): + continue + with open(os.path.join("/sys/devices/virtual/thermal", n, "type")) as f: + tz_by_type[f.read().strip()] = int(n.removeprefix("thermal_zone")) + +def read_tz(x): + if x is None: + return 0 + + if isinstance(x, str): + if tz_by_type is None: + populate_tz_by_type() + x = tz_by_type[x] + + try: + with open(f"/sys/devices/virtual/thermal/thermal_zone{x}/temp") as f: + return int(f.read()) + except FileNotFoundError: + return 0 + + +def read_thermal(thermal_config): + dat = messaging.new_message('deviceState', valid=True) + dat.deviceState.cpuTempC = [read_tz(z) / thermal_config.cpu[1] for z in thermal_config.cpu[0]] + dat.deviceState.gpuTempC = [read_tz(z) / thermal_config.gpu[1] for z in thermal_config.gpu[0]] + dat.deviceState.memoryTempC = read_tz(thermal_config.mem[0]) / thermal_config.mem[1] + dat.deviceState.pmicTempC = [read_tz(z) / thermal_config.pmic[1] for z in thermal_config.pmic[0]] + return dat + + +def set_offroad_alert_if_changed(offroad_alert: str, show_alert: bool, extra_text: str | None=None): + if prev_offroad_states.get(offroad_alert, None) == (show_alert, extra_text): + return + prev_offroad_states[offroad_alert] = (show_alert, extra_text) + set_offroad_alert(offroad_alert, show_alert, extra_text) + + +def hw_state_thread(end_event, hw_queue): + """Handles non critical hardware state, and sends over queue""" + count = 0 + prev_hw_state = None + + modem_version = None + modem_nv = None + modem_configured = False + modem_restarted = False + modem_missing_count = 0 + + while not end_event.is_set(): + # these are expensive calls. update every 10s + if (count % int(10. / DT_HW)) == 0: + try: + network_type = HARDWARE.get_network_type() + modem_temps = HARDWARE.get_modem_temperatures() + if len(modem_temps) == 0 and prev_hw_state is not None: + modem_temps = prev_hw_state.modem_temps + + # Log modem version once + if AGNOS and ((modem_version is None) or (modem_nv is None)): + modem_version = HARDWARE.get_modem_version() + modem_nv = HARDWARE.get_modem_nv() + + if (modem_version is not None) and (modem_nv is not None): + cloudlog.event("modem version", version=modem_version, nv=modem_nv) + else: + if not modem_restarted: + # TODO: we may be able to remove this with a MM update + # ModemManager's probing on startup can fail + # rarely, restart the service to probe again. + modem_missing_count += 1 + if modem_missing_count > 3: + modem_restarted = True + cloudlog.event("restarting ModemManager") + os.system("sudo systemctl restart --no-block ModemManager") + + tx, rx = HARDWARE.get_modem_data_usage() + + hw_state = HardwareState( + network_type=network_type, + network_info=HARDWARE.get_network_info(), + network_strength=HARDWARE.get_network_strength(network_type), + network_stats={'wwanTx': tx, 'wwanRx': rx}, + network_metered=HARDWARE.get_network_metered(network_type), + nvme_temps=HARDWARE.get_nvme_temperatures(), + modem_temps=modem_temps, + ) + + try: + hw_queue.put_nowait(hw_state) + except queue.Full: + pass + + # TODO: remove this once the config is in AGNOS + if not modem_configured and len(HARDWARE.get_sim_info().get('sim_id', '')) > 0: + cloudlog.warning("configuring modem") + HARDWARE.configure_modem() + modem_configured = True + if Params().get_bool("HotspotOnBoot") and Params().get_bool("HotspotOnBootConfirmed"): + os.system('nmcli con up Hotspot') + + prev_hw_state = hw_state + except Exception: + cloudlog.exception("Error getting hardware state") + + count += 1 + time.sleep(DT_HW) + + +def hardware_thread(end_event, hw_queue) -> None: + pm = messaging.PubMaster(['deviceState']) + sm = messaging.SubMaster(["peripheralState", "gpsLocationExternal", "controlsState", "pandaStates"], poll="pandaStates") + + count = 0 + + onroad_conditions: dict[str, bool] = { + "ignition": False, + } + startup_conditions: dict[str, bool] = {} + startup_conditions_prev: dict[str, bool] = {} + + off_ts: float | None = None + started_ts: float | None = None + started_seen = False + startup_blocked_ts: float | None = None + thermal_status = ThermalStatus.yellow + + last_hw_state = HardwareState( + network_type=NetworkType.none, + network_info=None, + network_metered=False, + network_strength=NetworkStrength.unknown, + network_stats={'wwanTx': -1, 'wwanRx': -1}, + nvme_temps=[], + modem_temps=[], + ) + + all_temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_HW, initialized=False) + offroad_temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_HW, initialized=False) + should_start_prev = False + in_car = False + engaged_prev = False + + params = Params() + power_monitor = PowerMonitoring() + + HARDWARE.initialize_hardware() + thermal_config = HARDWARE.get_thermal_config() + + fan_controller = None + + while not end_event.is_set(): + sm.update(PANDA_STATES_TIMEOUT) + + pandaStates = sm['pandaStates'] + peripheralState = sm['peripheralState'] + peripheral_panda_present = peripheralState.pandaType != log.PandaState.PandaType.unknown + + if sm.updated['pandaStates'] and len(pandaStates) > 0: + + # Set ignition based on any panda connected + onroad_conditions["ignition"] = any(ps.ignitionLine or ps.ignitionCan for ps in pandaStates if ps.pandaType != log.PandaState.PandaType.unknown) + + pandaState = pandaStates[0] + + in_car = pandaState.harnessStatus != log.PandaState.HarnessStatus.notConnected + + # Setup fan handler on first connect to panda + if fan_controller is None and peripheral_panda_present: + if TICI: + fan_controller = TiciFanController() + + elif (time.monotonic() - sm.recv_time['pandaStates']) > DISCONNECT_TIMEOUT: + if onroad_conditions["ignition"]: + onroad_conditions["ignition"] = False + cloudlog.error("panda timed out onroad") + + # Run at 2Hz, plus either edge of ignition + ign_edge = (started_ts is not None) != onroad_conditions["ignition"] + if (sm.frame % round(SERVICE_LIST['pandaStates'].frequency * DT_HW) != 0) and not ign_edge: + continue + + msg = read_thermal(thermal_config) + msg.deviceState.deviceType = HARDWARE.get_device_type() + + try: + last_hw_state = hw_queue.get_nowait() + except queue.Empty: + pass + + msg.deviceState.freeSpacePercent = get_available_percent(default=100.0) + msg.deviceState.memoryUsagePercent = int(round(psutil.virtual_memory().percent)) + msg.deviceState.gpuUsagePercent = int(round(HARDWARE.get_gpu_usage_percent())) + online_cpu_usage = [int(round(n)) for n in psutil.cpu_percent(percpu=True)] + offline_cpu_usage = [0., ] * (len(msg.deviceState.cpuTempC) - len(online_cpu_usage)) + msg.deviceState.cpuUsagePercent = online_cpu_usage + offline_cpu_usage + + msg.deviceState.networkType = last_hw_state.network_type + msg.deviceState.networkMetered = last_hw_state.network_metered + msg.deviceState.networkStrength = last_hw_state.network_strength + msg.deviceState.networkStats = last_hw_state.network_stats + if last_hw_state.network_info is not None: + msg.deviceState.networkInfo = last_hw_state.network_info + + msg.deviceState.nvmeTempC = last_hw_state.nvme_temps + msg.deviceState.modemTempC = last_hw_state.modem_temps + + msg.deviceState.screenBrightnessPercent = HARDWARE.get_screen_brightness() + + # this subset is only used for offroad + temp_sources = [ + msg.deviceState.memoryTempC, + max(msg.deviceState.cpuTempC), + max(msg.deviceState.gpuTempC), + ] + offroad_comp_temp = offroad_temp_filter.update(max(temp_sources)) + + # this drives the thermal status while onroad + temp_sources.append(max(msg.deviceState.pmicTempC)) + all_comp_temp = all_temp_filter.update(max(temp_sources)) + msg.deviceState.maxTempC = all_comp_temp + + if fan_controller is not None: + msg.deviceState.fanSpeedPercentDesired = fan_controller.update(all_comp_temp, onroad_conditions["ignition"]) + + is_offroad_for_5_min = (started_ts is None) and ((not started_seen) or (off_ts is None) or (time.monotonic() - off_ts > 60 * 5)) + if is_offroad_for_5_min and offroad_comp_temp > OFFROAD_DANGER_TEMP: + # if device is offroad and already hot without the extra onroad load, + # we want to cool down first before increasing load + thermal_status = ThermalStatus.danger + else: + current_band = THERMAL_BANDS[thermal_status] + band_idx = list(THERMAL_BANDS.keys()).index(thermal_status) + if current_band.min_temp is not None and all_comp_temp < current_band.min_temp: + thermal_status = list(THERMAL_BANDS.keys())[band_idx - 1] + elif current_band.max_temp is not None and all_comp_temp > current_band.max_temp: + thermal_status = list(THERMAL_BANDS.keys())[band_idx + 1] + + # **** starting logic **** + + startup_conditions["up_to_date"] = params.get("Offroad_ConnectivityNeeded") is None or params.get_bool("DisableUpdates") or params.get_bool("SnoozeUpdate") + startup_conditions["not_uninstalling"] = not params.get_bool("DoUninstall") + startup_conditions["accepted_terms"] = params.get("HasAcceptedTerms") == terms_version + startup_conditions["accepted_terms"] = params.get("HasAcceptedTermsSP") == terms_version_sp + + # with 2% left, we killall, otherwise the phone will take a long time to boot + startup_conditions["free_space"] = msg.deviceState.freeSpacePercent > 2 + startup_conditions["completed_training"] = params.get("CompletedTrainingVersion") == training_version + startup_conditions["not_driver_view"] = not params.get_bool("IsDriverViewEnabled") + startup_conditions["not_taking_snapshot"] = not params.get_bool("IsTakingSnapshot") + + # must be at an engageable thermal band to go onroad + startup_conditions["device_temp_engageable"] = thermal_status < ThermalStatus.red + + # ensure device is fully booted + startup_conditions["device_booted"] = startup_conditions.get("device_booted", False) or HARDWARE.booted() + + # user-forced status + force_offroad = params.get_bool("ForceOffroad") + startup_conditions["not_force_offroad"] = not force_offroad + onroad_conditions["not_force_offroad"] = not force_offroad + set_offroad_alert("Offroad_ForceStatus", force_offroad) + + # if the temperature enters the danger zone, go offroad to cool down + onroad_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger + extra_text = f"{offroad_comp_temp:.1f}C" + show_alert = (not onroad_conditions["device_temp_good"] or not startup_conditions["device_temp_engageable"]) and onroad_conditions["ignition"] + set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", show_alert, extra_text=extra_text) + + # TODO: this should move to TICI.initialize_hardware, but we currently can't import params there + if TICI: + if not os.path.isfile("/persist/comma/living-in-the-moment"): + if not Path("/data/media").is_mount(): + set_offroad_alert_if_changed("Offroad_StorageMissing", True) + else: + # check for bad NVMe + try: + with open("/sys/block/nvme0n1/device/model") as f: + model = f.read().strip() + if not model.startswith("Samsung SSD 980") and params.get("Offroad_BadNvme") is None: + set_offroad_alert_if_changed("Offroad_BadNvme", True) + cloudlog.event("Unsupported NVMe", model=model, error=True) + except Exception: + pass + + # Handle offroad/onroad transition + should_start = all(onroad_conditions.values()) + if started_ts is None: + should_start = should_start and all(startup_conditions.values()) + + if should_start != should_start_prev or (count == 0): + params.put_bool("IsEngaged", False) + engaged_prev = False + HARDWARE.set_power_save(not should_start) + + if sm.updated['controlsState']: + engaged = sm['controlsState'].enabled + if engaged != engaged_prev: + params.put_bool("IsEngaged", engaged) + engaged_prev = engaged + + try: + with open('/dev/kmsg', 'w') as kmsg: + kmsg.write(f"<3>[hardware] engaged: {engaged}\n") + except Exception: + pass + + if should_start: + off_ts = None + if started_ts is None: + started_ts = time.monotonic() + started_seen = True + if startup_blocked_ts is not None: + cloudlog.event("Startup after block", block_duration=(time.monotonic() - startup_blocked_ts), + startup_conditions=startup_conditions, onroad_conditions=onroad_conditions, + startup_conditions_prev=startup_conditions_prev, error=True) + startup_blocked_ts = None + else: + if onroad_conditions["ignition"] and (startup_conditions != startup_conditions_prev): + cloudlog.event("Startup blocked", startup_conditions=startup_conditions, onroad_conditions=onroad_conditions, error=True) + startup_conditions_prev = startup_conditions.copy() + startup_blocked_ts = time.monotonic() + + started_ts = None + if off_ts is None: + off_ts = time.monotonic() + + # Offroad power monitoring + voltage = None if peripheralState.pandaType == log.PandaState.PandaType.unknown else peripheralState.voltage + power_monitor.calculate(voltage, onroad_conditions["ignition"]) + msg.deviceState.offroadPowerUsageUwh = power_monitor.get_power_used() + msg.deviceState.carBatteryCapacityUwh = max(0, power_monitor.get_car_battery_capacity()) + current_power_draw = HARDWARE.get_current_power_draw() + statlog.sample("power_draw", current_power_draw) + msg.deviceState.powerDrawW = current_power_draw + + som_power_draw = HARDWARE.get_som_power_draw() + statlog.sample("som_power_draw", som_power_draw) + msg.deviceState.somPowerDrawW = som_power_draw + + # Check if we need to shut down + if power_monitor.should_shutdown(onroad_conditions["ignition"], in_car, off_ts, started_seen): + cloudlog.warning(f"shutting device down, offroad since {off_ts}") + params.put_bool("DoShutdown", True) + + msg.deviceState.started = started_ts is not None + msg.deviceState.startedMonoTime = int(1e9*(started_ts or 0)) + + last_ping = params.get("LastAthenaPingTime") + if last_ping is not None: + msg.deviceState.lastAthenaPingTime = int(last_ping) + + msg.deviceState.thermalStatus = thermal_status + pm.send("deviceState", msg) + + # Log to statsd + statlog.gauge("free_space_percent", msg.deviceState.freeSpacePercent) + statlog.gauge("gpu_usage_percent", msg.deviceState.gpuUsagePercent) + statlog.gauge("memory_usage_percent", msg.deviceState.memoryUsagePercent) + for i, usage in enumerate(msg.deviceState.cpuUsagePercent): + statlog.gauge(f"cpu{i}_usage_percent", usage) + for i, temp in enumerate(msg.deviceState.cpuTempC): + statlog.gauge(f"cpu{i}_temperature", temp) + for i, temp in enumerate(msg.deviceState.gpuTempC): + statlog.gauge(f"gpu{i}_temperature", temp) + statlog.gauge("memory_temperature", msg.deviceState.memoryTempC) + for i, temp in enumerate(msg.deviceState.pmicTempC): + statlog.gauge(f"pmic{i}_temperature", temp) + for i, temp in enumerate(last_hw_state.nvme_temps): + statlog.gauge(f"nvme_temperature{i}", temp) + for i, temp in enumerate(last_hw_state.modem_temps): + statlog.gauge(f"modem_temperature{i}", temp) + statlog.gauge("fan_speed_percent_desired", msg.deviceState.fanSpeedPercentDesired) + statlog.gauge("screen_brightness_percent", msg.deviceState.screenBrightnessPercent) + + # report to server once every 10 minutes + rising_edge_started = should_start and not should_start_prev + if rising_edge_started or (count % int(600. / DT_HW)) == 0: + dat = { + 'count': count, + 'pandaStates': [strip_deprecated_keys(p.to_dict()) for p in pandaStates], + 'peripheralState': strip_deprecated_keys(peripheralState.to_dict()), + 'location': (strip_deprecated_keys(sm["gpsLocationExternal"].to_dict()) if sm.alive["gpsLocationExternal"] else None), + 'deviceState': strip_deprecated_keys(msg.to_dict()) + } + cloudlog.event("STATUS_PACKET", **dat) + + # save last one before going onroad + if rising_edge_started: + try: + params.put("LastOffroadStatusPacket", json.dumps(dat)) + except Exception: + cloudlog.exception("failed to save offroad status") + + params.put_bool_nonblocking("NetworkMetered", msg.deviceState.networkMetered) + + count += 1 + should_start_prev = should_start + + +def main(): + hw_queue = queue.Queue(maxsize=1) + end_event = threading.Event() + + threads = [ + threading.Thread(target=hw_state_thread, args=(end_event, hw_queue)), + threading.Thread(target=hardware_thread, args=(end_event, hw_queue)), + ] + + for t in threads: + t.start() + + try: + while True: + time.sleep(1) + if not all(t.is_alive() for t in threads): + break + finally: + end_event.set() + + for t in threads: + t.join() + + +if __name__ == "__main__": + main() diff --git a/system/hardware/hw.h b/system/hardware/hw.h new file mode 100644 index 0000000000..fe6cf20a50 --- /dev/null +++ b/system/hardware/hw.h @@ -0,0 +1,54 @@ +#pragma once + +#include + +#include "system/hardware/base.h" +#include "common/util.h" + +#if QCOM2 +#include "system/hardware/tici/hardware.h" +#define Hardware HardwareTici +#else +#include "system/hardware/pc/hardware.h" +#define Hardware HardwarePC +#endif + +namespace Path { + inline std::string openpilot_prefix() { + return util::getenv("OPENPILOT_PREFIX", ""); + } + + inline std::string comma_home() { + return util::getenv("HOME") + "/.comma" + Path::openpilot_prefix(); + } + + inline std::string log_root() { + if (const char *env = getenv("LOG_ROOT")) { + return env; + } + return Hardware::PC() ? Path::comma_home() + "/media/0/realdata" : "/data/media/0/realdata"; + } + + inline std::string params() { + return util::getenv("PARAMS_ROOT", Hardware::PC() ? (Path::comma_home() + "/params") : "/data/params"); + } + + inline std::string rsa_file() { + return Hardware::PC() ? Path::comma_home() + "/persist/comma/id_rsa" : "/persist/comma/id_rsa"; + } + + inline std::string rsa_pub_file() { + return Hardware::PC() ? Path::comma_home() + "/persist/comma/id_rsa.pub" : "/persist/comma/id_rsa.pub"; + } + + inline std::string swaglog_ipc() { + return "ipc:///tmp/logmessage" + Path::openpilot_prefix(); + } + + inline std::string download_cache_root() { + if (const char *env = getenv("COMMA_CACHE")) { + return env; + } + return "/tmp/comma_download_cache" + Path::openpilot_prefix() + "/"; + } +} // namespace Path diff --git a/system/hardware/hw.py b/system/hardware/hw.py new file mode 100644 index 0000000000..0069b2065e --- /dev/null +++ b/system/hardware/hw.py @@ -0,0 +1,79 @@ +import os +from pathlib import Path + +from openpilot.system.hardware import PC + +DEFAULT_DOWNLOAD_CACHE_ROOT = "/tmp/comma_download_cache" + +class Paths: + @staticmethod + def comma_home() -> str: + return os.path.join(str(Path.home()), ".comma" + os.environ.get("OPENPILOT_PREFIX", "")) + + @staticmethod + def log_root() -> str: + if os.environ.get('LOG_ROOT', False): + return os.environ['LOG_ROOT'] + elif PC: + return str(Path(Paths.comma_home()) / "media" / "0" / "realdata") + else: + return '/data/media/0/realdata/' + + @staticmethod + def swaglog_root() -> str: + if PC: + return os.path.join(Paths.comma_home(), "log") + else: + return "/data/log/" + + @staticmethod + def swaglog_ipc() -> str: + return "ipc:///tmp/logmessage" + os.environ.get("OPENPILOT_PREFIX", "") + + @staticmethod + def download_cache_root() -> str: + if os.environ.get('COMMA_CACHE', False): + return os.environ['COMMA_CACHE'] + "/" + return DEFAULT_DOWNLOAD_CACHE_ROOT + os.environ.get("OPENPILOT_PREFIX", "") + "/" + + @staticmethod + def persist_root() -> str: + if PC: + return os.path.join(Paths.comma_home(), "persist") + else: + return "/persist/" + + @staticmethod + def stats_root() -> str: + if PC: + return str(Path(Paths.comma_home()) / "stats") + else: + return "/data/stats/" + + @staticmethod + def config_root() -> str: + if PC: + return Paths.comma_home() + else: + return "/tmp/.comma" + + @staticmethod + def community_crash_root() -> str: + if PC: + return str(Path(Paths.comma_home()) / "community" / "crashes") + else: + return "/data/community/crashes" + + @staticmethod + def model_root() -> str: + if PC: + return str(Path(Paths.comma_home()) / "media" / "0" / "models") + else: + return "/data/media/0/models" + + @staticmethod + def mapd_root() -> str: + if PC: + return str(Path(Paths.comma_home()) / "media" / "0" / "osm") + else: + return "/data/media/0/osm" diff --git a/system/hardware/pc/__init__.py b/system/hardware/pc/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/system/hardware/pc/hardware.h b/system/hardware/pc/hardware.h new file mode 100644 index 0000000000..5dea184ca6 --- /dev/null +++ b/system/hardware/pc/hardware.h @@ -0,0 +1,23 @@ +#pragma once + +#include + +#include "system/hardware/base.h" + +class HardwarePC : public HardwareNone { +public: + static std::string get_os_version() { return "openpilot for PC"; } + static std::string get_name() { return "pc"; } + static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::PC; } + static bool PC() { return true; } + static bool TICI() { return util::getenv("TICI", 0) == 1; } + static bool AGNOS() { return util::getenv("TICI", 0) == 1; } + + static void config_cpu_rendering(bool offscreen) { + if (offscreen) { + setenv("QT_QPA_PLATFORM", "offscreen", 1); + } + setenv("__GLX_VENDOR_LIBRARY_NAME", "mesa", 1); + setenv("LP_NUM_THREADS", "0", 1); // disable threading so we stay on our assigned CPU + } +}; diff --git a/system/hardware/pc/hardware.py b/system/hardware/pc/hardware.py new file mode 100644 index 0000000000..719e272aea --- /dev/null +++ b/system/hardware/pc/hardware.py @@ -0,0 +1,84 @@ +import random + +from cereal import log +from openpilot.system.hardware.base import HardwareBase, ThermalConfig + +NetworkType = log.DeviceState.NetworkType +NetworkStrength = log.DeviceState.NetworkStrength + + +class Pc(HardwareBase): + def get_os_version(self): + return None + + def get_device_type(self): + return "pc" + + def get_sound_card_online(self): + return True + + def reboot(self, reason=None): + print("REBOOT!") + + def uninstall(self): + print("uninstall") + + def get_imei(self, slot): + return "%015d" % random.randint(0, 1 << 32) + + def get_serial(self): + return "cccccccc" + + def get_network_info(self): + return None + + def get_network_type(self): + return NetworkType.wifi + + def get_sim_info(self): + return { + 'sim_id': '', + 'mcc_mnc': None, + 'network_type': ["Unknown"], + 'sim_state': ["ABSENT"], + 'data_connected': False + } + + def get_network_strength(self, network_type): + return NetworkStrength.unknown + + def get_current_power_draw(self): + return 0 + + def get_som_power_draw(self): + return 0 + + def shutdown(self): + print("SHUTDOWN!") + + def get_thermal_config(self): + return ThermalConfig(cpu=((None,), 1), gpu=((None,), 1), mem=(None, 1), bat=(None, 1), pmic=((None,), 1)) + + def set_screen_brightness(self, percentage): + pass + + def get_screen_brightness(self): + return 0 + + def set_power_save(self, powersave_enabled): + pass + + def get_gpu_usage_percent(self): + return 0 + + def get_modem_temperatures(self): + return [] + + def get_nvme_temperatures(self): + return [] + + def initialize_hardware(self): + pass + + def get_networks(self): + return None diff --git a/system/hardware/power_monitoring.py b/system/hardware/power_monitoring.py new file mode 100644 index 0000000000..bd1513358b --- /dev/null +++ b/system/hardware/power_monitoring.py @@ -0,0 +1,131 @@ +import time +import threading + +from openpilot.common.numpy_fast import interp +from openpilot.common.params import Params +from openpilot.system.hardware import HARDWARE +from openpilot.common.swaglog import cloudlog +from openpilot.system.statsd import statlog + +CAR_VOLTAGE_LOW_PASS_K = 0.011 # LPF gain for 45s tau (dt/tau / (dt/tau + 1)) + +# While driving, a battery charges completely in about 30-60 minutes +CAR_BATTERY_CAPACITY_uWh = 30e6 +CAR_CHARGING_RATE_W = 45 + +VBATT_PAUSE_CHARGING = 11.8 # Lower limit on the LPF car battery voltage +MIN_ON_TIME_S = 3600 +DELAY_SHUTDOWN_TIME_S = 300 # Wait at least DELAY_SHUTDOWN_TIME_S seconds after offroad_time to shutdown. +VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S = 60 + +class PowerMonitoring: + def __init__(self): + self.params = Params() + self.last_measurement_time = None # Used for integration delta + self.last_save_time = 0 # Used for saving current value in a param + self.power_used_uWh = 0 # Integrated power usage in uWh since going into offroad + self.next_pulsed_measurement_time = None + self.car_voltage_mV = 12e3 # Low-passed version of peripheralState voltage + self.car_voltage_instant_mV = 12e3 # Last value of peripheralState voltage + self.integration_lock = threading.Lock() + + car_battery_capacity_uWh = self.params.get("CarBatteryCapacity") + if car_battery_capacity_uWh is None: + car_battery_capacity_uWh = 0 + + # Reset capacity if it's low + self.car_battery_capacity_uWh = max((CAR_BATTERY_CAPACITY_uWh / 10), int(car_battery_capacity_uWh)) + + # Calculation tick + def calculate(self, voltage: int | None, ignition: bool): + try: + now = time.monotonic() + + # If peripheralState is None, we're probably not in a car, so we don't care + if voltage is None: + with self.integration_lock: + self.last_measurement_time = None + self.next_pulsed_measurement_time = None + self.power_used_uWh = 0 + return + + # Low-pass battery voltage + self.car_voltage_instant_mV = voltage + self.car_voltage_mV = ((voltage * CAR_VOLTAGE_LOW_PASS_K) + (self.car_voltage_mV * (1 - CAR_VOLTAGE_LOW_PASS_K))) + statlog.gauge("car_voltage", self.car_voltage_mV / 1e3) + + # Cap the car battery power and save it in a param every 10-ish seconds + self.car_battery_capacity_uWh = max(self.car_battery_capacity_uWh, 0) + self.car_battery_capacity_uWh = min(self.car_battery_capacity_uWh, CAR_BATTERY_CAPACITY_uWh) + if now - self.last_save_time >= 10: + self.params.put_nonblocking("CarBatteryCapacity", str(int(self.car_battery_capacity_uWh))) + self.last_save_time = now + + # First measurement, set integration time + with self.integration_lock: + if self.last_measurement_time is None: + self.last_measurement_time = now + return + + if ignition: + # If there is ignition, we integrate the charging rate of the car + with self.integration_lock: + self.power_used_uWh = 0 + integration_time_h = (now - self.last_measurement_time) / 3600 + if integration_time_h < 0: + raise ValueError(f"Negative integration time: {integration_time_h}h") + self.car_battery_capacity_uWh += (CAR_CHARGING_RATE_W * 1e6 * integration_time_h) + self.last_measurement_time = now + else: + # Get current power draw somehow + current_power = HARDWARE.get_current_power_draw() + + # Do the integration + self._perform_integration(now, current_power) + except Exception: + cloudlog.exception("Power monitoring calculation failed") + + def _perform_integration(self, t: float, current_power: float) -> None: + with self.integration_lock: + try: + if self.last_measurement_time: + integration_time_h = (t - self.last_measurement_time) / 3600 + power_used = (current_power * 1000000) * integration_time_h + if power_used < 0: + raise ValueError(f"Negative power used! Integration time: {integration_time_h} h Current Power: {power_used} uWh") + self.power_used_uWh += power_used + self.car_battery_capacity_uWh -= power_used + self.last_measurement_time = t + except Exception: + cloudlog.exception("Integration failed") + + # Get the power usage + def get_power_used(self) -> int: + return int(self.power_used_uWh) + + def get_car_battery_capacity(self) -> int: + return int(self.car_battery_capacity_uWh) + + # See if we need to shutdown + def should_shutdown(self, ignition: bool, in_car: bool, offroad_timestamp: float | None, started_seen: bool): + if offroad_timestamp is None: + return False + + max_time_offroad_s = interp(int(self.params.get("MaxTimeOffroad", encoding="utf8")), + [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], + [0, 5, 30, 60, 180, 300, 600, 1800, 3600, 10800, 18000, 36000, 108000]) + now = time.monotonic() + should_shutdown = False + offroad_time = (now - offroad_timestamp) + low_voltage_shutdown = (self.car_voltage_mV < (VBATT_PAUSE_CHARGING * 1e3) and + offroad_time > VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S) + should_shutdown |= (offroad_time > max_time_offroad_s) if max_time_offroad_s != 0 else False + should_shutdown |= low_voltage_shutdown + should_shutdown |= (self.car_battery_capacity_uWh <= 0) + should_shutdown &= not ignition + should_shutdown &= (not self.params.get_bool("DisablePowerDown")) + should_shutdown &= in_car + should_shutdown &= offroad_time > DELAY_SHUTDOWN_TIME_S + should_shutdown |= self.params.get_bool("ForcePowerDown") + should_shutdown &= started_seen or (now > MIN_ON_TIME_S) + return should_shutdown diff --git a/system/hardware/tici/__init__.py b/system/hardware/tici/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json new file mode 100644 index 0000000000..b1862bdef9 --- /dev/null +++ b/system/hardware/tici/agnos.json @@ -0,0 +1,77 @@ +[ + { + "name": "boot", + "url": "https://commadist.azureedge.net/agnosupdate/boot-5674ea6767e7198cf1e7def3de66a57061f001ed76d43dc4b4f84de545c53c6f.img.xz", + "hash": "5674ea6767e7198cf1e7def3de66a57061f001ed76d43dc4b4f84de545c53c6f", + "hash_raw": "5674ea6767e7198cf1e7def3de66a57061f001ed76d43dc4b4f84de545c53c6f", + "size": 16029696, + "sparse": false, + "full_check": true, + "has_ab": true + }, + { + "name": "abl", + "url": "https://commadist.azureedge.net/agnosupdate/abl-eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39.img.xz", + "hash": "eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39", + "hash_raw": "eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39", + "size": 274432, + "sparse": false, + "full_check": true, + "has_ab": true + }, + { + "name": "xbl", + "url": "https://commadist.azureedge.net/agnosupdate/xbl-bcef195b00a1ab685da601f4072722569773ab161e91c8753ad99ca4217a28f5.img.xz", + "hash": "bcef195b00a1ab685da601f4072722569773ab161e91c8753ad99ca4217a28f5", + "hash_raw": "bcef195b00a1ab685da601f4072722569773ab161e91c8753ad99ca4217a28f5", + "size": 3282672, + "sparse": false, + "full_check": true, + "has_ab": true + }, + { + "name": "xbl_config", + "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-19791056558c16f8dae787531b5e30b3b3db2ded9d666688df45ce1b91a72bac.img.xz", + "hash": "19791056558c16f8dae787531b5e30b3b3db2ded9d666688df45ce1b91a72bac", + "hash_raw": "19791056558c16f8dae787531b5e30b3b3db2ded9d666688df45ce1b91a72bac", + "size": 98124, + "sparse": false, + "full_check": true, + "has_ab": true + }, + { + "name": "devcfg", + "url": "https://commadist.azureedge.net/agnosupdate/devcfg-be44b73dda5be840b09d5347d536459e31098da3fea97596956c0bdad19bdf27.img.xz", + "hash": "be44b73dda5be840b09d5347d536459e31098da3fea97596956c0bdad19bdf27", + "hash_raw": "be44b73dda5be840b09d5347d536459e31098da3fea97596956c0bdad19bdf27", + "size": 40336, + "sparse": false, + "full_check": true, + "has_ab": true + }, + { + "name": "aop", + "url": "https://commadist.azureedge.net/agnosupdate/aop-5d764611a683d6a738cf06a1dcf8a926d0f47b5117ad40d3054167de6dd8bd0f.img.xz", + "hash": "5d764611a683d6a738cf06a1dcf8a926d0f47b5117ad40d3054167de6dd8bd0f", + "hash_raw": "5d764611a683d6a738cf06a1dcf8a926d0f47b5117ad40d3054167de6dd8bd0f", + "size": 184364, + "sparse": false, + "full_check": true, + "has_ab": true + }, + { + "name": "system", + "url": "https://commadist.azureedge.net/agnosupdate/system-1badfe72851628d6cf9200a53a6151bb4e797b49c717141409fc57138eae388a.img.xz", + "hash": "328e90c62068222dfd98f71dd3f6251fcb962f082b49c6be66ab2699f5db6f4f", + "hash_raw": "1badfe72851628d6cf9200a53a6151bb4e797b49c717141409fc57138eae388a", + "size": 10737418240, + "sparse": true, + "full_check": false, + "has_ab": true, + "alt": { + "hash": "bc11d2148f29862ee1326aca2af1cf6bbf5fed831e3f8f6b8f7a0f110dfe8d26", + "url": "https://commadist.azureedge.net/agnosupdate/system-skip-chunks-1badfe72851628d6cf9200a53a6151bb4e797b49c717141409fc57138eae388a.img.xz", + "size": 4548070000 + } + } +] \ No newline at end of file diff --git a/system/hardware/tici/agnos.py b/system/hardware/tici/agnos.py new file mode 100755 index 0000000000..7e3536f775 --- /dev/null +++ b/system/hardware/tici/agnos.py @@ -0,0 +1,330 @@ +#!/usr/bin/env python3 +import hashlib +import json +import lzma +import os +import struct +import subprocess +import time +from collections.abc import Generator + +import requests + +import openpilot.system.updated.casync.casync as casync + +SPARSE_CHUNK_FMT = struct.Struct('H2xI4x') +CAIBX_URL = "https://commadist.azureedge.net/agnosupdate/" + +AGNOS_MANIFEST_FILE = "system/hardware/tici/agnos.json" + + +class StreamingDecompressor: + def __init__(self, url: str) -> None: + self.buf = b"" + + self.req = requests.get(url, stream=True, headers={'Accept-Encoding': None}, timeout=60) + self.it = self.req.iter_content(chunk_size=1024 * 1024) + self.decompressor = lzma.LZMADecompressor(format=lzma.FORMAT_AUTO) + self.eof = False + self.sha256 = hashlib.sha256() + + def read(self, length: int) -> bytes: + while len(self.buf) < length: + self.req.raise_for_status() + + try: + compressed = next(self.it) + except StopIteration: + self.eof = True + break + out = self.decompressor.decompress(compressed) + self.buf += out + + result = self.buf[:length] + self.buf = self.buf[length:] + + self.sha256.update(result) + return result + + +def unsparsify(f: StreamingDecompressor) -> Generator[bytes, None, None]: + # https://source.android.com/devices/bootloader/images#sparse-format + magic = struct.unpack("I", f.read(4))[0] + assert(magic == 0xed26ff3a) + + # Version + major = struct.unpack("H", f.read(2))[0] + minor = struct.unpack("H", f.read(2))[0] + assert(major == 1 and minor == 0) + + f.read(2) # file header size + f.read(2) # chunk header size + + block_sz = struct.unpack("I", f.read(4))[0] + f.read(4) # total blocks + num_chunks = struct.unpack("I", f.read(4))[0] + f.read(4) # crc checksum + + for _ in range(num_chunks): + chunk_type, out_blocks = SPARSE_CHUNK_FMT.unpack(f.read(12)) + + if chunk_type == 0xcac1: # Raw + # TODO: yield in smaller chunks. Yielding only block_sz is too slow. Largest observed data chunk is 252 MB. + yield f.read(out_blocks * block_sz) + elif chunk_type == 0xcac2: # Fill + filler = f.read(4) * (block_sz // 4) + for _ in range(out_blocks): + yield filler + elif chunk_type == 0xcac3: # Don't care + yield b"" + else: + raise Exception("Unhandled sparse chunk type") + + +# noop wrapper with same API as unsparsify() for non sparse images +def noop(f: StreamingDecompressor) -> Generator[bytes, None, None]: + while not f.eof: + yield f.read(1024 * 1024) + + +def get_target_slot_number() -> int: + current_slot = subprocess.check_output(["abctl", "--boot_slot"], encoding='utf-8').strip() + return 1 if current_slot == "_a" else 0 + + +def slot_number_to_suffix(slot_number: int) -> str: + assert slot_number in (0, 1) + return '_a' if slot_number == 0 else '_b' + + +def get_partition_path(target_slot_number: int, partition: dict) -> str: + path = f"/dev/disk/by-partlabel/{partition['name']}" + + if partition.get('has_ab', True): + path += slot_number_to_suffix(target_slot_number) + + return path + + +def get_raw_hash(path: str, partition_size: int) -> str: + raw_hash = hashlib.sha256() + pos, chunk_size = 0, 1024 * 1024 + + with open(path, 'rb+') as out: + while pos < partition_size: + n = min(chunk_size, partition_size - pos) + raw_hash.update(out.read(n)) + pos += n + + return raw_hash.hexdigest().lower() + + +def verify_partition(target_slot_number: int, partition: dict[str, str | int], force_full_check: bool = False) -> bool: + full_check = partition['full_check'] or force_full_check + path = get_partition_path(target_slot_number, partition) + + if not isinstance(partition['size'], int): + return False + + partition_size: int = partition['size'] + + if not isinstance(partition['hash_raw'], str): + return False + + partition_hash: str = partition['hash_raw'] + + if full_check: + return get_raw_hash(path, partition_size) == partition_hash.lower() + else: + with open(path, 'rb+') as out: + out.seek(partition_size) + return out.read(64) == partition_hash.lower().encode() + + +def clear_partition_hash(target_slot_number: int, partition: dict) -> None: + path = get_partition_path(target_slot_number, partition) + with open(path, 'wb+') as out: + partition_size = partition['size'] + + out.seek(partition_size) + out.write(b"\x00" * 64) + os.sync() + + +def extract_compressed_image(target_slot_number: int, partition: dict, cloudlog): + path = get_partition_path(target_slot_number, partition) + downloader = StreamingDecompressor(partition['url']) + + with open(path, 'wb+') as out: + # Flash partition + last_p = 0 + raw_hash = hashlib.sha256() + f = unsparsify if partition['sparse'] else noop + for chunk in f(downloader): + raw_hash.update(chunk) + out.write(chunk) + p = int(out.tell() / partition['size'] * 100) + if p != last_p: + last_p = p + print(f"Installing {partition['name']}: {p}", flush=True) + + if raw_hash.hexdigest().lower() != partition['hash_raw'].lower(): + raise Exception(f"Raw hash mismatch '{raw_hash.hexdigest().lower()}'") + + if downloader.sha256.hexdigest().lower() != partition['hash'].lower(): + raise Exception("Uncompressed hash mismatch") + + if out.tell() != partition['size']: + raise Exception("Uncompressed size mismatch") + + os.sync() + + +def extract_casync_image(target_slot_number: int, partition: dict, cloudlog): + path = get_partition_path(target_slot_number, partition) + seed_path = path[:-1] + ('b' if path[-1] == 'a' else 'a') + + target = casync.parse_caibx(partition['casync_caibx']) + + sources: list[tuple[str, casync.ChunkReader, casync.ChunkDict]] = [] + + # First source is the current partition. + try: + raw_hash = get_raw_hash(seed_path, partition['size']) + caibx_url = f"{CAIBX_URL}{partition['name']}-{raw_hash}.caibx" + + try: + cloudlog.info(f"casync fetching {caibx_url}") + sources += [('seed', casync.FileChunkReader(seed_path), casync.build_chunk_dict(casync.parse_caibx(caibx_url)))] + except requests.RequestException: + cloudlog.error(f"casync failed to load {caibx_url}") + except Exception: + cloudlog.exception("casync failed to hash seed partition") + + # Second source is the target partition, this allows for resuming + sources += [('target', casync.FileChunkReader(path), casync.build_chunk_dict(target))] + + # Finally we add the remote source to download any missing chunks + sources += [('remote', casync.RemoteChunkReader(partition['casync_store']), casync.build_chunk_dict(target))] + + last_p = 0 + + def progress(cur): + nonlocal last_p + p = int(cur / partition['size'] * 100) + if p != last_p: + last_p = p + print(f"Installing {partition['name']}: {p}", flush=True) + + stats = casync.extract(target, sources, path, progress) + cloudlog.error(f'casync done {json.dumps(stats)}') + + os.sync() + if not verify_partition(target_slot_number, partition, force_full_check=True): + raise Exception(f"Raw hash mismatch '{partition['hash_raw'].lower()}'") + + +def flash_partition(target_slot_number: int, partition: dict, cloudlog, standalone=False): + cloudlog.info(f"Downloading and writing {partition['name']}") + + if verify_partition(target_slot_number, partition): + cloudlog.info(f"Already flashed {partition['name']}") + return + + # Clear hash before flashing in case we get interrupted + full_check = partition['full_check'] + if not full_check: + clear_partition_hash(target_slot_number, partition) + + path = get_partition_path(target_slot_number, partition) + + if ('casync_caibx' in partition) and not standalone: + extract_casync_image(target_slot_number, partition, cloudlog) + else: + extract_compressed_image(target_slot_number, partition, cloudlog) + + # Write hash after successful flash + if not full_check: + with open(path, 'wb+') as out: + out.seek(partition['size']) + out.write(partition['hash_raw'].lower().encode()) + + +def swap(manifest_path: str, target_slot_number: int, cloudlog) -> None: + update = json.load(open(manifest_path)) + for partition in update: + if not partition.get('full_check', False): + clear_partition_hash(target_slot_number, partition) + + while True: + out = subprocess.check_output(f"abctl --set_active {target_slot_number}", shell=True, stderr=subprocess.STDOUT, encoding='utf8') + if ("No such file or directory" not in out) and ("lun as boot lun" in out): + cloudlog.info(f"Swap successful {out}") + break + else: + cloudlog.error(f"Swap failed {out}") + + +def flash_agnos_update(manifest_path: str, target_slot_number: int, cloudlog, standalone=False) -> None: + update = json.load(open(manifest_path)) + + cloudlog.info(f"Target slot {target_slot_number}") + + # set target slot as unbootable + os.system(f"abctl --set_unbootable {target_slot_number}") + + for partition in update: + success = False + + for retries in range(10): + try: + flash_partition(target_slot_number, partition, cloudlog, standalone) + success = True + break + + except requests.exceptions.RequestException: + cloudlog.exception("Failed") + cloudlog.info(f"Failed to download {partition['name']}, retrying ({retries})") + time.sleep(10) + + if not success: + cloudlog.info(f"Failed to flash {partition['name']}, aborting") + raise Exception("Maximum retries exceeded") + + cloudlog.info(f"AGNOS ready on slot {target_slot_number}") + + +def verify_agnos_update(manifest_path: str, target_slot_number: int) -> bool: + update = json.load(open(manifest_path)) + return all(verify_partition(target_slot_number, partition) for partition in update) + + +if __name__ == "__main__": + import argparse + import logging + + parser = argparse.ArgumentParser(description="Flash and verify AGNOS update", + formatter_class=argparse.ArgumentDefaultsHelpFormatter) + + parser.add_argument("--verify", action="store_true", help="Verify and perform swap if update ready") + parser.add_argument("--swap", action="store_true", help="Verify and perform swap, downloads if necessary") + parser.add_argument("manifest", help="Manifest json") + args = parser.parse_args() + + logging.basicConfig(level=logging.INFO) + + target_slot_number = get_target_slot_number() + if args.verify: + if verify_agnos_update(args.manifest, target_slot_number): + swap(args.manifest, target_slot_number, logging) + exit(0) + exit(1) + elif args.swap: + while not verify_agnos_update(args.manifest, target_slot_number): + logging.error("Verification failed. Flashing AGNOS") + flash_agnos_update(args.manifest, target_slot_number, logging, standalone=True) + + logging.warning(f"Verification succeeded. Swapping to slot {target_slot_number}") + swap(args.manifest, target_slot_number, logging) + else: + flash_agnos_update(args.manifest, target_slot_number, logging, standalone=True) diff --git a/system/hardware/tici/amplifier.py b/system/hardware/tici/amplifier.py new file mode 100755 index 0000000000..af82067467 --- /dev/null +++ b/system/hardware/tici/amplifier.py @@ -0,0 +1,156 @@ +#!/usr/bin/env python3 +import time +from smbus2 import SMBus +from collections import namedtuple + +# https://datasheets.maximintegrated.com/en/ds/MAX98089.pdf + +AmpConfig = namedtuple('AmpConfig', ['name', 'value', 'register', 'offset', 'mask']) +EQParams = namedtuple('EQParams', ['K', 'k1', 'k2', 'c1', 'c2']) + +def configs_from_eq_params(base, eq_params): + return [ + AmpConfig("K (high)", (eq_params.K >> 8), base, 0, 0xFF), + AmpConfig("K (low)", (eq_params.K & 0xFF), base + 1, 0, 0xFF), + AmpConfig("k1 (high)", (eq_params.k1 >> 8), base + 2, 0, 0xFF), + AmpConfig("k1 (low)", (eq_params.k1 & 0xFF), base + 3, 0, 0xFF), + AmpConfig("k2 (high)", (eq_params.k2 >> 8), base + 4, 0, 0xFF), + AmpConfig("k2 (low)", (eq_params.k2 & 0xFF), base + 5, 0, 0xFF), + AmpConfig("c1 (high)", (eq_params.c1 >> 8), base + 6, 0, 0xFF), + AmpConfig("c1 (low)", (eq_params.c1 & 0xFF), base + 7, 0, 0xFF), + AmpConfig("c2 (high)", (eq_params.c2 >> 8), base + 8, 0, 0xFF), + AmpConfig("c2 (low)", (eq_params.c2 & 0xFF), base + 9, 0, 0xFF), + ] + +BASE_CONFIG = [ + AmpConfig("MCLK prescaler", 0b01, 0x10, 4, 0b00110000), + AmpConfig("PM: enable speakers", 0b11, 0x4D, 4, 0b00110000), + AmpConfig("PM: enable DACs", 0b11, 0x4D, 0, 0b00000011), + AmpConfig("Enable PLL1", 0b1, 0x12, 7, 0b10000000), + AmpConfig("Enable PLL2", 0b1, 0x1A, 7, 0b10000000), + AmpConfig("DAI1: I2S mode", 0b00100, 0x14, 2, 0b01111100), + AmpConfig("DAI2: I2S mode", 0b00100, 0x1C, 2, 0b01111100), + AmpConfig("DAI1 Passband filtering: music mode", 0b1, 0x18, 7, 0b10000000), + AmpConfig("DAI1 voice mode gain (DV1G)", 0b00, 0x2F, 4, 0b00110000), + AmpConfig("DAI1 attenuation (DV1)", 0x0, 0x2F, 0, 0b00001111), + AmpConfig("DAI2 attenuation (DV2)", 0x0, 0x31, 0, 0b00001111), + AmpConfig("DAI2: DC blocking", 0b1, 0x20, 0, 0b00000001), + AmpConfig("DAI2: High sample rate", 0b0, 0x20, 3, 0b00001000), + AmpConfig("ALC enable", 0b1, 0x43, 7, 0b10000000), + AmpConfig("ALC/excursion limiter release time", 0b101, 0x43, 4, 0b01110000), + AmpConfig("ALC multiband enable", 0b1, 0x43, 3, 0b00001000), + AmpConfig("DAI1 EQ enable", 0b0, 0x49, 0, 0b00000001), + AmpConfig("DAI2 EQ clip detection disabled", 0b1, 0x32, 4, 0b00010000), + AmpConfig("DAI2 EQ attenuation", 0x5, 0x32, 0, 0b00001111), + AmpConfig("Excursion limiter upper corner freq", 0b100, 0x41, 4, 0b01110000), + AmpConfig("Excursion limiter lower corner freq", 0b00, 0x41, 0, 0b00000011), + AmpConfig("Excursion limiter threshold", 0b000, 0x42, 0, 0b00001111), + AmpConfig("Distortion limit (THDCLP)", 0x6, 0x46, 4, 0b11110000), + AmpConfig("Distortion limiter release time constant", 0b0, 0x46, 0, 0b00000001), + AmpConfig("Right DAC input mixer: DAI1 left", 0b0, 0x22, 3, 0b00001000), + AmpConfig("Right DAC input mixer: DAI1 right", 0b0, 0x22, 2, 0b00000100), + AmpConfig("Right DAC input mixer: DAI2 left", 0b1, 0x22, 1, 0b00000010), + AmpConfig("Right DAC input mixer: DAI2 right", 0b0, 0x22, 0, 0b00000001), + AmpConfig("DAI1 audio port selector", 0b10, 0x16, 6, 0b11000000), + AmpConfig("DAI2 audio port selector", 0b01, 0x1E, 6, 0b11000000), + AmpConfig("Enable left digital microphone", 0b1, 0x48, 5, 0b00100000), + AmpConfig("Enable right digital microphone", 0b1, 0x48, 4, 0b00010000), + AmpConfig("Enhanced volume smoothing disabled", 0b0, 0x49, 7, 0b10000000), + AmpConfig("Volume adjustment smoothing disabled", 0b0, 0x49, 6, 0b01000000), + AmpConfig("Zero-crossing detection disabled", 0b0, 0x49, 5, 0b00100000), +] + +CONFIGS = { + "tici": [ + AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111), + AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100), + AmpConfig("Right speaker output volume", 0x1c, 0x3E, 0, 0b00011111), + AmpConfig("DAI2 EQ enable", 0b1, 0x49, 1, 0b00000010), + + *configs_from_eq_params(0x84, EQParams(0x274F, 0xC0FF, 0x3BF9, 0x0B3C, 0x1656)), + *configs_from_eq_params(0x8E, EQParams(0x1009, 0xC6BF, 0x2952, 0x1C97, 0x30DF)), + *configs_from_eq_params(0x98, EQParams(0x0F75, 0xCBE5, 0x0ED2, 0x2528, 0x3E42)), + *configs_from_eq_params(0xA2, EQParams(0x091F, 0x3D4C, 0xCE11, 0x1266, 0x2807)), + *configs_from_eq_params(0xAC, EQParams(0x0A9E, 0x3F20, 0xE573, 0x0A8B, 0x3A3B)), + ], + "tizi": [ + AmpConfig("Left speaker output from left DAC", 0b1, 0x2B, 0, 0b11111111), + AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111), + AmpConfig("Left Speaker Mixer Gain", 0b00, 0x2D, 0, 0b00000011), + AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100), + AmpConfig("Left speaker output volume", 0x17, 0x3D, 0, 0b00011111), + AmpConfig("Right speaker output volume", 0x17, 0x3E, 0, 0b00011111), + + AmpConfig("DAI2 EQ enable", 0b0, 0x49, 1, 0b00000010), + AmpConfig("DAI2: DC blocking", 0b0, 0x20, 0, 0b00000001), + AmpConfig("ALC enable", 0b0, 0x43, 7, 0b10000000), + AmpConfig("DAI2 EQ attenuation", 0x2, 0x32, 0, 0b00001111), + AmpConfig("Excursion limiter upper corner freq", 0b001, 0x41, 4, 0b01110000), + AmpConfig("Excursion limiter threshold", 0b100, 0x42, 0, 0b00001111), + AmpConfig("Distortion limit (THDCLP)", 0x0, 0x46, 4, 0b11110000), + AmpConfig("Distortion limiter release time constant", 0b1, 0x46, 0, 0b00000001), + AmpConfig("Left DAC input mixer: DAI1 left", 0b0, 0x22, 7, 0b10000000), + AmpConfig("Left DAC input mixer: DAI1 right", 0b0, 0x22, 6, 0b01000000), + AmpConfig("Left DAC input mixer: DAI2 left", 0b1, 0x22, 5, 0b00100000), + AmpConfig("Left DAC input mixer: DAI2 right", 0b0, 0x22, 4, 0b00010000), + AmpConfig("Right DAC input mixer: DAI2 left", 0b0, 0x22, 1, 0b00000010), + AmpConfig("Right DAC input mixer: DAI2 right", 0b1, 0x22, 0, 0b00000001), + AmpConfig("Volume adjustment smoothing disabled", 0b1, 0x49, 6, 0b01000000), + ], +} + +class Amplifier: + AMP_I2C_BUS = 0 + AMP_ADDRESS = 0x10 + + def __init__(self, debug=False): + self.debug = debug + + def _get_shutdown_config(self, amp_disabled: bool) -> AmpConfig: + return AmpConfig("Global shutdown", 0b0 if amp_disabled else 0b1, 0x51, 7, 0b10000000) + + def _set_configs(self, configs: list[AmpConfig]) -> None: + with SMBus(self.AMP_I2C_BUS) as bus: + for config in configs: + if self.debug: + print(f"Setting \"{config.name}\" to {config.value}:") + + old_value = bus.read_byte_data(self.AMP_ADDRESS, config.register, force=True) + new_value = (old_value & (~config.mask)) | ((config.value << config.offset) & config.mask) + bus.write_byte_data(self.AMP_ADDRESS, config.register, new_value, force=True) + + if self.debug: + print(f" Changed {hex(config.register)}: {hex(old_value)} -> {hex(new_value)}") + + def set_configs(self, configs: list[AmpConfig]) -> bool: + # retry in case panda is using the amp + tries = 15 + for i in range(15): + try: + self._set_configs(configs) + return True + except OSError: + print(f"Failed to set amp config, {tries - i - 1} retries left") + time.sleep(0.02) + return False + + def set_global_shutdown(self, amp_disabled: bool) -> bool: + return self.set_configs([self._get_shutdown_config(amp_disabled), ]) + + def initialize_configuration(self, model: str) -> bool: + cfgs = [ + self._get_shutdown_config(True), + *BASE_CONFIG, + *CONFIGS[model], + self._get_shutdown_config(False), + ] + return self.set_configs(cfgs) + + +if __name__ == "__main__": + with open("/sys/firmware/devicetree/base/model") as f: + model = f.read().strip('\x00') + model = model.split('comma ')[-1] + + amp = Amplifier() + amp.initialize_configuration(model) diff --git a/system/hardware/tici/esim.nmconnection b/system/hardware/tici/esim.nmconnection new file mode 100644 index 0000000000..74f6f8e82c --- /dev/null +++ b/system/hardware/tici/esim.nmconnection @@ -0,0 +1,30 @@ +[connection] +id=esim +uuid=fff6553c-3284-4707-a6b1-acc021caaafb +type=gsm +permissions= +autoconnect=true +autoconnect-retries=100 +autoconnect-priority=2 +metered=1 + +[gsm] +apn= +home-only=false +auto-config=true +sim-id= + +[ipv4] +route-metric=1000 +dns-priority=1000 +dns-search= +method=auto + +[ipv6] +ddr-gen-mode=stable-privacy +dns-search= +route-metric=1000 +dns-priority=1000 +method=auto + +[proxy] diff --git a/system/hardware/tici/esim.py b/system/hardware/tici/esim.py new file mode 100755 index 0000000000..df76c1a5fd --- /dev/null +++ b/system/hardware/tici/esim.py @@ -0,0 +1,115 @@ +#!/usr/bin/env python3 +import os +import math +import time +import binascii +import requests +import serial +import subprocess + + +def post(url, payload): + print() + print("POST to", url) + r = requests.post( + url, + data=payload, + verify=False, + headers={ + "Content-Type": "application/json", + "X-Admin-Protocol": "gsma/rsp/v2.2.0", + "charset": "utf-8", + "User-Agent": "gsma-rsp-lpad", + }, + ) + print("resp", r) + print("resp text", repr(r.text)) + print() + r.raise_for_status() + + ret = f"HTTP/1.1 {r.status_code}" + ret += ''.join(f"{k}: {v}" for k, v in r.headers.items() if k != 'Connection') + return ret.encode() + r.content + + +class LPA: + def __init__(self): + self.dev = serial.Serial('/dev/ttyUSB2', baudrate=57600, timeout=1, bytesize=8) + self.dev.reset_input_buffer() + self.dev.reset_output_buffer() + assert "OK" in self.at("AT") + + def at(self, cmd): + print(f"==> {cmd}") + self.dev.write(cmd.encode() + b'\r\n') + + r = b"" + cnt = 0 + while b"OK" not in r and b"ERROR" not in r and cnt < 20: + r += self.dev.read(8192).strip() + cnt += 1 + r = r.decode() + print(f"<== {repr(r)}") + return r + + def download_ota(self, qr): + return self.at(f'AT+QESIM="ota","{qr}"') + + def download(self, qr): + smdp = qr.split('$')[1] + out = self.at(f'AT+QESIM="download","{qr}"') + for _ in range(5): + line = out.split("+QESIM: ")[1].split("\r\n\r\nOK")[0] + + parts = [x.strip().strip('"') for x in line.split(',', maxsplit=4)] + print(repr(parts)) + trans, ret, url, payloadlen, payload = parts + assert trans == "trans" and ret == "0" + assert len(payload) == int(payloadlen) + + r = post(f"https://{smdp}/{url}", payload) + to_send = binascii.hexlify(r).decode() + + chunk_len = 1400 + for i in range(math.ceil(len(to_send) / chunk_len)): + state = 1 if (i+1)*chunk_len < len(to_send) else 0 + data = to_send[i * chunk_len : (i+1)*chunk_len] + out = self.at(f'AT+QESIM="trans",{len(to_send)},{state},{i},{len(data)},"{data}"') + assert "OK" in out + + if '+QESIM:"download",1' in out: + raise Exception("profile install failed") + elif '+QESIM:"download",0' in out: + print("done, successfully loaded") + break + + def enable(self, iccid): + self.at(f'AT+QESIM="enable","{iccid}"') + + def disable(self, iccid): + self.at(f'AT+QESIM="disable","{iccid}"') + + def delete(self, iccid): + self.at(f'AT+QESIM="delete","{iccid}"') + + def list_profiles(self): + out = self.at('AT+QESIM="list"') + return out.strip().splitlines()[1:] + + +if __name__ == "__main__": + import sys + + if "RESTART" in os.environ: + subprocess.check_call("sudo systemctl stop ModemManager", shell=True) + subprocess.check_call("/usr/comma/lte/lte.sh stop_blocking", shell=True) + subprocess.check_call("/usr/comma/lte/lte.sh start", shell=True) + while not os.path.exists('/dev/ttyUSB2'): + time.sleep(1) + time.sleep(3) + + lpa = LPA() + print(lpa.list_profiles()) + if len(sys.argv) > 1: + lpa.download(sys.argv[1]) + print(lpa.list_profiles()) diff --git a/system/hardware/tici/hardware.h b/system/hardware/tici/hardware.h new file mode 100644 index 0000000000..f1d1f1e717 --- /dev/null +++ b/system/hardware/tici/hardware.h @@ -0,0 +1,106 @@ +#pragma once + +#include +#include +#include +#include + +#include "common/params.h" +#include "common/util.h" +#include "system/hardware/base.h" + +class HardwareTici : public HardwareNone { +public: + static constexpr float MAX_VOLUME = 0.9; + static constexpr float MIN_VOLUME = 0.1; + static bool TICI() { return true; } + static bool AGNOS() { return true; } + static std::string get_os_version() { + return "AGNOS " + util::read_file("/VERSION"); + } + + static std::string get_name() { + std::string model = util::read_file("/sys/firmware/devicetree/base/model"); + return model.substr(std::string("comma ").size()); + } + + static cereal::InitData::DeviceType get_device_type() { + return (get_name() == "tizi") ? cereal::InitData::DeviceType::TIZI : (get_name() == "mici" ? cereal::InitData::DeviceType::MICI : cereal::InitData::DeviceType::TICI); + } + + static int get_voltage() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/in1_input").c_str()); } + static int get_current() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/curr1_input").c_str()); } + + static std::string get_serial() { + static std::string serial(""); + if (serial.empty()) { + std::ifstream stream("/proc/cmdline"); + std::string cmdline; + std::getline(stream, cmdline); + + auto start = cmdline.find("serialno="); + if (start == std::string::npos) { + serial = "cccccc"; + } else { + auto end = cmdline.find(" ", start + 9); + serial = cmdline.substr(start + 9, end - start - 9); + } + } + return serial; + } + + static void reboot() { std::system("sudo reboot"); } + static void poweroff() { std::system("sudo poweroff"); } + static void set_brightness(int percent) { + std::string max = util::read_file("/sys/class/backlight/panel0-backlight/max_brightness"); + + std::ofstream brightness_control("/sys/class/backlight/panel0-backlight/brightness"); + if (brightness_control.is_open()) { + brightness_control << (int)(percent * (std::stof(max)/100.)) << "\n"; + brightness_control.close(); + } + } + static void set_display_power(bool on) { + std::ofstream bl_power_control("/sys/class/backlight/panel0-backlight/bl_power"); + if (bl_power_control.is_open()) { + bl_power_control << (on ? "0" : "4") << "\n"; + bl_power_control.close(); + } + } + + static std::map get_init_logs() { + std::map ret = { + {"/BUILD", util::read_file("/BUILD")}, + {"lsblk", util::check_output("lsblk -o NAME,SIZE,STATE,VENDOR,MODEL,REV,SERIAL")}, + {"SOM ID", util::read_file("/sys/devices/platform/vendor/vendor:gpio-som-id/som_id")}, + }; + + std::string bs = util::check_output("abctl --boot_slot"); + ret["boot slot"] = bs.substr(0, bs.find_first_of("\n")); + + std::string temp = util::read_file("/dev/disk/by-partlabel/ssd"); + temp.erase(temp.find_last_not_of(std::string("\0\r\n", 3))+1); + ret["boot temp"] = temp; + + // TODO: log something from system and boot + for (std::string part : {"xbl", "abl", "aop", "devcfg", "xbl_config"}) { + for (std::string slot : {"a", "b"}) { + std::string partition = part + "_" + slot; + std::string hash = util::check_output("sha256sum /dev/disk/by-partlabel/" + partition); + ret[partition] = hash.substr(0, hash.find_first_of(" ")); + } + } + + return ret; + } + + static bool get_ssh_enabled() { return Params().getBool("SshEnabled"); } + static void set_ssh_enabled(bool enabled) { Params().putBool("SshEnabled", enabled); } + + static void config_cpu_rendering(bool offscreen) { + if (offscreen) { + setenv("QT_QPA_PLATFORM", "eglfs", 1); // offscreen doesn't work with EGL/GLES + } + setenv("LP_NUM_THREADS", "0", 1); // disable threading so we stay on our assigned CPU + } +}; diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py new file mode 100644 index 0000000000..eb524dbafa --- /dev/null +++ b/system/hardware/tici/hardware.py @@ -0,0 +1,595 @@ +import json +import math +import os +import subprocess +import time +import tempfile +from enum import IntEnum +from functools import cached_property, lru_cache +from pathlib import Path + +from cereal import log +from openpilot.common.gpio import gpio_set, gpio_init, get_irqs_for_action +from openpilot.system.hardware.base import HardwareBase, ThermalConfig +from openpilot.system.hardware.tici import iwlist +from openpilot.system.hardware.tici.pins import GPIO +from openpilot.system.hardware.tici.amplifier import Amplifier + +NM = 'org.freedesktop.NetworkManager' +NM_CON_ACT = NM + '.Connection.Active' +NM_DEV = NM + '.Device' +NM_DEV_WL = NM + '.Device.Wireless' +NM_DEV_STATS = NM + '.Device.Statistics' +NM_AP = NM + '.AccessPoint' +DBUS_PROPS = 'org.freedesktop.DBus.Properties' + +MM = 'org.freedesktop.ModemManager1' +MM_MODEM = MM + ".Modem" +MM_MODEM_SIMPLE = MM + ".Modem.Simple" +MM_SIM = MM + ".Sim" + +class MM_MODEM_STATE(IntEnum): + FAILED = -1 + UNKNOWN = 0 + INITIALIZING = 1 + LOCKED = 2 + DISABLED = 3 + DISABLING = 4 + ENABLING = 5 + ENABLED = 6 + SEARCHING = 7 + REGISTERED = 8 + DISCONNECTING = 9 + CONNECTING = 10 + CONNECTED = 11 + +class NMMetered(IntEnum): + NM_METERED_UNKNOWN = 0 + NM_METERED_YES = 1 + NM_METERED_NO = 2 + NM_METERED_GUESS_YES = 3 + NM_METERED_GUESS_NO = 4 + +TIMEOUT = 0.1 +REFRESH_RATE_MS = 1000 + +NetworkType = log.DeviceState.NetworkType +NetworkStrength = log.DeviceState.NetworkStrength + +# https://developer.gnome.org/ModemManager/unstable/ModemManager-Flags-and-Enumerations.html#MMModemAccessTechnology +MM_MODEM_ACCESS_TECHNOLOGY_UMTS = 1 << 5 +MM_MODEM_ACCESS_TECHNOLOGY_LTE = 1 << 14 + + +def sudo_write(val, path): + try: + with open(path, 'w') as f: + f.write(str(val)) + except PermissionError: + os.system(f"sudo chmod a+w {path}") + try: + with open(path, 'w') as f: + f.write(str(val)) + except PermissionError: + # fallback for debugfs files + os.system(f"sudo su -c 'echo {val} > {path}'") + +def sudo_read(path: str) -> str: + try: + return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8') + except Exception: + return "" + +def affine_irq(val, action): + irqs = get_irqs_for_action(action) + if len(irqs) == 0: + print(f"No IRQs found for '{action}'") + return + + for i in irqs: + sudo_write(str(val), f"/proc/irq/{i}/smp_affinity_list") + +@lru_cache +def get_device_type(): + # lru_cache and cache can cause memory leaks when used in classes + with open("/sys/firmware/devicetree/base/model") as f: + model = f.read().strip('\x00') + return model.split('comma ')[-1] + +class Tici(HardwareBase): + @cached_property + def bus(self): + import dbus + return dbus.SystemBus() + + @cached_property + def nm(self): + return self.bus.get_object(NM, '/org/freedesktop/NetworkManager') + + @property # this should not be cached, in case the modemmanager restarts + def mm(self): + return self.bus.get_object(MM, '/org/freedesktop/ModemManager1') + + @cached_property + def amplifier(self): + if self.get_device_type() == "mici": + return None + return Amplifier() + + def get_os_version(self): + with open("/VERSION") as f: + return f.read().strip() + + def get_device_type(self): + return get_device_type() + + def get_sound_card_online(self): + if os.path.isfile('/proc/asound/card0/state'): + with open('/proc/asound/card0/state') as f: + return f.read().strip() == 'ONLINE' + return False + + def reboot(self, reason=None): + subprocess.check_output(["sudo", "reboot"]) + + def uninstall(self): + Path("/data/__system_reset__").touch() + os.sync() + self.reboot() + + def get_serial(self): + return self.get_cmdline()['androidboot.serialno'] + + def get_network_type(self): + try: + primary_connection = self.nm.Get(NM, 'PrimaryConnection', dbus_interface=DBUS_PROPS, timeout=TIMEOUT) + primary_connection = self.bus.get_object(NM, primary_connection) + primary_type = primary_connection.Get(NM_CON_ACT, 'Type', dbus_interface=DBUS_PROPS, timeout=TIMEOUT) + + if primary_type == '802-3-ethernet': + return NetworkType.ethernet + elif primary_type == '802-11-wireless': + return NetworkType.wifi + else: + active_connections = self.nm.Get(NM, 'ActiveConnections', dbus_interface=DBUS_PROPS, timeout=TIMEOUT) + for conn in active_connections: + c = self.bus.get_object(NM, conn) + tp = c.Get(NM_CON_ACT, 'Type', dbus_interface=DBUS_PROPS, timeout=TIMEOUT) + if tp == 'gsm': + modem = self.get_modem() + access_t = modem.Get(MM_MODEM, 'AccessTechnologies', dbus_interface=DBUS_PROPS, timeout=TIMEOUT) + if access_t >= MM_MODEM_ACCESS_TECHNOLOGY_LTE: + return NetworkType.cell4G + elif access_t >= MM_MODEM_ACCESS_TECHNOLOGY_UMTS: + return NetworkType.cell3G + else: + return NetworkType.cell2G + except Exception: + pass + + return NetworkType.none + + def get_modem(self): + objects = self.mm.GetManagedObjects(dbus_interface="org.freedesktop.DBus.ObjectManager", timeout=TIMEOUT) + modem_path = list(objects.keys())[0] + return self.bus.get_object(MM, modem_path) + + def get_wlan(self): + wlan_path = self.nm.GetDeviceByIpIface('wlan0', dbus_interface=NM, timeout=TIMEOUT) + return self.bus.get_object(NM, wlan_path) + + def get_wwan(self): + wwan_path = self.nm.GetDeviceByIpIface('wwan0', dbus_interface=NM, timeout=TIMEOUT) + return self.bus.get_object(NM, wwan_path) + + def get_sim_info(self): + modem = self.get_modem() + sim_path = modem.Get(MM_MODEM, 'Sim', dbus_interface=DBUS_PROPS, timeout=TIMEOUT) + + if sim_path == "/": + return { + 'sim_id': '', + 'mcc_mnc': None, + 'network_type': ["Unknown"], + 'sim_state': ["ABSENT"], + 'data_connected': False + } + else: + sim = self.bus.get_object(MM, sim_path) + return { + 'sim_id': str(sim.Get(MM_SIM, 'SimIdentifier', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)), + 'mcc_mnc': str(sim.Get(MM_SIM, 'OperatorIdentifier', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)), + 'network_type': ["Unknown"], + 'sim_state': ["READY"], + 'data_connected': modem.Get(MM_MODEM, 'State', dbus_interface=DBUS_PROPS, timeout=TIMEOUT) == MM_MODEM_STATE.CONNECTED, + } + + def get_imei(self, slot): + if slot != 0: + return "" + + return str(self.get_modem().Get(MM_MODEM, 'EquipmentIdentifier', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)) + + def get_network_info(self): + try: + modem = self.get_modem() + info = modem.Command("AT+QNWINFO", math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT) + extra = modem.Command('AT+QENG="servingcell"', math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT) + state = modem.Get(MM_MODEM, 'State', dbus_interface=DBUS_PROPS, timeout=TIMEOUT) + except Exception: + return None + + if info and info.startswith('+QNWINFO: '): + info = info.replace('+QNWINFO: ', '').replace('"', '').split(',') + extra = "" if extra is None else extra.replace('+QENG: "servingcell",', '').replace('"', '') + state = "" if state is None else MM_MODEM_STATE(state).name + + if len(info) != 4: + return None + + technology, operator, band, channel = info + + return({ + 'technology': technology, + 'operator': operator, + 'band': band, + 'channel': int(channel), + 'extra': extra, + 'state': state, + }) + else: + return None + + def parse_strength(self, percentage): + if percentage < 25: + return NetworkStrength.poor + elif percentage < 50: + return NetworkStrength.moderate + elif percentage < 75: + return NetworkStrength.good + else: + return NetworkStrength.great + + def get_network_strength(self, network_type): + network_strength = NetworkStrength.unknown + + try: + if network_type == NetworkType.none: + pass + elif network_type == NetworkType.wifi: + wlan = self.get_wlan() + active_ap_path = wlan.Get(NM_DEV_WL, 'ActiveAccessPoint', dbus_interface=DBUS_PROPS, timeout=TIMEOUT) + if active_ap_path != "/": + active_ap = self.bus.get_object(NM, active_ap_path) + strength = int(active_ap.Get(NM_AP, 'Strength', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)) + network_strength = self.parse_strength(strength) + else: # Cellular + modem = self.get_modem() + strength = int(modem.Get(MM_MODEM, 'SignalQuality', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)[0]) + network_strength = self.parse_strength(strength) + except Exception: + pass + + return network_strength + + def get_network_metered(self, network_type) -> bool: + try: + primary_connection = self.nm.Get(NM, 'PrimaryConnection', dbus_interface=DBUS_PROPS, timeout=TIMEOUT) + primary_connection = self.bus.get_object(NM, primary_connection) + primary_devices = primary_connection.Get(NM_CON_ACT, 'Devices', dbus_interface=DBUS_PROPS, timeout=TIMEOUT) + + for dev in primary_devices: + dev_obj = self.bus.get_object(NM, str(dev)) + metered_prop = dev_obj.Get(NM_DEV, 'Metered', dbus_interface=DBUS_PROPS, timeout=TIMEOUT) + + if network_type == NetworkType.wifi: + if metered_prop in [NMMetered.NM_METERED_YES, NMMetered.NM_METERED_GUESS_YES]: + return True + elif network_type in [NetworkType.cell2G, NetworkType.cell3G, NetworkType.cell4G, NetworkType.cell5G]: + if metered_prop == NMMetered.NM_METERED_NO: + return False + except Exception: + pass + + return super().get_network_metered(network_type) + + def get_modem_version(self): + try: + modem = self.get_modem() + return modem.Get(MM_MODEM, 'Revision', dbus_interface=DBUS_PROPS, timeout=TIMEOUT) + except Exception: + return None + + def get_modem_nv(self): + timeout = 0.2 # Default timeout is too short + files = ( + '/nv/item_files/modem/mmode/ue_usage_setting', + '/nv/item_files/ims/IMS_enable', + '/nv/item_files/modem/mmode/sms_only', + ) + try: + modem = self.get_modem() + return { fn: str(modem.Command(f'AT+QNVFR="{fn}"', math.ceil(timeout), dbus_interface=MM_MODEM, timeout=timeout)) for fn in files} + except Exception: + return None + + def get_modem_temperatures(self): + timeout = 0.2 # Default timeout is too short + try: + modem = self.get_modem() + temps = modem.Command("AT+QTEMP", math.ceil(timeout), dbus_interface=MM_MODEM, timeout=timeout) + return list(map(int, temps.split(' ')[1].split(','))) + except Exception: + return [] + + def get_nvme_temperatures(self): + ret = [] + try: + out = subprocess.check_output("sudo smartctl -aj /dev/nvme0", shell=True) + dat = json.loads(out) + ret = list(map(int, dat["nvme_smart_health_information_log"]["temperature_sensors"])) + except Exception: + pass + return ret + + def get_current_power_draw(self): + return (self.read_param_file("/sys/class/hwmon/hwmon1/power1_input", int) / 1e6) + + def get_som_power_draw(self): + return (self.read_param_file("/sys/class/power_supply/bms/voltage_now", int) * self.read_param_file("/sys/class/power_supply/bms/current_now", int) / 1e12) + + def shutdown(self): + os.system("sudo poweroff") + + def get_thermal_config(self): + return ThermalConfig(cpu=(["cpu%d-silver-usr" % i for i in range(4)] + + ["cpu%d-gold-usr" % i for i in range(4)], 1000), + gpu=(("gpu0-usr", "gpu1-usr"), 1000), + mem=("ddr-usr", 1000), + bat=(None, 1), + pmic=(("pm8998_tz", "pm8005_tz"), 1000)) + + def set_screen_brightness(self, percentage): + try: + with open("/sys/class/backlight/panel0-backlight/max_brightness") as f: + max_brightness = float(f.read().strip()) + + val = int(percentage * (max_brightness / 100.)) + with open("/sys/class/backlight/panel0-backlight/brightness", "w") as f: + f.write(str(val)) + except Exception: + pass + + def get_screen_brightness(self): + try: + with open("/sys/class/backlight/panel0-backlight/max_brightness") as f: + max_brightness = float(f.read().strip()) + + with open("/sys/class/backlight/panel0-backlight/brightness") as f: + return int(float(f.read()) / (max_brightness / 100.)) + except Exception: + return 0 + + def set_power_save(self, powersave_enabled): + # amplifier, 100mW at idle + if self.amplifier is not None: + self.amplifier.set_global_shutdown(amp_disabled=powersave_enabled) + if not powersave_enabled: + self.amplifier.initialize_configuration(self.get_device_type()) + + # *** CPU config *** + + # offline big cluster, leave core 4 online for pandad + for i in range(4, 8): + val = '0' if powersave_enabled else '1' + sudo_write(val, f'/sys/devices/system/cpu/cpu{i}/online') + + for n in ('0', '4'): + if powersave_enabled and n == '4': + continue + gov = 'ondemand' if powersave_enabled else 'performance' + sudo_write(gov, f'/sys/devices/system/cpu/cpufreq/policy{n}/scaling_governor') + + # *** IRQ config *** + + # GPU + affine_irq(5, "kgsl-3d0") + + # camerad core + camera_irqs = ("cci", "cpas_camnoc", "cpas-cdm", "csid", "ife", "csid-lite", "ife-lite") + for n in camera_irqs: + affine_irq(5, n) + + def get_gpu_usage_percent(self): + try: + with open('/sys/class/kgsl/kgsl-3d0/gpubusy') as f: + used, total = f.read().strip().split() + return 100.0 * int(used) / int(total) + except Exception: + return 0 + + def initialize_hardware(self): + if self.amplifier is not None: + self.amplifier.initialize_configuration(self.get_device_type()) + + # Allow hardwared to write engagement status to kmsg + os.system("sudo chmod a+w /dev/kmsg") + + # Ensure fan gpio is enabled so fan runs until shutdown, also turned on at boot by the ABL + gpio_init(GPIO.SOM_ST_IO, True) + gpio_set(GPIO.SOM_ST_IO, 1) + + # *** IRQ config *** + + # mask off big cluster from default affinity + sudo_write("f", "/proc/irq/default_smp_affinity") + + # move these off the default core + affine_irq(1, "msm_drm") # display + affine_irq(1, "msm_vidc") # encoders + affine_irq(1, "i2c_geni") # sensors + + # *** GPU config *** + # https://github.com/commaai/agnos-kernel-sdm845/blob/master/arch/arm64/boot/dts/qcom/sdm845-gpu.dtsi#L216 + sudo_write("1", "/sys/class/kgsl/kgsl-3d0/min_pwrlevel") + sudo_write("1", "/sys/class/kgsl/kgsl-3d0/max_pwrlevel") + sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_bus_on") + sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_clk_on") + sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_rail_on") + sudo_write("1000", "/sys/class/kgsl/kgsl-3d0/idle_timer") + sudo_write("performance", "/sys/class/kgsl/kgsl-3d0/devfreq/governor") + sudo_write("710", "/sys/class/kgsl/kgsl-3d0/max_clock_mhz") + + # setup governors + sudo_write("performance", "/sys/class/devfreq/soc:qcom,cpubw/governor") + sudo_write("performance", "/sys/class/devfreq/soc:qcom,memlat-cpu0/governor") + sudo_write("performance", "/sys/class/devfreq/soc:qcom,memlat-cpu4/governor") + + # *** VIDC (encoder) config *** + sudo_write("N", "/sys/kernel/debug/msm_vidc/clock_scaling") + sudo_write("Y", "/sys/kernel/debug/msm_vidc/disable_thermal_mitigation") + + # pandad core + affine_irq(3, "spi_geni") # SPI + if "tici" in self.get_device_type(): + affine_irq(3, "xhci-hcd:usb3") # aux panda USB (or potentially anything else on USB) + affine_irq(3, "xhci-hcd:usb1") # internal panda USB (also modem) + try: + pid = subprocess.check_output(["pgrep", "-f", "spi0"], encoding='utf8').strip() + subprocess.call(["sudo", "chrt", "-f", "-p", "1", pid]) + subprocess.call(["sudo", "taskset", "-pc", "3", pid]) + except subprocess.CalledProcessException as e: + print(str(e)) + + def configure_modem(self): + sim_id = self.get_sim_info().get('sim_id', '') + + modem = self.get_modem() + try: + manufacturer = str(modem.Get(MM_MODEM, 'Manufacturer', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)) + except Exception: + manufacturer = None + + cmds = [] + if manufacturer == 'Cavli Inc.': + cmds += [ + # use sim slot + 'AT^SIMSWAP=1', + + # ethernet config + 'AT$QCPCFG=usbNet,0', + 'AT$QCNETDEVCTL=3,1', + ] + else: + cmds += [ + # configure modem as data-centric + 'AT+QNVW=5280,0,"0102000000000000"', + 'AT+QNVFW="/nv/item_files/ims/IMS_enable",00', + 'AT+QNVFW="/nv/item_files/modem/mmode/ue_usage_setting",01', + ] + if self.get_device_type() == "tizi": + cmds += [ + # SIM hot swap + 'AT+QSIMDET=1,0', + 'AT+QSIMSTAT=1', + ] + + # clear out old blue prime initial APN + os.system('mmcli -m any --3gpp-set-initial-eps-bearer-settings="apn="') + for cmd in cmds: + try: + modem.Command(cmd, math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT) + except Exception: + pass + + # eSIM prime + if sim_id.startswith('8985235'): + dest = "/etc/NetworkManager/system-connections/esim.nmconnection" + with open(Path(__file__).parent/'esim.nmconnection') as f, tempfile.NamedTemporaryFile(mode='w') as tf: + dat = f.read() + dat = dat.replace("sim-id=", f"sim-id={sim_id}") + tf.write(dat) + tf.flush() + + # needs to be root + os.system(f"sudo cp {tf.name} {dest}") + os.system(f"sudo nmcli con load {dest}") + + def get_networks(self): + r = {} + + wlan = iwlist.scan() + if wlan is not None: + r['wlan'] = wlan + + lte_info = self.get_network_info() + if lte_info is not None: + extra = lte_info['extra'] + + # ,"LTE",,,,,,,, + # ,,,,,,, + if 'LTE' in extra: + extra = extra.split(',') + try: + r['lte'] = [{ + "mcc": int(extra[3]), + "mnc": int(extra[4]), + "cid": int(extra[5], 16), + "nmr": [{"pci": int(extra[6]), "earfcn": int(extra[7])}], + }] + except (ValueError, IndexError): + pass + + return r + + def get_modem_data_usage(self): + try: + wwan = self.get_wwan() + + # Ensure refresh rate is set so values don't go stale + refresh_rate = wwan.Get(NM_DEV_STATS, 'RefreshRateMs', dbus_interface=DBUS_PROPS, timeout=TIMEOUT) + if refresh_rate != REFRESH_RATE_MS: + u = type(refresh_rate) + wwan.Set(NM_DEV_STATS, 'RefreshRateMs', u(REFRESH_RATE_MS), dbus_interface=DBUS_PROPS, timeout=TIMEOUT) + + tx = wwan.Get(NM_DEV_STATS, 'TxBytes', dbus_interface=DBUS_PROPS, timeout=TIMEOUT) + rx = wwan.Get(NM_DEV_STATS, 'RxBytes', dbus_interface=DBUS_PROPS, timeout=TIMEOUT) + return int(tx), int(rx) + except Exception: + return -1, -1 + + def has_internal_panda(self): + return True + + def reset_internal_panda(self): + gpio_init(GPIO.STM_RST_N, True) + gpio_init(GPIO.STM_BOOT0, True) + + gpio_set(GPIO.STM_RST_N, 1) + gpio_set(GPIO.STM_BOOT0, 0) + time.sleep(1) + gpio_set(GPIO.STM_RST_N, 0) + + def recover_internal_panda(self): + gpio_init(GPIO.STM_RST_N, True) + gpio_init(GPIO.STM_BOOT0, True) + + gpio_set(GPIO.STM_RST_N, 1) + gpio_set(GPIO.STM_BOOT0, 1) + time.sleep(0.5) + gpio_set(GPIO.STM_RST_N, 0) + time.sleep(0.5) + gpio_set(GPIO.STM_BOOT0, 0) + + def booted(self): + # this normally boots within 8s, but on rare occasions takes 30+s + encoder_state = sudo_read("/sys/kernel/debug/msm_vidc/core0/info") + if "Core state: 0" in encoder_state and (time.monotonic() < 60*2): + return False + return True + +if __name__ == "__main__": + t = Tici() + t.configure_modem() + t.initialize_hardware() + t.set_power_save(False) diff --git a/system/hardware/tici/id_rsa b/system/hardware/tici/id_rsa new file mode 100644 index 0000000000..3f269afe22 --- /dev/null +++ b/system/hardware/tici/id_rsa @@ -0,0 +1,28 @@ +-----BEGIN RSA PRIVATE KEY----- +MIIEvAIBADANBgkqhkiG9w0BAQEFAASCBKYwggSiAgEAAoIBAQC+iXXq30Tq+J5N +Kat3KWHCzcmwZ55nGh6WggAqECa5CasBlM9VeROpVu3beA+5h0MibRgbD4DMtVXB +t6gEvZ8nd04E7eLA9LTZyFDZ7SkSOVj4oXOQsT0GnJmKrASW5KslTWqVzTfo2XCt +Z+004ikLxmyFeBO8NOcErW1pa8gFdQDToH9FrA7kgysic/XVESTOoe7XlzRoe/eZ +acEQ+jtnmFd21A4aEADkk00Ahjr0uKaJiLUAPatxs2icIXWpgYtfqqtaKF23wSt6 +1OTu6cAwXbOWr3m+IUSRUO0IRzEIQS3z1jfd1svgzSgSSwZ1Lhj4AoKxIEAIc8qJ +rO4uymCJAgMBAAECggEBAISFevxHGdoL3Z5xkw6oO5SQKO2GxEeVhRzNgmu/HA+q +x8OryqD6O1CWY4037kft6iWxlwiLOdwna2P25ueVM3LxqdQH2KS4DmlCx+kq6FwC +gv063fQPMhC9LpWimvaQSPEC7VUPjQlo4tPY6sTTYBUOh0A1ihRm/x7juKuQCWix +Cq8C/DVnB1X4mGj+W3nJc5TwVJtgJbbiBrq6PWrhvB/3qmkxHRL7dU2SBb2iNRF1 +LLY30dJx/cD73UDKNHrlrsjk3UJc29Mp4/MladKvUkRqNwlYxSuAtJV0nZ3+iFkL +s3adSTHdJpClQer45R51rFDlVsDz2ZBpb/hRNRoGDuECgYEA6A1EixLq7QYOh3cb +Xhyh3W4kpVvA/FPfKH1OMy3ONOD/Y9Oa+M/wthW1wSoRL2n+uuIW5OAhTIvIEivj +6bAZsTT3twrvOrvYu9rx9aln4p8BhyvdjeW4kS7T8FP5ol6LoOt2sTP3T1LOuJPO +uQvOjlKPKIMh3c3RFNWTnGzMPa0CgYEA0jNiPLxP3A2nrX0keKDI+VHuvOY88gdh +0W5BuLMLovOIDk9aQFIbBbMuW1OTjHKv9NK+Lrw+YbCFqOGf1dU/UN5gSyE8lX/Q +FsUGUqUZx574nJZnOIcy3ONOnQLcvHAQToLFAGUd7PWgP3CtHkt9hEv2koUwL4vo +ikTP1u9Gkc0CgYEA2apoWxPZrY963XLKBxNQecYxNbLFaWq67t3rFnKm9E8BAICi +4zUaE5J1tMVi7Vi9iks9Ml9SnNyZRQJKfQ+kaebHXbkyAaPmfv+26rqHKboA0uxA +nDOZVwXX45zBkp6g1sdHxJx8JLoGEnkC9eyvSi0C//tRLx86OhLErXwYcNkCf1it +VMRKrWYoXJTUNo6tRhvodM88UnnIo3u3CALjhgU4uC1RTMHV4ZCGBwiAOb8GozSl +s5YD1E1iKwEULloHnK6BIh6P5v8q7J6uf/xdqoKMjlWBHgq6/roxKvkSPA1DOZ3l +jTadcgKFnRUmc+JT9p/ZbCxkA/ALFg8++G+0ghECgYA8vG3M/utweLvq4RI7l7U7 +b+i2BajfK2OmzNi/xugfeLjY6k2tfQGRuv6ppTjehtji2uvgDWkgjJUgPfZpir3I +RsVMUiFgloWGHETOy0Qvc5AwtqTJFLTD1Wza2uBilSVIEsg6Y83Gickh+ejOmEsY +6co17RFaAZHwGfCFFjO76Q== +-----END RSA PRIVATE KEY----- diff --git a/system/hardware/tici/iwlist.py b/system/hardware/tici/iwlist.py new file mode 100644 index 0000000000..1e7c428b40 --- /dev/null +++ b/system/hardware/tici/iwlist.py @@ -0,0 +1,35 @@ +import subprocess + + +def scan(interface="wlan0"): + result = [] + try: + r = subprocess.check_output(["iwlist", interface, "scan"], encoding='utf8') + + mac = None + for line in r.split('\n'): + if "Address" in line: + # Based on the adapter eithere a percentage or dBm is returned + # Add previous network in case no dBm signal level was seen + if mac is not None: + result.append({"mac": mac}) + mac = None + + mac = line.split(' ')[-1] + elif "dBm" in line: + try: + level = line.split('Signal level=')[1] + rss = int(level.split(' ')[0]) + result.append({"mac": mac, "rss": rss}) + mac = None + except ValueError: + continue + + # Add last network if no dBm was found + if mac is not None: + result.append({"mac": mac}) + + return result + + except Exception: + return None diff --git a/system/hardware/tici/pins.py b/system/hardware/tici/pins.py new file mode 100644 index 0000000000..4388351e1f --- /dev/null +++ b/system/hardware/tici/pins.py @@ -0,0 +1,30 @@ +# TODO: these are also defined in a header + +# GPIO pin definitions +class GPIO: + # both GPIO_STM_RST_N and GPIO_LTE_RST_N are misnamed, they are high to reset + HUB_RST_N = 30 + UBLOX_RST_N = 32 + UBLOX_SAFEBOOT_N = 33 + GNSS_PWR_EN = 34 # SCHEMATIC LABEL: GPIO_UBLOX_PWR_EN + STM_RST_N = 124 + STM_BOOT0 = 134 + + SIREN = 42 + SOM_ST_IO = 49 + + LTE_RST_N = 50 + LTE_PWRKEY = 116 + LTE_BOOT = 52 + + # GPIO_CAM0_DVDD_EN = /sys/kernel/debug/regulator/camera_rear_ldo + CAM0_AVDD_EN = 8 + CAM0_RSTN = 9 + CAM1_RSTN = 7 + CAM2_RSTN = 12 + + # Sensor interrupts + BMX055_ACCEL_INT = 21 + BMX055_GYRO_INT = 23 + BMX055_MAGN_INT = 87 + LSM_INT = 84 diff --git a/system/hardware/tici/power_monitor.py b/system/hardware/tici/power_monitor.py new file mode 100755 index 0000000000..296290dae8 --- /dev/null +++ b/system/hardware/tici/power_monitor.py @@ -0,0 +1,66 @@ +#!/usr/bin/env python3 +import sys +import time +import datetime +import numpy as np +from collections import deque + +from openpilot.common.realtime import Ratekeeper +from openpilot.common.filter_simple import FirstOrderFilter + + +def read_power(): + with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/power1_input") as f: + return int(f.read()) / 1e6 + +def sample_power(seconds=5) -> list[float]: + rate = 123 + rk = Ratekeeper(rate, print_delay_threshold=None) + + pwrs = [] + for _ in range(rate*seconds): + pwrs.append(read_power()) + rk.keep_time() + return pwrs + +def get_power(seconds=5): + pwrs = sample_power(seconds) + return np.mean(pwrs) + +def wait_for_power(min_pwr, max_pwr, min_secs_in_range, timeout): + start_time = time.monotonic() + pwrs = deque([min_pwr - 1.]*min_secs_in_range, maxlen=min_secs_in_range) + while (time.monotonic() - start_time < timeout): + pwrs.append(get_power(1)) + if all(min_pwr <= p <= max_pwr for p in pwrs): + break + return np.mean(pwrs) + + +if __name__ == "__main__": + duration = None + if len(sys.argv) > 1: + duration = int(sys.argv[1]) + + rate = 23 + rk = Ratekeeper(rate, print_delay_threshold=None) + fltr = FirstOrderFilter(0, 5, 1. / rate, initialized=False) + + measurements = [] + start_time = time.monotonic() + + try: + while duration is None or time.monotonic() - start_time < duration: + fltr.update(read_power()) + if rk.frame % rate == 0: + measurements.append(fltr.x) + t = datetime.timedelta(seconds=time.monotonic() - start_time) + avg = sum(measurements) / len(measurements) + print(f"Now: {fltr.x:.2f} W, Avg: {avg:.2f} W over {t}") + rk.keep_time() + except KeyboardInterrupt: + pass + + t = datetime.timedelta(seconds=time.monotonic() - start_time) + avg = sum(measurements) / len(measurements) + print(f"\nAverage power: {avg:.2f}W over {t}") diff --git a/system/hardware/tici/precise_power_measure.py b/system/hardware/tici/precise_power_measure.py new file mode 100755 index 0000000000..52fe0850ab --- /dev/null +++ b/system/hardware/tici/precise_power_measure.py @@ -0,0 +1,9 @@ +#!/usr/bin/env python3 +import numpy as np +from openpilot.system.hardware.tici.power_monitor import sample_power + +if __name__ == '__main__': + print("measuring for 5 seconds") + for _ in range(3): + pwrs = sample_power() + print(f"mean {np.mean(pwrs):.2f} std {np.std(pwrs):.2f}") diff --git a/system/hardware/tici/restart_modem.sh b/system/hardware/tici/restart_modem.sh new file mode 100755 index 0000000000..3c67d9d21d --- /dev/null +++ b/system/hardware/tici/restart_modem.sh @@ -0,0 +1,18 @@ +#!/usr/bin/bash + +#nmcli connection modify --temporary lte gsm.home-only yes +#nmcli connection modify --temporary lte gsm.auto-config yes +#nmcli connection modify --temporary lte connection.autoconnect-retries 20 +sudo nmcli connection reload + +sudo systemctl stop ModemManager +nmcli con down lte +nmcli con down blue-prime + +# power cycle modem +/usr/comma/lte/lte.sh stop_blocking +/usr/comma/lte/lte.sh start + +sudo systemctl restart NetworkManager +#sudo systemctl restart ModemManager +sudo ModemManager --debug diff --git a/system/hardware/tici/updater b/system/hardware/tici/updater new file mode 100755 index 0000000000..1c57751200 Binary files /dev/null and b/system/hardware/tici/updater differ diff --git a/system/logcatd/.gitignore b/system/logcatd/.gitignore new file mode 100644 index 0000000000..c66f7622d9 --- /dev/null +++ b/system/logcatd/.gitignore @@ -0,0 +1 @@ +logcatd diff --git a/system/logcatd/logcatd b/system/logcatd/logcatd new file mode 100755 index 0000000000..84ebc08d39 Binary files /dev/null and b/system/logcatd/logcatd differ diff --git a/system/loggerd/.gitignore b/system/loggerd/.gitignore new file mode 100644 index 0000000000..53dc24e6f2 --- /dev/null +++ b/system/loggerd/.gitignore @@ -0,0 +1,4 @@ +loggerd +encoderd +bootlog +tests/test_logger diff --git a/system/loggerd/__init__.py b/system/loggerd/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog new file mode 100755 index 0000000000..e365575d70 Binary files /dev/null and b/system/loggerd/bootlog differ diff --git a/system/loggerd/config.py b/system/loggerd/config.py new file mode 100644 index 0000000000..5c2c89b73f --- /dev/null +++ b/system/loggerd/config.py @@ -0,0 +1,29 @@ +import os +from openpilot.system.hardware.hw import Paths + + +CAMERA_FPS = 20 +SEGMENT_LENGTH = 60 + +STATS_DIR_FILE_LIMIT = 10000 +STATS_SOCKET = "ipc:///tmp/stats" +STATS_FLUSH_TIME_S = 60 + +def get_available_percent(default=None): + try: + statvfs = os.statvfs(Paths.log_root()) + available_percent = 100.0 * statvfs.f_bavail / statvfs.f_blocks + except OSError: + available_percent = default + + return available_percent + + +def get_available_bytes(default=None): + try: + statvfs = os.statvfs(Paths.log_root()) + available_bytes = statvfs.f_bavail * statvfs.f_frsize + except OSError: + available_bytes = default + + return available_bytes diff --git a/system/loggerd/deleter.py b/system/loggerd/deleter.py new file mode 100755 index 0000000000..7d83b490b0 --- /dev/null +++ b/system/loggerd/deleter.py @@ -0,0 +1,84 @@ +#!/usr/bin/env python3 +import os +import shutil +import threading +from openpilot.system.hardware.hw import Paths +from openpilot.common.swaglog import cloudlog +from openpilot.system.loggerd.config import get_available_bytes, get_available_percent +from openpilot.system.loggerd.uploader import listdir_by_creation +from openpilot.system.loggerd.xattr_cache import getxattr + +MIN_BYTES = 5 * 1024 * 1024 * 1024 +MIN_PERCENT = 10 + +DELETE_LAST = ['boot', 'crash'] + +PRESERVE_ATTR_NAME = 'user.preserve' +PRESERVE_ATTR_VALUE = b'1' +PRESERVE_COUNT = 5 + + +def has_preserve_xattr(d: str) -> bool: + return getxattr(os.path.join(Paths.log_root(), d), PRESERVE_ATTR_NAME) == PRESERVE_ATTR_VALUE + + +def get_preserved_segments(dirs_by_creation: list[str]) -> list[str]: + preserved = [] + for n, d in enumerate(filter(has_preserve_xattr, reversed(dirs_by_creation))): + if n == PRESERVE_COUNT: + break + date_str, _, seg_str = d.rpartition("--") + + # ignore non-segment directories + if not date_str: + continue + try: + seg_num = int(seg_str) + except ValueError: + continue + + # preserve segment and two prior + for _seg_num in range(max(0, seg_num - 2), seg_num + 1): + preserved.append(f"{date_str}--{_seg_num}") + + return preserved + + +def deleter_thread(exit_event): + while not exit_event.is_set(): + out_of_bytes = get_available_bytes(default=MIN_BYTES + 1) < MIN_BYTES + out_of_percent = get_available_percent(default=MIN_PERCENT + 1) < MIN_PERCENT + + if out_of_percent or out_of_bytes: + dirs = listdir_by_creation(Paths.log_root()) + + # skip deleting most recent N preserved segments (and their prior segment) + preserved_dirs = get_preserved_segments(dirs) + + # remove the earliest directory we can + for delete_dir in sorted(dirs, key=lambda d: (d in DELETE_LAST, d in preserved_dirs)): + delete_path = os.path.join(Paths.log_root(), delete_dir) + + if any(name.endswith(".lock") for name in os.listdir(delete_path)): + continue + + try: + cloudlog.info(f"deleting {delete_path}") + if os.path.isfile(delete_path): + os.remove(delete_path) + else: + shutil.rmtree(delete_path) + break + except OSError: + cloudlog.exception(f"issue deleting {delete_path}") + exit_event.wait(.1) + else: + exit_event.wait(30) + + +def main(): + deleter_thread(threading.Event()) + + +if __name__ == "__main__": + main() diff --git a/system/loggerd/encoder/encoder.h b/system/loggerd/encoder/encoder.h new file mode 100644 index 0000000000..72848609ef --- /dev/null +++ b/system/loggerd/encoder/encoder.h @@ -0,0 +1,39 @@ +#pragma once + +#include +#include +#include +#include +#include + +#include "cereal/messaging/messaging.h" +#include "msgq/visionipc/visionipc.h" +#include "common/queue.h" +#include "system/camerad/cameras/camera_common.h" +#include "system/loggerd/loggerd.h" + +#define V4L2_BUF_FLAG_KEYFRAME 8 + +class VideoEncoder { +public: + VideoEncoder(const EncoderInfo &encoder_info, int in_width, int in_height); + virtual ~VideoEncoder() {} + virtual int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) = 0; + virtual void encoder_open(const char* path) = 0; + virtual void encoder_close() = 0; + + void publisher_publish(VideoEncoder *e, int segment_num, uint32_t idx, VisionIpcBufExtra &extra, unsigned int flags, kj::ArrayPtr header, kj::ArrayPtr dat); + +protected: + void publish_thumbnail(uint32_t frame_id, uint64_t timestamp_eof, kj::ArrayPtr dat); + + int in_width, in_height; + int out_width, out_height; + const EncoderInfo encoder_info; + +private: + // total frames encoded + int cnt = 0; + std::unique_ptr pm; + std::vector msg_cache; +}; diff --git a/system/loggerd/encoder/ffmpeg_encoder.h b/system/loggerd/encoder/ffmpeg_encoder.h new file mode 100644 index 0000000000..9e45a3d82d --- /dev/null +++ b/system/loggerd/encoder/ffmpeg_encoder.h @@ -0,0 +1,34 @@ +#pragma once + +#include +#include +#include +#include + +extern "C" { +#include +#include +#include +} + +#include "system/loggerd/encoder/encoder.h" +#include "system/loggerd/loggerd.h" + +class FfmpegEncoder : public VideoEncoder { +public: + FfmpegEncoder(const EncoderInfo &encoder_info, int in_width, int in_height); + ~FfmpegEncoder(); + int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra); + void encoder_open(const char* path); + void encoder_close(); + +private: + int segment_num = -1; + int counter = 0; + bool is_open = false; + + AVCodecContext *codec_ctx; + AVFrame *frame = NULL; + std::vector convert_buf; + std::vector downscale_buf; +}; diff --git a/system/loggerd/encoder/v4l_encoder.h b/system/loggerd/encoder/v4l_encoder.h new file mode 100644 index 0000000000..9336bf3d8b --- /dev/null +++ b/system/loggerd/encoder/v4l_encoder.h @@ -0,0 +1,30 @@ +#pragma once + +#include "common/queue.h" +#include "system/loggerd/encoder/encoder.h" + +#define BUF_IN_COUNT 7 +#define BUF_OUT_COUNT 6 + +class V4LEncoder : public VideoEncoder { +public: + V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_height); + ~V4LEncoder(); + int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra); + void encoder_open(const char* path); + void encoder_close(); +private: + int fd; + + bool is_open = false; + int segment_num = -1; + int counter = 0; + + SafeQueue extras; + + static void dequeue_handler(V4LEncoder *e); + std::thread dequeue_handler_thread; + + VisionBuf buf_out[BUF_OUT_COUNT]; + SafeQueue free_buf_in; +}; diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd new file mode 100755 index 0000000000..69e5aff77e Binary files /dev/null and b/system/loggerd/encoderd differ diff --git a/system/loggerd/logger.h b/system/loggerd/logger.h new file mode 100644 index 0000000000..954be515bf --- /dev/null +++ b/system/loggerd/logger.h @@ -0,0 +1,56 @@ +#pragma once + +#include +#include +#include + +#include "cereal/messaging/messaging.h" +#include "common/util.h" +#include "system/hardware/hw.h" + +class RawFile { + public: + RawFile(const std::string &path) { + file = util::safe_fopen(path.c_str(), "wb"); + assert(file != nullptr); + } + ~RawFile() { + util::safe_fflush(file); + int err = fclose(file); + assert(err == 0); + } + inline void write(void* data, size_t size) { + int written = util::safe_fwrite(data, 1, size, file); + assert(written == size); + } + inline void write(kj::ArrayPtr array) { write(array.begin(), array.size()); } + + private: + FILE* file = nullptr; +}; + +typedef cereal::Sentinel::SentinelType SentinelType; + + +class LoggerState { +public: + LoggerState(const std::string& log_root = Path::log_root()); + ~LoggerState(); + bool next(); + void write(uint8_t* data, size_t size, bool in_qlog); + inline int segment() const { return part; } + inline const std::string& segmentPath() const { return segment_path; } + inline const std::string& routeName() const { return route_name; } + inline void write(kj::ArrayPtr bytes, bool in_qlog) { write(bytes.begin(), bytes.size(), in_qlog); } + inline void setExitSignal(int signal) { exit_signal = signal; } + +protected: + int part = -1, exit_signal = 0; + std::string route_path, route_name, segment_path, lock_file; + kj::Array init_data; + std::unique_ptr rlog, qlog; +}; + +kj::Array logger_build_init_data(); +kj::Array logger_build_params_data_car_start(); +std::string logger_get_identifier(std::string key); diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd new file mode 100755 index 0000000000..5d604eef76 Binary files /dev/null and b/system/loggerd/loggerd differ diff --git a/system/loggerd/loggerd.h b/system/loggerd/loggerd.h new file mode 100644 index 0000000000..086fd6732b --- /dev/null +++ b/system/loggerd/loggerd.h @@ -0,0 +1,159 @@ +#pragma once + +#include + +#include "cereal/messaging/messaging.h" +#include "cereal/services.h" +#include "msgq/visionipc/visionipc_client.h" +#include "system/camerad/cameras/camera_common.h" +#include "system/hardware/hw.h" +#include "common/params.h" +#include "common/swaglog.h" +#include "common/util.h" + +#include "system/loggerd/logger.h" + +constexpr int MAIN_FPS = 20; +const int MAIN_BITRATE = 1e7; +const int LIVESTREAM_BITRATE = 1e6; +const int QCAM_BITRATE = 256000; + +#define NO_CAMERA_PATIENCE 500 // fall back to time-based rotation if all cameras are dead + +#define INIT_ENCODE_FUNCTIONS(encode_type) \ + .get_encode_data_func = &cereal::Event::Reader::get##encode_type##Data, \ + .set_encode_idx_func = &cereal::Event::Builder::set##encode_type##Idx, \ + .init_encode_data_func = &cereal::Event::Builder::init##encode_type##Data + +const bool LOGGERD_TEST = getenv("LOGGERD_TEST"); +const int SEGMENT_LENGTH = LOGGERD_TEST ? atoi(getenv("LOGGERD_SEGMENT_LENGTH")) : 60; + +constexpr char PRESERVE_ATTR_NAME[] = "user.preserve"; +constexpr char PRESERVE_ATTR_VALUE = '1'; +class EncoderInfo { +public: + const char *publish_name; + const char *thumbnail_name = NULL; + const char *filename = NULL; + bool record = true; + int frame_width = -1; + int frame_height = -1; + int fps = MAIN_FPS; + int bitrate = MAIN_BITRATE; + cereal::EncodeIndex::Type encode_type = Hardware::PC() ? cereal::EncodeIndex::Type::BIG_BOX_LOSSLESS + : cereal::EncodeIndex::Type::FULL_H_E_V_C; + ::cereal::EncodeData::Reader (cereal::Event::Reader::*get_encode_data_func)() const; + void (cereal::Event::Builder::*set_encode_idx_func)(::cereal::EncodeIndex::Reader); + cereal::EncodeData::Builder (cereal::Event::Builder::*init_encode_data_func)(); +}; + +class LogCameraInfo { +public: + const char *thread_name; + int fps = MAIN_FPS; + CameraType type; + VisionStreamType stream_type; + std::vector encoder_infos; +}; + +const EncoderInfo main_road_encoder_info = { + .publish_name = "roadEncodeData", + .filename = "fcamera.hevc", + INIT_ENCODE_FUNCTIONS(RoadEncode), +}; + +const EncoderInfo main_wide_road_encoder_info = { + .publish_name = "wideRoadEncodeData", + .filename = "ecamera.hevc", + INIT_ENCODE_FUNCTIONS(WideRoadEncode), +}; + +const EncoderInfo main_driver_encoder_info = { + .publish_name = "driverEncodeData", + .filename = "dcamera.hevc", + .record = Params().getBool("RecordFront"), + INIT_ENCODE_FUNCTIONS(DriverEncode), +}; + +const EncoderInfo stream_road_encoder_info = { + .publish_name = "livestreamRoadEncodeData", + //.thumbnail_name = "thumbnail", + .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, + .record = false, + .bitrate = LIVESTREAM_BITRATE, + INIT_ENCODE_FUNCTIONS(LivestreamRoadEncode), +}; + +const EncoderInfo stream_wide_road_encoder_info = { + .publish_name = "livestreamWideRoadEncodeData", + .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, + .record = false, + .bitrate = LIVESTREAM_BITRATE, + INIT_ENCODE_FUNCTIONS(LivestreamWideRoadEncode), +}; + +const EncoderInfo stream_driver_encoder_info = { + .publish_name = "livestreamDriverEncodeData", + .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, + .record = false, + .bitrate = LIVESTREAM_BITRATE, + INIT_ENCODE_FUNCTIONS(LivestreamDriverEncode), +}; + +const EncoderInfo qcam_encoder_info = { + .publish_name = "qRoadEncodeData", + .filename = "qcamera.ts", + .bitrate = QCAM_BITRATE, + .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, + .frame_width = 526, + .frame_height = 330, + INIT_ENCODE_FUNCTIONS(QRoadEncode), +}; + +const LogCameraInfo road_camera_info{ + .thread_name = "road_cam_encoder", + .type = RoadCam, + .stream_type = VISION_STREAM_ROAD, + .encoder_infos = {main_road_encoder_info, qcam_encoder_info} +}; + +const LogCameraInfo wide_road_camera_info{ + .thread_name = "wide_road_cam_encoder", + .type = WideRoadCam, + .stream_type = VISION_STREAM_WIDE_ROAD, + .encoder_infos = {main_wide_road_encoder_info} +}; + +const LogCameraInfo driver_camera_info{ + .thread_name = "driver_cam_encoder", + .type = DriverCam, + .stream_type = VISION_STREAM_DRIVER, + .encoder_infos = {main_driver_encoder_info} +}; + +const LogCameraInfo stream_road_camera_info{ + .thread_name = "road_cam_encoder", + .type = RoadCam, + .stream_type = VISION_STREAM_ROAD, + .encoder_infos = {stream_road_encoder_info} +}; + +const LogCameraInfo stream_wide_road_camera_info{ + .thread_name = "wide_road_cam_encoder", + .type = WideRoadCam, + .stream_type = VISION_STREAM_WIDE_ROAD, + .encoder_infos = {stream_wide_road_encoder_info} +}; + +const LogCameraInfo stream_driver_camera_info{ + .thread_name = "driver_cam_encoder", + .type = DriverCam, + .stream_type = VISION_STREAM_DRIVER, + .encoder_infos = {stream_driver_encoder_info} +}; + +const LogCameraInfo cameras_logged[] = {road_camera_info, wide_road_camera_info, driver_camera_info}; +const LogCameraInfo stream_cameras_logged[] = {stream_road_camera_info, stream_wide_road_camera_info, stream_driver_camera_info}; + +const LogCameraInfo cameras_logged_no_dcam[] = {road_camera_info, wide_road_camera_info, driver_camera_info}; +const LogCameraInfo stream_cameras_logged_no_dcam[] = {stream_road_camera_info, stream_wide_road_camera_info, stream_driver_camera_info}; diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py new file mode 100755 index 0000000000..80f0a1b8e1 --- /dev/null +++ b/system/loggerd/uploader.py @@ -0,0 +1,296 @@ +#!/usr/bin/env python3 +import io +import json +import os +import random +import requests +import threading +import time +import traceback +import datetime +import zstandard as zstd +from collections.abc import Iterator + +from cereal import log +import cereal.messaging as messaging +from openpilot.common.api import Api +from openpilot.common.params import Params +from openpilot.common.realtime import set_core_affinity +from openpilot.system.hardware.hw import Paths +from openpilot.system.loggerd.xattr_cache import getxattr, setxattr +from openpilot.common.swaglog import cloudlog + +NetworkType = log.DeviceState.NetworkType +UPLOAD_ATTR_NAME = 'user.upload' +UPLOAD_ATTR_VALUE = b'1' + +UPLOAD_QLOG_QCAM_MAX_SIZE = 5 * 1e6 # MB +LOG_COMPRESSION_LEVEL = 10 # little benefit up to level 15. level ~17 is a small step change + +allow_sleep = bool(os.getenv("UPLOADER_SLEEP", "1")) +force_wifi = os.getenv("FORCEWIFI") is not None +fake_upload = os.getenv("FAKEUPLOAD") is not None + +OFFROAD_TRANSITION_TIMEOUT = 900. # wait until offroad for 15 minutes before allowing uploads + + +class FakeRequest: + def __init__(self): + self.headers = {"Content-Length": "0"} + + +class FakeResponse: + def __init__(self): + self.status_code = 200 + self.request = FakeRequest() + + +def get_directory_sort(d: str) -> list[str]: + # ensure old format is sorted sooner + o = ["0", ] if d.startswith("2024-") else ["1", ] + return o + [s.rjust(10, '0') for s in d.rsplit('--', 1)] + +def listdir_by_creation(d: str) -> list[str]: + if not os.path.isdir(d): + return [] + + try: + paths = [f for f in os.listdir(d) if os.path.isdir(os.path.join(d, f))] + paths = sorted(paths, key=get_directory_sort) + return paths + except OSError: + cloudlog.exception("listdir_by_creation failed") + return [] + +def clear_locks(root: str) -> None: + for logdir in os.listdir(root): + path = os.path.join(root, logdir) + try: + for fname in os.listdir(path): + if fname.endswith(".lock"): + os.unlink(os.path.join(path, fname)) + except OSError: + cloudlog.exception("clear_locks failed") + + +class Uploader: + def __init__(self, dongle_id: str, root: str): + self.dongle_id = dongle_id + self.api = Api(dongle_id) + self.root = root + + self.params = Params() + + # stats for last successfully uploaded file + self.last_filename = "" + + self.immediate_folders = ["crash/", "boot/"] + self.immediate_priority = {"qlog": 0, "qlog.zst": 0, "qcamera.ts": 1} + + def list_upload_files(self, metered: bool) -> Iterator[tuple[str, str, str]]: + r = self.params.get("AthenadRecentlyViewedRoutes", encoding="utf8") + requested_routes = [] if r is None else r.split(",") + + for logdir in listdir_by_creation(self.root): + path = os.path.join(self.root, logdir) + try: + names = os.listdir(path) + except OSError: + continue + + if any(name.endswith(".lock") for name in names): + continue + + for name in sorted(names, key=lambda n: self.immediate_priority.get(n, 1000)): + key = os.path.join(logdir, name) + fn = os.path.join(path, name) + # skip files already uploaded + try: + ctime = os.path.getctime(fn) + is_uploaded = getxattr(fn, UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE + except OSError: + cloudlog.event("uploader_getxattr_failed", key=key, fn=fn) + # deleter could have deleted, so skip + continue + if is_uploaded: + continue + + # limit uploading on metered connections + if metered: + dt = datetime.timedelta(hours=12) + if logdir in self.immediate_folders and (datetime.datetime.now() - datetime.datetime.fromtimestamp(ctime)) < dt: + continue + + if name == "qcamera.ts" and not any(logdir.startswith(r.split('|')[-1]) for r in requested_routes): + continue + + yield name, key, fn + + def next_file_to_upload(self, metered: bool) -> tuple[str, str, str] | None: + upload_files = list(self.list_upload_files(metered)) + + for name, key, fn in upload_files: + if any(f in fn for f in self.immediate_folders): + return name, key, fn + + for name, key, fn in upload_files: + if name in self.immediate_priority: + return name, key, fn + + return None + + def do_upload(self, key: str, fn: str): + url_resp = self.api.get("v1.4/" + self.dongle_id + "/upload_url/", timeout=10, path=key, access_token=self.api.get_token()) + if url_resp.status_code == 412: + return url_resp + + url_resp_json = json.loads(url_resp.text) + url = url_resp_json['url'] + headers = url_resp_json['headers'] + cloudlog.debug("upload_url v1.4 %s %s", url, str(headers)) + + if fake_upload: + return FakeResponse() + + with open(fn, "rb") as f: + content = f.read() + if key.endswith('.zst') and not fn.endswith('.zst'): + content = zstd.compress(content, LOG_COMPRESSION_LEVEL) + + with io.BytesIO(content) as data: + return requests.put(url, data=data, headers=headers, timeout=10) + + def upload(self, name: str, key: str, fn: str, network_type: int, metered: bool) -> bool: + try: + sz = os.path.getsize(fn) + except OSError: + cloudlog.exception("upload: getsize failed") + return False + + cloudlog.event("upload_start", key=key, fn=fn, sz=sz, network_type=network_type, metered=metered) + + if sz == 0: + # tag files of 0 size as uploaded + success = True + elif name in self.immediate_priority and sz > UPLOAD_QLOG_QCAM_MAX_SIZE: + cloudlog.event("uploader_too_large", key=key, fn=fn, sz=sz) + success = True + else: + start_time = time.monotonic() + + stat = None + last_exc = None + try: + stat = self.do_upload(key, fn) + except Exception as e: + last_exc = (e, traceback.format_exc()) + + if stat is not None and stat.status_code in (200, 201, 401, 403, 412): + self.last_filename = fn + dt = time.monotonic() - start_time + if stat.status_code == 412: + cloudlog.event("upload_ignored", key=key, fn=fn, sz=sz, network_type=network_type, metered=metered) + else: + content_length = int(stat.request.headers.get("Content-Length", 0)) + speed = (content_length / 1e6) / dt + cloudlog.event("upload_success", key=key, fn=fn, sz=sz, content_length=content_length, + network_type=network_type, metered=metered, speed=speed) + success = True + else: + success = False + cloudlog.event("upload_failed", stat=stat, exc=last_exc, key=key, fn=fn, sz=sz, network_type=network_type, metered=metered) + + if success: + # tag file as uploaded + try: + setxattr(fn, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE) + except OSError: + cloudlog.event("uploader_setxattr_failed", exc=last_exc, key=key, fn=fn, sz=sz) + + return success + + + def step(self, network_type: int, metered: bool) -> bool | None: + d = self.next_file_to_upload(metered) + if d is None: + return None + + name, key, fn = d + + # qlogs and bootlogs need to be compressed before uploading + if key.endswith(('qlog', 'rlog')) or (key.startswith('boot/') and not key.endswith('.zst')): + key += ".zst" + + return self.upload(name, key, fn, network_type, metered) + + +def main(exit_event: threading.Event = None) -> None: + if exit_event is None: + exit_event = threading.Event() + + try: + set_core_affinity([0, 1, 2, 3]) + except Exception: + cloudlog.exception("failed to set core affinity") + + clear_locks(Paths.log_root()) + + params = Params() + dongle_id = params.get("DongleId", encoding='utf8') + + offroad_transition_prev = 0. + offroad_last = False + + if dongle_id is None: + cloudlog.info("uploader missing dongle_id") + raise Exception("uploader can't start without dongle id") + + sm = messaging.SubMaster(['deviceState']) + uploader = Uploader(dongle_id, Paths.log_root()) + + backoff = 0.1 + while not exit_event.is_set(): + sm.update(0) + + offroad = params.get_bool("IsOffroad") + t = time.monotonic() + if offroad and not offroad_last and t > 300.: + offroad_transition_prev = time.monotonic() + offroad_last = offroad + + network_type = sm['deviceState'].networkType if not force_wifi else NetworkType.wifi + if network_type == NetworkType.none: + if allow_sleep: + time.sleep(60 if offroad else 5) + continue + + if params.get_bool("DisableOnroadUploads"): + if not offroad or (offroad_transition_prev > 0. and t - offroad_transition_prev < OFFROAD_TRANSITION_TIMEOUT): + if not offroad: + cloudlog.info("not uploading: onroad uploads disabled") + else: + wait_minutes = int(OFFROAD_TRANSITION_TIMEOUT / 60) + time_left = OFFROAD_TRANSITION_TIMEOUT - (t - offroad_transition_prev) + if time_left / 60. > 2.: + time_left_str = f"{int(time_left / 60)} minute(s)" + else: + time_left_str = f"{int(time_left)} seconds(s)" + cloudlog.info(f"not uploading: waiting until offroad for {wait_minutes} minutes; {time_left_str} left") + if allow_sleep: + time.sleep(60) + continue + + success = uploader.step(sm['deviceState'].networkType.raw, sm['deviceState'].networkMetered) + if success is None: + backoff = 60 if offroad else 5 + elif success: + backoff = 0.1 + else: + cloudlog.info("upload backoff %r", backoff) + backoff = min(backoff*2, 120) + if allow_sleep: + time.sleep(backoff + random.uniform(0, backoff)) + + +if __name__ == "__main__": + main() diff --git a/system/loggerd/video_writer.h b/system/loggerd/video_writer.h new file mode 100644 index 0000000000..1aa758b42b --- /dev/null +++ b/system/loggerd/video_writer.h @@ -0,0 +1,25 @@ +#pragma once + +#include + +extern "C" { +#include +#include +} + +#include "cereal/messaging/messaging.h" + +class VideoWriter { +public: + VideoWriter(const char *path, const char *filename, bool remuxing, int width, int height, int fps, cereal::EncodeIndex::Type codec); + void write(uint8_t *data, int len, long long timestamp, bool codecconfig, bool keyframe); + ~VideoWriter(); +private: + std::string vid_path, lock_path; + FILE *of = nullptr; + + AVCodecContext *codec_ctx; + AVFormatContext *ofmt_ctx; + AVStream *out_stream; + bool remuxing; +}; diff --git a/system/loggerd/xattr_cache.py b/system/loggerd/xattr_cache.py new file mode 100644 index 0000000000..f8265bf931 --- /dev/null +++ b/system/loggerd/xattr_cache.py @@ -0,0 +1,31 @@ +import errno +import platform + +_DARWIN = platform.system() == 'Darwin' + +if _DARWIN: # macOS + from xattr import getxattr as _getxattr + from xattr import setxattr as _setxattr +else: + from os import getxattr as _getxattr + from os import setxattr as _setxattr + +_cached_attributes: dict[tuple, bytes | None] = {} + +def getxattr(path: str, attr_name: str) -> bytes | None: + key = (path, attr_name) + if key not in _cached_attributes: + try: + response = _getxattr(path, attr_name) + except OSError as e: + # ENODATA means attribute hasn't been set + if e.errno == errno.ENODATA or (_DARWIN and e.errno == errno.ENOATTR): + response = None + else: + raise + _cached_attributes[key] = response + return _cached_attributes[key] + +def setxattr(path: str, attr_name: str, attr_value: bytes) -> None: + _cached_attributes.pop((path, attr_name), None) + return _setxattr(path, attr_name, attr_value) diff --git a/system/logmessaged.py b/system/logmessaged.py new file mode 100755 index 0000000000..c095c26192 --- /dev/null +++ b/system/logmessaged.py @@ -0,0 +1,55 @@ +#!/usr/bin/env python3 +import zmq +from typing import NoReturn + +import cereal.messaging as messaging +from openpilot.common.logging_extra import SwagLogFileFormatter +from openpilot.system.hardware.hw import Paths +from openpilot.common.swaglog import get_file_handler + + +def main() -> NoReturn: + log_handler = get_file_handler() + log_handler.setFormatter(SwagLogFileFormatter(None)) + log_level = 20 # logging.INFO + + ctx = zmq.Context.instance() + sock = ctx.socket(zmq.PULL) + sock.bind(Paths.swaglog_ipc()) + + # and we publish them + log_message_sock = messaging.pub_sock('logMessage') + error_log_message_sock = messaging.pub_sock('errorLogMessage') + + try: + while True: + dat = b''.join(sock.recv_multipart()) + level = dat[0] + record = dat[1:].decode("utf-8") + if level >= log_level: + log_handler.emit(record) + + if len(record) > 2*1024*1024: + print("WARNING: log too big to publish", len(record)) + print(record[:100]) + continue + + # then we publish them + msg = messaging.new_message(None, valid=True, logMessage=record) + log_message_sock.send(msg.to_bytes()) + + if level >= 40: # logging.ERROR + msg = messaging.new_message(None, valid=True, errorLogMessage=record) + error_log_message_sock.send(msg.to_bytes()) + finally: + sock.close() + ctx.term() + + # can hit this if interrupted during a rollover + try: + log_handler.close() + except ValueError: + pass + +if __name__ == "__main__": + main() diff --git a/system/manager/__init__.py b/system/manager/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/system/manager/build.py b/system/manager/build.py new file mode 100755 index 0000000000..956336a604 --- /dev/null +++ b/system/manager/build.py @@ -0,0 +1,90 @@ +#!/usr/bin/env python3 +import os +import subprocess +from pathlib import Path + +# NOTE: Do NOT import anything here that needs be built (e.g. params) +from openpilot.common.basedir import BASEDIR +from openpilot.common.spinner import Spinner +from openpilot.common.text_window import TextWindow +from openpilot.system.hardware import AGNOS +from openpilot.common.swaglog import cloudlog, add_file_handler +from openpilot.system.version import get_build_metadata + +MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9 +CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache") + +TOTAL_SCONS_NODES = 2820 +MAX_BUILD_PROGRESS = 100 + +def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None: + env = os.environ.copy() + env['SCONS_PROGRESS'] = "1" + nproc = os.cpu_count() + if nproc is None: + nproc = 2 + + extra_args = ["--minimal"] if minimal else [] + + # building with all cores can result in using too + # much memory, so retry with less parallelism + compile_output: list[bytes] = [] + for n in (nproc, nproc/2, 1): + compile_output.clear() + scons: subprocess.Popen = subprocess.Popen(["scons", f"-j{int(n)}", "--cache-populate", *extra_args], cwd=BASEDIR, env=env, stderr=subprocess.PIPE) + assert scons.stderr is not None + + # Read progress from stderr and update spinner + while scons.poll() is None: + try: + line = scons.stderr.readline() + if line is None: + continue + line = line.rstrip() + + prefix = b'progress: ' + if line.startswith(prefix): + i = int(line[len(prefix):]) + spinner.update_progress(MAX_BUILD_PROGRESS * min(1., i / TOTAL_SCONS_NODES), 100.) + elif len(line): + compile_output.append(line) + print(line.decode('utf8', 'replace')) + except Exception: + pass + + if scons.returncode == 0: + break + + if scons.returncode != 0: + # Read remaining output + if scons.stderr is not None: + compile_output += scons.stderr.read().split(b'\n') + + # Build failed log errors + error_s = b"\n".join(compile_output).decode('utf8', 'replace') + add_file_handler(cloudlog) + cloudlog.error("scons build failed\n" + error_s) + + # Show TextWindow + spinner.close() + if not os.getenv("CI"): + with TextWindow("openpilot failed to build\n \n" + error_s) as t: + t.wait_for_exit() + exit(1) + + # enforce max cache size + cache_files = [f for f in CACHE_DIR.rglob('*') if f.is_file()] + cache_files.sort(key=lambda f: f.stat().st_mtime) + cache_size = sum(f.stat().st_size for f in cache_files) + for f in cache_files: + if cache_size < MAX_CACHE_SIZE: + break + cache_size -= f.stat().st_size + f.unlink() + + +if __name__ == "__main__": + spinner = Spinner() + spinner.update_progress(0, 100) + build_metadata = get_build_metadata() + build(spinner, build_metadata.openpilot.is_dirty, minimal = AGNOS) diff --git a/system/manager/helpers.py b/system/manager/helpers.py new file mode 100644 index 0000000000..047d0ac2d6 --- /dev/null +++ b/system/manager/helpers.py @@ -0,0 +1,67 @@ +import errno +import fcntl +import os +import sys +import pathlib +import shutil +import signal +import subprocess +import tempfile +import threading + +from openpilot.common.basedir import BASEDIR +from openpilot.common.params import Params + +def unblock_stdout() -> None: + # get a non-blocking stdout + child_pid, child_pty = os.forkpty() + if child_pid != 0: # parent + + # child is in its own process group, manually pass kill signals + signal.signal(signal.SIGINT, lambda signum, frame: os.kill(child_pid, signal.SIGINT)) + signal.signal(signal.SIGTERM, lambda signum, frame: os.kill(child_pid, signal.SIGTERM)) + + fcntl.fcntl(sys.stdout, fcntl.F_SETFL, fcntl.fcntl(sys.stdout, fcntl.F_GETFL) | os.O_NONBLOCK) + + while True: + try: + dat = os.read(child_pty, 4096) + except OSError as e: + if e.errno == errno.EIO: + break + continue + + if not dat: + break + + try: + sys.stdout.write(dat.decode('utf8')) + except (OSError, UnicodeDecodeError): + pass + + # os.wait() returns a tuple with the pid and a 16 bit value + # whose low byte is the signal number and whose high byte is the exit status + exit_status = os.wait()[1] >> 8 + os._exit(exit_status) + + +def write_onroad_params(started, params): + params.put_bool("IsOnroad", started) + params.put_bool("IsOffroad", not started) + + +def save_bootlog(): + # copy current params + tmp = tempfile.mkdtemp() + params_dirname = pathlib.Path(Params().get_param_path()).name + params_dir = os.path.join(tmp, params_dirname) + shutil.copytree(Params().get_param_path(), params_dir, dirs_exist_ok=True) + + def fn(tmpdir): + env = os.environ.copy() + env['PARAMS_COPY_PATH'] = tmpdir + subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd"), env=env) + shutil.rmtree(tmpdir) + t = threading.Thread(target=fn, args=(tmp, )) + t.daemon = True + t.start() diff --git a/system/manager/manager.py b/system/manager/manager.py new file mode 100755 index 0000000000..c82b5cfcf3 --- /dev/null +++ b/system/manager/manager.py @@ -0,0 +1,336 @@ +#!/usr/bin/env python3 +import datetime +import os +import signal +import sys +import traceback + +from cereal import custom +import cereal.messaging as messaging +import openpilot.system.sentry as sentry +from openpilot.common.api.sunnylink import UNREGISTERED_SUNNYLINK_DONGLE_ID +from openpilot.common.params import Params, ParamKeyType +from openpilot.common.text_window import TextWindow +from openpilot.system.hardware import HARDWARE, PC +from openpilot.system.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog +from openpilot.system.manager.mapd_installer import VERSION +from openpilot.system.manager.process import ensure_running +from openpilot.system.manager.process_config import managed_processes +from openpilot.system.athena.registration import register, UNREGISTERED_DONGLE_ID, is_registered_device +from openpilot.common.swaglog import cloudlog, add_file_handler +from openpilot.system.hardware.hw import Paths +from openpilot.system.version import get_build_metadata, terms_version, terms_version_sp, training_version + + +def manager_init() -> None: + save_bootlog() + + build_metadata = get_build_metadata() + + params = Params() + params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START) + params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION) + params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION) + if build_metadata.release_channel: + params.clear_all(ParamKeyType.DEVELOPMENT_ONLY) + + default_params: list[tuple[str, str | bytes]] = [ + ("CompletedTrainingVersion", "0"), + ("DisengageOnAccelerator", "0"), + ("GsmMetered", "1"), + ("HasAcceptedTerms", "0"), + ("LanguageSetting", "main_en"), + ("OpenpilotEnabledToggle", "1"), + ("LongitudinalPersonality", str(custom.LongitudinalPersonalitySP.standard)), + + ("AccelPersonality", str(custom.AccelerationPersonality.stock)), + ("AccMadsCombo", "1"), + ("AutoLaneChangeTimer", "0"), + ("AutoLaneChangeBsmDelay", "1"), + ("BelowSpeedPause", "0"), + ("BrakeLights", "0"), + ("BrightnessControl", "0"), + ("CustomTorqueLateral", "0"), + ("CameraControl", "2"), + ("CameraControlToggle", "0"), + ("CameraOffset", "4"), + ("CarModel", ""), + ("CarModelText", ""), + ("ChevronInfo", "1"), + ("MadsCruiseMain", "1"), + ("CustomBootScreen", "0"), + ("CustomOffsets", "0"), + ("DevUIInfo", "0"), + ("DisableOnroadUploads", "0"), + ("DisengageLateralOnBrake", "0"), + ("DrivingModelGeneration", "0"), + ("DynamicLaneProfile", "1"), + ("DynamicPersonality", "0"), + ("EnableMads", "1"), + ("EnhancedScc", "0"), + ("FeatureStatus", "1"), + ("HandsOnWheelMonitoring", "0"), + ("HasAcceptedTermsSP", "0"), + ("HideVEgoUi", "0"), + ("HyundaiCruiseMainDefault", "0"), + ("HyundaiRadarTracksAvailable", "0"), + ("HyundaiRadarTracksAvailableCache", "0"), + ("LastSpeedLimitSignTap", "0"), + ("LkasToggle", "0"), + ("MadsIconToggle", "1"), + ("MapdVersion", f"{VERSION}"), + ("MaxTimeOffroad", "9"), + ("NNFF", "0"), + ("OnroadScreenOff", "-2"), + ("OnroadScreenOffBrightness", "50"), + ("OnroadScreenOffEvent", "1"), + ("OnroadSettings", "1"), + ("PathOffset", "0"), + ("PauseLateralSpeed", "0"), + ("PCMVCruiseOverride", "0"), + ("PCMVCruiseOverrideSpeed", "30"), + ("ReverseAccChange", "0"), + ("ScreenRecorder", "1"), + ("ShowDebugUI", "1"), + ("SpeedLimitControlPolicy", "3"), + ("SpeedLimitEngageType", "0"), + ("SpeedLimitValueOffset", "0"), + ("SpeedLimitOffsetType", "0"), + ("SpeedLimitWarningType", "0"), + ("SpeedLimitWarningValueOffset", "0"), + ("SpeedLimitWarningOffsetType", "0"), + ("StandStillTimer", "0"), + ("StockLongToyota", "0"), + ("TorqueDeadzoneDeg", "0"), + ("TorqueFriction", "10"), + ("TorqueMaxLatAccel", "250"), + ("ToyotaAutoLockBySpeed", "0"), + ("ToyotaAutoUnlockByShifter", "0"), + ("ToyotaDriveMode", "0"), + ("ToyotaEnhancedBsm", "0"), + ("TrueVEgoUi", "0"), + ("TurnSpeedControl", "0"), + ("TurnVisionControl", "0"), + ("VisionCurveLaneless", "0"), + ("VwAccType", "0"), + ("OsmDbUpdatesCheck", "0"), + ("OsmDownloadedDate", "0"), + ("OSMDownloadProgress", "{}"), + ("SidebarTemperatureOptions", "0"), + ("SunnylinkEnabled", "1"), + ("SunnylinkDongleId", f"{UNREGISTERED_SUNNYLINK_DONGLE_ID}"), + ("CustomDrivingModel", "0"), + ("DrivingModelGeneration", "4"), + ("LastSunnylinkPingTime", "0"), + ("EnableGitlabRunner", "0"), + ("EnableSunnylinkUploader", "0"), + ] + if not PC: + default_params.append(("LastUpdateTime", datetime.datetime.now(datetime.UTC).replace(tzinfo=None).isoformat().encode('utf8'))) + + if params.get_bool("RecordFrontLock"): + params.put_bool("RecordFront", True) + + # set unset params + for k, v in default_params: + if params.get(k) is None: + params.put(k, v) + + # parameters set by Environment Variables + if os.getenv("HANDSMONITORING") is not None: + params.put_bool("HandsOnWheelMonitoring", bool(int(os.getenv("HANDSMONITORING", "0")))) + + # Create folders needed for msgq + try: + os.mkdir("/dev/shm") + except FileExistsError: + pass + except PermissionError: + print("WARNING: failed to make /dev/shm") + + # set version params + params.put("Version", build_metadata.openpilot.version) + params.put("TermsVersion", terms_version) + params.put("TermsVersionSunnypilot", terms_version_sp) + params.put("TrainingVersion", training_version) + params.put("GitCommit", build_metadata.openpilot.git_commit) + params.put("GitCommitDate", build_metadata.openpilot.git_commit_date) + params.put("GitBranch", build_metadata.channel) + params.put("GitRemote", build_metadata.openpilot.git_origin) + params.put_bool("IsTestedBranch", build_metadata.tested_channel) + params.put_bool("IsReleaseBranch", build_metadata.release_channel) + params.put_bool("IsReleaseSPBranch", build_metadata.release_sp_channel) + + # set dongle id + reg_res = register(show_spinner=True) + if reg_res: + dongle_id = reg_res + else: + serial = params.get("HardwareSerial") + raise Exception(f"Registration failed for device {serial}") + if params.get("HardwareSerial") is None: + try: + serial = HARDWARE.get_serial() + params.put("HardwareSerial", serial) + except Exception: + cloudlog.exception("Error getting serial for device") + os.environ['DONGLE_ID'] = dongle_id # Needed for swaglog + os.environ['GIT_ORIGIN'] = build_metadata.openpilot.git_normalized_origin # Needed for swaglog + os.environ['GIT_BRANCH'] = build_metadata.channel # Needed for swaglog + os.environ['GIT_COMMIT'] = build_metadata.openpilot.git_commit # Needed for swaglog + + if not build_metadata.openpilot.is_dirty: + os.environ['CLEAN'] = '1' + + # init logging + sentry.init(sentry.SentryProject.SELFDRIVE) + cloudlog.bind_global(dongle_id=dongle_id, + version=build_metadata.openpilot.version, + origin=build_metadata.openpilot.git_normalized_origin, + branch=build_metadata.channel, + commit=build_metadata.openpilot.git_commit, + dirty=build_metadata.openpilot.is_dirty, + device=HARDWARE.get_device_type()) + + if os.path.isfile(os.path.join(sentry.CRASHES_DIR, 'error.txt')): + os.remove(os.path.join(sentry.CRASHES_DIR, 'error.txt')) + + models_dir = Paths.model_root() + if not os.path.exists(models_dir): + os.makedirs(models_dir) + + # preimport all processes + for p in managed_processes.values(): + p.prepare() + + +def manager_cleanup() -> None: + # send signals to kill all procs + for p in managed_processes.values(): + p.stop(block=False) + + # ensure all are killed + for p in managed_processes.values(): + p.stop(block=True) + + cloudlog.info("everything is dead") + + +def manager_thread() -> None: + cloudlog.bind(daemon="manager") + cloudlog.info("manager start") + cloudlog.info({"environ": os.environ}) + + params = Params() + + ignore: list[str] = [] + if params.get("DongleId", encoding='utf8') in (None, UNREGISTERED_DONGLE_ID): + ignore += ["manage_athenad", "uploader"] + if os.getenv("NOBOARD") is not None: + ignore.append("pandad") + ignore += [x for x in os.getenv("BLOCK", "").split(",") if len(x) > 0] + if params.get("DriverCameraHardwareMissing") and not is_registered_device(): + ignore += ["dmonitoringd", "dmonitoringmodeld"] + + sm = messaging.SubMaster(['deviceState', 'carParams'], poll='deviceState') + pm = messaging.PubMaster(['managerState']) + + write_onroad_params(False, params) + ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore) + + started_prev = False + + while True: + sm.update(1000) + + started = sm['deviceState'].started + + if started and not started_prev: + params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION) + elif not started and started_prev: + params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION) + + # update onroad params, which drives pandad's safety setter thread + if started != started_prev: + write_onroad_params(started, params) + + started_prev = started + + ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore) + + running = ' '.join("{}{}\u001b[0m".format("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name) + for p in managed_processes.values() if p.proc) + print(running) + cloudlog.debug(running) + + # send managerState + msg = messaging.new_message('managerState', valid=True) + msg.managerState.processes = [p.get_process_state_msg() for p in managed_processes.values()] + pm.send('managerState', msg) + + # Exit main loop when uninstall/shutdown/reboot is needed + shutdown = False + for param in ("DoUninstall", "DoShutdown", "DoReboot"): + if params.get_bool(param): + shutdown = True + params.put("LastManagerExitReason", f"{param} {datetime.datetime.now()}") + cloudlog.warning(f"Shutting down manager - {param} set") + + if shutdown: + break + + +def main() -> None: + manager_init() + if os.getenv("PREPAREONLY") is not None: + return + + # SystemExit on sigterm + signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(1)) + + try: + manager_thread() + except Exception: + traceback.print_exc() + sentry.capture_exception() + finally: + manager_cleanup() + + params = Params() + if params.get_bool("DoUninstall"): + cloudlog.warning("uninstalling") + HARDWARE.uninstall() + elif params.get_bool("DoReboot"): + cloudlog.warning("reboot") + HARDWARE.reboot() + elif params.get_bool("DoShutdown"): + cloudlog.warning("shutdown") + HARDWARE.shutdown() + + +if __name__ == "__main__": + unblock_stdout() + + try: + main() + except KeyboardInterrupt: + print("got CTRL-C, exiting") + except Exception: + add_file_handler(cloudlog) + cloudlog.exception("Manager failed to start") + + try: + managed_processes['ui'].stop() + except Exception: + pass + + # Show last 3 lines of traceback + error = traceback.format_exc(-3) + error = "Manager failed to start\n\n" + error + with TextWindow(error) as t: + t.wait_for_exit() + + raise + + # manual exit because we are forked + sys.exit(0) diff --git a/system/manager/mapd_installer.py b/system/manager/mapd_installer.py new file mode 100755 index 0000000000..71e4507ba0 --- /dev/null +++ b/system/manager/mapd_installer.py @@ -0,0 +1,142 @@ +#!/usr/bin/env python3 +import logging +import os +import stat +import time +import traceback +import requests +from pathlib import Path +from urllib.request import urlopen +import openpilot.system.sentry as sentry +from cereal import messaging +from common.spinner import Spinner +from common.params import Params +from openpilot.system.mapd_manager import COMMON_DIR, MAPD_PATH, MAPD_BIN_DIR +from openpilot.system.version import is_prebuilt + +VERSION = 'v1.9.0' +URL = f"https://github.com/pfeiferj/openpilot-mapd/releases/download/{VERSION}/mapd" + + +class MapdInstallManager: + def __init__(self, spinner_ref: Spinner): + self._spinner = spinner_ref + + def download(self): + self.ensure_directories_exist() + self._download_file() + self.update_installed_version(VERSION) + + def check_and_download(self): + if self.download_needed(): + self.download() + + @staticmethod + def download_needed(): + return not os.path.exists(MAPD_PATH) or MapdInstallManager.get_installed_version() != VERSION + + @staticmethod + def ensure_directories_exist(): + if not os.path.exists(COMMON_DIR): + os.makedirs(COMMON_DIR) + if not os.path.exists(MAPD_BIN_DIR): + os.makedirs(MAPD_BIN_DIR) + + @staticmethod + def _safe_write_and_set_executable(file_path, content): + with open(file_path, 'wb') as output: + output.write(content) + output.flush() + os.fsync(output.fileno()) + current_permissions = stat.S_IMODE(os.lstat(file_path).st_mode) + os.chmod(file_path, current_permissions | stat.S_IEXEC) + + def _download_file(self, num_retries=5): + temp_file = Path(MAPD_PATH + ".tmp") + download_timeout = 60 + for cnt in range(num_retries): + try: + response = requests.get(URL, stream=True, timeout=download_timeout) + response.raise_for_status() + self._safe_write_and_set_executable(temp_file, response.content) + # No exceptions encountered. Safe to replace original file. + temp_file.replace(MAPD_PATH) + return + except requests.exceptions.ReadTimeout: + self._spinner.update(f"ReadTimeout caught. Timeout is [{download_timeout}]. Retrying download... [{cnt}]") + time.sleep(0.5) + except requests.exceptions.RequestException as e: + self._spinner.update(f"RequestException caught: {e}. Retrying download... [{cnt}]") + time.sleep(0.5) + + # Delete temp file if the process was not successful. + if temp_file.exists(): + temp_file.unlink() + logging.error("Failed to download file after all retries") + + @staticmethod + def update_installed_version(version): + Params().put("MapdVersion", version) + + @staticmethod + def get_installed_version(): + return Params().get("MapdVersion", encoding="utf-8") + + def wait_for_internet_connection(self, return_on_failure=False): + max_retries = 10 + for retries in range(max_retries+1): + self._spinner.update(f"Waiting for internet connection... [{retries}/{max_retries}]") + time.sleep(2) + try: + _ = urlopen('https://sentry.io', timeout=10) + return True + except Exception as e: + print(f'Wait for internet failed: {e}') + if return_on_failure and retries == max_retries: + return False + + def non_prebuilt_install(self): + sm = messaging.SubMaster(['deviceState']) + metered = sm['deviceState'].networkMetered + + if metered: + self._spinner.update(f"Can't proceed with mapd install since network is metered!") + time.sleep(5) + return False + + try: + self.ensure_directories_exist() + if not self.download_needed(): + self._spinner.update("Mapd is good!") + time.sleep(0.1) + return True + + if self.wait_for_internet_connection(return_on_failure=True): + self._spinner.update(f"Downloading pfeiferj's mapd [{install_manager.get_installed_version()}] => [{VERSION}].") + time.sleep(0.1) + self.check_and_download() + self._spinner.close() + + except Exception: + for i in range(6): + self._spinner.update(f"Failed to download OSM maps won't work until properly downloaded!" + f"Try again manually rebooting. " + f"Boot will continue in {5 - i}s...") + time.sleep(1) + + sentry.init(sentry.SentryProject.SELFDRIVE) + traceback.print_exc() + sentry.capture_exception() + + +if __name__ == "__main__": + spinner = Spinner() + install_manager = MapdInstallManager(spinner) + install_manager.ensure_directories_exist() + if is_prebuilt(): + debug_msg = f"[DEBUG] This is prebuilt, no mapd install required. VERSION: [{VERSION}], Param [{install_manager.get_installed_version()}]" + spinner.update(debug_msg) + install_manager.update_installed_version(VERSION) + else: + spinner.update(f"Checking if mapd is installed and valid. Prebuilt [{is_prebuilt()}]") + install_manager.non_prebuilt_install() diff --git a/system/manager/process.py b/system/manager/process.py new file mode 100644 index 0000000000..899adfa7be --- /dev/null +++ b/system/manager/process.py @@ -0,0 +1,298 @@ +import importlib +import os +import signal +import struct +import time +import subprocess +from collections.abc import Callable, ValuesView +from abc import ABC, abstractmethod +from multiprocessing import Process + +from openpilot.common.threadname import setthreadname + +from cereal import car, log +import cereal.messaging as messaging +import openpilot.system.sentry as sentry +from openpilot.common.basedir import BASEDIR +from openpilot.common.params import Params +from openpilot.common.swaglog import cloudlog + +WATCHDOG_FN = "/dev/shm/wd_" +ENABLE_WATCHDOG = os.getenv("NO_WATCHDOG") is None + + +def launcher(proc: str, name: str) -> None: + try: + # import the process + mod = importlib.import_module(proc) + + # rename the process + setthreadname(proc) + + # create new context since we forked + messaging.reset_context() + + # add daemon name tag to logs + cloudlog.bind(daemon=name) + sentry.set_tag("daemon", name) + + # exec the process + mod.main() + except KeyboardInterrupt: + cloudlog.warning(f"child {proc} got SIGINT") + except Exception: + # can't install the crash handler because sys.excepthook doesn't play nice + # with threads, so catch it here. + sentry.capture_exception() + raise + + +def nativelauncher(pargs: list[str], cwd: str, name: str) -> None: + os.environ['MANAGER_DAEMON'] = name + + # exec the process + os.chdir(cwd) + os.execvp(pargs[0], pargs) + + +def join_process(process: Process, timeout: float) -> None: + # Process().join(timeout) will hang due to a python 3 bug: https://bugs.python.org/issue28382 + # We have to poll the exitcode instead + t = time.monotonic() + while time.monotonic() - t < timeout and process.exitcode is None: + time.sleep(0.001) + + +class ManagerProcess(ABC): + daemon = False + sigkill = False + should_run: Callable[[bool, Params, car.CarParams], bool] + proc: Process | None = None + enabled = True + name = "" + + last_watchdog_time = 0 + watchdog_max_dt: int | None = None + always_watchdog = False + watchdog_seen = False + shutting_down = False + + @abstractmethod + def prepare(self) -> None: + pass + + @abstractmethod + def start(self) -> None: + pass + + def restart(self) -> None: + self.stop(sig=signal.SIGKILL) + self.start() + + def check_watchdog(self, started: bool) -> None: + if self.watchdog_max_dt is None or self.proc is None: + return + + try: + fn = WATCHDOG_FN + str(self.proc.pid) + with open(fn, "rb") as f: + # TODO: why can't pylint find struct.unpack? + self.last_watchdog_time = struct.unpack('Q', f.read())[0] + except Exception: + pass + + dt = time.monotonic() - self.last_watchdog_time / 1e9 + + always_watchdog = self.always_watchdog and not started and self.proc.exitcode is not None + + if dt > self.watchdog_max_dt: + if (self.watchdog_seen or always_watchdog) and ENABLE_WATCHDOG: + cloudlog.error(f"Watchdog timeout for {self.name} (exitcode {self.proc.exitcode}) restarting ({started=})") + self.restart() + else: + self.watchdog_seen = True + + def stop(self, retry: bool = True, block: bool = True, sig: signal.Signals = None) -> int | None: + if self.proc is None: + return None + + if self.proc.exitcode is None: + if not self.shutting_down: + cloudlog.info(f"killing {self.name}") + if sig is None: + sig = signal.SIGKILL if self.sigkill else signal.SIGINT + self.signal(sig) + self.shutting_down = True + + if not block: + return None + + join_process(self.proc, 5) + + # If process failed to die send SIGKILL + if self.proc.exitcode is None and retry: + cloudlog.info(f"killing {self.name} with SIGKILL") + self.signal(signal.SIGKILL) + self.proc.join() + + ret = self.proc.exitcode + cloudlog.info(f"{self.name} is dead with {ret}") + + if self.proc.exitcode is not None: + self.shutting_down = False + self.proc = None + + return ret + + def signal(self, sig: int) -> None: + if self.proc is None: + return + + # Don't signal if already exited + if self.proc.exitcode is not None and self.proc.pid is not None: + return + + # Can't signal if we don't have a pid + if self.proc.pid is None: + return + + cloudlog.info(f"sending signal {sig} to {self.name}") + os.kill(self.proc.pid, sig) + + def get_process_state_msg(self): + state = log.ManagerState.ProcessState.new_message() + state.name = self.name + if self.proc: + state.running = self.proc.is_alive() + state.shouldBeRunning = self.proc is not None and not self.shutting_down + state.pid = self.proc.pid or 0 + state.exitCode = self.proc.exitcode or 0 + return state + + +class NativeProcess(ManagerProcess): + def __init__(self, name, cwd, cmdline, should_run, enabled=True, sigkill=False, watchdog_max_dt=None, always_watchdog=False): + self.name = name + self.cwd = cwd + self.cmdline = cmdline + self.should_run = should_run + self.enabled = enabled + self.sigkill = sigkill + self.watchdog_max_dt = watchdog_max_dt + self.launcher = nativelauncher + self.always_watchdog = always_watchdog + + def prepare(self) -> None: + pass + + def start(self) -> None: + # In case we only tried a non blocking stop we need to stop it before restarting + if self.shutting_down: + self.stop() + + if self.proc is not None: + return + + cwd = os.path.join(BASEDIR, self.cwd) + cloudlog.info(f"starting process {self.name}") + self.proc = Process(name=self.name, target=self.launcher, args=(self.cmdline, cwd, self.name)) + self.proc.start() + self.watchdog_seen = False + self.shutting_down = False + + +class PythonProcess(ManagerProcess): + def __init__(self, name, module, should_run, enabled=True, sigkill=False, watchdog_max_dt=None, always_watchdog=False): + self.name = name + self.module = module + self.should_run = should_run + self.enabled = enabled + self.sigkill = sigkill + self.watchdog_max_dt = watchdog_max_dt + self.launcher = launcher + self.always_watchdog = always_watchdog + + def prepare(self) -> None: + if self.enabled: + cloudlog.info(f"preimporting {self.module}") + importlib.import_module(self.module) + + def start(self) -> None: + # In case we only tried a non blocking stop we need to stop it before restarting + if self.shutting_down: + self.stop() + + if self.proc is not None: + return + + cloudlog.info(f"starting python {self.module}") + self.proc = Process(name=self.name, target=self.launcher, args=(self.module, self.name)) + self.proc.start() + self.watchdog_seen = False + self.shutting_down = False + + +class DaemonProcess(ManagerProcess): + """Python process that has to stay running across manager restart. + This is used for athena so you don't lose SSH access when restarting manager.""" + def __init__(self, name, module, param_name, enabled=True): + self.name = name + self.module = module + self.param_name = param_name + self.enabled = enabled + self.params = None + + @staticmethod + def should_run(started, params, CP): + return True + + def prepare(self) -> None: + pass + + def start(self) -> None: + if self.params is None: + self.params = Params() + + pid = self.params.get(self.param_name, encoding='utf-8') + if pid is not None: + try: + os.kill(int(pid), 0) + with open(f'/proc/{pid}/cmdline') as f: + if self.module in f.read(): + # daemon is running + return + except (OSError, FileNotFoundError): + # process is dead + pass + + cloudlog.info(f"starting daemon {self.name}") + proc = subprocess.Popen(['python', '-m', self.module], + stdin=open('/dev/null'), + stdout=open('/dev/null', 'w'), + stderr=open('/dev/null', 'w'), + preexec_fn=os.setpgrp) + + self.params.put(self.param_name, str(proc.pid)) + + def stop(self, retry=True, block=True, sig=None) -> None: + pass + + +def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None, CP: car.CarParams=None, + not_run: list[str] | None=None) -> list[ManagerProcess]: + if not_run is None: + not_run = [] + + running = [] + for p in procs: + if p.enabled and p.name not in not_run and p.should_run(started, params, CP): + running.append(p) + else: + p.stop(block=False) + + p.check_watchdog(started) + + for p in running: + p.start() + + return running diff --git a/system/manager/process_config.py b/system/manager/process_config.py new file mode 100644 index 0000000000..0fad995375 --- /dev/null +++ b/system/manager/process_config.py @@ -0,0 +1,133 @@ +import os + +from cereal import car +from openpilot.common.params import Params +from openpilot.system.hardware import PC, TICI +from openpilot.selfdrive.modeld.custom_model_metadata import CustomModelMetadata, ModelCapabilities +from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess +from openpilot.system.mapd_manager import MAPD_PATH, COMMON_DIR +from openpilot.system.manager.sunnylink import sunnylink_need_register, sunnylink_ready, use_sunnylink_uploader + +WEBCAM = os.getenv("USE_WEBCAM") is not None + +def driverview(started: bool, params: Params, CP: car.CarParams) -> bool: + return started or params.get_bool("IsDriverViewEnabled") + +def notcar(started: bool, params: Params, CP: car.CarParams) -> bool: + return started and CP.notCar + +def iscar(started: bool, params: Params, CP: car.CarParams) -> bool: + return started and not CP.notCar + +def logging(started, params, CP: car.CarParams) -> bool: + run = (not CP.notCar) or not params.get_bool("DisableLogging") + return started and run + +def ublox_available() -> bool: + return os.path.exists('/dev/ttyHS0') and not os.path.exists('/persist/comma/use-quectel-gps') + +def ublox(started, params, CP: car.CarParams) -> bool: + use_ublox = ublox_available() + if use_ublox != params.get_bool("UbloxAvailable"): + params.put_bool("UbloxAvailable", use_ublox) + return started and use_ublox + +def qcomgps(started, params, CP: car.CarParams) -> bool: + return started and not ublox_available() + +def always_run(started, params, CP: car.CarParams) -> bool: + return True + +def only_onroad(started: bool, params, CP: car.CarParams) -> bool: + return started + +def only_offroad(started, params, CP: car.CarParams) -> bool: + return not started + +def use_gitlab_runner(started, params, CP: car.CarParams) -> bool: + return not PC and params.get_bool("EnableGitlabRunner") and only_offroad(started, params, CP) + +def model_use_nav(started, params, CP: car.CarParams) -> bool: + custom_model_metadata = CustomModelMetadata(params=params, init_only=True) + return started and custom_model_metadata.valid and custom_model_metadata.capabilities & ModelCapabilities.NoO + +def sunnylink_ready_shim(started, params, CP: car.CarParams) -> bool: + """Shim for sunnylink_ready to match the process manager signature.""" + return sunnylink_ready(params) + +def sunnylink_need_register_shim(started, params, CP: car.CarParams) -> bool: + """Shim for sunnylink_need_register to match the process manager signature.""" + return sunnylink_need_register(params) + +def use_sunnylink_uploader_shim(started, params, CP: car.CarParams) -> bool: + """Shim for use_sunnylink_uploader to match the process manager signature.""" + return use_sunnylink_uploader(params) + +procs = [ + DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"), + + NativeProcess("camerad", "system/camerad", ["./camerad"], driverview), + NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad), + NativeProcess("proclogd", "system/proclogd", ["./proclogd"], only_onroad), + PythonProcess("logmessaged", "system.logmessaged", always_run), + PythonProcess("micd", "system.micd", iscar), + PythonProcess("timed", "system.timed", always_run, enabled=not PC), + + PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(not PC or WEBCAM)), + NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad), + NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar), + NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging), + NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], only_onroad), + NativeProcess("mapsd", "selfdrive/navd", ["./mapsd"], model_use_nav), + PythonProcess("navmodeld", "selfdrive.modeld.navmodeld", model_use_nav), + NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC), + NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)), + PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad), + NativeProcess("locationd", "selfdrive/locationd", ["./locationd"], only_onroad), + NativeProcess("pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False), + PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad), + PythonProcess("torqued", "selfdrive.locationd.torqued", only_onroad), + PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad), + PythonProcess("card", "selfdrive.car.card", only_onroad), + PythonProcess("deleter", "system.loggerd.deleter", always_run), + PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)), + PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI), + #PythonProcess("ugpsd", "system.ugpsd", only_onroad, enabled=TICI), + PythonProcess("navd", "selfdrive.navd.navd", only_onroad), + PythonProcess("pandad", "selfdrive.pandad.pandad", always_run), + PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad), + NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI), + PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI), + PythonProcess("plannerd", "selfdrive.controls.plannerd", only_onroad), + PythonProcess("radard", "selfdrive.controls.radard", only_onroad), + PythonProcess("hardwared", "system.hardware.hardwared", always_run), + PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC), + NativeProcess("updated", "system/updated", ["./updated.py"], only_offroad, enabled=not PC), + PythonProcess("uploader", "system.loggerd.uploader", always_run), + PythonProcess("statsd", "system.statsd", always_run), + + # PFEIFER - MAPD {{ + NativeProcess("mapd", COMMON_DIR, [MAPD_PATH], always_run, enabled=not PC), + PythonProcess("mapd_manager", "system.mapd_manager", always_run, enabled=not PC), + # }} PFEIFER - MAPD + + PythonProcess("otisserv", "selfdrive.navd.otisserv", always_run), + PythonProcess("fleet_manager", "system.fleetmanager.fleet_manager", always_run, enabled=not PC), + + # debug procs + NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar), + PythonProcess("webrtcd", "system.webrtc.webrtcd", notcar), + PythonProcess("webjoystick", "tools.bodyteleop.web", notcar), + + # sunnylink <3 + DaemonProcess("manage_sunnylinkd", "system.athena.manage_sunnylinkd", "SunnylinkdPid"), + PythonProcess("sunnylink_registration", "system.manager.sunnylink", sunnylink_need_register_shim), +] + +if os.path.exists("./gitlab_runner.sh"): + procs += [NativeProcess("gitlab_runner_start", "system/manager", ["./gitlab_runner.sh", "start"], use_gitlab_runner, sigkill=False)] + +if os.path.exists("../loggerd/sunnylink_uploader.py"): + procs += [PythonProcess("sunnylink_uploader", "system.loggerd.sunnylink_uploader", use_sunnylink_uploader_shim)] + +managed_processes = {p.name: p for p in procs} diff --git a/system/manager/sunnylink.py b/system/manager/sunnylink.py new file mode 100755 index 0000000000..10a5f95a3d --- /dev/null +++ b/system/manager/sunnylink.py @@ -0,0 +1,65 @@ +#!/usr/bin/env python3 +from cereal import log +from openpilot.common.api.sunnylink import SunnylinkApi, UNREGISTERED_SUNNYLINK_DONGLE_ID +from openpilot.common.params import Params +from openpilot.system.hardware import HARDWARE +from openpilot.system.version import is_prebuilt +import time + +NetworkType = log.DeviceState.NetworkType + + +def is_network_connected() -> bool: + """Check if the device is connected to a network.""" + return HARDWARE.get_network_type() != NetworkType.none + + +def get_sunnylink_status(params=Params()) -> tuple[bool, bool]: + """Get the status of Sunnylink on the device. Returns a tuple of (is_sunnylink_enabled, is_registered).""" + is_sunnylink_enabled = params.get_bool("SunnylinkEnabled") + is_registered = params.get("SunnylinkDongleId", encoding='utf-8') not in (None, UNREGISTERED_SUNNYLINK_DONGLE_ID) + return is_sunnylink_enabled, is_registered + + +def sunnylink_ready(params=Params()) -> bool: + """Check if the device is ready to communicate with Sunnylink. That means it is enabled and registered.""" + is_sunnylink_enabled, is_registered = get_sunnylink_status(params) + return is_sunnylink_enabled and is_registered + + +def use_sunnylink_uploader(params) -> bool: + """Check if the device is ready to use Sunnylink and the uploader is enabled.""" + return sunnylink_ready(params) and params.get_bool("EnableSunnylinkUploader") + + +def sunnylink_need_register(params=Params()) -> bool: + """Check if the device needs to be registered with Sunnylink.""" + is_sunnylink_enabled, is_registered = get_sunnylink_status(params) + return is_sunnylink_enabled and not is_registered and is_network_connected() + + +def register_sunnylink(): + """Register the device with Sunnylink if it is enabled.""" + extra_args = {} + + if not Params().get_bool("SunnylinkEnabled"): + print("Sunnylink is not enabled. Exiting.") + exit(0) + + if not is_prebuilt(): + extra_args = { + "verbose": True, + "timeout": 60 + } + + sunnylink_id = SunnylinkApi(None).register_device(None, **extra_args) + print(f"SunnyLinkId: {sunnylink_id}") + + +def main(): + """The main method is expected to be called by the manager when the device boots up.""" + register_sunnylink() + + +if __name__ == "__main__": + main() diff --git a/system/manager/test/__init__.py b/system/manager/test/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/system/manager/test/test_manager.py b/system/manager/test/test_manager.py new file mode 100644 index 0000000000..e5960d1113 --- /dev/null +++ b/system/manager/test/test_manager.py @@ -0,0 +1,76 @@ +import os +import pytest +import signal +import time + +from parameterized import parameterized + +from cereal import car +from openpilot.common.params import Params +import openpilot.system.manager.manager as manager +from openpilot.system.manager.process import ensure_running +from openpilot.system.manager.process_config import managed_processes +from openpilot.system.hardware import HARDWARE + +os.environ['FAKEUPLOAD'] = "1" + +MAX_STARTUP_TIME = 3 +BLACKLIST_PROCS = ['manage_athenad', 'pandad', 'pigeond'] + + +@pytest.mark.tici +class TestManager: + def setup_method(self): + HARDWARE.set_power_save(False) + + # ensure clean CarParams + params = Params() + params.clear_all() + + def teardown_method(self): + manager.manager_cleanup() + + def test_manager_prepare(self): + os.environ['PREPAREONLY'] = '1' + manager.main() + + def test_blacklisted_procs(self): + # TODO: ensure there are blacklisted procs until we have a dedicated test + assert len(BLACKLIST_PROCS), "No blacklisted procs to test not_run" + + @parameterized.expand([(i,) for i in range(10)]) + def test_startup_time(self, index): + start = time.monotonic() + os.environ['PREPAREONLY'] = '1' + manager.main() + t = time.monotonic() - start + assert t < MAX_STARTUP_TIME, f"startup took {t}s, expected <{MAX_STARTUP_TIME}s" + + @pytest.mark.skip("this test is flaky the way it's currently written, should be moved to test_onroad") + def test_clean_exit(self, subtests): + """ + Ensure all processes exit cleanly when stopped. + """ + HARDWARE.set_power_save(False) + manager.manager_init() + + CP = car.CarParams.new_message() + procs = ensure_running(managed_processes.values(), True, Params(), CP, not_run=BLACKLIST_PROCS) + + time.sleep(10) + + for p in procs: + with subtests.test(proc=p.name): + state = p.get_process_state_msg() + assert state.running, f"{p.name} not running" + exit_code = p.stop(retry=False) + + assert p.name not in BLACKLIST_PROCS, f"{p.name} was started" + + assert exit_code is not None, f"{p.name} failed to exit" + + # TODO: interrupted blocking read exits with 1 in cereal. use a more unique return code + exit_codes = [0, 1] + if p.sigkill: + exit_codes = [-signal.SIGKILL] + assert exit_code in exit_codes, f"{p.name} died with {exit_code}" diff --git a/system/mapd_manager.py b/system/mapd_manager.py new file mode 100644 index 0000000000..3f389de6f8 --- /dev/null +++ b/system/mapd_manager.py @@ -0,0 +1,164 @@ +import json +import time +import platform + +import numpy as np + +from openpilot.common.basedir import BASEDIR +from openpilot.common.params_pyx import Params +from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert +from openpilot.selfdrive.navd.helpers import Coordinate +from openpilot.selfdrive.sunnypilot.live_map_data import QUERY_RADIUS +from openpilot.common.realtime import Ratekeeper, set_core_affinity +from openpilot.common.swaglog import cloudlog +from openpilot.system.hardware.hw import Paths +import os +import glob +import shutil + +from openpilot.selfdrive.sunnypilot.live_map_data.osm_map_data import OsmMapData +from openpilot.selfdrive.sunnypilot.live_map_data import R + +# PFEIFER - MAPD {{ +params = Params() +mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else params +# }} PFEIFER - MAPD + +COMMON_DIR = Paths.mapd_root() +MAPD_BIN_DIR = os.path.join(BASEDIR, 'third_party/pfeiferj-mapd') +MAPD_PATH = os.path.join(MAPD_BIN_DIR, 'mapd') + + +def get_files_for_cleanup(): + paths = [ + f"{COMMON_DIR}/db", + f"{COMMON_DIR}/v*" + ] + files_to_remove = [] + for path in paths: + if os.path.exists(path): + files = glob.glob(path + '/**', recursive=True) + files_to_remove.extend(files) + # check for version and mapd files + if not os.path.isfile(MAPD_PATH): + files_to_remove.append(MAPD_PATH) + return files_to_remove + + +def cleanup_OLD_OSM_data(files_to_remove): + for file in files_to_remove: + # Remove trailing slash if path is file + if file.endswith('/') and os.path.isfile(file[:-1]): + file = file[:-1] + # Try to remove as file or symbolic link first + if os.path.islink(file) or os.path.isfile(file): + os.remove(file) + elif os.path.isdir(file): # If it's a directory + shutil.rmtree(file, ignore_errors=False) + + +def _get_current_bounding_box(self, radius: float): + self.last_query_radius = radius + # Calculate the bounding box coordinates for the bbox containing the circle around location. + bbox_angle = float(np.degrees(radius / R)) + + lat = float(self.last_gps.latitude) + lon = float(self.last_gps.longitude) + + return { + "min_lat": lat - bbox_angle, + "min_lon": lon - bbox_angle, + "max_lat": lat + bbox_angle, + "max_lon": lon + bbox_angle, + } + + +def _request_refresh_osm_bounds_data(self): + self.last_refresh_loc = Coordinate(self.last_gps.latitude, self.last_gps.longitude) + self.last_query_radius = QUERY_RADIUS + current_bounding_box = self._get_current_bounding_box(self.last_query_radius) + mem_params.put("OSMDownloadBounds", json.dumps(current_bounding_box)) + + +def request_refresh_osm_location_data(nations: [str], states: [str] = None): + params.put("OsmDownloadedDate", str(time.time())) + params.put_bool("OsmDbUpdatesCheck", False) + + osm_download_locations = json.dumps({ + "nations": nations, + "states": states or [] + }) + + print(f"Downloading maps for {osm_download_locations}") + mem_params.put("OSMDownloadLocations", osm_download_locations) + + +def filter_nations_and_states(nations: [str], states: [str] = None): + """Filters and prepares nation and state data for OSM map download. + + If the nation is 'US' and a specific state is provided, the nation 'US' is removed from the list. + If the nation is 'US' and the state is 'All', the 'All' is removed from the list. + The idea behind these filters is that if a specific state in the US is provided, + there's no need to download map data for the entire US. Conversely, + if the state is unspecified (i.e., 'All'), we intend to download map data for the whole US, + and 'All' isn't a valid state name, so it's removed. + + Parameters: + nations (list): A list of nations for which the map data is to be downloaded. + states (list, optional): A list of states for which the map data is to be downloaded. Defaults to None. + + Returns: + tuple: Two lists. The first list is filtered nations and the second list is filtered states. + """ + + if "US" in nations and states and not any(x.lower() == "all" for x in states): + # If a specific state in the US is provided, remove 'US' from nations + nations.remove("US") + elif "US" in nations and states and any(x.lower() == "all" for x in states): + # If 'All' is provided as a state (case invariant), remove those instances from states + states = [x for x in states if x.lower() != "all"] + elif "US" not in nations and states and any(x.lower() == "all" for x in states): + states.remove("All") + return nations, states or [] + + +def update_osm_db(): + # last_downloaded_date = float(params.get('OsmDownloadedDate', encoding='utf-8') or 0.0) + # if params.get_bool("OsmDbUpdatesCheck") or time.time() - last_downloaded_date >= 604800: # 7 days * 24 hours/day * 60 + if params.get_bool("OsmDbUpdatesCheck"): + cleanup_OLD_OSM_data(get_files_for_cleanup()) + country = params.get('OsmLocationName', encoding='utf-8') + state = params.get('OsmStateName', encoding='utf-8') or "All" + filtered_nations, filtered_states = filter_nations_and_states([country], [state]) + request_refresh_osm_location_data(filtered_nations, filtered_states) + + if not mem_params.get("OSMDownloadBounds"): + mem_params.put("OSMDownloadBounds", "") + + if not mem_params.get("LastGPSPosition"): + mem_params.put("LastGPSPosition", "{}") + + +def main_thread(sm=None, pm=None): + try: + set_core_affinity([0, 1, 2, 3]) + except Exception: + cloudlog.exception("mapd: failed to set core affinity") + rk = Ratekeeper(1, print_delay_threshold=None) + live_map_sp = OsmMapData() + + while True: + show_alert = get_files_for_cleanup() and params.get_bool("OsmLocal") + set_offroad_alert("Offroad_OSMUpdateRequired", show_alert, "This alert will be cleared when new maps are downloaded.") + + update_osm_db() + live_map_sp.tick() + rk.keep_time() + + +def main(): + main_thread() + + +if __name__ == "__main__": + main() diff --git a/system/micd.py b/system/micd.py new file mode 100755 index 0000000000..af1aa31360 --- /dev/null +++ b/system/micd.py @@ -0,0 +1,107 @@ +#!/usr/bin/env python3 +import numpy as np +from functools import cache + +from cereal import messaging +from openpilot.common.realtime import Ratekeeper +from openpilot.common.retry import retry +from openpilot.common.swaglog import cloudlog + +RATE = 10 +FFT_SAMPLES = 4096 +REFERENCE_SPL = 2e-5 # newtons/m^2 +SAMPLE_RATE = 44100 +SAMPLE_BUFFER = 4096 # approx 100ms + + +@cache +def get_a_weighting_filter(): + # Calculate the A-weighting filter + # https://en.wikipedia.org/wiki/A-weighting + freqs = np.fft.fftfreq(FFT_SAMPLES, d=1 / SAMPLE_RATE) + A = 12194 ** 2 * freqs ** 4 / ((freqs ** 2 + 20.6 ** 2) * (freqs ** 2 + 12194 ** 2) * np.sqrt((freqs ** 2 + 107.7 ** 2) * (freqs ** 2 + 737.9 ** 2))) + return A / np.max(A) + + +def calculate_spl(measurements): + # https://www.engineeringtoolbox.com/sound-pressure-d_711.html + sound_pressure = np.sqrt(np.mean(measurements ** 2)) # RMS of amplitudes + if sound_pressure > 0: + sound_pressure_level = 20 * np.log10(sound_pressure / REFERENCE_SPL) # dB + else: + sound_pressure_level = 0 + return sound_pressure, sound_pressure_level + + +def apply_a_weighting(measurements: np.ndarray) -> np.ndarray: + # Generate a Hanning window of the same length as the audio measurements + measurements_windowed = measurements * np.hanning(len(measurements)) + + # Apply the A-weighting filter to the signal + return np.abs(np.fft.ifft(np.fft.fft(measurements_windowed) * get_a_weighting_filter())) + + +class Mic: + def __init__(self): + self.rk = Ratekeeper(RATE) + self.pm = messaging.PubMaster(['microphone']) + + self.measurements = np.empty(0) + + self.sound_pressure = 0 + self.sound_pressure_weighted = 0 + self.sound_pressure_level_weighted = 0 + + def update(self): + msg = messaging.new_message('microphone', valid=True) + msg.microphone.soundPressure = float(self.sound_pressure) + msg.microphone.soundPressureWeighted = float(self.sound_pressure_weighted) + + msg.microphone.soundPressureWeightedDb = float(self.sound_pressure_level_weighted) + + self.pm.send('microphone', msg) + self.rk.keep_time() + + def callback(self, indata, frames, time, status): + """ + Using amplitude measurements, calculate an uncalibrated sound pressure and sound pressure level. + Then apply A-weighting to the raw amplitudes and run the same calculations again. + + Logged A-weighted equivalents are rough approximations of the human-perceived loudness. + """ + + self.measurements = np.concatenate((self.measurements, indata[:, 0])) + + while self.measurements.size >= FFT_SAMPLES: + measurements = self.measurements[:FFT_SAMPLES] + + self.sound_pressure, _ = calculate_spl(measurements) + measurements_weighted = apply_a_weighting(measurements) + self.sound_pressure_weighted, self.sound_pressure_level_weighted = calculate_spl(measurements_weighted) + + self.measurements = self.measurements[FFT_SAMPLES:] + + @retry(attempts=7, delay=3) + def get_stream(self, sd): + # reload sounddevice to reinitialize portaudio + sd._terminate() + sd._initialize() + return sd.InputStream(channels=1, samplerate=SAMPLE_RATE, callback=self.callback, blocksize=SAMPLE_BUFFER) + + def micd_thread(self): + # sounddevice must be imported after forking processes + import sounddevice as sd + + with self.get_stream(sd) as stream: + cloudlog.info(f"micd stream started: {stream.samplerate=} {stream.channels=} {stream.dtype=} {stream.device=}, {stream.blocksize=}") + while True: + self.update() + + +def main(): + mic = Mic() + mic.micd_thread() + + +if __name__ == "__main__": + main() diff --git a/system/proclogd/proclog.h b/system/proclogd/proclog.h new file mode 100644 index 0000000000..49f97cdd36 --- /dev/null +++ b/system/proclogd/proclog.h @@ -0,0 +1,40 @@ +#include +#include +#include +#include + +#include "cereal/messaging/messaging.h" + +struct CPUTime { + int id; + unsigned long utime, ntime, stime, itime; + unsigned long iowtime, irqtime, sirqtime; +}; + +struct ProcCache { + int pid; + std::string name, exe; + std::vector cmdline; +}; + +struct ProcStat { + int pid, ppid, processor; + char state; + long cutime, cstime, priority, nice, num_threads, rss; + unsigned long utime, stime, vms; + unsigned long long starttime; + std::string name; +}; + +namespace Parser { + +std::vector pids(); +std::optional procStat(std::string stat); +std::vector cmdline(std::istream &stream); +std::vector cpuTimes(std::istream &stream); +std::unordered_map memInfo(std::istream &stream); +const ProcCache &getProcExtraInfo(int pid, const std::string &name); + +}; // namespace Parser + +void buildProcLogMessage(MessageBuilder &msg); diff --git a/system/proclogd/proclogd b/system/proclogd/proclogd new file mode 100755 index 0000000000..170eb54059 Binary files /dev/null and b/system/proclogd/proclogd differ diff --git a/system/qcomgpsd/modemdiag.py b/system/qcomgpsd/modemdiag.py new file mode 100644 index 0000000000..5d72aeba9e --- /dev/null +++ b/system/qcomgpsd/modemdiag.py @@ -0,0 +1,94 @@ +import select +from serial import Serial +from crcmod import mkCrcFun +from struct import pack, unpack_from, calcsize + +class ModemDiag: + def __init__(self): + self.serial = self.open_serial() + self.pend = b'' + + def open_serial(self): + serial = Serial("/dev/ttyUSB0", baudrate=115200, rtscts=True, dsrdtr=True, timeout=0, exclusive=True) + serial.flush() + serial.reset_input_buffer() + serial.reset_output_buffer() + return serial + + ccitt_crc16 = mkCrcFun(0x11021, initCrc=0, xorOut=0xffff) + ESCAPE_CHAR = b'\x7d' + TRAILER_CHAR = b'\x7e' + + def hdlc_encapsulate(self, payload): + payload += pack('= 3 + assert payload[-1:] == self.TRAILER_CHAR + payload = payload[:-1] + payload = payload.replace(bytes([self.ESCAPE_CHAR[0], self.TRAILER_CHAR[0] ^ 0x20]), self.TRAILER_CHAR) + payload = payload.replace(bytes([self.ESCAPE_CHAR[0], self.ESCAPE_CHAR[0] ^ 0x20]), self.ESCAPE_CHAR) + assert payload[-2:] == pack(' NoReturn: + while True: + try: + with open(device) as nmeaport: + for line in nmeaport: + line = line.strip() + if DEBUG: + print(line) + if not line.startswith("$"): # all NMEA messages start with $ + continue + if not nmea_checksum_ok(line): + continue + + fields = line.split(",") + match fields[0]: + case "$GNCLK": + # fields at end are reserved (not used) + gnss_clock = GnssClockNmeaPort(*fields[1:10]) # type: ignore[arg-type] + print(gnss_clock) + case "$GNMEAS": + # fields at end are reserved (not used) + gnss_meas = GnssMeasNmeaPort(*fields[1:14]) # type: ignore[arg-type] + print(gnss_meas) + except Exception as e: + print(e) + sleep(1) + +def main() -> NoReturn: + from openpilot.common.gpio import gpio_init, gpio_set + from openpilot.system.hardware.tici.pins import GPIO + from openpilot.system.qcomgpsd.qcomgpsd import at_cmd + + try: + check_output(["pidof", "qcomgpsd"]) + print("qcomgpsd is running, please kill openpilot before running this script! (aborted)") + sys.exit(1) + except CalledProcessError as e: + if e.returncode != 1: # 1 == no process found (pandad not running) + raise e + + print("power up antenna ...") + gpio_init(GPIO.GNSS_PWR_EN, True) + gpio_set(GPIO.GNSS_PWR_EN, True) + + if b"+QGPS: 0" not in (at_cmd("AT+QGPS?") or b""): + print("stop location tracking ...") + at_cmd("AT+QGPSEND") + + if b'+QGPSCFG: "outport",usbnmea' not in (at_cmd('AT+QGPSCFG="outport"') or b""): + print("configure outport ...") + at_cmd('AT+QGPSCFG="outport","usbnmea"') # usbnmea = /dev/ttyUSB1 + + if b'+QGPSCFG: "gnssrawdata",3,0' not in (at_cmd('AT+QGPSCFG="gnssrawdata"') or b""): + print("configure gnssrawdata ...") + # AT+QGPSCFG="gnssrawdata",,' + # values: + # 0x01 = GPS + # 0x02 = GLONASS + # 0x04 = BEIDOU + # 0x08 = GALILEO + # 0x10 = QZSS + # values: + # 0 = NMEA port + # 1 = AT port + at_cmd('AT+QGPSCFG="gnssrawdata",3,0') # enable all constellations, output data to NMEA port + print("rebooting ...") + at_cmd('AT+CFUN=1,1') + print("re-run this script when it is back up") + sys.exit(2) + + print("starting location tracking ...") + at_cmd("AT+QGPS=1") + + process_nmea_port_messages() + +if __name__ == "__main__": + main() diff --git a/system/qcomgpsd/qcomgpsd.py b/system/qcomgpsd/qcomgpsd.py new file mode 100755 index 0000000000..43ddb89939 --- /dev/null +++ b/system/qcomgpsd/qcomgpsd.py @@ -0,0 +1,460 @@ +#!/usr/bin/env python3 +import os +import sys +import signal +import itertools +import math +import time +import requests +import shutil +import subprocess +import datetime +from multiprocessing import Process, Event +from typing import NoReturn +from struct import unpack_from, calcsize, pack + +from cereal import log +import cereal.messaging as messaging +from openpilot.common.gpio import gpio_init, gpio_set +from openpilot.common.retry import retry +from openpilot.common.time import system_time_valid +from openpilot.system.hardware.tici.pins import GPIO +from openpilot.common.swaglog import cloudlog +from openpilot.system.qcomgpsd.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv +from openpilot.system.qcomgpsd.structs import (dict_unpacker, position_report, relist, + gps_measurement_report, gps_measurement_report_sv, + glonass_measurement_report, glonass_measurement_report_sv, + oemdre_measurement_report, oemdre_measurement_report_sv, oemdre_svpoly_report, + LOG_GNSS_GPS_MEASUREMENT_REPORT, LOG_GNSS_GLONASS_MEASUREMENT_REPORT, + LOG_GNSS_POSITION_REPORT, LOG_GNSS_OEMDRE_MEASUREMENT_REPORT, + LOG_GNSS_OEMDRE_SVPOLY_REPORT) + +DEBUG = int(os.getenv("DEBUG", "0"))==1 +ASSIST_DATA_FILE = '/tmp/xtra3grc.bin' +ASSIST_DATA_FILE_DOWNLOAD = ASSIST_DATA_FILE + '.download' +ASSISTANCE_URL = 'http://xtrapath3.izatcloud.net/xtra3grc.bin' + +LOG_TYPES = [ + LOG_GNSS_GPS_MEASUREMENT_REPORT, + LOG_GNSS_GLONASS_MEASUREMENT_REPORT, + LOG_GNSS_OEMDRE_MEASUREMENT_REPORT, + LOG_GNSS_POSITION_REPORT, + LOG_GNSS_OEMDRE_SVPOLY_REPORT, +] + + +miscStatusFields = { + "multipathEstimateIsValid": 0, + "directionIsValid": 1, +} + +measurementStatusFields = { + "subMillisecondIsValid": 0, + "subBitTimeIsKnown": 1, + "satelliteTimeIsKnown": 2, + "bitEdgeConfirmedFromSignal": 3, + "measuredVelocity": 4, + "fineOrCoarseVelocity": 5, + "lockPointValid": 6, + "lockPointPositive": 7, + + "lastUpdateFromDifference": 9, + "lastUpdateFromVelocityDifference": 10, + "strongIndicationOfCrossCorelation": 11, + "tentativeMeasurement": 12, + "measurementNotUsable": 13, + "sirCheckIsNeeded": 14, + "probationMode": 15, + + "multipathIndicator": 24, + "imdJammingIndicator": 25, + "lteB13TxJammingIndicator": 26, + "freshMeasurementIndicator": 27, +} + +measurementStatusGPSFields = { + "gpsRoundRobinRxDiversity": 18, + "gpsRxDiversity": 19, + "gpsLowBandwidthRxDiversityCombined": 20, + "gpsHighBandwidthNu4": 21, + "gpsHighBandwidthNu8": 22, + "gpsHighBandwidthUniform": 23, +} + +measurementStatusGlonassFields = { + "glonassMeanderBitEdgeValid": 16, + "glonassTimeMarkValid": 17 +} + +@retry(attempts=10, delay=1.0) +def try_setup_logs(diag, logs): + return setup_logs(diag, logs) + +@retry(attempts=3, delay=1.0) +def at_cmd(cmd: str) -> str | None: + return subprocess.check_output(f"mmcli -m any --timeout 30 --command='{cmd}'", shell=True, encoding='utf8') + +def gps_enabled() -> bool: + return "QGPS: 1" in at_cmd("AT+QGPS?") + +def download_assistance(): + try: + response = requests.get(ASSISTANCE_URL, timeout=5, stream=True) + + with open(ASSIST_DATA_FILE_DOWNLOAD, 'wb') as fp: + for chunk in response.iter_content(chunk_size=8192): + fp.write(chunk) + if fp.tell() > 1e5: + cloudlog.error("Qcom assistance data larger than expected") + return + + os.rename(ASSIST_DATA_FILE_DOWNLOAD, ASSIST_DATA_FILE) + + except requests.exceptions.RequestException: + cloudlog.exception("Failed to download assistance file") + return + +def downloader_loop(event): + if os.path.exists(ASSIST_DATA_FILE): + os.remove(ASSIST_DATA_FILE) + + alt_path = os.getenv("QCOM_ALT_ASSISTANCE_PATH", None) + if alt_path is not None and os.path.exists(alt_path): + shutil.copyfile(alt_path, ASSIST_DATA_FILE) + + try: + while not os.path.exists(ASSIST_DATA_FILE) and not event.is_set(): + download_assistance() + event.wait(timeout=10) + except KeyboardInterrupt: + pass + +@retry(attempts=5, delay=0.2, ignore_failure=True) +def inject_assistance(): + cmd = f"mmcli -m any --timeout 30 --location-inject-assistance-data={ASSIST_DATA_FILE}" + subprocess.check_output(cmd, stderr=subprocess.PIPE, shell=True) + cloudlog.info("successfully loaded assistance data") + +@retry(attempts=5, delay=1.0) +def setup_quectel(diag: ModemDiag) -> bool: + ret = False + + # enable OEMDRE in the NV + # TODO: it has to reboot for this to take effect + DIAG_NV_READ_F = 38 + DIAG_NV_WRITE_F = 39 + NV_GNSS_OEM_FEATURE_MASK = 7165 + send_recv(diag, DIAG_NV_WRITE_F, pack(' NoReturn: + unpack_gps_meas, size_gps_meas = dict_unpacker(gps_measurement_report, True) + unpack_gps_meas_sv, size_gps_meas_sv = dict_unpacker(gps_measurement_report_sv, True) + + unpack_glonass_meas, size_glonass_meas = dict_unpacker(glonass_measurement_report, True) + unpack_glonass_meas_sv, size_glonass_meas_sv = dict_unpacker(glonass_measurement_report_sv, True) + + unpack_oemdre_meas, size_oemdre_meas = dict_unpacker(oemdre_measurement_report, True) + unpack_oemdre_meas_sv, size_oemdre_meas_sv = dict_unpacker(oemdre_measurement_report_sv, True) + + unpack_svpoly, _ = dict_unpacker(oemdre_svpoly_report, True) + unpack_position, _ = dict_unpacker(position_report) + + unpack_position, _ = dict_unpacker(position_report) + + wait_for_modem() + + stop_download_event = Event() + assist_fetch_proc = Process(target=downloader_loop, args=(stop_download_event,)) + assist_fetch_proc.start() + def cleanup(sig, frame): + cloudlog.warning("caught sig disabling quectel gps") + + gpio_set(GPIO.GNSS_PWR_EN, False) + teardown_quectel(diag) + cloudlog.warning("quectel cleanup done") + + stop_download_event.set() + assist_fetch_proc.kill() + assist_fetch_proc.join() + + sys.exit(0) + signal.signal(signal.SIGINT, cleanup) + signal.signal(signal.SIGTERM, cleanup) + + # connect to modem + diag = ModemDiag() + r = setup_quectel(diag) + want_assistance = not r + cloudlog.warning("quectel setup done") + gpio_init(GPIO.GNSS_PWR_EN, True) + gpio_set(GPIO.GNSS_PWR_EN, True) + + pm = messaging.PubMaster(['qcomGnss', 'gpsLocation']) + + while 1: + if os.path.exists(ASSIST_DATA_FILE) and want_assistance: + setup_quectel(diag) + want_assistance = False + + opcode, payload = diag.recv() + if opcode != DIAG_LOG_F: + cloudlog.error(f"Unhandled opcode: {opcode}") + continue + + (pending_msgs, log_outer_length), inner_log_packet = unpack_from(' 0: + cloudlog.debug("have %d pending messages" % pending_msgs) + assert log_outer_length == len(inner_log_packet) + + (log_inner_length, log_type, log_time), log_payload = unpack_from(' 6*SECS_IN_DAY: + epoch.week += 1 + elif epoch.tow > 6*SECS_IN_DAY and current_gps_time.tow < SECS_IN_DAY: + epoch.week -= 1 + + poly.gpsWeek = epoch.week + poly.gpsTow = epoch.tow + ''' + pm.send('qcomGnss', msg) + + elif log_type in [LOG_GNSS_GPS_MEASUREMENT_REPORT, LOG_GNSS_GLONASS_MEASUREMENT_REPORT]: + msg = messaging.new_message('qcomGnss', valid=True) + + gnss = msg.qcomGnss + gnss.logTs = log_time + gnss.init('measurementReport') + report = gnss.measurementReport + + if log_type == LOG_GNSS_GPS_MEASUREMENT_REPORT: + dat = unpack_gps_meas(log_payload) + sats = log_payload[size_gps_meas:] + unpack_meas_sv, size_meas_sv = unpack_gps_meas_sv, size_gps_meas_sv + report.source = 0 # gps + measurement_status_fields = (measurementStatusFields.items(), measurementStatusGPSFields.items()) + elif log_type == LOG_GNSS_GLONASS_MEASUREMENT_REPORT: + dat = unpack_glonass_meas(log_payload) + sats = log_payload[size_glonass_meas:] + unpack_meas_sv, size_meas_sv = unpack_glonass_meas_sv, size_glonass_meas_sv + report.source = 1 # glonass + measurement_status_fields = (measurementStatusFields.items(), measurementStatusGlonassFields.items()) + else: + raise RuntimeError(f"invalid log_type: {log_type}") + + for k,v in dat.items(): + if k == "version": + assert v == 0 + elif k == "week": + report.gpsWeek = v + elif k == "svCount": + pass + else: + setattr(report, k, v) + report.init('sv', dat['svCount']) + if dat['svCount'] > 0: + assert len(sats)//dat['svCount'] == size_meas_sv + for i in range(dat['svCount']): + sv = report.sv[i] + sv.init('measurementStatus') + sat = unpack_meas_sv(sats[size_meas_sv*i:size_meas_sv*(i+1)]) + for k,v in sat.items(): + if k == "parityErrorCount": + sv.gpsParityErrorCount = v + elif k == "frequencyIndex": + sv.glonassFrequencyIndex = v + elif k == "hemmingErrorCount": + sv.glonassHemmingErrorCount = v + elif k == "measurementStatus": + for kk,vv in itertools.chain(*measurement_status_fields): + setattr(sv.measurementStatus, kk, bool(v & (1< Accelerometer BIT[1] 0x00000002 <96> Gyro 0x0000FFFC - Reserved A bit set to 1 indicates that certain fields as defined by the SENSOR_AIDING_MASK were aided with sensor data*/ + uint32 q_SensorAidMask; /* Denotes which component of the position report was assisted with additional sensors defined in SENSOR_DATA_USAGE_MASK BIT[0] 0x00000001 <96> Heading aided with sensor data BIT[1] 0x00000002 <96> Speed aided with sensor data BIT[2] 0x00000004 <96> Position aided with sensor data BIT[3] 0x00000008 <96> Velocity aided with sensor data 0xFFFFFFF0 <96> Reserved */ + uint8 u_NumGpsSvsUsed; /* The number of GPS SVs used in the fix */ + uint8 u_TotalGpsSvs; /* Total number of GPS SVs detected by searcher, including ones not used in position calculation */ + uint8 u_NumGloSvsUsed; /* The number of Glonass SVs used in the fix */ + uint8 u_TotalGloSvs; /* Total number of Glonass SVs detected by searcher, including ones not used in position calculation */ + uint8 u_NumBdsSvsUsed; /* The number of BeiDou SVs used in the fix */ + uint8 u_TotalBdsSvs; /* Total number of BeiDou SVs detected by searcher, including ones not used in position calculation */ +""" # noqa: E501 + +def name_to_camelcase(nam): + ret = [] + i = 0 + while i < len(nam): + if nam[i] == "_": + ret.append(nam[i+1].upper()) + i += 2 + else: + ret.append(nam[i]) + i += 1 + return ''.join(ret) + +def parse_struct(ss): + st = "<" + nams = [] + for l in ss.strip().split("\n"): + if len(l.strip()) == 0: + continue + typ, nam = l.split(";")[0].split() + #print(typ, nam) + if typ == "float" or '_Flt' in nam: + st += "f" + elif typ == "double" or '_Dbl' in nam: + st += "d" + elif typ in ["uint8", "uint8_t"]: + st += "B" + elif typ in ["int8", "int8_t"]: + st += "b" + elif typ in ["uint32", "uint32_t"]: + st += "I" + elif typ in ["int32", "int32_t"]: + st += "i" + elif typ in ["uint16", "uint16_t"]: + st += "H" + elif typ in ["int16", "int16_t"]: + st += "h" + elif typ in ["uint64", "uint64_t"]: + st += "Q" + else: + raise RuntimeError(f"unknown type {typ}") + if '[' in nam: + cnt = int(nam.split("[")[1].split("]")[0]) + st += st[-1]*(cnt-1) + for i in range(cnt): + nams.append("%s[%d]" % (nam.split("[")[0], i)) + else: + nams.append(nam) + return st, nams + +def dict_unpacker(ss, camelcase = False): + st, nams = parse_struct(ss) + if camelcase: + nams = [name_to_camelcase(x) for x in nams] + sz = calcsize(st) + return lambda x: dict(zip(nams, unpack_from(st, x), strict=True)), sz + +def relist(dat): + list_keys = set() + for key in dat.keys(): + if '[' in key: + list_keys.add(key.split('[')[0]) + list_dict = {} + for list_key in list_keys: + list_dict[list_key] = [] + i = 0 + while True: + key = list_key + f'[{i}]' + if key not in dat: + break + list_dict[list_key].append(dat[key]) + del dat[key] + i += 1 + return {**dat, **list_dict} diff --git a/system/qcomgpsd/tests/test_qcomgpsd.py b/system/qcomgpsd/tests/test_qcomgpsd.py new file mode 100644 index 0000000000..716bc33ed2 --- /dev/null +++ b/system/qcomgpsd/tests/test_qcomgpsd.py @@ -0,0 +1,119 @@ +import os +import pytest +import json +import time +import datetime +import subprocess + +import cereal.messaging as messaging +from openpilot.system.qcomgpsd.qcomgpsd import at_cmd, wait_for_modem +from openpilot.system.manager.process_config import managed_processes + +GOOD_SIGNAL = bool(int(os.getenv("GOOD_SIGNAL", '0'))) + + +@pytest.mark.tici +class TestRawgpsd: + @classmethod + def setup_class(cls): + os.system("sudo systemctl start systemd-resolved") + os.system("sudo systemctl restart ModemManager lte") + wait_for_modem() + + @classmethod + def teardown_class(cls): + managed_processes['qcomgpsd'].stop() + os.system("sudo systemctl restart systemd-resolved") + os.system("sudo systemctl restart ModemManager lte") + + def setup_method(self): + at_cmd("AT+QGPSDEL=0") + self.sm = messaging.SubMaster(['qcomGnss', 'gpsLocation', 'gnssMeasurements']) + + def teardown_method(self): + managed_processes['qcomgpsd'].stop() + os.system("sudo systemctl restart systemd-resolved") + + def _wait_for_output(self, t): + dt = 0.1 + for _ in range(t*int(1/dt)): + self.sm.update(0) + if self.sm.updated['qcomGnss']: + break + time.sleep(dt) + return self.sm.updated['qcomGnss'] + + def test_no_crash_double_command(self): + at_cmd("AT+QGPSDEL=0") + at_cmd("AT+QGPSDEL=0") + + def test_wait_for_modem(self): + os.system("sudo systemctl stop ModemManager") + managed_processes['qcomgpsd'].start() + assert not self._wait_for_output(5) + + os.system("sudo systemctl restart ModemManager") + assert self._wait_for_output(30) + + def test_startup_time(self, subtests): + for internet in (True, False): + if not internet: + os.system("sudo systemctl stop systemd-resolved") + with subtests.test(internet=internet): + managed_processes['qcomgpsd'].start() + assert self._wait_for_output(7) + managed_processes['qcomgpsd'].stop() + + def test_turns_off_gnss(self, subtests): + for s in (0.1, 1, 5): + with subtests.test(runtime=s): + managed_processes['qcomgpsd'].start() + time.sleep(s) + managed_processes['qcomgpsd'].stop() + + ls = subprocess.check_output("mmcli -m any --location-status --output-json", shell=True, encoding='utf-8') + loc_status = json.loads(ls) + assert set(loc_status['modem']['location']['enabled']) <= {'3gpp-lac-ci'} + + + def check_assistance(self, should_be_loaded): + # after QGPSDEL: '+QGPSXTRADATA: 0,"1980/01/05,19:00:00"' + # after loading: '+QGPSXTRADATA: 10080,"2023/06/24,19:00:00"' + out = at_cmd("AT+QGPSXTRADATA?") + out = out.split("+QGPSXTRADATA:")[1].split("'")[0].strip() + valid_duration, injected_time_str = out.split(",", 1) + if should_be_loaded: + assert valid_duration == "10080" # should be max time + injected_time = datetime.datetime.strptime(injected_time_str.replace("\"", ""), "%Y/%m/%d,%H:%M:%S") + assert abs((datetime.datetime.now(datetime.UTC).replace(tzinfo=None) - injected_time).total_seconds()) < 60*60*12 + else: + valid_duration, injected_time_str = out.split(",", 1) + injected_time_str = injected_time_str.replace('\"', '').replace('\'', '') + assert injected_time_str[:] == '1980/01/05,19:00:00'[:] + assert valid_duration == '0' + + def test_assistance_loading(self): + managed_processes['qcomgpsd'].start() + assert self._wait_for_output(10) + managed_processes['qcomgpsd'].stop() + self.check_assistance(True) + + def test_no_assistance_loading(self): + os.system("sudo systemctl stop systemd-resolved") + + managed_processes['qcomgpsd'].start() + assert self._wait_for_output(10) + managed_processes['qcomgpsd'].stop() + self.check_assistance(False) + + def test_late_assistance_loading(self): + os.system("sudo systemctl stop systemd-resolved") + + managed_processes['qcomgpsd'].start() + self._wait_for_output(17) + assert self.sm.updated['qcomGnss'] + + os.system("sudo systemctl restart systemd-resolved") + time.sleep(15) + managed_processes['qcomgpsd'].stop() + self.check_assistance(True) diff --git a/system/sensord/.gitignore b/system/sensord/.gitignore new file mode 100644 index 0000000000..e17675e254 --- /dev/null +++ b/system/sensord/.gitignore @@ -0,0 +1 @@ +sensord diff --git a/system/sensord/__init__.py b/system/sensord/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/system/sensord/sensord b/system/sensord/sensord new file mode 100755 index 0000000000..561634eee4 Binary files /dev/null and b/system/sensord/sensord differ diff --git a/system/sensord/sensors/bmx055_accel.h b/system/sensord/sensors/bmx055_accel.h new file mode 100644 index 0000000000..2cc316e992 --- /dev/null +++ b/system/sensord/sensors/bmx055_accel.h @@ -0,0 +1,41 @@ +#pragma once + +#include "system/sensord/sensors/i2c_sensor.h" + +// Address of the chip on the bus +#define BMX055_ACCEL_I2C_ADDR 0x18 + +// Registers of the chip +#define BMX055_ACCEL_I2C_REG_ID 0x00 +#define BMX055_ACCEL_I2C_REG_X_LSB 0x02 +#define BMX055_ACCEL_I2C_REG_TEMP 0x08 +#define BMX055_ACCEL_I2C_REG_BW 0x10 +#define BMX055_ACCEL_I2C_REG_PMU 0x11 +#define BMX055_ACCEL_I2C_REG_HBW 0x13 +#define BMX055_ACCEL_I2C_REG_FIFO 0x3F + +// Constants +#define BMX055_ACCEL_CHIP_ID 0xFA + +#define BMX055_ACCEL_HBW_ENABLE 0b10000000 +#define BMX055_ACCEL_HBW_DISABLE 0b00000000 +#define BMX055_ACCEL_DEEP_SUSPEND 0b00100000 +#define BMX055_ACCEL_NORMAL_MODE 0b00000000 + +#define BMX055_ACCEL_BW_7_81HZ 0b01000 +#define BMX055_ACCEL_BW_15_63HZ 0b01001 +#define BMX055_ACCEL_BW_31_25HZ 0b01010 +#define BMX055_ACCEL_BW_62_5HZ 0b01011 +#define BMX055_ACCEL_BW_125HZ 0b01100 +#define BMX055_ACCEL_BW_250HZ 0b01101 +#define BMX055_ACCEL_BW_500HZ 0b01110 +#define BMX055_ACCEL_BW_1000HZ 0b01111 + +class BMX055_Accel : public I2CSensor { + uint8_t get_device_address() {return BMX055_ACCEL_I2C_ADDR;} +public: + BMX055_Accel(I2CBus *bus); + int init(); + bool get_event(MessageBuilder &msg, uint64_t ts = 0); + int shutdown(); +}; diff --git a/system/sensord/sensors/bmx055_gyro.h b/system/sensord/sensors/bmx055_gyro.h new file mode 100644 index 0000000000..7be3e56563 --- /dev/null +++ b/system/sensord/sensors/bmx055_gyro.h @@ -0,0 +1,41 @@ +#pragma once + +#include "system/sensord/sensors/i2c_sensor.h" + +// Address of the chip on the bus +#define BMX055_GYRO_I2C_ADDR 0x68 + +// Registers of the chip +#define BMX055_GYRO_I2C_REG_ID 0x00 +#define BMX055_GYRO_I2C_REG_RATE_X_LSB 0x02 +#define BMX055_GYRO_I2C_REG_RANGE 0x0F +#define BMX055_GYRO_I2C_REG_BW 0x10 +#define BMX055_GYRO_I2C_REG_LPM1 0x11 +#define BMX055_GYRO_I2C_REG_HBW 0x13 +#define BMX055_GYRO_I2C_REG_FIFO 0x3F + +// Constants +#define BMX055_GYRO_CHIP_ID 0x0F + +#define BMX055_GYRO_HBW_ENABLE 0b10000000 +#define BMX055_GYRO_HBW_DISABLE 0b00000000 +#define BMX055_GYRO_DEEP_SUSPEND 0b00100000 +#define BMX055_GYRO_NORMAL_MODE 0b00000000 + +#define BMX055_GYRO_RANGE_2000 0b000 +#define BMX055_GYRO_RANGE_1000 0b001 +#define BMX055_GYRO_RANGE_500 0b010 +#define BMX055_GYRO_RANGE_250 0b011 +#define BMX055_GYRO_RANGE_125 0b100 + +#define BMX055_GYRO_BW_116HZ 0b0010 + + +class BMX055_Gyro : public I2CSensor { + uint8_t get_device_address() {return BMX055_GYRO_I2C_ADDR;} +public: + BMX055_Gyro(I2CBus *bus); + int init(); + bool get_event(MessageBuilder &msg, uint64_t ts = 0); + int shutdown(); +}; diff --git a/system/sensord/sensors/bmx055_magn.h b/system/sensord/sensors/bmx055_magn.h new file mode 100644 index 0000000000..15c4e734b9 --- /dev/null +++ b/system/sensord/sensors/bmx055_magn.h @@ -0,0 +1,64 @@ +#pragma once +#include + +#include "system/sensord/sensors/i2c_sensor.h" + +// Address of the chip on the bus +#define BMX055_MAGN_I2C_ADDR 0x10 + +// Registers of the chip +#define BMX055_MAGN_I2C_REG_ID 0x40 +#define BMX055_MAGN_I2C_REG_PWR_0 0x4B +#define BMX055_MAGN_I2C_REG_MAG 0x4C +#define BMX055_MAGN_I2C_REG_DATAX_LSB 0x42 +#define BMX055_MAGN_I2C_REG_RHALL_LSB 0x48 +#define BMX055_MAGN_I2C_REG_REPXY 0x51 +#define BMX055_MAGN_I2C_REG_REPZ 0x52 + +#define BMX055_MAGN_I2C_REG_DIG_X1 0x5D +#define BMX055_MAGN_I2C_REG_DIG_Y1 0x5E +#define BMX055_MAGN_I2C_REG_DIG_Z4_LSB 0x62 +#define BMX055_MAGN_I2C_REG_DIG_Z4_MSB 0x63 +#define BMX055_MAGN_I2C_REG_DIG_X2 0x64 +#define BMX055_MAGN_I2C_REG_DIG_Y2 0x65 +#define BMX055_MAGN_I2C_REG_DIG_Z2_LSB 0x68 +#define BMX055_MAGN_I2C_REG_DIG_Z2_MSB 0x69 +#define BMX055_MAGN_I2C_REG_DIG_Z1_LSB 0x6A +#define BMX055_MAGN_I2C_REG_DIG_Z1_MSB 0x6B +#define BMX055_MAGN_I2C_REG_DIG_XYZ1_LSB 0x6C +#define BMX055_MAGN_I2C_REG_DIG_XYZ1_MSB 0x6D +#define BMX055_MAGN_I2C_REG_DIG_Z3_LSB 0x6E +#define BMX055_MAGN_I2C_REG_DIG_Z3_MSB 0x6F +#define BMX055_MAGN_I2C_REG_DIG_XY2 0x70 +#define BMX055_MAGN_I2C_REG_DIG_XY1 0x71 + +// Constants +#define BMX055_MAGN_CHIP_ID 0x32 +#define BMX055_MAGN_FORCED (0b01 << 1) + +struct trim_data_t { + int8_t dig_x1; + int8_t dig_y1; + int8_t dig_x2; + int8_t dig_y2; + uint16_t dig_z1; + int16_t dig_z2; + int16_t dig_z3; + int16_t dig_z4; + uint8_t dig_xy1; + int8_t dig_xy2; + uint16_t dig_xyz1; +}; + + +class BMX055_Magn : public I2CSensor{ + uint8_t get_device_address() {return BMX055_MAGN_I2C_ADDR;} + trim_data_t trim_data = {0}; + bool perform_self_test(); + bool parse_xyz(uint8_t buffer[8], int16_t *x, int16_t *y, int16_t *z); +public: + BMX055_Magn(I2CBus *bus); + int init(); + bool get_event(MessageBuilder &msg, uint64_t ts = 0); + int shutdown(); +}; diff --git a/system/sensord/sensors/bmx055_temp.h b/system/sensord/sensors/bmx055_temp.h new file mode 100644 index 0000000000..a2eabae395 --- /dev/null +++ b/system/sensord/sensors/bmx055_temp.h @@ -0,0 +1,13 @@ +#pragma once + +#include "system/sensord/sensors/bmx055_accel.h" +#include "system/sensord/sensors/i2c_sensor.h" + +class BMX055_Temp : public I2CSensor { + uint8_t get_device_address() {return BMX055_ACCEL_I2C_ADDR;} +public: + BMX055_Temp(I2CBus *bus); + int init(); + bool get_event(MessageBuilder &msg, uint64_t ts = 0); + int shutdown() { return 0; } +}; diff --git a/system/sensord/sensors/constants.h b/system/sensord/sensors/constants.h new file mode 100644 index 0000000000..c216f838a5 --- /dev/null +++ b/system/sensord/sensors/constants.h @@ -0,0 +1,18 @@ +#pragma once + + +#define SENSOR_ACCELEROMETER 1 +#define SENSOR_MAGNETOMETER 2 +#define SENSOR_MAGNETOMETER_UNCALIBRATED 3 +#define SENSOR_GYRO 4 +#define SENSOR_GYRO_UNCALIBRATED 5 +#define SENSOR_LIGHT 7 + +#define SENSOR_TYPE_ACCELEROMETER 1 +#define SENSOR_TYPE_GEOMAGNETIC_FIELD 2 +#define SENSOR_TYPE_GYROSCOPE 4 +#define SENSOR_TYPE_LIGHT 5 +#define SENSOR_TYPE_AMBIENT_TEMPERATURE 13 +#define SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED 14 +#define SENSOR_TYPE_MAGNETIC_FIELD SENSOR_TYPE_GEOMAGNETIC_FIELD +#define SENSOR_TYPE_GYROSCOPE_UNCALIBRATED 16 diff --git a/system/sensord/sensors/i2c_sensor.h b/system/sensord/sensors/i2c_sensor.h new file mode 100644 index 0000000000..ba100c3b01 --- /dev/null +++ b/system/sensord/sensors/i2c_sensor.h @@ -0,0 +1,51 @@ +#pragma once + +#include +#include +#include +#include "cereal/gen/cpp/log.capnp.h" + +#include "common/i2c.h" +#include "common/gpio.h" + +#include "common/swaglog.h" +#include "system/sensord/sensors/constants.h" +#include "system/sensord/sensors/sensor.h" + +int16_t read_12_bit(uint8_t lsb, uint8_t msb); +int16_t read_16_bit(uint8_t lsb, uint8_t msb); +int32_t read_20_bit(uint8_t b2, uint8_t b1, uint8_t b0); + + +class I2CSensor : public Sensor { +private: + I2CBus *bus; + int gpio_nr; + bool shared_gpio; + virtual uint8_t get_device_address() = 0; + +public: + I2CSensor(I2CBus *bus, int gpio_nr = 0, bool shared_gpio = false); + ~I2CSensor(); + int read_register(uint register_address, uint8_t *buffer, uint8_t len); + int set_register(uint register_address, uint8_t data); + int init_gpio(); + bool has_interrupt_enabled(); + virtual int init() = 0; + virtual bool get_event(MessageBuilder &msg, uint64_t ts = 0) = 0; + virtual int shutdown() = 0; + + int verify_chip_id(uint8_t address, const std::vector &expected_ids) { + uint8_t chip_id = 0; + int ret = read_register(address, &chip_id, 1); + if (ret < 0) { + LOGE("Reading chip ID failed: %d", ret); + return -1; + } + for (int i = 0; i < expected_ids.size(); ++i) { + if (chip_id == expected_ids[i]) return chip_id; + } + LOGE("Chip ID wrong. Got: %d, Expected %d", chip_id, expected_ids[0]); + return -1; + } +}; diff --git a/system/sensord/sensors/lsm6ds3_accel.h b/system/sensord/sensors/lsm6ds3_accel.h new file mode 100644 index 0000000000..69667cb759 --- /dev/null +++ b/system/sensord/sensors/lsm6ds3_accel.h @@ -0,0 +1,49 @@ +#pragma once + +#include "system/sensord/sensors/i2c_sensor.h" + +// Address of the chip on the bus +#define LSM6DS3_ACCEL_I2C_ADDR 0x6A + +// Registers of the chip +#define LSM6DS3_ACCEL_I2C_REG_DRDY_CFG 0x0B +#define LSM6DS3_ACCEL_I2C_REG_ID 0x0F +#define LSM6DS3_ACCEL_I2C_REG_INT1_CTRL 0x0D +#define LSM6DS3_ACCEL_I2C_REG_CTRL1_XL 0x10 +#define LSM6DS3_ACCEL_I2C_REG_CTRL3_C 0x12 +#define LSM6DS3_ACCEL_I2C_REG_CTRL5_C 0x14 +#define LSM6DS3_ACCEL_I2C_REG_CTR9_XL 0x18 +#define LSM6DS3_ACCEL_I2C_REG_STAT_REG 0x1E +#define LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL 0x28 + +// Constants +#define LSM6DS3_ACCEL_CHIP_ID 0x69 +#define LSM6DS3TRC_ACCEL_CHIP_ID 0x6A +#define LSM6DS3_ACCEL_FS_4G (0b10 << 2) +#define LSM6DS3_ACCEL_ODR_52HZ (0b0011 << 4) +#define LSM6DS3_ACCEL_ODR_104HZ (0b0100 << 4) +#define LSM6DS3_ACCEL_INT1_DRDY_XL 0b1 +#define LSM6DS3_ACCEL_DRDY_XLDA 0b1 +#define LSM6DS3_ACCEL_DRDY_PULSE_MODE (1 << 7) +#define LSM6DS3_ACCEL_IF_INC 0b00000100 +#define LSM6DS3_ACCEL_IF_INC_BDU 0b01000100 +#define LSM6DS3_ACCEL_XYZ_DEN 0b11100000 +#define LSM6DS3_ACCEL_POSITIVE_TEST 0b01 +#define LSM6DS3_ACCEL_NEGATIVE_TEST 0b10 +#define LSM6DS3_ACCEL_MIN_ST_LIMIT_mg 90.0f +#define LSM6DS3_ACCEL_MAX_ST_LIMIT_mg 1700.0f + +class LSM6DS3_Accel : public I2CSensor { + uint8_t get_device_address() {return LSM6DS3_ACCEL_I2C_ADDR;} + cereal::SensorEventData::SensorSource source = cereal::SensorEventData::SensorSource::LSM6DS3; + + // self test functions + int self_test(int test_type); + void wait_for_data_ready(); + void read_and_avg_data(float* val_st_off); +public: + LSM6DS3_Accel(I2CBus *bus, int gpio_nr = 0, bool shared_gpio = false); + int init(); + bool get_event(MessageBuilder &msg, uint64_t ts = 0); + int shutdown(); +}; diff --git a/system/sensord/sensors/lsm6ds3_gyro.h b/system/sensord/sensors/lsm6ds3_gyro.h new file mode 100644 index 0000000000..adaae62dd2 --- /dev/null +++ b/system/sensord/sensors/lsm6ds3_gyro.h @@ -0,0 +1,45 @@ +#pragma once + +#include "system/sensord/sensors/i2c_sensor.h" + +// Address of the chip on the bus +#define LSM6DS3_GYRO_I2C_ADDR 0x6A + +// Registers of the chip +#define LSM6DS3_GYRO_I2C_REG_DRDY_CFG 0x0B +#define LSM6DS3_GYRO_I2C_REG_ID 0x0F +#define LSM6DS3_GYRO_I2C_REG_INT1_CTRL 0x0D +#define LSM6DS3_GYRO_I2C_REG_CTRL2_G 0x11 +#define LSM6DS3_GYRO_I2C_REG_CTRL5_C 0x14 +#define LSM6DS3_GYRO_I2C_REG_STAT_REG 0x1E +#define LSM6DS3_GYRO_I2C_REG_OUTX_L_G 0x22 +#define LSM6DS3_GYRO_POSITIVE_TEST (0b01 << 2) +#define LSM6DS3_GYRO_NEGATIVE_TEST (0b11 << 2) + +// Constants +#define LSM6DS3_GYRO_CHIP_ID 0x69 +#define LSM6DS3TRC_GYRO_CHIP_ID 0x6A +#define LSM6DS3_GYRO_FS_2000dps (0b11 << 2) +#define LSM6DS3_GYRO_ODR_104HZ (0b0100 << 4) +#define LSM6DS3_GYRO_ODR_208HZ (0b0101 << 4) +#define LSM6DS3_GYRO_INT1_DRDY_G 0b10 +#define LSM6DS3_GYRO_DRDY_GDA 0b10 +#define LSM6DS3_GYRO_DRDY_PULSE_MODE (1 << 7) +#define LSM6DS3_GYRO_MIN_ST_LIMIT_mdps 150000.0f +#define LSM6DS3_GYRO_MAX_ST_LIMIT_mdps 700000.0f + + +class LSM6DS3_Gyro : public I2CSensor { + uint8_t get_device_address() {return LSM6DS3_GYRO_I2C_ADDR;} + cereal::SensorEventData::SensorSource source = cereal::SensorEventData::SensorSource::LSM6DS3; + + // self test functions + int self_test(int test_type); + void wait_for_data_ready(); + void read_and_avg_data(float* val_st_off); +public: + LSM6DS3_Gyro(I2CBus *bus, int gpio_nr = 0, bool shared_gpio = false); + int init(); + bool get_event(MessageBuilder &msg, uint64_t ts = 0); + int shutdown(); +}; diff --git a/system/sensord/sensors/lsm6ds3_temp.h b/system/sensord/sensors/lsm6ds3_temp.h new file mode 100644 index 0000000000..1b5b621814 --- /dev/null +++ b/system/sensord/sensors/lsm6ds3_temp.h @@ -0,0 +1,26 @@ +#pragma once + +#include "system/sensord/sensors/i2c_sensor.h" + +// Address of the chip on the bus +#define LSM6DS3_TEMP_I2C_ADDR 0x6A + +// Registers of the chip +#define LSM6DS3_TEMP_I2C_REG_ID 0x0F +#define LSM6DS3_TEMP_I2C_REG_OUT_TEMP_L 0x20 + +// Constants +#define LSM6DS3_TEMP_CHIP_ID 0x69 +#define LSM6DS3TRC_TEMP_CHIP_ID 0x6A + + +class LSM6DS3_Temp : public I2CSensor { + uint8_t get_device_address() {return LSM6DS3_TEMP_I2C_ADDR;} + cereal::SensorEventData::SensorSource source = cereal::SensorEventData::SensorSource::LSM6DS3; + +public: + LSM6DS3_Temp(I2CBus *bus); + int init(); + bool get_event(MessageBuilder &msg, uint64_t ts = 0); + int shutdown() { return 0; } +}; diff --git a/system/sensord/sensors/mmc5603nj_magn.h b/system/sensord/sensors/mmc5603nj_magn.h new file mode 100644 index 0000000000..9c0fbd2521 --- /dev/null +++ b/system/sensord/sensors/mmc5603nj_magn.h @@ -0,0 +1,37 @@ +#pragma once + +#include + +#include "system/sensord/sensors/i2c_sensor.h" + +// Address of the chip on the bus +#define MMC5603NJ_I2C_ADDR 0x30 + +// Registers of the chip +#define MMC5603NJ_I2C_REG_XOUT0 0x00 +#define MMC5603NJ_I2C_REG_ODR 0x1A +#define MMC5603NJ_I2C_REG_INTERNAL_0 0x1B +#define MMC5603NJ_I2C_REG_INTERNAL_1 0x1C +#define MMC5603NJ_I2C_REG_INTERNAL_2 0x1D +#define MMC5603NJ_I2C_REG_ID 0x39 + +// Constants +#define MMC5603NJ_CHIP_ID 0x10 +#define MMC5603NJ_CMM_FREQ_EN (1 << 7) +#define MMC5603NJ_AUTO_SR_EN (1 << 5) +#define MMC5603NJ_CMM_EN (1 << 4) +#define MMC5603NJ_EN_PRD_SET (1 << 3) +#define MMC5603NJ_SET (1 << 3) +#define MMC5603NJ_RESET (1 << 4) + +class MMC5603NJ_Magn : public I2CSensor { +private: + uint8_t get_device_address() {return MMC5603NJ_I2C_ADDR;} + void start_measurement(); + std::vector read_measurement(); +public: + MMC5603NJ_Magn(I2CBus *bus); + int init(); + bool get_event(MessageBuilder &msg, uint64_t ts = 0); + int shutdown(); +}; diff --git a/system/sensord/sensors/sensor.h b/system/sensord/sensors/sensor.h new file mode 100644 index 0000000000..1b0e3be0dc --- /dev/null +++ b/system/sensord/sensors/sensor.h @@ -0,0 +1,22 @@ +#pragma once + +#include "cereal/messaging/messaging.h" + +class Sensor { +public: + int gpio_fd = -1; + uint64_t start_ts = 0; + uint64_t init_delay = 500e6; // default dealy 500ms + virtual ~Sensor() {} + virtual int init() = 0; + virtual bool get_event(MessageBuilder &msg, uint64_t ts = 0) = 0; + virtual bool has_interrupt_enabled() = 0; + virtual int shutdown() = 0; + + virtual bool is_data_valid(uint64_t current_ts) { + if (start_ts == 0) { + start_ts = current_ts; + } + return (current_ts - start_ts) > init_delay; + } +}; diff --git a/system/sentry.py b/system/sentry.py new file mode 100644 index 0000000000..32772742cc --- /dev/null +++ b/system/sentry.py @@ -0,0 +1,156 @@ +import os +import traceback +from datetime import datetime +"""Install exception handler for process crash.""" +import sentry_sdk +import subprocess +from enum import Enum +from sentry_sdk.integrations.threading import ThreadingIntegration + +from openpilot.common.api.sunnylink import UNREGISTERED_SUNNYLINK_DONGLE_ID +from openpilot.common.basedir import BASEDIR +from openpilot.common.params import Params +from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID, is_registered_device +from openpilot.system.hardware import HARDWARE, PC +from openpilot.system.hardware.hw import Paths +from openpilot.common.swaglog import cloudlog +from openpilot.system.version import get_build_metadata, get_version + + +class SentryProject(Enum): + # python project + SELFDRIVE = "https://7e3be9bfcfe04c9abe58bd25fe290d1a@o1138119.ingest.sentry.io/6191481" + # native project + SELFDRIVE_NATIVE = "https://7e3be9bfcfe04c9abe58bd25fe290d1a@o1138119.ingest.sentry.io/6191481" + + +CRASHES_DIR = Paths.community_crash_root() +IP_ADDRESS = "{{auto}}" + + +def report_tombstone(fn: str, message: str, contents: str) -> None: + cloudlog.error({'tombstone': message}) + + with sentry_sdk.configure_scope() as scope: + bind_user() + scope.set_extra("tombstone_fn", fn) + scope.set_extra("tombstone", contents) + sentry_sdk.capture_message(message=message) + sentry_sdk.flush() + + +def capture_exception(*args, **kwargs) -> None: + save_exception(traceback.format_exc()) + cloudlog.error("crash", exc_info=kwargs.get('exc_info', 1)) + + try: + bind_user() + sentry_sdk.capture_exception(*args, **kwargs) + sentry_sdk.flush() # https://github.com/getsentry/sentry-python/issues/291 + except Exception: + cloudlog.exception("sentry exception") + + +def save_exception(exc_text: str) -> None: + if not os.path.exists(CRASHES_DIR): + os.makedirs(CRASHES_DIR) + + files = [ + os.path.join(CRASHES_DIR, datetime.now().strftime('%Y-%m-%d--%H-%M-%S.log')), + os.path.join(CRASHES_DIR, 'error.txt') + ] + + for file in files: + with open(file, 'w') as f: + if file.endswith("error.txt"): + lines = exc_text.splitlines()[-3:] + f.write("\n".join(lines)) + else: + f.write(exc_text) + + print('Logged current crash to {}'.format(files)) + + +def bind_user() -> None: + dongle_id, gitname, _ = get_properties() + sentry_sdk.set_user({"id": dongle_id, "ip_address": IP_ADDRESS, "name": gitname}) + + +def capture_warning(warning_string: str) -> None: + bind_user() + sentry_sdk.capture_message(warning_string, level='warning') + sentry_sdk.flush() + + +def capture_info(info_string: str) -> None: + bind_user() + sentry_sdk.capture_message(info_string, level='info') + sentry_sdk.flush() + + +def set_tag(key: str, value: str) -> None: + sentry_sdk.set_tag(key, value) + + +def get_properties() -> tuple[str, str, str]: + params = Params() + hardware_serial: str = params.get("HardwareSerial", encoding='utf-8') or "" + gitname: str = params.get("GithubUsername", encoding='utf-8') or "" + dongle_id: str = params.get("DongleId", encoding='utf-8') or f"{UNREGISTERED_DONGLE_ID}-{hardware_serial}" + sunnylink_dongle_id: str = params.get("SunnylinkDongleId", encoding='utf-8') or UNREGISTERED_SUNNYLINK_DONGLE_ID + + return dongle_id, gitname, sunnylink_dongle_id + + +def get_init() -> None: + params = Params() + dongle_id, _, _ = get_properties() + route_name = params.get("CurrentRoute", encoding='utf-8') + subprocess.call(["./bootlog", "--started"], cwd=os.path.join(BASEDIR, "system/loggerd")) + with sentry_sdk.configure_scope() as scope: + if route_name is not None: + route_id = dongle_id + "/" + route_name + sentry_sdk.set_tag("route_name", route_id) + scope.add_attachment(path=os.path.join(Paths.log_root(), "params", route_name), filename=route_id) + + +def init(project: SentryProject) -> bool: + build_metadata = get_build_metadata() + # forks like to mess with this, so double check + #comma_remote = build_metadata.openpilot.comma_remote and "commaai" in build_metadata.openpilot.git_origin + #if not comma_remote or not is_registered_device() or PC: + # return False + + #env = "release" if build_metadata.tested_channel else "master" + env = build_metadata.channel_type + dongle_id, gitname, sunnylink_dongle_id = get_properties() + + integrations = [] + if project == SentryProject.SELFDRIVE: + integrations.append(ThreadingIntegration(propagate_hub=True)) + + sentry_sdk.init(project.value, + default_integrations=False, + release=get_version(), + integrations=integrations, + traces_sample_rate=1.0, + max_value_length=8192, + environment=env, + send_default_pii=True) + + build_metadata = get_build_metadata() + + sentry_sdk.set_user({"id": dongle_id}) + sentry_sdk.set_user({"ip_address": IP_ADDRESS}) + sentry_sdk.set_user({"name": gitname}) + sentry_sdk.set_tag("dirty", build_metadata.openpilot.is_dirty) + sentry_sdk.set_tag("origin", build_metadata.openpilot.git_origin) + sentry_sdk.set_tag("branch", build_metadata.channel) + sentry_sdk.set_tag("commit", build_metadata.openpilot.git_commit) + sentry_sdk.set_tag("device", HARDWARE.get_device_type()) + sentry_sdk.set_tag("sunnylink_dongle_id", sunnylink_dongle_id) + + if project == SentryProject.SELFDRIVE: + sentry_sdk.Hub.current.start_session() + + return True diff --git a/system/statsd.py b/system/statsd.py new file mode 100755 index 0000000000..5e76b73ae9 --- /dev/null +++ b/system/statsd.py @@ -0,0 +1,181 @@ +#!/usr/bin/env python3 +import os +import zmq +import time +from pathlib import Path +from collections import defaultdict +from datetime import datetime, UTC +from typing import NoReturn + +from openpilot.common.params import Params +from cereal.messaging import SubMaster +from openpilot.system.hardware.hw import Paths +from openpilot.common.swaglog import cloudlog +from openpilot.system.hardware import HARDWARE +from openpilot.common.file_helpers import atomic_write_in_dir +from openpilot.system.version import get_build_metadata +from openpilot.system.loggerd.config import STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S + + +class METRIC_TYPE: + GAUGE = 'g' + SAMPLE = 'sa' + +class StatLog: + def __init__(self): + self.pid = None + self.zctx = None + self.sock = None + + def connect(self) -> None: + self.zctx = zmq.Context() + self.sock = self.zctx.socket(zmq.PUSH) + self.sock.setsockopt(zmq.LINGER, 10) + self.sock.connect(STATS_SOCKET) + self.pid = os.getpid() + + def __del__(self): + if self.sock is not None: + self.sock.close() + if self.zctx is not None: + self.zctx.term() + + def _send(self, metric: str) -> None: + if os.getpid() != self.pid: + self.connect() + + try: + self.sock.send_string(metric, zmq.NOBLOCK) + except zmq.error.Again: + # drop :/ + pass + + def gauge(self, name: str, value: float) -> None: + self._send(f"{name}:{value}|{METRIC_TYPE.GAUGE}") + + # Samples will be recorded in a buffer and at aggregation time, + # statistical properties will be logged (mean, count, percentiles, ...) + def sample(self, name: str, value: float): + self._send(f"{name}:{value}|{METRIC_TYPE.SAMPLE}") + + +def main() -> NoReturn: + dongle_id = Params().get("DongleId", encoding='utf-8') + def get_influxdb_line(measurement: str, value: float | dict[str, float], timestamp: datetime, tags: dict) -> str: + res = f"{measurement}" + for k, v in tags.items(): + res += f",{k}={str(v)}" + res += " " + + if isinstance(value, float): + value = {'value': value} + + for k, v in value.items(): + res += f"{k}={v}," + + res += f"dongle_id=\"{dongle_id}\" {int(timestamp.timestamp() * 1e9)}\n" + return res + + # open statistics socket + ctx = zmq.Context.instance() + sock = ctx.socket(zmq.PULL) + sock.bind(STATS_SOCKET) + + STATS_DIR = Paths.stats_root() + + # initialize stats directory + Path(STATS_DIR).mkdir(parents=True, exist_ok=True) + + build_metadata = get_build_metadata() + + # initialize tags + tags = { + 'started': False, + 'version': build_metadata.openpilot.version, + 'branch': build_metadata.channel, + 'dirty': build_metadata.openpilot.is_dirty, + 'origin': build_metadata.openpilot.git_normalized_origin, + 'deviceType': HARDWARE.get_device_type(), + } + + # subscribe to deviceState for started state + sm = SubMaster(['deviceState']) + + idx = 0 + last_flush_time = time.monotonic() + gauges = {} + samples: dict[str, list[float]] = defaultdict(list) + try: + while True: + started_prev = sm['deviceState'].started + sm.update() + + # Update metrics + while True: + try: + metric = sock.recv_string(zmq.NOBLOCK) + try: + metric_type = metric.split('|')[1] + metric_name = metric.split(':')[0] + metric_value = float(metric.split('|')[0].split(':')[1]) + + if metric_type == METRIC_TYPE.GAUGE: + gauges[metric_name] = metric_value + elif metric_type == METRIC_TYPE.SAMPLE: + samples[metric_name].append(metric_value) + else: + cloudlog.event("unknown metric type", metric_type=metric_type) + except Exception: + cloudlog.event("malformed metric", metric=metric) + except zmq.error.Again: + break + + # flush when started state changes or after FLUSH_TIME_S + if (time.monotonic() > last_flush_time + STATS_FLUSH_TIME_S) or (sm['deviceState'].started != started_prev): + result = "" + current_time = datetime.now(UTC) + tags['started'] = sm['deviceState'].started + + for key, value in gauges.items(): + result += get_influxdb_line(f"gauge.{key}", value, current_time, tags) + + for key, values in samples.items(): + values.sort() + sample_count = len(values) + sample_sum = sum(values) + + stats = { + 'count': sample_count, + 'min': values[0], + 'max': values[-1], + 'mean': sample_sum / sample_count, + } + for percentile in [0.05, 0.5, 0.95]: + value = values[int(round(percentile * (sample_count - 1)))] + stats[f"p{int(percentile * 100)}"] = value + + result += get_influxdb_line(f"sample.{key}", stats, current_time, tags) + + # clear intermediate data + gauges.clear() + samples.clear() + last_flush_time = time.monotonic() + + # check that we aren't filling up the drive + if len(os.listdir(STATS_DIR)) < STATS_DIR_FILE_LIMIT: + if len(result) > 0: + stats_path = os.path.join(STATS_DIR, f"{current_time.timestamp():.0f}_{idx}") + with atomic_write_in_dir(stats_path) as f: + f.write(result) + idx += 1 + else: + cloudlog.error("stats dir full") + finally: + sock.close() + ctx.term() + + +if __name__ == "__main__": + main() +else: + statlog = StatLog() diff --git a/system/timed.py b/system/timed.py new file mode 100755 index 0000000000..6c85bf2a25 --- /dev/null +++ b/system/timed.py @@ -0,0 +1,56 @@ +#!/usr/bin/env python3 +import datetime +import subprocess +import time +from typing import NoReturn + +import cereal.messaging as messaging +from openpilot.common.time import system_time_valid +from openpilot.common.swaglog import cloudlog + + +def set_time(new_time): + diff = datetime.datetime.now() - new_time + if diff < datetime.timedelta(seconds=10): + cloudlog.debug(f"Time diff too small: {diff}") + return + + cloudlog.debug(f"Setting time to {new_time}") + try: + subprocess.run(f"TZ=UTC date -s '{new_time}'", shell=True, check=True) + except subprocess.CalledProcessError: + cloudlog.exception("timed.failed_setting_time") + + +def main() -> NoReturn: + """ + timed has one responsibility: + - getting the current time + + GPS directly gives time. + AGNOS will also use NTP to update the time. + """ + + pm = messaging.PubMaster(['clocks']) + sm = messaging.SubMaster(['liveLocationKalman']) + while True: + sm.update(1000) + + msg = messaging.new_message('clocks') + msg.valid = system_time_valid() + msg.clocks.wallTimeNanos = time.time_ns() + pm.send('clocks', msg) + + llk = sm['liveLocationKalman'] + if not llk.gpsOK or (time.monotonic() - sm.logMonoTime['liveLocationKalman']/1e9) > 0.2: + continue + + # set time + # TODO: account for unixTimesatmpMillis being a (usually short) time in the past + gps_time = datetime.datetime.fromtimestamp(llk.unixTimestampMillis / 1000.) + set_time(gps_time) + + time.sleep(10) + +if __name__ == "__main__": + main() diff --git a/system/tombstoned.py b/system/tombstoned.py new file mode 100755 index 0000000000..5bcced2666 --- /dev/null +++ b/system/tombstoned.py @@ -0,0 +1,176 @@ +#!/usr/bin/env python3 +import datetime +import os +import re +import shutil +import signal +import subprocess +import time +import glob +from typing import NoReturn + +import openpilot.system.sentry as sentry +from openpilot.system.hardware.hw import Paths +from openpilot.common.swaglog import cloudlog +from openpilot.system.version import get_build_metadata + +MAX_SIZE = 1_000_000 * 100 # allow up to 100M +MAX_TOMBSTONE_FN_LEN = 62 # 85 - 23 ("/crash/") + +TOMBSTONE_DIR = "/data/tombstones/" +APPORT_DIR = "/var/crash/" + + +def safe_fn(s): + extra = ['_'] + return "".join(c for c in s if c.isalnum() or c in extra).rstrip() + + +def clear_apport_folder(): + for f in glob.glob(APPORT_DIR + '*'): + try: + os.remove(f) + except Exception: + pass + + +def get_apport_stacktrace(fn): + try: + cmd = f'apport-retrace -s <(cat <(echo "Package: openpilot") "{fn}")' + return subprocess.check_output(cmd, shell=True, encoding='utf8', timeout=30, executable='/bin/bash') + except subprocess.CalledProcessError: + return "Error getting stacktrace" + except subprocess.TimeoutExpired: + return "Timeout getting stacktrace" + + +def get_tombstones(): + """Returns list of (filename, ctime) for all crashlogs""" + files = [] + if os.path.exists(APPORT_DIR): + with os.scandir(APPORT_DIR) as d: + # Loop over first 1000 directory entries + for _, f in zip(range(1000), d, strict=False): + if f.name.startswith("tombstone"): + files.append((f.path, int(f.stat().st_ctime))) + elif f.name.endswith(".crash") and f.stat().st_mode == 0o100640: + files.append((f.path, int(f.stat().st_ctime))) + return files + + +def report_tombstone_apport(fn): + f_size = os.path.getsize(fn) + if f_size > MAX_SIZE: + cloudlog.error(f"Tombstone {fn} too big, {f_size}. Skipping...") + return + + message = "" # One line description of the crash + contents = "" # Full file contents without coredump + path = "" # File path relative to openpilot directory + + proc_maps = False + + with open(fn) as f: + for line in f: + if "CoreDump" in line: + break + elif "ProcMaps" in line: + proc_maps = True + elif "ProcStatus" in line: + proc_maps = False + + if not proc_maps: + contents += line + + if "ExecutablePath" in line: + path = line.strip().split(': ')[-1] + path = path.replace('/data/openpilot/', '') + message += path + elif "Signal" in line: + message += " - " + line.strip() + + try: + sig_num = int(line.strip().split(': ')[-1]) + message += " (" + signal.Signals(sig_num).name + ")" + except ValueError: + pass + + stacktrace = get_apport_stacktrace(fn) + stacktrace_s = stacktrace.split('\n') + crash_function = "No stacktrace" + + if len(stacktrace_s) > 2: + found = False + + # Try to find first entry in openpilot, fall back to first line + for line in stacktrace_s: + if "at selfdrive/" in line: + crash_function = line + found = True + break + + if not found: + crash_function = stacktrace_s[1] + + # Remove arguments that can contain pointers to make sentry one-liner unique + crash_function = " ".join(x for x in crash_function.split(' ')[1:] if not x.startswith('0x')) + crash_function = re.sub(r'\(.*?\)', '', crash_function) + + contents = stacktrace + "\n\n" + contents + message = message + " - " + crash_function + sentry.report_tombstone(fn, message, contents) + + # Copy crashlog to upload folder + clean_path = path.replace('/', '_') + date = datetime.datetime.now().strftime("%Y-%m-%d--%H-%M-%S") + + build_metadata = get_build_metadata() + + new_fn = f"{date}_{(build_metadata.openpilot.git_commit or 'nocommit')[:8]}_{safe_fn(clean_path)}"[:MAX_TOMBSTONE_FN_LEN] + + crashlog_dir = os.path.join(Paths.log_root(), "crash") + os.makedirs(crashlog_dir, exist_ok=True) + + # Files could be on different filesystems, copy, then delete + shutil.copy(fn, os.path.join(crashlog_dir, new_fn)) + + try: + os.remove(fn) + except PermissionError: + pass + + +def main() -> NoReturn: + should_report = sentry.init(sentry.SentryProject.SELFDRIVE_NATIVE) + + # Clear apport folder on start, otherwise duplicate crashes won't register + clear_apport_folder() + initial_tombstones = set(get_tombstones()) + + while True: + now_tombstones = set(get_tombstones()) + + for fn, _ in (now_tombstones - initial_tombstones): + # clear logs if we're not interested in them + if not should_report: + try: + os.remove(fn) + except Exception: + pass + continue + + try: + cloudlog.info(f"reporting new tombstone {fn}") + if fn.endswith(".crash"): + report_tombstone_apport(fn) + else: + cloudlog.error(f"unknown crash type: {fn}") + except Exception: + cloudlog.exception(f"Error reporting tombstone {fn}") + + initial_tombstones = now_tombstones + time.sleep(5) + + +if __name__ == "__main__": + main() diff --git a/system/ubloxd/.gitignore b/system/ubloxd/.gitignore new file mode 100644 index 0000000000..05263ff67c --- /dev/null +++ b/system/ubloxd/.gitignore @@ -0,0 +1,2 @@ +ubloxd +tests/test_glonass_runner diff --git a/system/ubloxd/generated/glonass.cpp b/system/ubloxd/generated/glonass.cpp new file mode 100644 index 0000000000..cd0f96ab68 --- /dev/null +++ b/system/ubloxd/generated/glonass.cpp @@ -0,0 +1,353 @@ +// This is a generated file! Please edit source .ksy file and use kaitai-struct-compiler to rebuild + +#include "glonass.h" + +glonass_t::glonass_t(kaitai::kstream* p__io, kaitai::kstruct* p__parent, glonass_t* p__root) : kaitai::kstruct(p__io) { + m__parent = p__parent; + m__root = this; + + try { + _read(); + } catch(...) { + _clean_up(); + throw; + } +} + +void glonass_t::_read() { + m_idle_chip = m__io->read_bits_int_be(1); + m_string_number = m__io->read_bits_int_be(4); + //m__io->align_to_byte(); + switch (string_number()) { + case 4: { + m_data = new string_4_t(m__io, this, m__root); + break; + } + case 1: { + m_data = new string_1_t(m__io, this, m__root); + break; + } + case 3: { + m_data = new string_3_t(m__io, this, m__root); + break; + } + case 5: { + m_data = new string_5_t(m__io, this, m__root); + break; + } + case 2: { + m_data = new string_2_t(m__io, this, m__root); + break; + } + default: { + m_data = new string_non_immediate_t(m__io, this, m__root); + break; + } + } + m_hamming_code = m__io->read_bits_int_be(8); + m_pad_1 = m__io->read_bits_int_be(11); + m_superframe_number = m__io->read_bits_int_be(16); + m_pad_2 = m__io->read_bits_int_be(8); + m_frame_number = m__io->read_bits_int_be(8); +} + +glonass_t::~glonass_t() { + _clean_up(); +} + +void glonass_t::_clean_up() { + if (m_data) { + delete m_data; m_data = 0; + } +} + +glonass_t::string_4_t::string_4_t(kaitai::kstream* p__io, glonass_t* p__parent, glonass_t* p__root) : kaitai::kstruct(p__io) { + m__parent = p__parent; + m__root = p__root; + f_tau_n = false; + f_delta_tau_n = false; + + try { + _read(); + } catch(...) { + _clean_up(); + throw; + } +} + +void glonass_t::string_4_t::_read() { + m_tau_n_sign = m__io->read_bits_int_be(1); + m_tau_n_value = m__io->read_bits_int_be(21); + m_delta_tau_n_sign = m__io->read_bits_int_be(1); + m_delta_tau_n_value = m__io->read_bits_int_be(4); + m_e_n = m__io->read_bits_int_be(5); + m_not_used_1 = m__io->read_bits_int_be(14); + m_p4 = m__io->read_bits_int_be(1); + m_f_t = m__io->read_bits_int_be(4); + m_not_used_2 = m__io->read_bits_int_be(3); + m_n_t = m__io->read_bits_int_be(11); + m_n = m__io->read_bits_int_be(5); + m_m = m__io->read_bits_int_be(2); +} + +glonass_t::string_4_t::~string_4_t() { + _clean_up(); +} + +void glonass_t::string_4_t::_clean_up() { +} + +int32_t glonass_t::string_4_t::tau_n() { + if (f_tau_n) + return m_tau_n; + m_tau_n = ((tau_n_sign()) ? ((tau_n_value() * -1)) : (tau_n_value())); + f_tau_n = true; + return m_tau_n; +} + +int32_t glonass_t::string_4_t::delta_tau_n() { + if (f_delta_tau_n) + return m_delta_tau_n; + m_delta_tau_n = ((delta_tau_n_sign()) ? ((delta_tau_n_value() * -1)) : (delta_tau_n_value())); + f_delta_tau_n = true; + return m_delta_tau_n; +} + +glonass_t::string_non_immediate_t::string_non_immediate_t(kaitai::kstream* p__io, glonass_t* p__parent, glonass_t* p__root) : kaitai::kstruct(p__io) { + m__parent = p__parent; + m__root = p__root; + + try { + _read(); + } catch(...) { + _clean_up(); + throw; + } +} + +void glonass_t::string_non_immediate_t::_read() { + m_data_1 = m__io->read_bits_int_be(64); + m_data_2 = m__io->read_bits_int_be(8); +} + +glonass_t::string_non_immediate_t::~string_non_immediate_t() { + _clean_up(); +} + +void glonass_t::string_non_immediate_t::_clean_up() { +} + +glonass_t::string_5_t::string_5_t(kaitai::kstream* p__io, glonass_t* p__parent, glonass_t* p__root) : kaitai::kstruct(p__io) { + m__parent = p__parent; + m__root = p__root; + + try { + _read(); + } catch(...) { + _clean_up(); + throw; + } +} + +void glonass_t::string_5_t::_read() { + m_n_a = m__io->read_bits_int_be(11); + m_tau_c = m__io->read_bits_int_be(32); + m_not_used = m__io->read_bits_int_be(1); + m_n_4 = m__io->read_bits_int_be(5); + m_tau_gps = m__io->read_bits_int_be(22); + m_l_n = m__io->read_bits_int_be(1); +} + +glonass_t::string_5_t::~string_5_t() { + _clean_up(); +} + +void glonass_t::string_5_t::_clean_up() { +} + +glonass_t::string_1_t::string_1_t(kaitai::kstream* p__io, glonass_t* p__parent, glonass_t* p__root) : kaitai::kstruct(p__io) { + m__parent = p__parent; + m__root = p__root; + f_x_vel = false; + f_x_accel = false; + f_x = false; + + try { + _read(); + } catch(...) { + _clean_up(); + throw; + } +} + +void glonass_t::string_1_t::_read() { + m_not_used = m__io->read_bits_int_be(2); + m_p1 = m__io->read_bits_int_be(2); + m_t_k = m__io->read_bits_int_be(12); + m_x_vel_sign = m__io->read_bits_int_be(1); + m_x_vel_value = m__io->read_bits_int_be(23); + m_x_accel_sign = m__io->read_bits_int_be(1); + m_x_accel_value = m__io->read_bits_int_be(4); + m_x_sign = m__io->read_bits_int_be(1); + m_x_value = m__io->read_bits_int_be(26); +} + +glonass_t::string_1_t::~string_1_t() { + _clean_up(); +} + +void glonass_t::string_1_t::_clean_up() { +} + +int32_t glonass_t::string_1_t::x_vel() { + if (f_x_vel) + return m_x_vel; + m_x_vel = ((x_vel_sign()) ? ((x_vel_value() * -1)) : (x_vel_value())); + f_x_vel = true; + return m_x_vel; +} + +int32_t glonass_t::string_1_t::x_accel() { + if (f_x_accel) + return m_x_accel; + m_x_accel = ((x_accel_sign()) ? ((x_accel_value() * -1)) : (x_accel_value())); + f_x_accel = true; + return m_x_accel; +} + +int32_t glonass_t::string_1_t::x() { + if (f_x) + return m_x; + m_x = ((x_sign()) ? ((x_value() * -1)) : (x_value())); + f_x = true; + return m_x; +} + +glonass_t::string_2_t::string_2_t(kaitai::kstream* p__io, glonass_t* p__parent, glonass_t* p__root) : kaitai::kstruct(p__io) { + m__parent = p__parent; + m__root = p__root; + f_y_vel = false; + f_y_accel = false; + f_y = false; + + try { + _read(); + } catch(...) { + _clean_up(); + throw; + } +} + +void glonass_t::string_2_t::_read() { + m_b_n = m__io->read_bits_int_be(3); + m_p2 = m__io->read_bits_int_be(1); + m_t_b = m__io->read_bits_int_be(7); + m_not_used = m__io->read_bits_int_be(5); + m_y_vel_sign = m__io->read_bits_int_be(1); + m_y_vel_value = m__io->read_bits_int_be(23); + m_y_accel_sign = m__io->read_bits_int_be(1); + m_y_accel_value = m__io->read_bits_int_be(4); + m_y_sign = m__io->read_bits_int_be(1); + m_y_value = m__io->read_bits_int_be(26); +} + +glonass_t::string_2_t::~string_2_t() { + _clean_up(); +} + +void glonass_t::string_2_t::_clean_up() { +} + +int32_t glonass_t::string_2_t::y_vel() { + if (f_y_vel) + return m_y_vel; + m_y_vel = ((y_vel_sign()) ? ((y_vel_value() * -1)) : (y_vel_value())); + f_y_vel = true; + return m_y_vel; +} + +int32_t glonass_t::string_2_t::y_accel() { + if (f_y_accel) + return m_y_accel; + m_y_accel = ((y_accel_sign()) ? ((y_accel_value() * -1)) : (y_accel_value())); + f_y_accel = true; + return m_y_accel; +} + +int32_t glonass_t::string_2_t::y() { + if (f_y) + return m_y; + m_y = ((y_sign()) ? ((y_value() * -1)) : (y_value())); + f_y = true; + return m_y; +} + +glonass_t::string_3_t::string_3_t(kaitai::kstream* p__io, glonass_t* p__parent, glonass_t* p__root) : kaitai::kstruct(p__io) { + m__parent = p__parent; + m__root = p__root; + f_gamma_n = false; + f_z_vel = false; + f_z_accel = false; + f_z = false; + + try { + _read(); + } catch(...) { + _clean_up(); + throw; + } +} + +void glonass_t::string_3_t::_read() { + m_p3 = m__io->read_bits_int_be(1); + m_gamma_n_sign = m__io->read_bits_int_be(1); + m_gamma_n_value = m__io->read_bits_int_be(10); + m_not_used = m__io->read_bits_int_be(1); + m_p = m__io->read_bits_int_be(2); + m_l_n = m__io->read_bits_int_be(1); + m_z_vel_sign = m__io->read_bits_int_be(1); + m_z_vel_value = m__io->read_bits_int_be(23); + m_z_accel_sign = m__io->read_bits_int_be(1); + m_z_accel_value = m__io->read_bits_int_be(4); + m_z_sign = m__io->read_bits_int_be(1); + m_z_value = m__io->read_bits_int_be(26); +} + +glonass_t::string_3_t::~string_3_t() { + _clean_up(); +} + +void glonass_t::string_3_t::_clean_up() { +} + +int32_t glonass_t::string_3_t::gamma_n() { + if (f_gamma_n) + return m_gamma_n; + m_gamma_n = ((gamma_n_sign()) ? ((gamma_n_value() * -1)) : (gamma_n_value())); + f_gamma_n = true; + return m_gamma_n; +} + +int32_t glonass_t::string_3_t::z_vel() { + if (f_z_vel) + return m_z_vel; + m_z_vel = ((z_vel_sign()) ? ((z_vel_value() * -1)) : (z_vel_value())); + f_z_vel = true; + return m_z_vel; +} + +int32_t glonass_t::string_3_t::z_accel() { + if (f_z_accel) + return m_z_accel; + m_z_accel = ((z_accel_sign()) ? ((z_accel_value() * -1)) : (z_accel_value())); + f_z_accel = true; + return m_z_accel; +} + +int32_t glonass_t::string_3_t::z() { + if (f_z) + return m_z; + m_z = ((z_sign()) ? ((z_value() * -1)) : (z_value())); + f_z = true; + return m_z; +} diff --git a/system/ubloxd/generated/glonass.h b/system/ubloxd/generated/glonass.h new file mode 100644 index 0000000000..19867ba22b --- /dev/null +++ b/system/ubloxd/generated/glonass.h @@ -0,0 +1,375 @@ +#ifndef GLONASS_H_ +#define GLONASS_H_ + +// This is a generated file! Please edit source .ksy file and use kaitai-struct-compiler to rebuild + +#include "kaitai/kaitaistruct.h" +#include + +#if KAITAI_STRUCT_VERSION < 9000L +#error "Incompatible Kaitai Struct C++/STL API: version 0.9 or later is required" +#endif + +class glonass_t : public kaitai::kstruct { + +public: + class string_4_t; + class string_non_immediate_t; + class string_5_t; + class string_1_t; + class string_2_t; + class string_3_t; + + glonass_t(kaitai::kstream* p__io, kaitai::kstruct* p__parent = 0, glonass_t* p__root = 0); + +private: + void _read(); + void _clean_up(); + +public: + ~glonass_t(); + + class string_4_t : public kaitai::kstruct { + + public: + + string_4_t(kaitai::kstream* p__io, glonass_t* p__parent = 0, glonass_t* p__root = 0); + + private: + void _read(); + void _clean_up(); + + public: + ~string_4_t(); + + private: + bool f_tau_n; + int32_t m_tau_n; + + public: + int32_t tau_n(); + + private: + bool f_delta_tau_n; + int32_t m_delta_tau_n; + + public: + int32_t delta_tau_n(); + + private: + bool m_tau_n_sign; + uint64_t m_tau_n_value; + bool m_delta_tau_n_sign; + uint64_t m_delta_tau_n_value; + uint64_t m_e_n; + uint64_t m_not_used_1; + bool m_p4; + uint64_t m_f_t; + uint64_t m_not_used_2; + uint64_t m_n_t; + uint64_t m_n; + uint64_t m_m; + glonass_t* m__root; + glonass_t* m__parent; + + public: + bool tau_n_sign() const { return m_tau_n_sign; } + uint64_t tau_n_value() const { return m_tau_n_value; } + bool delta_tau_n_sign() const { return m_delta_tau_n_sign; } + uint64_t delta_tau_n_value() const { return m_delta_tau_n_value; } + uint64_t e_n() const { return m_e_n; } + uint64_t not_used_1() const { return m_not_used_1; } + bool p4() const { return m_p4; } + uint64_t f_t() const { return m_f_t; } + uint64_t not_used_2() const { return m_not_used_2; } + uint64_t n_t() const { return m_n_t; } + uint64_t n() const { return m_n; } + uint64_t m() const { return m_m; } + glonass_t* _root() const { return m__root; } + glonass_t* _parent() const { return m__parent; } + }; + + class string_non_immediate_t : public kaitai::kstruct { + + public: + + string_non_immediate_t(kaitai::kstream* p__io, glonass_t* p__parent = 0, glonass_t* p__root = 0); + + private: + void _read(); + void _clean_up(); + + public: + ~string_non_immediate_t(); + + private: + uint64_t m_data_1; + uint64_t m_data_2; + glonass_t* m__root; + glonass_t* m__parent; + + public: + uint64_t data_1() const { return m_data_1; } + uint64_t data_2() const { return m_data_2; } + glonass_t* _root() const { return m__root; } + glonass_t* _parent() const { return m__parent; } + }; + + class string_5_t : public kaitai::kstruct { + + public: + + string_5_t(kaitai::kstream* p__io, glonass_t* p__parent = 0, glonass_t* p__root = 0); + + private: + void _read(); + void _clean_up(); + + public: + ~string_5_t(); + + private: + uint64_t m_n_a; + uint64_t m_tau_c; + bool m_not_used; + uint64_t m_n_4; + uint64_t m_tau_gps; + bool m_l_n; + glonass_t* m__root; + glonass_t* m__parent; + + public: + uint64_t n_a() const { return m_n_a; } + uint64_t tau_c() const { return m_tau_c; } + bool not_used() const { return m_not_used; } + uint64_t n_4() const { return m_n_4; } + uint64_t tau_gps() const { return m_tau_gps; } + bool l_n() const { return m_l_n; } + glonass_t* _root() const { return m__root; } + glonass_t* _parent() const { return m__parent; } + }; + + class string_1_t : public kaitai::kstruct { + + public: + + string_1_t(kaitai::kstream* p__io, glonass_t* p__parent = 0, glonass_t* p__root = 0); + + private: + void _read(); + void _clean_up(); + + public: + ~string_1_t(); + + private: + bool f_x_vel; + int32_t m_x_vel; + + public: + int32_t x_vel(); + + private: + bool f_x_accel; + int32_t m_x_accel; + + public: + int32_t x_accel(); + + private: + bool f_x; + int32_t m_x; + + public: + int32_t x(); + + private: + uint64_t m_not_used; + uint64_t m_p1; + uint64_t m_t_k; + bool m_x_vel_sign; + uint64_t m_x_vel_value; + bool m_x_accel_sign; + uint64_t m_x_accel_value; + bool m_x_sign; + uint64_t m_x_value; + glonass_t* m__root; + glonass_t* m__parent; + + public: + uint64_t not_used() const { return m_not_used; } + uint64_t p1() const { return m_p1; } + uint64_t t_k() const { return m_t_k; } + bool x_vel_sign() const { return m_x_vel_sign; } + uint64_t x_vel_value() const { return m_x_vel_value; } + bool x_accel_sign() const { return m_x_accel_sign; } + uint64_t x_accel_value() const { return m_x_accel_value; } + bool x_sign() const { return m_x_sign; } + uint64_t x_value() const { return m_x_value; } + glonass_t* _root() const { return m__root; } + glonass_t* _parent() const { return m__parent; } + }; + + class string_2_t : public kaitai::kstruct { + + public: + + string_2_t(kaitai::kstream* p__io, glonass_t* p__parent = 0, glonass_t* p__root = 0); + + private: + void _read(); + void _clean_up(); + + public: + ~string_2_t(); + + private: + bool f_y_vel; + int32_t m_y_vel; + + public: + int32_t y_vel(); + + private: + bool f_y_accel; + int32_t m_y_accel; + + public: + int32_t y_accel(); + + private: + bool f_y; + int32_t m_y; + + public: + int32_t y(); + + private: + uint64_t m_b_n; + bool m_p2; + uint64_t m_t_b; + uint64_t m_not_used; + bool m_y_vel_sign; + uint64_t m_y_vel_value; + bool m_y_accel_sign; + uint64_t m_y_accel_value; + bool m_y_sign; + uint64_t m_y_value; + glonass_t* m__root; + glonass_t* m__parent; + + public: + uint64_t b_n() const { return m_b_n; } + bool p2() const { return m_p2; } + uint64_t t_b() const { return m_t_b; } + uint64_t not_used() const { return m_not_used; } + bool y_vel_sign() const { return m_y_vel_sign; } + uint64_t y_vel_value() const { return m_y_vel_value; } + bool y_accel_sign() const { return m_y_accel_sign; } + uint64_t y_accel_value() const { return m_y_accel_value; } + bool y_sign() const { return m_y_sign; } + uint64_t y_value() const { return m_y_value; } + glonass_t* _root() const { return m__root; } + glonass_t* _parent() const { return m__parent; } + }; + + class string_3_t : public kaitai::kstruct { + + public: + + string_3_t(kaitai::kstream* p__io, glonass_t* p__parent = 0, glonass_t* p__root = 0); + + private: + void _read(); + void _clean_up(); + + public: + ~string_3_t(); + + private: + bool f_gamma_n; + int32_t m_gamma_n; + + public: + int32_t gamma_n(); + + private: + bool f_z_vel; + int32_t m_z_vel; + + public: + int32_t z_vel(); + + private: + bool f_z_accel; + int32_t m_z_accel; + + public: + int32_t z_accel(); + + private: + bool f_z; + int32_t m_z; + + public: + int32_t z(); + + private: + bool m_p3; + bool m_gamma_n_sign; + uint64_t m_gamma_n_value; + bool m_not_used; + uint64_t m_p; + bool m_l_n; + bool m_z_vel_sign; + uint64_t m_z_vel_value; + bool m_z_accel_sign; + uint64_t m_z_accel_value; + bool m_z_sign; + uint64_t m_z_value; + glonass_t* m__root; + glonass_t* m__parent; + + public: + bool p3() const { return m_p3; } + bool gamma_n_sign() const { return m_gamma_n_sign; } + uint64_t gamma_n_value() const { return m_gamma_n_value; } + bool not_used() const { return m_not_used; } + uint64_t p() const { return m_p; } + bool l_n() const { return m_l_n; } + bool z_vel_sign() const { return m_z_vel_sign; } + uint64_t z_vel_value() const { return m_z_vel_value; } + bool z_accel_sign() const { return m_z_accel_sign; } + uint64_t z_accel_value() const { return m_z_accel_value; } + bool z_sign() const { return m_z_sign; } + uint64_t z_value() const { return m_z_value; } + glonass_t* _root() const { return m__root; } + glonass_t* _parent() const { return m__parent; } + }; + +private: + bool m_idle_chip; + uint64_t m_string_number; + kaitai::kstruct* m_data; + uint64_t m_hamming_code; + uint64_t m_pad_1; + uint64_t m_superframe_number; + uint64_t m_pad_2; + uint64_t m_frame_number; + glonass_t* m__root; + kaitai::kstruct* m__parent; + +public: + bool idle_chip() const { return m_idle_chip; } + uint64_t string_number() const { return m_string_number; } + kaitai::kstruct* data() const { return m_data; } + uint64_t hamming_code() const { return m_hamming_code; } + uint64_t pad_1() const { return m_pad_1; } + uint64_t superframe_number() const { return m_superframe_number; } + uint64_t pad_2() const { return m_pad_2; } + uint64_t frame_number() const { return m_frame_number; } + glonass_t* _root() const { return m__root; } + kaitai::kstruct* _parent() const { return m__parent; } +}; + +#endif // GLONASS_H_ diff --git a/system/ubloxd/generated/gps.cpp b/system/ubloxd/generated/gps.cpp new file mode 100644 index 0000000000..8e1cb85b95 --- /dev/null +++ b/system/ubloxd/generated/gps.cpp @@ -0,0 +1,325 @@ +// This is a generated file! Please edit source .ksy file and use kaitai-struct-compiler to rebuild + +#include "gps.h" +#include "kaitai/exceptions.h" + +gps_t::gps_t(kaitai::kstream* p__io, kaitai::kstruct* p__parent, gps_t* p__root) : kaitai::kstruct(p__io) { + m__parent = p__parent; + m__root = this; + m_tlm = 0; + m_how = 0; + + try { + _read(); + } catch(...) { + _clean_up(); + throw; + } +} + +void gps_t::_read() { + m_tlm = new tlm_t(m__io, this, m__root); + m_how = new how_t(m__io, this, m__root); + n_body = true; + switch (how()->subframe_id()) { + case 1: { + n_body = false; + m_body = new subframe_1_t(m__io, this, m__root); + break; + } + case 2: { + n_body = false; + m_body = new subframe_2_t(m__io, this, m__root); + break; + } + case 3: { + n_body = false; + m_body = new subframe_3_t(m__io, this, m__root); + break; + } + case 4: { + n_body = false; + m_body = new subframe_4_t(m__io, this, m__root); + break; + } + } +} + +gps_t::~gps_t() { + _clean_up(); +} + +void gps_t::_clean_up() { + if (m_tlm) { + delete m_tlm; m_tlm = 0; + } + if (m_how) { + delete m_how; m_how = 0; + } + if (!n_body) { + if (m_body) { + delete m_body; m_body = 0; + } + } +} + +gps_t::subframe_1_t::subframe_1_t(kaitai::kstream* p__io, gps_t* p__parent, gps_t* p__root) : kaitai::kstruct(p__io) { + m__parent = p__parent; + m__root = p__root; + f_af_0 = false; + + try { + _read(); + } catch(...) { + _clean_up(); + throw; + } +} + +void gps_t::subframe_1_t::_read() { + m_week_no = m__io->read_bits_int_be(10); + m_code = m__io->read_bits_int_be(2); + m_sv_accuracy = m__io->read_bits_int_be(4); + m_sv_health = m__io->read_bits_int_be(6); + m_iodc_msb = m__io->read_bits_int_be(2); + m_l2_p_data_flag = m__io->read_bits_int_be(1); + m_reserved1 = m__io->read_bits_int_be(23); + m_reserved2 = m__io->read_bits_int_be(24); + m_reserved3 = m__io->read_bits_int_be(24); + m_reserved4 = m__io->read_bits_int_be(16); + m__io->align_to_byte(); + m_t_gd = m__io->read_s1(); + m_iodc_lsb = m__io->read_u1(); + m_t_oc = m__io->read_u2be(); + m_af_2 = m__io->read_s1(); + m_af_1 = m__io->read_s2be(); + m_af_0_sign = m__io->read_bits_int_be(1); + m_af_0_value = m__io->read_bits_int_be(21); + m_reserved5 = m__io->read_bits_int_be(2); +} + +gps_t::subframe_1_t::~subframe_1_t() { + _clean_up(); +} + +void gps_t::subframe_1_t::_clean_up() { +} + +int32_t gps_t::subframe_1_t::af_0() { + if (f_af_0) + return m_af_0; + m_af_0 = ((af_0_sign()) ? ((af_0_value() - (1 << 21))) : (af_0_value())); + f_af_0 = true; + return m_af_0; +} + +gps_t::subframe_3_t::subframe_3_t(kaitai::kstream* p__io, gps_t* p__parent, gps_t* p__root) : kaitai::kstruct(p__io) { + m__parent = p__parent; + m__root = p__root; + f_omega_dot = false; + f_idot = false; + + try { + _read(); + } catch(...) { + _clean_up(); + throw; + } +} + +void gps_t::subframe_3_t::_read() { + m_c_ic = m__io->read_s2be(); + m_omega_0 = m__io->read_s4be(); + m_c_is = m__io->read_s2be(); + m_i_0 = m__io->read_s4be(); + m_c_rc = m__io->read_s2be(); + m_omega = m__io->read_s4be(); + m_omega_dot_sign = m__io->read_bits_int_be(1); + m_omega_dot_value = m__io->read_bits_int_be(23); + m__io->align_to_byte(); + m_iode = m__io->read_u1(); + m_idot_sign = m__io->read_bits_int_be(1); + m_idot_value = m__io->read_bits_int_be(13); + m_reserved = m__io->read_bits_int_be(2); +} + +gps_t::subframe_3_t::~subframe_3_t() { + _clean_up(); +} + +void gps_t::subframe_3_t::_clean_up() { +} + +int32_t gps_t::subframe_3_t::omega_dot() { + if (f_omega_dot) + return m_omega_dot; + m_omega_dot = ((omega_dot_sign()) ? ((omega_dot_value() - (1 << 23))) : (omega_dot_value())); + f_omega_dot = true; + return m_omega_dot; +} + +int32_t gps_t::subframe_3_t::idot() { + if (f_idot) + return m_idot; + m_idot = ((idot_sign()) ? ((idot_value() - (1 << 13))) : (idot_value())); + f_idot = true; + return m_idot; +} + +gps_t::subframe_4_t::subframe_4_t(kaitai::kstream* p__io, gps_t* p__parent, gps_t* p__root) : kaitai::kstruct(p__io) { + m__parent = p__parent; + m__root = p__root; + + try { + _read(); + } catch(...) { + _clean_up(); + throw; + } +} + +void gps_t::subframe_4_t::_read() { + m_data_id = m__io->read_bits_int_be(2); + m_page_id = m__io->read_bits_int_be(6); + m__io->align_to_byte(); + n_body = true; + switch (page_id()) { + case 56: { + n_body = false; + m_body = new ionosphere_data_t(m__io, this, m__root); + break; + } + } +} + +gps_t::subframe_4_t::~subframe_4_t() { + _clean_up(); +} + +void gps_t::subframe_4_t::_clean_up() { + if (!n_body) { + if (m_body) { + delete m_body; m_body = 0; + } + } +} + +gps_t::subframe_4_t::ionosphere_data_t::ionosphere_data_t(kaitai::kstream* p__io, gps_t::subframe_4_t* p__parent, gps_t* p__root) : kaitai::kstruct(p__io) { + m__parent = p__parent; + m__root = p__root; + + try { + _read(); + } catch(...) { + _clean_up(); + throw; + } +} + +void gps_t::subframe_4_t::ionosphere_data_t::_read() { + m_a0 = m__io->read_s1(); + m_a1 = m__io->read_s1(); + m_a2 = m__io->read_s1(); + m_a3 = m__io->read_s1(); + m_b0 = m__io->read_s1(); + m_b1 = m__io->read_s1(); + m_b2 = m__io->read_s1(); + m_b3 = m__io->read_s1(); +} + +gps_t::subframe_4_t::ionosphere_data_t::~ionosphere_data_t() { + _clean_up(); +} + +void gps_t::subframe_4_t::ionosphere_data_t::_clean_up() { +} + +gps_t::how_t::how_t(kaitai::kstream* p__io, gps_t* p__parent, gps_t* p__root) : kaitai::kstruct(p__io) { + m__parent = p__parent; + m__root = p__root; + + try { + _read(); + } catch(...) { + _clean_up(); + throw; + } +} + +void gps_t::how_t::_read() { + m_tow_count = m__io->read_bits_int_be(17); + m_alert = m__io->read_bits_int_be(1); + m_anti_spoof = m__io->read_bits_int_be(1); + m_subframe_id = m__io->read_bits_int_be(3); + m_reserved = m__io->read_bits_int_be(2); +} + +gps_t::how_t::~how_t() { + _clean_up(); +} + +void gps_t::how_t::_clean_up() { +} + +gps_t::tlm_t::tlm_t(kaitai::kstream* p__io, gps_t* p__parent, gps_t* p__root) : kaitai::kstruct(p__io) { + m__parent = p__parent; + m__root = p__root; + + try { + _read(); + } catch(...) { + _clean_up(); + throw; + } +} + +void gps_t::tlm_t::_read() { + m_preamble = m__io->read_bytes(1); + if (!(preamble() == std::string("\x8B", 1))) { + throw kaitai::validation_not_equal_error(std::string("\x8B", 1), preamble(), _io(), std::string("/types/tlm/seq/0")); + } + m_tlm = m__io->read_bits_int_be(14); + m_integrity_status = m__io->read_bits_int_be(1); + m_reserved = m__io->read_bits_int_be(1); +} + +gps_t::tlm_t::~tlm_t() { + _clean_up(); +} + +void gps_t::tlm_t::_clean_up() { +} + +gps_t::subframe_2_t::subframe_2_t(kaitai::kstream* p__io, gps_t* p__parent, gps_t* p__root) : kaitai::kstruct(p__io) { + m__parent = p__parent; + m__root = p__root; + + try { + _read(); + } catch(...) { + _clean_up(); + throw; + } +} + +void gps_t::subframe_2_t::_read() { + m_iode = m__io->read_u1(); + m_c_rs = m__io->read_s2be(); + m_delta_n = m__io->read_s2be(); + m_m_0 = m__io->read_s4be(); + m_c_uc = m__io->read_s2be(); + m_e = m__io->read_s4be(); + m_c_us = m__io->read_s2be(); + m_sqrt_a = m__io->read_u4be(); + m_t_oe = m__io->read_u2be(); + m_fit_interval_flag = m__io->read_bits_int_be(1); + m_aoda = m__io->read_bits_int_be(5); + m_reserved = m__io->read_bits_int_be(2); +} + +gps_t::subframe_2_t::~subframe_2_t() { + _clean_up(); +} + +void gps_t::subframe_2_t::_clean_up() { +} diff --git a/system/ubloxd/generated/gps.h b/system/ubloxd/generated/gps.h new file mode 100644 index 0000000000..9dfc5031f5 --- /dev/null +++ b/system/ubloxd/generated/gps.h @@ -0,0 +1,359 @@ +#ifndef GPS_H_ +#define GPS_H_ + +// This is a generated file! Please edit source .ksy file and use kaitai-struct-compiler to rebuild + +#include "kaitai/kaitaistruct.h" +#include + +#if KAITAI_STRUCT_VERSION < 9000L +#error "Incompatible Kaitai Struct C++/STL API: version 0.9 or later is required" +#endif + +class gps_t : public kaitai::kstruct { + +public: + class subframe_1_t; + class subframe_3_t; + class subframe_4_t; + class how_t; + class tlm_t; + class subframe_2_t; + + gps_t(kaitai::kstream* p__io, kaitai::kstruct* p__parent = 0, gps_t* p__root = 0); + +private: + void _read(); + void _clean_up(); + +public: + ~gps_t(); + + class subframe_1_t : public kaitai::kstruct { + + public: + + subframe_1_t(kaitai::kstream* p__io, gps_t* p__parent = 0, gps_t* p__root = 0); + + private: + void _read(); + void _clean_up(); + + public: + ~subframe_1_t(); + + private: + bool f_af_0; + int32_t m_af_0; + + public: + int32_t af_0(); + + private: + uint64_t m_week_no; + uint64_t m_code; + uint64_t m_sv_accuracy; + uint64_t m_sv_health; + uint64_t m_iodc_msb; + bool m_l2_p_data_flag; + uint64_t m_reserved1; + uint64_t m_reserved2; + uint64_t m_reserved3; + uint64_t m_reserved4; + int8_t m_t_gd; + uint8_t m_iodc_lsb; + uint16_t m_t_oc; + int8_t m_af_2; + int16_t m_af_1; + bool m_af_0_sign; + uint64_t m_af_0_value; + uint64_t m_reserved5; + gps_t* m__root; + gps_t* m__parent; + + public: + uint64_t week_no() const { return m_week_no; } + uint64_t code() const { return m_code; } + uint64_t sv_accuracy() const { return m_sv_accuracy; } + uint64_t sv_health() const { return m_sv_health; } + uint64_t iodc_msb() const { return m_iodc_msb; } + bool l2_p_data_flag() const { return m_l2_p_data_flag; } + uint64_t reserved1() const { return m_reserved1; } + uint64_t reserved2() const { return m_reserved2; } + uint64_t reserved3() const { return m_reserved3; } + uint64_t reserved4() const { return m_reserved4; } + int8_t t_gd() const { return m_t_gd; } + uint8_t iodc_lsb() const { return m_iodc_lsb; } + uint16_t t_oc() const { return m_t_oc; } + int8_t af_2() const { return m_af_2; } + int16_t af_1() const { return m_af_1; } + bool af_0_sign() const { return m_af_0_sign; } + uint64_t af_0_value() const { return m_af_0_value; } + uint64_t reserved5() const { return m_reserved5; } + gps_t* _root() const { return m__root; } + gps_t* _parent() const { return m__parent; } + }; + + class subframe_3_t : public kaitai::kstruct { + + public: + + subframe_3_t(kaitai::kstream* p__io, gps_t* p__parent = 0, gps_t* p__root = 0); + + private: + void _read(); + void _clean_up(); + + public: + ~subframe_3_t(); + + private: + bool f_omega_dot; + int32_t m_omega_dot; + + public: + int32_t omega_dot(); + + private: + bool f_idot; + int32_t m_idot; + + public: + int32_t idot(); + + private: + int16_t m_c_ic; + int32_t m_omega_0; + int16_t m_c_is; + int32_t m_i_0; + int16_t m_c_rc; + int32_t m_omega; + bool m_omega_dot_sign; + uint64_t m_omega_dot_value; + uint8_t m_iode; + bool m_idot_sign; + uint64_t m_idot_value; + uint64_t m_reserved; + gps_t* m__root; + gps_t* m__parent; + + public: + int16_t c_ic() const { return m_c_ic; } + int32_t omega_0() const { return m_omega_0; } + int16_t c_is() const { return m_c_is; } + int32_t i_0() const { return m_i_0; } + int16_t c_rc() const { return m_c_rc; } + int32_t omega() const { return m_omega; } + bool omega_dot_sign() const { return m_omega_dot_sign; } + uint64_t omega_dot_value() const { return m_omega_dot_value; } + uint8_t iode() const { return m_iode; } + bool idot_sign() const { return m_idot_sign; } + uint64_t idot_value() const { return m_idot_value; } + uint64_t reserved() const { return m_reserved; } + gps_t* _root() const { return m__root; } + gps_t* _parent() const { return m__parent; } + }; + + class subframe_4_t : public kaitai::kstruct { + + public: + class ionosphere_data_t; + + subframe_4_t(kaitai::kstream* p__io, gps_t* p__parent = 0, gps_t* p__root = 0); + + private: + void _read(); + void _clean_up(); + + public: + ~subframe_4_t(); + + class ionosphere_data_t : public kaitai::kstruct { + + public: + + ionosphere_data_t(kaitai::kstream* p__io, gps_t::subframe_4_t* p__parent = 0, gps_t* p__root = 0); + + private: + void _read(); + void _clean_up(); + + public: + ~ionosphere_data_t(); + + private: + int8_t m_a0; + int8_t m_a1; + int8_t m_a2; + int8_t m_a3; + int8_t m_b0; + int8_t m_b1; + int8_t m_b2; + int8_t m_b3; + gps_t* m__root; + gps_t::subframe_4_t* m__parent; + + public: + int8_t a0() const { return m_a0; } + int8_t a1() const { return m_a1; } + int8_t a2() const { return m_a2; } + int8_t a3() const { return m_a3; } + int8_t b0() const { return m_b0; } + int8_t b1() const { return m_b1; } + int8_t b2() const { return m_b2; } + int8_t b3() const { return m_b3; } + gps_t* _root() const { return m__root; } + gps_t::subframe_4_t* _parent() const { return m__parent; } + }; + + private: + uint64_t m_data_id; + uint64_t m_page_id; + ionosphere_data_t* m_body; + bool n_body; + + public: + bool _is_null_body() { body(); return n_body; }; + + private: + gps_t* m__root; + gps_t* m__parent; + + public: + uint64_t data_id() const { return m_data_id; } + uint64_t page_id() const { return m_page_id; } + ionosphere_data_t* body() const { return m_body; } + gps_t* _root() const { return m__root; } + gps_t* _parent() const { return m__parent; } + }; + + class how_t : public kaitai::kstruct { + + public: + + how_t(kaitai::kstream* p__io, gps_t* p__parent = 0, gps_t* p__root = 0); + + private: + void _read(); + void _clean_up(); + + public: + ~how_t(); + + private: + uint64_t m_tow_count; + bool m_alert; + bool m_anti_spoof; + uint64_t m_subframe_id; + uint64_t m_reserved; + gps_t* m__root; + gps_t* m__parent; + + public: + uint64_t tow_count() const { return m_tow_count; } + bool alert() const { return m_alert; } + bool anti_spoof() const { return m_anti_spoof; } + uint64_t subframe_id() const { return m_subframe_id; } + uint64_t reserved() const { return m_reserved; } + gps_t* _root() const { return m__root; } + gps_t* _parent() const { return m__parent; } + }; + + class tlm_t : public kaitai::kstruct { + + public: + + tlm_t(kaitai::kstream* p__io, gps_t* p__parent = 0, gps_t* p__root = 0); + + private: + void _read(); + void _clean_up(); + + public: + ~tlm_t(); + + private: + std::string m_preamble; + uint64_t m_tlm; + bool m_integrity_status; + bool m_reserved; + gps_t* m__root; + gps_t* m__parent; + + public: + std::string preamble() const { return m_preamble; } + uint64_t tlm() const { return m_tlm; } + bool integrity_status() const { return m_integrity_status; } + bool reserved() const { return m_reserved; } + gps_t* _root() const { return m__root; } + gps_t* _parent() const { return m__parent; } + }; + + class subframe_2_t : public kaitai::kstruct { + + public: + + subframe_2_t(kaitai::kstream* p__io, gps_t* p__parent = 0, gps_t* p__root = 0); + + private: + void _read(); + void _clean_up(); + + public: + ~subframe_2_t(); + + private: + uint8_t m_iode; + int16_t m_c_rs; + int16_t m_delta_n; + int32_t m_m_0; + int16_t m_c_uc; + int32_t m_e; + int16_t m_c_us; + uint32_t m_sqrt_a; + uint16_t m_t_oe; + bool m_fit_interval_flag; + uint64_t m_aoda; + uint64_t m_reserved; + gps_t* m__root; + gps_t* m__parent; + + public: + uint8_t iode() const { return m_iode; } + int16_t c_rs() const { return m_c_rs; } + int16_t delta_n() const { return m_delta_n; } + int32_t m_0() const { return m_m_0; } + int16_t c_uc() const { return m_c_uc; } + int32_t e() const { return m_e; } + int16_t c_us() const { return m_c_us; } + uint32_t sqrt_a() const { return m_sqrt_a; } + uint16_t t_oe() const { return m_t_oe; } + bool fit_interval_flag() const { return m_fit_interval_flag; } + uint64_t aoda() const { return m_aoda; } + uint64_t reserved() const { return m_reserved; } + gps_t* _root() const { return m__root; } + gps_t* _parent() const { return m__parent; } + }; + +private: + tlm_t* m_tlm; + how_t* m_how; + kaitai::kstruct* m_body; + bool n_body; + +public: + bool _is_null_body() { body(); return n_body; }; + +private: + gps_t* m__root; + kaitai::kstruct* m__parent; + +public: + tlm_t* tlm() const { return m_tlm; } + how_t* how() const { return m_how; } + kaitai::kstruct* body() const { return m_body; } + gps_t* _root() const { return m__root; } + kaitai::kstruct* _parent() const { return m__parent; } +}; + +#endif // GPS_H_ diff --git a/system/ubloxd/generated/ubx.cpp b/system/ubloxd/generated/ubx.cpp new file mode 100644 index 0000000000..81b82ccafc --- /dev/null +++ b/system/ubloxd/generated/ubx.cpp @@ -0,0 +1,424 @@ +// This is a generated file! Please edit source .ksy file and use kaitai-struct-compiler to rebuild + +#include "ubx.h" +#include "kaitai/exceptions.h" + +ubx_t::ubx_t(kaitai::kstream* p__io, kaitai::kstruct* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) { + m__parent = p__parent; + m__root = this; + f_checksum = false; + + try { + _read(); + } catch(...) { + _clean_up(); + throw; + } +} + +void ubx_t::_read() { + m_magic = m__io->read_bytes(2); + if (!(magic() == std::string("\xB5\x62", 2))) { + throw kaitai::validation_not_equal_error(std::string("\xB5\x62", 2), magic(), _io(), std::string("/seq/0")); + } + m_msg_type = m__io->read_u2be(); + m_length = m__io->read_u2le(); + n_body = true; + switch (msg_type()) { + case 2569: { + n_body = false; + m_body = new mon_hw_t(m__io, this, m__root); + break; + } + case 533: { + n_body = false; + m_body = new rxm_rawx_t(m__io, this, m__root); + break; + } + case 531: { + n_body = false; + m_body = new rxm_sfrbx_t(m__io, this, m__root); + break; + } + case 309: { + n_body = false; + m_body = new nav_sat_t(m__io, this, m__root); + break; + } + case 2571: { + n_body = false; + m_body = new mon_hw2_t(m__io, this, m__root); + break; + } + case 263: { + n_body = false; + m_body = new nav_pvt_t(m__io, this, m__root); + break; + } + } +} + +ubx_t::~ubx_t() { + _clean_up(); +} + +void ubx_t::_clean_up() { + if (!n_body) { + if (m_body) { + delete m_body; m_body = 0; + } + } + if (f_checksum) { + } +} + +ubx_t::rxm_rawx_t::rxm_rawx_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) { + m__parent = p__parent; + m__root = p__root; + m_meas = 0; + m__raw_meas = 0; + m__io__raw_meas = 0; + + try { + _read(); + } catch(...) { + _clean_up(); + throw; + } +} + +void ubx_t::rxm_rawx_t::_read() { + m_rcv_tow = m__io->read_f8le(); + m_week = m__io->read_u2le(); + m_leap_s = m__io->read_s1(); + m_num_meas = m__io->read_u1(); + m_rec_stat = m__io->read_u1(); + m_reserved1 = m__io->read_bytes(3); + m__raw_meas = new std::vector(); + m__io__raw_meas = new std::vector(); + m_meas = new std::vector(); + const int l_meas = num_meas(); + for (int i = 0; i < l_meas; i++) { + m__raw_meas->push_back(m__io->read_bytes(32)); + kaitai::kstream* io__raw_meas = new kaitai::kstream(m__raw_meas->at(m__raw_meas->size() - 1)); + m__io__raw_meas->push_back(io__raw_meas); + m_meas->push_back(new measurement_t(io__raw_meas, this, m__root)); + } +} + +ubx_t::rxm_rawx_t::~rxm_rawx_t() { + _clean_up(); +} + +void ubx_t::rxm_rawx_t::_clean_up() { + if (m__raw_meas) { + delete m__raw_meas; m__raw_meas = 0; + } + if (m__io__raw_meas) { + for (std::vector::iterator it = m__io__raw_meas->begin(); it != m__io__raw_meas->end(); ++it) { + delete *it; + } + delete m__io__raw_meas; m__io__raw_meas = 0; + } + if (m_meas) { + for (std::vector::iterator it = m_meas->begin(); it != m_meas->end(); ++it) { + delete *it; + } + delete m_meas; m_meas = 0; + } +} + +ubx_t::rxm_rawx_t::measurement_t::measurement_t(kaitai::kstream* p__io, ubx_t::rxm_rawx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) { + m__parent = p__parent; + m__root = p__root; + + try { + _read(); + } catch(...) { + _clean_up(); + throw; + } +} + +void ubx_t::rxm_rawx_t::measurement_t::_read() { + m_pr_mes = m__io->read_f8le(); + m_cp_mes = m__io->read_f8le(); + m_do_mes = m__io->read_f4le(); + m_gnss_id = static_cast(m__io->read_u1()); + m_sv_id = m__io->read_u1(); + m_reserved2 = m__io->read_bytes(1); + m_freq_id = m__io->read_u1(); + m_lock_time = m__io->read_u2le(); + m_cno = m__io->read_u1(); + m_pr_stdev = m__io->read_u1(); + m_cp_stdev = m__io->read_u1(); + m_do_stdev = m__io->read_u1(); + m_trk_stat = m__io->read_u1(); + m_reserved3 = m__io->read_bytes(1); +} + +ubx_t::rxm_rawx_t::measurement_t::~measurement_t() { + _clean_up(); +} + +void ubx_t::rxm_rawx_t::measurement_t::_clean_up() { +} + +ubx_t::rxm_sfrbx_t::rxm_sfrbx_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) { + m__parent = p__parent; + m__root = p__root; + m_body = 0; + + try { + _read(); + } catch(...) { + _clean_up(); + throw; + } +} + +void ubx_t::rxm_sfrbx_t::_read() { + m_gnss_id = static_cast(m__io->read_u1()); + m_sv_id = m__io->read_u1(); + m_reserved1 = m__io->read_bytes(1); + m_freq_id = m__io->read_u1(); + m_num_words = m__io->read_u1(); + m_reserved2 = m__io->read_bytes(1); + m_version = m__io->read_u1(); + m_reserved3 = m__io->read_bytes(1); + m_body = new std::vector(); + const int l_body = num_words(); + for (int i = 0; i < l_body; i++) { + m_body->push_back(m__io->read_u4le()); + } +} + +ubx_t::rxm_sfrbx_t::~rxm_sfrbx_t() { + _clean_up(); +} + +void ubx_t::rxm_sfrbx_t::_clean_up() { + if (m_body) { + delete m_body; m_body = 0; + } +} + +ubx_t::nav_sat_t::nav_sat_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) { + m__parent = p__parent; + m__root = p__root; + m_svs = 0; + m__raw_svs = 0; + m__io__raw_svs = 0; + + try { + _read(); + } catch(...) { + _clean_up(); + throw; + } +} + +void ubx_t::nav_sat_t::_read() { + m_itow = m__io->read_u4le(); + m_version = m__io->read_u1(); + m_num_svs = m__io->read_u1(); + m_reserved = m__io->read_bytes(2); + m__raw_svs = new std::vector(); + m__io__raw_svs = new std::vector(); + m_svs = new std::vector(); + const int l_svs = num_svs(); + for (int i = 0; i < l_svs; i++) { + m__raw_svs->push_back(m__io->read_bytes(12)); + kaitai::kstream* io__raw_svs = new kaitai::kstream(m__raw_svs->at(m__raw_svs->size() - 1)); + m__io__raw_svs->push_back(io__raw_svs); + m_svs->push_back(new nav_t(io__raw_svs, this, m__root)); + } +} + +ubx_t::nav_sat_t::~nav_sat_t() { + _clean_up(); +} + +void ubx_t::nav_sat_t::_clean_up() { + if (m__raw_svs) { + delete m__raw_svs; m__raw_svs = 0; + } + if (m__io__raw_svs) { + for (std::vector::iterator it = m__io__raw_svs->begin(); it != m__io__raw_svs->end(); ++it) { + delete *it; + } + delete m__io__raw_svs; m__io__raw_svs = 0; + } + if (m_svs) { + for (std::vector::iterator it = m_svs->begin(); it != m_svs->end(); ++it) { + delete *it; + } + delete m_svs; m_svs = 0; + } +} + +ubx_t::nav_sat_t::nav_t::nav_t(kaitai::kstream* p__io, ubx_t::nav_sat_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) { + m__parent = p__parent; + m__root = p__root; + + try { + _read(); + } catch(...) { + _clean_up(); + throw; + } +} + +void ubx_t::nav_sat_t::nav_t::_read() { + m_gnss_id = static_cast(m__io->read_u1()); + m_sv_id = m__io->read_u1(); + m_cno = m__io->read_u1(); + m_elev = m__io->read_s1(); + m_azim = m__io->read_s2le(); + m_pr_res = m__io->read_s2le(); + m_flags = m__io->read_u4le(); +} + +ubx_t::nav_sat_t::nav_t::~nav_t() { + _clean_up(); +} + +void ubx_t::nav_sat_t::nav_t::_clean_up() { +} + +ubx_t::nav_pvt_t::nav_pvt_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) { + m__parent = p__parent; + m__root = p__root; + + try { + _read(); + } catch(...) { + _clean_up(); + throw; + } +} + +void ubx_t::nav_pvt_t::_read() { + m_i_tow = m__io->read_u4le(); + m_year = m__io->read_u2le(); + m_month = m__io->read_u1(); + m_day = m__io->read_u1(); + m_hour = m__io->read_u1(); + m_min = m__io->read_u1(); + m_sec = m__io->read_u1(); + m_valid = m__io->read_u1(); + m_t_acc = m__io->read_u4le(); + m_nano = m__io->read_s4le(); + m_fix_type = m__io->read_u1(); + m_flags = m__io->read_u1(); + m_flags2 = m__io->read_u1(); + m_num_sv = m__io->read_u1(); + m_lon = m__io->read_s4le(); + m_lat = m__io->read_s4le(); + m_height = m__io->read_s4le(); + m_h_msl = m__io->read_s4le(); + m_h_acc = m__io->read_u4le(); + m_v_acc = m__io->read_u4le(); + m_vel_n = m__io->read_s4le(); + m_vel_e = m__io->read_s4le(); + m_vel_d = m__io->read_s4le(); + m_g_speed = m__io->read_s4le(); + m_head_mot = m__io->read_s4le(); + m_s_acc = m__io->read_s4le(); + m_head_acc = m__io->read_u4le(); + m_p_dop = m__io->read_u2le(); + m_flags3 = m__io->read_u1(); + m_reserved1 = m__io->read_bytes(5); + m_head_veh = m__io->read_s4le(); + m_mag_dec = m__io->read_s2le(); + m_mag_acc = m__io->read_u2le(); +} + +ubx_t::nav_pvt_t::~nav_pvt_t() { + _clean_up(); +} + +void ubx_t::nav_pvt_t::_clean_up() { +} + +ubx_t::mon_hw2_t::mon_hw2_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) { + m__parent = p__parent; + m__root = p__root; + + try { + _read(); + } catch(...) { + _clean_up(); + throw; + } +} + +void ubx_t::mon_hw2_t::_read() { + m_ofs_i = m__io->read_s1(); + m_mag_i = m__io->read_u1(); + m_ofs_q = m__io->read_s1(); + m_mag_q = m__io->read_u1(); + m_cfg_source = static_cast(m__io->read_u1()); + m_reserved1 = m__io->read_bytes(3); + m_low_lev_cfg = m__io->read_u4le(); + m_reserved2 = m__io->read_bytes(8); + m_post_status = m__io->read_u4le(); + m_reserved3 = m__io->read_bytes(4); +} + +ubx_t::mon_hw2_t::~mon_hw2_t() { + _clean_up(); +} + +void ubx_t::mon_hw2_t::_clean_up() { +} + +ubx_t::mon_hw_t::mon_hw_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) { + m__parent = p__parent; + m__root = p__root; + + try { + _read(); + } catch(...) { + _clean_up(); + throw; + } +} + +void ubx_t::mon_hw_t::_read() { + m_pin_sel = m__io->read_u4le(); + m_pin_bank = m__io->read_u4le(); + m_pin_dir = m__io->read_u4le(); + m_pin_val = m__io->read_u4le(); + m_noise_per_ms = m__io->read_u2le(); + m_agc_cnt = m__io->read_u2le(); + m_a_status = static_cast(m__io->read_u1()); + m_a_power = static_cast(m__io->read_u1()); + m_flags = m__io->read_u1(); + m_reserved1 = m__io->read_bytes(1); + m_used_mask = m__io->read_u4le(); + m_vp = m__io->read_bytes(17); + m_jam_ind = m__io->read_u1(); + m_reserved2 = m__io->read_bytes(2); + m_pin_irq = m__io->read_u4le(); + m_pull_h = m__io->read_u4le(); + m_pull_l = m__io->read_u4le(); +} + +ubx_t::mon_hw_t::~mon_hw_t() { + _clean_up(); +} + +void ubx_t::mon_hw_t::_clean_up() { +} + +uint16_t ubx_t::checksum() { + if (f_checksum) + return m_checksum; + std::streampos _pos = m__io->pos(); + m__io->seek((length() + 6)); + m_checksum = m__io->read_u2le(); + m__io->seek(_pos); + f_checksum = true; + return m_checksum; +} diff --git a/system/ubloxd/generated/ubx.h b/system/ubloxd/generated/ubx.h new file mode 100644 index 0000000000..022108489f --- /dev/null +++ b/system/ubloxd/generated/ubx.h @@ -0,0 +1,484 @@ +#ifndef UBX_H_ +#define UBX_H_ + +// This is a generated file! Please edit source .ksy file and use kaitai-struct-compiler to rebuild + +#include "kaitai/kaitaistruct.h" +#include +#include + +#if KAITAI_STRUCT_VERSION < 9000L +#error "Incompatible Kaitai Struct C++/STL API: version 0.9 or later is required" +#endif + +class ubx_t : public kaitai::kstruct { + +public: + class rxm_rawx_t; + class rxm_sfrbx_t; + class nav_sat_t; + class nav_pvt_t; + class mon_hw2_t; + class mon_hw_t; + + enum gnss_type_t { + GNSS_TYPE_GPS = 0, + GNSS_TYPE_SBAS = 1, + GNSS_TYPE_GALILEO = 2, + GNSS_TYPE_BEIDOU = 3, + GNSS_TYPE_IMES = 4, + GNSS_TYPE_QZSS = 5, + GNSS_TYPE_GLONASS = 6 + }; + + ubx_t(kaitai::kstream* p__io, kaitai::kstruct* p__parent = 0, ubx_t* p__root = 0); + +private: + void _read(); + void _clean_up(); + +public: + ~ubx_t(); + + class rxm_rawx_t : public kaitai::kstruct { + + public: + class measurement_t; + + rxm_rawx_t(kaitai::kstream* p__io, ubx_t* p__parent = 0, ubx_t* p__root = 0); + + private: + void _read(); + void _clean_up(); + + public: + ~rxm_rawx_t(); + + class measurement_t : public kaitai::kstruct { + + public: + + measurement_t(kaitai::kstream* p__io, ubx_t::rxm_rawx_t* p__parent = 0, ubx_t* p__root = 0); + + private: + void _read(); + void _clean_up(); + + public: + ~measurement_t(); + + private: + double m_pr_mes; + double m_cp_mes; + float m_do_mes; + gnss_type_t m_gnss_id; + uint8_t m_sv_id; + std::string m_reserved2; + uint8_t m_freq_id; + uint16_t m_lock_time; + uint8_t m_cno; + uint8_t m_pr_stdev; + uint8_t m_cp_stdev; + uint8_t m_do_stdev; + uint8_t m_trk_stat; + std::string m_reserved3; + ubx_t* m__root; + ubx_t::rxm_rawx_t* m__parent; + + public: + double pr_mes() const { return m_pr_mes; } + double cp_mes() const { return m_cp_mes; } + float do_mes() const { return m_do_mes; } + gnss_type_t gnss_id() const { return m_gnss_id; } + uint8_t sv_id() const { return m_sv_id; } + std::string reserved2() const { return m_reserved2; } + uint8_t freq_id() const { return m_freq_id; } + uint16_t lock_time() const { return m_lock_time; } + uint8_t cno() const { return m_cno; } + uint8_t pr_stdev() const { return m_pr_stdev; } + uint8_t cp_stdev() const { return m_cp_stdev; } + uint8_t do_stdev() const { return m_do_stdev; } + uint8_t trk_stat() const { return m_trk_stat; } + std::string reserved3() const { return m_reserved3; } + ubx_t* _root() const { return m__root; } + ubx_t::rxm_rawx_t* _parent() const { return m__parent; } + }; + + private: + double m_rcv_tow; + uint16_t m_week; + int8_t m_leap_s; + uint8_t m_num_meas; + uint8_t m_rec_stat; + std::string m_reserved1; + std::vector* m_meas; + ubx_t* m__root; + ubx_t* m__parent; + std::vector* m__raw_meas; + std::vector* m__io__raw_meas; + + public: + double rcv_tow() const { return m_rcv_tow; } + uint16_t week() const { return m_week; } + int8_t leap_s() const { return m_leap_s; } + uint8_t num_meas() const { return m_num_meas; } + uint8_t rec_stat() const { return m_rec_stat; } + std::string reserved1() const { return m_reserved1; } + std::vector* meas() const { return m_meas; } + ubx_t* _root() const { return m__root; } + ubx_t* _parent() const { return m__parent; } + std::vector* _raw_meas() const { return m__raw_meas; } + std::vector* _io__raw_meas() const { return m__io__raw_meas; } + }; + + class rxm_sfrbx_t : public kaitai::kstruct { + + public: + + rxm_sfrbx_t(kaitai::kstream* p__io, ubx_t* p__parent = 0, ubx_t* p__root = 0); + + private: + void _read(); + void _clean_up(); + + public: + ~rxm_sfrbx_t(); + + private: + gnss_type_t m_gnss_id; + uint8_t m_sv_id; + std::string m_reserved1; + uint8_t m_freq_id; + uint8_t m_num_words; + std::string m_reserved2; + uint8_t m_version; + std::string m_reserved3; + std::vector* m_body; + ubx_t* m__root; + ubx_t* m__parent; + + public: + gnss_type_t gnss_id() const { return m_gnss_id; } + uint8_t sv_id() const { return m_sv_id; } + std::string reserved1() const { return m_reserved1; } + uint8_t freq_id() const { return m_freq_id; } + uint8_t num_words() const { return m_num_words; } + std::string reserved2() const { return m_reserved2; } + uint8_t version() const { return m_version; } + std::string reserved3() const { return m_reserved3; } + std::vector* body() const { return m_body; } + ubx_t* _root() const { return m__root; } + ubx_t* _parent() const { return m__parent; } + }; + + class nav_sat_t : public kaitai::kstruct { + + public: + class nav_t; + + nav_sat_t(kaitai::kstream* p__io, ubx_t* p__parent = 0, ubx_t* p__root = 0); + + private: + void _read(); + void _clean_up(); + + public: + ~nav_sat_t(); + + class nav_t : public kaitai::kstruct { + + public: + + nav_t(kaitai::kstream* p__io, ubx_t::nav_sat_t* p__parent = 0, ubx_t* p__root = 0); + + private: + void _read(); + void _clean_up(); + + public: + ~nav_t(); + + private: + gnss_type_t m_gnss_id; + uint8_t m_sv_id; + uint8_t m_cno; + int8_t m_elev; + int16_t m_azim; + int16_t m_pr_res; + uint32_t m_flags; + ubx_t* m__root; + ubx_t::nav_sat_t* m__parent; + + public: + gnss_type_t gnss_id() const { return m_gnss_id; } + uint8_t sv_id() const { return m_sv_id; } + uint8_t cno() const { return m_cno; } + int8_t elev() const { return m_elev; } + int16_t azim() const { return m_azim; } + int16_t pr_res() const { return m_pr_res; } + uint32_t flags() const { return m_flags; } + ubx_t* _root() const { return m__root; } + ubx_t::nav_sat_t* _parent() const { return m__parent; } + }; + + private: + uint32_t m_itow; + uint8_t m_version; + uint8_t m_num_svs; + std::string m_reserved; + std::vector* m_svs; + ubx_t* m__root; + ubx_t* m__parent; + std::vector* m__raw_svs; + std::vector* m__io__raw_svs; + + public: + uint32_t itow() const { return m_itow; } + uint8_t version() const { return m_version; } + uint8_t num_svs() const { return m_num_svs; } + std::string reserved() const { return m_reserved; } + std::vector* svs() const { return m_svs; } + ubx_t* _root() const { return m__root; } + ubx_t* _parent() const { return m__parent; } + std::vector* _raw_svs() const { return m__raw_svs; } + std::vector* _io__raw_svs() const { return m__io__raw_svs; } + }; + + class nav_pvt_t : public kaitai::kstruct { + + public: + + nav_pvt_t(kaitai::kstream* p__io, ubx_t* p__parent = 0, ubx_t* p__root = 0); + + private: + void _read(); + void _clean_up(); + + public: + ~nav_pvt_t(); + + private: + uint32_t m_i_tow; + uint16_t m_year; + uint8_t m_month; + uint8_t m_day; + uint8_t m_hour; + uint8_t m_min; + uint8_t m_sec; + uint8_t m_valid; + uint32_t m_t_acc; + int32_t m_nano; + uint8_t m_fix_type; + uint8_t m_flags; + uint8_t m_flags2; + uint8_t m_num_sv; + int32_t m_lon; + int32_t m_lat; + int32_t m_height; + int32_t m_h_msl; + uint32_t m_h_acc; + uint32_t m_v_acc; + int32_t m_vel_n; + int32_t m_vel_e; + int32_t m_vel_d; + int32_t m_g_speed; + int32_t m_head_mot; + int32_t m_s_acc; + uint32_t m_head_acc; + uint16_t m_p_dop; + uint8_t m_flags3; + std::string m_reserved1; + int32_t m_head_veh; + int16_t m_mag_dec; + uint16_t m_mag_acc; + ubx_t* m__root; + ubx_t* m__parent; + + public: + uint32_t i_tow() const { return m_i_tow; } + uint16_t year() const { return m_year; } + uint8_t month() const { return m_month; } + uint8_t day() const { return m_day; } + uint8_t hour() const { return m_hour; } + uint8_t min() const { return m_min; } + uint8_t sec() const { return m_sec; } + uint8_t valid() const { return m_valid; } + uint32_t t_acc() const { return m_t_acc; } + int32_t nano() const { return m_nano; } + uint8_t fix_type() const { return m_fix_type; } + uint8_t flags() const { return m_flags; } + uint8_t flags2() const { return m_flags2; } + uint8_t num_sv() const { return m_num_sv; } + int32_t lon() const { return m_lon; } + int32_t lat() const { return m_lat; } + int32_t height() const { return m_height; } + int32_t h_msl() const { return m_h_msl; } + uint32_t h_acc() const { return m_h_acc; } + uint32_t v_acc() const { return m_v_acc; } + int32_t vel_n() const { return m_vel_n; } + int32_t vel_e() const { return m_vel_e; } + int32_t vel_d() const { return m_vel_d; } + int32_t g_speed() const { return m_g_speed; } + int32_t head_mot() const { return m_head_mot; } + int32_t s_acc() const { return m_s_acc; } + uint32_t head_acc() const { return m_head_acc; } + uint16_t p_dop() const { return m_p_dop; } + uint8_t flags3() const { return m_flags3; } + std::string reserved1() const { return m_reserved1; } + int32_t head_veh() const { return m_head_veh; } + int16_t mag_dec() const { return m_mag_dec; } + uint16_t mag_acc() const { return m_mag_acc; } + ubx_t* _root() const { return m__root; } + ubx_t* _parent() const { return m__parent; } + }; + + class mon_hw2_t : public kaitai::kstruct { + + public: + + enum config_source_t { + CONFIG_SOURCE_FLASH = 102, + CONFIG_SOURCE_OTP = 111, + CONFIG_SOURCE_CONFIG_PINS = 112, + CONFIG_SOURCE_ROM = 113 + }; + + mon_hw2_t(kaitai::kstream* p__io, ubx_t* p__parent = 0, ubx_t* p__root = 0); + + private: + void _read(); + void _clean_up(); + + public: + ~mon_hw2_t(); + + private: + int8_t m_ofs_i; + uint8_t m_mag_i; + int8_t m_ofs_q; + uint8_t m_mag_q; + config_source_t m_cfg_source; + std::string m_reserved1; + uint32_t m_low_lev_cfg; + std::string m_reserved2; + uint32_t m_post_status; + std::string m_reserved3; + ubx_t* m__root; + ubx_t* m__parent; + + public: + int8_t ofs_i() const { return m_ofs_i; } + uint8_t mag_i() const { return m_mag_i; } + int8_t ofs_q() const { return m_ofs_q; } + uint8_t mag_q() const { return m_mag_q; } + config_source_t cfg_source() const { return m_cfg_source; } + std::string reserved1() const { return m_reserved1; } + uint32_t low_lev_cfg() const { return m_low_lev_cfg; } + std::string reserved2() const { return m_reserved2; } + uint32_t post_status() const { return m_post_status; } + std::string reserved3() const { return m_reserved3; } + ubx_t* _root() const { return m__root; } + ubx_t* _parent() const { return m__parent; } + }; + + class mon_hw_t : public kaitai::kstruct { + + public: + + enum antenna_status_t { + ANTENNA_STATUS_INIT = 0, + ANTENNA_STATUS_DONTKNOW = 1, + ANTENNA_STATUS_OK = 2, + ANTENNA_STATUS_SHORT = 3, + ANTENNA_STATUS_OPEN = 4 + }; + + enum antenna_power_t { + ANTENNA_POWER_FALSE = 0, + ANTENNA_POWER_TRUE = 1, + ANTENNA_POWER_DONTKNOW = 2 + }; + + mon_hw_t(kaitai::kstream* p__io, ubx_t* p__parent = 0, ubx_t* p__root = 0); + + private: + void _read(); + void _clean_up(); + + public: + ~mon_hw_t(); + + private: + uint32_t m_pin_sel; + uint32_t m_pin_bank; + uint32_t m_pin_dir; + uint32_t m_pin_val; + uint16_t m_noise_per_ms; + uint16_t m_agc_cnt; + antenna_status_t m_a_status; + antenna_power_t m_a_power; + uint8_t m_flags; + std::string m_reserved1; + uint32_t m_used_mask; + std::string m_vp; + uint8_t m_jam_ind; + std::string m_reserved2; + uint32_t m_pin_irq; + uint32_t m_pull_h; + uint32_t m_pull_l; + ubx_t* m__root; + ubx_t* m__parent; + + public: + uint32_t pin_sel() const { return m_pin_sel; } + uint32_t pin_bank() const { return m_pin_bank; } + uint32_t pin_dir() const { return m_pin_dir; } + uint32_t pin_val() const { return m_pin_val; } + uint16_t noise_per_ms() const { return m_noise_per_ms; } + uint16_t agc_cnt() const { return m_agc_cnt; } + antenna_status_t a_status() const { return m_a_status; } + antenna_power_t a_power() const { return m_a_power; } + uint8_t flags() const { return m_flags; } + std::string reserved1() const { return m_reserved1; } + uint32_t used_mask() const { return m_used_mask; } + std::string vp() const { return m_vp; } + uint8_t jam_ind() const { return m_jam_ind; } + std::string reserved2() const { return m_reserved2; } + uint32_t pin_irq() const { return m_pin_irq; } + uint32_t pull_h() const { return m_pull_h; } + uint32_t pull_l() const { return m_pull_l; } + ubx_t* _root() const { return m__root; } + ubx_t* _parent() const { return m__parent; } + }; + +private: + bool f_checksum; + uint16_t m_checksum; + +public: + uint16_t checksum(); + +private: + std::string m_magic; + uint16_t m_msg_type; + uint16_t m_length; + kaitai::kstruct* m_body; + bool n_body; + +public: + bool _is_null_body() { body(); return n_body; }; + +private: + ubx_t* m__root; + kaitai::kstruct* m__parent; + +public: + std::string magic() const { return m_magic; } + uint16_t msg_type() const { return m_msg_type; } + uint16_t length() const { return m_length; } + kaitai::kstruct* body() const { return m_body; } + ubx_t* _root() const { return m__root; } + kaitai::kstruct* _parent() const { return m__parent; } +}; + +#endif // UBX_H_ diff --git a/system/ubloxd/glonass.ksy b/system/ubloxd/glonass.ksy new file mode 100644 index 0000000000..be99f6e497 --- /dev/null +++ b/system/ubloxd/glonass.ksy @@ -0,0 +1,176 @@ +# http://gauss.gge.unb.ca/GLONASS.ICD.pdf +# some variables are misprinted but good in the old doc +# https://www.unavco.org/help/glossary/docs/ICD_GLONASS_4.0_(1998)_en.pdf +meta: + id: glonass + endian: be + bit-endian: be +seq: + - id: idle_chip + type: b1 + - id: string_number + type: b4 + - id: data + type: + switch-on: string_number + cases: + 1: string_1 + 2: string_2 + 3: string_3 + 4: string_4 + 5: string_5 + _: string_non_immediate + - id: hamming_code + type: b8 + - id: pad_1 + type: b11 + - id: superframe_number + type: b16 + - id: pad_2 + type: b8 + - id: frame_number + type: b8 + +types: + string_1: + seq: + - id: not_used + type: b2 + - id: p1 + type: b2 + - id: t_k + type: b12 + - id: x_vel_sign + type: b1 + - id: x_vel_value + type: b23 + - id: x_accel_sign + type: b1 + - id: x_accel_value + type: b4 + - id: x_sign + type: b1 + - id: x_value + type: b26 + instances: + x_vel: + value: 'x_vel_sign ? (x_vel_value * (-1)) : x_vel_value' + x_accel: + value: 'x_accel_sign ? (x_accel_value * (-1)) : x_accel_value' + x: + value: 'x_sign ? (x_value * (-1)) : x_value' + string_2: + seq: + - id: b_n + type: b3 + - id: p2 + type: b1 + - id: t_b + type: b7 + - id: not_used + type: b5 + - id: y_vel_sign + type: b1 + - id: y_vel_value + type: b23 + - id: y_accel_sign + type: b1 + - id: y_accel_value + type: b4 + - id: y_sign + type: b1 + - id: y_value + type: b26 + instances: + y_vel: + value: 'y_vel_sign ? (y_vel_value * (-1)) : y_vel_value' + y_accel: + value: 'y_accel_sign ? (y_accel_value * (-1)) : y_accel_value' + y: + value: 'y_sign ? (y_value * (-1)) : y_value' + string_3: + seq: + - id: p3 + type: b1 + - id: gamma_n_sign + type: b1 + - id: gamma_n_value + type: b10 + - id: not_used + type: b1 + - id: p + type: b2 + - id: l_n + type: b1 + - id: z_vel_sign + type: b1 + - id: z_vel_value + type: b23 + - id: z_accel_sign + type: b1 + - id: z_accel_value + type: b4 + - id: z_sign + type: b1 + - id: z_value + type: b26 + instances: + gamma_n: + value: 'gamma_n_sign ? (gamma_n_value * (-1)) : gamma_n_value' + z_vel: + value: 'z_vel_sign ? (z_vel_value * (-1)) : z_vel_value' + z_accel: + value: 'z_accel_sign ? (z_accel_value * (-1)) : z_accel_value' + z: + value: 'z_sign ? (z_value * (-1)) : z_value' + string_4: + seq: + - id: tau_n_sign + type: b1 + - id: tau_n_value + type: b21 + - id: delta_tau_n_sign + type: b1 + - id: delta_tau_n_value + type: b4 + - id: e_n + type: b5 + - id: not_used_1 + type: b14 + - id: p4 + type: b1 + - id: f_t + type: b4 + - id: not_used_2 + type: b3 + - id: n_t + type: b11 + - id: n + type: b5 + - id: m + type: b2 + instances: + tau_n: + value: 'tau_n_sign ? (tau_n_value * (-1)) : tau_n_value' + delta_tau_n: + value: 'delta_tau_n_sign ? (delta_tau_n_value * (-1)) : delta_tau_n_value' + string_5: + seq: + - id: n_a + type: b11 + - id: tau_c + type: b32 + - id: not_used + type: b1 + - id: n_4 + type: b5 + - id: tau_gps + type: b22 + - id: l_n + type: b1 + string_non_immediate: + seq: + - id: data_1 + type: b64 + - id: data_2 + type: b8 diff --git a/system/ubloxd/glonass_fix.patch b/system/ubloxd/glonass_fix.patch new file mode 100644 index 0000000000..7eb973a348 --- /dev/null +++ b/system/ubloxd/glonass_fix.patch @@ -0,0 +1,13 @@ +diff --git a/system/ubloxd/generated/glonass.cpp b/system/ubloxd/generated/glonass.cpp +index 5b17bc327..b5c6aa610 100644 +--- a/system/ubloxd/generated/glonass.cpp ++++ b/system/ubloxd/generated/glonass.cpp +@@ -17,7 +17,7 @@ glonass_t::glonass_t(kaitai::kstream* p__io, kaitai::kstruct* p__parent, glonass + void glonass_t::_read() { + m_idle_chip = m__io->read_bits_int_be(1); + m_string_number = m__io->read_bits_int_be(4); +- m__io->align_to_byte(); ++ //m__io->align_to_byte(); + switch (string_number()) { + case 4: { + m_data = new string_4_t(m__io, this, m__root); diff --git a/system/ubloxd/gps.ksy b/system/ubloxd/gps.ksy new file mode 100644 index 0000000000..893ad1b25b --- /dev/null +++ b/system/ubloxd/gps.ksy @@ -0,0 +1,189 @@ +# https://www.gps.gov/technical/icwg/IS-GPS-200E.pdf +meta: + id: gps + endian: be + bit-endian: be +seq: + - id: tlm + type: tlm + - id: how + type: how + - id: body + type: + switch-on: how.subframe_id + cases: + 1: subframe_1 + 2: subframe_2 + 3: subframe_3 + 4: subframe_4 +types: + tlm: + seq: + - id: preamble + contents: [0x8b] + - id: tlm + type: b14 + - id: integrity_status + type: b1 + - id: reserved + type: b1 + how: + seq: + - id: tow_count + type: b17 + - id: alert + type: b1 + - id: anti_spoof + type: b1 + - id: subframe_id + type: b3 + - id: reserved + type: b2 + subframe_1: + seq: + # Word 3 + - id: week_no + type: b10 + - id: code + type: b2 + - id: sv_accuracy + type: b4 + - id: sv_health + type: b6 + - id: iodc_msb + type: b2 + # Word 4 + - id: l2_p_data_flag + type: b1 + - id: reserved1 + type: b23 + # Word 5 + - id: reserved2 + type: b24 + # Word 6 + - id: reserved3 + type: b24 + # Word 7 + - id: reserved4 + type: b16 + - id: t_gd + type: s1 + # Word 8 + - id: iodc_lsb + type: u1 + - id: t_oc + type: u2 + # Word 9 + - id: af_2 + type: s1 + - id: af_1 + type: s2 + # Word 10 + - id: af_0_sign + type: b1 + - id: af_0_value + type: b21 + - id: reserved5 + type: b2 + instances: + af_0: + value: 'af_0_sign ? (af_0_value - (1 << 21)) : af_0_value' + subframe_2: + seq: + # Word 3 + - id: iode + type: u1 + - id: c_rs + type: s2 + # Word 4 & 5 + - id: delta_n + type: s2 + - id: m_0 + type: s4 + # Word 6 & 7 + - id: c_uc + type: s2 + - id: e + type: s4 + # Word 8 & 9 + - id: c_us + type: s2 + - id: sqrt_a + type: u4 + # Word 10 + - id: t_oe + type: u2 + - id: fit_interval_flag + type: b1 + - id: aoda + type: b5 + - id: reserved + type: b2 + subframe_3: + seq: + # Word 3 & 4 + - id: c_ic + type: s2 + - id: omega_0 + type: s4 + # Word 5 & 6 + - id: c_is + type: s2 + - id: i_0 + type: s4 + # Word 7 & 8 + - id: c_rc + type: s2 + - id: omega + type: s4 + # Word 9 + - id: omega_dot_sign + type: b1 + - id: omega_dot_value + type: b23 + # Word 10 + - id: iode + type: u1 + - id: idot_sign + type: b1 + - id: idot_value + type: b13 + - id: reserved + type: b2 + instances: + omega_dot: + value: 'omega_dot_sign ? (omega_dot_value - (1 << 23)) : omega_dot_value' + idot: + value: 'idot_sign ? (idot_value - (1 << 13)) : idot_value' + subframe_4: + seq: + # Word 3 + - id: data_id + type: b2 + - id: page_id + type: b6 + - id: body + type: + switch-on: page_id + cases: + 56: ionosphere_data + types: + ionosphere_data: + seq: + - id: a0 + type: s1 + - id: a1 + type: s1 + - id: a2 + type: s1 + - id: a3 + type: s1 + - id: b0 + type: s1 + - id: b1 + type: s1 + - id: b2 + type: s1 + - id: b3 + type: s1 + diff --git a/system/ubloxd/pigeond.py b/system/ubloxd/pigeond.py new file mode 100755 index 0000000000..8809689dcd --- /dev/null +++ b/system/ubloxd/pigeond.py @@ -0,0 +1,312 @@ +#!/usr/bin/env python3 +import sys +import time +import signal +import serial +import struct +import requests +import urllib.parse +from datetime import datetime, UTC + +from cereal import messaging +from openpilot.common.params import Params +from openpilot.common.swaglog import cloudlog +from openpilot.system.hardware import TICI +from openpilot.common.gpio import gpio_init, gpio_set +from openpilot.system.hardware.tici.pins import GPIO + +UBLOX_TTY = "/dev/ttyHS0" + +UBLOX_ACK = b"\xb5\x62\x05\x01\x02\x00" +UBLOX_NACK = b"\xb5\x62\x05\x00\x02\x00" +UBLOX_SOS_ACK = b"\xb5\x62\x09\x14\x08\x00\x02\x00\x00\x00\x01\x00\x00\x00" +UBLOX_SOS_NACK = b"\xb5\x62\x09\x14\x08\x00\x02\x00\x00\x00\x00\x00\x00\x00" +UBLOX_BACKUP_RESTORE_MSG = b"\xb5\x62\x09\x14\x08\x00\x03" +UBLOX_ASSIST_ACK = b"\xb5\x62\x13\x60\x08\x00" + +def set_power(enabled: bool) -> None: + gpio_init(GPIO.UBLOX_SAFEBOOT_N, True) + gpio_init(GPIO.GNSS_PWR_EN, True) + gpio_init(GPIO.UBLOX_RST_N, True) + + gpio_set(GPIO.UBLOX_SAFEBOOT_N, True) + gpio_set(GPIO.GNSS_PWR_EN, enabled) + gpio_set(GPIO.UBLOX_RST_N, enabled) + +def add_ubx_checksum(msg: bytes) -> bytes: + A = B = 0 + for b in msg[2:]: + A = (A + b) % 256 + B = (B + A) % 256 + return msg + bytes([A, B]) + +def get_assistnow_messages(token: bytes) -> list[bytes]: + # make request + # TODO: implement adding the last known location + r = requests.get("https://online-live2.services.u-blox.com/GetOnlineData.ashx", params=urllib.parse.urlencode({ + 'token': token, + 'gnss': 'gps,glo', + 'datatype': 'eph,alm,aux', + }, safe=':,'), timeout=5) + assert r.status_code == 200, "Got invalid status code" + dat = r.content + + # split up messages + msgs = [] + while len(dat) > 0: + assert dat[:2] == b"\xB5\x62" + msg_len = 6 + (dat[5] << 8 | dat[4]) + 2 + msgs.append(dat[:msg_len]) + dat = dat[msg_len:] + return msgs + + +class TTYPigeon: + def __init__(self): + self.tty = serial.VTIMESerial(UBLOX_TTY, baudrate=9600, timeout=0) + + def send(self, dat: bytes) -> None: + self.tty.write(dat) + + def receive(self) -> bytes: + dat = b'' + while len(dat) < 0x1000: + d = self.tty.read(0x40) + dat += d + if len(d) == 0: + break + return dat + + def set_baud(self, baud: int) -> None: + self.tty.baudrate = baud + + def wait_for_ack(self, ack: bytes = UBLOX_ACK, nack: bytes = UBLOX_NACK, timeout: float = 0.5) -> bool: + dat = b'' + st = time.monotonic() + while True: + dat += self.receive() + if ack in dat: + cloudlog.debug("Received ACK from ublox") + return True + elif nack in dat: + cloudlog.error("Received NACK from ublox") + return False + elif time.monotonic() - st > timeout: + cloudlog.error("No response from ublox") + raise TimeoutError('No response from ublox') + time.sleep(0.001) + + def send_with_ack(self, dat: bytes, ack: bytes = UBLOX_ACK, nack: bytes = UBLOX_NACK) -> None: + self.send(dat) + self.wait_for_ack(ack, nack) + + def wait_for_backup_restore_status(self, timeout: float = 1.) -> int: + dat = b'' + st = time.monotonic() + while True: + dat += self.receive() + position = dat.find(UBLOX_BACKUP_RESTORE_MSG) + if position >= 0 and len(dat) >= position + 11: + return dat[position + 10] + elif time.monotonic() - st > timeout: + cloudlog.error("No backup restore response from ublox") + raise TimeoutError('No response from ublox') + time.sleep(0.001) + + def reset_device(self) -> bool: + # deleting the backup does not always work on first try (mostly on second try) + for _ in range(5): + # device cold start + self.send(b"\xb5\x62\x06\x04\x04\x00\xff\xff\x00\x00\x0c\x5d") + time.sleep(1) # wait for cold start + init_baudrate(self) + + # clear configuration + self.send_with_ack(b"\xb5\x62\x06\x09\x0d\x00\x1f\x1f\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x17\x71\xd7") + + # clear flash memory (almanac backup) + self.send_with_ack(b"\xB5\x62\x09\x14\x04\x00\x01\x00\x00\x00\x22\xf0") + + # try restoring backup to verify it got deleted + self.send(b"\xB5\x62\x09\x14\x00\x00\x1D\x60") + # 1: failed to restore, 2: could restore, 3: no backup + status = self.wait_for_backup_restore_status() + if status == 1 or status == 3: + return True + return False + +def init_baudrate(pigeon: TTYPigeon): + # ublox default setting on startup is 9600 baudrate + pigeon.set_baud(9600) + + # $PUBX,41,1,0007,0003,460800,0*15\r\n + pigeon.send(b"\x24\x50\x55\x42\x58\x2C\x34\x31\x2C\x31\x2C\x30\x30\x30\x37\x2C\x30\x30\x30\x33\x2C\x34\x36\x30\x38\x30\x30\x2C\x30\x2A\x31\x35\x0D\x0A") + time.sleep(0.1) + pigeon.set_baud(460800) + + +def initialize_pigeon(pigeon: TTYPigeon) -> bool: + # try initializing a few times + for _ in range(10): + try: + + # setup port config + pigeon.send_with_ack(b"\xb5\x62\x06\x00\x14\x00\x03\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x01\x00\x00\x00\x00\x00\x1E\x7F") + pigeon.send_with_ack(b"\xb5\x62\x06\x00\x14\x00\x00\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x19\x35") + pigeon.send_with_ack(b"\xb5\x62\x06\x00\x14\x00\x01\x00\x00\x00\xC0\x08\x00\x00\x00\x08\x07\x00\x01\x00\x01\x00\x00\x00\x00\x00\xF4\x80") + pigeon.send_with_ack(b"\xb5\x62\x06\x00\x14\x00\x04\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x1D\x85") + pigeon.send_with_ack(b"\xb5\x62\x06\x00\x00\x00\x06\x18") + pigeon.send_with_ack(b"\xb5\x62\x06\x00\x01\x00\x01\x08\x22") + pigeon.send_with_ack(b"\xb5\x62\x06\x00\x01\x00\x03\x0A\x24") + + # UBX-CFG-RATE (0x06 0x08) + pigeon.send_with_ack(b"\xB5\x62\x06\x08\x06\x00\x64\x00\x01\x00\x00\x00\x79\x10") + + # UBX-CFG-NAV5 (0x06 0x24) + pigeon.send_with_ack(b"\xB5\x62\x06\x24\x24\x00\x05\x00\x04\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x5A\x63") + + # UBX-CFG-ODO (0x06 0x1E) + pigeon.send_with_ack(b"\xB5\x62\x06\x1E\x14\x00\x00\x00\x00\x00\x01\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x3C\x37") + pigeon.send_with_ack(b"\xB5\x62\x06\x39\x08\x00\xFF\xAD\x62\xAD\x1E\x63\x00\x00\x83\x0C") + pigeon.send_with_ack(b"\xB5\x62\x06\x23\x28\x00\x00\x00\x00\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x24") + + # UBX-CFG-NAV5 (0x06 0x24) + pigeon.send_with_ack(b"\xB5\x62\x06\x24\x00\x00\x2A\x84") + pigeon.send_with_ack(b"\xB5\x62\x06\x23\x00\x00\x29\x81") + pigeon.send_with_ack(b"\xB5\x62\x06\x1E\x00\x00\x24\x72") + pigeon.send_with_ack(b"\xB5\x62\x06\x39\x00\x00\x3F\xC3") + + # UBX-CFG-MSG (set message rate) + pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x01\x07\x01\x13\x51") + pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x02\x15\x01\x22\x70") + pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x02\x13\x01\x20\x6C") + pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x0A\x09\x01\x1E\x70") + pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x0A\x0B\x01\x20\x74") + pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x01\x35\x01\x41\xAD") + cloudlog.debug("pigeon configured") + + # try restoring almanac backup + pigeon.send(b"\xB5\x62\x09\x14\x00\x00\x1D\x60") + restore_status = pigeon.wait_for_backup_restore_status() + if restore_status == 2: + cloudlog.warning("almanac backup restored") + elif restore_status == 3: + cloudlog.warning("no almanac backup found") + else: + cloudlog.error(f"failed to restore almanac backup, status: {restore_status}") + + # sending time to ublox + t_now = datetime.now(UTC).replace(tzinfo=None) + if t_now >= datetime(2021, 6, 1): + cloudlog.warning("Sending current time to ublox") + + # UBX-MGA-INI-TIME_UTC + msg = add_ubx_checksum(b"\xB5\x62\x13\x40\x18\x00" + struct.pack(" tuple[TTYPigeon, messaging.PubMaster]: + pigeon = None + + # register exit handler + signal.signal(signal.SIGINT, lambda sig, frame: deinitialize_and_exit(pigeon)) + pm = messaging.PubMaster(['ubloxRaw']) + + # power cycle ublox + set_power(False) + time.sleep(0.1) + set_power(True) + time.sleep(0.5) + + pigeon = TTYPigeon() + return pigeon, pm + +def run_receiving(pigeon: TTYPigeon, pm: messaging.PubMaster, duration: int = 0): + + start_time = time.monotonic() + def end_condition(): + return True if duration == 0 else time.monotonic() - start_time < duration + + while end_condition(): + dat = pigeon.receive() + if len(dat) > 0: + if dat[0] == 0x00: + cloudlog.warning("received invalid data from ublox, re-initing!") + init_baudrate(pigeon) + initialize_pigeon(pigeon) + continue + + # send out to socket + msg = messaging.new_message('ubloxRaw', len(dat), valid=True) + msg.ubloxRaw = dat[:] + pm.send('ubloxRaw', msg) + else: + # prevent locking up a CPU core if ublox disconnects + time.sleep(0.001) + + +def main(): + assert TICI, "unsupported hardware for pigeond" + + pigeon, pm = create_pigeon() + init_baudrate(pigeon) + initialize_pigeon(pigeon) + + # start receiving data + run_receiving(pigeon, pm) + +if __name__ == "__main__": + main() diff --git a/system/ubloxd/ublox_msg.h b/system/ubloxd/ublox_msg.h new file mode 100644 index 0000000000..d21760edc2 --- /dev/null +++ b/system/ubloxd/ublox_msg.h @@ -0,0 +1,131 @@ +#pragma once + +#include +#include +#include +#include +#include +#include +#include + +#include "cereal/messaging/messaging.h" +#include "common/util.h" +#include "system/ubloxd/generated/gps.h" +#include "system/ubloxd/generated/glonass.h" +#include "system/ubloxd/generated/ubx.h" + +using namespace std::string_literals; + +const int SECS_IN_MIN = 60; +const int SECS_IN_HR = 60 * SECS_IN_MIN; +const int SECS_IN_DAY = 24 * SECS_IN_HR; +const int SECS_IN_WEEK = 7 * SECS_IN_DAY; + +// protocol constants +namespace ublox { + const uint8_t PREAMBLE1 = 0xb5; + const uint8_t PREAMBLE2 = 0x62; + + const int UBLOX_HEADER_SIZE = 6; + const int UBLOX_CHECKSUM_SIZE = 2; + const int UBLOX_MAX_MSG_SIZE = 65536; + + struct ubx_mga_ini_time_utc_t { + uint8_t type; + uint8_t version; + uint8_t ref; + int8_t leapSecs; + uint16_t year; + uint8_t month; + uint8_t day; + uint8_t hour; + uint8_t minute; + uint8_t second; + uint8_t reserved1; + uint32_t ns; + uint16_t tAccS; + uint16_t reserved2; + uint32_t tAccNs; + } __attribute__((packed)); + + inline std::string ubx_add_checksum(const std::string &msg) { + assert(msg.size() > 2); + + uint8_t ck_a = 0, ck_b = 0; + for (int i = 2; i < msg.size(); i++) { + ck_a = (ck_a + msg[i]) & 0xFF; + ck_b = (ck_b + ck_a) & 0xFF; + } + + std::string r = msg; + r.push_back(ck_a); + r.push_back(ck_b); + return r; + } + + inline std::string build_ubx_mga_ini_time_utc(struct tm time) { + ublox::ubx_mga_ini_time_utc_t payload = { + .type = 0x10, + .version = 0x0, + .ref = 0x0, + .leapSecs = -128, // Unknown + .year = (uint16_t)(1900 + time.tm_year), + .month = (uint8_t)(1 + time.tm_mon), + .day = (uint8_t)time.tm_mday, + .hour = (uint8_t)time.tm_hour, + .minute = (uint8_t)time.tm_min, + .second = (uint8_t)time.tm_sec, + .reserved1 = 0x0, + .ns = 0, + .tAccS = 30, + .reserved2 = 0x0, + .tAccNs = 0, + }; + assert(sizeof(payload) == 24); + + std::string msg = "\xb5\x62\x13\x40\x18\x00"s; + msg += std::string((char*)&payload, sizeof(payload)); + + return ubx_add_checksum(msg); + } +} + +class UbloxMsgParser { + public: + bool add_data(float log_time, const uint8_t *incoming_data, uint32_t incoming_data_len, size_t &bytes_consumed); + inline void reset() {bytes_in_parse_buf = 0;} + inline int needed_bytes(); + inline std::string data() {return std::string((const char*)msg_parse_buf, bytes_in_parse_buf);} + + std::pair> gen_msg(); + kj::Array gen_nav_pvt(ubx_t::nav_pvt_t *msg); + kj::Array gen_rxm_sfrbx(ubx_t::rxm_sfrbx_t *msg); + kj::Array gen_rxm_rawx(ubx_t::rxm_rawx_t *msg); + kj::Array gen_mon_hw(ubx_t::mon_hw_t *msg); + kj::Array gen_mon_hw2(ubx_t::mon_hw2_t *msg); + kj::Array gen_nav_sat(ubx_t::nav_sat_t *msg); + + private: + inline bool valid_cheksum(); + inline bool valid(); + inline bool valid_so_far(); + + kj::Array parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *msg); + kj::Array parse_glonass_ephemeris(ubx_t::rxm_sfrbx_t *msg); + + std::unordered_map> gps_subframes; + + float last_log_time = 0.0; + size_t bytes_in_parse_buf = 0; + uint8_t msg_parse_buf[ublox::UBLOX_HEADER_SIZE + ublox::UBLOX_MAX_MSG_SIZE]; + + // user range accuracy in meters + const std::unordered_map glonass_URA_lookup = + {{ 0, 1}, { 1, 2}, { 2, 2.5}, { 3, 4}, { 4, 5}, {5, 7}, + { 6, 10}, { 7, 12}, { 8, 14}, { 9, 16}, {10, 32}, + {11, 64}, {12, 128}, {13, 256}, {14, 512}, {15, 1024}}; + + std::unordered_map> glonass_strings; + std::unordered_map> glonass_string_times; + std::unordered_map> glonass_string_superframes; +}; diff --git a/system/ubloxd/ubloxd b/system/ubloxd/ubloxd new file mode 100755 index 0000000000..9d6d5f6d19 Binary files /dev/null and b/system/ubloxd/ubloxd differ diff --git a/system/ubloxd/ubx.ksy b/system/ubloxd/ubx.ksy new file mode 100644 index 0000000000..02c757fe71 --- /dev/null +++ b/system/ubloxd/ubx.ksy @@ -0,0 +1,293 @@ +meta: + id: ubx + endian: le +seq: + - id: magic + contents: [0xb5, 0x62] + - id: msg_type + type: u2be + - id: length + type: u2 + - id: body + type: + switch-on: msg_type + cases: + 0x0107: nav_pvt + 0x0213: rxm_sfrbx + 0x0215: rxm_rawx + 0x0a09: mon_hw + 0x0a0b: mon_hw2 + 0x0135: nav_sat +instances: + checksum: + pos: length + 6 + type: u2 + +types: + mon_hw: + seq: + - id: pin_sel + type: u4 + - id: pin_bank + type: u4 + - id: pin_dir + type: u4 + - id: pin_val + type: u4 + - id: noise_per_ms + type: u2 + - id: agc_cnt + type: u2 + - id: a_status + type: u1 + enum: antenna_status + - id: a_power + type: u1 + enum: antenna_power + - id: flags + type: u1 + - id: reserved1 + size: 1 + - id: used_mask + type: u4 + - id: vp + size: 17 + - id: jam_ind + type: u1 + - id: reserved2 + size: 2 + - id: pin_irq + type: u4 + - id: pull_h + type: u4 + - id: pull_l + type: u4 + enums: + antenna_status: + 0: init + 1: dontknow + 2: ok + 3: short + 4: open + antenna_power: + 0: off + 1: on + 2: dontknow + + mon_hw2: + seq: + - id: ofs_i + type: s1 + - id: mag_i + type: u1 + - id: ofs_q + type: s1 + - id: mag_q + type: u1 + - id: cfg_source + type: u1 + enum: config_source + - id: reserved1 + size: 3 + - id: low_lev_cfg + type: u4 + - id: reserved2 + size: 8 + - id: post_status + type: u4 + - id: reserved3 + size: 4 + + enums: + config_source: + 113: rom + 111: otp + 112: config_pins + 102: flash + + rxm_sfrbx: + seq: + - id: gnss_id + type: u1 + enum: gnss_type + - id: sv_id + type: u1 + - id: reserved1 + size: 1 + - id: freq_id + type: u1 + - id: num_words + type: u1 + - id: reserved2 + size: 1 + - id: version + type: u1 + - id: reserved3 + size: 1 + - id: body + type: u4 + repeat: expr + repeat-expr: num_words + + rxm_rawx: + seq: + - id: rcv_tow + type: f8 + - id: week + type: u2 + - id: leap_s + type: s1 + - id: num_meas + type: u1 + - id: rec_stat + type: u1 + - id: reserved1 + size: 3 + - id: meas + type: measurement + size: 32 + repeat: expr + repeat-expr: num_meas + types: + measurement: + seq: + - id: pr_mes + type: f8 + - id: cp_mes + type: f8 + - id: do_mes + type: f4 + - id: gnss_id + type: u1 + enum: gnss_type + - id: sv_id + type: u1 + - id: reserved2 + size: 1 + - id: freq_id + type: u1 + - id: lock_time + type: u2 + - id: cno + type: u1 + - id: pr_stdev + type: u1 + - id: cp_stdev + type: u1 + - id: do_stdev + type: u1 + - id: trk_stat + type: u1 + - id: reserved3 + size: 1 + nav_sat: + seq: + - id: itow + type: u4 + - id: version + type: u1 + - id: num_svs + type: u1 + - id: reserved + size: 2 + - id: svs + type: nav + size: 12 + repeat: expr + repeat-expr: num_svs + types: + nav: + seq: + - id: gnss_id + type: u1 + enum: gnss_type + - id: sv_id + type: u1 + - id: cno + type: u1 + - id: elev + type: s1 + - id: azim + type: s2 + - id: pr_res + type: s2 + - id: flags + type: u4 + + nav_pvt: + seq: + - id: i_tow + type: u4 + - id: year + type: u2 + - id: month + type: u1 + - id: day + type: u1 + - id: hour + type: u1 + - id: min + type: u1 + - id: sec + type: u1 + - id: valid + type: u1 + - id: t_acc + type: u4 + - id: nano + type: s4 + - id: fix_type + type: u1 + - id: flags + type: u1 + - id: flags2 + type: u1 + - id: num_sv + type: u1 + - id: lon + type: s4 + - id: lat + type: s4 + - id: height + type: s4 + - id: h_msl + type: s4 + - id: h_acc + type: u4 + - id: v_acc + type: u4 + - id: vel_n + type: s4 + - id: vel_e + type: s4 + - id: vel_d + type: s4 + - id: g_speed + type: s4 + - id: head_mot + type: s4 + - id: s_acc + type: s4 + - id: head_acc + type: u4 + - id: p_dop + type: u2 + - id: flags3 + type: u1 + - id: reserved1 + size: 5 + - id: head_veh + type: s4 + - id: mag_dec + type: s2 + - id: mag_acc + type: u2 +enums: + gnss_type: + 0: gps + 1: sbas + 2: galileo + 3: beidou + 4: imes + 5: qzss + 6: glonass diff --git a/system/ugpsd.py b/system/ugpsd.py new file mode 100755 index 0000000000..34b20b01c8 --- /dev/null +++ b/system/ugpsd.py @@ -0,0 +1,165 @@ +#!/usr/bin/env python3 +import os +import time +import traceback +import serial +import datetime +import numpy as np +from collections import defaultdict + +from cereal import log +import cereal.messaging as messaging +from openpilot.common.retry import retry +from openpilot.common.swaglog import cloudlog +from openpilot.system.qcomgpsd.qcomgpsd import at_cmd, wait_for_modem + + +def sfloat(n: str): + return float(n) if len(n) > 0 else 0 + +def checksum(s: str): + ret = 0 + for c in s[1:-3]: + ret ^= ord(c) + return format(ret, '02X') + +class Unicore: + def __init__(self): + self.s = serial.Serial('/dev/ttyHS0', 115200) + self.s.timeout = 1 + self.s.writeTimeout = 1 + self.s.newline = b'\r\n' + + self.s.flush() + self.s.reset_input_buffer() + self.s.reset_output_buffer() + self.s.read(2048) + + def send(self, cmd): + self.s.write(cmd.encode('utf8') + b'\r') + resp = self.s.read(2048) + print(len(resp), cmd, "\n", resp) + assert b"OK" in resp + + def recv(self): + return self.s.readline() + +def build_msg(state): + """ + NMEA sentences: + https://campar.in.tum.de/twiki/pub/Chair/NaviGpsDemon/nmea.html#RMC + NAV messages: + https://www.unicorecomm.com/assets/upload/file/UFirebird_Standard_Positioning_Products_Protocol_Specification_CH.pdf + """ + + msg = messaging.new_message('gpsLocation', valid=True) + gps = msg.gpsLocation + + gnrmc = state['$GNRMC'] + gps.hasFix = gnrmc[1] == 'A' + gps.source = log.GpsLocationData.SensorSource.unicore + gps.latitude = (sfloat(gnrmc[3][:2]) + (sfloat(gnrmc[3][2:]) / 60)) * (1 if gnrmc[4] == "N" else -1) + gps.longitude = (sfloat(gnrmc[5][:3]) + (sfloat(gnrmc[5][3:]) / 60)) * (1 if gnrmc[6] == "E" else -1) + + try: + date = gnrmc[9][:6] + dt = datetime.datetime.strptime(f"{date} {gnrmc[1]}", '%d%m%y %H%M%S.%f') + gps.unixTimestampMillis = dt.timestamp()*1e3 + except Exception: + pass + + gps.bearingDeg = sfloat(gnrmc[8]) + + if len(state['$GNGGA']): + gngga = state['$GNGGA'] + if gngga[10] == 'M': + gps.altitude = sfloat(gngga[9]) + + if len(state['$GNGSA']): + gngsa = state['$GNGSA'] + gps.horizontalAccuracy = sfloat(gngsa[4]) + gps.verticalAccuracy = sfloat(gngsa[5]) + + #if len(state['$NAVACC']): + # # $NAVVEL,264415000,5,3,0.375,0.141,-0.735,-65.450*2A + # navacc = state['$NAVACC'] + # gps.horizontalAccuracy = sfloat(navacc[3]) + # gps.speedAccuracy = sfloat(navacc[4]) + # gps.bearingAccuracyDeg = sfloat(navacc[5]) + + if len(state['$NAVVEL']): + # $NAVVEL,264415000,5,3,0.375,0.141,-0.735,-65.450*2A + navvel = state['$NAVVEL'] + vECEF = [ + sfloat(navvel[4]), + sfloat(navvel[5]), + sfloat(navvel[6]), + ] + + lat = np.radians(gps.latitude) + lon = np.radians(gps.longitude) + R = np.array([ + [-np.sin(lat) * np.cos(lon), -np.sin(lon), -np.cos(lat) * np.cos(lon)], + [-np.sin(lat) * np.sin(lon), np.cos(lon), -np.cos(lat) * np.sin(lon)], + [np.cos(lat), 0, -np.sin(lat)] + ]) + + vNED = [float(x) for x in R.dot(vECEF)] + gps.vNED = vNED + gps.speed = np.linalg.norm(vNED) + + # TODO: set these from the module + gps.bearingAccuracyDeg = 5. + gps.speedAccuracy = 3. + + return msg + + +@retry(attempts=10, delay=0.1) +def setup(u): + at_cmd('AT+CGPS=0') + at_cmd('AT+CGPS=1') + time.sleep(1.0) + + # setup NAVXXX outputs + for i in range(4): + u.send(f"$CFGMSG,1,{i},1") + for i in (1, 3): + u.send(f"$CFGMSG,3,{i},1") + + # 10Hz NAV outputs + u.send("$CFGNAV,100,100,1000") + + +def main(): + wait_for_modem("AT+CGPS?") + + u = Unicore() + setup(u) + + state = defaultdict(list) + pm = messaging.PubMaster(['gpsLocation']) + while True: + try: + msg = u.recv().decode('utf8').strip() + if "DEBUG" in os.environ: + print(repr(msg)) + + if len(msg) > 0: + if checksum(msg) != msg.split('*')[1]: + cloudlog.error(f"invalid checksum: {repr(msg)}") + continue + + k = msg.split(',')[0] + state[k] = msg.split(',') + if '$GNRMC' not in msg: + continue + + pm.send('gpsLocation', build_msg(state)) + except Exception: + traceback.print_exc() + cloudlog.exception("gps.issue") + + +if __name__ == "__main__": + main() diff --git a/system/updated/casync/casync.py b/system/updated/casync/casync.py new file mode 100755 index 0000000000..7a3303a9e9 --- /dev/null +++ b/system/updated/casync/casync.py @@ -0,0 +1,246 @@ +#!/usr/bin/env python3 +import io +import lzma +import os +import pathlib +import struct +import sys +import time +from abc import ABC, abstractmethod +from collections import defaultdict, namedtuple +from collections.abc import Callable +from typing import IO + +import requests +from Crypto.Hash import SHA512 +from openpilot.system.updated.casync import tar +from openpilot.system.updated.casync.common import create_casync_tar_package + +CA_FORMAT_INDEX = 0x96824d9c7b129ff9 +CA_FORMAT_TABLE = 0xe75b9e112f17417d +CA_FORMAT_TABLE_TAIL_MARKER = 0xe75b9e112f17417 +FLAGS = 0xb000000000000000 + +CA_HEADER_LEN = 48 +CA_TABLE_HEADER_LEN = 16 +CA_TABLE_ENTRY_LEN = 40 +CA_TABLE_MIN_LEN = CA_TABLE_HEADER_LEN + CA_TABLE_ENTRY_LEN + +CHUNK_DOWNLOAD_TIMEOUT = 60 +CHUNK_DOWNLOAD_RETRIES = 3 + +CAIBX_DOWNLOAD_TIMEOUT = 120 + +Chunk = namedtuple('Chunk', ['sha', 'offset', 'length']) +ChunkDict = dict[bytes, Chunk] + + +class ChunkReader(ABC): + @abstractmethod + def read(self, chunk: Chunk) -> bytes: + ... + + +class BinaryChunkReader(ChunkReader): + """Reads chunks from a local file""" + def __init__(self, file_like: IO[bytes]) -> None: + super().__init__() + self.f = file_like + + def read(self, chunk: Chunk) -> bytes: + self.f.seek(chunk.offset) + return self.f.read(chunk.length) + + +class FileChunkReader(BinaryChunkReader): + def __init__(self, path: str) -> None: + super().__init__(open(path, 'rb')) + + def __del__(self): + self.f.close() + + +class RemoteChunkReader(ChunkReader): + """Reads lzma compressed chunks from a remote store""" + + def __init__(self, url: str) -> None: + super().__init__() + self.url = url + self.session = requests.Session() + + def read(self, chunk: Chunk) -> bytes: + sha_hex = chunk.sha.hex() + url = os.path.join(self.url, sha_hex[:4], sha_hex + ".cacnk") + + if os.path.isfile(url): + with open(url, 'rb') as f: + contents = f.read() + else: + for i in range(CHUNK_DOWNLOAD_RETRIES): + try: + resp = self.session.get(url, timeout=CHUNK_DOWNLOAD_TIMEOUT) + break + except Exception: + if i == CHUNK_DOWNLOAD_RETRIES - 1: + raise + time.sleep(CHUNK_DOWNLOAD_TIMEOUT) + + resp.raise_for_status() + contents = resp.content + + decompressor = lzma.LZMADecompressor(format=lzma.FORMAT_AUTO) + return decompressor.decompress(contents) + + +class DirectoryTarChunkReader(BinaryChunkReader): + """creates a tar archive of a directory and reads chunks from it""" + + def __init__(self, path: str, cache_file: str) -> None: + create_casync_tar_package(pathlib.Path(path), pathlib.Path(cache_file)) + + self.f = open(cache_file, "rb") + return super().__init__(self.f) + + def __del__(self): + self.f.close() + os.unlink(self.f.name) + + +def parse_caibx(caibx_path: str) -> list[Chunk]: + """Parses the chunks from a caibx file. Can handle both local and remote files. + Returns a list of chunks with hash, offset and length""" + caibx: io.BufferedIOBase + if os.path.isfile(caibx_path): + caibx = open(caibx_path, 'rb') + else: + resp = requests.get(caibx_path, timeout=CAIBX_DOWNLOAD_TIMEOUT) + resp.raise_for_status() + caibx = io.BytesIO(resp.content) + + caibx.seek(0, os.SEEK_END) + caibx_len = caibx.tell() + caibx.seek(0, os.SEEK_SET) + + # Parse header + length, magic, flags, min_size, _, max_size = struct.unpack("= min_size + + chunks.append(Chunk(sha, offset, length)) + offset = new_offset + + caibx.close() + return chunks + + +def build_chunk_dict(chunks: list[Chunk]) -> ChunkDict: + """Turn a list of chunks into a dict for faster lookups based on hash. + Keep first chunk since it's more likely to be already downloaded.""" + r = {} + for c in chunks: + if c.sha not in r: + r[c.sha] = c + return r + + +def extract(target: list[Chunk], + sources: list[tuple[str, ChunkReader, ChunkDict]], + out_path: str, + progress: Callable[[int], None] = None): + stats: dict[str, int] = defaultdict(int) + + mode = 'rb+' if os.path.exists(out_path) else 'wb' + with open(out_path, mode) as out: + for cur_chunk in target: + + # Find source for desired chunk + for name, chunk_reader, store_chunks in sources: + if cur_chunk.sha in store_chunks: + bts = chunk_reader.read(store_chunks[cur_chunk.sha]) + + # Check length + if len(bts) != cur_chunk.length: + continue + + # Check hash + if SHA512.new(bts, truncate="256").digest() != cur_chunk.sha: + continue + + # Write to output + out.seek(cur_chunk.offset) + out.write(bts) + + stats[name] += cur_chunk.length + + if progress is not None: + progress(sum(stats.values())) + + break + else: + raise RuntimeError("Desired chunk not found in provided stores") + + return stats + + +def extract_directory(target: list[Chunk], + sources: list[tuple[str, ChunkReader, ChunkDict]], + out_path: str, + tmp_file: str, + progress: Callable[[int], None] = None): + """extract a directory stored as a casync tar archive""" + + stats = extract(target, sources, tmp_file, progress) + + with open(tmp_file, "rb") as f: + tar.extract_tar_archive(f, pathlib.Path(out_path)) + + return stats + + +def print_stats(stats: dict[str, int]): + total_bytes = sum(stats.values()) + print(f"Total size: {total_bytes / 1024 / 1024:.2f} MB") + for name, total in stats.items(): + print(f" {name}: {total / 1024 / 1024:.2f} MB ({total / total_bytes * 100:.1f}%)") + + +def extract_simple(caibx_path, out_path, store_path): + # (name, callback, chunks) + target = parse_caibx(caibx_path) + sources = [ + # (store_path, RemoteChunkReader(store_path), build_chunk_dict(target)), + (store_path, FileChunkReader(store_path), build_chunk_dict(target)), + ] + + return extract(target, sources, out_path) + + +if __name__ == "__main__": + caibx = sys.argv[1] + out = sys.argv[2] + store = sys.argv[3] + + stats = extract_simple(caibx, out, store) + print_stats(stats) diff --git a/system/updated/casync/common.py b/system/updated/casync/common.py new file mode 100644 index 0000000000..6979f5cb06 --- /dev/null +++ b/system/updated/casync/common.py @@ -0,0 +1,61 @@ +import dataclasses +import json +import pathlib +import subprocess + +from openpilot.system.version import BUILD_METADATA_FILENAME, BuildMetadata +from openpilot.system.updated.casync import tar + + +CASYNC_ARGS = ["--with=symlinks", "--with=permissions", "--compression=xz", "--chunk-size=16M"] +CASYNC_FILES = [BUILD_METADATA_FILENAME] + + +def run(cmd): + return subprocess.check_output(cmd) + + +def get_exclude_set(path) -> set[str]: + exclude_set = set(CASYNC_FILES) + + for file in path.rglob("*"): + if file.is_file() or file.is_symlink(): + + while file.resolve() != path.resolve(): + exclude_set.add(str(file.relative_to(path))) + + file = file.parent + + return exclude_set + + +def create_build_metadata_file(path: pathlib.Path, build_metadata: BuildMetadata): + with open(path / BUILD_METADATA_FILENAME, "w") as f: + build_metadata_dict = dataclasses.asdict(build_metadata) + build_metadata_dict["openpilot"].pop("is_dirty") # this is determined at runtime + build_metadata_dict.pop("channel") # channel is unrelated to the build itself + f.write(json.dumps(build_metadata_dict)) + + +def is_not_git(path: pathlib.Path) -> bool: + return ".git" not in path.parts + + +def create_casync_tar_package(target_dir: pathlib.Path, output_path: pathlib.Path): + tar.create_tar_archive(output_path, target_dir, is_not_git) + + +def create_casync_from_file(file: pathlib.Path, output_dir: pathlib.Path, caibx_name: str): + caibx_file = output_dir / f"{caibx_name}.caibx" + run(["casync", "make", *CASYNC_ARGS, caibx_file, str(file)]) + + return caibx_file + + +def create_casync_release(target_dir: pathlib.Path, output_dir: pathlib.Path, caibx_name: str): + tar_file = output_dir / f"{caibx_name}.tar" + create_casync_tar_package(target_dir, tar_file) + caibx_file = create_casync_from_file(tar_file, output_dir, caibx_name) + tar_file.unlink() + digest = run(["casync", "digest", *CASYNC_ARGS, target_dir]).decode("utf-8").strip() + return digest, caibx_file diff --git a/system/updated/casync/tar.py b/system/updated/casync/tar.py new file mode 100644 index 0000000000..a5a8238bba --- /dev/null +++ b/system/updated/casync/tar.py @@ -0,0 +1,39 @@ +import pathlib +import tarfile +from typing import IO +from collections.abc import Callable + + +def include_default(_) -> bool: + return True + + +def create_tar_archive(filename: pathlib.Path, directory: pathlib.Path, include: Callable[[pathlib.Path], bool] = include_default): + """Creates a tar archive of a directory""" + + with tarfile.open(filename, 'w') as tar: + for file in sorted(directory.rglob("*"), key=lambda f: f.stat().st_size if f.is_file() else 0, reverse=True): + if not include(file): + continue + relative_path = str(file.relative_to(directory)) + if file.is_symlink(): + info = tarfile.TarInfo(relative_path) + info.type = tarfile.SYMTYPE + info.linkpath = str(file.readlink()) + tar.addfile(info) + + elif file.is_file(): + info = tarfile.TarInfo(relative_path) + info.size = file.stat().st_size + info.type = tarfile.REGTYPE + info.mode = file.stat().st_mode + with file.open('rb') as f: + tar.addfile(info, f) + + +def extract_tar_archive(fh: IO[bytes], directory: pathlib.Path): + """Extracts a tar archive to a directory""" + + tar = tarfile.open(fileobj=fh, mode='r') + tar.extractall(str(directory), filter=lambda info, path: info) + tar.close() diff --git a/system/updated/casync/tests/test_casync.py b/system/updated/casync/tests/test_casync.py new file mode 100644 index 0000000000..bc171e7432 --- /dev/null +++ b/system/updated/casync/tests/test_casync.py @@ -0,0 +1,264 @@ +import pytest +import os +import pathlib +import tempfile +import subprocess + +from openpilot.system.updated.casync import casync +from openpilot.system.updated.casync import tar + +# dd if=/dev/zero of=/tmp/img.raw bs=1M count=2 +# sudo losetup -f /tmp/img.raw +# losetup -a | grep img.raw +LOOPBACK = os.environ.get('LOOPBACK', None) + + +@pytest.mark.skip("not used yet") +class TestCasync: + @classmethod + def setup_class(cls): + cls.tmpdir = tempfile.TemporaryDirectory() + + # Build example contents + chunk_a = [i % 256 for i in range(1024)] * 512 + chunk_b = [(256 - i) % 256 for i in range(1024)] * 512 + zeroes = [0] * (1024 * 128) + contents = chunk_a + chunk_b + zeroes + chunk_a + + cls.contents = bytes(contents) + + # Write to file + cls.orig_fn = os.path.join(cls.tmpdir.name, 'orig.bin') + with open(cls.orig_fn, 'wb') as f: + f.write(cls.contents) + + # Create casync files + cls.manifest_fn = os.path.join(cls.tmpdir.name, 'orig.caibx') + cls.store_fn = os.path.join(cls.tmpdir.name, 'store') + subprocess.check_output(["casync", "make", "--compression=xz", "--store", cls.store_fn, cls.manifest_fn, cls.orig_fn]) + + target = casync.parse_caibx(cls.manifest_fn) + hashes = [c.sha.hex() for c in target] + + # Ensure we have chunk reuse + assert len(hashes) > len(set(hashes)) + + def setup_method(self): + # Clear target_lo + if LOOPBACK is not None: + self.target_lo = LOOPBACK + with open(self.target_lo, 'wb') as f: + f.write(b"0" * len(self.contents)) + + self.target_fn = os.path.join(self.tmpdir.name, next(tempfile._get_candidate_names())) + self.seed_fn = os.path.join(self.tmpdir.name, next(tempfile._get_candidate_names())) + + def teardown_method(self): + for fn in [self.target_fn, self.seed_fn]: + try: + os.unlink(fn) + except FileNotFoundError: + pass + + def test_simple_extract(self): + target = casync.parse_caibx(self.manifest_fn) + + sources = [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))] + stats = casync.extract(target, sources, self.target_fn) + + with open(self.target_fn, 'rb') as target_f: + assert target_f.read() == self.contents + + assert stats['remote'] == len(self.contents) + + def test_seed(self): + target = casync.parse_caibx(self.manifest_fn) + + # Populate seed with half of the target contents + with open(self.seed_fn, 'wb') as seed_f: + seed_f.write(self.contents[:len(self.contents) // 2]) + + sources = [('seed', casync.FileChunkReader(self.seed_fn), casync.build_chunk_dict(target))] + sources += [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))] + stats = casync.extract(target, sources, self.target_fn) + + with open(self.target_fn, 'rb') as target_f: + assert target_f.read() == self.contents + + assert stats['seed'] > 0 + assert stats['remote'] < len(self.contents) + + def test_already_done(self): + """Test that an already flashed target doesn't download any chunks""" + target = casync.parse_caibx(self.manifest_fn) + + with open(self.target_fn, 'wb') as f: + f.write(self.contents) + + sources = [('target', casync.FileChunkReader(self.target_fn), casync.build_chunk_dict(target))] + sources += [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))] + + stats = casync.extract(target, sources, self.target_fn) + + with open(self.target_fn, 'rb') as f: + assert f.read() == self.contents + + assert stats['target'] == len(self.contents) + + def test_chunk_reuse(self): + """Test that chunks that are reused are only downloaded once""" + target = casync.parse_caibx(self.manifest_fn) + + # Ensure target exists + with open(self.target_fn, 'wb'): + pass + + sources = [('target', casync.FileChunkReader(self.target_fn), casync.build_chunk_dict(target))] + sources += [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))] + + stats = casync.extract(target, sources, self.target_fn) + + with open(self.target_fn, 'rb') as f: + assert f.read() == self.contents + + assert stats['remote'] < len(self.contents) + + @pytest.mark.skipif(not LOOPBACK, reason="requires loopback device") + def test_lo_simple_extract(self): + target = casync.parse_caibx(self.manifest_fn) + sources = [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))] + + stats = casync.extract(target, sources, self.target_lo) + + with open(self.target_lo, 'rb') as target_f: + assert target_f.read(len(self.contents)) == self.contents + + assert stats['remote'] == len(self.contents) + + @pytest.mark.skipif(not LOOPBACK, reason="requires loopback device") + def test_lo_chunk_reuse(self): + """Test that chunks that are reused are only downloaded once""" + target = casync.parse_caibx(self.manifest_fn) + + sources = [('target', casync.FileChunkReader(self.target_lo), casync.build_chunk_dict(target))] + sources += [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))] + + stats = casync.extract(target, sources, self.target_lo) + + with open(self.target_lo, 'rb') as f: + assert f.read(len(self.contents)) == self.contents + + assert stats['remote'] < len(self.contents) + + +@pytest.mark.skip("not used yet") +class TestCasyncDirectory: + """Tests extracting a directory stored as a casync tar archive""" + + NUM_FILES = 16 + + @classmethod + def setup_cache(cls, directory, files=None): + if files is None: + files = range(cls.NUM_FILES) + + chunk_a = [i % 256 for i in range(1024)] * 512 + chunk_b = [(256 - i) % 256 for i in range(1024)] * 512 + zeroes = [0] * (1024 * 128) + cls.contents = chunk_a + chunk_b + zeroes + chunk_a + cls.contents = bytes(cls.contents) + + for i in files: + with open(os.path.join(directory, f"file_{i}.txt"), "wb") as f: + f.write(cls.contents) + + os.symlink(f"file_{i}.txt", os.path.join(directory, f"link_{i}.txt")) + + @classmethod + def setup_class(cls): + cls.tmpdir = tempfile.TemporaryDirectory() + + # Create casync files + cls.manifest_fn = os.path.join(cls.tmpdir.name, 'orig.caibx') + cls.store_fn = os.path.join(cls.tmpdir.name, 'store') + + cls.directory_to_extract = tempfile.TemporaryDirectory() + cls.setup_cache(cls.directory_to_extract.name) + + cls.orig_fn = os.path.join(cls.tmpdir.name, 'orig.tar') + tar.create_tar_archive(cls.orig_fn, pathlib.Path(cls.directory_to_extract.name)) + + subprocess.check_output(["casync", "make", "--compression=xz", "--store", cls.store_fn, cls.manifest_fn, cls.orig_fn]) + + @classmethod + def teardown_class(cls): + cls.tmpdir.cleanup() + cls.directory_to_extract.cleanup() + + def setup_method(self): + self.cache_dir = tempfile.TemporaryDirectory() + self.working_dir = tempfile.TemporaryDirectory() + self.out_dir = tempfile.TemporaryDirectory() + + def teardown_method(self): + self.cache_dir.cleanup() + self.working_dir.cleanup() + self.out_dir.cleanup() + + def run_test(self): + target = casync.parse_caibx(self.manifest_fn) + + cache_filename = os.path.join(self.working_dir.name, "cache.tar") + tmp_filename = os.path.join(self.working_dir.name, "tmp.tar") + + sources = [('cache', casync.DirectoryTarChunkReader(self.cache_dir.name, cache_filename), casync.build_chunk_dict(target))] + sources += [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))] + + stats = casync.extract_directory(target, sources, pathlib.Path(self.out_dir.name), tmp_filename) + + with open(os.path.join(self.out_dir.name, "file_0.txt"), "rb") as f: + assert f.read() == self.contents + + with open(os.path.join(self.out_dir.name, "link_0.txt"), "rb") as f: + assert f.read() == self.contents + assert os.readlink(os.path.join(self.out_dir.name, "link_0.txt")) == "file_0.txt" + + return stats + + def test_no_cache(self): + self.setup_cache(self.cache_dir.name, []) + stats = self.run_test() + assert stats['remote'] > 0 + assert stats['cache'] == 0 + + def test_full_cache(self): + self.setup_cache(self.cache_dir.name, range(self.NUM_FILES)) + stats = self.run_test() + assert stats['remote'] == 0 + assert stats['cache'] > 0 + + def test_one_file_cache(self): + self.setup_cache(self.cache_dir.name, range(1)) + stats = self.run_test() + assert stats['remote'] > 0 + assert stats['cache'] > 0 + assert stats['cache'] < stats['remote'] + + def test_one_file_incorrect_cache(self): + self.setup_cache(self.cache_dir.name, range(self.NUM_FILES)) + with open(os.path.join(self.cache_dir.name, "file_0.txt"), "wb") as f: + f.write(b"1234") + + stats = self.run_test() + assert stats['remote'] > 0 + assert stats['cache'] > 0 + assert stats['cache'] > stats['remote'] + + def test_one_file_missing_cache(self): + self.setup_cache(self.cache_dir.name, range(self.NUM_FILES)) + os.unlink(os.path.join(self.cache_dir.name, "file_12.txt")) + + stats = self.run_test() + assert stats['remote'] > 0 + assert stats['cache'] > 0 + assert stats['cache'] > stats['remote'] diff --git a/system/updated/common.py b/system/updated/common.py new file mode 100644 index 0000000000..6bb745f6b0 --- /dev/null +++ b/system/updated/common.py @@ -0,0 +1,16 @@ +import os +import pathlib + + +def get_consistent_flag(path: str) -> bool: + consistent_file = pathlib.Path(os.path.join(path, ".overlay_consistent")) + return consistent_file.is_file() + +def set_consistent_flag(path: str, consistent: bool) -> None: + os.sync() + consistent_file = pathlib.Path(os.path.join(path, ".overlay_consistent")) + if consistent: + consistent_file.touch() + elif not consistent: + consistent_file.unlink(missing_ok=True) + os.sync() diff --git a/system/updated/tests/test_base.py b/system/updated/tests/test_base.py new file mode 100644 index 0000000000..52287c58f9 --- /dev/null +++ b/system/updated/tests/test_base.py @@ -0,0 +1,259 @@ +import os +import pathlib +import shutil +import signal +import stat +import subprocess +import tempfile +import time +import pytest + +from openpilot.common.params import Params +from openpilot.system.manager.process import ManagerProcess +from openpilot.selfdrive.test.helpers import processes_context + + +def get_consistent_flag(path: str) -> bool: + consistent_file = pathlib.Path(os.path.join(path, ".overlay_consistent")) + return consistent_file.is_file() + + +def run(args, **kwargs): + return subprocess.check_output(args, **kwargs) + + +def update_release(directory, name, version, agnos_version, release_notes): + with open(directory / "RELEASES.md", "w") as f: + f.write(release_notes) + + (directory / "common").mkdir(exist_ok=True) + + with open(directory / "common" / "version.h", "w") as f: + f.write(f'#define COMMA_VERSION "{version}"') + + launch_env = directory / "launch_env.sh" + with open(launch_env, "w") as f: + f.write(f'export AGNOS_VERSION="{agnos_version}"') + + st = os.stat(launch_env) + os.chmod(launch_env, st.st_mode | stat.S_IEXEC) + + test_symlink = directory / "test_symlink" + if not os.path.exists(str(test_symlink)): + os.symlink("common/version.h", test_symlink) + + +def get_version(path: str) -> str: + with open(os.path.join(path, "common", "version.h")) as f: + return f.read().split('"')[1] + + +@pytest.mark.slow # TODO: can we test overlayfs in GHA? +class TestBaseUpdate: + @classmethod + def setup_class(cls): + if "Base" in cls.__name__: + pytest.skip() + + def setup_method(self): + self.tmpdir = tempfile.mkdtemp() + + run(["sudo", "mount", "-t", "tmpfs", "tmpfs", self.tmpdir]) # overlayfs doesn't work inside of docker unless this is a tmpfs + + self.mock_update_path = pathlib.Path(self.tmpdir) + + self.params = Params() + + self.basedir = self.mock_update_path / "openpilot" + self.basedir.mkdir() + + self.staging_root = self.mock_update_path / "safe_staging" + self.staging_root.mkdir() + + self.remote_dir = self.mock_update_path / "remote" + self.remote_dir.mkdir() + + os.environ["UPDATER_STAGING_ROOT"] = str(self.staging_root) + os.environ["UPDATER_LOCK_FILE"] = str(self.mock_update_path / "safe_staging_overlay.lock") + + self.MOCK_RELEASES = { + "release3": ("0.1.2", "1.2", "0.1.2 release notes"), + "master": ("0.1.3", "1.2", "0.1.3 release notes"), + } + + @pytest.fixture(autouse=True) + def mock_basedir(self, mocker): + mocker.patch("openpilot.common.basedir.BASEDIR", self.basedir) + + def set_target_branch(self, branch): + self.params.put("UpdaterTargetBranch", branch) + + def setup_basedir_release(self, release): + self.params = Params() + self.set_target_branch(release) + + def update_remote_release(self, release): + raise NotImplementedError("") + + def setup_remote_release(self, release): + raise NotImplementedError("") + + def additional_context(self): + raise NotImplementedError("") + + def teardown_method(self): + try: + run(["sudo", "umount", "-l", str(self.staging_root / "merged")]) + run(["sudo", "umount", "-l", self.tmpdir]) + shutil.rmtree(self.tmpdir) + except Exception: + print("cleanup failed...") + + def wait_for_condition(self, condition, timeout=12): + start = time.monotonic() + while True: + waited = time.monotonic() - start + if condition(): + print(f"waited {waited}s for condition ") + return waited + + if waited > timeout: + raise TimeoutError("timed out waiting for condition") + + time.sleep(1) + + def _test_finalized_update(self, branch, version, agnos_version, release_notes): + assert get_version(str(self.staging_root / "finalized")) == version + assert get_consistent_flag(str(self.staging_root / "finalized")) + assert os.access(str(self.staging_root / "finalized" / "launch_env.sh"), os.X_OK) + + with open(self.staging_root / "finalized" / "test_symlink") as f: + assert version in f.read() + +class ParamsBaseUpdateTest(TestBaseUpdate): + def _test_finalized_update(self, branch, version, agnos_version, release_notes): + assert self.params.get("UpdaterNewDescription", encoding="utf-8").startswith(f"{version} / {branch}") + assert self.params.get("UpdaterNewReleaseNotes", encoding="utf-8") == f"{release_notes}\n" + super()._test_finalized_update(branch, version, agnos_version, release_notes) + + def send_check_for_updates_signal(self, updated: ManagerProcess): + updated.signal(signal.SIGUSR1.value) + + def send_download_signal(self, updated: ManagerProcess): + updated.signal(signal.SIGHUP.value) + + def _test_params(self, branch, fetch_available, update_available): + assert self.params.get("UpdaterTargetBranch", encoding="utf-8") == branch + assert self.params.get_bool("UpdaterFetchAvailable") == fetch_available + assert self.params.get_bool("UpdateAvailable") == update_available + + def wait_for_idle(self): + self.wait_for_condition(lambda: self.params.get("UpdaterState", encoding="utf-8") == "idle") + + def wait_for_failed(self): + self.wait_for_condition(lambda: self.params.get("UpdateFailedCount", encoding="utf-8") is not None and \ + int(self.params.get("UpdateFailedCount", encoding="utf-8")) > 0) + + def wait_for_fetch_available(self): + self.wait_for_condition(lambda: self.params.get_bool("UpdaterFetchAvailable")) + + def wait_for_update_available(self): + self.wait_for_condition(lambda: self.params.get_bool("UpdateAvailable")) + + def test_no_update(self): + # Start on release3, ensure we don't fetch any updates + self.setup_remote_release("release3") + self.setup_basedir_release("release3") + + with self.additional_context(), processes_context(["updated"]) as [updated]: + self._test_params("release3", False, False) + self.wait_for_idle() + self._test_params("release3", False, False) + + self.send_check_for_updates_signal(updated) + + self.wait_for_idle() + + self._test_params("release3", False, False) + + def test_new_release(self): + # Start on release3, simulate a release3 commit, ensure we fetch that update properly + self.setup_remote_release("release3") + self.setup_basedir_release("release3") + + with self.additional_context(), processes_context(["updated"]) as [updated]: + self._test_params("release3", False, False) + self.wait_for_idle() + self._test_params("release3", False, False) + + self.MOCK_RELEASES["release3"] = ("0.1.3", "1.2", "0.1.3 release notes") + self.update_remote_release("release3") + + self.send_check_for_updates_signal(updated) + + self.wait_for_fetch_available() + + self._test_params("release3", True, False) + + self.send_download_signal(updated) + + self.wait_for_update_available() + + self._test_params("release3", False, True) + self._test_finalized_update("release3", *self.MOCK_RELEASES["release3"]) + + def test_switch_branches(self): + # Start on release3, request to switch to master manually, ensure we switched + self.setup_remote_release("release3") + self.setup_remote_release("master") + self.setup_basedir_release("release3") + + with self.additional_context(), processes_context(["updated"]) as [updated]: + self._test_params("release3", False, False) + self.wait_for_idle() + self._test_params("release3", False, False) + + self.set_target_branch("master") + self.send_check_for_updates_signal(updated) + + self.wait_for_fetch_available() + + self._test_params("master", True, False) + + self.send_download_signal(updated) + + self.wait_for_update_available() + + self._test_params("master", False, True) + self._test_finalized_update("master", *self.MOCK_RELEASES["master"]) + + def test_agnos_update(self, mocker): + # Start on release3, push an update with an agnos change + self.setup_remote_release("release3") + self.setup_basedir_release("release3") + + with self.additional_context(), processes_context(["updated"]) as [updated]: + mocker.patch("openpilot.system.hardware.AGNOS", "True") + mocker.patch("openpilot.system.hardware.tici.hardware.Tici.get_os_version", "1.2") + mocker.patch("openpilot.system.hardware.tici.agnos.get_target_slot_number") + mocker.patch("openpilot.system.hardware.tici.agnos.flash_agnos_update") + + self._test_params("release3", False, False) + self.wait_for_idle() + self._test_params("release3", False, False) + + self.MOCK_RELEASES["release3"] = ("0.1.3", "1.3", "0.1.3 release notes") + self.update_remote_release("release3") + + self.send_check_for_updates_signal(updated) + + self.wait_for_fetch_available() + + self._test_params("release3", True, False) + + self.send_download_signal(updated) + + self.wait_for_update_available() + + self._test_params("release3", False, True) + self._test_finalized_update("release3", *self.MOCK_RELEASES["release3"]) diff --git a/system/updated/tests/test_git.py b/system/updated/tests/test_git.py new file mode 100644 index 0000000000..5a5a27000b --- /dev/null +++ b/system/updated/tests/test_git.py @@ -0,0 +1,22 @@ +import contextlib +from openpilot.system.updated.tests.test_base import ParamsBaseUpdateTest, run, update_release + + +class TestUpdateDGitStrategy(ParamsBaseUpdateTest): + def update_remote_release(self, release): + update_release(self.remote_dir, release, *self.MOCK_RELEASES[release]) + run(["git", "add", "."], cwd=self.remote_dir) + run(["git", "commit", "-m", f"openpilot release {release}"], cwd=self.remote_dir) + + def setup_remote_release(self, release): + run(["git", "init"], cwd=self.remote_dir) + run(["git", "checkout", "-b", release], cwd=self.remote_dir) + self.update_remote_release(release) + + def setup_basedir_release(self, release): + super().setup_basedir_release(release) + run(["git", "clone", "-b", release, self.remote_dir, self.basedir]) + + @contextlib.contextmanager + def additional_context(self): + yield diff --git a/system/updated/updated.py b/system/updated/updated.py new file mode 100755 index 0000000000..e753fd76fb --- /dev/null +++ b/system/updated/updated.py @@ -0,0 +1,509 @@ +#!/usr/bin/env python3 +import os +import re +import datetime +import subprocess +import psutil +import shutil +import signal +import fcntl +import time +import threading +from collections import defaultdict +from pathlib import Path + +from openpilot.common.basedir import BASEDIR +from openpilot.common.params import Params +from openpilot.common.time import system_time_valid +from openpilot.common.markdown import parse_markdown +from openpilot.common.swaglog import cloudlog +from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert +from openpilot.system.hardware import AGNOS, HARDWARE +from openpilot.system.version import get_build_metadata + +LOCK_FILE = os.getenv("UPDATER_LOCK_FILE", "/tmp/safe_staging_overlay.lock") +STAGING_ROOT = os.getenv("UPDATER_STAGING_ROOT", "/data/safe_staging") + +OVERLAY_UPPER = os.path.join(STAGING_ROOT, "upper") +OVERLAY_METADATA = os.path.join(STAGING_ROOT, "metadata") +OVERLAY_MERGED = os.path.join(STAGING_ROOT, "merged") +FINALIZED = os.path.join(STAGING_ROOT, "finalized") + +OVERLAY_INIT = Path(os.path.join(BASEDIR, ".overlay_init")) + +DAYS_NO_CONNECTIVITY_MAX = 14 # do not allow to engage after this many days +DAYS_NO_CONNECTIVITY_PROMPT = 10 # send an offroad prompt after this many days + +class UserRequest: + NONE = 0 + CHECK = 1 + FETCH = 2 + +class WaitTimeHelper: + def __init__(self): + self.ready_event = threading.Event() + self.user_request = UserRequest.NONE + signal.signal(signal.SIGHUP, self.update_now) + signal.signal(signal.SIGUSR1, self.check_now) + + def update_now(self, signum: int, frame) -> None: + cloudlog.info("caught SIGHUP, attempting to downloading update") + self.user_request = UserRequest.FETCH + self.ready_event.set() + + def check_now(self, signum: int, frame) -> None: + cloudlog.info("caught SIGUSR1, checking for updates") + self.user_request = UserRequest.CHECK + self.ready_event.set() + + def sleep(self, t: float) -> None: + self.ready_event.wait(timeout=t) + +def write_time_to_param(params, param) -> None: + t = datetime.datetime.now(datetime.UTC).replace(tzinfo=None) + params.put(param, t.isoformat().encode('utf8')) + +def read_time_from_param(params, param) -> datetime.datetime | None: + t = params.get(param, encoding='utf8') + try: + return datetime.datetime.fromisoformat(t) + except (TypeError, ValueError): + pass + return None + +def run(cmd: list[str], cwd: str = None) -> str: + return subprocess.check_output(cmd, cwd=cwd, stderr=subprocess.STDOUT, encoding='utf8') + + +def set_consistent_flag(consistent: bool) -> None: + os.sync() + consistent_file = Path(os.path.join(FINALIZED, ".overlay_consistent")) + if consistent: + consistent_file.touch() + elif not consistent: + consistent_file.unlink(missing_ok=True) + os.sync() + +def parse_release_notes(basedir: str) -> bytes: + try: + with open(os.path.join(basedir, "CHANGELOGS.md"), "rb") as f: + r = f.read().split(b'\n\n', 1)[0] # Slice latest release notes + try: + return bytes(parse_markdown(r.decode("utf-8")), encoding="utf-8") + except Exception: + return r + b"\n" + except FileNotFoundError: + pass + except Exception: + cloudlog.exception("failed to parse release notes") + return b"" + +def setup_git_options(cwd: str) -> None: + # We sync FS object atimes (which NEOS doesn't use) and mtimes, but ctimes + # are outside user control. Make sure Git is set up to ignore system ctimes, + # because they change when we make hard links during finalize. Otherwise, + # there is a lot of unnecessary churn. This appears to be a common need on + # OSX as well: https://www.git-tower.com/blog/make-git-rebase-safe-on-osx/ + + # We are using copytree to copy the directory, which also changes + # inode numbers. Ignore those changes too. + + # Set protocol to the new version (default after git 2.26) to reduce data + # usage on git fetch --dry-run from about 400KB to 18KB. + git_cfg = [ + ("core.trustctime", "false"), + ("core.checkStat", "minimal"), + ("protocol.version", "2"), + ("gc.auto", "0"), + ("gc.autoDetach", "false"), + ] + for option, value in git_cfg: + run(["git", "config", option, value], cwd) + + +def dismount_overlay() -> None: + if os.path.ismount(OVERLAY_MERGED): + cloudlog.info("unmounting existing overlay") + run(["sudo", "umount", "-l", OVERLAY_MERGED]) + + +def init_overlay() -> None: + + # Re-create the overlay if BASEDIR/.git has changed since we created the overlay + if OVERLAY_INIT.is_file() and os.path.ismount(OVERLAY_MERGED): + git_dir_path = os.path.join(BASEDIR, ".git") + new_files = run(["find", git_dir_path, "-newer", str(OVERLAY_INIT)]) + if not len(new_files.splitlines()): + # A valid overlay already exists + return + else: + cloudlog.info(".git directory changed, recreating overlay") + + cloudlog.info("preparing new safe staging area") + + params = Params() + params.put_bool("UpdateAvailable", False) + set_consistent_flag(False) + dismount_overlay() + run(["sudo", "rm", "-rf", STAGING_ROOT]) + if os.path.isdir(STAGING_ROOT): + shutil.rmtree(STAGING_ROOT) + + for dirname in [STAGING_ROOT, OVERLAY_UPPER, OVERLAY_METADATA, OVERLAY_MERGED]: + os.mkdir(dirname, 0o755) + + if os.lstat(BASEDIR).st_dev != os.lstat(OVERLAY_MERGED).st_dev: + raise RuntimeError("base and overlay merge directories are on different filesystems; not valid for overlay FS!") + + # Leave a timestamped canary in BASEDIR to check at startup. The device clock + # should be correct by the time we get here. If the init file disappears, or + # critical mtimes in BASEDIR are newer than .overlay_init, continue.sh can + # assume that BASEDIR has used for local development or otherwise modified, + # and skips the update activation attempt. + consistent_file = Path(os.path.join(BASEDIR, ".overlay_consistent")) + if consistent_file.is_file(): + consistent_file.unlink() + OVERLAY_INIT.touch() + + os.sync() + overlay_opts = f"lowerdir={BASEDIR},upperdir={OVERLAY_UPPER},workdir={OVERLAY_METADATA}" + + mount_cmd = ["mount", "-t", "overlay", "-o", overlay_opts, "none", OVERLAY_MERGED] + run(["sudo"] + mount_cmd) + run(["sudo", "chmod", "755", os.path.join(OVERLAY_METADATA, "work")]) + + git_diff = run(["git", "diff"], OVERLAY_MERGED) + params.put("GitDiff", git_diff) + cloudlog.info(f"git diff output:\n{git_diff}") + + +def finalize_update() -> None: + """Take the current OverlayFS merged view and finalize a copy outside of + OverlayFS, ready to be swapped-in at BASEDIR. Copy using shutil.copytree""" + + # Remove the update ready flag and any old updates + cloudlog.info("creating finalized version of the overlay") + set_consistent_flag(False) + + # Copy the merged overlay view and set the update ready flag + if os.path.exists(FINALIZED): + shutil.rmtree(FINALIZED) + shutil.copytree(OVERLAY_MERGED, FINALIZED, symlinks=True) + + run(["git", "reset", "--hard"], FINALIZED) + run(["git", "submodule", "foreach", "--recursive", "git", "reset", "--hard"], FINALIZED) + + cloudlog.info("Starting git cleanup in finalized update") + t = time.monotonic() + try: + run(["git", "gc"], FINALIZED) + run(["git", "lfs", "prune"], FINALIZED) + cloudlog.event("Done git cleanup", duration=time.monotonic() - t) + except subprocess.CalledProcessError: + cloudlog.exception(f"Failed git cleanup, took {time.monotonic() - t:.3f} s") + + set_consistent_flag(True) + cloudlog.info("done finalizing overlay") + + +def handle_agnos_update() -> None: + from openpilot.system.hardware.tici.agnos import flash_agnos_update, get_target_slot_number + + cur_version = HARDWARE.get_os_version() + updated_version = run(["bash", "-c", r"unset AGNOS_VERSION && source launch_env.sh && \ + echo -n $AGNOS_VERSION"], OVERLAY_MERGED).strip() + + cloudlog.info(f"AGNOS version check: {cur_version} vs {updated_version}") + if cur_version == updated_version: + return + + # prevent an openpilot getting swapped in with a mismatched or partially downloaded agnos + set_consistent_flag(False) + + cloudlog.info(f"Beginning background installation for AGNOS {updated_version}") + set_offroad_alert("Offroad_NeosUpdate", True) + + manifest_path = os.path.join(OVERLAY_MERGED, "system/hardware/tici/agnos.json") + target_slot_number = get_target_slot_number() + flash_agnos_update(manifest_path, target_slot_number, cloudlog) + set_offroad_alert("Offroad_NeosUpdate", False) + + + +class Updater: + def __init__(self): + self.params = Params() + self.branches = defaultdict(str) + self._has_internet: bool = False + + @property + def has_internet(self) -> bool: + return self._has_internet + + @property + def target_branch(self) -> str: + b: str | None = self.params.get("UpdaterTargetBranch", encoding='utf-8') + if b is None: + b = self.get_branch(BASEDIR) + return b + + @property + def update_ready(self) -> bool: + consistent_file = Path(os.path.join(FINALIZED, ".overlay_consistent")) + if consistent_file.is_file(): + hash_mismatch = self.get_commit_hash(BASEDIR) != self.branches[self.target_branch] + branch_mismatch = self.get_branch(BASEDIR) != self.target_branch + on_target_branch = self.get_branch(FINALIZED) == self.target_branch + return ((hash_mismatch or branch_mismatch) and on_target_branch) + return False + + @property + def update_available(self) -> bool: + if os.path.isdir(OVERLAY_MERGED) and len(self.branches) > 0: + hash_mismatch = self.get_commit_hash(OVERLAY_MERGED) != self.branches[self.target_branch] + branch_mismatch = self.get_branch(OVERLAY_MERGED) != self.target_branch + return hash_mismatch or branch_mismatch + return False + + def get_branch(self, path: str) -> str: + return run(["git", "rev-parse", "--abbrev-ref", "HEAD"], path).rstrip() + + def get_commit_hash(self, path: str = OVERLAY_MERGED) -> str: + return run(["git", "rev-parse", "HEAD"], path).rstrip() + + def set_params(self, update_success: bool, failed_count: int, exception: str | None) -> None: + self.params.put("UpdateFailedCount", str(failed_count)) + self.params.put("UpdaterTargetBranch", self.target_branch) + + self.params.put_bool("UpdaterFetchAvailable", self.update_available) + if len(self.branches): + self.params.put("UpdaterAvailableBranches", ','.join(self.branches.keys())) + + last_update = datetime.datetime.now(datetime.UTC).replace(tzinfo=None) + if update_success: + write_time_to_param(self.params, "LastUpdateTime") + else: + t = read_time_from_param(self.params, "LastUpdateTime") + if t is not None: + last_update = t + + if exception is None: + self.params.remove("LastUpdateException") + else: + self.params.put("LastUpdateException", exception) + + # Write out current and new version info + def get_description(basedir: str) -> str: + if not os.path.exists(basedir): + return "" + + version = "" + branch = "" + commit = "" + commit_date = "" + try: + branch = self.get_branch(basedir) + commit = self.get_commit_hash(basedir)[:7] + with open(os.path.join(basedir, "common", "version.h")) as f: + version = f.read().split('"')[1] + + commit_unix_ts = run(["git", "show", "-s", "--format=%ct", "HEAD"], basedir).rstrip() + dt = datetime.datetime.fromtimestamp(int(commit_unix_ts)) + commit_date = dt.strftime("%b %d") + except Exception: + cloudlog.exception("updater.get_description") + return f"{version} / {branch} / {commit} / {commit_date}" + self.params.put("UpdaterCurrentDescription", get_description(BASEDIR)) + self.params.put("UpdaterCurrentReleaseNotes", parse_release_notes(BASEDIR)) + self.params.put("UpdaterNewDescription", get_description(FINALIZED)) + self.params.put("UpdaterNewReleaseNotes", parse_release_notes(FINALIZED)) + self.params.put_bool("UpdateAvailable", self.update_ready) + + # Handle user prompt + for alert in ("Offroad_UpdateFailed", "Offroad_ConnectivityNeeded", "Offroad_ConnectivityNeededPrompt"): + set_offroad_alert(alert, False) + + now = datetime.datetime.now(datetime.UTC).replace(tzinfo=None) + dt = now - last_update + build_metadata = get_build_metadata() + if failed_count > 15 and exception is not None and self.has_internet: + if build_metadata.tested_channel: + extra_text = "Ensure the software is correctly installed. Uninstall and re-install if this error persists." + else: + extra_text = exception + set_offroad_alert("Offroad_UpdateFailed", True, extra_text=extra_text) + elif failed_count > 0: + if dt.days > DAYS_NO_CONNECTIVITY_MAX: + set_offroad_alert("Offroad_ConnectivityNeeded", True) + elif dt.days > DAYS_NO_CONNECTIVITY_PROMPT: + remaining = max(DAYS_NO_CONNECTIVITY_MAX - dt.days, 1) + set_offroad_alert("Offroad_ConnectivityNeededPrompt", True, extra_text=f"{remaining} day{'' if remaining == 1 else 's'}.") + + def check_for_update(self) -> None: + cloudlog.info("checking for updates") + + excluded_branches = ('release2', 'release2-staging') + + try: + run(["git", "ls-remote", "origin", "HEAD"], OVERLAY_MERGED) + self._has_internet = True + except subprocess.CalledProcessError: + self._has_internet = False + + setup_git_options(OVERLAY_MERGED) + output = run(["git", "ls-remote", "--heads"], OVERLAY_MERGED) + + self.branches = defaultdict(lambda: None) + for line in output.split('\n'): + ls_remotes_re = r'(?P\b[0-9a-f]{5,40}\b)(\s+)(refs\/heads\/)(?P.*$)' + x = re.fullmatch(ls_remotes_re, line.strip()) + if x is not None and x.group('branch_name') not in excluded_branches: + self.branches[x.group('branch_name')] = x.group('commit_sha') + + cur_branch = self.get_branch(OVERLAY_MERGED) + cur_commit = self.get_commit_hash(OVERLAY_MERGED) + new_branch = self.target_branch + new_commit = self.branches[new_branch] + if (cur_branch, cur_commit) != (new_branch, new_commit): + cloudlog.info(f"update available, {cur_branch} ({str(cur_commit)[:7]}) -> {new_branch} ({str(new_commit)[:7]})") + else: + cloudlog.info(f"up to date on {cur_branch} ({str(cur_commit)[:7]})") + + def fetch_update(self) -> None: + cloudlog.info("attempting git fetch inside staging overlay") + + self.params.put("UpdaterState", "downloading...") + + # TODO: cleanly interrupt this and invalidate old update + set_consistent_flag(False) + self.params.put_bool("UpdateAvailable", False) + + setup_git_options(OVERLAY_MERGED) + + branch = self.target_branch + git_fetch_output = run(["git", "fetch", "origin", branch], OVERLAY_MERGED) + cloudlog.info("git fetch success: %s", git_fetch_output) + + cloudlog.info("git reset in progress") + cmds = [ + ["git", "checkout", "--force", "--no-recurse-submodules", "-B", branch, "FETCH_HEAD"], + ["git", "reset", "--hard"], + ["git", "clean", "-xdff"], + ["git", "submodule", "sync"], + ["git", "submodule", "update", "--init", "--recursive"], + ["git", "submodule", "foreach", "--recursive", "git", "reset", "--hard"], + ] + r = [run(cmd, OVERLAY_MERGED) for cmd in cmds] + cloudlog.info("git reset success: %s", '\n'.join(r)) + + # TODO: show agnos download progress + if AGNOS: + handle_agnos_update() + + # Create the finalized, ready-to-swap update + self.params.put("UpdaterState", "finalizing update...") + finalize_update() + cloudlog.info("finalize success!") + + +def main() -> None: + params = Params() + + if params.get_bool("DisableUpdates"): + cloudlog.warning("updates are disabled by the DisableUpdates param") + exit(0) + + with open(LOCK_FILE, 'w') as ov_lock_fd: + try: + fcntl.flock(ov_lock_fd, fcntl.LOCK_EX | fcntl.LOCK_NB) + except OSError as e: + raise RuntimeError("couldn't get overlay lock; is another instance running?") from e + + # Set low io priority + proc = psutil.Process() + if psutil.LINUX: + proc.ionice(psutil.IOPRIO_CLASS_BE, value=7) + + # Check if we just performed an update + if Path(os.path.join(STAGING_ROOT, "old_openpilot")).is_dir(): + cloudlog.event("update installed") + + if not params.get("InstallDate"): + t = datetime.datetime.now(datetime.UTC).replace(tzinfo=None).isoformat() + params.put("InstallDate", t.encode('utf8')) + + updater = Updater() + update_failed_count = 0 # TODO: Load from param? + wait_helper = WaitTimeHelper() + + # invalidate old finalized update + set_consistent_flag(False) + + # set initial state + params.put("UpdaterState", "idle") + + # Run the update loop + first_run = True + while True: + wait_helper.ready_event.clear() + + # Attempt an update + exception = None + try: + # TODO: reuse overlay from previous updated instance if it looks clean + init_overlay() + + # ensure we have some params written soon after startup + updater.set_params(False, update_failed_count, exception) + + if not system_time_valid() or first_run: + first_run = False + wait_helper.sleep(60) + continue + + update_failed_count += 1 + + # check for update + params.put("UpdaterState", "checking...") + updater.check_for_update() + + # download update + last_fetch = read_time_from_param(params, "UpdaterLastFetchTime") + timed_out = last_fetch is None or (datetime.datetime.now(datetime.UTC).replace(tzinfo=None) - last_fetch > datetime.timedelta(days=3)) + user_requested_fetch = wait_helper.user_request == UserRequest.FETCH + if params.get_bool("NetworkMetered") and not timed_out and not user_requested_fetch: + cloudlog.info("skipping fetch, connection metered") + elif wait_helper.user_request == UserRequest.CHECK: + cloudlog.info("skipping fetch, only checking") + else: + updater.fetch_update() + write_time_to_param(params, "UpdaterLastFetchTime") + update_failed_count = 0 + except subprocess.CalledProcessError as e: + cloudlog.event( + "update process failed", + cmd=e.cmd, + output=e.output, + returncode=e.returncode + ) + exception = f"command failed: {e.cmd}\n{e.output}" + OVERLAY_INIT.unlink(missing_ok=True) + except Exception as e: + cloudlog.exception("uncaught updated exception, shouldn't happen") + exception = str(e) + OVERLAY_INIT.unlink(missing_ok=True) + + try: + params.put("UpdaterState", "idle") + update_successful = (update_failed_count == 0) + updater.set_params(update_successful, update_failed_count, exception) + except Exception: + cloudlog.exception("uncaught updated exception while setting params, shouldn't happen") + + # infrequent attempts if we successfully updated recently + wait_helper.user_request = UserRequest.NONE + wait_helper.sleep(5*60 if update_failed_count > 0 else 1.5*60*60) + + +if __name__ == "__main__": + main() diff --git a/system/version.py b/system/version.py new file mode 100755 index 0000000000..05b5ab9361 --- /dev/null +++ b/system/version.py @@ -0,0 +1,186 @@ +#!/usr/bin/env python3 +from dataclasses import dataclass +from functools import cache +import json +import os +import pathlib +import subprocess + +from openpilot.common.basedir import BASEDIR +from openpilot.common.swaglog import cloudlog +from openpilot.common.git import get_commit, get_origin, get_branch, get_short_branch, get_commit_date + +RELEASE_BRANCHES = ['release3-staging', 'release3', 'nightly'] +RELEASE_SP_BRANCHES = ['release-c3'] +TESTED_BRANCHES = RELEASE_BRANCHES + RELEASE_SP_BRANCHES + ['devel', 'devel-staging', 'staging-c3'] + +BUILD_METADATA_FILENAME = "build.json" + +training_version: bytes = b"0.2.0" +terms_version: bytes = b"2" +terms_version_sp: bytes = b"1.0" + + +def get_version(path: str = BASEDIR) -> str: + with open(os.path.join(path, "common", "version.h")) as _versionf: + version = _versionf.read().split('"')[1] + return version + + +def get_release_notes(path: str = BASEDIR) -> str: + with open(os.path.join(path, "RELEASES.md")) as f: + return f.read().split('\n\n', 1)[0] + + +@cache +def is_prebuilt(path: str = BASEDIR) -> bool: + return os.path.exists(os.path.join(path, 'prebuilt')) + + +@cache +def is_dirty(cwd: str = BASEDIR) -> bool: + origin = get_origin() + branch = get_branch() + if not origin or not branch: + return True + + dirty = False + try: + # Actually check dirty files + if not is_prebuilt(cwd): + # This is needed otherwise touched files might show up as modified + try: + subprocess.check_call(["git", "update-index", "--refresh"], cwd=cwd) + except subprocess.CalledProcessError: + pass + + dirty = (subprocess.call(["git", "diff-index", "--quiet", branch, "--"], cwd=cwd)) != 0 + except subprocess.CalledProcessError: + cloudlog.exception("git subprocess failed while checking dirty") + dirty = True + + return dirty + + +@dataclass +class OpenpilotMetadata: + version: str + release_notes: str + git_commit: str + git_origin: str + git_commit_date: str + build_style: str + is_dirty: bool # whether there are local changes + + @property + def short_version(self) -> str: + return self.version.split('-')[0] + + @property + def comma_remote(self) -> bool: + # note to fork maintainers, this is used for release metrics. please do not + # touch this to get rid of the orange startup alert. there's better ways to do that + return self.git_normalized_origin in ("github.com/sunnypilot/sunnypilot", "github.com/sunnyhaibin/sunnypilot", + "github.com/sunnypilot/openpilot", "github.com/sunnyhaibin/openpilot") + + @property + def git_normalized_origin(self) -> str: + return self.git_origin \ + .replace("git@", "", 1) \ + .replace(".git", "", 1) \ + .replace("https://", "", 1) \ + .replace(":", "/", 1) + + +@dataclass +class BuildMetadata: + channel: str + openpilot: OpenpilotMetadata + + @property + def tested_channel(self) -> bool: + return self.channel in TESTED_BRANCHES + + @property + def release_channel(self) -> bool: + return self.channel in RELEASE_BRANCHES + + @property + def release_sp_channel(self) -> bool: + return self.channel in RELEASE_SP_BRANCHES + + @property + def canonical(self) -> str: + return f"{self.openpilot.version}-{self.openpilot.git_commit}-{self.openpilot.build_style}" + + @property + def ui_description(self) -> str: + return f"{self.openpilot.version} / {self.openpilot.git_commit[:6]} / {self.channel}" + + @property + def channel_type(self) -> str: + if self.channel.startswith("dev-"): + return "development" + elif self.channel.startswith("staging-"): + return "staging" + elif self.channel.startswith("release-"): + return "release" + elif self.tested_channel: + return "release" + else: + return "master" + + +def build_metadata_from_dict(build_metadata: dict) -> BuildMetadata: + channel = build_metadata.get("channel", "unknown") + openpilot_metadata = build_metadata.get("openpilot", {}) + version = openpilot_metadata.get("version", "unknown") + release_notes = openpilot_metadata.get("release_notes", "unknown") + git_commit = openpilot_metadata.get("git_commit", "unknown") + git_origin = openpilot_metadata.get("git_origin", "unknown") + git_commit_date = openpilot_metadata.get("git_commit_date", "unknown") + build_style = openpilot_metadata.get("build_style", "unknown") + return BuildMetadata(channel, + OpenpilotMetadata( + version=version, + release_notes=release_notes, + git_commit=git_commit, + git_origin=git_origin, + git_commit_date=git_commit_date, + build_style=build_style, + is_dirty=False)) + + +def get_build_metadata(path: str = BASEDIR) -> BuildMetadata: + build_metadata_path = pathlib.Path(path) / BUILD_METADATA_FILENAME + + if build_metadata_path.exists(): + build_metadata = json.loads(build_metadata_path.read_text()) + return build_metadata_from_dict(build_metadata) + + git_folder = pathlib.Path(path) / ".git" + + if git_folder.exists(): + return BuildMetadata(get_short_branch(path), + OpenpilotMetadata( + version=get_version(path), + release_notes=get_release_notes(path), + git_commit=get_commit(path), + git_origin=get_origin(path), + git_commit_date=get_commit_date(path), + build_style="unknown", + is_dirty=is_dirty(path))) + + cloudlog.exception("unable to get build metadata") + raise Exception("invalid build metadata") + + +if __name__ == "__main__": + from openpilot.common.params import Params + + params = Params() + params.put("TermsVersion", terms_version) + params.put("TermsVersionSunnypilot", terms_version_sp) + params.put("TrainingVersion", training_version) + + print(get_build_metadata()) diff --git a/system/webrtc/__init__.py b/system/webrtc/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/system/webrtc/device/audio.py b/system/webrtc/device/audio.py new file mode 100644 index 0000000000..4b22033e03 --- /dev/null +++ b/system/webrtc/device/audio.py @@ -0,0 +1,109 @@ +import asyncio +import io + +import aiortc +import av +import numpy as np +import pyaudio + + +class AudioInputStreamTrack(aiortc.mediastreams.AudioStreamTrack): + PYAUDIO_TO_AV_FORMAT_MAP = { + pyaudio.paUInt8: 'u8', + pyaudio.paInt16: 's16', + pyaudio.paInt24: 's24', + pyaudio.paInt32: 's32', + pyaudio.paFloat32: 'flt', + } + + def __init__(self, audio_format: int = pyaudio.paInt16, rate: int = 16000, channels: int = 1, packet_time: float = 0.020, device_index: int = None): + super().__init__() + + self.p = pyaudio.PyAudio() + chunk_size = int(packet_time * rate) + self.stream = self.p.open(format=audio_format, + channels=channels, + rate=rate, + frames_per_buffer=chunk_size, + input=True, + input_device_index=device_index) + self.format = audio_format + self.rate = rate + self.channels = channels + self.packet_time = packet_time + self.chunk_size = chunk_size + self.pts = 0 + + async def recv(self): + mic_data = self.stream.read(self.chunk_size) + mic_array = np.frombuffer(mic_data, dtype=np.int16) + mic_array = np.expand_dims(mic_array, axis=0) + layout = 'stereo' if self.channels > 1 else 'mono' + frame = av.AudioFrame.from_ndarray(mic_array, format=self.PYAUDIO_TO_AV_FORMAT_MAP[self.format], layout=layout) + frame.rate = self.rate + frame.pts = self.pts + self.pts += frame.samples + + return frame + + +class AudioOutputSpeaker: + def __init__(self, audio_format: int = pyaudio.paInt16, rate: int = 48000, channels: int = 2, packet_time: float = 0.2, device_index: int = None): + + chunk_size = int(packet_time * rate) + self.p = pyaudio.PyAudio() + self.buffer = io.BytesIO() + self.channels = channels + self.stream = self.p.open(format=audio_format, + channels=channels, + rate=rate, + frames_per_buffer=chunk_size, + output=True, + output_device_index=device_index, + stream_callback=self.__pyaudio_callback) + self.tracks_and_tasks: list[tuple[aiortc.MediaStreamTrack, asyncio.Task | None]] = [] + + def __pyaudio_callback(self, in_data, frame_count, time_info, status): + if self.buffer.getbuffer().nbytes < frame_count * self.channels * 2: + buff = b'\x00\x00' * frame_count * self.channels + elif self.buffer.getbuffer().nbytes > 115200: # 3x the usual read size + self.buffer.seek(0) + buff = self.buffer.read(frame_count * self.channels * 4) + buff = buff[:frame_count * self.channels * 2] + self.buffer.seek(2) + else: + self.buffer.seek(0) + buff = self.buffer.read(frame_count * self.channels * 2) + self.buffer.seek(2) + return (buff, pyaudio.paContinue) + + async def __consume(self, track): + while True: + try: + frame = await track.recv() + except aiortc.MediaStreamError: + return + + self.buffer.write(bytes(frame.planes[0])) + + def hasTrack(self, track: aiortc.MediaStreamTrack) -> bool: + return any(t == track for t, _ in self.tracks_and_tasks) + + def addTrack(self, track: aiortc.MediaStreamTrack): + if not self.hasTrack(track): + self.tracks_and_tasks.append((track, None)) + + def start(self): + for index, (track, task) in enumerate(self.tracks_and_tasks): + if task is None: + self.tracks_and_tasks[index] = (track, asyncio.create_task(self.__consume(track))) + + def stop(self): + for _, task in self.tracks_and_tasks: + if task is not None: + task.cancel() + + self.tracks_and_tasks = [] + self.stream.stop_stream() + self.stream.close() + self.p.terminate() diff --git a/system/webrtc/device/video.py b/system/webrtc/device/video.py new file mode 100644 index 0000000000..1bca909294 --- /dev/null +++ b/system/webrtc/device/video.py @@ -0,0 +1,43 @@ +import asyncio + +import av +from teleoprtc.tracks import TiciVideoStreamTrack + +from cereal import messaging +from openpilot.common.realtime import DT_MDL, DT_DMON + + +class LiveStreamVideoStreamTrack(TiciVideoStreamTrack): + camera_to_sock_mapping = { + "driver": "livestreamDriverEncodeData", + "wideRoad": "livestreamWideRoadEncodeData", + "road": "livestreamRoadEncodeData", + } + + def __init__(self, camera_type: str): + dt = DT_DMON if camera_type == "driver" else DT_MDL + super().__init__(camera_type, dt) + + self._sock = messaging.sub_sock(self.camera_to_sock_mapping[camera_type], conflate=True) + self._pts = 0 + + async def recv(self): + while True: + msg = messaging.recv_one_or_none(self._sock) + if msg is not None: + break + await asyncio.sleep(0.005) + + evta = getattr(msg, msg.which()) + + packet = av.Packet(evta.header + evta.data) + packet.time_base = self._time_base + packet.pts = self._pts + + self.log_debug("track sending frame %s", self._pts) + self._pts += self._dt * self._clock_rate + + return packet + + def codec_preference(self) -> str | None: + return "H264" diff --git a/system/webrtc/schema.py b/system/webrtc/schema.py new file mode 100644 index 0000000000..d80986ebf2 --- /dev/null +++ b/system/webrtc/schema.py @@ -0,0 +1,43 @@ +import capnp +from typing import Any + + +def generate_type(type_walker, schema_walker) -> str | list[Any] | dict[str, Any]: + data_type = next(type_walker) + if data_type.which() == 'struct': + return generate_struct(next(schema_walker)) + elif data_type.which() == 'list': + _ = next(schema_walker) + return [generate_type(type_walker, schema_walker)] + elif data_type.which() == 'enum': + return "text" + else: + return str(data_type.which()) + + +def generate_struct(schema: capnp.lib.capnp._StructSchema) -> dict[str, Any]: + return {field: generate_field(schema.fields[field]) for field in schema.fields if not field.endswith("DEPRECATED")} + + +def generate_field(field: capnp.lib.capnp._StructSchemaField) -> str | list[Any] | dict[str, Any]: + def schema_walker(field): + yield field.schema + + s = field.schema + while hasattr(s, 'elementType'): + s = s.elementType + yield s + + def type_walker(field): + yield field.proto.slot.type + + t = field.proto.slot.type + while hasattr(getattr(t, t.which()), 'elementType'): + t = getattr(t, t.which()).elementType + yield t + + if field.proto.which() == "slot": + schema_gen, type_gen = schema_walker(field), type_walker(field) + return generate_type(type_gen, schema_gen) + else: + return generate_struct(field.schema) diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py new file mode 100755 index 0000000000..79c5b4888f --- /dev/null +++ b/system/webrtc/webrtcd.py @@ -0,0 +1,279 @@ +#!/usr/bin/env python3 + +import argparse +import asyncio +import json +import uuid +import logging +from dataclasses import dataclass, field +from typing import Any, TYPE_CHECKING + +# aiortc and its dependencies have lots of internal warnings :( +import warnings +warnings.filterwarnings("ignore", category=DeprecationWarning) +warnings.filterwarnings("ignore", category=RuntimeWarning) # TODO: remove this when google-crc32c publish a python3.12 wheel + +import capnp +from aiohttp import web +if TYPE_CHECKING: + from aiortc.rtcdatachannel import RTCDataChannel + +from openpilot.system.webrtc.schema import generate_field +from cereal import messaging, log + + +class CerealOutgoingMessageProxy: + def __init__(self, sm: messaging.SubMaster): + self.sm = sm + self.channels: list[RTCDataChannel] = [] + + def add_channel(self, channel: 'RTCDataChannel'): + self.channels.append(channel) + + def to_json(self, msg_content: Any): + if isinstance(msg_content, capnp._DynamicStructReader): + msg_dict = msg_content.to_dict() + elif isinstance(msg_content, capnp._DynamicListReader): + msg_dict = [self.to_json(msg) for msg in msg_content] + elif isinstance(msg_content, bytes): + msg_dict = msg_content.decode() + else: + msg_dict = msg_content + + return msg_dict + + def update(self): + # this is blocking in async context... + self.sm.update(0) + for service, updated in self.sm.updated.items(): + if not updated: + continue + msg_dict = self.to_json(self.sm[service]) + mono_time, valid = self.sm.logMonoTime[service], self.sm.valid[service] + outgoing_msg = {"type": service, "logMonoTime": mono_time, "valid": valid, "data": msg_dict} + encoded_msg = json.dumps(outgoing_msg).encode() + for channel in self.channels: + channel.send(encoded_msg) + + +class CerealIncomingMessageProxy: + def __init__(self, pm: messaging.PubMaster): + self.pm = pm + + def send(self, message: bytes): + msg_json = json.loads(message) + msg_type, msg_data = msg_json["type"], msg_json["data"] + size = None + if not isinstance(msg_data, dict): + size = len(msg_data) + + msg = messaging.new_message(msg_type, size=size) + setattr(msg, msg_type, msg_data) + self.pm.send(msg_type, msg) + + +class CerealProxyRunner: + def __init__(self, proxy: CerealOutgoingMessageProxy): + self.proxy = proxy + self.is_running = False + self.task = None + self.logger = logging.getLogger("webrtcd") + + def start(self): + assert self.task is None + self.task = asyncio.create_task(self.run()) + + def stop(self): + if self.task is None or self.task.done(): + return + self.task.cancel() + self.task = None + + async def run(self): + from aiortc.exceptions import InvalidStateError + + while True: + try: + self.proxy.update() + except InvalidStateError: + self.logger.warning("Cereal outgoing proxy invalid state (connection closed)") + break + except Exception: + self.logger.exception("Cereal outgoing proxy failure") + await asyncio.sleep(0.01) + + +class DynamicPubMaster(messaging.PubMaster): + def __init__(self, *args, **kwargs): + super().__init__(*args, **kwargs) + self.lock = asyncio.Lock() + + async def add_services_if_needed(self, services): + async with self.lock: + for service in services: + if service not in self.sock: + self.sock[service] = messaging.pub_sock(service) + + +class StreamSession: + shared_pub_master = DynamicPubMaster([]) + + def __init__(self, sdp: str, cameras: list[str], incoming_services: list[str], outgoing_services: list[str], debug_mode: bool = False): + from aiortc.mediastreams import VideoStreamTrack, AudioStreamTrack + from aiortc.contrib.media import MediaBlackhole + from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack + from openpilot.system.webrtc.device.audio import AudioInputStreamTrack, AudioOutputSpeaker + from teleoprtc import WebRTCAnswerBuilder + from teleoprtc.info import parse_info_from_offer + + config = parse_info_from_offer(sdp) + builder = WebRTCAnswerBuilder(sdp) + + assert len(cameras) == config.n_expected_camera_tracks, "Incoming stream has misconfigured number of video tracks" + for cam in cameras: + track = LiveStreamVideoStreamTrack(cam) if not debug_mode else VideoStreamTrack() + builder.add_video_stream(cam, track) + if config.expected_audio_track: + track = AudioInputStreamTrack() if not debug_mode else AudioStreamTrack() + builder.add_audio_stream(track) + if config.incoming_audio_track: + self.audio_output_cls = AudioOutputSpeaker if not debug_mode else MediaBlackhole + builder.offer_to_receive_audio_stream() + + self.stream = builder.stream() + self.identifier = str(uuid.uuid4()) + + self.incoming_bridge: CerealIncomingMessageProxy | None = None + self.incoming_bridge_services = incoming_services + self.outgoing_bridge: CerealOutgoingMessageProxy | None = None + self.outgoing_bridge_runner: CerealProxyRunner | None = None + if len(incoming_services) > 0: + self.incoming_bridge = CerealIncomingMessageProxy(self.shared_pub_master) + if len(outgoing_services) > 0: + self.outgoing_bridge = CerealOutgoingMessageProxy(messaging.SubMaster(outgoing_services)) + self.outgoing_bridge_runner = CerealProxyRunner(self.outgoing_bridge) + + self.audio_output: AudioOutputSpeaker | MediaBlackhole | None = None + self.run_task: asyncio.Task | None = None + self.logger = logging.getLogger("webrtcd") + self.logger.info("New stream session (%s), cameras %s, audio in %s out %s, incoming services %s, outgoing services %s", + self.identifier, cameras, config.incoming_audio_track, config.expected_audio_track, incoming_services, outgoing_services) + + def start(self): + self.run_task = asyncio.create_task(self.run()) + + def stop(self): + if self.run_task.done(): + return + self.run_task.cancel() + self.run_task = None + asyncio.run(self.post_run_cleanup()) + + async def get_answer(self): + return await self.stream.start() + + async def message_handler(self, message: bytes): + assert self.incoming_bridge is not None + try: + self.incoming_bridge.send(message) + except Exception: + self.logger.exception("Cereal incoming proxy failure") + + async def run(self): + try: + await self.stream.wait_for_connection() + if self.stream.has_messaging_channel(): + if self.incoming_bridge is not None: + await self.shared_pub_master.add_services_if_needed(self.incoming_bridge_services) + self.stream.set_message_handler(self.message_handler) + if self.outgoing_bridge_runner is not None: + channel = self.stream.get_messaging_channel() + self.outgoing_bridge_runner.proxy.add_channel(channel) + self.outgoing_bridge_runner.start() + if self.stream.has_incoming_audio_track(): + track = self.stream.get_incoming_audio_track(buffered=False) + self.audio_output = self.audio_output_cls() + self.audio_output.addTrack(track) + self.audio_output.start() + self.logger.info("Stream session (%s) connected", self.identifier) + + await self.stream.wait_for_disconnection() + await self.post_run_cleanup() + + self.logger.info("Stream session (%s) ended", self.identifier) + except Exception: + self.logger.exception("Stream session failure") + + async def post_run_cleanup(self): + await self.stream.stop() + if self.outgoing_bridge is not None: + self.outgoing_bridge_runner.stop() + if self.audio_output: + self.audio_output.stop() + + +@dataclass +class StreamRequestBody: + sdp: str + cameras: list[str] + bridge_services_in: list[str] = field(default_factory=list) + bridge_services_out: list[str] = field(default_factory=list) + + +async def get_stream(request: 'web.Request'): + stream_dict, debug_mode = request.app['streams'], request.app['debug'] + raw_body = await request.json() + body = StreamRequestBody(**raw_body) + + session = StreamSession(body.sdp, body.cameras, body.bridge_services_in, body.bridge_services_out, debug_mode) + answer = await session.get_answer() + session.start() + + stream_dict[session.identifier] = session + + return web.json_response({"sdp": answer.sdp, "type": answer.type}) + + +async def get_schema(request: 'web.Request'): + services = request.query["services"].split(",") + services = [s for s in services if s] + assert all(s in log.Event.schema.fields and not s.endswith("DEPRECATED") for s in services), "Invalid service name" + schema_dict = {s: generate_field(log.Event.schema.fields[s]) for s in services} + return web.json_response(schema_dict) + + +async def on_shutdown(app: 'web.Application'): + for session in app['streams'].values(): + session.stop() + del app['streams'] + + +def webrtcd_thread(host: str, port: int, debug: bool): + logging.basicConfig(level=logging.CRITICAL, handlers=[logging.StreamHandler()]) + logging_level = logging.DEBUG if debug else logging.INFO + logging.getLogger("WebRTCStream").setLevel(logging_level) + logging.getLogger("webrtcd").setLevel(logging_level) + + app = web.Application() + + app['streams'] = dict() + app['debug'] = debug + app.on_shutdown.append(on_shutdown) + app.router.add_post("/stream", get_stream) + app.router.add_get("/schema", get_schema) + + web.run_app(app, host=host, port=port) + + +def main(): + parser = argparse.ArgumentParser(description="WebRTC daemon") + parser.add_argument("--host", type=str, default="0.0.0.0", help="Host to listen on") + parser.add_argument("--port", type=int, default=5001, help="Port to listen on") + parser.add_argument("--debug", action="store_true", help="Enable debug mode") + args = parser.parse_args() + + webrtcd_thread(args.host, args.port, args.debug) + + +if __name__=="__main__": + main() diff --git a/third_party/.gitignore b/third_party/.gitignore new file mode 100644 index 0000000000..0d20b6487c --- /dev/null +++ b/third_party/.gitignore @@ -0,0 +1 @@ +*.pyc diff --git a/third_party/acados/.gitignore b/third_party/acados/.gitignore new file mode 100644 index 0000000000..68858c62e4 --- /dev/null +++ b/third_party/acados/.gitignore @@ -0,0 +1,5 @@ +acados_repo/ +lib +!x86_64/ +!larch64/ +!aarch64/ diff --git a/third_party/acados/aarch64 b/third_party/acados/aarch64 new file mode 120000 index 0000000000..062c65e8d9 --- /dev/null +++ b/third_party/acados/aarch64 @@ -0,0 +1 @@ +larch64/ \ No newline at end of file diff --git a/third_party/acados/acados_template/.gitignore b/third_party/acados/acados_template/.gitignore new file mode 100644 index 0000000000..63b741bb9d --- /dev/null +++ b/third_party/acados/acados_template/.gitignore @@ -0,0 +1,6 @@ +__pycache__/ + +# Cython intermediates +*_pyx.c +*_pyx.o +*_pyx.so diff --git a/third_party/acados/acados_template/__init__.py b/third_party/acados/acados_template/__init__.py new file mode 100644 index 0000000000..bfbe907990 --- /dev/null +++ b/third_party/acados/acados_template/__init__.py @@ -0,0 +1,40 @@ +# +# Copyright (c) The acados authors. +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + +from .acados_model import AcadosModel +from .acados_ocp import AcadosOcp, AcadosOcpConstraints, AcadosOcpCost, AcadosOcpDims, AcadosOcpOptions +from .acados_sim import AcadosSim, AcadosSimDims, AcadosSimOpts +from .acados_ocp_solver import AcadosOcpSolver, get_simulink_default_opts, ocp_get_default_cmake_builder +from .acados_sim_solver import AcadosSimSolver, sim_get_default_cmake_builder +from .utils import print_casadi_expression, get_acados_path, get_python_interface_path, \ + get_tera_exec_path, get_tera, check_casadi_version, acados_dae_model_json_dump, \ + casadi_length, make_object_json_dumpable, J_to_idx, get_default_simulink_opts + +from .zoro_description import ZoroDescription, process_zoro_description diff --git a/third_party/acados/acados_template/acados_layout.json b/third_party/acados/acados_template/acados_layout.json new file mode 100644 index 0000000000..a1cc5bbdf3 --- /dev/null +++ b/third_party/acados/acados_template/acados_layout.json @@ -0,0 +1,834 @@ +{ + "code_export_directory": [ + "str" + ], + "acados_include_path": [ + "str" + ], + "cython_include_dirs": [ + "list" + ], + "json_file": [ + "str" + ], + "shared_lib_ext": [ + "str" + ], + "model": { + "name" : [ + "str" + ], + "dyn_ext_fun_type" : [ + "str" + ], + "dyn_generic_source" : [ + "str" + ], + "dyn_impl_dae_fun" : [ + "str" + ], + "dyn_impl_dae_fun_jac" : [ + "str" + ], + "dyn_impl_dae_jac" : [ + "str" + ], + "dyn_disc_fun_jac_hess" : [ + "str" + ], + "dyn_disc_fun_jac" : [ + "str" + ], + "dyn_disc_fun" : [ + "str" + ], + "gnsf" : { + "nontrivial_f_LO": [ + "int" + ], + "purely_linear": [ + "int" + ] + } + }, + "parameter_values": [ + "ndarray", + [ + "np" + ] + ], + "acados_lib_path": [ + "str" + ], + "problem_class": [ + "str" + ], + "constraints": { + "constr_type": [ + "str" + ], + "constr_type_e": [ + "str" + ], + "lbx": [ + "ndarray", + [ + "nbx" + ] + ], + "lbu": [ + "ndarray", + [ + "nbu" + ] + ], + "ubx": [ + "ndarray", + [ + "nbx" + ] + ], + "ubu": [ + "ndarray", + [ + "nbu" + ] + ], + "idxbx": [ + "ndarray", + [ + "nbx" + ] + ], + "idxbu": [ + "ndarray", + [ + "nbu" + ] + ], + "lbx_e": [ + "ndarray", + [ + "nbx_e" + ] + ], + "ubx_e": [ + "ndarray", + [ + "nbx_e" + ] + ], + "idxbx_e": [ + "ndarray", + [ + "nbx_e" + ] + ], + "lbx_0": [ + "ndarray", + [ + "nbx_0" + ] + ], + "ubx_0": [ + "ndarray", + [ + "nbx_0" + ] + ], + "idxbx_0": [ + "ndarray", + [ + "nbx_0" + ] + ], + "idxbxe_0": [ + "ndarray", + [ + "nbxe_0" + ] + ], + "lg": [ + "ndarray", + [ + "ng" + ] + ], + "ug": [ + "ndarray", + [ + "ng" + ] + ], + "D": [ + "ndarray", + [ + "ng", + "nu" + ] + ], + "C": [ + "ndarray", + [ + "ng", + "nx" + ] + ], + "C_e": [ + "ndarray", + [ + "ng_e", + "nx" + ] + ], + "lg_e": [ + "ndarray", + [ + "ng_e" + ] + ], + "ug_e": [ + "ndarray", + [ + "ng_e" + ] + ], + "lh": [ + "ndarray", + [ + "nh" + ] + ], + "uh": [ + "ndarray", + [ + "nh" + ] + ], + "lh_e": [ + "ndarray", + [ + "nh_e" + ] + ], + "uh_e": [ + "ndarray", + [ + "nh_e" + ] + ], + "lphi": [ + "ndarray", + [ + "nphi" + ] + ], + "uphi": [ + "ndarray", + [ + "nphi" + ] + ], + "lphi_e": [ + "ndarray", + [ + "nphi_e" + ] + ], + "uphi_e": [ + "ndarray", + [ + "nphi_e" + ] + ], + "lsbx": [ + "ndarray", + [ + "nsbx" + ] + ], + "usbx": [ + "ndarray", + [ + "nsbx" + ] + ], + "lsbu": [ + "ndarray", + [ + "nsbu" + ] + ], + "usbu": [ + "ndarray", + [ + "nsbu" + ] + ], + "idxsbx": [ + "ndarray", + [ + "nsbx" + ] + ], + "idxsbu": [ + "ndarray", + [ + "nsbu" + ] + ], + "lsbx_e": [ + "ndarray", + [ + "nsbx_e" + ] + ], + "usbx_e": [ + "ndarray", + [ + "nsbx_e" + ] + ], + "idxsbx_e": [ + "ndarray", + [ + "nsbx_e" + ] + ], + "lsg": [ + "ndarray", + [ + "nsg" + ] + ], + "usg": [ + "ndarray", + [ + "nsg" + ] + ], + "idxsg": [ + "ndarray", + [ + "nsg" + ] + ], + "lsg_e": [ + "ndarray", + [ + "nsg_e" + ] + ], + "usg_e": [ + "ndarray", + [ + "nsg_e" + ] + ], + "idxsg_e": [ + "ndarray", + [ + "nsg_e" + ] + ], + "lsh": [ + "ndarray", + [ + "nsh" + ] + ], + "ush": [ + "ndarray", + [ + "nsh" + ] + ], + "idxsh": [ + "ndarray", + [ + "nsh" + ] + ], + "lsh_e": [ + "ndarray", + [ + "nsh_e" + ] + ], + "ush_e": [ + "ndarray", + [ + "nsh_e" + ] + ], + "idxsh_e": [ + "ndarray", + [ + "nsh_e" + ] + ], + "lsphi": [ + "ndarray", + [ + "nsphi" + ] + ], + "usphi": [ + "ndarray", + [ + "nsphi" + ] + ], + "idxsphi": [ + "ndarray", + [ + "nsphi" + ] + ], + "lsphi_e": [ + "ndarray", + [ + "nsphi_e" + ] + ], + "usphi_e": [ + "ndarray", + [ + "nsphi_e" + ] + ], + "idxsphi_e": [ + "ndarray", + [ + "nsphi_e" + ] + ] + }, + "cost": { + "cost_type_0": [ + "str" + ], + "cost_type": [ + "str" + ], + "cost_type_e": [ + "str" + ], + "cost_ext_fun_type_0": [ + "str" + ], + "cost_ext_fun_type": [ + "str" + ], + "cost_ext_fun_type_e": [ + "str" + ], + "Vu_0": [ + "ndarray", + [ + "ny_0", + "nu" + ] + ], + "Vu": [ + "ndarray", + [ + "ny", + "nu" + ] + ], + "Vx_0": [ + "ndarray", + [ + "ny_0", + "nx" + ] + ], + "Vx": [ + "ndarray", + [ + "ny", + "nx" + ] + ], + "Vx_e": [ + "ndarray", + [ + "ny_e", + "nx" + ] + ], + "Vz_0": [ + "ndarray", + [ + "ny_0", + "nz" + ] + ], + "Vz": [ + "ndarray", + [ + "ny", + "nz" + ] + ], + "W_0": [ + "ndarray", + [ + "ny_0", + "ny_0" + ] + ], + "W": [ + "ndarray", + [ + "ny", + "ny" + ] + ], + "Zl": [ + "ndarray", + [ + "ns" + ] + ], + "Zu": [ + "ndarray", + [ + "ns" + ] + ], + "zl": [ + "ndarray", + [ + "ns" + ] + ], + "zu": [ + "ndarray", + [ + "ns" + ] + ], + "W_e": [ + "ndarray", + [ + "ny_e", + "ny_e" + ] + ], + "yref_0": [ + "ndarray", + [ + "ny_0" + ] + ], + "yref": [ + "ndarray", + [ + "ny" + ] + ], + "yref_e": [ + "ndarray", + [ + "ny_e" + ] + ], + "Zl_e": [ + "ndarray", + [ + "ns_e" + ] + ], + "Zu_e": [ + "ndarray", + [ + "ns_e" + ] + ], + "zl_e": [ + "ndarray", + [ + "ns_e" + ] + ], + "zu_e": [ + "ndarray", + [ + "ns_e" + ] + ] + }, + "dims": { + "N": [ + "int" + ], + "nbu": [ + "int" + ], + "nbx": [ + "int" + ], + "nsbu": [ + "int" + ], + "nsbx": [ + "int" + ], + "nsbx_e": [ + "int" + ], + "nbx_0": [ + "int" + ], + "nbx_e": [ + "int" + ], + "nbxe_0": [ + "int" + ], + "nsg": [ + "int" + ], + "nsg_e": [ + "int" + ], + "nsh": [ + "int" + ], + "nsh_e": [ + "int" + ], + "nsphi": [ + "int" + ], + "nsphi_e": [ + "int" + ], + "ns": [ + "int" + ], + "ns_e": [ + "int" + ], + "ng": [ + "int" + ], + "ng_e": [ + "int" + ], + "np": [ + "int" + ], + "nr": [ + "int" + ], + "nr_e": [ + "int" + ], + "nh": [ + "int" + ], + "nh_e": [ + "int" + ], + "nphi": [ + "int" + ], + "nphi_e": [ + "int" + ], + "nu": [ + "int" + ], + "nx": [ + "int" + ], + "ny": [ + "int" + ], + "ny_0": [ + "int" + ], + "ny_e": [ + "int" + ], + "nz": [ + "int" + ], + "gnsf_nx1": [ + "int" + ], + "gnsf_nz1": [ + "int" + ], + "gnsf_nuhat": [ + "int" + ], + "gnsf_ny": [ + "int" + ], + "gnsf_nout": [ + "int" + ] + }, + "solver_options": { + "time_steps": [ + "ndarray", + [ + "N" + ] + ], + "hessian_approx": [ + "str" + ], + "hpipm_mode": [ + "str" + ], + "regularize_method": [ + "str" + ], + "integrator_type": [ + "str" + ], + "nlp_solver_type": [ + "str" + ], + "collocation_type": [ + "str" + ], + "globalization": [ + "str" + ], + "nlp_solver_step_length": [ + "float" + ], + "levenberg_marquardt": [ + "float" + ], + "qp_solver": [ + "str" + ], + "tf": [ + "float" + ], + "Tsim": [ + "float" + ], + "alpha_min": [ + "float" + ], + "alpha_reduction": [ + "float" + ], + "line_search_use_sufficient_descent": [ + "int" + ], + "globalization_use_SOC": [ + "int" + ], + "full_step_dual": [ + "int" + ], + "eps_sufficient_descent": [ + "float" + ], + "sim_method_num_stages": [ + "ndarray", + [ + "N" + ] + ], + "sim_method_num_steps": [ + "ndarray", + [ + "N" + ] + ], + "sim_method_newton_iter": [ + "int" + ], + "sim_method_newton_tol": [ + "float" + ], + "sim_method_jac_reuse": [ + "ndarray", + [ + "N" + ] + ], + "qp_solver_cond_N": [ + "int" + ], + "qp_solver_warm_start": [ + "int" + ], + "qp_solver_tol_stat": [ + "float" + ], + "qp_solver_tol_eq": [ + "float" + ], + "qp_solver_tol_ineq": [ + "float" + ], + "qp_solver_tol_comp": [ + "float" + ], + "qp_solver_iter_max": [ + "int" + ], + "qp_solver_cond_ric_alg": [ + "int" + ], + "qp_solver_ric_alg": [ + "int" + ], + "nlp_solver_tol_stat": [ + "float" + ], + "nlp_solver_tol_eq": [ + "float" + ], + "nlp_solver_tol_ineq": [ + "float" + ], + "nlp_solver_tol_comp": [ + "float" + ], + "nlp_solver_max_iter": [ + "int" + ], + "nlp_solver_ext_qp_res": [ + "int" + ], + "print_level": [ + "int" + ], + "initialize_t_slacks": [ + "int" + ], + "exact_hess_cost": [ + "int" + ], + "exact_hess_constr": [ + "int" + ], + "exact_hess_dyn": [ + "int" + ], + "ext_cost_num_hess": [ + "int" + ], + "ext_fun_compile_flags": [ + "str" + ], + "model_external_shared_lib_dir": [ + "str" + ], + "model_external_shared_lib_name": [ + "str" + ] + } +} diff --git a/third_party/acados/acados_template/acados_model.py b/third_party/acados/acados_template/acados_model.py new file mode 100644 index 0000000000..b7c6945442 --- /dev/null +++ b/third_party/acados/acados_template/acados_model.py @@ -0,0 +1,154 @@ +# +# Copyright (c) The acados authors. +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + + +class AcadosModel(): + """ + Class containing all the information to code generate the external CasADi functions + that are needed when creating an acados ocp solver or acados integrator. + Thus, this class contains: + + a) the :py:attr:`name` of the model, + b) all CasADi variables/expressions needed in the CasADi function generation process. + """ + def __init__(self): + ## common for OCP and Integrator + self.name = None + """ + The model name is used for code generation. Type: string. Default: :code:`None` + """ + self.x = None #: CasADi variable describing the state of the system; Default: :code:`None` + self.xdot = None #: CasADi variable describing the derivative of the state wrt time; Default: :code:`None` + self.u = None #: CasADi variable describing the input of the system; Default: :code:`None` + self.z = [] #: CasADi variable describing the algebraic variables of the DAE; Default: :code:`empty` + self.p = [] #: CasADi variable describing parameters of the DAE; Default: :code:`empty` + # dynamics + self.f_impl_expr = None + """ + CasADi expression for the implicit dynamics :math:`f_\\text{impl}(\dot{x}, x, u, z, p) = 0`. + Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.integrator_type` == 'IRK'. + Default: :code:`None` + """ + self.f_expl_expr = None + """ + CasADi expression for the explicit dynamics :math:`\dot{x} = f_\\text{expl}(x, u, p)`. + Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.integrator_type` == 'ERK'. + Default: :code:`None` + """ + self.disc_dyn_expr = None + """ + CasADi expression for the discrete dynamics :math:`x_{+} = f_\\text{disc}(x, u, p)`. + Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.integrator_type` == 'DISCRETE'. + Default: :code:`None` + """ + + self.dyn_ext_fun_type = 'casadi' #: type of external functions for dynamics module; 'casadi' or 'generic'; Default: 'casadi' + self.dyn_generic_source = None #: name of source file for discrete dyanamics; Default: :code:`None` + self.dyn_disc_fun_jac_hess = None #: name of function discrete dyanamics + jacobian and hessian; Default: :code:`None` + self.dyn_disc_fun_jac = None #: name of function discrete dyanamics + jacobian; Default: :code:`None` + self.dyn_disc_fun = None #: name of function discrete dyanamics; Default: :code:`None` + + # for GNSF models + self.gnsf = {'nontrivial_f_LO': 1, 'purely_linear': 0} + """ + dictionary containing information on GNSF structure needed when rendering templates. + Contains integers `nontrivial_f_LO`, `purely_linear`. + """ + + ## for OCP + # constraints + # BGH(default): lh <= h(x, u) <= uh + self.con_h_expr = None #: CasADi expression for the constraint :math:`h`; Default: :code:`None` + # BGP(convex over nonlinear): lphi <= phi(r(x, u)) <= uphi + self.con_phi_expr = None #: CasADi expression for the constraint phi; Default: :code:`None` + self.con_r_expr = None #: CasADi expression for the constraint phi(r); Default: :code:`None` + self.con_r_in_phi = None + # terminal + self.con_h_expr_e = None #: CasADi expression for the terminal constraint :math:`h^e`; Default: :code:`None` + self.con_r_expr_e = None #: CasADi expression for the terminal constraint; Default: :code:`None` + self.con_phi_expr_e = None #: CasADi expression for the terminal constraint; Default: :code:`None` + self.con_r_in_phi_e = None + # cost + self.cost_y_expr = None #: CasADi expression for nonlinear least squares; Default: :code:`None` + self.cost_y_expr_e = None #: CasADi expression for nonlinear least squares, terminal; Default: :code:`None` + self.cost_y_expr_0 = None #: CasADi expression for nonlinear least squares, initial; Default: :code:`None` + self.cost_expr_ext_cost = None #: CasADi expression for external cost; Default: :code:`None` + self.cost_expr_ext_cost_e = None #: CasADi expression for external cost, terminal; Default: :code:`None` + self.cost_expr_ext_cost_0 = None #: CasADi expression for external cost, initial; Default: :code:`None` + self.cost_expr_ext_cost_custom_hess = None #: CasADi expression for custom hessian (only for external cost); Default: :code:`None` + self.cost_expr_ext_cost_custom_hess_e = None #: CasADi expression for custom hessian (only for external cost), terminal; Default: :code:`None` + self.cost_expr_ext_cost_custom_hess_0 = None #: CasADi expression for custom hessian (only for external cost), initial; Default: :code:`None` + + ## CONVEX_OVER_NONLINEAR convex-over-nonlinear cost: psi(y(x, u, p) - y_ref; p) + self.cost_psi_expr_0 = None + """ + CasADi expression for the outer loss function :math:`\psi(r, p)`, initial; Default: :code:`None` + Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_0` == 'CONVEX_OVER_NONLINEAR'. + """ + self.cost_psi_expr = None + """ + CasADi expression for the outer loss function :math:`\psi(r, p)`; Default: :code:`None` + Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type` == 'CONVEX_OVER_NONLINEAR'. + """ + self.cost_psi_expr_e = None + """ + CasADi expression for the outer loss function :math:`\psi(r, p)`, terminal; Default: :code:`None` + Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_e` == 'CONVEX_OVER_NONLINEAR'. + """ + self.cost_r_in_psi_expr_0 = None + """ + CasADi expression for the argument :math:`r`; to the outer loss function :math:`\psi(r, p)`, initial; Default: :code:`None` + Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_0` == 'CONVEX_OVER_NONLINEAR'. + """ + self.cost_r_in_psi_expr = None + """ + CasADi expression for the argument :math:`r`; to the outer loss function :math:`\psi(r, p)`; Default: :code:`None` + Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type` == 'CONVEX_OVER_NONLINEAR'. + """ + self.cost_r_in_psi_expr_e = None + """ + CasADi expression for the argument :math:`r`; to the outer loss function :math:`\psi(r, p)`, terminal; Default: :code:`None` + Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_e` == 'CONVEX_OVER_NONLINEAR'. + """ + self.cost_conl_custom_outer_hess_0 = None + """ + CasADi expression for the custom hessian of the outer loss function (only for convex-over-nonlinear cost), initial; Default: :code:`None` + Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_0` == 'CONVEX_OVER_NONLINEAR'. + """ + self.cost_conl_custom_outer_hess = None + """ + CasADi expression for the custom hessian of the outer loss function (only for convex-over-nonlinear cost); Default: :code:`None` + Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type` == 'CONVEX_OVER_NONLINEAR'. + """ + self.cost_conl_custom_outer_hess_e = None + """ + CasADi expression for the custom hessian of the outer loss function (only for convex-over-nonlinear cost), terminal; Default: :code:`None` + Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_e` == 'CONVEX_OVER_NONLINEAR'. + """ diff --git a/third_party/acados/acados_template/acados_ocp.py b/third_party/acados/acados_template/acados_ocp.py new file mode 100644 index 0000000000..ec02822ceb --- /dev/null +++ b/third_party/acados/acados_template/acados_ocp.py @@ -0,0 +1,3167 @@ +# -*- coding: future_fstrings -*- +# +# Copyright (c) The acados authors. +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + +import numpy as np +import os +from .acados_model import AcadosModel +from .utils import get_acados_path, J_to_idx, J_to_idx_slack, get_lib_ext + +class AcadosOcpDims: + """ + Class containing the dimensions of the optimal control problem. + """ + def __init__(self): + self.__nx = None + self.__nu = None + self.__nz = 0 + self.__np = 0 + self.__ny = 0 + self.__ny_e = 0 + self.__ny_0 = 0 + self.__nr = 0 + self.__nr_e = 0 + self.__nh = 0 + self.__nh_e = 0 + self.__nphi = 0 + self.__nphi_e = 0 + self.__nbx = 0 + self.__nbx_0 = 0 + self.__nbx_e = 0 + self.__nbu = 0 + self.__nsbx = 0 + self.__nsbx_e = 0 + self.__nsbu = 0 + self.__nsh = 0 + self.__nsh_e = 0 + self.__nsphi = 0 + self.__nsphi_e = 0 + self.__ns = 0 + self.__ns_e = 0 + self.__ng = 0 + self.__ng_e = 0 + self.__nsg = 0 + self.__nsg_e = 0 + self.__nbxe_0 = None + self.__N = None + + + @property + def nx(self): + """:math:`n_x` - number of states. + Type: int; default: None""" + return self.__nx + + @property + def nz(self): + """:math:`n_z` - number of algebraic variables. + Type: int; default: 0""" + return self.__nz + + @property + def nu(self): + """:math:`n_u` - number of inputs. + Type: int; default: None""" + return self.__nu + + @property + def np(self): + """:math:`n_p` - number of parameters. + Type: int; default: 0""" + return self.__np + + @property + def ny(self): + """:math:`n_y` - number of residuals in Lagrange term. + Type: int; default: 0""" + return self.__ny + + @property + def ny_0(self): + """:math:`n_{y}^0` - number of residuals in Mayer term. + Type: int; default: 0""" + return self.__ny_0 + + @property + def ny_e(self): + """:math:`n_{y}^e` - number of residuals in Mayer term. + Type: int; default: 0""" + return self.__ny_e + + @property + def nr(self): + """:math:`n_{\pi}` - dimension of the image of the inner nonlinear function in positive definite constraints. + Type: int; default: 0""" + return self.__nr + + @property + def nr_e(self): + """:math:`n_{\pi}^e` - dimension of the image of the inner nonlinear function in positive definite constraints. + Type: int; default: 0""" + return self.__nr_e + + @property + def nh(self): + """:math:`n_h` - number of nonlinear constraints. + Type: int; default: 0""" + return self.__nh + + @property + def nh_e(self): + """:math:`n_{h}^e` - number of nonlinear constraints at terminal shooting node N. + Type: int; default: 0""" + return self.__nh_e + + @property + def nphi(self): + """:math:`n_{\phi}` - number of convex-over-nonlinear constraints. + Type: int; default: 0""" + return self.__nphi + + @property + def nphi_e(self): + """:math:`n_{\phi}^e` - number of convex-over-nonlinear constraints at terminal shooting node N. + Type: int; default: 0""" + return self.__nphi_e + + @property + def nbx(self): + """:math:`n_{b_x}` - number of state bounds. + Type: int; default: 0""" + return self.__nbx + + @property + def nbxe_0(self): + """:math:`n_{be_{x0}}` - number of state bounds at initial shooting node that are equalities. + Type: int; default: None""" + return self.__nbxe_0 + + @property + def nbx_0(self): + """:math:`n_{b_{x0}}` - number of state bounds for initial state. + Type: int; default: 0""" + return self.__nbx_0 + + @property + def nbx_e(self): + """:math:`n_{b_x}` - number of state bounds at terminal shooting node N. + Type: int; default: 0""" + return self.__nbx_e + + @property + def nbu(self): + """:math:`n_{b_u}` - number of input bounds. + Type: int; default: 0""" + return self.__nbu + + @property + def nsbx(self): + """:math:`n_{{sb}_x}` - number of soft state bounds. + Type: int; default: 0""" + return self.__nsbx + + @property + def nsbx_e(self): + """:math:`n_{{sb}^e_{x}}` - number of soft state bounds at terminal shooting node N. + Type: int; default: 0""" + return self.__nsbx_e + + @property + def nsbu(self): + """:math:`n_{{sb}_u}` - number of soft input bounds. + Type: int; default: 0""" + return self.__nsbu + + @property + def nsg(self): + """:math:`n_{{sg}}` - number of soft general linear constraints. + Type: int; default: 0""" + return self.__nsg + + @property + def nsg_e(self): + """:math:`n_{{sg}^e}` - number of soft general linear constraints at terminal shooting node N. + Type: int; default: 0""" + return self.__nsg_e + + @property + def nsh(self): + """:math:`n_{{sh}}` - number of soft nonlinear constraints. + Type: int; default: 0""" + return self.__nsh + + @property + def nsh_e(self): + """:math:`n_{{sh}}^e` - number of soft nonlinear constraints at terminal shooting node N. + Type: int; default: 0""" + return self.__nsh_e + + @property + def nsphi(self): + """:math:`n_{{s\phi}}` - number of soft convex-over-nonlinear constraints. + Type: int; default: 0""" + return self.__nsphi + + @property + def nsphi_e(self): + """:math:`n_{{s\phi}^e}` - number of soft convex-over-nonlinear constraints at terminal shooting node N. + Type: int; default: 0""" + return self.__nsphi_e + + @property + def ns(self): + """:math:`n_{s}` - total number of slacks. + Type: int; default: 0""" + return self.__ns + + @property + def ns_e(self): + """:math:`n_{s}^e` - total number of slacks at terminal shooting node N. + Type: int; default: 0""" + return self.__ns_e + + @property + def ng(self): + """:math:`n_{g}` - number of general polytopic constraints. + Type: int; default: 0""" + return self.__ng + + @property + def ng_e(self): + """:math:`n_{g}^e` - number of general polytopic constraints at terminal shooting node N. + Type: int; default: 0""" + return self.__ng_e + + @property + def N(self): + """:math:`N` - prediction horizon. + Type: int; default: None""" + return self.__N + + @nx.setter + def nx(self, nx): + if isinstance(nx, int) and nx > 0: + self.__nx = nx + else: + raise Exception('Invalid nx value, expected positive integer.') + + @nz.setter + def nz(self, nz): + if isinstance(nz, int) and nz > -1: + self.__nz = nz + else: + raise Exception('Invalid nz value, expected nonnegative integer.') + + @nu.setter + def nu(self, nu): + if isinstance(nu, int) and nu > -1: + self.__nu = nu + else: + raise Exception('Invalid nu value, expected nonnegative integer.') + + @np.setter + def np(self, np): + if isinstance(np, int) and np > -1: + self.__np = np + else: + raise Exception('Invalid np value, expected nonnegative integer.') + + @ny_0.setter + def ny_0(self, ny_0): + if isinstance(ny_0, int) and ny_0 > -1: + self.__ny_0 = ny_0 + else: + raise Exception('Invalid ny_0 value, expected nonnegative integer.') + + @ny.setter + def ny(self, ny): + if isinstance(ny, int) and ny > -1: + self.__ny = ny + else: + raise Exception('Invalid ny value, expected nonnegative integer.') + + @ny_e.setter + def ny_e(self, ny_e): + if isinstance(ny_e, int) and ny_e > -1: + self.__ny_e = ny_e + else: + raise Exception('Invalid ny_e value, expected nonnegative integer.') + + @nr.setter + def nr(self, nr): + if isinstance(nr, int) and nr > -1: + self.__nr = nr + else: + raise Exception('Invalid nr value, expected nonnegative integer.') + + @nr_e.setter + def nr_e(self, nr_e): + if isinstance(nr_e, int) and nr_e > -1: + self.__nr_e = nr_e + else: + raise Exception('Invalid nr_e value, expected nonnegative integer.') + + @nh.setter + def nh(self, nh): + if isinstance(nh, int) and nh > -1: + self.__nh = nh + else: + raise Exception('Invalid nh value, expected nonnegative integer.') + + @nh_e.setter + def nh_e(self, nh_e): + if isinstance(nh_e, int) and nh_e > -1: + self.__nh_e = nh_e + else: + raise Exception('Invalid nh_e value, expected nonnegative integer.') + + @nphi.setter + def nphi(self, nphi): + if isinstance(nphi, int) and nphi > -1: + self.__nphi = nphi + else: + raise Exception('Invalid nphi value, expected nonnegative integer.') + + @nphi_e.setter + def nphi_e(self, nphi_e): + if isinstance(nphi_e, int) and nphi_e > -1: + self.__nphi_e = nphi_e + else: + raise Exception('Invalid nphi_e value, expected nonnegative integer.') + + @nbx.setter + def nbx(self, nbx): + if isinstance(nbx, int) and nbx > -1: + self.__nbx = nbx + else: + raise Exception('Invalid nbx value, expected nonnegative integer.') + + @nbxe_0.setter + def nbxe_0(self, nbxe_0): + if isinstance(nbxe_0, int) and nbxe_0 > -1: + self.__nbxe_0 = nbxe_0 + else: + raise Exception('Invalid nbxe_0 value, expected nonnegative integer.') + + @nbx_0.setter + def nbx_0(self, nbx_0): + if isinstance(nbx_0, int) and nbx_0 > -1: + self.__nbx_0 = nbx_0 + else: + raise Exception('Invalid nbx_0 value, expected nonnegative integer.') + + @nbx_e.setter + def nbx_e(self, nbx_e): + if isinstance(nbx_e, int) and nbx_e > -1: + self.__nbx_e = nbx_e + else: + raise Exception('Invalid nbx_e value, expected nonnegative integer.') + + @nbu.setter + def nbu(self, nbu): + if isinstance(nbu, int) and nbu > -1: + self.__nbu = nbu + else: + raise Exception('Invalid nbu value, expected nonnegative integer.') + + @nsbx.setter + def nsbx(self, nsbx): + if isinstance(nsbx, int) and nsbx > -1: + self.__nsbx = nsbx + else: + raise Exception('Invalid nsbx value, expected nonnegative integer.') + + @nsbx_e.setter + def nsbx_e(self, nsbx_e): + if isinstance(nsbx_e, int) and nsbx_e > -1: + self.__nsbx_e = nsbx_e + else: + raise Exception('Invalid nsbx_e value, expected nonnegative integer.') + + @nsbu.setter + def nsbu(self, nsbu): + if isinstance(nsbu, int) and nsbu > -1: + self.__nsbu = nsbu + else: + raise Exception('Invalid nsbu value, expected nonnegative integer.') + + @nsg.setter + def nsg(self, nsg): + if isinstance(nsg, int) and nsg > -1: + self.__nsg = nsg + else: + raise Exception('Invalid nsg value, expected nonnegative integer.') + + @nsg_e.setter + def nsg_e(self, nsg_e): + if isinstance(nsg_e, int) and nsg_e > -1: + self.__nsg_e = nsg_e + else: + raise Exception('Invalid nsg_e value, expected nonnegative integer.') + + @nsh.setter + def nsh(self, nsh): + if isinstance(nsh, int) and nsh > -1: + self.__nsh = nsh + else: + raise Exception('Invalid nsh value, expected nonnegative integer.') + + @nsh_e.setter + def nsh_e(self, nsh_e): + if isinstance(nsh_e, int) and nsh_e > -1: + self.__nsh_e = nsh_e + else: + raise Exception('Invalid nsh_e value, expected nonnegative integer.') + + @nsphi.setter + def nsphi(self, nsphi): + if isinstance(nsphi, int) and nsphi > -1: + self.__nsphi = nsphi + else: + raise Exception('Invalid nsphi value, expected nonnegative integer.') + + @nsphi_e.setter + def nsphi_e(self, nsphi_e): + if isinstance(nsphi_e, int) and nsphi_e > -1: + self.__nsphi_e = nsphi_e + else: + raise Exception('Invalid nsphi_e value, expected nonnegative integer.') + + @ns.setter + def ns(self, ns): + if isinstance(ns, int) and ns > -1: + self.__ns = ns + else: + raise Exception('Invalid ns value, expected nonnegative integer.') + + @ns_e.setter + def ns_e(self, ns_e): + if isinstance(ns_e, int) and ns_e > -1: + self.__ns_e = ns_e + else: + raise Exception('Invalid ns_e value, expected nonnegative integer.') + + @ng.setter + def ng(self, ng): + if isinstance(ng, int) and ng > -1: + self.__ng = ng + else: + raise Exception('Invalid ng value, expected nonnegative integer.') + + @ng_e.setter + def ng_e(self, ng_e): + if isinstance(ng_e, int) and ng_e > -1: + self.__ng_e = ng_e + else: + raise Exception('Invalid ng_e value, expected nonnegative integer.') + + @N.setter + def N(self, N): + if isinstance(N, int) and N > 0: + self.__N = N + else: + raise Exception('Invalid N value, expected positive integer.') + + def set(self, attr, value): + setattr(self, attr, value) + + +class AcadosOcpCost: + """ + Class containing the numerical data of the cost: + + NOTE: all cost terms, except for the terminal one are weighted with the corresponding time step. + This means given the time steps are :math:`\Delta t_0,..., \Delta t_N`, the total cost is given by: + :math:`c_\\text{total} = \Delta t_0 \cdot c_0(x_0, u_0, p_0, z_0) + ... + \Delta t_{N-1} \cdot c_{N-1}(x_0, u_0, p_0, z_0) + c_N(x_N, p_N)`. + + This means the Lagrange cost term is given in continuous time, this makes up for a seeminglessly OCP discretization with a nonuniform time grid. + + In case of LINEAR_LS: + stage cost is + :math:`l(x,u,z) = || V_x \, x + V_u \, u + V_z \, z - y_\\text{ref}||^2_W`, + terminal cost is + :math:`m(x) = || V^e_x \, x - y_\\text{ref}^e||^2_{W^e}` + + In case of NONLINEAR_LS: + stage cost is + :math:`l(x,u,z,p) = || y(x,u,z,p) - y_\\text{ref}||^2_W`, + terminal cost is + :math:`m(x,p) = || y^e(x,p) - y_\\text{ref}^e||^2_{W^e}` + + In case of CONVEX_OVER_NONLINEAR: + stage cost is + :math:`l(x,u,p) = \psi(y(x,u,p) - y_\\text{ref}, p)`, + terminal cost is + :math:`m(x, p) = \psi^e (y^e(x,p) - y_\\text{ref}^e, p)` + """ + def __init__(self): + # initial stage + self.__cost_type_0 = None + self.__W_0 = None + self.__Vx_0 = None + self.__Vu_0 = None + self.__Vz_0 = None + self.__yref_0 = None + self.__cost_ext_fun_type_0 = 'casadi' + # Lagrange term + self.__cost_type = 'LINEAR_LS' # cost type + self.__W = np.zeros((0,0)) + self.__Vx = np.zeros((0,0)) + self.__Vu = np.zeros((0,0)) + self.__Vz = np.zeros((0,0)) + self.__yref = np.array([]) + self.__Zl = np.array([]) + self.__Zu = np.array([]) + self.__zl = np.array([]) + self.__zu = np.array([]) + self.__cost_ext_fun_type = 'casadi' + # Mayer term + self.__cost_type_e = 'LINEAR_LS' + self.__W_e = np.zeros((0,0)) + self.__Vx_e = np.zeros((0,0)) + self.__yref_e = np.array([]) + self.__Zl_e = np.array([]) + self.__Zu_e = np.array([]) + self.__zl_e = np.array([]) + self.__zu_e = np.array([]) + self.__cost_ext_fun_type_e = 'casadi' + + # initial stage + @property + def cost_type_0(self): + """Cost type at initial shooting node (0) + -- string in {EXTERNAL, LINEAR_LS, NONLINEAR_LS, CONVEX_OVER_NONLINEAR} or :code:`None`. + Default: :code:`None`. + + .. note:: Cost at initial stage is the same as for intermediate shooting nodes if not set differently explicitly. + + .. note:: If :py:attr:`cost_type_0` is set to :code:`None` values in :py:attr:`W_0`, :py:attr:`Vx_0`, :py:attr:`Vu_0`, :py:attr:`Vz_0` and :py:attr:`yref_0` are ignored (set to :code:`None`). + """ + return self.__cost_type_0 + + @property + def W_0(self): + """:math:`W_0` - weight matrix at initial shooting node (0). + Default: :code:`None`. + """ + return self.__W_0 + + @property + def Vx_0(self): + """:math:`V_x^0` - x matrix coefficient at initial shooting node (0). + Default: :code:`None`. + """ + return self.__Vx_0 + + @property + def Vu_0(self): + """:math:`V_u^0` - u matrix coefficient at initial shooting node (0). + Default: :code:`None`. + """ + return self.__Vu_0 + + @property + def Vz_0(self): + """:math:`V_z^0` - z matrix coefficient at initial shooting node (0). + Default: :code:`None`. + """ + return self.__Vz_0 + + @property + def yref_0(self): + """:math:`y_\\text{ref}^0` - reference at initial shooting node (0). + Default: :code:`None`. + """ + return self.__yref_0 + + @property + def cost_ext_fun_type_0(self): + """Type of external function for cost at initial shooting node (0) + -- string in {casadi, generic} or :code:`None` + Default: :code:'casadi'. + + .. note:: Cost at initial stage is the same as for intermediate shooting nodes if not set differently explicitly. + """ + return self.__cost_ext_fun_type_0 + + @yref_0.setter + def yref_0(self, yref_0): + if isinstance(yref_0, np.ndarray) and len(yref_0.shape) == 1: + self.__yref_0 = yref_0 + else: + raise Exception('Invalid yref_0 value, expected 1-dimensional numpy array.') + + @W_0.setter + def W_0(self, W_0): + if isinstance(W_0, np.ndarray) and len(W_0.shape) == 2: + self.__W_0 = W_0 + else: + raise Exception('Invalid cost W_0 value. ' \ + + 'Should be 2 dimensional numpy array.') + + @Vx_0.setter + def Vx_0(self, Vx_0): + if isinstance(Vx_0, np.ndarray) and len(Vx_0.shape) == 2: + self.__Vx_0 = Vx_0 + else: + raise Exception('Invalid cost Vx_0 value. ' \ + + 'Should be 2 dimensional numpy array.') + + @Vu_0.setter + def Vu_0(self, Vu_0): + if isinstance(Vu_0, np.ndarray) and len(Vu_0.shape) == 2: + self.__Vu_0 = Vu_0 + else: + raise Exception('Invalid cost Vu_0 value. ' \ + + 'Should be 2 dimensional numpy array.') + + @Vz_0.setter + def Vz_0(self, Vz_0): + if isinstance(Vz_0, np.ndarray) and len(Vz_0.shape) == 2: + self.__Vz_0 = Vz_0 + else: + raise Exception('Invalid cost Vz_0 value. ' \ + + 'Should be 2 dimensional numpy array.') + + @cost_ext_fun_type_0.setter + def cost_ext_fun_type_0(self, cost_ext_fun_type_0): + if cost_ext_fun_type_0 in ['casadi', 'generic']: + self.__cost_ext_fun_type_0 = cost_ext_fun_type_0 + else: + raise Exception('Invalid cost_ext_fun_type_0 value, expected numpy array.') + + # Lagrange term + @property + def cost_type(self): + """ + Cost type at intermediate shooting nodes (1 to N-1) + -- string in {EXTERNAL, LINEAR_LS, NONLINEAR_LS, CONVEX_OVER_NONLINEAR}. + Default: 'LINEAR_LS'. + """ + return self.__cost_type + + @property + def W(self): + """:math:`W` - weight matrix at intermediate shooting nodes (1 to N-1). + Default: :code:`np.zeros((0,0))`. + """ + return self.__W + + @property + def Vx(self): + """:math:`V_x` - x matrix coefficient at intermediate shooting nodes (1 to N-1). + Default: :code:`np.zeros((0,0))`. + """ + return self.__Vx + + @property + def Vu(self): + """:math:`V_u` - u matrix coefficient at intermediate shooting nodes (1 to N-1). + Default: :code:`np.zeros((0,0))`. + """ + return self.__Vu + + @property + def Vz(self): + """:math:`V_z` - z matrix coefficient at intermediate shooting nodes (1 to N-1). + Default: :code:`np.zeros((0,0))`. + """ + return self.__Vz + + @property + def yref(self): + """:math:`y_\\text{ref}` - reference at intermediate shooting nodes (1 to N-1). + Default: :code:`np.array([])`. + """ + return self.__yref + + @property + def Zl(self): + """:math:`Z_l` - diagonal of Hessian wrt lower slack at intermediate shooting nodes (0 to N-1). + Default: :code:`np.array([])`. + """ + return self.__Zl + + @property + def Zu(self): + """:math:`Z_u` - diagonal of Hessian wrt upper slack at intermediate shooting nodes (0 to N-1). + Default: :code:`np.array([])`. + """ + return self.__Zu + + @property + def zl(self): + """:math:`z_l` - gradient wrt lower slack at intermediate shooting nodes (0 to N-1). + Default: :code:`np.array([])`. + """ + return self.__zl + + @property + def zu(self): + """:math:`z_u` - gradient wrt upper slack at intermediate shooting nodes (0 to N-1). + Default: :code:`np.array([])`. + """ + return self.__zu + + @property + def cost_ext_fun_type(self): + """Type of external function for cost at intermediate shooting nodes (1 to N-1). + -- string in {casadi, generic} + Default: :code:'casadi'. + """ + return self.__cost_ext_fun_type + + @cost_type.setter + def cost_type(self, cost_type): + cost_types = ('LINEAR_LS', 'NONLINEAR_LS', 'EXTERNAL', 'CONVEX_OVER_NONLINEAR') + if cost_type in cost_types: + self.__cost_type = cost_type + else: + raise Exception('Invalid cost_type value.') + + @cost_type_0.setter + def cost_type_0(self, cost_type_0): + cost_types = ('LINEAR_LS', 'NONLINEAR_LS', 'EXTERNAL', 'CONVEX_OVER_NONLINEAR') + if cost_type_0 in cost_types: + self.__cost_type_0 = cost_type_0 + else: + raise Exception('Invalid cost_type_0 value.') + + @W.setter + def W(self, W): + if isinstance(W, np.ndarray) and len(W.shape) == 2: + self.__W = W + else: + raise Exception('Invalid cost W value. ' \ + + 'Should be 2 dimensional numpy array.') + + + @Vx.setter + def Vx(self, Vx): + if isinstance(Vx, np.ndarray) and len(Vx.shape) == 2: + self.__Vx = Vx + else: + raise Exception('Invalid cost Vx value. ' \ + + 'Should be 2 dimensional numpy array.') + + @Vu.setter + def Vu(self, Vu): + if isinstance(Vu, np.ndarray) and len(Vu.shape) == 2: + self.__Vu = Vu + else: + raise Exception('Invalid cost Vu value. ' \ + + 'Should be 2 dimensional numpy array.') + + @Vz.setter + def Vz(self, Vz): + if isinstance(Vz, np.ndarray) and len(Vz.shape) == 2: + self.__Vz = Vz + else: + raise Exception('Invalid cost Vz value. ' \ + + 'Should be 2 dimensional numpy array.') + + @yref.setter + def yref(self, yref): + if isinstance(yref, np.ndarray) and len(yref.shape) == 1: + self.__yref = yref + else: + raise Exception('Invalid yref value, expected 1-dimensional numpy array.') + + @Zl.setter + def Zl(self, Zl): + if isinstance(Zl, np.ndarray): + self.__Zl = Zl + else: + raise Exception('Invalid Zl value, expected numpy array.') + + @Zu.setter + def Zu(self, Zu): + if isinstance(Zu, np.ndarray): + self.__Zu = Zu + else: + raise Exception('Invalid Zu value, expected numpy array.') + + @zl.setter + def zl(self, zl): + if isinstance(zl, np.ndarray): + self.__zl = zl + else: + raise Exception('Invalid zl value, expected numpy array.') + + @zu.setter + def zu(self, zu): + if isinstance(zu, np.ndarray): + self.__zu = zu + else: + raise Exception('Invalid zu value, expected numpy array.') + + @cost_ext_fun_type.setter + def cost_ext_fun_type(self, cost_ext_fun_type): + if cost_ext_fun_type in ['casadi', 'generic']: + self.__cost_ext_fun_type = cost_ext_fun_type + else: + raise Exception("Invalid cost_ext_fun_type value, expected one in ['casadi', 'generic'].") + + # Mayer term + @property + def cost_type_e(self): + """ + Cost type at terminal shooting node (N) + -- string in {EXTERNAL, LINEAR_LS, NONLINEAR_LS, CONVEX_OVER_NONLINEAR}. + Default: 'LINEAR_LS'. + """ + return self.__cost_type_e + + @property + def W_e(self): + """:math:`W_e` - weight matrix at terminal shooting node (N). + Default: :code:`np.zeros((0,0))`. + """ + return self.__W_e + + @property + def Vx_e(self): + """:math:`V_x^e` - x matrix coefficient for cost at terminal shooting node (N). + Default: :code:`np.zeros((0,0))`. + """ + return self.__Vx_e + + @property + def yref_e(self): + """:math:`y_\\text{ref}^e` - cost reference at terminal shooting node (N). + Default: :code:`np.array([])`. + """ + return self.__yref_e + + @property + def Zl_e(self): + """:math:`Z_l^e` - diagonal of Hessian wrt lower slack at terminal shooting node (N). + Default: :code:`np.array([])`. + """ + return self.__Zl_e + + @property + def Zu_e(self): + """:math:`Z_u^e` - diagonal of Hessian wrt upper slack at terminal shooting node (N). + Default: :code:`np.array([])`. + """ + return self.__Zu_e + + @property + def zl_e(self): + """:math:`z_l^e` - gradient wrt lower slack at terminal shooting node (N). + Default: :code:`np.array([])`. + """ + return self.__zl_e + + @property + def zu_e(self): + """:math:`z_u^e` - gradient wrt upper slack at terminal shooting node (N). + Default: :code:`np.array([])`. + """ + return self.__zu_e + + @property + def cost_ext_fun_type_e(self): + """Type of external function for cost at terminal shooting node (N). + -- string in {casadi, generic} + Default: :code:'casadi'. + """ + return self.__cost_ext_fun_type_e + + @cost_type_e.setter + def cost_type_e(self, cost_type_e): + cost_types = ('LINEAR_LS', 'NONLINEAR_LS', 'EXTERNAL', 'CONVEX_OVER_NONLINEAR') + + if cost_type_e in cost_types: + self.__cost_type_e = cost_type_e + else: + raise Exception('Invalid cost_type_e value.') + + @W_e.setter + def W_e(self, W_e): + if isinstance(W_e, np.ndarray) and len(W_e.shape) == 2: + self.__W_e = W_e + else: + raise Exception('Invalid cost W_e value. ' \ + + 'Should be 2 dimensional numpy array.') + + @Vx_e.setter + def Vx_e(self, Vx_e): + if isinstance(Vx_e, np.ndarray) and len(Vx_e.shape) == 2: + self.__Vx_e = Vx_e + else: + raise Exception('Invalid cost Vx_e value. ' \ + + 'Should be 2 dimensional numpy array.') + + @yref_e.setter + def yref_e(self, yref_e): + if isinstance(yref_e, np.ndarray) and len(yref_e.shape) == 1: + self.__yref_e = yref_e + else: + raise Exception('Invalid yref_e value, expected 1-dimensional numpy array.') + + @Zl_e.setter + def Zl_e(self, Zl_e): + if isinstance(Zl_e, np.ndarray): + self.__Zl_e = Zl_e + else: + raise Exception('Invalid Zl_e value, expected numpy array.') + + @Zu_e.setter + def Zu_e(self, Zu_e): + if isinstance(Zu_e, np.ndarray): + self.__Zu_e = Zu_e + else: + raise Exception('Invalid Zu_e value, expected numpy array.') + + @zl_e.setter + def zl_e(self, zl_e): + if isinstance(zl_e, np.ndarray): + self.__zl_e = zl_e + else: + raise Exception('Invalid zl_e value, expected numpy array.') + + @zu_e.setter + def zu_e(self, zu_e): + if isinstance(zu_e, np.ndarray): + self.__zu_e = zu_e + else: + raise Exception('Invalid zu_e value, expected numpy array.') + + @cost_ext_fun_type_e.setter + def cost_ext_fun_type_e(self, cost_ext_fun_type_e): + if cost_ext_fun_type_e in ['casadi', 'generic']: + self.__cost_ext_fun_type_e = cost_ext_fun_type_e + else: + raise Exception("Invalid cost_ext_fun_type_e value, expected one in ['casadi', 'generic'].") + + def set(self, attr, value): + setattr(self, attr, value) + + +def print_J_to_idx_note(): + print("NOTE: J* matrix is converted to zero based vector idx* vector, which is returned here.") + + +class AcadosOcpConstraints: + """ + class containing the description of the constraints + """ + def __init__(self): + self.__constr_type = 'BGH' + self.__constr_type_e = 'BGH' + # initial x + self.__lbx_0 = np.array([]) + self.__ubx_0 = np.array([]) + self.__idxbx_0 = np.array([]) + self.__idxbxe_0 = np.array([]) + # state bounds + self.__lbx = np.array([]) + self.__ubx = np.array([]) + self.__idxbx = np.array([]) + # bounds on x at shooting node N + self.__lbx_e = np.array([]) + self.__ubx_e = np.array([]) + self.__idxbx_e = np.array([]) + # bounds on u + self.__lbu = np.array([]) + self.__ubu = np.array([]) + self.__idxbu = np.array([]) + # polytopic constraints + self.__lg = np.array([]) + self.__ug = np.array([]) + self.__D = np.zeros((0,0)) + self.__C = np.zeros((0,0)) + # polytopic constraints at shooting node N + self.__C_e = np.zeros((0,0)) + self.__lg_e = np.array([]) + self.__ug_e = np.array([]) + # nonlinear constraints + self.__lh = np.array([]) + self.__uh = np.array([]) + # nonlinear constraints at shooting node N + self.__uh_e = np.array([]) + self.__lh_e = np.array([]) + # convex-over-nonlinear constraints + self.__lphi = np.array([]) + self.__uphi = np.array([]) + # nonlinear constraints at shooting node N + self.__uphi_e = np.array([]) + self.__lphi_e = np.array([]) + # SLACK BOUNDS + # soft bounds on x + self.__lsbx = np.array([]) + self.__usbx = np.array([]) + self.__idxsbx = np.array([]) + # soft bounds on u + self.__lsbu = np.array([]) + self.__usbu = np.array([]) + self.__idxsbu = np.array([]) + # soft bounds on x at shooting node N + self.__lsbx_e = np.array([]) + self.__usbx_e = np.array([]) + self.__idxsbx_e= np.array([]) + # soft bounds on general linear constraints + self.__lsg = np.array([]) + self.__usg = np.array([]) + self.__idxsg = np.array([]) + # soft bounds on nonlinear constraints + self.__lsh = np.array([]) + self.__ush = np.array([]) + self.__idxsh = np.array([]) + # soft bounds on nonlinear constraints + self.__lsphi = np.array([]) + self.__usphi = np.array([]) + self.__idxsphi = np.array([]) + # soft bounds on general linear constraints at shooting node N + self.__lsg_e = np.array([]) + self.__usg_e = np.array([]) + self.__idxsg_e = np.array([]) + # soft bounds on nonlinear constraints at shooting node N + self.__lsh_e = np.array([]) + self.__ush_e = np.array([]) + self.__idxsh_e = np.array([]) + # soft bounds on nonlinear constraints at shooting node N + self.__lsphi_e = np.array([]) + self.__usphi_e = np.array([]) + self.__idxsphi_e = np.array([]) + + + # types + @property + def constr_type(self): + """Constraints type for shooting nodes (0 to N-1). string in {BGH, BGP}. + Default: BGH; BGP is for convex over nonlinear.""" + return self.__constr_type + + @property + def constr_type_e(self): + """Constraints type for terminal shooting node N. string in {BGH, BGP}. + Default: BGH; BGP is for convex over nonlinear.""" + return self.__constr_type_e + + # initial bounds on x + @property + def lbx_0(self): + """:math:`\\underline{x_0}` - lower bounds on x at initial stage 0. + Type: :code:`np.ndarray`; default: :code:`np.array([])`.""" + return self.__lbx_0 + + @property + def ubx_0(self): + """:math:`\\bar{x_0}` - upper bounds on x at initial stage 0. + Type: :code:`np.ndarray`; default: :code:`np.array([])`""" + return self.__ubx_0 + + @property + def Jbx_0(self): + """:math:`J_{bx,0}` - matrix coefficient for bounds on x at initial stage 0. + Translated internally to :py:attr:`idxbx_0`""" + print_J_to_idx_note() + return self.__idxbx_0 + + @property + def idxbx_0(self): + """Indices of bounds on x at initial stage 0 + -- can be set automatically via x0. + Can be set by using :py:attr:`Jbx_0`. + Type: :code:`np.ndarray`; default: :code:`np.array([])`""" + return self.__idxbx_0 + + @property + def idxbxe_0(self): + """Indices of bounds on x0 that are equalities -- can be set automatically via :py:attr:`x0`. + Type: :code:`np.ndarray`; default: :code:`np.array([])`""" + return self.__idxbxe_0 + + # bounds on x + @property + def lbx(self): + """:math:`\\underline{x}` - lower bounds on x at intermediate shooting nodes (1 to N-1). + Type: :code:`np.ndarray`; default: :code:`np.array([])`""" + return self.__lbx + + @property + def ubx(self): + """:math:`\\bar{x}` - upper bounds on x at intermediate shooting nodes (1 to N-1). + Type: :code:`np.ndarray`; default: :code:`np.array([])`""" + return self.__ubx + + @property + def idxbx(self): + """indices of bounds on x (defines :math:`J_{bx}`) at intermediate shooting nodes (1 to N-1). + Can be set by using :py:attr:`Jbx`. + Type: :code:`np.ndarray`; default: :code:`np.array([])`""" + return self.__idxbx + + @property + def Jbx(self): + """:math:`J_{bx}` - matrix coefficient for bounds on x + at intermediate shooting nodes (1 to N-1). + Translated internally into :py:attr:`idxbx`.""" + print_J_to_idx_note() + return self.__idxbx + + # bounds on x at shooting node N + @property + def lbx_e(self): + """:math:`\\underline{x}^e` - lower bounds on x at terminal shooting node N. + Type: :code:`np.ndarray`; default: :code:`np.array([])`""" + return self.__lbx_e + + @property + def ubx_e(self): + """:math:`\\bar{x}^e` - upper bounds on x at terminal shooting node N. + Type: :code:`np.ndarray`; default: :code:`np.array([])`""" + return self.__ubx_e + + @property + def idxbx_e(self): + """Indices for bounds on x at terminal shooting node N (defines :math:`J_{bx}^e`). + Can be set by using :py:attr:`Jbx_e`. + Type: :code:`np.ndarray`; default: :code:`np.array([])`""" + return self.__idxbx_e + + @property + def Jbx_e(self): + """:math:`J_{bx}^e` matrix coefficient for bounds on x at terminal shooting node N. + Translated internally into :py:attr:`idxbx_e`.""" + print_J_to_idx_note() + return self.__idxbx_e + + # bounds on u + @property + def lbu(self): + """:math:`\\underline{u}` - lower bounds on u at shooting nodes (0 to N-1). + Type: :code:`np.ndarray`; default: :code:`np.array([])` + """ + return self.__lbu + + @property + def ubu(self): + """:math:`\\bar{u}` - upper bounds on u at shooting nodes (0 to N-1). + Type: :code:`np.ndarray`; default: :code:`np.array([])` + """ + return self.__ubu + + @property + def idxbu(self): + """Indices of bounds on u (defines :math:`J_{bu}`) at shooting nodes (0 to N-1). + Can be set by using :py:attr:`Jbu`. + Type: :code:`np.ndarray`; default: :code:`np.array([])` + """ + return self.__idxbu + + @property + def Jbu(self): + """:math:`J_{bu}` - matrix coefficient for bounds on u at shooting nodes (0 to N-1). + Translated internally to :py:attr:`idxbu`. + """ + print_J_to_idx_note() + return self.__idxbu + + # polytopic constraints + @property + def C(self): + """:math:`C` - C matrix in :math:`\\underline{g} \\leq D \, u + C \, x \\leq \\bar{g}` + at shooting nodes (0 to N-1). + Type: :code:`np.ndarray`; default: :code:`np.array((0,0))`. + """ + return self.__C + + @property + def D(self): + """:math:`D` - D matrix in :math:`\\underline{g} \\leq D \, u + C \, x \\leq \\bar{g}` + at shooting nodes (0 to N-1). + Type: :code:`np.ndarray`; default: :code:`np.array((0,0))` + """ + return self.__D + + @property + def lg(self): + """:math:`\\underline{g}` - lower bound for general polytopic inequalities + at shooting nodes (0 to N-1). + Type: :code:`np.ndarray`; default: :code:`np.array([])` + """ + return self.__lg + + @property + def ug(self): + """:math:`\\bar{g}` - upper bound for general polytopic inequalities + at shooting nodes (0 to N-1). + Type: :code:`np.ndarray`; default: :code:`np.array([])`. + """ + return self.__ug + + # polytopic constraints at shooting node N + @property + def C_e(self): + """:math:`C^e` - C matrix at terminal shooting node N. + Type: :code:`np.ndarray`; default: :code:`np.array((0,0))`. + """ + return self.__C_e + + @property + def lg_e(self): + """:math:`\\underline{g}^e` - lower bound on general polytopic inequalities + at terminal shooting node N. + Type: :code:`np.ndarray`; default: :code:`np.array([])`. + """ + return self.__lg_e + + @property + def ug_e(self): + """:math:`\\bar{g}^e` - upper bound on general polytopic inequalities + at terminal shooting node N. + Type: :code:`np.ndarray`; default: :code:`np.array([])`. + """ + return self.__ug_e + + + # nonlinear constraints + @property + def lh(self): + """:math:`\\underline{h}` - lower bound for nonlinear inequalities + at shooting nodes (0 to N-1). + Type: :code:`np.ndarray`; default: :code:`np.array([])`. + """ + return self.__lh + + @property + def uh(self): + """:math:`\\bar{h}` - upper bound for nonlinear inequalities + at shooting nodes (0 to N-1). + Type: :code:`np.ndarray`; default: :code:`np.array([])`. + """ + return self.__uh + + # nonlinear constraints at shooting node N + @property + def lh_e(self): + """:math:`\\underline{h}^e` - lower bound on nonlinear inequalities + at terminal shooting node N. + Type: :code:`np.ndarray`; default: :code:`np.array([])`. + """ + return self.__lh_e + + @property + def uh_e(self): + """:math:`\\bar{h}^e` - upper bound on nonlinear inequalities + at terminal shooting node N. + Type: :code:`np.ndarray`; default: :code:`np.array([])`. + """ + return self.__uh_e + + # convex-over-nonlinear constraints + @property + def lphi(self): + """:math:`\\underline{\phi}` - lower bound for convex-over-nonlinear inequalities + at shooting nodes (0 to N-1). + Type: :code:`np.ndarray`; default: :code:`np.array([])`. + """ + return self.__lphi + + @property + def uphi(self): + """:math:`\\bar{\phi}` - upper bound for convex-over-nonlinear inequalities + at shooting nodes (0 to N-1). + Type: :code:`np.ndarray`; default: :code:`np.array([])`. + """ + return self.__uphi + + # convex-over-nonlinear constraints at shooting node N + @property + def lphi_e(self): + """:math:`\\underline{\phi}^e` - lower bound on convex-over-nonlinear inequalities + at terminal shooting node N. + Type: :code:`np.ndarray`; default: :code:`np.array([])`. + """ + return self.__lphi_e + + @property + def uphi_e(self): + """:math:`\\bar{\phi}^e` - upper bound on convex-over-nonlinear inequalities + at terminal shooting node N. + Type: :code:`np.ndarray`; default: :code:`np.array([])`. + """ + return self.__uphi_e + + + # SLACK bounds + # soft bounds on x + @property + def lsbx(self): + """Lower bounds on slacks corresponding to soft lower bounds on x + at stages (1 to N-1); + not required - zeros by default""" + return self.__lsbx + + @property + def usbx(self): + """Lower bounds on slacks corresponding to soft upper bounds on x + at stages (1 to N-1); + not required - zeros by default""" + return self.__usbx + + @property + def idxsbx(self): + """Indices of soft bounds on x within the indices of bounds on x + at stages (1 to N-1). + Can be set by using :py:attr:`Jsbx`. + Type: :code:`np.ndarray`; default: :code:`np.array([])`""" + return self.__idxsbx + + @property + def Jsbx(self): + """:math:`J_{sbx}` - matrix coefficient for soft bounds on x + at stages (1 to N-1); + Translated internally into :py:attr:`idxsbx`.""" + print_J_to_idx_note() + return self.__idxsbx + + # soft bounds on u + @property + def lsbu(self): + """Lower bounds on slacks corresponding to soft lower bounds on u + at stages (0 to N-1). + Not required - zeros by default.""" + return self.__lsbu + + @property + def usbu(self): + """Lower bounds on slacks corresponding to soft upper bounds on u + at stages (0 to N-1); + not required - zeros by default""" + return self.__usbu + + @property + def idxsbu(self): + """Indices of soft bounds on u within the indices of bounds on u + at stages (0 to N-1). + Can be set by using :py:attr:`Jsbu`. + Type: :code:`np.ndarray`; default: :code:`np.array([])`""" + return self.__idxsbu + + @property + def Jsbu(self): + """:math:`J_{sbu}` - matrix coefficient for soft bounds on u + at stages (0 to N-1); + internally translated into :py:attr:`idxsbu`""" + print_J_to_idx_note() + return self.__idxsbu + + # soft bounds on x at shooting node N + @property + def lsbx_e(self): + """Lower bounds on slacks corresponding to soft lower bounds on x at shooting node N. + Not required - zeros by default""" + return self.__lsbx_e + + @property + def usbx_e(self): + """Lower bounds on slacks corresponding to soft upper bounds on x at shooting node N. + Not required - zeros by default""" + return self.__usbx_e + + @property + def idxsbx_e(self): + """Indices of soft bounds on x at shooting node N, within the indices of bounds on x at terminal shooting node N. + Can be set by using :py:attr:`Jsbx_e`. + Type: :code:`np.ndarray`; default: :code:`np.array([])`""" + return self.__idxsbx_e + + @property + def Jsbx_e(self): + """:math:`J_{sbx}^e` - matrix coefficient for soft bounds on x at terminal shooting node N. + Translated internally to :py:attr:`idxsbx_e`""" + print_J_to_idx_note() + return self.__idxsbx_e + + # soft general linear constraints + @property + def lsg(self): + """Lower bounds on slacks corresponding to soft lower bounds for general linear constraints + at stages (0 to N-1). + Type: :code:`np.ndarray`; default: :code:`np.array([])` + """ + return self.__lsg + + @property + def usg(self): + """Lower bounds on slacks corresponding to soft upper bounds for general linear constraints. + Not required - zeros by default""" + return self.__usg + + @property + def idxsg(self): + """Indices of soft general linear constraints within the indices of general linear constraints. + Can be set by using :py:attr:`Jsg`. + Type: :code:`np.ndarray`; default: :code:`np.array([])`""" + return self.__idxsg + + @property + def Jsg(self): + """:math:`J_{sg}` - matrix coefficient for soft bounds on general linear constraints. + Translated internally to :py:attr:`idxsg`""" + print_J_to_idx_note() + return self.__idxsg + + # soft nonlinear constraints + @property + def lsh(self): + """Lower bounds on slacks corresponding to soft lower bounds for nonlinear constraints. + Not required - zeros by default""" + return self.__lsh + + @property + def ush(self): + """Lower bounds on slacks corresponding to soft upper bounds for nonlinear constraints. + Not required - zeros by default""" + return self.__ush + + @property + def idxsh(self): + """Indices of soft nonlinear constraints within the indices of nonlinear constraints. + Can be set by using :py:attr:`Jbx`. + Type: :code:`np.ndarray`; default: :code:`np.array([])`""" + return self.__idxsh + + @property + def Jsh(self): + """:math:`J_{sh}` - matrix coefficient for soft bounds on nonlinear constraints. + Translated internally to :py:attr:`idxsh`""" + print_J_to_idx_note() + return self.__idxsh + + # soft bounds on convex-over-nonlinear constraints + @property + def lsphi(self): + """Lower bounds on slacks corresponding to soft lower bounds for convex-over-nonlinear constraints. + Not required - zeros by default""" + return self.__lsphi + + @property + def usphi(self): + """Lower bounds on slacks corresponding to soft upper bounds for convex-over-nonlinear constraints. + Not required - zeros by default""" + return self.__usphi + + @property + def idxsphi(self): + """Indices of soft convex-over-nonlinear constraints within the indices of nonlinear constraints. + Can be set by using :py:attr:`Jsphi`. + Type: :code:`np.ndarray`; default: :code:`np.array([])`""" + return self.__idxsphi + + @property + def Jsphi(self): + """:math:`J_{s, \phi}` - matrix coefficient for soft bounds on convex-over-nonlinear constraints. + Translated internally into :py:attr:`idxsphi`.""" + print_J_to_idx_note() + return self.__idxsphi + + + # soft bounds on general linear constraints at shooting node N + @property + def lsg_e(self): + """Lower bounds on slacks corresponding to soft lower bounds for general linear constraints at shooting node N. + Not required - zeros by default""" + return self.__lsg_e + + @property + def usg_e(self): + """Lower bounds on slacks corresponding to soft upper bounds for general linear constraints at shooting node N. + Not required - zeros by default""" + return self.__usg_e + + @property + def idxsg_e(self): + """Indices of soft general linear constraints at shooting node N within the indices of general linear constraints at shooting node N. + Can be set by using :py:attr:`Jsg_e`.""" + return self.__idxsg_e + + @property + def Jsg_e(self): + """:math:`J_{s,h}^e` - matrix coefficient for soft bounds on general linear constraints at terminal shooting node N. + Translated internally to :py:attr:`idxsg_e`""" + print_J_to_idx_note() + return self.__idxsg_e + + + # soft bounds on nonlinear constraints at shooting node N + @property + def lsh_e(self): + """Lower bounds on slacks corresponding to soft lower bounds for nonlinear constraints at terminal shooting node N. + Not required - zeros by default""" + return self.__lsh_e + + @property + def ush_e(self): + """Lower bounds on slacks corresponding to soft upper bounds for nonlinear constraints at terminal shooting node N. + Not required - zeros by default""" + return self.__ush_e + + @property + def idxsh_e(self): + """Indices of soft nonlinear constraints at shooting node N within the indices of nonlinear constraints at terminal shooting node N. + Can be set by using :py:attr:`Jsh_e`.""" + return self.__idxsh_e + + @property + def Jsh_e(self): + """:math:`J_{s,h}^e` - matrix coefficient for soft bounds on nonlinear constraints at terminal shooting node N; fills :py:attr:`idxsh_e`""" + print_J_to_idx_note() + return self.__idxsh_e + + # soft bounds on convex-over-nonlinear constraints at shooting node N + @property + def lsphi_e(self): + """Lower bounds on slacks corresponding to soft lower bounds for convex-over-nonlinear constraints at terminal shooting node N. + Not required - zeros by default""" + return self.__lsphi_e + + @property + def usphi_e(self): + """Lower bounds on slacks corresponding to soft upper bounds for convex-over-nonlinear constraints at terminal shooting node N. + Not required - zeros by default""" + return self.__usphi_e + + @property + def idxsphi_e(self): + """Indices of soft nonlinear constraints at shooting node N within the indices of nonlinear constraints at terminal shooting node N. + Can be set by using :py:attr:`Jsphi_e`. + Type: :code:`np.ndarray`; default: :code:`np.array([])`""" + return self.__idxsphi_e + + @property + def Jsphi_e(self): + """:math:`J_{sh}^e` - matrix coefficient for soft bounds on convex-over-nonlinear constraints at shooting node N. + Translated internally to :py:attr:`idxsphi_e`""" + print_J_to_idx_note() + return self.__idxsphi_e + + @property + def x0(self): + """:math:`x_0 \\in \mathbb{R}^{n_x}` - initial state -- + Translated internally to :py:attr:`idxbx_0`, :py:attr:`lbx_0`, :py:attr:`ubx_0`, :py:attr:`idxbxe_0` """ + print("x0 is converted to lbx_0, ubx_0, idxbx_0") + print("idxbx_0: ", self.__idxbx_0) + print("lbx_0: ", self.__lbx_0) + print("ubx_0: ", self.__ubx_0) + print("idxbxe_0: ", self.__idxbxe_0) + return None + + # SETTERS + @constr_type.setter + def constr_type(self, constr_type): + constr_types = ('BGH', 'BGP') + if constr_type in constr_types: + self.__constr_type = constr_type + else: + raise Exception('Invalid constr_type value. Possible values are:\n\n' \ + + ',\n'.join(constr_types) + '.\n\nYou have: ' + constr_type + '.\n\n') + + @constr_type_e.setter + def constr_type_e(self, constr_type_e): + constr_types = ('BGH', 'BGP') + if constr_type_e in constr_types: + self.__constr_type_e = constr_type_e + else: + raise Exception('Invalid constr_type_e value. Possible values are:\n\n' \ + + ',\n'.join(constr_types) + '.\n\nYou have: ' + constr_type_e + '.\n\n') + + # initial x + @lbx_0.setter + def lbx_0(self, lbx_0): + if isinstance(lbx_0, np.ndarray): + self.__lbx_0 = lbx_0 + else: + raise Exception('Invalid lbx_0 value.') + + @ubx_0.setter + def ubx_0(self, ubx_0): + if isinstance(ubx_0, np.ndarray): + self.__ubx_0 = ubx_0 + else: + raise Exception('Invalid ubx_0 value.') + + @idxbx_0.setter + def idxbx_0(self, idxbx_0): + if isinstance(idxbx_0, np.ndarray): + self.__idxbx_0 = idxbx_0 + else: + raise Exception('Invalid idxbx_0 value.') + + @Jbx_0.setter + def Jbx_0(self, Jbx_0): + if isinstance(Jbx_0, np.ndarray): + self.__idxbx_0 = J_to_idx(Jbx_0) + else: + raise Exception('Invalid Jbx_0 value.') + + @idxbxe_0.setter + def idxbxe_0(self, idxbxe_0): + if isinstance(idxbxe_0, np.ndarray): + self.__idxbxe_0 = idxbxe_0 + else: + raise Exception('Invalid idxbxe_0 value.') + + + @x0.setter + def x0(self, x0): + if isinstance(x0, np.ndarray): + self.__lbx_0 = x0 + self.__ubx_0 = x0 + self.__idxbx_0 = np.arange(x0.size) + self.__idxbxe_0 = np.arange(x0.size) + else: + raise Exception('Invalid x0 value.') + + # bounds on x + @lbx.setter + def lbx(self, lbx): + if isinstance(lbx, np.ndarray): + self.__lbx = lbx + else: + raise Exception('Invalid lbx value.') + + @ubx.setter + def ubx(self, ubx): + if isinstance(ubx, np.ndarray): + self.__ubx = ubx + else: + raise Exception('Invalid ubx value.') + + @idxbx.setter + def idxbx(self, idxbx): + if isinstance(idxbx, np.ndarray): + self.__idxbx = idxbx + else: + raise Exception('Invalid idxbx value.') + + @Jbx.setter + def Jbx(self, Jbx): + if isinstance(Jbx, np.ndarray): + self.__idxbx = J_to_idx(Jbx) + else: + raise Exception('Invalid Jbx value.') + + # bounds on u + @lbu.setter + def lbu(self, lbu): + if isinstance(lbu, np.ndarray): + self.__lbu = lbu + else: + raise Exception('Invalid lbu value.') + + @ubu.setter + def ubu(self, ubu): + if isinstance(ubu, np.ndarray): + self.__ubu = ubu + else: + raise Exception('Invalid ubu value.') + + @idxbu.setter + def idxbu(self, idxbu): + if isinstance(idxbu, np.ndarray): + self.__idxbu = idxbu + else: + raise Exception('Invalid idxbu value.') + + @Jbu.setter + def Jbu(self, Jbu): + if isinstance(Jbu, np.ndarray): + self.__idxbu = J_to_idx(Jbu) + else: + raise Exception('Invalid Jbu value.') + + # bounds on x at shooting node N + @lbx_e.setter + def lbx_e(self, lbx_e): + if isinstance(lbx_e, np.ndarray): + self.__lbx_e = lbx_e + else: + raise Exception('Invalid lbx_e value.') + + @ubx_e.setter + def ubx_e(self, ubx_e): + if isinstance(ubx_e, np.ndarray): + self.__ubx_e = ubx_e + else: + raise Exception('Invalid ubx_e value.') + + @idxbx_e.setter + def idxbx_e(self, idxbx_e): + if isinstance(idxbx_e, np.ndarray): + self.__idxbx_e = idxbx_e + else: + raise Exception('Invalid idxbx_e value.') + + @Jbx_e.setter + def Jbx_e(self, Jbx_e): + if isinstance(Jbx_e, np.ndarray): + self.__idxbx_e = J_to_idx(Jbx_e) + else: + raise Exception('Invalid Jbx_e value.') + + # polytopic constraints + @D.setter + def D(self, D): + if isinstance(D, np.ndarray) and len(D.shape) == 2: + self.__D = D + else: + raise Exception('Invalid constraint D value.' \ + + 'Should be 2 dimensional numpy array.') + + @C.setter + def C(self, C): + if isinstance(C, np.ndarray) and len(C.shape) == 2: + self.__C = C + else: + raise Exception('Invalid constraint C value.' \ + + 'Should be 2 dimensional numpy array.') + + @lg.setter + def lg(self, lg): + if isinstance(lg, np.ndarray): + self.__lg = lg + else: + raise Exception('Invalid lg value.') + + @ug.setter + def ug(self, ug): + if isinstance(ug, np.ndarray): + self.__ug = ug + else: + raise Exception('Invalid ug value.') + + # polytopic constraints at shooting node N + @C_e.setter + def C_e(self, C_e): + if isinstance(C_e, np.ndarray) and len(C_e.shape) == 2: + self.__C_e = C_e + else: + raise Exception('Invalid constraint C_e value.' \ + + 'Should be 2 dimensional numpy array.') + + @lg_e.setter + def lg_e(self, lg_e): + if isinstance(lg_e, np.ndarray): + self.__lg_e = lg_e + else: + raise Exception('Invalid lg_e value.') + + @ug_e.setter + def ug_e(self, ug_e): + if isinstance(ug_e, np.ndarray): + self.__ug_e = ug_e + else: + raise Exception('Invalid ug_e value.') + + # nonlinear constraints + @lh.setter + def lh(self, lh): + if isinstance(lh, np.ndarray): + self.__lh = lh + else: + raise Exception('Invalid lh value.') + + @uh.setter + def uh(self, uh): + if isinstance(uh, np.ndarray): + self.__uh = uh + else: + raise Exception('Invalid uh value.') + + # convex-over-nonlinear constraints + @lphi.setter + def lphi(self, lphi): + if isinstance(lphi, np.ndarray): + self.__lphi = lphi + else: + raise Exception('Invalid lphi value.') + + @uphi.setter + def uphi(self, uphi): + if isinstance(uphi, np.ndarray): + self.__uphi = uphi + else: + raise Exception('Invalid uphi value.') + + # nonlinear constraints at shooting node N + @lh_e.setter + def lh_e(self, lh_e): + if isinstance(lh_e, np.ndarray): + self.__lh_e = lh_e + else: + raise Exception('Invalid lh_e value.') + + @uh_e.setter + def uh_e(self, uh_e): + if isinstance(uh_e, np.ndarray): + self.__uh_e = uh_e + else: + raise Exception('Invalid uh_e value.') + + # convex-over-nonlinear constraints at shooting node N + @lphi_e.setter + def lphi_e(self, lphi_e): + if isinstance(lphi_e, np.ndarray): + self.__lphi_e = lphi_e + else: + raise Exception('Invalid lphi_e value.') + + @uphi_e.setter + def uphi_e(self, uphi_e): + if isinstance(uphi_e, np.ndarray): + self.__uphi_e = uphi_e + else: + raise Exception('Invalid uphi_e value.') + + # SLACK bounds + # soft bounds on x + @lsbx.setter + def lsbx(self, lsbx): + if isinstance(lsbx, np.ndarray): + self.__lsbx = lsbx + else: + raise Exception('Invalid lsbx value.') + + @usbx.setter + def usbx(self, usbx): + if isinstance(usbx, np.ndarray): + self.__usbx = usbx + else: + raise Exception('Invalid usbx value.') + + @idxsbx.setter + def idxsbx(self, idxsbx): + if isinstance(idxsbx, np.ndarray): + self.__idxsbx = idxsbx + else: + raise Exception('Invalid idxsbx value.') + + @Jsbx.setter + def Jsbx(self, Jsbx): + if isinstance(Jsbx, np.ndarray): + self.__idxsbx = J_to_idx_slack(Jsbx) + else: + raise Exception('Invalid Jsbx value, expected numpy array.') + + # soft bounds on u + @lsbu.setter + def lsbu(self, lsbu): + if isinstance(lsbu, np.ndarray): + self.__lsbu = lsbu + else: + raise Exception('Invalid lsbu value.') + + @usbu.setter + def usbu(self, usbu): + if isinstance(usbu, np.ndarray): + self.__usbu = usbu + else: + raise Exception('Invalid usbu value.') + + @idxsbu.setter + def idxsbu(self, idxsbu): + if isinstance(idxsbu, np.ndarray): + self.__idxsbu = idxsbu + else: + raise Exception('Invalid idxsbu value.') + + @Jsbu.setter + def Jsbu(self, Jsbu): + if isinstance(Jsbu, np.ndarray): + self.__idxsbu = J_to_idx_slack(Jsbu) + else: + raise Exception('Invalid Jsbu value.') + + # soft bounds on x at shooting node N + @lsbx_e.setter + def lsbx_e(self, lsbx_e): + if isinstance(lsbx_e, np.ndarray): + self.__lsbx_e = lsbx_e + else: + raise Exception('Invalid lsbx_e value.') + + @usbx_e.setter + def usbx_e(self, usbx_e): + if isinstance(usbx_e, np.ndarray): + self.__usbx_e = usbx_e + else: + raise Exception('Invalid usbx_e value.') + + @idxsbx_e.setter + def idxsbx_e(self, idxsbx_e): + if isinstance(idxsbx_e, np.ndarray): + self.__idxsbx_e = idxsbx_e + else: + raise Exception('Invalid idxsbx_e value.') + + @Jsbx_e.setter + def Jsbx_e(self, Jsbx_e): + if isinstance(Jsbx_e, np.ndarray): + self.__idxsbx_e = J_to_idx_slack(Jsbx_e) + else: + raise Exception('Invalid Jsbx_e value.') + + + # soft bounds on general linear constraints + @lsg.setter + def lsg(self, lsg): + if isinstance(lsg, np.ndarray): + self.__lsg = lsg + else: + raise Exception('Invalid lsg value.') + + @usg.setter + def usg(self, usg): + if isinstance(usg, np.ndarray): + self.__usg = usg + else: + raise Exception('Invalid usg value.') + + @idxsg.setter + def idxsg(self, idxsg): + if isinstance(idxsg, np.ndarray): + self.__idxsg = idxsg + else: + raise Exception('Invalid idxsg value.') + + @Jsg.setter + def Jsg(self, Jsg): + if isinstance(Jsg, np.ndarray): + self.__idxsg = J_to_idx_slack(Jsg) + else: + raise Exception('Invalid Jsg value, expected numpy array.') + + + # soft bounds on nonlinear constraints + @lsh.setter + def lsh(self, lsh): + if isinstance(lsh, np.ndarray): + self.__lsh = lsh + else: + raise Exception('Invalid lsh value.') + + @ush.setter + def ush(self, ush): + if isinstance(ush, np.ndarray): + self.__ush = ush + else: + raise Exception('Invalid ush value.') + + @idxsh.setter + def idxsh(self, idxsh): + if isinstance(idxsh, np.ndarray): + self.__idxsh = idxsh + else: + raise Exception('Invalid idxsh value.') + + + @Jsh.setter + def Jsh(self, Jsh): + if isinstance(Jsh, np.ndarray): + self.__idxsh = J_to_idx_slack(Jsh) + else: + raise Exception('Invalid Jsh value, expected numpy array.') + + # soft bounds on convex-over-nonlinear constraints + @lsphi.setter + def lsphi(self, lsphi): + if isinstance(lsphi, np.ndarray): + self.__lsphi = lsphi + else: + raise Exception('Invalid lsphi value.') + + @usphi.setter + def usphi(self, usphi): + if isinstance(usphi, np.ndarray): + self.__usphi = usphi + else: + raise Exception('Invalid usphi value.') + + @idxsphi.setter + def idxsphi(self, idxsphi): + if isinstance(idxsphi, np.ndarray): + self.__idxsphi = idxsphi + else: + raise Exception('Invalid idxsphi value.') + + @Jsphi.setter + def Jsphi(self, Jsphi): + if isinstance(Jsphi, np.ndarray): + self.__idxsphi = J_to_idx_slack(Jsphi) + else: + raise Exception('Invalid Jsphi value, expected numpy array.') + + # soft bounds on general linear constraints at shooting node N + @lsg_e.setter + def lsg_e(self, lsg_e): + if isinstance(lsg_e, np.ndarray): + self.__lsg_e = lsg_e + else: + raise Exception('Invalid lsg_e value.') + + @usg_e.setter + def usg_e(self, usg_e): + if isinstance(usg_e, np.ndarray): + self.__usg_e = usg_e + else: + raise Exception('Invalid usg_e value.') + + @idxsg_e.setter + def idxsg_e(self, idxsg_e): + if isinstance(idxsg_e, np.ndarray): + self.__idxsg_e = idxsg_e + else: + raise Exception('Invalid idxsg_e value.') + + @Jsg_e.setter + def Jsg_e(self, Jsg_e): + if isinstance(Jsg_e, np.ndarray): + self.__idxsg_e = J_to_idx_slack(Jsg_e) + else: + raise Exception('Invalid Jsg_e value, expected numpy array.') + + # soft bounds on nonlinear constraints at shooting node N + @lsh_e.setter + def lsh_e(self, lsh_e): + if isinstance(lsh_e, np.ndarray): + self.__lsh_e = lsh_e + else: + raise Exception('Invalid lsh_e value.') + + @ush_e.setter + def ush_e(self, ush_e): + if isinstance(ush_e, np.ndarray): + self.__ush_e = ush_e + else: + raise Exception('Invalid ush_e value.') + + @idxsh_e.setter + def idxsh_e(self, idxsh_e): + if isinstance(idxsh_e, np.ndarray): + self.__idxsh_e = idxsh_e + else: + raise Exception('Invalid idxsh_e value.') + + @Jsh_e.setter + def Jsh_e(self, Jsh_e): + if isinstance(Jsh_e, np.ndarray): + self.__idxsh_e = J_to_idx_slack(Jsh_e) + else: + raise Exception('Invalid Jsh_e value, expected numpy array.') + + + # soft bounds on convex-over-nonlinear constraints at shooting node N + @lsphi_e.setter + def lsphi_e(self, lsphi_e): + if isinstance(lsphi_e, np.ndarray): + self.__lsphi_e = lsphi_e + else: + raise Exception('Invalid lsphi_e value.') + + @usphi_e.setter + def usphi_e(self, usphi_e): + if isinstance(usphi_e, np.ndarray): + self.__usphi_e = usphi_e + else: + raise Exception('Invalid usphi_e value.') + + @idxsphi_e.setter + def idxsphi_e(self, idxsphi_e): + if isinstance(idxsphi_e, np.ndarray): + self.__idxsphi_e = idxsphi_e + else: + raise Exception('Invalid idxsphi_e value.') + + @Jsphi_e.setter + def Jsphi_e(self, Jsphi_e): + if isinstance(Jsphi_e, np.ndarray): + self.__idxsphi_e = J_to_idx_slack(Jsphi_e) + else: + raise Exception('Invalid Jsphi_e value.') + + def set(self, attr, value): + setattr(self, attr, value) + + +class AcadosOcpOptions: + """ + class containing the description of the solver options + """ + def __init__(self): + self.__qp_solver = 'PARTIAL_CONDENSING_HPIPM' # qp solver to be used in the NLP solver + self.__hessian_approx = 'GAUSS_NEWTON' # hessian approximation + self.__integrator_type = 'ERK' # integrator type + self.__tf = None # prediction horizon + self.__nlp_solver_type = 'SQP_RTI' # NLP solver + self.__globalization = 'FIXED_STEP' + self.__nlp_solver_step_length = 1.0 # fixed Newton step length + self.__levenberg_marquardt = 0.0 + self.__collocation_type = 'GAUSS_LEGENDRE' + self.__sim_method_num_stages = 4 # number of stages in the integrator + self.__sim_method_num_steps = 1 # number of steps in the integrator + self.__sim_method_newton_iter = 3 # number of Newton iterations in simulation method + self.__sim_method_newton_tol = 0.0 + self.__sim_method_jac_reuse = 0 + self.__qp_solver_tol_stat = None # QP solver stationarity tolerance + self.__qp_solver_tol_eq = None # QP solver equality tolerance + self.__qp_solver_tol_ineq = None # QP solver inequality + self.__qp_solver_tol_comp = None # QP solver complementarity + self.__qp_solver_iter_max = 50 # QP solver max iter + self.__qp_solver_cond_N = None # QP solver: new horizon after partial condensing + self.__qp_solver_warm_start = 0 + self.__qp_solver_cond_ric_alg = 1 + self.__qp_solver_ric_alg = 1 + self.__nlp_solver_tol_stat = 1e-6 # NLP solver stationarity tolerance + self.__nlp_solver_tol_eq = 1e-6 # NLP solver equality tolerance + self.__nlp_solver_tol_ineq = 1e-6 # NLP solver inequality + self.__nlp_solver_tol_comp = 1e-6 # NLP solver complementarity + self.__nlp_solver_max_iter = 100 # NLP solver maximum number of iterations + self.__nlp_solver_ext_qp_res = 0 + self.__Tsim = None # automatically calculated as tf/N + self.__print_level = 0 # print level + self.__initialize_t_slacks = 0 # possible values: 0, 1 + self.__regularize_method = None + self.__time_steps = None + self.__shooting_nodes = None + self.__exact_hess_cost = 1 + self.__exact_hess_dyn = 1 + self.__exact_hess_constr = 1 + self.__ext_cost_num_hess = 0 + self.__alpha_min = 0.05 + self.__alpha_reduction = 0.7 + self.__line_search_use_sufficient_descent = 0 + self.__globalization_use_SOC = 0 + self.__full_step_dual = 0 + self.__eps_sufficient_descent = 1e-4 + self.__hpipm_mode = 'BALANCE' + # TODO: move those out? they are more about generation than about the acados OCP solver. + self.__ext_fun_compile_flags = '-O2' + self.__model_external_shared_lib_dir = None # path to the the .so lib + self.__model_external_shared_lib_name = None # name of the the .so lib + self.__custom_update_filename = '' + self.__custom_update_header_filename = '' + self.__custom_templates = [] + self.__custom_update_copy = True + + @property + def qp_solver(self): + """QP solver to be used in the NLP solver. + String in ('PARTIAL_CONDENSING_HPIPM', 'FULL_CONDENSING_QPOASES', 'FULL_CONDENSING_HPIPM', 'PARTIAL_CONDENSING_QPDUNES', 'PARTIAL_CONDENSING_OSQP', 'FULL_CONDENSING_DAQP'). + Default: 'PARTIAL_CONDENSING_HPIPM'. + """ + return self.__qp_solver + + @property + def ext_fun_compile_flags(self): + """ + String with compiler flags for external function compilation. + Default: '-O2'. + """ + return self.__ext_fun_compile_flags + + + @property + def custom_update_filename(self): + """ + Filename of the custom C function to update solver data and parameters in between solver calls + + This file has to implement the functions + int custom_update_init_function([model.name]_solver_capsule* capsule); + int custom_update_function([model.name]_solver_capsule* capsule); + int custom_update_terminate_function([model.name]_solver_capsule* capsule); + + + Default: ''. + """ + return self.__custom_update_filename + + + @property + def custom_templates(self): + """ + List of tuples of the form: + (input_filename, output_filename) + + Custom templates are render in OCP solver generation. + + Default: []. + """ + return self.__custom_templates + + + @property + def custom_update_header_filename(self): + """ + Header filename of the custom C function to update solver data and parameters in between solver calls + + This file has to declare the custom_update functions and look as follows: + + ``` + // Called at the end of solver creation. + // This is allowed to allocate memory and store the pointer to it into capsule->custom_update_memory. + int custom_update_init_function([model.name]_solver_capsule* capsule); + + // Custom update function that can be called between solver calls + int custom_update_function([model.name]_solver_capsule* capsule, double* data, int data_len); + + // Called just before destroying the solver. + // Responsible to free allocated memory, stored at capsule->custom_update_memory. + int custom_update_terminate_function([model.name]_solver_capsule* capsule); + + Default: ''. + """ + return self.__custom_update_header_filename + + @property + def custom_update_copy(self): + """ + Boolean; + If True, the custom update function files are copied into the `code_export_directory`. + """ + return self.__custom_update_copy + + + @property + def hpipm_mode(self): + """ + Mode of HPIPM to be used, + + String in ('BALANCE', 'SPEED_ABS', 'SPEED', 'ROBUST'). + + Default: 'BALANCE'. + + see https://cdn.syscop.de/publications/Frison2020a.pdf + and the HPIPM code: + https://github.com/giaf/hpipm/blob/master/ocp_qp/x_ocp_qp_ipm.c#L69 + """ + return self.__hpipm_mode + + @property + def hessian_approx(self): + """Hessian approximation. + String in ('GAUSS_NEWTON', 'EXACT'). + Default: 'GAUSS_NEWTON'. + """ + return self.__hessian_approx + + @property + def integrator_type(self): + """ + Integrator type. + String in ('ERK', 'IRK', 'GNSF', 'DISCRETE', 'LIFTED_IRK'). + Default: 'ERK'. + """ + return self.__integrator_type + + @property + def nlp_solver_type(self): + """NLP solver. + String in ('SQP', 'SQP_RTI'). + Default: 'SQP_RTI'. + """ + return self.__nlp_solver_type + + @property + def globalization(self): + """Globalization type. + String in ('FIXED_STEP', 'MERIT_BACKTRACKING'). + Default: 'FIXED_STEP'. + + .. note:: preliminary implementation. + """ + return self.__globalization + + @property + def collocation_type(self): + """Collocation type: relevant for implicit integrators + -- string in {GAUSS_RADAU_IIA, GAUSS_LEGENDRE}. + + Default: GAUSS_LEGENDRE + """ + return self.__collocation_type + + @property + def regularize_method(self): + """Regularization method for the Hessian. + String in ('NO_REGULARIZE', 'MIRROR', 'PROJECT', 'PROJECT_REDUC_HESS', 'CONVEXIFY') or :code:`None`. + + - MIRROR: performs eigenvalue decomposition H = V^T D V and sets D_ii = max(eps, abs(D_ii)) + - PROJECT: performs eigenvalue decomposition H = V^T D V and sets D_ii = max(eps, D_ii) + - CONVEXIFY: Algorithm 6 from Verschueren2017, https://cdn.syscop.de/publications/Verschueren2017.pdf + - PROJECT_REDUC_HESS: experimental + + Note: default eps = 1e-4 + + Default: :code:`None`. + """ + return self.__regularize_method + + @property + def nlp_solver_step_length(self): + """ + Fixed Newton step length. + Type: float > 0. + Default: 1.0. + """ + return self.__nlp_solver_step_length + + @property + def levenberg_marquardt(self): + """ + Factor for LM regularization. + Type: float >= 0 + Default: 0.0. + """ + return self.__levenberg_marquardt + + @property + def sim_method_num_stages(self): + """ + Number of stages in the integrator. + Type: int > 0 or ndarray of ints > 0 of shape (N,). + Default: 4 + """ + return self.__sim_method_num_stages + + @property + def sim_method_num_steps(self): + """ + Number of steps in the integrator. + Type: int > 0 or ndarray of ints > 0 of shape (N,). + Default: 1 + """ + return self.__sim_method_num_steps + + @property + def sim_method_newton_iter(self): + """ + Number of Newton iterations in simulation method. + Type: int > 0 + Default: 3 + """ + return self.__sim_method_newton_iter + + @property + def sim_method_newton_tol(self): + """ + Tolerance of Newton system in simulation method. + Type: float: 0.0 means not used + Default: 0.0 + """ + return self.__sim_method_newton_tol + + @property + def sim_method_jac_reuse(self): + """ + Integer determining if jacobians are reused within integrator or ndarray of ints > 0 of shape (N,). + 0: False (no reuse); 1: True (reuse) + Default: 0 + """ + return self.__sim_method_jac_reuse + + @property + def qp_solver_tol_stat(self): + """ + QP solver stationarity tolerance. + Default: :code:`None` + """ + return self.__qp_solver_tol_stat + + @property + def qp_solver_tol_eq(self): + """ + QP solver equality tolerance. + Default: :code:`None` + """ + return self.__qp_solver_tol_eq + + @property + def qp_solver_tol_ineq(self): + """ + QP solver inequality. + Default: :code:`None` + """ + return self.__qp_solver_tol_ineq + + @property + def qp_solver_tol_comp(self): + """ + QP solver complementarity. + Default: :code:`None` + """ + return self.__qp_solver_tol_comp + + @property + def qp_solver_cond_N(self): + """QP solver: New horizon after partial condensing. + Set to N by default -> no condensing.""" + return self.__qp_solver_cond_N + + @property + def qp_solver_warm_start(self): + """ + QP solver: Warm starting. + 0: no warm start; 1: warm start; 2: hot start. + Default: 0 + """ + return self.__qp_solver_warm_start + + @property + def qp_solver_cond_ric_alg(self): + """ + QP solver: Determines which algorithm is used in HPIPM condensing. + 0: dont factorize hessian in the condensing; 1: factorize. + Default: 1 + """ + return self.__qp_solver_cond_ric_alg + + @property + def qp_solver_ric_alg(self): + """ + QP solver: Determines which algorithm is used in HPIPM OCP QP solver. + 0 classical Riccati, 1 square-root Riccati. + + Note: taken from [HPIPM paper]: + + (a) the classical implementation requires the reduced Hessian with respect to the dynamics + equality constraints to be positive definite, but allows the full-space Hessian to be indefinite) + (b) the square-root implementation, which in order to reduce the flop count employs the Cholesky + factorization of the Riccati recursion matrix, and therefore requires the full-space Hessian to be positive definite + + [HPIPM paper]: HPIPM: a high-performance quadratic programming framework for model predictive control, Frison and Diehl, 2020 + https://cdn.syscop.de/publications/Frison2020a.pdf + + Default: 1 + """ + return self.__qp_solver_ric_alg + + @property + def qp_solver_iter_max(self): + """ + QP solver: maximum number of iterations. + Type: int > 0 + Default: 50 + """ + return self.__qp_solver_iter_max + + @property + def tol(self): + """ + NLP solver tolerance. Sets or gets the max of :py:attr:`nlp_solver_tol_eq`, + :py:attr:`nlp_solver_tol_ineq`, :py:attr:`nlp_solver_tol_comp` + and :py:attr:`nlp_solver_tol_stat`. + """ + return max([self.__nlp_solver_tol_eq, self.__nlp_solver_tol_ineq,\ + self.__nlp_solver_tol_comp, self.__nlp_solver_tol_stat]) + + @property + def qp_tol(self): + """ + QP solver tolerance. + Sets all of the following at once or gets the max of + :py:attr:`qp_solver_tol_eq`, :py:attr:`qp_solver_tol_ineq`, + :py:attr:`qp_solver_tol_comp` and + :py:attr:`qp_solver_tol_stat`. + """ + return max([self.__qp_solver_tol_eq, self.__qp_solver_tol_ineq,\ + self.__qp_solver_tol_comp, self.__qp_solver_tol_stat]) + + @property + def nlp_solver_tol_stat(self): + """ + NLP solver stationarity tolerance. + Type: float > 0 + Default: 1e-6 + """ + return self.__nlp_solver_tol_stat + + @property + def nlp_solver_tol_eq(self): + """NLP solver equality tolerance""" + return self.__nlp_solver_tol_eq + + @property + def alpha_min(self): + """Minimal step size for globalization MERIT_BACKTRACKING, default: 0.05.""" + return self.__alpha_min + + @property + def alpha_reduction(self): + """Step size reduction factor for globalization MERIT_BACKTRACKING, default: 0.7.""" + return self.__alpha_reduction + + @property + def line_search_use_sufficient_descent(self): + """ + Determines if sufficient descent (Armijo) condition is used in line search. + Type: int; 0 or 1; + default: 0. + """ + return self.__line_search_use_sufficient_descent + + @property + def eps_sufficient_descent(self): + """ + Factor for sufficient descent (Armijo) conditon, see line_search_use_sufficient_descent. + Type: float, + default: 1e-4. + """ + return self.__eps_sufficient_descent + + @property + def globalization_use_SOC(self): + """ + Determines if second order correction (SOC) is done when using MERIT_BACKTRACKING. + SOC is done if preliminary line search does not return full step. + Type: int; 0 or 1; + default: 0. + """ + return self.__globalization_use_SOC + + @property + def full_step_dual(self): + """ + Determines if dual variables are updated with full steps (alpha=1.0) when primal variables are updated with smaller step. + Type: int; 0 or 1; + default: 0. + """ + return self.__full_step_dual + + @property + def nlp_solver_tol_ineq(self): + """NLP solver inequality tolerance""" + return self.__nlp_solver_tol_ineq + + @property + def nlp_solver_ext_qp_res(self): + """Determines if residuals of QP are computed externally within NLP solver (for debugging) + + Type: int; 0 or 1; + Default: 0. + """ + return self.__nlp_solver_ext_qp_res + + @property + def nlp_solver_tol_comp(self): + """NLP solver complementarity tolerance""" + return self.__nlp_solver_tol_comp + + @property + def nlp_solver_max_iter(self): + """ + NLP solver maximum number of iterations. + Type: int > 0 + Default: 100 + """ + return self.__nlp_solver_max_iter + + @property + def time_steps(self): + """ + Vector with time steps between the shooting nodes. Set automatically to uniform discretization if :py:attr:`N` and :py:attr:`tf` are provided. + Default: :code:`None` + """ + return self.__time_steps + + @property + def shooting_nodes(self): + """ + Vector with the shooting nodes, time_steps will be computed from it automatically. + Default: :code:`None` + """ + return self.__shooting_nodes + + @property + def tf(self): + """ + Prediction horizon + Type: float > 0 + Default: :code:`None` + """ + return self.__tf + + @property + def Tsim(self): + """ + Time horizon for one integrator step. Automatically calculated as :py:attr:`tf`/:py:attr:`N`. + Default: :code:`None` + """ + return self.__Tsim + + @property + def print_level(self): + """ + Verbosity of printing. + Type: int >= 0 + Default: 0 + """ + return self.__print_level + + @property + def model_external_shared_lib_dir(self): + """Path to the .so lib""" + return self.__model_external_shared_lib_dir + + @property + def model_external_shared_lib_name(self): + """Name of the .so lib""" + return self.__model_external_shared_lib_name + + @property + def exact_hess_constr(self): + """ + Used in case of hessian_approx == 'EXACT'.\n + Can be used to turn off exact hessian contributions from the constraints module. + """ + return self.__exact_hess_constr + + @property + def exact_hess_cost(self): + """ + Used in case of hessian_approx == 'EXACT'.\n + Can be used to turn off exact hessian contributions from the cost module. + """ + return self.__exact_hess_cost + + @property + def exact_hess_dyn(self): + """ + Used in case of hessian_approx == 'EXACT'.\n + Can be used to turn off exact hessian contributions from the dynamics module. + """ + return self.__exact_hess_dyn + + @property + def ext_cost_num_hess(self): + """ + Determines if custom hessian approximation for cost contribution is used (> 0).\n + Or if hessian contribution is evaluated exactly using CasADi external function (=0 - default). + """ + return self.__ext_cost_num_hess + + @qp_solver.setter + def qp_solver(self, qp_solver): + qp_solvers = ('PARTIAL_CONDENSING_HPIPM', \ + 'FULL_CONDENSING_QPOASES', 'FULL_CONDENSING_HPIPM', \ + 'PARTIAL_CONDENSING_QPDUNES', 'PARTIAL_CONDENSING_OSQP', \ + 'FULL_CONDENSING_DAQP') + if qp_solver in qp_solvers: + self.__qp_solver = qp_solver + else: + raise Exception('Invalid qp_solver value. Possible values are:\n\n' \ + + ',\n'.join(qp_solvers) + '.\n\nYou have: ' + qp_solver + '.\n\n') + + @regularize_method.setter + def regularize_method(self, regularize_method): + regularize_methods = ('NO_REGULARIZE', 'MIRROR', 'PROJECT', \ + 'PROJECT_REDUC_HESS', 'CONVEXIFY') + if regularize_method in regularize_methods: + self.__regularize_method = regularize_method + else: + raise Exception('Invalid regularize_method value. Possible values are:\n\n' \ + + ',\n'.join(regularize_methods) + '.\n\nYou have: ' + regularize_method + '.\n\n') + + @collocation_type.setter + def collocation_type(self, collocation_type): + collocation_types = ('GAUSS_RADAU_IIA', 'GAUSS_LEGENDRE') + if collocation_type in collocation_types: + self.__collocation_type = collocation_type + else: + raise Exception('Invalid collocation_type value. Possible values are:\n\n' \ + + ',\n'.join(collocation_types) + '.\n\nYou have: ' + collocation_type + '.\n\n') + + @hpipm_mode.setter + def hpipm_mode(self, hpipm_mode): + hpipm_modes = ('BALANCE', 'SPEED_ABS', 'SPEED', 'ROBUST') + if hpipm_mode in hpipm_modes: + self.__hpipm_mode = hpipm_mode + else: + raise Exception('Invalid hpipm_mode value. Possible values are:\n\n' \ + + ',\n'.join(hpipm_modes) + '.\n\nYou have: ' + hpipm_mode + '.\n\n') + + @ext_fun_compile_flags.setter + def ext_fun_compile_flags(self, ext_fun_compile_flags): + if isinstance(ext_fun_compile_flags, str): + self.__ext_fun_compile_flags = ext_fun_compile_flags + else: + raise Exception('Invalid ext_fun_compile_flags, expected a string.\n') + + + @custom_update_filename.setter + def custom_update_filename(self, custom_update_filename): + if isinstance(custom_update_filename, str): + self.__custom_update_filename = custom_update_filename + else: + raise Exception('Invalid custom_update_filename, expected a string.\n') + + @custom_templates.setter + def custom_templates(self, custom_templates): + if not isinstance(custom_templates, list): + raise Exception('Invalid custom_templates, expected a list.\n') + for tup in custom_templates: + if not isinstance(tup, tuple): + raise Exception('Invalid custom_templates, shoubld be list of tuples.\n') + for s in tup: + if not isinstance(s, str): + raise Exception('Invalid custom_templates, shoubld be list of tuples of strings.\n') + self.__custom_templates = custom_templates + + @custom_update_header_filename.setter + def custom_update_header_filename(self, custom_update_header_filename): + if isinstance(custom_update_header_filename, str): + self.__custom_update_header_filename = custom_update_header_filename + else: + raise Exception('Invalid custom_update_header_filename, expected a string.\n') + + @custom_update_copy.setter + def custom_update_copy(self, custom_update_copy): + if isinstance(custom_update_copy, bool): + self.__custom_update_copy = custom_update_copy + else: + raise Exception('Invalid custom_update_copy, expected a bool.\n') + + @hessian_approx.setter + def hessian_approx(self, hessian_approx): + hessian_approxs = ('GAUSS_NEWTON', 'EXACT') + if hessian_approx in hessian_approxs: + self.__hessian_approx = hessian_approx + else: + raise Exception('Invalid hessian_approx value. Possible values are:\n\n' \ + + ',\n'.join(hessian_approxs) + '.\n\nYou have: ' + hessian_approx + '.\n\n') + + @integrator_type.setter + def integrator_type(self, integrator_type): + integrator_types = ('ERK', 'IRK', 'GNSF', 'DISCRETE', 'LIFTED_IRK') + if integrator_type in integrator_types: + self.__integrator_type = integrator_type + else: + raise Exception('Invalid integrator_type value. Possible values are:\n\n' \ + + ',\n'.join(integrator_types) + '.\n\nYou have: ' + integrator_type + '.\n\n') + + @tf.setter + def tf(self, tf): + self.__tf = tf + + @time_steps.setter + def time_steps(self, time_steps): + if isinstance(time_steps, np.ndarray): + if len(time_steps.shape) == 1: + self.__time_steps = time_steps + else: + raise Exception('Invalid time_steps, expected np.ndarray of shape (N,).') + else: + raise Exception('Invalid time_steps, expected np.ndarray.') + + @shooting_nodes.setter + def shooting_nodes(self, shooting_nodes): + if isinstance(shooting_nodes, np.ndarray): + if len(shooting_nodes.shape) == 1: + self.__shooting_nodes = shooting_nodes + else: + raise Exception('Invalid shooting_nodes, expected np.ndarray of shape (N+1,).') + else: + raise Exception('Invalid shooting_nodes, expected np.ndarray.') + + @Tsim.setter + def Tsim(self, Tsim): + self.__Tsim = Tsim + + @globalization.setter + def globalization(self, globalization): + globalization_types = ('MERIT_BACKTRACKING', 'FIXED_STEP') + if globalization in globalization_types: + self.__globalization = globalization + else: + raise Exception('Invalid globalization value. Possible values are:\n\n' \ + + ',\n'.join(globalization_types) + '.\n\nYou have: ' + globalization + '.\n\n') + + @alpha_min.setter + def alpha_min(self, alpha_min): + self.__alpha_min = alpha_min + + @alpha_reduction.setter + def alpha_reduction(self, alpha_reduction): + self.__alpha_reduction = alpha_reduction + + @line_search_use_sufficient_descent.setter + def line_search_use_sufficient_descent(self, line_search_use_sufficient_descent): + if line_search_use_sufficient_descent in [0, 1]: + self.__line_search_use_sufficient_descent = line_search_use_sufficient_descent + else: + raise Exception(f'Invalid value for line_search_use_sufficient_descent. Possible values are 0, 1, got {line_search_use_sufficient_descent}') + + @globalization_use_SOC.setter + def globalization_use_SOC(self, globalization_use_SOC): + if globalization_use_SOC in [0, 1]: + self.__globalization_use_SOC = globalization_use_SOC + else: + raise Exception(f'Invalid value for globalization_use_SOC. Possible values are 0, 1, got {globalization_use_SOC}') + + @full_step_dual.setter + def full_step_dual(self, full_step_dual): + if full_step_dual in [0, 1]: + self.__full_step_dual = full_step_dual + else: + raise Exception(f'Invalid value for full_step_dual. Possible values are 0, 1, got {full_step_dual}') + + @eps_sufficient_descent.setter + def eps_sufficient_descent(self, eps_sufficient_descent): + if isinstance(eps_sufficient_descent, float) and eps_sufficient_descent > 0: + self.__eps_sufficient_descent = eps_sufficient_descent + else: + raise Exception('Invalid eps_sufficient_descent value. eps_sufficient_descent must be a positive float.') + + @sim_method_num_stages.setter + def sim_method_num_stages(self, sim_method_num_stages): + + # if isinstance(sim_method_num_stages, int): + # self.__sim_method_num_stages = sim_method_num_stages + # else: + # raise Exception('Invalid sim_method_num_stages value. sim_method_num_stages must be an integer.') + + self.__sim_method_num_stages = sim_method_num_stages + + @sim_method_num_steps.setter + def sim_method_num_steps(self, sim_method_num_steps): + + # if isinstance(sim_method_num_steps, int): + # self.__sim_method_num_steps = sim_method_num_steps + # else: + # raise Exception('Invalid sim_method_num_steps value. sim_method_num_steps must be an integer.') + self.__sim_method_num_steps = sim_method_num_steps + + + @sim_method_newton_iter.setter + def sim_method_newton_iter(self, sim_method_newton_iter): + + if isinstance(sim_method_newton_iter, int): + self.__sim_method_newton_iter = sim_method_newton_iter + else: + raise Exception('Invalid sim_method_newton_iter value. sim_method_newton_iter must be an integer.') + + @sim_method_jac_reuse.setter + def sim_method_jac_reuse(self, sim_method_jac_reuse): + # if sim_method_jac_reuse in (True, False): + self.__sim_method_jac_reuse = sim_method_jac_reuse + # else: + # raise Exception('Invalid sim_method_jac_reuse value. sim_method_jac_reuse must be a Boolean.') + + @nlp_solver_type.setter + def nlp_solver_type(self, nlp_solver_type): + nlp_solver_types = ('SQP', 'SQP_RTI') + if nlp_solver_type in nlp_solver_types: + self.__nlp_solver_type = nlp_solver_type + else: + raise Exception('Invalid nlp_solver_type value. Possible values are:\n\n' \ + + ',\n'.join(nlp_solver_types) + '.\n\nYou have: ' + nlp_solver_type + '.\n\n') + + @nlp_solver_step_length.setter + def nlp_solver_step_length(self, nlp_solver_step_length): + if isinstance(nlp_solver_step_length, float) and nlp_solver_step_length > 0: + self.__nlp_solver_step_length = nlp_solver_step_length + else: + raise Exception('Invalid nlp_solver_step_length value. nlp_solver_step_length must be a positive float.') + + @levenberg_marquardt.setter + def levenberg_marquardt(self, levenberg_marquardt): + if isinstance(levenberg_marquardt, float) and levenberg_marquardt >= 0: + self.__levenberg_marquardt = levenberg_marquardt + else: + raise Exception('Invalid levenberg_marquardt value. levenberg_marquardt must be a positive float.') + + @qp_solver_iter_max.setter + def qp_solver_iter_max(self, qp_solver_iter_max): + if isinstance(qp_solver_iter_max, int) and qp_solver_iter_max > 0: + self.__qp_solver_iter_max = qp_solver_iter_max + else: + raise Exception('Invalid qp_solver_iter_max value. qp_solver_iter_max must be a positive int.') + + @qp_solver_ric_alg.setter + def qp_solver_ric_alg(self, qp_solver_ric_alg): + if qp_solver_ric_alg in [0, 1]: + self.__qp_solver_ric_alg = qp_solver_ric_alg + else: + raise Exception(f'Invalid qp_solver_ric_alg value. qp_solver_ric_alg must be in [0, 1], got {qp_solver_ric_alg}.') + + @qp_solver_cond_ric_alg.setter + def qp_solver_cond_ric_alg(self, qp_solver_cond_ric_alg): + if qp_solver_cond_ric_alg in [0, 1]: + self.__qp_solver_cond_ric_alg = qp_solver_cond_ric_alg + else: + raise Exception(f'Invalid qp_solver_cond_ric_alg value. qp_solver_cond_ric_alg must be in [0, 1], got {qp_solver_cond_ric_alg}.') + + + @qp_solver_cond_N.setter + def qp_solver_cond_N(self, qp_solver_cond_N): + if isinstance(qp_solver_cond_N, int) and qp_solver_cond_N >= 0: + self.__qp_solver_cond_N = qp_solver_cond_N + else: + raise Exception('Invalid qp_solver_cond_N value. qp_solver_cond_N must be a positive int.') + + @qp_solver_warm_start.setter + def qp_solver_warm_start(self, qp_solver_warm_start): + if qp_solver_warm_start in [0, 1, 2]: + self.__qp_solver_warm_start = qp_solver_warm_start + else: + raise Exception('Invalid qp_solver_warm_start value. qp_solver_warm_start must be 0 or 1 or 2.') + + @qp_tol.setter + def qp_tol(self, qp_tol): + if isinstance(qp_tol, float) and qp_tol > 0: + self.__qp_solver_tol_eq = qp_tol + self.__qp_solver_tol_ineq = qp_tol + self.__qp_solver_tol_stat = qp_tol + self.__qp_solver_tol_comp = qp_tol + else: + raise Exception('Invalid qp_tol value. qp_tol must be a positive float.') + + @qp_solver_tol_stat.setter + def qp_solver_tol_stat(self, qp_solver_tol_stat): + if isinstance(qp_solver_tol_stat, float) and qp_solver_tol_stat > 0: + self.__qp_solver_tol_stat = qp_solver_tol_stat + else: + raise Exception('Invalid qp_solver_tol_stat value. qp_solver_tol_stat must be a positive float.') + + @qp_solver_tol_eq.setter + def qp_solver_tol_eq(self, qp_solver_tol_eq): + if isinstance(qp_solver_tol_eq, float) and qp_solver_tol_eq > 0: + self.__qp_solver_tol_eq = qp_solver_tol_eq + else: + raise Exception('Invalid qp_solver_tol_eq value. qp_solver_tol_eq must be a positive float.') + + @qp_solver_tol_ineq.setter + def qp_solver_tol_ineq(self, qp_solver_tol_ineq): + if isinstance(qp_solver_tol_ineq, float) and qp_solver_tol_ineq > 0: + self.__qp_solver_tol_ineq = qp_solver_tol_ineq + else: + raise Exception('Invalid qp_solver_tol_ineq value. qp_solver_tol_ineq must be a positive float.') + + @qp_solver_tol_comp.setter + def qp_solver_tol_comp(self, qp_solver_tol_comp): + if isinstance(qp_solver_tol_comp, float) and qp_solver_tol_comp > 0: + self.__qp_solver_tol_comp = qp_solver_tol_comp + else: + raise Exception('Invalid qp_solver_tol_comp value. qp_solver_tol_comp must be a positive float.') + + @tol.setter + def tol(self, tol): + if isinstance(tol, float) and tol > 0: + self.__nlp_solver_tol_eq = tol + self.__nlp_solver_tol_ineq = tol + self.__nlp_solver_tol_stat = tol + self.__nlp_solver_tol_comp = tol + else: + raise Exception('Invalid tol value. tol must be a positive float.') + + @nlp_solver_tol_stat.setter + def nlp_solver_tol_stat(self, nlp_solver_tol_stat): + if isinstance(nlp_solver_tol_stat, float) and nlp_solver_tol_stat > 0: + self.__nlp_solver_tol_stat = nlp_solver_tol_stat + else: + raise Exception('Invalid nlp_solver_tol_stat value. nlp_solver_tol_stat must be a positive float.') + + @nlp_solver_tol_eq.setter + def nlp_solver_tol_eq(self, nlp_solver_tol_eq): + if isinstance(nlp_solver_tol_eq, float) and nlp_solver_tol_eq > 0: + self.__nlp_solver_tol_eq = nlp_solver_tol_eq + else: + raise Exception('Invalid nlp_solver_tol_eq value. nlp_solver_tol_eq must be a positive float.') + + @nlp_solver_tol_ineq.setter + def nlp_solver_tol_ineq(self, nlp_solver_tol_ineq): + if isinstance(nlp_solver_tol_ineq, float) and nlp_solver_tol_ineq > 0: + self.__nlp_solver_tol_ineq = nlp_solver_tol_ineq + else: + raise Exception('Invalid nlp_solver_tol_ineq value. nlp_solver_tol_ineq must be a positive float.') + + @nlp_solver_ext_qp_res.setter + def nlp_solver_ext_qp_res(self, nlp_solver_ext_qp_res): + if nlp_solver_ext_qp_res in [0, 1]: + self.__nlp_solver_ext_qp_res = nlp_solver_ext_qp_res + else: + raise Exception('Invalid nlp_solver_ext_qp_res value. nlp_solver_ext_qp_res must be in [0, 1].') + + @nlp_solver_tol_comp.setter + def nlp_solver_tol_comp(self, nlp_solver_tol_comp): + if isinstance(nlp_solver_tol_comp, float) and nlp_solver_tol_comp > 0: + self.__nlp_solver_tol_comp = nlp_solver_tol_comp + else: + raise Exception('Invalid nlp_solver_tol_comp value. nlp_solver_tol_comp must be a positive float.') + + @nlp_solver_max_iter.setter + def nlp_solver_max_iter(self, nlp_solver_max_iter): + + if isinstance(nlp_solver_max_iter, int) and nlp_solver_max_iter > 0: + self.__nlp_solver_max_iter = nlp_solver_max_iter + else: + raise Exception('Invalid nlp_solver_max_iter value. nlp_solver_max_iter must be a positive int.') + + @print_level.setter + def print_level(self, print_level): + if isinstance(print_level, int) and print_level >= 0: + self.__print_level = print_level + else: + raise Exception('Invalid print_level value. print_level takes one of the values >=0.') + + @model_external_shared_lib_dir.setter + def model_external_shared_lib_dir(self, model_external_shared_lib_dir): + if isinstance(model_external_shared_lib_dir, str) : + self.__model_external_shared_lib_dir = model_external_shared_lib_dir + else: + raise Exception('Invalid model_external_shared_lib_dir value. Str expected.' \ + + '.\n\nYou have: ' + type(model_external_shared_lib_dir) + '.\n\n') + + @model_external_shared_lib_name.setter + def model_external_shared_lib_name(self, model_external_shared_lib_name): + if isinstance(model_external_shared_lib_name, str) : + if model_external_shared_lib_name[-3:] == '.so' : + raise Exception('Invalid model_external_shared_lib_name value. Remove the .so extension.' \ + + '.\n\nYou have: ' + type(model_external_shared_lib_name) + '.\n\n') + else : + self.__model_external_shared_lib_name = model_external_shared_lib_name + else: + raise Exception('Invalid model_external_shared_lib_name value. Str expected.' \ + + '.\n\nYou have: ' + type(model_external_shared_lib_name) + '.\n\n') + + @exact_hess_constr.setter + def exact_hess_constr(self, exact_hess_constr): + if exact_hess_constr in [0, 1]: + self.__exact_hess_constr = exact_hess_constr + else: + raise Exception('Invalid exact_hess_constr value. exact_hess_constr takes one of the values 0, 1.') + + @exact_hess_cost.setter + def exact_hess_cost(self, exact_hess_cost): + if exact_hess_cost in [0, 1]: + self.__exact_hess_cost = exact_hess_cost + else: + raise Exception('Invalid exact_hess_cost value. exact_hess_cost takes one of the values 0, 1.') + + @exact_hess_dyn.setter + def exact_hess_dyn(self, exact_hess_dyn): + if exact_hess_dyn in [0, 1]: + self.__exact_hess_dyn = exact_hess_dyn + else: + raise Exception('Invalid exact_hess_dyn value. exact_hess_dyn takes one of the values 0, 1.') + + @ext_cost_num_hess.setter + def ext_cost_num_hess(self, ext_cost_num_hess): + if ext_cost_num_hess in [0, 1]: + self.__ext_cost_num_hess = ext_cost_num_hess + else: + raise Exception('Invalid ext_cost_num_hess value. ext_cost_num_hess takes one of the values 0, 1.') + + def set(self, attr, value): + setattr(self, attr, value) + + +class AcadosOcp: + """ + Class containing the full description of the optimal control problem. + This object can be used to create an :py:class:`acados_template.acados_ocp_solver.AcadosOcpSolver`. + + The class has the following properties that can be modified to formulate a specific OCP, see below: + + - :py:attr:`dims` of type :py:class:`acados_template.acados_ocp.AcadosOcpDims` + - :py:attr:`model` of type :py:class:`acados_template.acados_model.AcadosModel` + - :py:attr:`cost` of type :py:class:`acados_template.acados_ocp.AcadosOcpCost` + - :py:attr:`constraints` of type :py:class:`acados_template.acados_ocp.AcadosOcpConstraints` + - :py:attr:`solver_options` of type :py:class:`acados_template.acados_ocp.AcadosOcpOptions` + + - :py:attr:`acados_include_path` (set automatically) + - :py:attr:`shared_lib_ext` (set automatically) + - :py:attr:`acados_lib_path` (set automatically) + - :py:attr:`parameter_values` - used to initialize the parameters (can be changed) + """ + def __init__(self, acados_path=''): + """ + Keyword arguments: + acados_path -- path of your acados installation + """ + if acados_path == '': + acados_path = get_acados_path() + + self.dims = AcadosOcpDims() + """Dimension definitions, type :py:class:`acados_template.acados_ocp.AcadosOcpDims`""" + self.model = AcadosModel() + """Model definitions, type :py:class:`acados_template.acados_model.AcadosModel`""" + self.cost = AcadosOcpCost() + """Cost definitions, type :py:class:`acados_template.acados_ocp.AcadosOcpCost`""" + self.constraints = AcadosOcpConstraints() + """Constraints definitions, type :py:class:`acados_template.acados_ocp.AcadosOcpConstraints`""" + self.solver_options = AcadosOcpOptions() + """Solver Options, type :py:class:`acados_template.acados_ocp.AcadosOcpOptions`""" + + self.acados_include_path = os.path.join(acados_path, 'include').replace(os.sep, '/') # the replace part is important on Windows for CMake + """Path to acados include directory (set automatically), type: `string`""" + self.acados_lib_path = os.path.join(acados_path, 'lib').replace(os.sep, '/') # the replace part is important on Windows for CMake + """Path to where acados library is located, type: `string`""" + self.shared_lib_ext = get_lib_ext() + + # get cython paths + from sysconfig import get_paths + self.cython_include_dirs = [np.get_include(), get_paths()['include']] + + self.__parameter_values = np.array([]) + self.__problem_class = 'OCP' + + self.code_export_directory = 'c_generated_code' + """Path to where code will be exported. Default: `c_generated_code`.""" + + @property + def parameter_values(self): + """:math:`p` - initial values for parameter - can be updated stagewise""" + return self.__parameter_values + + @parameter_values.setter + def parameter_values(self, parameter_values): + if isinstance(parameter_values, np.ndarray): + self.__parameter_values = parameter_values + else: + raise Exception('Invalid parameter_values value. ' + + f'Expected numpy array, got {type(parameter_values)}.') + + def set(self, attr, value): + # tokenize string + tokens = attr.split('_', 1) + if len(tokens) > 1: + setter_to_call = getattr(getattr(self, tokens[0]), 'set') + else: + setter_to_call = getattr(self, 'set') + + setter_to_call(tokens[1], value) + + return diff --git a/third_party/acados/acados_template/acados_ocp_solver.py b/third_party/acados/acados_template/acados_ocp_solver.py new file mode 100644 index 0000000000..ffc9cf4b0e --- /dev/null +++ b/third_party/acados/acados_template/acados_ocp_solver.py @@ -0,0 +1,1991 @@ +# -*- coding: future_fstrings -*- +# +# Copyright (c) The acados authors. +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + +import sys +import os +import json +import numpy as np +from datetime import datetime +import importlib +import shutil + +from subprocess import DEVNULL, call, STDOUT + +from ctypes import POINTER, cast, CDLL, c_void_p, c_char_p, c_double, c_int, c_int64, byref + +from copy import deepcopy +from pathlib import Path + +from .casadi_function_generation import generate_c_code_explicit_ode, \ + generate_c_code_implicit_ode, generate_c_code_gnsf, generate_c_code_discrete_dynamics, \ + generate_c_code_constraint, generate_c_code_nls_cost, generate_c_code_conl_cost, \ + generate_c_code_external_cost +from .gnsf.detect_gnsf_structure import detect_gnsf_structure +from .acados_ocp import AcadosOcp +from .acados_model import AcadosModel +from .utils import is_column, is_empty, casadi_length, render_template,\ + format_class_dict, make_object_json_dumpable, make_model_consistent,\ + set_up_imported_gnsf_model, get_ocp_nlp_layout, get_python_interface_path, get_lib_ext, check_casadi_version +from .builders import CMakeBuilder + + +def make_ocp_dims_consistent(acados_ocp: AcadosOcp): + dims = acados_ocp.dims + cost = acados_ocp.cost + constraints = acados_ocp.constraints + model = acados_ocp.model + opts = acados_ocp.solver_options + + # nx + if is_column(model.x): + dims.nx = casadi_length(model.x) + else: + raise Exception('model.x should be column vector!') + + # nu + if is_empty(model.u): + dims.nu = 0 + else: + dims.nu = casadi_length(model.u) + + # nz + if is_empty(model.z): + dims.nz = 0 + else: + dims.nz = casadi_length(model.z) + + # np + if is_empty(model.p): + dims.np = 0 + else: + dims.np = casadi_length(model.p) + if acados_ocp.parameter_values.shape[0] != dims.np: + raise Exception('inconsistent dimension np, regarding model.p and parameter_values.' + \ + f'\nGot np = {dims.np}, acados_ocp.parameter_values.shape = {acados_ocp.parameter_values.shape[0]}\n') + + ## cost + # initial stage - if not set, copy fields from path constraints + if cost.cost_type_0 is None: + cost.cost_type_0 = cost.cost_type + cost.W_0 = cost.W + cost.Vx_0 = cost.Vx + cost.Vu_0 = cost.Vu + cost.Vz_0 = cost.Vz + cost.yref_0 = cost.yref + cost.cost_ext_fun_type_0 = cost.cost_ext_fun_type + model.cost_y_expr_0 = model.cost_y_expr + model.cost_expr_ext_cost_0 = model.cost_expr_ext_cost + model.cost_expr_ext_cost_custom_hess_0 = model.cost_expr_ext_cost_custom_hess + + model.cost_psi_expr_0 = model.cost_psi_expr + model.cost_r_in_psi_expr_0 = model.cost_r_in_psi_expr + + if cost.cost_type_0 == 'LINEAR_LS': + ny_0 = cost.W_0.shape[0] + if cost.Vx_0.shape[0] != ny_0 or cost.Vu_0.shape[0] != ny_0: + raise Exception('inconsistent dimension ny_0, regarding W_0, Vx_0, Vu_0.' + \ + f'\nGot W_0[{cost.W_0.shape}], Vx_0[{cost.Vx_0.shape}], Vu_0[{cost.Vu_0.shape}]\n') + if dims.nz != 0 and cost.Vz_0.shape[0] != ny_0: + raise Exception('inconsistent dimension ny_0, regarding W_0, Vx_0, Vu_0, Vz_0.' + \ + f'\nGot W_0[{cost.W_0.shape}], Vx_0[{cost.Vx_0.shape}], Vu_0[{cost.Vu_0.shape}], Vz_0[{cost.Vz_0.shape}]\n') + if cost.Vx_0.shape[1] != dims.nx and ny_0 != 0: + raise Exception('inconsistent dimension: Vx_0 should have nx columns.') + if cost.Vu_0.shape[1] != dims.nu and ny_0 != 0: + raise Exception('inconsistent dimension: Vu_0 should have nu columns.') + if cost.yref_0.shape[0] != ny_0: + raise Exception('inconsistent dimension: regarding W_0, yref_0.' + \ + f'\nGot W_0[{cost.W_0.shape}], yref_0[{cost.yref_0.shape}]\n') + dims.ny_0 = ny_0 + + elif cost.cost_type_0 == 'NONLINEAR_LS': + ny_0 = cost.W_0.shape[0] + if is_empty(model.cost_y_expr_0) and ny_0 != 0: + raise Exception('inconsistent dimension ny_0: regarding W_0, cost_y_expr.') + elif casadi_length(model.cost_y_expr_0) != ny_0: + raise Exception('inconsistent dimension ny_0: regarding W_0, cost_y_expr.') + if cost.yref_0.shape[0] != ny_0: + raise Exception('inconsistent dimension: regarding W_0, yref_0.' + \ + f'\nGot W_0[{cost.W.shape}], yref_0[{cost.yref_0.shape}]\n') + dims.ny_0 = ny_0 + + elif cost.cost_type_0 == 'CONVEX_OVER_NONLINEAR': + if is_empty(model.cost_y_expr_0): + raise Exception('cost_y_expr_0 and/or cost_y_expr not provided.') + ny_0 = casadi_length(model.cost_y_expr_0) + if is_empty(model.cost_r_in_psi_expr_0) or casadi_length(model.cost_r_in_psi_expr_0) != ny_0: + raise Exception('inconsistent dimension ny_0: regarding cost_y_expr_0 and cost_r_in_psi_0.') + if is_empty(model.cost_psi_expr_0) or casadi_length(model.cost_psi_expr_0) != 1: + raise Exception('cost_psi_expr_0 not provided or not scalar-valued.') + if cost.yref_0.shape[0] != ny_0: + raise Exception('inconsistent dimension: regarding yref_0 and cost_y_expr_0, cost_r_in_psi_0.') + dims.ny_0 = ny_0 + + if not (opts.hessian_approx=='EXACT' and opts.exact_hess_cost==False) and opts.hessian_approx != 'GAUSS_NEWTON': + raise Exception("\nWith CONVEX_OVER_NONLINEAR cost type, possible Hessian approximations are:\n" + "GAUSS_NEWTON or EXACT with 'exact_hess_cost' == False.\n") + + elif cost.cost_type_0 == 'EXTERNAL': + if opts.hessian_approx == 'GAUSS_NEWTON' and opts.ext_cost_num_hess == 0 and model.cost_expr_ext_cost_custom_hess_0 is None: + print("\nWARNING: Gauss-Newton Hessian approximation with EXTERNAL cost type not possible!\n" + "got cost_type_0: EXTERNAL, hessian_approx: 'GAUSS_NEWTON.'\n" + "GAUSS_NEWTON hessian is only supported for cost_types [NON]LINEAR_LS.\n" + "If you continue, acados will proceed computing the exact hessian for the cost term.\n" + "Note: There is also the option to use the external cost module with a numerical hessian approximation (see `ext_cost_num_hess`).\n" + "OR the option to provide a symbolic custom hessian approximation (see `cost_expr_ext_cost_custom_hess`).\n") + + # path + if cost.cost_type == 'LINEAR_LS': + ny = cost.W.shape[0] + if cost.Vx.shape[0] != ny or cost.Vu.shape[0] != ny: + raise Exception('inconsistent dimension ny, regarding W, Vx, Vu.' + \ + f'\nGot W[{cost.W.shape}], Vx[{cost.Vx.shape}], Vu[{cost.Vu.shape}]\n') + if dims.nz != 0 and cost.Vz.shape[0] != ny: + raise Exception('inconsistent dimension ny, regarding W, Vx, Vu, Vz.' + \ + f'\nGot W[{cost.W.shape}], Vx[{cost.Vx.shape}], Vu[{cost.Vu.shape}], Vz[{cost.Vz.shape}]\n') + if cost.Vx.shape[1] != dims.nx and ny != 0: + raise Exception('inconsistent dimension: Vx should have nx columns.') + if cost.Vu.shape[1] != dims.nu and ny != 0: + raise Exception('inconsistent dimension: Vu should have nu columns.') + if cost.yref.shape[0] != ny: + raise Exception('inconsistent dimension: regarding W, yref.' + \ + f'\nGot W[{cost.W.shape}], yref[{cost.yref.shape}]\n') + dims.ny = ny + + elif cost.cost_type == 'NONLINEAR_LS': + ny = cost.W.shape[0] + if is_empty(model.cost_y_expr) and ny != 0: + raise Exception('inconsistent dimension ny: regarding W, cost_y_expr.') + elif casadi_length(model.cost_y_expr) != ny: + raise Exception('inconsistent dimension ny: regarding W, cost_y_expr.') + if cost.yref.shape[0] != ny: + raise Exception('inconsistent dimension: regarding W, yref.' + \ + f'\nGot W[{cost.W.shape}], yref[{cost.yref.shape}]\n') + dims.ny = ny + + elif cost.cost_type == 'CONVEX_OVER_NONLINEAR': + if is_empty(model.cost_y_expr): + raise Exception('cost_y_expr and/or cost_y_expr not provided.') + ny = casadi_length(model.cost_y_expr) + if is_empty(model.cost_r_in_psi_expr) or casadi_length(model.cost_r_in_psi_expr) != ny: + raise Exception('inconsistent dimension ny: regarding cost_y_expr and cost_r_in_psi.') + if is_empty(model.cost_psi_expr) or casadi_length(model.cost_psi_expr) != 1: + raise Exception('cost_psi_expr not provided or not scalar-valued.') + if cost.yref.shape[0] != ny: + raise Exception('inconsistent dimension: regarding yref and cost_y_expr, cost_r_in_psi.') + dims.ny = ny + + if not (opts.hessian_approx=='EXACT' and opts.exact_hess_cost==False) and opts.hessian_approx != 'GAUSS_NEWTON': + raise Exception("\nWith CONVEX_OVER_NONLINEAR cost type, possible Hessian approximations are:\n" + "GAUSS_NEWTON or EXACT with 'exact_hess_cost' == False.\n") + + + elif cost.cost_type == 'EXTERNAL': + if opts.hessian_approx == 'GAUSS_NEWTON' and opts.ext_cost_num_hess == 0 and model.cost_expr_ext_cost_custom_hess is None: + print("\nWARNING: Gauss-Newton Hessian approximation with EXTERNAL cost type not possible!\n" + "got cost_type: EXTERNAL, hessian_approx: 'GAUSS_NEWTON.'\n" + "GAUSS_NEWTON hessian is only supported for cost_types [NON]LINEAR_LS.\n" + "If you continue, acados will proceed computing the exact hessian for the cost term.\n" + "Note: There is also the option to use the external cost module with a numerical hessian approximation (see `ext_cost_num_hess`).\n" + "OR the option to provide a symbolic custom hessian approximation (see `cost_expr_ext_cost_custom_hess`).\n") + + # terminal + if cost.cost_type_e == 'LINEAR_LS': + ny_e = cost.W_e.shape[0] + if cost.Vx_e.shape[0] != ny_e: + raise Exception('inconsistent dimension ny_e: regarding W_e, cost_y_expr_e.' + \ + f'\nGot W_e[{cost.W_e.shape}], Vx_e[{cost.Vx_e.shape}]') + if cost.Vx_e.shape[1] != dims.nx and ny_e != 0: + raise Exception('inconsistent dimension: Vx_e should have nx columns.') + if cost.yref_e.shape[0] != ny_e: + raise Exception('inconsistent dimension: regarding W_e, yref_e.') + dims.ny_e = ny_e + + elif cost.cost_type_e == 'NONLINEAR_LS': + ny_e = cost.W_e.shape[0] + if is_empty(model.cost_y_expr_e) and ny_e != 0: + raise Exception('inconsistent dimension ny_e: regarding W_e, cost_y_expr_e.') + elif casadi_length(model.cost_y_expr_e) != ny_e: + raise Exception('inconsistent dimension ny_e: regarding W_e, cost_y_expr_e.') + if cost.yref_e.shape[0] != ny_e: + raise Exception('inconsistent dimension: regarding W_e, yref_e.') + dims.ny_e = ny_e + + elif cost.cost_type_e == 'CONVEX_OVER_NONLINEAR': + if is_empty(model.cost_y_expr_e): + raise Exception('cost_y_expr_e not provided.') + ny_e = casadi_length(model.cost_y_expr_e) + if is_empty(model.cost_r_in_psi_expr_e) or casadi_length(model.cost_r_in_psi_expr_e) != ny_e: + raise Exception('inconsistent dimension ny_e: regarding cost_y_expr_e and cost_r_in_psi_e.') + if is_empty(model.cost_psi_expr_e) or casadi_length(model.cost_psi_expr_e) != 1: + raise Exception('cost_psi_expr_e not provided or not scalar-valued.') + if cost.yref_e.shape[0] != ny_e: + raise Exception('inconsistent dimension: regarding yref_e and cost_y_expr_e, cost_r_in_psi_e.') + dims.ny_e = ny_e + + if not (opts.hessian_approx=='EXACT' and opts.exact_hess_cost==False) and opts.hessian_approx != 'GAUSS_NEWTON': + raise Exception("\nWith CONVEX_OVER_NONLINEAR cost type, possible Hessian approximations are:\n" + "GAUSS_NEWTON or EXACT with 'exact_hess_cost' == False.\n") + + + + elif cost.cost_type_e == 'EXTERNAL': + if opts.hessian_approx == 'GAUSS_NEWTON' and opts.ext_cost_num_hess == 0 and model.cost_expr_ext_cost_custom_hess_e is None: + print("\nWARNING: Gauss-Newton Hessian approximation with EXTERNAL cost type not possible!\n" + "got cost_type_e: EXTERNAL, hessian_approx: 'GAUSS_NEWTON.'\n" + "GAUSS_NEWTON hessian is only supported for cost_types [NON]LINEAR_LS.\n" + "If you continue, acados will proceed computing the exact hessian for the cost term.\n" + "Note: There is also the option to use the external cost module with a numerical hessian approximation (see `ext_cost_num_hess`).\n" + "OR the option to provide a symbolic custom hessian approximation (see `cost_expr_ext_cost_custom_hess`).\n") + + ## constraints + # initial + this_shape = constraints.lbx_0.shape + other_shape = constraints.ubx_0.shape + if not this_shape == other_shape: + raise Exception('lbx_0, ubx_0 have different shapes!') + if not is_column(constraints.lbx_0): + raise Exception('lbx_0, ubx_0 must be column vectors!') + dims.nbx_0 = constraints.lbx_0.size + + if all(constraints.lbx_0 == constraints.ubx_0) and dims.nbx_0 == dims.nx \ + and dims.nbxe_0 is None \ + and (constraints.idxbxe_0.shape == constraints.idxbx_0.shape)\ + and all(constraints.idxbxe_0 == constraints.idxbx_0): + # case: x0 was set: nbx0 are all equlities. + dims.nbxe_0 = dims.nbx_0 + elif constraints.idxbxe_0 is not None: + dims.nbxe_0 = constraints.idxbxe_0.shape[0] + elif dims.nbxe_0 is None: + # case: x0 and idxbxe_0 were not set -> dont assume nbx0 to be equality constraints. + dims.nbxe_0 = 0 + + # path + nbx = constraints.idxbx.shape[0] + if constraints.ubx.shape[0] != nbx or constraints.lbx.shape[0] != nbx: + raise Exception('inconsistent dimension nbx, regarding idxbx, ubx, lbx.') + else: + dims.nbx = nbx + + nbu = constraints.idxbu.shape[0] + if constraints.ubu.shape[0] != nbu or constraints.lbu.shape[0] != nbu: + raise Exception('inconsistent dimension nbu, regarding idxbu, ubu, lbu.') + else: + dims.nbu = nbu + + ng = constraints.lg.shape[0] + if constraints.ug.shape[0] != ng or constraints.C.shape[0] != ng \ + or constraints.D.shape[0] != ng: + raise Exception('inconsistent dimension ng, regarding lg, ug, C, D.') + else: + dims.ng = ng + + if not is_empty(model.con_h_expr): + nh = casadi_length(model.con_h_expr) + else: + nh = 0 + + if constraints.uh.shape[0] != nh or constraints.lh.shape[0] != nh: + raise Exception('inconsistent dimension nh, regarding lh, uh, con_h_expr.') + else: + dims.nh = nh + + if is_empty(model.con_phi_expr): + dims.nphi = 0 + dims.nr = 0 + else: + dims.nphi = casadi_length(model.con_phi_expr) + if is_empty(model.con_r_expr): + raise Exception('convex over nonlinear constraints: con_r_expr but con_phi_expr is nonempty') + else: + dims.nr = casadi_length(model.con_r_expr) + + # terminal + nbx_e = constraints.idxbx_e.shape[0] + if constraints.ubx_e.shape[0] != nbx_e or constraints.lbx_e.shape[0] != nbx_e: + raise Exception('inconsistent dimension nbx_e, regarding idxbx_e, ubx_e, lbx_e.') + else: + dims.nbx_e = nbx_e + + ng_e = constraints.lg_e.shape[0] + if constraints.ug_e.shape[0] != ng_e or constraints.C_e.shape[0] != ng_e: + raise Exception('inconsistent dimension ng_e, regarding_e lg_e, ug_e, C_e.') + else: + dims.ng_e = ng_e + + if not is_empty(model.con_h_expr_e): + nh_e = casadi_length(model.con_h_expr_e) + else: + nh_e = 0 + + if constraints.uh_e.shape[0] != nh_e or constraints.lh_e.shape[0] != nh_e: + raise Exception('inconsistent dimension nh_e, regarding lh_e, uh_e, con_h_expr_e.') + else: + dims.nh_e = nh_e + + if is_empty(model.con_phi_expr_e): + dims.nphi_e = 0 + dims.nr_e = 0 + else: + dims.nphi_e = casadi_length(model.con_phi_expr_e) + if is_empty(model.con_r_expr_e): + raise Exception('convex over nonlinear constraints: con_r_expr_e but con_phi_expr_e is nonempty') + else: + dims.nr_e = casadi_length(model.con_r_expr_e) + + # Slack dimensions + nsbx = constraints.idxsbx.shape[0] + if nsbx > nbx: + raise Exception(f'inconsistent dimension nsbx = {nsbx}. Is greater than nbx = {nbx}.') + if is_empty(constraints.lsbx): + constraints.lsbx = np.zeros((nsbx,)) + elif constraints.lsbx.shape[0] != nsbx: + raise Exception('inconsistent dimension nsbx, regarding idxsbx, lsbx.') + if is_empty(constraints.usbx): + constraints.usbx = np.zeros((nsbx,)) + elif constraints.usbx.shape[0] != nsbx: + raise Exception('inconsistent dimension nsbx, regarding idxsbx, usbx.') + dims.nsbx = nsbx + + nsbu = constraints.idxsbu.shape[0] + if nsbu > nbu: + raise Exception(f'inconsistent dimension nsbu = {nsbu}. Is greater than nbu = {nbu}.') + if is_empty(constraints.lsbu): + constraints.lsbu = np.zeros((nsbu,)) + elif constraints.lsbu.shape[0] != nsbu: + raise Exception('inconsistent dimension nsbu, regarding idxsbu, lsbu.') + if is_empty(constraints.usbu): + constraints.usbu = np.zeros((nsbu,)) + elif constraints.usbu.shape[0] != nsbu: + raise Exception('inconsistent dimension nsbu, regarding idxsbu, usbu.') + dims.nsbu = nsbu + + nsh = constraints.idxsh.shape[0] + if nsh > nh: + raise Exception(f'inconsistent dimension nsh = {nsh}. Is greater than nh = {nh}.') + if is_empty(constraints.lsh): + constraints.lsh = np.zeros((nsh,)) + elif constraints.lsh.shape[0] != nsh: + raise Exception('inconsistent dimension nsh, regarding idxsh, lsh.') + if is_empty(constraints.ush): + constraints.ush = np.zeros((nsh,)) + elif constraints.ush.shape[0] != nsh: + raise Exception('inconsistent dimension nsh, regarding idxsh, ush.') + dims.nsh = nsh + + nsphi = constraints.idxsphi.shape[0] + if nsphi > dims.nphi: + raise Exception(f'inconsistent dimension nsphi = {nsphi}. Is greater than nphi = {dims.nphi}.') + if is_empty(constraints.lsphi): + constraints.lsphi = np.zeros((nsphi,)) + elif constraints.lsphi.shape[0] != nsphi: + raise Exception('inconsistent dimension nsphi, regarding idxsphi, lsphi.') + if is_empty(constraints.usphi): + constraints.usphi = np.zeros((nsphi,)) + elif constraints.usphi.shape[0] != nsphi: + raise Exception('inconsistent dimension nsphi, regarding idxsphi, usphi.') + dims.nsphi = nsphi + + nsg = constraints.idxsg.shape[0] + if nsg > ng: + raise Exception(f'inconsistent dimension nsg = {nsg}. Is greater than ng = {ng}.') + if is_empty(constraints.lsg): + constraints.lsg = np.zeros((nsg,)) + elif constraints.lsg.shape[0] != nsg: + raise Exception('inconsistent dimension nsg, regarding idxsg, lsg.') + if is_empty(constraints.usg): + constraints.usg = np.zeros((nsg,)) + elif constraints.usg.shape[0] != nsg: + raise Exception('inconsistent dimension nsg, regarding idxsg, usg.') + dims.nsg = nsg + + ns = nsbx + nsbu + nsh + nsg + nsphi + wrong_field = "" + if cost.Zl.shape[0] != ns: + wrong_field = "Zl" + dim = cost.Zl.shape[0] + elif cost.Zu.shape[0] != ns: + wrong_field = "Zu" + dim = cost.Zu.shape[0] + elif cost.zl.shape[0] != ns: + wrong_field = "zl" + dim = cost.zl.shape[0] + elif cost.zu.shape[0] != ns: + wrong_field = "zu" + dim = cost.zu.shape[0] + + if wrong_field != "": + raise Exception(f'Inconsistent size for field {wrong_field}, with dimension {dim}, \n\t'\ + + f'Detected ns = {ns} = nsbx + nsbu + nsg + nsh + nsphi.\n\t'\ + + f'With nsbx = {nsbx}, nsbu = {nsbu}, nsg = {nsg}, nsh = {nsh}, nsphi = {nsphi}') + + dims.ns = ns + + nsbx_e = constraints.idxsbx_e.shape[0] + if nsbx_e > nbx_e: + raise Exception(f'inconsistent dimension nsbx_e = {nsbx_e}. Is greater than nbx_e = {nbx_e}.') + if is_empty(constraints.lsbx_e): + constraints.lsbx_e = np.zeros((nsbx_e,)) + elif constraints.lsbx_e.shape[0] != nsbx_e: + raise Exception('inconsistent dimension nsbx_e, regarding idxsbx_e, lsbx_e.') + if is_empty(constraints.usbx_e): + constraints.usbx_e = np.zeros((nsbx_e,)) + elif constraints.usbx_e.shape[0] != nsbx_e: + raise Exception('inconsistent dimension nsbx_e, regarding idxsbx_e, usbx_e.') + dims.nsbx_e = nsbx_e + + nsh_e = constraints.idxsh_e.shape[0] + if nsh_e > nh_e: + raise Exception(f'inconsistent dimension nsh_e = {nsh_e}. Is greater than nh_e = {nh_e}.') + if is_empty(constraints.lsh_e): + constraints.lsh_e = np.zeros((nsh_e,)) + elif constraints.lsh_e.shape[0] != nsh_e: + raise Exception('inconsistent dimension nsh_e, regarding idxsh_e, lsh_e.') + if is_empty(constraints.ush_e): + constraints.ush_e = np.zeros((nsh_e,)) + elif constraints.ush_e.shape[0] != nsh_e: + raise Exception('inconsistent dimension nsh_e, regarding idxsh_e, ush_e.') + dims.nsh_e = nsh_e + + nsg_e = constraints.idxsg_e.shape[0] + if nsg_e > ng_e: + raise Exception(f'inconsistent dimension nsg_e = {nsg_e}. Is greater than ng_e = {ng_e}.') + if is_empty(constraints.lsg_e): + constraints.lsg_e = np.zeros((nsg_e,)) + elif constraints.lsg_e.shape[0] != nsg_e: + raise Exception('inconsistent dimension nsg_e, regarding idxsg_e, lsg_e.') + if is_empty(constraints.usg_e): + constraints.usg_e = np.zeros((nsg_e,)) + elif constraints.usg_e.shape[0] != nsg_e: + raise Exception('inconsistent dimension nsg_e, regarding idxsg_e, usg_e.') + dims.nsg_e = nsg_e + + nsphi_e = constraints.idxsphi_e.shape[0] + if nsphi_e > dims.nphi_e: + raise Exception(f'inconsistent dimension nsphi_e = {nsphi_e}. Is greater than nphi_e = {dims.nphi_e}.') + if is_empty(constraints.lsphi_e): + constraints.lsphi_e = np.zeros((nsphi_e,)) + elif constraints.lsphi_e.shape[0] != nsphi_e: + raise Exception('inconsistent dimension nsphi_e, regarding idxsphi_e, lsphi_e.') + if is_empty(constraints.usphi_e): + constraints.usphi_e = np.zeros((nsphi_e,)) + elif constraints.usphi_e.shape[0] != nsphi_e: + raise Exception('inconsistent dimension nsphi_e, regarding idxsphi_e, usphi_e.') + dims.nsphi_e = nsphi_e + + # terminal + ns_e = nsbx_e + nsh_e + nsg_e + nsphi_e + wrong_field = "" + if cost.Zl_e.shape[0] != ns_e: + wrong_field = "Zl_e" + dim = cost.Zl_e.shape[0] + elif cost.Zu_e.shape[0] != ns_e: + wrong_field = "Zu_e" + dim = cost.Zu_e.shape[0] + elif cost.zl_e.shape[0] != ns_e: + wrong_field = "zl_e" + dim = cost.zl_e.shape[0] + elif cost.zu_e.shape[0] != ns_e: + wrong_field = "zu_e" + dim = cost.zu_e.shape[0] + + if wrong_field != "": + raise Exception(f'Inconsistent size for field {wrong_field}, with dimension {dim}, \n\t'\ + + f'Detected ns_e = {ns_e} = nsbx_e + nsg_e + nsh_e + nsphi_e.\n\t'\ + + f'With nsbx_e = {nsbx_e}, nsg_e = {nsg_e}, nsh_e = {nsh_e}, nsphi_e = {nsphi_e}') + + dims.ns_e = ns_e + + # discretization + if is_empty(opts.time_steps) and is_empty(opts.shooting_nodes): + # uniform discretization + opts.time_steps = opts.tf / dims.N * np.ones((dims.N,)) + + elif not is_empty(opts.shooting_nodes): + if np.shape(opts.shooting_nodes)[0] != dims.N+1: + raise Exception('inconsistent dimension N, regarding shooting_nodes.') + + time_steps = opts.shooting_nodes[1:] - opts.shooting_nodes[0:-1] + # identify constant time_steps: due to numerical reasons the content of time_steps might vary a bit + avg_time_steps = np.average(time_steps) + # criterion for constant time step detection: the min/max difference in values normalized by the average + check_const_time_step = (np.max(time_steps)-np.min(time_steps)) / avg_time_steps + # if the criterion is small, we have a constant time_step + if check_const_time_step < 1e-9: + time_steps[:] = avg_time_steps # if we have a constant time_step: apply the average time_step + + opts.time_steps = time_steps + + elif (not is_empty(opts.time_steps)) and (not is_empty(opts.shooting_nodes)): + Exception('Please provide either time_steps or shooting_nodes for nonuniform discretization') + + tf = np.sum(opts.time_steps) + if (tf - opts.tf) / tf > 1e-15: + raise Exception(f'Inconsistent discretization: {opts.tf}'\ + f' = tf != sum(opts.time_steps) = {tf}.') + + # num_steps + if isinstance(opts.sim_method_num_steps, np.ndarray) and opts.sim_method_num_steps.size == 1: + opts.sim_method_num_steps = opts.sim_method_num_steps.item() + + if isinstance(opts.sim_method_num_steps, (int, float)) and opts.sim_method_num_steps % 1 == 0: + opts.sim_method_num_steps = opts.sim_method_num_steps * np.ones((dims.N,), dtype=np.int64) + elif isinstance(opts.sim_method_num_steps, np.ndarray) and opts.sim_method_num_steps.size == dims.N \ + and np.all(np.equal(np.mod(opts.sim_method_num_steps, 1), 0)): + opts.sim_method_num_steps = np.reshape(opts.sim_method_num_steps, (dims.N,)).astype(np.int64) + else: + raise Exception("Wrong value for sim_method_num_steps. Should be either int or array of ints of shape (N,).") + + # num_stages + if isinstance(opts.sim_method_num_stages, np.ndarray) and opts.sim_method_num_stages.size == 1: + opts.sim_method_num_stages = opts.sim_method_num_stages.item() + + if isinstance(opts.sim_method_num_stages, (int, float)) and opts.sim_method_num_stages % 1 == 0: + opts.sim_method_num_stages = opts.sim_method_num_stages * np.ones((dims.N,), dtype=np.int64) + elif isinstance(opts.sim_method_num_stages, np.ndarray) and opts.sim_method_num_stages.size == dims.N \ + and np.all(np.equal(np.mod(opts.sim_method_num_stages, 1), 0)): + opts.sim_method_num_stages = np.reshape(opts.sim_method_num_stages, (dims.N,)).astype(np.int64) + else: + raise Exception("Wrong value for sim_method_num_stages. Should be either int or array of ints of shape (N,).") + + # jac_reuse + if isinstance(opts.sim_method_jac_reuse, np.ndarray) and opts.sim_method_jac_reuse.size == 1: + opts.sim_method_jac_reuse = opts.sim_method_jac_reuse.item() + + if isinstance(opts.sim_method_jac_reuse, (int, float)) and opts.sim_method_jac_reuse % 1 == 0: + opts.sim_method_jac_reuse = opts.sim_method_jac_reuse * np.ones((dims.N,), dtype=np.int64) + elif isinstance(opts.sim_method_jac_reuse, np.ndarray) and opts.sim_method_jac_reuse.size == dims.N \ + and np.all(np.equal(np.mod(opts.sim_method_jac_reuse, 1), 0)): + opts.sim_method_jac_reuse = np.reshape(opts.sim_method_jac_reuse, (dims.N,)).astype(np.int64) + else: + raise Exception("Wrong value for sim_method_jac_reuse. Should be either int or array of ints of shape (N,).") + + +def get_simulink_default_opts(): + python_interface_path = get_python_interface_path() + abs_path = os.path.join(python_interface_path, 'simulink_default_opts.json') + with open(abs_path , 'r') as f: + simulink_default_opts = json.load(f) + return simulink_default_opts + + +def ocp_formulation_json_dump(acados_ocp, simulink_opts=None, json_file='acados_ocp_nlp.json'): + # Load acados_ocp_nlp structure description + ocp_layout = get_ocp_nlp_layout() + + # Copy input ocp object dictionary + ocp_nlp_dict = dict(deepcopy(acados_ocp).__dict__) + # TODO: maybe make one function with formatting + + for acados_struct, v in ocp_layout.items(): + # skip non dict attributes + if not isinstance(v, dict): + continue + # setattr(ocp_nlp, acados_struct, dict(getattr(acados_ocp, acados_struct).__dict__)) + # Copy ocp object attributes dictionaries + ocp_nlp_dict[acados_struct]=dict(getattr(acados_ocp, acados_struct).__dict__) + + ocp_nlp_dict = format_class_dict(ocp_nlp_dict) + + if simulink_opts is not None: + ocp_nlp_dict['simulink_opts'] = simulink_opts + + with open(json_file, 'w') as f: + json.dump(ocp_nlp_dict, f, default=make_object_json_dumpable, indent=4, sort_keys=True) + + + +def ocp_formulation_json_load(json_file='acados_ocp_nlp.json'): + # Load acados_ocp_nlp structure description + ocp_layout = get_ocp_nlp_layout() + + with open(json_file, 'r') as f: + ocp_nlp_json = json.load(f) + + ocp_nlp_dict = json2dict(ocp_nlp_json, ocp_nlp_json['dims']) + + # Instantiate AcadosOcp object + acados_ocp = AcadosOcp() + + # load class dict + acados_ocp.__dict__ = ocp_nlp_dict + + # load class attributes dict, dims, constraints, etc + for acados_struct, v in ocp_layout.items(): + # skip non dict attributes + if not isinstance(v, dict): + continue + acados_attribute = getattr(acados_ocp, acados_struct) + acados_attribute.__dict__ = ocp_nlp_dict[acados_struct] + setattr(acados_ocp, acados_struct, acados_attribute) + + return acados_ocp + + +def ocp_generate_external_functions(acados_ocp: AcadosOcp, model: AcadosModel): + + model = make_model_consistent(model) + + if acados_ocp.solver_options.hessian_approx == 'EXACT': + opts = dict(generate_hess=1) + else: + opts = dict(generate_hess=0) + + # create code_export_dir, model_dir + code_export_dir = acados_ocp.code_export_directory + opts['code_export_directory'] = code_export_dir + model_dir = os.path.join(code_export_dir, model.name + '_model') + if not os.path.exists(model_dir): + os.makedirs(model_dir) + + check_casadi_version() + # TODO: remove dir gen from all the generate_c_* functions + if acados_ocp.model.dyn_ext_fun_type == 'casadi': + if acados_ocp.solver_options.integrator_type == 'ERK': + generate_c_code_explicit_ode(model, opts) + elif acados_ocp.solver_options.integrator_type == 'IRK': + generate_c_code_implicit_ode(model, opts) + elif acados_ocp.solver_options.integrator_type == 'LIFTED_IRK': + generate_c_code_implicit_ode(model, opts) + elif acados_ocp.solver_options.integrator_type == 'GNSF': + generate_c_code_gnsf(model, opts) + elif acados_ocp.solver_options.integrator_type == 'DISCRETE': + generate_c_code_discrete_dynamics(model, opts) + else: + raise Exception("ocp_generate_external_functions: unknown integrator type.") + else: + target_location = os.path.join(code_export_dir, model_dir, model.dyn_generic_source) + shutil.copyfile(model.dyn_generic_source, target_location) + + if acados_ocp.dims.nphi > 0 or acados_ocp.dims.nh > 0: + generate_c_code_constraint(model, model.name, False, opts) + + if acados_ocp.dims.nphi_e > 0 or acados_ocp.dims.nh_e > 0: + generate_c_code_constraint(model, model.name, True, opts) + + if acados_ocp.cost.cost_type_0 == 'NONLINEAR_LS': + generate_c_code_nls_cost(model, model.name, 'initial', opts) + elif acados_ocp.cost.cost_type_0 == 'CONVEX_OVER_NONLINEAR': + generate_c_code_conl_cost(model, model.name, 'initial', opts) + elif acados_ocp.cost.cost_type_0 == 'EXTERNAL': + generate_c_code_external_cost(model, 'initial', opts) + + if acados_ocp.cost.cost_type == 'NONLINEAR_LS': + generate_c_code_nls_cost(model, model.name, 'path', opts) + elif acados_ocp.cost.cost_type == 'CONVEX_OVER_NONLINEAR': + generate_c_code_conl_cost(model, model.name, 'path', opts) + elif acados_ocp.cost.cost_type == 'EXTERNAL': + generate_c_code_external_cost(model, 'path', opts) + + if acados_ocp.cost.cost_type_e == 'NONLINEAR_LS': + generate_c_code_nls_cost(model, model.name, 'terminal', opts) + elif acados_ocp.cost.cost_type_e == 'CONVEX_OVER_NONLINEAR': + generate_c_code_conl_cost(model, model.name, 'terminal', opts) + elif acados_ocp.cost.cost_type_e == 'EXTERNAL': + generate_c_code_external_cost(model, 'terminal', opts) + + +def ocp_get_default_cmake_builder() -> CMakeBuilder: + """ + If :py:class:`~acados_template.acados_ocp_solver.AcadosOcpSolver` is used with `CMake` this function returns a good first setting. + :return: default :py:class:`~acados_template.builders.CMakeBuilder` + """ + cmake_builder = CMakeBuilder() + cmake_builder.options_on = ['BUILD_ACADOS_OCP_SOLVER_LIB'] + return cmake_builder + + + +def ocp_render_templates(acados_ocp: AcadosOcp, json_file, cmake_builder=None, simulink_opts=None): + + # setting up loader and environment + json_path = os.path.abspath(json_file) + + if not os.path.exists(json_path): + raise Exception(f'Path "{json_path}" not found!') + + # Render templates + template_list = __ocp_get_template_list(acados_ocp, cmake_builder=cmake_builder, simulink_opts=simulink_opts) + for tup in template_list: + if len(tup) > 2: + output_dir = tup[2] + else: + output_dir = acados_ocp.code_export_directory + render_template(tup[0], tup[1], output_dir, json_path) + + # Custom templates + acados_template_path = os.path.dirname(os.path.abspath(__file__)) + custom_template_glob = os.path.join(acados_template_path, 'custom_update_templates', '*') + for tup in acados_ocp.solver_options.custom_templates: + render_template(tup[0], tup[1], acados_ocp.code_export_directory, json_path, template_glob=custom_template_glob) + + return + + + +def __ocp_get_template_list(acados_ocp: AcadosOcp, cmake_builder=None, simulink_opts=None) -> list: + """ + returns a list of tuples in the form: + (input_filename, output_filname) + or + (input_filename, output_filname, output_directory) + """ + name = acados_ocp.model.name + code_export_directory = acados_ocp.code_export_directory + template_list = [] + + template_list.append(('main.in.c', f'main_{name}.c')) + template_list.append(('acados_solver.in.c', f'acados_solver_{name}.c')) + template_list.append(('acados_solver.in.h', f'acados_solver_{name}.h')) + template_list.append(('acados_solver.in.pxd', f'acados_solver.pxd')) + if cmake_builder is not None: + template_list.append(('CMakeLists.in.txt', 'CMakeLists.txt')) + else: + template_list.append(('Makefile.in', 'Makefile')) + + + # sim + template_list.append(('acados_sim_solver.in.c', f'acados_sim_solver_{name}.c')) + template_list.append(('acados_sim_solver.in.h', f'acados_sim_solver_{name}.h')) + template_list.append(('main_sim.in.c', f'main_sim_{name}.c')) + + # model + model_dir = os.path.join(code_export_directory, f'{name}_model') + template_list.append(('model.in.h', f'{name}_model.h', model_dir)) + # constraints + constraints_dir = os.path.join(code_export_directory, f'{name}_constraints') + template_list.append(('constraints.in.h', f'{name}_constraints.h', constraints_dir)) + # cost + cost_dir = os.path.join(code_export_directory, f'{name}_cost') + template_list.append(('cost.in.h', f'{name}_cost.h', cost_dir)) + + # Simulink + if simulink_opts is not None: + template_file = os.path.join('matlab_templates', 'acados_solver_sfun.in.c') + template_list.append((template_file, f'acados_solver_sfunction_{name}.c')) + template_file = os.path.join('matlab_templates', 'acados_solver_sfun.in.c') + template_list.append((template_file, f'make_sfun_{name}.m')) + + return template_list + + +def remove_x0_elimination(acados_ocp): + acados_ocp.constraints.idxbxe_0 = np.zeros((0,)) + acados_ocp.dims.nbxe_0 = 0 + + +class AcadosOcpSolver: + """ + Class to interact with the acados ocp solver C object. + + :param acados_ocp: type :py:class:`~acados_template.acados_ocp.AcadosOcp` - description of the OCP for acados + :param json_file: name for the json file used to render the templated code - default: acados_ocp_nlp.json + :param simulink_opts: Options to configure Simulink S-function blocks, mainly to activate possible Inputs and Outputs + """ + if sys.platform=="win32": + from ctypes import wintypes + from ctypes import WinDLL + dlclose = WinDLL('kernel32', use_last_error=True).FreeLibrary + dlclose.argtypes = [wintypes.HMODULE] + else: + dlclose = CDLL(None).dlclose + dlclose.argtypes = [c_void_p] + + @classmethod + def generate(cls, acados_ocp: AcadosOcp, json_file='acados_ocp_nlp.json', simulink_opts=None, cmake_builder: CMakeBuilder = None): + """ + Generates the code for an acados OCP solver, given the description in acados_ocp. + :param acados_ocp: type AcadosOcp - description of the OCP for acados + :param json_file: name for the json file used to render the templated code - default: `acados_ocp_nlp.json` + :param simulink_opts: Options to configure Simulink S-function blocks, mainly to activate possible inputs and + outputs; default: `None` + :param cmake_builder: type :py:class:`~acados_template.builders.CMakeBuilder` generate a `CMakeLists.txt` and use + the `CMake` pipeline instead of a `Makefile` (`CMake` seems to be the better option in conjunction with + `MS Visual Studio`); default: `None` + """ + model = acados_ocp.model + acados_ocp.code_export_directory = os.path.abspath(acados_ocp.code_export_directory) + + # make dims consistent + make_ocp_dims_consistent(acados_ocp) + + # module dependent post processing + if acados_ocp.solver_options.integrator_type == 'GNSF': + if 'gnsf_model' in acados_ocp.__dict__: + set_up_imported_gnsf_model(acados_ocp) + else: + detect_gnsf_structure(acados_ocp) + + if acados_ocp.solver_options.qp_solver == 'PARTIAL_CONDENSING_QPDUNES': + remove_x0_elimination(acados_ocp) + + # set integrator time automatically + acados_ocp.solver_options.Tsim = acados_ocp.solver_options.time_steps[0] + + # generate external functions + ocp_generate_external_functions(acados_ocp, model) + + # dump to json + acados_ocp.json_file = json_file + ocp_formulation_json_dump(acados_ocp, simulink_opts=simulink_opts, json_file=json_file) + + # render templates + ocp_render_templates(acados_ocp, json_file, cmake_builder=cmake_builder, simulink_opts=simulink_opts) + + # copy custom update function + if acados_ocp.solver_options.custom_update_filename != "" and acados_ocp.solver_options.custom_update_copy: + target_location = os.path.join(acados_ocp.code_export_directory, acados_ocp.solver_options.custom_update_filename) + shutil.copyfile(acados_ocp.solver_options.custom_update_filename, target_location) + if acados_ocp.solver_options.custom_update_header_filename != "" and acados_ocp.solver_options.custom_update_copy: + target_location = os.path.join(acados_ocp.code_export_directory, acados_ocp.solver_options.custom_update_header_filename) + shutil.copyfile(acados_ocp.solver_options.custom_update_header_filename, target_location) + + + @classmethod + def build(cls, code_export_dir, with_cython=False, cmake_builder: CMakeBuilder = None, verbose: bool = True): + """ + Builds the code for an acados OCP solver, that has been generated in code_export_dir + :param code_export_dir: directory in which acados OCP solver has been generated, see generate() + :param with_cython: option indicating if the cython interface is build, default: False. + :param cmake_builder: type :py:class:`~acados_template.builders.CMakeBuilder` generate a `CMakeLists.txt` and use + the `CMake` pipeline instead of a `Makefile` (`CMake` seems to be the better option in conjunction with + `MS Visual Studio`); default: `None` + :param verbose: indicating if build command is printed + """ + code_export_dir = os.path.abspath(code_export_dir) + cwd = os.getcwd() + os.chdir(code_export_dir) + if with_cython: + call( + ['make', 'clean_all'], + stdout=None if verbose else DEVNULL, + stderr=None if verbose else STDOUT + ) + call( + ['make', 'ocp_cython'], + stdout=None if verbose else DEVNULL, + stderr=None if verbose else STDOUT + ) + else: + if cmake_builder is not None: + cmake_builder.exec(code_export_dir) + else: + call( + ['make', 'clean_ocp_shared_lib'], + stdout=None if verbose else DEVNULL, + stderr=None if verbose else STDOUT + ) + call( + ['make', 'ocp_shared_lib'], + stdout=None if verbose else DEVNULL, + stderr=None if verbose else STDOUT + ) + os.chdir(cwd) + + + @classmethod + def create_cython_solver(cls, json_file): + """ + Returns an `AcadosOcpSolverCython` object. + + This is an alternative Cython based Python wrapper to the acados OCP solver in C. + This offers faster interaction with the solver, because getter and setter calls, which include shape checking are done in compiled C code. + + The default wrapper `AcadosOcpSolver` is based on ctypes. + """ + with open(json_file, 'r') as f: + acados_ocp_json = json.load(f) + code_export_directory = acados_ocp_json['code_export_directory'] + + importlib.invalidate_caches() + rel_code_export_directory = os.path.relpath(code_export_directory) + acados_ocp_solver_pyx = importlib.import_module(f'{rel_code_export_directory}.acados_ocp_solver_pyx') + + AcadosOcpSolverCython = getattr(acados_ocp_solver_pyx, 'AcadosOcpSolverCython') + return AcadosOcpSolverCython(acados_ocp_json['model']['name'], + acados_ocp_json['solver_options']['nlp_solver_type'], + acados_ocp_json['dims']['N']) + + + def __init__(self, acados_ocp: AcadosOcp, json_file='acados_ocp_nlp.json', simulink_opts=None, build=True, generate=True, cmake_builder: CMakeBuilder = None, verbose=True): + + self.solver_created = False + if generate: + self.generate(acados_ocp, json_file=json_file, simulink_opts=simulink_opts, cmake_builder=cmake_builder) + + # load json, store options in object + with open(json_file, 'r') as f: + acados_ocp_json = json.load(f) + self.N = acados_ocp_json['dims']['N'] + self.model_name = acados_ocp_json['model']['name'] + self.solver_options = acados_ocp_json['solver_options'] + + acados_lib_path = acados_ocp_json['acados_lib_path'] + code_export_directory = acados_ocp_json['code_export_directory'] + + if build: + self.build(code_export_directory, with_cython=False, cmake_builder=cmake_builder, verbose=verbose) + + # prepare library loading + lib_prefix = 'lib' + lib_ext = get_lib_ext() + if os.name == 'nt': + lib_prefix = '' + + # Load acados library to avoid unloading the library. + # This is necessary if acados was compiled with OpenMP, since the OpenMP threads can't be destroyed. + # Unloading a library which uses OpenMP results in a segfault (on any platform?). + # see [https://stackoverflow.com/questions/34439956/vc-crash-when-freeing-a-dll-built-with-openmp] + # or [https://python.hotexamples.com/examples/_ctypes/-/dlclose/python-dlclose-function-examples.html] + libacados_name = f'{lib_prefix}acados{lib_ext}' + libacados_filepath = os.path.join(acados_lib_path, libacados_name) + self.__acados_lib = CDLL(libacados_filepath) + # find out if acados was compiled with OpenMP + try: + self.__acados_lib_uses_omp = getattr(self.__acados_lib, 'omp_get_thread_num') is not None + except AttributeError as e: + self.__acados_lib_uses_omp = False + if self.__acados_lib_uses_omp: + print('acados was compiled with OpenMP.') + else: + print('acados was compiled without OpenMP.') + libacados_ocp_solver_name = f'{lib_prefix}acados_ocp_solver_{self.model_name}{lib_ext}' + self.shared_lib_name = os.path.join(code_export_directory, libacados_ocp_solver_name) + + # get shared_lib + self.shared_lib = CDLL(self.shared_lib_name) + + # create capsule + getattr(self.shared_lib, f"{self.model_name}_acados_create_capsule").restype = c_void_p + self.capsule = getattr(self.shared_lib, f"{self.model_name}_acados_create_capsule")() + + # create solver + getattr(self.shared_lib, f"{self.model_name}_acados_create").argtypes = [c_void_p] + getattr(self.shared_lib, f"{self.model_name}_acados_create").restype = c_int + assert getattr(self.shared_lib, f"{self.model_name}_acados_create")(self.capsule)==0 + self.solver_created = True + + self.acados_ocp = acados_ocp + + # get pointers solver + self.__get_pointers_solver() + + self.status = 0 + + # gettable fields + self.__qp_dynamics_fields = ['A', 'B', 'b'] + self.__qp_cost_fields = ['Q', 'R', 'S', 'q', 'r'] + self.__qp_constraint_fields = ['C', 'D', 'lg', 'ug', 'lbx', 'ubx', 'lbu', 'ubu'] + + + def __get_pointers_solver(self): + # """ + # Private function to get the pointers for solver + # """ + # get pointers solver + getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_opts").argtypes = [c_void_p] + getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_opts").restype = c_void_p + self.nlp_opts = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_opts")(self.capsule) + + getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_dims").argtypes = [c_void_p] + getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_dims").restype = c_void_p + self.nlp_dims = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_dims")(self.capsule) + + getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_config").argtypes = [c_void_p] + getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_config").restype = c_void_p + self.nlp_config = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_config")(self.capsule) + + getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_out").argtypes = [c_void_p] + getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_out").restype = c_void_p + self.nlp_out = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_out")(self.capsule) + + getattr(self.shared_lib, f"{self.model_name}_acados_get_sens_out").argtypes = [c_void_p] + getattr(self.shared_lib, f"{self.model_name}_acados_get_sens_out").restype = c_void_p + self.sens_out = getattr(self.shared_lib, f"{self.model_name}_acados_get_sens_out")(self.capsule) + + getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_in").argtypes = [c_void_p] + getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_in").restype = c_void_p + self.nlp_in = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_in")(self.capsule) + + getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_solver").argtypes = [c_void_p] + getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_solver").restype = c_void_p + self.nlp_solver = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_solver")(self.capsule) + + + + def solve_for_x0(self, x0_bar): + """ + Wrapper around `solve()` which sets initial state constraint, solves the OCP, and returns u0. + """ + self.set(0, "lbx", x0_bar) + self.set(0, "ubx", x0_bar) + + status = self.solve() + + if status == 2: + print("Warning: acados_ocp_solver reached maximum iterations.") + elif status != 0: + raise Exception(f'acados acados_ocp_solver returned status {status}') + + u0 = self.get(0, "u") + return u0 + + + def solve(self): + """ + Solve the ocp with current input. + """ + getattr(self.shared_lib, f"{self.model_name}_acados_solve").argtypes = [c_void_p] + getattr(self.shared_lib, f"{self.model_name}_acados_solve").restype = c_int + self.status = getattr(self.shared_lib, f"{self.model_name}_acados_solve")(self.capsule) + + return self.status + + + def custom_update(self, data_: np.ndarray): + """ + A custom function that can be implemented by a user to be called between solver calls. + By default this does nothing. + The idea is to have a convenient wrapper to do complex updates of parameters and numerical data efficiently in C, + in a function that is compiled into the solver library and can be conveniently used in the Python environment. + """ + data = np.ascontiguousarray(data_, dtype=np.float64) + c_data = cast(data.ctypes.data, POINTER(c_double)) + data_len = len(data) + + getattr(self.shared_lib, f"{self.model_name}_acados_custom_update").argtypes = [c_void_p, POINTER(c_double), c_int] + getattr(self.shared_lib, f"{self.model_name}_acados_custom_update").restype = c_int + status = getattr(self.shared_lib, f"{self.model_name}_acados_custom_update")(self.capsule, c_data, data_len) + + return status + + + def reset(self, reset_qp_solver_mem=1): + """ + Sets current iterate to all zeros. + """ + getattr(self.shared_lib, f"{self.model_name}_acados_reset").argtypes = [c_void_p, c_int] + getattr(self.shared_lib, f"{self.model_name}_acados_reset").restype = c_int + getattr(self.shared_lib, f"{self.model_name}_acados_reset")(self.capsule, reset_qp_solver_mem) + + return + + + def set_new_time_steps(self, new_time_steps): + """ + Set new time steps. + Recreates the solver if N changes. + + :param new_time_steps: 1 dimensional np array of new time steps for the solver + + .. note:: This allows for different use-cases: either set a new size of time_steps or a new distribution of + the shooting nodes without changing the number, e.g., to reach a different final time. Both cases + do not require a new code export and compilation. + """ + + # unlikely but still possible + if not self.solver_created: + raise Exception('Solver was not yet created!') + + # check if time steps really changed in value + if np.array_equal(self.solver_options['time_steps'], new_time_steps): + return + + N = new_time_steps.size + new_time_steps_data = cast(new_time_steps.ctypes.data, POINTER(c_double)) + + # check if recreation of acados is necessary (no need to recreate acados if sizes are identical) + if len(self.solver_options['time_steps']) == N: + getattr(self.shared_lib, f"{self.model_name}_acados_update_time_steps").argtypes = [c_void_p, c_int, c_void_p] + getattr(self.shared_lib, f"{self.model_name}_acados_update_time_steps").restype = c_int + assert getattr(self.shared_lib, f"{self.model_name}_acados_update_time_steps")(self.capsule, N, new_time_steps_data) == 0 + else: # recreate the solver with the new time steps + self.solver_created = False + + # delete old memory (analog to __del__) + getattr(self.shared_lib, f"{self.model_name}_acados_free").argtypes = [c_void_p] + getattr(self.shared_lib, f"{self.model_name}_acados_free").restype = c_int + getattr(self.shared_lib, f"{self.model_name}_acados_free")(self.capsule) + + # create solver with new time steps + getattr(self.shared_lib, f"{self.model_name}_acados_create_with_discretization").argtypes = [c_void_p, c_int, c_void_p] + getattr(self.shared_lib, f"{self.model_name}_acados_create_with_discretization").restype = c_int + assert getattr(self.shared_lib, f"{self.model_name}_acados_create_with_discretization")(self.capsule, N, new_time_steps_data) == 0 + + self.solver_created = True + + # get pointers solver + self.__get_pointers_solver() + + # store time_steps, N + self.solver_options['time_steps'] = new_time_steps + self.N = N + self.solver_options['Tsim'] = self.solver_options['time_steps'][0] + + + def update_qp_solver_cond_N(self, qp_solver_cond_N: int): + """ + Recreate solver with new value `qp_solver_cond_N` with a partial condensing QP solver. + This function is relevant for code reuse, i.e., if either `set_new_time_steps(...)` is used or + the influence of a different `qp_solver_cond_N` is studied without code export and compilation. + :param qp_solver_cond_N: new number of condensing stages for the solver + + .. note:: This function can only be used in combination with a partial condensing QP solver. + + .. note:: After `set_new_time_steps(...)` is used and depending on the new number of time steps it might be + necessary to change `qp_solver_cond_N` as well (using this function), i.e., typically + `qp_solver_cond_N < N`. + """ + # unlikely but still possible + if not self.solver_created: + raise Exception('Solver was not yet created!') + if self.N < qp_solver_cond_N: + raise Exception('Setting qp_solver_cond_N to be larger than N does not work!') + if self.solver_options['qp_solver_cond_N'] != qp_solver_cond_N: + self.solver_created = False + + # recreate the solver + fun_name = f'{self.model_name}_acados_update_qp_solver_cond_N' + getattr(self.shared_lib, fun_name).argtypes = [c_void_p, c_int] + getattr(self.shared_lib, fun_name).restype = c_int + assert getattr(self.shared_lib, fun_name)(self.capsule, qp_solver_cond_N) == 0 + + # store the new value + self.solver_options['qp_solver_cond_N'] = qp_solver_cond_N + self.solver_created = True + + # get pointers solver + self.__get_pointers_solver() + + + def eval_param_sens(self, index, stage=0, field="ex"): + """ + Calculate the sensitivity of the curent solution with respect to the initial state component of index + + :param index: integer corresponding to initial state index in range(nx) + """ + + field_ = field + field = field_.encode('utf-8') + + # checks + if not isinstance(index, int): + raise Exception('AcadosOcpSolver.eval_param_sens(): index must be Integer.') + + self.shared_lib.ocp_nlp_dims_get_from_attr.argtypes = [c_void_p, c_void_p, c_void_p, c_int, c_char_p] + self.shared_lib.ocp_nlp_dims_get_from_attr.restype = c_int + nx = self.shared_lib.ocp_nlp_dims_get_from_attr(self.nlp_config, self.nlp_dims, self.nlp_out, 0, "x".encode('utf-8')) + + if index < 0 or index > nx: + raise Exception(f'AcadosOcpSolver.eval_param_sens(): index must be in [0, nx-1], got: {index}.') + + # actual eval_param + self.shared_lib.ocp_nlp_eval_param_sens.argtypes = [c_void_p, c_char_p, c_int, c_int, c_void_p] + self.shared_lib.ocp_nlp_eval_param_sens.restype = None + self.shared_lib.ocp_nlp_eval_param_sens(self.nlp_solver, field, stage, index, self.sens_out) + + return + + + def get(self, stage_, field_): + """ + Get the last solution of the solver: + + :param stage: integer corresponding to shooting node + :param field: string in ['x', 'u', 'z', 'pi', 'lam', 't', 'sl', 'su',] + + .. note:: regarding lam, t: \n + the inequalities are internally organized in the following order: \n + [ lbu lbx lg lh lphi ubu ubx ug uh uphi; \n + lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi] + + .. note:: pi: multipliers for dynamics equality constraints \n + lam: multipliers for inequalities \n + t: slack variables corresponding to evaluation of all inequalities (at the solution) \n + sl: slack variables of soft lower inequality constraints \n + su: slack variables of soft upper inequality constraints \n + """ + + out_fields = ['x', 'u', 'z', 'pi', 'lam', 't', 'sl', 'su'] + # mem_fields = ['sl', 'su'] + sens_fields = ['sens_u', "sens_x"] + all_fields = out_fields + sens_fields + + field = field_ + + if (field_ not in all_fields): + raise Exception(f'AcadosOcpSolver.get(stage={stage_}, field={field_}): \'{field_}\' is an invalid argument.\ + \n Possible values are {all_fields}.') + + if not isinstance(stage_, int): + raise Exception(f'AcadosOcpSolver.get(stage={stage_}, field={field_}): stage index must be an integer, got type {type(stage_)}.') + + if stage_ < 0 or stage_ > self.N: + raise Exception(f'AcadosOcpSolver.get(stage={stage_}, field={field_}): stage index must be in [0, {self.N}], got: {stage_}.') + + if stage_ == self.N and field_ == 'pi': + raise Exception(f'AcadosOcpSolver.get(stage={stage_}, field={field_}): field \'{field_}\' does not exist at final stage {stage_}.') + + if field_ in sens_fields: + field = field_.replace('sens_', '') + + field = field.encode('utf-8') + + self.shared_lib.ocp_nlp_dims_get_from_attr.argtypes = \ + [c_void_p, c_void_p, c_void_p, c_int, c_char_p] + self.shared_lib.ocp_nlp_dims_get_from_attr.restype = c_int + + dims = self.shared_lib.ocp_nlp_dims_get_from_attr(self.nlp_config, \ + self.nlp_dims, self.nlp_out, stage_, field) + + out = np.ascontiguousarray(np.zeros((dims,)), dtype=np.float64) + out_data = cast(out.ctypes.data, POINTER(c_double)) + + if (field_ in out_fields): + self.shared_lib.ocp_nlp_out_get.argtypes = \ + [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p] + self.shared_lib.ocp_nlp_out_get(self.nlp_config, \ + self.nlp_dims, self.nlp_out, stage_, field, out_data) + # elif field_ in mem_fields: + # self.shared_lib.ocp_nlp_get_at_stage.argtypes = \ + # [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p] + # self.shared_lib.ocp_nlp_get_at_stage(self.nlp_config, \ + # self.nlp_dims, self.nlp_solver, stage_, field, out_data) + elif field_ in sens_fields: + self.shared_lib.ocp_nlp_out_get.argtypes = \ + [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p] + self.shared_lib.ocp_nlp_out_get(self.nlp_config, \ + self.nlp_dims, self.sens_out, stage_, field, out_data) + + return out + + + def print_statistics(self): + """ + prints statistics of previous solver run as a table: + - iter: iteration number + - res_stat: stationarity residual + - res_eq: residual wrt equality constraints (dynamics) + - res_ineq: residual wrt inequality constraints (constraints) + - res_comp: residual wrt complementarity conditions + - qp_stat: status of QP solver + - qp_iter: number of QP iterations + - alpha: SQP step size + - qp_res_stat: stationarity residual of the last QP solution + - qp_res_eq: residual wrt equality constraints (dynamics) of the last QP solution + - qp_res_ineq: residual wrt inequality constraints (constraints) of the last QP solution + - qp_res_comp: residual wrt complementarity conditions of the last QP solution + """ + stat = self.get_stats("statistics") + + if self.solver_options['nlp_solver_type'] == 'SQP': + print('\niter\tres_stat\tres_eq\t\tres_ineq\tres_comp\tqp_stat\tqp_iter\talpha') + if stat.shape[0]>8: + print('\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp') + for jj in range(stat.shape[1]): + print(f'{int(stat[0][jj]):d}\t{stat[1][jj]:e}\t{stat[2][jj]:e}\t{stat[3][jj]:e}\t' + + f'{stat[4][jj]:e}\t{int(stat[5][jj]):d}\t{int(stat[6][jj]):d}\t{stat[7][jj]:e}\t') + if stat.shape[0]>8: + print('\t{:e}\t{:e}\t{:e}\t{:e}'.format( \ + stat[8][jj], stat[9][jj], stat[10][jj], stat[11][jj])) + print('\n') + elif self.solver_options['nlp_solver_type'] == 'SQP_RTI': + print('\niter\tqp_stat\tqp_iter') + if stat.shape[0]>3: + print('\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp') + for jj in range(stat.shape[1]): + print('{:d}\t{:d}\t{:d}'.format( int(stat[0][jj]), int(stat[1][jj]), int(stat[2][jj]))) + if stat.shape[0]>3: + print('\t{:e}\t{:e}\t{:e}\t{:e}'.format( \ + stat[3][jj], stat[4][jj], stat[5][jj], stat[6][jj])) + print('\n') + + return + + + def store_iterate(self, filename: str = '', overwrite=False): + """ + Stores the current iterate of the ocp solver in a json file. + + :param filename: if not set, use f'{self.model_name}_iterate.json' + :param overwrite: if false and filename exists add timestamp to filename + """ + if filename == '': + filename = f'{self.model_name}_iterate.json' + + if not overwrite: + # append timestamp + if os.path.isfile(filename): + filename = filename[:-5] + filename += datetime.utcnow().strftime('%Y-%m-%d-%H:%M:%S.%f') + '.json' + + # get iterate: + solution = dict() + + lN = len(str(self.N+1)) + for i in range(self.N+1): + i_string = f'{i:0{lN}d}' + solution['x_'+i_string] = self.get(i,'x') + solution['u_'+i_string] = self.get(i,'u') + solution['z_'+i_string] = self.get(i,'z') + solution['lam_'+i_string] = self.get(i,'lam') + solution['t_'+i_string] = self.get(i, 't') + solution['sl_'+i_string] = self.get(i, 'sl') + solution['su_'+i_string] = self.get(i, 'su') + if i < self.N: + solution['pi_'+i_string] = self.get(i,'pi') + + for k in list(solution.keys()): + if len(solution[k]) == 0: + del solution[k] + + # save + with open(filename, 'w') as f: + json.dump(solution, f, default=make_object_json_dumpable, indent=4, sort_keys=True) + print("stored current iterate in ", os.path.join(os.getcwd(), filename)) + + + + def dump_last_qp_to_json(self, filename: str = '', overwrite=False): + """ + Dumps the latest QP data into a json file + + :param filename: if not set, use model_name + timestamp + '.json' + :param overwrite: if false and filename exists add timestamp to filename + """ + if filename == '': + filename = f'{self.model_name}_QP.json' + + if not overwrite: + # append timestamp + if os.path.isfile(filename): + filename = filename[:-5] + filename += datetime.utcnow().strftime('%Y-%m-%d-%H:%M:%S.%f') + '.json' + + # get QP data: + qp_data = dict() + + lN = len(str(self.N+1)) + for field in self.__qp_dynamics_fields: + for i in range(self.N): + qp_data[f'{field}_{i:0{lN}d}'] = self.get_from_qp_in(i,field) + + for field in self.__qp_constraint_fields + self.__qp_cost_fields: + for i in range(self.N+1): + qp_data[f'{field}_{i:0{lN}d}'] = self.get_from_qp_in(i,field) + + # remove empty fields + for k in list(qp_data.keys()): + if len(qp_data[k]) == 0: + del qp_data[k] + + # save + with open(filename, 'w') as f: + json.dump(qp_data, f, default=make_object_json_dumpable, indent=4, sort_keys=True) + print("stored qp from solver memory in ", os.path.join(os.getcwd(), filename)) + + + + def load_iterate(self, filename): + """ + Loads the iterate stored in json file with filename into the ocp solver. + """ + if not os.path.isfile(filename): + raise Exception('load_iterate: failed, file does not exist: ' + os.path.join(os.getcwd(), filename)) + + with open(filename, 'r') as f: + solution = json.load(f) + + print(f"loading iterate {filename}") + for key in solution.keys(): + (field, stage) = key.split('_') + self.set(int(stage), field, np.array(solution[key])) + + + def get_stats(self, field_): + """ + Get the information of the last solver call. + + :param field: string in ['statistics', 'time_tot', 'time_lin', 'time_sim', 'time_sim_ad', 'time_sim_la', 'time_qp', 'time_qp_solver_call', 'time_reg', 'sqp_iter', 'residuals', 'qp_iter', 'alpha'] + + Available fileds: + - time_tot: total CPU time previous call + - time_lin: CPU time for linearization + - time_sim: CPU time for integrator + - time_sim_ad: CPU time for integrator contribution of external function calls + - time_sim_la: CPU time for integrator contribution of linear algebra + - time_qp: CPU time qp solution + - time_qp_solver_call: CPU time inside qp solver (without converting the QP) + - time_qp_xcond: time_glob: CPU time globalization + - time_solution_sensitivities: CPU time for previous call to eval_param_sens + - time_reg: CPU time regularization + - sqp_iter: number of SQP iterations + - qp_iter: vector of QP iterations for last SQP call + - statistics: table with info about last iteration + - stat_m: number of rows in statistics matrix + - stat_n: number of columns in statistics matrix + - residuals: residuals of last iterate + - alpha: step sizes of SQP iterations + """ + + double_fields = ['time_tot', + 'time_lin', + 'time_sim', + 'time_sim_ad', + 'time_sim_la', + 'time_qp', + 'time_qp_solver_call', + 'time_qp_xcond', + 'time_glob', + 'time_solution_sensitivities', + 'time_reg' + ] + fields = double_fields + [ + 'sqp_iter', + 'qp_iter', + 'statistics', + 'stat_m', + 'stat_n', + 'residuals', + 'alpha', + ] + field = field_.encode('utf-8') + + + if field_ in ['sqp_iter', 'stat_m', 'stat_n']: + out = np.ascontiguousarray(np.zeros((1,)), dtype=np.int64) + out_data = cast(out.ctypes.data, POINTER(c_int64)) + self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p] + self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data) + return out + + # TODO: just return double instead of np. + elif field_ in double_fields: + out = np.zeros((1,)) + out_data = cast(out.ctypes.data, POINTER(c_double)) + self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p] + self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data) + return out + + elif field_ == 'statistics': + sqp_iter = self.get_stats("sqp_iter") + stat_m = self.get_stats("stat_m") + stat_n = self.get_stats("stat_n") + min_size = min([stat_m, sqp_iter+1]) + out = np.ascontiguousarray( + np.zeros((stat_n[0]+1, min_size[0])), dtype=np.float64) + out_data = cast(out.ctypes.data, POINTER(c_double)) + self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p] + self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data) + return out + + elif field_ == 'qp_iter': + full_stats = self.get_stats('statistics') + if self.solver_options['nlp_solver_type'] == 'SQP': + return full_stats[6, :] + elif self.solver_options['nlp_solver_type'] == 'SQP_RTI': + return full_stats[2, :] + + elif field_ == 'alpha': + full_stats = self.get_stats('statistics') + if self.solver_options['nlp_solver_type'] == 'SQP': + return full_stats[7, :] + else: # self.solver_options['nlp_solver_type'] == 'SQP_RTI': + raise Exception("alpha values are not available for SQP_RTI") + + elif field_ == 'residuals': + return self.get_residuals() + + else: + raise Exception(f'AcadosOcpSolver.get_stats(): \'{field}\' is not a valid argument.' + + f'\n Possible values are {fields}.') + + + def get_cost(self): + """ + Returns the cost value of the current solution. + """ + # compute cost internally + self.shared_lib.ocp_nlp_eval_cost.argtypes = [c_void_p, c_void_p, c_void_p] + self.shared_lib.ocp_nlp_eval_cost(self.nlp_solver, self.nlp_in, self.nlp_out) + + # create output array + out = np.ascontiguousarray(np.zeros((1,)), dtype=np.float64) + out_data = cast(out.ctypes.data, POINTER(c_double)) + + # call getter + self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p] + + field = "cost_value".encode('utf-8') + self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data) + + return out[0] + + + def get_residuals(self, recompute=False): + """ + Returns an array of the form [res_stat, res_eq, res_ineq, res_comp]. + This residual has to be computed for SQP_RTI solver, since it is not available by default. + + - res_stat: stationarity residual + - res_eq: residual wrt equality constraints (dynamics) + - res_ineq: residual wrt inequality constraints (constraints) + - res_comp: residual wrt complementarity conditions + """ + # compute residuals if RTI + if self.solver_options['nlp_solver_type'] == 'SQP_RTI' or recompute: + self.shared_lib.ocp_nlp_eval_residuals.argtypes = [c_void_p, c_void_p, c_void_p] + self.shared_lib.ocp_nlp_eval_residuals(self.nlp_solver, self.nlp_in, self.nlp_out) + + # create output array + out = np.ascontiguousarray(np.zeros((4, 1)), dtype=np.float64) + out_data = cast(out.ctypes.data, POINTER(c_double)) + + # call getters + self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p] + + field = "res_stat".encode('utf-8') + self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data) + + out_data = cast(out[1].ctypes.data, POINTER(c_double)) + field = "res_eq".encode('utf-8') + self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data) + + out_data = cast(out[2].ctypes.data, POINTER(c_double)) + field = "res_ineq".encode('utf-8') + self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data) + + out_data = cast(out[3].ctypes.data, POINTER(c_double)) + field = "res_comp".encode('utf-8') + self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data) + return out.flatten() + + + # Note: this function should not be used anymore, better use cost_set, constraints_set + def set(self, stage_, field_, value_): + """ + Set numerical data inside the solver. + + :param stage: integer corresponding to shooting node + :param field: string in ['x', 'u', 'pi', 'lam', 't', 'p', 'xdot_guess', 'z_guess'] + + .. note:: regarding lam, t: \n + the inequalities are internally organized in the following order: \n + [ lbu lbx lg lh lphi ubu ubx ug uh uphi; \n + lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi] + + .. note:: pi: multipliers for dynamics equality constraints \n + lam: multipliers for inequalities \n + t: slack variables corresponding to evaluation of all inequalities (at the solution) \n + sl: slack variables of soft lower inequality constraints \n + su: slack variables of soft upper inequality constraints \n + """ + cost_fields = ['y_ref', 'yref'] + constraints_fields = ['lbx', 'ubx', 'lbu', 'ubu'] + out_fields = ['x', 'u', 'pi', 'lam', 't', 'z', 'sl', 'su'] + mem_fields = ['xdot_guess', 'z_guess'] + + # cast value_ to avoid conversion issues + if isinstance(value_, (float, int)): + value_ = np.array([value_]) + value_ = value_.astype(float) + + field = field_.encode('utf-8') + + stage = c_int(stage_) + + # treat parameters separately + if field_ == 'p': + getattr(self.shared_lib, f"{self.model_name}_acados_update_params").argtypes = [c_void_p, c_int, POINTER(c_double), c_int] + getattr(self.shared_lib, f"{self.model_name}_acados_update_params").restype = c_int + + value_data = cast(value_.ctypes.data, POINTER(c_double)) + + assert getattr(self.shared_lib, f"{self.model_name}_acados_update_params")(self.capsule, stage, value_data, value_.shape[0])==0 + else: + if field_ not in constraints_fields + cost_fields + out_fields + mem_fields: + raise Exception(f"AcadosOcpSolver.set(): '{field}' is not a valid argument.\n" + f" Possible values are {constraints_fields + cost_fields + out_fields + mem_fields + ['p']}.") + + self.shared_lib.ocp_nlp_dims_get_from_attr.argtypes = \ + [c_void_p, c_void_p, c_void_p, c_int, c_char_p] + self.shared_lib.ocp_nlp_dims_get_from_attr.restype = c_int + + dims = self.shared_lib.ocp_nlp_dims_get_from_attr(self.nlp_config, \ + self.nlp_dims, self.nlp_out, stage_, field) + + if value_.shape[0] != dims: + msg = f'AcadosOcpSolver.set(): mismatching dimension for field "{field_}" ' + msg += f'with dimension {dims} (you have {value_.shape[0]})' + raise Exception(msg) + + value_data = cast(value_.ctypes.data, POINTER(c_double)) + value_data_p = cast((value_data), c_void_p) + + if field_ in constraints_fields: + self.shared_lib.ocp_nlp_constraints_model_set.argtypes = \ + [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p] + self.shared_lib.ocp_nlp_constraints_model_set(self.nlp_config, \ + self.nlp_dims, self.nlp_in, stage, field, value_data_p) + elif field_ in cost_fields: + self.shared_lib.ocp_nlp_cost_model_set.argtypes = \ + [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p] + self.shared_lib.ocp_nlp_cost_model_set(self.nlp_config, \ + self.nlp_dims, self.nlp_in, stage, field, value_data_p) + elif field_ in out_fields: + self.shared_lib.ocp_nlp_out_set.argtypes = \ + [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p] + self.shared_lib.ocp_nlp_out_set(self.nlp_config, \ + self.nlp_dims, self.nlp_out, stage, field, value_data_p) + elif field_ in mem_fields: + self.shared_lib.ocp_nlp_set.argtypes = \ + [c_void_p, c_void_p, c_int, c_char_p, c_void_p] + self.shared_lib.ocp_nlp_set(self.nlp_config, \ + self.nlp_solver, stage, field, value_data_p) + # also set z_guess, when setting z. + if field_ == 'z': + field = 'z_guess'.encode('utf-8') + self.shared_lib.ocp_nlp_set.argtypes = \ + [c_void_p, c_void_p, c_int, c_char_p, c_void_p] + self.shared_lib.ocp_nlp_set(self.nlp_config, \ + self.nlp_solver, stage, field, value_data_p) + return + + + def cost_set(self, stage_, field_, value_, api='warn'): + """ + Set numerical data in the cost module of the solver. + + :param stage: integer corresponding to shooting node + :param field: string, e.g. 'yref', 'W', 'ext_cost_num_hess', 'zl', 'zu', 'Zl', 'Zu' + :param value: of appropriate size + """ + # cast value_ to avoid conversion issues + if isinstance(value_, (float, int)): + value_ = np.array([value_]) + value_ = value_.astype(float) + + field = field_ + field = field.encode('utf-8') + + stage = c_int(stage_) + self.shared_lib.ocp_nlp_cost_dims_get_from_attr.argtypes = \ + [c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)] + self.shared_lib.ocp_nlp_cost_dims_get_from_attr.restype = c_int + + dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc) + dims_data = cast(dims.ctypes.data, POINTER(c_int)) + + self.shared_lib.ocp_nlp_cost_dims_get_from_attr(self.nlp_config, \ + self.nlp_dims, self.nlp_out, stage_, field, dims_data) + + value_shape = value_.shape + if len(value_shape) == 1: + value_shape = (value_shape[0], 0) + + elif len(value_shape) == 2: + if api=='old': + pass + elif api=='warn': + if not np.all(np.ravel(value_, order='F')==np.ravel(value_, order='K')): + raise Exception("Ambiguity in API detected.\n" + "Are you making an acados model from scrach? Add api='new' to cost_set and carry on.\n" + "Are you seeing this error suddenly in previously running code? Read on.\n" + f" You are relying on a now-fixed bug in cost_set for field '{field_}'.\n" + + " acados_template now correctly passes on any matrices to acados in column major format.\n" + + " Two options to fix this error: \n" + + " * Add api='old' to cost_set to restore old incorrect behaviour\n" + + " * Add api='new' to cost_set and remove any unnatural manipulation of the value argument " + + "such as non-mathematical transposes, reshaping, casting to fortran order, etc... " + + "If there is no such manipulation, then you have probably been getting an incorrect solution before.") + # Get elements in column major order + value_ = np.ravel(value_, order='F') + elif api=='new': + # Get elements in column major order + value_ = np.ravel(value_, order='F') + else: + raise Exception("Unknown api: '{}'".format(api)) + + if value_shape != tuple(dims): + raise Exception('AcadosOcpSolver.cost_set(): mismatching dimension' + + f' for field "{field_}" at stage {stage} with dimension {tuple(dims)} (you have {value_shape})') + + value_data = cast(value_.ctypes.data, POINTER(c_double)) + value_data_p = cast((value_data), c_void_p) + + self.shared_lib.ocp_nlp_cost_model_set.argtypes = \ + [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p] + self.shared_lib.ocp_nlp_cost_model_set(self.nlp_config, \ + self.nlp_dims, self.nlp_in, stage, field, value_data_p) + + return + + + def constraints_set(self, stage_, field_, value_, api='warn'): + """ + Set numerical data in the constraint module of the solver. + + :param stage: integer corresponding to shooting node + :param field: string in ['lbx', 'ubx', 'lbu', 'ubu', 'lg', 'ug', 'lh', 'uh', 'uphi', 'C', 'D'] + :param value: of appropriate size + """ + # cast value_ to avoid conversion issues + if isinstance(value_, (float, int)): + value_ = np.array([value_]) + value_ = value_.astype(float) + + field = field_ + field = field.encode('utf-8') + + stage = c_int(stage_) + self.shared_lib.ocp_nlp_constraint_dims_get_from_attr.argtypes = \ + [c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)] + self.shared_lib.ocp_nlp_constraint_dims_get_from_attr.restype = c_int + + dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc) + dims_data = cast(dims.ctypes.data, POINTER(c_int)) + + self.shared_lib.ocp_nlp_constraint_dims_get_from_attr(self.nlp_config, \ + self.nlp_dims, self.nlp_out, stage_, field, dims_data) + + value_shape = value_.shape + if len(value_shape) == 1: + value_shape = (value_shape[0], 0) + elif len(value_shape) == 2: + if api=='old': + pass + elif api=='warn': + if not np.all(np.ravel(value_, order='F')==np.ravel(value_, order='K')): + raise Exception("Ambiguity in API detected.\n" + "Are you making an acados model from scrach? Add api='new' to constraints_set and carry on.\n" + "Are you seeing this error suddenly in previously running code? Read on.\n" + f" You are relying on a now-fixed bug in constraints_set for field '{field}'.\n" + + " acados_template now correctly passes on any matrices to acados in column major format.\n" + + " Two options to fix this error: \n" + + " * Add api='old' to constraints_set to restore old incorrect behaviour\n" + + " * Add api='new' to constraints_set and remove any unnatural manipulation of the value argument " + + "such as non-mathematical transposes, reshaping, casting to fortran order, etc... " + + "If there is no such manipulation, then you have probably been getting an incorrect solution before.") + # Get elements in column major order + value_ = np.ravel(value_, order='F') + elif api=='new': + # Get elements in column major order + value_ = np.ravel(value_, order='F') + else: + raise Exception(f"Unknown api: '{api}'") + + if value_shape != tuple(dims): + raise Exception(f'AcadosOcpSolver.constraints_set(): mismatching dimension' + + f' for field "{field_}" at stage {stage} with dimension {tuple(dims)} (you have {value_shape})') + + value_data = cast(value_.ctypes.data, POINTER(c_double)) + value_data_p = cast((value_data), c_void_p) + + self.shared_lib.ocp_nlp_constraints_model_set.argtypes = \ + [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p] + self.shared_lib.ocp_nlp_constraints_model_set(self.nlp_config, \ + self.nlp_dims, self.nlp_in, stage, field, value_data_p) + + return + + + def get_from_qp_in(self, stage_: int, field_: str): + """ + Get numerical data from the current QP. + + :param stage: integer corresponding to shooting node + :param field: string in ['A', 'B', 'b', 'Q', 'R', 'S', 'q', 'r', 'C', 'D', 'lg', 'ug', 'lbx', 'ubx', 'lbu', 'ubu'] + """ + # idx* should be added too.. + if not isinstance(stage_, int): + raise TypeError("stage should be int") + if stage_ > self.N: + raise Exception("stage should be <= self.N") + if field_ in self.__qp_dynamics_fields and stage_ >= self.N: + raise ValueError(f"dynamics field {field_} not available at terminal stage") + if field_ not in self.__qp_dynamics_fields + self.__qp_cost_fields + self.__qp_constraint_fields: + raise Exception(f"field {field_} not supported.") + + field = field_.encode('utf-8') + stage = c_int(stage_) + + # get dims + self.shared_lib.ocp_nlp_qp_dims_get_from_attr.argtypes = \ + [c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)] + self.shared_lib.ocp_nlp_qp_dims_get_from_attr.restype = c_int + + dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc) + dims_data = cast(dims.ctypes.data, POINTER(c_int)) + + self.shared_lib.ocp_nlp_qp_dims_get_from_attr(self.nlp_config, \ + self.nlp_dims, self.nlp_out, stage_, field, dims_data) + + # create output data + out = np.ascontiguousarray(np.zeros((np.prod(dims),)), dtype=np.float64) + out = out.reshape(dims[0], dims[1], order='F') + + out_data = cast(out.ctypes.data, POINTER(c_double)) + out_data_p = cast((out_data), c_void_p) + + # call getter + self.shared_lib.ocp_nlp_get_at_stage.argtypes = \ + [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p] + self.shared_lib.ocp_nlp_get_at_stage(self.nlp_config, \ + self.nlp_dims, self.nlp_solver, stage, field, out_data_p) + + return out + + + def options_set(self, field_, value_): + """ + Set options of the solver. + + :param field: string, e.g. 'print_level', 'rti_phase', 'initialize_t_slacks', 'step_length', 'alpha_min', 'alpha_reduction', 'qp_warm_start', 'line_search_use_sufficient_descent', 'full_step_dual', 'globalization_use_SOC', 'qp_tol_stat', 'qp_tol_eq', 'qp_tol_ineq', 'qp_tol_comp', 'qp_tau_min', 'qp_mu0' + + :param value: of type int, float, string + + - qp_tol_stat: QP solver tolerance stationarity + - qp_tol_eq: QP solver tolerance equalities + - qp_tol_ineq: QP solver tolerance inequalities + - qp_tol_comp: QP solver tolerance complementarity + - qp_tau_min: for HPIPM QP solvers: minimum value of barrier parameter in HPIPM + - qp_mu0: for HPIPM QP solvers: initial value for complementarity slackness + - warm_start_first_qp: indicates if first QP in SQP is warm_started + """ + int_fields = ['print_level', 'rti_phase', 'initialize_t_slacks', 'qp_warm_start', + 'line_search_use_sufficient_descent', 'full_step_dual', 'globalization_use_SOC', 'warm_start_first_qp'] + double_fields = ['step_length', 'tol_eq', 'tol_stat', 'tol_ineq', 'tol_comp', 'alpha_min', 'alpha_reduction', + 'eps_sufficient_descent', 'qp_tol_stat', 'qp_tol_eq', 'qp_tol_ineq', 'qp_tol_comp', 'qp_tau_min', 'qp_mu0'] + string_fields = ['globalization'] + + # check field availability and type + if field_ in int_fields: + if not isinstance(value_, int): + raise Exception(f'solver option \'{field_}\' must be of type int. You have {type(value_)}.') + else: + value_ctypes = c_int(value_) + + elif field_ in double_fields: + if not isinstance(value_, float): + raise Exception(f'solver option \'{field_}\' must be of type float. You have {type(value_)}.') + else: + value_ctypes = c_double(value_) + + elif field_ in string_fields: + if not isinstance(value_, str): + raise Exception(f'solver option \'{field_}\' must be of type str. You have {type(value_)}.') + else: + value_ctypes = value_.encode('utf-8') + else: + fields = ', '.join(int_fields + double_fields + string_fields) + raise Exception(f'AcadosOcpSolver.options_set() does not support field \'{field_}\'.\n'\ + f' Possible values are {fields}.') + + + if field_ == 'rti_phase': + if value_ < 0 or value_ > 2: + raise Exception('AcadosOcpSolver.options_set(): argument \'rti_phase\' can ' + 'take only values 0, 1, 2 for SQP-RTI-type solvers') + if self.solver_options['nlp_solver_type'] != 'SQP_RTI' and value_ > 0: + raise Exception('AcadosOcpSolver.options_set(): argument \'rti_phase\' can ' + 'take only value 0 for SQP-type solvers') + + # encode + field = field_ + field = field.encode('utf-8') + + # call C interface + if field_ in string_fields: + self.shared_lib.ocp_nlp_solver_opts_set.argtypes = \ + [c_void_p, c_void_p, c_char_p, c_char_p] + self.shared_lib.ocp_nlp_solver_opts_set(self.nlp_config, \ + self.nlp_opts, field, value_ctypes) + else: + self.shared_lib.ocp_nlp_solver_opts_set.argtypes = \ + [c_void_p, c_void_p, c_char_p, c_void_p] + self.shared_lib.ocp_nlp_solver_opts_set(self.nlp_config, \ + self.nlp_opts, field, byref(value_ctypes)) + return + + + def set_params_sparse(self, stage_, idx_values_, param_values_): + """ + set parameters of the solvers external function partially: + Pseudo: solver.param[idx_values_] = param_values_; + Parameters: + :param stage_: integer corresponding to shooting node + :param idx_values_: 0 based np array (or iterable) of integers: indices of parameter to be set + :param param_values_: new parameter values as numpy array + """ + + # if not isinstance(idx_values_, np.ndarray) or not issubclass(type(idx_values_[0]), np.integer): + # raise Exception('idx_values_ must be np.array of integers.') + + if not isinstance(param_values_, np.ndarray): + raise Exception('param_values_ must be np.array.') + elif np.float64 != param_values_.dtype: + raise TypeError('param_values_ must be np.array of float64.') + + if param_values_.shape[0] != len(idx_values_): + raise Exception(f'param_values_ and idx_values_ must be of the same size.' + + f' Got sizes idx {param_values_.shape[0]}, param_values {len(idx_values_)}.') + + if any(idx_values_ >= self.acados_ocp.dims.np): + raise Exception(f'idx_values_ contains value >= np = {self.acados_ocp.dims.np}') + + stage = c_int(stage_) + n_update = c_int(len(param_values_)) + + param_data = cast(param_values_.ctypes.data, POINTER(c_double)) + c_idx_values = np.ascontiguousarray(idx_values_, dtype=np.intc) + idx_data = cast(c_idx_values.ctypes.data, POINTER(c_int)) + + getattr(self.shared_lib, f"{self.model_name}_acados_update_params_sparse").argtypes = \ + [c_void_p, c_int, POINTER(c_int), POINTER(c_double), c_int] + getattr(self.shared_lib, f"{self.model_name}_acados_update_params_sparse").restype = c_int + getattr(self.shared_lib, f"{self.model_name}_acados_update_params_sparse") \ + (self.capsule, stage, idx_data, param_data, n_update) + + def __del__(self): + if self.solver_created: + getattr(self.shared_lib, f"{self.model_name}_acados_free").argtypes = [c_void_p] + getattr(self.shared_lib, f"{self.model_name}_acados_free").restype = c_int + getattr(self.shared_lib, f"{self.model_name}_acados_free")(self.capsule) + + getattr(self.shared_lib, f"{self.model_name}_acados_free_capsule").argtypes = [c_void_p] + getattr(self.shared_lib, f"{self.model_name}_acados_free_capsule").restype = c_int + getattr(self.shared_lib, f"{self.model_name}_acados_free_capsule")(self.capsule) + + try: + self.dlclose(self.shared_lib._handle) + except: + print(f"WARNING: acados Python interface could not close shared_lib handle of AcadosOcpSolver {self.model_name}.\n", + "Attempting to create a new one with the same name will likely result in the old one being used!") + pass diff --git a/third_party/acados/acados_template/acados_ocp_solver_pyx.pyx b/third_party/acados/acados_template/acados_ocp_solver_pyx.pyx new file mode 100644 index 0000000000..acd7f02d0a --- /dev/null +++ b/third_party/acados/acados_template/acados_ocp_solver_pyx.pyx @@ -0,0 +1,795 @@ +# -*- coding: future_fstrings -*- +# +# Copyright (c) The acados authors. +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# +# cython: language_level=3 +# cython: profile=False +# distutils: language=c + +cimport cython +from libc cimport string + +cimport acados_solver_common +# TODO: make this import more clear? it is not a general solver, but problem specific. +cimport acados_solver + +cimport numpy as cnp + +import os +from datetime import datetime +import numpy as np + + +cdef class AcadosOcpSolverCython: + """ + Class to interact with the acados ocp solver C object. + """ + + cdef acados_solver.nlp_solver_capsule *capsule + cdef void *nlp_opts + cdef acados_solver_common.ocp_nlp_dims *nlp_dims + cdef acados_solver_common.ocp_nlp_config *nlp_config + cdef acados_solver_common.ocp_nlp_out *nlp_out + cdef acados_solver_common.ocp_nlp_out *sens_out + cdef acados_solver_common.ocp_nlp_in *nlp_in + cdef acados_solver_common.ocp_nlp_solver *nlp_solver + + cdef bint solver_created + + cdef str model_name + cdef int N + + cdef str nlp_solver_type + + def __cinit__(self, model_name, nlp_solver_type, N): + + self.solver_created = False + + self.N = N + self.model_name = model_name + self.nlp_solver_type = nlp_solver_type + + # create capsule + self.capsule = acados_solver.acados_create_capsule() + + # create solver + assert acados_solver.acados_create(self.capsule) == 0 + self.solver_created = True + + # get pointers solver + self.__get_pointers_solver() + + + def __get_pointers_solver(self): + """ + Private function to get the pointers for solver + """ + # get pointers solver + self.nlp_opts = acados_solver.acados_get_nlp_opts(self.capsule) + self.nlp_dims = acados_solver.acados_get_nlp_dims(self.capsule) + self.nlp_config = acados_solver.acados_get_nlp_config(self.capsule) + self.nlp_out = acados_solver.acados_get_nlp_out(self.capsule) + self.sens_out = acados_solver.acados_get_sens_out(self.capsule) + self.nlp_in = acados_solver.acados_get_nlp_in(self.capsule) + self.nlp_solver = acados_solver.acados_get_nlp_solver(self.capsule) + + + def solve_for_x0(self, x0_bar): + """ + Wrapper around `solve()` which sets initial state constraint, solves the OCP, and returns u0. + """ + self.set(0, "lbx", x0_bar) + self.set(0, "ubx", x0_bar) + + status = self.solve() + + if status == 2: + print("Warning: acados_ocp_solver reached maximum iterations.") + elif status != 0: + raise Exception(f'acados acados_ocp_solver returned status {status}') + + u0 = self.get(0, "u") + return u0 + + + def solve(self): + """ + Solve the ocp with current input. + """ + return acados_solver.acados_solve(self.capsule) + + + def reset(self, reset_qp_solver_mem=1): + """ + Sets current iterate to all zeros. + """ + return acados_solver.acados_reset(self.capsule, reset_qp_solver_mem) + + + def custom_update(self, data_): + """ + A custom function that can be implemented by a user to be called between solver calls. + By default this does nothing. + The idea is to have a convenient wrapper to do complex updates of parameters and numerical data efficiently in C, + in a function that is compiled into the solver library and can be conveniently used in the Python environment. + """ + data_len = len(data_) + cdef cnp.ndarray[cnp.float64_t, ndim=1] data = np.ascontiguousarray(data_, dtype=np.float64) + + return acados_solver.acados_custom_update(self.capsule, data.data, data_len) + + + def set_new_time_steps(self, new_time_steps): + """ + Set new time steps. + Recreates the solver if N changes. + + :param new_time_steps: 1 dimensional np array of new time steps for the solver + + .. note:: This allows for different use-cases: either set a new size of time-steps or a new distribution of + the shooting nodes without changing the number, e.g., to reach a different final time. Both cases + do not require a new code export and compilation. + """ + + raise NotImplementedError("AcadosOcpSolverCython: does not support set_new_time_steps() since it is only a prototyping feature") + # # unlikely but still possible + # if not self.solver_created: + # raise Exception('Solver was not yet created!') + + # ## check if time steps really changed in value + # # get time steps + # cdef cnp.ndarray[cnp.float64_t, ndim=1] old_time_steps = np.ascontiguousarray(np.zeros((self.N,)), dtype=np.float64) + # assert acados_solver.acados_get_time_steps(self.capsule, self.N, old_time_steps.data) + + # if np.array_equal(old_time_steps, new_time_steps): + # return + + # N = new_time_steps.size + # cdef cnp.ndarray[cnp.float64_t, ndim=1] value = np.ascontiguousarray(new_time_steps, dtype=np.float64) + + # # check if recreation of acados is necessary (no need to recreate acados if sizes are identical) + # if len(old_time_steps) == N: + # assert acados_solver.acados_update_time_steps(self.capsule, N, value.data) == 0 + + # else: # recreate the solver with the new time steps + # self.solver_created = False + + # # delete old memory (analog to __del__) + # acados_solver.acados_free(self.capsule) + + # # create solver with new time steps + # assert acados_solver.acados_create_with_discretization(self.capsule, N, value.data) == 0 + + # self.solver_created = True + + # # get pointers solver + # self.__get_pointers_solver() + + # # store time_steps, N + # self.time_steps = new_time_steps + # self.N = N + + + def update_qp_solver_cond_N(self, qp_solver_cond_N: int): + """ + Recreate solver with new value `qp_solver_cond_N` with a partial condensing QP solver. + This function is relevant for code reuse, i.e., if either `set_new_time_steps(...)` is used or + the influence of a different `qp_solver_cond_N` is studied without code export and compilation. + :param qp_solver_cond_N: new number of condensing stages for the solver + + .. note:: This function can only be used in combination with a partial condensing QP solver. + + .. note:: After `set_new_time_steps(...)` is used and depending on the new number of time steps it might be + necessary to change `qp_solver_cond_N` as well (using this function), i.e., typically + `qp_solver_cond_N < N`. + """ + raise NotImplementedError("AcadosOcpSolverCython: does not support update_qp_solver_cond_N() since it is only a prototyping feature") + + # # unlikely but still possible + # if not self.solver_created: + # raise Exception('Solver was not yet created!') + # if self.N < qp_solver_cond_N: + # raise Exception('Setting qp_solver_cond_N to be larger than N does not work!') + # if self.qp_solver_cond_N != qp_solver_cond_N: + # self.solver_created = False + + # # recreate the solver + # acados_solver.acados_update_qp_solver_cond_N(self.capsule, qp_solver_cond_N) + + # # store the new value + # self.qp_solver_cond_N = qp_solver_cond_N + # self.solver_created = True + + # # get pointers solver + # self.__get_pointers_solver() + + + def eval_param_sens(self, index, stage=0, field="ex"): + """ + Calculate the sensitivity of the curent solution with respect to the initial state component of index + + :param index: integer corresponding to initial state index in range(nx) + """ + + field_ = field + field = field_.encode('utf-8') + + # checks + if not isinstance(index, int): + raise Exception('AcadosOcpSolverCython.eval_param_sens(): index must be Integer.') + + cdef int nx = acados_solver_common.ocp_nlp_dims_get_from_attr(self.nlp_config, self.nlp_dims, self.nlp_out, 0, "x".encode('utf-8')) + + if index < 0 or index > nx: + raise Exception(f'AcadosOcpSolverCython.eval_param_sens(): index must be in [0, nx-1], got: {index}.') + + # actual eval_param + acados_solver_common.ocp_nlp_eval_param_sens(self.nlp_solver, field, stage, index, self.sens_out) + + return + + + def get(self, int stage, str field_): + """ + Get the last solution of the solver: + + :param stage: integer corresponding to shooting node + :param field: string in ['x', 'u', 'z', 'pi', 'lam', 't', 'sl', 'su',] + + .. note:: regarding lam, t: \n + the inequalities are internally organized in the following order: \n + [ lbu lbx lg lh lphi ubu ubx ug uh uphi; \n + lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi] + + .. note:: pi: multipliers for dynamics equality constraints \n + lam: multipliers for inequalities \n + t: slack variables corresponding to evaluation of all inequalities (at the solution) \n + sl: slack variables of soft lower inequality constraints \n + su: slack variables of soft upper inequality constraints \n + """ + + out_fields = ['x', 'u', 'z', 'pi', 'lam', 't', 'sl', 'su'] + field = field_.encode('utf-8') + + if field_ not in out_fields: + raise Exception('AcadosOcpSolverCython.get(): {} is an invalid argument.\ + \n Possible values are {}.'.format(field_, out_fields)) + + if stage < 0 or stage > self.N: + raise Exception('AcadosOcpSolverCython.get(): stage index must be in [0, N], got: {}.'.format(self.N)) + + if stage == self.N and field_ == 'pi': + raise Exception('AcadosOcpSolverCython.get(): field {} does not exist at final stage {}.'\ + .format(field_, stage)) + + cdef int dims = acados_solver_common.ocp_nlp_dims_get_from_attr(self.nlp_config, + self.nlp_dims, self.nlp_out, stage, field) + + cdef cnp.ndarray[cnp.float64_t, ndim=1] out = np.zeros((dims,)) + acados_solver_common.ocp_nlp_out_get(self.nlp_config, \ + self.nlp_dims, self.nlp_out, stage, field, out.data) + + return out + + + def print_statistics(self): + """ + prints statistics of previous solver run as a table: + - iter: iteration number + - res_stat: stationarity residual + - res_eq: residual wrt equality constraints (dynamics) + - res_ineq: residual wrt inequality constraints (constraints) + - res_comp: residual wrt complementarity conditions + - qp_stat: status of QP solver + - qp_iter: number of QP iterations + - qp_res_stat: stationarity residual of the last QP solution + - qp_res_eq: residual wrt equality constraints (dynamics) of the last QP solution + - qp_res_ineq: residual wrt inequality constraints (constraints) of the last QP solution + - qp_res_comp: residual wrt complementarity conditions of the last QP solution + """ + acados_solver.acados_print_stats(self.capsule) + + + def store_iterate(self, filename='', overwrite=False): + """ + Stores the current iterate of the ocp solver in a json file. + + :param filename: if not set, use model_name + timestamp + '.json' + :param overwrite: if false and filename exists add timestamp to filename + """ + import json + if filename == '': + filename += self.model_name + '_' + 'iterate' + '.json' + + if not overwrite: + # append timestamp + if os.path.isfile(filename): + filename = filename[:-5] + filename += datetime.utcnow().strftime('%Y-%m-%d-%H:%M:%S.%f') + '.json' + + # get iterate: + solution = dict() + + lN = len(str(self.N+1)) + for i in range(self.N+1): + i_string = f'{i:0{lN}d}' + solution['x_'+i_string] = self.get(i,'x') + solution['u_'+i_string] = self.get(i,'u') + solution['z_'+i_string] = self.get(i,'z') + solution['lam_'+i_string] = self.get(i,'lam') + solution['t_'+i_string] = self.get(i, 't') + solution['sl_'+i_string] = self.get(i, 'sl') + solution['su_'+i_string] = self.get(i, 'su') + if i < self.N: + solution['pi_'+i_string] = self.get(i,'pi') + + for k in list(solution.keys()): + if len(solution[k]) == 0: + del solution[k] + + # save + with open(filename, 'w') as f: + json.dump(solution, f, default=lambda x: x.tolist(), indent=4, sort_keys=True) + print("stored current iterate in ", os.path.join(os.getcwd(), filename)) + + + def load_iterate(self, filename): + """ + Loads the iterate stored in json file with filename into the ocp solver. + """ + import json + if not os.path.isfile(filename): + raise Exception('load_iterate: failed, file does not exist: ' + os.path.join(os.getcwd(), filename)) + + with open(filename, 'r') as f: + solution = json.load(f) + + for key in solution.keys(): + (field, stage) = key.split('_') + self.set(int(stage), field, np.array(solution[key])) + + + def get_stats(self, field_): + """ + Get the information of the last solver call. + + :param field: string in ['statistics', 'time_tot', 'time_lin', 'time_sim', 'time_sim_ad', 'time_sim_la', 'time_qp', 'time_qp_solver_call', 'time_reg', 'sqp_iter'] + Available fileds: + - time_tot: total CPU time previous call + - time_lin: CPU time for linearization + - time_sim: CPU time for integrator + - time_sim_ad: CPU time for integrator contribution of external function calls + - time_sim_la: CPU time for integrator contribution of linear algebra + - time_qp: CPU time qp solution + - time_qp_solver_call: CPU time inside qp solver (without converting the QP) + - time_qp_xcond: time_glob: CPU time globalization + - time_solution_sensitivities: CPU time for previous call to eval_param_sens + - time_reg: CPU time regularization + - sqp_iter: number of SQP iterations + - qp_iter: vector of QP iterations for last SQP call + - statistics: table with info about last iteration + - stat_m: number of rows in statistics matrix + - stat_n: number of columns in statistics matrix + - residuals: residuals of last iterate + - alpha: step sizes of SQP iterations + """ + + double_fields = ['time_tot', + 'time_lin', + 'time_sim', + 'time_sim_ad', + 'time_sim_la', + 'time_qp', + 'time_qp_solver_call', + 'time_qp_xcond', + 'time_glob', + 'time_solution_sensitivities', + 'time_reg' + ] + fields = double_fields + [ + 'sqp_iter', + 'qp_iter', + 'statistics', + 'stat_m', + 'stat_n', + 'residuals', + 'alpha', + ] + field = field_.encode('utf-8') + + if field_ in ['sqp_iter', 'stat_m', 'stat_n']: + return self.__get_stat_int(field) + + elif field_ in double_fields: + return self.__get_stat_double(field) + + elif field_ == 'statistics': + sqp_iter = self.get_stats("sqp_iter") + stat_m = self.get_stats("stat_m") + stat_n = self.get_stats("stat_n") + min_size = min([stat_m, sqp_iter+1]) + return self.__get_stat_matrix(field, stat_n+1, min_size) + + elif field_ == 'qp_iter': + full_stats = self.get_stats('statistics') + if self.nlp_solver_type == 'SQP': + return full_stats[6, :] + elif self.nlp_solver_type == 'SQP_RTI': + return full_stats[2, :] + + elif field_ == 'alpha': + full_stats = self.get_stats('statistics') + if self.nlp_solver_type == 'SQP': + return full_stats[7, :] + else: # self.nlp_solver_type == 'SQP_RTI': + raise Exception("alpha values are not available for SQP_RTI") + + elif field_ == 'residuals': + return self.get_residuals() + + else: + raise NotImplementedError("TODO!") + + + def __get_stat_int(self, field): + cdef int out + acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, &out) + return out + + def __get_stat_double(self, field): + cdef cnp.ndarray[cnp.float64_t, ndim=1] out = np.zeros((1,)) + acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out.data) + return out + + def __get_stat_matrix(self, field, n, m): + cdef cnp.ndarray[cnp.float64_t, ndim=2] out_mat = np.ascontiguousarray(np.zeros((n, m)), dtype=np.float64) + acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_mat.data) + return out_mat + + + def get_cost(self): + """ + Returns the cost value of the current solution. + """ + # compute cost internally + acados_solver_common.ocp_nlp_eval_cost(self.nlp_solver, self.nlp_in, self.nlp_out) + + # create output + cdef double out + + # call getter + acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, "cost_value", &out) + + return out + + + def get_residuals(self, recompute=False): + """ + Returns an array of the form [res_stat, res_eq, res_ineq, res_comp]. + """ + # compute residuals if RTI + if self.nlp_solver_type == 'SQP_RTI' or recompute: + acados_solver_common.ocp_nlp_eval_residuals(self.nlp_solver, self.nlp_in, self.nlp_out) + + # create output array + cdef cnp.ndarray[cnp.float64_t, ndim=1] out = np.ascontiguousarray(np.zeros((4,), dtype=np.float64)) + cdef double double_value + + field = "res_stat".encode('utf-8') + acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, &double_value) + out[0] = double_value + + field = "res_eq".encode('utf-8') + acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, &double_value) + out[1] = double_value + + field = "res_ineq".encode('utf-8') + acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, &double_value) + out[2] = double_value + + field = "res_comp".encode('utf-8') + acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, &double_value) + out[3] = double_value + + return out + + + # Note: this function should not be used anymore, better use cost_set, constraints_set + def set(self, int stage, str field_, value_): + + """ + Set numerical data inside the solver. + + :param stage: integer corresponding to shooting node + :param field: string in ['x', 'u', 'pi', 'lam', 't', 'p'] + + .. note:: regarding lam, t: \n + the inequalities are internally organized in the following order: \n + [ lbu lbx lg lh lphi ubu ubx ug uh uphi; \n + lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi] + + .. note:: pi: multipliers for dynamics equality constraints \n + lam: multipliers for inequalities \n + t: slack variables corresponding to evaluation of all inequalities (at the solution) \n + sl: slack variables of soft lower inequality constraints \n + su: slack variables of soft upper inequality constraints \n + """ + if not isinstance(value_, np.ndarray): + raise Exception(f"set: value must be numpy array, got {type(value_)}.") + cost_fields = ['y_ref', 'yref'] + constraints_fields = ['lbx', 'ubx', 'lbu', 'ubu'] + out_fields = ['x', 'u', 'pi', 'lam', 't', 'z', 'sl', 'su'] + mem_fields = ['xdot_guess', 'z_guess'] + + field = field_.encode('utf-8') + + cdef cnp.ndarray[cnp.float64_t, ndim=1] value = np.ascontiguousarray(value_, dtype=np.float64) + + # treat parameters separately + if field_ == 'p': + assert acados_solver.acados_update_params(self.capsule, stage, value.data, value.shape[0]) == 0 + else: + if field_ not in constraints_fields + cost_fields + out_fields: + raise Exception("AcadosOcpSolverCython.set(): {} is not a valid argument.\ + \nPossible values are {}.".format(field, \ + constraints_fields + cost_fields + out_fields + ['p'])) + + dims = acados_solver_common.ocp_nlp_dims_get_from_attr(self.nlp_config, + self.nlp_dims, self.nlp_out, stage, field) + + if value_.shape[0] != dims: + msg = 'AcadosOcpSolverCython.set(): mismatching dimension for field "{}" '.format(field_) + msg += 'with dimension {} (you have {})'.format(dims, value_.shape[0]) + raise Exception(msg) + + if field_ in constraints_fields: + acados_solver_common.ocp_nlp_constraints_model_set(self.nlp_config, + self.nlp_dims, self.nlp_in, stage, field, value.data) + elif field_ in cost_fields: + acados_solver_common.ocp_nlp_cost_model_set(self.nlp_config, + self.nlp_dims, self.nlp_in, stage, field, value.data) + elif field_ in out_fields: + acados_solver_common.ocp_nlp_out_set(self.nlp_config, + self.nlp_dims, self.nlp_out, stage, field, value.data) + elif field_ in mem_fields: + acados_solver_common.ocp_nlp_set(self.nlp_config, \ + self.nlp_solver, stage, field, value.data) + + if field_ == 'z': + field = 'z_guess'.encode('utf-8') + acados_solver_common.ocp_nlp_set(self.nlp_config, \ + self.nlp_solver, stage, field, value.data) + return + + def cost_set(self, int stage, str field_, value_): + """ + Set numerical data in the cost module of the solver. + + :param stage: integer corresponding to shooting node + :param field: string, e.g. 'yref', 'W', 'ext_cost_num_hess' + :param value: of appropriate size + """ + if not isinstance(value_, np.ndarray): + raise Exception(f"cost_set: value must be numpy array, got {type(value_)}.") + field = field_.encode('utf-8') + + cdef int dims[2] + acados_solver_common.ocp_nlp_cost_dims_get_from_attr(self.nlp_config, \ + self.nlp_dims, self.nlp_out, stage, field, &dims[0]) + + cdef double[::1,:] value + + value_shape = value_.shape + if len(value_shape) == 1: + value_shape = (value_shape[0], 0) + value = np.asfortranarray(value_[None,:]) + + elif len(value_shape) == 2: + # Get elements in column major order + value = np.asfortranarray(value_) + + if value_shape[0] != dims[0] or value_shape[1] != dims[1]: + raise Exception('AcadosOcpSolverCython.cost_set(): mismatching dimension' + + f' for field "{field_}" at stage {stage} with dimension {tuple(dims)} (you have {value_shape})') + + acados_solver_common.ocp_nlp_cost_model_set(self.nlp_config, \ + self.nlp_dims, self.nlp_in, stage, field, &value[0][0]) + + + def constraints_set(self, int stage, str field_, value_): + """ + Set numerical data in the constraint module of the solver. + + :param stage: integer corresponding to shooting node + :param field: string in ['lbx', 'ubx', 'lbu', 'ubu', 'lg', 'ug', 'lh', 'uh', 'uphi', 'C', 'D'] + :param value: of appropriate size + """ + if not isinstance(value_, np.ndarray): + raise Exception(f"constraints_set: value must be numpy array, got {type(value_)}.") + + field = field_.encode('utf-8') + + cdef int dims[2] + acados_solver_common.ocp_nlp_constraint_dims_get_from_attr(self.nlp_config, \ + self.nlp_dims, self.nlp_out, stage, field, &dims[0]) + + cdef double[::1,:] value + + value_shape = value_.shape + if len(value_shape) == 1: + value_shape = (value_shape[0], 0) + value = np.asfortranarray(value_[None,:]) + + elif len(value_shape) == 2: + # Get elements in column major order + value = np.asfortranarray(value_) + + if value_shape != tuple(dims): + raise Exception(f'AcadosOcpSolverCython.constraints_set(): mismatching dimension' + + f' for field "{field_}" at stage {stage} with dimension {tuple(dims)} (you have {value_shape})') + + acados_solver_common.ocp_nlp_constraints_model_set(self.nlp_config, \ + self.nlp_dims, self.nlp_in, stage, field, &value[0][0]) + + return + + + def get_from_qp_in(self, int stage, str field_): + """ + Get numerical data from the dynamics module of the solver: + + :param stage: integer corresponding to shooting node + :param field: string, e.g. 'A' + """ + field = field_.encode('utf-8') + + # get dims + cdef int[2] dims + acados_solver_common.ocp_nlp_qp_dims_get_from_attr(self.nlp_config, self.nlp_dims, self.nlp_out, stage, field, &dims[0]) + + # create output data + cdef cnp.ndarray[cnp.float64_t, ndim=2] out = np.zeros((dims[0], dims[1]), order='F') + + # call getter + acados_solver_common.ocp_nlp_get_at_stage(self.nlp_config, self.nlp_dims, self.nlp_solver, stage, field, out.data) + + return out + + + def options_set(self, str field_, value_): + """ + Set options of the solver. + + :param field: string, e.g. 'print_level', 'rti_phase', 'initialize_t_slacks', 'step_length', 'alpha_min', 'alpha_reduction', 'qp_warm_start', 'line_search_use_sufficient_descent', 'full_step_dual', 'globalization_use_SOC', 'qp_tol_stat', 'qp_tol_eq', 'qp_tol_ineq', 'qp_tol_comp', 'qp_tau_min', 'qp_mu0' + + :param value: of type int, float, string + + - qp_tol_stat: QP solver tolerance stationarity + - qp_tol_eq: QP solver tolerance equalities + - qp_tol_ineq: QP solver tolerance inequalities + - qp_tol_comp: QP solver tolerance complementarity + - qp_tau_min: for HPIPM QP solvers: minimum value of barrier parameter in HPIPM + - qp_mu0: for HPIPM QP solvers: initial value for complementarity slackness + - warm_start_first_qp: indicates if first QP in SQP is warm_started + """ + int_fields = ['print_level', 'rti_phase', 'initialize_t_slacks', 'qp_warm_start', 'line_search_use_sufficient_descent', 'full_step_dual', 'globalization_use_SOC', 'warm_start_first_qp'] + double_fields = ['step_length', 'tol_eq', 'tol_stat', 'tol_ineq', 'tol_comp', 'alpha_min', 'alpha_reduction', 'eps_sufficient_descent', + 'qp_tol_stat', 'qp_tol_eq', 'qp_tol_ineq', 'qp_tol_comp', 'qp_tau_min', 'qp_mu0'] + string_fields = ['globalization'] + + # encode + field = field_.encode('utf-8') + + cdef int int_value + cdef double double_value + cdef unsigned char[::1] string_value + + # check field availability and type + if field_ in int_fields: + if not isinstance(value_, int): + raise Exception('solver option {} must be of type int. You have {}.'.format(field_, type(value_))) + + if field_ == 'rti_phase': + if value_ < 0 or value_ > 2: + raise Exception('AcadosOcpSolverCython.solve(): argument \'rti_phase\' can ' + 'take only values 0, 1, 2 for SQP-RTI-type solvers') + if self.nlp_solver_type != 'SQP_RTI' and value_ > 0: + raise Exception('AcadosOcpSolverCython.solve(): argument \'rti_phase\' can ' + 'take only value 0 for SQP-type solvers') + + int_value = value_ + acados_solver_common.ocp_nlp_solver_opts_set(self.nlp_config, self.nlp_opts, field, &int_value) + + elif field_ in double_fields: + if not isinstance(value_, float): + raise Exception('solver option {} must be of type float. You have {}.'.format(field_, type(value_))) + + double_value = value_ + acados_solver_common.ocp_nlp_solver_opts_set(self.nlp_config, self.nlp_opts, field, &double_value) + + elif field_ in string_fields: + if not isinstance(value_, bytes): + raise Exception('solver option {} must be of type str. You have {}.'.format(field_, type(value_))) + + string_value = value_.encode('utf-8') + acados_solver_common.ocp_nlp_solver_opts_set(self.nlp_config, self.nlp_opts, field, &string_value[0]) + + else: + raise Exception('AcadosOcpSolverCython.options_set() does not support field {}.'\ + '\n Possible values are {}.'.format(field_, ', '.join(int_fields + double_fields + string_fields))) + + + def set_params_sparse(self, int stage, idx_values_, param_values_): + """ + set parameters of the solvers external function partially: + Pseudo: solver.param[idx_values_] = param_values_; + Parameters: + :param stage_: integer corresponding to shooting node + :param idx_values_: 0 based integer array corresponding to parameter indices to be set + :param param_values_: new parameter values as numpy array + """ + + if not isinstance(param_values_, np.ndarray): + raise Exception('param_values_ must be np.array.') + + if param_values_.shape[0] != len(idx_values_): + raise Exception(f'param_values_ and idx_values_ must be of the same size.' + + f' Got sizes idx {param_values_.shape[0]}, param_values {len(idx_values_)}.') + + # n_update = c_int(len(param_values_)) + + # param_data = cast(param_values_.ctypes.data, POINTER(c_double)) + # c_idx_values = np.ascontiguousarray(idx_values_, dtype=np.intc) + # idx_data = cast(c_idx_values.ctypes.data, POINTER(c_int)) + + # getattr(self.shared_lib, f"{self.model_name}_acados_update_params_sparse").argtypes = \ + # [c_void_p, c_int, POINTER(c_int), POINTER(c_double), c_int] + # getattr(self.shared_lib, f"{self.model_name}_acados_update_params_sparse").restype = c_int + # getattr(self.shared_lib, f"{self.model_name}_acados_update_params_sparse") \ + # (self.capsule, stage, idx_data, param_data, n_update) + + cdef cnp.ndarray[cnp.float64_t, ndim=1] value = np.ascontiguousarray(param_values_, dtype=np.float64) + # cdef cnp.ndarray[cnp.intc, ndim=1] idx = np.ascontiguousarray(idx_values_, dtype=np.intc) + + # NOTE: this does throw an error somehow: + # ValueError: Buffer dtype mismatch, expected 'int object' but got 'int' + # cdef cnp.ndarray[cnp.int, ndim=1] idx = np.ascontiguousarray(idx_values_, dtype=np.intc) + + cdef cnp.ndarray[cnp.int32_t, ndim=1] idx = np.ascontiguousarray(idx_values_, dtype=np.int32) + cdef int n_update = value.shape[0] + # print(f"in set_params_sparse Cython n_update {n_update}") + + assert acados_solver.acados_update_params_sparse(self.capsule, stage, idx.data, value.data, n_update) == 0 + return + + + def __del__(self): + if self.solver_created: + acados_solver.acados_free(self.capsule) + acados_solver.acados_free_capsule(self.capsule) diff --git a/third_party/acados/acados_template/acados_sim.py b/third_party/acados/acados_template/acados_sim.py new file mode 100644 index 0000000000..c0d6937a49 --- /dev/null +++ b/third_party/acados/acados_template/acados_sim.py @@ -0,0 +1,367 @@ +# -*- coding: future_fstrings -*- +# +# Copyright (c) The acados authors. +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + +import numpy as np +import os +from .acados_model import AcadosModel +from .utils import get_acados_path, get_lib_ext + +class AcadosSimDims: + """ + Class containing the dimensions of the model to be simulated. + """ + def __init__(self): + self.__nx = None + self.__nu = None + self.__nz = 0 + self.__np = 0 + + @property + def nx(self): + """:math:`n_x` - number of states. Type: int > 0""" + return self.__nx + + @property + def nz(self): + """:math:`n_z` - number of algebraic variables. Type: int >= 0""" + return self.__nz + + @property + def nu(self): + """:math:`n_u` - number of inputs. Type: int >= 0""" + return self.__nu + + @property + def np(self): + """:math:`n_p` - number of parameters. Type: int >= 0""" + return self.__np + + @nx.setter + def nx(self, nx): + if isinstance(nx, int) and nx > 0: + self.__nx = nx + else: + raise Exception('Invalid nx value, expected positive integer.') + + @nz.setter + def nz(self, nz): + if isinstance(nz, int) and nz > -1: + self.__nz = nz + else: + raise Exception('Invalid nz value, expected nonnegative integer.') + + @nu.setter + def nu(self, nu): + if isinstance(nu, int) and nu > -1: + self.__nu = nu + else: + raise Exception('Invalid nu value, expected nonnegative integer.') + + @np.setter + def np(self, np): + if isinstance(np, int) and np > -1: + self.__np = np + else: + raise Exception('Invalid np value, expected nonnegative integer.') + + def set(self, attr, value): + setattr(self, attr, value) + + +class AcadosSimOpts: + """ + class containing the solver options + """ + def __init__(self): + self.__integrator_type = 'ERK' + self.__collocation_type = 'GAUSS_LEGENDRE' + self.__Tsim = None + # ints + self.__sim_method_num_stages = 1 + self.__sim_method_num_steps = 1 + self.__sim_method_newton_iter = 3 + # doubles + self.__sim_method_newton_tol = 0.0 + # bools + self.__sens_forw = True + self.__sens_adj = False + self.__sens_algebraic = False + self.__sens_hess = False + self.__output_z = True + self.__sim_method_jac_reuse = 0 + self.__ext_fun_compile_flags = '-O2' + + @property + def integrator_type(self): + """Integrator type. Default: 'ERK'.""" + return self.__integrator_type + + @property + def num_stages(self): + """Number of stages in the integrator. Default: 1""" + return self.__sim_method_num_stages + + @property + def num_steps(self): + """Number of steps in the integrator. Default: 1""" + return self.__sim_method_num_steps + + @property + def newton_iter(self): + """Number of Newton iterations in simulation method. Default: 3""" + return self.__sim_method_newton_iter + + @property + def newton_tol(self): + """ + Tolerance for Newton system solved in implicit integrator (IRK, GNSF). + 0.0 means this is not used and exactly newton_iter iterations are carried out. + Default: 0.0 + """ + return self.__sim_method_newton_tol + + @property + def sens_forw(self): + """Boolean determining if forward sensitivities are computed. Default: True""" + return self.__sens_forw + + @property + def sens_adj(self): + """Boolean determining if adjoint sensitivities are computed. Default: False""" + return self.__sens_adj + + @property + def sens_algebraic(self): + """Boolean determining if sensitivities wrt algebraic variables are computed. Default: False""" + return self.__sens_algebraic + + @property + def sens_hess(self): + """Boolean determining if hessians are computed. Default: False""" + return self.__sens_hess + + @property + def output_z(self): + """Boolean determining if values for algebraic variables (corresponding to start of simulation interval) are computed. Default: True""" + return self.__output_z + + @property + def sim_method_jac_reuse(self): + """Integer determining if jacobians are reused (0 or 1). Default: 0""" + return self.__sim_method_jac_reuse + + @property + def T(self): + """Time horizon""" + return self.__Tsim + + @property + def collocation_type(self): + """Collocation type: relevant for implicit integrators + -- string in {GAUSS_RADAU_IIA, GAUSS_LEGENDRE} + + Default: GAUSS_LEGENDRE + """ + return self.__collocation_type + + @property + def ext_fun_compile_flags(self): + """ + String with compiler flags for external function compilation. + Default: '-O2'. + """ + return self.__ext_fun_compile_flags + + @ext_fun_compile_flags.setter + def ext_fun_compile_flags(self, ext_fun_compile_flags): + if isinstance(ext_fun_compile_flags, str): + self.__ext_fun_compile_flags = ext_fun_compile_flags + else: + raise Exception('Invalid ext_fun_compile_flags, expected a string.\n') + + @integrator_type.setter + def integrator_type(self, integrator_type): + integrator_types = ('ERK', 'IRK', 'GNSF') + if integrator_type in integrator_types: + self.__integrator_type = integrator_type + else: + raise Exception('Invalid integrator_type value. Possible values are:\n\n' \ + + ',\n'.join(integrator_types) + '.\n\nYou have: ' + integrator_type + '.\n\n') + + @collocation_type.setter + def collocation_type(self, collocation_type): + collocation_types = ('GAUSS_RADAU_IIA', 'GAUSS_LEGENDRE') + if collocation_type in collocation_types: + self.__collocation_type = collocation_type + else: + raise Exception('Invalid collocation_type value. Possible values are:\n\n' \ + + ',\n'.join(collocation_types) + '.\n\nYou have: ' + collocation_type + '.\n\n') + + @T.setter + def T(self, T): + self.__Tsim = T + + @num_stages.setter + def num_stages(self, num_stages): + if isinstance(num_stages, int): + self.__sim_method_num_stages = num_stages + else: + raise Exception('Invalid num_stages value. num_stages must be an integer.') + + @num_steps.setter + def num_steps(self, num_steps): + if isinstance(num_steps, int): + self.__sim_method_num_steps = num_steps + else: + raise Exception('Invalid num_steps value. num_steps must be an integer.') + + @newton_iter.setter + def newton_iter(self, newton_iter): + if isinstance(newton_iter, int): + self.__sim_method_newton_iter = newton_iter + else: + raise Exception('Invalid newton_iter value. newton_iter must be an integer.') + + @newton_tol.setter + def newton_tol(self, newton_tol): + if isinstance(newton_tol, float): + self.__sim_method_newton_tol = newton_tol + else: + raise Exception('Invalid newton_tol value. newton_tol must be an float.') + + @sens_forw.setter + def sens_forw(self, sens_forw): + if sens_forw in (True, False): + self.__sens_forw = sens_forw + else: + raise Exception('Invalid sens_forw value. sens_forw must be a Boolean.') + + @sens_adj.setter + def sens_adj(self, sens_adj): + if sens_adj in (True, False): + self.__sens_adj = sens_adj + else: + raise Exception('Invalid sens_adj value. sens_adj must be a Boolean.') + + @sens_hess.setter + def sens_hess(self, sens_hess): + if sens_hess in (True, False): + self.__sens_hess = sens_hess + else: + raise Exception('Invalid sens_hess value. sens_hess must be a Boolean.') + + @sens_algebraic.setter + def sens_algebraic(self, sens_algebraic): + if sens_algebraic in (True, False): + self.__sens_algebraic = sens_algebraic + else: + raise Exception('Invalid sens_algebraic value. sens_algebraic must be a Boolean.') + + @output_z.setter + def output_z(self, output_z): + if output_z in (True, False): + self.__output_z = output_z + else: + raise Exception('Invalid output_z value. output_z must be a Boolean.') + + @sim_method_jac_reuse.setter + def sim_method_jac_reuse(self, sim_method_jac_reuse): + if sim_method_jac_reuse in (0, 1): + self.__sim_method_jac_reuse = sim_method_jac_reuse + else: + raise Exception('Invalid sim_method_jac_reuse value. sim_method_jac_reuse must be 0 or 1.') + +class AcadosSim: + """ + The class has the following properties that can be modified to formulate a specific simulation problem, see below: + + :param acados_path: string with the path to acados. It is used to generate the include and lib paths. + + - :py:attr:`dims` of type :py:class:`acados_template.acados_ocp.AcadosSimDims` - are automatically detected from model + - :py:attr:`model` of type :py:class:`acados_template.acados_model.AcadosModel` + - :py:attr:`solver_options` of type :py:class:`acados_template.acados_sim.AcadosSimOpts` + + - :py:attr:`acados_include_path` (set automatically) + - :py:attr:`shared_lib_ext` (set automatically) + - :py:attr:`acados_lib_path` (set automatically) + - :py:attr:`parameter_values` - used to initialize the parameters (can be changed) + + """ + def __init__(self, acados_path=''): + if acados_path == '': + acados_path = get_acados_path() + self.dims = AcadosSimDims() + """Dimension definitions, automatically detected from :py:attr:`model`. Type :py:class:`acados_template.acados_sim.AcadosSimDims`""" + self.model = AcadosModel() + """Model definitions, type :py:class:`acados_template.acados_model.AcadosModel`""" + self.solver_options = AcadosSimOpts() + """Solver Options, type :py:class:`acados_template.acados_sim.AcadosSimOpts`""" + + self.acados_include_path = os.path.join(acados_path, 'include').replace(os.sep, '/') # the replace part is important on Windows for CMake + """Path to acados include directory (set automatically), type: `string`""" + self.acados_lib_path = os.path.join(acados_path, 'lib').replace(os.sep, '/') # the replace part is important on Windows for CMake + """Path to where acados library is located (set automatically), type: `string`""" + + self.code_export_directory = 'c_generated_code' + """Path to where code will be exported. Default: `c_generated_code`.""" + self.shared_lib_ext = get_lib_ext() + + # get cython paths + from sysconfig import get_paths + self.cython_include_dirs = [np.get_include(), get_paths()['include']] + + self.__parameter_values = np.array([]) + self.__problem_class = 'SIM' + + @property + def parameter_values(self): + """:math:`p` - initial values for parameter - can be updated""" + return self.__parameter_values + + @parameter_values.setter + def parameter_values(self, parameter_values): + if isinstance(parameter_values, np.ndarray): + self.__parameter_values = parameter_values + else: + raise Exception('Invalid parameter_values value. ' + + f'Expected numpy array, got {type(parameter_values)}.') + + def set(self, attr, value): + # tokenize string + tokens = attr.split('_', 1) + if len(tokens) > 1: + setter_to_call = getattr(getattr(self, tokens[0]), 'set') + else: + setter_to_call = getattr(self, 'set') + + setter_to_call(tokens[1], value) + + return diff --git a/third_party/acados/acados_template/acados_sim_layout.json b/third_party/acados/acados_template/acados_sim_layout.json new file mode 100644 index 0000000000..e3ca4b575b --- /dev/null +++ b/third_party/acados/acados_template/acados_sim_layout.json @@ -0,0 +1,53 @@ +{ + "acados_include_path": [ + "str" + ], + "model": { + "name" : [ + "str" + ] + }, + "acados_lib_path": [ + "str" + ], + "dims": { + "np": [ + "int" + ], + "nu": [ + "int" + ], + "nx": [ + "int" + ], + "nz": [ + "int" + ] + }, + "solver_options": { + "integrator_type": [ + "str" + ], + "collocation_type": [ + "str" + ], + "Tsim": [ + "float" + ], + "sim_method_num_stages": [ + "int" + ], + "sim_method_num_steps": [ + "int" + ], + "sim_method_newton_iter": [ + "int" + ], + "sim_method_newton_tol": [ + "float" + ], + "ext_fun_compile_flags": [ + "str" + ] + } +} diff --git a/third_party/acados/acados_template/acados_sim_solver.py b/third_party/acados/acados_template/acados_sim_solver.py new file mode 100644 index 0000000000..612f439eaf --- /dev/null +++ b/third_party/acados/acados_template/acados_sim_solver.py @@ -0,0 +1,559 @@ +# -*- coding: future_fstrings -*- +# +# Copyright (c) The acados authors. +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + +import sys +import os +import json +import importlib + +import numpy as np + +from subprocess import DEVNULL, call, STDOUT + +from ctypes import POINTER, cast, CDLL, c_void_p, c_char_p, c_double, c_int, c_bool, byref +from copy import deepcopy + +from .casadi_function_generation import generate_c_code_implicit_ode, generate_c_code_gnsf, generate_c_code_explicit_ode +from .acados_sim import AcadosSim +from .acados_ocp import AcadosOcp +from .utils import is_column, render_template, format_class_dict, make_object_json_dumpable,\ + make_model_consistent, set_up_imported_gnsf_model, get_python_interface_path, get_lib_ext,\ + casadi_length, is_empty, check_casadi_version +from .builders import CMakeBuilder +from .gnsf.detect_gnsf_structure import detect_gnsf_structure + + + +def make_sim_dims_consistent(acados_sim: AcadosSim): + dims = acados_sim.dims + model = acados_sim.model + # nx + if is_column(model.x): + dims.nx = casadi_length(model.x) + else: + raise Exception('model.x should be column vector!') + + # nu + if is_empty(model.u): + dims.nu = 0 + else: + dims.nu = casadi_length(model.u) + + # nz + if is_empty(model.z): + dims.nz = 0 + else: + dims.nz = casadi_length(model.z) + + # np + if is_empty(model.p): + dims.np = 0 + else: + dims.np = casadi_length(model.p) + if acados_sim.parameter_values.shape[0] != dims.np: + raise Exception('inconsistent dimension np, regarding model.p and parameter_values.' + \ + f'\nGot np = {dims.np}, acados_sim.parameter_values.shape = {acados_sim.parameter_values.shape[0]}\n') + + +def get_sim_layout(): + python_interface_path = get_python_interface_path() + abs_path = os.path.join(python_interface_path, 'acados_sim_layout.json') + with open(abs_path, 'r') as f: + sim_layout = json.load(f) + return sim_layout + + +def sim_formulation_json_dump(acados_sim: AcadosSim, json_file='acados_sim.json'): + # Load acados_sim structure description + sim_layout = get_sim_layout() + + # Copy input sim object dictionary + sim_dict = dict(deepcopy(acados_sim).__dict__) + + for key, v in sim_layout.items(): + # skip non dict attributes + if not isinstance(v, dict): continue + # Copy sim object attributes dictionaries + sim_dict[key]=dict(getattr(acados_sim, key).__dict__) + + sim_json = format_class_dict(sim_dict) + + with open(json_file, 'w') as f: + json.dump(sim_json, f, default=make_object_json_dumpable, indent=4, sort_keys=True) + + +def sim_get_default_cmake_builder() -> CMakeBuilder: + """ + If :py:class:`~acados_template.acados_sim_solver.AcadosSimSolver` is used with `CMake` this function returns a good first setting. + :return: default :py:class:`~acados_template.builders.CMakeBuilder` + """ + cmake_builder = CMakeBuilder() + cmake_builder.options_on = ['BUILD_ACADOS_SIM_SOLVER_LIB'] + return cmake_builder + + +def sim_render_templates(json_file, model_name: str, code_export_dir, cmake_options: CMakeBuilder = None): + # setting up loader and environment + json_path = os.path.join(os.getcwd(), json_file) + + if not os.path.exists(json_path): + raise Exception(f"{json_path} not found!") + + # Render templates + in_file = 'acados_sim_solver.in.c' + out_file = f'acados_sim_solver_{model_name}.c' + render_template(in_file, out_file, code_export_dir, json_path) + + in_file = 'acados_sim_solver.in.h' + out_file = f'acados_sim_solver_{model_name}.h' + render_template(in_file, out_file, code_export_dir, json_path) + + in_file = 'acados_sim_solver.in.pxd' + out_file = f'acados_sim_solver.pxd' + render_template(in_file, out_file, code_export_dir, json_path) + + # Builder + if cmake_options is not None: + in_file = 'CMakeLists.in.txt' + out_file = 'CMakeLists.txt' + render_template(in_file, out_file, code_export_dir, json_path) + else: + in_file = 'Makefile.in' + out_file = 'Makefile' + render_template(in_file, out_file, code_export_dir, json_path) + + in_file = 'main_sim.in.c' + out_file = f'main_sim_{model_name}.c' + render_template(in_file, out_file, code_export_dir, json_path) + + # folder model + model_dir = os.path.join(code_export_dir, model_name + '_model') + + in_file = 'model.in.h' + out_file = f'{model_name}_model.h' + render_template(in_file, out_file, model_dir, json_path) + + +def sim_generate_external_functions(acados_sim: AcadosSim): + model = acados_sim.model + model = make_model_consistent(model) + + integrator_type = acados_sim.solver_options.integrator_type + + opts = dict(generate_hess = acados_sim.solver_options.sens_hess, + code_export_directory = acados_sim.code_export_directory) + + # create code_export_dir, model_dir + code_export_dir = acados_sim.code_export_directory + opts['code_export_directory'] = code_export_dir + model_dir = os.path.join(code_export_dir, model.name + '_model') + if not os.path.exists(model_dir): + os.makedirs(model_dir) + + # generate external functions + check_casadi_version() + if integrator_type == 'ERK': + generate_c_code_explicit_ode(model, opts) + elif integrator_type == 'IRK': + generate_c_code_implicit_ode(model, opts) + elif integrator_type == 'GNSF': + generate_c_code_gnsf(model, opts) + + +class AcadosSimSolver: + """ + Class to interact with the acados integrator C object. + + :param acados_sim: type :py:class:`~acados_template.acados_ocp.AcadosOcp` (takes values to generate an instance :py:class:`~acados_template.acados_sim.AcadosSim`) or :py:class:`~acados_template.acados_sim.AcadosSim` + :param json_file: Default: 'acados_sim.json' + :param build: Default: True + :param cmake_builder: type :py:class:`~acados_template.utils.CMakeBuilder` generate a `CMakeLists.txt` and use + the `CMake` pipeline instead of a `Makefile` (`CMake` seems to be the better option in conjunction with + `MS Visual Studio`); default: `None` + """ + if sys.platform=="win32": + from ctypes import wintypes + from ctypes import WinDLL + dlclose = WinDLL('kernel32', use_last_error=True).FreeLibrary + dlclose.argtypes = [wintypes.HMODULE] + else: + dlclose = CDLL(None).dlclose + dlclose.argtypes = [c_void_p] + + + @classmethod + def generate(cls, acados_sim: AcadosSim, json_file='acados_sim.json', cmake_builder: CMakeBuilder = None): + """ + Generates the code for an acados sim solver, given the description in acados_sim + """ + + acados_sim.code_export_directory = os.path.abspath(acados_sim.code_export_directory) + + # make dims consistent + make_sim_dims_consistent(acados_sim) + + # module dependent post processing + if acados_sim.solver_options.integrator_type == 'GNSF': + if acados_sim.solver_options.sens_hess == True: + raise Exception("AcadosSimSolver: GNSF does not support sens_hess = True.") + if 'gnsf_model' in acados_sim.__dict__: + set_up_imported_gnsf_model(acados_sim) + else: + detect_gnsf_structure(acados_sim) + + # generate external functions + sim_generate_external_functions(acados_sim) + + # dump to json + sim_formulation_json_dump(acados_sim, json_file) + + # render templates + sim_render_templates(json_file, acados_sim.model.name, acados_sim.code_export_directory, cmake_builder) + + + @classmethod + def build(cls, code_export_dir, with_cython=False, cmake_builder: CMakeBuilder = None, verbose: bool = True): + # Compile solver + cwd = os.getcwd() + os.chdir(code_export_dir) + if with_cython: + call( + ['make', 'clean_sim_cython'], + stdout=None if verbose else DEVNULL, + stderr=None if verbose else STDOUT + ) + call( + ['make', 'sim_cython'], + stdout=None if verbose else DEVNULL, + stderr=None if verbose else STDOUT + ) + else: + if cmake_builder is not None: + cmake_builder.exec(code_export_dir, verbose=verbose) + else: + call( + ['make', 'sim_shared_lib'], + stdout=None if verbose else DEVNULL, + stderr=None if verbose else STDOUT + ) + os.chdir(cwd) + + + @classmethod + def create_cython_solver(cls, json_file): + """ + """ + with open(json_file, 'r') as f: + acados_sim_json = json.load(f) + code_export_directory = acados_sim_json['code_export_directory'] + + importlib.invalidate_caches() + rel_code_export_directory = os.path.relpath(code_export_directory) + acados_sim_solver_pyx = importlib.import_module(f'{rel_code_export_directory}.acados_sim_solver_pyx') + + AcadosSimSolverCython = getattr(acados_sim_solver_pyx, 'AcadosSimSolverCython') + return AcadosSimSolverCython(acados_sim_json['model']['name']) + + def __init__(self, acados_sim, json_file='acados_sim.json', generate=True, build=True, cmake_builder: CMakeBuilder = None, verbose: bool = True): + + self.solver_created = False + self.acados_sim = acados_sim + model_name = acados_sim.model.name + self.model_name = model_name + + code_export_dir = os.path.abspath(acados_sim.code_export_directory) + + # reuse existing json and casadi functions, when creating integrator from ocp + if generate and not isinstance(acados_sim, AcadosOcp): + self.generate(acados_sim, json_file=json_file, cmake_builder=cmake_builder) + + if build: + self.build(code_export_dir, cmake_builder=cmake_builder, verbose=True) + + # prepare library loading + lib_prefix = 'lib' + lib_ext = get_lib_ext() + if os.name == 'nt': + lib_prefix = '' + + # Load acados library to avoid unloading the library. + # This is necessary if acados was compiled with OpenMP, since the OpenMP threads can't be destroyed. + # Unloading a library which uses OpenMP results in a segfault (on any platform?). + # see [https://stackoverflow.com/questions/34439956/vc-crash-when-freeing-a-dll-built-with-openmp] + # or [https://python.hotexamples.com/examples/_ctypes/-/dlclose/python-dlclose-function-examples.html] + libacados_name = f'{lib_prefix}acados{lib_ext}' + libacados_filepath = os.path.join(acados_sim.acados_lib_path, libacados_name) + self.__acados_lib = CDLL(libacados_filepath) + # find out if acados was compiled with OpenMP + try: + self.__acados_lib_uses_omp = getattr(self.__acados_lib, 'omp_get_thread_num') is not None + except AttributeError as e: + self.__acados_lib_uses_omp = False + if self.__acados_lib_uses_omp: + print('acados was compiled with OpenMP.') + else: + print('acados was compiled without OpenMP.') + libacados_sim_solver_name = f'{lib_prefix}acados_sim_solver_{self.model_name}{lib_ext}' + self.shared_lib_name = os.path.join(code_export_dir, libacados_sim_solver_name) + + # get shared_lib + self.shared_lib = CDLL(self.shared_lib_name) + + # create capsule + getattr(self.shared_lib, f"{model_name}_acados_sim_solver_create_capsule").restype = c_void_p + self.capsule = getattr(self.shared_lib, f"{model_name}_acados_sim_solver_create_capsule")() + + # create solver + getattr(self.shared_lib, f"{model_name}_acados_sim_create").argtypes = [c_void_p] + getattr(self.shared_lib, f"{model_name}_acados_sim_create").restype = c_int + assert getattr(self.shared_lib, f"{model_name}_acados_sim_create")(self.capsule)==0 + self.solver_created = True + + getattr(self.shared_lib, f"{model_name}_acados_get_sim_opts").argtypes = [c_void_p] + getattr(self.shared_lib, f"{model_name}_acados_get_sim_opts").restype = c_void_p + self.sim_opts = getattr(self.shared_lib, f"{model_name}_acados_get_sim_opts")(self.capsule) + + getattr(self.shared_lib, f"{model_name}_acados_get_sim_dims").argtypes = [c_void_p] + getattr(self.shared_lib, f"{model_name}_acados_get_sim_dims").restype = c_void_p + self.sim_dims = getattr(self.shared_lib, f"{model_name}_acados_get_sim_dims")(self.capsule) + + getattr(self.shared_lib, f"{model_name}_acados_get_sim_config").argtypes = [c_void_p] + getattr(self.shared_lib, f"{model_name}_acados_get_sim_config").restype = c_void_p + self.sim_config = getattr(self.shared_lib, f"{model_name}_acados_get_sim_config")(self.capsule) + + getattr(self.shared_lib, f"{model_name}_acados_get_sim_out").argtypes = [c_void_p] + getattr(self.shared_lib, f"{model_name}_acados_get_sim_out").restype = c_void_p + self.sim_out = getattr(self.shared_lib, f"{model_name}_acados_get_sim_out")(self.capsule) + + getattr(self.shared_lib, f"{model_name}_acados_get_sim_in").argtypes = [c_void_p] + getattr(self.shared_lib, f"{model_name}_acados_get_sim_in").restype = c_void_p + self.sim_in = getattr(self.shared_lib, f"{model_name}_acados_get_sim_in")(self.capsule) + + getattr(self.shared_lib, f"{model_name}_acados_get_sim_solver").argtypes = [c_void_p] + getattr(self.shared_lib, f"{model_name}_acados_get_sim_solver").restype = c_void_p + self.sim_solver = getattr(self.shared_lib, f"{model_name}_acados_get_sim_solver")(self.capsule) + + self.gettable_vectors = ['x', 'u', 'z', 'S_adj'] + self.gettable_matrices = ['S_forw', 'Sx', 'Su', 'S_hess', 'S_algebraic'] + self.gettable_scalars = ['CPUtime', 'time_tot', 'ADtime', 'time_ad', 'LAtime', 'time_la'] + + + def simulate(self, x=None, u=None, z=None, p=None): + """ + Simulate the system forward for the given x, u, z, p and return x_next. + Wrapper around `solve()` taking care of setting/getting inputs/outputs. + """ + if x is not None: + self.set('x', x) + if u is not None: + self.set('u', u) + if z is not None: + self.set('z', z) + if p is not None: + self.set('p', p) + + status = self.solve() + + if status == 2: + print("Warning: acados_sim_solver reached maximum iterations.") + elif status != 0: + raise Exception(f'acados_sim_solver for model {self.model_name} returned status {status}.') + + x_next = self.get('x') + return x_next + + + def solve(self): + """ + Solve the simulation problem with current input. + """ + getattr(self.shared_lib, f"{self.model_name}_acados_sim_solve").argtypes = [c_void_p] + getattr(self.shared_lib, f"{self.model_name}_acados_sim_solve").restype = c_int + + status = getattr(self.shared_lib, f"{self.model_name}_acados_sim_solve")(self.capsule) + return status + + + def get(self, field_): + """ + Get the last solution of the solver. + + :param str field: string in ['x', 'u', 'z', 'S_forw', 'Sx', 'Su', 'S_adj', 'S_hess', 'S_algebraic', 'CPUtime', 'time_tot', 'ADtime', 'time_ad', 'LAtime', 'time_la'] + """ + field = field_.encode('utf-8') + + if field_ in self.gettable_vectors: + # get dims + dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc) + dims_data = cast(dims.ctypes.data, POINTER(c_int)) + + self.shared_lib.sim_dims_get_from_attr.argtypes = [c_void_p, c_void_p, c_char_p, POINTER(c_int)] + self.shared_lib.sim_dims_get_from_attr(self.sim_config, self.sim_dims, field, dims_data) + + # allocate array + out = np.ascontiguousarray(np.zeros((dims[0],)), dtype=np.float64) + out_data = cast(out.ctypes.data, POINTER(c_double)) + + self.shared_lib.sim_out_get.argtypes = [c_void_p, c_void_p, c_void_p, c_char_p, c_void_p] + self.shared_lib.sim_out_get(self.sim_config, self.sim_dims, self.sim_out, field, out_data) + + elif field_ in self.gettable_matrices: + # get dims + dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc) + dims_data = cast(dims.ctypes.data, POINTER(c_int)) + + self.shared_lib.sim_dims_get_from_attr.argtypes = [c_void_p, c_void_p, c_char_p, POINTER(c_int)] + self.shared_lib.sim_dims_get_from_attr(self.sim_config, self.sim_dims, field, dims_data) + + out = np.zeros((dims[0], dims[1]), order='F') + out_data = cast(out.ctypes.data, POINTER(c_double)) + + self.shared_lib.sim_out_get.argtypes = [c_void_p, c_void_p, c_void_p, c_char_p, c_void_p] + self.shared_lib.sim_out_get(self.sim_config, self.sim_dims, self.sim_out, field, out_data) + + elif field_ in self.gettable_scalars: + scalar = c_double() + scalar_data = byref(scalar) + self.shared_lib.sim_out_get.argtypes = [c_void_p, c_void_p, c_void_p, c_char_p, c_void_p] + self.shared_lib.sim_out_get(self.sim_config, self.sim_dims, self.sim_out, field, scalar_data) + + out = scalar.value + else: + raise Exception(f'AcadosSimSolver.get(): Unknown field {field_},' \ + f' available fields are {", ".join(self.gettable_vectors+self.gettable_matrices)}, {", ".join(self.gettable_scalars)}') + + return out + + + + def set(self, field_: str, value_): + """ + Set numerical data inside the solver. + + :param field: string in ['x', 'u', 'p', 'xdot', 'z', 'seed_adj', 'T'] + :param value: the value with appropriate size. + """ + settable = ['x', 'u', 'p', 'xdot', 'z', 'seed_adj', 'T'] # S_forw + + # TODO: check and throw error here. then remove checks in Cython for speed + # cast value_ to avoid conversion issues + if isinstance(value_, (float, int)): + value_ = np.array([value_]) + + value_ = value_.astype(float) + value_data = cast(value_.ctypes.data, POINTER(c_double)) + value_data_p = cast((value_data), c_void_p) + + field = field_.encode('utf-8') + + # treat parameters separately + if field_ == 'p': + model_name = self.acados_sim.model.name + getattr(self.shared_lib, f"{model_name}_acados_sim_update_params").argtypes = [c_void_p, POINTER(c_double), c_int] + value_data = cast(value_.ctypes.data, POINTER(c_double)) + getattr(self.shared_lib, f"{model_name}_acados_sim_update_params")(self.capsule, value_data, value_.shape[0]) + return + else: + # dimension check + dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc) + dims_data = cast(dims.ctypes.data, POINTER(c_int)) + + self.shared_lib.sim_dims_get_from_attr.argtypes = [c_void_p, c_void_p, c_char_p, POINTER(c_int)] + self.shared_lib.sim_dims_get_from_attr(self.sim_config, self.sim_dims, field, dims_data) + + value_ = np.ravel(value_, order='F') + + value_shape = value_.shape + if len(value_shape) == 1: + value_shape = (value_shape[0], 0) + + if value_shape != tuple(dims): + raise Exception(f'AcadosSimSolver.set(): mismatching dimension' \ + f' for field "{field_}" with dimension {tuple(dims)} (you have {value_shape}).') + + # set + if field_ in ['xdot', 'z']: + self.shared_lib.sim_solver_set.argtypes = [c_void_p, c_char_p, c_void_p] + self.shared_lib.sim_solver_set(self.sim_solver, field, value_data_p) + elif field_ in settable: + self.shared_lib.sim_in_set.argtypes = [c_void_p, c_void_p, c_void_p, c_char_p, c_void_p] + self.shared_lib.sim_in_set(self.sim_config, self.sim_dims, self.sim_in, field, value_data_p) + else: + raise Exception(f'AcadosSimSolver.set(): Unknown field {field_},' \ + f' available fields are {", ".join(settable)}') + + return + + + def options_set(self, field_: str, value_: bool): + """ + Set solver options + + :param field: string in ['sens_forw', 'sens_adj', 'sens_hess'] + :param value: Boolean + """ + fields = ['sens_forw', 'sens_adj', 'sens_hess'] + if field_ not in fields: + raise Exception(f"field {field_} not supported. Supported values are {', '.join(fields)}.\n") + + field = field_.encode('utf-8') + value_ctypes = c_bool(value_) + + if not isinstance(value_, bool): + raise TypeError("options_set: expected boolean for value") + + # only allow setting + if getattr(self.acados_sim.solver_options, field_) or value_ == False: + self.shared_lib.sim_opts_set.argtypes = [c_void_p, c_void_p, c_char_p, POINTER(c_bool)] + self.shared_lib.sim_opts_set(self.sim_config, self.sim_opts, field, value_ctypes) + else: + raise RuntimeError(f"Cannot set option {field_} to True, because it was False in original solver options.\n") + + return + + + def __del__(self): + + if self.solver_created: + getattr(self.shared_lib, f"{self.model_name}_acados_sim_free").argtypes = [c_void_p] + getattr(self.shared_lib, f"{self.model_name}_acados_sim_free").restype = c_int + getattr(self.shared_lib, f"{self.model_name}_acados_sim_free")(self.capsule) + + getattr(self.shared_lib, f"{self.model_name}_acados_sim_solver_free_capsule").argtypes = [c_void_p] + getattr(self.shared_lib, f"{self.model_name}_acados_sim_solver_free_capsule").restype = c_int + getattr(self.shared_lib, f"{self.model_name}_acados_sim_solver_free_capsule")(self.capsule) + + try: + self.dlclose(self.shared_lib._handle) + except: + print(f"WARNING: acados Python interface could not close shared_lib handle of AcadosSimSolver {self.model_name}.\n", + "Attempting to create a new one with the same name will likely result in the old one being used!") + pass diff --git a/third_party/acados/acados_template/acados_sim_solver_common.pxd b/third_party/acados/acados_template/acados_sim_solver_common.pxd new file mode 100644 index 0000000000..cc6a58efd7 --- /dev/null +++ b/third_party/acados/acados_template/acados_sim_solver_common.pxd @@ -0,0 +1,64 @@ +# -*- coding: future_fstrings -*- +# +# Copyright (c) The acados authors. +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + + +cdef extern from "acados/sim/sim_common.h": + ctypedef struct sim_config: + pass + + ctypedef struct sim_opts: + pass + + ctypedef struct sim_in: + pass + + ctypedef struct sim_out: + pass + + +cdef extern from "acados_c/sim_interface.h": + + ctypedef struct sim_plan: + pass + + ctypedef struct sim_solver: + pass + + # out + void sim_out_get(sim_config *config, void *dims, sim_out *out, const char *field, void *value) + int sim_dims_get_from_attr(sim_config *config, void *dims, const char *field, void *dims_data) + + # opts + void sim_opts_set(sim_config *config, void *opts_, const char *field, void *value) + + # get/set + void sim_in_set(sim_config *config, void *dims, sim_in *sim_in, const char *field, void *value) + void sim_solver_set(sim_solver *solver, const char *field, void *value) \ No newline at end of file diff --git a/third_party/acados/acados_template/acados_sim_solver_pyx.pyx b/third_party/acados/acados_template/acados_sim_solver_pyx.pyx new file mode 100644 index 0000000000..be400addc7 --- /dev/null +++ b/third_party/acados/acados_template/acados_sim_solver_pyx.pyx @@ -0,0 +1,256 @@ +# -*- coding: future_fstrings -*- +# +# Copyright (c) The acados authors. +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# +# cython: language_level=3 +# cython: profile=False +# distutils: language=c + +cimport cython +from libc cimport string +# from libc cimport bool as bool_t + +cimport acados_sim_solver_common +cimport acados_sim_solver + +cimport numpy as cnp + +import os +from datetime import datetime +import numpy as np + + +cdef class AcadosSimSolverCython: + """ + Class to interact with the acados sim solver C object. + """ + + cdef acados_sim_solver.sim_solver_capsule *capsule + cdef void *sim_dims + cdef acados_sim_solver_common.sim_opts *sim_opts + cdef acados_sim_solver_common.sim_config *sim_config + cdef acados_sim_solver_common.sim_out *sim_out + cdef acados_sim_solver_common.sim_in *sim_in + cdef acados_sim_solver_common.sim_solver *sim_solver + + cdef bint solver_created + + cdef str model_name + + cdef str sim_solver_type + + cdef list gettable_vectors + cdef list gettable_matrices + cdef list gettable_scalars + + def __cinit__(self, model_name): + + self.solver_created = False + + self.model_name = model_name + + # create capsule + self.capsule = acados_sim_solver.acados_sim_solver_create_capsule() + + # create solver + assert acados_sim_solver.acados_sim_create(self.capsule) == 0 + self.solver_created = True + + # get pointers solver + self.__get_pointers_solver() + + self.gettable_vectors = ['x', 'u', 'z', 'S_adj'] + self.gettable_matrices = ['S_forw', 'Sx', 'Su', 'S_hess', 'S_algebraic'] + self.gettable_scalars = ['CPUtime', 'time_tot', 'ADtime', 'time_ad', 'LAtime', 'time_la'] + + def __get_pointers_solver(self): + """ + Private function to get the pointers for solver + """ + # get pointers solver + self.sim_opts = acados_sim_solver.acados_get_sim_opts(self.capsule) + self.sim_dims = acados_sim_solver.acados_get_sim_dims(self.capsule) + self.sim_config = acados_sim_solver.acados_get_sim_config(self.capsule) + self.sim_out = acados_sim_solver.acados_get_sim_out(self.capsule) + self.sim_in = acados_sim_solver.acados_get_sim_in(self.capsule) + self.sim_solver = acados_sim_solver.acados_get_sim_solver(self.capsule) + + + def simulate(self, x=None, u=None, z=None, p=None): + """ + Simulate the system forward for the given x, u, z, p and return x_next. + Wrapper around `solve()` taking care of setting/getting inputs/outputs. + """ + if x is not None: + self.set('x', x) + if u is not None: + self.set('u', u) + if z is not None: + self.set('z', z) + if p is not None: + self.set('p', p) + + status = self.solve() + + if status == 2: + print("Warning: acados_sim_solver reached maximum iterations.") + elif status != 0: + raise Exception(f'acados_sim_solver for model {self.model_name} returned status {status}.') + + x_next = self.get('x') + return x_next + + + def solve(self): + """ + Solve the sim with current input. + """ + return acados_sim_solver.acados_sim_solve(self.capsule) + + + def get(self, field_): + """ + Get the last solution of the solver. + + :param str field: string in ['x', 'u', 'z', 'S_forw', 'Sx', 'Su', 'S_adj', 'S_hess', 'S_algebraic', 'CPUtime', 'time_tot', 'ADtime', 'time_ad', 'LAtime', 'time_la'] + """ + field = field_.encode('utf-8') + + if field_ in self.gettable_vectors: + return self.__get_vector(field) + elif field_ in self.gettable_matrices: + return self.__get_matrix(field) + elif field_ in self.gettable_scalars: + return self.__get_scalar(field) + else: + raise Exception(f'AcadosSimSolver.get(): Unknown field {field_},' \ + f' available fields are {", ".join(self.gettable.keys())}') + + + def __get_scalar(self, field): + cdef double scalar + acados_sim_solver_common.sim_out_get(self.sim_config, self.sim_dims, self.sim_out, field, &scalar) + return scalar + + + def __get_vector(self, field): + cdef int[2] dims + acados_sim_solver_common.sim_dims_get_from_attr(self.sim_config, self.sim_dims, field, &dims[0]) + # cdef cnp.ndarray[cnp.float64_t, ndim=1] out = np.ascontiguousarray(np.zeros((dims[0],), dtype=np.float64)) + cdef cnp.ndarray[cnp.float64_t, ndim=1] out = np.zeros((dims[0]),) + acados_sim_solver_common.sim_out_get(self.sim_config, self.sim_dims, self.sim_out, field, out.data) + return out + + + def __get_matrix(self, field): + cdef int[2] dims + acados_sim_solver_common.sim_dims_get_from_attr(self.sim_config, self.sim_dims, field, &dims[0]) + cdef cnp.ndarray[cnp.float64_t, ndim=2] out = np.zeros((dims[0], dims[1]), order='F', dtype=np.float64) + acados_sim_solver_common.sim_out_get(self.sim_config, self.sim_dims, self.sim_out, field, out.data) + return out + + + def set(self, field_: str, value_): + """ + Set numerical data inside the solver. + + :param field: string in ['p', 'seed_adj', 'T', 'x', 'u', 'xdot', 'z'] + :param value: the value with appropriate size. + """ + settable = ['seed_adj', 'T', 'x', 'u', 'xdot', 'z', 'p'] # S_forw + + # cast value_ to avoid conversion issues + if isinstance(value_, (float, int)): + value_ = np.array([value_]) + # if len(value_.shape) > 1: + # raise RuntimeError('AcadosSimSolverCython.set(): value_ should be 1 dimensional') + + cdef cnp.ndarray[cnp.float64_t, ndim=1] value = np.ascontiguousarray(value_, dtype=np.float64).flatten() + + field = field_.encode('utf-8') + cdef int[2] dims + + # treat parameters separately + if field_ == 'p': + assert acados_sim_solver.acados_sim_update_params(self.capsule, value.data, value.shape[0]) == 0 + return + else: + acados_sim_solver_common.sim_dims_get_from_attr(self.sim_config, self.sim_dims, field, &dims[0]) + + value_ = np.ravel(value_, order='F') + + value_shape = value_.shape + if len(value_shape) == 1: + value_shape = (value_shape[0], 0) + + if value_shape != tuple(dims): + raise Exception(f'AcadosSimSolverCython.set(): mismatching dimension' \ + f' for field "{field_}" with dimension {tuple(dims)} (you have {value_shape}).') + + # set + if field_ in ['xdot', 'z']: + acados_sim_solver_common.sim_solver_set(self.sim_solver, field, value.data) + elif field_ in settable: + acados_sim_solver_common.sim_in_set(self.sim_config, self.sim_dims, self.sim_in, field, value.data) + else: + raise Exception(f'AcadosSimSolverCython.set(): Unknown field {field_},' \ + f' available fields are {", ".join(settable)}') + + + def options_set(self, field_: str, value_: bool): + """ + Set solver options + + :param field: string in ['sens_forw', 'sens_adj', 'sens_hess'] + :param value: Boolean + """ + fields = ['sens_forw', 'sens_adj', 'sens_hess'] + if field_ not in fields: + raise Exception(f"field {field_} not supported. Supported values are {', '.join(fields)}.\n") + + field = field_.encode('utf-8') + + if not isinstance(value_, bool): + raise TypeError("options_set: expected boolean for value") + + cdef bint bool_value = value_ + acados_sim_solver_common.sim_opts_set(self.sim_config, self.sim_opts, field, &bool_value) + # TODO: only allow setting + # if getattr(self.acados_sim.solver_options, field_) or value_ == False: + # acados_sim_solver_common.sim_opts_set(self.sim_config, self.sim_opts, field, &bool_value) + # else: + # raise RuntimeError(f"Cannot set option {field_} to True, because it was False in original solver options.\n") + + return + + + def __del__(self): + if self.solver_created: + acados_sim_solver.acados_sim_free(self.capsule) + acados_sim_solver.acados_sim_solver_free_capsule(self.capsule) diff --git a/third_party/acados/acados_template/acados_solver_common.pxd b/third_party/acados/acados_template/acados_solver_common.pxd new file mode 100644 index 0000000000..c6d59d40a5 --- /dev/null +++ b/third_party/acados/acados_template/acados_solver_common.pxd @@ -0,0 +1,100 @@ +# -*- coding: future_fstrings -*- +# +# Copyright (c) The acados authors. +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + + +cdef extern from "acados/ocp_nlp/ocp_nlp_common.h": + ctypedef struct ocp_nlp_config: + pass + + ctypedef struct ocp_nlp_dims: + pass + + ctypedef struct ocp_nlp_in: + pass + + ctypedef struct ocp_nlp_out: + pass + + +cdef extern from "acados_c/ocp_nlp_interface.h": + ctypedef enum ocp_nlp_solver_t: + pass + + ctypedef enum ocp_nlp_cost_t: + pass + + ctypedef enum ocp_nlp_dynamics_t: + pass + + ctypedef enum ocp_nlp_constraints_t: + pass + + ctypedef enum ocp_nlp_reg_t: + pass + + ctypedef struct ocp_nlp_plan: + pass + + ctypedef struct ocp_nlp_solver: + pass + + int ocp_nlp_cost_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in_, + int start_stage, const char *field, void *value) + int ocp_nlp_constraints_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims, + ocp_nlp_in *in_, int stage, const char *field, void *value) + + # out + void ocp_nlp_out_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out, + int stage, const char *field, void *value) + void ocp_nlp_out_get(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out, + int stage, const char *field, void *value) + void ocp_nlp_get_at_stage(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_solver *solver, + int stage, const char *field, void *value) + int ocp_nlp_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out, + int stage, const char *field) + void ocp_nlp_constraint_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out, + int stage, const char *field, int *dims_out) + void ocp_nlp_cost_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out, + int stage, const char *field, int *dims_out) + void ocp_nlp_qp_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out, + int stage, const char *field, int *dims_out) + + # opts + void ocp_nlp_solver_opts_set(ocp_nlp_config *config, void *opts_, const char *field, void* value) + + # solver + void ocp_nlp_eval_residuals(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out) + void ocp_nlp_eval_param_sens(ocp_nlp_solver *solver, char *field, int stage, int index, ocp_nlp_out *sens_nlp_out) + void ocp_nlp_eval_cost(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in_, ocp_nlp_out *nlp_out) + + # get/set + void ocp_nlp_get(ocp_nlp_config *config, ocp_nlp_solver *solver, const char *field, void *return_value_) + void ocp_nlp_set(ocp_nlp_config *config, ocp_nlp_solver *solver, int stage, const char *field, void *value) diff --git a/third_party/acados/acados_template/builders.py b/third_party/acados/acados_template/builders.py new file mode 100644 index 0000000000..6f21bfe8cd --- /dev/null +++ b/third_party/acados/acados_template/builders.py @@ -0,0 +1,131 @@ +# -*- coding: future_fstrings -*- +# +# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, +# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, +# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, +# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + +import os +import sys +from subprocess import DEVNULL, call, STDOUT + + +class CMakeBuilder: + """ + Class to work with the `CMake` build system. + """ + def __init__(self): + self._source_dir = None # private source directory, this is set to code_export_dir + self.build_dir = 'build' + self._build_dir = None # private build directory, usually rendered to abspath(build_dir) + self.generator = None + """Defines the generator, options can be found via `cmake --help` under 'Generator'. Type: string. Linux default 'Unix Makefiles', Windows 'Visual Studio 15 2017 Win64'; default value: `None`.""" + # set something for Windows + if os.name == 'nt': + self.generator = 'Visual Studio 15 2017 Win64' + self.build_targets = None + """A comma-separated list of the build targets, if `None` then all targets will be build; type: List of strings; default: `None`.""" + self.options_on = None + """List of strings as CMake options which are translated to '-D Opt[0]=ON -D Opt[1]=ON ...'; default: `None`.""" + + # Generate the command string for handling the cmake command. + def get_cmd1_cmake(self): + defines_str = '' + if self.options_on is not None: + defines_arr = [f' -D{opt}=ON' for opt in self.options_on] + defines_str = ' '.join(defines_arr) + generator_str = '' + if self.generator is not None: + generator_str = f' -G"{self.generator}"' + return f'cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX="{self._source_dir}"{defines_str}{generator_str} -Wdev -S"{self._source_dir}" -B"{self._build_dir}"' + + # Generate the command string for handling the build. + def get_cmd2_build(self): + import multiprocessing + cmd = f'cmake --build "{self._build_dir}" --config Release -j{multiprocessing.cpu_count()}' + if self.build_targets is not None: + cmd += f' -t {self.build_targets}' + return cmd + + # Generate the command string for handling the install command. + def get_cmd3_install(self): + return f'cmake --install "{self._build_dir}"' + + def exec(self, code_export_directory, verbose=True): + """ + Execute the compilation using `CMake` with the given settings. + :param code_export_directory: must be the absolute path to the directory where the code was exported to + """ + if(os.path.isabs(code_export_directory) is False): + print(f'(W) the code export directory "{code_export_directory}" is not an absolute path!') + self._source_dir = code_export_directory + self._build_dir = os.path.abspath(self.build_dir) + try: + os.mkdir(self._build_dir) + except FileExistsError as e: + pass + + try: + os.chdir(self._build_dir) + cmd_str = self.get_cmd1_cmake() + print(f'call("{cmd_str})"') + retcode = call( + cmd_str, + shell=True, + stdout=None if verbose else DEVNULL, + stderr=None if verbose else STDOUT + ) + if retcode != 0: + raise RuntimeError(f'CMake command "{cmd_str}" was terminated by signal {retcode}') + cmd_str = self.get_cmd2_build() + print(f'call("{cmd_str}")') + retcode = call( + cmd_str, + shell=True, + stdout=None if verbose else DEVNULL, + stderr=None if verbose else STDOUT + ) + if retcode != 0: + raise RuntimeError(f'Build command "{cmd_str}" was terminated by signal {retcode}') + cmd_str = self.get_cmd3_install() + print(f'call("{cmd_str}")') + retcode = call( + cmd_str, + shell=True, + stdout=None if verbose else DEVNULL, + stderr=None if verbose else STDOUT + ) + if retcode != 0: + raise RuntimeError(f'Install command "{cmd_str}" was terminated by signal {retcode}') + except OSError as e: + print("Execution failed:", e, file=sys.stderr) + except Exception as e: + print("Execution failed:", e, file=sys.stderr) + exit(1) diff --git a/third_party/acados/acados_template/c_templates_tera/CMakeLists.in.txt b/third_party/acados/acados_template/c_templates_tera/CMakeLists.in.txt new file mode 100644 index 0000000000..99bc26f750 --- /dev/null +++ b/third_party/acados/acados_template/c_templates_tera/CMakeLists.in.txt @@ -0,0 +1,397 @@ +# +# Copyright (c) The acados authors. +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + +{%- if solver_options.qp_solver %} + {%- set qp_solver = solver_options.qp_solver %} +{%- else %} + {%- set qp_solver = "FULL_CONDENSING_HPIPM" %} +{%- endif %} + +{%- if solver_options.hessian_approx %} + {%- set hessian_approx = solver_options.hessian_approx %} +{%- elif solver_options.sens_hess %} + {%- set hessian_approx = "EXACT" %} +{%- else %} + {%- set hessian_approx = "GAUSS_NEWTON" %} +{%- endif %} + +{%- if constraints.constr_type %} + {%- set constr_type = constraints.constr_type %} +{%- else %} + {%- set constr_type = "NONE" %} +{%- endif %} + +{%- if constraints.constr_type_e %} + {%- set constr_type_e = constraints.constr_type_e %} +{%- else %} + {%- set constr_type_e = "NONE" %} +{%- endif %} + +{%- if cost.cost_type %} + {%- set cost_type = cost.cost_type %} +{%- else %} + {%- set cost_type = "NONE" %} +{%- endif %} + +{%- if cost.cost_type_e %} + {%- set cost_type_e = cost.cost_type_e %} +{%- else %} + {%- set cost_type_e = "NONE" %} +{%- endif %} + +{%- if cost.cost_type_0 %} + {%- set cost_type_0 = cost.cost_type_0 %} +{%- else %} + {%- set cost_type_0 = "NONE" %} +{%- endif %} + +{%- if dims.nh %} + {%- set dims_nh = dims.nh %} +{%- else %} + {%- set dims_nh = 0 %} +{%- endif %} + +{%- if dims.nphi %} + {%- set dims_nphi = dims.nphi %} +{%- else %} + {%- set dims_nphi = 0 %} +{%- endif %} + +{%- if dims.nh_e %} + {%- set dims_nh_e = dims.nh_e %} +{%- else %} + {%- set dims_nh_e = 0 %} +{%- endif %} + +{%- if dims.nphi_e %} + {%- set dims_nphi_e = dims.nphi_e %} +{%- else %} + {%- set dims_nphi_e = 0 %} +{%- endif %} + +{%- if solver_options.model_external_shared_lib_dir %} + {%- set model_external_shared_lib_dir = solver_options.model_external_shared_lib_dir %} +{%- endif %} + +{%- if solver_options.model_external_shared_lib_name %} + {%- set model_external_shared_lib_name = solver_options.model_external_shared_lib_name %} +{%- endif %} + +{#- control operator #} +{%- if os and os == "pc" %} + {%- set control = "&" %} +{%- else %} + {%- set control = ";" %} +{%- endif %} + +{%- if acados_link_libs and os and os == "pc" %}{# acados linking libraries and flags #} + {%- set link_libs = acados_link_libs.qpoases ~ " " ~ acados_link_libs.hpmpc ~ " " ~ acados_link_libs.osqp -%} + {%- set openmp_flag = acados_link_libs.openmp %} +{%- else %} + {%- set openmp_flag = " " %} + {%- if qp_solver == "FULL_CONDENSING_QPOASES" %} + {%- set link_libs = "-lqpOASES_e" %} + {%- elif qp_solver == "FULL_CONDENSING_DAQP" %} + {%- set link_libs = "-ldaqp" %} + {%- else %} + {%- set link_libs = "" %} + {%- endif %} +{%- endif %} + +cmake_minimum_required(VERSION 3.13) + +project({{ model.name }}) + +# build options. +option(BUILD_ACADOS_SOLVER_LIB "Should the solver library acados_solver_{{ model.name }} be build?" OFF) +option(BUILD_ACADOS_OCP_SOLVER_LIB "Should the OCP solver library acados_ocp_solver_{{ model.name }} be build?" OFF) +option(BUILD_EXAMPLE "Should the example main_{{ model.name }} be build?" OFF) +{%- if solver_options.integrator_type != "DISCRETE" %} +option(BUILD_SIM_EXAMPLE "Should the simulation example main_sim_{{ model.name }} be build?" OFF) +option(BUILD_ACADOS_SIM_SOLVER_LIB "Should the simulation solver library acados_sim_solver_{{ model.name }} be build?" OFF) +{%- endif %} + + +if(CMAKE_CXX_COMPILER_ID MATCHES "GNU" AND CMAKE_SYSTEM_NAME MATCHES "Windows") + # MinGW, change to .lib such that mex recognizes it + set(CMAKE_SHARED_LIBRARY_SUFFIX ".lib") + set(CMAKE_SHARED_LIBRARY_PREFIX "") +endif() + + +# object target names +set(MODEL_OBJ model_{{ model.name }}) +set(OCP_OBJ ocp_{{ model.name }}) +set(SIM_OBJ sim_{{ model.name }}) + +# model +set(MODEL_SRC + {%- if model.dyn_ext_fun_type == "casadi" %} +{%- if solver_options.integrator_type == "ERK" %} + {{ model.name }}_model/{{ model.name }}_expl_ode_fun.c + {{ model.name }}_model/{{ model.name }}_expl_vde_forw.c + {{ model.name }}_model/{{ model.name }}_expl_vde_adj.c + {%- if hessian_approx == "EXACT" %} + {{ model.name }}_model/{{ model.name }}_expl_ode_hess.c + {%- endif %} +{%- elif solver_options.integrator_type == "IRK" %} + {{ model.name }}_model/{{ model.name }}_impl_dae_fun.c + {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.c + {{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.c + {%- if hessian_approx == "EXACT" %} + {{ model.name }}_model/{{ model.name }}_impl_dae_hess.c + {%- endif %} +{%- elif solver_options.integrator_type == "LIFTED_IRK" %} + {{ model.name }}_model/{{ model.name }}_impl_dae_fun.c + {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_u.c + {%- if hessian_approx == "EXACT" %} + {{ model.name }}_model/{{ model.name }}_impl_dae_hess.c + {%- endif %} +{%- elif solver_options.integrator_type == "GNSF" %} + {% if model.gnsf.purely_linear != 1 %} + {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.c + {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.c + {{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.c + {% if model.gnsf.nontrivial_f_LO == 1 %} + {{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c + {%- endif %} + {%- endif %} + {{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c +{%- elif solver_options.integrator_type == "DISCRETE" %} + {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun.c + {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac.c + {%- if hessian_approx == "EXACT" %} + {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac_hess.c + {%- endif %} +{%- endif -%} + {%- else %} + {{ model.name }}_model/{{ model.dyn_generic_source }} + {%- endif %} +) +add_library(${MODEL_OBJ} OBJECT ${MODEL_SRC} ) + +# optimal control problem - mostly CasADi exports +if(${BUILD_ACADOS_SOLVER_LIB} OR ${BUILD_ACADOS_OCP_SOLVER_LIB} OR ${BUILD_EXAMPLE}) + set(OCP_SRC +{%- if constr_type == "BGP" and dims_nphi > 0 %} + {{ model.name }}_constraints/{{ model.name }}_phi_constraint.c +{%- endif %} +{%- if constr_type_e == "BGP" and dims_nphi_e > 0 %} + {{ model.name }}_constraints/{{ model.name }}_phi_e_constraint.c +{%- endif %} + +{%- if constr_type == "BGH" and dims_nh > 0 %} + {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt.c + {{ model.name }}_constraints/{{ model.name }}_constr_h_fun.c + {%- if hessian_approx == "EXACT" %} + {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt_hess.c + {%- endif %} +{%- endif %} + +{%- if constr_type_e == "BGH" and dims_nh_e > 0 %} + {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt.c + {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun.c + {%- if hessian_approx == "EXACT" %} + {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess.c + {%- endif %} +{%- endif %} + +{%- if cost_type_0 == "NONLINEAR_LS" %} + {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun.c + {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun_jac_ut_xt.c + {{ model.name }}_cost/{{ model.name }}_cost_y_0_hess.c +{%- elif cost_type_0 == "CONVEX_OVER_NONLINEAR" %} + {{ model.name }}_cost/{{ model.name }}_conl_cost_0_fun.c + {{ model.name }}_cost/{{ model.name }}_conl_cost_0_fun_jac_hess.c +{%- elif cost_type_0 == "EXTERNAL" %} + {%- if cost.cost_ext_fun_type_0 == "casadi" %} + {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun.c + {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac.c + {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac_hess.c + {%- else %} + {{ model.name }}_cost/{{ cost.cost_source_ext_cost_0 }} + {%- endif %} +{%- endif %} +{%- if cost_type == "NONLINEAR_LS" %} + {{ model.name }}_cost/{{ model.name }}_cost_y_fun.c + {{ model.name }}_cost/{{ model.name }}_cost_y_fun_jac_ut_xt.c + {{ model.name }}_cost/{{ model.name }}_cost_y_hess.c +{%- elif cost_type == "CONVEX_OVER_NONLINEAR" %} + {{ model.name }}_cost/{{ model.name }}_conl_cost_fun.c + {{ model.name }}_cost/{{ model.name }}_conl_cost_fun_jac_hess.c +{%- elif cost_type == "EXTERNAL" %} + {%- if cost.cost_ext_fun_type == "casadi" %} + {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun.c + {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac.c + {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac_hess.c + {%- elif cost.cost_source_ext_cost != cost.cost_source_ext_cost_0 %} + {{ model.name }}_cost/{{ cost.cost_source_ext_cost }} + {%- endif %} +{%- endif %} +{%- if cost_type_e == "NONLINEAR_LS" %} + {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun.c + {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun_jac_ut_xt.c + {{ model.name }}_cost/{{ model.name }}_cost_y_e_hess.c +{%- elif cost_type_e == "CONVEX_OVER_NONLINEAR" %} + {{ model.name }}_cost/{{ model.name }}_conl_cost_e_fun.c + {{ model.name }}_cost/{{ model.name }}_conl_cost_e_fun_jac_hess.c +{%- elif cost_type_e == "EXTERNAL" %} + {%- if cost.cost_ext_fun_type_e == "casadi" %} + {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun.c + {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac.c + {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac_hess.c + {%- elif cost.cost_source_ext_cost_e != cost.cost_source_ext_cost_0 %} + {{ model.name }}_cost/{{ cost.cost_source_ext_cost_e }} + {%- endif %} +{%- endif %} + acados_solver_{{ model.name }}.c) + add_library(${OCP_OBJ} OBJECT ${OCP_SRC}) +endif() + +{%- if solver_options.integrator_type != "DISCRETE" %} +# for sim solver +if(${BUILD_ACADOS_SOLVER_LIB} OR ${BUILD_EXAMPLE} + {%- if solver_options.integrator_type != "DISCRETE" %} + OR ${BUILD_SIM_EXAMPLE} OR ${BUILD_ACADOS_SIM_SOLVER_LIB} + {%- endif -%} + ) + set(SIM_SRC acados_sim_solver_{{ model.name }}.c) + add_library(${SIM_OBJ} OBJECT ${SIM_SRC}) +endif() +{%- endif %} + +# for target example +set(EX_SRC main_{{ model.name }}.c) +set(EX_EXE main_{{ model.name }}) + +{%- if model_external_shared_lib_dir and model_external_shared_lib_name %} +set(EXTERNAL_DIR {{ model_external_shared_lib_dir | replace(from="\", to="/") }}) +set(EXTERNAL_LIB {{ model_external_shared_lib_name }}) +{%- else %} +set(EXTERNAL_DIR) +set(EXTERNAL_LIB) +{%- endif %} + +# set some search paths for preprocessor and linker +set(ACADOS_INCLUDE_PATH {{ acados_include_path | replace(from="\", to="/") }} CACHE PATH "Define the path which contains the include directory for acados.") +set(ACADOS_LIB_PATH {{ acados_lib_path | replace(from="\", to="/") }} CACHE PATH "Define the path which contains the lib directory for acados.") + +# c-compiler flags for debugging +set(CMAKE_C_FLAGS_DEBUG "-O0 -ggdb") + +set(CMAKE_C_FLAGS "-fPIC -std=c99 {{ openmp_flag }} +{%- if qp_solver == "FULL_CONDENSING_QPOASES" -%} + -DACADOS_WITH_QPOASES +{%- endif -%} +{%- if qp_solver == "FULL_CONDENSING_DAQP" -%} + -DACADOS_WITH_DAQP +{%- endif -%} +{%- if qp_solver == "PARTIAL_CONDENSING_OSQP" -%} + -DACADOS_WITH_OSQP +{%- endif -%} +{%- if qp_solver == "PARTIAL_CONDENSING_QPDUNES" -%} + -DACADOS_WITH_QPDUNES +{%- endif -%} +") +#-fno-diagnostics-show-line-numbers -g + +include_directories( + ${ACADOS_INCLUDE_PATH} + ${ACADOS_INCLUDE_PATH}/acados + ${ACADOS_INCLUDE_PATH}/blasfeo/include + ${ACADOS_INCLUDE_PATH}/hpipm/include +{%- if qp_solver == "FULL_CONDENSING_QPOASES" %} + ${ACADOS_INCLUDE_PATH}/qpOASES_e/ +{%- endif %} +{%- if qp_solver == "FULL_CONDENSING_DAQP" %} + ${ACADOS_INCLUDE_PATH}/daqp/include +{%- endif %} +) + +# linker flags +link_directories(${ACADOS_LIB_PATH}) + +# link to libraries +if(UNIX) + link_libraries(acados hpipm blasfeo m {{ link_libs }}) +else() + link_libraries(acados hpipm blasfeo {{ link_libs }}) +endif() + +# the targets + +# bundled_shared_lib +if(${BUILD_ACADOS_SOLVER_LIB}) + set(LIB_ACADOS_SOLVER acados_solver_{{ model.name }}) + add_library(${LIB_ACADOS_SOLVER} SHARED $ $ + {%- if solver_options.integrator_type != "DISCRETE" %} + $ + {%- endif -%} + ) + install(TARGETS ${LIB_ACADOS_SOLVER} DESTINATION ${CMAKE_INSTALL_PREFIX}) +endif(${BUILD_ACADOS_SOLVER_LIB}) + +# ocp_shared_lib +if(${BUILD_ACADOS_OCP_SOLVER_LIB}) + set(LIB_ACADOS_OCP_SOLVER acados_ocp_solver_{{ model.name }}) + add_library(${LIB_ACADOS_OCP_SOLVER} SHARED $ $) + # Specify libraries or flags to use when linking a given target and/or its dependents. + target_link_libraries(${LIB_ACADOS_OCP_SOLVER} PRIVATE ${EXTERNAL_LIB}) + target_link_directories(${LIB_ACADOS_OCP_SOLVER} PRIVATE ${EXTERNAL_DIR}) + install(TARGETS ${LIB_ACADOS_OCP_SOLVER} DESTINATION ${CMAKE_INSTALL_PREFIX}) +endif(${BUILD_ACADOS_OCP_SOLVER_LIB}) + +# example +if(${BUILD_EXAMPLE}) + add_executable(${EX_EXE} ${EX_SRC} $ $ + {%- if solver_options.integrator_type != "DISCRETE" %} + $ + {%- endif -%} + ) + install(TARGETS ${EX_EXE} DESTINATION ${CMAKE_INSTALL_PREFIX}) +endif(${BUILD_EXAMPLE}) + +{% if solver_options.integrator_type != "DISCRETE" -%} +# example_sim +if(${BUILD_SIM_EXAMPLE}) + set(EX_SIM_SRC main_sim_{{ model.name }}.c) + set(EX_SIM_EXE main_sim_{{ model.name }}) + add_executable(${EX_SIM_EXE} ${EX_SIM_SRC} $ $) + install(TARGETS ${EX_SIM_EXE} DESTINATION ${CMAKE_INSTALL_PREFIX}) +endif(${BUILD_SIM_EXAMPLE}) + +# sim_shared_lib +if(${BUILD_ACADOS_SIM_SOLVER_LIB}) + set(LIB_ACADOS_SIM_SOLVER acados_sim_solver_{{ model.name }}) + add_library(${LIB_ACADOS_SIM_SOLVER} SHARED $ $) + install(TARGETS ${LIB_ACADOS_SIM_SOLVER} DESTINATION ${CMAKE_INSTALL_PREFIX}) +endif(${BUILD_ACADOS_SIM_SOLVER_LIB}) +{%- endif %} + diff --git a/third_party/acados/acados_template/c_templates_tera/Makefile.in b/third_party/acados/acados_template/c_templates_tera/Makefile.in new file mode 100644 index 0000000000..fbefc08e38 --- /dev/null +++ b/third_party/acados/acados_template/c_templates_tera/Makefile.in @@ -0,0 +1,468 @@ +# +# Copyright (c) The acados authors. +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + +{%- if solver_options.qp_solver %} + {%- set qp_solver = solver_options.qp_solver %} +{%- else %} + {%- set qp_solver = "FULL_CONDENSING_HPIPM" %} +{%- endif %} + +{%- if solver_options.hessian_approx %} + {%- set hessian_approx = solver_options.hessian_approx %} +{%- elif solver_options.sens_hess %} + {%- set hessian_approx = "EXACT" %} +{%- else %} + {%- set hessian_approx = "GAUSS_NEWTON" %} +{%- endif %} + +{%- if constraints.constr_type %} + {%- set constr_type = constraints.constr_type %} +{%- else %} + {%- set constr_type = "NONE" %} +{%- endif %} + +{%- if constraints.constr_type_e %} + {%- set constr_type_e = constraints.constr_type_e %} +{%- else %} + {%- set constr_type_e = "NONE" %} +{%- endif %} + +{%- if cost.cost_type %} + {%- set cost_type = cost.cost_type %} +{%- else %} + {%- set cost_type = "NONE" %} +{%- endif %} + +{%- if cost.cost_type_e %} + {%- set cost_type_e = cost.cost_type_e %} +{%- else %} + {%- set cost_type_e = "NONE" %} +{%- endif %} + +{%- if cost.cost_type_0 %} + {%- set cost_type_0 = cost.cost_type_0 %} +{%- else %} + {%- set cost_type_0 = "NONE" %} +{%- endif %} + +{%- if dims.nh %} + {%- set dims_nh = dims.nh %} +{%- else %} + {%- set dims_nh = 0 %} +{%- endif %} + +{%- if dims.nphi %} + {%- set dims_nphi = dims.nphi %} +{%- else %} + {%- set dims_nphi = 0 %} +{%- endif %} + +{%- if dims.nh_e %} + {%- set dims_nh_e = dims.nh_e %} +{%- else %} + {%- set dims_nh_e = 0 %} +{%- endif %} + +{%- if dims.nphi_e %} + {%- set dims_nphi_e = dims.nphi_e %} +{%- else %} + {%- set dims_nphi_e = 0 %} +{%- endif %} +{%- if solver_options.model_external_shared_lib_dir %} + {%- set model_external_shared_lib_dir = solver_options.model_external_shared_lib_dir %} +{%- endif %} +{%- if solver_options.model_external_shared_lib_name %} + {%- set model_external_shared_lib_name = solver_options.model_external_shared_lib_name %} +{%- endif %} + +{# control operator #} +{%- if os and os == "pc" %} + {%- set control = "&" %} +{%- else %} + {%- set control = ";" %} +{%- endif %} + +{# acados linking libraries and flags #} +{%- if acados_link_libs and os and os == "pc" %} + {%- set link_libs = acados_link_libs.qpoases ~ " " ~ acados_link_libs.hpmpc ~ " " ~ acados_link_libs.osqp -%} + {%- set openmp_flag = acados_link_libs.openmp %} +{%- else %} + {%- set openmp_flag = " " %} + {%- if qp_solver == "FULL_CONDENSING_QPOASES" %} + {%- set link_libs = "-lqpOASES_e" %} + {%- elif qp_solver == "FULL_CONDENSING_DAQP" %} + {%- set link_libs = "-ldaqp" %} + {%- else %} + {%- set link_libs = "" %} + {%- endif %} +{%- endif %} + +# define sources and use make's implicit rules to generate object files (*.o) + +# model +MODEL_SRC= + {%- if model.dyn_ext_fun_type == "casadi" %} +{%- if solver_options.integrator_type == "ERK" %} +MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_ode_fun.c +MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_vde_forw.c +MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_vde_adj.c + {%- if hessian_approx == "EXACT" %} +MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_ode_hess.c + {%- endif %} +{%- elif solver_options.integrator_type == "IRK" %} +MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun.c +MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.c +MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.c + {%- if hessian_approx == "EXACT" %} +MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_hess.c + {%- endif %} +{%- elif solver_options.integrator_type == "LIFTED_IRK" %} +MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun.c +MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_u.c + {%- if hessian_approx == "EXACT" %} +MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_hess.c + {%- endif %} +{%- elif solver_options.integrator_type == "GNSF" %} + {% if model.gnsf.purely_linear != 1 %} +MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.c +MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.c +MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.c + {% if model.gnsf.nontrivial_f_LO == 1 %} +MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c + {%- endif %} + {%- endif %} +MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c +{%- elif solver_options.integrator_type == "DISCRETE" %} +MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun.c +MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac.c + {%- if hessian_approx == "EXACT" %} +MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac_hess.c + {%- endif %} +{%- endif %} + {%- else %} +MODEL_SRC+= {{ model.name }}_model/{{ model.dyn_generic_source }} + {%- endif %} +MODEL_OBJ := $(MODEL_SRC:.c=.o) + +# optimal control problem - mostly CasADi exports +OCP_SRC= +{%- if constr_type == "BGP" and dims_nphi > 0 %} +OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_phi_constraint.c +{%- endif %} +{%- if constr_type_e == "BGP" and dims_nphi_e > 0 %} +OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_phi_e_constraint.c +{%- endif %} + +{%- if constr_type == "BGH" and dims_nh > 0 %} +OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt.c +OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun.c + {%- if hessian_approx == "EXACT" %} +OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt_hess.c + {%- endif %} +{%- endif %} + +{%- if constr_type_e == "BGH" and dims_nh_e > 0 %} +OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt.c +OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun.c + {%- if hessian_approx == "EXACT" %} +OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess.c + {%- endif %} +{%- endif %} + +{%- if cost_type_0 == "NONLINEAR_LS" %} +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun.c +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun_jac_ut_xt.c +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_hess.c +{%- elif cost_type_0 == "CONVEX_OVER_NONLINEAR" %} +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_0_fun.c +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_0_fun_jac_hess.c +{%- elif cost_type_0 == "EXTERNAL" %} + {%- if cost.cost_ext_fun_type_0 == "casadi" %} +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun.c +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac.c +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac_hess.c + {%- else %} +OCP_SRC+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost_0 }} + {%- endif %} +{%- endif %} +{%- if cost_type == "NONLINEAR_LS" %} +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_fun.c +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_fun_jac_ut_xt.c +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_hess.c +{%- elif cost_type == "CONVEX_OVER_NONLINEAR" %} +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_fun.c +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_fun_jac_hess.c +{%- elif cost_type == "EXTERNAL" %} + {%- if cost.cost_ext_fun_type == "casadi" %} +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun.c +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac.c +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac_hess.c + {%- elif cost.cost_source_ext_cost != cost.cost_source_ext_cost_0 %} +OCP_SRC+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost }} + {%- endif %} +{%- endif %} +{%- if cost_type_e == "NONLINEAR_LS" %} +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun.c +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun_jac_ut_xt.c +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_hess.c +{%- elif cost_type_e == "CONVEX_OVER_NONLINEAR" %} +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_e_fun.c +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_e_fun_jac_hess.c +{%- elif cost_type_e == "EXTERNAL" %} + {%- if cost.cost_ext_fun_type_e == "casadi" %} +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun.c +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac.c +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac_hess.c + {%- elif cost.cost_source_ext_cost_e != cost.cost_source_ext_cost_0 %} +OCP_SRC+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost_e }} + {%- endif %} +{%- endif %} +{%- if solver_options.custom_update_filename %} + {%- if solver_options.custom_update_filename != "" %} +OCP_SRC+= {{ solver_options.custom_update_filename }} + {%- endif %} +{%- endif %} + +OCP_SRC+= acados_solver_{{ model.name }}.c +OCP_OBJ := $(OCP_SRC:.c=.o) + +# for sim solver +SIM_SRC= acados_sim_solver_{{ model.name }}.c +SIM_OBJ := $(SIM_SRC:.c=.o) + +# for target example +EX_SRC= main_{{ model.name }}.c +EX_OBJ := $(EX_SRC:.c=.o) +EX_EXE := $(EX_SRC:.c=) + +# for target example_sim +EX_SIM_SRC= main_sim_{{ model.name }}.c +EX_SIM_OBJ := $(EX_SIM_SRC:.c=.o) +EX_SIM_EXE := $(EX_SIM_SRC:.c=) + +# combine model, sim and ocp object files +OBJ= +OBJ+= $(MODEL_OBJ) +{%- if solver_options.integrator_type != "DISCRETE" %} +OBJ+= $(SIM_OBJ) +{%- endif %} +OBJ+= $(OCP_OBJ) + +EXTERNAL_DIR= +EXTERNAL_LIB= + +{%- if model_external_shared_lib_dir and model_external_shared_lib_name %} +EXTERNAL_DIR+= {{ model_external_shared_lib_dir }} +EXTERNAL_LIB+= {{ model_external_shared_lib_name }} +{%- endif %} + +INCLUDE_PATH = {{ acados_include_path }} +LIB_PATH = {{ acados_lib_path }} + +# preprocessor flags for make's implicit rules +{%- if qp_solver == "FULL_CONDENSING_QPOASES" %} +CPPFLAGS += -DACADOS_WITH_QPOASES +{%- endif %} +{%- if qp_solver == "FULL_CONDENSING_DAQP" %} +CPPFLAGS += -DACADOS_WITH_DAQP +{%- endif %} +{%- if qp_solver == "PARTIAL_CONDENSING_OSQP" %} +CPPFLAGS += -DACADOS_WITH_OSQP +{%- endif %} +{%- if qp_solver == "PARTIAL_CONDENSING_QPDUNES" %} +CPPFLAGS += -DACADOS_WITH_QPDUNES +{%- endif %} +CPPFLAGS+= -I$(INCLUDE_PATH) +CPPFLAGS+= -I$(INCLUDE_PATH)/acados +CPPFLAGS+= -I$(INCLUDE_PATH)/blasfeo/include +CPPFLAGS+= -I$(INCLUDE_PATH)/hpipm/include + {%- if qp_solver == "FULL_CONDENSING_QPOASES" %} +CPPFLAGS+= -I $(INCLUDE_PATH)/qpOASES_e/ + {%- endif %} + {%- if qp_solver == "FULL_CONDENSING_DAQP" %} +CPPFLAGS+= -I $(INCLUDE_PATH)/daqp/include + {%- endif %} + +{# c-compiler flags #} +# define the c-compiler flags for make's implicit rules +CFLAGS = -fPIC -std=c99 {{ openmp_flag }} {{ solver_options.ext_fun_compile_flags }}#-fno-diagnostics-show-line-numbers -g +# # Debugging +# CFLAGS += -g3 + +# linker flags +LDFLAGS+= -L$(LIB_PATH) + +# link to libraries +LDLIBS+= -lacados +LDLIBS+= -lhpipm +LDLIBS+= -lblasfeo +LDLIBS+= -lm +LDLIBS+= {{ link_libs }} + +# libraries +LIBACADOS_SOLVER=libacados_solver_{{ model.name }}{{ shared_lib_ext }} +LIBACADOS_OCP_SOLVER=libacados_ocp_solver_{{ model.name }}{{ shared_lib_ext }} +LIBACADOS_SIM_SOLVER=lib$(SIM_SRC:.c={{ shared_lib_ext }}) + +# virtual targets +.PHONY : all clean + +#all: clean example_sim example shared_lib +{% if solver_options.integrator_type == "DISCRETE" -%} +all: clean example +shared_lib: ocp_shared_lib +{%- else %} +all: clean example_sim example +shared_lib: bundled_shared_lib ocp_shared_lib sim_shared_lib +{%- endif %} + +# some linker targets +example: $(EX_OBJ) $(OBJ) + $(CC) $^ -o $(EX_EXE) $(LDFLAGS) $(LDLIBS) + +example_sim: $(EX_SIM_OBJ) $(MODEL_OBJ) $(SIM_OBJ) + $(CC) $^ -o $(EX_SIM_EXE) $(LDFLAGS) $(LDLIBS) + +{% if solver_options.integrator_type != "DISCRETE" -%} +bundled_shared_lib: $(OBJ) + $(CC) -shared $^ -o $(LIBACADOS_SOLVER) $(LDFLAGS) $(LDLIBS) +{%- endif %} + +ocp_shared_lib: $(OCP_OBJ) $(MODEL_OBJ) + $(CC) -shared $^ -o $(LIBACADOS_OCP_SOLVER) $(LDFLAGS) $(LDLIBS) \ + -L$(EXTERNAL_DIR) -l$(EXTERNAL_LIB) + +sim_shared_lib: $(SIM_OBJ) $(MODEL_OBJ) + $(CC) -shared $^ -o $(LIBACADOS_SIM_SOLVER) $(LDFLAGS) $(LDLIBS) + + +# Cython targets +ocp_cython_c: ocp_shared_lib + cython \ + -o acados_ocp_solver_pyx.c \ + -I $(INCLUDE_PATH)/../interfaces/acados_template/acados_template \ + $(INCLUDE_PATH)/../interfaces/acados_template/acados_template/acados_ocp_solver_pyx.pyx \ + -I {{ code_export_directory }} \ + +ocp_cython_o: ocp_cython_c + $(CC) $(ACADOS_FLAGS) -c -O2 \ + -fPIC \ + -o acados_ocp_solver_pyx.o \ + -I $(INCLUDE_PATH)/blasfeo/include/ \ + -I $(INCLUDE_PATH)/hpipm/include/ \ + -I $(INCLUDE_PATH) \ + {%- for path in cython_include_dirs %} + -I {{ path }} \ + {%- endfor %} + acados_ocp_solver_pyx.c \ + +ocp_cython: ocp_cython_o + $(CC) $(ACADOS_FLAGS) -shared \ + -o acados_ocp_solver_pyx{{ shared_lib_ext }} \ + -Wl,-rpath=$(LIB_PATH) \ + acados_ocp_solver_pyx.o \ + $(abspath .)/libacados_ocp_solver_{{ model.name }}{{ shared_lib_ext }} \ + $(LDFLAGS) $(LDLIBS) + +# Sim Cython targets +sim_cython_c: sim_shared_lib + cython \ + -o acados_sim_solver_pyx.c \ + -I $(INCLUDE_PATH)/../interfaces/acados_template/acados_template \ + $(INCLUDE_PATH)/../interfaces/acados_template/acados_template/acados_sim_solver_pyx.pyx \ + -I {{ code_export_directory }} \ + +sim_cython_o: sim_cython_c + $(CC) $(ACADOS_FLAGS) -c -O2 \ + -fPIC \ + -o acados_sim_solver_pyx.o \ + -I $(INCLUDE_PATH)/blasfeo/include/ \ + -I $(INCLUDE_PATH)/hpipm/include/ \ + -I $(INCLUDE_PATH) \ + {%- for path in cython_include_dirs %} + -I {{ path }} \ + {%- endfor %} + acados_sim_solver_pyx.c \ + +sim_cython: sim_cython_o + $(CC) $(ACADOS_FLAGS) -shared \ + -o acados_sim_solver_pyx{{ shared_lib_ext }} \ + -Wl,-rpath=$(LIB_PATH) \ + acados_sim_solver_pyx.o \ + $(abspath .)/libacados_sim_solver_{{ model.name }}{{ shared_lib_ext }} \ + $(LDFLAGS) $(LDLIBS) + +{%- if os and os == "pc" %} + +clean: + del \Q *.o 2>nul + del \Q *{{ shared_lib_ext }} 2>nul + del \Q main_{{ model.name }} 2>nul + +clean_ocp_shared_lib: + del \Q libacados_ocp_solver_{{ model.name }}{{ shared_lib_ext }} 2>nul + del \Q acados_solver_{{ model.name }}.o 2>nul + +clean_ocp_cython: + del \Q libacados_ocp_solver_{{ model.name }}{{ shared_lib_ext }} 2>nul + del \Q acados_solver_{{ model.name }}.o 2>nul + del \Q acados_ocp_solver_pyx{{ shared_lib_ext }} 2>nul + del \Q acados_ocp_solver_pyx.o 2>nul + +clean_sim_cython: + del \Q libacados_sim_solver_{{ model.name }}{{ shared_lib_ext }} 2>nul + del \Q acados_sim_solver_{{ model.name }}.o 2>nul + del \Q acados_sim_solver_pyx{{ shared_lib_ext }} 2>nul + del \Q acados_sim_solver_pyx.o 2>nul + +{%- else %} + +clean: + $(RM) $(OBJ) $(EX_OBJ) $(EX_SIM_OBJ) + $(RM) $(LIBACADOS_SOLVER) $(LIBACADOS_OCP_SOLVER) $(LIBACADOS_SIM_SOLVER) + $(RM) $(EX_EXE) $(EX_SIM_EXE) + +clean_ocp_shared_lib: + $(RM) $(LIBACADOS_OCP_SOLVER) + $(RM) $(OCP_OBJ) + +clean_ocp_cython: + $(RM) libacados_ocp_solver_{{ model.name }}{{ shared_lib_ext }} + $(RM) acados_solver_{{ model.name }}.o + $(RM) acados_ocp_solver_pyx{{ shared_lib_ext }} + $(RM) acados_ocp_solver_pyx.o + +clean_sim_cython: + $(RM) libacados_sim_solver_{{ model.name }}{{ shared_lib_ext }} + $(RM) acados_sim_solver_{{ model.name }}.o + $(RM) acados_sim_solver_pyx{{ shared_lib_ext }} + $(RM) acados_sim_solver_pyx.o + +{%- endif %} diff --git a/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.c b/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.c new file mode 100644 index 0000000000..0cd098273c --- /dev/null +++ b/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.c @@ -0,0 +1,526 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +{%- if solver_options.hessian_approx %} + {%- set hessian_approx = solver_options.hessian_approx %} +{%- elif solver_options.sens_hess %} + {%- set hessian_approx = "EXACT" %} +{%- else %} + {%- set hessian_approx = "GAUSS_NEWTON" %} +{%- endif %} +// standard +#include +#include + +// acados +#include "acados_c/external_function_interface.h" +#include "acados_c/sim_interface.h" +#include "acados_c/external_function_interface.h" + +#include "acados/sim/sim_common.h" +#include "acados/utils/external_function_generic.h" +#include "acados/utils/print.h" + + +// example specific +#include "{{ model.name }}_model/{{ model.name }}_model.h" +#include "acados_sim_solver_{{ model.name }}.h" + + +// ** solver data ** + +sim_solver_capsule * {{ model.name }}_acados_sim_solver_create_capsule() +{ + void* capsule_mem = malloc(sizeof(sim_solver_capsule)); + sim_solver_capsule *capsule = (sim_solver_capsule *) capsule_mem; + + return capsule; +} + + +int {{ model.name }}_acados_sim_solver_free_capsule(sim_solver_capsule * capsule) +{ + free(capsule); + return 0; +} + + +int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule) +{ + // initialize + const int nx = {{ model.name | upper }}_NX; + const int nu = {{ model.name | upper }}_NU; + const int nz = {{ model.name | upper }}_NZ; + const int np = {{ model.name | upper }}_NP; + bool tmp_bool; + + {#// double Tsim = {{ solver_options.tf / dims.N }};#} + double Tsim = {{ solver_options.Tsim }}; + + {% if solver_options.integrator_type == "IRK" %} + capsule->sim_impl_dae_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})); + capsule->sim_impl_dae_fun_jac_x_xdot_z = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})); + capsule->sim_impl_dae_jac_x_xdot_u_z = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})); + + {%- if model.dyn_ext_fun_type == "casadi" %} + // external functions (implicit model) + capsule->sim_impl_dae_fun->casadi_fun = &{{ model.name }}_impl_dae_fun; + capsule->sim_impl_dae_fun->casadi_work = &{{ model.name }}_impl_dae_fun_work; + capsule->sim_impl_dae_fun->casadi_sparsity_in = &{{ model.name }}_impl_dae_fun_sparsity_in; + capsule->sim_impl_dae_fun->casadi_sparsity_out = &{{ model.name }}_impl_dae_fun_sparsity_out; + capsule->sim_impl_dae_fun->casadi_n_in = &{{ model.name }}_impl_dae_fun_n_in; + capsule->sim_impl_dae_fun->casadi_n_out = &{{ model.name }}_impl_dae_fun_n_out; + external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_impl_dae_fun, np); + + capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_fun = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z; + capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_work = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_work; + capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_sparsity_in = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_in; + capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_sparsity_out = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_out; + capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_n_in = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_in; + capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_n_out = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_out; + external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_impl_dae_fun_jac_x_xdot_z, np); + + // external_function_param_{{ model.dyn_ext_fun_type }} impl_dae_jac_x_xdot_u_z; + capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_fun = &{{ model.name }}_impl_dae_jac_x_xdot_u_z; + capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_work = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_work; + capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_sparsity_in = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_in; + capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_sparsity_out = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_out; + capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_n_in = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_n_in; + capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_n_out = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_n_out; + external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_impl_dae_jac_x_xdot_u_z, np); + {%- else %} + capsule->sim_impl_dae_fun->fun = &{{ model.dyn_impl_dae_fun }}; + capsule->sim_impl_dae_fun_jac_x_xdot_z->fun = &{{ model.dyn_impl_dae_fun_jac }}; + capsule->sim_impl_dae_jac_x_xdot_u_z->fun = &{{ model.dyn_impl_dae_jac }}; + {%- endif %} + +{%- if hessian_approx == "EXACT" %} + capsule->sim_impl_dae_hess = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})); + // external_function_param_{{ model.dyn_ext_fun_type }} impl_dae_jac_x_xdot_u_z; + capsule->sim_impl_dae_hess->casadi_fun = &{{ model.name }}_impl_dae_hess; + capsule->sim_impl_dae_hess->casadi_work = &{{ model.name }}_impl_dae_hess_work; + capsule->sim_impl_dae_hess->casadi_sparsity_in = &{{ model.name }}_impl_dae_hess_sparsity_in; + capsule->sim_impl_dae_hess->casadi_sparsity_out = &{{ model.name }}_impl_dae_hess_sparsity_out; + capsule->sim_impl_dae_hess->casadi_n_in = &{{ model.name }}_impl_dae_hess_n_in; + capsule->sim_impl_dae_hess->casadi_n_out = &{{ model.name }}_impl_dae_hess_n_out; + external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_impl_dae_hess, np); +{%- endif %} + + {% elif solver_options.integrator_type == "ERK" %} + // explicit ode + capsule->sim_forw_vde_casadi = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})); + capsule->sim_vde_adj_casadi = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})); + capsule->sim_expl_ode_fun_casadi = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})); + + capsule->sim_forw_vde_casadi->casadi_fun = &{{ model.name }}_expl_vde_forw; + capsule->sim_forw_vde_casadi->casadi_n_in = &{{ model.name }}_expl_vde_forw_n_in; + capsule->sim_forw_vde_casadi->casadi_n_out = &{{ model.name }}_expl_vde_forw_n_out; + capsule->sim_forw_vde_casadi->casadi_sparsity_in = &{{ model.name }}_expl_vde_forw_sparsity_in; + capsule->sim_forw_vde_casadi->casadi_sparsity_out = &{{ model.name }}_expl_vde_forw_sparsity_out; + capsule->sim_forw_vde_casadi->casadi_work = &{{ model.name }}_expl_vde_forw_work; + external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_forw_vde_casadi, np); + + capsule->sim_vde_adj_casadi->casadi_fun = &{{ model.name }}_expl_vde_adj; + capsule->sim_vde_adj_casadi->casadi_n_in = &{{ model.name }}_expl_vde_adj_n_in; + capsule->sim_vde_adj_casadi->casadi_n_out = &{{ model.name }}_expl_vde_adj_n_out; + capsule->sim_vde_adj_casadi->casadi_sparsity_in = &{{ model.name }}_expl_vde_adj_sparsity_in; + capsule->sim_vde_adj_casadi->casadi_sparsity_out = &{{ model.name }}_expl_vde_adj_sparsity_out; + capsule->sim_vde_adj_casadi->casadi_work = &{{ model.name }}_expl_vde_adj_work; + external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_vde_adj_casadi, np); + + capsule->sim_expl_ode_fun_casadi->casadi_fun = &{{ model.name }}_expl_ode_fun; + capsule->sim_expl_ode_fun_casadi->casadi_n_in = &{{ model.name }}_expl_ode_fun_n_in; + capsule->sim_expl_ode_fun_casadi->casadi_n_out = &{{ model.name }}_expl_ode_fun_n_out; + capsule->sim_expl_ode_fun_casadi->casadi_sparsity_in = &{{ model.name }}_expl_ode_fun_sparsity_in; + capsule->sim_expl_ode_fun_casadi->casadi_sparsity_out = &{{ model.name }}_expl_ode_fun_sparsity_out; + capsule->sim_expl_ode_fun_casadi->casadi_work = &{{ model.name }}_expl_ode_fun_work; + external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_expl_ode_fun_casadi, np); + +{%- if hessian_approx == "EXACT" %} + capsule->sim_expl_ode_hess = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})); + // external_function_param_{{ model.dyn_ext_fun_type }} impl_dae_jac_x_xdot_u_z; + capsule->sim_expl_ode_hess->casadi_fun = &{{ model.name }}_expl_ode_hess; + capsule->sim_expl_ode_hess->casadi_work = &{{ model.name }}_expl_ode_hess_work; + capsule->sim_expl_ode_hess->casadi_sparsity_in = &{{ model.name }}_expl_ode_hess_sparsity_in; + capsule->sim_expl_ode_hess->casadi_sparsity_out = &{{ model.name }}_expl_ode_hess_sparsity_out; + capsule->sim_expl_ode_hess->casadi_n_in = &{{ model.name }}_expl_ode_hess_n_in; + capsule->sim_expl_ode_hess->casadi_n_out = &{{ model.name }}_expl_ode_hess_n_out; + external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_expl_ode_hess, np); +{%- endif %} + + {% elif solver_options.integrator_type == "GNSF" -%} + {% if model.gnsf.purely_linear != 1 %} + capsule->sim_gnsf_phi_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})); + capsule->sim_gnsf_phi_fun_jac_y = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})); + capsule->sim_gnsf_phi_jac_y_uhat = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})); + {% if model.gnsf.nontrivial_f_LO == 1 %} + capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})); + {%- endif %} + {%- endif %} + capsule->sim_gnsf_get_matrices_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})); + + {% if model.gnsf.purely_linear != 1 %} + capsule->sim_gnsf_phi_fun->casadi_fun = &{{ model.name }}_gnsf_phi_fun; + capsule->sim_gnsf_phi_fun->casadi_n_in = &{{ model.name }}_gnsf_phi_fun_n_in; + capsule->sim_gnsf_phi_fun->casadi_n_out = &{{ model.name }}_gnsf_phi_fun_n_out; + capsule->sim_gnsf_phi_fun->casadi_sparsity_in = &{{ model.name }}_gnsf_phi_fun_sparsity_in; + capsule->sim_gnsf_phi_fun->casadi_sparsity_out = &{{ model.name }}_gnsf_phi_fun_sparsity_out; + capsule->sim_gnsf_phi_fun->casadi_work = &{{ model.name }}_gnsf_phi_fun_work; + external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_gnsf_phi_fun, np); + + capsule->sim_gnsf_phi_fun_jac_y->casadi_fun = &{{ model.name }}_gnsf_phi_fun_jac_y; + capsule->sim_gnsf_phi_fun_jac_y->casadi_n_in = &{{ model.name }}_gnsf_phi_fun_jac_y_n_in; + capsule->sim_gnsf_phi_fun_jac_y->casadi_n_out = &{{ model.name }}_gnsf_phi_fun_jac_y_n_out; + capsule->sim_gnsf_phi_fun_jac_y->casadi_sparsity_in = &{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_in; + capsule->sim_gnsf_phi_fun_jac_y->casadi_sparsity_out = &{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_out; + capsule->sim_gnsf_phi_fun_jac_y->casadi_work = &{{ model.name }}_gnsf_phi_fun_jac_y_work; + external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_gnsf_phi_fun_jac_y, np); + + capsule->sim_gnsf_phi_jac_y_uhat->casadi_fun = &{{ model.name }}_gnsf_phi_jac_y_uhat; + capsule->sim_gnsf_phi_jac_y_uhat->casadi_n_in = &{{ model.name }}_gnsf_phi_jac_y_uhat_n_in; + capsule->sim_gnsf_phi_jac_y_uhat->casadi_n_out = &{{ model.name }}_gnsf_phi_jac_y_uhat_n_out; + capsule->sim_gnsf_phi_jac_y_uhat->casadi_sparsity_in = &{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_in; + capsule->sim_gnsf_phi_jac_y_uhat->casadi_sparsity_out = &{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_out; + capsule->sim_gnsf_phi_jac_y_uhat->casadi_work = &{{ model.name }}_gnsf_phi_jac_y_uhat_work; + external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_gnsf_phi_jac_y_uhat, np); + + {% if model.gnsf.nontrivial_f_LO == 1 %} + capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_fun = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz; + capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_n_in = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_in; + capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_n_out = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_out; + capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_sparsity_in = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_in; + capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_sparsity_out = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_out; + capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_work = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_work; + external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z, np); + {%- endif %} + {%- endif %} + + capsule->sim_gnsf_get_matrices_fun->casadi_fun = &{{ model.name }}_gnsf_get_matrices_fun; + capsule->sim_gnsf_get_matrices_fun->casadi_n_in = &{{ model.name }}_gnsf_get_matrices_fun_n_in; + capsule->sim_gnsf_get_matrices_fun->casadi_n_out = &{{ model.name }}_gnsf_get_matrices_fun_n_out; + capsule->sim_gnsf_get_matrices_fun->casadi_sparsity_in = &{{ model.name }}_gnsf_get_matrices_fun_sparsity_in; + capsule->sim_gnsf_get_matrices_fun->casadi_sparsity_out = &{{ model.name }}_gnsf_get_matrices_fun_sparsity_out; + capsule->sim_gnsf_get_matrices_fun->casadi_work = &{{ model.name }}_gnsf_get_matrices_fun_work; + external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_gnsf_get_matrices_fun, np); + {% endif %} + + // sim plan & config + sim_solver_plan_t plan; + plan.sim_solver = {{ solver_options.integrator_type }}; + + // create correct config based on plan + sim_config * {{ model.name }}_sim_config = sim_config_create(plan); + capsule->acados_sim_config = {{ model.name }}_sim_config; + + // sim dims + void *{{ model.name }}_sim_dims = sim_dims_create({{ model.name }}_sim_config); + capsule->acados_sim_dims = {{ model.name }}_sim_dims; + sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nx", &nx); + sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nu", &nu); + sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nz", &nz); +{% if solver_options.integrator_type == "GNSF" %} + int gnsf_nx1 = {{ dims.gnsf_nx1 }}; + int gnsf_nz1 = {{ dims.gnsf_nz1 }}; + int gnsf_nout = {{ dims.gnsf_nout }}; + int gnsf_ny = {{ dims.gnsf_ny }}; + int gnsf_nuhat = {{ dims.gnsf_nuhat }}; + + sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nx1", &gnsf_nx1); + sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nz1", &gnsf_nz1); + sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nout", &gnsf_nout); + sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "ny", &gnsf_ny); + sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nuhat", &gnsf_nuhat); +{% endif %} + + // sim opts + sim_opts *{{ model.name }}_sim_opts = sim_opts_create({{ model.name }}_sim_config, {{ model.name }}_sim_dims); + capsule->acados_sim_opts = {{ model.name }}_sim_opts; + int tmp_int = {{ solver_options.sim_method_newton_iter }}; + sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "newton_iter", &tmp_int); + double tmp_double = {{ solver_options.sim_method_newton_tol }}; + sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "newton_tol", &tmp_double); + sim_collocation_type collocation_type = {{ solver_options.collocation_type }}; + sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "collocation_type", &collocation_type); + +{% if problem_class == "SIM" %} + tmp_int = {{ solver_options.sim_method_num_stages }}; + sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "num_stages", &tmp_int); + tmp_int = {{ solver_options.sim_method_num_steps }}; + sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "num_steps", &tmp_int); + + // options that are not available to AcadosOcpSolver + // (in OCP they will be determined by other options, like exact_hessian) + tmp_bool = {{ solver_options.sens_forw }}; + sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "sens_forw", &tmp_bool); + tmp_bool = {{ solver_options.sens_adj }}; + sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "sens_adj", &tmp_bool); + tmp_bool = {{ solver_options.sens_algebraic }}; + sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "sens_algebraic", &tmp_bool); + tmp_bool = {{ solver_options.sens_hess }}; + sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "sens_hess", &tmp_bool); + tmp_bool = {{ solver_options.output_z }}; + sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "output_z", &tmp_bool); + +{% else %} {# num_stages and num_steps of first shooting interval are used #} + tmp_int = {{ solver_options.sim_method_num_stages[0] }}; + sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "num_stages", &tmp_int); + tmp_int = {{ solver_options.sim_method_num_steps[0] }}; + sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "num_steps", &tmp_int); + tmp_bool = {{ solver_options.sim_method_jac_reuse[0] }}; + sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "jac_reuse", &tmp_bool); +{% endif %} + + // sim in / out + sim_in *{{ model.name }}_sim_in = sim_in_create({{ model.name }}_sim_config, {{ model.name }}_sim_dims); + capsule->acados_sim_in = {{ model.name }}_sim_in; + sim_out *{{ model.name }}_sim_out = sim_out_create({{ model.name }}_sim_config, {{ model.name }}_sim_dims); + capsule->acados_sim_out = {{ model.name }}_sim_out; + + sim_in_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, + {{ model.name }}_sim_in, "T", &Tsim); + + // model functions +{%- if solver_options.integrator_type == "IRK" %} + {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model, + "impl_ode_fun", capsule->sim_impl_dae_fun); + {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model, + "impl_ode_fun_jac_x_xdot", capsule->sim_impl_dae_fun_jac_x_xdot_z); + {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model, + "impl_ode_jac_x_xdot_u", capsule->sim_impl_dae_jac_x_xdot_u_z); +{%- if hessian_approx == "EXACT" %} + {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model, + "impl_dae_hess", capsule->sim_impl_dae_hess); +{%- endif %} + +{%- elif solver_options.integrator_type == "ERK" %} + {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model, + "expl_vde_forw", capsule->sim_forw_vde_casadi); + {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model, + "expl_vde_adj", capsule->sim_vde_adj_casadi); + {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model, + "expl_ode_fun", capsule->sim_expl_ode_fun_casadi); +{%- if hessian_approx == "EXACT" %} + {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model, + "expl_ode_hess", capsule->sim_expl_ode_hess); +{%- endif %} +{%- elif solver_options.integrator_type == "GNSF" %} + {% if model.gnsf.purely_linear != 1 %} + {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model, + "phi_fun", capsule->sim_gnsf_phi_fun); + {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model, + "phi_fun_jac_y", capsule->sim_gnsf_phi_fun_jac_y); + {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model, + "phi_jac_y_uhat", capsule->sim_gnsf_phi_jac_y_uhat); + {% if model.gnsf.nontrivial_f_LO == 1 %} + {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model, + "f_lo_jac_x1_x1dot_u_z", capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z); + {%- endif %} + {%- endif %} + {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model, + "gnsf_get_matrices_fun", capsule->sim_gnsf_get_matrices_fun); +{%- endif %} + + // sim solver + sim_solver *{{ model.name }}_sim_solver = sim_solver_create({{ model.name }}_sim_config, + {{ model.name }}_sim_dims, {{ model.name }}_sim_opts); + capsule->acados_sim_solver = {{ model.name }}_sim_solver; + +{% if dims.np > 0 %} + /* initialize parameter values */ + double* p = calloc(np, sizeof(double)); + {% for item in parameter_values %} + {%- if item != 0 %} + p[{{ loop.index0 }}] = {{ item }}; + {%- endif %} + {%- endfor %} + + {{ model.name }}_acados_sim_update_params(capsule, p, np); + free(p); +{% endif %}{# if dims.np #} + + /* initialize input */ + // x + double x0[{{ dims.nx }}]; + for (int ii = 0; ii < {{ dims.nx }}; ii++) + x0[ii] = 0.0; + + sim_in_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, + {{ model.name }}_sim_in, "x", x0); + + + // u + double u0[{{ dims.nu }}]; + for (int ii = 0; ii < {{ dims.nu }}; ii++) + u0[ii] = 0.0; + + sim_in_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, + {{ model.name }}_sim_in, "u", u0); + + // S_forw + double S_forw[{{ dims.nx * (dims.nx + dims.nu) }}]; + for (int ii = 0; ii < {{ dims.nx * (dims.nx + dims.nu) }}; ii++) + S_forw[ii] = 0.0; + for (int ii = 0; ii < {{ dims.nx }}; ii++) + S_forw[ii + ii * {{ dims.nx }} ] = 1.0; + + + sim_in_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, + {{ model.name }}_sim_in, "S_forw", S_forw); + + int status = sim_precompute({{ model.name }}_sim_solver, {{ model.name }}_sim_in, {{ model.name }}_sim_out); + + return status; +} + + +int {{ model.name }}_acados_sim_solve(sim_solver_capsule *capsule) +{ + // integrate dynamics using acados sim_solver + int status = sim_solve(capsule->acados_sim_solver, + capsule->acados_sim_in, capsule->acados_sim_out); + if (status != 0) + printf("error in {{ model.name }}_acados_sim_solve()! Exiting.\n"); + + return status; +} + + +int {{ model.name }}_acados_sim_free(sim_solver_capsule *capsule) +{ + // free memory + sim_solver_destroy(capsule->acados_sim_solver); + sim_in_destroy(capsule->acados_sim_in); + sim_out_destroy(capsule->acados_sim_out); + sim_opts_destroy(capsule->acados_sim_opts); + sim_dims_destroy(capsule->acados_sim_dims); + sim_config_destroy(capsule->acados_sim_config); + + // free external function +{%- if solver_options.integrator_type == "IRK" %} + external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_impl_dae_fun); + external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_impl_dae_fun_jac_x_xdot_z); + external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_impl_dae_jac_x_xdot_u_z); +{%- if hessian_approx == "EXACT" %} + external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_impl_dae_hess); +{%- endif %} +{%- elif solver_options.integrator_type == "ERK" %} + external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_forw_vde_casadi); + external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_vde_adj_casadi); + external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_expl_ode_fun_casadi); +{%- if hessian_approx == "EXACT" %} + external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_expl_ode_hess); +{%- endif %} +{%- elif solver_options.integrator_type == "GNSF" %} + {% if model.gnsf.purely_linear != 1 %} + external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_gnsf_phi_fun); + external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_gnsf_phi_fun_jac_y); + external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_gnsf_phi_jac_y_uhat); + {% if model.gnsf.nontrivial_f_LO == 1 %} + external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z); + {%- endif %} + {%- endif %} + external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_gnsf_get_matrices_fun); +{% endif %} + + return 0; +} + + +int {{ model.name }}_acados_sim_update_params(sim_solver_capsule *capsule, double *p, int np) +{ + int status = 0; + int casadi_np = {{ model.name | upper }}_NP; + + if (casadi_np != np) { + printf("{{ model.name }}_acados_sim_update_params: trying to set %i parameters for external functions." + " External function has %i parameters. Exiting.\n", np, casadi_np); + exit(1); + } + +{%- if solver_options.integrator_type == "ERK" %} + capsule->sim_forw_vde_casadi[0].set_param(capsule->sim_forw_vde_casadi, p); + capsule->sim_vde_adj_casadi[0].set_param(capsule->sim_vde_adj_casadi, p); + capsule->sim_expl_ode_fun_casadi[0].set_param(capsule->sim_expl_ode_fun_casadi, p); +{%- if hessian_approx == "EXACT" %} + capsule->sim_expl_ode_hess[0].set_param(capsule->sim_expl_ode_hess, p); +{%- endif %} +{%- elif solver_options.integrator_type == "IRK" %} + capsule->sim_impl_dae_fun[0].set_param(capsule->sim_impl_dae_fun, p); + capsule->sim_impl_dae_fun_jac_x_xdot_z[0].set_param(capsule->sim_impl_dae_fun_jac_x_xdot_z, p); + capsule->sim_impl_dae_jac_x_xdot_u_z[0].set_param(capsule->sim_impl_dae_jac_x_xdot_u_z, p); +{%- if hessian_approx == "EXACT" %} + capsule->sim_impl_dae_hess[0].set_param(capsule->sim_impl_dae_hess, p); +{%- endif %} +{%- elif solver_options.integrator_type == "GNSF" %} + {% if model.gnsf.purely_linear != 1 %} + capsule->sim_gnsf_phi_fun[0].set_param(capsule->sim_gnsf_phi_fun, p); + capsule->sim_gnsf_phi_fun_jac_y[0].set_param(capsule->sim_gnsf_phi_fun_jac_y, p); + capsule->sim_gnsf_phi_jac_y_uhat[0].set_param(capsule->sim_gnsf_phi_jac_y_uhat, p); + {% if model.gnsf.nontrivial_f_LO == 1 %} + capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z[0].set_param(capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z, p); + {%- endif %} + {%- endif %} + capsule->sim_gnsf_get_matrices_fun[0].set_param(capsule->sim_gnsf_get_matrices_fun, p); +{% endif %} + + return status; +} + +/* getters pointers to C objects*/ +sim_config * {{ model.name }}_acados_get_sim_config(sim_solver_capsule *capsule) +{ + return capsule->acados_sim_config; +}; + +sim_in * {{ model.name }}_acados_get_sim_in(sim_solver_capsule *capsule) +{ + return capsule->acados_sim_in; +}; + +sim_out * {{ model.name }}_acados_get_sim_out(sim_solver_capsule *capsule) +{ + return capsule->acados_sim_out; +}; + +void * {{ model.name }}_acados_get_sim_dims(sim_solver_capsule *capsule) +{ + return capsule->acados_sim_dims; +}; + +sim_opts * {{ model.name }}_acados_get_sim_opts(sim_solver_capsule *capsule) +{ + return capsule->acados_sim_opts; +}; + +sim_solver * {{ model.name }}_acados_get_sim_solver(sim_solver_capsule *capsule) +{ + return capsule->acados_sim_solver; +}; + diff --git a/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.h b/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.h new file mode 100644 index 0000000000..59aee62f49 --- /dev/null +++ b/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.h @@ -0,0 +1,101 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +#ifndef ACADOS_SIM_{{ model.name }}_H_ +#define ACADOS_SIM_{{ model.name }}_H_ + +#include "acados_c/sim_interface.h" +#include "acados_c/external_function_interface.h" + +#define {{ model.name | upper }}_NX {{ dims.nx }} +#define {{ model.name | upper }}_NZ {{ dims.nz }} +#define {{ model.name | upper }}_NU {{ dims.nu }} +#define {{ model.name | upper }}_NP {{ dims.np }} + +#ifdef __cplusplus +extern "C" { +#endif + + +// ** capsule for solver data ** +typedef struct sim_solver_capsule +{ + // acados objects + sim_in *acados_sim_in; + sim_out *acados_sim_out; + sim_solver *acados_sim_solver; + sim_opts *acados_sim_opts; + sim_config *acados_sim_config; + void *acados_sim_dims; + + /* external functions */ + // ERK + external_function_param_{{ model.dyn_ext_fun_type }} * sim_forw_vde_casadi; + external_function_param_{{ model.dyn_ext_fun_type }} * sim_vde_adj_casadi; + external_function_param_{{ model.dyn_ext_fun_type }} * sim_expl_ode_fun_casadi; + external_function_param_{{ model.dyn_ext_fun_type }} * sim_expl_ode_hess; + + // IRK + external_function_param_{{ model.dyn_ext_fun_type }} * sim_impl_dae_fun; + external_function_param_{{ model.dyn_ext_fun_type }} * sim_impl_dae_fun_jac_x_xdot_z; + external_function_param_{{ model.dyn_ext_fun_type }} * sim_impl_dae_jac_x_xdot_u_z; + external_function_param_{{ model.dyn_ext_fun_type }} * sim_impl_dae_hess; + + // GNSF + external_function_param_{{ model.dyn_ext_fun_type }} * sim_gnsf_phi_fun; + external_function_param_{{ model.dyn_ext_fun_type }} * sim_gnsf_phi_fun_jac_y; + external_function_param_{{ model.dyn_ext_fun_type }} * sim_gnsf_phi_jac_y_uhat; + external_function_param_{{ model.dyn_ext_fun_type }} * sim_gnsf_f_lo_jac_x1_x1dot_u_z; + external_function_param_{{ model.dyn_ext_fun_type }} * sim_gnsf_get_matrices_fun; + +} sim_solver_capsule; + + +ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_sim_create(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_sim_solve(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_sim_free(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_sim_update_params(sim_solver_capsule *capsule, double *value, int np); + +ACADOS_SYMBOL_EXPORT sim_config * {{ model.name }}_acados_get_sim_config(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT sim_in * {{ model.name }}_acados_get_sim_in(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT sim_out * {{ model.name }}_acados_get_sim_out(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT void * {{ model.name }}_acados_get_sim_dims(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT sim_opts * {{ model.name }}_acados_get_sim_opts(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT sim_solver * {{ model.name }}_acados_get_sim_solver(sim_solver_capsule *capsule); + + +ACADOS_SYMBOL_EXPORT sim_solver_capsule * {{ model.name }}_acados_sim_solver_create_capsule(void); +ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_sim_solver_free_capsule(sim_solver_capsule *capsule); + +#ifdef __cplusplus +} +#endif + +#endif // ACADOS_SIM_{{ model.name }}_H_ diff --git a/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.pxd b/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.pxd new file mode 100644 index 0000000000..153f98d13a --- /dev/null +++ b/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.pxd @@ -0,0 +1,51 @@ +# +# Copyright (c) The acados authors. +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + +cimport acados_sim_solver_common + +cdef extern from "acados_sim_solver_{{ model.name }}.h": + ctypedef struct sim_solver_capsule "sim_solver_capsule": + pass + + sim_solver_capsule * acados_sim_solver_create_capsule "{{ model.name }}_acados_sim_solver_create_capsule"() + int acados_sim_solver_free_capsule "{{ model.name }}_acados_sim_solver_free_capsule"(sim_solver_capsule *capsule) + + int acados_sim_create "{{ model.name }}_acados_sim_create"(sim_solver_capsule * capsule) + int acados_sim_solve "{{ model.name }}_acados_sim_solve"(sim_solver_capsule * capsule) + int acados_sim_free "{{ model.name }}_acados_sim_free"(sim_solver_capsule * capsule) + int acados_sim_update_params "{{ model.name }}_acados_sim_update_params"(sim_solver_capsule * capsule, double *value, int np_) + # int acados_sim_update_params_sparse "{{ model.name }}_acados_sim_update_params_sparse"(sim_solver_capsule * capsule, int stage, int *idx, double *p, int n_update) + + acados_sim_solver_common.sim_in *acados_get_sim_in "{{ model.name }}_acados_get_sim_in"(sim_solver_capsule * capsule) + acados_sim_solver_common.sim_out *acados_get_sim_out "{{ model.name }}_acados_get_sim_out"(sim_solver_capsule * capsule) + acados_sim_solver_common.sim_solver *acados_get_sim_solver "{{ model.name }}_acados_get_sim_solver"(sim_solver_capsule * capsule) + acados_sim_solver_common.sim_config *acados_get_sim_config "{{ model.name }}_acados_get_sim_config"(sim_solver_capsule * capsule) + acados_sim_solver_common.sim_opts *acados_get_sim_opts "{{ model.name }}_acados_get_sim_opts"(sim_solver_capsule * capsule) + void *acados_get_sim_dims "{{ model.name }}_acados_get_sim_dims"(sim_solver_capsule * capsule) diff --git a/third_party/acados/acados_template/c_templates_tera/acados_solver.in.c b/third_party/acados/acados_template/c_templates_tera/acados_solver.in.c new file mode 100644 index 0000000000..5e36a53d10 --- /dev/null +++ b/third_party/acados/acados_template/c_templates_tera/acados_solver.in.c @@ -0,0 +1,2741 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +// standard +#include +#include +#include +// acados +// #include "acados/utils/print.h" +#include "acados_c/ocp_nlp_interface.h" +#include "acados_c/external_function_interface.h" + +// example specific +#include "{{ model.name }}_model/{{ model.name }}_model.h" +#include "{{ model.name }}_constraints/{{ model.name }}_constraints.h" + +{%- if cost.cost_type != "LINEAR_LS" or cost.cost_type_e != "LINEAR_LS" or cost.cost_type_0 != "LINEAR_LS" %} +#include "{{ model.name }}_cost/{{ model.name }}_cost.h" +{%- endif %} + +{%- if not solver_options.custom_update_filename %} + {%- set custom_update_filename = "" %} +{% else %} + {%- set custom_update_filename = solver_options.custom_update_filename %} +{%- endif %} +{%- if not solver_options.custom_update_header_filename %} + {%- set custom_update_header_filename = "" %} +{% else %} + {%- set custom_update_header_filename = solver_options.custom_update_header_filename %} +{%- endif %} +{%- if custom_update_header_filename != "" %} +#include "{{ custom_update_header_filename }}" +{%- endif %} + + +#include "acados_solver_{{ model.name }}.h" + +#define NX {{ model.name | upper }}_NX +#define NZ {{ model.name | upper }}_NZ +#define NU {{ model.name | upper }}_NU +#define NP {{ model.name | upper }}_NP +#define NBX {{ model.name | upper }}_NBX +#define NBX0 {{ model.name | upper }}_NBX0 +#define NBU {{ model.name | upper }}_NBU +#define NSBX {{ model.name | upper }}_NSBX +#define NSBU {{ model.name | upper }}_NSBU +#define NSH {{ model.name | upper }}_NSH +#define NSG {{ model.name | upper }}_NSG +#define NSPHI {{ model.name | upper }}_NSPHI +#define NSHN {{ model.name | upper }}_NSHN +#define NSGN {{ model.name | upper }}_NSGN +#define NSPHIN {{ model.name | upper }}_NSPHIN +#define NSBXN {{ model.name | upper }}_NSBXN +#define NS {{ model.name | upper }}_NS +#define NSN {{ model.name | upper }}_NSN +#define NG {{ model.name | upper }}_NG +#define NBXN {{ model.name | upper }}_NBXN +#define NGN {{ model.name | upper }}_NGN +#define NY0 {{ model.name | upper }}_NY0 +#define NY {{ model.name | upper }}_NY +#define NYN {{ model.name | upper }}_NYN +// #define N {{ model.name | upper }}_N +#define NH {{ model.name | upper }}_NH +#define NPHI {{ model.name | upper }}_NPHI +#define NHN {{ model.name | upper }}_NHN +#define NPHIN {{ model.name | upper }}_NPHIN +#define NR {{ model.name | upper }}_NR + + +// ** solver data ** + +{{ model.name }}_solver_capsule * {{ model.name }}_acados_create_capsule(void) +{ + void* capsule_mem = malloc(sizeof({{ model.name }}_solver_capsule)); + {{ model.name }}_solver_capsule *capsule = ({{ model.name }}_solver_capsule *) capsule_mem; + + return capsule; +} + + +int {{ model.name }}_acados_free_capsule({{ model.name }}_solver_capsule *capsule) +{ + free(capsule); + return 0; +} + + +int {{ model.name }}_acados_create({{ model.name }}_solver_capsule* capsule) +{ + int N_shooting_intervals = {{ model.name | upper }}_N; + double* new_time_steps = NULL; // NULL -> don't alter the code generated time-steps + return {{ model.name }}_acados_create_with_discretization(capsule, N_shooting_intervals, new_time_steps); +} + + +int {{ model.name }}_acados_update_time_steps({{ model.name }}_solver_capsule* capsule, int N, double* new_time_steps) +{ + if (N != capsule->nlp_solver_plan->N) { + fprintf(stderr, "{{ model.name }}_acados_update_time_steps: given number of time steps (= %d) " \ + "differs from the currently allocated number of " \ + "time steps (= %d)!\n" \ + "Please recreate with new discretization and provide a new vector of time_stamps!\n", + N, capsule->nlp_solver_plan->N); + return 1; + } + + ocp_nlp_config * nlp_config = capsule->nlp_config; + ocp_nlp_dims * nlp_dims = capsule->nlp_dims; + ocp_nlp_in * nlp_in = capsule->nlp_in; + + for (int i = 0; i < N; i++) + { + ocp_nlp_in_set(nlp_config, nlp_dims, nlp_in, i, "Ts", &new_time_steps[i]); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "scaling", &new_time_steps[i]); + } + return 0; +} + +/** + * Internal function for {{ model.name }}_acados_create: step 1 + */ +void {{ model.name }}_acados_create_1_set_plan(ocp_nlp_plan_t* nlp_solver_plan, const int N) +{ + assert(N == nlp_solver_plan->N); + + /************************************************ + * plan + ************************************************/ + + {%- if solver_options.nlp_solver_type == "SQP" %} + nlp_solver_plan->nlp_solver = SQP; + {%- else %} + nlp_solver_plan->nlp_solver = SQP_RTI; + {%- endif %} + + nlp_solver_plan->ocp_qp_solver_plan.qp_solver = {{ solver_options.qp_solver }}; + + nlp_solver_plan->nlp_cost[0] = {{ cost.cost_type_0 }}; + for (int i = 1; i < N; i++) + nlp_solver_plan->nlp_cost[i] = {{ cost.cost_type }}; + + nlp_solver_plan->nlp_cost[N] = {{ cost.cost_type_e }}; + + for (int i = 0; i < N; i++) + { + {%- if solver_options.integrator_type == "DISCRETE" %} + nlp_solver_plan->nlp_dynamics[i] = DISCRETE_MODEL; + // discrete dynamics does not need sim solver option, this field is ignored + nlp_solver_plan->sim_solver_plan[i].sim_solver = INVALID_SIM_SOLVER; + {%- else %} + nlp_solver_plan->nlp_dynamics[i] = CONTINUOUS_MODEL; + nlp_solver_plan->sim_solver_plan[i].sim_solver = {{ solver_options.integrator_type }}; + {%- endif %} + } + + for (int i = 0; i < N; i++) + { + {%- if constraints.constr_type == "BGP" %} + nlp_solver_plan->nlp_constraints[i] = BGP; + {%- else -%} + nlp_solver_plan->nlp_constraints[i] = BGH; + {%- endif %} + } + + {%- if constraints.constr_type_e == "BGP" %} + nlp_solver_plan->nlp_constraints[N] = BGP; + {%- else %} + nlp_solver_plan->nlp_constraints[N] = BGH; + {%- endif %} + + {%- if solver_options.regularize_method == "NO_REGULARIZE" %} + nlp_solver_plan->regularization = NO_REGULARIZE; + {%- elif solver_options.regularize_method == "MIRROR" %} + nlp_solver_plan->regularization = MIRROR; + {%- elif solver_options.regularize_method == "PROJECT" %} + nlp_solver_plan->regularization = PROJECT; + {%- elif solver_options.regularize_method == "PROJECT_REDUC_HESS" %} + nlp_solver_plan->regularization = PROJECT_REDUC_HESS; + {%- elif solver_options.regularize_method == "CONVEXIFY" %} + nlp_solver_plan->regularization = CONVEXIFY; + {%- endif %} +} + + +/** + * Internal function for {{ model.name }}_acados_create: step 2 + */ +ocp_nlp_dims* {{ model.name }}_acados_create_2_create_and_set_dimensions({{ model.name }}_solver_capsule* capsule) +{ + ocp_nlp_plan_t* nlp_solver_plan = capsule->nlp_solver_plan; + const int N = nlp_solver_plan->N; + ocp_nlp_config* nlp_config = capsule->nlp_config; + + /************************************************ + * dimensions + ************************************************/ + #define NINTNP1MEMS 17 + int* intNp1mem = (int*)malloc( (N+1)*sizeof(int)*NINTNP1MEMS ); + + int* nx = intNp1mem + (N+1)*0; + int* nu = intNp1mem + (N+1)*1; + int* nbx = intNp1mem + (N+1)*2; + int* nbu = intNp1mem + (N+1)*3; + int* nsbx = intNp1mem + (N+1)*4; + int* nsbu = intNp1mem + (N+1)*5; + int* nsg = intNp1mem + (N+1)*6; + int* nsh = intNp1mem + (N+1)*7; + int* nsphi = intNp1mem + (N+1)*8; + int* ns = intNp1mem + (N+1)*9; + int* ng = intNp1mem + (N+1)*10; + int* nh = intNp1mem + (N+1)*11; + int* nphi = intNp1mem + (N+1)*12; + int* nz = intNp1mem + (N+1)*13; + int* ny = intNp1mem + (N+1)*14; + int* nr = intNp1mem + (N+1)*15; + int* nbxe = intNp1mem + (N+1)*16; + + for (int i = 0; i < N+1; i++) + { + // common + nx[i] = NX; + nu[i] = NU; + nz[i] = NZ; + ns[i] = NS; + // cost + ny[i] = NY; + // constraints + nbx[i] = NBX; + nbu[i] = NBU; + nsbx[i] = NSBX; + nsbu[i] = NSBU; + nsg[i] = NSG; + nsh[i] = NSH; + nsphi[i] = NSPHI; + ng[i] = NG; + nh[i] = NH; + nphi[i] = NPHI; + nr[i] = NR; + nbxe[i] = 0; + } + + // for initial state + nbx[0] = NBX0; + nsbx[0] = 0; + ns[0] = NS - NSBX; + nbxe[0] = {{ dims.nbxe_0 }}; + ny[0] = NY0; + + // terminal - common + nu[N] = 0; + nz[N] = 0; + ns[N] = NSN; + // cost + ny[N] = NYN; + // constraint + nbx[N] = NBXN; + nbu[N] = 0; + ng[N] = NGN; + nh[N] = NHN; + nphi[N] = NPHIN; + nr[N] = {{ dims.nr_e }}; + + nsbx[N] = NSBXN; + nsbu[N] = 0; + nsg[N] = NSGN; + nsh[N] = NSHN; + nsphi[N] = NSPHIN; + + /* create and set ocp_nlp_dims */ + ocp_nlp_dims * nlp_dims = ocp_nlp_dims_create(nlp_config); + + ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nx", nx); + ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nu", nu); + ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nz", nz); + ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "ns", ns); + + for (int i = 0; i <= N; i++) + { + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbx", &nbx[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbu", &nbu[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsbx", &nsbx[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsbu", &nsbu[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "ng", &ng[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsg", &nsg[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbxe", &nbxe[i]); + } + +{%- if cost.cost_type_0 == "NONLINEAR_LS" or cost.cost_type_0 == "LINEAR_LS" or cost.cost_type_0 == "CONVEX_OVER_NONLINEAR"%} + ocp_nlp_dims_set_cost(nlp_config, nlp_dims, 0, "ny", &ny[0]); +{%- endif %} + +{%- if cost.cost_type == "NONLINEAR_LS" or cost.cost_type == "LINEAR_LS" or cost.cost_type == "CONVEX_OVER_NONLINEAR"%} + for (int i = 1; i < N; i++) + ocp_nlp_dims_set_cost(nlp_config, nlp_dims, i, "ny", &ny[i]); +{%- endif %} + + for (int i = 0; i < N; i++) + { + {%- if constraints.constr_type == "BGH" and dims.nh > 0 %} + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nh", &nh[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsh", &nsh[i]); + {%- elif constraints.constr_type == "BGP" and dims.nphi > 0 %} + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nr", &nr[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nphi", &nphi[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsphi", &nsphi[i]); + {%- endif %} + } + +{%- if constraints.constr_type_e == "BGH" %} + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nh", &nh[N]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nsh", &nsh[N]); +{%- elif constraints.constr_type_e == "BGP" %} + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nr", &nr[N]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nphi", &nphi[N]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nsphi", &nsphi[N]); +{%- endif %} +{%- if cost.cost_type_e == "NONLINEAR_LS" or cost.cost_type_e == "LINEAR_LS" or cost.cost_type_e == "CONVEX_OVER_NONLINEAR"%} + ocp_nlp_dims_set_cost(nlp_config, nlp_dims, N, "ny", &ny[N]); +{%- endif %} + free(intNp1mem); + +{%- if solver_options.integrator_type == "GNSF" -%} + // GNSF specific dimensions + int gnsf_nx1 = {{ dims.gnsf_nx1 }}; + int gnsf_nz1 = {{ dims.gnsf_nz1 }}; + int gnsf_nout = {{ dims.gnsf_nout }}; + int gnsf_ny = {{ dims.gnsf_ny }}; + int gnsf_nuhat = {{ dims.gnsf_nuhat }}; + + for (int i = 0; i < N; i++) + { + if (nlp_solver_plan->sim_solver_plan[i].sim_solver == GNSF) + { + ocp_nlp_dims_set_dynamics(nlp_config, nlp_dims, i, "gnsf_nx1", &gnsf_nx1); + ocp_nlp_dims_set_dynamics(nlp_config, nlp_dims, i, "gnsf_nz1", &gnsf_nz1); + ocp_nlp_dims_set_dynamics(nlp_config, nlp_dims, i, "gnsf_nout", &gnsf_nout); + ocp_nlp_dims_set_dynamics(nlp_config, nlp_dims, i, "gnsf_ny", &gnsf_ny); + ocp_nlp_dims_set_dynamics(nlp_config, nlp_dims, i, "gnsf_nuhat", &gnsf_nuhat); + } + } +{%- endif %} +return nlp_dims; +} + + +/** + * Internal function for {{ model.name }}_acados_create: step 3 + */ +void {{ model.name }}_acados_create_3_create_and_set_functions({{ model.name }}_solver_capsule* capsule) +{ + const int N = capsule->nlp_solver_plan->N; + + /************************************************ + * external functions + ************************************************/ + +#define MAP_CASADI_FNC(__CAPSULE_FNC__, __MODEL_BASE_FNC__) do{ \ + capsule->__CAPSULE_FNC__.casadi_fun = & __MODEL_BASE_FNC__ ;\ + capsule->__CAPSULE_FNC__.casadi_n_in = & __MODEL_BASE_FNC__ ## _n_in; \ + capsule->__CAPSULE_FNC__.casadi_n_out = & __MODEL_BASE_FNC__ ## _n_out; \ + capsule->__CAPSULE_FNC__.casadi_sparsity_in = & __MODEL_BASE_FNC__ ## _sparsity_in; \ + capsule->__CAPSULE_FNC__.casadi_sparsity_out = & __MODEL_BASE_FNC__ ## _sparsity_out; \ + capsule->__CAPSULE_FNC__.casadi_work = & __MODEL_BASE_FNC__ ## _work; \ + external_function_param_casadi_create(&capsule->__CAPSULE_FNC__ , {{ dims.np }}); \ + }while(false) + +{% if constraints.constr_type == "BGP" %} + // constraints.constr_type == "BGP" + capsule->phi_constraint = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) + { + // nonlinear part of convex-composite constraint + MAP_CASADI_FNC(phi_constraint[i], {{ model.name }}_phi_constraint); + } +{%- endif %} + +{%- if constraints.constr_type_e == "BGP" %} + // constraints.constr_type_e == "BGP" + // nonlinear part of convex-composite constraint + MAP_CASADI_FNC(phi_e_constraint, {{ model.name }}_phi_e_constraint); +{%- endif %} + +{%- if constraints.constr_type == "BGH" and dims.nh > 0 %} + // constraints.constr_type == "BGH" and dims.nh > 0 + capsule->nl_constr_h_fun_jac = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(nl_constr_h_fun_jac[i], {{ model.name }}_constr_h_fun_jac_uxt_zt); + } + capsule->nl_constr_h_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(nl_constr_h_fun[i], {{ model.name }}_constr_h_fun); + } + {% if solver_options.hessian_approx == "EXACT" %} + capsule->nl_constr_h_fun_jac_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(nl_constr_h_fun_jac_hess[i], {{ model.name }}_constr_h_fun_jac_uxt_zt_hess); + } + {% endif %} +{% endif %} + +{%- if constraints.constr_type_e == "BGH" and dims.nh_e > 0 %} + MAP_CASADI_FNC(nl_constr_h_e_fun_jac, {{ model.name }}_constr_h_e_fun_jac_uxt_zt); + MAP_CASADI_FNC(nl_constr_h_e_fun, {{ model.name }}_constr_h_e_fun); + + {%- if solver_options.hessian_approx == "EXACT" %} + MAP_CASADI_FNC(nl_constr_h_e_fun_jac_hess, {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess); + {% endif %} +{%- endif %} + +{% if solver_options.integrator_type == "ERK" %} + // explicit ode + capsule->forw_vde_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(forw_vde_casadi[i], {{ model.name }}_expl_vde_forw); + } + + capsule->expl_ode_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(expl_ode_fun[i], {{ model.name }}_expl_ode_fun); + } + + {%- if solver_options.hessian_approx == "EXACT" %} + capsule->hess_vde_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(hess_vde_casadi[i], {{ model.name }}_expl_ode_hess); + } + {%- endif %} + +{% elif solver_options.integrator_type == "IRK" %} + // implicit dae + capsule->impl_dae_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N); + for (int i = 0; i < N; i++) { + {%- if model.dyn_ext_fun_type == "casadi" %} + MAP_CASADI_FNC(impl_dae_fun[i], {{ model.name }}_impl_dae_fun); + {%- else %} + capsule->impl_dae_fun[i].fun = &{{ model.dyn_impl_dae_fun }}; + external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->impl_dae_fun[i], {{ dims.np }}); + {%- endif %} + } + + capsule->impl_dae_fun_jac_x_xdot_z = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N); + for (int i = 0; i < N; i++) { + {%- if model.dyn_ext_fun_type == "casadi" %} + MAP_CASADI_FNC(impl_dae_fun_jac_x_xdot_z[i], {{ model.name }}_impl_dae_fun_jac_x_xdot_z); + {%- else %} + capsule->impl_dae_fun_jac_x_xdot_z[i].fun = &{{ model.dyn_impl_dae_fun_jac }}; + external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->impl_dae_fun_jac_x_xdot_z[i], {{ dims.np }}); + {%- endif %} + } + + capsule->impl_dae_jac_x_xdot_u_z = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N); + for (int i = 0; i < N; i++) { + {%- if model.dyn_ext_fun_type == "casadi" %} + MAP_CASADI_FNC(impl_dae_jac_x_xdot_u_z[i], {{ model.name }}_impl_dae_jac_x_xdot_u_z); + {%- else %} + capsule->impl_dae_jac_x_xdot_u_z[i].fun = &{{ model.dyn_impl_dae_jac }}; + external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->impl_dae_jac_x_xdot_u_z[i], {{ dims.np }}); + {%- endif %} + } + + {%- if solver_options.hessian_approx == "EXACT" %} + capsule->impl_dae_hess = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(impl_dae_hess[i], {{ model.name }}_impl_dae_hess); + } + {%- endif %} +{% elif solver_options.integrator_type == "LIFTED_IRK" %} + // external functions (implicit model) + capsule->impl_dae_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(impl_dae_fun[i], {{ model.name }}_impl_dae_fun); + } + + capsule->impl_dae_fun_jac_x_xdot_u = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(impl_dae_fun_jac_x_xdot_u[i], {{ model.name }}_impl_dae_fun_jac_x_xdot_u); + } + +{% elif solver_options.integrator_type == "GNSF" %} + {% if model.gnsf.purely_linear != 1 %} + capsule->gnsf_phi_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(gnsf_phi_fun[i], {{ model.name }}_gnsf_phi_fun); + } + + capsule->gnsf_phi_fun_jac_y = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(gnsf_phi_fun_jac_y[i], {{ model.name }}_gnsf_phi_fun_jac_y); + } + + capsule->gnsf_phi_jac_y_uhat = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(gnsf_phi_jac_y_uhat[i], {{ model.name }}_gnsf_phi_jac_y_uhat); + } + + {% if model.gnsf.nontrivial_f_LO == 1 %} + capsule->gnsf_f_lo_jac_x1_x1dot_u_z = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(gnsf_f_lo_jac_x1_x1dot_u_z[i], {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz); + } + {%- endif %} + {%- endif %} + capsule->gnsf_get_matrices_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(gnsf_get_matrices_fun[i], {{ model.name }}_gnsf_get_matrices_fun); + } +{% elif solver_options.integrator_type == "DISCRETE" %} + // discrete dynamics + capsule->discr_dyn_phi_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N); + for (int i = 0; i < N; i++) + { + {%- if model.dyn_ext_fun_type == "casadi" %} + MAP_CASADI_FNC(discr_dyn_phi_fun[i], {{ model.name }}_dyn_disc_phi_fun); + {%- else %} + capsule->discr_dyn_phi_fun[i].fun = &{{ model.dyn_disc_fun }}; + external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->discr_dyn_phi_fun[i], {{ dims.np }}); + {%- endif %} + } + + capsule->discr_dyn_phi_fun_jac_ut_xt = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N); + for (int i = 0; i < N; i++) + { + {%- if model.dyn_ext_fun_type == "casadi" %} + MAP_CASADI_FNC(discr_dyn_phi_fun_jac_ut_xt[i], {{ model.name }}_dyn_disc_phi_fun_jac); + {%- else %} + capsule->discr_dyn_phi_fun_jac_ut_xt[i].fun = &{{ model.dyn_disc_fun_jac }}; + external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->discr_dyn_phi_fun_jac_ut_xt[i], {{ dims.np }}); + {%- endif %} + } + + {%- if solver_options.hessian_approx == "EXACT" %} + capsule->discr_dyn_phi_fun_jac_ut_xt_hess = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N); + for (int i = 0; i < N; i++) + { + {%- if model.dyn_ext_fun_type == "casadi" %} + MAP_CASADI_FNC(discr_dyn_phi_fun_jac_ut_xt_hess[i], {{ model.name }}_dyn_disc_phi_fun_jac_hess); + {%- else %} + capsule->discr_dyn_phi_fun_jac_ut_xt_hess[i].fun = &{{ model.dyn_disc_fun_jac_hess }}; + external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->discr_dyn_phi_fun_jac_ut_xt_hess[i], {{ dims.np }}); + {%- endif %} + } + {%- endif %} +{%- endif %} + + +{%- if cost.cost_type_0 == "NONLINEAR_LS" %} + // nonlinear least squares function + MAP_CASADI_FNC(cost_y_0_fun, {{ model.name }}_cost_y_0_fun); + MAP_CASADI_FNC(cost_y_0_fun_jac_ut_xt, {{ model.name }}_cost_y_0_fun_jac_ut_xt); + MAP_CASADI_FNC(cost_y_0_hess, {{ model.name }}_cost_y_0_hess); + +{%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %} + // convex-over-nonlinear cost + MAP_CASADI_FNC(conl_cost_0_fun, {{ model.name }}_conl_cost_0_fun); + MAP_CASADI_FNC(conl_cost_0_fun_jac_hess, {{ model.name }}_conl_cost_0_fun_jac_hess); + +{%- elif cost.cost_type_0 == "EXTERNAL" %} + // external cost + {%- if cost.cost_ext_fun_type_0 == "casadi" %} + MAP_CASADI_FNC(ext_cost_0_fun, {{ model.name }}_cost_ext_cost_0_fun); + {%- else %} + capsule->ext_cost_0_fun.fun = &{{ cost.cost_function_ext_cost_0 }}; + external_function_param_{{ cost.cost_ext_fun_type_0 }}_create(&capsule->ext_cost_0_fun, {{ dims.np }}); + {%- endif %} + + // external cost + {%- if cost.cost_ext_fun_type_0 == "casadi" %} + MAP_CASADI_FNC(ext_cost_0_fun_jac, {{ model.name }}_cost_ext_cost_0_fun_jac); + {%- else %} + capsule->ext_cost_0_fun_jac.fun = &{{ cost.cost_function_ext_cost_0 }}; + external_function_param_{{ cost.cost_ext_fun_type_0 }}_create(&capsule->ext_cost_0_fun_jac, {{ dims.np }}); + {%- endif %} + + // external cost + {%- if cost.cost_ext_fun_type_0 == "casadi" %} + MAP_CASADI_FNC(ext_cost_0_fun_jac_hess, {{ model.name }}_cost_ext_cost_0_fun_jac_hess); + {%- else %} + capsule->ext_cost_0_fun_jac_hess.fun = &{{ cost.cost_function_ext_cost_0 }}; + external_function_param_{{ cost.cost_ext_fun_type_0 }}_create(&capsule->ext_cost_0_fun_jac_hess, {{ dims.np }}); + {%- endif %} +{%- endif %} + +{%- if cost.cost_type == "NONLINEAR_LS" %} + // nonlinear least squares cost + capsule->cost_y_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N-1; i++) + { + MAP_CASADI_FNC(cost_y_fun[i], {{ model.name }}_cost_y_fun); + } + + capsule->cost_y_fun_jac_ut_xt = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N-1; i++) + { + MAP_CASADI_FNC(cost_y_fun_jac_ut_xt[i], {{ model.name }}_cost_y_fun_jac_ut_xt); + } + + capsule->cost_y_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N-1; i++) + { + MAP_CASADI_FNC(cost_y_hess[i], {{ model.name }}_cost_y_hess); + } + +{%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %} + // convex-over-nonlinear cost + capsule->conl_cost_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N-1; i++) + { + MAP_CASADI_FNC(conl_cost_fun[i], {{ model.name }}_conl_cost_fun); + } + capsule->conl_cost_fun_jac_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N-1; i++) + { + MAP_CASADI_FNC(conl_cost_fun_jac_hess[i], {{ model.name }}_conl_cost_fun_jac_hess); + } + +{%- elif cost.cost_type == "EXTERNAL" %} + // external cost + capsule->ext_cost_fun = (external_function_param_{{ cost.cost_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ cost.cost_ext_fun_type }})*N); + for (int i = 0; i < N-1; i++) + { + {%- if cost.cost_ext_fun_type == "casadi" %} + MAP_CASADI_FNC(ext_cost_fun[i], {{ model.name }}_cost_ext_cost_fun); + {%- else %} + capsule->ext_cost_fun[i].fun = &{{ cost.cost_function_ext_cost }}; + external_function_param_{{ cost.cost_ext_fun_type }}_create(&capsule->ext_cost_fun[i], {{ dims.np }}); + {%- endif %} + } + + capsule->ext_cost_fun_jac = (external_function_param_{{ cost.cost_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ cost.cost_ext_fun_type }})*N); + for (int i = 0; i < N-1; i++) + { + {%- if cost.cost_ext_fun_type == "casadi" %} + MAP_CASADI_FNC(ext_cost_fun_jac[i], {{ model.name }}_cost_ext_cost_fun_jac); + {%- else %} + capsule->ext_cost_fun_jac[i].fun = &{{ cost.cost_function_ext_cost }}; + external_function_param_{{ cost.cost_ext_fun_type }}_create(&capsule->ext_cost_fun_jac[i], {{ dims.np }}); + {%- endif %} + } + + capsule->ext_cost_fun_jac_hess = (external_function_param_{{ cost.cost_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ cost.cost_ext_fun_type }})*N); + for (int i = 0; i < N-1; i++) + { + {%- if cost.cost_ext_fun_type == "casadi" %} + MAP_CASADI_FNC(ext_cost_fun_jac_hess[i], {{ model.name }}_cost_ext_cost_fun_jac_hess); + {%- else %} + capsule->ext_cost_fun_jac_hess[i].fun = &{{ cost.cost_function_ext_cost }}; + external_function_param_{{ cost.cost_ext_fun_type }}_create(&capsule->ext_cost_fun_jac_hess[i], {{ dims.np }}); + {%- endif %} + } +{%- endif %} + +{%- if cost.cost_type_e == "NONLINEAR_LS" %} + // nonlinear least square function + MAP_CASADI_FNC(cost_y_e_fun, {{ model.name }}_cost_y_e_fun); + MAP_CASADI_FNC(cost_y_e_fun_jac_ut_xt, {{ model.name }}_cost_y_e_fun_jac_ut_xt); + MAP_CASADI_FNC(cost_y_e_hess, {{ model.name }}_cost_y_e_hess); + +{%- elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %} + // convex-over-nonlinear cost + MAP_CASADI_FNC(conl_cost_e_fun, {{ model.name }}_conl_cost_e_fun); + MAP_CASADI_FNC(conl_cost_e_fun_jac_hess, {{ model.name }}_conl_cost_e_fun_jac_hess); + +{%- elif cost.cost_type_e == "EXTERNAL" %} + // external cost - function + {%- if cost.cost_ext_fun_type_e == "casadi" %} + MAP_CASADI_FNC(ext_cost_e_fun, {{ model.name }}_cost_ext_cost_e_fun); + {% else %} + capsule->ext_cost_e_fun.fun = &{{ cost.cost_function_ext_cost_e }}; + external_function_param_{{ cost.cost_ext_fun_type_e }}_create(&capsule->ext_cost_e_fun, {{ dims.np }}); + {%- endif %} + + // external cost - jacobian + {%- if cost.cost_ext_fun_type_e == "casadi" %} + MAP_CASADI_FNC(ext_cost_e_fun_jac, {{ model.name }}_cost_ext_cost_e_fun_jac); + {%- else %} + capsule->ext_cost_e_fun_jac.fun = &{{ cost.cost_function_ext_cost_e }}; + external_function_param_{{ cost.cost_ext_fun_type_e }}_create(&capsule->ext_cost_e_fun_jac, {{ dims.np }}); + {%- endif %} + + // external cost - hessian + {%- if cost.cost_ext_fun_type_e == "casadi" %} + MAP_CASADI_FNC(ext_cost_e_fun_jac_hess, {{ model.name }}_cost_ext_cost_e_fun_jac_hess); + {%- else %} + capsule->ext_cost_e_fun_jac_hess.fun = &{{ cost.cost_function_ext_cost_e }}; + external_function_param_{{ cost.cost_ext_fun_type_e }}_create(&capsule->ext_cost_e_fun_jac_hess, {{ dims.np }}); + {%- endif %} +{%- endif %} + +#undef MAP_CASADI_FNC +} + + +/** + * Internal function for {{ model.name }}_acados_create: step 4 + */ +void {{ model.name }}_acados_create_4_set_default_parameters({{ model.name }}_solver_capsule* capsule) { +{%- if dims.np > 0 %} + const int N = capsule->nlp_solver_plan->N; + // initialize parameters to nominal value + double* p = calloc(NP, sizeof(double)); + {%- for item in parameter_values %} + {%- if item != 0 %} + p[{{ loop.index0 }}] = {{ item }}; + {%- endif %} + {%- endfor %} + + for (int i = 0; i <= N; i++) { + {{ model.name }}_acados_update_params(capsule, i, p, NP); + } + free(p); +{%- else %} + // no parameters defined +{%- endif %}{# if dims.np #} +} + + +/** + * Internal function for {{ model.name }}_acados_create: step 5 + */ +void {{ model.name }}_acados_create_5_set_nlp_in({{ model.name }}_solver_capsule* capsule, const int N, double* new_time_steps) +{ + assert(N == capsule->nlp_solver_plan->N); + ocp_nlp_config* nlp_config = capsule->nlp_config; + ocp_nlp_dims* nlp_dims = capsule->nlp_dims; + + /************************************************ + * nlp_in + ************************************************/ +// ocp_nlp_in * nlp_in = ocp_nlp_in_create(nlp_config, nlp_dims); +// capsule->nlp_in = nlp_in; + ocp_nlp_in * nlp_in = capsule->nlp_in; + + // set up time_steps + {% set all_equal = true -%} + {%- set val = solver_options.time_steps[0] %} + {%- for j in range(start=1, end=dims.N) %} + {%- if val != solver_options.time_steps[j] %} + {%- set_global all_equal = false %} + {%- break %} + {%- endif %} + {%- endfor %} + + if (new_time_steps) { + {{ model.name }}_acados_update_time_steps(capsule, N, new_time_steps); + } else { + {%- if all_equal == true -%} + // all time_steps are identical + double time_step = {{ solver_options.time_steps[0] }}; + for (int i = 0; i < N; i++) + { + ocp_nlp_in_set(nlp_config, nlp_dims, nlp_in, i, "Ts", &time_step); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "scaling", &time_step); + } + {%- else -%} + // time_steps are different + double* time_steps = malloc(N*sizeof(double)); + {%- for j in range(end=dims.N) %} + time_steps[{{ j }}] = {{ solver_options.time_steps[j] }}; + {%- endfor %} + {{ model.name }}_acados_update_time_steps(capsule, N, time_steps); + free(time_steps); + {%- endif %} + } + + /**** Dynamics ****/ + for (int i = 0; i < N; i++) + { + {%- if solver_options.integrator_type == "ERK" %} + ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "expl_vde_forw", &capsule->forw_vde_casadi[i]); + ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "expl_ode_fun", &capsule->expl_ode_fun[i]); + {%- if solver_options.hessian_approx == "EXACT" %} + ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "expl_ode_hess", &capsule->hess_vde_casadi[i]); + {%- endif %} + {% elif solver_options.integrator_type == "IRK" %} + ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "impl_dae_fun", &capsule->impl_dae_fun[i]); + ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, + "impl_dae_fun_jac_x_xdot_z", &capsule->impl_dae_fun_jac_x_xdot_z[i]); + ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, + "impl_dae_jac_x_xdot_u", &capsule->impl_dae_jac_x_xdot_u_z[i]); + {%- if solver_options.hessian_approx == "EXACT" %} + ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "impl_dae_hess", &capsule->impl_dae_hess[i]); + {%- endif %} + {% elif solver_options.integrator_type == "LIFTED_IRK" %} + ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "impl_dae_fun", &capsule->impl_dae_fun[i]); + ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, + "impl_dae_fun_jac_x_xdot_u", &capsule->impl_dae_fun_jac_x_xdot_u[i]); + {% elif solver_options.integrator_type == "GNSF" %} + {% if model.gnsf.purely_linear != 1 %} + ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "phi_fun", &capsule->gnsf_phi_fun[i]); + ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "phi_fun_jac_y", &capsule->gnsf_phi_fun_jac_y[i]); + ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "phi_jac_y_uhat", &capsule->gnsf_phi_jac_y_uhat[i]); + {% if model.gnsf.nontrivial_f_LO == 1 %} + ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "f_lo_jac_x1_x1dot_u_z", + &capsule->gnsf_f_lo_jac_x1_x1dot_u_z[i]); + {%- endif %} + {%- endif %} + ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "gnsf_get_matrices_fun", + &capsule->gnsf_get_matrices_fun[i]); + {% elif solver_options.integrator_type == "DISCRETE" %} + ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "disc_dyn_fun", &capsule->discr_dyn_phi_fun[i]); + ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "disc_dyn_fun_jac", + &capsule->discr_dyn_phi_fun_jac_ut_xt[i]); + {%- if solver_options.hessian_approx == "EXACT" %} + ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "disc_dyn_fun_jac_hess", + &capsule->discr_dyn_phi_fun_jac_ut_xt_hess[i]); + {%- endif %} + {%- endif %} + } + + /**** Cost ****/ + +{%- if dims.ny_0 == 0 %} +{%- elif cost.cost_type_0 == "NONLINEAR_LS" or cost.cost_type_0 == "LINEAR_LS" or cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %} + double* yref_0 = calloc(NY0, sizeof(double)); + // change only the non-zero elements: + {%- for j in range(end=dims.ny_0) %} + {%- if cost.yref_0[j] != 0 %} + yref_0[{{ j }}] = {{ cost.yref_0[j] }}; + {%- endif %} + {%- endfor %} + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "yref", yref_0); + free(yref_0); +{%- endif %} + + +{%- if dims.ny == 0 %} +{%- elif cost.cost_type == "NONLINEAR_LS" or cost.cost_type == "LINEAR_LS" or cost.cost_type == "CONVEX_OVER_NONLINEAR" %} + double* yref = calloc(NY, sizeof(double)); + // change only the non-zero elements: + {%- for j in range(end=dims.ny) %} + {%- if cost.yref[j] != 0 %} + yref[{{ j }}] = {{ cost.yref[j] }}; + {%- endif %} + {%- endfor %} + + for (int i = 1; i < N; i++) + { + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "yref", yref); + } + free(yref); +{%- endif %} + + +{%- if dims.ny_e == 0 %} +{%- elif cost.cost_type_e == "NONLINEAR_LS" or cost.cost_type_e == "LINEAR_LS" or cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %} + double* yref_e = calloc(NYN, sizeof(double)); + // change only the non-zero elements: + {%- for j in range(end=dims.ny_e) %} + {%- if cost.yref_e[j] != 0 %} + yref_e[{{ j }}] = {{ cost.yref_e[j] }}; + {%- endif %} + {%- endfor %} + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "yref", yref_e); + free(yref_e); +{%- endif %} + +{%- if dims.ny_0 == 0 %} +{%- elif cost.cost_type_0 == "NONLINEAR_LS" or cost.cost_type_0 == "LINEAR_LS" %} + double* W_0 = calloc(NY0*NY0, sizeof(double)); + // change only the non-zero elements: + {%- for j in range(end=dims.ny_0) %} + {%- for k in range(end=dims.ny_0) %} + {%- if cost.W_0[j][k] != 0 %} + W_0[{{ j }}+(NY0) * {{ k }}] = {{ cost.W_0[j][k] }}; + {%- endif %} + {%- endfor %} + {%- endfor %} + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "W", W_0); + free(W_0); +{%- endif %} + +{%- if dims.ny == 0 %} +{%- elif cost.cost_type == "NONLINEAR_LS" or cost.cost_type == "LINEAR_LS" %} + double* W = calloc(NY*NY, sizeof(double)); + // change only the non-zero elements: + {%- for j in range(end=dims.ny) %} + {%- for k in range(end=dims.ny) %} + {%- if cost.W[j][k] != 0 %} + W[{{ j }}+(NY) * {{ k }}] = {{ cost.W[j][k] }}; + {%- endif %} + {%- endfor %} + {%- endfor %} + + for (int i = 1; i < N; i++) + { + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "W", W); + } + free(W); +{%- endif %} + +{%- if dims.ny_e == 0 %} +{%- elif cost.cost_type_e == "NONLINEAR_LS" or cost.cost_type_e == "LINEAR_LS" %} + double* W_e = calloc(NYN*NYN, sizeof(double)); + // change only the non-zero elements: + {%- for j in range(end=dims.ny_e) %} + {%- for k in range(end=dims.ny_e) %} + {%- if cost.W_e[j][k] != 0 %} + W_e[{{ j }}+(NYN) * {{ k }}] = {{ cost.W_e[j][k] }}; + {%- endif %} + {%- endfor %} + {%- endfor %} + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "W", W_e); + free(W_e); +{%- endif %} + +{%- if dims.ny_0 == 0 %} +{%- elif cost.cost_type_0 == "LINEAR_LS" %} + double* Vx_0 = calloc(NY0*NX, sizeof(double)); + // change only the non-zero elements: + {%- for j in range(end=dims.ny_0) %} + {%- for k in range(end=dims.nx) %} + {%- if cost.Vx_0[j][k] != 0 %} + Vx_0[{{ j }}+(NY0) * {{ k }}] = {{ cost.Vx_0[j][k] }}; + {%- endif %} + {%- endfor %} + {%- endfor %} + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "Vx", Vx_0); + free(Vx_0); + + {%- if dims.nu > 0 %} + double* Vu_0 = calloc(NY0*NU, sizeof(double)); + // change only the non-zero elements: + {%- for j in range(end=dims.ny_0) %} + {%- for k in range(end=dims.nu) %} + {%- if cost.Vu_0[j][k] != 0 %} + Vu_0[{{ j }}+(NY0) * {{ k }}] = {{ cost.Vu_0[j][k] }}; + {%- endif %} + {%- endfor %} + {%- endfor %} + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "Vu", Vu_0); + free(Vu_0); + {%- endif %} + + {%- if dims.nz > 0 %} + double* Vz_0 = calloc(NY0*NZ, sizeof(double)); + // change only the non-zero elements: + {% for j in range(end=dims.ny_0) %} + {%- for k in range(end=dims.nz) %} + {%- if cost.Vz_0[j][k] != 0 %} + Vz_0[{{ j }}+(NY0) * {{ k }}] = {{ cost.Vz_0[j][k] }}; + {%- endif %} + {%- endfor %} + {%- endfor %} + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "Vz", Vz_0); + free(Vz_0); + {%- endif %} +{%- endif %} + +{%- if dims.ny == 0 %} +{%- elif cost.cost_type == "LINEAR_LS" %} + double* Vx = calloc(NY*NX, sizeof(double)); + // change only the non-zero elements: + {%- for j in range(end=dims.ny) %} + {%- for k in range(end=dims.nx) %} + {%- if cost.Vx[j][k] != 0 %} + Vx[{{ j }}+(NY) * {{ k }}] = {{ cost.Vx[j][k] }}; + {%- endif %} + {%- endfor %} + {%- endfor %} + for (int i = 1; i < N; i++) + { + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Vx", Vx); + } + free(Vx); + + {% if dims.nu > 0 %} + double* Vu = calloc(NY*NU, sizeof(double)); + // change only the non-zero elements: + {% for j in range(end=dims.ny) %} + {%- for k in range(end=dims.nu) %} + {%- if cost.Vu[j][k] != 0 %} + Vu[{{ j }}+(NY) * {{ k }}] = {{ cost.Vu[j][k] }}; + {%- endif %} + {%- endfor %} + {%- endfor %} + + for (int i = 1; i < N; i++) + { + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Vu", Vu); + } + free(Vu); + {%- endif %} + + {%- if dims.nz > 0 %} + double* Vz = calloc(NY*NZ, sizeof(double)); + // change only the non-zero elements: + {% for j in range(end=dims.ny) %} + {%- for k in range(end=dims.nz) %} + {%- if cost.Vz[j][k] != 0 %} + Vz[{{ j }}+(NY) * {{ k }}] = {{ cost.Vz[j][k] }}; + {%- endif %} + {%- endfor %} + {%- endfor %} + + for (int i = 1; i < N; i++) + { + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Vz", Vz); + } + free(Vz); + {%- endif %} +{%- endif %}{# LINEAR LS #} + +{%- if dims.ny_e == 0 %} +{%- elif cost.cost_type_e == "LINEAR_LS" %} + double* Vx_e = calloc(NYN*NX, sizeof(double)); + // change only the non-zero elements: + {% for j in range(end=dims.ny_e) %} + {%- for k in range(end=dims.nx) %} + {%- if cost.Vx_e[j][k] != 0 %} + Vx_e[{{ j }}+(NYN) * {{ k }}] = {{ cost.Vx_e[j][k] }}; + {%- endif %} + {%- endfor %} + {%- endfor %} + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "Vx", Vx_e); + free(Vx_e); +{%- endif %} + +{%- if cost.cost_type_0 == "NONLINEAR_LS" %} + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_fun", &capsule->cost_y_0_fun); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_fun_jac", &capsule->cost_y_0_fun_jac_ut_xt); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_hess", &capsule->cost_y_0_hess); +{%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %} + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "conl_cost_fun", &capsule->conl_cost_0_fun); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "conl_cost_fun_jac_hess", &capsule->conl_cost_0_fun_jac_hess); +{%- elif cost.cost_type_0 == "EXTERNAL" %} + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "ext_cost_fun", &capsule->ext_cost_0_fun); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "ext_cost_fun_jac", &capsule->ext_cost_0_fun_jac); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "ext_cost_fun_jac_hess", &capsule->ext_cost_0_fun_jac_hess); +{%- endif %} + +{%- if cost.cost_type == "NONLINEAR_LS" %} + for (int i = 1; i < N; i++) + { + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_fun", &capsule->cost_y_fun[i-1]); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_fun_jac", &capsule->cost_y_fun_jac_ut_xt[i-1]); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_hess", &capsule->cost_y_hess[i-1]); + } +{%- elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %} + for (int i = 1; i < N; i++) + { + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "conl_cost_fun", &capsule->conl_cost_fun[i-1]); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "conl_cost_fun_jac_hess", &capsule->conl_cost_fun_jac_hess[i-1]); + } +{%- elif cost.cost_type == "EXTERNAL" %} + for (int i = 1; i < N; i++) + { + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "ext_cost_fun", &capsule->ext_cost_fun[i-1]); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "ext_cost_fun_jac", &capsule->ext_cost_fun_jac[i-1]); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "ext_cost_fun_jac_hess", &capsule->ext_cost_fun_jac_hess[i-1]); + } +{%- endif %} + +{%- if cost.cost_type_e == "NONLINEAR_LS" %} + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_fun", &capsule->cost_y_e_fun); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_fun_jac", &capsule->cost_y_e_fun_jac_ut_xt); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_hess", &capsule->cost_y_e_hess); + +{%- elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %} + + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "conl_cost_fun", &capsule->conl_cost_e_fun); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "conl_cost_fun_jac_hess", &capsule->conl_cost_e_fun_jac_hess); + +{%- elif cost.cost_type_e == "EXTERNAL" %} + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "ext_cost_fun", &capsule->ext_cost_e_fun); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "ext_cost_fun_jac", &capsule->ext_cost_e_fun_jac); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "ext_cost_fun_jac_hess", &capsule->ext_cost_e_fun_jac_hess); +{%- endif %} + + +{%- if dims.ns > 0 %} + // slacks + double* zlumem = calloc(4*NS, sizeof(double)); + double* Zl = zlumem+NS*0; + double* Zu = zlumem+NS*1; + double* zl = zlumem+NS*2; + double* zu = zlumem+NS*3; + // change only the non-zero elements: + {%- for j in range(end=dims.ns) %} + {%- if cost.Zl[j] != 0 %} + Zl[{{ j }}] = {{ cost.Zl[j] }}; + {%- endif %} + {%- endfor %} + + {%- for j in range(end=dims.ns) %} + {%- if cost.Zu[j] != 0 %} + Zu[{{ j }}] = {{ cost.Zu[j] }}; + {%- endif %} + {%- endfor %} + + {%- for j in range(end=dims.ns) %} + {%- if cost.zl[j] != 0 %} + zl[{{ j }}] = {{ cost.zl[j] }}; + {%- endif %} + {%- endfor %} + + {%- for j in range(end=dims.ns) %} + {%- if cost.zu[j] != 0 %} + zu[{{ j }}] = {{ cost.zu[j] }}; + {%- endif %} + {%- endfor %} + + for (int i = 0; i < N; i++) + { + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Zl", Zl); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Zu", Zu); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "zl", zl); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "zu", zu); + } + free(zlumem); +{%- endif %} + +{% if dims.ns_e > 0 %} + // slacks terminal + double* zluemem = calloc(4*NSN, sizeof(double)); + double* Zl_e = zluemem+NSN*0; + double* Zu_e = zluemem+NSN*1; + double* zl_e = zluemem+NSN*2; + double* zu_e = zluemem+NSN*3; + + // change only the non-zero elements: + {% for j in range(end=dims.ns_e) %} + {%- if cost.Zl_e[j] != 0 %} + Zl_e[{{ j }}] = {{ cost.Zl_e[j] }}; + {%- endif %} + {%- endfor %} + + {% for j in range(end=dims.ns_e) %} + {%- if cost.Zu_e[j] != 0 %} + Zu_e[{{ j }}] = {{ cost.Zu_e[j] }}; + {%- endif %} + {%- endfor %} + + {% for j in range(end=dims.ns_e) %} + {%- if cost.zl_e[j] != 0 %} + zl_e[{{ j }}] = {{ cost.zl_e[j] }}; + {%- endif %} + {%- endfor %} + + {% for j in range(end=dims.ns_e) %} + {%- if cost.zu_e[j] != 0 %} + zu_e[{{ j }}] = {{ cost.zu_e[j] }}; + {%- endif %} + {%- endfor %} + + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "Zl", Zl_e); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "Zu", Zu_e); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "zl", zl_e); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "zu", zu_e); + free(zluemem); +{%- endif %} + + /**** Constraints ****/ + + // bounds for initial stage +{%- if dims.nbx_0 > 0 %} + // x0 + int* idxbx0 = malloc(NBX0 * sizeof(int)); + {%- for i in range(end=dims.nbx_0) %} + idxbx0[{{ i }}] = {{ constraints.idxbx_0[i] }}; + {%- endfor %} + + double* lubx0 = calloc(2*NBX0, sizeof(double)); + double* lbx0 = lubx0; + double* ubx0 = lubx0 + NBX0; + // change only the non-zero elements: + {%- for i in range(end=dims.nbx_0) %} + {%- if constraints.lbx_0[i] != 0 %} + lbx0[{{ i }}] = {{ constraints.lbx_0[i] }}; + {%- endif %} + {%- if constraints.ubx_0[i] != 0 %} + ubx0[{{ i }}] = {{ constraints.ubx_0[i] }}; + {%- endif %} + {%- endfor %} + + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbx", idxbx0); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", lbx0); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", ubx0); + free(idxbx0); + free(lubx0); +{%- endif %} + +{%- if dims.nbxe_0 > 0 %} + // idxbxe_0 + int* idxbxe_0 = malloc({{ dims.nbxe_0 }} * sizeof(int)); + {% for i in range(end=dims.nbxe_0) %} + idxbxe_0[{{ i }}] = {{ constraints.idxbxe_0[i] }}; + {%- endfor %} + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbxe", idxbxe_0); + free(idxbxe_0); +{%- endif %} + + /* constraints that are the same for initial and intermediate */ +{%- if dims.nsbx > 0 %} +{# TODO: introduce nsbx0 & move this block down!! #} + // ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxsbx", idxsbx); + // ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lsbx", lsbx); + // ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "usbx", usbx); + + // soft bounds on x + int* idxsbx = malloc(NSBX * sizeof(int)); + {%- for i in range(end=dims.nsbx) %} + idxsbx[{{ i }}] = {{ constraints.idxsbx[i] }}; + {%- endfor %} + + double* lusbx = calloc(2*NSBX, sizeof(double)); + double* lsbx = lusbx; + double* usbx = lusbx + NSBX; + {%- for i in range(end=dims.nsbx) %} + {%- if constraints.lsbx[i] != 0 %} + lsbx[{{ i }}] = {{ constraints.lsbx[i] }}; + {%- endif %} + {%- if constraints.usbx[i] != 0 %} + usbx[{{ i }}] = {{ constraints.usbx[i] }}; + {%- endif %} + {%- endfor %} + + for (int i = 1; i < N; i++) + { + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxsbx", idxsbx); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lsbx", lsbx); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "usbx", usbx); + } + free(idxsbx); + free(lusbx); +{%- endif %} + + +{%- if dims.nbu > 0 %} + // u + int* idxbu = malloc(NBU * sizeof(int)); + {% for i in range(end=dims.nbu) %} + idxbu[{{ i }}] = {{ constraints.idxbu[i] }}; + {%- endfor %} + double* lubu = calloc(2*NBU, sizeof(double)); + double* lbu = lubu; + double* ubu = lubu + NBU; + {% for i in range(end=dims.nbu) %} + {%- if constraints.lbu[i] != 0 %} + lbu[{{ i }}] = {{ constraints.lbu[i] }}; + {%- endif %} + {%- if constraints.ubu[i] != 0 %} + ubu[{{ i }}] = {{ constraints.ubu[i] }}; + {%- endif %} + {%- endfor %} + + for (int i = 0; i < N; i++) + { + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxbu", idxbu); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lbu", lbu); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "ubu", ubu); + } + free(idxbu); + free(lubu); +{%- endif %} + +{%- if dims.nsbu > 0 %} + // set up soft bounds for u + int* idxsbu = malloc(NSBU * sizeof(int)); + {% for i in range(end=dims.nsbu) %} + idxsbu[{{ i }}] = {{ constraints.idxsbu[i] }}; + {%- endfor %} + double* lusbu = calloc(2*NSBU, sizeof(double)); + double* lsbu = lusbu; + double* usbu = lusbu + NSBU; + {% for i in range(end=dims.nsbu) %} + {%- if constraints.lsbu[i] != 0 %} + lsbu[{{ i }}] = {{ constraints.lsbu[i] }}; + {%- endif %} + {%- if constraints.usbu[i] != 0 %} + usbu[{{ i }}] = {{ constraints.usbu[i] }}; + {%- endif %} + {%- endfor %} + for (int i = 0; i < N; i++) + { + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxsbu", idxsbu); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lsbu", lsbu); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "usbu", usbu); + } + free(idxsbu); + free(lusbu); +{%- endif %} + +{% if dims.nsg > 0 %} + // set up soft bounds for general linear constraints + int* idxsg = malloc(NSG * sizeof(int)); + {% for i in range(end=dims.nsg) %} + idxsg[{{ i }}] = {{ constraints.idxsg[i] }}; + {%- endfor %} + double* lusg = calloc(2*NSG, sizeof(double)); + double* lsg = lusg; + double* usg = lusg + NSG; + {% for i in range(end=dims.nsg) %} + {%- if constraints.lsg[i] != 0 %} + lsg[{{ i }}] = {{ constraints.lsg[i] }}; + {%- endif %} + {%- if constraints.usg[i] != 0 %} + usg[{{ i }}] = {{ constraints.usg[i] }}; + {%- endif %} + {%- endfor %} + + for (int i = 0; i < N; i++) + { + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxsg", idxsg); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lsg", lsg); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "usg", usg); + } + free(idxsg); + free(lusg); +{%- endif %} + +{% if dims.nsh > 0 %} + // set up soft bounds for nonlinear constraints + int* idxsh = malloc(NSH * sizeof(int)); + {% for i in range(end=dims.nsh) %} + idxsh[{{ i }}] = {{ constraints.idxsh[i] }}; + {%- endfor %} + double* lush = calloc(2*NSH, sizeof(double)); + double* lsh = lush; + double* ush = lush + NSH; + {% for i in range(end=dims.nsh) %} + {%- if constraints.lsh[i] != 0 %} + lsh[{{ i }}] = {{ constraints.lsh[i] }}; + {%- endif %} + {%- if constraints.ush[i] != 0 %} + ush[{{ i }}] = {{ constraints.ush[i] }}; + {%- endif %} + {%- endfor %} + + for (int i = 0; i < N; i++) + { + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxsh", idxsh); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lsh", lsh); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "ush", ush); + } + free(idxsh); + free(lush); +{%- endif %} + +{% if dims.nsphi > 0 %} + // set up soft bounds for convex-over-nonlinear constraints + int* idxsphi = malloc(NSPHI * sizeof(int)); + {% for i in range(end=dims.nsphi) %} + idxsphi[{{ i }}] = {{ constraints.idxsphi[i] }}; + {%- endfor %} + double* lusphi = calloc(2*NSPHI, sizeof(double)); + double* lsphi = lusphi; + double* usphi = lusphi + NSPHI; + {% for i in range(end=dims.nsphi) %} + {%- if constraints.lsphi[i] != 0 %} + lsphi[{{ i }}] = {{ constraints.lsphi[i] }}; + {%- endif %} + {%- if constraints.usphi[i] != 0 %} + usphi[{{ i }}] = {{ constraints.usphi[i] }}; + {%- endif %} + {%- endfor %} + + for (int i = 0; i < N; i++) + { + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxsphi", idxsphi); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lsphi", lsphi); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "usphi", usphi); + } + free(idxsphi); + free(lusphi); +{%- endif %} + +{% if dims.nbx > 0 %} + // x + int* idxbx = malloc(NBX * sizeof(int)); + {% for i in range(end=dims.nbx) %} + idxbx[{{ i }}] = {{ constraints.idxbx[i] }}; + {%- endfor %} + double* lubx = calloc(2*NBX, sizeof(double)); + double* lbx = lubx; + double* ubx = lubx + NBX; + {% for i in range(end=dims.nbx) %} + {%- if constraints.lbx[i] != 0 %} + lbx[{{ i }}] = {{ constraints.lbx[i] }}; + {%- endif %} + {%- if constraints.ubx[i] != 0 %} + ubx[{{ i }}] = {{ constraints.ubx[i] }}; + {%- endif %} + {%- endfor %} + + for (int i = 1; i < N; i++) + { + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxbx", idxbx); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lbx", lbx); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "ubx", ubx); + } + free(idxbx); + free(lubx); +{%- endif %} + +{% if dims.ng > 0 %} + // set up general constraints for stage 0 to N-1 + double* D = calloc(NG*NU, sizeof(double)); + double* C = calloc(NG*NX, sizeof(double)); + double* lug = calloc(2*NG, sizeof(double)); + double* lg = lug; + double* ug = lug + NG; + + {% for j in range(end=dims.ng) -%} + {% for k in range(end=dims.nu) %} + {%- if constraints.D[j][k] != 0 %} + D[{{ j }}+NG * {{ k }}] = {{ constraints.D[j][k] }}; + {%- endif %} + {%- endfor %} + {%- endfor %} + + {% for j in range(end=dims.ng) -%} + {% for k in range(end=dims.nx) %} + {%- if constraints.C[j][k] != 0 %} + C[{{ j }}+NG * {{ k }}] = {{ constraints.C[j][k] }}; + {%- endif %} + {%- endfor %} + {%- endfor %} + + {% for i in range(end=dims.ng) %} + {%- if constraints.lg[i] != 0 %} + lg[{{ i }}] = {{ constraints.lg[i] }}; + {%- endif %} + {%- endfor %} + + {% for i in range(end=dims.ng) %} + {%- if constraints.ug[i] != 0 %} + ug[{{ i }}] = {{ constraints.ug[i] }}; + {%- endif %} + {%- endfor %} + + for (int i = 0; i < N; i++) + { + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "D", D); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "C", C); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lg", lg); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "ug", ug); + } + free(D); + free(C); + free(lug); +{%- endif %} + +{% if dims.nh > 0 %} + // set up nonlinear constraints for stage 0 to N-1 + double* luh = calloc(2*NH, sizeof(double)); + double* lh = luh; + double* uh = luh + NH; + + {% for i in range(end=dims.nh) %} + {%- if constraints.lh[i] != 0 %} + lh[{{ i }}] = {{ constraints.lh[i] }}; + {%- endif %} + {%- endfor %} + + {% for i in range(end=dims.nh) %} + {%- if constraints.uh[i] != 0 %} + uh[{{ i }}] = {{ constraints.uh[i] }}; + {%- endif %} + {%- endfor %} + + for (int i = 0; i < N; i++) + { + // nonlinear constraints for stages 0 to N-1 + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "nl_constr_h_fun_jac", + &capsule->nl_constr_h_fun_jac[i]); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "nl_constr_h_fun", + &capsule->nl_constr_h_fun[i]); + {% if solver_options.hessian_approx == "EXACT" %} + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, + "nl_constr_h_fun_jac_hess", &capsule->nl_constr_h_fun_jac_hess[i]); + {% endif %} + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lh", lh); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "uh", uh); + } + free(luh); +{%- endif %} + +{% if dims.nphi > 0 and constraints.constr_type == "BGP" %} + // set up convex-over-nonlinear constraints for stage 0 to N-1 + double* luphi = calloc(2*NPHI, sizeof(double)); + double* lphi = luphi; + double* uphi = luphi + NPHI; + {% for i in range(end=dims.nphi) %} + {%- if constraints.lphi[i] != 0 %} + lphi[{{ i }}] = {{ constraints.lphi[i] }}; + {%- endif %} + {%- endfor %} + + {% for i in range(end=dims.nphi) %} + {%- if constraints.uphi[i] != 0 %} + uphi[{{ i }}] = {{ constraints.uphi[i] }}; + {%- endif %} + {%- endfor %} + + for (int i = 0; i < N; i++) + { + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, + "nl_constr_phi_o_r_fun_phi_jac_ux_z_phi_hess_r_jac_ux", &capsule->phi_constraint[i]); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lphi", lphi); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "uphi", uphi); + } + free(luphi); +{%- endif %} + + /* terminal constraints */ +{% if dims.nbx_e > 0 %} + // set up bounds for last stage + // x + int* idxbx_e = malloc(NBXN * sizeof(int)); + {% for i in range(end=dims.nbx_e) %} + idxbx_e[{{ i }}] = {{ constraints.idxbx_e[i] }}; + {%- endfor %} + double* lubx_e = calloc(2*NBXN, sizeof(double)); + double* lbx_e = lubx_e; + double* ubx_e = lubx_e + NBXN; + {% for i in range(end=dims.nbx_e) %} + {%- if constraints.lbx_e[i] != 0 %} + lbx_e[{{ i }}] = {{ constraints.lbx_e[i] }}; + {%- endif %} + {%- if constraints.ubx_e[i] != 0 %} + ubx_e[{{ i }}] = {{ constraints.ubx_e[i] }}; + {%- endif %} + {%- endfor %} + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "idxbx", idxbx_e); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lbx", lbx_e); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ubx", ubx_e); + free(idxbx_e); + free(lubx_e); +{%- endif %} + +{% if dims.nsg_e > 0 %} + // set up soft bounds for general linear constraints + int* idxsg_e = calloc(NSGN, sizeof(int)); + {% for i in range(end=dims.nsg_e) %} + idxsg_e[{{ i }}] = {{ constraints.idxsg_e[i] }}; + {%- endfor %} + double* lusg_e = calloc(2*NSGN, sizeof(double)); + double* lsg_e = lusg_e; + double* usg_e = lusg_e + NSGN; + {% for i in range(end=dims.nsg_e) %} + {%- if constraints.lsg_e[i] != 0 %} + lsg_e[{{ i }}] = {{ constraints.lsg_e[i] }}; + {%- endif %} + {%- if constraints.usg_e[i] != 0 %} + usg_e[{{ i }}] = {{ constraints.usg_e[i] }}; + {%- endif %} + {%- endfor %} + + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "idxsg", idxsg_e); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lsg", lsg_e); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "usg", usg_e); + free(idxsg_e); + free(lusg_e); +{%- endif %} + +{% if dims.nsh_e > 0 %} + // set up soft bounds for nonlinear constraints + int* idxsh_e = malloc(NSHN * sizeof(int)); + {% for i in range(end=dims.nsh_e) %} + idxsh_e[{{ i }}] = {{ constraints.idxsh_e[i] }}; + {%- endfor %} + double* lush_e = calloc(2*NSHN, sizeof(double)); + double* lsh_e = lush_e; + double* ush_e = lush_e + NSHN; + {% for i in range(end=dims.nsh_e) %} + {%- if constraints.lsh_e[i] != 0 %} + lsh_e[{{ i }}] = {{ constraints.lsh_e[i] }}; + {%- endif %} + {%- if constraints.ush_e[i] != 0 %} + ush_e[{{ i }}] = {{ constraints.ush_e[i] }}; + {%- endif %} + {%- endfor %} + + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "idxsh", idxsh_e); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lsh", lsh_e); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ush", ush_e); + free(idxsh_e); + free(lush_e); +{%- endif %} + +{% if dims.nsphi_e > 0 %} + // set up soft bounds for convex-over-nonlinear constraints + int* idxsphi_e = malloc(NSPHIN * sizeof(int)); + {% for i in range(end=dims.nsphi_e) %} + idxsphi_e[{{ i }}] = {{ constraints.idxsphi_e[i] }}; + {%- endfor %} + double* lusphi_e = calloc(2*NSPHIN, sizeof(double)); + double* lsphi_e = lusphi_e; + double* usphi_e = lusphi_e + NSPHIN; + {% for i in range(end=dims.nsphi_e) %} + {%- if constraints.lsphi_e[i] != 0 %} + lsphi_e[{{ i }}] = {{ constraints.lsphi_e[i] }}; + {%- endif %} + {%- if constraints.usphi_e[i] != 0 %} + usphi_e[{{ i }}] = {{ constraints.usphi_e[i] }}; + {%- endif %} + {%- endfor %} + + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "idxsphi", idxsphi_e); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lsphi", lsphi_e); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "usphi", usphi_e); + free(idxsphi_e); + free(lusphi_e); +{%- endif %} + +{% if dims.nsbx_e > 0 %} + // soft bounds on x + int* idxsbx_e = malloc(NSBXN * sizeof(int)); + {% for i in range(end=dims.nsbx_e) %} + idxsbx_e[{{ i }}] = {{ constraints.idxsbx_e[i] }}; + {%- endfor %} + double* lusbx_e = calloc(2*NSBXN, sizeof(double)); + double* lsbx_e = lusbx_e; + double* usbx_e = lusbx_e + NSBXN; + {% for i in range(end=dims.nsbx_e) %} + {%- if constraints.lsbx_e[i] != 0 %} + lsbx_e[{{ i }}] = {{ constraints.lsbx_e[i] }}; + {%- endif %} + {%- if constraints.usbx_e[i] != 0 %} + usbx_e[{{ i }}] = {{ constraints.usbx_e[i] }}; + {%- endif %} + {%- endfor %} + + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "idxsbx", idxsbx_e); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lsbx", lsbx_e); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "usbx", usbx_e); + free(idxsbx_e); + free(lusbx_e); +{% endif %} + +{% if dims.ng_e > 0 %} + // set up general constraints for last stage + double* C_e = calloc(NGN*NX, sizeof(double)); + double* lug_e = calloc(2*NGN, sizeof(double)); + double* lg_e = lug_e; + double* ug_e = lug_e + NGN; + + {% for j in range(end=dims.ng_e) %} + {%- for k in range(end=dims.nx) %} + {%- if constraints.C_e[j][k] != 0 %} + C_e[{{ j }}+NGN * {{ k }}] = {{ constraints.C_e[j][k] }}; + {%- endif %} + {%- endfor %} + {%- endfor %} + + {% for i in range(end=dims.ng_e) %} + {%- if constraints.lg_e[i] != 0 %} + lg_e[{{ i }}] = {{ constraints.lg_e[i] }}; + {%- endif %} + {%- if constraints.ug_e[i] != 0 %} + ug_e[{{ i }}] = {{ constraints.ug_e[i] }}; + {%- endif %} + {%- endfor %} + + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "C", C_e); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lg", lg_e); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ug", ug_e); + free(C_e); + free(lug_e); +{%- endif %} + +{% if dims.nh_e > 0 %} + // set up nonlinear constraints for last stage + double* luh_e = calloc(2*NHN, sizeof(double)); + double* lh_e = luh_e; + double* uh_e = luh_e + NHN; + {% for i in range(end=dims.nh_e) %} + {%- if constraints.lh_e[i] != 0 %} + lh_e[{{ i }}] = {{ constraints.lh_e[i] }}; + {%- endif %} + {%- endfor %} + + {% for i in range(end=dims.nh_e) %} + {%- if constraints.uh_e[i] != 0 %} + uh_e[{{ i }}] = {{ constraints.uh_e[i] }}; + {%- endif %} + {%- endfor %} + + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "nl_constr_h_fun_jac", &capsule->nl_constr_h_e_fun_jac); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "nl_constr_h_fun", &capsule->nl_constr_h_e_fun); + {% if solver_options.hessian_approx == "EXACT" %} + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "nl_constr_h_fun_jac_hess", + &capsule->nl_constr_h_e_fun_jac_hess); + {% endif %} + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lh", lh_e); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "uh", uh_e); + free(luh_e); +{%- endif %} + +{% if dims.nphi_e > 0 and constraints.constr_type_e == "BGP" %} + // set up convex-over-nonlinear constraints for last stage + double* luphi_e = calloc(2*NPHIN, sizeof(double)); + double* lphi_e = luphi_e; + double* uphi_e = luphi_e + NPHIN; + {% for i in range(end=dims.nphi_e) %} + {%- if constraints.lphi_e[i] != 0 %} + lphi_e[{{ i }}] = {{ constraints.lphi_e[i] }}; + {%- endif %} + {%- if constraints.uphi_e[i] != 0 %} + uphi_e[{{ i }}] = {{ constraints.uphi_e[i] }}; + {%- endif %} + {%- endfor %} + + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lphi", lphi_e); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "uphi", uphi_e); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, + "nl_constr_phi_o_r_fun_phi_jac_ux_z_phi_hess_r_jac_ux", &capsule->phi_e_constraint); + free(luphi_e); +{% endif %} +} + + +/** + * Internal function for {{ model.name }}_acados_create: step 6 + */ +void {{ model.name }}_acados_create_6_set_opts({{ model.name }}_solver_capsule* capsule) +{ + const int N = capsule->nlp_solver_plan->N; + ocp_nlp_config* nlp_config = capsule->nlp_config; + void *nlp_opts = capsule->nlp_opts; + + /************************************************ + * opts + ************************************************/ + +{% if solver_options.hessian_approx == "EXACT" %} + int nlp_solver_exact_hessian = 1; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "exact_hess", &nlp_solver_exact_hessian); + + int exact_hess_dyn = {{ solver_options.exact_hess_dyn }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "exact_hess_dyn", &exact_hess_dyn); + + int exact_hess_cost = {{ solver_options.exact_hess_cost }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "exact_hess_cost", &exact_hess_cost); + + int exact_hess_constr = {{ solver_options.exact_hess_constr }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "exact_hess_constr", &exact_hess_constr); +{%- endif -%} + +{%- if solver_options.globalization == "FIXED_STEP" %} + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "globalization", "fixed_step"); +{%- elif solver_options.globalization == "MERIT_BACKTRACKING" %} + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "globalization", "merit_backtracking"); + + double alpha_min = {{ solver_options.alpha_min }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "alpha_min", &alpha_min); + + double alpha_reduction = {{ solver_options.alpha_reduction }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "alpha_reduction", &alpha_reduction); + + int line_search_use_sufficient_descent = {{ solver_options.line_search_use_sufficient_descent }}; + ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "line_search_use_sufficient_descent", &line_search_use_sufficient_descent); + + int globalization_use_SOC = {{ solver_options.globalization_use_SOC }}; + ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "globalization_use_SOC", &globalization_use_SOC); + + double eps_sufficient_descent = {{ solver_options.eps_sufficient_descent }}; + ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "eps_sufficient_descent", &eps_sufficient_descent); +{%- endif -%} + int full_step_dual = {{ solver_options.full_step_dual }}; + ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "full_step_dual", &full_step_dual); + +{%- if dims.nz > 0 %} + // TODO: these options are lower level -> should be encapsulated! maybe through hessian approx option. + bool output_z_val = true; + bool sens_algebraic_val = true; + + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_output_z", &output_z_val); + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_sens_algebraic", &sens_algebraic_val); +{%- endif %} + +{%- if solver_options.integrator_type != "DISCRETE" %} + + // set collocation type (relevant for implicit integrators) + sim_collocation_type collocation_type = {{ solver_options.collocation_type }}; + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_collocation_type", &collocation_type); + + // set up sim_method_num_steps + {%- set all_equal = true %} + {%- set val = solver_options.sim_method_num_steps[0] %} + {%- for j in range(start=1, end=dims.N) %} + {%- if val != solver_options.sim_method_num_steps[j] %} + {%- set_global all_equal = false %} + {%- break %} + {%- endif %} + {%- endfor %} + + {%- if all_equal == true %} + // all sim_method_num_steps are identical + int sim_method_num_steps = {{ solver_options.sim_method_num_steps[0] }}; + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_steps", &sim_method_num_steps); + {%- else %} + // sim_method_num_steps are different + int* sim_method_num_steps = malloc(N*sizeof(int)); + {%- for j in range(end=dims.N) %} + sim_method_num_steps[{{ j }}] = {{ solver_options.sim_method_num_steps[j] }}; + {%- endfor %} + + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_steps", &sim_method_num_steps[i]); + free(sim_method_num_steps); + {%- endif %} + + // set up sim_method_num_stages + {%- set all_equal = true %} + {%- set val = solver_options.sim_method_num_stages[0] %} + {%- for j in range(start=1, end=dims.N) %} + {%- if val != solver_options.sim_method_num_stages[j] %} + {%- set_global all_equal = false %} + {%- break %} + {%- endif %} + {%- endfor %} + + {%- if all_equal == true %} + // all sim_method_num_stages are identical + int sim_method_num_stages = {{ solver_options.sim_method_num_stages[0] }}; + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_stages", &sim_method_num_stages); + {%- else %} + int* sim_method_num_stages = malloc(N*sizeof(int)); + {%- for j in range(end=dims.N) %} + sim_method_num_stages[{{ j }}] = {{ solver_options.sim_method_num_stages[j] }}; + {%- endfor %} + + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_stages", &sim_method_num_stages[i]); + free(sim_method_num_stages); + {%- endif %} + + int newton_iter_val = {{ solver_options.sim_method_newton_iter }}; + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_newton_iter", &newton_iter_val); + + + // set up sim_method_jac_reuse + {%- set all_equal = true %} + {%- set val = solver_options.sim_method_jac_reuse[0] %} + {%- for j in range(start=1, end=dims.N) %} + {%- if val != solver_options.sim_method_jac_reuse[j] %} + {%- set_global all_equal = false %} + {%- break %} + {%- endif %} + {%- endfor %} + {%- if all_equal == true %} + bool tmp_bool = (bool) {{ solver_options.sim_method_jac_reuse[0] }}; + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_jac_reuse", &tmp_bool); + {%- else %} + bool* sim_method_jac_reuse = malloc(N*sizeof(bool)); + {%- for j in range(end=dims.N) %} + sim_method_jac_reuse[{{ j }}] = (bool){{ solver_options.sim_method_jac_reuse[j] }}; + {%- endfor %} + + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_jac_reuse", &sim_method_jac_reuse[i]); + free(sim_method_jac_reuse); + {%- endif %} + +{%- endif %} + + double nlp_solver_step_length = {{ solver_options.nlp_solver_step_length }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "step_length", &nlp_solver_step_length); + + {%- if solver_options.nlp_solver_warm_start_first_qp %} + int nlp_solver_warm_start_first_qp = {{ solver_options.nlp_solver_warm_start_first_qp }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "warm_start_first_qp", &nlp_solver_warm_start_first_qp); + {%- endif %} + + double levenberg_marquardt = {{ solver_options.levenberg_marquardt }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "levenberg_marquardt", &levenberg_marquardt); + + /* options QP solver */ +{%- if solver_options.qp_solver is starting_with("PARTIAL_CONDENSING") %} + int qp_solver_cond_N; + + {% if solver_options.qp_solver_cond_N -%} + const int qp_solver_cond_N_ori = {{ solver_options.qp_solver_cond_N }}; + qp_solver_cond_N = N < qp_solver_cond_N_ori ? N : qp_solver_cond_N_ori; // use the minimum value here + {%- else %} + // NOTE: there is no condensing happening here! + qp_solver_cond_N = N; + {%- endif %} + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_cond_N", &qp_solver_cond_N); +{%- endif %} + + int nlp_solver_ext_qp_res = {{ solver_options.nlp_solver_ext_qp_res }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "ext_qp_res", &nlp_solver_ext_qp_res); + +{%- if solver_options.qp_solver is containing("HPIPM") %} + // set HPIPM mode: should be done before setting other QP solver options + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_hpipm_mode", "{{ solver_options.hpipm_mode }}"); +{%- endif %} + +{% if solver_options.nlp_solver_type == "SQP" %} + // set SQP specific options + double nlp_solver_tol_stat = {{ solver_options.nlp_solver_tol_stat }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "tol_stat", &nlp_solver_tol_stat); + + double nlp_solver_tol_eq = {{ solver_options.nlp_solver_tol_eq }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "tol_eq", &nlp_solver_tol_eq); + + double nlp_solver_tol_ineq = {{ solver_options.nlp_solver_tol_ineq }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "tol_ineq", &nlp_solver_tol_ineq); + + double nlp_solver_tol_comp = {{ solver_options.nlp_solver_tol_comp }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "tol_comp", &nlp_solver_tol_comp); + + int nlp_solver_max_iter = {{ solver_options.nlp_solver_max_iter }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "max_iter", &nlp_solver_max_iter); + + int initialize_t_slacks = {{ solver_options.initialize_t_slacks }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "initialize_t_slacks", &initialize_t_slacks); +{%- endif %} + + int qp_solver_iter_max = {{ solver_options.qp_solver_iter_max }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_iter_max", &qp_solver_iter_max); + +{# NOTE: qp_solver tolerances must be set after NLP ones, since the setter for NLP tolerances sets the QP tolerances to the sam values. #} + {%- if solver_options.qp_solver_tol_stat %} + double qp_solver_tol_stat = {{ solver_options.qp_solver_tol_stat }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_tol_stat", &qp_solver_tol_stat); + {%- endif -%} + + {%- if solver_options.qp_solver_tol_eq %} + double qp_solver_tol_eq = {{ solver_options.qp_solver_tol_eq }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_tol_eq", &qp_solver_tol_eq); + {%- endif -%} + + {%- if solver_options.qp_solver_tol_ineq %} + double qp_solver_tol_ineq = {{ solver_options.qp_solver_tol_ineq }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_tol_ineq", &qp_solver_tol_ineq); + {%- endif -%} + + {%- if solver_options.qp_solver_tol_comp %} + double qp_solver_tol_comp = {{ solver_options.qp_solver_tol_comp }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_tol_comp", &qp_solver_tol_comp); + {%- endif -%} + + {%- if solver_options.qp_solver_warm_start %} + int qp_solver_warm_start = {{ solver_options.qp_solver_warm_start }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_warm_start", &qp_solver_warm_start); + {%- endif -%} + + int print_level = {{ solver_options.print_level }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "print_level", &print_level); + +{%- if solver_options.qp_solver is containing('PARTIAL_CONDENSING') %} + int qp_solver_cond_ric_alg = {{ solver_options.qp_solver_cond_ric_alg }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_cond_ric_alg", &qp_solver_cond_ric_alg); +{% endif %} + +{%- if solver_options.qp_solver == 'PARTIAL_CONDENSING_HPIPM' %} + int qp_solver_ric_alg = {{ solver_options.qp_solver_ric_alg }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_ric_alg", &qp_solver_ric_alg); +{% endif %} + + int ext_cost_num_hess = {{ solver_options.ext_cost_num_hess }}; +{%- if cost.cost_type == "EXTERNAL" %} + for (int i = 0; i < N; i++) + { + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "cost_numerical_hessian", &ext_cost_num_hess); + } +{%- endif %} +{%- if cost.cost_type_e == "EXTERNAL" %} + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, N, "cost_numerical_hessian", &ext_cost_num_hess); +{%- endif %} +} + + +/** + * Internal function for {{ model.name }}_acados_create: step 7 + */ +void {{ model.name }}_acados_create_7_set_nlp_out({{ model.name }}_solver_capsule* capsule) +{ + const int N = capsule->nlp_solver_plan->N; + ocp_nlp_config* nlp_config = capsule->nlp_config; + ocp_nlp_dims* nlp_dims = capsule->nlp_dims; + ocp_nlp_out* nlp_out = capsule->nlp_out; + + // initialize primal solution + double* xu0 = calloc(NX+NU, sizeof(double)); + double* x0 = xu0; +{% if dims.nbx_0 == dims.nx %} + // initialize with x0 + {% for item in constraints.lbx_0 %} + {%- if item != 0 %} + x0[{{ loop.index0 }}] = {{ item }}; + {%- endif %} + {%- endfor %} +{% else %} + // initialize with zeros +{%- endif %} + + double* u0 = xu0 + NX; + + for (int i = 0; i < N; i++) + { + // x0 + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x0); + // u0 + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0); + } + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, N, "x", x0); + free(xu0); +} + + +/** + * Internal function for {{ model.name }}_acados_create: step 8 + */ +//void {{ model.name }}_acados_create_8_create_solver({{ model.name }}_solver_capsule* capsule) +//{ +// capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts); +//} + +/** + * Internal function for {{ model.name }}_acados_create: step 9 + */ +int {{ model.name }}_acados_create_9_precompute({{ model.name }}_solver_capsule* capsule) { + int status = ocp_nlp_precompute(capsule->nlp_solver, capsule->nlp_in, capsule->nlp_out); + + if (status != ACADOS_SUCCESS) { + printf("\nocp_nlp_precompute failed!\n\n"); + exit(1); + } + + return status; +} + + +int {{ model.name }}_acados_create_with_discretization({{ model.name }}_solver_capsule* capsule, int N, double* new_time_steps) +{ + // If N does not match the number of shooting intervals used for code generation, new_time_steps must be given. + if (N != {{ model.name | upper }}_N && !new_time_steps) { + fprintf(stderr, "{{ model.name }}_acados_create_with_discretization: new_time_steps is NULL " \ + "but the number of shooting intervals (= %d) differs from the number of " \ + "shooting intervals (= %d) during code generation! Please provide a new vector of time_stamps!\n", \ + N, {{ model.name | upper }}_N); + return 1; + } + + // number of expected runtime parameters + capsule->nlp_np = NP; + + // 1) create and set nlp_solver_plan; create nlp_config + capsule->nlp_solver_plan = ocp_nlp_plan_create(N); + {{ model.name }}_acados_create_1_set_plan(capsule->nlp_solver_plan, N); + capsule->nlp_config = ocp_nlp_config_create(*capsule->nlp_solver_plan); + + // 3) create and set dimensions + capsule->nlp_dims = {{ model.name }}_acados_create_2_create_and_set_dimensions(capsule); + {{ model.name }}_acados_create_3_create_and_set_functions(capsule); + + // 4) set default parameters in functions + {{ model.name }}_acados_create_4_set_default_parameters(capsule); + + // 5) create and set nlp_in + capsule->nlp_in = ocp_nlp_in_create(capsule->nlp_config, capsule->nlp_dims); + {{ model.name }}_acados_create_5_set_nlp_in(capsule, N, new_time_steps); + + // 6) create and set nlp_opts + capsule->nlp_opts = ocp_nlp_solver_opts_create(capsule->nlp_config, capsule->nlp_dims); + {{ model.name }}_acados_create_6_set_opts(capsule); + + // 7) create and set nlp_out + // 7.1) nlp_out + capsule->nlp_out = ocp_nlp_out_create(capsule->nlp_config, capsule->nlp_dims); + // 7.2) sens_out + capsule->sens_out = ocp_nlp_out_create(capsule->nlp_config, capsule->nlp_dims); + {{ model.name }}_acados_create_7_set_nlp_out(capsule); + + // 8) create solver + capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts); + //{{ model.name }}_acados_create_8_create_solver(capsule); + + // 9) do precomputations + int status = {{ model.name }}_acados_create_9_precompute(capsule); + + {%- if custom_update_filename != "" %} + // Initialize custom update function + custom_update_init_function(capsule); + {%- endif %} + + return status; +} + +/** + * This function is for updating an already initialized solver with a different number of qp_cond_N. It is useful for code reuse after code export. + */ +int {{ model.name }}_acados_update_qp_solver_cond_N({{ model.name }}_solver_capsule* capsule, int qp_solver_cond_N) +{ +{%- if solver_options.qp_solver is starting_with("PARTIAL_CONDENSING") %} + // 1) destroy solver + ocp_nlp_solver_destroy(capsule->nlp_solver); + + // 2) set new value for "qp_cond_N" + const int N = capsule->nlp_solver_plan->N; + if(qp_solver_cond_N > N) + printf("Warning: qp_solver_cond_N = %d > N = %d\n", qp_solver_cond_N, N); + ocp_nlp_solver_opts_set(capsule->nlp_config, capsule->nlp_opts, "qp_cond_N", &qp_solver_cond_N); + + // 3) continue with the remaining steps from {{ model.name }}_acados_create_with_discretization(...): + // -> 8) create solver + capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts); + + // -> 9) do precomputations + int status = {{ model.name }}_acados_create_9_precompute(capsule); + return status; +{%- else %} + printf("\nacados_update_qp_solver_cond_N() failed, since no partial condensing solver is used!\n\n"); + // Todo: what is an adequate behavior here? + exit(1); + return -1; +{%- endif %} +} + + +int {{ model.name }}_acados_reset({{ model.name }}_solver_capsule* capsule, int reset_qp_solver_mem) +{ + + // set initialization to all zeros +{# TODO: use guess values / initial state value from json instead?! #} + const int N = capsule->nlp_solver_plan->N; + ocp_nlp_config* nlp_config = capsule->nlp_config; + ocp_nlp_dims* nlp_dims = capsule->nlp_dims; + ocp_nlp_out* nlp_out = capsule->nlp_out; + ocp_nlp_in* nlp_in = capsule->nlp_in; + ocp_nlp_solver* nlp_solver = capsule->nlp_solver; + + double* buffer = calloc(NX+NU+NZ+2*NS+2*NSN+NBX+NBU+NG+NH+NPHI+NBX0+NBXN+NHN+NPHIN+NGN, sizeof(double)); + + for(int i=0; i reset memory + int qp_status; + ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "qp_status", &qp_status); + if (reset_qp_solver_mem || (qp_status == 3)) + { + // printf("\nin reset qp_status %d -> resetting QP memory\n", qp_status); + ocp_nlp_solver_reset_qp_memory(nlp_solver, nlp_in, nlp_out); + } +{%- endif %} + + free(buffer); + return 0; +} + + + + +int {{ model.name }}_acados_update_params({{ model.name }}_solver_capsule* capsule, int stage, double *p, int np) +{ + int solver_status = 0; + + int casadi_np = {{ dims.np }}; + if (casadi_np != np) { + printf("acados_update_params: trying to set %i parameters for external functions." + " External function has %i parameters. Exiting.\n", np, casadi_np); + exit(1); + } + + const int N = capsule->nlp_solver_plan->N; + if (stage < N && stage >= 0) + { + {%- if solver_options.integrator_type == "IRK" %} + capsule->impl_dae_fun[stage].set_param(capsule->impl_dae_fun+stage, p); + capsule->impl_dae_fun_jac_x_xdot_z[stage].set_param(capsule->impl_dae_fun_jac_x_xdot_z+stage, p); + capsule->impl_dae_jac_x_xdot_u_z[stage].set_param(capsule->impl_dae_jac_x_xdot_u_z+stage, p); + + {%- if solver_options.hessian_approx == "EXACT" %} + capsule->impl_dae_hess[stage].set_param(capsule->impl_dae_hess+stage, p); + {%- endif %} + {% elif solver_options.integrator_type == "LIFTED_IRK" %} + capsule->impl_dae_fun[stage].set_param(capsule->impl_dae_fun+stage, p); + capsule->impl_dae_fun_jac_x_xdot_u[stage].set_param(capsule->impl_dae_fun_jac_x_xdot_u+stage, p); + {% elif solver_options.integrator_type == "ERK" %} + capsule->forw_vde_casadi[stage].set_param(capsule->forw_vde_casadi+stage, p); + capsule->expl_ode_fun[stage].set_param(capsule->expl_ode_fun+stage, p); + + {%- if solver_options.hessian_approx == "EXACT" %} + capsule->hess_vde_casadi[stage].set_param(capsule->hess_vde_casadi+stage, p); + {%- endif %} + {% elif solver_options.integrator_type == "GNSF" %} + {% if model.gnsf.purely_linear != 1 %} + capsule->gnsf_phi_fun[stage].set_param(capsule->gnsf_phi_fun+stage, p); + capsule->gnsf_phi_fun_jac_y[stage].set_param(capsule->gnsf_phi_fun_jac_y+stage, p); + capsule->gnsf_phi_jac_y_uhat[stage].set_param(capsule->gnsf_phi_jac_y_uhat+stage, p); + {% if model.gnsf.nontrivial_f_LO == 1 %} + capsule->gnsf_f_lo_jac_x1_x1dot_u_z[stage].set_param(capsule->gnsf_f_lo_jac_x1_x1dot_u_z+stage, p); + {%- endif %} + {%- endif %} + {% elif solver_options.integrator_type == "DISCRETE" %} + capsule->discr_dyn_phi_fun[stage].set_param(capsule->discr_dyn_phi_fun+stage, p); + capsule->discr_dyn_phi_fun_jac_ut_xt[stage].set_param(capsule->discr_dyn_phi_fun_jac_ut_xt+stage, p); + {%- if solver_options.hessian_approx == "EXACT" %} + capsule->discr_dyn_phi_fun_jac_ut_xt_hess[stage].set_param(capsule->discr_dyn_phi_fun_jac_ut_xt_hess+stage, p); + {% endif %} + {%- endif %}{# integrator_type #} + + // constraints + {% if constraints.constr_type == "BGP" %} + capsule->phi_constraint[stage].set_param(capsule->phi_constraint+stage, p); + {% elif constraints.constr_type == "BGH" and dims.nh > 0 %} + capsule->nl_constr_h_fun_jac[stage].set_param(capsule->nl_constr_h_fun_jac+stage, p); + capsule->nl_constr_h_fun[stage].set_param(capsule->nl_constr_h_fun+stage, p); + {%- if solver_options.hessian_approx == "EXACT" %} + capsule->nl_constr_h_fun_jac_hess[stage].set_param(capsule->nl_constr_h_fun_jac_hess+stage, p); + {%- endif %} + {%- endif %} + + // cost + if (stage == 0) + { + {%- if cost.cost_type_0 == "NONLINEAR_LS" %} + capsule->cost_y_0_fun.set_param(&capsule->cost_y_0_fun, p); + capsule->cost_y_0_fun_jac_ut_xt.set_param(&capsule->cost_y_0_fun_jac_ut_xt, p); + capsule->cost_y_0_hess.set_param(&capsule->cost_y_0_hess, p); + {%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %} + capsule->conl_cost_0_fun.set_param(&capsule->conl_cost_0_fun, p); + capsule->conl_cost_0_fun_jac_hess.set_param(&capsule->conl_cost_0_fun_jac_hess, p); + {%- elif cost.cost_type_0 == "EXTERNAL" %} + capsule->ext_cost_0_fun.set_param(&capsule->ext_cost_0_fun, p); + capsule->ext_cost_0_fun_jac.set_param(&capsule->ext_cost_0_fun_jac, p); + capsule->ext_cost_0_fun_jac_hess.set_param(&capsule->ext_cost_0_fun_jac_hess, p); + {% endif %} + } + else // 0 < stage < N + { + {%- if cost.cost_type == "NONLINEAR_LS" %} + capsule->cost_y_fun[stage-1].set_param(capsule->cost_y_fun+stage-1, p); + capsule->cost_y_fun_jac_ut_xt[stage-1].set_param(capsule->cost_y_fun_jac_ut_xt+stage-1, p); + capsule->cost_y_hess[stage-1].set_param(capsule->cost_y_hess+stage-1, p); + {%- elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %} + capsule->conl_cost_fun[stage-1].set_param(capsule->conl_cost_fun+stage-1, p); + capsule->conl_cost_fun_jac_hess[stage-1].set_param(capsule->conl_cost_fun_jac_hess+stage-1, p); + {%- elif cost.cost_type == "EXTERNAL" %} + capsule->ext_cost_fun[stage-1].set_param(capsule->ext_cost_fun+stage-1, p); + capsule->ext_cost_fun_jac[stage-1].set_param(capsule->ext_cost_fun_jac+stage-1, p); + capsule->ext_cost_fun_jac_hess[stage-1].set_param(capsule->ext_cost_fun_jac_hess+stage-1, p); + {%- endif %} + } + } + + else // stage == N + { + // terminal shooting node has no dynamics + // cost + {%- if cost.cost_type_e == "NONLINEAR_LS" %} + capsule->cost_y_e_fun.set_param(&capsule->cost_y_e_fun, p); + capsule->cost_y_e_fun_jac_ut_xt.set_param(&capsule->cost_y_e_fun_jac_ut_xt, p); + capsule->cost_y_e_hess.set_param(&capsule->cost_y_e_hess, p); + {%- elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %} + capsule->conl_cost_e_fun.set_param(&capsule->conl_cost_e_fun, p); + capsule->conl_cost_e_fun_jac_hess.set_param(&capsule->conl_cost_e_fun_jac_hess, p); + {%- elif cost.cost_type_e == "EXTERNAL" %} + capsule->ext_cost_e_fun.set_param(&capsule->ext_cost_e_fun, p); + capsule->ext_cost_e_fun_jac.set_param(&capsule->ext_cost_e_fun_jac, p); + capsule->ext_cost_e_fun_jac_hess.set_param(&capsule->ext_cost_e_fun_jac_hess, p); + {% endif %} + // constraints + {% if constraints.constr_type_e == "BGP" %} + capsule->phi_e_constraint.set_param(&capsule->phi_e_constraint, p); + {% elif constraints.constr_type_e == "BGH" and dims.nh_e > 0 %} + capsule->nl_constr_h_e_fun_jac.set_param(&capsule->nl_constr_h_e_fun_jac, p); + capsule->nl_constr_h_e_fun.set_param(&capsule->nl_constr_h_e_fun, p); + {%- if solver_options.hessian_approx == "EXACT" %} + capsule->nl_constr_h_e_fun_jac_hess.set_param(&capsule->nl_constr_h_e_fun_jac_hess, p); + {%- endif %} + {% endif %} + } + + return solver_status; +} + + +int {{ model.name }}_acados_update_params_sparse({{ model.name }}_solver_capsule * capsule, int stage, int *idx, double *p, int n_update) +{ + int solver_status = 0; + + int casadi_np = {{ dims.np }}; + if (casadi_np < n_update) { + printf("{{ model.name }}_acados_update_params_sparse: trying to set %d parameters for external functions." + " External function has %d parameters. Exiting.\n", n_update, casadi_np); + exit(1); + } + // for (int i = 0; i < n_update; i++) + // { + // if (idx[i] > casadi_np) { + // printf("{{ model.name }}_acados_update_params_sparse: attempt to set parameters with index %d, while" + // " external functions only has %d parameters. Exiting.\n", idx[i], casadi_np); + // exit(1); + // } + // printf("param %d value %e\n", idx[i], p[i]); + // } + +{%- if dims.np > 0 %} + const int N = capsule->nlp_solver_plan->N; + if (stage < N && stage >= 0) + { + {%- if solver_options.integrator_type == "IRK" %} + capsule->impl_dae_fun[stage].set_param_sparse(capsule->impl_dae_fun+stage, n_update, idx, p); + capsule->impl_dae_fun_jac_x_xdot_z[stage].set_param_sparse(capsule->impl_dae_fun_jac_x_xdot_z+stage, n_update, idx, p); + capsule->impl_dae_jac_x_xdot_u_z[stage].set_param_sparse(capsule->impl_dae_jac_x_xdot_u_z+stage, n_update, idx, p); + + {%- if solver_options.hessian_approx == "EXACT" %} + capsule->impl_dae_hess[stage].set_param_sparse(capsule->impl_dae_hess+stage, n_update, idx, p); + {%- endif %} + {% elif solver_options.integrator_type == "LIFTED_IRK" %} + capsule->impl_dae_fun[stage].set_param_sparse(capsule->impl_dae_fun+stage, n_update, idx, p); + capsule->impl_dae_fun_jac_x_xdot_u[stage].set_param_sparse(capsule->impl_dae_fun_jac_x_xdot_u+stage, n_update, idx, p); + {% elif solver_options.integrator_type == "ERK" %} + capsule->forw_vde_casadi[stage].set_param_sparse(capsule->forw_vde_casadi+stage, n_update, idx, p); + capsule->expl_ode_fun[stage].set_param_sparse(capsule->expl_ode_fun+stage, n_update, idx, p); + + {%- if solver_options.hessian_approx == "EXACT" %} + capsule->hess_vde_casadi[stage].set_param_sparse(capsule->hess_vde_casadi+stage, n_update, idx, p); + {%- endif %} + {% elif solver_options.integrator_type == "GNSF" %} + {% if model.gnsf.purely_linear != 1 %} + capsule->gnsf_phi_fun[stage].set_param_sparse(capsule->gnsf_phi_fun+stage, n_update, idx, p); + capsule->gnsf_phi_fun_jac_y[stage].set_param_sparse(capsule->gnsf_phi_fun_jac_y+stage, n_update, idx, p); + capsule->gnsf_phi_jac_y_uhat[stage].set_param_sparse(capsule->gnsf_phi_jac_y_uhat+stage, n_update, idx, p); + {% if model.gnsf.nontrivial_f_LO == 1 %} + capsule->gnsf_f_lo_jac_x1_x1dot_u_z[stage].set_param_sparse(capsule->gnsf_f_lo_jac_x1_x1dot_u_z+stage, n_update, idx, p); + {%- endif %} + {%- endif %} + {% elif solver_options.integrator_type == "DISCRETE" %} + capsule->discr_dyn_phi_fun[stage].set_param_sparse(capsule->discr_dyn_phi_fun+stage, n_update, idx, p); + capsule->discr_dyn_phi_fun_jac_ut_xt[stage].set_param_sparse(capsule->discr_dyn_phi_fun_jac_ut_xt+stage, n_update, idx, p); + {%- if solver_options.hessian_approx == "EXACT" %} + capsule->discr_dyn_phi_fun_jac_ut_xt_hess[stage].set_param_sparse(capsule->discr_dyn_phi_fun_jac_ut_xt_hess+stage, n_update, idx, p); + {% endif %} + {%- endif %}{# integrator_type #} + + // constraints + {% if constraints.constr_type == "BGP" %} + capsule->phi_constraint[stage].set_param_sparse(capsule->phi_constraint+stage, n_update, idx, p); + {% elif constraints.constr_type == "BGH" and dims.nh > 0 %} + capsule->nl_constr_h_fun_jac[stage].set_param_sparse(capsule->nl_constr_h_fun_jac+stage, n_update, idx, p); + capsule->nl_constr_h_fun[stage].set_param_sparse(capsule->nl_constr_h_fun+stage, n_update, idx, p); + {%- if solver_options.hessian_approx == "EXACT" %} + capsule->nl_constr_h_fun_jac_hess[stage].set_param_sparse(capsule->nl_constr_h_fun_jac_hess+stage, n_update, idx, p); + {%- endif %} + {%- endif %} + + // cost + if (stage == 0) + { + {%- if cost.cost_type_0 == "NONLINEAR_LS" %} + capsule->cost_y_0_fun.set_param_sparse(&capsule->cost_y_0_fun, n_update, idx, p); + capsule->cost_y_0_fun_jac_ut_xt.set_param_sparse(&capsule->cost_y_0_fun_jac_ut_xt, n_update, idx, p); + capsule->cost_y_0_hess.set_param_sparse(&capsule->cost_y_0_hess, n_update, idx, p); + {%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %} + capsule->conl_cost_0_fun.set_param_sparse(&capsule->conl_cost_0_fun, n_update, idx, p); + capsule->conl_cost_0_fun_jac_hess.set_param_sparse(&capsule->conl_cost_0_fun_jac_hess, n_update, idx, p); + {%- elif cost.cost_type_0 == "EXTERNAL" %} + capsule->ext_cost_0_fun.set_param_sparse(&capsule->ext_cost_0_fun, n_update, idx, p); + capsule->ext_cost_0_fun_jac.set_param_sparse(&capsule->ext_cost_0_fun_jac, n_update, idx, p); + capsule->ext_cost_0_fun_jac_hess.set_param_sparse(&capsule->ext_cost_0_fun_jac_hess, n_update, idx, p); + {% endif %} + } + else // 0 < stage < N + { + {%- if cost.cost_type == "NONLINEAR_LS" %} + capsule->cost_y_fun[stage-1].set_param_sparse(capsule->cost_y_fun+stage-1, n_update, idx, p); + capsule->cost_y_fun_jac_ut_xt[stage-1].set_param_sparse(capsule->cost_y_fun_jac_ut_xt+stage-1, n_update, idx, p); + capsule->cost_y_hess[stage-1].set_param_sparse(capsule->cost_y_hess+stage-1, n_update, idx, p); + {%- elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %} + capsule->conl_cost_fun[stage-1].set_param_sparse(capsule->conl_cost_fun+stage-1, n_update, idx, p); + capsule->conl_cost_fun_jac_hess[stage-1].set_param_sparse(capsule->conl_cost_fun_jac_hess+stage-1, n_update, idx, p); + {%- elif cost.cost_type == "EXTERNAL" %} + capsule->ext_cost_fun[stage-1].set_param_sparse(capsule->ext_cost_fun+stage-1, n_update, idx, p); + capsule->ext_cost_fun_jac[stage-1].set_param_sparse(capsule->ext_cost_fun_jac+stage-1, n_update, idx, p); + capsule->ext_cost_fun_jac_hess[stage-1].set_param_sparse(capsule->ext_cost_fun_jac_hess+stage-1, n_update, idx, p); + {%- endif %} + } + } + + else // stage == N + { + // terminal shooting node has no dynamics + // cost + {%- if cost.cost_type_e == "NONLINEAR_LS" %} + capsule->cost_y_e_fun.set_param_sparse(&capsule->cost_y_e_fun, n_update, idx, p); + capsule->cost_y_e_fun_jac_ut_xt.set_param_sparse(&capsule->cost_y_e_fun_jac_ut_xt, n_update, idx, p); + capsule->cost_y_e_hess.set_param_sparse(&capsule->cost_y_e_hess, n_update, idx, p); + {%- elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %} + capsule->conl_cost_e_fun.set_param_sparse(&capsule->conl_cost_e_fun, n_update, idx, p); + capsule->conl_cost_e_fun_jac_hess.set_param_sparse(&capsule->conl_cost_e_fun_jac_hess, n_update, idx, p); + {%- elif cost.cost_type_e == "EXTERNAL" %} + capsule->ext_cost_e_fun.set_param_sparse(&capsule->ext_cost_e_fun, n_update, idx, p); + capsule->ext_cost_e_fun_jac.set_param_sparse(&capsule->ext_cost_e_fun_jac, n_update, idx, p); + capsule->ext_cost_e_fun_jac_hess.set_param_sparse(&capsule->ext_cost_e_fun_jac_hess, n_update, idx, p); + {% endif %} + // constraints + {% if constraints.constr_type_e == "BGP" %} + capsule->phi_e_constraint.set_param_sparse(&capsule->phi_e_constraint, n_update, idx, p); + {% elif constraints.constr_type_e == "BGH" and dims.nh_e > 0 %} + capsule->nl_constr_h_e_fun_jac.set_param_sparse(&capsule->nl_constr_h_e_fun_jac, n_update, idx, p); + capsule->nl_constr_h_e_fun.set_param_sparse(&capsule->nl_constr_h_e_fun, n_update, idx, p); + {%- if solver_options.hessian_approx == "EXACT" %} + capsule->nl_constr_h_e_fun_jac_hess.set_param_sparse(&capsule->nl_constr_h_e_fun_jac_hess, n_update, idx, p); + {%- endif %} + {% endif %} + } +{% endif %}{# if dims.np #} + + return solver_status; +} + +int {{ model.name }}_acados_solve({{ model.name }}_solver_capsule* capsule) +{ + // solve NLP + int solver_status = ocp_nlp_solve(capsule->nlp_solver, capsule->nlp_in, capsule->nlp_out); + + return solver_status; +} + + +int {{ model.name }}_acados_free({{ model.name }}_solver_capsule* capsule) +{ + // before destroying, keep some info + const int N = capsule->nlp_solver_plan->N; + {%- if custom_update_filename != "" %} + custom_update_terminate_function(capsule); + {%- endif %} + // free memory + ocp_nlp_solver_opts_destroy(capsule->nlp_opts); + ocp_nlp_in_destroy(capsule->nlp_in); + ocp_nlp_out_destroy(capsule->nlp_out); + ocp_nlp_out_destroy(capsule->sens_out); + ocp_nlp_solver_destroy(capsule->nlp_solver); + ocp_nlp_dims_destroy(capsule->nlp_dims); + ocp_nlp_config_destroy(capsule->nlp_config); + ocp_nlp_plan_destroy(capsule->nlp_solver_plan); + + /* free external function */ + // dynamics +{%- if solver_options.integrator_type == "IRK" %} + for (int i = 0; i < N; i++) + { + external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_fun[i]); + external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_fun_jac_x_xdot_z[i]); + external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_jac_x_xdot_u_z[i]); + {%- if solver_options.hessian_approx == "EXACT" %} + external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_hess[i]); + {%- endif %} + } + free(capsule->impl_dae_fun); + free(capsule->impl_dae_fun_jac_x_xdot_z); + free(capsule->impl_dae_jac_x_xdot_u_z); + {%- if solver_options.hessian_approx == "EXACT" %} + free(capsule->impl_dae_hess); + {%- endif %} + +{%- elif solver_options.integrator_type == "LIFTED_IRK" %} + for (int i = 0; i < N; i++) + { + external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_fun[i]); + external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_fun_jac_x_xdot_u[i]); + } + free(capsule->impl_dae_fun); + free(capsule->impl_dae_fun_jac_x_xdot_u); + +{%- elif solver_options.integrator_type == "ERK" %} + for (int i = 0; i < N; i++) + { + external_function_param_casadi_free(&capsule->forw_vde_casadi[i]); + external_function_param_casadi_free(&capsule->expl_ode_fun[i]); + {%- if solver_options.hessian_approx == "EXACT" %} + external_function_param_casadi_free(&capsule->hess_vde_casadi[i]); + {%- endif %} + } + free(capsule->forw_vde_casadi); + free(capsule->expl_ode_fun); + {%- if solver_options.hessian_approx == "EXACT" %} + free(capsule->hess_vde_casadi); + {%- endif %} + +{%- elif solver_options.integrator_type == "GNSF" %} + for (int i = 0; i < N; i++) + { + {% if model.gnsf.purely_linear != 1 %} + external_function_param_casadi_free(&capsule->gnsf_phi_fun[i]); + external_function_param_casadi_free(&capsule->gnsf_phi_fun_jac_y[i]); + external_function_param_casadi_free(&capsule->gnsf_phi_jac_y_uhat[i]); + {% if model.gnsf.nontrivial_f_LO == 1 %} + external_function_param_casadi_free(&capsule->gnsf_f_lo_jac_x1_x1dot_u_z[i]); + {%- endif %} + {%- endif %} + external_function_param_casadi_free(&capsule->gnsf_get_matrices_fun[i]); + } + {% if model.gnsf.purely_linear != 1 %} + free(capsule->gnsf_phi_fun); + free(capsule->gnsf_phi_fun_jac_y); + free(capsule->gnsf_phi_jac_y_uhat); + {% if model.gnsf.nontrivial_f_LO == 1 %} + free(capsule->gnsf_f_lo_jac_x1_x1dot_u_z); + {%- endif %} + {%- endif %} + free(capsule->gnsf_get_matrices_fun); +{%- elif solver_options.integrator_type == "DISCRETE" %} + for (int i = 0; i < N; i++) + { + external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->discr_dyn_phi_fun[i]); + external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->discr_dyn_phi_fun_jac_ut_xt[i]); + {%- if solver_options.hessian_approx == "EXACT" %} + external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->discr_dyn_phi_fun_jac_ut_xt_hess[i]); + {%- endif %} + } + free(capsule->discr_dyn_phi_fun); + free(capsule->discr_dyn_phi_fun_jac_ut_xt); + {%- if solver_options.hessian_approx == "EXACT" %} + free(capsule->discr_dyn_phi_fun_jac_ut_xt_hess); + {%- endif %} + +{%- endif %} + + // cost +{%- if cost.cost_type_0 == "NONLINEAR_LS" %} + external_function_param_casadi_free(&capsule->cost_y_0_fun); + external_function_param_casadi_free(&capsule->cost_y_0_fun_jac_ut_xt); + external_function_param_casadi_free(&capsule->cost_y_0_hess); +{%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %} + external_function_param_casadi_free(&capsule->conl_cost_0_fun); + external_function_param_casadi_free(&capsule->conl_cost_0_fun_jac_hess); +{%- elif cost.cost_type_0 == "EXTERNAL" %} + external_function_param_{{ cost.cost_ext_fun_type_0 }}_free(&capsule->ext_cost_0_fun); + external_function_param_{{ cost.cost_ext_fun_type_0 }}_free(&capsule->ext_cost_0_fun_jac); + external_function_param_{{ cost.cost_ext_fun_type_0 }}_free(&capsule->ext_cost_0_fun_jac_hess); +{%- endif %} +{%- if cost.cost_type == "NONLINEAR_LS" %} + for (int i = 0; i < N - 1; i++) + { + external_function_param_casadi_free(&capsule->cost_y_fun[i]); + external_function_param_casadi_free(&capsule->cost_y_fun_jac_ut_xt[i]); + external_function_param_casadi_free(&capsule->cost_y_hess[i]); + } + free(capsule->cost_y_fun); + free(capsule->cost_y_fun_jac_ut_xt); + free(capsule->cost_y_hess); +{%- elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %} + for (int i = 0; i < N - 1; i++) + { + external_function_param_casadi_free(&capsule->conl_cost_fun[i]); + external_function_param_casadi_free(&capsule->conl_cost_fun_jac_hess[i]); + } + free(capsule->conl_cost_fun); + free(capsule->conl_cost_fun_jac_hess); +{%- elif cost.cost_type == "EXTERNAL" %} + for (int i = 0; i < N - 1; i++) + { + external_function_param_{{ cost.cost_ext_fun_type }}_free(&capsule->ext_cost_fun[i]); + external_function_param_{{ cost.cost_ext_fun_type }}_free(&capsule->ext_cost_fun_jac[i]); + external_function_param_{{ cost.cost_ext_fun_type }}_free(&capsule->ext_cost_fun_jac_hess[i]); + } + free(capsule->ext_cost_fun); + free(capsule->ext_cost_fun_jac); + free(capsule->ext_cost_fun_jac_hess); +{%- endif %} +{%- if cost.cost_type_e == "NONLINEAR_LS" %} + external_function_param_casadi_free(&capsule->cost_y_e_fun); + external_function_param_casadi_free(&capsule->cost_y_e_fun_jac_ut_xt); + external_function_param_casadi_free(&capsule->cost_y_e_hess); +{%- elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %} + external_function_param_casadi_free(&capsule->conl_cost_e_fun); + external_function_param_casadi_free(&capsule->conl_cost_e_fun_jac_hess); +{%- elif cost.cost_type_e == "EXTERNAL" %} + external_function_param_{{ cost.cost_ext_fun_type_e }}_free(&capsule->ext_cost_e_fun); + external_function_param_{{ cost.cost_ext_fun_type_e }}_free(&capsule->ext_cost_e_fun_jac); + external_function_param_{{ cost.cost_ext_fun_type_e }}_free(&capsule->ext_cost_e_fun_jac_hess); +{%- endif %} + + // constraints +{%- if constraints.constr_type == "BGH" and dims.nh > 0 %} + for (int i = 0; i < N; i++) + { + external_function_param_casadi_free(&capsule->nl_constr_h_fun_jac[i]); + external_function_param_casadi_free(&capsule->nl_constr_h_fun[i]); + } + {%- if solver_options.hessian_approx == "EXACT" %} + for (int i = 0; i < N; i++) + { + external_function_param_casadi_free(&capsule->nl_constr_h_fun_jac_hess[i]); + } + {%- endif %} + free(capsule->nl_constr_h_fun_jac); + free(capsule->nl_constr_h_fun); + {%- if solver_options.hessian_approx == "EXACT" %} + free(capsule->nl_constr_h_fun_jac_hess); + {%- endif %} + +{%- elif constraints.constr_type == "BGP" and dims.nphi > 0 %} + for (int i = 0; i < N; i++) + { + external_function_param_casadi_free(&capsule->phi_constraint[i]); + } + free(capsule->phi_constraint); +{%- endif %} + +{%- if constraints.constr_type_e == "BGH" and dims.nh_e > 0 %} + external_function_param_casadi_free(&capsule->nl_constr_h_e_fun_jac); + external_function_param_casadi_free(&capsule->nl_constr_h_e_fun); +{%- if solver_options.hessian_approx == "EXACT" %} + external_function_param_casadi_free(&capsule->nl_constr_h_e_fun_jac_hess); +{%- endif %} +{%- elif constraints.constr_type_e == "BGP" and dims.nphi_e > 0 %} + external_function_param_casadi_free(&capsule->phi_e_constraint); +{%- endif %} + + return 0; +} + + +void {{ model.name }}_acados_print_stats({{ model.name }}_solver_capsule* capsule) +{ + int sqp_iter, stat_m, stat_n, tmp_int; + ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "sqp_iter", &sqp_iter); + ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "stat_n", &stat_n); + ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "stat_m", &stat_m); + + {% set stat_n_max = 12 %} + double stat[{{ solver_options.nlp_solver_max_iter * stat_n_max }}]; + ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "statistics", stat); + + int nrow = sqp_iter+1 < stat_m ? sqp_iter+1 : stat_m; + + printf("iter\tres_stat\tres_eq\t\tres_ineq\tres_comp\tqp_stat\tqp_iter\talpha"); + if (stat_n > 8) + printf("\t\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp"); + printf("\n"); + +{%- if solver_options.nlp_solver_type == "SQP" %} + + for (int i = 0; i < nrow; i++) + { + for (int j = 0; j < stat_n + 1; j++) + { + if (j == 0 || j == 5 || j == 6) + { + tmp_int = (int) stat[i + j * nrow]; + printf("%d\t", tmp_int); + } + else + { + printf("%e\t", stat[i + j * nrow]); + } + } + printf("\n"); + } +{% else %} + printf("iter\tqp_stat\tqp_iter\n"); + for (int i = 0; i < nrow; i++) + { + for (int j = 0; j < stat_n + 1; j++) + { + tmp_int = (int) stat[i + j * nrow]; + printf("%d\t", tmp_int); + } + printf("\n"); + } +{%- endif %} +} + +int {{ model.name }}_acados_custom_update({{ model.name }}_solver_capsule* capsule, double* data, int data_len) +{ +{%- if custom_update_filename == "" %} + (void)capsule; + (void)data; + (void)data_len; + printf("\ndummy function that can be called in between solver calls to update parameters or numerical data efficiently in C.\n"); + printf("nothing set yet..\n"); + return 1; +{% else %} + custom_update_function(capsule, data, data_len); +{%- endif %} +} + + + +ocp_nlp_in *{{ model.name }}_acados_get_nlp_in({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_in; } +ocp_nlp_out *{{ model.name }}_acados_get_nlp_out({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_out; } +ocp_nlp_out *{{ model.name }}_acados_get_sens_out({{ model.name }}_solver_capsule* capsule) { return capsule->sens_out; } +ocp_nlp_solver *{{ model.name }}_acados_get_nlp_solver({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_solver; } +ocp_nlp_config *{{ model.name }}_acados_get_nlp_config({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_config; } +void *{{ model.name }}_acados_get_nlp_opts({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_opts; } +ocp_nlp_dims *{{ model.name }}_acados_get_nlp_dims({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_dims; } +ocp_nlp_plan_t *{{ model.name }}_acados_get_nlp_plan({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_solver_plan; } diff --git a/third_party/acados/acados_template/c_templates_tera/acados_solver.in.h b/third_party/acados/acados_template/c_templates_tera/acados_solver.in.h new file mode 100644 index 0000000000..5cf38aa8c8 --- /dev/null +++ b/third_party/acados/acados_template/c_templates_tera/acados_solver.in.h @@ -0,0 +1,241 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +#ifndef ACADOS_SOLVER_{{ model.name }}_H_ +#define ACADOS_SOLVER_{{ model.name }}_H_ + +#include "acados/utils/types.h" + +#include "acados_c/ocp_nlp_interface.h" +#include "acados_c/external_function_interface.h" + +#define {{ model.name | upper }}_NX {{ dims.nx }} +#define {{ model.name | upper }}_NZ {{ dims.nz }} +#define {{ model.name | upper }}_NU {{ dims.nu }} +#define {{ model.name | upper }}_NP {{ dims.np }} +#define {{ model.name | upper }}_NBX {{ dims.nbx }} +#define {{ model.name | upper }}_NBX0 {{ dims.nbx_0 }} +#define {{ model.name | upper }}_NBU {{ dims.nbu }} +#define {{ model.name | upper }}_NSBX {{ dims.nsbx }} +#define {{ model.name | upper }}_NSBU {{ dims.nsbu }} +#define {{ model.name | upper }}_NSH {{ dims.nsh }} +#define {{ model.name | upper }}_NSG {{ dims.nsg }} +#define {{ model.name | upper }}_NSPHI {{ dims.nsphi }} +#define {{ model.name | upper }}_NSHN {{ dims.nsh_e }} +#define {{ model.name | upper }}_NSGN {{ dims.nsg_e }} +#define {{ model.name | upper }}_NSPHIN {{ dims.nsphi_e }} +#define {{ model.name | upper }}_NSBXN {{ dims.nsbx_e }} +#define {{ model.name | upper }}_NS {{ dims.ns }} +#define {{ model.name | upper }}_NSN {{ dims.ns_e }} +#define {{ model.name | upper }}_NG {{ dims.ng }} +#define {{ model.name | upper }}_NBXN {{ dims.nbx_e }} +#define {{ model.name | upper }}_NGN {{ dims.ng_e }} +#define {{ model.name | upper }}_NY0 {{ dims.ny_0 }} +#define {{ model.name | upper }}_NY {{ dims.ny }} +#define {{ model.name | upper }}_NYN {{ dims.ny_e }} +#define {{ model.name | upper }}_N {{ dims.N }} +#define {{ model.name | upper }}_NH {{ dims.nh }} +#define {{ model.name | upper }}_NPHI {{ dims.nphi }} +#define {{ model.name | upper }}_NHN {{ dims.nh_e }} +#define {{ model.name | upper }}_NPHIN {{ dims.nphi_e }} +#define {{ model.name | upper }}_NR {{ dims.nr }} + +#ifdef __cplusplus +extern "C" { +#endif + +{%- if not solver_options.custom_update_filename %} + {%- set custom_update_filename = "" %} +{% else %} + {%- set custom_update_filename = solver_options.custom_update_filename %} +{%- endif %} + +// ** capsule for solver data ** +typedef struct {{ model.name }}_solver_capsule +{ + // acados objects + ocp_nlp_in *nlp_in; + ocp_nlp_out *nlp_out; + ocp_nlp_out *sens_out; + ocp_nlp_solver *nlp_solver; + void *nlp_opts; + ocp_nlp_plan_t *nlp_solver_plan; + ocp_nlp_config *nlp_config; + ocp_nlp_dims *nlp_dims; + + // number of expected runtime parameters + unsigned int nlp_np; + + /* external functions */ + // dynamics +{% if solver_options.integrator_type == "ERK" %} + external_function_param_casadi *forw_vde_casadi; + external_function_param_casadi *expl_ode_fun; +{% if solver_options.hessian_approx == "EXACT" %} + external_function_param_casadi *hess_vde_casadi; +{%- endif %} +{% elif solver_options.integrator_type == "IRK" %} + external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_fun; + external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_fun_jac_x_xdot_z; + external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_jac_x_xdot_u_z; +{% if solver_options.hessian_approx == "EXACT" %} + external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_hess; +{%- endif %} +{% elif solver_options.integrator_type == "LIFTED_IRK" %} + external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_fun; + external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_fun_jac_x_xdot_u; +{% elif solver_options.integrator_type == "GNSF" %} + external_function_param_casadi *gnsf_phi_fun; + external_function_param_casadi *gnsf_phi_fun_jac_y; + external_function_param_casadi *gnsf_phi_jac_y_uhat; + external_function_param_casadi *gnsf_f_lo_jac_x1_x1dot_u_z; + external_function_param_casadi *gnsf_get_matrices_fun; +{% elif solver_options.integrator_type == "DISCRETE" %} + external_function_param_{{ model.dyn_ext_fun_type }} *discr_dyn_phi_fun; + external_function_param_{{ model.dyn_ext_fun_type }} *discr_dyn_phi_fun_jac_ut_xt; +{%- if solver_options.hessian_approx == "EXACT" %} + external_function_param_{{ model.dyn_ext_fun_type }} *discr_dyn_phi_fun_jac_ut_xt_hess; +{%- endif %} +{%- endif %} + + + // cost +{% if cost.cost_type == "NONLINEAR_LS" %} + external_function_param_casadi *cost_y_fun; + external_function_param_casadi *cost_y_fun_jac_ut_xt; + external_function_param_casadi *cost_y_hess; +{% elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %} + external_function_param_casadi *conl_cost_fun; + external_function_param_casadi *conl_cost_fun_jac_hess; +{%- elif cost.cost_type == "EXTERNAL" %} + external_function_param_{{ cost.cost_ext_fun_type }} *ext_cost_fun; + external_function_param_{{ cost.cost_ext_fun_type }} *ext_cost_fun_jac; + external_function_param_{{ cost.cost_ext_fun_type }} *ext_cost_fun_jac_hess; +{% endif %} + +{% if cost.cost_type_0 == "NONLINEAR_LS" %} + external_function_param_casadi cost_y_0_fun; + external_function_param_casadi cost_y_0_fun_jac_ut_xt; + external_function_param_casadi cost_y_0_hess; +{% elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %} + external_function_param_casadi conl_cost_0_fun; + external_function_param_casadi conl_cost_0_fun_jac_hess; +{% elif cost.cost_type_0 == "EXTERNAL" %} + external_function_param_{{ cost.cost_ext_fun_type_0 }} ext_cost_0_fun; + external_function_param_{{ cost.cost_ext_fun_type_0 }} ext_cost_0_fun_jac; + external_function_param_{{ cost.cost_ext_fun_type_0 }} ext_cost_0_fun_jac_hess; +{%- endif %} + +{% if cost.cost_type_e == "NONLINEAR_LS" %} + external_function_param_casadi cost_y_e_fun; + external_function_param_casadi cost_y_e_fun_jac_ut_xt; + external_function_param_casadi cost_y_e_hess; +{% elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %} + external_function_param_casadi conl_cost_e_fun; + external_function_param_casadi conl_cost_e_fun_jac_hess; +{% elif cost.cost_type_e == "EXTERNAL" %} + external_function_param_{{ cost.cost_ext_fun_type_e }} ext_cost_e_fun; + external_function_param_{{ cost.cost_ext_fun_type_e }} ext_cost_e_fun_jac; + external_function_param_{{ cost.cost_ext_fun_type_e }} ext_cost_e_fun_jac_hess; +{%- endif %} + + // constraints +{%- if constraints.constr_type == "BGP" %} + external_function_param_casadi *phi_constraint; +{% elif constraints.constr_type == "BGH" and dims.nh > 0 %} + external_function_param_casadi *nl_constr_h_fun_jac; + external_function_param_casadi *nl_constr_h_fun; +{%- if solver_options.hessian_approx == "EXACT" %} + external_function_param_casadi *nl_constr_h_fun_jac_hess; +{%- endif %} +{%- endif %} + + +{% if constraints.constr_type_e == "BGP" %} + external_function_param_casadi phi_e_constraint; +{% elif constraints.constr_type_e == "BGH" and dims.nh_e > 0 %} + external_function_param_casadi nl_constr_h_e_fun_jac; + external_function_param_casadi nl_constr_h_e_fun; +{%- if solver_options.hessian_approx == "EXACT" %} + external_function_param_casadi nl_constr_h_e_fun_jac_hess; +{%- endif %} +{%- endif %} + +{%- if custom_update_filename != "" %} + void * custom_update_memory; +{%- endif %} + +} {{ model.name }}_solver_capsule; + +ACADOS_SYMBOL_EXPORT {{ model.name }}_solver_capsule * {{ model.name }}_acados_create_capsule(void); +ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_free_capsule({{ model.name }}_solver_capsule *capsule); + +ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_create({{ model.name }}_solver_capsule * capsule); + +ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_reset({{ model.name }}_solver_capsule* capsule, int reset_qp_solver_mem); + +/** + * Generic version of {{ model.name }}_acados_create which allows to use a different number of shooting intervals than + * the number used for code generation. If new_time_steps=NULL and n_time_steps matches the number used for code + * generation, the time-steps from code generation is used. + */ +ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_create_with_discretization({{ model.name }}_solver_capsule * capsule, int n_time_steps, double* new_time_steps); +/** + * Update the time step vector. Number N must be identical to the currently set number of shooting nodes in the + * nlp_solver_plan. Returns 0 if no error occurred and a otherwise a value other than 0. + */ +ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_update_time_steps({{ model.name }}_solver_capsule * capsule, int N, double* new_time_steps); +/** + * This function is used for updating an already initialized solver with a different number of qp_cond_N. + */ +ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_update_qp_solver_cond_N({{ model.name }}_solver_capsule * capsule, int qp_solver_cond_N); +ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_update_params({{ model.name }}_solver_capsule * capsule, int stage, double *value, int np); +ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_update_params_sparse({{ model.name }}_solver_capsule * capsule, int stage, int *idx, double *p, int n_update); + +ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_solve({{ model.name }}_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_free({{ model.name }}_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT void {{ model.name }}_acados_print_stats({{ model.name }}_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_custom_update({{ model.name }}_solver_capsule* capsule, double* data, int data_len); + + +ACADOS_SYMBOL_EXPORT ocp_nlp_in *{{ model.name }}_acados_get_nlp_in({{ model.name }}_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT ocp_nlp_out *{{ model.name }}_acados_get_nlp_out({{ model.name }}_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT ocp_nlp_out *{{ model.name }}_acados_get_sens_out({{ model.name }}_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT ocp_nlp_solver *{{ model.name }}_acados_get_nlp_solver({{ model.name }}_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT ocp_nlp_config *{{ model.name }}_acados_get_nlp_config({{ model.name }}_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT void *{{ model.name }}_acados_get_nlp_opts({{ model.name }}_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT ocp_nlp_dims *{{ model.name }}_acados_get_nlp_dims({{ model.name }}_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT ocp_nlp_plan_t *{{ model.name }}_acados_get_nlp_plan({{ model.name }}_solver_capsule * capsule); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_SOLVER_{{ model.name }}_H_ diff --git a/third_party/acados/acados_template/c_templates_tera/acados_solver.in.pxd b/third_party/acados/acados_template/c_templates_tera/acados_solver.in.pxd new file mode 100644 index 0000000000..233e3f79da --- /dev/null +++ b/third_party/acados/acados_template/c_templates_tera/acados_solver.in.pxd @@ -0,0 +1,62 @@ +# +# Copyright (c) The acados authors. +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + +cimport acados_solver_common + +cdef extern from "acados_solver_{{ model.name }}.h": + ctypedef struct nlp_solver_capsule "{{ model.name }}_solver_capsule": + pass + + nlp_solver_capsule * acados_create_capsule "{{ model.name }}_acados_create_capsule"() + int acados_free_capsule "{{ model.name }}_acados_free_capsule"(nlp_solver_capsule *capsule) + + int acados_create "{{ model.name }}_acados_create"(nlp_solver_capsule * capsule) + + int acados_create_with_discretization "{{ model.name }}_acados_create_with_discretization"(nlp_solver_capsule * capsule, int n_time_steps, double* new_time_steps) + int acados_update_time_steps "{{ model.name }}_acados_update_time_steps"(nlp_solver_capsule * capsule, int N, double* new_time_steps) + int acados_update_qp_solver_cond_N "{{ model.name }}_acados_update_qp_solver_cond_N"(nlp_solver_capsule * capsule, int qp_solver_cond_N) + + int acados_update_params "{{ model.name }}_acados_update_params"(nlp_solver_capsule * capsule, int stage, double *value, int np_) + int acados_update_params_sparse "{{ model.name }}_acados_update_params_sparse"(nlp_solver_capsule * capsule, int stage, int *idx, double *p, int n_update) + int acados_solve "{{ model.name }}_acados_solve"(nlp_solver_capsule * capsule) + int acados_reset "{{ model.name }}_acados_reset"(nlp_solver_capsule * capsule, int reset_qp_solver_mem) + int acados_free "{{ model.name }}_acados_free"(nlp_solver_capsule * capsule) + void acados_print_stats "{{ model.name }}_acados_print_stats"(nlp_solver_capsule * capsule) + + int acados_custom_update "{{ model.name }}_acados_custom_update"(nlp_solver_capsule* capsule, double * data, int data_len) + + acados_solver_common.ocp_nlp_in *acados_get_nlp_in "{{ model.name }}_acados_get_nlp_in"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_out *acados_get_nlp_out "{{ model.name }}_acados_get_nlp_out"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_out *acados_get_sens_out "{{ model.name }}_acados_get_sens_out"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_solver *acados_get_nlp_solver "{{ model.name }}_acados_get_nlp_solver"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_config *acados_get_nlp_config "{{ model.name }}_acados_get_nlp_config"(nlp_solver_capsule * capsule) + void *acados_get_nlp_opts "{{ model.name }}_acados_get_nlp_opts"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_dims *acados_get_nlp_dims "{{ model.name }}_acados_get_nlp_dims"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_plan *acados_get_nlp_plan "{{ model.name }}_acados_get_nlp_plan"(nlp_solver_capsule * capsule) diff --git a/third_party/acados/acados_template/c_templates_tera/constraints.in.h b/third_party/acados/acados_template/c_templates_tera/constraints.in.h new file mode 100644 index 0000000000..d71ce5cc22 --- /dev/null +++ b/third_party/acados/acados_template/c_templates_tera/constraints.in.h @@ -0,0 +1,110 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +#ifndef {{ model.name }}_CONSTRAINTS +#define {{ model.name }}_CONSTRAINTS + +#ifdef __cplusplus +extern "C" { +#endif + +{% if dims.nphi > 0 %} +int {{ model.name }}_phi_constraint(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_phi_constraint_work(int *, int *, int *, int *); +const int *{{ model.name }}_phi_constraint_sparsity_in(int); +const int *{{ model.name }}_phi_constraint_sparsity_out(int); +int {{ model.name }}_phi_constraint_n_in(void); +int {{ model.name }}_phi_constraint_n_out(void); +{% endif %} + +{% if dims.nphi_e > 0 %} +int {{ model.name }}_phi_e_constraint(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_phi_e_constraint_work(int *, int *, int *, int *); +const int *{{ model.name }}_phi_e_constraint_sparsity_in(int); +const int *{{ model.name }}_phi_e_constraint_sparsity_out(int); +int {{ model.name }}_phi_e_constraint_n_in(void); +int {{ model.name }}_phi_e_constraint_n_out(void); +{% endif %} + +{% if dims.nh > 0 %} +int {{ model.name }}_constr_h_fun_jac_uxt_zt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_constr_h_fun_jac_uxt_zt_work(int *, int *, int *, int *); +const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_sparsity_in(int); +const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_sparsity_out(int); +int {{ model.name }}_constr_h_fun_jac_uxt_zt_n_in(void); +int {{ model.name }}_constr_h_fun_jac_uxt_zt_n_out(void); + +int {{ model.name }}_constr_h_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_constr_h_fun_work(int *, int *, int *, int *); +const int *{{ model.name }}_constr_h_fun_sparsity_in(int); +const int *{{ model.name }}_constr_h_fun_sparsity_out(int); +int {{ model.name }}_constr_h_fun_n_in(void); +int {{ model.name }}_constr_h_fun_n_out(void); + +{% if solver_options.hessian_approx == "EXACT" -%} +int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_work(int *, int *, int *, int *); +const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_hess_sparsity_in(int); +const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_hess_sparsity_out(int); +int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_n_in(void); +int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_n_out(void); +{% endif %} +{% endif %} + +{% if dims.nh_e > 0 %} +int {{ model.name }}_constr_h_e_fun_jac_uxt_zt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_work(int *, int *, int *, int *); +const int *{{ model.name }}_constr_h_e_fun_jac_uxt_zt_sparsity_in(int); +const int *{{ model.name }}_constr_h_e_fun_jac_uxt_zt_sparsity_out(int); +int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_n_in(void); +int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_n_out(void); + +int {{ model.name }}_constr_h_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_constr_h_e_fun_work(int *, int *, int *, int *); +const int *{{ model.name }}_constr_h_e_fun_sparsity_in(int); +const int *{{ model.name }}_constr_h_e_fun_sparsity_out(int); +int {{ model.name }}_constr_h_e_fun_n_in(void); +int {{ model.name }}_constr_h_e_fun_n_out(void); + +{% if solver_options.hessian_approx == "EXACT" -%} +int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_work(int *, int *, int *, int *); +const int *{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_sparsity_in(int); +const int *{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_sparsity_out(int); +int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_n_in(void); +int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_n_out(void); +{% endif %} +{% endif %} + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // {{ model.name }}_CONSTRAINTS diff --git a/third_party/acados/acados_template/c_templates_tera/cost.in.h b/third_party/acados/acados_template/c_templates_tera/cost.in.h new file mode 100644 index 0000000000..45eb09c12e --- /dev/null +++ b/third_party/acados/acados_template/c_templates_tera/cost.in.h @@ -0,0 +1,238 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef {{ model.name }}_COST +#define {{ model.name }}_COST + +#ifdef __cplusplus +extern "C" { +#endif + + +// Cost at initial shooting node +{% if cost.cost_type_0 == "NONLINEAR_LS" %} +int {{ model.name }}_cost_y_0_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_y_0_fun_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_y_0_fun_sparsity_in(int); +const int *{{ model.name }}_cost_y_0_fun_sparsity_out(int); +int {{ model.name }}_cost_y_0_fun_n_in(void); +int {{ model.name }}_cost_y_0_fun_n_out(void); + +int {{ model.name }}_cost_y_0_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_y_0_fun_jac_ut_xt_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_y_0_fun_jac_ut_xt_sparsity_in(int); +const int *{{ model.name }}_cost_y_0_fun_jac_ut_xt_sparsity_out(int); +int {{ model.name }}_cost_y_0_fun_jac_ut_xt_n_in(void); +int {{ model.name }}_cost_y_0_fun_jac_ut_xt_n_out(void); + +int {{ model.name }}_cost_y_0_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_y_0_hess_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_y_0_hess_sparsity_in(int); +const int *{{ model.name }}_cost_y_0_hess_sparsity_out(int); +int {{ model.name }}_cost_y_0_hess_n_in(void); +int {{ model.name }}_cost_y_0_hess_n_out(void); +{% elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %} + +int {{ model.name }}_conl_cost_0_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_conl_cost_0_fun_work(int *, int *, int *, int *); +const int *{{ model.name }}_conl_cost_0_fun_sparsity_in(int); +const int *{{ model.name }}_conl_cost_0_fun_sparsity_out(int); +int {{ model.name }}_conl_cost_0_fun_n_in(void); +int {{ model.name }}_conl_cost_0_fun_n_out(void); + +int {{ model.name }}_conl_cost_0_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_conl_cost_0_fun_jac_hess_work(int *, int *, int *, int *); +const int *{{ model.name }}_conl_cost_0_fun_jac_hess_sparsity_in(int); +const int *{{ model.name }}_conl_cost_0_fun_jac_hess_sparsity_out(int); +int {{ model.name }}_conl_cost_0_fun_jac_hess_n_in(void); +int {{ model.name }}_conl_cost_0_fun_jac_hess_n_out(void); + +{% elif cost.cost_type_0 == "EXTERNAL" %} + {%- if cost.cost_ext_fun_type_0 == "casadi" %} +int {{ model.name }}_cost_ext_cost_0_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_ext_cost_0_fun_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_ext_cost_0_fun_sparsity_in(int); +const int *{{ model.name }}_cost_ext_cost_0_fun_sparsity_out(int); +int {{ model.name }}_cost_ext_cost_0_fun_n_in(void); +int {{ model.name }}_cost_ext_cost_0_fun_n_out(void); + +int {{ model.name }}_cost_ext_cost_0_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_ext_cost_0_fun_jac_hess_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_ext_cost_0_fun_jac_hess_sparsity_in(int); +const int *{{ model.name }}_cost_ext_cost_0_fun_jac_hess_sparsity_out(int); +int {{ model.name }}_cost_ext_cost_0_fun_jac_hess_n_in(void); +int {{ model.name }}_cost_ext_cost_0_fun_jac_hess_n_out(void); + +int {{ model.name }}_cost_ext_cost_0_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_ext_cost_0_fun_jac_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_ext_cost_0_fun_jac_sparsity_in(int); +const int *{{ model.name }}_cost_ext_cost_0_fun_jac_sparsity_out(int); +int {{ model.name }}_cost_ext_cost_0_fun_jac_n_in(void); +int {{ model.name }}_cost_ext_cost_0_fun_jac_n_out(void); + {%- else %} +int {{ cost.cost_function_ext_cost_0 }}(void **, void **, void *); + {%- endif %} +{% endif %} + + +// Cost at path shooting node +{% if cost.cost_type == "NONLINEAR_LS" %} +int {{ model.name }}_cost_y_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_y_fun_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_y_fun_sparsity_in(int); +const int *{{ model.name }}_cost_y_fun_sparsity_out(int); +int {{ model.name }}_cost_y_fun_n_in(void); +int {{ model.name }}_cost_y_fun_n_out(void); + +int {{ model.name }}_cost_y_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_y_fun_jac_ut_xt_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_y_fun_jac_ut_xt_sparsity_in(int); +const int *{{ model.name }}_cost_y_fun_jac_ut_xt_sparsity_out(int); +int {{ model.name }}_cost_y_fun_jac_ut_xt_n_in(void); +int {{ model.name }}_cost_y_fun_jac_ut_xt_n_out(void); + +int {{ model.name }}_cost_y_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_y_hess_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_y_hess_sparsity_in(int); +const int *{{ model.name }}_cost_y_hess_sparsity_out(int); +int {{ model.name }}_cost_y_hess_n_in(void); +int {{ model.name }}_cost_y_hess_n_out(void); + +{% elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %} +int {{ model.name }}_conl_cost_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_conl_cost_fun_work(int *, int *, int *, int *); +const int *{{ model.name }}_conl_cost_fun_sparsity_in(int); +const int *{{ model.name }}_conl_cost_fun_sparsity_out(int); +int {{ model.name }}_conl_cost_fun_n_in(void); +int {{ model.name }}_conl_cost_fun_n_out(void); + +int {{ model.name }}_conl_cost_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_conl_cost_fun_jac_hess_work(int *, int *, int *, int *); +const int *{{ model.name }}_conl_cost_fun_jac_hess_sparsity_in(int); +const int *{{ model.name }}_conl_cost_fun_jac_hess_sparsity_out(int); +int {{ model.name }}_conl_cost_fun_jac_hess_n_in(void); +int {{ model.name }}_conl_cost_fun_jac_hess_n_out(void); +{% elif cost.cost_type == "EXTERNAL" %} + {%- if cost.cost_ext_fun_type == "casadi" %} +int {{ model.name }}_cost_ext_cost_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_ext_cost_fun_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_ext_cost_fun_sparsity_in(int); +const int *{{ model.name }}_cost_ext_cost_fun_sparsity_out(int); +int {{ model.name }}_cost_ext_cost_fun_n_in(void); +int {{ model.name }}_cost_ext_cost_fun_n_out(void); + +int {{ model.name }}_cost_ext_cost_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_ext_cost_fun_jac_hess_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_ext_cost_fun_jac_hess_sparsity_in(int); +const int *{{ model.name }}_cost_ext_cost_fun_jac_hess_sparsity_out(int); +int {{ model.name }}_cost_ext_cost_fun_jac_hess_n_in(void); +int {{ model.name }}_cost_ext_cost_fun_jac_hess_n_out(void); + +int {{ model.name }}_cost_ext_cost_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_ext_cost_fun_jac_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_ext_cost_fun_jac_sparsity_in(int); +const int *{{ model.name }}_cost_ext_cost_fun_jac_sparsity_out(int); +int {{ model.name }}_cost_ext_cost_fun_jac_n_in(void); +int {{ model.name }}_cost_ext_cost_fun_jac_n_out(void); + {%- else %} +int {{ cost.cost_function_ext_cost }}(void **, void **, void *); + {%- endif %} +{% endif %} + +// Cost at terminal shooting node +{% if cost.cost_type_e == "NONLINEAR_LS" %} +int {{ model.name }}_cost_y_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_y_e_fun_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_y_e_fun_sparsity_in(int); +const int *{{ model.name }}_cost_y_e_fun_sparsity_out(int); +int {{ model.name }}_cost_y_e_fun_n_in(void); +int {{ model.name }}_cost_y_e_fun_n_out(void); + +int {{ model.name }}_cost_y_e_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_y_e_fun_jac_ut_xt_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_y_e_fun_jac_ut_xt_sparsity_in(int); +const int *{{ model.name }}_cost_y_e_fun_jac_ut_xt_sparsity_out(int); +int {{ model.name }}_cost_y_e_fun_jac_ut_xt_n_in(void); +int {{ model.name }}_cost_y_e_fun_jac_ut_xt_n_out(void); + +int {{ model.name }}_cost_y_e_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_y_e_hess_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_y_e_hess_sparsity_in(int); +const int *{{ model.name }}_cost_y_e_hess_sparsity_out(int); +int {{ model.name }}_cost_y_e_hess_n_in(void); +int {{ model.name }}_cost_y_e_hess_n_out(void); +{% elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %} +int {{ model.name }}_conl_cost_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_conl_cost_e_fun_work(int *, int *, int *, int *); +const int *{{ model.name }}_conl_cost_e_fun_sparsity_in(int); +const int *{{ model.name }}_conl_cost_e_fun_sparsity_out(int); +int {{ model.name }}_conl_cost_e_fun_n_in(void); +int {{ model.name }}_conl_cost_e_fun_n_out(void); + +int {{ model.name }}_conl_cost_e_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_conl_cost_e_fun_jac_hess_work(int *, int *, int *, int *); +const int *{{ model.name }}_conl_cost_e_fun_jac_hess_sparsity_in(int); +const int *{{ model.name }}_conl_cost_e_fun_jac_hess_sparsity_out(int); +int {{ model.name }}_conl_cost_e_fun_jac_hess_n_in(void); +int {{ model.name }}_conl_cost_e_fun_jac_hess_n_out(void); +{% elif cost.cost_type_e == "EXTERNAL" %} + {%- if cost.cost_ext_fun_type_e == "casadi" %} +int {{ model.name }}_cost_ext_cost_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_ext_cost_e_fun_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_ext_cost_e_fun_sparsity_in(int); +const int *{{ model.name }}_cost_ext_cost_e_fun_sparsity_out(int); +int {{ model.name }}_cost_ext_cost_e_fun_n_in(void); +int {{ model.name }}_cost_ext_cost_e_fun_n_out(void); + +int {{ model.name }}_cost_ext_cost_e_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_ext_cost_e_fun_jac_hess_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_ext_cost_e_fun_jac_hess_sparsity_in(int); +const int *{{ model.name }}_cost_ext_cost_e_fun_jac_hess_sparsity_out(int); +int {{ model.name }}_cost_ext_cost_e_fun_jac_hess_n_in(void); +int {{ model.name }}_cost_ext_cost_e_fun_jac_hess_n_out(void); + +int {{ model.name }}_cost_ext_cost_e_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_ext_cost_e_fun_jac_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_ext_cost_e_fun_jac_sparsity_in(int); +const int *{{ model.name }}_cost_ext_cost_e_fun_jac_sparsity_out(int); +int {{ model.name }}_cost_ext_cost_e_fun_jac_n_in(void); +int {{ model.name }}_cost_ext_cost_e_fun_jac_n_out(void); + {%- else %} +int {{ cost.cost_function_ext_cost_e }}(void **, void **, void *); + {%- endif %} +{% endif %} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // {{ model.name }}_COST diff --git a/third_party/acados/acados_template/c_templates_tera/main.in.c b/third_party/acados/acados_template/c_templates_tera/main.in.c new file mode 100644 index 0000000000..92a8b33eac --- /dev/null +++ b/third_party/acados/acados_template/c_templates_tera/main.in.c @@ -0,0 +1,226 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +{%- if not solver_options.custom_update_filename %} + {%- set custom_update_filename = "" %} +{% else %} + {%- set custom_update_filename = solver_options.custom_update_filename %} +{%- endif %} + +// standard +#include +#include +// acados +#include "acados/utils/print.h" +#include "acados/utils/math.h" +#include "acados_c/ocp_nlp_interface.h" +#include "acados_c/external_function_interface.h" +#include "acados_solver_{{ model.name }}.h" + +// blasfeo +#include "blasfeo/include/blasfeo_d_aux_ext_dep.h" + +#define NX {{ model.name | upper }}_NX +#define NZ {{ model.name | upper }}_NZ +#define NU {{ model.name | upper }}_NU +#define NP {{ model.name | upper }}_NP +#define NBX {{ model.name | upper }}_NBX +#define NBX0 {{ model.name | upper }}_NBX0 +#define NBU {{ model.name | upper }}_NBU +#define NSBX {{ model.name | upper }}_NSBX +#define NSBU {{ model.name | upper }}_NSBU +#define NSH {{ model.name | upper }}_NSH +#define NSG {{ model.name | upper }}_NSG +#define NSPHI {{ model.name | upper }}_NSPHI +#define NSHN {{ model.name | upper }}_NSHN +#define NSGN {{ model.name | upper }}_NSGN +#define NSPHIN {{ model.name | upper }}_NSPHIN +#define NSBXN {{ model.name | upper }}_NSBXN +#define NS {{ model.name | upper }}_NS +#define NSN {{ model.name | upper }}_NSN +#define NG {{ model.name | upper }}_NG +#define NBXN {{ model.name | upper }}_NBXN +#define NGN {{ model.name | upper }}_NGN +#define NY0 {{ model.name | upper }}_NY0 +#define NY {{ model.name | upper }}_NY +#define NYN {{ model.name | upper }}_NYN +#define NH {{ model.name | upper }}_NH +#define NPHI {{ model.name | upper }}_NPHI +#define NHN {{ model.name | upper }}_NHN +#define NPHIN {{ model.name | upper }}_NPHIN +#define NR {{ model.name | upper }}_NR + + +int main() +{ + + {{ model.name }}_solver_capsule *acados_ocp_capsule = {{ model.name }}_acados_create_capsule(); + // there is an opportunity to change the number of shooting intervals in C without new code generation + int N = {{ model.name | upper }}_N; + // allocate the array and fill it accordingly + double* new_time_steps = NULL; + int status = {{ model.name }}_acados_create_with_discretization(acados_ocp_capsule, N, new_time_steps); + + if (status) + { + printf("{{ model.name }}_acados_create() returned status %d. Exiting.\n", status); + exit(1); + } + + ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config(acados_ocp_capsule); + ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(acados_ocp_capsule); + ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in(acados_ocp_capsule); + ocp_nlp_out *nlp_out = {{ model.name }}_acados_get_nlp_out(acados_ocp_capsule); + ocp_nlp_solver *nlp_solver = {{ model.name }}_acados_get_nlp_solver(acados_ocp_capsule); + void *nlp_opts = {{ model.name }}_acados_get_nlp_opts(acados_ocp_capsule); + + // initial condition + int idxbx0[NBX0]; + {%- for i in range(end=dims.nbx_0) %} + idxbx0[{{ i }}] = {{ constraints.idxbx_0[i] }}; + {%- endfor %} + + double lbx0[NBX0]; + double ubx0[NBX0]; + {%- for i in range(end=dims.nbx_0) %} + lbx0[{{ i }}] = {{ constraints.lbx_0[i] }}; + ubx0[{{ i }}] = {{ constraints.ubx_0[i] }}; + {%- endfor %} + + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbx", idxbx0); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", lbx0); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", ubx0); + + // initialization for state values + double x_init[NX]; + {%- for i in range(end=dims.nx) %} + x_init[{{ i }}] = 0.0; + {%- endfor %} + + // initial value for control input + double u0[NU]; + {%- for i in range(end=dims.nu) %} + u0[{{ i }}] = 0.0; + {%- endfor %} + + + {%- if dims.np > 0 %} + // set parameters + double p[NP]; + {%- for item in parameter_values %} + p[{{ loop.index0 }}] = {{ item }}; + {%- endfor %} + + for (int ii = 0; ii <= N; ii++) + { + {{ model.name }}_acados_update_params(acados_ocp_capsule, ii, p, NP); + } + {% endif %}{# if np > 0 #} + + // prepare evaluation + int NTIMINGS = 1; + double min_time = 1e12; + double kkt_norm_inf; + double elapsed_time; + int sqp_iter; + + double xtraj[NX * (N+1)]; + double utraj[NU * N]; + + + // solve ocp in loop + int rti_phase = 0; + + for (int ii = 0; ii < NTIMINGS; ii++) + { + // initialize solution + for (int i = 0; i < N; i++) + { + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x_init); + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0); + } + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, N, "x", x_init); + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "rti_phase", &rti_phase); + status = {{ model.name }}_acados_solve(acados_ocp_capsule); + ocp_nlp_get(nlp_config, nlp_solver, "time_tot", &elapsed_time); + min_time = MIN(elapsed_time, min_time); + } + + /* print solution and statistics */ + for (int ii = 0; ii <= nlp_dims->N; ii++) + ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "x", &xtraj[ii*NX]); + for (int ii = 0; ii < nlp_dims->N; ii++) + ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "u", &utraj[ii*NU]); + + printf("\n--- xtraj ---\n"); + d_print_exp_tran_mat( NX, N+1, xtraj, NX); + printf("\n--- utraj ---\n"); + d_print_exp_tran_mat( NU, N, utraj, NU ); + // ocp_nlp_out_print(nlp_solver->dims, nlp_out); + + printf("\nsolved ocp %d times, solution printed above\n\n", NTIMINGS); + + if (status == ACADOS_SUCCESS) + { + printf("{{ model.name }}_acados_solve(): SUCCESS!\n"); + } + else + { + printf("{{ model.name }}_acados_solve() failed with status %d.\n", status); + } + + +{%- if custom_update_filename != "" %} + {{ model.name }}_acados_custom_update(acados_ocp_capsule, xtraj, NX*(N+1)); +{%- endif %} + + // get solution + ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 0, "kkt_norm_inf", &kkt_norm_inf); + ocp_nlp_get(nlp_config, nlp_solver, "sqp_iter", &sqp_iter); + + {{ model.name }}_acados_print_stats(acados_ocp_capsule); + + printf("\nSolver info:\n"); + printf(" SQP iterations %2d\n minimum time for %d solve %f [ms]\n KKT %e\n", + sqp_iter, NTIMINGS, min_time*1000, kkt_norm_inf); + + // free solver + status = {{ model.name }}_acados_free(acados_ocp_capsule); + if (status) { + printf("{{ model.name }}_acados_free() returned status %d. \n", status); + } + // free solver capsule + status = {{ model.name }}_acados_free_capsule(acados_ocp_capsule); + if (status) { + printf("{{ model.name }}_acados_free_capsule() returned status %d. \n", status); + } + + return status; +} diff --git a/third_party/acados/acados_template/c_templates_tera/main_sim.in.c b/third_party/acados/acados_template/c_templates_tera/main_sim.in.c new file mode 100644 index 0000000000..8960aa0035 --- /dev/null +++ b/third_party/acados/acados_template/c_templates_tera/main_sim.in.c @@ -0,0 +1,132 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +// standard +#include +#include +// acados +#include "acados/utils/print.h" +#include "acados/utils/math.h" +#include "acados_c/sim_interface.h" +#include "acados_sim_solver_{{ model.name }}.h" + +#define NX {{ model.name | upper }}_NX +#define NZ {{ model.name | upper }}_NZ +#define NU {{ model.name | upper }}_NU +#define NP {{ model.name | upper }}_NP + + +int main() +{ + int status = 0; + sim_solver_capsule *capsule = {{ model.name }}_acados_sim_solver_create_capsule(); + status = {{ model.name }}_acados_sim_create(capsule); + + if (status) + { + printf("acados_create() returned status %d. Exiting.\n", status); + exit(1); + } + + sim_config *acados_sim_config = {{ model.name }}_acados_get_sim_config(capsule); + sim_in *acados_sim_in = {{ model.name }}_acados_get_sim_in(capsule); + sim_out *acados_sim_out = {{ model.name }}_acados_get_sim_out(capsule); + void *acados_sim_dims = {{ model.name }}_acados_get_sim_dims(capsule); + + // initial condition + double x_current[NX]; + {%- for i in range(end=dims.nx) %} + x_current[{{ i }}] = 0.0; + {%- endfor %} + + {% if constraints.lbx_0 %} + {%- for i in range(end=dims.nbx_0) %} + x_current[{{ constraints.idxbx_0[i] }}] = {{ constraints.lbx_0[i] }}; + {%- endfor %} + {% if dims.nbx_0 != dims.nx %} + printf("main_sim: NOTE: initial state not fully defined via lbx_0, using 0.0 for indices that are not in idxbx_0."); + {%- endif %} + {% else %} + printf("main_sim: initial state not defined, should be in lbx_0, using zero vector."); + {%- endif %} + + + // initial value for control input + double u0[NU]; + {%- for i in range(end=dims.nu) %} + u0[{{ i }}] = 0.0; + {%- endfor %} + + {%- if dims.np > 0 %} + // set parameters + double p[NP]; + {%- for item in parameter_values %} + p[{{ loop.index0 }}] = {{ item }}; + {%- endfor %} + + {{ model.name }}_acados_sim_update_params(capsule, p, NP); + {% endif %}{# if np > 0 #} + + int n_sim_steps = 3; + // solve ocp in loop + for (int ii = 0; ii < n_sim_steps; ii++) + { + sim_in_set(acados_sim_config, acados_sim_dims, + acados_sim_in, "x", x_current); + status = {{ model.name }}_acados_sim_solve(capsule); + + if (status != ACADOS_SUCCESS) + { + printf("acados_solve() failed with status %d.\n", status); + } + + sim_out_get(acados_sim_config, acados_sim_dims, + acados_sim_out, "x", x_current); + + printf("\nx_current, %d\n", ii); + for (int jj = 0; jj < NX; jj++) + { + printf("%e\n", x_current[jj]); + } + } + + printf("\nPerformed %d simulation steps with acados integrator successfully.\n\n", n_sim_steps); + + // free solver + status = {{ model.name }}_acados_sim_free(capsule); + if (status) { + printf("{{ model.name }}_acados_sim_free() returned status %d. \n", status); + } + + {{ model.name }}_acados_sim_solver_free_capsule(capsule); + + return status; +} diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_create.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_create.in.c new file mode 100644 index 0000000000..24ae94ac2c --- /dev/null +++ b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_create.in.c @@ -0,0 +1,384 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +// standard +#include +#include +#include + +// acados +#include "acados/utils/print.h" +#include "acados_c/ocp_nlp_interface.h" +#include "acados_solver_{{ model.name }}.h" + +// mex +#include "mex.h" + + +void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) +{ + long long *l_ptr; + int status = 0; + + // create solver + {{ model.name }}_solver_capsule *acados_ocp_capsule = {{ model.name }}_acados_create_capsule(); + + status = {{ model.name }}_acados_create(acados_ocp_capsule); + + if (status) + { + mexPrintf("{{ model.name }}_acados_create() returned status %d.\n", status); + } + mexPrintf("{{ model.name }}_acados_create() -> success!\n"); + + // get pointers to nlp solver related objects + ocp_nlp_plan_t *nlp_plan = {{ model.name }}_acados_get_nlp_plan(acados_ocp_capsule); + ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config(acados_ocp_capsule); + ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(acados_ocp_capsule); + ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in(acados_ocp_capsule); + ocp_nlp_out *nlp_out = {{ model.name }}_acados_get_nlp_out(acados_ocp_capsule); + ocp_nlp_solver *nlp_solver = {{ model.name }}_acados_get_nlp_solver(acados_ocp_capsule); + void *nlp_opts = {{ model.name }}_acados_get_nlp_opts(acados_ocp_capsule); + + // mexPrintf("acados: got pointer to objectes!\n"); + + // field names of output struct + #define FIELDS_OCP 9 + #define FIELDS_EXT_FUN 25 + #define MAX_FIELDS 25 + char *fieldnames[MAX_FIELDS]; + + for (int i = 0; i < MAX_FIELDS; i++) + { + fieldnames[i] = (char*) mxMalloc(50); + } + + memcpy(fieldnames[0],"config",sizeof("config")); + memcpy(fieldnames[1],"dims",sizeof("dims")); + memcpy(fieldnames[2],"opts",sizeof("opts")); + memcpy(fieldnames[3],"in",sizeof("in")); + memcpy(fieldnames[4],"out",sizeof("out")); + memcpy(fieldnames[5],"solver",sizeof("solver")); + memcpy(fieldnames[6],"sens_out",sizeof("sens_out")); + memcpy(fieldnames[7],"plan",sizeof("plan")); + memcpy(fieldnames[8],"capsule",sizeof("capsule")); + + // create output struct - C_ocp + plhs[0] = mxCreateStructMatrix(1, 1, 9, (const char **) fieldnames); + + // MEX: config, dims, opts, in, out, solver, sens_out, plan + // plan + mxArray *plan_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + l_ptr = mxGetData(plan_mat); + l_ptr[0] = (long long) nlp_plan; + mxSetField(plhs[0], 0, "plan", plan_mat); + + // config + mxArray *config_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + l_ptr = mxGetData(config_mat); + l_ptr[0] = (long long) nlp_config; + mxSetField(plhs[0], 0, "config", config_mat); + + // dims + mxArray *dims_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + l_ptr = mxGetData(dims_mat); + l_ptr[0] = (long long) nlp_dims; + mxSetField(plhs[0], 0, "dims", dims_mat); + + // opts + mxArray *opts_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + l_ptr = mxGetData(opts_mat); + l_ptr[0] = (long long) nlp_opts; + mxSetField(plhs[0], 0, "opts", opts_mat); + + // in + mxArray *in_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + l_ptr = mxGetData(in_mat); + l_ptr[0] = (long long) nlp_in; + mxSetField(plhs[0], 0, "in", in_mat); + + // out + mxArray *out_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + l_ptr = mxGetData(out_mat); + l_ptr[0] = (long long) nlp_out; + mxSetField(plhs[0], 0, "out", out_mat); + + // solver + mxArray *solver_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + l_ptr = mxGetData(solver_mat); + l_ptr[0] = (long long) nlp_solver; + mxSetField(plhs[0], 0, "solver", solver_mat); + + // TODO: sens_out not actually implemented in templates.. + // sens_out + mxArray *sens_out_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + l_ptr = mxGetData(sens_out_mat); + l_ptr[0] = (long long) 1; + mxSetField(plhs[0], 0, "sens_out", sens_out_mat); + + // capsule + mxArray *capsule_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + l_ptr = mxGetData(capsule_mat); + l_ptr[0] = (long long) acados_ocp_capsule; + mxSetField(plhs[0], 0, "capsule", capsule_mat); + + /* store external function pointers */ + // dyn + memcpy(fieldnames[0],"expl_ode_fun",sizeof("expl_ode_fun")); + memcpy(fieldnames[1],"forw_vde",sizeof("forw_vde")); + memcpy(fieldnames[2],"hess_vde",sizeof("hess_vde")); + memcpy(fieldnames[3],"impl_dae_fun",sizeof("impl_dae_fun")); + memcpy(fieldnames[4],"impl_dae_fun_jac_x_xdot_z",sizeof("impl_dae_fun_jac_x_xdot_z")); + memcpy(fieldnames[5],"impl_dae_jac_x_xdot_u_z",sizeof("impl_dae_jac_x_xdot_u_z")); + memcpy(fieldnames[6],"impl_dae_hess",sizeof("impl_dae_hess")); + + memcpy(fieldnames[7],"gnsf_phi_fun",sizeof("gnsf_phi_fun")); + memcpy(fieldnames[8],"gnsf_phi_fun_jac_y",sizeof("gnsf_phi_fun_jac_y")); + memcpy(fieldnames[9],"gnsf_phi_jac_y_uhat",sizeof("gnsf_phi_jac_y_uhat")); + memcpy(fieldnames[10],"gnsf_f_lo_jac_x1_x1dot_u_z",sizeof("gnsf_f_lo_jac_x1_x1dot_u_z")); + memcpy(fieldnames[11],"gnsf_get_matrices_fun",sizeof("gnsf_get_matrices_fun")); + + memcpy(fieldnames[12],"disc_phi_fun",sizeof("disc_phi_fun")); + memcpy(fieldnames[13],"disc_phi_fun_jac",sizeof("disc_phi_fun_jac")); + memcpy(fieldnames[14],"disc_phi_fun_jac_hess",sizeof("disc_phi_fun_jac_hess")); + + // cost + memcpy(fieldnames[15],"cost_y_fun",sizeof("cost_y_fun")); + memcpy(fieldnames[16],"cost_y_fun_jac_ut_xt",sizeof("cost_y_fun_jac_ut_xt")); + memcpy(fieldnames[17],"cost_y_hess",sizeof("cost_y_hess")); + memcpy(fieldnames[18],"ext_cost_fun",sizeof("ext_cost_fun")); + memcpy(fieldnames[19],"ext_cost_fun_jac",sizeof("ext_cost_fun_jac")); + memcpy(fieldnames[20],"ext_cost_fun_jac_hess",sizeof("ext_cost_fun_jac_hess")); + + // constraints + memcpy(fieldnames[21],"phi_constraint",sizeof("phi_constraint")); + memcpy(fieldnames[22],"nl_constr_h_fun_jac",sizeof("nl_constr_h_fun_jac")); + memcpy(fieldnames[23],"nl_constr_h_fun",sizeof("nl_constr_h_fun")); + memcpy(fieldnames[24],"nl_constr_h_fun_jac_hess",sizeof("nl_constr_h_fun_jac_hess")); + + + // create output struct - C_ocp_ext_fun + plhs[1] = mxCreateStructMatrix(1, 1, FIELDS_EXT_FUN, (const char **) fieldnames); + + + for (int i = 0; i < FIELDS_EXT_FUN; i++) + { + mxFree( fieldnames[i] ); + } + +/* dynamics */ + mxArray *expl_ode_fun_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + mxArray *forw_vde_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + mxArray *hess_vde_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + mxArray *impl_dae_fun_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + mxArray *impl_dae_fun_jac_x_xdot_z_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + mxArray *impl_dae_jac_x_xdot_u_z_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + mxArray *impl_dae_hess_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + + mxArray *gnsf_phi_fun_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + mxArray *gnsf_phi_fun_jac_y_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + mxArray *gnsf_phi_jac_y_uhat_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + mxArray *gnsf_f_lo_jac_x1_x1dot_u_z_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + mxArray *gnsf_get_matrices_fun_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + + mxArray *disc_phi_fun_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + mxArray *disc_phi_fun_jac_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + mxArray *disc_phi_fun_jac_hess_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + +{% if solver_options.integrator_type == "ERK" %} + {# TODO: remove _casadi from these names.. #} + l_ptr = mxGetData(forw_vde_mat); + l_ptr[0] = (long long) acados_ocp_capsule->forw_vde_casadi; + l_ptr = mxGetData(expl_ode_fun_mat); + l_ptr[0] = (long long) acados_ocp_capsule->expl_ode_fun; +{% if solver_options.hessian_approx == "EXACT" %} + l_ptr = mxGetData(hess_vde_mat); + l_ptr[0] = (long long) acados_ocp_capsule->hess_vde_casadi; +{%- endif %} +{% elif solver_options.integrator_type == "IRK" %} + l_ptr = mxGetData(impl_dae_fun_mat); + l_ptr[0] = (long long) acados_ocp_capsule->impl_dae_fun; + l_ptr = mxGetData(impl_dae_fun_jac_x_xdot_z_mat); + l_ptr[0] = (long long) acados_ocp_capsule->impl_dae_fun_jac_x_xdot_z; + l_ptr = mxGetData(impl_dae_jac_x_xdot_u_z_mat); + l_ptr[0] = (long long) acados_ocp_capsule->impl_dae_jac_x_xdot_u_z; +{% if solver_options.hessian_approx == "EXACT" %} + l_ptr = mxGetData(impl_dae_hess_mat); + l_ptr[0] = (long long) acados_ocp_capsule->impl_dae_hess; +{%- endif %} +{% elif solver_options.integrator_type == "GNSF" %} + {% if model.gnsf.purely_linear != 1 %} + l_ptr = mxGetData(gnsf_phi_fun_mat); + l_ptr[0] = (long long) acados_ocp_capsule->gnsf_phi_fun; + l_ptr = mxGetData(gnsf_phi_fun_jac_y_mat); + l_ptr[0] = (long long) acados_ocp_capsule->gnsf_phi_fun_jac_y; + l_ptr = mxGetData(gnsf_phi_jac_y_uhat_mat); + l_ptr[0] = (long long) acados_ocp_capsule->gnsf_phi_jac_y_uhat; + {% if model.gnsf.nontrivial_f_LO == 1 %} + l_ptr = mxGetData(gnsf_f_lo_jac_x1_x1dot_u_z_mat); + l_ptr[0] = (long long) acados_ocp_capsule->gnsf_f_lo_jac_x1_x1dot_u_z; + {%- endif %} + {%- endif %} + l_ptr = mxGetData(gnsf_get_matrices_fun_mat); + l_ptr[0] = (long long) acados_ocp_capsule->gnsf_get_matrices_fun; +{% elif solver_options.integrator_type == "DISCRETE" %} + l_ptr = mxGetData(disc_phi_fun_mat); + l_ptr[0] = (long long) acados_ocp_capsule->discr_dyn_phi_fun; + l_ptr = mxGetData(disc_phi_fun_jac_mat); + l_ptr[0] = (long long) acados_ocp_capsule->discr_dyn_phi_fun_jac_ut_xt; +{% if solver_options.hessian_approx == "EXACT" %} + l_ptr = mxGetData(disc_phi_fun_jac_hess_mat); + l_ptr[0] = (long long) acados_ocp_capsule->discr_dyn_phi_fun_jac_ut_xt_hess; +{%- endif %} +{%- endif %} + mxSetField(plhs[1], 0, "expl_ode_fun", expl_ode_fun_mat); + mxSetField(plhs[1], 0, "forw_vde", forw_vde_mat); + mxSetField(plhs[1], 0, "hess_vde", hess_vde_mat); + + mxSetField(plhs[1], 0, "gnsf_phi_fun", gnsf_phi_fun_mat); + mxSetField(plhs[1], 0, "gnsf_phi_fun_jac_y", gnsf_phi_fun_jac_y_mat); + mxSetField(plhs[1], 0, "gnsf_phi_jac_y_uhat", gnsf_phi_jac_y_uhat_mat); + mxSetField(plhs[1], 0, "gnsf_f_lo_jac_x1_x1dot_u_z", gnsf_f_lo_jac_x1_x1dot_u_z_mat); + mxSetField(plhs[1], 0, "gnsf_get_matrices_fun", gnsf_get_matrices_fun_mat); + + mxSetField(plhs[1], 0, "impl_dae_fun", impl_dae_fun_mat); + mxSetField(plhs[1], 0, "impl_dae_fun_jac_x_xdot_z", impl_dae_fun_jac_x_xdot_z_mat); + mxSetField(plhs[1], 0, "impl_dae_jac_x_xdot_u_z", impl_dae_jac_x_xdot_u_z_mat); + mxSetField(plhs[1], 0, "impl_dae_hess", impl_dae_hess_mat); + + mxSetField(plhs[1], 0, "disc_phi_fun", disc_phi_fun_mat); + mxSetField(plhs[1], 0, "disc_phi_fun_jac", disc_phi_fun_jac_mat); + mxSetField(plhs[1], 0, "disc_phi_fun_jac_hess", disc_phi_fun_jac_hess_mat); +/* constaints */ + mxArray *phi_constraint_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL); + l_ptr = mxGetData(phi_constraint_mat); +{%- if constraints.constr_type == "BGP" %} + l_ptr[0] = (long long) acados_ocp_capsule->phi_constraint; +{% endif %} +{% if constraints.constr_type_e == "BGP" %} + l_ptr[1] = (long long) &acados_ocp_capsule->phi_e_constraint; +{% endif %} + mxSetField(plhs[1], 0, "phi_constraint", phi_constraint_mat); + + mxArray *nl_constr_h_fun_jac_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL); + l_ptr = mxGetData(nl_constr_h_fun_jac_mat); +{% if constraints.constr_type == "BGH" and dims.nh > 0 %} + l_ptr[0] = (long long) acados_ocp_capsule->nl_constr_h_fun_jac; +{% endif %} +{% if constraints.constr_type_e == "BGH" and dims.nh_e > 0 %} + l_ptr[1] = (long long) &acados_ocp_capsule->nl_constr_h_e_fun_jac; +{%- endif %} + mxSetField(plhs[1], 0, "nl_constr_h_fun_jac", nl_constr_h_fun_jac_mat); + + mxArray *nl_constr_h_fun_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL); + l_ptr = mxGetData(nl_constr_h_fun_mat); +{% if constraints.constr_type == "BGH" and dims.nh > 0 %} + l_ptr[0] = (long long) acados_ocp_capsule->nl_constr_h_fun; +{% endif %} +{% if constraints.constr_type_e == "BGH" and dims.nh_e > 0 %} + l_ptr[1] = (long long) &acados_ocp_capsule->nl_constr_h_e_fun; +{%- endif %} + mxSetField(plhs[1], 0, "nl_constr_h_fun", nl_constr_h_fun_mat); + + mxArray *nl_constr_h_fun_jac_hess_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL); + l_ptr = mxGetData(nl_constr_h_fun_jac_hess_mat); +{% if constraints.constr_type == "BGH" and dims.nh > 0 and solver_options.hessian_approx == "EXACT" %} + l_ptr[0] = (long long) acados_ocp_capsule->nl_constr_h_fun_jac_hess; +{% endif %} +{% if constraints.constr_type_e == "BGH" and dims.nh_e > 0 and solver_options.hessian_approx == "EXACT" %} + l_ptr[1] = (long long) &acados_ocp_capsule->nl_constr_h_e_fun_jac_hess; +{%- endif %} + mxSetField(plhs[1], 0, "nl_constr_h_fun_jac_hess", nl_constr_h_fun_jac_hess_mat); + +/* cost */ + mxArray *cost_y_fun_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL); + l_ptr = mxGetData(cost_y_fun_mat); +{% if cost.cost_type == "NONLINEAR_LS" %} + l_ptr[0] = (long long) acados_ocp_capsule->cost_y_fun; +{% endif %} +{% if cost.cost_type_e == "NONLINEAR_LS" %} + l_ptr[1] = (long long) &acados_ocp_capsule->cost_y_e_fun; +{%- endif %} + mxSetField(plhs[1], 0, "cost_y_fun", cost_y_fun_mat); + + mxArray *cost_y_fun_jac_ut_xt_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL); + l_ptr = mxGetData(cost_y_fun_jac_ut_xt_mat); +{% if cost.cost_type == "NONLINEAR_LS" %} + l_ptr[0] = (long long) acados_ocp_capsule->cost_y_fun_jac_ut_xt; +{% endif %} +{% if cost.cost_type_e == "NONLINEAR_LS" %} + l_ptr[1] = (long long) &acados_ocp_capsule->cost_y_e_fun_jac_ut_xt; +{%- endif %} + mxSetField(plhs[1], 0, "cost_y_fun_jac_ut_xt", cost_y_fun_jac_ut_xt_mat); + + mxArray *cost_y_hess_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL); + l_ptr = mxGetData(cost_y_hess_mat); +{% if cost.cost_type == "NONLINEAR_LS" %} + l_ptr[0] = (long long) acados_ocp_capsule->cost_y_hess; +{% endif %} +{% if cost.cost_type_e == "NONLINEAR_LS" %} + l_ptr[1] = (long long) &acados_ocp_capsule->cost_y_e_hess; +{%- endif %} + mxSetField(plhs[1], 0, "cost_y_hess", cost_y_hess_mat); + + mxArray *ext_cost_fun_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL); + l_ptr = mxGetData(ext_cost_fun_mat); +{% if cost.cost_type == "EXTERNAL" %} + l_ptr[0] = (long long) acados_ocp_capsule->ext_cost_fun; +{% endif -%} +{% if cost.cost_type_e == "EXTERNAL" %} + l_ptr[1] = (long long) &acados_ocp_capsule->ext_cost_e_fun; +{%- endif %} + mxSetField(plhs[1], 0, "ext_cost_fun", ext_cost_fun_mat); + + mxArray *ext_cost_fun_jac_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL); + l_ptr = mxGetData(ext_cost_fun_jac_mat); +{% if cost.cost_type == "EXTERNAL" %} + l_ptr[0] = (long long) acados_ocp_capsule->ext_cost_fun_jac; +{% endif -%} +{% if cost.cost_type_e == "EXTERNAL" %} + l_ptr[1] = (long long) &acados_ocp_capsule->ext_cost_e_fun_jac; +{%- endif %} + mxSetField(plhs[1], 0, "ext_cost_fun_jac", ext_cost_fun_jac_mat); + + mxArray *ext_cost_fun_jac_hess_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL); + l_ptr = mxGetData(ext_cost_fun_jac_hess_mat); +{% if cost.cost_type == "EXTERNAL" %} + l_ptr[0] = (long long) acados_ocp_capsule->ext_cost_fun_jac_hess; +{% endif -%} +{% if cost.cost_type_e == "EXTERNAL" %} + l_ptr[1] = (long long) &acados_ocp_capsule->ext_cost_e_fun_jac_hess; +{%- endif %} + mxSetField(plhs[1], 0, "ext_cost_fun_jac_hess", ext_cost_fun_jac_hess_mat); + + + return; +} diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_free.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_free.in.c new file mode 100644 index 0000000000..bd457969b2 --- /dev/null +++ b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_free.in.c @@ -0,0 +1,67 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +// system +#include +#include +#include +// acados +#include "acados_solver_{{ model.name }}.h" + +// mex +#include "mex.h" + + +void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) +{ + int status = 0; + long long *ptr; + + // mexPrintf("\nin mex_acados_free\n"); + const mxArray *C_ocp = prhs[0]; + // capsule + ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "capsule" ) ); + {{ model.name }}_solver_capsule *capsule = ({{ model.name }}_solver_capsule *) ptr[0]; + + status = {{ model.name }}_acados_free(capsule); + if (status) + { + mexPrintf("{{ model.name }}_acados_free() returned status %d.\n", status); + } + + status = {{ model.name }}_acados_free_capsule(capsule); + if (status) + { + mexPrintf("{{ model.name }}_acados_free_capsule() returned status %d.\n", status); + } + + return; +} + diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_set.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_set.in.c new file mode 100644 index 0000000000..78a308df49 --- /dev/null +++ b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_set.in.c @@ -0,0 +1,632 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +// standard +#include +#include +#include + +// acados +#include "acados/utils/print.h" +#include "acados_c/ocp_nlp_interface.h" +#include "acados_solver_{{ model.name }}.h" + +// mex +#include "mex.h" +#include "mex_macros.h" + + +void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) +{ + + long long *ptr; + int acados_size; + mxArray *mex_field; + char fun_name[20] = "ocp_set"; + char buffer [500]; // for error messages + + /* RHS */ + int min_nrhs = 6; + + // C ocp + const mxArray *C_ocp = prhs[2]; + // capsule + ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "capsule" ) ); + {{ model.name }}_solver_capsule *capsule = ({{ model.name }}_solver_capsule *) ptr[0]; + // plan + ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "plan" ) ); + ocp_nlp_plan_t *plan = (ocp_nlp_plan_t *) ptr[0]; + // config + ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "config" ) ); + ocp_nlp_config *config = (ocp_nlp_config *) ptr[0]; + // dims + ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "dims" ) ); + ocp_nlp_dims *dims = (ocp_nlp_dims *) ptr[0]; + // opts + ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "opts" ) ); + void *opts = (void *) ptr[0]; + // in + ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "in" ) ); + ocp_nlp_in *in = (ocp_nlp_in *) ptr[0]; + // out + ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "out" ) ); + ocp_nlp_out *out = (ocp_nlp_out *) ptr[0]; + // solver + ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "solver" ) ); + ocp_nlp_solver *solver = (ocp_nlp_solver *) ptr[0]; + + const mxArray *C_ext_fun_pointers = prhs[3]; + // field + char *field = mxArrayToString( prhs[4] ); + // value + double *value = mxGetPr( prhs[5] ); + + // for checks + int matlab_size = (int) mxGetNumberOfElements( prhs[5] ); + int nrow = (int) mxGetM( prhs[5] ); + int ncol = (int) mxGetN( prhs[5] ); + + int N = dims->N; + int nu = dims->nu[0]; + int nx = dims->nx[0]; + + // stage + int s0, se; + if (nrhs==min_nrhs) + { + s0 = 0; + se = N; + } + else if (nrhs==min_nrhs+1) + { + s0 = mxGetScalar( prhs[6] ); + if (s0 > N) + { + sprintf(buffer, "ocp_set: N < specified stage = %d\n", s0); + mexErrMsgTxt(buffer); + } + se = s0 + 1; + } + else + { + sprintf(buffer, "ocp_set: wrong nrhs: %d\n", nrhs); + mexErrMsgTxt(buffer); + } + + /* Set value */ + // constraints + if (!strcmp(field, "constr_x0")) + { + acados_size = nx; + MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size); + ocp_nlp_constraints_model_set(config, dims, in, 0, "lbx", value); + ocp_nlp_constraints_model_set(config, dims, in, 0, "ubx", value); + } + else if (!strcmp(field, "constr_C")) + { + for (int ii=s0; iinlp_cost[ii] == LINEAR_LS) || (plan->nlp_cost[ii] == NONLINEAR_LS)) + { + acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "y_ref"); + MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size); + ocp_nlp_cost_model_set(config, dims, in, ii, "y_ref", value); + } + else + { + MEX_FIELD_NOT_SUPPORTED_FOR_COST_STAGE(fun_name, field, plan->nlp_cost[ii], ii); + } + } + } + else if (!strcmp(field, "cost_y_ref_e")) + { + acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, N, "y_ref"); + MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size); + ocp_nlp_cost_model_set(config, dims, in, N, "y_ref", value); + } + else if (!strcmp(field, "cost_Vu")) + { + for (int ii=s0; iinlp_cost[ii] == LINEAR_LS) || (plan->nlp_cost[ii] == NONLINEAR_LS)) + { + int ny = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "y_ref"); + int nu = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "u"); + acados_size = ny * nu; + MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size); + ocp_nlp_cost_model_set(config, dims, in, ii, "Vu", value); + } + else + { + MEX_FIELD_NOT_SUPPORTED_FOR_COST_STAGE(fun_name, field, plan->nlp_cost[ii], ii); + } + } + } + else if (!strcmp(field, "cost_Vx")) + { + for (int ii=s0; iinlp_cost[ii] == LINEAR_LS) || (plan->nlp_cost[ii] == NONLINEAR_LS)) + { + int ny = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "y_ref"); + int nx = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "x"); + acados_size = ny * nx; + MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size); + ocp_nlp_cost_model_set(config, dims, in, ii, "Vx", value); + } + else + { + MEX_FIELD_NOT_SUPPORTED_FOR_COST_STAGE(fun_name, field, plan->nlp_cost[ii], ii); + } + } + } + else if (!strcmp(field, "cost_W")) + { + for (int ii=s0; iinlp_cost[ii] == LINEAR_LS) || (plan->nlp_cost[ii] == NONLINEAR_LS)) + { + int ny = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "y_ref"); + acados_size = ny * ny; + MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size); + ocp_nlp_cost_model_set(config, dims, in, ii, "W", value); + } + else + { + MEX_FIELD_NOT_SUPPORTED_FOR_COST_STAGE(fun_name, field, plan->nlp_cost[ii], ii); + } + } + } + else if (!strcmp(field, "cost_Z")) + { + acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "cost_Z"); + MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size); + for (int ii=s0; iisim_solver_plan[0]; + sim_solver_t type = sim_plan.sim_solver; + if (type == IRK) + { + int nz = ocp_nlp_dims_get_from_attr(config, dims, out, 0, "z"); + if (nrhs==min_nrhs) + { + acados_size = N*nz; + MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size); + for (int ii=0; iisim_solver_plan[0]; + sim_solver_t type = sim_plan.sim_solver; + if (type == IRK) + { + int nx = ocp_nlp_dims_get_from_attr(config, dims, out, 0, "x"); + if (nrhs==min_nrhs) + { + acados_size = N*nx; + MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size); + for (int ii=0; iisim_solver_plan[0]; + sim_solver_t type = sim_plan.sim_solver; + if (type == GNSF) + { + int nout = ocp_nlp_dims_get_from_attr(config, dims, out, 0, "init_gnsf_phi"); + + if (nrhs==min_nrhs) + { + acados_size = N*nout; + MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size); + for (int ii=0; iinlp_solver == SQP && rti_phase != 0) + { + MEX_FIELD_ONLY_SUPPORTED_FOR_SOLVER(fun_name, field, "sqp_rti") + } + ocp_nlp_solver_opts_set(config, opts, "rti_phase", &rti_phase); + } + else if (!strcmp(field, "qp_warm_start")) + { + acados_size = 1; + MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size); + int qp_warm_start = (int) value[0]; + ocp_nlp_solver_opts_set(config, opts, "qp_warm_start", &qp_warm_start); + } + else if (!strcmp(field, "warm_start_first_qp")) + { + acados_size = 1; + MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size); + int warm_start_first_qp = (int) value[0]; + ocp_nlp_solver_opts_set(config, opts, "warm_start_first_qp", &warm_start_first_qp); + } + else if (!strcmp(field, "print_level")) + { + acados_size = 1; + MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size); + int print_level = (int) value[0]; + ocp_nlp_solver_opts_set(config, opts, "print_level", &print_level); + } + else + { + MEX_FIELD_NOT_SUPPORTED_SUGGEST(fun_name, field, "p, constr_x0,\ + constr_lbx, constr_ubx, constr_C, constr_D, constr_lg, constr_ug, constr_lh, constr_uh,\ + constr_lbu, constr_ubu, cost_y_ref[_e], sl, su, x, xdot, u, pi, lam, z, \ + cost_Vu, cost_Vx, cost_Vz, cost_W, cost_Z, cost_Zl, cost_Zu, cost_z,\ + cost_zl, cost_zu, init_x, init_u, init_z, init_xdot, init_gnsf_phi,\ + init_pi, nlp_solver_max_iter, qp_warm_start, warm_start_first_qp, print_level"); + } + + return; +} + diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_solve.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_solve.in.c new file mode 100644 index 0000000000..300a440cc9 --- /dev/null +++ b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_solve.in.c @@ -0,0 +1,56 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +// system +#include +#include +#include +// acados +#include "acados_solver_{{ model.name }}.h" + +// mex +#include "mex.h" + + + +void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) +{ + // C_ocp + long long *ptr; + const mxArray *C_ocp = prhs[0]; + + // capsule + ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "capsule" ) ); + {{ model.name }}_solver_capsule *capsule = ({{ model.name }}_solver_capsule *) ptr[0]; + + // solve + {{ model.name }}_acados_solve(capsule); + +} diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_sim_solver_sfun.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_sim_solver_sfun.in.c new file mode 100644 index 0000000000..bd73ff69a4 --- /dev/null +++ b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_sim_solver_sfun.in.c @@ -0,0 +1,230 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +#define S_FUNCTION_NAME acados_sim_solver_sfunction_{{ model.name }} +#define S_FUNCTION_LEVEL 2 + +#define MDL_START + +// acados +// #include "acados/utils/print.h" +#include "acados_c/ocp_nlp_interface.h" +#include "acados_c/external_function_interface.h" + +// example specific +#include "{{ model.name }}_model/{{ model.name }}_model.h" +#include "acados_sim_solver_{{ model.name }}.h" + +#include "simstruc.h" + +#define SAMPLINGTIME {{ solver_options.Tsim }} + + +static void mdlInitializeSizes (SimStruct *S) +{ + // specify the number of continuous and discrete states + ssSetNumContStates(S, 0); + ssSetNumDiscStates(S, 0); + + {# compute number of input ports #} + {%- set n_inputs = 1 %} {# x0 #} + {%- if dims.nu > 0 %} {# u0 -#} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif %} + {%- if dims.np > 0 %} {# parameters #} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif %} + + // specify the number of input ports + if ( !ssSetNumInputPorts(S, {{ n_inputs }}) ) + return; + + // specify the number of output ports + if ( !ssSetNumOutputPorts(S, 1) ) + return; + + // specify dimension information for the input ports + {%- set i_input = 0 %} + // x0 + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nx }}); + + {%- if dims.nu > 0 %} + {%- set i_input = i_input + 1 %} + // u0 + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nu }}); + {%- endif %} + + {%- if dims.np > 0 %} + {%- set i_input = i_input + 1 %} + // parameters + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.np }}); + {%- endif %} + + // specify dimension information for the output ports + ssSetOutputPortVectorDimension(S, 0, {{ dims.nx }} ); // xnext + + // specify the direct feedthrough status + // should be set to 1 for all inputs used in mdlOutputs + {%- for i in range(end=n_inputs) %} + ssSetInputPortDirectFeedThrough(S, {{ i }}, 1); + {%- endfor %} + + // one sample time + ssSetNumSampleTimes(S, 1); +} + + +#if defined(MATLAB_MEX_FILE) + +#define MDL_SET_INPUT_PORT_DIMENSION_INFO +#define MDL_SET_OUTPUT_PORT_DIMENSION_INFO + +static void mdlSetInputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo) +{ + if ( !ssSetInputPortDimensionInfo(S, port, dimsInfo) ) + return; +} + +static void mdlSetOutputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo) +{ + if ( !ssSetOutputPortDimensionInfo(S, port, dimsInfo) ) + return; +} + +#endif /* MATLAB_MEX_FILE */ + + +static void mdlInitializeSampleTimes(SimStruct *S) +{ + ssSetSampleTime(S, 0, SAMPLINGTIME); + ssSetOffsetTime(S, 0, 0.0); +} + + +static void mdlStart(SimStruct *S) +{ + sim_solver_capsule *capsule = {{ model.name }}_acados_sim_solver_create_capsule(); + {{ model.name }}_acados_sim_create(capsule); + + ssSetUserData(S, (void*)capsule); +} + +static void mdlOutputs(SimStruct *S, int_T tid) +{ + sim_solver_capsule *capsule = ssGetUserData(S); + + sim_config *acados_sim_config = {{ model.name }}_acados_get_sim_config(capsule); + sim_in *acados_sim_in = {{ model.name }}_acados_get_sim_in(capsule); + sim_out *acados_sim_out = {{ model.name }}_acados_get_sim_out(capsule); + void *acados_sim_dims = {{ model.name }}_acados_get_sim_dims(capsule); + // sim_opts * {{ model.name }}_acados_get_sim_opts(capsule); + // sim_solver * {{ model.name }}_acados_get_sim_solver(capsule); + + InputRealPtrsType in_sign; + {% set input_sizes = [dims.nx, dims.nu, dims.np] %} + + // local buffer + {%- set buffer_size = input_sizes | sort | last %} + real_t buffer[{{ buffer_size }}]; + + + /* go through inputs */ + {%- set i_input = 0 %} + // initial condition + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + for (int i = 0; i < {{ dims.nx }}; i++) + buffer[i] = (double)(*in_sign[i]); + + sim_in_set(acados_sim_config, acados_sim_dims, + acados_sim_in, "x", buffer); + + + // ssPrintf("\nin acados sim:\n"); + // for (int i = 0; i < {{ dims.nx }}; i++) ssPrintf("x0[%d] = %f\n", i, buffer[i]); + // ssPrintf("\n"); + +{% if dims.nu > 0 %} + // control input - u + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + + for (int i = 0; i < {{ dims.nu }}; i++) + buffer[i] = (double)(*in_sign[i]); + + sim_in_set(acados_sim_config, acados_sim_dims, + acados_sim_in, "u", buffer); +{%- endif %} + + +{% if dims.np > 0 %} + // parameters + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + + for (int i = 0; i < {{ dims.np }}; i++) + buffer[i] = (double)(*in_sign[i]); + + // update value of parameters + {{ model.name }}_acados_sim_update_params(capsule, buffer, {{ dims.np }}); +{%- endif %} + + + /* call solver */ + int acados_status = {{ model.name }}_acados_sim_solve(capsule); + + + /* set outputs */ + real_t *out_x = ssGetOutputPortRealSignal(S, 0); + + // get simulated state + sim_out_get(acados_sim_config, acados_sim_dims, acados_sim_out, + "xn", (void *) out_x); + + // ssPrintf("\nacados sim solve: returned %d\n", acados_status); + // for (int i = 0; i < {{ dims.nx }}; i++) ssPrintf("x_sim[%d] = %f\n", i, out_x[i]); + // ssPrintf("\n"); + +} + + +static void mdlTerminate(SimStruct *S) +{ + sim_solver_capsule *capsule = ssGetUserData(S); + + {{ model.name }}_acados_sim_free(capsule); + {{ model.name }}_acados_sim_solver_free_capsule(capsule); +} + + +#ifdef MATLAB_MEX_FILE +#include "simulink.c" +#else +#include "cg_sfun.h" +#endif diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_solver_sfun.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_solver_sfun.in.c new file mode 100644 index 0000000000..3dd248037a --- /dev/null +++ b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_solver_sfun.in.c @@ -0,0 +1,853 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +#define S_FUNCTION_NAME acados_solver_sfunction_{{ model.name }} +#define S_FUNCTION_LEVEL 2 + +#define MDL_START + +// acados +// #include "acados/utils/print.h" +#include "acados_c/sim_interface.h" +#include "acados_c/external_function_interface.h" + +// example specific +#include "{{ model.name }}_model/{{ model.name }}_model.h" +#include "acados_solver_{{ model.name }}.h" + +#include "simstruc.h" + +{% if simulink_opts.samplingtime == "t0" -%} +#define SAMPLINGTIME {{ solver_options.time_steps[0] }} +{%- elif simulink_opts.samplingtime == "-1" -%} +#define SAMPLINGTIME -1 +{%- else -%} + {{ throw(message = "simulink_opts.samplingtime must be '-1' or 't0', got val") }} +{%- endif %} + +static void mdlInitializeSizes (SimStruct *S) +{ + // specify the number of continuous and discrete states + ssSetNumContStates(S, 0); + ssSetNumDiscStates(S, 0); + + int N = {{ model.name | upper }}_N; + + {%- for key, val in simulink_opts.inputs -%} + {%- if val != 0 and val != 1 -%} + {{ throw(message = "simulink_opts.inputs must be 0 or 1, got val") }} + {%- endif -%} + {%- endfor -%} + + {#- compute number of input ports #} + {%- set n_inputs = 0 -%} + {%- if dims.nbx_0 > 0 and simulink_opts.inputs.lbx_0 -%} {#- lbx_0 #} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif -%} + {%- if dims.nbx_0 > 0 and simulink_opts.inputs.ubx_0 -%} {#- ubx_0 #} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif -%} + {%- if dims.np > 0 and simulink_opts.inputs.parameter_traj -%} {#- parameter_traj #} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif -%} + {%- if dims.ny_0 > 0 and simulink_opts.inputs.y_ref_0 -%} {#- y_ref_0 -#} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif -%} + {%- if dims.ny > 0 and dims.N > 1 and simulink_opts.inputs.y_ref -%} {#- y_ref -#} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif -%} + {%- if dims.ny_e > 0 and dims.N > 0 and simulink_opts.inputs.y_ref_e -%} {#- y_ref_e #} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif -%} + {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.lbx -%} {#- lbx #} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif -%} + {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.ubx -%} {#- ubx #} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif -%} + {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.lbx_e -%} {#- lbx_e #} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif -%} + {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.ubx_e -%} {#- ubx_e #} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif -%} + {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.lbu -%} {#- lbu #} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif -%} + {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.ubu -%} {#- ubu #} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif -%} + {%- if dims.ng > 0 and simulink_opts.inputs.lg -%} {#- lg #} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif -%} + {%- if dims.ng > 0 and simulink_opts.inputs.ug -%} {#- ug #} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif -%} + {%- if dims.nh > 0 and simulink_opts.inputs.lh -%} {#- lh #} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif -%} + {%- if dims.nh > 0 and simulink_opts.inputs.uh -%} {#- uh #} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif -%} + {%- if dims.nh_e > 0 and simulink_opts.inputs.lh_e -%} {#- lh_e #} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif -%} + {%- if dims.nh_e > 0 and simulink_opts.inputs.uh_e -%} {#- uh_e #} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif -%} + + {%- for key, val in simulink_opts.inputs -%} + {%- if val != 0 and val != 1 -%} + {{ throw(message = "simulink_opts.inputs must be 0 or 1, got val") }} + {%- endif -%} + {%- endfor -%} + {%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %} {#- cost_W_0 #} + {%- set n_inputs = n_inputs + 1 %} + {%- endif -%} + {%- if dims.ny > 0 and simulink_opts.inputs.cost_W %} {#- cost_W #} + {%- set n_inputs = n_inputs + 1 %} + {%- endif -%} + {%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e %} {#- cost_W_e #} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif -%} + + {%- if simulink_opts.inputs.reset_solver -%} {#- reset_solver #} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif -%} + + {%- if simulink_opts.inputs.x_init -%} {#- x_init #} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif -%} + + {%- if simulink_opts.inputs.u_init -%} {#- u_init #} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif -%} + + // specify the number of input ports + if ( !ssSetNumInputPorts(S, {{ n_inputs }}) ) + return; + + // specify the number of output ports + {%- set_global n_outputs = 0 %} + {%- for key, val in simulink_opts.outputs %} + {%- if val == 1 %} + {%- set_global n_outputs = n_outputs + val %} + {%- elif val != 0 %} + {{ throw(message = "simulink_opts.outputs must be 0 or 1, got val") }} + {%- endif %} + {%- endfor %} + if ( !ssSetNumOutputPorts(S, {{ n_outputs }}) ) + return; + + // specify dimension information for the input ports + {%- set i_input = -1 %}{# note here i_input is 0-based #} + {%- if dims.nbx_0 > 0 and simulink_opts.inputs.lbx_0 -%} {#- lbx_0 #} + {%- set i_input = i_input + 1 %} + // lbx_0 + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nbx_0 }}); + {%- endif %} + {%- if dims.nbx_0 > 0 and simulink_opts.inputs.ubx_0 -%} {#- ubx_0 #} + {%- set i_input = i_input + 1 %} + // ubx_0 + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nbx_0 }}); + {%- endif %} + + {%- if dims.np > 0 and simulink_opts.inputs.parameter_traj -%} {#- parameter_traj #} + {%- set i_input = i_input + 1 %} + // parameters + ssSetInputPortVectorDimension(S, {{ i_input }}, (N+1) * {{ dims.np }}); + {%- endif %} + + {%- if dims.ny > 0 and simulink_opts.inputs.y_ref_0 %} + {%- set i_input = i_input + 1 %} + // y_ref_0 + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ny_0 }}); + {%- endif %} + + {%- if dims.ny > 0 and dims.N > 1 and simulink_opts.inputs.y_ref %} + {%- set i_input = i_input + 1 %} + // y_ref + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ (dims.N-1) * dims.ny }}); + {%- endif %} + + {%- if dims.ny_e > 0 and dims.N > 0 and simulink_opts.inputs.y_ref_e %} + {%- set i_input = i_input + 1 %} + // y_ref_e + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ny_e }}); + {%- endif %} + + {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.lbx -%} {#- lbx #} + {%- set i_input = i_input + 1 %} + // lbx + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ (dims.N-1) * dims.nbx }}); + {%- endif %} + {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.ubx -%} {#- ubx #} + {%- set i_input = i_input + 1 %} + // ubx + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ (dims.N-1) * dims.nbx }}); + {%- endif %} + + {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.lbx_e -%} {#- lbx_e #} + {%- set i_input = i_input + 1 %} + // lbx_e + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nbx_e }}); + {%- endif %} + {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.ubx_e -%} {#- ubx_e #} + {%- set i_input = i_input + 1 %} + // ubx_e + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nbx_e }}); + {%- endif %} + + {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.lbu -%} {#- lbu #} + {%- set i_input = i_input + 1 %} + // lbu + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.nbu }}); + {%- endif -%} + {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.ubu -%} {#- ubu #} + {%- set i_input = i_input + 1 %} + // ubu + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.nbu }}); + {%- endif -%} + + + {%- if dims.ng > 0 and simulink_opts.inputs.lg -%} {#- lg #} + {%- set i_input = i_input + 1 %} + // lg + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.ng }}); + {%- endif -%} + {%- if dims.ng > 0 and simulink_opts.inputs.ug -%} {#- ug #} + {%- set i_input = i_input + 1 %} + // ug + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.ng }}); + {%- endif -%} + + {%- if dims.nh > 0 and simulink_opts.inputs.lh -%} {#- lh #} + {%- set i_input = i_input + 1 %} + // lh + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.nh }}); + {%- endif -%} + {%- if dims.nh > 0 and simulink_opts.inputs.uh -%} {#- uh #} + {%- set i_input = i_input + 1 %} + // uh + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.nh }}); + {%- endif -%} + + {%- if dims.nh_e > 0 and simulink_opts.inputs.lh_e -%} {#- lh_e #} + {%- set i_input = i_input + 1 %} + // lh_e + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nh_e }}); + {%- endif -%} + {%- if dims.nh_e > 0 and simulink_opts.inputs.uh_e -%} {#- uh_e #} + {%- set i_input = i_input + 1 %} + // uh_e + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nh_e }}); + {%- endif -%} + + {%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %} {#- cost_W_0 #} + {%- set i_input = i_input + 1 %} + // cost_W_0 + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ny_0 * dims.ny_0 }}); + {%- endif %} + + {%- if dims.ny > 0 and simulink_opts.inputs.cost_W %} {#- cost_W #} + {%- set i_input = i_input + 1 %} + // cost_W + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ny * dims.ny }}); + {%- endif %} + + {%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e %} {#- cost_W_e #} + {%- set i_input = i_input + 1 %} + // cost_W_e + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ny_e * dims.ny_e }}); + {%- endif %} + + {%- if simulink_opts.inputs.reset_solver -%} {#- reset_solver #} + {%- set i_input = i_input + 1 %} + // reset_solver + ssSetInputPortVectorDimension(S, {{ i_input }}, 1); + {%- endif -%} + + {%- if simulink_opts.inputs.x_init -%} {#- x_init #} + {%- set i_input = i_input + 1 %} + // x_init + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nx * (dims.N+1) }}); + {%- endif -%} + + {%- if simulink_opts.inputs.u_init -%} {#- u_init #} + {%- set i_input = i_input + 1 %} + // u_init + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nu * (dims.N) }}); + {%- endif -%} + + /* specify dimension information for the OUTPUT ports */ + {%- set i_output = -1 %}{# note here i_output is 0-based #} + {%- if dims.nu > 0 and simulink_opts.outputs.u0 == 1 %} + {%- set i_output = i_output + 1 %} + ssSetOutputPortVectorDimension(S, {{ i_output }}, {{ dims.nu }} ); + {%- endif %} + + {%- if simulink_opts.outputs.utraj == 1 %} + {%- set i_output = i_output + 1 %} + ssSetOutputPortVectorDimension(S, {{ i_output }}, {{ dims.nu * dims.N }} ); + {%- endif %} + + {%- if simulink_opts.outputs.xtraj == 1 %} + {%- set i_output = i_output + 1 %} + ssSetOutputPortVectorDimension(S, {{ i_output }}, {{ dims.nx * (dims.N+1) }} ); + {%- endif %} + + {%- if simulink_opts.outputs.solver_status == 1 %} + {%- set i_output = i_output + 1 %} + ssSetOutputPortVectorDimension(S, {{ i_output }}, 1 ); + {%- endif %} + + {%- if simulink_opts.outputs.cost_value == 1 %} + {%- set i_output = i_output + 1 %} + ssSetOutputPortVectorDimension(S, {{ i_output }}, 1 ); + {%- endif %} + + {%- if simulink_opts.outputs.KKT_residual == 1 %} + {%- set i_output = i_output + 1 %} + ssSetOutputPortVectorDimension(S, {{ i_output }}, 1 ); + {%- endif %} + + {%- if simulink_opts.outputs.KKT_residuals == 1 %} + {%- set i_output = i_output + 1 %} + ssSetOutputPortVectorDimension(S, {{ i_output }}, 4 ); + {%- endif %} + + {%- if dims.N > 0 and simulink_opts.outputs.x1 == 1 %} + {%- set i_output = i_output + 1 %} + ssSetOutputPortVectorDimension(S, {{ i_output }}, {{ dims.nx }} ); // state at shooting node 1 + {%- endif %} + + {%- if simulink_opts.outputs.CPU_time == 1 %} + {%- set i_output = i_output + 1 %} + ssSetOutputPortVectorDimension(S, {{ i_output }}, 1); + {%- endif %} + + {%- if simulink_opts.outputs.CPU_time_sim == 1 %} + {%- set i_output = i_output + 1 %} + ssSetOutputPortVectorDimension(S, {{ i_output }}, 1); + {%- endif %} + + {%- if simulink_opts.outputs.CPU_time_qp == 1 %} + {%- set i_output = i_output + 1 %} + ssSetOutputPortVectorDimension(S, {{ i_output }}, 1); + {%- endif %} + + {%- if simulink_opts.outputs.CPU_time_lin == 1 %} + {%- set i_output = i_output + 1 %} + ssSetOutputPortVectorDimension(S, {{ i_output }}, 1); + {%- endif %} + + {%- if simulink_opts.outputs.sqp_iter == 1 %} + {%- set i_output = i_output + 1 %} + ssSetOutputPortVectorDimension(S, {{ i_output }}, 1 ); + {%- endif %} + + // specify the direct feedthrough status + // should be set to 1 for all inputs used in mdlOutputs + {%- for i in range(end=n_inputs) %} + ssSetInputPortDirectFeedThrough(S, {{ i }}, 1); + {%- endfor %} + + // one sample time + ssSetNumSampleTimes(S, 1); +} + + +#if defined(MATLAB_MEX_FILE) + +#define MDL_SET_INPUT_PORT_DIMENSION_INFO +#define MDL_SET_OUTPUT_PORT_DIMENSION_INFO + +static void mdlSetInputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo) +{ + if ( !ssSetInputPortDimensionInfo(S, port, dimsInfo) ) + return; +} + +static void mdlSetOutputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo) +{ + if ( !ssSetOutputPortDimensionInfo(S, port, dimsInfo) ) + return; +} + +#endif /* MATLAB_MEX_FILE */ + + +static void mdlInitializeSampleTimes(SimStruct *S) +{ + ssSetSampleTime(S, 0, SAMPLINGTIME); + ssSetOffsetTime(S, 0, 0.0); +} + + +static void mdlStart(SimStruct *S) +{ + {{ model.name }}_solver_capsule *capsule = {{ model.name }}_acados_create_capsule(); + {{ model.name }}_acados_create(capsule); + + ssSetUserData(S, (void*)capsule); +} + + +static void mdlOutputs(SimStruct *S, int_T tid) +{ + {{ model.name }}_solver_capsule *capsule = ssGetUserData(S); + ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config(capsule); + ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(capsule); + ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in(capsule); + ocp_nlp_out *nlp_out = {{ model.name }}_acados_get_nlp_out(capsule); + + InputRealPtrsType in_sign; + + int N = {{ model.name | upper }}_N; + + {%- set buffer_sizes = [dims.nbx_0, dims.np, dims.nbx, dims.nbx_e, dims.nbu, dims.ng, dims.nh, dims.ng_e, dims.nh_e] -%} + + {%- if dims.ny_0 > 0 and simulink_opts.inputs.y_ref_0 %} {# y_ref_0 #} + {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny_0)) %} + {%- endif %} + {%- if dims.ny > 0 and dims.N > 1 and simulink_opts.inputs.y_ref %} {# y_ref #} + {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny)) %} + {%- endif %} + {%- if dims.ny_e > 0 and dims.N > 0 and simulink_opts.inputs.y_ref_e %} {# y_ref_e #} + {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny_e)) %} + {%- endif %} + + {%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %} {#- cost_W_0 #} + {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny_0 * dims.ny_0)) %} + {%- endif %} + {%- if dims.ny > 0 and simulink_opts.inputs.cost_W %} {#- cost_W #} + {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny * dims.ny)) %} + {%- endif %} + {%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e %} {#- cost_W_e #} + {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny_e * dims.ny_e)) %} + {%- endif %} + + // local buffer + {%- set buffer_size = buffer_sizes | sort | last %} + real_t buffer[{{ buffer_size }}]; + + /* go through inputs */ + {%- set i_input = -1 %} + {%- if dims.nbx_0 > 0 and simulink_opts.inputs.lbx_0 -%} {#- lbx_0 #} + // lbx_0 + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + for (int i = 0; i < {{ dims.nbx_0 }}; i++) + buffer[i] = (double)(*in_sign[i]); + + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", buffer); + {%- endif %} + + {%- if dims.nbx_0 > 0 and simulink_opts.inputs.ubx_0 -%} {#- ubx_0 #} + // ubx_0 + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + for (int i = 0; i < {{ dims.nbx_0 }}; i++) + buffer[i] = (double)(*in_sign[i]); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", buffer); + {%- endif %} + + {%- if dims.np > 0 and simulink_opts.inputs.parameter_traj -%} {#- parameter_traj #} + // parameters - stage-variant !!! + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + + // update value of parameters + for (int ii = 0; ii <= N; ii++) + { + for (int jj = 0; jj < {{ dims.np }}; jj++) + buffer[jj] = (double)(*in_sign[ii*{{dims.np}}+jj]); + {{ model.name }}_acados_update_params(capsule, ii, buffer, {{ dims.np }}); + } + {%- endif %} + + {% if dims.ny_0 > 0 and simulink_opts.inputs.y_ref_0 %} + // y_ref_0 + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + + for (int i = 0; i < {{ dims.ny_0 }}; i++) + buffer[i] = (double)(*in_sign[i]); + + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "yref", (void *) buffer); + {%- endif %} + + {% if dims.ny > 0 and dims.N > 1 and simulink_opts.inputs.y_ref %} + // y_ref - for stages 1 to N-1 + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + + for (int ii = 1; ii < N; ii++) + { + for (int jj = 0; jj < {{ dims.ny }}; jj++) + buffer[jj] = (double)(*in_sign[(ii-1)*{{ dims.ny }}+jj]); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, ii, "yref", (void *) buffer); + } + {%- endif %} + + {% if dims.ny_e > 0 and dims.N > 0 and simulink_opts.inputs.y_ref_e %} + // y_ref_e + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + + for (int i = 0; i < {{ dims.ny_e }}; i++) + buffer[i] = (double)(*in_sign[i]); + + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "yref", (void *) buffer); + {%- endif %} + + {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.lbx -%} {#- lbx #} + // lbx + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + for (int ii = 1; ii < N; ii++) + { + for (int jj = 0; jj < {{ dims.nbx }}; jj++) + buffer[jj] = (double)(*in_sign[(ii-1)*{{ dims.nbx }}+jj]); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lbx", (void *) buffer); + } + {%- endif %} + {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.ubx -%} {#- ubx #} + // ubx + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + for (int ii = 1; ii < N; ii++) + { + for (int jj = 0; jj < {{ dims.nbx }}; jj++) + buffer[jj] = (double)(*in_sign[(ii-1)*{{ dims.nbx }}+jj]); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "ubx", (void *) buffer); + } + {%- endif %} + + + {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.lbx_e -%} {#- lbx_e #} + // lbx_e + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + + for (int i = 0; i < {{ dims.nbx_e }}; i++) + buffer[i] = (double)(*in_sign[i]); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lbx", buffer); + {%- endif %} + {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.ubx_e -%} {#- ubx_e #} + // ubx_e + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + + for (int i = 0; i < {{ dims.nbx_e }}; i++) + buffer[i] = (double)(*in_sign[i]); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ubx", buffer); + {%- endif %} + + + {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.lbu -%} {#- lbu #} + // lbu + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + for (int ii = 0; ii < N; ii++) + { + for (int jj = 0; jj < {{ dims.nbu }}; jj++) + buffer[jj] = (double)(*in_sign[ii*{{ dims.nbu }}+jj]); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lbu", (void *) buffer); + } + {%- endif -%} + {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.ubu -%} {#- ubu #} + // ubu + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + for (int ii = 0; ii < N; ii++) + { + for (int jj = 0; jj < {{ dims.nbu }}; jj++) + buffer[jj] = (double)(*in_sign[ii*{{ dims.nbu }}+jj]); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "ubu", (void *) buffer); + } + {%- endif -%} + + {%- if dims.ng > 0 and simulink_opts.inputs.lg -%} {#- lg #} + // lg + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + + for (int ii = 0; ii < N; ii++) + { + for (int jj = 0; jj < {{ dims.ng }}; jj++) + buffer[jj] = (double)(*in_sign[ii*{{ dims.ng }}+jj]); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lg", (void *) buffer); + } + {%- endif -%} + {%- if dims.ng > 0 and simulink_opts.inputs.ug -%} {#- ug #} + // ug + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + + for (int ii = 0; ii < N; ii++) + { + for (int jj = 0; jj < {{ dims.ng }}; jj++) + buffer[jj] = (double)(*in_sign[ii*{{ dims.ng }}+jj]); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "ug", (void *) buffer); + } + {%- endif -%} + + {%- if dims.nh > 0 and simulink_opts.inputs.lh -%} {#- lh #} + // lh + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + + for (int ii = 0; ii < N; ii++) + { + for (int jj = 0; jj < {{ dims.nh }}; jj++) + buffer[jj] = (double)(*in_sign[ii*{{ dims.nh }}+jj]); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lh", (void *) buffer); + } + {%- endif -%} + {%- if dims.nh > 0 and simulink_opts.inputs.uh -%} {#- uh #} + // uh + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + + for (int ii = 0; ii < N; ii++) + { + for (int jj = 0; jj < {{ dims.nh }}; jj++) + buffer[jj] = (double)(*in_sign[ii*{{ dims.nh }}+jj]); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "uh", (void *) buffer); + } + {%- endif -%} + + + {%- if dims.nh_e > 0 and simulink_opts.inputs.lh_e -%} {#- lh_e #} + // lh_e + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + for (int i = 0; i < {{ dims.nh_e }}; i++) + buffer[i] = (double)(*in_sign[i]); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lh", buffer); + {%- endif -%} + {%- if dims.nh_e > 0 and simulink_opts.inputs.uh_e -%} {#- uh_e #} + // uh_e + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + for (int i = 0; i < {{ dims.nh_e }}; i++) + buffer[i] = (double)(*in_sign[i]); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "uh", buffer); + {%- endif -%} + + {%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %} {#- cost_W_0 #} + // cost_W_0 + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + for (int i = 0; i < {{ dims.ny_0 * dims.ny_0 }}; i++) + buffer[i] = (double)(*in_sign[i]); + + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "W", buffer); + {%- endif %} + + {%- if dims.ny > 0 and simulink_opts.inputs.cost_W %} {#- cost_W #} + // cost_W + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + for (int i = 0; i < {{ dims.ny * dims.ny }}; i++) + buffer[i] = (double)(*in_sign[i]); + + for (int ii = 1; ii < N; ii++) + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, ii, "W", buffer); + {%- endif %} + + {%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e %} {#- cost_W_e #} + // cost_W_e + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + for (int i = 0; i < {{ dims.ny_e * dims.ny_e }}; i++) + buffer[i] = (double)(*in_sign[i]); + + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "W", buffer); + {%- endif %} + + {%- if simulink_opts.inputs.reset_solver %} {#- reset_solver #} + // reset_solver + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + double reset = (double)(*in_sign[0]); + if (reset) + { + {{ model.name }}_acados_reset(capsule, 1); + } + {%- endif %} + + {%- if simulink_opts.inputs.x_init %} {#- x_init #} + // x_init + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + for (int ii = 0; ii < {{ dims.N + 1 }}; ii++) + { + for (int jj = 0; jj < {{ dims.nx }}; jj++) + buffer[jj] = (double)(*in_sign[(ii)*{{ dims.nx }}+jj]); + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, ii, "x", (void *) buffer); + } + {%- endif %} + + {%- if simulink_opts.inputs.u_init %} {#- u_init #} + // u_init + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + for (int ii = 0; ii < N; ii++) + { + for (int jj = 0; jj < {{ dims.nu }}; jj++) + buffer[jj] = (double)(*in_sign[(ii)*{{ dims.nu }}+jj]); + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, ii, "u", (void *) buffer); + } + {%- endif %} + + /* call solver */ + int rti_phase = 0; + ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "rti_phase", &rti_phase); + int acados_status = {{ model.name }}_acados_solve(capsule); + + + /* set outputs */ + // assign pointers to output signals + real_t *out_u0, *out_utraj, *out_xtraj, *out_status, *out_sqp_iter, *out_KKT_res, *out_KKT_residuals, *out_x1, *out_cpu_time, *out_cpu_time_sim, *out_cpu_time_qp, *out_cpu_time_lin, *out_cost_value; + int tmp_int; + + {%- set i_output = -1 -%}{# note here i_output is 0-based #} + {%- if dims.nu > 0 and simulink_opts.outputs.u0 == 1 %} + {%- set i_output = i_output + 1 %} + out_u0 = ssGetOutputPortRealSignal(S, {{ i_output }}); + ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 0, "u", (void *) out_u0); + {%- endif %} + + {%- if simulink_opts.outputs.utraj == 1 %} + {%- set i_output = i_output + 1 %} + out_utraj = ssGetOutputPortRealSignal(S, {{ i_output }}); + for (int ii = 0; ii < N; ii++) + ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, + "u", (void *) (out_utraj + ii * {{ dims.nu }})); + {%- endif %} + + {% if simulink_opts.outputs.xtraj == 1 %} + {%- set i_output = i_output + 1 %} + + out_xtraj = ssGetOutputPortRealSignal(S, {{ i_output }}); + for (int ii = 0; ii < {{ dims.N + 1 }}; ii++) + ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, + "x", (void *) (out_xtraj + ii * {{ dims.nx }})); + {%- endif %} + + {%- if simulink_opts.outputs.solver_status == 1 %} + {%- set i_output = i_output + 1 %} + out_status = ssGetOutputPortRealSignal(S, {{ i_output }}); + *out_status = (real_t) acados_status; + {%- endif %} + + {%- if simulink_opts.outputs.cost_value == 1 %} + {%- set i_output = i_output + 1 %} + out_cost_value = ssGetOutputPortRealSignal(S, {{ i_output }}); + ocp_nlp_eval_cost(capsule->nlp_solver, nlp_in, nlp_out); + ocp_nlp_get(nlp_config, capsule->nlp_solver, "cost_value", (void *) out_cost_value); + {%- endif %} + + {%- if simulink_opts.outputs.KKT_residual == 1 %} + {%- set i_output = i_output + 1 %} + out_KKT_res = ssGetOutputPortRealSignal(S, {{ i_output }}); + *out_KKT_res = (real_t) nlp_out->inf_norm_res; + {%- endif %} + + {%- if simulink_opts.outputs.KKT_residuals == 1 %} + {%- set i_output = i_output + 1 %} + out_KKT_residuals = ssGetOutputPortRealSignal(S, {{ i_output }}); + + {%- if solver_options.nlp_solver_type == "SQP_RTI" %} + ocp_nlp_eval_residuals(capsule->nlp_solver, nlp_in, nlp_out); + {%- endif %} + ocp_nlp_get(nlp_config, capsule->nlp_solver, "res_stat", (void *) &out_KKT_residuals[0]); + ocp_nlp_get(nlp_config, capsule->nlp_solver, "res_eq", (void *) &out_KKT_residuals[1]); + ocp_nlp_get(nlp_config, capsule->nlp_solver, "res_ineq", (void *) &out_KKT_residuals[2]); + ocp_nlp_get(nlp_config, capsule->nlp_solver, "res_comp", (void *) &out_KKT_residuals[3]); + {%- endif %} + + {%- if dims.N > 0 and simulink_opts.outputs.x1 == 1 %} + {%- set i_output = i_output + 1 %} + out_x1 = ssGetOutputPortRealSignal(S, {{ i_output }}); + ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 1, "x", (void *) out_x1); + {%- endif %} + + {%- if simulink_opts.outputs.CPU_time == 1 %} + {%- set i_output = i_output + 1 %} + out_cpu_time = ssGetOutputPortRealSignal(S, {{ i_output }}); + // get solution time + ocp_nlp_get(nlp_config, capsule->nlp_solver, "time_tot", (void *) out_cpu_time); + {%- endif -%} + + {%- if simulink_opts.outputs.CPU_time_sim == 1 %} + {%- set i_output = i_output + 1 %} + out_cpu_time_sim = ssGetOutputPortRealSignal(S, {{ i_output }}); + ocp_nlp_get(nlp_config, capsule->nlp_solver, "time_sim", (void *) out_cpu_time_sim); + {%- endif -%} + + {%- if simulink_opts.outputs.CPU_time_qp == 1 %} + {%- set i_output = i_output + 1 %} + out_cpu_time_qp = ssGetOutputPortRealSignal(S, {{ i_output }}); + ocp_nlp_get(nlp_config, capsule->nlp_solver, "time_qp", (void *) out_cpu_time_qp); + {%- endif -%} + + {%- if simulink_opts.outputs.CPU_time_lin == 1 %} + {%- set i_output = i_output + 1 %} + out_cpu_time_lin = ssGetOutputPortRealSignal(S, {{ i_output }}); + ocp_nlp_get(nlp_config, capsule->nlp_solver, "time_lin", (void *) out_cpu_time_lin); + {%- endif -%} + + {%- if simulink_opts.outputs.sqp_iter == 1 %} + {%- set i_output = i_output + 1 %} + out_sqp_iter = ssGetOutputPortRealSignal(S, {{ i_output }}); + // get sqp iter + ocp_nlp_get(nlp_config, capsule->nlp_solver, "sqp_iter", (void *) &tmp_int); + *out_sqp_iter = (real_t) tmp_int; + {%- endif %} + +} + +static void mdlTerminate(SimStruct *S) +{ + {{ model.name }}_solver_capsule *capsule = ssGetUserData(S); + + {{ model.name }}_acados_free(capsule); + {{ model.name }}_acados_free_capsule(capsule); +} + + +#ifdef MATLAB_MEX_FILE +#include "simulink.c" +#else +#include "cg_sfun.h" +#endif diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/main_mex.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/main_mex.in.c new file mode 100644 index 0000000000..851a3cc04f --- /dev/null +++ b/third_party/acados/acados_template/c_templates_tera/matlab_templates/main_mex.in.c @@ -0,0 +1,181 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +// standard +#include +#include +// acados +#include "acados/utils/print.h" +#include "acados/utils/math.h" +#include "acados_c/ocp_nlp_interface.h" +#include "acados_solver_{{ model.name }}.h" +// mex +#include "mex.h" + +/* auxilary mex */ +// prints a matrix in column-major format (exponential notation) +void MEX_print_exp_mat(int m, int n, double *A, int lda) +{ + for (int i=0; iN; i++) + { + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x_init); + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0); + } + status = {{ model.name }}_acados_solve(); + ocp_nlp_get(nlp_config, nlp_solver, "time_tot", &elapsed_time); + min_time = MIN(elapsed_time, min_time); + } + + /* print solution and statistics */ + for (int ii = 0; ii <= nlp_dims->N; ii++) + ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "x", &xtraj[ii*{{ dims.nx }}]); + for (int ii = 0; ii < nlp_dims->N; ii++) + ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "u", &utraj[ii*{{ dims.nu }}]); + + mexPrintf("\n--- xtraj ---\n"); + MEX_print_exp_tran_mat( {{ dims.nx }}, {{ dims.N }}+1, xtraj, {{ dims.nx }} ); + mexPrintf("\n--- utraj ---\n"); + MEX_print_exp_tran_mat( {{ dims.nu }}, {{ dims.N }}, utraj, {{ dims.nu }} ); + + mexPrintf("\nsolved ocp %d times, solution printed above\n\n", NTIMINGS); + + if (status == ACADOS_SUCCESS) + mexPrintf("{{ model.name }}_acados_solve(): SUCCESS!\n"); + else + mexPrintf("{{ model.name }}_acados_solve() failed with status %d.\n", status); + + // get solution + ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 0, "kkt_norm_inf", &kkt_norm_inf); + ocp_nlp_get(nlp_config, nlp_solver, "sqp_iter", &sqp_iter); + + mexPrintf("\nSolver info:\n"); + mexPrintf(" SQP iterations %2d\n minimum time for 1 solve %f [ms]\n KKT %e\n", + sqp_iter, min_time*1000, kkt_norm_inf); + + // free solver + status = {{ model.name }}_acados_free(); + if (status) + { + mexPrintf("{{ model.name }}_acados_free() returned status %d.\n", status); + } + + return; +} diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_main_mex.in.m b/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_main_mex.in.m new file mode 100644 index 0000000000..d217948456 --- /dev/null +++ b/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_main_mex.in.m @@ -0,0 +1,103 @@ +% +% Copyright (c) The acados authors. +% +% This file is part of acados. +% +% The 2-Clause BSD License +% +% Redistribution and use in source and binary forms, with or without +% modification, are permitted provided that the following conditions are met: +% +% 1. Redistributions of source code must retain the above copyright notice, +% this list of conditions and the following disclaimer. +% +% 2. Redistributions in binary form must reproduce the above copyright notice, +% this list of conditions and the following disclaimer in the documentation +% and/or other materials provided with the distribution. +% +% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +% POSSIBILITY OF SUCH DAMAGE.; + +% + +function make_main_mex_{{ model.name }}() + + opts.output_dir = pwd; + + % get acados folder + acados_folder = getenv('ACADOS_INSTALL_DIR'); + + % set paths + acados_include = ['-I' fullfile(acados_folder, 'include')]; + template_lib_include = ['-l' 'acados_solver_{{ model.name }}']; + template_lib_path = ['-L' fullfile(pwd)]; + + acados_lib_path = ['-L' fullfile(acados_folder, 'lib')]; + external_include = ['-I', fullfile(acados_folder, 'external')]; + blasfeo_include = ['-I', fullfile(acados_folder, 'external', 'blasfeo', 'include')]; + hpipm_include = ['-I', fullfile(acados_folder, 'external', 'hpipm', 'include')]; + + mex_names = { ... + 'main_mex_{{ model.name }}' ... + }; + + mex_files = cell(length(mex_names), 1); + for k=1:length(mex_names) + mex_files{k} = fullfile([mex_names{k}, '.c']); + end + + %% octave C flags + if is_octave() + if ~exist(fullfile(opts.output_dir, 'cflags_octave.txt'), 'file') + diary(fullfile(opts.output_dir, 'cflags_octave.txt')); + diary on + mkoctfile -p CFLAGS + diary off + input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'r'); + cflags_tmp = fscanf(input_file, '%[^\n]s'); + fclose(input_file); + if ~ismac() + cflags_tmp = [cflags_tmp, ' -std=c99 -fopenmp']; + else + cflags_tmp = [cflags_tmp, ' -std=c99']; + end + input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'w'); + fprintf(input_file, '%s', cflags_tmp); + fclose(input_file); + end + % read cflags from file + input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'r'); + cflags_tmp = fscanf(input_file, '%[^\n]s'); + fclose(input_file); + setenv('CFLAGS', cflags_tmp); + end + + %% compile mex + for ii=1:length(mex_files) + disp(['compiling ', mex_files{ii}]) + if is_octave() + % mkoctfile -p CFLAGS + mex(acados_include, template_lib_include, external_include, blasfeo_include, hpipm_include,... + acados_lib_path, template_lib_path, '-lacados', '-lhpipm', '-lblasfeo', mex_files{ii}) + else + if ismac() + FLAGS = 'CFLAGS=$CFLAGS -std=c99'; + else + FLAGS = 'CFLAGS=$CFLAGS -std=c99 -fopenmp'; + end + mex(FLAGS, acados_include, template_lib_include, external_include, blasfeo_include, hpipm_include,... + acados_lib_path, template_lib_path, '-lacados', '-lhpipm', '-lblasfeo', mex_files{ii}) + end + end + + +end \ No newline at end of file diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_mex.in.m b/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_mex.in.m new file mode 100644 index 0000000000..5e35827137 --- /dev/null +++ b/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_mex.in.m @@ -0,0 +1,127 @@ +% +% Copyright (c) The acados authors. +% +% This file is part of acados. +% +% The 2-Clause BSD License +% +% Redistribution and use in source and binary forms, with or without +% modification, are permitted provided that the following conditions are met: +% +% 1. Redistributions of source code must retain the above copyright notice, +% this list of conditions and the following disclaimer. +% +% 2. Redistributions in binary form must reproduce the above copyright notice, +% this list of conditions and the following disclaimer in the documentation +% and/or other materials provided with the distribution. +% +% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +% POSSIBILITY OF SUCH DAMAGE.; + +% + +function make_mex_{{ model.name }}() + + opts.output_dir = pwd; + + % get acados folder + acados_folder = getenv('ACADOS_INSTALL_DIR'); + + % set paths + acados_include = ['-I' fullfile(acados_folder, 'include')]; + template_lib_include = ['-l' 'acados_ocp_solver_{{ model.name }}']; + template_lib_path = ['-L' fullfile(pwd)]; + + acados_lib_path = ['-L' fullfile(acados_folder, 'lib')]; + external_include = ['-I', fullfile(acados_folder, 'external')]; + blasfeo_include = ['-I', fullfile(acados_folder, 'external', 'blasfeo', 'include')]; + hpipm_include = ['-I', fullfile(acados_folder, 'external', 'hpipm', 'include')]; + + % load linking information of compiled acados + link_libs_core_filename = fullfile(acados_folder, 'lib', 'link_libs.json'); + addpath(fullfile(acados_folder, 'external', 'jsonlab')); + link_libs = loadjson(link_libs_core_filename); + + % add necessary link instructs + acados_lib_extra = {}; + lib_names = fieldnames(link_libs); + for idx = 1 : numel(lib_names) + lib_name = lib_names{idx}; + link_arg = link_libs.(lib_name); + if ~isempty(link_arg) + acados_lib_extra = [acados_lib_extra, link_arg]; + end + end + + + mex_include = ['-I', fullfile(acados_folder, 'interfaces', 'acados_matlab_octave')]; + + mex_names = { ... + 'acados_mex_create_{{ model.name }}' ... + 'acados_mex_free_{{ model.name }}' ... + 'acados_mex_solve_{{ model.name }}' ... + 'acados_mex_set_{{ model.name }}' ... + }; + + mex_files = cell(length(mex_names), 1); + for k=1:length(mex_names) + mex_files{k} = fullfile([mex_names{k}, '.c']); + end + + %% octave C flags + if is_octave() + if ~exist(fullfile(opts.output_dir, 'cflags_octave.txt'), 'file') + diary(fullfile(opts.output_dir, 'cflags_octave.txt')); + diary on + mkoctfile -p CFLAGS + diary off + input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'r'); + cflags_tmp = fscanf(input_file, '%[^\n]s'); + fclose(input_file); + if ~ismac() + cflags_tmp = [cflags_tmp, ' -std=c99 -fopenmp']; + else + cflags_tmp = [cflags_tmp, ' -std=c99']; + end + input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'w'); + fprintf(input_file, '%s', cflags_tmp); + fclose(input_file); + end + % read cflags from file + input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'r'); + cflags_tmp = fscanf(input_file, '%[^\n]s'); + fclose(input_file); + setenv('CFLAGS', cflags_tmp); + end + + %% compile mex + for ii=1:length(mex_files) + disp(['compiling ', mex_files{ii}]) + if is_octave() + % mkoctfile -p CFLAGS + mex(acados_include, template_lib_include, external_include, blasfeo_include, hpipm_include,... + template_lib_path, mex_include, acados_lib_path, '-lacados', '-lhpipm', '-lblasfeo',... + acados_lib_extra{:}, mex_files{ii}) + else + if ismac() + FLAGS = 'CFLAGS=$CFLAGS -std=c99'; + else + FLAGS = 'CFLAGS=$CFLAGS -std=c99 -fopenmp'; + end + mex(FLAGS, acados_include, template_lib_include, external_include, blasfeo_include, hpipm_include,... + template_lib_path, mex_include, acados_lib_path, '-lacados', '-lhpipm', '-lblasfeo',... + acados_lib_extra{:}, mex_files{ii}) + end + end + + +end \ No newline at end of file diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun.in.m b/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun.in.m new file mode 100644 index 0000000000..5d74c523f8 --- /dev/null +++ b/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun.in.m @@ -0,0 +1,432 @@ +% +% Copyright (c) The acados authors. +% +% This file is part of acados. +% +% The 2-Clause BSD License +% +% Redistribution and use in source and binary forms, with or without +% modification, are permitted provided that the following conditions are met: +% +% 1. Redistributions of source code must retain the above copyright notice, +% this list of conditions and the following disclaimer. +% +% 2. Redistributions in binary form must reproduce the above copyright notice, +% this list of conditions and the following disclaimer in the documentation +% and/or other materials provided with the distribution. +% +% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +% POSSIBILITY OF SUCH DAMAGE.; + +% + +SOURCES = { ... + {%- if solver_options.integrator_type == 'ERK' %} + '{{ model.name }}_model/{{ model.name }}_expl_ode_fun.c', ... + '{{ model.name }}_model/{{ model.name }}_expl_vde_forw.c',... + {%- if solver_options.hessian_approx == 'EXACT' %} + '{{ model.name }}_model/{{ model.name }}_expl_ode_hess.c',... + {%- endif %} + {%- elif solver_options.integrator_type == "IRK" %} + '{{ model.name }}_model/{{ model.name }}_impl_dae_fun.c', ... + '{{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.c', ... + '{{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.c', ... + {%- if solver_options.hessian_approx == 'EXACT' %} + '{{ model.name }}_model/{{ model.name }}_impl_dae_hess.c',... + {%- endif %} + {%- elif solver_options.integrator_type == "GNSF" %} + {% if model.gnsf.purely_linear != 1 %} + '{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.c',... + '{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.c',... + '{{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.c',... + {% if model.gnsf.nontrivial_f_LO == 1 %} + '{{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c',... + {%- endif %} + {%- endif %} + '{{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c',... + {%- elif solver_options.integrator_type == "DISCRETE" %} + '{{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun.c',... + '{{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac.c',... + {%- if solver_options.hessian_approx == "EXACT" %} + '{{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac_hess.c',... + {%- endif %} + {%- endif %} + {%- if cost.cost_type_0 == "NONLINEAR_LS" %} + '{{ model.name }}_cost/{{ model.name }}_cost_y_0_fun.c',... + '{{ model.name }}_cost/{{ model.name }}_cost_y_0_fun_jac_ut_xt.c',... + '{{ model.name }}_cost/{{ model.name }}_cost_y_0_hess.c',... + {%- elif cost.cost_type_0 == "EXTERNAL" %} + '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun.c',... + '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac.c',... + '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac_hess.c',... + {%- endif %} + + {%- if cost.cost_type == "NONLINEAR_LS" %} + '{{ model.name }}_cost/{{ model.name }}_cost_y_fun.c',... + '{{ model.name }}_cost/{{ model.name }}_cost_y_fun_jac_ut_xt.c',... + '{{ model.name }}_cost/{{ model.name }}_cost_y_hess.c',... + {%- elif cost.cost_type == "EXTERNAL" %} + '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun.c',... + '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac.c',... + '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac_hess.c',... + {%- endif %} + {%- if cost.cost_type_e == "NONLINEAR_LS" %} + '{{ model.name }}_cost/{{ model.name }}_cost_y_e_fun.c',... + '{{ model.name }}_cost/{{ model.name }}_cost_y_e_fun_jac_ut_xt.c',... + '{{ model.name }}_cost/{{ model.name }}_cost_y_e_hess.c',... + {%- elif cost.cost_type_e == "EXTERNAL" %} + '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun.c',... + '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac.c',... + '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac_hess.c',... + {%- endif %} + {%- if constraints.constr_type == "BGH" and dims.nh > 0 %} + '{{ model.name }}_constraints/{{ model.name }}_constr_h_fun.c', ... + '{{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt_hess.c', ... + '{{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt.c', ... + {%- elif constraints.constr_type == "BGP" and dims.nphi > 0 %} + '{{ model.name }}_constraints/{{ model.name }}_phi_constraint.c', ... + {%- endif %} + {%- if constraints.constr_type_e == "BGH" and dims.nh_e > 0 %} + '{{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun.c', ... + '{{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess.c', ... + '{{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt.c', ... + {%- elif constraints.constr_type_e == "BGP" and dims.nphi_e > 0 %} + '{{ model.name }}_constraints/{{ model.name }}_phi_e_constraint.c', ... + {%- endif %} + 'acados_solver_sfunction_{{ model.name }}.c', ... + 'acados_solver_{{ model.name }}.c' + }; + +INC_PATH = '{{ acados_include_path }}'; + +INCS = {['-I', fullfile(INC_PATH, 'blasfeo', 'include')], ... + ['-I', fullfile(INC_PATH, 'hpipm', 'include')], ... + ['-I', fullfile(INC_PATH, 'acados')], ... + ['-I', fullfile(INC_PATH)]}; + +{% if solver_options.qp_solver is containing("QPOASES") %} +INCS{end+1} = ['-I', fullfile(INC_PATH, 'qpOASES_e')]; +{% endif %} + +CFLAGS = 'CFLAGS=$CFLAGS'; +LDFLAGS = 'LDFLAGS=$LDFLAGS'; +COMPFLAGS = 'COMPFLAGS=$COMPFLAGS'; +COMPDEFINES = 'COMPDEFINES=$COMPDEFINES'; + +{% if solver_options.qp_solver is containing("QPOASES") %} +CFLAGS = [ CFLAGS, ' -DACADOS_WITH_QPOASES ' ]; +COMPDEFINES = [ COMPDEFINES, ' -DACADOS_WITH_QPOASES ' ]; +{%- elif solver_options.qp_solver is containing("OSQP") %} +CFLAGS = [ CFLAGS, ' -DACADOS_WITH_OSQP ' ]; +COMPDEFINES = [ COMPDEFINES, ' -DACADOS_WITH_OSQP ' ]; +{%- elif solver_options.qp_solver is containing("QPDUNES") %} +CFLAGS = [ CFLAGS, ' -DACADOS_WITH_QPDUNES ' ]; +COMPDEFINES = [ COMPDEFINES, ' -DACADOS_WITH_QPDUNES ' ]; +{%- elif solver_options.qp_solver is containing("DAQP") %} +CFLAGS = [ CFLAGS, ' -DACADOS_WITH_DAQP' ]; +COMPDEFINES = [ COMPDEFINES, ' -DACADOS_WITH_DAQP' ]; +{%- elif solver_options.qp_solver is containing("HPMPC") %} +CFLAGS = [ CFLAGS, ' -DACADOS_WITH_HPMPC ' ]; +COMPDEFINES = [ COMPDEFINES, ' -DACADOS_WITH_HPMPC ' ]; +{% endif %} + +LIB_PATH = ['-L', fullfile('{{ acados_lib_path }}')]; + +LIBS = {'-lacados', '-lhpipm', '-lblasfeo'}; + +% acados linking libraries and flags +{%- if acados_link_libs and os and os == "pc" %} +LDFLAGS = [LDFLAGS ' {{ acados_link_libs.openmp }}']; +COMPFLAGS = [COMPFLAGS ' {{ acados_link_libs.openmp }}']; +LIBS{end+1} = '{{ acados_link_libs.qpoases }}'; +LIBS{end+1} = '{{ acados_link_libs.hpmpc }}'; +LIBS{end+1} = '{{ acados_link_libs.osqp }}'; +{%- else %} + {% if solver_options.qp_solver is containing("QPOASES") %} +LIBS{end+1} = '-lqpOASES_e'; + {% endif %} + {% if solver_options.qp_solver is containing("DAQP") %} +LIBS{end+1} = '-ldaqp'; + {% endif %} +{%- endif %} + + +try + % mex('-v', '-O', CFLAGS, LDFLAGS, COMPFLAGS, COMPDEFINES, INCS{:}, ... + mex('-O', CFLAGS, LDFLAGS, COMPFLAGS, COMPDEFINES, INCS{:}, ... + LIB_PATH, LIBS{:}, SOURCES{:}, ... + '-output', 'acados_solver_sfunction_{{ model.name }}' ); +catch exception + disp('make_sfun failed with the following exception:') + disp(exception); + disp('Try adding -v to the mex command above to get more information.') + keyboard +end + +fprintf( [ '\n\nSuccessfully created sfunction:\nacados_solver_sfunction_{{ model.name }}', '.', ... + eval('mexext')] ); + + +%% print note on usage of s-function, and create I/O port names vectors +fprintf('\n\nNote: Usage of Sfunction is as follows:\n') +input_note = 'Inputs are:\n'; +i_in = 1; + +global sfun_input_names +sfun_input_names = {}; + +{%- if dims.nbx_0 > 0 and simulink_opts.inputs.lbx_0 -%} {#- lbx_0 #} +input_note = strcat(input_note, num2str(i_in), ') lbx_0 - lower bound on x for stage 0,',... + ' size [{{ dims.nbx_0 }}]\n '); +sfun_input_names = [sfun_input_names; 'lbx_0 [{{ dims.nbx_0 }}]']; +i_in = i_in + 1; +{%- endif %} + +{%- if dims.nbx_0 > 0 and simulink_opts.inputs.ubx_0 -%} {#- ubx_0 #} +input_note = strcat(input_note, num2str(i_in), ') ubx_0 - upper bound on x for stage 0,',... + ' size [{{ dims.nbx_0 }}]\n '); +sfun_input_names = [sfun_input_names; 'ubx_0 [{{ dims.nbx_0 }}]']; +i_in = i_in + 1; +{%- endif %} + +{%- if dims.np > 0 and simulink_opts.inputs.parameter_traj -%} {#- parameter_traj #} +input_note = strcat(input_note, num2str(i_in), ') parameters - concatenated for all shooting nodes 0 to N,',... + ' size [{{ (dims.N+1)*dims.np }}]\n '); +sfun_input_names = [sfun_input_names; 'parameter_traj [{{ (dims.N+1)*dims.np }}]']; +i_in = i_in + 1; +{%- endif %} + +{%- if dims.ny_0 > 0 and simulink_opts.inputs.y_ref_0 %} +input_note = strcat(input_note, num2str(i_in), ') y_ref_0, size [{{ dims.ny_0 }}]\n '); +sfun_input_names = [sfun_input_names; 'y_ref_0 [{{ dims.ny_0 }}]']; +i_in = i_in + 1; +{%- endif %} + +{%- if dims.ny > 0 and dims.N > 1 and simulink_opts.inputs.y_ref %} +input_note = strcat(input_note, num2str(i_in), ') y_ref - concatenated for shooting nodes 1 to N-1,',... + ' size [{{ (dims.N-1) * dims.ny }}]\n '); +sfun_input_names = [sfun_input_names; 'y_ref [{{ (dims.N-1) * dims.ny }}]']; +i_in = i_in + 1; +{%- endif %} + +{%- if dims.ny_e > 0 and dims.N > 0 and simulink_opts.inputs.y_ref_e %} +input_note = strcat(input_note, num2str(i_in), ') y_ref_e, size [{{ dims.ny_e }}]\n '); +sfun_input_names = [sfun_input_names; 'y_ref_e [{{ dims.ny_e }}]']; +i_in = i_in + 1; +{%- endif %} + +{%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.lbx -%} {#- lbx #} +input_note = strcat(input_note, num2str(i_in), ') lbx for shooting nodes 1 to N-1, size [{{ (dims.N-1) * dims.nbx }}]\n '); +sfun_input_names = [sfun_input_names; 'lbx [{{ (dims.N-1) * dims.nbx }}]']; +i_in = i_in + 1; +{%- endif %} +{%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.ubx -%} {#- ubx #} +input_note = strcat(input_note, num2str(i_in), ') ubx for shooting nodes 1 to N-1, size [{{ (dims.N-1) * dims.nbx }}]\n '); +sfun_input_names = [sfun_input_names; 'ubx [{{ (dims.N-1) * dims.nbx }}]']; +i_in = i_in + 1; +{%- endif %} + + +{%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.lbx_e -%} {#- lbx_e #} +input_note = strcat(input_note, num2str(i_in), ') lbx_e (lbx at shooting node N), size [{{ dims.nbx_e }}]\n '); +sfun_input_names = [sfun_input_names; 'lbx_e [{{ dims.nbx_e }}]']; +i_in = i_in + 1; +{%- endif %} +{%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.ubx_e -%} {#- ubx_e #} +input_note = strcat(input_note, num2str(i_in), ') ubx_e (ubx at shooting node N), size [{{ dims.nbx_e }}]\n '); +sfun_input_names = [sfun_input_names; 'ubx_e [{{ dims.nbx_e }}]']; +i_in = i_in + 1; +{%- endif %} + +{%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.lbu -%} {#- lbu #} +input_note = strcat(input_note, num2str(i_in), ') lbu for shooting nodes 0 to N-1, size [{{ dims.N*dims.nbu }}]\n '); +sfun_input_names = [sfun_input_names; 'lbu [{{ dims.N*dims.nbu }}]']; +i_in = i_in + 1; +{%- endif -%} +{%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.ubu -%} {#- ubu #} +input_note = strcat(input_note, num2str(i_in), ') ubu for shooting nodes 0 to N-1, size [{{ dims.N*dims.nbu }}]\n '); +sfun_input_names = [sfun_input_names; 'ubu [{{ dims.N*dims.nbu }}]']; +i_in = i_in + 1; +{%- endif -%} + +{%- if dims.ng > 0 and simulink_opts.inputs.lg -%} {#- lg #} +input_note = strcat(input_note, num2str(i_in), ') lg for shooting nodes 0 to N-1, size [{{ dims.N*dims.ng }}]\n '); +sfun_input_names = [sfun_input_names; 'lg [{{ dims.N*dims.ng }}]']; +i_in = i_in + 1; +{%- endif %} +{%- if dims.ng > 0 and simulink_opts.inputs.ug -%} {#- ug #} +input_note = strcat(input_note, num2str(i_in), ') ug for shooting nodes 0 to N-1, size [{{ dims.N*dims.ng }}]\n '); +sfun_input_names = [sfun_input_names; 'ug [{{ dims.N*dims.ng }}]']; +i_in = i_in + 1; +{%- endif %} + +{%- if dims.nh > 0 and simulink_opts.inputs.lh -%} {#- lh #} +input_note = strcat(input_note, num2str(i_in), ') lh for shooting nodes 0 to N-1, size [{{ dims.N*dims.nh }}]\n '); +sfun_input_names = [sfun_input_names; 'lh [{{ dims.N*dims.nh }}]']; +i_in = i_in + 1; +{%- endif %} +{%- if dims.nh > 0 and simulink_opts.inputs.uh -%} {#- uh #} +input_note = strcat(input_note, num2str(i_in), ') uh for shooting nodes 0 to N-1, size [{{ dims.N*dims.nh }}]\n '); +sfun_input_names = [sfun_input_names; 'uh [{{ dims.N*dims.nh }}]']; +i_in = i_in + 1; +{%- endif %} + +{%- if dims.nh_e > 0 and simulink_opts.inputs.lh_e -%} {#- lh_e #} +input_note = strcat(input_note, num2str(i_in), ') lh_e, size [{{ dims.nh_e }}]\n '); +sfun_input_names = [sfun_input_names; 'lh_e [{{ dims.nh_e }}]']; +i_in = i_in + 1; +{%- endif %} +{%- if dims.nh_e > 0 and simulink_opts.inputs.uh_e -%} {#- uh_e #} +input_note = strcat(input_note, num2str(i_in), ') uh_e, size [{{ dims.nh_e }}]\n '); +sfun_input_names = [sfun_input_names; 'uh_e [{{ dims.nh_e }}]']; +i_in = i_in + 1; +{%- endif %} + +{%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %} {#- cost_W_0 #} +input_note = strcat(input_note, num2str(i_in), ') cost_W_0 in column-major format, size [{{ dims.ny_0 * dims.ny_0 }}]\n '); +sfun_input_names = [sfun_input_names; 'cost_W_0 [{{ dims.ny_0 * dims.ny_0 }}]']; +i_in = i_in + 1; +{%- endif %} + +{%- if dims.ny > 0 and simulink_opts.inputs.cost_W %} {#- cost_W #} +input_note = strcat(input_note, num2str(i_in), ') cost_W in column-major format, that is set for all intermediate shooting nodes: 1 to N-1, size [{{ dims.ny * dims.ny }}]\n '); +sfun_input_names = [sfun_input_names; 'cost_W [{{ dims.ny * dims.ny }}]']; +i_in = i_in + 1; +{%- endif %} + +{%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e %} {#- cost_W_e #} +input_note = strcat(input_note, num2str(i_in), ') cost_W_e in column-major format, size [{{ dims.ny_e * dims.ny_e }}]\n '); +sfun_input_names = [sfun_input_names; 'cost_W_e [{{ dims.ny_e * dims.ny_e }}]']; +i_in = i_in + 1; +{%- endif %} + +{%- if simulink_opts.inputs.reset_solver %} {#- reset_solver #} +input_note = strcat(input_note, num2str(i_in), ') reset_solver determines if iterate is set to all zeros before other initializations (x_init, u_init) are set and before solver is called, size [1]\n '); +sfun_input_names = [sfun_input_names; 'reset_solver [1]']; +i_in = i_in + 1; +{%- endif %} + +{%- if simulink_opts.inputs.x_init %} {#- x_init #} +input_note = strcat(input_note, num2str(i_in), ') initialization of x for all shooting nodes, size [{{ dims.nx * (dims.N+1) }}]\n '); +sfun_input_names = [sfun_input_names; 'x_init [{{ dims.nx * (dims.N+1) }}]']; +i_in = i_in + 1; +{%- endif %} + +{%- if simulink_opts.inputs.u_init %} {#- u_init #} +input_note = strcat(input_note, num2str(i_in), ') initialization of u for shooting nodes 0 to N-1, size [{{ dims.nu * (dims.N) }}]\n '); +sfun_input_names = [sfun_input_names; 'u_init [{{ dims.nu * (dims.N) }}]']; +i_in = i_in + 1; +{%- endif %} + +fprintf(input_note) + +disp(' ') + +output_note = 'Outputs are:\n'; +i_out = 0; + +global sfun_output_names +sfun_output_names = {}; + +{%- if dims.nu > 0 and simulink_opts.outputs.u0 == 1 %} +i_out = i_out + 1; +output_note = strcat(output_note, num2str(i_out), ') u0, control input at node 0, size [{{ dims.nu }}]\n '); +sfun_output_names = [sfun_output_names; 'u0 [{{ dims.nu }}]']; +{%- endif %} + +{%- if simulink_opts.outputs.utraj == 1 %} +i_out = i_out + 1; +output_note = strcat(output_note, num2str(i_out), ') utraj, control input concatenated for nodes 0 to N-1, size [{{ dims.nu * dims.N }}]\n '); +sfun_output_names = [sfun_output_names; 'utraj [{{ dims.nu * dims.N }}]']; +{%- endif %} + +{%- if simulink_opts.outputs.xtraj == 1 %} +i_out = i_out + 1; +output_note = strcat(output_note, num2str(i_out), ') xtraj, state concatenated for nodes 0 to N, size [{{ dims.nx * (dims.N + 1) }}]\n '); +sfun_output_names = [sfun_output_names; 'xtraj [{{ dims.nx * (dims.N + 1) }}]']; +{%- endif %} + +{%- if simulink_opts.outputs.solver_status == 1 %} +i_out = i_out + 1; +output_note = strcat(output_note, num2str(i_out), ') acados solver status (0 = SUCCESS)\n '); +sfun_output_names = [sfun_output_names; 'solver_status']; +{%- endif %} + +{%- if simulink_opts.outputs.cost_value == 1 %} +i_out = i_out + 1; +output_note = strcat(output_note, num2str(i_out), ') cost function value\n '); +sfun_output_names = [sfun_output_names; 'cost_value']; +{%- endif %} + + +{%- if simulink_opts.outputs.KKT_residual == 1 %} +i_out = i_out + 1; +output_note = strcat(output_note, num2str(i_out), ') KKT residual\n '); +sfun_output_names = [sfun_output_names; 'KKT_residual']; +{%- endif %} + +{%- if simulink_opts.outputs.KKT_residuals == 1 %} +i_out = i_out + 1; +output_note = strcat(output_note, num2str(i_out), ') KKT residuals, size [4] (stat, eq, ineq, comp)\n '); +sfun_output_names = [sfun_output_names; 'KKT_residuals [4]']; +{%- endif %} + +{%- if dims.N > 0 and simulink_opts.outputs.x1 == 1 %} +i_out = i_out + 1; +output_note = strcat(output_note, num2str(i_out), ') x1, state at node 1\n '); +sfun_output_names = [sfun_output_names; 'x1']; +{%- endif %} + +{%- if simulink_opts.outputs.CPU_time == 1 %} +i_out = i_out + 1; +output_note = strcat(output_note, num2str(i_out), ') CPU time\n '); +sfun_output_names = [sfun_output_names; 'CPU_time']; +{%- endif %} + +{%- if simulink_opts.outputs.CPU_time_sim == 1 %} +i_out = i_out + 1; +output_note = strcat(output_note, num2str(i_out), ') CPU time integrator\n '); +sfun_output_names = [sfun_output_names; 'CPU_time_sim']; +{%- endif %} + +{%- if simulink_opts.outputs.CPU_time_qp == 1 %} +i_out = i_out + 1; +output_note = strcat(output_note, num2str(i_out), ') CPU time QP solution\n '); +sfun_output_names = [sfun_output_names; 'CPU_time_qp']; +{%- endif %} + +{%- if simulink_opts.outputs.CPU_time_lin == 1 %} +i_out = i_out + 1; +output_note = strcat(output_note, num2str(i_out), ') CPU time linearization (including integrator)\n '); +sfun_output_names = [sfun_output_names; 'CPU_time_lin']; +{%- endif %} + +{%- if simulink_opts.outputs.sqp_iter == 1 %} +i_out = i_out + 1; +output_note = strcat(output_note, num2str(i_out), ') SQP iterations\n '); +sfun_output_names = [sfun_output_names; 'sqp_iter']; +{%- endif %} + +fprintf(output_note) + +% The mask drawing command is: +% --- +% global sfun_input_names sfun_output_names +% for i = 1:length(sfun_input_names) +% port_label('input', i, sfun_input_names{i}) +% end +% for i = 1:length(sfun_output_names) +% port_label('output', i, sfun_output_names{i}) +% end +% --- +% It can be used by copying it in sfunction/Mask/Edit mask/Icon drawing commands +% (you can access it wirth ctrl+M on the s-function) \ No newline at end of file diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun_sim.in.m b/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun_sim.in.m new file mode 100644 index 0000000000..e4c32a8c19 --- /dev/null +++ b/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun_sim.in.m @@ -0,0 +1,137 @@ +% +% Copyright (c) The acados authors. +% +% This file is part of acados. +% +% The 2-Clause BSD License +% +% Redistribution and use in source and binary forms, with or without +% modification, are permitted provided that the following conditions are met: +% +% 1. Redistributions of source code must retain the above copyright notice, +% this list of conditions and the following disclaimer. +% +% 2. Redistributions in binary form must reproduce the above copyright notice, +% this list of conditions and the following disclaimer in the documentation +% and/or other materials provided with the distribution. +% +% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +% POSSIBILITY OF SUCH DAMAGE.; + +% + +SOURCES = [ 'acados_sim_solver_sfunction_{{ model.name }}.c ', ... + 'acados_sim_solver_{{ model.name }}.c ', ... + {%- if solver_options.integrator_type == 'ERK' %} + '{{ model.name }}_model/{{ model.name }}_expl_ode_fun.c ',... + '{{ model.name }}_model/{{ model.name }}_expl_vde_forw.c ',... + '{{ model.name }}_model/{{ model.name }}_expl_vde_adj.c ',... + {%- if solver_options.hessian_approx == 'EXACT' %} + '{{ model.name }}_model/{{ model.name }}_expl_ode_hess.c ',... + {%- endif %} + {%- elif solver_options.integrator_type == "IRK" %} + '{{ model.name }}_model/{{ model.name }}_impl_dae_fun.c ', ... + '{{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.c ', ... + '{{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.c ', ... + {%- if solver_options.hessian_approx == 'EXACT' %} + '{{ model.name }}_model/{{ model.name }}_impl_dae_hess.c ',... + {%- endif %} + {%- elif solver_options.integrator_type == "GNSF" %} + {%- if model.gnsf.purely_linear != 1 %} + '{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.c ',... + '{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.c ',... + '{{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.c ',... + {%- if model.gnsf.nontrivial_f_LO == 1 %} + '{{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c ',... + {%- endif %} + {%- endif %} + '{{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c ',... + {%- endif %} + ]; + +INC_PATH = '{{ acados_include_path }}'; + +INCS = [ ' -I', fullfile(INC_PATH, 'blasfeo', 'include'), ... + ' -I', fullfile(INC_PATH, 'hpipm', 'include'), ... + ' -I', INC_PATH, ' -I', fullfile(INC_PATH, 'acados'), ' ']; + +CFLAGS = ' -O'; + +LIB_PATH = '{{ acados_lib_path }}'; + +LIBS = '-lacados -lblasfeo -lhpipm'; + +try + % eval( [ 'mex -v -output acados_sim_solver_sfunction_{{ model.name }} ', ... + eval( [ 'mex -output acados_sim_solver_sfunction_{{ model.name }} ', ... + CFLAGS, INCS, ' ', SOURCES, ' -L', LIB_PATH, ' ', LIBS ]); + +catch exception + disp('make_sfun failed with the following exception:') + disp(exception); + disp('Try adding -v to the mex command above to get more information.') + keyboard +end + + +fprintf( [ '\n\nSuccessfully created sfunction:\nacados_sim_solver_sfunction_{{ model.name }}', '.', ... + eval('mexext')] ); + + +global sfun_sim_input_names +sfun_sim_input_names = {}; + +%% print note on usage of s-function +fprintf('\n\nNote: Usage of Sfunction is as follows:\n') +input_note = 'Inputs are:\n1) x0, initial state, size [{{ dims.nx }}]\n '; +i_in = 2; +sfun_sim_input_names = [sfun_sim_input_names; 'x0 [{{ dims.nx }}]']; + +{%- if dims.nu > 0 %} +input_note = strcat(input_note, num2str(i_in), ') u, size [{{ dims.nu }}]\n '); +i_in = i_in + 1; +sfun_sim_input_names = [sfun_sim_input_names; 'u [{{ dims.nu }}]']; +{%- endif %} + +{%- if dims.np > 0 %} +input_note = strcat(input_note, num2str(i_in), ') parameters, size [{{ dims.np }}]\n '); +i_in = i_in + 1; +sfun_sim_input_names = [sfun_sim_input_names; 'p [{{ dims.np }}]']; +{%- endif %} + + +fprintf(input_note) + +disp(' ') + +global sfun_sim_output_names +sfun_sim_output_names = {}; + +output_note = strcat('Outputs are:\n', ... + '1) x1 - simulated state, size [{{ dims.nx }}]\n'); +sfun_sim_output_names = [sfun_sim_output_names; 'x1 [{{ dims.nx }}]']; + +fprintf(output_note) + + +% The mask drawing command is: +% --- +% global sfun_sim_input_names sfun_sim_output_names +% for i = 1:length(sfun_sim_input_names) +% port_label('input', i, sfun_sim_input_names{i}) +% end +% for i = 1:length(sfun_sim_output_names) +% port_label('output', i, sfun_sim_output_names{i}) +% end +% --- +% It can be used by copying it in sfunction/Mask/Edit mask/Icon drawing commands +% (you can access it wirth ctrl+M on the s-function) \ No newline at end of file diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/mex_solver.in.m b/third_party/acados/acados_template/c_templates_tera/matlab_templates/mex_solver.in.m new file mode 100644 index 0000000000..3743212830 --- /dev/null +++ b/third_party/acados/acados_template/c_templates_tera/matlab_templates/mex_solver.in.m @@ -0,0 +1,270 @@ +% +% Copyright (c) The acados authors. +% +% This file is part of acados. +% +% The 2-Clause BSD License +% +% Redistribution and use in source and binary forms, with or without +% modification, are permitted provided that the following conditions are met: +% +% 1. Redistributions of source code must retain the above copyright notice, +% this list of conditions and the following disclaimer. +% +% 2. Redistributions in binary form must reproduce the above copyright notice, +% this list of conditions and the following disclaimer in the documentation +% and/or other materials provided with the distribution. +% +% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +% POSSIBILITY OF SUCH DAMAGE.; + +% + +classdef {{ model.name }}_mex_solver < handle + + properties + C_ocp + C_ocp_ext_fun + cost_ext_fun_type + cost_ext_fun_type_e + N + name + code_gen_dir + end % properties + + + + methods + + % constructor + function obj = {{ model.name }}_mex_solver() + make_mex_{{ model.name }}(); + [obj.C_ocp, obj.C_ocp_ext_fun] = acados_mex_create_{{ model.name }}(); + % to have path to destructor when changing directory + addpath('.') + obj.cost_ext_fun_type = '{{ cost.cost_ext_fun_type }}'; + obj.cost_ext_fun_type_e = '{{ cost.cost_ext_fun_type_e }}'; + obj.N = {{ dims.N }}; + obj.name = '{{ model.name }}'; + obj.code_gen_dir = pwd(); + end + + % destructor + function delete(obj) + disp("delete template..."); + return_dir = pwd(); + cd(obj.code_gen_dir); + if ~isempty(obj.C_ocp) + acados_mex_free_{{ model.name }}(obj.C_ocp); + end + cd(return_dir); + disp("done."); + end + + % solve + function solve(obj) + acados_mex_solve_{{ model.name }}(obj.C_ocp); + end + + % set -- borrowed from MEX interface + function set(varargin) + obj = varargin{1}; + field = varargin{2}; + value = varargin{3}; + if ~isa(field, 'char') + error('field must be a char vector, use '' '''); + end + if nargin==3 + acados_mex_set_{{ model.name }}(obj.cost_ext_fun_type, obj.cost_ext_fun_type_e, obj.C_ocp, obj.C_ocp_ext_fun, field, value); + elseif nargin==4 + stage = varargin{4}; + acados_mex_set_{{ model.name }}(obj.cost_ext_fun_type, obj.cost_ext_fun_type_e, obj.C_ocp, obj.C_ocp_ext_fun, field, value, stage); + else + disp('acados_ocp.set: wrong number of input arguments (2 or 3 allowed)'); + end + end + + function value = get_cost(obj) + value = ocp_get_cost(obj.C_ocp); + end + + % get -- borrowed from MEX interface + function value = get(varargin) + % usage: + % obj.get(field, value, [stage]) + obj = varargin{1}; + field = varargin{2}; + if any(strfind('sens', field)) + error('field sens* (sensitivities of optimal solution) not yet supported for templated MEX.') + end + if ~isa(field, 'char') + error('field must be a char vector, use '' '''); + end + + if nargin==2 + value = ocp_get(obj.C_ocp, field); + elseif nargin==3 + stage = varargin{3}; + value = ocp_get(obj.C_ocp, field, stage); + else + disp('acados_ocp.get: wrong number of input arguments (1 or 2 allowed)'); + end + end + + + function [] = store_iterate(varargin) + %%% Stores the current iterate of the ocp solver in a json file. + %%% param1: filename: if not set, use model_name + timestamp + '.json' + %%% param2: overwrite: if false and filename exists add timestamp to filename + + obj = varargin{1}; + filename = ''; + overwrite = false; + + if nargin>=2 + filename = varargin{2}; + if ~isa(filename, 'char') + error('filename must be a char vector, use '' '''); + end + end + + if nargin==3 + overwrite = varargin{3}; + end + + if nargin > 3 + disp('acados_ocp.get: wrong number of input arguments (1 or 2 allowed)'); + end + + if strcmp(filename,'') + filename = [obj.name '_iterate.json']; + end + if ~overwrite + % append timestamp + if exist(filename, 'file') + filename = filename(1:end-5); + filename = [filename '_' datestr(now,'yyyy-mm-dd-HH:MM:SS') '.json']; + end + end + filename = fullfile(pwd, filename); + + % get iterate: + solution = struct(); + for i=0:obj.N + solution.(['x_' num2str(i)]) = obj.get('x', i); + solution.(['lam_' num2str(i)]) = obj.get('lam', i); + solution.(['t_' num2str(i)]) = obj.get('t', i); + solution.(['sl_' num2str(i)]) = obj.get('sl', i); + solution.(['su_' num2str(i)]) = obj.get('su', i); + end + for i=0:obj.N-1 + solution.(['z_' num2str(i)]) = obj.get('z', i); + solution.(['u_' num2str(i)]) = obj.get('u', i); + solution.(['pi_' num2str(i)]) = obj.get('pi', i); + end + + acados_folder = getenv('ACADOS_INSTALL_DIR'); + addpath(fullfile(acados_folder, 'external', 'jsonlab')); + savejson('', solution, filename); + + json_string = savejson('', solution, 'ForceRootName', 0); + + fid = fopen(filename, 'w'); + if fid == -1, error('store_iterate: Cannot create JSON file'); end + fwrite(fid, json_string, 'char'); + fclose(fid); + + disp(['stored current iterate in ' filename]); + end + + + function [] = load_iterate(obj, filename) + %%% Loads the iterate stored in json file with filename into the ocp solver. + acados_folder = getenv('ACADOS_INSTALL_DIR'); + addpath(fullfile(acados_folder, 'external', 'jsonlab')); + filename = fullfile(pwd, filename); + + if ~exist(filename, 'file') + error(['load_iterate: failed, file does not exist: ' filename]) + end + + solution = loadjson(filename); + keys = fieldnames(solution); + + for k = 1:numel(keys) + key = keys{k}; + key_parts = strsplit(key, '_'); + field = key_parts{1}; + stage = key_parts{2}; + + val = solution.(key); + + % check if array is empty (can happen for z) + if numel(val) > 0 + obj.set(field, val, str2num(stage)) + end + end + end + + + % print + function print(varargin) + if nargin < 2 + field = 'stat'; + else + field = varargin{2}; + end + + obj = varargin{1}; + + if strcmp(field, 'stat') + stat = obj.get('stat'); + {%- if solver_options.nlp_solver_type == "SQP" %} + fprintf('\niter\tres_stat\tres_eq\t\tres_ineq\tres_comp\tqp_stat\tqp_iter\talpha'); + if size(stat,2)>8 + fprintf('\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp'); + end + fprintf('\n'); + for jj=1:size(stat,1) + fprintf('%d\t%e\t%e\t%e\t%e\t%d\t%d\t%e', stat(jj,1), stat(jj,2), stat(jj,3), stat(jj,4), stat(jj,5), stat(jj,6), stat(jj,7), stat(jj, 8)); + if size(stat,2)>8 + fprintf('\t%e\t%e\t%e\t%e', stat(jj,9), stat(jj,10), stat(jj,11), stat(jj,12)); + end + fprintf('\n'); + end + fprintf('\n'); + {%- else %} + fprintf('\niter\tqp_status\tqp_iter'); + if size(stat,2)>3 + fprintf('\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp'); + end + fprintf('\n'); + for jj=1:size(stat,1) + fprintf('%d\t%d\t\t%d', stat(jj,1), stat(jj,2), stat(jj,3)); + if size(stat,2)>3 + fprintf('\t%e\t%e\t%e\t%e', stat(jj,4), stat(jj,5), stat(jj,6), stat(jj,7)); + end + fprintf('\n'); + end + {% endif %} + + else + fprintf('unsupported field in function print of acados_ocp.print, got %s', field); + keyboard + end + + end + + end % methods + +end % class + diff --git a/third_party/acados/acados_template/c_templates_tera/model.in.h b/third_party/acados/acados_template/c_templates_tera/model.in.h new file mode 100644 index 0000000000..e5059df9ff --- /dev/null +++ b/third_party/acados/acados_template/c_templates_tera/model.in.h @@ -0,0 +1,218 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +#ifndef {{ model.name }}_MODEL +#define {{ model.name }}_MODEL + +#ifdef __cplusplus +extern "C" { +#endif + +{%- if solver_options.hessian_approx %} + {%- set hessian_approx = solver_options.hessian_approx %} +{%- elif solver_options.sens_hess %} + {%- set hessian_approx = "EXACT" %} +{%- else %} + {%- set hessian_approx = "GAUSS_NEWTON" %} +{%- endif %} + +{% if solver_options.integrator_type == "IRK" or solver_options.integrator_type == "LIFTED_IRK" %} + {% if model.dyn_ext_fun_type == "casadi" %} +// implicit ODE: function +int {{ model.name }}_impl_dae_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_impl_dae_fun_work(int *, int *, int *, int *); +const int *{{ model.name }}_impl_dae_fun_sparsity_in(int); +const int *{{ model.name }}_impl_dae_fun_sparsity_out(int); +int {{ model.name }}_impl_dae_fun_n_in(void); +int {{ model.name }}_impl_dae_fun_n_out(void); + +// implicit ODE: function + jacobians +int {{ model.name }}_impl_dae_fun_jac_x_xdot_z(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_impl_dae_fun_jac_x_xdot_z_work(int *, int *, int *, int *); +const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_in(int); +const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_out(int); +int {{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_in(void); +int {{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_out(void); + +// implicit ODE: jacobians only +int {{ model.name }}_impl_dae_jac_x_xdot_u_z(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_impl_dae_jac_x_xdot_u_z_work(int *, int *, int *, int *); +const int *{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_in(int); +const int *{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_out(int); +int {{ model.name }}_impl_dae_jac_x_xdot_u_z_n_in(void); +int {{ model.name }}_impl_dae_jac_x_xdot_u_z_n_out(void); + +// implicit ODE - for lifted_irk +int {{ model.name }}_impl_dae_fun_jac_x_xdot_u(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_impl_dae_fun_jac_x_xdot_u_work(int *, int *, int *, int *); +const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_u_sparsity_in(int); +const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_u_sparsity_out(int); +int {{ model.name }}_impl_dae_fun_jac_x_xdot_u_n_in(void); +int {{ model.name }}_impl_dae_fun_jac_x_xdot_u_n_out(void); + + {%- if hessian_approx == "EXACT" %} +// implicit ODE - hessian +int {{ model.name }}_impl_dae_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_impl_dae_hess_work(int *, int *, int *, int *); +const int *{{ model.name }}_impl_dae_hess_sparsity_in(int); +const int *{{ model.name }}_impl_dae_hess_sparsity_out(int); +int {{ model.name }}_impl_dae_hess_n_in(void); +int {{ model.name }}_impl_dae_hess_n_out(void); + {% endif %} + {% else %}{# ext_fun_type #} + {%- if hessian_approx == "EXACT" %} +int {{ model.dyn_impl_dae_hess }}(void **, void **, void *); + {% endif %} +int {{ model.dyn_impl_dae_fun_jac }}(void **, void **, void *); +int {{ model.dyn_impl_dae_jac }}(void **, void **, void *); +int {{ model.dyn_impl_dae_fun }}(void **, void **, void *); + {% endif %}{# ext_fun_type #} + +{% elif solver_options.integrator_type == "GNSF" %} +/* GNSF Functions */ + {% if model.gnsf.purely_linear != 1 %} +// phi_fun +int {{ model.name }}_gnsf_phi_fun(const double** arg, double** res, int* iw, double* w, void *mem); +int {{ model.name }}_gnsf_phi_fun_work(int *, int *, int *, int *); +const int *{{ model.name }}_gnsf_phi_fun_sparsity_in(int); +const int *{{ model.name }}_gnsf_phi_fun_sparsity_out(int); +int {{ model.name }}_gnsf_phi_fun_n_in(void); +int {{ model.name }}_gnsf_phi_fun_n_out(void); + +// phi_fun_jac_y +int {{ model.name }}_gnsf_phi_fun_jac_y(const double** arg, double** res, int* iw, double* w, void *mem); +int {{ model.name }}_gnsf_phi_fun_jac_y_work(int *, int *, int *, int *); +const int *{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_in(int); +const int *{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_out(int); +int {{ model.name }}_gnsf_phi_fun_jac_y_n_in(void); +int {{ model.name }}_gnsf_phi_fun_jac_y_n_out(void); + +// phi_jac_y_uhat +int {{ model.name }}_gnsf_phi_jac_y_uhat(const double** arg, double** res, int* iw, double* w, void *mem); +int {{ model.name }}_gnsf_phi_jac_y_uhat_work(int *, int *, int *, int *); +const int *{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_in(int); +const int *{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_out(int); +int {{ model.name }}_gnsf_phi_jac_y_uhat_n_in(void); +int {{ model.name }}_gnsf_phi_jac_y_uhat_n_out(void); + {% if model.gnsf.nontrivial_f_LO == 1 %} +// f_lo_fun_jac_x1k1uz +int {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz(const double** arg, double** res, int* iw, double* w, void *mem); +int {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_work(int *, int *, int *, int *); +const int *{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_in(int); +const int *{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_out(int); +int {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_in(void); +int {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_out(void); + {%- endif %} + {%- endif %} +// used to import model matrices +int {{ model.name }}_gnsf_get_matrices_fun(const double** arg, double** res, int* iw, double* w, void *mem); +int {{ model.name }}_gnsf_get_matrices_fun_work(int *, int *, int *, int *); +const int *{{ model.name }}_gnsf_get_matrices_fun_sparsity_in(int); +const int *{{ model.name }}_gnsf_get_matrices_fun_sparsity_out(int); +int {{ model.name }}_gnsf_get_matrices_fun_n_in(void); +int {{ model.name }}_gnsf_get_matrices_fun_n_out(void); + +{% elif solver_options.integrator_type == "ERK" %} +/* explicit ODE */ + +// explicit ODE +int {{ model.name }}_expl_ode_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_expl_ode_fun_work(int *, int *, int *, int *); +const int *{{ model.name }}_expl_ode_fun_sparsity_in(int); +const int *{{ model.name }}_expl_ode_fun_sparsity_out(int); +int {{ model.name }}_expl_ode_fun_n_in(void); +int {{ model.name }}_expl_ode_fun_n_out(void); + +// explicit forward VDE +int {{ model.name }}_expl_vde_forw(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_expl_vde_forw_work(int *, int *, int *, int *); +const int *{{ model.name }}_expl_vde_forw_sparsity_in(int); +const int *{{ model.name }}_expl_vde_forw_sparsity_out(int); +int {{ model.name }}_expl_vde_forw_n_in(void); +int {{ model.name }}_expl_vde_forw_n_out(void); + +// explicit adjoint VDE +int {{ model.name }}_expl_vde_adj(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_expl_vde_adj_work(int *, int *, int *, int *); +const int *{{ model.name }}_expl_vde_adj_sparsity_in(int); +const int *{{ model.name }}_expl_vde_adj_sparsity_out(int); +int {{ model.name }}_expl_vde_adj_n_in(void); +int {{ model.name }}_expl_vde_adj_n_out(void); + +{%- if hessian_approx == "EXACT" %} +int {{ model.name }}_expl_ode_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_expl_ode_hess_work(int *, int *, int *, int *); +const int *{{ model.name }}_expl_ode_hess_sparsity_in(int); +const int *{{ model.name }}_expl_ode_hess_sparsity_out(int); +int {{ model.name }}_expl_ode_hess_n_in(void); +int {{ model.name }}_expl_ode_hess_n_out(void); +{%- endif %} + +{% elif solver_options.integrator_type == "DISCRETE" %} + +{% if model.dyn_ext_fun_type == "casadi" %} +int {{ model.name }}_dyn_disc_phi_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_dyn_disc_phi_fun_work(int *, int *, int *, int *); +const int *{{ model.name }}_dyn_disc_phi_fun_sparsity_in(int); +const int *{{ model.name }}_dyn_disc_phi_fun_sparsity_out(int); +int {{ model.name }}_dyn_disc_phi_fun_n_in(void); +int {{ model.name }}_dyn_disc_phi_fun_n_out(void); + +int {{ model.name }}_dyn_disc_phi_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_dyn_disc_phi_fun_jac_work(int *, int *, int *, int *); +const int *{{ model.name }}_dyn_disc_phi_fun_jac_sparsity_in(int); +const int *{{ model.name }}_dyn_disc_phi_fun_jac_sparsity_out(int); +int {{ model.name }}_dyn_disc_phi_fun_jac_n_in(void); +int {{ model.name }}_dyn_disc_phi_fun_jac_n_out(void); + +{%- if hessian_approx == "EXACT" %} +int {{ model.name }}_dyn_disc_phi_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_dyn_disc_phi_fun_jac_hess_work(int *, int *, int *, int *); +const int *{{ model.name }}_dyn_disc_phi_fun_jac_hess_sparsity_in(int); +const int *{{ model.name }}_dyn_disc_phi_fun_jac_hess_sparsity_out(int); +int {{ model.name }}_dyn_disc_phi_fun_jac_hess_n_in(void); +int {{ model.name }}_dyn_disc_phi_fun_jac_hess_n_out(void); +{%- endif %} +{% else %} + {%- if hessian_approx == "EXACT" %} +int {{ model.dyn_disc_fun_jac_hess }}(void **, void **, void *); + {% endif %} +int {{ model.dyn_disc_fun_jac }}(void **, void **, void *); +int {{ model.dyn_disc_fun }}(void **, void **, void *); +{% endif %} + + +{% endif %} + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // {{ model.name }}_MODEL diff --git a/third_party/acados/acados_template/casadi_function_generation.py b/third_party/acados/acados_template/casadi_function_generation.py new file mode 100644 index 0000000000..6373a2809d --- /dev/null +++ b/third_party/acados/acados_template/casadi_function_generation.py @@ -0,0 +1,708 @@ +# +# Copyright (c) The acados authors. +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + +import os +import casadi as ca +from .utils import is_empty, casadi_length + + +def get_casadi_symbol(x): + if isinstance(x, ca.MX): + return ca.MX.sym + elif isinstance(x, ca.SX): + return ca.SX.sym + else: + raise TypeError("Expected casadi SX or MX.") + +################ +# Dynamics +################ + + +def generate_c_code_discrete_dynamics( model, opts ): + + casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double') + + # load model + x = model.x + u = model.u + p = model.p + phi = model.disc_dyn_expr + model_name = model.name + nx = casadi_length(x) + + symbol = get_casadi_symbol(x) + # assume nx1 = nx !!! + lam = symbol('lam', nx, 1) + + # generate jacobians + ux = ca.vertcat(u,x) + jac_ux = ca.jacobian(phi, ux) + # generate adjoint + adj_ux = ca.jtimes(phi, ux, lam, True) + # generate hessian + hess_ux = ca.jacobian(adj_ux, ux) + + # change directory + cwd = os.getcwd() + model_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model_name}_model')) + if not os.path.exists(model_dir): + os.makedirs(model_dir) + os.chdir(model_dir) + + # set up & generate ca.Functions + fun_name = model_name + '_dyn_disc_phi_fun' + phi_fun = ca.Function(fun_name, [x, u, p], [phi]) + phi_fun.generate(fun_name, casadi_codegen_opts) + + fun_name = model_name + '_dyn_disc_phi_fun_jac' + phi_fun_jac_ut_xt = ca.Function(fun_name, [x, u, p], [phi, jac_ux.T]) + phi_fun_jac_ut_xt.generate(fun_name, casadi_codegen_opts) + + fun_name = model_name + '_dyn_disc_phi_fun_jac_hess' + phi_fun_jac_ut_xt_hess = ca.Function(fun_name, [x, u, lam, p], [phi, jac_ux.T, hess_ux]) + phi_fun_jac_ut_xt_hess.generate(fun_name, casadi_codegen_opts) + + os.chdir(cwd) + return + + + +def generate_c_code_explicit_ode( model, opts ): + + casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double') + + generate_hess = opts["generate_hess"] + + # load model + x = model.x + u = model.u + p = model.p + f_expl = model.f_expl_expr + model_name = model.name + + ## get model dimensions + nx = x.size()[0] + nu = u.size()[0] + + symbol = get_casadi_symbol(x) + + ## set up functions to be exported + Sx = symbol('Sx', nx, nx) + Sp = symbol('Sp', nx, nu) + lambdaX = symbol('lambdaX', nx, 1) + + fun_name = model_name + '_expl_ode_fun' + + ## Set up functions + expl_ode_fun = ca.Function(fun_name, [x, u, p], [f_expl]) + + vdeX = ca.jtimes(f_expl,x,Sx) + vdeP = ca.jacobian(f_expl,u) + ca.jtimes(f_expl,x,Sp) + + fun_name = model_name + '_expl_vde_forw' + + expl_vde_forw = ca.Function(fun_name, [x, Sx, Sp, u, p], [f_expl, vdeX, vdeP]) + + adj = ca.jtimes(f_expl, ca.vertcat(x, u), lambdaX, True) + + fun_name = model_name + '_expl_vde_adj' + expl_vde_adj = ca.Function(fun_name, [x, lambdaX, u, p], [adj]) + + if generate_hess: + S_forw = ca.vertcat(ca.horzcat(Sx, Sp), ca.horzcat(ca.DM.zeros(nu,nx), ca.DM.eye(nu))) + hess = ca.mtimes(ca.transpose(S_forw),ca.jtimes(adj, ca.vertcat(x,u), S_forw)) + hess2 = [] + for j in range(nx+nu): + for i in range(j,nx+nu): + hess2 = ca.vertcat(hess2, hess[i,j]) + + fun_name = model_name + '_expl_ode_hess' + expl_ode_hess = ca.Function(fun_name, [x, Sx, Sp, lambdaX, u, p], [adj, hess2]) + + # change directory + cwd = os.getcwd() + model_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model_name}_model')) + if not os.path.exists(model_dir): + os.makedirs(model_dir) + os.chdir(model_dir) + + # generate C code + fun_name = model_name + '_expl_ode_fun' + expl_ode_fun.generate(fun_name, casadi_codegen_opts) + + fun_name = model_name + '_expl_vde_forw' + expl_vde_forw.generate(fun_name, casadi_codegen_opts) + + fun_name = model_name + '_expl_vde_adj' + expl_vde_adj.generate(fun_name, casadi_codegen_opts) + + if generate_hess: + fun_name = model_name + '_expl_ode_hess' + expl_ode_hess.generate(fun_name, casadi_codegen_opts) + os.chdir(cwd) + + return + + +def generate_c_code_implicit_ode( model, opts ): + + casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double') + + # load model + x = model.x + xdot = model.xdot + u = model.u + z = model.z + p = model.p + f_impl = model.f_impl_expr + model_name = model.name + + # get model dimensions + nx = casadi_length(x) + nz = casadi_length(z) + + # generate jacobians + jac_x = ca.jacobian(f_impl, x) + jac_xdot = ca.jacobian(f_impl, xdot) + jac_u = ca.jacobian(f_impl, u) + jac_z = ca.jacobian(f_impl, z) + + # Set up functions + p = model.p + fun_name = model_name + '_impl_dae_fun' + impl_dae_fun = ca.Function(fun_name, [x, xdot, u, z, p], [f_impl]) + + fun_name = model_name + '_impl_dae_fun_jac_x_xdot_z' + impl_dae_fun_jac_x_xdot_z = ca.Function(fun_name, [x, xdot, u, z, p], [f_impl, jac_x, jac_xdot, jac_z]) + + fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u_z' + impl_dae_fun_jac_x_xdot_u_z = ca.Function(fun_name, [x, xdot, u, z, p], [f_impl, jac_x, jac_xdot, jac_u, jac_z]) + + fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u' + impl_dae_fun_jac_x_xdot_u = ca.Function(fun_name, [x, xdot, u, z, p], [f_impl, jac_x, jac_xdot, jac_u]) + + fun_name = model_name + '_impl_dae_jac_x_xdot_u_z' + impl_dae_jac_x_xdot_u_z = ca.Function(fun_name, [x, xdot, u, z, p], [jac_x, jac_xdot, jac_u, jac_z]) + + if opts["generate_hess"]: + x_xdot_z_u = ca.vertcat(x, xdot, z, u) + symbol = get_casadi_symbol(x) + multiplier = symbol('multiplier', nx + nz) + ADJ = ca.jtimes(f_impl, x_xdot_z_u, multiplier, True) + HESS = ca.jacobian(ADJ, x_xdot_z_u) + fun_name = model_name + '_impl_dae_hess' + impl_dae_hess = ca.Function(fun_name, [x, xdot, u, z, multiplier, p], [HESS]) + + # change directory + cwd = os.getcwd() + model_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model_name}_model')) + if not os.path.exists(model_dir): + os.makedirs(model_dir) + os.chdir(model_dir) + + # generate C code + fun_name = model_name + '_impl_dae_fun' + impl_dae_fun.generate(fun_name, casadi_codegen_opts) + + fun_name = model_name + '_impl_dae_fun_jac_x_xdot_z' + impl_dae_fun_jac_x_xdot_z.generate(fun_name, casadi_codegen_opts) + + fun_name = model_name + '_impl_dae_jac_x_xdot_u_z' + impl_dae_jac_x_xdot_u_z.generate(fun_name, casadi_codegen_opts) + + fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u_z' + impl_dae_fun_jac_x_xdot_u_z.generate(fun_name, casadi_codegen_opts) + + fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u' + impl_dae_fun_jac_x_xdot_u.generate(fun_name, casadi_codegen_opts) + + if opts["generate_hess"]: + fun_name = model_name + '_impl_dae_hess' + impl_dae_hess.generate(fun_name, casadi_codegen_opts) + + os.chdir(cwd) + return + + +def generate_c_code_gnsf( model, opts ): + + casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double') + + model_name = model.name + + # set up directory + cwd = os.getcwd() + model_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model_name}_model')) + if not os.path.exists(model_dir): + os.makedirs(model_dir) + os.chdir(model_dir) + + # obtain gnsf dimensions + get_matrices_fun = model.get_matrices_fun + phi_fun = model.phi_fun + + size_gnsf_A = get_matrices_fun.size_out(0) + gnsf_nx1 = size_gnsf_A[1] + gnsf_nz1 = size_gnsf_A[0] - size_gnsf_A[1] + gnsf_nuhat = max(phi_fun.size_in(1)) + gnsf_ny = max(phi_fun.size_in(0)) + gnsf_nout = max(phi_fun.size_out(0)) + + # set up expressions + # if the model uses ca.MX because of cost/constraints + # the DAE can be exported as ca.SX -> detect GNSF in Matlab + # -> evaluated ca.SX GNSF functions with ca.MX. + u = model.u + symbol = get_casadi_symbol(u) + + y = symbol("y", gnsf_ny, 1) + uhat = symbol("uhat", gnsf_nuhat, 1) + p = model.p + x1 = symbol("gnsf_x1", gnsf_nx1, 1) + x1dot = symbol("gnsf_x1dot", gnsf_nx1, 1) + z1 = symbol("gnsf_z1", gnsf_nz1, 1) + dummy = symbol("gnsf_dummy", 1, 1) + empty_var = symbol("gnsf_empty_var", 0, 0) + + ## generate C code + fun_name = model_name + '_gnsf_phi_fun' + phi_fun_ = ca.Function(fun_name, [y, uhat, p], [phi_fun(y, uhat, p)]) + phi_fun_.generate(fun_name, casadi_codegen_opts) + + fun_name = model_name + '_gnsf_phi_fun_jac_y' + phi_fun_jac_y = model.phi_fun_jac_y + phi_fun_jac_y_ = ca.Function(fun_name, [y, uhat, p], phi_fun_jac_y(y, uhat, p)) + phi_fun_jac_y_.generate(fun_name, casadi_codegen_opts) + + fun_name = model_name + '_gnsf_phi_jac_y_uhat' + phi_jac_y_uhat = model.phi_jac_y_uhat + phi_jac_y_uhat_ = ca.Function(fun_name, [y, uhat, p], phi_jac_y_uhat(y, uhat, p)) + phi_jac_y_uhat_.generate(fun_name, casadi_codegen_opts) + + fun_name = model_name + '_gnsf_f_lo_fun_jac_x1k1uz' + f_lo_fun_jac_x1k1uz = model.f_lo_fun_jac_x1k1uz + f_lo_fun_jac_x1k1uz_eval = f_lo_fun_jac_x1k1uz(x1, x1dot, z1, u, p) + + # avoid codegeneration issue + if not isinstance(f_lo_fun_jac_x1k1uz_eval, tuple) and is_empty(f_lo_fun_jac_x1k1uz_eval): + f_lo_fun_jac_x1k1uz_eval = [empty_var] + + f_lo_fun_jac_x1k1uz_ = ca.Function(fun_name, [x1, x1dot, z1, u, p], + f_lo_fun_jac_x1k1uz_eval) + f_lo_fun_jac_x1k1uz_.generate(fun_name, casadi_codegen_opts) + + fun_name = model_name + '_gnsf_get_matrices_fun' + get_matrices_fun_ = ca.Function(fun_name, [dummy], get_matrices_fun(1)) + get_matrices_fun_.generate(fun_name, casadi_codegen_opts) + + # remove fields for json dump + del model.phi_fun + del model.phi_fun_jac_y + del model.phi_jac_y_uhat + del model.f_lo_fun_jac_x1k1uz + del model.get_matrices_fun + + os.chdir(cwd) + + return + + +################ +# Cost +################ + +def generate_c_code_external_cost(model, stage_type, opts): + + casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double') + + x = model.x + p = model.p + u = model.u + z = model.z + symbol = get_casadi_symbol(x) + + if stage_type == 'terminal': + suffix_name = "_cost_ext_cost_e_fun" + suffix_name_hess = "_cost_ext_cost_e_fun_jac_hess" + suffix_name_jac = "_cost_ext_cost_e_fun_jac" + ext_cost = model.cost_expr_ext_cost_e + custom_hess = model.cost_expr_ext_cost_custom_hess_e + # Last stage cannot depend on u and z + u = symbol("u", 0, 0) + z = symbol("z", 0, 0) + + elif stage_type == 'path': + suffix_name = "_cost_ext_cost_fun" + suffix_name_hess = "_cost_ext_cost_fun_jac_hess" + suffix_name_jac = "_cost_ext_cost_fun_jac" + ext_cost = model.cost_expr_ext_cost + custom_hess = model.cost_expr_ext_cost_custom_hess + + elif stage_type == 'initial': + suffix_name = "_cost_ext_cost_0_fun" + suffix_name_hess = "_cost_ext_cost_0_fun_jac_hess" + suffix_name_jac = "_cost_ext_cost_0_fun_jac" + ext_cost = model.cost_expr_ext_cost_0 + custom_hess = model.cost_expr_ext_cost_custom_hess_0 + + nunx = x.shape[0] + u.shape[0] + + # set up functions to be exported + fun_name = model.name + suffix_name + fun_name_hess = model.name + suffix_name_hess + fun_name_jac = model.name + suffix_name_jac + + # generate expression for full gradient and Hessian + hess_uxz, grad_uxz = ca.hessian(ext_cost, ca.vertcat(u, x, z)) + + hess_ux = hess_uxz[:nunx, :nunx] + hess_z = hess_uxz[nunx:, nunx:] + hess_z_ux = hess_uxz[nunx:, :nunx] + + if custom_hess is not None: + hess_ux = custom_hess + + ext_cost_fun = ca.Function(fun_name, [x, u, z, p], [ext_cost]) + + ext_cost_fun_jac_hess = ca.Function( + fun_name_hess, [x, u, z, p], [ext_cost, grad_uxz, hess_ux, hess_z, hess_z_ux] + ) + ext_cost_fun_jac = ca.Function( + fun_name_jac, [x, u, z, p], [ext_cost, grad_uxz] + ) + + # change directory + cwd = os.getcwd() + cost_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model.name}_cost')) + if not os.path.exists(cost_dir): + os.makedirs(cost_dir) + os.chdir(cost_dir) + + ext_cost_fun.generate(fun_name, casadi_codegen_opts) + ext_cost_fun_jac_hess.generate(fun_name_hess, casadi_codegen_opts) + ext_cost_fun_jac.generate(fun_name_jac, casadi_codegen_opts) + + os.chdir(cwd) + return + + +def generate_c_code_nls_cost( model, cost_name, stage_type, opts ): + + casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double') + + x = model.x + z = model.z + p = model.p + u = model.u + + symbol = get_casadi_symbol(x) + + if stage_type == 'terminal': + middle_name = '_cost_y_e' + u = symbol('u', 0, 0) + y_expr = model.cost_y_expr_e + + elif stage_type == 'initial': + middle_name = '_cost_y_0' + y_expr = model.cost_y_expr_0 + + elif stage_type == 'path': + middle_name = '_cost_y' + y_expr = model.cost_y_expr + + # change directory + cwd = os.getcwd() + cost_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model.name}_cost')) + if not os.path.exists(cost_dir): + os.makedirs(cost_dir) + os.chdir(cost_dir) + + # set up expressions + cost_jac_expr = ca.transpose(ca.jacobian(y_expr, ca.vertcat(u, x))) + dy_dz = ca.jacobian(y_expr, z) + ny = casadi_length(y_expr) + + y = symbol('y', ny, 1) + + y_adj = ca.jtimes(y_expr, ca.vertcat(u, x), y, True) + y_hess = ca.jacobian(y_adj, ca.vertcat(u, x)) + + ## generate C code + suffix_name = '_fun' + fun_name = cost_name + middle_name + suffix_name + y_fun = ca.Function( fun_name, [x, u, z, p], [ y_expr ]) + y_fun.generate( fun_name, casadi_codegen_opts ) + + suffix_name = '_fun_jac_ut_xt' + fun_name = cost_name + middle_name + suffix_name + y_fun_jac_ut_xt = ca.Function(fun_name, [x, u, z, p], [ y_expr, cost_jac_expr, dy_dz ]) + y_fun_jac_ut_xt.generate( fun_name, casadi_codegen_opts ) + + suffix_name = '_hess' + fun_name = cost_name + middle_name + suffix_name + y_hess = ca.Function(fun_name, [x, u, z, y, p], [ y_hess ]) + y_hess.generate( fun_name, casadi_codegen_opts ) + + os.chdir(cwd) + + return + + + +def generate_c_code_conl_cost(model, cost_name, stage_type, opts): + + casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double') + + x = model.x + z = model.z + p = model.p + + symbol = get_casadi_symbol(x) + + if stage_type == 'terminal': + u = symbol('u', 0, 0) + + yref = model.cost_r_in_psi_expr_e + inner_expr = model.cost_y_expr_e - yref + outer_expr = model.cost_psi_expr_e + res_expr = model.cost_r_in_psi_expr_e + + suffix_name_fun = '_conl_cost_e_fun' + suffix_name_fun_jac_hess = '_conl_cost_e_fun_jac_hess' + + custom_hess = model.cost_conl_custom_outer_hess_e + + elif stage_type == 'initial': + u = model.u + + yref = model.cost_r_in_psi_expr_0 + inner_expr = model.cost_y_expr_0 - yref + outer_expr = model.cost_psi_expr_0 + res_expr = model.cost_r_in_psi_expr_0 + + suffix_name_fun = '_conl_cost_0_fun' + suffix_name_fun_jac_hess = '_conl_cost_0_fun_jac_hess' + + custom_hess = model.cost_conl_custom_outer_hess_0 + + elif stage_type == 'path': + u = model.u + + yref = model.cost_r_in_psi_expr + inner_expr = model.cost_y_expr - yref + outer_expr = model.cost_psi_expr + res_expr = model.cost_r_in_psi_expr + + suffix_name_fun = '_conl_cost_fun' + suffix_name_fun_jac_hess = '_conl_cost_fun_jac_hess' + + custom_hess = model.cost_conl_custom_outer_hess + + # set up function names + fun_name_cost_fun = model.name + suffix_name_fun + fun_name_cost_fun_jac_hess = model.name + suffix_name_fun_jac_hess + + # set up functions to be exported + outer_loss_fun = ca.Function('psi', [res_expr, p], [outer_expr]) + cost_expr = outer_loss_fun(inner_expr, p) + + outer_loss_grad_fun = ca.Function('outer_loss_grad', [res_expr, p], [ca.jacobian(outer_expr, res_expr).T]) + + if custom_hess is None: + outer_hess_fun = ca.Function('inner_hess', [res_expr, p], [ca.hessian(outer_loss_fun(res_expr, p), res_expr)[0]]) + else: + outer_hess_fun = ca.Function('inner_hess', [res_expr, p], [custom_hess]) + + Jt_ux_expr = ca.jacobian(inner_expr, ca.vertcat(u, x)).T + Jt_z_expr = ca.jacobian(inner_expr, z).T + + cost_fun = ca.Function( + fun_name_cost_fun, + [x, u, z, yref, p], + [cost_expr]) + + cost_fun_jac_hess = ca.Function( + fun_name_cost_fun_jac_hess, + [x, u, z, yref, p], + [cost_expr, outer_loss_grad_fun(inner_expr, p), Jt_ux_expr, Jt_z_expr, outer_hess_fun(inner_expr, p)] + ) + # change directory + cwd = os.getcwd() + cost_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model.name}_cost')) + if not os.path.exists(cost_dir): + os.makedirs(cost_dir) + os.chdir(cost_dir) + + # generate C code + cost_fun.generate(fun_name_cost_fun, casadi_codegen_opts) + cost_fun_jac_hess.generate(fun_name_cost_fun_jac_hess, casadi_codegen_opts) + + os.chdir(cwd) + + return + + +################ +# Constraints +################ +def generate_c_code_constraint( model, con_name, is_terminal, opts ): + + casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double') + + # load constraint variables and expression + x = model.x + p = model.p + + symbol = get_casadi_symbol(x) + + if is_terminal: + con_h_expr = model.con_h_expr_e + con_phi_expr = model.con_phi_expr_e + # create dummy u, z + u = symbol('u', 0, 0) + z = symbol('z', 0, 0) + else: + con_h_expr = model.con_h_expr + con_phi_expr = model.con_phi_expr + u = model.u + z = model.z + + if (not is_empty(con_h_expr)) and (not is_empty(con_phi_expr)): + raise Exception("acados: you can either have constraint_h, or constraint_phi, not both.") + + if (is_empty(con_h_expr) and is_empty(con_phi_expr)): + # both empty -> nothing to generate + return + + if is_empty(con_h_expr): + constr_type = 'BGP' + else: + constr_type = 'BGH' + + if is_empty(p): + p = symbol('p', 0, 0) + + if is_empty(z): + z = symbol('z', 0, 0) + + if not (is_empty(con_h_expr)) and opts['generate_hess']: + # multipliers for hessian + nh = casadi_length(con_h_expr) + lam_h = symbol('lam_h', nh, 1) + + # set up & change directory + cwd = os.getcwd() + constraints_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model.name}_constraints')) + if not os.path.exists(constraints_dir): + os.makedirs(constraints_dir) + os.chdir(constraints_dir) + + # export casadi functions + if constr_type == 'BGH': + if is_terminal: + fun_name = con_name + '_constr_h_e_fun_jac_uxt_zt' + else: + fun_name = con_name + '_constr_h_fun_jac_uxt_zt' + + jac_ux_t = ca.transpose(ca.jacobian(con_h_expr, ca.vertcat(u,x))) + jac_z_t = ca.jacobian(con_h_expr, z) + constraint_fun_jac_tran = ca.Function(fun_name, [x, u, z, p], \ + [con_h_expr, jac_ux_t, jac_z_t]) + + constraint_fun_jac_tran.generate(fun_name, casadi_codegen_opts) + if opts['generate_hess']: + + if is_terminal: + fun_name = con_name + '_constr_h_e_fun_jac_uxt_zt_hess' + else: + fun_name = con_name + '_constr_h_fun_jac_uxt_zt_hess' + + # adjoint + adj_ux = ca.jtimes(con_h_expr, ca.vertcat(u, x), lam_h, True) + # hessian + hess_ux = ca.jacobian(adj_ux, ca.vertcat(u, x)) + + adj_z = ca.jtimes(con_h_expr, z, lam_h, True) + hess_z = ca.jacobian(adj_z, z) + + # set up functions + constraint_fun_jac_tran_hess = \ + ca.Function(fun_name, [x, u, lam_h, z, p], \ + [con_h_expr, jac_ux_t, hess_ux, jac_z_t, hess_z]) + + # generate C code + constraint_fun_jac_tran_hess.generate(fun_name, casadi_codegen_opts) + + if is_terminal: + fun_name = con_name + '_constr_h_e_fun' + else: + fun_name = con_name + '_constr_h_fun' + h_fun = ca.Function(fun_name, [x, u, z, p], [con_h_expr]) + h_fun.generate(fun_name, casadi_codegen_opts) + + else: # BGP constraint + if is_terminal: + fun_name = con_name + '_phi_e_constraint' + r = model.con_r_in_phi_e + con_r_expr = model.con_r_expr_e + else: + fun_name = con_name + '_phi_constraint' + r = model.con_r_in_phi + con_r_expr = model.con_r_expr + + nphi = casadi_length(con_phi_expr) + con_phi_expr_x_u_z = ca.substitute(con_phi_expr, r, con_r_expr) + phi_jac_u = ca.jacobian(con_phi_expr_x_u_z, u) + phi_jac_x = ca.jacobian(con_phi_expr_x_u_z, x) + phi_jac_z = ca.jacobian(con_phi_expr_x_u_z, z) + + hess = ca.hessian(con_phi_expr[0], r)[0] + for i in range(1, nphi): + hess = ca.vertcat(hess, ca.hessian(con_phi_expr[i], r)[0]) + + r_jac_u = ca.jacobian(con_r_expr, u) + r_jac_x = ca.jacobian(con_r_expr, x) + + constraint_phi = \ + ca.Function(fun_name, [x, u, z, p], \ + [con_phi_expr_x_u_z, \ + ca.vertcat(ca.transpose(phi_jac_u), ca.transpose(phi_jac_x)), \ + ca.transpose(phi_jac_z), \ + hess, + ca.vertcat(ca.transpose(r_jac_u), ca.transpose(r_jac_x))]) + + constraint_phi.generate(fun_name, casadi_codegen_opts) + + # change directory back + os.chdir(cwd) + + return + diff --git a/third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.c b/third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.c new file mode 100644 index 0000000000..b39ff2e23b --- /dev/null +++ b/third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.c @@ -0,0 +1,819 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +// This is a template based custom_update function +#include +#include +#include +#include + +#include "custom_update_function.h" +#include "acados_solver_{{ model.name }}.h" +#include "acados_c/ocp_nlp_interface.h" +#include "acados/utils/mem.h" + +#include "blasfeo/include/blasfeo_d_aux_ext_dep.h" +#include "blasfeo/include/blasfeo_d_blasfeo_api.h" + + +typedef struct custom_memory +{ + // covariance matrics + struct blasfeo_dmat *uncertainty_matrix_buffer; // shape = (N+1, nx, nx) + // covariance matrix of the additive disturbance + struct blasfeo_dmat W_mat; // shape = (nw, nw) + struct blasfeo_dmat unc_jac_G_mat; // shape = (nx, nw) + struct blasfeo_dmat temp_GW_mat; // shape = (nx, nw) + struct blasfeo_dmat GWG_mat; // shape = (nx, nx) + // sensitivity matrices + struct blasfeo_dmat A_mat; // shape = (nx, nx) + struct blasfeo_dmat B_mat; // shape = (nx, nu) + // matrix in linear constraints + struct blasfeo_dmat Cg_mat; // shape = (ng, nx) + struct blasfeo_dmat Dg_mat; // shape = (ng, nu) + struct blasfeo_dmat Cg_e_mat; // shape = (ng_e, nx) + struct blasfeo_dmat dummy_Dgh_e_mat; // shape = (ngh_e_max, nu) + // matrix in nonlinear constraints + struct blasfeo_dmat Ch_mat; // shape = (nh, nx) + struct blasfeo_dmat Dh_mat; // shape = (nh, nu) + struct blasfeo_dmat Ch_e_mat; // shape = (nh_e, nx) + // feedback gain matrix + struct blasfeo_dmat K_mat; // shape = (nu, nx) + // AK = A - B@K + struct blasfeo_dmat AK_mat; // shape = (nx, nx) + // A@P_k + struct blasfeo_dmat temp_AP_mat; // shape = (nx, nx) + // K@P_k, K@P_k@K^T + struct blasfeo_dmat temp_KP_mat; // shape = (nu, nx) + struct blasfeo_dmat temp_KPK_mat; // shape = (nu, nu) + // C + D @ K, (C + D @ K) @ P_k + struct blasfeo_dmat temp_CaDK_mat; // shape = (ngh_me_max, nx) + struct blasfeo_dmat temp_CaDKmP_mat; // shape = (ngh_me_max, nx) + struct blasfeo_dmat temp_beta_mat; // shape = (ngh_me_max, ngh_me_max) + + double *d_A_mat; // shape = (nx, nx) + double *d_B_mat; // shape = (nx, nu) + double *d_Cg_mat; // shape = (ng, nx) + double *d_Dg_mat; // shape = (ng, nu) + double *d_Cg_e_mat; // shape = (ng_e, nx) + double *d_Cgh_mat; // shape = (ng+nh, nx) + double *d_Dgh_mat; // shape = (ng+nh, nu) + double *d_Cgh_e_mat; // shape = (ng_e+nh_e, nx) + double *d_state_vec; + // upper and lower bounds on state variables + double *d_lbx; // shape = (nbx,) + double *d_ubx; // shape = (nbx,) + double *d_lbx_e; // shape = (nbx_e,) + double *d_ubx_e; // shape = (nbx_e,) + // tightened upper and lower bounds on state variables + double *d_lbx_tightened; // shape = (nbx,) + double *d_ubx_tightened; // shape = (nbx,) + double *d_lbx_e_tightened; // shape = (nbx_e,) + double *d_ubx_e_tightened; // shape = (nbx_e,) + // upper and lower bounds on control inputs + double *d_lbu; // shape = (nbu,) + double *d_ubu; // shape = (nbu,) + // tightened upper and lower bounds on control inputs + double *d_lbu_tightened; // shape = (nbu,) + double *d_ubu_tightened; // shape = (nbu,) + // upper and lower bounds on polytopic constraints + double *d_lg; // shape = (ng,) + double *d_ug; // shape = (ng,) + double *d_lg_e; // shape = (ng_e,) + double *d_ug_e; // shape = (ng_e,) + // tightened lower bounds on polytopic constraints + double *d_lg_tightened; // shape = (ng,) + double *d_ug_tightened; // shape = (ng,) + double *d_lg_e_tightened; // shape = (ng_e,) + double *d_ug_e_tightened; // shape = (ng_e,) + // upper and lower bounds on nonlinear constraints + double *d_lh; // shape = (nh,) + double *d_uh; // shape = (nh,) + double *d_lh_e; // shape = (nh_e,) + double *d_uh_e; // shape = (nh_e,) + // tightened upper and lower bounds on nonlinear constraints + double *d_lh_tightened; // shape = (nh,) + double *d_uh_tightened; // shape = (nh,) + double *d_lh_e_tightened; // shape = (nh_e,) + double *d_uh_e_tightened; // shape = (nh_e,) + + int *idxbx; // shape = (nbx,) + int *idxbu; // shape = (nbu,) + int *idxbx_e; // shape = (nbx_e,) + + void *raw_memory; // Pointer to allocated memory, to be used for freeing +} custom_memory; + +static int int_max(int num1, int num2) +{ + return (num1 > num2 ) ? num1 : num2; +} + + +static int custom_memory_calculate_size(ocp_nlp_config *nlp_config, ocp_nlp_dims *nlp_dims) +{ + int N = nlp_dims->N; + int nx = {{ dims.nx }}; + int nu = {{ dims.nu }}; + int nw = {{ zoro_description.nw }}; + + int ng = {{ dims.ng }}; + int nh = {{ dims.nh }}; + int nbx = {{ dims.nbx }}; + int nbu = {{ dims.nbu }}; + + int ng_e = {{ dims.ng_e }}; + int nh_e = {{ dims.nh_e }}; + int ngh_e_max = int_max(ng_e, nh_e); + int ngh_me_max = int_max(ngh_e_max, int_max(ng, nh)); + int nbx_e = {{ dims.nbx_e }}; + + assert({{zoro_description.nlbx_t}} <= nbx); + assert({{zoro_description.nubx_t}} <= nbx); + assert({{zoro_description.nlbu_t}} <= nbu); + assert({{zoro_description.nubu_t}} <= nbu); + assert({{zoro_description.nlg_t}} <= ng); + assert({{zoro_description.nug_t}} <= ng); + assert({{zoro_description.nlh_t}} <= nh); + assert({{zoro_description.nuh_t}} <= nh); + assert({{zoro_description.nlbx_e_t}} <= nbx_e); + assert({{zoro_description.nubx_e_t}} <= nbx_e); + assert({{zoro_description.nlg_e_t}} <= ng_e); + assert({{zoro_description.nug_e_t}} <= ng_e); + assert({{zoro_description.nlh_e_t}} <= nh_e); + assert({{zoro_description.nuh_e_t}} <= nh_e); + + acados_size_t size = sizeof(custom_memory); + size += nbx * sizeof(int); + /* blasfeo structs */ + size += (N + 1) * sizeof(struct blasfeo_dmat); + /* blasfeo mem: mat */ + size += (N + 1) * blasfeo_memsize_dmat(nx, nx); // uncertainty_matrix_buffer + size += blasfeo_memsize_dmat(nw, nw); // W_mat + size += 2 * blasfeo_memsize_dmat(nx, nw); // unc_jac_G_mat, temp_GW_mat + size += 4 * blasfeo_memsize_dmat(nx, nx); // GWG_mat, A_mat, AK_mat, temp_AP_mat + size += blasfeo_memsize_dmat(nx, nu); // B_mat + size += 2 * blasfeo_memsize_dmat(nu, nx); // K_mat, temp_KP_mat + size += blasfeo_memsize_dmat(nu, nu); // temp_KPK_mat + size += blasfeo_memsize_dmat(ng, nx); // Cg_mat + size += blasfeo_memsize_dmat(ng, nu); // Dg_mat + size += blasfeo_memsize_dmat(ng_e, nx); // Cg_e_mat + size += blasfeo_memsize_dmat(ngh_e_max, nu); // dummy_Dgh_e_mat + size += blasfeo_memsize_dmat(nh, nx); // Ch_mat + size += blasfeo_memsize_dmat(nh, nu); // Dh_mat + size += blasfeo_memsize_dmat(nh_e, nx); // Ch_e_mat + size += 2 * blasfeo_memsize_dmat(ngh_me_max, nx); // temp_CaDK_mat, temp_CaDKmP_mat + size += blasfeo_memsize_dmat(ngh_me_max, ngh_me_max); // temp_beta_mat + /* blasfeo mem: vec */ + /* Arrays */ + size += nx*nx *sizeof(double); // d_A_mat + size += nx*nu *sizeof(double); // d_B_mat + size += (ng + ng_e) * nx * sizeof(double); // d_Cg_mat, d_Cg_e_mat + size += (ng) * nu * sizeof(double); // d_Dg_mat + size += (nh + nh_e + ng + ng_e) * nx * sizeof(double); // d_Cgh_mat, d_Cgh_e_mat + size += (nh + ng) * nu * sizeof(double); // d_Dgh_mat + // d_state_vec + size += nx *sizeof(double); + // constraints and tightened constraints + size += 4 * (nbx + nbu + ng + nh)*sizeof(double); + size += 4 * (nbx_e + ng_e + nh_e)*sizeof(double); + size += (nbx + nbu + nbx_e)*sizeof(int); // idxbx, idxbu, idxbx_e + + size += 1 * 8; // initial alignment + make_int_multiple_of(64, &size); + size += 1 * 64; + + return size; +} + + +static custom_memory *custom_memory_assign(ocp_nlp_config *nlp_config, ocp_nlp_dims *nlp_dims, void *raw_memory) +{ + int N = nlp_dims->N; + int nx = {{ dims.nx }}; + int nu = {{ dims.nu }}; + int nw = {{ zoro_description.nw }}; + + int ng = {{ dims.ng }}; + int nh = {{ dims.nh }}; + int nbx = {{ dims.nbx }}; + int nbu = {{ dims.nbu }}; + + int ng_e = {{ dims.ng_e }}; + int nh_e = {{ dims.nh_e }}; + int ngh_e_max = int_max(ng_e, nh_e); + int ngh_me_max = int_max(ngh_e_max, int_max(ng, nh)); + int nbx_e = {{ dims.nbx_e }}; + + char *c_ptr = (char *) raw_memory; + custom_memory *mem = (custom_memory *) c_ptr; + c_ptr += sizeof(custom_memory); + + align_char_to(8, &c_ptr); + assign_and_advance_blasfeo_dmat_structs(N+1, &mem->uncertainty_matrix_buffer, &c_ptr); + + align_char_to(64, &c_ptr); + + for (int ii = 0; ii <= N; ii++) + { + assign_and_advance_blasfeo_dmat_mem(nx, nx, &mem->uncertainty_matrix_buffer[ii], &c_ptr); + } + // Disturbance Dynamics + assign_and_advance_blasfeo_dmat_mem(nw, nw, &mem->W_mat, &c_ptr); + assign_and_advance_blasfeo_dmat_mem(nx, nw, &mem->unc_jac_G_mat, &c_ptr); + assign_and_advance_blasfeo_dmat_mem(nx, nw, &mem->temp_GW_mat, &c_ptr); + assign_and_advance_blasfeo_dmat_mem(nx, nx, &mem->GWG_mat, &c_ptr); + // System Dynamics + assign_and_advance_blasfeo_dmat_mem(nx, nx, &mem->A_mat, &c_ptr); + assign_and_advance_blasfeo_dmat_mem(nx, nu, &mem->B_mat, &c_ptr); + assign_and_advance_blasfeo_dmat_mem(ng, nx, &mem->Cg_mat, &c_ptr); + assign_and_advance_blasfeo_dmat_mem(ng, nu, &mem->Dg_mat, &c_ptr); + assign_and_advance_blasfeo_dmat_mem(ng_e, nx, &mem->Cg_e_mat, &c_ptr); + assign_and_advance_blasfeo_dmat_mem(ngh_e_max, nu, &mem->dummy_Dgh_e_mat, &c_ptr); + assign_and_advance_blasfeo_dmat_mem(nh, nx, &mem->Ch_mat, &c_ptr); + assign_and_advance_blasfeo_dmat_mem(nh, nu, &mem->Dh_mat, &c_ptr); + assign_and_advance_blasfeo_dmat_mem(nh_e, nx, &mem->Ch_e_mat, &c_ptr); + assign_and_advance_blasfeo_dmat_mem(nu, nx, &mem->K_mat, &c_ptr); + assign_and_advance_blasfeo_dmat_mem(nx, nx, &mem->AK_mat, &c_ptr); + assign_and_advance_blasfeo_dmat_mem(nx, nx, &mem->temp_AP_mat, &c_ptr); + assign_and_advance_blasfeo_dmat_mem(nu, nx, &mem->temp_KP_mat, &c_ptr); + assign_and_advance_blasfeo_dmat_mem(nu, nu, &mem->temp_KPK_mat, &c_ptr); + assign_and_advance_blasfeo_dmat_mem(ngh_me_max, nx, &mem->temp_CaDK_mat, &c_ptr); + assign_and_advance_blasfeo_dmat_mem(ngh_me_max, nx, &mem->temp_CaDKmP_mat, &c_ptr); + assign_and_advance_blasfeo_dmat_mem(ngh_me_max, ngh_me_max, &mem->temp_beta_mat, &c_ptr); + + assign_and_advance_double(nx*nx, &mem->d_A_mat, &c_ptr); + assign_and_advance_double(nx*nu, &mem->d_B_mat, &c_ptr); + assign_and_advance_double(ng*nx, &mem->d_Cg_mat, &c_ptr); + assign_and_advance_double(ng*nu, &mem->d_Dg_mat, &c_ptr); + assign_and_advance_double(ng_e*nx, &mem->d_Cg_e_mat, &c_ptr); + assign_and_advance_double((ng + nh)*nx, &mem->d_Cgh_mat, &c_ptr); + assign_and_advance_double((ng + nh)*nu, &mem->d_Dgh_mat, &c_ptr); + assign_and_advance_double((ng_e + nh_e)*nx, &mem->d_Cgh_e_mat, &c_ptr); + assign_and_advance_double(nx, &mem->d_state_vec, &c_ptr); + assign_and_advance_double(nbx, &mem->d_lbx, &c_ptr); + assign_and_advance_double(nbx, &mem->d_ubx, &c_ptr); + assign_and_advance_double(nbx_e, &mem->d_lbx_e, &c_ptr); + assign_and_advance_double(nbx_e, &mem->d_ubx_e, &c_ptr); + assign_and_advance_double(nbx, &mem->d_lbx_tightened, &c_ptr); + assign_and_advance_double(nbx, &mem->d_ubx_tightened, &c_ptr); + assign_and_advance_double(nbx_e, &mem->d_lbx_e_tightened, &c_ptr); + assign_and_advance_double(nbx_e, &mem->d_ubx_e_tightened, &c_ptr); + assign_and_advance_double(nbu, &mem->d_lbu, &c_ptr); + assign_and_advance_double(nbu, &mem->d_ubu, &c_ptr); + assign_and_advance_double(nbu, &mem->d_lbu_tightened, &c_ptr); + assign_and_advance_double(nbu, &mem->d_ubu_tightened, &c_ptr); + assign_and_advance_double(ng, &mem->d_lg, &c_ptr); + assign_and_advance_double(ng, &mem->d_ug, &c_ptr); + assign_and_advance_double(ng_e, &mem->d_lg_e, &c_ptr); + assign_and_advance_double(ng_e, &mem->d_ug_e, &c_ptr); + assign_and_advance_double(ng, &mem->d_lg_tightened, &c_ptr); + assign_and_advance_double(ng, &mem->d_ug_tightened, &c_ptr); + assign_and_advance_double(ng_e, &mem->d_lg_e_tightened, &c_ptr); + assign_and_advance_double(ng_e, &mem->d_ug_e_tightened, &c_ptr); + assign_and_advance_double(nh, &mem->d_lh, &c_ptr); + assign_and_advance_double(nh, &mem->d_uh, &c_ptr); + assign_and_advance_double(nh_e, &mem->d_lh_e, &c_ptr); + assign_and_advance_double(nh_e, &mem->d_uh_e, &c_ptr); + assign_and_advance_double(nh, &mem->d_lh_tightened, &c_ptr); + assign_and_advance_double(nh, &mem->d_uh_tightened, &c_ptr); + assign_and_advance_double(nh_e, &mem->d_lh_e_tightened, &c_ptr); + assign_and_advance_double(nh_e, &mem->d_uh_e_tightened, &c_ptr); + + assign_and_advance_int(nbx, &mem->idxbx, &c_ptr); + assign_and_advance_int(nbu, &mem->idxbu, &c_ptr); + assign_and_advance_int(nbx_e, &mem->idxbx_e, &c_ptr); + + assert((char *) raw_memory + custom_memory_calculate_size(nlp_config, nlp_dims) >= c_ptr); + mem->raw_memory = raw_memory; + + return mem; +} + + + +static void *custom_memory_create({{ model.name }}_solver_capsule* capsule) +{ + printf("\nin custom_memory_create_function\n"); + + ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(capsule); + ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config(capsule); + acados_size_t bytes = custom_memory_calculate_size(nlp_config, nlp_dims); + + void *ptr = acados_calloc(1, bytes); + + custom_memory *custom_mem = custom_memory_assign(nlp_config, nlp_dims, ptr); + custom_mem->raw_memory = ptr; + + return custom_mem; +} + + +static void custom_val_init_function(ocp_nlp_dims *nlp_dims, ocp_nlp_in *nlp_in, ocp_nlp_solver *nlp_solver, custom_memory *custom_mem) +{ + int N = nlp_dims->N; + int nx = {{ dims.nx }}; + int nu = {{ dims.nu }}; + int nw = {{ zoro_description.nw }}; + + int ng = {{ dims.ng }}; + int nh = {{ dims.nh }}; + int nbx = {{ dims.nbx }}; + int nbu = {{ dims.nbu }}; + + int ng_e = {{ dims.ng_e }}; + int nh_e = {{ dims.nh_e }}; + int ngh_e_max = int_max(ng_e, nh_e); + int nbx_e = {{ dims.nbx_e }}; + + /* Get the state constraint bounds */ + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "idxbx", custom_mem->idxbx); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "idxbx", custom_mem->idxbx_e); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lbx", custom_mem->d_lbx); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ubx", custom_mem->d_ubx); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lbx", custom_mem->d_lbx_e); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "ubx", custom_mem->d_ubx_e); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "idxbu", custom_mem->idxbu); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lbu", custom_mem->d_lbu); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ubu", custom_mem->d_ubu); + // Get the Jacobians and the bounds of the linear constraints + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lg", custom_mem->d_lg); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ug", custom_mem->d_ug); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lg", custom_mem->d_lg_e); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "ug", custom_mem->d_ug_e); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "C", custom_mem->d_Cg_mat); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "D", custom_mem->d_Dg_mat); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "C", custom_mem->d_Cg_e_mat); + blasfeo_pack_dmat(ng, nx, custom_mem->d_Cg_mat, ng, &custom_mem->Cg_mat, 0, 0); + blasfeo_pack_dmat(ng, nu, custom_mem->d_Dg_mat, ng, &custom_mem->Dg_mat, 0, 0); + blasfeo_pack_dmat(ng_e, nx, custom_mem->d_Cg_e_mat, ng_e, &custom_mem->Cg_e_mat, 0, 0); + blasfeo_dgese(ngh_e_max, nu, 0., &custom_mem->dummy_Dgh_e_mat, 0, 0); //fill with zeros + // NOTE: fixed lower and upper bounds of nonlinear constraints + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lh", custom_mem->d_lh); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "uh", custom_mem->d_uh); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lh", custom_mem->d_lh_e); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "uh", custom_mem->d_uh_e); + + /* Initilize tightened constraints*/ + // NOTE: tightened constraints are only initialized once + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lbx", custom_mem->d_lbx_tightened); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ubx", custom_mem->d_ubx_tightened); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lbx", custom_mem->d_lbx_e_tightened); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "ubx", custom_mem->d_ubx_e_tightened); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lbu", custom_mem->d_lbu_tightened); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ubu", custom_mem->d_ubu_tightened); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lg", custom_mem->d_lg_tightened); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ug", custom_mem->d_ug_tightened); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lg", custom_mem->d_lg_e_tightened); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "ug", custom_mem->d_ug_e_tightened); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lh", custom_mem->d_lh_tightened); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "uh", custom_mem->d_uh_tightened); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lh", custom_mem->d_lh_e_tightened); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "uh", custom_mem->d_uh_e_tightened); + + /* Initialize the W matrix */ + // blasfeo_dgese(nw, nw, 0., &custom_mem->W_mat, 0, 0); +{%- for ir in range(end=zoro_description.nw) %} + {%- for ic in range(end=zoro_description.nw) %} + blasfeo_dgein1({{zoro_description.W_mat[ir][ic]}}, &custom_mem->W_mat, {{ir}}, {{ic}}); + {%- endfor %} +{%- endfor %} + +{%- for ir in range(end=dims.nx) %} + {%- for ic in range(end=zoro_description.nw) %} + blasfeo_dgein1({{zoro_description.unc_jac_G_mat[ir][ic]}}, &custom_mem->unc_jac_G_mat, {{ir}}, {{ic}}); + {%- endfor %} +{%- endfor %} + + // NOTE: if G is changing this is not in init! + // temp_GW_mat = unc_jac_G_mat * W_mat + blasfeo_dgemm_nn(nx, nw, nw, 1.0, &custom_mem->unc_jac_G_mat, 0, 0, + &custom_mem->W_mat, 0, 0, 0.0, + &custom_mem->temp_GW_mat, 0, 0, &custom_mem->temp_GW_mat, 0, 0); + // GWG_mat = temp_GW_mat * unc_jac_G_mat^T + blasfeo_dgemm_nt(nx, nx, nw, 1.0, &custom_mem->temp_GW_mat, 0, 0, + &custom_mem->unc_jac_G_mat, 0, 0, 0.0, + &custom_mem->GWG_mat, 0, 0, &custom_mem->GWG_mat, 0, 0); + + /* Initialize the uncertainty_matrix_buffer[0] */ +{%- for ir in range(end=dims.nx) %} + {%- for ic in range(end=dims.nx) %} + blasfeo_dgein1({{zoro_description.P0_mat[ir][ic]}}, &custom_mem->uncertainty_matrix_buffer[0], {{ir}}, {{ic}}); + {%- endfor %} +{%- endfor %} + + /* Initialize the feedback gain matrix */ +{%- for ir in range(end=dims.nu) %} + {%- for ic in range(end=dims.nx) %} + blasfeo_dgein1({{zoro_description.fdbk_K_mat[ir][ic]}}, &custom_mem->K_mat, {{ir}}, {{ic}}); + {%- endfor %} +{%- endfor %} +} + + +int custom_update_init_function({{ model.name }}_solver_capsule* capsule) +{ + capsule->custom_update_memory = custom_memory_create(capsule); + ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in(capsule); + + ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(capsule); + ocp_nlp_solver *nlp_solver = {{ model.name }}_acados_get_nlp_solver(capsule); + custom_val_init_function(nlp_dims, nlp_in, nlp_solver, capsule->custom_update_memory); + return 1; +} + +static void compute_gh_beta(struct blasfeo_dmat* K_mat, struct blasfeo_dmat* C_mat, + struct blasfeo_dmat* D_mat, struct blasfeo_dmat* CaDK_mat, + struct blasfeo_dmat* CaDKmP_mat, struct blasfeo_dmat* beta_mat, + struct blasfeo_dmat* P_mat, + int n_cstr, int nx, int nu) +{ + // (C+DK)@P@(C^T+K^TD^T) + // CaDK_mat = C_mat + D_mat @ K_mat + blasfeo_dgemm_nn(n_cstr, nx, nu, 1.0, D_mat, 0, 0, + K_mat, 0, 0, 1.0, + C_mat, 0, 0, CaDK_mat, 0, 0); + // CaDKmP_mat = CaDK_mat @ P_mat + blasfeo_dgemm_nn(n_cstr, nx, nx, 1.0, CaDK_mat, 0, 0, + P_mat, 0, 0, 0.0, + CaDKmP_mat, 0, 0, CaDKmP_mat, 0, 0); + // beta_mat = CaDKmP_mat @ CaDK_mat^T + blasfeo_dgemm_nt(n_cstr, n_cstr, nx, 1.0, CaDKmP_mat, 0, 0, + CaDK_mat, 0, 0, 0.0, + beta_mat, 0, 0, beta_mat, 0, 0); +} + +static void compute_KPK(struct blasfeo_dmat* K_mat, struct blasfeo_dmat* temp_KP_mat, + struct blasfeo_dmat* temp_KPK_mat, struct blasfeo_dmat* P_mat, + int nx, int nu) +{ + // K @ P_k @ K^T + // temp_KP_mat = K_mat @ P_mat + blasfeo_dgemm_nn(nu, nx, nx, 1.0, K_mat, 0, 0, + P_mat, 0, 0, 0.0, + temp_KP_mat, 0, 0, temp_KP_mat, 0, 0); + // temp_KPK_mat = temp_KP_mat @ K_mat^T + blasfeo_dgemm_nt(nu, nu, nx, 1.0, temp_KP_mat, 0, 0, + K_mat, 0, 0, 0.0, + temp_KPK_mat, 0, 0, temp_KPK_mat, 0, 0); +} + +static void compute_next_P_matrix(struct blasfeo_dmat* P_mat, struct blasfeo_dmat* P_next_mat, + struct blasfeo_dmat* A_mat, struct blasfeo_dmat* B_mat, + struct blasfeo_dmat* K_mat, struct blasfeo_dmat* W_mat, + struct blasfeo_dmat* AK_mat, struct blasfeo_dmat* temp_AP_mat, int nx, int nu) +{ + // AK_mat = -B@K + A + blasfeo_dgemm_nn(nx, nx, nu, -1.0, B_mat, 0, 0, K_mat, 0, 0, + 1.0, A_mat, 0, 0, AK_mat, 0, 0); + // temp_AP_mat = AK_mat @ P_k + blasfeo_dgemm_nn(nx, nx, nx, 1.0, AK_mat, 0, 0, + P_mat, 0, 0, 0.0, + temp_AP_mat, 0, 0, temp_AP_mat, 0, 0); + // P_{k+1} = temp_AP_mat @ AK_mat^T + GWG_mat + blasfeo_dgemm_nt(nx, nx, nx, 1.0, temp_AP_mat, 0, 0, + AK_mat, 0, 0, 1.0, + W_mat, 0, 0, P_next_mat, 0, 0); +} + +static void reset_P0_matrix(ocp_nlp_dims *nlp_dims, struct blasfeo_dmat* P_mat, double* data) +{ + int nx = nlp_dims->nx[0]; + blasfeo_pack_dmat(nx, nx, data, nx, P_mat, 0, 0); +} + +static void uncertainty_propagate_and_update(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out, custom_memory *custom_mem) +{ + ocp_nlp_config *nlp_config = solver->config; + ocp_nlp_dims *nlp_dims = solver->dims; + + int N = nlp_dims->N; + int nx = nlp_dims->nx[0]; + int nu = nlp_dims->nu[0]; + int nx_sqr = nx*nx; + int nbx = {{ dims.nbx }}; + int nbu = {{ dims.nbu }}; + int ng = {{ dims.ng }}; + int nh = {{ dims.nh }}; + int ng_e = {{ dims.ng_e }}; + int nh_e = {{ dims.nh_e }}; + int nbx_e = {{ dims.nbx_e }}; + double backoff_scaling_gamma = {{ zoro_description.backoff_scaling_gamma }}; + + // First Stage + // NOTE: lbx_0 and ubx_0 should not be tightened. + // NOTE: lg_0 and ug_0 are not tightened. + // NOTE: lh_0 and uh_0 are not tightened. +{%- if zoro_description.nlbu_t + zoro_description.nubu_t > 0 %} + compute_KPK(&custom_mem->K_mat, &custom_mem->temp_KP_mat, + &custom_mem->temp_KPK_mat, &(custom_mem->uncertainty_matrix_buffer[0]), nx, nu); + +{%- if zoro_description.nlbu_t > 0 %} + // backoff lbu + {%- for it in zoro_description.idx_lbu_t %} + custom_mem->d_lbu_tightened[{{it}}] + = custom_mem->d_lbu[{{it}}] + + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_KPK_mat, + custom_mem->idxbu[{{it}}],custom_mem->idxbu[{{it}}])); + {%- endfor %} + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbu", custom_mem->d_lbu_tightened); +{%- endif %} +{%- if zoro_description.nubu_t > 0 %} + // backoff ubu + {%- for it in zoro_description.idx_ubu_t %} + custom_mem->d_ubu_tightened[{{it}}] + = custom_mem->d_ubu[{{it}}] + - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_KPK_mat, + custom_mem->idxbu[{{it}}],custom_mem->idxbu[{{it}}])); + {%- endfor %} + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubu", custom_mem->d_ubu_tightened); +{%- endif %} +{%- endif %} + // Middle Stages + // constraint tightening: for next stage based on dynamics of ii stage + // P[ii+1] = (A-B@K) @ P[ii] @ (A-B@K).T + G@W@G.T + for (int ii = 0; ii < N-1; ii++) + { + // get and pack: A, B + ocp_nlp_get_at_stage(nlp_config, nlp_dims, solver, ii, "A", custom_mem->d_A_mat); + blasfeo_pack_dmat(nx, nx, custom_mem->d_A_mat, nx, &custom_mem->A_mat, 0, 0); + ocp_nlp_get_at_stage(nlp_config, nlp_dims, solver, ii, "B", custom_mem->d_B_mat); + blasfeo_pack_dmat(nx, nu, custom_mem->d_B_mat, nx, &custom_mem->B_mat, 0, 0); + + compute_next_P_matrix(&(custom_mem->uncertainty_matrix_buffer[ii]), + &(custom_mem->uncertainty_matrix_buffer[ii+1]), + &custom_mem->A_mat, &custom_mem->B_mat, + &custom_mem->K_mat, &custom_mem->GWG_mat, + &custom_mem->AK_mat, &custom_mem->temp_AP_mat, nx, nu); + + // state constraints +{%- if zoro_description.nlbx_t + zoro_description.nubx_t> 0 %} + {%- if zoro_description.nlbx_t > 0 %} + // lbx + {%- for it in zoro_description.idx_lbx_t %} + custom_mem->d_lbx_tightened[{{it}}] + = custom_mem->d_lbx[{{it}}] + + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->uncertainty_matrix_buffer[ii+1], + custom_mem->idxbx[{{it}}],custom_mem->idxbx[{{it}}])); + {%- endfor %} + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "lbx", custom_mem->d_lbx_tightened); + {%- endif %} + {% if zoro_description.nubx_t > 0 %} + // ubx + {%- for it in zoro_description.idx_ubx_t %} + custom_mem->d_ubx_tightened[{{it}}] = custom_mem->d_ubx[{{it}}] + - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->uncertainty_matrix_buffer[ii+1], + custom_mem->idxbx[{{it}}],custom_mem->idxbx[{{it}}])); + {%- endfor %} + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "ubx", custom_mem->d_ubx_tightened); + {%- endif %} +{%- endif %} + +{%- if zoro_description.nlbu_t + zoro_description.nubu_t > 0 %} + // input constraints + compute_KPK(&custom_mem->K_mat, &custom_mem->temp_KP_mat, + &custom_mem->temp_KPK_mat, &(custom_mem->uncertainty_matrix_buffer[ii+1]), nx, nu); + + {%- if zoro_description.nlbu_t > 0 %} + {%- for it in zoro_description.idx_lbu_t %} + custom_mem->d_lbu_tightened[{{it}}] = custom_mem->d_lbu[{{it}}] + + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_KPK_mat, + custom_mem->idxbu[{{it}}], custom_mem->idxbu[{{it}}])); + {%- endfor %} + + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "lbu", custom_mem->d_lbu_tightened); + {%- endif %} + {%- if zoro_description.nubu_t > 0 %} + {%- for it in zoro_description.idx_ubu_t %} + custom_mem->d_ubu_tightened[{{it}}] = custom_mem->d_ubu[{{it}}] + - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_KPK_mat, + custom_mem->idxbu[{{it}}], custom_mem->idxbu[{{it}}])); + {%- endfor %} + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "ubu", custom_mem->d_ubu_tightened); + {%- endif %} +{%- endif %} + +{%- if zoro_description.nlg_t + zoro_description.nug_t > 0 %} + // Linear constraints: g + compute_gh_beta(&custom_mem->K_mat, &custom_mem->Cg_mat, + &custom_mem->Dg_mat, &custom_mem->temp_CaDK_mat, + &custom_mem->temp_CaDKmP_mat, &custom_mem->temp_beta_mat, + &custom_mem->uncertainty_matrix_buffer[ii+1], ng, nx, nu); + + {%- if zoro_description.nlg_t > 0 %} + {%- for it in zoro_description.idx_lg_t %} + custom_mem->d_lg_tightened[{{it}}] + = custom_mem->d_lg[{{it}}] + + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}})); + {%- endfor %} + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "lg", custom_mem->d_lg_tightened); + {%- endif %} + {%- if zoro_description.nug_t > 0 %} + {%- for it in zoro_description.idx_ug_t %} + custom_mem->d_ug_tightened[{{it}}] + = custom_mem->d_ug[{{it}}] + - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}})); + {%- endfor %} + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "ug", custom_mem->d_ug_tightened); + {%- endif %} +{%- endif %} + + +{%- if zoro_description.nlh_t + zoro_description.nuh_t > 0 %} + // nonlinear constraints: h + // Get C_{k+1} and D_{k+1} + ocp_nlp_get_at_stage(solver->config, nlp_dims, solver, ii+1, "C", custom_mem->d_Cgh_mat); + ocp_nlp_get_at_stage(solver->config, nlp_dims, solver, ii+1, "D", custom_mem->d_Dgh_mat); + // NOTE: the d_Cgh_mat is column-major, the first ng rows are the Jacobians of the linear constraints + blasfeo_pack_dmat(nh, nx, custom_mem->d_Cgh_mat+ng, ng+nh, &custom_mem->Ch_mat, 0, 0); + blasfeo_pack_dmat(nh, nu, custom_mem->d_Dgh_mat+ng, ng+nh, &custom_mem->Dh_mat, 0, 0); + + compute_gh_beta(&custom_mem->K_mat, &custom_mem->Ch_mat, + &custom_mem->Dh_mat, &custom_mem->temp_CaDK_mat, + &custom_mem->temp_CaDKmP_mat, &custom_mem->temp_beta_mat, + &custom_mem->uncertainty_matrix_buffer[ii+1], nh, nx, nu); + + {%- if zoro_description.nlh_t > 0 %} + {%- for it in zoro_description.idx_lh_t %} + custom_mem->d_lh_tightened[{{it}}] + = custom_mem->d_lh[{{it}}] + + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}})); + {%- endfor %} + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "lh", custom_mem->d_lh_tightened); + {%- endif %} + {%- if zoro_description.nuh_t > 0 %} + {%- for it in zoro_description.idx_uh_t %} + custom_mem->d_uh_tightened[{{it}}] = custom_mem->d_uh[{{it}}] + - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}})); + {%- endfor %} + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "uh", custom_mem->d_uh_tightened); + {%- endif %} +{%- endif %} + } + + // Last stage + // get and pack: A, B + ocp_nlp_get_at_stage(nlp_config, nlp_dims, solver, N-1, "A", custom_mem->d_A_mat); + blasfeo_pack_dmat(nx, nx, custom_mem->d_A_mat, nx, &custom_mem->A_mat, 0, 0); + ocp_nlp_get_at_stage(nlp_config, nlp_dims, solver, N-1, "B", custom_mem->d_B_mat); + blasfeo_pack_dmat(nx, nu, custom_mem->d_B_mat, nx, &custom_mem->B_mat, 0, 0); + // AK_mat = -B*K + A + compute_next_P_matrix(&(custom_mem->uncertainty_matrix_buffer[N-1]), + &(custom_mem->uncertainty_matrix_buffer[N]), + &custom_mem->A_mat, &custom_mem->B_mat, + &custom_mem->K_mat, &custom_mem->GWG_mat, + &custom_mem->AK_mat, &custom_mem->temp_AP_mat, nx, nu); + + // state constraints nlbx_e_t +{%- if zoro_description.nlbx_e_t + zoro_description.nubx_e_t> 0 %} +{%- if zoro_description.nlbx_e_t > 0 %} + // lbx_e + {%- for it in zoro_description.idx_lbx_e_t %} + custom_mem->d_lbx_e_tightened[{{it}}] + = custom_mem->d_lbx_e[{{it}}] + + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->uncertainty_matrix_buffer[N], + custom_mem->idxbx_e[{{it}}],custom_mem->idxbx_e[{{it}}])); + {%- endfor %} + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lbx", custom_mem->d_lbx_e_tightened); +{%- endif %} +{% if zoro_description.nubx_e_t > 0 %} + // ubx_e + {%- for it in zoro_description.idx_ubx_e_t %} + custom_mem->d_ubx_e_tightened[{{it}}] = custom_mem->d_ubx_e[{{it}}] + - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->uncertainty_matrix_buffer[N], + custom_mem->idxbx_e[{{it}}],custom_mem->idxbx_e[{{it}}])); + {%- endfor %} + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ubx", custom_mem->d_ubx_e_tightened); +{%- endif %} +{%- endif %} + +{%- if zoro_description.nlg_e_t + zoro_description.nug_e_t > 0 %} + // Linear constraints: g + compute_gh_beta(&custom_mem->K_mat, &custom_mem->Cg_mat, + &custom_mem->dummy_Dgh_e_mat, &custom_mem->temp_CaDK_mat, + &custom_mem->temp_CaDKmP_mat, &custom_mem->temp_beta_mat, + &custom_mem->uncertainty_matrix_buffer[N], ng, nx, nu); + +{%- if zoro_description.nlg_e_t > 0 %} + {%- for it in zoro_description.idx_lg_e_t %} + custom_mem->d_lg_e_tightened[{{it}}] + = custom_mem->d_lg_e[{{it}}] + + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}})); + {%- endfor %} + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lg", custom_mem->d_lg_e_tightened); +{%- endif %} +{%- if zoro_description.nug_e_t > 0 %} + {%- for it in zoro_description.idx_ug_e_t %} + custom_mem->d_ug_e_tightened[{{it}}] + = custom_mem->d_ug_e[{{it}}] + - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}})); + {%- endfor %} + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ug", custom_mem->d_ug_e_tightened); +{%- endif %} +{%- endif %} + + +{%- if zoro_description.nlh_e_t + zoro_description.nuh_e_t > 0 %} + // nonlinear constraints: h + // Get C_{k+1} and D_{k+1} + ocp_nlp_get_at_stage(solver->config, nlp_dims, solver, N, "C", custom_mem->d_Cgh_mat); + // NOTE: the d_Cgh_mat is column-major, the first ng rows are the Jacobians of the linear constraints + blasfeo_pack_dmat(nh, nx, custom_mem->d_Cgh_mat+ng, ng+nh, &custom_mem->Ch_mat, 0, 0); + + compute_gh_beta(&custom_mem->K_mat, &custom_mem->Ch_mat, + &custom_mem->dummy_Dgh_e_mat, &custom_mem->temp_CaDK_mat, + &custom_mem->temp_CaDKmP_mat, &custom_mem->temp_beta_mat, + &custom_mem->uncertainty_matrix_buffer[N], nh, nx, nu); + + {%- if zoro_description.nlh_e_t > 0 %} + {%- for it in zoro_description.idx_lh_e_t %} + custom_mem->d_lh_e_tightened[{{it}}] + = custom_mem->d_lh_e[{{it}}] + + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}})); + {%- endfor %} + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lh", custom_mem->d_lh_e_tightened); + {%- endif %} + {%- if zoro_description.nuh_e_t > 0 %} + {%- for it in zoro_description.idx_uh_e_t %} + custom_mem->d_uh_e_tightened[{{it}}] = custom_mem->d_uh_e[{{it}}] + - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}})); + {%- endfor %} + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "uh", custom_mem->d_uh_e_tightened); + {%- endif %} +{%- endif %} + +} + + +int custom_update_function({{ model.name }}_solver_capsule* capsule, double* data, int data_len) +{ + custom_memory *custom_mem = (custom_memory *) capsule->custom_update_memory; + ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config(capsule); + ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(capsule); + ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in(capsule); + ocp_nlp_out *nlp_out = {{ model.name }}_acados_get_nlp_out(capsule); + ocp_nlp_solver *nlp_solver = {{ model.name }}_acados_get_nlp_solver(capsule); + void *nlp_opts = {{ model.name }}_acados_get_nlp_opts(capsule); + + if (data_len > 0) + { + reset_P0_matrix(nlp_dims, &custom_mem->uncertainty_matrix_buffer[0], data); + } + uncertainty_propagate_and_update(nlp_solver, nlp_in, nlp_out, custom_mem); + + return 1; +} + + +int custom_update_terminate_function({{ model.name }}_solver_capsule* capsule) +{ + custom_memory *mem = capsule->custom_update_memory; + + free(mem->raw_memory); + return 1; +} + +// useful prints for debugging + +/* +printf("A_mat:\n"); +blasfeo_print_exp_dmat(nx, nx, &custom_mem->A_mat, 0, 0); +printf("B_mat:\n"); +blasfeo_print_exp_dmat(nx, nu, &custom_mem->B_mat, 0, 0); +printf("K_mat:\n"); +blasfeo_print_exp_dmat(nu, nx, &custom_mem->K_mat, 0, 0); +printf("AK_mat:\n"); +blasfeo_print_exp_dmat(nx, nx, &custom_mem->AK_mat, 0, 0); +printf("temp_AP_mat:\n"); +blasfeo_print_exp_dmat(nx, nx, &custom_mem->temp_AP_mat, 0, 0); +printf("W_mat:\n"); +blasfeo_print_exp_dmat(nx, nx, &custom_mem->W_mat, 0, 0); +printf("P_k+1:\n"); +blasfeo_print_exp_dmat(nx, nx, &(custom_mem->uncertainty_matrix_buffer[ii+1]), 0, 0);*/ \ No newline at end of file diff --git a/third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.h b/third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.h new file mode 100644 index 0000000000..9611ea210c --- /dev/null +++ b/third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.h @@ -0,0 +1,44 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +#include "acados_solver_{{ model.name }}.h" + +// Called at the end of solver creation. +// This is allowed to allocate memory and store the pointer to it into capsule->custom_update_memory. +int custom_update_init_function({{ model.name }}_solver_capsule* capsule); + + +// Custom update function that can be called between solver calls +int custom_update_function({{ model.name }}_solver_capsule* capsule, double* data, int data_len); + + +// Called just before destroying the solver. +// Responsible to free allocated memory, stored at capsule->custom_update_memory. +int custom_update_terminate_function({{ model.name }}_solver_capsule* capsule); diff --git a/third_party/acados/acados_template/gnsf/__init__.py b/third_party/acados/acados_template/gnsf/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/third_party/acados/acados_template/gnsf/check_reformulation.py b/third_party/acados/acados_template/gnsf/check_reformulation.py new file mode 100644 index 0000000000..2bdfbbc336 --- /dev/null +++ b/third_party/acados/acados_template/gnsf/check_reformulation.py @@ -0,0 +1,216 @@ +# +# Copyright (c) The acados authors. +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + +from acados_template.utils import casadi_length +from casadi import * +import numpy as np + + +def check_reformulation(model, gnsf, print_info): + + ## Description: + # this function takes the implicit ODE/ index-1 DAE and a gnsf structure + # to evaluate both models at num_eval random points x0, x0dot, z0, u0 + # if for all points the relative error is <= TOL, the function will return:: + # 1, otherwise it will give an error. + + TOL = 1e-14 + num_eval = 10 + + # get dimensions + nx = gnsf["nx"] + nu = gnsf["nu"] + nz = gnsf["nz"] + nx1 = gnsf["nx1"] + nx2 = gnsf["nx2"] + nz1 = gnsf["nz1"] + nz2 = gnsf["nz2"] + n_out = gnsf["n_out"] + + # get model matrices + A = gnsf["A"] + B = gnsf["B"] + C = gnsf["C"] + E = gnsf["E"] + c = gnsf["c"] + + L_x = gnsf["L_x"] + L_xdot = gnsf["L_xdot"] + L_z = gnsf["L_z"] + L_u = gnsf["L_u"] + + A_LO = gnsf["A_LO"] + E_LO = gnsf["E_LO"] + B_LO = gnsf["B_LO"] + c_LO = gnsf["c_LO"] + + I_x1 = range(nx1) + I_x2 = range(nx1, nx) + + I_z1 = range(nz1) + I_z2 = range(nz1, nz) + + idx_perm_f = gnsf["idx_perm_f"] + + # get casadi variables + x = gnsf["x"] + xdot = gnsf["xdot"] + z = gnsf["z"] + u = gnsf["u"] + y = gnsf["y"] + uhat = gnsf["uhat"] + p = gnsf["p"] + + # create functions + impl_dae_fun = Function("impl_dae_fun", [x, xdot, u, z, p], [model.f_impl_expr]) + phi_fun = Function("phi_fun", [y, uhat, p], [gnsf["phi_expr"]]) + f_lo_fun = Function( + "f_lo_fun", [x[range(nx1)], xdot[range(nx1)], z, u, p], [gnsf["f_lo_expr"]] + ) + + # print(gnsf) + # print(gnsf["n_out"]) + + for i_check in range(num_eval): + # generate random values + x0 = np.random.rand(nx, 1) + x0dot = np.random.rand(nx, 1) + z0 = np.random.rand(nz, 1) + u0 = np.random.rand(nu, 1) + + if gnsf["ny"] > 0: + y0 = L_x @ x0[I_x1] + L_xdot @ x0dot[I_x1] + L_z @ z0[I_z1] + else: + y0 = [] + if gnsf["nuhat"] > 0: + uhat0 = L_u @ u0 + else: + uhat0 = [] + + # eval functions + p0 = np.random.rand(gnsf["np"], 1) + f_impl_val = impl_dae_fun(x0, x0dot, u0, z0, p0).full() + phi_val = phi_fun(y0, uhat0, p0) + f_lo_val = f_lo_fun(x0[I_x1], x0dot[I_x1], z0[I_z1], u0, p0) + + f_impl_val = f_impl_val[idx_perm_f] + # eval gnsf + if n_out > 0: + C_phi = C @ phi_val + else: + C_phi = np.zeros((nx1 + nz1, 1)) + try: + gnsf_val1 = ( + A @ x0[I_x1] + B @ u0 + C_phi + c - E @ vertcat(x0dot[I_x1], z0[I_z1]) + ) + # gnsf_1 = (A @ x[I_x1] + B @ u + C_phi + c - E @ vertcat(xdot[I_x1], z[I_z1])) + except: + import pdb + + pdb.set_trace() + + if nx2 > 0: # eval LOS: + gnsf_val2 = ( + A_LO @ x0[I_x2] + + B_LO @ u0 + + c_LO + + f_lo_val + - E_LO @ vertcat(x0dot[I_x2], z0[I_z2]) + ) + gnsf_val = vertcat(gnsf_val1, gnsf_val2).full() + else: + gnsf_val = gnsf_val1.full() + # compute error and check + rel_error = np.linalg.norm(f_impl_val - gnsf_val) / np.linalg.norm(f_impl_val) + + if rel_error > TOL: + print("transcription failed rel_error > TOL") + print("you are in debug mode now: import pdb; pdb.set_trace()") + abs_error = gnsf_val - f_impl_val + # T = table(f_impl_val, gnsf_val, abs_error) + # print(T) + print("abs_error:", abs_error) + # error('transcription failed rel_error > TOL') + # check = 0 + import pdb + + pdb.set_trace() + if print_info: + print(" ") + print("model reformulation checked: relative error <= TOL = ", str(TOL)) + print(" ") + check = 1 + ## helpful for debugging: + # # use in calling function and compare + # # compare f_impl(i) with gnsf_val1(i) + # + + # nx = gnsf['nx'] + # nu = gnsf['nu'] + # nz = gnsf['nz'] + # nx1 = gnsf['nx1'] + # nx2 = gnsf['nx2'] + # + # A = gnsf['A'] + # B = gnsf['B'] + # C = gnsf['C'] + # E = gnsf['E'] + # c = gnsf['c'] + # + # L_x = gnsf['L_x'] + # L_z = gnsf['L_z'] + # L_xdot = gnsf['L_xdot'] + # L_u = gnsf['L_u'] + # + # A_LO = gnsf['A_LO'] + # + # x0 = rand(nx, 1) + # x0dot = rand(nx, 1) + # z0 = rand(nz, 1) + # u0 = rand(nu, 1) + # I_x1 = range(nx1) + # I_x2 = nx1+range(nx) + # + # y0 = L_x @ x0[I_x1] + L_xdot @ x0dot[I_x1] + L_z @ z0 + # uhat0 = L_u @ u0 + # + # gnsf_val1 = (A @ x[I_x1] + B @ u + # C @ phi_current + c) - E @ [xdot[I_x1] z] + # gnsf_val1 = gnsf_val1.simplify() + # + # # gnsf_val2 = A_LO @ x[I_x2] + gnsf['f_lo_fun'](x[I_x1], xdot[I_x1], z, u) - xdot[I_x2] + # gnsf_val2 = A_LO @ x[I_x2] + gnsf['f_lo_fun'](x[I_x1], xdot[I_x1], z, u) - xdot[I_x2] + # + # + # gnsf_val = [gnsf_val1 gnsf_val2] + # gnsf_val = gnsf_val.simplify() + # dyn_expr_f = dyn_expr_f.simplify() + # import pdb; pdb.set_trace() + + return check diff --git a/third_party/acados/acados_template/gnsf/detect_affine_terms_reduce_nonlinearity.py b/third_party/acados/acados_template/gnsf/detect_affine_terms_reduce_nonlinearity.py new file mode 100644 index 0000000000..ebf1f373a4 --- /dev/null +++ b/third_party/acados/acados_template/gnsf/detect_affine_terms_reduce_nonlinearity.py @@ -0,0 +1,278 @@ +# +# Copyright (c) The acados authors. +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + +from casadi import * +from .check_reformulation import check_reformulation +from .determine_input_nonlinearity_function import determine_input_nonlinearity_function +from ..utils import casadi_length, print_casadi_expression + + +def detect_affine_terms_reduce_nonlinearity(gnsf, acados_ocp, print_info): + + ## Description + # this function takes a gnsf structure with trivial model matrices (A, B, + # E, c are zeros, and C is eye). + # It detects all affine linear terms and sets up an equivalent model in the + # GNSF structure, where all affine linear terms are modeled through the + # matrices A, B, E, c and the linear output system (LOS) is empty. + # NOTE: model is just taken as an argument to check equivalence of the + # models within the function. + + model = acados_ocp.model + if print_info: + print(" ") + print("====================================================================") + print(" ") + print("============ Detect affine-linear dependencies ==================") + print(" ") + print("====================================================================") + print(" ") + # symbolics + x = gnsf["x"] + xdot = gnsf["xdot"] + u = gnsf["u"] + z = gnsf["z"] + + # dimensions + nx = gnsf["nx"] + nu = gnsf["nu"] + nz = gnsf["nz"] + + ny_old = gnsf["ny"] + nuhat_old = gnsf["nuhat"] + + ## Represent all affine dependencies through the model matrices A, B, E, c + ## determine A + n_nodes_current = n_nodes(gnsf["phi_expr"]) + + for ii in range(casadi_length(gnsf["phi_expr"])): + fii = gnsf["phi_expr"][ii] + for ix in range(nx): + var = x[ix] + varname = var.name + # symbolic jacobian of fii w.r.t. xi + jac_fii_xi = jacobian(fii, var) + if jac_fii_xi.is_constant(): + # jacobian value + jac_fii_xi_fun = Function("jac_fii_xi_fun", [x[1]], [jac_fii_xi]) + # x[1] as input just to have a scalar input and call the function as follows: + gnsf["A"][ii, ix] = jac_fii_xi_fun(0).full() + else: + gnsf["A"][ii, ix] = 0 + if print_info: + print( + "phi(", + str(ii), + ") is nonlinear in x(", + str(ix), + ") = ", + varname, + ) + print(fii) + print("-----------------------------------------------------") + f_next = gnsf["phi_expr"] - gnsf["A"] @ x + f_next = simplify(f_next) + n_nodes_next = n_nodes(f_next) + + if print_info: + print("\n") + print(f"determined matrix A:") + print(gnsf["A"]) + print(f"reduced nonlinearity from {n_nodes_current} to {n_nodes_next} nodes") + # assert(n_nodes_current >= n_nodes_next,'n_nodes_current >= n_nodes_next FAILED') + gnsf["phi_expr"] = f_next + + check_reformulation(model, gnsf, print_info) + + ## determine B + n_nodes_current = n_nodes(gnsf["phi_expr"]) + + for ii in range(casadi_length(gnsf["phi_expr"])): + fii = gnsf["phi_expr"][ii] + for iu in range(nu): + var = u[iu] + varname = var.name + # symbolic jacobian of fii w.r.t. ui + jac_fii_ui = jacobian(fii, var) + if jac_fii_ui.is_constant(): # i.e. hessian is structural zero: + # jacobian value + jac_fii_ui_fun = Function("jac_fii_ui_fun", [x[1]], [jac_fii_ui]) + gnsf["B"][ii, iu] = jac_fii_ui_fun(0).full() + else: + gnsf["B"][ii, iu] = 0 + if print_info: + print(f"phi({ii}) is nonlinear in u(", str(iu), ") = ", varname) + print(fii) + print("-----------------------------------------------------") + f_next = gnsf["phi_expr"] - gnsf["B"] @ u + f_next = simplify(f_next) + n_nodes_next = n_nodes(f_next) + + if print_info: + print("\n") + print(f"determined matrix B:") + print(gnsf["B"]) + print(f"reduced nonlinearity from {n_nodes_current} to {n_nodes_next} nodes") + + gnsf["phi_expr"] = f_next + + check_reformulation(model, gnsf, print_info) + + ## determine E + n_nodes_current = n_nodes(gnsf["phi_expr"]) + k = vertcat(xdot, z) + + for ii in range(casadi_length(gnsf["phi_expr"])): + fii = gnsf["phi_expr"][ii] + for ik in range(casadi_length(k)): + # symbolic jacobian of fii w.r.t. ui + var = k[ik] + varname = var.name + jac_fii_ki = jacobian(fii, var) + if jac_fii_ki.is_constant(): + # jacobian value + jac_fii_ki_fun = Function("jac_fii_ki_fun", [x[1]], [jac_fii_ki]) + gnsf["E"][ii, ik] = -jac_fii_ki_fun(0).full() + else: + gnsf["E"][ii, ik] = 0 + if print_info: + print(f"phi( {ii}) is nonlinear in xdot_z({ik}) = ", varname) + print(fii) + print("-----------------------------------------------------") + f_next = gnsf["phi_expr"] + gnsf["E"] @ k + f_next = simplify(f_next) + n_nodes_next = n_nodes(f_next) + + if print_info: + print("\n") + print(f"determined matrix E:") + print(gnsf["E"]) + print(f"reduced nonlinearity from {n_nodes_current} to {n_nodes_next} nodes") + + gnsf["phi_expr"] = f_next + check_reformulation(model, gnsf, print_info) + + ## determine constant term c + + n_nodes_current = n_nodes(gnsf["phi_expr"]) + for ii in range(casadi_length(gnsf["phi_expr"])): + fii = gnsf["phi_expr"][ii] + if fii.is_constant(): + # function value goes into c + fii_fun = Function("fii_fun", [x[1]], [fii]) + gnsf["c"][ii] = fii_fun(0).full() + else: + gnsf["c"][ii] = 0 + if print_info: + print(f"phi(", str(ii), ") is NOT constant") + print(fii) + print("-----------------------------------------------------") + gnsf["phi_expr"] = gnsf["phi_expr"] - gnsf["c"] + gnsf["phi_expr"] = simplify(gnsf["phi_expr"]) + n_nodes_next = n_nodes(gnsf["phi_expr"]) + + if print_info: + print("\n") + print(f"determined vector c:") + print(gnsf["c"]) + print(f"reduced nonlinearity from {n_nodes_current} to {n_nodes_next} nodes") + + check_reformulation(model, gnsf, print_info) + + ## determine nonlinearity & corresponding matrix C + ## Reduce dimension of phi + n_nodes_current = n_nodes(gnsf["phi_expr"]) + ind_non_zero = [] + for ii in range(casadi_length(gnsf["phi_expr"])): + fii = gnsf["phi_expr"][ii] + fii = simplify(fii) + if not fii.is_zero(): + ind_non_zero = list(set.union(set(ind_non_zero), set([ii]))) + gnsf["phi_expr"] = gnsf["phi_expr"][ind_non_zero] + + # C + gnsf["C"] = np.zeros((nx + nz, len(ind_non_zero))) + for ii in range(len(ind_non_zero)): + gnsf["C"][ind_non_zero[ii], ii] = 1 + gnsf = determine_input_nonlinearity_function(gnsf) + n_nodes_next = n_nodes(gnsf["phi_expr"]) + + if print_info: + print(" ") + print("determined matrix C:") + print(gnsf["C"]) + print( + "---------------------------------------------------------------------------------" + ) + print( + "------------- Success: Affine linear terms detected -----------------------------" + ) + print( + "---------------------------------------------------------------------------------" + ) + print( + f'reduced nonlinearity dimension n_out from {nx+nz} to {gnsf["n_out"]}' + ) + print(f"reduced nonlinearity from {n_nodes_current} to {n_nodes_next} nodes") + print(" ") + print("phi now reads as:") + print_casadi_expression(gnsf["phi_expr"]) + + ## determine input of nonlinearity function + check_reformulation(model, gnsf, print_info) + + gnsf["ny"] = casadi_length(gnsf["y"]) + gnsf["nuhat"] = casadi_length(gnsf["uhat"]) + + if print_info: + print( + "-----------------------------------------------------------------------------------" + ) + print(" ") + print( + f"reduced input ny of phi from ", + str(ny_old), + " to ", + str(gnsf["ny"]), + ) + print( + f"reduced input nuhat of phi from ", + str(nuhat_old), + " to ", + str(gnsf["nuhat"]), + ) + print( + "-----------------------------------------------------------------------------------" + ) + + # if print_info: + # print(f"gnsf: {gnsf}") + + return gnsf diff --git a/third_party/acados/acados_template/gnsf/detect_gnsf_structure.py b/third_party/acados/acados_template/gnsf/detect_gnsf_structure.py new file mode 100644 index 0000000000..24ffe643b8 --- /dev/null +++ b/third_party/acados/acados_template/gnsf/detect_gnsf_structure.py @@ -0,0 +1,240 @@ +# +# Copyright (c) The acados authors. +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# +# Author: Jonathan Frey: jonathanpaulfrey(at)gmail.com + +from casadi import Function, jacobian, SX, vertcat, horzcat + +from .determine_trivial_gnsf_transcription import determine_trivial_gnsf_transcription +from .detect_affine_terms_reduce_nonlinearity import ( + detect_affine_terms_reduce_nonlinearity, +) +from .reformulate_with_LOS import reformulate_with_LOS +from .reformulate_with_invertible_E_mat import reformulate_with_invertible_E_mat +from .structure_detection_print_summary import structure_detection_print_summary +from .check_reformulation import check_reformulation + + +def detect_gnsf_structure(acados_ocp, transcribe_opts=None): + + ## Description + # This function takes a CasADi implicit ODE or index-1 DAE model "model" + # consisting of a CasADi expression f_impl in the symbolic CasADi + # variables x, xdot, u, z, (and possibly parameters p), which are also part + # of the model, as well as a model name. + # It will create a struct "gnsf" containing all information needed to use + # it with the gnsf integrator in acados. + # Additionally it will create the struct "reordered_model" which contains + # the permuted state vector and permuted f_impl, in which additionally some + # functions, which were made part of the linear output system of the gnsf, + # have changed signs. + + # Options: transcribe_opts is a Matlab struct consisting of booleans: + # print_info: if extensive information on how the model is processed + # is printed to the console. + # generate_gnsf_model: if the neccessary C functions to simulate the gnsf + # model with the acados implementation of the GNSF exploiting + # integrator should be generated. + # generate_gnsf_model: if the neccessary C functions to simulate the + # reordered model with the acados implementation of the IRK + # integrator should be generated. + # check_E_invertibility: if the transcription method should check if the + # assumption that the main blocks of the matrix gnsf.E are invertible + # holds. If not, the method will try to reformulate the gnsf model + # with a different model, such that the assumption holds. + + # acados_root_dir = getenv('ACADOS_INSTALL_DIR') + + ## load transcribe_opts + if transcribe_opts is None: + print("WARNING: GNSF structure detection called without transcribe_opts") + print(" using default settings") + print("") + transcribe_opts = dict() + + if "print_info" in transcribe_opts: + print_info = transcribe_opts["print_info"] + else: + print_info = 1 + print("print_info option was not set - default is true") + + if "detect_LOS" in transcribe_opts: + detect_LOS = transcribe_opts["detect_LOS"] + else: + detect_LOS = 1 + if print_info: + print("detect_LOS option was not set - default is true") + + if "check_E_invertibility" in transcribe_opts: + check_E_invertibility = transcribe_opts["check_E_invertibility"] + else: + check_E_invertibility = 1 + if print_info: + print("check_E_invertibility option was not set - default is true") + + ## Reformulate implicit index-1 DAE into GNSF form + # (Generalized nonlinear static feedback) + gnsf = determine_trivial_gnsf_transcription(acados_ocp, print_info) + gnsf = detect_affine_terms_reduce_nonlinearity(gnsf, acados_ocp, print_info) + + if detect_LOS: + gnsf = reformulate_with_LOS(acados_ocp, gnsf, print_info) + + if check_E_invertibility: + gnsf = reformulate_with_invertible_E_mat(gnsf, acados_ocp, print_info) + + # detect purely linear model + if gnsf["nx1"] == 0 and gnsf["nz1"] == 0 and gnsf["nontrivial_f_LO"] == 0: + gnsf["purely_linear"] = 1 + else: + gnsf["purely_linear"] = 0 + + structure_detection_print_summary(gnsf, acados_ocp) + check_reformulation(acados_ocp.model, gnsf, print_info) + + ## copy relevant fields from gnsf to model + acados_ocp.model.get_matrices_fun = Function() + dummy = acados_ocp.model.x[0] + model_name = acados_ocp.model.name + + get_matrices_fun = Function( + f"{model_name}_gnsf_get_matrices_fun", + [dummy], + [ + gnsf["A"], + gnsf["B"], + gnsf["C"], + gnsf["E"], + gnsf["L_x"], + gnsf["L_xdot"], + gnsf["L_z"], + gnsf["L_u"], + gnsf["A_LO"], + gnsf["c"], + gnsf["E_LO"], + gnsf["B_LO"], + gnsf["nontrivial_f_LO"], + gnsf["purely_linear"], + gnsf["ipiv_x"] + 1, + gnsf["ipiv_z"] + 1, + gnsf["c_LO"], + ], + ) + + phi = gnsf["phi_expr"] + y = gnsf["y"] + uhat = gnsf["uhat"] + p = gnsf["p"] + + jac_phi_y = jacobian(phi, y) + jac_phi_uhat = jacobian(phi, uhat) + + phi_fun = Function(f"{model_name}_gnsf_phi_fun", [y, uhat, p], [phi]) + acados_ocp.model.phi_fun = phi_fun + acados_ocp.model.phi_fun_jac_y = Function( + f"{model_name}_gnsf_phi_fun_jac_y", [y, uhat, p], [phi, jac_phi_y] + ) + acados_ocp.model.phi_jac_y_uhat = Function( + f"{model_name}_gnsf_phi_jac_y_uhat", [y, uhat, p], [jac_phi_y, jac_phi_uhat] + ) + + x1 = acados_ocp.model.x[gnsf["idx_perm_x"][: gnsf["nx1"]]] + x1dot = acados_ocp.model.xdot[gnsf["idx_perm_x"][: gnsf["nx1"]]] + if gnsf["nz1"] > 0: + z1 = acados_ocp.model.z[gnsf["idx_perm_z"][: gnsf["nz1"]]] + else: + z1 = SX.sym("z1", 0, 0) + f_lo = gnsf["f_lo_expr"] + u = acados_ocp.model.u + acados_ocp.model.f_lo_fun_jac_x1k1uz = Function( + f"{model_name}_gnsf_f_lo_fun_jac_x1k1uz", + [x1, x1dot, z1, u, p], + [ + f_lo, + horzcat( + jacobian(f_lo, x1), + jacobian(f_lo, x1dot), + jacobian(f_lo, u), + jacobian(f_lo, z1), + ), + ], + ) + + acados_ocp.model.get_matrices_fun = get_matrices_fun + + size_gnsf_A = gnsf["A"].shape + acados_ocp.dims.gnsf_nx1 = size_gnsf_A[1] + acados_ocp.dims.gnsf_nz1 = size_gnsf_A[0] - size_gnsf_A[1] + acados_ocp.dims.gnsf_nuhat = max(phi_fun.size_in(1)) + acados_ocp.dims.gnsf_ny = max(phi_fun.size_in(0)) + acados_ocp.dims.gnsf_nout = max(phi_fun.size_out(0)) + + # # dim + # model['dim_gnsf_nx1'] = gnsf['nx1'] + # model['dim_gnsf_nx2'] = gnsf['nx2'] + # model['dim_gnsf_nz1'] = gnsf['nz1'] + # model['dim_gnsf_nz2'] = gnsf['nz2'] + # model['dim_gnsf_nuhat'] = gnsf['nuhat'] + # model['dim_gnsf_ny'] = gnsf['ny'] + # model['dim_gnsf_nout'] = gnsf['n_out'] + + # # sym + # model['sym_gnsf_y'] = gnsf['y'] + # model['sym_gnsf_uhat'] = gnsf['uhat'] + + # # data + # model['dyn_gnsf_A'] = gnsf['A'] + # model['dyn_gnsf_A_LO'] = gnsf['A_LO'] + # model['dyn_gnsf_B'] = gnsf['B'] + # model['dyn_gnsf_B_LO'] = gnsf['B_LO'] + # model['dyn_gnsf_E'] = gnsf['E'] + # model['dyn_gnsf_E_LO'] = gnsf['E_LO'] + # model['dyn_gnsf_C'] = gnsf['C'] + # model['dyn_gnsf_c'] = gnsf['c'] + # model['dyn_gnsf_c_LO'] = gnsf['c_LO'] + # model['dyn_gnsf_L_x'] = gnsf['L_x'] + # model['dyn_gnsf_L_xdot'] = gnsf['L_xdot'] + # model['dyn_gnsf_L_z'] = gnsf['L_z'] + # model['dyn_gnsf_L_u'] = gnsf['L_u'] + # model['dyn_gnsf_idx_perm_x'] = gnsf['idx_perm_x'] + # model['dyn_gnsf_ipiv_x'] = gnsf['ipiv_x'] + # model['dyn_gnsf_idx_perm_z'] = gnsf['idx_perm_z'] + # model['dyn_gnsf_ipiv_z'] = gnsf['ipiv_z'] + # model['dyn_gnsf_idx_perm_f'] = gnsf['idx_perm_f'] + # model['dyn_gnsf_ipiv_f'] = gnsf['ipiv_f'] + + # # flags + # model['dyn_gnsf_nontrivial_f_LO'] = gnsf['nontrivial_f_LO'] + # model['dyn_gnsf_purely_linear'] = gnsf['purely_linear'] + + # # casadi expr + # model['dyn_gnsf_expr_phi'] = gnsf['phi_expr'] + # model['dyn_gnsf_expr_f_lo'] = gnsf['f_lo_expr'] + + return acados_ocp diff --git a/third_party/acados/acados_template/gnsf/determine_input_nonlinearity_function.py b/third_party/acados/acados_template/gnsf/determine_input_nonlinearity_function.py new file mode 100644 index 0000000000..94aa001c79 --- /dev/null +++ b/third_party/acados/acados_template/gnsf/determine_input_nonlinearity_function.py @@ -0,0 +1,110 @@ +# +# Copyright (c) The acados authors. +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# +# Author: Jonathan Frey: jonathanpaulfrey(at)gmail.com + +from casadi import * +from ..utils import casadi_length, is_empty + + +def determine_input_nonlinearity_function(gnsf): + + ## Description + # this function takes a structure gnsf and updates the matrices L_x, + # L_xdot, L_z, L_u and CasADi vectors y, uhat of this structure as follows: + + # given a CasADi expression phi_expr, which may depend on the variables + # (x1, x1dot, z, u), this function determines a vector y (uhat) consisting + # of all components of (x1, x1dot, z) (respectively u) that enter phi_expr. + # Additionally matrices L_x, L_xdot, L_z, L_u are determined such that + # y = L_x * x + L_xdot * xdot + L_z * z + # uhat = L_u * u + # Furthermore the dimensions ny, nuhat, n_out are updated + + ## y + y = SX.sym('y', 0, 0) + # components of x1 + for ii in range(gnsf["nx1"]): + if which_depends(gnsf["phi_expr"], gnsf["x"][ii])[0]: + y = vertcat(y, gnsf["x"][ii]) + # else: + # x[ii] is not part of y + # components of x1dot + for ii in range(gnsf["nx1"]): + if which_depends(gnsf["phi_expr"], gnsf["xdot"][ii])[0]: + print(gnsf["phi_expr"], "depends on", gnsf["xdot"][ii]) + y = vertcat(y, gnsf["xdot"][ii]) + # else: + # xdot[ii] is not part of y + # components of z + for ii in range(gnsf["nz1"]): + if which_depends(gnsf["phi_expr"], gnsf["z"][ii])[0]: + y = vertcat(y, gnsf["z"][ii]) + # else: + # z[ii] is not part of y + ## uhat + uhat = SX.sym('uhat', 0, 0) + # components of u + for ii in range(gnsf["nu"]): + if which_depends(gnsf["phi_expr"], gnsf["u"][ii])[0]: + uhat = vertcat(uhat, gnsf["u"][ii]) + # else: + # u[ii] is not part of uhat + ## generate gnsf['phi_expr_fun'] + # linear input matrices + if is_empty(y): + gnsf["L_x"] = [] + gnsf["L_xdot"] = [] + gnsf["L_u"] = [] + gnsf["L_z"] = [] + else: + dummy = SX.sym("dummy_input", 0) + L_x_fun = Function( + "L_x_fun", [dummy], [jacobian(y, gnsf["x"][range(gnsf["nx1"])])] + ) + L_xdot_fun = Function( + "L_xdot_fun", [dummy], [jacobian(y, gnsf["xdot"][range(gnsf["nx1"])])] + ) + L_z_fun = Function( + "L_z_fun", [dummy], [jacobian(y, gnsf["z"][range(gnsf["nz1"])])] + ) + L_u_fun = Function("L_u_fun", [dummy], [jacobian(uhat, gnsf["u"])]) + + gnsf["L_x"] = L_x_fun(0).full() + gnsf["L_xdot"] = L_xdot_fun(0).full() + gnsf["L_u"] = L_u_fun(0).full() + gnsf["L_z"] = L_z_fun(0).full() + gnsf["y"] = y + gnsf["uhat"] = uhat + + gnsf["ny"] = casadi_length(y) + gnsf["nuhat"] = casadi_length(uhat) + gnsf["n_out"] = casadi_length(gnsf["phi_expr"]) + + return gnsf diff --git a/third_party/acados/acados_template/gnsf/determine_trivial_gnsf_transcription.py b/third_party/acados/acados_template/gnsf/determine_trivial_gnsf_transcription.py new file mode 100644 index 0000000000..23c2440537 --- /dev/null +++ b/third_party/acados/acados_template/gnsf/determine_trivial_gnsf_transcription.py @@ -0,0 +1,155 @@ +# +# Copyright (c) The acados authors. +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + +from casadi import * +import numpy as np +from ..utils import casadi_length, idx_perm_to_ipiv +from .determine_input_nonlinearity_function import determine_input_nonlinearity_function +from .check_reformulation import check_reformulation + + +def determine_trivial_gnsf_transcription(acados_ocp, print_info): + ## Description + # this function takes a model of an implicit ODE/ index-1 DAE and sets up + # an equivalent model in the GNSF structure, with empty linear output + # system and trivial model matrices, i.e. A, B, E, c are zeros, and C is + # eye. - no structure is exploited + + model = acados_ocp.model + # initial print + print("*****************************************************************") + print(" ") + print(f"****** Restructuring {model.name} model ***********") + print(" ") + print("*****************************************************************") + + # load model + f_impl_expr = model.f_impl_expr + + model_name_prefix = model.name + + # x + x = model.x + nx = acados_ocp.dims.nx + # check type + if isinstance(x[0], SX): + isSX = True + else: + print("GNSF detection only works for SX CasADi type!!!") + import pdb + + pdb.set_trace() + # xdot + xdot = model.xdot + # u + nu = acados_ocp.dims.nu + if nu == 0: + u = SX.sym("u", 0, 0) + else: + u = model.u + + nz = acados_ocp.dims.nz + if nz == 0: + z = SX.sym("z", 0, 0) + else: + z = model.z + + p = model.p + nparam = acados_ocp.dims.np + + # avoid SX of size 0x1 + if casadi_length(u) == 0: + u = SX.sym("u", 0, 0) + nu = 0 + ## initialize gnsf struct + # dimensions + gnsf = {"nx": nx, "nu": nu, "nz": nz, "np": nparam} + gnsf["nx1"] = nx + gnsf["nx2"] = 0 + gnsf["nz1"] = nz + gnsf["nz2"] = 0 + gnsf["nuhat"] = nu + gnsf["ny"] = 2 * nx + nz + + gnsf["phi_expr"] = f_impl_expr + gnsf["A"] = np.zeros((nx + nz, nx)) + gnsf["B"] = np.zeros((nx + nz, nu)) + gnsf["E"] = np.zeros((nx + nz, nx + nz)) + gnsf["c"] = np.zeros((nx + nz, 1)) + gnsf["C"] = np.eye(nx + nz) + gnsf["name"] = model_name_prefix + + gnsf["x"] = x + gnsf["xdot"] = xdot + gnsf["z"] = z + gnsf["u"] = u + gnsf["p"] = p + + gnsf = determine_input_nonlinearity_function(gnsf) + + gnsf["A_LO"] = [] + gnsf["E_LO"] = [] + gnsf["B_LO"] = [] + gnsf["c_LO"] = [] + gnsf["f_lo_expr"] = [] + + # permutation + gnsf["idx_perm_x"] = range(nx) # matlab-style) + gnsf["ipiv_x"] = idx_perm_to_ipiv(gnsf["idx_perm_x"]) # blasfeo-style + gnsf["idx_perm_z"] = range(nz) + gnsf["ipiv_z"] = idx_perm_to_ipiv(gnsf["idx_perm_z"]) + gnsf["idx_perm_f"] = range((nx + nz)) + gnsf["ipiv_f"] = idx_perm_to_ipiv(gnsf["idx_perm_f"]) + + gnsf["nontrivial_f_LO"] = 0 + + check_reformulation(model, gnsf, print_info) + if print_info: + print(f"Success: Set up equivalent GNSF model with trivial matrices") + print(" ") + if print_info: + print( + "-----------------------------------------------------------------------------------" + ) + print(" ") + print( + "reduced input ny of phi from ", + str(2 * nx + nz), + " to ", + str(gnsf["ny"]), + ) + print( + "reduced input nuhat of phi from ", str(nu), " to ", str(gnsf["nuhat"]) + ) + print(" ") + print( + "-----------------------------------------------------------------------------------" + ) + return gnsf diff --git a/third_party/acados/acados_template/gnsf/reformulate_with_LOS.py b/third_party/acados/acados_template/gnsf/reformulate_with_LOS.py new file mode 100644 index 0000000000..297a56556c --- /dev/null +++ b/third_party/acados/acados_template/gnsf/reformulate_with_LOS.py @@ -0,0 +1,394 @@ +# +# Copyright (c) The acados authors. +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# +# Author: Jonathan Frey: jonathanpaulfrey(at)gmail.com + +from .determine_input_nonlinearity_function import determine_input_nonlinearity_function +from .check_reformulation import check_reformulation +from casadi import * +from ..utils import casadi_length, idx_perm_to_ipiv, is_empty + + +def reformulate_with_LOS(acados_ocp, gnsf, print_info): + + ## Description: + # This function takes an intitial transcription of the implicit ODE model + # "model" into "gnsf" and reformulates "gnsf" with a linear output system + # (LOS), containing as many states of the model as possible. + # Therefore it might be that the state vector and the implicit function + # vector have to be reordered. This reordered model is part of the output, + # namely reordered_model. + + ## import CasADi and load models + model = acados_ocp.model + + # symbolics + x = gnsf["x"] + xdot = gnsf["xdot"] + u = gnsf["u"] + z = gnsf["z"] + + # dimensions + nx = gnsf["nx"] + nz = gnsf["nz"] + + # get model matrices + A = gnsf["A"] + B = gnsf["B"] + C = gnsf["C"] + E = gnsf["E"] + c = gnsf["c"] + + A_LO = gnsf["A_LO"] + + y = gnsf["y"] + + phi_old = gnsf["phi_expr"] + + if print_info: + print(" ") + print("=================================================================") + print(" ") + print("================ Detect Linear Output System ===============") + print(" ") + print("=================================================================") + print(" ") + ## build initial I_x1 and I_x2_candidates + # I_xrange( all components of x for which either xii or xdot_ii enters y): + # I_LOS_candidates: the remaining components + + I_nsf_components = set() + I_LOS_candidates = set() + + if gnsf["ny"] > 0: + for ii in range(nx): + if which_depends(y, x[ii])[0] or which_depends(y, xdot[ii])[0]: + # i.e. xii or xiidot are part of y, and enter phi_expr + if print_info: + print(f"x_{ii} is part of x1") + I_nsf_components = set.union(I_nsf_components, set([ii])) + else: + # i.e. neither xii nor xiidot are part of y, i.e. enter phi_expr + I_LOS_candidates = set.union(I_LOS_candidates, set([ii])) + if print_info: + print(" ") + for ii in range(nz): + if which_depends(y, z[ii])[0]: + # i.e. xii or xiidot are part of y, and enter phi_expr + if print_info: + print(f"z_{ii} is part of x1") + I_nsf_components = set.union(I_nsf_components, set([ii + nx])) + else: + # i.e. neither xii nor xiidot are part of y, i.e. enter phi_expr + I_LOS_candidates = set.union(I_LOS_candidates, set([ii + nx])) + else: + I_LOS_candidates = set(range((nx + nz))) + if print_info: + print(" ") + print(f"I_LOS_candidates {I_LOS_candidates}") + new_nsf_components = I_nsf_components + I_nsf_eq = set([]) + unsorted_dyn = set(range(nx + nz)) + xdot_z = vertcat(xdot, z) + + ## determine components of Linear Output System + # determine maximal index set I_x2 + # such that the components x(I_x2) can be written as a LOS + Eq_map = [] + while True: + ## find equations corresponding to new_nsf_components + for ii in new_nsf_components: + current_var = xdot_z[ii] + var_name = current_var.name + + # print( unsorted_dyn) + # print("np.nonzero(E[:,ii])[0]",np.nonzero(E[:,ii])[0]) + I_eq = set.intersection(set(np.nonzero(E[:, ii])[0]), unsorted_dyn) + if len(I_eq) == 1: + i_eq = I_eq.pop() + if print_info: + print(f"component {i_eq} is associated with state {ii}") + elif len(I_eq) > 1: # x_ii_dot occurs in more than 1 eq linearly + # find the equation with least linear dependencies on + # I_LOS_cancidates + number_of_eq = 0 + candidate_dependencies = np.zeros(len(I_eq), 1) + I_x2_candidates = set.intersection(I_LOS_candidates, set(range(nx))) + for eq in I_eq: + depending_candidates = set.union( + np.nonzero(E[eq, I_LOS_candidates])[0], + np.nonzero(A[eq, I_x2_candidates])[0], + ) + candidate_dependencies[number_of_eq] = +len(depending_candidates) + number_of_eq += 1 + number_of_eq = np.argmin(candidate_dependencies) + i_eq = I_eq[number_of_eq] + else: ## x_ii_dot does not occur linearly in any of the unsorted dynamics + for j in unsorted_dyn: + phi_eq_j = gnsf["phi_expr"][np.nonzero(C[j, :])[0]] + if which_depends(phi_eq_j, xdot_z(ii))[0]: + I_eq = set.union(I_eq, j) + if is_empty(I_eq): + I_eq = unsorted_dyn + # find the equation with least linear dependencies on I_LOS_cancidates + number_of_eq = 0 + candidate_dependencies = np.zeros(len(I_eq), 1) + I_x2_candidates = set.intersection(I_LOS_candidates, set(range(nx))) + for eq in I_eq: + depending_candidates = set.union( + np.nonzero(E[eq, I_LOS_candidates])[0], + np.nonzero(A[eq, I_x2_candidates])[0], + ) + candidate_dependencies[number_of_eq] = +len(depending_candidates) + number_of_eq += 1 + number_of_eq = np.argmin(candidate_dependencies) + i_eq = I_eq[number_of_eq] + ## add 1 * [xdot,z](ii) to both sides of i_eq + if print_info: + print( + "adding 1 * ", + var_name, + " to both sides of equation ", + i_eq, + ".", + ) + gnsf["E"][i_eq, ii] = 1 + i_phi = np.nonzero(gnsf["C"][i_eq, :]) + if is_empty(i_phi): + i_phi = len(gnsf["phi_expr"]) + 1 + gnsf["C"][i_eq, i_phi] = 1 # add column to C with 1 entry + gnsf["phi_expr"] = vertcat(gnsf["phi_expr"], 0) + gnsf["phi_expr"][i_phi] = ( + gnsf["phi_expr"](i_phi) + + gnsf["E"][i_eq, ii] / gnsf["C"][i_eq, i_phi] * xdot_z[ii] + ) + if print_info: + print( + "detected equation ", + i_eq, + " to correspond to variable ", + var_name, + ) + I_nsf_eq = set.union(I_nsf_eq, {i_eq}) + # remove i_eq from unsorted_dyn + unsorted_dyn.remove(i_eq) + Eq_map.append([ii, i_eq]) + + ## add components to I_x1 + for eq in I_nsf_eq: + I_linear_dependence = set.union( + set(np.nonzero(A[eq, :])[0]), set(np.nonzero(E[eq, :])[0]) + ) + I_nsf_components = set.union(I_linear_dependence, I_nsf_components) + # I_nsf_components = I_nsf_components[:] + + new_nsf_components = set.intersection(I_LOS_candidates, I_nsf_components) + if is_empty(new_nsf_components): + if print_info: + print("new_nsf_components is empty") + break + # remove new_nsf_components from candidates + I_LOS_candidates = set.difference(I_LOS_candidates, new_nsf_components) + if not is_empty(Eq_map): + # [~, new_eq_order] = sort(Eq_map(1,:)) + # I_nsf_eq = Eq_map(2, new_eq_order ) + for count, m in enumerate(Eq_map): + m.append(count) + sorted(Eq_map, key=lambda x: x[1]) + new_eq_order = [m[2] for m in Eq_map] + Eq_map = [Eq_map[i] for i in new_eq_order] + I_nsf_eq = [m[1] for m in Eq_map] + + else: + I_nsf_eq = [] + + I_LOS_components = I_LOS_candidates + I_LOS_eq = sorted(set.difference(set(range(nx + nz)), I_nsf_eq)) + I_nsf_eq = sorted(I_nsf_eq) + + I_x1 = set.intersection(I_nsf_components, set(range(nx))) + I_z1 = set.intersection(I_nsf_components, set(range(nx, nx + nz))) + I_z1 = set([i - nx for i in I_z1]) + + I_x2 = set.intersection(I_LOS_components, set(range(nx))) + I_z2 = set.intersection(I_LOS_components, set(range(nx, nx + nz))) + I_z2 = set([i - nx for i in I_z2]) + + if print_info: + print(f"I_x1 {I_x1}, I_x2 {I_x2}") + + ## permute x, xdot + if is_empty(I_x1): + x1 = [] + x1dot = [] + else: + x1 = x[list(I_x1)] + x1dot = xdot[list(I_x1)] + if is_empty(I_x2): + x2 = [] + x2dot = [] + else: + x2 = x[list(I_x2)] + x2dot = xdot[list(I_x2)] + if is_empty(I_z1): + z1 = [] + else: + z1 = z(I_z1) + if is_empty(I_z2): + z2 = [] + else: + z2 = z[list(I_z2)] + + I_x1 = sorted(I_x1) + I_x2 = sorted(I_x2) + I_z1 = sorted(I_z1) + I_z2 = sorted(I_z2) + gnsf["xdot"] = vertcat(x1dot, x2dot) + gnsf["x"] = vertcat(x1, x2) + gnsf["z"] = vertcat(z1, z2) + gnsf["nx1"] = len(I_x1) + gnsf["nx2"] = len(I_x2) + gnsf["nz1"] = len(I_z1) + gnsf["nz2"] = len(I_z2) + + # store permutations + gnsf["idx_perm_x"] = I_x1 + I_x2 + gnsf["ipiv_x"] = idx_perm_to_ipiv(gnsf["idx_perm_x"]) + gnsf["idx_perm_z"] = I_z1 + I_z2 + gnsf["ipiv_z"] = idx_perm_to_ipiv(gnsf["idx_perm_z"]) + gnsf["idx_perm_f"] = I_nsf_eq + I_LOS_eq + gnsf["ipiv_f"] = idx_perm_to_ipiv(gnsf["idx_perm_f"]) + + f_LO = SX.sym("f_LO", 0, 0) + + ## rewrite I_LOS_eq as LOS + if gnsf["n_out"] == 0: + C_phi = np.zeros(gnsf["nx"] + gnsf["nz"], 1) + else: + C_phi = C @ phi_old + if gnsf["nx1"] == 0: + Ax1 = np.zeros(gnsf["nx"] + gnsf["nz"], 1) + else: + Ax1 = A[:, sorted(I_x1)] @ x1 + if gnsf["nx1"] + gnsf["nz1"] == 0: + lhs_nsf = np.zeros(gnsf["nx"] + gnsf["nz"], 1) + else: + lhs_nsf = E[:, sorted(I_nsf_components)] @ vertcat(x1, z1) + n_LO = len(I_LOS_eq) + B_LO = np.zeros((n_LO, gnsf["nu"])) + A_LO = np.zeros((gnsf["nx2"] + gnsf["nz2"], gnsf["nx2"])) + E_LO = np.zeros((n_LO, n_LO)) + c_LO = np.zeros((n_LO, 1)) + + I_LOS_eq = list(I_LOS_eq) + for eq in I_LOS_eq: + i_LO = I_LOS_eq.index(eq) + f_LO = vertcat(f_LO, Ax1[eq] + C_phi[eq] - lhs_nsf[eq]) + print(f"eq {eq} I_LOS_components {I_LOS_components}, i_LO {i_LO}, f_LO {f_LO}") + E_LO[i_LO, :] = E[eq, sorted(I_LOS_components)] + A_LO[i_LO, :] = A[eq, I_x2] + c_LO[i_LO, :] = c[eq] + B_LO[i_LO, :] = B[eq, :] + if casadi_length(f_LO) == 0: + f_LO = SX.zeros((gnsf["nx2"] + gnsf["nz2"], 1)) + f_LO = simplify(f_LO) + gnsf["A_LO"] = A_LO + gnsf["E_LO"] = E_LO + gnsf["B_LO"] = B_LO + gnsf["c_LO"] = c_LO + gnsf["f_lo_expr"] = f_LO + + ## remove I_LOS_eq from NSF type system + gnsf["A"] = gnsf["A"][np.ix_(sorted(I_nsf_eq), sorted(I_x1))] + gnsf["B"] = gnsf["B"][sorted(I_nsf_eq), :] + gnsf["C"] = gnsf["C"][sorted(I_nsf_eq), :] + gnsf["E"] = gnsf["E"][np.ix_(sorted(I_nsf_eq), sorted(I_nsf_components))] + gnsf["c"] = gnsf["c"][sorted(I_nsf_eq), :] + + ## reduce phi, C + I_nonzero = [] + for ii in range(gnsf["C"].shape[1]): # n_colums of C: + print(f"ii {ii}") + if not all(gnsf["C"][:, ii] == 0): # if column ~= 0 + I_nonzero.append(ii) + gnsf["C"] = gnsf["C"][:, I_nonzero] + gnsf["phi_expr"] = gnsf["phi_expr"][I_nonzero] + + gnsf = determine_input_nonlinearity_function(gnsf) + + check_reformulation(model, gnsf, print_info) + + gnsf["nontrivial_f_LO"] = 0 + if not is_empty(gnsf["f_lo_expr"]): + for ii in range(casadi_length(gnsf["f_lo_expr"])): + fii = gnsf["f_lo_expr"][ii] + if not fii.is_zero(): + gnsf["nontrivial_f_LO"] = 1 + if not gnsf["nontrivial_f_LO"] and print_info: + print("f_LO is fully trivial (== 0)") + check_reformulation(model, gnsf, print_info) + + if print_info: + print("") + print( + "---------------------------------------------------------------------------------" + ) + print( + "------------- Success: Linear Output System (LOS) detected ----------------------" + ) + print( + "---------------------------------------------------------------------------------" + ) + print("") + print( + "==>> moved ", + gnsf["nx2"], + "differential states and ", + gnsf["nz2"], + " algebraic variables to the Linear Output System", + ) + print( + "==>> recuced output dimension of phi from ", + casadi_length(phi_old), + " to ", + casadi_length(gnsf["phi_expr"]), + ) + print(" ") + print("Matrices defining the LOS read as") + print(" ") + print("E_LO =") + print(gnsf["E_LO"]) + print("A_LO =") + print(gnsf["A_LO"]) + print("B_LO =") + print(gnsf["B_LO"]) + print("c_LO =") + print(gnsf["c_LO"]) + + return gnsf diff --git a/third_party/acados/acados_template/gnsf/reformulate_with_invertible_E_mat.py b/third_party/acados/acados_template/gnsf/reformulate_with_invertible_E_mat.py new file mode 100644 index 0000000000..21ab8ebfd5 --- /dev/null +++ b/third_party/acados/acados_template/gnsf/reformulate_with_invertible_E_mat.py @@ -0,0 +1,167 @@ +# +# Copyright (c) The acados authors. +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# +# Author: Jonathan Frey: jonathanpaulfrey(at)gmail.com + +from casadi import * +from .determine_input_nonlinearity_function import determine_input_nonlinearity_function +from .check_reformulation import check_reformulation + + +def reformulate_with_invertible_E_mat(gnsf, model, print_info): + ## Description + # this function checks that the necessary condition to apply the gnsf + # structure exploiting integrator to a model, namely that the matrices E11, + # E22 are invertible holds. + # if this is not the case, it will make these matrices invertible and add: + # corresponding terms, to the term C * phi, such that the obtained model is + # still equivalent + + # check invertibility of E11, E22 and reformulate if needed: + ind_11 = range(gnsf["nx1"]) + ind_22 = range(gnsf["nx1"], gnsf["nx1"] + gnsf["nz1"]) + + if print_info: + print(" ") + print("----------------------------------------------------") + print("checking rank of E11 and E22") + print("----------------------------------------------------") + ## check if E11, E22 are invertible: + z_check = False + if gnsf["nz1"] > 0: + z_check = ( + np.linalg.matrix_rank(gnsf["E"][np.ix_(ind_22, ind_22)]) != gnsf["nz1"] + ) + + if ( + np.linalg.matrix_rank(gnsf["E"][np.ix_(ind_11, ind_11)]) != gnsf["nx1"] + or z_check + ): + # print warning (always) + print(f"the rank of E11 or E22 is not full after the reformulation") + print("") + print( + f"the script will try to reformulate the model with an invertible matrix instead" + ) + print( + f"NOTE: this feature is based on a heuristic, it should be used with care!!!" + ) + + ## load models + xdot = gnsf["xdot"] + z = gnsf["z"] + + # # GNSF + # get dimensions + nx1 = gnsf["nx1"] + x1dot = xdot[range(nx1)] + + k = vertcat(x1dot, z) + for i in [1, 2]: + if i == 1: + ind = range(gnsf["nx1"]) + else: + ind = range(gnsf["nx1"], gnsf["nx1"] + gnsf["nz1"]) + mat = gnsf["E"][np.ix_(ind, ind)] + import pdb + + pdb.set_trace() + while np.linalg.matrix_rank(mat) < len(ind): + # import pdb; pdb.set_trace() + if print_info: + print(" ") + print(f"the rank of E", str(i), str(i), " is not full") + print( + f"the algorithm will try to reformulate the model with an invertible matrix instead" + ) + print( + f"NOTE: this feature is not super stable and might need more testing!!!!!!" + ) + for sub_max in ind: + sub_ind = range(min(ind), sub_max) + # regard the submatrix mat(sub_ind, sub_ind) + sub_mat = gnsf["E"][sub_ind, sub_ind] + if np.linalg.matrix_rank(sub_mat) < len(sub_ind): + # reformulate the model by adding a 1 to last diagonal + # element and changing rhs respectively. + gnsf["E"][sub_max, sub_max] = gnsf["E"][sub_max, sub_max] + 1 + # this means adding the term 1 * k(sub_max) to the sub_max + # row of the l.h.s + if len(np.nonzero(gnsf["C"][sub_max, :])[0]) == 0: + # if isempty(find(gnsf['C'](sub_max,:), 1)): + # add new nonlinearity entry + gnsf["C"][sub_max, gnsf["n_out"] + 1] = 1 + gnsf["phi_expr"] = vertcat(gnsf["phi_expr"], k[sub_max]) + else: + ind_f = np.nonzero(gnsf["C"][sub_max, :])[0] + if len(ind_f) != 1: + raise Exception("C is assumed to be a selection matrix") + else: + ind_f = ind_f[0] + # add term to corresponding nonlinearity entry + # note: herbey we assume that C is a selection matrix, + # i.e. gnsf['phi_expr'](ind_f) is only entering one equation + + gnsf["phi_expr"][ind_f] = ( + gnsf["phi_expr"][ind_f] + + k[sub_max] / gnsf["C"][sub_max, ind_f] + ) + gnsf = determine_input_nonlinearity_function(gnsf) + check_reformulation(model, gnsf, print_info) + print("successfully reformulated the model with invertible matrices E11, E22") + else: + if print_info: + print(" ") + print( + "the rank of both E11 and E22 is naturally full after the reformulation " + ) + print("==> model reformulation finished") + print(" ") + if (gnsf['nx2'] > 0 or gnsf['nz2'] > 0) and det(gnsf["E_LO"]) == 0: + print( + "_______________________________________________________________________________________________________" + ) + print(" ") + print("TAKE CARE ") + print("E_LO matrix is NOT regular after automatic transcription!") + print("->> this means the model CANNOT be used with the gnsf integrator") + print( + "->> it probably means that one entry (of xdot or z) that was moved to the linear output type system" + ) + print(" does not appear in the model at all (zero column in E_LO)") + print(" OR: the columns of E_LO are linearly dependent ") + print(" ") + print( + " SOLUTIONs: a) go through your model & check equations the method wanted to move to LOS" + ) + print(" b) deactivate the detect_LOS option") + print( + "_______________________________________________________________________________________________________" + ) + return gnsf diff --git a/third_party/acados/acados_template/gnsf/structure_detection_print_summary.py b/third_party/acados/acados_template/gnsf/structure_detection_print_summary.py new file mode 100644 index 0000000000..db2d18758e --- /dev/null +++ b/third_party/acados/acados_template/gnsf/structure_detection_print_summary.py @@ -0,0 +1,174 @@ +# +# Copyright (c) The acados authors. +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# +# Author: Jonathan Frey: jonathanpaulfrey(at)gmail.com + +from casadi import n_nodes +import numpy as np + + +def structure_detection_print_summary(gnsf, acados_ocp): + + ## Description + # this function prints the most important info after determining a GNSF + # reformulation of the implicit model "initial_model" into "gnsf", which is + # equivalent to the "reordered_model". + model = acados_ocp.model + # # GNSF + # get dimensions + nx = gnsf["nx"] + nu = gnsf["nu"] + nz = gnsf["nz"] + + nx1 = gnsf["nx1"] + nx2 = gnsf["nx2"] + + nz1 = gnsf["nz1"] + nz2 = gnsf["nz2"] + + # np = gnsf['np'] + n_out = gnsf["n_out"] + ny = gnsf["ny"] + nuhat = gnsf["nuhat"] + + # + f_impl_expr = model.f_impl_expr + n_nodes_initial = n_nodes(model.f_impl_expr) + # x_old = model.x + # f_impl_old = model.f_impl_expr + + x = gnsf["x"] + z = gnsf["z"] + + phi_current = gnsf["phi_expr"] + + ## PRINT SUMMARY -- STRUCHTRE DETECTION + print(" ") + print( + "*********************************************************************************************" + ) + print(" ") + print( + "****************** SUCCESS: GNSF STRUCTURE DETECTION COMPLETE !!! ***************" + ) + print(" ") + print( + "*********************************************************************************************" + ) + print(" ") + print( + f"========================= STRUCTURE DETECTION SUMMARY ====================================" + ) + print(" ") + print("-------- Nonlinear Static Feedback type system --------") + print(" ") + print(" successfully transcribed dynamic system model into GNSF structure ") + print(" ") + print( + "reduced dimension of nonlinearity phi from ", + str(nx + nz), + " to ", + str(gnsf["n_out"]), + ) + print(" ") + print( + "reduced input dimension of nonlinearity phi from ", + 2 * nx + nz + nu, + " to ", + gnsf["ny"] + gnsf["nuhat"], + ) + print(" ") + print(f"reduced number of nodes in CasADi expression of nonlinearity phi from {n_nodes_initial} to {n_nodes(phi_current)}\n") + print("----------- Linear Output System (LOS) ---------------") + if nx2 + nz2 > 0: + print(" ") + print(f"introduced Linear Output System of size ", str(nx2 + nz2)) + print(" ") + if nx2 > 0: + print("consisting of the states:") + print(" ") + print(x[range(nx1, nx)]) + print(" ") + if nz2 > 0: + print("and algebraic variables:") + print(" ") + print(z[range(nz1, nz)]) + print(" ") + if gnsf["purely_linear"] == 1: + print(" ") + print("Model is fully linear!") + print(" ") + if not all(gnsf["idx_perm_x"] == np.array(range(nx))): + print(" ") + print( + "--------------------------------------------------------------------------------------------------" + ) + print( + "NOTE: permuted differential state vector x, such that x_gnsf = x(idx_perm_x) with idx_perm_x =" + ) + print(" ") + print(gnsf["idx_perm_x"]) + if nz != 0 and not all(gnsf["idx_perm_z"] == np.array(range(nz))): + print(" ") + print( + "--------------------------------------------------------------------------------------------------" + ) + print( + "NOTE: permuted algebraic state vector z, such that z_gnsf = z(idx_perm_z) with idx_perm_z =" + ) + print(" ") + print(gnsf["idx_perm_z"]) + if not all(gnsf["idx_perm_f"] == np.array(range(nx + nz))): + print(" ") + print( + "--------------------------------------------------------------------------------------------------" + ) + print( + "NOTE: permuted rhs expression vector f, such that f_gnsf = f(idx_perm_f) with idx_perm_f =" + ) + print(" ") + print(gnsf["idx_perm_f"]) + ## print GNSF dimensions + print( + "--------------------------------------------------------------------------------------------------------" + ) + print(" ") + print("The dimensions of the GNSF reformulated model read as:") + print(" ") + # T_dim = table(nx, nu, nz, np, nx1, nz1, n_out, ny, nuhat) + # print( T_dim ) + print(f"nx ", {nx}) + print(f"nu ", {nu}) + print(f"nz ", {nz}) + # print(f"np ", {np}) + print(f"nx1 ", {nx1}) + print(f"nz1 ", {nz1}) + print(f"n_out ", {n_out}) + print(f"ny ", {ny}) + print(f"nuhat ", {nuhat}) diff --git a/third_party/acados/acados_template/simulink_default_opts.json b/third_party/acados/acados_template/simulink_default_opts.json new file mode 100644 index 0000000000..5d178fef85 --- /dev/null +++ b/third_party/acados/acados_template/simulink_default_opts.json @@ -0,0 +1,44 @@ +{ + "outputs": { + "u0": 1, + "utraj": 0, + "xtraj": 0, + "solver_status": 1, + "cost_value": 0, + "KKT_residual": 1, + "KKT_residuals": 0, + "x1": 1, + "CPU_time": 1, + "CPU_time_sim": 0, + "CPU_time_qp": 0, + "CPU_time_lin": 0, + "sqp_iter": 1 + }, + "inputs": { + "lbx_0": 1, + "ubx_0": 1, + "parameter_traj": 1, + "y_ref_0": 1, + "y_ref": 1, + "y_ref_e": 1, + "lbx": 1, + "ubx": 1, + "lbx_e": 1, + "ubx_e": 1, + "lbu": 1, + "ubu": 1, + "lg": 1, + "ug": 1, + "lh": 1, + "uh": 1, + "lh_e": 1, + "uh_e": 1, + "cost_W_0": 0, + "cost_W": 0, + "cost_W_e": 0, + "reset_solver": 0, + "x_init": 0, + "u_init": 0 + }, + "samplingtime": "t0" +} diff --git a/third_party/acados/acados_template/utils.py b/third_party/acados/acados_template/utils.py new file mode 100644 index 0000000000..d6f6c02f84 --- /dev/null +++ b/third_party/acados/acados_template/utils.py @@ -0,0 +1,435 @@ +# -*- coding: future_fstrings -*- +# +# Copyright (c) The acados authors. +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + +import os, sys, json +import urllib.request +import shutil +import numpy as np +from casadi import SX, MX, DM, Function, CasadiMeta + +ALLOWED_CASADI_VERSIONS = ('3.5.6', '3.5.5', '3.5.4', '3.5.3', '3.5.2', '3.5.1', '3.4.5', '3.4.0') + +TERA_VERSION = "0.0.34" + +PLATFORM2TERA = { + "linux": "linux", + "darwin": "osx", + "win32": "windows" +} + + +def get_acados_path(): + ACADOS_PATH = os.environ.get('ACADOS_SOURCE_DIR') + if not ACADOS_PATH: + acados_template_path = os.path.dirname(os.path.abspath(__file__)) + acados_path = os.path.join(acados_template_path, '..','..','..') + ACADOS_PATH = os.path.realpath(acados_path) + msg = 'Warning: Did not find environment variable ACADOS_SOURCE_DIR, ' + msg += 'guessed ACADOS_PATH to be {}.\n'.format(ACADOS_PATH) + msg += 'Please export ACADOS_SOURCE_DIR to avoid this warning.' + print(msg) + return ACADOS_PATH + + +def get_python_interface_path(): + ACADOS_PYTHON_INTERFACE_PATH = os.environ.get('ACADOS_PYTHON_INTERFACE_PATH') + if not ACADOS_PYTHON_INTERFACE_PATH: + acados_path = get_acados_path() + ACADOS_PYTHON_INTERFACE_PATH = os.path.join(acados_path, 'interfaces', 'acados_template', 'acados_template') + return ACADOS_PYTHON_INTERFACE_PATH + + +def get_tera_exec_path(): + TERA_PATH = os.environ.get('TERA_PATH') + if not TERA_PATH: + TERA_PATH = os.path.join(get_acados_path(), 'bin', 't_renderer') + if os.name == 'nt': + TERA_PATH += '.exe' + return TERA_PATH + + +def check_casadi_version(): + casadi_version = CasadiMeta.version() + if casadi_version in ALLOWED_CASADI_VERSIONS: + return + else: + msg = 'Warning: Please note that the following versions of CasADi are ' + msg += 'officially supported: {}.\n '.format(" or ".join(ALLOWED_CASADI_VERSIONS)) + msg += 'If there is an incompatibility with the CasADi generated code, ' + msg += 'please consider changing your CasADi version.\n' + msg += 'Version {} currently in use.'.format(casadi_version) + print(msg) + + +def is_column(x): + if isinstance(x, np.ndarray): + if x.ndim == 1: + return True + elif x.ndim == 2 and x.shape[1] == 1: + return True + else: + return False + elif isinstance(x, (MX, SX, DM)): + if x.shape[1] == 1: + return True + elif x.shape[0] == 0 and x.shape[1] == 0: + return True + else: + return False + elif x == None or x == []: + return False + else: + raise Exception("is_column expects one of the following types: np.ndarray, casadi.MX, casadi.SX." + + " Got: " + str(type(x))) + + +def is_empty(x): + if isinstance(x, (MX, SX, DM)): + return x.is_empty() + elif isinstance(x, np.ndarray): + if np.prod(x.shape) == 0: + return True + else: + return False + elif x == None: + return True + elif isinstance(x, (set, list)): + if len(x)==0: + return True + else: + return False + else: + raise Exception("is_empty expects one of the following types: casadi.MX, casadi.SX, " + + "None, numpy array empty list, set. Got: " + str(type(x))) + + +def casadi_length(x): + if isinstance(x, (MX, SX, DM)): + return int(np.prod(x.shape)) + else: + raise Exception("casadi_length expects one of the following types: casadi.MX, casadi.SX." + + " Got: " + str(type(x))) + + +def make_model_consistent(model): + x = model.x + xdot = model.xdot + u = model.u + z = model.z + p = model.p + + if isinstance(x, MX): + symbol = MX.sym + elif isinstance(x, SX): + symbol = SX.sym + else: + raise Exception("model.x must be casadi.SX or casadi.MX, got {}".format(type(x))) + + if is_empty(p): + model.p = symbol('p', 0, 0) + + if is_empty(z): + model.z = symbol('z', 0, 0) + + return model + +def get_lib_ext(): + lib_ext = '.so' + if sys.platform == 'darwin': + lib_ext = '.dylib' + elif os.name == 'nt': + lib_ext = '' + + return lib_ext + +def get_tera(): + tera_path = get_tera_exec_path() + acados_path = get_acados_path() + + if os.path.exists(tera_path) and os.access(tera_path, os.X_OK): + return tera_path + + repo_url = "https://github.com/acados/tera_renderer/releases" + url = "{}/download/v{}/t_renderer-v{}-{}".format( + repo_url, TERA_VERSION, TERA_VERSION, PLATFORM2TERA[sys.platform]) + + manual_install = 'For manual installation follow these instructions:\n' + manual_install += '1 Download binaries from {}\n'.format(url) + manual_install += '2 Copy them in {}/bin\n'.format(acados_path) + manual_install += '3 Strip the version and platform from the binaries: ' + manual_install += 'as t_renderer-v0.0.34-X -> t_renderer)\n' + manual_install += '4 Enable execution privilege on the file "t_renderer" with:\n' + manual_install += '"chmod +x {}"\n\n'.format(tera_path) + + msg = "\n" + msg += 'Tera template render executable not found, ' + msg += 'while looking in path:\n{}\n'.format(tera_path) + msg += 'In order to be able to render the templates, ' + msg += 'you need to download the tera renderer binaries from:\n' + msg += '{}\n\n'.format(repo_url) + msg += 'Do you wish to set up Tera renderer automatically?\n' + msg += 'y/N? (press y to download tera or any key for manual installation)\n' + + if input(msg) == 'y': + print("Dowloading {}".format(url)) + with urllib.request.urlopen(url) as response, open(tera_path, 'wb') as out_file: + shutil.copyfileobj(response, out_file) + print("Successfully downloaded t_renderer.") + os.chmod(tera_path, 0o755) + return tera_path + + msg_cancel = "\nYou cancelled automatic download.\n\n" + msg_cancel += manual_install + msg_cancel += "Once installed re-run your script.\n\n" + print(msg_cancel) + + sys.exit(1) + + +def render_template(in_file, out_file, output_dir, json_path, template_glob=None): + + acados_path = os.path.dirname(os.path.abspath(__file__)) + if template_glob is None: + template_glob = os.path.join(acados_path, 'c_templates_tera', '**', '*') + cwd = os.getcwd() + + if not os.path.exists(output_dir): + os.makedirs(output_dir) + os.chdir(output_dir) + + tera_path = get_tera() + + # call tera as system cmd + os_cmd = f"{tera_path} '{template_glob}' '{in_file}' '{json_path}' '{out_file}'" + # Windows cmd.exe can not cope with '...', so use "..." instead: + if os.name == 'nt': + os_cmd = os_cmd.replace('\'', '\"') + + status = os.system(os_cmd) + if (status != 0): + raise Exception(f'Rendering of {in_file} failed!\n\nAttempted to execute OS command:\n{os_cmd}\n\n') + + os.chdir(cwd) + + +## Conversion functions +def make_object_json_dumpable(input): + if isinstance(input, (np.ndarray)): + return input.tolist() + elif isinstance(input, (SX)): + return input.serialize() + elif isinstance(input, (MX)): + # NOTE: MX expressions can not be serialized, only Functions. + return input.__str__() + elif isinstance(input, (DM)): + return input.full() + else: + raise TypeError(f"Cannot make input of type {type(input)} dumpable.") + + +def format_class_dict(d): + """ + removes the __ artifact from class to dict conversion + """ + out = {} + for k, v in d.items(): + if isinstance(v, dict): + v = format_class_dict(v) + + out_key = k.split('__', 1)[-1] + out[k.replace(k, out_key)] = v + return out + + +def get_ocp_nlp_layout() -> dict: + python_interface_path = get_python_interface_path() + abs_path = os.path.join(python_interface_path, 'acados_layout.json') + with open(abs_path, 'r') as f: + ocp_nlp_layout = json.load(f) + return ocp_nlp_layout + + +def get_default_simulink_opts() -> dict: + python_interface_path = get_python_interface_path() + abs_path = os.path.join(python_interface_path, 'simulink_default_opts.json') + with open(abs_path, 'r') as f: + simulink_opts = json.load(f) + return simulink_opts + + +def J_to_idx(J): + nrows = J.shape[0] + idx = np.zeros((nrows, )) + for i in range(nrows): + this_idx = np.nonzero(J[i,:])[0] + if len(this_idx) != 1: + raise Exception('Invalid J matrix structure detected, ' \ + 'must contain one nonzero element per row.') + if this_idx.size > 0 and J[i,this_idx[0]] != 1: + raise Exception('J matrices can only contain 1s.') + idx[i] = this_idx[0] + return idx + + +def J_to_idx_slack(J): + nrows = J.shape[0] + ncol = J.shape[1] + idx = np.zeros((ncol, )) + i_idx = 0 + for i in range(nrows): + this_idx = np.nonzero(J[i,:])[0] + if len(this_idx) == 1: + idx[i_idx] = i + i_idx = i_idx + 1 + elif len(this_idx) > 1: + raise Exception('J_to_idx_slack: Invalid J matrix. ' \ + 'Found more than one nonzero in row ' + str(i)) + if this_idx.size > 0 and J[i,this_idx[0]] != 1: + raise Exception('J_to_idx_slack: J matrices can only contain 1s, ' \ + 'got J(' + str(i) + ', ' + str(this_idx[0]) + ') = ' + str(J[i,this_idx[0]]) ) + if not i_idx == ncol: + raise Exception('J_to_idx_slack: J must contain a 1 in every column!') + return idx + + +def acados_dae_model_json_dump(model): + + # load model + x = model.x + xdot = model.xdot + u = model.u + z = model.z + p = model.p + + f_impl = model.f_impl_expr + model_name = model.name + + # create struct with impl_dae_fun, casadi_version + fun_name = model_name + '_impl_dae_fun' + impl_dae_fun = Function(fun_name, [x, xdot, u, z, p], [f_impl]) + + casadi_version = CasadiMeta.version() + str_impl_dae_fun = impl_dae_fun.serialize() + + dae_dict = {"str_impl_dae_fun": str_impl_dae_fun, "casadi_version": casadi_version} + + # dump + json_file = model_name + '_acados_dae.json' + with open(json_file, 'w') as f: + json.dump(dae_dict, f, default=make_object_json_dumpable, indent=4, sort_keys=True) + print("dumped ", model_name, " dae to file:", json_file, "\n") + + +def set_up_imported_gnsf_model(acados_ocp): + + gnsf = acados_ocp.gnsf_model + + # check CasADi version + # dump_casadi_version = gnsf['casadi_version'] + # casadi_version = CasadiMeta.version() + + # if not casadi_version == dump_casadi_version: + # print("WARNING: GNSF model was dumped with another CasADi version.\n" + # + "This might yield errors. Please use the same version for compatibility, serialize version: " + # + dump_casadi_version + " current Python CasADi verison: " + casadi_version) + # input("Press any key to attempt to continue...") + + # load model + phi_fun = Function.deserialize(gnsf['phi_fun']) + phi_fun_jac_y = Function.deserialize(gnsf['phi_fun_jac_y']) + phi_jac_y_uhat = Function.deserialize(gnsf['phi_jac_y_uhat']) + get_matrices_fun = Function.deserialize(gnsf['get_matrices_fun']) + + # obtain gnsf dimensions + size_gnsf_A = get_matrices_fun.size_out(0) + acados_ocp.dims.gnsf_nx1 = size_gnsf_A[1] + acados_ocp.dims.gnsf_nz1 = size_gnsf_A[0] - size_gnsf_A[1] + acados_ocp.dims.gnsf_nuhat = max(phi_fun.size_in(1)) + acados_ocp.dims.gnsf_ny = max(phi_fun.size_in(0)) + acados_ocp.dims.gnsf_nout = max(phi_fun.size_out(0)) + + # save gnsf functions in model + acados_ocp.model.phi_fun = phi_fun + acados_ocp.model.phi_fun_jac_y = phi_fun_jac_y + acados_ocp.model.phi_jac_y_uhat = phi_jac_y_uhat + acados_ocp.model.get_matrices_fun = get_matrices_fun + + # get_matrices_fun = Function([model_name,'_gnsf_get_matrices_fun'], {dummy},... + # {A, B, C, E, L_x, L_xdot, L_z, L_u, A_LO, c, E_LO, B_LO,... + # nontrivial_f_LO, purely_linear, ipiv_x, ipiv_z, c_LO}); + get_matrices_out = get_matrices_fun(0) + acados_ocp.model.gnsf['nontrivial_f_LO'] = int(get_matrices_out[12]) + acados_ocp.model.gnsf['purely_linear'] = int(get_matrices_out[13]) + + if "f_lo_fun_jac_x1k1uz" in gnsf: + f_lo_fun_jac_x1k1uz = Function.deserialize(gnsf['f_lo_fun_jac_x1k1uz']) + acados_ocp.model.f_lo_fun_jac_x1k1uz = f_lo_fun_jac_x1k1uz + else: + dummy_var_x1 = SX.sym('dummy_var_x1', acados_ocp.dims.gnsf_nx1) + dummy_var_x1dot = SX.sym('dummy_var_x1dot', acados_ocp.dims.gnsf_nx1) + dummy_var_z1 = SX.sym('dummy_var_z1', acados_ocp.dims.gnsf_nz1) + dummy_var_u = SX.sym('dummy_var_z1', acados_ocp.dims.nu) + dummy_var_p = SX.sym('dummy_var_z1', acados_ocp.dims.np) + empty_var = SX.sym('empty_var', 0, 0) + + empty_fun = Function('empty_fun', \ + [dummy_var_x1, dummy_var_x1dot, dummy_var_z1, dummy_var_u, dummy_var_p], + [empty_var]) + acados_ocp.model.f_lo_fun_jac_x1k1uz = empty_fun + + del acados_ocp.gnsf_model + + +def idx_perm_to_ipiv(idx_perm): + n = len(idx_perm) + vec = list(range(n)) + ipiv = np.zeros(n) + + print(n, idx_perm) + # import pdb; pdb.set_trace() + for ii in range(n): + idx0 = idx_perm[ii] + for jj in range(ii,n): + if vec[jj]==idx0: + idx1 = jj + break + tmp = vec[ii] + vec[ii] = vec[idx1] + vec[idx1] = tmp + ipiv[ii] = idx1 + + ipiv = ipiv-1 # C 0-based indexing + return ipiv + + +def print_casadi_expression(f): + for ii in range(casadi_length(f)): + print(f[ii,:]) diff --git a/third_party/acados/acados_template/zoro_description.py b/third_party/acados/acados_template/zoro_description.py new file mode 100644 index 0000000000..4d795c1502 --- /dev/null +++ b/third_party/acados/acados_template/zoro_description.py @@ -0,0 +1,78 @@ +# Copyright (c) The acados authors. +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; + +from dataclasses import dataclass, field +import numpy as np + + +@dataclass +class ZoroDescription: + """ + Zero-Order Robust Optimization scheme. + + For advanced users. + """ + backoff_scaling_gamma: float = 1.0 + fdbk_K_mat: np.ndarray = None + unc_jac_G_mat: np.ndarray = None # default: an identity matrix + P0_mat: np.ndarray = None + W_mat: np.ndarray = None + idx_lbx_t: list = field(default_factory=list) + idx_ubx_t: list = field(default_factory=list) + idx_lbx_e_t: list = field(default_factory=list) + idx_ubx_e_t: list = field(default_factory=list) + idx_lbu_t: list = field(default_factory=list) + idx_ubu_t: list = field(default_factory=list) + idx_lg_t: list = field(default_factory=list) + idx_ug_t: list = field(default_factory=list) + idx_lg_e_t: list = field(default_factory=list) + idx_ug_e_t: list = field(default_factory=list) + idx_lh_t: list = field(default_factory=list) + idx_uh_t: list = field(default_factory=list) + idx_lh_e_t: list = field(default_factory=list) + idx_uh_e_t: list = field(default_factory=list) + +def process_zoro_description(zoro_description: ZoroDescription): + zoro_description.nw, _ = zoro_description.W_mat.shape + if zoro_description.unc_jac_G_mat is None: + zoro_description.unc_jac_G_mat = np.eye(zoro_description.nw) + zoro_description.nlbx_t = len(zoro_description.idx_lbx_t) + zoro_description.nubx_t = len(zoro_description.idx_ubx_t) + zoro_description.nlbx_e_t = len(zoro_description.idx_lbx_e_t) + zoro_description.nubx_e_t = len(zoro_description.idx_ubx_e_t) + zoro_description.nlbu_t = len(zoro_description.idx_lbu_t) + zoro_description.nubu_t = len(zoro_description.idx_ubu_t) + zoro_description.nlg_t = len(zoro_description.idx_lg_t) + zoro_description.nug_t = len(zoro_description.idx_ug_t) + zoro_description.nlg_e_t = len(zoro_description.idx_lg_e_t) + zoro_description.nug_e_t = len(zoro_description.idx_ug_e_t) + zoro_description.nlh_t = len(zoro_description.idx_lh_t) + zoro_description.nuh_t = len(zoro_description.idx_uh_t) + zoro_description.nlh_e_t = len(zoro_description.idx_lh_e_t) + zoro_description.nuh_e_t = len(zoro_description.idx_uh_e_t) + return zoro_description.__dict__ diff --git a/third_party/acados/build.sh b/third_party/acados/build.sh new file mode 100755 index 0000000000..b45c167b16 --- /dev/null +++ b/third_party/acados/build.sh @@ -0,0 +1,56 @@ +#!/usr/bin/env bash +set -e + +DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" + +ARCHNAME="x86_64" +BLAS_TARGET="X64_AUTOMATIC" +if [ -f /TICI ]; then + ARCHNAME="larch64" + BLAS_TARGET="ARMV8A_ARM_CORTEX_A57" +fi + +ACADOS_FLAGS="-DACADOS_WITH_QPOASES=ON -UBLASFEO_TARGET -DBLASFEO_TARGET=$BLAS_TARGET" + +if [[ "$OSTYPE" == "darwin"* ]]; then + ACADOS_FLAGS="$ACADOS_FLAGS -DCMAKE_OSX_ARCHITECTURES=arm64;x86_64 -DCMAKE_MACOSX_RPATH=1" + ARCHNAME="Darwin" +fi + +if [ ! -d acados_repo/ ]; then + git clone https://github.com/acados/acados.git $DIR/acados_repo + # git clone https://github.com/commaai/acados.git $DIR/acados_repo +fi +cd acados_repo +git fetch --all +git checkout 8af9b0ad180940ef611884574a0b27a43504311d # v0.2.2 +git submodule update --depth=1 --recursive --init + +# build +mkdir -p build +cd build +cmake $ACADOS_FLAGS .. +make -j20 install + +INSTALL_DIR="$DIR/$ARCHNAME" +rm -rf $INSTALL_DIR +mkdir -p $INSTALL_DIR + +rm $DIR/acados_repo/lib/*.json + +rm -rf $DIR/include $DIR/acados_template +cp -r $DIR/acados_repo/include $DIR +cp -r $DIR/acados_repo/lib $INSTALL_DIR +cp -r $DIR/acados_repo/interfaces/acados_template/acados_template $DIR/ +#pip3 install -e $DIR/acados/interfaces/acados_template + +# build tera +cd $DIR/acados_repo/interfaces/acados_template/tera_renderer/ +if [[ "$OSTYPE" == "darwin"* ]]; then + cargo build --verbose --release --target aarch64-apple-darwin + cargo build --verbose --release --target x86_64-apple-darwin + lipo -create -output target/release/t_renderer target/x86_64-apple-darwin/release/t_renderer target/aarch64-apple-darwin/release/t_renderer +else + cargo build --verbose --release +fi +cp target/release/t_renderer $INSTALL_DIR/ diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_common.h b/third_party/acados/include/acados/dense_qp/dense_qp_common.h new file mode 100644 index 0000000000..2a9a974f99 --- /dev/null +++ b/third_party/acados/include/acados/dense_qp/dense_qp_common.h @@ -0,0 +1,147 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef ACADOS_DENSE_QP_DENSE_QP_COMMON_H_ +#define ACADOS_DENSE_QP_DENSE_QP_COMMON_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +// hpipm +#include "hpipm/include/hpipm_d_dense_qp.h" +#include "hpipm/include/hpipm_d_dense_qp_res.h" +#include "hpipm/include/hpipm_d_dense_qp_sol.h" +// acados +#include "acados/utils/types.h" + +typedef struct d_dense_qp_dim dense_qp_dims; +typedef struct d_dense_qp dense_qp_in; +typedef struct d_dense_qp_sol dense_qp_out; +typedef struct d_dense_qp_res dense_qp_res; +typedef struct d_dense_qp_res_ws dense_qp_res_ws; + + + +#ifndef QP_SOLVER_CONFIG_ +#define QP_SOLVER_CONFIG_ +typedef struct +{ + void (*dims_set)(void *config_, void *dims_, const char *field, const int* value); + acados_size_t (*opts_calculate_size)(void *config, void *dims); + void *(*opts_assign)(void *config, void *dims, void *raw_memory); + void (*opts_initialize_default)(void *config, void *dims, void *args); + void (*opts_update)(void *config, void *dims, void *args); + void (*opts_set)(void *config_, void *opts_, const char *field, void* value); + acados_size_t (*memory_calculate_size)(void *config, void *dims, void *args); + void *(*memory_assign)(void *config, void *dims, void *args, void *raw_memory); + void (*memory_get)(void *config_, void *mem_, const char *field, void* value); + acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *args); + int (*evaluate)(void *config, void *qp_in, void *qp_out, void *args, void *mem, void *work); + void (*eval_sens)(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work); +} qp_solver_config; +#endif + + + +#ifndef QP_INFO_ +#define QP_INFO_ +typedef struct +{ + double solve_QP_time; + double condensing_time; + double interface_time; + double total_time; + int num_iter; + int t_computed; +} qp_info; +#endif + + + +/* config */ +// +acados_size_t dense_qp_solver_config_calculate_size(); +// +qp_solver_config *dense_qp_solver_config_assign(void *raw_memory); + +/* dims */ +// +acados_size_t dense_qp_dims_calculate_size(); +// +dense_qp_dims *dense_qp_dims_assign(void *raw_memory); +// +void dense_qp_dims_set(void *config_, void *dims_, const char *field, const int* value); +// + +/* in */ +// +acados_size_t dense_qp_in_calculate_size(dense_qp_dims *dims); +// +dense_qp_in *dense_qp_in_assign(dense_qp_dims *dims, void *raw_memory); + +/* out */ +// +acados_size_t dense_qp_out_calculate_size(dense_qp_dims *dims); +// +dense_qp_out *dense_qp_out_assign(dense_qp_dims *dims, void *raw_memory); +// +void dense_qp_out_get(dense_qp_out *out, const char *field, void *value); + +/* res */ +// +acados_size_t dense_qp_res_calculate_size(dense_qp_dims *dims); +// +dense_qp_res *dense_qp_res_assign(dense_qp_dims *dims, void *raw_memory); +// +acados_size_t dense_qp_res_workspace_calculate_size(dense_qp_dims *dims); +// +dense_qp_res_ws *dense_qp_res_workspace_assign(dense_qp_dims *dims, void *raw_memory); +// +void dense_qp_compute_t(dense_qp_in *qp_in, dense_qp_out *qp_out); +// +void dense_qp_res_compute(dense_qp_in *qp_in, dense_qp_out *qp_out, dense_qp_res *qp_res, dense_qp_res_ws *res_ws); +// +void dense_qp_res_compute_nrm_inf(dense_qp_res *qp_res, double res[4]); + +/* misc */ +// +void dense_qp_stack_slacks_dims(dense_qp_dims *in, dense_qp_dims *out); +// +void dense_qp_stack_slacks(dense_qp_in *in, dense_qp_in *out); +// +void dense_qp_unstack_slacks(dense_qp_out *in, dense_qp_in *qp_out, dense_qp_out *out); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_DENSE_QP_DENSE_QP_COMMON_H_ diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_daqp.h b/third_party/acados/include/acados/dense_qp/dense_qp_daqp.h new file mode 100644 index 0000000000..b262089b4f --- /dev/null +++ b/third_party/acados/include/acados/dense_qp/dense_qp_daqp.h @@ -0,0 +1,110 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef ACADOS_DENSE_QP_DENSE_QP_DAQP_H_ +#define ACADOS_DENSE_QP_DENSE_QP_DAQP_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +// blasfeo +#include "blasfeo/include/blasfeo_common.h" + +// daqp +#include "daqp/include/types.h" + +// acados +#include "acados/dense_qp/dense_qp_common.h" +#include "acados/utils/types.h" + + +typedef struct dense_qp_daqp_opts_ +{ + DAQPSettings* daqp_opts; + int warm_start; +} dense_qp_daqp_opts; + + +typedef struct dense_qp_daqp_memory_ +{ + double* lb_tmp; + double* ub_tmp; + int* idxb; + int* idxv_to_idxb; + int* idxs; + int* idxdaqp_to_idxs; + + double* Zl; + double* Zu; + double* zl; + double* zu; + double* d_ls; + double* d_us; + + double time_qp_solver_call; + int iter; + DAQPWorkspace * daqp_work; + +} dense_qp_daqp_memory; + +// opts +acados_size_t dense_qp_daqp_opts_calculate_size(void *config, dense_qp_dims *dims); +// +void *dense_qp_daqp_opts_assign(void *config, dense_qp_dims *dims, void *raw_memory); +// +void dense_qp_daqp_opts_initialize_default(void *config, dense_qp_dims *dims, void *opts_); +// +void dense_qp_daqp_opts_update(void *config, dense_qp_dims *dims, void *opts_); +// +// memory +acados_size_t dense_qp_daqp_workspace_calculate_size(void *config, dense_qp_dims *dims, void *opts_); +// +void *dense_qp_daqp_workspace_assign(void *config, dense_qp_dims *dims, void *raw_memory); +// +acados_size_t dense_qp_daqp_memory_calculate_size(void *config, dense_qp_dims *dims, void *opts_); +// +void *dense_qp_daqp_memory_assign(void *config, dense_qp_dims *dims, void *opts_, void *raw_memory); +// +// functions +int dense_qp_daqp(void *config, dense_qp_in *qp_in, dense_qp_out *qp_out, void *opts_, void *memory_, void *work_); +// +void dense_qp_daqp_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_); +// +void dense_qp_daqp_memory_reset(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_); +// +void dense_qp_daqp_config_initialize_default(void *config_); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_DENSE_QP_DENSE_QP_DAQP_H_ diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_hpipm.h b/third_party/acados/include/acados/dense_qp/dense_qp_hpipm.h new file mode 100644 index 0000000000..136279d666 --- /dev/null +++ b/third_party/acados/include/acados/dense_qp/dense_qp_hpipm.h @@ -0,0 +1,91 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef ACADOS_DENSE_QP_DENSE_QP_HPIPM_H_ +#define ACADOS_DENSE_QP_DENSE_QP_HPIPM_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +// hpipm +#include "hpipm/include/hpipm_d_dense_qp.h" +#include "hpipm/include/hpipm_d_dense_qp_ipm.h" +#include "hpipm/include/hpipm_d_dense_qp_sol.h" +// acados +#include "acados/dense_qp/dense_qp_common.h" +#include "acados/utils/types.h" + + + +typedef struct dense_qp_hpipm_opts_ +{ + struct d_dense_qp_ipm_arg *hpipm_opts; +} dense_qp_hpipm_opts; + + + +typedef struct dense_qp_hpipm_memory_ +{ + struct d_dense_qp_ipm_ws *hpipm_workspace; + double time_qp_solver_call; + int iter; + +} dense_qp_hpipm_memory; + + + +// +acados_size_t dense_qp_hpipm_opts_calculate_size(void *config, void *dims); +// +void *dense_qp_hpipm_opts_assign(void *config, void *dims, void *raw_memory); +// +void dense_qp_hpipm_opts_initialize_default(void *config, void *dims, void *opts_); +// +void dense_qp_hpipm_opts_update(void *config, void *dims, void *opts_); +// +acados_size_t dense_qp_hpipm_calculate_memory_size(void *dims, void *opts_); +// +void *dense_qp_hpipm_assign_memory(void *dims, void *opts_, void *raw_memory); +// +acados_size_t dense_qp_hpipm_calculate_workspace_size(void *dims, void *opts_); +// +int dense_qp_hpipm(void *config, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_); +// +void dense_qp_hpipm_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_); +// +void dense_qp_hpipm_config_initialize_default(void *config_); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_DENSE_QP_DENSE_QP_HPIPM_H_ diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_ooqp.h b/third_party/acados/include/acados/dense_qp/dense_qp_ooqp.h new file mode 100644 index 0000000000..d051cb15f7 --- /dev/null +++ b/third_party/acados/include/acados/dense_qp/dense_qp_ooqp.h @@ -0,0 +1,125 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef ACADOS_DENSE_QP_DENSE_QP_OOQP_H_ +#define ACADOS_DENSE_QP_DENSE_QP_OOQP_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include "acados/dense_qp/dense_qp_common.h" +#include "acados/utils/types.h" + +enum dense_qp_ooqp_termination_code +{ + DENSE_SUCCESSFUL_TERMINATION = 0, + DENSE_NOT_FINISHED, + DENSE_MAX_ITS_EXCEEDED, + DENSE_INFEASIBLE, + DENSE_UNKNOWN +}; + +typedef struct dense_qp_ooqp_opts_ +{ + int printLevel; + int useDiagonalWeights; // TODO(dimitris): implement option + int fixHessian; + int fixDynamics; + int fixInequalities; +} dense_qp_ooqp_opts; + +typedef struct dense_qp_ooqp_workspace_ +{ + double *x; + double *gamma; + double *phi; + double *y; + double *z; + double *lambda; + double *pi; + double objectiveValue; +} dense_qp_ooqp_workspace; + +typedef struct dense_qp_ooqp_memory_ +{ + int firstRun; + int nx; + int my; + int mz; + double *c; + double *dQ; + double *xlow; + char *ixlow; + double *xupp; + char *ixupp; + double *dA; + double *bA; + double *dC; + double *clow; + char *iclow; + double *cupp; + char *icupp; + double time_qp_solver_call; + int iter; + +} dense_qp_ooqp_memory; + +// +acados_size_t dense_qp_ooqp_opts_calculate_size(void *config_, dense_qp_dims *dims); +// +void *dense_qp_ooqp_opts_assign(void *config_, dense_qp_dims *dims, void *raw_memory); +// +void dense_qp_ooqp_opts_initialize_default(void *config_, dense_qp_dims *dims, void *opts_); +// +void dense_qp_ooqp_opts_update(void *config_, dense_qp_dims *dims, void *opts_); +// +acados_size_t dense_qp_ooqp_memory_calculate_size(void *config_, dense_qp_dims *dims, void *opts_); +// +void *dense_qp_ooqp_memory_assign(void *config_, dense_qp_dims *dims, void *opts_, + void *raw_memory); +// +acados_size_t dense_qp_ooqp_workspace_calculate_size(void *config_, dense_qp_dims *dims, void *opts_); +// +int dense_qp_ooqp(void *config_, dense_qp_in *qp_in, dense_qp_out *qp_out, void *opts_, + void *memory_, void *work_); +// +void dense_qp_ooqp_destroy(void *mem_, void *work); +// +void dense_qp_ooqp_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_); +// +void dense_qp_ooqp_config_initialize_default(void *config_); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_DENSE_QP_DENSE_QP_OOQP_H_ diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_qore.h b/third_party/acados/include/acados/dense_qp/dense_qp_qore.h new file mode 100644 index 0000000000..392e472918 --- /dev/null +++ b/third_party/acados/include/acados/dense_qp/dense_qp_qore.h @@ -0,0 +1,124 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef ACADOS_DENSE_QP_DENSE_QP_QORE_H_ +#define ACADOS_DENSE_QP_DENSE_QP_QORE_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +// qore +#include "qore/QPSOLVER_DENSE/include/qpsolver_dense.h" +// acados +#include "acados/dense_qp/dense_qp_common.h" +#include "acados/utils/types.h" + +typedef struct dense_qp_qore_opts_ +{ + int nsmax; // maximum size of Schur complement + int print_freq; // print frequency, + // prtfreq < 0: disable printing; + // prtfreq == 0: print on each call and include working set changes; + // prtfreq > 0: print on every prtfreq seconds, but do not include working set + // changes; + int warm_start; // warm start with updated matrices H and C + int warm_strategy; // 0: ramp-up from zero homotopy; 1: setup homotopy from the previous + // solution + int hot_start; // hot start with unchanged matrices H and C + int max_iter; // maximum number of iterations + int compute_t; // compute t in qp_out (to have correct residuals in NLP) +} dense_qp_qore_opts; + +typedef struct dense_qp_qore_memory_ +{ + double *H; + double *HH; + double *g; + double *gg; + double *Zl; + double *Zu; + double *zl; + double *zu; + double *A; + double *b; + double *C; + double *CC; + double *Ct; + double *CCt; + double *d_lb0; + double *d_ub0; + double *d_lb; + double *d_ub; + double *d_lg; + double *d_ug; + double *d_ls; + double *d_us; + double *lb; + double *ub; + int *idxb; + int *idxb_stacked; + int *idxs; + double *prim_sol; + double *dual_sol; + QoreProblemDense *QP; + int num_iter; + dense_qp_in *qp_stacked; + double time_qp_solver_call; + int iter; + +} dense_qp_qore_memory; + +acados_size_t dense_qp_qore_opts_calculate_size(void *config, dense_qp_dims *dims); +// +void *dense_qp_qore_opts_assign(void *config, dense_qp_dims *dims, void *raw_memory); +// +void dense_qp_qore_opts_initialize_default(void *config, dense_qp_dims *dims, void *opts_); +// +void dense_qp_qore_opts_update(void *config, dense_qp_dims *dims, void *opts_); +// +acados_size_t dense_qp_qore_memory_calculate_size(void *config, dense_qp_dims *dims, void *opts_); +// +void *dense_qp_qore_memory_assign(void *config, dense_qp_dims *dims, void *opts_, void *raw_memory); +// +acados_size_t dense_qp_qore_workspace_calculate_size(void *config, dense_qp_dims *dims, void *opts_); +// +int dense_qp_qore(void *config, dense_qp_in *qp_in, dense_qp_out *qp_out, void *opts_, void *memory_, void *work_); +// +void dense_qp_qore_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_); +// +void dense_qp_qore_config_initialize_default(void *config); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_DENSE_QP_DENSE_QP_QORE_H_ diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_qpoases.h b/third_party/acados/include/acados/dense_qp/dense_qp_qpoases.h new file mode 100644 index 0000000000..0e13d3ef64 --- /dev/null +++ b/third_party/acados/include/acados/dense_qp/dense_qp_qpoases.h @@ -0,0 +1,126 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef ACADOS_DENSE_QP_DENSE_QP_QPOASES_H_ +#define ACADOS_DENSE_QP_DENSE_QP_QPOASES_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +// blasfeo +#include "blasfeo/include/blasfeo_common.h" + +// acados +#include "acados/dense_qp/dense_qp_common.h" +#include "acados/utils/types.h" + +typedef struct dense_qp_qpoases_opts_ +{ + double max_cputime; // maximum cpu time in seconds + int max_nwsr; // maximum number of working set recalculations + int warm_start; // warm start with dual_sol in memory + int use_precomputed_cholesky; + int hotstart; // this option requires constant data matrices! (eg linear MPC, inexact schemes + // with frozen sensitivities) + int set_acado_opts; // use same options as in acado code generation + int compute_t; // compute t in qp_out (to have correct residuals in NLP) + double tolerance; // terminationTolerance +} dense_qp_qpoases_opts; + +typedef struct dense_qp_qpoases_memory_ +{ + double *H; + double *HH; + double *R; + double *g; + double *gg; + double *Zl; + double *Zu; + double *zl; + double *zu; + double *A; + double *b; + double *d_lb0; + double *d_ub0; + double *d_lb; + double *d_ub; + double *C; + double *CC; + double *d_lg0; + double *d_ug0; + double *d_lg; + double *d_ug; + double *d_ls; + double *d_us; + int *idxb; + int *idxb_stacked; + int *idxs; + double *prim_sol; + double *dual_sol; + void *QPB; // NOTE(giaf): cast to QProblemB to use + void *QP; // NOTE(giaf): cast to QProblem to use + double cputime; // cputime of qpoases + int nwsr; // performed number of working set recalculations + int first_it; // to be used with hotstart + dense_qp_in *qp_stacked; + double time_qp_solver_call; // equal to cputime + int iter; + +} dense_qp_qpoases_memory; + +acados_size_t dense_qp_qpoases_opts_calculate_size(void *config, dense_qp_dims *dims); +// +void *dense_qp_qpoases_opts_assign(void *config, dense_qp_dims *dims, void *raw_memory); +// +void dense_qp_qpoases_opts_initialize_default(void *config, dense_qp_dims *dims, void *opts_); +// +void dense_qp_qpoases_opts_update(void *config, dense_qp_dims *dims, void *opts_); +// +acados_size_t dense_qp_qpoases__memorycalculate_size(void *config, dense_qp_dims *dims, void *opts_); +// +void *dense_qp_qpoases_memory_assign(void *config, dense_qp_dims *dims, void *opts_, void *raw_memory); +// +acados_size_t dense_qp_qpoases_workspace_calculate_size(void *config, dense_qp_dims *dims, void *opts_); +// +int dense_qp_qpoases(void *config, dense_qp_in *qp_in, dense_qp_out *qp_out, void *opts_, void *memory_, void *work_); +// +void dense_qp_qpoases_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_); +// +void dense_qp_qpoases_memory_reset(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_); +// +void dense_qp_qpoases_config_initialize_default(void *config_); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_DENSE_QP_DENSE_QP_QPOASES_H_ diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_common.h new file mode 100644 index 0000000000..ba97db9768 --- /dev/null +++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_common.h @@ -0,0 +1,446 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + + +/// \defgroup ocp_nlp ocp_nlp +/// @{ +/// @} + +/// \defgroup ocp_nlp_solver ocp_nlp_solver +/// @{ +/// @} + +/// \ingroup ocp_nlp +/// @{ + +/// \ingroup ocp_nlp_solver +/// @{ + +/// \defgroup ocp_nlp_common ocp_nlp_common +/// @{ + +#ifndef ACADOS_OCP_NLP_OCP_NLP_COMMON_H_ +#define ACADOS_OCP_NLP_OCP_NLP_COMMON_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include "acados/ocp_nlp/ocp_nlp_constraints_common.h" +#include "acados/ocp_nlp/ocp_nlp_cost_common.h" +#include "acados/ocp_nlp/ocp_nlp_dynamics_common.h" +#include "acados/ocp_nlp/ocp_nlp_reg_common.h" +#include "acados/ocp_qp/ocp_qp_common.h" +#include "acados/ocp_qp/ocp_qp_xcond_solver.h" +#include "acados/sim/sim_common.h" +#include "acados/utils/external_function_generic.h" +#include "acados/utils/types.h" + + + +/************************************************ + * config + ************************************************/ + +typedef struct ocp_nlp_config +{ + int N; // number of stages + + // solver-specific implementations of memory management functions + acados_size_t (*opts_calculate_size)(void *config, void *dims); + void *(*opts_assign)(void *config, void *dims, void *raw_memory); + void (*opts_initialize_default)(void *config, void *dims, void *opts_); + void (*opts_update)(void *config, void *dims, void *opts_); + acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts_); + void *(*memory_assign)(void *config, void *dims, void *opts_, void *raw_memory); + acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts_); + void (*opts_set)(void *config_, void *opts_, const char *field, void* value); + void (*opts_set_at_stage)(void *config_, void *opts_, size_t stage, const char *field, void* value); + // evaluate solver // TODO rename into solve + int (*evaluate)(void *config, void *dims, void *nlp_in, void *nlp_out, void *opts_, void *mem, void *work); + void (*eval_param_sens)(void *config, void *dims, void *opts_, void *mem, void *work, + char *field, int stage, int index, void *sens_nlp_out); + // prepare memory + int (*precompute)(void *config, void *dims, void *nlp_in, void *nlp_out, void *opts_, void *mem, void *work); + void (*memory_reset_qp_solver)(void *config, void *dims, void *nlp_in, void *nlp_out, void *opts_, void *mem, void *work); + // initalize this struct with default values + void (*config_initialize_default)(void *config); + // general getter + void (*get)(void *config_, void *dims, void *mem_, const char *field, void *return_value_); + void (*opts_get)(void *config_, void *dims, void *opts_, const char *field, void *return_value_); + void (*work_get)(void *config_, void *dims, void *work_, const char *field, void *return_value_); + // config structs of submodules + ocp_qp_xcond_solver_config *qp_solver; // TODO rename xcond_solver + ocp_nlp_dynamics_config **dynamics; + ocp_nlp_cost_config **cost; + ocp_nlp_constraints_config **constraints; + ocp_nlp_reg_config *regularize; + +} ocp_nlp_config; + +// +acados_size_t ocp_nlp_config_calculate_size(int N); +// +ocp_nlp_config *ocp_nlp_config_assign(int N, void *raw_memory); + + + +/************************************************ + * dims + ************************************************/ + +/// Structure to store dimensions/number of variables. +typedef struct ocp_nlp_dims +{ + void **cost; + void **dynamics; + void **constraints; + ocp_qp_xcond_solver_dims *qp_solver; // xcond solver instead ?? + ocp_nlp_reg_dims *regularize; + + int *nv; // number of primal variables (states+controls+slacks) + int *nx; // number of differential states + int *nu; // number of inputs + int *ni; // number of two-sided inequality constraints: nb+ng+nh+ns + int *nz; // number of algebraic variables + int *ns; // number of slack variables + int N; // number of shooting nodes + + void *raw_memory; // Pointer to allocated memory, to be used for freeing +} ocp_nlp_dims; + +// +acados_size_t ocp_nlp_dims_calculate_size(void *config); +// +ocp_nlp_dims *ocp_nlp_dims_assign(void *config, void *raw_memory); + +/// Sets the dimension of optimization variables +/// (states, constrols, algebraic variables, slack variables). +/// +/// \param config_ The configuration struct. +/// \param dims_ The dimension struct. +/// \param field The type of optimization variables, either nx, nu, nz, or ns. +/// \param value_array Number of variables for each stage. +void ocp_nlp_dims_set_opt_vars(void *config_, void *dims_, + const char *field, const void* value_array); + +/// Sets the dimensions of constraints functions for a stage +/// (bounds on states, bounds on controls, equality constraints, +/// inequality constraints). +/// +/// \param config_ The configuration struct. +/// \param dims_ The dimension struct. +/// \param stage Stage number. +/// \param field The type of constraint/bound, either nbx, nbu, ng, or nh. +/// \param value_field Number of constraints/bounds for the given stage. +void ocp_nlp_dims_set_constraints(void *config_, void *dims_, int stage, + const char *field, const void* value_field); + +/// Sets the dimensions of the cost terms for a stage. +/// +/// \param config_ The configuration struct. +/// \param dims_ The dimension struct. +/// \param stage Stage number. +/// \param field Type of cost term, can be eiter ny. +/// \param value_field Number of cost terms/residuals for the given stage. +void ocp_nlp_dims_set_cost(void *config_, void *dims_, int stage, const char *field, + const void* value_field); + +/// Sets the dimensions of the dynamics for a stage. +/// +/// \param config_ The configuration struct. +/// \param dims_ The dimension struct. +/// \param stage Stage number. +/// \param field TBD +/// \param value TBD +void ocp_nlp_dims_set_dynamics(void *config_, void *dims_, int stage, const char *field, + const void* value); + +/************************************************ + * Inputs + ************************************************/ + +/// Struct for storing the inputs of an OCP NLP solver +typedef struct ocp_nlp_in +{ + /// Length of sampling intervals/timesteps. + double *Ts; + + /// Pointers to cost functions (TBC). + void **cost; + + /// Pointers to dynamics functions (TBC). + void **dynamics; + + /// Pointers to constraints functions (TBC). + void **constraints; + + /// Pointer to allocated memory, to be used for freeing. + void *raw_memory; + +} ocp_nlp_in; + +// +acados_size_t ocp_nlp_in_calculate_size_self(int N); +// +acados_size_t ocp_nlp_in_calculate_size(ocp_nlp_config *config, ocp_nlp_dims *dims); +// +ocp_nlp_in *ocp_nlp_in_assign_self(int N, void *raw_memory); +// +ocp_nlp_in *ocp_nlp_in_assign(ocp_nlp_config *config, ocp_nlp_dims *dims, void *raw_memory); + + +/************************************************ + * out + ************************************************/ + +typedef struct ocp_nlp_out +{ + struct blasfeo_dvec *ux; // NOTE: this contains [u; x; s_l; s_u]! - rename to uxs? + struct blasfeo_dvec *z; // algebraic vairables + struct blasfeo_dvec *pi; // multipliers for dynamics + struct blasfeo_dvec *lam; // inequality mulitpliers + struct blasfeo_dvec *t; // slack variables corresponding to evaluation of all inequalities (at the solution) + + // NOTE: the inequalities are internally organized in the following order: + // [ lbu lbx lg lh lphi ubu ubx ug uh uphi; lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi] + double inf_norm_res; + + void *raw_memory; // Pointer to allocated memory, to be used for freeing + +} ocp_nlp_out; + +// +acados_size_t ocp_nlp_out_calculate_size(ocp_nlp_config *config, ocp_nlp_dims *dims); +// +ocp_nlp_out *ocp_nlp_out_assign(ocp_nlp_config *config, ocp_nlp_dims *dims, + void *raw_memory); + + + +/************************************************ + * options + ************************************************/ + +/// Globalization types +typedef enum +{ + FIXED_STEP, + MERIT_BACKTRACKING, +} ocp_nlp_globalization_t; + +typedef struct ocp_nlp_opts +{ + ocp_qp_xcond_solver_opts *qp_solver_opts; // xcond solver opts instead ??? + void *regularize; + void **dynamics; // dynamics_opts + void **cost; // cost_opts + void **constraints; // constraints_opts + double step_length; // step length in case of FIXED_STEP + double levenberg_marquardt; // LM factor to be added to the hessian before regularization + int reuse_workspace; + int num_threads; + int print_level; + + // TODO: move to separate struct? + ocp_nlp_globalization_t globalization; + int full_step_dual; + int line_search_use_sufficient_descent; + int globalization_use_SOC; + double alpha_min; + double alpha_reduction; + double eps_sufficient_descent; +} ocp_nlp_opts; + +// +acados_size_t ocp_nlp_opts_calculate_size(void *config, void *dims); +// +void *ocp_nlp_opts_assign(void *config, void *dims, void *raw_memory); +// +void ocp_nlp_opts_initialize_default(void *config, void *dims, void *opts); +// +void ocp_nlp_opts_update(void *config, void *dims, void *opts); +// +void ocp_nlp_opts_set(void *config_, void *opts_, const char *field, void* value); +// +void ocp_nlp_opts_set_at_stage(void *config, void *opts, int stage, const char *field, void *value); + + +/************************************************ + * residuals + ************************************************/ + +typedef struct ocp_nlp_res +{ + struct blasfeo_dvec *res_stat; // stationarity + struct blasfeo_dvec *res_eq; // dynamics + struct blasfeo_dvec *res_ineq; // inequality constraints + struct blasfeo_dvec *res_comp; // complementarity + struct blasfeo_dvec tmp; // tmp + double inf_norm_res_stat; + double inf_norm_res_eq; + double inf_norm_res_ineq; + double inf_norm_res_comp; + acados_size_t memsize; +} ocp_nlp_res; + +// +acados_size_t ocp_nlp_res_calculate_size(ocp_nlp_dims *dims); +// +ocp_nlp_res *ocp_nlp_res_assign(ocp_nlp_dims *dims, void *raw_memory); +// +void ocp_nlp_res_get_inf_norm(ocp_nlp_res *res, double *out); + +/************************************************ + * memory + ************************************************/ + +typedef struct ocp_nlp_memory +{ +// void *qp_solver_mem; // xcond solver mem instead ??? + ocp_qp_xcond_solver_memory *qp_solver_mem; // xcond solver mem instead ??? + void *regularize_mem; + void **dynamics; // dynamics memory + void **cost; // cost memory + void **constraints; // constraints memory + + // residuals + ocp_nlp_res *nlp_res; + + // qp in & out + ocp_qp_in *qp_in; + ocp_qp_out *qp_out; + // QP stuff not entering the qp_in struct + struct blasfeo_dmat *dzduxt; // dzdux transposed + struct blasfeo_dvec *z_alg; // z_alg, output algebraic variables + + struct blasfeo_dvec *cost_grad; + struct blasfeo_dvec *ineq_fun; + struct blasfeo_dvec *ineq_adj; + struct blasfeo_dvec *dyn_fun; + struct blasfeo_dvec *dyn_adj; + + double cost_value; + + bool *set_sim_guess; // indicate if there is new explicitly provided guess for integration variables + struct blasfeo_dvec *sim_guess; + + int *sqp_iter; // pointer to iteration number + +} ocp_nlp_memory; + +// +acados_size_t ocp_nlp_memory_calculate_size(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_opts *opts); +// +ocp_nlp_memory *ocp_nlp_memory_assign(ocp_nlp_config *config, ocp_nlp_dims *dims, + ocp_nlp_opts *opts, void *raw_memory); + + + +/************************************************ + * workspace + ************************************************/ + +typedef struct ocp_nlp_workspace +{ + + void *qp_work; + void **dynamics; // dynamics_workspace + void **cost; // cost_workspace + void **constraints; // constraints_workspace + + // for globalization: -> move to module?! + ocp_nlp_out *tmp_nlp_out; + ocp_nlp_out *weight_merit_fun; + struct blasfeo_dvec tmp_nxu; + struct blasfeo_dvec tmp_ni; + struct blasfeo_dvec dxnext_dy; + +} ocp_nlp_workspace; + +// +acados_size_t ocp_nlp_workspace_calculate_size(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_opts *opts); +// +ocp_nlp_workspace *ocp_nlp_workspace_assign(ocp_nlp_config *config, ocp_nlp_dims *dims, + ocp_nlp_opts *opts, ocp_nlp_memory *mem, void *raw_memory); + + + +/************************************************ + * function + ************************************************/ + +void ocp_nlp_alias_memory_to_submodules(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, + ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work); +// +void ocp_nlp_initialize_submodules(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, + ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work); +// +void ocp_nlp_approximate_qp_matrices(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, + ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work); +// +void ocp_nlp_approximate_qp_vectors_sqp(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, + ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work); +// +void ocp_nlp_embed_initial_value(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, + ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work); +// +void ocp_nlp_update_variables_sqp(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, + ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work, double alpha); +// +int ocp_nlp_precompute_common(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, + ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work); +// +double ocp_nlp_line_search(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, + ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work, + int check_early_termination); +// +double ocp_nlp_evaluate_merit_fun(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, + ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work); +// +void ocp_nlp_initialize_t_slacks(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, + ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work); +// +void ocp_nlp_res_compute(ocp_nlp_dims *dims, ocp_nlp_in *in, ocp_nlp_out *out, + ocp_nlp_res *res, ocp_nlp_memory *mem); +// +void ocp_nlp_cost_compute(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, + ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work); + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_OCP_NLP_OCP_NLP_COMMON_H_ +/// @} +/// @} +/// @} diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgh.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgh.h new file mode 100644 index 0000000000..9dbf16f6dc --- /dev/null +++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgh.h @@ -0,0 +1,238 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +/// \addtogroup ocp_nlp +/// @{ +/// \addtogroup ocp_nlp_constraints +/// @{ + +#ifndef ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGH_H_ +#define ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGH_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +// acados +#include "acados/ocp_qp/ocp_qp_common.h" +#include "acados/ocp_nlp/ocp_nlp_constraints_common.h" +#include "acados/utils/external_function_generic.h" +#include "acados/utils/types.h" + + + +/************************************************ + * dims + ************************************************/ + +typedef struct +{ + int nx; + int nu; + int nz; + int nb; // nbx + nbu + int nbu; // number of input box constraints + int nbx; // number of state box constraints + int ng; // number of general linear constraints + int nh; // number of nonlinear path constraints + int ns; // nsbu + nsbx + nsg + nsh + int nsbu; // number of softened input bounds + int nsbx; // number of softened state bounds + int nsg; // number of softened general linear constraints + int nsh; // number of softened nonlinear constraints + int nbue; // number of input box constraints which are equality + int nbxe; // number of state box constraints which are equality + int nge; // number of general linear constraints which are equality + int nhe; // number of nonlinear path constraints which are equality +} ocp_nlp_constraints_bgh_dims; + +// +acados_size_t ocp_nlp_constraints_bgh_dims_calculate_size(void *config); +// +void *ocp_nlp_constraints_bgh_dims_assign(void *config, void *raw_memory); +// +void ocp_nlp_constraints_bgh_dims_get(void *config_, void *dims_, const char *field, int* value); +// +void ocp_nlp_constraints_bgh_dims_set(void *config_, void *dims_, + const char *field, const int* value); + + +/************************************************ + * model + ************************************************/ + +typedef struct +{ + int *idxb; + int *idxs; + int *idxe; + struct blasfeo_dvec d; // gathers bounds + struct blasfeo_dmat DCt; // general linear constraint matrix + // lg <= [D, C] * [u; x] <= ug + external_function_generic *nl_constr_h_fun; // nonlinear: lh <= h(x,u) <= uh + external_function_generic *nl_constr_h_fun_jac; // nonlinear: lh <= h(x,u) <= uh + external_function_generic *nl_constr_h_fun_jac_hess; // nonlinear: lh <= h(x,u) <= uh +} ocp_nlp_constraints_bgh_model; + +// +acados_size_t ocp_nlp_constraints_bgh_model_calculate_size(void *config, void *dims); +// +void *ocp_nlp_constraints_bgh_model_assign(void *config, void *dims, void *raw_memory); +// +int ocp_nlp_constraints_bgh_model_set(void *config_, void *dims_, + void *model_, const char *field, void *value); + +// +void ocp_nlp_constraints_bgh_model_get(void *config_, void *dims_, + void *model_, const char *field, void *value); + + +/************************************************ + * options + ************************************************/ + +typedef struct +{ + int compute_adj; + int compute_hess; +} ocp_nlp_constraints_bgh_opts; + +// +acados_size_t ocp_nlp_constraints_bgh_opts_calculate_size(void *config, void *dims); +// +void *ocp_nlp_constraints_bgh_opts_assign(void *config, void *dims, void *raw_memory); +// +void ocp_nlp_constraints_bgh_opts_initialize_default(void *config, void *dims, void *opts); +// +void ocp_nlp_constraints_bgh_opts_update(void *config, void *dims, void *opts); +// +void ocp_nlp_constraints_bgh_opts_set(void *config, void *opts, char *field, void *value); + + + +/************************************************ + * memory + ************************************************/ + +typedef struct +{ + struct blasfeo_dvec fun; + struct blasfeo_dvec adj; + struct blasfeo_dvec *ux; // pointer to ux in nlp_out + struct blasfeo_dvec *tmp_ux; // pointer to ux in tmp_nlp_out + struct blasfeo_dvec *lam; // pointer to lam in nlp_out + struct blasfeo_dvec *tmp_lam;// pointer to lam in tmp_nlp_out + struct blasfeo_dvec *z_alg; // pointer to z_alg in ocp_nlp memory + struct blasfeo_dmat *DCt; // pointer to DCt in qp_in + struct blasfeo_dmat *RSQrq; // pointer to RSQrq in qp_in + struct blasfeo_dmat *dzduxt; // pointer to dzduxt in ocp_nlp memory + int *idxb; // pointer to idxb[ii] in qp_in + int *idxs_rev; // pointer to idxs_rev[ii] in qp_in + int *idxe; // pointer to idxe[ii] in qp_in +} ocp_nlp_constraints_bgh_memory; + +// +acados_size_t ocp_nlp_constraints_bgh_memory_calculate_size(void *config, void *dims, void *opts); +// +void *ocp_nlp_constraints_bgh_memory_assign(void *config, void *dims, void *opts, void *raw_memory); +// +struct blasfeo_dvec *ocp_nlp_constraints_bgh_memory_get_fun_ptr(void *memory_); +// +struct blasfeo_dvec *ocp_nlp_constraints_bgh_memory_get_adj_ptr(void *memory_); +// +void ocp_nlp_constraints_bgh_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_); +// +void ocp_nlp_constraints_bgh_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_); +// +void ocp_nlp_constraints_bgh_memory_set_lam_ptr(struct blasfeo_dvec *lam, void *memory_); +// +void ocp_nlp_constraints_bgh_memory_set_tmp_lam_ptr(struct blasfeo_dvec *tmp_lam, void *memory_); +// +void ocp_nlp_constraints_bgh_memory_set_DCt_ptr(struct blasfeo_dmat *DCt, void *memory); +// +void ocp_nlp_constraints_bgh_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory_); +// +void ocp_nlp_constraints_bgh_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_); +// +void ocp_nlp_constraints_bgh_memory_set_dzduxt_ptr(struct blasfeo_dmat *dzduxt, void *memory_); +// +void ocp_nlp_constraints_bgh_memory_set_idxb_ptr(int *idxb, void *memory_); +// +void ocp_nlp_constraints_bgh_memory_set_idxs_rev_ptr(int *idxs_rev, void *memory_); +// +void ocp_nlp_constraints_bgh_memory_set_idxe_ptr(int *idxe, void *memory_); + + + +/************************************************ + * workspace + ************************************************/ + +typedef struct +{ + struct blasfeo_dmat tmp_nv_nv; + struct blasfeo_dmat tmp_nz_nh; + struct blasfeo_dmat tmp_nv_nh; + struct blasfeo_dmat tmp_nz_nv; + struct blasfeo_dmat hess_z; + struct blasfeo_dvec tmp_ni; + struct blasfeo_dvec tmp_nh; +} ocp_nlp_constraints_bgh_workspace; + +// +acados_size_t ocp_nlp_constraints_bgh_workspace_calculate_size(void *config, void *dims, void *opts); + +/* functions */ + +// +void ocp_nlp_constraints_bgh_config_initialize_default(void *config); +// +void ocp_nlp_constraints_bgh_initialize(void *config, void *dims, void *model, void *opts, + void *mem, void *work); +// +void ocp_nlp_constraints_bgh_update_qp_matrices(void *config_, void *dims, void *model_, + void *opts_, void *memory_, void *work_); + +// +void ocp_nlp_constraints_bgh_compute_fun(void *config_, void *dims, void *model_, + void *opts_, void *memory_, void *work_); +// +void ocp_nlp_constraints_bgh_bounds_update(void *config_, void *dims, void *model_, + void *opts_, void *memory_, void *work_); + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGH_H_ +/// @} +/// @} diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgp.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgp.h new file mode 100644 index 0000000000..eb05edf7a6 --- /dev/null +++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgp.h @@ -0,0 +1,218 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +/// \addtogroup ocp_nlp +/// @{ +/// \addtogroup ocp_nlp_constraints +/// @{ + +#ifndef ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGP_H_ +#define ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGP_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +// acados +#include "acados/ocp_qp/ocp_qp_common.h" +#include "acados/ocp_nlp/ocp_nlp_constraints_common.h" +#include "acados/utils/external_function_generic.h" +#include "acados/utils/types.h" + + + +/* dims */ + +typedef struct +{ + int nx; + int nu; + int nz; + int nb; // nbx + nbu + int nbu; + int nbx; + int ng; // number of general linear constraints + int nphi; // dimension of convex outer part + int ns; // nsbu + nsbx + nsg + nsphi + int nsbu; // number of softened input bounds + int nsbx; // number of softened state bounds + int nsg; // number of softened general linear constraints + int nsphi; // number of softened nonlinear constraints + int nr; // dimension of nonlinear function in convex_over_nonlinear constraint + int nbue; // number of input box constraints which are equality + int nbxe; // number of state box constraints which are equality + int nge; // number of general linear constraints which are equality + int nphie; // number of nonlinear path constraints which are equality +} ocp_nlp_constraints_bgp_dims; + +// +acados_size_t ocp_nlp_constraints_bgp_dims_calculate_size(void *config); +// +void *ocp_nlp_constraints_bgp_dims_assign(void *config, void *raw_memory); +// +void ocp_nlp_constraints_bgp_dims_get(void *config_, void *dims_, const char *field, int* value); + + +/* model */ + +typedef struct +{ + // ocp_nlp_constraints_bgp_dims *dims; + int *idxb; + int *idxs; + int *idxe; + struct blasfeo_dvec d; + struct blasfeo_dmat DCt; + external_function_generic *nl_constr_phi_o_r_fun_phi_jac_ux_z_phi_hess_r_jac_ux; + external_function_generic *nl_constr_phi_o_r_fun; + external_function_generic *nl_constr_r_fun_jac; +} ocp_nlp_constraints_bgp_model; + +// +acados_size_t ocp_nlp_constraints_bgp_calculate_size(void *config, void *dims); +// +void *ocp_nlp_constraints_bgp_assign(void *config, void *dims, void *raw_memory); +// +int ocp_nlp_constraints_bgp_model_set(void *config_, void *dims_, + void *model_, const char *field, void *value); +// +void ocp_nlp_constraints_bgp_model_get(void *config_, void *dims_, + void *model_, const char *field, void *value); + +/* options */ + +typedef struct +{ + int compute_adj; + int compute_hess; +} ocp_nlp_constraints_bgp_opts; + +// +acados_size_t ocp_nlp_constraints_bgp_opts_calculate_size(void *config, void *dims); +// +void *ocp_nlp_constraints_bgp_opts_assign(void *config, void *dims, void *raw_memory); +// +void ocp_nlp_constraints_bgp_opts_initialize_default(void *config, void *dims, void *opts); +// +void ocp_nlp_constraints_bgp_opts_update(void *config, void *dims, void *opts); +// +void ocp_nlp_constraints_bgp_opts_set(void *config, void *opts, char *field, void *value); + +/* memory */ + +typedef struct +{ + struct blasfeo_dvec fun; + struct blasfeo_dvec adj; + struct blasfeo_dvec *ux; // pointer to ux in nlp_out + struct blasfeo_dvec *tmp_ux; // pointer to ux in tmp_nlp_out + struct blasfeo_dvec *lam; // pointer to lam in nlp_out + struct blasfeo_dvec *tmp_lam;// pointer to lam in tmp_nlp_out + struct blasfeo_dvec *z_alg; // pointer to z_alg in ocp_nlp memory + struct blasfeo_dmat *DCt; // pointer to DCt in qp_in + struct blasfeo_dmat *RSQrq; // pointer to RSQrq in qp_in + struct blasfeo_dmat *dzduxt; // pointer to dzduxt in ocp_nlp memory + int *idxb; // pointer to idxb[ii] in qp_in + int *idxs_rev; // pointer to idxs_rev[ii] in qp_in + int *idxe; // pointer to idxe[ii] in qp_in +} ocp_nlp_constraints_bgp_memory; + +// +acados_size_t ocp_nlp_constraints_bgp_memory_calculate_size(void *config, void *dims, void *opts); +// +void *ocp_nlp_constraints_bgp_memory_assign(void *config, void *dims, void *opts, + void *raw_memory); +// +struct blasfeo_dvec *ocp_nlp_constraints_bgp_memory_get_fun_ptr(void *memory_); +// +struct blasfeo_dvec *ocp_nlp_constraints_bgp_memory_get_adj_ptr(void *memory_); +// +void ocp_nlp_constraints_bgp_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_); +// +void ocp_nlp_constraints_bgp_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_); +// +void ocp_nlp_constraints_bgp_memory_set_lam_ptr(struct blasfeo_dvec *lam, void *memory_); +// +void ocp_nlp_constraints_bgp_memory_set_tmp_lam_ptr(struct blasfeo_dvec *tmp_lam, void *memory_); +// +void ocp_nlp_constraints_bgp_memory_set_DCt_ptr(struct blasfeo_dmat *DCt, void *memory); +// +void ocp_nlp_constraints_bgp_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_); +// +void ocp_nlp_constraints_bgp_memory_set_dzduxt_ptr(struct blasfeo_dmat *dzduxt, void *memory_); +// +void ocp_nlp_constraints_bgp_memory_set_idxb_ptr(int *idxb, void *memory_); +// +void ocp_nlp_constraints_bgp_memory_set_idxs_rev_ptr(int *idxs_rev, void *memory_); +// +void ocp_nlp_constraints_bgh_memory_set_idxe_ptr(int *idxe, void *memory_); + +/* workspace */ + +typedef struct +{ + struct blasfeo_dvec tmp_ni; + struct blasfeo_dmat jac_r_ux_tran; + struct blasfeo_dmat tmp_nr_nphi_nr; + struct blasfeo_dmat tmp_nv_nr; + struct blasfeo_dmat tmp_nv_nphi; + struct blasfeo_dmat tmp_nz_nphi; +} ocp_nlp_constraints_bgp_workspace; + +// +acados_size_t ocp_nlp_constraints_bgp_workspace_calculate_size(void *config, void *dims, void *opts); + +/* functions */ + +// +void ocp_nlp_constraints_bgp_config_initialize_default(void *config); +// +void ocp_nlp_constraints_bgp_initialize(void *config, void *dims, void *model, + void *opts, void *mem, void *work); +// +void ocp_nlp_constraints_bgp_update_qp_matrices(void *config_, void *dims, + void *model_, void *opts_, void *memory_, void *work_); +// +void ocp_nlp_constraints_bgp_compute_fun(void *config_, void *dims, + void *model_, void *opts_, void *memory_, void *work_); +// +void ocp_nlp_constraints_bgp_bounds_update(void *config_, void *dims, void *model_, + void *opts_, void *memory_, void *work_); + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGP_H_ +/// @} +/// @} diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_common.h new file mode 100644 index 0000000000..bb73c468de --- /dev/null +++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_common.h @@ -0,0 +1,108 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +/// \ingroup ocp_nlp +/// @{ + +/// \defgroup ocp_nlp_constraints ocp_nlp_constraints +/// @{ + +#ifndef ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_COMMON_H_ +#define ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_COMMON_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +// acados +#include "acados/ocp_qp/ocp_qp_common.h" +#include "acados/utils/external_function_generic.h" +#include "acados/utils/types.h" + + + +/************************************************ + * config + ************************************************/ + +typedef struct +{ + acados_size_t (*dims_calculate_size)(void *config); + void *(*dims_assign)(void *config, void *raw_memory); + acados_size_t (*model_calculate_size)(void *config, void *dims); + void *(*model_assign)(void *config, void *dims, void *raw_memory); + int (*model_set)(void *config_, void *dims_, void *model_, const char *field, void *value); + void (*model_get)(void *config_, void *dims_, void *model_, const char *field, void *value); + acados_size_t (*opts_calculate_size)(void *config, void *dims); + void *(*opts_assign)(void *config, void *dims, void *raw_memory); + void (*opts_initialize_default)(void *config, void *dims, void *opts); + void (*opts_update)(void *config, void *dims, void *opts); + void (*opts_set)(void *config, void *opts, char *field, void *value); + acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts); + struct blasfeo_dvec *(*memory_get_fun_ptr)(void *memory); + struct blasfeo_dvec *(*memory_get_adj_ptr)(void *memory); + void (*memory_set_ux_ptr)(struct blasfeo_dvec *ux, void *memory); + void (*memory_set_tmp_ux_ptr)(struct blasfeo_dvec *tmp_ux, void *memory); + void (*memory_set_lam_ptr)(struct blasfeo_dvec *lam, void *memory); + void (*memory_set_tmp_lam_ptr)(struct blasfeo_dvec *tmp_lam, void *memory); + void (*memory_set_DCt_ptr)(struct blasfeo_dmat *DCt, void *memory); + void (*memory_set_RSQrq_ptr)(struct blasfeo_dmat *RSQrq, void *memory); + void (*memory_set_z_alg_ptr)(struct blasfeo_dvec *z_alg, void *memory); + void (*memory_set_dzdux_tran_ptr)(struct blasfeo_dmat *dzduxt, void *memory); + void (*memory_set_idxb_ptr)(int *idxb, void *memory); + void (*memory_set_idxs_rev_ptr)(int *idxs_rev, void *memory); + void (*memory_set_idxe_ptr)(int *idxe, void *memory); + void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory); + acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts); + void (*initialize)(void *config, void *dims, void *model, void *opts, void *mem, void *work); + void (*update_qp_matrices)(void *config, void *dims, void *model, void *opts, void *mem, void *work); + void (*compute_fun)(void *config, void *dims, void *model, void *opts, void *mem, void *work); + void (*bounds_update)(void *config, void *dims, void *model, void *opts, void *mem, void *work); + void (*config_initialize_default)(void *config); + // dimension setters + void (*dims_set)(void *config_, void *dims_, const char *field, const int *value); + void (*dims_get)(void *config_, void *dims_, const char *field, int* value); +} ocp_nlp_constraints_config; + +// +acados_size_t ocp_nlp_constraints_config_calculate_size(); +// +ocp_nlp_constraints_config *ocp_nlp_constraints_config_assign(void *raw_memory); + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_COMMON_H_ +/// @} +/// @} diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_common.h new file mode 100644 index 0000000000..eb40564036 --- /dev/null +++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_common.h @@ -0,0 +1,107 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +/// +/// \defgroup ocp_nlp_cost ocp_nlp_cost +/// + +/// \addtogroup ocp_nlp_cost ocp_nlp_cost +/// @{ +/// \addtogroup ocp_nlp_cost_common ocp_nlp_cost_common +/// @{ + +#ifndef ACADOS_OCP_NLP_OCP_NLP_COST_COMMON_H_ +#define ACADOS_OCP_NLP_OCP_NLP_COST_COMMON_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +// acados +#include "acados/utils/external_function_generic.h" +#include "acados/utils/types.h" + + + +/************************************************ + * config + ************************************************/ + +typedef struct +{ + acados_size_t (*dims_calculate_size)(void *config); + void *(*dims_assign)(void *config, void *raw_memory); + void (*dims_set)(void *config_, void *dims_, const char *field, int *value); + void (*dims_get)(void *config_, void *dims_, const char *field, int *value); + acados_size_t (*model_calculate_size)(void *config, void *dims); + void *(*model_assign)(void *config, void *dims, void *raw_memory); + int (*model_set)(void *config_, void *dims_, void *model_, const char *field, void *value_); + acados_size_t (*opts_calculate_size)(void *config, void *dims); + void *(*opts_assign)(void *config, void *dims, void *raw_memory); + void (*opts_initialize_default)(void *config, void *dims, void *opts); + void (*opts_update)(void *config, void *dims, void *opts); + void (*opts_set)(void *config, void *opts, const char *field, void *value); + acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts); + double *(*memory_get_fun_ptr)(void *memory); + struct blasfeo_dvec *(*memory_get_grad_ptr)(void *memory); + void (*memory_set_ux_ptr)(struct blasfeo_dvec *ux, void *memory); + void (*memory_set_tmp_ux_ptr)(struct blasfeo_dvec *tmp_ux, void *memory); + void (*memory_set_z_alg_ptr)(struct blasfeo_dvec *z_alg, void *memory); + void (*memory_set_dzdux_tran_ptr)(struct blasfeo_dmat *dzdux, void *memory); + void (*memory_set_RSQrq_ptr)(struct blasfeo_dmat *RSQrq, void *memory); + void (*memory_set_Z_ptr)(struct blasfeo_dvec *Z, void *memory); + void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory); + acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts); + void (*initialize)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_); + + // computes the function value, gradient and hessian (approximation) of the cost function + void (*update_qp_matrices)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_); + // computes the cost function value (intended for globalization) + void (*compute_fun)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_); + void (*config_initialize_default)(void *config); + void (*precompute)(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_); + +} ocp_nlp_cost_config; + +// +acados_size_t ocp_nlp_cost_config_calculate_size(); +// +ocp_nlp_cost_config *ocp_nlp_cost_config_assign(void *raw_memory); + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_OCP_NLP_OCP_NLP_COST_COMMON_H_ +/// @} +/// @} diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_conl.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_conl.h new file mode 100644 index 0000000000..2eb3f5d127 --- /dev/null +++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_conl.h @@ -0,0 +1,207 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +/// \addtogroup ocp_nlp +/// @{ +/// \addtogroup ocp_nlp_cost ocp_nlp_cost +/// @{ +/// \addtogroup ocp_nlp_cost_conl ocp_nlp_cost_conl +/// \brief This module implements convex-over-nonlinear costs of the form +/// \f$\min_{x,u,z} \psi(y(x,u,z,p) - y_{\text{ref}}, p)\f$, + + +#ifndef ACADOS_OCP_NLP_OCP_NLP_COST_CONL_H_ +#define ACADOS_OCP_NLP_OCP_NLP_COST_CONL_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +// blasfeo +#include "blasfeo/include/blasfeo_common.h" + +// acados +#include "acados/ocp_nlp/ocp_nlp_cost_common.h" +#include "acados/utils/external_function_generic.h" +#include "acados/utils/types.h" + + + +/************************************************ + * dims + ************************************************/ + +typedef struct +{ + int nx; // number of states + int nz; // number of algebraic variables + int nu; // number of inputs + int ny; // number of outputs + int ns; // number of slacks +} ocp_nlp_cost_conl_dims; + +// +acados_size_t ocp_nlp_cost_conl_dims_calculate_size(void *config); +// +void *ocp_nlp_cost_conl_dims_assign(void *config, void *raw_memory); +// +void ocp_nlp_cost_conl_dims_initialize(void *config, void *dims, int nx, int nu, int ny, int ns, int nz); +// +void ocp_nlp_cost_conl_dims_set(void *config_, void *dims_, const char *field, int* value); +// +void ocp_nlp_cost_conl_dims_get(void *config_, void *dims_, const char *field, int* value); + + + +/************************************************ + * model + ************************************************/ + +typedef struct +{ + // slack penalty has the form z^T * s + .5 * s^T * Z * s + external_function_generic *conl_cost_fun; + external_function_generic *conl_cost_fun_jac_hess; + struct blasfeo_dvec y_ref; + struct blasfeo_dvec Z; // diagonal Hessian of slacks as vector + struct blasfeo_dvec z; // gradient of slacks as vector + double scaling; +} ocp_nlp_cost_conl_model; + +// +acados_size_t ocp_nlp_cost_conl_model_calculate_size(void *config, void *dims); +// +void *ocp_nlp_cost_conl_model_assign(void *config, void *dims, void *raw_memory); +// +int ocp_nlp_cost_conl_model_set(void *config_, void *dims_, void *model_, const char *field, void *value_); + + + +/************************************************ + * options + ************************************************/ + +typedef struct +{ + bool gauss_newton_hess; // dummy options, we always use a gauss-newton hessian +} ocp_nlp_cost_conl_opts; + +// +acados_size_t ocp_nlp_cost_conl_opts_calculate_size(void *config, void *dims); +// +void *ocp_nlp_cost_conl_opts_assign(void *config, void *dims, void *raw_memory); +// +void ocp_nlp_cost_conl_opts_initialize_default(void *config, void *dims, void *opts); +// +void ocp_nlp_cost_conl_opts_update(void *config, void *dims, void *opts); +// +void ocp_nlp_cost_conl_opts_set(void *config, void *opts, const char *field, void *value); + + + +/************************************************ + * memory + ************************************************/ +typedef struct +{ + struct blasfeo_dvec grad; // gradient of cost function + struct blasfeo_dvec *ux; // pointer to ux in nlp_out + struct blasfeo_dvec *tmp_ux; // pointer to ux in tmp_nlp_out + struct blasfeo_dmat *RSQrq; // pointer to RSQrq in qp_in + struct blasfeo_dvec *Z; // pointer to Z in qp_in + struct blasfeo_dvec *z_alg; ///< pointer to z in sim_out + struct blasfeo_dmat *dzdux_tran; ///< pointer to sensitivity of a wrt ux in sim_out + double fun; ///< value of the cost function +} ocp_nlp_cost_conl_memory; + +// +acados_size_t ocp_nlp_cost_conl_memory_calculate_size(void *config, void *dims, void *opts); +// +void *ocp_nlp_cost_conl_memory_assign(void *config, void *dims, void *opts, void *raw_memory); +// +double *ocp_nlp_cost_conl_memory_get_fun_ptr(void *memory_); +// +struct blasfeo_dvec *ocp_nlp_cost_conl_memory_get_grad_ptr(void *memory_); +// +void ocp_nlp_cost_conl_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory); +// +void ocp_nlp_cost_conl_memory_set_Z_ptr(struct blasfeo_dvec *Z, void *memory); +// +void ocp_nlp_cost_conl_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_); +// +void ocp_nlp_cost_conl_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_); +// +void ocp_nlp_cost_conl_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_); +// +void ocp_nlp_cost_conl_memory_set_dzdux_tran_ptr(struct blasfeo_dmat *dzdux_tran, void *memory_); + +/************************************************ + * workspace + ************************************************/ + +typedef struct +{ + struct blasfeo_dmat W; // hessian of outer loss function + struct blasfeo_dmat W_chol; // cholesky factor of hessian of outer loss function + struct blasfeo_dmat Jt_ux; // jacobian of inner residual function + struct blasfeo_dmat Jt_ux_tilde; // jacobian of inner residual function plus gradient contribution of algebraic variables + struct blasfeo_dmat Jt_z; // jacobian of inner residual function wrt algebraic variables + struct blasfeo_dmat tmp_nv_ny; + struct blasfeo_dvec tmp_ny; + struct blasfeo_dvec tmp_2ns; +} ocp_nlp_cost_conl_workspace; + +// +acados_size_t ocp_nlp_cost_conl_workspace_calculate_size(void *config, void *dims, void *opts); + +/************************************************ + * functions + ************************************************/ + +// +void ocp_nlp_cost_conl_precompute(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_); +// +void ocp_nlp_cost_conl_config_initialize_default(void *config); +// +void ocp_nlp_cost_conl_initialize(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_); +// +void ocp_nlp_cost_conl_update_qp_matrices(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_); +// +void ocp_nlp_cost_conl_compute_fun(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_OCP_NLP_OCP_NLP_COST_CONL_H_ +/// @} +/// @} +/// @} diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_external.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_external.h new file mode 100644 index 0000000000..78958270de --- /dev/null +++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_external.h @@ -0,0 +1,187 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef ACADOS_OCP_NLP_OCP_NLP_COST_EXTERNAL_H_ +#define ACADOS_OCP_NLP_OCP_NLP_COST_EXTERNAL_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +// blasfeo +#include "blasfeo/include/blasfeo_common.h" + +// acados +#include "acados/ocp_nlp/ocp_nlp_cost_common.h" +#include "acados/utils/external_function_generic.h" +#include "acados/utils/types.h" + +/************************************************ + * dims + ************************************************/ + +typedef struct +{ + int nx; // number of states + int nz; // number of algebraic variables + int nu; // number of inputs + int ns; // number of slacks +} ocp_nlp_cost_external_dims; + +// +acados_size_t ocp_nlp_cost_external_dims_calculate_size(void *config); +// +void *ocp_nlp_cost_external_dims_assign(void *config, void *raw_memory); +// +void ocp_nlp_cost_external_dims_set(void *config_, void *dims_, const char *field, int* value); +// +void ocp_nlp_cost_external_dims_get(void *config_, void *dims_, const char *field, int* value); + +/************************************************ + * model + ************************************************/ + +typedef struct +{ + external_function_generic *ext_cost_fun; // function + external_function_generic *ext_cost_fun_jac_hess; // function, gradient and hessian + external_function_generic *ext_cost_fun_jac; // function, gradient + struct blasfeo_dvec Z; + struct blasfeo_dvec z; + struct blasfeo_dmat numerical_hessian; // custom hessian approximation + double scaling; +} ocp_nlp_cost_external_model; + +// +acados_size_t ocp_nlp_cost_external_model_calculate_size(void *config, void *dims); +// +void *ocp_nlp_cost_external_model_assign(void *config, void *dims, void *raw_memory); + + + +/************************************************ + * options + ************************************************/ + +typedef struct +{ + int use_numerical_hessian; // > 0 indicating custom hessian is used instead of CasADi evaluation +} ocp_nlp_cost_external_opts; + +// +acados_size_t ocp_nlp_cost_external_opts_calculate_size(void *config, void *dims); +// +void *ocp_nlp_cost_external_opts_assign(void *config, void *dims, void *raw_memory); +// +void ocp_nlp_cost_external_opts_initialize_default(void *config, void *dims, void *opts); +// +void ocp_nlp_cost_external_opts_update(void *config, void *dims, void *opts); +// +void ocp_nlp_cost_external_opts_set(void *config, void *opts, const char *field, void *value); + + + +/************************************************ + * memory + ************************************************/ + +typedef struct +{ + struct blasfeo_dvec grad; // gradient of cost function + struct blasfeo_dvec *ux; // pointer to ux in nlp_out + struct blasfeo_dvec *tmp_ux; // pointer to tmp_ux in nlp_out + struct blasfeo_dmat *RSQrq; // pointer to RSQrq in qp_in + struct blasfeo_dvec *Z; // pointer to Z in qp_in + struct blasfeo_dvec *z_alg; ///< pointer to z in sim_out + struct blasfeo_dmat *dzdux_tran; ///< pointer to sensitivity of a wrt ux in sim_out + double fun; ///< value of the cost function +} ocp_nlp_cost_external_memory; + +// +acados_size_t ocp_nlp_cost_external_memory_calculate_size(void *config, void *dims, void *opts); +// +void *ocp_nlp_cost_external_memory_assign(void *config, void *dims, void *opts, void *raw_memory); +// +double *ocp_nlp_cost_external_memory_get_fun_ptr(void *memory_); +// +struct blasfeo_dvec *ocp_nlp_cost_external_memory_get_grad_ptr(void *memory_); +// +void ocp_nlp_cost_external_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory); +// +void ocp_nlp_cost_ls_memory_set_Z_ptr(struct blasfeo_dvec *Z, void *memory); +// +void ocp_nlp_cost_external_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_); +// +void ocp_nlp_cost_external_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_); +// +void ocp_nlp_cost_external_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_); +// +void ocp_nlp_cost_external_memory_set_dzdux_tran_ptr(struct blasfeo_dmat *dzdux_tran, void *memory_); + +/************************************************ + * workspace + ************************************************/ + +typedef struct +{ + struct blasfeo_dmat tmp_nunx_nunx; + struct blasfeo_dmat tmp_nz_nz; + struct blasfeo_dmat tmp_nz_nunx; + struct blasfeo_dvec tmp_nunxnz; + struct blasfeo_dvec tmp_2ns; // temporary vector of dimension 2*ns +} ocp_nlp_cost_external_workspace; + +// +acados_size_t ocp_nlp_cost_external_workspace_calculate_size(void *config, void *dims, void *opts); + +/************************************************ + * functions + ************************************************/ + +// +void ocp_nlp_cost_external_precompute(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_); +// +void ocp_nlp_cost_external_config_initialize_default(void *config); +// +void ocp_nlp_cost_external_initialize(void *config_, void *dims, void *model_, + void *opts_, void *mem_, void *work_); +// +void ocp_nlp_cost_external_update_qp_matrices(void *config_, void *dims, void *model_, + void *opts_, void *memory_, void *work_); +// +void ocp_nlp_cost_external_compute_fun(void *config_, void *dims, void *model_, + void *opts_, void *memory_, void *work_); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_OCP_NLP_OCP_NLP_COST_EXTERNAL_H_ diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_ls.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_ls.h new file mode 100644 index 0000000000..801e9a5b87 --- /dev/null +++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_ls.h @@ -0,0 +1,243 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +/// \addtogroup ocp_nlp +/// @{ +/// \addtogroup ocp_nlp_cost ocp_nlp_cost +/// @{ +/// \addtogroup ocp_nlp_cost_ls ocp_nlp_cost_ls +/// \brief This module implements linear-least squares costs of the form +/// \f$\min_{x,u,z} \| V_x x + V_u u + V_z z - y_{\text{ref}}\|_W^2\f$. +/// @{ + + + +#ifndef ACADOS_OCP_NLP_OCP_NLP_COST_LS_H_ +#define ACADOS_OCP_NLP_OCP_NLP_COST_LS_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +// blasfeo +#include "blasfeo/include/blasfeo_common.h" + +// acados +#include "acados/ocp_nlp/ocp_nlp_cost_common.h" +#include "acados/utils/external_function_generic.h" +#include "acados/utils/types.h" + + +//////////////////////////////////////////////////////////////////////////////// +// dims // +//////////////////////////////////////////////////////////////////////////////// + +typedef struct +{ + int nx; // number of states + int nz; // number of algebraic variables + int nu; // number of inputs + int ny; // number of outputs + int ns; // number of slacks +} ocp_nlp_cost_ls_dims; + + +/// Calculate the size of the ocp_nlp_cost_ls_dims struct +/// +/// \param[in] config_ structure containing configuration of ocp_nlp_cost +/// module +/// \param[out] [] +/// \return \c size of ocp_nlp_dims struct +acados_size_t ocp_nlp_cost_ls_dims_calculate_size(void *config); + + +/// Assign memory pointed to by raw_memory to ocp_nlp-cost_ls dims struct +/// +/// \param[in] config structure containing configuration of ocp_nlp_cost +/// module +/// \param[in] raw_memory pointer to memory location +/// \param[out] [] +/// \return dims +void *ocp_nlp_cost_ls_dims_assign(void *config, void *raw_memory); +// +void ocp_nlp_cost_ls_dims_set(void *config_, void *dims_, const char *field, int* value); +// +void ocp_nlp_cost_ls_dims_get(void *config_, void *dims_, const char *field, int* value); + + +//////////////////////////////////////////////////////////////////////////////// +// model // +//////////////////////////////////////////////////////////////////////////////// + + +/// structure containing the data describing the linear least-square cost +typedef struct +{ + // slack penalty has the form z^T * s + .5 * s^T * Z * s + struct blasfeo_dmat Cyt; ///< output matrix: Cy * [u,x] = y; in transposed form + struct blasfeo_dmat Vz; ///< Vz in ls cost Vx*x + Vu*u + Vz*z + struct blasfeo_dmat W; ///< ls norm corresponding to this matrix + struct blasfeo_dvec y_ref; ///< yref + struct blasfeo_dvec Z; ///< diagonal Hessian of slacks as vector (lower and upper) + struct blasfeo_dvec z; ///< gradient of slacks as vector (lower and upper) + double scaling; + int W_changed; ///< flag indicating whether W has changed and needs to be refactorized + int Cyt_or_scaling_changed; ///< flag indicating whether Cyt or scaling has changed and Hessian needs to be recomputed +} ocp_nlp_cost_ls_model; + +// +acados_size_t ocp_nlp_cost_ls_model_calculate_size(void *config, void *dims); +// +void *ocp_nlp_cost_ls_model_assign(void *config, void *dims, void *raw_memory); +// +int ocp_nlp_cost_ls_model_set(void *config_, void *dims_, void *model_, + const char *field, void *value_); + + + +//////////////////////////////////////////////////////////////////////////////// +// options // +//////////////////////////////////////////////////////////////////////////////// + + + +typedef struct +{ + int dummy; // struct can't be void +} ocp_nlp_cost_ls_opts; + +// +acados_size_t ocp_nlp_cost_ls_opts_calculate_size(void *config, void *dims); +// +void *ocp_nlp_cost_ls_opts_assign(void *config, void *dims, void *raw_memory); +// +void ocp_nlp_cost_ls_opts_initialize_default(void *config, void *dims, void *opts); +// +void ocp_nlp_cost_ls_opts_update(void *config, void *dims, void *opts); +// +void ocp_nlp_cost_ls_opts_set(void *config, void *opts, const char *field, void *value); + + + +//////////////////////////////////////////////////////////////////////////////// +// memory // +//////////////////////////////////////////////////////////////////////////////// + + + +/// structure containing the memory associated with cost_ls component +/// of the ocp_nlp module +typedef struct +{ + struct blasfeo_dmat hess; ///< hessian of cost function + struct blasfeo_dmat W_chol; ///< cholesky factor of weight matrix + struct blasfeo_dvec res; ///< ls residual r(x) + struct blasfeo_dvec grad; ///< gradient of cost function + struct blasfeo_dvec *ux; ///< pointer to ux in nlp_out + struct blasfeo_dvec *tmp_ux; ///< pointer to ux in tmp_nlp_out + struct blasfeo_dvec *z_alg; ///< pointer to z in sim_out + struct blasfeo_dmat *dzdux_tran; ///< pointer to sensitivity of a wrt ux in sim_out + struct blasfeo_dmat *RSQrq; ///< pointer to RSQrq in qp_in + struct blasfeo_dvec *Z; ///< pointer to Z in qp_in + double fun; ///< value of the cost function +} ocp_nlp_cost_ls_memory; + +// +acados_size_t ocp_nlp_cost_ls_memory_calculate_size(void *config, void *dims, void *opts); +// +void *ocp_nlp_cost_ls_memory_assign(void *config, void *dims, void *opts, void *raw_memory); +// +double *ocp_nlp_cost_ls_memory_get_fun_ptr(void *memory_); +// +struct blasfeo_dvec *ocp_nlp_cost_ls_memory_get_grad_ptr(void *memory_); +// +void ocp_nlp_cost_ls_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory); +// +void ocp_nlp_cost_ls_memory_set_Z_ptr(struct blasfeo_dvec *Z, void *memory); +// +void ocp_nlp_cost_ls_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_); +// +void ocp_nlp_cost_ls_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_); +// +void ocp_nlp_cost_ls_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_); +// +void ocp_nlp_cost_ls_memory_set_dzdux_tran_ptr(struct blasfeo_dmat *dzdux_tran, void *memory_); + + + +//////////////////////////////////////////////////////////////////////////////// +// workspace // +//////////////////////////////////////////////////////////////////////////////// + + + +typedef struct +{ + struct blasfeo_dmat tmp_nv_ny; // temporary matrix of dimensions nv, ny + struct blasfeo_dmat Cyt_tilde; // updated Cyt (after z elimination) + struct blasfeo_dmat dzdux_tran; // derivatives of z wrt u and x (tran) + struct blasfeo_dvec tmp_ny; // temporary vector of dimension ny + struct blasfeo_dvec tmp_2ns; // temporary vector of dimension ny + struct blasfeo_dvec tmp_nz; // temporary vector of dimension nz + struct blasfeo_dvec y_ref_tilde; // updated y_ref (after z elimination) +} ocp_nlp_cost_ls_workspace; + +// +acados_size_t ocp_nlp_cost_ls_workspace_calculate_size(void *config, void *dims, void *opts); + + + +//////////////////////////////////////////////////////////////////////////////// +// functions // +//////////////////////////////////////////////////////////////////////////////// + + +// computations that are done once when solver is created +void ocp_nlp_cost_ls_precompute(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_); +// +void ocp_nlp_cost_ls_config_initialize_default(void *config); +// +void ocp_nlp_cost_ls_initialize(void *config_, void *dims, void *model_, void *opts_, + void *mem_, void *work_); +// +void ocp_nlp_cost_ls_update_qp_matrices(void *config_, void *dims, void *model_, + void *opts_, void *memory_, void *work_); +// +void ocp_nlp_cost_ls_compute_fun(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_OCP_NLP_OCP_NLP_COST_LS_H_ +/// @} +/// @} +/// @} diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_nls.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_nls.h new file mode 100644 index 0000000000..5ec68cf580 --- /dev/null +++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_nls.h @@ -0,0 +1,211 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +/// \addtogroup ocp_nlp +/// @{ +/// \addtogroup ocp_nlp_cost ocp_nlp_cost +/// @{ +/// \addtogroup ocp_nlp_cost_nls ocp_nlp_cost_nls +/// \brief This module implements nonlinear-least squares costs of the form +/// \f$\min_{x,u,z} \| y(x,u,z,p) - y_{\text{ref}} \|_W^2\f$, + +#ifndef ACADOS_OCP_NLP_OCP_NLP_COST_NLS_H_ +#define ACADOS_OCP_NLP_OCP_NLP_COST_NLS_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +// blasfeo +#include "blasfeo/include/blasfeo_common.h" + +// acados +#include "acados/ocp_nlp/ocp_nlp_cost_common.h" +#include "acados/utils/external_function_generic.h" +#include "acados/utils/types.h" + + + +/************************************************ + * dims + ************************************************/ + +typedef struct +{ + int nx; // number of states + int nz; // number of algebraic variables + int nu; // number of inputs + int ny; // number of outputs + int ns; // number of slacks +} ocp_nlp_cost_nls_dims; + +// +acados_size_t ocp_nlp_cost_nls_dims_calculate_size(void *config); +// +void *ocp_nlp_cost_nls_dims_assign(void *config, void *raw_memory); +// +void ocp_nlp_cost_nls_dims_set(void *config_, void *dims_, const char *field, int* value); +// +void ocp_nlp_cost_nls_dims_get(void *config_, void *dims_, const char *field, int* value); + + + +/************************************************ + * model + ************************************************/ + +typedef struct +{ + // nonliner function nls_y(x,u) replaces Cy * [x,u] in ls_cost + // slack penalty has the form z^T * s + .5 * s^T * Z * s + external_function_generic *nls_y_fun; // evaluation of nls function + external_function_generic *nls_y_fun_jac; // evaluation nls function and jacobian + external_function_generic *nls_y_hess; // hessian*seeds of nls residuals + struct blasfeo_dmat W; // + struct blasfeo_dvec y_ref; + struct blasfeo_dvec Z; // diagonal Hessian of slacks as vector + struct blasfeo_dvec z; // gradient of slacks as vector + double scaling; + int W_changed; ///< flag indicating whether W has changed and needs to be refactorized +} ocp_nlp_cost_nls_model; + +// +acados_size_t ocp_nlp_cost_nls_model_calculate_size(void *config, void *dims); +// +void *ocp_nlp_cost_nls_model_assign(void *config, void *dims, void *raw_memory); +// +int ocp_nlp_cost_nls_model_set(void *config_, void *dims_, void *model_, const char *field, void *value_); + + + +/************************************************ + * options + ************************************************/ + +typedef struct +{ + bool gauss_newton_hess; // gauss-newton hessian approximation +} ocp_nlp_cost_nls_opts; + +// +acados_size_t ocp_nlp_cost_nls_opts_calculate_size(void *config, void *dims); +// +void *ocp_nlp_cost_nls_opts_assign(void *config, void *dims, void *raw_memory); +// +void ocp_nlp_cost_nls_opts_initialize_default(void *config, void *dims, void *opts); +// +void ocp_nlp_cost_nls_opts_update(void *config, void *dims, void *opts); +// +void ocp_nlp_cost_nls_opts_set(void *config, void *opts, const char *field, void *value); + + + +/************************************************ + * memory + ************************************************/ + +typedef struct +{ + struct blasfeo_dmat W_chol; // cholesky factor of weight matrix + struct blasfeo_dmat Jt; // jacobian of nls fun + struct blasfeo_dvec res; // nls residual r(x) + struct blasfeo_dvec grad; // gradient of cost function + struct blasfeo_dvec *ux; // pointer to ux in nlp_out + struct blasfeo_dvec *tmp_ux; // pointer to ux in tmp_nlp_out + struct blasfeo_dmat *RSQrq; // pointer to RSQrq in qp_in + struct blasfeo_dvec *Z; // pointer to Z in qp_in + struct blasfeo_dvec *z_alg; ///< pointer to z in sim_out + struct blasfeo_dmat *dzdux_tran; ///< pointer to sensitivity of a wrt ux in sim_out + double fun; ///< value of the cost function +} ocp_nlp_cost_nls_memory; + +// +acados_size_t ocp_nlp_cost_nls_memory_calculate_size(void *config, void *dims, void *opts); +// +void *ocp_nlp_cost_nls_memory_assign(void *config, void *dims, void *opts, void *raw_memory); +// +double *ocp_nlp_cost_nls_memory_get_fun_ptr(void *memory_); +// +struct blasfeo_dvec *ocp_nlp_cost_nls_memory_get_grad_ptr(void *memory_); +// +void ocp_nlp_cost_nls_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory); +// +void ocp_nlp_cost_nls_memory_set_Z_ptr(struct blasfeo_dvec *Z, void *memory); +// +void ocp_nlp_cost_nls_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_); +// +void ocp_nlp_cost_nls_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_); +// +void ocp_nlp_cost_nls_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_); +// +void ocp_nlp_cost_nls_memory_set_dzdux_tran_ptr(struct blasfeo_dmat *dzdux_tran, void *memory_); + +/************************************************ + * workspace + ************************************************/ + +typedef struct +{ + struct blasfeo_dmat tmp_nv_ny; + struct blasfeo_dmat tmp_nv_nv; + struct blasfeo_dmat Vz; + struct blasfeo_dmat Cyt_tilde; + struct blasfeo_dvec tmp_ny; + struct blasfeo_dvec tmp_2ns; + struct blasfeo_dvec tmp_nz; +} ocp_nlp_cost_nls_workspace; + +// +acados_size_t ocp_nlp_cost_nls_workspace_calculate_size(void *config, void *dims, void *opts); + +/************************************************ + * functions + ************************************************/ + +// +void ocp_nlp_cost_nls_precompute(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_); +// +void ocp_nlp_cost_nls_config_initialize_default(void *config); +// +void ocp_nlp_cost_nls_initialize(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_); +// +void ocp_nlp_cost_nls_update_qp_matrices(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_); +// +void ocp_nlp_cost_nls_compute_fun(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_OCP_NLP_OCP_NLP_COST_NLS_H_ +/// @} +/// @} +/// @} diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_common.h new file mode 100644 index 0000000000..43fe71b12f --- /dev/null +++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_common.h @@ -0,0 +1,119 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +/// \ingroup ocp_nlp +/// @{ + +/// \defgroup ocp_nlp_dynamics ocp_nlp_dynamics +/// @{ + +#ifndef ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_COMMON_H_ +#define ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_COMMON_H_ + +#ifdef __cplusplus +extern "C" { +#endif + + + +// blasfeo +#include "blasfeo/include/blasfeo_common.h" + +// acados +#include "acados/sim/sim_common.h" +#include "acados/utils/external_function_generic.h" +#include "acados/utils/types.h" + + + +/************************************************ + * config + ************************************************/ + +typedef struct +{ + void (*config_initialize_default)(void *config); + sim_config *sim_solver; + /* dims */ + acados_size_t (*dims_calculate_size)(void *config); + void *(*dims_assign)(void *config, void *raw_memory); + void (*dims_set)(void *config_, void *dims_, const char *field, int *value); + void (*dims_get)(void *config_, void *dims_, const char *field, int* value); + /* model */ + acados_size_t (*model_calculate_size)(void *config, void *dims); + void *(*model_assign)(void *config, void *dims, void *raw_memory); + void (*model_set)(void *config_, void *dims_, void *model_, const char *field, void *value_); + /* opts */ + acados_size_t (*opts_calculate_size)(void *config, void *dims); + void *(*opts_assign)(void *config, void *dims, void *raw_memory); + void (*opts_initialize_default)(void *config, void *dims, void *opts); + void (*opts_set)(void *config_, void *opts_, const char *field, void *value); + void (*opts_update)(void *config, void *dims, void *opts); + /* memory */ + acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts); + void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory); + // get shooting node gap x_next(x_n, u_n) - x_{n+1} + struct blasfeo_dvec *(*memory_get_fun_ptr)(void *memory_); + struct blasfeo_dvec *(*memory_get_adj_ptr)(void *memory_); + void (*memory_set_ux_ptr)(struct blasfeo_dvec *ux, void *memory_); + void (*memory_set_tmp_ux_ptr)(struct blasfeo_dvec *tmp_ux, void *memory_); + void (*memory_set_ux1_ptr)(struct blasfeo_dvec *ux1, void *memory_); + void (*memory_set_tmp_ux1_ptr)(struct blasfeo_dvec *tmp_ux1, void *memory_); + void (*memory_set_pi_ptr)(struct blasfeo_dvec *pi, void *memory_); + void (*memory_set_tmp_pi_ptr)(struct blasfeo_dvec *tmp_pi, void *memory_); + void (*memory_set_BAbt_ptr)(struct blasfeo_dmat *BAbt, void *memory_); + void (*memory_set_RSQrq_ptr)(struct blasfeo_dmat *RSQrq, void *memory_); + void (*memory_set_dzduxt_ptr)(struct blasfeo_dmat *mat, void *memory_); + void (*memory_set_sim_guess_ptr)(struct blasfeo_dvec *vec, bool *bool_ptr, void *memory_); + void (*memory_set_z_alg_ptr)(struct blasfeo_dvec *vec, void *memory_); + void (*memory_get)(void *config, void *dims, void *mem, const char *field, void* value); + /* workspace */ + acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts); + void (*initialize)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_); + void (*update_qp_matrices)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_); + void (*compute_fun)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_); + int (*precompute)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_); +} ocp_nlp_dynamics_config; + +// +acados_size_t ocp_nlp_dynamics_config_calculate_size(); +// +ocp_nlp_dynamics_config *ocp_nlp_dynamics_config_assign(void *raw_memory); + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_COMMON_H_ +/// @} +/// @} diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_cont.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_cont.h new file mode 100644 index 0000000000..3afdc9f4ed --- /dev/null +++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_cont.h @@ -0,0 +1,209 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +/// \addtogroup ocp_nlp +/// @{ +/// \addtogroup ocp_nlp_dynamics +/// @{ + +#ifndef ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_CONT_H_ +#define ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_CONT_H_ + +#ifdef __cplusplus +extern "C" { +#endif + + + +// blasfeo +#include "blasfeo/include/blasfeo_common.h" + +// acados +#include "acados/ocp_nlp/ocp_nlp_dynamics_common.h" +#include "acados/utils/external_function_generic.h" +#include "acados/utils/types.h" +#include "acados_c/sim_interface.h" + + + +/************************************************ + * dims + ************************************************/ + +typedef struct +{ + void *sim; + int nx; // number of states at the current stage + int nz; // number of algebraic states at the current stage + int nu; // number of inputs at the current stage + int nx1; // number of states at the next stage + int nu1; // number of inputes at the next stage +} ocp_nlp_dynamics_cont_dims; + +// +acados_size_t ocp_nlp_dynamics_cont_dims_calculate_size(void *config); +// +void *ocp_nlp_dynamics_cont_dims_assign(void *config, void *raw_memory); +// +void ocp_nlp_dynamics_cont_dims_set(void *config_, void *dims_, const char *field, int* value); + +/************************************************ + * options + ************************************************/ + +typedef struct +{ + void *sim_solver; + int compute_adj; + int compute_hess; +} ocp_nlp_dynamics_cont_opts; + +// +acados_size_t ocp_nlp_dynamics_cont_opts_calculate_size(void *config, void *dims); +// +void *ocp_nlp_dynamics_cont_opts_assign(void *config, void *dims, void *raw_memory); +// +void ocp_nlp_dynamics_cont_opts_initialize_default(void *config, void *dims, void *opts); +// +void ocp_nlp_dynamics_cont_opts_update(void *config, void *dims, void *opts); +// +void ocp_nlp_dynamics_cont_opts_set(void *config, void *opts, const char *field, void* value); + + + +/************************************************ + * memory + ************************************************/ + +typedef struct +{ + struct blasfeo_dvec fun; + struct blasfeo_dvec adj; + struct blasfeo_dvec *ux; // pointer to ux in nlp_out at current stage + struct blasfeo_dvec *tmp_ux; // pointer to ux in tmp_nlp_out at current stage + struct blasfeo_dvec *ux1; // pointer to ux in nlp_out at next stage + struct blasfeo_dvec *tmp_ux1; // pointer to ux in tmp_nlp_out at next stage + struct blasfeo_dvec *pi; // pointer to pi in nlp_out at current stage + struct blasfeo_dvec *tmp_pi; // pointer to pi in tmp_nlp_out at current stage + struct blasfeo_dmat *BAbt; // pointer to BAbt in qp_in + struct blasfeo_dmat *RSQrq; // pointer to RSQrq in qp_in + struct blasfeo_dvec *z_alg; // pointer to output z at t = 0 + bool *set_sim_guess; // indicate if initialization for integrator is set from outside + struct blasfeo_dvec *sim_guess; // initializations for integrator + // struct blasfeo_dvec *z; // pointer to (input) z in nlp_out at current stage + struct blasfeo_dmat *dzduxt; // pointer to dzdux transposed + void *sim_solver; // sim solver memory +} ocp_nlp_dynamics_cont_memory; + +// +acados_size_t ocp_nlp_dynamics_cont_memory_calculate_size(void *config, void *dims, void *opts); +// +void *ocp_nlp_dynamics_cont_memory_assign(void *config, void *dims, void *opts, void *raw_memory); +// +struct blasfeo_dvec *ocp_nlp_dynamics_cont_memory_get_fun_ptr(void *memory); +// +struct blasfeo_dvec *ocp_nlp_dynamics_cont_memory_get_adj_ptr(void *memory); +// +void ocp_nlp_dynamics_cont_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory); +// +void ocp_nlp_dynamics_cont_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory); +// +void ocp_nlp_dynamics_cont_memory_set_ux1_ptr(struct blasfeo_dvec *ux1, void *memory); +// +void ocp_nlp_dynamics_cont_memory_set_tmp_ux1_ptr(struct blasfeo_dvec *tmp_ux1, void *memory); +// +void ocp_nlp_dynamics_cont_memory_set_pi_ptr(struct blasfeo_dvec *pi, void *memory); +// +void ocp_nlp_dynamics_cont_memory_set_tmp_pi_ptr(struct blasfeo_dvec *tmp_pi, void *memory); +// +void ocp_nlp_dynamics_cont_memory_set_BAbt_ptr(struct blasfeo_dmat *BAbt, void *memory); + + + +/************************************************ + * workspace + ************************************************/ + +typedef struct +{ + struct blasfeo_dmat hess; + sim_in *sim_in; + sim_out *sim_out; + void *sim_solver; // sim solver workspace +} ocp_nlp_dynamics_cont_workspace; + +acados_size_t ocp_nlp_dynamics_cont_workspace_calculate_size(void *config, void *dims, void *opts); + + + +/************************************************ + * model + ************************************************/ + +typedef struct +{ + void *sim_model; + // double *state_transition; // TODO + double T; // simulation time +} ocp_nlp_dynamics_cont_model; + +// +acados_size_t ocp_nlp_dynamics_cont_model_calculate_size(void *config, void *dims); +// +void *ocp_nlp_dynamics_cont_model_assign(void *config, void *dims, void *raw_memory); +// +void ocp_nlp_dynamics_cont_model_set(void *config_, void *dims_, void *model_, const char *field, void *value); + + + +/************************************************ + * functions + ************************************************/ + +// +void ocp_nlp_dynamics_cont_config_initialize_default(void *config); +// +void ocp_nlp_dynamics_cont_initialize(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_); +// +void ocp_nlp_dynamics_cont_update_qp_matrices(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_); +// +void ocp_nlp_dynamics_cont_compute_fun(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_); +// +int ocp_nlp_dynamics_cont_precompute(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_); + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_CONT_H_ +/// @} +/// @} diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_disc.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_disc.h new file mode 100644 index 0000000000..6ea26a7010 --- /dev/null +++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_disc.h @@ -0,0 +1,192 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +/// \addtogroup ocp_nlp +/// @{ +/// \addtogroup ocp_nlp_dynamics +/// @{ + +#ifndef ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_DISC_H_ +#define ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_DISC_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +// blasfeo +#include "blasfeo/include/blasfeo_common.h" + +// acados +#include "acados/ocp_nlp/ocp_nlp_dynamics_common.h" +#include "acados/utils/external_function_generic.h" +#include "acados/utils/types.h" + +/************************************************ + * dims + ************************************************/ + +typedef struct +{ + int nx; // number of states at the current stage + int nu; // number of inputs at the current stage + int nx1; // number of states at the next stage + int nu1; // number of inputes at the next stage +} ocp_nlp_dynamics_disc_dims; + +// +acados_size_t ocp_nlp_dynamics_disc_dims_calculate_size(void *config); +// +void *ocp_nlp_dynamics_disc_dims_assign(void *config, void *raw_memory); +// +void ocp_nlp_dynamics_disc_dims_set(void *config_, void *dims_, const char *dim, int* value); + + +/************************************************ + * options + ************************************************/ + +typedef struct +{ + int compute_adj; + int compute_hess; +} ocp_nlp_dynamics_disc_opts; + +// +acados_size_t ocp_nlp_dynamics_disc_opts_calculate_size(void *config, void *dims); +// +void *ocp_nlp_dynamics_disc_opts_assign(void *config, void *dims, void *raw_memory); +// +void ocp_nlp_dynamics_disc_opts_initialize_default(void *config, void *dims, void *opts); +// +void ocp_nlp_dynamics_disc_opts_update(void *config, void *dims, void *opts); +// +int ocp_nlp_dynamics_disc_precompute(void *config_, void *dims, void *model_, void *opts_, + void *mem_, void *work_); + + +/************************************************ + * memory + ************************************************/ + +typedef struct +{ + struct blasfeo_dvec fun; + struct blasfeo_dvec adj; + struct blasfeo_dvec *ux; // pointer to ux in nlp_out at current stage + struct blasfeo_dvec *tmp_ux; // pointer to ux in tmp_nlp_out at current stage + struct blasfeo_dvec *ux1; // pointer to ux in nlp_out at next stage + struct blasfeo_dvec *tmp_ux1;// pointer to ux in tmp_nlp_out at next stage + struct blasfeo_dvec *pi; // pointer to pi in nlp_out at current stage + struct blasfeo_dvec *tmp_pi; // pointer to pi in tmp_nlp_out at current stage + struct blasfeo_dmat *BAbt; // pointer to BAbt in qp_in + struct blasfeo_dmat *RSQrq; // pointer to RSQrq in qp_in +} ocp_nlp_dynamics_disc_memory; + +// +acados_size_t ocp_nlp_dynamics_disc_memory_calculate_size(void *config, void *dims, void *opts); +// +void *ocp_nlp_dynamics_disc_memory_assign(void *config, void *dims, void *opts, void *raw_memory); +// +struct blasfeo_dvec *ocp_nlp_dynamics_disc_memory_get_fun_ptr(void *memory); +// +struct blasfeo_dvec *ocp_nlp_dynamics_disc_memory_get_adj_ptr(void *memory); +// +void ocp_nlp_dynamics_disc_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory); +// +void ocp_nlp_dynamics_disc_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory); +// +void ocp_nlp_dynamics_disc_memory_set_ux1_ptr(struct blasfeo_dvec *ux1, void *memory); +// +void ocp_nlp_dynamics_disc_memory_set_tmp_ux1_ptr(struct blasfeo_dvec *tmp_ux1, void *memory); +// +void ocp_nlp_dynamics_disc_memory_set_pi_ptr(struct blasfeo_dvec *pi, void *memory); +// +void ocp_nlp_dynamics_disc_memory_set_tmp_pi_ptr(struct blasfeo_dvec *tmp_pi, void *memory); +// +void ocp_nlp_dynamics_disc_memory_set_BAbt_ptr(struct blasfeo_dmat *BAbt, void *memory); + + + +/************************************************ + * workspace + ************************************************/ + +typedef struct +{ + struct blasfeo_dmat tmp_nv_nv; +} ocp_nlp_dynamics_disc_workspace; + +acados_size_t ocp_nlp_dynamics_disc_workspace_calculate_size(void *config, void *dims, void *opts); + + + +/************************************************ + * model + ************************************************/ + +typedef struct +{ + external_function_generic *disc_dyn_fun; + external_function_generic *disc_dyn_fun_jac; + external_function_generic *disc_dyn_fun_jac_hess; +} ocp_nlp_dynamics_disc_model; + +// +acados_size_t ocp_nlp_dynamics_disc_model_calculate_size(void *config, void *dims); +// +void *ocp_nlp_dynamics_disc_model_assign(void *config, void *dims, void *raw_memory); +// +void ocp_nlp_dynamics_disc_model_set(void *config_, void *dims_, void *model_, const char *field, void *value); + + + +/************************************************ + * functions + ************************************************/ + +// +void ocp_nlp_dynamics_disc_config_initialize_default(void *config); +// +void ocp_nlp_dynamics_disc_initialize(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_); +// +void ocp_nlp_dynamics_disc_update_qp_matrices(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_); +// +void ocp_nlp_dynamics_disc_compute_fun(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_); + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_DISC_H_ +/// @} +/// @} diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_common.h new file mode 100644 index 0000000000..9388f3fd24 --- /dev/null +++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_common.h @@ -0,0 +1,122 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +/// \ingroup ocp_nlp +/// @{ + +/// \defgroup ocp_nlp_reg ocp_nlp_reg +/// @{ + +#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_COMMON_H_ +#define ACADOS_OCP_NLP_OCP_NLP_REG_COMMON_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include "acados/ocp_qp/ocp_qp_common.h" + + + +/* dims */ + +//typedef ocp_qp_dims ocp_nlp_reg_dims; +typedef struct +{ + int *nx; + int *nu; + int *nbu; + int *nbx; + int *ng; + int N; +} ocp_nlp_reg_dims; + +// +acados_size_t ocp_nlp_reg_dims_calculate_size(int N); +// +ocp_nlp_reg_dims *ocp_nlp_reg_dims_assign(int N, void *raw_memory); +// +void ocp_nlp_reg_dims_set(void *config_, ocp_nlp_reg_dims *dims, int stage, char *field, int* value); + + + +/* config */ + +typedef struct +{ + /* dims */ + acados_size_t (*dims_calculate_size)(int N); + ocp_nlp_reg_dims *(*dims_assign)(int N, void *raw_memory); + void (*dims_set)(void *config, ocp_nlp_reg_dims *dims, int stage, char *field, int *value); + /* opts */ + acados_size_t (*opts_calculate_size)(void); + void *(*opts_assign)(void *raw_memory); + void (*opts_initialize_default)(void *config, ocp_nlp_reg_dims *dims, void *opts); + void (*opts_set)(void *config, ocp_nlp_reg_dims *dims, void *opts, char *field, void* value); + /* memory */ + acados_size_t (*memory_calculate_size)(void *config, ocp_nlp_reg_dims *dims, void *opts); + void *(*memory_assign)(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory); + void (*memory_set)(void *config, ocp_nlp_reg_dims *dims, void *memory, char *field, void* value); + void (*memory_set_RSQrq_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dmat *mat, void *memory); + void (*memory_set_rq_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory); + void (*memory_set_BAbt_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dmat *mat, void *memory); + void (*memory_set_b_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory); + void (*memory_set_idxb_ptr)(ocp_nlp_reg_dims *dims, int **idxb, void *memory); + void (*memory_set_DCt_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dmat *mat, void *memory); + void (*memory_set_ux_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory); + void (*memory_set_pi_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory); + void (*memory_set_lam_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory); + /* functions */ + void (*regularize_hessian)(void *config, ocp_nlp_reg_dims *dims, void *opts, void *memory); + void (*correct_dual_sol)(void *config, ocp_nlp_reg_dims *dims, void *opts, void *memory); +} ocp_nlp_reg_config; + +// +acados_size_t ocp_nlp_reg_config_calculate_size(void); +// +void *ocp_nlp_reg_config_assign(void *raw_memory); + + + +/* regularization help functions */ +void acados_reconstruct_A(int dim, double *A, double *V, double *d); +void acados_mirror(int dim, double *A, double *V, double *d, double *e, double epsilon); +void acados_project(int dim, double *A, double *V, double *d, double *e, double epsilon); + + + +#ifdef __cplusplus +} +#endif + +#endif // ACADOS_OCP_NLP_OCP_NLP_REG_COMMON_H_ +/// @} +/// @} diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_convexify.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_convexify.h new file mode 100644 index 0000000000..cb523525e1 --- /dev/null +++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_convexify.h @@ -0,0 +1,146 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +/// \addtogroup ocp_nlp +/// @{ +/// \addtogroup ocp_nlp_reg +/// @{ + +#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_CONVEXIFY_H_ +#define ACADOS_OCP_NLP_OCP_NLP_REG_CONVEXIFY_H_ + +#ifdef __cplusplus +extern "C" { +#endif + + + +// blasfeo +#include "blasfeo/include/blasfeo_common.h" + +// acados +#include "acados/ocp_nlp/ocp_nlp_reg_common.h" + + + +/************************************************ + * dims + ************************************************/ + +// use the functions in ocp_nlp_reg_common + +/************************************************ + * options + ************************************************/ + +typedef struct +{ + double delta; + double epsilon; +// double gamma; // 0.0 +} ocp_nlp_reg_convexify_opts; + +// +acados_size_t ocp_nlp_reg_convexify_opts_calculate_size(void); +// +void *ocp_nlp_reg_convexify_opts_assign(void *raw_memory); +// +void ocp_nlp_reg_convexify_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_); +// +void ocp_nlp_reg_convexify_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value); + + + +/************************************************ + * memory + ************************************************/ + +typedef struct { + double *R; + double *V; // TODO move to workspace + double *d; // TODO move to workspace + double *e; // TODO move to workspace + double *reg_hess; // TODO move to workspace + + struct blasfeo_dmat Q_tilde; + struct blasfeo_dmat Q_bar; + struct blasfeo_dmat BAQ; + struct blasfeo_dmat L; + struct blasfeo_dmat delta_eye; + struct blasfeo_dmat St_copy; + + struct blasfeo_dmat *original_RSQrq; + struct blasfeo_dmat tmp_RSQ; + + struct blasfeo_dvec tmp_nuxM; + struct blasfeo_dvec tmp_nbgM; + +// struct blasfeo_dvec grad; +// struct blasfeo_dvec b2; + + // giaf's + struct blasfeo_dmat **RSQrq; // pointer to RSQrq in qp_in + struct blasfeo_dvec **rq; // pointer to rq in qp_in + struct blasfeo_dmat **BAbt; // pointer to BAbt in qp_in + struct blasfeo_dvec **b; // pointer to b in qp_in + struct blasfeo_dmat **DCt; // pointer to DCt in qp_in + struct blasfeo_dvec **ux; // pointer to ux in qp_out + struct blasfeo_dvec **pi; // pointer to pi in qp_out + struct blasfeo_dvec **lam; // pointer to lam in qp_out + int **idxb; // pointer to idxb in qp_in + +} ocp_nlp_reg_convexify_memory; + +// +acados_size_t ocp_nlp_reg_convexify_calculate_memory_size(void *config, ocp_nlp_reg_dims *dims, void *opts); +// +void *ocp_nlp_reg_convexify_assign_memory(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory); + +/************************************************ + * workspace + ************************************************/ + + // TODO + +/************************************************ + * functions + ************************************************/ + +// +void ocp_nlp_reg_convexify_config_initialize_default(ocp_nlp_reg_config *config); + +#ifdef __cplusplus +} +#endif + +#endif // ACADOS_OCP_NLP_OCP_NLP_REG_CONVEXIFY_H_ +/// @} +/// @} diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_mirror.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_mirror.h new file mode 100644 index 0000000000..84a023cb69 --- /dev/null +++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_mirror.h @@ -0,0 +1,121 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +/// \addtogroup ocp_nlp +/// @{ +/// \addtogroup ocp_nlp_reg +/// @{ + +#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_MIRROR_H_ +#define ACADOS_OCP_NLP_OCP_NLP_REG_MIRROR_H_ + +#ifdef __cplusplus +extern "C" { +#endif + + + +// blasfeo +#include "blasfeo/include/blasfeo_common.h" + +// acados +#include "acados/ocp_nlp/ocp_nlp_reg_common.h" + + + +/************************************************ + * dims + ************************************************/ + +// use the functions in ocp_nlp_reg_common + +/************************************************ + * options + ************************************************/ + +typedef struct +{ + double epsilon; +} ocp_nlp_reg_mirror_opts; + +// +acados_size_t ocp_nlp_reg_mirror_opts_calculate_size(void); +// +void *ocp_nlp_reg_mirror_opts_assign(void *raw_memory); +// +void ocp_nlp_reg_mirror_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_); +// +void ocp_nlp_reg_mirror_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value); + + + +/************************************************ + * memory + ************************************************/ + +typedef struct +{ + double *reg_hess; // TODO move to workspace + double *V; // TODO move to workspace + double *d; // TODO move to workspace + double *e; // TODO move to workspace + + // giaf's + struct blasfeo_dmat **RSQrq; // pointer to RSQrq in qp_in +} ocp_nlp_reg_mirror_memory; + +// +acados_size_t ocp_nlp_reg_mirror_memory_calculate_size(void *config, ocp_nlp_reg_dims *dims, void *opts); +// +void *ocp_nlp_reg_mirror_memory_assign(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory); + +/************************************************ + * workspace + ************************************************/ + + // TODO + +/************************************************ + * functions + ************************************************/ + +// +void ocp_nlp_reg_mirror_config_initialize_default(ocp_nlp_reg_config *config); + + + +#ifdef __cplusplus +} +#endif + +#endif // ACADOS_OCP_NLP_OCP_NLP_REG_MIRROR_H_ +/// @} +/// @} diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_noreg.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_noreg.h new file mode 100644 index 0000000000..b571f3bac1 --- /dev/null +++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_noreg.h @@ -0,0 +1,106 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +/// \addtogroup ocp_nlp +/// @{ +/// \addtogroup ocp_nlp_reg +/// @{ + +#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_NOREG_H_ +#define ACADOS_OCP_NLP_OCP_NLP_REG_NOREG_H_ + +#ifdef __cplusplus +extern "C" { +#endif + + + +// blasfeo +#include "blasfeo/include/blasfeo_common.h" + +// acados +#include "acados/ocp_nlp/ocp_nlp_reg_common.h" + + + +/************************************************ + * dims + ************************************************/ + +// use the functions in ocp_nlp_reg_common + + +/************************************************ + * options + ************************************************/ + +// +acados_size_t ocp_nlp_reg_noreg_opts_calculate_size(void); +// +void *ocp_nlp_reg_noreg_opts_assign(void *raw_memory); +// +void ocp_nlp_reg_noreg_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_); +// +void ocp_nlp_reg_noreg_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value); + + + +/************************************************ + * memory + ************************************************/ +// +acados_size_t ocp_nlp_reg_noreg_memory_calculate_size(void *config, ocp_nlp_reg_dims *dims, void *opts); +// +void *ocp_nlp_reg_noreg_memory_assign(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory); + +/************************************************ + * workspace + ************************************************/ + +// not needed + +/************************************************ + * functions + ************************************************/ + +// +void ocp_nlp_reg_noreg_config_initialize_default(ocp_nlp_reg_config *config); + + + +#ifdef __cplusplus +} +#endif + +#endif // ACADOS_OCP_NLP_OCP_NLP_REG_NOREG_H_ + +/// @} +/// @} diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project.h new file mode 100644 index 0000000000..682ea206dc --- /dev/null +++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project.h @@ -0,0 +1,121 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +/// \addtogroup ocp_nlp +/// @{ +/// \addtogroup ocp_nlp_reg +/// @{ + +#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_H_ +#define ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_H_ + +#ifdef __cplusplus +extern "C" { +#endif + + + +// blasfeo +#include "blasfeo/include/blasfeo_common.h" + +// acados +#include "acados/ocp_nlp/ocp_nlp_reg_common.h" + + + +/************************************************ + * dims + ************************************************/ + +// use the functions in ocp_nlp_reg_common + +/************************************************ + * options + ************************************************/ + +typedef struct +{ + double epsilon; +} ocp_nlp_reg_project_opts; + +// +acados_size_t ocp_nlp_reg_project_opts_calculate_size(void); +// +void *ocp_nlp_reg_project_opts_assign(void *raw_memory); +// +void ocp_nlp_reg_project_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_); +// +void ocp_nlp_reg_project_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value); + + + +/************************************************ + * memory + ************************************************/ + +typedef struct +{ + double *reg_hess; // TODO move to workspace + double *V; // TODO move to workspace + double *d; // TODO move to workspace + double *e; // TODO move to workspace + + // giaf's + struct blasfeo_dmat **RSQrq; // pointer to RSQrq in qp_in +} ocp_nlp_reg_project_memory; + +// +acados_size_t ocp_nlp_reg_project_memory_calculate_size(void *config, ocp_nlp_reg_dims *dims, void *opts); +// +void *ocp_nlp_reg_project_memory_assign(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory); + +/************************************************ + * workspace + ************************************************/ + + // TODO + +/************************************************ + * functions + ************************************************/ + +// +void ocp_nlp_reg_project_config_initialize_default(ocp_nlp_reg_config *config); + + + +#ifdef __cplusplus +} +#endif + +#endif // ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_H_ +/// @} +/// @} diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project_reduc_hess.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project_reduc_hess.h new file mode 100644 index 0000000000..7e12952c15 --- /dev/null +++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project_reduc_hess.h @@ -0,0 +1,132 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +/// \addtogroup ocp_nlp +/// @{ +/// \addtogroup ocp_nlp_reg +/// @{ + +#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_REDUC_HESS_H_ +#define ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_REDUC_HESS_H_ + +#ifdef __cplusplus +extern "C" { +#endif + + + +// blasfeo +#include "blasfeo/include/blasfeo_common.h" + +// acados +#include "acados/ocp_nlp/ocp_nlp_reg_common.h" + + + +/************************************************ + * dims + ************************************************/ + +// use the functions in ocp_nlp_reg_common + +/************************************************ + * options + ************************************************/ + +typedef struct +{ + double thr_eig; + double min_eig; + double min_pivot; + int pivoting; +} ocp_nlp_reg_project_reduc_hess_opts; + +// +acados_size_t ocp_nlp_reg_project_reduc_hess_opts_calculate_size(void); +// +void *ocp_nlp_reg_project_reduc_hess_opts_assign(void *raw_memory); +// +void ocp_nlp_reg_project_reduc_hess_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_); +// +void ocp_nlp_reg_project_reduc_hess_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value); + + + +/************************************************ + * memory + ************************************************/ + +typedef struct +{ + double *reg_hess; // TODO move to workspace + double *V; // TODO move to workspace + double *d; // TODO move to workspace + double *e; // TODO move to workspace + + // giaf's + struct blasfeo_dmat L; // TODO move to workspace + struct blasfeo_dmat L2; // TODO move to workspace + struct blasfeo_dmat L3; // TODO move to workspace + struct blasfeo_dmat Ls; // TODO move to workspace + struct blasfeo_dmat P; // TODO move to workspace + struct blasfeo_dmat AL; // TODO move to workspace + + struct blasfeo_dmat **RSQrq; // pointer to RSQrq in qp_in + struct blasfeo_dmat **BAbt; // pointer to RSQrq in qp_in +} ocp_nlp_reg_project_reduc_hess_memory; + +// +acados_size_t ocp_nlp_reg_project_reduc_hess_memory_calculate_size(void *config, ocp_nlp_reg_dims *dims, void *opts); +// +void *ocp_nlp_reg_project_reduc_hess_memory_assign(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory); + +/************************************************ + * workspace + ************************************************/ + + // TODO + +/************************************************ + * functions + ************************************************/ + +// +void ocp_nlp_reg_project_reduc_hess_config_initialize_default(ocp_nlp_reg_config *config); + + + +#ifdef __cplusplus +} +#endif + +#endif // ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_REDUC_HESS_H_ +/// @} +/// @} diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp.h new file mode 100644 index 0000000000..fdb96417f9 --- /dev/null +++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp.h @@ -0,0 +1,170 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +/// \addtogroup ocp_nlp +/// @{ +/// \addtogroup ocp_nlp_solver +/// @{ +/// \addtogroup ocp_nlp_sqp ocp_nlp_sqp +/// @{ + +#ifndef ACADOS_OCP_NLP_OCP_NLP_SQP_H_ +#define ACADOS_OCP_NLP_OCP_NLP_SQP_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +// acados +#include "acados/ocp_nlp/ocp_nlp_common.h" +#include "acados/utils/types.h" + + + +/************************************************ + * options + ************************************************/ + +typedef struct +{ + ocp_nlp_opts *nlp_opts; + double tol_stat; // exit tolerance on stationarity condition + double tol_eq; // exit tolerance on equality constraints + double tol_ineq; // exit tolerance on inequality constraints + double tol_comp; // exit tolerance on complementarity condition + int max_iter; + int ext_qp_res; // compute external QP residuals (i.e. at SQP level) at each SQP iteration (for debugging) + int qp_warm_start; // qp_warm_start in all but the first sqp iterations + bool warm_start_first_qp; // to set qp_warm_start in first iteration + int rti_phase; // only phase 0 at the moment + int initialize_t_slacks; // 0-false or 1-true + +} ocp_nlp_sqp_opts; + +// +acados_size_t ocp_nlp_sqp_opts_calculate_size(void *config, void *dims); +// +void *ocp_nlp_sqp_opts_assign(void *config, void *dims, void *raw_memory); +// +void ocp_nlp_sqp_opts_initialize_default(void *config, void *dims, void *opts); +// +void ocp_nlp_sqp_opts_update(void *config, void *dims, void *opts); +// +void ocp_nlp_sqp_opts_set(void *config_, void *opts_, const char *field, void* value); +// +void ocp_nlp_sqp_opts_set_at_stage(void *config_, void *opts_, size_t stage, const char *field, void* value); + + + +/************************************************ + * memory + ************************************************/ + +typedef struct +{ + // nlp memory + ocp_nlp_memory *nlp_mem; + + double time_qp_sol; + double time_qp_solver_call; + double time_qp_xcond; + double time_lin; + double time_reg; + double time_tot; + double time_glob; + double time_sim; + double time_sim_la; + double time_sim_ad; + double time_solution_sensitivities; + + // statistics + double *stat; + int stat_m; + int stat_n; + + int status; + int sqp_iter; + +} ocp_nlp_sqp_memory; + +// +acados_size_t ocp_nlp_sqp_memory_calculate_size(void *config, void *dims, void *opts_); +// +void *ocp_nlp_sqp_memory_assign(void *config, void *dims, void *opts_, void *raw_memory); +// +void ocp_nlp_sqp_memory_reset_qp_solver(void *config_, void *dims_, void *nlp_in_, void *nlp_out_, + void *opts_, void *mem_, void *work_); + + +/************************************************ + * workspace + ************************************************/ + +typedef struct +{ + ocp_nlp_workspace *nlp_work; + + // temp QP in & out (to be used as workspace in param sens) + ocp_qp_in *tmp_qp_in; + ocp_qp_out *tmp_qp_out; + + // qp residuals + ocp_qp_res *qp_res; + ocp_qp_res_ws *qp_res_ws; + +} ocp_nlp_sqp_workspace; + +// +acados_size_t ocp_nlp_sqp_workspace_calculate_size(void *config, void *dims, void *opts_); + + + +/************************************************ + * functions + ************************************************/ + +// +int ocp_nlp_sqp(void *config, void *dims, void *nlp_in, void *nlp_out, + void *args, void *mem, void *work_); +// +void ocp_nlp_sqp_config_initialize_default(void *config_); +// +int ocp_nlp_sqp_precompute(void *config_, void *dims_, void *nlp_in_, void *nlp_out_, + void *opts_, void *mem_, void *work_); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_OCP_NLP_OCP_NLP_SQP_H_ +/// @} +/// @} +/// @} diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp_rti.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp_rti.h new file mode 100644 index 0000000000..364d0f4717 --- /dev/null +++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp_rti.h @@ -0,0 +1,163 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +/// \addtogroup ocp_nlp +/// @{ +/// \addtogroup ocp_nlp_solver +/// @{ +/// \addtogroup ocp_nlp_sqp_rti ocp_nlp_sqp_rti +/// @{ + +#ifndef ACADOS_OCP_NLP_OCP_NLP_SQP_RTI_H_ +#define ACADOS_OCP_NLP_OCP_NLP_SQP_RTI_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +// acados +#include "acados/ocp_nlp/ocp_nlp_common.h" +#include "acados/utils/types.h" + + + +/************************************************ + * options + ************************************************/ + +typedef struct +{ + ocp_nlp_opts *nlp_opts; + int compute_dual_sol; + int ext_qp_res; // compute external QP residuals (i.e. at SQP level) at each SQP iteration (for debugging) + int qp_warm_start; // NOTE: this is not actually setting the warm_start! Just for compatibility with sqp. + bool warm_start_first_qp; // to set qp_warm_start in first iteration + int rti_phase; // phase of RTI. Possible values 1 (preparation), 2 (feedback) 0 (both) + +} ocp_nlp_sqp_rti_opts; + +// +acados_size_t ocp_nlp_sqp_rti_opts_calculate_size(void *config_, void *dims_); +// +void *ocp_nlp_sqp_rti_opts_assign(void *config_, void *dims_, void *raw_memory); +// +void ocp_nlp_sqp_rti_opts_initialize_default(void *config_, void *dims_, void *opts_); +// +void ocp_nlp_sqp_rti_opts_update(void *config_, void *dims_, void *opts_); +// +void ocp_nlp_sqp_rti_opts_set(void *config_, void *opts_, const char *field, void* value); +// +void ocp_nlp_sqp_rti_opts_set_at_stage(void *config_, void *opts_, size_t stage, + const char *field, void* value); + + + +/************************************************ + * memory + ************************************************/ + +typedef struct +{ + // nlp memory + ocp_nlp_memory *nlp_mem; + + double time_qp_sol; + double time_qp_solver_call; + double time_qp_xcond; + double time_lin; + double time_reg; + double time_tot; + double time_glob; + double time_solution_sensitivities; + + // statistics + double *stat; + int stat_m; + int stat_n; + + int status; + +} ocp_nlp_sqp_rti_memory; + +// +acados_size_t ocp_nlp_sqp_rti_memory_calculate_size(void *config_, void *dims_, void *opts_); +// +void *ocp_nlp_sqp_rti_memory_assign(void *config_, void *dims_, void *opts_, + void *raw_memory); + + + +/************************************************ + * workspace + ************************************************/ + +typedef struct +{ + ocp_nlp_workspace *nlp_work; + + // temp QP in & out (to be used as workspace in param sens) + ocp_qp_in *tmp_qp_in; + ocp_qp_out *tmp_qp_out; + + // qp residuals + ocp_qp_res *qp_res; + ocp_qp_res_ws *qp_res_ws; + + +} ocp_nlp_sqp_rti_workspace; + +// +acados_size_t ocp_nlp_sqp_rti_workspace_calculate_size(void *config_, void *dims_, void *opts_); + + + +/************************************************ + * functions + ************************************************/ +// +int ocp_nlp_sqp_rti(void *config_, void *dims_, void *nlp_in_, void *nlp_out_, + void *opts_, void *mem_, void *work_); +// +void ocp_nlp_sqp_rti_config_initialize_default(void *config_); +// +int ocp_nlp_sqp_rti_precompute(void *config_, void *dims_, + void *nlp_in_, void *nlp_out_, void *opts_, void *mem_, void *work_); + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_OCP_NLP_OCP_NLP_SQP_RTI_H_ +/// @} +/// @} +/// @} diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_common.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_common.h new file mode 100644 index 0000000000..d1a45635e4 --- /dev/null +++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_common.h @@ -0,0 +1,180 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef ACADOS_OCP_QP_OCP_QP_COMMON_H_ +#define ACADOS_OCP_QP_OCP_QP_COMMON_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +// hpipm +#include "hpipm/include/hpipm_d_ocp_qp.h" +#include "hpipm/include/hpipm_d_ocp_qp_dim.h" +#include "hpipm/include/hpipm_d_ocp_qp_res.h" +#include "hpipm/include/hpipm_d_ocp_qp_sol.h" +// acados +#include "acados/utils/types.h" + + + +typedef struct d_ocp_qp_dim ocp_qp_dims; +typedef struct d_ocp_qp ocp_qp_in; +typedef struct d_ocp_qp_sol ocp_qp_out; +typedef struct d_ocp_qp_res ocp_qp_res; +typedef struct d_ocp_qp_res_ws ocp_qp_res_ws; + + + +#ifndef QP_SOLVER_CONFIG_ +#define QP_SOLVER_CONFIG_ +typedef struct +{ + void (*dims_set)(void *config_, void *dims_, int stage, const char *field, int* value); + acados_size_t (*opts_calculate_size)(void *config, void *dims); + void *(*opts_assign)(void *config, void *dims, void *raw_memory); + void (*opts_initialize_default)(void *config, void *dims, void *opts); + void (*opts_update)(void *config, void *dims, void *opts); + void (*opts_set)(void *config_, void *opts_, const char *field, void* value); + acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts); + void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory); + void (*memory_get)(void *config_, void *mem_, const char *field, void* value); + acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts); + int (*evaluate)(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work); + void (*memory_reset)(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work); + void (*eval_sens)(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work); +} qp_solver_config; +#endif + + + +typedef struct +{ + acados_size_t (*dims_calculate_size)(void *config, int N); + void *(*dims_assign)(void *config, int N, void *raw_memory); + void (*dims_set)(void *config, void *dims_, int stage, const char *field, int* value); + void (*dims_get)(void *config, void *dims, const char *field, void* value); + // TODO add config everywhere !!!!! + acados_size_t (*opts_calculate_size)(void *dims); + void *(*opts_assign)(void *dims, void *raw_memory); + void (*opts_initialize_default)(void *dims, void *opts); + void (*opts_update)(void *dims, void *opts); + void (*opts_set)(void *opts_, const char *field, void* value); + acados_size_t (*memory_calculate_size)(void *dims, void *opts); + void *(*memory_assign)(void *dims, void *opts, void *raw_memory); + void (*memory_get)(void *config, void *mem, const char *field, void* value); + acados_size_t (*workspace_calculate_size)(void *dims, void *opts); + int (*condensing)(void *qp_in, void *qp_out, void *opts, void *mem, void *work); + int (*condensing_rhs)(void *qp_in, void *qp_out, void *opts, void *mem, void *work); + int (*expansion)(void *qp_in, void *qp_out, void *opts, void *mem, void *work); +} ocp_qp_xcond_config; + + + +/// Struct containing metrics of the qp solver. +#ifndef QP_INFO_ +#define QP_INFO_ +typedef struct +{ + double solve_QP_time; + double condensing_time; + double interface_time; + double total_time; + int num_iter; + int t_computed; +} qp_info; +#endif + + + +/* config */ +// +acados_size_t ocp_qp_solver_config_calculate_size(); +// +qp_solver_config *ocp_qp_solver_config_assign(void *raw_memory); +// +acados_size_t ocp_qp_condensing_config_calculate_size(); +// +ocp_qp_xcond_config *ocp_qp_condensing_config_assign(void *raw_memory); + + +/* dims */ +// +acados_size_t ocp_qp_dims_calculate_size(int N); +// +ocp_qp_dims *ocp_qp_dims_assign(int N, void *raw_memory); +// +void ocp_qp_dims_set(void *config_, void *dims, int stage, const char *field, int* value); +// +void ocp_qp_dims_get(void *config_, void *dims, int stage, const char *field, int* value); + + +/* in */ +// +acados_size_t ocp_qp_in_calculate_size(ocp_qp_dims *dims); +// +ocp_qp_in *ocp_qp_in_assign(ocp_qp_dims *dims, void *raw_memory); + + +/* out */ +// +acados_size_t ocp_qp_out_calculate_size(ocp_qp_dims *dims); +// +ocp_qp_out *ocp_qp_out_assign(ocp_qp_dims *dims, void *raw_memory); + +/* res */ +// +acados_size_t ocp_qp_res_calculate_size(ocp_qp_dims *dims); +// +ocp_qp_res *ocp_qp_res_assign(ocp_qp_dims *dims, void *raw_memory); +// +acados_size_t ocp_qp_res_workspace_calculate_size(ocp_qp_dims *dims); +// +ocp_qp_res_ws *ocp_qp_res_workspace_assign(ocp_qp_dims *dims, void *raw_memory); +// +void ocp_qp_res_compute(ocp_qp_in *qp_in, ocp_qp_out *qp_out, ocp_qp_res *qp_res, ocp_qp_res_ws *res_ws); +// +void ocp_qp_res_compute_nrm_inf(ocp_qp_res *qp_res, double res[4]); + + +/* misc */ +// +void ocp_qp_stack_slacks_dims(ocp_qp_dims *in, ocp_qp_dims *out); +// +void ocp_qp_stack_slacks(ocp_qp_in *in, ocp_qp_in *out); +// +void ocp_qp_compute_t(ocp_qp_in *qp_in, ocp_qp_out *qp_out); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_OCP_QP_OCP_QP_COMMON_H_ diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_common_frontend.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_common_frontend.h new file mode 100644 index 0000000000..f65f602c15 --- /dev/null +++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_common_frontend.h @@ -0,0 +1,118 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef ACADOS_OCP_QP_OCP_QP_COMMON_FRONTEND_H_ +#define ACADOS_OCP_QP_OCP_QP_COMMON_FRONTEND_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include "acados/ocp_qp/ocp_qp_common.h" + +typedef struct +{ + int N; + int *nx; + int *nu; + int *nb; + int *nc; + double **A; + double **B; + double **b; + double **Q; + double **S; + double **R; + double **q; + double **r; + int **idxb; + double **lb; + double **ub; + double **Cx; + double **Cu; + double **lc; + double **uc; +} colmaj_ocp_qp_in; + +typedef struct +{ + double **x; + double **u; + double **pi; + double **lam; +} colmaj_ocp_qp_out; + +typedef struct +{ + double **res_r; + double **res_q; + double **res_ls; + double **res_us; + double **res_b; + double **res_d_lb; + double **res_d_ub; + double **res_d_lg; + double **res_d_ug; + double **res_d_ls; + double **res_d_us; + double **res_m_lb; + double **res_m_ub; + double **res_m_lg; + double **res_m_ug; + double **res_m_ls; + double **res_m_us; + double res_nrm_inf[4]; +} colmaj_ocp_qp_res; + +// +acados_size_t colmaj_ocp_qp_in_calculate_size(ocp_qp_dims *dims); +// +char *assign_colmaj_ocp_qp_in(ocp_qp_dims *dims, colmaj_ocp_qp_in **qp_in, void *ptr); +// +acados_size_t colmaj_ocp_qp_out_calculate_size(ocp_qp_dims *dims); +// +char *assign_colmaj_ocp_qp_out(ocp_qp_dims *dims, colmaj_ocp_qp_out **qp_out, void *ptr); +// +acados_size_t colmaj_ocp_qp_res_calculate_size(ocp_qp_dims *dims); +// +char *assign_colmaj_ocp_qp_res(ocp_qp_dims *dims, colmaj_ocp_qp_res **qp_res, void *ptr); +// +void convert_colmaj_to_ocp_qp_in(colmaj_ocp_qp_in *cm_qp_in, ocp_qp_in *qp_in); +// +void convert_ocp_qp_out_to_colmaj(ocp_qp_out *qp_out, colmaj_ocp_qp_out *cm_qp_out); +// +void convert_ocp_qp_res_to_colmaj(ocp_qp_res *qp_res, colmaj_ocp_qp_res *cm_qp_res); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_OCP_QP_OCP_QP_COMMON_FRONTEND_H_ diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_full_condensing.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_full_condensing.h new file mode 100644 index 0000000000..d23e658b48 --- /dev/null +++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_full_condensing.h @@ -0,0 +1,114 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef ACADOS_OCP_QP_OCP_QP_FULL_CONDENSING_H_ +#define ACADOS_OCP_QP_OCP_QP_FULL_CONDENSING_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +// hpipm +#include "hpipm/include/hpipm_d_ocp_qp_red.h" +// acados +#include "acados/dense_qp/dense_qp_common.h" +#include "acados/ocp_qp/ocp_qp_common.h" +#include "acados/utils/types.h" + + + +typedef struct +{ + ocp_qp_dims *orig_dims; + ocp_qp_dims *red_dims; // dims of reduced qp + dense_qp_dims *fcond_dims; +} ocp_qp_full_condensing_dims; + + + +typedef struct ocp_qp_full_condensing_opts_ +{ + struct d_cond_qp_arg *hpipm_cond_opts; + struct d_ocp_qp_reduce_eq_dof_arg *hpipm_red_opts; +// dense_qp_dims *fcond_dims; // TODO(all): move to dims + int cond_hess; // 0 cond only rhs, 1 cond hess + rhs + int expand_dual_sol; // 0 primal sol only, 1 primal + dual sol + int ric_alg; + int mem_qp_in; // allocate qp_in in memory +} ocp_qp_full_condensing_opts; + + + +typedef struct ocp_qp_full_condensing_memory_ +{ + struct d_cond_qp_ws *hpipm_cond_work; + struct d_ocp_qp_reduce_eq_dof_ws *hpipm_red_work; + // in memory + dense_qp_in *fcond_qp_in; + dense_qp_out *fcond_qp_out; + ocp_qp_in *red_qp; // reduced qp + ocp_qp_out *red_sol; // reduced qp sol + // only pointer + ocp_qp_in *ptr_qp_in; + qp_info *qp_out_info; // info in fcond_qp_in + double time_qp_xcond; +} ocp_qp_full_condensing_memory; + + + +// +acados_size_t ocp_qp_full_condensing_opts_calculate_size(void *dims); +// +void *ocp_qp_full_condensing_opts_assign(void *dims, void *raw_memory); +// +void ocp_qp_full_condensing_opts_initialize_default(void *dims, void *opts_); +// +void ocp_qp_full_condensing_opts_update(void *dims, void *opts_); +// +void ocp_qp_full_condensing_opts_set(void *opts_, const char *field, void* value); +// +acados_size_t ocp_qp_full_condensing_memory_calculate_size(void *dims, void *opts_); +// +void *ocp_qp_full_condensing_memory_assign(void *dims, void *opts_, void *raw_memory); +// +acados_size_t ocp_qp_full_condensing_workspace_calculate_size(void *dims, void *opts_); +// +int ocp_qp_full_condensing(void *in, void *out, void *opts, void *mem, void *work); +// +int ocp_qp_full_expansion(void *in, void *out, void *opts, void *mem, void *work); +// +void ocp_qp_full_condensing_config_initialize_default(void *config_); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_OCP_QP_OCP_QP_FULL_CONDENSING_H_ diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_hpipm.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_hpipm.h new file mode 100644 index 0000000000..261606b842 --- /dev/null +++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_hpipm.h @@ -0,0 +1,100 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef ACADOS_OCP_QP_OCP_QP_HPIPM_H_ +#define ACADOS_OCP_QP_OCP_QP_HPIPM_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +// hpipm +#include "hpipm/include/hpipm_d_ocp_qp_ipm.h" +// acados +#include "acados/ocp_qp/ocp_qp_common.h" +#include "acados/utils/types.h" + + + +// struct of arguments to the solver +// TODO(roversch): why not make this a typedef of the underlying struct? +typedef struct ocp_qp_hpipm_opts_ +{ + struct d_ocp_qp_ipm_arg *hpipm_opts; +} ocp_qp_hpipm_opts; + + + +// TODO(roversch): why not make this a typedef of the underlying struct? +// struct of the solver memory +typedef struct ocp_qp_hpipm_memory_ +{ + struct d_ocp_qp_ipm_ws *hpipm_workspace; + double time_qp_solver_call; + int iter; + int status; + +} ocp_qp_hpipm_memory; + + + +// +acados_size_t ocp_qp_hpipm_opts_calculate_size(void *config, void *dims); +// +void *ocp_qp_hpipm_opts_assign(void *config, void *dims, void *raw_memory); +// +void ocp_qp_hpipm_opts_initialize_default(void *config, void *dims, void *opts_); +// +void ocp_qp_hpipm_opts_update(void *config, void *dims, void *opts_); +// +void ocp_qp_hpipm_opts_set(void *config_, void *opts_, const char *field, void *value); +// +acados_size_t ocp_qp_hpipm_memory_calculate_size(void *config, void *dims, void *opts_); +// +void *ocp_qp_hpipm_memory_assign(void *config, void *dims, void *opts_, void *raw_memory); +// +acados_size_t ocp_qp_hpipm_workspace_calculate_size(void *config, void *dims, void *opts_); +// +int ocp_qp_hpipm(void *config, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_); +// +void ocp_qp_hpipm_memory_reset(void *config_, void *qp_in_, void *qp_out_, void *opts_, void *mem_, void *work_); +// +void ocp_qp_hpipm_eval_sens(void *config, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_); +// +void ocp_qp_hpipm_config_initialize_default(void *config); + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_OCP_QP_OCP_QP_HPIPM_H_ diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_hpmpc.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_hpmpc.h new file mode 100644 index 0000000000..8db53a279d --- /dev/null +++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_hpmpc.h @@ -0,0 +1,127 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef ACADOS_OCP_QP_OCP_QP_HPMPC_H_ +#define ACADOS_OCP_QP_OCP_QP_HPMPC_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include "acados/ocp_qp/ocp_qp_common.h" +#include "acados/utils/types.h" + +typedef enum hpmpc_options_t_ { HPMPC_DEFAULT_ARGUMENTS } hpmpc_options_t; + +typedef struct ocp_qp_hpmpc_opts_ +{ + double tol; + int max_iter; + double mu0; + double alpha_min; + int warm_start; + int N2; // horizion length of the partially condensed problem + + // partial tightening + double sigma_mu; + int N; + int M; +} ocp_qp_hpmpc_opts; + +// struct of the solver memory +typedef struct ocp_qp_hpmpc_memory_ +{ + struct blasfeo_dvec *hpi; + double *stats; + + // workspace + void *hpmpc_work; // raw workspace + + // partial tightening-specific (init of extra variables) + struct blasfeo_dvec *lam0; + struct blasfeo_dvec *ux0; + struct blasfeo_dvec *pi0; + struct blasfeo_dvec *t0; + + // 2. workspace + struct blasfeo_dmat *hsL; + struct blasfeo_dmat *hsric_work_mat; + struct blasfeo_dmat sLxM; + struct blasfeo_dmat sPpM; + + struct blasfeo_dvec *hsQx; + struct blasfeo_dvec *hsqx; + struct blasfeo_dvec *hstinv; + struct blasfeo_dvec *hsrq; + struct blasfeo_dvec *hsdux; + + struct blasfeo_dvec *hsdlam; + struct blasfeo_dvec *hsdt; + struct blasfeo_dvec *hsdpi; + struct blasfeo_dvec *hslamt; + + struct blasfeo_dvec *hsPb; + + void *work_ric; + + int out_iter; + + double time_qp_solver_call; + int iter; + int status; + +} ocp_qp_hpmpc_memory; + +acados_size_t ocp_qp_hpmpc_opts_calculate_size(void *config_, ocp_qp_dims *dims); +// +void *ocp_qp_hpmpc_opts_assign(void *config_, ocp_qp_dims *dims, void *raw_memory); +// +void ocp_qp_hpmpc_opts_initialize_default(void *config_, ocp_qp_dims *dims, void *opts_); +// +void ocp_qp_hpmpc_opts_update(void *config_, ocp_qp_dims *dims, void *opts_); +// +acados_size_t ocp_qp_hpmpc_memory_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_); +// +void *ocp_qp_hpmpc_memory_assign(void *config_, ocp_qp_dims *dims, void *opts_, void *raw_memory); +// +acados_size_t ocp_qp_hpmpc_workspace_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_); +// +int ocp_qp_hpmpc(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_); +// +void ocp_qp_hpmpc_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_); +// +void ocp_qp_hpmpc_config_initialize_default(void *config_); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_OCP_QP_OCP_QP_HPMPC_H_ diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_ooqp.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_ooqp.h new file mode 100644 index 0000000000..a535503f21 --- /dev/null +++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_ooqp.h @@ -0,0 +1,144 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef ACADOS_OCP_QP_OCP_QP_OOQP_H_ +#define ACADOS_OCP_QP_OCP_QP_OOQP_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include "acados/ocp_qp/ocp_qp_common.h" +#include "acados/utils/types.h" + +enum ocp_qp_ooqp_termination_code +{ + SPARSE_SUCCESSFUL_TERMINATION = 0, + SPARSE_NOT_FINISHED, + SPARSE_MAX_ITS_EXCEEDED, + SPARSE_INFEASIBLE, + SPARSE_UNKNOWN +}; + +typedef struct ocp_qp_ooqp_opts_ +{ + int printLevel; + int useDiagonalWeights; // TODO(dimitris): implement option + int fixHessian; + int fixHessianSparsity; + int fixDynamics; + int fixDynamicsSparsity; + int fixInequalities; + int fixInequalitiesSparsity; +} ocp_qp_ooqp_opts; + +typedef struct ocp_qp_ooqp_workspace_ +{ + double *x; + double *gamma; + double *phi; + double *y; + double *z; + double *lambda; + double *pi; + double objectiveValue; + int *tmpInt; // temporary vector to sort indicies sparse matrices + double *tmpReal; // temporary vector to sort data of sparse matrices + // int ierr; +} ocp_qp_ooqp_workspace; + +typedef struct ocp_qp_ooqp_memory_ +{ + int firstRun; + double *c; + int nx; + int *irowQ; + int nnzQ; + int *jcolQ; + int *orderQ; + double *dQ; + double *xlow; + char *ixlow; + double *xupp; + char *ixupp; + int *irowA; + int nnzA; + int *jcolA; + int *orderA; + double *dA; + double *bA; + int my; + int *irowC; + int nnzC; + int *jcolC; + int *orderC; + double *dC; + double *clow; + int mz; + char *iclow; + double *cupp; + char *icupp; + int nnz; // max(nnzQ, nnzA, nnzC) + double time_qp_solver_call; + int iter; + int status; + +} ocp_qp_ooqp_memory; + +// +acados_size_t ocp_qp_ooqp_opts_calculate_size(void *config_, ocp_qp_dims *dims); +// +void *ocp_qp_ooqp_opts_assign(void *config_, ocp_qp_dims *dims, void *raw_memory); +// +void ocp_qp_ooqp_opts_initialize_default(void *config_, ocp_qp_dims *dims, void *opts_); +// +void ocp_qp_ooqp_opts_update(void *config_, ocp_qp_dims *dims, void *opts_); +// +acados_size_t ocp_qp_ooqp_memory_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_); +// +void *ocp_qp_ooqp_memory_assign(void *config_, ocp_qp_dims *dims, void *opts_, void *raw_memory); +// +acados_size_t ocp_qp_ooqp_workspace_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_); +// +int ocp_qp_ooqp(void *config_, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts_, void *memory_, + void *work_); +// +void ocp_qp_ooqp_destroy(void *mem_, void *work); +// +void ocp_qp_ooqp_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_); +// +void ocp_qp_ooqp_config_initialize_default(void *config_); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_OCP_QP_OCP_QP_OOQP_H_ diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_osqp.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_osqp.h new file mode 100644 index 0000000000..51df1b1cd6 --- /dev/null +++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_osqp.h @@ -0,0 +1,103 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef ACADOS_OCP_QP_OCP_QP_OSQP_H_ +#define ACADOS_OCP_QP_OCP_QP_OSQP_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +// osqp +#include "osqp/include/types.h" + +// acados +#include "acados/ocp_qp/ocp_qp_common.h" +#include "acados/utils/types.h" + +typedef struct ocp_qp_osqp_opts_ +{ + OSQPSettings *osqp_opts; +} ocp_qp_osqp_opts; + + +typedef struct ocp_qp_osqp_memory_ +{ + c_int first_run; + + c_float *q; + c_float *l; + c_float *u; + + c_int P_nnzmax; + c_int *P_i; + c_int *P_p; + c_float *P_x; + + c_int A_nnzmax; + c_int *A_i; + c_int *A_p; + c_float *A_x; + + OSQPData *osqp_data; + OSQPWorkspace *osqp_work; + + double time_qp_solver_call; + int iter; + int status; + +} ocp_qp_osqp_memory; + +acados_size_t ocp_qp_osqp_opts_calculate_size(void *config, void *dims); +// +void *ocp_qp_osqp_opts_assign(void *config, void *dims, void *raw_memory); +// +void ocp_qp_osqp_opts_initialize_default(void *config, void *dims, void *opts_); +// +void ocp_qp_osqp_opts_update(void *config, void *dims, void *opts_); +// +acados_size_t ocp_qp_osqp_memory_calculate_size(void *config, void *dims, void *opts_); +// +void *ocp_qp_osqp_memory_assign(void *config, void *dims, void *opts_, void *raw_memory); +// +acados_size_t ocp_qp_osqp_workspace_calculate_size(void *config, void *dims, void *opts_); +// +int ocp_qp_osqp(void *config, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_); +// +void ocp_qp_osqp_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_); +// +void ocp_qp_osqp_config_initialize_default(void *config); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_OCP_QP_OCP_QP_OSQP_H_ diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_partial_condensing.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_partial_condensing.h new file mode 100644 index 0000000000..844f6048fe --- /dev/null +++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_partial_condensing.h @@ -0,0 +1,120 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_H_ +#define ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +// hpipm +#include "hpipm/include/hpipm_d_ocp_qp_red.h" +// acados +#include "acados/ocp_qp/ocp_qp_common.h" + + + +typedef struct +{ + ocp_qp_dims *orig_dims; + ocp_qp_dims *red_dims; // dims of reduced qp + ocp_qp_dims *pcond_dims; + int *block_size; + int N2; + int N2_bkp; +} ocp_qp_partial_condensing_dims; + + + +typedef struct ocp_qp_partial_condensing_opts_ +{ + struct d_part_cond_qp_arg *hpipm_pcond_opts; + struct d_ocp_qp_reduce_eq_dof_arg *hpipm_red_opts; +// ocp_qp_dims *pcond_dims; // TODO(all): move to dims +// int *block_size; + int N2; + int N2_bkp; +// int expand_dual_sol; // 0 primal sol only, 1 primal + dual sol + int ric_alg; + int mem_qp_in; // allocate qp_in in memory +} ocp_qp_partial_condensing_opts; + + + +typedef struct ocp_qp_partial_condensing_memory_ +{ + struct d_part_cond_qp_ws *hpipm_pcond_work; + struct d_ocp_qp_reduce_eq_dof_ws *hpipm_red_work; + // in memory + ocp_qp_in *pcond_qp_in; + ocp_qp_out *pcond_qp_out; + ocp_qp_in *red_qp; // reduced qp + ocp_qp_out *red_sol; // reduced qp sol + // only pointer + ocp_qp_in *ptr_qp_in; + ocp_qp_in *ptr_pcond_qp_in; + qp_info *qp_out_info; // info in pcond_qp_in + double time_qp_xcond; +} ocp_qp_partial_condensing_memory; + + + +// +acados_size_t ocp_qp_partial_condensing_opts_calculate_size(void *dims); +// +void *ocp_qp_partial_condensing_opts_assign(void *dims, void *raw_memory); +// +void ocp_qp_partial_condensing_opts_initialize_default(void *dims, void *opts_); +// +void ocp_qp_partial_condensing_opts_update(void *dims, void *opts_); +// +void ocp_qp_partial_condensing_opts_set(void *opts_, const char *field, void* value); +// +acados_size_t ocp_qp_partial_condensing_memory_calculate_size(void *dims, void *opts_); +// +void *ocp_qp_partial_condensing_memory_assign(void *dims, void *opts, void *raw_memory); +// +acados_size_t ocp_qp_partial_condensing_workspace_calculate_size(void *dims, void *opts_); +// +int ocp_qp_partial_condensing(void *in, void *out, void *opts, void *mem, void *work); +// +int ocp_qp_partial_expansion(void *in, void *out, void *opts, void *mem, void *work); +// +void ocp_qp_partial_condensing_config_initialize_default(void *config_); + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_H_ diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_qpdunes.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_qpdunes.h new file mode 100644 index 0000000000..3b875caeb5 --- /dev/null +++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_qpdunes.h @@ -0,0 +1,119 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef ACADOS_OCP_QP_OCP_QP_QPDUNES_H_ +#define ACADOS_OCP_QP_OCP_QP_QPDUNES_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include "qpDUNES.h" + +#include "acados/ocp_qp/ocp_qp_common.h" +#include "acados/utils/types.h" + +typedef enum qpdunes_options_t_ { + QPDUNES_DEFAULT_ARGUMENTS, + QPDUNES_LINEAR_MPC, // TODO(dimitris): partly implemented + QPDUNES_NONLINEAR_MPC, // TODO(dimitris): not implemented yet + QPDUNES_ACADO_SETTINGS +} qpdunes_options_t; + +typedef enum { QPDUNES_WITH_QPOASES, QPDUNES_WITH_CLIPPING } qpdunes_stage_qp_solver_t; + +typedef struct ocp_qp_qpdunes_opts_ +{ + qpOptions_t options; + qpdunes_stage_qp_solver_t stageQpSolver; + int warmstart; // warmstart = 0: all multipliers set to zero, warmstart = 1: use previous mult. + bool isLinearMPC; +} ocp_qp_qpdunes_opts; + +typedef struct ocp_qp_qpdunes_memory_ +{ + int firstRun; + int nx; + int nu; + int nz; + int nDmax; // max(dims->ng) + qpData_t qpData; + double time_qp_solver_call; + int iter; + int status; + +} ocp_qp_qpdunes_memory; + +typedef struct ocp_qp_qpdunes_workspace_ +{ + double *H; + double *Q; + double *R; + double *S; + double *g; + double *ABt; + double *b; + double *Ct; + double *lc; + double *uc; + double *zLow; + double *zUpp; +} ocp_qp_qpdunes_workspace; + +// +acados_size_t ocp_qp_qpdunes_opts_calculate_size(void *config_, ocp_qp_dims *dims); +// +void *ocp_qp_qpdunes_opts_assign(void *config_, ocp_qp_dims *dims, void *raw_memory); +// +void ocp_qp_qpdunes_opts_initialize_default(void *config_, ocp_qp_dims *dims, void *opts_); +// +void ocp_qp_qpdunes_opts_update(void *config_, ocp_qp_dims *dims, void *opts_); +// +acados_size_t ocp_qp_qpdunes_memory_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_); +// +void *ocp_qp_qpdunes_memory_assign(void *config_, ocp_qp_dims *dims, void *opts_, void *raw_memory); +// +acados_size_t ocp_qp_qpdunes_workspace_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_); +// +int ocp_qp_qpdunes(void *config_, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts_, void *memory_, + void *work_); +// +void ocp_qp_qpdunes_free_memory(void *mem_); +// +void ocp_qp_qpdunes_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_); +// +void ocp_qp_qpdunes_config_initialize_default(void *config_); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_OCP_QP_OCP_QP_QPDUNES_H_ diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_xcond_solver.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_xcond_solver.h new file mode 100644 index 0000000000..a78bc65bb9 --- /dev/null +++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_xcond_solver.h @@ -0,0 +1,150 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_SOLVER_H_ +#define ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_SOLVER_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +// acados +#include "acados/ocp_qp/ocp_qp_common.h" +#include "acados/utils/types.h" + + + +typedef struct +{ + ocp_qp_dims *orig_dims; + void *xcond_dims; +} ocp_qp_xcond_solver_dims; + + + +typedef struct ocp_qp_xcond_solver_opts_ +{ + void *xcond_opts; + void *qp_solver_opts; +} ocp_qp_xcond_solver_opts; + + + +typedef struct ocp_qp_xcond_solver_memory_ +{ + void *xcond_memory; + void *solver_memory; + void *xcond_qp_in; + void *xcond_qp_out; +} ocp_qp_xcond_solver_memory; + + + +typedef struct ocp_qp_xcond_solver_workspace_ +{ + void *xcond_work; + void *qp_solver_work; +} ocp_qp_xcond_solver_workspace; + + + +typedef struct +{ + acados_size_t (*dims_calculate_size)(void *config, int N); + ocp_qp_xcond_solver_dims *(*dims_assign)(void *config, int N, void *raw_memory); + void (*dims_set)(void *config_, ocp_qp_xcond_solver_dims *dims, int stage, const char *field, int* value); + void (*dims_get)(void *config_, ocp_qp_xcond_solver_dims *dims, int stage, const char *field, int* value); + acados_size_t (*opts_calculate_size)(void *config, ocp_qp_xcond_solver_dims *dims); + void *(*opts_assign)(void *config, ocp_qp_xcond_solver_dims *dims, void *raw_memory); + void (*opts_initialize_default)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts); + void (*opts_update)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts); + void (*opts_set)(void *config_, void *opts_, const char *field, void* value); + acados_size_t (*memory_calculate_size)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts); + void *(*memory_assign)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts, void *raw_memory); + void (*memory_get)(void *config_, void *mem_, const char *field, void* value); + void (*memory_reset)(void *config, ocp_qp_xcond_solver_dims *dims, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts, void *mem, void *work); + acados_size_t (*workspace_calculate_size)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts); + int (*evaluate)(void *config, ocp_qp_xcond_solver_dims *dims, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts, void *mem, void *work); + void (*eval_sens)(void *config, ocp_qp_xcond_solver_dims *dims, ocp_qp_in *param_qp_in, ocp_qp_out *sens_qp_out, void *opts, void *mem, void *work); + qp_solver_config *qp_solver; // either ocp_qp_solver or dense_solver + ocp_qp_xcond_config *xcond; +} ocp_qp_xcond_solver_config; // pcond - partial condensing or fcond - full condensing + + + +/* config */ +// +acados_size_t ocp_qp_xcond_solver_config_calculate_size(); +// +ocp_qp_xcond_solver_config *ocp_qp_xcond_solver_config_assign(void *raw_memory); + +/* dims */ +// +acados_size_t ocp_qp_xcond_solver_dims_calculate_size(void *config, int N); +// +ocp_qp_xcond_solver_dims *ocp_qp_xcond_solver_dims_assign(void *config, int N, void *raw_memory); +// +void ocp_qp_xcond_solver_dims_set_(void *config, ocp_qp_xcond_solver_dims *dims, int stage, const char *field, int* value); + +/* opts */ +// +acados_size_t ocp_qp_xcond_solver_opts_calculate_size(void *config, ocp_qp_xcond_solver_dims *dims); +// +void *ocp_qp_xcond_solver_opts_assign(void *config, ocp_qp_xcond_solver_dims *dims, void *raw_memory); +// +void ocp_qp_xcond_solver_opts_initialize_default(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_); +// +void ocp_qp_xcond_solver_opts_update(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_); +// +void ocp_qp_xcond_solver_opts_set_(void *config_, void *opts_, const char *field, void* value); + +/* memory */ +// +acados_size_t ocp_qp_xcond_solver_memory_calculate_size(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_); +// +void *ocp_qp_xcond_solver_memory_assign(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_, void *raw_memory); + +/* workspace */ +// +acados_size_t ocp_qp_xcond_solver_workspace_calculate_size(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_); + +/* config */ +// +int ocp_qp_xcond_solver(void *config, ocp_qp_xcond_solver_dims *dims, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts_, void *mem_, void *work_); + +// +void ocp_qp_xcond_solver_config_initialize_default(void *config_); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_SOLVER_H_ diff --git a/third_party/acados/include/acados/sim/sim_collocation_utils.h b/third_party/acados/include/acados/sim/sim_collocation_utils.h new file mode 100644 index 0000000000..045d165cbc --- /dev/null +++ b/third_party/acados/include/acados/sim/sim_collocation_utils.h @@ -0,0 +1,97 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef ACADOS_SIM_SIM_COLLOCATION_UTILS_H_ +#define ACADOS_SIM_SIM_COLLOCATION_UTILS_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include "acados/utils/types.h" + + + +// enum Newton_type_collocation +// { +// exact = 0, +// simplified_in, +// simplified_inis +// }; + + + +// typedef struct +// { +// enum Newton_type_collocation type; +// double *eig; +// double *low_tria; +// bool single; +// bool freeze; + +// double *transf1; +// double *transf2; + +// double *transf1_T; +// double *transf2_T; +// } Newton_scheme; + + +typedef enum +{ + GAUSS_LEGENDRE, + GAUSS_RADAU_IIA, +} sim_collocation_type; + + +// +// acados_size_t gauss_legendre_nodes_work_calculate_size(int ns); +// +// void gauss_legendre_nodes(int ns, double *nodes, void *raw_memory); +// +// acados_size_t gauss_simplified_work_calculate_size(int ns); +// // +// void gauss_simplified(int ns, Newton_scheme *scheme, void *work); +// +acados_size_t butcher_tableau_work_calculate_size(int ns); +// +// void calculate_butcher_tableau_from_nodes(int ns, double *nodes, double *b, double *A, void *work); +// +void calculate_butcher_tableau(int ns, sim_collocation_type collocation_type, double *c_vec, + double *b_vec, double *A_mat, void *work); + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_SIM_SIM_COLLOCATION_UTILS_H_ diff --git a/third_party/acados/include/acados/sim/sim_common.h b/third_party/acados/include/acados/sim/sim_common.h new file mode 100644 index 0000000000..c4bbd6ed2b --- /dev/null +++ b/third_party/acados/include/acados/sim/sim_common.h @@ -0,0 +1,221 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef ACADOS_SIM_SIM_COMMON_H_ +#define ACADOS_SIM_SIM_COMMON_H_ + +#include + +#include "acados/sim/sim_collocation_utils.h" +#include "acados/utils/timing.h" +#include "acados/utils/types.h" + +#include "acados/utils/external_function_generic.h" + +// maximum number of integration stages +#define NS_MAX 15 + + + +typedef enum +{ + // ERK and LIFTED_ERK + EXPL_ODE_FUN, + EXPL_ODE_HES, // wrt x and u ??? + EXPL_VDE_FOR, + EXPL_VDE_ADJ, + // IRK + IMPL_ODE_FUN, + IMPL_ODE_FUN_JAC_X_XDOT, + IMPL_ODE_JAC_X_XDOT_U, + IMPL_ODE_FUN_JAC_X_XDOT_U, + IMPL_ODE_HESS, + // gnsf + PHI_FUN, + PHI_FUN_JAC_Y, + PHI_JAC_Y_UHAT, + LO_FUN, + GET_GNSF_MATRICES +} sim_function_t; + + + +typedef struct +{ + void *dims; + + double *x; // x[NX] - initial state value for simulation + double *u; // u[NU] - control - constant over simulation time + + double *S_forw; // forward seed [Sx, Su] + double *S_adj; // backward seed + + bool identity_seed; // indicating if S_forw = [eye(nx), zeros(nx x nu)] + + void *model; + + double T; // simulation time + +} sim_in; + + + +typedef struct +{ + double CPUtime; // in seconds + double LAtime; // in seconds + double ADtime; // in seconds + +} sim_info; + + + +typedef struct +{ + double *xn; // xn[NX] + double *S_forw; // S_forw[NX*(NX+NU)] + double *S_adj; // + double *S_hess; // + + double *zn; // z - algebraic variables - reported at start of simulation interval + double *S_algebraic; // sensitivities of reported value of algebraic variables w.r.t. + // initial stat & control (x_n,u) + + double *grad; // gradient correction + + sim_info *info; + +} sim_out; + + + +typedef struct +{ + int ns; // number of integration stages + + int num_steps; + int num_forw_sens; + + int tableau_size; // check that is consistent with ns + // only update when butcher tableau is changed + // kind of private -> no setter! + double *A_mat; + double *c_vec; + double *b_vec; + + bool sens_forw; + bool sens_adj; + bool sens_hess; + + bool output_z; // 1 -- if zn should be computed + bool sens_algebraic; // 1 -- if S_algebraic should be computed + bool exact_z_output; // 1 -- if z, S_algebraic should be computed exactly, extra Newton iterations + sim_collocation_type collocation_type; + + // for explicit integrators: newton_iter == 0 && scheme == NULL + // && jac_reuse=false + int newton_iter; + bool jac_reuse; + // Newton_scheme *scheme; + + double newton_tol; // optinally used in implicit integrators + + // workspace + void *work; + +} sim_opts; + + + +typedef struct +{ + int (*evaluate)(void *config_, sim_in *in, sim_out *out, void *opts, void *mem, void *work); + int (*precompute)(void *config_, sim_in *in, sim_out *out, void *opts, void *mem, void *work); + // opts + acados_size_t (*opts_calculate_size)(void *config_, void *dims); + void *(*opts_assign)(void *config_, void *dims, void *raw_memory); + void (*opts_initialize_default)(void *config_, void *dims, void *opts); + void (*opts_update)(void *config_, void *dims, void *opts); + void (*opts_set)(void *config_, void *opts_, const char *field, void *value); + void (*opts_get)(void *config_, void *opts_, const char *field, void *value); + // mem + acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts); + void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory); + int (*memory_set)(void *config, void *dims, void *mem, const char *field, void *value); + int (*memory_set_to_zero)(void *config, void *dims, void *opts, void *mem, const char *field); + void (*memory_get)(void *config, void *dims, void *mem, const char *field, void *value); + // work + acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts); + // model + acados_size_t (*model_calculate_size)(void *config, void *dims); + void *(*model_assign)(void *config, void *dims, void *raw_memory); + int (*model_set)(void *model, const char *field, void *value); + // config + void (*config_initialize_default)(void *config); + // dims + acados_size_t (*dims_calculate_size)(); + void *(*dims_assign)(void *config, void *raw_memory); + void (*dims_set)(void *config, void *dims, const char *field, const int *value); + void (*dims_get)(void *config, void *dims, const char *field, int *value); + +} sim_config; + + + +/* config */ +// +acados_size_t sim_config_calculate_size(); +// +sim_config *sim_config_assign(void *raw_memory); + +/* in */ +// +acados_size_t sim_in_calculate_size(void *config, void *dims); +// +sim_in *sim_in_assign(void *config, void *dims, void *raw_memory); +// +int sim_in_set_(void *config_, void *dims_, sim_in *in, const char *field, void *value); + +/* out */ +// +acados_size_t sim_out_calculate_size(void *config, void *dims); +// +sim_out *sim_out_assign(void *config, void *dims, void *raw_memory); +// +int sim_out_get_(void *config, void *dims, sim_out *out, const char *field, void *value); + +/* opts */ +// +void sim_opts_set_(sim_opts *opts, const char *field, void *value); +// +void sim_opts_get_(sim_config *config, sim_opts *opts, const char *field, void *value); + +#endif // ACADOS_SIM_SIM_COMMON_H_ diff --git a/third_party/acados/include/acados/sim/sim_erk_integrator.h b/third_party/acados/include/acados/sim/sim_erk_integrator.h new file mode 100644 index 0000000000..fd46cb4d99 --- /dev/null +++ b/third_party/acados/include/acados/sim/sim_erk_integrator.h @@ -0,0 +1,140 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef ACADOS_SIM_SIM_ERK_INTEGRATOR_H_ +#define ACADOS_SIM_SIM_ERK_INTEGRATOR_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include "acados/sim/sim_common.h" +#include "acados/utils/types.h" + + + +typedef struct +{ + int nx; + int nu; + int nz; +} sim_erk_dims; + + + +typedef struct +{ + /* external functions */ + // explicit ode + external_function_generic *expl_ode_fun; + // hessian explicit ode + external_function_generic *expl_ode_hes; + // forward explicit vde + external_function_generic *expl_vde_for; + // adjoint explicit vde + external_function_generic *expl_vde_adj; + +} erk_model; + + + +typedef struct +{ + // memory + double time_sim; + double time_ad; + double time_la; + + // workspace structs +} sim_erk_memory; + + + +typedef struct +{ + // workspace mem + double *rhs_forw_in; // x + S + p + + double *K_traj; // (stages*nX) or (steps*stages*nX) for adj + double *out_forw_traj; // S or (steps+1)*nX for adj + + double *rhs_adj_in; + double *out_adj_tmp; + double *adj_traj; + +} sim_erk_workspace; + + + +// dims +acados_size_t sim_erk_dims_calculate_size(); +void *sim_erk_dims_assign(void *config_, void *raw_memory); +void sim_erk_dims_set(void *config_, void *dims_, const char *field, const int* value); +void sim_erk_dims_get(void *config_, void *dims_, const char *field, int* value); + +// model +acados_size_t sim_erk_model_calculate_size(void *config, void *dims); +void *sim_erk_model_assign(void *config, void *dims, void *raw_memory); +int sim_erk_model_set(void *model, const char *field, void *value); + +// opts +acados_size_t sim_erk_opts_calculate_size(void *config, void *dims); +// +void sim_erk_opts_update(void *config_, void *dims, void *opts_); +// +void *sim_erk_opts_assign(void *config, void *dims, void *raw_memory); +// +void sim_erk_opts_initialize_default(void *config, void *dims, void *opts_); +// +void sim_erk_opts_set(void *config_, void *opts_, const char *field, void *value); + + +// memory +acados_size_t sim_erk_memory_calculate_size(void *config, void *dims, void *opts_); +// +void *sim_erk_memory_assign(void *config, void *dims, void *opts_, void *raw_memory); +// +int sim_erk_memory_set(void *config_, void *dims_, void *mem_, const char *field, void *value); + + +// workspace +acados_size_t sim_erk_workspace_calculate_size(void *config, void *dims, void *opts_); + +// +int sim_erk(void *config, sim_in *in, sim_out *out, void *opts_, void *mem_, void *work_); +// +void sim_erk_config_initialize_default(void *config); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_SIM_SIM_ERK_INTEGRATOR_H_ diff --git a/third_party/acados/include/acados/sim/sim_gnsf.h b/third_party/acados/include/acados/sim/sim_gnsf.h new file mode 100644 index 0000000000..404532a732 --- /dev/null +++ b/third_party/acados/include/acados/sim/sim_gnsf.h @@ -0,0 +1,364 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef ACADOS_SIM_SIM_GNSF_H_ +#define ACADOS_SIM_SIM_GNSF_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include + +#include "acados/utils/timing.h" +#include "acados/utils/types.h" +#include "acados/sim/sim_common.h" + +#include "blasfeo/include/blasfeo_common.h" +// #include "blasfeo/include/blasfeo_d_aux.h" +// #include "blasfeo/include/blasfeo_d_aux_ext_dep.h" +// #include "blasfeo/include/blasfeo_d_blas.h" +// #include "blasfeo/include/blasfeo_d_kernel.h" +// #include "blasfeo/include/blasfeo_i_aux_ext_dep.h" +// #include "blasfeo/include/blasfeo_target.h" + +/* +GNSF - Generalized Nonlinear Static Feedback Model +has the following form +https://github.com/acados/acados/files/3359595/gnsf_structure_blo.pdf + +Details on the algorithm can be found in master thesis of Jonathan Frey, +which presents a slightly different format without the terms B_LO, c_LO. +https://github.com/acados/acados/files/2318322/gnsf_structure.pdf +https://cdn.syscop.de/publications/Frey2018.pdf +https://cdn.syscop.de/publications/Frey2019.pdf +*/ + +typedef struct +{ + int nx; // total number of differential states + int nu; // total number of inputs + int nz; // total number of algebraic states + int nx1; // number of differential states in NSF part + int nz1; // number of algebraic states in NSF part + int n_out; // output dimension of phi + int ny; // dimension of first input of phi + int nuhat; // dimension of second input of phi + +} sim_gnsf_dims; + + + +typedef struct +{ + /* external functions */ + // phi: nonlinearity function + external_function_generic *phi_fun; + external_function_generic *phi_fun_jac_y; + external_function_generic *phi_jac_y_uhat; + + // f_lo: linear output function + external_function_generic *f_lo_fun_jac_x1_x1dot_u_z; + + // to import model matrices + external_function_generic *get_gnsf_matrices; + + // flag indicating, if model defining matrices are imported via external (casadi) function, + // [default]: true -> auto; + bool auto_import_gnsf; + + // booleans from structure detection + bool nontrivial_f_LO; // indicates if f_LO is constant zero function + bool fully_linear; // indicates if model is fully linear LOS + + /* model defining matrices */ + // TODO: add setters to set manually + double *A; + double *B; + double *C; + double *E; + + double *L_x; + double *L_xdot; + double *L_z; + double *L_u; + + double *A_LO; + double *B_LO; + double *E_LO; + + /* constant vector */ + double *c; + double *c_LO; + + // permutation vector - to have GNSF order of x, z within sim_gnsf only + int *ipiv_x; + int *ipiv_z; + + double *ipiv_x_double; + double *ipiv_z_double; + +} gnsf_model; + + + +// pre_workspace - workspace used in the precomputation phase +typedef struct +{ + struct blasfeo_dmat E11; + struct blasfeo_dmat E12; + struct blasfeo_dmat E21; + struct blasfeo_dmat E22; + + struct blasfeo_dmat A1; + struct blasfeo_dmat A2; + struct blasfeo_dmat B1; + struct blasfeo_dmat B2; + struct blasfeo_dmat C1; + struct blasfeo_dmat C2; + + struct blasfeo_dmat AA1; + struct blasfeo_dmat AA2; + struct blasfeo_dmat BB1; + struct blasfeo_dmat BB2; + struct blasfeo_dmat CC1; + struct blasfeo_dmat CC2; + struct blasfeo_dmat DD1; + struct blasfeo_dmat DD2; + struct blasfeo_dmat EE1; + struct blasfeo_dmat EE2; + + struct blasfeo_dmat QQ1; + + struct blasfeo_dmat LLZ; + struct blasfeo_dmat LLx; + struct blasfeo_dmat LLK; + + int *ipivEE1; // index of pivot vector + int *ipivEE2; + int *ipivQQ1; + + // for algebraic sensitivity propagation + struct blasfeo_dmat Q1; + + // for constant term in NSF + struct blasfeo_dvec cc1; + struct blasfeo_dvec cc2; + +} gnsf_pre_workspace; + + + +// workspace +typedef struct +{ + double *Z_work; // used to perform computations to get out->zn + + int *ipiv; // index of pivot vector + + struct blasfeo_dvec *vv_traj; + struct blasfeo_dvec *yy_traj; + struct blasfeo_dmat *f_LO_jac_traj; + + struct blasfeo_dvec K2_val; + struct blasfeo_dvec x0_traj; + struct blasfeo_dvec res_val; + struct blasfeo_dvec u0; + struct blasfeo_dvec lambda; + struct blasfeo_dvec lambda_old; + + struct blasfeo_dvec yyu; + struct blasfeo_dvec yyss; + + struct blasfeo_dvec K1_val; + struct blasfeo_dvec f_LO_val; + struct blasfeo_dvec x1_stage_val; + struct blasfeo_dvec Z1_val; + + struct blasfeo_dvec K1u; + struct blasfeo_dvec Zu; + struct blasfeo_dvec ALOtimesx02; + struct blasfeo_dvec BLOtimesu0; + + struct blasfeo_dvec uhat; + + struct blasfeo_dmat J_r_vv; + struct blasfeo_dmat J_r_x1u; + + struct blasfeo_dmat dK1_dx1; + struct blasfeo_dmat dK1_du; + struct blasfeo_dmat dZ_dx1; + struct blasfeo_dmat dZ_du; + struct blasfeo_dmat J_G2_K1; + + struct blasfeo_dmat dK2_dx1; + struct blasfeo_dmat dK2_dvv; + struct blasfeo_dmat dxf_dwn; + struct blasfeo_dmat S_forw_new; + struct blasfeo_dmat S_algebraic_aux; + + struct blasfeo_dmat dPsi_dvv; + struct blasfeo_dmat dPsi_dx; + struct blasfeo_dmat dPsi_du; + + struct blasfeo_dmat dPHI_dyuhat; + struct blasfeo_dvec z0; + + // memory only available if (opts->sens_algebraic) + // struct blasfeo_dvec y_one_stage; + // struct blasfeo_dvec x0dot_1; + // struct blasfeo_dmat dz10_dx1u; // (nz1) * (nx1+nu); + // struct blasfeo_dmat dr0_dvv0; // (n_out * n_out) + // struct blasfeo_dmat f_LO_jac0; // (nx2+nz2) * (2*nx1 + nz1 + nu) + // struct blasfeo_dmat sens_z2_rhs; // (nx2 + nz2) * (nx1 + nu) + // int *ipiv_vv0; + +} gnsf_workspace; + + + +// memory +typedef struct +{ + bool first_call; + + // simulation time for one step + double dt; + + // (scaled) butcher table + double *A_dt; + double *b_dt; + double *c_butcher; + + // value used to initialize integration variables - corresponding to value of phi + double *phi_guess; // n_out + + struct blasfeo_dmat S_forw; + struct blasfeo_dmat S_algebraic; + + // precomputed matrices + struct blasfeo_dmat KKv; + struct blasfeo_dmat KKx; + struct blasfeo_dmat KKu; + + struct blasfeo_dmat YYv; + struct blasfeo_dmat YYx; + struct blasfeo_dmat YYu; + + struct blasfeo_dmat ZZv; + struct blasfeo_dmat ZZx; + struct blasfeo_dmat ZZu; + + struct blasfeo_dmat ALO; + struct blasfeo_dmat BLO; + struct blasfeo_dmat M2_LU; + int *ipivM2; + + struct blasfeo_dmat dK2_dx2; + struct blasfeo_dmat dK2_du; + struct blasfeo_dmat dx2f_dx2u; + + struct blasfeo_dmat Lu; + + // precomputed vectors for constant term in NSF + struct blasfeo_dvec KK0; + struct blasfeo_dvec YY0; + struct blasfeo_dvec ZZ0; + + // for algebraic sensitivities only; + // struct blasfeo_dmat *Z0x; + // struct blasfeo_dmat *Z0u; + // struct blasfeo_dmat *Z0v; + + // struct blasfeo_dmat *Y0x; + // struct blasfeo_dmat *Y0u; + // struct blasfeo_dmat *Y0v; + + // struct blasfeo_dmat *K0x; + // struct blasfeo_dmat *K0u; + // struct blasfeo_dmat *K0v; + + // struct blasfeo_dmat *ELO_LU; + // int *ipiv_ELO; + // struct blasfeo_dmat *ELO_inv_ALO; + + // struct blasfeo_dmat *Lx; + // struct blasfeo_dmat *Lxdot; + // struct blasfeo_dmat *Lz; + + double time_sim; + double time_ad; + double time_la; + +} sim_gnsf_memory; + + + +// gnsf dims +acados_size_t sim_gnsf_dims_calculate_size(); +void *sim_gnsf_dims_assign(void *config_, void *raw_memory); + +// get & set functions +void sim_gnsf_dims_set(void *config_, void *dims_, const char *field, const int *value); +void sim_gnsf_dims_get(void *config_, void *dims_, const char *field, int* value); + +// opts +acados_size_t sim_gnsf_opts_calculate_size(void *config, void *dims); +void *sim_gnsf_opts_assign(void *config, void *dims, void *raw_memory); +void sim_gnsf_opts_initialize_default(void *config, void *dims, void *opts_); +void sim_gnsf_opts_update(void *config_, void *dims, void *opts_); +void sim_gnsf_opts_set(void *config_, void *opts_, const char *field, void *value); + +// model +acados_size_t sim_gnsf_model_calculate_size(void *config, void *dims_); +void *sim_gnsf_model_assign(void *config, void *dims_, void *raw_memory); +int sim_gnsf_model_set(void *model_, const char *field, void *value); + +// precomputation +int sim_gnsf_precompute(void *config_, sim_in *in, sim_out *out, void *opts_, void *mem_, + void *work_); + +// workspace & memory +acados_size_t sim_gnsf_workspace_calculate_size(void *config, void *dims_, void *args); +acados_size_t sim_gnsf_memory_calculate_size(void *config, void *dims_, void *opts_); +void *sim_gnsf_memory_assign(void *config, void *dims_, void *opts_, void *raw_memory); + +// interface +void sim_gnsf_config_initialize_default(void *config_); + +// integrator +int sim_gnsf(void *config, sim_in *in, sim_out *out, void *opts, void *mem_, void *work_); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_SIM_SIM_GNSF_H_ diff --git a/third_party/acados/include/acados/sim/sim_irk_integrator.h b/third_party/acados/include/acados/sim/sim_irk_integrator.h new file mode 100644 index 0000000000..5090aa0bb5 --- /dev/null +++ b/third_party/acados/include/acados/sim/sim_irk_integrator.h @@ -0,0 +1,183 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef ACADOS_SIM_SIM_IRK_INTEGRATOR_H_ +#define ACADOS_SIM_SIM_IRK_INTEGRATOR_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include "acados/sim/sim_common.h" +#include "acados/utils/types.h" + +#include "blasfeo/include/blasfeo_common.h" + +typedef struct +{ + int nx; + int nu; + int nz; + +} sim_irk_dims; + + + +typedef struct +{ + /* external functions */ + // implicit fun - can either be fully implicit ode or dae + // - i.e. dae has z as additional last argument & nz > 0 + external_function_generic *impl_ode_fun; + // implicit ode & jac_x & jax_xdot & jac_z + external_function_generic *impl_ode_fun_jac_x_xdot_z; + // jax_x & jac_xdot & jac_u & jac_z of implicit ode + external_function_generic *impl_ode_jac_x_xdot_u_z; + // hessian of implicit ode: + external_function_generic *impl_ode_hess; +} irk_model; + + + +typedef struct +{ + struct blasfeo_dvec *rG; // residuals of G (nx*ns) + struct blasfeo_dvec *K; // internal K variables ((nx+nz)*ns) + struct blasfeo_dvec *xt; // temporary x + struct blasfeo_dvec *xn; // x at each integration step + struct blasfeo_dvec xtdot; // temporary xdot + + struct blasfeo_dvec *lambda; // adjoint sensitivities (nx + nu) + struct blasfeo_dvec *lambdaK; // auxiliary variable ((nx+nz)*ns) for adjoint propagation + + struct blasfeo_dmat df_dx; // temporary Jacobian of ode w.r.t x (nx+nz, nx) + struct blasfeo_dmat df_dxdot; // temporary Jacobian of ode w.r.t xdot (nx+nz, nx) + struct blasfeo_dmat df_du; // temporary Jacobian of ode w.r.t u (nx+nz, nu) + struct blasfeo_dmat df_dz; // temporary Jacobian of ode w.r.t z (nx+nz, nu) + + /* NOTE: the memory allocation corresponding to the following fields is CONDITIONAL */ + + // only allocated if (opts->sens_algebraic || opts->output_z) + int *ipiv_one_stage; // index of pivot vector (nx + nz) + double *Z_work; // used to perform computations to get out->zn (ns) + + // df_dxdotz, dk0_dxu, only allocated if (opts->sens_algebraic && opts->exact_z_output) + // used for algebraic sensitivity generation + struct blasfeo_dmat df_dxdotz; // temporary Jacobian of ode w.r.t. xdot,z (nx+nz, nx+nz); + struct blasfeo_dmat dk0_dxu; // intermediate result, (nx+nz, nx+nu) + + // dK_dxu: if (!opts->sens_hess) - single blasfeo_dmat that is reused + // if ( opts->sens_hess) - array of (num_steps) blasfeo_dmat + // to store intermediate results + struct blasfeo_dmat *dK_dxu; // jacobian of (K,Z) over x and u ((nx+nz)*ns, nx+nu); + + // S_forw: if (!opts->sens_hess) - single blasfeo_dmat that is reused + // if ( opts->sens_hess) - array of (num_steps + 1) blasfeo_dmat + // to store intermediate results + struct blasfeo_dmat *S_forw; // forward sensitivities (nx, nx+nu) + + // dG_dxu: if (!opts->sens_hess) - single blasfeo_dmat that is reused + // if ( opts->sens_hess) - array of blasfeo_dmat to store intermediate results + struct blasfeo_dmat *dG_dxu; // jacobian of G over x and u ((nx+nz)*ns, nx+nu) + + // dG_dK: if (!opts->sens_hess) - single blasfeo_dmat that is reused + // if ( opts->sens_hess) - array of blasfeo_dmat to store intermediate results + struct blasfeo_dmat *dG_dK; // jacobian of G over K ((nx+nz)*ns, (nx+nz)*ns) + + // ipiv: index of pivot vector + // if (!opts->sens_hess) - array (ns * (nx + nz)) that is reused + // if ( opts->sens_hess) - array (ns * (nx + nz)) * num_steps, to store all + // pivot vectors for dG_dxu + int *ipiv; // index of pivot vector + + // xn_traj, K_traj only available if( opts->sens_adj || opts->sens_hess ) + struct blasfeo_dvec *xn_traj; // xn trajectory + struct blasfeo_dvec *K_traj; // K trajectory + + /* the following variables are only available if (opts->sens_hess) */ + // For Hessian propagation + struct blasfeo_dmat Hess; // temporary Hessian (nx + nu, nx + nu) + // output of impl_ode_hess + struct blasfeo_dmat f_hess; // size: (nx + nu, nx + nu) + struct blasfeo_dmat dxkzu_dw0; // size (2*nx + nu + nz) x (nx + nu) + struct blasfeo_dmat tmp_dxkzu_dw0; // size (2*nx + nu + nz) x (nx + nu) + +} sim_irk_workspace; + + +typedef struct +{ + double *xdot; // xdot[NX] - initialization for state derivatives k within the integrator + double *z; // z[NZ] - initialization for algebraic variables z + + double time_sim; + double time_ad; + double time_la; +} sim_irk_memory; + + +// get & set functions +void sim_irk_dims_set(void *config_, void *dims_, const char *field, const int *value); +void sim_irk_dims_get(void *config_, void *dims_, const char *field, int* value); + +// dims +acados_size_t sim_irk_dims_calculate_size(); +void *sim_irk_dims_assign(void *config_, void *raw_memory); + +// model +acados_size_t sim_irk_model_calculate_size(void *config, void *dims); +void *sim_irk_model_assign(void *config, void *dims, void *raw_memory); +int sim_irk_model_set(void *model, const char *field, void *value); + +// opts +acados_size_t sim_irk_opts_calculate_size(void *config, void *dims); +void *sim_irk_opts_assign(void *config, void *dims, void *raw_memory); +void sim_irk_opts_initialize_default(void *config, void *dims, void *opts_); +void sim_irk_opts_update(void *config_, void *dims, void *opts_); +void sim_irk_opts_set(void *config_, void *opts_, const char *field, void *value); + +// memory +acados_size_t sim_irk_memory_calculate_size(void *config, void *dims, void *opts_); +void *sim_irk_memory_assign(void *config, void *dims, void *opts_, void *raw_memory); +int sim_irk_memory_set(void *config_, void *dims_, void *mem_, const char *field, void *value); + +// workspace +acados_size_t sim_irk_workspace_calculate_size(void *config, void *dims, void *opts_); +void sim_irk_config_initialize_default(void *config); + +// main +int sim_irk(void *config, sim_in *in, sim_out *out, void *opts_, void *mem_, void *work_); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_SIM_SIM_IRK_INTEGRATOR_H_ diff --git a/third_party/acados/include/acados/sim/sim_lifted_irk_integrator.h b/third_party/acados/include/acados/sim/sim_lifted_irk_integrator.h new file mode 100644 index 0000000000..e60bb80ebf --- /dev/null +++ b/third_party/acados/include/acados/sim/sim_lifted_irk_integrator.h @@ -0,0 +1,157 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef ACADOS_SIM_SIM_LIFTED_IRK_INTEGRATOR_H_ +#define ACADOS_SIM_SIM_LIFTED_IRK_INTEGRATOR_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include "acados/sim/sim_common.h" +#include "acados/utils/types.h" + +typedef struct +{ + int nx; + int nu; + int nz; +} sim_lifted_irk_dims; + + + +typedef struct +{ + /* external functions */ + // implicit ode + external_function_generic *impl_ode_fun; + // implicit ode & jax_x & jac_xdot & jac_u implicit ode + external_function_generic *impl_ode_fun_jac_x_xdot_u; + +} lifted_irk_model; + + + +typedef struct +{ + + struct blasfeo_dmat *J_temp_x; // temporary Jacobian of ode w.r.t x (nx, nx) + struct blasfeo_dmat *J_temp_xdot; // temporary Jacobian of ode w.r.t xdot (nx, nx) + struct blasfeo_dmat *J_temp_u; // temporary Jacobian of ode w.r.t u (nx, nu) + + struct blasfeo_dvec *rG; // residuals of G (nx*ns) + struct blasfeo_dvec *xt; // temporary x + struct blasfeo_dvec *xn; // x at each integration step (for evaluations) + struct blasfeo_dvec *xn_out; // x at each integration step (output) + struct blasfeo_dvec *dxn; // dx at each integration step + struct blasfeo_dvec *w; // stacked x and u + + int *ipiv; // index of pivot vector + +} sim_lifted_irk_workspace; + + + +typedef struct +{ + // memory for lifted integrators + struct blasfeo_dmat *S_forw; // forward sensitivities + struct blasfeo_dmat *JGK; // jacobian of G over K (nx*ns, nx*ns) + struct blasfeo_dmat *JGf; // jacobian of G over x and u (nx*ns, nx+nu); + struct blasfeo_dmat *JKf; // jacobian of K over x and u (nx*ns, nx+nu); + + struct blasfeo_dvec *K; // internal variables (nx*ns) + struct blasfeo_dvec *x; // states (nx) -- for expansion step + struct blasfeo_dvec *u; // controls (nu) -- for expansion step + + int update_sens; + // int init_K; + + double time_sim; + double time_ad; + double time_la; + +} sim_lifted_irk_memory; + + + +/* dims */ +void sim_lifted_irk_dims_set(void *config_, void *dims_, const char *field, const int *value); +void sim_lifted_irk_dims_get(void *config_, void *dims_, const char *field, int* value); + +acados_size_t sim_lifted_irk_dims_calculate_size(); +// +void *sim_lifted_irk_dims_assign(void* config_, void *raw_memory); + +/* model */ +// +acados_size_t sim_lifted_irk_model_calculate_size(void *config, void *dims); +// +void *sim_lifted_irk_model_assign(void *config, void *dims, void *raw_memory); +// +int sim_lifted_irk_model_set(void *model_, const char *field, void *value); + +/* opts */ +// +acados_size_t sim_lifted_irk_opts_calculate_size(void *config, void *dims); +// +void *sim_lifted_irk_opts_assign(void *config, void *dims, void *raw_memory); +// +void sim_lifted_irk_opts_initialize_default(void *config, void *dims, void *opts_); +// +void sim_lifted_irk_opts_update(void *config_, void *dims, void *opts_); +// +void sim_lifted_irk_opts_set(void *config_, void *opts_, const char *field, void *value); + +/* memory */ +// +acados_size_t sim_lifted_irk_memory_calculate_size(void *config, void *dims, void *opts_); +// +void *sim_lifted_irk_memory_assign(void *config, void *dims, void *opts_, void *raw_memory); + +/* workspace */ +// +acados_size_t sim_lifted_irk_workspace_calculate_size(void *config, void *dims, void *opts_); +// +void sim_lifted_irk_config_initialize_default(void *config); + +/* solver */ +// +int sim_lifted_irk(void *config, sim_in *in, sim_out *out, void *opts_, + void *mem_, void *work_); + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_SIM_SIM_LIFTED_IRK_INTEGRATOR_H_ diff --git a/third_party/acados/include/acados/utils/external_function_generic.h b/third_party/acados/include/acados/utils/external_function_generic.h new file mode 100644 index 0000000000..1e68dc155d --- /dev/null +++ b/third_party/acados/include/acados/utils/external_function_generic.h @@ -0,0 +1,242 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef ACADOS_UTILS_EXTERNAL_FUNCTION_GENERIC_H_ +#define ACADOS_UTILS_EXTERNAL_FUNCTION_GENERIC_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include "acados/utils/types.h" + +/************************************************ + * generic external function + ************************************************/ + +// type of arguments +typedef enum { + COLMAJ, + BLASFEO_DMAT, + BLASFEO_DVEC, + COLMAJ_ARGS, + BLASFEO_DMAT_ARGS, + BLASFEO_DVEC_ARGS, + IGNORE_ARGUMENT +} ext_fun_arg_t; + +struct colmaj_args +{ + double *A; + int lda; +}; + +struct blasfeo_dmat_args +{ + struct blasfeo_dmat *A; + int ai; + int aj; +}; + +struct blasfeo_dvec_args +{ + struct blasfeo_dvec *x; + int xi; +}; + +// prototype of an external function +typedef struct +{ + // public members (have to be before private ones) + void (*evaluate)(void *, ext_fun_arg_t *, void **, ext_fun_arg_t *, void **); + // private members + // ..... +} external_function_generic; + + + +/************************************************ + * generic external parametric function + ************************************************/ + +// prototype of a parametric external function +typedef struct +{ + // public members for core (have to be before private ones) + void (*evaluate)(void *, ext_fun_arg_t *, void **, ext_fun_arg_t *, void **); + // public members for interfaces + void (*get_nparam)(void *, int *); + void (*set_param)(void *, double *); + void (*set_param_sparse)(void *, int n_update, int *idx, double *); + // private members + void *ptr_ext_mem; // pointer to external memory + int (*fun)(void **, void **, void *); + double *p; // parameters + int np; // number of parameters + // ..... +} external_function_param_generic; + +// +acados_size_t external_function_param_generic_struct_size(); +// +void external_function_param_generic_set_fun(external_function_param_generic *fun, void *value); +// +acados_size_t external_function_param_generic_calculate_size(external_function_param_generic *fun, int np); +// +void external_function_param_generic_assign(external_function_param_generic *fun, void *mem); +// +void external_function_param_generic_wrapper(void *self, ext_fun_arg_t *type_in, void **in, ext_fun_arg_t *type_out, void **out); +// +void external_function_param_generic_get_nparam(void *self, int *np); +// +void external_function_param_generic_set_param(void *self, double *p); + + +/************************************************ + * casadi external function + ************************************************/ + +typedef struct +{ + // public members (have to be the same as in the prototype, and before the private ones) + void (*evaluate)(void *, ext_fun_arg_t *, void **, ext_fun_arg_t *, void **); + // private members + void *ptr_ext_mem; // pointer to external memory + int (*casadi_fun)(const double **, double **, int *, double *, void *); + int (*casadi_work)(int *, int *, int *, int *); + const int *(*casadi_sparsity_in)(int); + const int *(*casadi_sparsity_out)(int); + int (*casadi_n_in)(void); + int (*casadi_n_out)(void); + double **args; + double **res; + double *w; + int *iw; + int *args_size; // size of args[i] + int *res_size; // size of res[i] + int args_num; // number of args arrays + int args_size_tot; // total size of args arrays + int res_num; // number of res arrays + int res_size_tot; // total size of res arrays + int in_num; // number of input arrays + int out_num; // number of output arrays + int iw_size; // number of ints for worksapce + int w_size; // number of doubles for workspace +} external_function_casadi; + +// +acados_size_t external_function_casadi_struct_size(); +// +void external_function_casadi_set_fun(external_function_casadi *fun, void *value); +// +void external_function_casadi_set_work(external_function_casadi *fun, void *value); +// +void external_function_casadi_set_sparsity_in(external_function_casadi *fun, void *value); +// +void external_function_casadi_set_sparsity_out(external_function_casadi *fun, void *value); +// +void external_function_casadi_set_n_in(external_function_casadi *fun, void *value); +// +void external_function_casadi_set_n_out(external_function_casadi *fun, void *value); +// +acados_size_t external_function_casadi_calculate_size(external_function_casadi *fun); +// +void external_function_casadi_assign(external_function_casadi *fun, void *mem); +// +void external_function_casadi_wrapper(void *self, ext_fun_arg_t *type_in, void **in, + ext_fun_arg_t *type_out, void **out); + +/************************************************ + * casadi external parametric function + ************************************************/ + +typedef struct +{ + // public members for core (have to be the same as in the prototype, and before the private ones) + void (*evaluate)(void *, ext_fun_arg_t *, void **, ext_fun_arg_t *, void **); + // public members for interfaces + void (*get_nparam)(void *, int *); + void (*set_param)(void *, double *); + void (*set_param_sparse)(void *, int n_update, int *idx, double *); + // private members + void *ptr_ext_mem; // pointer to external memory + int (*casadi_fun)(const double **, double **, int *, double *, void *); + int (*casadi_work)(int *, int *, int *, int *); + const int *(*casadi_sparsity_in)(int); + const int *(*casadi_sparsity_out)(int); + int (*casadi_n_in)(void); + int (*casadi_n_out)(void); + double **args; + double **res; + double *w; + int *iw; + int *args_size; // size of args[i] + int *res_size; // size of res[i] + int args_num; // number of args arrays + int args_size_tot; // total size of args arrays + int res_num; // number of res arrays + int res_size_tot; // total size of res arrays + int in_num; // number of input arrays + int out_num; // number of output arrays + int iw_size; // number of ints for worksapce + int w_size; // number of doubles for workspace + int np; // number of parameters +} external_function_param_casadi; + +// +acados_size_t external_function_param_casadi_struct_size(); +// +void external_function_param_casadi_set_fun(external_function_param_casadi *fun, void *value); +// +void external_function_param_casadi_set_work(external_function_param_casadi *fun, void *value); +// +void external_function_param_casadi_set_sparsity_in(external_function_param_casadi *fun, void *value); +// +void external_function_param_casadi_set_sparsity_out(external_function_param_casadi *fun, void *value); +// +void external_function_param_casadi_set_n_in(external_function_param_casadi *fun, void *value); +// +void external_function_param_casadi_set_n_out(external_function_param_casadi *fun, void *value); +// +acados_size_t external_function_param_casadi_calculate_size(external_function_param_casadi *fun, int np); +// +void external_function_param_casadi_assign(external_function_param_casadi *fun, void *mem); +// +void external_function_param_casadi_wrapper(void *self, ext_fun_arg_t *type_in, void **in, + ext_fun_arg_t *type_out, void **out); +// +void external_function_param_casadi_get_nparam(void *self, int *np); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_UTILS_EXTERNAL_FUNCTION_GENERIC_H_ diff --git a/third_party/acados/include/acados/utils/math.h b/third_party/acados/include/acados/utils/math.h new file mode 100644 index 0000000000..7156a82084 --- /dev/null +++ b/third_party/acados/include/acados/utils/math.h @@ -0,0 +1,103 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +#ifndef ACADOS_UTILS_MATH_H_ +#define ACADOS_UTILS_MATH_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include "acados/utils/types.h" + +#if defined(__MABX2__) +double fmax(double a, double b); +int isnan(double x); +#endif + +#define MIN(a,b) (((a)<(b))?(a):(b)) +#define MAX(a,b) (((a)>(b))?(a):(b)) + +void dgemm_nn_3l(int m, int n, int k, double *A, int lda, double *B, int ldb, double *C, int ldc); +// void dgemv_n_3l(int m, int n, double *A, int lda, double *x, double *y); +// void dgemv_t_3l(int m, int n, double *A, int lda, double *x, double *y); +// void dcopy_3l(int n, double *x, int incx, double *y, int incy); +void daxpy_3l(int n, double da, double *dx, double *dy); +void dscal_3l(int n, double da, double *dx); +double twonormv(int n, double *ptrv); + +/* copies a matrix into another matrix */ +void dmcopy(int row, int col, double *ptrA, int lda, double *ptrB, int ldb); + +/* solution of a system of linear equations */ +void dgesv_3l(int n, int nrhs, double *A, int lda, int *ipiv, double *B, int ldb, int *info); + +/* matrix exponential */ +void expm(int row, double *A); + +int idamax_3l(int n, double *x); + +void dswap_3l(int n, double *x, int incx, double *y, int incy); + +void dger_3l(int m, int n, double alpha, double *x, int incx, double *y, int incy, double *A, + int lda); + +void dgetf2_3l(int m, int n, double *A, int lda, int *ipiv, int *info); + +void dlaswp_3l(int n, double *A, int lda, int k1, int k2, int *ipiv); + +void dtrsm_l_l_n_u_3l(int m, int n, double *A, int lda, double *B, int ldb); + +void dgetrs_3l(int n, int nrhs, double *A, int lda, int *ipiv, double *B, int ldb); + +void dgesv_3l(int n, int nrhs, double *A, int lda, int *ipiv, double *B, int ldb, int *info); + +double onenorm(int row, int col, double *ptrA); + +// double twonormv(int n, double *ptrv); + +void padeapprox(int m, int row, double *A); + +void expm(int row, double *A); + +// void d_compute_qp_size_ocp2dense_rev(int N, int *nx, int *nu, int *nb, int **hidxb, int *ng, +// int *nvd, int *ned, int *nbd, int *ngd); + +void acados_eigen_decomposition(int dim, double *A, double *V, double *d, double *e); + +double minimum_of_doubles(double *x, int n); + +void neville_algorithm(double xx, int n, double *x, double *Q, double *out); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_UTILS_MATH_H_ diff --git a/third_party/acados/include/acados/utils/mem.h b/third_party/acados/include/acados/utils/mem.h new file mode 100644 index 0000000000..681a371e36 --- /dev/null +++ b/third_party/acados/include/acados/utils/mem.h @@ -0,0 +1,110 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef ACADOS_UTILS_MEM_H_ +#define ACADOS_UTILS_MEM_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include +#include + +#include "types.h" + +// blasfeo +#include "blasfeo/include/blasfeo_d_aux.h" +#include "blasfeo/include/blasfeo_d_aux_ext_dep.h" + +// TODO(dimitris): probably does not belong here +typedef struct +{ + int (*fun)(void *); + acados_size_t (*calculate_args_size)(void *); + void *(*assign_args)(void *); + void (*initialize_default_args)(void *); + acados_size_t (*calculate_memory_size)(void *); + void *(*assign_memory)(void *); + acados_size_t (*calculate_workspace_size)(void *); +} module_solver; + +// make int counter of memory multiple of a number (typically 8 or 64) +void make_int_multiple_of(acados_size_t num, acados_size_t *size); + +// align char pointer to number (typically 8 for pointers and doubles, +// 64 for blasfeo structs) and return offset +int align_char_to(int num, char **c_ptr); + +// switch between malloc and calloc (for valgrinding) +void *acados_malloc(size_t nitems, acados_size_t size); + +// uses always calloc +void *acados_calloc(size_t nitems, acados_size_t size); + +// allocate vector of pointers to vectors of doubles and advance pointer +void assign_and_advance_double_ptrs(int n, double ***v, char **ptr); + +// allocate vector of pointers to vectors of ints and advance pointer +void assign_and_advance_int_ptrs(int n, int ***v, char **ptr); + +// allocate vector of pointers to strvecs and advance pointer +void assign_and_advance_blasfeo_dvec_structs(int n, struct blasfeo_dvec **sv, char **ptr); + +// allocate vector of pointers to strmats and advance pointer +void assign_and_advance_blasfeo_dmat_structs(int n, struct blasfeo_dmat **sm, char **ptr); + +// allocate vector of pointers to vector of pointers to strmats and advance pointer +void assign_and_advance_blasfeo_dmat_ptrs(int n, struct blasfeo_dmat ***sm, char **ptr); + +// allocate vector of chars and advance pointer +void assign_and_advance_char(int n, char **v, char **ptr); + +// allocate vector of ints and advance pointer +void assign_and_advance_int(int n, int **v, char **ptr); + +// allocate vector of bools and advance pointer +void assign_and_advance_bool(int n, bool **v, char **ptr); + +// allocate vector of doubles and advance pointer +void assign_and_advance_double(int n, double **v, char **ptr); + +// allocate strvec and advance pointer +void assign_and_advance_blasfeo_dvec_mem(int n, struct blasfeo_dvec *sv, char **ptr); + +// allocate strmat and advance pointer +void assign_and_advance_blasfeo_dmat_mem(int m, int n, struct blasfeo_dmat *sA, char **ptr); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_UTILS_MEM_H_ diff --git a/third_party/acados/include/acados/utils/print.h b/third_party/acados/include/acados/utils/print.h new file mode 100644 index 0000000000..824d3cee22 --- /dev/null +++ b/third_party/acados/include/acados/utils/print.h @@ -0,0 +1,110 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef ACADOS_UTILS_PRINT_H_ +#define ACADOS_UTILS_PRINT_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include "acados/dense_qp/dense_qp_common.h" +#include "acados/ocp_nlp/ocp_nlp_common.h" +#include "acados/ocp_qp/ocp_qp_common.h" +#include "acados/ocp_qp/ocp_qp_common_frontend.h" +#include "acados/utils/types.h" + +// void print_matrix(char *file_name, const real_t *matrix, const int_t nrows, const int_t ncols); + +// void print_matrix_name(char *file_name, char *name, const real_t *matrix, const int_t nrows, +// const int_t ncols); + +// void print_int_matrix(char *file_name, const int_t *matrix, const int_t nrows, const int_t ncols); + +// void print_array(char *file_name, real_t *array, int_t size); + +// void print_int_array(char *file_name, const int_t *array, int_t size); + +void read_matrix(const char *file_name, real_t *array, const int_t nrows, const int_t ncols); + +void write_double_vector_to_txt(real_t *vec, int_t n, const char *fname); + +// ocp nlp +// TODO(andrea): inconsistent naming +void ocp_nlp_dims_print(ocp_nlp_dims *dims); +// TODO(andrea): inconsistent naming +void ocp_nlp_out_print(ocp_nlp_dims *dims, ocp_nlp_out *nlp_out); +// TODO(andrea): inconsistent naming +void ocp_nlp_res_print(ocp_nlp_dims *dims, ocp_nlp_res *nlp_res); + +// ocp qp +// TODO: move printing routines below that print qp structures to HPIPM! +void print_ocp_qp_dims(ocp_qp_dims *dims); + +// void print_dense_qp_dims(dense_qp_dims *dims); + +void print_ocp_qp_in(ocp_qp_in *qp_in); + +void print_ocp_qp_in_to_file(FILE *file, ocp_qp_in *qp_in); + +void print_ocp_qp_out(ocp_qp_out *qp_out); + +void print_ocp_qp_out_to_file(FILE *file, ocp_qp_out *qp_out); + +void print_ocp_qp_res(ocp_qp_res *qp_res); + +void print_dense_qp_in(dense_qp_in *qp_in); +// void print_ocp_qp_in_to_string(char string_out[], ocp_qp_in *qp_in); + +// void print_ocp_qp_out_to_string(char string_out[], ocp_qp_out *qp_out); + +// void print_colmaj_ocp_qp_in(colmaj_ocp_qp_in *qp); + +// void print_colmaj_ocp_qp_in_to_file(colmaj_ocp_qp_in *qp); + +// void print_colmaj_ocp_qp_out(char *filename, colmaj_ocp_qp_in *qp, colmaj_ocp_qp_out *out); + +void print_qp_info(qp_info *info); + +// void acados_warning(char warning_string[]); + +// void acados_error(char error_string[]); + +// void acados_not_implemented(char feature_string[]); + +// blasfeo +// void print_blasfeo_target(); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_UTILS_PRINT_H_ diff --git a/third_party/acados/include/acados/utils/strsep.h b/third_party/acados/include/acados/utils/strsep.h new file mode 100644 index 0000000000..62bdfb4891 --- /dev/null +++ b/third_party/acados/include/acados/utils/strsep.h @@ -0,0 +1,69 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef ACADOS_UTILS_STRSEP_H_ +#define ACADOS_UTILS_STRSEP_H_ + +#ifdef __cplusplus +#include +#define STD(x) std::x +namespace std +{ +#else +#include +#define STD(x) x +#endif + +char* strsep_acados(char** stringp, const char* delim) +{ + char* result; + + if ((stringp == NULL) || (*stringp == NULL)) return NULL; + + result = *stringp; + + while (**stringp && !STD(strchr)(delim, **stringp)) ++*stringp; + + if (**stringp) + *(*stringp)++ = '\0'; + else + *stringp = NULL; + + return result; +} + +#ifdef __cplusplus +} // namespace std +#endif + +#undef STD + +#endif // ACADOS_UTILS_STRSEP_H_ diff --git a/third_party/acados/include/acados/utils/timing.h b/third_party/acados/include/acados/utils/timing.h new file mode 100644 index 0000000000..b0955932da --- /dev/null +++ b/third_party/acados/include/acados/utils/timing.h @@ -0,0 +1,122 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef ACADOS_UTILS_TIMING_H_ +#define ACADOS_UTILS_TIMING_H_ + +#include "acados/utils/types.h" + +#ifdef __cplusplus +extern "C" { +#endif + +#ifdef MEASURE_TIMINGS +#if (defined _WIN32 || defined _WIN64) && !(defined __MINGW32__ || defined __MINGW64__) + +/* Use Windows QueryPerformanceCounter for timing. */ +#include + +/** A structure for keeping internal timer data. */ +typedef struct acados_timer_ +{ + LARGE_INTEGER tic; + LARGE_INTEGER toc; + LARGE_INTEGER freq; +} acados_timer; + +#elif defined(__APPLE__) + +#include + +/** A structure for keeping internal timer data. */ +typedef struct acados_timer_ +{ + uint64_t tic; + uint64_t toc; + mach_timebase_info_data_t tinfo; +} acados_timer; + +#elif defined(__MABX2__) + +#include + +typedef struct acados_timer_ +{ + double time; +} acados_timer; + +#else + +/* Use POSIX clock_gettime() for timing on non-Windows machines. */ +#include + +#if (__STDC_VERSION__ >= 199901L) && !(defined __MINGW32__ || defined __MINGW64__) // C99 Mode + +#include +#include + +typedef struct acados_timer_ +{ + struct timeval tic; + struct timeval toc; +} acados_timer; + +#else // ANSI C Mode + +/** A structure for keeping internal timer data. */ +typedef struct acados_timer_ +{ + struct timespec tic; + struct timespec toc; +} acados_timer; + +#endif // __STDC_VERSION__ >= 199901L + +#endif // (defined _WIN32 || defined _WIN64) + +#else + +// Dummy type when timings are off +typedef real_t acados_timer; + +#endif // MEASURE_TIMINGS + +/** A function for measurement of the current time. */ +void acados_tic(acados_timer* t); + +/** A function which returns the elapsed time. */ +real_t acados_toc(acados_timer* t); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_UTILS_TIMING_H_ diff --git a/third_party/acados/include/acados/utils/types.h b/third_party/acados/include/acados/utils/types.h new file mode 100644 index 0000000000..a27ef9e552 --- /dev/null +++ b/third_party/acados/include/acados/utils/types.h @@ -0,0 +1,91 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef ACADOS_UTILS_TYPES_H_ +#define ACADOS_UTILS_TYPES_H_ + +/* Symbol visibility in DLLs */ +#ifndef ACADOS_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define ACADOS_SYMBOL_EXPORT + #else + #define ACADOS_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && ((__GNUC__ >= 4) || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) + #define ACADOS_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define ACADOS_SYMBOL_EXPORT + #endif +#endif + +#ifdef __cplusplus +extern "C" { +#endif + +#include +#include + +#define MAX_STR_LEN 256 +#define ACADOS_EPS 1e-12 +#define ACADOS_NEG_INFTY -1.0e9 +#define ACADOS_POS_INFTY +1.0e9 +#define UNUSED(x) ((void)(x)) + + + +typedef double real_t; +typedef int int_t; +typedef size_t acados_size_t; + + +typedef int (*casadi_function_t)(const double** arg, double** res, int* iw, double* w, void* mem); + + + +// enum of return values +enum return_values +{ + ACADOS_SUCCESS, + ACADOS_NAN_DETECTED, + ACADOS_MAXITER, + ACADOS_MINSTEP, + ACADOS_QP_FAILURE, + ACADOS_READY, +}; + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_UTILS_TYPES_H_ diff --git a/third_party/acados/include/acados_c/condensing_interface.h b/third_party/acados/include/acados_c/condensing_interface.h new file mode 100644 index 0000000000..b4302078d6 --- /dev/null +++ b/third_party/acados/include/acados_c/condensing_interface.h @@ -0,0 +1,81 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef INTERFACES_ACADOS_C_CONDENSING_INTERFACE_H_ +#define INTERFACES_ACADOS_C_CONDENSING_INTERFACE_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include "acados/ocp_qp/ocp_qp_full_condensing.h" +#include "acados/ocp_qp/ocp_qp_partial_condensing.h" + +typedef enum { + PARTIAL_CONDENSING, + FULL_CONDENSING, +} condensing_t; + +typedef struct +{ + condensing_t condensing_type; +} condensing_plan; + +typedef struct +{ + ocp_qp_xcond_config *config; + void *dims; + void *opts; + void *mem; + void *work; +} condensing_module; + +ocp_qp_xcond_config *ocp_qp_condensing_config_create(condensing_plan *plan); +// +void *ocp_qp_condensing_opts_create(ocp_qp_xcond_config *config, void *dims_); +// +acados_size_t ocp_qp_condensing_calculate_size(ocp_qp_xcond_config *config, void *dims_, void *opts_); +// +condensing_module *ocp_qp_condensing_assign(ocp_qp_xcond_config *config, void *dims_, + void *opts_, void *raw_memory); +// +condensing_module *ocp_qp_condensing_create(ocp_qp_xcond_config *config, void *dims_, + void *opts_); +// +int ocp_qp_condense(condensing_module *module, void *qp_in, void *qp_out); +// +int ocp_qp_expand(condensing_module *module, void *qp_in, void *qp_out); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // INTERFACES_ACADOS_C_CONDENSING_INTERFACE_H_ diff --git a/third_party/acados/include/acados_c/dense_qp_interface.h b/third_party/acados/include/acados_c/dense_qp_interface.h new file mode 100644 index 0000000000..b3af4bf682 --- /dev/null +++ b/third_party/acados/include/acados_c/dense_qp_interface.h @@ -0,0 +1,91 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef INTERFACES_ACADOS_C_DENSE_QP_INTERFACE_H_ +#define INTERFACES_ACADOS_C_DENSE_QP_INTERFACE_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include "acados/dense_qp/dense_qp_common.h" + +typedef enum { DENSE_QP_HPIPM, DENSE_QP_QORE, DENSE_QP_QPOASES, DENSE_QP_OOQP, DENSE_QP_DAQP } dense_qp_solver_t; + +typedef struct +{ + dense_qp_solver_t qp_solver; +} dense_qp_solver_plan; + +typedef struct +{ + qp_solver_config *config; + void *dims; + void *opts; + void *mem; + void *work; +} dense_qp_solver; + +qp_solver_config *dense_qp_config_create(dense_qp_solver_plan *plan); +// +dense_qp_dims *dense_qp_dims_create(); +// +dense_qp_in *dense_qp_in_create(qp_solver_config *config, dense_qp_dims *dims); +// +dense_qp_out *dense_qp_out_create(qp_solver_config *config, dense_qp_dims *dims); +// +void *dense_qp_opts_create(qp_solver_config *config, dense_qp_dims *dims); +// +acados_size_t dense_qp_calculate_size(qp_solver_config *config, dense_qp_dims *dims, void *opts_); +// +dense_qp_solver *dense_qp_assign(qp_solver_config *config, dense_qp_dims *dims, void *opts_, + void *raw_memory); +// +dense_qp_solver *dense_qp_create(qp_solver_config *config, dense_qp_dims *dims, void *opts_); +// +int dense_qp_solve(dense_qp_solver *solver, dense_qp_in *qp_in, dense_qp_out *qp_out); +// +void dense_qp_inf_norm_residuals(dense_qp_dims *dims, dense_qp_in *qp_in, dense_qp_out *qp_out, + double *res); +// +bool dense_qp_set_field_double_array(const char *field, double *arr, dense_qp_in *qp_in); +// +bool dense_qp_set_field_int_array(const char *field, int *arr, dense_qp_in *qp_in); +// +bool dense_qp_get_field_double_array(const char *field, dense_qp_in *qp_in, double *arr); +// +bool dense_qp_get_field_int_array(const char *field, dense_qp_in *qp_in, int *arr); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // INTERFACES_ACADOS_C_DENSE_QP_INTERFACE_H_ diff --git a/third_party/acados/include/acados_c/external_function_interface.h b/third_party/acados/include/acados_c/external_function_interface.h new file mode 100644 index 0000000000..d4f52db850 --- /dev/null +++ b/third_party/acados/include/acados_c/external_function_interface.h @@ -0,0 +1,89 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef INTERFACES_ACADOS_C_EXTERNAL_FUNCTION_INTERFACE_H_ +#define INTERFACES_ACADOS_C_EXTERNAL_FUNCTION_INTERFACE_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include "acados/utils/external_function_generic.h" + + + +/************************************************ + * generic external parametric function + ************************************************/ + +// +void external_function_param_generic_create(external_function_param_generic *fun, int np); +// +void external_function_param_generic_free(external_function_param_generic *fun); + + + +/************************************************ + * casadi external function + ************************************************/ + +// +void external_function_casadi_create(external_function_casadi *fun); +// +void external_function_casadi_free(external_function_casadi *fun); +// +void external_function_casadi_create_array(int size, external_function_casadi *funs); +// +void external_function_casadi_free_array(int size, external_function_casadi *funs); + + + +/************************************************ + * casadi external parametric function + ************************************************/ + +// +void external_function_param_casadi_create(external_function_param_casadi *fun, int np); +// +void external_function_param_casadi_free(external_function_param_casadi *fun); +// +void external_function_param_casadi_create_array(int size, external_function_param_casadi *funs, + int np); +// +void external_function_param_casadi_free_array(int size, external_function_param_casadi *funs); + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // INTERFACES_ACADOS_C_EXTERNAL_FUNCTION_INTERFACE_H_ diff --git a/third_party/acados/include/acados_c/ocp_nlp_interface.h b/third_party/acados/include/acados_c/ocp_nlp_interface.h new file mode 100644 index 0000000000..dd3e596f8b --- /dev/null +++ b/third_party/acados/include/acados_c/ocp_nlp_interface.h @@ -0,0 +1,428 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef INTERFACES_ACADOS_C_OCP_NLP_INTERFACE_H_ +#define INTERFACES_ACADOS_C_OCP_NLP_INTERFACE_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +// acados +#include "acados/ocp_nlp/ocp_nlp_common.h" +#include "acados/ocp_nlp/ocp_nlp_constraints_bgh.h" +#include "acados/sim/sim_erk_integrator.h" +#include "acados/sim/sim_irk_integrator.h" +#include "acados/sim/sim_lifted_irk_integrator.h" +#include "acados/sim/sim_gnsf.h" +#include "acados/utils/types.h" +// acados_c +#include "acados_c/ocp_qp_interface.h" +#include "acados_c/sim_interface.h" + + +/// Solution methods for optimal control problems. +typedef enum +{ + SQP, + SQP_RTI, + INVALID_NLP_SOLVER, +} ocp_nlp_solver_t; + + +/// Types of the cost function. +typedef enum +{ + LINEAR_LS, + NONLINEAR_LS, + CONVEX_OVER_NONLINEAR, + EXTERNAL, + INVALID_COST, +} ocp_nlp_cost_t; + + +/// Types of the system dynamics, discrete or continuous time. +typedef enum +{ + CONTINUOUS_MODEL, + DISCRETE_MODEL, + INVALID_DYNAMICS, +} ocp_nlp_dynamics_t; + + +/// Constraint types +typedef enum +{ + /// Comprises simple bounds, polytopic constraints, + /// general non-linear constraints. + BGH, + + /// Comprises simple bounds, polytopic constraints, + /// general non-linear constraints, and positive definite constraints. + BGP, + + INVALID_CONSTRAINT, +} ocp_nlp_constraints_t; + + +/// Regularization types +typedef enum +{ + NO_REGULARIZE, + MIRROR, + PROJECT, + PROJECT_REDUC_HESS, + CONVEXIFY, + INVALID_REGULARIZE, +} ocp_nlp_reg_t; + + +/// Structure to store the configuration of a non-linear program +typedef struct ocp_nlp_plan_t +{ + /// QP solver configuration. + ocp_qp_solver_plan_t ocp_qp_solver_plan; + + /// Simulation solver configuration for each stage. + sim_solver_plan_t *sim_solver_plan; + + /// Nlp solver type. + ocp_nlp_solver_t nlp_solver; + + /// Regularization type, defaults to no regularization. + ocp_nlp_reg_t regularization; + + /// Cost type for each stage. + ocp_nlp_cost_t *nlp_cost; + + /// Dynamics type for each stage. + ocp_nlp_dynamics_t *nlp_dynamics; + + /// Constraints type for each stage. + ocp_nlp_constraints_t *nlp_constraints; + + /// Horizon length. + int N; + +} ocp_nlp_plan_t; + + +/// Structure to store the state/configuration for the non-linear programming solver +typedef struct ocp_nlp_solver +{ + ocp_nlp_config *config; + void *dims; + void *opts; + void *mem; + void *work; +} ocp_nlp_solver; + + +/// Constructs an empty plan struct (user nlp configuration), all fields are set to a +/// default/invalid state. +/// +/// \param N Horizon length +ACADOS_SYMBOL_EXPORT ocp_nlp_plan_t *ocp_nlp_plan_create(int N); + +/// Destructor for plan struct, frees memory. +/// +/// \param plan_ The plan struct to destroy. +ACADOS_SYMBOL_EXPORT void ocp_nlp_plan_destroy(void* plan_); + + +/// Constructs an nlp configuration struct from a plan. +/// +/// \param plan The plan (user nlp configuration). +ACADOS_SYMBOL_EXPORT ocp_nlp_config *ocp_nlp_config_create(ocp_nlp_plan_t plan); + +/// Desctructor of the nlp configuration. +/// +/// \param config_ The configuration struct. +ACADOS_SYMBOL_EXPORT void ocp_nlp_config_destroy(void *config_); + + +/// Constructs an struct that contains the dimensions of the variables. +/// +/// \param config_ The configuration struct. +ACADOS_SYMBOL_EXPORT ocp_nlp_dims *ocp_nlp_dims_create(void *config_); + +/// Destructor of The dimension struct. +/// +/// \param dims_ The dimension struct. +ACADOS_SYMBOL_EXPORT void ocp_nlp_dims_destroy(void *dims_); + + +/// Constructs an input struct for a non-linear programs. +/// +/// \param config The configuration struct. +/// \param dims The dimension struct. +ACADOS_SYMBOL_EXPORT ocp_nlp_in *ocp_nlp_in_create(ocp_nlp_config *config, ocp_nlp_dims *dims); + +/// Destructor of the inputs struct. +/// +/// \param in The inputs struct. +ACADOS_SYMBOL_EXPORT void ocp_nlp_in_destroy(void *in); + + +/// Sets the sampling times for the given stage. +/// +/// \param config The configuration struct. +/// \param dims The dimension struct. +/// \param in The inputs struct. +/// \param stage Stage number. +/// \param field Has to be "Ts" (TBC other options). +/// \param value The sampling times (floating point). +ACADOS_SYMBOL_EXPORT void ocp_nlp_in_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, int stage, + const char *field, void *value); + +/// +// void ocp_nlp_in_get(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, int stage, +// const char *field, void *value); + +/// Sets the function pointers to the dynamics functions for the given stage. +/// +/// \param config The configuration struct. +/// \param dims The dimension struct. +/// \param in The inputs struct. +/// \param stage Stage number. +/// \param fun_type The name of the function type, either impl_ode_fun, +/// impl_ode_fun_jac_x_xdot, impl_ode_jac_x_xdot_u (TBC) +/// \param fun_ptr Function pointer to the dynamics function. +ACADOS_SYMBOL_EXPORT int ocp_nlp_dynamics_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, + int stage, const char *fun_type, void *fun_ptr); + + +/// Sets the function pointers to the cost functions for the given stage. +/// +/// \param config The configuration struct. +/// \param dims The dimension struct. +/// \param in The inputs struct. +/// \param stage Stage number. +/// \param field The name of the field, either nls_res_jac, +/// y_ref, W (others TBC) +/// \param value Cost values. +ACADOS_SYMBOL_EXPORT int ocp_nlp_cost_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, + int stage, const char *field, void *value); + + +/// Sets the function pointers to the constraints functions for the given stage. +/// +/// \param config The configuration struct. +/// \param dims The dimension struct. +/// \param in The inputs struct. +/// \param stage Stage number. +/// \param field The name of the field, either lb, ub (others TBC) +/// \param value Constraints function or values. +ACADOS_SYMBOL_EXPORT int ocp_nlp_constraints_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims, + ocp_nlp_in *in, int stage, const char *field, void *value); + +/// +ACADOS_SYMBOL_EXPORT void ocp_nlp_constraints_model_get(ocp_nlp_config *config, ocp_nlp_dims *dims, + ocp_nlp_in *in, int stage, const char *field, void *value); + +/* out */ + +/// Constructs an output struct for the non-linear program. +/// +/// \param config The configuration struct. +/// \param dims The dimension struct. +ACADOS_SYMBOL_EXPORT ocp_nlp_out *ocp_nlp_out_create(ocp_nlp_config *config, ocp_nlp_dims *dims); + +/// Destructor of the output struct. +/// +/// \param out The output struct. +ACADOS_SYMBOL_EXPORT void ocp_nlp_out_destroy(void *out); + + +/// Sets fields in the output struct of an nlp solver, used to initialize the solver. +/// +/// \param config The configuration struct. +/// \param dims The dimension struct. +/// \param out The output struct. +/// \param stage Stage number. +/// \param field The name of the field, either x, u, pi. +/// \param value Initialization values. +ACADOS_SYMBOL_EXPORT void ocp_nlp_out_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out, + int stage, const char *field, void *value); + + +/// Gets values of fields in the output struct of an nlp solver. +/// +/// \param config The configuration struct. +/// \param dims The dimension struct. +/// \param out The output struct. +/// \param stage Stage number. +/// \param field The name of the field, either x, u, z, pi. +/// \param value Pointer to the output memory. +ACADOS_SYMBOL_EXPORT void ocp_nlp_out_get(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out, + int stage, const char *field, void *value); + +// +ACADOS_SYMBOL_EXPORT void ocp_nlp_get_at_stage(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_solver *solver, + int stage, const char *field, void *value); + +// TODO(andrea): remove this once/if the MATLAB interface uses the new setters below? +ACADOS_SYMBOL_EXPORT int ocp_nlp_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out, + int stage, const char *field); + +ACADOS_SYMBOL_EXPORT void ocp_nlp_constraint_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out, + int stage, const char *field, int *dims_out); + +ACADOS_SYMBOL_EXPORT void ocp_nlp_cost_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out, + int stage, const char *field, int *dims_out); + +ACADOS_SYMBOL_EXPORT void ocp_nlp_qp_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out, + int stage, const char *field, int *dims_out); + +/* opts */ + +/// Creates an options struct for the non-linear program. +/// +/// \param config The configuration struct. +/// \param dims The dimension struct. +ACADOS_SYMBOL_EXPORT void *ocp_nlp_solver_opts_create(ocp_nlp_config *config, ocp_nlp_dims *dims); + +/// Destructor of the options. +/// +/// \param opts The options struct. +ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_opts_destroy(void *opts); + +/// Sets an option. +/// +/// \param config The configuration struct. +/// \param opts_ The options struct. +/// \param field Name of the option. +/// \param value Value of the option. +ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_opts_set(ocp_nlp_config *config, void *opts_, const char *field, void* value); + + +// ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_opts_get(ocp_nlp_config *config, void *opts_, const char *field, void* value); + + +ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_opts_set_at_stage(ocp_nlp_config *config, void *opts_, int stage, const char *field, void* value); + + +/// TBC +/// Updates the options. +/// +/// \param config The configuration struct. +/// \param dims The dimension struct. +/// \param opts_ The options struct. +ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_opts_update(ocp_nlp_config *config, ocp_nlp_dims *dims, void *opts_); + + +/* solver */ + +/// Creates an ocp solver. +/// +/// \param config The configuration struct. +/// \param dims The dimension struct. +/// \param opts_ The options struct. +/// \return The solver. +ACADOS_SYMBOL_EXPORT ocp_nlp_solver *ocp_nlp_solver_create(ocp_nlp_config *config, ocp_nlp_dims *dims, void *opts_); + +/// Destructor of the solver. +/// +/// \param solver The solver struct. +ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_destroy(void *solver); + +/// Solves the optimal control problem. Call ocp_nlp_precompute before +/// calling this functions (TBC). +/// +/// \param solver The solver struct. +/// \param nlp_in The inputs struct. +/// \param nlp_out The output struct. +ACADOS_SYMBOL_EXPORT int ocp_nlp_solve(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out); + + + +/// Resets the memory of the QP solver +/// +/// \param solver The solver struct. +/// \param nlp_in The inputs struct. +/// \param nlp_out The output struct. +ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_reset_qp_memory(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out); + + +/// Performs precomputations for the solver. Needs to be called before +/// ocl_nlp_solve (TBC). +/// +/// \param solver The solver struct. +/// \param nlp_in The inputs struct. +/// \param nlp_out The output struct. +ACADOS_SYMBOL_EXPORT int ocp_nlp_precompute(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out); + + +/// Computes cost function value. +/// +/// \param solver The solver struct. +/// \param nlp_in The inputs struct. +/// \param nlp_out The output struct. +ACADOS_SYMBOL_EXPORT void ocp_nlp_eval_cost(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out); + + +/// Computes the residuals. +/// +/// \param solver The solver struct. +/// \param nlp_in The inputs struct. +/// \param nlp_out The output struct. +ACADOS_SYMBOL_EXPORT void ocp_nlp_eval_residuals(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out); + + +// +ACADOS_SYMBOL_EXPORT void ocp_nlp_eval_param_sens(ocp_nlp_solver *solver, char *field, int stage, int index, ocp_nlp_out *sens_nlp_out); + +/* get */ +/// \param config The configuration struct. +/// \param solver The solver struct. +/// \param field Supports "sqp_iter", "status", "nlp_res", "time_tot", ... +/// \param return_value_ Pointer to the output memory. +ACADOS_SYMBOL_EXPORT void ocp_nlp_get(ocp_nlp_config *config, ocp_nlp_solver *solver, + const char *field, void *return_value_); + +/* set */ +/// Sets the initial guesses for the integrator for the given stage. +/// +/// \param config The configuration struct. +/// \param solver The ocp_nlp_solver struct. +/// \param stage Stage number. +/// \param field Supports "z_guess", "xdot_guess" (IRK), "phi_guess" (GNSF-IRK) +/// \param value The initial guess for the algebraic variables in the integrator (if continuous model is used). +ACADOS_SYMBOL_EXPORT void ocp_nlp_set(ocp_nlp_config *config, ocp_nlp_solver *solver, + int stage, const char *field, void *value); + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // INTERFACES_ACADOS_C_OCP_NLP_INTERFACE_H_ diff --git a/third_party/acados/include/acados_c/ocp_qp_interface.h b/third_party/acados/include/acados_c/ocp_qp_interface.h new file mode 100644 index 0000000000..3dc3f1a532 --- /dev/null +++ b/third_party/acados/include/acados_c/ocp_qp_interface.h @@ -0,0 +1,263 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef INTERFACES_ACADOS_C_OCP_QP_INTERFACE_H_ +#define INTERFACES_ACADOS_C_OCP_QP_INTERFACE_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include "acados/ocp_qp/ocp_qp_common.h" +#include "acados/ocp_qp/ocp_qp_xcond_solver.h" + + +/// QP solver types (Enumeration). +/// +/// Full list of fields: +/// PARTIAL_CONDENSING_HPIPM +/// PARTIAL_CONDENSING_HPMPC +/// PARTIAL_CONDENSING_OOQP +/// PARTIAL_CONDENSING_OSQP +/// PARTIAL_CONDENSING_QPDUNES +/// FULL_CONDENSING_HPIPM +/// FULL_CONDENSING_QPOASES +/// FULL_CONDENSING_QORE +/// FULL_CONDENSING_OOQP +/// INVALID_QP_SOLVER +/// +/// Note: In this enumeration the partial condensing solvers have to be +/// specified before the full condensing solvers. +typedef enum { + PARTIAL_CONDENSING_HPIPM, +#ifdef ACADOS_WITH_HPMPC + PARTIAL_CONDENSING_HPMPC, +#else + PARTIAL_CONDENSING_HPMPC_NOT_AVAILABLE, +#endif +#ifdef ACADOS_WITH_OOQP + PARTIAL_CONDENSING_OOQP, +#else + PARTIAL_CONDENSING_OOQP_NOT_AVAILABLE, +#endif +#ifdef ACADOS_WITH_OSQP + PARTIAL_CONDENSING_OSQP, +#else + PARTIAL_CONDENSING_OSQP_NOT_AVAILABLE, +#endif +#ifdef ACADOS_WITH_QPDUNES + PARTIAL_CONDENSING_QPDUNES, +#else + PARTIAL_CONDENSING_QPDUNES_NOT_AVAILABLE, +#endif + FULL_CONDENSING_HPIPM, +#ifdef ACADOS_WITH_QPOASES + FULL_CONDENSING_QPOASES, +#else + FULL_CONDENSING_QPOASES_NOT_AVAILABLE, +#endif +#ifdef ACADOS_WITH_DAQP + FULL_CONDENSING_DAQP, +#else + FULL_CONDENSING_DAQP_NOT_AVAILABLE, +#endif +#ifdef ACADOS_WITH_QORE + FULL_CONDENSING_QORE, +#else + FULL_CONDENSING_QORE_NOT_AVAILABLE, +#endif +#ifdef ACADOS_WITH_OOQP + FULL_CONDENSING_OOQP, +#else + FULL_CONDENSING_OOQP_NOT_AVAILABLE, +#endif + INVALID_QP_SOLVER, +} ocp_qp_solver_t; + + +/// Struct containing qp solver +typedef struct +{ + ocp_qp_solver_t qp_solver; +} ocp_qp_solver_plan_t; + + +/// Linear ocp configuration. +typedef struct +{ + ocp_qp_xcond_solver_config *config; + ocp_qp_xcond_solver_dims *dims; + void *opts; + void *mem; + void *work; +} ocp_qp_solver; + + +/// Initializes the qp solver configuration. +/// TBC should this be private/static - no, used in ocp_nlp +void ocp_qp_xcond_solver_config_initialize_from_plan( + ocp_qp_solver_t solver_name, ocp_qp_xcond_solver_config *solver_config); + +/// Constructs a qp solver config and Initializes with default values. +/// +/// \param plan The qp solver plan struct. +ocp_qp_xcond_solver_config *ocp_qp_xcond_solver_config_create(ocp_qp_solver_plan_t plan); + +/// Destructor for config struct, frees memory. +/// +/// \param config The config object to destroy. +void ocp_qp_xcond_solver_config_free(ocp_qp_xcond_solver_config *config); + + +/// Constructs a struct that contains the dimensions for the variables of the qp. +/// +/// \param N The number of variables. +ocp_qp_dims *ocp_qp_dims_create(int N); + +/// Destructor of The dimension struct. +/// +/// \param dims The dimension struct. +void ocp_qp_dims_free(void *dims); + +// +ocp_qp_xcond_solver_dims *ocp_qp_xcond_solver_dims_create(ocp_qp_xcond_solver_config *config, int N); +// +ocp_qp_xcond_solver_dims *ocp_qp_xcond_solver_dims_create_from_ocp_qp_dims( + ocp_qp_xcond_solver_config *config, ocp_qp_dims *dims); +// +void ocp_qp_xcond_solver_dims_free(ocp_qp_xcond_solver_dims *dims_); + +void ocp_qp_xcond_solver_dims_set(void *config_, ocp_qp_xcond_solver_dims *dims, + int stage, const char *field, int* value); + + +/// Constructs an input object for the qp. +/// +/// \param dims The dimension struct. +ocp_qp_in *ocp_qp_in_create(ocp_qp_dims *dims); + + +void ocp_qp_in_set(ocp_qp_xcond_solver_config *config, ocp_qp_in *in, + int stage, char *field, void *value); + +/// Destructor of the inputs struct. +/// +/// \param in_ The inputs struct. +void ocp_qp_in_free(void *in_); + + +/// Constructs an outputs object for the qp. +/// +/// \param dims The dimension struct. +ocp_qp_out *ocp_qp_out_create(ocp_qp_dims *dims); + +/// Destructor of the output struct. +/// +/// \param out_ The output struct. +void ocp_qp_out_free(void *out_); + + +/// Getter of output struct +void ocp_qp_out_get(ocp_qp_out *out, const char *field, void *value); + + +/// Constructs an options object for the qp. +/// +/// \param config The configuration struct. +/// \param dims The dimension struct. +void *ocp_qp_xcond_solver_opts_create(ocp_qp_xcond_solver_config *config, + ocp_qp_xcond_solver_dims *dims); + +/// Destructor of the options struct. +/// +/// \param opts The options struct to destroy. +void ocp_qp_xcond_solver_opts_free(ocp_qp_xcond_solver_opts *opts); + + +/// Setter of the options struct. +/// +/// \param opts The options struct. +void ocp_qp_xcond_solver_opts_set(ocp_qp_xcond_solver_config *config, + ocp_qp_xcond_solver_opts *opts, const char *field, void* value); + +/// TBC Should be private/static? +acados_size_t ocp_qp_calculate_size(ocp_qp_xcond_solver_config *config, ocp_qp_xcond_solver_dims *dims, void *opts_); + + +/// TBC Reserves memory? TBC Should this be private? +/// +/// \param config The configuration struct. +/// \param dims The dimension struct. +/// \param opts_ The options struct. +/// \param raw_memory Pointer to raw memory to assign to qp solver. +ocp_qp_solver *ocp_qp_assign(ocp_qp_xcond_solver_config *config, ocp_qp_xcond_solver_dims *dims, + void *opts_, void *raw_memory); + +/// Creates a qp solver. Reserves memory. +/// +/// \param config The configuration struct. +/// \param dims The dimension struct. +/// \param opts_ The options struct. +ocp_qp_solver *ocp_qp_create(ocp_qp_xcond_solver_config *config, + ocp_qp_xcond_solver_dims *dims, void *opts_); + + +/// Destroys a qp solver. Frees memory. +/// +/// \param solver The qp solver +void ocp_qp_solver_destroy(ocp_qp_solver *solver); + +void ocp_qp_x_cond_solver_free(ocp_qp_xcond_solver_config *config, + ocp_qp_xcond_solver_dims *dims, void *opts_); + + +/// Solves the qp. +/// +/// \param solver The solver. +/// \param qp_in The inputs struct. +/// \param qp_out The output struct. +int ocp_qp_solve(ocp_qp_solver *solver, ocp_qp_in *qp_in, ocp_qp_out *qp_out); + + +/// Calculates the infinity norm of the residuals. +/// +/// \param dims The dimension struct. +/// \param qp_in The inputs struct. +/// \param qp_out The output struct. +/// \param res Output array for the residuals. +void ocp_qp_inf_norm_residuals(ocp_qp_dims *dims, ocp_qp_in *qp_in, ocp_qp_out *qp_out, + double *res); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // INTERFACES_ACADOS_C_OCP_QP_INTERFACE_H_ diff --git a/third_party/acados/include/acados_c/sim_interface.h b/third_party/acados/include/acados_c/sim_interface.h new file mode 100644 index 0000000000..09a05d6995 --- /dev/null +++ b/third_party/acados/include/acados_c/sim_interface.h @@ -0,0 +1,137 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef INTERFACES_ACADOS_C_SIM_INTERFACE_H_ +#define INTERFACES_ACADOS_C_SIM_INTERFACE_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include "acados/sim/sim_common.h" + + + +typedef enum +{ + ERK, + IRK, + GNSF, + LIFTED_IRK, + INVALID_SIM_SOLVER, +} sim_solver_t; + + + +typedef struct +{ + sim_solver_t sim_solver; +} sim_solver_plan_t; + + + +typedef struct +{ + sim_config *config; + void *dims; + void *opts; + void *mem; + void *work; +} sim_solver; + + + +/* config */ +// +ACADOS_SYMBOL_EXPORT sim_config *sim_config_create(sim_solver_plan_t plan); +// +ACADOS_SYMBOL_EXPORT void sim_config_destroy(void *config); + +/* dims */ +// +ACADOS_SYMBOL_EXPORT void *sim_dims_create(void *config_); +// +ACADOS_SYMBOL_EXPORT void sim_dims_destroy(void *dims); +// +ACADOS_SYMBOL_EXPORT void sim_dims_set(sim_config *config, void *dims, const char *field, const int* value); +// +ACADOS_SYMBOL_EXPORT void sim_dims_get(sim_config *config, void *dims, const char *field, int* value); +// +ACADOS_SYMBOL_EXPORT void sim_dims_get_from_attr(sim_config *config, void *dims, const char *field, int *dims_out); + +/* in */ +// +ACADOS_SYMBOL_EXPORT sim_in *sim_in_create(sim_config *config, void *dims); +// +ACADOS_SYMBOL_EXPORT void sim_in_destroy(void *out); +// +ACADOS_SYMBOL_EXPORT int sim_in_set(void *config_, void *dims_, sim_in *in, const char *field, void *value); + + +/* out */ +// +ACADOS_SYMBOL_EXPORT sim_out *sim_out_create(sim_config *config, void *dims); +// +ACADOS_SYMBOL_EXPORT void sim_out_destroy(void *out); +// +ACADOS_SYMBOL_EXPORT int sim_out_get(void *config, void *dims, sim_out *out, const char *field, void *value); + +/* opts */ +// +ACADOS_SYMBOL_EXPORT void *sim_opts_create(sim_config *config, void *dims); +// +ACADOS_SYMBOL_EXPORT void sim_opts_destroy(void *opts); +// +ACADOS_SYMBOL_EXPORT void sim_opts_set(sim_config *config, void *opts, const char *field, void *value); +// +ACADOS_SYMBOL_EXPORT void sim_opts_get(sim_config *config, void *opts, const char *field, void *value); + +/* solver */ +// +ACADOS_SYMBOL_EXPORT acados_size_t sim_calculate_size(sim_config *config, void *dims, void *opts_); +// +ACADOS_SYMBOL_EXPORT sim_solver *sim_assign(sim_config *config, void *dims, void *opts_, void *raw_memory); +// +ACADOS_SYMBOL_EXPORT sim_solver *sim_solver_create(sim_config *config, void *dims, void *opts_); +// +ACADOS_SYMBOL_EXPORT void sim_solver_destroy(void *solver); +// +ACADOS_SYMBOL_EXPORT int sim_solve(sim_solver *solver, sim_in *in, sim_out *out); +// +ACADOS_SYMBOL_EXPORT int sim_precompute(sim_solver *solver, sim_in *in, sim_out *out); +// +ACADOS_SYMBOL_EXPORT int sim_solver_set(sim_solver *solver, const char *field, void *value); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // INTERFACES_ACADOS_C_SIM_INTERFACE_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo.h b/third_party/acados/include/blasfeo/include/blasfeo.h new file mode 100644 index 0000000000..c854918193 --- /dev/null +++ b/third_party/acados/include/blasfeo/include/blasfeo.h @@ -0,0 +1,52 @@ +/************************************************************************************************** +* * +* This file is part of BLASFEO. * +* * +* BLASFEO -- BLAS For Embedded Optimization. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#include "blasfeo_processor_features.h" +#include "blasfeo_target.h" +#include "blasfeo_block_size.h" +#include "blasfeo_stdlib.h" +#include "blasfeo_common.h" +#include "blasfeo_d_aux.h" +#include "blasfeo_d_aux_ext_dep.h" +#include "blasfeo_d_kernel.h" +#include "blasfeo_d_blas.h" +#include "blasfeo_s_aux.h" +#include "blasfeo_s_aux_ext_dep.h" +#include "blasfeo_s_kernel.h" +#include "blasfeo_s_blas.h" +#include "blasfeo_i_aux_ext_dep.h" +#include "blasfeo_v_aux_ext_dep.h" +#include "blasfeo_timing.h" +#include "blasfeo_memory.h" diff --git a/third_party/acados/include/blasfeo/include/blasfeo_block_size.h b/third_party/acados/include/blasfeo/include/blasfeo_block_size.h new file mode 100644 index 0000000000..5d0907a61c --- /dev/null +++ b/third_party/acados/include/blasfeo/include/blasfeo_block_size.h @@ -0,0 +1,447 @@ +/************************************************************************************************** +* * +* This file is part of BLASFEO. * +* * +* BLASFEO -- BLAS For Embedded Optimization. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef BLASFEO_BLOCK_SIZE_H_ +#define BLASFEO_BLOCK_SIZE_H_ + + + +#define D_EL_SIZE 8 // double precision +#define S_EL_SIZE 4 // single precision + + + +#if defined( TARGET_X64_INTEL_SKYLAKE_X ) +// common +#define CACHE_LINE_SIZE 64 // data cache size: 64 bytes +#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 8-way +#define L2_CACHE_SIZE (256*1024) //(1024*1024) // L2 data cache size: 1 MB ; DTLB1 64*4 kB = 256 kB +#define LLC_CACHE_SIZE (6*1024*1024) //(8*1024*1024) // LLC cache size: 8 MB ; TLB 1536*4 kB = 6 MB +// double +#define D_PS 8 // panel size +#define D_PLD 8 // 4 // GCD of panel length +#define D_M_KERNEL 24 // max kernel size +#define D_N_KERNEL 8 // max kernel size +#define D_KC 128 //256 // 192 +#define D_NC 144 //72 //96 //72 // 120 // 512 +#define D_MC 2400 // 6000 +// single +#define S_PS 16 // panel size +#define S_PLD 4 // GCD of panel length TODO probably 16 when writing assebly +#define S_M_KERNEL 32 // max kernel size +#define S_N_KERNEL 8 // max kernel size +#define S_KC 128 //256 +#define S_NC 128 //144 +#define S_MC 3000 + +#elif defined( TARGET_X64_INTEL_HASWELL ) +// common +#define CACHE_LINE_SIZE 64 // data cache size: 64 bytes +#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 8-way +#define L2_CACHE_SIZE (256*1024) // L2 data cache size: 256 kB ; DTLB1 64*4 kB = 256 kB +#define LLC_CACHE_SIZE (6*1024*1024) // LLC cache size: 6 MB ; TLB 1024*4 kB = 4 MB +// double +#define D_PS 4 // panel size +#define D_PLD 4 // 2 // GCD of panel length +#define D_M_KERNEL 12 // max kernel size +#define D_N_KERNEL 8 // max kernel size +#define D_KC 256 // 192 +#define D_NC 64 //96 //72 // 120 // 512 +#define D_MC 1500 +// single +#define S_PS 8 // panel size +#define S_PLD 4 // 2 // GCD of panel length +#define S_M_KERNEL 24 // max kernel size +#define S_N_KERNEL 8 // max kernel size +#define S_KC 256 +#define S_NC 144 +#define S_MC 3000 + +#elif defined( TARGET_X64_INTEL_SANDY_BRIDGE ) +// common +#define CACHE_LINE_SIZE 64 // data cache size: 64 bytes +#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 8-way +#define L2_CACHE_SIZE (256*1024) // L2 data cache size: 256 kB ; DTLB1 64*4 kB = 256 kB +#define LLC_CACHE_SIZE (4*1024*1024) // LLC cache size: 4 MB ; TLB 1024*4 kB = 4 MB +// double +#define D_PS 4 // panel size +#define D_PLD 4 // 2 // GCD of panel length +#define D_M_KERNEL 8 // max kernel size +#define D_N_KERNEL 4 // max kernel size +#define D_KC 256 //320 //256 //320 +#define D_NC 72 //64 //72 //60 // 120 +#define D_MC 1000 // 800 +// single +#define S_PS 8 // panel size +#define S_PLD 4 // 2 // GCD of panel length +#define S_M_KERNEL 16 // max kernel size +#define S_N_KERNEL 8 // max kernel size +#define S_KC 256 +#define S_NC 144 +#define S_MC 2000 + +#elif defined( TARGET_X64_INTEL_CORE ) +// common +#define CACHE_LINE_SIZE 64 +#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB +// double +#define D_PS 4 // panel size +#define D_PLD 4 // 2 // GCD of panel length +#define D_M_KERNEL 4 // max kernel size +#define D_N_KERNEL 4 // max kernel size +#define D_KC 256 +#define D_NC 128 // TODO these are just dummy +#define D_MC 3000 // TODO these are just dummy +// single +#define S_PS 4 +#define S_PLD 4 //2 +#define S_M_KERNEL 4 // max kernel size +#define S_N_KERNEL 4 // max kernel size +#define S_KC 256 +#define S_NC 128 // TODO these are just dummy +#define S_MC 3000 // TODO these are just dummy + +#elif defined( TARGET_X64_AMD_BULLDOZER ) +// common +#define CACHE_LINE_SIZE 64 +#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB +// double +#define D_PS 4 // panel size +#define D_PLD 4 // 2 // GCD of panel length +#define D_M_KERNEL 4 // max kernel size +#define D_N_KERNEL 4 // max kernel size +#define D_KC 256 +#define D_NC 128 // TODO these are just dummy +#define D_MC 3000 // TODO these are just dummy +// single +#define S_PS 4 +#define S_PLD 4 //2 +#define S_M_KERNEL 4 // max kernel size +#define S_N_KERNEL 4 // max kernel size +#define S_KC 256 +#define S_NC 128 // TODO these are just dummy +#define S_MC 3000 // TODO these are just dummy + + +#elif defined( TARGET_X86_AMD_JAGUAR ) +// common +#define CACHE_LINE_SIZE 64 +#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB +// double +#define D_PS 4 // panel size +#define D_PLD 4 // 2 // GCD of panel length +#define D_M_KERNEL 4 // max kernel size +#define D_N_KERNEL 4 // max kernel size +#define D_KC 256 +#define D_NC 128 // TODO these are just dummy +#define D_MC 3000 // TODO these are just dummy +// single +#define S_PS 4 +#define S_PLD 4 //2 +#define S_M_KERNEL 4 // max kernel size +#define S_N_KERNEL 4 // max kernel size +#define S_KC 256 +#define S_NC 128 // TODO these are just dummy +#define S_MC 3000 // TODO these are just dummy + + +#elif defined( TARGET_X86_AMD_BARCELONA ) +// common +#define CACHE_LINE_SIZE 64 +#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB +// double +#define D_PS 4 // panel size +#define D_PLD 4 // 2 // GCD of panel length +#define D_M_KERNEL 4 // max kernel size +#define D_N_KERNEL 4 // max kernel size +#define D_KC 256 +#define D_NC 128 // TODO these are just dummy +#define D_MC 3000 // TODO these are just dummy +// single +#define S_PS 4 +#define S_PLD 4 //2 +#define S_M_KERNEL 4 // max kernel size +#define S_N_KERNEL 4 // max kernel size +#define S_KC 256 +#define S_NC 128 // TODO these are just dummy +#define S_MC 3000 // TODO these are just dummy + + +#elif defined(TARGET_ARMV8A_APPLE_M1) +// common +#define CACHE_LINE_SIZE 64 +#define L1_CACHE_SIZE (128*1024) // L1 data cache size (big cores): 64 kB, ?-way ; DTLB1 ? +#define LLC_CACHE_SIZE (12*1024*1024) // LLC (L2) cache size (big cores): 12 MB +// double +#define D_PS 4 // panel size +#define D_PLD 4 // 2 // GCD of panel length +#define D_M_KERNEL 8 // max kernel size +#define D_N_KERNEL 4 // max kernel size +#define D_KC 512 //256 +#define D_NC 128 //256 +#define D_MC 6000 +// single +#define S_PS 4 +#define S_PLD 4 //2 +#define S_M_KERNEL 8 // max kernel size +#define S_N_KERNEL 8 // max kernel size +#define S_KC 512 +#define S_NC 256 +#define S_MC 6000 + + +#elif defined(TARGET_ARMV8A_ARM_CORTEX_A76) +// common +#define CACHE_LINE_SIZE 64 +#define L1_CACHE_SIZE (64*1024) // L1 data cache size: 64 kB, 4-way ; DTLB1 48*4 kB = 192 kB +#define LLC_CACHE_SIZE (1*1024*1024) // LLC cache size: 1 MB +// double +#define D_PS 4 // panel size +#define D_PLD 4 // 2 // GCD of panel length +#define D_M_KERNEL 8 // max kernel size +#define D_N_KERNEL 4 // max kernel size +#define D_KC 512 //256 +#define D_NC 128 //256 +#define D_MC 6000 +// single +#define S_PS 4 +#define S_PLD 4 //2 +#define S_M_KERNEL 8 // max kernel size +#define S_N_KERNEL 8 // max kernel size +#define S_KC 512 +#define S_NC 256 +#define S_MC 6000 + + +#elif defined(TARGET_ARMV8A_ARM_CORTEX_A73) +// common +#define CACHE_LINE_SIZE 64 +#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 (64?) kB, 4-way, seen as 8-(16-)way ; DTLB1 48*4 kB = 192 kB +#define LLC_CACHE_SIZE (1*1024*1024) // LLC cache size: 1 MB +// double +#define D_PS 4 // panel size +#define D_PLD 4 // 2 // GCD of panel length +#define D_M_KERNEL 8 // max kernel size +#define D_N_KERNEL 4 // max kernel size +#define D_KC 320 +#define D_NC 256 +#define D_MC 6000 +// single +#define S_PS 4 +#define S_PLD 4 //2 +#define S_M_KERNEL 8 // max kernel size +#define S_N_KERNEL 8 // max kernel size +#define S_KC 256 +#define S_NC 128 // TODO these are just dummy +#define S_MC 3000 // TODO these are just dummy + + +#elif defined(TARGET_ARMV8A_ARM_CORTEX_A57) +// common +#define CACHE_LINE_SIZE 64 +#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 2-way ; DTLB1 32*4 kB = 128 kB +#define LLC_CACHE_SIZE (1*1024*1024) // LLC cache size: 1 MB // 2 MB ??? +// double +#define D_PS 4 // panel size +#define D_PLD 4 // 2 // GCD of panel length +#define D_M_KERNEL 8 // max kernel size +#define D_N_KERNEL 4 // max kernel size +#define D_KC 128 //224 //256 //192 +#define D_NC 72 //40 //36 //48 +#define D_MC (4*192) //512 //488 //600 +// single +#define S_PS 4 +#define S_PLD 4 //2 +#define S_M_KERNEL 8 // max kernel size +#define S_N_KERNEL 8 // max kernel size +#define S_KC 256 +#define S_NC 128 // TODO these are just dummy +#define S_MC 3000 // TODO these are just dummy + + +#elif defined(TARGET_ARMV8A_ARM_CORTEX_A55) +// common +#define CACHE_LINE_SIZE 64 +#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 4-way ; DTLB1 16*4 kB = 64 kB +#define LLC_CACHE_SIZE (512*1024) // LLC cache size: 512 kB +// double +#define D_PS 4 // panel size +#define D_PLD 4 // 2 // GCD of panel length +#define D_M_KERNEL 12 // max kernel size +#define D_N_KERNEL 4 // max kernel size +#define D_KC 224 +#define D_NC 160 +#define D_MC 6000 +// single +#define S_PS 4 +#define S_PLD 4 //2 +#define S_M_KERNEL 8 // max kernel size +#define S_N_KERNEL 8 // max kernel size +#define S_KC 256 +#define S_NC 128 // TODO these are just dummy +#define S_MC 3000 // TODO these are just dummy + + +#elif defined(TARGET_ARMV8A_ARM_CORTEX_A53) +// common +#define CACHE_LINE_SIZE 64 +#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 4-way ??? ; DTLB1 10*4 kB = 40 kB +#define LLC_CACHE_SIZE (256*1024) // LLC cache size: 256 kB +// double +#define D_PS 4 // panel size +#define D_PLD 4 // 2 // GCD of panel length +#define D_M_KERNEL 12 // max kernel size +#define D_N_KERNEL 4 // max kernel size +#define D_KC 160 +#define D_NC 128 +#define D_MC 6000 +// single +#define S_PS 4 +#define S_PLD 4 //2 +#define S_M_KERNEL 8 // max kernel size +#define S_N_KERNEL 8 // max kernel size +#define S_KC 256 +#define S_NC 128 // TODO these are just dummy +#define S_MC 3000 // TODO these are just dummy + + +#elif defined( TARGET_ARMV7A_ARM_CORTEX_A15 ) +// common +#define CACHE_LINE_SIZE 64 +#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB +// double +#define D_PS 4 // panel size +#define D_PLD 4 // 2 // GCD of panel length +#define D_M_KERNEL 4 // max kernel size +#define D_N_KERNEL 4 // max kernel size +#define D_KC 256 +#define D_NC 128 // TODO these are just dummy +#define D_MC 3000 // TODO these are just dummy +// single +#define S_PS 4 +#define S_PLD 4 //2 +#define S_M_KERNEL 4 // max kernel size +#define S_N_KERNEL 4 // max kernel size +#define S_KC 256 +#define S_NC 128 // TODO these are just dummy +#define S_MC 3000 // TODO these are just dummy + + +#elif defined( TARGET_ARMV7A_ARM_CORTEX_A7 ) +// common +#define CACHE_LINE_SIZE 64 +#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB +// double +#define D_PS 4 // panel size +#define D_PLD 4 // 2 // GCD of panel length +#define D_M_KERNEL 4 // max kernel size +#define D_N_KERNEL 4 // max kernel size +#define D_KC 256 +#define D_NC 128 // TODO these are just dummy +#define D_MC 3000 // TODO these are just dummy +// single +#define S_PS 4 +#define S_PLD 4 //2 +#define S_M_KERNEL 4 // max kernel size +#define S_N_KERNEL 4 // max kernel size +#define S_KC 256 +#define S_NC 128 // TODO these are just dummy +#define S_MC 3000 // TODO these are just dummy + + +#elif defined( TARGET_ARMV7A_ARM_CORTEX_A9 ) +// common +#define CACHE_LINE_SIZE 32 +#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB +// double +#define D_PS 4 // panel size +#define D_PLD 4 // 2 // GCD of panel length +#define D_M_KERNEL 4 // max kernel size +#define D_N_KERNEL 4 // max kernel size +#define D_KC 256 +#define D_NC 128 // TODO these are just dummy +#define D_MC 3000 // TODO these are just dummy +// single +#define S_PS 4 +#define S_PLD 4 //2 +#define S_M_KERNEL 4 // max kernel size +#define S_N_KERNEL 4 // max kernel size +#define S_KC 256 +#define S_NC 128 // TODO these are just dummy +#define S_MC 3000 // TODO these are just dummy + + +#elif defined( TARGET_GENERIC ) +// common +#define CACHE_LINE_SIZE 64 +#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB +// double +#define D_PS 4 // panel size +#define D_PLD 4 // 2 // GCD of panel length +#define D_M_KERNEL 4 // max kernel size +#define D_N_KERNEL 4 // max kernel size +#define D_KC 256 +#define D_NC 128 // TODO these are just dummy +#define D_MC 3000 // TODO these are just dummy + +// single +#define S_PS 4 +#define S_PLD 4 //2 +#define S_M_KERNEL 4 // max kernel size +#define S_N_KERNEL 4 // max kernel size +#define S_KC 256 +#define S_NC 128 // TODO these are just dummy +#define S_MC 3000 // TODO these are just dummy + + +#else +#error "Unknown architecture" +#endif + + + +#define D_CACHE_LINE_EL (CACHE_LINE_SIZE/D_EL_SIZE) +#define D_L1_CACHE_EL (L1_CACHE_SIZE/D_EL_SIZE) +#define D_L2_CACHE_EL (L2_CACHE_SIZE/D_EL_SIZE) +#define D_LLC_CACHE_EL (LLC_CACHE_SIZE/D_EL_SIZE) + +#define S_CACHE_LINE_EL (CACHE_LINE_SIZE/S_EL_SIZE) +#define S_L1_CACHE_EL (L1_CACHE_SIZE/S_EL_SIZE) +#define S_L2_CACHE_EL (L2_CACHE_SIZE/S_EL_SIZE) +#define S_LLC_CACHE_EL (LLC_CACHE_SIZE/S_EL_SIZE) + + + +#endif // BLASFEO_BLOCK_SIZE_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_common.h b/third_party/acados/include/blasfeo/include/blasfeo_common.h new file mode 100644 index 0000000000..03b6c36d84 --- /dev/null +++ b/third_party/acados/include/blasfeo/include/blasfeo_common.h @@ -0,0 +1,274 @@ +/************************************************************************************************** +* * +* This file is part of BLASFEO. * +* * +* BLASFEO -- BLAS For Embedded Optimization. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef BLASFEO_COMMON_H_ +#define BLASFEO_COMMON_H_ + + + +#include "blasfeo_target.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +#if defined(__GNUC__) || defined(__clang__) || defined(__INTEL_COMPILER) || defined(__ICL) || defined(__ICC) || defined(__INTEL_LLVM_COMPILER) +#define ALIGNED(VEC, BYTES) VEC __attribute__ ((aligned ( BYTES ))) +#elif defined (_MSC_VER) +#define ALIGNED(VEC, BYTES) __declspec(align( BYTES )) VEC +#else +#define ALIGNED(VEC, BYTES) VEC +#endif + + + + +#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_PANELMAJ) ) | ( defined(LA_REFERENCE) & defined(MF_PANELMAJ) ) + +#include "blasfeo_block_size.h" + +// matrix structure +struct blasfeo_dmat + { + double *mem; // pointer to passed chunk of memory + double *pA; // pointer to a pm*pn array of doubles, the first is aligned to cache line size + double *dA; // pointer to a min(m,n) (or max???) array of doubles + int m; // rows + int n; // cols + int pm; // packed number or rows + int cn; // packed number or cols + int use_dA; // flag to tell if dA can be used + int memsize; // size of needed memory + }; + +struct blasfeo_smat + { + float *mem; // pointer to passed chunk of memory + float *pA; // pointer to a pm*pn array of floats, the first is aligned to cache line size + float *dA; // pointer to a min(m,n) (or max???) array of floats + int m; // rows + int n; // cols + int pm; // packed number or rows + int cn; // packed number or cols + int use_dA; // flag to tell if dA can be used + int memsize; // size of needed memory + }; + +// vector structure +struct blasfeo_dvec + { + double *mem; // pointer to passed chunk of memory + double *pa; // pointer to a pm array of doubles, the first is aligned to cache line size + int m; // size + int pm; // packed size + int memsize; // size of needed memory + }; + +struct blasfeo_svec + { + float *mem; // pointer to passed chunk of memory + float *pa; // pointer to a pm array of floats, the first is aligned to cache line size + int m; // size + int pm; // packed size + int memsize; // size of needed memory + }; + +#define BLASFEO_DMATEL(sA,ai,aj) ((sA)->pA[((ai)-((ai)&(D_PS-1)))*(sA)->cn+(aj)*D_PS+((ai)&(D_PS-1))]) +#define BLASFEO_SMATEL(sA,ai,aj) ((sA)->pA[((ai)-((ai)&(S_PS-1)))*(sA)->cn+(aj)*S_PS+((ai)&(S_PS-1))]) +#define BLASFEO_DVECEL(sa,ai) ((sa)->pa[ai]) +#define BLASFEO_SVECEL(sa,ai) ((sa)->pa[ai]) + +#elif ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) ) | ( defined(LA_REFERENCE) & defined(MF_COLMAJ) ) | defined(LA_EXTERNAL_BLAS_WRAPPER) + +// matrix structure +struct blasfeo_dmat + { + double *mem; // pointer to passed chunk of memory + double *pA; // pointer to a m*n array of doubles + double *dA; // pointer to a min(m,n) (or max???) array of doubles + int m; // rows + int n; // cols + int use_dA; // flag to tell if dA can be used + int memsize; // size of needed memory + }; + +struct blasfeo_smat + { + float *mem; // pointer to passed chunk of memory + float *pA; // pointer to a m*n array of floats + float *dA; // pointer to a min(m,n) (or max???) array of floats + int m; // rows + int n; // cols + int use_dA; // flag to tell if dA can be used + int memsize; // size of needed memory + }; + +// vector structure +struct blasfeo_dvec + { + double *mem; // pointer to passed chunk of memory + double *pa; // pointer to a m array of doubles, the first is aligned to cache line size + int m; // size + int memsize; // size of needed memory + }; + +struct blasfeo_svec + { + float *mem; // pointer to passed chunk of memory + float *pa; // pointer to a m array of floats, the first is aligned to cache line size + int m; // size + int memsize; // size of needed memory + }; + +#define BLASFEO_DMATEL(sA,ai,aj) ((sA)->pA[(ai)+(aj)*(sA)->m]) +#define BLASFEO_SMATEL(sA,ai,aj) ((sA)->pA[(ai)+(aj)*(sA)->m]) +#define BLASFEO_DVECEL(sa,ai) ((sa)->pa[ai]) +#define BLASFEO_SVECEL(sa,ai) ((sa)->pa[ai]) + +#else + +#error : wrong LA or MF choice + +#endif + + + +// Explicitly panel-major matrix structure +struct blasfeo_pm_dmat + { + double *mem; // pointer to passed chunk of memory + double *pA; // pointer to a pm*pn array of doubles, the first is aligned to cache line size + double *dA; // pointer to a min(m,n) (or max???) array of doubles + int m; // rows + int n; // cols + int pm; // packed number or rows + int cn; // packed number or cols + int use_dA; // flag to tell if dA can be used + int ps; // panel size + int memsize; // size of needed memory + }; + +struct blasfeo_pm_smat + { + float *mem; // pointer to passed chunk of memory + float *pA; // pointer to a pm*pn array of floats, the first is aligned to cache line size + float *dA; // pointer to a min(m,n) (or max???) array of floats + int m; // rows + int n; // cols + int pm; // packed number or rows + int cn; // packed number or cols + int use_dA; // flag to tell if dA can be used + int ps; // panel size + int memsize; // size of needed memory + }; + +struct blasfeo_pm_dvec + { + double *mem; // pointer to passed chunk of memory + double *pa; // pointer to a pm array of doubles, the first is aligned to cache line size + int m; // size + int pm; // packed size + int memsize; // size of needed memory + }; + +struct blasfeo_pm_svec + { + float *mem; // pointer to passed chunk of memory + float *pa; // pointer to a pm array of floats, the first is aligned to cache line size + int m; // size + int pm; // packed size + int memsize; // size of needed memory + }; + +// Explicitly column-major matrix structure +struct blasfeo_cm_dmat + { + double *mem; // pointer to passed chunk of memory + double *pA; // pointer to a m*n array of doubles + double *dA; // pointer to a min(m,n) (or max???) array of doubles + int m; // rows + int n; // cols + int use_dA; // flag to tell if dA can be used + int memsize; // size of needed memory + }; + +struct blasfeo_cm_smat + { + float *mem; // pointer to passed chunk of memory + float *pA; // pointer to a m*n array of floats + float *dA; // pointer to a min(m,n) (or max???) array of floats + int m; // rows + int n; // cols + int use_dA; // flag to tell if dA can be used + int memsize; // size of needed memory + }; + +struct blasfeo_cm_dvec + { + double *mem; // pointer to passed chunk of memory + double *pa; // pointer to a m array of doubles, the first is aligned to cache line size + int m; // size + int memsize; // size of needed memory + }; + +struct blasfeo_cm_svec + { + float *mem; // pointer to passed chunk of memory + float *pa; // pointer to a m array of floats, the first is aligned to cache line size + int m; // size + int memsize; // size of needed memory + }; + + +#define BLASFEO_PM_DMATEL(sA,ai,aj) ((sA)->pA[((ai)-((ai)&((sA)->ps-1)))*(sA)->cn+(aj)*((sA)->ps)+((ai)&((sA)->ps-1))]) +#define BLASFEO_PM_SMATEL(sA,ai,aj) ((sA)->pA[((ai)-((ai)&((sA)->ps-1)))*(sA)->cn+(aj)*((sA)->ps)+((ai)&((sA)->ps-1))]) +#define BLASFEO_PM_DVECEL(sa,ai) ((sa)->pa[ai]) +#define BLASFEO_PM_SVECEL(sa,ai) ((sa)->pa[ai]) +#define BLASFEO_CM_DMATEL(sA,ai,aj) ((sA)->pA[(ai)+(aj)*(sA)->m]) +#define BLASFEO_CM_SMATEL(sA,ai,aj) ((sA)->pA[(ai)+(aj)*(sA)->m]) +#define BLASFEO_CM_DVECEL(sa,ai) ((sa)->pa[ai]) +#define BLASFEO_CM_SVECEL(sa,ai) ((sa)->pa[ai]) + + + +#ifdef __cplusplus +} +#endif + +#endif // BLASFEO_COMMON_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux.h new file mode 100644 index 0000000000..a6d6119c6c --- /dev/null +++ b/third_party/acados/include/blasfeo/include/blasfeo_d_aux.h @@ -0,0 +1,255 @@ +/************************************************************************************************** +* * +* This file is part of BLASFEO. * +* * +* BLASFEO -- BLAS For Embedded Optimization. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +/* + * auxiliary algebra operations header + * + * include/blasfeo_aux_lib*.h + * + */ + +#ifndef BLASFEO_D_AUX_H_ +#define BLASFEO_D_AUX_H_ + + + +#include + +#include "blasfeo_common.h" +#include "blasfeo_d_aux_old.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + +// --- memory size calculations +// +// returns the memory size (in bytes) needed for a dmat +size_t blasfeo_memsize_dmat(int m, int n); +// returns the memory size (in bytes) needed for the diagonal of a dmat +size_t blasfeo_memsize_diag_dmat(int m, int n); +// returns the memory size (in bytes) needed for a dvec +size_t blasfeo_memsize_dvec(int m); + +// --- creation +// +// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated) +void blasfeo_create_dmat(int m, int n, struct blasfeo_dmat *sA, void *memory); +// create a strvec for a vector of size m by using memory passed by a pointer (pointer is not updated) +void blasfeo_create_dvec(int m, struct blasfeo_dvec *sA, void *memory); + +// --- packing +// pack the column-major matrix A into the matrix struct B +void blasfeo_pack_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj); +// pack the lower-triangular column-major matrix A into the matrix struct B +void blasfeo_pack_l_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj); +// pack the upper-triangular column-major matrix A into the matrix struct B +void blasfeo_pack_u_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj); +// transpose and pack the column-major matrix A into the matrix struct B +void blasfeo_pack_tran_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj); +// pack the vector x into the vector structure y +void blasfeo_pack_dvec(int m, double *x, int xi, struct blasfeo_dvec *sy, int yi); +// unpack the matrix structure A into the column-major matrix B +void blasfeo_unpack_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *B, int ldb); +// transpose and unpack the matrix structure A into the column-major matrix B +void blasfeo_unpack_tran_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *B, int ldb); +// pack the vector structure x into the vector y +void blasfeo_unpack_dvec(int m, struct blasfeo_dvec *sx, int xi, double *y, int yi); + +// --- cast +// +//void d_cast_mat2strmat(double *A, struct blasfeo_dmat *sA); // TODO +//void d_cast_diag_mat2strmat(double *dA, struct blasfeo_dmat *sA); // TODO +//void d_cast_vec2vecmat(double *a, struct blasfeo_dvec *sx); // TODO + + +// ge +// --- insert/extract +// +// sA[ai, aj] <= a +void blasfeo_dgein1(double a, struct blasfeo_dmat *sA, int ai, int aj); +// <= sA[ai, aj] +double blasfeo_dgeex1(struct blasfeo_dmat *sA, int ai, int aj); + +// --- set +// A <= alpha +void blasfeo_dgese(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj); + +// --- copy / scale +// B <= A +void blasfeo_dgecp(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj); +// A <= alpha*A +void blasfeo_dgesc(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj); +// B <= alpha*A +void blasfeo_dgecpsc(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj); +// B <= A, A lower triangular +void blasfeo_dtrcp_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj); +void blasfeo_dtrcpsc_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj); +void blasfeo_dtrsc_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj); + +// --- sum +// B <= B + alpha*A +void blasfeo_dgead(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj); +// y <= y + alpha*x +void blasfeo_dvecad(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi); + +// --- traspositions +// B <= A' +void blasfeo_dgetr(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj); +// B <= A', A lower triangular +void blasfeo_dtrtr_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj); +// B <= A', A upper triangular +void blasfeo_dtrtr_u(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj); + +// dia +// diag(A) += alpha +void blasfeo_ddiare(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj); +// diag(A) <= alpha*x +void blasfeo_ddiain(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj); +// diag(A)[idx] <= alpha*x +void blasfeo_ddiain_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj); +// x <= diag(A) +void blasfeo_ddiaex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi); +// x <= diag(A)[idx] +void blasfeo_ddiaex_sp(int kmax, double alpha, int *idx, struct blasfeo_dmat *sD, int di, int dj, struct blasfeo_dvec *sx, int xi); +// diag(A) += alpha*x +void blasfeo_ddiaad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj); +// diag(A)[idx] += alpha*x +void blasfeo_ddiaad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj); +// diag(A)[idx] = y + alpha*x +void blasfeo_ddiaadin_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, int *idx, struct blasfeo_dmat *sD, int di, int dj); + +// row +void blasfeo_drowin(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj); +void blasfeo_drowex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi); +void blasfeo_drowad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj); +void blasfeo_drowad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj); +void blasfeo_drowsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj); +void blasfeo_drowpe(int kmax, int *ipiv, struct blasfeo_dmat *sA); +void blasfeo_drowpei(int kmax, int *ipiv, struct blasfeo_dmat *sA); + +// col +void blasfeo_dcolex(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi); +void blasfeo_dcolin(int kmax, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj); +void blasfeo_dcolad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj); +void blasfeo_dcolsc(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj); +void blasfeo_dcolsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj); +void blasfeo_dcolpe(int kmax, int *ipiv, struct blasfeo_dmat *sA); +void blasfeo_dcolpei(int kmax, int *ipiv, struct blasfeo_dmat *sA); + +// vec +// a <= alpha +void blasfeo_dvecse(int m, double alpha, struct blasfeo_dvec *sx, int xi); +// sx[xi] <= a +void blasfeo_dvecin1(double a, struct blasfeo_dvec *sx, int xi); +// <= sx[xi] +double blasfeo_dvecex1(struct blasfeo_dvec *sx, int xi); +// y <= x +void blasfeo_dveccp(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi); +// x <= alpha*x +void blasfeo_dvecsc(int m, double alpha, struct blasfeo_dvec *sx, int xi); +// y <= alpha*x +void blasfeo_dveccpsc(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi); +// z[idx] += alpha * x +void blasfeo_dvecad_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi); +// z[idx] <= alpha * x +void blasfeo_dvecin_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi); +// z <= alpha * x[idx] +void blasfeo_dvecex_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); +// z += alpha * x[idx] +void blasfeo_dvecexad_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); + +void blasfeo_dveccl(int m, + struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi, + struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi); + +void blasfeo_dveccl_mask(int m, + struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi, + struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi, + struct blasfeo_dvec *sm, int mi); + +void blasfeo_dvecze(int m, struct blasfeo_dvec *sm, int mi, struct blasfeo_dvec *sv, int vi, struct blasfeo_dvec *se, int ei); +void blasfeo_dvecnrm_inf(int m, struct blasfeo_dvec *sx, int xi, double *ptr_norm); +void blasfeo_dvecnrm_2(int m, struct blasfeo_dvec *sx, int xi, double *ptr_norm); +void blasfeo_dvecpe(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi); +void blasfeo_dvecpei(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi); + + + + + +/* +* Explicitly panel-major matrix format +*/ + +// returns the memory size (in bytes) needed for a dmat +size_t blasfeo_pm_memsize_dmat(int ps, int m, int n); +// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated) +void blasfeo_pm_create_dmat(int ps, int m, int n, struct blasfeo_pm_dmat *sA, void *memory); +// print +void blasfeo_pm_print_dmat(int m, int n, struct blasfeo_pm_dmat *sA, int ai, int aj); + + + +/* +* Explicitly panel-major matrix format +*/ + +// returns the memory size (in bytes) needed for a dmat +size_t blasfeo_cm_memsize_dmat(int m, int n); +// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated) +void blasfeo_cm_create_dmat(int m, int n, struct blasfeo_pm_dmat *sA, void *memory); + + + +// +// BLAS API helper functions +// + +#if ( defined(BLAS_API) & defined(MF_PANELMAJ) ) +// aux +void blasfeo_cm_dgetr(int m, int n, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj); +#endif + + + +#ifdef __cplusplus +} +#endif + +#endif // BLASFEO_D_AUX_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep.h new file mode 100644 index 0000000000..bee9e986f1 --- /dev/null +++ b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep.h @@ -0,0 +1,145 @@ +/************************************************************************************************** +* * +* This file is part of BLASFEO. * +* * +* BLASFEO -- BLAS For Embedded Optimization. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +/* + * auxiliary algebra operation external dependancies header + * + * include/blasfeo_d_aux_ext_dep.h + * + * - dynamic memory allocation + * - print + * + */ + +#ifndef BLASFEO_D_AUX_EXT_DEP_H_ +#define BLASFEO_D_AUX_EXT_DEP_H_ + + + +#include + + + +#include "blasfeo_common.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +#ifdef EXT_DEP + +/* column-major matrices */ + +// dynamically allocate row*col doubles of memory and set accordingly a pointer to double; set allocated memory to zero +void d_zeros(double **pA, int row, int col); +// dynamically allocate row*col doubles of memory aligned to 64-byte boundaries and set accordingly a pointer to double; set allocated memory to zero +void d_zeros_align(double **pA, int row, int col); +// dynamically allocate size bytes of memory aligned to 64-byte boundaries and set accordingly a pointer to double; set allocated memory to zero +void d_zeros_align_bytes(double **pA, int size); +// free the memory allocated by d_zeros +void d_free(double *pA); +// free the memory allocated by d_zeros_align or d_zeros_align_bytes +void d_free_align(double *pA); +// print a column-major matrix +void d_print_mat(int m, int n, double *A, int lda); +// print the transposed of a column-major matrix +void d_print_tran_mat(int row, int col, double *A, int lda); +// print to file a column-major matrix +void d_print_to_file_mat(FILE *file, int row, int col, double *A, int lda); +// print to file a column-major matrix in exponential format +void d_print_to_file_exp_mat(FILE *file, int row, int col, double *A, int lda); +// print to string a column-major matrix +void d_print_to_string_mat(char **buf_out, int row, int col, double *A, int lda); +// print to file the transposed of a column-major matrix +void d_print_tran_to_file_mat(FILE *file, int row, int col, double *A, int lda); +// print to file the transposed of a column-major matrix in exponential format +void d_print_tran_to_file_exp_mat(FILE *file, int row, int col, double *A, int lda); +// print in exponential notation a column-major matrix +void d_print_exp_mat(int m, int n, double *A, int lda); +// print in exponential notation the transposed of a column-major matrix +void d_print_exp_tran_mat(int row, int col, double *A, int lda); + +/* strmat and strvec */ + +// create a strmat for a matrix of size m*n by dynamically allocating memory +void blasfeo_allocate_dmat(int m, int n, struct blasfeo_dmat *sA); +// create a strvec for a vector of size m by dynamically allocating memory +void blasfeo_allocate_dvec(int m, struct blasfeo_dvec *sa); +// free the memory allocated by blasfeo_allocate_dmat +void blasfeo_free_dmat(struct blasfeo_dmat *sA); +// free the memory allocated by blasfeo_allocate_dvec +void blasfeo_free_dvec(struct blasfeo_dvec *sa); +// print a strmat +void blasfeo_print_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj); +// print in exponential notation a strmat +void blasfeo_print_exp_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj); +// print to file a strmat +void blasfeo_print_to_file_dmat(FILE *file, int m, int n, struct blasfeo_dmat *sA, int ai, int aj); +// print to file a strmat in exponential format +void blasfeo_print_to_file_exp_dmat(FILE *file, int m, int n, struct blasfeo_dmat *sA, int ai, int aj); +// print to string a strmat +void blasfeo_print_to_string_dmat(char **buf_out, int m, int n, struct blasfeo_dmat *sA, int ai, int aj); +// print the transposed of a strmat +void blasfeo_print_tran_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj); +// print a strvec +void blasfeo_print_dvec(int m, struct blasfeo_dvec *sa, int ai); +// print in exponential notation a strvec +void blasfeo_print_exp_dvec(int m, struct blasfeo_dvec *sa, int ai); +// print to file a strvec +void blasfeo_print_to_file_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai); +// print to string a strvec +void blasfeo_print_to_string_dvec(char **buf_out, int m, struct blasfeo_dvec *sa, int ai); +// print the transposed of a strvec +void blasfeo_print_tran_dvec(int m, struct blasfeo_dvec *sa, int ai); +// print in exponential notation the transposed of a strvec +void blasfeo_print_exp_tran_dvec(int m, struct blasfeo_dvec *sa, int ai); +// print to file the transposed of a strvec +void blasfeo_print_to_file_tran_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai); +// print to string the transposed of a strvec +void blasfeo_print_to_string_tran_dvec(char **buf_out, int m, struct blasfeo_dvec *sa, int ai); + +#endif // EXT_DEP + + + +#ifdef __cplusplus +} +#endif + +#endif // BLASFEO_D_AUX_EXT_DEP_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep_ref.h new file mode 100644 index 0000000000..81b811f032 --- /dev/null +++ b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep_ref.h @@ -0,0 +1,84 @@ +/************************************************************************************************** +* * +* This file is part of BLASFEO. * +* * +* BLASFEO -- BLAS For Embedded Optimization. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +/* + * auxiliary algebra operation external dependancies header + * + * include/blasfeo_d_aux_ext_dep.h + * + * - dynamic memory allocation + * - print + * + */ + +#ifndef BLASFEO_D_AUX_EXT_DEP_REF_H_ +#define BLASFEO_D_AUX_EXT_DEP_REF_H_ + + +#include + +#include "blasfeo_common.h" + +#ifdef __cplusplus +extern "C" { +#endif + +// expose reference BLASFEO for testing +// see blasfeo_d_aux_exp_dep.h for help + +void blasfeo_print_dmat_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj); +void blasfeo_allocate_dmat_ref(int m, int n, struct blasfeo_dmat_ref *sA); +void blasfeo_allocate_dvec_ref(int m, struct blasfeo_dvec_ref *sa); +void blasfeo_free_dmat_ref(struct blasfeo_dmat_ref *sA); +void blasfeo_free_dvec_ref(struct blasfeo_dvec_ref *sa); +void blasfeo_print_dmat_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj); +void blasfeo_print_exp_dmat_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj); +void blasfeo_print_to_file_dmat_ref(FILE *file, int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj); +void blasfeo_print_to_file_exp_dmat_ref(FILE *file, int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj); +void blasfeo_print_to_string_dmat_ref(char **buf_out, int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj); +void blasfeo_print_dvec(int m, struct blasfeo_dvec *sa, int ai); +void blasfeo_print_exp_dvec(int m, struct blasfeo_dvec *sa, int ai); +void blasfeo_print_to_file_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai); +void blasfeo_print_to_string_dvec(char **buf_out, int m, struct blasfeo_dvec *sa, int ai); +void blasfeo_print_tran_dvec(int m, struct blasfeo_dvec *sa, int ai); +void blasfeo_print_exp_tran_dvec(int m, struct blasfeo_dvec *sa, int ai); +void blasfeo_print_to_file_tran_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai); +void blasfeo_print_to_string_tran_dvec(char **buf_out, int m, struct blasfeo_dvec *sa, int ai); + +#ifdef __cplusplus +} +#endif + +#endif // BLASFEO_D_AUX_EXT_DEP_REF_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_old.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_old.h new file mode 100644 index 0000000000..3a1847a6a0 --- /dev/null +++ b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_old.h @@ -0,0 +1,75 @@ +/************************************************************************************************** +* * +* This file is part of BLASFEO. * +* * +* BLASFEO -- BLAS For Embedded Optimization. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +/* + * ----------- TOMOVE + * + * expecting column major matrices + * + */ + +#include "blasfeo_common.h" + + +void dtrcp_l_lib(int m, double alpha, int offsetA, double *A, int sda, int offsetB, double *B, int sdb); +void dgead_lib(int m, int n, double alpha, int offsetA, double *A, int sda, int offsetB, double *B, int sdb); +// TODO remove ??? +void ddiain_sqrt_lib(int kmax, double *x, int offset, double *pD, int sdd); +// TODO ddiaad1 +void ddiareg_lib(int kmax, double reg, int offset, double *pD, int sdd); + + +void dgetr_lib(int m, int n, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc); +void dtrtr_l_lib(int m, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc); +void dtrtr_u_lib(int m, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc); +void ddiaex_lib(int kmax, double alpha, int offset, double *pD, int sdd, double *x); +void ddiaad_lib(int kmax, double alpha, double *x, int offset, double *pD, int sdd); +void ddiain_libsp(int kmax, int *idx, double alpha, double *x, double *pD, int sdd); +void ddiaex_libsp(int kmax, int *idx, double alpha, double *pD, int sdd, double *x); +void ddiaad_libsp(int kmax, int *idx, double alpha, double *x, double *pD, int sdd); +void ddiaadin_libsp(int kmax, int *idx, double alpha, double *x, double *y, double *pD, int sdd); +void drowin_lib(int kmax, double alpha, double *x, double *pD); +void drowex_lib(int kmax, double alpha, double *pD, double *x); +void drowad_lib(int kmax, double alpha, double *x, double *pD); +void drowin_libsp(int kmax, double alpha, int *idx, double *x, double *pD); +void drowad_libsp(int kmax, int *idx, double alpha, double *x, double *pD); +void drowadin_libsp(int kmax, int *idx, double alpha, double *x, double *y, double *pD); +void dcolin_lib(int kmax, double *x, int offset, double *pD, int sdd); +void dcolad_lib(int kmax, double alpha, double *x, int offset, double *pD, int sdd); +void dcolin_libsp(int kmax, int *idx, double *x, double *pD, int sdd); +void dcolad_libsp(int kmax, double alpha, int *idx, double *x, double *pD, int sdd); +void dcolsw_lib(int kmax, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc); +void dvecin_libsp(int kmax, int *idx, double *x, double *y); +void dvecad_libsp(int kmax, int *idx, double alpha, double *x, double *y); diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ref.h new file mode 100644 index 0000000000..1e007fa89e --- /dev/null +++ b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ref.h @@ -0,0 +1,208 @@ + +/************************************************************************************************** +* * +* This file is part of BLASFEO. * +* * +* BLASFEO -- BLAS For Embedded Optimization. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef BLASFEO_D_AUX_REF_H_ +#define BLASFEO_D_AUX_REF_H_ + + + +#include + +#include "blasfeo_common.h" +#include "blasfeo_d_aux_old.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + +// --- memory calculations +// +// returns the memory size (in bytes) needed for a dmat +size_t blasfeo_ref_memsize_dmat(int m, int n); +// returns the memory size (in bytes) needed for the diagonal of a dmat +size_t blasfeo_ref_memsize_diag_dmat(int m, int n); +// returns the memory size (in bytes) needed for a dvec +size_t blasfeo_ref_memsize_dvec(int m); + +// --- creation +// +// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated) +void blasfeo_ref_create_dmat(int m, int n, struct blasfeo_dmat *sA, void *memory); +// create a strvec for a vector of size m by using memory passed by a pointer (pointer is not updated) +void blasfeo_ref_create_dvec(int m, struct blasfeo_dvec *sA, void *memory); + +// --- packing +// pack the column-major matrix A into the matrix struct B +void blasfeo_ref_pack_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj); +// pack the lower-triangular column-major matrix A into the matrix struct B +void blasfeo_ref_pack_l_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj); +// pack the upper-triangular column-major matrix A into the matrix struct B +void blasfeo_ref_pack_u_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj); +// transpose and pack the column-major matrix A into the matrix struct B +void blasfeo_ref_pack_tran_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj); +// pack the vector x into the vector structure y +void blasfeo_ref_pack_dvec(int m, double *x, int xi, struct blasfeo_dvec *sy, int yi); +// unpack the matrix structure A into the column-major matrix B +void blasfeo_ref_unpack_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *B, int ldb); +// transpose and unpack the matrix structure A into the column-major matrix B +void blasfeo_ref_unpack_tran_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *B, int ldb); +// pack the vector structure x into the vector y +void blasfeo_ref_unpack_dvec(int m, struct blasfeo_dvec *sx, int xi, double *y, int yi); + +// --- cast +// +void ref_d_cast_mat2strmat(double *A, struct blasfeo_dmat *sA); // TODO +void ref_d_cast_diag_mat2strmat(double *dA, struct blasfeo_dmat *sA); // TODO +void ref_d_cast_vec2vecmat(double *a, struct blasfeo_dvec *sx); // TODO + + +// ge +// --- insert/extract +// +// sA[ai, aj] <= a +void blasfeo_ref_dgein1(double a, struct blasfeo_dmat *sA, int ai, int aj); +// <= sA[ai, aj] +double blasfeo_ref_dgeex1(struct blasfeo_dmat *sA, int ai, int aj); + +// --- set +// A <= alpha +void blasfeo_ref_dgese(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj); + +// --- copy / scale +// B <= A +void blasfeo_ref_dgecp(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj); +// A <= alpha*A +void blasfeo_ref_dgesc(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj); +// B <= alpha*A +void blasfeo_ref_dgecpsc(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj); +// B <= A, A lower triangular +void blasfeo_ref_dtrcp_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj); +void blasfeo_ref_dtrcpsc_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj); +void blasfeo_ref_dtrsc_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj); + +// --- sum +// B <= B + alpha*A +void blasfeo_ref_dgead(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int yi, int cj); +// y <= y + alpha*x +void blasfeo_ref_dvecad(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi); + +// --- traspositions +// B <= A' +void blasfeo_ref_dgetr(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj); +// B <= A', A lower triangular +void blasfeo_ref_dtrtr_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj); +// B <= A', A upper triangular +void blasfeo_ref_dtrtr_u(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj); + +// dia +// diag(A) += alpha +void blasfeo_ref_ddiare(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj); +// diag(A) <= alpha*x +void blasfeo_ref_ddiain(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj); +// diag(A)[idx] <= alpha*x +void blasfeo_ref_ddiain_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj); +// x <= diag(A) +void blasfeo_ref_ddiaex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi); +// x <= diag(A)[idx] +void blasfeo_ref_ddiaex_sp(int kmax, double alpha, int *idx, struct blasfeo_dmat *sD, int di, int dj, struct blasfeo_dvec *sx, int xi); +// diag(A) += alpha*x +void blasfeo_ref_ddiaad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj); +// diag(A)[idx] += alpha*x +void blasfeo_ref_ddiaad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj); +// diag(A)[idx] = y + alpha*x +void blasfeo_ref_ddiaadin_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, int *idx, struct blasfeo_dmat *sD, int di, int dj); + +// row +void blasfeo_ref_drowin(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj); +void blasfeo_ref_drowex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi); +void blasfeo_ref_drowad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj); +void blasfeo_ref_drowad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj); +void blasfeo_ref_drowsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj); +void blasfeo_ref_drowpe(int kmax, int *ipiv, struct blasfeo_dmat *sA); +void blasfeo_ref_drowpei(int kmax, int *ipiv, struct blasfeo_dmat *sA); + +// col +void blasfeo_ref_dcolex(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi); +void blasfeo_ref_dcolin(int kmax, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj); +void blasfeo_ref_dcolad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj); +void blasfeo_ref_dcolsc(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj); +void blasfeo_ref_dcolsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj); +void blasfeo_ref_dcolpe(int kmax, int *ipiv, struct blasfeo_dmat *sA); +void blasfeo_ref_dcolpei(int kmax, int *ipiv, struct blasfeo_dmat *sA); + +// vec +// a <= alpha +void blasfeo_ref_dvecse(int m, double alpha, struct blasfeo_dvec *sx, int xi); +// sx[xi] <= a +void blasfeo_ref_dvecin1(double a, struct blasfeo_dvec *sx, int xi); +// <= sx[xi] +double blasfeo_ref_dvecex1(struct blasfeo_dvec *sx, int xi); +// y <= x +void blasfeo_ref_dveccp(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi); +// x <= alpha*x +void blasfeo_ref_dvecsc(int m, double alpha, struct blasfeo_dvec *sx, int xi); +// y <= alpha*x +void blasfeo_ref_dveccpsc(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi); +void blasfeo_ref_dvecad_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi); +void blasfeo_ref_dvecin_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi); +void blasfeo_ref_dvecex_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int x, struct blasfeo_dvec *sz, int zi); +// z += alpha * x[idx] +void blasfeo_ref_dvecexad_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); + +void blasfeo_ref_dveccl(int m, + struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi, + struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi); + +void blasfeo_ref_dveccl_mask(int m, + struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi, + struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi, + struct blasfeo_dvec *sm, int mi); + +void blasfeo_ref_dvecze(int m, struct blasfeo_dvec *sm, int mi, struct blasfeo_dvec *sv, int vi, struct blasfeo_dvec *se, int ei); +void blasfeo_ref_dvecnrm_inf(int m, struct blasfeo_dvec *sx, int xi, double *ptr_norm); +void blasfeo_ref_dvecpe(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi); +void blasfeo_ref_dvecpei(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi); + + + +#ifdef __cplusplus +} +#endif + +#endif // BLASFEO_D_AUX_REF_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_test.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_test.h new file mode 100644 index 0000000000..1c61635f3f --- /dev/null +++ b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_test.h @@ -0,0 +1,226 @@ +/************************************************************************************************** +* * +* This file is part of BLASFEO. * +* * +* BLASFEO -- BLAS For Embedded Optimization. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +/* + * auxiliary algebra operations header + * + * include/blasfeo_aux_lib*.h + * + */ + +#ifndef BLASFEO_D_AUX_TEST_H_ +#define BLASFEO_D_AUX_TEST_H_ + +#include "blasfeo_common.h" + + +#ifdef __cplusplus +extern "C" { +#endif + +// --- memory calculations +int test_blasfeo_memsize_dmat(int m, int n); +int test_blasfeo_memsize_diag_dmat(int m, int n); +int test_blasfeo_memsize_dvec(int m); + +// --- creation +void test_blasfeo_create_dmat(int m, int n, struct blasfeo_dmat *sA, void *memory); +void test_blasfeo_create_dvec(int m, struct blasfeo_dvec *sA, void *memory); + +// --- conversion +void test_blasfeo_pack_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sA, int ai, int aj); +void test_blasfeo_pack_dvec(int m, double *x, int xi, struct blasfeo_dvec *sa, int ai); +void test_blasfeo_pack_tran_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sA, int ai, int aj); +void test_blasfeo_unpack_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *A, int lda); +void test_blasfeo_unpack_dvec(int m, struct blasfeo_dvec *sa, int ai, double *x, int xi); +void test_blasfeo_unpack_tran_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *A, int lda); + +// --- cast +void test_d_cast_mat2strmat(double *A, struct blasfeo_dmat *sA); +void test_d_cast_diag_mat2strmat(double *dA, struct blasfeo_dmat *sA); +void test_d_cast_vec2vecmat(double *a, struct blasfeo_dvec *sa); + +// ------ copy / scale + +// B <= A +void test_blasfeo_dgecp(int m, int n, + struct blasfeo_dmat *sA, int ai, int aj, + struct blasfeo_dmat *sB, int bi, int bj); + +// A <= alpha*A +void test_blasfeo_dgesc(int m, int n, + double alpha, + struct blasfeo_dmat *sA, int ai, int aj); + +// B <= alpha*A +void test_blasfeo_dgecpsc(int m, int n, + double alpha, + struct blasfeo_dmat *sA, int ai, int aj, + struct blasfeo_dmat *sB, int bi, int bj); + +// // --- insert/extract +// // +// // <= sA[ai, aj] +// void test_blasfeo_dgein1(double a, struct blasfeo_dmat *sA, int ai, int aj); +// // <= sA[ai, aj] +// double blasfeo_dgeex1(struct blasfeo_dmat *sA, int ai, int aj); +// // sx[xi] <= a +// void test_blasfeo_dvecin1(double a, struct blasfeo_dvec *sx, int xi); +// // <= sx[xi] +// double blasfeo_dvecex1(struct blasfeo_dvec *sx, int xi); +// // A <= alpha + +// // --- set +// void test_blasfeo_dgese(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj); +// // a <= alpha +// void test_blasfeo_dvecse(int m, double alpha, struct blasfeo_dvec *sx, int xi); +// // B <= A + + +// // --- vector +// // y <= x +// void test_blasfeo_dveccp(int m, struct blasfeo_dvec *sa, int ai, struct blasfeo_dvec *sc, int ci); +// // x <= alpha*x +// void test_blasfeo_dvecsc(int m, double alpha, struct blasfeo_dvec *sa, int ai); +// // TODO +// // x <= alpha*x +// void test_blasfeo_dveccpsc(int m, double alpha, struct blasfeo_dvec *sa, int ai, struct blasfeo_dvec *sc, int ci); + + +// // B <= A, A lower triangular +// void test_blasfeo_dtrcp_l(int m, +// struct blasfeo_dmat *sA, int ai, int aj, +// struct blasfeo_dmat *sB, int bi, int bj); + +// void test_blasfeo_dtrcpsc_l(int m, double alpha, +// struct blasfeo_dmat *sA, int ai, int aj, +// struct blasfeo_dmat *sB, int bi, int bj); + +// void test_blasfeo_dtrsc_l(int m, double alpha, +// struct blasfeo_dmat *sA, int ai, int aj); + + +// // B <= B + alpha*A +// void test_blasfeo_dgead(int m, int n, double alpha, +// struct blasfeo_dmat *sA, int ai, int aj, +// struct blasfeo_dmat *sC, int ci, int cj); + +// // y <= y + alpha*x +// void test_blasfeo_dvecad(int m, double alpha, +// struct blasfeo_dvec *sa, int ai, +// struct blasfeo_dvec *sc, int ci); + +// // --- traspositions +// void test_dgetr_lib(int m, int n, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc); +// void test_blasfeo_dgetr(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj); +// void test_dtrtr_l_lib(int m, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc); +// void test_blasfeo_dtrtr_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj); +// void test_dtrtr_u_lib(int m, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc); +// void test_blasfeo_dtrtr_u(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj); +// void test_blasfeo_ddiare(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj); +// void test_blasfeo_ddiain(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj); +// void test_ddiaex_lib(int kmax, double alpha, int offset, double *pD, int sdd, double *x); +// void test_ddiaad_lib(int kmax, double alpha, double *x, int offset, double *pD, int sdd); +// void test_ddiain_libsp(int kmax, int *idx, double alpha, double *x, double *pD, int sdd); +// void test_blasfeo_ddiain_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj); +// void test_ddiaex_libsp(int kmax, int *idx, double alpha, double *pD, int sdd, double *x); +// void test_blasfeo_ddiaex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi); +// void test_blasfeo_ddiaex_sp(int kmax, double alpha, int *idx, struct blasfeo_dmat *sD, int di, int dj, struct blasfeo_dvec *sx, int xi); +// void test_blasfeo_ddiaad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj); +// void test_ddiaad_libsp(int kmax, int *idx, double alpha, double *x, double *pD, int sdd); +// void test_blasfeo_ddiaad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj); +// void test_ddiaadin_libsp(int kmax, int *idx, double alpha, double *x, double *y, double *pD, int sdd); +// void test_blasfeo_ddiaadin_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, int *idx, struct blasfeo_dmat *sD, int di, int dj); +// void test_drowin_lib(int kmax, double alpha, double *x, double *pD); +// void test_blasfeo_drowin(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj); +// void test_drowex_lib(int kmax, double alpha, double *pD, double *x); +// void test_blasfeo_drowex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi); +// void test_drowad_lib(int kmax, double alpha, double *x, double *pD); +// void test_blasfeo_drowad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj); +// void test_drowin_libsp(int kmax, double alpha, int *idx, double *x, double *pD); +// void test_drowad_libsp(int kmax, int *idx, double alpha, double *x, double *pD); +// void test_blasfeo_drowad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj); +// void test_drowadin_libsp(int kmax, int *idx, double alpha, double *x, double *y, double *pD); +// void test_drowsw_lib(int kmax, double *pA, double *pC); +// void test_blasfeo_drowsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj); +// void test_blasfeo_drowpe(int kmax, int *ipiv, struct blasfeo_dmat *sA); +// void test_blasfeo_dcolex(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi); +// void test_dcolin_lib(int kmax, double *x, int offset, double *pD, int sdd); +// void test_blasfeo_dcolin(int kmax, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj); +// void test_dcolad_lib(int kmax, double alpha, double *x, int offset, double *pD, int sdd); +// void test_dcolin_libsp(int kmax, int *idx, double *x, double *pD, int sdd); +// void test_dcolad_libsp(int kmax, double alpha, int *idx, double *x, double *pD, int sdd); +// void test_dcolsw_lib(int kmax, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc); +// void test_blasfeo_dcolsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj); +// void test_blasfeo_dcolpe(int kmax, int *ipiv, struct blasfeo_dmat *sA); +// void test_dvecin_libsp(int kmax, int *idx, double *x, double *y); +// void test_dvecad_libsp(int kmax, int *idx, double alpha, double *x, double *y); +// void test_blasfeo_dvecad_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi); +// void test_blasfeo_dvecin_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi); +// void test_blasfeo_dvecex_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int x, struct blasfeo_dvec *sz, int zi); +// void test_blasfeo_dveccl(int m, struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi); +// void test_blasfeo_dveccl_mask(int m, struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi, struct blasfeo_dvec *sm, int mi); +// void test_blasfeo_dvecze(int m, struct blasfeo_dvec *sm, int mi, struct blasfeo_dvec *sv, int vi, struct blasfeo_dvec *se, int ei); +// void test_blasfeo_dvecnrm_inf(int m, struct blasfeo_dvec *sx, int xi, double *ptr_norm); +// void test_blasfeo_dvecpe(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi); +// void test_blasfeo_dvecpei(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi); + +// ext_dep + +void test_blasfeo_allocate_dmat(int m, int n, struct blasfeo_dmat *sA); +void test_blasfeo_allocate_dvec(int m, struct blasfeo_dvec *sa); + +void test_blasfeo_free_dmat(struct blasfeo_dmat *sA); +void test_blasfeo_free_dvec(struct blasfeo_dvec *sa); + +void test_blasfeo_print_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj); +void test_blasfeo_print_dvec(int m, struct blasfeo_dvec *sa, int ai); +void test_blasfeo_print_tran_dvec(int m, struct blasfeo_dvec *sa, int ai); + +void test_blasfeo_print_to_file_dmat(FILE *file, int m, int n, struct blasfeo_dmat *sA, int ai, int aj); +void test_blasfeo_print_to_file_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai); +void test_blasfeo_print_to_file_tran_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai); + +void test_blasfeo_print_exp_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj); +void test_blasfeo_print_exp_dvec(int m, struct blasfeo_dvec *sa, int ai); +void test_blasfeo_print_exp_tran_dvec(int m, struct blasfeo_dvec *sa, int ai); + + + +#ifdef __cplusplus +} +#endif + +#endif // BLASFEO_D_AUX_TEST_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blas.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blas.h new file mode 100644 index 0000000000..ea8d006731 --- /dev/null +++ b/third_party/acados/include/blasfeo/include/blasfeo_d_blas.h @@ -0,0 +1,46 @@ +/************************************************************************************************** +* * +* This file is part of BLASFEO. * +* * +* BLASFEO -- BLAS For Embedded Optimization. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef BLASFEO_D_BLAS_H_ +#define BLASFEO_D_BLAS_H_ + + + +#include "blasfeo_d_blasfeo_api.h" +#include "blasfeo_d_blas_api.h" + + + +#endif // BLASFEO_D_BLAS_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blas_api.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blas_api.h new file mode 100644 index 0000000000..2eab1e4094 --- /dev/null +++ b/third_party/acados/include/blasfeo/include/blasfeo_d_blas_api.h @@ -0,0 +1,281 @@ +/************************************************************************************************** +* * +* This file is part of BLASFEO. * +* * +* BLASFEO -- BLAS For Embedded Optimization. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + + + +#ifndef BLASFEO_D_BLAS_API_H_ +#define BLASFEO_D_BLAS_API_H_ + + + +#include "blasfeo_target.h" + + + +#ifdef BLAS_API +#ifdef CBLAS_API +#ifndef BLASFEO_CBLAS_ENUM +#define BLASFEO_CBLAS_ENUM +#ifdef FORTRAN_BLAS_API +#ifndef CBLAS_H +enum CBLAS_LAYOUT {CblasRowMajor=101, CblasColMajor=102}; +enum CBLAS_TRANSPOSE {CblasNoTrans=111, CblasTrans=112, CblasConjTrans=113}; +enum CBLAS_UPLO {CblasUpper=121, CblasLower=122}; +enum CBLAS_DIAG {CblasNonUnit=131, CblasUnit=132}; +enum CBLAS_SIDE {CblasLeft=141, CblasRight=142}; +#define CBLAS_ORDER CBLAS_LAYOUT /* this for backward compatibility with CBLAS_ORDER */ +#endif // CBLAS_H +#else // FORTRAN_BLAS_API +enum BLASFEO_CBLAS_LAYOUT {BlasfeoCblasRowMajor=101, BlasfeoCblasColMajor=102}; +enum BLASFEO_CBLAS_TRANSPOSE {BlasfeoCblasNoTrans=111, BlasfeoCblasTrans=112, BlasfeoCblasConjTrans=113}; +enum BLASFEO_CBLAS_UPLO {BlasfeoCblasUpper=121, BlasfeoCblasLower=122}; +enum BLASFEO_CBLAS_DIAG {BlasfeoCblasNonUnit=131, BlasfeoCblasUnit=132}; +enum BLASFEO_CBLAS_SIDE {BlasfeoCblasLeft=141, BlasfeoCblasRight=142}; +#define BLASFEO_CBLAS_ORDER BLASFEO_CBLAS_LAYOUT /* this for backward compatibility with BLASFEO_CBLAS_ORDER */ +#endif // FORTRAN_BLAS_API +#endif // BLASFEO_CBLAS_ENUM +#endif // CBLAS_API +#endif // BLAS_API + + +#ifdef __cplusplus +extern "C" { +#endif + + + +#ifdef BLAS_API + + + +#ifdef FORTRAN_BLAS_API + + + +// BLAS 1 +// +void daxpy_(int *n, double *alpha, double *x, int *incx, double *y, int *incy); +// +void dcopy_(int *n, double *x, int *incx, double *y, int *incy); +// +double ddot_(int *n, double *x, int *incx, double *y, int *incy); + +// BLAS 2 +// +void dgemv_(char *tran, int *m, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy); +// +void dsymv_(char *uplo, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy); +// +void dger_(int *m, int *n, double *alpha, double *x, int *incx, double *y, int *incy, double *A, int *lda); + +// BLAS 3 +// +void dgemm_(char *ta, char *tb, int *m, int *n, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc); +// +void dsyrk_(char *uplo, char *ta, int *m, int *k, double *alpha, double *A, int *lda, double *beta, double *C, int *ldc); +// +void dtrmm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb); +// +void dtrsm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb); +// +void dsyr2k_(char *uplo, char *ta, int *m, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc); + + + +// LAPACK +// +void dgesv_(int *m, int *n, double *A, int *lda, int *ipiv, double *B, int *ldb, int *info); +// +void dgetrf_(int *m, int *n, double *A, int *lda, int *ipiv, int *info); +// +void dgetrf_np_(int *m, int *n, double *A, int *lda, int *info); +// +void dgetrs_(char *trans, int *m, int *n, double *A, int *lda, int *ipiv, double *B, int *ldb, int *info); +// +void dlaswp_(int *n, double *A, int *lda, int *k1, int *k2, int *ipiv, int *incx); +// +void dposv_(char *uplo, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info); +// +void dpotrf_(char *uplo, int *m, double *A, int *lda, int *info); +// +void dpotrs_(char *uplo, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info); +// +void dtrtrs_(char *uplo, char *trans, char *diag, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info); + + + +// aux +void dgetr_(int *m, int *n, double *A, int *lda, double *B, int *ldb); + + + +#ifdef CBLAS_API + + + +// CBLAS 1 +// +void cblas_daxpy(const int N, const double alpha, const double *X, const int incX, double *Y, const int incY); +// +void cblas_dswap(const int N, double *X, const int incX, double *Y, const int incY); +// +void cblas_dcopy(const int N, const double *X, const int incX, double *Y, const int incY); + +// CBLAS 2 +// +void cblas_dgemv(const enum CBLAS_LAYOUT layout, const enum CBLAS_TRANSPOSE TransA, const int M, const int N, const int K, const double alpha, const double *A, const int lda, const double *X, const int incX, const double beta, double *Y, const int incY); + +// CBLAS 3 +// +void cblas_dgemm(const enum CBLAS_LAYOUT layout, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_TRANSPOSE TransB, const int M, const int N, const int K, const double alpha, const double *A, const int lda, const double *B, const int ldb, const double beta, double *C, const int ldc); +// +void cblas_dsyrk(const enum CBLAS_LAYOUT layout, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE Trans, const int N, const int K, const double alpha, const double *A, const int lda, const double beta, double *C, const int ldc); +// +void cblas_dtrmm(const enum CBLAS_LAYOUT layout, const enum CBLAS_SIDE Side, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb); +// +void cblas_dtrsm(const enum CBLAS_LAYOUT layout, const enum CBLAS_SIDE Side, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb); + + + +#endif // CBLAS_API + + + +#else // BLASFEO_API + + + +// BLAS 1 +// +void blasfeo_blas_daxpy(int *n, double *alpha, double *x, int *incx, double *y, int *incy); +// +double blasfeo_blas_ddot(int *n, double *x, int *incx, double *y, int *incy); +// +void blasfeo_blas_dcopy(int *n, double *x, int *incx, double *y, int *incy); + +// BLAS 2 +// +void blasfeo_blas_dgemv(char *trans, int *m, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy); +// +void blasfeo_blas_dsymv(char *uplo, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy); +// +void blasfeo_blas_dger(int *m, int *n, double *alpha, double *x, int *incx, double *y, int *incy, double *A, int *lda); + +// BLAS 3 +// +void blasfeo_blas_dgemm(char *ta, char *tb, int *m, int *n, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc); +// +void blasfeo_blas_dsyrk(char *uplo, char *ta, int *m, int *k, double *alpha, double *A, int *lda, double *beta, double *C, int *ldc); +// +void blasfeo_blas_dtrmm(char *side, char *uplo, char *transa, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb); +// +void blasfeo_blas_dtrsm(char *side, char *uplo, char *transa, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb); +// +void blasfeo_blas_dsyr2k(char *uplo, char *ta, int *m, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc); + + + +// LAPACK +// +void blasfeo_lapack_dgesv(int *m, int *n, double *A, int *lda, int *ipiv, double *B, int *ldb, int *info); +// +void blasfeo_lapack_dgetrf(int *m, int *n, double *A, int *lda, int *ipiv, int *info); +// +void blasfeo_lapack_dgetrf_np(int *m, int *n, double *A, int *lda, int *info); +// +void blasfeo_lapack_dgetrs(char *trans, int *m, int *n, double *A, int *lda, int *ipiv, double *B, int *ldb, int *info); +// +void blasfeo_lapack_dlaswp(int *n, double *A, int *lda, int *k1, int *k2, int *ipiv, int *incx); +// +void blasfeo_lapack_dposv(char *uplo, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info); +// +void blasfeo_lapack_dpotrf(char *uplo, int *m, double *A, int *lda, int *info); +// +void blasfeo_lapack_dpotrs(char *uplo, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info); +// +void blasfeo_lapack_dtrtrs(char *uplo, char *trans, char *diag, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info); + + + +// aux +void blasfeo_blas_dgetr(int *m, int *n, double *A, int *lda, double *B, int *ldb); + + + +#ifdef CBLAS_API + + + +// CBLAS 1 +// +void blasfeo_cblas_daxpy(const int N, const double alpha, const double *X, const int incX, double *Y, const int incY); +// +void blasfeo_cblas_dswap(const int N, double *X, const int incX, double *Y, const int incY); +// +void blasfeo_cblas_dcopy(const int N, const double *X, const int incX, double *Y, const int incY); + +// CBLAS 2 +// +void blasfeo_cblas_dgemv(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const int M, const int N, const double alpha, const double *A, const int lda, const double *X, const int incX, const double beta, double *Y, const int incY); + +// CBLAS 3 +// +void blasfeo_cblas_dgemm(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_TRANSPOSE TransB, const int M, const int N, const int K, const double alpha, const double *A, const int lda, const double *B, const int ldb, const double beta, double *C, const int ldc); +// +void blasfeo_cblas_dsyrk(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE Trans, const int N, const int K, const double alpha, const double *A, const int lda, const double beta, double *C, const int ldc); +// +void blasfeo_cblas_dtrmm(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_SIDE Side, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb); +// +void blasfeo_cblas_dtrsm(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_SIDE Side, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb); + + + +#endif // CBLAS_API + + + +#endif // BLASFEO_API + + + +#endif // BLAS_API + + + +#ifdef __cplusplus +} +#endif + +#endif // BLASFEO_D_BLAS_API_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api.h new file mode 100644 index 0000000000..88bb3fce22 --- /dev/null +++ b/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api.h @@ -0,0 +1,364 @@ +/************************************************************************************************** +* * +* This file is part of BLASFEO. * +* * +* BLASFEO -- BLAS For Embedded Optimization. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef BLASFEO_D_BLASFEO_API_H_ +#define BLASFEO_D_BLASFEO_API_H_ + + + +#include "blasfeo_common.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +// +// level 1 BLAS +// + +// z = y + alpha*x +// z[zi:zi+n] = alpha*x[xi:xi+n] + y[yi:yi+n] +// NB: Different arguments semantic compare to equivalent standard BLAS routine +void blasfeo_daxpy(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); +// z = beta*y + alpha*x +void blasfeo_daxpby(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); +// z = x .* y +void blasfeo_dvecmul(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); +// z += x .* y +void blasfeo_dvecmulacc(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); +// z = x .* y, return sum(z) = x^T * y +double blasfeo_dvecmuldot(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); +// return x^T * y +double blasfeo_ddot(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi); +// construct givens plane rotation +void blasfeo_drotg(double a, double b, double *c, double *s); +// apply plane rotation [a b] [c -s; s; c] to the aj0 and aj1 columns of A at row index ai +void blasfeo_dcolrot(int m, struct blasfeo_dmat *sA, int ai, int aj0, int aj1, double c, double s); +// apply plane rotation [c s; -s c] [a; b] to the ai0 and ai1 rows of A at column index aj +void blasfeo_drowrot(int m, struct blasfeo_dmat *sA, int ai0, int ai1, int aj, double c, double s); + + + +// +// level 2 BLAS +// + +// dense + +// z <= beta * y + alpha * A * x +void blasfeo_dgemv_n(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); +// z <= beta * y + alpha * A^T * x +void blasfeo_dgemv_t(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); +// z <= inv( A ) * x, A (m)x(n) +void blasfeo_dtrsv_lnn_mn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); +// z <= inv( A^T ) * x, A (m)x(n) +void blasfeo_dtrsv_ltn_mn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); +// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, not_unit +void blasfeo_dtrsv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); +// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, unit +void blasfeo_dtrsv_lnu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); +// z <= inv( A^T ) * x, A (m)x(m) lower, transposed, not_unit +void blasfeo_dtrsv_ltn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); +// z <= inv( A^T ) * x, A (m)x(m) lower, transposed, unit +void blasfeo_dtrsv_ltu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); +// z <= inv( A^T ) * x, A (m)x(m) upper, not_transposed, not_unit +void blasfeo_dtrsv_unn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); +// z <= inv( A^T ) * x, A (m)x(m) upper, transposed, not_unit +void blasfeo_dtrsv_utn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); +// z <= A * x ; A lower triangular +void blasfeo_dtrmv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); +// z <= A * x ; A lower triangular, unit diagonal +void blasfeo_dtrmv_lnu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); +// z <= A^T * x ; A lower triangular +void blasfeo_dtrmv_ltn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); +// z <= A^T * x ; A lower triangular, unit diagonal +void blasfeo_dtrmv_ltu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); +// z <= beta * y + alpha * A * x ; A upper triangular +void blasfeo_dtrmv_unn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); +// z <= A^T * x ; A upper triangular +void blasfeo_dtrmv_utn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); +// z_n <= beta_n * y_n + alpha_n * A * x_n +// z_t <= beta_t * y_t + alpha_t * A^T * x_t +void blasfeo_dgemv_nt(int m, int n, double alpha_n, double alpha_t, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx_n, int xi_n, struct blasfeo_dvec *sx_t, int xi_t, double beta_n, double beta_t, struct blasfeo_dvec *sy_n, int yi_n, struct blasfeo_dvec *sy_t, int yi_t, struct blasfeo_dvec *sz_n, int zi_n, struct blasfeo_dvec *sz_t, int zi_t); +// z <= beta * y + alpha * A * x, where A is symmetric and only the lower triangular patr of A is accessed +void blasfeo_dsymv_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); +void blasfeo_dsymv_l_mn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); +// z <= beta * y + alpha * A * x, where A is symmetric and only the upper triangular patr of A is accessed +void blasfeo_dsymv_u(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); +// D = C + alpha * x * y^T +void blasfeo_dger(int m, int n, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); + +// diagonal + +// z <= beta * y + alpha * A * x, A diagonal +void blasfeo_dgemv_d(int m, double alpha, struct blasfeo_dvec *sA, int ai, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); + + + +// +// level 3 BLAS +// + +// dense + +// D <= beta * C + alpha * A * B +void blasfeo_dgemm_nn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); +// D <= beta * C + alpha * A * B^T +void blasfeo_dgemm_nt(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); +// D <= beta * C + alpha * A^T * B +void blasfeo_dgemm_tn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); +// D <= beta * C + alpha * A^T * B^T +void blasfeo_dgemm_tt(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); +// D <= beta * C + alpha * A * B^T ; C, D lower triangular +void blasfeo_dsyrk_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); +void blasfeo_dsyrk_ln_mn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); +#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) ) +void blasfeo_dsyrk3_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); +#endif +// D <= beta * C + alpha * A^T * B ; C, D lower triangular +void blasfeo_dsyrk_lt(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); +#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) ) +void blasfeo_dsyrk3_lt(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); +#endif +// D <= beta * C + alpha * A * B^T ; C, D upper triangular +void blasfeo_dsyrk_un(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); +#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) ) +void blasfeo_dsyrk3_un(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); +#endif +// D <= beta * C + alpha * A^T * B ; C, D upper triangular +void blasfeo_dsyrk_ut(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); +#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) ) +void blasfeo_dsyrk3_ut(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); +#endif +// D <= alpha * A * B ; A lower triangular +void blasfeo_dtrmm_llnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * A * B ; A lower triangular +void blasfeo_dtrmm_llnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * A^T * B ; A lower triangular +void blasfeo_dtrmm_lltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * A^T * B ; A lower triangular +void blasfeo_dtrmm_lltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * A * B ; A upper triangular +void blasfeo_dtrmm_lunn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * A * B ; A upper triangular +void blasfeo_dtrmm_lunu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * A^T * B ; A upper triangular +void blasfeo_dtrmm_lutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * A^T * B ; A upper triangular +void blasfeo_dtrmm_lutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * B * A ; A lower triangular +void blasfeo_dtrmm_rlnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * B * A ; A lower triangular +void blasfeo_dtrmm_rlnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * B * A^T ; A lower triangular +void blasfeo_dtrmm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * B * A^T ; A lower triangular +void blasfeo_dtrmm_rltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * B * A ; A upper triangular +void blasfeo_dtrmm_runn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * B * A ; A upper triangular +void blasfeo_dtrmm_runu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * B * A^T ; A upper triangular +void blasfeo_dtrmm_rutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * B * A^T ; A upper triangular +void blasfeo_dtrmm_rutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * A^{-1} * B , with A lower triangular employint explicit inverse of diagonal +// D <= alpha * A^{-1} * B , with A lower triangular employing explicit inverse of diagonal +void blasfeo_dtrsm_llnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * A^{-1} * B , with A lower triangular with unit diagonal +void blasfeo_dtrsm_llnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * A^{-T} * B , with A lower triangular employing explicit inverse of diagonal +void blasfeo_dtrsm_lltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * A^{-T} * B , with A lower triangular with unit diagonal +void blasfeo_dtrsm_lltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * A^{-1} * B , with A upper triangular employing explicit inverse of diagonal +void blasfeo_dtrsm_lunn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * A^{-1} * B , with A upper triangular with unit diagonal +void blasfeo_dtrsm_lunu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * A^{-T} * B , with A upper triangular employing explicit inverse of diagonal +void blasfeo_dtrsm_lutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * A^{-T} * B , with A upper triangular with unit diagonal +void blasfeo_dtrsm_lutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * B * A^{-1} , with A lower triangular employing explicit inverse of diagonal +void blasfeo_dtrsm_rlnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * B * A^{-1} , with A lower triangular with unit diagonal +void blasfeo_dtrsm_rlnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * B * A^{-T} , with A lower triangular employing explicit inverse of diagonal +void blasfeo_dtrsm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * B * A^{-T} , with A lower triangular with unit diagonal +void blasfeo_dtrsm_rltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * B * A^{-1} , with A upper triangular employing explicit inverse of diagonal +void blasfeo_dtrsm_runn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * B * A^{-1} , with A upper triangular with unit diagonal +void blasfeo_dtrsm_runu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * B * A^{-T} , with A upper triangular employing explicit inverse of diagonal +void blasfeo_dtrsm_rutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * B * A^{-T} , with A upper triangular with unit diagonal +void blasfeo_dtrsm_rutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= beta * C + alpha * A * B^T + alpha * B * A^T; C, D lower triangular +void blasfeo_dsyr2k_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); +// D <= beta * C + alpha * A^T * B + alpha * B^T * A; C, D lower triangular +void blasfeo_dsyr2k_lt(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); +// D <= beta * C + alpha * A * B^T + alpha * B * A^T; C, D upper triangular +void blasfeo_dsyr2k_un(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); +// D <= beta * C + alpha * A^T * B + alpha * B^T * A; C, D upper triangular +void blasfeo_dsyr2k_ut(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); + +// diagonal + +// D <= alpha * A * B + beta * C, with A diagonal (stored as strvec) +void dgemm_diag_left_lib(int m, int n, double alpha, double *dA, double *pB, int sdb, double beta, double *pC, int sdc, double *pD, int sdd); +void blasfeo_dgemm_dn(int m, int n, double alpha, struct blasfeo_dvec *sA, int ai, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * A * B + beta * C, with B diagonal (stored as strvec) +void blasfeo_dgemm_nd(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sB, int bi, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); + + + +// +// LAPACK +// + +// D <= chol( C ) ; C, D lower triangular +void blasfeo_dpotrf_l(int m, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); +void blasfeo_dpotrf_l_mn(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); +// D <= chol( C ) ; C, D upper triangular +void blasfeo_dpotrf_u(int m, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); +// D <= chol( C + A * B' ) ; C, D lower triangular +// D <= chol( C + A * B^T ) ; C, D lower triangular +void blasfeo_dsyrk_dpotrf_ln(int m, int k, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); +void blasfeo_dsyrk_dpotrf_ln_mn(int m, int n, int k, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); +// D <= lu( C ) ; no pivoting +void blasfeo_dgetrf_np(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); +// D <= lu( C ) ; row pivoting +void blasfeo_dgetrf_rp(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, int *ipiv); +// D <= qr( C ) +int blasfeo_dgeqrf_worksize(int m, int n); // in bytes +void blasfeo_dgeqrf(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work); +// D <= Q factor, where C is the output of the LQ factorization +int blasfeo_dorglq_worksize(int m, int n, int k); // in bytes +void blasfeo_dorglq(int m, int n, int k, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work); +// D <= lq( C ) +void blasfeo_dgelqf(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work); +int blasfeo_dgelqf_worksize(int m, int n); // in bytes +// D <= lq( C ), positive diagonal elements +void blasfeo_dgelqf_pd(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work); +// [L, A] <= lq( [L, A] ), positive diagonal elements, array of matrices, with +// L lower triangular, of size (m)x(m) +// A full, of size (m)x(n1) +void blasfeo_dgelqf_pd_la(int m, int n1, struct blasfeo_dmat *sL, int li, int lj, struct blasfeo_dmat *sA, int ai, int aj, void *work); +// [L, L, A] <= lq( [L, L, A] ), positive diagonal elements, array of matrices, with: +// L lower triangular, of size (m)x(m) +// A full, of size (m)x(n1) +void blasfeo_dgelqf_pd_lla(int m, int n1, struct blasfeo_dmat *sL0, int l0i, int l0j, struct blasfeo_dmat *sL1, int l1i, int l1j, struct blasfeo_dmat *sA, int ai, int aj, void *work); + + + +// +// BLAS API helper functions +// + +#if ( defined(BLAS_API) & defined(MF_PANELMAJ) ) +// BLAS 3 +void blasfeo_cm_dgemm_nn(int m, int n, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dgemm_nt(int m, int n, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dgemm_tn(int m, int n, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dgemm_tt(int m, int n, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dsyrk_ln(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dsyrk_lt(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dsyrk_un(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dsyrk_ut(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dsyrk3_ln(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dsyrk3_lt(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dsyrk3_un(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dsyrk3_ut(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dtrsm_llnn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dtrsm_llnu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dtrsm_lltn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dtrsm_lltu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dtrsm_lunn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dtrsm_lunu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dtrsm_lutn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dtrsm_lutu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dtrsm_rlnn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dtrsm_rlnu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dtrsm_rltn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dtrsm_rltu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dtrsm_runn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dtrsm_runu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dtrsm_rutn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dtrsm_rutu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dtrmm_llnn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dtrmm_llnu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dtrmm_lltn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dtrmm_lltu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dtrmm_lunn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dtrmm_lunu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dtrmm_lutn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dtrmm_lutu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dtrmm_rlnn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dtrmm_rlnu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dtrmm_rltn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dtrmm_rltu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dtrmm_runn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dtrmm_runu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dtrmm_rutn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dtrmm_rutu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dsyr2k_ln(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dsyr2k_lt(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dsyr2k_un(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dsyr2k_ut(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj); +// BLAS 2 +void blasfeo_cm_dgemv_n(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dvec *sx, int xi, double beta, struct blasfeo_cm_dvec *sy, int yi, struct blasfeo_cm_dvec *sz, int zi); +void blasfeo_cm_dgemv_t(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dvec *sx, int xi, double beta, struct blasfeo_cm_dvec *sy, int yi, struct blasfeo_cm_dvec *sz, int zi); +void blasfeo_cm_dsymv_l(int m, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dvec *sx, int xi, double beta, struct blasfeo_cm_dvec *sy, int yi, struct blasfeo_cm_dvec *sz, int zi); +void blasfeo_cm_dsymv_u(int m, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dvec *sx, int xi, double beta, struct blasfeo_cm_dvec *sy, int yi, struct blasfeo_cm_dvec *sz, int zi); +void blasfeo_cm_dger(int m, int n, double alpha, struct blasfeo_cm_dvec *sx, int xi, struct blasfeo_cm_dvec *sy, int yi, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj); +// LAPACK +void blasfeo_cm_dpotrf_l(int m, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dpotrf_u(int m, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj); +void blasfeo_cm_dgetrf_rp(int m, int n, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj, int *ipiv); +#endif + + + +#ifdef __cplusplus +} +#endif + +#endif // BLASFEO_D_BLASFEO_API_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api_ref.h new file mode 100644 index 0000000000..141a1f0f06 --- /dev/null +++ b/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api_ref.h @@ -0,0 +1,147 @@ +/************************************************************************************************** +* * +* This file is part of BLASFEO. * +* * +* BLASFEO -- BLAS For Embedded Optimization. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef BLASFEO_D_BLASFEO_API_REF_H_ +#define BLASFEO_D_BLASFEO_API_REF_H_ + +#include "blasfeo_common.h" + + +#ifdef __cplusplus +extern "C" { +#endif + + +// expose reference BLASFEO for testing + +// --- level 1 + +void blasfeo_daxpy_ref(int kmax, double alpha, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi); +void blasfeo_daxpby_ref(int kmax, double alpha, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi); +void blasfeo_dvecmul_ref(int m, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi); +void blasfeo_dvecmulacc_ref(int m, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi); +double blasfeo_dvecmuldot_ref(int m, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi); +double blasfeo_ddot_ref(int m, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi); +void blasfeo_drotg_ref(double a, double b, double *c, double *s); +void blasfeo_dcolrot_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj0, int aj1, double c, double s); +void blasfeo_drowrot_ref(int m, struct blasfeo_dmat_ref *sA, int ai0, int ai1, int aj, double c, double s); + + +// --- level 2 + +// dense +void blasfeo_dgemv_n_ref(int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi); +void blasfeo_dgemv_t_ref(int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi); +void blasfeo_dtrsv_lnn_mn_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi); +void blasfeo_dtrsv_ltn_mn_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi); +void blasfeo_dtrsv_lnn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi); +void blasfeo_dtrsv_lnu_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi); +void blasfeo_dtrsv_ltn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi); +void blasfeo_dtrsv_ltu_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi); +void blasfeo_dtrsv_unn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi); +void blasfeo_dtrsv_utn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi); +void blasfeo_dtrmv_unn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi); +void blasfeo_dtrmv_utn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi); +void blasfeo_dtrmv_lnn_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi); +void blasfeo_dtrmv_ltn_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi); +void blasfeo_dtrmv_lnu_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi); +void blasfeo_dtrmv_ltu_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi); +void blasfeo_dgemv_nt_ref(int m, int n, double alpha_n, double alpha_t, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx_n, int xi_n, struct blasfeo_dvec_ref *sx_t, int xi_t, double beta_n, double beta_t, struct blasfeo_dvec_ref *sy_n, int yi_n, struct blasfeo_dvec_ref *sy_t, int yi_t, struct blasfeo_dvec_ref *sz_n, int zi_n, struct blasfeo_dvec_ref *sz_t, int zi_t); +void blasfeo_dsymv_l_ref(int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi); + +// diagonal +void blasfeo_dgemv_d_ref(int m, double alpha, struct blasfeo_dvec_ref *sA, int ai, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi); + + +// --- level 3 + +// dense +void blasfeo_dgemm_nn_ref( int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj); +void blasfeo_dgemm_nt_ref( int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj); +void blasfeo_dgemm_tn_ref(int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj); +void blasfeo_dgemm_tt_ref(int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj); + +void blasfeo_dsyrk_ln_mn_ref( int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj); +void blasfeo_dsyrk_ln_ref( int m, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj); +void blasfeo_dsyrk_lt_ref( int m, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj); +void blasfeo_dsyrk_un_ref( int m, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj); +void blasfeo_dsyrk_ut_ref( int m, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj); + +void blasfeo_dtrmm_rutn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj); +void blasfeo_dtrmm_rlnn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj); + +void blasfeo_dtrsm_lunu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj); +void blasfeo_dtrsm_lunn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj); +void blasfeo_dtrsm_lutu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj); +void blasfeo_dtrsm_lutn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj); +void blasfeo_dtrsm_llnu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj); +void blasfeo_dtrsm_llnn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj); +void blasfeo_dtrsm_lltu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj); +void blasfeo_dtrsm_lltn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj); +void blasfeo_dtrsm_runu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj); +void blasfeo_dtrsm_runn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj); +void blasfeo_dtrsm_rutu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj); +void blasfeo_dtrsm_rutn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj); +void blasfeo_dtrsm_rlnu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj); +void blasfeo_dtrsm_rlnn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj); +void blasfeo_dtrsm_rltu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj); +void blasfeo_dtrsm_rltn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj); + +// diagonal +void dgemm_diag_left_lib_ref(int m, int n, double alpha, double *dA, double *pB, int sdb, double beta, double *pC, int sdc, double *pD, int sdd); +void blasfeo_dgemm_dn_ref(int m, int n, double alpha, struct blasfeo_dvec_ref *sA, int ai, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj); +void blasfeo_dgemm_nd_ref(int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sB, int bi, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj); + +// --- lapack + +void blasfeo_dgetrf_nopivot_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj); +void blasfeo_dgetrf_rowpivot_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, int *ipiv); +void blasfeo_dpotrf_l_ref(int m, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj); +void blasfeo_dpotrf_l_mn_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj); +void blasfeo_dsyrk_dpotrf_ln_ref(int m, int k, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj); +void blasfeo_dsyrk_dpotrf_ln_mn_ref(int m, int n, int k, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj); +void blasfeo_dgetrf_nopivot_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj); +void blasfeo_dgetrf_rowpivot_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, int *ipiv); +void blasfeo_dgeqrf_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, void *work); +void blasfeo_dgelqf_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, void *work); +void blasfeo_dgelqf_pd_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, void *work); +void blasfeo_dgelqf_pd_la_ref(int m, int n1, struct blasfeo_dmat_ref *sL, int li, int lj, struct blasfeo_dmat_ref *sA, int ai, int aj, void *work); +void blasfeo_dgelqf_pd_lla_ref(int m, int n1, struct blasfeo_dmat_ref *sL0, int l0i, int l0j, struct blasfeo_dmat_ref *sL1, int l1i, int l1j, struct blasfeo_dmat_ref *sA, int ai, int aj, void *work); + +#ifdef __cplusplus +} +#endif + +#endif // BLASFEO_D_BLASFEO_API_REF_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_hp_api.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_hp_api.h new file mode 100644 index 0000000000..405733f13e --- /dev/null +++ b/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_hp_api.h @@ -0,0 +1,84 @@ +/************************************************************************************************** +* * +* This file is part of BLASFEO. * +* * +* BLASFEO -- BLAS For Embedded Optimization. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef BLASFEO_D_BLASFEO_HP_API_H_ +#define BLASFEO_D_BLASFEO_HP_API_H_ + + + +#include "blasfeo_common.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +// +// level 3 BLAS +// + +// dense + + +// D <= beta * C + alpha * A^T * B +void blasfeo_hp_dgemm_tn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); +// D <= beta * C + alpha * A * B^T; C, D lower triangular +void blasfeo_hp_dsyrk_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); +// D <= beta * C + alpha * A * A^T ; C, D lower triangular +void blasfeo_hp_dsyrk3_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * B * A^{-T} , with A lower triangular +void blasfeo_hp_dtrsm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); + + +// +// level 2 BLAS +// + +// dense + +// z <= beta * y + alpha * A * x +void blasfeo_hp_dgemv_n(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); + + + +#ifdef __cplusplus +} +#endif + +#endif // BLASFEO_D_BLASFEO_HP_API_H_ + diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_ref_api.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_ref_api.h new file mode 100644 index 0000000000..1a8b22c67e --- /dev/null +++ b/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_ref_api.h @@ -0,0 +1,283 @@ +/************************************************************************************************** +* * +* This file is part of BLASFEO. * +* * +* BLASFEO -- BLAS For Embedded Optimization. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef BLASFEO_D_BLASFEO_REF_API_H_ +#define BLASFEO_D_BLASFEO_REF_API_H_ + + + +#include "blasfeo_common.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +// +// level 1 BLAS +// + +// z = y + alpha*x +// z[zi:zi+n] = alpha*x[xi:xi+n] + y[yi:yi+n] +// NB: Different arguments semantic compare to equivalent standard BLAS routine +void blasfeo_ref_daxpy(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); +// z = beta*y + alpha*x +void blasfeo_ref_daxpby(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); +// z = x .* y +void blasfeo_ref_dvecmul(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); +// z += x .* y +void blasfeo_ref_dvecmulacc(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); +// z = x .* y, return sum(z) = x^T * y +double blasfeo_ref_dvecmuldot(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); +// return x^T * y +double blasfeo_ref_ddot(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi); +// construct givens plane rotation +void blasfeo_ref_drotg(double a, double b, double *c, double *s); +// apply plane rotation [a b] [c -s; s; c] to the aj0 and aj1 columns of A at row index ai +void blasfeo_ref_dcolrot(int m, struct blasfeo_dmat *sA, int ai, int aj0, int aj1, double c, double s); +// apply plane rotation [c s; -s c] [a; b] to the ai0 and ai1 rows of A at column index aj +void blasfeo_ref_drowrot(int m, struct blasfeo_dmat *sA, int ai0, int ai1, int aj, double c, double s); + + + +// +// level 2 BLAS +// + +// dense + +// z <= beta * y + alpha * A * x +void blasfeo_ref_dgemv_n(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); +// z <= beta * y + alpha * A' * x +void blasfeo_ref_dgemv_t(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); +// z <= inv( A ) * x, A (m)x(n) +void blasfeo_ref_dtrsv_lnn_mn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); +// z <= inv( A' ) * x, A (m)x(n) +void blasfeo_ref_dtrsv_ltn_mn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); +// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, not_unit +void blasfeo_ref_dtrsv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); +// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, unit +void blasfeo_ref_dtrsv_lnu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); +// z <= inv( A' ) * x, A (m)x(m) lower, transposed, not_unit +void blasfeo_ref_dtrsv_ltn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); +// z <= inv( A' ) * x, A (m)x(m) lower, transposed, unit +void blasfeo_ref_dtrsv_ltu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); +// z <= inv( A' ) * x, A (m)x(m) upper, not_transposed, not_unit +void blasfeo_ref_dtrsv_unn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); +// z <= inv( A' ) * x, A (m)x(m) upper, transposed, not_unit +void blasfeo_ref_dtrsv_utn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); +// z <= A * x ; A lower triangular +void blasfeo_ref_dtrmv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); +// z <= A * x ; A lower triangular, unit diagonal +void blasfeo_ref_dtrmv_lnu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); +// z <= A' * x ; A lower triangular +void blasfeo_ref_dtrmv_ltn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); +// z <= A' * x ; A lower triangular, unit diagonal +void blasfeo_ref_dtrmv_ltu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); +// z <= beta * y + alpha * A * x ; A upper triangular +void blasfeo_ref_dtrmv_unn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); +// z <= A' * x ; A upper triangular +void blasfeo_ref_dtrmv_utn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); +// z_n <= beta_n * y_n + alpha_n * A * x_n +// z_t <= beta_t * y_t + alpha_t * A' * x_t +void blasfeo_ref_dgemv_nt(int m, int n, double alpha_n, double alpha_t, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx_n, int xi_n, struct blasfeo_dvec *sx_t, int xi_t, double beta_n, double beta_t, struct blasfeo_dvec *sy_n, int yi_n, struct blasfeo_dvec *sy_t, int yi_t, struct blasfeo_dvec *sz_n, int zi_n, struct blasfeo_dvec *sz_t, int zi_t); +// z <= beta * y + alpha * A * x, where A is symmetric and only the lower triangular patr of A is accessed +void blasfeo_ref_dsymv_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); +void blasfeo_ref_dsymv_l_mn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); +// z <= beta * y + alpha * A * x, where A is symmetric and only the upper triangular patr of A is accessed +void blasfeo_ref_dsymv_u(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); +// D = C + alpha * x * y^T +void blasfeo_ref_dger(int m, int n, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); + +// diagonal + +// z <= beta * y + alpha * A * x, A diagonal +void blasfeo_ref_dgemv_d(int m, double alpha, struct blasfeo_dvec *sA, int ai, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); + + + +// +// level 3 BLAS +// + +// dense + +// D <= beta * C + alpha * A * B +void blasfeo_ref_dgemm_nn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); +// D <= beta * C + alpha * A * B^T +void blasfeo_ref_dgemm_nt(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); +// D <= beta * C + alpha * A^T * B +void blasfeo_ref_dgemm_tn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); +// D <= beta * C + alpha * A^T * B^T +void blasfeo_ref_dgemm_tt(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); +// D <= beta * C + alpha * A * B^T ; C, D lower triangular +void blasfeo_ref_dsyrk_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); +void blasfeo_ref_dsyrk_ln_mn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); +// D <= beta * C + alpha * A^T * B ; C, D lower triangular +void blasfeo_ref_dsyrk_lt(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); +// D <= beta * C + alpha * A * B^T ; C, D upper triangular +void blasfeo_ref_dsyrk_un(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); +// D <= beta * C + alpha * A^T * B ; C, D upper triangular +void blasfeo_ref_dsyrk_ut(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * A * B ; A lower triangular +void blasfeo_ref_dtrmm_llnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * A * B ; A lower triangular +void blasfeo_ref_dtrmm_llnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * A^T * B ; A lower triangular +void blasfeo_ref_dtrmm_lltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * A^T * B ; A lower triangular +void blasfeo_ref_dtrmm_lltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * A * B ; A upper triangular +void blasfeo_ref_dtrmm_lunn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * A * B ; A upper triangular +void blasfeo_ref_dtrmm_lunu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * A^T * B ; A upper triangular +void blasfeo_ref_dtrmm_lutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * A^T * B ; A upper triangular +void blasfeo_ref_dtrmm_lutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * B * A ; A lower triangular +void blasfeo_ref_dtrmm_rlnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * B * A ; A lower triangular +void blasfeo_ref_dtrmm_rlnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * B * A^T ; A lower triangular +void blasfeo_ref_dtrmm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * B * A^T ; A lower triangular +void blasfeo_ref_dtrmm_rltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * B * A ; A upper triangular +void blasfeo_ref_dtrmm_runn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * B * A ; A upper triangular +void blasfeo_ref_dtrmm_runu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * B * A^T ; A upper triangular +void blasfeo_ref_dtrmm_rutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * B * A^T ; A upper triangular +void blasfeo_ref_dtrmm_rutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * A^{-1} * B , with A lower triangular employint explicit inverse of diagonal +void blasfeo_ref_dtrsm_llnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * A^{-1} * B , with A lower triangular with unit diagonal +void blasfeo_ref_dtrsm_llnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * A^{-T} * B , with A lower triangular employint explicit inverse of diagonal +void blasfeo_ref_dtrsm_lltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * A^{-T} * B , with A lower triangular with unit diagonal +void blasfeo_ref_dtrsm_lltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * A^{-1} * B , with A upper triangular employing explicit inverse of diagonal +void blasfeo_ref_dtrsm_lunn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * A^{-1} * B , with A upper triangular withunit diagonal +void blasfeo_ref_dtrsm_lunu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * A^{-T} * B , with A upper triangular employing explicit inverse of diagonal +void blasfeo_ref_dtrsm_lutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * A^{-T} * B , with A upper triangular withunit diagonal +void blasfeo_ref_dtrsm_lutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * B * A^{-1} , with A lower triangular employing explicit inverse of diagonal +void blasfeo_ref_dtrsm_rlnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * B * A^{-1} , with A lower triangular with unit diagonal +void blasfeo_ref_dtrsm_rlnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * B * A^{-T} , with A lower triangular employing explicit inverse of diagonal +void blasfeo_ref_dtrsm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * B * A^{-T} , with A lower triangular with unit diagonal +void blasfeo_ref_dtrsm_rltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * B * A^{-1} , with A upper triangular employing explicit inverse of diagonal +void blasfeo_ref_dtrsm_runn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * B * A^{-1} , with A upper triangular with unit diagonal +void blasfeo_ref_dtrsm_runu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * B * A^{-T} , with A upper triangular employing explicit inverse of diagonal +void blasfeo_ref_dtrsm_rutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * B * A^{-T} , with A upper triangular with unit diagonal +void blasfeo_ref_dtrsm_rutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); +// D <= beta * C + alpha * A * B^T + alpha * B * A^T ; C, D lower triangular +void blasfeo_ref_dsyr2k_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); +// D <= beta * C + alpha * A^T * B + alpha * B^T * A ; C, D lower triangular +void blasfeo_ref_dsyr2k_lt(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); +// D <= beta * C + alpha * A * B^T + alpha * B * A^T ; C, D upper triangular +void blasfeo_ref_dsyr2k_un(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); +// D <= beta * C + alpha * A^T * B + alpha * B^T * A ; C, D upper triangular +void blasfeo_ref_dsyr2k_ut(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); + +// diagonal + +// D <= alpha * A * B + beta * C, with A diagonal (stored as strvec) +void dgemm_diag_left_lib(int m, int n, double alpha, double *dA, double *pB, int sdb, double beta, double *pC, int sdc, double *pD, int sdd); +void blasfeo_ref_dgemm_dn(int m, int n, double alpha, struct blasfeo_dvec *sA, int ai, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); +// D <= alpha * A * B + beta * C, with B diagonal (stored as strvec) +void blasfeo_ref_dgemm_nd(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sB, int bi, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); + + + +// +// LAPACK +// + +// D <= chol( C ) ; C, D lower triangular +void blasfeo_ref_dpotrf_l(int m, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); +void blasfeo_ref_dpotrf_l_mn(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); +// D <= chol( C ) ; C, D upper triangular +void blasfeo_ref_dpotrf_u(int m, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); +// D <= chol( C + A * B' ) ; C, D lower triangular +void blasfeo_ref_dsyrk_dpotrf_ln(int m, int k, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); +void blasfeo_ref_dsyrk_dpotrf_ln_mn(int m, int n, int k, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); +// D <= lu( C ) ; no pivoting +void blasfeo_ref_dgetrf_np(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); +// D <= lu( C ) ; row pivoting +void blasfeo_ref_dgetrf_rp(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, int *ipiv); +// D <= qr( C ) +int blasfeo_ref_dgeqrf_worksize(int m, int n); // in bytes +void blasfeo_ref_dgeqrf(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work); +// D <= Q factor, where C is the output of the LQ factorization +int blasfeo_ref_dorglq_worksize(int m, int n, int k); // in bytes +void blasfeo_ref_dorglq(int m, int n, int k, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work); +// D <= lq( C ) +void blasfeo_ref_dgelqf(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work); +int blasfeo_ref_dgelqf_worksize(int m, int n); // in bytes +// D <= lq( C ), positive diagonal elements +void blasfeo_ref_dgelqf_pd(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work); +// [L, A] <= lq( [L, A] ), positive diagonal elements, array of matrices, with +// L lower triangular, of size (m)x(m) +// A full, of size (m)x(n1) +void blasfeo_ref_dgelqf_pd_la(int m, int n1, struct blasfeo_dmat *sL, int li, int lj, struct blasfeo_dmat *sA, int ai, int aj, void *work); +// [L, L, A] <= lq( [L, L, A] ), positive diagonal elements, array of matrices, with: +// L lower triangular, of size (m)x(m) +// A full, of size (m)x(n1) +void blasfeo_ref_dgelqf_pd_lla(int m, int n1, struct blasfeo_dmat *sL0, int l0i, int l0j, struct blasfeo_dmat *sL1, int l1i, int l1j, struct blasfeo_dmat *sA, int ai, int aj, void *work); + + + +#ifdef __cplusplus +} +#endif + +#endif // BLASFEO_D_BLASFEO_REF_API_H_ + diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h b/third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h new file mode 100644 index 0000000000..d20ac38bbd --- /dev/null +++ b/third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h @@ -0,0 +1,1321 @@ +/************************************************************************************************** +* * +* This file is part of BLASFEO. * +* * +* BLASFEO -- BLAS For Embedded Optimization. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef BLASFEO_D_KERNEL_H_ +#define BLASFEO_D_KERNEL_H_ + + + +#include "blasfeo_target.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +// utils +void blasfeo_align_2MB(void *ptr, void **ptr_align); +void blasfeo_align_4096_byte(void *ptr, void **ptr_align); +void blasfeo_align_64_byte(void *ptr, void **ptr_align); + + +// +// lib8 +// + +// 24x8 +void kernel_dgemm_nt_24x8_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); // +void kernel_dgemm_nt_24x8_vs_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); // +void kernel_dtrsm_nt_rl_inv_24x8_lib8(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E); // +void kernel_dpotrf_nt_l_24x8_lib8(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D); +void kernel_dpotrf_nt_l_24x8_vs_lib8(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int m1, int n1); +void kernel_dtrsm_nt_rl_inv_24x8_vs_lib8(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int m1, int n1); // +void kernel_dgemm_dtrsm_nt_rl_inv_24x8_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E); +void kernel_dgemm_dtrsm_nt_rl_inv_24x8_vs_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int m1, int n1); +void kernel_dsyrk_dpotrf_nt_l_24x8_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D); +void kernel_dsyrk_dpotrf_nt_l_24x8_vs_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int m1, int n1); +void kernel_dlarfb8_rn_24_lib8(int kmax, double *pV, double *pT, double *pD, int sdd); +// 16x8 +void kernel_dgemm_nt_16x8_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); // +void kernel_dgemm_nt_16x8_vs_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); // +void kernel_dgemm_nt_16x8_gen_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); // +void kernel_dgemm_nn_16x8_lib8(int k, double *alpha, double *A, int sda, int offB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // +void kernel_dgemm_nn_16x8_vs_lib8(int k, double *alpha, double *A, int sda, int offB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); // +void kernel_dgemm_nn_16x8_gen_lib8(int k, double *alpha, double *A, int sda, int offB, double *B, int sdb, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); // +void kernel_dsyrk_nt_l_16x8_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); // +void kernel_dsyrk_nt_l_16x8_vs_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); // +void kernel_dsyrk_nt_l_16x8_gen_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); // +void kernel_dtrmm_nn_rl_16x8_lib8(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd); +void kernel_dtrmm_nn_rl_16x8_vs_lib8(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd, int m1, int n1); +void kernel_dtrmm_nn_rl_16x8_gen_lib8(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); +void kernel_dtrsm_nt_rl_inv_16x8_lib8(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E); // +void kernel_dtrsm_nt_rl_inv_16x8_vs_lib8(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int m1, int n1); // +void kernel_dpotrf_nt_l_16x8_lib8(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D); +void kernel_dpotrf_nt_l_16x8_vs_lib8(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int m1, int n1); +void kernel_dgemm_dtrsm_nt_rl_inv_16x8_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E); +void kernel_dgemm_dtrsm_nt_rl_inv_16x8_vs_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int m1, int n1); +void kernel_dsyrk_dpotrf_nt_l_16x8_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D); +void kernel_dsyrk_dpotrf_nt_l_16x8_vs_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int m1, int n1); +void kernel_dlarfb8_rn_16_lib8(int kmax, double *pV, double *pT, double *pD, int sdd); +void kernel_dlarfb8_rn_la_16_lib8(int n1, double *pVA, double *pT, double *pD, int sdd, double *pA, int sda); +void kernel_dlarfb8_rn_lla_16_lib8(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, int sdd, double *pL, int sdl, double *pA, int sda); +// 8x16 +void kernel_dgemm_tt_8x16_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D); // +void kernel_dgemm_tt_8x16_vs_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); // +void kernel_dgemm_tt_8x16_gen_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, int sdb, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); // +void kernel_dgemm_nt_8x16_lib8(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D); // +void kernel_dgemm_nt_8x16_vs_lib8(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); // +// 8x8 +void kernel_dgemm_nt_8x8_lib8(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); // +void kernel_dgemm_nt_8x8_vs_lib8(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int m1, int n1); // +void kernel_dgemm_nt_8x8_gen_lib8(int k, double *alpha, double *A, double *B, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); // +void kernel_dgemm_nn_8x8_lib8(int k, double *alpha, double *A, int offB, double *B, int sdb, double *beta, double *C, double *D); // +void kernel_dgemm_nn_8x8_vs_lib8(int k, double *alpha, double *A, int offB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); // +void kernel_dgemm_nn_8x8_gen_lib8(int k, double *alpha, double *A, int offB, double *B, int sdb, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); // +void kernel_dgemm_tt_8x8_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, double *beta, double *C, double *D); // +void kernel_dgemm_tt_8x8_vs_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, double *beta, double *C, double *D, int m1, int n1); // +void kernel_dgemm_tt_8x8_gen_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, double *beta, int offc, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); // +void kernel_dsyrk_nt_l_8x8_lib8(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); // +void kernel_dsyrk_nt_l_8x8_vs_lib8(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int m1, int n1); // +void kernel_dsyrk_nt_l_8x8_gen_lib8(int k, double *alpha, double *A, double *B, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); // +void kernel_dtrmm_nn_rl_8x8_lib8(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D); +void kernel_dtrmm_nn_rl_8x8_vs_lib8(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D, int m1, int n1); +void kernel_dtrmm_nn_rl_8x8_gen_lib8(int k, double *alpha, double *A, int offsetB, double *B, int sdb, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); +void kernel_dtrsm_nt_rl_inv_8x8_lib8(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E); +void kernel_dtrsm_nt_rl_inv_8x8_vs_lib8(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E, int m1, int n1); +void kernel_dpotrf_nt_l_8x8_lib8(int k, double *A, double *B, double *C, double *D, double *inv_diag_D); +void kernel_dpotrf_nt_l_8x8_vs_lib8(int k, double *A, double *B, double *C, double *D, double *inv_diag_D, int m1, int n1); +void kernel_dgemm_dtrsm_nt_rl_inv_8x8_lib8(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E); +void kernel_dgemm_dtrsm_nt_rl_inv_8x8_vs_lib8(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E, int m1, int n1); +void kernel_dsyrk_dpotrf_nt_l_8x8_lib8(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D); +void kernel_dsyrk_dpotrf_nt_l_8x8_vs_lib8(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D, int m1, int n1); +void kernel_dgelqf_vs_lib8(int m, int n, int k, int offD, double *pD, int sdd, double *dD); +void kernel_dgelqf_pd_vs_lib8(int m, int n, int k, int offD, double *pD, int sdd, double *dD); +void kernel_dgelqf_8_lib8(int kmax, double *pD, double *dD); +void kernel_dgelqf_pd_8_lib8(int kmax, double *pD, double *dD); +void kernel_dlarft_8_lib8(int kmax, double *pD, double *dD, double *pT); +void kernel_dlarfb8_rn_8_lib8(int kmax, double *pV, double *pT, double *pD); +void kernel_dlarfb8_rn_8_vs_lib8(int kmax, double *pV, double *pT, double *pD, int m1); +void kernel_dlarfb8_rn_1_lib8(int kmax, double *pV, double *pT, double *pD); +void kernel_dgelqf_dlarft8_8_lib8(int kmax, double *pD, double *dD, double *pT); +void kernel_dgelqf_pd_dlarft8_8_lib8(int kmax, double *pD, double *dD, double *pT); +void kernel_dgelqf_pd_la_vs_lib8(int m, int n1, int k, int offD, double *pD, int sdd, double *dD, int offA, double *pA, int sda); +void kernel_dgelqf_pd_la_dlarft8_8_lib8(int kmax, double *pD, double *dD, double *pA, double *pT); +void kernel_dlarft_la_8_lib8(int n1, double *dD, double *pA, double *pT); +void kernel_dlarfb8_rn_la_8_lib8(int n1, double *pVA, double *pT, double *pD, double *pA); +void kernel_dlarfb8_rn_la_8_vs_lib8(int n1, double *pVA, double *pT, double *pD, double *pA, int m1); +void kernel_dlarfb8_rn_la_1_lib8(int n1, double *pVA, double *pT, double *pD, double *pA); +void kernel_dgelqf_pd_lla_vs_lib8(int m, int n0, int n1, int k, int offD, double *pD, int sdd, double *dD, int offL, double *pL, int sdl, int offA, double *pA, int sda); +void kernel_dgelqf_pd_lla_dlarft8_8_lib8(int n0, int n1, double *pD, double *dD, double *pL, double *pA, double *pT); +void kernel_dlarft_lla_8_lib8(int n0, int n1, double *dD, double *pL, double *pA, double *pT); +void kernel_dlarfb8_rn_lla_8_lib8(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, double *pL, double *pA); +void kernel_dlarfb8_rn_lla_8_vs_lib8(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, double *pL, double *pA, int m1); +void kernel_dlarfb8_rn_lla_1_lib8(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, double *pL, double *pA); + +// panel copy / pack +// 24 +void kernel_dpack_nn_24_lib8(int kmax, double *A, int lda, double *C, int sdc); +void kernel_dpack_nn_24_vs_lib8(int kmax, double *A, int lda, double *C, int sdc, int m1); +// 16 +void kernel_dpacp_nn_16_lib8(int kmax, int offsetA, double *A, int sda, double *B, int sdb); +void kernel_dpacp_nn_16_vs_lib8(int kmax, int offsetA, double *A, int sda, double *B, int sdb, int m1); +void kernel_dpack_nn_16_lib8(int kmax, double *A, int lda, double *C, int sdc); +void kernel_dpack_nn_16_vs_lib8(int kmax, double *A, int lda, double *C, int sdc, int m1); +// 8 +void kernel_dpacp_nn_8_lib8(int kmax, int offsetA, double *A, int sda, double *B); +void kernel_dpacp_nn_8_vs_lib8(int kmax, int offsetA, double *A, int sda, double *B, int m1); +void kernel_dpacp_tn_8_lib8(int kmax, int offsetA, double *A, int sda, double *B); +void kernel_dpacp_tn_8_vs_lib8(int kmax, int offsetA, double *A, int sda, double *B, int m1); +void kernel_dpacp_l_nn_8_lib8(int kmax, int offsetA, double *A, int sda, double *B); +void kernel_dpacp_l_nn_8_vs_lib8(int kmax, int offsetA, double *A, int sda, double *B, int m1); +void kernel_dpacp_l_tn_8_lib8(int kmax, int offsetA, double *A, int sda, double *B); +void kernel_dpacp_l_tn_8_vs_lib8(int kmax, int offsetA, double *A, int sda, double *B, int m1); +void kernel_dpaad_nn_8_lib8(int kmax, double *alpha, int offsetA, double *A, int sda, double *B); +void kernel_dpaad_nn_8_vs_lib8(int kmax, double *alpha, int offsetA, double *A, int sda, double *B, int m1); +void kernel_dpack_nn_8_lib8(int kmax, double *A, int lda, double *C); +void kernel_dpack_nn_8_vs_lib8(int kmax, double *A, int lda, double *C, int m1); +void kernel_dpack_tn_8_lib8(int kmax, double *A, int lda, double *C); +void kernel_dpack_tn_8_vs_lib8(int kmax, double *A, int lda, double *C, int m1); +// 4 +void kernel_dpack_tt_4_lib8(int kmax, double *A, int lda, double *C, int sdc); // TODO offsetC +void kernel_dpack_tt_4_vs_lib8(int kmax, double *A, int lda, double *C, int sdc, int m1); // TODO offsetC + +// level 2 BLAS +// 16 +void kernel_dgemv_n_16_lib8(int k, double *alpha, double *A, int sda, double *x, double *beta, double *y, double *z); +// 8 +void kernel_dgemv_n_8_lib8(int k, double *alpha, double *A, double *x, double *beta, double *y, double *z); +void kernel_dgemv_n_8_vs_lib8(int k, double *alpha, double *A, double *x, double *beta, double *y, double *z, int m1); +//void kernel_dgemv_n_8_gen_lib8(int k, double *alpha, double *A, double *x, double *beta, double *y, double *z, int m0, int m1); +void kernel_dgemv_n_8_gen_lib8(int k, double *alpha, int offsetA, double *A, double *x, double *beta, double *y, double *z, int m1); +void kernel_dgemv_t_8_lib8(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z); +void kernel_dgemv_t_8_vs_lib8(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z, int n1); +void kernel_dgemv_nt_8_lib8(int kmax, double *alpha_n, double *alpha_t, int offsetA, double *A, int sda, double *x_n, double *x_t, double *beta_t, double *y_t, double *z_n, double *z_t); +void kernel_dgemv_nt_8_vs_lib8(int kmax, double *alpha_n, double *alpha_t, int offsetA, double *A, int sda, double *x_n, double *x_t, double *beta_t, double *y_t, double *z_n, double *z_t, int n1); +void kernel_dsymv_l_8_lib8(int kmax, double *alpha, double *A, int sda, double *x, double *z); +void kernel_dsymv_l_8_vs_lib8(int kmax, double *alpha, double *A, int sda, double *x, double *z, int n1); +void kernel_dsymv_l_8_gen_lib8(int kmax, double *alpha, int offsetA, double *A, int sda, double *x, double *z, int n1); +void kernel_dtrmv_n_ln_8_lib8(int k, double *A, double *x, double *z); +void kernel_dtrmv_n_ln_8_vs_lib8(int k, double *A, double *x, double *z, int m1); +void kernel_dtrmv_n_ln_8_gen_lib8(int k, int offsetA, double *A, double *x, double *z, int m1); +void kernel_dtrmv_t_ln_8_lib8(int k, double *A, int sda, double *x, double *z); +void kernel_dtrmv_t_ln_8_vs_lib8(int k, double *A, int sda, double *x, double *z, int n1); +void kernel_dtrmv_t_ln_8_gen_lib8(int k, int offsetA, double *A, int sda, double *x, double *z, int n1); +void kernel_dtrsv_n_l_inv_8_lib8(int k, double *A, double *inv_diag_A, double *x, double *z); +void kernel_dtrsv_n_l_inv_8_vs_lib8(int k, double *A, double *inv_diag_A, double *x, double *z, int m1, int n1); +void kernel_dtrsv_t_l_inv_8_lib8(int k, double *A, int sda, double *inv_diag_A, double *x, double *z); +void kernel_dtrsv_t_l_inv_8_vs_lib8(int k, double *A, int sda, double *inv_diag_A, double *x, double *z, int m1, int n1); + + + +// +// lib4 +// + +// level 2 BLAS +// 12 +void kernel_dgemv_n_12_lib4(int k, double *alpha, double *A, int sda, double *x, double *beta, double *y, double *z); +void kernel_dgemv_t_12_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z); +// 8 +void kernel_dgemv_n_8_lib4(int k, double *alpha, double *A, int sda, double *x, double *beta, double *y, double *z); +void kernel_dgemv_t_8_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z); +void kernel_dtrmv_un_8_lib4(int k, double *A, int sda, double *x, double *z); +// 4 +void kernel_dgemv_n_4_lib4(int k, double *alpha, double *A, double *x, double *beta, double *y, double *z); +void kernel_dgemv_n_4_vs_lib4(int k, double *alpha, double *A, double *x, double *beta, double *y, double *z, int k1); +void kernel_dgemv_n_4_gen_lib4(int kmax, double *alpha, double *A, double *x, double *beta, double *y, double *z, int k0, int k1); +void kernel_dgemv_t_4_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z); +void kernel_dgemv_t_4_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z, int k1); +void kernel_dtrsv_ln_inv_4_lib4(int k, double *A, double *inv_diag_A, double *x, double *y, double *z); +void kernel_dtrsv_ln_inv_4_vs_lib4(int k, double *A, double *inv_diag_A, double *x, double *y, double *z, int km, int kn); +void kernel_dtrsv_lt_inv_4_lib4(int k, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z); +void kernel_dtrsv_lt_inv_3_lib4(int k, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z); +void kernel_dtrsv_lt_inv_2_lib4(int k, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z); +void kernel_dtrsv_lt_inv_1_lib4(int k, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z); +void kernel_dtrsv_lt_one_4_lib4(int k, double *A, int sda, double *x, double *y, double *z); +void kernel_dtrsv_lt_one_3_lib4(int k, double *A, int sda, double *x, double *y, double *z); +void kernel_dtrsv_lt_one_2_lib4(int k, double *A, int sda, double *x, double *y, double *z); +void kernel_dtrsv_lt_one_1_lib4(int k, double *A, int sda, double *x, double *y, double *z); +void kernel_dtrsv_ln_one_4_vs_lib4(int kmax, double *A, double *x, double *y, double *z, int km, int kn); +void kernel_dtrsv_ln_one_4_lib4(int kmax, double *A, double *x, double *y, double *z); +void kernel_dtrsv_un_inv_4_lib4(int kmax, double *A, double *inv_diag_A, double *x, double *y, double *z); +void kernel_dtrsv_ut_inv_4_lib4(int kmax, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z); +void kernel_dtrsv_ut_inv_4_vs_lib4(int kmax, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z, int m1, int n1); +void kernel_dtrmv_un_4_lib4(int k, double *A, double *x, double *z); +void kernel_dtrmv_ut_4_lib4(int k, double *A, int sda, double *x, double *z); +void kernel_dtrmv_ut_4_vs_lib4(int k, double *A, int sda, double *x, double *z, int km); +void kernel_dgemv_nt_6_lib4(int kmax, double *alpha_n, double *alpha_t, double *A, int sda, double *x_n, double *x_t, double *beta_t, double *y_t, double *z_n, double *z_t); +void kernel_dgemv_nt_4_lib4(int kmax, double *alpha_n, double *alpha_t, double *A, int sda, double *x_n, double *x_t, double *beta_t, double *y_t, double *z_n, double *z_t); +void kernel_dgemv_nt_4_vs_lib4(int kmax, double *alpha_n, double *alpha_t, double *A, int sda, double *x_n, double *x_t, double *beta_t, double *y_t, double *z_n, double *z_t, int km); +void kernel_dsymv_l_4_lib4(int kmax, double *alpha, double *A, int sda, double *x, double *z); +void kernel_dsymv_l_4_gen_lib4(int kmax, double *alpha, int offA, double *A, int sda, double *x, double *z, int km); + + + +// level 3 BLAS +// 12x4 +void kernel_dgemm_nt_12x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); // +void kernel_dgemm_nt_12x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); // +void kernel_dgemm_nt_12x4_gen_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int k0, int k1); +void kernel_dgemm_nn_12x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // +void kernel_dgemm_nn_12x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); // +void kernel_dgemm_nn_12x4_gen_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); // +void kernel_dgemm_tt_12x4_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); // +void kernel_dgemm_tt_12x4_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); // +void kernel_dsyrk_nn_u_12x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // +void kernel_dsyrk_nn_u_12x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); // +void kernel_dsyrk_nt_l_12x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); // +void kernel_dsyrk_nt_l_12x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); // +void kernel_dtrmm_nt_ru_12x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *D, int sdd); // +void kernel_dtrmm_nt_ru_12x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *D, int sdd, int km, int kn); // +void kernel_dtrmm_nn_rl_12x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd); +void kernel_dtrmm_nn_rl_12x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd, int km, int kn); +void kernel_dtrsm_nt_rl_inv_12x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E); +void kernel_dtrsm_nt_rl_inv_12x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn); +void kernel_dtrsm_nt_rl_one_12x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E); +void kernel_dtrsm_nt_rl_one_12x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, int km, int kn); +void kernel_dtrsm_nt_ru_inv_12x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E); +void kernel_dtrsm_nt_ru_inv_12x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn); +void kernel_dtrsm_nt_ru_one_12x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E); +void kernel_dtrsm_nt_ru_one_12x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, int km, int kn); +void kernel_dtrsm_nn_ru_inv_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E); +void kernel_dtrsm_nn_ru_inv_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn); +void kernel_dtrsm_nn_ll_inv_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E); +void kernel_dtrsm_nn_ll_inv_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn); +void kernel_dtrsm_nn_ll_one_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde); +void kernel_dtrsm_nn_ll_one_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, int km, int kn); +void kernel_dtrsm_nn_lu_inv_12x4_lib4(int kmax, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E); +void kernel_dtrsm_nn_lu_inv_12x4_vs_lib4(int kmax, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn); +// 4x12 +void kernel_dgemm_nt_4x12_lib4(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D); // +void kernel_dgemm_nt_4x12_vs_lib4(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D, int km, int kn); // +void kernel_dgemm_nn_4x12_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); // +void kernel_dgemm_nn_4x12_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); // +void kernel_dgemm_tt_4x12_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D); // +void kernel_dgemm_tt_4x12_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); // +void kernel_dgemm_tt_4x12_gen_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); // +void kernel_dtrsm_nt_rl_inv_4x12_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *E, int sed, double *inv_diag_E); +void kernel_dtrsm_nt_rl_inv_4x12_vs_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *E, int sed, double *inv_diag_E, int km, int kn); +// 8x8 +void kernel_dgemm_nt_8x8l_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // computes [A00 *; A10 A11] +void kernel_dgemm_nt_8x8u_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // computes [A00 *; A10 A11] +void kernel_dgemm_nt_8x8l_vs_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); // computes [A00 *; A10 A11] +void kernel_dgemm_nt_8x8u_vs_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); // computes [A00 *; A10 A11] +void kernel_dsyrk_nn_u_8x8_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // +void kernel_dsyrk_nn_u_8x8_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); // +void kernel_dsyrk_nt_l_8x8_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // computes [L00 *; A10 L11] +void kernel_dsyrk_nt_l_8x8_vs_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); // computes [L00 *; A10 L11] +void kernel_dtrsm_nt_rl_inv_8x8l_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sed, double *inv_diag_E); +void kernel_dtrsm_nt_rl_inv_8x8l_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sed, double *inv_diag_E, int km, int kn); +void kernel_dtrsm_nt_rl_inv_8x8u_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sed, double *inv_diag_E); +void kernel_dtrsm_nt_rl_inv_8x8u_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sed, double *inv_diag_E, int km, int kn); +// 8x4 +void kernel_dgemm_nt_8x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); // +void kernel_dgemm_nt_8x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); // +void kernel_dgemm_nt_8x4_gen_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int k0, int k1); +void kernel_dgemm_nn_8x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // +void kernel_dgemm_nn_8x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); // +void kernel_dgemm_nn_8x4_gen_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); // +void kernel_dgemm_tt_8x4_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); // +void kernel_dgemm_tt_8x4_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); // +void kernel_dsyrk_nn_u_8x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // +void kernel_dsyrk_nn_u_8x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); // +void kernel_dsyrk_nt_l_8x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); // +void kernel_dsyrk_nt_l_8x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); // +void kernel_dsyrk_nt_l_8x4_gen_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int k0, int k1); +void kernel_dtrmm_nt_ru_8x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *D, int sdd); // +void kernel_dtrmm_nt_ru_8x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *D, int sdd, int km, int kn); // +void kernel_dtrmm_nn_rl_8x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd); +void kernel_dtrmm_nn_rl_8x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd, int km, int kn); +void kernel_dtrmm_nn_rl_8x4_gen_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); +void kernel_dtrsm_nt_rl_inv_8x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn); +void kernel_dtrsm_nt_rl_inv_8x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E); +void kernel_dtrsm_nt_rl_one_8x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E); +void kernel_dtrsm_nt_rl_one_8x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, int km, int kn); +void kernel_dtrsm_nt_ru_inv_8x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E); +void kernel_dtrsm_nt_ru_inv_8x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn); +void kernel_dtrsm_nt_ru_one_8x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E); +void kernel_dtrsm_nt_ru_one_8x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, int km, int kn); +void kernel_dtrsm_nn_ru_inv_8x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E); +void kernel_dtrsm_nn_ru_inv_8x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn); +void kernel_dtrsm_nn_ll_inv_8x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E); +void kernel_dtrsm_nn_ll_inv_8x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn); +void kernel_dtrsm_nn_ll_one_8x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde); +void kernel_dtrsm_nn_ll_one_8x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, int km, int kn); +void kernel_dtrsm_nn_lu_inv_8x4_lib4(int kmax, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E); +void kernel_dtrsm_nn_lu_inv_8x4_vs_lib4(int kmax, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn); +// 4x8 +void kernel_dgemm_nt_4x8_lib4(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D); // +void kernel_dgemm_nt_4x8_vs_lib4(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D, int km, int kn); // +void kernel_dgemm_nn_4x8_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); // +void kernel_dgemm_nn_4x8_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); // +void kernel_dgemm_tt_4x8_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D); // +void kernel_dgemm_tt_4x8_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); // +void kernel_dgemm_tt_4x8_gen_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); // +void kernel_dtrsm_nt_rl_inv_4x8_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *E, int sed, double *inv_diag_E); +void kernel_dtrsm_nt_rl_inv_4x8_vs_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *E, int sed, double *inv_diag_E, int km, int kn); +// 8x2 +void kernel_dgemm_nn_8x2_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // +void kernel_dgemm_nn_8x2_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); // +// 2x8 +void kernel_dgemm_nn_2x8_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); // +void kernel_dgemm_nn_2x8_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); // +// 10xX +void kernel_dgemm_nn_10x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // +void kernel_dgemm_nn_10x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); // +void kernel_dgemm_nn_10x2_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // +void kernel_dgemm_nn_10x2_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); // +// 6xX +void kernel_dgemm_nn_8x6_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // +void kernel_dgemm_nn_8x6_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); // +void kernel_dgemm_nn_6x8_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // +void kernel_dgemm_nn_6x8_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); // +void kernel_dgemm_nn_6x6_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // +void kernel_dgemm_nn_6x6_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); // +void kernel_dgemm_nn_6x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // +void kernel_dgemm_nn_6x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); // +void kernel_dgemm_nn_6x2_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // +void kernel_dgemm_nn_6x2_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); // +// 4x4 +void kernel_dgemm_nt_4x4_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); // +void kernel_dgemm_nt_4x4_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); // +void kernel_dgemm_nt_4x4_gen_lib4(int k, double *alpha, double *A, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); +void kernel_dgemm_nn_4x4_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); // +void kernel_dgemm_nn_4x4_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); // +void kernel_dgemm_nn_4x4_gen_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); // +void kernel_dgemm_tt_4x4_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, double *D); // +void kernel_dgemm_tt_4x4_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, double *D, int m1, int n1); // +void kernel_dgemm_tt_4x4_gen_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); // +void kernel_dsyrk_nn_u_4x4_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); // +void kernel_dsyrk_nn_u_4x4_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); // +void kernel_dsyrk_nt_l_4x4_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); // +void kernel_dsyrk_nt_l_4x4_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); // +void kernel_dsyrk_nt_l_4x4_gen_lib4(int k, double *alpha, double *A, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); +void kernel_dsyrk_nt_u_4x4_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); // +void kernel_dsyrk_nt_u_4x4_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); // +void kernel_dsyrk_nt_u_4x4_gen_lib4(int k, double *alpha, double *A, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); +void kernel_dtrmm_nt_ru_4x4_lib4(int k, double *alpha, double *A, double *B, double *D); // +void kernel_dtrmm_nt_ru_4x4_vs_lib4(int k, double *alpha, double *A, double *B, double *D, int km, int kn); // +void kernel_dtrmm_nn_rl_4x4_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D); +void kernel_dtrmm_nn_rl_4x4_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D, int m1, int n1); +void kernel_dtrmm_nn_rl_4x4_gen_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); +void kernel_dtrsm_nt_rl_inv_4x4_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E); +void kernel_dtrsm_nt_rl_inv_4x4_vs_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E, int km, int kn); +void kernel_dtrsm_nt_rl_one_4x4_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E); +void kernel_dtrsm_nt_rl_one_4x4_vs_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, int km, int kn); +void kernel_dtrsm_nt_ru_inv_4x4_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E); +void kernel_dtrsm_nt_ru_inv_4x4_vs_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E, int km, int kn); +void kernel_dtrsm_nt_ru_one_4x4_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E); +void kernel_dtrsm_nt_ru_one_4x4_vs_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, int km, int kn); +void kernel_dtrsm_nn_ru_inv_4x4_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E, double *inv_diag_E); +void kernel_dtrsm_nn_ru_inv_4x4_vs_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E, double *inv_diag_E, int km, int kn); +void kernel_dtrsm_nn_ll_inv_4x4_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E, double *inv_diag_E); +void kernel_dtrsm_nn_ll_inv_4x4_vs_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E, double *inv_diag_E, int km, int kn); +void kernel_dtrsm_nn_ll_one_4x4_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E); +void kernel_dtrsm_nn_ll_one_4x4_vs_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E, int km, int kn); +void kernel_dtrsm_nn_lu_inv_4x4_lib4(int kmax, double *A, double *B, int sdb, double *C, double *D, double *E, double *inv_diag_E); +void kernel_dtrsm_nn_lu_inv_4x4_vs_lib4(int kmax, double *A, double *B, int sdb, double *C, double *D, double *E, double *inv_diag_E, int km, int kn); +void kernel_dtrsm_nn_lu_one_4x4_lib4(int kmax, double *A, double *B, int sdb, double *C, double *D, double *E); +void kernel_dtrsm_nn_lu_one_4x4_vs_lib4(int kmax, double *A, double *B, int sdb, double *C, double *D, double *E, int km, int kn); +// 4x2 +void kernel_dgemm_nn_4x2_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); // +void kernel_dgemm_nn_4x2_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); // +void kernel_dgemm_nt_4x2_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); +void kernel_dgemm_nt_4x2_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int m1, int n1); +void kernel_dsyrk_nt_l_4x2_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); // +void kernel_dsyrk_nt_l_4x2_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); // +void kernel_dtrmm_nn_rl_4x2_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D); +void kernel_dtrmm_nn_rl_4x2_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D, int m1, int n1); +void kernel_dtrsm_nt_rl_inv_4x2_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E); +void kernel_dtrsm_nt_rl_inv_4x2_vs_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E, int km, int kn); +// 2x4 +void kernel_dgemm_nn_2x4_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); // +void kernel_dgemm_nn_2x4_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); // +// 2x2 +void kernel_dgemm_nn_2x2_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); // +void kernel_dsyrk_nt_l_2x2_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); // +void kernel_dsyrk_nt_l_2x2_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); // +// diag +void kernel_dgemm_diag_right_4_a0_lib4(int kmax, double *alpha, double *A, int sda, double *B, double *D, int sdd); +void kernel_dgemm_diag_right_4_lib4(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); +void kernel_dgemm_diag_right_3_lib4(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); +void kernel_dgemm_diag_right_2_lib4(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); +void kernel_dgemm_diag_right_1_lib4(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); +void kernel_dgemm_diag_left_4_a0_lib4(int kmax, double *alpha, double *A, double *B, double *D); +void kernel_dgemm_diag_left_4_lib4(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D); +void kernel_dgemm_diag_left_3_lib4(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D); +void kernel_dgemm_diag_left_2_lib4(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D); +void kernel_dgemm_diag_left_1_lib4(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D); +// low rank update +void kernel_dger4_sub_12r_lib4(int k, double *A, int sda, double *B, double *C, int sdc); +void kernel_dger4_sub_12r_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, int km); +void kernel_dger4_sub_8r_lib4(int k, double *A, int sda, double *B, double *C, int sdc); +void kernel_dger4_sub_8r_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, int km); +void kernel_dger4_sub_4r_lib4(int n, double *A, double *B, double *C); +void kernel_dger4_sub_4r_vs_lib4(int n, double *A, double *B, double *C, int km); + + + +// LAPACK +// 12x4 +void kernel_dpotrf_nt_l_12x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D); +void kernel_dpotrf_nt_l_12x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn); +void kernel_dgetrf_nn_l_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D); +void kernel_dgetrf_nn_l_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn); +void kernel_dgetrf_nn_m_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D); +void kernel_dgetrf_nn_m_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn); +void kernel_dgetrf_nn_r_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D); +void kernel_dgetrf_nn_r_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn); +void kernel_dgetrf_nt_l_12x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D); +void kernel_dgetrf_nt_l_12x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn); +void kernel_dgetrf_nt_m_12x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D); +void kernel_dgetrf_nt_m_12x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn); +void kernel_dgetrf_nt_r_12x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D); +void kernel_dgetrf_nt_r_12x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn); +// 8x8 +void kernel_dpotrf_nt_l_8x8_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D); +void kernel_dpotrf_nt_l_8x8_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn); +// 8x4 +void kernel_dpotrf_nt_l_8x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D); +void kernel_dpotrf_nt_l_8x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn); +void kernel_dgetrf_nn_l_8x4_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D); +void kernel_dgetrf_nn_l_8x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn); +void kernel_dgetrf_nn_r_8x4_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D); +void kernel_dgetrf_nn_r_8x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn); +void kernel_dgetrf_nt_l_8x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D); +void kernel_dgetrf_nt_l_8x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn); +void kernel_dgetrf_nt_r_8x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D); +void kernel_dgetrf_nt_r_8x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn); +// 4x4 +void kernel_dpotrf_nt_l_4x4_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D); +void kernel_dpotrf_nt_l_4x4_vs_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D, int km, int kn); +#if defined(TARGET_X64_INTEL_SANDY_BRIDGE) +void kernel_dlauum_nt_4x4_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); // +void kernel_dlauum_nt_4x4_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); // +#endif +void kernel_dgetrf_nn_4x4_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *inv_diag_D); +void kernel_dgetrf_nn_4x4_vs_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *inv_diag_D, int km, int kn); +void kernel_dgetrf_nt_4x4_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D); +void kernel_dgetrf_nt_4x4_vs_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D, int km, int kn); +void kernel_dgeqrf_4_lib4(int m, double *pD, int sdd, double *dD); +void kernel_dgeqrf_vs_lib4(int m, int n, int k, int offD, double *pD, int sdd, double *dD); +void kernel_dlarf_4_lib4(int m, int n, double *pV, int sdv, double *tau, double *pC, int sdc); // rank-4 reflector +void kernel_dlarf_t_4_lib4(int m, int n, double *pD, int sdd, double *pVt, double *dD, double *pC0, int sdc, double *pW); +void kernel_dgelqf_4_lib4(int n, double *pD, double *dD); +void kernel_dgelqf_vs_lib4(int m, int n, int k, int offD, double *pD, int sdd, double *dD); +void kernel_dlarft_4_lib4(int kmax, double *pD, double *dD, double *pT); +void kernel_dlarft_3_lib4(int kmax, double *pD, double *dD, double *pT); +void kernel_dlarft_2_lib4(int kmax, double *pD, double *dD, double *pT); +void kernel_dlarft_1_lib4(int kmax, double *pD, double *dD, double *pT); +void kernel_dgelqf_dlarft12_12_lib4(int n, double *pD, int sdd, double *dD, double *pT); +void kernel_dgelqf_dlarft4_12_lib4(int n, double *pD, int sdd, double *dD, double *pT); +void kernel_dgelqf_dlarft4_8_lib4(int n, double *pD, int sdd, double *dD, double *pT); +void kernel_dgelqf_dlarft4_4_lib4(int n, double *pD, double *dD, double *pT); +void kernel_dlarfb12_rn_12_lib4(int kmax, double *pV, int sdd, double *pT, double *pD, double *pK); +void kernel_dlarfb12_rn_4_lib4(int kmax, double *pV, int sdd, double *pT, double *pD, double *pK, int km); +void kernel_dlarfb4_rn_12_lib4(int kmax, double *pV, double *pT, double *pD, int sdd); +void kernel_dlarfb4_rn_8_lib4(int kmax, double *pV, double *pT, double *pD, int sdd); +void kernel_dlarfb4_rn_4_lib4(int kmax, double *pV, double *pT, double *pD); +void kernel_dlarfb3_rn_4_lib4(int kmax, double *pV, double *pT, double *pD); +void kernel_dlarfb2_rn_4_lib4(int kmax, double *pV, double *pT, double *pD); +void kernel_dlarfb1_rn_4_lib4(int kmax, double *pV, double *pT, double *pD); +void kernel_dlarfb4_rn_1_lib4(int kmax, double *pV, double *pT, double *pD); +void kernel_dlarfb3_rn_1_lib4(int kmax, double *pV, double *pT, double *pD); +void kernel_dlarfb2_rn_1_lib4(int kmax, double *pV, double *pT, double *pD); +void kernel_dlarfb1_rn_1_lib4(int kmax, double *pV, double *pT, double *pD); +void kernel_dlarfb4_rt_4_lib4(int kmax, double *pV, double *pT, double *pD); +void kernel_dlarfb3_rt_4_lib4(int kmax, double *pV, double *pT, double *pD); +void kernel_dlarfb2_rt_4_lib4(int kmax, double *pV, double *pT, double *pD); +void kernel_dlarfb1_rt_4_lib4(int kmax, double *pV, double *pT, double *pD); +void kernel_dlarfb4_rt_1_lib4(int kmax, double *pV, double *pT, double *pD); +void kernel_dlarfb3_rt_1_lib4(int kmax, double *pV, double *pT, double *pD); +void kernel_dlarfb2_rt_1_lib4(int kmax, double *pV, double *pT, double *pD); +void kernel_dlarfb1_rt_1_lib4(int kmax, double *pV, double *pT, double *pD); +void kernel_dgelqf_pd_dlarft12_12_lib4(int n, double *pD, int sdd, double *dD, double *pT); +void kernel_dgelqf_pd_dlarft4_8_lib4(int n, double *pD, int sdd, double *dD, double *pT); +void kernel_dgelqf_pd_dlarft4_4_lib4(int n, double *pD, double *dD, double *pT); +void kernel_dgelqf_pd_4_lib4(int n, double *pD, double *dD); +void kernel_dgelqf_pd_vs_lib4(int m, int n, int k, int offD, double *pD, int sdd, double *dD); +void kernel_dgelqf_pd_la_vs_lib4(int m, int n1, int k, int offD, double *pD, int sdd, double *dD, int offA, double *pA, int sda); +void kernel_dlarft_4_la_lib4(int n1, double *dD, double *pA, double *pT); +void kernel_dlarfb4_rn_12_la_lib4(int n1, double *pVA, double *pT, double *pD, int sdd, double *pA, int sda); +void kernel_dlarfb4_rn_8_la_lib4(int n1, double *pVA, double *pT, double *pD, int sdd, double *pA, int sda); +void kernel_dlarfb4_rn_4_la_lib4(int n1, double *pVA, double *pT, double *pD, double *pA); +void kernel_dlarfb4_rn_1_la_lib4(int n1, double *pVA, double *pT, double *pD, double *pA); +void kernel_dgelqf_pd_lla_vs_lib4(int m, int n0, int n1, int k, int offD, double *pD, int sdd, double *dD, int offL, double *pL, int sdl, int offA, double *pA, int sda); +void kernel_dlarft_4_lla_lib4(int n0, int n1, double *dD, double *pL, double *pA, double *pT); +void kernel_dlarfb4_rn_12_lla_lib4(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, int sdd, double *pL, int sdl, double *pA, int sda); +void kernel_dlarfb4_rn_8_lla_lib4(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, int sdd, double *pL, int sdl, double *pA, int sda); +void kernel_dlarfb4_rn_4_lla_lib4(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, double *pL, double *pA); +void kernel_dlarfb4_rn_1_lla_lib4(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, double *pL, double *pA); +// 4x2 +void kernel_dpotrf_nt_l_4x2_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D); +void kernel_dpotrf_nt_l_4x2_vs_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D, int km, int kn); +// 2x2 +void kernel_dpotrf_nt_l_2x2_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D); +void kernel_dpotrf_nt_l_2x2_vs_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D, int km, int kn); +// 12 +void kernel_dgetrf_pivot_12_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv); +void kernel_dgetrf_pivot_12_vs_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv, int n); +// 8 +void kernel_dgetrf_pivot_8_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv); +void kernel_dgetrf_pivot_8_vs_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv, int n); +// 4 +void kernel_dgetrf_pivot_4_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv); +void kernel_dgetrf_pivot_4_vs_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv, int n1); +// vector +void kernel_drowsw_lib4(int kmax, double *pA, double *pC); + + + +// merged routines +// 12x4 +void kernel_dgemm_dtrsm_nt_rl_inv_12x4_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E); +void kernel_dgemm_dtrsm_nt_rl_inv_12x4_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn); +void kernel_dsyrk_dpotrf_nt_l_12x4_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D); +void kernel_dsyrk_dpotrf_nt_l_12x4_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn); +// 4x12 +void kernel_dgemm_dtrsm_nt_rl_inv_4x12_vs_lib4(int kp, double *Ap, double *Bp, int sdbp, int km_, double *Am, double *Bm, int sdbm, double *C, double *D, double *E, int sde, double *inv_diag_E, int km, int kn); +// 8x8 +void kernel_dsyrk_dpotrf_nt_l_8x8_lib4(int kp, double *Ap, int sdap, double *Bp, int sdbp, int km_, double *Am, int sdam, double *Bm, int sdbm, double *C, int sdc, double *D, int sdd, double *inv_diag_D); +void kernel_dsyrk_dpotrf_nt_l_8x8_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int sdbp, int km_, double *Am, int sdam, double *Bm, int sdbm, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn); +void kernel_dgemm_dtrsm_nt_rl_inv_8x8l_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int sdb, int km_, double *Am, int sdam, double *Bm, int sdbm, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn); +void kernel_dgemm_dtrsm_nt_rl_inv_8x8u_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int sdb, int km_, double *Am, int sdam, double *Bm, int sdbm, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn); +// 8x4 +void kernel_dgemm_dtrsm_nt_rl_inv_8x4_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E); +void kernel_dgemm_dtrsm_nt_rl_inv_8x4_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn); +void kernel_dsyrk_dpotrf_nt_l_8x4_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D); +void kernel_dsyrk_dpotrf_nt_l_8x4_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn); +// 4x8 +void kernel_dgemm_dtrsm_nt_rl_inv_4x8_vs_lib4(int kp, double *Ap, double *Bp, int sdbp, int km_, double *Am, double *Bm, int sdbm, double *C, double *D, double *E, int sde, double *inv_diag_E, int km, int kn); +// 4x4 +void kernel_dgemm_dtrsm_nt_rl_inv_4x4_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E); +void kernel_dgemm_dtrsm_nt_rl_inv_4x4_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E, int km, int kn); +void kernel_dsyrk_dpotrf_nt_l_4x4_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D); +void kernel_dsyrk_dpotrf_nt_l_4x4_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D, int km, int kn); +// 4x2 +void kernel_dgemm_dtrsm_nt_rl_inv_4x2_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E); +void kernel_dgemm_dtrsm_nt_rl_inv_4x2_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E, int km, int kn); +void kernel_dsyrk_dpotrf_nt_l_4x2_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D); +void kernel_dsyrk_dpotrf_nt_l_4x2_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D, int km, int kn); +// 2x2 +void kernel_dsyrk_dpotrf_nt_l_2x2_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D); +void kernel_dsyrk_dpotrf_nt_l_2x2_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D, int km, int kn); + +/* + * + * Auxiliary routines + * + * cpsc copy and scale, scale + * cp copy + * add + * set and scale + * transpose and scale + * set and scale + * + */ + +// copy and scale +void kernel_dgecpsc_8_0_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B, int sdb); +void kernel_dgecpsc_8_1_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B, int sdb); +void kernel_dgecpsc_8_2_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B, int sdb); +void kernel_dgecpsc_8_3_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B, int sdb); + +void kernel_dgecpsc_4_0_lib4(int tri, int kmax, double alpha, double *A, double *B); +void kernel_dgecpsc_4_1_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B); +void kernel_dgecpsc_4_2_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B); +void kernel_dgecpsc_4_3_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B); + +void kernel_dgecpsc_3_0_lib4(int tri, int kmax, double alpha, double *A, double *B); +void kernel_dgecpsc_3_2_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B); +void kernel_dgecpsc_3_3_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B); + +void kernel_dgecpsc_2_0_lib4(int tri, int kmax, double alpha, double *A, double *B); +void kernel_dgecpsc_2_3_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B); + +void kernel_dgecpsc_1_0_lib4(int tri, int kmax, double alpha, double *A, double *B); + +// copy only +void kernel_dgecp_8_0_lib4(int tri, int kmax, double *A, int sda, double *B, int sdb); + +void kernel_dgecp_4_0_lib4(int tri, int kmax, double *A, double *B); + +// add +void kernel_dgead_8_0_lib4(int kmax, double alpha, double *A0, int sda, double *B, int sdb); +void kernel_dgead_8_1_lib4(int kmax, double alpha, double *A0, int sda, double *B, int sdb); +void kernel_dgead_8_2_lib4(int kmax, double alpha, double *A0, int sda, double *B, int sdb); +void kernel_dgead_8_3_lib4(int kmax, double alpha, double *A0, int sda, double *B, int sdb); +void kernel_dgead_4_0_lib4(int kmax, double alpha, double *A, double *B); +void kernel_dgead_4_1_lib4(int kmax, double alpha, double *A0, int sda, double *B); +void kernel_dgead_4_2_lib4(int kmax, double alpha, double *A0, int sda, double *B); +void kernel_dgead_4_3_lib4(int kmax, double alpha, double *A0, int sda, double *B); +void kernel_dgead_3_0_lib4(int kmax, double alpha, double *A, double *B); +void kernel_dgead_3_2_lib4(int kmax, double alpha, double *A0, int sda, double *B); +void kernel_dgead_3_3_lib4(int kmax, double alpha, double *A0, int sda, double *B); +void kernel_dgead_2_0_lib4(int kmax, double alpha, double *A, double *B); +void kernel_dgead_2_3_lib4(int kmax, double alpha, double *A0, int sda, double *B); +void kernel_dgead_1_0_lib4(int kmax, double alpha, double *A, double *B); + +// set +void kernel_dgeset_4_lib4(int kmax, double alpha, double *A); +void kernel_dtrset_4_lib4(int kmax, double alpha, double *A); + +// traspose +void kernel_dgetr_8_lib4(int tri, int kmax, int kna, double alpha, double *A, int sda, double *C, int sdc); +void kernel_dgetr_4_lib4(int tri, int kmax, int kna, double alpha, double *A, double *C, int sdc); +void kernel_dgetr_3_lib4(int tri, int kmax, int kna, double alpha, double *A, double *C, int sdc); +void kernel_dgetr_2_lib4(int tri, int kmax, int kna, double alpha, double *A, double *C, int sdc); +void kernel_dgetr_1_lib4(int tri, int kmax, int kna, double alpha, double *A, double *C, int sdc); +void kernel_dgetr_4_0_lib4(int m, double *A, int sda, double *B); + + + +// pack +// 12 +void kernel_dpack_nn_12_lib4(int kmax, double *A, int lda, double *B, int sdb); +void kernel_dpack_nn_12_vs_lib4(int kmax, double *A, int lda, double *B, int sdb, int m1); +void kernel_dpack_tt_12_lib4(int kmax, double *A, int lda, double *B, int sdb); +// 8 +void kernel_dpack_nn_8_lib4(int kmax, double *A, int lda, double *B, int sdb); +void kernel_dpack_nn_8_vs_lib4(int kmax, double *A, int lda, double *B, int sdb, int m1); +void kernel_dpack_tt_8_lib4(int kmax, double *A, int lda, double *B, int sdb); +// 4 +void kernel_dpack_nn_4_lib4(int kmax, double *A, int lda, double *B); +void kernel_dpack_nn_4_vs_lib4(int kmax, double *A, int lda, double *B, int m1); +void kernel_dpack_tn_4_p0_lib4(int kmax, double *A, int lda, double *B); +void kernel_dpack_tn_4_lib4(int kmax, double *A, int lda, double *B); +void kernel_dpack_tn_4_vs_lib4(int kmax, double *A, int lda, double *B, int m1); +void kernel_dpack_tt_4_lib4(int kmax, double *A, int lda, double *B, int sdb); +void kernel_dpack_tt_4_vs_lib4(int kmax, double *A, int lda, double *B, int sdb, int m1); +// unpack +// 12 +void kernel_dunpack_nn_12_lib4(int kmax, double *A, int sda, double *B, int ldb); +void kernel_dunpack_nn_12_vs_lib4(int kmax, double *A, int sda, double *B, int ldb, int m1); +void kernel_dunpack_tt_12_lib4(int kmax, double *A, int sda, double *B, int ldb); +// 8 +void kernel_dunpack_nn_8_lib4(int kmax, double *A, int sda, double *B, int ldb); +void kernel_dunpack_nn_8_vs_lib4(int kmax, double *A, int sda, double *B, int ldb, int m1); +void kernel_dunpack_tt_8_lib4(int kmax, double *A, int sda, double *B, int ldb); +// 4 +void kernel_dunpack_nn_4_lib4(int kmax, double *A, double *B, int ldb); +void kernel_dunpack_nn_4_vs_lib4(int kmax, double *A, double *B, int ldb, int m1); +void kernel_dunpack_nt_4_lib4(int kmax, double *A, double *B, int ldb); +void kernel_dunpack_nt_4_vs_lib4(int kmax, double *A, double *B, int ldb, int m1); +void kernel_dunpack_tt_4_lib4(int kmax, double *A, int sda, double *B, int ldb); + +// panel copy +// 12 +void kernel_dpacp_nn_12_lib4(int kmax, int offsetA, double *A, int sda, double *B, int sdb); +void kernel_dpacp_nn_12_vs_lib4(int kmax, int offsetA, double *A, int sda, double *B, int sdb, int m1); +// 8 +void kernel_dpacp_nn_8_lib4(int kmax, int offsetA, double *A, int sda, double *B, int sdb); +void kernel_dpacp_nn_8_vs_lib4(int kmax, int offsetA, double *A, int sda, double *B, int sdb, int m1); +// 4 +void kernel_dpacp_nt_4_lib4(int kmax, double *A, int offsetB, double *B, int sdb); +void kernel_dpacp_tn_4_lib4(int kmax, int offsetA, double *A, int sda, double *B); +void kernel_dpacp_nn_4_lib4(int kmax, int offsetA, double *A, int sda, double *B); +void kernel_dpacp_nn_4_vs_lib4(int kmax, int offsetA, double *A, int sda, double *B, int m1); + + + +/************************************************ +* BLAS API kernels +************************************************/ + +//#if defined(BLAS_API) + +// A, B panel-major bs=4; C, D column-major +// 12x4 +void kernel_dgemm_nt_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_nt_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dgemm_nt_12x4_p0_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p); +void kernel_dsyrk_nt_l_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dsyrk_nt_l_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dsyrk_nt_u_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dsyrk_nt_u_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dger2k_nt_12x4_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dger2k_nt_12x4_vs_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dsyr2k_nt_l_12x4_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dsyr2k_nt_l_12x4_vs_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_rl_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dtrmm_nt_rl_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_rl_one_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dtrmm_nt_rl_one_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_ru_12x4_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd); +void kernel_dtrmm_nt_ru_12x4_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_ru_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dtrmm_nt_ru_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_ru_one_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dtrmm_nt_ru_one_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dtrsm_nt_ll_inv_12x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E); +void kernel_dtrsm_nt_ll_inv_12x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E, int km, int kn); +void kernel_dtrsm_nt_rl_inv_12x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE); +void kernel_dtrsm_nt_rl_inv_12x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1); +void kernel_dtrsm_nt_rl_inv_12x4_lib44ccc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE); +void kernel_dtrsm_nt_rl_inv_12x4_vs_lib44ccc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1); +void kernel_dtrsm_nt_rl_one_12x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E); +void kernel_dtrsm_nt_rl_one_12x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1); +void kernel_dtrsm_nt_ru_inv_12x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE); +void kernel_dtrsm_nt_ru_inv_12x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1); +void kernel_dtrsm_nt_ru_one_12x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E); +void kernel_dtrsm_nt_ru_one_12x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1); +void kernel_dpotrf_nt_l_12x4_lib44cc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *dD); +void kernel_dpotrf_nt_l_12x4_vs_lib44cc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *dD, int m1, int n1); +// 4x12 +void kernel_dgemm_nt_4x12_lib44cc(int kmax, double *alpha, double *A, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_nt_4x12_vs_lib44cc(int kmax, double *alpha, double *A, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dgemm_nt_4x12_p0_vs_lib44cc(int kmax, double *alpha, double *A, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1, double *A_p, double *B_p); +void kernel_dtrmm_nt_rl_4x12_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd); +void kernel_dtrmm_nt_rl_4x12_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_rl_one_4x12_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd); +void kernel_dtrmm_nt_rl_one_4x12_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_ru_4x12_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd); +void kernel_dtrmm_nt_ru_4x12_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_ru_one_4x12_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd); +void kernel_dtrmm_nt_ru_one_4x12_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); +// 8x8 +void kernel_dsyrk_nt_l_8x8_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dsyrk_nt_l_8x8_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dsyrk_nt_u_8x8_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dsyrk_nt_u_8x8_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dger2k_nt_8x8_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, int sdb0, double *A1, int sda1, double *B1, int sdb1, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dger2k_nt_8x8_vs_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, int sdb0, double *A1, int sda1, double *B1, int sdb1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dsyr2k_nt_l_8x8_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, int sdb0, double *A1, int sda1, double *B1, int sdb1, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dsyr2k_nt_l_8x8_vs_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, int sdb0, double *A1, int sda1, double *B1, int sdb1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dpotrf_nt_l_8x8_lib44cc(int kmax, double *A, int sda, double *B, int sdb, double *C, int ldc, double *D, int ldd, double *dD); +void kernel_dpotrf_nt_l_8x8_vs_lib44cc(int kmax, double *A, int sda, double *B, int sdb, double *C, int ldc, double *D, int ldd, double *dD, int m1, int n1); +// 8x4 +void kernel_dgemm_nt_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_nt_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dgemm_nt_8x4_p0_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p); +void kernel_dgemm_nt_8x4_p_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *A_p); +void kernel_dsyrk_nt_l_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dsyrk_nt_l_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dsyrk_nt_u_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dsyrk_nt_u_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dger2k_nt_8x4_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dger2k_nt_8x4_vs_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dsyr2k_nt_l_8x4_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dsyr2k_nt_l_8x4_vs_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_rl_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dtrmm_nt_rl_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_rl_one_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dtrmm_nt_rl_one_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_ru_8x4_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd); +void kernel_dtrmm_nt_ru_8x4_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_ru_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dtrmm_nt_ru_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_ru_one_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dtrmm_nt_ru_one_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dtrsm_nt_ll_inv_8x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E); +void kernel_dtrsm_nt_ll_inv_8x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E, int km, int kn); +void kernel_dtrsm_nt_rl_inv_8x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE); +void kernel_dtrsm_nt_rl_inv_8x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1); +void kernel_dtrsm_nt_rl_inv_8x4_lib44ccc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE); +void kernel_dtrsm_nt_rl_inv_8x4_vs_lib44ccc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1); +void kernel_dtrsm_nt_rl_one_8x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E); +void kernel_dtrsm_nt_rl_one_8x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1); +void kernel_dtrsm_nt_ru_inv_8x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE); +void kernel_dtrsm_nt_ru_inv_8x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1); +void kernel_dtrsm_nt_ru_one_8x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E); +void kernel_dtrsm_nt_ru_one_8x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1); +void kernel_dpotrf_nt_l_8x4_lib44cc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *dD); +void kernel_dpotrf_nt_l_8x4_vs_lib44cc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *dD, int m1, int n1); +// 4x8 +void kernel_dgemm_nt_4x8_lib44cc(int kmax, double *alpha, double *A, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_nt_4x8_vs_lib44cc(int kmax, double *alpha, double *A, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_rl_4x8_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd); +void kernel_dtrmm_nt_rl_4x8_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_rl_one_4x8_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd); +void kernel_dtrmm_nt_rl_one_4x8_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_ru_4x8_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd); +void kernel_dtrmm_nt_ru_4x8_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_ru_one_4x8_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd); +void kernel_dtrmm_nt_ru_one_4x8_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); +// 4x4 +void kernel_dgemm_nt_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_nt_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dsyrk_nt_l_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dsyrk_nt_l_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dsyrk_nt_u_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dsyrk_nt_u_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dger2k_nt_4x4_lib44cc(int kmax, double *alpha, double *A0, double *B0, double *A1, double *B1, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dger2k_nt_4x4_vs_lib44cc(int kmax, double *alpha, double *A0, double *B0, double *A1, double *B1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dsyr2k_nt_l_4x4_lib44cc(int kmax, double *alpha, double *A0, double *B0, double *A1, double *B1, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dsyr2k_nt_l_4x4_vs_lib44cc(int kmax, double *alpha, double *A0, double *B0, double *A1, double *B1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_rl_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dtrmm_nt_rl_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_rl_4x4_tran_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd); +void kernel_dtrmm_nt_rl_4x4_tran_vs_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_rl_one_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dtrmm_nt_rl_one_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_rl_one_4x4_tran_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd); +void kernel_dtrmm_nt_rl_one_4x4_tran_vs_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_ru_4x4_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd); +void kernel_dtrmm_nt_ru_4x4_vs_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_ru_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dtrmm_nt_ru_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_ru_4x4_tran_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd); +void kernel_dtrmm_nt_ru_4x4_tran_vs_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_ru_one_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dtrmm_nt_ru_one_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_ru_one_4x4_tran_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd); +void kernel_dtrmm_nt_ru_one_4x4_tran_vs_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd, int m1, int n1); +void kernel_dtrsm_nt_ll_inv_4x4_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *inv_diag_E); +void kernel_dtrsm_nt_ll_inv_4x4_vs_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *inv_diag_E, int km, int kn); +void kernel_dtrsm_nt_rl_inv_4x4_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE); +void kernel_dtrsm_nt_rl_inv_4x4_vs_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1); +void kernel_dtrsm_nt_rl_inv_4x4_lib44ccc(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE); +void kernel_dtrsm_nt_rl_inv_4x4_vs_lib44ccc(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1); +void kernel_dtrsm_nt_rl_one_4x4_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E); +void kernel_dtrsm_nt_rl_one_4x4_vs_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1); +void kernel_dtrsm_nt_ru_inv_4x4_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE); +void kernel_dtrsm_nt_ru_inv_4x4_vs_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1); +void kernel_dtrsm_nt_ru_one_4x4_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E); +void kernel_dtrsm_nt_ru_one_4x4_vs_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1); +void kernel_dpotrf_nt_l_4x4_lib44cc(int kmax, double *A, double *B, double *C, int ldc, double *D, int ldd, double *dD); +void kernel_dpotrf_nt_l_4x4_vs_lib44cc(int kmax, double *A, double *B, double *C, int ldc, double *D, int ldd, double *dD, int m1, int n1); +// 4x2 +void kernel_dgemm_nt_4x2_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd); + +// A panel-major bs=4; B, C, D column-major +// 12x4 +void kernel_dgemm_nn_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_nn_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dgemm_nt_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_nt_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dsyrk_nt_l_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dsyrk_nt_l_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dger2k_nt_12x4_lib4ccc(int kmax, double *alpha, double *A0, int sda0, double *B0, int ldb0, double *A1, int sda1, double *B1, int ldb1, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dger2k_nt_12x4_vs_lib4ccc(int kmax, double *alpha, double *A0, int sda0, double *B0, int ldb0, double *A1, int sda1, double *B1, int ldb1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nn_rl_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dtrmm_nn_rl_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nn_rl_one_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dtrmm_nn_rl_one_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nn_ru_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dtrmm_nn_ru_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nn_ru_one_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dtrmm_nn_ru_one_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_rl_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dtrmm_nt_rl_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_rl_one_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dtrmm_nt_rl_one_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_ru_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dtrmm_nt_ru_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_ru_one_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dtrmm_nt_ru_one_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dtrsm_nn_ll_inv_12x4_lib4ccc4(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E); +void kernel_dtrsm_nn_ll_inv_12x4_vs_lib4ccc4(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E, int km, int kn); +void kernel_dtrsm_nn_ll_one_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde); +void kernel_dtrsm_nn_ll_one_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1); +void kernel_dtrsm_nn_rl_inv_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE); +void kernel_dtrsm_nn_rl_inv_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1); +void kernel_dtrsm_nn_rl_one_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde); +void kernel_dtrsm_nn_rl_one_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1); +void kernel_dtrsm_nt_rl_inv_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE); +void kernel_dtrsm_nt_rl_inv_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1); +void kernel_dtrsm_nt_rl_one_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde); +void kernel_dtrsm_nt_rl_one_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1); +void kernel_dtrsm_nn_ru_inv_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE); +void kernel_dtrsm_nn_ru_inv_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1); +void kernel_dtrsm_nn_ru_one_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde); +void kernel_dtrsm_nn_ru_one_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1); +void kernel_dtrsm_nt_ru_inv_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE); +void kernel_dtrsm_nt_ru_inv_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1); +void kernel_dtrsm_nt_ru_one_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde); +void kernel_dtrsm_nt_ru_one_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1); +void kernel_dgetrf_nn_l_12x4_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag); +void kernel_dgetrf_nn_l_12x4_vs_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1); +void kernel_dgetrf_nn_m_12x4_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag); +void kernel_dgetrf_nn_m_12x4_vs_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1); +void kernel_dgetrf_nn_r_12x4_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag); +void kernel_dgetrf_nn_r_12x4_vs_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1); +// 4x12 +void kernel_dgemm_nn_4x12_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_nn_4x12_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dgemm_nt_4x12_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_nt_4x12_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nn_rl_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd); +void kernel_dtrmm_nn_rl_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nn_rl_one_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd); +void kernel_dtrmm_nn_rl_one_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nn_ru_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd); +void kernel_dtrmm_nn_ru_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nn_ru_one_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd); +void kernel_dtrmm_nn_ru_one_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_rl_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd); +void kernel_dtrmm_nt_rl_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_rl_one_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd); +void kernel_dtrmm_nt_rl_one_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_ru_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd); +void kernel_dtrmm_nt_ru_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_ru_one_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd); +void kernel_dtrmm_nt_ru_one_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); +// 8x4 +void kernel_dgemm_nn_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_nn_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dgemm_nt_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_nt_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dsyrk_nt_l_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dsyrk_nt_l_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dger2k_nt_8x4_lib4ccc(int kmax, double *alpha, double *A0, int sda0, double *B0, int ldb0, double *A1, int sda1, double *B1, int ldb1, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dger2k_nt_8x4_vs_lib4ccc(int kmax, double *alpha, double *A0, int sda0, double *B0, int ldb0, double *A1, int sda1, double *B1, int ldb1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nn_rl_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dtrmm_nn_rl_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nn_rl_one_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dtrmm_nn_rl_one_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nn_ru_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dtrmm_nn_ru_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nn_ru_one_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dtrmm_nn_ru_one_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_rl_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dtrmm_nt_rl_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_rl_one_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dtrmm_nt_rl_one_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_ru_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dtrmm_nt_ru_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_ru_one_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dtrmm_nt_ru_one_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dtrsm_nn_ll_inv_8x4_lib4ccc4(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E); +void kernel_dtrsm_nn_ll_inv_8x4_vs_lib4ccc4(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E, int km, int kn); +void kernel_dtrsm_nn_ll_one_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde); +void kernel_dtrsm_nn_ll_one_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1); +void kernel_dtrsm_nn_rl_inv_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE); +void kernel_dtrsm_nn_rl_inv_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1); +void kernel_dtrsm_nn_rl_one_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde); +void kernel_dtrsm_nn_rl_one_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1); +void kernel_dtrsm_nt_rl_inv_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE); +void kernel_dtrsm_nt_rl_inv_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1); +void kernel_dtrsm_nt_rl_one_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde); +void kernel_dtrsm_nt_rl_one_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1); +void kernel_dtrsm_nn_ru_inv_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE); +void kernel_dtrsm_nn_ru_inv_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1); +void kernel_dtrsm_nn_ru_one_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde); +void kernel_dtrsm_nn_ru_one_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1); +void kernel_dtrsm_nt_ru_inv_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE); +void kernel_dtrsm_nt_ru_inv_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1); +void kernel_dtrsm_nt_ru_one_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde); +void kernel_dtrsm_nt_ru_one_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1); +void kernel_dgetrf_nn_l_8x4_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag); +void kernel_dgetrf_nn_l_8x4_vs_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1); +void kernel_dgetrf_nn_r_8x4_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag); +void kernel_dgetrf_nn_r_8x4_vs_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1); +// 4x8 +void kernel_dgemm_nn_4x8_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_nn_4x8_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dgemm_nt_4x8_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_nt_4x8_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nn_rl_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd); +void kernel_dtrmm_nn_rl_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nn_rl_one_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd); +void kernel_dtrmm_nn_rl_one_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nn_ru_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd); +void kernel_dtrmm_nn_ru_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nn_ru_one_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd); +void kernel_dtrmm_nn_ru_one_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_rl_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd); +void kernel_dtrmm_nt_rl_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_rl_one_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd); +void kernel_dtrmm_nt_rl_one_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_ru_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd); +void kernel_dtrmm_nt_ru_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_ru_one_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd); +void kernel_dtrmm_nt_ru_one_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); +// 4x4 +void kernel_dgemm_nn_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_nn_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dgemm_nt_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_nt_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dsyrk_nt_l_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dsyrk_nt_l_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dger2k_nt_4x4_lib4ccc(int kmax, double *alpha, double *A0, double *B0, int ldb0, double *A1, double *B1, int ldb1, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dger2k_nt_4x4_vs_lib4ccc(int kmax, double *alpha, double *A0, double *B0, int ldb0, double *A1, double *B1, int ldb1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nn_rl_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dtrmm_nn_rl_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nn_rl_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd); +void kernel_dtrmm_nn_rl_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nn_rl_one_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dtrmm_nn_rl_one_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nn_rl_one_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd); +void kernel_dtrmm_nn_rl_one_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nn_ru_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dtrmm_nn_ru_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nn_ru_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd); +void kernel_dtrmm_nn_ru_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nn_ru_one_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dtrmm_nn_ru_one_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nn_ru_one_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd); +void kernel_dtrmm_nn_ru_one_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_rl_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dtrmm_nt_rl_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_rl_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd); +void kernel_dtrmm_nt_rl_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_rl_one_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dtrmm_nt_rl_one_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_rl_one_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd); +void kernel_dtrmm_nt_rl_one_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_ru_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dtrmm_nt_ru_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_ru_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd); +void kernel_dtrmm_nt_ru_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_ru_one_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dtrmm_nt_ru_one_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dtrmm_nt_ru_one_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd); +void kernel_dtrmm_nt_ru_one_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1); +void kernel_dtrsm_nn_ll_inv_4x4_lib4ccc4(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *inv_diag_E); +void kernel_dtrsm_nn_ll_inv_4x4_vs_lib4ccc4(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *inv_diag_E, int km, int kn); +void kernel_dtrsm_nn_ll_one_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde); +void kernel_dtrsm_nn_ll_one_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1); +void kernel_dtrsm_nn_rl_inv_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE); +void kernel_dtrsm_nn_rl_inv_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1); +void kernel_dtrsm_nn_rl_one_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde); +void kernel_dtrsm_nn_rl_one_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1); +void kernel_dtrsm_nt_rl_inv_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE); +void kernel_dtrsm_nt_rl_inv_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1); +void kernel_dtrsm_nt_rl_one_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde); +void kernel_dtrsm_nt_rl_one_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1); +void kernel_dtrsm_nn_ru_inv_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE); +void kernel_dtrsm_nn_ru_inv_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1); +void kernel_dtrsm_nn_ru_one_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde); +void kernel_dtrsm_nn_ru_one_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1); +void kernel_dtrsm_nt_ru_inv_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE); +void kernel_dtrsm_nt_ru_inv_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1); +void kernel_dtrsm_nt_ru_one_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde); +void kernel_dtrsm_nt_ru_one_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1); +void kernel_dgetrf_nn_4x4_lib4ccc(int kmax, double *A, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag); +void kernel_dgetrf_nn_4x4_vs_lib4ccc(int kmax, double *A, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1); + +// B panel-major bs=4; A, C, D column-major +// 12x4 +void kernel_dgemm_nt_12x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_nt_12x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dgemm_tt_12x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_tt_12x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +// 4x12 +void kernel_dgemm_nt_4x12_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_nt_4x12_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dgemm_tt_4x12_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_tt_4x12_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +// 8x4 +void kernel_dgemm_nt_8x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_nt_8x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dgemm_tt_8x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_tt_8x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +// 4x8 +void kernel_dgemm_nt_4x8_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_nt_4x8_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dgemm_tt_4x8_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_tt_4x8_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +// 4x4 +void kernel_dgemm_nt_4x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_nt_4x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dgemm_tt_4x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_tt_4x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); + +// A, C, D panel-major; B, E column-major +// TODO merge with above +// 12x4 +void kernel_dtrsm_nn_rl_inv_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE); +void kernel_dtrsm_nn_rl_inv_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1); +void kernel_dtrsm_nn_rl_one_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde); +void kernel_dtrsm_nn_rl_one_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1); +void kernel_dtrsm_nn_ru_inv_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE); +void kernel_dtrsm_nn_ru_inv_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1); +void kernel_dtrsm_nn_ru_one_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde); +void kernel_dtrsm_nn_ru_one_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1); +void kernel_dtrsm_nt_rl_inv_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE); +void kernel_dtrsm_nt_rl_inv_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1); +void kernel_dtrsm_nt_rl_one_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde); +void kernel_dtrsm_nt_rl_one_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1); +void kernel_dtrsm_nt_ru_inv_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE); +void kernel_dtrsm_nt_ru_inv_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1); +void kernel_dtrsm_nt_ru_one_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde); +void kernel_dtrsm_nt_ru_one_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1); +// 8x4 +void kernel_dtrsm_nn_rl_inv_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE); +void kernel_dtrsm_nn_rl_inv_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1); +void kernel_dtrsm_nn_rl_one_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde); +void kernel_dtrsm_nn_rl_one_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1); +void kernel_dtrsm_nn_ru_inv_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE); +void kernel_dtrsm_nn_ru_inv_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1); +void kernel_dtrsm_nn_ru_one_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde); +void kernel_dtrsm_nn_ru_one_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1); +void kernel_dtrsm_nt_rl_inv_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE); +void kernel_dtrsm_nt_rl_inv_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1); +void kernel_dtrsm_nt_rl_one_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde); +void kernel_dtrsm_nt_rl_one_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1); +void kernel_dtrsm_nt_ru_inv_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE); +void kernel_dtrsm_nt_ru_inv_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1); +void kernel_dtrsm_nt_ru_one_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde); +void kernel_dtrsm_nt_ru_one_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1); +// 4x4 +void kernel_dtrsm_nn_rl_inv_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE); +void kernel_dtrsm_nn_rl_inv_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE, int m1, int n1); +void kernel_dtrsm_nn_rl_one_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde); +void kernel_dtrsm_nn_rl_one_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, int m1, int n1); +void kernel_dtrsm_nn_ru_inv_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE); +void kernel_dtrsm_nn_ru_inv_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE, int m1, int n1); +void kernel_dtrsm_nn_ru_one_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde); +void kernel_dtrsm_nn_ru_one_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, int m1, int n1); +void kernel_dtrsm_nt_rl_inv_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE); +void kernel_dtrsm_nt_rl_inv_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE, int m1, int n1); +void kernel_dtrsm_nt_rl_one_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde); +void kernel_dtrsm_nt_rl_one_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, int m1, int n1); +void kernel_dtrsm_nt_ru_inv_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE); +void kernel_dtrsm_nt_ru_inv_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE, int m1, int n1); +void kernel_dtrsm_nt_ru_one_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde); +void kernel_dtrsm_nt_ru_one_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, int m1, int n1); + +// A, B, C, D column-major +// 12x4 +void kernel_dgemm_nn_12x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_nn_12x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dgemm_nt_12x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_nt_12x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dgemm_tt_12x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_tt_12x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +// 4x12 +void kernel_dgemm_nn_4x12_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_nn_4x12_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dgemm_nt_4x12_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_nt_4x12_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dgemm_tt_4x12_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_tt_4x12_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +// 8x4 +void kernel_dgemm_nn_8x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_nn_8x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dgemm_nt_8x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_nt_8x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dgemm_tt_8x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_tt_8x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +// 4x8 +void kernel_dgemm_nn_4x8_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_nn_4x8_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dgemm_nt_4x8_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_nt_4x8_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dgemm_tt_4x8_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_tt_4x8_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +// 4x4 +void kernel_dgemm_nn_4x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_nn_4x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dgemm_nt_4x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_nt_4x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dgemm_tt_4x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_tt_4x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); + +// A column-major +// 12 +void kernel_dgetrf_pivot_12_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv); +void kernel_dgetrf_pivot_12_vs_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv, int n); +// 8 +void kernel_dgetrf_pivot_8_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv); +void kernel_dgetrf_pivot_8_vs_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv, int n); +// 4 +void kernel_dgetrf_pivot_4_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv); +void kernel_dgetrf_pivot_4_vs_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv, int n); + +// vector +void kernel_ddot_11_lib(int n, double *x, double *y, double *res); +void kernel_daxpy_11_lib(int n, double *alpha, double *x, double *y); +void kernel_drowsw_lib(int kmax, double *pA, int lda, double *pC, int ldc); + +//#endif // BLAS_API + + + +// larger kernels +// 12 +void kernel_dgemm_nt_12xn_p0_lib44cc(int n, int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p); +void kernel_dgemm_nt_12xn_pl_lib44cc(int n, int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p); +void kernel_dgemm_nt_mx12_p0_lib44cc(int m, int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p); +// 8 +void kernel_dgemm_nt_8xn_p0_lib44cc(int n, int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p); + + + +// A, B panel-major bs=8; C, D column-major +// 24x8 +void kernel_dgemm_nt_24x8_lib88cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_nt_24x8_vs_lib88cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +// 16x8 +void kernel_dgemm_nt_16x8_lib88cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_nt_16x8_vs_lib88cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +// 8x8 +void kernel_dgemm_nt_8x8_lib88cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_nt_8x8_vs_lib88cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); + +// A, panel-major bs=8; B, C, D column-major +// 24x8 +void kernel_dgemm_nt_24x8_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_nt_24x8_vs_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dgemm_nn_24x8_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_nn_24x8_vs_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +// 16x8 +void kernel_dgemm_nt_16x8_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_nt_16x8_vs_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dgemm_nn_16x8_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_nn_16x8_vs_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +// 8x8 +void kernel_dgemm_nt_8x8_lib8ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_nt_8x8_vs_lib8ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dgemm_nn_8x8_lib8ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_nn_8x8_vs_lib8ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); + +// B, panel-major bs=8; A, C, D column-major +// 8x24 +void kernel_dgemm_nt_8x24_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_nt_8x24_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dgemm_tt_8x24_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_tt_8x24_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +// 8x16 +void kernel_dgemm_nt_8x16_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_nt_8x16_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dgemm_tt_8x16_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_tt_8x16_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +// 8x8 +void kernel_dgemm_nt_8x8_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_nt_8x8_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); +void kernel_dgemm_tt_8x8_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd); +void kernel_dgemm_tt_8x8_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); + + +// level 2 BLAS +void kernel_dgemv_n_4_libc(int kmax, double *alpha, double *A, int lda, double *x, double *z); +void kernel_dgemv_n_4_vs_libc(int kmax, double *alpha, double *A, int lda, double *x, double *z, int km); +void kernel_dgemv_t_4_libc(int kmax, double *alpha, double *A, int lda, double *x, double *beta, double *y, double *z); +void kernel_dgemv_t_4_vs_libc(int kmax, double *alpha, double *A, int lda, double *x, double *beta, double *y, double *z, int km); +void kernel_dsymv_l_4_libc(int kmax, double *alpha, double *A, int lda, double *x, double *z); +void kernel_dsymv_l_4_vs_libc(int kmax, double *alpha, double *A, int lda, double *x, double *z, int km); +void kernel_dsymv_u_4_libc(int kmax, double *alpha, double *A, int lda, double *x, double *z); +void kernel_dsymv_u_4_vs_libc(int kmax, double *alpha, double *A, int lda, double *x, double *z, int km); +void kernel_dger_4_libc(int kmax, double *alpha, double *x, double *y, double *C, int ldc, double *D, int ldd); +void kernel_dger_4_vs_libc(int kmax, double *alpha, double *x, double *y, double *C, int ldc, double *D, int ldd, int km); + + + +// aux +void kernel_dvecld_inc1(int kmax, double *x); +void kernel_dveccp_inc1(int kmax, double *x, double *y); + +//void kernel_dgetr_nt_8_p0_lib(int kmax, double *A, int lda, double *C, int ldc, double *Ap, double *Bp); +//void kernel_dgetr_nt_8_lib(int kmax, double *A, int lda, double *C, int ldc); +//void kernel_dgetr_nt_4_lib(int kmax, double *A, int lda, double *C, int ldc); +void kernel_dgetr_tn_8_p0_lib(int kmax, double *A, int lda, double *C, int ldc, double *Ap, double *Bp); +void kernel_dgetr_tn_8_lib(int kmax, double *A, int lda, double *C, int ldc); +void kernel_dgetr_tn_4_lib(int kmax, double *A, int lda, double *C, int ldc); +void kernel_dgetr_tn_4_vs_lib(int kmax, double *A, int lda, double *C, int ldc, int m1); + + +// building blocks for blocked algorithms +// +void blasfeo_hp_dgemm_nt_m2(int m, int n, int k, double alpha, double *pA, int sda, double *pB, int sdb, double beta, double *C, int ldc, double *D, int ldd); +void blasfeo_hp_dgemm_nt_n2(int m, int n, int k, double alpha, double *pA, int sda, double *pB, int sdb, double beta, double *C, int ldc, double *D, int ldd); +// +void kernel_dpack_buffer_fn(int m, int n, double *A, int lda, double *pA, int sda); +void kernel_dpack_buffer_ft(int m, int n, double *A, int lda, double *pA, int sda); +void kernel_dpack_buffer_ln(int m, double *A, int lda, double *pA, int sda); +void kernel_dpack_buffer_lt(int m, double *A, int lda, double *pA, int sda); +void kernel_dpack_buffer_ut(int m, double *A, int lda, double *pA, int sda); + + + +#ifdef __cplusplus +} +#endif + +#endif // BLASFEO_D_KERNEL_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_i_aux_ext_dep.h b/third_party/acados/include/blasfeo/include/blasfeo_i_aux_ext_dep.h new file mode 100644 index 0000000000..74c3fb5c0a --- /dev/null +++ b/third_party/acados/include/blasfeo/include/blasfeo_i_aux_ext_dep.h @@ -0,0 +1,69 @@ +/************************************************************************************************** +* * +* This file is part of BLASFEO. * +* * +* BLASFEO -- BLAS For Embedded Optimization. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef BLASFEO_I_AUX_EXT_DEP_H_ +#define BLASFEO_I_AUX_EXT_DEP_H_ + + + +#include "blasfeo_target.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +#ifdef EXT_DEP + +// i_aux_extern_depend_lib +void int_zeros(int **pA, int row, int col); +void int_zeros_align(int **pA, int row, int col); +void int_free(int *pA); +void int_free_align(int *pA); +void int_print_mat(int row, int col, int *A, int lda); +int int_print_to_string_mat(char **buf_out, int row, int col, int *A, int lda); + +#endif // EXT_DEP + + + +#ifdef __cplusplus +} +#endif + +#endif // BLASFEO_I_AUX_EXT_DEP_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_m_aux.h b/third_party/acados/include/blasfeo/include/blasfeo_m_aux.h new file mode 100644 index 0000000000..6248853e29 --- /dev/null +++ b/third_party/acados/include/blasfeo/include/blasfeo_m_aux.h @@ -0,0 +1,57 @@ +/************************************************************************************************** +* * +* This file is part of BLASFEO. * +* * +* BLASFEO -- BLAS For Embedded Optimization. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef BLASFEO_M_AUX_H_ +#define BLASFEO_M_AUX_H_ + +#include "blasfeo_common.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + +void blasfeo_cvt_d2s_vec(int m, struct blasfeo_dvec *vd, int vdi, struct blasfeo_svec *vs, int vsi); +void blasfeo_cvt_s2d_vec(int m, struct blasfeo_svec *vs, int vsi, struct blasfeo_dvec *vd, int vdi); +void blasfeo_cvt_d2s_mat(int m, int n, struct blasfeo_dmat *Md, int mid, int nid, struct blasfeo_smat *Ms, int mis, int nis); +void blasfeo_cvt_s2d_mat(int m, int n, struct blasfeo_smat *Ms, int mis, int nis, struct blasfeo_dmat *Md, int mid, int nid); + + +#ifdef __cplusplus +} +#endif + +#endif // BLASFEO_M_AUX_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_memory.h b/third_party/acados/include/blasfeo/include/blasfeo_memory.h new file mode 100644 index 0000000000..da4e7fa090 --- /dev/null +++ b/third_party/acados/include/blasfeo/include/blasfeo_memory.h @@ -0,0 +1,62 @@ +/************************************************************************************************** +* * +* This file is part of BLASFEO. * +* * +* BLASFEO -- BLAS For Embedded Optimization. * +* Copyright (C) 2020 by Gianluca Frison. * +* All rights reserved. * +* * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + + +#ifndef BLASFEO_MEMORY_H_ +#define BLASFEO_MEMORY_H_ + +#ifdef __cplusplus +extern "C" { +#endif + + + +// +int blasfeo_is_init(); +// +void blasfeo_init(); +// +void blasfeo_quit(); +// +void *blasfeo_get_buffer(); + + + + +#ifdef __cplusplus +} +#endif + +#endif // BLASFEO_MEMORY_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_naming.h b/third_party/acados/include/blasfeo/include/blasfeo_naming.h new file mode 100644 index 0000000000..c289443b17 --- /dev/null +++ b/third_party/acados/include/blasfeo/include/blasfeo_naming.h @@ -0,0 +1,77 @@ +/************************************************************************************************** +* * +* This file is part of BLASFEO. * +* * +* BLASFEO -- BLAS For Embedded Optimization. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + + +/* + * ----------- Naming conventions + * + * (precision)(data) + * + * 1) d(double) + * s(single) + * + * 2) ge(general) + * tr(triangular) + * vec(vector) + * row(row) + * col(column) + * dia(diagonal) + * + * 3) se(set) + * cp(copy) + * sc(scale) + * ad(add) + * tr(transpose) + * in(insert) + * ex(extract) + * pe(premute) + * sw(swap) + * + * f(factorization) + * + * lqf(LQ factorization) + * qrf (factorization) + * trf (LU factorization using partial pivoting with row interchanges.) + * + * 4) _l(lower) / _u(upper) + * _lib8 (hp implementation, 8 rows kernel) + * _lib4 (hp implementation, 4 rows kernel) + * _lib0 (hp interface with reference implentation) + * _lib (reference implementation) + * _libref (reference implementation with dedicated namespace) + * + * 5) _sp(sparse) + * _exp(exponential format) + */ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_processor_features.h b/third_party/acados/include/blasfeo/include/blasfeo_processor_features.h new file mode 100644 index 0000000000..67a0a4da04 --- /dev/null +++ b/third_party/acados/include/blasfeo/include/blasfeo_processor_features.h @@ -0,0 +1,88 @@ +/************************************************************************************************** +* * +* This file is part of BLASFEO. * +* * +* BLASFEO -- BLAS For Embedded Optimization. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Ian McInerney * +* * +**************************************************************************************************/ + +#ifndef BLASFEO_PROCESSOR_FEATURES_H_ +#define BLASFEO_PROCESSOR_FEATURES_H_ + +/** + * Flags to indicate the different processor features + */ +//enum +//{ +// // x86-64 CPU features +// BLASFEO_PROCESSOR_FEATURE_AVX = 0x0001, /// AVX instruction set +// BLASFEO_PROCESSOR_FEATURE_AVX2 = 0x0002, /// AVX2 instruction set +// BLASFEO_PROCESSOR_FEATURE_FMA = 0x0004, /// FMA instruction set +// BLASFEO_PROCESSOR_FEATURE_SSE3 = 0x0008, /// SSE3 instruction set +// +// // ARM CPU features +// BLASFEO_PROCESSOR_FEATURE_VFPv3 = 0x0100, /// VFPv3 instruction set +// BLASFEO_PROCESSOR_FEATURE_NEON = 0x0100, /// NEON instruction set +// BLASFEO_PROCESSOR_FEATURE_VFPv4 = 0x0100, /// VFPv4 instruction set +// BLASFEO_PROCESSOR_FEATURE_NEONv2 = 0x0100, /// NEONv2 instruction set +//} BLASFEO_PROCESSOR_FEATURES; + +/** + * Test the features that this processor provides against what the library was compiled with. + * + * @param features - Pointer to an integer to store the supported feature set (using the flags in the BLASFEO_PROCESSOR_FEATURES enum) + * @return 0 if current processor doesn't support all features required for this library, 1 otherwise + */ +int blasfeo_processor_cpu_features( int* features ); + +/** + * Test the features that this processor provides against what the library was compiled with. + * + * @param features - Pointer to an integer to store the supported feature set (using the flags in the BLASFEO_PROCESSOR_FEATURES enum) + * @return 0 if current processor doesn't support all features required for this library, 1 otherwise + */ +void blasfeo_processor_library_features( int* features ); + +/** + * Create a string listing the features the current processor supports. + * + * @param features - Flags from the BLASFEO_PROCESSOR_FEATURES enum indicating the features supported + * @param featureString - Character array to store the feature string in + */ +void blasfeo_processor_feature_string( int features, char* featureString ); + +/** + * Get a string listing the processor features that this library version needs to run. + * + * @param featureString - Character array to store the feature string in + */ +void blasfeo_processor_library_string( char* featureString ); + +#endif // BLASFEO_PROCESSOR_FEATURES_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux.h new file mode 100644 index 0000000000..f43f5e83ce --- /dev/null +++ b/third_party/acados/include/blasfeo/include/blasfeo_s_aux.h @@ -0,0 +1,168 @@ +/************************************************************************************************** +* * +* This file is part of BLASFEO. * +* * +* BLASFEO -- BLAS For Embedded Optimization. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef BLASFEO_S_AUX_H_ +#define BLASFEO_S_AUX_H_ + + + +#include + +#include "blasfeo_s_aux_old.h" +#include "blasfeo_common.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + +/************************************************ +* d_aux_lib.c +************************************************/ + +// returns the memory size (in bytes) needed for a smat +size_t blasfeo_memsize_smat(int m, int n); +size_t blasfeo_memsize_smat_ps(int ps, int m, int n); +// returns the memory size (in bytes) needed for the diagonal of a smat +size_t blasfeo_memsize_diag_smat(int m, int n); +// returns the memory size (in bytes) needed for a svec +size_t blasfeo_memsize_svec(int m); +// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated) +void blasfeo_create_smat(int m, int n, struct blasfeo_smat *sA, void *memory); +void blasfeo_create_smat_ps(int ps, int m, int n, struct blasfeo_smat *sA, void *memory); +// create a strvec for a vector of size m by using memory passed by a pointer (pointer is not updated) +void blasfeo_create_svec(int m, struct blasfeo_svec *sA, void *memory); +void blasfeo_pack_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj); +void blasfeo_pack_l_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj); +void blasfeo_pack_u_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj); +void blasfeo_pack_tran_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj); +void blasfeo_pack_svec(int m, float *x, int xi, struct blasfeo_svec *sa, int ai); +void blasfeo_unpack_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda); +void blasfeo_unpack_tran_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda); +void blasfeo_unpack_svec(int m, struct blasfeo_svec *sa, int ai, float *x, int xi); +//void s_cast_mat2strmat(float *A, struct blasfeo_smat *sA); +//void s_cast_diag_mat2strmat(float *dA, struct blasfeo_smat *sA); +//void s_cast_vec2vecmat(float *a, struct blasfeo_svec *sa); + +// ge +void blasfeo_sgese(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj); +void blasfeo_sgecpsc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); +void blasfeo_sgecp(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); +void blasfeo_sgesc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj); +void blasfeo_sgein1(float a, struct blasfeo_smat *sA, int ai, int aj); +float blasfeo_sgeex1(struct blasfeo_smat *sA, int ai, int aj); +void blasfeo_sgead(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); +void blasfeo_sgetr(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); +// tr +void blasfeo_strcp_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); +void blasfeo_strtr_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); +void blasfeo_strtr_u(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); +// dia +void blasfeo_sdiare(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj); +void blasfeo_sdiaex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi); +void blasfeo_sdiain(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj); +void blasfeo_sdiain_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj); +void blasfeo_sdiaex_sp(int kmax, float alpha, int *idx, struct blasfeo_smat *sD, int di, int dj, struct blasfeo_svec *sx, int xi); +void blasfeo_sdiaad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj); +void blasfeo_sdiaad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj); +void blasfeo_sdiaadin_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, int *idx, struct blasfeo_smat *sD, int di, int dj); +// row +void blasfeo_srowin(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj); +void blasfeo_srowex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi); +void blasfeo_srowad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj); +void blasfeo_srowad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj); +void blasfeo_srowsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); +void blasfeo_srowpe(int kmax, int *ipiv, struct blasfeo_smat *sA); +void blasfeo_srowpei(int kmax, int *ipiv, struct blasfeo_smat *sA); +// col +void blasfeo_scolex(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi); +void blasfeo_scolin(int kmax, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj); +void blasfeo_scolad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj); +void blasfeo_scolsc(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj); +void blasfeo_scolsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); +void blasfeo_scolpe(int kmax, int *ipiv, struct blasfeo_smat *sA); +void blasfeo_scolpei(int kmax, int *ipiv, struct blasfeo_smat *sA); +// vec +void blasfeo_svecse(int m, float alpha, struct blasfeo_svec *sx, int xi); +void blasfeo_sveccp(int m, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci); +void blasfeo_svecsc(int m, float alpha, struct blasfeo_svec *sa, int ai); +void blasfeo_sveccpsc(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci); +void blasfeo_svecad(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci); +void blasfeo_svecin1(float a, struct blasfeo_svec *sx, int xi); +float blasfeo_svecex1(struct blasfeo_svec *sx, int xi); +void blasfeo_svecad_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi); +void blasfeo_svecin_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi); +void blasfeo_svecex_sp(int m, float alpha, int *idx, struct blasfeo_svec *sx, int x, struct blasfeo_svec *sz, int zi); +// z += alpha * x[idx] +void blasfeo_svecexad_sp(int m, double alpha, int *idx, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); +void blasfeo_sveccl(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi); +void blasfeo_sveccl_mask(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi, struct blasfeo_svec *sm, int mi); +void blasfeo_svecze(int m, struct blasfeo_svec *sm, int mi, struct blasfeo_svec *sv, int vi, struct blasfeo_svec *se, int ei); +void blasfeo_svecnrm_inf(int m, struct blasfeo_svec *sx, int xi, float *ptr_norm); +void blasfeo_svecnrm_2(int m, struct blasfeo_svec *sx, int xi, float *ptr_norm); +void blasfeo_svecpe(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi); +void blasfeo_svecpei(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi); + + + +/* +* Explicitly panel-major matrix format +*/ + +// returns the memory size (in bytes) needed for a dmat +size_t blasfeo_pm_memsize_smat(int ps, int m, int n); +// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated) +void blasfeo_pm_create_smat(int ps, int m, int n, struct blasfeo_pm_smat *sA, void *memory); + + + +/* +* Explicitly column-major matrix format +*/ + +// returns the memory size (in bytes) needed for a dmat +size_t blasfeo_cm_memsize_smat(int m, int n); +// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated) +void blasfeo_cm_create_smat(int m, int n, struct blasfeo_pm_smat *sA, void *memory); + + + +#ifdef __cplusplus +} +#endif + +#endif // BLASFEO_S_AUX_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep.h new file mode 100644 index 0000000000..5209d20d37 --- /dev/null +++ b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep.h @@ -0,0 +1,141 @@ +/************************************************************************************************** +* * +* This file is part of BLASFEO. * +* * +* BLASFEO -- BLAS For Embedded Optimization. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef BLASFEO_S_AUX_EXT_DEP_H_ +#define BLASFEO_S_AUX_EXT_DEP_H_ + + + +#include + + + +#include "blasfeo_common.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +#ifdef EXT_DEP + +/************************************************ +* s_aux_extern_depend_lib.c +************************************************/ + +/* column-major matrices */ + +// dynamically allocate row*col floats of memory and set accordingly a pointer to float; set allocated memory to zero +void s_zeros(float **pA, int row, int col); +// dynamically allocate row*col floats of memory aligned to 64-byte boundaries and set accordingly a pointer to float; set allocated memory to zero +void s_zeros_align(float **pA, int row, int col); +// dynamically allocate size bytes of memory aligned to 64-byte boundaries and set accordingly a pointer to float; set allocated memory to zero +void s_zeros_align_bytes(float **pA, int size); +// free the memory allocated by d_zeros +void s_free(float *pA); +// free the memory allocated by d_zeros_align or d_zeros_align_bytes +void s_free_align(float *pA); +// print a column-major matrix +void s_print_mat(int m, int n, float *A, int lda); +// print the transposed of a column-major matrix +void s_print_tran_mat(int row, int col, float *A, int lda); +// print to file a column-major matrix +void s_print_to_file_mat(FILE *file, int row, int col, float *A, int lda); +// print to file a column-major matrix in exponential format +void s_print_to_file_exp_mat(FILE *file, int row, int col, float *A, int lda); +// print to string a column-major matrix +void s_print_to_string_mat(char **buf_out, int row, int col, float *A, int lda); +// print to file the transposed of a column-major matrix +void s_print_tran_to_file_mat(FILE *file, int row, int col, float *A, int lda); +// print to file the transposed of a column-major matrix in exponential format +void s_print_tran_to_file_exp_mat(FILE *file, int row, int col, float *A, int lda); +// print in exponential notation a column-major matrix +void s_print_exp_mat(int m, int n, float *A, int lda); +// print in exponential notation the transposed of a column-major matrix +void s_print_exp_tran_mat(int row, int col, float *A, int lda); + +/* strmat and strvec */ + +// create a strmat for a matrix of size m*n by dynamically allocating memory +void blasfeo_allocate_smat(int m, int n, struct blasfeo_smat *sA); +// create a strvec for a vector of size m by dynamically allocating memory +void blasfeo_allocate_svec(int m, struct blasfeo_svec *sa); +// free the memory allocated by blasfeo_allocate_dmat +void blasfeo_free_smat(struct blasfeo_smat *sA); +// free the memory allocated by blasfeo_allocate_dvec +void blasfeo_free_svec(struct blasfeo_svec *sa); +// print a strmat +void blasfeo_print_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj); +// print in exponential notation a strmat +void blasfeo_print_exp_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj); +// print to file a strmat +void blasfeo_print_to_file_smat(FILE *file, int m, int n, struct blasfeo_smat *sA, int ai, int aj); +// print to file a strmat in exponential format +void blasfeo_print_to_file_exp_smat(FILE *file, int m, int n, struct blasfeo_smat *sA, int ai, int aj); +// print to string a strmat +void blasfeo_print_to_string_smat(char **buf_out, int m, int n, struct blasfeo_smat *sA, int ai, int aj); +// print the transpose of a strmat +void blasfeo_print_tran_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj); +// print a strvec +void blasfeo_print_svec(int m, struct blasfeo_svec *sa, int ai); +// print in exponential notation a strvec +void blasfeo_print_exp_svec(int m, struct blasfeo_svec *sa, int ai); +// print to file a strvec +void blasfeo_print_to_file_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai); +// print to string a strvec +void blasfeo_print_to_string_svec(char **buf_out, int m, struct blasfeo_svec *sa, int ai); +// print the transposed of a strvec +void blasfeo_print_tran_svec(int m, struct blasfeo_svec *sa, int ai); +// print in exponential notation the transposed of a strvec +void blasfeo_print_exp_tran_svec(int m, struct blasfeo_svec *sa, int ai); +// print to file the transposed of a strvec +void blasfeo_print_to_file_tran_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai); +// print to string the transposed of a strvec +void blasfeo_print_to_string_tran_svec(char **buf_out, int m, struct blasfeo_svec *sa, int ai); + +#endif // EXT_DEP + + + +#ifdef __cplusplus +} +#endif + + + +#endif // BLASFEO_S_AUX_EXT_DEP_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep_ref.h new file mode 100644 index 0000000000..6640e20a40 --- /dev/null +++ b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep_ref.h @@ -0,0 +1,82 @@ +/************************************************************************************************** +* * +* This file is part of BLASFEO. * +* * +* BLASFEO -- BLAS For Embedded Optimization. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef BLASFEO_S_AUX_EXT_DEP_REF_H_ +#define BLASFEO_S_AUX_EXT_DEP_REF_H_ + +#if defined(EXT_DEP) + + + +#include + +#include "blasfeo_common.h" + +#ifdef __cplusplus +extern "C" { +#endif + +// expose reference BLASFEO for testing +// see blasfeo_s_aux_exp_dep.h for help + +void blasfeo_print_smat_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj); +void blasfeo_allocate_smat_ref(int m, int n, struct blasfeo_smat_ref *sA); +void blasfeo_allocate_svec_ref(int m, struct blasfeo_svec_ref *sa); +void blasfeo_free_smat_ref(struct blasfeo_smat_ref *sA); +void blasfeo_free_svec_ref(struct blasfeo_svec_ref *sa); +void blasfeo_print_smat_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj); +void blasfeo_print_exp_smat_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj); +void blasfeo_print_to_file_smat_ref(FILE *file, int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj); +void blasfeo_print_to_file_exp_smat_ref(FILE *file, int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj); +void blasfeo_print_to_string_smat_ref(char **buf_out, int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj); +void blasfeo_print_svec(int m, struct blasfeo_svec *sa, int ai); +void blasfeo_print_exp_svec(int m, struct blasfeo_svec *sa, int ai); +void blasfeo_print_to_file_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai); +void blasfeo_print_to_string_svec(char **buf_out, int m, struct blasfeo_svec *sa, int ai); +void blasfeo_print_tran_svec(int m, struct blasfeo_svec *sa, int ai); +void blasfeo_print_exp_tran_svec(int m, struct blasfeo_svec *sa, int ai); +void blasfeo_print_to_file_tran_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai); +void blasfeo_print_to_string_tran_svec(char **buf_out, int m, struct blasfeo_svec *sa, int ai); + + +#ifdef __cplusplus +} +#endif + + + +#endif // EXT_DEP + +#endif // BLASFEO_S_AUX_EXT_DEP_REF_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_old.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_old.h new file mode 100644 index 0000000000..5c6db37bab --- /dev/null +++ b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_old.h @@ -0,0 +1,64 @@ +/************************************************************************************************** +* * +* This file is part of BLASFEO. * +* * +* BLASFEO -- BLAS For Embedded Optimization. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +// TODO remove +// +void strcp_l_lib(int m, float alpha, int offsetA, float *A, int sda, int offsetB, float *B, int sdb); +void sgead_lib(int m, int n, float alpha, int offsetA, float *A, int sda, int offsetB, float *B, int sdb); +void sgetr_lib(int m, int n, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc); +void strtr_l_lib(int m, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc); +void strtr_u_lib(int m, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc); +void sdiareg_lib(int kmax, float reg, int offset, float *pD, int sdd); +void sdiain_sqrt_lib(int kmax, float *x, int offset, float *pD, int sdd); +void sdiaex_lib(int kmax, float alpha, int offset, float *pD, int sdd, float *x); +void sdiaad_lib(int kmax, float alpha, float *x, int offset, float *pD, int sdd); +void sdiain_libsp(int kmax, int *idx, float alpha, float *x, float *pD, int sdd); +void sdiaex_libsp(int kmax, int *idx, float alpha, float *pD, int sdd, float *x); +void sdiaad_libsp(int kmax, int *idx, float alpha, float *x, float *pD, int sdd); +void sdiaadin_libsp(int kmax, int *idx, float alpha, float *x, float *y, float *pD, int sdd); +void srowin_lib(int kmax, float alpha, float *x, float *pD); +void srowex_lib(int kmax, float alpha, float *pD, float *x); +void srowad_lib(int kmax, float alpha, float *x, float *pD); +void srowin_libsp(int kmax, float alpha, int *idx, float *x, float *pD); +void srowad_libsp(int kmax, int *idx, float alpha, float *x, float *pD); +void srowadin_libsp(int kmax, int *idx, float alpha, float *x, float *y, float *pD); +void srowsw_lib(int kmax, float *pA, float *pC); +void scolin_lib(int kmax, float *x, int offset, float *pD, int sdd); +void scolad_lib(int kmax, float alpha, float *x, int offset, float *pD, int sdd); +void scolin_libsp(int kmax, int *idx, float *x, float *pD, int sdd); +void scolad_libsp(int kmax, float alpha, int *idx, float *x, float *pD, int sdd); +void scolsw_lib(int kmax, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc); +void svecin_libsp(int kmax, int *idx, float *x, float *y); +void svecad_libsp(int kmax, int *idx, float alpha, float *x, float *y); diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ref.h new file mode 100644 index 0000000000..998e1d8999 --- /dev/null +++ b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ref.h @@ -0,0 +1,147 @@ + +/************************************************************************************************** +* * +* This file is part of BLASFEO. * +* * +* BLASFEO -- BLAS For Embedded Optimization. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef BLASFEO_S_AUX_REF_H_ +#define BLASFEO_S_AUX_REF_H_ + + + +#include + +#include "blasfeo_s_aux_old.h" +#include "blasfeo_common.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + +/************************************************ +* d_aux_lib.c +************************************************/ + +// returns the memory size (in bytes) needed for a smat +size_t blasfeo_ref_memsize_smat(int m, int n); +size_t blasfeo_ref_memsize_smat_ps(int ps, int m, int n); +// returns the memory size (in bytes) needed for the diagonal of a smat +size_t blasfeo_ref_memsize_diag_smat(int m, int n); +// returns the memory size (in bytes) needed for a svec +size_t blasfeo_ref_memsize_svec(int m); +// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated) +void blasfeo_ref_create_smat(int m, int n, struct blasfeo_smat *sA, void *memory); +void blasfeo_ref_create_smat_ps(int ps, int m, int n, struct blasfeo_smat *sA, void *memory); +// create a strvec for a vector of size m by using memory passed by a pointer (pointer is not updated) +void blasfeo_ref_create_svec(int m, struct blasfeo_svec *sA, void *memory); +void blasfeo_ref_pack_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj); +void blasfeo_ref_pack_l_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sB, int bi, int bj); +void blasfeo_ref_pack_l_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sB, int bi, int bj); +void blasfeo_ref_pack_tran_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj); +void blasfeo_ref_pack_svec(int m, float *x, int xi, struct blasfeo_svec *sa, int ai); +void blasfeo_ref_unpack_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda); +void blasfeo_ref_unpack_tran_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda); +void blasfeo_ref_unpack_svec(int m, struct blasfeo_svec *sa, int ai, float *x, int xi); +void ref_s_cast_mat2strmat(float *A, struct blasfeo_smat *sA); +void ref_s_cast_diag_mat2strmat(float *dA, struct blasfeo_smat *sA); +void ref_s_cast_vec2vecmat(float *a, struct blasfeo_svec *sa); + +// ge +void blasfeo_ref_sgese(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj); +void blasfeo_ref_sgecpsc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); +void blasfeo_ref_sgecp(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); +void blasfeo_ref_sgesc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj); +void blasfeo_ref_sgein1(float a, struct blasfeo_smat *sA, int ai, int aj); +float blasfeo_ref_sgeex1(struct blasfeo_smat *sA, int ai, int aj); +void blasfeo_ref_sgead(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); +void blasfeo_ref_sgetr(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); +// tr +void blasfeo_ref_strcp_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); +void blasfeo_ref_strtr_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); +void blasfeo_ref_strtr_u(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); +// dia +void blasfeo_ref_sdiare(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj); +void blasfeo_ref_sdiaex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi); +void blasfeo_ref_sdiain(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj); +void blasfeo_ref_sdiain_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj); +void blasfeo_ref_sdiaex_sp(int kmax, float alpha, int *idx, struct blasfeo_smat *sD, int di, int dj, struct blasfeo_svec *sx, int xi); +void blasfeo_ref_sdiaad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj); +void blasfeo_ref_sdiaad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj); +void blasfeo_ref_sdiaadin_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, int *idx, struct blasfeo_smat *sD, int di, int dj); +// row +void blasfeo_ref_srowin(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj); +void blasfeo_ref_srowex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi); +void blasfeo_ref_srowad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj); +void blasfeo_ref_srowad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj); +void blasfeo_ref_srowsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); +void blasfeo_ref_srowpe(int kmax, int *ipiv, struct blasfeo_smat *sA); +void blasfeo_ref_srowpei(int kmax, int *ipiv, struct blasfeo_smat *sA); +// col +void blasfeo_ref_scolex(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi); +void blasfeo_ref_scolin(int kmax, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj); +void blasfeo_ref_scolad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj); +void blasfeo_ref_scolsc(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj); +void blasfeo_ref_scolsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); +void blasfeo_ref_scolpe(int kmax, int *ipiv, struct blasfeo_smat *sA); +void blasfeo_ref_scolpei(int kmax, int *ipiv, struct blasfeo_smat *sA); +// vec +void blasfeo_ref_svecse(int m, float alpha, struct blasfeo_svec *sx, int xi); +void blasfeo_ref_sveccp(int m, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci); +void blasfeo_ref_svecsc(int m, float alpha, struct blasfeo_svec *sa, int ai); +void blasfeo_ref_sveccpsc(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci); +void blasfeo_ref_svecad(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci); +void blasfeo_ref_svecin1(float a, struct blasfeo_svec *sx, int xi); +float blasfeo_ref_svecex1(struct blasfeo_svec *sx, int xi); +void blasfeo_ref_svecad_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi); +void blasfeo_ref_svecin_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi); +void blasfeo_ref_svecex_sp(int m, float alpha, int *idx, struct blasfeo_svec *sx, int x, struct blasfeo_svec *sz, int zi); +// z += alpha * x[idx] +void blasfeo_ref_svecexad_sp(int m, double alpha, int *idx, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); +void blasfeo_ref_sveccl(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi); +void blasfeo_ref_sveccl_mask(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi, struct blasfeo_svec *sm, int mi); +void blasfeo_ref_svecze(int m, struct blasfeo_svec *sm, int mi, struct blasfeo_svec *sv, int vi, struct blasfeo_svec *se, int ei); +void blasfeo_ref_svecnrm_inf(int m, struct blasfeo_svec *sx, int xi, float *ptr_norm); +void blasfeo_ref_svecpe(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi); +void blasfeo_ref_svecpei(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi); + + + +#ifdef __cplusplus +} +#endif + +#endif // BLASFEO_S_AUX_REF_H_ + diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_test.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_test.h new file mode 100644 index 0000000000..08d9a14a6a --- /dev/null +++ b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_test.h @@ -0,0 +1,177 @@ +/************************************************************************************************** +* * +* This file is part of BLASFEO. * +* * +* BLASFEO -- BLAS For Embedded Optimization. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef BLASFEO_S_AUX_TEST_H_ +#define BLASFEO_S_AUX_TEST_H_ + +#include + +#include "blasfeo_common.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + +/************************************************ +* d_aux_lib.c +************************************************/ + +int test_blasfeo_memsize_smat(int m, int n); +int test_blasfeo_memsize_diag_smat(int m, int n); +int test_blasfeo_memsize_svec(int m); + +void test_blasfeo_create_smat(int m, int n, struct blasfeo_smat *sA, void *memory); +void test_blasfeo_create_svec(int m, struct blasfeo_svec *sA, void *memory); + +void test_blasfeo_pack_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj); +void test_blasfeo_pack_svec(int m, float *x, int xi, struct blasfeo_svec *sa, int ai); +void test_blasfeo_pack_tran_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj); +void test_blasfeo_unpack_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda); +void test_blasfeo_unpack_svec(int m, struct blasfeo_svec *sa, int ai, float *x, int xi); +void test_blasfeo_unpack_tran_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda); + +void test_s_cast_mat2strmat(float *A, struct blasfeo_smat *sA); +void test_s_cast_diag_mat2strmat(float *dA, struct blasfeo_smat *sA); +void test_s_cast_vec2vecmat(float *a, struct blasfeo_svec *sa); +// copy and scale +void test_blasfeo_sgecpsc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); +void test_blasfeo_sgecp(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); +void test_blasfeo_sgesc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj); + +// void test_blasfeo_sgein1(float a, struct blasfeo_smat *sA, int ai, int aj); +// float test_blasfeo_sgeex1(struct blasfeo_smat *sA, int ai, int aj); +// void test_blasfeo_svecin1(float a, struct blasfeo_svec *sx, int xi); +// float test_blasfeo_svecex1(struct blasfeo_svec *sx, int xi); + +// // A <= alpha +// void test_blasfeo_sgese(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj); +// // a <= alpha +// void test_blasfeo_svecse(int m, float alpha, struct blasfeo_svec *sx, int xi); + + +// void test_blasfeo_sveccp(int m, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci); +// void test_blasfeo_svecsc(int m, float alpha, struct blasfeo_svec *sa, int ai); + +// void test_strcp_l_lib(int m, float alpha, int offsetA, float *A, int sda, int offsetB, float *B, int sdb); +// void test_blasfeo_strcp_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); + +// void test_sgead_lib(int m, int n, float alpha, int offsetA, float *A, int sda, int offsetB, float *B, int sdb); +// void test_blasfeo_sgead(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); +// void test_blasfeo_svecad(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci); + +// void test_sgetr_lib(int m, int n, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc); +// void test_blasfeo_sgetr(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); + +// void test_strtr_l_lib(int m, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc); +// void test_blasfeo_strtr_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); +// void test_strtr_u_lib(int m, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc); +// void test_blasfeo_strtr_u(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); + +// void test_sdiareg_lib(int kmax, float reg, int offset, float *pD, int sdd); +// void test_blasfeo_sdiaex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi); +// void test_blasfeo_sdiain(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj); +// void test_sdiain_sqrt_lib(int kmax, float *x, int offset, float *pD, int sdd); +// void test_sdiaex_lib(int kmax, float alpha, int offset, float *pD, int sdd, float *x); +// void test_sdiaad_lib(int kmax, float alpha, float *x, int offset, float *pD, int sdd); +// void test_sdiain_libsp(int kmax, int *idx, float alpha, float *x, float *pD, int sdd); +// void test_blasfeo_sdiain_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj); +// void test_sdiaex_libsp(int kmax, int *idx, float alpha, float *pD, int sdd, float *x); +// void test_blasfeo_sdiaex_sp(int kmax, float alpha, int *idx, struct blasfeo_smat *sD, int di, int dj, struct blasfeo_svec *sx, int xi); +// void test_blasfeo_sdiaad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj); +// void test_sdiaad_libsp(int kmax, int *idx, float alpha, float *x, float *pD, int sdd); +// void test_blasfeo_sdiaad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj); +// void test_sdiaadin_libsp(int kmax, int *idx, float alpha, float *x, float *y, float *pD, int sdd); +// void test_blasfeo_sdiaadin_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, int *idx, struct blasfeo_smat *sD, int di, int dj); +// void test_srowin_lib(int kmax, float alpha, float *x, float *pD); +// void test_blasfeo_srowin(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj); +// void test_srowex_lib(int kmax, float alpha, float *pD, float *x); +// void test_blasfeo_srowex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi); +// void test_srowad_lib(int kmax, float alpha, float *x, float *pD); +// void test_blasfeo_srowad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj); +// void test_srowin_libsp(int kmax, float alpha, int *idx, float *x, float *pD); +// void test_srowad_libsp(int kmax, int *idx, float alpha, float *x, float *pD); +// void test_blasfeo_srowad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj); +// void test_srowadin_libsp(int kmax, int *idx, float alpha, float *x, float *y, float *pD); +// void test_srowsw_lib(int kmax, float *pA, float *pC); +// void test_blasfeo_srowsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); +// void test_blasfeo_srowpe(int kmax, int *ipiv, struct blasfeo_smat *sA); +// void test_scolin_lib(int kmax, float *x, int offset, float *pD, int sdd); +// void test_blasfeo_scolin(int kmax, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj); +// void test_scolad_lib(int kmax, float alpha, float *x, int offset, float *pD, int sdd); +// void test_scolin_libsp(int kmax, int *idx, float *x, float *pD, int sdd); +// void test_scolad_libsp(int kmax, float alpha, int *idx, float *x, float *pD, int sdd); +// void test_scolsw_lib(int kmax, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc); +// void test_blasfeo_scolsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); +// void test_blasfeo_scolpe(int kmax, int *ipiv, struct blasfeo_smat *sA); +// void test_svecin_libsp(int kmax, int *idx, float *x, float *y); +// void test_svecad_libsp(int kmax, int *idx, float alpha, float *x, float *y); +// void test_blasfeo_svecad_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi); +// void test_blasfeo_svecin_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi); +// void test_blasfeo_svecex_sp(int m, float alpha, int *idx, struct blasfeo_svec *sx, int x, struct blasfeo_svec *sz, int zi); +// void test_blasfeo_sveccl(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi); +// void test_blasfeo_sveccl_mask(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi, struct blasfeo_svec *sm, int mi); +// void test_blasfeo_svecze(int m, struct blasfeo_svec *sm, int mi, struct blasfeo_svec *sv, int vi, struct blasfeo_svec *se, int ei); +// void test_blasfeo_svecnrm_inf(int m, struct blasfeo_svec *sx, int xi, float *ptr_norm); +// void test_blasfeo_svecpe(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi); + + +// ext_dep + +void test_blasfeo_allocate_smat(int m, int n, struct blasfeo_smat *sA); +void test_blasfeo_allocate_svec(int m, struct blasfeo_svec *sa); + +void test_blasfeo_free_smat(struct blasfeo_smat *sA); +void test_blasfeo_free_svec(struct blasfeo_svec *sa); + +void test_blasfeo_print_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj); +void test_blasfeo_print_svec(int m, struct blasfeo_svec *sa, int ai); +void test_blasfeo_print_tran_svec(int m, struct blasfeo_svec *sa, int ai); + +void test_blasfeo_print_to_file_smat(FILE *file, int m, int n, struct blasfeo_smat *sA, int ai, int aj); +void test_blasfeo_print_to_file_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai); +void test_blasfeo_print_to_file_tran_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai); + +void test_blasfeo_print_exp_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj); +void test_blasfeo_print_exp_svec(int m, struct blasfeo_svec *sa, int ai); +void test_blasfeo_print_exp_tran_svec(int m, struct blasfeo_svec *sa, int ai); + + +#ifdef __cplusplus +} +#endif + +#endif // BLASFEO_S_AUX_TEST_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_blas.h b/third_party/acados/include/blasfeo/include/blasfeo_s_blas.h new file mode 100644 index 0000000000..200f1f51b1 --- /dev/null +++ b/third_party/acados/include/blasfeo/include/blasfeo_s_blas.h @@ -0,0 +1,46 @@ +/************************************************************************************************** +* * +* This file is part of BLASFEO. * +* * +* BLASFEO -- BLAS For Embedded Optimization. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef BLASFEO_S_BLAS_H_ +#define BLASFEO_S_BLAS_H_ + + + +#include "blasfeo_s_blasfeo_api.h" +#include "blasfeo_s_blas_api.h" + + + +#endif // BLASFEO_S_BLAS_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_blas_api.h b/third_party/acados/include/blasfeo/include/blasfeo_s_blas_api.h new file mode 100644 index 0000000000..cf2b3e0a2d --- /dev/null +++ b/third_party/acados/include/blasfeo/include/blasfeo_s_blas_api.h @@ -0,0 +1,182 @@ +/************************************************************************************************** +* * +* This file is part of BLASFEO. * +* * +* BLASFEO -- BLAS For Embedded Optimization. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + + + +#ifndef BLASFEO_S_BLAS_API_H_ +#define BLASFEO_S_BLAS_API_H_ + + + +#include "blasfeo_target.h" + + + +#ifdef BLAS_API +#ifdef CBLAS_API +#ifndef BLASFEO_CBLAS_ENUM +#define BLASFEO_CBLAS_ENUM +#ifdef FORTRAN_BLAS_API +#ifndef CBLAS_H +enum CBLAS_ORDER {CblasRowMajor=101, CblasColMajor=102}; +enum CBLAS_TRANSPOSE {CblasNoTrans=111, CblasTrans=112, CblasConjTrans=113}; +enum CBLAS_UPLO {CblasUpper=121, CblasLower=122}; +enum CBLAS_DIAG {CblasNonUnit=131, CblasUnit=132}; +enum CBLAS_SIDE {CblasLeft=141, CblasRight=142}; +#endif // CBLAS_H +#else // FORTRAN_BLAS_API +enum BLASFEO_CBLAS_ORDER {CblasRowMajor=101, CblasColMajor=102}; +enum BLASFEO_CBLAS_TRANSPOSE {CblasNoTrans=111, CblasTrans=112, CblasConjTrans=113}; +enum BLASFEO_CBLAS_UPLO {CblasUpper=121, CblasLower=122}; +enum BLASFEO_CBLAS_DIAG {CblasNonUnit=131, CblasUnit=132}; +enum BLASFEO_CBLAS_SIDE {CblasLeft=141, CblasRight=142}; +#endif // FORTRAN_BLAS_API +#endif // BLASFEO_CBLAS_ENUM +#endif // CBLAS_API +#endif // BLAS_API + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +#ifdef BLAS_API + + + +#ifdef FORTRAN_BLAS_API + + + +// BLAS 1 +// +void saxpy_(int *n, float *alpha, float *x, int *incx, float *y, int *incy); +// +float sdot_(int *n, float *x, int *incx, float *y, int *incy); + +// BLAS 3 +// +void sgemm_(char *ta, char *tb, int *m, int *n, int *k, float *alpha, float *A, int *lda, float *B, int *ldb, float *beta, float *C, int *ldc); +// +void strsm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, float *alpha, float *A, int *lda, float *B, int *ldb); + + + +// LAPACK +// +void spotrf_(char *uplo, int *m, float *A, int *lda, int *info); + + + +#ifdef CBLAS_API + + + +// CBLAS 1 +// +void cblas_saxpy(const int N, const float alpha, const float *X, const int incX, float *Y, const int incY); + +// CBLAS 3 +// +void cblas_sgemm(const enum CBLAS_ORDER Order, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_TRANSPOSE TransB, const int M, const int N, const int K, const float alpha, const float *A, const int lda, const float *B, const int ldb, const float beta, float *C, const int ldc); +// +void cblas_strsm(const enum CBLAS_ORDER Order, const enum CBLAS_SIDE Side, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_DIAG Diag, const int M, const int N, const float alpha, const float *A, const int lda, float *B, const int ldb); + + + +#endif // CBLAS_API + + + +#else // BLASFEO_API + + + +// BLAS 1 +// +void blasfeo_blas_saxpy(int *n, float *alpha, float *x, int *incx, float *y, int *incy); +// +float blasfeo_blas_sdot(int *n, float *x, int *incx, float *y, int *incy); + +// BLAS 3 +// +void blasfeo_blas_sgemm(char *ta, char *tb, int *m, int *n, int *k, float *alpha, float *A, int *lda, float *B, int *ldb, float *beta, float *C, int *ldc); +// +void blasfeo_blas_strsm(char *side, char *uplo, char *transa, char *diag, int *m, int *n, float *alpha, float *A, int *lda, float *B, int *ldb); + + + +// LAPACK +// +void blasfeo_lapack_spotrf(char *uplo, int *m, float *A, int *lda, int *info); + + + +#ifdef CBLAS_API + + + +// CBLAS 1 +// +void blasfeo_cblas_saxpy(const int N, const float alpha, const float *X, const int incX, float *Y, const int incY); + +// CBLAS 3 +// +void blasfeo_cblas_sgemm(const enum BLASFEO_CBLAS_ORDER Order, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_TRANSPOSE TransB, const int M, const int N, const int K, const float alpha, const float *A, const int lda, const float *B, const int ldb, const float beta, float *C, const int ldc); +// +void blasfeo_cblas_strsm(const enum BLASFEO_CBLAS_ORDER Order, const enum BLASFEO_CBLAS_SIDE Side, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_DIAG Diag, const int M, const int N, const float alpha, const float *A, const int lda, float *B, const int ldb); + + + +#endif // CBLAS_API + + + +#endif // BLASFEO_API + + + +#endif // BLAS_API + + + +#ifdef __cplusplus +} +#endif + +#endif // BLASFEO_S_BLAS_API_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api.h b/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api.h new file mode 100644 index 0000000000..8b98104735 --- /dev/null +++ b/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api.h @@ -0,0 +1,284 @@ +/************************************************************************************************** +* * +* This file is part of BLASFEO. * +* * +* BLASFEO -- BLAS For Embedded Optimization. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef BLASFEO_S_BLASFEO_API_H_ +#define BLASFEO_S_BLASFEO_API_H_ + + + +#include "blasfeo_common.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + +// +// level 1 BLAS +// + +// z = y + alpha*x +void blasfeo_saxpy(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi); +// z = beta*y + alpha*x +void blasfeo_saxpby(int kmax, float alpha, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi); +// z = x .* y +void blasfeo_svecmul(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi); +// z += x .* y +void blasfeo_svecmulacc(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi); +// z = x .* y, return sum(z) = x^T * y +float blasfeo_svecmuldot(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi); +// return x^T * y +float blasfeo_sdot(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi); +// construct givens plane rotation +void blasfeo_srotg(float a, float b, float *c, float *s); +// apply plane rotation [a b] [c -s; s; c] to the aj0 and aj1 columns of A at row index ai +void blasfeo_scolrot(int m, struct blasfeo_smat *sA, int ai, int aj0, int aj1, float c, float s); +// apply plane rotation [c s; -s c] [a; b] to the ai0 and ai1 rows of A at column index aj +void blasfeo_srowrot(int m, struct blasfeo_smat *sA, int ai0, int ai1, int aj, float c, float s); + + + +// +// level 2 BLAS +// + +// dense + +// z <= beta * y + alpha * A * x +void blasfeo_sgemv_n(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi); +// z <= beta * y + alpha * A' * x +void blasfeo_sgemv_t(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi); +// z <= inv( A ) * x, A (m)x(n) +void blasfeo_strsv_lnn_mn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); +// z <= inv( A' ) * x, A (m)x(n) +void blasfeo_strsv_ltn_mn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); +// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, not_unit +void blasfeo_strsv_lnn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); +// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, unit +void blasfeo_strsv_lnu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); +// z <= inv( A' ) * x, A (m)x(m) lower, transposed, not_unit +void blasfeo_strsv_ltn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); +// z <= inv( A' ) * x, A (m)x(m) lower, transposed, unit +void blasfeo_strsv_ltu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); +// z <= inv( A' ) * x, A (m)x(m) upper, not_transposed, not_unit +void blasfeo_strsv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); +// z <= inv( A' ) * x, A (m)x(m) upper, transposed, not_unit +void blasfeo_strsv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); +// z <= A * x ; A lower triangular +void blasfeo_strmv_lnn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); +// z <= A * x ; A lower triangular, unit diagonal +void blasfeo_strmv_lnu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); +// z <= A' * x ; A lower triangular +void blasfeo_strmv_ltn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); +// z <= A' * x ; A lower triangular, unit diagonal +void blasfeo_strmv_ltu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); +// z <= beta * y + alpha * A * x ; A upper triangular +void blasfeo_strmv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); +// z <= A' * x ; A upper triangular +void blasfeo_strmv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); +// z_n <= beta_n * y_n + alpha_n * A * x_n +// z_t <= beta_t * y_t + alpha_t * A' * x_t +void blasfeo_sgemv_nt(int m, int n, float alpha_n, float alpha_t, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx_n, int xi_n, struct blasfeo_svec *sx_t, int xi_t, float beta_n, float beta_t, struct blasfeo_svec *sy_n, int yi_n, struct blasfeo_svec *sy_t, int yi_t, struct blasfeo_svec *sz_n, int zi_n, struct blasfeo_svec *sz_t, int zi_t); +// z <= beta * y + alpha * A * x, where A is symmetric and only the lower triangular patr of A is accessed +void blasfeo_ssymv_l(int m, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi); +void blasfeo_ssymv_l_mn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi); +// z <= beta * y + alpha * A * x, where A is symmetric and only the upper triangular patr of A is accessed +void blasfeo_ssymv_u(int m, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi); +// D = C + alpha * x * y^T +void blasfeo_sger(int m, int n, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); + +// diagonal + +// z <= beta * y + alpha * A * x, A diagonal +void blasfeo_sgemv_d(int m, float alpha, struct blasfeo_svec *sA, int ai, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi); + + + +// +// level 3 BLAS +// + +// dense + +// D <= beta * C + alpha * A * B +void blasfeo_sgemm_nn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); +// D <= beta * C + alpha * A * B^T +void blasfeo_sgemm_nt(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); +// D <= beta * C + alpha * A^T * B +void blasfeo_sgemm_tn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); +// D <= beta * C + alpha * A^T * B +void blasfeo_sgemm_tt(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); +// D <= beta * C + alpha * A * B^T ; C, D lower triangular +void blasfeo_ssyrk_ln(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); +void blasfeo_ssyrk_ln_mn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); +// D <= beta * C + alpha * A^T * B ; C, D lower triangular +void blasfeo_ssyrk_lt(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); +// D <= beta * C + alpha * A * B^T ; C, D upper triangular +void blasfeo_ssyrk_un(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); +// D <= beta * C + alpha * A^T * B ; C, D upper triangular +void blasfeo_ssyrk_ut(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); +// D <= alpha * B * A^T ; B upper triangular +void blasfeo_strmm_rutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); +// D <= alpha * B * A ; A lower triangular +void blasfeo_strmm_rlnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); +// D <= alpha * A^{-1} * B , with A lower triangular employint explicit inverse of diagonal +void blasfeo_strsm_llnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); +// D <= alpha * A^{-1} * B , with A lower triangular with unit diagonal +void blasfeo_strsm_llnu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); +// D <= alpha * A^{-T} * B , with A lower triangular employint explicit inverse of diagonal +void blasfeo_strsm_lltn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); +// D <= alpha * A^{-T} * B , with A lower triangular with unit diagonal +void blasfeo_strsm_lltu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); +// D <= alpha * A^{-1} * B , with A upper triangular employing explicit inverse of diagonal +void blasfeo_strsm_lunn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); +// D <= alpha * A^{-1} * B , with A upper triangular withunit diagonal +void blasfeo_strsm_lunu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); +// D <= alpha * A^{-T} * B , with A upper triangular employing explicit inverse of diagonal +void blasfeo_strsm_lutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); +// D <= alpha * A^{-T} * B , with A upper triangular withunit diagonal +void blasfeo_strsm_lutu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); +// D <= alpha * B * A^{-1} , with A lower triangular employing explicit inverse of diagonal +void blasfeo_strsm_rlnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); +// D <= alpha * B * A^{-1} , with A lower triangular with unit diagonal +void blasfeo_strsm_rlnu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); +// D <= alpha * B * A^{-T} , with A lower triangular employing explicit inverse of diagonal +void blasfeo_strsm_rltn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); +// D <= alpha * B * A^{-T} , with A lower triangular with unit diagonal +void blasfeo_strsm_rltu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); +// D <= alpha * B * A^{-1} , with A upper triangular employing explicit inverse of diagonal +void blasfeo_strsm_runn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); +// D <= alpha * B * A^{-1} , with A upper triangular with unit diagonal +void blasfeo_strsm_runu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); +// D <= alpha * B * A^{-T} , with A upper triangular employing explicit inverse of diagonal +void blasfeo_strsm_rutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); +// D <= alpha * B * A^{-T} , with A upper triangular with unit diagonal +void blasfeo_strsm_rutu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); +// D <= beta * C + alpha * A * B^T + alpha * B * A^T; C, D lower triangular +void blasfeo_ssyr2k_ln(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); +// D <= beta * C + alpha * A^T * B + alpha * B^T * A; C, D lower triangular +void blasfeo_ssyr2k_lt(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); +// D <= beta * C + alpha * A * B^T + alpha * B * A^T; C, D upper triangular +void blasfeo_ssyr2k_un(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); +// D <= beta * C + alpha * A^T * B + alpha * B^T * A; C, D upper triangular +void blasfeo_ssyr2k_ut(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); + +// diagonal + +// D <= alpha * A * B + beta * C, with A diagonal (stored as strvec) +void sgemm_diag_left_ib(int m, int n, float alpha, float *dA, float *pB, int sdb, float beta, float *pC, int sdc, float *pD, int sdd); +void blasfeo_sgemm_dn(int m, int n, float alpha, struct blasfeo_svec *sA, int ai, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); +// D <= alpha * A * B + beta * C, with B diagonal (stored as strvec) +void blasfeo_sgemm_nd(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sB, int bi, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); + + + +// +// LAPACK +// + +// D <= chol( C ) ; C, D lower triangular +void blasfeo_spotrf_l(int m, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); +void blasfeo_spotrf_l_mn(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); +// D <= chol( C ) ; C, D upper triangular +void blasfeo_spotrf_u(int m, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); +// D <= chol( C + A * B' ) ; C, D lower triangular +void blasfeo_ssyrk_spotrf_ln(int m, int k, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); +void blasfeo_ssyrk_spotrf_ln_mn(int m, int n, int k, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); +// D <= lu( C ) ; no pivoting +void blasfeo_sgetrf_np(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); +// D <= lu( C ) ; row pivoting +void blasfeo_sgetrf_rp(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, int *ipiv); +// D <= qr( C ) +void blasfeo_sgeqrf(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work); +int blasfeo_sgeqrf_worksize(int m, int n); // in bytes +// D <= Q factor, where C is the output of the LQ factorization +int blasfeo_sorglq_worksize(int m, int n, int k); // in bytes +void blasfeo_sorglq(int m, int n, int k, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work); +// D <= lq( C ) +void blasfeo_sgelqf(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work); +int blasfeo_sgelqf_worksize(int m, int n); // in bytes +// D <= lq( C ), positive diagonal elements +void blasfeo_sgelqf_pd(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work); +// [L, A] <= lq( [L, A] ), positive diagonal elements, array of matrices, with +// L lower triangular, of size (m)x(m) +// A full, of size (m)x(n1) +void blasfeo_sgelqf_pd_la(int m, int n1, struct blasfeo_smat *sL, int li, int lj, struct blasfeo_smat *sA, int ai, int aj, void *work); +// [L, L, A] <= lq( [L, L, A] ), positive diagonal elements, array of matrices, with: +// L lower triangular, of size (m)x(m) +// A full, of size (m)x(n1) +void blasfeo_sgelqf_pd_lla(int m, int n1, struct blasfeo_smat *sL0, int l0i, int l0j, struct blasfeo_smat *sL1, int l1i, int l1j, struct blasfeo_smat *sA, int ai, int aj, void *work); + + + + +// +// BLAS API helper functions +// + +#if ( defined(BLAS_API) & defined(MF_PANELMAJ) ) +// BLAS 3 +void blasfeo_cm_sgemm_nn(int m, int n, int k, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, float beta, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj); +void blasfeo_cm_sgemm_nt(int m, int n, int k, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, float beta, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj); +void blasfeo_cm_sgemm_tn(int m, int n, int k, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, float beta, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj); +void blasfeo_cm_sgemm_tt(int m, int n, int k, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, float beta, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj); +void blasfeo_cm_strsm_llnn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj); +void blasfeo_cm_strsm_llnu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj); +void blasfeo_cm_strsm_lltn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj); +void blasfeo_cm_strsm_lltu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj); +void blasfeo_cm_strsm_lunn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj); +void blasfeo_cm_strsm_lunu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj); +void blasfeo_cm_strsm_lutn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj); +void blasfeo_cm_strsm_lutu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj); +void blasfeo_cm_strsm_rlnn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj); +void blasfeo_cm_strsm_rlnu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj); +void blasfeo_cm_strsm_rltn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj); +void blasfeo_cm_strsm_rltu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj); +void blasfeo_cm_strsm_runn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj); +void blasfeo_cm_strsm_runu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj); +void blasfeo_cm_strsm_rutn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj); +void blasfeo_cm_strsm_rutu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj); +// LAPACK +void blasfeo_cm_spotrf_l(int m, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj); +void blasfeo_cm_spotrf_u(int m, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj); +#endif + + + +#ifdef __cplusplus +} +#endif + +#endif // BLASFEO_S_BLASFEO_API_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api_ref.h new file mode 100644 index 0000000000..f429a79dc3 --- /dev/null +++ b/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api_ref.h @@ -0,0 +1,135 @@ +/************************************************************************************************** +* * +* This file is part of BLASFEO. * +* * +* BLASFEO -- BLAS For Embedded Optimization. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef BLASFEO_S_BLASFEO_API_REF_H_ +#define BLASFEO_S_BLASFEO_API_REF_H_ + +#include "blasfeo_common.h" + + +#ifdef __cplusplus +extern "C" { +#endif + + +// expose reference BLASFEO for testing + +// --- level 1 + +void blasfeo_saxpy_ref(int kmax, float alpha, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi); +void blasfeo_saxpby_ref(int kmax, float alpha, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi); +void blasfeo_svecmul_ref(int m, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi); +void blasfeo_svecmulacc_ref(int m, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi); +float blasfeo_svecmuldot_ref(int m, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi); +float blasfeo_sdot_ref(int m, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi); +void blasfeo_srotg_ref(float a, float b, float *c, float *s); +void blasfeo_scolrot_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj0, int aj1, float c, float s); +void blasfeo_srowrot_ref(int m, struct blasfeo_smat_ref *sA, int ai0, int ai1, int aj, float c, float s); + + +// --- level 2 + +// dense +void blasfeo_sgemv_n_ref(int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi); +void blasfeo_sgemv_t_ref(int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi); +void blasfeo_strsv_lnn_mn_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi); +void blasfeo_strsv_ltn_mn_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi); +void blasfeo_strsv_lnn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi); +void blasfeo_strsv_lnu_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi); +void blasfeo_strsv_ltn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi); +void blasfeo_strsv_ltu_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi); +void blasfeo_strsv_unn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi); +void blasfeo_strsv_utn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi); +void blasfeo_strmv_unn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi); +void blasfeo_strmv_utn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi); +void blasfeo_strmv_lnn_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi); +void blasfeo_strmv_ltn_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi); +void blasfeo_strmv_lnu_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi); +void blasfeo_strmv_ltu_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi); +void blasfeo_sgemv_nt_ref(int m, int n, float alpha_n, float alpha_t, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx_n, int xi_n, struct blasfeo_svec_ref *sx_t, int xi_t, float beta_n, float beta_t, struct blasfeo_svec_ref *sy_n, int yi_n, struct blasfeo_svec_ref *sy_t, int yi_t, struct blasfeo_svec_ref *sz_n, int zi_n, struct blasfeo_svec_ref *sz_t, int zi_t); +void blasfeo_ssymv_l_ref(int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi); + +// diagonal +void blasfeo_sgemv_d_ref(int m, float alpha, struct blasfeo_svec_ref *sA, int ai, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi); + + +// --- level 3 + +// dense +void blasfeo_sgemm_nn_ref( int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj); +void blasfeo_sgemm_nt_ref( int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj); +void blasfeo_sgemm_tn_ref(int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj); +void blasfeo_sgemm_tt_ref(int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj); + +void blasfeo_ssyrk_ln_mn_ref( int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj); +void blasfeo_ssyrk_ln_ref( int m, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj); +void blasfeo_ssyrk_lt_ref( int m, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj); +void blasfeo_ssyrk_un_ref( int m, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj); +void blasfeo_ssyrk_ut_ref( int m, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj); + +void blasfeo_strmm_rutn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj); +void blasfeo_strmm_rlnn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj); +void blasfeo_strsm_rltn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj); +void blasfeo_strsm_rltu_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj); +void blasfeo_strsm_rutn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj); +void blasfeo_strsm_llnu_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj); +void blasfeo_strsm_lunn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj); + +// diagonal +void dgemm_diag_left_lib_ref(int m, int n, float alpha, float *dA, float *pB, int sdb, float beta, float *pC, int sdc, float *pD, int sdd); +void blasfeo_sgemm_dn_ref(int m, int n, float alpha, struct blasfeo_svec_ref *sA, int ai, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj); +void blasfeo_sgemm_nd_ref(int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sB, int bi, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj); + +// --- lapack + +void blasfeo_sgetrf_nopivot_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj); +void blasfeo_sgetrf_rowpivot_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, int *ipiv); +void blasfeo_spotrf_l_ref(int m, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj); +void blasfeo_spotrf_l_mn_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj); +void blasfeo_ssyrk_dpotrf_ln_ref(int m, int k, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj); +void blasfeo_ssyrk_dpotrf_ln_mn_ref(int m, int n, int k, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj); +void blasfeo_sgetrf_nopivot_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj); +void blasfeo_sgetrf_rowpivot_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, int *ipiv); +void blasfeo_sgeqrf_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, void *work); +void blasfeo_sgelqf_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, void *work); +void blasfeo_sgelqf_pd_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, void *work); +void blasfeo_sgelqf_pd_la_ref(int m, int n1, struct blasfeo_smat_ref *sL, int li, int lj, struct blasfeo_smat_ref *sA, int ai, int aj, void *work); +void blasfeo_sgelqf_pd_lla_ref(int m, int n1, struct blasfeo_smat_ref *sL0, int l0i, int l0j, struct blasfeo_smat_ref *sL1, int l1i, int l1j, struct blasfeo_smat_ref *sA, int ai, int aj, void *work); + +#ifdef __cplusplus +} +#endif + +#endif // BLASFEO_S_BLASFEO_API_REF_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_ref_api.h b/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_ref_api.h new file mode 100644 index 0000000000..17cb179695 --- /dev/null +++ b/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_ref_api.h @@ -0,0 +1,252 @@ +/************************************************************************************************** +* * +* This file is part of BLASFEO. * +* * +* BLASFEO -- BLAS For Embedded Optimization. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef BLASFEO_S_BLASFEO_REF_API_H_ +#define BLASFEO_S_BLASFEO_REF_API_H_ + + + +#include "blasfeo_common.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + +// +// level 1 BLAS +// + +// z = y + alpha*x +void blasfeo_ref_saxpy(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi); +// z = beta*y + alpha*x +void blasfeo_ref_saxpby(int kmax, float alpha, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi); +// z = x .* y +void blasfeo_ref_svecmul(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi); +// z += x .* y +void blasfeo_ref_svecmulacc(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi); +// z = x .* y, return sum(z) = x^T * y +float blasfeo_ref_svecmuldot(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi); +// return x^T * y +float blasfeo_ref_sdot(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi); +// construct givens plane rotation +void blasfeo_ref_srotg(float a, float b, float *c, float *s); +// apply plane rotation [a b] [c -s; s; c] to the aj0 and aj1 columns of A at row index ai +void blasfeo_ref_scolrot(int m, struct blasfeo_smat *sA, int ai, int aj0, int aj1, float c, float s); +// apply plane rotation [c s; -s c] [a; b] to the ai0 and ai1 rows of A at column index aj +void blasfeo_ref_srowrot(int m, struct blasfeo_smat *sA, int ai0, int ai1, int aj, float c, float s); + + + +// +// level 2 BLAS +// + +// dense + +// z <= beta * y + alpha * A * x +void blasfeo_ref_sgemv_n(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi); +// z <= beta * y + alpha * A' * x +void blasfeo_ref_sgemv_t(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi); +// z <= inv( A ) * x, A (m)x(n) +void blasfeo_ref_strsv_lnn_mn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); +// z <= inv( A' ) * x, A (m)x(n) +void blasfeo_ref_strsv_ltn_mn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); +// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, not_unit +void blasfeo_ref_strsv_lnn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); +// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, unit +void blasfeo_ref_strsv_lnu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); +// z <= inv( A' ) * x, A (m)x(m) lower, transposed, not_unit +void blasfeo_ref_strsv_ltn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); +// z <= inv( A' ) * x, A (m)x(m) lower, transposed, unit +void blasfeo_ref_strsv_ltu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); +// z <= inv( A' ) * x, A (m)x(m) upper, not_transposed, not_unit +void blasfeo_ref_strsv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); +// z <= inv( A' ) * x, A (m)x(m) upper, transposed, not_unit +void blasfeo_ref_strsv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); +// z <= A * x ; A lower triangular +void blasfeo_ref_strmv_lnn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); +// z <= A * x ; A lower triangular, unit diagonal +void blasfeo_ref_strmv_lnu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); +// z <= A' * x ; A lower triangular +void blasfeo_ref_strmv_ltn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); +// z <= A' * x ; A lower triangular, unit diagonal +void blasfeo_ref_strmv_ltu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); +// z <= beta * y + alpha * A * x ; A upper triangular +void blasfeo_ref_strmv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); +// z <= A' * x ; A upper triangular +void blasfeo_ref_strmv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); +// z_n <= beta_n * y_n + alpha_n * A * x_n +// z_t <= beta_t * y_t + alpha_t * A' * x_t +void blasfeo_ref_sgemv_nt(int m, int n, float alpha_n, float alpha_t, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx_n, int xi_n, struct blasfeo_svec *sx_t, int xi_t, float beta_n, float beta_t, struct blasfeo_svec *sy_n, int yi_n, struct blasfeo_svec *sy_t, int yi_t, struct blasfeo_svec *sz_n, int zi_n, struct blasfeo_svec *sz_t, int zi_t); +// z <= beta * y + alpha * A * x, where A is symmetric and only the lower triangular patr of A is accessed +void blasfeo_ref_ssymv_l(int m, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi); +void blasfeo_ref_ssymv_l_mn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi); +// z <= beta * y + alpha * A * x, where A is symmetric and only the upper triangular patr of A is accessed +void blasfeo_ref_ssymv_u(int m, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi); +// D = C + alpha * x * y^T +void blasfeo_ref_sger(int m, int n, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); + +// diagonal + +// z <= beta * y + alpha * A * x, A diagonal +void blasfeo_ref_sgemv_d(int m, float alpha, struct blasfeo_svec *sA, int ai, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi); + + + +// +// level 3 BLAS +// + +// dense + +// D <= beta * C + alpha * A * B +void blasfeo_ref_sgemm_nn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); +// D <= beta * C + alpha * A * B^T +void blasfeo_ref_sgemm_nt(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); +// D <= beta * C + alpha * A^T * B +void blasfeo_ref_sgemm_tn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); +// D <= beta * C + alpha * A^T * B +void blasfeo_ref_sgemm_tt(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); +// D <= beta * C + alpha * A * B^T ; C, D lower triangular +void blasfeo_ref_ssyrk_ln(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); +void blasfeo_ref_ssyrk_ln_mn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); +// D <= beta * C + alpha * A^T * B ; C, D lower triangular +void blasfeo_ref_ssyrk_lt(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); +// D <= beta * C + alpha * A * B^T ; C, D upper triangular +void blasfeo_ref_ssyrk_un(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); +// D <= beta * C + alpha * A^T * B ; C, D upper triangular +void blasfeo_ref_ssyrk_ut(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); +// D <= alpha * B * A^T ; B upper triangular +void blasfeo_ref_strmm_rutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); +// D <= alpha * B * A ; A lower triangular +void blasfeo_ref_strmm_rlnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); +// D <= alpha * A^{-1} * B , with A lower triangular employint explicit inverse of diagonal +void blasfeo_ref_strsm_llnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); +// D <= alpha * A^{-1} * B , with A lower triangular with unit diagonal +void blasfeo_ref_strsm_llnu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); +// D <= alpha * A^{-T} * B , with A lower triangular employint explicit inverse of diagonal +void blasfeo_ref_strsm_lltn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); +// D <= alpha * A^{-T} * B , with A lower triangular with unit diagonal +void blasfeo_ref_strsm_lltu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); +// D <= alpha * A^{-1} * B , with A upper triangular employing explicit inverse of diagonal +void blasfeo_ref_strsm_lunn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); +// D <= alpha * A^{-1} * B , with A upper triangular withunit diagonal +void blasfeo_ref_strsm_lunu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); +// D <= alpha * A^{-T} * B , with A upper triangular employing explicit inverse of diagonal +void blasfeo_ref_strsm_lutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); +// D <= alpha * A^{-T} * B , with A upper triangular withunit diagonal +void blasfeo_ref_strsm_lutu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); +// D <= alpha * B * A^{-1} , with A lower triangular employing explicit inverse of diagonal +void blasfeo_ref_strsm_rlnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); +// D <= alpha * B * A^{-1} , with A lower triangular with unit diagonal +void blasfeo_ref_strsm_rlnu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); +// D <= alpha * B * A^{-T} , with A lower triangular employing explicit inverse of diagonal +void blasfeo_ref_strsm_rltn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); +// D <= alpha * B * A^{-T} , with A lower triangular with unit diagonal +void blasfeo_ref_strsm_rltu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); +// D <= alpha * B * A^{-1} , with A upper triangular employing explicit inverse of diagonal +void blasfeo_ref_strsm_runn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); +// D <= alpha * B * A^{-1} , with A upper triangular with unit diagonal +void blasfeo_ref_strsm_runu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); +// D <= alpha * B * A^{-T} , with A upper triangular employing explicit inverse of diagonal +void blasfeo_ref_strsm_rutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); +// D <= alpha * B * A^{-T} , with A upper triangular with unit diagonal +void blasfeo_ref_strsm_rutu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); +// D <= beta * C + alpha * A * B^T + alpha * B * A^T ; C, D lower triangular +void blasfeo_ref_ssyr2k_ln(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); +// D <= beta * C + alpha * A^T * B + alpha * B^T * A ; C, D lower triangular +void blasfeo_ref_ssyr2k_lt(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); +// D <= beta * C + alpha * A * B^T + alpha * B * A^T ; C, D upper triangular +void blasfeo_ref_ssyr2k_un(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); +// D <= beta * C + alpha * A^T * B + alpha * B^T * A ; C, D upper triangular +void blasfeo_ref_ssyr2k_ut(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); + +// diagonal + +// D <= alpha * A * B + beta * C, with A diagonal (stored as strvec) +void sgemm_diag_left_ib(int m, int n, float alpha, float *dA, float *pB, int sdb, float beta, float *pC, int sdc, float *pD, int sdd); +void blasfeo_ref_sgemm_dn(int m, int n, float alpha, struct blasfeo_svec *sA, int ai, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); +// D <= alpha * A * B + beta * C, with B diagonal (stored as strvec) +void blasfeo_ref_sgemm_nd(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sB, int bi, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); + + + +// +// LAPACK +// + +// D <= chol( C ) ; C, D lower triangular +void blasfeo_ref_spotrf_l(int m, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); +void blasfeo_ref_spotrf_l_mn(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); +// D <= chol( C ) ; C, D upper triangular +void blasfeo_ref_spotrf_u(int m, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); +// D <= chol( C + A * B' ) ; C, D lower triangular +void blasfeo_ref_ssyrk_spotrf_ln(int m, int k, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); +void blasfeo_ref_ssyrk_spotrf_ln_mn(int m, int n, int k, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); +// D <= lu( C ) ; no pivoting +void blasfeo_ref_sgetrf_np(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); +// D <= lu( C ) ; row pivoting +void blasfeo_ref_sgetrf_rp(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, int *ipiv); +// D <= qr( C ) +void blasfeo_ref_sgeqrf(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work); +int blasfeo_ref_sgeqrf_worksize(int m, int n); // in bytes +// D <= Q factor, where C is the output of the LQ factorization +int blasfeo_ref_sorglq_worksize(int m, int n, int k); // in bytes +void blasfeo_ref_sorglq(int m, int n, int k, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work); +// D <= lq( C ) +void blasfeo_ref_sgelqf(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work); +int blasfeo_ref_sgelqf_worksize(int m, int n); // in bytes +// D <= lq( C ), positive diagonal elements +void blasfeo_ref_sgelqf_pd(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work); +// [L, A] <= lq( [L, A] ), positive diagonal elements, array of matrices, with +// L lower triangular, of size (m)x(m) +// A full, of size (m)x(n1) +void blasfeo_ref_sgelqf_pd_la(int m, int n1, struct blasfeo_smat *sL, int li, int lj, struct blasfeo_smat *sA, int ai, int aj, void *work); +// [L, L, A] <= lq( [L, L, A] ), positive diagonal elements, array of matrices, with: +// L lower triangular, of size (m)x(m) +// A full, of size (m)x(n1) +void blasfeo_ref_sgelqf_pd_lla(int m, int n1, struct blasfeo_smat *sL0, int l0i, int l0j, struct blasfeo_smat *sL1, int l1i, int l1j, struct blasfeo_smat *sA, int ai, int aj, void *work); + + + + +#ifdef __cplusplus +} +#endif + +#endif // BLASFEO_S_BLASFEO_REF_API_H_ + diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_kernel.h b/third_party/acados/include/blasfeo/include/blasfeo_s_kernel.h new file mode 100644 index 0000000000..99d2b28c82 --- /dev/null +++ b/third_party/acados/include/blasfeo/include/blasfeo_s_kernel.h @@ -0,0 +1,692 @@ +/************************************************************************************************** +* * +* This file is part of BLASFEO. * +* * +* BLASFEO -- BLAS For Embedded Optimization. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef BLASFEO_S_KERNEL_H_ +#define BLASFEO_S_KERNEL_H_ + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +// utils +void blasfeo_align_2MB(void *ptr, void **ptr_align); +void blasfeo_align_4096_byte(void *ptr, void **ptr_align); +void blasfeo_align_64_byte(void *ptr, void **ptr_align); + + + +// +// lib8 +// + +// 24x4 +void kernel_sgemm_nt_24x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); +void kernel_sgemm_nt_24x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn); +void kernel_sgemm_nt_24x4_gen_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1); +void kernel_sgemm_nn_24x4_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd); +void kernel_sgemm_nn_24x4_vs_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn); +void kernel_sgemm_nn_24x4_gen_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1); +void kernel_ssyrk_nt_l_24x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); +void kernel_ssyrk_nt_l_24x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn); +void kernel_ssyrk_nt_l_20x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); +void kernel_ssyrk_nt_l_20x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn); +void kernel_spotrf_nt_l_24x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D); +void kernel_spotrf_nt_l_24x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn); +void kernel_spotrf_nt_l_20x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D); +void kernel_spotrf_nt_l_20x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn); +void kernel_strsm_nt_rl_inv_24x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E); +void kernel_strsm_nt_rl_inv_24x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int km, int kn); +void kernel_sgemm_strsm_nt_rl_inv_24x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E); +void kernel_sgemm_strsm_nt_rl_inv_24x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int km, int kn); +void kernel_ssyrk_spotrf_nt_l_20x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn); +void kernel_ssyrk_spotrf_nt_l_20x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D); +void kernel_ssyrk_spotrf_nt_l_24x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn); +void kernel_ssyrk_spotrf_nt_l_24x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D); +void kernel_strmm_nn_rl_24x4_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *D, int sdd); +void kernel_strmm_nn_rl_24x4_vs_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *D, int sdd, int km, int kn); + +// 16x8 +void kernel_sgemm_nt_16x8_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *spil); + +// 16x4 +void kernel_sgemm_nt_16x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); +void kernel_sgemm_nt_16x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn); +void kernel_sgemm_nt_16x4_gen_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1); +void kernel_sgemm_nn_16x4_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd); +void kernel_sgemm_nn_16x4_vs_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn); +void kernel_sgemm_nn_16x4_gen_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1); +void kernel_ssyrk_nt_l_16x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); +void kernel_ssyrk_nt_l_16x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn); +void kernel_ssyrk_nt_l_12x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); +void kernel_ssyrk_nt_l_12x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn); +void kernel_spotrf_nt_l_16x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D); +void kernel_spotrf_nt_l_16x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn); +void kernel_spotrf_nt_l_12x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D); +void kernel_spotrf_nt_l_12x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn); +void kernel_strsm_nt_rl_inv_16x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E); +void kernel_strsm_nt_rl_inv_16x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int km, int kn); +void kernel_sgemm_strsm_nt_rl_inv_16x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E); +void kernel_sgemm_strsm_nt_rl_inv_16x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int km, int kn); +void kernel_ssyrk_spotrf_nt_l_12x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn); +void kernel_ssyrk_spotrf_nt_l_12x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D); +void kernel_ssyrk_spotrf_nt_l_16x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn); +void kernel_ssyrk_spotrf_nt_l_16x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D); +void kernel_strmm_nn_rl_16x4_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *D, int sdd); +void kernel_strmm_nn_rl_16x4_vs_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *D, int sdd, int km, int kn); +void kernel_strmm_nn_rl_16x4_gen_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1); + +// 8x8 +void kernel_sgemm_nt_8x8_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D); +void kernel_sgemm_nt_8x8_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn); +void kernel_sgemm_nt_8x8_gen_lib8(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1); +void kernel_sgemm_nn_8x8_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D); +void kernel_sgemm_nn_8x8_vs_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D, int km, int kn); +void kernel_sgemm_nn_8x8_gen_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1); +void kernel_ssyrk_nt_l_8x8_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D); +void kernel_ssyrk_nt_l_8x8_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn); +void kernel_spotrf_nt_l_8x8_lib8(int k, float *A, float *B, float *C, float *D, float *inv_diag_D); +void kernel_spotrf_nt_l_8x8_vs_lib8(int k, float *A, float *B, float *C, float *D, float *inv_diag_D, int km, int kn); +void kernel_strsm_nt_rl_inv_8x8_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E); +void kernel_strsm_nt_rl_inv_8x8_vs_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E, int km, int kn); +void kernel_sgemm_strsm_nt_rl_inv_8x8_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E); +void kernel_sgemm_strsm_nt_rl_inv_8x8_vs_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E, int km, int kn); +void kernel_ssyrk_spotrf_nt_l_8x8_vs_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D, int km, int kn); +void kernel_ssyrk_spotrf_nt_l_8x8_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D); + +// 8x4 +void kernel_sgemm_nt_8x4_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D); +void kernel_sgemm_nt_8x4_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn); +void kernel_sgemm_nt_8x4_gen_lib8(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1); +void kernel_sgemm_nn_8x4_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D); +void kernel_sgemm_nn_8x4_vs_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D, int km, int kn); +void kernel_sgemm_nn_8x4_gen_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1); +//void kernel_ssyrk_nt_l_8x4_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D); +void kernel_ssyrk_nt_l_8x4_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn); +void kernel_spotrf_nt_l_8x4_lib8(int k, float *A, float *B, float *C, float *D, float *inv_diag_D); +void kernel_spotrf_nt_l_8x4_vs_lib8(int k, float *A, float *B, float *C, float *D, float *inv_diag_D, int km, int kn); +void kernel_strsm_nt_rl_inv_8x4_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E); +void kernel_strsm_nt_rl_inv_8x4_vs_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E, int km, int kn); +void kernel_sgemm_strsm_nt_rl_inv_8x4_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E); +void kernel_sgemm_strsm_nt_rl_inv_8x4_vs_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E, int km, int kn); +void kernel_ssyrk_spotrf_nt_l_8x4_vs_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D, int km, int kn); +void kernel_ssyrk_spotrf_nt_l_8x4_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D); +void kernel_strmm_nn_rl_8x4_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *D); +void kernel_strmm_nn_rl_8x4_vs_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *D, int km, int kn); +void kernel_strmm_nn_rl_8x4_gen_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1); +void kernel_strmm_nt_ru_8x4_lib8(int k, float *alpha, float *A, float *B, float *D); +void kernel_strmm_nt_ru_8x4_vs_lib8(int k, float *alpha, float *A, float *B, float *D, int km, int kn); + +// 4x8 +void kernel_sgemm_nt_4x8_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D); +void kernel_sgemm_nt_4x8_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn); +void kernel_sgemm_nt_4x8_gen_lib8(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1); +void kernel_strsm_nt_rl_inv_4x8_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E); +void kernel_strsm_nt_rl_inv_4x8_vs_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E, int km, int kn); + +// 8 +void kernel_sgemv_n_8_lib8(int k, float *alpha, float *A, float *x, float *beta, float *y, float *z); +void kernel_sgemv_n_8_vs_lib8(int k, float *alpha, float *A, float *x, float *beta, float *y, float *z, int k1); +void kernel_sgemv_n_8_gen_lib8(int kmax, float *alpha, float *A, float *x, float *beta, float *y, float *z, int k0, int k1); +void kernel_sgemv_t_8_lib8(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z); +void kernel_sgemv_t_8_vs_lib8(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z, int k1); +void kernel_sgemv_t_4_lib8(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z); +void kernel_sgemv_t_4_vs_lib8(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z, int k1); +void kernel_strsv_ln_inv_8_lib8(int k, float *A, float *inv_diag_A, float *x, float *y, float *z); +void kernel_strsv_ln_inv_8_vs_lib8(int k, float *A, float *inv_diag_A, float *x, float *y, float *z, int km, int kn); +void kernel_strsv_lt_inv_8_lib8(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z); +void kernel_strsv_lt_inv_8_vs_lib8(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z, int km, int kn); +void kernel_sgemv_nt_4_lib8(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t); +void kernel_sgemv_nt_4_vs_lib8(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t, int km); +void kernel_ssymv_l_4l_lib8(int kmax, float *alpha, float *A, int sda, float *x, float *z); +void kernel_ssymv_l_4r_lib8(int kmax, float *alpha, float *A, int sda, float *x, float *z); +void kernel_ssymv_l_4l_gen_lib8(int kmax, float *alpha, int offA, float *A, int sda, float *x, float *z, int km); +void kernel_ssymv_l_4r_gen_lib8(int kmax, float *alpha, int offA, float *A, int sda, float *x, float *z, int km); + +// -------- aux + +// ---- copy + +// lib4 +// +void kernel_sgecpsc_4_0_lib4(int kmax, float *alpha, float *A, float *B); +void kernel_sgecp_4_0_lib4(int kmax, float *A, float *B); + +void kernel_sgecpsc_4_1_lib4(int kmax, float *alpha, float *A0, int sda, float *B); +void kernel_sgecp_4_1_lib4(int kmax, float *A0, int sda, float *B); +void kernel_sgecpsc_4_2_lib4(int kmax, float *alpha, float *A0, int sda, float *B); +void kernel_sgecp_4_2_lib4(int kmax, float *A0, int sda, float *B); +void kernel_sgecpsc_4_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B); +void kernel_sgecp_4_3_lib4(int kmax, float *A0, int sda, float *B); + +void kernel_sgecpsc_3_0_lib4(int kmax, float *alpha, float *A, float *B); +void kernel_sgecp_3_0_lib4(int kmax, float *A, float *B); +void kernel_sgecpsc_3_2_lib4(int kmax, float *alpha, float *A0, int sda, float *B); +void kernel_sgecp_3_2_lib4(int kmax, float *A0, int sda, float *B); +void kernel_sgecpsc_3_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B); +void kernel_sgecp_3_3_lib4(int kmax, float *A0, int sda, float *B); + +void kernel_sgecpsc_2_0_lib4(int kmax, float *alpha, float *A, float *B); +void kernel_sgecp_2_0_lib4(int kmax, float *A, float *B); +void kernel_sgecpsc_2_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B); +void kernel_sgecp_2_3_lib4(int kmax, float *A0, int sda, float *B); + +void kernel_sgecpsc_1_0_lib4(int kmax, float *alpha, float *A, float *B); +void kernel_sgecp_1_0_lib4(int kmax, float *A, float *B); + +// lib8 +// +void kernel_sgecp_8_0_lib8(int m, float *A, float *B); +void kernel_sgecp_8_0_gen_lib8(int m, float *A, float *B, int m1); +void kernel_sgecp_8_0_gen_u_lib8(int m, float *A, float *B, int m1); + +void kernel_sgesc_8_0_lib8(int m, float *alpha, float *A); +void kernel_sgesc_8_0_gen_lib8(int m, float *alpha, float *A, int m1); +void kernel_sgesc_8_0_gen_u_lib8(int m, float *alpha, float *A, int m1); + +void kernel_sgecpsc_8_0_lib8(int m, float *alpha, float *A, float *B); +void kernel_sgecpsc_8_0_gen_lib8(int m, float *alpha, float *A, float *B, int m1); +void kernel_sgecpsc_8_0_gen_u_lib8(int m, float *alpha, float *A, float *B, int m1); + +void kernel_sgecp_8_1_lib8(int m, float *A, int sda, float *B); +void kernel_sgecp_8_1_gen_lib8(int m, float *A, int sda, float *B, int m1); +void kernel_sgecpsc_8_1_lib8(int m, float *alpha, float *A, int sda, float *B); +void kernel_sgecpsc_8_1_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1); + +void kernel_sgecp_8_2_lib8(int m, float *A, int sda, float *B); +void kernel_sgecp_8_2_gen_lib8(int m, float *A, int sda, float *B, int m1); +void kernel_sgecpsc_8_2_lib8(int m, float *alpha, float *A, int sda, float *B); +void kernel_sgecpsc_8_2_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1); + +void kernel_sgecp_8_3_lib8(int m, float *A, int sda, float *B); +void kernel_sgecp_8_3_gen_lib8(int m, float *A, int sda, float *B, int m1); +void kernel_sgecpsc_8_3_lib8(int m, float *alpha, float *A, int sda, float *B); +void kernel_sgecpsc_8_3_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1); + +void kernel_sgecp_8_4_lib8(int m, float *A, int sda, float *B); +void kernel_sgecp_8_4_gen_lib8(int m, float *A, int sda, float *B, int m1); +void kernel_sgecpsc_8_4_lib8(int m, float *alpha, float *A, int sda, float *B); +void kernel_sgecpsc_8_4_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1); + +void kernel_sgecp_8_5_lib8(int m, float *A, int sda, float *B); +void kernel_sgecp_8_5_gen_lib8(int m, float *A, int sda, float *B, int m1); +void kernel_sgecpsc_8_5_lib8(int m, float *alpha, float *A, int sda, float *B); +void kernel_sgecpsc_8_5_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1); + +void kernel_sgecp_8_6_lib8(int m, float *A, int sda, float *B); +void kernel_sgecp_8_6_gen_lib8(int m, float *A, int sda, float *B, int m1); +void kernel_sgecpsc_8_6_lib8(int m, float *alpha, float *A, int sda, float *B); +void kernel_sgecpsc_8_6_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1); + +void kernel_sgecp_8_7_lib8(int m, float *A, int sda, float *B); +void kernel_sgecp_8_7_gen_lib8(int m, float *A, int sda, float *B, int m1); +void kernel_sgecpsc_8_7_lib8(int m, float *alpha, float *A, int sda, float *B); +void kernel_sgecpsc_8_7_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1); + +// transpose +// +void kernel_sgetr_8_0_lib8(int m, float *A, int sda, float *B); +void kernel_sgetr_8_0_gen_lib8(int m, float *A, int sda, float *B, int m1); +void kernel_sgetr_8_1_lib8(int m, float *A, int sda, float *B); +void kernel_sgetr_8_1_gen_lib8(int m, float *A, int sda, float *B, int m1); +void kernel_sgetr_8_2_lib8(int m, float *A, int sda, float *B); +void kernel_sgetr_8_2_gen_lib8(int m, float *A, int sda, float *B, int m1); +void kernel_sgetr_8_3_lib8(int m, float *A, int sda, float *B); +void kernel_sgetr_8_3_gen_lib8(int m, float *A, int sda, float *B, int m1); +void kernel_sgetr_8_4_lib8(int m, float *A, int sda, float *B); +void kernel_sgetr_8_4_gen_lib8(int m, float *A, int sda, float *B, int m1); +void kernel_sgetr_8_5_lib8(int m, float *A, int sda, float *B); +void kernel_sgetr_8_5_gen_lib8(int m, float *A, int sda, float *B, int m1); +void kernel_sgetr_8_6_lib8(int m, float *A, int sda, float *B); +void kernel_sgetr_8_6_gen_lib8(int m, float *A, int sda, float *B, int m1); +void kernel_sgetr_8_7_lib8(int m, float *A, int sda, float *B); +void kernel_sgetr_8_7_gen_lib8(int m, float *A, int sda, float *B, int m1); + +// add +// +void kernel_sgead_8_0_lib8(int m, float *alpha, float *A, float *B); +void kernel_sgead_8_0_gen_lib8(int m, float *alpha, float *A, float *B, int m1); +void kernel_sgead_8_1_lib8(int m, float *alpha, float *A, int sda, float *B); +void kernel_sgead_8_1_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1); +void kernel_sgead_8_2_lib8(int m, float *alpha, float *A, int sda, float *B); +void kernel_sgead_8_2_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1); +void kernel_sgead_8_3_lib8(int m, float *alpha, float *A, int sda, float *B); +void kernel_sgead_8_3_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1); +void kernel_sgead_8_4_lib8(int m, float *alpha, float *A, int sda, float *B); +void kernel_sgead_8_4_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1); +void kernel_sgead_8_5_lib8(int m, float *alpha, float *A, int sda, float *B); +void kernel_sgead_8_5_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1); +void kernel_sgead_8_6_lib8(int m, float *alpha, float *A, int sda, float *B); +void kernel_sgead_8_6_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1); +void kernel_sgead_8_7_lib8(int m, float *alpha, float *A, int sda, float *B); +void kernel_sgead_8_7_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1); + + +// +// lib4 +// + + + +// level 2 BLAS +// 4 +void kernel_sgemv_n_4_lib4(int k, float *alpha, float *A, float *x, float *beta, float *y, float *z); +void kernel_sgemv_n_4_vs_lib4(int k, float *alpha, float *A, float *x, float *beta, float *y, float *z, int k1); +void kernel_sgemv_n_4_gen_lib4(int kmax, float *alpha, float *A, float *x, float *beta, float *y, float *z, int k0, int k1); +void kernel_sgemv_t_4_lib4(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z); +void kernel_sgemv_t_4_vs_lib4(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z, int k1); +void kernel_strsv_ln_inv_4_lib4(int k, float *A, float *inv_diag_A, float *x, float *y, float *z); +void kernel_strsv_ln_inv_4_vs_lib4(int k, float *A, float *inv_diag_A, float *x, float *y, float *z, int km, int kn); +void kernel_strsv_lt_inv_4_lib4(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z); +void kernel_strsv_lt_inv_3_lib4(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z); +void kernel_strsv_lt_inv_2_lib4(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z); +void kernel_strsv_lt_inv_1_lib4(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z); +void kernel_strmv_un_4_lib4(int k, float *A, float *x, float *z); +void kernel_strmv_ut_4_lib4(int k, float *A, int sda, float *x, float *z); +void kernel_strmv_ut_4_vs_lib4(int k, float *A, int sda, float *x, float *z, int km); +void kernel_sgemv_nt_6_lib4(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t); +void kernel_sgemv_nt_4_lib4(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t); +void kernel_sgemv_nt_4_vs_lib4(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t, int km); +void kernel_ssymv_l_4_lib4(int kmax, float *alpha, float *A, int sda, float *x_n, float *z_n); +void kernel_ssymv_l_4_gen_lib4(int kmax, float *alpha, int offA, float *A, int sda, float *x_n, float *z_n, int km); + + + +// level 3 BLAS +// 12x4 +void kernel_sgemm_nt_16x4_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); // +void kernel_sgemm_nt_16x4_vs_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); // +void kernel_strsm_nt_rl_inv_16x4_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E); +void kernel_strsm_nt_rl_inv_16x4_vs_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int m1, int n1); +// 12x4 +void kernel_sgemm_nt_12x4_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); // +void kernel_sgemm_nt_12x4_vs_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); // +void kernel_strsm_nt_rl_inv_12x4_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E); +void kernel_strsm_nt_rl_inv_12x4_vs_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int m1, int n1); +// 8x8 +void kernel_sgemm_nt_8x8_lib4(int k, float *alpha, float *A, int sda, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd); // +void kernel_sgemm_nt_8x8_vs_lib4(int k, float *alpha, float *A, int sda, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); // +void kernel_sgemm_nn_8x8_lib4(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd); // +void kernel_sgemm_nn_8x8_vs_lib4(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); // +// 8x4 +void kernel_sgemm_nt_8x4_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); // +void kernel_sgemm_nt_8x4_vs_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); // +void kernel_sgemm_nn_8x4_lib4(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd); // +void kernel_sgemm_nn_8x4_vs_lib4(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); // +void kernel_ssyrk_nt_l_8x4_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); // +void kernel_ssyrk_nt_l_8x4_vs_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn); // +void kernel_strsm_nt_rl_inv_8x4_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E); +void kernel_strsm_nt_rl_inv_8x4_vs_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int m1, int n1); +// 4x4 +void kernel_sgemm_nt_4x4_lib4(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D); // +void kernel_sgemm_nt_4x4_vs_lib4(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn); // +void kernel_sgemm_nt_4x4_gen_lib4(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int k0, int k1); +void kernel_sgemm_nn_4x4_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D); // +void kernel_sgemm_nn_4x4_vs_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D, int km, int kn); // +void kernel_sgemm_nn_4x4_gen_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1); // +void kernel_ssyrk_nt_l_4x4_lib4(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D); // +void kernel_ssyrk_nt_l_4x4_vs_lib4(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn); // +void kernel_ssyrk_nt_l_4x4_gen_lib4(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1); +void kernel_strmm_nt_ru_4x4_lib4(int k, float *alpha, float *A, float *B, float *D); // +void kernel_strmm_nt_ru_4x4_vs_lib4(int k, float *alpha, float *A, float *B, float *D, int km, int kn); // +void kernel_strmm_nn_rl_4x4_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *D); +void kernel_strmm_nn_rl_4x4_gen_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1); +void kernel_strsm_nt_rl_inv_4x4_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, float *inv_diag_E); +void kernel_strsm_nt_rl_inv_4x4_vs_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, float *inv_diag_E, int km, int kn); +void kernel_strsm_nt_rl_one_4x4_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E); +void kernel_strsm_nt_rl_one_4x4_vs_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, int km, int kn); +void kernel_strsm_nt_ru_inv_4x4_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, float *inv_diag_E); +void kernel_strsm_nt_ru_inv_4x4_vs_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, float *inv_diag_E, int km, int kn); +void kernel_strsm_nt_ru_one_4x4_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E); +void kernel_strsm_nt_ru_one_4x4_vs_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, int km, int kn); +void kernel_strsm_nn_ru_inv_4x4_lib4(int k, float *A, float *B, int sdb, float *beta, float *C, float *D, float *E, float *inv_diag_E); +void kernel_strsm_nn_ru_inv_4x4_vs_lib4(int k, float *A, float *B, int sdb, float *beta, float *C, float *D, float *E, float *inv_diag_E, int km, int kn); +void kernel_strsm_nn_ll_one_4x4_lib4(int k, float *A, float *B, int sdb, float *C, float *D, float *E); +void kernel_strsm_nn_ll_one_4x4_vs_lib4(int k, float *A, float *B, int sdb, float *C, float *D, float *E, int km, int kn); +void kernel_strsm_nn_lu_inv_4x4_lib4(int kmax, float *A, float *B, int sdb, float *C, float *D, float *E, float *inv_diag_E); +void kernel_strsm_nn_lu_inv_4x4_vs_lib4(int kmax, float *A, float *B, int sdb, float *C, float *D, float *E, float *inv_diag_E, int km, int kn); +// diag +void kernel_sgemm_diag_right_4_a0_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *D, int sdd); +void kernel_sgemm_diag_right_4_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); +void kernel_sgemm_diag_right_3_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); +void kernel_sgemm_diag_right_2_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); +void kernel_sgemm_diag_right_1_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); +void kernel_sgemm_diag_left_4_a0_lib4(int kmax, float *alpha, float *A, float *B, float *D); +void kernel_sgemm_diag_left_4_lib4(int kmax, float *alpha, float *A, float *B, float *beta, float *C, float *D); +void kernel_sgemm_diag_left_3_lib4(int kmax, float *alpha, float *A, float *B, float *beta, float *C, float *D); +void kernel_sgemm_diag_left_2_lib4(int kmax, float *alpha, float *A, float *B, float *beta, float *C, float *D); +void kernel_sgemm_diag_left_1_lib4(int kmax, float *alpha, float *A, float *B, float *beta, float *C, float *D); + + + +// LAPACK +// 16x4 +void kernel_spotrf_nt_l_16x4_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D); +void kernel_spotrf_nt_l_16x4_vs_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int m1, int n1); +// 12x4 +void kernel_spotrf_nt_l_12x4_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D); +void kernel_spotrf_nt_l_12x4_vs_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int m1, int n1); +// 8x4 +void kernel_spotrf_nt_l_8x4_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D); +void kernel_spotrf_nt_l_8x4_vs_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int m1, int n1); +// 4x4 +void kernel_spotrf_nt_l_4x4_lib4(int k, float *A, float *B, float *C, float *D, float *inv_diag_D); +void kernel_spotrf_nt_l_4x4_vs_lib4(int k, float *A, float *B, float *C, float *D, float *inv_diag_D, int km, int kn); +void kernel_sgetrf_nn_4x4_lib4(int k, float *A, float *B, int sdb, float *C, float *D, float *inv_diag_D); +void kernel_sgetrf_nn_4x4_vs_lib4(int k, float *A, float *B, int sdb, float *C, float *D, float *inv_diag_D, int km, int kn); +void kernel_sgetrf_pivot_4_lib4(int m, float *pA, int sda, float *inv_diag_A, int* ipiv); +void kernel_sgetrf_pivot_4_vs_lib4(int m, int n, float *pA, int sda, float *inv_diag_A, int* ipiv); + + + +// merged routines +// 4x4 +void kernel_sgemm_strsm_nt_rl_inv_4x4_lib4(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E); +void kernel_sgemm_strsm_nt_rl_inv_4x4_vs_lib4(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E, int km, int kn); +void kernel_ssyrk_spotrf_nt_l_4x4_vs_lib4(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D, int km, int kn); +void kernel_ssyrk_spotrf_nt_l_4x4_lib4(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D); + + + +// auxiliary routines +void kernel_strcp_l_4_0_lib4(int kmax, float *A, float *B); +void kernel_strcp_l_4_1_lib4(int kmax, float *A0, int sda, float *B); +void kernel_strcp_l_4_2_lib4(int kmax, float *A0, int sda, float *B); +void kernel_strcp_l_4_3_lib4(int kmax, float *A0, int sda, float *B); +void kernel_strcp_l_3_0_lib4(int kmax, float *A, float *B); +void kernel_strcp_l_3_2_lib4(int kmax, float *A0, int sda, float *B); +void kernel_strcp_l_3_3_lib4(int kmax, float *A0, int sda, float *B); +void kernel_strcp_l_2_0_lib4(int kmax, float *A, float *B); +void kernel_strcp_l_2_3_lib4(int kmax, float *A0, int sda, float *B); +void kernel_strcp_l_1_0_lib4(int kmax, float *A, float *B); +void kernel_sgead_4_0_lib4(int kmax, float *alpha, float *A, float *B); +void kernel_sgead_4_1_lib4(int kmax, float *alpha, float *A0, int sda, float *B); +void kernel_sgead_4_2_lib4(int kmax, float *alpha, float *A0, int sda, float *B); +void kernel_sgead_4_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B); +void kernel_sgead_3_0_lib4(int kmax, float *alpha, float *A, float *B); +void kernel_sgead_3_2_lib4(int kmax, float *alpha, float *A0, int sda, float *B); +void kernel_sgead_3_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B); +void kernel_sgead_2_0_lib4(int kmax, float *alpha, float *A, float *B); +void kernel_sgead_2_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B); +void kernel_sgead_1_0_lib4(int kmax, float *alpha, float *A, float *B); +// TODO +void kernel_sgeset_4_lib4(int kmax, float alpha, float *A); +void kernel_strset_4_lib4(int kmax, float alpha, float *A); +void kernel_sgetr_4_lib4(int tri, int kmax, int kna, float alpha, float *A, float *C, int sdc); +void kernel_sgetr_3_lib4(int tri, int kmax, int kna, float alpha, float *A, float *C, int sdc); +void kernel_sgetr_2_lib4(int tri, int kmax, int kna, float alpha, float *A, float *C, int sdc); +void kernel_sgetr_1_lib4(int tri, int kmax, int kna, float alpha, float *A, float *C, int sdc); + + + +// pack +// 24 lib 8 +void kernel_spack_nn_24_lib8(int kmax, float *A, int lda, float *B, int sdb); +void kernel_spack_nn_24_vs_lib8(int kmax, float *A, int lda, float *B, int sdb, int m1); +// 16 lib 8 +void kernel_spack_nn_16_lib8(int kmax, float *A, int lda, float *B, int sdb); +void kernel_spack_nn_16_vs_lib8(int kmax, float *A, int lda, float *B, int sdb, int m1); +// 8 lib 8 +void kernel_spack_nn_8_lib8(int kmax, float *A, int lda, float *B); +void kernel_spack_nn_8_vs_lib8(int kmax, float *A, int lda, float *B, int m1); +void kernel_spack_tn_8_lib8(int kmax, float *A, int lda, float *B); +void kernel_spack_tn_8_vs_lib8(int kmax, float *A, int lda, float *B, int m1); +void kernel_spack_tt_8_lib8(int kmax, float *A, int lda, float *B, int sdb); +void kernel_spack_tt_8_vs_lib8(int kmax, float *A, int lda, float *B, int sdb, int m1); +// 8 lib 4 +void kernel_spack_nn_8_lib4(int kmax, float *A, int lda, float *B, int sdb); +void kernel_spack_nn_8_vs_lib4(int kmax, float *A, int lda, float *B, int sdb, int m1); +//void kernel_spack_tt_8_lib4(int kmax, float *A, int lda, float *B, int sdb); +// 4 +void kernel_spack_nn_4_lib4(int kmax, float *A, int lda, float *B); +void kernel_spack_nn_4_vs_lib4(int kmax, float *A, int lda, float *B, int m1); +void kernel_spack_tn_4_lib4(int kmax, float *A, int lda, float *B); +void kernel_spack_tn_4_vs_lib4(int kmax, float *A, int lda, float *B, int m1); +void kernel_spack_tt_4_lib4(int kmax, float *A, int lda, float *B, int sdb); +void kernel_spack_tt_4_vs_lib4(int kmax, float *A, int lda, float *B, int sdb, int m1); +// unpack +// 8 +void kernel_sunpack_nn_8_lib4(int kmax, float *A, int sda, float *B, int ldb); +void kernel_sunpack_nn_8_vs_lib4(int kmax, float *A, int sda, float *B, int ldb, int m1); +//void kernel_sunpack_tt_8_lib4(int kmax, float *A, int sda, float *B, int ldb); +// 4 +void kernel_sunpack_nn_4_lib4(int kmax, float *A, float *B, int ldb); +void kernel_sunpack_nn_4_vs_lib4(int kmax, float *A, float *B, int ldb, int m1); +void kernel_sunpack_nt_4_lib4(int kmax, float *A, float *B, int ldb); +void kernel_sunpack_nt_4_vs_lib4(int kmax, float *A, float *B, int ldb, int m1); +void kernel_sunpack_tt_4_lib4(int kmax, float *A, int sda, float *B, int ldb); + +// panel copy +// 4 +void kernel_spacp_nt_4_lib4(int kmax, float *A, int offsetB, float *B, int sdb); +void kernel_spacp_tn_4_lib4(int kmax, int offsetA, float *A, int sda, float *B); +void kernel_spacp_nn_4_lib4(int kmax, int offsetA, float *A, int sda, float *B); +void kernel_spacp_nn_4_vs_lib4(int kmax, int offsetA, float *A, int sda, float *B, int m1); + + + +/************************************************ +* BLAS API kernels +************************************************/ + +//#if defined(BLAS_API) + +// A, B panel-major bs=8; C, D column-major +// 24x4 +void kernel_sgemm_nt_24x4_lib88cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd); +void kernel_sgemm_nt_24x4_vs_lib88cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); +// 16x4 +void kernel_sgemm_nt_16x4_lib88cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd); +void kernel_sgemm_nt_16x4_vs_lib88cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); +// 8x8 +void kernel_sgemm_nt_8x8_lib88cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd); +void kernel_sgemm_nt_8x8_vs_lib88cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); +void kernel_spotrf_nt_l_8x8_lib88cc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *dD); +void kernel_spotrf_nt_l_8x8_vs_lib88cc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *dD, int m1, int n1); +void kernel_strsm_nt_rl_inv_8x8_lib88ccc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE); +void kernel_strsm_nt_rl_inv_8x8_vs_lib88ccc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1); +// 8x4 +void kernel_sgemm_nt_8x4_lib88cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd); +void kernel_sgemm_nt_8x4_vs_lib88cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); + +// A, B panel-major bs=4; C, D column-major +// 8x8 +void kernel_sgemm_nt_8x8_lib44cc(int kmax, float *alpha, float *A, int sda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd); +// 8x4 +void kernel_sgemm_nt_8x4_lib44cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd); +void kernel_sgemm_nt_8x4_vs_lib44cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); +void kernel_spotrf_nt_l_8x4_lib44cc(int kmax, float *A, int sda, float *B, float *C, int ldc, float *D, int ldd, float *dD); +void kernel_strsm_nt_rl_inv_8x4_lib44ccc(int kmax, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE); +void kernel_strsm_nt_rl_inv_8x4_vs_lib44ccc(int kmax, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1); +// 4x4 +void kernel_sgemm_nt_4x4_lib44cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd); +void kernel_sgemm_nt_4x4_vs_lib44cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); +void kernel_strsm_nt_rl_inv_4x4_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, float *dE); +void kernel_strsm_nt_rl_inv_4x4_vs_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, float *dE, int m1, int n1); +void kernel_strsm_nt_rl_inv_4x4_lib44ccc(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE); +void kernel_strsm_nt_rl_inv_4x4_vs_lib44ccc(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1); +void kernel_strsm_nt_rl_one_4x4_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E); +void kernel_strsm_nt_rl_one_4x4_vs_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int m1, int n1); +void kernel_strsm_nt_ru_inv_4x4_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, float *dE); +void kernel_strsm_nt_ru_inv_4x4_vs_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, float *dE, int m1, int n1); +void kernel_strsm_nt_ru_one_4x4_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E); +void kernel_strsm_nt_ru_one_4x4_vs_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int m1, int n1); +void kernel_spotrf_nt_l_4x4_lib44cc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *dD); +void kernel_spotrf_nt_l_4x4_vs_lib44cc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *dD, int m1, int n1); + +// B panel-major bs=8; A, C, D column-major +// 4x24 +void kernel_sgemm_nt_4x24_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd); +void kernel_sgemm_nt_4x24_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); +void kernel_sgemm_tt_4x24_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd); +void kernel_sgemm_tt_4x24_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); +// 4x16 +void kernel_sgemm_nt_4x16_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd); +void kernel_sgemm_nt_4x16_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); +void kernel_sgemm_tt_4x16_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd); +void kernel_sgemm_tt_4x16_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); +// 8x8 +void kernel_sgemm_nt_8x8_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd); +void kernel_sgemm_nt_8x8_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); +void kernel_sgemm_tt_8x8_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd); +void kernel_sgemm_tt_8x8_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); +// 4x8 +void kernel_sgemm_nt_4x8_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd); +void kernel_sgemm_nt_4x8_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); +void kernel_sgemm_tt_4x8_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd); +void kernel_sgemm_tt_4x8_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); + +// B panel-major bs=4; A, C, D column-major +// 8x8 +void kernel_sgemm_nt_8x8_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd); +void kernel_sgemm_nt_8x8_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); +void kernel_sgemm_tt_8x8_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd); +void kernel_sgemm_tt_8x8_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); +// 4x8 +void kernel_sgemm_nt_4x8_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd); +void kernel_sgemm_nt_4x8_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); +void kernel_sgemm_tt_4x8_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd); +void kernel_sgemm_tt_4x8_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); +// 4x4 +void kernel_sgemm_nt_4x4_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd); +void kernel_sgemm_nt_4x4_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); +void kernel_sgemm_tt_4x4_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd); +void kernel_sgemm_tt_4x4_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); + +// A panel-major bs=8; B, C, D column-major +// 24x4 +void kernel_sgemm_nn_24x4_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd); +void kernel_sgemm_nn_24x4_vs_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); +void kernel_sgemm_nt_24x4_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd); +void kernel_sgemm_nt_24x4_vs_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); +// 16x4 +void kernel_sgemm_nn_16x4_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd); +void kernel_sgemm_nn_16x4_vs_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); +void kernel_sgemm_nt_16x4_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd); +void kernel_sgemm_nt_16x4_vs_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); +// 8x8 +void kernel_sgemm_nn_8x8_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd); +void kernel_sgemm_nn_8x8_vs_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); +void kernel_sgemm_nt_8x8_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd); +void kernel_sgemm_nt_8x8_vs_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); +// 8x4 +void kernel_sgemm_nn_8x4_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd); +void kernel_sgemm_nn_8x4_vs_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); +void kernel_sgemm_nt_8x4_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd); +void kernel_sgemm_nt_8x4_vs_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); + +// A panel-major bs=4; B, C, D column-major +// 8x8 +void kernel_sgemm_nn_8x8_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd); +void kernel_sgemm_nt_8x8_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd); +// 8x4 +void kernel_sgemm_nn_8x4_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd); +void kernel_sgemm_nn_8x4_vs_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); +void kernel_sgemm_nt_8x4_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd); +void kernel_sgemm_nt_8x4_vs_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); +// 4x4 +void kernel_sgemm_nn_4x4_lib4ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd); +void kernel_sgemm_nn_4x4_vs_lib4ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); +void kernel_sgemm_nt_4x4_lib4ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd); +void kernel_sgemm_nt_4x4_vs_lib4ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); +void kernel_strsm_nn_rl_inv_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE); +void kernel_strsm_nn_rl_inv_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1); +void kernel_strsm_nn_rl_one_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde); +void kernel_strsm_nn_rl_one_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, int m1, int n1); +void kernel_strsm_nt_rl_inv_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE); +void kernel_strsm_nt_rl_inv_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1); +void kernel_strsm_nt_rl_one_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde); +void kernel_strsm_nt_rl_one_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, int m1, int n1); +void kernel_strsm_nn_ru_inv_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE); +void kernel_strsm_nn_ru_inv_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1); +void kernel_strsm_nn_ru_one_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde); +void kernel_strsm_nn_ru_one_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, int m1, int n1); +void kernel_strsm_nt_ru_inv_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE); +void kernel_strsm_nt_ru_inv_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1); +void kernel_strsm_nt_ru_one_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde); +void kernel_strsm_nt_ru_one_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, int m1, int n1); + +// A, C, D panel-major; B, E column-major +// TODO merge with above +// 4x4 +void kernel_strsm_nn_rl_inv_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE); +void kernel_strsm_nn_rl_inv_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE, int m1, int n1); +void kernel_strsm_nn_rl_one_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde); +void kernel_strsm_nn_rl_one_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, int m1, int n1); +void kernel_strsm_nn_ru_inv_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE); +void kernel_strsm_nn_ru_inv_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE, int m1, int n1); +void kernel_strsm_nn_ru_one_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde); +void kernel_strsm_nn_ru_one_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, int m1, int n1); +void kernel_strsm_nt_rl_inv_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE); +void kernel_strsm_nt_rl_inv_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE, int m1, int n1); +void kernel_strsm_nt_rl_one_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde); +void kernel_strsm_nt_rl_one_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, int m1, int n1); +void kernel_strsm_nt_ru_inv_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE); +void kernel_strsm_nt_ru_inv_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE, int m1, int n1); +void kernel_strsm_nt_ru_one_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde); +void kernel_strsm_nt_ru_one_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, int m1, int n1); + +// A, B, C, D column-major +void kernel_sgemm_nn_4x4_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd); +void kernel_sgemm_nn_4x4_vs_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); +void kernel_sgemm_nt_4x4_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd); +void kernel_sgemm_nt_4x4_vs_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); +void kernel_sgemm_tt_4x4_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd); +void kernel_sgemm_tt_4x4_vs_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); + +// vector +void kernel_sdot_11_lib(int n, float *x, float *y, float *res); +void kernel_saxpy_11_lib(int n, float *alpha, float *x, float *y); + + +//#endif // BLAS_API + + + +// larger kernels +// 24 +void kernel_sgemm_nt_24xn_p0_lib88cc(int n, int k, float *alpha, float *A, int sda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, float *A_p, float *B_p); + + + + +#ifdef __cplusplus +} +#endif + +#endif // BLASFEO_S_KERNEL_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_stdlib.h b/third_party/acados/include/blasfeo/include/blasfeo_stdlib.h new file mode 100644 index 0000000000..9bd248b1d4 --- /dev/null +++ b/third_party/acados/include/blasfeo/include/blasfeo_stdlib.h @@ -0,0 +1,62 @@ +/************************************************************************************************** +* * +* This file is part of BLASFEO. * +* * +* BLASFEO -- BLAS For Embedded Optimization. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef BLASFEO_STDLIB_H_ +#define BLASFEO_STDLIB_H_ + +#ifdef __cplusplus +extern "C" { +#endif + + + +#include + +// +void blasfeo_malloc(void **ptr, size_t size); +// +void blasfeo_malloc_align(void **ptr, size_t size); +// +void blasfeo_free(void *ptr); +// +void blasfeo_free_align(void *ptr); + + + +#ifdef __cplusplus +} +#endif + +#endif // BLASFEO_STDLIB_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_target.h b/third_party/acados/include/blasfeo/include/blasfeo_target.h new file mode 100644 index 0000000000..51f617a649 --- /dev/null +++ b/third_party/acados/include/blasfeo/include/blasfeo_target.h @@ -0,0 +1,73 @@ +#ifndef TARGET_X64_INTEL_HASWELL +#define TARGET_X64_INTEL_HASWELL +#endif + +#ifndef TARGET_NEED_FEATURE_AVX2 +#define TARGET_NEED_FEATURE_AVX2 1 +#endif + +#ifndef TARGET_NEED_FEATURE_FMA +#define TARGET_NEED_FEATURE_FMA 1 +#endif + +#ifndef TARGET_NEED_FEATURE_SSE3 +/* #undef TARGET_NEED_FEATURE_SSE3 */ +#endif + +#ifndef TARGET_NEED_FEATURE_AVX +/* #undef TARGET_NEED_FEATURE_AVX */ +#endif + +#ifndef TARGET_NEED_FEATURE_VFPv3 +/* #undef TARGET_NEED_FEATURE_VFPv3 */ +#endif + +#ifndef TARGET_NEED_FEATURE_NEON +/* #undef TARGET_NEED_FEATURE_NEON */ +#endif + +#ifndef TARGET_NEED_FEATURE_VFPv4 +/* #undef TARGET_NEED_FEATURE_VFPv4 */ +#endif + +#ifndef TARGET_NEED_FEATURE_NEONv2 +/* #undef TARGET_NEED_FEATURE_NEONv2 */ +#endif + +#ifndef LA_HIGH_PERFORMANCE +#define LA_HIGH_PERFORMANCE +#endif + +#ifndef MF_PANELMAJ +#define MF_PANELMAJ +#endif + +#ifndef EXT_DEP +#define ON 1 +#define OFF 0 +#if ON==ON +#define EXT_DEP +#endif +#undef ON +#undef OFF +#endif + +#ifndef BLAS_API +#define ON 1 +#define OFF 0 +#if OFF==ON +#define BLAS_API +#endif +#undef ON +#undef OFF +#endif + +#ifndef FORTRAN_BLAS_API +#define ON 1 +#define OFF 0 +#if OFF==ON +#define FORTRAN_BLAS_API +#endif +#undef ON +#undef OFF +#endif diff --git a/third_party/acados/include/blasfeo/include/blasfeo_timing.h b/third_party/acados/include/blasfeo/include/blasfeo_timing.h new file mode 100644 index 0000000000..5671b888fe --- /dev/null +++ b/third_party/acados/include/blasfeo/include/blasfeo_timing.h @@ -0,0 +1,114 @@ +/************************************************************************************************** +* * +* This file is part of BLASFEO. * +* * +* BLASFEO -- BLAS For Embedded Optimization. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef BLASFEO_TIMING_H_ +#define BLASFEO_TIMING_H_ + +//#include + +#if (defined _WIN32 || defined _WIN64) && !(defined __MINGW32__ || defined __MINGW64__) + + /* Use Windows QueryPerformanceCounter for timing. */ + #include + + /** A structure for keeping internal timer data. */ + typedef struct blasfeo_timer_ { + LARGE_INTEGER tic; + LARGE_INTEGER toc; + LARGE_INTEGER freq; + } blasfeo_timer; + +#elif(defined __APPLE__) + + #include + + /** A structure for keeping internal timer data. */ + typedef struct blasfeo_timer_ { + uint64_t tic; + uint64_t toc; + mach_timebase_info_data_t tinfo; + } blasfeo_timer; + +#elif(defined __DSPACE__) + + #include + + typedef struct blasfeo_timer_ { + double time; + } blasfeo_timer; + +#elif(defined __XILINX_NONE_ELF__ || defined __XILINX_ULTRASCALE_NONE_ELF_JAILHOUSE__) + + #include "xtime_l.h" + + typedef struct blasfeo_timer_ { + uint64_t tic; + uint64_t toc; + } blasfeo_timer; + +#else + + /* Use POSIX clock_gettime() for timing on non-Windows machines. */ + #include + + #if __STDC_VERSION__ >= 199901L // C99 Mode + + #include + #include + + typedef struct blasfeo_timer_ { + struct timeval tic; + struct timeval toc; + } blasfeo_timer; + + #else // ANSI C Mode + + /** A structure for keeping internal timer data. */ + typedef struct blasfeo_timer_ { + struct timespec tic; + struct timespec toc; + } blasfeo_timer; + + #endif // __STDC_VERSION__ >= 199901L + +#endif // (defined _WIN32 || defined _WIN64) + +/** A function for measurement of the current time. */ +void blasfeo_tic(blasfeo_timer* t); + +/** A function which returns the elapsed time. */ +double blasfeo_toc(blasfeo_timer* t); + +#endif // BLASFEO_TIMING_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_v_aux_ext_dep.h b/third_party/acados/include/blasfeo/include/blasfeo_v_aux_ext_dep.h new file mode 100644 index 0000000000..1598551185 --- /dev/null +++ b/third_party/acados/include/blasfeo/include/blasfeo_v_aux_ext_dep.h @@ -0,0 +1,83 @@ +/************************************************************************************************** +* * +* This file is part of BLASFEO. * +* * +* BLASFEO -- BLAS For Embedded Optimization. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef BLASFEO_V_AUX_EXT_DEP_H_ +#define BLASFEO_V_AUX_EXT_DEP_H_ + + + +#include "blasfeo_target.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +/************************************************ +* d_aux_extern_depend_lib.c +************************************************/ + +#ifdef EXT_DEP + +void v_zeros(void **ptrA, int size); +// dynamically allocate size bytes of memory aligned to 64-byte boundaries and set accordingly a pointer to void; set allocated memory to zero +void v_zeros_align(void **ptrA, int size); +// free the memory allocated by v_zeros +void v_free(void *ptrA); +// free the memory allocated by v_zeros_aligned +void v_free_align(void *ptrA); +// dynamically allocate size bytes of memory and set accordingly a pointer to char; set allocated memory to zero +void c_zeros(char **ptrA, int size); +// dynamically allocate size bytes of memory aligned to 64-byte boundaries and set accordingly a pointer to char; set allocated memory to zero +void c_zeros_align(char **ptrA, int size); +// free the memory allocated by c_zeros +void c_free(char *ptrA); +// free the memory allocated by c_zeros_aligned +void c_free_align(char *ptrA); + +#endif // EXT_DEP + + + +#ifdef __cplusplus +} +#endif + + + +#endif // BLASFEO_V_AUX_EXT_DEP_H_ diff --git a/third_party/acados/include/blasfeo/include/d_blas.h b/third_party/acados/include/blasfeo/include/d_blas.h new file mode 100644 index 0000000000..ffd2578da3 --- /dev/null +++ b/third_party/acados/include/blasfeo/include/d_blas.h @@ -0,0 +1,78 @@ +/************************************************************************************************** +* * +* This file is part of BLASFEO. * +* * +* BLASFEO -- BLAS For Embedded Optimization. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifdef __cplusplus +extern "C" { +#endif + + + +// headers to reference BLAS and LAPACK routines employed in BLASFEO WR + +// level 1 +double ddot_(int *m, double *x, int *incx, double *y, int *incy); +void dcopy_(int *m, double *x, int *incx, double *y, int *incy); +void daxpy_(int *m, double *alpha, double *x, int *incx, double *y, int *incy); +void dscal_(int *m, double *alpha, double *x, int *incx); +void drot_(int *m, double *x, int *incx, double *y, int *incy, double *c, double *s); +void drotg_(double *a, double *b, double *c, double *s); + +// level 2 +void dgemv_(char *ta, int *m, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy); +void dsymv_(char *uplo, int *m, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy); +void dtrmv_(char *uplo, char *trans, char *diag, int *n, double *A, int *lda, double *x, int *incx); +void dtrsv_(char *uplo, char *trans, char *diag, int *n, double *A, int *lda, double *x, int *incx); +void dger_(int *m, int *n, double *alpha, double *x, int *incx, double *y, int *incy, double *A, int *lda); + +// level 3 +void dgemm_(char *ta, char *tb, int *m, int *n, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc); +void dsyrk_(char *uplo, char *trans, int *n, int *k, double *alpha, double *A, int *lda, double *beta, double *C, int *ldc); +void dtrmm_(char *side, char *uplo, char *trans, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb); +void dtrsm_(char *side, char *uplo, char *trans, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb); +void dsyr2k_(char *uplo, char *trans, int *n, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc); + +// lapack +void dpotrf_(char *uplo, int *m, double *A, int *lda, int *info); +void dgetrf_(int *m, int *n, double *A, int *lda, int *ipiv, int *info); +void dgeqrf_(int *m, int *n, double *A, int *lda, double *tau, double *work, int *lwork, int *info); +void dgeqr2_(int *m, int *n, double *A, int *lda, double *tau, double *work, int *info); +void dgelqf_(int *m, int *n, double *A, int *lda, double *tau, double *work, int *lwork, int *info); +void dorglq_(int *m, int *n, int *k, double *A, int *lda, double *tau, double *work, int *lwork, int *info); + + + +#ifdef __cplusplus +} +#endif diff --git a/third_party/acados/include/blasfeo/include/d_blas_64.h b/third_party/acados/include/blasfeo/include/d_blas_64.h new file mode 100644 index 0000000000..4f40d00dfb --- /dev/null +++ b/third_party/acados/include/blasfeo/include/d_blas_64.h @@ -0,0 +1,73 @@ +/************************************************************************************************** +* * +* This file is part of BLASFEO. * +* * +* BLASFEO -- BLAS For Embedded Optimization. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifdef __cplusplus +extern "C" { +#endif + + + +// headers to reference BLAS and LAPACK routines employed in BLASFEO WR + +// level 1 +double ddot_(long long *m, double *x, long long *incx, double *y, long long *incy); +void dcopy_(long long *m, double *x, long long *incx, double *y, long long *incy); +void daxpy_(long long *m, double *alpha, double *x, long long *incx, double *y, long long *incy); +void dscal_(long long *m, double *alpha, double *x, long long *incx); + +// level 2 +void dgemv_(char *ta, long long *m, long long *n, double *alpha, double *A, long long *lda, double *x, long long *incx, double *beta, double *y, long long *incy); +void dsymv_(char *uplo, long long *m, double *alpha, double *A, long long *lda, double *x, long long *incx, double *beta, double *y, long long *incy); +void dtrmv_(char *uplo, char *trans, char *diag, long long *n, double *A, long long *lda, double *x, long long *incx); +void dtrsv_(char *uplo, char *trans, char *diag, long long *n, double *A, long long *lda, double *x, long long *incx); +void dger_(long long *m, long long *n, double *alpha, double *x, long long *incx, double *y, long long *incy, double *A, long long *lda); + +// level 3 +void dgemm_(char *ta, char *tb, long long *m, long long *n, long long *k, double *alpha, double *A, long long *lda, double *B, long long *ldb, double *beta, double *C, long long *ldc); +void dsyrk_(char *uplo, char *trans, long long *n, long long *k, double *alpha, double *A, long long *lda, double *beta, double *C, long long *ldc); +void dtrmm_(char *side, char *uplo, char *trans, char *diag, long long *m, long long *n, double *alpha, double *A, long long *lda, double *B, long long *ldb); +void dtrsm_(char *side, char *uplo, char *trans, char *diag, long long *m, long long *n, double *alpha, double *A, long long *lda, double *B, long long *ldb); + +// lapack +void dpotrf_(char *uplo, long long *m, double *A, long long *lda, long long *info); +void dgetrf_(long long *m, long long *n, double *A, long long *lda, long long *ipiv, long long *info); +void dgeqrf_(long long *m, long long *n, double *A, long long *lda, double *tau, double *work, long long *lwork, long long *info); +void dgeqr2_(long long *m, long long *n, double *A, long long *lda, double *tau, double *work, long long *info); + + + +#ifdef __cplusplus +} +#endif diff --git a/third_party/acados/include/blasfeo/include/s_blas.h b/third_party/acados/include/blasfeo/include/s_blas.h new file mode 100644 index 0000000000..3b299ce64c --- /dev/null +++ b/third_party/acados/include/blasfeo/include/s_blas.h @@ -0,0 +1,78 @@ +/************************************************************************************************** +* * +* This file is part of BLASFEO. * +* * +* BLASFEO -- BLAS For Embedded Optimization. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifdef __cplusplus +extern "C" { +#endif + + + +// headers to reference BLAS and LAPACK routines employed in BLASFEO WR + +// level 1 +float sdot_(int *m, float *x, int *incx, float *y, int *incy); +void scopy_(int *m, float *x, int *incx, float *y, int *incy); +void saxpy_(int *m, float *alpha, float *x, int *incx, float *y, int *incy); +void sscal_(int *m, float *alpha, float *x, int *incx); +void srot_(int *m, float *x, int *incx, float *y, int *incy, float *c, float *s); +void srotg_(float *a, float *b, float *c, float *s); + +// level 2 +void sgemv_(char *ta, int *m, int *n, float *alpha, float *A, int *lda, float *x, int *incx, float *beta, float *y, int *incy); +void ssymv_(char *uplo, int *m, float *alpha, float *A, int *lda, float *x, int *incx, float *beta, float *y, int *incy); +void strmv_(char *uplo, char *trans, char *diag, int *n, float *A, int *lda, float *x, int *incx); +void strsv_(char *uplo, char *trans, char *diag, int *n, float *A, int *lda, float *x, int *incx); +void sger_(int *m, int *n, float *alpha, float *x, int *incx, float *y, int *incy, float *A, int *lda); + +// level 3 +void sgemm_(char *ta, char *tb, int *m, int *n, int *k, float *alpha, float *A, int *lda, float *B, int *ldb, float *beta, float *C, int *ldc); +void ssyrk_(char *uplo, char *trans, int *n, int *k, float *alpha, float *A, int *lda, float *beta, float *C, int *ldc); +void strmm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, float *alpha, float *A, int *lda, float *B, int *ldb); +void strsm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, float *alpha, float *A, int *lda, float *B, int *ldb); +void ssyr2k_(char *uplo, char *trans, int *n, int *k, float *alpha, float *A, int *lda, float *B, int *ldb, float *beta, float *C, int *ldc); + +// lapack +void spotrf_(char *uplo, int *m, float *A, int *lda, int *info); +void sgetrf_(int *m, int *n, float *A, int *lda, int *ipiv, int *info); +void sgeqrf_(int *m, int *n, float *A, int *lda, float *tau, float *work, int *lwork, int *info); +void sgeqr2_(int *m, int *n, float *A, int *lda, float *tau, float *work, int *info); +void sgelqf_(int *m, int *n, float *A, int *lda, float *tau, float *work, int *lwork, int *info); +void sorglq_(int *m, int *n, int *k, float *A, int *lda, float *tau, float *work, int *lwork, int *info); + + + +#ifdef __cplusplus +} +#endif diff --git a/third_party/acados/include/blasfeo/include/s_blas_64.h b/third_party/acados/include/blasfeo/include/s_blas_64.h new file mode 100644 index 0000000000..b9efab6c23 --- /dev/null +++ b/third_party/acados/include/blasfeo/include/s_blas_64.h @@ -0,0 +1,73 @@ +/************************************************************************************************** +* * +* This file is part of BLASFEO. * +* * +* BLASFEO -- BLAS For Embedded Optimization. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifdef __cplusplus +extern "C" { +#endif + + + +// headers to reference BLAS and LAPACK routines employed in BLASFEO WR + +// level 1 +float sdot_(long long *m, float *x, long long *incx, float *y, long long *incy); +void scopy_(long long *m, float *x, long long *incx, float *y, long long *incy); +void saxpy_(long long *m, float *alpha, float *x, long long *incx, float *y, long long *incy); +void sscal_(long long *m, float *alpha, float *x, long long *incx); + +// level 2 +void sgemv_(char *ta, long long *m, long long *n, float *alpha, float *A, long long *lda, float *x, long long *incx, float *beta, float *y, long long *incy); +void ssymv_(char *uplo, long long *m, float *alpha, float *A, long long *lda, float *x, long long *incx, float *beta, float *y, long long *incy); +void strmv_(char *uplo, char *trans, char *diag, long long *n, float *A, long long *lda, float *x, long long *incx); +void strsv_(char *uplo, char *trans, char *diag, long long *n, float *A, long long *lda, float *x, long long *incx); +void sger_(long long *m, long long *n, float *alpha, float *x, long long *incx, float *y, long long *incy, float *A, long long *lda); + +// level 3 +void sgemm_(char *ta, char *tb, long long *m, long long *n, long long *k, float *alpha, float *A, long long *lda, float *B, long long *ldb, float *beta, float *C, long long *ldc); +void ssyrk_(char *uplo, char *trans, long long *n, long long *k, float *alpha, float *A, long long *lda, float *beta, float *C, long long *ldc); +void strmm_(char *side, char *uplo, char *transa, char *diag, long long *m, long long *n, float *alpha, float *A, long long *lda, float *B, long long *ldb); +void strsm_(char *side, char *uplo, char *transa, char *diag, long long *m, long long *n, float *alpha, float *A, long long *lda, float *B, long long *ldb); + +// lapack +void spotrf_(char *uplo, long long *m, float *A, long long *lda, long long *info); +void sgetrf_(long long *m, long long *n, float *A, long long *lda, long long *ipiv, long long *info); +void sgeqrf_(long long *m, long long *n, float *A, long long *lda, float *tau, float *work, long long *lwork, long long *info); +void sgeqr2_(long long *m, long long *n, float *A, long long *lda, float *tau, float *work, long long *info); + + + +#ifdef __cplusplus +} +#endif diff --git a/third_party/acados/include/hpipm/include/hpipm_aux_mem.h b/third_party/acados/include/hpipm/include/hpipm_aux_mem.h new file mode 100644 index 0000000000..7bd3d7e8bc --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_aux_mem.h @@ -0,0 +1,52 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_AUX_MEM_H_ +#define HPIPM_AUX_MEM_H_ + +#include "hpipm_common.h" + +#ifdef __cplusplus +extern "C" { +#endif + +void hpipm_zero_memset(hpipm_size_t memsize, void *mem); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // HPIPM_AUX_MEM_H_ + diff --git a/third_party/acados/include/hpipm/include/hpipm_aux_string.h b/third_party/acados/include/hpipm/include/hpipm_aux_string.h new file mode 100644 index 0000000000..804cba5dc1 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_aux_string.h @@ -0,0 +1,50 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_AUX_STRING_H_ +#define HPIPM_AUX_STRING_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#define MAX_STR_LEN 5 +int hpipm_strcmp(char *str1, char *str2); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // HPIPM_AUX_STRING_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_common.h b/third_party/acados/include/hpipm/include/hpipm_common.h new file mode 100644 index 0000000000..0cc96a7b50 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_common.h @@ -0,0 +1,76 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + + + +#ifndef HPIPM_COMMON_H_ +#define HPIPM_COMMON_H_ + +#include + +#ifdef __cplusplus +extern "C" { +#endif + +typedef size_t hpipm_size_t; + +enum hpipm_mode + { + SPEED_ABS, // focus on speed, absolute IPM formulation + SPEED, // focus on speed, relative IPM formulation + BALANCE, // balanced mode, relative IPM formulation + ROBUST, // focus on robustness, relative IPM formulation + }; + +enum hpipm_status + { + SUCCESS, // found solution satisfying accuracy tolerance + MAX_ITER, // maximum iteration number reached + MIN_STEP, // minimum step length reached + NAN_SOL, // NaN in solution detected + INCONS_EQ, // unconsistent equality constraints + }; + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + + +#endif // HPIPM_COMMON_H_ + + diff --git a/third_party/acados/include/hpipm/include/hpipm_d_cast_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_cast_qcqp.h new file mode 100644 index 0000000000..0e4c41f221 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_cast_qcqp.h @@ -0,0 +1,71 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + + + +#ifndef HPIPM_D_CAST_QCQP_H_ +#define HPIPM_D_CAST_QCQP_H_ + + + +#include +#include + +#include "hpipm_d_dense_qcqp.h" +#include "hpipm_d_dense_qcqp_sol.h" +#include "hpipm_d_ocp_qcqp.h" +#include "hpipm_d_ocp_qcqp_dim.h" +#include "hpipm_d_ocp_qcqp_sol.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + +// +void d_cast_qcqp_compute_dim(struct d_ocp_qcqp_dim *ocp_dim, struct d_dense_qcqp_dim *dense_dim); +// +void d_cast_qcqp_cond(struct d_ocp_qcqp *ocp_qp, struct d_dense_qcqp *dense_qp); + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + + +#endif // HPIPM_D_CAST_QCQP_H_ + diff --git a/third_party/acados/include/hpipm/include/hpipm_d_cond.h b/third_party/acados/include/hpipm/include/hpipm_d_cond.h new file mode 100644 index 0000000000..5900a2ab10 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_cond.h @@ -0,0 +1,135 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + + + +#ifndef HPIPM_D_COND_H_ +#define HPIPM_D_COND_H_ + + + +#include +#include + +#include "hpipm_d_dense_qp.h" +#include "hpipm_d_dense_qp_sol.h" +#include "hpipm_d_ocp_qp.h" +#include "hpipm_d_ocp_qp_dim.h" +#include "hpipm_d_ocp_qp_sol.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct d_cond_qp_arg + { + int cond_last_stage; // condense last stage + int cond_alg; // condensing algorithm: 0 N2-nx3, 1 N3-nx2 + int comp_prim_sol; // primal solution (v) + int comp_dual_sol_eq; // dual solution equality constr (pi) + int comp_dual_sol_ineq; // dual solution inequality constr (lam t) + int square_root_alg; // square root algorithm (faster but requires RSQ>0) + hpipm_size_t memsize; + }; + + + +struct d_cond_qp_ws + { + struct blasfeo_dmat *Gamma; + struct blasfeo_dmat *GammaQ; + struct blasfeo_dmat *L; + struct blasfeo_dmat *Lx; + struct blasfeo_dmat *AL; + struct blasfeo_dvec *Gammab; + struct blasfeo_dvec *l; + struct blasfeo_dvec *tmp_nbgM; + struct blasfeo_dvec *tmp_nuxM; + int bs; // block size + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t d_cond_qp_arg_memsize(); +// +void d_cond_qp_arg_create(struct d_cond_qp_arg *cond_arg, void *mem); +// +void d_cond_qp_arg_set_default(struct d_cond_qp_arg *cond_arg); +// condensing algorithm: 0 N2-nx3, 1 N3-nx2 +void d_cond_qp_arg_set_cond_alg(int cond_alg, struct d_cond_qp_arg *cond_arg); +// set riccati-like algorithm: 0 classical, 1 square-root +void d_cond_qp_arg_set_ric_alg(int ric_alg, struct d_cond_qp_arg *cond_arg); +// condense last stage: 0 last stage disregarded, 1 last stage condensed too +void d_cond_qp_arg_set_cond_last_stage(int cond_last_stage, struct d_cond_qp_arg *cond_arg); +// +void d_cond_qp_arg_set_comp_prim_sol(int value, struct d_cond_qp_arg *cond_arg); +// +void d_cond_qp_arg_set_comp_dual_sol_eq(int value, struct d_cond_qp_arg *cond_arg); +// +void d_cond_qp_arg_set_comp_dual_sol_ineq(int value, struct d_cond_qp_arg *cond_arg); + +// +void d_cond_qp_compute_dim(struct d_ocp_qp_dim *ocp_dim, struct d_dense_qp_dim *dense_dim); +// +hpipm_size_t d_cond_qp_ws_memsize(struct d_ocp_qp_dim *ocp_dim, struct d_cond_qp_arg *cond_arg); +// +void d_cond_qp_ws_create(struct d_ocp_qp_dim *ocp_dim, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws, void *mem); +// +void d_cond_qp_cond(struct d_ocp_qp *ocp_qp, struct d_dense_qp *dense_qp, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws); +// +void d_cond_qp_cond_lhs(struct d_ocp_qp *ocp_qp, struct d_dense_qp *dense_qp, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws); +// +void d_cond_qp_cond_rhs(struct d_ocp_qp *ocp_qp, struct d_dense_qp *dense_qp, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws); +// +void d_cond_qp_expand_sol(struct d_ocp_qp *ocp_qp, struct d_dense_qp_sol *dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_sol, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws); +// TODO remove +void d_cond_qp_expand_primal_sol(struct d_ocp_qp *ocp_qp, struct d_dense_qp_sol *dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_sol, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws); + +// +void d_cond_qp_update(int *idxc, struct d_ocp_qp *ocp_qp, struct d_dense_qp *dense_qp, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws); + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + + +#endif // HPIPM_D_COND_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_d_cond_aux.h b/third_party/acados/include/hpipm/include/hpipm_d_cond_aux.h new file mode 100644 index 0000000000..73afba3c7e --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_cond_aux.h @@ -0,0 +1,92 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + + + +#ifndef HPIPM_D_COND_AUX_H_ +#define HPIPM_D_COND_AUX_H_ + + + +#include +#include + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +// +void d_cond_BAbt(struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *BAbt2, struct blasfeo_dvec *b, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws); +// +void d_cond_BAt(struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *BAbt2, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws); +// +void d_cond_b(struct d_ocp_qp *ocp_qp, struct blasfeo_dvec *b, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws); +// +void d_cond_RSQrq(struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *RSQrq2, struct blasfeo_dvec *rq, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws); +// +void d_cond_RSQ(struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *RSQrq2, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws); +// +void d_cond_rq(struct d_ocp_qp *ocp_qp, struct blasfeo_dvec *rq, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws); +// +void d_cond_DCtd(struct d_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_dmat *DCt2, struct blasfeo_dvec *d2, struct blasfeo_dvec *d_mask2, int *idxs_rev2, struct blasfeo_dvec *Z2, struct blasfeo_dvec *z, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws); +// +void d_cond_DCt(struct d_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_dmat *DCt2, int *idxs_rev2, struct blasfeo_dvec *Z2, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws); +// +void d_cond_d(struct d_ocp_qp *ocp_qp, struct blasfeo_dvec *d2, struct blasfeo_dvec *d_mask2, struct blasfeo_dvec *z, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws); +// +void d_expand_sol(struct d_ocp_qp *ocp_qp, struct d_dense_qp_sol *dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_so, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws); +// +void d_expand_primal_sol(struct d_ocp_qp *ocp_qp, struct d_dense_qp_sol *dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_so, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws); + +// +void d_update_cond_BAbt(int *idxc, struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *BAbt2, struct blasfeo_dvec *b, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws); +// +void d_update_cond_RSQrq_N2nx3(int *idxc, struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *RSQrq2, struct blasfeo_dvec *rq, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws); +// +void d_update_cond_DCtd(int *idxc, struct d_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_dmat *DCt2, struct blasfeo_dvec *d2, int *idxs2, struct blasfeo_dvec *Z2, struct blasfeo_dvec *z, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws); + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + + +#endif // HPIPM_D_COND_AUX_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_d_cond_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_cond_qcqp.h new file mode 100644 index 0000000000..266567bb8d --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_cond_qcqp.h @@ -0,0 +1,129 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + + + +#ifndef HPIPM_D_COND_QCQP_H_ +#define HPIPM_D_COND_QCQP_H_ + + + +#include +#include + +#include "hpipm_d_dense_qcqp.h" +#include "hpipm_d_dense_qcqp_sol.h" +#include "hpipm_d_ocp_qcqp.h" +#include "hpipm_d_ocp_qcqp_dim.h" +#include "hpipm_d_ocp_qcqp_sol.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct d_cond_qcqp_arg + { + struct d_cond_qp_arg *qp_arg; + int cond_last_stage; // condense last stage +// int cond_variant; // TODO + int comp_prim_sol; // primal solution (v) + int comp_dual_sol_eq; // dual solution equality constr (pi) + int comp_dual_sol_ineq; // dual solution equality constr (lam t) + int square_root_alg; // square root algorithm (faster but requires RSQ>0) + hpipm_size_t memsize; + }; + + + +struct d_cond_qcqp_ws + { + struct d_cond_qp_ws *qp_ws; + struct blasfeo_dmat *hess_array; // TODO remove + struct blasfeo_dmat *zero_hess; // TODO remove + struct blasfeo_dvec *grad_array; // TODO remove + struct blasfeo_dvec *zero_grad; // TODO remove + struct blasfeo_dvec *tmp_nvc; + struct blasfeo_dvec *tmp_nuxM; + struct blasfeo_dmat *GammaQ; + struct blasfeo_dmat *tmp_DCt; + struct blasfeo_dmat *tmp_nuM_nxM; +// struct blasfeo_dvec *d_qp; +// struct blasfeo_dvec *d_mask_qp; + hpipm_size_t memsize; + }; + + +// +hpipm_size_t d_cond_qcqp_arg_memsize(); +// +void d_cond_qcqp_arg_create(struct d_cond_qcqp_arg *cond_arg, void *mem); +// +void d_cond_qcqp_arg_set_default(struct d_cond_qcqp_arg *cond_arg); +// set riccati-like algorithm: 0 classical, 1 square-root +void d_cond_qcqp_arg_set_ric_alg(int ric_alg, struct d_cond_qcqp_arg *cond_arg); +// condense last stage: 0 last stage disregarded, 1 last stage condensed too +void d_cond_qcqp_arg_set_cond_last_stage(int cond_last_stage, struct d_cond_qcqp_arg *cond_arg); + +// +void d_cond_qcqp_compute_dim(struct d_ocp_qcqp_dim *ocp_dim, struct d_dense_qcqp_dim *dense_dim); +// +hpipm_size_t d_cond_qcqp_ws_memsize(struct d_ocp_qcqp_dim *ocp_dim, struct d_cond_qcqp_arg *cond_arg); +// +void d_cond_qcqp_ws_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws, void *mem); +// +void d_cond_qcqp_qc(struct d_ocp_qcqp *ocp_qp, struct blasfeo_dmat *Hq2, int *Hq_nzero2, struct blasfeo_dmat *Ct2, struct blasfeo_dvec *d2, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws); +// +void d_cond_qcqp_qc_lhs(struct d_ocp_qcqp *ocp_qp, struct blasfeo_dmat *Hq2, int *Hq_nzero2, struct blasfeo_dmat *Ct2, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws); +// +void d_cond_qcqp_qc_rhs(struct d_ocp_qcqp *ocp_qp, struct blasfeo_dvec *d2, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws); +// +void d_cond_qcqp_cond(struct d_ocp_qcqp *ocp_qp, struct d_dense_qcqp *dense_qp, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws); +// +void d_cond_qcqp_cond_rhs(struct d_ocp_qcqp *ocp_qp, struct d_dense_qcqp *dense_qp, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws); +// +void d_cond_qcqp_cond_lhs(struct d_ocp_qcqp *ocp_qp, struct d_dense_qcqp *dense_qp, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws); +// +void d_cond_qcqp_expand_sol(struct d_ocp_qcqp *ocp_qp, struct d_dense_qcqp_sol *dense_qp_sol, struct d_ocp_qcqp_sol *ocp_qp_sol, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws); + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + + +#endif // HPIPM_D_COND_QCQP_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm.h new file mode 100644 index 0000000000..f39d9a9b50 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm.h @@ -0,0 +1,101 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_D_CORE_QP_IPM_ +#define HPIPM_D_CORE_QP_IPM_ + +#include "hpipm_common.h" + +#ifdef __cplusplus +extern "C" { +#endif + +struct d_core_qp_ipm_workspace + { + double *v; // primal variables + double *pi; // equality constraints multipliers + double *lam; // inequality constraints multipliers + double *t; // inequality constraints slacks + double *t_inv; // inverse of t + double *v_bkp; // backup of primal variables + double *pi_bkp; // backup of equality constraints multipliers + double *lam_bkp; // backup of inequality constraints multipliers + double *t_bkp; // backup of inequality constraints slacks + double *dv; // step in v + double *dpi; // step in pi + double *dlam; // step in lam + double *dt; // step in t + double *res_g; // q-residuals + double *res_b; // b-residuals + double *res_d; // d-residuals + double *res_m; // m-residuals + double *res_m_bkp; // m-residuals + double *Gamma; // Hessian update + double *gamma; // gradient update + double alpha; // step length + double alpha_prim; // step length + double alpha_dual; // step length + double sigma; // centering XXX + double mu; // duality measuere + double mu_aff; // affine duality measuere + double nc_inv; // 1.0/nc, where nc is the total number of inequality constraints + double nc_mask_inv; // 1.0/nc_mask + double lam_min; // min value in lam vector + double t_min; // min value in t vector + double t_min_inv; // inverse of min value in t vector + double tau_min; // min value of barrier parameter + int nv; // number of primal variables + int ne; // number of equality constraints + int nc; // (twice the) number of (two-sided) inequality constraints + int nc_mask; // total number of ineq constr after masking + int split_step; // use different step for primal and dual variables + int t_lam_min; // clip t and lam also in solution, or only in Gamma computation + hpipm_size_t memsize; // memory size (in bytes) of workspace + }; + + + +// +hpipm_size_t d_memsize_core_qp_ipm(int nv, int ne, int nc); +// +void d_create_core_qp_ipm(int nv, int ne, int nc, struct d_core_qp_ipm_workspace *workspace, void *mem); +// +void d_core_qp_ipm(struct d_core_qp_ipm_workspace *workspace); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // HPIPM_D_CORE_QP_IPM_ diff --git a/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm_aux.h b/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm_aux.h new file mode 100644 index 0000000000..30cc824bad --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm_aux.h @@ -0,0 +1,68 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_S_CORE_QP_IPM_AUX_ +#define HPIPM_S_CORE_QP_IPM_AUX_ + +#ifdef __cplusplus +extern "C" { +#endif + +// +void d_compute_Gamma_gamma_qp(double *res_d, double *res_m, struct d_core_qp_ipm_workspace *rws); +// +void d_compute_gamma_qp(double *res_d, double *res_m, struct d_core_qp_ipm_workspace *rws); +// +void d_compute_lam_t_qp(double *res_d, double *res_m, double *dlam, double *dt, struct d_core_qp_ipm_workspace *rws); +// +void d_compute_alpha_qp(struct d_core_qp_ipm_workspace *rws); +// +void d_update_var_qp(struct d_core_qp_ipm_workspace *rws); +// +void d_compute_mu_aff_qp(struct d_core_qp_ipm_workspace *rws); +// +void d_backup_res_m(struct d_core_qp_ipm_workspace *rws); +// +void d_compute_centering_correction_qp(struct d_core_qp_ipm_workspace *rws); +// +void d_compute_centering_qp(struct d_core_qp_ipm_workspace *rws); +// +void d_compute_tau_min_qp(struct d_core_qp_ipm_workspace *rws); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // HPIPM_S_CORE_QP_IPM_AUX_ diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp.h new file mode 100644 index 0000000000..3da5716493 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp.h @@ -0,0 +1,199 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + + + +#ifndef HPIPM_D_DENSE_QCQP_H_ +#define HPIPM_D_DENSE_QCQP_H_ + + + +#include +#include + +#include "hpipm_d_dense_qcqp_dim.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct d_dense_qcqp + { + struct d_dense_qcqp_dim *dim; + struct blasfeo_dmat *Hv; // hessian of cost & vector work space + struct blasfeo_dmat *A; // equality constraint matrix + struct blasfeo_dmat *Ct; // inequality constraints matrix + struct blasfeo_dmat *Hq; // hessians of quadratic constraints + struct blasfeo_dvec *gz; // gradient of cost & gradient of slacks + struct blasfeo_dvec *b; // equality constraint vector + struct blasfeo_dvec *d; // inequality constraints vector + struct blasfeo_dvec *d_mask; // inequality constraints mask vector + struct blasfeo_dvec *m; // rhs of complementarity condition + struct blasfeo_dvec *Z; // (diagonal) hessian of slacks + int *idxb; // indices of box constrained variables within [u; x] + int *idxs_rev; // index of soft constraints (reverse storage) + int *Hq_nzero; // for each int, the last 3 bits ...abc, {a,b,c}=0 => {R,S,Q}=0 + hpipm_size_t memsize; // memory size in bytes + }; + + + +// +hpipm_size_t d_dense_qcqp_memsize(struct d_dense_qcqp_dim *dim); +// +void d_dense_qcqp_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp *qp, void *memory); + +// +void d_dense_qcqp_set(char *field, void *value, struct d_dense_qcqp *qp); +// +void d_dense_qcqp_set_H(double *H, struct d_dense_qcqp *qp); +// +void d_dense_qcqp_set_g(double *g, struct d_dense_qcqp *qp); +// +void d_dense_qcqp_set_A(double *A, struct d_dense_qcqp *qp); +// +void d_dense_qcqp_set_b(double *b, struct d_dense_qcqp *qp); +// +void d_dense_qcqp_set_idxb(int *idxb, struct d_dense_qcqp *qp); +// +void d_dense_qcqp_set_lb(double *lb, struct d_dense_qcqp *qp); +// +void d_dense_qcqp_set_lb_mask(double *lb, struct d_dense_qcqp *qp); +// +void d_dense_qcqp_set_ub(double *ub, struct d_dense_qcqp *qp); +// +void d_dense_qcqp_set_ub_mask(double *ub, struct d_dense_qcqp *qp); +// +void d_dense_qcqp_set_C(double *C, struct d_dense_qcqp *qp); +// +void d_dense_qcqp_set_lg(double *lg, struct d_dense_qcqp *qp); +// +void d_dense_qcqp_set_lg_mask(double *lg, struct d_dense_qcqp *qp); +// +void d_dense_qcqp_set_ug(double *ug, struct d_dense_qcqp *qp); +// +void d_dense_qcqp_set_ug_mask(double *ug, struct d_dense_qcqp *qp); +// +void d_dense_qcqp_set_Hq(double *Hq, struct d_dense_qcqp *qp); +// +void d_dense_qcqp_set_gq(double *gq, struct d_dense_qcqp *qp); +// +void d_dense_qcqp_set_uq(double *uq, struct d_dense_qcqp *qp); +// +void d_dense_qcqp_set_uq_mask(double *uq, struct d_dense_qcqp *qp); +// +void d_dense_qcqp_set_idxs(int *idxs, struct d_dense_qcqp *qp); +// +void d_dense_qcqp_set_idxs_rev(int *idxs_rev, struct d_dense_qcqp *qp); +// +void d_dense_qcqp_set_Zl(double *Zl, struct d_dense_qcqp *qp); +// +void d_dense_qcqp_set_Zu(double *Zu, struct d_dense_qcqp *qp); +// +void d_dense_qcqp_set_zl(double *zl, struct d_dense_qcqp *qp); +// +void d_dense_qcqp_set_zu(double *zu, struct d_dense_qcqp *qp); +// +void d_dense_qcqp_set_ls(double *ls, struct d_dense_qcqp *qp); +// +void d_dense_qcqp_set_ls_mask(double *ls, struct d_dense_qcqp *qp); +// +void d_dense_qcqp_set_us(double *us, struct d_dense_qcqp *qp); +// +void d_dense_qcqp_set_us_mask(double *us, struct d_dense_qcqp *qp); + +// getters (COLMAJ) + +void d_dense_qcqp_get_H(struct d_dense_qcqp *qp, double *H); +// +void d_dense_qcqp_get_g(struct d_dense_qcqp *qp, double *g); +// +void d_dense_qcqp_get_A(struct d_dense_qcqp *qp, double *A); +// +void d_dense_qcqp_get_b(struct d_dense_qcqp *qp, double *b); +// +void d_dense_qcqp_get_idxb(struct d_dense_qcqp *qp, int *idxb); +// +void d_dense_qcqp_get_lb(struct d_dense_qcqp *qp, double *lb); +// +void d_dense_qcqp_get_lb_mask(struct d_dense_qcqp *qp, double *lb); +// +void d_dense_qcqp_get_ub(struct d_dense_qcqp *qp, double *ub); +// +void d_dense_qcqp_get_ub_mask(struct d_dense_qcqp *qp, double *ub); +// +void d_dense_qcqp_get_C(struct d_dense_qcqp *qp, double *C); +// +void d_dense_qcqp_get_lg(struct d_dense_qcqp *qp, double *lg); +// +void d_dense_qcqp_get_lg_mask(struct d_dense_qcqp *qp, double *lg); +// +void d_dense_qcqp_get_ug(struct d_dense_qcqp *qp, double *ug); +// +void d_dense_qcqp_get_ug_mask(struct d_dense_qcqp *qp, double *ug); +// +void d_dense_qcqp_get_idxs(struct d_dense_qcqp *qp, int *idxs); +// +void d_dense_qcqp_get_idxs_rev(struct d_dense_qcqp *qp, int *idxs_rev); +// +void d_dense_qcqp_get_Zl(struct d_dense_qcqp *qp, double *Zl); +// +void d_dense_qcqp_get_Zu(struct d_dense_qcqp *qp, double *Zu); +// +void d_dense_qcqp_get_zl(struct d_dense_qcqp *qp, double *zl); +// +void d_dense_qcqp_get_zu(struct d_dense_qcqp *qp, double *zu); +// +void d_dense_qcqp_get_ls(struct d_dense_qcqp *qp, double *ls); +// +void d_dense_qcqp_get_ls_mask(struct d_dense_qcqp *qp, double *ls); +// +void d_dense_qcqp_get_us(struct d_dense_qcqp *qp, double *us); +// +void d_dense_qcqp_get_us_mask(struct d_dense_qcqp *qp, double *us); + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + + +#endif // HPIPM_D_DENSE_QCQP_H_ + diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_dim.h new file mode 100644 index 0000000000..fa8c574a1e --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_dim.h @@ -0,0 +1,98 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_D_DENSE_QCQP_DIM_H_ +#define HPIPM_D_DENSE_QCQP_DIM_H_ + +#include "hpipm_common.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct d_dense_qcqp_dim + { + struct d_dense_qp_dim *qp_dim; // dim of qp approximation + int nv; // number of variables + int ne; // number of equality constraints + int nb; // number of box constraints + int ng; // number of general constraints + int nq; // number of quadratic constraints + int nsb; // number of softened box constraints + int nsg; // number of softened general constraints + int nsq; // number of softened quadratic constraints + int ns; // number of softened constraints (nsb+nsg+nsq) TODO number of slacks + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t d_dense_qcqp_dim_memsize(); +// +void d_dense_qcqp_dim_create(struct d_dense_qcqp_dim *dim, void *memory); +// +void d_dense_qcqp_dim_set(char *field_name, int value, struct d_dense_qcqp_dim *dim); +// +void d_dense_qcqp_dim_set_nv(int value, struct d_dense_qcqp_dim *dim); +// +void d_dense_qcqp_dim_set_ne(int value, struct d_dense_qcqp_dim *dim); +// +void d_dense_qcqp_dim_set_nb(int value, struct d_dense_qcqp_dim *dim); +// +void d_dense_qcqp_dim_set_ng(int value, struct d_dense_qcqp_dim *dim); +// +void d_dense_qcqp_dim_set_nq(int value, struct d_dense_qcqp_dim *dim); +// +void d_dense_qcqp_dim_set_nsb(int value, struct d_dense_qcqp_dim *dim); +// +void d_dense_qcqp_dim_set_nsg(int value, struct d_dense_qcqp_dim *dim); +// +void d_dense_qcqp_dim_set_nsq(int value, struct d_dense_qcqp_dim *dim); +// +void d_dense_qcqp_dim_set_ns(int value, struct d_dense_qcqp_dim *dim); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + + +#endif // HPIPM_D_DENSE_QCQP_DIM_H_ + diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_ipm.h new file mode 100644 index 0000000000..fa3f98fa79 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_ipm.h @@ -0,0 +1,193 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + + + +#ifndef HPIPM_D_DENSE_QCQP_IPM_H_ +#define HPIPM_D_DENSE_QCQP_IPM_H_ + + + +#include +#include + +#include +#include +#include +#include +#include + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct d_dense_qcqp_ipm_arg + { + struct d_dense_qp_ipm_arg *qp_arg; + double mu0; // initial value for duality measure + double alpha_min; // exit cond on step length + double res_g_max; // exit cond on inf norm of residuals + double res_b_max; // exit cond on inf norm of residuals + double res_d_max; // exit cond on inf norm of residuals + double res_m_max; // exit cond on inf norm of residuals + double reg_prim; // reg of primal hessian + double reg_dual; // reg of dual hessian + double lam_min; // min value in lam vector + double t_min; // min value in t vector + int iter_max; // exit cond in iter number + int stat_max; // iterations saved in stat + int pred_corr; // Mehrotra's predictor-corrector IPM algirthm + int cond_pred_corr; // conditional Mehrotra's predictor-corrector + int scale; // scale hessian + int itref_pred_max; // max number of iterative refinement steps for predictor step + int itref_corr_max; // max number of iterative refinement steps for corrector step + int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol + int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq + int abs_form; // absolute IPM formulation + int comp_res_exit; // compute residuals on exit (only for abs_form==1) + int comp_res_pred; // compute residuals of prediction + int split_step; // use different step for primal and dual variables + int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution + int mode; + hpipm_size_t memsize; + }; + + + +struct d_dense_qcqp_ipm_ws + { + struct d_dense_qp_ipm_ws *qp_ws; + struct d_dense_qp *qp; + struct d_dense_qp_sol *qp_sol; + struct d_dense_qcqp_res_ws *qcqp_res_ws; + struct d_dense_qcqp_res *qcqp_res; + struct blasfeo_dvec *tmp_nv; + int iter; // iteration number + int status; + hpipm_size_t memsize; // memory size (in bytes) of workspace + }; + + + +// +hpipm_size_t d_dense_qcqp_ipm_arg_memsize(struct d_dense_qcqp_dim *dim); +// +void d_dense_qcqp_ipm_arg_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp_ipm_arg *arg, void *mem); +// +void d_dense_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct d_dense_qcqp_ipm_arg *arg); +// +void d_dense_qcqp_ipm_arg_set(char *field, void *value, struct d_dense_qcqp_ipm_arg *arg); +// +void d_dense_qcqp_ipm_arg_set_iter_max(int *iter_max, struct d_dense_qcqp_ipm_arg *arg); +// +void d_dense_qcqp_ipm_arg_set_alpha_min(double *alpha_min, struct d_dense_qcqp_ipm_arg *arg); +// +void d_dense_qcqp_ipm_arg_set_mu0(double *mu0, struct d_dense_qcqp_ipm_arg *arg); +// +void d_dense_qcqp_ipm_arg_set_tol_stat(double *tol_stat, struct d_dense_qcqp_ipm_arg *arg); +// +void d_dense_qcqp_ipm_arg_set_tol_eq(double *tol_eq, struct d_dense_qcqp_ipm_arg *arg); +// +void d_dense_qcqp_ipm_arg_set_tol_ineq(double *tol_ineq, struct d_dense_qcqp_ipm_arg *arg); +// +void d_dense_qcqp_ipm_arg_set_tol_comp(double *tol_comp, struct d_dense_qcqp_ipm_arg *arg); +// +void d_dense_qcqp_ipm_arg_set_reg_prim(double *reg, struct d_dense_qcqp_ipm_arg *arg); +// +void d_dense_qcqp_ipm_arg_set_reg_dual(double *reg, struct d_dense_qcqp_ipm_arg *arg); +// +void d_dense_qcqp_ipm_arg_set_warm_start(int *warm_start, struct d_dense_qcqp_ipm_arg *arg); +// +void d_dense_qcqp_ipm_arg_set_pred_corr(int *pred_corr, struct d_dense_qcqp_ipm_arg *arg); +// +void d_dense_qcqp_ipm_arg_set_cond_pred_corr(int *cond_pred_corr, struct d_dense_qcqp_ipm_arg *arg); +// +void d_dense_qcqp_ipm_arg_set_comp_res_pred(int *comp_res_pred, struct d_dense_qcqp_ipm_arg *arg); +// +void d_dense_qcqp_ipm_arg_set_comp_res_exit(int *comp_res_exit, struct d_dense_qcqp_ipm_arg *arg); +// +void d_dense_qcqp_ipm_arg_set_lam_min(double *value, struct d_dense_qcqp_ipm_arg *arg); +// +void d_dense_qcqp_ipm_arg_set_t_min(double *value, struct d_dense_qcqp_ipm_arg *arg); +// +void d_dense_qcqp_ipm_arg_set_split_step(int *value, struct d_dense_qcqp_ipm_arg *arg); +// +void d_dense_qcqp_ipm_arg_set_t_lam_min(int *value, struct d_dense_qcqp_ipm_arg *arg); + +// +hpipm_size_t d_dense_qcqp_ipm_ws_memsize(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_ipm_arg *arg); +// +void d_dense_qcqp_ipm_ws_create(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws, void *mem); +// +void d_dense_qcqp_ipm_get(char *field, struct d_dense_qcqp_ipm_ws *ws, void *value); +// +void d_dense_qcqp_ipm_get_status(struct d_dense_qcqp_ipm_ws *ws, int *status); +// +void d_dense_qcqp_ipm_get_iter(struct d_dense_qcqp_ipm_ws *ws, int *iter); +// +void d_dense_qcqp_ipm_get_max_res_stat(struct d_dense_qcqp_ipm_ws *ws, double *res_stat); +// +void d_dense_qcqp_ipm_get_max_res_eq(struct d_dense_qcqp_ipm_ws *ws, double *res_eq); +// +void d_dense_qcqp_ipm_get_max_res_ineq(struct d_dense_qcqp_ipm_ws *ws, double *res_ineq); +// +void d_dense_qcqp_ipm_get_max_res_comp(struct d_dense_qcqp_ipm_ws *ws, double *res_comp); +// +void d_dense_qcqp_ipm_get_stat(struct d_dense_qcqp_ipm_ws *ws, double **stat); +// +void d_dense_qcqp_ipm_get_stat_m(struct d_dense_qcqp_ipm_ws *ws, int *stat_m); +// +void d_dense_qcqp_init_var(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws); +// +void d_dense_qcqp_ipm_solve(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws); +#if 0 +// +void d_dense_qcqp_ipm_predict(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws); +// +void d_dense_qcqp_ipm_sens(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws); +#endif + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + + +#endif // HPIPM_D_DENSE_QCQP_IPM_H_ + diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_res.h new file mode 100644 index 0000000000..a76f16215e --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_res.h @@ -0,0 +1,107 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_D_DENSE_QCQP_RES_H_ +#define HPIPM_D_DENSE_QCQP_RES_H_ + + + +#include +#include + +#include +#include +#include + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct d_dense_qcqp_res + { + struct d_dense_qcqp_dim *dim; + struct blasfeo_dvec *res_g; // q-residuals + struct blasfeo_dvec *res_b; // b-residuals + struct blasfeo_dvec *res_d; // d-residuals + struct blasfeo_dvec *res_m; // m-residuals + double res_max[4]; // infinity norm of residuals + double res_mu; // mu-residual + hpipm_size_t memsize; + }; + + + +struct d_dense_qcqp_res_ws + { + struct blasfeo_dvec *tmp_nv; // work space of size nv + struct blasfeo_dvec *tmp_nbgq; // work space of size nbM+ngM+nqM + struct blasfeo_dvec *tmp_ns; // work space of size nsM + struct blasfeo_dvec *q_fun; // value for evaluation of quadr constr + struct blasfeo_dvec *q_adj; // value for adjoint of quadr constr + int use_q_fun; // reuse cached value for evaluation of quadr constr + int use_q_adj; // reuse cached value for adjoint of quadr constr + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t d_dense_qcqp_res_memsize(struct d_dense_qcqp_dim *dim); +// +void d_dense_qcqp_res_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp_res *res, void *mem); +// +hpipm_size_t d_dense_qcqp_res_ws_memsize(struct d_dense_qcqp_dim *dim); +// +void d_dense_qcqp_res_ws_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp_res_ws *workspace, void *mem); +// +void d_dense_qcqp_res_compute(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_res *res, struct d_dense_qcqp_res_ws *ws); +// +void d_dense_qcqp_res_compute_inf_norm(struct d_dense_qcqp_res *res); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + +#endif // HPIPM_D_DENSE_QCQP_RES_H_ + + + diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_sol.h new file mode 100644 index 0000000000..6c697a8e69 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_sol.h @@ -0,0 +1,85 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + + + +#ifndef HPIPM_D_DENSE_QCQP_SOL_H_ +#define HPIPM_D_DENSE_QCQP_SOL_H_ + + + +#include +#include + +#include "hpipm_d_dense_qcqp_dim.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct d_dense_qcqp_sol + { + struct d_dense_qcqp_dim *dim; + struct blasfeo_dvec *v; + struct blasfeo_dvec *pi; + struct blasfeo_dvec *lam; + struct blasfeo_dvec *t; + void *misc; + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t d_dense_qcqp_sol_memsize(struct d_dense_qcqp_dim *dim); +// +void d_dense_qcqp_sol_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp_sol *qp_sol, void *memory); +// +void d_dense_qcqp_sol_get_v(struct d_dense_qcqp_sol *qp_sol, double *v); + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + + +#endif // HPIPM_D_DENSE_QCQP_SOL_H_ + diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_utils.h new file mode 100644 index 0000000000..a34218bae4 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_utils.h @@ -0,0 +1,82 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_D_DENSE_QCQP_UTILS_H_ +#define HPIPM_D_DENSE_QCQP_UTILS_H_ + + + +#include +#include + +#include "hpipm_d_dense_qcqp_dim.h" +#include "hpipm_d_dense_qcqp.h" +#include "hpipm_d_dense_qcqp_sol.h" +//#include "hpipm_d_dense_qcqp_ipm.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +// +void d_dense_qcqp_dim_print(struct d_dense_qcqp_dim *qp_dim); +// +//void d_dense_qcqp_dim_codegen(char *file_name, char *mode, struct d_dense_qcqp_dim *qp_dim); +// +void d_dense_qcqp_print(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp *qp); +// +//void d_dense_qcqp_codegen(char *file_name, char *mode, struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp *qp); +// +void d_dense_qcqp_sol_print(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_sol *dense_qcqp_sol); +// +//void d_dense_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_ipm_arg *arg); +// +void d_dense_qcqp_res_print(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_res *dense_qcqp_res); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + + +#endif // HPIPM_D_DENSE_QCQP_UTILS_H_ + + diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp.h new file mode 100644 index 0000000000..02fba5a922 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp.h @@ -0,0 +1,207 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + + + +#ifndef HPIPM_D_DENSE_QP_H_ +#define HPIPM_D_DENSE_QP_H_ + + + +#include +#include + +#include "hpipm_d_dense_qp_dim.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct d_dense_qp + { + struct d_dense_qp_dim *dim; + struct blasfeo_dmat *Hv; // hessian of cost & vector work space + struct blasfeo_dmat *A; // equality constraint matrix + struct blasfeo_dmat *Ct; // inequality constraints matrix + struct blasfeo_dvec *gz; // gradient of cost & gradient of slacks + struct blasfeo_dvec *b; // equality constraint vector + struct blasfeo_dvec *d; // inequality constraints vector + struct blasfeo_dvec *d_mask; // inequality constraints mask vector + struct blasfeo_dvec *m; // rhs of complementarity condition + struct blasfeo_dvec *Z; // (diagonal) hessian of slacks + int *idxb; // indices of box constrained variables within [u; x] + int *idxs_rev; // index of soft constraints (reverse storage) + hpipm_size_t memsize; // memory size in bytes + }; + + + +// +hpipm_size_t d_dense_qp_memsize(struct d_dense_qp_dim *dim); +// +void d_dense_qp_create(struct d_dense_qp_dim *dim, struct d_dense_qp *qp, void *memory); + +// setters - colmaj +// +void d_dense_qp_set_all(double *H, double *g, double *A, double *b, int *idxb, double *d_lb, double *d_ub, double *C, double *d_lg, double *d_ug, double *Zl, double *Zu, double *zl, double *zu, int *idxs, double *d_ls, double *d_us, struct d_dense_qp *qp); +// +void d_dense_qp_get_all(struct d_dense_qp *qp, double *H, double *g, double *A, double *b, int *idxb, double *d_lb, double *d_ub, double *C, double *d_lg, double *d_ug, double *Zl, double *Zu, double *zl, double *zu, int *idxs, double *d_ls, double *d_us); +// +void d_dense_qp_set(char *field, void *value, struct d_dense_qp *qp); +// +void d_dense_qp_set_H(double *H, struct d_dense_qp *qp); +// +void d_dense_qp_set_g(double *g, struct d_dense_qp *qp); +// +void d_dense_qp_set_A(double *A, struct d_dense_qp *qp); +// +void d_dense_qp_set_b(double *b, struct d_dense_qp *qp); +// +void d_dense_qp_set_idxb(int *idxb, struct d_dense_qp *qp); +// +void d_dense_qp_set_Jb(double *Jb, struct d_dense_qp *qp); +// +void d_dense_qp_set_lb(double *lb, struct d_dense_qp *qp); +// +void d_dense_qp_set_lb_mask(double *lb, struct d_dense_qp *qp); +// +void d_dense_qp_set_ub(double *ub, struct d_dense_qp *qp); +// +void d_dense_qp_set_ub_mask(double *ub, struct d_dense_qp *qp); +// +void d_dense_qp_set_C(double *C, struct d_dense_qp *qp); +// +void d_dense_qp_set_lg(double *lg, struct d_dense_qp *qp); +// +void d_dense_qp_set_lg_mask(double *lg, struct d_dense_qp *qp); +// +void d_dense_qp_set_ug(double *ug, struct d_dense_qp *qp); +// +void d_dense_qp_set_ug_mask(double *ug, struct d_dense_qp *qp); +// +void d_dense_qp_set_idxs(int *idxs, struct d_dense_qp *qp); +// +void d_dense_qp_set_idxs_rev(int *idxs_rev, struct d_dense_qp *qp); +// +void d_dense_qp_set_Jsb(double *Jsb, struct d_dense_qp *qp); +// +void d_dense_qp_set_Jsg(double *Jsg, struct d_dense_qp *qp); +// +void d_dense_qp_set_Zl(double *Zl, struct d_dense_qp *qp); +// +void d_dense_qp_set_Zu(double *Zu, struct d_dense_qp *qp); +// +void d_dense_qp_set_zl(double *zl, struct d_dense_qp *qp); +// +void d_dense_qp_set_zu(double *zu, struct d_dense_qp *qp); +// +void d_dense_qp_set_ls(double *ls, struct d_dense_qp *qp); +// +void d_dense_qp_set_ls_mask(double *ls, struct d_dense_qp *qp); +// +void d_dense_qp_set_us(double *us, struct d_dense_qp *qp); +// +void d_dense_qp_set_us_mask(double *us, struct d_dense_qp *qp); + +// getters - colmaj +// +void d_dense_qp_get_H(struct d_dense_qp *qp, double *H); +// +void d_dense_qp_get_g(struct d_dense_qp *qp, double *g); +// +void d_dense_qp_get_A(struct d_dense_qp *qp, double *A); +// +void d_dense_qp_get_b(struct d_dense_qp *qp, double *b); +// +void d_dense_qp_get_idxb(struct d_dense_qp *qp, int *idxb); +// +void d_dense_qp_get_lb(struct d_dense_qp *qp, double *lb); +// +void d_dense_qp_get_lb_mask(struct d_dense_qp *qp, double *lb); +// +void d_dense_qp_get_ub(struct d_dense_qp *qp, double *ub); +// +void d_dense_qp_get_ub_mask(struct d_dense_qp *qp, double *ub); +// +void d_dense_qp_get_C(struct d_dense_qp *qp, double *C); +// +void d_dense_qp_get_lg(struct d_dense_qp *qp, double *lg); +// +void d_dense_qp_get_lg_mask(struct d_dense_qp *qp, double *lg); +// +void d_dense_qp_get_ug(struct d_dense_qp *qp, double *ug); +// +void d_dense_qp_get_ug_mask(struct d_dense_qp *qp, double *ug); +// +void d_dense_qp_get_idxs(struct d_dense_qp *qp, int *idxs); +// +void d_dense_qp_get_idxs_rev(struct d_dense_qp *qp, int *idxs_rev); +// +void d_dense_qp_get_Zl(struct d_dense_qp *qp, double *Zl); +// +void d_dense_qp_get_Zu(struct d_dense_qp *qp, double *Zu); +// +void d_dense_qp_get_zl(struct d_dense_qp *qp, double *zl); +// +void d_dense_qp_get_zu(struct d_dense_qp *qp, double *zu); +// +void d_dense_qp_get_ls(struct d_dense_qp *qp, double *ls); +// +void d_dense_qp_get_ls_mask(struct d_dense_qp *qp, double *ls); +// +void d_dense_qp_get_us(struct d_dense_qp *qp, double *us); +// +void d_dense_qp_get_us_mask(struct d_dense_qp *qp, double *us); + +// setters - rowmaj +// +void d_dense_qp_set_all_rowmaj(double *H, double *g, double *A, double *b, int *idxb, double *d_lb, double *d_ub, double *C, double *d_lg, double *d_ug, double *Zl, double *Zu, double *zl, double *zu, int *idxs, double *d_ls, double *d_us, struct d_dense_qp *qp); + +// getters - rowmaj +// +void d_dense_qp_get_all_rowmaj(struct d_dense_qp *qp, double *H, double *g, double *A, double *b, int *idxb, double *d_lb, double *d_ub, double *C, double *d_lg, double *d_ug, double *Zl, double *Zu, double *zl, double *zu, int *idxs, double *d_ls, double *d_us); + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + + +#endif // HPIPM_D_DENSE_QP_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_dim.h new file mode 100644 index 0000000000..98a551f312 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_dim.h @@ -0,0 +1,92 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_D_DENSE_QP_DIM_H_ +#define HPIPM_D_DENSE_QP_DIM_H_ + +#include "hpipm_common.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct d_dense_qp_dim + { + int nv; // number of variables + int ne; // number of equality constraints + int nb; // number of box constraints + int ng; // number of general constraints + int nsb; // number of softened box constraints + int nsg; // number of softened general constraints + int ns; // number of softened constraints (nsb+nsg) + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t d_dense_qp_dim_memsize(); +// +void d_dense_qp_dim_create(struct d_dense_qp_dim *qp_dim, void *memory); +// +void d_dense_qp_dim_set_all(int nv, int ne, int nb, int ng, int nsb, int nsg, struct d_dense_qp_dim *dim); +// +void d_dense_qp_dim_set(char *field_name, int value, struct d_dense_qp_dim *dim); +// +void d_dense_qp_dim_set_nv(int value, struct d_dense_qp_dim *dim); +// +void d_dense_qp_dim_set_ne(int value, struct d_dense_qp_dim *dim); +// +void d_dense_qp_dim_set_nb(int value, struct d_dense_qp_dim *dim); +// +void d_dense_qp_dim_set_ng(int value, struct d_dense_qp_dim *dim); +// +void d_dense_qp_dim_set_nsb(int value, struct d_dense_qp_dim *dim); +// +void d_dense_qp_dim_set_nsg(int value, struct d_dense_qp_dim *dim); +// +void d_dense_qp_dim_set_ns(int value, struct d_dense_qp_dim *dim); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + + +#endif // HPIPM_D_DENSE_QP_DIM_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_ipm.h new file mode 100644 index 0000000000..e6e5d5d9b5 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_ipm.h @@ -0,0 +1,260 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + + + +#ifndef HPIPM_D_DENSE_QP_IPM_H_ +#define HPIPM_D_DENSE_QP_IPM_H_ + + + +#include +#include + +#include +#include +#include +#include +#include + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct d_dense_qp_ipm_arg + { + double mu0; // initial value for duality measure + double alpha_min; // exit cond on step length + double res_g_max; // exit cond on inf norm of residuals + double res_b_max; // exit cond on inf norm of residuals + double res_d_max; // exit cond on inf norm of residuals + double res_m_max; // exit cond on inf norm of residuals + double reg_prim; // reg of primal hessian + double reg_dual; // reg of dual hessian + double lam_min; // min value in lam vector + double t_min; // min value in t vector + double tau_min; // min value of barrier parameter + int iter_max; // exit cond in iter number + int stat_max; // iterations saved in stat + int pred_corr; // Mehrotra's predictor-corrector IPM algirthm + int cond_pred_corr; // conditional Mehrotra's predictor-corrector + int scale; // scale hessian + int itref_pred_max; // max number of iterative refinement steps for predictor step + int itref_corr_max; // max number of iterative refinement steps for corrector step + int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol + int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq + int abs_form; // absolute IPM formulation + int comp_res_exit; // compute residuals on exit (only for abs_form==1) + int comp_res_pred; // compute residuals of prediction + int kkt_fact_alg; // 0 null-space, 1 schur-complement + int remove_lin_dep_eq; // 0 do not, 1 do check and remove linearly dependent equality constraints + int compute_obj; // compute obj on exit + int split_step; // use different steps for primal and dual variables + int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution + int mode; + hpipm_size_t memsize; + }; + + + +struct d_dense_qp_ipm_ws + { + struct d_core_qp_ipm_workspace *core_workspace; + struct d_dense_qp_res_ws *res_ws; + struct d_dense_qp_sol *sol_step; + struct d_dense_qp_sol *sol_itref; + struct d_dense_qp *qp_step; + struct d_dense_qp *qp_itref; + struct d_dense_qp_res *res; + struct d_dense_qp_res *res_itref; + struct d_dense_qp_res *res_step; + struct blasfeo_dvec *Gamma; // + struct blasfeo_dvec *gamma; // + struct blasfeo_dvec *Zs_inv; // + struct blasfeo_dmat *Lv; // + struct blasfeo_dmat *AL; // + struct blasfeo_dmat *Le; // + struct blasfeo_dmat *Ctx; // + struct blasfeo_dvec *lv; // + struct blasfeo_dvec *sv; // scale for Lv + struct blasfeo_dvec *se; // scale for Le + struct blasfeo_dvec *tmp_nbg; // work space of size nb+ng + struct blasfeo_dvec *tmp_ns; // work space of size ns + struct blasfeo_dmat *lq0; + struct blasfeo_dmat *lq1; + struct blasfeo_dvec *tmp_m; + struct blasfeo_dmat *A_LQ; + struct blasfeo_dmat *A_Q; + struct blasfeo_dmat *Zt; + struct blasfeo_dmat *ZtH; + struct blasfeo_dmat *ZtHZ; + struct blasfeo_dvec *xy; + struct blasfeo_dvec *Yxy; + struct blasfeo_dvec *xz; + struct blasfeo_dvec *tmp_nv; + struct blasfeo_dvec *tmp_2ns; + struct blasfeo_dvec *tmp_nv2ns; + struct blasfeo_dmat *A_li; // A of linearly independent equality constraints + struct blasfeo_dvec *b_li; // b of linearly independent equality constraints + struct blasfeo_dmat *A_bkp; // pointer to backup A + struct blasfeo_dvec *b_bkp; // pointer to backup b + struct blasfeo_dmat *Ab_LU; + double *stat; // convergence statistics + int *ipiv_v; + int *ipiv_e; + int *ipiv_e1; + void *lq_work0; + void *lq_work1; + void *lq_work_null; + void *orglq_work_null; + int iter; // iteration number + int stat_max; // iterations saved in stat + int stat_m; // numer of recorded stat per ipm iter + int scale; + int use_hess_fact; + int use_A_fact; + int status; + int lq_fact; // cache from arg + int mask_constr; // use constr mask + int ne_li; // number of linearly independent equality constraints + int ne_bkp; // ne backup + hpipm_size_t memsize; // memory size (in bytes) of workspace + }; + + + +// +hpipm_size_t d_dense_qp_ipm_arg_memsize(struct d_dense_qp_dim *dim); +// +void d_dense_qp_ipm_arg_create(struct d_dense_qp_dim *dim, struct d_dense_qp_ipm_arg *arg, void *mem); +// +void d_dense_qp_ipm_arg_set_default(enum hpipm_mode mode, struct d_dense_qp_ipm_arg *arg); +// +void d_dense_qp_ipm_arg_set(char *field, void *value, struct d_dense_qp_ipm_arg *arg); +// +void d_dense_qp_ipm_arg_set_iter_max(int *iter_max, struct d_dense_qp_ipm_arg *arg); +// +void d_dense_qp_ipm_arg_set_alpha_min(double *alpha_min, struct d_dense_qp_ipm_arg *arg); +// +void d_dense_qp_ipm_arg_set_mu0(double *mu0, struct d_dense_qp_ipm_arg *arg); +// +void d_dense_qp_ipm_arg_set_tol_stat(double *tol_stat, struct d_dense_qp_ipm_arg *arg); +// +void d_dense_qp_ipm_arg_set_tol_eq(double *tol_eq, struct d_dense_qp_ipm_arg *arg); +// +void d_dense_qp_ipm_arg_set_tol_ineq(double *tol_ineq, struct d_dense_qp_ipm_arg *arg); +// +void d_dense_qp_ipm_arg_set_tol_comp(double *tol_comp, struct d_dense_qp_ipm_arg *arg); +// +void d_dense_qp_ipm_arg_set_reg_prim(double *reg, struct d_dense_qp_ipm_arg *arg); +// +void d_dense_qp_ipm_arg_set_reg_dual(double *reg, struct d_dense_qp_ipm_arg *arg); +// +void d_dense_qp_ipm_arg_set_warm_start(int *warm_start, struct d_dense_qp_ipm_arg *arg); +// +void d_dense_qp_ipm_arg_set_pred_corr(int *pred_corr, struct d_dense_qp_ipm_arg *arg); +// +void d_dense_qp_ipm_arg_set_cond_pred_corr(int *cond_pred_corr, struct d_dense_qp_ipm_arg *arg); +// +void d_dense_qp_ipm_arg_set_comp_res_pred(int *comp_res_pred, struct d_dense_qp_ipm_arg *arg); +// +void d_dense_qp_ipm_arg_set_comp_res_exit(int *comp_res_exit, struct d_dense_qp_ipm_arg *arg); +// +void d_dense_qp_ipm_arg_set_lam_min(double *value, struct d_dense_qp_ipm_arg *arg); +// +void d_dense_qp_ipm_arg_set_t_min(double *value, struct d_dense_qp_ipm_arg *arg); +// +void d_dense_qp_ipm_arg_set_tau_min(double *value, struct d_dense_qp_ipm_arg *arg); +// +void d_dense_qp_ipm_arg_set_kkt_fact_alg(int *value, struct d_dense_qp_ipm_arg *arg); +// +void d_dense_qp_ipm_arg_set_remove_lin_dep_eq(int *value, struct d_dense_qp_ipm_arg *arg); +// +void d_dense_qp_ipm_arg_set_compute_obj(int *value, struct d_dense_qp_ipm_arg *arg); +// +void d_dense_qp_ipm_arg_set_t_lam_min(int *value, struct d_dense_qp_ipm_arg *arg); + +// +void d_dense_qp_ipm_arg_set_split_step(int *value, struct d_dense_qp_ipm_arg *arg); + +// +hpipm_size_t d_dense_qp_ipm_ws_memsize(struct d_dense_qp_dim *qp_dim, struct d_dense_qp_ipm_arg *arg); +// +void d_dense_qp_ipm_ws_create(struct d_dense_qp_dim *qp_dim, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws, void *mem); +// +void d_dense_qp_ipm_get(char *field, struct d_dense_qp_ipm_ws *ws, void *value); +// +void d_dense_qp_ipm_get_status(struct d_dense_qp_ipm_ws *ws, int *status); +// +void d_dense_qp_ipm_get_iter(struct d_dense_qp_ipm_ws *ws, int *iter); +// +void d_dense_qp_ipm_get_max_res_stat(struct d_dense_qp_ipm_ws *ws, double *res_stat); +// +void d_dense_qp_ipm_get_max_res_eq(struct d_dense_qp_ipm_ws *ws, double *res_eq); +// +void d_dense_qp_ipm_get_max_res_ineq(struct d_dense_qp_ipm_ws *ws, double *res_ineq); +// +void d_dense_qp_ipm_get_max_res_comp(struct d_dense_qp_ipm_ws *ws, double *res_comp); +// +void d_dense_qp_ipm_get_stat(struct d_dense_qp_ipm_ws *ws, double **stat); +// +void d_dense_qp_ipm_get_stat_m(struct d_dense_qp_ipm_ws *ws, int *stat_m); +// +void d_dense_qp_init_var(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws); +// +void d_dense_qp_ipm_abs_step(int kk, struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws); +// +void d_dense_qp_ipm_delta_step(int kk, struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws); +// +void d_dense_qp_ipm_solve(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws); +// +void d_dense_qp_ipm_predict(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws); +// +void d_dense_qp_ipm_sens(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws); +// +void d_dense_qp_compute_step_length(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws); + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + + +#endif // HPIPM_D_DENSE_QP_IPM_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_kkt.h new file mode 100644 index 0000000000..6d05779f4b --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_kkt.h @@ -0,0 +1,72 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + + + +#ifndef HPIPM_D_DENSE_QP_KKT_H_ +#define HPIPM_D_DENSE_QP_KKT_H_ + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +// +void d_fact_solve_kkt_unconstr_dense_qp(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws); +// +void d_fact_solve_kkt_step_dense_qp(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws); +// +void d_fact_lq_solve_kkt_step_dense_qp(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws); +// +void d_solve_kkt_step_dense_qp(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws); +// +void d_dense_qp_remove_lin_dep_eq(struct d_dense_qp *qp, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws); +// +void d_dense_qp_restore_lin_dep_eq(struct d_dense_qp *qp, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws); +// +void d_dense_qp_compute_obj(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws); + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + + +#endif // HPIPM_D_DENSE_QP_KKT_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_res.h new file mode 100644 index 0000000000..7c2023257a --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_res.h @@ -0,0 +1,105 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_D_DENSE_QP_RES_H_ +#define HPIPM_D_DENSE_QP_RES_H_ + + + +#include +#include + +#include +#include +#include + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct d_dense_qp_res + { + struct d_dense_qp_dim *dim; + struct blasfeo_dvec *res_g; // q-residuals + struct blasfeo_dvec *res_b; // b-residuals + struct blasfeo_dvec *res_d; // d-residuals + struct blasfeo_dvec *res_m; // m-residuals + double res_max[4]; // max of residuals + double res_mu; // mu-residual + hpipm_size_t memsize; + }; + + + +struct d_dense_qp_res_ws + { + struct blasfeo_dvec *tmp_nbg; // work space of size nbM+ngM + struct blasfeo_dvec *tmp_ns; // work space of size nsM + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t d_dense_qp_res_memsize(struct d_dense_qp_dim *dim); +// +void d_dense_qp_res_create(struct d_dense_qp_dim *dim, struct d_dense_qp_res *res, void *mem); +// +hpipm_size_t d_dense_qp_res_ws_memsize(struct d_dense_qp_dim *dim); +// +void d_dense_qp_res_ws_create(struct d_dense_qp_dim *dim, struct d_dense_qp_res_ws *workspace, void *mem); +// +void d_dense_qp_res_compute(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_res *res, struct d_dense_qp_res_ws *ws); +// +void d_dense_qp_res_compute_lin(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_sol *qp_step, struct d_dense_qp_res *res, struct d_dense_qp_res_ws *ws); +// +void d_dense_qp_res_compute_inf_norm(struct d_dense_qp_res *res); +// +void d_dense_qp_res_get_all(struct d_dense_qp_res *res, double *res_g, double *res_ls, double *res_us, double *res_b, double *res_d_lb, double *res_d_ub, double *res_d_lg, double *res_d_ug, double *res_d_ls, double *res_d_us, double *res_m_lb, double *res_m_ub, double *res_m_lg, double *res_m_ug, double *res_m_ls, double *res_m_us); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + +#endif // HPIPM_D_DENSE_QP_RES_H_ + + diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_sol.h new file mode 100644 index 0000000000..aaa3fdb0e4 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_sol.h @@ -0,0 +1,94 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + + + +#ifndef HPIPM_D_DENSE_QP_SOL_H_ +#define HPIPM_D_DENSE_QP_SOL_H_ + + + +#include +#include + +#include "hpipm_d_dense_qp_dim.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct d_dense_qp_sol + { + struct d_dense_qp_dim *dim; + struct blasfeo_dvec *v; + struct blasfeo_dvec *pi; + struct blasfeo_dvec *lam; + struct blasfeo_dvec *t; + void *misc; + double obj; + int valid_obj; + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t d_dense_qp_sol_memsize(struct d_dense_qp_dim *dim); +// +void d_dense_qp_sol_create(struct d_dense_qp_dim *dim, struct d_dense_qp_sol *qp_sol, void *memory); +// +void d_dense_qp_sol_get_all(struct d_dense_qp_sol *qp_sol, double *v, double *ls, double *us, double *pi, double *lam_lb, double *lam_ub, double *lam_lg, double *lam_ug, double *lam_ls, double *lam_us); +// +void d_dense_qp_sol_get(char *field, struct d_dense_qp_sol *sol, void *value); +// +void d_dense_qp_sol_get_v(struct d_dense_qp_sol *sol, double *v); +// +void d_dense_qp_sol_get_valid_obj(struct d_dense_qp_sol *sol, int *valid_obj); +// +void d_dense_qp_sol_get_obj(struct d_dense_qp_sol *sol, double *obj); + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + + +#endif // HPIPM_D_DENSE_QP_SOL_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_utils.h new file mode 100644 index 0000000000..ccb77aaca3 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_utils.h @@ -0,0 +1,83 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_D_DENSE_QP_UTILS_H_ +#define HPIPM_D_DENSE_QP_UTILS_H_ + + + +#include +#include + +#include "hpipm_d_dense_qp_dim.h" +#include "hpipm_d_dense_qp.h" +#include "hpipm_d_dense_qp_sol.h" +#include "hpipm_d_dense_qp_ipm.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +// +void d_dense_qp_dim_print(struct d_dense_qp_dim *qp_dim); +// +//void d_dense_qp_dim_codegen(char *file_name, char *mode, struct d_dense_qp_dim *qp_dim); +// +void d_dense_qp_print(struct d_dense_qp_dim *qp_dim, struct d_dense_qp *qp); +// +//void d_dense_qp_codegen(char *file_name, char *mode, struct d_dense_qp_dim *qp_dim, struct d_dense_qp *qp); +// +void d_dense_qp_sol_print(struct d_dense_qp_dim *qp_dim, struct d_dense_qp_sol *dense_qp_sol); +// +//void d_dense_qp_ipm_arg_codegen(char *file_name, char *mode, struct d_dense_qp_dim *qp_dim, struct d_dense_qp_ipm_arg *arg); +// +void d_dense_qp_res_print(struct d_dense_qp_dim *qp_dim, struct d_dense_qp_res *dense_qp_res); +// +void d_dense_qp_arg_print(struct d_dense_qp_dim *qp_dim, struct d_dense_qp_ipm_arg *qp_ipm_arg); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + + +#endif // HPIPM_D_DENSE_QP_UTILS_H_ + diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp.h new file mode 100644 index 0000000000..240c9b04be --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp.h @@ -0,0 +1,303 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_D_OCP_QCQP_H_ +#define HPIPM_D_OCP_QCQP_H_ + + + +#include +#include + +#include "hpipm_d_ocp_qcqp_dim.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct d_ocp_qcqp + { + struct d_ocp_qcqp_dim *dim; + struct blasfeo_dmat *BAbt; // dynamics matrix & vector work space + struct blasfeo_dmat *RSQrq; // hessian of cost & vector work space + struct blasfeo_dmat *DCt; // inequality constraints matrix + struct blasfeo_dmat **Hq; // hessians of quadratic constraints + struct blasfeo_dvec *b; // dynamics vector + struct blasfeo_dvec *rqz; // gradient of cost & gradient of slacks + struct blasfeo_dvec *d; // inequality constraints vector + struct blasfeo_dvec *d_mask; // inequality constraints mask vector + struct blasfeo_dvec *m; // rhs of complementarity condition + struct blasfeo_dvec *Z; // (diagonal) hessian of slacks + int **idxb; // indices of box constrained variables within [u; x] + int **idxs_rev; // index of soft constraints (reverse storage) + int **Hq_nzero; // for each int, the last 3 bits ...abc, {a,b,c}=0 => {R,S,Q}=0 + hpipm_size_t memsize; // memory size in bytes + }; + + + +// +hpipm_size_t d_ocp_qcqp_strsize(); +// +hpipm_size_t d_ocp_qcqp_memsize(struct d_ocp_qcqp_dim *dim); +// +void d_ocp_qcqp_create(struct d_ocp_qcqp_dim *dim, struct d_ocp_qcqp *qp, void *memory); +// +void d_ocp_qcqp_copy_all(struct d_ocp_qcqp *qp_orig, struct d_ocp_qcqp *qp_dest); + +// setters +// +void d_ocp_qcqp_set_all_zero(struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_rhs_zero(struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set(char *field_name, int stage, void *value, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_el(char *field_name, int stage, int index, void *value, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_A(int stage, double *mat, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_B(int stage, double *mat, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_b(int stage, double *vec, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_Q(int stage, double *mat, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_S(int stage, double *mat, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_R(int stage, double *mat, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_q(int stage, double *vec, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_r(int stage, double *vec, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_lb(int stage, double *vec, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_lb_mask(int stage, double *vec, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_ub(int stage, double *vec, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_ub_mask(int stage, double *vec, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_lbx(int stage, double *vec, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_lbx_mask(int stage, double *vec, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_el_lbx(int stage, int index, double *elem, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_ubx(int stage, double *vec, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_ubx_mask(int stage, double *vec, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_el_ubx(int stage, int index, double *elem, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_lbu(int stage, double *vec, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_lbu_mask(int stage, double *vec, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_ubu(int stage, double *vec, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_ubu_mask(int stage, double *vec, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_idxb(int stage, int *vec, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_idxbx(int stage, int *vec, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_Jbx(int stage, double *vec, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_idxbu(int stage, int *vec, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_Jbu(int stage, double *vec, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_C(int stage, double *mat, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_D(int stage, double *mat, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_lg(int stage, double *vec, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_lg_mask(int stage, double *vec, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_ug(int stage, double *vec, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_ug_mask(int stage, double *vec, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_Qq(int stage, double *mat, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_Sq(int stage, double *mat, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_Rq(int stage, double *mat, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_qq(int stage, double *vec, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_rq(int stage, double *vec, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_uq(int stage, double *vec, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_uq_mask(int stage, double *vec, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_Zl(int stage, double *vec, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_Zu(int stage, double *vec, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_zl(int stage, double *vec, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_zu(int stage, double *vec, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_lls(int stage, double *vec, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_lls_mask(int stage, double *vec, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_lus(int stage, double *vec, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_lus_mask(int stage, double *vec, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_idxs(int stage, int *vec, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_idxs_rev(int stage, int *vec, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_Jsbu(int stage, double *vec, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_Jsbx(int stage, double *vec, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_Jsg(int stage, double *vec, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_set_Jsq(int stage, double *vec, struct d_ocp_qcqp *qp); + +// getters +// +void d_ocp_qcqp_get(char *field, int stage, struct d_ocp_qcqp *qp, void *value); +// +void d_ocp_qcqp_get_A(int stage, struct d_ocp_qcqp *qp, double *mat); +// +void d_ocp_qcqp_get_B(int stage, struct d_ocp_qcqp *qp, double *mat); +// +void d_ocp_qcqp_get_b(int stage, struct d_ocp_qcqp *qp, double *vec); +// +void d_ocp_qcqp_get_Q(int stage, struct d_ocp_qcqp *qp, double *mat); +// +void d_ocp_qcqp_get_S(int stage, struct d_ocp_qcqp *qp, double *mat); +// +void d_ocp_qcqp_get_R(int stage, struct d_ocp_qcqp *qp, double *mat); +// +void d_ocp_qcqp_get_q(int stage, struct d_ocp_qcqp *qp, double *vec); +// +void d_ocp_qcqp_get_r(int stage, struct d_ocp_qcqp *qp, double *vec); +// +void d_ocp_qcqp_get_ub(int stage, struct d_ocp_qcqp *qp, double *vec); +// +void d_ocp_qcqp_get_ub_mask(int stage, struct d_ocp_qcqp *qp, double *vec); +// +void d_ocp_qcqp_get_lb(int stage, struct d_ocp_qcqp *qp, double *vec); +// +void d_ocp_qcqp_get_lb_mask(int stage, struct d_ocp_qcqp *qp, double *vec); +// +void d_ocp_qcqp_get_lbx(int stage, struct d_ocp_qcqp *qp, double *vec); +// +void d_ocp_qcqp_get_lbx_mask(int stage, struct d_ocp_qcqp *qp, double *vec); +// +void d_ocp_qcqp_get_ubx(int stage, struct d_ocp_qcqp *qp, double *vec); +// +void d_ocp_qcqp_get_ubx_mask(int stage, struct d_ocp_qcqp *qp, double *vec); +// +void d_ocp_qcqp_get_lbu(int stage, struct d_ocp_qcqp *qp, double *vec); +// +void d_ocp_qcqp_get_lbu_mask(int stage, struct d_ocp_qcqp *qp, double *vec); +// +void d_ocp_qcqp_get_ubu(int stage, struct d_ocp_qcqp *qp, double *vec); +// +void d_ocp_qcqp_get_ubu_mask(int stage, struct d_ocp_qcqp *qp, double *vec); +// +void d_ocp_qcqp_get_idxb(int stage, struct d_ocp_qcqp *qp, int *vec); +// +//void d_ocp_qcqp_get_idxbx(int stage, struct d_ocp_qcqp *qp, int *vec); +// +//void d_ocp_qcqp_get_Jbx(int stage, struct d_ocp_qcqp *qp, double *vec); +// +//void d_ocp_qcqp_get_idxbu(int stage, struct d_ocp_qcqp *qp, int *vec); +// +//void d_ocp_qcqp_get_Jbu(int stage, struct d_ocp_qcqp *qp, double *vec); +// +void d_ocp_qcqp_get_C(int stage, struct d_ocp_qcqp *qp, double *mat); +// +void d_ocp_qcqp_get_D(int stage, struct d_ocp_qcqp *qp, double *mat); +// +void d_ocp_qcqp_get_lg(int stage, struct d_ocp_qcqp *qp, double *vec); +// +void d_ocp_qcqp_get_lg_mask(int stage, struct d_ocp_qcqp *qp, double *vec); +// +void d_ocp_qcqp_get_ug(int stage, struct d_ocp_qcqp *qp, double *vec); +// +void d_ocp_qcqp_get_ug_mask(int stage, struct d_ocp_qcqp *qp, double *vec); +// +void d_ocp_qcqp_get_Zl(int stage, struct d_ocp_qcqp *qp, double *vec); +// +void d_ocp_qcqp_get_Zu(int stage, struct d_ocp_qcqp *qp, double *vec); +// +void d_ocp_qcqp_get_zl(int stage, struct d_ocp_qcqp *qp, double *vec); +// +void d_ocp_qcqp_get_zu(int stage, struct d_ocp_qcqp *qp, double *vec); +// +void d_ocp_qcqp_get_lls(int stage, struct d_ocp_qcqp *qp, double *vec); +// +void d_ocp_qcqp_get_lls_mask(int stage, struct d_ocp_qcqp *qp, double *vec); +// +void d_ocp_qcqp_get_lus(int stage, struct d_ocp_qcqp *qp, double *vec); +// +void d_ocp_qcqp_get_lus_mask(int stage, struct d_ocp_qcqp *qp, double *vec); +// XXX only valid if there is one slack per softed constraint !!! +void d_ocp_qcqp_get_idxs(int stage, struct d_ocp_qcqp *qp, int *vec); +// +void d_ocp_qcqp_get_idxs_rev(int stage, struct d_ocp_qcqp *qp, int *vec); +// +//void d_ocp_qcqp_get_Jsbu(int stage, struct d_ocp_qcqp *qp, float *vec); +// +//void d_ocp_qcqp_get_Jsbx(int stage, struct d_ocp_qcqp *qp, float *vec); +// +//void d_ocp_qcqp_get_Jsg(int stage, struct d_ocp_qcqp *qp, float *vec); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + + +#endif // HPIPM_D_OCP_QCQP_H_ + diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_dim.h new file mode 100644 index 0000000000..268628a2b2 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_dim.h @@ -0,0 +1,118 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_D_OCP_QCQP_DIM_H_ +#define HPIPM_D_OCP_QCQP_DIM_H_ + +#include "hpipm_common.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct d_ocp_qcqp_dim + { + struct d_ocp_qp_dim *qp_dim; // dim of qp approximation + int *nx; // number of states + int *nu; // number of inputs + int *nb; // number of box constraints + int *nbx; // number of (two-sided) state box constraints + int *nbu; // number of (two-sided) input box constraints + int *ng; // number of (two-sided) general constraints + int *nq; // number of (upper) quadratic constraints + int *ns; // number of soft constraints + int *nsbx; // number of (two-sided) soft state box constraints + int *nsbu; // number of (two-sided) soft input box constraints + int *nsg; // number of (two-sided) soft general constraints + int *nsq; // number of (upper) soft quadratic constraints + int N; // horizon length + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t d_ocp_qcqp_dim_strsize(); +// +hpipm_size_t d_ocp_qcqp_dim_memsize(int N); +// +void d_ocp_qcqp_dim_create(int N, struct d_ocp_qcqp_dim *qp_dim, void *memory); +// +void d_ocp_qcqp_dim_copy_all(struct d_ocp_qcqp_dim *dim_orig, struct d_ocp_qcqp_dim *dim_dest); +// +void d_ocp_qcqp_dim_set(char *field, int stage, int value, struct d_ocp_qcqp_dim *dim); +// +void d_ocp_qcqp_dim_set_nx(int stage, int value, struct d_ocp_qcqp_dim *dim); +// +void d_ocp_qcqp_dim_set_nu(int stage, int value, struct d_ocp_qcqp_dim *dim); +// +void d_ocp_qcqp_dim_set_nbx(int stage, int value, struct d_ocp_qcqp_dim *dim); +// +void d_ocp_qcqp_dim_set_nbu(int stage, int value, struct d_ocp_qcqp_dim *dim); +// +void d_ocp_qcqp_dim_set_ng(int stage, int value, struct d_ocp_qcqp_dim *dim); +// +void d_ocp_qcqp_dim_set_nq(int stage, int value, struct d_ocp_qcqp_dim *dim); +// +void d_ocp_qcqp_dim_set_ns(int stage, int value, struct d_ocp_qcqp_dim *dim); +// +void d_ocp_qcqp_dim_set_nsbx(int stage, int value, struct d_ocp_qcqp_dim *dim); +// +void d_ocp_qcqp_dim_set_nsbu(int stage, int value, struct d_ocp_qcqp_dim *dim); +// +void d_ocp_qcqp_dim_set_nsg(int stage, int value, struct d_ocp_qcqp_dim *dim); +// +void d_ocp_qcqp_dim_set_nsq(int stage, int value, struct d_ocp_qcqp_dim *dim); +// +void d_ocp_qcqp_dim_get(struct d_ocp_qcqp_dim *dim, char *field, int stage, int *value); +// +void d_ocp_qcqp_dim_get_N(struct d_ocp_qcqp_dim *dim, int *value); +// +void d_ocp_qcqp_dim_get_nx(struct d_ocp_qcqp_dim *dim, int stage, int *value); +// +void d_ocp_qcqp_dim_get_nu(struct d_ocp_qcqp_dim *dim, int stage, int *value); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + + +#endif // HPIPM_D_OCP_QCQP_DIM_H_ + diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_ipm.h new file mode 100644 index 0000000000..99f2329dcc --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_ipm.h @@ -0,0 +1,190 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_D_OCP_QCQP_IPM_H_ +#define HPIPM_D_OCP_QCQP_IPM_H_ + + + +#include +#include + +#include +#include +#include +#include +#include + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct d_ocp_qcqp_ipm_arg + { + struct d_ocp_qp_ipm_arg *qp_arg; + double mu0; // initial value for complementarity slackness + double alpha_min; // exit cond on step length + double res_g_max; // exit cond on inf norm of residuals + double res_b_max; // exit cond on inf norm of residuals + double res_d_max; // exit cond on inf norm of residuals + double res_m_max; // exit cond on inf norm of residuals + double reg_prim; // reg of primal hessian + double lam_min; // min value in lam vector + double t_min; // min value in t vector + int iter_max; // exit cond in iter number + int stat_max; // iterations saved in stat + int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm + int cond_pred_corr; // conditional Mehrotra's predictor-corrector + int itref_pred_max; // max number of iterative refinement steps for predictor step + int itref_corr_max; // max number of iterative refinement steps for corrector step + int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol + int square_root_alg; // 0 classical Riccati, 1 square-root Riccati + int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1) + int abs_form; // absolute IPM formulation + int comp_dual_sol_eq; // dual solution of equality constrains (only for abs_form==1) + int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1) + int comp_res_pred; // compute residuals of prediction + int split_step; // use different step for primal and dual variables + int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution + int mode; + hpipm_size_t memsize; + }; + + + +struct d_ocp_qcqp_ipm_ws + { + struct d_ocp_qp_ipm_ws *qp_ws; + struct d_ocp_qp *qp; + struct d_ocp_qp_sol *qp_sol; + struct d_ocp_qcqp_res_ws *qcqp_res_ws; + struct d_ocp_qcqp_res *qcqp_res; + struct blasfeo_dvec *tmp_nuxM; + int iter; // iteration number + int status; + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t d_ocp_qcqp_ipm_arg_strsize(); +// +hpipm_size_t d_ocp_qcqp_ipm_arg_memsize(struct d_ocp_qcqp_dim *ocp_dim); +// +void d_ocp_qcqp_ipm_arg_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_ipm_arg *arg, void *mem); +// +void d_ocp_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct d_ocp_qcqp_ipm_arg *arg); +// +void d_ocp_qcqp_ipm_arg_set(char *field, void *value, struct d_ocp_qcqp_ipm_arg *arg); +// set maximum number of iterations +void d_ocp_qcqp_ipm_arg_set_iter_max(int *value, struct d_ocp_qcqp_ipm_arg *arg); +// set minimum step lenght +void d_ocp_qcqp_ipm_arg_set_alpha_min(double *value, struct d_ocp_qcqp_ipm_arg *arg); +// set initial value of barrier parameter +void d_ocp_qcqp_ipm_arg_set_mu0(double *value, struct d_ocp_qcqp_ipm_arg *arg); +// set exit tolerance on stationarity condition +void d_ocp_qcqp_ipm_arg_set_tol_stat(double *value, struct d_ocp_qcqp_ipm_arg *arg); +// set exit tolerance on equality constr +void d_ocp_qcqp_ipm_arg_set_tol_eq(double *value, struct d_ocp_qcqp_ipm_arg *arg); +// set exit tolerance on inequality constr +void d_ocp_qcqp_ipm_arg_set_tol_ineq(double *value, struct d_ocp_qcqp_ipm_arg *arg); +// set exit tolerance on complementarity condition +void d_ocp_qcqp_ipm_arg_set_tol_comp(double *value, struct d_ocp_qcqp_ipm_arg *arg); +// set regularization of primal variables +void d_ocp_qcqp_ipm_arg_set_reg_prim(double *value, struct d_ocp_qcqp_ipm_arg *arg); +// set warm start: 0 no warm start, 1 primal var +void d_ocp_qcqp_ipm_arg_set_warm_start(int *value, struct d_ocp_qcqp_ipm_arg *arg); +// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector +void d_ocp_qcqp_ipm_arg_set_pred_corr(int *value, struct d_ocp_qcqp_ipm_arg *arg); +// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector +void d_ocp_qcqp_ipm_arg_set_cond_pred_corr(int *value, struct d_ocp_qcqp_ipm_arg *arg); +// set riccati algorithm: 0 classic, 1 square-root +void d_ocp_qcqp_ipm_arg_set_ric_alg(int *value, struct d_ocp_qcqp_ipm_arg *arg); +// compute residuals after solution +void d_ocp_qcqp_ipm_arg_set_comp_res_exit(int *value, struct d_ocp_qcqp_ipm_arg *arg); +// compute residuals of prediction +void d_ocp_qcqp_ipm_arg_set_comp_res_pred(int *value, struct d_ocp_qcqp_ipm_arg *arg); +// min value of lam in the solution +void d_ocp_qcqp_ipm_arg_set_lam_min(double *value, struct d_ocp_qcqp_ipm_arg *arg); +// min value of t in the solution +void d_ocp_qcqp_ipm_arg_set_t_min(double *value, struct d_ocp_qcqp_ipm_arg *arg); +// use different step for primal and dual variables +void d_ocp_qcqp_ipm_arg_set_split_step(int *value, struct d_ocp_qcqp_ipm_arg *arg); +// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution +void d_ocp_qcqp_ipm_arg_set_t_lam_min(int *value, struct d_ocp_qcqp_ipm_arg *arg); + +// +hpipm_size_t d_ocp_qcqp_ipm_ws_strsize(); +// +hpipm_size_t d_ocp_qcqp_ipm_ws_memsize(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_ipm_arg *arg); +// +void d_ocp_qcqp_ipm_ws_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_ipm_arg *arg, struct d_ocp_qcqp_ipm_ws *ws, void *mem); +// +void d_ocp_qcqp_ipm_get(char *field, struct d_ocp_qcqp_ipm_ws *ws, void *value); +// +void d_ocp_qcqp_ipm_get_status(struct d_ocp_qcqp_ipm_ws *ws, int *status); +// +void d_ocp_qcqp_ipm_get_iter(struct d_ocp_qcqp_ipm_ws *ws, int *iter); +// +void d_ocp_qcqp_ipm_get_max_res_stat(struct d_ocp_qcqp_ipm_ws *ws, double *res_stat); +// +void d_ocp_qcqp_ipm_get_max_res_eq(struct d_ocp_qcqp_ipm_ws *ws, double *res_eq); +// +void d_ocp_qcqp_ipm_get_max_res_ineq(struct d_ocp_qcqp_ipm_ws *ws, double *res_ineq); +// +void d_ocp_qcqp_ipm_get_max_res_comp(struct d_ocp_qcqp_ipm_ws *ws, double *res_comp); +// +void d_ocp_qcqp_ipm_get_stat(struct d_ocp_qcqp_ipm_ws *ws, double **stat); +// +void d_ocp_qcqp_ipm_get_stat_m(struct d_ocp_qcqp_ipm_ws *ws, int *stat_m); +// +void d_ocp_qcqp_init_var(struct d_ocp_qcqp *qp, struct d_ocp_qcqp_sol *qp_sol, struct d_ocp_qcqp_ipm_arg *arg, struct d_ocp_qcqp_ipm_ws *ws); +// +void d_ocp_qcqp_ipm_solve(struct d_ocp_qcqp *qp, struct d_ocp_qcqp_sol *qp_sol, struct d_ocp_qcqp_ipm_arg *arg, struct d_ocp_qcqp_ipm_ws *ws); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + +#endif // HPIPM_D_OCP_QCQP_IPM_H_ + diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_res.h new file mode 100644 index 0000000000..077f134677 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_res.h @@ -0,0 +1,114 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_D_OCP_QCQP_RES_H_ +#define HPIPM_D_OCP_QCQP_RES_H_ + + + +#include +#include + +#include +#include +#include +#include + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct d_ocp_qcqp_res + { + struct d_ocp_qcqp_dim *dim; + struct blasfeo_dvec *res_g; // q-residuals + struct blasfeo_dvec *res_b; // b-residuals + struct blasfeo_dvec *res_d; // d-residuals + struct blasfeo_dvec *res_m; // m-residuals + double res_max[4]; // max of residuals + double res_mu; // mu-residual + hpipm_size_t memsize; + }; + + + +struct d_ocp_qcqp_res_ws + { + struct blasfeo_dvec *tmp_nuxM; // work space of size nuM+nxM + struct blasfeo_dvec *tmp_nbgqM; // work space of size nbM+ngM+nqM + struct blasfeo_dvec *tmp_nsM; // work space of size nsM + struct blasfeo_dvec *q_fun; // value for evaluation of quadr constr + struct blasfeo_dvec *q_adj; // value for adjoint of quadr constr + int use_q_fun; // reuse cached value for evaluation of quadr constr + int use_q_adj; // reuse cached value for adjoint of quadr constr + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t d_ocp_qcqp_res_memsize(struct d_ocp_qcqp_dim *ocp_dim); +// +void d_ocp_qcqp_res_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_res *res, void *mem); +// +hpipm_size_t d_ocp_qcqp_res_ws_memsize(struct d_ocp_qcqp_dim *ocp_dim); +// +void d_ocp_qcqp_res_ws_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_res_ws *workspace, void *mem); +// +void d_ocp_qcqp_res_compute(struct d_ocp_qcqp *qp, struct d_ocp_qcqp_sol *qp_sol, struct d_ocp_qcqp_res *res, struct d_ocp_qcqp_res_ws *ws); +// +void d_ocp_qcqp_res_compute_inf_norm(struct d_ocp_qcqp_res *res); +// +void d_ocp_qcqp_res_get_max_res_stat(struct d_ocp_qcqp_res *res, double *value); +// +void d_ocp_qcqp_res_get_max_res_eq(struct d_ocp_qcqp_res *res, double *value); +// +void d_ocp_qcqp_res_get_max_res_ineq(struct d_ocp_qcqp_res *res, double *value); +// +void d_ocp_qcqp_res_get_max_res_comp(struct d_ocp_qcqp_res *res, double *value); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + +#endif // HPIPM_D_OCP_QCQP_RES_H_ + diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_sol.h new file mode 100644 index 0000000000..68adbfce2d --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_sol.h @@ -0,0 +1,114 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_D_OCP_QCQP_SOL_H_ +#define HPIPM_D_OCP_QCQP_SOL_H_ + + + +#include +#include + +#include "hpipm_d_ocp_qcqp_dim.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct d_ocp_qcqp_sol + { + struct d_ocp_qcqp_dim *dim; + struct blasfeo_dvec *ux; + struct blasfeo_dvec *pi; + struct blasfeo_dvec *lam; + struct blasfeo_dvec *t; + hpipm_size_t memsize; // memory size in bytes + }; + + + +// +hpipm_size_t d_ocp_qcqp_sol_strsize(); +// +hpipm_size_t d_ocp_qcqp_sol_memsize(struct d_ocp_qcqp_dim *dim); +// +void d_ocp_qcqp_sol_create(struct d_ocp_qcqp_dim *dim, struct d_ocp_qcqp_sol *qp_sol, void *memory); +// +void d_ocp_qcqp_sol_copy_all(struct d_ocp_qcqp_sol *qp_sol_orig, struct d_ocp_qcqp_sol *qp_sol_dest); +// +void d_ocp_qcqp_sol_get(char *field, int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec); +// +void d_ocp_qcqp_sol_get_u(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec); +// +void d_ocp_qcqp_sol_get_x(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec); +// +void d_ocp_qcqp_sol_get_sl(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec); +// +void d_ocp_qcqp_sol_get_su(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec); +// +void d_ocp_qcqp_sol_get_pi(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec); +// +void d_ocp_qcqp_sol_get_lam_lb(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec); +// +void d_ocp_qcqp_sol_get_lam_ub(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec); +// +void d_ocp_qcqp_sol_get_lam_lg(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec); +// +void d_ocp_qcqp_sol_get_lam_ug(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec); +// +void d_ocp_qcqp_sol_set(char *field, int stage, double *vec, struct d_ocp_qcqp_sol *qp_sol); +// +void d_ocp_qcqp_sol_set_u(int stage, double *vec, struct d_ocp_qcqp_sol *qp_sol); +// +void d_ocp_qcqp_sol_set_x(int stage, double *vec, struct d_ocp_qcqp_sol *qp_sol); +// +void d_ocp_qcqp_sol_set_sl(int stage, double *vec, struct d_ocp_qcqp_sol *qp_sol); +// +void d_ocp_qcqp_sol_set_su(int stage, double *vec, struct d_ocp_qcqp_sol *qp_sol); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + + +#endif // HPIPM_D_OCP_QCQP_SOL_H_ + diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_utils.h new file mode 100644 index 0000000000..00248f1dbe --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_utils.h @@ -0,0 +1,81 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_D_OCP_QCQP_UTILS_H_ +#define HPIPM_D_OCP_QCQP_UTILS_H_ + + + +#include +#include + +#include "hpipm_d_ocp_qcqp_dim.h" +#include "hpipm_d_ocp_qp.h" +#include "hpipm_d_ocp_qcqp_sol.h" +#include "hpipm_d_ocp_qcqp_ipm.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +// +void d_ocp_qcqp_dim_print(struct d_ocp_qcqp_dim *qcqp_dim); +// +void d_ocp_qcqp_dim_codegen(char *file_name, char *mode, struct d_ocp_qcqp_dim *qcqp_dim); +// +void d_ocp_qcqp_print(struct d_ocp_qcqp_dim *qcqp_dim, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_codegen(char *file_name, char *mode, struct d_ocp_qcqp_dim *qcqp_dim, struct d_ocp_qcqp *qp); +// +void d_ocp_qcqp_sol_print(struct d_ocp_qcqp_dim *qcqp_dim, struct d_ocp_qcqp_sol *ocp_qcqp_sol); +// +void d_ocp_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct d_ocp_qcqp_dim *qcqp_dim, struct d_ocp_qcqp_ipm_arg *arg); +// +void d_ocp_qcqp_res_print(struct d_ocp_qcqp_dim *qcqp_dim, struct d_ocp_qcqp_res *ocp_qcqp_res); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + + +#endif // HPIPM_D_OCP_QCQP_UTILS_H_ + diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp.h new file mode 100644 index 0000000000..ca26cdba34 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp.h @@ -0,0 +1,306 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_D_OCP_QP_H_ +#define HPIPM_D_OCP_QP_H_ + + + +#include +#include + +#include "hpipm_d_ocp_qp_dim.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct d_ocp_qp + { + struct d_ocp_qp_dim *dim; + struct blasfeo_dmat *BAbt; // dynamics matrix & vector work space + struct blasfeo_dmat *RSQrq; // hessian of cost & vector work space + struct blasfeo_dmat *DCt; // inequality constraints matrix + struct blasfeo_dvec *b; // dynamics vector + struct blasfeo_dvec *rqz; // gradient of cost & gradient of slacks + struct blasfeo_dvec *d; // inequality constraints vector + struct blasfeo_dvec *d_mask; // inequality constraints mask vector + struct blasfeo_dvec *m; // rhs of complementarity condition + struct blasfeo_dvec *Z; // (diagonal) hessian of slacks + int **idxb; // indices of box constrained variables within [u; x] + int **idxs_rev; // index of soft constraints (reverse storage) + int **idxe; // indices of constraints within [bu, bx, g] that are equalities, subset of [0, ..., nbu+nbx+ng-1] + int *diag_H_flag; // flag the fact that Hessian is diagonal + hpipm_size_t memsize; // memory size in bytes + }; + + + +// +hpipm_size_t d_ocp_qp_strsize(); +// +hpipm_size_t d_ocp_qp_memsize(struct d_ocp_qp_dim *dim); +// +void d_ocp_qp_create(struct d_ocp_qp_dim *dim, struct d_ocp_qp *qp, void *memory); +// +void d_ocp_qp_copy_all(struct d_ocp_qp *qp_orig, struct d_ocp_qp *qp_dest); + +// setters +// +void d_ocp_qp_set_all_zero(struct d_ocp_qp *qp); +// +void d_ocp_qp_set_rhs_zero(struct d_ocp_qp *qp); +// +void d_ocp_qp_set_all(double **A, double **B, double **b, double **Q, double **S, double **R, double **q, double **r, int **idxbx, double **lbx, double **ubx, int **idxbu, double **lbu, double **ubu, double **C, double **D, double **lg, double **ug, double **Zl, double **Zu, double **zl, double **zu, int **idxs, double **ls, double **us, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_all_rowmaj(double **A, double **B, double **b, double **Q, double **S, double **R, double **q, double **r, int **idxbx, double **lbx, double **ubx, int **idxbu, double **lbu, double **ubu, double **C, double **D, double **lg, double **ug, double **Zl, double **Zu, double **zl, double **zu, int **idxs, double **ls, double **us, struct d_ocp_qp *qp); +// +void d_ocp_qp_set(char *field_name, int stage, void *value, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_el(char *field_name, int stage, int index, void *value, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_A(int stage, double *mat, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_B(int stage, double *mat, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_b(int stage, double *vec, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_Q(int stage, double *mat, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_S(int stage, double *mat, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_R(int stage, double *mat, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_q(int stage, double *vec, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_r(int stage, double *vec, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_lb(int stage, double *vec, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_lb_mask(int stage, double *vec, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_ub(int stage, double *vec, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_ub_mask(int stage, double *vec, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_lbx(int stage, double *vec, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_lbx_mask(int stage, double *vec, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_el_lbx(int stage, int index, double *elem, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_ubx(int stage, double *vec, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_ubx_mask(int stage, double *vec, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_el_ubx(int stage, int index, double *elem, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_lbu(int stage, double *vec, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_lbu_mask(int stage, double *vec, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_ubu(int stage, double *vec, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_ubu_mask(int stage, double *vec, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_idxb(int stage, int *vec, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_idxbx(int stage, int *vec, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_Jbx(int stage, double *vec, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_idxbu(int stage, int *vec, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_Jbu(int stage, double *vec, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_C(int stage, double *mat, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_D(int stage, double *mat, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_lg(int stage, double *vec, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_lg_mask(int stage, double *vec, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_ug(int stage, double *vec, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_ug_mask(int stage, double *vec, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_Zl(int stage, double *vec, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_Zu(int stage, double *vec, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_zl(int stage, double *vec, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_zu(int stage, double *vec, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_lls(int stage, double *vec, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_lls_mask(int stage, double *vec, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_lus(int stage, double *vec, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_lus_mask(int stage, double *vec, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_idxs(int stage, int *vec, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_idxs_rev(int stage, int *vec, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_Jsbu(int stage, double *vec, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_Jsbx(int stage, double *vec, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_Jsg(int stage, double *vec, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_idxe(int stage, int *vec, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_idxbxe(int stage, int *vec, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_idxbue(int stage, int *vec, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_idxge(int stage, int *vec, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_Jbxe(int stage, double *vec, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_Jbue(int stage, double *vec, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_Jge(int stage, double *vec, struct d_ocp_qp *qp); +// +void d_ocp_qp_set_diag_H_flag(int stage, int *value, struct d_ocp_qp *qp); + +// getters +// +void d_ocp_qp_get(char *field, int stage, struct d_ocp_qp *qp, void *value); +// +void d_ocp_qp_get_A(int stage, struct d_ocp_qp *qp, double *mat); +// +void d_ocp_qp_get_B(int stage, struct d_ocp_qp *qp, double *mat); +// +void d_ocp_qp_get_b(int stage, struct d_ocp_qp *qp, double *vec); +// +void d_ocp_qp_get_Q(int stage, struct d_ocp_qp *qp, double *mat); +// +void d_ocp_qp_get_S(int stage, struct d_ocp_qp *qp, double *mat); +// +void d_ocp_qp_get_R(int stage, struct d_ocp_qp *qp, double *mat); +// +void d_ocp_qp_get_q(int stage, struct d_ocp_qp *qp, double *vec); +// +void d_ocp_qp_get_r(int stage, struct d_ocp_qp *qp, double *vec); +// +void d_ocp_qp_get_ub(int stage, struct d_ocp_qp *qp, double *vec); +// +void d_ocp_qp_get_ub_mask(int stage, struct d_ocp_qp *qp, double *vec); +// +void d_ocp_qp_get_lb(int stage, struct d_ocp_qp *qp, double *vec); +// +void d_ocp_qp_get_lb_mask(int stage, struct d_ocp_qp *qp, double *vec); +// +void d_ocp_qp_get_lbx(int stage, struct d_ocp_qp *qp, double *vec); +// +void d_ocp_qp_get_lbx_mask(int stage, struct d_ocp_qp *qp, double *vec); +// +void d_ocp_qp_get_ubx(int stage, struct d_ocp_qp *qp, double *vec); +// +void d_ocp_qp_get_ubx_mask(int stage, struct d_ocp_qp *qp, double *vec); +// +void d_ocp_qp_get_lbu(int stage, struct d_ocp_qp *qp, double *vec); +// +void d_ocp_qp_get_lbu_mask(int stage, struct d_ocp_qp *qp, double *vec); +// +void d_ocp_qp_get_ubu(int stage, struct d_ocp_qp *qp, double *vec); +// +void d_ocp_qp_get_ubu_mask(int stage, struct d_ocp_qp *qp, double *vec); +// +void d_ocp_qp_get_idxb(int stage, struct d_ocp_qp *qp, int *vec); +// +//void d_ocp_qp_get_idxbx(int stage, struct d_ocp_qp *qp, int *vec); +// +//void d_ocp_qp_get_Jbx(int stage, struct d_ocp_qp *qp, double *vec); +// +//void d_ocp_qp_get_idxbu(int stage, struct d_ocp_qp *qp, int *vec); +// +//void d_ocp_qp_get_Jbu(int stage, struct d_ocp_qp *qp, double *vec); +// +void d_ocp_qp_get_C(int stage, struct d_ocp_qp *qp, double *mat); +// +void d_ocp_qp_get_D(int stage, struct d_ocp_qp *qp, double *mat); +// +void d_ocp_qp_get_lg(int stage, struct d_ocp_qp *qp, double *vec); +// +void d_ocp_qp_get_lg_mask(int stage, struct d_ocp_qp *qp, double *vec); +// +void d_ocp_qp_get_ug(int stage, struct d_ocp_qp *qp, double *vec); +// +void d_ocp_qp_get_ug_mask(int stage, struct d_ocp_qp *qp, double *vec); +// +void d_ocp_qp_get_Zl(int stage, struct d_ocp_qp *qp, double *vec); +// +void d_ocp_qp_get_Zu(int stage, struct d_ocp_qp *qp, double *vec); +// +void d_ocp_qp_get_zl(int stage, struct d_ocp_qp *qp, double *vec); +// +void d_ocp_qp_get_zu(int stage, struct d_ocp_qp *qp, double *vec); +// +void d_ocp_qp_get_lls(int stage, struct d_ocp_qp *qp, double *vec); +// +void d_ocp_qp_get_lls_mask(int stage, struct d_ocp_qp *qp, double *vec); +// +void d_ocp_qp_get_lus(int stage, struct d_ocp_qp *qp, double *vec); +// +void d_ocp_qp_get_lus_mask(int stage, struct d_ocp_qp *qp, double *vec); +// XXX only valid if there is one slack per softed constraint !!! +void d_ocp_qp_get_idxs(int stage, struct d_ocp_qp *qp, int *vec); +// +void d_ocp_qp_get_idxs_rev(int stage, struct d_ocp_qp *qp, int *vec); +// +//void d_ocp_qp_get_Jsbu(int stage, struct d_ocp_qp *qp, float *vec); +// +//void d_ocp_qp_get_Jsbx(int stage, struct d_ocp_qp *qp, float *vec); +// +//void d_ocp_qp_get_Jsg(int stage, struct d_ocp_qp *qp, float *vec); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + + +#endif // HPIPM_D_OCP_QP_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_dim.h new file mode 100644 index 0000000000..dcfb801d31 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_dim.h @@ -0,0 +1,142 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_D_OCP_QP_DIM_H_ +#define HPIPM_D_OCP_QP_DIM_H_ + +#include "hpipm_common.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct d_ocp_qp_dim + { + int *nx; // number of states + int *nu; // number of inputs + int *nb; // number of box constraints + int *nbx; // number of state box constraints + int *nbu; // number of input box constraints + int *ng; // number of general constraints + int *ns; // number of soft constraints + int *nsbx; // number of soft state box constraints + int *nsbu; // number of soft input box constraints + int *nsg; // number of soft general constraints + int *nbxe; // number of state box constraints which are equality + int *nbue; // number of input box constraints which are equality + int *nge; // number of general constraints which are equality + int N; // horizon length + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t d_ocp_qp_dim_strsize(); +// +hpipm_size_t d_ocp_qp_dim_memsize(int N); +// +void d_ocp_qp_dim_create(int N, struct d_ocp_qp_dim *qp_dim, void *memory); +// +void d_ocp_qp_dim_copy_all(struct d_ocp_qp_dim *dim_orig, struct d_ocp_qp_dim *dim_dest); +// +void d_ocp_qp_dim_set_all(int *nx, int *nu, int *nbx, int *nbu, int *ng, int *nsbx, int *nsbu, int *nsg, struct d_ocp_qp_dim *dim); +// +void d_ocp_qp_dim_set(char *field, int stage, int value, struct d_ocp_qp_dim *dim); +// +void d_ocp_qp_dim_set_nx(int stage, int value, struct d_ocp_qp_dim *dim); +// +void d_ocp_qp_dim_set_nu(int stage, int value, struct d_ocp_qp_dim *dim); +// +void d_ocp_qp_dim_set_nbx(int stage, int value, struct d_ocp_qp_dim *dim); +// +void d_ocp_qp_dim_set_nbu(int stage, int value, struct d_ocp_qp_dim *dim); +// +void d_ocp_qp_dim_set_ng(int stage, int value, struct d_ocp_qp_dim *dim); +// +void d_ocp_qp_dim_set_ns(int stage, int value, struct d_ocp_qp_dim *dim); +// +void d_ocp_qp_dim_set_nsbx(int stage, int value, struct d_ocp_qp_dim *dim); +// +void d_ocp_qp_dim_set_nsbu(int stage, int value, struct d_ocp_qp_dim *dim); +// +void d_ocp_qp_dim_set_nsg(int stage, int value, struct d_ocp_qp_dim *dim); +// +void d_ocp_qp_dim_set_nbxe(int stage, int value, struct d_ocp_qp_dim *dim); +// +void d_ocp_qp_dim_set_nbue(int stage, int value, struct d_ocp_qp_dim *dim); +// +void d_ocp_qp_dim_set_nge(int stage, int value, struct d_ocp_qp_dim *dim); +// +void d_ocp_qp_dim_get(struct d_ocp_qp_dim *dim, char *field, int stage, int *value); +// +void d_ocp_qp_dim_get_N(struct d_ocp_qp_dim *dim, int *value); +// +void d_ocp_qp_dim_get_nx(struct d_ocp_qp_dim *dim, int stage, int *value); +// +void d_ocp_qp_dim_get_nu(struct d_ocp_qp_dim *dim, int stage, int *value); +// +void d_ocp_qp_dim_get_nbx(struct d_ocp_qp_dim *dim, int stage, int *value); +// +void d_ocp_qp_dim_get_nbu(struct d_ocp_qp_dim *dim, int stage, int *value); +// +void d_ocp_qp_dim_get_ng(struct d_ocp_qp_dim *dim, int stage, int *value); +// +void d_ocp_qp_dim_get_ns(struct d_ocp_qp_dim *dim, int stage, int *value); +// +void d_ocp_qp_dim_get_nsbx(struct d_ocp_qp_dim *dim, int stage, int *value); +// +void d_ocp_qp_dim_get_nsbu(struct d_ocp_qp_dim *dim, int stage, int *value); +// +void d_ocp_qp_dim_get_nsg(struct d_ocp_qp_dim *dim, int stage, int *value); +// +void d_ocp_qp_dim_get_nbxe(struct d_ocp_qp_dim *dim, int stage, int *value); +// +void d_ocp_qp_dim_get_nbue(struct d_ocp_qp_dim *dim, int stage, int *value); +// +void d_ocp_qp_dim_get_nge(struct d_ocp_qp_dim *dim, int stage, int *value); + + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + + +#endif // HPIPM_D_OCP_QP_DIM_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_ipm.h new file mode 100644 index 0000000000..d2a2833f22 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_ipm.h @@ -0,0 +1,250 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_D_OCP_QP_IPM_H_ +#define HPIPM_D_OCP_QP_IPM_H_ + + + +#include +#include + +#include +#include +#include +#include +#include + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct d_ocp_qp_ipm_arg + { + double mu0; // initial value for complementarity slackness + double alpha_min; // exit cond on step length + double res_g_max; // exit cond on inf norm of residuals + double res_b_max; // exit cond on inf norm of residuals + double res_d_max; // exit cond on inf norm of residuals + double res_m_max; // exit cond on inf norm of residuals + double reg_prim; // reg of primal hessian + double lam_min; // min value in lam vector + double t_min; // min value in t vector + double tau_min; // min value of barrier parameter + int iter_max; // exit cond in iter number + int stat_max; // iterations saved in stat + int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm + int cond_pred_corr; // conditional Mehrotra's predictor-corrector + int itref_pred_max; // max number of iterative refinement steps for predictor step + int itref_corr_max; // max number of iterative refinement steps for corrector step + int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol + int square_root_alg; // 0 classical Riccati, 1 square-root Riccati + int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1) + int abs_form; // absolute IPM formulation + int comp_dual_sol_eq; // dual solution of equality constraints (only for abs_form==1) + int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1) + int comp_res_pred; // compute residuals of prediction + int split_step; // use different steps for primal and dual variables + int var_init_scheme; // variables initialization scheme + int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution + int mode; + hpipm_size_t memsize; + }; + + + +struct d_ocp_qp_ipm_ws + { + double qp_res[4]; // infinity norm of residuals + struct d_core_qp_ipm_workspace *core_workspace; + struct d_ocp_qp_dim *dim; // cache dim + struct d_ocp_qp_res_ws *res_workspace; + struct d_ocp_qp_sol *sol_step; + struct d_ocp_qp_sol *sol_itref; + struct d_ocp_qp *qp_step; + struct d_ocp_qp *qp_itref; + struct d_ocp_qp_res *res_itref; + struct d_ocp_qp_res *res; + struct blasfeo_dvec *Gamma; // hessian update + struct blasfeo_dvec *gamma; // hessian update + struct blasfeo_dvec *tmp_nuxM; // work space of size nxM + struct blasfeo_dvec *tmp_nbgM; // work space of size nbM+ngM + struct blasfeo_dvec *tmp_nsM; // work space of size nsM + struct blasfeo_dvec *Pb; // Pb + struct blasfeo_dvec *Zs_inv; + struct blasfeo_dvec *tmp_m; + struct blasfeo_dvec *l; // cache linear part for _get_ric_xxx + struct blasfeo_dmat *L; + struct blasfeo_dmat *Ls; + struct blasfeo_dmat *P; + struct blasfeo_dmat *Lh; + struct blasfeo_dmat *AL; + struct blasfeo_dmat *lq0; + struct blasfeo_dmat *tmp_nxM_nxM; + double *stat; // convergence statistics + int *use_hess_fact; + void *lq_work0; + int iter; // iteration number + int stat_max; // iterations saved in stat + int stat_m; // number of recorded stat per IPM iter + int use_Pb; + int status; // solver status + int square_root_alg; // cache from arg + int lq_fact; // cache from arg + int mask_constr; // use constr mask + int valid_ric_vec; // meaningful riccati vectors + int valid_ric_p; // form of riccati p: 0 p*inv(L), 1 p + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t d_ocp_qp_ipm_arg_strsize(); +// +hpipm_size_t d_ocp_qp_ipm_arg_memsize(struct d_ocp_qp_dim *ocp_dim); +// +void d_ocp_qp_ipm_arg_create(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_ipm_arg *arg, void *mem); +// +void d_ocp_qp_ipm_arg_set_default(enum hpipm_mode mode, struct d_ocp_qp_ipm_arg *arg); +// +void d_ocp_qp_ipm_arg_set(char *field, void *value, struct d_ocp_qp_ipm_arg *arg); +// set maximum number of iterations +void d_ocp_qp_ipm_arg_set_iter_max(int *iter_max, struct d_ocp_qp_ipm_arg *arg); +// set minimum step lenght +void d_ocp_qp_ipm_arg_set_alpha_min(double *alpha_min, struct d_ocp_qp_ipm_arg *arg); +// set initial value of barrier parameter +void d_ocp_qp_ipm_arg_set_mu0(double *mu0, struct d_ocp_qp_ipm_arg *arg); +// set exit tolerance on stationarity condition +void d_ocp_qp_ipm_arg_set_tol_stat(double *tol_stat, struct d_ocp_qp_ipm_arg *arg); +// set exit tolerance on equality constr +void d_ocp_qp_ipm_arg_set_tol_eq(double *tol_eq, struct d_ocp_qp_ipm_arg *arg); +// set exit tolerance on inequality constr +void d_ocp_qp_ipm_arg_set_tol_ineq(double *tol_ineq, struct d_ocp_qp_ipm_arg *arg); +// set exit tolerance on complementarity condition +void d_ocp_qp_ipm_arg_set_tol_comp(double *tol_comp, struct d_ocp_qp_ipm_arg *arg); +// set regularization of primal variables +void d_ocp_qp_ipm_arg_set_reg_prim(double *tol_comp, struct d_ocp_qp_ipm_arg *arg); +// set warm start: 0 no warm start, 1 primal var +void d_ocp_qp_ipm_arg_set_warm_start(int *warm_start, struct d_ocp_qp_ipm_arg *arg); +// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector +void d_ocp_qp_ipm_arg_set_pred_corr(int *pred_corr, struct d_ocp_qp_ipm_arg *arg); +// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector +void d_ocp_qp_ipm_arg_set_cond_pred_corr(int *value, struct d_ocp_qp_ipm_arg *arg); +// set riccati algorithm: 0 classic, 1 square-root +void d_ocp_qp_ipm_arg_set_ric_alg(int *value, struct d_ocp_qp_ipm_arg *arg); +// dual solution of equality constraints (only for abs_form==1) +void d_ocp_qp_ipm_arg_set_comp_dual_sol_eq(int *value, struct d_ocp_qp_ipm_arg *arg); +// compute residuals after solution +void d_ocp_qp_ipm_arg_set_comp_res_exit(int *value, struct d_ocp_qp_ipm_arg *arg); +// compute residuals of prediction +void d_ocp_qp_ipm_arg_set_comp_res_pred(int *value, struct d_ocp_qp_ipm_arg *arg); +// min value of lam in the solution +void d_ocp_qp_ipm_arg_set_lam_min(double *value, struct d_ocp_qp_ipm_arg *arg); +// min value of t in the solution +void d_ocp_qp_ipm_arg_set_t_min(double *value, struct d_ocp_qp_ipm_arg *arg); +// min value of tau in the solution +void d_ocp_qp_ipm_arg_set_tau_min(double *value, struct d_ocp_qp_ipm_arg *arg); +// set split step: 0 same step, 1 different step for primal and dual variables +void d_ocp_qp_ipm_arg_set_split_step(int *value, struct d_ocp_qp_ipm_arg *arg); +// variables initialization scheme +void d_ocp_qp_ipm_arg_set_var_init_scheme(int *value, struct d_ocp_qp_ipm_arg *arg); +// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution +void d_ocp_qp_ipm_arg_set_t_lam_min(int *value, struct d_ocp_qp_ipm_arg *arg); + +// +hpipm_size_t d_ocp_qp_ipm_ws_strsize(); +// +hpipm_size_t d_ocp_qp_ipm_ws_memsize(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_ipm_arg *arg); +// +void d_ocp_qp_ipm_ws_create(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, void *mem); +// +void d_ocp_qp_ipm_get(char *field, struct d_ocp_qp_ipm_ws *ws, void *value); +// +void d_ocp_qp_ipm_get_status(struct d_ocp_qp_ipm_ws *ws, int *status); +// +void d_ocp_qp_ipm_get_iter(struct d_ocp_qp_ipm_ws *ws, int *iter); +// +void d_ocp_qp_ipm_get_max_res_stat(struct d_ocp_qp_ipm_ws *ws, double *res_stat); +// +void d_ocp_qp_ipm_get_max_res_eq(struct d_ocp_qp_ipm_ws *ws, double *res_eq); +// +void d_ocp_qp_ipm_get_max_res_ineq(struct d_ocp_qp_ipm_ws *ws, double *res_ineq); +// +void d_ocp_qp_ipm_get_max_res_comp(struct d_ocp_qp_ipm_ws *ws, double *res_comp); +// +void d_ocp_qp_ipm_get_stat(struct d_ocp_qp_ipm_ws *ws, double **stat); +// +void d_ocp_qp_ipm_get_stat_m(struct d_ocp_qp_ipm_ws *ws, int *stat_m); +// +void d_ocp_qp_ipm_get_ric_Lr(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *Lr); +// +void d_ocp_qp_ipm_get_ric_Ls(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *Ls); +// +void d_ocp_qp_ipm_get_ric_P(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *P); +// +void d_ocp_qp_ipm_get_ric_lr(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *lr); +// +void d_ocp_qp_ipm_get_ric_p(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *p); +// feedback control gain in the form u = K x + k +void d_ocp_qp_ipm_get_ric_K(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *K); +// feedback control gain in the form u = K x + k +void d_ocp_qp_ipm_get_ric_k(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *k); +// +void d_ocp_qp_init_var(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws); +// +void d_ocp_qp_ipm_abs_step(int kk, struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws); +// +void d_ocp_qp_ipm_delta_step(int kk, struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws); +// +void d_ocp_qp_ipm_solve(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws); +// +void d_ocp_qp_ipm_predict(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws); +// +void d_ocp_qp_ipm_sens(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws); + + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + +#endif // HPIPM_D_OCP_QP_IPM_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_kkt.h new file mode 100644 index 0000000000..19dcec32ca --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_kkt.h @@ -0,0 +1,66 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_D_OCP_QP_KKT_H_ +#define HPIPM_D_OCP_QP_KKT_H_ + +#include +#include +#include + + + +#ifdef __cplusplus +extern "C" { +#endif + + +// +void d_ocp_qp_fact_solve_kkt_unconstr(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws); +// +void d_ocp_qp_fact_solve_kkt_step(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws); +// +void d_ocp_qp_fact_lq_solve_kkt_step(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws); +// +void d_ocp_qp_solve_kkt_step(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws); + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + +#endif // HPIPM_D_OCP_QP_KKT_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_red.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_red.h new file mode 100644 index 0000000000..f0482b0444 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_red.h @@ -0,0 +1,117 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_D_OCP_QP_RED_H_ +#define HPIPM_D_OCP_QP_RED_H_ + + + +#include +#include + +#include +#include +#include + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct d_ocp_qp_reduce_eq_dof_arg + { + double lam_min; + double t_min; + int alias_unchanged; // do not keep copy unchanged stage + int comp_prim_sol; // primal solution (v) + int comp_dual_sol_eq; // dual solution equality constr (pi) + int comp_dual_sol_ineq; // dual solution inequality constr (lam t) + hpipm_size_t memsize; // memory size in bytes + }; + + + +struct d_ocp_qp_reduce_eq_dof_ws + { + struct blasfeo_dvec *tmp_nuxM; + struct blasfeo_dvec *tmp_nbgM; + int *e_imask_ux; + int *e_imask_d; + hpipm_size_t memsize; // memory size in bytes + }; + + + +// +void d_ocp_qp_dim_reduce_eq_dof(struct d_ocp_qp_dim *dim, struct d_ocp_qp_dim *dim_red); +// +hpipm_size_t d_ocp_qp_reduce_eq_dof_arg_memsize(); +// +void d_ocp_qp_reduce_eq_dof_arg_create(struct d_ocp_qp_reduce_eq_dof_arg *arg, void *mem); +// +void d_ocp_qp_reduce_eq_dof_arg_set_default(struct d_ocp_qp_reduce_eq_dof_arg *arg); +// +void d_ocp_qp_reduce_eq_dof_arg_set_alias_unchanged(struct d_ocp_qp_reduce_eq_dof_arg *arg, int value); +// +void d_ocp_qp_reduce_eq_dof_arg_set_comp_prim_sol(struct d_ocp_qp_reduce_eq_dof_arg *arg, int value); +// +void d_ocp_qp_reduce_eq_dof_arg_set_comp_dual_sol_eq(struct d_ocp_qp_reduce_eq_dof_arg *arg, int value); +// +void d_ocp_qp_reduce_eq_dof_arg_set_comp_dual_sol_ineq(struct d_ocp_qp_reduce_eq_dof_arg *arg, int value); +// +hpipm_size_t d_ocp_qp_reduce_eq_dof_ws_memsize(struct d_ocp_qp_dim *dim); +// +void d_ocp_qp_reduce_eq_dof_ws_create(struct d_ocp_qp_dim *dim, struct d_ocp_qp_reduce_eq_dof_ws *work, void *mem); +// +void d_ocp_qp_reduce_eq_dof(struct d_ocp_qp *qp, struct d_ocp_qp *qp_red, struct d_ocp_qp_reduce_eq_dof_arg *arg, struct d_ocp_qp_reduce_eq_dof_ws *work); +// +void d_ocp_qp_reduce_eq_dof_lhs(struct d_ocp_qp *qp, struct d_ocp_qp *qp_red, struct d_ocp_qp_reduce_eq_dof_arg *arg, struct d_ocp_qp_reduce_eq_dof_ws *work); +// +void d_ocp_qp_reduce_eq_dof_rhs(struct d_ocp_qp *qp, struct d_ocp_qp *qp_red, struct d_ocp_qp_reduce_eq_dof_arg *arg, struct d_ocp_qp_reduce_eq_dof_ws *work); +// +void d_ocp_qp_restore_eq_dof(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol_red, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_reduce_eq_dof_arg *arg, struct d_ocp_qp_reduce_eq_dof_ws *work); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + + +#endif // HPIPM_D_OCP_QP_RED_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_res.h new file mode 100644 index 0000000000..061c5729cd --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_res.h @@ -0,0 +1,112 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_D_OCP_QP_RES_H_ +#define HPIPM_D_OCP_QP_RES_H_ + + + +#include +#include + +#include +#include +#include +#include + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct d_ocp_qp_res + { + struct d_ocp_qp_dim *dim; + struct blasfeo_dvec *res_g; // q-residuals + struct blasfeo_dvec *res_b; // b-residuals + struct blasfeo_dvec *res_d; // d-residuals + struct blasfeo_dvec *res_m; // m-residuals + double res_max[4]; // max of residuals + double res_mu; // mu-residual + hpipm_size_t memsize; + }; + + + +struct d_ocp_qp_res_ws + { + struct blasfeo_dvec *tmp_nbgM; // work space of size nbM+ngM + struct blasfeo_dvec *tmp_nsM; // work space of size nsM + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t d_ocp_qp_res_memsize(struct d_ocp_qp_dim *ocp_dim); +// +void d_ocp_qp_res_create(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_res *res, void *mem); +// +hpipm_size_t d_ocp_qp_res_ws_memsize(struct d_ocp_qp_dim *ocp_dim); +// +void d_ocp_qp_res_ws_create(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_res_ws *workspace, void *mem); +// +void d_ocp_qp_res_compute(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_res *res, struct d_ocp_qp_res_ws *ws); +// +void d_ocp_qp_res_compute_lin(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_sol *qp_step, struct d_ocp_qp_res *res, struct d_ocp_qp_res_ws *ws); +// +void d_ocp_qp_res_compute_inf_norm(struct d_ocp_qp_res *res); +// +void d_ocp_qp_res_get_all(struct d_ocp_qp_res *res, double **res_r, double **res_q, double **res_ls, double **res_us, double **res_b, double **res_d_lb, double **res_d_ub, double **res_d_lg, double **res_d_ug, double **res_d_ls, double **res_d_us, double **res_m_lb, double **res_m_ub, double **res_m_lg, double **res_m_ug, double **res_m_ls, double **res_m_us); +// +void d_ocp_qp_res_get_max_res_stat(struct d_ocp_qp_res *res, double *value); +// +void d_ocp_qp_res_get_max_res_eq(struct d_ocp_qp_res *res, double *value); +// +void d_ocp_qp_res_get_max_res_ineq(struct d_ocp_qp_res *res, double *value); +// +void d_ocp_qp_res_get_max_res_comp(struct d_ocp_qp_res *res, double *value); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + +#endif // HPIPM_D_OCP_QP_RES_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_sol.h new file mode 100644 index 0000000000..eb91f3a7b1 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_sol.h @@ -0,0 +1,128 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_D_OCP_QP_SOL_H_ +#define HPIPM_D_OCP_QP_SOL_H_ + + + +#include +#include + +#include "hpipm_d_ocp_qp_dim.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct d_ocp_qp_sol + { + struct d_ocp_qp_dim *dim; + struct blasfeo_dvec *ux; + struct blasfeo_dvec *pi; + struct blasfeo_dvec *lam; + struct blasfeo_dvec *t; + void *misc; + hpipm_size_t memsize; // memory size in bytes + }; + + + +// +hpipm_size_t d_ocp_qp_sol_strsize(); +// +hpipm_size_t d_ocp_qp_sol_memsize(struct d_ocp_qp_dim *dim); +// +void d_ocp_qp_sol_create(struct d_ocp_qp_dim *dim, struct d_ocp_qp_sol *qp_sol, void *memory); +// +void d_ocp_qp_sol_copy_all(struct d_ocp_qp_sol *qp_sol_orig, struct d_ocp_qp_sol *qp_sol_dest); +// +void d_ocp_qp_sol_get_all(struct d_ocp_qp_sol *qp_sol, double **u, double **x, double **ls, double **us, double **pi, double **lam_lb, double **lam_ub, double **lam_lg, double **lam_ug, double **lam_ls, double **lam_us); +// +void d_ocp_qp_sol_get_all_rowmaj(struct d_ocp_qp_sol *qp_sol, double **u, double **x, double **ls, double **us, double **pi, double **lam_lb, double **lam_ub, double **lam_lg, double **lam_ug, double **lam_ls, double **lam_us); +// +void d_ocp_qp_sol_set_all(double **u, double **x, double **ls, double **us, double **pi, double **lam_lb, double **lam_ub, double **lam_lg, double **lam_ug, double **lam_ls, double **lam_us, struct d_ocp_qp_sol *qp_sol); +// +void d_ocp_qp_sol_get(char *field, int stage, struct d_ocp_qp_sol *qp_sol, double *vec); +// +void d_ocp_qp_sol_get_u(int stage, struct d_ocp_qp_sol *qp_sol, double *vec); +// +void d_ocp_qp_sol_get_x(int stage, struct d_ocp_qp_sol *qp_sol, double *vec); +// +void d_ocp_qp_sol_get_sl(int stage, struct d_ocp_qp_sol *qp_sol, double *vec); +// +void d_ocp_qp_sol_get_su(int stage, struct d_ocp_qp_sol *qp_sol, double *vec); +// +void d_ocp_qp_sol_get_pi(int stage, struct d_ocp_qp_sol *qp_sol, double *vec); +// +void d_ocp_qp_sol_get_lam_lb(int stage, struct d_ocp_qp_sol *qp_sol, double *vec); +// +void d_ocp_qp_sol_get_lam_lbu(int stage, struct d_ocp_qp_sol *qp_sol, double *vec); +// +void d_ocp_qp_sol_get_lam_lbx(int stage, struct d_ocp_qp_sol *qp_sol, double *vec); +// +void d_ocp_qp_sol_get_lam_ub(int stage, struct d_ocp_qp_sol *qp_sol, double *vec); +// +void d_ocp_qp_sol_get_lam_ubu(int stage, struct d_ocp_qp_sol *qp_sol, double *vec); +// +void d_ocp_qp_sol_get_lam_ubx(int stage, struct d_ocp_qp_sol *qp_sol, double *vec); +// +void d_ocp_qp_sol_get_lam_lg(int stage, struct d_ocp_qp_sol *qp_sol, double *vec); +// +void d_ocp_qp_sol_get_lam_ug(int stage, struct d_ocp_qp_sol *qp_sol, double *vec); +// +void d_ocp_qp_sol_set(char *field, int stage, double *vec, struct d_ocp_qp_sol *qp_sol); +// +void d_ocp_qp_sol_set_u(int stage, double *vec, struct d_ocp_qp_sol *qp_sol); +// +void d_ocp_qp_sol_set_x(int stage, double *vec, struct d_ocp_qp_sol *qp_sol); +// +void d_ocp_qp_sol_set_sl(int stage, double *vec, struct d_ocp_qp_sol *qp_sol); +// +void d_ocp_qp_sol_set_su(int stage, double *vec, struct d_ocp_qp_sol *qp_sol); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + + +#endif // HPIPM_D_OCP_QP_SOL_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_utils.h new file mode 100644 index 0000000000..217e9d94ae --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_utils.h @@ -0,0 +1,82 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_D_OCP_QP_UTILS_H_ +#define HPIPM_D_OCP_QP_UTILS_H_ + + + +#include +#include + +#include "hpipm_d_ocp_qp_dim.h" +#include "hpipm_d_ocp_qp.h" +#include "hpipm_d_ocp_qp_sol.h" +#include "hpipm_d_ocp_qp_ipm.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +// +void d_ocp_qp_dim_print(struct d_ocp_qp_dim *qp_dim); +// +void d_ocp_qp_dim_codegen(char *file_name, char *mode, struct d_ocp_qp_dim *qp_dim); +// +void d_ocp_qp_print(struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp *qp); +// +void d_ocp_qp_codegen(char *file_name, char *mode, struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp *qp); +// +void d_ocp_qp_sol_print(struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp_sol *ocp_qp_sol); +// +void d_ocp_qp_ipm_arg_print(struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp_ipm_arg *arg); +// +void d_ocp_qp_ipm_arg_codegen(char *file_name, char *mode, struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp_ipm_arg *arg); +// +void d_ocp_qp_res_print(struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp_res *ocp_qp_res); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + + +#endif // HPIPM_D_OCP_QP_UTILS_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_d_part_cond.h b/third_party/acados/include/hpipm/include/hpipm_d_part_cond.h new file mode 100644 index 0000000000..1c5f785035 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_part_cond.h @@ -0,0 +1,115 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + + + +#ifndef HPIPM_D_PART_COND_H_ +#define HPIPM_D_PART_COND_H_ + + + +#include +#include + +#include "hpipm_common.h" +#include "hpipm_d_cond.h" + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct d_part_cond_qp_arg + { + struct d_cond_qp_arg *cond_arg; + int N2; + hpipm_size_t memsize; + }; + + + +struct d_part_cond_qp_ws + { + struct d_cond_qp_ws *cond_workspace; + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t d_part_cond_qp_arg_memsize(int N2); +// +void d_part_cond_qp_arg_create(int N2, struct d_part_cond_qp_arg *cond_arg, void *mem); +// +void d_part_cond_qp_arg_set_default(struct d_part_cond_qp_arg *cond_arg); +// set riccati-like algorithm: 0 classical, 1 squre-root +void d_part_cond_qp_arg_set_ric_alg(int ric_alg, struct d_part_cond_qp_arg *cond_arg); +// +void d_part_cond_qp_arg_set_comp_prim_sol(int value, struct d_part_cond_qp_arg *cond_arg); +// +void d_part_cond_qp_arg_set_comp_dual_sol_eq(int value, struct d_part_cond_qp_arg *cond_arg); +// +void d_part_cond_qp_arg_set_comp_dual_sol_ineq(int value, struct d_part_cond_qp_arg *cond_arg); + +// +void d_part_cond_qp_compute_block_size(int N, int N2, int *block_size); +// +void d_part_cond_qp_compute_dim(struct d_ocp_qp_dim *ocp_dim, int *block_size, struct d_ocp_qp_dim *part_dense_dim); +// +hpipm_size_t d_part_cond_qp_ws_memsize(struct d_ocp_qp_dim *ocp_dim, int *block_size, struct d_ocp_qp_dim *part_dense_dim, struct d_part_cond_qp_arg *cond_arg); +// +void d_part_cond_qp_ws_create(struct d_ocp_qp_dim *ocp_dim, int *block_size, struct d_ocp_qp_dim *part_dense_dim, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws, void *mem); +// +void d_part_cond_qp_cond(struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws); +// +void d_part_cond_qp_cond_lhs(struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws); +// +void d_part_cond_qp_cond_rhs(struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws); +// +void d_part_cond_qp_expand_sol(struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_ocp_qp_sol *part_dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_sol, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws); + +// +void d_part_cond_qp_update(int *idxc, struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws); + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + + +#endif // HPIPM_D_PART_COND_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_d_part_cond_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_part_cond_qcqp.h new file mode 100644 index 0000000000..2d6624e5bb --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_part_cond_qcqp.h @@ -0,0 +1,106 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + + + +#ifndef HPIPM_D_PART_COND_QCQP_H_ +#define HPIPM_D_PART_COND_QCQP_H_ + + + +#include +#include + +#include "hpipm_d_cond_qcqp.h" + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct d_part_cond_qcqp_arg + { + struct d_cond_qcqp_arg *cond_arg; + int N2; + hpipm_size_t memsize; + }; + + + +struct d_part_cond_qcqp_ws + { + struct d_cond_qcqp_ws *cond_ws; + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t d_part_cond_qcqp_arg_memsize(int N2); +// +void d_part_cond_qcqp_arg_create(int N2, struct d_part_cond_qcqp_arg *cond_arg, void *mem); +// +void d_part_cond_qcqp_arg_set_default(struct d_part_cond_qcqp_arg *cond_arg); +// set riccati-like algorithm: 0 classical, 1 squre-root +void d_part_cond_qcqp_arg_set_ric_alg(int ric_alg, struct d_part_cond_qcqp_arg *cond_arg); + +// +void d_part_cond_qcqp_compute_block_size(int N, int N2, int *block_size); +// +void d_part_cond_qcqp_compute_dim(struct d_ocp_qcqp_dim *ocp_dim, int *block_size, struct d_ocp_qcqp_dim *part_dense_dim); +// +hpipm_size_t d_part_cond_qcqp_ws_memsize(struct d_ocp_qcqp_dim *ocp_dim, int *block_size, struct d_ocp_qcqp_dim *part_dense_dim, struct d_part_cond_qcqp_arg *cond_arg); +// +void d_part_cond_qcqp_ws_create(struct d_ocp_qcqp_dim *ocp_dim, int *block_size, struct d_ocp_qcqp_dim *part_dense_dim, struct d_part_cond_qcqp_arg *cond_arg, struct d_part_cond_qcqp_ws *cond_ws, void *mem); +// +void d_part_cond_qcqp_cond(struct d_ocp_qcqp *ocp_qp, struct d_ocp_qcqp *part_dense_qp, struct d_part_cond_qcqp_arg *cond_arg, struct d_part_cond_qcqp_ws *cond_ws); +// +void d_part_cond_qcqp_cond_lhs(struct d_ocp_qcqp *ocp_qp, struct d_ocp_qcqp *part_dense_qp, struct d_part_cond_qcqp_arg *cond_arg, struct d_part_cond_qcqp_ws *cond_ws); +// +void d_part_cond_qcqp_cond_rhs(struct d_ocp_qcqp *ocp_qp, struct d_ocp_qcqp *part_dense_qp, struct d_part_cond_qcqp_arg *cond_arg, struct d_part_cond_qcqp_ws *cond_ws); +// +void d_part_cond_qcqp_expand_sol(struct d_ocp_qcqp *ocp_qp, struct d_ocp_qcqp *part_dense_qp, struct d_ocp_qcqp_sol *part_dense_qp_sol, struct d_ocp_qcqp_sol *ocp_qp_sol, struct d_part_cond_qcqp_arg *cond_arg, struct d_part_cond_qcqp_ws *cond_ws); + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + + +#endif // HPIPM_D_PART_COND_H_ + diff --git a/third_party/acados/include/hpipm/include/hpipm_d_sim_erk.h b/third_party/acados/include/hpipm/include/hpipm_d_sim_erk.h new file mode 100644 index 0000000000..320b66bb28 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_sim_erk.h @@ -0,0 +1,122 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_D_SIM_ERK_H_ +#define HPIPM_D_SIM_ERK_H_ + +#include "hpipm_common.h" + +#ifdef __cplusplus +extern "C" { +#endif + +struct d_sim_erk_arg + { + struct d_sim_rk_data *rk_data; // integrator data + double h; // step size + int steps; // number of steps +// int for_sens; // compute adjoint sensitivities +// int adj_sens; // compute adjoint sensitivities + hpipm_size_t memsize; + }; + + + +struct d_sim_erk_ws + { + void (*ode)(int t, double *x, double *p, void *ode_args, double *xdot); // function pointer to ode + void (*vde_for)(int t, double *x, double *p, void *ode_args, double *xdot); // function pointer to forward vde + void (*vde_adj)(int t, double *adj_in, void *ode_args, double *adj_out); // function pointer to adjoint vde + void *ode_args; // pointer to ode args + struct d_sim_erk_arg *erk_arg; // erk arg + double *K; // internal variables + double *x_for; // states and forward sensitivities + double *x_traj; // states at all steps + double *l; // adjoint sensitivities + double *p; // parameter + double *x_tmp; // temporary states and forward sensitivities + double *adj_in; + double *adj_tmp; + int nx; // number of states + int np; // number of parameters + int nf; // number of forward sensitivities + int na; // number of adjoint sensitivities + int nf_max; // max number of forward sensitivities + int na_max; // max number of adjoint sensitivities + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t d_sim_erk_arg_memsize(); +// +void d_sim_erk_arg_create(struct d_sim_erk_arg *erk_arg, void *mem); +// +void d_sim_erk_arg_set_all(struct d_sim_rk_data *rk_data, double h, int steps, struct d_sim_erk_arg *erk_arg); + +// +hpipm_size_t d_sim_erk_ws_memsize(struct d_sim_erk_arg *erk_arg, int nx, int np, int nf_max, int na_max); +// +void d_sim_erk_ws_create(struct d_sim_erk_arg *erk_arg, int nx, int np, int nf_max, int na_max, struct d_sim_erk_ws *work, void *memory); +// +void d_sim_erk_ws_set_all(int nf, int na, double *x, double *fs, double *bs, double *p, void (*ode)(int t, double *x, double *p, void *ode_args, double *xdot), void (*vde_for)(int t, double *x, double *p, void *ode_args, double *xdot), void (*vde_adj)(int t, double *adj_in, void *ode_args, double *adj_out), void *ode_args, struct d_sim_erk_ws *work); +// number of directions for forward sensitivities +void d_sim_erk_ws_set_nf(int *nf, struct d_sim_erk_ws *work); +// parameters (e.g. inputs) +void d_sim_erk_ws_set_p(double *p, struct d_sim_erk_ws *work); +// state +void d_sim_erk_ws_set_x(double *x, struct d_sim_erk_ws *work); +// forward sensitivities +void d_sim_erk_ws_set_fs(double *fs, struct d_sim_erk_ws *work); +// ode funtion +void d_sim_erk_ws_set_ode(void (*ode)(int t, double *x, double *p, void *ode_args, double *xdot), struct d_sim_erk_ws *work); +// forward vde function +void d_sim_erk_ws_set_vde_for(void (*ode)(int t, double *x, double *p, void *ode_args, double *xdot), struct d_sim_erk_ws *work); +// ode_args, passed straight to the ode/vde_for/vde_adj functions +void d_sim_erk_ws_set_ode_args(void *ode_args, struct d_sim_erk_ws *work); +// state +void d_sim_erk_ws_get_x(struct d_sim_erk_ws *work, double *x); +// forward sensitivities +void d_sim_erk_ws_get_fs(struct d_sim_erk_ws *work, double *fs); +// +void d_sim_erk_solve(struct d_sim_erk_arg *arg, struct d_sim_erk_ws *work); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // HPIPM_D_SIM_ERK_H_ + diff --git a/third_party/acados/include/hpipm/include/hpipm_d_sim_rk.h b/third_party/acados/include/hpipm/include/hpipm_d_sim_rk.h new file mode 100644 index 0000000000..a50dcbb491 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_sim_rk.h @@ -0,0 +1,71 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_D_SIM_RK_H_ +#define HPIPM_D_SIM_RK_H_ + +#include "hpipm_common.h" + +#ifdef __cplusplus +extern "C" { +#endif + +struct d_sim_rk_data + { + double *A_rk; // A in butcher tableau + double *B_rk; // b in butcher tableau + double *C_rk; // c in butcher tableau + int expl; // erk vs irk + int ns; // number of stages + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t d_sim_rk_data_memsize(int ns); +// +void d_sim_rk_data_create(int ns, struct d_sim_rk_data *rk_data, void *memory); +// +void d_sim_rk_data_init_default(char *field, struct d_sim_rk_data *rk_data); +// +void d_sim_rk_data_set_all(int expl, double *A_rk, double *B_rk, double *C_rk, struct d_sim_rk_data *rk_data); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // HPIPM_D_SIM_RK_H_ + diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp.h new file mode 100644 index 0000000000..f36b51a064 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp.h @@ -0,0 +1,213 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_D_TREE_OCP_QCQP_H_ +#define HPIPM_D_TREE_OCP_QCQP_H_ + + + +#include +#include + +#include "hpipm_common.h" +#include "hpipm_d_tree_ocp_qcqp_dim.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct d_tree_ocp_qcqp + { + struct d_tree_ocp_qcqp_dim *dim; + struct blasfeo_dmat *BAbt; // Nn-1 + struct blasfeo_dmat *RSQrq; // Nn + struct blasfeo_dmat *DCt; // Nn + struct blasfeo_dmat **Hq; // Nn + struct blasfeo_dvec *b; // Nn-1 + struct blasfeo_dvec *rqz; // Nn + struct blasfeo_dvec *d; // Nn + struct blasfeo_dvec *d_mask; // Nn + struct blasfeo_dvec *m; // Nn + struct blasfeo_dvec *Z; // Nn + int **idxb; // indices of box constrained variables within [u; x] // Nn + int **idxs_rev; // index of soft constraints + hpipm_size_t memsize; // memory size in bytes + }; + + + +// +hpipm_size_t d_tree_ocp_qcqp_memsize(struct d_tree_ocp_qcqp_dim *dim); +// +void d_tree_ocp_qcqp_create(struct d_tree_ocp_qcqp_dim *dim, struct d_tree_ocp_qcqp *qp, void *memory); +// +void d_tree_ocp_qcqp_set_all(double **A, double **B, double **b, double **Q, double **S, double **R, double **q, double **r, int **idxb, double **d_lb, double **d_ub, double **C, double **D, double **d_lg, double **d_ug, double **Zl, double **Zu, double **zl, double **zu, int **idxs, double **d_ls, double **d_us, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set(char *field_name, int node_edge, void *value, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_A(int edge, double *mat, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_B(int edge, double *mat, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_b(int edge, double *vec, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_Q(int node, double *mat, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_S(int node, double *mat, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_R(int node, double *mat, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_q(int node, double *vec, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_r(int node, double *vec, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_lb(int node, double *vec, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_lb_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_ub(int node, double *vec, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_ub_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_lbx(int node, double *vec, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_lbx_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_ubx(int node, double *vec, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_ubx_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_lbu(int node, double *vec, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_lbu_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_ubu(int node, double *vec, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_ubu_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_idxb(int node, int *vec, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_idxbx(int node, int *vec, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_Jbx(int node, double *vec, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_idxbu(int node, int *vec, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_Jbu(int node, double *vec, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_C(int node, double *mat, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_D(int node, double *mat, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_lg(int node, double *vec, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_lg_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_ug(int node, double *vec, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_ug_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_Qq(int node, double *mat, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_Sq(int node, double *mat, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_Rq(int node, double *mat, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_qq(int node, double *vec, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_rq(int node, double *vec, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_uq(int node, double *vec, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_uq_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_Zl(int node, double *vec, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_Zu(int node, double *vec, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_zl(int node, double *vec, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_zu(int node, double *vec, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_lls(int node, double *vec, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_lls_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_lus(int node, double *vec, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_lus_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_idxs(int node, int *vec, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_idxs_rev(int node, int *vec, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_Jsbu(int node, double *vec, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_Jsbx(int node, double *vec, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_Jsg(int node, double *vec, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_set_Jsq(int node, double *vec, struct d_tree_ocp_qcqp *qp); +// +//void d_tree_ocp_qcqp_set_idxe(int node, int *vec, struct d_tree_ocp_qcqp *qp); +// +//void d_tree_ocp_qcqp_set_idxbxe(int node, int *vec, struct d_tree_ocp_qcqp *qp); +// +//void d_tree_ocp_qcqp_set_idxbue(int node, int *vec, struct d_tree_ocp_qcqp *qp); +// +//void d_tree_ocp_qcqp_set_idxge(int node, int *vec, struct d_tree_ocp_qcqp *qp); +// +//void d_tree_ocp_qcqp_set_Jbxe(int node, double *vec, struct d_tree_ocp_qcqp *qp); +// +//void d_tree_ocp_qcqp_set_Jbue(int node, double *vec, struct d_tree_ocp_qcqp *qp); +// +//void d_tree_ocp_qcqp_set_Jge(int node, double *vec, struct d_tree_ocp_qcqp *qp); +// +//void d_tree_ocp_qcqp_set_diag_H_flag(int node, int *value, struct d_tree_ocp_qcqp *qp); + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + + +#endif // HPIPM_D_TREE_OCP_QCQP_H_ + diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_dim.h new file mode 100644 index 0000000000..257b82b252 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_dim.h @@ -0,0 +1,117 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_D_TREE_OCP_QCQP_DIM_H_ +#define HPIPM_D_TREE_OCP_QCQP_DIM_H_ + +#include "hpipm_common.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct d_tree_ocp_qcqp_dim + { + struct d_tree_ocp_qp_dim *qp_dim; // dim of qp approximation + struct tree *ttree; // tree describing node conndection + int *nx; // number of states // Nn + int *nu; // number of inputs // Nn + int *nb; // number of box constraints // Nn + int *nbx; // number of state box constraints // Nn + int *nbu; // number of input box constraints // Nn + int *ng; // number of general constraints // Nn + int *nq; // number of (upper) quadratic constraints + int *ns; // number of soft constraints // Nn + int *nsbx; // number of soft state box constraints + int *nsbu; // number of soft input box constraints + int *nsg; // number of soft general constraints + int *nsq; // number of (upper) soft quadratic constraints + int Nn; // number of nodes + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t d_tree_ocp_qcqp_dim_strsize(); +// +hpipm_size_t d_tree_ocp_qcqp_dim_memsize(int Nn); +// +void d_tree_ocp_qcqp_dim_create(int Nn, struct d_tree_ocp_qcqp_dim *qp_dim, void *memory); +// +void d_tree_ocp_qcqp_dim_set_tree(struct tree *ttree, struct d_tree_ocp_qcqp_dim *dim); +// +void d_tree_ocp_qcqp_dim_set(char *field, int stage, int value, struct d_tree_ocp_qcqp_dim *dim); +// +void d_tree_ocp_qcqp_dim_set_nx(int stage, int value, struct d_tree_ocp_qcqp_dim *dim); +// +void d_tree_ocp_qcqp_dim_set_nu(int stage, int value, struct d_tree_ocp_qcqp_dim *dim); +// +void d_tree_ocp_qcqp_dim_set_nbx(int stage, int value, struct d_tree_ocp_qcqp_dim *dim); +// +void d_tree_ocp_qcqp_dim_set_nbu(int stage, int value, struct d_tree_ocp_qcqp_dim *dim); +// +void d_tree_ocp_qcqp_dim_set_ng(int stage, int value, struct d_tree_ocp_qcqp_dim *dim); +// +void d_tree_ocp_qcqp_dim_set_nq(int stage, int value, struct d_tree_ocp_qcqp_dim *dim); +// +void d_tree_ocp_qcqp_dim_set_ns(int stage, int value, struct d_tree_ocp_qcqp_dim *dim); +// +void d_tree_ocp_qcqp_dim_set_nsbx(int stage, int value, struct d_tree_ocp_qcqp_dim *dim); +// +void d_tree_ocp_qcqp_dim_set_nsbu(int stage, int value, struct d_tree_ocp_qcqp_dim *dim); +// +void d_tree_ocp_qcqp_dim_set_nsg(int stage, int value, struct d_tree_ocp_qcqp_dim *dim); +// +void d_tree_ocp_qcqp_dim_set_nsq(int stage, int value, struct d_tree_ocp_qcqp_dim *dim); +// +//void d_tree_ocp_qcqp_dim_set_nbxe(int stage, int value, struct d_tree_ocp_qcqp_dim *dim); +// +//void d_tree_ocp_qcqp_dim_set_nbue(int stage, int value, struct d_tree_ocp_qcqp_dim *dim); +// +//void d_tree_ocp_qcqp_dim_set_nge(int stage, int value, struct d_tree_ocp_qcqp_dim *dim); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + + +#endif // HPIPM_D_TREE_OCP_QCQP_DIM_H_ + diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_ipm.h new file mode 100644 index 0000000000..4a0fed1067 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_ipm.h @@ -0,0 +1,191 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_D_TREE_OCP_QCQP_IPM_H_ +#define HPIPM_D_TREE_OCP_QCQP_IPM_H_ + + + +#include +#include + +#include +#include +#include +#include +#include + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct d_tree_ocp_qcqp_ipm_arg + { + struct d_tree_ocp_qp_ipm_arg *qp_arg; + double mu0; // initial value for complementarity slackness + double alpha_min; // exit cond on step length + double res_g_max; // exit cond on inf norm of residuals + double res_b_max; // exit cond on inf norm of residuals + double res_d_max; // exit cond on inf norm of residuals + double res_m_max; // exit cond on inf norm of residuals + double reg_prim; // reg of primal hessian + double lam_min; // min value in lam vector + double t_min; // min value in t vector + int iter_max; // exit cond in iter number + int stat_max; // iterations saved in stat + int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm + int cond_pred_corr; // conditional Mehrotra's predictor-corrector + int itref_pred_max; // max number of iterative refinement steps for predictor step + int itref_corr_max; // max number of iterative refinement steps for corrector step + int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol +// int square_root_alg; // 0 classical Riccati, 1 square-root Riccati + int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1) + int abs_form; // absolute IPM formulation + int comp_dual_sol_eq; // dual solution of equality constrains (only for abs_form==1) + int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1) +// int comp_res_pred; // compute residuals of prediction + int split_step; // use different step for primal and dual variables + int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution + int mode; + hpipm_size_t memsize; + }; + + + +struct d_tree_ocp_qcqp_ipm_ws + { + struct d_tree_ocp_qp_ipm_ws *qp_ws; + struct d_tree_ocp_qp *qp; + struct d_tree_ocp_qp_sol *qp_sol; + struct d_tree_ocp_qcqp_res_ws *qcqp_res_ws; + struct d_tree_ocp_qcqp_res *qcqp_res; + struct blasfeo_dvec *tmp_nuxM; + int iter; // iteration number + int status; + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t d_tree_ocp_qcqp_ipm_arg_strsize(); +// +hpipm_size_t d_tree_ocp_qcqp_ipm_arg_memsize(struct d_tree_ocp_qcqp_dim *ocp_dim); +// +void d_tree_ocp_qcqp_ipm_arg_create(struct d_tree_ocp_qcqp_dim *ocp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg, void *mem); +// +void d_tree_ocp_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct d_tree_ocp_qcqp_ipm_arg *arg); +// +void d_tree_ocp_qcqp_ipm_arg_set(char *field, void *value, struct d_tree_ocp_qcqp_ipm_arg *arg); +// set maximum number of iterations +void d_tree_ocp_qcqp_ipm_arg_set_iter_max(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg); +// set minimum step lenght +void d_tree_ocp_qcqp_ipm_arg_set_alpha_min(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg); +// set initial value of barrier parameter +void d_tree_ocp_qcqp_ipm_arg_set_mu0(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg); +// set exit tolerance on stationarity condition +void d_tree_ocp_qcqp_ipm_arg_set_tol_stat(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg); +// set exit tolerance on equality constr +void d_tree_ocp_qcqp_ipm_arg_set_tol_eq(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg); +// set exit tolerance on inequality constr +void d_tree_ocp_qcqp_ipm_arg_set_tol_ineq(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg); +// set exit tolerance on complementarity condition +void d_tree_ocp_qcqp_ipm_arg_set_tol_comp(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg); +// set regularization of primal variables +void d_tree_ocp_qcqp_ipm_arg_set_reg_prim(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg); +// set warm start: 0 no warm start, 1 primal var +void d_tree_ocp_qcqp_ipm_arg_set_warm_start(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg); +// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector +void d_tree_ocp_qcqp_ipm_arg_set_pred_corr(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg); +// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector +void d_tree_ocp_qcqp_ipm_arg_set_cond_pred_corr(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg); +// set riccati algorithm: 0 classic, 1 square-root +//void d_tree_ocp_qcqp_ipm_arg_set_ric_alg(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg); +// compute residuals after solution +void d_tree_ocp_qcqp_ipm_arg_set_comp_res_exit(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg); +// compute residuals of prediction +//void d_tree_ocp_qcqp_ipm_arg_set_comp_res_pred(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg); +// min value of lam in the solution +void d_tree_ocp_qcqp_ipm_arg_set_lam_min(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg); +// min value of t in the solution +void d_tree_ocp_qcqp_ipm_arg_set_t_min(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg); +// use different step for primal and dual variables +void d_tree_ocp_qcqp_ipm_arg_set_split_step(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg); +// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution +void d_tree_ocp_qcqp_ipm_arg_set_t_lam_min(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg); + +// +hpipm_size_t d_tree_ocp_qcqp_ipm_ws_strsize(); +// +hpipm_size_t d_tree_ocp_qcqp_ipm_ws_memsize(struct d_tree_ocp_qcqp_dim *ocp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg); +// +void d_tree_ocp_qcqp_ipm_ws_create(struct d_tree_ocp_qcqp_dim *ocp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg, struct d_tree_ocp_qcqp_ipm_ws *ws, void *mem); +// +void d_tree_ocp_qcqp_ipm_get(char *field, struct d_tree_ocp_qcqp_ipm_ws *ws, void *value); +// +void d_tree_ocp_qcqp_ipm_get_status(struct d_tree_ocp_qcqp_ipm_ws *ws, int *status); +// +void d_tree_ocp_qcqp_ipm_get_iter(struct d_tree_ocp_qcqp_ipm_ws *ws, int *iter); +// +void d_tree_ocp_qcqp_ipm_get_max_res_stat(struct d_tree_ocp_qcqp_ipm_ws *ws, double *res_stat); +// +void d_tree_ocp_qcqp_ipm_get_max_res_eq(struct d_tree_ocp_qcqp_ipm_ws *ws, double *res_eq); +// +void d_tree_ocp_qcqp_ipm_get_max_res_ineq(struct d_tree_ocp_qcqp_ipm_ws *ws, double *res_ineq); +// +void d_tree_ocp_qcqp_ipm_get_max_res_comp(struct d_tree_ocp_qcqp_ipm_ws *ws, double *res_comp); +// +void d_tree_ocp_qcqp_ipm_get_stat(struct d_tree_ocp_qcqp_ipm_ws *ws, double **stat); +// +void d_tree_ocp_qcqp_ipm_get_stat_m(struct d_tree_ocp_qcqp_ipm_ws *ws, int *stat_m); +// +void d_tree_ocp_qcqp_init_var(struct d_tree_ocp_qcqp *qp, struct d_tree_ocp_qcqp_sol *qp_sol, struct d_tree_ocp_qcqp_ipm_arg *arg, struct d_tree_ocp_qcqp_ipm_ws *ws); +// +void d_tree_ocp_qcqp_ipm_solve(struct d_tree_ocp_qcqp *qp, struct d_tree_ocp_qcqp_sol *qp_sol, struct d_tree_ocp_qcqp_ipm_arg *arg, struct d_tree_ocp_qcqp_ipm_ws *ws); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + +#endif // HPIPM_D_TREE_OCP_QCQP_IPM_H_ + + diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_res.h new file mode 100644 index 0000000000..69eebb1ba4 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_res.h @@ -0,0 +1,108 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_D_TREE_OCP_QCQP_RES_H_ +#define HPIPM_D_TREE_OCP_QCQP_RES_H_ + + + +#include +#include + +#include +#include +#include +#include + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct d_tree_ocp_qcqp_res + { + struct d_tree_ocp_qcqp_dim *dim; + struct blasfeo_dvec *res_g; // q-residuals + struct blasfeo_dvec *res_b; // b-residuals + struct blasfeo_dvec *res_d; // d-residuals + struct blasfeo_dvec *res_m; // m-residuals + double res_max[4]; // max of residuals + double res_mu; // mu-residual + hpipm_size_t memsize; + }; + + + +struct d_tree_ocp_qcqp_res_ws + { + struct blasfeo_dvec *tmp_nuxM; // work space of size nuM+nxM + struct blasfeo_dvec *tmp_nbgqM; // work space of size nbM+ngM+nqM + struct blasfeo_dvec *tmp_nsM; // work space of size nsM + struct blasfeo_dvec *q_fun; // value for evaluation of quadr constr + struct blasfeo_dvec *q_adj; // value for adjoint of quadr constr + int use_q_fun; // reuse cached value for evaluation of quadr constr + int use_q_adj; // reuse cached value for adjoint of quadr constr + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t d_tree_ocp_qcqp_res_memsize(struct d_tree_ocp_qcqp_dim *ocp_dim); +// +void d_tree_ocp_qcqp_res_create(struct d_tree_ocp_qcqp_dim *ocp_dim, struct d_tree_ocp_qcqp_res *res, void *mem); +// +hpipm_size_t d_tree_ocp_qcqp_res_ws_memsize(struct d_tree_ocp_qcqp_dim *ocp_dim); +// +void d_tree_ocp_qcqp_res_ws_create(struct d_tree_ocp_qcqp_dim *ocp_dim, struct d_tree_ocp_qcqp_res_ws *ws, void *mem); +// +void d_tree_ocp_qcqp_res_compute(struct d_tree_ocp_qcqp *qp, struct d_tree_ocp_qcqp_sol *qp_sol, struct d_tree_ocp_qcqp_res *res, struct d_tree_ocp_qcqp_res_ws *ws); +// +void d_tree_ocp_qcqp_res_compute_inf_norm(struct d_tree_ocp_qcqp_res *res); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + +#endif // HPIPM_D_TREE_OCP_QCQP_RES_H_ + + + diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_sol.h new file mode 100644 index 0000000000..cde8de5c51 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_sol.h @@ -0,0 +1,99 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_D_TREE_OCP_QCQP_SOL_H_ +#define HPIPM_D_TREE_OCP_QCQP_SOL_H_ + + + +#include +#include + +#include "hpipm_d_tree_ocp_qcqp_dim.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + +struct d_tree_ocp_qcqp_sol + { + struct d_tree_ocp_qcqp_dim *dim; + struct blasfeo_dvec *ux; + struct blasfeo_dvec *pi; + struct blasfeo_dvec *lam; + struct blasfeo_dvec *t; + void *misc; + hpipm_size_t memsize; // memory size in bytes + }; + + + +// +hpipm_size_t d_tree_ocp_qcqp_sol_memsize(struct d_tree_ocp_qcqp_dim *dim); +// +void d_tree_ocp_qcqp_sol_create(struct d_tree_ocp_qcqp_dim *dim, struct d_tree_ocp_qcqp_sol *qp_sol, void *memory); +// +void d_tree_ocp_qcqp_sol_get(char *field, int node_edge, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec); +// +void d_tree_ocp_qcqp_sol_get_u(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec); +// +void d_tree_ocp_qcqp_sol_get_x(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec); +// +void d_tree_ocp_qcqp_sol_get_sl(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec); +// +void d_tree_ocp_qcqp_sol_get_su(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec); +// +void d_tree_ocp_qcqp_sol_get_pi(int edge, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec); +// +void d_tree_ocp_qcqp_sol_get_lam_lb(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec); +// +void d_tree_ocp_qcqp_sol_get_lam_ub(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec); +// +void d_tree_ocp_qcqp_sol_get_lam_lg(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec); +// +void d_tree_ocp_qcqp_sol_get_lam_ug(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec); + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + + +#endif // HPIPM_D_TREE_OCP_QCQP_SOL_H_ + diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_utils.h new file mode 100644 index 0000000000..5ef04fcf66 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_utils.h @@ -0,0 +1,84 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_D_TREE_OCP_QP_UTILS_H_ +#define HPIPM_D_TREE_OCP_QP_UTILS_H_ + + + +#include +#include + +#include "hpipm_d_tree_ocp_qcqp_dim.h" +#include "hpipm_d_tree_ocp_qcqp.h" +#include "hpipm_d_tree_ocp_qcqp_sol.h" +#include "hpipm_d_tree_ocp_qcqp_ipm.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +// +void d_tree_ocp_qcqp_dim_print(struct d_tree_ocp_qcqp_dim *qp_dim); +// +//void d_tree_ocp_qcqp_dim_codegen(char *file_name, char *mode, struct d_tree_ocp_qcqp_dim *qp_dim); +// +void d_tree_ocp_qcqp_print(struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp *qp); +// +//void d_tree_ocp_qcqp_codegen(char *file_name, char *mode, struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp *qp); +// +void d_tree_ocp_qcqp_sol_print(struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp_sol *ocp_qcqp_sol); +// +void d_tree_ocp_qcqp_ipm_arg_print(struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg); +// +//void d_tree_ocp_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg); +// +void d_tree_ocp_qcqp_res_print(struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp_res *ocp_qcqp_res); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + + +#endif // HPIPM_D_TREE_OCP_QP_UTILS_H_ + + diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp.h new file mode 100644 index 0000000000..1666ad7c71 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp.h @@ -0,0 +1,195 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_D_TREE_OCP_QP_H_ +#define HPIPM_D_TREE_OCP_QP_H_ + + + +#include +#include + +#include "hpipm_d_tree_ocp_qp_dim.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct d_tree_ocp_qp + { + struct d_tree_ocp_qp_dim *dim; + struct blasfeo_dmat *BAbt; // Nn-1 + struct blasfeo_dmat *RSQrq; // Nn + struct blasfeo_dmat *DCt; // Nn + struct blasfeo_dvec *b; // Nn-1 + struct blasfeo_dvec *rqz; // Nn + struct blasfeo_dvec *d; // Nn + struct blasfeo_dvec *d_mask; // Nn + struct blasfeo_dvec *m; // Nn + struct blasfeo_dvec *Z; // Nn + int **idxb; // indices of box constrained variables within [u; x] // Nn +// int **idxs; // index of soft constraints + int **idxs_rev; // index of soft constraints + hpipm_size_t memsize; // memory size in bytes + }; + + + +// +hpipm_size_t d_tree_ocp_qp_memsize(struct d_tree_ocp_qp_dim *dim); +// +void d_tree_ocp_qp_create(struct d_tree_ocp_qp_dim *dim, struct d_tree_ocp_qp *qp, void *memory); +// +void d_tree_ocp_qp_set_all(double **A, double **B, double **b, double **Q, double **S, double **R, double **q, double **r, int **idxb, double **d_lb, double **d_ub, double **C, double **D, double **d_lg, double **d_ug, double **Zl, double **Zu, double **zl, double **zu, int **idxs, double **d_ls, double **d_us, struct d_tree_ocp_qp *qp); +// +void d_tree_ocp_qp_set(char *field_name, int node_edge, void *value, struct d_tree_ocp_qp *qp); +// +void d_tree_ocp_qp_set_A(int edge, double *mat, struct d_tree_ocp_qp *qp); +// +void d_tree_ocp_qp_set_B(int edge, double *mat, struct d_tree_ocp_qp *qp); +// +void d_tree_ocp_qp_set_b(int edge, double *vec, struct d_tree_ocp_qp *qp); +// +void d_tree_ocp_qp_set_Q(int node, double *mat, struct d_tree_ocp_qp *qp); +// +void d_tree_ocp_qp_set_S(int node, double *mat, struct d_tree_ocp_qp *qp); +// +void d_tree_ocp_qp_set_R(int node, double *mat, struct d_tree_ocp_qp *qp); +// +void d_tree_ocp_qp_set_q(int node, double *vec, struct d_tree_ocp_qp *qp); +// +void d_tree_ocp_qp_set_r(int node, double *vec, struct d_tree_ocp_qp *qp); +// +void d_tree_ocp_qp_set_lb(int node, double *vec, struct d_tree_ocp_qp *qp); +// +void d_tree_ocp_qp_set_lb_mask(int node, double *vec, struct d_tree_ocp_qp *qp); +// +void d_tree_ocp_qp_set_ub(int node, double *vec, struct d_tree_ocp_qp *qp); +// +void d_tree_ocp_qp_set_ub_mask(int node, double *vec, struct d_tree_ocp_qp *qp); +// +void d_tree_ocp_qp_set_lbx(int node, double *vec, struct d_tree_ocp_qp *qp); +// +void d_tree_ocp_qp_set_lbx_mask(int node, double *vec, struct d_tree_ocp_qp *qp); +// +void d_tree_ocp_qp_set_ubx(int node, double *vec, struct d_tree_ocp_qp *qp); +// +void d_tree_ocp_qp_set_ubx_mask(int node, double *vec, struct d_tree_ocp_qp *qp); +// +void d_tree_ocp_qp_set_lbu(int node, double *vec, struct d_tree_ocp_qp *qp); +// +void d_tree_ocp_qp_set_lbu_mask(int node, double *vec, struct d_tree_ocp_qp *qp); +// +void d_tree_ocp_qp_set_ubu(int node, double *vec, struct d_tree_ocp_qp *qp); +// +void d_tree_ocp_qp_set_ubu_mask(int node, double *vec, struct d_tree_ocp_qp *qp); +// +void d_tree_ocp_qp_set_idxb(int node, int *vec, struct d_tree_ocp_qp *qp); +// +void d_tree_ocp_qp_set_idxbx(int node, int *vec, struct d_tree_ocp_qp *qp); +// +void d_tree_ocp_qp_set_Jbx(int node, double *vec, struct d_tree_ocp_qp *qp); +// +void d_tree_ocp_qp_set_idxbu(int node, int *vec, struct d_tree_ocp_qp *qp); +// +void d_tree_ocp_qp_set_Jbu(int node, double *vec, struct d_tree_ocp_qp *qp); +// +void d_tree_ocp_qp_set_C(int node, double *mat, struct d_tree_ocp_qp *qp); +// +void d_tree_ocp_qp_set_D(int node, double *mat, struct d_tree_ocp_qp *qp); +// +void d_tree_ocp_qp_set_lg(int node, double *vec, struct d_tree_ocp_qp *qp); +// +void d_tree_ocp_qp_set_lg_mask(int node, double *vec, struct d_tree_ocp_qp *qp); +// +void d_tree_ocp_qp_set_ug(int node, double *vec, struct d_tree_ocp_qp *qp); +// +void d_tree_ocp_qp_set_ug_mask(int node, double *vec, struct d_tree_ocp_qp *qp); +// +void d_tree_ocp_qp_set_Zl(int node, double *vec, struct d_tree_ocp_qp *qp); +// +void d_tree_ocp_qp_set_Zu(int node, double *vec, struct d_tree_ocp_qp *qp); +// +void d_tree_ocp_qp_set_zl(int node, double *vec, struct d_tree_ocp_qp *qp); +// +void d_tree_ocp_qp_set_zu(int node, double *vec, struct d_tree_ocp_qp *qp); +// +void d_tree_ocp_qp_set_lls(int node, double *vec, struct d_tree_ocp_qp *qp); +// +void d_tree_ocp_qp_set_lls_mask(int node, double *vec, struct d_tree_ocp_qp *qp); +// +void d_tree_ocp_qp_set_lus(int node, double *vec, struct d_tree_ocp_qp *qp); +// +void d_tree_ocp_qp_set_lus_mask(int node, double *vec, struct d_tree_ocp_qp *qp); +// +void d_tree_ocp_qp_set_idxs(int node, int *vec, struct d_tree_ocp_qp *qp); +// +void d_tree_ocp_qp_set_idxs_rev(int node, int *vec, struct d_tree_ocp_qp *qp); +// +void d_tree_ocp_qp_set_Jsbu(int node, double *vec, struct d_tree_ocp_qp *qp); +// +void d_tree_ocp_qp_set_Jsbx(int node, double *vec, struct d_tree_ocp_qp *qp); +// +void d_tree_ocp_qp_set_Jsg(int node, double *vec, struct d_tree_ocp_qp *qp); +// +//void d_tree_ocp_qp_set_idxe(int node, int *vec, struct d_tree_ocp_qp *qp); +// +//void d_tree_ocp_qp_set_idxbxe(int node, int *vec, struct d_tree_ocp_qp *qp); +// +//void d_tree_ocp_qp_set_idxbue(int node, int *vec, struct d_tree_ocp_qp *qp); +// +//void d_tree_ocp_qp_set_idxge(int node, int *vec, struct d_tree_ocp_qp *qp); +// +//void d_tree_ocp_qp_set_Jbxe(int node, double *vec, struct d_tree_ocp_qp *qp); +// +//void d_tree_ocp_qp_set_Jbue(int node, double *vec, struct d_tree_ocp_qp *qp); +// +//void d_tree_ocp_qp_set_Jge(int node, double *vec, struct d_tree_ocp_qp *qp); +// +//void d_tree_ocp_qp_set_diag_H_flag(int node, int *value, struct d_tree_ocp_qp *qp); + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + + +#endif // HPIPM_D_TREE_OCP_QP_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_dim.h new file mode 100644 index 0000000000..659b664594 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_dim.h @@ -0,0 +1,111 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_D_TREE_OCP_QP_DIM_H_ +#define HPIPM_D_TREE_OCP_QP_DIM_H_ + +#include "hpipm_common.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct d_tree_ocp_qp_dim + { + struct tree *ttree; // tree describing node conndection + int *nx; // number of states // Nn + int *nu; // number of inputs // Nn + int *nb; // number of box constraints // Nn + int *nbx; // number of state box constraints // Nn + int *nbu; // number of input box constraints // Nn + int *ng; // number of general constraints // Nn + int *ns; // number of soft constraints // Nn + int *nsbx; // number of soft state box constraints + int *nsbu; // number of soft input box constraints + int *nsg; // number of soft general constraints + int Nn; // number of nodes + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t d_tree_ocp_qp_dim_strsize(); +// +hpipm_size_t d_tree_ocp_qp_dim_memsize(int Nn); +// +void d_tree_ocp_qp_dim_create(int Nn, struct d_tree_ocp_qp_dim *qp_dim, void *memory); +// +void d_tree_ocp_qp_dim_set_all(struct tree *ttree, int *nx, int *nu, int *nbx, int *nbu, int *ng, int *nsbx, int *nsbu, int *nsg, struct d_tree_ocp_qp_dim *dim); +// +void d_tree_ocp_qp_dim_set_tree(struct tree *ttree, struct d_tree_ocp_qp_dim *dim); +// +void d_tree_ocp_qp_dim_set(char *field, int stage, int value, struct d_tree_ocp_qp_dim *dim); +// +void d_tree_ocp_qp_dim_set_nx(int stage, int value, struct d_tree_ocp_qp_dim *dim); +// +void d_tree_ocp_qp_dim_set_nu(int stage, int value, struct d_tree_ocp_qp_dim *dim); +// +void d_tree_ocp_qp_dim_set_nbx(int stage, int value, struct d_tree_ocp_qp_dim *dim); +// +void d_tree_ocp_qp_dim_set_nbu(int stage, int value, struct d_tree_ocp_qp_dim *dim); +// +void d_tree_ocp_qp_dim_set_ng(int stage, int value, struct d_tree_ocp_qp_dim *dim); +// +void d_tree_ocp_qp_dim_set_ns(int stage, int value, struct d_tree_ocp_qp_dim *dim); +// +void d_tree_ocp_qp_dim_set_nsbx(int stage, int value, struct d_tree_ocp_qp_dim *dim); +// +void d_tree_ocp_qp_dim_set_nsbu(int stage, int value, struct d_tree_ocp_qp_dim *dim); +// +void d_tree_ocp_qp_dim_set_nsg(int stage, int value, struct d_tree_ocp_qp_dim *dim); +// +void d_tree_ocp_qp_dim_set_nbxe(int stage, int value, struct d_tree_ocp_qp_dim *dim); +// +void d_tree_ocp_qp_dim_set_nbue(int stage, int value, struct d_tree_ocp_qp_dim *dim); +// +void d_tree_ocp_qp_dim_set_nge(int stage, int value, struct d_tree_ocp_qp_dim *dim); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + + +#endif // HPIPM_D_TREE_OCP_QP_DIM_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_ipm.h new file mode 100644 index 0000000000..fb634208ce --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_ipm.h @@ -0,0 +1,209 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + + + +#ifndef HPIPM_D_TREE_OCP_QP_IPM_H_ +#define HPIPM_D_TREE_OCP_QP_IPM_H_ + + + +#include +#include + +#include +#include +#include +#include +#include + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct d_tree_ocp_qp_ipm_arg + { + double mu0; // initial value for duality measure + double alpha_min; // exit cond on step length + double res_g_max; // exit cond on inf norm of residuals + double res_b_max; // exit cond on inf norm of residuals + double res_d_max; // exit cond on inf norm of residuals + double res_m_max; // exit cond on inf norm of residuals + double reg_prim; // reg of primal hessian + double lam_min; // min value in lam vector + double t_min; // min value in t vector + double tau_min; // min value of barrier parameter + int iter_max; // exit cond in iter number + int stat_max; // iterations saved in stat + int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm + int cond_pred_corr; // conditional Mehrotra's predictor-corrector + int itref_pred_max; // max number of iterative refinement steps for predictor step + int itref_corr_max; // max number of iterative refinement steps for corrector step + int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol + int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq + int abs_form; // absolute IPM formulation + int comp_dual_sol_eq; // dual solution (only for abs_form==1) + int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol==1) + int split_step; // use different steps for primal and dual variables + int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution + int mode; + hpipm_size_t memsize; + }; + + + +struct d_tree_ocp_qp_ipm_ws + { + struct d_core_qp_ipm_workspace *core_workspace; + struct d_tree_ocp_qp_res_ws *res_workspace; + struct d_tree_ocp_qp_sol *sol_step; + struct d_tree_ocp_qp_sol *sol_itref; + struct d_tree_ocp_qp *qp_step; + struct d_tree_ocp_qp *qp_itref; + struct d_tree_ocp_qp_res *res_itref; + struct d_tree_ocp_qp_res *res; + struct blasfeo_dvec *Gamma; // hessian update + struct blasfeo_dvec *gamma; // hessian update + struct blasfeo_dvec *tmp_nxM; // work space of size nxM + struct blasfeo_dvec *tmp_nbgM; // work space of size nbgM + struct blasfeo_dvec *tmp_nsM; // work space of size nsM + struct blasfeo_dvec *Pb; // Pb + struct blasfeo_dvec *Zs_inv; + struct blasfeo_dmat *L; + struct blasfeo_dmat *Lh; + struct blasfeo_dmat *AL; + struct blasfeo_dmat *lq0; + struct blasfeo_dvec *tmp_m; + double *stat; // convergence statistics + int *use_hess_fact; + void *lq_work0; + double qp_res[4]; // infinity norm of residuals + int iter; // iteration number + int stat_max; // iterations saved in stat + int stat_m; // number of recorded stat per IPM iter + int use_Pb; + int status; // solver status + int lq_fact; // cache from arg + int mask_constr; // use constr mask + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t d_tree_ocp_qp_ipm_arg_memsize(struct d_tree_ocp_qp_dim *dim); +// +void d_tree_ocp_qp_ipm_arg_create(struct d_tree_ocp_qp_dim *dim, struct d_tree_ocp_qp_ipm_arg *arg, void *mem); +// +void d_tree_ocp_qp_ipm_arg_set_default(enum hpipm_mode mode, struct d_tree_ocp_qp_ipm_arg *arg); +// +void d_tree_ocp_qp_ipm_arg_set_iter_max(int *iter_max, struct d_tree_ocp_qp_ipm_arg *arg); +// +void d_tree_ocp_qp_ipm_arg_set_alpha_min(double *alpha_min, struct d_tree_ocp_qp_ipm_arg *arg); +// +void d_tree_ocp_qp_ipm_arg_set_mu0(double *mu0, struct d_tree_ocp_qp_ipm_arg *arg); +// +void d_tree_ocp_qp_ipm_arg_set_tol_stat(double *tol_stat, struct d_tree_ocp_qp_ipm_arg *arg); +// +void d_tree_ocp_qp_ipm_arg_set_tol_eq(double *tol_eq, struct d_tree_ocp_qp_ipm_arg *arg); +// +void d_tree_ocp_qp_ipm_arg_set_tol_ineq(double *tol_ineq, struct d_tree_ocp_qp_ipm_arg *arg); +// +void d_tree_ocp_qp_ipm_arg_set_tol_comp(double *tol_comp, struct d_tree_ocp_qp_ipm_arg *arg); +// +void d_tree_ocp_qp_ipm_arg_set_reg_prim(double *reg, struct d_tree_ocp_qp_ipm_arg *arg); +// +void d_tree_ocp_qp_ipm_arg_set_warm_start(int *warm_start, struct d_tree_ocp_qp_ipm_arg *arg); +// +void d_tree_ocp_qp_ipm_arg_set_pred_corr(int *pred_corr, struct d_tree_ocp_qp_ipm_arg *arg); +// +void d_tree_ocp_qp_ipm_arg_set_cond_pred_corr(int *value, struct d_tree_ocp_qp_ipm_arg *arg); +// +void d_tree_ocp_qp_ipm_arg_set_comp_dual_sol_eq(int *value, struct d_tree_ocp_qp_ipm_arg *arg); +// +void d_tree_ocp_qp_ipm_arg_set_comp_res_exit(int *value, struct d_tree_ocp_qp_ipm_arg *arg); +// +void d_tree_ocp_qp_ipm_arg_set_lam_min(double *value, struct d_tree_ocp_qp_ipm_arg *arg); +// +void d_tree_ocp_qp_ipm_arg_set_t_min(double *value, struct d_tree_ocp_qp_ipm_arg *arg); +// +void d_tree_ocp_qp_ipm_arg_set_tau_min(double *value, struct d_tree_ocp_qp_ipm_arg *arg); +// +void d_tree_ocp_qp_ipm_arg_set_split_step(int *value, struct d_tree_ocp_qp_ipm_arg *arg); +// +void d_tree_ocp_qp_ipm_arg_set_t_lam_min(int *value, struct d_tree_ocp_qp_ipm_arg *arg); + +// +hpipm_size_t d_tree_ocp_qp_ipm_ws_memsize(struct d_tree_ocp_qp_dim *dim, struct d_tree_ocp_qp_ipm_arg *arg); +// +void d_tree_ocp_qp_ipm_ws_create(struct d_tree_ocp_qp_dim *dim, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws, void *mem); +// +void d_tree_ocp_qp_ipm_get_status(struct d_tree_ocp_qp_ipm_ws *ws, int *status); +// +void d_tree_ocp_qp_ipm_get_iter(struct d_tree_ocp_qp_ipm_ws *ws, int *iter); +// +void d_tree_ocp_qp_ipm_get_max_res_stat(struct d_tree_ocp_qp_ipm_ws *ws, double *res_stat); +// +void d_tree_ocp_qp_ipm_get_max_res_eq(struct d_tree_ocp_qp_ipm_ws *ws, double *res_eq); +// +void d_tree_ocp_qp_ipm_get_max_res_ineq(struct d_tree_ocp_qp_ipm_ws *ws, double *res_ineq); +// +void d_tree_ocp_qp_ipm_get_max_res_comp(struct d_tree_ocp_qp_ipm_ws *ws, double *res_comp); +// +void d_tree_ocp_qp_ipm_get_stat(struct d_tree_ocp_qp_ipm_ws *ws, double **stat); +// +void d_tree_ocp_qp_ipm_get_stat_m(struct d_tree_ocp_qp_ipm_ws *ws, int *stat_m); +// +void d_tree_ocp_qp_init_var(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws); +// +void d_tree_ocp_qp_ipm_abs_step(int kk, struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws); +// +void d_tree_ocp_qp_ipm_delta_step(int kk, struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws); +// +void d_tree_ocp_qp_ipm_solve(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws); + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + + +#endif // HPIPM_D_TREE_OCP_QP_IPM_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_kkt.h new file mode 100644 index 0000000000..4afd52fe4b --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_kkt.h @@ -0,0 +1,52 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifdef __cplusplus +extern "C" { +#endif + + +// +void d_tree_ocp_qp_fact_solve_kkt_unconstr(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws); +// +void d_tree_ocp_qp_fact_solve_kkt_step(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws); +// +void d_tree_ocp_qp_fact_lq_solve_kkt_step(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws); +// +void d_tree_ocp_qp_solve_kkt_step(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws); + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_res.h new file mode 100644 index 0000000000..fe499080ea --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_res.h @@ -0,0 +1,106 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_D_TREE_OCP_QP_RES_H_ +#define HPIPM_D_TREE_OCP_QP_RES_H_ + + + +#include +#include + +#include +#include +#include +#include + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct d_tree_ocp_qp_res + { + struct d_tree_ocp_qp_dim *dim; + struct blasfeo_dvec *res_g; // q-residuals + struct blasfeo_dvec *res_b; // b-residuals + struct blasfeo_dvec *res_d; // d-residuals + struct blasfeo_dvec *res_m; // m-residuals + double res_max[4]; // max of residuals + double res_mu; // mu-residual + hpipm_size_t memsize; + }; + + + +struct d_tree_ocp_qp_res_ws + { + struct blasfeo_dvec *tmp_nbgM; // work space of size nbM+ngM + struct blasfeo_dvec *tmp_nsM; // work space of size nsM + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t d_tree_ocp_qp_res_memsize(struct d_tree_ocp_qp_dim *ocp_dim); +// +void d_tree_ocp_qp_res_create(struct d_tree_ocp_qp_dim *ocp_dim, struct d_tree_ocp_qp_res *res, void *mem); +// +hpipm_size_t d_tree_ocp_qp_res_ws_memsize(struct d_tree_ocp_qp_dim *ocp_dim); +// +void d_tree_ocp_qp_res_ws_create(struct d_tree_ocp_qp_dim *ocp_dim, struct d_tree_ocp_qp_res_ws *ws, void *mem); +// +void d_tree_ocp_qp_res_get_all(struct d_tree_ocp_qp_res *res, double **res_r, double **res_q, double **res_ls, double **res_us, double **res_b, double **res_d_lb, double **res_d_ub, double **res_d_lg, double **res_d_ug, double **res_d_ls, double **res_d_us, double **res_m_lb, double **res_m_ub, double **res_m_lg, double **res_m_ug, double **res_m_ls, double **res_m_us); +// +void d_tree_ocp_qp_res_compute(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_res *res, struct d_tree_ocp_qp_res_ws *ws); +// +void d_tree_ocp_qp_res_compute_lin(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_sol *qp_step, struct d_tree_ocp_qp_res *res, struct d_tree_ocp_qp_res_ws *ws); +// +void d_tree_ocp_qp_res_compute_inf_norm(struct d_tree_ocp_qp_res *res); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + +#endif // HPIPM_D_TREE_OCP_QP_RES_H_ + + diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_sol.h new file mode 100644 index 0000000000..343d5e8ca6 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_sol.h @@ -0,0 +1,100 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_D_TREE_OCP_QP_SOL_H_ +#define HPIPM_D_TREE_OCP_QP_SOL_H_ + + + +#include +#include + +#include "hpipm_d_tree_ocp_qp_dim.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + +struct d_tree_ocp_qp_sol + { + struct d_tree_ocp_qp_dim *dim; + struct blasfeo_dvec *ux; + struct blasfeo_dvec *pi; + struct blasfeo_dvec *lam; + struct blasfeo_dvec *t; + void *misc; + hpipm_size_t memsize; // memory size in bytes + }; + + + +// +hpipm_size_t d_tree_ocp_qp_sol_memsize(struct d_tree_ocp_qp_dim *dim); +// +void d_tree_ocp_qp_sol_create(struct d_tree_ocp_qp_dim *dim, struct d_tree_ocp_qp_sol *qp_sol, void *memory); +// +void d_tree_ocp_qp_sol_get_all(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, double **u, double **x, double **ls, double **us, double **pi, double **lam_lb, double **lam_ub, double **lam_lg, double **lam_ug, double **lam_ls, double **lam_us); +// +void d_tree_ocp_qp_sol_get(char *field, int node_edge, struct d_tree_ocp_qp_sol *qp_sol, double *vec); +// +void d_tree_ocp_qp_sol_get_u(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec); +// +void d_tree_ocp_qp_sol_get_x(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec); +// +void d_tree_ocp_qp_sol_get_sl(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec); +// +void d_tree_ocp_qp_sol_get_su(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec); +// +void d_tree_ocp_qp_sol_get_pi(int edge, struct d_tree_ocp_qp_sol *qp_sol, double *vec); +// +void d_tree_ocp_qp_sol_get_lam_lb(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec); +// +void d_tree_ocp_qp_sol_get_lam_ub(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec); +// +void d_tree_ocp_qp_sol_get_lam_lg(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec); +// +void d_tree_ocp_qp_sol_get_lam_ug(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec); + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + + +#endif // HPIPM_D_TREE_OCP_QP_SOL_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_utils.h new file mode 100644 index 0000000000..b689fdc0fa --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_utils.h @@ -0,0 +1,83 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_D_TREE_OCP_QP_UTILS_H_ +#define HPIPM_D_TREE_OCP_QP_UTILS_H_ + + + +#include +#include + +#include "hpipm_d_tree_ocp_qp_dim.h" +#include "hpipm_d_tree_ocp_qp.h" +#include "hpipm_d_tree_ocp_qp_sol.h" +#include "hpipm_d_tree_ocp_qp_ipm.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +// +void d_tree_ocp_qp_dim_print(struct d_tree_ocp_qp_dim *qp_dim); +// +//void d_tree_ocp_qp_dim_codegen(char *file_name, char *mode, struct d_tree_ocp_qp_dim *qp_dim); +// +void d_tree_ocp_qp_print(struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp *qp); +// +//void d_tree_ocp_qp_codegen(char *file_name, char *mode, struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp *qp); +// +void d_tree_ocp_qp_sol_print(struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp_sol *ocp_qp_sol); +// +void d_tree_ocp_qp_ipm_arg_print(struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp_ipm_arg *arg); +// +//void d_tree_ocp_qp_ipm_arg_codegen(char *file_name, char *mode, struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp_ipm_arg *arg); +// +void d_tree_ocp_qp_res_print(struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp_res *ocp_qp_res); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + + +#endif // HPIPM_D_TREE_OCP_QP_UTILS_H_ + diff --git a/third_party/acados/include/hpipm/include/hpipm_m_dense_qp.h b/third_party/acados/include/hpipm/include/hpipm_m_dense_qp.h new file mode 100644 index 0000000000..8bc101003e --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_m_dense_qp.h @@ -0,0 +1,68 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + + + + +#ifndef HPIPM_M_DENSE_QP_H_ +#define HPIPM_M_DENSE_QP_H_ + + + +#include +#include + +#include "hpipm_d_dense_qp.h" +#include "hpipm_s_dense_qp.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +void cvt_d2s_dense_qp(struct d_dense_qp *qpd, struct s_dense_qp *qps); + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + + +#endif // HPIPM_M_DENSE_QP_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_m_dense_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_m_dense_qp_dim.h new file mode 100644 index 0000000000..4610321b97 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_m_dense_qp_dim.h @@ -0,0 +1,68 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + + + + +#ifndef HPIPM_M_DENSE_QP_DIM_H_ +#define HPIPM_M_DENSE_QP_DIM_H_ + + + +#include +#include + +#include "hpipm_d_dense_qp_dim.h" +#include "hpipm_s_dense_qp_dim.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +void cvt_d2s_dense_qp_dim(struct d_dense_qp_dim *qpd, struct s_dense_qp_dim *qps); + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + + +#endif // HPIPM_M_DENSE_QP_DIM_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp.h b/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp.h new file mode 100644 index 0000000000..95c3dad1aa --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp.h @@ -0,0 +1,49 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + + + +#include +#include + +#ifdef __cplusplus +extern "C" { +#endif + +void m_cvt_d_ocp_qp_to_s_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp); + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_ipm_hard.h b/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_ipm_hard.h new file mode 100644 index 0000000000..1c44acee2e --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_ipm_hard.h @@ -0,0 +1,115 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + + + +#include +#include + +#ifdef __cplusplus +extern "C" { +#endif + + +struct m_ipm_hard_ocp_qp_workspace + { + struct d_ipm_hard_core_qp_workspace *core_workspace; + struct blasfeo_dvec *dux; + struct blasfeo_dvec *dpi; + struct blasfeo_dvec *dt_lb; + struct blasfeo_dvec *dt_lg; + struct blasfeo_svec *sdux; // XXX + struct blasfeo_svec *sdpi; // XXX + struct blasfeo_dvec *res_g; // q-residuals + struct blasfeo_dvec *res_b; // b-residuals + struct blasfeo_dvec *res_d; // d-residuals XXX remove ??? + struct blasfeo_dvec *res_d_lb; // d-residuals + struct blasfeo_dvec *res_d_ub; // d-residuals + struct blasfeo_dvec *res_d_lg; // d-residuals + struct blasfeo_dvec *res_d_ug; // d-residuals + struct blasfeo_dvec *res_m; // m-residuals + struct blasfeo_dvec *res_m_lb; // m-residuals + struct blasfeo_dvec *res_m_ub; // m-residuals + struct blasfeo_dvec *res_m_lg; // m-residuals + struct blasfeo_dvec *res_m_ug; // m-residuals + struct blasfeo_svec *sres_g; // q-residuals // XXX + struct blasfeo_svec *sres_b; // b-residuals // XXX + struct blasfeo_dvec *Qx_lb; // hessian update + struct blasfeo_dvec *Qx_lg; // hessian update + struct blasfeo_dvec *qx_lb; // gradient update + struct blasfeo_dvec *qx_lg; // gradient update + struct blasfeo_svec *sQx_lb; // hessian update // XXX + struct blasfeo_svec *sQx_lg; // hessian update // XXX + struct blasfeo_svec *sqx_lb; // gradient update // XXX + struct blasfeo_svec *sqx_lg; // gradient update // XXX + struct blasfeo_dvec *tmp_nbM; // work space of size nbM + struct blasfeo_svec *tmp_nxM; // work space of size nxM // XXX + struct blasfeo_dvec *tmp_ngM; // work space of size ngM + struct blasfeo_svec *Pb; // Pb // XXX + struct blasfeo_smat *L; // XXX + struct blasfeo_smat *AL; // XXX + struct blasfeo_svec *sSx; // scaling + struct blasfeo_svec *sSi; // scaling inverted + double *stat; // convergence statistics + double res_mu; // mu-residual + int iter; // iteration number + int compute_Pb; + int scale; + }; + + + +struct m_ipm_hard_ocp_qp_arg + { + double alpha_min; // exit cond on step length + double mu_max; // exit cond on duality measure + double mu0; // initial value for duality measure + int iter_max; // exit cond in iter number + }; + + + +// +hpipm_size_t m_memsize_ipm_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct m_ipm_hard_ocp_qp_arg *arg); +// +void m_create_ipm_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct m_ipm_hard_ocp_qp_arg *arg, struct m_ipm_hard_ocp_qp_workspace *ws, void *mem); +// +void m_solve_ipm_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct d_ocp_qp_sol *qp_sol, struct m_ipm_hard_ocp_qp_workspace *ws); +// +void m_solve_ipm2_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct d_ocp_qp_sol *qp_sol, struct m_ipm_hard_ocp_qp_workspace *ws); + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_kkt.h new file mode 100644 index 0000000000..032fe95b1f --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_kkt.h @@ -0,0 +1,45 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifdef __cplusplus +extern "C" { +#endif + +void m_fact_solve_kkt_step_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct m_ipm_hard_ocp_qp_workspace *ws); +void m_solve_kkt_step_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct m_ipm_hard_ocp_qp_workspace *ws); + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/third_party/acados/include/hpipm/include/hpipm_s_cast_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_cast_qcqp.h new file mode 100644 index 0000000000..ba01ecb3bd --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_cast_qcqp.h @@ -0,0 +1,72 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + + + +#ifndef HPIPM_S_CAST_QCQP_H_ +#define HPIPM_S_CAST_QCQP_H_ + + + +#include +#include + +#include "hpipm_s_dense_qcqp.h" +#include "hpipm_s_dense_qcqp_sol.h" +#include "hpipm_s_ocp_qcqp.h" +#include "hpipm_s_ocp_qcqp_dim.h" +#include "hpipm_s_ocp_qcqp_sol.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + +// +void s_cast_qcqp_compute_dim(struct s_ocp_qcqp_dim *ocp_dim, struct s_dense_qcqp_dim *dense_dim); +// +void s_cast_qcqp_cond(struct s_ocp_qcqp *ocp_qp, struct s_dense_qcqp *dense_qp); + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + + +#endif // HPIPM_S_CAST_QCQP_H_ + + diff --git a/third_party/acados/include/hpipm/include/hpipm_s_cond.h b/third_party/acados/include/hpipm/include/hpipm_s_cond.h new file mode 100644 index 0000000000..30116798b7 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_cond.h @@ -0,0 +1,137 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + + + +#ifndef HPIPM_S_COND_H_ +#define HPIPM_S_COND_H_ + + + +#include +#include + +#include "hpipm_s_dense_qp.h" +#include "hpipm_s_dense_qp_sol.h" +#include "hpipm_s_ocp_qp.h" +#include "hpipm_s_ocp_qp_dim.h" +#include "hpipm_s_ocp_qp_sol.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct s_cond_qp_arg + { + int cond_last_stage; // condense last stage + int cond_alg; // condensing algorithm: 0 N2-nx3, 1 N3-nx2 + int comp_prim_sol; // primal solution (v) + int comp_dual_sol_eq; // dual solution equality constr (pi) + int comp_dual_sol_ineq; // dual solution inequality constr (lam t) + int square_root_alg; // square root algorithm (faster but requires RSQ>0) + hpipm_size_t memsize; + }; + + + +struct s_cond_qp_ws + { + struct blasfeo_smat *Gamma; + struct blasfeo_smat *GammaQ; + struct blasfeo_smat *L; + struct blasfeo_smat *Lx; + struct blasfeo_smat *AL; + struct blasfeo_svec *Gammab; + struct blasfeo_svec *l; + struct blasfeo_svec *tmp_nbgM; + struct blasfeo_svec *tmp_nuxM; + int bs; // block size + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t s_cond_qp_arg_memsize(); +// +void s_cond_qp_arg_create(struct s_cond_qp_arg *cond_arg, void *mem); +// +void s_cond_qp_arg_set_default(struct s_cond_qp_arg *cond_arg); +// condensing algorithm: 0 N2-nx3, 1 N3-nx2 +void s_cond_qp_arg_set_cond_alg(int cond_alg, struct s_cond_qp_arg *cond_arg); +// set riccati-like algorithm: 0 classical, 1 square-root +void s_cond_qp_arg_set_ric_alg(int ric_alg, struct s_cond_qp_arg *cond_arg); +// condense last stage: 0 last stage disregarded, 1 last stage condensed too +void s_cond_qp_arg_set_cond_last_stage(int cond_last_stage, struct s_cond_qp_arg *cond_arg); +// +void s_cond_qp_arg_set_comp_prim_sol(int value, struct s_cond_qp_arg *cond_arg); +// +void s_cond_qp_arg_set_comp_dual_sol_eq(int value, struct s_cond_qp_arg *cond_arg); +// +void s_cond_qp_arg_set_comp_dual_sol_ineq(int value, struct s_cond_qp_arg *cond_arg); + +// +void s_cond_qp_compute_dim(struct s_ocp_qp_dim *ocp_dim, struct s_dense_qp_dim *dense_dim); +// +hpipm_size_t s_cond_qp_ws_memsize(struct s_ocp_qp_dim *ocp_dim, struct s_cond_qp_arg *cond_arg); +// +void s_cond_qp_ws_create(struct s_ocp_qp_dim *ocp_dim, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws, void *mem); +// +void s_cond_qp_cond(struct s_ocp_qp *ocp_qp, struct s_dense_qp *dense_qp, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws); +// +void s_cond_qp_cond_lhs(struct s_ocp_qp *ocp_qp, struct s_dense_qp *dense_qp, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws); +// +void s_cond_qp_cond_rhs(struct s_ocp_qp *ocp_qp, struct s_dense_qp *dense_qp, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws); +// +void s_cond_qp_expand_sol(struct s_ocp_qp *ocp_qp, struct s_dense_qp_sol *dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws); +// TODO remove +void s_cond_qp_expand_primal_sol(struct s_ocp_qp *ocp_qp, struct s_dense_qp_sol *dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws); + +// +void s_cond_qp_update(int *idxc, struct s_ocp_qp *ocp_qp, struct s_dense_qp *dense_qp, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws); + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + + +#endif // HPIPM_S_COND_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_s_cond_aux.h b/third_party/acados/include/hpipm/include/hpipm_s_cond_aux.h new file mode 100644 index 0000000000..003472ab9f --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_cond_aux.h @@ -0,0 +1,92 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + + + +#ifndef HPIPM_S_COND_AUX_H_ +#define HPIPM_S_COND_AUX_H_ + + + +#include +#include + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +// +void s_cond_BAbt(struct s_ocp_qp *ocp_qp, struct blasfeo_smat *BAbt2, struct blasfeo_svec *b2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws); +// +void s_cond_BAt(struct s_ocp_qp *ocp_qp, struct blasfeo_smat *BAbt2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws); +// +void s_cond_b(struct s_ocp_qp *ocp_qp, struct blasfeo_svec *b2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws); +// +void s_cond_RSQrq(struct s_ocp_qp *ocp_qp, struct blasfeo_smat *RSQrq2, struct blasfeo_svec *rq2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws); +// +void s_cond_RSQ(struct s_ocp_qp *ocp_qp, struct blasfeo_smat *RSQrq2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws); +// +void s_cond_rq(struct s_ocp_qp *ocp_qp, struct blasfeo_svec *rq2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws); +// +void s_cond_DCtd(struct s_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_smat *DCt2, struct blasfeo_svec *d2, struct blasfeo_svec *d_mask2, int *idxs_rev2, struct blasfeo_svec *Z2, struct blasfeo_svec *z2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws); +// +void s_cond_DCt(struct s_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_smat *DCt2, int *idxs_rev2, struct blasfeo_svec *Z2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws); +// +void s_cond_d(struct s_ocp_qp *ocp_qp, struct blasfeo_svec *d2, struct blasfeo_svec *d_mask2, struct blasfeo_svec *z2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws); +// +void s_expand_sol(struct s_ocp_qp *ocp_qp, struct s_dense_qp_sol *dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws); +// +void s_expand_primal_sol(struct s_ocp_qp *ocp_qp, struct s_dense_qp_sol *dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws); + +// +void s_update_cond_BAbt(int *idxc, struct s_ocp_qp *ocp_qp, struct blasfeo_smat *BAbt2, struct blasfeo_svec *b2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws); +// +void s_update_cond_RSQrq_N2nx3(int *idxc, struct s_ocp_qp *ocp_qp, struct blasfeo_smat *RSQrq2, struct blasfeo_svec *rq2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws); +// +void s_update_cond_DCtd(int *idxc, struct s_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_smat *DCt2, struct blasfeo_svec *d2, int *idxs2, struct blasfeo_svec *Z2, struct blasfeo_svec *z2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws); + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + + +#endif // HPIPM_S_COND_AUX_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_s_cond_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_cond_qcqp.h new file mode 100644 index 0000000000..c36678abd5 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_cond_qcqp.h @@ -0,0 +1,130 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + + + +#ifndef HPIPM_S_COND_QCQP_H_ +#define HPIPM_S_COND_QCQP_H_ + + + +#include +#include + +#include "hpipm_s_dense_qcqp.h" +#include "hpipm_s_dense_qcqp_sol.h" +#include "hpipm_s_ocp_qcqp.h" +#include "hpipm_s_ocp_qcqp_dim.h" +#include "hpipm_s_ocp_qcqp_sol.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct s_cond_qcqp_arg + { + struct s_cond_qp_arg *qp_arg; + int cond_last_stage; // condense last stage +// int cond_variant; // TODO + int comp_prim_sol; // primal solution (v) + int comp_dual_sol_eq; // dual solution equality constr (pi) + int comp_dual_sol_ineq; // dual solution equality constr (lam t) + int square_root_alg; // square root algorithm (faster but requires RSQ>0) + hpipm_size_t memsize; + }; + + + +struct s_cond_qcqp_ws + { + struct s_cond_qp_ws *qp_ws; + struct blasfeo_smat *hess_array; // TODO remove + struct blasfeo_smat *zero_hess; // TODO remove + struct blasfeo_svec *zero_grad; // TODO remove + struct blasfeo_svec *grad_array; // TODO remove + struct blasfeo_svec *tmp_nvc; + struct blasfeo_svec *tmp_nuxM; + struct blasfeo_smat *GammaQ; + struct blasfeo_smat *tmp_DCt; + struct blasfeo_smat *tmp_nuM_nxM; +// struct blasfeo_svec *d_qp; +// struct blasfeo_svec *d_mask_qp; + hpipm_size_t memsize; + }; + + +// +hpipm_size_t s_cond_qcqp_arg_memsize(); +// +void s_cond_qcqp_arg_create(struct s_cond_qcqp_arg *cond_arg, void *mem); +// +void s_cond_qcqp_arg_set_default(struct s_cond_qcqp_arg *cond_arg); +// set riccati-like algorithm: 0 classical, 1 square-root +void s_cond_qcqp_arg_set_ric_alg(int ric_alg, struct s_cond_qcqp_arg *cond_arg); +// condense last stage: 0 last stage disregarded, 1 last stage condensed too +void s_cond_qcqp_arg_set_cond_last_stage(int cond_last_stage, struct s_cond_qcqp_arg *cond_arg); + +// +void s_cond_qcqp_compute_dim(struct s_ocp_qcqp_dim *ocp_dim, struct s_dense_qcqp_dim *dense_dim); +// +hpipm_size_t s_cond_qcqp_ws_memsize(struct s_ocp_qcqp_dim *ocp_dim, struct s_cond_qcqp_arg *cond_arg); +// +void s_cond_qcqp_ws_create(struct s_ocp_qcqp_dim *ocp_dim, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws, void *mem); +// +void s_cond_qcqp_qc(struct s_ocp_qcqp *ocp_qp, struct blasfeo_smat *Hq2, int *Hq_nzero2, struct blasfeo_smat *Ct2, struct blasfeo_svec *d2, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws); +// +void s_cond_qcqp_qc_lhs(struct s_ocp_qcqp *ocp_qp, struct blasfeo_smat *Hq2, int *Hq_nzero2, struct blasfeo_smat *Ct2, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws); +// +void s_cond_qcqp_qc_rhs(struct s_ocp_qcqp *ocp_qp, struct blasfeo_svec *d2, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws); +// +void s_cond_qcqp_cond(struct s_ocp_qcqp *ocp_qp, struct s_dense_qcqp *dense_qp, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws); +// +void s_cond_qcqp_cond_rhs(struct s_ocp_qcqp *ocp_qp, struct s_dense_qcqp *dense_qp, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws); +// +void s_cond_qcqp_cond_lhs(struct s_ocp_qcqp *ocp_qp, struct s_dense_qcqp *dense_qp, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws); +// +void s_cond_qcqp_expand_sol(struct s_ocp_qcqp *ocp_qp, struct s_dense_qcqp_sol *dense_qp_sol, struct s_ocp_qcqp_sol *ocp_qp_sol, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws); + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + + +#endif // HPIPM_S_COND_QCQP_H_ + diff --git a/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm.h new file mode 100644 index 0000000000..480392c7d9 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm.h @@ -0,0 +1,101 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_S_CORE_QP_IPM_ +#define HPIPM_S_CORE_QP_IPM_ + +#include "hpipm_common.h" + +#ifdef __cplusplus +extern "C" { +#endif + +struct s_core_qp_ipm_workspace + { + float *v; // primal variables + float *pi; // equality constraints multipliers + float *lam; // inequality constraints multipliers + float *t; // inequality constraints slacks + float *t_inv; // inverse of t + float *v_bkp; // backup of primal variables + float *pi_bkp; // backup of equality constraints multipliers + float *lam_bkp; // backup of inequality constraints multipliers + float *t_bkp; // backup of inequality constraints slacks + float *dv; // step in v + float *dpi; // step in pi + float *dlam; // step in lam + float *dt; // step in t + float *res_g; // q-residuals + float *res_b; // b-residuals + float *res_d; // d-residuals + float *res_m; // m-residuals + float *res_m_bkp; // m-residuals + float *Gamma; // Hessian update + float *gamma; // gradient update + float alpha_prim; // step length + float alpha_dual; // step length + float alpha; // step length + float sigma; // centering XXX + float mu; // duality measuere + float mu_aff; // affine duality measuere + float nc_inv; // 1.0/nc, where nc is the total number of constraints + float nc_mask_inv; // 1.0/nc_mask + float lam_min; // min value in lam vector + float t_min; // min value in t vector + float t_min_inv; // inverse of min value in t vector + float tau_min; // min value of barrier parameter + int nv; // number of primal variables + int ne; // number of equality constraints + int nc; // (twice the) number of (two-sided) inequality constraints + int nc_mask; // total number of ineq constr after masking + int split_step; // use different step for primal and dual variables + int t_lam_min; // clip t and lam also in solution, or only in Gamma computation + hpipm_size_t memsize; // memory size (in bytes) of workspace + }; + + + +// +hpipm_size_t s_memsize_core_qp_ipm(int nv, int ne, int nc); +// +void s_create_core_qp_ipm(int nv, int ne, int nc, struct s_core_qp_ipm_workspace *workspace, void *mem); +// +void s_core_qp_ipm(struct s_core_qp_ipm_workspace *workspace); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // HPIPM_S_CORE_QP_IPM_ diff --git a/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm_aux.h b/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm_aux.h new file mode 100644 index 0000000000..1ac3d7ede9 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm_aux.h @@ -0,0 +1,68 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_S_CORE_QP_IPM_AUX_ +#define HPIPM_S_CORE_QP_IPM_AUX_ + +#ifdef __cplusplus +extern "C" { +#endif + +// +void s_compute_Gamma_gamma_qp(float *res_d, float *res_m, struct s_core_qp_ipm_workspace *rws); +// +void s_compute_gamma_qp(float *res_d, float *res_m, struct s_core_qp_ipm_workspace *rws); +// +void s_compute_lam_t_qp(float *res_d, float *res_m, float *dlam, float *dt, struct s_core_qp_ipm_workspace *rws); +// +void s_compute_alpha_qp(struct s_core_qp_ipm_workspace *rws); +// +void s_update_var_qp(struct s_core_qp_ipm_workspace *rws); +// +void s_compute_mu_aff_qp(struct s_core_qp_ipm_workspace *rws); +// +void s_backup_res_m(struct s_core_qp_ipm_workspace *rws); +// +void s_compute_centering_correction_qp(struct s_core_qp_ipm_workspace *rws); +// +void s_compute_centering_qp(struct s_core_qp_ipm_workspace *rws); +// +void s_compute_tau_min_qp(struct s_core_qp_ipm_workspace *rws); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // HPIPM_S_CORE_QP_IPM_AUX_ diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp.h new file mode 100644 index 0000000000..d03c065375 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp.h @@ -0,0 +1,200 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + + + +#ifndef HPIPM_S_DENSE_QCQP_H_ +#define HPIPM_S_DENSE_QCQP_H_ + + + +#include +#include + +#include "hpipm_s_dense_qcqp_dim.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct s_dense_qcqp + { + struct s_dense_qcqp_dim *dim; + struct blasfeo_smat *Hv; // hessian of cost & vector work space + struct blasfeo_smat *A; // equality constraint matrix + struct blasfeo_smat *Ct; // inequality constraints matrix + struct blasfeo_smat *Hq; // hessians of quadratic constraints + struct blasfeo_svec *gz; // gradient of cost & gradient of slacks + struct blasfeo_svec *b; // equality constraint vector + struct blasfeo_svec *d; // inequality constraints vector + struct blasfeo_svec *d_mask; // inequality constraints mask vector + struct blasfeo_svec *m; // rhs of complementarity condition + struct blasfeo_svec *Z; // (diagonal) hessian of slacks + int *idxb; // indices of box constrained variables within [u; x] + int *idxs_rev; // index of soft constraints (reverse storage) + int *Hq_nzero; // for each int, the last 3 bits ...abc, {a,b,c}=0 => {R,S,Q}=0 + hpipm_size_t memsize; // memory size in bytes + }; + + + +// +hpipm_size_t s_dense_qcqp_memsize(struct s_dense_qcqp_dim *dim); +// +void s_dense_qcqp_create(struct s_dense_qcqp_dim *dim, struct s_dense_qcqp *qp, void *memory); + +// +void s_dense_qcqp_set(char *field, void *value, struct s_dense_qcqp *qp); +// +void s_dense_qcqp_set_H(float *H, struct s_dense_qcqp *qp); +// +void s_dense_qcqp_set_g(float *g, struct s_dense_qcqp *qp); +// +void s_dense_qcqp_set_A(float *A, struct s_dense_qcqp *qp); +// +void s_dense_qcqp_set_b(float *b, struct s_dense_qcqp *qp); +// +void s_dense_qcqp_set_idxb(int *idxb, struct s_dense_qcqp *qp); +// +void s_dense_qcqp_set_lb(float *lb, struct s_dense_qcqp *qp); +// +void s_dense_qcqp_set_lb_mask(float *lb, struct s_dense_qcqp *qp); +// +void s_dense_qcqp_set_ub(float *ub, struct s_dense_qcqp *qp); +// +void s_dense_qcqp_set_ub_mask(float *ub, struct s_dense_qcqp *qp); +// +void s_dense_qcqp_set_C(float *C, struct s_dense_qcqp *qp); +// +void s_dense_qcqp_set_lg(float *lg, struct s_dense_qcqp *qp); +// +void s_dense_qcqp_set_lg_mask(float *lg, struct s_dense_qcqp *qp); +// +void s_dense_qcqp_set_ug(float *ug, struct s_dense_qcqp *qp); +// +void s_dense_qcqp_set_ug_mask(float *ug, struct s_dense_qcqp *qp); +// +void s_dense_qcqp_set_Hq(float *Hq, struct s_dense_qcqp *qp); +// +void s_dense_qcqp_set_gq(float *gq, struct s_dense_qcqp *qp); +// +void s_dense_qcqp_set_uq(float *uq, struct s_dense_qcqp *qp); +// +void s_dense_qcqp_set_uq_mask(float *uq, struct s_dense_qcqp *qp); +// +void s_dense_qcqp_set_idxs(int *idxs, struct s_dense_qcqp *qp); +// +void s_dense_qcqp_set_idxs_rev(int *idxs_rev, struct s_dense_qcqp *qp); +// +void s_dense_qcqp_set_Zl(float *Zl, struct s_dense_qcqp *qp); +// +void s_dense_qcqp_set_Zu(float *Zu, struct s_dense_qcqp *qp); +// +void s_dense_qcqp_set_zl(float *zl, struct s_dense_qcqp *qp); +// +void s_dense_qcqp_set_zu(float *zu, struct s_dense_qcqp *qp); +// +void s_dense_qcqp_set_ls(float *ls, struct s_dense_qcqp *qp); +// +void s_dense_qcqp_set_ls_mask(float *ls, struct s_dense_qcqp *qp); +// +void s_dense_qcqp_set_us(float *us, struct s_dense_qcqp *qp); +// +void s_dense_qcqp_set_us_mask(float *us, struct s_dense_qcqp *qp); + +// getters (COLMAJ) + +void s_dense_qcqp_get_H(struct s_dense_qcqp *qp, float *H); +// +void s_dense_qcqp_get_g(struct s_dense_qcqp *qp, float *g); +// +void s_dense_qcqp_get_A(struct s_dense_qcqp *qp, float *A); +// +void s_dense_qcqp_get_b(struct s_dense_qcqp *qp, float *b); +// +void s_dense_qcqp_get_idxb(struct s_dense_qcqp *qp, int *idxb); +// +void s_dense_qcqp_get_lb(struct s_dense_qcqp *qp, float *lb); +// +void s_dense_qcqp_get_lb_mask(struct s_dense_qcqp *qp, float *lb); +// +void s_dense_qcqp_get_ub(struct s_dense_qcqp *qp, float *ub); +// +void s_dense_qcqp_get_ub_mask(struct s_dense_qcqp *qp, float *ub); +// +void s_dense_qcqp_get_C(struct s_dense_qcqp *qp, float *C); +// +void s_dense_qcqp_get_lg(struct s_dense_qcqp *qp, float *lg); +// +void s_dense_qcqp_get_lg_mask(struct s_dense_qcqp *qp, float *lg); +// +void s_dense_qcqp_get_ug(struct s_dense_qcqp *qp, float *ug); +// +void s_dense_qcqp_get_ug_mask(struct s_dense_qcqp *qp, float *ug); +// +void s_dense_qcqp_get_idxs(struct s_dense_qcqp *qp, int *idxs); +// +void s_dense_qcqp_get_idxs_rev(struct s_dense_qcqp *qp, int *idxs_rev); +// +void s_dense_qcqp_get_Zl(struct s_dense_qcqp *qp, float *Zl); +// +void s_dense_qcqp_get_Zu(struct s_dense_qcqp *qp, float *Zu); +// +void s_dense_qcqp_get_zl(struct s_dense_qcqp *qp, float *zl); +// +void s_dense_qcqp_get_zu(struct s_dense_qcqp *qp, float *zu); +// +void s_dense_qcqp_get_ls(struct s_dense_qcqp *qp, float *ls); +// +void s_dense_qcqp_get_ls_mask(struct s_dense_qcqp *qp, float *ls); +// +void s_dense_qcqp_get_us(struct s_dense_qcqp *qp, float *us); +// +void s_dense_qcqp_get_us_mask(struct s_dense_qcqp *qp, float *us); + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + + +#endif // HPIPM_S_DENSE_QCQP_H_ + + diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_dim.h new file mode 100644 index 0000000000..04908c2c3a --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_dim.h @@ -0,0 +1,99 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_S_DENSE_QCQP_DIM_H_ +#define HPIPM_S_DENSE_QCQP_DIM_H_ + +#include "hpipm_common.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct s_dense_qcqp_dim + { + struct s_dense_qp_dim *qp_dim; // dim of qp approximation + int nv; // number of variables + int ne; // number of equality constraints + int nb; // number of box constraints + int ng; // number of general constraints + int nq; // number of quadratic constraints + int nsb; // number of softened box constraints + int nsg; // number of softened general constraints + int nsq; // number of softened quadratic constraints + int ns; // number of softened constraints (nsb+nsg+nsq) TODO number of slacks + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t s_dense_qcqp_dim_memsize(); +// +void s_dense_qcqp_dim_create(struct s_dense_qcqp_dim *dim, void *memory); +// +void s_dense_qcqp_dim_set(char *fiels_name, int value, struct s_dense_qcqp_dim *dim); +// +void s_dense_qcqp_dim_set_nv(int value, struct s_dense_qcqp_dim *dim); +// +void s_dense_qcqp_dim_set_ne(int value, struct s_dense_qcqp_dim *dim); +// +void s_dense_qcqp_dim_set_nb(int value, struct s_dense_qcqp_dim *dim); +// +void s_dense_qcqp_dim_set_ng(int value, struct s_dense_qcqp_dim *dim); +// +void s_dense_qcqp_dim_set_nq(int value, struct s_dense_qcqp_dim *dim); +// +void s_dense_qcqp_dim_set_nsb(int value, struct s_dense_qcqp_dim *dim); +// +void s_dense_qcqp_dim_set_nsg(int value, struct s_dense_qcqp_dim *dim); +// +void s_dense_qcqp_dim_set_nsq(int value, struct s_dense_qcqp_dim *dim); +// +void s_dense_qcqp_dim_set_ns(int value, struct s_dense_qcqp_dim *dim); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + + +#endif // HPIPM_S_DENSE_QCQP_DIM_H_ + + diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_ipm.h new file mode 100644 index 0000000000..8f85768ee3 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_ipm.h @@ -0,0 +1,204 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + + + +#ifndef HPIPM_S_DENSE_QCQP_IPM_H_ +#define HPIPM_S_DENSE_QCQP_IPM_H_ + + + +#include +#include + +#include +#include +#include +#include +#include + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct s_dense_qcqp_ipm_arg + { + struct s_dense_qp_ipm_arg *qp_arg; + float mu0; // initial value for duality measure + float alpha_min; // exit cond on step length + float res_g_max; // exit cond on inf norm of residuals + float res_b_max; // exit cond on inf norm of residuals + float res_d_max; // exit cond on inf norm of residuals + float res_m_max; // exit cond on inf norm of residuals + float reg_prim; // reg of primal hessian + float reg_dual; // reg of dual hessian + float lam_min; // min value in lam vector + float t_min; // min value in t vector + int iter_max; // exit cond in iter number + int stat_max; // iterations saved in stat + int pred_corr; // Mehrotra's predictor-corrector IPM algirthm + int cond_pred_corr; // conditional Mehrotra's predictor-corrector + int scale; // scale hessian + int itref_pred_max; // max number of iterative refinement steps for predictor step + int itref_corr_max; // max number of iterative refinement steps for corrector step + int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol + int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq + int abs_form; // absolute IPM formulation + int comp_res_exit; // compute residuals on exit (only for abs_form==1) + int comp_res_pred; // compute residuals of prediction + int split_step; // use different step for primal and dual variables + int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution + int mode; + hpipm_size_t memsize; + }; + + + +struct s_dense_qcqp_ipm_ws + { +// float qp_res[4]; // infinity norm of residuals + struct s_dense_qp_ipm_ws *qp_ws; + struct s_dense_qp *qp; + struct s_dense_qp_sol *qp_sol; + struct s_dense_qcqp_res_ws *qcqp_res_ws; + struct s_dense_qcqp_res *qcqp_res; + struct blasfeo_svec *tmp_nv; +// float *stat; // convergence statistics +// void *lq_work0; +// void *lq_work1; + int iter; // iteration number +// int stat_max; // iterations saved in stat +// int stat_m; // numer of recorded stat per ipm iter +// int scale; +// int use_hess_fact; + int status; + hpipm_size_t memsize; // memory size (in bytes) of workspace + }; + + + +// +hpipm_size_t s_dense_qcqp_ipm_arg_memsize(struct s_dense_qcqp_dim *dim); +// +void s_dense_qcqp_ipm_arg_create(struct s_dense_qcqp_dim *dim, struct s_dense_qcqp_ipm_arg *arg, void *mem); +// +void s_dense_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct s_dense_qcqp_ipm_arg *arg); +// +void s_dense_qcqp_ipm_arg_set(char *field, void *value, struct s_dense_qcqp_ipm_arg *arg); +// +void s_dense_qcqp_ipm_arg_set_iter_max(int *iter_max, struct s_dense_qcqp_ipm_arg *arg); +// +void s_dense_qcqp_ipm_arg_set_alpha_min(float *alpha_min, struct s_dense_qcqp_ipm_arg *arg); +// +void s_dense_qcqp_ipm_arg_set_mu0(float *mu0, struct s_dense_qcqp_ipm_arg *arg); +// +void s_dense_qcqp_ipm_arg_set_tol_stat(float *tol_stat, struct s_dense_qcqp_ipm_arg *arg); +// +void s_dense_qcqp_ipm_arg_set_tol_eq(float *tol_eq, struct s_dense_qcqp_ipm_arg *arg); +// +void s_dense_qcqp_ipm_arg_set_tol_ineq(float *tol_ineq, struct s_dense_qcqp_ipm_arg *arg); +// +void s_dense_qcqp_ipm_arg_set_tol_comp(float *tol_comp, struct s_dense_qcqp_ipm_arg *arg); +// +void s_dense_qcqp_ipm_arg_set_reg_prim(float *reg, struct s_dense_qcqp_ipm_arg *arg); +// +void s_dense_qcqp_ipm_arg_set_reg_dual(float *reg, struct s_dense_qcqp_ipm_arg *arg); +// +void s_dense_qcqp_ipm_arg_set_warm_start(int *warm_start, struct s_dense_qcqp_ipm_arg *arg); +// +void s_dense_qcqp_ipm_arg_set_pred_corr(int *pred_corr, struct s_dense_qcqp_ipm_arg *arg); +// +void s_dense_qcqp_ipm_arg_set_cond_pred_corr(int *cond_pred_corr, struct s_dense_qcqp_ipm_arg *arg); +// +void s_dense_qcqp_ipm_arg_set_comp_res_pred(int *comp_res_pred, struct s_dense_qcqp_ipm_arg *arg); +// +void s_dense_qcqp_ipm_arg_set_comp_res_exit(int *comp_res_exit, struct s_dense_qcqp_ipm_arg *arg); +// +void s_dense_qcqp_ipm_arg_set_lam_min(float *value, struct s_dense_qcqp_ipm_arg *arg); +// +void s_dense_qcqp_ipm_arg_set_t_min(float *value, struct s_dense_qcqp_ipm_arg *arg); +// +void s_dense_qcqp_ipm_arg_set_split_step(int *value, struct s_dense_qcqp_ipm_arg *arg); +// +void s_dense_qcqp_ipm_arg_set_t_lam_min(int *value, struct s_dense_qcqp_ipm_arg *arg); + +// +hpipm_size_t s_dense_qcqp_ipm_ws_memsize(struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp_ipm_arg *arg); +// +void s_dense_qcqp_ipm_ws_create(struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp_ipm_arg *arg, struct s_dense_qcqp_ipm_ws *ws, void *mem); +// +void s_dense_qcqp_ipm_get(char *field, struct s_dense_qcqp_ipm_ws *ws, void *value); +// +void s_dense_qcqp_ipm_get_status(struct s_dense_qcqp_ipm_ws *ws, int *status); +// +void s_dense_qcqp_ipm_get_iter(struct s_dense_qcqp_ipm_ws *ws, int *iter); +// +void s_dense_qcqp_ipm_get_max_res_stat(struct s_dense_qcqp_ipm_ws *ws, float *res_stat); +// +void s_dense_qcqp_ipm_get_max_res_eq(struct s_dense_qcqp_ipm_ws *ws, float *res_eq); +// +void s_dense_qcqp_ipm_get_max_res_ineq(struct s_dense_qcqp_ipm_ws *ws, float *res_ineq); +// +void s_dense_qcqp_ipm_get_max_res_comp(struct s_dense_qcqp_ipm_ws *ws, float *res_comp); +// +void s_dense_qcqp_ipm_get_stat(struct s_dense_qcqp_ipm_ws *ws, float **stat); +// +void s_dense_qcqp_ipm_get_stat_m(struct s_dense_qcqp_ipm_ws *ws, int *stat_m); +#if 0 +// +void s_dense_qcqp_init_var(struct s_dense_qcqp *qp, struct s_dense_qcqp_sol *qp_sol, struct s_dense_qcqp_ipm_arg *arg, struct s_dense_qcqp_ipm_ws *ws); +#endif +// +void s_dense_qcqp_ipm_solve(struct s_dense_qcqp *qp, struct s_dense_qcqp_sol *qp_sol, struct s_dense_qcqp_ipm_arg *arg, struct s_dense_qcqp_ipm_ws *ws); +#if 0 +// +void s_dense_qcqp_ipm_predict(struct s_dense_qcqp *qp, struct s_dense_qcqp_sol *qp_sol, struct s_dense_qcqp_ipm_arg *arg, struct s_dense_qcqp_ipm_ws *ws); +// +void s_dense_qcqp_ipm_sens(struct s_dense_qcqp *qp, struct s_dense_qcqp_sol *qp_sol, struct s_dense_qcqp_ipm_arg *arg, struct s_dense_qcqp_ipm_ws *ws); +#endif + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + + +#endif // HPIPM_S_DENSE_QCQP_IPM_H_ + + diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_res.h new file mode 100644 index 0000000000..779658cc8f --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_res.h @@ -0,0 +1,108 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_S_DENSE_QCQP_RES_H_ +#define HPIPM_S_DENSE_QCQP_RES_H_ + + + +#include +#include + +#include +#include +#include + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct s_dense_qcqp_res + { + struct s_dense_qcqp_dim *dim; + struct blasfeo_svec *res_g; // q-residuals + struct blasfeo_svec *res_b; // b-residuals + struct blasfeo_svec *res_d; // d-residuals + struct blasfeo_svec *res_m; // m-residuals + float res_max[4]; // infinity norm of residuals + float res_mu; // mu-residual + hpipm_size_t memsize; + }; + + + +struct s_dense_qcqp_res_ws + { + struct blasfeo_svec *tmp_nv; // work space of size nv + struct blasfeo_svec *tmp_nbgq; // work space of size nbM+ngM+nqM + struct blasfeo_svec *tmp_ns; // work space of size nsM + struct blasfeo_svec *q_fun; // value for evaluation of quadr constr + struct blasfeo_svec *q_adj; // value for adjoint of quadr constr + int use_q_fun; // reuse cached value for evaluation of quadr constr + int use_q_adj; // reuse cached value for adjoint of quadr constr + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t s_dense_qcqp_res_memsize(struct s_dense_qcqp_dim *dim); +// +void s_dense_qcqp_res_create(struct s_dense_qcqp_dim *dim, struct s_dense_qcqp_res *res, void *mem); +// +hpipm_size_t s_dense_qcqp_res_ws_memsize(struct s_dense_qcqp_dim *dim); +// +void s_dense_qcqp_res_ws_create(struct s_dense_qcqp_dim *dim, struct s_dense_qcqp_res_ws *workspace, void *mem); +// +void s_dense_qcqp_res_compute(struct s_dense_qcqp *qp, struct s_dense_qcqp_sol *qp_sol, struct s_dense_qcqp_res *res, struct s_dense_qcqp_res_ws *ws); +// +void s_dense_qcqp_res_compute_inf_norm(struct s_dense_qcqp_res *res); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + +#endif // HPIPM_S_DENSE_QCQP_RES_H_ + + + + diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_sol.h new file mode 100644 index 0000000000..197a690e52 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_sol.h @@ -0,0 +1,86 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + + + +#ifndef HPIPM_S_DENSE_QCQP_SOL_H_ +#define HPIPM_S_DENSE_QCQP_SOL_H_ + + + +#include +#include + +#include "hpipm_s_dense_qcqp_dim.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct s_dense_qcqp_sol + { + struct s_dense_qcqp_dim *dim; + struct blasfeo_svec *v; + struct blasfeo_svec *pi; + struct blasfeo_svec *lam; + struct blasfeo_svec *t; + void *misc; + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t s_dense_qcqp_sol_memsize(struct s_dense_qcqp_dim *dim); +// +void s_dense_qcqp_sol_create(struct s_dense_qcqp_dim *dim, struct s_dense_qcqp_sol *qp_sol, void *memory); +// +void s_dense_qcqp_sol_get_v(struct s_dense_qcqp_sol *qp_sol, float *v); + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + + +#endif // HPIPM_S_DENSE_QCQP_SOL_H_ + + diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_utils.h new file mode 100644 index 0000000000..4f5aae26eb --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_utils.h @@ -0,0 +1,83 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_S_DENSE_QCQP_UTILS_H_ +#define HPIPM_S_DENSE_QCQP_UTILS_H_ + + + +#include +#include + +#include "hpipm_s_dense_qcqp_dim.h" +#include "hpipm_s_dense_qcqp.h" +#include "hpipm_s_dense_qcqp_sol.h" +//#include "hpipm_s_dense_qcqp_ipm.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +// +void s_dense_qcqp_dim_print(struct s_dense_qcqp_dim *qp_dim); +// +//void s_dense_qcqp_dim_codegen(char *file_name, char *mode, struct s_dense_qcqp_dim *qp_dim); +// +void s_dense_qcqp_print(struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp *qp); +// +//void s_dense_qcqp_codegen(char *file_name, char *mode, struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp *qp); +// +void s_dense_qcqp_sol_print(struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp_sol *dense_qcqp_sol); +// +//void s_dense_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp_ipm_arg *arg); +// +void s_dense_qcqp_res_print(struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp_res *dense_qcqp_res); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + + +#endif // HPIPM_S_DENSE_QCQP_UTILS_H_ + + + diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp.h new file mode 100644 index 0000000000..3c2517fe1b --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp.h @@ -0,0 +1,207 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + + + +#ifndef HPIPM_S_DENSE_QP_H_ +#define HPIPM_S_DENSE_QP_H_ + + + +#include +#include + +#include "hpipm_s_dense_qp_dim.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct s_dense_qp + { + struct s_dense_qp_dim *dim; + struct blasfeo_smat *Hv; // hessian & gradient + struct blasfeo_smat *A; // dynamics matrix + struct blasfeo_smat *Ct; // constraints matrix + struct blasfeo_svec *gz; // gradient & gradient of slacks + struct blasfeo_svec *b; // dynamics vector + struct blasfeo_svec *d; // constraints vector + struct blasfeo_svec *d_mask; // inequality constraints mask vector + struct blasfeo_svec *m; // rhs of complementarity condition + struct blasfeo_svec *Z; // (diagonal) hessian of slacks + int *idxb; // indices of box constrained variables within [u; x] + int *idxs_rev; // index of soft constraints (reverse storage) + hpipm_size_t memsize; // memory size in bytes + }; + + + +// +hpipm_size_t s_dense_qp_memsize(struct s_dense_qp_dim *dim); +// +void s_dense_qp_create(struct s_dense_qp_dim *dim, struct s_dense_qp *qp, void *memory); + +// setters - colmaj +// +void s_dense_qp_set_all(float *H, float *g, float *A, float *b, int *idxb, float *d_lb, float *d_ub, float *C, float *d_lg, float *d_ug, float *Zl, float *Zu, float *zl, float *zu, int *idxs, float *d_ls, float *d_us, struct s_dense_qp *qp); +// +void s_dense_qp_get_all(struct s_dense_qp *qp, float *H, float *g, float *A, float *b, int *idxb, float *d_lb, float *d_ub, float *C, float *d_lg, float *d_ug, float *Zl, float *Zu, float *zl, float *zu, int *idxs, float *d_ls, float *d_us); +// +void s_dense_qp_set(char *field, void *value, struct s_dense_qp *qp); +// +void s_dense_qp_set_H(float *H, struct s_dense_qp *qp); +// +void s_dense_qp_set_g(float *g, struct s_dense_qp *qp); +// +void s_dense_qp_set_A(float *A, struct s_dense_qp *qp); +// +void s_dense_qp_set_b(float *b, struct s_dense_qp *qp); +// +void s_dense_qp_set_idxb(int *idxb, struct s_dense_qp *qp); +// +void s_dense_qp_set_Jb(float *Jb, struct s_dense_qp *qp); +// +void s_dense_qp_set_lb(float *lb, struct s_dense_qp *qp); +// +void s_dense_qp_set_lb_mask(float *lb, struct s_dense_qp *qp); +// +void s_dense_qp_set_ub(float *ub, struct s_dense_qp *qp); +// +void s_dense_qp_set_ub_mask(float *ub, struct s_dense_qp *qp); +// +void s_dense_qp_set_C(float *C, struct s_dense_qp *qp); +// +void s_dense_qp_set_lg(float *lg, struct s_dense_qp *qp); +// +void s_dense_qp_set_lg_mask(float *lg, struct s_dense_qp *qp); +// +void s_dense_qp_set_ug(float *ug, struct s_dense_qp *qp); +// +void s_dense_qp_set_ug_mask(float *ug, struct s_dense_qp *qp); +// +void s_dense_qp_set_idxs(int *idxs, struct s_dense_qp *qp); +// +void s_dense_qp_set_idxs_rev(int *idxs_rev, struct s_dense_qp *qp); +// +void s_dense_qp_set_Jsb(float *Jsb, struct s_dense_qp *qp); +// +void s_dense_qp_set_Jsg(float *Jsg, struct s_dense_qp *qp); +// +void s_dense_qp_set_Zl(float *Zl, struct s_dense_qp *qp); +// +void s_dense_qp_set_Zu(float *Zu, struct s_dense_qp *qp); +// +void s_dense_qp_set_zl(float *zl, struct s_dense_qp *qp); +// +void s_dense_qp_set_zu(float *zu, struct s_dense_qp *qp); +// +void s_dense_qp_set_ls(float *ls, struct s_dense_qp *qp); +// +void s_dense_qp_set_ls_mask(float *ls, struct s_dense_qp *qp); +// +void s_dense_qp_set_us(float *us, struct s_dense_qp *qp); +// +void s_dense_qp_set_us_mask(float *us, struct s_dense_qp *qp); + +// getters - colmaj +// +void s_dense_qp_get_H(struct s_dense_qp *qp, float *H); +// +void s_dense_qp_get_g(struct s_dense_qp *qp, float *g); +// +void s_dense_qp_get_A(struct s_dense_qp *qp, float *A); +// +void s_dense_qp_get_b(struct s_dense_qp *qp, float *b); +// +void s_dense_qp_get_idxb(struct s_dense_qp *qp, int *idxb); +// +void s_dense_qp_get_lb(struct s_dense_qp *qp, float *lb); +// +void s_dense_qp_get_lb_mask(struct s_dense_qp *qp, float *lb); +// +void s_dense_qp_get_ub(struct s_dense_qp *qp, float *ub); +// +void s_dense_qp_get_ub_mask(struct s_dense_qp *qp, float *ub); +// +void s_dense_qp_get_C(struct s_dense_qp *qp, float *C); +// +void s_dense_qp_get_lg(struct s_dense_qp *qp, float *lg); +// +void s_dense_qp_get_lg_mask(struct s_dense_qp *qp, float *lg); +// +void s_dense_qp_get_ug(struct s_dense_qp *qp, float *ug); +// +void s_dense_qp_get_ug_mask(struct s_dense_qp *qp, float *ug); +// +void s_dense_qp_get_idxs(struct s_dense_qp *qp, int *idxs); +// +void s_dense_qp_get_idxs_rev(struct s_dense_qp *qp, int *idxs_rev); +// +void s_dense_qp_get_Zl(struct s_dense_qp *qp, float *Zl); +// +void s_dense_qp_get_Zu(struct s_dense_qp *qp, float *Zu); +// +void s_dense_qp_get_zl(struct s_dense_qp *qp, float *zl); +// +void s_dense_qp_get_zu(struct s_dense_qp *qp, float *zu); +// +void s_dense_qp_get_ls(struct s_dense_qp *qp, float *ls); +// +void s_dense_qp_get_ls_mask(struct s_dense_qp *qp, float *ls); +// +void s_dense_qp_get_us(struct s_dense_qp *qp, float *us); +// +void s_dense_qp_get_us_mask(struct s_dense_qp *qp, float *us); + +// setters - rowmaj +// +void s_dense_qp_set_all_rowmaj(float *H, float *g, float *A, float *b, int *idxb, float *d_lb, float *d_ub, float *C, float *d_lg, float *d_ug, float *Zl, float *Zu, float *zl, float *zu, int *idxs, float *d_ls, float *d_us, struct s_dense_qp *qp); + +// getters - rowmaj +// +void s_dense_qp_get_all_rowmaj(struct s_dense_qp *qp, float *H, float *g, float *A, float *b, int *idxb, float *d_lb, float *d_ub, float *C, float *d_lg, float *d_ug, float *Zl, float *Zu, float *zl, float *zu, int *idxs, float *d_ls, float *d_us); + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + + +#endif // HPIPM_S_DENSE_QP_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_dim.h new file mode 100644 index 0000000000..b979d24432 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_dim.h @@ -0,0 +1,94 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_S_DENSE_QP_DIM_H_ +#define HPIPM_S_DENSE_QP_DIM_H_ + +#include "hpipm_common.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct s_dense_qp_dim + { + int nv; // number of variables + int ne; // number of equality constraints + int nb; // number of box constraints + int ng; // number of general constraints + int nsb; // number of softened box constraints + int nsg; // number of softened general constraints + int ns; // number of softened constraints (nsb+nsg) + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t s_dense_qp_dim_memsize(); +// +void s_dense_qp_dim_create(struct s_dense_qp_dim *qp_dim, void *memory); +// +void s_dense_qp_dim_set_all(int nv, int ne, int nb, int ng, int nsb, int nsg, struct s_dense_qp_dim *dim); +// +void s_dense_qp_dim_set(char *fiels_name, int value, struct s_dense_qp_dim *dim); +// +void s_dense_qp_dim_set_nv(int value, struct s_dense_qp_dim *dim); +// +void s_dense_qp_dim_set_ne(int value, struct s_dense_qp_dim *dim); +// +void s_dense_qp_dim_set_nb(int value, struct s_dense_qp_dim *dim); +// +void s_dense_qp_dim_set_ng(int value, struct s_dense_qp_dim *dim); +// +void s_dense_qp_dim_set_nsb(int value, struct s_dense_qp_dim *dim); +// +void s_dense_qp_dim_set_nsg(int value, struct s_dense_qp_dim *dim); +// +void s_dense_qp_dim_set_ns(int value, struct s_dense_qp_dim *dim); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + + +#endif // HPIPM_S_DENSE_QP_DIM_H_ + + diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_ipm.h new file mode 100644 index 0000000000..f2d56d4529 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_ipm.h @@ -0,0 +1,260 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + + + +#ifndef HPIPM_S_DENSE_QP_IPM_H_ +#define HPIPM_S_DENSE_QP_IPM_H_ + + + +#include +#include + +#include +#include +#include +#include +#include + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct s_dense_qp_ipm_arg + { + float mu0; // initial value for duality measure + float alpha_min; // exit cond on step length + float res_g_max; // exit cond on inf norm of residuals + float res_b_max; // exit cond on inf norm of residuals + float res_d_max; // exit cond on inf norm of residuals + float res_m_max; // exit cond on inf norm of residuals + float reg_prim; // reg of primal hessian + float reg_dual; // reg of dual hessian + float lam_min; // min value in lam vector + float t_min; // min value in t vector + float tau_min; // min value of barrier parameter + int iter_max; // exit cond in iter number + int stat_max; // iterations saved in stat + int pred_corr; // Mehrotra's predictor-corrector IPM algirthm + int cond_pred_corr; // conditional Mehrotra's predictor-corrector + int scale; // scale hessian + int itref_pred_max; // max number of iterative refinement steps for predictor step + int itref_corr_max; // max number of iterative refinement steps for corrector step + int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol + int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq + int abs_form; // absolute IPM formulation + int comp_res_exit; // compute residuals on exit (only for abs_form==1) + int comp_res_pred; // compute residuals of prediction + int kkt_fact_alg; // 0 null-space, 1 schur-complement + int remove_lin_dep_eq; // 0 do not, 1 do check and remove linearly dependent equality constraints + int compute_obj; // compute obj on exit + int split_step; // use different steps for primal and dual variables + int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution + int mode; + hpipm_size_t memsize; + }; + + + +struct s_dense_qp_ipm_ws + { + struct s_core_qp_ipm_workspace *core_workspace; + struct s_dense_qp_res_ws *res_ws; + struct s_dense_qp_sol *sol_step; + struct s_dense_qp_sol *sol_itref; + struct s_dense_qp *qp_step; + struct s_dense_qp *qp_itref; + struct s_dense_qp_res *res; + struct s_dense_qp_res *res_itref; + struct s_dense_qp_res *res_step; + struct blasfeo_svec *Gamma; // + struct blasfeo_svec *gamma; // + struct blasfeo_svec *Zs_inv; // + struct blasfeo_smat *Lv; // + struct blasfeo_smat *AL; // + struct blasfeo_smat *Le; // + struct blasfeo_smat *Ctx; // + struct blasfeo_svec *lv; // + struct blasfeo_svec *sv; // scale for Lv + struct blasfeo_svec *se; // scale for Le + struct blasfeo_svec *tmp_nbg; // work space of size nb+ng + struct blasfeo_svec *tmp_ns; // work space of size ns + struct blasfeo_smat *lq0; + struct blasfeo_smat *lq1; + struct blasfeo_svec *tmp_m; + struct blasfeo_smat *A_LQ; + struct blasfeo_smat *A_Q; + struct blasfeo_smat *Zt; + struct blasfeo_smat *ZtH; + struct blasfeo_smat *ZtHZ; + struct blasfeo_svec *xy; + struct blasfeo_svec *Yxy; + struct blasfeo_svec *xz; + struct blasfeo_svec *tmp_nv; + struct blasfeo_svec *tmp_2ns; + struct blasfeo_svec *tmp_nv2ns; + struct blasfeo_smat *A_li; // A of linearly independent equality constraints + struct blasfeo_svec *b_li; // b of linearly independent equality constraints + struct blasfeo_smat *A_bkp; // pointer to backup A + struct blasfeo_svec *b_bkp; // pointer to backup b + struct blasfeo_smat *Ab_LU; + float *stat; // convergence statistics + int *ipiv_v; + int *ipiv_e; + int *ipiv_e1; + void *lq_work0; + void *lq_work1; + void *lq_work_null; + void *orglq_work_null; + int iter; // iteration number + int stat_max; // iterations saved in stat + int stat_m; // numer of recorded stat per ipm iter + int scale; + int use_hess_fact; + int use_A_fact; + int status; + int lq_fact; // cache from arg + int mask_constr; // use constr mask + int ne_li; // number of linearly independent equality constraints + int ne_bkp; // ne backup + hpipm_size_t memsize; // memory size (in bytes) of workspace + }; + + + +// +hpipm_size_t s_dense_qp_ipm_arg_memsize(struct s_dense_qp_dim *qp_dim); +// +void s_dense_qp_ipm_arg_create(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_ipm_arg *arg, void *mem); +// +void s_dense_qp_ipm_arg_set_default(enum hpipm_mode mode, struct s_dense_qp_ipm_arg *arg); +// +void s_dense_qp_ipm_arg_set(char *field, void *value, struct s_dense_qp_ipm_arg *arg); +// +void s_dense_qp_ipm_arg_set_iter_max(int *iter_max, struct s_dense_qp_ipm_arg *arg); +// +void s_dense_qp_ipm_arg_set_alpha_min(float *alpha_min, struct s_dense_qp_ipm_arg *arg); +// +void s_dense_qp_ipm_arg_set_mu0(float *mu0, struct s_dense_qp_ipm_arg *arg); +// +void s_dense_qp_ipm_arg_set_tol_stat(float *tol_stat, struct s_dense_qp_ipm_arg *arg); +// +void s_dense_qp_ipm_arg_set_tol_eq(float *tol_eq, struct s_dense_qp_ipm_arg *arg); +// +void s_dense_qp_ipm_arg_set_tol_ineq(float *tol_ineq, struct s_dense_qp_ipm_arg *arg); +// +void s_dense_qp_ipm_arg_set_tol_comp(float *tol_comp, struct s_dense_qp_ipm_arg *arg); +// +void s_dense_qp_ipm_arg_set_reg_prim(float *reg, struct s_dense_qp_ipm_arg *arg); +// +void s_dense_qp_ipm_arg_set_reg_dual(float *reg, struct s_dense_qp_ipm_arg *arg); +// +void s_dense_qp_ipm_arg_set_warm_start(int *warm_start, struct s_dense_qp_ipm_arg *arg); +// +void s_dense_qp_ipm_arg_set_pred_corr(int *pred_corr, struct s_dense_qp_ipm_arg *arg); +// +void s_dense_qp_ipm_arg_set_cond_pred_corr(int *cond_pred_corr, struct s_dense_qp_ipm_arg *arg); +// +void s_dense_qp_ipm_arg_set_comp_res_pred(int *comp_res_pred, struct s_dense_qp_ipm_arg *arg); +// +void s_dense_qp_ipm_arg_set_comp_res_exit(int *comp_res_exit, struct s_dense_qp_ipm_arg *arg); +// +void s_dense_qp_ipm_arg_set_lam_min(float *value, struct s_dense_qp_ipm_arg *arg); +// +void s_dense_qp_ipm_arg_set_t_min(float *value, struct s_dense_qp_ipm_arg *arg); +// +void s_dense_qp_ipm_arg_set_tau_min(float *value, struct s_dense_qp_ipm_arg *arg); +// +void s_dense_qp_ipm_arg_set_kkt_fact_alg(int *value, struct s_dense_qp_ipm_arg *arg); +// +void s_dense_qp_ipm_arg_set_remove_lin_dep_eq(int *value, struct s_dense_qp_ipm_arg *arg); +// +void s_dense_qp_ipm_arg_set_compute_obj(int *value, struct s_dense_qp_ipm_arg *arg); +// +void s_dense_qp_ipm_arg_set_split_step(int *value, struct s_dense_qp_ipm_arg *arg); +// +void s_dense_qp_ipm_arg_set_t_lam_min(int *value, struct s_dense_qp_ipm_arg *arg); + +// +hpipm_size_t s_dense_qp_ipm_ws_memsize(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_ipm_arg *arg); +// +void s_dense_qp_ipm_ws_create(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws, void *mem); +// +void s_dense_qp_ipm_get(char *field, struct s_dense_qp_ipm_ws *ws, void *value); +// +void s_dense_qp_ipm_get_status(struct s_dense_qp_ipm_ws *ws, int *status); +// +void s_dense_qp_ipm_get_iter(struct s_dense_qp_ipm_ws *ws, int *iter); +// +void s_dense_qp_ipm_get_max_res_stat(struct s_dense_qp_ipm_ws *ws, float *res_stat); +// +void s_dense_qp_ipm_get_max_res_eq(struct s_dense_qp_ipm_ws *ws, float *res_eq); +// +void s_dense_qp_ipm_get_max_res_ineq(struct s_dense_qp_ipm_ws *ws, float *res_ineq); +// +void s_dense_qp_ipm_get_max_res_comp(struct s_dense_qp_ipm_ws *ws, float *res_comp); +// +void s_dense_qp_ipm_get_stat(struct s_dense_qp_ipm_ws *ws, float **stat); +// +void s_dense_qp_ipm_get_stat_m(struct s_dense_qp_ipm_ws *ws, int *stat_m); +// +void s_dense_qp_init_var(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws); +// +void s_dense_qp_ipm_abs_step(int kk, struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws); +// +void s_dense_qp_ipm_delta_step(int kk, struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws); +// +void s_dense_qp_ipm_solve(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws); +// +void s_dense_qp_ipm_predict(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws); +// +void s_dense_qp_ipm_sens(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws); +// +void s_dense_qp_compute_step_length(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws); + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + + +#endif // HPIPM_S_DENSE_QP_IPM_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_kkt.h new file mode 100644 index 0000000000..260dc0ab21 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_kkt.h @@ -0,0 +1,72 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + + + +#ifndef HPIPM_S_DENSE_QP_KKT_H_ +#define HPIPM_S_DENSE_QP_KKT_H_ + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +// +void s_fact_solve_kkt_unconstr_dense_qp(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws); +// +void s_fact_solve_kkt_step_dense_qp(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws); +// +void s_fact_lq_solve_kkt_step_dense_qp(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws); +// +void s_solve_kkt_step_dense_qp(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws); +// +void s_dense_qp_remove_lin_dep_eq(struct s_dense_qp *qp, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws); +// +void s_dense_qp_restore_lin_dep_eq(struct s_dense_qp *qp, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws); +// +void s_dense_qp_compute_obj(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws); + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + + +#endif // HPIPM_S_DENSE_QP_KKT_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_res.h new file mode 100644 index 0000000000..06b609c537 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_res.h @@ -0,0 +1,106 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_S_DENSE_QP_RES_H_ +#define HPIPM_S_DENSE_QP_RES_H_ + + + +#include +#include + +#include +#include +#include + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct s_dense_qp_res + { + struct s_dense_qp_dim *dim; + struct blasfeo_svec *res_g; // q-residuals + struct blasfeo_svec *res_b; // b-residuals + struct blasfeo_svec *res_d; // d-residuals + struct blasfeo_svec *res_m; // m-residuals + float res_max[4]; // max of residuals + float res_mu; // mu-residual + hpipm_size_t memsize; + }; + + + +struct s_dense_qp_res_ws + { + struct blasfeo_svec *tmp_nbg; // work space of size nbM+ngM + struct blasfeo_svec *tmp_ns; // work space of size nsM + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t s_dense_qp_res_memsize(struct s_dense_qp_dim *dim); +// +void s_dense_qp_res_create(struct s_dense_qp_dim *dim, struct s_dense_qp_res *res, void *mem); +// +hpipm_size_t s_dense_qp_res_ws_memsize(struct s_dense_qp_dim *dim); +// +void s_dense_qp_res_ws_create(struct s_dense_qp_dim *dim, struct s_dense_qp_res_ws *workspace, void *mem); +// +void s_dense_qp_res_compute(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_res *res, struct s_dense_qp_res_ws *ws); +// +void s_dense_qp_res_compute_lin(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_sol *qp_step, struct s_dense_qp_res *res, struct s_dense_qp_res_ws *ws); +// +void s_dense_qp_res_compute_inf_norm(struct s_dense_qp_res *res); +// +void s_dense_qp_res_get_all(struct s_dense_qp_res *res, float *res_g, float *res_ls, float *res_us, float *res_b, float *res_d_lb, float *res_d_ub, float *res_d_lg, float *res_d_ug, float *res_d_ls, float *res_d_us, float *res_m_lb, float *res_m_ub, float *res_m_lg, float *res_m_ug, float *res_m_ls, float *res_m_us); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + +#endif // HPIPM_D_DENSE_QP_RES_H_ + + + diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_sol.h new file mode 100644 index 0000000000..1f40076378 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_sol.h @@ -0,0 +1,94 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + + + +#ifndef HPIPM_S_DENSE_QP_SOL_H_ +#define HPIPM_S_DENSE_QP_SOL_H_ + + + +#include +#include + +#include "hpipm_s_dense_qp_dim.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct s_dense_qp_sol + { + struct s_dense_qp_dim *dim; + struct blasfeo_svec *v; + struct blasfeo_svec *pi; + struct blasfeo_svec *lam; + struct blasfeo_svec *t; + void *misc; + float obj; + int valid_obj; + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t s_dense_qp_sol_memsize(struct s_dense_qp_dim *dim); +// +void s_dense_qp_sol_create(struct s_dense_qp_dim *dim, struct s_dense_qp_sol *qp_sol, void *memory); +// +void s_dense_qp_sol_get_all(struct s_dense_qp_sol *qp_sol, float *v, float *ls, float *us, float *pi, float *lam_lb, float *lam_ub, float *lam_lg, float *lam_ug, float *lam_ls, float *lam_us); +// +void s_dense_qp_sol_get(char *field, struct s_dense_qp_sol *sol, void *value); +// +void s_dense_qp_sol_get_v(struct s_dense_qp_sol *sol, float *v); +// +void s_dense_qp_sol_get_valid_obj(struct s_dense_qp_sol *sol, int *valid_obj); +// +void s_dense_qp_sol_get_obj(struct s_dense_qp_sol *sol, float *obj); + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + + +#endif // HPIPM_S_DENSE_QP_SOL_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_utils.h new file mode 100644 index 0000000000..3dd93259a5 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_utils.h @@ -0,0 +1,84 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_S_DENSE_QP_UTILS_H_ +#define HPIPM_S_DENSE_QP_UTILS_H_ + + + +#include +#include + +#include "hpipm_s_dense_qp_dim.h" +#include "hpipm_s_dense_qp.h" +#include "hpipm_s_dense_qp_sol.h" +#include "hpipm_s_dense_qp_ipm.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +// +void s_dense_qp_dim_print(struct s_dense_qp_dim *qp_dim); +// +//void s_dense_qp_dim_codegen(char *file_name, char *mode, struct s_dense_qp_dim *qp_dim); +// +void s_dense_qp_print(struct s_dense_qp_dim *qp_dim, struct s_dense_qp *qp); +// +//void s_dense_qp_codegen(char *file_name, char *mode, struct s_dense_qp_dim *qp_dim, struct s_dense_qp *qp); +// +void s_dense_qp_sol_print(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_sol *dense_qp_sol); +// +//void s_dense_qp_ipm_arg_codegen(char *file_name, char *mode, struct s_dense_qp_dim *qp_dim, struct s_dense_qp_ipm_arg *arg); +// +void s_dense_qp_res_print(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_res *dense_qp_res); +// +void s_dense_qp_arg_print(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_ipm_arg *qp_ipm_arg); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + + +#endif // HPIPM_S_DENSE_QP_UTILS_H_ + + diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp.h new file mode 100644 index 0000000000..b90b2ac633 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp.h @@ -0,0 +1,303 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_S_OCP_QCQP_H_ +#define HPIPM_S_OCP_QCQP_H_ + + + +#include +#include + +#include "hpipm_s_ocp_qcqp_dim.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct s_ocp_qcqp + { + struct s_ocp_qcqp_dim *dim; + struct blasfeo_smat *BAbt; // dynamics matrix & vector work space + struct blasfeo_smat *RSQrq; // hessian of cost & vector work space + struct blasfeo_smat *DCt; // inequality constraints matrix + struct blasfeo_smat **Hq; // hessians of quadratic constraints + struct blasfeo_svec *b; // dynamics vector + struct blasfeo_svec *rqz; // gradient of cost & gradient of slacks + struct blasfeo_svec *d; // inequality constraints vector + struct blasfeo_svec *d_mask; // inequality constraints mask vector + struct blasfeo_svec *m; // rhs of complementarity condition + struct blasfeo_svec *Z; // (diagonal) hessian of slacks + int **idxb; // indices of box constrained variables within [u; x] + int **idxs_rev; // index of soft constraints (reverse storage) + int **Hq_nzero; // for each int, the last 3 bits ...abc, {a,b,c}=0 => {R,S,Q}=0 + hpipm_size_t memsize; // memory size in bytes + }; + + + +// +hpipm_size_t s_ocp_qcqp_strsize(); +// +hpipm_size_t s_ocp_qcqp_memsize(struct s_ocp_qcqp_dim *dim); +// +void s_ocp_qcqp_create(struct s_ocp_qcqp_dim *dim, struct s_ocp_qcqp *qp, void *memory); +// +void s_ocp_qcqp_copy_all(struct s_ocp_qcqp *qp_orig, struct s_ocp_qcqp *qp_dest); + +// setters +// +void s_ocp_qcqp_set_all_zero(struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_rhs_zero(struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set(char *fiels_name, int stage, void *value, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_el(char *fiels_name, int stage, int index, void *value, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_A(int stage, float *mat, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_B(int stage, float *mat, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_b(int stage, float *vec, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_Q(int stage, float *mat, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_S(int stage, float *mat, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_R(int stage, float *mat, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_q(int stage, float *vec, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_r(int stage, float *vec, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_lb(int stage, float *vec, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_lb_mask(int stage, float *vec, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_ub(int stage, float *vec, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_ub_mask(int stage, float *vec, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_lbx(int stage, float *vec, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_lbx_mask(int stage, float *vec, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_el_lbx(int stage, int index, float *elem, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_ubx(int stage, float *vec, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_ubx_mask(int stage, float *vec, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_el_ubx(int stage, int index, float *elem, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_lbu(int stage, float *vec, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_lbu_mask(int stage, float *vec, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_ubu(int stage, float *vec, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_ubu_mask(int stage, float *vec, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_idxb(int stage, int *vec, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_idxbx(int stage, int *vec, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_Jbx(int stage, float *vec, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_idxbu(int stage, int *vec, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_Jbu(int stage, float *vec, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_C(int stage, float *mat, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_D(int stage, float *mat, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_lg(int stage, float *vec, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_lg_mask(int stage, float *vec, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_ug(int stage, float *vec, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_ug_mask(int stage, float *vec, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_Qq(int stage, float *mat, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_Sq(int stage, float *mat, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_Rq(int stage, float *mat, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_qq(int stage, float *vec, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_rq(int stage, float *vec, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_uq(int stage, float *vec, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_uq_mask(int stage, float *vec, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_Zl(int stage, float *vec, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_Zu(int stage, float *vec, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_zl(int stage, float *vec, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_zu(int stage, float *vec, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_lls(int stage, float *vec, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_lls_mask(int stage, float *vec, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_lus(int stage, float *vec, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_lus_mask(int stage, float *vec, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_idxs(int stage, int *vec, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_idxs_rev(int stage, int *vec, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_Jsbu(int stage, float *vec, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_Jsbx(int stage, float *vec, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_Jsg(int stage, float *vec, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_set_Jsq(int stage, float *vec, struct s_ocp_qcqp *qp); + +// getters +// +void s_ocp_qcqp_get(char *field, int stage, struct s_ocp_qcqp *qp, void *value); +// +void s_ocp_qcqp_get_A(int stage, struct s_ocp_qcqp *qp, float *mat); +// +void s_ocp_qcqp_get_B(int stage, struct s_ocp_qcqp *qp, float *mat); +// +void s_ocp_qcqp_get_b(int stage, struct s_ocp_qcqp *qp, float *vec); +// +void s_ocp_qcqp_get_Q(int stage, struct s_ocp_qcqp *qp, float *mat); +// +void s_ocp_qcqp_get_S(int stage, struct s_ocp_qcqp *qp, float *mat); +// +void s_ocp_qcqp_get_R(int stage, struct s_ocp_qcqp *qp, float *mat); +// +void s_ocp_qcqp_get_q(int stage, struct s_ocp_qcqp *qp, float *vec); +// +void s_ocp_qcqp_get_r(int stage, struct s_ocp_qcqp *qp, float *vec); +// +void s_ocp_qcqp_get_ub(int stage, struct s_ocp_qcqp *qp, float *vec); +// +void s_ocp_qcqp_get_ub_mask(int stage, struct s_ocp_qcqp *qp, float *vec); +// +void s_ocp_qcqp_get_lb(int stage, struct s_ocp_qcqp *qp, float *vec); +// +void s_ocp_qcqp_get_lb_mask(int stage, struct s_ocp_qcqp *qp, float *vec); +// +void s_ocp_qcqp_get_lbx(int stage, struct s_ocp_qcqp *qp, float *vec); +// +void s_ocp_qcqp_get_lbx_mask(int stage, struct s_ocp_qcqp *qp, float *vec); +// +void s_ocp_qcqp_get_ubx(int stage, struct s_ocp_qcqp *qp, float *vec); +// +void s_ocp_qcqp_get_ubx_mask(int stage, struct s_ocp_qcqp *qp, float *vec); +// +void s_ocp_qcqp_get_lbu(int stage, struct s_ocp_qcqp *qp, float *vec); +// +void s_ocp_qcqp_get_lbu_mask(int stage, struct s_ocp_qcqp *qp, float *vec); +// +void s_ocp_qcqp_get_ubu(int stage, struct s_ocp_qcqp *qp, float *vec); +// +void s_ocp_qcqp_get_ubu_mask(int stage, struct s_ocp_qcqp *qp, float *vec); +// +void s_ocp_qcqp_get_idxb(int stage, struct s_ocp_qcqp *qp, int *vec); +// +//void s_ocp_qcqp_get_idxbx(int stage, struct s_ocp_qcqp *qp, int *vec); +// +//void s_ocp_qcqp_get_Jbx(int stage, struct s_ocp_qcqp *qp, float *vec); +// +//void s_ocp_qcqp_get_idxbu(int stage, struct s_ocp_qcqp *qp, int *vec); +// +//void s_ocp_qcqp_get_Jbu(int stage, struct s_ocp_qcqp *qp, float *vec); +// +void s_ocp_qcqp_get_C(int stage, struct s_ocp_qcqp *qp, float *mat); +// +void s_ocp_qcqp_get_D(int stage, struct s_ocp_qcqp *qp, float *mat); +// +void s_ocp_qcqp_get_lg(int stage, struct s_ocp_qcqp *qp, float *vec); +// +void s_ocp_qcqp_get_lg_mask(int stage, struct s_ocp_qcqp *qp, float *vec); +// +void s_ocp_qcqp_get_ug(int stage, struct s_ocp_qcqp *qp, float *vec); +// +void s_ocp_qcqp_get_ug_mask(int stage, struct s_ocp_qcqp *qp, float *vec); +// +void s_ocp_qcqp_get_Zl(int stage, struct s_ocp_qcqp *qp, float *vec); +// +void s_ocp_qcqp_get_Zu(int stage, struct s_ocp_qcqp *qp, float *vec); +// +void s_ocp_qcqp_get_zl(int stage, struct s_ocp_qcqp *qp, float *vec); +// +void s_ocp_qcqp_get_zu(int stage, struct s_ocp_qcqp *qp, float *vec); +// +void s_ocp_qcqp_get_lls(int stage, struct s_ocp_qcqp *qp, float *vec); +// +void s_ocp_qcqp_get_lls_mask(int stage, struct s_ocp_qcqp *qp, float *vec); +// +void s_ocp_qcqp_get_lus(int stage, struct s_ocp_qcqp *qp, float *vec); +// +void s_ocp_qcqp_get_lus_mask(int stage, struct s_ocp_qcqp *qp, float *vec); +// XXX only valid if there is one slack per softed constraint !!! +void s_ocp_qcqp_get_idxs(int stage, struct s_ocp_qcqp *qp, int *vec); +// +void s_ocp_qcqp_get_idxs_rev(int stage, struct s_ocp_qcqp *qp, int *vec); +// +//void s_ocp_qcqp_get_Jsbu(int stage, struct s_ocp_qcqp *qp, float *vec); +// +//void s_ocp_qcqp_get_Jsbx(int stage, struct s_ocp_qcqp *qp, float *vec); +// +//void s_ocp_qcqp_get_Jsg(int stage, struct s_ocp_qcqp *qp, float *vec); + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + + +#endif // HPIPM_S_OCP_QCQP_H_ + diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_dim.h new file mode 100644 index 0000000000..c09903f074 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_dim.h @@ -0,0 +1,119 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_S_OCP_QCQP_DIM_H_ +#define HPIPM_S_OCP_QCQP_DIM_H_ + +#include "hpipm_common.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct s_ocp_qcqp_dim + { + struct s_ocp_qp_dim *qp_dim; // dim of qp approximation + int *nx; // number of states + int *nu; // number of inputs + int *nb; // number of box constraints + int *nbx; // number of (two-sided) state box constraints + int *nbu; // number of (two-sided) input box constraints + int *ng; // number of (two-sided) general constraints + int *nq; // number of (upper) quadratic constraints + int *ns; // number of soft constraints + int *nsbx; // number of (two-sided) soft state box constraints + int *nsbu; // number of (two-sided) soft input box constraints + int *nsg; // number of (two-sided) soft general constraints + int *nsq; // number of (upper) soft quadratic constraints + int N; // horizon length + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t s_ocp_qcqp_dim_strsize(); +// +hpipm_size_t s_ocp_qcqp_dim_memsize(int N); +// +void s_ocp_qcqp_dim_create(int N, struct s_ocp_qcqp_dim *qp_dim, void *memory); +// +void s_ocp_qcqp_dim_copy_all(struct s_ocp_qcqp_dim *dim_orig, struct s_ocp_qcqp_dim *dim_dest); +// +void s_ocp_qcqp_dim_set(char *field, int stage, int value, struct s_ocp_qcqp_dim *dim); +// +void s_ocp_qcqp_dim_set_nx(int stage, int value, struct s_ocp_qcqp_dim *dim); +// +void s_ocp_qcqp_dim_set_nu(int stage, int value, struct s_ocp_qcqp_dim *dim); +// +void s_ocp_qcqp_dim_set_nbx(int stage, int value, struct s_ocp_qcqp_dim *dim); +// +void s_ocp_qcqp_dim_set_nbu(int stage, int value, struct s_ocp_qcqp_dim *dim); +// +void s_ocp_qcqp_dim_set_ng(int stage, int value, struct s_ocp_qcqp_dim *dim); +// +void s_ocp_qcqp_dim_set_nq(int stage, int value, struct s_ocp_qcqp_dim *dim); +// +void s_ocp_qcqp_dim_set_ns(int stage, int value, struct s_ocp_qcqp_dim *dim); +// +void s_ocp_qcqp_dim_set_nsbx(int stage, int value, struct s_ocp_qcqp_dim *dim); +// +void s_ocp_qcqp_dim_set_nsbu(int stage, int value, struct s_ocp_qcqp_dim *dim); +// +void s_ocp_qcqp_dim_set_nsg(int stage, int value, struct s_ocp_qcqp_dim *dim); +// +void s_ocp_qcqp_dim_set_nsq(int stage, int value, struct s_ocp_qcqp_dim *dim); +// +void s_ocp_qcqp_dim_get(struct s_ocp_qcqp_dim *dim, char *field, int stage, int *value); +// +void s_ocp_qcqp_dim_get_N(struct s_ocp_qcqp_dim *dim, int *value); +// +void s_ocp_qcqp_dim_get_nx(struct s_ocp_qcqp_dim *dim, int stage, int *value); +// +void s_ocp_qcqp_dim_get_nu(struct s_ocp_qcqp_dim *dim, int stage, int *value); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + + +#endif // HPIPM_S_OCP_QCQP_DIM_H_ + + diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_ipm.h new file mode 100644 index 0000000000..c14fc1c9fd --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_ipm.h @@ -0,0 +1,191 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_S_OCP_QCQP_IPM_H_ +#define HPIPM_S_OCP_QCQP_IPM_H_ + + + +#include +#include + +#include +#include +#include +#include +#include + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct s_ocp_qcqp_ipm_arg + { + struct s_ocp_qp_ipm_arg *qp_arg; + float mu0; // initial value for complementarity slackness + float alpha_min; // exit cond on step length + float res_g_max; // exit cond on inf norm of residuals + float res_b_max; // exit cond on inf norm of residuals + float res_d_max; // exit cond on inf norm of residuals + float res_m_max; // exit cond on inf norm of residuals + float reg_prim; // reg of primal hessian + float lam_min; // min value in lam vector + float t_min; // min value in t vector + int iter_max; // exit cond in iter number + int stat_max; // iterations saved in stat + int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm + int cond_pred_corr; // conditional Mehrotra's predictor-corrector + int itref_pred_max; // max number of iterative refinement steps for predictor step + int itref_corr_max; // max number of iterative refinement steps for corrector step + int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol + int square_root_alg; // 0 classical Riccati, 1 square-root Riccati + int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1) + int abs_form; // absolute IPM formulation + int comp_dual_sol_eq; // dual solution of equality constraints (only for abs_form==1) + int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1) + int comp_res_pred; // compute residuals of prediction + int split_step; // use different step for primal and dual variables + int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution + int mode; + hpipm_size_t memsize; + }; + + + +struct s_ocp_qcqp_ipm_ws + { + struct s_ocp_qp_ipm_ws *qp_ws; + struct s_ocp_qp *qp; + struct s_ocp_qp_sol *qp_sol; + struct s_ocp_qcqp_res_ws *qcqp_res_ws; + struct s_ocp_qcqp_res *qcqp_res; + struct blasfeo_svec *tmp_nuxM; + int iter; // iteration number + int status; + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t s_ocp_qcqp_ipm_arg_strsize(); +// +hpipm_size_t s_ocp_qcqp_ipm_arg_memsize(struct s_ocp_qcqp_dim *ocp_dim); +// +void s_ocp_qcqp_ipm_arg_create(struct s_ocp_qcqp_dim *ocp_dim, struct s_ocp_qcqp_ipm_arg *arg, void *mem); +// +void s_ocp_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct s_ocp_qcqp_ipm_arg *arg); +// +void s_ocp_qcqp_ipm_arg_set(char *field, void *value, struct s_ocp_qcqp_ipm_arg *arg); +// set maximum number of iterations +void s_ocp_qcqp_ipm_arg_set_iter_max(int *value, struct s_ocp_qcqp_ipm_arg *arg); +// set minimum step lenght +void s_ocp_qcqp_ipm_arg_set_alpha_min(float *value, struct s_ocp_qcqp_ipm_arg *arg); +// set initial value of barrier parameter +void s_ocp_qcqp_ipm_arg_set_mu0(float *value, struct s_ocp_qcqp_ipm_arg *arg); +// set exit tolerance on stationarity condition +void s_ocp_qcqp_ipm_arg_set_tol_stat(float *value, struct s_ocp_qcqp_ipm_arg *arg); +// set exit tolerance on equality constr +void s_ocp_qcqp_ipm_arg_set_tol_eq(float *value, struct s_ocp_qcqp_ipm_arg *arg); +// set exit tolerance on inequality constr +void s_ocp_qcqp_ipm_arg_set_tol_ineq(float *value, struct s_ocp_qcqp_ipm_arg *arg); +// set exit tolerance on complementarity condition +void s_ocp_qcqp_ipm_arg_set_tol_comp(float *value, struct s_ocp_qcqp_ipm_arg *arg); +// set regularization of primal variables +void s_ocp_qcqp_ipm_arg_set_reg_prim(float *value, struct s_ocp_qcqp_ipm_arg *arg); +// set warm start: 0 no warm start, 1 primal var +void s_ocp_qcqp_ipm_arg_set_warm_start(int *value, struct s_ocp_qcqp_ipm_arg *arg); +// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector +void s_ocp_qcqp_ipm_arg_set_pred_corr(int *value, struct s_ocp_qcqp_ipm_arg *arg); +// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector +void s_ocp_qcqp_ipm_arg_set_cond_pred_corr(int *value, struct s_ocp_qcqp_ipm_arg *arg); +// set riccati algorithm: 0 classic, 1 square-root +void s_ocp_qcqp_ipm_arg_set_ric_alg(int *value, struct s_ocp_qcqp_ipm_arg *arg); +// compute residuals after solution +void s_ocp_qcqp_ipm_arg_set_comp_res_exit(int *value, struct s_ocp_qcqp_ipm_arg *arg); +// compute residuals of prediction +void s_ocp_qcqp_ipm_arg_set_comp_res_pred(int *value, struct s_ocp_qcqp_ipm_arg *arg); +// min value of lam in the solution +void s_ocp_qcqp_ipm_arg_set_lam_min(float *value, struct s_ocp_qcqp_ipm_arg *arg); +// min value of t in the solution +void s_ocp_qcqp_ipm_arg_set_t_min(float *value, struct s_ocp_qcqp_ipm_arg *arg); +// use different step for primal and dual variables +void s_ocp_qcqp_ipm_arg_set_split_step(int *value, struct s_ocp_qcqp_ipm_arg *arg); +// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution +void s_ocp_qcqp_ipm_arg_set_t_lam_min(int *value, struct s_ocp_qcqp_ipm_arg *arg); + +// +hpipm_size_t s_ocp_qcqp_ipm_ws_strsize(); +// +hpipm_size_t s_ocp_qcqp_ipm_ws_memsize(struct s_ocp_qcqp_dim *ocp_dim, struct s_ocp_qcqp_ipm_arg *arg); +// +void s_ocp_qcqp_ipm_ws_create(struct s_ocp_qcqp_dim *ocp_dim, struct s_ocp_qcqp_ipm_arg *arg, struct s_ocp_qcqp_ipm_ws *ws, void *mem); +// +void s_ocp_qcqp_ipm_get(char *field, struct s_ocp_qcqp_ipm_ws *ws, void *value); +// +void s_ocp_qcqp_ipm_get_status(struct s_ocp_qcqp_ipm_ws *ws, int *status); +// +void s_ocp_qcqp_ipm_get_iter(struct s_ocp_qcqp_ipm_ws *ws, int *iter); +// +void s_ocp_qcqp_ipm_get_max_res_stat(struct s_ocp_qcqp_ipm_ws *ws, float *res_stat); +// +void s_ocp_qcqp_ipm_get_max_res_eq(struct s_ocp_qcqp_ipm_ws *ws, float *res_eq); +// +void s_ocp_qcqp_ipm_get_max_res_ineq(struct s_ocp_qcqp_ipm_ws *ws, float *res_ineq); +// +void s_ocp_qcqp_ipm_get_max_res_comp(struct s_ocp_qcqp_ipm_ws *ws, float *res_comp); +// +void s_ocp_qcqp_ipm_get_stat(struct s_ocp_qcqp_ipm_ws *ws, float **stat); +// +void s_ocp_qcqp_ipm_get_stat_m(struct s_ocp_qcqp_ipm_ws *ws, int *stat_m); +// +void s_ocp_qcqp_init_var(struct s_ocp_qcqp *qp, struct s_ocp_qcqp_sol *qp_sol, struct s_ocp_qcqp_ipm_arg *arg, struct s_ocp_qcqp_ipm_ws *ws); +// +void s_ocp_qcqp_ipm_solve(struct s_ocp_qcqp *qp, struct s_ocp_qcqp_sol *qp_sol, struct s_ocp_qcqp_ipm_arg *arg, struct s_ocp_qcqp_ipm_ws *ws); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + +#endif // HPIPM_S_OCP_QCQP_IPM_H_ + + diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_res.h new file mode 100644 index 0000000000..1ceeec93b7 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_res.h @@ -0,0 +1,115 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_S_OCP_QCQP_RES_H_ +#define HPIPM_S_OCP_QCQP_RES_H_ + + + +#include +#include + +#include +#include +#include +#include + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct s_ocp_qcqp_res + { + struct s_ocp_qcqp_dim *dim; + struct blasfeo_svec *res_g; // q-residuals + struct blasfeo_svec *res_b; // b-residuals + struct blasfeo_svec *res_d; // d-residuals + struct blasfeo_svec *res_m; // m-residuals + float res_max[4]; // max of residuals + float res_mu; // mu-residual + hpipm_size_t memsize; + }; + + + +struct s_ocp_qcqp_res_ws + { + struct blasfeo_svec *tmp_nuxM; // work space of size nuM+nxM + struct blasfeo_svec *tmp_nbgqM; // work space of size nbM+ngM+nqM + struct blasfeo_svec *tmp_nsM; // work space of size nsM + struct blasfeo_svec *q_fun; // value for evaluation of quadr constr + struct blasfeo_svec *q_adj; // value for adjoint of quadr constr + int use_q_fun; // reuse cached value for evaluation of quadr constr + int use_q_adj; // reuse cached value for adjoint of quadr constr + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t s_ocp_qcqp_res_memsize(struct s_ocp_qcqp_dim *ocp_dim); +// +void s_ocp_qcqp_res_create(struct s_ocp_qcqp_dim *ocp_dim, struct s_ocp_qcqp_res *res, void *mem); +// +hpipm_size_t s_ocp_qcqp_res_ws_memsize(struct s_ocp_qcqp_dim *ocp_dim); +// +void s_ocp_qcqp_res_ws_create(struct s_ocp_qcqp_dim *ocp_dim, struct s_ocp_qcqp_res_ws *workspace, void *mem); +// +void s_ocp_qcqp_res_compute(struct s_ocp_qcqp *qp, struct s_ocp_qcqp_sol *qp_sol, struct s_ocp_qcqp_res *res, struct s_ocp_qcqp_res_ws *ws); +// +void s_ocp_qcqp_res_compute_inf_norm(struct s_ocp_qcqp_res *res); +// +void s_ocp_qcqp_res_get_max_res_stat(struct s_ocp_qcqp_res *res, float *value); +// +void s_ocp_qcqp_res_get_max_res_eq(struct s_ocp_qcqp_res *res, float *value); +// +void s_ocp_qcqp_res_get_max_res_ineq(struct s_ocp_qcqp_res *res, float *value); +// +void s_ocp_qcqp_res_get_max_res_comp(struct s_ocp_qcqp_res *res, float *value); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + +#endif // HPIPM_S_OCP_QCQP_RES_H_ + + diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_sol.h new file mode 100644 index 0000000000..3d58022cc9 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_sol.h @@ -0,0 +1,115 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_S_OCP_QCQP_SOL_H_ +#define HPIPM_S_OCP_QCQP_SOL_H_ + + + +#include +#include + +#include "hpipm_s_ocp_qcqp_dim.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct s_ocp_qcqp_sol + { + struct s_ocp_qcqp_dim *dim; + struct blasfeo_svec *ux; + struct blasfeo_svec *pi; + struct blasfeo_svec *lam; + struct blasfeo_svec *t; + hpipm_size_t memsize; // memory size in bytes + }; + + + +// +hpipm_size_t s_ocp_qcqp_sol_strsize(); +// +hpipm_size_t s_ocp_qcqp_sol_memsize(struct s_ocp_qcqp_dim *dim); +// +void s_ocp_qcqp_sol_create(struct s_ocp_qcqp_dim *dim, struct s_ocp_qcqp_sol *qp_sol, void *memory); +// +void s_ocp_qcqp_sol_copy_all(struct s_ocp_qcqp_sol *qp_sol_orig, struct s_ocp_qcqp_sol *qp_sol_dest); +// +void s_ocp_qcqp_sol_get(char *field, int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec); +// +void s_ocp_qcqp_sol_get_u(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec); +// +void s_ocp_qcqp_sol_get_x(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec); +// +void s_ocp_qcqp_sol_get_sl(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec); +// +void s_ocp_qcqp_sol_get_su(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec); +// +void s_ocp_qcqp_sol_get_pi(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec); +// +void s_ocp_qcqp_sol_get_lam_lb(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec); +// +void s_ocp_qcqp_sol_get_lam_ub(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec); +// +void s_ocp_qcqp_sol_get_lam_lg(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec); +// +void s_ocp_qcqp_sol_get_lam_ug(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec); +// +void s_ocp_qcqp_sol_set(char *field, int stage, float *vec, struct s_ocp_qcqp_sol *qp_sol); +// +void s_ocp_qcqp_sol_set_u(int stage, float *vec, struct s_ocp_qcqp_sol *qp_sol); +// +void s_ocp_qcqp_sol_set_x(int stage, float *vec, struct s_ocp_qcqp_sol *qp_sol); +// +void s_ocp_qcqp_sol_set_sl(int stage, float *vec, struct s_ocp_qcqp_sol *qp_sol); +// +void s_ocp_qcqp_sol_set_su(int stage, float *vec, struct s_ocp_qcqp_sol *qp_sol); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + + +#endif // HPIPM_S_OCP_QCQP_SOL_H_ + + diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_utils.h new file mode 100644 index 0000000000..d64e3aabe7 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_utils.h @@ -0,0 +1,82 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_S_OCP_QCQP_UTILS_H_ +#define HPIPM_S_OCP_QCQP_UTILS_H_ + + + +#include +#include + +#include "hpipm_s_ocp_qcqp_dim.h" +#include "hpipm_s_ocp_qp.h" +#include "hpipm_s_ocp_qcqp_sol.h" +#include "hpipm_s_ocp_qcqp_ipm.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +// +void s_ocp_qcqp_dim_print(struct s_ocp_qcqp_dim *qcqp_dim); +// +void s_ocp_qcqp_dim_codegen(char *file_name, char *mode, struct s_ocp_qcqp_dim *qcqp_dim); +// +void s_ocp_qcqp_print(struct s_ocp_qcqp_dim *qcqp_dim, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_codegen(char *file_name, char *mode, struct s_ocp_qcqp_dim *qcqp_dim, struct s_ocp_qcqp *qp); +// +void s_ocp_qcqp_sol_print(struct s_ocp_qcqp_dim *qcqp_dim, struct s_ocp_qcqp_sol *ocp_qcqp_sol); +// +void s_ocp_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct s_ocp_qcqp_dim *qcqp_dim, struct s_ocp_qcqp_ipm_arg *arg); +// +void s_ocp_qcqp_res_print(struct s_ocp_qcqp_dim *qcqp_dim, struct s_ocp_qcqp_res *ocp_qcqp_res); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + + +#endif // HPIPM_S_OCP_QCQP_UTILS_H_ + + diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp.h new file mode 100644 index 0000000000..b49191f192 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp.h @@ -0,0 +1,306 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_S_OCP_QP_H_ +#define HPIPM_S_OCP_QP_H_ + + + +#include +#include + +#include "hpipm_s_ocp_qp_dim.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct s_ocp_qp + { + struct s_ocp_qp_dim *dim; + struct blasfeo_smat *BAbt; // dynamics matrix & vector work space + struct blasfeo_smat *RSQrq; // hessian of cost & vector work space + struct blasfeo_smat *DCt; // inequality constraints matrix + struct blasfeo_svec *b; // dynamics vector + struct blasfeo_svec *rqz; // gradient of cost & gradient of slacks + struct blasfeo_svec *d; // inequality constraints vector + struct blasfeo_svec *d_mask; // inequality constraints mask vector + struct blasfeo_svec *m; // rhs of complementarity condition + struct blasfeo_svec *Z; // (diagonal) hessian of slacks + int **idxb; // indices of box constrained variables within [u; x] + int **idxs_rev; // index of soft constraints (reverse storage) + int **idxe; // indices of constraints within [bu, bx, g] that are equalities, subset of [0, ..., nbu+nbx+ng-1] + int *diag_H_flag; // flag the fact that Hessian is diagonal + hpipm_size_t memsize; // memory size in bytes + }; + + + +// +hpipm_size_t s_ocp_qp_strsize(); +// +hpipm_size_t s_ocp_qp_memsize(struct s_ocp_qp_dim *dim); +// +void s_ocp_qp_create(struct s_ocp_qp_dim *dim, struct s_ocp_qp *qp, void *memory); +// +void s_ocp_qp_copy_all(struct s_ocp_qp *qp_orig, struct s_ocp_qp *qp_dest); + +// setters +// +void s_ocp_qp_set_all_zero(struct s_ocp_qp *qp); +// +void s_ocp_qp_set_rhs_zero(struct s_ocp_qp *qp); +// +void s_ocp_qp_set_all(float **A, float **B, float **b, float **Q, float **S, float **R, float **q, float **r, int **idxbx, float **lbx, float **ubx, int **idxbu, float **lbu, float **ubu, float **C, float **D, float **lg, float **ug, float **Zl, float **Zu, float **zl, float **zu, int **idxs, float **ls, float **us, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_all_rowmaj(float **A, float **B, float **b, float **Q, float **S, float **R, float **q, float **r, int **idxbx, float **lbx, float **ubx, int **idxbu, float **lbu, float **ubu, float **C, float **D, float **lg, float **ug, float **Zl, float **Zu, float **zl, float **zu, int **idxs, float **ls, float **us, struct s_ocp_qp *qp); +// +void s_ocp_qp_set(char *fiels_name, int stage, void *value, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_el(char *fiels_name, int stage, int index, void *value, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_A(int stage, float *mat, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_B(int stage, float *mat, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_b(int stage, float *vec, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_Q(int stage, float *mat, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_S(int stage, float *mat, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_R(int stage, float *mat, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_q(int stage, float *vec, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_r(int stage, float *vec, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_lb(int stage, float *vec, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_lb_mask(int stage, float *vec, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_ub(int stage, float *vec, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_ub_mask(int stage, float *vec, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_lbx(int stage, float *vec, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_lbx_mask(int stage, float *vec, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_el_lbx(int stage, int index, float *elem, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_ubx(int stage, float *vec, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_ubx_mask(int stage, float *vec, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_el_ubx(int stage, int index, float *elem, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_lbu(int stage, float *vec, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_lbu_mask(int stage, float *vec, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_ubu(int stage, float *vec, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_ubu_mask(int stage, float *vec, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_idxb(int stage, int *vec, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_idxbx(int stage, int *vec, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_Jbx(int stage, float *vec, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_idxbu(int stage, int *vec, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_Jbu(int stage, float *vec, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_C(int stage, float *mat, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_D(int stage, float *mat, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_lg(int stage, float *vec, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_lg_mask(int stage, float *vec, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_ug(int stage, float *vec, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_ug_mask(int stage, float *vec, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_Zl(int stage, float *vec, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_Zu(int stage, float *vec, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_zl(int stage, float *vec, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_zu(int stage, float *vec, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_lls(int stage, float *vec, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_lls_mask(int stage, float *vec, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_lus(int stage, float *vec, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_lus_mask(int stage, float *vec, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_idxs(int stage, int *vec, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_idxs_rev(int stage, int *vec, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_Jsbu(int stage, float *vec, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_Jsbx(int stage, float *vec, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_Jsg(int stage, float *vec, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_idxe(int stage, int *vec, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_idxbxe(int stage, int *vec, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_idxbue(int stage, int *vec, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_idxge(int stage, int *vec, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_Jbxe(int stage, float *vec, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_Jbue(int stage, float *vec, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_Jge(int stage, float *vec, struct s_ocp_qp *qp); +// +void s_ocp_qp_set_diag_H_flag(int stage, int *value, struct s_ocp_qp *qp); + +// getters +// +void s_ocp_qp_get(char *field, int stage, struct s_ocp_qp *qp, void *value); +// +void s_ocp_qp_get_A(int stage, struct s_ocp_qp *qp, float *mat); +// +void s_ocp_qp_get_B(int stage, struct s_ocp_qp *qp, float *mat); +// +void s_ocp_qp_get_b(int stage, struct s_ocp_qp *qp, float *vec); +// +void s_ocp_qp_get_Q(int stage, struct s_ocp_qp *qp, float *mat); +// +void s_ocp_qp_get_S(int stage, struct s_ocp_qp *qp, float *mat); +// +void s_ocp_qp_get_R(int stage, struct s_ocp_qp *qp, float *mat); +// +void s_ocp_qp_get_q(int stage, struct s_ocp_qp *qp, float *vec); +// +void s_ocp_qp_get_r(int stage, struct s_ocp_qp *qp, float *vec); +// +void s_ocp_qp_get_ub(int stage, struct s_ocp_qp *qp, float *vec); +// +void s_ocp_qp_get_ub_mask(int stage, struct s_ocp_qp *qp, float *vec); +// +void s_ocp_qp_get_lb(int stage, struct s_ocp_qp *qp, float *vec); +// +void s_ocp_qp_get_lb_mask(int stage, struct s_ocp_qp *qp, float *vec); +// +void s_ocp_qp_get_lbx(int stage, struct s_ocp_qp *qp, float *vec); +// +void s_ocp_qp_get_lbx_mask(int stage, struct s_ocp_qp *qp, float *vec); +// +void s_ocp_qp_get_ubx(int stage, struct s_ocp_qp *qp, float *vec); +// +void s_ocp_qp_get_ubx_mask(int stage, struct s_ocp_qp *qp, float *vec); +// +void s_ocp_qp_get_lbu(int stage, struct s_ocp_qp *qp, float *vec); +// +void s_ocp_qp_get_lbu_mask(int stage, struct s_ocp_qp *qp, float *vec); +// +void s_ocp_qp_get_ubu(int stage, struct s_ocp_qp *qp, float *vec); +// +void s_ocp_qp_get_ubu_mask(int stage, struct s_ocp_qp *qp, float *vec); +// +void s_ocp_qp_get_idxb(int stage, struct s_ocp_qp *qp, int *vec); +// +//void s_ocp_qp_get_idxbx(int stage, struct s_ocp_qp *qp, int *vec); +// +//void s_ocp_qp_get_Jbx(int stage, struct s_ocp_qp *qp, float *vec); +// +//void s_ocp_qp_get_idxbu(int stage, struct s_ocp_qp *qp, int *vec); +// +//void s_ocp_qp_get_Jbu(int stage, struct s_ocp_qp *qp, float *vec); +// +void s_ocp_qp_get_C(int stage, struct s_ocp_qp *qp, float *mat); +// +void s_ocp_qp_get_D(int stage, struct s_ocp_qp *qp, float *mat); +// +void s_ocp_qp_get_lg(int stage, struct s_ocp_qp *qp, float *vec); +// +void s_ocp_qp_get_lg_mask(int stage, struct s_ocp_qp *qp, float *vec); +// +void s_ocp_qp_get_ug(int stage, struct s_ocp_qp *qp, float *vec); +// +void s_ocp_qp_get_ug_mask(int stage, struct s_ocp_qp *qp, float *vec); +// +void s_ocp_qp_get_Zl(int stage, struct s_ocp_qp *qp, float *vec); +// +void s_ocp_qp_get_Zu(int stage, struct s_ocp_qp *qp, float *vec); +// +void s_ocp_qp_get_zl(int stage, struct s_ocp_qp *qp, float *vec); +// +void s_ocp_qp_get_zu(int stage, struct s_ocp_qp *qp, float *vec); +// +void s_ocp_qp_get_lls(int stage, struct s_ocp_qp *qp, float *vec); +// +void s_ocp_qp_get_lls_mask(int stage, struct s_ocp_qp *qp, float *vec); +// +void s_ocp_qp_get_lus(int stage, struct s_ocp_qp *qp, float *vec); +// +void s_ocp_qp_get_lus_mask(int stage, struct s_ocp_qp *qp, float *vec); +// XXX only valid if there is one slack per softed constraint !!! +void s_ocp_qp_get_idxs(int stage, struct s_ocp_qp *qp, int *vec); +// +void s_ocp_qp_get_idxs_rev(int stage, struct s_ocp_qp *qp, int *vec); +// +//void s_ocp_qp_get_Jsbu(int stage, struct s_ocp_qp *qp, float *vec); +// +//void s_ocp_qp_get_Jsbx(int stage, struct s_ocp_qp *qp, float *vec); +// +//void s_ocp_qp_get_Jsg(int stage, struct s_ocp_qp *qp, float *vec); + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + + +#endif // HPIPM_S_OCP_QP_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_dim.h new file mode 100644 index 0000000000..bce80243b3 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_dim.h @@ -0,0 +1,141 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_S_OCP_QP_DIM_H_ +#define HPIPM_S_OCP_QP_DIM_H_ + +#include "hpipm_common.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct s_ocp_qp_dim + { + int *nx; // number of states + int *nu; // number of inputs + int *nb; // number of box constraints + int *nbx; // number of state box constraints + int *nbu; // number of input box constraints + int *ng; // number of general constraints + int *ns; // number of soft constraints + int *nsbx; // number of soft state box constraints + int *nsbu; // number of soft input box constraints + int *nsg; // number of soft general constraints + int *nbxe; // number of state box constraints which are equality + int *nbue; // number of input box constraints which are equality + int *nge; // number of general constraints which are equality + int N; // horizon length + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t s_ocp_qp_dim_strsize(); +// +hpipm_size_t s_ocp_qp_dim_memsize(int N); +// +void s_ocp_qp_dim_create(int N, struct s_ocp_qp_dim *qp_dim, void *memory); +// +void s_ocp_qp_dim_copy_all(struct s_ocp_qp_dim *dim_orig, struct s_ocp_qp_dim *dim_dest); +// +void s_ocp_qp_dim_set_all(int *nx, int *nu, int *nbx, int *nbu, int *ng, int *nsbx, int *nsbu, int *nsg, struct s_ocp_qp_dim *dim); +// +void s_ocp_qp_dim_set(char *field, int stage, int value, struct s_ocp_qp_dim *dim); +// +void s_ocp_qp_dim_set_nx(int stage, int value, struct s_ocp_qp_dim *dim); +// +void s_ocp_qp_dim_set_nu(int stage, int value, struct s_ocp_qp_dim *dim); +// +void s_ocp_qp_dim_set_nbx(int stage, int value, struct s_ocp_qp_dim *dim); +// +void s_ocp_qp_dim_set_nbu(int stage, int value, struct s_ocp_qp_dim *dim); +// +void s_ocp_qp_dim_set_ng(int stage, int value, struct s_ocp_qp_dim *dim); +// +void s_ocp_qp_dim_set_ns(int stage, int value, struct s_ocp_qp_dim *dim); +// +void s_ocp_qp_dim_set_nsbx(int stage, int value, struct s_ocp_qp_dim *dim); +// +void s_ocp_qp_dim_set_nsbu(int stage, int value, struct s_ocp_qp_dim *dim); +// +void s_ocp_qp_dim_set_nsg(int stage, int value, struct s_ocp_qp_dim *dim); +// +void s_ocp_qp_dim_set_nbxe(int stage, int value, struct s_ocp_qp_dim *dim); +// +void s_ocp_qp_dim_set_nbue(int stage, int value, struct s_ocp_qp_dim *dim); +// +void s_ocp_qp_dim_set_nge(int stage, int value, struct s_ocp_qp_dim *dim); +// +void s_ocp_qp_dim_get(struct s_ocp_qp_dim *dim, char *field, int stage, int *value); +// +void s_ocp_qp_dim_get_N(struct s_ocp_qp_dim *dim, int *value); +// +void s_ocp_qp_dim_get_nx(struct s_ocp_qp_dim *dim, int stage, int *value); +// +void s_ocp_qp_dim_get_nu(struct s_ocp_qp_dim *dim, int stage, int *value); +// +void s_ocp_qp_dim_get_nbx(struct s_ocp_qp_dim *dim, int stage, int *value); +// +void s_ocp_qp_dim_get_nbu(struct s_ocp_qp_dim *dim, int stage, int *value); +// +void s_ocp_qp_dim_get_ng(struct s_ocp_qp_dim *dim, int stage, int *value); +// +void s_ocp_qp_dim_get_ns(struct s_ocp_qp_dim *dim, int stage, int *value); +// +void s_ocp_qp_dim_get_nsbx(struct s_ocp_qp_dim *dim, int stage, int *value); +// +void s_ocp_qp_dim_get_nsbu(struct s_ocp_qp_dim *dim, int stage, int *value); +// +void s_ocp_qp_dim_get_nsg(struct s_ocp_qp_dim *dim, int stage, int *value); +// +void s_ocp_qp_dim_get_nbxe(struct s_ocp_qp_dim *dim, int stage, int *value); +// +void s_ocp_qp_dim_get_nbue(struct s_ocp_qp_dim *dim, int stage, int *value); +// +void s_ocp_qp_dim_get_nge(struct s_ocp_qp_dim *dim, int stage, int *value); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + + +#endif // HPIPM_S_OCP_QP_DIM_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_ipm.h new file mode 100644 index 0000000000..11f3c47be6 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_ipm.h @@ -0,0 +1,250 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_S_OCP_QP_IPM_H_ +#define HPIPM_S_OCP_QP_IPM_H_ + + + +#include +#include + +#include +#include +#include +#include +#include + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct s_ocp_qp_ipm_arg + { + float mu0; // initial value for complementarity slackness + float alpha_min; // exit cond on step length + float res_g_max; // exit cond on inf norm of residuals + float res_b_max; // exit cond on inf norm of residuals + float res_d_max; // exit cond on inf norm of residuals + float res_m_max; // exit cond on inf norm of residuals + float reg_prim; // reg of primal hessian + float lam_min; // min value in lam vector + float t_min; // min value in t vector + float tau_min; // min value of barrier parameter + int iter_max; // exit cond in iter number + int stat_max; // iterations saved in stat + int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm + int cond_pred_corr; // conditional Mehrotra's predictor-corrector + int itref_pred_max; // max number of iterative refinement steps for predictor step + int itref_corr_max; // max number of iterative refinement steps for corrector step + int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol + int square_root_alg; // 0 classical Riccati, 1 square-root Riccati + int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1) + int abs_form; // absolute IPM formulation + int comp_dual_sol_eq; // dual solution of equality constraints (only for abs_form==1) + int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1) + int comp_res_pred; // compute residuals of prediction + int split_step; // use different steps for primal and dual variables + int var_init_scheme; // variables initialization scheme + int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution + int mode; + hpipm_size_t memsize; + }; + + + +struct s_ocp_qp_ipm_ws + { + struct s_core_qp_ipm_workspace *core_workspace; + struct s_ocp_qp_res_ws *res_workspace; + struct s_ocp_qp_dim *dim; // cache dim + struct s_ocp_qp_sol *sol_step; + struct s_ocp_qp_sol *sol_itref; + struct s_ocp_qp *qp_step; + struct s_ocp_qp *qp_itref; + struct s_ocp_qp_res *res; + struct s_ocp_qp_res *res_itref; + struct blasfeo_svec *Gamma; // hessian update + struct blasfeo_svec *gamma; // hessian update + struct blasfeo_svec *tmp_nuxM; // work space of size nxM + struct blasfeo_svec *tmp_nbgM; // work space of size nbM+ngM + struct blasfeo_svec *tmp_nsM; // work space of size nsM + struct blasfeo_svec *Pb; // Pb + struct blasfeo_svec *Zs_inv; + struct blasfeo_svec *tmp_m; + struct blasfeo_svec *l; // cache linear part for _get_ric_xxx + struct blasfeo_smat *L; + struct blasfeo_smat *Ls; + struct blasfeo_smat *P; + struct blasfeo_smat *Lh; + struct blasfeo_smat *AL; + struct blasfeo_smat *lq0; + struct blasfeo_smat *tmp_nxM_nxM; + float *stat; // convergence statistics + int *use_hess_fact; + void *lq_work0; + float qp_res[4]; // infinity norm of residuals + int iter; // iteration number + int stat_max; // iterations saved in stat + int stat_m; // number of recorded stat per IPM iter + int use_Pb; + int status; // solver status + int square_root_alg; // cache from arg + int lq_fact; // cache from arg + int mask_constr; // use constr mask + int valid_ric_vec; // meaningful riccati vectors + int valid_ric_p; // form of riccati p: 0 p*inv(L), 1 p + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t s_ocp_qp_ipm_arg_strsize(); +// +hpipm_size_t s_ocp_qp_ipm_arg_memsize(struct s_ocp_qp_dim *ocp_dim); +// +void s_ocp_qp_ipm_arg_create(struct s_ocp_qp_dim *ocp_dim, struct s_ocp_qp_ipm_arg *arg, void *mem); +// +void s_ocp_qp_ipm_arg_set_default(enum hpipm_mode mode, struct s_ocp_qp_ipm_arg *arg); +// +void s_ocp_qp_ipm_arg_set(char *field, void *value, struct s_ocp_qp_ipm_arg *arg); +// set maximum number of iterations +void s_ocp_qp_ipm_arg_set_iter_max(int *iter_max, struct s_ocp_qp_ipm_arg *arg); +// set minimum step lenght +void s_ocp_qp_ipm_arg_set_alpha_min(float *alpha_min, struct s_ocp_qp_ipm_arg *arg); +// set initial value of barrier parameter +void s_ocp_qp_ipm_arg_set_mu0(float *mu0, struct s_ocp_qp_ipm_arg *arg); +// set exit tolerance on stationarity condition +void s_ocp_qp_ipm_arg_set_tol_stat(float *tol_stat, struct s_ocp_qp_ipm_arg *arg); +// set exit tolerance on equality constr +void s_ocp_qp_ipm_arg_set_tol_eq(float *tol_eq, struct s_ocp_qp_ipm_arg *arg); +// set exit tolerance on inequality constr +void s_ocp_qp_ipm_arg_set_tol_ineq(float *tol_ineq, struct s_ocp_qp_ipm_arg *arg); +// set exit tolerance on complementarity condition +void s_ocp_qp_ipm_arg_set_tol_comp(float *tol_comp, struct s_ocp_qp_ipm_arg *arg); +// set regularization of primal variables +void s_ocp_qp_ipm_arg_set_reg_prim(float *tol_comp, struct s_ocp_qp_ipm_arg *arg); +// set warm start: 0 no warm start, 1 primal var +void s_ocp_qp_ipm_arg_set_warm_start(int *warm_start, struct s_ocp_qp_ipm_arg *arg); +// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector +void s_ocp_qp_ipm_arg_set_pred_corr(int *pred_corr, struct s_ocp_qp_ipm_arg *arg); +// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector +void s_ocp_qp_ipm_arg_set_cond_pred_corr(int *value, struct s_ocp_qp_ipm_arg *arg); +// set riccati algorithm: 0 classic, 1 square-root +void s_ocp_qp_ipm_arg_set_ric_alg(int *alg, struct s_ocp_qp_ipm_arg *arg); +// dual solution of equality constraints (only for abs_form==1) +void s_ocp_qp_ipm_arg_set_comp_dual_sol_eq(int *value, struct s_ocp_qp_ipm_arg *arg); +// compute residuals after solution +void s_ocp_qp_ipm_arg_set_comp_res_exit(int *value, struct s_ocp_qp_ipm_arg *arg); +// compute residuals of prediction +void s_ocp_qp_ipm_arg_set_comp_res_pred(int *alg, struct s_ocp_qp_ipm_arg *arg); +// min value of lam in the solution +void s_ocp_qp_ipm_arg_set_lam_min(float *value, struct s_ocp_qp_ipm_arg *arg); +// min value of t in the solution +void s_ocp_qp_ipm_arg_set_t_min(float *value, struct s_ocp_qp_ipm_arg *arg); +// min value of tau in the solution +void s_ocp_qp_ipm_arg_set_tau_min(float *value, struct s_ocp_qp_ipm_arg *arg); +// set split step: 0 same step, 1 different step for primal and dual variables +void s_ocp_qp_ipm_arg_set_split_step(int *value, struct s_ocp_qp_ipm_arg *arg); +// variables initialization scheme +void s_ocp_qp_ipm_arg_set_var_init_scheme(int *value, struct s_ocp_qp_ipm_arg *arg); +// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution +void s_ocp_qp_ipm_arg_set_t_lam_min(int *value, struct s_ocp_qp_ipm_arg *arg); + +// +hpipm_size_t s_ocp_qp_ipm_ws_strsize(); +// +hpipm_size_t s_ocp_qp_ipm_ws_memsize(struct s_ocp_qp_dim *ocp_dim, struct s_ocp_qp_ipm_arg *arg); +// +void s_ocp_qp_ipm_ws_create(struct s_ocp_qp_dim *ocp_dim, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, void *mem); +// +void s_ocp_qp_ipm_get(char *field, struct s_ocp_qp_ipm_ws *ws, void *value); +// +void s_ocp_qp_ipm_get_status(struct s_ocp_qp_ipm_ws *ws, int *status); +// +void s_ocp_qp_ipm_get_iter(struct s_ocp_qp_ipm_ws *ws, int *iter); +// +void s_ocp_qp_ipm_get_max_res_stat(struct s_ocp_qp_ipm_ws *ws, float *res_stat); +// +void s_ocp_qp_ipm_get_max_res_eq(struct s_ocp_qp_ipm_ws *ws, float *res_eq); +// +void s_ocp_qp_ipm_get_max_res_ineq(struct s_ocp_qp_ipm_ws *ws, float *res_ineq); +// +void s_ocp_qp_ipm_get_max_res_comp(struct s_ocp_qp_ipm_ws *ws, float *res_comp); +// +void s_ocp_qp_ipm_get_stat(struct s_ocp_qp_ipm_ws *ws, float **stat); +// +void s_ocp_qp_ipm_get_stat_m(struct s_ocp_qp_ipm_ws *ws, int *stat_m); +// +void s_ocp_qp_ipm_get_ric_Lr(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *Lr); +// +void s_ocp_qp_ipm_get_ric_Ls(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *Ls); +// +void s_ocp_qp_ipm_get_ric_P(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *P); +// +void s_ocp_qp_ipm_get_ric_lr(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *lr); +// +void s_ocp_qp_ipm_get_ric_p(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *p); +// feedback control gain in the form u = K x + k +void s_ocp_qp_ipm_get_ric_K(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *K); +// feedback control gain in the form u = K x + k +void s_ocp_qp_ipm_get_ric_k(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *k); +// +void s_ocp_qp_init_var(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws); +// +void s_ocp_qp_ipm_abs_step(int kk, struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws); +// +void s_ocp_qp_ipm_delta_step(int kk, struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws); +// +void s_ocp_qp_ipm_solve(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws); +// +void s_ocp_qp_ipm_predict(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws); +// +void s_ocp_qp_ipm_sens(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws); + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + + +#endif // HPIPM_S_OCP_QP_IPM_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_kkt.h new file mode 100644 index 0000000000..3eb1f4aae8 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_kkt.h @@ -0,0 +1,66 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + + +#ifndef HPIPM_S_OCP_QP_KKT_H_ +#define HPIPM_S_OCP_QP_KKT_H_ + +#include +#include +#include + + + +#ifdef __cplusplus +extern "C" { +#endif + +// +void s_ocp_qp_fact_solve_kkt_unconstr(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws); +// +void s_ocp_qp_fact_solve_kkt_step(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws); +// +void s_ocp_qp_fact_lq_solve_kkt_step(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws); +// +void s_ocp_qp_solve_kkt_step(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws); + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + +#endif // HPIPM_S_OCP_QP_KKT_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_red.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_red.h new file mode 100644 index 0000000000..5a7b3b0703 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_red.h @@ -0,0 +1,118 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_S_OCP_QP_RED_H_ +#define HPIPM_S_OCP_QP_RED_H_ + + + +#include +#include + +#include +#include +#include + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct s_ocp_qp_reduce_eq_dof_arg + { + float lam_min; + float t_min; + int alias_unchanged; // do not keep copy unchanged stage + int comp_prim_sol; // primal solution (v) + int comp_dual_sol_eq; // dual solution equality constr (pi) + int comp_dual_sol_ineq; // dual solution inequality constr (lam t) + hpipm_size_t memsize; // memory size in bytes + }; + + + +struct s_ocp_qp_reduce_eq_dof_ws + { + struct blasfeo_svec *tmp_nuxM; + struct blasfeo_svec *tmp_nbgM; + int *e_imask_ux; + int *e_imask_d; + hpipm_size_t memsize; // memory size in bytes + }; + + + +// +void s_ocp_qp_dim_reduce_eq_dof(struct s_ocp_qp_dim *dim, struct s_ocp_qp_dim *dim_red); +// +hpipm_size_t s_ocp_qp_reduce_eq_dof_arg_memsize(); +// +void s_ocp_qp_reduce_eq_dof_arg_create(struct s_ocp_qp_reduce_eq_dof_arg *arg, void *mem); +// +void s_ocp_qp_reduce_eq_dof_arg_set_default(struct s_ocp_qp_reduce_eq_dof_arg *arg); +// +void s_ocp_qp_reduce_eq_dof_arg_set_alias_unchanged(struct s_ocp_qp_reduce_eq_dof_arg *arg, int value); +// +void s_ocp_qp_reduce_eq_dof_arg_set_comp_prim_sol(struct s_ocp_qp_reduce_eq_dof_arg *arg, int value); +// +void s_ocp_qp_reduce_eq_dof_arg_set_comp_dual_sol_eq(struct s_ocp_qp_reduce_eq_dof_arg *arg, int value); +// +void s_ocp_qp_reduce_eq_dof_arg_set_comp_dual_sol_ineq(struct s_ocp_qp_reduce_eq_dof_arg *arg, int value); +// +hpipm_size_t s_ocp_qp_reduce_eq_dof_ws_memsize(struct s_ocp_qp_dim *dim); +// +void s_ocp_qp_reduce_eq_dof_ws_create(struct s_ocp_qp_dim *dim, struct s_ocp_qp_reduce_eq_dof_ws *work, void *mem); +// +void s_ocp_qp_reduce_eq_dof(struct s_ocp_qp *qp, struct s_ocp_qp *qp_red, struct s_ocp_qp_reduce_eq_dof_arg *arg, struct s_ocp_qp_reduce_eq_dof_ws *work); +// +void s_ocp_qp_reduce_eq_dof_lhs(struct s_ocp_qp *qp, struct s_ocp_qp *qp_red, struct s_ocp_qp_reduce_eq_dof_arg *arg, struct s_ocp_qp_reduce_eq_dof_ws *work); +// +void s_ocp_qp_reduce_eq_dof_rhs(struct s_ocp_qp *qp, struct s_ocp_qp *qp_red, struct s_ocp_qp_reduce_eq_dof_arg *arg, struct s_ocp_qp_reduce_eq_dof_ws *work); +// +void s_ocp_qp_restore_eq_dof(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol_red, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_reduce_eq_dof_arg *arg, struct s_ocp_qp_reduce_eq_dof_ws *work); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + + +#endif // HPIPM_S_OCP_QP_RED_H_ + diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_res.h new file mode 100644 index 0000000000..821585da65 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_res.h @@ -0,0 +1,114 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_S_OCP_QP_RES_H_ +#define HPIPM_S_OCP_QP_RES_H_ + + + +#include +#include + +#include +#include +#include +#include + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct s_ocp_qp_res + { + struct s_ocp_qp_dim *dim; + struct blasfeo_svec *res_g; // q-residuals + struct blasfeo_svec *res_b; // b-residuals + struct blasfeo_svec *res_d; // d-residuals + struct blasfeo_svec *res_m; // m-residuals + float res_max[4]; // max of residuals + float res_mu; // mu-residual + hpipm_size_t memsize; + }; + + + +struct s_ocp_qp_res_ws + { + struct blasfeo_svec *tmp_nbgM; // work space of size nbM+ngM + struct blasfeo_svec *tmp_nsM; // work space of size nsM + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t s_ocp_qp_res_memsize(struct s_ocp_qp_dim *ocp_dim); +// +void s_ocp_qp_res_create(struct s_ocp_qp_dim *ocp_dim, struct s_ocp_qp_res *res, void *mem); +// +hpipm_size_t s_ocp_qp_res_ws_memsize(struct s_ocp_qp_dim *ocp_dim); +// +void s_ocp_qp_res_ws_create(struct s_ocp_qp_dim *ocp_dim, struct s_ocp_qp_res_ws *workspace, void *mem); +// +void s_ocp_qp_res_compute(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_res *res, struct s_ocp_qp_res_ws *ws); +// +void s_ocp_qp_res_compute_lin(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_sol *qp_step, struct s_ocp_qp_res *res, struct s_ocp_qp_res_ws *ws); +// +void s_ocp_qp_res_compute_inf_norm(struct s_ocp_qp_res *res); +// +void s_ocp_qp_res_get_all(struct s_ocp_qp_res *res, float **res_r, float **res_q, float **res_ls, float **res_us, float **res_b, float **res_d_lb, float **res_d_ub, float **res_d_lg, float **res_d_ug, float **res_d_ls, float **res_d_us, float **res_m_lb, float **res_m_ub, float **res_m_lg, float **res_m_ug, float **res_m_ls, float **res_m_us); +// +void s_ocp_qp_res_get_max_res_stat(struct s_ocp_qp_res *res, float *value); +// +void s_ocp_qp_res_get_max_res_eq(struct s_ocp_qp_res *res, float *value); +// +void s_ocp_qp_res_get_max_res_ineq(struct s_ocp_qp_res *res, float *value); +// +void s_ocp_qp_res_get_max_res_comp(struct s_ocp_qp_res *res, float *value); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + +#endif // HPIPM_S_OCP_QP_RES_H_ + + diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_sol.h new file mode 100644 index 0000000000..94dfa0d003 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_sol.h @@ -0,0 +1,128 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_S_OCP_QP_SOL_H_ +#define HPIPM_S_OCP_QP_SOL_H_ + + + +#include +#include + +#include "hpipm_s_ocp_qp_dim.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct s_ocp_qp_sol + { + struct s_ocp_qp_dim *dim; + struct blasfeo_svec *ux; + struct blasfeo_svec *pi; + struct blasfeo_svec *lam; + struct blasfeo_svec *t; + void *misc; + hpipm_size_t memsize; // memory size in bytes + }; + + + +// +hpipm_size_t s_ocp_qp_sol_strsize(); +// +hpipm_size_t s_ocp_qp_sol_memsize(struct s_ocp_qp_dim *dim); +// +void s_ocp_qp_sol_create(struct s_ocp_qp_dim *dim, struct s_ocp_qp_sol *qp_sol, void *memory); +// +void s_ocp_qp_sol_copy_all(struct s_ocp_qp_sol *qp_sol_orig, struct s_ocp_qp_sol *qp_sol_dest); +// +void s_qp_sol_get_all(struct s_ocp_qp_sol *qp_sol, float **u, float **x, float **ls, float **us, float **pi, float **lam_lb, float **lam_ub, float **lam_lg, float **lam_ug, float **lam_ls, float **lam_us); +// +void s_qp_sol_get_all_rowmaj(struct s_ocp_qp_sol *qp_sol, float **u, float **x, float **ls, float **us, float **pi, float **lam_lb, float **lam_ub, float **lam_lg, float **lam_ug, float **lam_ls, float **lam_us); +// +void s_ocp_qp_sol_set_all(float **u, float **x, float **ls, float **us, float **pi, float **lam_lb, float **lam_ub, float **lam_lg, float **lam_ug, float **lam_ls, float **lam_us, struct s_ocp_qp_sol *qp_sol); +// +void s_ocp_qp_sol_get(char *field, int stage, struct s_ocp_qp_sol *qp_sol, float *vec); +// +void s_ocp_qp_sol_get_u(int stage, struct s_ocp_qp_sol *qp_sol, float *vec); +// +void s_ocp_qp_sol_get_x(int stage, struct s_ocp_qp_sol *qp_sol, float *vec); +// +void s_ocp_qp_sol_get_sl(int stage, struct s_ocp_qp_sol *qp_sol, float *vec); +// +void s_ocp_qp_sol_get_su(int stage, struct s_ocp_qp_sol *qp_sol, float *vec); +// +void s_ocp_qp_sol_get_pi(int stage, struct s_ocp_qp_sol *qp_sol, float *vec); +// +void s_ocp_qp_sol_get_lam_lb(int stage, struct s_ocp_qp_sol *qp_sol, float *vec); +// +void s_ocp_qp_sol_get_lam_lbu(int stage, struct s_ocp_qp_sol *qp_sol, float *vec); +// +void s_ocp_qp_sol_get_lam_lbx(int stage, struct s_ocp_qp_sol *qp_sol, float *vec); +// +void s_ocp_qp_sol_get_lam_ub(int stage, struct s_ocp_qp_sol *qp_sol, float *vec); +// +void s_ocp_qp_sol_get_lam_ubu(int stage, struct s_ocp_qp_sol *qp_sol, float *vec); +// +void s_ocp_qp_sol_get_lam_ubx(int stage, struct s_ocp_qp_sol *qp_sol, float *vec); +// +void s_ocp_qp_sol_get_lam_lg(int stage, struct s_ocp_qp_sol *qp_sol, float *vec); +// +void s_ocp_qp_sol_get_lam_ug(int stage, struct s_ocp_qp_sol *qp_sol, float *vec); +// +void s_ocp_qp_sol_set(char *field, int stage, float *vec, struct s_ocp_qp_sol *qp_sol); +// +void s_ocp_qp_sol_set_u(int stage, float *vec, struct s_ocp_qp_sol *qp_sol); +// +void s_ocp_qp_sol_set_x(int stage, float *vec, struct s_ocp_qp_sol *qp_sol); +// +void s_ocp_qp_sol_set_sl(int stage, float *vec, struct s_ocp_qp_sol *qp_sol); +// +void s_ocp_qp_sol_set_su(int stage, float *vec, struct s_ocp_qp_sol *qp_sol); + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + + +#endif // HPIPM_S_OCP_QP_SOL_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_utils.h new file mode 100644 index 0000000000..a4f832a5ea --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_utils.h @@ -0,0 +1,83 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_S_OCP_QP_UTILS_H_ +#define HPIPM_S_OCP_QP_UTILS_H_ + + + +#include +#include + +#include "hpipm_s_ocp_qp_dim.h" +#include "hpipm_s_ocp_qp.h" +#include "hpipm_s_ocp_qp_sol.h" +#include "hpipm_s_ocp_qp_ipm.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +// +void s_ocp_qp_dim_print(struct s_ocp_qp_dim *qp_dim); +// +void s_ocp_qp_dim_codegen(char *file_name, char *mode, struct s_ocp_qp_dim *qp_dim); +// +void s_ocp_qp_print(struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp *qp); +// +void s_ocp_qp_codegen(char *file_name, char *mode, struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp *qp); +// +void s_ocp_qp_sol_print(struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp_sol *ocp_qp_sol); +// +void s_ocp_qp_ipm_arg_print(struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp_ipm_arg *arg); +// +void s_ocp_qp_ipm_arg_codegen(char *file_name, char *mode, struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp_ipm_arg *arg); +// +void s_ocp_qp_res_print(struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp_res *ocp_qp_res); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + + +#endif // HPIPM_D_OCP_QP_UTILS_H_ + diff --git a/third_party/acados/include/hpipm/include/hpipm_s_part_cond.h b/third_party/acados/include/hpipm/include/hpipm_s_part_cond.h new file mode 100644 index 0000000000..e40511e69f --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_part_cond.h @@ -0,0 +1,115 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + + + +#ifndef HPIPM_S_PART_COND_H_ +#define HPIPM_S_PART_COND_H_ + + + +#include +#include + +#include "hpipm_s_cond.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct s_part_cond_qp_arg + { + struct s_cond_qp_arg *cond_arg; + int N2; + hpipm_size_t memsize; + }; + + + +struct s_part_cond_qp_ws + { + struct s_cond_qp_ws *cond_workspace; + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t s_part_cond_qp_arg_memsize(int N2); +// +void s_part_cond_qp_arg_create(int N2, struct s_part_cond_qp_arg *cond_arg, void *mem); +// +void s_part_cond_qp_arg_set_default(struct s_part_cond_qp_arg *cond_arg); +// set riccati-like algorithm: 0 classical, 1 squre-root +void s_part_cond_qp_arg_set_ric_alg(int ric_alg, struct s_part_cond_qp_arg *cond_arg); +// +void s_part_cond_qp_arg_set_comp_prim_sol(int value, struct s_part_cond_qp_arg *cond_arg); +// +void s_part_cond_qp_arg_set_comp_dual_sol_eq(int value, struct s_part_cond_qp_arg *cond_arg); +// +void s_part_cond_qp_arg_set_comp_dual_sol_ineq(int value, struct s_part_cond_qp_arg *cond_arg); + +// +void s_part_cond_qp_compute_block_size(int N, int N2, int *block_size); +// +void s_part_cond_qp_compute_dim(struct s_ocp_qp_dim *ocp_dim, int *block_size, struct s_ocp_qp_dim *part_dense_dim); +// +hpipm_size_t s_part_cond_qp_ws_memsize(struct s_ocp_qp_dim *ocp_dim, int *block_size, struct s_ocp_qp_dim *part_dense_dim, struct s_part_cond_qp_arg *cond_arg); +// +void s_part_cond_qp_ws_create(struct s_ocp_qp_dim *ocp_dim, int *block_size, struct s_ocp_qp_dim *part_dense_dim, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws, void *mem); +// +void s_part_cond_qp_cond(struct s_ocp_qp *ocp_qp, struct s_ocp_qp *part_dense_qp, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws); +// +void s_part_cond_qp_cond_lhs(struct s_ocp_qp *ocp_qp, struct s_ocp_qp *part_dense_qp, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws); +// +void s_part_cond_qp_cond_rhs(struct s_ocp_qp *ocp_qp, struct s_ocp_qp *part_dense_qp, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws); +// +void s_part_cond_qp_expand_sol(struct s_ocp_qp *ocp_qp, struct s_ocp_qp *part_dense_qp, struct s_ocp_qp_sol *part_dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws); + +// +void s_part_cond_qp_update(int *idxc, struct s_ocp_qp *ocp_qp, struct s_ocp_qp *part_dense_qp, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws); + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + + +#endif // HPIPM_S_PART_COND_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_s_part_cond_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_part_cond_qcqp.h new file mode 100644 index 0000000000..311f7000bf --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_part_cond_qcqp.h @@ -0,0 +1,107 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + + + +#ifndef HPIPM_S_PART_COND_QCQP_H_ +#define HPIPM_S_PART_COND_QCQP_H_ + + + +#include +#include + +#include "hpipm_s_cond_qcqp.h" + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct s_part_cond_qcqp_arg + { + struct s_cond_qcqp_arg *cond_arg; + int N2; + hpipm_size_t memsize; + }; + + + +struct s_part_cond_qcqp_ws + { + struct s_cond_qcqp_ws *cond_ws; + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t s_part_cond_qcqp_arg_memsize(int N2); +// +void s_part_cond_qcqp_arg_create(int N2, struct s_part_cond_qcqp_arg *cond_arg, void *mem); +// +void s_part_cond_qcqp_arg_set_default(struct s_part_cond_qcqp_arg *cond_arg); +// set riccati-like algorithm: 0 classical, 1 squre-root +void s_part_cond_qcqp_arg_set_ric_alg(int ric_alg, struct s_part_cond_qcqp_arg *cond_arg); + +// +void s_part_cond_qcqp_compute_block_size(int N, int N2, int *block_size); +// +void s_part_cond_qcqp_compute_dim(struct s_ocp_qcqp_dim *ocp_dim, int *block_size, struct s_ocp_qcqp_dim *part_dense_dim); +// +hpipm_size_t s_part_cond_qcqp_ws_memsize(struct s_ocp_qcqp_dim *ocp_dim, int *block_size, struct s_ocp_qcqp_dim *part_dense_dim, struct s_part_cond_qcqp_arg *cond_arg); +// +void s_part_cond_qcqp_ws_create(struct s_ocp_qcqp_dim *ocp_dim, int *block_size, struct s_ocp_qcqp_dim *part_dense_dim, struct s_part_cond_qcqp_arg *cond_arg, struct s_part_cond_qcqp_ws *cond_ws, void *mem); +// +void s_part_cond_qcqp_cond(struct s_ocp_qcqp *ocp_qp, struct s_ocp_qcqp *part_dense_qp, struct s_part_cond_qcqp_arg *cond_arg, struct s_part_cond_qcqp_ws *cond_ws); +// +void s_part_cond_qcqp_cond_lhs(struct s_ocp_qcqp *ocp_qp, struct s_ocp_qcqp *part_dense_qp, struct s_part_cond_qcqp_arg *cond_arg, struct s_part_cond_qcqp_ws *cond_ws); +// +void s_part_cond_qcqp_cond_rhs(struct s_ocp_qcqp *ocp_qp, struct s_ocp_qcqp *part_dense_qp, struct s_part_cond_qcqp_arg *cond_arg, struct s_part_cond_qcqp_ws *cond_ws); +// +void s_part_cond_qcqp_expand_sol(struct s_ocp_qcqp *ocp_qp, struct s_ocp_qcqp *part_dense_qp, struct s_ocp_qcqp_sol *part_dense_qp_sol, struct s_ocp_qcqp_sol *ocp_qp_sol, struct s_part_cond_qcqp_arg *cond_arg, struct s_part_cond_qcqp_ws *cond_ws); + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + + +#endif // HPIPM_D_PART_COND_H_ + + diff --git a/third_party/acados/include/hpipm/include/hpipm_s_sim_erk.h b/third_party/acados/include/hpipm/include/hpipm_s_sim_erk.h new file mode 100644 index 0000000000..1a05ad1a28 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_sim_erk.h @@ -0,0 +1,121 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_S_SIM_ERK_H_ +#define HPIPM_S_SIM_ERK_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +struct s_sim_erk_arg + { + struct s_sim_rk_data *rk_data; // integrator data + float h; // step size + int steps; // number of steps +// int for_sens; // compute adjoint sensitivities +// int adj_sens; // compute adjoint sensitivities + hpipm_size_t memsize; + }; + + + +struct s_sim_erk_ws + { + void (*ode)(int t, float *x, float *p, void *ode_args, float *xdot); // function pointer to ode + void (*vde_for)(int t, float *x, float *p, void *ode_args, float *xdot); // function pointer to forward vde + void (*vde_adj)(int t, float *adj_in, void *ode_args, float *adj_out); // function pointer to adjoint vde + void *ode_args; // pointer to ode args + struct s_sim_erk_arg *erk_arg; // erk arg + float *K; // internal variables + float *x_for; // states and forward sensitivities + float *x_traj; // states at all steps + float *l; // adjoint sensitivities + float *p; // parameter + float *x_tmp; // temporary states and forward sensitivities + float *adj_in; + float *adj_tmp; + int nx; // number of states + int np; // number of parameters + int nf; // number of forward sensitivities + int na; // number of adjoint sensitivities + int nf_max; // max number of forward sensitivities + int na_max; // max number of adjoint sensitivities + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t s_sim_erk_arg_memsize(); +// +void s_sim_erk_arg_create(struct s_sim_erk_arg *erk_arg, void *mem); +// +void s_sim_erk_arg_set_all(struct s_sim_rk_data *rk_data, float h, int steps, struct s_sim_erk_arg *erk_arg); + +// +hpipm_size_t s_sim_erk_ws_memsize(struct s_sim_erk_arg *erk_arg, int nx, int np, int nf_max, int na_max); +// +void s_sim_erk_ws_create(struct s_sim_erk_arg *erk_arg, int nx, int np, int nf_max, int na_max, struct s_sim_erk_ws *work, void *memory); +// +void s_sim_erk_ws_set_all(int nf, int na, float *x, float *fs, float *bs, float *p, void (*ode)(int t, float *x, float *p, void *ode_args, float *xdot), void (*vde_for)(int t, float *x, float *p, void *ode_args, float *xdot), void (*vde_adj)(int t, float *adj_in, void *ode_args, float *adj_out), void *ode_args, struct s_sim_erk_ws *work); +// number of directions for forward sensitivities +void s_sim_erk_ws_set_nf(int *nf, struct s_sim_erk_ws *work); +// parameters (e.g. inputs) +void s_sim_erk_ws_set_p(float *p, struct s_sim_erk_ws *work); +// state +void s_sim_erk_ws_set_x(float *x, struct s_sim_erk_ws *work); +// forward sensitivities +void s_sim_erk_ws_set_fs(float *fs, struct s_sim_erk_ws *work); +// ode funtion +void s_sim_erk_ws_set_ode(void (*ode)(int t, float *x, float *p, void *ode_args, float *xdot), struct s_sim_erk_ws *work); +// forward vde function +void s_sim_erk_ws_set_vde_for(void (*ode)(int t, float *x, float *p, void *ode_args, float *xdot), struct s_sim_erk_ws *work); +// ode_args, passed straight to the ode/vde_for/vde_adj functions +void s_sim_erk_ws_set_ode_args(void *ode_args, struct s_sim_erk_ws *work); +// state +void s_sim_erk_ws_get_x(struct s_sim_erk_ws *work, float *x); +// forward sensitivities +void s_sim_erk_ws_get_fs(struct s_sim_erk_ws *work, float *fs); +// +void s_sim_erk_solve(struct s_sim_erk_arg *arg, struct s_sim_erk_ws *work); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // HPIPM_D_SIM_ERK_H_ + + diff --git a/third_party/acados/include/hpipm/include/hpipm_s_sim_rk.h b/third_party/acados/include/hpipm/include/hpipm_s_sim_rk.h new file mode 100644 index 0000000000..53acd71498 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_sim_rk.h @@ -0,0 +1,72 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_S_SIM_RK_H_ +#define HPIPM_S_SIM_RK_H_ + +#include "hpipm_common.h" + +#ifdef __cplusplus +extern "C" { +#endif + +struct s_sim_rk_data + { + float *A_rk; // A in butcher tableau + float *B_rk; // b in butcher tableau + float *C_rk; // c in butcher tableau + int expl; // erk vs irk + int ns; // number of stages + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t s_sim_rk_data_memsize(int ns); +// +void s_sim_rk_data_create(int ns, struct s_sim_rk_data *rk_data, void *memory); +// +void s_sim_rk_data_init_default(char *field, struct s_sim_rk_data *rk_data); +// +void s_sim_rk_data_set_all(int expl, float *A_rk, float *B_rk, float *C_rk, struct s_sim_rk_data *rk_data); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // HPIPM_S_SIM_RK_H_ + + diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp.h new file mode 100644 index 0000000000..450e992624 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp.h @@ -0,0 +1,213 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_S_TREE_OCP_QCQP_H_ +#define HPIPM_S_TREE_OCP_QCQP_H_ + + + +#include +#include + +#include "hpipm_s_tree_ocp_qcqp_dim.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct s_tree_ocp_qcqp + { + struct s_tree_ocp_qcqp_dim *dim; + struct blasfeo_smat *BAbt; // Nn-1 + struct blasfeo_smat *RSQrq; // Nn + struct blasfeo_smat *DCt; // Nn + struct blasfeo_smat **Hq; // Nn + struct blasfeo_svec *b; // Nn-1 + struct blasfeo_svec *rqz; // Nn + struct blasfeo_svec *d; // Nn + struct blasfeo_svec *d_mask; // Nn + struct blasfeo_svec *m; // Nn + struct blasfeo_svec *Z; // Nn + int **idxb; // indices of box constrained variables within [u; x] // Nn + int **idxs_rev; // index of soft constraints + hpipm_size_t memsize; // memory size in bytes + }; + + + +// +hpipm_size_t s_tree_ocp_qcqp_memsize(struct s_tree_ocp_qcqp_dim *dim); +// +void s_tree_ocp_qcqp_create(struct s_tree_ocp_qcqp_dim *dim, struct s_tree_ocp_qcqp *qp, void *memory); +// +void s_tree_ocp_qcqp_set_all(float **A, float **B, float **b, float **Q, float **S, float **R, float **q, float **r, int **idxb, float **d_lb, float **d_ub, float **C, float **D, float **d_lg, float **d_ug, float **Zl, float **Zu, float **zl, float **zu, int **idxs, float **d_ls, float **d_us, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set(char *field_name, int node_edge, void *value, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_A(int edge, float *mat, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_B(int edge, float *mat, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_b(int edge, float *vec, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_Q(int node, float *mat, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_S(int node, float *mat, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_R(int node, float *mat, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_q(int node, float *vec, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_r(int node, float *vec, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_lb(int node, float *vec, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_lb_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_ub(int node, float *vec, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_ub_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_lbx(int node, float *vec, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_lbx_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_ubx(int node, float *vec, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_ubx_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_lbu(int node, float *vec, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_lbu_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_ubu(int node, float *vec, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_ubu_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_idxb(int node, int *vec, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_idxbx(int node, int *vec, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_Jbx(int node, float *vec, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_idxbu(int node, int *vec, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_Jbu(int node, float *vec, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_C(int node, float *mat, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_D(int node, float *mat, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_lg(int node, float *vec, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_lg_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_ug(int node, float *vec, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_ug_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_Qq(int node, float *mat, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_Sq(int node, float *mat, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_Rq(int node, float *mat, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_qq(int node, float *vec, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_rq(int node, float *vec, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_uq(int node, float *vec, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_uq_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_Zl(int node, float *vec, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_Zu(int node, float *vec, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_zl(int node, float *vec, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_zu(int node, float *vec, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_lls(int node, float *vec, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_lls_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_lus(int node, float *vec, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_lus_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_idxs(int node, int *vec, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_idxs_rev(int node, int *vec, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_Jsbu(int node, float *vec, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_Jsbx(int node, float *vec, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_Jsg(int node, float *vec, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_set_Jsq(int node, float *vec, struct s_tree_ocp_qcqp *qp); +// +//void s_tree_ocp_qcqp_set_idxe(int node, int *vec, struct s_tree_ocp_qcqp *qp); +// +//void s_tree_ocp_qcqp_set_idxbxe(int node, int *vec, struct s_tree_ocp_qcqp *qp); +// +//void s_tree_ocp_qcqp_set_idxbue(int node, int *vec, struct s_tree_ocp_qcqp *qp); +// +//void s_tree_ocp_qcqp_set_idxge(int node, int *vec, struct s_tree_ocp_qcqp *qp); +// +//void s_tree_ocp_qcqp_set_Jbxe(int node, float *vec, struct s_tree_ocp_qcqp *qp); +// +//void s_tree_ocp_qcqp_set_Jbue(int node, float *vec, struct s_tree_ocp_qcqp *qp); +// +//void s_tree_ocp_qcqp_set_Jge(int node, float *vec, struct s_tree_ocp_qcqp *qp); +// +//void s_tree_ocp_qcqp_set_diag_H_flag(int node, int *value, struct s_tree_ocp_qcqp *qp); + + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + + +#endif // HPIPM_S_TREE_OCP_QCQP_H_ + diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_dim.h new file mode 100644 index 0000000000..7a49d51995 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_dim.h @@ -0,0 +1,118 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_S_TREE_OCP_QCQP_DIM_H_ +#define HPIPM_S_TREE_OCP_QCQP_DIM_H_ + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct s_tree_ocp_qcqp_dim + { + struct s_tree_ocp_qp_dim *qp_dim; // dim of qp approximation + struct tree *ttree; // tree describing node conndection + int *nx; // number of states // Nn + int *nu; // number of inputs // Nn + int *nb; // number of box constraints // Nn + int *nbx; // number of state box constraints // Nn + int *nbu; // number of input box constraints // Nn + int *ng; // number of general constraints // Nn + int *nq; // number of (upper) quadratic constraints + int *ns; // number of soft constraints // Nn + int *nsbx; // number of soft state box constraints + int *nsbu; // number of soft input box constraints + int *nsg; // number of soft general constraints + int *nsq; // number of (upper) soft quadratic constraints + int Nn; // number of nodes + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t s_tree_ocp_qcqp_dim_strsize(); +// +hpipm_size_t s_tree_ocp_qcqp_dim_memsize(int Nn); +// +void s_tree_ocp_qcqp_dim_create(int Nn, struct s_tree_ocp_qcqp_dim *qp_dim, void *memory); +// +void s_tree_ocp_qcqp_dim_set_tree(struct tree *ttree, struct s_tree_ocp_qcqp_dim *dim); +// +void s_tree_ocp_qcqp_dim_set(char *field, int stage, int value, struct s_tree_ocp_qcqp_dim *dim); +// +void s_tree_ocp_qcqp_dim_set_nx(int stage, int value, struct s_tree_ocp_qcqp_dim *dim); +// +void s_tree_ocp_qcqp_dim_set_nu(int stage, int value, struct s_tree_ocp_qcqp_dim *dim); +// +void s_tree_ocp_qcqp_dim_set_nbx(int stage, int value, struct s_tree_ocp_qcqp_dim *dim); +// +void s_tree_ocp_qcqp_dim_set_nbu(int stage, int value, struct s_tree_ocp_qcqp_dim *dim); +// +void s_tree_ocp_qcqp_dim_set_ng(int stage, int value, struct s_tree_ocp_qcqp_dim *dim); +// +void s_tree_ocp_qcqp_dim_set_nq(int stage, int value, struct s_tree_ocp_qcqp_dim *dim); +// +void s_tree_ocp_qcqp_dim_set_ns(int stage, int value, struct s_tree_ocp_qcqp_dim *dim); +// +void s_tree_ocp_qcqp_dim_set_nsbx(int stage, int value, struct s_tree_ocp_qcqp_dim *dim); +// +void s_tree_ocp_qcqp_dim_set_nsbu(int stage, int value, struct s_tree_ocp_qcqp_dim *dim); +// +void s_tree_ocp_qcqp_dim_set_nsg(int stage, int value, struct s_tree_ocp_qcqp_dim *dim); +// +void s_tree_ocp_qcqp_dim_set_nsq(int stage, int value, struct s_tree_ocp_qcqp_dim *dim); +// +//void s_tree_ocp_qcqp_dim_set_nbxe(int stage, int value, struct s_tree_ocp_qcqp_dim *dim); +// +//void s_tree_ocp_qcqp_dim_set_nbue(int stage, int value, struct s_tree_ocp_qcqp_dim *dim); +// +//void s_tree_ocp_qcqp_dim_set_nge(int stage, int value, struct s_tree_ocp_qcqp_dim *dim); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + + +#endif // HPIPM_S_TREE_OCP_QCQP_DIM_H_ + + diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_ipm.h new file mode 100644 index 0000000000..69d65914c5 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_ipm.h @@ -0,0 +1,192 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_S_TREE_OCP_QCQP_IPM_H_ +#define HPIPM_S_TREE_OCP_QCQP_IPM_H_ + + + +#include +#include + +#include +#include +#include +#include +#include + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct s_tree_ocp_qcqp_ipm_arg + { + struct s_tree_ocp_qp_ipm_arg *qp_arg; + float mu0; // initial value for complementarity slackness + float alpha_min; // exit cond on step length + float res_g_max; // exit cond on inf norm of residuals + float res_b_max; // exit cond on inf norm of residuals + float res_d_max; // exit cond on inf norm of residuals + float res_m_max; // exit cond on inf norm of residuals + float reg_prim; // reg of primal hessian + float lam_min; // min value in lam vector + float t_min; // min value in t vector + int iter_max; // exit cond in iter number + int stat_max; // iterations saved in stat + int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm + int cond_pred_corr; // conditional Mehrotra's predictor-corrector + int itref_pred_max; // max number of iterative refinement steps for predictor step + int itref_corr_max; // max number of iterative refinement steps for corrector step + int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol +// int square_root_alg; // 0 classical Riccati, 1 square-root Riccati + int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1) + int abs_form; // absolute IPM formulation + int comp_dual_sol_eq; // dual solution of equality constraints (only for abs_form==1) + int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1) +// int comp_res_pred; // compute residuals of prediction + int split_step; // use different step for primal and dual variables + int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution + int mode; + hpipm_size_t memsize; + }; + + + +struct s_tree_ocp_qcqp_ipm_ws + { + struct s_tree_ocp_qp_ipm_ws *qp_ws; + struct s_tree_ocp_qp *qp; + struct s_tree_ocp_qp_sol *qp_sol; + struct s_tree_ocp_qcqp_res_ws *qcqp_res_ws; + struct s_tree_ocp_qcqp_res *qcqp_res; + struct blasfeo_svec *tmp_nuxM; + int iter; // iteration number + int status; + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t s_tree_ocp_qcqp_ipm_arg_strsize(); +// +hpipm_size_t s_tree_ocp_qcqp_ipm_arg_memsize(struct s_tree_ocp_qcqp_dim *ocp_dim); +// +void s_tree_ocp_qcqp_ipm_arg_create(struct s_tree_ocp_qcqp_dim *ocp_dim, struct s_tree_ocp_qcqp_ipm_arg *arg, void *mem); +// +void s_tree_ocp_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct s_tree_ocp_qcqp_ipm_arg *arg); +// +void s_tree_ocp_qcqp_ipm_arg_set(char *field, void *value, struct s_tree_ocp_qcqp_ipm_arg *arg); +// set maximum number of iterations +void s_tree_ocp_qcqp_ipm_arg_set_iter_max(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg); +// set minimum step lenght +void s_tree_ocp_qcqp_ipm_arg_set_alpha_min(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg); +// set initial value of barrier parameter +void s_tree_ocp_qcqp_ipm_arg_set_mu0(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg); +// set exit tolerance on stationarity condition +void s_tree_ocp_qcqp_ipm_arg_set_tol_stat(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg); +// set exit tolerance on equality constr +void s_tree_ocp_qcqp_ipm_arg_set_tol_eq(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg); +// set exit tolerance on inequality constr +void s_tree_ocp_qcqp_ipm_arg_set_tol_ineq(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg); +// set exit tolerance on complementarity condition +void s_tree_ocp_qcqp_ipm_arg_set_tol_comp(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg); +// set regularization of primal variables +void s_tree_ocp_qcqp_ipm_arg_set_reg_prim(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg); +// set warm start: 0 no warm start, 1 primal var +void s_tree_ocp_qcqp_ipm_arg_set_warm_start(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg); +// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector +void s_tree_ocp_qcqp_ipm_arg_set_pred_corr(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg); +// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector +void s_tree_ocp_qcqp_ipm_arg_set_cond_pred_corr(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg); +// set riccati algorithm: 0 classic, 1 square-root +//void s_tree_ocp_qcqp_ipm_arg_set_ric_alg(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg); +// compute residuals after solution +void s_tree_ocp_qcqp_ipm_arg_set_comp_res_exit(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg); +// compute residuals of prediction +//void s_tree_ocp_qcqp_ipm_arg_set_comp_res_pred(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg); +// min value of lam in the solution +void s_tree_ocp_qcqp_ipm_arg_set_lam_min(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg); +// min value of t in the solution +void s_tree_ocp_qcqp_ipm_arg_set_t_min(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg); +// use different step for primal and dual variables +void s_tree_ocp_qcqp_ipm_arg_set_split_step(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg); +// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution +void s_tree_ocp_qcqp_ipm_arg_set_t_lam_min(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg); + +// +hpipm_size_t s_tree_ocp_qcqp_ipm_ws_strsize(); +// +hpipm_size_t s_tree_ocp_qcqp_ipm_ws_memsize(struct s_tree_ocp_qcqp_dim *ocp_dim, struct s_tree_ocp_qcqp_ipm_arg *arg); +// +void s_tree_ocp_qcqp_ipm_ws_create(struct s_tree_ocp_qcqp_dim *ocp_dim, struct s_tree_ocp_qcqp_ipm_arg *arg, struct s_tree_ocp_qcqp_ipm_ws *ws, void *mem); +// +void s_tree_ocp_qcqp_ipm_get(char *field, struct s_tree_ocp_qcqp_ipm_ws *ws, void *value); +// +void s_tree_ocp_qcqp_ipm_get_status(struct s_tree_ocp_qcqp_ipm_ws *ws, int *status); +// +void s_tree_ocp_qcqp_ipm_get_iter(struct s_tree_ocp_qcqp_ipm_ws *ws, int *iter); +// +void s_tree_ocp_qcqp_ipm_get_max_res_stat(struct s_tree_ocp_qcqp_ipm_ws *ws, float *res_stat); +// +void s_tree_ocp_qcqp_ipm_get_max_res_eq(struct s_tree_ocp_qcqp_ipm_ws *ws, float *res_eq); +// +void s_tree_ocp_qcqp_ipm_get_max_res_ineq(struct s_tree_ocp_qcqp_ipm_ws *ws, float *res_ineq); +// +void s_tree_ocp_qcqp_ipm_get_max_res_comp(struct s_tree_ocp_qcqp_ipm_ws *ws, float *res_comp); +// +void s_tree_ocp_qcqp_ipm_get_stat(struct s_tree_ocp_qcqp_ipm_ws *ws, float **stat); +// +void s_tree_ocp_qcqp_ipm_get_stat_m(struct s_tree_ocp_qcqp_ipm_ws *ws, int *stat_m); +// +void s_tree_ocp_qcqp_init_var(struct s_tree_ocp_qcqp *qp, struct s_tree_ocp_qcqp_sol *qp_sol, struct s_tree_ocp_qcqp_ipm_arg *arg, struct s_tree_ocp_qcqp_ipm_ws *ws); +// +void s_tree_ocp_qcqp_ipm_solve(struct s_tree_ocp_qcqp *qp, struct s_tree_ocp_qcqp_sol *qp_sol, struct s_tree_ocp_qcqp_ipm_arg *arg, struct s_tree_ocp_qcqp_ipm_ws *ws); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + +#endif // HPIPM_S_TREE_OCP_QCQP_IPM_H_ + + + diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_res.h new file mode 100644 index 0000000000..d0d84a6f23 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_res.h @@ -0,0 +1,109 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_S_TREE_OCP_QCQP_RES_H_ +#define HPIPM_S_TREE_OCP_QCQP_RES_H_ + + + +#include +#include + +#include +#include +#include +#include + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct s_tree_ocp_qcqp_res + { + struct s_tree_ocp_qcqp_dim *dim; + struct blasfeo_svec *res_g; // q-residuals + struct blasfeo_svec *res_b; // b-residuals + struct blasfeo_svec *res_d; // d-residuals + struct blasfeo_svec *res_m; // m-residuals + float res_max[4]; // max of residuals + float res_mu; // mu-residual + hpipm_size_t memsize; + }; + + + +struct s_tree_ocp_qcqp_res_ws + { + struct blasfeo_svec *tmp_nuxM; // work space of size nuM+nxM + struct blasfeo_svec *tmp_nbgqM; // work space of size nbM+ngM+nqM + struct blasfeo_svec *tmp_nsM; // work space of size nsM + struct blasfeo_svec *q_fun; // value for evaluation of quadr constr + struct blasfeo_svec *q_adj; // value for adjoint of quadr constr + int use_q_fun; // reuse cached value for evaluation of quadr constr + int use_q_adj; // reuse cached value for adjoint of quadr constr + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t s_tree_ocp_qcqp_res_memsize(struct s_tree_ocp_qcqp_dim *ocp_dim); +// +void s_tree_ocp_qcqp_res_create(struct s_tree_ocp_qcqp_dim *ocp_dim, struct s_tree_ocp_qcqp_res *res, void *mem); +// +hpipm_size_t s_tree_ocp_qcqp_res_ws_memsize(struct s_tree_ocp_qcqp_dim *ocp_dim); +// +void s_tree_ocp_qcqp_res_ws_create(struct s_tree_ocp_qcqp_dim *ocp_dim, struct s_tree_ocp_qcqp_res_ws *ws, void *mem); +// +void s_tree_ocp_qcqp_res_compute(struct s_tree_ocp_qcqp *qp, struct s_tree_ocp_qcqp_sol *qp_sol, struct s_tree_ocp_qcqp_res *res, struct s_tree_ocp_qcqp_res_ws *ws); +// +void s_tree_ocp_qcqp_res_compute_inf_norm(struct s_tree_ocp_qcqp_res *res); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + +#endif // HPIPM_S_TREE_OCP_QCQP_RES_H_ + + + + diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_sol.h new file mode 100644 index 0000000000..47f038c6b3 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_sol.h @@ -0,0 +1,97 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_S_TREE_OCP_QCQP_SOL_H_ +#define HPIPM_S_TREE_OCP_QCQP_SOL_H_ + + + +#include +#include + +#include "hpipm_s_tree_ocp_qcqp_dim.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + +struct s_tree_ocp_qcqp_sol + { + struct s_tree_ocp_qcqp_dim *dim; + struct blasfeo_svec *ux; + struct blasfeo_svec *pi; + struct blasfeo_svec *lam; + struct blasfeo_svec *t; + void *misc; + hpipm_size_t memsize; // memory size in bytes + }; + + + +// +hpipm_size_t s_tree_ocp_qcqp_sol_memsize(struct s_tree_ocp_qcqp_dim *dim); +// +void s_tree_ocp_qcqp_sol_create(struct s_tree_ocp_qcqp_dim *dim, struct s_tree_ocp_qcqp_sol *qp_sol, void *memory); +// +void s_tree_ocp_qcqp_sol_get_u(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec); +// +void s_tree_ocp_qcqp_sol_get_x(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec); +// +void s_tree_ocp_qcqp_sol_get_sl(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec); +// +void s_tree_ocp_qcqp_sol_get_su(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec); +// +void s_tree_ocp_qcqp_sol_get_pi(int edge, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec); +// +void s_tree_ocp_qcqp_sol_get_lam_lb(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec); +// +void s_tree_ocp_qcqp_sol_get_lam_ub(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec); +// +void s_tree_ocp_qcqp_sol_get_lam_lg(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec); +// +void s_tree_ocp_qcqp_sol_get_lam_ug(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec); + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + + +#endif // HPIPM_S_TREE_OCP_QCQP_SOL_H_ + diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_utils.h new file mode 100644 index 0000000000..79528de1ce --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_utils.h @@ -0,0 +1,85 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_S_TREE_OCP_QCQP_UTILS_H_ +#define HPIPM_S_TREE_OCP_QCQP_UTILS_H_ + + + +#include +#include + +#include "hpipm_s_tree_ocp_qcqp_dim.h" +#include "hpipm_s_tree_ocp_qcqp.h" +#include "hpipm_s_tree_ocp_qcqp_sol.h" +#include "hpipm_s_tree_ocp_qcqp_ipm.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +// +void s_tree_ocp_qcqp_dim_print(struct s_tree_ocp_qcqp_dim *qp_dim); +// +//void s_tree_ocp_qcqp_dim_codegen(char *file_name, char *mode, struct s_tree_ocp_qcqp_dim *qp_dim); +// +void s_tree_ocp_qcqp_print(struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp *qp); +// +//void s_tree_ocp_qcqp_codegen(char *file_name, char *mode, struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp *qp); +// +void s_tree_ocp_qcqp_sol_print(struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp_sol *ocp_qcqp_sol); +// +void s_tree_ocp_qcqp_ipm_arg_print(struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp_ipm_arg *arg); +// +//void s_tree_ocp_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp_ipm_arg *arg); +// +void s_tree_ocp_qcqp_res_print(struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp_res *ocp_qcqp_res); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + + +#endif // HPIPM_S_TREE_OCP_QCQP_UTILS_H_ + + + diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp.h new file mode 100644 index 0000000000..722b930b9a --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp.h @@ -0,0 +1,196 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_S_TREE_OCP_QP_H_ +#define HPIPM_S_TREE_OCP_QP_H_ + + + +#include +#include + +#include "hpipm_s_tree_ocp_qp_dim.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct s_tree_ocp_qp + { + struct s_tree_ocp_qp_dim *dim; + struct blasfeo_smat *BAbt; // Nn-1 + struct blasfeo_smat *RSQrq; // Nn + struct blasfeo_smat *DCt; // Nn + struct blasfeo_svec *b; // Nn-1 + struct blasfeo_svec *rqz; // Nn + struct blasfeo_svec *d; // Nn + struct blasfeo_svec *d_mask; // Nn + struct blasfeo_svec *m; // Nn + struct blasfeo_svec *Z; // Nn + int **idxb; // indices of box constrained variables within [u; x] // Nn +// int **idxs; // index of soft constraints + int **idxs_rev; // index of soft constraints + hpipm_size_t memsize; // memory size in bytes + }; + + + +// +hpipm_size_t s_tree_ocp_qp_memsize(struct s_tree_ocp_qp_dim *dim); +// +void s_tree_ocp_qp_create(struct s_tree_ocp_qp_dim *dim, struct s_tree_ocp_qp *qp, void *memory); +// +void s_tree_ocp_qp_set_all(float **A, float **B, float **b, float **Q, float **S, float **R, float **q, float **r, int **idxb, float **d_lb, float **d_ub, float **C, float **D, float **d_lg, float **d_ug, float **Zl, float **Zu, float **zl, float **zu, int **idxs, float **d_ls, float **d_us, struct s_tree_ocp_qp *qp); +// +void s_tree_ocp_qp_set(char *field_name, int node_edge, void *value, struct s_tree_ocp_qp *qp); +// +void s_tree_ocp_qp_set_A(int edge, float *mat, struct s_tree_ocp_qp *qp); +// +void s_tree_ocp_qp_set_B(int edge, float *mat, struct s_tree_ocp_qp *qp); +// +void s_tree_ocp_qp_set_b(int edge, float *vec, struct s_tree_ocp_qp *qp); +// +void s_tree_ocp_qp_set_Q(int node, float *mat, struct s_tree_ocp_qp *qp); +// +void s_tree_ocp_qp_set_S(int node, float *mat, struct s_tree_ocp_qp *qp); +// +void s_tree_ocp_qp_set_R(int node, float *mat, struct s_tree_ocp_qp *qp); +// +void s_tree_ocp_qp_set_q(int node, float *vec, struct s_tree_ocp_qp *qp); +// +void s_tree_ocp_qp_set_r(int node, float *vec, struct s_tree_ocp_qp *qp); +// +void s_tree_ocp_qp_set_lb(int node, float *vec, struct s_tree_ocp_qp *qp); +// +void s_tree_ocp_qp_set_lb_mask(int node, float *vec, struct s_tree_ocp_qp *qp); +// +void s_tree_ocp_qp_set_ub(int node, float *vec, struct s_tree_ocp_qp *qp); +// +void s_tree_ocp_qp_set_ub_mask(int node, float *vec, struct s_tree_ocp_qp *qp); +// +void s_tree_ocp_qp_set_lbx(int node, float *vec, struct s_tree_ocp_qp *qp); +// +void s_tree_ocp_qp_set_lbx_mask(int node, float *vec, struct s_tree_ocp_qp *qp); +// +void s_tree_ocp_qp_set_ubx(int node, float *vec, struct s_tree_ocp_qp *qp); +// +void s_tree_ocp_qp_set_ubx_mask(int node, float *vec, struct s_tree_ocp_qp *qp); +// +void s_tree_ocp_qp_set_lbu(int node, float *vec, struct s_tree_ocp_qp *qp); +// +void s_tree_ocp_qp_set_lbu_mask(int node, float *vec, struct s_tree_ocp_qp *qp); +// +void s_tree_ocp_qp_set_ubu(int node, float *vec, struct s_tree_ocp_qp *qp); +// +void s_tree_ocp_qp_set_ubu_mask(int node, float *vec, struct s_tree_ocp_qp *qp); +// +void s_tree_ocp_qp_set_idxb(int node, int *vec, struct s_tree_ocp_qp *qp); +// +void s_tree_ocp_qp_set_idxbx(int node, int *vec, struct s_tree_ocp_qp *qp); +// +void s_tree_ocp_qp_set_Jbx(int node, float *vec, struct s_tree_ocp_qp *qp); +// +void s_tree_ocp_qp_set_idxbu(int node, int *vec, struct s_tree_ocp_qp *qp); +// +void s_tree_ocp_qp_set_Jbu(int node, float *vec, struct s_tree_ocp_qp *qp); +// +void s_tree_ocp_qp_set_C(int node, float *mat, struct s_tree_ocp_qp *qp); +// +void s_tree_ocp_qp_set_D(int node, float *mat, struct s_tree_ocp_qp *qp); +// +void s_tree_ocp_qp_set_lg(int node, float *vec, struct s_tree_ocp_qp *qp); +// +void s_tree_ocp_qp_set_lg_mask(int node, float *vec, struct s_tree_ocp_qp *qp); +// +void s_tree_ocp_qp_set_ug(int node, float *vec, struct s_tree_ocp_qp *qp); +// +void s_tree_ocp_qp_set_ug_mask(int node, float *vec, struct s_tree_ocp_qp *qp); +// +void s_tree_ocp_qp_set_Zl(int node, float *vec, struct s_tree_ocp_qp *qp); +// +void s_tree_ocp_qp_set_Zu(int node, float *vec, struct s_tree_ocp_qp *qp); +// +void s_tree_ocp_qp_set_zl(int node, float *vec, struct s_tree_ocp_qp *qp); +// +void s_tree_ocp_qp_set_zu(int node, float *vec, struct s_tree_ocp_qp *qp); +// +void s_tree_ocp_qp_set_lls(int node, float *vec, struct s_tree_ocp_qp *qp); +// +void s_tree_ocp_qp_set_lls_mask(int node, float *vec, struct s_tree_ocp_qp *qp); +// +void s_tree_ocp_qp_set_lus(int node, float *vec, struct s_tree_ocp_qp *qp); +// +void s_tree_ocp_qp_set_lus_mask(int node, float *vec, struct s_tree_ocp_qp *qp); +// +void s_tree_ocp_qp_set_idxs(int node, int *vec, struct s_tree_ocp_qp *qp); +// +void s_tree_ocp_qp_set_idxs_rev(int node, int *vec, struct s_tree_ocp_qp *qp); +// +void s_tree_ocp_qp_set_Jsbu(int node, float *vec, struct s_tree_ocp_qp *qp); +// +void s_tree_ocp_qp_set_Jsbx(int node, float *vec, struct s_tree_ocp_qp *qp); +// +void s_tree_ocp_qp_set_Jsg(int node, float *vec, struct s_tree_ocp_qp *qp); +// +//void s_tree_ocp_qp_set_idxe(int node, int *vec, struct s_tree_ocp_qp *qp); +// +//void s_tree_ocp_qp_set_idxbxe(int node, int *vec, struct s_tree_ocp_qp *qp); +// +//void s_tree_ocp_qp_set_idxbue(int node, int *vec, struct s_tree_ocp_qp *qp); +// +//void s_tree_ocp_qp_set_idxge(int node, int *vec, struct s_tree_ocp_qp *qp); +// +//void s_tree_ocp_qp_set_Jbxe(int node, float *vec, struct s_tree_ocp_qp *qp); +// +//void s_tree_ocp_qp_set_Jbue(int node, float *vec, struct s_tree_ocp_qp *qp); +// +//void s_tree_ocp_qp_set_Jge(int node, float *vec, struct s_tree_ocp_qp *qp); +// +//void s_tree_ocp_qp_set_diag_H_flag(int node, int *value, struct s_tree_ocp_qp *qp); + + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + + +#endif // HPIPM_S_TREE_OCP_QP_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_dim.h new file mode 100644 index 0000000000..90df57182b --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_dim.h @@ -0,0 +1,111 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_S_TREE_OCP_QP_DIM_H_ +#define HPIPM_S_TREE_OCP_QP_DIM_H_ + +#include "hpipm_common.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct s_tree_ocp_qp_dim + { + struct tree *ttree; // tree describing node conndection + int *nx; // number of states // Nn + int *nu; // number of inputs // Nn + int *nb; // number of box constraints // Nn + int *nbx; // number of state box constraints // Nn + int *nbu; // number of input box constraints // Nn + int *ng; // number of general constraints // Nn + int *ns; // number of soft constraints // Nn + int *nsbx; // number of soft state box constraints + int *nsbu; // number of soft input box constraints + int *nsg; // number of soft general constraints + int Nn; // number of nodes + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t s_tree_ocp_qp_dim_strsize(); +// +hpipm_size_t s_tree_ocp_qp_dim_memsize(int Nn); +// +void s_tree_ocp_qp_dim_create(int Nn, struct s_tree_ocp_qp_dim *qp_dim, void *memory); +// +void s_tree_ocp_qp_dim_set_all(struct tree *ttree, int *nx, int *nu, int *nbx, int *nbu, int *ng, int *nsbx, int *nsbu, int *nsg, struct s_tree_ocp_qp_dim *dim); +// +void s_tree_ocp_qp_dim_set_tree(struct tree *ttree, struct s_tree_ocp_qp_dim *dim); +// +void s_tree_ocp_qp_dim_set(char *field, int stage, int value, struct s_tree_ocp_qp_dim *dim); +// +void s_tree_ocp_qp_dim_set_nx(int stage, int value, struct s_tree_ocp_qp_dim *dim); +// +void s_tree_ocp_qp_dim_set_nu(int stage, int value, struct s_tree_ocp_qp_dim *dim); +// +void s_tree_ocp_qp_dim_set_nbx(int stage, int value, struct s_tree_ocp_qp_dim *dim); +// +void s_tree_ocp_qp_dim_set_nbu(int stage, int value, struct s_tree_ocp_qp_dim *dim); +// +void s_tree_ocp_qp_dim_set_ng(int stage, int value, struct s_tree_ocp_qp_dim *dim); +// +void s_tree_ocp_qp_dim_set_ns(int stage, int value, struct s_tree_ocp_qp_dim *dim); +// +void s_tree_ocp_qp_dim_set_nsbx(int stage, int value, struct s_tree_ocp_qp_dim *dim); +// +void s_tree_ocp_qp_dim_set_nsbu(int stage, int value, struct s_tree_ocp_qp_dim *dim); +// +void s_tree_ocp_qp_dim_set_nsg(int stage, int value, struct s_tree_ocp_qp_dim *dim); +// +void s_tree_ocp_qp_dim_set_nbxe(int stage, int value, struct s_tree_ocp_qp_dim *dim); +// +void s_tree_ocp_qp_dim_set_nbue(int stage, int value, struct s_tree_ocp_qp_dim *dim); +// +void s_tree_ocp_qp_dim_set_nge(int stage, int value, struct s_tree_ocp_qp_dim *dim); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + + +#endif // HPIPM_S_TREE_OCP_QP_DIM_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_ipm.h new file mode 100644 index 0000000000..f8c26d3173 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_ipm.h @@ -0,0 +1,208 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + + + +#ifndef HPIPM_S_TREE_OCP_QP_IPM_H_ +#define HPIPM_S_TREE_OCP_QP_IPM_H_ + + + +#include +#include + +#include +#include +#include +#include +#include + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct s_tree_ocp_qp_ipm_arg + { + float mu0; // initial value for duality measure + float alpha_min; // exit cond on step length + float res_g_max; // exit cond on inf norm of residuals + float res_b_max; // exit cond on inf norm of residuals + float res_d_max; // exit cond on inf norm of residuals + float res_m_max; // exit cond on inf norm of residuals + float reg_prim; // reg of primal hessian + float lam_min; // min value in lam vector + float t_min; // min value in t vector + float tau_min; // min value of barrier parameter + int iter_max; // exit cond in iter number + int stat_max; // iterations saved in stat + int stat_m; // number of recorded stat per IPM iter + int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm + int cond_pred_corr; // conditional Mehrotra's predictor-corrector + int itref_pred_max; // max number of iterative refinement steps for predictor step + int itref_corr_max; // max number of iterative refinement steps for corrector step + int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol + int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq + int abs_form; // absolute IPM formulation + int comp_dual_sol_eq; // dual solution (only for abs_form==1) + int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol==1) + int split_step; // use different steps for primal and dual variables + int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution + int mode; + hpipm_size_t memsize; + }; + + + +struct s_tree_ocp_qp_ipm_ws + { + struct s_core_qp_ipm_workspace *core_workspace; + struct s_tree_ocp_qp_res_ws *res_workspace; + struct s_tree_ocp_qp_sol *sol_step; + struct s_tree_ocp_qp_sol *sol_itref; + struct s_tree_ocp_qp *qp_step; + struct s_tree_ocp_qp *qp_itref; + struct s_tree_ocp_qp_res *res_itref; + struct s_tree_ocp_qp_res *res; + struct blasfeo_svec *Gamma; // hessian update + struct blasfeo_svec *gamma; // hessian update + struct blasfeo_svec *tmp_nxM; // work space of size nxM + struct blasfeo_svec *tmp_nbgM; // work space of size nbgM + struct blasfeo_svec *tmp_nsM; // work space of size nsM + struct blasfeo_svec *Pb; // Pb + struct blasfeo_svec *Zs_inv; + struct blasfeo_smat *L; + struct blasfeo_smat *Lh; + struct blasfeo_smat *AL; + struct blasfeo_smat *lq0; + struct blasfeo_svec *tmp_m; + float *stat; // convergence statistics + int *use_hess_fact; + void *lq_work0; + float qp_res[4]; // infinity norm of residuals + int iter; // iteration number + int stat_max; // iterations saved in stat + int stat_m; // number of recorded stat per IPM iter + int use_Pb; + int status; // solver status + int lq_fact; // cache from arg + int mask_constr; // use constr mask + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t s_tree_ocp_qp_ipm_arg_memsize(struct s_tree_ocp_qp_dim *dim); +// +void s_tree_ocp_qp_ipm_arg_create(struct s_tree_ocp_qp_dim *dim, struct s_tree_ocp_qp_ipm_arg *arg, void *mem); +// +void s_tree_ocp_qp_ipm_arg_set_default(enum hpipm_mode mode, struct s_tree_ocp_qp_ipm_arg *arg); +// +void s_tree_ocp_qp_ipm_arg_set_iter_max(int *iter_max, struct s_tree_ocp_qp_ipm_arg *arg); +// +void s_tree_ocp_qp_ipm_arg_set_alpha_min(float *alpha_min, struct s_tree_ocp_qp_ipm_arg *arg); +// +void s_tree_ocp_qp_ipm_arg_set_mu0(float *mu0, struct s_tree_ocp_qp_ipm_arg *arg); +// +void s_tree_ocp_qp_ipm_arg_set_tol_stat(float *tol_stat, struct s_tree_ocp_qp_ipm_arg *arg); +// +void s_tree_ocp_qp_ipm_arg_set_tol_eq(float *tol_eq, struct s_tree_ocp_qp_ipm_arg *arg); +// +void s_tree_ocp_qp_ipm_arg_set_tol_ineq(float *tol_ineq, struct s_tree_ocp_qp_ipm_arg *arg); +// +void s_tree_ocp_qp_ipm_arg_set_tol_comp(float *tol_comp, struct s_tree_ocp_qp_ipm_arg *arg); +// +void s_tree_ocp_qp_ipm_arg_set_reg_prim(float *reg, struct s_tree_ocp_qp_ipm_arg *arg); +// +void s_tree_ocp_qp_ipm_arg_set_warm_start(int *warm_start, struct s_tree_ocp_qp_ipm_arg *arg); +// +void s_tree_ocp_qp_ipm_arg_set_pred_corr(int *pred_corr, struct s_tree_ocp_qp_ipm_arg *arg); +// +void s_tree_ocp_qp_ipm_arg_set_cond_pred_corr(int *value, struct s_tree_ocp_qp_ipm_arg *arg); +// +void s_tree_ocp_qp_ipm_arg_set_comp_dual_sol_eq(int *value, struct s_tree_ocp_qp_ipm_arg *arg); +// +void s_tree_ocp_qp_ipm_arg_set_comp_res_exit(int *value, struct s_tree_ocp_qp_ipm_arg *arg); +// +void s_tree_ocp_qp_ipm_arg_set_lam_min(float *value, struct s_tree_ocp_qp_ipm_arg *arg); +// +void s_tree_ocp_qp_ipm_arg_set_t_min(float *value, struct s_tree_ocp_qp_ipm_arg *arg); +// +void s_tree_ocp_qp_ipm_arg_set_tau_min(float *value, struct s_tree_ocp_qp_ipm_arg *arg); +// +void s_tree_ocp_qp_ipm_arg_set_split_step(int *value, struct s_tree_ocp_qp_ipm_arg *arg); +// +void s_tree_ocp_qp_ipm_arg_set_t_lam_min(int *value, struct s_tree_ocp_qp_ipm_arg *arg); + +// +hpipm_size_t s_tree_ocp_qp_ipm_ws_memsize(struct s_tree_ocp_qp_dim *dim, struct s_tree_ocp_qp_ipm_arg *arg); +// +void s_tree_ocp_qp_ipm_ws_create(struct s_tree_ocp_qp_dim *dim, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws, void *mem); +// +void s_tree_ocp_qp_ipm_get_status(struct s_tree_ocp_qp_ipm_ws *ws, int *status); +// +void s_tree_ocp_qp_ipm_get_iter(struct s_tree_ocp_qp_ipm_ws *ws, int *iter); +// +void s_tree_ocp_qp_ipm_get_max_res_stat(struct s_tree_ocp_qp_ipm_ws *ws, float *res_stat); +// +void s_tree_ocp_qp_ipm_get_max_res_eq(struct s_tree_ocp_qp_ipm_ws *ws, float *res_eq); +// +void s_tree_ocp_qp_ipm_get_max_res_ineq(struct s_tree_ocp_qp_ipm_ws *ws, float *res_ineq); +// +void s_tree_ocp_qp_ipm_get_max_res_comp(struct s_tree_ocp_qp_ipm_ws *ws, float *res_comp); +// +void s_tree_ocp_qp_ipm_get_stat(struct s_tree_ocp_qp_ipm_ws *ws, float **stat); +// +void s_tree_ocp_qp_ipm_get_stat_m(struct s_tree_ocp_qp_ipm_ws *ws, int *stat_m); +// +void s_tree_ocp_qp_init_var(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws); +// +void s_tree_ocp_qp_ipm_abs_step(int kk, struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws); +// +void s_tree_ocp_qp_ipm_delta_step(int kk, struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws); +// +void s_tree_ocp_qp_ipm_solve(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + + +#endif // HPIPM_S_TREE_OCP_QP_IPM_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_kkt.h new file mode 100644 index 0000000000..bcf7354783 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_kkt.h @@ -0,0 +1,54 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + + +#ifdef __cplusplus +extern "C" { +#endif + +// +void s_tree_ocp_qp_fact_solve_kkt_unconstr(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws); +// +void s_tree_ocp_qp_fact_solve_kkt_step(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws); +// +void s_tree_ocp_qp_fact_lq_solve_kkt_step(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws); +// +void s_tree_ocp_qp_solve_kkt_step(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws); + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_res.h new file mode 100644 index 0000000000..5c6797204f --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_res.h @@ -0,0 +1,107 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_S_TREE_OCP_QP_RES_H_ +#define HPIPM_S_TREE_OCP_QP_RES_H_ + + + +#include +#include + +#include +#include +#include +#include + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct s_tree_ocp_qp_res + { + struct s_tree_ocp_qp_dim *dim; + struct blasfeo_svec *res_g; // q-residuals + struct blasfeo_svec *res_b; // b-residuals + struct blasfeo_svec *res_d; // d-residuals + struct blasfeo_svec *res_m; // m-residuals + float res_max[4]; // max of residuals + float res_mu; // mu-residual + hpipm_size_t memsize; + }; + + + +struct s_tree_ocp_qp_res_ws + { + struct blasfeo_svec *tmp_nbgM; // work space of size nbM+ngM + struct blasfeo_svec *tmp_nsM; // work space of size nsM + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t s_tree_ocp_qp_res_memsize(struct s_tree_ocp_qp_dim *ocp_dim); +// +void s_tree_ocp_qp_res_create(struct s_tree_ocp_qp_dim *ocp_dim, struct s_tree_ocp_qp_res *res, void *mem); +// +hpipm_size_t s_tree_ocp_qp_res_ws_memsize(struct s_tree_ocp_qp_dim *ocp_dim); +// +void s_tree_ocp_qp_res_ws_create(struct s_tree_ocp_qp_dim *ocp_dim, struct s_tree_ocp_qp_res_ws *ws, void *mem); +// +void s_tree_ocp_qp_res_get_all(struct s_tree_ocp_qp_res *res, float **res_r, float **res_q, float **res_ls, float **res_us, float **res_b, float **res_d_lb, float **res_d_ub, float **res_d_lg, float **res_d_ug, float **res_d_ls, float **res_d_us, float **res_m_lb, float **res_m_ub, float **res_m_lg, float **res_m_ug, float **res_m_ls, float **res_m_us); +// +void s_tree_ocp_qp_res_compute(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_res *res, struct s_tree_ocp_qp_res_ws *ws); +// +void s_tree_ocp_qp_res_compute_lin(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_sol *qp_step, struct s_tree_ocp_qp_res *res, struct s_tree_ocp_qp_res_ws *ws); +// +void s_tree_ocp_qp_res_compute_inf_norm(struct s_tree_ocp_qp_res *res); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + +#endif // HPIPM_S_TREE_OCP_QP_RES_H_ + + + diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_sol.h new file mode 100644 index 0000000000..71e887675b --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_sol.h @@ -0,0 +1,98 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_S_TREE_OCP_QP_SOL_H_ +#define HPIPM_S_TREE_OCP_QP_SOL_H_ + + + +#include +#include + +#include "hpipm_s_tree_ocp_qp_dim.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + +struct s_tree_ocp_qp_sol + { + struct s_tree_ocp_qp_dim *dim; + struct blasfeo_svec *ux; + struct blasfeo_svec *pi; + struct blasfeo_svec *lam; + struct blasfeo_svec *t; + void *misc; + hpipm_size_t memsize; // memory size in bytes + }; + + + +// +hpipm_size_t s_tree_ocp_qp_sol_memsize(struct s_tree_ocp_qp_dim *dim); +// +void s_tree_ocp_qp_sol_create(struct s_tree_ocp_qp_dim *dim, struct s_tree_ocp_qp_sol *qp_sol, void *memory); +// +void s_tree_ocp_qp_sol_get_all(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, float **u, float **x, float **ls, float **us, float **pi, float **lam_lb, float **lam_ub, float **lam_lg, float **lam_ug, float **lam_ls, float **lam_us); +// +void s_tree_ocp_qp_sol_get_u(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec); +// +void s_tree_ocp_qp_sol_get_x(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec); +// +void s_tree_ocp_qp_sol_get_sl(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec); +// +void s_tree_ocp_qp_sol_get_su(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec); +// +void s_tree_ocp_qp_sol_get_pi(int edge, struct s_tree_ocp_qp_sol *qp_sol, float *vec); +// +void s_tree_ocp_qp_sol_get_lam_lb(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec); +// +void s_tree_ocp_qp_sol_get_lam_ub(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec); +// +void s_tree_ocp_qp_sol_get_lam_lg(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec); +// +void s_tree_ocp_qp_sol_get_lam_ug(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec); + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + + +#endif // HPIPM_S_TREE_OCP_QP_SOL_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_utils.h new file mode 100644 index 0000000000..ec1747568f --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_utils.h @@ -0,0 +1,84 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_S_TREE_OCP_QP_UTILS_H_ +#define HPIPM_S_TREE_OCP_QP_UTILS_H_ + + + +#include +#include + +#include "hpipm_s_tree_ocp_qp_dim.h" +#include "hpipm_s_tree_ocp_qp.h" +#include "hpipm_s_tree_ocp_qp_sol.h" +#include "hpipm_s_tree_ocp_qp_ipm.h" + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +// +void s_tree_ocp_qp_dim_print(struct s_tree_ocp_qp_dim *qp_dim); +// +//void s_tree_ocp_qp_dim_codegen(char *file_name, char *mode, struct s_tree_ocp_qp_dim *qp_dim); +// +void s_tree_ocp_qp_print(struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp *qp); +// +//void s_tree_ocp_qp_codegen(char *file_name, char *mode, struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp *qp); +// +void s_tree_ocp_qp_sol_print(struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp_sol *ocp_qp_sol); +// +void s_tree_ocp_qp_ipm_arg_print(struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp_ipm_arg *arg); +// +//void s_tree_ocp_qp_ipm_arg_codegen(char *file_name, char *mode, struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp_ipm_arg *arg); +// +void s_tree_ocp_qp_res_print(struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp_res *ocp_qp_res); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + + +#endif // HPIPM_S_TREE_OCP_QP_UTILS_H_ + + diff --git a/third_party/acados/include/hpipm/include/hpipm_scenario_tree.h b/third_party/acados/include/hpipm/include/hpipm_scenario_tree.h new file mode 100644 index 0000000000..a3c77a670a --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_scenario_tree.h @@ -0,0 +1,70 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_SCENARIO_TREE_H_ +#define HPIPM_SCENARIO_TREE_H_ + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct sctree + { + struct node *root; // pointer to root + int *kids; // pointer to array of kids + int Nn; // numer of nodes + int md; // number of realizations + int Nr; // robust horizion + int Nh; // control horizion + hpipm_size_t memsize; + }; + + + +// +hpipm_size_t sctree_memsize(int md, int Nr, int Nh); +// +void sctree_create(int md, int Nr, int Nh, struct sctree *st, void *memory); +// +void sctree_cast_to_tree(struct sctree *st, struct tree *tt); + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // HPIPM_SCENARIO_TREE_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_timing.h b/third_party/acados/include/hpipm/include/hpipm_timing.h new file mode 100644 index 0000000000..bd0f2dbcb3 --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_timing.h @@ -0,0 +1,67 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + +#ifndef HPIPM_TIMING_H_ +#define HPIPM_TIMING_H_ + + + +#include + + + +#ifdef __cplusplus +extern "C" { +#endif + + + +typedef blasfeo_timer hpipm_timer; + + + +// +void hpipm_tic(hpipm_timer *t); +// +double hpipm_toc(hpipm_timer *t); + + + +#ifdef __cplusplus +} // #extern "C" +#endif + + +#endif // HPIPM_TIMING_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_tree.h b/third_party/acados/include/hpipm/include/hpipm_tree.h new file mode 100644 index 0000000000..f9d69ecddd --- /dev/null +++ b/third_party/acados/include/hpipm/include/hpipm_tree.h @@ -0,0 +1,76 @@ +/************************************************************************************************** +* * +* This file is part of HPIPM. * +* * +* HPIPM -- High-Performance Interior Point Method. * +* Copyright (C) 2019 by Gianluca Frison. * +* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * +* All rights reserved. * +* * +* The 2-Clause BSD License * +* * +* Redistribution and use in source and binary forms, with or without * +* modification, are permitted provided that the following conditions are met: * +* * +* 1. Redistributions of source code must retain the above copyright notice, this * +* list of conditions and the following disclaimer. * +* 2. Redistributions in binary form must reproduce the above copyright notice, * +* this list of conditions and the following disclaimer in the documentation * +* and/or other materials provided with the distribution. * +* * +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * +* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * +* * +* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * +* * +**************************************************************************************************/ + + +#ifndef HPIPM_TREE_H_ +#define HPIPM_TREE_H_ + +#include "hpipm_common.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + +struct node + { + int *kids; // 64 bits + int idx; // 32 bits + int dad; // 32 bits + int nkids; // 32 bits + int stage; // 32 bits + int real; // 32 bits + int idxkid; // 32 bits // XXX needed ??? + // total 256 bits + }; + + + +struct tree + { + struct node *root; // pointer to root + int *kids; // pointer to array of kids + int Nn; // numer of nodes + hpipm_size_t memsize; + }; + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // HPIPM_TREE_H_ diff --git a/third_party/acados/include/qpOASES_e/Bounds.h b/third_party/acados/include/qpOASES_e/Bounds.h new file mode 100644 index 0000000000..4e41c1d163 --- /dev/null +++ b/third_party/acados/include/qpOASES_e/Bounds.h @@ -0,0 +1,543 @@ +/* + * This file is part of qpOASES. + * + * qpOASES -- An Implementation of the Online Active Set Strategy. + * Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka, + * Christian Kirches et al. All rights reserved. + * + * qpOASES is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * qpOASES is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with qpOASES; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + */ + + +/** + * \file include/qpOASES_e/Bounds.h + * \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches + * \version 3.1embedded + * \date 2007-2015 + * + * Declaration of the Bounds class designed to manage working sets of + * bounds within a QProblem. + */ + + +#ifndef QPOASES_BOUNDS_H +#define QPOASES_BOUNDS_H + + +#include + + +BEGIN_NAMESPACE_QPOASES + + +/** + * \brief Manages working sets of bounds (= box constraints). + * + * This class manages working sets of bounds (= box constraints) + * by storing index sets and other status information. + * + * \author Hans Joachim Ferreau + * \version 3.1embedded + * \date 2007-2015 + */ +typedef struct +{ + Indexlist *freee; /**< Index list of free variables. */ + Indexlist *fixed; /**< Index list of fixed variables. */ + + Indexlist *shiftedFreee; /**< Memory for shifting free variables. */ + Indexlist *shiftedFixed; /**< Memory for shifting fixed variables. */ + + Indexlist *rotatedFreee; /**< Memory for rotating free variables. */ + Indexlist *rotatedFixed; /**< Memory for rotating fixed variables. */ + + SubjectToType *type; /**< Type of bounds. */ + SubjectToStatus *status; /**< Status of bounds. */ + + SubjectToType *typeTmp; /**< Temp memory for type of bounds. */ + SubjectToStatus *statusTmp; /**< Temp memory for status of bounds. */ + + BooleanType noLower; /**< This flag indicates if there is no lower bound on any variable. */ + BooleanType noUpper; /**< This flag indicates if there is no upper bound on any variable. */ + + int n; /**< Total number of bounds. */ +} Bounds; + +int Bounds_calculateMemorySize( int n); + +char *Bounds_assignMemory(int n, Bounds **mem, void *raw_memory); + +Bounds *Bounds_createMemory( int n ); + +/** Constructor which takes the number of bounds. */ +void BoundsCON( Bounds* _THIS, + int _n /**< Number of bounds. */ + ); + +/** Copies all members from given rhs object. + * \return SUCCESSFUL_RETURN */ +void BoundsCPY( Bounds* FROM, + Bounds* TO + ); + + +/** Initialises object with given number of bounds. + * \return SUCCESSFUL_RETURN \n + RET_INVALID_ARGUMENTS */ +returnValue Bounds_init( Bounds* _THIS, + int _n /**< Number of bounds. */ + ); + + +/** Initially adds number of a new (i.e. not yet in the list) bound to + * given index set. + * \return SUCCESSFUL_RETURN \n + RET_SETUP_BOUND_FAILED \n + RET_INDEX_OUT_OF_BOUNDS \n + RET_INVALID_ARGUMENTS */ +returnValue Bounds_setupBound( Bounds* _THIS, + int number, /**< Number of new bound. */ + SubjectToStatus _status /**< Status of new bound. */ + ); + +/** Initially adds all numbers of new (i.e. not yet in the list) bounds to + * to the index set of free bounds; the order depends on the SujectToType + * of each index. + * \return SUCCESSFUL_RETURN \n + RET_SETUP_BOUND_FAILED */ +returnValue Bounds_setupAllFree( Bounds* _THIS + ); + +/** Initially adds all numbers of new (i.e. not yet in the list) bounds to + * to the index set of fixed bounds (on their lower bounds); + * the order depends on the SujectToType of each index. + * \return SUCCESSFUL_RETURN \n + RET_SETUP_BOUND_FAILED */ +returnValue Bounds_setupAllLower( Bounds* _THIS + ); + +/** Initially adds all numbers of new (i.e. not yet in the list) bounds to + * to the index set of fixed bounds (on their upper bounds); + * the order depends on the SujectToType of each index. + * \return SUCCESSFUL_RETURN \n + RET_SETUP_BOUND_FAILED */ +returnValue Bounds_setupAllUpper( Bounds* _THIS + ); + + +/** Moves index of a bound from index list of fixed to that of free bounds. + * \return SUCCESSFUL_RETURN \n + RET_MOVING_BOUND_FAILED \n + RET_INDEX_OUT_OF_BOUNDS */ +returnValue Bounds_moveFixedToFree( Bounds* _THIS, + int number /**< Number of bound to be freed. */ + ); + +/** Moves index of a bound from index list of free to that of fixed bounds. + * \return SUCCESSFUL_RETURN \n + RET_MOVING_BOUND_FAILED \n + RET_INDEX_OUT_OF_BOUNDS */ +returnValue Bounds_moveFreeToFixed( Bounds* _THIS, + int number, /**< Number of bound to be fixed. */ + SubjectToStatus _status /**< Status of bound to be fixed. */ + ); + +/** Flip fixed bound. + * \return SUCCESSFUL_RETURN \n + RET_MOVING_BOUND_FAILED \n + RET_INDEX_OUT_OF_BOUNDS */ +returnValue Bounds_flipFixed( Bounds* _THIS, + int number + ); + +/** Swaps the indices of two free bounds within the index set. + * \return SUCCESSFUL_RETURN \n + RET_SWAPINDEX_FAILED */ +returnValue Bounds_swapFree( Bounds* _THIS, + int number1, /**< Number of first bound. */ + int number2 /**< Number of second bound. */ + ); + + +/** Returns number of variables. + * \return Number of variables. */ +static inline int Bounds_getNV( Bounds* _THIS + ); + +/** Returns number of implicitly fixed variables. + * \return Number of implicitly fixed variables. */ +static inline int Bounds_getNFV( Bounds* _THIS + ); + +/** Returns number of bounded (but possibly free) variables. + * \return Number of bounded (but possibly free) variables. */ +static inline int Bounds_getNBV( Bounds* _THIS + ); + +/** Returns number of unbounded variables. + * \return Number of unbounded variables. */ +static inline int Bounds_getNUV( Bounds* _THIS + ); + +/** Returns number of free variables. + * \return Number of free variables. */ +static inline int Bounds_getNFR( Bounds* _THIS + ); + +/** Returns number of fixed variables. + * \return Number of fixed variables. */ +static inline int Bounds_getNFX( Bounds* _THIS + ); + + +/** Returns a pointer to free variables index list. + * \return Pointer to free variables index list. */ +static inline Indexlist* Bounds_getFree( Bounds* _THIS + ); + +/** Returns a pointer to fixed variables index list. + * \return Pointer to fixed variables index list. */ +static inline Indexlist* Bounds_getFixed( Bounds* _THIS + ); + + +/** Returns number of bounds with given SubjectTo type. + * \return Number of bounds with given type. */ +static inline int Bounds_getNumberOfType( Bounds* _THIS, + SubjectToType _type /**< Type of bound. */ + ); + + +/** Returns type of bound. + * \return Type of bound \n + RET_INDEX_OUT_OF_BOUNDS */ +static inline SubjectToType Bounds_getType( Bounds* _THIS, + int i /**< Number of bound. */ + ); + +/** Returns status of bound. + * \return Status of bound \n + ST_UNDEFINED */ +static inline SubjectToStatus Bounds_getStatus( Bounds* _THIS, + int i /**< Number of bound. */ + ); + + +/** Sets type of bound. + * \return SUCCESSFUL_RETURN \n + RET_INDEX_OUT_OF_BOUNDS */ +static inline returnValue Bounds_setType( Bounds* _THIS, + int i, /**< Number of bound. */ + SubjectToType value /**< Type of bound. */ + ); + +/** Sets status of bound. + * \return SUCCESSFUL_RETURN \n + RET_INDEX_OUT_OF_BOUNDS */ +static inline returnValue Bounds_setStatus( Bounds* _THIS, + int i, /**< Number of bound. */ + SubjectToStatus value /**< Status of bound. */ + ); + + +/** Sets status of lower bounds. */ +static inline void Bounds_setNoLower( Bounds* _THIS, + BooleanType _status /**< Status of lower bounds. */ + ); + +/** Sets status of upper bounds. */ +static inline void Bounds_setNoUpper( Bounds* _THIS, + BooleanType _status /**< Status of upper bounds. */ + ); + + +/** Returns status of lower bounds. + * \return BT_TRUE if there is no lower bound on any variable. */ +static inline BooleanType Bounds_hasNoLower( Bounds* _THIS + ); + +/** Returns status of upper bounds. + * \return BT_TRUE if there is no upper bound on any variable. */ +static inline BooleanType Bounds_hasNoUpper( Bounds* _THIS + ); + + +/** Shifts forward type and status of all bounds by a given + * offset. This offset has to lie within the range [0,n/2] and has to + * be an integer divisor of the total number of bounds n. + * Type and status of the first \ bounds is thrown away, + * type and status of the last \ bounds is doubled, + * e.g. for offset = 2: \n + * shift( {b1,b2,b3,b4,b5,b6} ) = {b3,b4,b5,b6,b5,b6} + * \return SUCCESSFUL_RETURN \n + RET_INDEX_OUT_OF_BOUNDS \n + RET_INVALID_ARGUMENTS \n + RET_SHIFTING_FAILED */ +returnValue Bounds_shift( Bounds* _THIS, + int offset /**< Shift offset within the range [0,n/2] and integer divisor of n. */ + ); + +/** Rotates forward type and status of all bounds by a given + * offset. This offset has to lie within the range [0,n]. + * Example for offset = 2: \n + * rotate( {b1,b2,b3,b4,b5,b6} ) = {b3,b4,b5,b6,b1,b2} + * \return SUCCESSFUL_RETURN \n + RET_INDEX_OUT_OF_BOUNDS \n + RET_ROTATING_FAILED */ +returnValue Bounds_rotate( Bounds* _THIS, + int offset /**< Rotation offset within the range [0,n]. */ + ); + + +/** Prints information on bounds object + * (in particular, lists of free and fixed bounds. + * \return SUCCESSFUL_RETURN \n + RET_INDEXLIST_CORRUPTED */ +returnValue Bounds_print( Bounds* _THIS + ); + + +/** Initially adds all numbers of new (i.e. not yet in the list) bounds to + * to the index set corresponding to the desired status; + * the order depends on the SujectToType of each index. + * \return SUCCESSFUL_RETURN \n + RET_SETUP_BOUND_FAILED */ +returnValue Bounds_setupAll( Bounds* _THIS, + SubjectToStatus _status /**< Desired initial status for all bounds. */ + ); + + +/** Adds the index of a new bound to index set. + * \return SUCCESSFUL_RETURN \n + RET_ADDINDEX_FAILED \n + RET_INVALID_ARGUMENTS */ +returnValue Bounds_addIndex( Bounds* _THIS, + Indexlist* const indexlist, /**< Index list to which the new index shall be added. */ + int newnumber, /**< Number of new bound. */ + SubjectToStatus newstatus /**< Status of new bound. */ + ); + +/** Removes the index of a bound from index set. + * \return SUCCESSFUL_RETURN \n + RET_REMOVEINDEX_FAILED \n + RET_INVALID_ARGUMENTS */ +returnValue Bounds_removeIndex( Bounds* _THIS, + Indexlist* const indexlist, /**< Index list from which the new index shall be removed. */ + int removenumber /**< Number of bound to be removed. */ + ); + +/** Swaps the indices of two constraints or bounds within the index set. + * \return SUCCESSFUL_RETURN \n + RET_SWAPINDEX_FAILED \n + RET_INVALID_ARGUMENTS */ +returnValue Bounds_swapIndex( Bounds* _THIS, + Indexlist* const indexlist, /**< Index list in which the indices shold be swapped. */ + int number1, /**< Number of first bound. */ + int number2 /**< Number of second bound. */ + ); + + + +/* + * g e t N u m b e r O f T y p e + */ +static inline int Bounds_getNumberOfType( Bounds* _THIS, SubjectToType _type ) +{ + int i; + int numberOfType = 0; + + if ( _THIS->type != 0 ) + { + for( i=0; i<_THIS->n; ++i ) + if ( _THIS->type[i] == _type ) + ++numberOfType; + } + + return numberOfType; +} + + +/* + * g e t T y p e + */ +static inline SubjectToType Bounds_getType( Bounds* _THIS, int i ) +{ + if ( ( i >= 0 ) && ( i < _THIS->n ) ) + return _THIS->type[i]; + + return ST_UNKNOWN; +} + + +/* + * g e t S t a t u s + */ +static inline SubjectToStatus Bounds_getStatus( Bounds* _THIS, int i ) +{ + if ( ( i >= 0 ) && ( i < _THIS->n ) ) + return _THIS->status[i]; + + return ST_UNDEFINED; +} + + +/* + * s e t T y p e + */ +static inline returnValue Bounds_setType( Bounds* _THIS, int i, SubjectToType value ) +{ + if ( ( i >= 0 ) && ( i < _THIS->n ) ) + { + _THIS->type[i] = value; + return SUCCESSFUL_RETURN; + } + else + return THROWERROR( RET_INDEX_OUT_OF_BOUNDS ); +} + + +/* + * s e t S t a t u s + */ +static inline returnValue Bounds_setStatus( Bounds* _THIS, int i, SubjectToStatus value ) +{ + if ( ( i >= 0 ) && ( i < _THIS->n ) ) + { + _THIS->status[i] = value; + return SUCCESSFUL_RETURN; + } + else + return THROWERROR( RET_INDEX_OUT_OF_BOUNDS ); +} + + +/* + * s e t N o L o w e r + */ +static inline void Bounds_setNoLower( Bounds* _THIS, BooleanType _status ) +{ + _THIS->noLower = _status; +} + + +/* + * s e t N o U p p e r + */ +static inline void Bounds_setNoUpper( Bounds* _THIS, BooleanType _status ) +{ + _THIS->noUpper = _status; +} + + +/* + * h a s N o L o w e r + */ +static inline BooleanType Bounds_hasNoLower( Bounds* _THIS ) +{ + return _THIS->noLower; +} + + +/* + * h a s N o U p p p e r + */ +static inline BooleanType Bounds_hasNoUpper( Bounds* _THIS ) +{ + return _THIS->noUpper; +} + + + +/* + * g e t N V + */ +static inline int Bounds_getNV( Bounds* _THIS ) +{ + return _THIS->n; +} + + +/* + * g e t N F V + */ +static inline int Bounds_getNFV( Bounds* _THIS ) +{ + return Bounds_getNumberOfType( _THIS,ST_EQUALITY ); +} + + +/* + * g e t N B V + */ +static inline int Bounds_getNBV( Bounds* _THIS ) +{ + return Bounds_getNumberOfType( _THIS,ST_BOUNDED ); +} + + +/* + * g e t N U V + */ +static inline int Bounds_getNUV( Bounds* _THIS ) +{ + return Bounds_getNumberOfType( _THIS,ST_UNBOUNDED ); +} + + +/* + * g e t N F R + */ +static inline int Bounds_getNFR( Bounds* _THIS ) +{ + return Indexlist_getLength( _THIS->freee ); +} + + +/* + * g e t N F X + */ +static inline int Bounds_getNFX( Bounds* _THIS ) +{ + return Indexlist_getLength( _THIS->fixed ); +} + + +/* + * g e t F r e e + */ +static inline Indexlist* Bounds_getFree( Bounds* _THIS ) +{ + return _THIS->freee; +} + + +/* + * g e t F i x e d + */ +static inline Indexlist* Bounds_getFixed( Bounds* _THIS ) +{ + return _THIS->fixed; +} + + +END_NAMESPACE_QPOASES + +#endif /* QPOASES_BOUNDS_H */ + + +/* + * end of file + */ diff --git a/third_party/acados/include/qpOASES_e/Constants.h b/third_party/acados/include/qpOASES_e/Constants.h new file mode 100644 index 0000000000..13c777d75b --- /dev/null +++ b/third_party/acados/include/qpOASES_e/Constants.h @@ -0,0 +1,134 @@ +/* + * This file is part of qpOASES. + * + * qpOASES -- An Implementation of the Online Active Set Strategy. + * Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka, + * Christian Kirches et al. All rights reserved. + * + * qpOASES is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * qpOASES is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with qpOASES; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + */ + + +/** + * \file include/qpOASES_e/Constants.h + * \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches + * \version 3.1embedded + * \date 2007-2015 + * + * Definition of all global constants. + */ + + +#ifndef QPOASES_CONSTANTS_H +#define QPOASES_CONSTANTS_H + + +#include + +#ifdef __CODE_GENERATION__ + + #define CONVERTTOSTRINGAUX(x) #x + #define CONVERTTOSTRING(x) CONVERTTOSTRINGAUX(x) + + #ifndef QPOASES_CUSTOM_INTERFACE + #include "acado_qpoases3_interface.h" + #else + #include CONVERTTOSTRING(QPOASES_CUSTOM_INTERFACE) + #endif + +#endif + + +BEGIN_NAMESPACE_QPOASES + + +#ifndef __EXTERNAL_DIMENSIONS__ + + /*#define QPOASES_NVMAX 50 + #define QPOASES_NCMAX 100*/ + #define QPOASES_NVMAX 287 + #define QPOASES_NCMAX 709 + +#endif /* __EXTERNAL_DIMENSIONS__ */ + + +/** Maximum number of variables within a QP formulation. + * Note: this value has to be positive! */ +#define NVMAX QPOASES_NVMAX + +/** Maximum number of constraints within a QP formulation. + * Note: this value has to be positive! */ +#define NCMAX QPOASES_NCMAX + +#if ( QPOASES_NVMAX > QPOASES_NCMAX ) +#define NVCMAX QPOASES_NVMAX +#else +#define NVCMAX QPOASES_NCMAX +#endif + +#if ( QPOASES_NVMAX > QPOASES_NCMAX ) +#define NVCMIN QPOASES_NCMAX +#else +#define NVCMIN QPOASES_NVMAX +#endif + + +/** Maximum number of QPs in a sequence solved by means of the OQP interface. + * Note: this value has to be positive! */ +#define NQPMAX 1000 + + +/** Numerical value of machine precision (min eps, s.t. 1+eps > 1). + * Note: this value has to be positive! */ +#ifndef __CODE_GENERATION__ + + #ifdef __USE_SINGLE_PRECISION__ + static const real_t QPOASES_EPS = 1.193e-07; + #else + static const real_t QPOASES_EPS = 2.221e-16; + #endif /* __USE_SINGLE_PRECISION__ */ + +#endif /* __CODE_GENERATION__ */ + + +/** Numerical value of zero (for situations in which it would be + * unreasonable to compare with 0.0). + * Note: this value has to be positive! */ +static const real_t QPOASES_ZERO = 1.0e-25; + +/** Numerical value of infinity (e.g. for non-existing bounds). + * Note: this value has to be positive! */ +static const real_t QPOASES_INFTY = 1.0e20; + +/** Tolerance to used for isEqual, isZero etc. + * Note: this value has to be positive! */ +static const real_t QPOASES_TOL = 1.0e-25; + + +/** Maximum number of characters within a string. + * Note: this value should be at least 41! */ +#define QPOASES_MAX_STRING_LENGTH 160 + + +END_NAMESPACE_QPOASES + + +#endif /* QPOASES_CONSTANTS_H */ + + +/* + * end of file + */ diff --git a/third_party/acados/include/qpOASES_e/ConstraintProduct.h b/third_party/acados/include/qpOASES_e/ConstraintProduct.h new file mode 100644 index 0000000000..eb5400c6cb --- /dev/null +++ b/third_party/acados/include/qpOASES_e/ConstraintProduct.h @@ -0,0 +1,62 @@ +/* + * This file is part of qpOASES. + * + * qpOASES -- An Implementation of the Online Active Set Strategy. + * Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka, + * Christian Kirches et al. All rights reserved. + * + * qpOASES is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * qpOASES is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with qpOASES; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + */ + + +/** + * \file include/qpOASES_e/ConstraintProduct.h + * \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches (thanks to D. Kwame Minde Kufoalor) + * \version 3.1embedded + * \date 2009-2015 + * + * Declaration of the ConstraintProduct interface which allows to specify a + * user-defined function for evaluating the constraint product at the + * current iterate to speed-up QP solution in case of a specially structured + * constraint matrix. + */ + + + +#ifndef QPOASES_CONSTRAINT_PRODUCT_H +#define QPOASES_CONSTRAINT_PRODUCT_H + + +BEGIN_NAMESPACE_QPOASES + + +/** + * \brief Interface for specifying user-defined evaluations of constraint products. + * + * An interface which allows to specify a user-defined function for evaluating the + * constraint product at the current iterate to speed-up QP solution in case + * of a specially structured constraint matrix. + * + * \author Hans Joachim Ferreau (thanks to Kwame Minde Kufoalor) + * \version 3.1embedded + * \date 2009-2015 + */ +typedef int(*ConstraintProduct)( int, const real_t* const, real_t* const ); + + +END_NAMESPACE_QPOASES + +#endif /* QPOASES_CONSTRAINT_PRODUCT_H */ diff --git a/third_party/acados/include/qpOASES_e/Constraints.h b/third_party/acados/include/qpOASES_e/Constraints.h new file mode 100644 index 0000000000..8aca10d5d9 --- /dev/null +++ b/third_party/acados/include/qpOASES_e/Constraints.h @@ -0,0 +1,535 @@ +/* + * This file is part of qpOASES. + * + * qpOASES -- An Implementation of the Online Active Set Strategy. + * Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka, + * Christian Kirches et al. All rights reserved. + * + * qpOASES is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * qpOASES is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with qpOASES; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + */ + + +/** + * \file include/qpOASES_e/Constraints.h + * \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches + * \version 3.1embedded + * \date 2007-2015 + * + * Declaration of the Constraints class designed to manage working sets of + * constraints within a QProblem. + */ + + +#ifndef QPOASES_CONSTRAINTS_H +#define QPOASES_CONSTRAINTS_H + + +#include + + +BEGIN_NAMESPACE_QPOASES + + +/** + * \brief Manages working sets of constraints. + * + * This class manages working sets of constraints by storing + * index sets and other status information. + * + * \author Hans Joachim Ferreau + * \version 3.1embedded + * \date 2007-2015 + */ +typedef struct +{ + Indexlist *active; /**< Index list of active constraints. */ + Indexlist *inactive; /**< Index list of inactive constraints. */ + + Indexlist *shiftedActive; /**< Memory for shifting active constraints. */ + Indexlist *shiftedInactive; /**< Memory for shifting inactive constraints. */ + + Indexlist *rotatedActive; /**< Memory for rotating active constraints. */ + Indexlist *rotatedInactive; /**< Memory for rotating inactive constraints. */ + + SubjectToType *type; /**< Type of constraints. */ + SubjectToStatus *status; /**< Status of constraints. */ + + SubjectToType *typeTmp; /**< Temp memory for type of constraints. */ + SubjectToStatus *statusTmp; /**< Temp memory for status of constraints. */ + + BooleanType noLower; /**< This flag indicates if there is no lower bound on any variable. */ + BooleanType noUpper; /**< This flag indicates if there is no upper bound on any variable. */ + + int n; /**< Total number of constraints. */ +} Constraints; + +int Constraints_calculateMemorySize( int n); + +char *Constraints_assignMemory(int n, Constraints **mem, void *raw_memory); + +Constraints *Constraints_createMemory( int n ); + +/** Constructor which takes the number of constraints. */ +void ConstraintsCON( Constraints* _THIS, + int _n /**< Number of constraints. */ + ); + +/** Copies all members from given rhs object. + * \return SUCCESSFUL_RETURN */ +void ConstraintsCPY( Constraints* FROM, + Constraints* TO + ); + + +/** Initialises object with given number of constraints. + * \return SUCCESSFUL_RETURN \n + RET_INVALID_ARGUMENTS */ +returnValue Constraints_init( Constraints* _THIS, + int _n /**< Number of constraints. */ + ); + + +/** Initially adds number of a new (i.e. not yet in the list) constraint to + * a given index set. + * \return SUCCESSFUL_RETURN \n + RET_SETUP_CONSTRAINT_FAILED \n + RET_INDEX_OUT_OF_BOUNDS \n + RET_INVALID_ARGUMENTS */ +returnValue Constraints_setupConstraint( Constraints* _THIS, + int number, /**< Number of new constraint. */ + SubjectToStatus _status /**< Status of new constraint. */ + ); + +/** Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to + * to the index set of inactive constraints; the order depends on the SujectToType + * of each index. Only disabled constraints are added to index set of disabled constraints! + * \return SUCCESSFUL_RETURN \n + RET_SETUP_CONSTRAINT_FAILED */ +returnValue Constraints_setupAllInactive( Constraints* _THIS + ); + +/** Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to + * to the index set of active constraints (on their lower bounds); the order depends on the SujectToType + * of each index. Only disabled constraints are added to index set of disabled constraints! + * \return SUCCESSFUL_RETURN \n + RET_SETUP_CONSTRAINT_FAILED */ +returnValue Constraints_setupAllLower( Constraints* _THIS + ); + +/** Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to + * to the index set of active constraints (on their upper bounds); the order depends on the SujectToType + * of each index. Only disabled constraints are added to index set of disabled constraints! + * \return SUCCESSFUL_RETURN \n + RET_SETUP_CONSTRAINT_FAILED */ +returnValue Constraints_setupAllUpper( Constraints* _THIS + ); + + +/** Moves index of a constraint from index list of active to that of inactive constraints. + * \return SUCCESSFUL_RETURN \n + RET_MOVING_CONSTRAINT_FAILED */ +returnValue Constraints_moveActiveToInactive( Constraints* _THIS, + int number /**< Number of constraint to become inactive. */ + ); + +/** Moves index of a constraint from index list of inactive to that of active constraints. + * \return SUCCESSFUL_RETURN \n + RET_MOVING_CONSTRAINT_FAILED */ +returnValue Constraints_moveInactiveToActive( Constraints* _THIS, + int number, /**< Number of constraint to become active. */ + SubjectToStatus _status /**< Status of constraint to become active. */ + ); + +/** Flip fixed constraint. + * \return SUCCESSFUL_RETURN \n + RET_MOVING_CONSTRAINT_FAILED \n + RET_INDEX_OUT_OF_BOUNDS */ +returnValue Constraints_flipFixed( Constraints* _THIS, + int number + ); + + +/** Returns the number of constraints. + * \return Number of constraints. */ +static inline int Constraints_getNC( Constraints* _THIS + ); + +/** Returns the number of implicit equality constraints. + * \return Number of implicit equality constraints. */ +static inline int Constraints_getNEC( Constraints* _THIS + ); + +/** Returns the number of "real" inequality constraints. + * \return Number of "real" inequality constraints. */ +static inline int Constraints_getNIC( Constraints* _THIS + ); + +/** Returns the number of unbounded constraints (i.e. without any bounds). + * \return Number of unbounded constraints (i.e. without any bounds). */ +static inline int Constraints_getNUC( Constraints* _THIS + ); + +/** Returns the number of active constraints. + * \return Number of active constraints. */ +static inline int Constraints_getNAC( Constraints* _THIS + ); + +/** Returns the number of inactive constraints. + * \return Number of inactive constraints. */ +static inline int Constraints_getNIAC( Constraints* _THIS + ); + + +/** Returns a pointer to active constraints index list. + * \return Pointer to active constraints index list. */ +static inline Indexlist* Constraints_getActive( Constraints* _THIS + ); + +/** Returns a pointer to inactive constraints index list. + * \return Pointer to inactive constraints index list. */ +static inline Indexlist* Constraints_getInactive( Constraints* _THIS + ); + + +/** Returns number of constraints with given SubjectTo type. + * \return Number of constraints with given type. */ +static inline int Constraints_getNumberOfType( Constraints* _THIS, + SubjectToType _type /**< Type of constraints' bound. */ + ); + + +/** Returns type of constraints' bound. + * \return Type of constraints' bound \n + RET_INDEX_OUT_OF_BOUNDS */ +static inline SubjectToType Constraints_getType( Constraints* _THIS, + int i /**< Number of constraints' bound. */ + ); + +/** Returns status of constraints' bound. + * \return Status of constraints' bound \n + ST_UNDEFINED */ +static inline SubjectToStatus Constraints_getStatus( Constraints* _THIS, + int i /**< Number of constraints' bound. */ + ); + + +/** Sets type of constraints' bound. + * \return SUCCESSFUL_RETURN \n + RET_INDEX_OUT_OF_BOUNDS */ +static inline returnValue Constraints_setType( Constraints* _THIS, + int i, /**< Number of constraints' bound. */ + SubjectToType value /**< Type of constraints' bound. */ + ); + +/** Sets status of constraints' bound. + * \return SUCCESSFUL_RETURN \n + RET_INDEX_OUT_OF_BOUNDS */ +static inline returnValue Constraints_setStatus( Constraints* _THIS, + int i, /**< Number of constraints' bound. */ + SubjectToStatus value /**< Status of constraints' bound. */ + ); + + +/** Sets status of lower constraints' bounds. */ +static inline void Constraints_setNoLower( Constraints* _THIS, + BooleanType _status /**< Status of lower constraints' bounds. */ + ); + +/** Sets status of upper constraints' bounds. */ +static inline void Constraints_setNoUpper( Constraints* _THIS, + BooleanType _status /**< Status of upper constraints' bounds. */ + ); + + +/** Returns status of lower constraints' bounds. + * \return BT_TRUE if there is no lower constraints' bound on any variable. */ +static inline BooleanType Constraints_hasNoLower( Constraints* _THIS + ); + +/** Returns status of upper bounds. + * \return BT_TRUE if there is no upper constraints' bound on any variable. */ +static inline BooleanType Constraints_hasNoUpper( Constraints* _THIS + ); + + +/** Shifts forward type and status of all constraints by a given + * offset. This offset has to lie within the range [0,n/2] and has to + * be an integer divisor of the total number of constraints n. + * Type and status of the first \ constraints is thrown away, + * type and status of the last \ constraints is doubled, + * e.g. for offset = 2: \n + * shift( {c/b1,c/b2,c/b3,c/b4,c/b5,c/b6} ) = {c/b3,c/b4,c/b5,c/b6,c/b5,c/b6} + * \return SUCCESSFUL_RETURN \n + RET_INDEX_OUT_OF_BOUNDS \n + RET_INVALID_ARGUMENTS \n + RET_SHIFTING_FAILED */ +returnValue Constraints_shift( Constraints* _THIS, + int offset /**< Shift offset within the range [0,n/2] and integer divisor of n. */ + ); + +/** Rotates forward type and status of all constraints by a given + * offset. This offset has to lie within the range [0,n]. + * Example for offset = 2: \n + * rotate( {c1,c2,c3,c4,c5,c6} ) = {c3,c4,c5,c6,c1,c2} + * \return SUCCESSFUL_RETURN \n + RET_INDEX_OUT_OF_BOUNDS \n + RET_ROTATING_FAILED */ +returnValue Constraints_rotate( Constraints* _THIS, + int offset /**< Rotation offset within the range [0,n]. */ + ); + + +/** Prints information on constraints object + * (in particular, lists of inactive and active constraints. + * \return SUCCESSFUL_RETURN \n + RET_INDEXLIST_CORRUPTED */ +returnValue Constraints_print( Constraints* _THIS + ); + + +/** Initially adds all numbers of new (i.e. not yet in the list) bounds to + * to the index set corresponding to the desired status; + * the order depends on the SujectToType of each index. + * \return SUCCESSFUL_RETURN \n + RET_SETUP_CONSTRAINT_FAILED */ +returnValue Constraints_setupAll( Constraints* _THIS, + SubjectToStatus _status /**< Desired initial status for all bounds. */ + ); + + +/** Adds the index of a new constraint to index set. + * \return SUCCESSFUL_RETURN \n + RET_ADDINDEX_FAILED \n + RET_INVALID_ARGUMENTS */ +returnValue Constraints_addIndex( Constraints* _THIS, + Indexlist* const indexlist, /**< Index list to which the new index shall be added. */ + int newnumber, /**< Number of new constraint. */ + SubjectToStatus newstatus /**< Status of new constraint. */ + ); + +/** Removes the index of a constraint from index set. + * \return SUCCESSFUL_RETURN \n + RET_REMOVEINDEX_FAILED \n + RET_INVALID_ARGUMENTS */ +returnValue Constraints_removeIndex( Constraints* _THIS, + Indexlist* const indexlist, /**< Index list from which the new index shall be removed. */ + int removenumber /**< Number of constraint to be removed. */ + ); + +/** Swaps the indices of two constraints or bounds within the index set. + * \return SUCCESSFUL_RETURN \n + RET_SWAPINDEX_FAILED \n + RET_INVALID_ARGUMENTS */ +returnValue Constraints_swapIndex( Constraints* _THIS, + Indexlist* const indexlist, /**< Index list in which the indices shold be swapped. */ + int number1, /**< Number of first constraint. */ + int number2 /**< Number of second constraint. */ + ); + + + +/* + * g e t N u m b e r O f T y p e + */ +static inline int Constraints_getNumberOfType( Constraints* _THIS, SubjectToType _type ) +{ + int i; + int numberOfType = 0; + + if ( _THIS->type != 0 ) + { + for( i=0; i<_THIS->n; ++i ) + if ( _THIS->type[i] == _type ) + ++numberOfType; + } + + return numberOfType; +} + + +/* + * g e t T y p e + */ +static inline SubjectToType Constraints_getType( Constraints* _THIS, int i ) +{ + if ( ( i >= 0 ) && ( i < _THIS->n ) ) + return _THIS->type[i]; + + return ST_UNKNOWN; +} + + +/* + * g e t S t a t u s + */ +static inline SubjectToStatus Constraints_getStatus( Constraints* _THIS, int i ) +{ + if ( ( i >= 0 ) && ( i < _THIS->n ) ) + return _THIS->status[i]; + + return ST_UNDEFINED; +} + + +/* + * s e t T y p e + */ +static inline returnValue Constraints_setType( Constraints* _THIS, int i, SubjectToType value ) +{ + if ( ( i >= 0 ) && ( i < _THIS->n ) ) + { + _THIS->type[i] = value; + return SUCCESSFUL_RETURN; + } + else + return THROWERROR( RET_INDEX_OUT_OF_BOUNDS ); +} + + +/* + * s e t S t a t u s + */ +static inline returnValue Constraints_setStatus( Constraints* _THIS, int i, SubjectToStatus value ) +{ + if ( ( i >= 0 ) && ( i < _THIS->n ) ) + { + _THIS->status[i] = value; + return SUCCESSFUL_RETURN; + } + else + return THROWERROR( RET_INDEX_OUT_OF_BOUNDS ); +} + + +/* + * s e t N o L o w e r + */ +static inline void Constraints_setNoLower( Constraints* _THIS, BooleanType _status ) +{ + _THIS->noLower = _status; +} + + +/* + * s e t N o U p p e r + */ +static inline void Constraints_setNoUpper( Constraints* _THIS, BooleanType _status ) +{ + _THIS->noUpper = _status; +} + + +/* + * h a s N o L o w e r + */ +static inline BooleanType Constraints_hasNoLower( Constraints* _THIS ) +{ + return _THIS->noLower; +} + + +/* + * h a s N o U p p p e r + */ +static inline BooleanType Constraints_hasNoUpper( Constraints* _THIS ) +{ + return _THIS->noUpper; +} + + + +/* + * g e t N C + */ +static inline int Constraints_getNC( Constraints* _THIS ) +{ + return _THIS->n; +} + + +/* + * g e t N E C + */ +static inline int Constraints_getNEC( Constraints* _THIS ) +{ + return Constraints_getNumberOfType( _THIS,ST_EQUALITY ); +} + + +/* + * g e t N I C + */ +static inline int Constraints_getNIC( Constraints* _THIS ) +{ + return Constraints_getNumberOfType( _THIS,ST_BOUNDED ); +} + + +/* + * g e t N U C + */ +static inline int Constraints_getNUC( Constraints* _THIS ) +{ + return Constraints_getNumberOfType( _THIS,ST_UNBOUNDED ); +} + + +/* + * g e t N A C + */ +static inline int Constraints_getNAC( Constraints* _THIS ) +{ + return Indexlist_getLength( _THIS->active ); +} + + +/* + * g e t N I A C + */ +static inline int Constraints_getNIAC( Constraints* _THIS ) +{ + return Indexlist_getLength( _THIS->inactive ); +} + + + +/* + * g e t A c t i v e + */ +static inline Indexlist* Constraints_getActive( Constraints* _THIS ) +{ + return _THIS->active; +} + + +/* + * g e t I n a c t i v e + */ +static inline Indexlist* Constraints_getInactive( Constraints* _THIS ) +{ + return _THIS->inactive; +} + + +END_NAMESPACE_QPOASES + + +#endif /* QPOASES_CONSTRAINTS_H */ + + +/* + * end of file + */ diff --git a/third_party/acados/include/qpOASES_e/Flipper.h b/third_party/acados/include/qpOASES_e/Flipper.h new file mode 100644 index 0000000000..63526a30f3 --- /dev/null +++ b/third_party/acados/include/qpOASES_e/Flipper.h @@ -0,0 +1,129 @@ +/* + * This file is part of qpOASES. + * + * qpOASES -- An Implementation of the Online Active Set Strategy. + * Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka, + * Christian Kirches et al. All rights reserved. + * + * qpOASES is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * qpOASES is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with qpOASES; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + */ + + +/** + * \file include/qpOASES_e/Flipper.h + * \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches + * \version 3.1embedded + * \date 2007-2015 + * + * Declaration of the Options class designed to manage user-specified + * options for solving a QProblem. + */ + + +#ifndef QPOASES_FLIPPER_H +#define QPOASES_FLIPPER_H + + +#include +#include + + +BEGIN_NAMESPACE_QPOASES + + +/** + * \brief Auxiliary class for storing a copy of the current matrix factorisations. + * + * This auxiliary class stores a copy of the current matrix factorisations. It + * is used by the classe QProblemB and QProblem in case flipping bounds are enabled. + * + * \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches + * \version 3.1embedded + * \date 2007-2015 + */ +typedef struct +{ + Bounds *bounds; /**< Data structure for problem's bounds. */ + Constraints *constraints; /**< Data structure for problem's constraints. */ + + real_t *R; /**< Cholesky factor of H (i.e. H = R^T*R). */ + real_t *Q; /**< Orthonormal quadratic matrix, A = [0 T]*Q'. */ + real_t *T; /**< Reverse triangular matrix, A = [0 T]*Q'. */ + + unsigned int nV; /**< Number of variables. */ + unsigned int nC; /**< Number of constraints. */ +} Flipper; + +int Flipper_calculateMemorySize( unsigned int nV, unsigned int nC ); + +char *Flipper_assignMemory( unsigned int nV, unsigned int nC, Flipper **mem, void *raw_memory ); + +Flipper *Flipper_createMemory( unsigned int nV, unsigned int nC ); + +/** Constructor which takes the number of bounds and constraints. */ +void FlipperCON( Flipper* _THIS, + unsigned int _nV, /**< Number of bounds. */ + unsigned int _nC /**< Number of constraints. */ + ); + +/** Copy constructor (deep copy). */ +void FlipperCPY( Flipper* FROM, + Flipper* TO + ); + +/** Initialises object with given number of bounds and constraints. + * \return SUCCESSFUL_RETURN \n + RET_INVALID_ARGUMENTS */ +returnValue Flipper_init( Flipper* _THIS, + unsigned int _nV, /**< Number of bounds. */ + unsigned int _nC /**< Number of constraints. */ + ); + + +/** Copies current values to non-null arguments (assumed to be allocated with consistent size). + * \return SUCCESSFUL_RETURN */ +returnValue Flipper_get( Flipper* _THIS, + Bounds* const _bounds, /**< Pointer to new bounds. */ + real_t* const R, /**< New matrix R. */ + Constraints* const _constraints, /**< Pointer to new constraints. */ + real_t* const _Q, /**< New matrix Q. */ + real_t* const _T /**< New matrix T. */ + ); + +/** Assigns new values to non-null arguments. + * \return SUCCESSFUL_RETURN */ +returnValue Flipper_set( Flipper* _THIS, + const Bounds* const _bounds, /**< Pointer to new bounds. */ + const real_t* const _R, /**< New matrix R. */ + const Constraints* const _constraints, /**< Pointer to new constraints. */ + const real_t* const _Q, /**< New matrix Q. */ + const real_t* const _T /**< New matrix T. */ + ); + +/** Returns dimension of matrix T. + * \return Dimension of matrix T. */ +unsigned int Flipper_getDimT( Flipper* _THIS ); + + +END_NAMESPACE_QPOASES + + +#endif /* QPOASES_FLIPPER_H */ + + +/* + * end of file + */ diff --git a/third_party/acados/include/qpOASES_e/Indexlist.h b/third_party/acados/include/qpOASES_e/Indexlist.h new file mode 100644 index 0000000000..02d259d63d --- /dev/null +++ b/third_party/acados/include/qpOASES_e/Indexlist.h @@ -0,0 +1,221 @@ +/* + * This file is part of qpOASES. + * + * qpOASES -- An Implementation of the Online Active Set Strategy. + * Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka, + * Christian Kirches et al. All rights reserved. + * + * qpOASES is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * qpOASES is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with qpOASES; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + */ + + +/** + * \file include/qpOASES_e/Indexlist.h + * \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches + * \version 3.1embedded + * \date 2007-2015 + * + * Declaration of the Indexlist class designed to manage index lists of + * constraints and bounds within a SubjectTo object. + */ + + +#ifndef QPOASES_INDEXLIST_H +#define QPOASES_INDEXLIST_H + + +#include + + +BEGIN_NAMESPACE_QPOASES + + +/** + * \brief Stores and manages index lists. + * + * This class manages index lists of active/inactive bounds/constraints. + * + * \author Hans Joachim Ferreau + * \version 3.1embedded + * \date 2007-2015 + */ +typedef struct +{ + int *number; /**< Array to store numbers of constraints or bounds. */ + int *iSort; /**< Index list to sort vector \a number */ + + int length; /**< Length of index list. */ + int first; /**< Physical index of first element. */ + int last; /**< Physical index of last element. */ + int lastusedindex; /**< Physical index of last entry in index list. */ + int physicallength; /**< Physical length of index list. */ +} Indexlist; + +int Indexlist_calculateMemorySize( int n); + +char *Indexlist_assignMemory(int n, Indexlist **mem, void *raw_memory); + +Indexlist *Indexlist_createMemory( int n ); + +/** Constructor which takes the desired physical length of the index list. */ +void IndexlistCON( Indexlist* _THIS, + int n /**< Physical length of index list. */ + ); + +/** Copies all members from given rhs object. + * \return SUCCESSFUL_RETURN */ +void IndexlistCPY( Indexlist* FROM, + Indexlist* TO + ); + +/** Initialises index list of desired physical length. + * \return SUCCESSFUL_RETURN \n + RET_INVALID_ARGUMENTS */ +returnValue Indexlist_init( Indexlist* _THIS, + int n /**< Physical length of index list. */ + ); + +/** Creates an array of all numbers within the index set in correct order. + * \return SUCCESSFUL_RETURN \n + RET_INDEXLIST_CORRUPTED */ +returnValue Indexlist_getNumberArray( Indexlist* _THIS, + int** const numberarray /**< Output: Array of numbers (NULL on error). */ + ); + +/** Creates an array of all numbers within the index set in correct order. + * \return SUCCESSFUL_RETURN \n + RET_INDEXLIST_CORRUPTED */ +returnValue Indexlist_getISortArray( Indexlist* _THIS, + int** const iSortArray /**< Output: iSort Array. */ + ); + + +/** Determines the index within the index list at which a given number is stored. + * \return >= 0: Index of given number. \n + -1: Number not found. */ +int Indexlist_getIndex( Indexlist* _THIS, + int givennumber /**< Number whose index shall be determined. */ + ); + +/** Returns the number stored at a given physical index. + * \return >= 0: Number stored at given physical index. \n + -RET_INDEXLIST_OUTOFBOUNDS */ +static inline int Indexlist_getNumber( Indexlist* _THIS, + int physicalindex /**< Physical index of the number to be returned. */ + ); + + +/** Returns the current length of the index list. + * \return Current length of the index list. */ +static inline int Indexlist_getLength( Indexlist* _THIS + ); + +/** Returns last number within the index list. + * \return Last number within the index list. */ +static inline int Indexlist_getLastNumber( Indexlist* _THIS + ); + + +/** Adds number to index list. + * \return SUCCESSFUL_RETURN \n + RET_INDEXLIST_MUST_BE_REORDERD \n + RET_INDEXLIST_EXCEEDS_MAX_LENGTH */ +returnValue Indexlist_addNumber( Indexlist* _THIS, + int addnumber /**< Number to be added. */ + ); + +/** Removes number from index list. + * \return SUCCESSFUL_RETURN */ +returnValue Indexlist_removeNumber( Indexlist* _THIS, + int removenumber /**< Number to be removed. */ + ); + +/** Swaps two numbers within index list. + * \return SUCCESSFUL_RETURN */ +returnValue Indexlist_swapNumbers( Indexlist* _THIS, + int number1, /**< First number for swapping. */ + int number2 /**< Second number for swapping. */ + ); + +/** Determines if a given number is contained in the index set. + * \return BT_TRUE iff number is contain in the index set */ +static inline BooleanType Indexlist_isMember( Indexlist* _THIS, + int _number /**< Number to be tested for membership. */ + ); + + +/** Find first index j between -1 and length in sorted list of indices + * iSort such that numbers[iSort[j]] <= i < numbers[iSort[j+1]]. Uses + * bisection. + * \return j. */ +int Indexlist_findInsert( Indexlist* _THIS, + int i + ); + + + +/* + * g e t N u m b e r + */ +static inline int Indexlist_getNumber( Indexlist* _THIS, int physicalindex ) +{ + /* consistency check */ + if ( ( physicalindex < 0 ) || ( physicalindex > _THIS->length ) ) + return -RET_INDEXLIST_OUTOFBOUNDS; + + return _THIS->number[physicalindex]; +} + + +/* + * g e t L e n g t h + */ +static inline int Indexlist_getLength( Indexlist* _THIS ) +{ + return _THIS->length; +} + + +/* + * g e t L a s t N u m b e r + */ +static inline int Indexlist_getLastNumber( Indexlist* _THIS ) +{ + return _THIS->number[_THIS->length-1]; +} + + +/* + * g e t L a s t N u m b e r + */ +static inline BooleanType Indexlist_isMember( Indexlist* _THIS, int _number ) +{ + if ( Indexlist_getIndex( _THIS,_number ) >= 0 ) + return BT_TRUE; + else + return BT_FALSE; +} + + +END_NAMESPACE_QPOASES + + +#endif /* QPOASES_INDEXLIST_H */ + + +/* + * end of file + */ diff --git a/third_party/acados/include/qpOASES_e/Matrices.h b/third_party/acados/include/qpOASES_e/Matrices.h new file mode 100644 index 0000000000..e2a46b3a9d --- /dev/null +++ b/third_party/acados/include/qpOASES_e/Matrices.h @@ -0,0 +1,287 @@ +/* + * This file is part of qpOASES. + * + * qpOASES -- An Implementation of the Online Active Set Strategy. + * Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka, + * Christian Kirches et al. All rights reserved. + * + * qpOASES is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * qpOASES is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with qpOASES; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + */ + + +/** + * \file include/qpOASES_e/Matrices.h + * \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches + * \version 3.1embedded + * \date 2009-2015 + * + * Various matrix classes: Abstract base matrix class, dense and sparse matrices, + * including symmetry exploiting specializations. + */ + + + +#ifndef QPOASES_MATRICES_H +#define QPOASES_MATRICES_H + +#ifdef __USE_SINGLE_PRECISION__ + + // single precision + #define GEMM sgemm_ + #define GEMV sgemv_ +// #define SYR ssyr_ +// #define SYR2 ssyr2_ + #define POTRF spotrf_ + +#else + + // double precision + #define GEMM dgemm_ + #define GEMV dgemv_ +// #define SYR dsyr_ +// #define SYR2 dsyr2_ + #define POTRF dpotrf_ + +#endif /* __USE_SINGLE_PRECISION__ */ + + +#ifdef EXTERNAL_BLAS + // double precision + void dgemm_(char *ta, char *tb, int *m, int *n, int *k, double *alpha, double *A, int *lda, double *B, int ldb, double *beta, double *C, int *ldc); + void dgemv_(char *ta, int *m, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy); + void dpotrf_(char *uplo, int *m, double *A, int *lda, int *info); + // single precision + void sgemm_(char *ta, char *tb, int *m, int *n, int *k, float *alpha, float *A, int *lda, float *B, int ldb, float *beta, float *C, int *ldc); + void sgemv_(char *ta, int *m, int *n, float *alpha, float *A, int *lda, float *x, int *incx, float *beta, float *y, int *incy); + void spotrf_(char *uplo, int *m, float *A, int *lda, int *info); +#else + /** Performs one of the matrix-matrix operation in double precision. */ + void dgemm_ ( const char*, const char*, const unsigned long*, const unsigned long*, const unsigned long*, + const double*, const double*, const unsigned long*, const double*, const unsigned long*, + const double*, double*, const unsigned long* ); + /** Performs one of the matrix-matrix operation in single precision. */ + void sgemm_ ( const char*, const char*, const unsigned long*, const unsigned long*, const unsigned long*, + const float*, const float*, const unsigned long*, const float*, const unsigned long*, + const float*, float*, const unsigned long* ); + + /** Calculates the Cholesky factorization of a real symmetric positive definite matrix in double precision. */ + void dpotrf_ ( const char *, const unsigned long *, double *, const unsigned long *, long * ); + /** Calculates the Cholesky factorization of a real symmetric positive definite matrix in single precision. */ + void spotrf_ ( const char *, const unsigned long *, float *, const unsigned long *, long * ); + +#endif + + /** Performs a symmetric rank 1 operation in double precision. */ +// void dsyr_ ( const char *, const unsigned long *, const double *, const double *, +// const unsigned long *, double *, const unsigned long *); + /** Performs a symmetric rank 1 operation in single precision. */ +// void ssyr_ ( const char *, const unsigned long *, const float *, const float *, +// const unsigned long *, float *, const unsigned long *); + + /** Performs a symmetric rank 2 operation in double precision. */ +// void dsyr2_ ( const char *, const unsigned long *, const double *, const double *, +// const unsigned long *, const double *, const unsigned long *, double *, const unsigned long *); + /** Performs a symmetric rank 2 operation in single precision. */ +// void ssyr2_ ( const char *, const unsigned long *, const float *, const float *, +// const unsigned long *, const float *, const unsigned long *, float *, const unsigned long *); + + +#include + + +BEGIN_NAMESPACE_QPOASES + + +/** + * \brief Interfaces matrix-vector operations tailored to general dense matrices. + * + * Dense matrix class (row major format). + * + * \author Andreas Potschka, Christian Kirches, Hans Joachim Ferreau + * \version 3.1embedded + * \date 2011-2015 + */ +typedef struct +{ + real_t *val; /**< Vector of entries. */ + int nRows; /**< Number of rows. */ + int nCols; /**< Number of columns. */ + int leaDim; /**< Leading dimension. */ +} DenseMatrix; + +int DenseMatrix_calculateMemorySize( int m, int n ); + +char *DenseMatrix_assignMemory( int m, int n, DenseMatrix **mem, void *raw_memory ); + +DenseMatrix *DenseMatrix_createMemory( int m, int n ); + +/** Constructor from vector of values. + * Caution: Data pointer must be valid throughout lifetime + */ +void DenseMatrixCON( DenseMatrix* _THIS, + int m, /**< Number of rows. */ + int n, /**< Number of columns. */ + int lD, /**< Leading dimension. */ + real_t *v /**< Values. */ + ); + +void DenseMatrixCPY( DenseMatrix* FROM, + DenseMatrix* TO + ); + + +/** Frees all internal memory. */ +void DenseMatrix_free( DenseMatrix* _THIS ); + +/** Constructor from vector of values. + * Caution: Data pointer must be valid throughout lifetime + */ +returnValue DenseMatrix_init( DenseMatrix* _THIS, + int m, /**< Number of rows. */ + int n, /**< Number of columns. */ + int lD, /**< Leading dimension. */ + real_t *v /**< Values. */ + ); + + +/** Returns i-th diagonal entry. + * \return i-th diagonal entry */ +real_t DenseMatrix_diag( DenseMatrix* _THIS, + int i /**< Index. */ + ); + +/** Checks whether matrix is square and diagonal. + * \return BT_TRUE iff matrix is square and diagonal; \n + * BT_FALSE otherwise. */ +BooleanType DenseMatrix_isDiag( DenseMatrix* _THIS ); + +/** Get the N-norm of the matrix + * \return N-norm of the matrix + */ +real_t DenseMatrix_getNorm( DenseMatrix* _THIS, + int type /**< Norm type, 1: one-norm, 2: Euclidean norm. */ + ); + +/** Get the N-norm of a row + * \return N-norm of row \a rNum + */ +real_t DenseMatrix_getRowNorm( DenseMatrix* _THIS, + int rNum, /**< Row number. */ + int type /**< Norm type, 1: one-norm, 2: Euclidean norm. */ + ); + +/** Retrieve indexed entries of matrix row multiplied by alpha. + * \return SUCCESSFUL_RETURN */ +returnValue DenseMatrix_getRow( DenseMatrix* _THIS, + int rNum, /**< Row number. */ + const Indexlist* const icols, /**< Index list specifying columns. */ + real_t alpha, /**< Scalar factor. */ + real_t *row /**< Output row vector. */ + ); + +/** Retrieve indexed entries of matrix column multiplied by alpha. + * \return SUCCESSFUL_RETURN */ + returnValue DenseMatrix_getCol( DenseMatrix* _THIS, + int cNum, /**< Column number. */ + const Indexlist* const irows, /**< Index list specifying rows. */ + real_t alpha, /**< Scalar factor. */ + real_t *col /**< Output column vector. */ + ); + +/** Evaluate Y=alpha*A*X + beta*Y. + * \return SUCCESSFUL_RETURN. */ +returnValue DenseMatrix_times( DenseMatrix* _THIS, + int xN, /**< Number of vectors to multiply. */ + real_t alpha, /**< Scalar factor for matrix vector product. */ + const real_t *x, /**< Input vector to be multiplied. */ + int xLD, /**< Leading dimension of input x. */ + real_t beta, /**< Scalar factor for y. */ + real_t *y, /**< Output vector of results. */ + int yLD /**< Leading dimension of output y. */ + ); + +/** Evaluate Y=alpha*A'*X + beta*Y. + * \return SUCCESSFUL_RETURN. */ +returnValue DenseMatrix_transTimes( DenseMatrix* _THIS, + int xN, /**< Number of vectors to multiply. */ + real_t alpha, /**< Scalar factor for matrix vector product. */ + const real_t *x, /**< Input vector to be multiplied. */ + int xLD, /**< Leading dimension of input x. */ + real_t beta, /**< Scalar factor for y. */ + real_t *y, /**< Output vector of results. */ + int yLD /**< Leading dimension of output y. */ + ); + +/** Evaluate matrix vector product with submatrix given by Indexlist. + * \return SUCCESSFUL_RETURN */ + returnValue DenseMatrix_subTimes( DenseMatrix* _THIS, + const Indexlist* const irows, /**< Index list specifying rows. */ + const Indexlist* const icols, /**< Index list specifying columns. */ + int xN, /**< Number of vectors to multiply. */ + real_t alpha, /**< Scalar factor for matrix vector product. */ + const real_t *x, /**< Input vector to be multiplied. */ + int xLD, /**< Leading dimension of input x. */ + real_t beta, /**< Scalar factor for y. */ + real_t *y, /**< Output vector of results. */ + int yLD, /**< Leading dimension of output y. */ + BooleanType yCompr /**< Compressed storage for y. */ + ); + +/** Evaluate matrix transpose vector product. + * \return SUCCESSFUL_RETURN */ +returnValue DenseMatrix_subTransTimes( DenseMatrix* _THIS, + const Indexlist* const irows, /**< Index list specifying rows. */ + const Indexlist* const icols, /**< Index list specifying columns. */ + int xN, /**< Number of vectors to multiply. */ + real_t alpha, /**< Scalar factor for matrix vector product. */ + const real_t *x, /**< Input vector to be multiplied. */ + int xLD, /**< Leading dimension of input x. */ + real_t beta, /**< Scalar factor for y. */ + real_t *y, /**< Output vector of results. */ + int yLD /**< Leading dimension of output y. */ + ); + +/** Adds given offset to diagonal of matrix. + * \return SUCCESSFUL_RETURN \n + RET_NO_DIAGONAL_AVAILABLE */ +returnValue DenseMatrix_addToDiag( DenseMatrix* _THIS, + real_t alpha /**< Diagonal offset. */ + ); + +/** Prints matrix to screen. + * \return SUCCESSFUL_RETURN */ +returnValue DenseMatrix_print( DenseMatrix* _THIS + ); + +static inline real_t* DenseMatrix_getVal( DenseMatrix* _THIS ) { return _THIS->val; } + +/** Compute bilinear form y = x'*H*x using submatrix given by index list. + * \return SUCCESSFUL_RETURN */ +returnValue DenseMatrix_bilinear( DenseMatrix* _THIS, + const Indexlist* const icols, /**< Index list specifying columns of x. */ + int xN, /**< Number of vectors to multiply. */ + const real_t *x, /**< Input vector to be multiplied (uncompressed). */ + int xLD, /**< Leading dimension of input x. */ + real_t *y, /**< Output vector of results (compressed). */ + int yLD /**< Leading dimension of output y. */ + ); + + + +END_NAMESPACE_QPOASES + + +#endif /* QPOASES_MATRICES_H */ diff --git a/third_party/acados/include/qpOASES_e/MessageHandling.h b/third_party/acados/include/qpOASES_e/MessageHandling.h new file mode 100644 index 0000000000..fe5524948a --- /dev/null +++ b/third_party/acados/include/qpOASES_e/MessageHandling.h @@ -0,0 +1,544 @@ +/* + * This file is part of qpOASES. + * + * qpOASES -- An Implementation of the Online Active Set Strategy. + * Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka, + * Christian Kirches et al. All rights reserved. + * + * qpOASES is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * qpOASES is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with qpOASES; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + */ + + +/** + * \file include/qpOASES_e/MessageHandling.h + * \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches (thanks to Leonard Wirsching) + * \version 3.1embedded + * \date 2007-2015 + * + * Declaration of the MessageHandling class including global return values. + */ + + +#ifndef QPOASES_MESSAGEHANDLING_H +#define QPOASES_MESSAGEHANDLING_H + + +#include +#include +#include +#include + +#include + + +BEGIN_NAMESPACE_QPOASES + + +/** Default file to display messages. */ +#define stdFile stderr + + +/** + * \brief Defines all symbols for global return values. + * + * The enumeration returnValueType defines all symbols for global return values. + * Important: All return values are assumed to be nonnegative! + * + * \author Hans Joachim Ferreau + */ +typedef enum +{ +TERMINAL_LIST_ELEMENT = -1, /**< Terminal list element, internal usage only! */ +/* miscellaneous */ +SUCCESSFUL_RETURN = 0, /**< Successful return. */ +RET_DIV_BY_ZERO, /**< Division by zero. */ +RET_INDEX_OUT_OF_BOUNDS, /**< Index out of bounds. */ +RET_INVALID_ARGUMENTS, /**< At least one of the arguments is invalid. */ +RET_ERROR_UNDEFINED, /**< Error number undefined. */ +RET_WARNING_UNDEFINED, /**< Warning number undefined. */ +RET_INFO_UNDEFINED, /**< Info number undefined. */ +RET_EWI_UNDEFINED, /**< Error/warning/info number undefined. */ +RET_AVAILABLE_WITH_LINUX_ONLY, /**< This function is available under Linux only. */ +RET_UNKNOWN_BUG, /**< The error occurred is not yet known. */ +RET_PRINTLEVEL_CHANGED, /**< Print level changed. (10) */ +RET_NOT_YET_IMPLEMENTED, /**< Requested function is not yet implemented in this version of qpOASES. */ +/* Indexlist */ +RET_INDEXLIST_MUST_BE_REORDERD, /**< Index list has to be reordered. */ +RET_INDEXLIST_EXCEEDS_MAX_LENGTH, /**< Index list exceeds its maximal physical length. */ +RET_INDEXLIST_CORRUPTED, /**< Index list corrupted. */ +RET_INDEXLIST_OUTOFBOUNDS, /**< Physical index is out of bounds. */ +RET_INDEXLIST_ADD_FAILED, /**< Adding indices from another index set failed. */ +RET_INDEXLIST_INTERSECT_FAILED, /**< Intersection with another index set failed. */ +/* SubjectTo / Bounds / Constraints */ +RET_INDEX_ALREADY_OF_DESIRED_STATUS, /**< Index is already of desired status. (18) */ +RET_ADDINDEX_FAILED, /**< Adding index to index set failed. */ +RET_REMOVEINDEX_FAILED, /**< Removing index from index set failed. (20) */ +RET_SWAPINDEX_FAILED, /**< Cannot swap between different indexsets. */ +RET_NOTHING_TO_DO, /**< Nothing to do. */ +RET_SETUP_BOUND_FAILED, /**< Setting up bound index failed. */ +RET_SETUP_CONSTRAINT_FAILED, /**< Setting up constraint index failed. */ +RET_MOVING_BOUND_FAILED, /**< Moving bound between index sets failed. */ +RET_MOVING_CONSTRAINT_FAILED, /**< Moving constraint between index sets failed. */ +RET_SHIFTING_FAILED, /**< Shifting of bounds/constraints failed. */ +RET_ROTATING_FAILED, /**< Rotating of bounds/constraints failed. */ +/* QProblem */ +RET_QPOBJECT_NOT_SETUP, /**< The QP object has not been setup correctly, use another constructor. */ +RET_QP_ALREADY_INITIALISED, /**< QProblem has already been initialised. (30) */ +RET_NO_INIT_WITH_STANDARD_SOLVER, /**< Initialisation via extern QP solver is not yet implemented. */ +RET_RESET_FAILED, /**< Reset failed. */ +RET_INIT_FAILED, /**< Initialisation failed. */ +RET_INIT_FAILED_TQ, /**< Initialisation failed due to TQ factorisation. */ +RET_INIT_FAILED_CHOLESKY, /**< Initialisation failed due to Cholesky decomposition. */ +RET_INIT_FAILED_HOTSTART, /**< Initialisation failed! QP could not be solved! */ +RET_INIT_FAILED_INFEASIBILITY, /**< Initial QP could not be solved due to infeasibility! */ +RET_INIT_FAILED_UNBOUNDEDNESS, /**< Initial QP could not be solved due to unboundedness! */ +RET_INIT_FAILED_REGULARISATION, /**< Initialisation failed as Hessian matrix could not be regularised. */ +RET_INIT_SUCCESSFUL, /**< Initialisation done. (40) */ +RET_OBTAINING_WORKINGSET_FAILED, /**< Failed to obtain working set for auxiliary QP. */ +RET_SETUP_WORKINGSET_FAILED, /**< Failed to setup working set for auxiliary QP. */ +RET_SETUP_AUXILIARYQP_FAILED, /**< Failed to setup auxiliary QP for initialised homotopy. */ +RET_NO_CHOLESKY_WITH_INITIAL_GUESS, /**< Externally computed Cholesky factor cannot be combined with an initial guess. */ +RET_NO_EXTERN_SOLVER, /**< No extern QP solver available. */ +RET_QP_UNBOUNDED, /**< QP is unbounded. */ +RET_QP_INFEASIBLE, /**< QP is infeasible. */ +RET_QP_NOT_SOLVED, /**< Problems occurred while solving QP with standard solver. */ +RET_QP_SOLVED, /**< QP successfully solved. */ +RET_UNABLE_TO_SOLVE_QP, /**< Problems occurred while solving QP. (50) */ +RET_INITIALISATION_STARTED, /**< Starting problem initialisation... */ +RET_HOTSTART_FAILED, /**< Unable to perform homotopy due to internal error. */ +RET_HOTSTART_FAILED_TO_INIT, /**< Unable to initialise problem. */ +RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED, /**< Unable to perform homotopy as previous QP is not solved. */ +RET_ITERATION_STARTED, /**< Iteration... */ +RET_SHIFT_DETERMINATION_FAILED, /**< Determination of shift of the QP data failed. */ +RET_STEPDIRECTION_DETERMINATION_FAILED, /**< Determination of step direction failed. */ +RET_STEPLENGTH_DETERMINATION_FAILED, /**< Determination of step direction failed. */ +RET_OPTIMAL_SOLUTION_FOUND, /**< Optimal solution of neighbouring QP found. */ +RET_HOMOTOPY_STEP_FAILED, /**< Unable to perform homotopy step. (60) */ +RET_HOTSTART_STOPPED_INFEASIBILITY, /**< Premature homotopy termination because QP is infeasible. */ +RET_HOTSTART_STOPPED_UNBOUNDEDNESS, /**< Premature homotopy termination because QP is unbounded. */ +RET_WORKINGSET_UPDATE_FAILED, /**< Unable to update working sets according to initial guesses. */ +RET_MAX_NWSR_REACHED, /**< Maximum number of working set recalculations performed. */ +RET_CONSTRAINTS_NOT_SPECIFIED, /**< Problem does comprise constraints! You also have to specify new constraints' bounds. */ +RET_INVALID_FACTORISATION_FLAG, /**< Invalid factorisation flag. */ +RET_UNABLE_TO_SAVE_QPDATA, /**< Unable to save QP data. */ +RET_STEPDIRECTION_FAILED_TQ, /**< Abnormal termination due to TQ factorisation. */ +RET_STEPDIRECTION_FAILED_CHOLESKY, /**< Abnormal termination due to Cholesky factorisation. */ +RET_CYCLING_DETECTED, /**< Cycling detected. (70) */ +RET_CYCLING_NOT_RESOLVED, /**< Cycling cannot be resolved, QP probably infeasible. */ +RET_CYCLING_RESOLVED, /**< Cycling probably resolved. */ +RET_STEPSIZE, /**< For displaying performed stepsize. */ +RET_STEPSIZE_NONPOSITIVE, /**< For displaying non-positive stepsize. */ +RET_SETUPSUBJECTTOTYPE_FAILED, /**< Setup of SubjectToTypes failed. */ +RET_ADDCONSTRAINT_FAILED, /**< Addition of constraint to working set failed. */ +RET_ADDCONSTRAINT_FAILED_INFEASIBILITY, /**< Addition of constraint to working set failed (due to QP infeasibility). */ +RET_ADDBOUND_FAILED, /**< Addition of bound to working set failed. */ +RET_ADDBOUND_FAILED_INFEASIBILITY, /**< Addition of bound to working set failed (due to QP infeasibility). */ +RET_REMOVECONSTRAINT_FAILED, /**< Removal of constraint from working set failed. (80) */ +RET_REMOVEBOUND_FAILED, /**< Removal of bound from working set failed. */ +RET_REMOVE_FROM_ACTIVESET, /**< Removing from active set... */ +RET_ADD_TO_ACTIVESET, /**< Adding to active set... */ +RET_REMOVE_FROM_ACTIVESET_FAILED, /**< Removing from active set failed. */ +RET_ADD_TO_ACTIVESET_FAILED, /**< Adding to active set failed. */ +RET_CONSTRAINT_ALREADY_ACTIVE, /**< Constraint is already active. */ +RET_ALL_CONSTRAINTS_ACTIVE, /**< All constraints are active, no further constraint can be added. */ +RET_LINEARLY_DEPENDENT, /**< New bound/constraint is linearly dependent. */ +RET_LINEARLY_INDEPENDENT, /**< New bound/constraint is linearly independent. */ +RET_LI_RESOLVED, /**< Linear independence of active constraint matrix successfully resolved. (90) */ +RET_ENSURELI_FAILED, /**< Failed to ensure linear independence of active constraint matrix. */ +RET_ENSURELI_FAILED_TQ, /**< Abnormal termination due to TQ factorisation. */ +RET_ENSURELI_FAILED_NOINDEX, /**< QP is infeasible. */ +RET_ENSURELI_FAILED_CYCLING, /**< QP is infeasible. */ +RET_BOUND_ALREADY_ACTIVE, /**< Bound is already active. */ +RET_ALL_BOUNDS_ACTIVE, /**< All bounds are active, no further bound can be added. */ +RET_CONSTRAINT_NOT_ACTIVE, /**< Constraint is not active. */ +RET_BOUND_NOT_ACTIVE, /**< Bound is not active. */ +RET_HESSIAN_NOT_SPD, /**< Projected Hessian matrix not positive definite. */ +RET_HESSIAN_INDEFINITE, /**< Hessian matrix is indefinite. (100) */ +RET_MATRIX_SHIFT_FAILED, /**< Unable to update matrices or to transform vectors. */ +RET_MATRIX_FACTORISATION_FAILED, /**< Unable to calculate new matrix factorisations. */ +RET_PRINT_ITERATION_FAILED, /**< Unable to print information on current iteration. */ +RET_NO_GLOBAL_MESSAGE_OUTPUTFILE, /**< No global message output file initialised. */ +RET_DISABLECONSTRAINTS_FAILED, /**< Unable to disbable constraints. */ +RET_ENABLECONSTRAINTS_FAILED, /**< Unable to enbable constraints. */ +RET_ALREADY_ENABLED, /**< Bound or constraint is already enabled. */ +RET_ALREADY_DISABLED, /**< Bound or constraint is already disabled. */ +RET_NO_HESSIAN_SPECIFIED, /**< No Hessian matrix has been specified. */ +RET_USING_REGULARISATION, /**< Using regularisation as Hessian matrix is not positive definite. (110) */ +RET_EPS_MUST_BE_POSITVE, /**< Eps for regularisation must be sufficiently positive. */ +RET_REGSTEPS_MUST_BE_POSITVE, /**< Maximum number of regularisation steps must be non-negative. */ +RET_HESSIAN_ALREADY_REGULARISED, /**< Hessian has been already regularised. */ +RET_CANNOT_REGULARISE_IDENTITY, /**< Identity Hessian matrix cannot be regularised. */ +RET_CANNOT_REGULARISE_SPARSE, /**< Sparse matrix cannot be regularised as diagonal entry is missing. */ +RET_NO_REGSTEP_NWSR, /**< No additional regularisation step could be performed due to limits. */ +RET_FEWER_REGSTEPS_NWSR, /**< Fewer additional regularisation steps have been performed due to limits. */ +RET_CHOLESKY_OF_ZERO_HESSIAN, /**< Cholesky decomposition of (unregularised) zero Hessian matrix. */ +RET_ZERO_HESSIAN_ASSUMED, /**< Zero Hessian matrix assumed as null pointer passed without specifying hessianType. */ +RET_CONSTRAINTS_ARE_NOT_SCALED, /**< (no longer in use) (120) */ +RET_INITIAL_BOUNDS_STATUS_NYI, /**< (no longer in use) */ +RET_ERROR_IN_CONSTRAINTPRODUCT, /**< Error in user-defined constraint product function. */ +RET_FIX_BOUNDS_FOR_LP, /**< All initial bounds must be fixed when solving an (unregularised) LP. */ +RET_USE_REGULARISATION_FOR_LP, /**< Set options.enableRegularisation=BT_TRUE for solving LPs. */ +/* SQProblem */ +RET_UPDATEMATRICES_FAILED, /**< Unable to update QP matrices. */ +RET_UPDATEMATRICES_FAILED_AS_QP_NOT_SOLVED, /**< Unable to update matrices as previous QP is not solved. */ +/* Utils */ +RET_UNABLE_TO_OPEN_FILE, /**< Unable to open file. */ +RET_UNABLE_TO_WRITE_FILE, /**< Unable to write into file. */ +RET_UNABLE_TO_READ_FILE, /**< Unable to read from file. */ +RET_FILEDATA_INCONSISTENT, /**< File contains inconsistent data. (130) */ +/* Options */ +RET_OPTIONS_ADJUSTED, /**< Options needed to be adjusted for consistency reasons. */ +/* SolutionAnalysis */ +RET_UNABLE_TO_ANALYSE_QPROBLEM, /**< Unable to analyse (S)QProblem(B) object. */ +/* Benchmark */ +RET_NWSR_SET_TO_ONE, /**< Maximum number of working set changes was set to 1. */ +RET_UNABLE_TO_READ_BENCHMARK, /**< Unable to read benchmark data. */ +RET_BENCHMARK_ABORTED, /**< Benchmark aborted. */ +RET_INITIAL_QP_SOLVED, /**< Initial QP solved. */ +RET_QP_SOLUTION_STARTED, /**< Solving QP... */ +RET_BENCHMARK_SUCCESSFUL, /**< Benchmark terminated successfully. */ +/* Sparse matrices */ +RET_NO_DIAGONAL_AVAILABLE, /**< Sparse matrix does not have entries on full diagonal. */ +RET_DIAGONAL_NOT_INITIALISED, /**< Diagonal data of sparse matrix has not been initialised. (140) */ +/* Dropping of infeasible constraints */ +RET_ENSURELI_DROPPED, /**< Linear independence resolved by dropping blocking constraint. */ +/* Simple exitflags */ +RET_SIMPLE_STATUS_P1, /**< QP problem could not be solved within given number of iterations. */ +RET_SIMPLE_STATUS_P0, /**< QP problem solved. */ +RET_SIMPLE_STATUS_M1, /**< QP problem could not be solved due to an internal error. */ +RET_SIMPLE_STATUS_M2, /**< QP problem is infeasible (and thus could not be solved). */ +RET_SIMPLE_STATUS_M3 /**< QP problem is unbounded (and thus could not be solved). (146) */ +} returnValue; + + +/** + * \brief Data structure for entries in global message list. + * + * Data structure for entries in global message list. + * + * \author Hans Joachim Ferreau + * \version 3.1embedded + * \date 2007-2015 + */ +typedef struct +{ + returnValue key; /**< Global return value. */ + const char* data; /**< Corresponding message. */ + VisibilityStatus globalVisibilityStatus; /**< Determines if message can be printed. + * If this value is set to VS_HIDDEN, no message is printed! */ +} ReturnValueList; + + + +/** + * \brief Handles all kind of error messages, warnings and other information. + * + * This class handles all kinds of messages (errors, warnings, infos) initiated + * by qpOASES modules and stores the corresponding global preferences. + * + * \author Hans Joachim Ferreau (thanks to Leonard Wirsching) + * \version 3.1embedded + * \date 2007-2015 + */ +typedef struct +{ + VisibilityStatus errorVisibility; /**< Error messages visible? */ + VisibilityStatus warningVisibility; /**< Warning messages visible? */ + VisibilityStatus infoVisibility; /**< Info messages visible? */ + + FILE* outputFile; /**< Output file for messages. */ + + int errorCount; /**< Counts number of errors (for nicer output only). */ +} MessageHandling; + + + +/** Constructor which takes the desired output file and desired visibility states. */ +void MessageHandlingCON( MessageHandling* _THIS, + FILE* _outputFile, /**< Output file. */ + VisibilityStatus _errorVisibility, /**< Visibility status for error messages. */ + VisibilityStatus _warningVisibility,/**< Visibility status for warning messages. */ + VisibilityStatus _infoVisibility /**< Visibility status for info messages. */ + ); + +void MessageHandlingCPY( MessageHandling* FROM, + MessageHandling* TO + ); + + +/** Prints an error message(a simplified macro THROWERROR is also provided). \n + * Errors are definied as abnormal events which cause an immediate termination of the current (sub) function. + * Errors of a sub function should be commented by the calling function by means of a warning message + * (if this error does not cause an error of the calling function, either)! + * \return Error number returned by sub function call + */ +returnValue MessageHandling_throwError( MessageHandling* _THIS, + returnValue Enumber, /**< Error number returned by sub function call. */ + const char* additionaltext, /**< Additional error text (0, if none). */ + const char* functionname, /**< Name of function which caused the error. */ + const char* filename, /**< Name of file which caused the error. */ + const unsigned long linenumber, /**< Number of line which caused the error.incompatible binary file */ + VisibilityStatus localVisibilityStatus /**< Determines (locally) if error message can be printed to stderr. + * If GLOBAL visibility status of the message is set to VS_HIDDEN, + * no message is printed, anyway! */ + ); + +/** Prints a warning message (a simplified macro THROWWARNING is also provided). + * Warnings are definied as abnormal events which does NOT cause an immediate termination of the current (sub) function. + * \return Warning number returned by sub function call + */ +returnValue MessageHandling_throwWarning( MessageHandling* _THIS, + returnValue Wnumber, /**< Warning number returned by sub function call. */ + const char* additionaltext, /**< Additional warning text (0, if none). */ + const char* functionname, /**< Name of function which caused the warning. */ + const char* filename, /**< Name of file which caused the warning. */ + const unsigned long linenumber, /**< Number of line which caused the warning. */ + VisibilityStatus localVisibilityStatus /**< Determines (locally) if warning message can be printed to stderr. + * If GLOBAL visibility status of the message is set to VS_HIDDEN, + * no message is printed, anyway! */ + ); + +/** Prints a info message (a simplified macro THROWINFO is also provided). + * \return Info number returned by sub function call + */ +returnValue MessageHandling_throwInfo( MessageHandling* _THIS, + returnValue Inumber, /**< Info number returned by sub function call. */ + const char* additionaltext, /**< Additional warning text (0, if none). */ + const char* functionname, /**< Name of function which submitted the info. */ + const char* filename, /**< Name of file which submitted the info. */ + const unsigned long linenumber, /**< Number of line which submitted the info. */ + VisibilityStatus localVisibilityStatus /**< Determines (locally) if info message can be printed to stderr. + * If GLOBAL visibility status of the message is set to VS_HIDDEN, + * no message is printed, anyway! */ + ); + + +/** Resets all preferences to default values. + * \return SUCCESSFUL_RETURN */ +returnValue MessageHandling_reset( MessageHandling* _THIS ); + + +/** Prints a complete list of all messages to output file. + * \return SUCCESSFUL_RETURN */ +returnValue MessageHandling_listAllMessages( MessageHandling* _THIS ); + + +/** Returns visibility status for error messages. + * \return Visibility status for error messages. */ +static inline VisibilityStatus MessageHandling_getErrorVisibilityStatus( MessageHandling* _THIS ); + +/** Returns visibility status for warning messages. + * \return Visibility status for warning messages. */ +static inline VisibilityStatus MessageHandling_getWarningVisibilityStatus( MessageHandling* _THIS ); + +/** Returns visibility status for info messages. + * \return Visibility status for info messages. */ +static inline VisibilityStatus MessageHandling_getInfoVisibilityStatus( MessageHandling* _THIS ); + +/** Returns pointer to output file. + * \return Pointer to output file. */ +static inline FILE* MessageHandling_getOutputFile( MessageHandling* _THIS ); + +/** Returns error count value. + * \return Error count value. */ +static inline int MessageHandling_getErrorCount( MessageHandling* _THIS ); + + +/** Changes visibility status for error messages. */ +static inline void MessageHandling_setErrorVisibilityStatus( MessageHandling* _THIS, + VisibilityStatus _errorVisibility /**< New visibility status for error messages. */ + ); + +/** Changes visibility status for warning messages. */ +static inline void MessageHandling_setWarningVisibilityStatus( MessageHandling* _THIS, + VisibilityStatus _warningVisibility /**< New visibility status for warning messages. */ + ); + +/** Changes visibility status for info messages. */ +static inline void MessageHandling_setInfoVisibilityStatus( MessageHandling* _THIS, + VisibilityStatus _infoVisibility /**< New visibility status for info messages. */ + ); + +/** Changes output file for messages. */ +static inline void MessageHandling_setOutputFile( MessageHandling* _THIS, + FILE* _outputFile /**< New output file for messages. */ + ); + +/** Changes error count. + * \return SUCCESSFUL_RETURN \n + * RET_INVALID_ARGUMENT */ +static inline returnValue MessageHandling_setErrorCount( MessageHandling* _THIS, + int _errorCount /**< New error count value. */ + ); + +/** Provides message text corresponding to given \a returnValue. + * \return String containing message text. */ +const char* MessageHandling_getErrorCodeMessage( MessageHandling* _THIS, + const returnValue _returnValue + ); + + +returnValue MessageHandling_throwMessage( MessageHandling* _THIS, + returnValue RETnumber, /**< Error/warning/info number returned by sub function call. */ + const char* additionaltext, /**< Additional warning text (0, if none). */ + const char* functionname, /**< Name of function which caused the error/warning/info. */ + const char* filename, /**< Name of file which caused the error/warning/info. */ + const unsigned long linenumber, /**< Number of line which caused the error/warning/info. */ + VisibilityStatus localVisibilityStatus, /**< Determines (locally) if info message can be printed to stderr. + * If GLOBAL visibility status of the message is set to VS_HIDDEN, + * no message is printed, anyway! */ + const char* RETstring /**< Leading string of error/warning/info message. */ + ); + + +#ifndef __FILE__ + /** Ensures that __FILE__ macro is defined. */ + #define __FILE__ 0 +#endif + +#ifndef __LINE__ + /** Ensures that __LINE__ macro is defined. */ + #define __LINE__ 0 +#endif + +/** Define __FUNC__ macro providing current function for debugging. */ +/*#define __FUNC__ 0*/ +#define __FUNC__ ("(no function name provided)") +/*#define __FUNC__ __func__*/ +/*#define __FUNC__ __FUNCTION__*/ + + +/** Short version of throwError with default values, only returnValue is needed */ +#define THROWERROR(retval) ( MessageHandling_throwError( qpOASES_getGlobalMessageHandler(),(retval),0,__FUNC__,__FILE__,__LINE__,VS_VISIBLE) ) + +/** Short version of throwWarning with default values, only returnValue is needed */ +#define THROWWARNING(retval) ( MessageHandling_throwWarning( qpOASES_getGlobalMessageHandler(),(retval),0,__FUNC__,__FILE__,__LINE__,VS_VISIBLE) ) + +/** Short version of throwInfo with default values, only returnValue is needed */ +#define THROWINFO(retval) ( MessageHandling_throwInfo( qpOASES_getGlobalMessageHandler(),(retval),0,__FUNC__,__FILE__,__LINE__,VS_VISIBLE) ) + + +/** Returns a pointer to global message handler. + * \return Pointer to global message handler. + */ +MessageHandling* qpOASES_getGlobalMessageHandler( ); + + +/* + * g e t E r r o r V i s i b i l i t y S t a t u s + */ +static inline VisibilityStatus MessageHandling_getErrorVisibilityStatus( MessageHandling* _THIS ) +{ + return _THIS->errorVisibility; +} + + +/* + * g e t W a r n i n g V i s i b i l i t y S t a t u s + */ +static inline VisibilityStatus MessageHandling_getWarningVisibilityStatus( MessageHandling* _THIS ) +{ + return _THIS->warningVisibility; +} + + +/* + * g e t I n f o V i s i b i l i t y S t a t u s + */ +static inline VisibilityStatus MessageHandling_getInfoVisibilityStatus( MessageHandling* _THIS ) +{ + return _THIS->infoVisibility; +} + + +/* + * g e t O u t p u t F i l e + */ +static inline FILE* MessageHandling_getOutputFile( MessageHandling* _THIS ) +{ + return _THIS->outputFile; +} + + +/* + * g e t E r r o r C o u n t + */ +static inline int MessageHandling_getErrorCount( MessageHandling* _THIS ) +{ + return _THIS->errorCount; +} + + +/* + * s e t E r r o r V i s i b i l i t y S t a t u s + */ +static inline void MessageHandling_setErrorVisibilityStatus( MessageHandling* _THIS, VisibilityStatus _errorVisibility ) +{ + _THIS->errorVisibility = _errorVisibility; +} + + +/* + * s e t W a r n i n g V i s i b i l i t y S t a t u s + */ +static inline void MessageHandling_setWarningVisibilityStatus( MessageHandling* _THIS, VisibilityStatus _warningVisibility ) +{ + _THIS->warningVisibility = _warningVisibility; +} + + +/* + * s e t I n f o V i s i b i l i t y S t a t u s + */ +static inline void MessageHandling_setInfoVisibilityStatus( MessageHandling* _THIS, VisibilityStatus _infoVisibility ) +{ + _THIS->infoVisibility = _infoVisibility; +} + + +/* + * s e t O u t p u t F i l e + */ +static inline void MessageHandling_setOutputFile( MessageHandling* _THIS, FILE* _outputFile ) +{ + _THIS->outputFile = _outputFile; +} + + +/* + * s e t E r r o r C o u n t + */ +static inline returnValue MessageHandling_setErrorCount( MessageHandling* _THIS, int _errorCount ) +{ + if ( _errorCount >= 0 ) + { + _THIS->errorCount = _errorCount; + return SUCCESSFUL_RETURN; + } + else + return RET_INVALID_ARGUMENTS; +} + + +END_NAMESPACE_QPOASES + + +#endif /* QPOASES_MESSAGEHANDLING_H */ + + +/* + * end of file + */ diff --git a/third_party/acados/include/qpOASES_e/Options.h b/third_party/acados/include/qpOASES_e/Options.h new file mode 100644 index 0000000000..ca8086d2cc --- /dev/null +++ b/third_party/acados/include/qpOASES_e/Options.h @@ -0,0 +1,153 @@ +/* + * This file is part of qpOASES. + * + * qpOASES -- An Implementation of the Online Active Set Strategy. + * Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka, + * Christian Kirches et al. All rights reserved. + * + * qpOASES is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * qpOASES is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with qpOASES; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + */ + + +/** + * \file include/qpOASES_e/Options.h + * \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches + * \version 3.1embedded + * \date 2007-2015 + * + * Declaration of the Options class designed to manage user-specified + * options for solving a QProblem. + */ + + +#ifndef QPOASES_OPTIONS_H +#define QPOASES_OPTIONS_H + + +#include + + +BEGIN_NAMESPACE_QPOASES + + +/** + * \brief Manages all user-specified options for solving QPs. + * + * This class manages all user-specified options used for solving + * quadratic programs. + * + * \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches + * \version 3.1embedded + * \date 2007-2015 + */ +typedef struct +{ + PrintLevel printLevel; /**< Print level. */ + + BooleanType enableRamping; /**< Specifies whether ramping shall be enabled or not. */ + BooleanType enableFarBounds; /**< Specifies whether far bounds shall be used or not. */ + BooleanType enableFlippingBounds; /**< Specifies whether flipping bounds shall be used or not. */ + BooleanType enableRegularisation; /**< Specifies whether Hessian matrix shall be regularised in case semi-definiteness is detected. */ + BooleanType enableFullLITests; /**< Specifies whether condition-hardened LI test shall be used or not. */ + BooleanType enableNZCTests; /**< Specifies whether nonzero curvature tests shall be used. */ + int enableDriftCorrection; /**< Specifies the frequency of drift corrections (0 = off). */ + int enableCholeskyRefactorisation; /**< Specifies the frequency of full refactorisation of proj. Hessian (otherwise updates). */ + BooleanType enableEqualities; /**< Specifies whether equalities shall be always treated as active constraints. */ + + real_t terminationTolerance; /**< Termination tolerance. */ + real_t boundTolerance; /**< Lower/upper (constraints') bound tolerance (an inequality constraint whose lower and upper bounds differ by less is regarded to be an equality constraint). */ + real_t boundRelaxation; /**< Offset for relaxing (constraints') bounds at beginning of an initial homotopy. It is also as initial value for far bounds. */ + real_t epsNum; /**< Numerator tolerance for ratio tests. */ + real_t epsDen; /**< Denominator tolerance for ratio tests. */ + real_t maxPrimalJump; /**< Maximum allowed jump in primal variables in nonzero curvature tests. */ + real_t maxDualJump; /**< Maximum allowed jump in dual variables in linear independence tests. */ + + real_t initialRamping; /**< Start value for Ramping Strategy. */ + real_t finalRamping; /**< Final value for Ramping Strategy. */ + real_t initialFarBounds; /**< Initial size of Far Bounds. */ + real_t growFarBounds; /**< Factor to grow Far Bounds. */ + SubjectToStatus initialStatusBounds; /**< Initial status of bounds at first iteration. */ + real_t epsFlipping; /**< Tolerance of squared Cholesky diagonal factor which triggers flipping bound. */ + int numRegularisationSteps; /**< Maximum number of successive regularisation steps. */ + real_t epsRegularisation; /**< Scaling factor of identity matrix used for Hessian regularisation. */ + int numRefinementSteps; /**< Maximum number of iterative refinement steps. */ + real_t epsIterRef; /**< Early termination tolerance for iterative refinement. */ + real_t epsLITests; /**< Tolerance for linear independence tests. */ + real_t epsNZCTests; /**< Tolerance for nonzero curvature tests. */ + + BooleanType enableDropInfeasibles; /**< ... */ + int dropBoundPriority; /**< ... */ + int dropEqConPriority; /**< ... */ + int dropIneqConPriority; /**< ... */ +} Options; + + +void OptionsCON( Options* _THIS + ); + +/** Copies all members from given rhs object. + * \return SUCCESSFUL_RETURN */ +void OptionsCPY( Options* FROM, + Options* TO + ); + + +/** Sets all options to default values. + * \return SUCCESSFUL_RETURN */ +returnValue Options_setToDefault( Options* _THIS + ); + +/** Sets all options to values resulting in maximum reliabilty. + * \return SUCCESSFUL_RETURN */ +returnValue Options_setToReliable( Options* _THIS + ); + +/** Sets all options to values resulting in minimum solution time. + * \return SUCCESSFUL_RETURN */ +returnValue Options_setToMPC( Options* _THIS + ); + +/** Same as setToMPC( ), for ensuring backwards compatibility. + * \return SUCCESSFUL_RETURN */ +returnValue Options_setToFast( Options* _THIS + ); + + +/** Ensures that all options have consistent values by automatically + * adjusting inconsistent ones. + * Note: This routine cannot (and does not try to) ensure that values + * are set to reasonable values that make the QP solution work! + * \return SUCCESSFUL_RETURN \n + * RET_OPTIONS_ADJUSTED */ +returnValue Options_ensureConsistency( Options* _THIS + ); + + +/** Prints values of all options. + * \return SUCCESSFUL_RETURN */ +returnValue Options_print( Options* _THIS + ); + + +END_NAMESPACE_QPOASES + + +#endif /* QPOASES_OPTIONS_H */ + + +/* + * end of file + */ diff --git a/third_party/acados/include/qpOASES_e/QProblem.h b/third_party/acados/include/qpOASES_e/QProblem.h new file mode 100644 index 0000000000..91a4a6f396 --- /dev/null +++ b/third_party/acados/include/qpOASES_e/QProblem.h @@ -0,0 +1,2369 @@ +/* + * This file is part of qpOASES. + * + * qpOASES -- An Implementation of the Online Active Set Strategy. + * Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka, + * Christian Kirches et al. All rights reserved. + * + * qpOASES is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * qpOASES is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with qpOASES; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + */ + + +/** + * \file include/qpOASES_e/QProblem.h + * \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches + * \version 3.1embedded + * \date 2007-2015 + * + * Declaration of the QProblem class which is able to use the newly + * developed online active set strategy for parametric quadratic programming. + */ + + + +#ifndef QPOASES_QPROBLEM_H +#define QPOASES_QPROBLEM_H + + +#include +#include +#include +#include +#include +#include + + +BEGIN_NAMESPACE_QPOASES + +typedef struct { + Bounds *auxiliaryBounds; + Constraints *auxiliaryConstraints; + + real_t *ub_new_far; + real_t *lb_new_far; + real_t *ubA_new_far; + real_t *lbA_new_far; + + real_t *g_new; + real_t *lb_new; + real_t *ub_new; + real_t *lbA_new; + real_t *ubA_new; + + real_t *g_new2; + real_t *lb_new2; + real_t *ub_new2; + real_t *lbA_new2; + real_t *ubA_new2; + + real_t *delta_xFX5; + real_t *delta_xFR5; + real_t *delta_yAC5; + real_t *delta_yFX5; + + real_t *Hx; + + real_t *_H; + + real_t *g_original; + real_t *lb_original; + real_t *ub_original; + real_t *lbA_original; + real_t *ubA_original; + + real_t *delta_xFR; + real_t *delta_xFX; + real_t *delta_yAC; + real_t *delta_yFX; + real_t *delta_g; + real_t *delta_lb; + real_t *delta_ub; + real_t *delta_lbA; + real_t *delta_ubA; + + real_t *gMod; + + real_t *aFR; + real_t *wZ; + + real_t *delta_g2; + real_t *delta_xFX2; + real_t *delta_xFR2; + real_t *delta_yAC2; + real_t *delta_yFX2; + real_t *nul; + real_t *Arow; + + real_t *xiC; + real_t *xiC_TMP; + real_t *xiB; + real_t *Arow2; + real_t *num; + + real_t *w; + real_t *tmp; + + real_t *delta_g3; + real_t *delta_xFX3; + real_t *delta_xFR3; + real_t *delta_yAC3; + real_t *delta_yFX3; + real_t *nul2; + + real_t *xiC2; + real_t *xiC_TMP2; + real_t *xiB2; + real_t *num2; + + real_t *Hz; + real_t *z; + real_t *ZHz; + real_t *r; + + real_t *tmp2; + real_t *Hz2; + real_t *z2; + real_t *r2; + real_t *rhs; + + real_t *delta_xFX4; + real_t *delta_xFR4; + real_t *delta_yAC4; + real_t *delta_yFX4; + real_t *nul3; + real_t *ek; + real_t *x_W; + real_t *As; + real_t *Ax_W; + + real_t *num3; + real_t *den; + real_t *delta_Ax_l; + real_t *delta_Ax_u; + real_t *delta_Ax; + real_t *delta_x; + + real_t *_A; + + real_t *grad; + real_t *AX; +} QProblem_ws; + +int QProblem_ws_calculateMemorySize( unsigned int nV, unsigned int nC ); + +char *QProblem_ws_assignMemory( unsigned int nV, unsigned int nC, QProblem_ws **mem, void *raw_memory ); + +QProblem_ws *QProblem_ws_createMemory( unsigned int nV, unsigned int nC ); + +/** + * \brief Implements the online active set strategy for QPs with general constraints. + * + * A class for setting up and solving quadratic programs. The main feature is + * the possibily to use the newly developed online active set strategy for + * parametric quadratic programming. + * + * \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches + * \version 3.1embedded + * \date 2007-2015 + */ +typedef struct +{ + QProblem_ws *ws; /**< Workspace */ + Bounds *bounds; /**< Data structure for problem's bounds. */ + Constraints *constraints; /**< Data structure for problem's constraints. */ + Flipper *flipper; /**< Struct for making a temporary copy of the matrix factorisations. */ + + DenseMatrix* H; /**< Hessian matrix pointer. */ + DenseMatrix* A; /**< Constraint matrix pointer. */ + + Options options; /**< Struct containing all user-defined options for solving QPs. */ + TabularOutput tabularOutput; /**< Struct storing information for tabular output (printLevel == PL_TABULAR). */ + + real_t *g; /**< Gradient. */ + + real_t *lb; /**< Lower bound vector (on variables). */ + real_t *ub; /**< Upper bound vector (on variables). */ + real_t *lbA; /**< Lower constraints' bound vector. */ + real_t *ubA; /**< Upper constraints' bound vector. */ + + real_t *R; /**< Cholesky factor of H (i.e. H = R^T*R). */ + + real_t *T; /**< Reverse triangular matrix, A = [0 T]*Q'. */ + real_t *Q; /**< Orthonormal quadratic matrix, A = [0 T]*Q'. */ + + real_t *Ax; /**< Stores the current A*x \n + * (for increased efficiency only). */ + real_t *Ax_l; /**< Stores the current distance to lower constraints' bounds A*x-lbA \n + * (for increased efficiency only). */ + real_t *Ax_u; /**< Stores the current distance to lower constraints' bounds ubA-A*x \n + * (for increased efficiency only). */ + + real_t *x; /**< Primal solution vector. */ + real_t *y; /**< Dual solution vector. */ + + real_t *delta_xFR_TMP; /**< Temporary for determineStepDirection */ + real_t *tempA; /**< Temporary for determineStepDirection. */ + real_t *tempB; /**< Temporary for determineStepDirection. */ + real_t *ZFR_delta_xFRz; /**< Temporary for determineStepDirection. */ + real_t *delta_xFRy; /**< Temporary for determineStepDirection. */ + real_t *delta_xFRz; /**< Temporary for determineStepDirection. */ + real_t *delta_yAC_TMP; /**< Temporary for determineStepDirection. */ + + ConstraintProduct constraintProduct; /**< Pointer to user-defined constraint product function. */ + + real_t tau; /**< Last homotopy step length. */ + real_t regVal; /**< Holds the offset used to regularise Hessian matrix (zero by default). */ + + real_t ramp0; /**< Start value for Ramping Strategy. */ + real_t ramp1; /**< Final value for Ramping Strategy. */ + + QProblemStatus status; /**< Current status of the solution process. */ + HessianType hessianType; /**< Type of Hessian matrix. */ + + BooleanType haveCholesky; /**< Flag indicating whether Cholesky decomposition has already been setup. */ + BooleanType infeasible; /**< QP infeasible? */ + BooleanType unbounded; /**< QP unbounded? */ + + int rampOffset; /**< Offset index for Ramping. */ + unsigned int count; /**< Counts the number of hotstart function calls (internal usage only!). */ + + int sizeT; /**< Matrix T is stored in a (sizeT x sizeT) array. */ +} QProblem; + +int QProblem_calculateMemorySize( unsigned int nV, unsigned int nC ); + +char *QProblem_assignMemory( unsigned int nV, unsigned int nC, QProblem **mem, void *raw_memory ); + +QProblem *QProblem_createMemory( unsigned int nV, unsigned int nC ); + + +/** Constructor which takes the QP dimension and Hessian type + * information. If the Hessian is the zero (i.e. HST_ZERO) or the + * identity matrix (i.e. HST_IDENTITY), respectively, no memory + * is allocated for it and a NULL pointer can be passed for it + * to the init() functions. */ +void QProblemCON( QProblem* _THIS, + int _nV, /**< Number of variables. */ + int _nC, /**< Number of constraints. */ + HessianType _hessianType /**< Type of Hessian matrix. */ + ); + +/** Copies all members from given rhs object. + * \return SUCCESSFUL_RETURN */ +void QProblemCPY( QProblem* FROM, + QProblem* TO + ); + + +/** Clears all data structures of QProblem except for QP data. + * \return SUCCESSFUL_RETURN \n + RET_RESET_FAILED */ +returnValue QProblem_reset( QProblem* _THIS ); + + +/** Initialises a QP problem with given QP data and tries to solve it + * using at most nWSR iterations. + * + * Note: This function internally calls solveInitialQP for initialisation! + * + * \return SUCCESSFUL_RETURN \n + RET_INIT_FAILED \n + RET_INIT_FAILED_CHOLESKY \n + RET_INIT_FAILED_TQ \n + RET_INIT_FAILED_HOTSTART \n + RET_INIT_FAILED_INFEASIBILITY \n + RET_INIT_FAILED_UNBOUNDEDNESS \n + RET_MAX_NWSR_REACHED \n + RET_INVALID_ARGUMENTS */ +returnValue QProblem_initM( QProblem* _THIS, + DenseMatrix *_H, /**< Hessian matrix. */ + const real_t* const _g, /**< Gradient vector. */ + DenseMatrix *_A, /**< Constraint matrix. */ + const real_t* const _lb, /**< Lower bound vector (on variables). \n + If no lower bounds exist, a NULL pointer can be passed. */ + const real_t* const _ub, /**< Upper bound vector (on variables). \n + If no upper bounds exist, a NULL pointer can be passed. */ + const real_t* const _lbA, /**< Lower constraints' bound vector. \n + If no lower constraints' bounds exist, a NULL pointer can be passed. */ + const real_t* const _ubA, /**< Upper constraints' bound vector. \n + If no lower constraints' bounds exist, a NULL pointer can be passed. */ + int* nWSR, /**< Input: Maximum number of working set recalculations when using initial homotopy. + Output: Number of performed working set recalculations. */ + real_t* const cputime /**< Input: Maximum CPU time allowed for QP initialisation. \n + Output: CPU time spent for QP initialisation (if pointer passed). */ + ); + + +/** Initialises a QP problem with given QP data and tries to solve it + * using at most nWSR iterations. + * + * Note: This function internally calls solveInitialQP for initialisation! + * + * \return SUCCESSFUL_RETURN \n + RET_INIT_FAILED \n + RET_INIT_FAILED_CHOLESKY \n + RET_INIT_FAILED_TQ \n + RET_INIT_FAILED_HOTSTART \n + RET_INIT_FAILED_INFEASIBILITY \n + RET_INIT_FAILED_UNBOUNDEDNESS \n + RET_MAX_NWSR_REACHED \n + RET_INVALID_ARGUMENTS */ +returnValue QProblem_init( QProblem* _THIS, + real_t* const _H, /**< Hessian matrix. \n + If Hessian matrix is trivial, a NULL pointer can be passed. */ + const real_t* const _g, /**< Gradient vector. */ + real_t* const _A, /**< Constraint matrix. */ + const real_t* const _lb, /**< Lower bound vector (on variables). \n + If no lower bounds exist, a NULL pointer can be passed. */ + const real_t* const _ub, /**< Upper bound vector (on variables). \n + If no upper bounds exist, a NULL pointer can be passed. */ + const real_t* const _lbA, /**< Lower constraints' bound vector. \n + If no lower constraints' bounds exist, a NULL pointer can be passed. */ + const real_t* const _ubA, /**< Upper constraints' bound vector. \n + If no lower constraints' bounds exist, a NULL pointer can be passed. */ + int* nWSR, /**< Input: Maximum number of working set recalculations when using initial homotopy. + Output: Number of performed working set recalculations. */ + real_t* const cputime /**< Input: Maximum CPU time allowed for QP initialisation. \n + Output: CPU time spent for QP initialisation (if pointer passed). */ + ); + +/** Initialises a QP problem with given QP data to be read from files and tries to solve it + * using at most nWSR iterations. + * + * Note: This function internally calls solveInitialQP for initialisation! + * + * \return SUCCESSFUL_RETURN \n + RET_INIT_FAILED \n + RET_INIT_FAILED_CHOLESKY \n + RET_INIT_FAILED_TQ \n + RET_INIT_FAILED_HOTSTART \n + RET_INIT_FAILED_INFEASIBILITY \n + RET_INIT_FAILED_UNBOUNDEDNESS \n + RET_MAX_NWSR_REACHED \n + RET_UNABLE_TO_READ_FILE */ +returnValue QProblem_initF( QProblem* _THIS, + const char* const H_file, /**< Name of file where Hessian matrix is stored. \n + If Hessian matrix is trivial, a NULL pointer can be passed. */ + const char* const g_file, /**< Name of file where gradient vector is stored. */ + const char* const A_file, /**< Name of file where constraint matrix is stored. */ + const char* const lb_file, /**< Name of file where lower bound vector. \n + If no lower bounds exist, a NULL pointer can be passed. */ + const char* const ub_file, /**< Name of file where upper bound vector. \n + If no upper bounds exist, a NULL pointer can be passed. */ + const char* const lbA_file, /**< Name of file where lower constraints' bound vector. \n + If no lower constraints' bounds exist, a NULL pointer can be passed. */ + const char* const ubA_file, /**< Name of file where upper constraints' bound vector. \n + If no upper constraints' bounds exist, a NULL pointer can be passed. */ + int* nWSR, /**< Input: Maximum number of working set recalculations when using initial homotopy. + Output: Number of performed working set recalculations. */ + real_t* const cputime /**< Input: Maximum CPU time allowed for QP initialisation. \n + Output: CPU time spent for QP initialisation (if pointer passed). */ + ); + +/** Initialises a QP problem with given QP data and tries to solve it + * using at most nWSR iterations. Depending on the parameter constellation it: \n + * 1. 0, 0, 0 : starts with xOpt = 0, yOpt = 0 and gB/gC empty (or all implicit equality bounds), \n + * 2. xOpt, 0, 0 : starts with xOpt, yOpt = 0 and obtain gB/gC by "clipping", \n + * 3. 0, yOpt, 0 : starts with xOpt = 0, yOpt and obtain gB/gC from yOpt != 0, \n + * 4. 0, 0, gB/gC: starts with xOpt = 0, yOpt = 0 and gB/gC, \n + * 5. xOpt, yOpt, 0 : starts with xOpt, yOpt and obtain gB/gC from yOpt != 0, \n + * 6. xOpt, 0, gB/gC: starts with xOpt, yOpt = 0 and gB/gC, \n + * 7. xOpt, yOpt, gB/gC: starts with xOpt, yOpt and gB/gC (assume them to be consistent!) + * + * Note: This function internally calls solveInitialQP for initialisation! + * + * \return SUCCESSFUL_RETURN \n + RET_INIT_FAILED \n + RET_INIT_FAILED_CHOLESKY \n + RET_INIT_FAILED_TQ \n + RET_INIT_FAILED_HOTSTART \n + RET_INIT_FAILED_INFEASIBILITY \n + RET_INIT_FAILED_UNBOUNDEDNESS \n + RET_MAX_NWSR_REACHED \n + RET_INVALID_ARGUMENTS */ +returnValue QProblem_initMW( QProblem* _THIS, + DenseMatrix *_H, /**< Hessian matrix. \n + If Hessian matrix is trivial, a NULL pointer can be passed. */ + const real_t* const _g, /**< Gradient vector. */ + DenseMatrix *_A, /**< Constraint matrix. */ + const real_t* const _lb, /**< Lower bound vector (on variables). \n + If no lower bounds exist, a NULL pointer can be passed. */ + const real_t* const _ub, /**< Upper bound vector (on variables). \n + If no upper bounds exist, a NULL pointer can be passed. */ + const real_t* const _lbA, /**< Lower constraints' bound vector. \n + If no lower constraints' bounds exist, a NULL pointer can be passed. */ + const real_t* const _ubA, /**< Upper constraints' bound vector. \n + If no lower constraints' bounds exist, a NULL pointer can be passed. */ + int* nWSR, /**< Input: Maximum number of working set recalculations when using initial homotopy. + * Output: Number of performed working set recalculations. */ + real_t* const cputime, /**< Input: Maximum CPU time allowed for QP initialisation. \n + Output: CPU time spent for QP initialisation. */ + const real_t* const xOpt, /**< Optimal primal solution vector. \n + (If a null pointer is passed, the old primal solution is kept!) */ + const real_t* const yOpt, /**< Optimal dual solution vector. \n + (If a null pointer is passed, the old dual solution is kept!) */ + Bounds* const guessedBounds, /**< Optimal working set of bounds for solution (xOpt,yOpt). */ + Constraints* const guessedConstraints, /**< Optimal working set of constraints for solution (xOpt,yOpt). */ + const real_t* const _R /**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix. + The Cholesky factor must be stored in a real_t array of size nV*nV + in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! \n + (If a null pointer is passed, Cholesky decomposition is computed internally!) */ + ); + +/** Initialises a QP problem with given QP data and tries to solve it + * using at most nWSR iterations. Depending on the parameter constellation it: \n + * 1. 0, 0, 0 : starts with xOpt = 0, yOpt = 0 and gB/gC empty (or all implicit equality bounds), \n + * 2. xOpt, 0, 0 : starts with xOpt, yOpt = 0 and obtain gB/gC by "clipping", \n + * 3. 0, yOpt, 0 : starts with xOpt = 0, yOpt and obtain gB/gC from yOpt != 0, \n + * 4. 0, 0, gB/gC: starts with xOpt = 0, yOpt = 0 and gB/gC, \n + * 5. xOpt, yOpt, 0 : starts with xOpt, yOpt and obtain gB/gC from yOpt != 0, \n + * 6. xOpt, 0, gB/gC: starts with xOpt, yOpt = 0 and gB/gC, \n + * 7. xOpt, yOpt, gB/gC: starts with xOpt, yOpt and gB/gC (assume them to be consistent!) + * + * Note: This function internally calls solveInitialQP for initialisation! + * + * \return SUCCESSFUL_RETURN \n + RET_INIT_FAILED \n + RET_INIT_FAILED_CHOLESKY \n + RET_INIT_FAILED_TQ \n + RET_INIT_FAILED_HOTSTART \n + RET_INIT_FAILED_INFEASIBILITY \n + RET_INIT_FAILED_UNBOUNDEDNESS \n + RET_MAX_NWSR_REACHED \n + RET_INVALID_ARGUMENTS */ +returnValue QProblem_initW( QProblem* _THIS, + real_t* const _H, /**< Hessian matrix. \n + If Hessian matrix is trivial, a NULL pointer can be passed. */ + const real_t* const _g, /**< Gradient vector. */ + real_t* const _A, /**< Constraint matrix. */ + const real_t* const _lb, /**< Lower bound vector (on variables). \n + If no lower bounds exist, a NULL pointer can be passed. */ + const real_t* const _ub, /**< Upper bound vector (on variables). \n + If no upper bounds exist, a NULL pointer can be passed. */ + const real_t* const _lbA, /**< Lower constraints' bound vector. \n + If no lower constraints' bounds exist, a NULL pointer can be passed. */ + const real_t* const _ubA, /**< Upper constraints' bound vector. \n + If no lower constraints' bounds exist, a NULL pointer can be passed. */ + int* nWSR, /**< Input: Maximum number of working set recalculations when using initial homotopy. + * Output: Number of performed working set recalculations. */ + real_t* const cputime, /**< Input: Maximum CPU time allowed for QP initialisation. \n + Output: CPU time spent for QP initialisation. */ + const real_t* const xOpt, /**< Optimal primal solution vector. \n + (If a null pointer is passed, the old primal solution is kept!) */ + const real_t* const yOpt, /**< Optimal dual solution vector. \n + (If a null pointer is passed, the old dual solution is kept!) */ + Bounds* const guessedBounds, /**< Optimal working set of bounds for solution (xOpt,yOpt). */ + Constraints* const guessedConstraints, /**< Optimal working set of constraints for solution (xOpt,yOpt). */ + const real_t* const _R /**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix. + The Cholesky factor must be stored in a real_t array of size nV*nV + in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! \n + (If a null pointer is passed, Cholesky decomposition is computed internally!) */ + ); + +/** Initialises a QP problem with given QP data to be ream from files and tries to solve it + * using at most nWSR iterations. Depending on the parameter constellation it: \n + * 1. 0, 0, 0 : starts with xOpt = 0, yOpt = 0 and gB/gC empty (or all implicit equality bounds), \n + * 2. xOpt, 0, 0 : starts with xOpt, yOpt = 0 and obtain gB/gC by "clipping", \n + * 3. 0, yOpt, 0 : starts with xOpt = 0, yOpt and obtain gB/gC from yOpt != 0, \n + * 4. 0, 0, gB/gC: starts with xOpt = 0, yOpt = 0 and gB/gC, \n + * 5. xOpt, yOpt, 0 : starts with xOpt, yOpt and obtain gB/gC from yOpt != 0, \n + * 6. xOpt, 0, gB/gC: starts with xOpt, yOpt = 0 and gB/gC, \n + * 7. xOpt, yOpt, gB/gC: starts with xOpt, yOpt and gB/gC (assume them to be consistent!) + * + * Note: This function internally calls solveInitialQP for initialisation! + * + * \return SUCCESSFUL_RETURN \n + RET_INIT_FAILED \n + RET_INIT_FAILED_CHOLESKY \n + RET_INIT_FAILED_TQ \n + RET_INIT_FAILED_HOTSTART \n + RET_INIT_FAILED_INFEASIBILITY \n + RET_INIT_FAILED_UNBOUNDEDNESS \n + RET_MAX_NWSR_REACHED \n + RET_UNABLE_TO_READ_FILE */ +returnValue QProblem_initFW( QProblem* _THIS, + const char* const H_file, /**< Name of file where Hessian matrix is stored. \n + If Hessian matrix is trivial, a NULL pointer can be passed. */ + const char* const g_file, /**< Name of file where gradient vector is stored. */ + const char* const A_file, /**< Name of file where constraint matrix is stored. */ + const char* const lb_file, /**< Name of file where lower bound vector. \n + If no lower bounds exist, a NULL pointer can be passed. */ + const char* const ub_file, /**< Name of file where upper bound vector. \n + If no upper bounds exist, a NULL pointer can be passed. */ + const char* const lbA_file, /**< Name of file where lower constraints' bound vector. \n + If no lower constraints' bounds exist, a NULL pointer can be passed. */ + const char* const ubA_file, /**< Name of file where upper constraints' bound vector. \n + If no upper constraints' bounds exist, a NULL pointer can be passed. */ + int* nWSR, /**< Input: Maximum number of working set recalculations when using initial homotopy. + Output: Number of performed working set recalculations. */ + real_t* const cputime, /**< Input: Maximum CPU time allowed for QP initialisation. \n + Output: CPU time spent for QP initialisation. */ + const real_t* const xOpt, /**< Optimal primal solution vector. \n + (If a null pointer is passed, the old primal solution is kept!) */ + const real_t* const yOpt, /**< Optimal dual solution vector. \n + (If a null pointer is passed, the old dual solution is kept!) */ + Bounds* const guessedBounds, /**< Optimal working set of bounds for solution (xOpt,yOpt). */ + Constraints* const guessedConstraints, /**< Optimal working set of constraints for solution (xOpt,yOpt). */ + const char* const R_file /**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix. + The Cholesky factor must be stored in a real_t array of size nV*nV + in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! \n + (If a null pointer is passed, Cholesky decomposition is computed internally!) */ + ); + +/** Solves an initialised QP sequence using the online active set strategy. + * QP solution is started from previous solution. + * + * Note: This function internally calls solveQP/solveRegularisedQP + * for solving an initialised QP! + * + * \return SUCCESSFUL_RETURN \n + RET_MAX_NWSR_REACHED \n + RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n + RET_HOTSTART_FAILED \n + RET_SHIFT_DETERMINATION_FAILED \n + RET_STEPDIRECTION_DETERMINATION_FAILED \n + RET_STEPLENGTH_DETERMINATION_FAILED \n + RET_HOMOTOPY_STEP_FAILED \n + RET_HOTSTART_STOPPED_INFEASIBILITY \n + RET_HOTSTART_STOPPED_UNBOUNDEDNESS */ +returnValue QProblem_hotstart( QProblem* _THIS, + const real_t* const g_new, /**< Gradient of neighbouring QP to be solved. */ + const real_t* const lb_new, /**< Lower bounds of neighbouring QP to be solved. \n + If no lower bounds exist, a NULL pointer can be passed. */ + const real_t* const ub_new, /**< Upper bounds of neighbouring QP to be solved. \n + If no upper bounds exist, a NULL pointer can be passed. */ + const real_t* const lbA_new, /**< Lower constraints' bounds of neighbouring QP to be solved. \n + If no lower constraints' bounds exist, a NULL pointer can be passed. */ + const real_t* const ubA_new, /**< Upper constraints' bounds of neighbouring QP to be solved. \n + If no upper constraints' bounds exist, a NULL pointer can be passed. */ + int* nWSR, /**< Input: Maximum number of working set recalculations; \n + Output: Number of performed working set recalculations. */ + real_t* const cputime /**< Input: Maximum CPU time allowed for QP solution. \n + Output: CPU time spent for QP solution (or to perform nWSR iterations). */ + ); + +/** Solves an initialised QP sequence using the online active set strategy, + * where QP data is read from files. QP solution is started from previous solution. + * + * Note: This function internally calls solveQP/solveRegularisedQP + * for solving an initialised QP! + * + * \return SUCCESSFUL_RETURN \n + RET_MAX_NWSR_REACHED \n + RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n + RET_HOTSTART_FAILED \n + RET_SHIFT_DETERMINATION_FAILED \n + RET_STEPDIRECTION_DETERMINATION_FAILED \n + RET_STEPLENGTH_DETERMINATION_FAILED \n + RET_HOMOTOPY_STEP_FAILED \n + RET_HOTSTART_STOPPED_INFEASIBILITY \n + RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n + RET_UNABLE_TO_READ_FILE \n + RET_INVALID_ARGUMENTS */ +returnValue QProblem_hotstartF( QProblem* _THIS, + const char* const g_file, /**< Name of file where gradient, of neighbouring QP to be solved, is stored. */ + const char* const lb_file, /**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n + If no lower bounds exist, a NULL pointer can be passed. */ + const char* const ub_file, /**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n + If no upper bounds exist, a NULL pointer can be passed. */ + const char* const lbA_file, /**< Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. \n + If no lower constraints' bounds exist, a NULL pointer can be passed. */ + const char* const ubA_file, /**< Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. \n + If no upper constraints' bounds exist, a NULL pointer can be passed. */ + int* nWSR, /**< Input: Maximum number of working set recalculations; \n + Output: Number of performed working set recalculations. */ + real_t* const cputime /**< Input: Maximum CPU time allowed for QP solution. \n + Output: CPU time spent for QP solution (or to perform nWSR iterations). */ + ); + +/** Solves an initialised QP sequence using the online active set strategy. + * By default, QP solution is started from previous solution. If a guess + * for the working set is provided, an initialised homotopy is performed. + * + * Note: This function internally calls solveQP/solveRegularisedQP + * for solving an initialised QP! + * + * \return SUCCESSFUL_RETURN \n + RET_MAX_NWSR_REACHED \n + RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n + RET_HOTSTART_FAILED \n + RET_SHIFT_DETERMINATION_FAILED \n + RET_STEPDIRECTION_DETERMINATION_FAILED \n + RET_STEPLENGTH_DETERMINATION_FAILED \n + RET_HOMOTOPY_STEP_FAILED \n + RET_HOTSTART_STOPPED_INFEASIBILITY \n + RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n + RET_SETUP_AUXILIARYQP_FAILED */ +returnValue QProblem_hotstartW( QProblem* _THIS, + const real_t* const g_new, /**< Gradient of neighbouring QP to be solved. */ + const real_t* const lb_new, /**< Lower bounds of neighbouring QP to be solved. \n + If no lower bounds exist, a NULL pointer can be passed. */ + const real_t* const ub_new, /**< Upper bounds of neighbouring QP to be solved. \n + If no upper bounds exist, a NULL pointer can be passed. */ + const real_t* const lbA_new, /**< Lower constraints' bounds of neighbouring QP to be solved. \n + If no lower constraints' bounds exist, a NULL pointer can be passed. */ + const real_t* const ubA_new, /**< Upper constraints' bounds of neighbouring QP to be solved. \n + If no upper constraints' bounds exist, a NULL pointer can be passed. */ + int* nWSR, /**< Input: Maximum number of working set recalculations; \n + Output: Number of performed working set recalculations. */ + real_t* const cputime, /**< Input: Maximum CPU time allowed for QP solution. \n + Output: CPU time spent for QP solution (or to perform nWSR iterations). */ + Bounds* const guessedBounds, /**< Optimal working set of bounds for solution (xOpt,yOpt). \n + (If a null pointer is passed, the previous working set of bounds is kept!) */ + Constraints* const guessedConstraints /**< Optimal working set of constraints for solution (xOpt,yOpt). \n + (If a null pointer is passed, the previous working set of constraints is kept!) */ + ); + +/** Solves an initialised QP sequence using the online active set strategy, + * where QP data is read from files. + * By default, QP solution is started from previous solution. If a guess + * for the working set is provided, an initialised homotopy is performed. + * + * Note: This function internally calls solveQP/solveRegularisedQP + * for solving an initialised QP! + * + * \return SUCCESSFUL_RETURN \n + RET_MAX_NWSR_REACHED \n + RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n + RET_HOTSTART_FAILED \n + RET_SHIFT_DETERMINATION_FAILED \n + RET_STEPDIRECTION_DETERMINATION_FAILED \n + RET_STEPLENGTH_DETERMINATION_FAILED \n + RET_HOMOTOPY_STEP_FAILED \n + RET_HOTSTART_STOPPED_INFEASIBILITY \n + RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n + RET_SETUP_AUXILIARYQP_FAILED \n + RET_UNABLE_TO_READ_FILE \n + RET_INVALID_ARGUMENTS */ +returnValue QProblem_hotstartFW( QProblem* _THIS, + const char* const g_file, /**< Name of file where gradient, of neighbouring QP to be solved, is stored. */ + const char* const lb_file, /**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n + If no lower bounds exist, a NULL pointer can be passed. */ + const char* const ub_file, /**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n + If no upper bounds exist, a NULL pointer can be passed. */ + const char* const lbA_file, /**< Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. \n + If no lower constraints' bounds exist, a NULL pointer can be passed. */ + const char* const ubA_file, /**< Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. \n + If no upper constraints' bounds exist, a NULL pointer can be passed. */ + int* nWSR, /**< Input: Maximum number of working set recalculations; \n + Output: Number of performed working set recalculations. */ + real_t* const cputime, /**< Input: Maximum CPU time allowed for QP solution. \n + Output: CPU time spent for QP solution (or to perform nWSR iterations). */ + Bounds* const guessedBounds, /**< Optimal working set of bounds for solution (xOpt,yOpt). \n + (If a null pointer is passed, the previous working set of bounds is kept!) */ + Constraints* const guessedConstraints /**< Optimal working set of constraints for solution (xOpt,yOpt). \n + (If a null pointer is passed, the previous working set of constraints is kept!) */ + ); + + +/** Solves using the current working set + * \return SUCCESSFUL_RETURN \n + * RET_STEPDIRECTION_FAILED_TQ \n + * RET_STEPDIRECTION_FAILED_CHOLESKY \n + * RET_INVALID_ARGUMENTS */ +returnValue QProblem_solveCurrentEQP ( QProblem* _THIS, + const int n_rhs, /**< Number of consecutive right hand sides */ + const real_t* g_in, /**< Gradient of neighbouring QP to be solved. */ + const real_t* lb_in, /**< Lower bounds of neighbouring QP to be solved. \n + If no lower bounds exist, a NULL pointer can be passed. */ + const real_t* ub_in, /**< Upper bounds of neighbouring QP to be solved. \n + If no upper bounds exist, a NULL pointer can be passed. */ + const real_t* lbA_in, /**< Lower constraints' bounds of neighbouring QP to be solved. \n + If no lower constraints' bounds exist, a NULL pointer can be passed. */ + const real_t* ubA_in, /**< Upper constraints' bounds of neighbouring QP to be solved. \n */ + real_t* x_out, /**< Output: Primal solution */ + real_t* y_out /**< Output: Dual solution */ + ); + + + +/** Returns current constraints object of the QP (deep copy). + * \return SUCCESSFUL_RETURN \n + RET_QPOBJECT_NOT_SETUP */ +static inline returnValue QProblem_getConstraints( QProblem* _THIS, + Constraints* _constraints /** Output: Constraints object. */ + ); + + +/** Returns the number of constraints. + * \return Number of constraints. */ +static inline int QProblem_getNC( QProblem* _THIS ); + +/** Returns the number of (implicitly defined) equality constraints. + * \return Number of (implicitly defined) equality constraints. */ +static inline int QProblem_getNEC( QProblem* _THIS ); + +/** Returns the number of active constraints. + * \return Number of active constraints. */ +static inline int QProblem_getNAC( QProblem* _THIS ); + +/** Returns the number of inactive constraints. + * \return Number of inactive constraints. */ +static inline int QProblem_getNIAC( QProblem* _THIS ); + +/** Returns the dimension of null space. + * \return Dimension of null space. */ +int QProblem_getNZ( QProblem* _THIS ); + + +/** Returns the dual solution vector (deep copy). + * \return SUCCESSFUL_RETURN \n + RET_QP_NOT_SOLVED */ +returnValue QProblem_getDualSolution( QProblem* _THIS, + real_t* const yOpt /**< Output: Dual solution vector (if QP has been solved). */ + ); + + +/** Defines user-defined routine for calculating the constraint product A*x + * \return SUCCESSFUL_RETURN \n */ +returnValue QProblem_setConstraintProduct( QProblem* _THIS, + ConstraintProduct _constraintProduct + ); + + +/** Prints concise list of properties of the current QP. + * \return SUCCESSFUL_RETURN \n */ +returnValue QProblem_printProperties( QProblem* _THIS ); + + + +/** Writes a vector with the state of the working set +* \return SUCCESSFUL_RETURN */ +returnValue QProblem_getWorkingSet( QProblem* _THIS, + real_t* workingSet /** Output: array containing state of the working set. */ + ); + +/** Writes a vector with the state of the working set of bounds + * \return SUCCESSFUL_RETURN \n + * RET_INVALID_ARGUMENTS */ +returnValue QProblem_getWorkingSetBounds( QProblem* _THIS, + real_t* workingSetB /** Output: array containing state of the working set of bounds. */ + ); + +/** Writes a vector with the state of the working set of constraints + * \return SUCCESSFUL_RETURN \n + * RET_INVALID_ARGUMENTS */ +returnValue QProblem_getWorkingSetConstraints( QProblem* _THIS, + real_t* workingSetC /** Output: array containing state of the working set of constraints. */ + ); + + +/** Returns current bounds object of the QP (deep copy). + * \return SUCCESSFUL_RETURN \n + RET_QPOBJECT_NOT_SETUP */ +static inline returnValue QProblem_getBounds( QProblem* _THIS, + Bounds* _bounds /** Output: Bounds object. */ + ); + + +/** Returns the number of variables. + * \return Number of variables. */ +static inline int QProblem_getNV( QProblem* _THIS ); + +/** Returns the number of free variables. + * \return Number of free variables. */ +static inline int QProblem_getNFR( QProblem* _THIS ); + +/** Returns the number of fixed variables. + * \return Number of fixed variables. */ +static inline int QProblem_getNFX( QProblem* _THIS ); + +/** Returns the number of implicitly fixed variables. + * \return Number of implicitly fixed variables. */ +static inline int QProblem_getNFV( QProblem* _THIS ); + + +/** Returns the optimal objective function value. + * \return finite value: Optimal objective function value (QP was solved) \n + +infinity: QP was not yet solved */ +real_t QProblem_getObjVal( QProblem* _THIS ); + +/** Returns the objective function value at an arbitrary point x. + * \return Objective function value at point x */ +real_t QProblem_getObjValX( QProblem* _THIS, + const real_t* const _x /**< Point at which the objective function shall be evaluated. */ + ); + +/** Returns the primal solution vector. + * \return SUCCESSFUL_RETURN \n + RET_QP_NOT_SOLVED */ +returnValue QProblem_getPrimalSolution( QProblem* _THIS, + real_t* const xOpt /**< Output: Primal solution vector (if QP has been solved). */ + ); + + +/** Returns status of the solution process. + * \return Status of solution process. */ +static inline QProblemStatus QProblem_getStatus( QProblem* _THIS ); + + +/** Returns if the QProblem object is initialised. + * \return BT_TRUE: QProblem initialised \n + BT_FALSE: QProblem not initialised */ +static inline BooleanType QProblem_isInitialised( QProblem* _THIS ); + +/** Returns if the QP has been solved. + * \return BT_TRUE: QProblem solved \n + BT_FALSE: QProblem not solved */ +static inline BooleanType QProblem_isSolved( QProblem* _THIS ); + +/** Returns if the QP is infeasible. + * \return BT_TRUE: QP infeasible \n + BT_FALSE: QP feasible (or not known to be infeasible!) */ +static inline BooleanType QProblem_isInfeasible( QProblem* _THIS ); + +/** Returns if the QP is unbounded. + * \return BT_TRUE: QP unbounded \n + BT_FALSE: QP unbounded (or not known to be unbounded!) */ +static inline BooleanType QProblem_isUnbounded( QProblem* _THIS ); + + +/** Returns Hessian type flag (type is not determined due to _THIS call!). + * \return Hessian type. */ +static inline HessianType QProblem_getHessianType( QProblem* _THIS ); + +/** Changes the print level. + * \return SUCCESSFUL_RETURN */ +static inline returnValue QProblem_setHessianType( QProblem* _THIS, + HessianType _hessianType /**< New Hessian type. */ + ); + +/** Returns if the QP has been internally regularised. + * \return BT_TRUE: Hessian is internally regularised for QP solution \n + BT_FALSE: No internal Hessian regularisation is used for QP solution */ +static inline BooleanType QProblem_usingRegularisation( QProblem* _THIS ); + +/** Returns current options struct. + * \return Current options struct. */ +static inline Options QProblem_getOptions( QProblem* _THIS ); + +/** Overrides current options with given ones. + * \return SUCCESSFUL_RETURN */ +static inline returnValue QProblem_setOptions( QProblem* _THIS, + Options _options /**< New options. */ + ); + +/** Returns the print level. + * \return Print level. */ +static inline PrintLevel QProblem_getPrintLevel( QProblem* _THIS ); + +/** Changes the print level. + * \return SUCCESSFUL_RETURN */ +returnValue QProblem_setPrintLevel( QProblem* _THIS, + PrintLevel _printlevel /**< New print level. */ + ); + + +/** Returns the current number of QP problems solved. + * \return Number of QP problems solved. */ +static inline unsigned int QProblem_getCount( QProblem* _THIS ); + +/** Resets QP problem counter (to zero). + * \return SUCCESSFUL_RETURN. */ +static inline returnValue QProblem_resetCounter( QProblem* _THIS ); + + +/** Prints a list of all options and their current values. + * \return SUCCESSFUL_RETURN \n */ +returnValue QProblem_printOptions( QProblem* _THIS ); + + +/** Solves a QProblem whose QP data is assumed to be stored in the member variables. + * A guess for its primal/dual optimal solution vectors and the corresponding + * working sets of bounds and constraints can be provided. + * Note: This function is internally called by all init functions! + * \return SUCCESSFUL_RETURN \n + RET_INIT_FAILED \n + RET_INIT_FAILED_CHOLESKY \n + RET_INIT_FAILED_TQ \n + RET_INIT_FAILED_HOTSTART \n + RET_INIT_FAILED_INFEASIBILITY \n + RET_INIT_FAILED_UNBOUNDEDNESS \n + RET_MAX_NWSR_REACHED */ +returnValue QProblem_solveInitialQP( QProblem* _THIS, + const real_t* const xOpt, /**< Optimal primal solution vector.*/ + const real_t* const yOpt, /**< Optimal dual solution vector. */ + Bounds* const guessedBounds, /**< Optimal working set of bounds for solution (xOpt,yOpt). */ + Constraints* const guessedConstraints, /**< Optimal working set of constraints for solution (xOpt,yOpt). */ + const real_t* const _R, /**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix. */ + int* nWSR, /**< Input: Maximum number of working set recalculations; \n + * Output: Number of performed working set recalculations. */ + real_t* const cputime /**< Input: Maximum CPU time allowed for QP solution. \n + * Output: CPU time spent for QP solution (or to perform nWSR iterations). */ + ); + +/** Solves QProblem using online active set strategy. + * Note: This function is internally called by all hotstart functions! + * \return SUCCESSFUL_RETURN \n + RET_MAX_NWSR_REACHED \n + RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n + RET_HOTSTART_FAILED \n + RET_SHIFT_DETERMINATION_FAILED \n + RET_STEPDIRECTION_DETERMINATION_FAILED \n + RET_STEPLENGTH_DETERMINATION_FAILED \n + RET_HOMOTOPY_STEP_FAILED \n + RET_HOTSTART_STOPPED_INFEASIBILITY \n + RET_HOTSTART_STOPPED_UNBOUNDEDNESS */ +returnValue QProblem_solveQP( QProblem* _THIS, + const real_t* const g_new, /**< Gradient of neighbouring QP to be solved. */ + const real_t* const lb_new, /**< Lower bounds of neighbouring QP to be solved. \n + If no lower bounds exist, a NULL pointer can be passed. */ + const real_t* const ub_new, /**< Upper bounds of neighbouring QP to be solved. \n + If no upper bounds exist, a NULL pointer can be passed. */ + const real_t* const lbA_new, /**< Lower constraints' bounds of neighbouring QP to be solved. \n + If no lower constraints' bounds exist, a NULL pointer can be passed. */ + const real_t* const ubA_new, /**< Upper constraints' bounds of neighbouring QP to be solved. \n + If no upper constraints' bounds exist, a NULL pointer can be passed. */ + int* nWSR, /**< Input: Maximum number of working set recalculations; \n + Output: Number of performed working set recalculations. */ + real_t* const cputime, /**< Input: Maximum CPU time allowed for QP solution. \n + Output: CPU time spent for QP solution (or to perform nWSR iterations). */ + int nWSRperformed, /**< Number of working set recalculations already performed to solve + this QP within previous solveQP() calls. This number is + always zero, except for successive calls from solveRegularisedQP() + or when using the far bound strategy. */ + BooleanType isFirstCall /**< Indicating whether this is the first call for current QP. */ + ); + + +/** Solves QProblem using online active set strategy. + * Note: This function is internally called by all hotstart functions! + * \return SUCCESSFUL_RETURN \n + RET_MAX_NWSR_REACHED \n + RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n + RET_HOTSTART_FAILED \n + RET_SHIFT_DETERMINATION_FAILED \n + RET_STEPDIRECTION_DETERMINATION_FAILED \n + RET_STEPLENGTH_DETERMINATION_FAILED \n + RET_HOMOTOPY_STEP_FAILED \n + RET_HOTSTART_STOPPED_INFEASIBILITY \n + RET_HOTSTART_STOPPED_UNBOUNDEDNESS */ +returnValue QProblem_solveRegularisedQP( QProblem* _THIS, + const real_t* const g_new, /**< Gradient of neighbouring QP to be solved. */ + const real_t* const lb_new, /**< Lower bounds of neighbouring QP to be solved. \n + If no lower bounds exist, a NULL pointer can be passed. */ + const real_t* const ub_new, /**< Upper bounds of neighbouring QP to be solved. \n + If no upper bounds exist, a NULL pointer can be passed. */ + const real_t* const lbA_new, /**< Lower constraints' bounds of neighbouring QP to be solved. \n + If no lower constraints' bounds exist, a NULL pointer can be passed. */ + const real_t* const ubA_new, /**< Upper constraints' bounds of neighbouring QP to be solved. \n + If no upper constraints' bounds exist, a NULL pointer can be passed. */ + int* nWSR, /**< Input: Maximum number of working set recalculations; \n + Output: Number of performed working set recalculations. */ + real_t* const cputime, /**< Input: Maximum CPU time allowed for QP solution. \n + Output: CPU time spent for QP solution (or to perform nWSR iterations). */ + int nWSRperformed, /**< Number of working set recalculations already performed to solve + this QP within previous solveRegularisedQP() calls. This number is + always zero, except for successive calls when using the far bound strategy. */ + BooleanType isFirstCall /**< Indicating whether this is the first call for current QP. */ + ); + + +/** Determines type of existing constraints and bounds (i.e. implicitly fixed, unbounded etc.). + * \return SUCCESSFUL_RETURN \n + RET_SETUPSUBJECTTOTYPE_FAILED */ +returnValue QProblem_setupSubjectToType( QProblem* _THIS ); + +/** Determines type of new constraints and bounds (i.e. implicitly fixed, unbounded etc.). + * \return SUCCESSFUL_RETURN \n + RET_SETUPSUBJECTTOTYPE_FAILED */ +returnValue QProblem_setupSubjectToTypeNew( QProblem* _THIS, + const real_t* const lb_new, /**< New lower bounds. */ + const real_t* const ub_new, /**< New upper bounds. */ + const real_t* const lbA_new, /**< New lower constraints' bounds. */ + const real_t* const ubA_new /**< New upper constraints' bounds. */ + ); + +/** Computes the Cholesky decomposition of the projected Hessian (i.e. R^T*R = Z^T*H*Z). + * Note: If Hessian turns out not to be positive definite, the Hessian type + * is set to HST_SEMIDEF accordingly. + * \return SUCCESSFUL_RETURN \n + * RET_HESSIAN_NOT_SPD \n + * RET_INDEXLIST_CORRUPTED */ +returnValue QProblem_computeProjectedCholesky( QProblem* _THIS ); + +/** Computes initial Cholesky decomposition of the projected Hessian making + * use of the function setupCholeskyDecomposition() or setupCholeskyDecompositionProjected(). + * \return SUCCESSFUL_RETURN \n + * RET_HESSIAN_NOT_SPD \n + * RET_INDEXLIST_CORRUPTED */ +returnValue QProblem_setupInitialCholesky( QProblem* _THIS ); + +/** Initialises TQ factorisation of A (i.e. A*Q = [0 T]) if NO constraint is active. + * \return SUCCESSFUL_RETURN \n + RET_INDEXLIST_CORRUPTED */ +returnValue QProblem_setupTQfactorisation( QProblem* _THIS ); + + +/** Obtains the desired working set for the auxiliary initial QP in + * accordance with the user specifications + * (assumes that member AX has already been initialised!) + * \return SUCCESSFUL_RETURN \n + RET_OBTAINING_WORKINGSET_FAILED \n + RET_INVALID_ARGUMENTS */ +returnValue QProblem_obtainAuxiliaryWorkingSet( QProblem* _THIS, + const real_t* const xOpt, /**< Optimal primal solution vector. + * If a NULL pointer is passed, all entries are assumed to be zero. */ + const real_t* const yOpt, /**< Optimal dual solution vector. + * If a NULL pointer is passed, all entries are assumed to be zero. */ + Bounds* const guessedBounds, /**< Guessed working set of bounds for solution (xOpt,yOpt). */ + Constraints* const guessedConstraints, /**< Guessed working set for solution (xOpt,yOpt). */ + Bounds* auxiliaryBounds, /**< Input: Allocated bound object. \n + * Ouput: Working set of constraints for auxiliary QP. */ + Constraints* auxiliaryConstraints /**< Input: Allocated bound object. \n + * Ouput: Working set for auxiliary QP. */ + ); + +/** Sets up bound and constraints data structures according to auxiliaryBounds/Constraints. + * (If the working set shall be setup afresh, make sure that + * bounds and constraints data structure have been resetted + * and the TQ factorisation has been initialised!) + * \return SUCCESSFUL_RETURN \n + RET_SETUP_WORKINGSET_FAILED \n + RET_INVALID_ARGUMENTS \n + RET_UNKNOWN_BUG */ +returnValue QProblem_setupAuxiliaryWorkingSet( QProblem* _THIS, + Bounds* const auxiliaryBounds, /**< Working set of bounds for auxiliary QP. */ + Constraints* const auxiliaryConstraints, /**< Working set of constraints for auxiliary QP. */ + BooleanType setupAfresh /**< Flag indicating if given working set shall be + * setup afresh or by updating the current one. */ + ); + +/** Sets up the optimal primal/dual solution of the auxiliary initial QP. + * \return SUCCESSFUL_RETURN */ +returnValue QProblem_setupAuxiliaryQPsolution( QProblem* _THIS, + const real_t* const xOpt, /**< Optimal primal solution vector. + * If a NULL pointer is passed, all entries are set to zero. */ + const real_t* const yOpt /**< Optimal dual solution vector. + * If a NULL pointer is passed, all entries are set to zero. */ + ); + +/** Sets up gradient of the auxiliary initial QP for given + * optimal primal/dual solution and given initial working set + * (assumes that members X, Y and BOUNDS, CONSTRAINTS have already been initialised!). + * \return SUCCESSFUL_RETURN */ +returnValue QProblem_setupAuxiliaryQPgradient( QProblem* _THIS ); + +/** Sets up (constraints') bounds of the auxiliary initial QP for given + * optimal primal/dual solution and given initial working set + * (assumes that members X, Y and BOUNDS, CONSTRAINTS have already been initialised!). + * \return SUCCESSFUL_RETURN \n + RET_UNKNOWN_BUG */ +returnValue QProblem_setupAuxiliaryQPbounds( QProblem* _THIS, + Bounds* const auxiliaryBounds, /**< Working set of bounds for auxiliary QP. */ + Constraints* const auxiliaryConstraints, /**< Working set of constraints for auxiliary QP. */ + BooleanType useRelaxation /**< Flag indicating if inactive (constraints') bounds shall be relaxed. */ + ); + + +/** Adds a constraint to active set. + * \return SUCCESSFUL_RETURN \n + RET_ADDCONSTRAINT_FAILED \n + RET_ADDCONSTRAINT_FAILED_INFEASIBILITY \n + RET_ENSURELI_FAILED */ +returnValue QProblem_addConstraint( QProblem* _THIS, + int number, /**< Number of constraint to be added to active set. */ + SubjectToStatus C_status, /**< Status of new active constraint. */ + BooleanType updateCholesky, /**< Flag indicating if Cholesky decomposition shall be updated. */ + BooleanType ensureLI /**< Ensure linear independence by exchange rules by default. */ + ); + +/** Checks if new active constraint to be added is linearly dependent from + * from row of the active constraints matrix. + * \return RET_LINEARLY_DEPENDENT \n + RET_LINEARLY_INDEPENDENT \n + RET_INDEXLIST_CORRUPTED */ +returnValue QProblem_addConstraint_checkLI( QProblem* _THIS, + int number /**< Number of constraint to be added to active set. */ + ); + +/** Ensures linear independence of constraint matrix when a new constraint is added. + * To _THIS end a bound or constraint is removed simultaneously if necessary. + * \return SUCCESSFUL_RETURN \n + RET_LI_RESOLVED \n + RET_ENSURELI_FAILED \n + RET_ENSURELI_FAILED_TQ \n + RET_ENSURELI_FAILED_NOINDEX \n + RET_REMOVE_FROM_ACTIVESET */ +returnValue QProblem_addConstraint_ensureLI( QProblem* _THIS, + int number, /**< Number of constraint to be added to active set. */ + SubjectToStatus C_status /**< Status of new active bound. */ + ); + +/** Adds a bound to active set. + * \return SUCCESSFUL_RETURN \n + RET_ADDBOUND_FAILED \n + RET_ADDBOUND_FAILED_INFEASIBILITY \n + RET_ENSURELI_FAILED */ +returnValue QProblem_addBound( QProblem* _THIS, + int number, /**< Number of bound to be added to active set. */ + SubjectToStatus B_status, /**< Status of new active bound. */ + BooleanType updateCholesky, /**< Flag indicating if Cholesky decomposition shall be updated. */ + BooleanType ensureLI /**< Ensure linear independence by exchange rules by default. */ + ); + +/** Checks if new active bound to be added is linearly dependent from + * from row of the active constraints matrix. + * \return RET_LINEARLY_DEPENDENT \n + RET_LINEARLY_INDEPENDENT */ +returnValue QProblem_addBound_checkLI( QProblem* _THIS, + int number /**< Number of bound to be added to active set. */ + ); + +/** Ensures linear independence of constraint matrix when a new bound is added. + * To _THIS end a bound or constraint is removed simultaneously if necessary. + * \return SUCCESSFUL_RETURN \n + RET_LI_RESOLVED \n + RET_ENSURELI_FAILED \n + RET_ENSURELI_FAILED_TQ \n + RET_ENSURELI_FAILED_NOINDEX \n + RET_REMOVE_FROM_ACTIVESET */ +returnValue QProblem_addBound_ensureLI( QProblem* _THIS, + int number, /**< Number of bound to be added to active set. */ + SubjectToStatus B_status /**< Status of new active bound. */ + ); + +/** Removes a constraint from active set. + * \return SUCCESSFUL_RETURN \n + RET_CONSTRAINT_NOT_ACTIVE \n + RET_REMOVECONSTRAINT_FAILED \n + RET_HESSIAN_NOT_SPD */ +returnValue QProblem_removeConstraint( QProblem* _THIS, + int number, /**< Number of constraint to be removed from active set. */ + BooleanType updateCholesky, /**< Flag indicating if Cholesky decomposition shall be updated. */ + BooleanType allowFlipping, /**< Flag indicating if flipping bounds are allowed. */ + BooleanType ensureNZC /**< Flag indicating if non-zero curvature is ensured by exchange rules. */ + ); + +/** Removes a bounds from active set. + * \return SUCCESSFUL_RETURN \n + RET_BOUND_NOT_ACTIVE \n + RET_HESSIAN_NOT_SPD \n + RET_REMOVEBOUND_FAILED */ +returnValue QProblem_removeBound( QProblem* _THIS, + int number, /**< Number of bound to be removed from active set. */ + BooleanType updateCholesky, /**< Flag indicating if Cholesky decomposition shall be updated. */ + BooleanType allowFlipping, /**< Flag indicating if flipping bounds are allowed. */ + BooleanType ensureNZC /**< Flag indicating if non-zero curvature is ensured by exchange rules. */ + ); + + +/** Performs robustified ratio test yield the maximum possible step length + * along the homotopy path. + * \return SUCCESSFUL_RETURN */ +returnValue QProblem_performPlainRatioTest( QProblem* _THIS, + int nIdx, /**< Number of ratios to be checked. */ + const int* const idxList, /**< Array containing the indices of all ratios to be checked. */ + const real_t* const num, /**< Array containing all numerators for performing the ratio test. */ + const real_t* const den, /**< Array containing all denominators for performing the ratio test. */ + real_t epsNum, /**< Numerator tolerance. */ + real_t epsDen, /**< Denominator tolerance. */ + real_t* t, /**< Output: Maximum possible step length along the homotopy path. */ + int* BC_idx /**< Output: Index of blocking constraint. */ + ); + + +/** Ensure non-zero curvature by primal jump. + * \return SUCCESSFUL_RETURN \n + * RET_HOTSTART_STOPPED_UNBOUNDEDNESS */ +returnValue QProblem_ensureNonzeroCurvature( QProblem* _THIS, + BooleanType removeBoundNotConstraint, /**< SubjectTo to be removed is a bound. */ + int remIdx, /**< Index of bound/constraint to be removed. */ + BooleanType* exchangeHappened, /**< Output: Exchange was necessary to ensure. */ + BooleanType* addBoundNotConstraint, /**< SubjectTo to be added is a bound. */ + int* addIdx, /**< Index of bound/constraint to be added. */ + SubjectToStatus* addStatus /**< Status of bound/constraint to be added. */ + ); + + +/** Solves the system Ta = b or T^Ta = b where T is a reverse upper triangular matrix. + * \return SUCCESSFUL_RETURN \n + RET_DIV_BY_ZERO */ +returnValue QProblem_backsolveT( QProblem* _THIS, + const real_t* const b, /**< Right hand side vector. */ + BooleanType transposed, /**< Indicates if the transposed system shall be solved. */ + real_t* const a /**< Output: Solution vector */ + ); + + +/** Determines step direction of the shift of the QP data. + * \return SUCCESSFUL_RETURN */ +returnValue QProblem_determineDataShift( QProblem* _THIS, + const real_t* const g_new, /**< New gradient vector. */ + const real_t* const lbA_new, /**< New lower constraints' bounds. */ + const real_t* const ubA_new, /**< New upper constraints' bounds. */ + const real_t* const lb_new, /**< New lower bounds. */ + const real_t* const ub_new, /**< New upper bounds. */ + real_t* const delta_g, /**< Output: Step direction of gradient vector. */ + real_t* const delta_lbA, /**< Output: Step direction of lower constraints' bounds. */ + real_t* const delta_ubA, /**< Output: Step direction of upper constraints' bounds. */ + real_t* const delta_lb, /**< Output: Step direction of lower bounds. */ + real_t* const delta_ub, /**< Output: Step direction of upper bounds. */ + BooleanType* Delta_bC_isZero, /**< Output: Indicates if active constraints' bounds are to be shifted. */ + BooleanType* Delta_bB_isZero /**< Output: Indicates if active bounds are to be shifted. */ + ); + +/** Determines step direction of the homotopy path. + * \return SUCCESSFUL_RETURN \n + RET_STEPDIRECTION_FAILED_TQ \n + RET_STEPDIRECTION_FAILED_CHOLESKY */ +returnValue QProblem_determineStepDirection( QProblem* _THIS, + const real_t* const delta_g, /**< Step direction of gradient vector. */ + const real_t* const delta_lbA, /**< Step direction of lower constraints' bounds. */ + const real_t* const delta_ubA, /**< Step direction of upper constraints' bounds. */ + const real_t* const delta_lb, /**< Step direction of lower bounds. */ + const real_t* const delta_ub, /**< Step direction of upper bounds. */ + BooleanType Delta_bC_isZero, /**< Indicates if active constraints' bounds are to be shifted. */ + BooleanType Delta_bB_isZero, /**< Indicates if active bounds are to be shifted. */ + real_t* const delta_xFX, /**< Output: Primal homotopy step direction of fixed variables. */ + real_t* const delta_xFR, /**< Output: Primal homotopy step direction of free variables. */ + real_t* const delta_yAC, /**< Output: Dual homotopy step direction of active constraints' multiplier. */ + real_t* const delta_yFX /**< Output: Dual homotopy step direction of fixed variables' multiplier. */ + ); + +/** Determines the maximum possible step length along the homotopy path + * and performs _THIS step (without changing working set). + * \return SUCCESSFUL_RETURN \n + * RET_ERROR_IN_CONSTRAINTPRODUCT \n + * RET_QP_INFEASIBLE */ +returnValue QProblem_performStep( QProblem* _THIS, + const real_t* const delta_g, /**< Step direction of gradient. */ + const real_t* const delta_lbA, /**< Step direction of lower constraints' bounds. */ + const real_t* const delta_ubA, /**< Step direction of upper constraints' bounds. */ + const real_t* const delta_lb, /**< Step direction of lower bounds. */ + const real_t* const delta_ub, /**< Step direction of upper bounds. */ + const real_t* const delta_xFX, /**< Primal homotopy step direction of fixed variables. */ + const real_t* const delta_xFR, /**< Primal homotopy step direction of free variables. */ + const real_t* const delta_yAC, /**< Dual homotopy step direction of active constraints' multiplier. */ + const real_t* const delta_yFX, /**< Dual homotopy step direction of fixed variables' multiplier. */ + int* BC_idx, /**< Output: Index of blocking constraint. */ + SubjectToStatus* BC_status, /**< Output: Status of blocking constraint. */ + BooleanType* BC_isBound /**< Output: Indicates if blocking constraint is a bound. */ + ); + +/** Updates the active set. + * \return SUCCESSFUL_RETURN \n + RET_REMOVE_FROM_ACTIVESET_FAILED \n + RET_ADD_TO_ACTIVESET_FAILED */ +returnValue QProblem_changeActiveSet( QProblem* _THIS, + int BC_idx, /**< Index of blocking constraint. */ + SubjectToStatus BC_status, /**< Status of blocking constraint. */ + BooleanType BC_isBound /**< Indicates if blocking constraint is a bound. */ + ); + + +/** Compute relative length of homotopy in data space for termination + * criterion. + * \return Relative length in data space. */ +real_t QProblem_getRelativeHomotopyLength( QProblem* _THIS, + const real_t* const g_new, /**< Final gradient. */ + const real_t* const lb_new, /**< Final lower variable bounds. */ + const real_t* const ub_new, /**< Final upper variable bounds. */ + const real_t* const lbA_new, /**< Final lower constraint bounds. */ + const real_t* const ubA_new /**< Final upper constraint bounds. */ + ); + + +/** Ramping Strategy to avoid ties. Modifies homotopy start without + * changing current active set. + * \return SUCCESSFUL_RETURN */ +returnValue QProblem_performRamping( QProblem* _THIS ); + + +/** ... */ +returnValue QProblem_updateFarBounds( QProblem* _THIS, + real_t curFarBound, /**< ... */ + int nRamp, /**< ... */ + const real_t* const lb_new, /**< ... */ + real_t* const lb_new_far, /**< ... */ + const real_t* const ub_new, /**< ... */ + real_t* const ub_new_far, /**< ... */ + const real_t* const lbA_new, /**< ... */ + real_t* const lbA_new_far, /**< ... */ + const real_t* const ubA_new, /**< ... */ + real_t* const ubA_new_far /**< ... */ + ); + +/** ... */ +returnValue QProblemBCPY_updateFarBounds( QProblem* _THIS, + real_t curFarBound, /**< ... */ + int nRamp, /**< ... */ + const real_t* const lb_new, /**< ... */ + real_t* const lb_new_far, /**< ... */ + const real_t* const ub_new, /**< ... */ + real_t* const ub_new_far /**< ... */ + ); + + + +/** Performs robustified ratio test yield the maximum possible step length + * along the homotopy path. + * \return SUCCESSFUL_RETURN */ +returnValue QProblem_performRatioTestC( QProblem* _THIS, + int nIdx, /**< Number of ratios to be checked. */ + const int* const idxList, /**< Array containing the indices of all ratios to be checked. */ + Constraints* const subjectTo, /**< Constraint object corresponding to ratios to be checked. */ + const real_t* const num, /**< Array containing all numerators for performing the ratio test. */ + const real_t* const den, /**< Array containing all denominators for performing the ratio test. */ + real_t epsNum, /**< Numerator tolerance. */ + real_t epsDen, /**< Denominator tolerance. */ + real_t* t, /**< Output: Maximum possible step length along the homotopy path. */ + int* BC_idx /**< Output: Index of blocking constraint. */ + ); + + +/** Drift correction at end of each active set iteration + * \return SUCCESSFUL_RETURN */ +returnValue QProblem_performDriftCorrection( QProblem* _THIS ); + + +/** Updates QP vectors, working sets and internal data structures in order to + start from an optimal solution corresponding to initial guesses of the working + set for bounds and constraints. + * \return SUCCESSFUL_RETURN \n + * RET_SETUP_AUXILIARYQP_FAILED \n + RET_INVALID_ARGUMENTS */ +returnValue QProblem_setupAuxiliaryQP( QProblem* _THIS, + Bounds* const guessedBounds, /**< Initial guess for working set of bounds. */ + Constraints* const guessedConstraints /**< Initial guess for working set of constraints. */ + ); + +/** Determines if it is more efficient to refactorise the matrices when + * hotstarting or not (i.e. better to update the existing factorisations). + * \return BT_TRUE iff matrices shall be refactorised afresh + */ +BooleanType QProblem_shallRefactorise( QProblem* _THIS, + Bounds* const guessedBounds, /**< Guessed new working set of bounds. */ + Constraints* const guessedConstraints /**< Guessed new working set of constraints. */ + ); + +/** Setups internal QP data. + * \return SUCCESSFUL_RETURN \n + RET_INVALID_ARGUMENTS \n + RET_UNKNONW_BUG */ +returnValue QProblem_setupQPdataM( QProblem* _THIS, + DenseMatrix *_H, /**< Hessian matrix. \n + If Hessian matrix is trivial,a NULL pointer can be passed. */ + const real_t* const _g, /**< Gradient vector. */ + DenseMatrix *_A, /**< Constraint matrix. */ + const real_t* const _lb, /**< Lower bound vector (on variables). \n + If no lower bounds exist, a NULL pointer can be passed. */ + const real_t* const _ub, /**< Upper bound vector (on variables). \n + If no upper bounds exist, a NULL pointer can be passed. */ + const real_t* const _lbA, /**< Lower constraints' bound vector. \n + If no lower constraints' bounds exist, a NULL pointer can be passed. */ + const real_t* const _ubA /**< Upper constraints' bound vector. \n + If no lower constraints' bounds exist, a NULL pointer can be passed. */ + ); + + +/** Sets up dense internal QP data. If the current Hessian is trivial + * (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given, + * memory for Hessian is allocated and it is set to the given one. + * \return SUCCESSFUL_RETURN \n + RET_INVALID_ARGUMENTS \n + RET_UNKNONW_BUG */ +returnValue QProblem_setupQPdata( QProblem* _THIS, + real_t* const _H, /**< Hessian matrix. \n + If Hessian matrix is trivial,a NULL pointer can be passed. */ + const real_t* const _g, /**< Gradient vector. */ + real_t* const _A, /**< Constraint matrix. */ + const real_t* const _lb, /**< Lower bound vector (on variables). \n + If no lower bounds exist, a NULL pointer can be passed. */ + const real_t* const _ub, /**< Upper bound vector (on variables). \n + If no upper bounds exist, a NULL pointer can be passed. */ + const real_t* const _lbA, /**< Lower constraints' bound vector. \n + If no lower constraints' bounds exist, a NULL pointer can be passed. */ + const real_t* const _ubA /**< Upper constraints' bound vector. \n + If no lower constraints' bounds exist, a NULL pointer can be passed. */ + ); + +/** Sets up internal QP data by loading it from files. If the current Hessian + * is trivial (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given, + * memory for Hessian is allocated and it is set to the given one. + * \return SUCCESSFUL_RETURN \n + RET_UNABLE_TO_OPEN_FILE \n + RET_UNABLE_TO_READ_FILE \n + RET_INVALID_ARGUMENTS \n + RET_UNKNONW_BUG */ +returnValue QProblem_setupQPdataFromFile( QProblem* _THIS, + const char* const H_file, /**< Name of file where Hessian matrix, of neighbouring QP to be solved, is stored. \n + If Hessian matrix is trivial,a NULL pointer can be passed. */ + const char* const g_file, /**< Name of file where gradient, of neighbouring QP to be solved, is stored. */ + const char* const A_file, /**< Name of file where constraint matrix, of neighbouring QP to be solved, is stored. */ + const char* const lb_file, /**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n + If no lower bounds exist, a NULL pointer can be passed. */ + const char* const ub_file, /**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n + If no upper bounds exist, a NULL pointer can be passed. */ + const char* const lbA_file, /**< Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. \n + If no lower constraints' bounds exist, a NULL pointer can be passed. */ + const char* const ubA_file /**< Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. \n + If no upper constraints' bounds exist, a NULL pointer can be passed. */ + ); + +/** Loads new QP vectors from files (internal members are not affected!). + * \return SUCCESSFUL_RETURN \n + RET_UNABLE_TO_OPEN_FILE \n + RET_UNABLE_TO_READ_FILE \n + RET_INVALID_ARGUMENTS */ +returnValue QProblem_loadQPvectorsFromFile( QProblem* _THIS, + const char* const g_file, /**< Name of file where gradient, of neighbouring QP to be solved, is stored. */ + const char* const lb_file, /**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n + If no lower bounds exist, a NULL pointer can be passed. */ + const char* const ub_file, /**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n + If no upper bounds exist, a NULL pointer can be passed. */ + const char* const lbA_file, /**< Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. \n + If no lower constraints' bounds exist, a NULL pointer can be passed. */ + const char* const ubA_file, /**< Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. \n + If no upper constraints' bounds exist, a NULL pointer can be passed. */ + real_t* const g_new, /**< Output: Gradient of neighbouring QP to be solved. */ + real_t* const lb_new, /**< Output: Lower bounds of neighbouring QP to be solved */ + real_t* const ub_new, /**< Output: Upper bounds of neighbouring QP to be solved */ + real_t* const lbA_new, /**< Output: Lower constraints' bounds of neighbouring QP to be solved */ + real_t* const ubA_new /**< Output: Upper constraints' bounds of neighbouring QP to be solved */ + ); + + +/** Prints concise information on the current iteration. + * \return SUCCESSFUL_RETURN \n */ +returnValue QProblem_printIteration( QProblem* _THIS, + int iter, /**< Number of current iteration. */ + int BC_idx, /**< Index of blocking constraint. */ + SubjectToStatus BC_status, /**< Status of blocking constraint. */ + BooleanType BC_isBound, /**< Indicates if blocking constraint is a bound. */ + real_t homotopyLength, /**< Current homotopy distance. */ + BooleanType isFirstCall /**< Indicating whether this is the first call for current QP. */ + ); + + +/** Sets constraint matrix of the QP. \n + Note: Also internal vector Ax is recomputed! + * \return SUCCESSFUL_RETURN \n + * RET_INVALID_ARGUMENTS */ +static inline returnValue QProblem_setAM( QProblem* _THIS, + DenseMatrix *A_new /**< New constraint matrix. */ + ); + +/** Sets dense constraint matrix of the QP. \n + Note: Also internal vector Ax is recomputed! + * \return SUCCESSFUL_RETURN \n + * RET_INVALID_ARGUMENTS */ +static inline returnValue QProblem_setA( QProblem* _THIS, + real_t* const A_new /**< New dense constraint matrix (with correct dimension!). */ + ); + + +/** Sets constraints' lower bound vector of the QP. + * \return SUCCESSFUL_RETURN \n + * RET_QPOBJECT_NOT_SETUP */ +static inline returnValue QProblem_setLBA( QProblem* _THIS, + const real_t* const lbA_new /**< New constraints' lower bound vector (with correct dimension!). */ + ); + +/** Changes single entry of lower constraints' bound vector of the QP. + * \return SUCCESSFUL_RETURN \n + * RET_QPOBJECT_NOT_SETUP \n + * RET_INDEX_OUT_OF_BOUNDS */ +static inline returnValue QProblem_setLBAn( QProblem* _THIS, + int number, /**< Number of entry to be changed. */ + real_t value /**< New value for entry of lower constraints' bound vector (with correct dimension!). */ + ); + +/** Sets constraints' upper bound vector of the QP. + * \return SUCCESSFUL_RETURN \n + * RET_QPOBJECT_NOT_SETUP */ +static inline returnValue QProblem_setUBA( QProblem* _THIS, + const real_t* const ubA_new /**< New constraints' upper bound vector (with correct dimension!). */ + ); + +/** Changes single entry of upper constraints' bound vector of the QP. + * \return SUCCESSFUL_RETURN \n + * RET_QPOBJECT_NOT_SETUP \n + * RET_INDEX_OUT_OF_BOUNDS */ +static inline returnValue QProblem_setUBAn( QProblem* _THIS, + int number, /**< Number of entry to be changed. */ + real_t value /**< New value for entry of upper constraints' bound vector (with correct dimension!). */ + ); + + +/** Decides if lower bounds are smaller than upper bounds + * + * \return SUCCESSFUL_RETURN \n + * RET_QP_INFEASIBLE */ +returnValue QProblem_areBoundsConsistent( QProblem* _THIS, + const real_t* const lb, /**< Vector of lower bounds*/ + const real_t* const ub, /**< Vector of upper bounds*/ + const real_t* const lbA, /**< Vector of lower constraints*/ + const real_t* const ubA /**< Vector of upper constraints*/ + ); + + +/** Drops the blocking bound/constraint that led to infeasibility, or finds another + * bound/constraint to drop according to drop priorities. + * \return SUCCESSFUL_RETURN \n + */ +returnValue QProblem_dropInfeasibles ( QProblem* _THIS, + int BC_number, /**< Number of the bound or constraint to be added */ + SubjectToStatus BC_status, /**< New status of the bound or constraint to be added */ + BooleanType BC_isBound, /**< Whether a bound or a constraint is to be added */ + real_t *xiB, + real_t *xiC + ); + + +/** If Hessian type has been set by the user, nothing is done. + * Otherwise the Hessian type is set to HST_IDENTITY, HST_ZERO, or + * HST_POSDEF (default), respectively. + * \return SUCCESSFUL_RETURN \n + RET_HESSIAN_INDEFINITE */ +returnValue QProblem_determineHessianType( QProblem* _THIS ); + +/** Computes the Cholesky decomposition of the (simply projected) Hessian + * (i.e. R^T*R = Z^T*H*Z). It only works in the case where Z is a simple + * projection matrix! + * Note: If Hessian turns out not to be positive definite, the Hessian type + * is set to HST_SEMIDEF accordingly. + * \return SUCCESSFUL_RETURN \n + * RET_HESSIAN_NOT_SPD \n + * RET_INDEXLIST_CORRUPTED */ +returnValue QProblemBCPY_computeCholesky( QProblem* _THIS ); + +/** Obtains the desired working set for the auxiliary initial QP in + * accordance with the user specifications + * \return SUCCESSFUL_RETURN \n + RET_OBTAINING_WORKINGSET_FAILED \n + RET_INVALID_ARGUMENTS */ +returnValue QProblemBCPY_obtainAuxiliaryWorkingSet( QProblem* _THIS, + const real_t* const xOpt, /**< Optimal primal solution vector. + * If a NULL pointer is passed, all entries are assumed to be zero. */ + const real_t* const yOpt, /**< Optimal dual solution vector. + * If a NULL pointer is passed, all entries are assumed to be zero. */ + Bounds* const guessedBounds, /**< Guessed working set for solution (xOpt,yOpt). */ + Bounds* auxiliaryBounds /**< Input: Allocated bound object. \n + * Output: Working set for auxiliary QP. */ + ); + + +/** Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix. + * \return SUCCESSFUL_RETURN \n + RET_DIV_BY_ZERO */ +returnValue QProblem_backsolveR( QProblem* _THIS, + const real_t* const b, /**< Right hand side vector. */ + BooleanType transposed, /**< Indicates if the transposed system shall be solved. */ + real_t* const a /**< Output: Solution vector */ + ); + +/** Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix. \n + * Special variant for the case that _THIS function is called from within "removeBound()". + * \return SUCCESSFUL_RETURN \n + RET_DIV_BY_ZERO */ +returnValue QProblem_backsolveRrem( QProblem* _THIS, + const real_t* const b, /**< Right hand side vector. */ + BooleanType transposed, /**< Indicates if the transposed system shall be solved. */ + BooleanType removingBound, /**< Indicates if function is called from "removeBound()". */ + real_t* const a /**< Output: Solution vector */ + ); + + +/** Determines step direction of the shift of the QP data. + * \return SUCCESSFUL_RETURN */ +returnValue QProblemBCPY_determineDataShift( QProblem* _THIS, + const real_t* const g_new, /**< New gradient vector. */ + const real_t* const lb_new, /**< New lower bounds. */ + const real_t* const ub_new, /**< New upper bounds. */ + real_t* const delta_g, /**< Output: Step direction of gradient vector. */ + real_t* const delta_lb, /**< Output: Step direction of lower bounds. */ + real_t* const delta_ub, /**< Output: Step direction of upper bounds. */ + BooleanType* Delta_bB_isZero /**< Output: Indicates if active bounds are to be shifted. */ + ); + + +/** Sets up internal QP data. + * \return SUCCESSFUL_RETURN \n + RET_INVALID_ARGUMENTS */ +returnValue QProblemBCPY_setupQPdataM( QProblem* _THIS, + DenseMatrix *_H, /**< Hessian matrix.*/ + const real_t* const _g, /**< Gradient vector. */ + const real_t* const _lb, /**< Lower bounds (on variables). \n + If no lower bounds exist, a NULL pointer can be passed. */ + const real_t* const _ub /**< Upper bounds (on variables). \n + If no upper bounds exist, a NULL pointer can be passed. */ + ); + +/** Sets up internal QP data. If the current Hessian is trivial + * (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given, + * memory for Hessian is allocated and it is set to the given one. + * \return SUCCESSFUL_RETURN \n + RET_INVALID_ARGUMENTS \n + RET_NO_HESSIAN_SPECIFIED */ +returnValue QProblemBCPY_setupQPdata( QProblem* _THIS, + real_t* const _H, /**< Hessian matrix. \n + If Hessian matrix is trivial,a NULL pointer can be passed. */ + const real_t* const _g, /**< Gradient vector. */ + const real_t* const _lb, /**< Lower bounds (on variables). \n + If no lower bounds exist, a NULL pointer can be passed. */ + const real_t* const _ub /**< Upper bounds (on variables). \n + If no upper bounds exist, a NULL pointer can be passed. */ + ); + +/** Sets up internal QP data by loading it from files. If the current Hessian + * is trivial (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given, + * memory for Hessian is allocated and it is set to the given one. + * \return SUCCESSFUL_RETURN \n + RET_UNABLE_TO_OPEN_FILE \n + RET_UNABLE_TO_READ_FILE \n + RET_INVALID_ARGUMENTS \n + RET_NO_HESSIAN_SPECIFIED */ +returnValue QProblemBCPY_setupQPdataFromFile( QProblem* _THIS, + const char* const H_file, /**< Name of file where Hessian matrix, of neighbouring QP to be solved, is stored. \n + If Hessian matrix is trivial,a NULL pointer can be passed. */ + const char* const g_file, /**< Name of file where gradient, of neighbouring QP to be solved, is stored. */ + const char* const lb_file, /**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n + If no lower bounds exist, a NULL pointer can be passed. */ + const char* const ub_file /**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n + If no upper bounds exist, a NULL pointer can be passed. */ + ); + +/** Loads new QP vectors from files (internal members are not affected!). + * \return SUCCESSFUL_RETURN \n + RET_UNABLE_TO_OPEN_FILE \n + RET_UNABLE_TO_READ_FILE \n + RET_INVALID_ARGUMENTS */ +returnValue QProblemBCPY_loadQPvectorsFromFile( QProblem* _THIS, + const char* const g_file, /**< Name of file where gradient, of neighbouring QP to be solved, is stored. */ + const char* const lb_file, /**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n + If no lower bounds exist, a NULL pointer can be passed. */ + const char* const ub_file, /**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n + If no upper bounds exist, a NULL pointer can be passed. */ + real_t* const g_new, /**< Output: Gradient of neighbouring QP to be solved. */ + real_t* const lb_new, /**< Output: Lower bounds of neighbouring QP to be solved */ + real_t* const ub_new /**< Output: Upper bounds of neighbouring QP to be solved */ + ); + + +/** Sets internal infeasibility flag and throws given error in case the far bound + * strategy is not enabled (as QP might actually not be infeasible in _THIS case). + * \return RET_HOTSTART_STOPPED_INFEASIBILITY \n + RET_ENSURELI_FAILED_CYCLING \n + RET_ENSURELI_FAILED_NOINDEX */ +returnValue QProblem_setInfeasibilityFlag( QProblem* _THIS, + returnValue returnvalue, /**< Returnvalue to be tunneled. */ + BooleanType doThrowError /**< Flag forcing to throw an error. */ + ); + + +/** Determines if next QP iteration can be performed within given CPU time limit. + * \return BT_TRUE: CPU time limit is exceeded, stop QP solution. \n + BT_FALSE: Sufficient CPU time for next QP iteration. */ +BooleanType QProblem_isCPUtimeLimitExceeded( QProblem* _THIS, + const real_t* const cputime, /**< Maximum CPU time allowed for QP solution. */ + real_t starttime, /**< Start time of current QP solution. */ + int nWSR /**< Number of working set recalculations performed so far. */ + ); + + +/** Regularise Hessian matrix by adding a scaled identity matrix to it. + * \return SUCCESSFUL_RETURN \n + RET_HESSIAN_ALREADY_REGULARISED */ +returnValue QProblem_regulariseHessian( QProblem* _THIS ); + + +/** Sets Hessian matrix of the QP. + * \return SUCCESSFUL_RETURN */ +static inline returnValue QProblem_setHM( QProblem* _THIS, + DenseMatrix* H_new /**< New Hessian matrix. */ + ); + +/** Sets dense Hessian matrix of the QP. + * If a null pointer is passed and + * a) hessianType is HST_IDENTITY, nothing is done, + * b) hessianType is not HST_IDENTITY, Hessian matrix is set to zero. + * \return SUCCESSFUL_RETURN */ +static inline returnValue QProblem_setH( QProblem* _THIS, + real_t* const H_new /**< New dense Hessian matrix (with correct dimension!). */ + ); + +/** Changes gradient vector of the QP. + * \return SUCCESSFUL_RETURN \n + * RET_INVALID_ARGUMENTS */ +static inline returnValue QProblem_setG( QProblem* _THIS, + const real_t* const g_new /**< New gradient vector (with correct dimension!). */ + ); + +/** Changes lower bound vector of the QP. + * \return SUCCESSFUL_RETURN \n + * RET_INVALID_ARGUMENTS */ +static inline returnValue QProblem_setLB( QProblem* _THIS, + const real_t* const lb_new /**< New lower bound vector (with correct dimension!). */ + ); + +/** Changes single entry of lower bound vector of the QP. + * \return SUCCESSFUL_RETURN \n + RET_INDEX_OUT_OF_BOUNDS */ +static inline returnValue QProblem_setLBn( QProblem* _THIS, + int number, /**< Number of entry to be changed. */ + real_t value /**< New value for entry of lower bound vector. */ + ); + +/** Changes upper bound vector of the QP. + * \return SUCCESSFUL_RETURN \n + * RET_INVALID_ARGUMENTS */ +static inline returnValue QProblem_setUB( QProblem* _THIS, + const real_t* const ub_new /**< New upper bound vector (with correct dimension!). */ + ); + +/** Changes single entry of upper bound vector of the QP. + * \return SUCCESSFUL_RETURN \n + RET_INDEX_OUT_OF_BOUNDS */ +static inline returnValue QProblem_setUBn( QProblem* _THIS, + int number, /**< Number of entry to be changed. */ + real_t value /**< New value for entry of upper bound vector. */ + ); + + + +/** Compute relative length of homotopy in data space for termination + * criterion. + * \return Relative length in data space. */ +real_t QProblemBCPY_getRelativeHomotopyLength( QProblem* _THIS, + const real_t* const g_new, /**< Final gradient. */ + const real_t* const lb_new, /**< Final lower variable bounds. */ + const real_t* const ub_new /**< Final upper variable bounds. */ + ); + + + +/** Performs robustified ratio test yield the maximum possible step length + * along the homotopy path. + * \return SUCCESSFUL_RETURN */ +returnValue QProblem_performRatioTestB( QProblem* _THIS, + int nIdx, /**< Number of ratios to be checked. */ + const int* const idxList, /**< Array containing the indices of all ratios to be checked. */ + Bounds* const subjectTo, /**< Bound object corresponding to ratios to be checked. */ + const real_t* const num, /**< Array containing all numerators for performing the ratio test. */ + const real_t* const den, /**< Array containing all denominators for performing the ratio test. */ + real_t epsNum, /**< Numerator tolerance. */ + real_t epsDen, /**< Denominator tolerance. */ + real_t* t, /**< Output: Maximum possible step length along the homotopy path. */ + int* BC_idx /**< Output: Index of blocking constraint. */ + ); + +/** Checks whether given ratio is blocking, i.e. limits the maximum step length + * along the homotopy path to a value lower than given one. + * \return SUCCESSFUL_RETURN */ +static inline BooleanType QProblem_isBlocking( QProblem* _THIS, + real_t num, /**< Numerator for performing the ratio test. */ + real_t den, /**< Denominator for performing the ratio test. */ + real_t epsNum, /**< Numerator tolerance. */ + real_t epsDen, /**< Denominator tolerance. */ + real_t* t /**< Input: Current maximum step length along the homotopy path, + * Output: Updated maximum possible step length along the homotopy path. */ + ); + + +/** ... + * \return SUCCESSFUL_RETURN \n + RET_UNABLE_TO_OPEN_FILE */ +returnValue QProblem_writeQpDataIntoMatFile( QProblem* _THIS, + const char* const filename /**< Mat file name. */ + ); + +/** ... +* \return SUCCESSFUL_RETURN \n + RET_UNABLE_TO_OPEN_FILE */ +returnValue QProblem_writeQpWorkspaceIntoMatFile( QProblem* _THIS, + const char* const filename /**< Mat file name. */ + ); + + +/* + * g e t B o u n d s + */ +static inline returnValue QProblem_getBounds( QProblem* _THIS, Bounds* _bounds ) +{ + int nV = QProblem_getNV( _THIS ); + + if ( nV == 0 ) + return THROWERROR( RET_QPOBJECT_NOT_SETUP ); + + _bounds = _THIS->bounds; + + return SUCCESSFUL_RETURN; +} + + +/* + * g e t N V + */ +static inline int QProblem_getNV( QProblem* _THIS ) +{ + return Bounds_getNV( _THIS->bounds ); +} + + +/* + * g e t N F R + */ +static inline int QProblem_getNFR( QProblem* _THIS ) +{ + return Bounds_getNFR( _THIS->bounds ); +} + + +/* + * g e t N F X + */ +static inline int QProblem_getNFX( QProblem* _THIS ) +{ + return Bounds_getNFX( _THIS->bounds ); +} + + +/* + * g e t N F V + */ +static inline int QProblem_getNFV( QProblem* _THIS ) +{ + return Bounds_getNFV( _THIS->bounds ); +} + + +/* + * g e t S t a t u s + */ +static inline QProblemStatus QProblem_getStatus( QProblem* _THIS ) +{ + return _THIS->status; +} + + +/* + * i s I n i t i a l i s e d + */ +static inline BooleanType QProblem_isInitialised( QProblem* _THIS ) +{ + if ( _THIS->status == QPS_NOTINITIALISED ) + return BT_FALSE; + else + return BT_TRUE; +} + + +/* + * i s S o l v e d + */ +static inline BooleanType QProblem_isSolved( QProblem* _THIS ) +{ + if ( _THIS->status == QPS_SOLVED ) + return BT_TRUE; + else + return BT_FALSE; +} + + +/* + * i s I n f e a s i b l e + */ +static inline BooleanType QProblem_isInfeasible( QProblem* _THIS ) +{ + return _THIS->infeasible; +} + + +/* + * i s U n b o u n d e d + */ +static inline BooleanType QProblem_isUnbounded( QProblem* _THIS ) +{ + return _THIS->unbounded; +} + + +/* + * g e t H e s s i a n T y p e + */ +static inline HessianType QProblem_getHessianType( QProblem* _THIS ) +{ + return _THIS->hessianType; +} + + +/* + * s e t H e s s i a n T y p e + */ +static inline returnValue QProblem_setHessianType( QProblem* _THIS, HessianType _hessianType ) +{ + _THIS->hessianType = _hessianType; + return SUCCESSFUL_RETURN; +} + + +/* + * u s i n g R e g u l a r i s a t i o n + */ +static inline BooleanType QProblem_usingRegularisation( QProblem* _THIS ) +{ + if ( _THIS->regVal > QPOASES_ZERO ) + return BT_TRUE; + else + return BT_FALSE; +} + + +/* + * g e t O p t i o n s + */ +static inline Options QProblem_getOptions( QProblem* _THIS ) +{ + return _THIS->options; +} + + +/* + * s e t O p t i o n s + */ +static inline returnValue QProblem_setOptions( QProblem* _THIS, + Options _options + ) +{ + OptionsCPY( &_options,&(_THIS->options) ); + Options_ensureConsistency( &(_THIS->options) ); + + QProblem_setPrintLevel( _THIS,_THIS->options.printLevel ); + + return SUCCESSFUL_RETURN; +} + + +/* + * g e t P r i n t L e v e l + */ +static inline PrintLevel QProblem_getPrintLevel( QProblem* _THIS ) +{ + return _THIS->options.printLevel; +} + + +/* + * g e t C o u n t + */ +static inline unsigned int QProblem_getCount( QProblem* _THIS ) +{ + return _THIS->count; +} + + +/* + * r e s e t C o u n t e r + */ +static inline returnValue QProblem_resetCounter( QProblem* _THIS ) +{ + _THIS->count = 0; + return SUCCESSFUL_RETURN; +} + + + +/***************************************************************************** + * P R O T E C T E D * + *****************************************************************************/ + + +/* + * s e t H + */ +static inline returnValue QProblem_setHM( QProblem* _THIS, DenseMatrix* H_new ) +{ + if ( H_new == 0 ) + return QProblem_setH( _THIS,(real_t*)0 ); + else + return QProblem_setH( _THIS,DenseMatrix_getVal(H_new) ); +} + + +/* + * s e t H + */ +static inline returnValue QProblem_setH( QProblem* _THIS, real_t* const H_new ) +{ + /* if null pointer is passed, Hessian is set to zero matrix + * (or stays identity matrix) */ + if ( H_new == 0 ) + { + if ( _THIS->hessianType == HST_IDENTITY ) + return SUCCESSFUL_RETURN; + + _THIS->hessianType = HST_ZERO; + + _THIS->H = 0; + } + else + { + DenseMatrixCON( _THIS->H,QProblem_getNV( _THIS ),QProblem_getNV( _THIS ),QProblem_getNV( _THIS ),H_new ); + } + + return SUCCESSFUL_RETURN; +} + + +/* + * s e t G + */ +static inline returnValue QProblem_setG( QProblem* _THIS, const real_t* const g_new ) +{ + unsigned int nV = (unsigned int)QProblem_getNV( _THIS ); + + if ( nV == 0 ) + return THROWERROR( RET_QPOBJECT_NOT_SETUP ); + + if ( g_new == 0 ) + return THROWERROR( RET_INVALID_ARGUMENTS ); + + memcpy( _THIS->g,g_new,nV*sizeof(real_t) ); + + return SUCCESSFUL_RETURN; +} + + +/* + * s e t L B + */ +static inline returnValue QProblem_setLB( QProblem* _THIS, const real_t* const lb_new ) +{ + unsigned int i; + unsigned int nV = (unsigned int)QProblem_getNV( _THIS ); + + if ( nV == 0 ) + return THROWERROR( RET_QPOBJECT_NOT_SETUP ); + + if ( lb_new != 0 ) + { + memcpy( _THIS->lb,lb_new,nV*sizeof(real_t) ); + } + else + { + /* if no lower bounds are specified, set them to -infinity */ + for( i=0; ilb[i] = -QPOASES_INFTY; + } + + return SUCCESSFUL_RETURN; +} + + +/* + * s e t L B + */ +static inline returnValue QProblem_setLBn( QProblem* _THIS, int number, real_t value ) +{ + int nV = QProblem_getNV( _THIS ); + + if ( nV == 0 ) + return THROWERROR( RET_QPOBJECT_NOT_SETUP ); + + if ( ( number >= 0 ) && ( number < nV ) ) + { + _THIS->lb[number] = value; + return SUCCESSFUL_RETURN; + } + else + { + return THROWERROR( RET_INDEX_OUT_OF_BOUNDS ); + } +} + + +/* + * s e t U B + */ +static inline returnValue QProblem_setUB( QProblem* _THIS, const real_t* const ub_new ) +{ + unsigned int i; + unsigned int nV = (unsigned int)QProblem_getNV( _THIS ); + + if ( nV == 0 ) + return THROWERROR( RET_QPOBJECT_NOT_SETUP ); + + if ( ub_new != 0 ) + { + memcpy( _THIS->ub,ub_new,nV*sizeof(real_t) ); + } + else + { + /* if no upper bounds are specified, set them to infinity */ + for( i=0; iub[i] = QPOASES_INFTY; + } + + return SUCCESSFUL_RETURN; +} + + +/* + * s e t U B + */ +static inline returnValue QProblem_setUBn( QProblem* _THIS, int number, real_t value ) +{ + int nV = QProblem_getNV( _THIS ); + + if ( nV == 0 ) + return THROWERROR( RET_QPOBJECT_NOT_SETUP ); + + if ( ( number >= 0 ) && ( number < nV ) ) + { + _THIS->ub[number] = value; + + return SUCCESSFUL_RETURN; + } + else + { + return THROWERROR( RET_INDEX_OUT_OF_BOUNDS ); + } +} + + + +/* + * i s B l o c k i n g + */ +static inline BooleanType QProblem_isBlocking( QProblem* _THIS, + real_t num, + real_t den, + real_t epsNum, + real_t epsDen, + real_t* t + ) +{ + if ( ( den >= epsDen ) && ( num >= epsNum ) ) + { + if ( num < (*t)*den ) + return BT_TRUE; + } + + return BT_FALSE; +} + + + +/* + * g e t C o n s t r a i n t s + */ +static inline returnValue QProblem_getConstraints( QProblem* _THIS, Constraints* _constraints ) +{ + int nV = QProblem_getNV( _THIS ); + + if ( nV == 0 ) + return THROWERROR( RET_QPOBJECT_NOT_SETUP ); + + ConstraintsCPY( _THIS->constraints,_constraints ); + + return SUCCESSFUL_RETURN; +} + + + +/* + * g e t N C + */ +static inline int QProblem_getNC( QProblem* _THIS ) +{ + return Constraints_getNC( _THIS->constraints ); +} + + +/* + * g e t N E C + */ +static inline int QProblem_getNEC( QProblem* _THIS ) +{ + return Constraints_getNEC( _THIS->constraints ); +} + + +/* + * g e t N A C + */ +static inline int QProblem_getNAC( QProblem* _THIS ) +{ + return Constraints_getNAC( _THIS->constraints ); +} + + +/* + * g e t N I A C + */ +static inline int QProblem_getNIAC( QProblem* _THIS ) +{ + return Constraints_getNIAC( _THIS->constraints ); +} + + + +/***************************************************************************** + * P R O T E C T E D * + *****************************************************************************/ + + +/* + * s e t A + */ +static inline returnValue QProblem_setAM( QProblem* _THIS, DenseMatrix *A_new ) +{ + if ( A_new == 0 ) + return QProblem_setA( _THIS,(real_t*)0 ); + else + return QProblem_setA( _THIS,DenseMatrix_getVal(A_new) ); +} + + +/* + * s e t A + */ +static inline returnValue QProblem_setA( QProblem* _THIS, real_t* const A_new ) +{ + int j; + int nV = QProblem_getNV( _THIS ); + int nC = QProblem_getNC( _THIS ); + + if ( nV == 0 ) + return THROWERROR( RET_QPOBJECT_NOT_SETUP ); + + if ( A_new == 0 ) + return THROWERROR( RET_INVALID_ARGUMENTS ); + + DenseMatrixCON( _THIS->A,QProblem_getNC( _THIS ),QProblem_getNV( _THIS ),QProblem_getNV( _THIS ),A_new ); + + DenseMatrix_times( _THIS->A,1, 1.0, _THIS->x, nV, 0.0, _THIS->Ax, nC); + + for( j=0; jAx_u[j] = _THIS->ubA[j] - _THIS->Ax[j]; + _THIS->Ax_l[j] = _THIS->Ax[j] - _THIS->lbA[j]; + + /* (ckirches) disable constraints with empty rows */ + if ( qpOASES_isZero( DenseMatrix_getRowNorm( _THIS->A,j,2 ),QPOASES_ZERO ) == BT_TRUE ) + Constraints_setType( _THIS->constraints,j,ST_DISABLED ); + } + + return SUCCESSFUL_RETURN; +} + + +/* + * s e t L B A + */ +static inline returnValue QProblem_setLBA( QProblem* _THIS, const real_t* const lbA_new ) +{ + unsigned int i; + unsigned int nV = (unsigned int)QProblem_getNV( _THIS ); + unsigned int nC = (unsigned int)QProblem_getNC( _THIS ); + + if ( nV == 0 ) + return THROWERROR( RET_QPOBJECT_NOT_SETUP ); + + if ( lbA_new != 0 ) + { + memcpy( _THIS->lbA,lbA_new,nC*sizeof(real_t) ); + } + else + { + /* if no lower constraints' bounds are specified, set them to -infinity */ + for( i=0; ilbA[i] = -QPOASES_INFTY; + } + + return SUCCESSFUL_RETURN; +} + + +/* + * s e t L B A + */ +static inline returnValue QProblem_setLBAn( QProblem* _THIS, int number, real_t value ) +{ + int nV = QProblem_getNV( _THIS ); + int nC = QProblem_getNC( _THIS ); + + if ( nV == 0 ) + return THROWERROR( RET_QPOBJECT_NOT_SETUP ); + + if ( ( number >= 0 ) && ( number < nC ) ) + { + _THIS->lbA[number] = value; + return SUCCESSFUL_RETURN; + } + else + return THROWERROR( RET_INDEX_OUT_OF_BOUNDS ); +} + + +/* + * s e t U B A + */ +static inline returnValue QProblem_setUBA( QProblem* _THIS, const real_t* const ubA_new ) +{ + unsigned int i; + unsigned int nV = (unsigned int)QProblem_getNV( _THIS ); + unsigned int nC = (unsigned int)QProblem_getNC( _THIS ); + + if ( nV == 0 ) + return THROWERROR( RET_QPOBJECT_NOT_SETUP ); + + if ( ubA_new != 0 ) + { + memcpy( _THIS->ubA,ubA_new,nC*sizeof(real_t) ); + } + else + { + /* if no upper constraints' bounds are specified, set them to infinity */ + for( i=0; iubA[i] = QPOASES_INFTY; + } + + return SUCCESSFUL_RETURN; +} + + +/* + * s e t U B A + */ +static inline returnValue QProblem_setUBAn( QProblem* _THIS, int number, real_t value ) +{ + int nV = QProblem_getNV( _THIS ); + int nC = QProblem_getNC( _THIS ); + + if ( nV == 0 ) + return THROWERROR( RET_QPOBJECT_NOT_SETUP ); + + if ( ( number >= 0 ) && ( number < nC ) ) + { + _THIS->ubA[number] = value; + return SUCCESSFUL_RETURN; + } + else + return THROWERROR( RET_INDEX_OUT_OF_BOUNDS ); +} + + +END_NAMESPACE_QPOASES + + +#endif /* QPOASES_QPROBLEM_H */ + + +/* + * end of file + */ diff --git a/third_party/acados/include/qpOASES_e/QProblemB.h b/third_party/acados/include/qpOASES_e/QProblemB.h new file mode 100644 index 0000000000..ee5157dda7 --- /dev/null +++ b/third_party/acados/include/qpOASES_e/QProblemB.h @@ -0,0 +1,1641 @@ +/* + * This file is part of qpOASES. + * + * qpOASES -- An Implementation of the Online Active Set Strategy. + * Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka, + * Christian Kirches et al. All rights reserved. + * + * qpOASES is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * qpOASES is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with qpOASES; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + */ + + +/** + * \file include/qpOASES_e/QProblemB.h + * \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches + * \version 3.1embedded + * \date 2007-2015 + * + * Declaration of the QProblemB class which is able to use the newly + * developed online active set strategy for parametric quadratic programming + * for problems with (simple) bounds only. + */ + + + +#ifndef QPOASES_QPROBLEMB_H +#define QPOASES_QPROBLEMB_H + + +#include +#include +#include +#include + + +BEGIN_NAMESPACE_QPOASES + +typedef struct { + Bounds *emptyBounds; + Bounds *auxiliaryBounds; + + real_t *ub_new_far; + real_t *lb_new_far; + + real_t *g_new; + real_t *lb_new; + real_t *ub_new; + + real_t *g_new2; + real_t *lb_new2; + real_t *ub_new2; + + real_t *Hx; + + real_t *_H; + + real_t *g_original; + real_t *lb_original; + real_t *ub_original; + + real_t *delta_xFR; + real_t *delta_xFX; + real_t *delta_yFX; + real_t *delta_g; + real_t *delta_lb; + real_t *delta_ub; + + real_t *gMod; + + real_t *num; + real_t *den; + + real_t *rhs; + real_t *r; +} QProblemB_ws; + +int QProblemB_ws_calculateMemorySize( unsigned int nV ); + +char *QProblemB_ws_assignMemory( unsigned int nV, QProblemB_ws **mem, void *raw_memory ); + +QProblemB_ws *QProblemB_ws_createMemory( unsigned int nV ); + + +/** + * \brief Implements the online active set strategy for box-constrained QPs. + * + * Class for setting up and solving quadratic programs with bounds (= box constraints) only. + * The main feature is the possibility to use the newly developed online active set strategy + * for parametric quadratic programming. + * + * \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches + * \version 3.1embedded + * \date 2007-2015 + */ +typedef struct +{ + QProblemB_ws *ws; + Bounds *bounds; /**< Data structure for problem's bounds. */ + Flipper *flipper; /**< Struct for making a temporary copy of the matrix factorisations. */ + + DenseMatrix* H; /**< Hessian matrix pointer. */ + + Options options; /**< Struct containing all user-defined options for solving QPs. */ + TabularOutput tabularOutput; /**< Struct storing information for tabular output (printLevel == PL_TABULAR). */ + + real_t *g; /**< Gradient. */ + real_t *lb; /**< Lower bound vector (on variables). */ + real_t *ub; /**< Upper bound vector (on variables). */ + + real_t *R; /**< Cholesky factor of H (i.e. H = R^T*R). */ + + real_t *x; /**< Primal solution vector. */ + real_t *y; /**< Dual solution vector. */ + + real_t *delta_xFR_TMP; /**< Temporary for determineStepDirection */ + + real_t tau; /**< Last homotopy step length. */ + real_t regVal; /**< Holds the offset used to regularise Hessian matrix (zero by default). */ + + real_t ramp0; /**< Start value for Ramping Strategy. */ + real_t ramp1; /**< Final value for Ramping Strategy. */ + + QProblemStatus status; /**< Current status of the solution process. */ + HessianType hessianType; /**< Type of Hessian matrix. */ + + BooleanType haveCholesky; /**< Flag indicating whether Cholesky decomposition has already been setup. */ + BooleanType infeasible; /**< QP infeasible? */ + BooleanType unbounded; /**< QP unbounded? */ + + int rampOffset; /**< Offset index for Ramping. */ + unsigned int count; /**< Counts the number of hotstart function calls (internal usage only!). */ +} QProblemB; + +int QProblemB_calculateMemorySize( unsigned int nV ); + +char *QProblemB_assignMemory( unsigned int nV, QProblemB **mem, void *raw_memory ); + +QProblemB *QProblemB_createMemory( unsigned int nV ); + + +/** Constructor which takes the QP dimension and Hessian type + * information. If the Hessian is the zero (i.e. HST_ZERO) or the + * identity matrix (i.e. HST_IDENTITY), respectively, no memory + * is allocated for it and a NULL pointer can be passed for it + * to the init() functions. */ +void QProblemBCON( QProblemB* _THIS, + int _nV, /**< Number of variables. */ + HessianType _hessianType /**< Type of Hessian matrix. */ + ); + +void QProblemBCPY( QProblemB* FROM, + QProblemB* TO + ); + + +/** Clears all data structures of QProblemB except for QP data. + * \return SUCCESSFUL_RETURN \n + RET_RESET_FAILED */ +returnValue QProblemB_reset( QProblemB* _THIS ); + + +/** Initialises a simply bounded QP problem with given QP data and tries to solve it + * using at most nWSR iterations. + * + * Note: This function internally calls solveInitialQP for initialisation! + * + * \return SUCCESSFUL_RETURN \n + RET_INIT_FAILED \n + RET_INIT_FAILED_CHOLESKY \n + RET_INIT_FAILED_HOTSTART \n + RET_INIT_FAILED_INFEASIBILITY \n + RET_INIT_FAILED_UNBOUNDEDNESS \n + RET_MAX_NWSR_REACHED \n + RET_INVALID_ARGUMENTS */ +returnValue QProblemB_initM( QProblemB* _THIS, + DenseMatrix *_H, /**< Hessian matrix. */ + const real_t* const _g, /**< Gradient vector. */ + const real_t* const _lb, /**< Lower bounds (on variables). \n + If no lower bounds exist, a NULL pointer can be passed. */ + const real_t* const _ub, /**< Upper bounds (on variables). \n + If no upper bounds exist, a NULL pointer can be passed. */ + int* nWSR, /**< Input: Maximum number of working set recalculations when using initial homotopy. \n + Output: Number of performed working set recalculations. */ + real_t* const cputime /**< Input: Maximum CPU time allowed for QP initialisation. \n + Output: CPU time spent for QP initialisation (if pointer passed). */ + ); + +/** Initialises a simply bounded QP problem with given QP data and tries to solve it + * using at most nWSR iterations. + * + * Note: This function internally calls solveInitialQP for initialisation! + * + * \return SUCCESSFUL_RETURN \n + RET_INIT_FAILED \n + RET_INIT_FAILED_CHOLESKY \n + RET_INIT_FAILED_HOTSTART \n + RET_INIT_FAILED_INFEASIBILITY \n + RET_INIT_FAILED_UNBOUNDEDNESS \n + RET_MAX_NWSR_REACHED \n + RET_INVALID_ARGUMENTS */ +returnValue QProblemB_init( QProblemB* _THIS, + real_t* const _H, /**< Hessian matrix. \n + If Hessian matrix is trivial, a NULL pointer can be passed. */ + const real_t* const _g, /**< Gradient vector. */ + const real_t* const _lb, /**< Lower bounds (on variables). \n + If no lower bounds exist, a NULL pointer can be passed. */ + const real_t* const _ub, /**< Upper bounds (on variables). \n + If no upper bounds exist, a NULL pointer can be passed. */ + int* nWSR, /**< Input: Maximum number of working set recalculations when using initial homotopy. \n + Output: Number of performed working set recalculations. */ + real_t* const cputime /**< Input: Maximum CPU time allowed for QP initialisation. \n + Output: CPU time spent for QP initialisation (if pointer passed). */ + ); + +/** Initialises a simply bounded QP problem with given QP data to be read from files and solves it + * using at most nWSR iterations. + * + * Note: This function internally calls solveInitialQP for initialisation! + * + * \return SUCCESSFUL_RETURN \n + RET_INIT_FAILED \n + RET_INIT_FAILED_CHOLESKY \n + RET_INIT_FAILED_HOTSTART \n + RET_INIT_FAILED_INFEASIBILITY \n + RET_INIT_FAILED_UNBOUNDEDNESS \n + RET_MAX_NWSR_REACHED \n + RET_UNABLE_TO_READ_FILE */ +returnValue QProblemB_initF( QProblemB* _THIS, + const char* const H_file, /**< Name of file where Hessian matrix is stored. \n + If Hessian matrix is trivial, a NULL pointer can be passed. */ + const char* const g_file, /**< Name of file where gradient vector is stored. */ + const char* const lb_file, /**< Name of file where lower bound vector. \n + If no lower bounds exist, a NULL pointer can be passed. */ + const char* const ub_file, /**< Name of file where upper bound vector. \n + If no upper bounds exist, a NULL pointer can be passed. */ + int* nWSR, /**< Input: Maximum number of working set recalculations when using initial homotopy. \n + Output: Number of performed working set recalculations. */ + real_t* const cputime /**< Input: Maximum CPU time allowed for QP initialisation. \n + Output: CPU time spent for QP initialisation (if pointer passed). */ + ); + +/** Initialises a simply bounded QP problem with given QP data and tries to solve it + * using at most nWSR iterations. Depending on the parameter constellation it: \n + * 1. 0, 0, 0 : starts with xOpt = 0, yOpt = 0 and gB empty (or all implicit equality bounds), \n + * 2. xOpt, 0, 0 : starts with xOpt, yOpt = 0 and obtain gB by "clipping", \n + * 3. 0, yOpt, 0 : starts with xOpt = 0, yOpt and obtain gB from yOpt != 0, \n + * 4. 0, 0, gB: starts with xOpt = 0, yOpt = 0 and gB, \n + * 5. xOpt, yOpt, 0 : starts with xOpt, yOpt and obtain gB from yOpt != 0, \n + * 6. xOpt, 0, gB: starts with xOpt, yOpt = 0 and gB, \n + * 7. xOpt, yOpt, gB: starts with xOpt, yOpt and gB (assume them to be consistent!) + * + * Note: This function internally calls solveInitialQP for initialisation! + * + * \return SUCCESSFUL_RETURN \n + RET_INIT_FAILED \n + RET_INIT_FAILED_CHOLESKY \n + RET_INIT_FAILED_HOTSTART \n + RET_INIT_FAILED_INFEASIBILITY \n + RET_INIT_FAILED_UNBOUNDEDNESS \n + RET_MAX_NWSR_REACHED \n + RET_INVALID_ARGUMENTS */ +returnValue QProblemB_initMW( QProblemB* _THIS, + DenseMatrix *_H, /**< Hessian matrix. */ + const real_t* const _g, /**< Gradient vector. */ + const real_t* const _lb, /**< Lower bounds (on variables). \n + If no lower bounds exist, a NULL pointer can be passed. */ + const real_t* const _ub, /**< Upper bounds (on variables). \n + If no upper bounds exist, a NULL pointer can be passed. */ + int* nWSR, /**< Input: Maximum number of working set recalculations when using initial homotopy. \n + Output: Number of performed working set recalculations. */ + real_t* const cputime, /**< Input: Maximum CPU time allowed for QP initialisation. \n + Output: CPU time spent for QP initialisation. */ + const real_t* const xOpt, /**< Optimal primal solution vector. A NULL pointer can be passed. \n + (If a null pointer is passed, the old primal solution is kept!) */ + const real_t* const yOpt, /**< Optimal dual solution vector. A NULL pointer can be passed. \n + (If a null pointer is passed, the old dual solution is kept!) */ + Bounds* const guessedBounds, /**< Optimal working set of bounds for solution (xOpt,yOpt). \n + (If a null pointer is passed, all bounds are assumed inactive!) */ + const real_t* const _R /**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix. + The Cholesky factor must be stored in a real_t array of size nV*nV + in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! \n + (If a null pointer is passed, Cholesky decomposition is computed internally!) */ + ); + +/** Initialises a simply bounded QP problem with given QP data and tries to solve it + * using at most nWSR iterations. Depending on the parameter constellation it: \n + * 1. 0, 0, 0 : starts with xOpt = 0, yOpt = 0 and gB empty (or all implicit equality bounds), \n + * 2. xOpt, 0, 0 : starts with xOpt, yOpt = 0 and obtain gB by "clipping", \n + * 3. 0, yOpt, 0 : starts with xOpt = 0, yOpt and obtain gB from yOpt != 0, \n + * 4. 0, 0, gB: starts with xOpt = 0, yOpt = 0 and gB, \n + * 5. xOpt, yOpt, 0 : starts with xOpt, yOpt and obtain gB from yOpt != 0, \n + * 6. xOpt, 0, gB: starts with xOpt, yOpt = 0 and gB, \n + * 7. xOpt, yOpt, gB: starts with xOpt, yOpt and gB (assume them to be consistent!) + * + * Note: This function internally calls solveInitialQP for initialisation! + * + * \return SUCCESSFUL_RETURN \n + RET_INIT_FAILED \n + RET_INIT_FAILED_CHOLESKY \n + RET_INIT_FAILED_HOTSTART \n + RET_INIT_FAILED_INFEASIBILITY \n + RET_INIT_FAILED_UNBOUNDEDNESS \n + RET_MAX_NWSR_REACHED \n + RET_INVALID_ARGUMENTS */ +returnValue QProblemB_initW( QProblemB* _THIS, + real_t* const _H, /**< Hessian matrix. \n + If Hessian matrix is trivial, a NULL pointer can be passed. */ + const real_t* const _g, /**< Gradient vector. */ + const real_t* const _lb, /**< Lower bounds (on variables). \n + If no lower bounds exist, a NULL pointer can be passed. */ + const real_t* const _ub, /**< Upper bounds (on variables). \n + If no upper bounds exist, a NULL pointer can be passed. */ + int* nWSR, /**< Input: Maximum number of working set recalculations when using initial homotopy. \n + Output: Number of performed working set recalculations. */ + real_t* const cputime, /**< Input: Maximum CPU time allowed for QP initialisation. \n + Output: CPU time spent for QP initialisation. */ + const real_t* const xOpt, /**< Optimal primal solution vector. A NULL pointer can be passed. \n + (If a null pointer is passed, the old primal solution is kept!) */ + const real_t* const yOpt, /**< Optimal dual solution vector. A NULL pointer can be passed. \n + (If a null pointer is passed, the old dual solution is kept!) */ + Bounds* const guessedBounds, /**< Optimal working set of bounds for solution (xOpt,yOpt). \n + (If a null pointer is passed, all bounds are assumed inactive!) */ + const real_t* const _R /**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix. + The Cholesky factor must be stored in a real_t array of size nV*nV + in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! \n + (If a null pointer is passed, Cholesky decomposition is computed internally!) */ + ); + +/** Initialises a simply bounded QP problem with given QP data to be read from files and solves it + * using at most nWSR iterations. Depending on the parameter constellation it: \n + * 1. 0, 0, 0 : starts with xOpt = 0, yOpt = 0 and gB empty (or all implicit equality bounds), \n + * 2. xOpt, 0, 0 : starts with xOpt, yOpt = 0 and obtain gB by "clipping", \n + * 3. 0, yOpt, 0 : starts with xOpt = 0, yOpt and obtain gB from yOpt != 0, \n + * 4. 0, 0, gB: starts with xOpt = 0, yOpt = 0 and gB, \n + * 5. xOpt, yOpt, 0 : starts with xOpt, yOpt and obtain gB from yOpt != 0, \n + * 6. xOpt, 0, gB: starts with xOpt, yOpt = 0 and gB, \n + * 7. xOpt, yOpt, gB: starts with xOpt, yOpt and gB (assume them to be consistent!) + * + * Note: This function internally calls solveInitialQP for initialisation! + * + * \return SUCCESSFUL_RETURN \n + RET_INIT_FAILED \n + RET_INIT_FAILED_CHOLESKY \n + RET_INIT_FAILED_HOTSTART \n + RET_INIT_FAILED_INFEASIBILITY \n + RET_INIT_FAILED_UNBOUNDEDNESS \n + RET_MAX_NWSR_REACHED \n + RET_UNABLE_TO_READ_FILE */ +returnValue QProblemB_initFW( QProblemB* _THIS, + const char* const H_file, /**< Name of file where Hessian matrix is stored. \n + If Hessian matrix is trivial, a NULL pointer can be passed. */ + const char* const g_file, /**< Name of file where gradient vector is stored. */ + const char* const lb_file, /**< Name of file where lower bound vector. \n + If no lower bounds exist, a NULL pointer can be passed. */ + const char* const ub_file, /**< Name of file where upper bound vector. \n + If no upper bounds exist, a NULL pointer can be passed. */ + int* nWSR, /**< Input: Maximum number of working set recalculations when using initial homotopy. \n + Output: Number of performed working set recalculations. */ + real_t* const cputime, /**< Input: Maximum CPU time allowed for QP initialisation. \n + Output: CPU time spent for QP initialisation. */ + const real_t* const xOpt, /**< Optimal primal solution vector. A NULL pointer can be passed. \n + (If a null pointer is passed, the old primal solution is kept!) */ + const real_t* const yOpt, /**< Optimal dual solution vector. A NULL pointer can be passed. \n + (If a null pointer is passed, the old dual solution is kept!) */ + Bounds* const guessedBounds, /**< Optimal working set of bounds for solution (xOpt,yOpt). \n + (If a null pointer is passed, all bounds are assumed inactive!) */ + const char* const R_file /**< Name of the file where a pre-computed (upper triangular) Cholesky factor + of the Hessian matrix is stored. \n + (If a null pointer is passed, Cholesky decomposition is computed internally!) */ + ); + + +/** Solves an initialised QP sequence using the online active set strategy. + * By default, QP solution is started from previous solution. + * + * Note: This function internally calls solveQP/solveRegularisedQP + * for solving an initialised QP! + * + * \return SUCCESSFUL_RETURN \n + RET_MAX_NWSR_REACHED \n + RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n + RET_HOTSTART_FAILED \n + RET_SHIFT_DETERMINATION_FAILED \n + RET_STEPDIRECTION_DETERMINATION_FAILED \n + RET_STEPLENGTH_DETERMINATION_FAILED \n + RET_HOMOTOPY_STEP_FAILED \n + RET_HOTSTART_STOPPED_INFEASIBILITY \n + RET_HOTSTART_STOPPED_UNBOUNDEDNESS */ +returnValue QProblemB_hotstart( QProblemB* _THIS, + const real_t* const g_new, /**< Gradient of neighbouring QP to be solved. */ + const real_t* const lb_new, /**< Lower bounds of neighbouring QP to be solved. \n + If no lower bounds exist, a NULL pointer can be passed. */ + const real_t* const ub_new, /**< Upper bounds of neighbouring QP to be solved. \n + If no upper bounds exist, a NULL pointer can be passed. */ + int* nWSR, /**< Input: Maximum number of working set recalculations; \n + Output: Number of performed working set recalculations. */ + real_t* const cputime /**< Input: Maximum CPU time allowed for QP solution. \n + Output: CPU time spent for QP solution (or to perform nWSR iterations). */ + ); + +/** Solves an initialised QP sequence using the online active set strategy, + * where QP data is read from files. QP solution is started from previous solution. + * + * Note: This function internally calls solveQP/solveRegularisedQP + * for solving an initialised QP! + * + * \return SUCCESSFUL_RETURN \n + RET_MAX_NWSR_REACHED \n + RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n + RET_HOTSTART_FAILED \n + RET_SHIFT_DETERMINATION_FAILED \n + RET_STEPDIRECTION_DETERMINATION_FAILED \n + RET_STEPLENGTH_DETERMINATION_FAILED \n + RET_HOMOTOPY_STEP_FAILED \n + RET_HOTSTART_STOPPED_INFEASIBILITY \n + RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n + RET_UNABLE_TO_READ_FILE \n + RET_INVALID_ARGUMENTS */ +returnValue QProblemB_hotstartF( QProblemB* _THIS, + const char* const g_file, /**< Name of file where gradient, of neighbouring QP to be solved, is stored. */ + const char* const lb_file, /**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n + If no lower bounds exist, a NULL pointer can be passed. */ + const char* const ub_file, /**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n + If no upper bounds exist, a NULL pointer can be passed. */ + int* nWSR, /**< Input: Maximum number of working set recalculations; \n + Output: Number of performed working set recalculations. */ + real_t* const cputime /**< Input: Maximum CPU time allowed for QP solution. \n + Output: CPU time spent for QP solution (or to perform nWSR iterations). */ + ); + +/** Solves an initialised QP sequence using the online active set strategy. + * By default, QP solution is started from previous solution. If a guess + * for the working set is provided, an initialised homotopy is performed. + * + * Note: This function internally calls solveQP/solveRegularisedQP + * for solving an initialised QP! + * + * \return SUCCESSFUL_RETURN \n + RET_MAX_NWSR_REACHED \n + RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n + RET_HOTSTART_FAILED \n + RET_SHIFT_DETERMINATION_FAILED \n + RET_STEPDIRECTION_DETERMINATION_FAILED \n + RET_STEPLENGTH_DETERMINATION_FAILED \n + RET_HOMOTOPY_STEP_FAILED \n + RET_HOTSTART_STOPPED_INFEASIBILITY \n + RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n + RET_SETUP_AUXILIARYQP_FAILED */ +returnValue QProblemB_hotstartW( QProblemB* _THIS, + const real_t* const g_new, /**< Gradient of neighbouring QP to be solved. */ + const real_t* const lb_new, /**< Lower bounds of neighbouring QP to be solved. \n + If no lower bounds exist, a NULL pointer can be passed. */ + const real_t* const ub_new, /**< Upper bounds of neighbouring QP to be solved. \n + If no upper bounds exist, a NULL pointer can be passed. */ + int* nWSR, /**< Input: Maximum number of working set recalculations; \n + Output: Number of performed working set recalculations. */ + real_t* const cputime, /**< Input: Maximum CPU time allowed for QP solution. \n + Output: CPU time spent for QP solution (or to perform nWSR iterations). */ + Bounds* const guessedBounds /**< Optimal working set of bounds for solution (xOpt,yOpt). \n + (If a null pointer is passed, the previous working set is kept!) */ + ); + +/** Solves an initialised QP sequence using the online active set strategy, + * where QP data is read from files. + * By default, QP solution is started from previous solution. If a guess + * for the working set is provided, an initialised homotopy is performed. + * + * Note: This function internally calls solveQP/solveRegularisedQP + * for solving an initialised QP! + * + * \return SUCCESSFUL_RETURN \n + RET_MAX_NWSR_REACHED \n + RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n + RET_HOTSTART_FAILED \n + RET_SHIFT_DETERMINATION_FAILED \n + RET_STEPDIRECTION_DETERMINATION_FAILED \n + RET_STEPLENGTH_DETERMINATION_FAILED \n + RET_HOMOTOPY_STEP_FAILED \n + RET_HOTSTART_STOPPED_INFEASIBILITY \n + RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n + RET_UNABLE_TO_READ_FILE \n + RET_INVALID_ARGUMENTS \n + RET_SETUP_AUXILIARYQP_FAILED */ +returnValue QProblemB_hotstartFW( QProblemB* _THIS, + const char* const g_file, /**< Name of file where gradient, of neighbouring QP to be solved, is stored. */ + const char* const lb_file, /**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n + If no lower bounds exist, a NULL pointer can be passed. */ + const char* const ub_file, /**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n + If no upper bounds exist, a NULL pointer can be passed. */ + int* nWSR, /**< Input: Maximum number of working set recalculations; \n + Output: Number of performed working set recalculations. */ + real_t* const cputime, /**< Input: Maximum CPU time allowed for QP solution. \n + Output: CPU time spent for QP solution (or to perform nWSR iterations). */ + Bounds* const guessedBounds /**< Optimal working set of bounds for solution (xOpt,yOpt). \n + (If a null pointer is passed, the previous working set is kept!) */ + ); + + +/** Writes a vector with the state of the working set + * \return SUCCESSFUL_RETURN \n + * RET_INVALID_ARGUMENTS */ +returnValue QProblemB_getWorkingSet( QProblemB* _THIS, + real_t* workingSet /** Output: array containing state of the working set. */ + ); + +/** Writes a vector with the state of the working set of bounds + * \return SUCCESSFUL_RETURN \n + * RET_INVALID_ARGUMENTS */ +returnValue QProblemB_getWorkingSetBounds( QProblemB* _THIS, + real_t* workingSetB /** Output: array containing state of the working set of bounds. */ + ); + +/** Writes a vector with the state of the working set of constraints + * \return SUCCESSFUL_RETURN \n + * RET_INVALID_ARGUMENTS */ +returnValue QProblemB_getWorkingSetConstraints( QProblemB* _THIS, + real_t* workingSetC /** Output: array containing state of the working set of constraints. */ + ); + + +/** Returns current bounds object of the QP (deep copy). + * \return SUCCESSFUL_RETURN \n + RET_QPOBJECT_NOT_SETUP */ +static inline returnValue QProblemB_getBounds( QProblemB* _THIS, + Bounds* _bounds /** Output: Bounds object. */ + ); + + +/** Returns the number of variables. + * \return Number of variables. */ +static inline int QProblemB_getNV( QProblemB* _THIS ); + +/** Returns the number of free variables. + * \return Number of free variables. */ +static inline int QProblemB_getNFR( QProblemB* _THIS ); + +/** Returns the number of fixed variables. + * \return Number of fixed variables. */ +static inline int QProblemB_getNFX( QProblemB* _THIS ); + +/** Returns the number of implicitly fixed variables. + * \return Number of implicitly fixed variables. */ +static inline int QProblemB_getNFV( QProblemB* _THIS ); + +/** Returns the dimension of null space. + * \return Dimension of null space. */ +int QProblemB_getNZ( QProblemB* _THIS ); + + +/** Returns the optimal objective function value. + * \return finite value: Optimal objective function value (QP was solved) \n + +infinity: QP was not yet solved */ +real_t QProblemB_getObjVal( QProblemB* _THIS ); + +/** Returns the objective function value at an arbitrary point x. + * \return Objective function value at point x */ +real_t QProblemB_getObjValX( QProblemB* _THIS, + const real_t* const _x /**< Point at which the objective function shall be evaluated. */ + ); + +/** Returns the primal solution vector. + * \return SUCCESSFUL_RETURN \n + RET_QP_NOT_SOLVED */ +returnValue QProblemB_getPrimalSolution( QProblemB* _THIS, + real_t* const xOpt /**< Output: Primal solution vector (if QP has been solved). */ + ); + +/** Returns the dual solution vector. + * \return SUCCESSFUL_RETURN \n + RET_QP_NOT_SOLVED */ +returnValue QProblemB_getDualSolution( QProblemB* _THIS, + real_t* const yOpt /**< Output: Dual solution vector (if QP has been solved). */ + ); + + +/** Returns status of the solution process. + * \return Status of solution process. */ +static inline QProblemStatus QProblemB_getStatus( QProblemB* _THIS ); + + +/** Returns if the QProblem object is initialised. + * \return BT_TRUE: QProblemB initialised \n + BT_FALSE: QProblemB not initialised */ +static inline BooleanType QProblemB_isInitialised( QProblemB* _THIS ); + +/** Returns if the QP has been solved. + * \return BT_TRUE: QProblemB solved \n + BT_FALSE: QProblemB not solved */ +static inline BooleanType QProblemB_isSolved( QProblemB* _THIS ); + +/** Returns if the QP is infeasible. + * \return BT_TRUE: QP infeasible \n + BT_FALSE: QP feasible (or not known to be infeasible!) */ +static inline BooleanType QProblemB_isInfeasible( QProblemB* _THIS ); + +/** Returns if the QP is unbounded. + * \return BT_TRUE: QP unbounded \n + BT_FALSE: QP unbounded (or not known to be unbounded!) */ +static inline BooleanType QProblemB_isUnbounded( QProblemB* _THIS ); + + +/** Returns Hessian type flag (type is not determined due to _THIS call!). + * \return Hessian type. */ +static inline HessianType QProblemB_getHessianType( QProblemB* _THIS ); + +/** Changes the print level. + * \return SUCCESSFUL_RETURN */ +static inline returnValue QProblemB_setHessianType( QProblemB* _THIS, + HessianType _hessianType /**< New Hessian type. */ + ); + +/** Returns if the QP has been internally regularised. + * \return BT_TRUE: Hessian is internally regularised for QP solution \n + BT_FALSE: No internal Hessian regularisation is used for QP solution */ +static inline BooleanType QProblemB_usingRegularisation( QProblemB* _THIS ); + +/** Returns current options struct. + * \return Current options struct. */ +static inline Options QProblemB_getOptions( QProblemB* _THIS ); + +/** Overrides current options with given ones. + * \return SUCCESSFUL_RETURN */ +static inline returnValue QProblemB_setOptions( QProblemB* _THIS, + Options _options /**< New options. */ + ); + +/** Returns the print level. + * \return Print level. */ +static inline PrintLevel QProblemB_getPrintLevel( QProblemB* _THIS ); + +/** Changes the print level. + * \return SUCCESSFUL_RETURN */ +returnValue QProblemB_setPrintLevel( QProblemB* _THIS, + PrintLevel _printlevel /**< New print level. */ + ); + +/** Returns the current number of QP problems solved. + * \return Number of QP problems solved. */ +static inline unsigned int QProblemB_getCount( QProblemB* _THIS ); + +/** Resets QP problem counter (to zero). + * \return SUCCESSFUL_RETURN. */ +static inline returnValue QProblemB_resetCounter( QProblemB* _THIS ); + + +/** Prints concise list of properties of the current QP. + * \return SUCCESSFUL_RETURN \n */ +returnValue QProblemB_printProperties( QProblemB* _THIS ); + +/** Prints a list of all options and their current values. + * \return SUCCESSFUL_RETURN \n */ +returnValue QProblemB_printOptions( QProblemB* _THIS ); + + +/** If Hessian type has been set by the user, nothing is done. + * Otherwise the Hessian type is set to HST_IDENTITY, HST_ZERO, or + * HST_POSDEF (default), respectively. + * \return SUCCESSFUL_RETURN \n + RET_HESSIAN_INDEFINITE */ +returnValue QProblemB_determineHessianType( QProblemB* _THIS ); + +/** Determines type of existing constraints and bounds (i.e. implicitly fixed, unbounded etc.). + * \return SUCCESSFUL_RETURN \n + RET_SETUPSUBJECTTOTYPE_FAILED */ +returnValue QProblemB_setupSubjectToType( QProblemB* _THIS ); + +/** Determines type of new constraints and bounds (i.e. implicitly fixed, unbounded etc.). + * \return SUCCESSFUL_RETURN \n + RET_SETUPSUBJECTTOTYPE_FAILED */ +returnValue QProblemB_setupSubjectToTypeNew( QProblemB* _THIS, + const real_t* const lb_new, /**< New lower bounds. */ + const real_t* const ub_new /**< New upper bounds. */ + ); + +/** Computes the Cholesky decomposition of the (simply projected) Hessian + * (i.e. R^T*R = Z^T*H*Z). It only works in the case where Z is a simple + * projection matrix! + * Note: If Hessian turns out not to be positive definite, the Hessian type + * is set to HST_SEMIDEF accordingly. + * \return SUCCESSFUL_RETURN \n + * RET_HESSIAN_NOT_SPD \n + * RET_INDEXLIST_CORRUPTED */ +returnValue QProblemB_computeCholesky( QProblemB* _THIS ); + +/** Computes initial Cholesky decomposition of the projected Hessian making + * use of the function setupCholeskyDecomposition() or setupCholeskyDecompositionProjected(). + * \return SUCCESSFUL_RETURN \n + * RET_HESSIAN_NOT_SPD \n + * RET_INDEXLIST_CORRUPTED */ +returnValue QProblemB_setupInitialCholesky( QProblemB* _THIS ); + + +/** Obtains the desired working set for the auxiliary initial QP in + * accordance with the user specifications + * \return SUCCESSFUL_RETURN \n + RET_OBTAINING_WORKINGSET_FAILED \n + RET_INVALID_ARGUMENTS */ +returnValue QProblemB_obtainAuxiliaryWorkingSet( QProblemB* _THIS, + const real_t* const xOpt, /**< Optimal primal solution vector. + * If a NULL pointer is passed, all entries are assumed to be zero. */ + const real_t* const yOpt, /**< Optimal dual solution vector. + * If a NULL pointer is passed, all entries are assumed to be zero. */ + Bounds* const guessedBounds, /**< Guessed working set for solution (xOpt,yOpt). */ + Bounds* auxiliaryBounds /**< Input: Allocated bound object. \n + * Ouput: Working set for auxiliary QP. */ + ); + +/** Decides if lower bounds are smaller than upper bounds + * + * \return SUCCESSFUL_RETURN \n + * RET_QP_INFEASIBLE */ +returnValue QProblemB_areBoundsConsistent( QProblemB* _THIS, + const real_t* const lb, /**< Vector of lower bounds*/ + const real_t* const ub /**< Vector of upper bounds*/ + ); + +/** Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix. + * \return SUCCESSFUL_RETURN \n + RET_DIV_BY_ZERO */ +returnValue QProblemB_backsolveR( QProblemB* _THIS, + const real_t* const b, /**< Right hand side vector. */ + BooleanType transposed, /**< Indicates if the transposed system shall be solved. */ + real_t* const a /**< Output: Solution vector */ + ); + +/** Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix. \n + * Special variant for the case that _THIS function is called from within "removeBound()". + * \return SUCCESSFUL_RETURN \n + RET_DIV_BY_ZERO */ +returnValue QProblemB_backsolveRrem( QProblemB* _THIS, + const real_t* const b, /**< Right hand side vector. */ + BooleanType transposed, /**< Indicates if the transposed system shall be solved. */ + BooleanType removingBound, /**< Indicates if function is called from "removeBound()". */ + real_t* const a /**< Output: Solution vector */ + ); + + +/** Determines step direction of the shift of the QP data. + * \return SUCCESSFUL_RETURN */ +returnValue QProblemB_determineDataShift( QProblemB* _THIS, + const real_t* const g_new, /**< New gradient vector. */ + const real_t* const lb_new, /**< New lower bounds. */ + const real_t* const ub_new, /**< New upper bounds. */ + real_t* const delta_g, /**< Output: Step direction of gradient vector. */ + real_t* const delta_lb, /**< Output: Step direction of lower bounds. */ + real_t* const delta_ub, /**< Output: Step direction of upper bounds. */ + BooleanType* Delta_bB_isZero/**< Output: Indicates if active bounds are to be shifted. */ + ); + + +/** Sets up internal QP data. + * \return SUCCESSFUL_RETURN \n + RET_INVALID_ARGUMENTS */ +returnValue QProblemB_setupQPdataM( QProblemB* _THIS, + DenseMatrix *_H, /**< Hessian matrix.*/ + const real_t* const _g, /**< Gradient vector. */ + const real_t* const _lb, /**< Lower bounds (on variables). \n + If no lower bounds exist, a NULL pointer can be passed. */ + const real_t* const _ub /**< Upper bounds (on variables). \n + If no upper bounds exist, a NULL pointer can be passed. */ + ); + +/** Sets up internal QP data. If the current Hessian is trivial + * (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given, + * memory for Hessian is allocated and it is set to the given one. + * \return SUCCESSFUL_RETURN \n + RET_INVALID_ARGUMENTS \n + RET_NO_HESSIAN_SPECIFIED */ +returnValue QProblemB_setupQPdata( QProblemB* _THIS, + real_t* const _H, /**< Hessian matrix. \n + If Hessian matrix is trivial,a NULL pointer can be passed. */ + const real_t* const _g, /**< Gradient vector. */ + const real_t* const _lb, /**< Lower bounds (on variables). \n + If no lower bounds exist, a NULL pointer can be passed. */ + const real_t* const _ub /**< Upper bounds (on variables). \n + If no upper bounds exist, a NULL pointer can be passed. */ + ); + +/** Sets up internal QP data by loading it from files. If the current Hessian + * is trivial (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given, + * memory for Hessian is allocated and it is set to the given one. + * \return SUCCESSFUL_RETURN \n + RET_UNABLE_TO_OPEN_FILE \n + RET_UNABLE_TO_READ_FILE \n + RET_INVALID_ARGUMENTS \n + RET_NO_HESSIAN_SPECIFIED */ +returnValue QProblemB_setupQPdataFromFile( QProblemB* _THIS, + const char* const H_file, /**< Name of file where Hessian matrix, of neighbouring QP to be solved, is stored. \n + If Hessian matrix is trivial,a NULL pointer can be passed. */ + const char* const g_file, /**< Name of file where gradient, of neighbouring QP to be solved, is stored. */ + const char* const lb_file, /**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n + If no lower bounds exist, a NULL pointer can be passed. */ + const char* const ub_file /**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n + If no upper bounds exist, a NULL pointer can be passed. */ + ); + +/** Loads new QP vectors from files (internal members are not affected!). + * \return SUCCESSFUL_RETURN \n + RET_UNABLE_TO_OPEN_FILE \n + RET_UNABLE_TO_READ_FILE \n + RET_INVALID_ARGUMENTS */ +returnValue QProblemB_loadQPvectorsFromFile( QProblemB* _THIS, + const char* const g_file, /**< Name of file where gradient, of neighbouring QP to be solved, is stored. */ + const char* const lb_file, /**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n + If no lower bounds exist, a NULL pointer can be passed. */ + const char* const ub_file, /**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n + If no upper bounds exist, a NULL pointer can be passed. */ + real_t* const g_new, /**< Output: Gradient of neighbouring QP to be solved. */ + real_t* const lb_new, /**< Output: Lower bounds of neighbouring QP to be solved */ + real_t* const ub_new /**< Output: Upper bounds of neighbouring QP to be solved */ + ); + + +/** Sets internal infeasibility flag and throws given error in case the far bound + * strategy is not enabled (as QP might actually not be infeasible in _THIS case). + * \return RET_HOTSTART_STOPPED_INFEASIBILITY \n + RET_ENSURELI_FAILED_CYCLING \n + RET_ENSURELI_FAILED_NOINDEX */ +returnValue QProblemB_setInfeasibilityFlag( QProblemB* _THIS, + returnValue returnvalue, /**< Returnvalue to be tunneled. */ + BooleanType doThrowError /**< Flag forcing to throw an error. */ + ); + + +/** Determines if next QP iteration can be performed within given CPU time limit. + * \return BT_TRUE: CPU time limit is exceeded, stop QP solution. \n + BT_FALSE: Sufficient CPU time for next QP iteration. */ +BooleanType QProblemB_isCPUtimeLimitExceeded( QProblemB* _THIS, + const real_t* const cputime, /**< Maximum CPU time allowed for QP solution. */ + real_t starttime, /**< Start time of current QP solution. */ + int nWSR /**< Number of working set recalculations performed so far. */ + ); + + +/** Regularise Hessian matrix by adding a scaled identity matrix to it. + * \return SUCCESSFUL_RETURN \n + RET_HESSIAN_ALREADY_REGULARISED */ +returnValue QProblemB_regulariseHessian( QProblemB* _THIS ); + + +/** Sets Hessian matrix of the QP. + * \return SUCCESSFUL_RETURN */ +static inline returnValue QProblemB_setHM( QProblemB* _THIS, + DenseMatrix* H_new /**< New Hessian matrix. */ + ); + +/** Sets dense Hessian matrix of the QP. + * If a null pointer is passed and + * a) hessianType is HST_IDENTITY, nothing is done, + * b) hessianType is not HST_IDENTITY, Hessian matrix is set to zero. + * \return SUCCESSFUL_RETURN */ +static inline returnValue QProblemB_setH( QProblemB* _THIS, + real_t* const H_new /**< New dense Hessian matrix (with correct dimension!). */ + ); + +/** Changes gradient vector of the QP. + * \return SUCCESSFUL_RETURN \n + * RET_INVALID_ARGUMENTS */ +static inline returnValue QProblemB_setG( QProblemB* _THIS, + const real_t* const g_new /**< New gradient vector (with correct dimension!). */ + ); + +/** Changes lower bound vector of the QP. + * \return SUCCESSFUL_RETURN \n + * RET_QPOBJECT_NOT_SETUP */ +static inline returnValue QProblemB_setLB( QProblemB* _THIS, + const real_t* const lb_new /**< New lower bound vector (with correct dimension!). */ + ); + +/** Changes single entry of lower bound vector of the QP. + * \return SUCCESSFUL_RETURN \n + * RET_QPOBJECT_NOT_SETUP \n + * RET_INDEX_OUT_OF_BOUNDS */ +static inline returnValue QProblemB_setLBn( QProblemB* _THIS, + int number, /**< Number of entry to be changed. */ + real_t value /**< New value for entry of lower bound vector. */ + ); + +/** Changes upper bound vector of the QP. + * \return SUCCESSFUL_RETURN \n + * RET_QPOBJECT_NOT_SETUP */ +static inline returnValue QProblemB_setUB( QProblemB* _THIS, + const real_t* const ub_new /**< New upper bound vector (with correct dimension!). */ + ); + +/** Changes single entry of upper bound vector of the QP. + * \return SUCCESSFUL_RETURN \n + * RET_QPOBJECT_NOT_SETUP \n + * RET_INDEX_OUT_OF_BOUNDS */ +static inline returnValue QProblemB_setUBn( QProblemB* _THIS, + int number, /**< Number of entry to be changed. */ + real_t value /**< New value for entry of upper bound vector. */ + ); + + +/** Computes parameters for the Givens matrix G for which [x,y]*G = [z,0] + * \return SUCCESSFUL_RETURN */ +static inline void QProblemB_computeGivens( real_t xold, /**< Matrix entry to be normalised. */ + real_t yold, /**< Matrix entry to be annihilated. */ + real_t* xnew, /**< Output: Normalised matrix entry. */ + real_t* ynew, /**< Output: Annihilated matrix entry. */ + real_t* c, /**< Output: Cosine entry of Givens matrix. */ + real_t* s /**< Output: Sine entry of Givens matrix. */ + ); + +/** Applies Givens matrix determined by c and s (cf. computeGivens). + * \return SUCCESSFUL_RETURN */ +static inline void QProblemB_applyGivens( real_t c, /**< Cosine entry of Givens matrix. */ + real_t s, /**< Sine entry of Givens matrix. */ + real_t nu, /**< Further factor: s/(1+c). */ + real_t xold, /**< Matrix entry to be transformed corresponding to + * the normalised entry of the original matrix. */ + real_t yold, /**< Matrix entry to be transformed corresponding to + * the annihilated entry of the original matrix. */ + real_t* xnew, /**< Output: Transformed matrix entry corresponding to + * the normalised entry of the original matrix. */ + real_t* ynew /**< Output: Transformed matrix entry corresponding to + * the annihilated entry of the original matrix. */ + ); + + + +/** Compute relative length of homotopy in data space for termination + * criterion. + * \return Relative length in data space. */ +real_t QProblemB_getRelativeHomotopyLength( QProblemB* _THIS, + const real_t* const g_new, /**< Final gradient. */ + const real_t* const lb_new, /**< Final lower variable bounds. */ + const real_t* const ub_new /**< Final upper variable bounds. */ + ); + +/** Ramping Strategy to avoid ties. Modifies homotopy start without + * changing current active set. + * \return SUCCESSFUL_RETURN */ +returnValue QProblemB_performRamping( QProblemB* _THIS ); + + +/** ... */ +returnValue QProblemB_updateFarBounds( QProblemB* _THIS, + real_t curFarBound, /**< ... */ + int nRamp, /**< ... */ + const real_t* const lb_new, /**< ... */ + real_t* const lb_new_far, /**< ... */ + const real_t* const ub_new, /**< ... */ + real_t* const ub_new_far /**< ... */ + ); + + + +/** Performs robustified ratio test yield the maximum possible step length + * along the homotopy path. + * \return SUCCESSFUL_RETURN */ +returnValue QProblemB_performRatioTestB( QProblemB* _THIS, + int nIdx, /**< Number of ratios to be checked. */ + const int* const idxList, /**< Array containing the indices of all ratios to be checked. */ + Bounds* const subjectTo, /**< Bound object corresponding to ratios to be checked. */ + const real_t* const num, /**< Array containing all numerators for performing the ratio test. */ + const real_t* const den, /**< Array containing all denominators for performing the ratio test. */ + real_t epsNum, /**< Numerator tolerance. */ + real_t epsDen, /**< Denominator tolerance. */ + real_t* t, /**< Output: Maximum possible step length along the homotopy path. */ + int* BC_idx /**< Output: Index of blocking constraint. */ + ); + +/** Checks whether given ratio is blocking, i.e. limits the maximum step length + * along the homotopy path to a value lower than given one. + * \return SUCCESSFUL_RETURN */ +static inline BooleanType QProblemB_isBlocking( QProblemB* _THIS, + real_t num, /**< Numerator for performing the ratio test. */ + real_t den, /**< Denominator for performing the ratio test. */ + real_t epsNum, /**< Numerator tolerance. */ + real_t epsDen, /**< Denominator tolerance. */ + real_t* t /**< Input: Current maximum step length along the homotopy path, + * Output: Updated maximum possible step length along the homotopy path. */ + ); + + +/** Solves a QProblemB whose QP data is assumed to be stored in the member variables. + * A guess for its primal/dual optimal solution vectors and the corresponding + * optimal working set can be provided. + * Note: This function is internally called by all init functions! + * \return SUCCESSFUL_RETURN \n + RET_INIT_FAILED \n + RET_INIT_FAILED_CHOLESKY \n + RET_INIT_FAILED_HOTSTART \n + RET_INIT_FAILED_INFEASIBILITY \n + RET_INIT_FAILED_UNBOUNDEDNESS \n + RET_MAX_NWSR_REACHED */ +returnValue QProblemB_solveInitialQP( QProblemB* _THIS, + const real_t* const xOpt, /**< Optimal primal solution vector.*/ + const real_t* const yOpt, /**< Optimal dual solution vector. */ + Bounds* const guessedBounds, /**< Optimal working set of bounds for solution (xOpt,yOpt). */ + const real_t* const _R, /**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix. */ + int* nWSR, /**< Input: Maximum number of working set recalculations; \n + * Output: Number of performed working set recalculations. */ + real_t* const cputime /**< Input: Maximum CPU time allowed for QP solution. \n + * Output: CPU time spent for QP solution (or to perform nWSR iterations). */ + ); + +/** Solves an initialised QProblemB using online active set strategy. + * Note: This function is internally called by all hotstart functions! + * \return SUCCESSFUL_RETURN \n + RET_MAX_NWSR_REACHED \n + RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n + RET_HOTSTART_FAILED \n + RET_SHIFT_DETERMINATION_FAILED \n + RET_STEPDIRECTION_DETERMINATION_FAILED \n + RET_STEPLENGTH_DETERMINATION_FAILED \n + RET_HOMOTOPY_STEP_FAILED \n + RET_HOTSTART_STOPPED_INFEASIBILITY \n + RET_HOTSTART_STOPPED_UNBOUNDEDNESS */ +returnValue QProblemB_solveQP( QProblemB* _THIS, + const real_t* const g_new, /**< Gradient of neighbouring QP to be solved. */ + const real_t* const lb_new, /**< Lower bounds of neighbouring QP to be solved. \n + If no lower bounds exist, a NULL pointer can be passed. */ + const real_t* const ub_new, /**< Upper bounds of neighbouring QP to be solved. \n + If no upper bounds exist, a NULL pointer can be passed. */ + int* nWSR, /**< Input: Maximum number of working set recalculations; \n + Output: Number of performed working set recalculations. */ + real_t* const cputime, /**< Input: Maximum CPU time allowed for QP solution. \n + Output: CPU time spent for QP solution (or to perform nWSR iterations). */ + int nWSRperformed, /**< Number of working set recalculations already performed to solve + this QP within previous solveQP() calls. This number is + always zero, except for successive calls from solveRegularisedQP() + or when using the far bound strategy. */ + BooleanType isFirstCall /**< Indicating whether this is the first call for current QP. */ + ); + + +/** Solves an initialised QProblemB using online active set strategy. + * Note: This function is internally called by all hotstart functions! + * \return SUCCESSFUL_RETURN \n + RET_MAX_NWSR_REACHED \n + RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n + RET_HOTSTART_FAILED \n + RET_SHIFT_DETERMINATION_FAILED \n + RET_STEPDIRECTION_DETERMINATION_FAILED \n + RET_STEPLENGTH_DETERMINATION_FAILED \n + RET_HOMOTOPY_STEP_FAILED \n + RET_HOTSTART_STOPPED_INFEASIBILITY \n + RET_HOTSTART_STOPPED_UNBOUNDEDNESS */ +returnValue QProblemB_solveRegularisedQP( QProblemB* _THIS, + const real_t* const g_new, /**< Gradient of neighbouring QP to be solved. */ + const real_t* const lb_new, /**< Lower bounds of neighbouring QP to be solved. \n + If no lower bounds exist, a NULL pointer can be passed. */ + const real_t* const ub_new, /**< Upper bounds of neighbouring QP to be solved. \n + If no upper bounds exist, a NULL pointer can be passed. */ + int* nWSR, /**< Input: Maximum number of working set recalculations; \n + Output: Number of performed working set recalculations. */ + real_t* const cputime, /**< Input: Maximum CPU time allowed for QP solution. \n + Output: CPU time spent for QP solution (or to perform nWSR iterations). */ + int nWSRperformed, /**< Number of working set recalculations already performed to solve + this QP within previous solveRegularisedQP() calls. This number is + always zero, except for successive calls when using the far bound strategy. */ + BooleanType isFirstCall /**< Indicating whether this is the first call for current QP. */ + ); + + +/** Sets up bound data structure according to auxiliaryBounds. + * (If the working set shall be setup afresh, make sure that + * bounds data structure has been resetted!) + * \return SUCCESSFUL_RETURN \n + RET_SETUP_WORKINGSET_FAILED \n + RET_INVALID_ARGUMENTS \n + RET_UNKNOWN_BUG */ +returnValue QProblemB_setupAuxiliaryWorkingSet( QProblemB* _THIS, + Bounds* const auxiliaryBounds, /**< Working set for auxiliary QP. */ + BooleanType setupAfresh /**< Flag indicating if given working set shall be + * setup afresh or by updating the current one. */ + ); + +/** Sets up the optimal primal/dual solution of the auxiliary initial QP. + * \return SUCCESSFUL_RETURN */ +returnValue QProblemB_setupAuxiliaryQPsolution( QProblemB* _THIS, + const real_t* const xOpt, /**< Optimal primal solution vector. + * If a NULL pointer is passed, all entries are set to zero. */ + const real_t* const yOpt /**< Optimal dual solution vector. + * If a NULL pointer is passed, all entries are set to zero. */ + ); + +/** Sets up gradient of the auxiliary initial QP for given + * optimal primal/dual solution and given initial working set + * (assumes that members X, Y and BOUNDS have already been (ialised!). + * \return SUCCESSFUL_RETURN */ +returnValue QProblemB_setupAuxiliaryQPgradient( QProblemB* _THIS ); + +/** Sets up bounds of the auxiliary initial QP for given + * optimal primal/dual solution and given initial working set + * (assumes that members X, Y and BOUNDS have already been initialised!). + * \return SUCCESSFUL_RETURN \n + RET_UNKNOWN_BUG */ +returnValue QProblemB_setupAuxiliaryQPbounds( QProblemB* _THIS, + BooleanType useRelaxation /**< Flag indicating if inactive bounds shall be relaxed. */ + ); + + +/** Updates QP vectors, working sets and internal data structures in order to + start from an optimal solution corresponding to initial guesses of the working + set for bounds + * \return SUCCESSFUL_RETURN \n + * RET_SETUP_AUXILIARYQP_FAILED */ +returnValue QProblemB_setupAuxiliaryQP( QProblemB* _THIS, + Bounds* const guessedBounds /**< Initial guess for working set of bounds. */ + ); + +/** Determines step direction of the homotopy path. + * \return SUCCESSFUL_RETURN \n + RET_STEPDIRECTION_FAILED_CHOLESKY */ +returnValue QProblemB_determineStepDirection( QProblemB* _THIS, + const real_t* const delta_g, /**< Step direction of gradient vector. */ + const real_t* const delta_lb, /**< Step direction of lower bounds. */ + const real_t* const delta_ub, /**< Step direction of upper bounds. */ + BooleanType Delta_bB_isZero, /**< Indicates if active bounds are to be shifted. */ + real_t* const delta_xFX, /**< Output: Primal homotopy step direction of fixed variables. */ + real_t* const delta_xFR, /**< Output: Primal homotopy step direction of free variables. */ + real_t* const delta_yFX /**< Output: Dual homotopy step direction of fixed variables' multiplier. */ + ); + +/** Determines the maximum possible step length along the homotopy path + * and performs _THIS step (without changing working set). + * \return SUCCESSFUL_RETURN \n + * RET_QP_INFEASIBLE \n + */ +returnValue QProblemB_performStep( QProblemB* _THIS, + const real_t* const delta_g, /**< Step direction of gradient. */ + const real_t* const delta_lb, /**< Step direction of lower bounds. */ + const real_t* const delta_ub, /**< Step direction of upper bounds. */ + const real_t* const delta_xFX, /**< Primal homotopy step direction of fixed variables. */ + const real_t* const delta_xFR, /**< Primal homotopy step direction of free variables. */ + const real_t* const delta_yFX, /**< Dual homotopy step direction of fixed variables' multiplier. */ + int* BC_idx, /**< Output: Index of blocking constraint. */ + SubjectToStatus* BC_status /**< Output: Status of blocking constraint. */ + ); + +/** Updates active set. + * \return SUCCESSFUL_RETURN \n + RET_REMOVE_FROM_ACTIVESET_FAILED \n + RET_ADD_TO_ACTIVESET_FAILED */ +returnValue QProblemB_changeActiveSet( QProblemB* _THIS, + int BC_idx, /**< Index of blocking constraint. */ + SubjectToStatus BC_status /**< Status of blocking constraint. */ + ); + +/** Drift correction at end of each active set iteration + * \return SUCCESSFUL_RETURN */ +returnValue QProblemB_performDriftCorrection( QProblemB* _THIS ); + +/** Determines if it is more efficient to refactorise the matrices when + * hotstarting or not (i.e. better to update the existing factorisations). + * \return BT_TRUE iff matrices shall be refactorised afresh + */ +BooleanType QProblemB_shallRefactorise( QProblemB* _THIS, + Bounds* const guessedBounds /**< Guessed new working set. */ + ); + + +/** Adds a bound to active set (specialised version for the case where no constraints exist). + * \return SUCCESSFUL_RETURN \n + RET_ADDBOUND_FAILED */ +returnValue QProblemB_addBound( QProblemB* _THIS, + int number, /**< Number of bound to be added to active set. */ + SubjectToStatus B_status, /**< Status of new active bound. */ + BooleanType updateCholesky /**< Flag indicating if Cholesky decomposition shall be updated. */ + ); + +/** Removes a bounds from active set (specialised version for the case where no constraints exist). + * \return SUCCESSFUL_RETURN \n + RET_HESSIAN_NOT_SPD \n + RET_REMOVEBOUND_FAILED */ +returnValue QProblemB_removeBound( QProblemB* _THIS, + int number, /**< Number of bound to be removed from active set. */ + BooleanType updateCholesky /**< Flag indicating if Cholesky decomposition shall be updated. */ + ); + + +/** Prints concise information on the current iteration. + * \return SUCCESSFUL_RETURN \n */ +returnValue QProblemB_printIteration( QProblemB* _THIS, + int iter, /**< Number of current iteration. */ + int BC_idx, /**< Index of blocking bound. */ + SubjectToStatus BC_status, /**< Status of blocking bound. */ + real_t homotopyLength, /**< Current homotopy distance. */ + BooleanType isFirstCall /**< Indicating whether this is the first call for current QP. */ + ); + + + +/* + * g e t B o u n d s + */ +static inline returnValue QProblemB_getBounds( QProblemB* _THIS, Bounds* _bounds ) +{ + int nV = QProblemB_getNV( _THIS ); + + if ( nV == 0 ) + return THROWERROR( RET_QPOBJECT_NOT_SETUP ); + + _bounds = _THIS->bounds; + + return SUCCESSFUL_RETURN; +} + + +/* + * g e t N V + */ +static inline int QProblemB_getNV( QProblemB* _THIS ) +{ + return Bounds_getNV( _THIS->bounds ); +} + + +/* + * g e t N F R + */ +static inline int QProblemB_getNFR( QProblemB* _THIS ) +{ + return Bounds_getNFR( _THIS->bounds ); +} + + +/* + * g e t N F X + */ +static inline int QProblemB_getNFX( QProblemB* _THIS ) +{ + return Bounds_getNFX( _THIS->bounds ); +} + + +/* + * g e t N F V + */ +static inline int QProblemB_getNFV( QProblemB* _THIS ) +{ + return Bounds_getNFV( _THIS->bounds ); +} + + +/* + * g e t S t a t u s + */ +static inline QProblemStatus QProblemB_getStatus( QProblemB* _THIS ) +{ + return _THIS->status; +} + + +/* + * i s I n i t i a l i s e d + */ +static inline BooleanType QProblemB_isInitialised( QProblemB* _THIS ) +{ + if ( _THIS->status == QPS_NOTINITIALISED ) + return BT_FALSE; + else + return BT_TRUE; +} + + +/* + * i s S o l v e d + */ +static inline BooleanType QProblemB_isSolved( QProblemB* _THIS ) +{ + if ( _THIS->status == QPS_SOLVED ) + return BT_TRUE; + else + return BT_FALSE; +} + + +/* + * i s I n f e a s i b l e + */ +static inline BooleanType QProblemB_isInfeasible( QProblemB* _THIS ) +{ + return _THIS->infeasible; +} + + +/* + * i s U n b o u n d e d + */ +static inline BooleanType QProblemB_isUnbounded( QProblemB* _THIS ) +{ + return _THIS->unbounded; +} + + +/* + * g e t H e s s i a n T y p e + */ +static inline HessianType QProblemB_getHessianType( QProblemB* _THIS ) +{ + return _THIS->hessianType; +} + + +/* + * s e t H e s s i a n T y p e + */ +static inline returnValue QProblemB_setHessianType( QProblemB* _THIS, HessianType _hessianType ) +{ + _THIS->hessianType = _hessianType; + return SUCCESSFUL_RETURN; +} + + +/* + * u s i n g R e g u l a r i s a t i o n + */ +static inline BooleanType QProblemB_usingRegularisation( QProblemB* _THIS ) +{ + if ( _THIS->regVal > QPOASES_ZERO ) + return BT_TRUE; + else + return BT_FALSE; +} + + +/* + * g e t O p t i o n s + */ +static inline Options QProblemB_getOptions( QProblemB* _THIS ) +{ + return _THIS->options; +} + + +/* + * s e t O p t i o n s + */ +static inline returnValue QProblemB_setOptions( QProblemB* _THIS, + Options _options + ) +{ + OptionsCPY( &_options,&(_THIS->options) ); + Options_ensureConsistency( &(_THIS->options) ); + + QProblemB_setPrintLevel( _THIS,_THIS->options.printLevel ); + + return SUCCESSFUL_RETURN; +} + + +/* + * g e t P r i n t L e v e l + */ +static inline PrintLevel QProblemB_getPrintLevel( QProblemB* _THIS ) +{ + return _THIS->options.printLevel; +} + + + +/* + * g e t C o u n t + */ +static inline unsigned int QProblemB_getCount( QProblemB* _THIS ) +{ + return _THIS->count; +} + + +/* + * r e s e t C o u n t e r + */ +static inline returnValue QProblemB_resetCounter( QProblemB* _THIS ) +{ + _THIS->count = 0; + return SUCCESSFUL_RETURN; +} + + + +/***************************************************************************** + * P R O T E C T E D * + *****************************************************************************/ + + +/* + * s e t H + */ +static inline returnValue QProblemB_setHM( QProblemB* _THIS, DenseMatrix* H_new ) +{ + if ( H_new == 0 ) + return QProblemB_setH( _THIS,(real_t*)0 ); + else + return QProblemB_setH( _THIS,DenseMatrix_getVal(H_new) ); +} + + +/* + * s e t H + */ +static inline returnValue QProblemB_setH( QProblemB* _THIS, real_t* const H_new ) +{ + /* if null pointer is passed, Hessian is set to zero matrix + * (or stays identity matrix) */ + if ( H_new == 0 ) + { + if ( _THIS->hessianType == HST_IDENTITY ) + return SUCCESSFUL_RETURN; + + _THIS->hessianType = HST_ZERO; + + _THIS->H = 0; + } + else + { + DenseMatrixCON( _THIS->H,QProblemB_getNV( _THIS ),QProblemB_getNV( _THIS ),QProblemB_getNV( _THIS ),H_new ); + } + + return SUCCESSFUL_RETURN; +} + + +/* + * s e t G + */ +static inline returnValue QProblemB_setG( QProblemB* _THIS, const real_t* const g_new ) +{ + unsigned int nV = (unsigned int)QProblemB_getNV( _THIS ); + + if ( nV == 0 ) + return THROWERROR( RET_QPOBJECT_NOT_SETUP ); + + if ( g_new == 0 ) + return THROWERROR( RET_INVALID_ARGUMENTS ); + + memcpy( _THIS->g,g_new,nV*sizeof(real_t) ); + + return SUCCESSFUL_RETURN; +} + + +/* + * s e t L B + */ +static inline returnValue QProblemB_setLB( QProblemB* _THIS, const real_t* const lb_new ) +{ + unsigned int i; + unsigned int nV = (unsigned int)QProblemB_getNV( _THIS ); + + if ( nV == 0 ) + return THROWERROR( RET_QPOBJECT_NOT_SETUP ); + + if ( lb_new != 0 ) + { + memcpy( _THIS->lb,lb_new,nV*sizeof(real_t) ); + } + else + { + /* if no lower bounds are specified, set them to -infinity */ + for( i=0; ilb[i] = -QPOASES_INFTY; + } + + return SUCCESSFUL_RETURN; +} + + +/* + * s e t L B + */ +static inline returnValue QProblemB_setLBn( QProblemB* _THIS, int number, real_t value ) +{ + int nV = QProblemB_getNV( _THIS ); + + if ( nV == 0 ) + return THROWERROR( RET_QPOBJECT_NOT_SETUP ); + + if ( ( number >= 0 ) && ( number < nV ) ) + { + _THIS->lb[number] = value; + return SUCCESSFUL_RETURN; + } + else + { + return THROWERROR( RET_INDEX_OUT_OF_BOUNDS ); + } +} + + +/* + * s e t U B + */ +static inline returnValue QProblemB_setUB( QProblemB* _THIS, const real_t* const ub_new ) +{ + unsigned int i; + unsigned int nV = (unsigned int)QProblemB_getNV( _THIS ); + + if ( nV == 0 ) + return THROWERROR( RET_QPOBJECT_NOT_SETUP ); + + if ( ub_new != 0 ) + { + memcpy( _THIS->ub,ub_new,nV*sizeof(real_t) ); + } + else + { + /* if no upper bounds are specified, set them to infinity */ + for( i=0; iub[i] = QPOASES_INFTY; + } + + return SUCCESSFUL_RETURN; +} + + +/* + * s e t U B + */ +static inline returnValue QProblemB_setUBn( QProblemB* _THIS, int number, real_t value ) +{ + int nV = QProblemB_getNV( _THIS ); + + if ( nV == 0 ) + return THROWERROR( RET_QPOBJECT_NOT_SETUP ); + + if ( ( number >= 0 ) && ( number < nV ) ) + { + _THIS->ub[number] = value; + + return SUCCESSFUL_RETURN; + } + else + { + return THROWERROR( RET_INDEX_OUT_OF_BOUNDS ); + } +} + + +/* + * c o m p u t e G i v e n s + */ +static inline void QProblemB_computeGivens( real_t xold, real_t yold, + real_t* xnew, real_t* ynew, real_t* c, real_t* s + ) +{ + real_t t, mu; + + if ( fabs( yold ) <= QPOASES_ZERO ) + { + *c = 1.0; + *s = 0.0; + + *xnew = xold; + *ynew = yold; + } + else + { + mu = fabs( xold ); + if ( fabs( yold ) > mu ) + mu = fabs( yold ); + + t = mu * sqrt( (xold/mu)*(xold/mu) + (yold/mu)*(yold/mu) ); + + if ( xold < 0.0 ) + t = -t; + + *c = xold/t; + *s = yold/t; + *xnew = t; + *ynew = 0.0; + } + + return; +} + + +/* + * a p p l y G i v e n s + */ +static inline void QProblemB_applyGivens( real_t c, real_t s, real_t nu, real_t xold, real_t yold, + real_t* xnew, real_t* ynew + ) +{ + #ifdef __USE_THREE_MULTS_GIVENS__ + + /* Givens plane rotation requiring only three multiplications, + * cf. Hammarling, S.: A note on modifications to the givens plane rotation. + * J. Inst. Maths Applics, 13:215-218, 1974. */ + *xnew = xold*c + yold*s; + *ynew = (*xnew+xold)*nu - yold; + + #else + + /* Usual Givens plane rotation requiring four multiplications. */ + *xnew = c*xold + s*yold; + *ynew = -s*xold + c*yold; + + #endif + + return; +} + + +/* + * i s B l o c k i n g + */ +static inline BooleanType QProblemB_isBlocking( QProblemB* _THIS, + real_t num, + real_t den, + real_t epsNum, + real_t epsDen, + real_t* t + ) +{ + if ( ( den >= epsDen ) && ( num >= epsNum ) ) + { + if ( num < (*t)*den ) + return BT_TRUE; + } + + return BT_FALSE; +} + + +END_NAMESPACE_QPOASES + + +#endif /* QPOASES_QPROBLEMB_H */ + + +/* + * end of file + */ diff --git a/third_party/acados/include/qpOASES_e/Types.h b/third_party/acados/include/qpOASES_e/Types.h new file mode 100644 index 0000000000..fc042aed82 --- /dev/null +++ b/third_party/acados/include/qpOASES_e/Types.h @@ -0,0 +1,310 @@ +/* + * This file is part of qpOASES. + * + * qpOASES -- An Implementation of the Online Active Set Strategy. + * Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka, + * Christian Kirches et al. All rights reserved. + * + * qpOASES is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * qpOASES is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with qpOASES; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + */ + + +/** + * \file include/qpOASES_e/Types.h + * \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches + * \version 3.1embedded + * \date 2007-2015 + * + * Declaration of all non-built-in types (except for classes). + */ + + +#ifndef QPOASES_TYPES_H +#define QPOASES_TYPES_H + +#ifdef USE_ACADOS_TYPES +#include "acados/utils/types.h" +#endif + +/* If your compiler does not support the snprintf() function, + * uncomment the following line and try to compile again. */ +/* #define __NO_SNPRINTF__ */ + + +/* Uncomment the following line for setting the __DSPACE__ flag. */ +/* #define __DSPACE__ */ + +/* Uncomment the following line for setting the __XPCTARGET__ flag. */ +/* #define __XPCTARGET__ */ + + +/* Uncomment the following line for setting the __NO_FMATH__ flag. */ +/* #define __NO_FMATH__ */ + +/* Uncomment the following line to enable debug information. */ +/* #define __DEBUG__ */ + +/* Uncomment the following line to enable suppress any kind of console output. */ +/* #define __SUPPRESSANYOUTPUT__ */ + + +/** Forces to always include all implicitly fixed bounds and all equality constraints + * into the initial working set when setting up an auxiliary QP. */ +#define __ALWAYS_INITIALISE_WITH_ALL_EQUALITIES__ + +/* Uncomment the following line to activate the use of an alternative Givens + * plane rotation requiring only three multiplications. */ +/* #define __USE_THREE_MULTS_GIVENS__ */ + +/* Uncomment the following line to activate the use of single precision arithmetic. */ +/* #define __USE_SINGLE_PRECISION__ */ + +/* The inline keyword is skipped by default as it is not part of the C90 standard. + * However, by uncommenting the following line, use of the inline keyword can be enforced. */ +/* #define __USE_INLINE__ */ + + +/* Work-around for Borland BCC 5.5 compiler. */ +#ifdef __BORLANDC__ +#if __BORLANDC__ < 0x0561 + #define __STDC__ 1 +#endif +#endif + + +/* Work-around for Microsoft compilers. */ +#ifdef _MSC_VER + #define __NO_SNPRINTF__ + #pragma warning( disable : 4061 4100 4250 4514 4996 ) +#endif + + +/* Apply pre-processor settings when using qpOASES within auto-generated code. */ +#ifdef __CODE_GENERATION__ + #define __NO_COPYRIGHT__ + #define __EXTERNAL_DIMENSIONS__ +#endif /* __CODE_GENERATION__ */ + + +/* Avoid using static variables declaration within functions. */ +#ifdef __NO_STATIC__ + #define myStatic +#else + #define myStatic static +#endif /* __NO_STATIC__ */ + + +/* Skip inline keyword if not specified otherwise. */ +#ifndef __USE_INLINE__ + #define inline +#endif + + +/* Avoid any printing on embedded platforms. */ +#if defined(__DSPACE__) || defined(__XPCTARGET__) + #define __SUPPRESSANYOUTPUT__ + #define __NO_SNPRINTF__ +#endif + + +#ifdef __NO_SNPRINTF__ + #if (!defined(_MSC_VER)) || defined(__DSPACE__) || defined(__XPCTARGET__) + /* If snprintf is not available, provide an empty implementation... */ + int snprintf( char* s, size_t n, const char* format, ... ); + #else + /* ... or substitute snprintf by _snprintf for Microsoft compilers. */ + #define snprintf _snprintf + #endif +#endif /* __NO_SNPRINTF__ */ + + +/** Macro for switching on/off the beginning of the qpOASES namespace definition. */ +#define BEGIN_NAMESPACE_QPOASES + +/** Macro for switching on/off the end of the qpOASES namespace definition. */ +#define END_NAMESPACE_QPOASES + +/** Macro for switching on/off the use of the qpOASES namespace. */ +#define USING_NAMESPACE_QPOASES + +/** Macro for switching on/off references to the qpOASES namespace. */ +#define REFER_NAMESPACE_QPOASES /*::*/ + + +/** Macro for accessing the Cholesky factor R. */ +#define RR( I,J ) _THIS->R[(I)+nV*(J)] + +/** Macro for accessing the orthonormal matrix Q of the QT factorisation. */ +#define QQ( I,J ) _THIS->Q[(I)+nV*(J)] + +/** Macro for accessing the triangular matrix T of the QT factorisation. */ +#define TT( I,J ) _THIS->T[(I)*nVC_min+(J)] + + + +BEGIN_NAMESPACE_QPOASES + + +/** Defines real_t for facilitating switching between double and float. */ + +#ifndef USE_ACADOS_TYPES +#ifndef __CODE_GENERATION__ + + #ifdef __USE_SINGLE_PRECISION__ + typedef float real_t; + #else + typedef double real_t; + #endif /* __USE_SINGLE_PRECISION__ */ + +#endif /* __CODE_GENERATION__ */ +#endif /* USE_ACADOS_TYPES */ + +/** Summarises all possible logical values. */ +typedef enum +{ + BT_FALSE = 0, /**< Logical value for "false". */ + BT_TRUE /**< Logical value for "true". */ +} BooleanType; + + +/** Summarises all possible print levels. Print levels are used to describe + * the desired amount of output during runtime of qpOASES. */ +typedef enum +{ + PL_DEBUG_ITER = -2, /**< Full tabular debugging output. */ + PL_TABULAR, /**< Tabular output. */ + PL_NONE, /**< No output. */ + PL_LOW, /**< Print error messages only. */ + PL_MEDIUM, /**< Print error and warning messages as well as concise info messages. */ + PL_HIGH /**< Print all messages with full details. */ +} PrintLevel; + + +/** Defines visibility status of a message. */ +typedef enum +{ + VS_HIDDEN, /**< Message not visible. */ + VS_VISIBLE /**< Message visible. */ +} VisibilityStatus; + + +/** Summarises all possible states of the (S)QProblem(B) object during the +solution process of a QP sequence. */ +typedef enum +{ + QPS_NOTINITIALISED, /**< QProblem object is freshly instantiated or reset. */ + QPS_PREPARINGAUXILIARYQP, /**< An auxiliary problem is currently setup, either at the very beginning + * via an initial homotopy or after changing the QP matrices. */ + QPS_AUXILIARYQPSOLVED, /**< An auxilary problem was solved, either at the very beginning + * via an initial homotopy or after changing the QP matrices. */ + QPS_PERFORMINGHOMOTOPY, /**< A homotopy according to the main idea of the online active + * set strategy is performed. */ + QPS_HOMOTOPYQPSOLVED, /**< An intermediate QP along the homotopy path was solved. */ + QPS_SOLVED /**< The solution of the actual QP was found. */ +} QProblemStatus; + + +/** Summarises all possible types of the QP's Hessian matrix. */ +typedef enum +{ + HST_ZERO, /**< Hessian is zero matrix (i.e. LP formulation). */ + HST_IDENTITY, /**< Hessian is identity matrix. */ + HST_POSDEF, /**< Hessian is (strictly) positive definite. */ + HST_POSDEF_NULLSPACE, /**< Hessian is positive definite on null space of active bounds/constraints. */ + HST_SEMIDEF, /**< Hessian is positive semi-definite. */ + HST_INDEF, /**< Hessian is indefinite. */ + HST_UNKNOWN /**< Hessian type is unknown. */ +} HessianType; + + +/** Summarises all possible types of bounds and constraints. */ +typedef enum +{ + ST_UNBOUNDED, /**< Bound/constraint is unbounded. */ + ST_BOUNDED, /**< Bound/constraint is bounded but not fixed. */ + ST_EQUALITY, /**< Bound/constraint is fixed (implicit equality bound/constraint). */ + ST_DISABLED, /**< Bound/constraint is disabled (i.e. ignored when solving QP). */ + ST_UNKNOWN /**< Type of bound/constraint unknown. */ +} SubjectToType; + + +/** Summarises all possible states of bounds and constraints. */ +typedef enum +{ + ST_LOWER = -1, /**< Bound/constraint is at its lower bound. */ + ST_INACTIVE, /**< Bound/constraint is inactive. */ + ST_UPPER, /**< Bound/constraint is at its upper bound. */ + ST_INFEASIBLE_LOWER, /**< (to be documented) */ + ST_INFEASIBLE_UPPER, /**< (to be documented) */ + ST_UNDEFINED /**< Status of bound/constraint undefined. */ +} SubjectToStatus; + + +/** + * \brief Stores internal information for tabular (debugging) output. + * + * Struct storing internal information for tabular (debugging) output + * when using the (S)QProblem(B) objects. + * + * \author Hans Joachim Ferreau + * \version 3.1embedded + * \date 2013-2015 + */ +typedef struct +{ + int idxAddB; /**< Index of bound that has been added to working set. */ + int idxRemB; /**< Index of bound that has been removed from working set. */ + int idxAddC; /**< Index of constraint that has been added to working set. */ + int idxRemC; /**< Index of constraint that has been removed from working set. */ + int excAddB; /**< Flag indicating whether a bound has been added to working set to keep a regular projected Hessian. */ + int excRemB; /**< Flag indicating whether a bound has been removed from working set to keep a regular projected Hessian. */ + int excAddC; /**< Flag indicating whether a constraint has been added to working set to keep a regular projected Hessian. */ + int excRemC; /**< Flag indicating whether a constraint has been removed from working set to keep a regular projected Hessian. */ +} TabularOutput; + +/** + * \brief Struct containing the variable header for mat file. + * + * Struct storing the header of a variable to be stored in + * Matlab's binary format (using the outdated Level 4 variant + * for simplictiy). + * + * Note, this code snippet has been inspired from the document + * "Matlab(R) MAT-file Format, R2013b" by MathWorks + * + * \author Hans Joachim Ferreau + * \version 3.1embedded + * \date 2013-2015 + */ +typedef struct +{ + long numericFormat; /**< Flag indicating numerical format. */ + long nRows; /**< Number of rows. */ + long nCols; /**< Number of rows. */ + long imaginaryPart; /**< (to be documented) */ + long nCharName; /**< Number of character in name. */ +} MatMatrixHeader; + + +END_NAMESPACE_QPOASES + + +#endif /* QPOASES_TYPES_H */ + + +/* + * end of file + */ diff --git a/third_party/acados/include/qpOASES_e/UnitTesting.h b/third_party/acados/include/qpOASES_e/UnitTesting.h new file mode 100644 index 0000000000..dbff201039 --- /dev/null +++ b/third_party/acados/include/qpOASES_e/UnitTesting.h @@ -0,0 +1,79 @@ +/* + * This file is part of qpOASES. + * + * qpOASES -- An Implementation of the Online Active Set Strategy. + * Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka, + * Christian Kirches et al. All rights reserved. + * + * qpOASES is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * qpOASES is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with qpOASES; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + */ + + +/** + * \file include/qpOASES_e/UnitTesting.h + * \author Hans Joachim Ferreau + * \version 3.1embedded + * \date 2014-2015 + * + * Definition of auxiliary functions/macros for unit testing. + */ + + +#ifndef QPOASES_UNIT_TESTING_H +#define QPOASES_UNIT_TESTING_H + + +#ifndef TEST_TOL_FACTOR +#define TEST_TOL_FACTOR 1 +#endif + + +/** Return value for tests that passed. */ +#define TEST_PASSED 0 + +/** Return value for tests that failed. */ +#define TEST_FAILED 1 + +/** Return value for tests that could not run due to missing external data. */ +#define TEST_DATA_NOT_FOUND 99 + + +/** Macro verifying that two numerical values are equal in order to pass unit test. */ +#define QPOASES_TEST_FOR_EQUAL( x,y ) if ( REFER_NAMESPACE_QPOASES isEqual( (x),(y) ) == BT_FALSE ) { return TEST_FAILED; } + +/** Macro verifying that two numerical values are close to each other in order to pass unit test. */ +#define QPOASES_TEST_FOR_NEAR( x,y ) if ( REFER_NAMESPACE_QPOASES getAbs((x)-(y)) / REFER_NAMESPACE_QPOASES getMax( 1.0,REFER_NAMESPACE_QPOASES getAbs(x) ) >= 1e-10 ) { return TEST_FAILED; } + +/** Macro verifying that first quantity is lower or equal than second one in order to pass unit test. */ +#define QPOASES_TEST_FOR_TOL( x,tol ) if ( (x) > (tol)*(TEST_TOL_FACTOR) ) { return TEST_FAILED; } + +/** Macro verifying that a logical expression holds in order to pass unit test. */ +#define QPOASES_TEST_FOR_TRUE( x ) if ( (x) == 0 ) { return TEST_FAILED; } + + + +BEGIN_NAMESPACE_QPOASES + + +END_NAMESPACE_QPOASES + + +#endif /* QPOASES_UNIT_TESTING_H */ + + +/* + * end of file + */ diff --git a/third_party/acados/include/qpOASES_e/Utils.h b/third_party/acados/include/qpOASES_e/Utils.h new file mode 100644 index 0000000000..75e45a56a0 --- /dev/null +++ b/third_party/acados/include/qpOASES_e/Utils.h @@ -0,0 +1,500 @@ +/* + * This file is part of qpOASES. + * + * qpOASES -- An Implementation of the Online Active Set Strategy. + * Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka, + * Christian Kirches et al. All rights reserved. + * + * qpOASES is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * qpOASES is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with qpOASES; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + */ + + +/** + * \file include/qpOASES_e/Utils.h + * \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches + * \version 3.1embedded + * \date 2007-2015 + * + * Declaration of some utilities for working with the different QProblem classes. + */ + + +#ifndef QPOASES_UTILS_H +#define QPOASES_UTILS_H + +#include + + +BEGIN_NAMESPACE_QPOASES + + +/** Prints a vector. + * \return SUCCESSFUL_RETURN */ +returnValue qpOASES_printV( const real_t* const v, /**< Vector to be printed. */ + int n /**< Length of vector. */ + ); + +/** Prints a permuted vector. + * \return SUCCESSFUL_RETURN */ +returnValue qpOASES_printPV( const real_t* const v, /**< Vector to be printed. */ + int n, /**< Length of vector. */ + const int* const V_idx /**< Pemutation vector. */ + ); + +/** Prints a named vector. + * \return SUCCESSFUL_RETURN */ +returnValue qpOASES_printNV( const real_t* const v, /**< Vector to be printed. */ + int n, /**< Length of vector. */ + const char* name /** Name of vector. */ + ); + +/** Prints a matrix. + * \return SUCCESSFUL_RETURN */ +returnValue qpOASES_printM( const real_t* const M, /**< Matrix to be printed. */ + int nrow, /**< Row number of matrix. */ + int ncol /**< Column number of matrix. */ + ); + +/** Prints a permuted matrix. + * \return SUCCESSFUL_RETURN */ +returnValue qpOASES_printPM( const real_t* const M, /**< Matrix to be printed. */ + int nrow, /**< Row number of matrix. */ + int ncol , /**< Column number of matrix. */ + const int* const ROW_idx, /**< Row pemutation vector. */ + const int* const COL_idx /**< Column pemutation vector. */ + ); + +/** Prints a named matrix. + * \return SUCCESSFUL_RETURN */ +returnValue qpOASES_printNM( const real_t* const M, /**< Matrix to be printed. */ + int nrow, /**< Row number of matrix. */ + int ncol, /**< Column number of matrix. */ + const char* name /** Name of matrix. */ + ); + +/** Prints an index array. + * \return SUCCESSFUL_RETURN */ +returnValue qpOASES_printI( const int* const _index, /**< Index array to be printed. */ + int n /**< Length of index array. */ + ); + +/** Prints a named index array. + * \return SUCCESSFUL_RETURN */ +returnValue qpOASES_printNI( const int* const _index, /**< Index array to be printed. */ + int n, /**< Length of index array. */ + const char* name /**< Name of index array. */ + ); + + +/** Prints a string to desired output target (useful also for MATLAB output!). + * \return SUCCESSFUL_RETURN */ +returnValue qpOASES_myPrintf( const char* s /**< String to be written. */ + ); + + +/** Prints qpOASES copyright notice. + * \return SUCCESSFUL_RETURN */ +returnValue qpOASES_printCopyrightNotice( ); + + +/** Reads a real_t matrix from file. + * \return SUCCESSFUL_RETURN \n + RET_UNABLE_TO_OPEN_FILE \n + RET_UNABLE_TO_READ_FILE */ +returnValue qpOASES_readFromFileM( real_t* data, /**< Matrix to be read from file. */ + int nrow, /**< Row number of matrix. */ + int ncol, /**< Column number of matrix. */ + const char* datafilename /**< Data file name. */ + ); + +/** Reads a real_t vector from file. + * \return SUCCESSFUL_RETURN \n + RET_UNABLE_TO_OPEN_FILE \n + RET_UNABLE_TO_READ_FILE */ +returnValue qpOASES_readFromFileV( real_t* data, /**< Vector to be read from file. */ + int n, /**< Length of vector. */ + const char* datafilename /**< Data file name. */ + ); + +/** Reads an integer (column) vector from file. + * \return SUCCESSFUL_RETURN \n + RET_UNABLE_TO_OPEN_FILE \n + RET_UNABLE_TO_READ_FILE */ +returnValue qpOASES_readFromFileI( int* data, /**< Vector to be read from file. */ + int n, /**< Length of vector. */ + const char* datafilename /**< Data file name. */ + ); + + +/** Writes a real_t matrix into a file. + * \return SUCCESSFUL_RETURN \n + RET_UNABLE_TO_OPEN_FILE */ +returnValue qpOASES_writeIntoFileM( const real_t* const data, /**< Matrix to be written into file. */ + int nrow, /**< Row number of matrix. */ + int ncol, /**< Column number of matrix. */ + const char* datafilename, /**< Data file name. */ + BooleanType append /**< Indicates if data shall be appended if the file already exists (otherwise it is overwritten). */ + ); + +/** Writes a real_t vector into a file. + * \return SUCCESSFUL_RETURN \n + RET_UNABLE_TO_OPEN_FILE */ +returnValue qpOASES_writeIntoFileV( const real_t* const data, /**< Vector to be written into file. */ + int n, /**< Length of vector. */ + const char* datafilename, /**< Data file name. */ + BooleanType append /**< Indicates if data shall be appended if the file already exists (otherwise it is overwritten). */ + ); + +/** Writes an integer (column) vector into a file. + * \return SUCCESSFUL_RETURN \n + RET_UNABLE_TO_OPEN_FILE */ +returnValue qpOASES_writeIntoFileI( const int* const integer, /**< Integer vector to be written into file. */ + int n, /**< Length of vector. */ + const char* datafilename, /**< Data file name. */ + BooleanType append /**< Indicates if integer shall be appended if the file already exists (otherwise it is overwritten). */ + ); + +/** Writes a real_t matrix/vector into a Matlab binary file. + * \return SUCCESSFUL_RETURN \n + RET_INVALID_ARGUMENTS + RET_UNABLE_TO_WRITE_FILE */ +returnValue qpOASES_writeIntoMatFile( FILE* const matFile, /**< Pointer to Matlab binary file. */ + const real_t* const data, /**< Data to be written into file. */ + int nRows, /**< Row number of matrix. */ + int nCols, /**< Column number of matrix. */ + const char* name /**< Matlab name of matrix/vector to be stored. */ + ); + +/** Writes in integer matrix/vector into a Matlab binary file. + * \return SUCCESSFUL_RETURN \n + RET_INVALID_ARGUMENTS + RET_UNABLE_TO_WRITE_FILE */ +returnValue qpOASES_writeIntoMatFileI( FILE* const matFile, /**< Pointer to Matlab binary file. */ + const int* const data, /**< Data to be written into file. */ + int nRows, /**< Row number of matrix. */ + int nCols, /**< Column number of matrix. */ + const char* name /**< Matlab name of matrix/vector to be stored. */ + ); + + +/** Returns the current system time. + * \return current system time */ +real_t qpOASES_getCPUtime( ); + + +/** Returns the N-norm of a vector. + * \return >= 0.0: successful */ +real_t qpOASES_getNorm( const real_t* const v, /**< Vector. */ + int n, /**< Vector's dimension. */ + int type /**< Norm type, 1: one-norm, 2: Euclidean norm. */ + ); + +/** Tests whether two real-valued arguments are (numerically) equal. + * \return BT_TRUE: arguments differ not more than TOL \n + BT_FALSE: arguments differ more than TOL */ +static inline BooleanType qpOASES_isEqual( real_t x, /**< First real number. */ + real_t y, /**< Second real number. */ + real_t TOL /**< Tolerance for comparison. */ + ); + + +/** Tests whether a real-valued argument is (numerically) zero. + * \return BT_TRUE: argument differs from 0.0 not more than TOL \n + BT_FALSE: argument differs from 0.0 more than TOL */ +static inline BooleanType qpOASES_isZero( real_t x, /**< Real number. */ + real_t TOL /**< Tolerance for comparison. */ + ); + + +/** Returns sign of a real-valued argument. + * \return 1.0: argument is non-negative \n + -1.0: argument is negative */ +static inline real_t qpOASES_getSign( real_t arg /**< real-valued argument whose sign is to be determined. */ + ); + + +/** Returns maximum of two integers. + * \return Maximum of two integers */ +static inline int qpOASES_getMaxI( int x, /**< First integer. */ + int y /**< Second integer. */ + ); + + +/** Returns minimum of two integers. + * \return Minimum of two integers */ +static inline int qpOASES_getMinI( int x, /**< First integer. */ + int y /**< Second integer. */ + ); + + +/** Returns maximum of two reals. + * \return Maximum of two reals */ +static inline real_t qpOASES_getMax( real_t x, /**< First real number. */ + real_t y /**< Second real number. */ + ); + + +/** Returns minimum of two reals. + * \return Minimum of two reals */ +static inline real_t qpOASES_getMin( real_t x, /**< First real number. */ + real_t y /**< Second real number. */ + ); + + +/** Returns the absolute value of a real_t-valued argument. + * \return Absolute value of a real_t-valued argument */ +static inline real_t qpOASES_getAbs( real_t x /**< real_t-valued argument. */ + ); + +/** Returns the square-root of a real number. + * \return Square-root of a real number */ +static inline real_t qpOASES_getSqrt( real_t x /**< Non-negative real number. */ + ); + + +/** Computes the maximum violation of the KKT optimality conditions + * of given iterate for given QP data. */ +returnValue qpOASES_getKktViolation( int nV, /**< Number of variables. */ + int nC, /**< Number of constraints. */ + const real_t* const H, /**< Hessian matrix (may be NULL if Hessian is zero or identity matrix). */ + const real_t* const g, /**< Gradient vector. */ + const real_t* const A, /**< Constraint matrix. */ + const real_t* const lb, /**< Lower bound vector (on variables). */ + const real_t* const ub, /**< Upper bound vector (on variables). */ + const real_t* const lbA, /**< Lower constraints' bound vector. */ + const real_t* const ubA, /**< Upper constraints' bound vector. */ + const real_t* const x, /**< Primal trial vector. */ + const real_t* const y, /**< Dual trial vector. */ + real_t* const _stat, /**< Output: maximum value of stationarity condition residual. */ + real_t* const feas, /**< Output: maximum value of primal feasibility violation. */ + real_t* const cmpl /**< Output: maximum value of complementarity residual. */ + ); + +/** Computes the maximum violation of the KKT optimality conditions + * of given iterate for given QP data. */ +returnValue qpOASES_getKktViolationSB( int nV, /**< Number of variables. */ + const real_t* const H, /**< Hessian matrix (may be NULL if Hessian is zero or identity matrix). */ + const real_t* const g, /**< Gradient vector. */ + const real_t* const lb, /**< Lower bound vector (on variables). */ + const real_t* const ub, /**< Upper bound vector (on variables). */ + const real_t* const x, /**< Primal trial vector. */ + const real_t* const y, /**< Dual trial vector. */ + real_t* const _stat, /**< Output: maximum value of stationarity condition residual. */ + real_t* const feas, /**< Output: maximum value of primal feasibility violation. */ + real_t* const cmpl /**< Output: maximum value of complementarity residual. */ + ); + + +/** Writes a value of BooleanType into a string. + * \return SUCCESSFUL_RETURN */ +returnValue qpOASES_convertBooleanTypeToString( BooleanType value, /**< Value to be written. */ + char* const string /**< Input: String of sufficient size, \n + Output: String containing value. */ + ); + +/** Writes a value of SubjectToStatus into a string. + * \return SUCCESSFUL_RETURN */ +returnValue qpOASES_convertSubjectToStatusToString( SubjectToStatus value, /**< Value to be written. */ + char* const string /**< Input: String of sufficient size, \n + Output: String containing value. */ + ); + +/** Writes a value of PrintLevel into a string. + * \return SUCCESSFUL_RETURN */ +returnValue qpOASES_convertPrintLevelToString( PrintLevel value, /**< Value to be written. */ + char* const string /**< Input: String of sufficient size, \n + Output: String containing value. */ + ); + + +/** Converts a returnValue from an QProblem(B) object into a more + * simple status flag. + * + * \return 0: QP problem solved + * 1: QP could not be solved within given number of iterations + * -1: QP could not be solved due to an internal error + * -2: QP is infeasible (and thus could not be solved) + * -3: QP is unbounded (and thus could not be solved) + */ +int qpOASES_getSimpleStatus( returnValue returnvalue, /**< ReturnValue to be analysed. */ + BooleanType doPrintStatus /**< Flag indicating whether simple status shall be printed to screen. */ + ); + +/** Normalises QP constraints. + * \return SUCCESSFUL_RETURN \n + * RET_INVALID_ARGUMENTS */ +returnValue qpOASES_normaliseConstraints( int nV, /**< Number of variables. */ + int nC, /**< Number of constraints. */ + real_t* A, /**< Input: Constraint matrix, \n + Output: Normalised constraint matrix. */ + real_t* lbA, /**< Input: Constraints' lower bound vector, \n + Output: Normalised constraints' lower bound vector. */ + real_t* ubA, /**< Input: Constraints' upper bound vector, \n + Output: Normalised constraints' upper bound vector. */ + int type /**< Norm type, 1: one-norm, 2: Euclidean norm. */ + ); + + +#ifdef __DEBUG__ +/** Writes matrix with given dimension into specified file. */ +void gdb_printmat( const char *fname, /**< File name. */ + real_t *M, /**< Matrix to be written. */ + int n, /**< Number of rows. */ + int m, /**< Number of columns. */ + int ldim /**< Leading dimension. */ + ); +#endif /* __DEBUG__ */ + + +#if defined(__DSPACE__) || defined(__XPCTARGET__) +void __cxa_pure_virtual( void ); +#endif /* __DSPACE__ || __XPCTARGET__*/ + + + +/* + * i s E q u a l + */ +static inline BooleanType qpOASES_isEqual( real_t x, + real_t y, + real_t TOL + ) +{ + if ( qpOASES_getAbs(x-y) <= TOL ) + return BT_TRUE; + else + return BT_FALSE; +} + + +/* + * i s Z e r o + */ +static inline BooleanType qpOASES_isZero( real_t x, + real_t TOL + ) +{ + if ( qpOASES_getAbs(x) <= TOL ) + return BT_TRUE; + else + return BT_FALSE; +} + + +/* + * g e t S i g n + */ +static inline real_t qpOASES_getSign( real_t arg + ) +{ + if ( arg >= 0.0 ) + return 1.0; + else + return -1.0; +} + + + +/* + * g e t M a x + */ +static inline int qpOASES_getMaxI( int x, + int y + ) +{ + return (yx) ? x : y; +} + + +/* + * g e t M a x + */ +static inline real_t qpOASES_getMax( real_t x, + real_t y + ) +{ + #ifdef __NO_FMATH__ + return (yx) ? x : y; + #else + return (y>x) ? x : y; + /*return fmin(x,y); seems to be slower */ + #endif +} + + +/* + * g e t A b s + */ +static inline real_t qpOASES_getAbs( real_t x + ) +{ + #ifdef __NO_FMATH__ + return (x>=0.0) ? x : -x; + #else + return fabs(x); + #endif +} + +/* + * g e t S q r t + */ +static inline real_t qpOASES_getSqrt( real_t x + ) +{ + #ifdef __NO_FMATH__ + return sqrt(x); /* put your custom sqrt-replacement here */ + #else + return sqrt(x); + #endif +} + + +END_NAMESPACE_QPOASES + + +#endif /* QPOASES_UTILS_H */ + + +/* + * end of file + */ diff --git a/third_party/acados/include/qpOASES_e/extras/OQPinterface.h b/third_party/acados/include/qpOASES_e/extras/OQPinterface.h new file mode 100644 index 0000000000..da59ea9db6 --- /dev/null +++ b/third_party/acados/include/qpOASES_e/extras/OQPinterface.h @@ -0,0 +1,227 @@ +/* + * This file is part of qpOASES. + * + * qpOASES -- An Implementation of the Online Active Set Strategy. + * Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka, + * Christian Kirches et al. All rights reserved. + * + * qpOASES is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * qpOASES is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with qpOASES; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + */ + + +/** + * \file include/qpOASES_e/extras/OQPinterface.h + * \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches + * \version 3.1embedded + * \date 2007-2015 + * + * Declaration of an interface comprising several utility functions + * for solving test problems from the Online QP Benchmark Collection + * (This collection is no longer maintained, see + * http://www.qpOASES.org/onlineQP for a backup). + */ + + +#ifndef QPOASES_OQPINTERFACE_H +#define QPOASES_OQPINTERFACE_H + + +#include +#include + +#include +#include + + +BEGIN_NAMESPACE_QPOASES + +typedef struct { + QProblem *qp; + + DenseMatrix *H; + DenseMatrix *A; + + real_t *x; + real_t *y; +} OQPbenchmark_ws; + +int OQPbenchmark_ws_calculateMemorySize( unsigned int nV, unsigned int nC ); + +char *OQPbenchmark_ws_assignMemory( unsigned int nV, unsigned int nC, OQPbenchmark_ws **mem, void *raw_memory ); + +OQPbenchmark_ws *OQPbenchmark_ws_createMemory( unsigned int nV, unsigned int nC ); + +typedef struct { + QProblemB *qp; + + DenseMatrix *H; + + real_t *x; + real_t *y; +} OQPbenchmarkB_ws; + +int OQPbenchmarkB_ws_calculateMemorySize( unsigned int nV ); + +char *OQPbenchmarkB_ws_assignMemory( unsigned int nV, OQPbenchmarkB_ws **mem, void *raw_memory ); + +OQPbenchmarkB_ws *OQPbenchmarkB_ws_createMemory( unsigned int nV ); + +typedef struct { + OQPbenchmark_ws *qp_ws; + OQPbenchmarkB_ws *qpB_ws; + + real_t *H; + real_t *g; + real_t *A; + real_t *lb; + real_t *ub; + real_t *lbA; + real_t *ubA; +} OQPinterface_ws; + +int OQPinterface_ws_calculateMemorySize( unsigned int nV, unsigned int nC, unsigned int nQP ); + +char *OQPinterface_ws_assignMemory( unsigned int nV, unsigned int nC, unsigned int nQP, OQPinterface_ws **mem, void *raw_memory ); + +OQPinterface_ws *OQPinterface_ws_createMemory( unsigned int nV, unsigned int nC, unsigned int nQP ); + +/** Reads dimensions of an Online QP Benchmark problem from file. + * \return SUCCESSFUL_RETURN \n + RET_UNABLE_TO_READ_FILE \n + RET_FILEDATA_INCONSISTENT */ +returnValue readOQPdimensions( const char* path, /**< Full path of the data files (without trailing slash!). */ + int* nQP, /**< Output: Number of QPs. */ + int* nV, /**< Output: Number of variables. */ + int* nC, /**< Output: Number of constraints. */ + int* nEC /**< Output: Number of equality constraints. */ + ); + +/** Reads data of an Online QP Benchmark problem from file. + * This function allocates the required memory for all data; after successfully calling it, + * you have to free this memory yourself! + * \return SUCCESSFUL_RETURN \n + RET_INVALID_ARGUMENTS \n + RET_UNABLE_TO_READ_FILE \n + RET_FILEDATA_INCONSISTENT */ +returnValue readOQPdata( const char* path, /**< Full path of the data files (without trailing slash!). */ + int* nQP, /**< Output: Number of QPs. */ + int* nV, /**< Output: Number of variables. */ + int* nC, /**< Output: Number of constraints. */ + int* nEC, /**< Output: Number of equality constraints. */ + real_t* H, /**< Output: Hessian matrix. */ + real_t* g, /**< Output: Sequence of gradient vectors. */ + real_t* A, /**< Output: Constraint matrix. */ + real_t* lb, /**< Output: Sequence of lower bound vectors (on variables). */ + real_t* ub, /**< Output: Sequence of upper bound vectors (on variables). */ + real_t* lbA, /**< Output: Sequence of lower constraints' bound vectors. */ + real_t* ubA, /**< Output: Sequence of upper constraints' bound vectors. */ + real_t* xOpt, /**< Output: Sequence of primal solution vectors + * (not read if a null pointer is passed). */ + real_t* yOpt, /**< Output: Sequence of dual solution vectors + * (not read if a null pointer is passed). */ + real_t* objOpt /**< Output: Sequence of optimal objective function values + * (not read if a null pointer is passed). */ + ); + + +/** Solves an Online QP Benchmark problem as specified by the arguments. + * The maximum deviations from the given optimal solution as well as the + * maximum CPU time to solve each QP are determined. + * \return SUCCESSFUL_RETURN \n + RET_BENCHMARK_ABORTED */ +returnValue solveOQPbenchmark( int nQP, /**< Number of QPs. */ + int nV, /**< Number of variables. */ + int nC, /**< Number of constraints. */ + int nEC, /**< Number of equality constraints. */ + real_t* _H, /**< Hessian matrix. */ + const real_t* const g, /**< Sequence of gradient vectors. */ + real_t* _A, /**< Constraint matrix. */ + const real_t* const lb, /**< Sequence of lower bound vectors (on variables). */ + const real_t* const ub, /**< Sequence of upper bound vectors (on variables). */ + const real_t* const lbA, /**< Sequence of lower constraints' bound vectors. */ + const real_t* const ubA, /**< Sequence of upper constraints' bound vectors. */ + BooleanType isSparse, /**< Shall convert matrices to sparse format before solution? */ + BooleanType useHotstarts, /**< Shall QP solution be hotstarted? */ + const Options* options, /**< QP solver options to be used while solving benchmark problems. */ + int maxAllowedNWSR, /**< Maximum number of working set recalculations to be performed. */ + real_t* maxNWSR, /**< Output: Maximum number of performed working set recalculations. */ + real_t* avgNWSR, /**< Output: Average number of performed working set recalculations. */ + real_t* maxCPUtime, /**< Output: Maximum CPU time required for solving each QP. */ + real_t* avgCPUtime, /**< Output: Average CPU time required for solving each QP. */ + real_t* maxStationarity, /**< Output: Maximum residual of stationarity condition. */ + real_t* maxFeasibility, /**< Output: Maximum residual of primal feasibility condition. */ + real_t* maxComplementarity, /**< Output: Maximum residual of complementarity condition. */ + OQPbenchmark_ws *work /**< Workspace. */ + ); + +/** Solves an Online QP Benchmark problem (without constraints) as specified + * by the arguments. The maximum deviations from the given optimal solution + * as well as the maximum CPU time to solve each QP are determined. + * \return SUCCESSFUL_RETURN \n + RET_BENCHMARK_ABORTED */ +returnValue solveOQPbenchmarkB( int nQP, /**< Number of QPs. */ + int nV, /**< Number of variables. */ + real_t* _H, /**< Hessian matrix. */ + const real_t* const g, /**< Sequence of gradient vectors. */ + const real_t* const lb, /**< Sequence of lower bound vectors (on variables). */ + const real_t* const ub, /**< Sequence of upper bound vectors (on variables). */ + BooleanType isSparse, /**< Shall convert matrices to sparse format before solution? */ + BooleanType useHotstarts, /**< Shall QP solution be hotstarted? */ + const Options* options, /**< QP solver options to be used while solving benchmark problems. */ + int maxAllowedNWSR, /**< Maximum number of working set recalculations to be performed. */ + real_t* maxNWSR, /**< Output: Maximum number of performed working set recalculations. */ + real_t* avgNWSR, /**< Output: Average number of performed working set recalculations. */ + real_t* maxCPUtime, /**< Output: Maximum CPU time required for solving each QP. */ + real_t* avgCPUtime, /**< Output: Average CPU time required for solving each QP. */ + real_t* maxStationarity, /**< Output: Maximum residual of stationarity condition. */ + real_t* maxFeasibility, /**< Output: Maximum residual of primal feasibility condition. */ + real_t* maxComplementarity, /**< Output: Maximum residual of complementarity condition. */ + OQPbenchmarkB_ws *work /**< Workspace. */ + ); + + +/** Runs an Online QP Benchmark problem and determines the maximum + * violation of the KKT optimality conditions as well as the + * maximum and average number of iterations and CPU time to solve + * each QP. + * + * \return SUCCESSFUL_RETURN \n + RET_UNABLE_TO_READ_BENCHMARK \n + RET_BENCHMARK_ABORTED */ +returnValue runOQPbenchmark( const char* path, /**< Full path of the benchmark files (without trailing slash!). */ + BooleanType isSparse, /**< Shall convert matrices to sparse format before solution? */ + BooleanType useHotstarts, /**< Shall QP solution be hotstarted? */ + const Options* options, /**< QP solver options to be used while solving benchmark problems. */ + int maxAllowedNWSR, /**< Maximum number of working set recalculations to be performed. */ + real_t* maxNWSR, /**< Output: Maximum number of performed working set recalculations. */ + real_t* avgNWSR, /**< Output: Average number of performed working set recalculations. */ + real_t* maxCPUtime, /**< Output: Maximum CPU time required for solving each QP. */ + real_t* avgCPUtime, /**< Output: Average CPU time required for solving each QP. */ + real_t* maxStationarity, /**< Output: Maximum residual of stationarity condition. */ + real_t* maxFeasibility, /**< Output: Maximum residual of primal feasibility condition. */ + real_t* maxComplementarity, /**< Output: Maximum residual of complementarity condition. */ + OQPinterface_ws* work /**< Workspace. */ + ); + +END_NAMESPACE_QPOASES + + +#endif /* QPOASES_OQPINTERFACE_H */ + + +/* + * end of file + */ diff --git a/third_party/acados/larch64/lib/libacados.so b/third_party/acados/larch64/lib/libacados.so new file mode 100644 index 0000000000..9a28b4c9d6 Binary files /dev/null and b/third_party/acados/larch64/lib/libacados.so differ diff --git a/third_party/acados/larch64/lib/libblasfeo.so b/third_party/acados/larch64/lib/libblasfeo.so new file mode 100644 index 0000000000..b97ed876e2 Binary files /dev/null and b/third_party/acados/larch64/lib/libblasfeo.so differ diff --git a/third_party/acados/larch64/lib/libhpipm.so b/third_party/acados/larch64/lib/libhpipm.so new file mode 100644 index 0000000000..cd4b1f1b5b Binary files /dev/null and b/third_party/acados/larch64/lib/libhpipm.so differ diff --git a/third_party/acados/larch64/lib/libqpOASES_e.so b/third_party/acados/larch64/lib/libqpOASES_e.so new file mode 120000 index 0000000000..14048625a1 --- /dev/null +++ b/third_party/acados/larch64/lib/libqpOASES_e.so @@ -0,0 +1 @@ +libqpOASES_e.so.3.1 \ No newline at end of file diff --git a/third_party/acados/larch64/lib/libqpOASES_e.so.3.1 b/third_party/acados/larch64/lib/libqpOASES_e.so.3.1 new file mode 100644 index 0000000000..19e7a69bd5 Binary files /dev/null and b/third_party/acados/larch64/lib/libqpOASES_e.so.3.1 differ diff --git a/third_party/acados/larch64/t_renderer b/third_party/acados/larch64/t_renderer new file mode 100755 index 0000000000..b6f70bde06 Binary files /dev/null and b/third_party/acados/larch64/t_renderer differ diff --git a/third_party/acados/x86_64/lib/libacados.so b/third_party/acados/x86_64/lib/libacados.so new file mode 100644 index 0000000000..ae5fc363f2 Binary files /dev/null and b/third_party/acados/x86_64/lib/libacados.so differ diff --git a/third_party/acados/x86_64/lib/libblasfeo.so b/third_party/acados/x86_64/lib/libblasfeo.so new file mode 100644 index 0000000000..676ff67e98 Binary files /dev/null and b/third_party/acados/x86_64/lib/libblasfeo.so differ diff --git a/third_party/acados/x86_64/lib/libhpipm.so b/third_party/acados/x86_64/lib/libhpipm.so new file mode 100644 index 0000000000..8d026b1185 Binary files /dev/null and b/third_party/acados/x86_64/lib/libhpipm.so differ diff --git a/third_party/acados/x86_64/lib/libqpOASES_e.so b/third_party/acados/x86_64/lib/libqpOASES_e.so new file mode 120000 index 0000000000..14048625a1 --- /dev/null +++ b/third_party/acados/x86_64/lib/libqpOASES_e.so @@ -0,0 +1 @@ +libqpOASES_e.so.3.1 \ No newline at end of file diff --git a/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1 b/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1 new file mode 100644 index 0000000000..c0c8b66650 Binary files /dev/null and b/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1 differ diff --git a/third_party/acados/x86_64/t_renderer b/third_party/acados/x86_64/t_renderer new file mode 100755 index 0000000000..d84fc762c8 Binary files /dev/null and b/third_party/acados/x86_64/t_renderer differ diff --git a/third_party/bootstrap/.gitignore b/third_party/bootstrap/.gitignore new file mode 100644 index 0000000000..ac06c0cf85 --- /dev/null +++ b/third_party/bootstrap/.gitignore @@ -0,0 +1 @@ +/icons/ diff --git a/third_party/bootstrap/bootstrap-icons.svg b/third_party/bootstrap/bootstrap-icons.svg new file mode 100644 index 0000000000..61f2720db4 --- /dev/null +++ b/third_party/bootstrap/bootstrap-icons.svg @@ -0,0 +1 @@ + \ No newline at end of file diff --git a/third_party/bootstrap/pull.sh b/third_party/bootstrap/pull.sh new file mode 100755 index 0000000000..0b03b4db9e --- /dev/null +++ b/third_party/bootstrap/pull.sh @@ -0,0 +1,14 @@ +#!/bin/bash +set -e + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" +cd $DIR + +if [ ! -d icons/ ]; then + git clone https://github.com/twbs/icons/ +fi + +cd icons +git fetch --all +git checkout d5aa187483a1b0b186f87adcfa8576350d970d98 +cp bootstrap-icons.svg ../ diff --git a/third_party/json11/json11.cpp b/third_party/json11/json11.cpp new file mode 100644 index 0000000000..bc4045f07d --- /dev/null +++ b/third_party/json11/json11.cpp @@ -0,0 +1,784 @@ +/* Copyright (c) 2013 Dropbox, Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#include "json11.hpp" +#include +#include +#include +#include +#include + +namespace json11 { + +static const int max_depth = 200; + +using std::string; +using std::vector; +using std::map; +using std::make_shared; +using std::initializer_list; +using std::move; + +/* Helper for representing null - just a do-nothing struct, plus comparison + * operators so the helpers in JsonValue work. We can't use nullptr_t because + * it may not be orderable. + */ +struct NullStruct { + bool operator==(NullStruct) const { return true; } + bool operator<(NullStruct) const { return false; } +}; + +/* * * * * * * * * * * * * * * * * * * * + * Serialization + */ + +static void dump(NullStruct, string &out) { + out += "null"; +} + +static void dump(double value, string &out) { + if (std::isfinite(value)) { + char buf[32]; + snprintf(buf, sizeof buf, "%.17g", value); + out += buf; + } else { + out += "null"; + } +} + +static void dump(int value, string &out) { + char buf[32]; + snprintf(buf, sizeof buf, "%d", value); + out += buf; +} + +static void dump(bool value, string &out) { + out += value ? "true" : "false"; +} + +static void dump(const string &value, string &out) { + out += '"'; + for (size_t i = 0; i < value.length(); i++) { + const char ch = value[i]; + if (ch == '\\') { + out += "\\\\"; + } else if (ch == '"') { + out += "\\\""; + } else if (ch == '\b') { + out += "\\b"; + } else if (ch == '\f') { + out += "\\f"; + } else if (ch == '\n') { + out += "\\n"; + } else if (ch == '\r') { + out += "\\r"; + } else if (ch == '\t') { + out += "\\t"; + } else if (static_cast(ch) <= 0x1f) { + char buf[8]; + snprintf(buf, sizeof buf, "\\u%04x", ch); + out += buf; + } else if (static_cast(ch) == 0xe2 && static_cast(value[i+1]) == 0x80 + && static_cast(value[i+2]) == 0xa8) { + out += "\\u2028"; + i += 2; + } else if (static_cast(ch) == 0xe2 && static_cast(value[i+1]) == 0x80 + && static_cast(value[i+2]) == 0xa9) { + out += "\\u2029"; + i += 2; + } else { + out += ch; + } + } + out += '"'; +} + +static void dump(const Json::array &values, string &out) { + bool first = true; + out += "["; + for (const auto &value : values) { + if (!first) + out += ", "; + value.dump(out); + first = false; + } + out += "]"; +} + +static void dump(const Json::object &values, string &out) { + bool first = true; + out += "{"; + for (const auto &kv : values) { + if (!first) + out += ", "; + dump(kv.first, out); + out += ": "; + kv.second.dump(out); + first = false; + } + out += "}"; +} + +void Json::dump(string &out) const { + m_ptr->dump(out); +} + +/* * * * * * * * * * * * * * * * * * * * + * Value wrappers + */ + +template +class Value : public JsonValue { +protected: + + // Constructors + explicit Value(const T &value) : m_value(value) {} + explicit Value(T &&value) : m_value(move(value)) {} + + // Get type tag + Json::Type type() const override { + return tag; + } + + // Comparisons + bool equals(const JsonValue * other) const override { + return m_value == static_cast *>(other)->m_value; + } + bool less(const JsonValue * other) const override { + return m_value < static_cast *>(other)->m_value; + } + + const T m_value; + void dump(string &out) const override { json11::dump(m_value, out); } +}; + +class JsonDouble final : public Value { + double number_value() const override { return m_value; } + int int_value() const override { return static_cast(m_value); } + bool equals(const JsonValue * other) const override { return m_value == other->number_value(); } + bool less(const JsonValue * other) const override { return m_value < other->number_value(); } +public: + explicit JsonDouble(double value) : Value(value) {} +}; + +class JsonInt final : public Value { + double number_value() const override { return m_value; } + int int_value() const override { return m_value; } + bool equals(const JsonValue * other) const override { return m_value == other->number_value(); } + bool less(const JsonValue * other) const override { return m_value < other->number_value(); } +public: + explicit JsonInt(int value) : Value(value) {} +}; + +class JsonBoolean final : public Value { + bool bool_value() const override { return m_value; } +public: + explicit JsonBoolean(bool value) : Value(value) {} +}; + +class JsonString final : public Value { + const string &string_value() const override { return m_value; } +public: + explicit JsonString(const string &value) : Value(value) {} + explicit JsonString(string &&value) : Value(move(value)) {} +}; + +class JsonArray final : public Value { + const Json::array &array_items() const override { return m_value; } + const Json & operator[](size_t i) const override; +public: + explicit JsonArray(const Json::array &value) : Value(value) {} + explicit JsonArray(Json::array &&value) : Value(move(value)) {} +}; + +class JsonObject final : public Value { + const Json::object &object_items() const override { return m_value; } + const Json & operator[](const string &key) const override; +public: + explicit JsonObject(const Json::object &value) : Value(value) {} + explicit JsonObject(Json::object &&value) : Value(move(value)) {} +}; + +class JsonNull final : public Value { +public: + JsonNull() : Value({}) {} +}; + +/* * * * * * * * * * * * * * * * * * * * + * Static globals - static-init-safe + */ +struct Statics { + const std::shared_ptr null = make_shared(); + const std::shared_ptr t = make_shared(true); + const std::shared_ptr f = make_shared(false); + const string empty_string; + const vector empty_vector; + const map empty_map; + Statics() {} +}; + +static const Statics & statics() { + static const Statics s {}; + return s; +} + +static const Json & static_null() { + // This has to be separate, not in Statics, because Json() accesses statics().null. + static const Json json_null; + return json_null; +} + +/* * * * * * * * * * * * * * * * * * * * + * Constructors + */ + +Json::Json() noexcept : m_ptr(statics().null) {} +Json::Json(std::nullptr_t) noexcept : m_ptr(statics().null) {} +Json::Json(double value) : m_ptr(make_shared(value)) {} +Json::Json(int value) : m_ptr(make_shared(value)) {} +Json::Json(bool value) : m_ptr(value ? statics().t : statics().f) {} +Json::Json(const string &value) : m_ptr(make_shared(value)) {} +Json::Json(string &&value) : m_ptr(make_shared(move(value))) {} +Json::Json(const char * value) : m_ptr(make_shared(value)) {} +Json::Json(const Json::array &values) : m_ptr(make_shared(values)) {} +Json::Json(Json::array &&values) : m_ptr(make_shared(move(values))) {} +Json::Json(const Json::object &values) : m_ptr(make_shared(values)) {} +Json::Json(Json::object &&values) : m_ptr(make_shared(move(values))) {} + +/* * * * * * * * * * * * * * * * * * * * + * Accessors + */ + +Json::Type Json::type() const { return m_ptr->type(); } +double Json::number_value() const { return m_ptr->number_value(); } +int Json::int_value() const { return m_ptr->int_value(); } +bool Json::bool_value() const { return m_ptr->bool_value(); } +const string & Json::string_value() const { return m_ptr->string_value(); } +const vector & Json::array_items() const { return m_ptr->array_items(); } +const map & Json::object_items() const { return m_ptr->object_items(); } +const Json & Json::operator[] (size_t i) const { return (*m_ptr)[i]; } +const Json & Json::operator[] (const string &key) const { return (*m_ptr)[key]; } + +double JsonValue::number_value() const { return 0; } +int JsonValue::int_value() const { return 0; } +bool JsonValue::bool_value() const { return false; } +const string & JsonValue::string_value() const { return statics().empty_string; } +const vector & JsonValue::array_items() const { return statics().empty_vector; } +const map & JsonValue::object_items() const { return statics().empty_map; } +const Json & JsonValue::operator[] (size_t) const { return static_null(); } +const Json & JsonValue::operator[] (const string &) const { return static_null(); } + +const Json & JsonObject::operator[] (const string &key) const { + auto iter = m_value.find(key); + return (iter == m_value.end()) ? static_null() : iter->second; +} +const Json & JsonArray::operator[] (size_t i) const { + if (i >= m_value.size()) return static_null(); + else return m_value[i]; +} + +/* * * * * * * * * * * * * * * * * * * * + * Comparison + */ + +bool Json::operator== (const Json &other) const { + if (m_ptr->type() != other.m_ptr->type()) + return false; + + return m_ptr->equals(other.m_ptr.get()); +} + +bool Json::operator< (const Json &other) const { + if (m_ptr->type() != other.m_ptr->type()) + return m_ptr->type() < other.m_ptr->type(); + + return m_ptr->less(other.m_ptr.get()); +} + +/* * * * * * * * * * * * * * * * * * * * + * Parsing + */ + +/* esc(c) + * + * Format char c suitable for printing in an error message. + */ +static inline string esc(char c) { + char buf[12]; + if (static_cast(c) >= 0x20 && static_cast(c) <= 0x7f) { + snprintf(buf, sizeof buf, "'%c' (%d)", c, c); + } else { + snprintf(buf, sizeof buf, "(%d)", c); + } + return string(buf); +} + +static inline bool in_range(long x, long lower, long upper) { + return (x >= lower && x <= upper); +} + +namespace { +/* JsonParser + * + * Object that tracks all state of an in-progress parse. + */ +struct JsonParser final { + + /* State + */ + const string &str; + size_t i; + string &err; + bool failed; + const JsonParse strategy; + + /* fail(msg, err_ret = Json()) + * + * Mark this parse as failed. + */ + Json fail(string &&msg) { + return fail(move(msg), Json()); + } + + template + T fail(string &&msg, const T err_ret) { + if (!failed) + err = std::move(msg); + failed = true; + return err_ret; + } + + /* consume_whitespace() + * + * Advance until the current character is non-whitespace. + */ + void consume_whitespace() { + while (str[i] == ' ' || str[i] == '\r' || str[i] == '\n' || str[i] == '\t') + i++; + } + + /* consume_comment() + * + * Advance comments (c-style inline and multiline). + */ + bool consume_comment() { + bool comment_found = false; + if (str[i] == '/') { + i++; + if (i == str.size()) + return fail("unexpected end of input after start of comment", false); + if (str[i] == '/') { // inline comment + i++; + // advance until next line, or end of input + while (i < str.size() && str[i] != '\n') { + i++; + } + comment_found = true; + } + else if (str[i] == '*') { // multiline comment + i++; + if (i > str.size()-2) + return fail("unexpected end of input inside multi-line comment", false); + // advance until closing tokens + while (!(str[i] == '*' && str[i+1] == '/')) { + i++; + if (i > str.size()-2) + return fail( + "unexpected end of input inside multi-line comment", false); + } + i += 2; + comment_found = true; + } + else + return fail("malformed comment", false); + } + return comment_found; + } + + /* consume_garbage() + * + * Advance until the current character is non-whitespace and non-comment. + */ + void consume_garbage() { + consume_whitespace(); + if(strategy == JsonParse::COMMENTS) { + bool comment_found = false; + do { + comment_found = consume_comment(); + if (failed) return; + consume_whitespace(); + } + while(comment_found); + } + } + + /* get_next_token() + * + * Return the next non-whitespace character. If the end of the input is reached, + * flag an error and return 0. + */ + char get_next_token() { + consume_garbage(); + if (failed) return (char)0; + if (i == str.size()) + return fail("unexpected end of input", (char)0); + + return str[i++]; + } + + /* encode_utf8(pt, out) + * + * Encode pt as UTF-8 and add it to out. + */ + void encode_utf8(long pt, string & out) { + if (pt < 0) + return; + + if (pt < 0x80) { + out += static_cast(pt); + } else if (pt < 0x800) { + out += static_cast((pt >> 6) | 0xC0); + out += static_cast((pt & 0x3F) | 0x80); + } else if (pt < 0x10000) { + out += static_cast((pt >> 12) | 0xE0); + out += static_cast(((pt >> 6) & 0x3F) | 0x80); + out += static_cast((pt & 0x3F) | 0x80); + } else { + out += static_cast((pt >> 18) | 0xF0); + out += static_cast(((pt >> 12) & 0x3F) | 0x80); + out += static_cast(((pt >> 6) & 0x3F) | 0x80); + out += static_cast((pt & 0x3F) | 0x80); + } + } + + /* parse_string() + * + * Parse a string, starting at the current position. + */ + string parse_string() { + string out; + long last_escaped_codepoint = -1; + while (true) { + if (i == str.size()) + return fail("unexpected end of input in string", ""); + + char ch = str[i++]; + + if (ch == '"') { + encode_utf8(last_escaped_codepoint, out); + return out; + } + + if (in_range(ch, 0, 0x1f)) + return fail("unescaped " + esc(ch) + " in string", ""); + + // The usual case: non-escaped characters + if (ch != '\\') { + encode_utf8(last_escaped_codepoint, out); + last_escaped_codepoint = -1; + out += ch; + continue; + } + + // Handle escapes + if (i == str.size()) + return fail("unexpected end of input in string", ""); + + ch = str[i++]; + + if (ch == 'u') { + // Extract 4-byte escape sequence + string esc = str.substr(i, 4); + // Explicitly check length of the substring. The following loop + // relies on std::string returning the terminating NUL when + // accessing str[length]. Checking here reduces brittleness. + if (esc.length() < 4) { + return fail("bad \\u escape: " + esc, ""); + } + for (size_t j = 0; j < 4; j++) { + if (!in_range(esc[j], 'a', 'f') && !in_range(esc[j], 'A', 'F') + && !in_range(esc[j], '0', '9')) + return fail("bad \\u escape: " + esc, ""); + } + + long codepoint = strtol(esc.data(), nullptr, 16); + + // JSON specifies that characters outside the BMP shall be encoded as a pair + // of 4-hex-digit \u escapes encoding their surrogate pair components. Check + // whether we're in the middle of such a beast: the previous codepoint was an + // escaped lead (high) surrogate, and this is a trail (low) surrogate. + if (in_range(last_escaped_codepoint, 0xD800, 0xDBFF) + && in_range(codepoint, 0xDC00, 0xDFFF)) { + // Reassemble the two surrogate pairs into one astral-plane character, per + // the UTF-16 algorithm. + encode_utf8((((last_escaped_codepoint - 0xD800) << 10) + | (codepoint - 0xDC00)) + 0x10000, out); + last_escaped_codepoint = -1; + } else { + encode_utf8(last_escaped_codepoint, out); + last_escaped_codepoint = codepoint; + } + + i += 4; + continue; + } + + encode_utf8(last_escaped_codepoint, out); + last_escaped_codepoint = -1; + + if (ch == 'b') { + out += '\b'; + } else if (ch == 'f') { + out += '\f'; + } else if (ch == 'n') { + out += '\n'; + } else if (ch == 'r') { + out += '\r'; + } else if (ch == 't') { + out += '\t'; + } else if (ch == '"' || ch == '\\' || ch == '/') { + out += ch; + } else { + return fail("invalid escape character " + esc(ch), ""); + } + } + } + + /* parse_number() + * + * Parse a double. + */ + Json parse_number() { + size_t start_pos = i; + + if (str[i] == '-') + i++; + + // Integer part + if (str[i] == '0') { + i++; + if (in_range(str[i], '0', '9')) + return fail("leading 0s not permitted in numbers"); + } else if (in_range(str[i], '1', '9')) { + i++; + while (in_range(str[i], '0', '9')) + i++; + } else { + return fail("invalid " + esc(str[i]) + " in number"); + } + + if (str[i] != '.' && str[i] != 'e' && str[i] != 'E' + && (i - start_pos) <= static_cast(std::numeric_limits::digits10)) { + return std::atoi(str.c_str() + start_pos); + } + + // Decimal part + if (str[i] == '.') { + i++; + if (!in_range(str[i], '0', '9')) + return fail("at least one digit required in fractional part"); + + while (in_range(str[i], '0', '9')) + i++; + } + + // Exponent part + if (str[i] == 'e' || str[i] == 'E') { + i++; + + if (str[i] == '+' || str[i] == '-') + i++; + + if (!in_range(str[i], '0', '9')) + return fail("at least one digit required in exponent"); + + while (in_range(str[i], '0', '9')) + i++; + } + + return std::strtod(str.c_str() + start_pos, nullptr); + } + + /* expect(str, res) + * + * Expect that 'str' starts at the character that was just read. If it does, advance + * the input and return res. If not, flag an error. + */ + Json expect(const string &expected, Json res) { + assert(i != 0); + i--; + if (str.compare(i, expected.length(), expected) == 0) { + i += expected.length(); + return res; + } else { + return fail("parse error: expected " + expected + ", got " + str.substr(i, expected.length())); + } + } + + /* parse_json() + * + * Parse a JSON object. + */ + Json parse_json(int depth) { + if (depth > max_depth) { + return fail("exceeded maximum nesting depth"); + } + + char ch = get_next_token(); + if (failed) + return Json(); + + if (ch == '-' || (ch >= '0' && ch <= '9')) { + i--; + return parse_number(); + } + + if (ch == 't') + return expect("true", true); + + if (ch == 'f') + return expect("false", false); + + if (ch == 'n') + return expect("null", Json()); + + if (ch == '"') + return parse_string(); + + if (ch == '{') { + map data; + ch = get_next_token(); + if (ch == '}') + return data; + + while (1) { + if (ch != '"') + return fail("expected '\"' in object, got " + esc(ch)); + + string key = parse_string(); + if (failed) + return Json(); + + ch = get_next_token(); + if (ch != ':') + return fail("expected ':' in object, got " + esc(ch)); + + data[std::move(key)] = parse_json(depth + 1); + if (failed) + return Json(); + + ch = get_next_token(); + if (ch == '}') + break; + if (ch != ',') + return fail("expected ',' in object, got " + esc(ch)); + + ch = get_next_token(); + } + return data; + } + + if (ch == '[') { + vector data; + ch = get_next_token(); + if (ch == ']') + return data; + + while (1) { + i--; + data.push_back(parse_json(depth + 1)); + if (failed) + return Json(); + + ch = get_next_token(); + if (ch == ']') + break; + if (ch != ',') + return fail("expected ',' in list, got " + esc(ch)); + + ch = get_next_token(); + (void)ch; + } + return data; + } + + return fail("expected value, got " + esc(ch)); + } +}; +}//namespace { + +Json Json::parse(const string &in, string &err, JsonParse strategy) { + JsonParser parser { in, 0, err, false, strategy }; + Json result = parser.parse_json(0); + + // Check for any trailing garbage + parser.consume_garbage(); + if (parser.failed) + return Json(); + if (parser.i != in.size()) + return parser.fail("unexpected trailing " + esc(in[parser.i])); + + return result; +} + +// Documented in json11.hpp +vector Json::parse_multi(const string &in, + std::string::size_type &parser_stop_pos, + string &err, + JsonParse strategy) { + JsonParser parser { in, 0, err, false, strategy }; + parser_stop_pos = 0; + vector json_vec; + while (parser.i != in.size() && !parser.failed) { + json_vec.push_back(parser.parse_json(0)); + if (parser.failed) + break; + + // Check for another object + parser.consume_garbage(); + if (parser.failed) + break; + parser_stop_pos = parser.i; + } + return json_vec; +} + +/* * * * * * * * * * * * * * * * * * * * + * Shape-checking + */ + +bool Json::has_shape(const shape & types, string & err) const { + if (!is_object()) { + err = "expected JSON object, got " + dump(); + return false; + } + + for (auto & item : types) { + if ((*this)[item.first].type() != item.second) { + err = "bad type for " + item.first + " in " + dump(); + return false; + } + } + + return true; +} + +} // namespace json11 diff --git a/third_party/json11/json11.hpp b/third_party/json11/json11.hpp new file mode 100644 index 0000000000..5202ef9323 --- /dev/null +++ b/third_party/json11/json11.hpp @@ -0,0 +1,232 @@ +/* json11 + * + * json11 is a tiny JSON library for C++11, providing JSON parsing and serialization. + * + * The core object provided by the library is json11::Json. A Json object represents any JSON + * value: null, bool, number (int or double), string (std::string), array (std::vector), or + * object (std::map). + * + * Json objects act like values: they can be assigned, copied, moved, compared for equality or + * order, etc. There are also helper methods Json::dump, to serialize a Json to a string, and + * Json::parse (static) to parse a std::string as a Json object. + * + * Internally, the various types of Json object are represented by the JsonValue class + * hierarchy. + * + * A note on numbers - JSON specifies the syntax of number formatting but not its semantics, + * so some JSON implementations distinguish between integers and floating-point numbers, while + * some don't. In json11, we choose the latter. Because some JSON implementations (namely + * Javascript itself) treat all numbers as the same type, distinguishing the two leads + * to JSON that will be *silently* changed by a round-trip through those implementations. + * Dangerous! To avoid that risk, json11 stores all numbers as double internally, but also + * provides integer helpers. + * + * Fortunately, double-precision IEEE754 ('double') can precisely store any integer in the + * range +/-2^53, which includes every 'int' on most systems. (Timestamps often use int64 + * or long long to avoid the Y2038K problem; a double storing microseconds since some epoch + * will be exact for +/- 275 years.) + */ + +/* Copyright (c) 2013 Dropbox, Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#pragma once + +#include +#include +#include +#include +#include + +#ifdef _MSC_VER + #if _MSC_VER <= 1800 // VS 2013 + #ifndef noexcept + #define noexcept throw() + #endif + + #ifndef snprintf + #define snprintf _snprintf_s + #endif + #endif +#endif + +namespace json11 { + +enum JsonParse { + STANDARD, COMMENTS +}; + +class JsonValue; + +class Json final { +public: + // Types + enum Type { + NUL, NUMBER, BOOL, STRING, ARRAY, OBJECT + }; + + // Array and object typedefs + typedef std::vector array; + typedef std::map object; + + // Constructors for the various types of JSON value. + Json() noexcept; // NUL + Json(std::nullptr_t) noexcept; // NUL + Json(double value); // NUMBER + Json(int value); // NUMBER + Json(bool value); // BOOL + Json(const std::string &value); // STRING + Json(std::string &&value); // STRING + Json(const char * value); // STRING + Json(const array &values); // ARRAY + Json(array &&values); // ARRAY + Json(const object &values); // OBJECT + Json(object &&values); // OBJECT + + // Implicit constructor: anything with a to_json() function. + template + Json(const T & t) : Json(t.to_json()) {} + + // Implicit constructor: map-like objects (std::map, std::unordered_map, etc) + template ::value + && std::is_constructible::value, + int>::type = 0> + Json(const M & m) : Json(object(m.begin(), m.end())) {} + + // Implicit constructor: vector-like objects (std::list, std::vector, std::set, etc) + template ::value, + int>::type = 0> + Json(const V & v) : Json(array(v.begin(), v.end())) {} + + // This prevents Json(some_pointer) from accidentally producing a bool. Use + // Json(bool(some_pointer)) if that behavior is desired. + Json(void *) = delete; + + // Accessors + Type type() const; + + bool is_null() const { return type() == NUL; } + bool is_number() const { return type() == NUMBER; } + bool is_bool() const { return type() == BOOL; } + bool is_string() const { return type() == STRING; } + bool is_array() const { return type() == ARRAY; } + bool is_object() const { return type() == OBJECT; } + + // Return the enclosed value if this is a number, 0 otherwise. Note that json11 does not + // distinguish between integer and non-integer numbers - number_value() and int_value() + // can both be applied to a NUMBER-typed object. + double number_value() const; + int int_value() const; + + // Return the enclosed value if this is a boolean, false otherwise. + bool bool_value() const; + // Return the enclosed string if this is a string, "" otherwise. + const std::string &string_value() const; + // Return the enclosed std::vector if this is an array, or an empty vector otherwise. + const array &array_items() const; + // Return the enclosed std::map if this is an object, or an empty map otherwise. + const object &object_items() const; + + // Return a reference to arr[i] if this is an array, Json() otherwise. + const Json & operator[](size_t i) const; + // Return a reference to obj[key] if this is an object, Json() otherwise. + const Json & operator[](const std::string &key) const; + + // Serialize. + void dump(std::string &out) const; + std::string dump() const { + std::string out; + dump(out); + return out; + } + + // Parse. If parse fails, return Json() and assign an error message to err. + static Json parse(const std::string & in, + std::string & err, + JsonParse strategy = JsonParse::STANDARD); + static Json parse(const char * in, + std::string & err, + JsonParse strategy = JsonParse::STANDARD) { + if (in) { + return parse(std::string(in), err, strategy); + } else { + err = "null input"; + return nullptr; + } + } + // Parse multiple objects, concatenated or separated by whitespace + static std::vector parse_multi( + const std::string & in, + std::string::size_type & parser_stop_pos, + std::string & err, + JsonParse strategy = JsonParse::STANDARD); + + static inline std::vector parse_multi( + const std::string & in, + std::string & err, + JsonParse strategy = JsonParse::STANDARD) { + std::string::size_type parser_stop_pos; + return parse_multi(in, parser_stop_pos, err, strategy); + } + + bool operator== (const Json &rhs) const; + bool operator< (const Json &rhs) const; + bool operator!= (const Json &rhs) const { return !(*this == rhs); } + bool operator<= (const Json &rhs) const { return !(rhs < *this); } + bool operator> (const Json &rhs) const { return (rhs < *this); } + bool operator>= (const Json &rhs) const { return !(*this < rhs); } + + /* has_shape(types, err) + * + * Return true if this is a JSON object and, for each item in types, has a field of + * the given type. If not, return false and set err to a descriptive message. + */ + typedef std::initializer_list> shape; + bool has_shape(const shape & types, std::string & err) const; + +private: + std::shared_ptr m_ptr; +}; + +// Internal class hierarchy - JsonValue objects are not exposed to users of this API. +class JsonValue { +protected: + friend class Json; + friend class JsonInt; + friend class JsonDouble; + virtual Json::Type type() const = 0; + virtual bool equals(const JsonValue * other) const = 0; + virtual bool less(const JsonValue * other) const = 0; + virtual void dump(std::string &out) const = 0; + virtual double number_value() const; + virtual int int_value() const; + virtual bool bool_value() const; + virtual const std::string &string_value() const; + virtual const Json::array &array_items() const; + virtual const Json &operator[](size_t i) const; + virtual const Json::object &object_items() const; + virtual const Json &operator[](const std::string &key) const; + virtual ~JsonValue() {} +}; + +} // namespace json11 diff --git a/third_party/kaitai/custom_decoder.h b/third_party/kaitai/custom_decoder.h new file mode 100644 index 0000000000..6da7f5fd23 --- /dev/null +++ b/third_party/kaitai/custom_decoder.h @@ -0,0 +1,16 @@ +#ifndef KAITAI_CUSTOM_DECODER_H +#define KAITAI_CUSTOM_DECODER_H + +#include + +namespace kaitai { + +class custom_decoder { +public: + virtual ~custom_decoder() {}; + virtual std::string decode(std::string src) = 0; +}; + +} + +#endif diff --git a/third_party/kaitai/exceptions.h b/third_party/kaitai/exceptions.h new file mode 100644 index 0000000000..5c09c4672b --- /dev/null +++ b/third_party/kaitai/exceptions.h @@ -0,0 +1,189 @@ +#ifndef KAITAI_EXCEPTIONS_H +#define KAITAI_EXCEPTIONS_H + +#include + +#include +#include + +// We need to use "noexcept" in virtual destructor of our exceptions +// subclasses. Different compilers have different ideas on how to +// achieve that: C++98 compilers prefer `throw()`, C++11 and later +// use `noexcept`. We define KS_NOEXCEPT macro for that. + +#if __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1900) +#define KS_NOEXCEPT noexcept +#else +#define KS_NOEXCEPT throw() +#endif + +namespace kaitai { + +/** + * Common ancestor for all error originating from Kaitai Struct usage. + * Stores KSY source path, pointing to an element supposedly guilty of + * an error. + */ +class kstruct_error: public std::runtime_error { +public: + kstruct_error(const std::string what, const std::string src_path): + std::runtime_error(src_path + ": " + what), + m_src_path(src_path) + { + } + + virtual ~kstruct_error() KS_NOEXCEPT {}; + +protected: + const std::string m_src_path; +}; + +/** + * Error that occurs when default endianness should be decided with + * a switch, but nothing matches (although using endianness expression + * implies that there should be some positive result). + */ +class undecided_endianness_error: public kstruct_error { +public: + undecided_endianness_error(const std::string src_path): + kstruct_error("unable to decide on endianness for a type", src_path) + { + } + + virtual ~undecided_endianness_error() KS_NOEXCEPT {}; +}; + +/** + * Common ancestor for all validation failures. Stores pointer to + * KaitaiStream IO object which was involved in an error. + */ +class validation_failed_error: public kstruct_error { +public: + validation_failed_error(const std::string what, kstream* io, const std::string src_path): + kstruct_error("at pos " + kstream::to_string(static_cast(io->pos())) + ": validation failed: " + what, src_path), + m_io(io) + { + } + +// "at pos #{io.pos}: validation failed: #{msg}" + + virtual ~validation_failed_error() KS_NOEXCEPT {}; + +protected: + kstream* m_io; +}; + +/** + * Signals validation failure: we required "actual" value to be equal to + * "expected", but it turned out that it's not. + */ +template +class validation_not_equal_error: public validation_failed_error { +public: + validation_not_equal_error(const T& expected, const T& actual, kstream* io, const std::string src_path): + validation_failed_error("not equal", io, src_path), + m_expected(expected), + m_actual(actual) + { + } + + // "not equal, expected #{expected.inspect}, but got #{actual.inspect}" + + virtual ~validation_not_equal_error() KS_NOEXCEPT {}; + +protected: + const T& m_expected; + const T& m_actual; +}; + +/** + * Signals validation failure: we required "actual" value to be greater + * than or equal to "min", but it turned out that it's not. + */ +template +class validation_less_than_error: public validation_failed_error { +public: + validation_less_than_error(const T& min, const T& actual, kstream* io, const std::string src_path): + validation_failed_error("not in range", io, src_path), + m_min(min), + m_actual(actual) + { + } + + // "not in range, min #{min.inspect}, but got #{actual.inspect}" + + virtual ~validation_less_than_error() KS_NOEXCEPT {}; + +protected: + const T& m_min; + const T& m_actual; +}; + +/** + * Signals validation failure: we required "actual" value to be less + * than or equal to "max", but it turned out that it's not. + */ +template +class validation_greater_than_error: public validation_failed_error { +public: + validation_greater_than_error(const T& max, const T& actual, kstream* io, const std::string src_path): + validation_failed_error("not in range", io, src_path), + m_max(max), + m_actual(actual) + { + } + + // "not in range, max #{max.inspect}, but got #{actual.inspect}" + + virtual ~validation_greater_than_error() KS_NOEXCEPT {}; + +protected: + const T& m_max; + const T& m_actual; +}; + +/** + * Signals validation failure: we required "actual" value to be from + * the list, but it turned out that it's not. + */ +template +class validation_not_any_of_error: public validation_failed_error { +public: + validation_not_any_of_error(const T& actual, kstream* io, const std::string src_path): + validation_failed_error("not any of the list", io, src_path), + m_actual(actual) + { + } + + // "not any of the list, got #{actual.inspect}" + + virtual ~validation_not_any_of_error() KS_NOEXCEPT {}; + +protected: + const T& m_actual; +}; + +/** + * Signals validation failure: we required "actual" value to match + * the expression, but it turned out that it doesn't. + */ +template +class validation_expr_error: public validation_failed_error { +public: + validation_expr_error(const T& actual, kstream* io, const std::string src_path): + validation_failed_error("not matching the expression", io, src_path), + m_actual(actual) + { + } + + // "not matching the expression, got #{actual.inspect}" + + virtual ~validation_expr_error() KS_NOEXCEPT {}; + +protected: + const T& m_actual; +}; + +} + +#endif diff --git a/third_party/kaitai/kaitaistream.cpp b/third_party/kaitai/kaitaistream.cpp new file mode 100644 index 0000000000..d82ddb7e82 --- /dev/null +++ b/third_party/kaitai/kaitaistream.cpp @@ -0,0 +1,689 @@ +#include + +#if defined(__APPLE__) +#include +#include +#define bswap_16(x) OSSwapInt16(x) +#define bswap_32(x) OSSwapInt32(x) +#define bswap_64(x) OSSwapInt64(x) +#define __BYTE_ORDER BYTE_ORDER +#define __BIG_ENDIAN BIG_ENDIAN +#define __LITTLE_ENDIAN LITTLE_ENDIAN +#elif defined(_MSC_VER) // !__APPLE__ +#include +#define __LITTLE_ENDIAN 1234 +#define __BIG_ENDIAN 4321 +#define __BYTE_ORDER __LITTLE_ENDIAN +#define bswap_16(x) _byteswap_ushort(x) +#define bswap_32(x) _byteswap_ulong(x) +#define bswap_64(x) _byteswap_uint64(x) +#else // !__APPLE__ or !_MSC_VER +#include +#include +#endif + +#include +#include +#include + +kaitai::kstream::kstream(std::istream* io) { + m_io = io; + init(); +} + +kaitai::kstream::kstream(std::string& data): m_io_str(data) { + m_io = &m_io_str; + init(); +} + +void kaitai::kstream::init() { + exceptions_enable(); + align_to_byte(); +} + +void kaitai::kstream::close() { + // m_io->close(); +} + +void kaitai::kstream::exceptions_enable() const { + m_io->exceptions( + std::istream::eofbit | + std::istream::failbit | + std::istream::badbit + ); +} + +// ======================================================================== +// Stream positioning +// ======================================================================== + +bool kaitai::kstream::is_eof() const { + if (m_bits_left > 0) { + return false; + } + char t; + m_io->exceptions( + std::istream::badbit + ); + m_io->get(t); + if (m_io->eof()) { + m_io->clear(); + exceptions_enable(); + return true; + } else { + m_io->unget(); + exceptions_enable(); + return false; + } +} + +void kaitai::kstream::seek(uint64_t pos) { + m_io->seekg(pos); +} + +uint64_t kaitai::kstream::pos() { + return m_io->tellg(); +} + +uint64_t kaitai::kstream::size() { + std::iostream::pos_type cur_pos = m_io->tellg(); + m_io->seekg(0, std::ios::end); + std::iostream::pos_type len = m_io->tellg(); + m_io->seekg(cur_pos); + return len; +} + +// ======================================================================== +// Integer numbers +// ======================================================================== + +// ------------------------------------------------------------------------ +// Signed +// ------------------------------------------------------------------------ + +int8_t kaitai::kstream::read_s1() { + char t; + m_io->get(t); + return t; +} + +// ........................................................................ +// Big-endian +// ........................................................................ + +int16_t kaitai::kstream::read_s2be() { + int16_t t; + m_io->read(reinterpret_cast(&t), 2); +#if __BYTE_ORDER == __LITTLE_ENDIAN + t = bswap_16(t); +#endif + return t; +} + +int32_t kaitai::kstream::read_s4be() { + int32_t t; + m_io->read(reinterpret_cast(&t), 4); +#if __BYTE_ORDER == __LITTLE_ENDIAN + t = bswap_32(t); +#endif + return t; +} + +int64_t kaitai::kstream::read_s8be() { + int64_t t; + m_io->read(reinterpret_cast(&t), 8); +#if __BYTE_ORDER == __LITTLE_ENDIAN + t = bswap_64(t); +#endif + return t; +} + +// ........................................................................ +// Little-endian +// ........................................................................ + +int16_t kaitai::kstream::read_s2le() { + int16_t t; + m_io->read(reinterpret_cast(&t), 2); +#if __BYTE_ORDER == __BIG_ENDIAN + t = bswap_16(t); +#endif + return t; +} + +int32_t kaitai::kstream::read_s4le() { + int32_t t; + m_io->read(reinterpret_cast(&t), 4); +#if __BYTE_ORDER == __BIG_ENDIAN + t = bswap_32(t); +#endif + return t; +} + +int64_t kaitai::kstream::read_s8le() { + int64_t t; + m_io->read(reinterpret_cast(&t), 8); +#if __BYTE_ORDER == __BIG_ENDIAN + t = bswap_64(t); +#endif + return t; +} + +// ------------------------------------------------------------------------ +// Unsigned +// ------------------------------------------------------------------------ + +uint8_t kaitai::kstream::read_u1() { + char t; + m_io->get(t); + return t; +} + +// ........................................................................ +// Big-endian +// ........................................................................ + +uint16_t kaitai::kstream::read_u2be() { + uint16_t t; + m_io->read(reinterpret_cast(&t), 2); +#if __BYTE_ORDER == __LITTLE_ENDIAN + t = bswap_16(t); +#endif + return t; +} + +uint32_t kaitai::kstream::read_u4be() { + uint32_t t; + m_io->read(reinterpret_cast(&t), 4); +#if __BYTE_ORDER == __LITTLE_ENDIAN + t = bswap_32(t); +#endif + return t; +} + +uint64_t kaitai::kstream::read_u8be() { + uint64_t t; + m_io->read(reinterpret_cast(&t), 8); +#if __BYTE_ORDER == __LITTLE_ENDIAN + t = bswap_64(t); +#endif + return t; +} + +// ........................................................................ +// Little-endian +// ........................................................................ + +uint16_t kaitai::kstream::read_u2le() { + uint16_t t; + m_io->read(reinterpret_cast(&t), 2); +#if __BYTE_ORDER == __BIG_ENDIAN + t = bswap_16(t); +#endif + return t; +} + +uint32_t kaitai::kstream::read_u4le() { + uint32_t t; + m_io->read(reinterpret_cast(&t), 4); +#if __BYTE_ORDER == __BIG_ENDIAN + t = bswap_32(t); +#endif + return t; +} + +uint64_t kaitai::kstream::read_u8le() { + uint64_t t; + m_io->read(reinterpret_cast(&t), 8); +#if __BYTE_ORDER == __BIG_ENDIAN + t = bswap_64(t); +#endif + return t; +} + +// ======================================================================== +// Floating point numbers +// ======================================================================== + +// ........................................................................ +// Big-endian +// ........................................................................ + +float kaitai::kstream::read_f4be() { + uint32_t t; + m_io->read(reinterpret_cast(&t), 4); +#if __BYTE_ORDER == __LITTLE_ENDIAN + t = bswap_32(t); +#endif + return reinterpret_cast(t); +} + +double kaitai::kstream::read_f8be() { + uint64_t t; + m_io->read(reinterpret_cast(&t), 8); +#if __BYTE_ORDER == __LITTLE_ENDIAN + t = bswap_64(t); +#endif + return reinterpret_cast(t); +} + +// ........................................................................ +// Little-endian +// ........................................................................ + +float kaitai::kstream::read_f4le() { + uint32_t t; + m_io->read(reinterpret_cast(&t), 4); +#if __BYTE_ORDER == __BIG_ENDIAN + t = bswap_32(t); +#endif + return reinterpret_cast(t); +} + +double kaitai::kstream::read_f8le() { + uint64_t t; + m_io->read(reinterpret_cast(&t), 8); +#if __BYTE_ORDER == __BIG_ENDIAN + t = bswap_64(t); +#endif + return reinterpret_cast(t); +} + +// ======================================================================== +// Unaligned bit values +// ======================================================================== + +void kaitai::kstream::align_to_byte() { + m_bits_left = 0; + m_bits = 0; +} + +uint64_t kaitai::kstream::read_bits_int_be(int n) { + int bits_needed = n - m_bits_left; + if (bits_needed > 0) { + // 1 bit => 1 byte + // 8 bits => 1 byte + // 9 bits => 2 bytes + int bytes_needed = ((bits_needed - 1) / 8) + 1; + if (bytes_needed > 8) + throw std::runtime_error("read_bits_int: more than 8 bytes requested"); + char buf[8]; + m_io->read(buf, bytes_needed); + for (int i = 0; i < bytes_needed; i++) { + uint8_t b = buf[i]; + m_bits <<= 8; + m_bits |= b; + m_bits_left += 8; + } + } + + // raw mask with required number of 1s, starting from lowest bit + uint64_t mask = get_mask_ones(n); + // shift mask to align with highest bits available in @bits + int shift_bits = m_bits_left - n; + mask <<= shift_bits; + // derive reading result + uint64_t res = (m_bits & mask) >> shift_bits; + // clear top bits that we've just read => AND with 1s + m_bits_left -= n; + mask = get_mask_ones(m_bits_left); + m_bits &= mask; + + return res; +} + +// Deprecated, use read_bits_int_be() instead. +uint64_t kaitai::kstream::read_bits_int(int n) { + return read_bits_int_be(n); +} + +uint64_t kaitai::kstream::read_bits_int_le(int n) { + int bits_needed = n - m_bits_left; + if (bits_needed > 0) { + // 1 bit => 1 byte + // 8 bits => 1 byte + // 9 bits => 2 bytes + int bytes_needed = ((bits_needed - 1) / 8) + 1; + if (bytes_needed > 8) + throw std::runtime_error("read_bits_int_le: more than 8 bytes requested"); + char buf[8]; + m_io->read(buf, bytes_needed); + for (int i = 0; i < bytes_needed; i++) { + uint8_t b = buf[i]; + m_bits |= (static_cast(b) << m_bits_left); + m_bits_left += 8; + } + } + + // raw mask with required number of 1s, starting from lowest bit + uint64_t mask = get_mask_ones(n); + // derive reading result + uint64_t res = m_bits & mask; + // remove bottom bits that we've just read by shifting + m_bits >>= n; + m_bits_left -= n; + + return res; +} + +uint64_t kaitai::kstream::get_mask_ones(int n) { + if (n == 64) { + return 0xFFFFFFFFFFFFFFFF; + } else { + return ((uint64_t) 1 << n) - 1; + } +} + +// ======================================================================== +// Byte arrays +// ======================================================================== + +std::string kaitai::kstream::read_bytes(std::streamsize len) { + std::vector result(len); + + // NOTE: streamsize type is signed, negative values are only *supposed* to not be used. + // http://en.cppreference.com/w/cpp/io/streamsize + if (len < 0) { + throw std::runtime_error("read_bytes: requested a negative amount"); + } + + if (len > 0) { + m_io->read(&result[0], len); + } + + return std::string(result.begin(), result.end()); +} + +std::string kaitai::kstream::read_bytes_full() { + std::iostream::pos_type p1 = m_io->tellg(); + m_io->seekg(0, std::ios::end); + std::iostream::pos_type p2 = m_io->tellg(); + size_t len = p2 - p1; + + // Note: this requires a std::string to be backed with a + // contiguous buffer. Officially, it's a only requirement since + // C++11 (C++98 and C++03 didn't have this requirement), but all + // major implementations had contiguous buffers anyway. + std::string result(len, ' '); + m_io->seekg(p1); + m_io->read(&result[0], len); + + return result; +} + +std::string kaitai::kstream::read_bytes_term(char term, bool include, bool consume, bool eos_error) { + std::string result; + std::getline(*m_io, result, term); + if (m_io->eof()) { + // encountered EOF + if (eos_error) { + throw std::runtime_error("read_bytes_term: encountered EOF"); + } + } else { + // encountered terminator + if (include) + result.push_back(term); + if (!consume) + m_io->unget(); + } + return result; +} + +std::string kaitai::kstream::ensure_fixed_contents(std::string expected) { + std::string actual = read_bytes(expected.length()); + + if (actual != expected) { + // NOTE: I think printing it outright is not best idea, it could contain non-ascii charactes like backspace and beeps and whatnot. It would be better to print hexlified version, and also to redirect it to stderr. + throw std::runtime_error("ensure_fixed_contents: actual data does not match expected data"); + } + + return actual; +} + +std::string kaitai::kstream::bytes_strip_right(std::string src, char pad_byte) { + std::size_t new_len = src.length(); + + while (new_len > 0 && src[new_len - 1] == pad_byte) + new_len--; + + return src.substr(0, new_len); +} + +std::string kaitai::kstream::bytes_terminate(std::string src, char term, bool include) { + std::size_t new_len = 0; + std::size_t max_len = src.length(); + + while (new_len < max_len && src[new_len] != term) + new_len++; + + if (include && new_len < max_len) + new_len++; + + return src.substr(0, new_len); +} + +// ======================================================================== +// Byte array processing +// ======================================================================== + +std::string kaitai::kstream::process_xor_one(std::string data, uint8_t key) { + size_t len = data.length(); + std::string result(len, ' '); + + for (size_t i = 0; i < len; i++) + result[i] = data[i] ^ key; + + return result; +} + +std::string kaitai::kstream::process_xor_many(std::string data, std::string key) { + size_t len = data.length(); + size_t kl = key.length(); + std::string result(len, ' '); + + size_t ki = 0; + for (size_t i = 0; i < len; i++) { + result[i] = data[i] ^ key[ki]; + ki++; + if (ki >= kl) + ki = 0; + } + + return result; +} + +std::string kaitai::kstream::process_rotate_left(std::string data, int amount) { + size_t len = data.length(); + std::string result(len, ' '); + + for (size_t i = 0; i < len; i++) { + uint8_t bits = data[i]; + result[i] = (bits << amount) | (bits >> (8 - amount)); + } + + return result; +} + +#ifdef KS_ZLIB +#include + +std::string kaitai::kstream::process_zlib(std::string data) { + int ret; + + unsigned char *src_ptr = reinterpret_cast(&data[0]); + std::stringstream dst_strm; + + z_stream strm; + strm.zalloc = Z_NULL; + strm.zfree = Z_NULL; + strm.opaque = Z_NULL; + + ret = inflateInit(&strm); + if (ret != Z_OK) + throw std::runtime_error("process_zlib: inflateInit error"); + + strm.next_in = src_ptr; + strm.avail_in = data.length(); + + unsigned char outbuffer[ZLIB_BUF_SIZE]; + std::string outstring; + + // get the decompressed bytes blockwise using repeated calls to inflate + do { + strm.next_out = reinterpret_cast(outbuffer); + strm.avail_out = sizeof(outbuffer); + + ret = inflate(&strm, 0); + + if (outstring.size() < strm.total_out) + outstring.append(reinterpret_cast(outbuffer), strm.total_out - outstring.size()); + } while (ret == Z_OK); + + if (ret != Z_STREAM_END) { // an error occurred that was not EOF + std::ostringstream exc_msg; + exc_msg << "process_zlib: error #" << ret << "): " << strm.msg; + throw std::runtime_error(exc_msg.str()); + } + + if (inflateEnd(&strm) != Z_OK) + throw std::runtime_error("process_zlib: inflateEnd error"); + + return outstring; +} +#endif + +// ======================================================================== +// Misc utility methods +// ======================================================================== + +int kaitai::kstream::mod(int a, int b) { + if (b <= 0) + throw std::invalid_argument("mod: divisor b <= 0"); + int r = a % b; + if (r < 0) + r += b; + return r; +} + +#include +std::string kaitai::kstream::to_string(int val) { + // if int is 32 bits, "-2147483648" is the longest string representation + // => 11 chars + zero => 12 chars + // if int is 64 bits, "-9223372036854775808" is the longest + // => 20 chars + zero => 21 chars + char buf[25]; + int got_len = snprintf(buf, sizeof(buf), "%d", val); + + // should never happen, but check nonetheless + if (got_len > sizeof(buf)) + throw std::invalid_argument("to_string: integer is longer than string buffer"); + + return std::string(buf); +} + +#include +std::string kaitai::kstream::reverse(std::string val) { + std::reverse(val.begin(), val.end()); + + return val; +} + +uint8_t kaitai::kstream::byte_array_min(const std::string val) { + uint8_t min = 0xff; // UINT8_MAX + std::string::const_iterator end = val.end(); + for (std::string::const_iterator it = val.begin(); it != end; ++it) { + uint8_t cur = static_cast(*it); + if (cur < min) { + min = cur; + } + } + return min; +} + +uint8_t kaitai::kstream::byte_array_max(const std::string val) { + uint8_t max = 0; // UINT8_MIN + std::string::const_iterator end = val.end(); + for (std::string::const_iterator it = val.begin(); it != end; ++it) { + uint8_t cur = static_cast(*it); + if (cur > max) { + max = cur; + } + } + return max; +} + +// ======================================================================== +// Other internal methods +// ======================================================================== + +#ifndef KS_STR_DEFAULT_ENCODING +#define KS_STR_DEFAULT_ENCODING "UTF-8" +#endif + +#ifdef KS_STR_ENCODING_ICONV + +#include +#include +#include + +std::string kaitai::kstream::bytes_to_str(std::string src, std::string src_enc) { + iconv_t cd = iconv_open(KS_STR_DEFAULT_ENCODING, src_enc.c_str()); + + if (cd == (iconv_t) -1) { + if (errno == EINVAL) { + throw std::runtime_error("bytes_to_str: invalid encoding pair conversion requested"); + } else { + throw std::runtime_error("bytes_to_str: error opening iconv"); + } + } + + size_t src_len = src.length(); + size_t src_left = src_len; + + // Start with a buffer length of double the source length. + size_t dst_len = src_len * 2; + std::string dst(dst_len, ' '); + size_t dst_left = dst_len; + + char *src_ptr = &src[0]; + char *dst_ptr = &dst[0]; + + while (true) { + size_t res = iconv(cd, &src_ptr, &src_left, &dst_ptr, &dst_left); + + if (res == (size_t) -1) { + if (errno == E2BIG) { + // dst buffer is not enough to accomodate whole string + // enlarge the buffer and try again + size_t dst_used = dst_len - dst_left; + dst_left += dst_len; + dst_len += dst_len; + dst.resize(dst_len); + + // dst.resize might have allocated destination buffer in another area + // of memory, thus our previous pointer "dst" will be invalid; re-point + // it using "dst_used". + dst_ptr = &dst[dst_used]; + } else { + throw std::runtime_error("bytes_to_str: iconv error"); + } + } else { + // conversion successful + dst.resize(dst_len - dst_left); + break; + } + } + + if (iconv_close(cd) != 0) { + throw std::runtime_error("bytes_to_str: iconv close error"); + } + + return dst; +} +#elif defined(KS_STR_ENCODING_NONE) +std::string kaitai::kstream::bytes_to_str(std::string src, std::string src_enc) { + return src; +} +#else +#error Need to decide how to handle strings: please define one of: KS_STR_ENCODING_ICONV, KS_STR_ENCODING_NONE +#endif diff --git a/third_party/kaitai/kaitaistream.h b/third_party/kaitai/kaitaistream.h new file mode 100644 index 0000000000..e7f4c6ce34 --- /dev/null +++ b/third_party/kaitai/kaitaistream.h @@ -0,0 +1,268 @@ +#ifndef KAITAI_STREAM_H +#define KAITAI_STREAM_H + +// Kaitai Struct runtime API version: x.y.z = 'xxxyyyzzz' decimal +#define KAITAI_STRUCT_VERSION 9000L + +#include +#include +#include +#include + +namespace kaitai { + +/** + * Kaitai Stream class (kaitai::kstream) is an implementation of + * Kaitai Struct stream API + * for C++/STL. It's implemented as a wrapper over generic STL std::istream. + * + * It provides a wide variety of simple methods to read (parse) binary + * representations of primitive types, such as integer and floating + * point numbers, byte arrays and strings, and also provides stream + * positioning / navigation methods with unified cross-language and + * cross-toolkit semantics. + * + * Typically, end users won't access Kaitai Stream class manually, but would + * describe a binary structure format using .ksy language and then would use + * Kaitai Struct compiler to generate source code in desired target language. + * That code, in turn, would use this class and API to do the actual parsing + * job. + */ +class kstream { +public: + /** + * Constructs new Kaitai Stream object, wrapping a given std::istream. + * \param io istream object to use for this Kaitai Stream + */ + kstream(std::istream* io); + + /** + * Constructs new Kaitai Stream object, wrapping a given in-memory data + * buffer. + * \param data data buffer to use for this Kaitai Stream + */ + kstream(std::string& data); + + void close(); + + /** @name Stream positioning */ + //@{ + /** + * Check if stream pointer is at the end of stream. Note that the semantics + * are different from traditional STL semantics: one does *not* need to do a + * read (which will fail) after the actual end of the stream to trigger EOF + * flag, which can be accessed after that read. It is sufficient to just be + * at the end of the stream for this method to return true. + * \return "true" if we are located at the end of the stream. + */ + bool is_eof() const; + + /** + * Set stream pointer to designated position. + * \param pos new position (offset in bytes from the beginning of the stream) + */ + void seek(uint64_t pos); + + /** + * Get current position of a stream pointer. + * \return pointer position, number of bytes from the beginning of the stream + */ + uint64_t pos(); + + /** + * Get total size of the stream in bytes. + * \return size of the stream in bytes + */ + uint64_t size(); + //@} + + /** @name Integer numbers */ + //@{ + + // ------------------------------------------------------------------------ + // Signed + // ------------------------------------------------------------------------ + + int8_t read_s1(); + + // ........................................................................ + // Big-endian + // ........................................................................ + + int16_t read_s2be(); + int32_t read_s4be(); + int64_t read_s8be(); + + // ........................................................................ + // Little-endian + // ........................................................................ + + int16_t read_s2le(); + int32_t read_s4le(); + int64_t read_s8le(); + + // ------------------------------------------------------------------------ + // Unsigned + // ------------------------------------------------------------------------ + + uint8_t read_u1(); + + // ........................................................................ + // Big-endian + // ........................................................................ + + uint16_t read_u2be(); + uint32_t read_u4be(); + uint64_t read_u8be(); + + // ........................................................................ + // Little-endian + // ........................................................................ + + uint16_t read_u2le(); + uint32_t read_u4le(); + uint64_t read_u8le(); + + //@} + + /** @name Floating point numbers */ + //@{ + + // ........................................................................ + // Big-endian + // ........................................................................ + + float read_f4be(); + double read_f8be(); + + // ........................................................................ + // Little-endian + // ........................................................................ + + float read_f4le(); + double read_f8le(); + + //@} + + /** @name Unaligned bit values */ + //@{ + + void align_to_byte(); + uint64_t read_bits_int_be(int n); + uint64_t read_bits_int(int n); + uint64_t read_bits_int_le(int n); + + //@} + + /** @name Byte arrays */ + //@{ + + std::string read_bytes(std::streamsize len); + std::string read_bytes_full(); + std::string read_bytes_term(char term, bool include, bool consume, bool eos_error); + std::string ensure_fixed_contents(std::string expected); + + static std::string bytes_strip_right(std::string src, char pad_byte); + static std::string bytes_terminate(std::string src, char term, bool include); + static std::string bytes_to_str(std::string src, std::string src_enc); + + //@} + + /** @name Byte array processing */ + //@{ + + /** + * Performs a XOR processing with given data, XORing every byte of input with a single + * given value. + * @param data data to process + * @param key value to XOR with + * @return processed data + */ + static std::string process_xor_one(std::string data, uint8_t key); + + /** + * Performs a XOR processing with given data, XORing every byte of input with a key + * array, repeating key array many times, if necessary (i.e. if data array is longer + * than key array). + * @param data data to process + * @param key array of bytes to XOR with + * @return processed data + */ + static std::string process_xor_many(std::string data, std::string key); + + /** + * Performs a circular left rotation shift for a given buffer by a given amount of bits, + * using groups of 1 bytes each time. Right circular rotation should be performed + * using this procedure with corrected amount. + * @param data source data to process + * @param amount number of bits to shift by + * @return copy of source array with requested shift applied + */ + static std::string process_rotate_left(std::string data, int amount); + +#ifdef KS_ZLIB + /** + * Performs an unpacking ("inflation") of zlib-compressed data with usual zlib headers. + * @param data data to unpack + * @return unpacked data + * @throws IOException + */ + static std::string process_zlib(std::string data); +#endif + + //@} + + /** + * Performs modulo operation between two integers: dividend `a` + * and divisor `b`. Divisor `b` is expected to be positive. The + * result is always 0 <= x <= b - 1. + */ + static int mod(int a, int b); + + /** + * Converts given integer `val` to a decimal string representation. + * Should be used in place of std::to_string() (which is available only + * since C++11) in older C++ implementations. + */ + static std::string to_string(int val); + + /** + * Reverses given string `val`, so that the first character becomes the + * last and the last one becomes the first. This should be used to avoid + * the need of local variables at the caller. + */ + static std::string reverse(std::string val); + + /** + * Finds the minimal byte in a byte array, treating bytes as + * unsigned values. + * @param val byte array to scan + * @return minimal byte in byte array as integer + */ + static uint8_t byte_array_min(const std::string val); + + /** + * Finds the maximal byte in a byte array, treating bytes as + * unsigned values. + * @param val byte array to scan + * @return maximal byte in byte array as integer + */ + static uint8_t byte_array_max(const std::string val); + +private: + std::istream* m_io; + std::istringstream m_io_str; + int m_bits_left; + uint64_t m_bits; + + void init(); + void exceptions_enable() const; + + static uint64_t get_mask_ones(int n); + + static const int ZLIB_BUF_SIZE = 128 * 1024; +}; + +} + +#endif diff --git a/third_party/kaitai/kaitaistruct.h b/third_party/kaitai/kaitaistruct.h new file mode 100644 index 0000000000..8172ede6c9 --- /dev/null +++ b/third_party/kaitai/kaitaistruct.h @@ -0,0 +1,20 @@ +#ifndef KAITAI_STRUCT_H +#define KAITAI_STRUCT_H + +#include + +namespace kaitai { + +class kstruct { +public: + kstruct(kstream *_io) { m__io = _io; } + virtual ~kstruct() {} +protected: + kstream *m__io; +public: + kstream *_io() { return m__io; } +}; + +} + +#endif diff --git a/third_party/libyuv/.gitignore b/third_party/libyuv/.gitignore new file mode 100644 index 0000000000..450712e47d --- /dev/null +++ b/third_party/libyuv/.gitignore @@ -0,0 +1 @@ +libyuv/ diff --git a/third_party/libyuv/aarch64 b/third_party/libyuv/aarch64 new file mode 120000 index 0000000000..062c65e8d9 --- /dev/null +++ b/third_party/libyuv/aarch64 @@ -0,0 +1 @@ +larch64/ \ No newline at end of file diff --git a/third_party/libyuv/build.sh b/third_party/libyuv/build.sh new file mode 100755 index 0000000000..b960f60ef5 --- /dev/null +++ b/third_party/libyuv/build.sh @@ -0,0 +1,39 @@ +#!/usr/bin/env bash +set -e + +DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" + +ARCHNAME=$(uname -m) +if [ -f /TICI ]; then + ARCHNAME="larch64" +fi + +if [[ "$OSTYPE" == "darwin"* ]]; then + ARCHNAME="Darwin" +fi + +cd $DIR +if [ ! -d libyuv ]; then + git clone --single-branch https://chromium.googlesource.com/libyuv/libyuv +fi + +cd libyuv +git checkout 4a14cb2e81235ecd656e799aecaaf139db8ce4a2 + +# build +cmake . +make -j$(nproc) + +INSTALL_DIR="$DIR/$ARCHNAME" +rm -rf $INSTALL_DIR +mkdir -p $INSTALL_DIR + +rm -rf $DIR/include +mkdir -p $INSTALL_DIR/lib +cp $DIR/libyuv/libyuv.a $INSTALL_DIR/lib +cp -r $DIR/libyuv/include $DIR + +## To create universal binary on Darwin: +## ``` +## lipo -create -output Darwin/libyuv.a path-to-x64/libyuv.a path-to-arm64/libyuv.a +## ``` diff --git a/third_party/libyuv/include/libyuv.h b/third_party/libyuv/include/libyuv.h new file mode 100644 index 0000000000..aeffd5ef7a --- /dev/null +++ b/third_party/libyuv/include/libyuv.h @@ -0,0 +1,32 @@ +/* + * Copyright 2011 The LibYuv Project Authors. All rights reserved. + * + * Use of this source code is governed by a BSD-style license + * that can be found in the LICENSE file in the root of the source + * tree. An additional intellectual property rights grant can be found + * in the file PATENTS. All contributing project authors may + * be found in the AUTHORS file in the root of the source tree. + */ + +#ifndef INCLUDE_LIBYUV_H_ +#define INCLUDE_LIBYUV_H_ + +#include "libyuv/basic_types.h" +#include "libyuv/compare.h" +#include "libyuv/convert.h" +#include "libyuv/convert_argb.h" +#include "libyuv/convert_from.h" +#include "libyuv/convert_from_argb.h" +#include "libyuv/cpu_id.h" +#include "libyuv/mjpeg_decoder.h" +#include "libyuv/planar_functions.h" +#include "libyuv/rotate.h" +#include "libyuv/rotate_argb.h" +#include "libyuv/row.h" +#include "libyuv/scale.h" +#include "libyuv/scale_argb.h" +#include "libyuv/scale_row.h" +#include "libyuv/version.h" +#include "libyuv/video_common.h" + +#endif // INCLUDE_LIBYUV_H_ diff --git a/third_party/libyuv/include/libyuv/basic_types.h b/third_party/libyuv/include/libyuv/basic_types.h new file mode 100644 index 0000000000..5b760ee0d4 --- /dev/null +++ b/third_party/libyuv/include/libyuv/basic_types.h @@ -0,0 +1,118 @@ +/* + * Copyright 2011 The LibYuv Project Authors. All rights reserved. + * + * Use of this source code is governed by a BSD-style license + * that can be found in the LICENSE file in the root of the source + * tree. An additional intellectual property rights grant can be found + * in the file PATENTS. All contributing project authors may + * be found in the AUTHORS file in the root of the source tree. + */ + +#ifndef INCLUDE_LIBYUV_BASIC_TYPES_H_ +#define INCLUDE_LIBYUV_BASIC_TYPES_H_ + +#include // for NULL, size_t + +#if defined(_MSC_VER) && (_MSC_VER < 1600) +#include // for uintptr_t on x86 +#else +#include // for uintptr_t +#endif + +#ifndef GG_LONGLONG +#ifndef INT_TYPES_DEFINED +#define INT_TYPES_DEFINED +#ifdef COMPILER_MSVC +typedef unsigned __int64 uint64; +typedef __int64 int64; +#ifndef INT64_C +#define INT64_C(x) x ## I64 +#endif +#ifndef UINT64_C +#define UINT64_C(x) x ## UI64 +#endif +#define INT64_F "I64" +#else // COMPILER_MSVC +#if defined(__LP64__) && !defined(__OpenBSD__) && !defined(__APPLE__) +typedef unsigned long uint64; // NOLINT +typedef long int64; // NOLINT +#ifndef INT64_C +#define INT64_C(x) x ## L +#endif +#ifndef UINT64_C +#define UINT64_C(x) x ## UL +#endif +#define INT64_F "l" +#else // defined(__LP64__) && !defined(__OpenBSD__) && !defined(__APPLE__) +typedef unsigned long long uint64; // NOLINT +typedef long long int64; // NOLINT +#ifndef INT64_C +#define INT64_C(x) x ## LL +#endif +#ifndef UINT64_C +#define UINT64_C(x) x ## ULL +#endif +#define INT64_F "ll" +#endif // __LP64__ +#endif // COMPILER_MSVC +typedef unsigned int uint32; +typedef int int32; +typedef unsigned short uint16; // NOLINT +typedef short int16; // NOLINT +typedef unsigned char uint8; +typedef signed char int8; +#endif // INT_TYPES_DEFINED +#endif // GG_LONGLONG + +// Detect compiler is for x86 or x64. +#if defined(__x86_64__) || defined(_M_X64) || \ + defined(__i386__) || defined(_M_IX86) +#define CPU_X86 1 +#endif +// Detect compiler is for ARM. +#if defined(__arm__) || defined(_M_ARM) +#define CPU_ARM 1 +#endif + +#ifndef ALIGNP +#ifdef __cplusplus +#define ALIGNP(p, t) \ + (reinterpret_cast(((reinterpret_cast(p) + \ + ((t) - 1)) & ~((t) - 1)))) +#else +#define ALIGNP(p, t) \ + ((uint8*)((((uintptr_t)(p) + ((t) - 1)) & ~((t) - 1)))) /* NOLINT */ +#endif +#endif + +#if !defined(LIBYUV_API) +#if defined(_WIN32) || defined(__CYGWIN__) +#if defined(LIBYUV_BUILDING_SHARED_LIBRARY) +#define LIBYUV_API __declspec(dllexport) +#elif defined(LIBYUV_USING_SHARED_LIBRARY) +#define LIBYUV_API __declspec(dllimport) +#else +#define LIBYUV_API +#endif // LIBYUV_BUILDING_SHARED_LIBRARY +#elif defined(__GNUC__) && (__GNUC__ >= 4) && !defined(__APPLE__) && \ + (defined(LIBYUV_BUILDING_SHARED_LIBRARY) || \ + defined(LIBYUV_USING_SHARED_LIBRARY)) +#define LIBYUV_API __attribute__ ((visibility ("default"))) +#else +#define LIBYUV_API +#endif // __GNUC__ +#endif // LIBYUV_API + +#define LIBYUV_BOOL int +#define LIBYUV_FALSE 0 +#define LIBYUV_TRUE 1 + +// Visual C x86 or GCC little endian. +#if defined(__x86_64__) || defined(_M_X64) || \ + defined(__i386__) || defined(_M_IX86) || \ + defined(__arm__) || defined(_M_ARM) || \ + (defined(__BYTE_ORDER__) && __BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__) +#define LIBYUV_LITTLE_ENDIAN +#endif + +#endif // INCLUDE_LIBYUV_BASIC_TYPES_H_ diff --git a/third_party/libyuv/include/libyuv/compare.h b/third_party/libyuv/include/libyuv/compare.h new file mode 100644 index 0000000000..550712de6e --- /dev/null +++ b/third_party/libyuv/include/libyuv/compare.h @@ -0,0 +1,78 @@ +/* + * Copyright 2011 The LibYuv Project Authors. All rights reserved. + * + * Use of this source code is governed by a BSD-style license + * that can be found in the LICENSE file in the root of the source + * tree. An additional intellectual property rights grant can be found + * in the file PATENTS. All contributing project authors may + * be found in the AUTHORS file in the root of the source tree. + */ + +#ifndef INCLUDE_LIBYUV_COMPARE_H_ +#define INCLUDE_LIBYUV_COMPARE_H_ + +#include "libyuv/basic_types.h" + +#ifdef __cplusplus +namespace libyuv { +extern "C" { +#endif + +// Compute a hash for specified memory. Seed of 5381 recommended. +LIBYUV_API +uint32 HashDjb2(const uint8* src, uint64 count, uint32 seed); + +// Scan an opaque argb image and return fourcc based on alpha offset. +// Returns FOURCC_ARGB, FOURCC_BGRA, or 0 if unknown. +LIBYUV_API +uint32 ARGBDetect(const uint8* argb, int stride_argb, int width, int height); + +// Sum Square Error - used to compute Mean Square Error or PSNR. +LIBYUV_API +uint64 ComputeSumSquareError(const uint8* src_a, + const uint8* src_b, int count); + +LIBYUV_API +uint64 ComputeSumSquareErrorPlane(const uint8* src_a, int stride_a, + const uint8* src_b, int stride_b, + int width, int height); + +static const int kMaxPsnr = 128; + +LIBYUV_API +double SumSquareErrorToPsnr(uint64 sse, uint64 count); + +LIBYUV_API +double CalcFramePsnr(const uint8* src_a, int stride_a, + const uint8* src_b, int stride_b, + int width, int height); + +LIBYUV_API +double I420Psnr(const uint8* src_y_a, int stride_y_a, + const uint8* src_u_a, int stride_u_a, + const uint8* src_v_a, int stride_v_a, + const uint8* src_y_b, int stride_y_b, + const uint8* src_u_b, int stride_u_b, + const uint8* src_v_b, int stride_v_b, + int width, int height); + +LIBYUV_API +double CalcFrameSsim(const uint8* src_a, int stride_a, + const uint8* src_b, int stride_b, + int width, int height); + +LIBYUV_API +double I420Ssim(const uint8* src_y_a, int stride_y_a, + const uint8* src_u_a, int stride_u_a, + const uint8* src_v_a, int stride_v_a, + const uint8* src_y_b, int stride_y_b, + const uint8* src_u_b, int stride_u_b, + const uint8* src_v_b, int stride_v_b, + int width, int height); + +#ifdef __cplusplus +} // extern "C" +} // namespace libyuv +#endif + +#endif // INCLUDE_LIBYUV_COMPARE_H_ diff --git a/third_party/libyuv/include/libyuv/compare_row.h b/third_party/libyuv/include/libyuv/compare_row.h new file mode 100644 index 0000000000..781cad3e65 --- /dev/null +++ b/third_party/libyuv/include/libyuv/compare_row.h @@ -0,0 +1,84 @@ +/* + * Copyright 2013 The LibYuv Project Authors. All rights reserved. + * + * Use of this source code is governed by a BSD-style license + * that can be found in the LICENSE file in the root of the source + * tree. An additional intellectual property rights grant can be found + * in the file PATENTS. All contributing project authors may + * be found in the AUTHORS file in the root of the source tree. + */ + +#ifndef INCLUDE_LIBYUV_COMPARE_ROW_H_ +#define INCLUDE_LIBYUV_COMPARE_ROW_H_ + +#include "libyuv/basic_types.h" + +#ifdef __cplusplus +namespace libyuv { +extern "C" { +#endif + +#if defined(__pnacl__) || defined(__CLR_VER) || \ + (defined(__i386__) && !defined(__SSE2__)) +#define LIBYUV_DISABLE_X86 +#endif +// MemorySanitizer does not support assembly code yet. http://crbug.com/344505 +#if defined(__has_feature) +#if __has_feature(memory_sanitizer) +#define LIBYUV_DISABLE_X86 +#endif +#endif + +// Visual C 2012 required for AVX2. +#if defined(_M_IX86) && !defined(__clang__) && \ + defined(_MSC_VER) && _MSC_VER >= 1700 +#define VISUALC_HAS_AVX2 1 +#endif // VisualStudio >= 2012 + +// clang >= 3.4.0 required for AVX2. +#if defined(__clang__) && (defined(__x86_64__) || defined(__i386__)) +#if (__clang_major__ > 3) || (__clang_major__ == 3 && (__clang_minor__ >= 4)) +#define CLANG_HAS_AVX2 1 +#endif // clang >= 3.4 +#endif // __clang__ + +#if !defined(LIBYUV_DISABLE_X86) && \ + defined(_M_IX86) && (defined(VISUALC_HAS_AVX2) || defined(CLANG_HAS_AVX2)) +#define HAS_HASHDJB2_AVX2 +#endif + +// The following are available for Visual C and GCC: +#if !defined(LIBYUV_DISABLE_X86) && \ + (defined(__x86_64__) || (defined(__i386__) || defined(_M_IX86))) +#define HAS_HASHDJB2_SSE41 +#define HAS_SUMSQUAREERROR_SSE2 +#endif + +// The following are available for Visual C and clangcl 32 bit: +#if !defined(LIBYUV_DISABLE_X86) && defined(_M_IX86) && \ + (defined(VISUALC_HAS_AVX2) || defined(CLANG_HAS_AVX2)) +#define HAS_HASHDJB2_AVX2 +#define HAS_SUMSQUAREERROR_AVX2 +#endif + +// The following are available for Neon: +#if !defined(LIBYUV_DISABLE_NEON) && \ + (defined(__ARM_NEON__) || defined(LIBYUV_NEON) || defined(__aarch64__)) +#define HAS_SUMSQUAREERROR_NEON +#endif + +uint32 SumSquareError_C(const uint8* src_a, const uint8* src_b, int count); +uint32 SumSquareError_SSE2(const uint8* src_a, const uint8* src_b, int count); +uint32 SumSquareError_AVX2(const uint8* src_a, const uint8* src_b, int count); +uint32 SumSquareError_NEON(const uint8* src_a, const uint8* src_b, int count); + +uint32 HashDjb2_C(const uint8* src, int count, uint32 seed); +uint32 HashDjb2_SSE41(const uint8* src, int count, uint32 seed); +uint32 HashDjb2_AVX2(const uint8* src, int count, uint32 seed); + +#ifdef __cplusplus +} // extern "C" +} // namespace libyuv +#endif + +#endif // INCLUDE_LIBYUV_COMPARE_ROW_H_ diff --git a/third_party/libyuv/include/libyuv/convert.h b/third_party/libyuv/include/libyuv/convert.h new file mode 100644 index 0000000000..d44485847b --- /dev/null +++ b/third_party/libyuv/include/libyuv/convert.h @@ -0,0 +1,259 @@ +/* + * Copyright 2011 The LibYuv Project Authors. All rights reserved. + * + * Use of this source code is governed by a BSD-style license + * that can be found in the LICENSE file in the root of the source + * tree. An additional intellectual property rights grant can be found + * in the file PATENTS. All contributing project authors may + * be found in the AUTHORS file in the root of the source tree. + */ + +#ifndef INCLUDE_LIBYUV_CONVERT_H_ +#define INCLUDE_LIBYUV_CONVERT_H_ + +#include "libyuv/basic_types.h" + +#include "libyuv/rotate.h" // For enum RotationMode. + +// TODO(fbarchard): fix WebRTC source to include following libyuv headers: +#include "libyuv/convert_argb.h" // For WebRTC I420ToARGB. b/620 +#include "libyuv/convert_from.h" // For WebRTC ConvertFromI420. b/620 +#include "libyuv/planar_functions.h" // For WebRTC I420Rect, CopyPlane. b/618 + +#ifdef __cplusplus +namespace libyuv { +extern "C" { +#endif + +// Convert I444 to I420. +LIBYUV_API +int I444ToI420(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_y, int dst_stride_y, + uint8* dst_u, int dst_stride_u, + uint8* dst_v, int dst_stride_v, + int width, int height); + +// Convert I422 to I420. +LIBYUV_API +int I422ToI420(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_y, int dst_stride_y, + uint8* dst_u, int dst_stride_u, + uint8* dst_v, int dst_stride_v, + int width, int height); + +// Convert I411 to I420. +LIBYUV_API +int I411ToI420(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_y, int dst_stride_y, + uint8* dst_u, int dst_stride_u, + uint8* dst_v, int dst_stride_v, + int width, int height); + +// Copy I420 to I420. +#define I420ToI420 I420Copy +LIBYUV_API +int I420Copy(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_y, int dst_stride_y, + uint8* dst_u, int dst_stride_u, + uint8* dst_v, int dst_stride_v, + int width, int height); + +// Convert I400 (grey) to I420. +LIBYUV_API +int I400ToI420(const uint8* src_y, int src_stride_y, + uint8* dst_y, int dst_stride_y, + uint8* dst_u, int dst_stride_u, + uint8* dst_v, int dst_stride_v, + int width, int height); + +#define J400ToJ420 I400ToI420 + +// Convert NV12 to I420. +LIBYUV_API +int NV12ToI420(const uint8* src_y, int src_stride_y, + const uint8* src_uv, int src_stride_uv, + uint8* dst_y, int dst_stride_y, + uint8* dst_u, int dst_stride_u, + uint8* dst_v, int dst_stride_v, + int width, int height); + +// Convert NV21 to I420. +LIBYUV_API +int NV21ToI420(const uint8* src_y, int src_stride_y, + const uint8* src_vu, int src_stride_vu, + uint8* dst_y, int dst_stride_y, + uint8* dst_u, int dst_stride_u, + uint8* dst_v, int dst_stride_v, + int width, int height); + +// Convert YUY2 to I420. +LIBYUV_API +int YUY2ToI420(const uint8* src_yuy2, int src_stride_yuy2, + uint8* dst_y, int dst_stride_y, + uint8* dst_u, int dst_stride_u, + uint8* dst_v, int dst_stride_v, + int width, int height); + +// Convert UYVY to I420. +LIBYUV_API +int UYVYToI420(const uint8* src_uyvy, int src_stride_uyvy, + uint8* dst_y, int dst_stride_y, + uint8* dst_u, int dst_stride_u, + uint8* dst_v, int dst_stride_v, + int width, int height); + +// Convert M420 to I420. +LIBYUV_API +int M420ToI420(const uint8* src_m420, int src_stride_m420, + uint8* dst_y, int dst_stride_y, + uint8* dst_u, int dst_stride_u, + uint8* dst_v, int dst_stride_v, + int width, int height); + +// Convert Android420 to I420. +LIBYUV_API +int Android420ToI420(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + int pixel_stride_uv, + uint8* dst_y, int dst_stride_y, + uint8* dst_u, int dst_stride_u, + uint8* dst_v, int dst_stride_v, + int width, int height); + +// ARGB little endian (bgra in memory) to I420. +LIBYUV_API +int ARGBToI420(const uint8* src_frame, int src_stride_frame, + uint8* dst_y, int dst_stride_y, + uint8* dst_u, int dst_stride_u, + uint8* dst_v, int dst_stride_v, + int width, int height); + +// BGRA little endian (argb in memory) to I420. +LIBYUV_API +int BGRAToI420(const uint8* src_frame, int src_stride_frame, + uint8* dst_y, int dst_stride_y, + uint8* dst_u, int dst_stride_u, + uint8* dst_v, int dst_stride_v, + int width, int height); + +// ABGR little endian (rgba in memory) to I420. +LIBYUV_API +int ABGRToI420(const uint8* src_frame, int src_stride_frame, + uint8* dst_y, int dst_stride_y, + uint8* dst_u, int dst_stride_u, + uint8* dst_v, int dst_stride_v, + int width, int height); + +// RGBA little endian (abgr in memory) to I420. +LIBYUV_API +int RGBAToI420(const uint8* src_frame, int src_stride_frame, + uint8* dst_y, int dst_stride_y, + uint8* dst_u, int dst_stride_u, + uint8* dst_v, int dst_stride_v, + int width, int height); + +// RGB little endian (bgr in memory) to I420. +LIBYUV_API +int RGB24ToI420(const uint8* src_frame, int src_stride_frame, + uint8* dst_y, int dst_stride_y, + uint8* dst_u, int dst_stride_u, + uint8* dst_v, int dst_stride_v, + int width, int height); + +// RGB big endian (rgb in memory) to I420. +LIBYUV_API +int RAWToI420(const uint8* src_frame, int src_stride_frame, + uint8* dst_y, int dst_stride_y, + uint8* dst_u, int dst_stride_u, + uint8* dst_v, int dst_stride_v, + int width, int height); + +// RGB16 (RGBP fourcc) little endian to I420. +LIBYUV_API +int RGB565ToI420(const uint8* src_frame, int src_stride_frame, + uint8* dst_y, int dst_stride_y, + uint8* dst_u, int dst_stride_u, + uint8* dst_v, int dst_stride_v, + int width, int height); + +// RGB15 (RGBO fourcc) little endian to I420. +LIBYUV_API +int ARGB1555ToI420(const uint8* src_frame, int src_stride_frame, + uint8* dst_y, int dst_stride_y, + uint8* dst_u, int dst_stride_u, + uint8* dst_v, int dst_stride_v, + int width, int height); + +// RGB12 (R444 fourcc) little endian to I420. +LIBYUV_API +int ARGB4444ToI420(const uint8* src_frame, int src_stride_frame, + uint8* dst_y, int dst_stride_y, + uint8* dst_u, int dst_stride_u, + uint8* dst_v, int dst_stride_v, + int width, int height); + +#ifdef HAVE_JPEG +// src_width/height provided by capture. +// dst_width/height for clipping determine final size. +LIBYUV_API +int MJPGToI420(const uint8* sample, size_t sample_size, + uint8* dst_y, int dst_stride_y, + uint8* dst_u, int dst_stride_u, + uint8* dst_v, int dst_stride_v, + int src_width, int src_height, + int dst_width, int dst_height); + +// Query size of MJPG in pixels. +LIBYUV_API +int MJPGSize(const uint8* sample, size_t sample_size, + int* width, int* height); +#endif + +// Convert camera sample to I420 with cropping, rotation and vertical flip. +// "src_size" is needed to parse MJPG. +// "dst_stride_y" number of bytes in a row of the dst_y plane. +// Normally this would be the same as dst_width, with recommended alignment +// to 16 bytes for better efficiency. +// If rotation of 90 or 270 is used, stride is affected. The caller should +// allocate the I420 buffer according to rotation. +// "dst_stride_u" number of bytes in a row of the dst_u plane. +// Normally this would be the same as (dst_width + 1) / 2, with +// recommended alignment to 16 bytes for better efficiency. +// If rotation of 90 or 270 is used, stride is affected. +// "crop_x" and "crop_y" are starting position for cropping. +// To center, crop_x = (src_width - dst_width) / 2 +// crop_y = (src_height - dst_height) / 2 +// "src_width" / "src_height" is size of src_frame in pixels. +// "src_height" can be negative indicating a vertically flipped image source. +// "crop_width" / "crop_height" is the size to crop the src to. +// Must be less than or equal to src_width/src_height +// Cropping parameters are pre-rotation. +// "rotation" can be 0, 90, 180 or 270. +// "format" is a fourcc. ie 'I420', 'YUY2' +// Returns 0 for successful; -1 for invalid parameter. Non-zero for failure. +LIBYUV_API +int ConvertToI420(const uint8* src_frame, size_t src_size, + uint8* dst_y, int dst_stride_y, + uint8* dst_u, int dst_stride_u, + uint8* dst_v, int dst_stride_v, + int crop_x, int crop_y, + int src_width, int src_height, + int crop_width, int crop_height, + enum RotationMode rotation, + uint32 format); + +#ifdef __cplusplus +} // extern "C" +} // namespace libyuv +#endif + +#endif // INCLUDE_LIBYUV_CONVERT_H_ diff --git a/third_party/libyuv/include/libyuv/convert_argb.h b/third_party/libyuv/include/libyuv/convert_argb.h new file mode 100644 index 0000000000..dc03ac8d5d --- /dev/null +++ b/third_party/libyuv/include/libyuv/convert_argb.h @@ -0,0 +1,319 @@ +/* + * Copyright 2012 The LibYuv Project Authors. All rights reserved. + * + * Use of this source code is governed by a BSD-style license + * that can be found in the LICENSE file in the root of the source + * tree. An additional intellectual property rights grant can be found + * in the file PATENTS. All contributing project authors may + * be found in the AUTHORS file in the root of the source tree. + */ + +#ifndef INCLUDE_LIBYUV_CONVERT_ARGB_H_ +#define INCLUDE_LIBYUV_CONVERT_ARGB_H_ + +#include "libyuv/basic_types.h" + +#include "libyuv/rotate.h" // For enum RotationMode. + +// TODO(fbarchard): This set of functions should exactly match convert.h +// TODO(fbarchard): Add tests. Create random content of right size and convert +// with C vs Opt and or to I420 and compare. +// TODO(fbarchard): Some of these functions lack parameter setting. + +#ifdef __cplusplus +namespace libyuv { +extern "C" { +#endif + +// Alias. +#define ARGBToARGB ARGBCopy + +// Copy ARGB to ARGB. +LIBYUV_API +int ARGBCopy(const uint8* src_argb, int src_stride_argb, + uint8* dst_argb, int dst_stride_argb, + int width, int height); + +// Convert I420 to ARGB. +LIBYUV_API +int I420ToARGB(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_argb, int dst_stride_argb, + int width, int height); + +// Duplicate prototype for function in convert_from.h for remoting. +LIBYUV_API +int I420ToABGR(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_argb, int dst_stride_argb, + int width, int height); + +// Convert I422 to ARGB. +LIBYUV_API +int I422ToARGB(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_argb, int dst_stride_argb, + int width, int height); + +// Convert I444 to ARGB. +LIBYUV_API +int I444ToARGB(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_argb, int dst_stride_argb, + int width, int height); + +// Convert J444 to ARGB. +LIBYUV_API +int J444ToARGB(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_argb, int dst_stride_argb, + int width, int height); + +// Convert I444 to ABGR. +LIBYUV_API +int I444ToABGR(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_abgr, int dst_stride_abgr, + int width, int height); + +// Convert I411 to ARGB. +LIBYUV_API +int I411ToARGB(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_argb, int dst_stride_argb, + int width, int height); + +// Convert I420 with Alpha to preattenuated ARGB. +LIBYUV_API +int I420AlphaToARGB(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + const uint8* src_a, int src_stride_a, + uint8* dst_argb, int dst_stride_argb, + int width, int height, int attenuate); + +// Convert I420 with Alpha to preattenuated ABGR. +LIBYUV_API +int I420AlphaToABGR(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + const uint8* src_a, int src_stride_a, + uint8* dst_abgr, int dst_stride_abgr, + int width, int height, int attenuate); + +// Convert I400 (grey) to ARGB. Reverse of ARGBToI400. +LIBYUV_API +int I400ToARGB(const uint8* src_y, int src_stride_y, + uint8* dst_argb, int dst_stride_argb, + int width, int height); + +// Convert J400 (jpeg grey) to ARGB. +LIBYUV_API +int J400ToARGB(const uint8* src_y, int src_stride_y, + uint8* dst_argb, int dst_stride_argb, + int width, int height); + +// Alias. +#define YToARGB I400ToARGB + +// Convert NV12 to ARGB. +LIBYUV_API +int NV12ToARGB(const uint8* src_y, int src_stride_y, + const uint8* src_uv, int src_stride_uv, + uint8* dst_argb, int dst_stride_argb, + int width, int height); + +// Convert NV21 to ARGB. +LIBYUV_API +int NV21ToARGB(const uint8* src_y, int src_stride_y, + const uint8* src_vu, int src_stride_vu, + uint8* dst_argb, int dst_stride_argb, + int width, int height); + +// Convert M420 to ARGB. +LIBYUV_API +int M420ToARGB(const uint8* src_m420, int src_stride_m420, + uint8* dst_argb, int dst_stride_argb, + int width, int height); + +// Convert YUY2 to ARGB. +LIBYUV_API +int YUY2ToARGB(const uint8* src_yuy2, int src_stride_yuy2, + uint8* dst_argb, int dst_stride_argb, + int width, int height); + +// Convert UYVY to ARGB. +LIBYUV_API +int UYVYToARGB(const uint8* src_uyvy, int src_stride_uyvy, + uint8* dst_argb, int dst_stride_argb, + int width, int height); + +// Convert J420 to ARGB. +LIBYUV_API +int J420ToARGB(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_argb, int dst_stride_argb, + int width, int height); + +// Convert J422 to ARGB. +LIBYUV_API +int J422ToARGB(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_argb, int dst_stride_argb, + int width, int height); + +// Convert J420 to ABGR. +LIBYUV_API +int J420ToABGR(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_abgr, int dst_stride_abgr, + int width, int height); + +// Convert J422 to ABGR. +LIBYUV_API +int J422ToABGR(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_abgr, int dst_stride_abgr, + int width, int height); + +// Convert H420 to ARGB. +LIBYUV_API +int H420ToARGB(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_argb, int dst_stride_argb, + int width, int height); + +// Convert H422 to ARGB. +LIBYUV_API +int H422ToARGB(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_argb, int dst_stride_argb, + int width, int height); + +// Convert H420 to ABGR. +LIBYUV_API +int H420ToABGR(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_abgr, int dst_stride_abgr, + int width, int height); + +// Convert H422 to ABGR. +LIBYUV_API +int H422ToABGR(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_abgr, int dst_stride_abgr, + int width, int height); + +// BGRA little endian (argb in memory) to ARGB. +LIBYUV_API +int BGRAToARGB(const uint8* src_frame, int src_stride_frame, + uint8* dst_argb, int dst_stride_argb, + int width, int height); + +// ABGR little endian (rgba in memory) to ARGB. +LIBYUV_API +int ABGRToARGB(const uint8* src_frame, int src_stride_frame, + uint8* dst_argb, int dst_stride_argb, + int width, int height); + +// RGBA little endian (abgr in memory) to ARGB. +LIBYUV_API +int RGBAToARGB(const uint8* src_frame, int src_stride_frame, + uint8* dst_argb, int dst_stride_argb, + int width, int height); + +// Deprecated function name. +#define BG24ToARGB RGB24ToARGB + +// RGB little endian (bgr in memory) to ARGB. +LIBYUV_API +int RGB24ToARGB(const uint8* src_frame, int src_stride_frame, + uint8* dst_argb, int dst_stride_argb, + int width, int height); + +// RGB big endian (rgb in memory) to ARGB. +LIBYUV_API +int RAWToARGB(const uint8* src_frame, int src_stride_frame, + uint8* dst_argb, int dst_stride_argb, + int width, int height); + +// RGB16 (RGBP fourcc) little endian to ARGB. +LIBYUV_API +int RGB565ToARGB(const uint8* src_frame, int src_stride_frame, + uint8* dst_argb, int dst_stride_argb, + int width, int height); + +// RGB15 (RGBO fourcc) little endian to ARGB. +LIBYUV_API +int ARGB1555ToARGB(const uint8* src_frame, int src_stride_frame, + uint8* dst_argb, int dst_stride_argb, + int width, int height); + +// RGB12 (R444 fourcc) little endian to ARGB. +LIBYUV_API +int ARGB4444ToARGB(const uint8* src_frame, int src_stride_frame, + uint8* dst_argb, int dst_stride_argb, + int width, int height); + +#ifdef HAVE_JPEG +// src_width/height provided by capture +// dst_width/height for clipping determine final size. +LIBYUV_API +int MJPGToARGB(const uint8* sample, size_t sample_size, + uint8* dst_argb, int dst_stride_argb, + int src_width, int src_height, + int dst_width, int dst_height); +#endif + +// Convert camera sample to ARGB with cropping, rotation and vertical flip. +// "src_size" is needed to parse MJPG. +// "dst_stride_argb" number of bytes in a row of the dst_argb plane. +// Normally this would be the same as dst_width, with recommended alignment +// to 16 bytes for better efficiency. +// If rotation of 90 or 270 is used, stride is affected. The caller should +// allocate the I420 buffer according to rotation. +// "dst_stride_u" number of bytes in a row of the dst_u plane. +// Normally this would be the same as (dst_width + 1) / 2, with +// recommended alignment to 16 bytes for better efficiency. +// If rotation of 90 or 270 is used, stride is affected. +// "crop_x" and "crop_y" are starting position for cropping. +// To center, crop_x = (src_width - dst_width) / 2 +// crop_y = (src_height - dst_height) / 2 +// "src_width" / "src_height" is size of src_frame in pixels. +// "src_height" can be negative indicating a vertically flipped image source. +// "crop_width" / "crop_height" is the size to crop the src to. +// Must be less than or equal to src_width/src_height +// Cropping parameters are pre-rotation. +// "rotation" can be 0, 90, 180 or 270. +// "format" is a fourcc. ie 'I420', 'YUY2' +// Returns 0 for successful; -1 for invalid parameter. Non-zero for failure. +LIBYUV_API +int ConvertToARGB(const uint8* src_frame, size_t src_size, + uint8* dst_argb, int dst_stride_argb, + int crop_x, int crop_y, + int src_width, int src_height, + int crop_width, int crop_height, + enum RotationMode rotation, + uint32 format); + +#ifdef __cplusplus +} // extern "C" +} // namespace libyuv +#endif + +#endif // INCLUDE_LIBYUV_CONVERT_ARGB_H_ diff --git a/third_party/libyuv/include/libyuv/convert_from.h b/third_party/libyuv/include/libyuv/convert_from.h new file mode 100644 index 0000000000..59c40474f1 --- /dev/null +++ b/third_party/libyuv/include/libyuv/convert_from.h @@ -0,0 +1,179 @@ +/* + * Copyright 2011 The LibYuv Project Authors. All rights reserved. + * + * Use of this source code is governed by a BSD-style license + * that can be found in the LICENSE file in the root of the source + * tree. An additional intellectual property rights grant can be found + * in the file PATENTS. All contributing project authors may + * be found in the AUTHORS file in the root of the source tree. + */ + +#ifndef INCLUDE_LIBYUV_CONVERT_FROM_H_ +#define INCLUDE_LIBYUV_CONVERT_FROM_H_ + +#include "libyuv/basic_types.h" +#include "libyuv/rotate.h" + +#ifdef __cplusplus +namespace libyuv { +extern "C" { +#endif + +// See Also convert.h for conversions from formats to I420. + +// I420Copy in convert to I420ToI420. + +LIBYUV_API +int I420ToI422(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_y, int dst_stride_y, + uint8* dst_u, int dst_stride_u, + uint8* dst_v, int dst_stride_v, + int width, int height); + +LIBYUV_API +int I420ToI444(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_y, int dst_stride_y, + uint8* dst_u, int dst_stride_u, + uint8* dst_v, int dst_stride_v, + int width, int height); + +LIBYUV_API +int I420ToI411(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_y, int dst_stride_y, + uint8* dst_u, int dst_stride_u, + uint8* dst_v, int dst_stride_v, + int width, int height); + +// Copy to I400. Source can be I420, I422, I444, I400, NV12 or NV21. +LIBYUV_API +int I400Copy(const uint8* src_y, int src_stride_y, + uint8* dst_y, int dst_stride_y, + int width, int height); + +LIBYUV_API +int I420ToNV12(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_y, int dst_stride_y, + uint8* dst_uv, int dst_stride_uv, + int width, int height); + +LIBYUV_API +int I420ToNV21(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_y, int dst_stride_y, + uint8* dst_vu, int dst_stride_vu, + int width, int height); + +LIBYUV_API +int I420ToYUY2(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_frame, int dst_stride_frame, + int width, int height); + +LIBYUV_API +int I420ToUYVY(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_frame, int dst_stride_frame, + int width, int height); + +LIBYUV_API +int I420ToARGB(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_argb, int dst_stride_argb, + int width, int height); + +LIBYUV_API +int I420ToBGRA(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_argb, int dst_stride_argb, + int width, int height); + +LIBYUV_API +int I420ToABGR(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_argb, int dst_stride_argb, + int width, int height); + +LIBYUV_API +int I420ToRGBA(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_rgba, int dst_stride_rgba, + int width, int height); + +LIBYUV_API +int I420ToRGB24(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_frame, int dst_stride_frame, + int width, int height); + +LIBYUV_API +int I420ToRAW(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_frame, int dst_stride_frame, + int width, int height); + +LIBYUV_API +int I420ToRGB565(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_frame, int dst_stride_frame, + int width, int height); + +// Convert I420 To RGB565 with 4x4 dither matrix (16 bytes). +// Values in dither matrix from 0 to 7 recommended. +// The order of the dither matrix is first byte is upper left. + +LIBYUV_API +int I420ToRGB565Dither(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_frame, int dst_stride_frame, + const uint8* dither4x4, int width, int height); + +LIBYUV_API +int I420ToARGB1555(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_frame, int dst_stride_frame, + int width, int height); + +LIBYUV_API +int I420ToARGB4444(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_frame, int dst_stride_frame, + int width, int height); + +// Convert I420 to specified format. +// "dst_sample_stride" is bytes in a row for the destination. Pass 0 if the +// buffer has contiguous rows. Can be negative. A multiple of 16 is optimal. +LIBYUV_API +int ConvertFromI420(const uint8* y, int y_stride, + const uint8* u, int u_stride, + const uint8* v, int v_stride, + uint8* dst_sample, int dst_sample_stride, + int width, int height, + uint32 format); + +#ifdef __cplusplus +} // extern "C" +} // namespace libyuv +#endif + +#endif // INCLUDE_LIBYUV_CONVERT_FROM_H_ diff --git a/third_party/libyuv/include/libyuv/convert_from_argb.h b/third_party/libyuv/include/libyuv/convert_from_argb.h new file mode 100644 index 0000000000..8d7f02f8c4 --- /dev/null +++ b/third_party/libyuv/include/libyuv/convert_from_argb.h @@ -0,0 +1,190 @@ +/* + * Copyright 2012 The LibYuv Project Authors. All rights reserved. + * + * Use of this source code is governed by a BSD-style license + * that can be found in the LICENSE file in the root of the source + * tree. An additional intellectual property rights grant can be found + * in the file PATENTS. All contributing project authors may + * be found in the AUTHORS file in the root of the source tree. + */ + +#ifndef INCLUDE_LIBYUV_CONVERT_FROM_ARGB_H_ +#define INCLUDE_LIBYUV_CONVERT_FROM_ARGB_H_ + +#include "libyuv/basic_types.h" + +#ifdef __cplusplus +namespace libyuv { +extern "C" { +#endif + +// Copy ARGB to ARGB. +#define ARGBToARGB ARGBCopy +LIBYUV_API +int ARGBCopy(const uint8* src_argb, int src_stride_argb, + uint8* dst_argb, int dst_stride_argb, + int width, int height); + +// Convert ARGB To BGRA. +LIBYUV_API +int ARGBToBGRA(const uint8* src_argb, int src_stride_argb, + uint8* dst_bgra, int dst_stride_bgra, + int width, int height); + +// Convert ARGB To ABGR. +LIBYUV_API +int ARGBToABGR(const uint8* src_argb, int src_stride_argb, + uint8* dst_abgr, int dst_stride_abgr, + int width, int height); + +// Convert ARGB To RGBA. +LIBYUV_API +int ARGBToRGBA(const uint8* src_argb, int src_stride_argb, + uint8* dst_rgba, int dst_stride_rgba, + int width, int height); + +// Convert ARGB To RGB24. +LIBYUV_API +int ARGBToRGB24(const uint8* src_argb, int src_stride_argb, + uint8* dst_rgb24, int dst_stride_rgb24, + int width, int height); + +// Convert ARGB To RAW. +LIBYUV_API +int ARGBToRAW(const uint8* src_argb, int src_stride_argb, + uint8* dst_rgb, int dst_stride_rgb, + int width, int height); + +// Convert ARGB To RGB565. +LIBYUV_API +int ARGBToRGB565(const uint8* src_argb, int src_stride_argb, + uint8* dst_rgb565, int dst_stride_rgb565, + int width, int height); + +// Convert ARGB To RGB565 with 4x4 dither matrix (16 bytes). +// Values in dither matrix from 0 to 7 recommended. +// The order of the dither matrix is first byte is upper left. +// TODO(fbarchard): Consider pointer to 2d array for dither4x4. +// const uint8(*dither)[4][4]; +LIBYUV_API +int ARGBToRGB565Dither(const uint8* src_argb, int src_stride_argb, + uint8* dst_rgb565, int dst_stride_rgb565, + const uint8* dither4x4, int width, int height); + +// Convert ARGB To ARGB1555. +LIBYUV_API +int ARGBToARGB1555(const uint8* src_argb, int src_stride_argb, + uint8* dst_argb1555, int dst_stride_argb1555, + int width, int height); + +// Convert ARGB To ARGB4444. +LIBYUV_API +int ARGBToARGB4444(const uint8* src_argb, int src_stride_argb, + uint8* dst_argb4444, int dst_stride_argb4444, + int width, int height); + +// Convert ARGB To I444. +LIBYUV_API +int ARGBToI444(const uint8* src_argb, int src_stride_argb, + uint8* dst_y, int dst_stride_y, + uint8* dst_u, int dst_stride_u, + uint8* dst_v, int dst_stride_v, + int width, int height); + +// Convert ARGB To I422. +LIBYUV_API +int ARGBToI422(const uint8* src_argb, int src_stride_argb, + uint8* dst_y, int dst_stride_y, + uint8* dst_u, int dst_stride_u, + uint8* dst_v, int dst_stride_v, + int width, int height); + +// Convert ARGB To I420. (also in convert.h) +LIBYUV_API +int ARGBToI420(const uint8* src_argb, int src_stride_argb, + uint8* dst_y, int dst_stride_y, + uint8* dst_u, int dst_stride_u, + uint8* dst_v, int dst_stride_v, + int width, int height); + +// Convert ARGB to J420. (JPeg full range I420). +LIBYUV_API +int ARGBToJ420(const uint8* src_argb, int src_stride_argb, + uint8* dst_yj, int dst_stride_yj, + uint8* dst_u, int dst_stride_u, + uint8* dst_v, int dst_stride_v, + int width, int height); + +// Convert ARGB to J422. +LIBYUV_API +int ARGBToJ422(const uint8* src_argb, int src_stride_argb, + uint8* dst_yj, int dst_stride_yj, + uint8* dst_u, int dst_stride_u, + uint8* dst_v, int dst_stride_v, + int width, int height); + +// Convert ARGB To I411. +LIBYUV_API +int ARGBToI411(const uint8* src_argb, int src_stride_argb, + uint8* dst_y, int dst_stride_y, + uint8* dst_u, int dst_stride_u, + uint8* dst_v, int dst_stride_v, + int width, int height); + +// Convert ARGB to J400. (JPeg full range). +LIBYUV_API +int ARGBToJ400(const uint8* src_argb, int src_stride_argb, + uint8* dst_yj, int dst_stride_yj, + int width, int height); + +// Convert ARGB to I400. +LIBYUV_API +int ARGBToI400(const uint8* src_argb, int src_stride_argb, + uint8* dst_y, int dst_stride_y, + int width, int height); + +// Convert ARGB to G. (Reverse of J400toARGB, which replicates G back to ARGB) +LIBYUV_API +int ARGBToG(const uint8* src_argb, int src_stride_argb, + uint8* dst_g, int dst_stride_g, + int width, int height); + +// Convert ARGB To NV12. +LIBYUV_API +int ARGBToNV12(const uint8* src_argb, int src_stride_argb, + uint8* dst_y, int dst_stride_y, + uint8* dst_uv, int dst_stride_uv, + int width, int height); + +// Convert ARGB To NV21. +LIBYUV_API +int ARGBToNV21(const uint8* src_argb, int src_stride_argb, + uint8* dst_y, int dst_stride_y, + uint8* dst_vu, int dst_stride_vu, + int width, int height); + +// Convert ARGB To NV21. +LIBYUV_API +int ARGBToNV21(const uint8* src_argb, int src_stride_argb, + uint8* dst_y, int dst_stride_y, + uint8* dst_vu, int dst_stride_vu, + int width, int height); + +// Convert ARGB To YUY2. +LIBYUV_API +int ARGBToYUY2(const uint8* src_argb, int src_stride_argb, + uint8* dst_yuy2, int dst_stride_yuy2, + int width, int height); + +// Convert ARGB To UYVY. +LIBYUV_API +int ARGBToUYVY(const uint8* src_argb, int src_stride_argb, + uint8* dst_uyvy, int dst_stride_uyvy, + int width, int height); + +#ifdef __cplusplus +} // extern "C" +} // namespace libyuv +#endif + +#endif // INCLUDE_LIBYUV_CONVERT_FROM_ARGB_H_ diff --git a/third_party/libyuv/include/libyuv/cpu_id.h b/third_party/libyuv/include/libyuv/cpu_id.h new file mode 100644 index 0000000000..7c6c9aeb00 --- /dev/null +++ b/third_party/libyuv/include/libyuv/cpu_id.h @@ -0,0 +1,81 @@ +/* + * Copyright 2011 The LibYuv Project Authors. All rights reserved. + * + * Use of this source code is governed by a BSD-style license + * that can be found in the LICENSE file in the root of the source + * tree. An additional intellectual property rights grant can be found + * in the file PATENTS. All contributing project authors may + * be found in the AUTHORS file in the root of the source tree. + */ + +#ifndef INCLUDE_LIBYUV_CPU_ID_H_ +#define INCLUDE_LIBYUV_CPU_ID_H_ + +#include "libyuv/basic_types.h" + +#ifdef __cplusplus +namespace libyuv { +extern "C" { +#endif + +// Internal flag to indicate cpuid requires initialization. +static const int kCpuInitialized = 0x1; + +// These flags are only valid on ARM processors. +static const int kCpuHasARM = 0x2; +static const int kCpuHasNEON = 0x4; +// 0x8 reserved for future ARM flag. + +// These flags are only valid on x86 processors. +static const int kCpuHasX86 = 0x10; +static const int kCpuHasSSE2 = 0x20; +static const int kCpuHasSSSE3 = 0x40; +static const int kCpuHasSSE41 = 0x80; +static const int kCpuHasSSE42 = 0x100; +static const int kCpuHasAVX = 0x200; +static const int kCpuHasAVX2 = 0x400; +static const int kCpuHasERMS = 0x800; +static const int kCpuHasFMA3 = 0x1000; +static const int kCpuHasAVX3 = 0x2000; +// 0x2000, 0x4000, 0x8000 reserved for future X86 flags. + +// These flags are only valid on MIPS processors. +static const int kCpuHasMIPS = 0x10000; +static const int kCpuHasDSPR2 = 0x20000; +static const int kCpuHasMSA = 0x40000; + +// Internal function used to auto-init. +LIBYUV_API +int InitCpuFlags(void); + +// Internal function for parsing /proc/cpuinfo. +LIBYUV_API +int ArmCpuCaps(const char* cpuinfo_name); + +// Detect CPU has SSE2 etc. +// Test_flag parameter should be one of kCpuHas constants above. +// returns non-zero if instruction set is detected +static __inline int TestCpuFlag(int test_flag) { + LIBYUV_API extern int cpu_info_; + return (!cpu_info_ ? InitCpuFlags() : cpu_info_) & test_flag; +} + +// For testing, allow CPU flags to be disabled. +// ie MaskCpuFlags(~kCpuHasSSSE3) to disable SSSE3. +// MaskCpuFlags(-1) to enable all cpu specific optimizations. +// MaskCpuFlags(1) to disable all cpu specific optimizations. +LIBYUV_API +void MaskCpuFlags(int enable_flags); + +// Low level cpuid for X86. Returns zeros on other CPUs. +// eax is the info type that you want. +// ecx is typically the cpu number, and should normally be zero. +LIBYUV_API +void CpuId(uint32 eax, uint32 ecx, uint32* cpu_info); + +#ifdef __cplusplus +} // extern "C" +} // namespace libyuv +#endif + +#endif // INCLUDE_LIBYUV_CPU_ID_H_ diff --git a/third_party/libyuv/include/libyuv/macros_msa.h b/third_party/libyuv/include/libyuv/macros_msa.h new file mode 100644 index 0000000000..92ed21c385 --- /dev/null +++ b/third_party/libyuv/include/libyuv/macros_msa.h @@ -0,0 +1,76 @@ +/* + * Copyright 2016 The LibYuv Project Authors. All rights reserved. + * + * Use of this source code is governed by a BSD-style license + * that can be found in the LICENSE file in the root of the source + * tree. An additional intellectual property rights grant can be found + * in the file PATENTS. All contributing project authors may + * be found in the AUTHORS file in the root of the source tree. + */ + +#ifndef INCLUDE_LIBYUV_MACROS_MSA_H_ +#define INCLUDE_LIBYUV_MACROS_MSA_H_ + +#if !defined(LIBYUV_DISABLE_MSA) && defined(__mips_msa) +#include +#include + +#define LD_B(RTYPE, psrc) *((RTYPE*)(psrc)) /* NOLINT */ +#define LD_UB(...) LD_B(v16u8, __VA_ARGS__) + +#define ST_B(RTYPE, in, pdst) *((RTYPE*)(pdst)) = (in) /* NOLINT */ +#define ST_UB(...) ST_B(v16u8, __VA_ARGS__) + +/* Description : Load two vectors with 16 'byte' sized elements + Arguments : Inputs - psrc, stride + Outputs - out0, out1 + Return Type - as per RTYPE + Details : Load 16 byte elements in 'out0' from (psrc) + Load 16 byte elements in 'out1' from (psrc + stride) +*/ +#define LD_B2(RTYPE, psrc, stride, out0, out1) { \ + out0 = LD_B(RTYPE, (psrc)); \ + out1 = LD_B(RTYPE, (psrc) + stride); \ +} +#define LD_UB2(...) LD_B2(v16u8, __VA_ARGS__) + +#define LD_B4(RTYPE, psrc, stride, out0, out1, out2, out3) { \ + LD_B2(RTYPE, (psrc), stride, out0, out1); \ + LD_B2(RTYPE, (psrc) + 2 * stride , stride, out2, out3); \ +} +#define LD_UB4(...) LD_B4(v16u8, __VA_ARGS__) + +/* Description : Store two vectors with stride each having 16 'byte' sized + elements + Arguments : Inputs - in0, in1, pdst, stride + Details : Store 16 byte elements from 'in0' to (pdst) + Store 16 byte elements from 'in1' to (pdst + stride) +*/ +#define ST_B2(RTYPE, in0, in1, pdst, stride) { \ + ST_B(RTYPE, in0, (pdst)); \ + ST_B(RTYPE, in1, (pdst) + stride); \ +} +#define ST_UB2(...) ST_B2(v16u8, __VA_ARGS__) +# +#define ST_B4(RTYPE, in0, in1, in2, in3, pdst, stride) { \ + ST_B2(RTYPE, in0, in1, (pdst), stride); \ + ST_B2(RTYPE, in2, in3, (pdst) + 2 * stride, stride); \ +} +#define ST_UB4(...) ST_B4(v16u8, __VA_ARGS__) +# +/* Description : Shuffle byte vector elements as per mask vector + Arguments : Inputs - in0, in1, in2, in3, mask0, mask1 + Outputs - out0, out1 + Return Type - as per RTYPE + Details : Byte elements from 'in0' & 'in1' are copied selectively to + 'out0' as per control vector 'mask0' +*/ +#define VSHF_B2(RTYPE, in0, in1, in2, in3, mask0, mask1, out0, out1) { \ + out0 = (RTYPE) __msa_vshf_b((v16i8) mask0, (v16i8) in1, (v16i8) in0); \ + out1 = (RTYPE) __msa_vshf_b((v16i8) mask1, (v16i8) in3, (v16i8) in2); \ +} +#define VSHF_B2_UB(...) VSHF_B2(v16u8, __VA_ARGS__) + +#endif /* !defined(LIBYUV_DISABLE_MSA) && defined(__mips_msa) */ + +#endif // INCLUDE_LIBYUV_MACROS_MSA_H_ diff --git a/third_party/libyuv/include/libyuv/mjpeg_decoder.h b/third_party/libyuv/include/libyuv/mjpeg_decoder.h new file mode 100644 index 0000000000..4975bae5b7 --- /dev/null +++ b/third_party/libyuv/include/libyuv/mjpeg_decoder.h @@ -0,0 +1,192 @@ +/* + * Copyright 2012 The LibYuv Project Authors. All rights reserved. + * + * Use of this source code is governed by a BSD-style license + * that can be found in the LICENSE file in the root of the source + * tree. An additional intellectual property rights grant can be found + * in the file PATENTS. All contributing project authors may + * be found in the AUTHORS file in the root of the source tree. + */ + +#ifndef INCLUDE_LIBYUV_MJPEG_DECODER_H_ +#define INCLUDE_LIBYUV_MJPEG_DECODER_H_ + +#include "libyuv/basic_types.h" + +#ifdef __cplusplus +// NOTE: For a simplified public API use convert.h MJPGToI420(). + +struct jpeg_common_struct; +struct jpeg_decompress_struct; +struct jpeg_source_mgr; + +namespace libyuv { + +#ifdef __cplusplus +extern "C" { +#endif + +LIBYUV_BOOL ValidateJpeg(const uint8* sample, size_t sample_size); + +#ifdef __cplusplus +} // extern "C" +#endif + +static const uint32 kUnknownDataSize = 0xFFFFFFFF; + +enum JpegSubsamplingType { + kJpegYuv420, + kJpegYuv422, + kJpegYuv411, + kJpegYuv444, + kJpegYuv400, + kJpegUnknown +}; + +struct Buffer { + const uint8* data; + int len; +}; + +struct BufferVector { + Buffer* buffers; + int len; + int pos; +}; + +struct SetJmpErrorMgr; + +// MJPEG ("Motion JPEG") is a pseudo-standard video codec where the frames are +// simply independent JPEG images with a fixed huffman table (which is omitted). +// It is rarely used in video transmission, but is common as a camera capture +// format, especially in Logitech devices. This class implements a decoder for +// MJPEG frames. +// +// See http://tools.ietf.org/html/rfc2435 +class LIBYUV_API MJpegDecoder { + public: + typedef void (*CallbackFunction)(void* opaque, + const uint8* const* data, + const int* strides, + int rows); + + static const int kColorSpaceUnknown; + static const int kColorSpaceGrayscale; + static const int kColorSpaceRgb; + static const int kColorSpaceYCbCr; + static const int kColorSpaceCMYK; + static const int kColorSpaceYCCK; + + MJpegDecoder(); + ~MJpegDecoder(); + + // Loads a new frame, reads its headers, and determines the uncompressed + // image format. + // Returns LIBYUV_TRUE if image looks valid and format is supported. + // If return value is LIBYUV_TRUE, then the values for all the following + // getters are populated. + // src_len is the size of the compressed mjpeg frame in bytes. + LIBYUV_BOOL LoadFrame(const uint8* src, size_t src_len); + + // Returns width of the last loaded frame in pixels. + int GetWidth(); + + // Returns height of the last loaded frame in pixels. + int GetHeight(); + + // Returns format of the last loaded frame. The return value is one of the + // kColorSpace* constants. + int GetColorSpace(); + + // Number of color components in the color space. + int GetNumComponents(); + + // Sample factors of the n-th component. + int GetHorizSampFactor(int component); + + int GetVertSampFactor(int component); + + int GetHorizSubSampFactor(int component); + + int GetVertSubSampFactor(int component); + + // Public for testability. + int GetImageScanlinesPerImcuRow(); + + // Public for testability. + int GetComponentScanlinesPerImcuRow(int component); + + // Width of a component in bytes. + int GetComponentWidth(int component); + + // Height of a component. + int GetComponentHeight(int component); + + // Width of a component in bytes with padding for DCTSIZE. Public for testing. + int GetComponentStride(int component); + + // Size of a component in bytes. + int GetComponentSize(int component); + + // Call this after LoadFrame() if you decide you don't want to decode it + // after all. + LIBYUV_BOOL UnloadFrame(); + + // Decodes the entire image into a one-buffer-per-color-component format. + // dst_width must match exactly. dst_height must be <= to image height; if + // less, the image is cropped. "planes" must have size equal to at least + // GetNumComponents() and they must point to non-overlapping buffers of size + // at least GetComponentSize(i). The pointers in planes are incremented + // to point to after the end of the written data. + // TODO(fbarchard): Add dst_x, dst_y to allow specific rect to be decoded. + LIBYUV_BOOL DecodeToBuffers(uint8** planes, int dst_width, int dst_height); + + // Decodes the entire image and passes the data via repeated calls to a + // callback function. Each call will get the data for a whole number of + // image scanlines. + // TODO(fbarchard): Add dst_x, dst_y to allow specific rect to be decoded. + LIBYUV_BOOL DecodeToCallback(CallbackFunction fn, void* opaque, + int dst_width, int dst_height); + + // The helper function which recognizes the jpeg sub-sampling type. + static JpegSubsamplingType JpegSubsamplingTypeHelper( + int* subsample_x, int* subsample_y, int number_of_components); + + private: + void AllocOutputBuffers(int num_outbufs); + void DestroyOutputBuffers(); + + LIBYUV_BOOL StartDecode(); + LIBYUV_BOOL FinishDecode(); + + void SetScanlinePointers(uint8** data); + LIBYUV_BOOL DecodeImcuRow(); + + int GetComponentScanlinePadding(int component); + + // A buffer holding the input data for a frame. + Buffer buf_; + BufferVector buf_vec_; + + jpeg_decompress_struct* decompress_struct_; + jpeg_source_mgr* source_mgr_; + SetJmpErrorMgr* error_mgr_; + + // LIBYUV_TRUE iff at least one component has scanline padding. (i.e., + // GetComponentScanlinePadding() != 0.) + LIBYUV_BOOL has_scanline_padding_; + + // Temporaries used to point to scanline outputs. + int num_outbufs_; // Outermost size of all arrays below. + uint8*** scanlines_; + int* scanlines_sizes_; + // Temporary buffer used for decoding when we can't decode directly to the + // output buffers. Large enough for just one iMCU row. + uint8** databuf_; + int* databuf_strides_; +}; + +} // namespace libyuv + +#endif // __cplusplus +#endif // INCLUDE_LIBYUV_MJPEG_DECODER_H_ diff --git a/third_party/libyuv/include/libyuv/planar_functions.h b/third_party/libyuv/include/libyuv/planar_functions.h new file mode 100644 index 0000000000..1b57b29261 --- /dev/null +++ b/third_party/libyuv/include/libyuv/planar_functions.h @@ -0,0 +1,529 @@ +/* + * Copyright 2011 The LibYuv Project Authors. All rights reserved. + * + * Use of this source code is governed by a BSD-style license + * that can be found in the LICENSE file in the root of the source + * tree. An additional intellectual property rights grant can be found + * in the file PATENTS. All contributing project authors may + * be found in the AUTHORS file in the root of the source tree. + */ + +#ifndef INCLUDE_LIBYUV_PLANAR_FUNCTIONS_H_ +#define INCLUDE_LIBYUV_PLANAR_FUNCTIONS_H_ + +#include "libyuv/basic_types.h" + +// TODO(fbarchard): Remove the following headers includes. +#include "libyuv/convert.h" +#include "libyuv/convert_argb.h" + +#ifdef __cplusplus +namespace libyuv { +extern "C" { +#endif + +// Copy a plane of data. +LIBYUV_API +void CopyPlane(const uint8* src_y, int src_stride_y, + uint8* dst_y, int dst_stride_y, + int width, int height); + +LIBYUV_API +void CopyPlane_16(const uint16* src_y, int src_stride_y, + uint16* dst_y, int dst_stride_y, + int width, int height); + +// Set a plane of data to a 32 bit value. +LIBYUV_API +void SetPlane(uint8* dst_y, int dst_stride_y, + int width, int height, + uint32 value); + +// Split interleaved UV plane into separate U and V planes. +LIBYUV_API +void SplitUVPlane(const uint8* src_uv, int src_stride_uv, + uint8* dst_u, int dst_stride_u, + uint8* dst_v, int dst_stride_v, + int width, int height); + +// Merge separate U and V planes into one interleaved UV plane. +LIBYUV_API +void MergeUVPlane(const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_uv, int dst_stride_uv, + int width, int height); + +// Copy I400. Supports inverting. +LIBYUV_API +int I400ToI400(const uint8* src_y, int src_stride_y, + uint8* dst_y, int dst_stride_y, + int width, int height); + +#define J400ToJ400 I400ToI400 + +// Copy I422 to I422. +#define I422ToI422 I422Copy +LIBYUV_API +int I422Copy(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_y, int dst_stride_y, + uint8* dst_u, int dst_stride_u, + uint8* dst_v, int dst_stride_v, + int width, int height); + +// Copy I444 to I444. +#define I444ToI444 I444Copy +LIBYUV_API +int I444Copy(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_y, int dst_stride_y, + uint8* dst_u, int dst_stride_u, + uint8* dst_v, int dst_stride_v, + int width, int height); + +// Convert YUY2 to I422. +LIBYUV_API +int YUY2ToI422(const uint8* src_yuy2, int src_stride_yuy2, + uint8* dst_y, int dst_stride_y, + uint8* dst_u, int dst_stride_u, + uint8* dst_v, int dst_stride_v, + int width, int height); + +// Convert UYVY to I422. +LIBYUV_API +int UYVYToI422(const uint8* src_uyvy, int src_stride_uyvy, + uint8* dst_y, int dst_stride_y, + uint8* dst_u, int dst_stride_u, + uint8* dst_v, int dst_stride_v, + int width, int height); + +LIBYUV_API +int YUY2ToNV12(const uint8* src_yuy2, int src_stride_yuy2, + uint8* dst_y, int dst_stride_y, + uint8* dst_uv, int dst_stride_uv, + int width, int height); + +LIBYUV_API +int UYVYToNV12(const uint8* src_uyvy, int src_stride_uyvy, + uint8* dst_y, int dst_stride_y, + uint8* dst_uv, int dst_stride_uv, + int width, int height); + +// Convert I420 to I400. (calls CopyPlane ignoring u/v). +LIBYUV_API +int I420ToI400(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_y, int dst_stride_y, + int width, int height); + +// Alias +#define J420ToJ400 I420ToI400 +#define I420ToI420Mirror I420Mirror + +// I420 mirror. +LIBYUV_API +int I420Mirror(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_y, int dst_stride_y, + uint8* dst_u, int dst_stride_u, + uint8* dst_v, int dst_stride_v, + int width, int height); + +// Alias +#define I400ToI400Mirror I400Mirror + +// I400 mirror. A single plane is mirrored horizontally. +// Pass negative height to achieve 180 degree rotation. +LIBYUV_API +int I400Mirror(const uint8* src_y, int src_stride_y, + uint8* dst_y, int dst_stride_y, + int width, int height); + +// Alias +#define ARGBToARGBMirror ARGBMirror + +// ARGB mirror. +LIBYUV_API +int ARGBMirror(const uint8* src_argb, int src_stride_argb, + uint8* dst_argb, int dst_stride_argb, + int width, int height); + +// Convert NV12 to RGB565. +LIBYUV_API +int NV12ToRGB565(const uint8* src_y, int src_stride_y, + const uint8* src_uv, int src_stride_uv, + uint8* dst_rgb565, int dst_stride_rgb565, + int width, int height); + +// I422ToARGB is in convert_argb.h +// Convert I422 to BGRA. +LIBYUV_API +int I422ToBGRA(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_bgra, int dst_stride_bgra, + int width, int height); + +// Convert I422 to ABGR. +LIBYUV_API +int I422ToABGR(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_abgr, int dst_stride_abgr, + int width, int height); + +// Convert I422 to RGBA. +LIBYUV_API +int I422ToRGBA(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_rgba, int dst_stride_rgba, + int width, int height); + +// Alias +#define RGB24ToRAW RAWToRGB24 + +LIBYUV_API +int RAWToRGB24(const uint8* src_raw, int src_stride_raw, + uint8* dst_rgb24, int dst_stride_rgb24, + int width, int height); + +// Draw a rectangle into I420. +LIBYUV_API +int I420Rect(uint8* dst_y, int dst_stride_y, + uint8* dst_u, int dst_stride_u, + uint8* dst_v, int dst_stride_v, + int x, int y, int width, int height, + int value_y, int value_u, int value_v); + +// Draw a rectangle into ARGB. +LIBYUV_API +int ARGBRect(uint8* dst_argb, int dst_stride_argb, + int x, int y, int width, int height, uint32 value); + +// Convert ARGB to gray scale ARGB. +LIBYUV_API +int ARGBGrayTo(const uint8* src_argb, int src_stride_argb, + uint8* dst_argb, int dst_stride_argb, + int width, int height); + +// Make a rectangle of ARGB gray scale. +LIBYUV_API +int ARGBGray(uint8* dst_argb, int dst_stride_argb, + int x, int y, int width, int height); + +// Make a rectangle of ARGB Sepia tone. +LIBYUV_API +int ARGBSepia(uint8* dst_argb, int dst_stride_argb, + int x, int y, int width, int height); + +// Apply a matrix rotation to each ARGB pixel. +// matrix_argb is 4 signed ARGB values. -128 to 127 representing -2 to 2. +// The first 4 coefficients apply to B, G, R, A and produce B of the output. +// The next 4 coefficients apply to B, G, R, A and produce G of the output. +// The next 4 coefficients apply to B, G, R, A and produce R of the output. +// The last 4 coefficients apply to B, G, R, A and produce A of the output. +LIBYUV_API +int ARGBColorMatrix(const uint8* src_argb, int src_stride_argb, + uint8* dst_argb, int dst_stride_argb, + const int8* matrix_argb, + int width, int height); + +// Deprecated. Use ARGBColorMatrix instead. +// Apply a matrix rotation to each ARGB pixel. +// matrix_argb is 3 signed ARGB values. -128 to 127 representing -1 to 1. +// The first 4 coefficients apply to B, G, R, A and produce B of the output. +// The next 4 coefficients apply to B, G, R, A and produce G of the output. +// The last 4 coefficients apply to B, G, R, A and produce R of the output. +LIBYUV_API +int RGBColorMatrix(uint8* dst_argb, int dst_stride_argb, + const int8* matrix_rgb, + int x, int y, int width, int height); + +// Apply a color table each ARGB pixel. +// Table contains 256 ARGB values. +LIBYUV_API +int ARGBColorTable(uint8* dst_argb, int dst_stride_argb, + const uint8* table_argb, + int x, int y, int width, int height); + +// Apply a color table each ARGB pixel but preserve destination alpha. +// Table contains 256 ARGB values. +LIBYUV_API +int RGBColorTable(uint8* dst_argb, int dst_stride_argb, + const uint8* table_argb, + int x, int y, int width, int height); + +// Apply a luma/color table each ARGB pixel but preserve destination alpha. +// Table contains 32768 values indexed by [Y][C] where 7 it 7 bit luma from +// RGB (YJ style) and C is an 8 bit color component (R, G or B). +LIBYUV_API +int ARGBLumaColorTable(const uint8* src_argb, int src_stride_argb, + uint8* dst_argb, int dst_stride_argb, + const uint8* luma_rgb_table, + int width, int height); + +// Apply a 3 term polynomial to ARGB values. +// poly points to a 4x4 matrix. The first row is constants. The 2nd row is +// coefficients for b, g, r and a. The 3rd row is coefficients for b squared, +// g squared, r squared and a squared. The 4rd row is coefficients for b to +// the 3, g to the 3, r to the 3 and a to the 3. The values are summed and +// result clamped to 0 to 255. +// A polynomial approximation can be dirived using software such as 'R'. + +LIBYUV_API +int ARGBPolynomial(const uint8* src_argb, int src_stride_argb, + uint8* dst_argb, int dst_stride_argb, + const float* poly, + int width, int height); + +// Convert plane of 16 bit shorts to half floats. +// Source values are multiplied by scale before storing as half float. +LIBYUV_API +int HalfFloatPlane(const uint16* src_y, int src_stride_y, + uint16* dst_y, int dst_stride_y, + float scale, + int width, int height); + +// Quantize a rectangle of ARGB. Alpha unaffected. +// scale is a 16 bit fractional fixed point scaler between 0 and 65535. +// interval_size should be a value between 1 and 255. +// interval_offset should be a value between 0 and 255. +LIBYUV_API +int ARGBQuantize(uint8* dst_argb, int dst_stride_argb, + int scale, int interval_size, int interval_offset, + int x, int y, int width, int height); + +// Copy ARGB to ARGB. +LIBYUV_API +int ARGBCopy(const uint8* src_argb, int src_stride_argb, + uint8* dst_argb, int dst_stride_argb, + int width, int height); + +// Copy Alpha channel of ARGB to alpha of ARGB. +LIBYUV_API +int ARGBCopyAlpha(const uint8* src_argb, int src_stride_argb, + uint8* dst_argb, int dst_stride_argb, + int width, int height); + +// Extract the alpha channel from ARGB. +LIBYUV_API +int ARGBExtractAlpha(const uint8* src_argb, int src_stride_argb, + uint8* dst_a, int dst_stride_a, + int width, int height); + +// Copy Y channel to Alpha of ARGB. +LIBYUV_API +int ARGBCopyYToAlpha(const uint8* src_y, int src_stride_y, + uint8* dst_argb, int dst_stride_argb, + int width, int height); + +typedef void (*ARGBBlendRow)(const uint8* src_argb0, const uint8* src_argb1, + uint8* dst_argb, int width); + +// Get function to Alpha Blend ARGB pixels and store to destination. +LIBYUV_API +ARGBBlendRow GetARGBBlend(); + +// Alpha Blend ARGB images and store to destination. +// Source is pre-multiplied by alpha using ARGBAttenuate. +// Alpha of destination is set to 255. +LIBYUV_API +int ARGBBlend(const uint8* src_argb0, int src_stride_argb0, + const uint8* src_argb1, int src_stride_argb1, + uint8* dst_argb, int dst_stride_argb, + int width, int height); + +// Alpha Blend plane and store to destination. +// Source is not pre-multiplied by alpha. +LIBYUV_API +int BlendPlane(const uint8* src_y0, int src_stride_y0, + const uint8* src_y1, int src_stride_y1, + const uint8* alpha, int alpha_stride, + uint8* dst_y, int dst_stride_y, + int width, int height); + +// Alpha Blend YUV images and store to destination. +// Source is not pre-multiplied by alpha. +// Alpha is full width x height and subsampled to half size to apply to UV. +LIBYUV_API +int I420Blend(const uint8* src_y0, int src_stride_y0, + const uint8* src_u0, int src_stride_u0, + const uint8* src_v0, int src_stride_v0, + const uint8* src_y1, int src_stride_y1, + const uint8* src_u1, int src_stride_u1, + const uint8* src_v1, int src_stride_v1, + const uint8* alpha, int alpha_stride, + uint8* dst_y, int dst_stride_y, + uint8* dst_u, int dst_stride_u, + uint8* dst_v, int dst_stride_v, + int width, int height); + +// Multiply ARGB image by ARGB image. Shifted down by 8. Saturates to 255. +LIBYUV_API +int ARGBMultiply(const uint8* src_argb0, int src_stride_argb0, + const uint8* src_argb1, int src_stride_argb1, + uint8* dst_argb, int dst_stride_argb, + int width, int height); + +// Add ARGB image with ARGB image. Saturates to 255. +LIBYUV_API +int ARGBAdd(const uint8* src_argb0, int src_stride_argb0, + const uint8* src_argb1, int src_stride_argb1, + uint8* dst_argb, int dst_stride_argb, + int width, int height); + +// Subtract ARGB image (argb1) from ARGB image (argb0). Saturates to 0. +LIBYUV_API +int ARGBSubtract(const uint8* src_argb0, int src_stride_argb0, + const uint8* src_argb1, int src_stride_argb1, + uint8* dst_argb, int dst_stride_argb, + int width, int height); + +// Convert I422 to YUY2. +LIBYUV_API +int I422ToYUY2(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_frame, int dst_stride_frame, + int width, int height); + +// Convert I422 to UYVY. +LIBYUV_API +int I422ToUYVY(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_frame, int dst_stride_frame, + int width, int height); + +// Convert unattentuated ARGB to preattenuated ARGB. +LIBYUV_API +int ARGBAttenuate(const uint8* src_argb, int src_stride_argb, + uint8* dst_argb, int dst_stride_argb, + int width, int height); + +// Convert preattentuated ARGB to unattenuated ARGB. +LIBYUV_API +int ARGBUnattenuate(const uint8* src_argb, int src_stride_argb, + uint8* dst_argb, int dst_stride_argb, + int width, int height); + +// Internal function - do not call directly. +// Computes table of cumulative sum for image where the value is the sum +// of all values above and to the left of the entry. Used by ARGBBlur. +LIBYUV_API +int ARGBComputeCumulativeSum(const uint8* src_argb, int src_stride_argb, + int32* dst_cumsum, int dst_stride32_cumsum, + int width, int height); + +// Blur ARGB image. +// dst_cumsum table of width * (height + 1) * 16 bytes aligned to +// 16 byte boundary. +// dst_stride32_cumsum is number of ints in a row (width * 4). +// radius is number of pixels around the center. e.g. 1 = 3x3. 2=5x5. +// Blur is optimized for radius of 5 (11x11) or less. +LIBYUV_API +int ARGBBlur(const uint8* src_argb, int src_stride_argb, + uint8* dst_argb, int dst_stride_argb, + int32* dst_cumsum, int dst_stride32_cumsum, + int width, int height, int radius); + +// Multiply ARGB image by ARGB value. +LIBYUV_API +int ARGBShade(const uint8* src_argb, int src_stride_argb, + uint8* dst_argb, int dst_stride_argb, + int width, int height, uint32 value); + +// Interpolate between two images using specified amount of interpolation +// (0 to 255) and store to destination. +// 'interpolation' is specified as 8 bit fraction where 0 means 100% src0 +// and 255 means 1% src0 and 99% src1. +LIBYUV_API +int InterpolatePlane(const uint8* src0, int src_stride0, + const uint8* src1, int src_stride1, + uint8* dst, int dst_stride, + int width, int height, int interpolation); + +// Interpolate between two ARGB images using specified amount of interpolation +// Internally calls InterpolatePlane with width * 4 (bpp). +LIBYUV_API +int ARGBInterpolate(const uint8* src_argb0, int src_stride_argb0, + const uint8* src_argb1, int src_stride_argb1, + uint8* dst_argb, int dst_stride_argb, + int width, int height, int interpolation); + +// Interpolate between two YUV images using specified amount of interpolation +// Internally calls InterpolatePlane on each plane where the U and V planes +// are half width and half height. +LIBYUV_API +int I420Interpolate(const uint8* src0_y, int src0_stride_y, + const uint8* src0_u, int src0_stride_u, + const uint8* src0_v, int src0_stride_v, + const uint8* src1_y, int src1_stride_y, + const uint8* src1_u, int src1_stride_u, + const uint8* src1_v, int src1_stride_v, + uint8* dst_y, int dst_stride_y, + uint8* dst_u, int dst_stride_u, + uint8* dst_v, int dst_stride_v, + int width, int height, int interpolation); + +#if defined(__pnacl__) || defined(__CLR_VER) || \ + (defined(__i386__) && !defined(__SSE2__)) +#define LIBYUV_DISABLE_X86 +#endif +// MemorySanitizer does not support assembly code yet. http://crbug.com/344505 +#if defined(__has_feature) +#if __has_feature(memory_sanitizer) +#define LIBYUV_DISABLE_X86 +#endif +#endif +// The following are available on all x86 platforms: +#if !defined(LIBYUV_DISABLE_X86) && \ + (defined(_M_IX86) || defined(__x86_64__) || defined(__i386__)) +#define HAS_ARGBAFFINEROW_SSE2 +#endif + +// Row function for copying pixels from a source with a slope to a row +// of destination. Useful for scaling, rotation, mirror, texture mapping. +LIBYUV_API +void ARGBAffineRow_C(const uint8* src_argb, int src_argb_stride, + uint8* dst_argb, const float* uv_dudv, int width); +LIBYUV_API +void ARGBAffineRow_SSE2(const uint8* src_argb, int src_argb_stride, + uint8* dst_argb, const float* uv_dudv, int width); + +// Shuffle ARGB channel order. e.g. BGRA to ARGB. +// shuffler is 16 bytes and must be aligned. +LIBYUV_API +int ARGBShuffle(const uint8* src_bgra, int src_stride_bgra, + uint8* dst_argb, int dst_stride_argb, + const uint8* shuffler, int width, int height); + +// Sobel ARGB effect with planar output. +LIBYUV_API +int ARGBSobelToPlane(const uint8* src_argb, int src_stride_argb, + uint8* dst_y, int dst_stride_y, + int width, int height); + +// Sobel ARGB effect. +LIBYUV_API +int ARGBSobel(const uint8* src_argb, int src_stride_argb, + uint8* dst_argb, int dst_stride_argb, + int width, int height); + +// Sobel ARGB effect w/ Sobel X, Sobel, Sobel Y in ARGB. +LIBYUV_API +int ARGBSobelXY(const uint8* src_argb, int src_stride_argb, + uint8* dst_argb, int dst_stride_argb, + int width, int height); + +#ifdef __cplusplus +} // extern "C" +} // namespace libyuv +#endif + +#endif // INCLUDE_LIBYUV_PLANAR_FUNCTIONS_H_ diff --git a/third_party/libyuv/include/libyuv/rotate.h b/third_party/libyuv/include/libyuv/rotate.h new file mode 100644 index 0000000000..8a2da9a5aa --- /dev/null +++ b/third_party/libyuv/include/libyuv/rotate.h @@ -0,0 +1,117 @@ +/* + * Copyright 2011 The LibYuv Project Authors. All rights reserved. + * + * Use of this source code is governed by a BSD-style license + * that can be found in the LICENSE file in the root of the source + * tree. An additional intellectual property rights grant can be found + * in the file PATENTS. All contributing project authors may + * be found in the AUTHORS file in the root of the source tree. + */ + +#ifndef INCLUDE_LIBYUV_ROTATE_H_ +#define INCLUDE_LIBYUV_ROTATE_H_ + +#include "libyuv/basic_types.h" + +#ifdef __cplusplus +namespace libyuv { +extern "C" { +#endif + +// Supported rotation. +typedef enum RotationMode { + kRotate0 = 0, // No rotation. + kRotate90 = 90, // Rotate 90 degrees clockwise. + kRotate180 = 180, // Rotate 180 degrees. + kRotate270 = 270, // Rotate 270 degrees clockwise. + + // Deprecated. + kRotateNone = 0, + kRotateClockwise = 90, + kRotateCounterClockwise = 270, +} RotationModeEnum; + +// Rotate I420 frame. +LIBYUV_API +int I420Rotate(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint8* dst_y, int dst_stride_y, + uint8* dst_u, int dst_stride_u, + uint8* dst_v, int dst_stride_v, + int src_width, int src_height, enum RotationMode mode); + +// Rotate NV12 input and store in I420. +LIBYUV_API +int NV12ToI420Rotate(const uint8* src_y, int src_stride_y, + const uint8* src_uv, int src_stride_uv, + uint8* dst_y, int dst_stride_y, + uint8* dst_u, int dst_stride_u, + uint8* dst_v, int dst_stride_v, + int src_width, int src_height, enum RotationMode mode); + +// Rotate a plane by 0, 90, 180, or 270. +LIBYUV_API +int RotatePlane(const uint8* src, int src_stride, + uint8* dst, int dst_stride, + int src_width, int src_height, enum RotationMode mode); + +// Rotate planes by 90, 180, 270. Deprecated. +LIBYUV_API +void RotatePlane90(const uint8* src, int src_stride, + uint8* dst, int dst_stride, + int width, int height); + +LIBYUV_API +void RotatePlane180(const uint8* src, int src_stride, + uint8* dst, int dst_stride, + int width, int height); + +LIBYUV_API +void RotatePlane270(const uint8* src, int src_stride, + uint8* dst, int dst_stride, + int width, int height); + +LIBYUV_API +void RotateUV90(const uint8* src, int src_stride, + uint8* dst_a, int dst_stride_a, + uint8* dst_b, int dst_stride_b, + int width, int height); + +// Rotations for when U and V are interleaved. +// These functions take one input pointer and +// split the data into two buffers while +// rotating them. Deprecated. +LIBYUV_API +void RotateUV180(const uint8* src, int src_stride, + uint8* dst_a, int dst_stride_a, + uint8* dst_b, int dst_stride_b, + int width, int height); + +LIBYUV_API +void RotateUV270(const uint8* src, int src_stride, + uint8* dst_a, int dst_stride_a, + uint8* dst_b, int dst_stride_b, + int width, int height); + +// The 90 and 270 functions are based on transposes. +// Doing a transpose with reversing the read/write +// order will result in a rotation by +- 90 degrees. +// Deprecated. +LIBYUV_API +void TransposePlane(const uint8* src, int src_stride, + uint8* dst, int dst_stride, + int width, int height); + +LIBYUV_API +void TransposeUV(const uint8* src, int src_stride, + uint8* dst_a, int dst_stride_a, + uint8* dst_b, int dst_stride_b, + int width, int height); + +#ifdef __cplusplus +} // extern "C" +} // namespace libyuv +#endif + +#endif // INCLUDE_LIBYUV_ROTATE_H_ diff --git a/third_party/libyuv/include/libyuv/rotate_argb.h b/third_party/libyuv/include/libyuv/rotate_argb.h new file mode 100644 index 0000000000..21fe7e1807 --- /dev/null +++ b/third_party/libyuv/include/libyuv/rotate_argb.h @@ -0,0 +1,33 @@ +/* + * Copyright 2012 The LibYuv Project Authors. All rights reserved. + * + * Use of this source code is governed by a BSD-style license + * that can be found in the LICENSE file in the root of the source + * tree. An additional intellectual property rights grant can be found + * in the file PATENTS. All contributing project authors may + * be found in the AUTHORS file in the root of the source tree. + */ + +#ifndef INCLUDE_LIBYUV_ROTATE_ARGB_H_ +#define INCLUDE_LIBYUV_ROTATE_ARGB_H_ + +#include "libyuv/basic_types.h" +#include "libyuv/rotate.h" // For RotationMode. + +#ifdef __cplusplus +namespace libyuv { +extern "C" { +#endif + +// Rotate ARGB frame +LIBYUV_API +int ARGBRotate(const uint8* src_argb, int src_stride_argb, + uint8* dst_argb, int dst_stride_argb, + int src_width, int src_height, enum RotationMode mode); + +#ifdef __cplusplus +} // extern "C" +} // namespace libyuv +#endif + +#endif // INCLUDE_LIBYUV_ROTATE_ARGB_H_ diff --git a/third_party/libyuv/include/libyuv/rotate_row.h b/third_party/libyuv/include/libyuv/rotate_row.h new file mode 100644 index 0000000000..6abd201677 --- /dev/null +++ b/third_party/libyuv/include/libyuv/rotate_row.h @@ -0,0 +1,121 @@ +/* + * Copyright 2013 The LibYuv Project Authors. All rights reserved. + * + * Use of this source code is governed by a BSD-style license + * that can be found in the LICENSE file in the root of the source + * tree. An additional intellectual property rights grant can be found + * in the file PATENTS. All contributing project authors may + * be found in the AUTHORS file in the root of the source tree. + */ + +#ifndef INCLUDE_LIBYUV_ROTATE_ROW_H_ +#define INCLUDE_LIBYUV_ROTATE_ROW_H_ + +#include "libyuv/basic_types.h" + +#ifdef __cplusplus +namespace libyuv { +extern "C" { +#endif + +#if defined(__pnacl__) || defined(__CLR_VER) || \ + (defined(__i386__) && !defined(__SSE2__)) +#define LIBYUV_DISABLE_X86 +#endif +// MemorySanitizer does not support assembly code yet. http://crbug.com/344505 +#if defined(__has_feature) +#if __has_feature(memory_sanitizer) +#define LIBYUV_DISABLE_X86 +#endif +#endif +// The following are available for Visual C and clangcl 32 bit: +#if !defined(LIBYUV_DISABLE_X86) && defined(_M_IX86) +#define HAS_TRANSPOSEWX8_SSSE3 +#define HAS_TRANSPOSEUVWX8_SSE2 +#endif + +// The following are available for GCC 32 or 64 bit but not NaCL for 64 bit: +#if !defined(LIBYUV_DISABLE_X86) && \ + (defined(__i386__) || (defined(__x86_64__) && !defined(__native_client__))) +#define HAS_TRANSPOSEWX8_SSSE3 +#endif + +// The following are available for 64 bit GCC but not NaCL: +#if !defined(LIBYUV_DISABLE_X86) && !defined(__native_client__) && \ + defined(__x86_64__) +#define HAS_TRANSPOSEWX8_FAST_SSSE3 +#define HAS_TRANSPOSEUVWX8_SSE2 +#endif + +#if !defined(LIBYUV_DISABLE_NEON) && !defined(__native_client__) && \ + (defined(__ARM_NEON__) || defined(LIBYUV_NEON) || defined(__aarch64__)) +#define HAS_TRANSPOSEWX8_NEON +#define HAS_TRANSPOSEUVWX8_NEON +#endif + +#if !defined(LIBYUV_DISABLE_MIPS) && !defined(__native_client__) && \ + defined(__mips__) && \ + defined(__mips_dsp) && (__mips_dsp_rev >= 2) +#define HAS_TRANSPOSEWX8_DSPR2 +#define HAS_TRANSPOSEUVWX8_DSPR2 +#endif // defined(__mips__) + +void TransposeWxH_C(const uint8* src, int src_stride, + uint8* dst, int dst_stride, int width, int height); + +void TransposeWx8_C(const uint8* src, int src_stride, + uint8* dst, int dst_stride, int width); +void TransposeWx8_NEON(const uint8* src, int src_stride, + uint8* dst, int dst_stride, int width); +void TransposeWx8_SSSE3(const uint8* src, int src_stride, + uint8* dst, int dst_stride, int width); +void TransposeWx8_Fast_SSSE3(const uint8* src, int src_stride, + uint8* dst, int dst_stride, int width); +void TransposeWx8_DSPR2(const uint8* src, int src_stride, + uint8* dst, int dst_stride, int width); +void TransposeWx8_Fast_DSPR2(const uint8* src, int src_stride, + uint8* dst, int dst_stride, int width); + +void TransposeWx8_Any_NEON(const uint8* src, int src_stride, + uint8* dst, int dst_stride, int width); +void TransposeWx8_Any_SSSE3(const uint8* src, int src_stride, + uint8* dst, int dst_stride, int width); +void TransposeWx8_Fast_Any_SSSE3(const uint8* src, int src_stride, + uint8* dst, int dst_stride, int width); +void TransposeWx8_Any_DSPR2(const uint8* src, int src_stride, + uint8* dst, int dst_stride, int width); + +void TransposeUVWxH_C(const uint8* src, int src_stride, + uint8* dst_a, int dst_stride_a, + uint8* dst_b, int dst_stride_b, + int width, int height); + +void TransposeUVWx8_C(const uint8* src, int src_stride, + uint8* dst_a, int dst_stride_a, + uint8* dst_b, int dst_stride_b, int width); +void TransposeUVWx8_SSE2(const uint8* src, int src_stride, + uint8* dst_a, int dst_stride_a, + uint8* dst_b, int dst_stride_b, int width); +void TransposeUVWx8_NEON(const uint8* src, int src_stride, + uint8* dst_a, int dst_stride_a, + uint8* dst_b, int dst_stride_b, int width); +void TransposeUVWx8_DSPR2(const uint8* src, int src_stride, + uint8* dst_a, int dst_stride_a, + uint8* dst_b, int dst_stride_b, int width); + +void TransposeUVWx8_Any_SSE2(const uint8* src, int src_stride, + uint8* dst_a, int dst_stride_a, + uint8* dst_b, int dst_stride_b, int width); +void TransposeUVWx8_Any_NEON(const uint8* src, int src_stride, + uint8* dst_a, int dst_stride_a, + uint8* dst_b, int dst_stride_b, int width); +void TransposeUVWx8_Any_DSPR2(const uint8* src, int src_stride, + uint8* dst_a, int dst_stride_a, + uint8* dst_b, int dst_stride_b, int width); + +#ifdef __cplusplus +} // extern "C" +} // namespace libyuv +#endif + +#endif // INCLUDE_LIBYUV_ROTATE_ROW_H_ diff --git a/third_party/libyuv/include/libyuv/row.h b/third_party/libyuv/include/libyuv/row.h new file mode 100644 index 0000000000..b810221ec7 --- /dev/null +++ b/third_party/libyuv/include/libyuv/row.h @@ -0,0 +1,1963 @@ +/* + * Copyright 2011 The LibYuv Project Authors. All rights reserved. + * + * Use of this source code is governed by a BSD-style license + * that can be found in the LICENSE file in the root of the source + * tree. An additional intellectual property rights grant can be found + * in the file PATENTS. All contributing project authors may + * be found in the AUTHORS file in the root of the source tree. + */ + +#ifndef INCLUDE_LIBYUV_ROW_H_ +#define INCLUDE_LIBYUV_ROW_H_ + +#include // For malloc. + +#include "libyuv/basic_types.h" + +#ifdef __cplusplus +namespace libyuv { +extern "C" { +#endif + +#define IS_ALIGNED(p, a) (!((uintptr_t)(p) & ((a) - 1))) + +#define align_buffer_64(var, size) \ + uint8* var##_mem = (uint8*)(malloc((size) + 63)); /* NOLINT */ \ + uint8* var = (uint8*)(((intptr_t)(var##_mem) + 63) & ~63) /* NOLINT */ + +#define free_aligned_buffer_64(var) \ + free(var##_mem); \ + var = 0 + +#if defined(__pnacl__) || defined(__CLR_VER) || \ + (defined(__i386__) && !defined(__SSE2__)) +#define LIBYUV_DISABLE_X86 +#endif +// MemorySanitizer does not support assembly code yet. http://crbug.com/344505 +#if defined(__has_feature) +#if __has_feature(memory_sanitizer) +#define LIBYUV_DISABLE_X86 +#endif +#endif +// True if compiling for SSSE3 as a requirement. +#if defined(__SSSE3__) || (defined(_M_IX86_FP) && (_M_IX86_FP >= 3)) +#define LIBYUV_SSSE3_ONLY +#endif + +#if defined(__native_client__) +#define LIBYUV_DISABLE_NEON +#endif +// clang >= 3.5.0 required for Arm64. +#if defined(__clang__) && defined(__aarch64__) && !defined(LIBYUV_DISABLE_NEON) +#if (__clang_major__ < 3) || (__clang_major__ == 3 && (__clang_minor__ < 5)) +#define LIBYUV_DISABLE_NEON +#endif // clang >= 3.5 +#endif // __clang__ + +// GCC >= 4.7.0 required for AVX2. +#if defined(__GNUC__) && (defined(__x86_64__) || defined(__i386__)) +#if (__GNUC__ > 4) || (__GNUC__ == 4 && (__GNUC_MINOR__ >= 7)) +#define GCC_HAS_AVX2 1 +#endif // GNUC >= 4.7 +#endif // __GNUC__ + +// clang >= 3.4.0 required for AVX2. +#if defined(__clang__) && (defined(__x86_64__) || defined(__i386__)) +#if (__clang_major__ > 3) || (__clang_major__ == 3 && (__clang_minor__ >= 4)) +#define CLANG_HAS_AVX2 1 +#endif // clang >= 3.4 +#endif // __clang__ + +// Visual C 2012 required for AVX2. +#if defined(_M_IX86) && !defined(__clang__) && \ + defined(_MSC_VER) && _MSC_VER >= 1700 +#define VISUALC_HAS_AVX2 1 +#endif // VisualStudio >= 2012 + +// The following are available on all x86 platforms: +#if !defined(LIBYUV_DISABLE_X86) && \ + (defined(_M_IX86) || defined(__x86_64__) || defined(__i386__)) +// Conversions: +#define HAS_ABGRTOUVROW_SSSE3 +#define HAS_ABGRTOYROW_SSSE3 +#define HAS_ARGB1555TOARGBROW_SSE2 +#define HAS_ARGB4444TOARGBROW_SSE2 +#define HAS_ARGBSETROW_X86 +#define HAS_ARGBSHUFFLEROW_SSE2 +#define HAS_ARGBSHUFFLEROW_SSSE3 +#define HAS_ARGBTOARGB1555ROW_SSE2 +#define HAS_ARGBTOARGB4444ROW_SSE2 +#define HAS_ARGBTORAWROW_SSSE3 +#define HAS_ARGBTORGB24ROW_SSSE3 +#define HAS_ARGBTORGB565DITHERROW_SSE2 +#define HAS_ARGBTORGB565ROW_SSE2 +#define HAS_ARGBTOUV444ROW_SSSE3 +#define HAS_ARGBTOUVJROW_SSSE3 +#define HAS_ARGBTOUVROW_SSSE3 +#define HAS_ARGBTOYJROW_SSSE3 +#define HAS_ARGBTOYROW_SSSE3 +#define HAS_ARGBEXTRACTALPHAROW_SSE2 +#define HAS_BGRATOUVROW_SSSE3 +#define HAS_BGRATOYROW_SSSE3 +#define HAS_COPYROW_ERMS +#define HAS_COPYROW_SSE2 +#define HAS_H422TOARGBROW_SSSE3 +#define HAS_I400TOARGBROW_SSE2 +#define HAS_I422TOARGB1555ROW_SSSE3 +#define HAS_I422TOARGB4444ROW_SSSE3 +#define HAS_I422TOARGBROW_SSSE3 +#define HAS_I422TORGB24ROW_SSSE3 +#define HAS_I422TORGB565ROW_SSSE3 +#define HAS_I422TORGBAROW_SSSE3 +#define HAS_I422TOUYVYROW_SSE2 +#define HAS_I422TOYUY2ROW_SSE2 +#define HAS_I444TOARGBROW_SSSE3 +#define HAS_J400TOARGBROW_SSE2 +#define HAS_J422TOARGBROW_SSSE3 +#define HAS_MERGEUVROW_SSE2 +#define HAS_MIRRORROW_SSSE3 +#define HAS_MIRRORUVROW_SSSE3 +#define HAS_NV12TOARGBROW_SSSE3 +#define HAS_NV12TORGB565ROW_SSSE3 +#define HAS_NV21TOARGBROW_SSSE3 +#define HAS_RAWTOARGBROW_SSSE3 +#define HAS_RAWTORGB24ROW_SSSE3 +#define HAS_RAWTOYROW_SSSE3 +#define HAS_RGB24TOARGBROW_SSSE3 +#define HAS_RGB24TOYROW_SSSE3 +#define HAS_RGB565TOARGBROW_SSE2 +#define HAS_RGBATOUVROW_SSSE3 +#define HAS_RGBATOYROW_SSSE3 +#define HAS_SETROW_ERMS +#define HAS_SETROW_X86 +#define HAS_SPLITUVROW_SSE2 +#define HAS_UYVYTOARGBROW_SSSE3 +#define HAS_UYVYTOUV422ROW_SSE2 +#define HAS_UYVYTOUVROW_SSE2 +#define HAS_UYVYTOYROW_SSE2 +#define HAS_YUY2TOARGBROW_SSSE3 +#define HAS_YUY2TOUV422ROW_SSE2 +#define HAS_YUY2TOUVROW_SSE2 +#define HAS_YUY2TOYROW_SSE2 + +// Effects: +#define HAS_ARGBADDROW_SSE2 +#define HAS_ARGBAFFINEROW_SSE2 +#define HAS_ARGBATTENUATEROW_SSSE3 +#define HAS_ARGBBLENDROW_SSSE3 +#define HAS_ARGBCOLORMATRIXROW_SSSE3 +#define HAS_ARGBCOLORTABLEROW_X86 +#define HAS_ARGBCOPYALPHAROW_SSE2 +#define HAS_ARGBCOPYYTOALPHAROW_SSE2 +#define HAS_ARGBGRAYROW_SSSE3 +#define HAS_ARGBLUMACOLORTABLEROW_SSSE3 +#define HAS_ARGBMIRRORROW_SSE2 +#define HAS_ARGBMULTIPLYROW_SSE2 +#define HAS_ARGBPOLYNOMIALROW_SSE2 +#define HAS_ARGBQUANTIZEROW_SSE2 +#define HAS_ARGBSEPIAROW_SSSE3 +#define HAS_ARGBSHADEROW_SSE2 +#define HAS_ARGBSUBTRACTROW_SSE2 +#define HAS_ARGBUNATTENUATEROW_SSE2 +#define HAS_BLENDPLANEROW_SSSE3 +#define HAS_COMPUTECUMULATIVESUMROW_SSE2 +#define HAS_CUMULATIVESUMTOAVERAGEROW_SSE2 +#define HAS_INTERPOLATEROW_SSSE3 +#define HAS_RGBCOLORTABLEROW_X86 +#define HAS_SOBELROW_SSE2 +#define HAS_SOBELTOPLANEROW_SSE2 +#define HAS_SOBELXROW_SSE2 +#define HAS_SOBELXYROW_SSE2 +#define HAS_SOBELYROW_SSE2 + +// The following functions fail on gcc/clang 32 bit with fpic and framepointer. +// caveat: clangcl uses row_win.cc which works. +#if defined(NDEBUG) || !(defined(_DEBUG) && defined(__i386__)) || \ + !defined(__i386__) || defined(_MSC_VER) +// TODO(fbarchard): fix build error on x86 debug +// https://code.google.com/p/libyuv/issues/detail?id=524 +#define HAS_I411TOARGBROW_SSSE3 +// TODO(fbarchard): fix build error on android_full_debug=1 +// https://code.google.com/p/libyuv/issues/detail?id=517 +#define HAS_I422ALPHATOARGBROW_SSSE3 +#endif +#endif + +// The following are available on all x86 platforms, but +// require VS2012, clang 3.4 or gcc 4.7. +// The code supports NaCL but requires a new compiler and validator. +#if !defined(LIBYUV_DISABLE_X86) && (defined(VISUALC_HAS_AVX2) || \ + defined(CLANG_HAS_AVX2) || defined(GCC_HAS_AVX2)) +#define HAS_ARGBCOPYALPHAROW_AVX2 +#define HAS_ARGBCOPYYTOALPHAROW_AVX2 +#define HAS_ARGBMIRRORROW_AVX2 +#define HAS_ARGBPOLYNOMIALROW_AVX2 +#define HAS_ARGBSHUFFLEROW_AVX2 +#define HAS_ARGBTORGB565DITHERROW_AVX2 +#define HAS_ARGBTOUVJROW_AVX2 +#define HAS_ARGBTOUVROW_AVX2 +#define HAS_ARGBTOYJROW_AVX2 +#define HAS_ARGBTOYROW_AVX2 +#define HAS_COPYROW_AVX +#define HAS_H422TOARGBROW_AVX2 +#define HAS_I400TOARGBROW_AVX2 +#if !(defined(_DEBUG) && defined(__i386__)) +// TODO(fbarchard): fix build error on android_full_debug=1 +// https://code.google.com/p/libyuv/issues/detail?id=517 +#define HAS_I422ALPHATOARGBROW_AVX2 +#endif +#define HAS_I411TOARGBROW_AVX2 +#define HAS_I422TOARGB1555ROW_AVX2 +#define HAS_I422TOARGB4444ROW_AVX2 +#define HAS_I422TOARGBROW_AVX2 +#define HAS_I422TORGB24ROW_AVX2 +#define HAS_I422TORGB565ROW_AVX2 +#define HAS_I422TORGBAROW_AVX2 +#define HAS_I444TOARGBROW_AVX2 +#define HAS_INTERPOLATEROW_AVX2 +#define HAS_J422TOARGBROW_AVX2 +#define HAS_MERGEUVROW_AVX2 +#define HAS_MIRRORROW_AVX2 +#define HAS_NV12TOARGBROW_AVX2 +#define HAS_NV12TORGB565ROW_AVX2 +#define HAS_NV21TOARGBROW_AVX2 +#define HAS_SPLITUVROW_AVX2 +#define HAS_UYVYTOARGBROW_AVX2 +#define HAS_UYVYTOUV422ROW_AVX2 +#define HAS_UYVYTOUVROW_AVX2 +#define HAS_UYVYTOYROW_AVX2 +#define HAS_YUY2TOARGBROW_AVX2 +#define HAS_YUY2TOUV422ROW_AVX2 +#define HAS_YUY2TOUVROW_AVX2 +#define HAS_YUY2TOYROW_AVX2 +#define HAS_HALFFLOATROW_AVX2 + +// Effects: +#define HAS_ARGBADDROW_AVX2 +#define HAS_ARGBATTENUATEROW_AVX2 +#define HAS_ARGBMULTIPLYROW_AVX2 +#define HAS_ARGBSUBTRACTROW_AVX2 +#define HAS_ARGBUNATTENUATEROW_AVX2 +#define HAS_BLENDPLANEROW_AVX2 +#endif + +// The following are available for AVX2 Visual C and clangcl 32 bit: +// TODO(fbarchard): Port to gcc. +#if !defined(LIBYUV_DISABLE_X86) && defined(_M_IX86) && \ + (defined(VISUALC_HAS_AVX2) || defined(CLANG_HAS_AVX2)) +#define HAS_ARGB1555TOARGBROW_AVX2 +#define HAS_ARGB4444TOARGBROW_AVX2 +#define HAS_ARGBTOARGB1555ROW_AVX2 +#define HAS_ARGBTOARGB4444ROW_AVX2 +#define HAS_ARGBTORGB565ROW_AVX2 +#define HAS_J400TOARGBROW_AVX2 +#define HAS_RGB565TOARGBROW_AVX2 +#endif + +// The following are also available on x64 Visual C. +#if !defined(LIBYUV_DISABLE_X86) && defined(_MSC_VER) && defined(_M_X64) && \ + (!defined(__clang__) || defined(__SSSE3__)) +#define HAS_I422ALPHATOARGBROW_SSSE3 +#define HAS_I422TOARGBROW_SSSE3 +#endif + +// The following are available on gcc x86 platforms: +// TODO(fbarchard): Port to Visual C. +#if !defined(LIBYUV_DISABLE_X86) && \ + (defined(__x86_64__) || (defined(__i386__) && !defined(_MSC_VER))) +#define HAS_HALFFLOATROW_SSE2 +#endif + +// The following are available on Neon platforms: +#if !defined(LIBYUV_DISABLE_NEON) && \ + (defined(__aarch64__) || defined(__ARM_NEON__) || defined(LIBYUV_NEON)) +#define HAS_ABGRTOUVROW_NEON +#define HAS_ABGRTOYROW_NEON +#define HAS_ARGB1555TOARGBROW_NEON +#define HAS_ARGB1555TOUVROW_NEON +#define HAS_ARGB1555TOYROW_NEON +#define HAS_ARGB4444TOARGBROW_NEON +#define HAS_ARGB4444TOUVROW_NEON +#define HAS_ARGB4444TOYROW_NEON +#define HAS_ARGBSETROW_NEON +#define HAS_ARGBTOARGB1555ROW_NEON +#define HAS_ARGBTOARGB4444ROW_NEON +#define HAS_ARGBTORAWROW_NEON +#define HAS_ARGBTORGB24ROW_NEON +#define HAS_ARGBTORGB565DITHERROW_NEON +#define HAS_ARGBTORGB565ROW_NEON +#define HAS_ARGBTOUV411ROW_NEON +#define HAS_ARGBTOUV444ROW_NEON +#define HAS_ARGBTOUVJROW_NEON +#define HAS_ARGBTOUVROW_NEON +#define HAS_ARGBTOYJROW_NEON +#define HAS_ARGBTOYROW_NEON +#define HAS_ARGBEXTRACTALPHAROW_NEON +#define HAS_BGRATOUVROW_NEON +#define HAS_BGRATOYROW_NEON +#define HAS_COPYROW_NEON +#define HAS_I400TOARGBROW_NEON +#define HAS_I411TOARGBROW_NEON +#define HAS_I422ALPHATOARGBROW_NEON +#define HAS_I422TOARGB1555ROW_NEON +#define HAS_I422TOARGB4444ROW_NEON +#define HAS_I422TOARGBROW_NEON +#define HAS_I422TORGB24ROW_NEON +#define HAS_I422TORGB565ROW_NEON +#define HAS_I422TORGBAROW_NEON +#define HAS_I422TOUYVYROW_NEON +#define HAS_I422TOYUY2ROW_NEON +#define HAS_I444TOARGBROW_NEON +#define HAS_J400TOARGBROW_NEON +#define HAS_MERGEUVROW_NEON +#define HAS_MIRRORROW_NEON +#define HAS_MIRRORUVROW_NEON +#define HAS_NV12TOARGBROW_NEON +#define HAS_NV12TORGB565ROW_NEON +#define HAS_NV21TOARGBROW_NEON +#define HAS_RAWTOARGBROW_NEON +#define HAS_RAWTORGB24ROW_NEON +#define HAS_RAWTOUVROW_NEON +#define HAS_RAWTOYROW_NEON +#define HAS_RGB24TOARGBROW_NEON +#define HAS_RGB24TOUVROW_NEON +#define HAS_RGB24TOYROW_NEON +#define HAS_RGB565TOARGBROW_NEON +#define HAS_RGB565TOUVROW_NEON +#define HAS_RGB565TOYROW_NEON +#define HAS_RGBATOUVROW_NEON +#define HAS_RGBATOYROW_NEON +#define HAS_SETROW_NEON +#define HAS_SPLITUVROW_NEON +#define HAS_UYVYTOARGBROW_NEON +#define HAS_UYVYTOUV422ROW_NEON +#define HAS_UYVYTOUVROW_NEON +#define HAS_UYVYTOYROW_NEON +#define HAS_YUY2TOARGBROW_NEON +#define HAS_YUY2TOUV422ROW_NEON +#define HAS_YUY2TOUVROW_NEON +#define HAS_YUY2TOYROW_NEON + +// Effects: +#define HAS_ARGBADDROW_NEON +#define HAS_ARGBATTENUATEROW_NEON +#define HAS_ARGBBLENDROW_NEON +#define HAS_ARGBCOLORMATRIXROW_NEON +#define HAS_ARGBGRAYROW_NEON +#define HAS_ARGBMIRRORROW_NEON +#define HAS_ARGBMULTIPLYROW_NEON +#define HAS_ARGBQUANTIZEROW_NEON +#define HAS_ARGBSEPIAROW_NEON +#define HAS_ARGBSHADEROW_NEON +#define HAS_ARGBSHUFFLEROW_NEON +#define HAS_ARGBSUBTRACTROW_NEON +#define HAS_INTERPOLATEROW_NEON +#define HAS_SOBELROW_NEON +#define HAS_SOBELTOPLANEROW_NEON +#define HAS_SOBELXROW_NEON +#define HAS_SOBELXYROW_NEON +#define HAS_SOBELYROW_NEON +#endif + +// The following are available on Mips platforms: +#if !defined(LIBYUV_DISABLE_MIPS) && defined(__mips__) && \ + (_MIPS_SIM == _MIPS_SIM_ABI32) && (__mips_isa_rev < 6) +#define HAS_COPYROW_MIPS +#if defined(__mips_dsp) && (__mips_dsp_rev >= 2) +#define HAS_I422TOARGBROW_DSPR2 +#define HAS_INTERPOLATEROW_DSPR2 +#define HAS_MIRRORROW_DSPR2 +#define HAS_MIRRORUVROW_DSPR2 +#define HAS_SPLITUVROW_DSPR2 +#endif +#endif + +#if !defined(LIBYUV_DISABLE_MSA) && defined(__mips_msa) +#define HAS_MIRRORROW_MSA +#define HAS_ARGBMIRRORROW_MSA +#endif + +#if defined(_MSC_VER) && !defined(__CLR_VER) && !defined(__clang__) +#if defined(VISUALC_HAS_AVX2) +#define SIMD_ALIGNED(var) __declspec(align(32)) var +#else +#define SIMD_ALIGNED(var) __declspec(align(16)) var +#endif +typedef __declspec(align(16)) int16 vec16[8]; +typedef __declspec(align(16)) int32 vec32[4]; +typedef __declspec(align(16)) int8 vec8[16]; +typedef __declspec(align(16)) uint16 uvec16[8]; +typedef __declspec(align(16)) uint32 uvec32[4]; +typedef __declspec(align(16)) uint8 uvec8[16]; +typedef __declspec(align(32)) int16 lvec16[16]; +typedef __declspec(align(32)) int32 lvec32[8]; +typedef __declspec(align(32)) int8 lvec8[32]; +typedef __declspec(align(32)) uint16 ulvec16[16]; +typedef __declspec(align(32)) uint32 ulvec32[8]; +typedef __declspec(align(32)) uint8 ulvec8[32]; +#elif !defined(__pnacl__) && (defined(__GNUC__) || defined(__clang__)) +// Caveat GCC 4.2 to 4.7 have a known issue using vectors with const. +#if defined(CLANG_HAS_AVX2) || defined(GCC_HAS_AVX2) +#define SIMD_ALIGNED(var) var __attribute__((aligned(32))) +#else +#define SIMD_ALIGNED(var) var __attribute__((aligned(16))) +#endif +typedef int16 __attribute__((vector_size(16))) vec16; +typedef int32 __attribute__((vector_size(16))) vec32; +typedef int8 __attribute__((vector_size(16))) vec8; +typedef uint16 __attribute__((vector_size(16))) uvec16; +typedef uint32 __attribute__((vector_size(16))) uvec32; +typedef uint8 __attribute__((vector_size(16))) uvec8; +typedef int16 __attribute__((vector_size(32))) lvec16; +typedef int32 __attribute__((vector_size(32))) lvec32; +typedef int8 __attribute__((vector_size(32))) lvec8; +typedef uint16 __attribute__((vector_size(32))) ulvec16; +typedef uint32 __attribute__((vector_size(32))) ulvec32; +typedef uint8 __attribute__((vector_size(32))) ulvec8; +#else +#define SIMD_ALIGNED(var) var +typedef int16 vec16[8]; +typedef int32 vec32[4]; +typedef int8 vec8[16]; +typedef uint16 uvec16[8]; +typedef uint32 uvec32[4]; +typedef uint8 uvec8[16]; +typedef int16 lvec16[16]; +typedef int32 lvec32[8]; +typedef int8 lvec8[32]; +typedef uint16 ulvec16[16]; +typedef uint32 ulvec32[8]; +typedef uint8 ulvec8[32]; +#endif + +#if defined(__aarch64__) +// This struct is for Arm64 color conversion. +struct YuvConstants { + uvec16 kUVToRB; + uvec16 kUVToRB2; + uvec16 kUVToG; + uvec16 kUVToG2; + vec16 kUVBiasBGR; + vec32 kYToRgb; +}; +#elif defined(__arm__) +// This struct is for ArmV7 color conversion. +struct YuvConstants { + uvec8 kUVToRB; + uvec8 kUVToG; + vec16 kUVBiasBGR; + vec32 kYToRgb; +}; +#else +// This struct is for Intel color conversion. +struct YuvConstants { + int8 kUVToB[32]; + int8 kUVToG[32]; + int8 kUVToR[32]; + int16 kUVBiasB[16]; + int16 kUVBiasG[16]; + int16 kUVBiasR[16]; + int16 kYToRgb[16]; +}; + +// Offsets into YuvConstants structure +#define KUVTOB 0 +#define KUVTOG 32 +#define KUVTOR 64 +#define KUVBIASB 96 +#define KUVBIASG 128 +#define KUVBIASR 160 +#define KYTORGB 192 +#endif + +// Conversion matrix for YUV to RGB +extern const struct YuvConstants SIMD_ALIGNED(kYuvI601Constants); // BT.601 +extern const struct YuvConstants SIMD_ALIGNED(kYuvJPEGConstants); // JPeg +extern const struct YuvConstants SIMD_ALIGNED(kYuvH709Constants); // BT.709 + +// Conversion matrix for YVU to BGR +extern const struct YuvConstants SIMD_ALIGNED(kYvuI601Constants); // BT.601 +extern const struct YuvConstants SIMD_ALIGNED(kYvuJPEGConstants); // JPeg +extern const struct YuvConstants SIMD_ALIGNED(kYvuH709Constants); // BT.709 + +#if defined(__APPLE__) || defined(__x86_64__) || defined(__llvm__) +#define OMITFP +#else +#define OMITFP __attribute__((optimize("omit-frame-pointer"))) +#endif + +// NaCL macros for GCC x86 and x64. +#if defined(__native_client__) +#define LABELALIGN ".p2align 5\n" +#else +#define LABELALIGN +#endif +#if defined(__native_client__) && defined(__x86_64__) +// r14 is used for MEMOP macros. +#define NACL_R14 "r14", +#define BUNDLELOCK ".bundle_lock\n" +#define BUNDLEUNLOCK ".bundle_unlock\n" +#define MEMACCESS(base) "%%nacl:(%%r15,%q" #base ")" +#define MEMACCESS2(offset, base) "%%nacl:" #offset "(%%r15,%q" #base ")" +#define MEMLEA(offset, base) #offset "(%q" #base ")" +#define MEMLEA3(offset, index, scale) \ + #offset "(,%q" #index "," #scale ")" +#define MEMLEA4(offset, base, index, scale) \ + #offset "(%q" #base ",%q" #index "," #scale ")" +#define MEMMOVESTRING(s, d) "%%nacl:(%q" #s "),%%nacl:(%q" #d "), %%r15" +#define MEMSTORESTRING(reg, d) "%%" #reg ",%%nacl:(%q" #d "), %%r15" +#define MEMOPREG(opcode, offset, base, index, scale, reg) \ + BUNDLELOCK \ + "lea " #offset "(%q" #base ",%q" #index "," #scale "),%%r14d\n" \ + #opcode " (%%r15,%%r14),%%" #reg "\n" \ + BUNDLEUNLOCK +#define MEMOPMEM(opcode, reg, offset, base, index, scale) \ + BUNDLELOCK \ + "lea " #offset "(%q" #base ",%q" #index "," #scale "),%%r14d\n" \ + #opcode " %%" #reg ",(%%r15,%%r14)\n" \ + BUNDLEUNLOCK +#define MEMOPARG(opcode, offset, base, index, scale, arg) \ + BUNDLELOCK \ + "lea " #offset "(%q" #base ",%q" #index "," #scale "),%%r14d\n" \ + #opcode " (%%r15,%%r14),%" #arg "\n" \ + BUNDLEUNLOCK +#define VMEMOPREG(opcode, offset, base, index, scale, reg1, reg2) \ + BUNDLELOCK \ + "lea " #offset "(%q" #base ",%q" #index "," #scale "),%%r14d\n" \ + #opcode " (%%r15,%%r14),%%" #reg1 ",%%" #reg2 "\n" \ + BUNDLEUNLOCK +#define VEXTOPMEM(op, sel, reg, offset, base, index, scale) \ + BUNDLELOCK \ + "lea " #offset "(%q" #base ",%q" #index "," #scale "),%%r14d\n" \ + #op " $" #sel ",%%" #reg ",(%%r15,%%r14)\n" \ + BUNDLEUNLOCK +#else // defined(__native_client__) && defined(__x86_64__) +#define NACL_R14 +#define BUNDLEALIGN +#define MEMACCESS(base) "(%" #base ")" +#define MEMACCESS2(offset, base) #offset "(%" #base ")" +#define MEMLEA(offset, base) #offset "(%" #base ")" +#define MEMLEA3(offset, index, scale) \ + #offset "(,%" #index "," #scale ")" +#define MEMLEA4(offset, base, index, scale) \ + #offset "(%" #base ",%" #index "," #scale ")" +#define MEMMOVESTRING(s, d) +#define MEMSTORESTRING(reg, d) +#define MEMOPREG(opcode, offset, base, index, scale, reg) \ + #opcode " " #offset "(%" #base ",%" #index "," #scale "),%%" #reg "\n" +#define MEMOPMEM(opcode, reg, offset, base, index, scale) \ + #opcode " %%" #reg ","#offset "(%" #base ",%" #index "," #scale ")\n" +#define MEMOPARG(opcode, offset, base, index, scale, arg) \ + #opcode " " #offset "(%" #base ",%" #index "," #scale "),%" #arg "\n" +#define VMEMOPREG(opcode, offset, base, index, scale, reg1, reg2) \ + #opcode " " #offset "(%" #base ",%" #index "," #scale "),%%" #reg1 ",%%" \ + #reg2 "\n" +#define VEXTOPMEM(op, sel, reg, offset, base, index, scale) \ + #op " $" #sel ",%%" #reg ","#offset "(%" #base ",%" #index "," #scale ")\n" +#endif // defined(__native_client__) && defined(__x86_64__) + +#if defined(__arm__) || defined(__aarch64__) +#undef MEMACCESS +#if defined(__native_client__) +#define MEMACCESS(base) ".p2align 3\nbic %" #base ", #0xc0000000\n" +#else +#define MEMACCESS(base) +#endif +#endif + +void I444ToARGBRow_NEON(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I422ToARGBRow_NEON(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I422AlphaToARGBRow_NEON(const uint8* y_buf, + const uint8* u_buf, + const uint8* v_buf, + const uint8* a_buf, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I422ToARGBRow_NEON(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I411ToARGBRow_NEON(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I422ToRGBARow_NEON(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_rgba, + const struct YuvConstants* yuvconstants, + int width); +void I422ToRGB24Row_NEON(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_rgb24, + const struct YuvConstants* yuvconstants, + int width); +void I422ToRGB565Row_NEON(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_rgb565, + const struct YuvConstants* yuvconstants, + int width); +void I422ToARGB1555Row_NEON(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb1555, + const struct YuvConstants* yuvconstants, + int width); +void I422ToARGB4444Row_NEON(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb4444, + const struct YuvConstants* yuvconstants, + int width); +void NV12ToARGBRow_NEON(const uint8* src_y, + const uint8* src_uv, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void NV12ToRGB565Row_NEON(const uint8* src_y, + const uint8* src_uv, + uint8* dst_rgb565, + const struct YuvConstants* yuvconstants, + int width); +void NV21ToARGBRow_NEON(const uint8* src_y, + const uint8* src_vu, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void YUY2ToARGBRow_NEON(const uint8* src_yuy2, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void UYVYToARGBRow_NEON(const uint8* src_uyvy, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); + +void ARGBToYRow_AVX2(const uint8* src_argb, uint8* dst_y, int width); +void ARGBToYRow_Any_AVX2(const uint8* src_argb, uint8* dst_y, int width); +void ARGBToYRow_SSSE3(const uint8* src_argb, uint8* dst_y, int width); +void ARGBToYJRow_AVX2(const uint8* src_argb, uint8* dst_y, int width); +void ARGBToYJRow_Any_AVX2(const uint8* src_argb, uint8* dst_y, int width); +void ARGBToYJRow_SSSE3(const uint8* src_argb, uint8* dst_y, int width); +void BGRAToYRow_SSSE3(const uint8* src_bgra, uint8* dst_y, int width); +void ABGRToYRow_SSSE3(const uint8* src_abgr, uint8* dst_y, int width); +void RGBAToYRow_SSSE3(const uint8* src_rgba, uint8* dst_y, int width); +void RGB24ToYRow_SSSE3(const uint8* src_rgb24, uint8* dst_y, int width); +void RAWToYRow_SSSE3(const uint8* src_raw, uint8* dst_y, int width); +void ARGBToYRow_NEON(const uint8* src_argb, uint8* dst_y, int width); +void ARGBToYJRow_NEON(const uint8* src_argb, uint8* dst_y, int width); +void ARGBToUV444Row_NEON(const uint8* src_argb, uint8* dst_u, uint8* dst_v, + int width); +void ARGBToUV411Row_NEON(const uint8* src_argb, uint8* dst_u, uint8* dst_v, + int width); +void ARGBToUVRow_NEON(const uint8* src_argb, int src_stride_argb, + uint8* dst_u, uint8* dst_v, int width); +void ARGBToUVJRow_NEON(const uint8* src_argb, int src_stride_argb, + uint8* dst_u, uint8* dst_v, int width); +void BGRAToUVRow_NEON(const uint8* src_bgra, int src_stride_bgra, + uint8* dst_u, uint8* dst_v, int width); +void ABGRToUVRow_NEON(const uint8* src_abgr, int src_stride_abgr, + uint8* dst_u, uint8* dst_v, int width); +void RGBAToUVRow_NEON(const uint8* src_rgba, int src_stride_rgba, + uint8* dst_u, uint8* dst_v, int width); +void RGB24ToUVRow_NEON(const uint8* src_rgb24, int src_stride_rgb24, + uint8* dst_u, uint8* dst_v, int width); +void RAWToUVRow_NEON(const uint8* src_raw, int src_stride_raw, + uint8* dst_u, uint8* dst_v, int width); +void RGB565ToUVRow_NEON(const uint8* src_rgb565, int src_stride_rgb565, + uint8* dst_u, uint8* dst_v, int width); +void ARGB1555ToUVRow_NEON(const uint8* src_argb1555, int src_stride_argb1555, + uint8* dst_u, uint8* dst_v, int width); +void ARGB4444ToUVRow_NEON(const uint8* src_argb4444, int src_stride_argb4444, + uint8* dst_u, uint8* dst_v, int width); +void BGRAToYRow_NEON(const uint8* src_bgra, uint8* dst_y, int width); +void ABGRToYRow_NEON(const uint8* src_abgr, uint8* dst_y, int width); +void RGBAToYRow_NEON(const uint8* src_rgba, uint8* dst_y, int width); +void RGB24ToYRow_NEON(const uint8* src_rgb24, uint8* dst_y, int width); +void RAWToYRow_NEON(const uint8* src_raw, uint8* dst_y, int width); +void RGB565ToYRow_NEON(const uint8* src_rgb565, uint8* dst_y, int width); +void ARGB1555ToYRow_NEON(const uint8* src_argb1555, uint8* dst_y, int width); +void ARGB4444ToYRow_NEON(const uint8* src_argb4444, uint8* dst_y, int width); +void ARGBToYRow_C(const uint8* src_argb, uint8* dst_y, int width); +void ARGBToYJRow_C(const uint8* src_argb, uint8* dst_y, int width); +void BGRAToYRow_C(const uint8* src_bgra, uint8* dst_y, int width); +void ABGRToYRow_C(const uint8* src_abgr, uint8* dst_y, int width); +void RGBAToYRow_C(const uint8* src_rgba, uint8* dst_y, int width); +void RGB24ToYRow_C(const uint8* src_rgb24, uint8* dst_y, int width); +void RAWToYRow_C(const uint8* src_raw, uint8* dst_y, int width); +void RGB565ToYRow_C(const uint8* src_rgb565, uint8* dst_y, int width); +void ARGB1555ToYRow_C(const uint8* src_argb1555, uint8* dst_y, int width); +void ARGB4444ToYRow_C(const uint8* src_argb4444, uint8* dst_y, int width); +void ARGBToYRow_Any_SSSE3(const uint8* src_argb, uint8* dst_y, int width); +void ARGBToYJRow_Any_SSSE3(const uint8* src_argb, uint8* dst_y, int width); +void BGRAToYRow_Any_SSSE3(const uint8* src_bgra, uint8* dst_y, int width); +void ABGRToYRow_Any_SSSE3(const uint8* src_abgr, uint8* dst_y, int width); +void RGBAToYRow_Any_SSSE3(const uint8* src_rgba, uint8* dst_y, int width); +void RGB24ToYRow_Any_SSSE3(const uint8* src_rgb24, uint8* dst_y, int width); +void RAWToYRow_Any_SSSE3(const uint8* src_raw, uint8* dst_y, int width); +void ARGBToYRow_Any_NEON(const uint8* src_argb, uint8* dst_y, int width); +void ARGBToYJRow_Any_NEON(const uint8* src_argb, uint8* dst_y, int width); +void BGRAToYRow_Any_NEON(const uint8* src_bgra, uint8* dst_y, int width); +void ABGRToYRow_Any_NEON(const uint8* src_abgr, uint8* dst_y, int width); +void RGBAToYRow_Any_NEON(const uint8* src_rgba, uint8* dst_y, int width); +void RGB24ToYRow_Any_NEON(const uint8* src_rgb24, uint8* dst_y, int width); +void RAWToYRow_Any_NEON(const uint8* src_raw, uint8* dst_y, int width); +void RGB565ToYRow_Any_NEON(const uint8* src_rgb565, uint8* dst_y, int width); +void ARGB1555ToYRow_Any_NEON(const uint8* src_argb1555, uint8* dst_y, + int width); +void ARGB4444ToYRow_Any_NEON(const uint8* src_argb4444, uint8* dst_y, + int width); + +void ARGBToUVRow_AVX2(const uint8* src_argb, int src_stride_argb, + uint8* dst_u, uint8* dst_v, int width); +void ARGBToUVJRow_AVX2(const uint8* src_argb, int src_stride_argb, + uint8* dst_u, uint8* dst_v, int width); +void ARGBToUVRow_SSSE3(const uint8* src_argb, int src_stride_argb, + uint8* dst_u, uint8* dst_v, int width); +void ARGBToUVJRow_SSSE3(const uint8* src_argb, int src_stride_argb, + uint8* dst_u, uint8* dst_v, int width); +void BGRAToUVRow_SSSE3(const uint8* src_bgra, int src_stride_bgra, + uint8* dst_u, uint8* dst_v, int width); +void ABGRToUVRow_SSSE3(const uint8* src_abgr, int src_stride_abgr, + uint8* dst_u, uint8* dst_v, int width); +void RGBAToUVRow_SSSE3(const uint8* src_rgba, int src_stride_rgba, + uint8* dst_u, uint8* dst_v, int width); +void ARGBToUVRow_Any_AVX2(const uint8* src_argb, int src_stride_argb, + uint8* dst_u, uint8* dst_v, int width); +void ARGBToUVJRow_Any_AVX2(const uint8* src_argb, int src_stride_argb, + uint8* dst_u, uint8* dst_v, int width); +void ARGBToUVRow_Any_SSSE3(const uint8* src_argb, int src_stride_argb, + uint8* dst_u, uint8* dst_v, int width); +void ARGBToUVJRow_Any_SSSE3(const uint8* src_argb, int src_stride_argb, + uint8* dst_u, uint8* dst_v, int width); +void BGRAToUVRow_Any_SSSE3(const uint8* src_bgra, int src_stride_bgra, + uint8* dst_u, uint8* dst_v, int width); +void ABGRToUVRow_Any_SSSE3(const uint8* src_abgr, int src_stride_abgr, + uint8* dst_u, uint8* dst_v, int width); +void RGBAToUVRow_Any_SSSE3(const uint8* src_rgba, int src_stride_rgba, + uint8* dst_u, uint8* dst_v, int width); +void ARGBToUV444Row_Any_NEON(const uint8* src_argb, uint8* dst_u, uint8* dst_v, + int width); +void ARGBToUV411Row_Any_NEON(const uint8* src_argb, uint8* dst_u, uint8* dst_v, + int width); +void ARGBToUVRow_Any_NEON(const uint8* src_argb, int src_stride_argb, + uint8* dst_u, uint8* dst_v, int width); +void ARGBToUVJRow_Any_NEON(const uint8* src_argb, int src_stride_argb, + uint8* dst_u, uint8* dst_v, int width); +void BGRAToUVRow_Any_NEON(const uint8* src_bgra, int src_stride_bgra, + uint8* dst_u, uint8* dst_v, int width); +void ABGRToUVRow_Any_NEON(const uint8* src_abgr, int src_stride_abgr, + uint8* dst_u, uint8* dst_v, int width); +void RGBAToUVRow_Any_NEON(const uint8* src_rgba, int src_stride_rgba, + uint8* dst_u, uint8* dst_v, int width); +void RGB24ToUVRow_Any_NEON(const uint8* src_rgb24, int src_stride_rgb24, + uint8* dst_u, uint8* dst_v, int width); +void RAWToUVRow_Any_NEON(const uint8* src_raw, int src_stride_raw, + uint8* dst_u, uint8* dst_v, int width); +void RGB565ToUVRow_Any_NEON(const uint8* src_rgb565, int src_stride_rgb565, + uint8* dst_u, uint8* dst_v, int width); +void ARGB1555ToUVRow_Any_NEON(const uint8* src_argb1555, + int src_stride_argb1555, + uint8* dst_u, uint8* dst_v, int width); +void ARGB4444ToUVRow_Any_NEON(const uint8* src_argb4444, + int src_stride_argb4444, + uint8* dst_u, uint8* dst_v, int width); +void ARGBToUVRow_C(const uint8* src_argb, int src_stride_argb, + uint8* dst_u, uint8* dst_v, int width); +void ARGBToUVJRow_C(const uint8* src_argb, int src_stride_argb, + uint8* dst_u, uint8* dst_v, int width); +void BGRAToUVRow_C(const uint8* src_bgra, int src_stride_bgra, + uint8* dst_u, uint8* dst_v, int width); +void ABGRToUVRow_C(const uint8* src_abgr, int src_stride_abgr, + uint8* dst_u, uint8* dst_v, int width); +void RGBAToUVRow_C(const uint8* src_rgba, int src_stride_rgba, + uint8* dst_u, uint8* dst_v, int width); +void RGB24ToUVRow_C(const uint8* src_rgb24, int src_stride_rgb24, + uint8* dst_u, uint8* dst_v, int width); +void RAWToUVRow_C(const uint8* src_raw, int src_stride_raw, + uint8* dst_u, uint8* dst_v, int width); +void RGB565ToUVRow_C(const uint8* src_rgb565, int src_stride_rgb565, + uint8* dst_u, uint8* dst_v, int width); +void ARGB1555ToUVRow_C(const uint8* src_argb1555, int src_stride_argb1555, + uint8* dst_u, uint8* dst_v, int width); +void ARGB4444ToUVRow_C(const uint8* src_argb4444, int src_stride_argb4444, + uint8* dst_u, uint8* dst_v, int width); + +void ARGBToUV444Row_SSSE3(const uint8* src_argb, + uint8* dst_u, uint8* dst_v, int width); +void ARGBToUV444Row_Any_SSSE3(const uint8* src_argb, + uint8* dst_u, uint8* dst_v, int width); + +void ARGBToUV444Row_C(const uint8* src_argb, + uint8* dst_u, uint8* dst_v, int width); +void ARGBToUV411Row_C(const uint8* src_argb, + uint8* dst_u, uint8* dst_v, int width); + +void MirrorRow_AVX2(const uint8* src, uint8* dst, int width); +void MirrorRow_SSSE3(const uint8* src, uint8* dst, int width); +void MirrorRow_NEON(const uint8* src, uint8* dst, int width); +void MirrorRow_DSPR2(const uint8* src, uint8* dst, int width); +void MirrorRow_MSA(const uint8* src, uint8* dst, int width); +void MirrorRow_C(const uint8* src, uint8* dst, int width); +void MirrorRow_Any_AVX2(const uint8* src, uint8* dst, int width); +void MirrorRow_Any_SSSE3(const uint8* src, uint8* dst, int width); +void MirrorRow_Any_SSE2(const uint8* src, uint8* dst, int width); +void MirrorRow_Any_NEON(const uint8* src, uint8* dst, int width); +void MirrorRow_Any_MSA(const uint8* src, uint8* dst, int width); + +void MirrorUVRow_SSSE3(const uint8* src_uv, uint8* dst_u, uint8* dst_v, + int width); +void MirrorUVRow_NEON(const uint8* src_uv, uint8* dst_u, uint8* dst_v, + int width); +void MirrorUVRow_DSPR2(const uint8* src_uv, uint8* dst_u, uint8* dst_v, + int width); +void MirrorUVRow_C(const uint8* src_uv, uint8* dst_u, uint8* dst_v, int width); + +void ARGBMirrorRow_AVX2(const uint8* src, uint8* dst, int width); +void ARGBMirrorRow_SSE2(const uint8* src, uint8* dst, int width); +void ARGBMirrorRow_NEON(const uint8* src, uint8* dst, int width); +void ARGBMirrorRow_MSA(const uint8* src, uint8* dst, int width); +void ARGBMirrorRow_C(const uint8* src, uint8* dst, int width); +void ARGBMirrorRow_Any_AVX2(const uint8* src, uint8* dst, int width); +void ARGBMirrorRow_Any_SSE2(const uint8* src, uint8* dst, int width); +void ARGBMirrorRow_Any_NEON(const uint8* src, uint8* dst, int width); +void ARGBMirrorRow_Any_MSA(const uint8* src, uint8* dst, int width); + +void SplitUVRow_C(const uint8* src_uv, uint8* dst_u, uint8* dst_v, int width); +void SplitUVRow_SSE2(const uint8* src_uv, uint8* dst_u, uint8* dst_v, + int width); +void SplitUVRow_AVX2(const uint8* src_uv, uint8* dst_u, uint8* dst_v, + int width); +void SplitUVRow_NEON(const uint8* src_uv, uint8* dst_u, uint8* dst_v, + int width); +void SplitUVRow_DSPR2(const uint8* src_uv, uint8* dst_u, uint8* dst_v, + int width); +void SplitUVRow_Any_SSE2(const uint8* src_uv, uint8* dst_u, uint8* dst_v, + int width); +void SplitUVRow_Any_AVX2(const uint8* src_uv, uint8* dst_u, uint8* dst_v, + int width); +void SplitUVRow_Any_NEON(const uint8* src_uv, uint8* dst_u, uint8* dst_v, + int width); +void SplitUVRow_Any_DSPR2(const uint8* src_uv, uint8* dst_u, uint8* dst_v, + int width); + +void MergeUVRow_C(const uint8* src_u, const uint8* src_v, uint8* dst_uv, + int width); +void MergeUVRow_SSE2(const uint8* src_u, const uint8* src_v, uint8* dst_uv, + int width); +void MergeUVRow_AVX2(const uint8* src_u, const uint8* src_v, uint8* dst_uv, + int width); +void MergeUVRow_NEON(const uint8* src_u, const uint8* src_v, uint8* dst_uv, + int width); +void MergeUVRow_Any_SSE2(const uint8* src_u, const uint8* src_v, uint8* dst_uv, + int width); +void MergeUVRow_Any_AVX2(const uint8* src_u, const uint8* src_v, uint8* dst_uv, + int width); +void MergeUVRow_Any_NEON(const uint8* src_u, const uint8* src_v, uint8* dst_uv, + int width); + +void CopyRow_SSE2(const uint8* src, uint8* dst, int count); +void CopyRow_AVX(const uint8* src, uint8* dst, int count); +void CopyRow_ERMS(const uint8* src, uint8* dst, int count); +void CopyRow_NEON(const uint8* src, uint8* dst, int count); +void CopyRow_MIPS(const uint8* src, uint8* dst, int count); +void CopyRow_C(const uint8* src, uint8* dst, int count); +void CopyRow_Any_SSE2(const uint8* src, uint8* dst, int count); +void CopyRow_Any_AVX(const uint8* src, uint8* dst, int count); +void CopyRow_Any_NEON(const uint8* src, uint8* dst, int count); + +void CopyRow_16_C(const uint16* src, uint16* dst, int count); + +void ARGBCopyAlphaRow_C(const uint8* src_argb, uint8* dst_argb, int width); +void ARGBCopyAlphaRow_SSE2(const uint8* src_argb, uint8* dst_argb, int width); +void ARGBCopyAlphaRow_AVX2(const uint8* src_argb, uint8* dst_argb, int width); +void ARGBCopyAlphaRow_Any_SSE2(const uint8* src_argb, uint8* dst_argb, + int width); +void ARGBCopyAlphaRow_Any_AVX2(const uint8* src_argb, uint8* dst_argb, + int width); + +void ARGBExtractAlphaRow_C(const uint8* src_argb, uint8* dst_a, int width); +void ARGBExtractAlphaRow_SSE2(const uint8* src_argb, uint8* dst_a, int width); +void ARGBExtractAlphaRow_NEON(const uint8* src_argb, uint8* dst_a, int width); +void ARGBExtractAlphaRow_Any_SSE2(const uint8* src_argb, uint8* dst_a, + int width); +void ARGBExtractAlphaRow_Any_NEON(const uint8* src_argb, uint8* dst_a, + int width); + +void ARGBCopyYToAlphaRow_C(const uint8* src_y, uint8* dst_argb, int width); +void ARGBCopyYToAlphaRow_SSE2(const uint8* src_y, uint8* dst_argb, int width); +void ARGBCopyYToAlphaRow_AVX2(const uint8* src_y, uint8* dst_argb, int width); +void ARGBCopyYToAlphaRow_Any_SSE2(const uint8* src_y, uint8* dst_argb, + int width); +void ARGBCopyYToAlphaRow_Any_AVX2(const uint8* src_y, uint8* dst_argb, + int width); + +void SetRow_C(uint8* dst, uint8 v8, int count); +void SetRow_X86(uint8* dst, uint8 v8, int count); +void SetRow_ERMS(uint8* dst, uint8 v8, int count); +void SetRow_NEON(uint8* dst, uint8 v8, int count); +void SetRow_Any_X86(uint8* dst, uint8 v8, int count); +void SetRow_Any_NEON(uint8* dst, uint8 v8, int count); + +void ARGBSetRow_C(uint8* dst_argb, uint32 v32, int count); +void ARGBSetRow_X86(uint8* dst_argb, uint32 v32, int count); +void ARGBSetRow_NEON(uint8* dst_argb, uint32 v32, int count); +void ARGBSetRow_Any_NEON(uint8* dst_argb, uint32 v32, int count); + +// ARGBShufflers for BGRAToARGB etc. +void ARGBShuffleRow_C(const uint8* src_argb, uint8* dst_argb, + const uint8* shuffler, int width); +void ARGBShuffleRow_SSE2(const uint8* src_argb, uint8* dst_argb, + const uint8* shuffler, int width); +void ARGBShuffleRow_SSSE3(const uint8* src_argb, uint8* dst_argb, + const uint8* shuffler, int width); +void ARGBShuffleRow_AVX2(const uint8* src_argb, uint8* dst_argb, + const uint8* shuffler, int width); +void ARGBShuffleRow_NEON(const uint8* src_argb, uint8* dst_argb, + const uint8* shuffler, int width); +void ARGBShuffleRow_Any_SSE2(const uint8* src_argb, uint8* dst_argb, + const uint8* shuffler, int width); +void ARGBShuffleRow_Any_SSSE3(const uint8* src_argb, uint8* dst_argb, + const uint8* shuffler, int width); +void ARGBShuffleRow_Any_AVX2(const uint8* src_argb, uint8* dst_argb, + const uint8* shuffler, int width); +void ARGBShuffleRow_Any_NEON(const uint8* src_argb, uint8* dst_argb, + const uint8* shuffler, int width); + +void RGB24ToARGBRow_SSSE3(const uint8* src_rgb24, uint8* dst_argb, int width); +void RAWToARGBRow_SSSE3(const uint8* src_raw, uint8* dst_argb, int width); +void RAWToRGB24Row_SSSE3(const uint8* src_raw, uint8* dst_rgb24, int width); +void RGB565ToARGBRow_SSE2(const uint8* src_rgb565, uint8* dst_argb, int width); +void ARGB1555ToARGBRow_SSE2(const uint8* src_argb1555, uint8* dst_argb, + int width); +void ARGB4444ToARGBRow_SSE2(const uint8* src_argb4444, uint8* dst_argb, + int width); +void RGB565ToARGBRow_AVX2(const uint8* src_rgb565, uint8* dst_argb, int width); +void ARGB1555ToARGBRow_AVX2(const uint8* src_argb1555, uint8* dst_argb, + int width); +void ARGB4444ToARGBRow_AVX2(const uint8* src_argb4444, uint8* dst_argb, + int width); + +void RGB24ToARGBRow_NEON(const uint8* src_rgb24, uint8* dst_argb, int width); +void RAWToARGBRow_NEON(const uint8* src_raw, uint8* dst_argb, int width); +void RAWToRGB24Row_NEON(const uint8* src_raw, uint8* dst_rgb24, int width); +void RGB565ToARGBRow_NEON(const uint8* src_rgb565, uint8* dst_argb, int width); +void ARGB1555ToARGBRow_NEON(const uint8* src_argb1555, uint8* dst_argb, + int width); +void ARGB4444ToARGBRow_NEON(const uint8* src_argb4444, uint8* dst_argb, + int width); +void RGB24ToARGBRow_C(const uint8* src_rgb24, uint8* dst_argb, int width); +void RAWToARGBRow_C(const uint8* src_raw, uint8* dst_argb, int width); +void RAWToRGB24Row_C(const uint8* src_raw, uint8* dst_rgb24, int width); +void RGB565ToARGBRow_C(const uint8* src_rgb, uint8* dst_argb, int width); +void ARGB1555ToARGBRow_C(const uint8* src_argb, uint8* dst_argb, int width); +void ARGB4444ToARGBRow_C(const uint8* src_argb, uint8* dst_argb, int width); +void RGB24ToARGBRow_Any_SSSE3(const uint8* src_rgb24, uint8* dst_argb, + int width); +void RAWToARGBRow_Any_SSSE3(const uint8* src_raw, uint8* dst_argb, int width); +void RAWToRGB24Row_Any_SSSE3(const uint8* src_raw, uint8* dst_rgb24, int width); + +void RGB565ToARGBRow_Any_SSE2(const uint8* src_rgb565, uint8* dst_argb, + int width); +void ARGB1555ToARGBRow_Any_SSE2(const uint8* src_argb1555, uint8* dst_argb, + int width); +void ARGB4444ToARGBRow_Any_SSE2(const uint8* src_argb4444, uint8* dst_argb, + int width); +void RGB565ToARGBRow_Any_AVX2(const uint8* src_rgb565, uint8* dst_argb, + int width); +void ARGB1555ToARGBRow_Any_AVX2(const uint8* src_argb1555, uint8* dst_argb, + int width); +void ARGB4444ToARGBRow_Any_AVX2(const uint8* src_argb4444, uint8* dst_argb, + int width); + +void RGB24ToARGBRow_Any_NEON(const uint8* src_rgb24, uint8* dst_argb, + int width); +void RAWToARGBRow_Any_NEON(const uint8* src_raw, uint8* dst_argb, int width); +void RAWToRGB24Row_Any_NEON(const uint8* src_raw, uint8* dst_rgb24, int width); +void RGB565ToARGBRow_Any_NEON(const uint8* src_rgb565, uint8* dst_argb, + int width); +void ARGB1555ToARGBRow_Any_NEON(const uint8* src_argb1555, uint8* dst_argb, + int width); +void ARGB4444ToARGBRow_Any_NEON(const uint8* src_argb4444, uint8* dst_argb, + int width); + +void ARGBToRGB24Row_SSSE3(const uint8* src_argb, uint8* dst_rgb, int width); +void ARGBToRAWRow_SSSE3(const uint8* src_argb, uint8* dst_rgb, int width); +void ARGBToRGB565Row_SSE2(const uint8* src_argb, uint8* dst_rgb, int width); +void ARGBToARGB1555Row_SSE2(const uint8* src_argb, uint8* dst_rgb, int width); +void ARGBToARGB4444Row_SSE2(const uint8* src_argb, uint8* dst_rgb, int width); + +void ARGBToRGB565DitherRow_C(const uint8* src_argb, uint8* dst_rgb, + const uint32 dither4, int width); +void ARGBToRGB565DitherRow_SSE2(const uint8* src_argb, uint8* dst_rgb, + const uint32 dither4, int width); +void ARGBToRGB565DitherRow_AVX2(const uint8* src_argb, uint8* dst_rgb, + const uint32 dither4, int width); + +void ARGBToRGB565Row_AVX2(const uint8* src_argb, uint8* dst_rgb, int width); +void ARGBToARGB1555Row_AVX2(const uint8* src_argb, uint8* dst_rgb, int width); +void ARGBToARGB4444Row_AVX2(const uint8* src_argb, uint8* dst_rgb, int width); + +void ARGBToRGB24Row_NEON(const uint8* src_argb, uint8* dst_rgb, int width); +void ARGBToRAWRow_NEON(const uint8* src_argb, uint8* dst_rgb, int width); +void ARGBToRGB565Row_NEON(const uint8* src_argb, uint8* dst_rgb, int width); +void ARGBToARGB1555Row_NEON(const uint8* src_argb, uint8* dst_rgb, int width); +void ARGBToARGB4444Row_NEON(const uint8* src_argb, uint8* dst_rgb, int width); +void ARGBToRGB565DitherRow_NEON(const uint8* src_argb, uint8* dst_rgb, + const uint32 dither4, int width); + +void ARGBToRGBARow_C(const uint8* src_argb, uint8* dst_rgb, int width); +void ARGBToRGB24Row_C(const uint8* src_argb, uint8* dst_rgb, int width); +void ARGBToRAWRow_C(const uint8* src_argb, uint8* dst_rgb, int width); +void ARGBToRGB565Row_C(const uint8* src_argb, uint8* dst_rgb, int width); +void ARGBToARGB1555Row_C(const uint8* src_argb, uint8* dst_rgb, int width); +void ARGBToARGB4444Row_C(const uint8* src_argb, uint8* dst_rgb, int width); + +void J400ToARGBRow_SSE2(const uint8* src_y, uint8* dst_argb, int width); +void J400ToARGBRow_AVX2(const uint8* src_y, uint8* dst_argb, int width); +void J400ToARGBRow_NEON(const uint8* src_y, uint8* dst_argb, int width); +void J400ToARGBRow_C(const uint8* src_y, uint8* dst_argb, int width); +void J400ToARGBRow_Any_SSE2(const uint8* src_y, uint8* dst_argb, int width); +void J400ToARGBRow_Any_AVX2(const uint8* src_y, uint8* dst_argb, int width); +void J400ToARGBRow_Any_NEON(const uint8* src_y, uint8* dst_argb, int width); + +void I444ToARGBRow_C(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I422ToARGBRow_C(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I422ToARGBRow_C(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I422AlphaToARGBRow_C(const uint8* y_buf, + const uint8* u_buf, + const uint8* v_buf, + const uint8* a_buf, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I411ToARGBRow_C(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void NV12ToARGBRow_C(const uint8* src_y, + const uint8* src_uv, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void NV12ToRGB565Row_C(const uint8* src_y, + const uint8* src_uv, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void NV21ToARGBRow_C(const uint8* src_y, + const uint8* src_uv, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void YUY2ToARGBRow_C(const uint8* src_yuy2, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void UYVYToARGBRow_C(const uint8* src_uyvy, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I422ToRGBARow_C(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_rgba, + const struct YuvConstants* yuvconstants, + int width); +void I422ToRGB24Row_C(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_rgb24, + const struct YuvConstants* yuvconstants, + int width); +void I422ToARGB4444Row_C(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb4444, + const struct YuvConstants* yuvconstants, + int width); +void I422ToARGB1555Row_C(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb4444, + const struct YuvConstants* yuvconstants, + int width); +void I422ToRGB565Row_C(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_rgb565, + const struct YuvConstants* yuvconstants, + int width); +void I422ToARGBRow_AVX2(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I422ToARGBRow_AVX2(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I422ToRGBARow_AVX2(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I444ToARGBRow_SSSE3(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I444ToARGBRow_AVX2(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I444ToARGBRow_SSSE3(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I444ToARGBRow_AVX2(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I422ToARGBRow_SSSE3(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I422AlphaToARGBRow_SSSE3(const uint8* y_buf, + const uint8* u_buf, + const uint8* v_buf, + const uint8* a_buf, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I422AlphaToARGBRow_AVX2(const uint8* y_buf, + const uint8* u_buf, + const uint8* v_buf, + const uint8* a_buf, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I422ToARGBRow_SSSE3(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I411ToARGBRow_SSSE3(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I411ToARGBRow_AVX2(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void NV12ToARGBRow_SSSE3(const uint8* src_y, + const uint8* src_uv, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void NV12ToARGBRow_AVX2(const uint8* src_y, + const uint8* src_uv, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void NV12ToRGB565Row_SSSE3(const uint8* src_y, + const uint8* src_uv, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void NV12ToRGB565Row_AVX2(const uint8* src_y, + const uint8* src_uv, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void NV21ToARGBRow_SSSE3(const uint8* src_y, + const uint8* src_uv, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void NV21ToARGBRow_AVX2(const uint8* src_y, + const uint8* src_uv, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void YUY2ToARGBRow_SSSE3(const uint8* src_yuy2, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void UYVYToARGBRow_SSSE3(const uint8* src_uyvy, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void YUY2ToARGBRow_AVX2(const uint8* src_yuy2, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void UYVYToARGBRow_AVX2(const uint8* src_uyvy, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I422ToRGBARow_SSSE3(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_rgba, + const struct YuvConstants* yuvconstants, + int width); +void I422ToARGB4444Row_SSSE3(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I422ToARGB4444Row_AVX2(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I422ToARGB1555Row_SSSE3(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I422ToARGB1555Row_AVX2(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I422ToRGB565Row_SSSE3(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I422ToRGB565Row_AVX2(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I422ToRGB24Row_SSSE3(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_rgb24, + const struct YuvConstants* yuvconstants, + int width); +void I422ToRGB24Row_AVX2(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_rgb24, + const struct YuvConstants* yuvconstants, + int width); +void I422ToARGBRow_Any_AVX2(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I422ToRGBARow_Any_AVX2(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I444ToARGBRow_Any_SSSE3(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I444ToARGBRow_Any_AVX2(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I422ToARGBRow_Any_SSSE3(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I422AlphaToARGBRow_Any_SSSE3(const uint8* y_buf, + const uint8* u_buf, + const uint8* v_buf, + const uint8* a_buf, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I422AlphaToARGBRow_Any_AVX2(const uint8* y_buf, + const uint8* u_buf, + const uint8* v_buf, + const uint8* a_buf, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I411ToARGBRow_Any_SSSE3(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I411ToARGBRow_Any_AVX2(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void NV12ToARGBRow_Any_SSSE3(const uint8* src_y, + const uint8* src_uv, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void NV12ToARGBRow_Any_AVX2(const uint8* src_y, + const uint8* src_uv, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void NV21ToARGBRow_Any_SSSE3(const uint8* src_y, + const uint8* src_vu, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void NV21ToARGBRow_Any_AVX2(const uint8* src_y, + const uint8* src_vu, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void NV12ToRGB565Row_Any_SSSE3(const uint8* src_y, + const uint8* src_uv, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void NV12ToRGB565Row_Any_AVX2(const uint8* src_y, + const uint8* src_uv, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void YUY2ToARGBRow_Any_SSSE3(const uint8* src_yuy2, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void UYVYToARGBRow_Any_SSSE3(const uint8* src_uyvy, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void YUY2ToARGBRow_Any_AVX2(const uint8* src_yuy2, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void UYVYToARGBRow_Any_AVX2(const uint8* src_uyvy, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I422ToRGBARow_Any_SSSE3(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_rgba, + const struct YuvConstants* yuvconstants, + int width); +void I422ToARGB4444Row_Any_SSSE3(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_rgba, + const struct YuvConstants* yuvconstants, + int width); +void I422ToARGB4444Row_Any_AVX2(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_rgba, + const struct YuvConstants* yuvconstants, + int width); +void I422ToARGB1555Row_Any_SSSE3(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_rgba, + const struct YuvConstants* yuvconstants, + int width); +void I422ToARGB1555Row_Any_AVX2(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_rgba, + const struct YuvConstants* yuvconstants, + int width); +void I422ToRGB565Row_Any_SSSE3(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_rgba, + const struct YuvConstants* yuvconstants, + int width); +void I422ToRGB565Row_Any_AVX2(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_rgba, + const struct YuvConstants* yuvconstants, + int width); +void I422ToRGB24Row_Any_SSSE3(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I422ToRGB24Row_Any_AVX2(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); + +void I400ToARGBRow_C(const uint8* src_y, uint8* dst_argb, int width); +void I400ToARGBRow_SSE2(const uint8* src_y, uint8* dst_argb, int width); +void I400ToARGBRow_AVX2(const uint8* src_y, uint8* dst_argb, int width); +void I400ToARGBRow_NEON(const uint8* src_y, uint8* dst_argb, int width); +void I400ToARGBRow_Any_SSE2(const uint8* src_y, uint8* dst_argb, int width); +void I400ToARGBRow_Any_AVX2(const uint8* src_y, uint8* dst_argb, int width); +void I400ToARGBRow_Any_NEON(const uint8* src_y, uint8* dst_argb, int width); + +// ARGB preattenuated alpha blend. +void ARGBBlendRow_SSSE3(const uint8* src_argb, const uint8* src_argb1, + uint8* dst_argb, int width); +void ARGBBlendRow_NEON(const uint8* src_argb, const uint8* src_argb1, + uint8* dst_argb, int width); +void ARGBBlendRow_C(const uint8* src_argb, const uint8* src_argb1, + uint8* dst_argb, int width); + +// Unattenuated planar alpha blend. +void BlendPlaneRow_SSSE3(const uint8* src0, const uint8* src1, + const uint8* alpha, uint8* dst, int width); +void BlendPlaneRow_Any_SSSE3(const uint8* src0, const uint8* src1, + const uint8* alpha, uint8* dst, int width); +void BlendPlaneRow_AVX2(const uint8* src0, const uint8* src1, + const uint8* alpha, uint8* dst, int width); +void BlendPlaneRow_Any_AVX2(const uint8* src0, const uint8* src1, + const uint8* alpha, uint8* dst, int width); +void BlendPlaneRow_C(const uint8* src0, const uint8* src1, + const uint8* alpha, uint8* dst, int width); + +// ARGB multiply images. Same API as Blend, but these require +// pointer and width alignment for SSE2. +void ARGBMultiplyRow_C(const uint8* src_argb, const uint8* src_argb1, + uint8* dst_argb, int width); +void ARGBMultiplyRow_SSE2(const uint8* src_argb, const uint8* src_argb1, + uint8* dst_argb, int width); +void ARGBMultiplyRow_Any_SSE2(const uint8* src_argb, const uint8* src_argb1, + uint8* dst_argb, int width); +void ARGBMultiplyRow_AVX2(const uint8* src_argb, const uint8* src_argb1, + uint8* dst_argb, int width); +void ARGBMultiplyRow_Any_AVX2(const uint8* src_argb, const uint8* src_argb1, + uint8* dst_argb, int width); +void ARGBMultiplyRow_NEON(const uint8* src_argb, const uint8* src_argb1, + uint8* dst_argb, int width); +void ARGBMultiplyRow_Any_NEON(const uint8* src_argb, const uint8* src_argb1, + uint8* dst_argb, int width); + +// ARGB add images. +void ARGBAddRow_C(const uint8* src_argb, const uint8* src_argb1, + uint8* dst_argb, int width); +void ARGBAddRow_SSE2(const uint8* src_argb, const uint8* src_argb1, + uint8* dst_argb, int width); +void ARGBAddRow_Any_SSE2(const uint8* src_argb, const uint8* src_argb1, + uint8* dst_argb, int width); +void ARGBAddRow_AVX2(const uint8* src_argb, const uint8* src_argb1, + uint8* dst_argb, int width); +void ARGBAddRow_Any_AVX2(const uint8* src_argb, const uint8* src_argb1, + uint8* dst_argb, int width); +void ARGBAddRow_NEON(const uint8* src_argb, const uint8* src_argb1, + uint8* dst_argb, int width); +void ARGBAddRow_Any_NEON(const uint8* src_argb, const uint8* src_argb1, + uint8* dst_argb, int width); + +// ARGB subtract images. Same API as Blend, but these require +// pointer and width alignment for SSE2. +void ARGBSubtractRow_C(const uint8* src_argb, const uint8* src_argb1, + uint8* dst_argb, int width); +void ARGBSubtractRow_SSE2(const uint8* src_argb, const uint8* src_argb1, + uint8* dst_argb, int width); +void ARGBSubtractRow_Any_SSE2(const uint8* src_argb, const uint8* src_argb1, + uint8* dst_argb, int width); +void ARGBSubtractRow_AVX2(const uint8* src_argb, const uint8* src_argb1, + uint8* dst_argb, int width); +void ARGBSubtractRow_Any_AVX2(const uint8* src_argb, const uint8* src_argb1, + uint8* dst_argb, int width); +void ARGBSubtractRow_NEON(const uint8* src_argb, const uint8* src_argb1, + uint8* dst_argb, int width); +void ARGBSubtractRow_Any_NEON(const uint8* src_argb, const uint8* src_argb1, + uint8* dst_argb, int width); + +void ARGBToRGB24Row_Any_SSSE3(const uint8* src_argb, uint8* dst_rgb, int width); +void ARGBToRAWRow_Any_SSSE3(const uint8* src_argb, uint8* dst_rgb, int width); +void ARGBToRGB565Row_Any_SSE2(const uint8* src_argb, uint8* dst_rgb, int width); +void ARGBToARGB1555Row_Any_SSE2(const uint8* src_argb, uint8* dst_rgb, + int width); +void ARGBToARGB4444Row_Any_SSE2(const uint8* src_argb, uint8* dst_rgb, + int width); + +void ARGBToRGB565DitherRow_Any_SSE2(const uint8* src_argb, uint8* dst_rgb, + const uint32 dither4, int width); +void ARGBToRGB565DitherRow_Any_AVX2(const uint8* src_argb, uint8* dst_rgb, + const uint32 dither4, int width); + +void ARGBToRGB565Row_Any_AVX2(const uint8* src_argb, uint8* dst_rgb, int width); +void ARGBToARGB1555Row_Any_AVX2(const uint8* src_argb, uint8* dst_rgb, + int width); +void ARGBToARGB4444Row_Any_AVX2(const uint8* src_argb, uint8* dst_rgb, + int width); + +void ARGBToRGB24Row_Any_NEON(const uint8* src_argb, uint8* dst_rgb, int width); +void ARGBToRAWRow_Any_NEON(const uint8* src_argb, uint8* dst_rgb, int width); +void ARGBToRGB565Row_Any_NEON(const uint8* src_argb, uint8* dst_rgb, int width); +void ARGBToARGB1555Row_Any_NEON(const uint8* src_argb, uint8* dst_rgb, + int width); +void ARGBToARGB4444Row_Any_NEON(const uint8* src_argb, uint8* dst_rgb, + int width); +void ARGBToRGB565DitherRow_Any_NEON(const uint8* src_argb, uint8* dst_rgb, + const uint32 dither4, int width); + +void I444ToARGBRow_Any_NEON(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I422ToARGBRow_Any_NEON(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I422AlphaToARGBRow_Any_NEON(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + const uint8* src_a, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I411ToARGBRow_Any_NEON(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I422ToRGBARow_Any_NEON(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I422ToRGB24Row_Any_NEON(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I422ToARGB4444Row_Any_NEON(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I422ToARGB1555Row_Any_NEON(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I422ToRGB565Row_Any_NEON(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void NV12ToARGBRow_Any_NEON(const uint8* src_y, + const uint8* src_uv, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void NV21ToARGBRow_Any_NEON(const uint8* src_y, + const uint8* src_vu, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void NV12ToRGB565Row_Any_NEON(const uint8* src_y, + const uint8* src_uv, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void YUY2ToARGBRow_Any_NEON(const uint8* src_yuy2, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void UYVYToARGBRow_Any_NEON(const uint8* src_uyvy, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I422ToARGBRow_DSPR2(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); +void I422ToARGBRow_DSPR2(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_argb, + const struct YuvConstants* yuvconstants, + int width); + +void YUY2ToYRow_AVX2(const uint8* src_yuy2, uint8* dst_y, int width); +void YUY2ToUVRow_AVX2(const uint8* src_yuy2, int stride_yuy2, + uint8* dst_u, uint8* dst_v, int width); +void YUY2ToUV422Row_AVX2(const uint8* src_yuy2, + uint8* dst_u, uint8* dst_v, int width); +void YUY2ToYRow_SSE2(const uint8* src_yuy2, uint8* dst_y, int width); +void YUY2ToUVRow_SSE2(const uint8* src_yuy2, int stride_yuy2, + uint8* dst_u, uint8* dst_v, int width); +void YUY2ToUV422Row_SSE2(const uint8* src_yuy2, + uint8* dst_u, uint8* dst_v, int width); +void YUY2ToYRow_NEON(const uint8* src_yuy2, uint8* dst_y, int width); +void YUY2ToUVRow_NEON(const uint8* src_yuy2, int stride_yuy2, + uint8* dst_u, uint8* dst_v, int width); +void YUY2ToUV422Row_NEON(const uint8* src_yuy2, + uint8* dst_u, uint8* dst_v, int width); +void YUY2ToYRow_C(const uint8* src_yuy2, uint8* dst_y, int width); +void YUY2ToUVRow_C(const uint8* src_yuy2, int stride_yuy2, + uint8* dst_u, uint8* dst_v, int width); +void YUY2ToUV422Row_C(const uint8* src_yuy2, + uint8* dst_u, uint8* dst_v, int width); +void YUY2ToYRow_Any_AVX2(const uint8* src_yuy2, uint8* dst_y, int width); +void YUY2ToUVRow_Any_AVX2(const uint8* src_yuy2, int stride_yuy2, + uint8* dst_u, uint8* dst_v, int width); +void YUY2ToUV422Row_Any_AVX2(const uint8* src_yuy2, + uint8* dst_u, uint8* dst_v, int width); +void YUY2ToYRow_Any_SSE2(const uint8* src_yuy2, uint8* dst_y, int width); +void YUY2ToUVRow_Any_SSE2(const uint8* src_yuy2, int stride_yuy2, + uint8* dst_u, uint8* dst_v, int width); +void YUY2ToUV422Row_Any_SSE2(const uint8* src_yuy2, + uint8* dst_u, uint8* dst_v, int width); +void YUY2ToYRow_Any_NEON(const uint8* src_yuy2, uint8* dst_y, int width); +void YUY2ToUVRow_Any_NEON(const uint8* src_yuy2, int stride_yuy2, + uint8* dst_u, uint8* dst_v, int width); +void YUY2ToUV422Row_Any_NEON(const uint8* src_yuy2, + uint8* dst_u, uint8* dst_v, int width); +void UYVYToYRow_AVX2(const uint8* src_uyvy, uint8* dst_y, int width); +void UYVYToUVRow_AVX2(const uint8* src_uyvy, int stride_uyvy, + uint8* dst_u, uint8* dst_v, int width); +void UYVYToUV422Row_AVX2(const uint8* src_uyvy, + uint8* dst_u, uint8* dst_v, int width); +void UYVYToYRow_SSE2(const uint8* src_uyvy, uint8* dst_y, int width); +void UYVYToUVRow_SSE2(const uint8* src_uyvy, int stride_uyvy, + uint8* dst_u, uint8* dst_v, int width); +void UYVYToUV422Row_SSE2(const uint8* src_uyvy, + uint8* dst_u, uint8* dst_v, int width); +void UYVYToYRow_AVX2(const uint8* src_uyvy, uint8* dst_y, int width); +void UYVYToUVRow_AVX2(const uint8* src_uyvy, int stride_uyvy, + uint8* dst_u, uint8* dst_v, int width); +void UYVYToUV422Row_AVX2(const uint8* src_uyvy, + uint8* dst_u, uint8* dst_v, int width); +void UYVYToYRow_NEON(const uint8* src_uyvy, uint8* dst_y, int width); +void UYVYToUVRow_NEON(const uint8* src_uyvy, int stride_uyvy, + uint8* dst_u, uint8* dst_v, int width); +void UYVYToUV422Row_NEON(const uint8* src_uyvy, + uint8* dst_u, uint8* dst_v, int width); + +void UYVYToYRow_C(const uint8* src_uyvy, uint8* dst_y, int width); +void UYVYToUVRow_C(const uint8* src_uyvy, int stride_uyvy, + uint8* dst_u, uint8* dst_v, int width); +void UYVYToUV422Row_C(const uint8* src_uyvy, + uint8* dst_u, uint8* dst_v, int width); +void UYVYToYRow_Any_AVX2(const uint8* src_uyvy, uint8* dst_y, int width); +void UYVYToUVRow_Any_AVX2(const uint8* src_uyvy, int stride_uyvy, + uint8* dst_u, uint8* dst_v, int width); +void UYVYToUV422Row_Any_AVX2(const uint8* src_uyvy, + uint8* dst_u, uint8* dst_v, int width); +void UYVYToYRow_Any_SSE2(const uint8* src_uyvy, uint8* dst_y, int width); +void UYVYToUVRow_Any_SSE2(const uint8* src_uyvy, int stride_uyvy, + uint8* dst_u, uint8* dst_v, int width); +void UYVYToUV422Row_Any_SSE2(const uint8* src_uyvy, + uint8* dst_u, uint8* dst_v, int width); +void UYVYToYRow_Any_NEON(const uint8* src_uyvy, uint8* dst_y, int width); +void UYVYToUVRow_Any_NEON(const uint8* src_uyvy, int stride_uyvy, + uint8* dst_u, uint8* dst_v, int width); +void UYVYToUV422Row_Any_NEON(const uint8* src_uyvy, + uint8* dst_u, uint8* dst_v, int width); + +void I422ToYUY2Row_C(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_yuy2, int width); +void I422ToUYVYRow_C(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_uyvy, int width); +void I422ToYUY2Row_SSE2(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_yuy2, int width); +void I422ToUYVYRow_SSE2(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_uyvy, int width); +void I422ToYUY2Row_Any_SSE2(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_yuy2, int width); +void I422ToUYVYRow_Any_SSE2(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_uyvy, int width); +void I422ToYUY2Row_NEON(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_yuy2, int width); +void I422ToUYVYRow_NEON(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_uyvy, int width); +void I422ToYUY2Row_Any_NEON(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_yuy2, int width); +void I422ToUYVYRow_Any_NEON(const uint8* src_y, + const uint8* src_u, + const uint8* src_v, + uint8* dst_uyvy, int width); + +// Effects related row functions. +void ARGBAttenuateRow_C(const uint8* src_argb, uint8* dst_argb, int width); +void ARGBAttenuateRow_SSSE3(const uint8* src_argb, uint8* dst_argb, int width); +void ARGBAttenuateRow_AVX2(const uint8* src_argb, uint8* dst_argb, int width); +void ARGBAttenuateRow_NEON(const uint8* src_argb, uint8* dst_argb, int width); +void ARGBAttenuateRow_Any_SSE2(const uint8* src_argb, uint8* dst_argb, + int width); +void ARGBAttenuateRow_Any_SSSE3(const uint8* src_argb, uint8* dst_argb, + int width); +void ARGBAttenuateRow_Any_AVX2(const uint8* src_argb, uint8* dst_argb, + int width); +void ARGBAttenuateRow_Any_NEON(const uint8* src_argb, uint8* dst_argb, + int width); + +// Inverse table for unattenuate, shared by C and SSE2. +extern const uint32 fixed_invtbl8[256]; +void ARGBUnattenuateRow_C(const uint8* src_argb, uint8* dst_argb, int width); +void ARGBUnattenuateRow_SSE2(const uint8* src_argb, uint8* dst_argb, int width); +void ARGBUnattenuateRow_AVX2(const uint8* src_argb, uint8* dst_argb, int width); +void ARGBUnattenuateRow_Any_SSE2(const uint8* src_argb, uint8* dst_argb, + int width); +void ARGBUnattenuateRow_Any_AVX2(const uint8* src_argb, uint8* dst_argb, + int width); + +void ARGBGrayRow_C(const uint8* src_argb, uint8* dst_argb, int width); +void ARGBGrayRow_SSSE3(const uint8* src_argb, uint8* dst_argb, int width); +void ARGBGrayRow_NEON(const uint8* src_argb, uint8* dst_argb, int width); + +void ARGBSepiaRow_C(uint8* dst_argb, int width); +void ARGBSepiaRow_SSSE3(uint8* dst_argb, int width); +void ARGBSepiaRow_NEON(uint8* dst_argb, int width); + +void ARGBColorMatrixRow_C(const uint8* src_argb, uint8* dst_argb, + const int8* matrix_argb, int width); +void ARGBColorMatrixRow_SSSE3(const uint8* src_argb, uint8* dst_argb, + const int8* matrix_argb, int width); +void ARGBColorMatrixRow_NEON(const uint8* src_argb, uint8* dst_argb, + const int8* matrix_argb, int width); + +void ARGBColorTableRow_C(uint8* dst_argb, const uint8* table_argb, int width); +void ARGBColorTableRow_X86(uint8* dst_argb, const uint8* table_argb, int width); + +void RGBColorTableRow_C(uint8* dst_argb, const uint8* table_argb, int width); +void RGBColorTableRow_X86(uint8* dst_argb, const uint8* table_argb, int width); + +void ARGBQuantizeRow_C(uint8* dst_argb, int scale, int interval_size, + int interval_offset, int width); +void ARGBQuantizeRow_SSE2(uint8* dst_argb, int scale, int interval_size, + int interval_offset, int width); +void ARGBQuantizeRow_NEON(uint8* dst_argb, int scale, int interval_size, + int interval_offset, int width); + +void ARGBShadeRow_C(const uint8* src_argb, uint8* dst_argb, int width, + uint32 value); +void ARGBShadeRow_SSE2(const uint8* src_argb, uint8* dst_argb, int width, + uint32 value); +void ARGBShadeRow_NEON(const uint8* src_argb, uint8* dst_argb, int width, + uint32 value); + +// Used for blur. +void CumulativeSumToAverageRow_SSE2(const int32* topleft, const int32* botleft, + int width, int area, uint8* dst, int count); +void ComputeCumulativeSumRow_SSE2(const uint8* row, int32* cumsum, + const int32* previous_cumsum, int width); + +void CumulativeSumToAverageRow_C(const int32* topleft, const int32* botleft, + int width, int area, uint8* dst, int count); +void ComputeCumulativeSumRow_C(const uint8* row, int32* cumsum, + const int32* previous_cumsum, int width); + +LIBYUV_API +void ARGBAffineRow_C(const uint8* src_argb, int src_argb_stride, + uint8* dst_argb, const float* uv_dudv, int width); +LIBYUV_API +void ARGBAffineRow_SSE2(const uint8* src_argb, int src_argb_stride, + uint8* dst_argb, const float* uv_dudv, int width); + +// Used for I420Scale, ARGBScale, and ARGBInterpolate. +void InterpolateRow_C(uint8* dst_ptr, const uint8* src_ptr, + ptrdiff_t src_stride_ptr, + int width, int source_y_fraction); +void InterpolateRow_SSSE3(uint8* dst_ptr, const uint8* src_ptr, + ptrdiff_t src_stride_ptr, int width, + int source_y_fraction); +void InterpolateRow_AVX2(uint8* dst_ptr, const uint8* src_ptr, + ptrdiff_t src_stride_ptr, int width, + int source_y_fraction); +void InterpolateRow_NEON(uint8* dst_ptr, const uint8* src_ptr, + ptrdiff_t src_stride_ptr, int width, + int source_y_fraction); +void InterpolateRow_DSPR2(uint8* dst_ptr, const uint8* src_ptr, + ptrdiff_t src_stride_ptr, int width, + int source_y_fraction); +void InterpolateRow_Any_NEON(uint8* dst_ptr, const uint8* src_ptr, + ptrdiff_t src_stride_ptr, int width, + int source_y_fraction); +void InterpolateRow_Any_SSSE3(uint8* dst_ptr, const uint8* src_ptr, + ptrdiff_t src_stride_ptr, int width, + int source_y_fraction); +void InterpolateRow_Any_AVX2(uint8* dst_ptr, const uint8* src_ptr, + ptrdiff_t src_stride_ptr, int width, + int source_y_fraction); +void InterpolateRow_Any_DSPR2(uint8* dst_ptr, const uint8* src_ptr, + ptrdiff_t src_stride_ptr, int width, + int source_y_fraction); + +void InterpolateRow_16_C(uint16* dst_ptr, const uint16* src_ptr, + ptrdiff_t src_stride_ptr, + int width, int source_y_fraction); + +// Sobel images. +void SobelXRow_C(const uint8* src_y0, const uint8* src_y1, const uint8* src_y2, + uint8* dst_sobelx, int width); +void SobelXRow_SSE2(const uint8* src_y0, const uint8* src_y1, + const uint8* src_y2, uint8* dst_sobelx, int width); +void SobelXRow_NEON(const uint8* src_y0, const uint8* src_y1, + const uint8* src_y2, uint8* dst_sobelx, int width); +void SobelYRow_C(const uint8* src_y0, const uint8* src_y1, + uint8* dst_sobely, int width); +void SobelYRow_SSE2(const uint8* src_y0, const uint8* src_y1, + uint8* dst_sobely, int width); +void SobelYRow_NEON(const uint8* src_y0, const uint8* src_y1, + uint8* dst_sobely, int width); +void SobelRow_C(const uint8* src_sobelx, const uint8* src_sobely, + uint8* dst_argb, int width); +void SobelRow_SSE2(const uint8* src_sobelx, const uint8* src_sobely, + uint8* dst_argb, int width); +void SobelRow_NEON(const uint8* src_sobelx, const uint8* src_sobely, + uint8* dst_argb, int width); +void SobelToPlaneRow_C(const uint8* src_sobelx, const uint8* src_sobely, + uint8* dst_y, int width); +void SobelToPlaneRow_SSE2(const uint8* src_sobelx, const uint8* src_sobely, + uint8* dst_y, int width); +void SobelToPlaneRow_NEON(const uint8* src_sobelx, const uint8* src_sobely, + uint8* dst_y, int width); +void SobelXYRow_C(const uint8* src_sobelx, const uint8* src_sobely, + uint8* dst_argb, int width); +void SobelXYRow_SSE2(const uint8* src_sobelx, const uint8* src_sobely, + uint8* dst_argb, int width); +void SobelXYRow_NEON(const uint8* src_sobelx, const uint8* src_sobely, + uint8* dst_argb, int width); +void SobelRow_Any_SSE2(const uint8* src_sobelx, const uint8* src_sobely, + uint8* dst_argb, int width); +void SobelRow_Any_NEON(const uint8* src_sobelx, const uint8* src_sobely, + uint8* dst_argb, int width); +void SobelToPlaneRow_Any_SSE2(const uint8* src_sobelx, const uint8* src_sobely, + uint8* dst_y, int width); +void SobelToPlaneRow_Any_NEON(const uint8* src_sobelx, const uint8* src_sobely, + uint8* dst_y, int width); +void SobelXYRow_Any_SSE2(const uint8* src_sobelx, const uint8* src_sobely, + uint8* dst_argb, int width); +void SobelXYRow_Any_NEON(const uint8* src_sobelx, const uint8* src_sobely, + uint8* dst_argb, int width); + +void ARGBPolynomialRow_C(const uint8* src_argb, + uint8* dst_argb, const float* poly, + int width); +void ARGBPolynomialRow_SSE2(const uint8* src_argb, + uint8* dst_argb, const float* poly, + int width); +void ARGBPolynomialRow_AVX2(const uint8* src_argb, + uint8* dst_argb, const float* poly, + int width); + +// Scale and convert to half float. +void HalfFloatRow_C(const uint16* src, uint16* dst, float scale, int width); +void HalfFloatRow_AVX2(const uint16* src, uint16* dst, float scale, int width); +void HalfFloatRow_Any_AVX2(const uint16* src, uint16* dst, float scale, + int width); +void HalfFloatRow_SSE2(const uint16* src, uint16* dst, float scale, int width); +void HalfFloatRow_Any_SSE2(const uint16* src, uint16* dst, float scale, + int width); + +void ARGBLumaColorTableRow_C(const uint8* src_argb, uint8* dst_argb, int width, + const uint8* luma, uint32 lumacoeff); +void ARGBLumaColorTableRow_SSSE3(const uint8* src_argb, uint8* dst_argb, + int width, + const uint8* luma, uint32 lumacoeff); + +#ifdef __cplusplus +} // extern "C" +} // namespace libyuv +#endif + +#endif // INCLUDE_LIBYUV_ROW_H_ diff --git a/third_party/libyuv/include/libyuv/scale.h b/third_party/libyuv/include/libyuv/scale.h new file mode 100644 index 0000000000..ae14694598 --- /dev/null +++ b/third_party/libyuv/include/libyuv/scale.h @@ -0,0 +1,103 @@ +/* + * Copyright 2011 The LibYuv Project Authors. All rights reserved. + * + * Use of this source code is governed by a BSD-style license + * that can be found in the LICENSE file in the root of the source + * tree. An additional intellectual property rights grant can be found + * in the file PATENTS. All contributing project authors may + * be found in the AUTHORS file in the root of the source tree. + */ + +#ifndef INCLUDE_LIBYUV_SCALE_H_ +#define INCLUDE_LIBYUV_SCALE_H_ + +#include "libyuv/basic_types.h" + +#ifdef __cplusplus +namespace libyuv { +extern "C" { +#endif + +// Supported filtering. +typedef enum FilterMode { + kFilterNone = 0, // Point sample; Fastest. + kFilterLinear = 1, // Filter horizontally only. + kFilterBilinear = 2, // Faster than box, but lower quality scaling down. + kFilterBox = 3 // Highest quality. +} FilterModeEnum; + +// Scale a YUV plane. +LIBYUV_API +void ScalePlane(const uint8* src, int src_stride, + int src_width, int src_height, + uint8* dst, int dst_stride, + int dst_width, int dst_height, + enum FilterMode filtering); + +LIBYUV_API +void ScalePlane_16(const uint16* src, int src_stride, + int src_width, int src_height, + uint16* dst, int dst_stride, + int dst_width, int dst_height, + enum FilterMode filtering); + +// Scales a YUV 4:2:0 image from the src width and height to the +// dst width and height. +// If filtering is kFilterNone, a simple nearest-neighbor algorithm is +// used. This produces basic (blocky) quality at the fastest speed. +// If filtering is kFilterBilinear, interpolation is used to produce a better +// quality image, at the expense of speed. +// If filtering is kFilterBox, averaging is used to produce ever better +// quality image, at further expense of speed. +// Returns 0 if successful. + +LIBYUV_API +int I420Scale(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + int src_width, int src_height, + uint8* dst_y, int dst_stride_y, + uint8* dst_u, int dst_stride_u, + uint8* dst_v, int dst_stride_v, + int dst_width, int dst_height, + enum FilterMode filtering); + +LIBYUV_API +int I420Scale_16(const uint16* src_y, int src_stride_y, + const uint16* src_u, int src_stride_u, + const uint16* src_v, int src_stride_v, + int src_width, int src_height, + uint16* dst_y, int dst_stride_y, + uint16* dst_u, int dst_stride_u, + uint16* dst_v, int dst_stride_v, + int dst_width, int dst_height, + enum FilterMode filtering); + +#ifdef __cplusplus +// Legacy API. Deprecated. +LIBYUV_API +int Scale(const uint8* src_y, const uint8* src_u, const uint8* src_v, + int src_stride_y, int src_stride_u, int src_stride_v, + int src_width, int src_height, + uint8* dst_y, uint8* dst_u, uint8* dst_v, + int dst_stride_y, int dst_stride_u, int dst_stride_v, + int dst_width, int dst_height, + LIBYUV_BOOL interpolate); + +// Legacy API. Deprecated. +LIBYUV_API +int ScaleOffset(const uint8* src_i420, int src_width, int src_height, + uint8* dst_i420, int dst_width, int dst_height, int dst_yoffset, + LIBYUV_BOOL interpolate); + +// For testing, allow disabling of specialized scalers. +LIBYUV_API +void SetUseReferenceImpl(LIBYUV_BOOL use); +#endif // __cplusplus + +#ifdef __cplusplus +} // extern "C" +} // namespace libyuv +#endif + +#endif // INCLUDE_LIBYUV_SCALE_H_ diff --git a/third_party/libyuv/include/libyuv/scale_argb.h b/third_party/libyuv/include/libyuv/scale_argb.h new file mode 100644 index 0000000000..35cd191c0f --- /dev/null +++ b/third_party/libyuv/include/libyuv/scale_argb.h @@ -0,0 +1,56 @@ +/* + * Copyright 2012 The LibYuv Project Authors. All rights reserved. + * + * Use of this source code is governed by a BSD-style license + * that can be found in the LICENSE file in the root of the source + * tree. An additional intellectual property rights grant can be found + * in the file PATENTS. All contributing project authors may + * be found in the AUTHORS file in the root of the source tree. + */ + +#ifndef INCLUDE_LIBYUV_SCALE_ARGB_H_ +#define INCLUDE_LIBYUV_SCALE_ARGB_H_ + +#include "libyuv/basic_types.h" +#include "libyuv/scale.h" // For FilterMode + +#ifdef __cplusplus +namespace libyuv { +extern "C" { +#endif + +LIBYUV_API +int ARGBScale(const uint8* src_argb, int src_stride_argb, + int src_width, int src_height, + uint8* dst_argb, int dst_stride_argb, + int dst_width, int dst_height, + enum FilterMode filtering); + +// Clipped scale takes destination rectangle coordinates for clip values. +LIBYUV_API +int ARGBScaleClip(const uint8* src_argb, int src_stride_argb, + int src_width, int src_height, + uint8* dst_argb, int dst_stride_argb, + int dst_width, int dst_height, + int clip_x, int clip_y, int clip_width, int clip_height, + enum FilterMode filtering); + +// Scale with YUV conversion to ARGB and clipping. +LIBYUV_API +int YUVToARGBScaleClip(const uint8* src_y, int src_stride_y, + const uint8* src_u, int src_stride_u, + const uint8* src_v, int src_stride_v, + uint32 src_fourcc, + int src_width, int src_height, + uint8* dst_argb, int dst_stride_argb, + uint32 dst_fourcc, + int dst_width, int dst_height, + int clip_x, int clip_y, int clip_width, int clip_height, + enum FilterMode filtering); + +#ifdef __cplusplus +} // extern "C" +} // namespace libyuv +#endif + +#endif // INCLUDE_LIBYUV_SCALE_ARGB_H_ diff --git a/third_party/libyuv/include/libyuv/scale_row.h b/third_party/libyuv/include/libyuv/scale_row.h new file mode 100644 index 0000000000..791fbf7d05 --- /dev/null +++ b/third_party/libyuv/include/libyuv/scale_row.h @@ -0,0 +1,503 @@ +/* + * Copyright 2013 The LibYuv Project Authors. All rights reserved. + * + * Use of this source code is governed by a BSD-style license + * that can be found in the LICENSE file in the root of the source + * tree. An additional intellectual property rights grant can be found + * in the file PATENTS. All contributing project authors may + * be found in the AUTHORS file in the root of the source tree. + */ + +#ifndef INCLUDE_LIBYUV_SCALE_ROW_H_ +#define INCLUDE_LIBYUV_SCALE_ROW_H_ + +#include "libyuv/basic_types.h" +#include "libyuv/scale.h" + +#ifdef __cplusplus +namespace libyuv { +extern "C" { +#endif + +#if defined(__pnacl__) || defined(__CLR_VER) || \ + (defined(__i386__) && !defined(__SSE2__)) +#define LIBYUV_DISABLE_X86 +#endif +// MemorySanitizer does not support assembly code yet. http://crbug.com/344505 +#if defined(__has_feature) +#if __has_feature(memory_sanitizer) +#define LIBYUV_DISABLE_X86 +#endif +#endif + +// GCC >= 4.7.0 required for AVX2. +#if defined(__GNUC__) && (defined(__x86_64__) || defined(__i386__)) +#if (__GNUC__ > 4) || (__GNUC__ == 4 && (__GNUC_MINOR__ >= 7)) +#define GCC_HAS_AVX2 1 +#endif // GNUC >= 4.7 +#endif // __GNUC__ + +// clang >= 3.4.0 required for AVX2. +#if defined(__clang__) && (defined(__x86_64__) || defined(__i386__)) +#if (__clang_major__ > 3) || (__clang_major__ == 3 && (__clang_minor__ >= 4)) +#define CLANG_HAS_AVX2 1 +#endif // clang >= 3.4 +#endif // __clang__ + +// Visual C 2012 required for AVX2. +#if defined(_M_IX86) && !defined(__clang__) && \ + defined(_MSC_VER) && _MSC_VER >= 1700 +#define VISUALC_HAS_AVX2 1 +#endif // VisualStudio >= 2012 + +// The following are available on all x86 platforms: +#if !defined(LIBYUV_DISABLE_X86) && \ + (defined(_M_IX86) || defined(__x86_64__) || defined(__i386__)) +#define HAS_FIXEDDIV1_X86 +#define HAS_FIXEDDIV_X86 +#define HAS_SCALEARGBCOLS_SSE2 +#define HAS_SCALEARGBCOLSUP2_SSE2 +#define HAS_SCALEARGBFILTERCOLS_SSSE3 +#define HAS_SCALEARGBROWDOWN2_SSE2 +#define HAS_SCALEARGBROWDOWNEVEN_SSE2 +#define HAS_SCALECOLSUP2_SSE2 +#define HAS_SCALEFILTERCOLS_SSSE3 +#define HAS_SCALEROWDOWN2_SSSE3 +#define HAS_SCALEROWDOWN34_SSSE3 +#define HAS_SCALEROWDOWN38_SSSE3 +#define HAS_SCALEROWDOWN4_SSSE3 +#define HAS_SCALEADDROW_SSE2 +#endif + +// The following are available on all x86 platforms, but +// require VS2012, clang 3.4 or gcc 4.7. +// The code supports NaCL but requires a new compiler and validator. +#if !defined(LIBYUV_DISABLE_X86) && (defined(VISUALC_HAS_AVX2) || \ + defined(CLANG_HAS_AVX2) || defined(GCC_HAS_AVX2)) +#define HAS_SCALEADDROW_AVX2 +#define HAS_SCALEROWDOWN2_AVX2 +#define HAS_SCALEROWDOWN4_AVX2 +#endif + +// The following are available on Neon platforms: +#if !defined(LIBYUV_DISABLE_NEON) && !defined(__native_client__) && \ + (defined(__ARM_NEON__) || defined(LIBYUV_NEON) || defined(__aarch64__)) +#define HAS_SCALEARGBCOLS_NEON +#define HAS_SCALEARGBROWDOWN2_NEON +#define HAS_SCALEARGBROWDOWNEVEN_NEON +#define HAS_SCALEFILTERCOLS_NEON +#define HAS_SCALEROWDOWN2_NEON +#define HAS_SCALEROWDOWN34_NEON +#define HAS_SCALEROWDOWN38_NEON +#define HAS_SCALEROWDOWN4_NEON +#define HAS_SCALEARGBFILTERCOLS_NEON +#endif + +// The following are available on Mips platforms: +#if !defined(LIBYUV_DISABLE_MIPS) && !defined(__native_client__) && \ + defined(__mips__) && defined(__mips_dsp) && (__mips_dsp_rev >= 2) +#define HAS_SCALEROWDOWN2_DSPR2 +#define HAS_SCALEROWDOWN4_DSPR2 +#define HAS_SCALEROWDOWN34_DSPR2 +#define HAS_SCALEROWDOWN38_DSPR2 +#endif + +// Scale ARGB vertically with bilinear interpolation. +void ScalePlaneVertical(int src_height, + int dst_width, int dst_height, + int src_stride, int dst_stride, + const uint8* src_argb, uint8* dst_argb, + int x, int y, int dy, + int bpp, enum FilterMode filtering); + +void ScalePlaneVertical_16(int src_height, + int dst_width, int dst_height, + int src_stride, int dst_stride, + const uint16* src_argb, uint16* dst_argb, + int x, int y, int dy, + int wpp, enum FilterMode filtering); + +// Simplify the filtering based on scale factors. +enum FilterMode ScaleFilterReduce(int src_width, int src_height, + int dst_width, int dst_height, + enum FilterMode filtering); + +// Divide num by div and return as 16.16 fixed point result. +int FixedDiv_C(int num, int div); +int FixedDiv_X86(int num, int div); +// Divide num - 1 by div - 1 and return as 16.16 fixed point result. +int FixedDiv1_C(int num, int div); +int FixedDiv1_X86(int num, int div); +#ifdef HAS_FIXEDDIV_X86 +#define FixedDiv FixedDiv_X86 +#define FixedDiv1 FixedDiv1_X86 +#else +#define FixedDiv FixedDiv_C +#define FixedDiv1 FixedDiv1_C +#endif + +// Compute slope values for stepping. +void ScaleSlope(int src_width, int src_height, + int dst_width, int dst_height, + enum FilterMode filtering, + int* x, int* y, int* dx, int* dy); + +void ScaleRowDown2_C(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst, int dst_width); +void ScaleRowDown2_16_C(const uint16* src_ptr, ptrdiff_t src_stride, + uint16* dst, int dst_width); +void ScaleRowDown2Linear_C(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst, int dst_width); +void ScaleRowDown2Linear_16_C(const uint16* src_ptr, ptrdiff_t src_stride, + uint16* dst, int dst_width); +void ScaleRowDown2Box_C(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst, int dst_width); +void ScaleRowDown2Box_Odd_C(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst, int dst_width); +void ScaleRowDown2Box_16_C(const uint16* src_ptr, ptrdiff_t src_stride, + uint16* dst, int dst_width); +void ScaleRowDown4_C(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst, int dst_width); +void ScaleRowDown4_16_C(const uint16* src_ptr, ptrdiff_t src_stride, + uint16* dst, int dst_width); +void ScaleRowDown4Box_C(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst, int dst_width); +void ScaleRowDown4Box_16_C(const uint16* src_ptr, ptrdiff_t src_stride, + uint16* dst, int dst_width); +void ScaleRowDown34_C(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst, int dst_width); +void ScaleRowDown34_16_C(const uint16* src_ptr, ptrdiff_t src_stride, + uint16* dst, int dst_width); +void ScaleRowDown34_0_Box_C(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* d, int dst_width); +void ScaleRowDown34_0_Box_16_C(const uint16* src_ptr, ptrdiff_t src_stride, + uint16* d, int dst_width); +void ScaleRowDown34_1_Box_C(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* d, int dst_width); +void ScaleRowDown34_1_Box_16_C(const uint16* src_ptr, ptrdiff_t src_stride, + uint16* d, int dst_width); +void ScaleCols_C(uint8* dst_ptr, const uint8* src_ptr, + int dst_width, int x, int dx); +void ScaleCols_16_C(uint16* dst_ptr, const uint16* src_ptr, + int dst_width, int x, int dx); +void ScaleColsUp2_C(uint8* dst_ptr, const uint8* src_ptr, + int dst_width, int, int); +void ScaleColsUp2_16_C(uint16* dst_ptr, const uint16* src_ptr, + int dst_width, int, int); +void ScaleFilterCols_C(uint8* dst_ptr, const uint8* src_ptr, + int dst_width, int x, int dx); +void ScaleFilterCols_16_C(uint16* dst_ptr, const uint16* src_ptr, + int dst_width, int x, int dx); +void ScaleFilterCols64_C(uint8* dst_ptr, const uint8* src_ptr, + int dst_width, int x, int dx); +void ScaleFilterCols64_16_C(uint16* dst_ptr, const uint16* src_ptr, + int dst_width, int x, int dx); +void ScaleRowDown38_C(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst, int dst_width); +void ScaleRowDown38_16_C(const uint16* src_ptr, ptrdiff_t src_stride, + uint16* dst, int dst_width); +void ScaleRowDown38_3_Box_C(const uint8* src_ptr, + ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); +void ScaleRowDown38_3_Box_16_C(const uint16* src_ptr, + ptrdiff_t src_stride, + uint16* dst_ptr, int dst_width); +void ScaleRowDown38_2_Box_C(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); +void ScaleRowDown38_2_Box_16_C(const uint16* src_ptr, ptrdiff_t src_stride, + uint16* dst_ptr, int dst_width); +void ScaleAddRow_C(const uint8* src_ptr, uint16* dst_ptr, int src_width); +void ScaleAddRow_16_C(const uint16* src_ptr, uint32* dst_ptr, int src_width); +void ScaleARGBRowDown2_C(const uint8* src_argb, + ptrdiff_t src_stride, + uint8* dst_argb, int dst_width); +void ScaleARGBRowDown2Linear_C(const uint8* src_argb, + ptrdiff_t src_stride, + uint8* dst_argb, int dst_width); +void ScaleARGBRowDown2Box_C(const uint8* src_argb, ptrdiff_t src_stride, + uint8* dst_argb, int dst_width); +void ScaleARGBRowDownEven_C(const uint8* src_argb, ptrdiff_t src_stride, + int src_stepx, + uint8* dst_argb, int dst_width); +void ScaleARGBRowDownEvenBox_C(const uint8* src_argb, + ptrdiff_t src_stride, + int src_stepx, + uint8* dst_argb, int dst_width); +void ScaleARGBCols_C(uint8* dst_argb, const uint8* src_argb, + int dst_width, int x, int dx); +void ScaleARGBCols64_C(uint8* dst_argb, const uint8* src_argb, + int dst_width, int x, int dx); +void ScaleARGBColsUp2_C(uint8* dst_argb, const uint8* src_argb, + int dst_width, int, int); +void ScaleARGBFilterCols_C(uint8* dst_argb, const uint8* src_argb, + int dst_width, int x, int dx); +void ScaleARGBFilterCols64_C(uint8* dst_argb, const uint8* src_argb, + int dst_width, int x, int dx); + +// Specialized scalers for x86. +void ScaleRowDown2_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); +void ScaleRowDown2Linear_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); +void ScaleRowDown2Box_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); +void ScaleRowDown2_AVX2(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); +void ScaleRowDown2Linear_AVX2(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); +void ScaleRowDown2Box_AVX2(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); +void ScaleRowDown4_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); +void ScaleRowDown4Box_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); +void ScaleRowDown4_AVX2(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); +void ScaleRowDown4Box_AVX2(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); + +void ScaleRowDown34_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); +void ScaleRowDown34_1_Box_SSSE3(const uint8* src_ptr, + ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); +void ScaleRowDown34_0_Box_SSSE3(const uint8* src_ptr, + ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); +void ScaleRowDown38_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); +void ScaleRowDown38_3_Box_SSSE3(const uint8* src_ptr, + ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); +void ScaleRowDown38_2_Box_SSSE3(const uint8* src_ptr, + ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); +void ScaleRowDown2_Any_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); +void ScaleRowDown2Linear_Any_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); +void ScaleRowDown2Box_Any_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); +void ScaleRowDown2Box_Odd_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); +void ScaleRowDown2_Any_AVX2(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); +void ScaleRowDown2Linear_Any_AVX2(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); +void ScaleRowDown2Box_Any_AVX2(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); +void ScaleRowDown2Box_Odd_AVX2(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); +void ScaleRowDown4_Any_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); +void ScaleRowDown4Box_Any_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); +void ScaleRowDown4_Any_AVX2(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); +void ScaleRowDown4Box_Any_AVX2(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); + +void ScaleRowDown34_Any_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); +void ScaleRowDown34_1_Box_Any_SSSE3(const uint8* src_ptr, + ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); +void ScaleRowDown34_0_Box_Any_SSSE3(const uint8* src_ptr, + ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); +void ScaleRowDown38_Any_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); +void ScaleRowDown38_3_Box_Any_SSSE3(const uint8* src_ptr, + ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); +void ScaleRowDown38_2_Box_Any_SSSE3(const uint8* src_ptr, + ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); + +void ScaleAddRow_SSE2(const uint8* src_ptr, uint16* dst_ptr, int src_width); +void ScaleAddRow_AVX2(const uint8* src_ptr, uint16* dst_ptr, int src_width); +void ScaleAddRow_Any_SSE2(const uint8* src_ptr, uint16* dst_ptr, int src_width); +void ScaleAddRow_Any_AVX2(const uint8* src_ptr, uint16* dst_ptr, int src_width); + +void ScaleFilterCols_SSSE3(uint8* dst_ptr, const uint8* src_ptr, + int dst_width, int x, int dx); +void ScaleColsUp2_SSE2(uint8* dst_ptr, const uint8* src_ptr, + int dst_width, int x, int dx); + + +// ARGB Column functions +void ScaleARGBCols_SSE2(uint8* dst_argb, const uint8* src_argb, + int dst_width, int x, int dx); +void ScaleARGBFilterCols_SSSE3(uint8* dst_argb, const uint8* src_argb, + int dst_width, int x, int dx); +void ScaleARGBColsUp2_SSE2(uint8* dst_argb, const uint8* src_argb, + int dst_width, int x, int dx); +void ScaleARGBFilterCols_NEON(uint8* dst_argb, const uint8* src_argb, + int dst_width, int x, int dx); +void ScaleARGBCols_NEON(uint8* dst_argb, const uint8* src_argb, + int dst_width, int x, int dx); +void ScaleARGBFilterCols_Any_NEON(uint8* dst_argb, const uint8* src_argb, + int dst_width, int x, int dx); +void ScaleARGBCols_Any_NEON(uint8* dst_argb, const uint8* src_argb, + int dst_width, int x, int dx); + +// ARGB Row functions +void ScaleARGBRowDown2_SSE2(const uint8* src_argb, ptrdiff_t src_stride, + uint8* dst_argb, int dst_width); +void ScaleARGBRowDown2Linear_SSE2(const uint8* src_argb, ptrdiff_t src_stride, + uint8* dst_argb, int dst_width); +void ScaleARGBRowDown2Box_SSE2(const uint8* src_argb, ptrdiff_t src_stride, + uint8* dst_argb, int dst_width); +void ScaleARGBRowDown2_NEON(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst, int dst_width); +void ScaleARGBRowDown2Linear_NEON(const uint8* src_argb, ptrdiff_t src_stride, + uint8* dst_argb, int dst_width); +void ScaleARGBRowDown2Box_NEON(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst, int dst_width); +void ScaleARGBRowDown2_Any_SSE2(const uint8* src_argb, ptrdiff_t src_stride, + uint8* dst_argb, int dst_width); +void ScaleARGBRowDown2Linear_Any_SSE2(const uint8* src_argb, + ptrdiff_t src_stride, + uint8* dst_argb, int dst_width); +void ScaleARGBRowDown2Box_Any_SSE2(const uint8* src_argb, ptrdiff_t src_stride, + uint8* dst_argb, int dst_width); +void ScaleARGBRowDown2_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst, int dst_width); +void ScaleARGBRowDown2Linear_Any_NEON(const uint8* src_argb, + ptrdiff_t src_stride, + uint8* dst_argb, int dst_width); +void ScaleARGBRowDown2Box_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst, int dst_width); + +void ScaleARGBRowDownEven_SSE2(const uint8* src_argb, ptrdiff_t src_stride, + int src_stepx, uint8* dst_argb, int dst_width); +void ScaleARGBRowDownEvenBox_SSE2(const uint8* src_argb, ptrdiff_t src_stride, + int src_stepx, + uint8* dst_argb, int dst_width); +void ScaleARGBRowDownEven_NEON(const uint8* src_argb, ptrdiff_t src_stride, + int src_stepx, + uint8* dst_argb, int dst_width); +void ScaleARGBRowDownEvenBox_NEON(const uint8* src_argb, ptrdiff_t src_stride, + int src_stepx, + uint8* dst_argb, int dst_width); +void ScaleARGBRowDownEven_Any_SSE2(const uint8* src_argb, ptrdiff_t src_stride, + int src_stepx, + uint8* dst_argb, int dst_width); +void ScaleARGBRowDownEvenBox_Any_SSE2(const uint8* src_argb, + ptrdiff_t src_stride, + int src_stepx, + uint8* dst_argb, int dst_width); +void ScaleARGBRowDownEven_Any_NEON(const uint8* src_argb, ptrdiff_t src_stride, + int src_stepx, + uint8* dst_argb, int dst_width); +void ScaleARGBRowDownEvenBox_Any_NEON(const uint8* src_argb, + ptrdiff_t src_stride, + int src_stepx, + uint8* dst_argb, int dst_width); + +// ScaleRowDown2Box also used by planar functions +// NEON downscalers with interpolation. + +// Note - not static due to reuse in convert for 444 to 420. +void ScaleRowDown2_NEON(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst, int dst_width); +void ScaleRowDown2Linear_NEON(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst, int dst_width); +void ScaleRowDown2Box_NEON(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst, int dst_width); + +void ScaleRowDown4_NEON(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); +void ScaleRowDown4Box_NEON(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); + +// Down scale from 4 to 3 pixels. Use the neon multilane read/write +// to load up the every 4th pixel into a 4 different registers. +// Point samples 32 pixels to 24 pixels. +void ScaleRowDown34_NEON(const uint8* src_ptr, + ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); +void ScaleRowDown34_0_Box_NEON(const uint8* src_ptr, + ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); +void ScaleRowDown34_1_Box_NEON(const uint8* src_ptr, + ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); + +// 32 -> 12 +void ScaleRowDown38_NEON(const uint8* src_ptr, + ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); +// 32x3 -> 12x1 +void ScaleRowDown38_3_Box_NEON(const uint8* src_ptr, + ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); +// 32x2 -> 12x1 +void ScaleRowDown38_2_Box_NEON(const uint8* src_ptr, + ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); + +void ScaleRowDown2_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst, int dst_width); +void ScaleRowDown2Linear_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst, int dst_width); +void ScaleRowDown2Box_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst, int dst_width); +void ScaleRowDown2Box_Odd_NEON(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst, int dst_width); +void ScaleRowDown4_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); +void ScaleRowDown4Box_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); +void ScaleRowDown34_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); +void ScaleRowDown34_0_Box_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); +void ScaleRowDown34_1_Box_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); +// 32 -> 12 +void ScaleRowDown38_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); +// 32x3 -> 12x1 +void ScaleRowDown38_3_Box_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); +// 32x2 -> 12x1 +void ScaleRowDown38_2_Box_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); + +void ScaleAddRow_NEON(const uint8* src_ptr, uint16* dst_ptr, int src_width); +void ScaleAddRow_Any_NEON(const uint8* src_ptr, uint16* dst_ptr, int src_width); + +void ScaleFilterCols_NEON(uint8* dst_ptr, const uint8* src_ptr, + int dst_width, int x, int dx); + +void ScaleFilterCols_Any_NEON(uint8* dst_ptr, const uint8* src_ptr, + int dst_width, int x, int dx); + +void ScaleRowDown2_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst, int dst_width); +void ScaleRowDown2Box_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst, int dst_width); +void ScaleRowDown4_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst, int dst_width); +void ScaleRowDown4Box_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst, int dst_width); +void ScaleRowDown34_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst, int dst_width); +void ScaleRowDown34_0_Box_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* d, int dst_width); +void ScaleRowDown34_1_Box_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* d, int dst_width); +void ScaleRowDown38_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst, int dst_width); +void ScaleRowDown38_2_Box_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); +void ScaleRowDown38_3_Box_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride, + uint8* dst_ptr, int dst_width); + +#ifdef __cplusplus +} // extern "C" +} // namespace libyuv +#endif + +#endif // INCLUDE_LIBYUV_SCALE_ROW_H_ diff --git a/third_party/libyuv/include/libyuv/version.h b/third_party/libyuv/include/libyuv/version.h new file mode 100644 index 0000000000..3a8f6337ca --- /dev/null +++ b/third_party/libyuv/include/libyuv/version.h @@ -0,0 +1,16 @@ +/* + * Copyright 2012 The LibYuv Project Authors. All rights reserved. + * + * Use of this source code is governed by a BSD-style license + * that can be found in the LICENSE file in the root of the source + * tree. An additional intellectual property rights grant can be found + * in the file PATENTS. All contributing project authors may + * be found in the AUTHORS file in the root of the source tree. + */ + +#ifndef INCLUDE_LIBYUV_VERSION_H_ +#define INCLUDE_LIBYUV_VERSION_H_ + +#define LIBYUV_VERSION 1622 + +#endif // INCLUDE_LIBYUV_VERSION_H_ diff --git a/third_party/libyuv/include/libyuv/video_common.h b/third_party/libyuv/include/libyuv/video_common.h new file mode 100644 index 0000000000..cb425426a2 --- /dev/null +++ b/third_party/libyuv/include/libyuv/video_common.h @@ -0,0 +1,184 @@ +/* + * Copyright 2011 The LibYuv Project Authors. All rights reserved. + * + * Use of this source code is governed by a BSD-style license + * that can be found in the LICENSE file in the root of the source + * tree. An additional intellectual property rights grant can be found + * in the file PATENTS. All contributing project authors may + * be found in the AUTHORS file in the root of the source tree. + */ + +// Common definitions for video, including fourcc and VideoFormat. + +#ifndef INCLUDE_LIBYUV_VIDEO_COMMON_H_ +#define INCLUDE_LIBYUV_VIDEO_COMMON_H_ + +#include "libyuv/basic_types.h" + +#ifdef __cplusplus +namespace libyuv { +extern "C" { +#endif + +////////////////////////////////////////////////////////////////////////////// +// Definition of FourCC codes +////////////////////////////////////////////////////////////////////////////// + +// Convert four characters to a FourCC code. +// Needs to be a macro otherwise the OS X compiler complains when the kFormat* +// constants are used in a switch. +#ifdef __cplusplus +#define FOURCC(a, b, c, d) ( \ + (static_cast(a)) | (static_cast(b) << 8) | \ + (static_cast(c) << 16) | (static_cast(d) << 24)) +#else +#define FOURCC(a, b, c, d) ( \ + ((uint32)(a)) | ((uint32)(b) << 8) | /* NOLINT */ \ + ((uint32)(c) << 16) | ((uint32)(d) << 24)) /* NOLINT */ +#endif + +// Some pages discussing FourCC codes: +// http://www.fourcc.org/yuv.php +// http://v4l2spec.bytesex.org/spec/book1.htm +// http://developer.apple.com/quicktime/icefloe/dispatch020.html +// http://msdn.microsoft.com/library/windows/desktop/dd206750.aspx#nv12 +// http://people.xiph.org/~xiphmont/containers/nut/nut4cc.txt + +// FourCC codes grouped according to implementation efficiency. +// Primary formats should convert in 1 efficient step. +// Secondary formats are converted in 2 steps. +// Auxilliary formats call primary converters. +enum FourCC { + // 9 Primary YUV formats: 5 planar, 2 biplanar, 2 packed. + FOURCC_I420 = FOURCC('I', '4', '2', '0'), + FOURCC_I422 = FOURCC('I', '4', '2', '2'), + FOURCC_I444 = FOURCC('I', '4', '4', '4'), + FOURCC_I411 = FOURCC('I', '4', '1', '1'), + FOURCC_I400 = FOURCC('I', '4', '0', '0'), + FOURCC_NV21 = FOURCC('N', 'V', '2', '1'), + FOURCC_NV12 = FOURCC('N', 'V', '1', '2'), + FOURCC_YUY2 = FOURCC('Y', 'U', 'Y', '2'), + FOURCC_UYVY = FOURCC('U', 'Y', 'V', 'Y'), + + // 2 Secondary YUV formats: row biplanar. + FOURCC_M420 = FOURCC('M', '4', '2', '0'), + FOURCC_Q420 = FOURCC('Q', '4', '2', '0'), // deprecated. + + // 9 Primary RGB formats: 4 32 bpp, 2 24 bpp, 3 16 bpp. + FOURCC_ARGB = FOURCC('A', 'R', 'G', 'B'), + FOURCC_BGRA = FOURCC('B', 'G', 'R', 'A'), + FOURCC_ABGR = FOURCC('A', 'B', 'G', 'R'), + FOURCC_24BG = FOURCC('2', '4', 'B', 'G'), + FOURCC_RAW = FOURCC('r', 'a', 'w', ' '), + FOURCC_RGBA = FOURCC('R', 'G', 'B', 'A'), + FOURCC_RGBP = FOURCC('R', 'G', 'B', 'P'), // rgb565 LE. + FOURCC_RGBO = FOURCC('R', 'G', 'B', 'O'), // argb1555 LE. + FOURCC_R444 = FOURCC('R', '4', '4', '4'), // argb4444 LE. + + // 4 Secondary RGB formats: 4 Bayer Patterns. deprecated. + FOURCC_RGGB = FOURCC('R', 'G', 'G', 'B'), + FOURCC_BGGR = FOURCC('B', 'G', 'G', 'R'), + FOURCC_GRBG = FOURCC('G', 'R', 'B', 'G'), + FOURCC_GBRG = FOURCC('G', 'B', 'R', 'G'), + + // 1 Primary Compressed YUV format. + FOURCC_MJPG = FOURCC('M', 'J', 'P', 'G'), + + // 5 Auxiliary YUV variations: 3 with U and V planes are swapped, 1 Alias. + FOURCC_YV12 = FOURCC('Y', 'V', '1', '2'), + FOURCC_YV16 = FOURCC('Y', 'V', '1', '6'), + FOURCC_YV24 = FOURCC('Y', 'V', '2', '4'), + FOURCC_YU12 = FOURCC('Y', 'U', '1', '2'), // Linux version of I420. + FOURCC_J420 = FOURCC('J', '4', '2', '0'), + FOURCC_J400 = FOURCC('J', '4', '0', '0'), // unofficial fourcc + FOURCC_H420 = FOURCC('H', '4', '2', '0'), // unofficial fourcc + + // 14 Auxiliary aliases. CanonicalFourCC() maps these to canonical fourcc. + FOURCC_IYUV = FOURCC('I', 'Y', 'U', 'V'), // Alias for I420. + FOURCC_YU16 = FOURCC('Y', 'U', '1', '6'), // Alias for I422. + FOURCC_YU24 = FOURCC('Y', 'U', '2', '4'), // Alias for I444. + FOURCC_YUYV = FOURCC('Y', 'U', 'Y', 'V'), // Alias for YUY2. + FOURCC_YUVS = FOURCC('y', 'u', 'v', 's'), // Alias for YUY2 on Mac. + FOURCC_HDYC = FOURCC('H', 'D', 'Y', 'C'), // Alias for UYVY. + FOURCC_2VUY = FOURCC('2', 'v', 'u', 'y'), // Alias for UYVY on Mac. + FOURCC_JPEG = FOURCC('J', 'P', 'E', 'G'), // Alias for MJPG. + FOURCC_DMB1 = FOURCC('d', 'm', 'b', '1'), // Alias for MJPG on Mac. + FOURCC_BA81 = FOURCC('B', 'A', '8', '1'), // Alias for BGGR. + FOURCC_RGB3 = FOURCC('R', 'G', 'B', '3'), // Alias for RAW. + FOURCC_BGR3 = FOURCC('B', 'G', 'R', '3'), // Alias for 24BG. + FOURCC_CM32 = FOURCC(0, 0, 0, 32), // Alias for BGRA kCMPixelFormat_32ARGB + FOURCC_CM24 = FOURCC(0, 0, 0, 24), // Alias for RAW kCMPixelFormat_24RGB + FOURCC_L555 = FOURCC('L', '5', '5', '5'), // Alias for RGBO. + FOURCC_L565 = FOURCC('L', '5', '6', '5'), // Alias for RGBP. + FOURCC_5551 = FOURCC('5', '5', '5', '1'), // Alias for RGBO. + + // 1 Auxiliary compressed YUV format set aside for capturer. + FOURCC_H264 = FOURCC('H', '2', '6', '4'), + + // Match any fourcc. + FOURCC_ANY = -1, +}; + +enum FourCCBpp { + // Canonical fourcc codes used in our code. + FOURCC_BPP_I420 = 12, + FOURCC_BPP_I422 = 16, + FOURCC_BPP_I444 = 24, + FOURCC_BPP_I411 = 12, + FOURCC_BPP_I400 = 8, + FOURCC_BPP_NV21 = 12, + FOURCC_BPP_NV12 = 12, + FOURCC_BPP_YUY2 = 16, + FOURCC_BPP_UYVY = 16, + FOURCC_BPP_M420 = 12, + FOURCC_BPP_Q420 = 12, + FOURCC_BPP_ARGB = 32, + FOURCC_BPP_BGRA = 32, + FOURCC_BPP_ABGR = 32, + FOURCC_BPP_RGBA = 32, + FOURCC_BPP_24BG = 24, + FOURCC_BPP_RAW = 24, + FOURCC_BPP_RGBP = 16, + FOURCC_BPP_RGBO = 16, + FOURCC_BPP_R444 = 16, + FOURCC_BPP_RGGB = 8, + FOURCC_BPP_BGGR = 8, + FOURCC_BPP_GRBG = 8, + FOURCC_BPP_GBRG = 8, + FOURCC_BPP_YV12 = 12, + FOURCC_BPP_YV16 = 16, + FOURCC_BPP_YV24 = 24, + FOURCC_BPP_YU12 = 12, + FOURCC_BPP_J420 = 12, + FOURCC_BPP_J400 = 8, + FOURCC_BPP_H420 = 12, + FOURCC_BPP_MJPG = 0, // 0 means unknown. + FOURCC_BPP_H264 = 0, + FOURCC_BPP_IYUV = 12, + FOURCC_BPP_YU16 = 16, + FOURCC_BPP_YU24 = 24, + FOURCC_BPP_YUYV = 16, + FOURCC_BPP_YUVS = 16, + FOURCC_BPP_HDYC = 16, + FOURCC_BPP_2VUY = 16, + FOURCC_BPP_JPEG = 1, + FOURCC_BPP_DMB1 = 1, + FOURCC_BPP_BA81 = 8, + FOURCC_BPP_RGB3 = 24, + FOURCC_BPP_BGR3 = 24, + FOURCC_BPP_CM32 = 32, + FOURCC_BPP_CM24 = 24, + + // Match any fourcc. + FOURCC_BPP_ANY = 0, // 0 means unknown. +}; + +// Converts fourcc aliases into canonical ones. +LIBYUV_API uint32 CanonicalFourCC(uint32 fourcc); + +#ifdef __cplusplus +} // extern "C" +} // namespace libyuv +#endif + +#endif // INCLUDE_LIBYUV_VIDEO_COMMON_H_ diff --git a/third_party/libyuv/x86_64/include b/third_party/libyuv/x86_64/include new file mode 120000 index 0000000000..f5030fe889 --- /dev/null +++ b/third_party/libyuv/x86_64/include @@ -0,0 +1 @@ +../include \ No newline at end of file diff --git a/third_party/linux/include/linux/ion.h b/third_party/linux/include/linux/ion.h new file mode 100644 index 0000000000..7b5b031f57 --- /dev/null +++ b/third_party/linux/include/linux/ion.h @@ -0,0 +1,78 @@ +/**************************************************************************** + **************************************************************************** + *** + *** This header was automatically generated from a Linux kernel header + *** of the same name, to make information necessary for userspace to + *** call into the kernel available to libc. It contains only constants, + *** structures, and macros generated from the original header, and thus, + *** contains no copyrightable information. + *** + *** To edit the content of this header, modify the corresponding + *** source file (e.g. under external/kernel-headers/original/) then + *** run bionic/libc/kernel/tools/update_all.py + *** + *** Any manual change here will be lost the next time this script will + *** be run. You've been warned! + *** + **************************************************************************** + ****************************************************************************/ +#ifndef _UAPI_LINUX_ION_H +#define _UAPI_LINUX_ION_H +#include +#include +typedef int ion_user_handle_t; +enum ion_heap_type { + ION_HEAP_TYPE_SYSTEM, + ION_HEAP_TYPE_SYSTEM_CONTIG, + ION_HEAP_TYPE_CARVEOUT, + ION_HEAP_TYPE_CHUNK, + ION_HEAP_TYPE_DMA, + ION_HEAP_TYPE_CUSTOM, +}; +#define ION_NUM_HEAP_IDS (sizeof(unsigned int) * 8) +#define ION_FLAG_CACHED 1 +#define ION_FLAG_CACHED_NEEDS_SYNC 2 +struct ion_allocation_data { + size_t len; + size_t align; + unsigned int heap_id_mask; + unsigned int flags; + ion_user_handle_t handle; +}; +struct ion_fd_data { + ion_user_handle_t handle; + int fd; +}; +struct ion_handle_data { + ion_user_handle_t handle; +}; +struct ion_custom_data { + unsigned int cmd; + unsigned long arg; +}; +#define MAX_HEAP_NAME 32 +struct ion_heap_data { + char name[MAX_HEAP_NAME]; + __u32 type; + __u32 heap_id; + __u32 reserved0; + __u32 reserved1; + __u32 reserved2; +}; +struct ion_heap_query { + __u32 cnt; + __u32 reserved0; + __u64 heaps; + __u32 reserved1; + __u32 reserved2; +}; +#define ION_IOC_MAGIC 'I' +#define ION_IOC_ALLOC _IOWR(ION_IOC_MAGIC, 0, struct ion_allocation_data) +#define ION_IOC_FREE _IOWR(ION_IOC_MAGIC, 1, struct ion_handle_data) +#define ION_IOC_MAP _IOWR(ION_IOC_MAGIC, 2, struct ion_fd_data) +#define ION_IOC_SHARE _IOWR(ION_IOC_MAGIC, 4, struct ion_fd_data) +#define ION_IOC_IMPORT _IOWR(ION_IOC_MAGIC, 5, struct ion_fd_data) +#define ION_IOC_SYNC _IOWR(ION_IOC_MAGIC, 7, struct ion_fd_data) +#define ION_IOC_CUSTOM _IOWR(ION_IOC_MAGIC, 6, struct ion_custom_data) +#define ION_IOC_HEAP_QUERY _IOWR(ION_IOC_MAGIC, 8, struct ion_heap_query) +#endif diff --git a/third_party/linux/include/media/cam_cpas.h b/third_party/linux/include/media/cam_cpas.h new file mode 100644 index 0000000000..c5cbac82e7 --- /dev/null +++ b/third_party/linux/include/media/cam_cpas.h @@ -0,0 +1,25 @@ +#ifndef __UAPI_CAM_CPAS_H__ +#define __UAPI_CAM_CPAS_H__ + +#include "cam_defs.h" + +#define CAM_FAMILY_CAMERA_SS 1 +#define CAM_FAMILY_CPAS_SS 2 + +/** + * struct cam_cpas_query_cap - CPAS query device capability payload + * + * @camera_family : Camera family type + * @reserved : Reserved field for alignment + * @camera_version : Camera platform version + * @cpas_version : Camera CPAS version within camera platform + * + */ +struct cam_cpas_query_cap { + uint32_t camera_family; + uint32_t reserved; + struct cam_hw_version camera_version; + struct cam_hw_version cpas_version; +}; + +#endif /* __UAPI_CAM_CPAS_H__ */ diff --git a/third_party/linux/include/media/cam_defs.h b/third_party/linux/include/media/cam_defs.h new file mode 100644 index 0000000000..e006463d2a --- /dev/null +++ b/third_party/linux/include/media/cam_defs.h @@ -0,0 +1,477 @@ +#ifndef __UAPI_CAM_DEFS_H__ +#define __UAPI_CAM_DEFS_H__ + +#include +#include +#include + + +/* camera op codes */ +#define CAM_COMMON_OPCODE_BASE 0x100 +#define CAM_QUERY_CAP (CAM_COMMON_OPCODE_BASE + 0x1) +#define CAM_ACQUIRE_DEV (CAM_COMMON_OPCODE_BASE + 0x2) +#define CAM_START_DEV (CAM_COMMON_OPCODE_BASE + 0x3) +#define CAM_STOP_DEV (CAM_COMMON_OPCODE_BASE + 0x4) +#define CAM_CONFIG_DEV (CAM_COMMON_OPCODE_BASE + 0x5) +#define CAM_RELEASE_DEV (CAM_COMMON_OPCODE_BASE + 0x6) +#define CAM_SD_SHUTDOWN (CAM_COMMON_OPCODE_BASE + 0x7) +#define CAM_FLUSH_REQ (CAM_COMMON_OPCODE_BASE + 0x8) +#define CAM_COMMON_OPCODE_MAX (CAM_COMMON_OPCODE_BASE + 0x9) + +#define CAM_EXT_OPCODE_BASE 0x200 +#define CAM_CONFIG_DEV_EXTERNAL (CAM_EXT_OPCODE_BASE + 0x1) + +/* camera handle type */ +#define CAM_HANDLE_USER_POINTER 1 +#define CAM_HANDLE_MEM_HANDLE 2 + +/* Generic Blob CmdBuffer header properties */ +#define CAM_GENERIC_BLOB_CMDBUFFER_SIZE_MASK 0xFFFFFF00 +#define CAM_GENERIC_BLOB_CMDBUFFER_SIZE_SHIFT 8 +#define CAM_GENERIC_BLOB_CMDBUFFER_TYPE_MASK 0xFF +#define CAM_GENERIC_BLOB_CMDBUFFER_TYPE_SHIFT 0 + +/* Command Buffer Types */ +#define CAM_CMD_BUF_DMI 0x1 +#define CAM_CMD_BUF_DMI16 0x2 +#define CAM_CMD_BUF_DMI32 0x3 +#define CAM_CMD_BUF_DMI64 0x4 +#define CAM_CMD_BUF_DIRECT 0x5 +#define CAM_CMD_BUF_INDIRECT 0x6 +#define CAM_CMD_BUF_I2C 0x7 +#define CAM_CMD_BUF_FW 0x8 +#define CAM_CMD_BUF_GENERIC 0x9 +#define CAM_CMD_BUF_LEGACY 0xA + +/** + * enum flush_type_t - Identifies the various flush types + * + * @CAM_FLUSH_TYPE_REQ: Flush specific request + * @CAM_FLUSH_TYPE_ALL: Flush all requests belonging to a context + * @CAM_FLUSH_TYPE_MAX: Max enum to validate flush type + * + */ +enum flush_type_t { + CAM_FLUSH_TYPE_REQ, + CAM_FLUSH_TYPE_ALL, + CAM_FLUSH_TYPE_MAX +}; + +/** + * struct cam_control - Structure used by ioctl control for camera + * + * @op_code: This is the op code for camera control + * @size: Control command size + * @handle_type: User pointer or shared memory handle + * @reserved: Reserved field for 64 bit alignment + * @handle: Control command payload + */ +struct cam_control { + uint32_t op_code; + uint32_t size; + uint32_t handle_type; + uint32_t reserved; + uint64_t handle; +}; + +/* camera IOCTL */ +#define VIDIOC_CAM_CONTROL \ + _IOWR('V', BASE_VIDIOC_PRIVATE, struct cam_control) + +/** + * struct cam_hw_version - Structure for HW version of camera devices + * + * @major : Hardware version major + * @minor : Hardware version minor + * @incr : Hardware version increment + * @reserved : Reserved for 64 bit aligngment + */ +struct cam_hw_version { + uint32_t major; + uint32_t minor; + uint32_t incr; + uint32_t reserved; +}; + +/** + * struct cam_iommu_handle - Structure for IOMMU handles of camera hw devices + * + * @non_secure: Device Non Secure IOMMU handle + * @secure: Device Secure IOMMU handle + * + */ +struct cam_iommu_handle { + int32_t non_secure; + int32_t secure; +}; + +/* camera secure mode */ +#define CAM_SECURE_MODE_NON_SECURE 0 +#define CAM_SECURE_MODE_SECURE 1 + +/* Camera Format Type */ +#define CAM_FORMAT_BASE 0 +#define CAM_FORMAT_MIPI_RAW_6 1 +#define CAM_FORMAT_MIPI_RAW_8 2 +#define CAM_FORMAT_MIPI_RAW_10 3 +#define CAM_FORMAT_MIPI_RAW_12 4 +#define CAM_FORMAT_MIPI_RAW_14 5 +#define CAM_FORMAT_MIPI_RAW_16 6 +#define CAM_FORMAT_MIPI_RAW_20 7 +#define CAM_FORMAT_QTI_RAW_8 8 +#define CAM_FORMAT_QTI_RAW_10 9 +#define CAM_FORMAT_QTI_RAW_12 10 +#define CAM_FORMAT_QTI_RAW_14 11 +#define CAM_FORMAT_PLAIN8 12 +#define CAM_FORMAT_PLAIN16_8 13 +#define CAM_FORMAT_PLAIN16_10 14 +#define CAM_FORMAT_PLAIN16_12 15 +#define CAM_FORMAT_PLAIN16_14 16 +#define CAM_FORMAT_PLAIN16_16 17 +#define CAM_FORMAT_PLAIN32_20 18 +#define CAM_FORMAT_PLAIN64 19 +#define CAM_FORMAT_PLAIN128 20 +#define CAM_FORMAT_ARGB 21 +#define CAM_FORMAT_ARGB_10 22 +#define CAM_FORMAT_ARGB_12 23 +#define CAM_FORMAT_ARGB_14 24 +#define CAM_FORMAT_DPCM_10_6_10 25 +#define CAM_FORMAT_DPCM_10_8_10 26 +#define CAM_FORMAT_DPCM_12_6_12 27 +#define CAM_FORMAT_DPCM_12_8_12 28 +#define CAM_FORMAT_DPCM_14_8_14 29 +#define CAM_FORMAT_DPCM_14_10_14 30 +#define CAM_FORMAT_NV21 31 +#define CAM_FORMAT_NV12 32 +#define CAM_FORMAT_TP10 33 +#define CAM_FORMAT_YUV422 34 +#define CAM_FORMAT_PD8 35 +#define CAM_FORMAT_PD10 36 +#define CAM_FORMAT_UBWC_NV12 37 +#define CAM_FORMAT_UBWC_NV12_4R 38 +#define CAM_FORMAT_UBWC_TP10 39 +#define CAM_FORMAT_UBWC_P010 40 +#define CAM_FORMAT_PLAIN8_SWAP 41 +#define CAM_FORMAT_PLAIN8_10 42 +#define CAM_FORMAT_PLAIN8_10_SWAP 43 +#define CAM_FORMAT_YV12 44 +#define CAM_FORMAT_Y_ONLY 45 +#define CAM_FORMAT_MAX 46 + +/* camera rotaion */ +#define CAM_ROTATE_CW_0_DEGREE 0 +#define CAM_ROTATE_CW_90_DEGREE 1 +#define CAM_RORATE_CW_180_DEGREE 2 +#define CAM_ROTATE_CW_270_DEGREE 3 + +/* camera Color Space */ +#define CAM_COLOR_SPACE_BASE 0 +#define CAM_COLOR_SPACE_BT601_FULL 1 +#define CAM_COLOR_SPACE_BT601625 2 +#define CAM_COLOR_SPACE_BT601525 3 +#define CAM_COLOR_SPACE_BT709 4 +#define CAM_COLOR_SPACE_DEPTH 5 +#define CAM_COLOR_SPACE_MAX 6 + +/* camera buffer direction */ +#define CAM_BUF_INPUT 1 +#define CAM_BUF_OUTPUT 2 +#define CAM_BUF_IN_OUT 3 + +/* camera packet device Type */ +#define CAM_PACKET_DEV_BASE 0 +#define CAM_PACKET_DEV_IMG_SENSOR 1 +#define CAM_PACKET_DEV_ACTUATOR 2 +#define CAM_PACKET_DEV_COMPANION 3 +#define CAM_PACKET_DEV_EEPOM 4 +#define CAM_PACKET_DEV_CSIPHY 5 +#define CAM_PACKET_DEV_OIS 6 +#define CAM_PACKET_DEV_FLASH 7 +#define CAM_PACKET_DEV_FD 8 +#define CAM_PACKET_DEV_JPEG_ENC 9 +#define CAM_PACKET_DEV_JPEG_DEC 10 +#define CAM_PACKET_DEV_VFE 11 +#define CAM_PACKET_DEV_CPP 12 +#define CAM_PACKET_DEV_CSID 13 +#define CAM_PACKET_DEV_ISPIF 14 +#define CAM_PACKET_DEV_IFE 15 +#define CAM_PACKET_DEV_ICP 16 +#define CAM_PACKET_DEV_LRME 17 +#define CAM_PACKET_DEV_MAX 18 + + +/* constants */ +#define CAM_PACKET_MAX_PLANES 3 + +/** + * struct cam_plane_cfg - Plane configuration info + * + * @width: Plane width in pixels + * @height: Plane height in lines + * @plane_stride: Plane stride in pixel + * @slice_height: Slice height in line (not used by ISP) + * @meta_stride: UBWC metadata stride + * @meta_size: UBWC metadata plane size + * @meta_offset: UBWC metadata offset + * @packer_config: UBWC packer config + * @mode_config: UBWC mode config + * @tile_config: UBWC tile config + * @h_init: UBWC horizontal initial coordinate in pixels + * @v_init: UBWC vertical initial coordinate in lines + * + */ +struct cam_plane_cfg { + uint32_t width; + uint32_t height; + uint32_t plane_stride; + uint32_t slice_height; + uint32_t meta_stride; + uint32_t meta_size; + uint32_t meta_offset; + uint32_t packer_config; + uint32_t mode_config; + uint32_t tile_config; + uint32_t h_init; + uint32_t v_init; +}; + +/** + * struct cam_cmd_buf_desc - Command buffer descriptor + * + * @mem_handle: Command buffer handle + * @offset: Command start offset + * @size: Size of the command buffer in bytes + * @length: Used memory in command buffer in bytes + * @type: Type of the command buffer + * @meta_data: Data type for private command buffer + * Between UMD and KMD + * + */ +struct cam_cmd_buf_desc { + int32_t mem_handle; + uint32_t offset; + uint32_t size; + uint32_t length; + uint32_t type; + uint32_t meta_data; +}; + +/** + * struct cam_buf_io_cfg - Buffer io configuration for buffers + * + * @mem_handle: Mem_handle array for the buffers. + * @offsets: Offsets for each planes in the buffer + * @planes: Per plane information + * @width: Main plane width in pixel + * @height: Main plane height in lines + * @format: Format of the buffer + * @color_space: Color space for the buffer + * @color_pattern: Color pattern in the buffer + * @bpp: Bit per pixel + * @rotation: Rotation information for the buffer + * @resource_type: Resource type associated with the buffer + * @fence: Fence handle + * @early_fence: Fence handle for early signal + * @aux_cmd_buf: An auxiliary command buffer that may be + * used for programming the IO + * @direction: Direction of the config + * @batch_size: Batch size in HFR mode + * @subsample_pattern: Subsample pattern. Used in HFR mode. It + * should be consistent with batchSize and + * CAMIF programming. + * @subsample_period: Subsample period. Used in HFR mode. It + * should be consistent with batchSize and + * CAMIF programming. + * @framedrop_pattern: Framedrop pattern + * @framedrop_period: Framedrop period + * @flag: Flags for extra information + * @direction: Buffer direction: input or output + * @padding: Padding for the structure + * + */ +struct cam_buf_io_cfg { + int32_t mem_handle[CAM_PACKET_MAX_PLANES]; + uint32_t offsets[CAM_PACKET_MAX_PLANES]; + struct cam_plane_cfg planes[CAM_PACKET_MAX_PLANES]; + uint32_t format; + uint32_t color_space; + uint32_t color_pattern; + uint32_t bpp; + uint32_t rotation; + uint32_t resource_type; + int32_t fence; + int32_t early_fence; + struct cam_cmd_buf_desc aux_cmd_buf; + uint32_t direction; + uint32_t batch_size; + uint32_t subsample_pattern; + uint32_t subsample_period; + uint32_t framedrop_pattern; + uint32_t framedrop_period; + uint32_t flag; + uint32_t padding; +}; + +/** + * struct cam_packet_header - Camera packet header + * + * @op_code: Camera packet opcode + * @size: Size of the camera packet in bytes + * @request_id: Request id for this camera packet + * @flags: Flags for the camera packet + * @padding: Padding + * + */ +struct cam_packet_header { + uint32_t op_code; + uint32_t size; + uint64_t request_id; + uint32_t flags; + uint32_t padding; +}; + +/** + * struct cam_patch_desc - Patch structure + * + * @dst_buf_hdl: Memory handle for the dest buffer + * @dst_offset: Offset byte in the dest buffer + * @src_buf_hdl: Memory handle for the source buffer + * @src_offset: Offset byte in the source buffer + * + */ +struct cam_patch_desc { + int32_t dst_buf_hdl; + uint32_t dst_offset; + int32_t src_buf_hdl; + uint32_t src_offset; +}; + +/** + * struct cam_packet - Camera packet structure + * + * @header: Camera packet header + * @cmd_buf_offset: Command buffer start offset + * @num_cmd_buf: Number of the command buffer in the packet + * @io_config_offset: Buffer io configuration start offset + * @num_io_configs: Number of the buffer io configurations + * @patch_offset: Patch offset for the patch structure + * @num_patches: Number of the patch structure + * @kmd_cmd_buf_index: Command buffer index which contains extra + * space for the KMD buffer + * @kmd_cmd_buf_offset: Offset from the beginning of the command + * buffer for KMD usage. + * @payload: Camera packet payload + * + */ +struct cam_packet { + struct cam_packet_header header; + uint32_t cmd_buf_offset; + uint32_t num_cmd_buf; + uint32_t io_configs_offset; + uint32_t num_io_configs; + uint32_t patch_offset; + uint32_t num_patches; + uint32_t kmd_cmd_buf_index; + uint32_t kmd_cmd_buf_offset; + uint64_t payload[1]; + +}; + +/** + * struct cam_release_dev_cmd - Control payload for release devices + * + * @session_handle: Session handle for the release + * @dev_handle: Device handle for the release + */ +struct cam_release_dev_cmd { + int32_t session_handle; + int32_t dev_handle; +}; + +/** + * struct cam_start_stop_dev_cmd - Control payload for start/stop device + * + * @session_handle: Session handle for the start/stop command + * @dev_handle: Device handle for the start/stop command + * + */ +struct cam_start_stop_dev_cmd { + int32_t session_handle; + int32_t dev_handle; +}; + +/** + * struct cam_config_dev_cmd - Command payload for configure device + * + * @session_handle: Session handle for the command + * @dev_handle: Device handle for the command + * @offset: Offset byte in the packet handle. + * @packet_handle: Packet memory handle for the actual packet: + * struct cam_packet. + * + */ +struct cam_config_dev_cmd { + int32_t session_handle; + int32_t dev_handle; + uint64_t offset; + uint64_t packet_handle; +}; + +/** + * struct cam_query_cap_cmd - Payload for query device capability + * + * @size: Handle size + * @handle_type: User pointer or shared memory handle + * @caps_handle: Device specific query command payload + * + */ +struct cam_query_cap_cmd { + uint32_t size; + uint32_t handle_type; + uint64_t caps_handle; +}; + +/** + * struct cam_acquire_dev_cmd - Control payload for acquire devices + * + * @session_handle: Session handle for the acquire command + * @dev_handle: Device handle to be returned + * @handle_type: Resource handle type: + * 1 = user pointer, 2 = mem handle + * @num_resources: Number of the resources to be acquired + * @resources_hdl: Resource handle that refers to the actual + * resource array. Each item in this + * array is device specific resource structure + * + */ +struct cam_acquire_dev_cmd { + int32_t session_handle; + int32_t dev_handle; + uint32_t handle_type; + uint32_t num_resources; + uint64_t resource_hdl; +}; + +/** + * struct cam_flush_dev_cmd - Control payload for flush devices + * + * @version: Version + * @session_handle: Session handle for the acquire command + * @dev_handle: Device handle to be returned + * @flush_type: Flush type: + * 0 = flush specific request + * 1 = flush all + * @reserved: Reserved for 64 bit aligngment + * @req_id: Request id that needs to cancel + * + */ +struct cam_flush_dev_cmd { + uint64_t version; + int32_t session_handle; + int32_t dev_handle; + uint32_t flush_type; + uint32_t reserved; + int64_t req_id; +}; + +#endif /* __UAPI_CAM_DEFS_H__ */ diff --git a/third_party/linux/include/media/cam_fd.h b/third_party/linux/include/media/cam_fd.h new file mode 100644 index 0000000000..8feb6e4da8 --- /dev/null +++ b/third_party/linux/include/media/cam_fd.h @@ -0,0 +1,127 @@ +#ifndef __UAPI_CAM_FD_H__ +#define __UAPI_CAM_FD_H__ + +#include "cam_defs.h" + +#define CAM_FD_MAX_FACES 35 +#define CAM_FD_RAW_RESULT_ENTRIES 512 + +/* FD Op Codes */ +#define CAM_PACKET_OPCODES_FD_FRAME_UPDATE 0x0 + +/* FD Command Buffer identifiers */ +#define CAM_FD_CMD_BUFFER_ID_GENERIC 0x0 +#define CAM_FD_CMD_BUFFER_ID_CDM 0x1 +#define CAM_FD_CMD_BUFFER_ID_MAX 0x2 + +/* FD Blob types */ +#define CAM_FD_BLOB_TYPE_SOC_CLOCK_BW_REQUEST 0x0 +#define CAM_FD_BLOB_TYPE_RAW_RESULTS_REQUIRED 0x1 + +/* FD Resource IDs */ +#define CAM_FD_INPUT_PORT_ID_IMAGE 0x0 +#define CAM_FD_INPUT_PORT_ID_MAX 0x1 + +#define CAM_FD_OUTPUT_PORT_ID_RESULTS 0x0 +#define CAM_FD_OUTPUT_PORT_ID_RAW_RESULTS 0x1 +#define CAM_FD_OUTPUT_PORT_ID_WORK_BUFFER 0x2 +#define CAM_FD_OUTPUT_PORT_ID_MAX 0x3 + +/** + * struct cam_fd_soc_clock_bw_request - SOC clock, bandwidth request info + * + * @clock_rate : Clock rate required while processing frame + * @bandwidth : Bandwidth required while processing frame + * @reserved : Reserved for future use + */ +struct cam_fd_soc_clock_bw_request { + uint64_t clock_rate; + uint64_t bandwidth; + uint64_t reserved[4]; +}; + +/** + * struct cam_fd_face - Face properties + * + * @prop1 : Property 1 of face + * @prop2 : Property 2 of face + * @prop3 : Property 3 of face + * @prop4 : Property 4 of face + * + * Do not change this layout, this is inline with how HW writes + * these values directly when the buffer is programmed to HW + */ +struct cam_fd_face { + uint32_t prop1; + uint32_t prop2; + uint32_t prop3; + uint32_t prop4; +}; + +/** + * struct cam_fd_results - FD results layout + * + * @faces : Array of faces with face properties + * @face_count : Number of faces detected + * @reserved : Reserved for alignment + * + * Do not change this layout, this is inline with how HW writes + * these values directly when the buffer is programmed to HW + */ +struct cam_fd_results { + struct cam_fd_face faces[CAM_FD_MAX_FACES]; + uint32_t face_count; + uint32_t reserved[3]; +}; + +/** + * struct cam_fd_hw_caps - Face properties + * + * @core_version : FD core version + * @wrapper_version : FD wrapper version + * @raw_results_available : Whether raw results are available on this HW + * @supported_modes : Modes supported by this HW. + * @reserved : Reserved for future use + */ +struct cam_fd_hw_caps { + struct cam_hw_version core_version; + struct cam_hw_version wrapper_version; + uint32_t raw_results_available; + uint32_t supported_modes; + uint64_t reserved; +}; + +/** + * struct cam_fd_query_cap_cmd - FD Query capabilities information + * + * @device_iommu : FD IOMMU handles + * @cdm_iommu : CDM iommu handles + * @hw_caps : FD HW capabilities + * @reserved : Reserved for alignment + */ +struct cam_fd_query_cap_cmd { + struct cam_iommu_handle device_iommu; + struct cam_iommu_handle cdm_iommu; + struct cam_fd_hw_caps hw_caps; + uint64_t reserved; +}; + +/** + * struct cam_fd_acquire_dev_info - FD acquire device information + * + * @clk_bw_request : SOC clock, bandwidth request + * @priority : Priority for this acquire + * @mode : Mode in which to run FD HW. + * @get_raw_results : Whether this acquire needs face raw results + * while frame processing + * @reserved : Reserved field for 64 bit alignment + */ +struct cam_fd_acquire_dev_info { + struct cam_fd_soc_clock_bw_request clk_bw_request; + uint32_t priority; + uint32_t mode; + uint32_t get_raw_results; + uint32_t reserved[13]; +}; + +#endif /* __UAPI_CAM_FD_H__ */ diff --git a/third_party/linux/include/media/cam_icp.h b/third_party/linux/include/media/cam_icp.h new file mode 100644 index 0000000000..680d05b630 --- /dev/null +++ b/third_party/linux/include/media/cam_icp.h @@ -0,0 +1,179 @@ +#ifndef __UAPI_CAM_ICP_H__ +#define __UAPI_CAM_ICP_H__ + +#include "cam_defs.h" + +/* icp, ipe, bps, cdm(ipe/bps) are used in querycap */ +#define CAM_ICP_DEV_TYPE_A5 1 +#define CAM_ICP_DEV_TYPE_IPE 2 +#define CAM_ICP_DEV_TYPE_BPS 3 +#define CAM_ICP_DEV_TYPE_IPE_CDM 4 +#define CAM_ICP_DEV_TYPE_BPS_CDM 5 +#define CAM_ICP_DEV_TYPE_MAX 5 + +/* definitions needed for icp aquire device */ +#define CAM_ICP_RES_TYPE_BPS 1 +#define CAM_ICP_RES_TYPE_IPE_RT 2 +#define CAM_ICP_RES_TYPE_IPE 3 +#define CAM_ICP_RES_TYPE_MAX 4 + +/* packet opcode types */ +#define CAM_ICP_OPCODE_IPE_UPDATE 0 +#define CAM_ICP_OPCODE_BPS_UPDATE 1 + +/* IPE input port resource type */ +#define CAM_ICP_IPE_INPUT_IMAGE_FULL 0x0 +#define CAM_ICP_IPE_INPUT_IMAGE_DS4 0x1 +#define CAM_ICP_IPE_INPUT_IMAGE_DS16 0x2 +#define CAM_ICP_IPE_INPUT_IMAGE_DS64 0x3 +#define CAM_ICP_IPE_INPUT_IMAGE_FULL_REF 0x4 +#define CAM_ICP_IPE_INPUT_IMAGE_DS4_REF 0x5 +#define CAM_ICP_IPE_INPUT_IMAGE_DS16_REF 0x6 +#define CAM_ICP_IPE_INPUT_IMAGE_DS64_REF 0x7 + +/* IPE output port resource type */ +#define CAM_ICP_IPE_OUTPUT_IMAGE_DISPLAY 0x8 +#define CAM_ICP_IPE_OUTPUT_IMAGE_VIDEO 0x9 +#define CAM_ICP_IPE_OUTPUT_IMAGE_FULL_REF 0xA +#define CAM_ICP_IPE_OUTPUT_IMAGE_DS4_REF 0xB +#define CAM_ICP_IPE_OUTPUT_IMAGE_DS16_REF 0xC +#define CAM_ICP_IPE_OUTPUT_IMAGE_DS64_REF 0xD + +#define CAM_ICP_IPE_IMAGE_MAX 0xE + +/* BPS input port resource type */ +#define CAM_ICP_BPS_INPUT_IMAGE 0x0 + +/* BPS output port resource type */ +#define CAM_ICP_BPS_OUTPUT_IMAGE_FULL 0x1 +#define CAM_ICP_BPS_OUTPUT_IMAGE_DS4 0x2 +#define CAM_ICP_BPS_OUTPUT_IMAGE_DS16 0x3 +#define CAM_ICP_BPS_OUTPUT_IMAGE_DS64 0x4 +#define CAM_ICP_BPS_OUTPUT_IMAGE_STATS_BG 0x5 +#define CAM_ICP_BPS_OUTPUT_IMAGE_STATS_BHIST 0x6 +#define CAM_ICP_BPS_OUTPUT_IMAGE_REG1 0x7 +#define CAM_ICP_BPS_OUTPUT_IMAGE_REG2 0x8 + +#define CAM_ICP_BPS_IO_IMAGES_MAX 0x9 + +/* Command meta types */ +#define CAM_ICP_CMD_META_GENERIC_BLOB 0x1 + +/* Generic blob types */ +#define CAM_ICP_CMD_GENERIC_BLOB_CLK 0x1 +#define CAM_ICP_CMD_GENERIC_BLOB_CFG_IO 0x2 + +/** + * struct cam_icp_clk_bw_request + * + * @budget_ns: Time required to process frame + * @frame_cycles: Frame cycles needed to process the frame + * @rt_flag: Flag to indicate real time stream + * @uncompressed_bw: Bandwidth required to process frame + * @compressed_bw: Compressed bandwidth to process frame + */ +struct cam_icp_clk_bw_request { + uint64_t budget_ns; + uint32_t frame_cycles; + uint32_t rt_flag; + uint64_t uncompressed_bw; + uint64_t compressed_bw; +}; + +/** + * struct cam_icp_dev_ver - Device information for particular hw type + * + * This is used to get device version info of + * ICP, IPE, BPS and CDM related IPE and BPS from firmware + * and use this info in CAM_QUERY_CAP IOCTL + * + * @dev_type: hardware type for the cap info(icp, ipe, bps, cdm(ipe/bps)) + * @reserved: reserved field + * @hw_ver: major, minor and incr values of a device version + */ +struct cam_icp_dev_ver { + uint32_t dev_type; + uint32_t reserved; + struct cam_hw_version hw_ver; +}; + +/** + * struct cam_icp_ver - ICP version info + * + * This strcuture is used for fw and api version + * this is used to get firmware version and api version from firmware + * and use this info in CAM_QUERY_CAP IOCTL + * + * @major: FW version major + * @minor: FW version minor + * @revision: FW version increment + */ +struct cam_icp_ver { + uint32_t major; + uint32_t minor; + uint32_t revision; + uint32_t reserved; +}; + +/** + * struct cam_icp_query_cap_cmd - ICP query device capability payload + * + * @dev_iommu_handle: icp iommu handles for secure/non secure modes + * @cdm_iommu_handle: iommu handles for secure/non secure modes + * @fw_version: firmware version info + * @api_version: api version info + * @num_ipe: number of ipes + * @num_bps: number of bps + * @dev_ver: returned device capability array + */ +struct cam_icp_query_cap_cmd { + struct cam_iommu_handle dev_iommu_handle; + struct cam_iommu_handle cdm_iommu_handle; + struct cam_icp_ver fw_version; + struct cam_icp_ver api_version; + uint32_t num_ipe; + uint32_t num_bps; + struct cam_icp_dev_ver dev_ver[CAM_ICP_DEV_TYPE_MAX]; +}; + +/** + * struct cam_icp_res_info - ICP output resource info + * + * @format: format of the resource + * @width: width in pixels + * @height: height in lines + * @fps: fps + */ +struct cam_icp_res_info { + uint32_t format; + uint32_t width; + uint32_t height; + uint32_t fps; +}; + +/** + * struct cam_icp_acquire_dev_info - An ICP device info + * + * @scratch_mem_size: Output param - size of scratch memory + * @dev_type: device type (IPE_RT/IPE_NON_RT/BPS) + * @io_config_cmd_size: size of IO config command + * @io_config_cmd_handle: IO config command for each acquire + * @secure_mode: camera mode (secure/non secure) + * @chain_info: chaining info of FW device handles + * @in_res: resource info used for clock and bandwidth calculation + * @num_out_res: number of output resources + * @out_res: output resource + */ +struct cam_icp_acquire_dev_info { + uint32_t scratch_mem_size; + uint32_t dev_type; + uint32_t io_config_cmd_size; + int32_t io_config_cmd_handle; + uint32_t secure_mode; + int32_t chain_info; + struct cam_icp_res_info in_res; + uint32_t num_out_res; + struct cam_icp_res_info out_res[1]; +} __attribute__((__packed__)); + +#endif /* __UAPI_CAM_ICP_H__ */ diff --git a/third_party/linux/include/media/cam_isp.h b/third_party/linux/include/media/cam_isp.h new file mode 100644 index 0000000000..266840d38c --- /dev/null +++ b/third_party/linux/include/media/cam_isp.h @@ -0,0 +1,379 @@ +#ifndef __UAPI_CAM_ISP_H__ +#define __UAPI_CAM_ISP_H__ + +#include "cam_defs.h" +#include "cam_isp_vfe.h" +#include "cam_isp_ife.h" + + +/* ISP driver name */ +#define CAM_ISP_DEV_NAME "cam-isp" + +/* HW type */ +#define CAM_ISP_HW_BASE 0 +#define CAM_ISP_HW_CSID 1 +#define CAM_ISP_HW_VFE 2 +#define CAM_ISP_HW_IFE 3 +#define CAM_ISP_HW_ISPIF 4 +#define CAM_ISP_HW_MAX 5 + +/* Color Pattern */ +#define CAM_ISP_PATTERN_BAYER_RGRGRG 0 +#define CAM_ISP_PATTERN_BAYER_GRGRGR 1 +#define CAM_ISP_PATTERN_BAYER_BGBGBG 2 +#define CAM_ISP_PATTERN_BAYER_GBGBGB 3 +#define CAM_ISP_PATTERN_YUV_YCBYCR 4 +#define CAM_ISP_PATTERN_YUV_YCRYCB 5 +#define CAM_ISP_PATTERN_YUV_CBYCRY 6 +#define CAM_ISP_PATTERN_YUV_CRYCBY 7 +#define CAM_ISP_PATTERN_MAX 8 + +/* Usage Type */ +#define CAM_ISP_RES_USAGE_SINGLE 0 +#define CAM_ISP_RES_USAGE_DUAL 1 +#define CAM_ISP_RES_USAGE_MAX 2 + +/* Resource ID */ +#define CAM_ISP_RES_ID_PORT 0 +#define CAM_ISP_RES_ID_CLK 1 +#define CAM_ISP_RES_ID_MAX 2 + +/* Resource Type - Type of resource for the resource id + * defined in cam_isp_vfe.h, cam_isp_ife.h + */ + +/* Lane Type in input resource for Port */ +#define CAM_ISP_LANE_TYPE_DPHY 0 +#define CAM_ISP_LANE_TYPE_CPHY 1 +#define CAM_ISP_LANE_TYPE_MAX 2 + +/* ISP Resurce Composite Group ID */ +#define CAM_ISP_RES_COMP_GROUP_NONE 0 +#define CAM_ISP_RES_COMP_GROUP_ID_0 1 +#define CAM_ISP_RES_COMP_GROUP_ID_1 2 +#define CAM_ISP_RES_COMP_GROUP_ID_2 3 +#define CAM_ISP_RES_COMP_GROUP_ID_3 4 +#define CAM_ISP_RES_COMP_GROUP_ID_4 5 +#define CAM_ISP_RES_COMP_GROUP_ID_5 6 +#define CAM_ISP_RES_COMP_GROUP_ID_MAX 6 + +/* ISP packet opcode for ISP */ +#define CAM_ISP_PACKET_OP_BASE 0 +#define CAM_ISP_PACKET_INIT_DEV 1 +#define CAM_ISP_PACKET_UPDATE_DEV 2 +#define CAM_ISP_PACKET_OP_MAX 3 + +/* ISP packet meta_data type for command buffer */ +#define CAM_ISP_PACKET_META_BASE 0 +#define CAM_ISP_PACKET_META_LEFT 1 +#define CAM_ISP_PACKET_META_RIGHT 2 +#define CAM_ISP_PACKET_META_COMMON 3 +#define CAM_ISP_PACKET_META_DMI_LEFT 4 +#define CAM_ISP_PACKET_META_DMI_RIGHT 5 +#define CAM_ISP_PACKET_META_DMI_COMMON 6 +#define CAM_ISP_PACKET_META_CLOCK 7 +#define CAM_ISP_PACKET_META_CSID 8 +#define CAM_ISP_PACKET_META_DUAL_CONFIG 9 +#define CAM_ISP_PACKET_META_GENERIC_BLOB_LEFT 10 +#define CAM_ISP_PACKET_META_GENERIC_BLOB_RIGHT 11 +#define CAM_ISP_PACKET_META_GENERIC_BLOB_COMMON 12 + +/* DSP mode */ +#define CAM_ISP_DSP_MODE_NONE 0 +#define CAM_ISP_DSP_MODE_ONE_WAY 1 +#define CAM_ISP_DSP_MODE_ROUND 2 + +/* ISP Generic Cmd Buffer Blob types */ +#define CAM_ISP_GENERIC_BLOB_TYPE_HFR_CONFIG 0 +#define CAM_ISP_GENERIC_BLOB_TYPE_CLOCK_CONFIG 1 +#define CAM_ISP_GENERIC_BLOB_TYPE_BW_CONFIG 2 + +/* Query devices */ +/** + * struct cam_isp_dev_cap_info - A cap info for particular hw type + * + * @hw_type: Hardware type for the cap info + * @reserved: reserved field for alignment + * @hw_version: Hardware version + * + */ +struct cam_isp_dev_cap_info { + uint32_t hw_type; + uint32_t reserved; + struct cam_hw_version hw_version; +}; + +/** + * struct cam_isp_query_cap_cmd - ISP query device capability payload + * + * @device_iommu: returned iommu handles for device + * @cdm_iommu: returned iommu handles for cdm + * @num_dev: returned number of device capabilities + * @reserved: reserved field for alignment + * @dev_caps: returned device capability array + * + */ +struct cam_isp_query_cap_cmd { + struct cam_iommu_handle device_iommu; + struct cam_iommu_handle cdm_iommu; + int32_t num_dev; + uint32_t reserved; + struct cam_isp_dev_cap_info dev_caps[CAM_ISP_HW_MAX]; +}; + +/* Acquire Device */ +/** + * struct cam_isp_out_port_info - An output port resource info + * + * @res_type: output resource type defined in file + * cam_isp_vfe.h or cam_isp_ife.h + * @format: output format of the resource + * @wdith: output width in pixels + * @height: output height in lines + * @comp_grp_id: composite group id for the resource. + * @split_point: split point in pixels for the dual VFE. + * @secure_mode: flag to tell if output should be run in secure + * mode or not. See cam_defs.h for definition + * @reserved: reserved field for alignment + * + */ +struct cam_isp_out_port_info { + uint32_t res_type; + uint32_t format; + uint32_t width; + uint32_t height; + uint32_t comp_grp_id; + uint32_t split_point; + uint32_t secure_mode; + uint32_t reserved; +}; + +/** + * struct cam_isp_in_port_info - An input port resource info + * + * @res_type: input resource type define in file + * cam_isp_vfe.h or cam_isp_ife.h + * @lane_type: lane type: c-phy or d-phy. + * @lane_num: active lane number + * @lane_cfg: lane configurations: 4 bits per lane + * @vc: input virtual channel number + * @dt: input data type number + * @format: input format + * @test_pattern: test pattern for the testgen + * @usage_type: whether dual vfe is required + * @left_start: left input start offset in pixels + * @left_stop: left input stop offset in pixels + * @left_width: left input width in pixels + * @right_start: right input start offset in pixels. + * Only for Dual VFE + * @right_stop: right input stop offset in pixels. + * Only for Dual VFE + * @right_width: right input width in pixels. + * Only for dual VFE + * @line_start: top of the line number + * @line_stop: bottome of the line number + * @height: input height in lines + * @pixel_clk; sensor output clock + * @batch_size: batch size for HFR mode + * @dsp_mode: DSP stream mode (Defines as CAM_ISP_DSP_MODE_*) + * @hbi_cnt: HBI count for the camif input + * @reserved: Reserved field for alignment + * @num_out_res: number of the output resource associated + * @data: payload that contains the output resources + * + */ +struct cam_isp_in_port_info { + uint32_t res_type; + uint32_t lane_type; + uint32_t lane_num; + uint32_t lane_cfg; + uint32_t vc; + uint32_t dt; + uint32_t format; + uint32_t test_pattern; + uint32_t usage_type; + uint32_t left_start; + uint32_t left_stop; + uint32_t left_width; + uint32_t right_start; + uint32_t right_stop; + uint32_t right_width; + uint32_t line_start; + uint32_t line_stop; + uint32_t height; + uint32_t pixel_clk; + uint32_t batch_size; + uint32_t dsp_mode; + uint32_t hbi_cnt; + uint32_t custom_csid; + uint32_t reserved; + uint32_t num_out_res; + struct cam_isp_out_port_info data[1]; +}; + +/** + * struct cam_isp_resource - A resource bundle + * + * @resoruce_id: resource id for the resource bundle + * @length: length of the while resource blob + * @handle_type: type of the resource handle + * @reserved: reserved field for alignment + * @res_hdl: resource handle that points to the + * resource array; + * + */ +struct cam_isp_resource { + uint32_t resource_id; + uint32_t length; + uint32_t handle_type; + uint32_t reserved; + uint64_t res_hdl; +}; + +/** + * struct cam_isp_port_hfr_config - HFR configuration for this port + * + * @resource_type: Resource type + * @subsample_pattern: Subsample pattern. Used in HFR mode. It + * should be consistent with batchSize and + * CAMIF programming. + * @subsample_period: Subsample period. Used in HFR mode. It + * should be consistent with batchSize and + * CAMIF programming. + * @framedrop_pattern: Framedrop pattern + * @framedrop_period: Framedrop period + * @reserved: Reserved for alignment + */ +struct cam_isp_port_hfr_config { + uint32_t resource_type; + uint32_t subsample_pattern; + uint32_t subsample_period; + uint32_t framedrop_pattern; + uint32_t framedrop_period; + uint32_t reserved; +} __attribute__((packed)); + +/** + * struct cam_isp_resource_hfr_config - Resource HFR configuration + * + * @num_ports: Number of ports + * @reserved: Reserved for alignment + * @port_hfr_config: HFR configuration for each IO port + */ +struct cam_isp_resource_hfr_config { + uint32_t num_ports; + uint32_t reserved; + struct cam_isp_port_hfr_config port_hfr_config[1]; +} __attribute__((packed)); + +/** + * struct cam_isp_dual_split_params - dual isp spilt parameters + * + * @split_point: Split point information x, where (0 < x < width) + * left ISP's input ends at x + righ padding and + * Right ISP's input starts at x - left padding + * @right_padding: Padding added past the split point for left + * ISP's input + * @left_padding: Padding added before split point for right + * ISP's input + * @reserved: Reserved filed for alignment + * + */ +struct cam_isp_dual_split_params { + uint32_t split_point; + uint32_t right_padding; + uint32_t left_padding; + uint32_t reserved; +}; + +/** + * struct cam_isp_dual_stripe_config - stripe config per bus client + * + * @offset: Start horizontal offset relative to + * output buffer + * In UBWC mode, this value indicates the H_INIT + * value in pixel + * @width: Width of the stripe in bytes + * @tileconfig Ubwc meta tile config. Contain the partial + * tile info + * @port_id: port id of ISP output + * + */ +struct cam_isp_dual_stripe_config { + uint32_t offset; + uint32_t width; + uint32_t tileconfig; + uint32_t port_id; +}; + +/** + * struct cam_isp_dual_config - dual isp configuration + * + * @num_ports Number of isp output ports + * @reserved Reserved field for alignment + * @split_params: Inpput split parameters + * @stripes: Stripe information + * + */ +struct cam_isp_dual_config { + uint32_t num_ports; + uint32_t reserved; + struct cam_isp_dual_split_params split_params; + struct cam_isp_dual_stripe_config stripes[1]; +} __attribute__((packed)); + +/** + * struct cam_isp_clock_config - Clock configuration + * + * @usage_type: Usage type (Single/Dual) + * @num_rdi: Number of RDI votes + * @left_pix_hz: Pixel Clock for Left ISP + * @right_pix_hz: Pixel Clock for Right ISP, valid only if Dual + * @rdi_hz: RDI Clock. ISP clock will be max of RDI and + * PIX clocks. For a particular context which ISP + * HW the RDI is allocated to is not known to UMD. + * Hence pass the clock and let KMD decide. + */ +struct cam_isp_clock_config { + uint32_t usage_type; + uint32_t num_rdi; + uint64_t left_pix_hz; + uint64_t right_pix_hz; + uint64_t rdi_hz[1]; +} __attribute__((packed)); + +/** + * struct cam_isp_bw_vote - Bandwidth vote information + * + * @resource_id: Resource ID + * @reserved: Reserved field for alignment + * @cam_bw_bps: Bandwidth vote for CAMNOC + * @ext_bw_bps: Bandwidth vote for path-to-DDR after CAMNOC + */ + +struct cam_isp_bw_vote { + uint32_t resource_id; + uint32_t reserved; + uint64_t cam_bw_bps; + uint64_t ext_bw_bps; +} __attribute__((packed)); + +/** + * struct cam_isp_bw_config - Bandwidth configuration + * + * @usage_type: Usage type (Single/Dual) + * @num_rdi: Number of RDI votes + * @left_pix_vote: Bandwidth vote for left ISP + * @right_pix_vote: Bandwidth vote for right ISP + * @rdi_vote: RDI bandwidth requirements + */ + +struct cam_isp_bw_config { + uint32_t usage_type; + uint32_t num_rdi; + struct cam_isp_bw_vote left_pix_vote; + struct cam_isp_bw_vote right_pix_vote; + struct cam_isp_bw_vote rdi_vote[1]; +} __attribute__((packed)); + +#endif /* __UAPI_CAM_ISP_H__ */ diff --git a/third_party/linux/include/media/cam_isp_ife.h b/third_party/linux/include/media/cam_isp_ife.h new file mode 100644 index 0000000000..f5e72813fc --- /dev/null +++ b/third_party/linux/include/media/cam_isp_ife.h @@ -0,0 +1,39 @@ +#ifndef __UAPI_CAM_ISP_IFE_H__ +#define __UAPI_CAM_ISP_IFE_H__ + +/* IFE output port resource type (global unique)*/ +#define CAM_ISP_IFE_OUT_RES_BASE 0x3000 + +#define CAM_ISP_IFE_OUT_RES_FULL (CAM_ISP_IFE_OUT_RES_BASE + 0) +#define CAM_ISP_IFE_OUT_RES_DS4 (CAM_ISP_IFE_OUT_RES_BASE + 1) +#define CAM_ISP_IFE_OUT_RES_DS16 (CAM_ISP_IFE_OUT_RES_BASE + 2) +#define CAM_ISP_IFE_OUT_RES_RAW_DUMP (CAM_ISP_IFE_OUT_RES_BASE + 3) +#define CAM_ISP_IFE_OUT_RES_FD (CAM_ISP_IFE_OUT_RES_BASE + 4) +#define CAM_ISP_IFE_OUT_RES_PDAF (CAM_ISP_IFE_OUT_RES_BASE + 5) +#define CAM_ISP_IFE_OUT_RES_RDI_0 (CAM_ISP_IFE_OUT_RES_BASE + 6) +#define CAM_ISP_IFE_OUT_RES_RDI_1 (CAM_ISP_IFE_OUT_RES_BASE + 7) +#define CAM_ISP_IFE_OUT_RES_RDI_2 (CAM_ISP_IFE_OUT_RES_BASE + 8) +#define CAM_ISP_IFE_OUT_RES_RDI_3 (CAM_ISP_IFE_OUT_RES_BASE + 9) +#define CAM_ISP_IFE_OUT_RES_STATS_HDR_BE (CAM_ISP_IFE_OUT_RES_BASE + 10) +#define CAM_ISP_IFE_OUT_RES_STATS_HDR_BHIST (CAM_ISP_IFE_OUT_RES_BASE + 11) +#define CAM_ISP_IFE_OUT_RES_STATS_TL_BG (CAM_ISP_IFE_OUT_RES_BASE + 12) +#define CAM_ISP_IFE_OUT_RES_STATS_BF (CAM_ISP_IFE_OUT_RES_BASE + 13) +#define CAM_ISP_IFE_OUT_RES_STATS_AWB_BG (CAM_ISP_IFE_OUT_RES_BASE + 14) +#define CAM_ISP_IFE_OUT_RES_STATS_BHIST (CAM_ISP_IFE_OUT_RES_BASE + 15) +#define CAM_ISP_IFE_OUT_RES_STATS_RS (CAM_ISP_IFE_OUT_RES_BASE + 16) +#define CAM_ISP_IFE_OUT_RES_STATS_CS (CAM_ISP_IFE_OUT_RES_BASE + 17) +#define CAM_ISP_IFE_OUT_RES_STATS_IHIST (CAM_ISP_IFE_OUT_RES_BASE + 18) +#define CAM_ISP_IFE_OUT_RES_MAX (CAM_ISP_IFE_OUT_RES_BASE + 19) + + +/* IFE input port resource type (global unique) */ +#define CAM_ISP_IFE_IN_RES_BASE 0x4000 + +#define CAM_ISP_IFE_IN_RES_TPG (CAM_ISP_IFE_IN_RES_BASE + 0) +#define CAM_ISP_IFE_IN_RES_PHY_0 (CAM_ISP_IFE_IN_RES_BASE + 1) +#define CAM_ISP_IFE_IN_RES_PHY_1 (CAM_ISP_IFE_IN_RES_BASE + 2) +#define CAM_ISP_IFE_IN_RES_PHY_2 (CAM_ISP_IFE_IN_RES_BASE + 3) +#define CAM_ISP_IFE_IN_RES_PHY_3 (CAM_ISP_IFE_IN_RES_BASE + 4) +#define CAM_ISP_IFE_IN_RES_MAX (CAM_ISP_IFE_IN_RES_BASE + 5) + +#endif /* __UAPI_CAM_ISP_IFE_H__ */ diff --git a/third_party/linux/include/media/cam_isp_vfe.h b/third_party/linux/include/media/cam_isp_vfe.h new file mode 100644 index 0000000000..e48db2f98d --- /dev/null +++ b/third_party/linux/include/media/cam_isp_vfe.h @@ -0,0 +1,44 @@ +#ifndef __UAPI_CAM_ISP_VFE_H__ +#define __UAPI_CAM_ISP_VFE_H__ + +/* VFE output port resource type (global unique) */ +#define CAM_ISP_VFE_OUT_RES_BASE 0x1000 + +#define CAM_ISP_VFE_OUT_RES_ENC (CAM_ISP_VFE_OUT_RES_BASE + 0) +#define CAM_ISP_VFE_OUT_RES_VIEW (CAM_ISP_VFE_OUT_RES_BASE + 1) +#define CAM_ISP_VFE_OUT_RES_VID (CAM_ISP_VFE_OUT_RES_BASE + 2) +#define CAM_ISP_VFE_OUT_RES_RDI_0 (CAM_ISP_VFE_OUT_RES_BASE + 3) +#define CAM_ISP_VFE_OUT_RES_RDI_1 (CAM_ISP_VFE_OUT_RES_BASE + 4) +#define CAM_ISP_VFE_OUT_RES_RDI_2 (CAM_ISP_VFE_OUT_RES_BASE + 5) +#define CAM_ISP_VFE_OUT_RES_RDI_3 (CAM_ISP_VFE_OUT_RES_BASE + 6) +#define CAM_ISP_VFE_OUT_RES_STATS_AEC (CAM_ISP_VFE_OUT_RES_BASE + 7) +#define CAM_ISP_VFE_OUT_RES_STATS_AF (CAM_ISP_VFE_OUT_RES_BASE + 8) +#define CAM_ISP_VFE_OUT_RES_STATS_AWB (CAM_ISP_VFE_OUT_RES_BASE + 9) +#define CAM_ISP_VFE_OUT_RES_STATS_RS (CAM_ISP_VFE_OUT_RES_BASE + 10) +#define CAM_ISP_VFE_OUT_RES_STATS_CS (CAM_ISP_VFE_OUT_RES_BASE + 11) +#define CAM_ISP_VFE_OUT_RES_STATS_IHIST (CAM_ISP_VFE_OUT_RES_BASE + 12) +#define CAM_ISP_VFE_OUT_RES_STATS_SKIN (CAM_ISP_VFE_OUT_RES_BASE + 13) +#define CAM_ISP_VFE_OUT_RES_STATS_BG (CAM_ISP_VFE_OUT_RES_BASE + 14) +#define CAM_ISP_VFE_OUT_RES_STATS_BF (CAM_ISP_VFE_OUT_RES_BASE + 15) +#define CAM_ISP_VFE_OUT_RES_STATS_BE (CAM_ISP_VFE_OUT_RES_BASE + 16) +#define CAM_ISP_VFE_OUT_RES_STATS_BHIST (CAM_ISP_VFE_OUT_RES_BASE + 17) +#define CAM_ISP_VFE_OUT_RES_STATS_BF_SCALE (CAM_ISP_VFE_OUT_RES_BASE + 18) +#define CAM_ISP_VFE_OUT_RES_STATS_HDR_BE (CAM_ISP_VFE_OUT_RES_BASE + 19) +#define CAM_ISP_VFE_OUT_RES_STATS_HDR_BHIST (CAM_ISP_VFE_OUT_RES_BASE + 20) +#define CAM_ISP_VFE_OUT_RES_STATS_AEC_BG (CAM_ISP_VFE_OUT_RES_BASE + 21) +#define CAM_ISP_VFE_OUT_RES_CAMIF_RAW (CAM_ISP_VFE_OUT_RES_BASE + 22) +#define CAM_ISP_VFE_OUT_RES_IDEAL_RAW (CAM_ISP_VFE_OUT_RES_BASE + 23) +#define CAM_ISP_VFE_OUT_RES_MAX (CAM_ISP_VFE_OUT_RES_BASE + 24) + +/* VFE input port_ resource type (global unique) */ +#define CAM_ISP_VFE_IN_RES_BASE 0x2000 + +#define CAM_ISP_VFE_IN_RES_TPG (CAM_ISP_VFE_IN_RES_BASE + 0) +#define CAM_ISP_VFE_IN_RES_PHY_0 (CAM_ISP_VFE_IN_RES_BASE + 1) +#define CAM_ISP_VFE_IN_RES_PHY_1 (CAM_ISP_VFE_IN_RES_BASE + 2) +#define CAM_ISP_VFE_IN_RES_PHY_2 (CAM_ISP_VFE_IN_RES_BASE + 3) +#define CAM_ISP_VFE_IN_RES_PHY_3 (CAM_ISP_VFE_IN_RES_BASE + 4) +#define CAM_ISP_VFE_IN_RES_FE (CAM_ISP_VFE_IN_RES_BASE + 5) +#define CAM_ISP_VFE_IN_RES_MAX (CAM_ISP_VFE_IN_RES_BASE + 6) + +#endif /* __UAPI_CAM_ISP_VFE_H__ */ diff --git a/third_party/linux/include/media/cam_jpeg.h b/third_party/linux/include/media/cam_jpeg.h new file mode 100644 index 0000000000..f3082f3bfe --- /dev/null +++ b/third_party/linux/include/media/cam_jpeg.h @@ -0,0 +1,117 @@ +#ifndef __UAPI_CAM_JPEG_H__ +#define __UAPI_CAM_JPEG_H__ + +#include "cam_defs.h" + +/* enc, dma, cdm(enc/dma) are used in querycap */ +#define CAM_JPEG_DEV_TYPE_ENC 0 +#define CAM_JPEG_DEV_TYPE_DMA 1 +#define CAM_JPEG_DEV_TYPE_MAX 2 + +#define CAM_JPEG_NUM_DEV_PER_RES_MAX 1 + +/* definitions needed for jpeg aquire device */ +#define CAM_JPEG_RES_TYPE_ENC 0 +#define CAM_JPEG_RES_TYPE_DMA 1 +#define CAM_JPEG_RES_TYPE_MAX 2 + +/* packet opcode types */ +#define CAM_JPEG_OPCODE_ENC_UPDATE 0 +#define CAM_JPEG_OPCODE_DMA_UPDATE 1 + +/* ENC input port resource type */ +#define CAM_JPEG_ENC_INPUT_IMAGE 0x0 + +/* ENC output port resource type */ +#define CAM_JPEG_ENC_OUTPUT_IMAGE 0x1 + +#define CAM_JPEG_ENC_IO_IMAGES_MAX 0x2 + +/* DMA input port resource type */ +#define CAM_JPEG_DMA_INPUT_IMAGE 0x0 + +/* DMA output port resource type */ +#define CAM_JPEG_DMA_OUTPUT_IMAGE 0x1 + +#define CAM_JPEG_DMA_IO_IMAGES_MAX 0x2 + +#define CAM_JPEG_IMAGE_MAX 0x2 + +/** + * struct cam_jpeg_dev_ver - Device information for particular hw type + * + * This is used to get device version info of JPEG ENC, JPEG DMA + * from hardware and use this info in CAM_QUERY_CAP IOCTL + * + * @size : Size of struct passed + * @dev_type: Hardware type for the cap info(jpeg enc, jpeg dma) + * @hw_ver: Major, minor and incr values of a device version + */ +struct cam_jpeg_dev_ver { + uint32_t size; + uint32_t dev_type; + struct cam_hw_version hw_ver; +}; + +/** + * struct cam_jpeg_query_cap_cmd - JPEG query device capability payload + * + * @dev_iommu_handle: Jpeg iommu handles for secure/non secure + * modes + * @cdm_iommu_handle: Iommu handles for secure/non secure modes + * @num_enc: Number of encoder + * @num_dma: Number of dma + * @dev_ver: Returned device capability array + */ +struct cam_jpeg_query_cap_cmd { + struct cam_iommu_handle dev_iommu_handle; + struct cam_iommu_handle cdm_iommu_handle; + uint32_t num_enc; + uint32_t num_dma; + struct cam_jpeg_dev_ver dev_ver[CAM_JPEG_DEV_TYPE_MAX]; +}; + +/** + * struct cam_jpeg_res_info - JPEG output resource info + * + * @format: Format of the resource + * @width: Width in pixels + * @height: Height in lines + * @fps: Fps + */ +struct cam_jpeg_res_info { + uint32_t format; + uint32_t width; + uint32_t height; + uint32_t fps; +}; + +/** + * struct cam_jpeg_acquire_dev_info - An JPEG device info + * + * @dev_type: Device type (ENC/DMA) + * @reserved: Reserved Bytes + * @in_res: In resource info + * @in_res: Iut resource info + */ +struct cam_jpeg_acquire_dev_info { + uint32_t dev_type; + uint32_t reserved; + struct cam_jpeg_res_info in_res; + struct cam_jpeg_res_info out_res; +}; + +/** + * struct cam_jpeg_config_inout_param_info - JPEG Config time + * input output params + * + * @clk_index: Input Param- clock selection index.(-1 default) + * @output_size: Output Param - jpeg encode/dma output size in + * bytes + */ +struct cam_jpeg_config_inout_param_info { + int32_t clk_index; + int32_t output_size; +}; + +#endif /* __UAPI_CAM_JPEG_H__ */ diff --git a/third_party/linux/include/media/cam_lrme.h b/third_party/linux/include/media/cam_lrme.h new file mode 100644 index 0000000000..97d957835e --- /dev/null +++ b/third_party/linux/include/media/cam_lrme.h @@ -0,0 +1,65 @@ +#ifndef __UAPI_CAM_LRME_H__ +#define __UAPI_CAM_LRME_H__ + +#include "cam_defs.h" + +/* LRME Resource Types */ + +enum CAM_LRME_IO_TYPE { + CAM_LRME_IO_TYPE_TAR, + CAM_LRME_IO_TYPE_REF, + CAM_LRME_IO_TYPE_RES, + CAM_LRME_IO_TYPE_DS2, +}; + +#define CAM_LRME_INPUT_PORT_TYPE_TAR (1 << 0) +#define CAM_LRME_INPUT_PORT_TYPE_REF (1 << 1) + +#define CAM_LRME_OUTPUT_PORT_TYPE_DS2 (1 << 0) +#define CAM_LRME_OUTPUT_PORT_TYPE_RES (1 << 1) + +#define CAM_LRME_DEV_MAX 1 + + +struct cam_lrme_hw_version { + uint32_t gen; + uint32_t rev; + uint32_t step; +}; + +struct cam_lrme_dev_cap { + struct cam_lrme_hw_version clc_hw_version; + struct cam_lrme_hw_version bus_rd_hw_version; + struct cam_lrme_hw_version bus_wr_hw_version; + struct cam_lrme_hw_version top_hw_version; + struct cam_lrme_hw_version top_titan_version; +}; + +/** + * struct cam_lrme_query_cap_cmd - LRME query device capability payload + * + * @dev_iommu_handle: LRME iommu handles for secure/non secure + * modes + * @cdm_iommu_handle: Iommu handles for secure/non secure modes + * @num_devices: number of hardware devices + * @dev_caps: Returned device capability array + */ +struct cam_lrme_query_cap_cmd { + struct cam_iommu_handle device_iommu; + struct cam_iommu_handle cdm_iommu; + uint32_t num_devices; + struct cam_lrme_dev_cap dev_caps[CAM_LRME_DEV_MAX]; +}; + +struct cam_lrme_soc_info { + uint64_t clock_rate; + uint64_t bandwidth; + uint64_t reserved[4]; +}; + +struct cam_lrme_acquire_args { + struct cam_lrme_soc_info lrme_soc_info; +}; + +#endif /* __UAPI_CAM_LRME_H__ */ + diff --git a/third_party/linux/include/media/cam_req_mgr.h b/third_party/linux/include/media/cam_req_mgr.h new file mode 100644 index 0000000000..ae65649964 --- /dev/null +++ b/third_party/linux/include/media/cam_req_mgr.h @@ -0,0 +1,436 @@ +#ifndef __UAPI_LINUX_CAM_REQ_MGR_H +#define __UAPI_LINUX_CAM_REQ_MGR_H + +#include +#include +#include +#include +#include + +#define CAM_REQ_MGR_VNODE_NAME "cam-req-mgr-devnode" + +#define CAM_DEVICE_TYPE_BASE (MEDIA_ENT_F_OLD_BASE) +#define CAM_VNODE_DEVICE_TYPE (CAM_DEVICE_TYPE_BASE) +#define CAM_SENSOR_DEVICE_TYPE (CAM_DEVICE_TYPE_BASE + 1) +#define CAM_IFE_DEVICE_TYPE (CAM_DEVICE_TYPE_BASE + 2) +#define CAM_ICP_DEVICE_TYPE (CAM_DEVICE_TYPE_BASE + 3) +#define CAM_LRME_DEVICE_TYPE (CAM_DEVICE_TYPE_BASE + 4) +#define CAM_JPEG_DEVICE_TYPE (CAM_DEVICE_TYPE_BASE + 5) +#define CAM_FD_DEVICE_TYPE (CAM_DEVICE_TYPE_BASE + 6) +#define CAM_CPAS_DEVICE_TYPE (CAM_DEVICE_TYPE_BASE + 7) +#define CAM_CSIPHY_DEVICE_TYPE (CAM_DEVICE_TYPE_BASE + 8) +#define CAM_ACTUATOR_DEVICE_TYPE (CAM_DEVICE_TYPE_BASE + 9) +#define CAM_CCI_DEVICE_TYPE (CAM_DEVICE_TYPE_BASE + 10) +#define CAM_FLASH_DEVICE_TYPE (CAM_DEVICE_TYPE_BASE + 11) +#define CAM_EEPROM_DEVICE_TYPE (CAM_DEVICE_TYPE_BASE + 12) +#define CAM_OIS_DEVICE_TYPE (CAM_DEVICE_TYPE_BASE + 13) + +/* cam_req_mgr hdl info */ +#define CAM_REQ_MGR_HDL_IDX_POS 8 +#define CAM_REQ_MGR_HDL_IDX_MASK ((1 << CAM_REQ_MGR_HDL_IDX_POS) - 1) +#define CAM_REQ_MGR_GET_HDL_IDX(hdl) (hdl & CAM_REQ_MGR_HDL_IDX_MASK) + +/** + * Max handles supported by cam_req_mgr + * It includes both session and device handles + */ +#define CAM_REQ_MGR_MAX_HANDLES 64 +#define MAX_LINKS_PER_SESSION 2 + +/* V4L event type which user space will subscribe to */ +#define V4L_EVENT_CAM_REQ_MGR_EVENT (V4L2_EVENT_PRIVATE_START + 0) + +/* Specific event ids to get notified in user space */ +#define V4L_EVENT_CAM_REQ_MGR_SOF 0 +#define V4L_EVENT_CAM_REQ_MGR_ERROR 1 +#define V4L_EVENT_CAM_REQ_MGR_SOF_BOOT_TS 2 + +/* SOF Event status */ +#define CAM_REQ_MGR_SOF_EVENT_SUCCESS 0 +#define CAM_REQ_MGR_SOF_EVENT_ERROR 1 + +/* Link control operations */ +#define CAM_REQ_MGR_LINK_ACTIVATE 0 +#define CAM_REQ_MGR_LINK_DEACTIVATE 1 + +/** + * Request Manager : flush_type + * @CAM_REQ_MGR_FLUSH_TYPE_ALL: Req mgr will remove all the pending + * requests from input/processing queue. + * @CAM_REQ_MGR_FLUSH_TYPE_CANCEL_REQ: Req mgr will remove only particular + * request id from input/processing queue. + * @CAM_REQ_MGR_FLUSH_TYPE_MAX: Max number of the flush type + * @opcode: CAM_REQ_MGR_FLUSH_REQ + */ +#define CAM_REQ_MGR_FLUSH_TYPE_ALL 0 +#define CAM_REQ_MGR_FLUSH_TYPE_CANCEL_REQ 1 +#define CAM_REQ_MGR_FLUSH_TYPE_MAX 2 + +/** + * Request Manager : Sync Mode type + * @CAM_REQ_MGR_SYNC_MODE_NO_SYNC: Req mgr will apply non-sync mode for this + * request. + * @CAM_REQ_MGR_SYNC_MODE_SYNC: Req mgr will apply sync mode for this request. + */ +#define CAM_REQ_MGR_SYNC_MODE_NO_SYNC 0 +#define CAM_REQ_MGR_SYNC_MODE_SYNC 1 + +/** + * struct cam_req_mgr_event_data + * @session_hdl: session handle + * @link_hdl: link handle + * @frame_id: frame id + * @reserved: reserved for 64 bit aligngment + * @req_id: request id + * @tv_sec: timestamp in seconds + * @tv_usec: timestamp in micro seconds + */ +struct cam_req_mgr_event_data { + int32_t session_hdl; + int32_t link_hdl; + int32_t frame_id; + int32_t reserved; + int64_t req_id; + uint64_t tv_sec; + uint64_t tv_usec; +}; + +/** + * struct cam_req_mgr_session_info + * @session_hdl: In/Output param - session_handle + * @opcode1: CAM_REQ_MGR_CREATE_SESSION + * @opcode2: CAM_REQ_MGR_DESTROY_SESSION + */ +struct cam_req_mgr_session_info { + int32_t session_hdl; + int32_t reserved; +}; + +/** + * struct cam_req_mgr_link_info + * @session_hdl: Input param - Identifier for CSL session + * @num_devices: Input Param - Num of devices to be linked + * @dev_hdls: Input param - List of device handles to be linked + * @link_hdl: Output Param -Identifier for link + * @opcode: CAM_REQ_MGR_LINK + */ +struct cam_req_mgr_link_info { + int32_t session_hdl; + uint32_t num_devices; + int32_t dev_hdls[CAM_REQ_MGR_MAX_HANDLES]; + int32_t link_hdl; +}; + +/** + * struct cam_req_mgr_unlink_info + * @session_hdl: input param - session handle + * @link_hdl: input param - link handle + * @opcode: CAM_REQ_MGR_UNLINK + */ +struct cam_req_mgr_unlink_info { + int32_t session_hdl; + int32_t link_hdl; +}; + +/** + * struct cam_req_mgr_flush_info + * @brief: User can tell drivers to flush a particular request id or + * flush all requests from its pending processing queue. Flush is a + * blocking call and driver shall ensure all requests are flushed + * before returning. + * @session_hdl: Input param - Identifier for CSL session + * @link_hdl: Input Param -Identifier for link + * @flush_type: User can cancel a particular req id or can flush + * all requests in queue + * @reserved: reserved for 64 bit aligngment + * @req_id: field is valid only if flush type is cancel request + * for flush all this field value is not considered. + * @opcode: CAM_REQ_MGR_FLUSH_REQ + */ +struct cam_req_mgr_flush_info { + int32_t session_hdl; + int32_t link_hdl; + uint32_t flush_type; + uint32_t reserved; + int64_t req_id; +}; + +/** struct cam_req_mgr_sched_info + * @session_hdl: Input param - Identifier for CSL session + * @link_hdl: Input Param -Identifier for link + * inluding itself. + * @bubble_enable: Input Param - Cam req mgr will do bubble recovery if this + * flag is set. + * @sync_mode: Type of Sync mode for this request + * @req_id: Input Param - Request Id from which all requests will be flushed + */ +struct cam_req_mgr_sched_request { + int32_t session_hdl; + int32_t link_hdl; + int32_t bubble_enable; + int32_t sync_mode; + int64_t req_id; +}; + +/** + * struct cam_req_mgr_sync_mode + * @session_hdl: Input param - Identifier for CSL session + * @sync_mode: Input Param - Type of sync mode + * @num_links: Input Param - Num of links in sync mode (Valid only + * when sync_mode is one of SYNC enabled modes) + * @link_hdls: Input Param - Array of link handles to be in sync mode + * (Valid only when sync_mode is one of SYNC + * enabled modes) + * @master_link_hdl: Input Param - To dictate which link's SOF drives system + * (Valid only when sync_mode is one of SYNC + * enabled modes) + * + * @opcode: CAM_REQ_MGR_SYNC_MODE + */ +struct cam_req_mgr_sync_mode { + int32_t session_hdl; + int32_t sync_mode; + int32_t num_links; + int32_t link_hdls[MAX_LINKS_PER_SESSION]; + int32_t master_link_hdl; + int32_t reserved; +}; + +/** + * struct cam_req_mgr_link_control + * @ops: Link operations: activate/deactive + * @session_hdl: Input param - Identifier for CSL session + * @num_links: Input Param - Num of links + * @reserved: reserved field + * @link_hdls: Input Param - Links to be activated/deactivated + * + * @opcode: CAM_REQ_MGR_LINK_CONTROL + */ +struct cam_req_mgr_link_control { + int32_t ops; + int32_t session_hdl; + int32_t num_links; + int32_t reserved; + int32_t link_hdls[MAX_LINKS_PER_SESSION]; +}; + +/** + * cam_req_mgr specific opcode ids + */ +#define CAM_REQ_MGR_CREATE_DEV_NODES (CAM_COMMON_OPCODE_MAX + 1) +#define CAM_REQ_MGR_CREATE_SESSION (CAM_COMMON_OPCODE_MAX + 2) +#define CAM_REQ_MGR_DESTROY_SESSION (CAM_COMMON_OPCODE_MAX + 3) +#define CAM_REQ_MGR_LINK (CAM_COMMON_OPCODE_MAX + 4) +#define CAM_REQ_MGR_UNLINK (CAM_COMMON_OPCODE_MAX + 5) +#define CAM_REQ_MGR_SCHED_REQ (CAM_COMMON_OPCODE_MAX + 6) +#define CAM_REQ_MGR_FLUSH_REQ (CAM_COMMON_OPCODE_MAX + 7) +#define CAM_REQ_MGR_SYNC_MODE (CAM_COMMON_OPCODE_MAX + 8) +#define CAM_REQ_MGR_ALLOC_BUF (CAM_COMMON_OPCODE_MAX + 9) +#define CAM_REQ_MGR_MAP_BUF (CAM_COMMON_OPCODE_MAX + 10) +#define CAM_REQ_MGR_RELEASE_BUF (CAM_COMMON_OPCODE_MAX + 11) +#define CAM_REQ_MGR_CACHE_OPS (CAM_COMMON_OPCODE_MAX + 12) +#define CAM_REQ_MGR_LINK_CONTROL (CAM_COMMON_OPCODE_MAX + 13) +/* end of cam_req_mgr opcodes */ + +#define CAM_MEM_FLAG_HW_READ_WRITE (1<<0) +#define CAM_MEM_FLAG_HW_READ_ONLY (1<<1) +#define CAM_MEM_FLAG_HW_WRITE_ONLY (1<<2) +#define CAM_MEM_FLAG_KMD_ACCESS (1<<3) +#define CAM_MEM_FLAG_UMD_ACCESS (1<<4) +#define CAM_MEM_FLAG_PROTECTED_MODE (1<<5) +#define CAM_MEM_FLAG_CMD_BUF_TYPE (1<<6) +#define CAM_MEM_FLAG_PIXEL_BUF_TYPE (1<<7) +#define CAM_MEM_FLAG_STATS_BUF_TYPE (1<<8) +#define CAM_MEM_FLAG_PACKET_BUF_TYPE (1<<9) +#define CAM_MEM_FLAG_CACHE (1<<10) +#define CAM_MEM_FLAG_HW_SHARED_ACCESS (1<<11) + +#define CAM_MEM_MMU_MAX_HANDLE 16 + +/* Maximum allowed buffers in existence */ +#define CAM_MEM_BUFQ_MAX 1024 + +#define CAM_MEM_MGR_SECURE_BIT_POS 15 +#define CAM_MEM_MGR_HDL_IDX_SIZE 15 +#define CAM_MEM_MGR_HDL_FD_SIZE 16 +#define CAM_MEM_MGR_HDL_IDX_END_POS 16 +#define CAM_MEM_MGR_HDL_FD_END_POS 32 + +#define CAM_MEM_MGR_HDL_IDX_MASK ((1 << CAM_MEM_MGR_HDL_IDX_SIZE) - 1) + +#define GET_MEM_HANDLE(idx, fd) \ + ((idx & CAM_MEM_MGR_HDL_IDX_MASK) | \ + (fd << (CAM_MEM_MGR_HDL_FD_END_POS - CAM_MEM_MGR_HDL_FD_SIZE))) \ + +#define GET_FD_FROM_HANDLE(hdl) \ + (hdl >> (CAM_MEM_MGR_HDL_FD_END_POS - CAM_MEM_MGR_HDL_FD_SIZE)) \ + +#define CAM_MEM_MGR_GET_HDL_IDX(hdl) (hdl & CAM_MEM_MGR_HDL_IDX_MASK) + +#define CAM_MEM_MGR_SET_SECURE_HDL(hdl, flag) \ + ((flag) ? (hdl |= (1 << CAM_MEM_MGR_SECURE_BIT_POS)) : \ + ((hdl) &= ~(1 << CAM_MEM_MGR_SECURE_BIT_POS))) + +#define CAM_MEM_MGR_IS_SECURE_HDL(hdl) \ + (((hdl) & \ + (1<> CAM_MEM_MGR_SECURE_BIT_POS) + +/** + * memory allocation type + */ +#define CAM_MEM_DMA_NONE 0 +#define CAM_MEM_DMA_BIDIRECTIONAL 1 +#define CAM_MEM_DMA_TO_DEVICE 2 +#define CAM_MEM_DMA_FROM_DEVICE 3 + + +/** + * memory cache operation + */ +#define CAM_MEM_CLEAN_CACHE 1 +#define CAM_MEM_INV_CACHE 2 +#define CAM_MEM_CLEAN_INV_CACHE 3 + + +/** + * struct cam_mem_alloc_out_params + * @buf_handle: buffer handle + * @fd: output buffer file descriptor + * @vaddr: virtual address pointer + */ +struct cam_mem_alloc_out_params { + uint32_t buf_handle; + int32_t fd; + uint64_t vaddr; +}; + +/** + * struct cam_mem_map_out_params + * @buf_handle: buffer handle + * @reserved: reserved for future + * @vaddr: virtual address pointer + */ +struct cam_mem_map_out_params { + uint32_t buf_handle; + uint32_t reserved; + uint64_t vaddr; +}; + +/** + * struct cam_mem_mgr_alloc_cmd + * @len: size of buffer to allocate + * @align: alignment of the buffer + * @mmu_hdls: array of mmu handles + * @num_hdl: number of handles + * @flags: flags of the buffer + * @out: out params + */ +/* CAM_REQ_MGR_ALLOC_BUF */ +struct cam_mem_mgr_alloc_cmd { + uint64_t len; + uint64_t align; + int32_t mmu_hdls[CAM_MEM_MMU_MAX_HANDLE]; + uint32_t num_hdl; + uint32_t flags; + struct cam_mem_alloc_out_params out; +}; + +/** + * struct cam_mem_mgr_map_cmd + * @mmu_hdls: array of mmu handles + * @num_hdl: number of handles + * @flags: flags of the buffer + * @fd: output buffer file descriptor + * @reserved: reserved field + * @out: out params + */ + +/* CAM_REQ_MGR_MAP_BUF */ +struct cam_mem_mgr_map_cmd { + int32_t mmu_hdls[CAM_MEM_MMU_MAX_HANDLE]; + uint32_t num_hdl; + uint32_t flags; + int32_t fd; + uint32_t reserved; + struct cam_mem_map_out_params out; +}; + +/** + * struct cam_mem_mgr_map_cmd + * @buf_handle: buffer handle + * @reserved: reserved field + */ +/* CAM_REQ_MGR_RELEASE_BUF */ +struct cam_mem_mgr_release_cmd { + int32_t buf_handle; + uint32_t reserved; +}; + +/** + * struct cam_mem_mgr_map_cmd + * @buf_handle: buffer handle + * @ops: cache operations + */ +/* CAM_REQ_MGR_CACHE_OPS */ +struct cam_mem_cache_ops_cmd { + int32_t buf_handle; + uint32_t mem_cache_ops; +}; + +/** + * Request Manager : error message type + * @CAM_REQ_MGR_ERROR_TYPE_DEVICE: Device error message, fatal to session + * @CAM_REQ_MGR_ERROR_TYPE_REQUEST: Error on a single request, not fatal + * @CAM_REQ_MGR_ERROR_TYPE_BUFFER: Buffer was not filled, not fatal + */ +#define CAM_REQ_MGR_ERROR_TYPE_DEVICE 0 +#define CAM_REQ_MGR_ERROR_TYPE_REQUEST 1 +#define CAM_REQ_MGR_ERROR_TYPE_BUFFER 2 + +/** + * struct cam_req_mgr_error_msg + * @error_type: type of error + * @request_id: request id of frame + * @device_hdl: device handle + * @linke_hdl: link_hdl + * @resource_size: size of the resource + */ +struct cam_req_mgr_error_msg { + uint32_t error_type; + uint32_t request_id; + int32_t device_hdl; + int32_t link_hdl; + uint64_t resource_size; +}; + +/** + * struct cam_req_mgr_frame_msg + * @request_id: request id of the frame + * @frame_id: frame id of the frame + * @timestamp: timestamp of the frame + * @link_hdl: link handle associated with this message + * @sof_status: sof status success or fail + */ +struct cam_req_mgr_frame_msg { + uint64_t request_id; + uint64_t frame_id; + uint64_t timestamp; + int32_t link_hdl; + uint32_t sof_status; +}; + +/** + * struct cam_req_mgr_message + * @session_hdl: session to which the frame belongs to + * @reserved: reserved field + * @u: union which can either be error or frame message + */ +struct cam_req_mgr_message { + int32_t session_hdl; + int32_t reserved; + union { + struct cam_req_mgr_error_msg err_msg; + struct cam_req_mgr_frame_msg frame_msg; + } u; +}; +#endif /* __UAPI_LINUX_CAM_REQ_MGR_H */ diff --git a/third_party/linux/include/media/cam_sensor.h b/third_party/linux/include/media/cam_sensor.h new file mode 100644 index 0000000000..f5af6047f5 --- /dev/null +++ b/third_party/linux/include/media/cam_sensor.h @@ -0,0 +1,477 @@ +#ifndef __UAPI_CAM_SENSOR_H__ +#define __UAPI_CAM_SENSOR_H__ + +#include +#include +#include + +#define CAM_SENSOR_PROBE_CMD (CAM_COMMON_OPCODE_MAX + 1) +#define CAM_FLASH_MAX_LED_TRIGGERS 3 +#define MAX_OIS_NAME_SIZE 32 +#define CAM_CSIPHY_SECURE_MODE_ENABLED 1 +/** + * struct cam_sensor_query_cap - capabilities info for sensor + * + * @slot_info : Indicates about the slotId or cell Index + * @secure_camera : Camera is in secure/Non-secure mode + * @pos_pitch : Sensor position pitch + * @pos_roll : Sensor position roll + * @pos_yaw : Sensor position yaw + * @actuator_slot_id : Actuator slot id which connected to sensor + * @eeprom_slot_id : EEPROM slot id which connected to sensor + * @ois_slot_id : OIS slot id which connected to sensor + * @flash_slot_id : Flash slot id which connected to sensor + * @csiphy_slot_id : CSIphy slot id which connected to sensor + * + */ +struct cam_sensor_query_cap { + uint32_t slot_info; + uint32_t secure_camera; + uint32_t pos_pitch; + uint32_t pos_roll; + uint32_t pos_yaw; + uint32_t actuator_slot_id; + uint32_t eeprom_slot_id; + uint32_t ois_slot_id; + uint32_t flash_slot_id; + uint32_t csiphy_slot_id; +} __attribute__((packed)); + +/** + * struct cam_csiphy_query_cap - capabilities info for csiphy + * + * @slot_info : Indicates about the slotId or cell Index + * @version : CSIphy version + * @clk lane : Of the 5 lanes, informs lane configured + * as clock lane + * @reserved + */ +struct cam_csiphy_query_cap { + uint32_t slot_info; + uint32_t version; + uint32_t clk_lane; + uint32_t reserved; +} __attribute__((packed)); + +/** + * struct cam_actuator_query_cap - capabilities info for actuator + * + * @slot_info : Indicates about the slotId or cell Index + * @reserved + */ +struct cam_actuator_query_cap { + uint32_t slot_info; + uint32_t reserved; +} __attribute__((packed)); + +/** + * struct cam_eeprom_query_cap_t - capabilities info for eeprom + * + * @slot_info : Indicates about the slotId or cell Index + * @eeprom_kernel_probe : Indicates about the kernel or userspace probe + */ +struct cam_eeprom_query_cap_t { + uint32_t slot_info; + uint16_t eeprom_kernel_probe; + uint16_t reserved; +} __attribute__((packed)); + +/** + * struct cam_ois_query_cap_t - capabilities info for ois + * + * @slot_info : Indicates about the slotId or cell Index + */ +struct cam_ois_query_cap_t { + uint32_t slot_info; + uint16_t reserved; +} __attribute__((packed)); + +/** + * struct cam_cmd_i2c_info - Contains slave I2C related info + * + * @slave_addr : Slave address + * @i2c_freq_mode : 4 bits are used for I2c freq mode + * @cmd_type : Explains type of command + */ +struct cam_cmd_i2c_info { + uint16_t slave_addr; + uint8_t i2c_freq_mode; + uint8_t cmd_type; +} __attribute__((packed)); + +/** + * struct cam_ois_opcode - Contains OIS opcode + * + * @prog : OIS FW prog register address + * @coeff : OIS FW coeff register address + * @pheripheral : OIS pheripheral + * @memory : OIS memory + */ +struct cam_ois_opcode { + uint32_t prog; + uint32_t coeff; + uint32_t pheripheral; + uint32_t memory; +} __attribute__((packed)); + +/** + * struct cam_cmd_ois_info - Contains OIS slave info + * + * @slave_addr : OIS i2c slave address + * @i2c_freq_mode : i2c frequency mode + * @cmd_type : Explains type of command + * @ois_fw_flag : indicates if fw is present or not + * @is_ois_calib : indicates the calibration data is available + * @ois_name : OIS name + * @opcode : opcode + */ +struct cam_cmd_ois_info { + uint16_t slave_addr; + uint8_t i2c_freq_mode; + uint8_t cmd_type; + uint8_t ois_fw_flag; + uint8_t is_ois_calib; + char ois_name[MAX_OIS_NAME_SIZE]; + struct cam_ois_opcode opcode; +} __attribute__((packed)); + +/** + * struct cam_cmd_probe - Contains sensor slave info + * + * @data_type : Slave register data type + * @addr_type : Slave register address type + * @op_code : Don't Care + * @cmd_type : Explains type of command + * @reg_addr : Slave register address + * @expected_data : Data expected at slave register address + * @data_mask : Data mask if only few bits are valid + * @camera_id : Indicates the slot to which camera + * needs to be probed + * @reserved + */ +struct cam_cmd_probe { + uint8_t data_type; + uint8_t addr_type; + uint8_t op_code; + uint8_t cmd_type; + uint32_t reg_addr; + uint32_t expected_data; + uint32_t data_mask; + uint16_t camera_id; + uint16_t reserved; +} __attribute__((packed)); + +/** + * struct cam_power_settings - Contains sensor power setting info + * + * @power_seq_type : Type of power sequence + * @reserved + * @config_val_low : Lower 32 bit value configuration value + * @config_val_high : Higher 32 bit value configuration value + * + */ +struct cam_power_settings { + uint16_t power_seq_type; + uint16_t reserved; + uint32_t config_val_low; + uint32_t config_val_high; +} __attribute__((packed)); + +/** + * struct cam_cmd_power - Explains about the power settings + * + * @count : Number of power settings follows + * @reserved + * @cmd_type : Explains type of command + * @power_settings : Contains power setting info + */ +struct cam_cmd_power { + uint16_t count; + uint8_t reserved; + uint8_t cmd_type; + struct cam_power_settings power_settings[1]; +} __attribute__((packed)); + +/** + * struct i2c_rdwr_header - header of READ/WRITE I2C command + * + * @ count : Number of registers / data / reg-data pairs + * @ op_code : Operation code + * @ cmd_type : Command buffer type + * @ data_type : I2C data type + * @ addr_type : I2C address type + * @ reserved + */ +struct i2c_rdwr_header { + uint16_t count; + uint8_t op_code; + uint8_t cmd_type; + uint8_t data_type; + uint8_t addr_type; + uint16_t reserved; +} __attribute__((packed)); + +/** + * struct i2c_random_wr_payload - payload for I2C random write + * + * @ reg_addr : Register address + * @ reg_data : Register data + * + */ +struct i2c_random_wr_payload { + uint32_t reg_addr; + uint32_t reg_data; +} __attribute__((packed)); + +/** + * struct cam_cmd_i2c_random_wr - I2C random write command + * @ header : header of READ/WRITE I2C command + * @ random_wr_payload : payload for I2C random write + */ +struct cam_cmd_i2c_random_wr { + struct i2c_rdwr_header header; + struct i2c_random_wr_payload random_wr_payload[1]; +} __attribute__((packed)); + +/** + * struct cam_cmd_read - I2C read command + * @ reg_data : Register data + * @ reserved + */ +struct cam_cmd_read { + uint32_t reg_data; + uint32_t reserved; +} __attribute__((packed)); + +/** + * struct cam_cmd_i2c_continuous_wr - I2C continuous write command + * @ header : header of READ/WRITE I2C command + * @ reg_addr : Register address + * @ data_read : I2C read command + */ +struct cam_cmd_i2c_continuous_wr { + struct i2c_rdwr_header header; + uint32_t reg_addr; + struct cam_cmd_read data_read[1]; +} __attribute__((packed)); + +/** + * struct cam_cmd_i2c_random_rd - I2C random read command + * @ header : header of READ/WRITE I2C command + * @ data_read : I2C read command + */ +struct cam_cmd_i2c_random_rd { + struct i2c_rdwr_header header; + struct cam_cmd_read data_read[1]; +} __attribute__((packed)); + +/** + * struct cam_cmd_i2c_continuous_rd - I2C continuous continuous read command + * @ header : header of READ/WRITE I2C command + * @ reg_addr : Register address + * + */ +struct cam_cmd_i2c_continuous_rd { + struct i2c_rdwr_header header; + uint32_t reg_addr; +} __attribute__((packed)); + +/** + * struct cam_cmd_conditional_wait - Conditional wait command + * @data_type : Data type + * @addr_type : Address type + * @op_code : Opcode + * @cmd_type : Explains type of command + * @timeout : Timeout for retries + * @reserved + * @reg_addr : Register Address + * @reg_data : Register data + * @data_mask : Data mask if only few bits are valid + * @camera_id : Indicates the slot to which camera + * needs to be probed + * + */ +struct cam_cmd_conditional_wait { + uint8_t data_type; + uint8_t addr_type; + uint8_t op_code; + uint8_t cmd_type; + uint16_t timeout; + uint16_t reserved; + uint32_t reg_addr; + uint32_t reg_data; + uint32_t data_mask; +} __attribute__((packed)); + +/** + * struct cam_cmd_unconditional_wait - Un-conditional wait command + * @delay : Delay + * @op_code : Opcode + * @cmd_type : Explains type of command + */ +struct cam_cmd_unconditional_wait { + int16_t delay; + uint8_t op_code; + uint8_t cmd_type; +} __attribute__((packed)); + +/** + * cam_csiphy_info: Provides cmdbuffer structre + * @lane_mask : Lane mask details + * @lane_assign : Lane sensor will be using + * @csiphy_3phase : Total number of lanes + * @combo_mode : Info regarding combo_mode is enable / disable + * @lane_cnt : Total number of lanes + * @secure_mode : Secure mode flag to enable / disable + * @3phase : Details whether 3Phase / 2Phase operation + * @settle_time : Settling time in ms + * @data_rate : Data rate + * + */ +struct cam_csiphy_info { + uint16_t lane_mask; + uint16_t lane_assign; + uint8_t csiphy_3phase; + uint8_t combo_mode; + uint8_t lane_cnt; + uint8_t secure_mode; + uint64_t settle_time; + uint64_t data_rate; +} __attribute__((packed)); + +/** + * cam_csiphy_acquire_dev_info : Information needed for + * csiphy at the time of acquire + * @combo_mode : Indicates the device mode of operation + * @reserved + * + */ +struct cam_csiphy_acquire_dev_info { + uint32_t combo_mode; + uint32_t reserved; +} __attribute__((packed)); + +/** + * cam_sensor_acquire_dev : Updates sensor acuire cmd + * @device_handle : Updates device handle + * @session_handle : Session handle for acquiring device + * @handle_type : Resource handle type + * @reserved + * @info_handle : Handle to additional info + * needed for sensor sub modules + * + */ +struct cam_sensor_acquire_dev { + uint32_t session_handle; + uint32_t device_handle; + uint32_t handle_type; + uint32_t reserved; + uint64_t info_handle; +} __attribute__((packed)); + +/** + * cam_sensor_streamon_dev : StreamOn command for the sensor + * @session_handle : Session handle for acquiring device + * @device_handle : Updates device handle + * @handle_type : Resource handle type + * @reserved + * @info_handle : Information Needed at the time of streamOn + * + */ +struct cam_sensor_streamon_dev { + uint32_t session_handle; + uint32_t device_handle; + uint32_t handle_type; + uint32_t reserved; + uint64_t info_handle; +} __attribute__((packed)); + +/** + * struct cam_flash_init : Init command for the flash + * @flash_type : flash hw type + * @reserved + * @cmd_type : command buffer type + */ +struct cam_flash_init { + uint8_t flash_type; + uint16_t reserved; + uint8_t cmd_type; +} __attribute__((packed)); + +/** + * struct cam_flash_set_rer : RedEyeReduction command buffer + * + * @count : Number of flash leds + * @opcode : Command buffer opcode + * CAM_FLASH_FIRE_RER + * @cmd_type : command buffer operation type + * @num_iteration : Number of led turn on/off sequence + * @reserved + * @led_on_delay_ms : flash led turn on time in ms + * @led_off_delay_ms : flash led turn off time in ms + * @led_current_ma : flash led current in ma + * + */ +struct cam_flash_set_rer { + uint16_t count; + uint8_t opcode; + uint8_t cmd_type; + uint16_t num_iteration; + uint16_t reserved; + uint32_t led_on_delay_ms; + uint32_t led_off_delay_ms; + uint32_t led_current_ma[CAM_FLASH_MAX_LED_TRIGGERS]; +} __attribute__((packed)); + +/** + * struct cam_flash_set_on_off : led turn on/off command buffer + * + * @count : Number of Flash leds + * @opcode : command buffer opcodes + * CAM_FLASH_FIRE_LOW + * CAM_FLASH_FIRE_HIGH + * CAM_FLASH_OFF + * @cmd_type : command buffer operation type + * @led_current_ma : flash led current in ma + * + */ +struct cam_flash_set_on_off { + uint16_t count; + uint8_t opcode; + uint8_t cmd_type; + uint32_t led_current_ma[CAM_FLASH_MAX_LED_TRIGGERS]; +} __attribute__((packed)); + +/** + * struct cam_flash_query_curr : query current command buffer + * + * @reserved + * @opcode : command buffer opcode + * @cmd_type : command buffer operation type + * @query_current_ma : battery current in ma + * + */ +struct cam_flash_query_curr { + uint16_t reserved; + uint8_t opcode; + uint8_t cmd_type; + uint32_t query_current_ma; +} __attribute__ ((packed)); + +/** + * struct cam_flash_query_cap : capabilities info for flash + * + * @slot_info : Indicates about the slotId or cell Index + * @max_current_flash : max supported current for flash + * @max_duration_flash : max flash turn on duration + * @max_current_torch : max supported current for torch + * + */ +struct cam_flash_query_cap_info { + uint32_t slot_info; + uint32_t max_current_flash[CAM_FLASH_MAX_LED_TRIGGERS]; + uint32_t max_duration_flash[CAM_FLASH_MAX_LED_TRIGGERS]; + uint32_t max_current_torch[CAM_FLASH_MAX_LED_TRIGGERS]; +} __attribute__ ((packed)); + +#endif diff --git a/third_party/linux/include/media/cam_sensor_cmn_header.h b/third_party/linux/include/media/cam_sensor_cmn_header.h new file mode 100644 index 0000000000..24617b39bd --- /dev/null +++ b/third_party/linux/include/media/cam_sensor_cmn_header.h @@ -0,0 +1,391 @@ +/* Copyright (c) 2017-2018, The Linux Foundation. All rights reserved. + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License version 2 and + * only version 2 as published by the Free Software Foundation. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + */ + +#ifndef _CAM_SENSOR_CMN_HEADER_ +#define _CAM_SENSOR_CMN_HEADER_ + +#include +#include +#include + +#define MAX_REGULATOR 5 +#define MAX_POWER_CONFIG 12 + +#define MAX_PER_FRAME_ARRAY 32 +#define BATCH_SIZE_MAX 16 + +#define CAM_SENSOR_NAME "cam-sensor" +#define CAM_ACTUATOR_NAME "cam-actuator" +#define CAM_CSIPHY_NAME "cam-csiphy" +#define CAM_FLASH_NAME "cam-flash" +#define CAM_EEPROM_NAME "cam-eeprom" +#define CAM_OIS_NAME "cam-ois" + +#define MAX_SYSTEM_PIPELINE_DELAY 2 + +#define CAM_PKT_NOP_OPCODE 127 + +enum camera_sensor_cmd_type { + CAMERA_SENSOR_CMD_TYPE_INVALID, + CAMERA_SENSOR_CMD_TYPE_PROBE, + CAMERA_SENSOR_CMD_TYPE_PWR_UP, + CAMERA_SENSOR_CMD_TYPE_PWR_DOWN, + CAMERA_SENSOR_CMD_TYPE_I2C_INFO, + CAMERA_SENSOR_CMD_TYPE_I2C_RNDM_WR, + CAMERA_SENSOR_CMD_TYPE_I2C_RNDM_RD, + CAMERA_SENSOR_CMD_TYPE_I2C_CONT_WR, + CAMERA_SENSOR_CMD_TYPE_I2C_CONT_RD, + CAMERA_SENSOR_CMD_TYPE_WAIT, + CAMERA_SENSOR_FLASH_CMD_TYPE_INIT_INFO, + CAMERA_SENSOR_FLASH_CMD_TYPE_FIRE, + CAMERA_SENSOR_FLASH_CMD_TYPE_RER, + CAMERA_SENSOR_FLASH_CMD_TYPE_QUERYCURR, + CAMERA_SENSOR_FLASH_CMD_TYPE_WIDGET, + CAMERA_SENSOR_CMD_TYPE_RD_DATA, + CAMERA_SENSOR_FLASH_CMD_TYPE_INIT_FIRE, + CAMERA_SENSOR_CMD_TYPE_MAX, +}; + +enum camera_sensor_i2c_op_code { + CAMERA_SENSOR_I2C_OP_INVALID, + CAMERA_SENSOR_I2C_OP_RNDM_WR, + CAMERA_SENSOR_I2C_OP_RNDM_WR_VERF, + CAMERA_SENSOR_I2C_OP_CONT_WR_BRST, + CAMERA_SENSOR_I2C_OP_CONT_WR_BRST_VERF, + CAMERA_SENSOR_I2C_OP_CONT_WR_SEQN, + CAMERA_SENSOR_I2C_OP_CONT_WR_SEQN_VERF, + CAMERA_SENSOR_I2C_OP_MAX, +}; + +enum camera_sensor_wait_op_code { + CAMERA_SENSOR_WAIT_OP_INVALID, + CAMERA_SENSOR_WAIT_OP_COND, + CAMERA_SENSOR_WAIT_OP_HW_UCND, + CAMERA_SENSOR_WAIT_OP_SW_UCND, + CAMERA_SENSOR_WAIT_OP_MAX, +}; + +enum camera_flash_opcode { + CAMERA_SENSOR_FLASH_OP_INVALID, + CAMERA_SENSOR_FLASH_OP_OFF, + CAMERA_SENSOR_FLASH_OP_FIRELOW, + CAMERA_SENSOR_FLASH_OP_FIREHIGH, + CAMERA_SENSOR_FLASH_OP_MAX, +}; + +enum camera_sensor_i2c_type { + CAMERA_SENSOR_I2C_TYPE_INVALID, + CAMERA_SENSOR_I2C_TYPE_BYTE, + CAMERA_SENSOR_I2C_TYPE_WORD, + CAMERA_SENSOR_I2C_TYPE_3B, + CAMERA_SENSOR_I2C_TYPE_DWORD, + CAMERA_SENSOR_I2C_TYPE_MAX, +}; + +enum i2c_freq_mode { + I2C_STANDARD_MODE, + I2C_FAST_MODE, + I2C_CUSTOM_MODE, + I2C_FAST_PLUS_MODE, + I2C_MAX_MODES, +}; + +enum position_roll { + ROLL_0 = 0, + ROLL_90 = 90, + ROLL_180 = 180, + ROLL_270 = 270, + ROLL_INVALID = 360, +}; + +enum position_yaw { + FRONT_CAMERA_YAW = 0, + REAR_CAMERA_YAW = 180, + INVALID_YAW = 360, +}; + +enum position_pitch { + LEVEL_PITCH = 0, + INVALID_PITCH = 360, +}; + +enum sensor_sub_module { + SUB_MODULE_SENSOR, + SUB_MODULE_ACTUATOR, + SUB_MODULE_EEPROM, + SUB_MODULE_LED_FLASH, + SUB_MODULE_CSID, + SUB_MODULE_CSIPHY, + SUB_MODULE_OIS, + SUB_MODULE_EXT, + SUB_MODULE_MAX, +}; + +enum msm_camera_power_seq_type { + SENSOR_MCLK, + SENSOR_VANA, + SENSOR_VDIG, + SENSOR_VIO, + SENSOR_VAF, + SENSOR_VAF_PWDM, + SENSOR_CUSTOM_REG1, + SENSOR_CUSTOM_REG2, + SENSOR_RESET, + SENSOR_STANDBY, + SENSOR_CUSTOM_GPIO1, + SENSOR_CUSTOM_GPIO2, + SENSOR_SEQ_TYPE_MAX, +}; + +enum cam_sensor_packet_opcodes { + CAM_SENSOR_PACKET_OPCODE_SENSOR_STREAMON, + CAM_SENSOR_PACKET_OPCODE_SENSOR_UPDATE, + CAM_SENSOR_PACKET_OPCODE_SENSOR_INITIAL_CONFIG, + CAM_SENSOR_PACKET_OPCODE_SENSOR_PROBE, + CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, + CAM_SENSOR_PACKET_OPCODE_SENSOR_STREAMOFF, + CAM_SENSOR_PACKET_OPCODE_SENSOR_NOP = 127 +}; + +enum cam_actuator_packet_opcodes { + CAM_ACTUATOR_PACKET_OPCODE_INIT, + CAM_ACTUATOR_PACKET_AUTO_MOVE_LENS, + CAM_ACTUATOR_PACKET_MANUAL_MOVE_LENS +}; + +enum cam_eeprom_packet_opcodes { + CAM_EEPROM_PACKET_OPCODE_INIT +}; + +enum cam_ois_packet_opcodes { + CAM_OIS_PACKET_OPCODE_INIT, + CAM_OIS_PACKET_OPCODE_OIS_CONTROL +}; + +enum msm_bus_perf_setting { + S_INIT, + S_PREVIEW, + S_VIDEO, + S_CAPTURE, + S_ZSL, + S_STEREO_VIDEO, + S_STEREO_CAPTURE, + S_DEFAULT, + S_LIVESHOT, + S_DUAL, + S_EXIT +}; + +enum msm_camera_device_type_t { + MSM_CAMERA_I2C_DEVICE, + MSM_CAMERA_PLATFORM_DEVICE, + MSM_CAMERA_SPI_DEVICE, +}; + +enum cam_flash_device_type { + CAMERA_FLASH_DEVICE_TYPE_PMIC = 0, + CAMERA_FLASH_DEVICE_TYPE_I2C, + CAMERA_FLASH_DEVICE_TYPE_GPIO, +}; + +enum cci_i2c_master_t { + MASTER_0, + MASTER_1, + MASTER_MAX, +}; + +enum camera_vreg_type { + VREG_TYPE_DEFAULT, + VREG_TYPE_CUSTOM, +}; + +enum cam_sensor_i2c_cmd_type { + CAM_SENSOR_I2C_WRITE_RANDOM, + CAM_SENSOR_I2C_WRITE_BURST, + CAM_SENSOR_I2C_WRITE_SEQ, + CAM_SENSOR_I2C_READ, + CAM_SENSOR_I2C_POLL +}; + +struct common_header { + uint16_t first_word; + uint8_t third_byte; + uint8_t cmd_type; +}; + +struct camera_vreg_t { + const char *reg_name; + int min_voltage; + int max_voltage; + int op_mode; + uint32_t delay; + const char *custom_vreg_name; + enum camera_vreg_type type; +}; + +struct msm_camera_gpio_num_info { + uint16_t gpio_num[SENSOR_SEQ_TYPE_MAX]; + uint8_t valid[SENSOR_SEQ_TYPE_MAX]; +}; + +struct msm_cam_clk_info { + const char *clk_name; + long clk_rate; + uint32_t delay; +}; + +struct msm_pinctrl_info { + struct pinctrl *pinctrl; + struct pinctrl_state *gpio_state_active; + struct pinctrl_state *gpio_state_suspend; + bool use_pinctrl; +}; + +struct cam_sensor_i2c_reg_array { + uint32_t reg_addr; + uint32_t reg_data; + uint32_t delay; + uint32_t data_mask; +}; + +struct cam_sensor_i2c_reg_setting { + struct cam_sensor_i2c_reg_array *reg_setting; + unsigned short size; + enum camera_sensor_i2c_type addr_type; + enum camera_sensor_i2c_type data_type; + unsigned short delay; +}; + +/*struct i2c_settings_list { + struct cam_sensor_i2c_reg_setting i2c_settings; + enum cam_sensor_i2c_cmd_type op_code; + struct list_head list; +}; + +struct i2c_settings_array { + struct list_head list_head; + int32_t is_settings_valid; + int64_t request_id; +}; + +struct i2c_data_settings { + struct i2c_settings_array init_settings; + struct i2c_settings_array config_settings; + struct i2c_settings_array streamon_settings; + struct i2c_settings_array streamoff_settings; + struct i2c_settings_array *per_frame; +};*/ + +struct cam_sensor_power_ctrl_t { + struct device *dev; + struct cam_sensor_power_setting *power_setting; + uint16_t power_setting_size; + struct cam_sensor_power_setting *power_down_setting; + uint16_t power_down_setting_size; + struct msm_camera_gpio_num_info *gpio_num_info; + struct msm_pinctrl_info pinctrl_info; + uint8_t cam_pinctrl_status; +}; + +struct cam_camera_slave_info { + uint16_t sensor_slave_addr; + uint16_t sensor_id_reg_addr; + uint16_t sensor_id; + uint16_t sensor_id_mask; +}; + +struct msm_sensor_init_params { + int modes_supported; + unsigned int sensor_mount_angle; +}; + +enum msm_sensor_camera_id_t { + CAMERA_0, + CAMERA_1, + CAMERA_2, + CAMERA_3, + CAMERA_4, + CAMERA_5, + CAMERA_6, + MAX_CAMERAS, +}; + +struct msm_sensor_id_info_t { + unsigned short sensor_id_reg_addr; + unsigned short sensor_id; + unsigned short sensor_id_mask; +}; + +enum msm_sensor_output_format_t { + MSM_SENSOR_BAYER, + MSM_SENSOR_YCBCR, + MSM_SENSOR_META, +}; + +struct cam_sensor_power_setting { + enum msm_camera_power_seq_type seq_type; + unsigned short seq_val; + long config_val; + unsigned short delay; + void *data[10]; +}; + +struct cam_sensor_board_info { + struct cam_camera_slave_info slave_info; + int32_t sensor_mount_angle; + int32_t secure_mode; + int modes_supported; + int32_t pos_roll; + int32_t pos_yaw; + int32_t pos_pitch; + int32_t subdev_id[SUB_MODULE_MAX]; + int32_t subdev_intf[SUB_MODULE_MAX]; + const char *misc_regulator; + struct cam_sensor_power_ctrl_t power_info; +}; + +enum msm_camera_vreg_name_t { + CAM_VDIG, + CAM_VIO, + CAM_VANA, + CAM_VAF, + CAM_V_CUSTOM1, + CAM_V_CUSTOM2, + CAM_VREG_MAX, +}; + +struct msm_camera_gpio_conf { + void *cam_gpiomux_conf_tbl; + uint8_t cam_gpiomux_conf_tbl_size; + struct gpio *cam_gpio_common_tbl; + uint8_t cam_gpio_common_tbl_size; + struct gpio *cam_gpio_req_tbl; + uint8_t cam_gpio_req_tbl_size; + uint32_t gpio_no_mux; + uint32_t *camera_off_table; + uint8_t camera_off_table_size; + uint32_t *camera_on_table; + uint8_t camera_on_table_size; + struct msm_camera_gpio_num_info *gpio_num_info; +}; + +/*for tof camera Begin*/ +enum EEPROM_DATA_OP_T{ + EEPROM_DEFAULT_DATA = 0, + EEPROM_INIT_DATA, + EEPROM_CONFIG_DATA, + EEPROM_STREAMON_DATA, + EEPROM_STREAMOFF_DATA, + EEPROM_OTHER_DATA, +}; +/*for tof camera End*/ +#endif /* _CAM_SENSOR_CMN_HEADER_ */ diff --git a/third_party/linux/include/media/cam_sync.h b/third_party/linux/include/media/cam_sync.h new file mode 100644 index 0000000000..4a8781fc82 --- /dev/null +++ b/third_party/linux/include/media/cam_sync.h @@ -0,0 +1,134 @@ +#ifndef __UAPI_CAM_SYNC_H__ +#define __UAPI_CAM_SYNC_H__ + +#include +#include +#include +#include + +#define CAM_SYNC_DEVICE_NAME "cam_sync_device" + +/* V4L event which user space will subscribe to */ +#define CAM_SYNC_V4L_EVENT (V4L2_EVENT_PRIVATE_START + 0) + +/* Specific event ids to get notified in user space */ +#define CAM_SYNC_V4L_EVENT_ID_CB_TRIG 0 + +/* Size of opaque payload sent to kernel for safekeeping until signal time */ +#define CAM_SYNC_USER_PAYLOAD_SIZE 2 + +/* Device type for sync device needed for device discovery */ +#define CAM_SYNC_DEVICE_TYPE (MEDIA_ENT_F_OLD_BASE) + +#define CAM_SYNC_GET_PAYLOAD_PTR(ev, type) \ + (type *)((char *)ev.u.data + sizeof(struct cam_sync_ev_header)) + +#define CAM_SYNC_GET_HEADER_PTR(ev) \ + ((struct cam_sync_ev_header *)ev.u.data) + +#define CAM_SYNC_STATE_INVALID 0 +#define CAM_SYNC_STATE_ACTIVE 1 +#define CAM_SYNC_STATE_SIGNALED_SUCCESS 2 +#define CAM_SYNC_STATE_SIGNALED_ERROR 3 + +/** + * struct cam_sync_ev_header - Event header for sync event notification + * + * @sync_obj: Sync object + * @status: Status of the object + */ +struct cam_sync_ev_header { + int32_t sync_obj; + int32_t status; +}; + +/** + * struct cam_sync_info - Sync object creation information + * + * @name: Optional string representation of the sync object + * @sync_obj: Sync object returned after creation in kernel + */ +struct cam_sync_info { + char name[64]; + int32_t sync_obj; +}; + +/** + * struct cam_sync_signal - Sync object signaling struct + * + * @sync_obj: Sync object to be signaled + * @sync_state: State of the sync object to which it should be signaled + */ +struct cam_sync_signal { + int32_t sync_obj; + uint32_t sync_state; +}; + +/** + * struct cam_sync_merge - Merge information for sync objects + * + * @sync_objs: Pointer to sync objects + * @num_objs: Number of objects in the array + * @merged: Merged sync object + */ +struct cam_sync_merge { + __u64 sync_objs; + uint32_t num_objs; + int32_t merged; +}; + +/** + * struct cam_sync_userpayload_info - Payload info from user space + * + * @sync_obj: Sync object for which payload has to be registered for + * @reserved: Reserved + * @payload: Pointer to user payload + */ +struct cam_sync_userpayload_info { + int32_t sync_obj; + uint32_t reserved; + __u64 payload[CAM_SYNC_USER_PAYLOAD_SIZE]; +}; + +/** + * struct cam_sync_wait - Sync object wait information + * + * @sync_obj: Sync object to wait on + * @reserved: Reserved + * @timeout_ms: Timeout in milliseconds + */ +struct cam_sync_wait { + int32_t sync_obj; + uint32_t reserved; + uint64_t timeout_ms; +}; + +/** + * struct cam_private_ioctl_arg - Sync driver ioctl argument + * + * @id: IOCTL command id + * @size: Size of command payload + * @result: Result of command execution + * @reserved: Reserved + * @ioctl_ptr: Pointer to user data + */ +struct cam_private_ioctl_arg { + __u32 id; + __u32 size; + __u32 result; + __u32 reserved; + __u64 ioctl_ptr; +}; + +#define CAM_PRIVATE_IOCTL_CMD \ + _IOWR('V', BASE_VIDIOC_PRIVATE, struct cam_private_ioctl_arg) + +#define CAM_SYNC_CREATE 0 +#define CAM_SYNC_DESTROY 1 +#define CAM_SYNC_SIGNAL 2 +#define CAM_SYNC_MERGE 3 +#define CAM_SYNC_REGISTER_PAYLOAD 4 +#define CAM_SYNC_DEREGISTER_PAYLOAD 5 +#define CAM_SYNC_WAIT 6 + +#endif /* __UAPI_CAM_SYNC_H__ */ diff --git a/third_party/linux/include/msm_cam_sensor.h b/third_party/linux/include/msm_cam_sensor.h new file mode 100644 index 0000000000..c75d1fd527 --- /dev/null +++ b/third_party/linux/include/msm_cam_sensor.h @@ -0,0 +1,829 @@ +#ifndef __LINUX_MSM_CAM_SENSOR_H +#define __LINUX_MSM_CAM_SENSOR_H + +#ifdef MSM_CAMERA_BIONIC +#include +#endif + +//#include +#include "msm_camsensor_sdk.h" + +#include +#include +#ifdef CONFIG_COMPAT +#include +#endif + +#define I2C_SEQ_REG_SETTING_MAX 5 + +#define MSM_SENSOR_MCLK_8HZ 8000000 +#define MSM_SENSOR_MCLK_16HZ 16000000 +#define MSM_SENSOR_MCLK_24HZ 24000000 + +#define MAX_SENSOR_NAME 32 +#define MAX_ACTUATOR_AF_TOTAL_STEPS 1024 + +#define MAX_OIS_MOD_NAME_SIZE 32 +#define MAX_OIS_NAME_SIZE 32 +#define MAX_OIS_REG_SETTINGS 800 + +#define MOVE_NEAR 0 +#define MOVE_FAR 1 + +#define MSM_ACTUATOR_MOVE_SIGNED_FAR -1 +#define MSM_ACTUATOR_MOVE_SIGNED_NEAR 1 + +#define MAX_ACTUATOR_REGION 5 + +#define MAX_EEPROM_NAME 32 + +#define MAX_AF_ITERATIONS 3 +#define MAX_NUMBER_OF_STEPS 47 +#define MAX_REGULATOR 5 + +#define MSM_V4L2_PIX_FMT_META v4l2_fourcc('M', 'E', 'T', 'A') /* META */ +#define MSM_V4L2_PIX_FMT_SBGGR14 v4l2_fourcc('B', 'G', '1', '4') + /* 14 BGBG.. GRGR.. */ +#define MSM_V4L2_PIX_FMT_SGBRG14 v4l2_fourcc('G', 'B', '1', '4') + /* 14 GBGB.. RGRG.. */ +#define MSM_V4L2_PIX_FMT_SGRBG14 v4l2_fourcc('B', 'A', '1', '4') + /* 14 GRGR.. BGBG.. */ +#define MSM_V4L2_PIX_FMT_SRGGB14 v4l2_fourcc('R', 'G', '1', '4') + /* 14 RGRG.. GBGB.. */ + +enum flash_type { + LED_FLASH = 1, + STROBE_FLASH, + GPIO_FLASH +}; + +enum msm_sensor_resolution_t { + MSM_SENSOR_RES_FULL, + MSM_SENSOR_RES_QTR, + MSM_SENSOR_RES_2, + MSM_SENSOR_RES_3, + MSM_SENSOR_RES_4, + MSM_SENSOR_RES_5, + MSM_SENSOR_RES_6, + MSM_SENSOR_RES_7, + MSM_SENSOR_INVALID_RES, +}; + +enum msm_camera_stream_type_t { + MSM_CAMERA_STREAM_PREVIEW, + MSM_CAMERA_STREAM_SNAPSHOT, + MSM_CAMERA_STREAM_VIDEO, + MSM_CAMERA_STREAM_INVALID, +}; + +enum sensor_sub_module_t { + SUB_MODULE_SENSOR, + SUB_MODULE_CHROMATIX, + SUB_MODULE_ACTUATOR, + SUB_MODULE_EEPROM, + SUB_MODULE_LED_FLASH, + SUB_MODULE_STROBE_FLASH, + SUB_MODULE_CSID, + SUB_MODULE_CSID_3D, + SUB_MODULE_CSIPHY, + SUB_MODULE_CSIPHY_3D, + SUB_MODULE_OIS, + SUB_MODULE_EXT, + SUB_MODULE_MAX, +}; + +enum { + MSM_CAMERA_EFFECT_MODE_OFF, + MSM_CAMERA_EFFECT_MODE_MONO, + MSM_CAMERA_EFFECT_MODE_NEGATIVE, + MSM_CAMERA_EFFECT_MODE_SOLARIZE, + MSM_CAMERA_EFFECT_MODE_SEPIA, + MSM_CAMERA_EFFECT_MODE_POSTERIZE, + MSM_CAMERA_EFFECT_MODE_WHITEBOARD, + MSM_CAMERA_EFFECT_MODE_BLACKBOARD, + MSM_CAMERA_EFFECT_MODE_AQUA, + MSM_CAMERA_EFFECT_MODE_EMBOSS, + MSM_CAMERA_EFFECT_MODE_SKETCH, + MSM_CAMERA_EFFECT_MODE_NEON, + MSM_CAMERA_EFFECT_MODE_MAX +}; + +enum { + MSM_CAMERA_WB_MODE_AUTO, + MSM_CAMERA_WB_MODE_CUSTOM, + MSM_CAMERA_WB_MODE_INCANDESCENT, + MSM_CAMERA_WB_MODE_FLUORESCENT, + MSM_CAMERA_WB_MODE_WARM_FLUORESCENT, + MSM_CAMERA_WB_MODE_DAYLIGHT, + MSM_CAMERA_WB_MODE_CLOUDY_DAYLIGHT, + MSM_CAMERA_WB_MODE_TWILIGHT, + MSM_CAMERA_WB_MODE_SHADE, + MSM_CAMERA_WB_MODE_OFF, + MSM_CAMERA_WB_MODE_MAX +}; + +enum { + MSM_CAMERA_SCENE_MODE_OFF, + MSM_CAMERA_SCENE_MODE_AUTO, + MSM_CAMERA_SCENE_MODE_LANDSCAPE, + MSM_CAMERA_SCENE_MODE_SNOW, + MSM_CAMERA_SCENE_MODE_BEACH, + MSM_CAMERA_SCENE_MODE_SUNSET, + MSM_CAMERA_SCENE_MODE_NIGHT, + MSM_CAMERA_SCENE_MODE_PORTRAIT, + MSM_CAMERA_SCENE_MODE_BACKLIGHT, + MSM_CAMERA_SCENE_MODE_SPORTS, + MSM_CAMERA_SCENE_MODE_ANTISHAKE, + MSM_CAMERA_SCENE_MODE_FLOWERS, + MSM_CAMERA_SCENE_MODE_CANDLELIGHT, + MSM_CAMERA_SCENE_MODE_FIREWORKS, + MSM_CAMERA_SCENE_MODE_PARTY, + MSM_CAMERA_SCENE_MODE_NIGHT_PORTRAIT, + MSM_CAMERA_SCENE_MODE_THEATRE, + MSM_CAMERA_SCENE_MODE_ACTION, + MSM_CAMERA_SCENE_MODE_AR, + MSM_CAMERA_SCENE_MODE_FACE_PRIORITY, + MSM_CAMERA_SCENE_MODE_BARCODE, + MSM_CAMERA_SCENE_MODE_HDR, + MSM_CAMERA_SCENE_MODE_MAX +}; + +enum csid_cfg_type_t { + CSID_INIT, + CSID_CFG, + CSID_TESTMODE_CFG, + CSID_RELEASE, +}; + +enum csiphy_cfg_type_t { + CSIPHY_INIT, + CSIPHY_CFG, + CSIPHY_RELEASE, +}; + +enum camera_vreg_type { + VREG_TYPE_DEFAULT, + VREG_TYPE_CUSTOM, +}; + +enum sensor_af_t { + SENSOR_AF_FOCUSSED, + SENSOR_AF_NOT_FOCUSSED, +}; + +enum cci_i2c_master_t { + MASTER_0, + MASTER_1, + MASTER_MAX, +}; + +struct msm_camera_i2c_array_write_config { + struct msm_camera_i2c_reg_setting conf_array; + uint16_t slave_addr; +}; + +struct msm_camera_i2c_read_config { + uint16_t slave_addr; + uint16_t reg_addr; + enum msm_camera_i2c_reg_addr_type addr_type; + enum msm_camera_i2c_data_type data_type; + uint16_t data; +}; + +struct msm_camera_csi2_params { + struct msm_camera_csid_params csid_params; + struct msm_camera_csiphy_params csiphy_params; + uint8_t csi_clk_scale_enable; +}; + +struct msm_camera_csi_lane_params { + uint16_t csi_lane_assign; + uint16_t csi_lane_mask; +}; + +struct csi_lane_params_t { + uint16_t csi_lane_assign; + uint8_t csi_lane_mask; + uint8_t csi_if; + int8_t csid_core[2]; + uint8_t csi_phy_sel; +}; + +struct msm_sensor_info_t { + char sensor_name[MAX_SENSOR_NAME]; + uint32_t session_id; + int32_t subdev_id[SUB_MODULE_MAX]; + int32_t subdev_intf[SUB_MODULE_MAX]; + uint8_t is_mount_angle_valid; + uint32_t sensor_mount_angle; + int modes_supported; + enum camb_position_t position; +}; + +struct camera_vreg_t { + const char *reg_name; + int min_voltage; + int max_voltage; + int op_mode; + uint32_t delay; + const char *custom_vreg_name; + enum camera_vreg_type type; +}; + +struct sensorb_cfg_data { + int cfgtype; + union { + struct msm_sensor_info_t sensor_info; + struct msm_sensor_init_params sensor_init_params; + void *setting; + struct msm_sensor_i2c_sync_params sensor_i2c_sync_params; + } cfg; +}; + +struct csid_cfg_data { + enum csid_cfg_type_t cfgtype; + union { + uint32_t csid_version; + struct msm_camera_csid_params *csid_params; + struct msm_camera_csid_testmode_parms *csid_testmode_params; + } cfg; +}; + +struct csiphy_cfg_data { + enum csiphy_cfg_type_t cfgtype; + union { + struct msm_camera_csiphy_params *csiphy_params; + struct msm_camera_csi_lane_params *csi_lane_params; + } cfg; +}; + +enum eeprom_cfg_type_t { + CFG_EEPROM_GET_INFO, + CFG_EEPROM_GET_CAL_DATA, + CFG_EEPROM_READ_CAL_DATA, + CFG_EEPROM_WRITE_DATA, + CFG_EEPROM_GET_MM_INFO, + CFG_EEPROM_INIT, +}; + +struct eeprom_get_t { + uint32_t num_bytes; +}; + +struct eeprom_read_t { + uint8_t *dbuffer; + uint32_t num_bytes; +}; + +struct eeprom_write_t { + uint8_t *dbuffer; + uint32_t num_bytes; +}; + +struct eeprom_get_cmm_t { + uint32_t cmm_support; + uint32_t cmm_compression; + uint32_t cmm_size; +}; + +struct msm_eeprom_info_t { + struct msm_sensor_power_setting_array *power_setting_array; + enum i2c_freq_mode_t i2c_freq_mode; + struct msm_eeprom_memory_map_array *mem_map_array; +}; + +struct msm_eeprom_cfg_data { + enum eeprom_cfg_type_t cfgtype; + uint8_t is_supported; + union { + char eeprom_name[MAX_SENSOR_NAME]; + struct eeprom_get_t get_data; + struct eeprom_read_t read_data; + struct eeprom_write_t write_data; + struct eeprom_get_cmm_t get_cmm_data; + struct msm_eeprom_info_t eeprom_info; + } cfg; +}; + +#ifdef CONFIG_COMPAT +struct msm_sensor_power_setting32 { + enum msm_sensor_power_seq_type_t seq_type; + uint16_t seq_val; + compat_uint_t config_val; + uint16_t delay; + compat_uptr_t data[10]; +}; + +struct msm_sensor_power_setting_array32 { + struct msm_sensor_power_setting32 power_setting_a[MAX_POWER_CONFIG]; + compat_uptr_t power_setting; + uint16_t size; + struct msm_sensor_power_setting32 + power_down_setting_a[MAX_POWER_CONFIG]; + compat_uptr_t power_down_setting; + uint16_t size_down; +}; + +struct msm_camera_sensor_slave_info32 { + char sensor_name[32]; + char eeprom_name[32]; + char actuator_name[32]; + char ois_name[32]; + char flash_name[32]; + enum msm_sensor_camera_id_t camera_id; + uint16_t slave_addr; + enum i2c_freq_mode_t i2c_freq_mode; + enum msm_camera_i2c_reg_addr_type addr_type; + struct msm_sensor_id_info_t sensor_id_info; + struct msm_sensor_power_setting_array32 power_setting_array; + uint8_t is_init_params_valid; + struct msm_sensor_init_params sensor_init_params; + enum msm_sensor_output_format_t output_format; +}; + +struct msm_camera_csid_lut_params32 { + uint8_t num_cid; + struct msm_camera_csid_vc_cfg vc_cfg_a[MAX_CID]; + compat_uptr_t vc_cfg[MAX_CID]; +}; + +struct msm_camera_csid_params32 { + uint8_t lane_cnt; + uint16_t lane_assign; + uint8_t phy_sel; + uint32_t csi_clk; + struct msm_camera_csid_lut_params32 lut_params; + uint8_t csi_3p_sel; +}; + +struct msm_camera_csi2_params32 { + struct msm_camera_csid_params32 csid_params; + struct msm_camera_csiphy_params csiphy_params; + uint8_t csi_clk_scale_enable; +}; + +struct csid_cfg_data32 { + enum csid_cfg_type_t cfgtype; + union { + uint32_t csid_version; + compat_uptr_t csid_params; + compat_uptr_t csid_testmode_params; + } cfg; +}; + +struct eeprom_read_t32 { + compat_uptr_t dbuffer; + uint32_t num_bytes; +}; + +struct eeprom_write_t32 { + compat_uptr_t dbuffer; + uint32_t num_bytes; +}; + +struct msm_eeprom_info_t32 { + compat_uptr_t power_setting_array; + enum i2c_freq_mode_t i2c_freq_mode; + compat_uptr_t mem_map_array; +}; + +struct msm_eeprom_cfg_data32 { + enum eeprom_cfg_type_t cfgtype; + uint8_t is_supported; + union { + char eeprom_name[MAX_SENSOR_NAME]; + struct eeprom_get_t get_data; + struct eeprom_read_t32 read_data; + struct eeprom_write_t32 write_data; + struct msm_eeprom_info_t32 eeprom_info; + } cfg; +}; + +struct msm_camera_i2c_seq_reg_setting32 { + compat_uptr_t reg_setting; + uint16_t size; + enum msm_camera_i2c_reg_addr_type addr_type; + uint16_t delay; +}; +#endif + +enum msm_sensor_cfg_type_t { + CFG_SET_SLAVE_INFO, + CFG_SLAVE_READ_I2C, + CFG_WRITE_I2C_ARRAY, + CFG_SLAVE_WRITE_I2C_ARRAY, + CFG_WRITE_I2C_SEQ_ARRAY, + CFG_POWER_UP, + CFG_POWER_DOWN, + CFG_SET_STOP_STREAM_SETTING, + CFG_GET_SENSOR_INFO, + CFG_GET_SENSOR_INIT_PARAMS, + CFG_SET_INIT_SETTING, + CFG_SET_RESOLUTION, + CFG_SET_STOP_STREAM, + CFG_SET_START_STREAM, + CFG_SET_SATURATION, + CFG_SET_CONTRAST, + CFG_SET_SHARPNESS, + CFG_SET_ISO, + CFG_SET_EXPOSURE_COMPENSATION, + CFG_SET_ANTIBANDING, + CFG_SET_BESTSHOT_MODE, + CFG_SET_EFFECT, + CFG_SET_WHITE_BALANCE, + CFG_SET_AUTOFOCUS, + CFG_CANCEL_AUTOFOCUS, + CFG_SET_STREAM_TYPE, + CFG_SET_I2C_SYNC_PARAM, + CFG_WRITE_I2C_ARRAY_ASYNC, + CFG_WRITE_I2C_ARRAY_SYNC, + CFG_WRITE_I2C_ARRAY_SYNC_BLOCK, +}; + +enum msm_actuator_cfg_type_t { + CFG_GET_ACTUATOR_INFO, + CFG_SET_ACTUATOR_INFO, + CFG_SET_DEFAULT_FOCUS, + CFG_MOVE_FOCUS, + CFG_SET_POSITION, + CFG_ACTUATOR_POWERDOWN, + CFG_ACTUATOR_POWERUP, + CFG_ACTUATOR_INIT, +}; + +enum msm_ois_cfg_type_t { + CFG_OIS_INIT, + CFG_OIS_POWERDOWN, + CFG_OIS_POWERUP, + CFG_OIS_CONTROL, + CFG_OIS_I2C_WRITE_SEQ_TABLE, +}; + +enum msm_ois_i2c_operation { + MSM_OIS_WRITE = 0, + MSM_OIS_POLL, +}; + +struct reg_settings_ois_t { + uint16_t reg_addr; + enum msm_camera_i2c_reg_addr_type addr_type; + uint32_t reg_data; + enum msm_camera_i2c_data_type data_type; + enum msm_ois_i2c_operation i2c_operation; + uint32_t delay; +#define OIS_REG_DATA_SEQ_MAX 128 + unsigned char reg_data_seq[OIS_REG_DATA_SEQ_MAX]; + uint32_t reg_data_seq_size; +}; + +struct msm_ois_params_t { + uint16_t data_size; + uint16_t setting_size; + uint32_t i2c_addr; + enum i2c_freq_mode_t i2c_freq_mode; + enum msm_camera_i2c_reg_addr_type i2c_addr_type; + enum msm_camera_i2c_data_type i2c_data_type; + struct reg_settings_ois_t *settings; +}; + +struct msm_ois_set_info_t { + struct msm_ois_params_t ois_params; +}; + +struct msm_actuator_move_params_t { + int8_t dir; + int8_t sign_dir; + int16_t dest_step_pos; + int32_t num_steps; + uint16_t curr_lens_pos; + struct damping_params_t *ringing_params; +}; + +struct msm_actuator_tuning_params_t { + int16_t initial_code; + uint16_t pwd_step; + uint16_t region_size; + uint32_t total_steps; + struct region_params_t *region_params; +}; + +struct park_lens_data_t { + uint32_t damping_step; + uint32_t damping_delay; + uint32_t hw_params; + uint32_t max_step; +}; + +struct msm_actuator_params_t { + enum actuator_type act_type; + uint8_t reg_tbl_size; + uint16_t data_size; + uint16_t init_setting_size; + uint32_t i2c_addr; + enum i2c_freq_mode_t i2c_freq_mode; + enum msm_actuator_addr_type i2c_addr_type; + enum msm_actuator_data_type i2c_data_type; + struct msm_actuator_reg_params_t *reg_tbl_params; + struct reg_settings_t *init_settings; + struct park_lens_data_t park_lens; +}; + +struct msm_actuator_set_info_t { + struct msm_actuator_params_t actuator_params; + struct msm_actuator_tuning_params_t af_tuning_params; +}; + +struct msm_actuator_get_info_t { + uint32_t focal_length_num; + uint32_t focal_length_den; + uint32_t f_number_num; + uint32_t f_number_den; + uint32_t f_pix_num; + uint32_t f_pix_den; + uint32_t total_f_dist_num; + uint32_t total_f_dist_den; + uint32_t hor_view_angle_num; + uint32_t hor_view_angle_den; + uint32_t ver_view_angle_num; + uint32_t ver_view_angle_den; +}; + +enum af_camera_name { + ACTUATOR_MAIN_CAM_0, + ACTUATOR_MAIN_CAM_1, + ACTUATOR_MAIN_CAM_2, + ACTUATOR_MAIN_CAM_3, + ACTUATOR_MAIN_CAM_4, + ACTUATOR_MAIN_CAM_5, + ACTUATOR_WEB_CAM_0, + ACTUATOR_WEB_CAM_1, + ACTUATOR_WEB_CAM_2, +}; + +struct msm_ois_cfg_data { + int cfgtype; + union { + struct msm_ois_set_info_t set_info; + struct msm_camera_i2c_seq_reg_setting *settings; + } cfg; +}; + +struct msm_actuator_set_position_t { + uint16_t number_of_steps; + uint32_t hw_params; + uint16_t pos[MAX_NUMBER_OF_STEPS]; + uint16_t delay[MAX_NUMBER_OF_STEPS]; +}; + +struct msm_actuator_cfg_data { + int cfgtype; + uint8_t is_af_supported; + union { + struct msm_actuator_move_params_t move; + struct msm_actuator_set_info_t set_info; + struct msm_actuator_get_info_t get_info; + struct msm_actuator_set_position_t setpos; + enum af_camera_name cam_name; + } cfg; +}; + +enum msm_camera_led_config_t { + MSM_CAMERA_LED_OFF, + MSM_CAMERA_LED_LOW, + MSM_CAMERA_LED_HIGH, + MSM_CAMERA_LED_INIT, + MSM_CAMERA_LED_RELEASE, +}; + +struct msm_camera_led_cfg_t { + enum msm_camera_led_config_t cfgtype; + int32_t torch_current[MAX_LED_TRIGGERS]; + int32_t flash_current[MAX_LED_TRIGGERS]; + int32_t flash_duration[MAX_LED_TRIGGERS]; +}; + +struct msm_flash_init_info_t { + enum msm_flash_driver_type flash_driver_type; + uint32_t slave_addr; + enum i2c_freq_mode_t i2c_freq_mode; + struct msm_sensor_power_setting_array *power_setting_array; + struct msm_camera_i2c_reg_setting_array *settings; +}; + +struct msm_flash_cfg_data_t { + enum msm_flash_cfg_type_t cfg_type; + int32_t flash_current[MAX_LED_TRIGGERS]; + int32_t flash_duration[MAX_LED_TRIGGERS]; + union { + struct msm_flash_init_info_t *flash_init_info; + struct msm_camera_i2c_reg_setting_array *settings; + } cfg; +}; + +/* sensor init structures and enums */ +enum msm_sensor_init_cfg_type_t { + CFG_SINIT_PROBE, + CFG_SINIT_PROBE_DONE, + CFG_SINIT_PROBE_WAIT_DONE, +}; + +struct sensor_init_cfg_data { + enum msm_sensor_init_cfg_type_t cfgtype; + struct msm_sensor_info_t probed_info; + char entity_name[MAX_SENSOR_NAME]; + union { + void *setting; + } cfg; +}; + +#define VIDIOC_MSM_SENSOR_CFG \ + _IOWR('V', BASE_VIDIOC_PRIVATE + 1, struct sensorb_cfg_data) + +#define VIDIOC_MSM_SENSOR_RELEASE \ + _IO('V', BASE_VIDIOC_PRIVATE + 2) + +#define VIDIOC_MSM_SENSOR_GET_SUBDEV_ID \ + _IOWR('V', BASE_VIDIOC_PRIVATE + 3, uint32_t) + +#define VIDIOC_MSM_CSIPHY_IO_CFG \ + _IOWR('V', BASE_VIDIOC_PRIVATE + 4, struct csiphy_cfg_data) + +#define VIDIOC_MSM_CSID_IO_CFG \ + _IOWR('V', BASE_VIDIOC_PRIVATE + 5, struct csid_cfg_data) + +#define VIDIOC_MSM_ACTUATOR_CFG \ + _IOWR('V', BASE_VIDIOC_PRIVATE + 6, struct msm_actuator_cfg_data) + +#define VIDIOC_MSM_FLASH_LED_DATA_CFG \ + _IOWR('V', BASE_VIDIOC_PRIVATE + 7, struct msm_camera_led_cfg_t) + +#define VIDIOC_MSM_EEPROM_CFG \ + _IOWR('V', BASE_VIDIOC_PRIVATE + 8, struct msm_eeprom_cfg_data) + +#define VIDIOC_MSM_SENSOR_GET_AF_STATUS \ + _IOWR('V', BASE_VIDIOC_PRIVATE + 9, uint32_t) + +#define VIDIOC_MSM_SENSOR_INIT_CFG \ + _IOWR('V', BASE_VIDIOC_PRIVATE + 10, struct sensor_init_cfg_data) + +#define VIDIOC_MSM_OIS_CFG \ + _IOWR('V', BASE_VIDIOC_PRIVATE + 11, struct msm_ois_cfg_data) + +#define VIDIOC_MSM_FLASH_CFG \ + _IOWR('V', BASE_VIDIOC_PRIVATE + 13, struct msm_flash_cfg_data_t) + +#ifdef CONFIG_COMPAT +struct msm_camera_i2c_reg_setting32 { + compat_uptr_t reg_setting; + uint16_t size; + enum msm_camera_i2c_reg_addr_type addr_type; + enum msm_camera_i2c_data_type data_type; + uint16_t delay; +}; + +struct msm_camera_i2c_array_write_config32 { + struct msm_camera_i2c_reg_setting32 conf_array; + uint16_t slave_addr; +}; + +struct msm_actuator_tuning_params_t32 { + int16_t initial_code; + uint16_t pwd_step; + uint16_t region_size; + uint32_t total_steps; + compat_uptr_t region_params; +}; + +struct msm_actuator_params_t32 { + enum actuator_type act_type; + uint8_t reg_tbl_size; + uint16_t data_size; + uint16_t init_setting_size; + uint32_t i2c_addr; + enum i2c_freq_mode_t i2c_freq_mode; + enum msm_actuator_addr_type i2c_addr_type; + enum msm_actuator_data_type i2c_data_type; + compat_uptr_t reg_tbl_params; + compat_uptr_t init_settings; + struct park_lens_data_t park_lens; +}; + +struct msm_actuator_set_info_t32 { + struct msm_actuator_params_t32 actuator_params; + struct msm_actuator_tuning_params_t32 af_tuning_params; +}; + +struct sensor_init_cfg_data32 { + enum msm_sensor_init_cfg_type_t cfgtype; + struct msm_sensor_info_t probed_info; + char entity_name[MAX_SENSOR_NAME]; + union { + compat_uptr_t setting; + } cfg; +}; + +struct msm_actuator_move_params_t32 { + int8_t dir; + int8_t sign_dir; + int16_t dest_step_pos; + int32_t num_steps; + uint16_t curr_lens_pos; + compat_uptr_t ringing_params; +}; + +struct msm_actuator_cfg_data32 { + int cfgtype; + uint8_t is_af_supported; + union { + struct msm_actuator_move_params_t32 move; + struct msm_actuator_set_info_t32 set_info; + struct msm_actuator_get_info_t get_info; + struct msm_actuator_set_position_t setpos; + enum af_camera_name cam_name; + } cfg; +}; + +struct csiphy_cfg_data32 { + enum csiphy_cfg_type_t cfgtype; + union { + compat_uptr_t csiphy_params; + compat_uptr_t csi_lane_params; + } cfg; +}; + +struct sensorb_cfg_data32 { + int cfgtype; + union { + struct msm_sensor_info_t sensor_info; + struct msm_sensor_init_params sensor_init_params; + compat_uptr_t setting; + struct msm_sensor_i2c_sync_params sensor_i2c_sync_params; + } cfg; +}; + +struct msm_ois_params_t32 { + uint16_t data_size; + uint16_t setting_size; + uint32_t i2c_addr; + enum i2c_freq_mode_t i2c_freq_mode; + enum msm_camera_i2c_reg_addr_type i2c_addr_type; + enum msm_camera_i2c_data_type i2c_data_type; + compat_uptr_t settings; +}; + +struct msm_ois_set_info_t32 { + struct msm_ois_params_t32 ois_params; +}; + +struct msm_ois_cfg_data32 { + int cfgtype; + union { + struct msm_ois_set_info_t32 set_info; + compat_uptr_t settings; + } cfg; +}; + +struct msm_flash_init_info_t32 { + enum msm_flash_driver_type flash_driver_type; + uint32_t slave_addr; + enum i2c_freq_mode_t i2c_freq_mode; + compat_uptr_t power_setting_array; + compat_uptr_t settings; +}; + +struct msm_flash_cfg_data_t32 { + enum msm_flash_cfg_type_t cfg_type; + int32_t flash_current[MAX_LED_TRIGGERS]; + int32_t flash_duration[MAX_LED_TRIGGERS]; + union { + compat_uptr_t flash_init_info; + compat_uptr_t settings; + } cfg; +}; + +#define VIDIOC_MSM_ACTUATOR_CFG32 \ + _IOWR('V', BASE_VIDIOC_PRIVATE + 6, struct msm_actuator_cfg_data32) + +#define VIDIOC_MSM_SENSOR_INIT_CFG32 \ + _IOWR('V', BASE_VIDIOC_PRIVATE + 10, struct sensor_init_cfg_data32) + +#define VIDIOC_MSM_CSIPHY_IO_CFG32 \ + _IOWR('V', BASE_VIDIOC_PRIVATE + 4, struct csiphy_cfg_data32) + +#define VIDIOC_MSM_SENSOR_CFG32 \ + _IOWR('V', BASE_VIDIOC_PRIVATE + 1, struct sensorb_cfg_data32) + +#define VIDIOC_MSM_EEPROM_CFG32 \ + _IOWR('V', BASE_VIDIOC_PRIVATE + 8, struct msm_eeprom_cfg_data32) + +#define VIDIOC_MSM_OIS_CFG32 \ + _IOWR('V', BASE_VIDIOC_PRIVATE + 11, struct msm_ois_cfg_data32) + +#define VIDIOC_MSM_CSID_IO_CFG32 \ + _IOWR('V', BASE_VIDIOC_PRIVATE + 5, struct csid_cfg_data32) + +#define VIDIOC_MSM_FLASH_CFG32 \ + _IOWR('V', BASE_VIDIOC_PRIVATE + 13, struct msm_flash_cfg_data_t32) +#endif + +#endif /* __LINUX_MSM_CAM_SENSOR_H */ diff --git a/third_party/linux/include/msm_camsensor_sdk.h b/third_party/linux/include/msm_camsensor_sdk.h new file mode 100644 index 0000000000..62a4da253c --- /dev/null +++ b/third_party/linux/include/msm_camsensor_sdk.h @@ -0,0 +1,386 @@ +#ifndef __LINUX_MSM_CAMSENSOR_SDK_H +#define __LINUX_MSM_CAMSENSOR_SDK_H + +#define KVERSION 0x1 + +#define MAX_POWER_CONFIG 12 +#define GPIO_OUT_LOW (0 << 1) +#define GPIO_OUT_HIGH (1 << 1) +#define CSI_EMBED_DATA 0x12 +#define CSI_RESERVED_DATA_0 0x13 +#define CSI_YUV422_8 0x1E +#define CSI_RAW8 0x2A +#define CSI_RAW10 0x2B +#define CSI_RAW12 0x2C +#define CSI_DECODE_6BIT 0 +#define CSI_DECODE_8BIT 1 +#define CSI_DECODE_10BIT 2 +#define CSI_DECODE_12BIT 3 +#define CSI_DECODE_DPCM_10_8_10 5 +#define MAX_CID 16 +#define I2C_SEQ_REG_DATA_MAX 1024 +#define I2C_REG_DATA_MAX (8*1024) + +#define MSM_V4L2_PIX_FMT_META v4l2_fourcc('M', 'E', 'T', 'A') /* META */ +#define MSM_V4L2_PIX_FMT_SBGGR14 v4l2_fourcc('B', 'G', '1', '4') + /* 14 BGBG.. GRGR.. */ +#define MSM_V4L2_PIX_FMT_SGBRG14 v4l2_fourcc('G', 'B', '1', '4') + /* 14 GBGB.. RGRG.. */ +#define MSM_V4L2_PIX_FMT_SGRBG14 v4l2_fourcc('B', 'A', '1', '4') + /* 14 GRGR.. BGBG.. */ +#define MSM_V4L2_PIX_FMT_SRGGB14 v4l2_fourcc('R', 'G', '1', '4') + /* 14 RGRG.. GBGB.. */ + +#define MAX_ACTUATOR_REG_TBL_SIZE 8 +#define MAX_ACTUATOR_REGION 5 +#define NUM_ACTUATOR_DIR 2 +#define MAX_ACTUATOR_SCENARIO 8 +#define MAX_ACT_MOD_NAME_SIZE 32 +#define MAX_ACT_NAME_SIZE 32 +#define MAX_ACTUATOR_INIT_SET 120 +#define MAX_I2C_REG_SET 12 + +#define MAX_LED_TRIGGERS 3 + +#define MSM_EEPROM_MEMORY_MAP_MAX_SIZE 80 +#define MSM_EEPROM_MAX_MEM_MAP_CNT 8 + +enum msm_sensor_camera_id_t { + CAMERA_0, + CAMERA_1, + CAMERA_2, + CAMERA_3, + MAX_CAMERAS, +}; + +enum i2c_freq_mode_t { + I2C_STANDARD_MODE, + I2C_FAST_MODE, + I2C_CUSTOM_MODE, + I2C_FAST_PLUS_MODE, + I2C_MAX_MODES, +}; + +enum camb_position_t { + BACK_CAMERA_B, + FRONT_CAMERA_B, + AUX_CAMERA_B = 0x100, + INVALID_CAMERA_B, +}; + +enum msm_sensor_power_seq_type_t { + SENSOR_CLK, + SENSOR_GPIO, + SENSOR_VREG, + SENSOR_I2C_MUX, + SENSOR_I2C, +}; + +enum msm_camera_i2c_reg_addr_type { + MSM_CAMERA_I2C_BYTE_ADDR = 1, + MSM_CAMERA_I2C_WORD_ADDR, + MSM_CAMERA_I2C_3B_ADDR, + MSM_CAMERA_I2C_ADDR_TYPE_MAX, +}; + +enum msm_camera_i2c_data_type { + MSM_CAMERA_I2C_BYTE_DATA = 1, + MSM_CAMERA_I2C_WORD_DATA, + MSM_CAMERA_I2C_DWORD_DATA, + MSM_CAMERA_I2C_SET_BYTE_MASK, + MSM_CAMERA_I2C_UNSET_BYTE_MASK, + MSM_CAMERA_I2C_SET_WORD_MASK, + MSM_CAMERA_I2C_UNSET_WORD_MASK, + MSM_CAMERA_I2C_SET_BYTE_WRITE_MASK_DATA, + MSM_CAMERA_I2C_SEQ_DATA, + MSM_CAMERA_I2C_DATA_TYPE_MAX, +}; + +enum msm_sensor_power_seq_gpio_t { + SENSOR_GPIO_RESET, + SENSOR_GPIO_STANDBY, + SENSOR_GPIO_AF_PWDM, + SENSOR_GPIO_VIO, + SENSOR_GPIO_VANA, + SENSOR_GPIO_VDIG, + SENSOR_GPIO_VAF, + SENSOR_GPIO_FL_EN, + SENSOR_GPIO_FL_NOW, + SENSOR_GPIO_FL_RESET, + SENSOR_GPIO_CUSTOM1, + SENSOR_GPIO_CUSTOM2, + SENSOR_GPIO_MAX, +}; + +enum msm_camera_vreg_name_t { + CAM_VDIG, + CAM_VIO, + CAM_VANA, + CAM_VAF, + CAM_V_CUSTOM1, + CAM_V_CUSTOM2, + CAM_VREG_MAX, +}; + +enum msm_sensor_clk_type_t { + SENSOR_CAM_MCLK, + SENSOR_CAM_CLK, + SENSOR_CAM_CLK_MAX, +}; + +enum camerab_mode_t { + CAMERA_MODE_2D_B = (1<<0), + CAMERA_MODE_3D_B = (1<<1), + CAMERA_MODE_INVALID = (1<<2), +}; + +enum msm_actuator_data_type { + MSM_ACTUATOR_BYTE_DATA = 1, + MSM_ACTUATOR_WORD_DATA, +}; + +enum msm_actuator_addr_type { + MSM_ACTUATOR_BYTE_ADDR = 1, + MSM_ACTUATOR_WORD_ADDR, +}; + +enum msm_actuator_write_type { + MSM_ACTUATOR_WRITE_HW_DAMP, + MSM_ACTUATOR_WRITE_DAC, + MSM_ACTUATOR_WRITE, + MSM_ACTUATOR_WRITE_DIR_REG, + MSM_ACTUATOR_POLL, + MSM_ACTUATOR_READ_WRITE, +}; + +enum msm_actuator_i2c_operation { + MSM_ACT_WRITE = 0, + MSM_ACT_POLL, +}; + +enum actuator_type { + ACTUATOR_VCM, + ACTUATOR_PIEZO, + ACTUATOR_HVCM, + ACTUATOR_BIVCM, +}; + +enum msm_flash_driver_type { + FLASH_DRIVER_PMIC, + FLASH_DRIVER_I2C, + FLASH_DRIVER_GPIO, + FLASH_DRIVER_DEFAULT +}; + +enum msm_flash_cfg_type_t { + CFG_FLASH_INIT, + CFG_FLASH_RELEASE, + CFG_FLASH_OFF, + CFG_FLASH_LOW, + CFG_FLASH_HIGH, +}; + +enum msm_sensor_output_format_t { + MSM_SENSOR_BAYER, + MSM_SENSOR_YCBCR, + MSM_SENSOR_META, +}; + +struct msm_sensor_power_setting { + enum msm_sensor_power_seq_type_t seq_type; + unsigned short seq_val; + long config_val; + unsigned short delay; + void *data[10]; +}; + +struct msm_sensor_power_setting_array { + struct msm_sensor_power_setting power_setting_a[MAX_POWER_CONFIG]; + struct msm_sensor_power_setting *power_setting; + unsigned short size; + struct msm_sensor_power_setting power_down_setting_a[MAX_POWER_CONFIG]; + struct msm_sensor_power_setting *power_down_setting; + unsigned short size_down; +}; + +enum msm_camera_i2c_operation { + MSM_CAM_WRITE = 0, + MSM_CAM_POLL, + MSM_CAM_READ, +}; + +struct msm_sensor_i2c_sync_params { + unsigned int cid; + int csid; + unsigned short line; + unsigned short delay; +}; + +struct msm_camera_reg_settings_t { + uint16_t reg_addr; + enum msm_camera_i2c_reg_addr_type addr_type; + uint16_t reg_data; + enum msm_camera_i2c_data_type data_type; + enum msm_camera_i2c_operation i2c_operation; + uint16_t delay; +}; + +struct msm_eeprom_mem_map_t { + int slave_addr; + struct msm_camera_reg_settings_t + mem_settings[MSM_EEPROM_MEMORY_MAP_MAX_SIZE]; + int memory_map_size; +}; + +struct msm_eeprom_memory_map_array { + struct msm_eeprom_mem_map_t memory_map[MSM_EEPROM_MAX_MEM_MAP_CNT]; + uint32_t msm_size_of_max_mappings; +}; + +struct msm_sensor_init_params { + /* mask of modes supported: 2D, 3D */ + int modes_supported; + /* sensor position: front, back */ + enum camb_position_t position; + /* sensor mount angle */ + unsigned int sensor_mount_angle; +}; + +struct msm_sensor_id_info_t { + unsigned short sensor_id_reg_addr; + unsigned short sensor_id; + unsigned short sensor_id_mask; + // added in LeEco + unsigned char module_id; + unsigned char vcm_id; +}; + +struct msm_camera_sensor_slave_info { + char sensor_name[32]; + char eeprom_name[32]; + char actuator_name[32]; + char ois_name[32]; + char flash_name[32]; + enum msm_sensor_camera_id_t camera_id; + unsigned short slave_addr; + enum i2c_freq_mode_t i2c_freq_mode; + enum msm_camera_i2c_reg_addr_type addr_type; + struct msm_sensor_id_info_t sensor_id_info; + struct msm_sensor_power_setting_array power_setting_array; + unsigned char is_init_params_valid; + struct msm_sensor_init_params sensor_init_params; + enum msm_sensor_output_format_t output_format; +}; + +struct msm_camera_i2c_reg_array { + unsigned short reg_addr; + unsigned short reg_data; + unsigned int delay; +}; + +struct msm_camera_i2c_reg_setting { + struct msm_camera_i2c_reg_array *reg_setting; + unsigned short size; + enum msm_camera_i2c_reg_addr_type addr_type; + enum msm_camera_i2c_data_type data_type; + unsigned short delay; +}; + +struct msm_camera_csid_vc_cfg { + unsigned char cid; + unsigned char dt; + unsigned char decode_format; +}; + +struct msm_camera_csid_lut_params { + unsigned char num_cid; + struct msm_camera_csid_vc_cfg vc_cfg_a[MAX_CID]; + struct msm_camera_csid_vc_cfg *vc_cfg[MAX_CID]; +}; + +struct msm_camera_csid_params { + unsigned char lane_cnt; + unsigned short lane_assign; + unsigned char phy_sel; + unsigned int csi_clk; + struct msm_camera_csid_lut_params lut_params; + unsigned char csi_3p_sel; +}; + +struct msm_camera_csid_testmode_parms { + unsigned int num_bytes_per_line; + unsigned int num_lines; + unsigned int h_blanking_count; + unsigned int v_blanking_count; + unsigned int payload_mode; +}; + +struct msm_camera_csiphy_params { + unsigned char lane_cnt; + unsigned char settle_cnt; + unsigned short lane_mask; + unsigned char combo_mode; + unsigned char csid_core; + unsigned int csiphy_clk; + unsigned char csi_3phase; +}; + +struct msm_camera_i2c_seq_reg_array { + unsigned short reg_addr; + unsigned char reg_data[I2C_SEQ_REG_DATA_MAX]; + unsigned short reg_data_size; +}; + +struct msm_camera_i2c_seq_reg_setting { + struct msm_camera_i2c_seq_reg_array *reg_setting; + unsigned short size; + enum msm_camera_i2c_reg_addr_type addr_type; + unsigned short delay; +}; + +struct msm_actuator_reg_params_t { + enum msm_actuator_write_type reg_write_type; + unsigned int hw_mask; + unsigned short reg_addr; + unsigned short hw_shift; + unsigned short data_shift; + unsigned short data_type; + unsigned short addr_type; + unsigned short reg_data; + unsigned short delay; +}; + + +struct damping_params_t { + unsigned int damping_step; + unsigned int damping_delay; + unsigned int hw_params; +}; + +struct region_params_t { + /* [0] = ForwardDirection Macro boundary + [1] = ReverseDirection Inf boundary + */ + unsigned short step_bound[2]; + unsigned short code_per_step; + /* qvalue for converting float type numbers to integer format */ + unsigned int qvalue; +}; + +struct reg_settings_t { + unsigned short reg_addr; + enum msm_actuator_addr_type addr_type; + unsigned short reg_data; + enum msm_actuator_data_type data_type; + enum msm_actuator_i2c_operation i2c_operation; + unsigned int delay; +}; + +struct msm_camera_i2c_reg_setting_array { + struct msm_camera_i2c_reg_array reg_setting_a[MAX_I2C_REG_SET]; + unsigned short size; + enum msm_camera_i2c_reg_addr_type addr_type; + enum msm_camera_i2c_data_type data_type; + unsigned short delay; +}; +#endif /* __LINUX_MSM_CAM_SENSOR_H */ diff --git a/third_party/linux/include/msm_ion.h b/third_party/linux/include/msm_ion.h new file mode 100644 index 0000000000..d5caed5eb3 --- /dev/null +++ b/third_party/linux/include/msm_ion.h @@ -0,0 +1,211 @@ +#ifndef _UAPI_MSM_ION_H +#define _UAPI_MSM_ION_H + +#include + +enum msm_ion_heap_types { + ION_HEAP_TYPE_MSM_START = ION_HEAP_TYPE_CUSTOM + 1, + ION_HEAP_TYPE_SECURE_DMA = ION_HEAP_TYPE_MSM_START, + ION_HEAP_TYPE_SYSTEM_SECURE, + ION_HEAP_TYPE_HYP_CMA, + /* + * if you add a heap type here you should also add it to + * heap_types_info[] in msm_ion.c + */ +}; + +/** + * These are the only ids that should be used for Ion heap ids. + * The ids listed are the order in which allocation will be attempted + * if specified. Don't swap the order of heap ids unless you know what + * you are doing! + * Id's are spaced by purpose to allow new Id's to be inserted in-between (for + * possible fallbacks) + */ + +enum ion_heap_ids { + INVALID_HEAP_ID = -1, + ION_CP_MM_HEAP_ID = 8, + ION_SECURE_HEAP_ID = 9, + ION_SECURE_DISPLAY_HEAP_ID = 10, + ION_CP_MFC_HEAP_ID = 12, + ION_CP_WB_HEAP_ID = 16, /* 8660 only */ + ION_CAMERA_HEAP_ID = 20, /* 8660 only */ + ION_SYSTEM_CONTIG_HEAP_ID = 21, + ION_ADSP_HEAP_ID = 22, + ION_PIL1_HEAP_ID = 23, /* Currently used for other PIL images */ + ION_SF_HEAP_ID = 24, + ION_SYSTEM_HEAP_ID = 25, + ION_PIL2_HEAP_ID = 26, /* Currently used for modem firmware images */ + ION_QSECOM_HEAP_ID = 27, + ION_AUDIO_HEAP_ID = 28, + + ION_MM_FIRMWARE_HEAP_ID = 29, + + ION_HEAP_ID_RESERVED = 31 /** Bit reserved for ION_FLAG_SECURE flag */ +}; + +/* + * The IOMMU heap is deprecated! Here are some aliases for backwards + * compatibility: + */ +#define ION_IOMMU_HEAP_ID ION_SYSTEM_HEAP_ID +#define ION_HEAP_TYPE_IOMMU ION_HEAP_TYPE_SYSTEM + +enum ion_fixed_position { + NOT_FIXED, + FIXED_LOW, + FIXED_MIDDLE, + FIXED_HIGH, +}; + +enum cp_mem_usage { + VIDEO_BITSTREAM = 0x1, + VIDEO_PIXEL = 0x2, + VIDEO_NONPIXEL = 0x3, + DISPLAY_SECURE_CP_USAGE = 0x4, + CAMERA_SECURE_CP_USAGE = 0x5, + MAX_USAGE = 0x6, + UNKNOWN = 0x7FFFFFFF, +}; + +/** + * Flags to be used when allocating from the secure heap for + * content protection + */ +#define ION_FLAG_CP_TOUCH (1 << 17) +#define ION_FLAG_CP_BITSTREAM (1 << 18) +#define ION_FLAG_CP_PIXEL (1 << 19) +#define ION_FLAG_CP_NON_PIXEL (1 << 20) +#define ION_FLAG_CP_CAMERA (1 << 21) +#define ION_FLAG_CP_HLOS (1 << 22) +#define ION_FLAG_CP_HLOS_FREE (1 << 23) +#define ION_FLAG_CP_SEC_DISPLAY (1 << 25) +#define ION_FLAG_CP_APP (1 << 26) + +/** + * Flag to allow non continguous allocation of memory from secure + * heap + */ +#define ION_FLAG_ALLOW_NON_CONTIG (1 << 24) + +/** + * Flag to use when allocating to indicate that a heap is secure. + */ +#define ION_FLAG_SECURE (1 << ION_HEAP_ID_RESERVED) + +/** + * Flag for clients to force contiguous memort allocation + * + * Use of this flag is carefully monitored! + */ +#define ION_FLAG_FORCE_CONTIGUOUS (1 << 30) + +/* + * Used in conjunction with heap which pool memory to force an allocation + * to come from the page allocator directly instead of from the pool allocation + */ +#define ION_FLAG_POOL_FORCE_ALLOC (1 << 16) + + +#define ION_FLAG_POOL_PREFETCH (1 << 27) + +/** +* Deprecated! Please use the corresponding ION_FLAG_* +*/ +#define ION_SECURE ION_FLAG_SECURE +#define ION_FORCE_CONTIGUOUS ION_FLAG_FORCE_CONTIGUOUS + +/** + * Macro should be used with ion_heap_ids defined above. + */ +#define ION_HEAP(bit) (1 << (bit)) + +#define ION_ADSP_HEAP_NAME "adsp" +#define ION_SYSTEM_HEAP_NAME "system" +#define ION_VMALLOC_HEAP_NAME ION_SYSTEM_HEAP_NAME +#define ION_KMALLOC_HEAP_NAME "kmalloc" +#define ION_AUDIO_HEAP_NAME "audio" +#define ION_SF_HEAP_NAME "sf" +#define ION_MM_HEAP_NAME "mm" +#define ION_CAMERA_HEAP_NAME "camera_preview" +#define ION_IOMMU_HEAP_NAME "iommu" +#define ION_MFC_HEAP_NAME "mfc" +#define ION_WB_HEAP_NAME "wb" +#define ION_MM_FIRMWARE_HEAP_NAME "mm_fw" +#define ION_PIL1_HEAP_NAME "pil_1" +#define ION_PIL2_HEAP_NAME "pil_2" +#define ION_QSECOM_HEAP_NAME "qsecom" +#define ION_SECURE_HEAP_NAME "secure_heap" +#define ION_SECURE_DISPLAY_HEAP_NAME "secure_display" + +#define ION_SET_CACHED(__cache) (__cache | ION_FLAG_CACHED) +#define ION_SET_UNCACHED(__cache) (__cache & ~ION_FLAG_CACHED) + +#define ION_IS_CACHED(__flags) ((__flags) & ION_FLAG_CACHED) + +/* struct ion_flush_data - data passed to ion for flushing caches + * + * @handle: handle with data to flush + * @fd: fd to flush + * @vaddr: userspace virtual address mapped with mmap + * @offset: offset into the handle to flush + * @length: length of handle to flush + * + * Performs cache operations on the handle. If p is the start address + * of the handle, p + offset through p + offset + length will have + * the cache operations performed + */ +struct ion_flush_data { + ion_user_handle_t handle; + int fd; + void *vaddr; + unsigned int offset; + unsigned int length; +}; + +struct ion_prefetch_regions { + unsigned int vmid; + size_t *sizes; + unsigned int nr_sizes; +}; + +struct ion_prefetch_data { + int heap_id; + unsigned long len; + /* Is unsigned long bad? 32bit compiler vs 64 bit compiler*/ + struct ion_prefetch_regions *regions; + unsigned int nr_regions; +}; + +#define ION_IOC_MSM_MAGIC 'M' + +/** + * DOC: ION_IOC_CLEAN_CACHES - clean the caches + * + * Clean the caches of the handle specified. + */ +#define ION_IOC_CLEAN_CACHES _IOWR(ION_IOC_MSM_MAGIC, 0, \ + struct ion_flush_data) +/** + * DOC: ION_IOC_INV_CACHES - invalidate the caches + * + * Invalidate the caches of the handle specified. + */ +#define ION_IOC_INV_CACHES _IOWR(ION_IOC_MSM_MAGIC, 1, \ + struct ion_flush_data) +/** + * DOC: ION_IOC_CLEAN_INV_CACHES - clean and invalidate the caches + * + * Clean and invalidate the caches of the handle specified. + */ +#define ION_IOC_CLEAN_INV_CACHES _IOWR(ION_IOC_MSM_MAGIC, 2, \ + struct ion_flush_data) + +#define ION_IOC_PREFETCH _IOWR(ION_IOC_MSM_MAGIC, 3, \ + struct ion_prefetch_data) + +#define ION_IOC_DRAIN _IOWR(ION_IOC_MSM_MAGIC, 4, \ + struct ion_prefetch_data) + +#endif diff --git a/third_party/linux/include/msm_kgsl.h b/third_party/linux/include/msm_kgsl.h new file mode 100644 index 0000000000..93582eb066 --- /dev/null +++ b/third_party/linux/include/msm_kgsl.h @@ -0,0 +1,1449 @@ +#ifndef _UAPI_MSM_KGSL_H +#define _UAPI_MSM_KGSL_H + +#include +#include + +/* + * The KGSL version has proven not to be very useful in userspace if features + * are cherry picked into other trees out of order so it is frozen as of 3.14. + * It is left here for backwards compatabilty and as a reminder that + * software releases are never linear. Also, I like pie. + */ + +#define KGSL_VERSION_MAJOR 3 +#define KGSL_VERSION_MINOR 14 + +/* + * We have traditionally mixed context and issueibcmds / command batch flags + * together into a big flag stew. This worked fine until we started adding a + * lot more command batch flags and we started running out of bits. Turns out + * we have a bit of room in the context type / priority mask that we could use + * for command batches, but that means we need to split out the flags into two + * coherent sets. + * + * If any future definitions are for both context and cmdbatch add both defines + * and link the cmdbatch to the context define as we do below. Otherwise feel + * free to add exclusive bits to either set. + */ + +/* --- context flags --- */ +#define KGSL_CONTEXT_SAVE_GMEM 0x00000001 +#define KGSL_CONTEXT_NO_GMEM_ALLOC 0x00000002 +/* This is a cmdbatch exclusive flag - use the CMDBATCH equivalent instead */ +#define KGSL_CONTEXT_SUBMIT_IB_LIST 0x00000004 +#define KGSL_CONTEXT_CTX_SWITCH 0x00000008 +#define KGSL_CONTEXT_PREAMBLE 0x00000010 +#define KGSL_CONTEXT_TRASH_STATE 0x00000020 +#define KGSL_CONTEXT_PER_CONTEXT_TS 0x00000040 +#define KGSL_CONTEXT_USER_GENERATED_TS 0x00000080 +/* This is a cmdbatch exclusive flag - use the CMDBATCH equivalent instead */ +#define KGSL_CONTEXT_END_OF_FRAME 0x00000100 +#define KGSL_CONTEXT_NO_FAULT_TOLERANCE 0x00000200 +/* This is a cmdbatch exclusive flag - use the CMDBATCH equivalent instead */ +#define KGSL_CONTEXT_SYNC 0x00000400 +#define KGSL_CONTEXT_PWR_CONSTRAINT 0x00000800 + +#define KGSL_CONTEXT_PRIORITY_MASK 0x0000F000 +#define KGSL_CONTEXT_PRIORITY_SHIFT 12 +#define KGSL_CONTEXT_PRIORITY_UNDEF 0 + +#define KGSL_CONTEXT_IFH_NOP 0x00010000 +#define KGSL_CONTEXT_SECURE 0x00020000 + +#define KGSL_CONTEXT_PREEMPT_STYLE_MASK 0x0E000000 +#define KGSL_CONTEXT_PREEMPT_STYLE_SHIFT 25 +#define KGSL_CONTEXT_PREEMPT_STYLE_DEFAULT 0x0 +#define KGSL_CONTEXT_PREEMPT_STYLE_RINGBUFFER 0x1 +#define KGSL_CONTEXT_PREEMPT_STYLE_FINEGRAIN 0x2 + +#define KGSL_CONTEXT_TYPE_MASK 0x01F00000 +#define KGSL_CONTEXT_TYPE_SHIFT 20 +#define KGSL_CONTEXT_TYPE_ANY 0 +#define KGSL_CONTEXT_TYPE_GL 1 +#define KGSL_CONTEXT_TYPE_CL 2 +#define KGSL_CONTEXT_TYPE_C2D 3 +#define KGSL_CONTEXT_TYPE_RS 4 +#define KGSL_CONTEXT_TYPE_UNKNOWN 0x1E + +#define KGSL_CONTEXT_INVALID 0xffffffff + +/* + * --- command batch flags --- + * The bits that are linked to a KGSL_CONTEXT equivalent are either legacy + * definitions or bits that are valid for both contexts and cmdbatches. To be + * safe the other 8 bits that are still available in the context field should be + * omitted here in case we need to share - the other bits are available for + * cmdbatch only flags as needed + */ +#define KGSL_CMDBATCH_MEMLIST 0x00000001 +#define KGSL_CMDBATCH_MARKER 0x00000002 +#define KGSL_CMDBATCH_SUBMIT_IB_LIST KGSL_CONTEXT_SUBMIT_IB_LIST /* 0x004 */ +#define KGSL_CMDBATCH_CTX_SWITCH KGSL_CONTEXT_CTX_SWITCH /* 0x008 */ +#define KGSL_CMDBATCH_PROFILING 0x00000010 +#define KGSL_CMDBATCH_PROFILING_KTIME 0x00000020 +#define KGSL_CMDBATCH_END_OF_FRAME KGSL_CONTEXT_END_OF_FRAME /* 0x100 */ +#define KGSL_CMDBATCH_SYNC KGSL_CONTEXT_SYNC /* 0x400 */ +#define KGSL_CMDBATCH_PWR_CONSTRAINT KGSL_CONTEXT_PWR_CONSTRAINT /* 0x800 */ + +/* + * Reserve bits [16:19] and bits [28:31] for possible bits shared between + * contexts and command batches. Update this comment as new flags are added. + */ + +/* + * gpu_command_object flags - these flags communicate the type of command or + * memory object being submitted for a GPU command + */ + +/* Flags for GPU command objects */ +#define KGSL_CMDLIST_IB 0x00000001U +#define KGSL_CMDLIST_CTXTSWITCH_PREAMBLE 0x00000002U +#define KGSL_CMDLIST_IB_PREAMBLE 0x00000004U + +/* Flags for GPU command memory objects */ +#define KGSL_OBJLIST_MEMOBJ 0x00000008U +#define KGSL_OBJLIST_PROFILE 0x00000010U + +/* Flags for GPU command sync points */ +#define KGSL_CMD_SYNCPOINT_TYPE_TIMESTAMP 0 +#define KGSL_CMD_SYNCPOINT_TYPE_FENCE 1 + +/* --- Memory allocation flags --- */ + +/* General allocation hints */ +#define KGSL_MEMFLAGS_SECURE 0x00000008ULL +#define KGSL_MEMFLAGS_GPUREADONLY 0x01000000U +#define KGSL_MEMFLAGS_GPUWRITEONLY 0x02000000U +#define KGSL_MEMFLAGS_FORCE_32BIT 0x100000000ULL + +/* Memory caching hints */ +#define KGSL_CACHEMODE_MASK 0x0C000000U +#define KGSL_CACHEMODE_SHIFT 26 + +#define KGSL_CACHEMODE_WRITECOMBINE 0 +#define KGSL_CACHEMODE_UNCACHED 1 +#define KGSL_CACHEMODE_WRITETHROUGH 2 +#define KGSL_CACHEMODE_WRITEBACK 3 + +#define KGSL_MEMFLAGS_USE_CPU_MAP 0x10000000ULL + +/* Memory types for which allocations are made */ +#define KGSL_MEMTYPE_MASK 0x0000FF00 +#define KGSL_MEMTYPE_SHIFT 8 + +#define KGSL_MEMTYPE_OBJECTANY 0 +#define KGSL_MEMTYPE_FRAMEBUFFER 1 +#define KGSL_MEMTYPE_RENDERBUFFER 2 +#define KGSL_MEMTYPE_ARRAYBUFFER 3 +#define KGSL_MEMTYPE_ELEMENTARRAYBUFFER 4 +#define KGSL_MEMTYPE_VERTEXARRAYBUFFER 5 +#define KGSL_MEMTYPE_TEXTURE 6 +#define KGSL_MEMTYPE_SURFACE 7 +#define KGSL_MEMTYPE_EGL_SURFACE 8 +#define KGSL_MEMTYPE_GL 9 +#define KGSL_MEMTYPE_CL 10 +#define KGSL_MEMTYPE_CL_BUFFER_MAP 11 +#define KGSL_MEMTYPE_CL_BUFFER_NOMAP 12 +#define KGSL_MEMTYPE_CL_IMAGE_MAP 13 +#define KGSL_MEMTYPE_CL_IMAGE_NOMAP 14 +#define KGSL_MEMTYPE_CL_KERNEL_STACK 15 +#define KGSL_MEMTYPE_COMMAND 16 +#define KGSL_MEMTYPE_2D 17 +#define KGSL_MEMTYPE_EGL_IMAGE 18 +#define KGSL_MEMTYPE_EGL_SHADOW 19 +#define KGSL_MEMTYPE_MULTISAMPLE 20 +#define KGSL_MEMTYPE_KERNEL 255 + +/* + * Alignment hint, passed as the power of 2 exponent. + * i.e 4k (2^12) would be 12, 64k (2^16)would be 16. + */ +#define KGSL_MEMALIGN_MASK 0x00FF0000 +#define KGSL_MEMALIGN_SHIFT 16 + +enum kgsl_user_mem_type { + KGSL_USER_MEM_TYPE_PMEM = 0x00000000, + KGSL_USER_MEM_TYPE_ASHMEM = 0x00000001, + KGSL_USER_MEM_TYPE_ADDR = 0x00000002, + KGSL_USER_MEM_TYPE_ION = 0x00000003, + /* + * ION type is retained for backwards compatibilty but Ion buffers are + * dma-bufs so try to use that naming if we can + */ + KGSL_USER_MEM_TYPE_DMABUF = 0x00000003, + KGSL_USER_MEM_TYPE_MAX = 0x00000007, +}; +#define KGSL_MEMFLAGS_USERMEM_MASK 0x000000e0 +#define KGSL_MEMFLAGS_USERMEM_SHIFT 5 + +/* + * Unfortunately, enum kgsl_user_mem_type starts at 0 which does not + * leave a good value for allocated memory. In the flags we use + * 0 to indicate allocated memory and thus need to add 1 to the enum + * values. + */ +#define KGSL_USERMEM_FLAG(x) (((x) + 1) << KGSL_MEMFLAGS_USERMEM_SHIFT) + +#define KGSL_MEMFLAGS_NOT_USERMEM 0 +#define KGSL_MEMFLAGS_USERMEM_PMEM KGSL_USERMEM_FLAG(KGSL_USER_MEM_TYPE_PMEM) +#define KGSL_MEMFLAGS_USERMEM_ASHMEM \ + KGSL_USERMEM_FLAG(KGSL_USER_MEM_TYPE_ASHMEM) +#define KGSL_MEMFLAGS_USERMEM_ADDR KGSL_USERMEM_FLAG(KGSL_USER_MEM_TYPE_ADDR) +#define KGSL_MEMFLAGS_USERMEM_ION KGSL_USERMEM_FLAG(KGSL_USER_MEM_TYPE_ION) + +/* --- generic KGSL flag values --- */ + +#define KGSL_FLAGS_NORMALMODE 0x00000000 +#define KGSL_FLAGS_SAFEMODE 0x00000001 +#define KGSL_FLAGS_INITIALIZED0 0x00000002 +#define KGSL_FLAGS_INITIALIZED 0x00000004 +#define KGSL_FLAGS_STARTED 0x00000008 +#define KGSL_FLAGS_ACTIVE 0x00000010 +#define KGSL_FLAGS_RESERVED0 0x00000020 +#define KGSL_FLAGS_RESERVED1 0x00000040 +#define KGSL_FLAGS_RESERVED2 0x00000080 +#define KGSL_FLAGS_SOFT_RESET 0x00000100 +#define KGSL_FLAGS_PER_CONTEXT_TIMESTAMPS 0x00000200 + +/* Server Side Sync Timeout in milliseconds */ +#define KGSL_SYNCOBJ_SERVER_TIMEOUT 2000 + +/* + * Reset status values for context + */ +enum kgsl_ctx_reset_stat { + KGSL_CTX_STAT_NO_ERROR = 0x00000000, + KGSL_CTX_STAT_GUILTY_CONTEXT_RESET_EXT = 0x00000001, + KGSL_CTX_STAT_INNOCENT_CONTEXT_RESET_EXT = 0x00000002, + KGSL_CTX_STAT_UNKNOWN_CONTEXT_RESET_EXT = 0x00000003 +}; + +#define KGSL_CONVERT_TO_MBPS(val) \ + (val*1000*1000U) + +/* device id */ +enum kgsl_deviceid { + KGSL_DEVICE_3D0 = 0x00000000, + KGSL_DEVICE_MAX +}; + +struct kgsl_devinfo { + + unsigned int device_id; + /* chip revision id + * coreid:8 majorrev:8 minorrev:8 patch:8 + */ + unsigned int chip_id; + unsigned int mmu_enabled; + unsigned long gmem_gpubaseaddr; + /* + * This field contains the adreno revision + * number 200, 205, 220, etc... + */ + unsigned int gpu_id; + size_t gmem_sizebytes; +}; + +/* + * struct kgsl_devmemstore - this structure defines the region of memory + * that can be mmap()ed from this driver. The timestamp fields are volatile + * because they are written by the GPU + * @soptimestamp: Start of pipeline timestamp written by GPU before the + * commands in concern are processed + * @sbz: Unused, kept for 8 byte alignment + * @eoptimestamp: End of pipeline timestamp written by GPU after the + * commands in concern are processed + * @sbz2: Unused, kept for 8 byte alignment + * @preempted: Indicates if the context was preempted + * @sbz3: Unused, kept for 8 byte alignment + * @ref_wait_ts: Timestamp on which to generate interrupt, unused now. + * @sbz4: Unused, kept for 8 byte alignment + * @current_context: The current context the GPU is working on + * @sbz5: Unused, kept for 8 byte alignment + */ +struct kgsl_devmemstore { + volatile unsigned int soptimestamp; + unsigned int sbz; + volatile unsigned int eoptimestamp; + unsigned int sbz2; + volatile unsigned int preempted; + unsigned int sbz3; + volatile unsigned int ref_wait_ts; + unsigned int sbz4; + unsigned int current_context; + unsigned int sbz5; +}; + +#define KGSL_MEMSTORE_OFFSET(ctxt_id, field) \ + ((ctxt_id)*sizeof(struct kgsl_devmemstore) + \ + offsetof(struct kgsl_devmemstore, field)) + +/* timestamp id*/ +enum kgsl_timestamp_type { + KGSL_TIMESTAMP_CONSUMED = 0x00000001, /* start-of-pipeline timestamp */ + KGSL_TIMESTAMP_RETIRED = 0x00000002, /* end-of-pipeline timestamp*/ + KGSL_TIMESTAMP_QUEUED = 0x00000003, +}; + +/* property types - used with kgsl_device_getproperty */ +#define KGSL_PROP_DEVICE_INFO 0x1 +#define KGSL_PROP_DEVICE_SHADOW 0x2 +#define KGSL_PROP_DEVICE_POWER 0x3 +#define KGSL_PROP_SHMEM 0x4 +#define KGSL_PROP_SHMEM_APERTURES 0x5 +#define KGSL_PROP_MMU_ENABLE 0x6 +#define KGSL_PROP_INTERRUPT_WAITS 0x7 +#define KGSL_PROP_VERSION 0x8 +#define KGSL_PROP_GPU_RESET_STAT 0x9 +#define KGSL_PROP_PWRCTRL 0xE +#define KGSL_PROP_PWR_CONSTRAINT 0x12 +#define KGSL_PROP_UCHE_GMEM_VADDR 0x13 +#define KGSL_PROP_SP_GENERIC_MEM 0x14 +#define KGSL_PROP_UCODE_VERSION 0x15 +#define KGSL_PROP_GPMU_VERSION 0x16 +#define KGSL_PROP_DEVICE_BITNESS 0x18 + +struct kgsl_shadowprop { + unsigned long gpuaddr; + size_t size; + unsigned int flags; /* contains KGSL_FLAGS_ values */ +}; + +struct kgsl_version { + unsigned int drv_major; + unsigned int drv_minor; + unsigned int dev_major; + unsigned int dev_minor; +}; + +struct kgsl_sp_generic_mem { + uint64_t local; + uint64_t pvt; +}; + +struct kgsl_ucode_version { + unsigned int pfp; + unsigned int pm4; +}; + +struct kgsl_gpmu_version { + unsigned int major; + unsigned int minor; + unsigned int features; +}; + +/* Performance counter groups */ + +#define KGSL_PERFCOUNTER_GROUP_CP 0x0 +#define KGSL_PERFCOUNTER_GROUP_RBBM 0x1 +#define KGSL_PERFCOUNTER_GROUP_PC 0x2 +#define KGSL_PERFCOUNTER_GROUP_VFD 0x3 +#define KGSL_PERFCOUNTER_GROUP_HLSQ 0x4 +#define KGSL_PERFCOUNTER_GROUP_VPC 0x5 +#define KGSL_PERFCOUNTER_GROUP_TSE 0x6 +#define KGSL_PERFCOUNTER_GROUP_RAS 0x7 +#define KGSL_PERFCOUNTER_GROUP_UCHE 0x8 +#define KGSL_PERFCOUNTER_GROUP_TP 0x9 +#define KGSL_PERFCOUNTER_GROUP_SP 0xA +#define KGSL_PERFCOUNTER_GROUP_RB 0xB +#define KGSL_PERFCOUNTER_GROUP_PWR 0xC +#define KGSL_PERFCOUNTER_GROUP_VBIF 0xD +#define KGSL_PERFCOUNTER_GROUP_VBIF_PWR 0xE +#define KGSL_PERFCOUNTER_GROUP_MH 0xF +#define KGSL_PERFCOUNTER_GROUP_PA_SU 0x10 +#define KGSL_PERFCOUNTER_GROUP_SQ 0x11 +#define KGSL_PERFCOUNTER_GROUP_SX 0x12 +#define KGSL_PERFCOUNTER_GROUP_TCF 0x13 +#define KGSL_PERFCOUNTER_GROUP_TCM 0x14 +#define KGSL_PERFCOUNTER_GROUP_TCR 0x15 +#define KGSL_PERFCOUNTER_GROUP_L2 0x16 +#define KGSL_PERFCOUNTER_GROUP_VSC 0x17 +#define KGSL_PERFCOUNTER_GROUP_CCU 0x18 +#define KGSL_PERFCOUNTER_GROUP_LRZ 0x19 +#define KGSL_PERFCOUNTER_GROUP_CMP 0x1A +#define KGSL_PERFCOUNTER_GROUP_ALWAYSON 0x1B +#define KGSL_PERFCOUNTER_GROUP_SP_PWR 0x1C +#define KGSL_PERFCOUNTER_GROUP_TP_PWR 0x1D +#define KGSL_PERFCOUNTER_GROUP_RB_PWR 0x1E +#define KGSL_PERFCOUNTER_GROUP_CCU_PWR 0x1F +#define KGSL_PERFCOUNTER_GROUP_UCHE_PWR 0x20 +#define KGSL_PERFCOUNTER_GROUP_CP_PWR 0x21 +#define KGSL_PERFCOUNTER_GROUP_GPMU_PWR 0x22 +#define KGSL_PERFCOUNTER_GROUP_ALWAYSON_PWR 0x23 +#define KGSL_PERFCOUNTER_GROUP_MAX 0x24 + +#define KGSL_PERFCOUNTER_NOT_USED 0xFFFFFFFF +#define KGSL_PERFCOUNTER_BROKEN 0xFFFFFFFE + +/* structure holds list of ibs */ +struct kgsl_ibdesc { + unsigned long gpuaddr; + unsigned long __pad; + size_t sizedwords; + unsigned int ctrl; +}; + +/** + * struct kgsl_cmdbatch_profiling_buffer + * @wall_clock_s: Ringbuffer submission time (seconds). + * If KGSL_CMDBATCH_PROFILING_KTIME is set, time is provided + * in kernel clocks, otherwise wall clock time is used. + * @wall_clock_ns: Ringbuffer submission time (nanoseconds). + * If KGSL_CMDBATCH_PROFILING_KTIME is set time is provided + * in kernel clocks, otherwise wall clock time is used. + * @gpu_ticks_queued: GPU ticks at ringbuffer submission + * @gpu_ticks_submitted: GPU ticks when starting cmdbatch execution + * @gpu_ticks_retired: GPU ticks when finishing cmdbatch execution + * + * This structure defines the profiling buffer used to measure cmdbatch + * execution time + */ +struct kgsl_cmdbatch_profiling_buffer { + uint64_t wall_clock_s; + uint64_t wall_clock_ns; + uint64_t gpu_ticks_queued; + uint64_t gpu_ticks_submitted; + uint64_t gpu_ticks_retired; +}; + +/* ioctls */ +#define KGSL_IOC_TYPE 0x09 + +/* get misc info about the GPU + type should be a value from enum kgsl_property_type + value points to a structure that varies based on type + sizebytes is sizeof() that structure + for KGSL_PROP_DEVICE_INFO, use struct kgsl_devinfo + this structure contaings hardware versioning info. + for KGSL_PROP_DEVICE_SHADOW, use struct kgsl_shadowprop + this is used to find mmap() offset and sizes for mapping + struct kgsl_memstore into userspace. +*/ +struct kgsl_device_getproperty { + unsigned int type; + void __user *value; + size_t sizebytes; +}; + +#define IOCTL_KGSL_DEVICE_GETPROPERTY \ + _IOWR(KGSL_IOC_TYPE, 0x2, struct kgsl_device_getproperty) + +/* IOCTL_KGSL_DEVICE_READ (0x3) - removed 03/2012 + */ + +/* block until the GPU has executed past a given timestamp + * timeout is in milliseconds. + */ +struct kgsl_device_waittimestamp { + unsigned int timestamp; + unsigned int timeout; +}; + +#define IOCTL_KGSL_DEVICE_WAITTIMESTAMP \ + _IOW(KGSL_IOC_TYPE, 0x6, struct kgsl_device_waittimestamp) + +struct kgsl_device_waittimestamp_ctxtid { + unsigned int context_id; + unsigned int timestamp; + unsigned int timeout; +}; + +#define IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID \ + _IOW(KGSL_IOC_TYPE, 0x7, struct kgsl_device_waittimestamp_ctxtid) + +/* DEPRECATED: issue indirect commands to the GPU. + * drawctxt_id must have been created with IOCTL_KGSL_DRAWCTXT_CREATE + * ibaddr and sizedwords must specify a subset of a buffer created + * with IOCTL_KGSL_SHAREDMEM_FROM_PMEM + * flags may be a mask of KGSL_CONTEXT_ values + * timestamp is a returned counter value which can be passed to + * other ioctls to determine when the commands have been executed by + * the GPU. + * + * This fucntion is deprecated - consider using IOCTL_KGSL_SUBMIT_COMMANDS + * instead + */ +struct kgsl_ringbuffer_issueibcmds { + unsigned int drawctxt_id; + unsigned long ibdesc_addr; + unsigned int numibs; + unsigned int timestamp; /*output param */ + unsigned int flags; +}; + +#define IOCTL_KGSL_RINGBUFFER_ISSUEIBCMDS \ + _IOWR(KGSL_IOC_TYPE, 0x10, struct kgsl_ringbuffer_issueibcmds) + +/* read the most recently executed timestamp value + * type should be a value from enum kgsl_timestamp_type + */ +struct kgsl_cmdstream_readtimestamp { + unsigned int type; + unsigned int timestamp; /*output param */ +}; + +#define IOCTL_KGSL_CMDSTREAM_READTIMESTAMP_OLD \ + _IOR(KGSL_IOC_TYPE, 0x11, struct kgsl_cmdstream_readtimestamp) + +#define IOCTL_KGSL_CMDSTREAM_READTIMESTAMP \ + _IOWR(KGSL_IOC_TYPE, 0x11, struct kgsl_cmdstream_readtimestamp) + +/* free memory when the GPU reaches a given timestamp. + * gpuaddr specify a memory region created by a + * IOCTL_KGSL_SHAREDMEM_FROM_PMEM call + * type should be a value from enum kgsl_timestamp_type + */ +struct kgsl_cmdstream_freememontimestamp { + unsigned long gpuaddr; + unsigned int type; + unsigned int timestamp; +}; + +#define IOCTL_KGSL_CMDSTREAM_FREEMEMONTIMESTAMP \ + _IOW(KGSL_IOC_TYPE, 0x12, struct kgsl_cmdstream_freememontimestamp) + +/* Previous versions of this header had incorrectly defined + IOCTL_KGSL_CMDSTREAM_FREEMEMONTIMESTAMP as a read-only ioctl instead + of a write only ioctl. To ensure binary compatability, the following + #define will be used to intercept the incorrect ioctl +*/ + +#define IOCTL_KGSL_CMDSTREAM_FREEMEMONTIMESTAMP_OLD \ + _IOR(KGSL_IOC_TYPE, 0x12, struct kgsl_cmdstream_freememontimestamp) + +/* create a draw context, which is used to preserve GPU state. + * The flags field may contain a mask KGSL_CONTEXT_* values + */ +struct kgsl_drawctxt_create { + unsigned int flags; + unsigned int drawctxt_id; /*output param */ +}; + +#define IOCTL_KGSL_DRAWCTXT_CREATE \ + _IOWR(KGSL_IOC_TYPE, 0x13, struct kgsl_drawctxt_create) + +/* destroy a draw context */ +struct kgsl_drawctxt_destroy { + unsigned int drawctxt_id; +}; + +#define IOCTL_KGSL_DRAWCTXT_DESTROY \ + _IOW(KGSL_IOC_TYPE, 0x14, struct kgsl_drawctxt_destroy) + +/* add a block of pmem, fb, ashmem or user allocated address + * into the GPU address space */ +struct kgsl_map_user_mem { + int fd; + unsigned long gpuaddr; /*output param */ + size_t len; + size_t offset; + unsigned long hostptr; /*input param */ + enum kgsl_user_mem_type memtype; + unsigned int flags; +}; + +#define IOCTL_KGSL_MAP_USER_MEM \ + _IOWR(KGSL_IOC_TYPE, 0x15, struct kgsl_map_user_mem) + +struct kgsl_cmdstream_readtimestamp_ctxtid { + unsigned int context_id; + unsigned int type; + unsigned int timestamp; /*output param */ +}; + +#define IOCTL_KGSL_CMDSTREAM_READTIMESTAMP_CTXTID \ + _IOWR(KGSL_IOC_TYPE, 0x16, struct kgsl_cmdstream_readtimestamp_ctxtid) + +struct kgsl_cmdstream_freememontimestamp_ctxtid { + unsigned int context_id; + unsigned long gpuaddr; + unsigned int type; + unsigned int timestamp; +}; + +#define IOCTL_KGSL_CMDSTREAM_FREEMEMONTIMESTAMP_CTXTID \ + _IOW(KGSL_IOC_TYPE, 0x17, \ + struct kgsl_cmdstream_freememontimestamp_ctxtid) + +/* add a block of pmem or fb into the GPU address space */ +struct kgsl_sharedmem_from_pmem { + int pmem_fd; + unsigned long gpuaddr; /*output param */ + unsigned int len; + unsigned int offset; +}; + +#define IOCTL_KGSL_SHAREDMEM_FROM_PMEM \ + _IOWR(KGSL_IOC_TYPE, 0x20, struct kgsl_sharedmem_from_pmem) + +/* remove memory from the GPU's address space */ +struct kgsl_sharedmem_free { + unsigned long gpuaddr; +}; + +#define IOCTL_KGSL_SHAREDMEM_FREE \ + _IOW(KGSL_IOC_TYPE, 0x21, struct kgsl_sharedmem_free) + +struct kgsl_cff_user_event { + unsigned char cff_opcode; + unsigned int op1; + unsigned int op2; + unsigned int op3; + unsigned int op4; + unsigned int op5; + unsigned int __pad[2]; +}; + +#define IOCTL_KGSL_CFF_USER_EVENT \ + _IOW(KGSL_IOC_TYPE, 0x31, struct kgsl_cff_user_event) + +struct kgsl_gmem_desc { + unsigned int x; + unsigned int y; + unsigned int width; + unsigned int height; + unsigned int pitch; +}; + +struct kgsl_buffer_desc { + void *hostptr; + unsigned long gpuaddr; + int size; + unsigned int format; + unsigned int pitch; + unsigned int enabled; +}; + +struct kgsl_bind_gmem_shadow { + unsigned int drawctxt_id; + struct kgsl_gmem_desc gmem_desc; + unsigned int shadow_x; + unsigned int shadow_y; + struct kgsl_buffer_desc shadow_buffer; + unsigned int buffer_id; +}; + +#define IOCTL_KGSL_DRAWCTXT_BIND_GMEM_SHADOW \ + _IOW(KGSL_IOC_TYPE, 0x22, struct kgsl_bind_gmem_shadow) + +/* add a block of memory into the GPU address space */ + +/* + * IOCTL_KGSL_SHAREDMEM_FROM_VMALLOC deprecated 09/2012 + * use IOCTL_KGSL_GPUMEM_ALLOC instead + */ + +struct kgsl_sharedmem_from_vmalloc { + unsigned long gpuaddr; /*output param */ + unsigned int hostptr; + unsigned int flags; +}; + +#define IOCTL_KGSL_SHAREDMEM_FROM_VMALLOC \ + _IOWR(KGSL_IOC_TYPE, 0x23, struct kgsl_sharedmem_from_vmalloc) + +/* + * This is being deprecated in favor of IOCTL_KGSL_GPUMEM_CACHE_SYNC which + * supports both directions (flush and invalidate). This code will still + * work, but by definition it will do a flush of the cache which might not be + * what you want to have happen on a buffer following a GPU operation. It is + * safer to go with IOCTL_KGSL_GPUMEM_CACHE_SYNC + */ + +#define IOCTL_KGSL_SHAREDMEM_FLUSH_CACHE \ + _IOW(KGSL_IOC_TYPE, 0x24, struct kgsl_sharedmem_free) + +struct kgsl_drawctxt_set_bin_base_offset { + unsigned int drawctxt_id; + unsigned int offset; +}; + +#define IOCTL_KGSL_DRAWCTXT_SET_BIN_BASE_OFFSET \ + _IOW(KGSL_IOC_TYPE, 0x25, struct kgsl_drawctxt_set_bin_base_offset) + +enum kgsl_cmdwindow_type { + KGSL_CMDWINDOW_MIN = 0x00000000, + KGSL_CMDWINDOW_2D = 0x00000000, + KGSL_CMDWINDOW_3D = 0x00000001, /* legacy */ + KGSL_CMDWINDOW_MMU = 0x00000002, + KGSL_CMDWINDOW_ARBITER = 0x000000FF, + KGSL_CMDWINDOW_MAX = 0x000000FF, +}; + +/* write to the command window */ +struct kgsl_cmdwindow_write { + enum kgsl_cmdwindow_type target; + unsigned int addr; + unsigned int data; +}; + +#define IOCTL_KGSL_CMDWINDOW_WRITE \ + _IOW(KGSL_IOC_TYPE, 0x2e, struct kgsl_cmdwindow_write) + +struct kgsl_gpumem_alloc { + unsigned long gpuaddr; /* output param */ + size_t size; + unsigned int flags; +}; + +#define IOCTL_KGSL_GPUMEM_ALLOC \ + _IOWR(KGSL_IOC_TYPE, 0x2f, struct kgsl_gpumem_alloc) + +struct kgsl_cff_syncmem { + unsigned long gpuaddr; + size_t len; + unsigned int __pad[2]; /* For future binary compatibility */ +}; + +#define IOCTL_KGSL_CFF_SYNCMEM \ + _IOW(KGSL_IOC_TYPE, 0x30, struct kgsl_cff_syncmem) + +/* + * A timestamp event allows the user space to register an action following an + * expired timestamp. Note IOCTL_KGSL_TIMESTAMP_EVENT has been redefined to + * _IOWR to support fences which need to return a fd for the priv parameter. + */ + +struct kgsl_timestamp_event { + int type; /* Type of event (see list below) */ + unsigned int timestamp; /* Timestamp to trigger event on */ + unsigned int context_id; /* Context for the timestamp */ + void __user *priv; /* Pointer to the event specific blob */ + size_t len; /* Size of the event specific blob */ +}; + +#define IOCTL_KGSL_TIMESTAMP_EVENT_OLD \ + _IOW(KGSL_IOC_TYPE, 0x31, struct kgsl_timestamp_event) + +/* A genlock timestamp event releases an existing lock on timestamp expire */ + +#define KGSL_TIMESTAMP_EVENT_GENLOCK 1 + +struct kgsl_timestamp_event_genlock { + int handle; /* Handle of the genlock lock to release */ +}; + +/* A fence timestamp event releases an existing lock on timestamp expire */ + +#define KGSL_TIMESTAMP_EVENT_FENCE 2 + +struct kgsl_timestamp_event_fence { + int fence_fd; /* Fence to signal */ +}; + +/* + * Set a property within the kernel. Uses the same structure as + * IOCTL_KGSL_GETPROPERTY + */ + +#define IOCTL_KGSL_SETPROPERTY \ + _IOW(KGSL_IOC_TYPE, 0x32, struct kgsl_device_getproperty) + +#define IOCTL_KGSL_TIMESTAMP_EVENT \ + _IOWR(KGSL_IOC_TYPE, 0x33, struct kgsl_timestamp_event) + +/** + * struct kgsl_gpumem_alloc_id - argument to IOCTL_KGSL_GPUMEM_ALLOC_ID + * @id: returned id value for this allocation. + * @flags: mask of KGSL_MEM* values requested and actual flags on return. + * @size: requested size of the allocation and actual size on return. + * @mmapsize: returned size to pass to mmap() which may be larger than 'size' + * @gpuaddr: returned GPU address for the allocation + * + * Allocate memory for access by the GPU. The flags and size fields are echoed + * back by the kernel, so that the caller can know if the request was + * adjusted. + * + * Supported flags: + * KGSL_MEMFLAGS_GPUREADONLY: the GPU will be unable to write to the buffer + * KGSL_MEMTYPE*: usage hint for debugging aid + * KGSL_MEMALIGN*: alignment hint, may be ignored or adjusted by the kernel. + * KGSL_MEMFLAGS_USE_CPU_MAP: If set on call and return, the returned GPU + * address will be 0. Calling mmap() will set the GPU address. + */ +struct kgsl_gpumem_alloc_id { + unsigned int id; + unsigned int flags; + size_t size; + size_t mmapsize; + unsigned long gpuaddr; +/* private: reserved for future use*/ + unsigned long __pad[2]; +}; + +#define IOCTL_KGSL_GPUMEM_ALLOC_ID \ + _IOWR(KGSL_IOC_TYPE, 0x34, struct kgsl_gpumem_alloc_id) + +/** + * struct kgsl_gpumem_free_id - argument to IOCTL_KGSL_GPUMEM_FREE_ID + * @id: GPU allocation id to free + * + * Free an allocation by id, in case a GPU address has not been assigned or + * is unknown. Freeing an allocation by id with this ioctl or by GPU address + * with IOCTL_KGSL_SHAREDMEM_FREE are equivalent. + */ +struct kgsl_gpumem_free_id { + unsigned int id; +/* private: reserved for future use*/ + unsigned int __pad; +}; + +#define IOCTL_KGSL_GPUMEM_FREE_ID \ + _IOWR(KGSL_IOC_TYPE, 0x35, struct kgsl_gpumem_free_id) + +/** + * struct kgsl_gpumem_get_info - argument to IOCTL_KGSL_GPUMEM_GET_INFO + * @gpuaddr: GPU address to query. Also set on return. + * @id: GPU allocation id to query. Also set on return. + * @flags: returned mask of KGSL_MEM* values. + * @size: returned size of the allocation. + * @mmapsize: returned size to pass mmap(), which may be larger than 'size' + * @useraddr: returned address of the userspace mapping for this buffer + * + * This ioctl allows querying of all user visible attributes of an existing + * allocation, by either the GPU address or the id returned by a previous + * call to IOCTL_KGSL_GPUMEM_ALLOC_ID. Legacy allocation ioctls may not + * return all attributes so this ioctl can be used to look them up if needed. + * + */ +struct kgsl_gpumem_get_info { + unsigned long gpuaddr; + unsigned int id; + unsigned int flags; + size_t size; + size_t mmapsize; + unsigned long useraddr; +/* private: reserved for future use*/ + unsigned long __pad[4]; +}; + +#define IOCTL_KGSL_GPUMEM_GET_INFO\ + _IOWR(KGSL_IOC_TYPE, 0x36, struct kgsl_gpumem_get_info) + +/** + * struct kgsl_gpumem_sync_cache - argument to IOCTL_KGSL_GPUMEM_SYNC_CACHE + * @gpuaddr: GPU address of the buffer to sync. + * @id: id of the buffer to sync. Either gpuaddr or id is sufficient. + * @op: a mask of KGSL_GPUMEM_CACHE_* values + * @offset: offset into the buffer + * @length: number of bytes starting from offset to perform + * the cache operation on + * + * Sync the L2 cache for memory headed to and from the GPU - this replaces + * KGSL_SHAREDMEM_FLUSH_CACHE since it can handle cache management for both + * directions + * + */ +struct kgsl_gpumem_sync_cache { + unsigned long gpuaddr; + unsigned int id; + unsigned int op; + size_t offset; + size_t length; +}; + +#define KGSL_GPUMEM_CACHE_CLEAN (1 << 0) +#define KGSL_GPUMEM_CACHE_TO_GPU KGSL_GPUMEM_CACHE_CLEAN + +#define KGSL_GPUMEM_CACHE_INV (1 << 1) +#define KGSL_GPUMEM_CACHE_FROM_GPU KGSL_GPUMEM_CACHE_INV + +#define KGSL_GPUMEM_CACHE_FLUSH \ + (KGSL_GPUMEM_CACHE_CLEAN | KGSL_GPUMEM_CACHE_INV) + +/* Flag to ensure backwards compatibility of kgsl_gpumem_sync_cache struct */ +#define KGSL_GPUMEM_CACHE_RANGE (1 << 31U) + +#define IOCTL_KGSL_GPUMEM_SYNC_CACHE \ + _IOW(KGSL_IOC_TYPE, 0x37, struct kgsl_gpumem_sync_cache) + +/** + * struct kgsl_perfcounter_get - argument to IOCTL_KGSL_PERFCOUNTER_GET + * @groupid: Performance counter group ID + * @countable: Countable to select within the group + * @offset: Return offset of the reserved LO counter + * @offset_hi: Return offset of the reserved HI counter + * + * Get an available performance counter from a specified groupid. The offset + * of the performance counter will be returned after successfully assigning + * the countable to the counter for the specified group. An error will be + * returned and an offset of 0 if the groupid is invalid or there are no + * more counters left. After successfully getting a perfcounter, the user + * must call kgsl_perfcounter_put(groupid, contable) when finished with + * the perfcounter to clear up perfcounter resources. + * + */ +struct kgsl_perfcounter_get { + unsigned int groupid; + unsigned int countable; + unsigned int offset; + unsigned int offset_hi; +/* private: reserved for future use */ + unsigned int __pad; /* For future binary compatibility */ +}; + +#define IOCTL_KGSL_PERFCOUNTER_GET \ + _IOWR(KGSL_IOC_TYPE, 0x38, struct kgsl_perfcounter_get) + +/** + * struct kgsl_perfcounter_put - argument to IOCTL_KGSL_PERFCOUNTER_PUT + * @groupid: Performance counter group ID + * @countable: Countable to release within the group + * + * Put an allocated performance counter to allow others to have access to the + * resource that was previously taken. This is only to be called after + * successfully getting a performance counter from kgsl_perfcounter_get(). + * + */ +struct kgsl_perfcounter_put { + unsigned int groupid; + unsigned int countable; +/* private: reserved for future use */ + unsigned int __pad[2]; /* For future binary compatibility */ +}; + +#define IOCTL_KGSL_PERFCOUNTER_PUT \ + _IOW(KGSL_IOC_TYPE, 0x39, struct kgsl_perfcounter_put) + +/** + * struct kgsl_perfcounter_query - argument to IOCTL_KGSL_PERFCOUNTER_QUERY + * @groupid: Performance counter group ID + * @countable: Return active countables array + * @size: Size of active countables array + * @max_counters: Return total number counters for the group ID + * + * Query the available performance counters given a groupid. The array + * *countables is used to return the current active countables in counters. + * The size of the array is passed in so the kernel will only write at most + * size or counter->size for the group id. The total number of available + * counters for the group ID is returned in max_counters. + * If the array or size passed in are invalid, then only the maximum number + * of counters will be returned, no data will be written to *countables. + * If the groupid is invalid an error code will be returned. + * + */ +struct kgsl_perfcounter_query { + unsigned int groupid; + /* Array to return the current countable for up to size counters */ + unsigned int __user *countables; + unsigned int count; + unsigned int max_counters; +/* private: reserved for future use */ + unsigned int __pad[2]; /* For future binary compatibility */ +}; + +#define IOCTL_KGSL_PERFCOUNTER_QUERY \ + _IOWR(KGSL_IOC_TYPE, 0x3A, struct kgsl_perfcounter_query) + +/** + * struct kgsl_perfcounter_query - argument to IOCTL_KGSL_PERFCOUNTER_QUERY + * @groupid: Performance counter group IDs + * @countable: Performance counter countable IDs + * @value: Return performance counter reads + * @size: Size of all arrays (groupid/countable pair and return value) + * + * Read in the current value of a performance counter given by the groupid + * and countable. + * + */ + +struct kgsl_perfcounter_read_group { + unsigned int groupid; + unsigned int countable; + unsigned long long value; +}; + +struct kgsl_perfcounter_read { + struct kgsl_perfcounter_read_group __user *reads; + unsigned int count; +/* private: reserved for future use */ + unsigned int __pad[2]; /* For future binary compatibility */ +}; + +#define IOCTL_KGSL_PERFCOUNTER_READ \ + _IOWR(KGSL_IOC_TYPE, 0x3B, struct kgsl_perfcounter_read) +/* + * struct kgsl_gpumem_sync_cache_bulk - argument to + * IOCTL_KGSL_GPUMEM_SYNC_CACHE_BULK + * @id_list: list of GPU buffer ids of the buffers to sync + * @count: number of GPU buffer ids in id_list + * @op: a mask of KGSL_GPUMEM_CACHE_* values + * + * Sync the cache for memory headed to and from the GPU. Certain + * optimizations can be made on the cache operation based on the total + * size of the working set of memory to be managed. + */ +struct kgsl_gpumem_sync_cache_bulk { + unsigned int __user *id_list; + unsigned int count; + unsigned int op; +/* private: reserved for future use */ + unsigned int __pad[2]; /* For future binary compatibility */ +}; + +#define IOCTL_KGSL_GPUMEM_SYNC_CACHE_BULK \ + _IOWR(KGSL_IOC_TYPE, 0x3C, struct kgsl_gpumem_sync_cache_bulk) + +/* + * struct kgsl_cmd_syncpoint_timestamp + * @context_id: ID of a KGSL context + * @timestamp: GPU timestamp + * + * This structure defines a syncpoint comprising a context/timestamp pair. A + * list of these may be passed by IOCTL_KGSL_SUBMIT_COMMANDS to define + * dependencies that must be met before the command can be submitted to the + * hardware + */ +struct kgsl_cmd_syncpoint_timestamp { + unsigned int context_id; + unsigned int timestamp; +}; + +struct kgsl_cmd_syncpoint_fence { + int fd; +}; + +/** + * struct kgsl_cmd_syncpoint - Define a sync point for a command batch + * @type: type of sync point defined here + * @priv: Pointer to the type specific buffer + * @size: Size of the type specific buffer + * + * This structure contains pointers defining a specific command sync point. + * The pointer and size should point to a type appropriate structure. + */ +struct kgsl_cmd_syncpoint { + int type; + void __user *priv; + size_t size; +}; + +/* Flag to indicate that the cmdlist may contain memlists */ +#define KGSL_IBDESC_MEMLIST 0x1 + +/* Flag to point out the cmdbatch profiling buffer in the memlist */ +#define KGSL_IBDESC_PROFILING_BUFFER 0x2 + +/** + * struct kgsl_submit_commands - Argument to IOCTL_KGSL_SUBMIT_COMMANDS + * @context_id: KGSL context ID that owns the commands + * @flags: + * @cmdlist: User pointer to a list of kgsl_ibdesc structures + * @numcmds: Number of commands listed in cmdlist + * @synclist: User pointer to a list of kgsl_cmd_syncpoint structures + * @numsyncs: Number of sync points listed in synclist + * @timestamp: On entry the a user defined timestamp, on exist the timestamp + * assigned to the command batch + * + * This structure specifies a command to send to the GPU hardware. This is + * similar to kgsl_issueibcmds expect that it doesn't support the legacy way to + * submit IB lists and it adds sync points to block the IB until the + * dependencies are satisified. This entry point is the new and preferred way + * to submit commands to the GPU. The memory list can be used to specify all + * memory that is referrenced in the current set of commands. + */ + +struct kgsl_submit_commands { + unsigned int context_id; + unsigned int flags; + struct kgsl_ibdesc __user *cmdlist; + unsigned int numcmds; + struct kgsl_cmd_syncpoint __user *synclist; + unsigned int numsyncs; + unsigned int timestamp; +/* private: reserved for future use */ + unsigned int __pad[4]; +}; + +#define IOCTL_KGSL_SUBMIT_COMMANDS \ + _IOWR(KGSL_IOC_TYPE, 0x3D, struct kgsl_submit_commands) + +/** + * struct kgsl_device_constraint - device constraint argument + * @context_id: KGSL context ID + * @type: type of constraint i.e pwrlevel/none + * @data: constraint data + * @size: size of the constraint data + */ +struct kgsl_device_constraint { + unsigned int type; + unsigned int context_id; + void __user *data; + size_t size; +}; + +/* Constraint Type*/ +#define KGSL_CONSTRAINT_NONE 0 +#define KGSL_CONSTRAINT_PWRLEVEL 1 + +/* PWRLEVEL constraint level*/ +/* set to min frequency */ +#define KGSL_CONSTRAINT_PWR_MIN 0 +/* set to max frequency */ +#define KGSL_CONSTRAINT_PWR_MAX 1 + +struct kgsl_device_constraint_pwrlevel { + unsigned int level; +}; + +/** + * struct kgsl_syncsource_create - Argument to IOCTL_KGSL_SYNCSOURCE_CREATE + * @id: returned id for the syncsource that was created. + * + * This ioctl creates a userspace sync timeline. + */ + +struct kgsl_syncsource_create { + unsigned int id; +/* private: reserved for future use */ + unsigned int __pad[3]; +}; + +#define IOCTL_KGSL_SYNCSOURCE_CREATE \ + _IOWR(KGSL_IOC_TYPE, 0x40, struct kgsl_syncsource_create) + +/** + * struct kgsl_syncsource_destroy - Argument to IOCTL_KGSL_SYNCSOURCE_DESTROY + * @id: syncsource id to destroy + * + * This ioctl creates a userspace sync timeline. + */ + +struct kgsl_syncsource_destroy { + unsigned int id; +/* private: reserved for future use */ + unsigned int __pad[3]; +}; + +#define IOCTL_KGSL_SYNCSOURCE_DESTROY \ + _IOWR(KGSL_IOC_TYPE, 0x41, struct kgsl_syncsource_destroy) + +/** + * struct kgsl_syncsource_create_fence - Argument to + * IOCTL_KGSL_SYNCSOURCE_CREATE_FENCE + * @id: syncsource id + * @fence_fd: returned sync_fence fd + * + * Create a fence that may be signaled by userspace by calling + * IOCTL_KGSL_SYNCSOURCE_SIGNAL_FENCE. There are no order dependencies between + * these fences. + */ +struct kgsl_syncsource_create_fence { + unsigned int id; + int fence_fd; +/* private: reserved for future use */ + unsigned int __pad[4]; +}; + +/** + * struct kgsl_syncsource_signal_fence - Argument to + * IOCTL_KGSL_SYNCSOURCE_SIGNAL_FENCE + * @id: syncsource id + * @fence_fd: sync_fence fd to signal + * + * Signal a fence that was created by a IOCTL_KGSL_SYNCSOURCE_CREATE_FENCE + * call using the same syncsource id. This allows a fence to be shared + * to other processes but only signaled by the process owning the fd + * used to create the fence. + */ +#define IOCTL_KGSL_SYNCSOURCE_CREATE_FENCE \ + _IOWR(KGSL_IOC_TYPE, 0x42, struct kgsl_syncsource_create_fence) + +struct kgsl_syncsource_signal_fence { + unsigned int id; + int fence_fd; +/* private: reserved for future use */ + unsigned int __pad[4]; +}; + +#define IOCTL_KGSL_SYNCSOURCE_SIGNAL_FENCE \ + _IOWR(KGSL_IOC_TYPE, 0x43, struct kgsl_syncsource_signal_fence) + +/** + * struct kgsl_cff_sync_gpuobj - Argument to IOCTL_KGSL_CFF_SYNC_GPUOBJ + * @offset: Offset into the GPU object to sync + * @length: Number of bytes to sync + * @id: ID of the GPU object to sync + */ +struct kgsl_cff_sync_gpuobj { + uint64_t offset; + uint64_t length; + unsigned int id; +}; + +#define IOCTL_KGSL_CFF_SYNC_GPUOBJ \ + _IOW(KGSL_IOC_TYPE, 0x44, struct kgsl_cff_sync_gpuobj) + +/** + * struct kgsl_gpuobj_alloc - Argument to IOCTL_KGSL_GPUOBJ_ALLOC + * @size: Size in bytes of the object to allocate + * @flags: mask of KGSL_MEMFLAG_* bits + * @va_len: Size in bytes of the virtual region to allocate + * @mmapsize: Returns the mmap() size of the object + * @id: Returns the GPU object ID of the new object + * @metadata_len: Length of the metdata to copy from the user + * @metadata: Pointer to the user specified metadata to store for the object + */ +struct kgsl_gpuobj_alloc { + uint64_t size; + uint64_t flags; + uint64_t va_len; + uint64_t mmapsize; + unsigned int id; + unsigned int metadata_len; + uint64_t metadata; +}; + +/* Let the user know that this header supports the gpuobj metadata */ +#define KGSL_GPUOBJ_ALLOC_METADATA_MAX 64 + +#define IOCTL_KGSL_GPUOBJ_ALLOC \ + _IOWR(KGSL_IOC_TYPE, 0x45, struct kgsl_gpuobj_alloc) + +/** + * struct kgsl_gpuobj_free - Argument to IOCTL_KGLS_GPUOBJ_FREE + * @flags: Mask of: KGSL_GUPOBJ_FREE_ON_EVENT + * @priv: Pointer to the private object if KGSL_GPUOBJ_FREE_ON_EVENT is + * specified + * @id: ID of the GPU object to free + * @type: If KGSL_GPUOBJ_FREE_ON_EVENT is specified, the type of asynchronous + * event to free on + * @len: Length of the data passed in priv + */ +struct kgsl_gpuobj_free { + uint64_t flags; + uint64_t __user priv; + unsigned int id; + unsigned int type; + unsigned int len; +}; + +#define KGSL_GPUOBJ_FREE_ON_EVENT 1 + +#define KGSL_GPU_EVENT_TIMESTAMP 1 +#define KGSL_GPU_EVENT_FENCE 2 + +/** + * struct kgsl_gpu_event_timestamp - Specifies a timestamp event to free a GPU + * object on + * @context_id: ID of the timestamp event to wait for + * @timestamp: Timestamp of the timestamp event to wait for + */ +struct kgsl_gpu_event_timestamp { + unsigned int context_id; + unsigned int timestamp; +}; + +/** + * struct kgsl_gpu_event_fence - Specifies a fence ID to to free a GPU object on + * @fd: File descriptor for the fence + */ +struct kgsl_gpu_event_fence { + int fd; +}; + +#define IOCTL_KGSL_GPUOBJ_FREE \ + _IOW(KGSL_IOC_TYPE, 0x46, struct kgsl_gpuobj_free) + +/** + * struct kgsl_gpuobj_info - argument to IOCTL_KGSL_GPUOBJ_INFO + * @gpuaddr: GPU address of the object + * @flags: Current flags for the object + * @size: Size of the object + * @va_len: VA size of the object + * @va_addr: Virtual address of the object (if it is mapped) + * id - GPU object ID of the object to query + */ +struct kgsl_gpuobj_info { + uint64_t gpuaddr; + uint64_t flags; + uint64_t size; + uint64_t va_len; + uint64_t va_addr; + unsigned int id; +}; + +#define IOCTL_KGSL_GPUOBJ_INFO \ + _IOWR(KGSL_IOC_TYPE, 0x47, struct kgsl_gpuobj_info) + +/** + * struct kgsl_gpuobj_import - argument to IOCTL_KGSL_GPUOBJ_IMPORT + * @priv: Pointer to the private data for the import type + * @priv_len: Length of the private data + * @flags: Mask of KGSL_MEMFLAG_ flags + * @type: Type of the import (KGSL_USER_MEM_TYPE_*) + * @id: Returns the ID of the new GPU object + */ +struct kgsl_gpuobj_import { + uint64_t __user priv; + uint64_t priv_len; + uint64_t flags; + unsigned int type; + unsigned int id; +}; + +/** + * struct kgsl_gpuobj_import_dma_buf - import a dmabuf object + * @fd: File descriptor for the dma-buf object + */ +struct kgsl_gpuobj_import_dma_buf { + int fd; +}; + +/** + * struct kgsl_gpuobj_import_useraddr - import an object based on a useraddr + * @virtaddr: Virtual address of the object to import + */ +struct kgsl_gpuobj_import_useraddr { + uint64_t virtaddr; +}; + +#define IOCTL_KGSL_GPUOBJ_IMPORT \ + _IOWR(KGSL_IOC_TYPE, 0x48, struct kgsl_gpuobj_import) + +/** + * struct kgsl_gpuobj_sync_obj - Individual GPU object to sync + * @offset: Offset within the GPU object to sync + * @length: Number of bytes to sync + * @id: ID of the GPU object to sync + * @op: Cache operation to execute + */ + +struct kgsl_gpuobj_sync_obj { + uint64_t offset; + uint64_t length; + unsigned int id; + unsigned int op; +}; + +/** + * struct kgsl_gpuobj_sync - Argument for IOCTL_KGSL_GPUOBJ_SYNC + * @objs: Pointer to an array of kgsl_gpuobj_sync_obj structs + * @obj_len: Size of each item in the array + * @count: Number of items in the array + */ + +struct kgsl_gpuobj_sync { + uint64_t __user objs; + unsigned int obj_len; + unsigned int count; +}; + +#define IOCTL_KGSL_GPUOBJ_SYNC \ + _IOW(KGSL_IOC_TYPE, 0x49, struct kgsl_gpuobj_sync) + +/** + * struct kgsl_command_object - GPU command object + * @offset: GPU address offset of the object + * @gpuaddr: GPU address of the object + * @size: Size of the object + * @flags: Current flags for the object + * @id - GPU command object ID + */ +struct kgsl_command_object { + uint64_t offset; + uint64_t gpuaddr; + uint64_t size; + unsigned int flags; + unsigned int id; +}; + +/** + * struct kgsl_command_syncpoint - GPU syncpoint object + * @priv: Pointer to the type specific buffer + * @size: Size of the type specific buffer + * @type: type of sync point defined here + */ +struct kgsl_command_syncpoint { + uint64_t __user priv; + uint64_t size; + unsigned int type; +}; + +/** + * struct kgsl_command_object - Argument for IOCTL_KGSL_GPU_COMMAND + * @flags: Current flags for the object + * @cmdlist: List of kgsl_command_objects for submission + * @cmd_size: Size of kgsl_command_objects structure + * @numcmds: Number of kgsl_command_objects in command list + * @objlist: List of kgsl_command_objects for tracking + * @obj_size: Size of kgsl_command_objects structure + * @numobjs: Number of kgsl_command_objects in object list + * @synclist: List of kgsl_command_syncpoints + * @sync_size: Size of kgsl_command_syncpoint structure + * @numsyncs: Number of kgsl_command_syncpoints in syncpoint list + * @context_id: Context ID submittin ghte kgsl_gpu_command + * @timestamp: Timestamp for the submitted commands + */ +struct kgsl_gpu_command { + uint64_t flags; + uint64_t __user cmdlist; + unsigned int cmdsize; + unsigned int numcmds; + uint64_t __user objlist; + unsigned int objsize; + unsigned int numobjs; + uint64_t __user synclist; + unsigned int syncsize; + unsigned int numsyncs; + unsigned int context_id; + unsigned int timestamp; +}; + +#define IOCTL_KGSL_GPU_COMMAND \ + _IOWR(KGSL_IOC_TYPE, 0x4A, struct kgsl_gpu_command) + +/** + * struct kgsl_preemption_counters_query - argument to + * IOCTL_KGSL_PREEMPTIONCOUNTER_QUERY + * @counters: Return preemption counters array + * @size_user: Size allocated by userspace + * @size_priority_level: Size of preemption counters for each + * priority level + * @max_priority_level: Return max number of priority levels + * + * Query the available preemption counters. The array counters + * is used to return preemption counters. The size of the array + * is passed in so the kernel will only write at most size_user + * or max available preemption counters. The total number of + * preemption counters is returned in max_priority_level. If the + * array or size passed in are invalid, then an error is + * returned back. + */ +struct kgsl_preemption_counters_query { + uint64_t __user counters; + unsigned int size_user; + unsigned int size_priority_level; + unsigned int max_priority_level; +}; + +#define IOCTL_KGSL_PREEMPTIONCOUNTER_QUERY \ + _IOWR(KGSL_IOC_TYPE, 0x4B, struct kgsl_preemption_counters_query) + +/** + * struct kgsl_gpuobj_set_info - argument for IOCTL_KGSL_GPUOBJ_SET_INFO + * @flags: Flags to indicate which paramaters to change + * @metadata: If KGSL_GPUOBJ_SET_INFO_METADATA is set, a pointer to the new + * metadata + * @id: GPU memory object ID to change + * @metadata_len: If KGSL_GPUOBJ_SET_INFO_METADATA is set, the length of the + * new metadata string + * @type: If KGSL_GPUOBJ_SET_INFO_TYPE is set, the new type of the memory object + */ + +#define KGSL_GPUOBJ_SET_INFO_METADATA (1 << 0) +#define KGSL_GPUOBJ_SET_INFO_TYPE (1 << 1) + +struct kgsl_gpuobj_set_info { + uint64_t flags; + uint64_t metadata; + unsigned int id; + unsigned int metadata_len; + unsigned int type; +}; + +#define IOCTL_KGSL_GPUOBJ_SET_INFO \ + _IOW(KGSL_IOC_TYPE, 0x4C, struct kgsl_gpuobj_set_info) + +#endif /* _UAPI_MSM_KGSL_H */ diff --git a/third_party/linux/include/msm_media_info.h b/third_party/linux/include/msm_media_info.h new file mode 100644 index 0000000000..39dceb2c49 --- /dev/null +++ b/third_party/linux/include/msm_media_info.h @@ -0,0 +1,819 @@ +#ifndef __MEDIA_INFO_H__ +#define __MEDIA_INFO_H__ + +#ifndef MSM_MEDIA_ALIGN +#define MSM_MEDIA_ALIGN(__sz, __align) (((__sz) + (__align-1)) & (~(__align-1))) +#endif + +#ifndef MSM_MEDIA_ROUNDUP +#define MSM_MEDIA_ROUNDUP(__sz, __r) (((__sz) + ((__r) - 1)) / (__r)) +#endif + +#ifndef MSM_MEDIA_MAX +#define MSM_MEDIA_MAX(__a, __b) ((__a) > (__b)?(__a):(__b)) +#endif + +enum color_fmts { + /* Venus NV12: + * YUV 4:2:0 image with a plane of 8 bit Y samples followed + * by an interleaved U/V plane containing 8 bit 2x2 subsampled + * colour difference samples. + * + * <-------- Y/UV_Stride --------> + * <------- Width -------> + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . ^ ^ + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . | | + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . Height | + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . | Y_Scanlines + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . | | + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . | | + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . | | + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . V | + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . V + * U V U V U V U V U V U V . . . . ^ + * U V U V U V U V U V U V . . . . | + * U V U V U V U V U V U V . . . . | + * U V U V U V U V U V U V . . . . UV_Scanlines + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . V + * . . . . . . . . . . . . . . . . --> Buffer size alignment + * + * Y_Stride : Width aligned to 128 + * UV_Stride : Width aligned to 128 + * Y_Scanlines: Height aligned to 32 + * UV_Scanlines: Height/2 aligned to 16 + * Extradata: Arbitrary (software-imposed) padding + * Total size = align((Y_Stride * Y_Scanlines + * + UV_Stride * UV_Scanlines + * + max(Extradata, Y_Stride * 8), 4096) + */ + COLOR_FMT_NV12, + + /* Venus NV21: + * YUV 4:2:0 image with a plane of 8 bit Y samples followed + * by an interleaved V/U plane containing 8 bit 2x2 subsampled + * colour difference samples. + * + * <-------- Y/UV_Stride --------> + * <------- Width -------> + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . ^ ^ + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . | | + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . Height | + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . | Y_Scanlines + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . | | + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . | | + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . | | + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . V | + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . V + * V U V U V U V U V U V U . . . . ^ + * V U V U V U V U V U V U . . . . | + * V U V U V U V U V U V U . . . . | + * V U V U V U V U V U V U . . . . UV_Scanlines + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . V + * . . . . . . . . . . . . . . . . --> Padding & Buffer size alignment + * + * Y_Stride : Width aligned to 128 + * UV_Stride : Width aligned to 128 + * Y_Scanlines: Height aligned to 32 + * UV_Scanlines: Height/2 aligned to 16 + * Extradata: Arbitrary (software-imposed) padding + * Total size = align((Y_Stride * Y_Scanlines + * + UV_Stride * UV_Scanlines + * + max(Extradata, Y_Stride * 8), 4096) + */ + COLOR_FMT_NV21, + /* Venus NV12_MVTB: + * Two YUV 4:2:0 images/views one after the other + * in a top-bottom layout, same as NV12 + * with a plane of 8 bit Y samples followed + * by an interleaved U/V plane containing 8 bit 2x2 subsampled + * colour difference samples. + * + * + * <-------- Y/UV_Stride --------> + * <------- Width -------> + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . ^ ^ ^ + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . | | | + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . Height | | + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . | Y_Scanlines | + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . | | | + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . | | | + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . | | | + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . V | | + * . . . . . . . . . . . . . . . . | View_1 + * . . . . . . . . . . . . . . . . | | + * . . . . . . . . . . . . . . . . | | + * . . . . . . . . . . . . . . . . V | + * U V U V U V U V U V U V . . . . ^ | + * U V U V U V U V U V U V . . . . | | + * U V U V U V U V U V U V . . . . | | + * U V U V U V U V U V U V . . . . UV_Scanlines | + * . . . . . . . . . . . . . . . . | | + * . . . . . . . . . . . . . . . . V V + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . ^ ^ ^ + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . | | | + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . Height | | + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . | Y_Scanlines | + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . | | | + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . | | | + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . | | | + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . V | | + * . . . . . . . . . . . . . . . . | View_2 + * . . . . . . . . . . . . . . . . | | + * . . . . . . . . . . . . . . . . | | + * . . . . . . . . . . . . . . . . V | + * U V U V U V U V U V U V . . . . ^ | + * U V U V U V U V U V U V . . . . | | + * U V U V U V U V U V U V . . . . | | + * U V U V U V U V U V U V . . . . UV_Scanlines | + * . . . . . . . . . . . . . . . . | | + * . . . . . . . . . . . . . . . . V V + * . . . . . . . . . . . . . . . . --> Buffer size alignment + * + * Y_Stride : Width aligned to 128 + * UV_Stride : Width aligned to 128 + * Y_Scanlines: Height aligned to 32 + * UV_Scanlines: Height/2 aligned to 16 + * View_1 begin at: 0 (zero) + * View_2 begin at: Y_Stride * Y_Scanlines + UV_Stride * UV_Scanlines + * Extradata: Arbitrary (software-imposed) padding + * Total size = align((2*(Y_Stride * Y_Scanlines) + * + 2*(UV_Stride * UV_Scanlines) + Extradata), 4096) + */ + COLOR_FMT_NV12_MVTB, + /* Venus NV12 UBWC: + * Compressed Macro-tile format for NV12. + * Contains 4 planes in the following order - + * (A) Y_Meta_Plane + * (B) Y_UBWC_Plane + * (C) UV_Meta_Plane + * (D) UV_UBWC_Plane + * + * Y_Meta_Plane consists of meta information to decode compressed + * tile data in Y_UBWC_Plane. + * Y_UBWC_Plane consists of Y data in compressed macro-tile format. + * UBWC decoder block will use the Y_Meta_Plane data together with + * Y_UBWC_Plane data to produce loss-less uncompressed 8 bit Y samples. + * + * UV_Meta_Plane consists of meta information to decode compressed + * tile data in UV_UBWC_Plane. + * UV_UBWC_Plane consists of UV data in compressed macro-tile format. + * UBWC decoder block will use UV_Meta_Plane data together with + * UV_UBWC_Plane data to produce loss-less uncompressed 8 bit 2x2 + * subsampled color difference samples. + * + * Each tile in Y_UBWC_Plane/UV_UBWC_Plane is independently decodable + * and randomly accessible. There is no dependency between tiles. + * + * <----- Y_Meta_Stride ----> + * <-------- Width ------> + * M M M M M M M M M M M M . . ^ ^ + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . Height | + * M M M M M M M M M M M M . . | Meta_Y_Scanlines + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . V | + * . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . -------> Buffer size aligned to 4k + * . . . . . . . . . . . . . . V + * <--Compressed tile Y Stride---> + * <------- Width -------> + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . ^ ^ + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . | | + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . Height | + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . | Macro_tile_Y_Scanlines + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . | | + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . | | + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . | | + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . V | + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . -------> Buffer size aligned to 4k + * . . . . . . . . . . . . . . . . V + * <----- UV_Meta_Stride ----> + * M M M M M M M M M M M M . . ^ + * M M M M M M M M M M M M . . | + * M M M M M M M M M M M M . . | + * M M M M M M M M M M M M . . M_UV_Scanlines + * . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . V + * . . . . . . . . . . . . . . -------> Buffer size aligned to 4k + * <--Compressed tile UV Stride---> + * U* V* U* V* U* V* U* V* . . . . ^ + * U* V* U* V* U* V* U* V* . . . . | + * U* V* U* V* U* V* U* V* . . . . | + * U* V* U* V* U* V* U* V* . . . . UV_Scanlines + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . V + * . . . . . . . . . . . . . . . . -------> Buffer size aligned to 4k + * + * Y_Stride = align(Width, 128) + * UV_Stride = align(Width, 128) + * Y_Scanlines = align(Height, 32) + * UV_Scanlines = align(Height/2, 16) + * Y_UBWC_Plane_size = align(Y_Stride * Y_Scanlines, 4096) + * UV_UBWC_Plane_size = align(UV_Stride * UV_Scanlines, 4096) + * Y_Meta_Stride = align(roundup(Width, Y_TileWidth), 64) + * Y_Meta_Scanlines = align(roundup(Height, Y_TileHeight), 16) + * Y_Meta_Plane_size = align(Y_Meta_Stride * Y_Meta_Scanlines, 4096) + * UV_Meta_Stride = align(roundup(Width, UV_TileWidth), 64) + * UV_Meta_Scanlines = align(roundup(Height, UV_TileHeight), 16) + * UV_Meta_Plane_size = align(UV_Meta_Stride * UV_Meta_Scanlines, 4096) + * Extradata = 8k + * + * Total size = align( Y_UBWC_Plane_size + UV_UBWC_Plane_size + + * Y_Meta_Plane_size + UV_Meta_Plane_size + * + max(Extradata, Y_Stride * 48), 4096) + */ + COLOR_FMT_NV12_UBWC, + /* Venus NV12 10-bit UBWC: + * Compressed Macro-tile format for NV12. + * Contains 4 planes in the following order - + * (A) Y_Meta_Plane + * (B) Y_UBWC_Plane + * (C) UV_Meta_Plane + * (D) UV_UBWC_Plane + * + * Y_Meta_Plane consists of meta information to decode compressed + * tile data in Y_UBWC_Plane. + * Y_UBWC_Plane consists of Y data in compressed macro-tile format. + * UBWC decoder block will use the Y_Meta_Plane data together with + * Y_UBWC_Plane data to produce loss-less uncompressed 10 bit Y samples. + * + * UV_Meta_Plane consists of meta information to decode compressed + * tile data in UV_UBWC_Plane. + * UV_UBWC_Plane consists of UV data in compressed macro-tile format. + * UBWC decoder block will use UV_Meta_Plane data together with + * UV_UBWC_Plane data to produce loss-less uncompressed 10 bit 2x2 + * subsampled color difference samples. + * + * Each tile in Y_UBWC_Plane/UV_UBWC_Plane is independently decodable + * and randomly accessible. There is no dependency between tiles. + * + * <----- Y_Meta_Stride -----> + * <-------- Width ------> + * M M M M M M M M M M M M . . ^ ^ + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . Height | + * M M M M M M M M M M M M . . | Meta_Y_Scanlines + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . V | + * . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . -------> Buffer size aligned to 4k + * . . . . . . . . . . . . . . V + * <--Compressed tile Y Stride---> + * <------- Width -------> + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . ^ ^ + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . | | + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . Height | + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . | Macro_tile_Y_Scanlines + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . | | + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . | | + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . | | + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . V | + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . -------> Buffer size aligned to 4k + * . . . . . . . . . . . . . . . . V + * <----- UV_Meta_Stride ----> + * M M M M M M M M M M M M . . ^ + * M M M M M M M M M M M M . . | + * M M M M M M M M M M M M . . | + * M M M M M M M M M M M M . . M_UV_Scanlines + * . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . V + * . . . . . . . . . . . . . . -------> Buffer size aligned to 4k + * <--Compressed tile UV Stride---> + * U* V* U* V* U* V* U* V* . . . . ^ + * U* V* U* V* U* V* U* V* . . . . | + * U* V* U* V* U* V* U* V* . . . . | + * U* V* U* V* U* V* U* V* . . . . UV_Scanlines + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . V + * . . . . . . . . . . . . . . . . -------> Buffer size aligned to 4k + * + * + * Y_Stride = align(Width * 4/3, 128) + * UV_Stride = align(Width * 4/3, 128) + * Y_Scanlines = align(Height, 32) + * UV_Scanlines = align(Height/2, 16) + * Y_UBWC_Plane_Size = align(Y_Stride * Y_Scanlines, 4096) + * UV_UBWC_Plane_Size = align(UV_Stride * UV_Scanlines, 4096) + * Y_Meta_Stride = align(roundup(Width, Y_TileWidth), 64) + * Y_Meta_Scanlines = align(roundup(Height, Y_TileHeight), 16) + * Y_Meta_Plane_size = align(Y_Meta_Stride * Y_Meta_Scanlines, 4096) + * UV_Meta_Stride = align(roundup(Width, UV_TileWidth), 64) + * UV_Meta_Scanlines = align(roundup(Height, UV_TileHeight), 16) + * UV_Meta_Plane_size = align(UV_Meta_Stride * UV_Meta_Scanlines, 4096) + * Extradata = 8k + * + * Total size = align(Y_UBWC_Plane_size + UV_UBWC_Plane_size + + * Y_Meta_Plane_size + UV_Meta_Plane_size + * + max(Extradata, Y_Stride * 48), 4096) + */ + COLOR_FMT_NV12_BPP10_UBWC, + /* Venus RGBA8888 format: + * Contains 1 plane in the following order - + * (A) RGBA plane + * + * <-------- RGB_Stride --------> + * <------- Width -------> + * R R R R R R R R R R R R . . . . ^ ^ + * R R R R R R R R R R R R . . . . | | + * R R R R R R R R R R R R . . . . Height | + * R R R R R R R R R R R R . . . . | RGB_Scanlines + * R R R R R R R R R R R R . . . . | | + * R R R R R R R R R R R R . . . . | | + * R R R R R R R R R R R R . . . . | | + * R R R R R R R R R R R R . . . . V | + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . V + * + * RGB_Stride = align(Width * 4, 128) + * RGB_Scanlines = align(Height, 32) + * RGB_Plane_size = align(RGB_Stride * RGB_Scanlines, 4096) + * Extradata = 8k + * + * Total size = align(RGB_Plane_size + Extradata, 4096) + */ + COLOR_FMT_RGBA8888, + /* Venus RGBA8888 UBWC format: + * Contains 2 planes in the following order - + * (A) Meta plane + * (B) RGBA plane + * + * <--- RGB_Meta_Stride ----> + * <-------- Width ------> + * M M M M M M M M M M M M . . ^ ^ + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . Height | + * M M M M M M M M M M M M . . | Meta_RGB_Scanlines + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . V | + * . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . -------> Buffer size aligned to 4k + * . . . . . . . . . . . . . . V + * <-------- RGB_Stride --------> + * <------- Width -------> + * R R R R R R R R R R R R . . . . ^ ^ + * R R R R R R R R R R R R . . . . | | + * R R R R R R R R R R R R . . . . Height | + * R R R R R R R R R R R R . . . . | RGB_Scanlines + * R R R R R R R R R R R R . . . . | | + * R R R R R R R R R R R R . . . . | | + * R R R R R R R R R R R R . . . . | | + * R R R R R R R R R R R R . . . . V | + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . -------> Buffer size aligned to 4k + * . . . . . . . . . . . . . . . . V + * + * RGB_Stride = align(Width * 4, 128) + * RGB_Scanlines = align(Height, 32) + * RGB_Plane_size = align(RGB_Stride * RGB_Scanlines, 4096) + * RGB_Meta_Stride = align(roundup(Width, RGB_TileWidth), 64) + * RGB_Meta_Scanline = align(roundup(Height, RGB_TileHeight), 16) + * RGB_Meta_Plane_size = align(RGB_Meta_Stride * + * RGB_Meta_Scanlines, 4096) + * Extradata = 8k + * + * Total size = align(RGB_Meta_Plane_size + RGB_Plane_size + + * Extradata, 4096) + */ + COLOR_FMT_RGBA8888_UBWC, +}; + +static inline unsigned int VENUS_EXTRADATA_SIZE(int width, int height) +{ + (void)height; + (void)width; + + /* + * In the future, calculate the size based on the w/h but just + * hardcode it for now since 16K satisfies all current usecases. + */ + return 16 * 1024; +} + +static inline unsigned int VENUS_Y_STRIDE(int color_fmt, int width) +{ + unsigned int alignment, stride = 0; + if (!width) + goto invalid_input; + + switch (color_fmt) { + case COLOR_FMT_NV21: + case COLOR_FMT_NV12: + case COLOR_FMT_NV12_MVTB: + case COLOR_FMT_NV12_UBWC: + alignment = 128; + stride = MSM_MEDIA_ALIGN(width, alignment); + break; + case COLOR_FMT_NV12_BPP10_UBWC: + alignment = 256; + stride = MSM_MEDIA_ALIGN(width, 192); + stride = MSM_MEDIA_ALIGN(stride * 4/3, alignment); + break; + default: + break; + } +invalid_input: + return stride; +} + +static inline unsigned int VENUS_UV_STRIDE(int color_fmt, int width) +{ + unsigned int alignment, stride = 0; + if (!width) + goto invalid_input; + + switch (color_fmt) { + case COLOR_FMT_NV21: + case COLOR_FMT_NV12: + case COLOR_FMT_NV12_MVTB: + case COLOR_FMT_NV12_UBWC: + alignment = 128; + stride = MSM_MEDIA_ALIGN(width, alignment); + break; + case COLOR_FMT_NV12_BPP10_UBWC: + alignment = 256; + stride = MSM_MEDIA_ALIGN(width, 192); + stride = MSM_MEDIA_ALIGN(stride * 4/3, alignment); + break; + default: + break; + } +invalid_input: + return stride; +} + +static inline unsigned int VENUS_Y_SCANLINES(int color_fmt, int height) +{ + unsigned int alignment, sclines = 0; + if (!height) + goto invalid_input; + + switch (color_fmt) { + case COLOR_FMT_NV21: + case COLOR_FMT_NV12: + case COLOR_FMT_NV12_MVTB: + case COLOR_FMT_NV12_UBWC: + alignment = 32; + break; + case COLOR_FMT_NV12_BPP10_UBWC: + alignment = 16; + break; + default: + return 0; + } + sclines = MSM_MEDIA_ALIGN(height, alignment); +invalid_input: + return sclines; +} + +static inline unsigned int VENUS_UV_SCANLINES(int color_fmt, int height) +{ + unsigned int alignment, sclines = 0; + if (!height) + goto invalid_input; + + switch (color_fmt) { + case COLOR_FMT_NV21: + case COLOR_FMT_NV12: + case COLOR_FMT_NV12_MVTB: + case COLOR_FMT_NV12_BPP10_UBWC: + alignment = 16; + break; + case COLOR_FMT_NV12_UBWC: + alignment = 32; + break; + default: + goto invalid_input; + } + + sclines = MSM_MEDIA_ALIGN(height / 2, alignment); + +invalid_input: + return sclines; +} + +static inline unsigned int VENUS_Y_META_STRIDE(int color_fmt, int width) +{ + int y_tile_width = 0, y_meta_stride = 0; + + if (!width) + goto invalid_input; + + switch (color_fmt) { + case COLOR_FMT_NV12_UBWC: + y_tile_width = 32; + break; + case COLOR_FMT_NV12_BPP10_UBWC: + y_tile_width = 48; + break; + default: + goto invalid_input; + } + + y_meta_stride = MSM_MEDIA_ROUNDUP(width, y_tile_width); + y_meta_stride = MSM_MEDIA_ALIGN(y_meta_stride, 64); + +invalid_input: + return y_meta_stride; +} + +static inline unsigned int VENUS_Y_META_SCANLINES(int color_fmt, int height) +{ + int y_tile_height = 0, y_meta_scanlines = 0; + + if (!height) + goto invalid_input; + + switch (color_fmt) { + case COLOR_FMT_NV12_UBWC: + y_tile_height = 8; + break; + case COLOR_FMT_NV12_BPP10_UBWC: + y_tile_height = 4; + break; + default: + goto invalid_input; + } + + y_meta_scanlines = MSM_MEDIA_ROUNDUP(height, y_tile_height); + y_meta_scanlines = MSM_MEDIA_ALIGN(y_meta_scanlines, 16); + +invalid_input: + return y_meta_scanlines; +} + +static inline unsigned int VENUS_UV_META_STRIDE(int color_fmt, int width) +{ + int uv_tile_width = 0, uv_meta_stride = 0; + + if (!width) + goto invalid_input; + + switch (color_fmt) { + case COLOR_FMT_NV12_UBWC: + uv_tile_width = 16; + break; + case COLOR_FMT_NV12_BPP10_UBWC: + uv_tile_width = 24; + break; + default: + goto invalid_input; + } + + uv_meta_stride = MSM_MEDIA_ROUNDUP(width / 2, uv_tile_width); + uv_meta_stride = MSM_MEDIA_ALIGN(uv_meta_stride, 64); + +invalid_input: + return uv_meta_stride; +} + +static inline unsigned int VENUS_UV_META_SCANLINES(int color_fmt, int height) +{ + int uv_tile_height = 0, uv_meta_scanlines = 0; + + if (!height) + goto invalid_input; + + switch (color_fmt) { + case COLOR_FMT_NV12_UBWC: + uv_tile_height = 8; + break; + case COLOR_FMT_NV12_BPP10_UBWC: + uv_tile_height = 4; + break; + default: + goto invalid_input; + } + + uv_meta_scanlines = MSM_MEDIA_ROUNDUP(height / 2, uv_tile_height); + uv_meta_scanlines = MSM_MEDIA_ALIGN(uv_meta_scanlines, 16); + +invalid_input: + return uv_meta_scanlines; +} + +static inline unsigned int VENUS_RGB_STRIDE(int color_fmt, int width) +{ + unsigned int alignment = 0, stride = 0; + if (!width) + goto invalid_input; + + switch (color_fmt) { + case COLOR_FMT_RGBA8888: + alignment = 128; + break; + case COLOR_FMT_RGBA8888_UBWC: + alignment = 256; + break; + default: + goto invalid_input; + } + + stride = MSM_MEDIA_ALIGN(width * 4, alignment); + +invalid_input: + return stride; +} + +static inline unsigned int VENUS_RGB_SCANLINES(int color_fmt, int height) +{ + unsigned int alignment = 0, scanlines = 0; + + if (!height) + goto invalid_input; + + switch (color_fmt) { + case COLOR_FMT_RGBA8888: + alignment = 32; + break; + case COLOR_FMT_RGBA8888_UBWC: + alignment = 16; + break; + default: + goto invalid_input; + } + + scanlines = MSM_MEDIA_ALIGN(height, alignment); + +invalid_input: + return scanlines; +} + +static inline unsigned int VENUS_RGB_META_STRIDE(int color_fmt, int width) +{ + int rgb_tile_width = 0, rgb_meta_stride = 0; + + if (!width) + goto invalid_input; + + switch (color_fmt) { + case COLOR_FMT_RGBA8888_UBWC: + rgb_tile_width = 16; + break; + default: + goto invalid_input; + } + + rgb_meta_stride = MSM_MEDIA_ROUNDUP(width, rgb_tile_width); + rgb_meta_stride = MSM_MEDIA_ALIGN(rgb_meta_stride, 64); + +invalid_input: + return rgb_meta_stride; +} + +static inline unsigned int VENUS_RGB_META_SCANLINES(int color_fmt, int height) +{ + int rgb_tile_height = 0, rgb_meta_scanlines = 0; + + if (!height) + goto invalid_input; + + switch (color_fmt) { + case COLOR_FMT_RGBA8888_UBWC: + rgb_tile_height = 4; + break; + default: + goto invalid_input; + } + + rgb_meta_scanlines = MSM_MEDIA_ROUNDUP(height, rgb_tile_height); + rgb_meta_scanlines = MSM_MEDIA_ALIGN(rgb_meta_scanlines, 16); + +invalid_input: + return rgb_meta_scanlines; +} + +static inline unsigned int VENUS_BUFFER_SIZE( + int color_fmt, int width, int height) +{ + const unsigned int extra_size = VENUS_EXTRADATA_SIZE(width, height); + unsigned int uv_alignment = 0, size = 0; + unsigned int y_plane, uv_plane, y_stride, + uv_stride, y_sclines, uv_sclines; + unsigned int y_ubwc_plane = 0, uv_ubwc_plane = 0; + unsigned int y_meta_stride = 0, y_meta_scanlines = 0; + unsigned int uv_meta_stride = 0, uv_meta_scanlines = 0; + unsigned int y_meta_plane = 0, uv_meta_plane = 0; + unsigned int rgb_stride = 0, rgb_scanlines = 0; + unsigned int rgb_plane = 0, rgb_ubwc_plane = 0, rgb_meta_plane = 0; + unsigned int rgb_meta_stride = 0, rgb_meta_scanlines = 0; + + if (!width || !height) + goto invalid_input; + + y_stride = VENUS_Y_STRIDE(color_fmt, width); + uv_stride = VENUS_UV_STRIDE(color_fmt, width); + y_sclines = VENUS_Y_SCANLINES(color_fmt, height); + uv_sclines = VENUS_UV_SCANLINES(color_fmt, height); + rgb_stride = VENUS_RGB_STRIDE(color_fmt, width); + rgb_scanlines = VENUS_RGB_SCANLINES(color_fmt, height); + + switch (color_fmt) { + case COLOR_FMT_NV21: + case COLOR_FMT_NV12: + uv_alignment = 4096; + y_plane = y_stride * y_sclines; + uv_plane = uv_stride * uv_sclines + uv_alignment; + size = y_plane + uv_plane + + MSM_MEDIA_MAX(extra_size, 8 * y_stride); + size = MSM_MEDIA_ALIGN(size, 4096); + break; + case COLOR_FMT_NV12_MVTB: + uv_alignment = 4096; + y_plane = y_stride * y_sclines; + uv_plane = uv_stride * uv_sclines + uv_alignment; + size = y_plane + uv_plane; + size = 2 * size + extra_size; + size = MSM_MEDIA_ALIGN(size, 4096); + break; + case COLOR_FMT_NV12_UBWC: + case COLOR_FMT_NV12_BPP10_UBWC: + y_ubwc_plane = MSM_MEDIA_ALIGN(y_stride * y_sclines, 4096); + uv_ubwc_plane = MSM_MEDIA_ALIGN(uv_stride * uv_sclines, 4096); + y_meta_stride = VENUS_Y_META_STRIDE(color_fmt, width); + y_meta_scanlines = VENUS_Y_META_SCANLINES(color_fmt, height); + y_meta_plane = MSM_MEDIA_ALIGN( + y_meta_stride * y_meta_scanlines, 4096); + uv_meta_stride = VENUS_UV_META_STRIDE(color_fmt, width); + uv_meta_scanlines = VENUS_UV_META_SCANLINES(color_fmt, height); + uv_meta_plane = MSM_MEDIA_ALIGN(uv_meta_stride * + uv_meta_scanlines, 4096); + + size = y_ubwc_plane + uv_ubwc_plane + y_meta_plane + + uv_meta_plane + + MSM_MEDIA_MAX(extra_size + 8192, 48 * y_stride); + size = MSM_MEDIA_ALIGN(size, 4096); + break; + case COLOR_FMT_RGBA8888: + rgb_plane = MSM_MEDIA_ALIGN(rgb_stride * rgb_scanlines, 4096); + size = rgb_plane; + size = MSM_MEDIA_ALIGN(size, 4096); + break; + case COLOR_FMT_RGBA8888_UBWC: + rgb_ubwc_plane = MSM_MEDIA_ALIGN(rgb_stride * rgb_scanlines, + 4096); + rgb_meta_stride = VENUS_RGB_META_STRIDE(color_fmt, width); + rgb_meta_scanlines = VENUS_RGB_META_SCANLINES(color_fmt, + height); + rgb_meta_plane = MSM_MEDIA_ALIGN(rgb_meta_stride * + rgb_meta_scanlines, 4096); + size = rgb_ubwc_plane + rgb_meta_plane; + size = MSM_MEDIA_ALIGN(size, 4096); + break; + default: + break; + } +invalid_input: + return size; +} + +static inline unsigned int VENUS_VIEW2_OFFSET( + int color_fmt, int width, int height) +{ + unsigned int offset = 0; + unsigned int y_plane, uv_plane, y_stride, + uv_stride, y_sclines, uv_sclines; + if (!width || !height) + goto invalid_input; + + y_stride = VENUS_Y_STRIDE(color_fmt, width); + uv_stride = VENUS_UV_STRIDE(color_fmt, width); + y_sclines = VENUS_Y_SCANLINES(color_fmt, height); + uv_sclines = VENUS_UV_SCANLINES(color_fmt, height); + switch (color_fmt) { + case COLOR_FMT_NV12_MVTB: + y_plane = y_stride * y_sclines; + uv_plane = uv_stride * uv_sclines; + offset = y_plane + uv_plane; + break; + default: + break; + } +invalid_input: + return offset; +} + +#endif diff --git a/third_party/linux/include/msmb_camera.h b/third_party/linux/include/msmb_camera.h new file mode 100644 index 0000000000..f4c4b3e183 --- /dev/null +++ b/third_party/linux/include/msmb_camera.h @@ -0,0 +1,220 @@ +#ifndef __LINUX_MSMB_CAMERA_H +#define __LINUX_MSMB_CAMERA_H + +#include +#include +#include + +#define MSM_CAM_LOGSYNC_FILE_NAME "logsync" +#define MSM_CAM_LOGSYNC_FILE_BASEDIR "camera" + +#define MSM_CAM_V4L2_IOCTL_NOTIFY \ + _IOW('V', BASE_VIDIOC_PRIVATE + 30, struct msm_v4l2_event_data) + +#define MSM_CAM_V4L2_IOCTL_NOTIFY_META \ + _IOW('V', BASE_VIDIOC_PRIVATE + 31, struct msm_v4l2_event_data) + +#define MSM_CAM_V4L2_IOCTL_CMD_ACK \ + _IOW('V', BASE_VIDIOC_PRIVATE + 32, struct msm_v4l2_event_data) + +#define MSM_CAM_V4L2_IOCTL_NOTIFY_ERROR \ + _IOW('V', BASE_VIDIOC_PRIVATE + 33, struct msm_v4l2_event_data) + +#define MSM_CAM_V4L2_IOCTL_NOTIFY_DEBUG \ + _IOW('V', BASE_VIDIOC_PRIVATE + 34, struct msm_v4l2_event_data) + +#ifdef CONFIG_COMPAT +#define MSM_CAM_V4L2_IOCTL_NOTIFY32 \ + _IOW('V', BASE_VIDIOC_PRIVATE + 30, struct v4l2_event32) + +#define MSM_CAM_V4L2_IOCTL_NOTIFY_META32 \ + _IOW('V', BASE_VIDIOC_PRIVATE + 31, struct v4l2_event32) + +#define MSM_CAM_V4L2_IOCTL_CMD_ACK32 \ + _IOW('V', BASE_VIDIOC_PRIVATE + 32, struct v4l2_event32) + +#define MSM_CAM_V4L2_IOCTL_NOTIFY_ERROR32 \ + _IOW('V', BASE_VIDIOC_PRIVATE + 33, struct v4l2_event32) + +#define MSM_CAM_V4L2_IOCTL_NOTIFY_DEBUG32 \ + _IOW('V', BASE_VIDIOC_PRIVATE + 34, struct v4l2_event32) + +#endif + +#define QCAMERA_DEVICE_GROUP_ID 1 +#define QCAMERA_VNODE_GROUP_ID 2 +#define MSM_CAMERA_NAME "msm_camera" +#define MSM_CONFIGURATION_NAME "msm_config" + +#define MSM_CAMERA_SUBDEV_CSIPHY 0 +#define MSM_CAMERA_SUBDEV_CSID 1 +#define MSM_CAMERA_SUBDEV_ISPIF 2 +#define MSM_CAMERA_SUBDEV_VFE 3 +#define MSM_CAMERA_SUBDEV_AXI 4 +#define MSM_CAMERA_SUBDEV_VPE 5 +#define MSM_CAMERA_SUBDEV_SENSOR 6 +#define MSM_CAMERA_SUBDEV_ACTUATOR 7 +#define MSM_CAMERA_SUBDEV_EEPROM 8 +#define MSM_CAMERA_SUBDEV_CPP 9 +#define MSM_CAMERA_SUBDEV_CCI 10 +#define MSM_CAMERA_SUBDEV_LED_FLASH 11 +#define MSM_CAMERA_SUBDEV_STROBE_FLASH 12 +#define MSM_CAMERA_SUBDEV_BUF_MNGR 13 +#define MSM_CAMERA_SUBDEV_SENSOR_INIT 14 +#define MSM_CAMERA_SUBDEV_OIS 15 +#define MSM_CAMERA_SUBDEV_FLASH 16 +#define MSM_CAMERA_SUBDEV_EXT 17 + +#define MSM_MAX_CAMERA_SENSORS 5 + +/* The below macro is defined to put an upper limit on maximum + * number of buffer requested per stream. In case of extremely + * large value for number of buffer due to data structure corruption + * we return error to avoid integer overflow. Group processing + * can have max of 9 groups of 8 bufs each. This value may be + * configured in future*/ +#define MSM_CAMERA_MAX_STREAM_BUF 72 + +/* Max batch size of processing */ +#define MSM_CAMERA_MAX_USER_BUFF_CNT 16 + +/* featur base */ +#define MSM_CAMERA_FEATURE_BASE 0x00010000 +#define MSM_CAMERA_FEATURE_SHUTDOWN (MSM_CAMERA_FEATURE_BASE + 1) + +#define MSM_CAMERA_STATUS_BASE 0x00020000 +#define MSM_CAMERA_STATUS_FAIL (MSM_CAMERA_STATUS_BASE + 1) +#define MSM_CAMERA_STATUS_SUCCESS (MSM_CAMERA_STATUS_BASE + 2) + +/* event type */ +#define MSM_CAMERA_V4L2_EVENT_TYPE (V4L2_EVENT_PRIVATE_START + 0x00002000) + +/* event id */ +#define MSM_CAMERA_EVENT_MIN 0 +#define MSM_CAMERA_NEW_SESSION (MSM_CAMERA_EVENT_MIN + 1) +#define MSM_CAMERA_DEL_SESSION (MSM_CAMERA_EVENT_MIN + 2) +#define MSM_CAMERA_SET_PARM (MSM_CAMERA_EVENT_MIN + 3) +#define MSM_CAMERA_GET_PARM (MSM_CAMERA_EVENT_MIN + 4) +#define MSM_CAMERA_MAPPING_CFG (MSM_CAMERA_EVENT_MIN + 5) +#define MSM_CAMERA_MAPPING_SES (MSM_CAMERA_EVENT_MIN + 6) +#define MSM_CAMERA_MSM_NOTIFY (MSM_CAMERA_EVENT_MIN + 7) +#define MSM_CAMERA_EVENT_MAX (MSM_CAMERA_EVENT_MIN + 8) + +/* data.command */ +#define MSM_CAMERA_PRIV_S_CROP (V4L2_CID_PRIVATE_BASE + 1) +#define MSM_CAMERA_PRIV_G_CROP (V4L2_CID_PRIVATE_BASE + 2) +#define MSM_CAMERA_PRIV_G_FMT (V4L2_CID_PRIVATE_BASE + 3) +#define MSM_CAMERA_PRIV_S_FMT (V4L2_CID_PRIVATE_BASE + 4) +#define MSM_CAMERA_PRIV_TRY_FMT (V4L2_CID_PRIVATE_BASE + 5) +#define MSM_CAMERA_PRIV_METADATA (V4L2_CID_PRIVATE_BASE + 6) +#define MSM_CAMERA_PRIV_QUERY_CAP (V4L2_CID_PRIVATE_BASE + 7) +#define MSM_CAMERA_PRIV_STREAM_ON (V4L2_CID_PRIVATE_BASE + 8) +#define MSM_CAMERA_PRIV_STREAM_OFF (V4L2_CID_PRIVATE_BASE + 9) +#define MSM_CAMERA_PRIV_NEW_STREAM (V4L2_CID_PRIVATE_BASE + 10) +#define MSM_CAMERA_PRIV_DEL_STREAM (V4L2_CID_PRIVATE_BASE + 11) +#define MSM_CAMERA_PRIV_SHUTDOWN (V4L2_CID_PRIVATE_BASE + 12) +#define MSM_CAMERA_PRIV_STREAM_INFO_SYNC \ + (V4L2_CID_PRIVATE_BASE + 13) +#define MSM_CAMERA_PRIV_G_SESSION_ID (V4L2_CID_PRIVATE_BASE + 14) +#define MSM_CAMERA_PRIV_CMD_MAX 20 + +/* data.status - success */ +#define MSM_CAMERA_CMD_SUCESS 0x00000001 +#define MSM_CAMERA_BUF_MAP_SUCESS 0x00000002 + +/* data.status - error */ +#define MSM_CAMERA_ERR_EVT_BASE 0x00010000 +#define MSM_CAMERA_ERR_CMD_FAIL (MSM_CAMERA_ERR_EVT_BASE + 1) +#define MSM_CAMERA_ERR_MAPPING (MSM_CAMERA_ERR_EVT_BASE + 2) +#define MSM_CAMERA_ERR_DEVICE_BUSY (MSM_CAMERA_ERR_EVT_BASE + 3) + +/* The msm_v4l2_event_data structure should match the + * v4l2_event.u.data field. + * should not exceed 16 elements */ +struct msm_v4l2_event_data { + /*word 0*/ + unsigned int command; + /*word 1*/ + unsigned int status; + /*word 2*/ + unsigned int session_id; + /*word 3*/ + unsigned int stream_id; + /*word 4*/ + unsigned int map_op; + /*word 5*/ + unsigned int map_buf_idx; + /*word 6*/ + unsigned int notify; + /*word 7*/ + unsigned int arg_value; + /*word 8*/ + unsigned int ret_value; + /*word 9*/ + unsigned int v4l2_event_type; + /*word 10*/ + unsigned int v4l2_event_id; + /*word 11*/ + unsigned int handle; + /*word 12*/ + unsigned int nop6; + /*word 13*/ + unsigned int nop7; + /*word 14*/ + unsigned int nop8; + /*word 15*/ + unsigned int nop9; +}; + +/* map to v4l2_format.fmt.raw_data */ +struct msm_v4l2_format_data { + enum v4l2_buf_type type; + unsigned int width; + unsigned int height; + unsigned int pixelformat; /* FOURCC */ + unsigned char num_planes; + unsigned int plane_sizes[VIDEO_MAX_PLANES]; +}; + +/* MSM Four-character-code (FOURCC) */ +#define msm_v4l2_fourcc(a, b, c, d)\ + ((__u32)(a) | ((__u32)(b) << 8) | ((__u32)(c) << 16) |\ + ((__u32)(d) << 24)) + +/* Composite stats */ +#define MSM_V4L2_PIX_FMT_STATS_COMB v4l2_fourcc('S', 'T', 'C', 'M') +/* AEC stats */ +#define MSM_V4L2_PIX_FMT_STATS_AE v4l2_fourcc('S', 'T', 'A', 'E') +/* AF stats */ +#define MSM_V4L2_PIX_FMT_STATS_AF v4l2_fourcc('S', 'T', 'A', 'F') +/* AWB stats */ +#define MSM_V4L2_PIX_FMT_STATS_AWB v4l2_fourcc('S', 'T', 'W', 'B') +/* IHIST stats */ +#define MSM_V4L2_PIX_FMT_STATS_IHST v4l2_fourcc('I', 'H', 'S', 'T') +/* Column count stats */ +#define MSM_V4L2_PIX_FMT_STATS_CS v4l2_fourcc('S', 'T', 'C', 'S') +/* Row count stats */ +#define MSM_V4L2_PIX_FMT_STATS_RS v4l2_fourcc('S', 'T', 'R', 'S') +/* Bayer Grid stats */ +#define MSM_V4L2_PIX_FMT_STATS_BG v4l2_fourcc('S', 'T', 'B', 'G') +/* Bayer focus stats */ +#define MSM_V4L2_PIX_FMT_STATS_BF v4l2_fourcc('S', 'T', 'B', 'F') +/* Bayer hist stats */ +#define MSM_V4L2_PIX_FMT_STATS_BHST v4l2_fourcc('B', 'H', 'S', 'T') + +enum smmu_attach_mode { + NON_SECURE_MODE = 0x01, + SECURE_MODE = 0x02, + MAX_PROTECTION_MODE = 0x03, +}; + +struct msm_camera_smmu_attach_type { + enum smmu_attach_mode attach; +}; + +struct msm_camera_user_buf_cont_t { + unsigned int buf_cnt; + unsigned int buf_idx[MSM_CAMERA_MAX_USER_BUFF_CNT]; +}; + +#endif /* __LINUX_MSMB_CAMERA_H */ diff --git a/third_party/linux/include/msmb_isp.h b/third_party/linux/include/msmb_isp.h new file mode 100644 index 0000000000..35589e050a --- /dev/null +++ b/third_party/linux/include/msmb_isp.h @@ -0,0 +1,880 @@ +#ifndef __MSMB_ISP__ +#define __MSMB_ISP__ + +#include + +#define MAX_PLANES_PER_STREAM 3 +#define MAX_NUM_STREAM 7 + +#define ISP_VERSION_47 47 +#define ISP_VERSION_46 46 +#define ISP_VERSION_44 44 +#define ISP_VERSION_40 40 +#define ISP_VERSION_32 32 +#define ISP_NATIVE_BUF_BIT (0x10000 << 0) +#define ISP0_BIT (0x10000 << 1) +#define ISP1_BIT (0x10000 << 2) +#define ISP_META_CHANNEL_BIT (0x10000 << 3) +#define ISP_SCRATCH_BUF_BIT (0x10000 << 4) +#define ISP_OFFLINE_STATS_BIT (0x10000 << 5) +#define ISP_STATS_STREAM_BIT 0x80000000 + +struct msm_vfe_cfg_cmd_list; + +enum ISP_START_PIXEL_PATTERN { + ISP_BAYER_RGRGRG, + ISP_BAYER_GRGRGR, + ISP_BAYER_BGBGBG, + ISP_BAYER_GBGBGB, + ISP_YUV_YCbYCr, + ISP_YUV_YCrYCb, + ISP_YUV_CbYCrY, + ISP_YUV_CrYCbY, + ISP_PIX_PATTERN_MAX +}; + +enum msm_vfe_plane_fmt { + Y_PLANE, + CB_PLANE, + CR_PLANE, + CRCB_PLANE, + CBCR_PLANE, + VFE_PLANE_FMT_MAX +}; + +enum msm_vfe_input_src { + VFE_PIX_0, + VFE_RAW_0, + VFE_RAW_1, + VFE_RAW_2, + VFE_SRC_MAX, +}; + +enum msm_vfe_axi_stream_src { + PIX_ENCODER, + PIX_VIEWFINDER, + PIX_VIDEO, + CAMIF_RAW, + IDEAL_RAW, + RDI_INTF_0, + RDI_INTF_1, + RDI_INTF_2, + VFE_AXI_SRC_MAX +}; + +enum msm_vfe_frame_skip_pattern { + NO_SKIP, + EVERY_2FRAME, + EVERY_3FRAME, + EVERY_4FRAME, + EVERY_5FRAME, + EVERY_6FRAME, + EVERY_7FRAME, + EVERY_8FRAME, + EVERY_16FRAME, + EVERY_32FRAME, + SKIP_ALL, + SKIP_RANGE, + MAX_SKIP, +}; + +/* + * Define an unused period. When this period is set it means that the stream is + * stopped(i.e the pattern is 0). We don't track the current pattern, just the + * period defines what the pattern is, if period is this then pattern is 0 else + * pattern is 1 + */ +#define MSM_VFE_STREAM_STOP_PERIOD 15 + +enum msm_isp_stats_type { + MSM_ISP_STATS_AEC, /* legacy based AEC */ + MSM_ISP_STATS_AF, /* legacy based AF */ + MSM_ISP_STATS_AWB, /* legacy based AWB */ + MSM_ISP_STATS_RS, /* legacy based RS */ + MSM_ISP_STATS_CS, /* legacy based CS */ + MSM_ISP_STATS_IHIST, /* legacy based HIST */ + MSM_ISP_STATS_SKIN, /* legacy based SKIN */ + MSM_ISP_STATS_BG, /* Bayer Grids */ + MSM_ISP_STATS_BF, /* Bayer Focus */ + MSM_ISP_STATS_BE, /* Bayer Exposure*/ + MSM_ISP_STATS_BHIST, /* Bayer Hist */ + MSM_ISP_STATS_BF_SCALE, /* Bayer Focus scale */ + MSM_ISP_STATS_HDR_BE, /* HDR Bayer Exposure */ + MSM_ISP_STATS_HDR_BHIST, /* HDR Bayer Hist */ + MSM_ISP_STATS_AEC_BG, /* AEC BG */ + MSM_ISP_STATS_MAX /* MAX */ +}; + +/* + * @stats_type_mask: Stats type mask (enum msm_isp_stats_type). + * @stream_src_mask: Stream src mask (enum msm_vfe_axi_stream_src) + * @skip_mode: skip pattern, if skip mode is range only then min/max is used + * @min_frame_id: minimum frame id (valid only if skip_mode = RANGE) + * @max_frame_id: maximum frame id (valid only if skip_mode = RANGE) +*/ +struct msm_isp_sw_framskip { + uint32_t stats_type_mask; + uint32_t stream_src_mask; + enum msm_vfe_frame_skip_pattern skip_mode; + uint32_t min_frame_id; + uint32_t max_frame_id; +}; + +enum msm_vfe_testgen_color_pattern { + COLOR_BAR_8_COLOR, + UNICOLOR_WHITE, + UNICOLOR_YELLOW, + UNICOLOR_CYAN, + UNICOLOR_GREEN, + UNICOLOR_MAGENTA, + UNICOLOR_RED, + UNICOLOR_BLUE, + UNICOLOR_BLACK, + MAX_COLOR, +}; + +enum msm_vfe_camif_input { + CAMIF_DISABLED, + CAMIF_PAD_REG_INPUT, + CAMIF_MIDDI_INPUT, + CAMIF_MIPI_INPUT, +}; + +struct msm_vfe_fetch_engine_cfg { + uint32_t input_format; + uint32_t buf_width; + uint32_t buf_height; + uint32_t fetch_width; + uint32_t fetch_height; + uint32_t x_offset; + uint32_t y_offset; + uint32_t buf_stride; +}; + +enum msm_vfe_camif_output_format { + CAMIF_QCOM_RAW, + CAMIF_MIPI_RAW, + CAMIF_PLAIN_8, + CAMIF_PLAIN_16, + CAMIF_MAX_FORMAT, +}; + +/* + * Camif output general configuration + */ +struct msm_vfe_camif_subsample_cfg { + uint32_t irq_subsample_period; + uint32_t irq_subsample_pattern; + uint32_t sof_counter_step; + uint32_t pixel_skip; + uint32_t line_skip; + uint32_t first_line; + uint32_t last_line; + uint32_t first_pixel; + uint32_t last_pixel; + enum msm_vfe_camif_output_format output_format; +}; + +/* + * Camif frame and window configuration + */ +struct msm_vfe_camif_cfg { + uint32_t lines_per_frame; + uint32_t pixels_per_line; + uint32_t first_pixel; + uint32_t last_pixel; + uint32_t first_line; + uint32_t last_line; + uint32_t epoch_line0; + uint32_t epoch_line1; + uint32_t is_split; + enum msm_vfe_camif_input camif_input; + struct msm_vfe_camif_subsample_cfg subsample_cfg; +}; + +struct msm_vfe_testgen_cfg { + uint32_t lines_per_frame; + uint32_t pixels_per_line; + uint32_t v_blank; + uint32_t h_blank; + enum ISP_START_PIXEL_PATTERN pixel_bayer_pattern; + uint32_t rotate_period; + enum msm_vfe_testgen_color_pattern color_bar_pattern; + uint32_t burst_num_frame; +}; + +enum msm_vfe_inputmux { + CAMIF, + TESTGEN, + EXTERNAL_READ, +}; + +enum msm_vfe_stats_composite_group { + STATS_COMPOSITE_GRP_NONE, + STATS_COMPOSITE_GRP_1, + STATS_COMPOSITE_GRP_2, + STATS_COMPOSITE_GRP_MAX, +}; + +enum msm_vfe_hvx_streaming_cmd { + HVX_DISABLE, + HVX_ONE_WAY, + HVX_ROUND_TRIP +}; + +struct msm_vfe_pix_cfg { + struct msm_vfe_camif_cfg camif_cfg; + struct msm_vfe_testgen_cfg testgen_cfg; + struct msm_vfe_fetch_engine_cfg fetch_engine_cfg; + enum msm_vfe_inputmux input_mux; + enum ISP_START_PIXEL_PATTERN pixel_pattern; + uint32_t input_format; + enum msm_vfe_hvx_streaming_cmd hvx_cmd; + uint32_t is_split; +}; + +struct msm_vfe_rdi_cfg { + uint8_t cid; + uint8_t frame_based; +}; + +struct msm_vfe_input_cfg { + union { + struct msm_vfe_pix_cfg pix_cfg; + struct msm_vfe_rdi_cfg rdi_cfg; + } d; + enum msm_vfe_input_src input_src; + uint32_t input_pix_clk; +}; + +struct msm_vfe_fetch_eng_start { + uint32_t session_id; + uint32_t stream_id; + uint32_t buf_idx; + uint8_t offline_mode; + uint32_t fd; + uint32_t buf_addr; + uint32_t frame_id; +}; + +struct msm_vfe_axi_plane_cfg { + uint32_t output_width; /*Include padding*/ + uint32_t output_height; + uint32_t output_stride; + uint32_t output_scan_lines; + uint32_t output_plane_format; /*Y/Cb/Cr/CbCr*/ + uint32_t plane_addr_offset; + uint8_t csid_src; /*RDI 0-2*/ + uint8_t rdi_cid;/*CID 1-16*/ +}; + +enum msm_stream_memory_input_t { + MEMORY_INPUT_DISABLED, + MEMORY_INPUT_ENABLED +}; + +struct msm_vfe_axi_stream_request_cmd { + uint32_t session_id; + uint32_t stream_id; + uint32_t vt_enable; + uint32_t output_format;/*Planar/RAW/Misc*/ + enum msm_vfe_axi_stream_src stream_src; /*CAMIF/IDEAL/RDIs*/ + struct msm_vfe_axi_plane_cfg plane_cfg[MAX_PLANES_PER_STREAM]; + + uint32_t burst_count; + uint32_t hfr_mode; + uint8_t frame_base; + + uint32_t init_frame_drop; /*MAX 31 Frames*/ + enum msm_vfe_frame_skip_pattern frame_skip_pattern; + uint8_t buf_divert; /* if TRUE no vb2 buf done. */ + /*Return values*/ + uint32_t axi_stream_handle; + uint32_t controllable_output; + uint32_t burst_len; + /* Flag indicating memory input stream */ + enum msm_stream_memory_input_t memory_input; +}; + +struct msm_vfe_axi_stream_release_cmd { + uint32_t stream_handle; +}; + +enum msm_vfe_axi_stream_cmd { + STOP_STREAM, + START_STREAM, + STOP_IMMEDIATELY, +}; + +struct msm_vfe_axi_stream_cfg_cmd { + uint8_t num_streams; + uint32_t stream_handle[VFE_AXI_SRC_MAX]; + enum msm_vfe_axi_stream_cmd cmd; + uint8_t sync_frame_id_src; +}; + +enum msm_vfe_axi_stream_update_type { + ENABLE_STREAM_BUF_DIVERT, + DISABLE_STREAM_BUF_DIVERT, + UPDATE_STREAM_FRAMEDROP_PATTERN, + UPDATE_STREAM_STATS_FRAMEDROP_PATTERN, + UPDATE_STREAM_AXI_CONFIG, + UPDATE_STREAM_REQUEST_FRAMES, + UPDATE_STREAM_ADD_BUFQ, + UPDATE_STREAM_REMOVE_BUFQ, + UPDATE_STREAM_SW_FRAME_DROP, +}; + +enum msm_vfe_iommu_type { + IOMMU_ATTACH, + IOMMU_DETACH, +}; + +enum msm_vfe_buff_queue_id { + VFE_BUF_QUEUE_DEFAULT, + VFE_BUF_QUEUE_SHARED, + VFE_BUF_QUEUE_MAX, +}; + +struct msm_vfe_axi_stream_cfg_update_info { + uint32_t stream_handle; + uint32_t output_format; + uint32_t user_stream_id; + uint32_t frame_id; + enum msm_vfe_frame_skip_pattern skip_pattern; + struct msm_vfe_axi_plane_cfg plane_cfg[MAX_PLANES_PER_STREAM]; + struct msm_isp_sw_framskip sw_skip_info; +}; + +struct msm_vfe_axi_halt_cmd { + uint32_t stop_camif; + uint32_t overflow_detected; + uint32_t blocking_halt; +}; + +struct msm_vfe_axi_reset_cmd { + uint32_t blocking; + uint32_t frame_id; +}; + +struct msm_vfe_axi_restart_cmd { + uint32_t enable_camif; +}; + +struct msm_vfe_axi_stream_update_cmd { + uint32_t num_streams; + enum msm_vfe_axi_stream_update_type update_type; + struct msm_vfe_axi_stream_cfg_update_info + update_info[MSM_ISP_STATS_MAX]; +}; + +struct msm_vfe_smmu_attach_cmd { + uint32_t security_mode; + uint32_t iommu_attach_mode; +}; + +struct msm_vfe_stats_stream_request_cmd { + uint32_t session_id; + uint32_t stream_id; + enum msm_isp_stats_type stats_type; + uint32_t composite_flag; + uint32_t framedrop_pattern; + uint32_t init_frame_drop; /*MAX 31 Frames*/ + uint32_t irq_subsample_pattern; + uint32_t buffer_offset; + uint32_t stream_handle; +}; + +struct msm_vfe_stats_stream_release_cmd { + uint32_t stream_handle; +}; +struct msm_vfe_stats_stream_cfg_cmd { + uint8_t num_streams; + uint32_t stream_handle[MSM_ISP_STATS_MAX]; + uint8_t enable; + uint32_t stats_burst_len; +}; + +enum msm_vfe_reg_cfg_type { + VFE_WRITE, + VFE_WRITE_MB, + VFE_READ, + VFE_CFG_MASK, + VFE_WRITE_DMI_16BIT, + VFE_WRITE_DMI_32BIT, + VFE_WRITE_DMI_64BIT, + VFE_READ_DMI_16BIT, + VFE_READ_DMI_32BIT, + VFE_READ_DMI_64BIT, + GET_MAX_CLK_RATE, + GET_CLK_RATES, + GET_ISP_ID, + VFE_HW_UPDATE_LOCK, + VFE_HW_UPDATE_UNLOCK, + SET_WM_UB_SIZE, + SET_UB_POLICY, +}; + +struct msm_vfe_cfg_cmd2 { + uint16_t num_cfg; + uint16_t cmd_len; + void __user *cfg_data; + void __user *cfg_cmd; +}; + +struct msm_vfe_cfg_cmd_list { + struct msm_vfe_cfg_cmd2 cfg_cmd; + struct msm_vfe_cfg_cmd_list *next; + uint32_t next_size; +}; + +struct msm_vfe_reg_rw_info { + uint32_t reg_offset; + uint32_t cmd_data_offset; + uint32_t len; +}; + +struct msm_vfe_reg_mask_info { + uint32_t reg_offset; + uint32_t mask; + uint32_t val; +}; + +struct msm_vfe_reg_dmi_info { + uint32_t hi_tbl_offset; /*Optional*/ + uint32_t lo_tbl_offset; /*Required*/ + uint32_t len; +}; + +struct msm_vfe_reg_cfg_cmd { + union { + struct msm_vfe_reg_rw_info rw_info; + struct msm_vfe_reg_mask_info mask_info; + struct msm_vfe_reg_dmi_info dmi_info; + } u; + + enum msm_vfe_reg_cfg_type cmd_type; +}; + +enum vfe_sd_type { + VFE_SD_0 = 0, + VFE_SD_1, + VFE_SD_COMMON, + VFE_SD_MAX, +}; + +/* When you change the value below, check for the sof event_data size. + * V4l2 limits payload to 64 bytes */ +#define MS_NUM_SLAVE_MAX 1 + +/* Usecases when 2 HW need to be related or synced */ +enum msm_vfe_dual_hw_type { + DUAL_NONE = 0, + DUAL_HW_VFE_SPLIT = 1, + DUAL_HW_MASTER_SLAVE = 2, +}; + +/* Type for 2 INTF when used in Master-Slave mode */ +enum msm_vfe_dual_hw_ms_type { + MS_TYPE_NONE, + MS_TYPE_MASTER, + MS_TYPE_SLAVE, +}; + +struct msm_isp_set_dual_hw_ms_cmd { + uint8_t num_src; + /* Each session can be only one type but multiple intf if YUV cam */ + enum msm_vfe_dual_hw_ms_type dual_hw_ms_type; + /* Primary intf is mostly associated with preview. + * This primary intf SOF frame_id and timestamp is tracked + * and used to calculate delta */ + enum msm_vfe_input_src primary_intf; + /* input_src array indicates other input INTF that may be Master/Slave. + * For these additional intf, frame_id and timestamp are not saved. + * However, if these are slaves then they will still get their + * frame_id from Master */ + enum msm_vfe_input_src input_src[VFE_SRC_MAX]; + uint32_t sof_delta_threshold; /* In milliseconds. Sent for Master */ +}; + +enum msm_isp_buf_type { + ISP_PRIVATE_BUF, + ISP_SHARE_BUF, + MAX_ISP_BUF_TYPE, +}; + +struct msm_isp_unmap_buf_req { + uint32_t fd; +}; + +struct msm_isp_buf_request { + uint32_t session_id; + uint32_t stream_id; + uint8_t num_buf; + uint32_t handle; + enum msm_isp_buf_type buf_type; +}; + +struct msm_isp_qbuf_plane { + uint32_t addr; + uint32_t offset; + uint32_t length; +}; + +struct msm_isp_qbuf_buffer { + struct msm_isp_qbuf_plane planes[MAX_PLANES_PER_STREAM]; + uint32_t num_planes; +}; + +struct msm_isp_qbuf_info { + uint32_t handle; + int32_t buf_idx; + /*Only used for prepare buffer*/ + struct msm_isp_qbuf_buffer buffer; + /*Only used for diverted buffer*/ + uint32_t dirty_buf; +}; + +struct msm_isp_clk_rates { + uint32_t svs_rate; + uint32_t nominal_rate; + uint32_t high_rate; +}; + +struct msm_vfe_axi_src_state { + enum msm_vfe_input_src input_src; + uint32_t src_active; + uint32_t src_frame_id; +}; + +enum msm_isp_event_mask_index { + ISP_EVENT_MASK_INDEX_STATS_NOTIFY = 0, + ISP_EVENT_MASK_INDEX_ERROR = 1, + ISP_EVENT_MASK_INDEX_IOMMU_P_FAULT = 2, + ISP_EVENT_MASK_INDEX_STREAM_UPDATE_DONE = 3, + ISP_EVENT_MASK_INDEX_REG_UPDATE = 4, + ISP_EVENT_MASK_INDEX_SOF = 5, + ISP_EVENT_MASK_INDEX_BUF_DIVERT = 6, + ISP_EVENT_MASK_INDEX_COMP_STATS_NOTIFY = 7, + ISP_EVENT_MASK_INDEX_MASK_FE_READ_DONE = 8, + ISP_EVENT_MASK_INDEX_BUF_DONE = 9, + ISP_EVENT_MASK_INDEX_REG_UPDATE_MISSING = 10, + ISP_EVENT_MASK_INDEX_PING_PONG_MISMATCH = 11, + ISP_EVENT_MASK_INDEX_BUF_FATAL_ERROR = 12, +}; + + +#define ISP_EVENT_SUBS_MASK_NONE 0 + +#define ISP_EVENT_SUBS_MASK_STATS_NOTIFY \ + (1 << ISP_EVENT_MASK_INDEX_STATS_NOTIFY) + +#define ISP_EVENT_SUBS_MASK_ERROR \ + (1 << ISP_EVENT_MASK_INDEX_ERROR) + +#define ISP_EVENT_SUBS_MASK_IOMMU_P_FAULT \ + (1 << ISP_EVENT_MASK_INDEX_IOMMU_P_FAULT) + +#define ISP_EVENT_SUBS_MASK_STREAM_UPDATE_DONE \ + (1 << ISP_EVENT_MASK_INDEX_STREAM_UPDATE_DONE) + +#define ISP_EVENT_SUBS_MASK_REG_UPDATE \ + (1 << ISP_EVENT_MASK_INDEX_REG_UPDATE) + +#define ISP_EVENT_SUBS_MASK_SOF \ + (1 << ISP_EVENT_MASK_INDEX_SOF) + +#define ISP_EVENT_SUBS_MASK_BUF_DIVERT \ + (1 << ISP_EVENT_MASK_INDEX_BUF_DIVERT) + +#define ISP_EVENT_SUBS_MASK_COMP_STATS_NOTIFY \ + (1 << ISP_EVENT_MASK_INDEX_COMP_STATS_NOTIFY) + +#define ISP_EVENT_SUBS_MASK_FE_READ_DONE \ + (1 << ISP_EVENT_MASK_INDEX_MASK_FE_READ_DONE) + +#define ISP_EVENT_SUBS_MASK_BUF_DONE \ + (1 << ISP_EVENT_MASK_INDEX_BUF_DONE) + +#define ISP_EVENT_SUBS_MASK_REG_UPDATE_MISSING \ + (1 << ISP_EVENT_MASK_INDEX_REG_UPDATE_MISSING) + +#define ISP_EVENT_SUBS_MASK_PING_PONG_MISMATCH \ + (1 << ISP_EVENT_MASK_INDEX_PING_PONG_MISMATCH) + +#define ISP_EVENT_SUBS_MASK_BUF_FATAL_ERROR \ + (1 << ISP_EVENT_MASK_INDEX_BUF_FATAL_ERROR) + +enum msm_isp_event_idx { + ISP_REG_UPDATE = 0, + ISP_EPOCH_0 = 1, + ISP_EPOCH_1 = 2, + ISP_START_ACK = 3, + ISP_STOP_ACK = 4, + ISP_IRQ_VIOLATION = 5, + ISP_STATS_OVERFLOW = 6, + ISP_BUF_DONE = 7, + ISP_FE_RD_DONE = 8, + ISP_IOMMU_P_FAULT = 9, + ISP_ERROR = 10, + ISP_HW_FATAL_ERROR = 11, + ISP_PING_PONG_MISMATCH = 12, + ISP_REG_UPDATE_MISSING = 13, + ISP_BUF_FATAL_ERROR = 14, + ISP_EVENT_MAX = 15 +}; + +#define ISP_EVENT_OFFSET 8 +#define ISP_EVENT_BASE (V4L2_EVENT_PRIVATE_START) +#define ISP_BUF_EVENT_BASE (ISP_EVENT_BASE + (1 << ISP_EVENT_OFFSET)) +#define ISP_STATS_EVENT_BASE (ISP_EVENT_BASE + (2 << ISP_EVENT_OFFSET)) +#define ISP_CAMIF_EVENT_BASE (ISP_EVENT_BASE + (3 << ISP_EVENT_OFFSET)) +#define ISP_STREAM_EVENT_BASE (ISP_EVENT_BASE + (4 << ISP_EVENT_OFFSET)) +#define ISP_EVENT_REG_UPDATE (ISP_EVENT_BASE + ISP_REG_UPDATE) +#define ISP_EVENT_EPOCH_0 (ISP_EVENT_BASE + ISP_EPOCH_0) +#define ISP_EVENT_EPOCH_1 (ISP_EVENT_BASE + ISP_EPOCH_1) +#define ISP_EVENT_START_ACK (ISP_EVENT_BASE + ISP_START_ACK) +#define ISP_EVENT_STOP_ACK (ISP_EVENT_BASE + ISP_STOP_ACK) +#define ISP_EVENT_IRQ_VIOLATION (ISP_EVENT_BASE + ISP_IRQ_VIOLATION) +#define ISP_EVENT_STATS_OVERFLOW (ISP_EVENT_BASE + ISP_STATS_OVERFLOW) +#define ISP_EVENT_ERROR (ISP_EVENT_BASE + ISP_ERROR) +#define ISP_EVENT_SOF (ISP_CAMIF_EVENT_BASE) +#define ISP_EVENT_EOF (ISP_CAMIF_EVENT_BASE + 1) +#define ISP_EVENT_BUF_DONE (ISP_EVENT_BASE + ISP_BUF_DONE) +#define ISP_EVENT_BUF_DIVERT (ISP_BUF_EVENT_BASE) +#define ISP_EVENT_STATS_NOTIFY (ISP_STATS_EVENT_BASE) +#define ISP_EVENT_COMP_STATS_NOTIFY (ISP_EVENT_STATS_NOTIFY + MSM_ISP_STATS_MAX) +#define ISP_EVENT_FE_READ_DONE (ISP_EVENT_BASE + ISP_FE_RD_DONE) +#define ISP_EVENT_IOMMU_P_FAULT (ISP_EVENT_BASE + ISP_IOMMU_P_FAULT) +#define ISP_EVENT_HW_FATAL_ERROR (ISP_EVENT_BASE + ISP_HW_FATAL_ERROR) +#define ISP_EVENT_PING_PONG_MISMATCH (ISP_EVENT_BASE + ISP_PING_PONG_MISMATCH) +#define ISP_EVENT_REG_UPDATE_MISSING (ISP_EVENT_BASE + ISP_REG_UPDATE_MISSING) +#define ISP_EVENT_BUF_FATAL_ERROR (ISP_EVENT_BASE + ISP_BUF_FATAL_ERROR) +#define ISP_EVENT_STREAM_UPDATE_DONE (ISP_STREAM_EVENT_BASE) + +/* The msm_v4l2_event_data structure should match the + * v4l2_event.u.data field. + * should not exceed 64 bytes */ + +struct msm_isp_buf_event { + uint32_t session_id; + uint32_t stream_id; + uint32_t handle; + uint32_t output_format; + int8_t buf_idx; +}; +struct msm_isp_fetch_eng_event { + uint32_t session_id; + uint32_t stream_id; + uint32_t handle; + uint32_t fd; + int8_t buf_idx; + int8_t offline_mode; +}; +struct msm_isp_stats_event { + uint32_t stats_mask; /* 4 bytes */ + uint8_t stats_buf_idxs[MSM_ISP_STATS_MAX]; /* 11 bytes */ +}; + +struct msm_isp_stream_ack { + uint32_t session_id; + uint32_t stream_id; + uint32_t handle; +}; + +enum msm_vfe_error_type { + ISP_ERROR_NONE, + ISP_ERROR_CAMIF, + ISP_ERROR_BUS_OVERFLOW, + ISP_ERROR_RETURN_EMPTY_BUFFER, + ISP_ERROR_FRAME_ID_MISMATCH, + ISP_ERROR_MAX, +}; + +struct msm_isp_error_info { + enum msm_vfe_error_type err_type; + uint32_t session_id; + uint32_t stream_id; + uint32_t stream_id_mask; +}; + +/* This structure reports delta between master and slave */ +struct msm_isp_ms_delta_info { + uint8_t num_delta_info; + uint32_t delta[MS_NUM_SLAVE_MAX]; +}; + +/* This is sent in EPOCH irq */ +struct msm_isp_output_info { + uint8_t regs_not_updated; + /* mask with bufq_handle for regs not updated or return empty */ + uint16_t output_err_mask; + /* mask with stream_idx for get_buf failed */ + uint8_t stream_framedrop_mask; + /* mask with stats stream_idx for get_buf failed */ + uint16_t stats_framedrop_mask; + /* delta between master and slave */ +}; + +/* This structure is piggybacked with SOF event */ +struct msm_isp_sof_info { + uint8_t regs_not_updated; + /* mask with AXI_SRC for regs not updated */ + uint16_t reg_update_fail_mask; + /* mask with bufq_handle for get_buf failed */ + uint32_t stream_get_buf_fail_mask; + /* mask with stats stream_idx for get_buf failed */ + uint16_t stats_get_buf_fail_mask; + /* delta between master and slave */ + struct msm_isp_ms_delta_info ms_delta_info; +}; + +struct msm_isp_event_data { + /*Wall clock except for buffer divert events + *which use monotonic clock + */ + struct timeval timestamp; + /* Monotonic timestamp since bootup */ + struct timeval mono_timestamp; + uint32_t frame_id; + union { + /* Sent for Stats_Done event */ + struct msm_isp_stats_event stats; + /* Sent for Buf_Divert event */ + struct msm_isp_buf_event buf_done; + /* Sent for offline fetch done event */ + struct msm_isp_fetch_eng_event fetch_done; + /* Sent for Error_Event */ + struct msm_isp_error_info error_info; + /* + * This struct needs to be removed once + * userspace switches to sof_info + */ + struct msm_isp_output_info output_info; + /* Sent for SOF event */ + struct msm_isp_sof_info sof_info; + } u; /* union can have max 52 bytes */ +}; + +#ifdef CONFIG_COMPAT +struct msm_isp_event_data32 { + struct compat_timeval timestamp; + struct compat_timeval mono_timestamp; + uint32_t frame_id; + union { + struct msm_isp_stats_event stats; + struct msm_isp_buf_event buf_done; + struct msm_isp_fetch_eng_event fetch_done; + struct msm_isp_error_info error_info; + struct msm_isp_output_info output_info; + struct msm_isp_sof_info sof_info; + } u; +}; +#endif + +#define V4L2_PIX_FMT_QBGGR8 v4l2_fourcc('Q', 'B', 'G', '8') +#define V4L2_PIX_FMT_QGBRG8 v4l2_fourcc('Q', 'G', 'B', '8') +#define V4L2_PIX_FMT_QGRBG8 v4l2_fourcc('Q', 'G', 'R', '8') +#define V4L2_PIX_FMT_QRGGB8 v4l2_fourcc('Q', 'R', 'G', '8') +#define V4L2_PIX_FMT_QBGGR10 v4l2_fourcc('Q', 'B', 'G', '0') +#define V4L2_PIX_FMT_QGBRG10 v4l2_fourcc('Q', 'G', 'B', '0') +#define V4L2_PIX_FMT_QGRBG10 v4l2_fourcc('Q', 'G', 'R', '0') +#define V4L2_PIX_FMT_QRGGB10 v4l2_fourcc('Q', 'R', 'G', '0') +#define V4L2_PIX_FMT_QBGGR12 v4l2_fourcc('Q', 'B', 'G', '2') +#define V4L2_PIX_FMT_QGBRG12 v4l2_fourcc('Q', 'G', 'B', '2') +#define V4L2_PIX_FMT_QGRBG12 v4l2_fourcc('Q', 'G', 'R', '2') +#define V4L2_PIX_FMT_QRGGB12 v4l2_fourcc('Q', 'R', 'G', '2') +#define V4L2_PIX_FMT_QBGGR14 v4l2_fourcc('Q', 'B', 'G', '4') +#define V4L2_PIX_FMT_QGBRG14 v4l2_fourcc('Q', 'G', 'B', '4') +#define V4L2_PIX_FMT_QGRBG14 v4l2_fourcc('Q', 'G', 'R', '4') +#define V4L2_PIX_FMT_QRGGB14 v4l2_fourcc('Q', 'R', 'G', '4') +#define V4L2_PIX_FMT_P16BGGR10 v4l2_fourcc('P', 'B', 'G', '0') +#define V4L2_PIX_FMT_P16GBRG10 v4l2_fourcc('P', 'G', 'B', '0') +#define V4L2_PIX_FMT_P16GRBG10 v4l2_fourcc('P', 'G', 'R', '0') +#define V4L2_PIX_FMT_P16RGGB10 v4l2_fourcc('P', 'R', 'G', '0') +#define V4L2_PIX_FMT_NV14 v4l2_fourcc('N', 'V', '1', '4') +#define V4L2_PIX_FMT_NV41 v4l2_fourcc('N', 'V', '4', '1') +#define V4L2_PIX_FMT_META v4l2_fourcc('Q', 'M', 'E', 'T') +#define V4L2_PIX_FMT_SBGGR14 v4l2_fourcc('B', 'G', '1', '4') /* 14 BGBG.GRGR.*/ +#define V4L2_PIX_FMT_SGBRG14 v4l2_fourcc('G', 'B', '1', '4') /* 14 GBGB.RGRG.*/ +#define V4L2_PIX_FMT_SGRBG14 v4l2_fourcc('B', 'A', '1', '4') /* 14 GRGR.BGBG.*/ +#define V4L2_PIX_FMT_SRGGB14 v4l2_fourcc('R', 'G', '1', '4') /* 14 RGRG.GBGB.*/ + +#define VIDIOC_MSM_VFE_REG_CFG \ + _IOWR('V', BASE_VIDIOC_PRIVATE, struct msm_vfe_cfg_cmd2) + +#define VIDIOC_MSM_ISP_REQUEST_BUF \ + _IOWR('V', BASE_VIDIOC_PRIVATE+1, struct msm_isp_buf_request) + +#define VIDIOC_MSM_ISP_ENQUEUE_BUF \ + _IOWR('V', BASE_VIDIOC_PRIVATE+2, struct msm_isp_qbuf_info) + +#define VIDIOC_MSM_ISP_RELEASE_BUF \ + _IOWR('V', BASE_VIDIOC_PRIVATE+3, struct msm_isp_buf_request) + +#define VIDIOC_MSM_ISP_REQUEST_STREAM \ + _IOWR('V', BASE_VIDIOC_PRIVATE+4, struct msm_vfe_axi_stream_request_cmd) + +#define VIDIOC_MSM_ISP_CFG_STREAM \ + _IOWR('V', BASE_VIDIOC_PRIVATE+5, struct msm_vfe_axi_stream_cfg_cmd) + +#define VIDIOC_MSM_ISP_RELEASE_STREAM \ + _IOWR('V', BASE_VIDIOC_PRIVATE+6, struct msm_vfe_axi_stream_release_cmd) + +#define VIDIOC_MSM_ISP_INPUT_CFG \ + _IOWR('V', BASE_VIDIOC_PRIVATE+7, struct msm_vfe_input_cfg) + +#define VIDIOC_MSM_ISP_SET_SRC_STATE \ + _IOWR('V', BASE_VIDIOC_PRIVATE+8, struct msm_vfe_axi_src_state) + +#define VIDIOC_MSM_ISP_REQUEST_STATS_STREAM \ + _IOWR('V', BASE_VIDIOC_PRIVATE+9, \ + struct msm_vfe_stats_stream_request_cmd) + +#define VIDIOC_MSM_ISP_CFG_STATS_STREAM \ + _IOWR('V', BASE_VIDIOC_PRIVATE+10, struct msm_vfe_stats_stream_cfg_cmd) + +#define VIDIOC_MSM_ISP_RELEASE_STATS_STREAM \ + _IOWR('V', BASE_VIDIOC_PRIVATE+11, \ + struct msm_vfe_stats_stream_release_cmd) + +#define VIDIOC_MSM_ISP_REG_UPDATE_CMD \ + _IOWR('V', BASE_VIDIOC_PRIVATE+12, enum msm_vfe_input_src) + +#define VIDIOC_MSM_ISP_UPDATE_STREAM \ + _IOWR('V', BASE_VIDIOC_PRIVATE+13, struct msm_vfe_axi_stream_update_cmd) + +#define VIDIOC_MSM_VFE_REG_LIST_CFG \ + _IOWR('V', BASE_VIDIOC_PRIVATE+14, struct msm_vfe_cfg_cmd_list) + +#define VIDIOC_MSM_ISP_SMMU_ATTACH \ + _IOWR('V', BASE_VIDIOC_PRIVATE+15, struct msm_vfe_smmu_attach_cmd) + +#define VIDIOC_MSM_ISP_UPDATE_STATS_STREAM \ + _IOWR('V', BASE_VIDIOC_PRIVATE+16, struct msm_vfe_axi_stream_update_cmd) + +#define VIDIOC_MSM_ISP_AXI_HALT \ + _IOWR('V', BASE_VIDIOC_PRIVATE+17, struct msm_vfe_axi_halt_cmd) + +#define VIDIOC_MSM_ISP_AXI_RESET \ + _IOWR('V', BASE_VIDIOC_PRIVATE+18, struct msm_vfe_axi_reset_cmd) + +#define VIDIOC_MSM_ISP_AXI_RESTART \ + _IOWR('V', BASE_VIDIOC_PRIVATE+19, struct msm_vfe_axi_restart_cmd) + +#define VIDIOC_MSM_ISP_FETCH_ENG_START \ + _IOWR('V', BASE_VIDIOC_PRIVATE+20, struct msm_vfe_fetch_eng_start) + +#define VIDIOC_MSM_ISP_DEQUEUE_BUF \ + _IOWR('V', BASE_VIDIOC_PRIVATE+21, struct msm_isp_qbuf_info) + +#define VIDIOC_MSM_ISP_SET_DUAL_HW_MASTER_SLAVE \ + _IOWR('V', BASE_VIDIOC_PRIVATE+22, struct msm_isp_set_dual_hw_ms_cmd) + +#define VIDIOC_MSM_ISP_MAP_BUF_START_FE \ + _IOWR('V', BASE_VIDIOC_PRIVATE+23, struct msm_vfe_fetch_eng_start) + +#define VIDIOC_MSM_ISP_UNMAP_BUF \ + _IOWR('V', BASE_VIDIOC_PRIVATE+24, struct msm_isp_unmap_buf_req) + +#endif /* __MSMB_ISP__ */ diff --git a/third_party/linux/include/msmb_ispif.h b/third_party/linux/include/msmb_ispif.h new file mode 100644 index 0000000000..2564c33b7b --- /dev/null +++ b/third_party/linux/include/msmb_ispif.h @@ -0,0 +1,125 @@ +#ifndef MSM_CAM_ISPIF_H +#define MSM_CAM_ISPIF_H + +#define CSID_VERSION_V20 0x02000011 +#define CSID_VERSION_V22 0x02001000 +#define CSID_VERSION_V30 0x30000000 +#define CSID_VERSION_V3 0x30000000 + +enum msm_ispif_vfe_intf { + VFE0, + VFE1, + VFE_MAX +}; +#define VFE0_MASK (1 << VFE0) +#define VFE1_MASK (1 << VFE1) + +enum msm_ispif_intftype { + PIX0, + RDI0, + PIX1, + RDI1, + RDI2, + INTF_MAX +}; +#define MAX_PARAM_ENTRIES (INTF_MAX * 2) +#define MAX_CID_CH 8 + +#define PIX0_MASK (1 << PIX0) +#define PIX1_MASK (1 << PIX1) +#define RDI0_MASK (1 << RDI0) +#define RDI1_MASK (1 << RDI1) +#define RDI2_MASK (1 << RDI2) + + +enum msm_ispif_vc { + VC0, + VC1, + VC2, + VC3, + VC_MAX +}; + +enum msm_ispif_cid { + CID0, + CID1, + CID2, + CID3, + CID4, + CID5, + CID6, + CID7, + CID8, + CID9, + CID10, + CID11, + CID12, + CID13, + CID14, + CID15, + CID_MAX +}; + +enum msm_ispif_csid { + CSID0, + CSID1, + CSID2, + CSID3, + CSID_MAX +}; + +struct msm_ispif_params_entry { + enum msm_ispif_vfe_intf vfe_intf; + enum msm_ispif_intftype intftype; + int num_cids; + enum msm_ispif_cid cids[3]; + enum msm_ispif_csid csid; + int crop_enable; + uint16_t crop_start_pixel; + uint16_t crop_end_pixel; +}; + +struct msm_ispif_param_data { + uint32_t num; + struct msm_ispif_params_entry entries[MAX_PARAM_ENTRIES]; +}; + +struct msm_isp_info { + uint32_t max_resolution; + uint32_t id; + uint32_t ver; +}; + +struct msm_ispif_vfe_info { + int num_vfe; + struct msm_isp_info info[VFE_MAX]; +}; + +enum ispif_cfg_type_t { + ISPIF_CLK_ENABLE, + ISPIF_CLK_DISABLE, + ISPIF_INIT, + ISPIF_CFG, + ISPIF_START_FRAME_BOUNDARY, + ISPIF_RESTART_FRAME_BOUNDARY, + ISPIF_STOP_FRAME_BOUNDARY, + ISPIF_STOP_IMMEDIATELY, + ISPIF_RELEASE, + ISPIF_ENABLE_REG_DUMP, + ISPIF_SET_VFE_INFO, +}; + +struct ispif_cfg_data { + enum ispif_cfg_type_t cfg_type; + union { + int reg_dump; /* ISPIF_ENABLE_REG_DUMP */ + uint32_t csid_version; /* ISPIF_INIT */ + struct msm_ispif_vfe_info vfe_info; /* ISPIF_SET_VFE_INFO */ + struct msm_ispif_param_data params; /* CFG, START, STOP */ + }; +}; + +#define VIDIOC_MSM_ISPIF_CFG \ + _IOWR('V', BASE_VIDIOC_PRIVATE, struct ispif_cfg_data) + +#endif /* MSM_CAM_ISPIF_H */ diff --git a/third_party/linux/include/v4l2-controls.h b/third_party/linux/include/v4l2-controls.h new file mode 100644 index 0000000000..d14cd8fabe --- /dev/null +++ b/third_party/linux/include/v4l2-controls.h @@ -0,0 +1,1696 @@ +/* + * Video for Linux Two controls header file + * + * Copyright (C) 1999-2012 the contributors + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * Alternatively you can redistribute this file under the terms of the + * BSD license as stated below: + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. The names of its contributors may not be used to endorse or promote + * products derived from this software without specific prior written + * permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR + * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT + * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED + * TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + * The contents of this header was split off from videodev2.h. All control + * definitions should be added to this header, which is included by + * videodev2.h. + */ + +#ifndef __LINUX_V4L2_CONTROLS_H +#define __LINUX_V4L2_CONTROLS_H + +/* Control classes */ +#define V4L2_CTRL_CLASS_USER 0x00980000 /* Old-style 'user' controls */ +#define V4L2_CTRL_CLASS_MPEG 0x00990000 /* MPEG-compression controls */ +#define V4L2_CTRL_CLASS_CAMERA 0x009a0000 /* Camera class controls */ +#define V4L2_CTRL_CLASS_FM_TX 0x009b0000 /* FM Modulator controls */ +#define V4L2_CTRL_CLASS_FLASH 0x009c0000 /* Camera flash controls */ +#define V4L2_CTRL_CLASS_JPEG 0x009d0000 /* JPEG-compression controls */ +#define V4L2_CTRL_CLASS_IMAGE_SOURCE 0x009e0000 /* Image source controls */ +#define V4L2_CTRL_CLASS_IMAGE_PROC 0x009f0000 /* Image processing controls */ +#define V4L2_CTRL_CLASS_DV 0x00a00000 /* Digital Video controls */ +#define V4L2_CTRL_CLASS_FM_RX 0x00a10000 /* FM Receiver controls */ +#define V4L2_CTRL_CLASS_RF_TUNER 0x00a20000 /* RF tuner controls */ +#define V4L2_CTRL_CLASS_DETECT 0x00a30000 /* Detection controls */ + +/* User-class control IDs */ + +#define V4L2_CID_BASE (V4L2_CTRL_CLASS_USER | 0x900) +#define V4L2_CID_USER_BASE V4L2_CID_BASE +#define V4L2_CID_USER_CLASS (V4L2_CTRL_CLASS_USER | 1) +#define V4L2_CID_BRIGHTNESS (V4L2_CID_BASE+0) +#define V4L2_CID_CONTRAST (V4L2_CID_BASE+1) +#define V4L2_CID_SATURATION (V4L2_CID_BASE+2) +#define V4L2_CID_HUE (V4L2_CID_BASE+3) +#define V4L2_CID_AUDIO_VOLUME (V4L2_CID_BASE+5) +#define V4L2_CID_AUDIO_BALANCE (V4L2_CID_BASE+6) +#define V4L2_CID_AUDIO_BASS (V4L2_CID_BASE+7) +#define V4L2_CID_AUDIO_TREBLE (V4L2_CID_BASE+8) +#define V4L2_CID_AUDIO_MUTE (V4L2_CID_BASE+9) +#define V4L2_CID_AUDIO_LOUDNESS (V4L2_CID_BASE+10) +#define V4L2_CID_BLACK_LEVEL (V4L2_CID_BASE+11) /* Deprecated */ +#define V4L2_CID_AUTO_WHITE_BALANCE (V4L2_CID_BASE+12) +#define V4L2_CID_DO_WHITE_BALANCE (V4L2_CID_BASE+13) +#define V4L2_CID_RED_BALANCE (V4L2_CID_BASE+14) +#define V4L2_CID_BLUE_BALANCE (V4L2_CID_BASE+15) +#define V4L2_CID_GAMMA (V4L2_CID_BASE+16) +#define V4L2_CID_WHITENESS (V4L2_CID_GAMMA) /* Deprecated */ +#define V4L2_CID_EXPOSURE (V4L2_CID_BASE+17) +#define V4L2_CID_AUTOGAIN (V4L2_CID_BASE+18) +#define V4L2_CID_GAIN (V4L2_CID_BASE+19) +#define V4L2_CID_HFLIP (V4L2_CID_BASE+20) +#define V4L2_CID_VFLIP (V4L2_CID_BASE+21) + +#define V4L2_CID_POWER_LINE_FREQUENCY (V4L2_CID_BASE+24) +enum v4l2_power_line_frequency { + V4L2_CID_POWER_LINE_FREQUENCY_DISABLED = 0, + V4L2_CID_POWER_LINE_FREQUENCY_50HZ = 1, + V4L2_CID_POWER_LINE_FREQUENCY_60HZ = 2, + V4L2_CID_POWER_LINE_FREQUENCY_AUTO = 3, +}; +#define V4L2_CID_HUE_AUTO (V4L2_CID_BASE+25) +#define V4L2_CID_WHITE_BALANCE_TEMPERATURE (V4L2_CID_BASE+26) +#define V4L2_CID_SHARPNESS (V4L2_CID_BASE+27) +#define V4L2_CID_BACKLIGHT_COMPENSATION (V4L2_CID_BASE+28) +#define V4L2_CID_CHROMA_AGC (V4L2_CID_BASE+29) +#define V4L2_CID_COLOR_KILLER (V4L2_CID_BASE+30) +#define V4L2_CID_COLORFX (V4L2_CID_BASE+31) +enum v4l2_colorfx { + V4L2_COLORFX_NONE = 0, + V4L2_COLORFX_BW = 1, + V4L2_COLORFX_SEPIA = 2, + V4L2_COLORFX_NEGATIVE = 3, + V4L2_COLORFX_EMBOSS = 4, + V4L2_COLORFX_SKETCH = 5, + V4L2_COLORFX_SKY_BLUE = 6, + V4L2_COLORFX_GRASS_GREEN = 7, + V4L2_COLORFX_SKIN_WHITEN = 8, + V4L2_COLORFX_VIVID = 9, + V4L2_COLORFX_AQUA = 10, + V4L2_COLORFX_ART_FREEZE = 11, + V4L2_COLORFX_SILHOUETTE = 12, + V4L2_COLORFX_SOLARIZATION = 13, + V4L2_COLORFX_ANTIQUE = 14, + V4L2_COLORFX_SET_CBCR = 15, +}; +#define V4L2_CID_AUTOBRIGHTNESS (V4L2_CID_BASE+32) +#define V4L2_CID_BAND_STOP_FILTER (V4L2_CID_BASE+33) + +#define V4L2_CID_ROTATE (V4L2_CID_BASE+34) +#define V4L2_CID_BG_COLOR (V4L2_CID_BASE+35) + +#define V4L2_CID_CHROMA_GAIN (V4L2_CID_BASE+36) + +#define V4L2_CID_ILLUMINATORS_1 (V4L2_CID_BASE+37) +#define V4L2_CID_ILLUMINATORS_2 (V4L2_CID_BASE+38) + +#define V4L2_CID_MIN_BUFFERS_FOR_CAPTURE (V4L2_CID_BASE+39) +#define V4L2_CID_MIN_BUFFERS_FOR_OUTPUT (V4L2_CID_BASE+40) + +#define V4L2_CID_ALPHA_COMPONENT (V4L2_CID_BASE+41) +#define V4L2_CID_COLORFX_CBCR (V4L2_CID_BASE+42) + +/* last CID + 1 */ +#define V4L2_CID_LASTP1 (V4L2_CID_BASE+43) + +/* USER-class private control IDs */ + +/* The base for the meye driver controls. See linux/meye.h for the list + * of controls. We reserve 16 controls for this driver. */ +#define V4L2_CID_USER_MEYE_BASE (V4L2_CID_USER_BASE + 0x1000) + +/* The base for the bttv driver controls. + * We reserve 32 controls for this driver. */ +#define V4L2_CID_USER_BTTV_BASE (V4L2_CID_USER_BASE + 0x1010) + + +/* The base for the s2255 driver controls. + * We reserve 16 controls for this driver. */ +#define V4L2_CID_USER_S2255_BASE (V4L2_CID_USER_BASE + 0x1030) + +/* + * The base for the si476x driver controls. See include/media/drv-intf/si476x.h + * for the list of controls. Total of 16 controls is reserved for this driver + */ +#define V4L2_CID_USER_SI476X_BASE (V4L2_CID_USER_BASE + 0x1040) + +/* The base for the TI VPE driver controls. Total of 16 controls is reserved for + * this driver */ +#define V4L2_CID_USER_TI_VPE_BASE (V4L2_CID_USER_BASE + 0x1050) + +/* The base for the saa7134 driver controls. + * We reserve 16 controls for this driver. */ +#define V4L2_CID_USER_SAA7134_BASE (V4L2_CID_USER_BASE + 0x1060) + +/* The base for the adv7180 driver controls. + * We reserve 16 controls for this driver. */ +#define V4L2_CID_USER_ADV7180_BASE (V4L2_CID_USER_BASE + 0x1070) + +/* The base for the tc358743 driver controls. + * We reserve 16 controls for this driver. */ +#define V4L2_CID_USER_TC358743_BASE (V4L2_CID_USER_BASE + 0x1080) + +/* MPEG-class control IDs */ +/* The MPEG controls are applicable to all codec controls + * and the 'MPEG' part of the define is historical */ + +#define V4L2_CID_MPEG_BASE (V4L2_CTRL_CLASS_MPEG | 0x900) +#define V4L2_CID_MPEG_CLASS (V4L2_CTRL_CLASS_MPEG | 1) + +/* MPEG streams, specific to multiplexed streams */ +#define V4L2_CID_MPEG_STREAM_TYPE (V4L2_CID_MPEG_BASE+0) +enum v4l2_mpeg_stream_type { + V4L2_MPEG_STREAM_TYPE_MPEG2_PS = 0, /* MPEG-2 program stream */ + V4L2_MPEG_STREAM_TYPE_MPEG2_TS = 1, /* MPEG-2 transport stream */ + V4L2_MPEG_STREAM_TYPE_MPEG1_SS = 2, /* MPEG-1 system stream */ + V4L2_MPEG_STREAM_TYPE_MPEG2_DVD = 3, /* MPEG-2 DVD-compatible stream */ + V4L2_MPEG_STREAM_TYPE_MPEG1_VCD = 4, /* MPEG-1 VCD-compatible stream */ + V4L2_MPEG_STREAM_TYPE_MPEG2_SVCD = 5, /* MPEG-2 SVCD-compatible stream */ +}; +#define V4L2_CID_MPEG_STREAM_PID_PMT (V4L2_CID_MPEG_BASE+1) +#define V4L2_CID_MPEG_STREAM_PID_AUDIO (V4L2_CID_MPEG_BASE+2) +#define V4L2_CID_MPEG_STREAM_PID_VIDEO (V4L2_CID_MPEG_BASE+3) +#define V4L2_CID_MPEG_STREAM_PID_PCR (V4L2_CID_MPEG_BASE+4) +#define V4L2_CID_MPEG_STREAM_PES_ID_AUDIO (V4L2_CID_MPEG_BASE+5) +#define V4L2_CID_MPEG_STREAM_PES_ID_VIDEO (V4L2_CID_MPEG_BASE+6) +#define V4L2_CID_MPEG_STREAM_VBI_FMT (V4L2_CID_MPEG_BASE+7) +enum v4l2_mpeg_stream_vbi_fmt { + V4L2_MPEG_STREAM_VBI_FMT_NONE = 0, /* No VBI in the MPEG stream */ + V4L2_MPEG_STREAM_VBI_FMT_IVTV = 1, /* VBI in private packets, IVTV format */ +}; + +/* MPEG audio controls specific to multiplexed streams */ +#define V4L2_CID_MPEG_AUDIO_SAMPLING_FREQ (V4L2_CID_MPEG_BASE+100) +enum v4l2_mpeg_audio_sampling_freq { + V4L2_MPEG_AUDIO_SAMPLING_FREQ_44100 = 0, + V4L2_MPEG_AUDIO_SAMPLING_FREQ_48000 = 1, + V4L2_MPEG_AUDIO_SAMPLING_FREQ_32000 = 2, +}; +#define V4L2_CID_MPEG_AUDIO_ENCODING (V4L2_CID_MPEG_BASE+101) +enum v4l2_mpeg_audio_encoding { + V4L2_MPEG_AUDIO_ENCODING_LAYER_1 = 0, + V4L2_MPEG_AUDIO_ENCODING_LAYER_2 = 1, + V4L2_MPEG_AUDIO_ENCODING_LAYER_3 = 2, + V4L2_MPEG_AUDIO_ENCODING_AAC = 3, + V4L2_MPEG_AUDIO_ENCODING_AC3 = 4, +}; +#define V4L2_CID_MPEG_AUDIO_L1_BITRATE (V4L2_CID_MPEG_BASE+102) +enum v4l2_mpeg_audio_l1_bitrate { + V4L2_MPEG_AUDIO_L1_BITRATE_32K = 0, + V4L2_MPEG_AUDIO_L1_BITRATE_64K = 1, + V4L2_MPEG_AUDIO_L1_BITRATE_96K = 2, + V4L2_MPEG_AUDIO_L1_BITRATE_128K = 3, + V4L2_MPEG_AUDIO_L1_BITRATE_160K = 4, + V4L2_MPEG_AUDIO_L1_BITRATE_192K = 5, + V4L2_MPEG_AUDIO_L1_BITRATE_224K = 6, + V4L2_MPEG_AUDIO_L1_BITRATE_256K = 7, + V4L2_MPEG_AUDIO_L1_BITRATE_288K = 8, + V4L2_MPEG_AUDIO_L1_BITRATE_320K = 9, + V4L2_MPEG_AUDIO_L1_BITRATE_352K = 10, + V4L2_MPEG_AUDIO_L1_BITRATE_384K = 11, + V4L2_MPEG_AUDIO_L1_BITRATE_416K = 12, + V4L2_MPEG_AUDIO_L1_BITRATE_448K = 13, +}; +#define V4L2_CID_MPEG_AUDIO_L2_BITRATE (V4L2_CID_MPEG_BASE+103) +enum v4l2_mpeg_audio_l2_bitrate { + V4L2_MPEG_AUDIO_L2_BITRATE_32K = 0, + V4L2_MPEG_AUDIO_L2_BITRATE_48K = 1, + V4L2_MPEG_AUDIO_L2_BITRATE_56K = 2, + V4L2_MPEG_AUDIO_L2_BITRATE_64K = 3, + V4L2_MPEG_AUDIO_L2_BITRATE_80K = 4, + V4L2_MPEG_AUDIO_L2_BITRATE_96K = 5, + V4L2_MPEG_AUDIO_L2_BITRATE_112K = 6, + V4L2_MPEG_AUDIO_L2_BITRATE_128K = 7, + V4L2_MPEG_AUDIO_L2_BITRATE_160K = 8, + V4L2_MPEG_AUDIO_L2_BITRATE_192K = 9, + V4L2_MPEG_AUDIO_L2_BITRATE_224K = 10, + V4L2_MPEG_AUDIO_L2_BITRATE_256K = 11, + V4L2_MPEG_AUDIO_L2_BITRATE_320K = 12, + V4L2_MPEG_AUDIO_L2_BITRATE_384K = 13, +}; +#define V4L2_CID_MPEG_AUDIO_L3_BITRATE (V4L2_CID_MPEG_BASE+104) +enum v4l2_mpeg_audio_l3_bitrate { + V4L2_MPEG_AUDIO_L3_BITRATE_32K = 0, + V4L2_MPEG_AUDIO_L3_BITRATE_40K = 1, + V4L2_MPEG_AUDIO_L3_BITRATE_48K = 2, + V4L2_MPEG_AUDIO_L3_BITRATE_56K = 3, + V4L2_MPEG_AUDIO_L3_BITRATE_64K = 4, + V4L2_MPEG_AUDIO_L3_BITRATE_80K = 5, + V4L2_MPEG_AUDIO_L3_BITRATE_96K = 6, + V4L2_MPEG_AUDIO_L3_BITRATE_112K = 7, + V4L2_MPEG_AUDIO_L3_BITRATE_128K = 8, + V4L2_MPEG_AUDIO_L3_BITRATE_160K = 9, + V4L2_MPEG_AUDIO_L3_BITRATE_192K = 10, + V4L2_MPEG_AUDIO_L3_BITRATE_224K = 11, + V4L2_MPEG_AUDIO_L3_BITRATE_256K = 12, + V4L2_MPEG_AUDIO_L3_BITRATE_320K = 13, +}; +#define V4L2_CID_MPEG_AUDIO_MODE (V4L2_CID_MPEG_BASE+105) +enum v4l2_mpeg_audio_mode { + V4L2_MPEG_AUDIO_MODE_STEREO = 0, + V4L2_MPEG_AUDIO_MODE_JOINT_STEREO = 1, + V4L2_MPEG_AUDIO_MODE_DUAL = 2, + V4L2_MPEG_AUDIO_MODE_MONO = 3, +}; +#define V4L2_CID_MPEG_AUDIO_MODE_EXTENSION (V4L2_CID_MPEG_BASE+106) +enum v4l2_mpeg_audio_mode_extension { + V4L2_MPEG_AUDIO_MODE_EXTENSION_BOUND_4 = 0, + V4L2_MPEG_AUDIO_MODE_EXTENSION_BOUND_8 = 1, + V4L2_MPEG_AUDIO_MODE_EXTENSION_BOUND_12 = 2, + V4L2_MPEG_AUDIO_MODE_EXTENSION_BOUND_16 = 3, +}; +#define V4L2_CID_MPEG_AUDIO_EMPHASIS (V4L2_CID_MPEG_BASE+107) +enum v4l2_mpeg_audio_emphasis { + V4L2_MPEG_AUDIO_EMPHASIS_NONE = 0, + V4L2_MPEG_AUDIO_EMPHASIS_50_DIV_15_uS = 1, + V4L2_MPEG_AUDIO_EMPHASIS_CCITT_J17 = 2, +}; +#define V4L2_CID_MPEG_AUDIO_CRC (V4L2_CID_MPEG_BASE+108) +enum v4l2_mpeg_audio_crc { + V4L2_MPEG_AUDIO_CRC_NONE = 0, + V4L2_MPEG_AUDIO_CRC_CRC16 = 1, +}; +#define V4L2_CID_MPEG_AUDIO_MUTE (V4L2_CID_MPEG_BASE+109) +#define V4L2_CID_MPEG_AUDIO_AAC_BITRATE (V4L2_CID_MPEG_BASE+110) +#define V4L2_CID_MPEG_AUDIO_AC3_BITRATE (V4L2_CID_MPEG_BASE+111) +enum v4l2_mpeg_audio_ac3_bitrate { + V4L2_MPEG_AUDIO_AC3_BITRATE_32K = 0, + V4L2_MPEG_AUDIO_AC3_BITRATE_40K = 1, + V4L2_MPEG_AUDIO_AC3_BITRATE_48K = 2, + V4L2_MPEG_AUDIO_AC3_BITRATE_56K = 3, + V4L2_MPEG_AUDIO_AC3_BITRATE_64K = 4, + V4L2_MPEG_AUDIO_AC3_BITRATE_80K = 5, + V4L2_MPEG_AUDIO_AC3_BITRATE_96K = 6, + V4L2_MPEG_AUDIO_AC3_BITRATE_112K = 7, + V4L2_MPEG_AUDIO_AC3_BITRATE_128K = 8, + V4L2_MPEG_AUDIO_AC3_BITRATE_160K = 9, + V4L2_MPEG_AUDIO_AC3_BITRATE_192K = 10, + V4L2_MPEG_AUDIO_AC3_BITRATE_224K = 11, + V4L2_MPEG_AUDIO_AC3_BITRATE_256K = 12, + V4L2_MPEG_AUDIO_AC3_BITRATE_320K = 13, + V4L2_MPEG_AUDIO_AC3_BITRATE_384K = 14, + V4L2_MPEG_AUDIO_AC3_BITRATE_448K = 15, + V4L2_MPEG_AUDIO_AC3_BITRATE_512K = 16, + V4L2_MPEG_AUDIO_AC3_BITRATE_576K = 17, + V4L2_MPEG_AUDIO_AC3_BITRATE_640K = 18, +}; +#define V4L2_CID_MPEG_AUDIO_DEC_PLAYBACK (V4L2_CID_MPEG_BASE+112) +enum v4l2_mpeg_audio_dec_playback { + V4L2_MPEG_AUDIO_DEC_PLAYBACK_AUTO = 0, + V4L2_MPEG_AUDIO_DEC_PLAYBACK_STEREO = 1, + V4L2_MPEG_AUDIO_DEC_PLAYBACK_LEFT = 2, + V4L2_MPEG_AUDIO_DEC_PLAYBACK_RIGHT = 3, + V4L2_MPEG_AUDIO_DEC_PLAYBACK_MONO = 4, + V4L2_MPEG_AUDIO_DEC_PLAYBACK_SWAPPED_STEREO = 5, +}; +#define V4L2_CID_MPEG_AUDIO_DEC_MULTILINGUAL_PLAYBACK (V4L2_CID_MPEG_BASE+113) + +/* MPEG video controls specific to multiplexed streams */ +#define V4L2_CID_MPEG_VIDEO_ENCODING (V4L2_CID_MPEG_BASE+200) +enum v4l2_mpeg_video_encoding { + V4L2_MPEG_VIDEO_ENCODING_MPEG_1 = 0, + V4L2_MPEG_VIDEO_ENCODING_MPEG_2 = 1, + V4L2_MPEG_VIDEO_ENCODING_MPEG_4_AVC = 2, +}; +#define V4L2_CID_MPEG_VIDEO_ASPECT (V4L2_CID_MPEG_BASE+201) +enum v4l2_mpeg_video_aspect { + V4L2_MPEG_VIDEO_ASPECT_1x1 = 0, + V4L2_MPEG_VIDEO_ASPECT_4x3 = 1, + V4L2_MPEG_VIDEO_ASPECT_16x9 = 2, + V4L2_MPEG_VIDEO_ASPECT_221x100 = 3, +}; +#define V4L2_CID_MPEG_VIDEO_B_FRAMES (V4L2_CID_MPEG_BASE+202) +#define V4L2_CID_MPEG_VIDEO_GOP_SIZE (V4L2_CID_MPEG_BASE+203) +#define V4L2_CID_MPEG_VIDEO_GOP_CLOSURE (V4L2_CID_MPEG_BASE+204) +#define V4L2_CID_MPEG_VIDEO_PULLDOWN (V4L2_CID_MPEG_BASE+205) +#define V4L2_CID_MPEG_VIDEO_BITRATE_MODE (V4L2_CID_MPEG_BASE+206) +enum v4l2_mpeg_video_bitrate_mode { + V4L2_MPEG_VIDEO_BITRATE_MODE_VBR = 0, + V4L2_MPEG_VIDEO_BITRATE_MODE_CBR = 1, +}; +#define V4L2_CID_MPEG_VIDEO_BITRATE (V4L2_CID_MPEG_BASE+207) +#define V4L2_CID_MPEG_VIDEO_BITRATE_PEAK (V4L2_CID_MPEG_BASE+208) +#define V4L2_CID_MPEG_VIDEO_TEMPORAL_DECIMATION (V4L2_CID_MPEG_BASE+209) +#define V4L2_CID_MPEG_VIDEO_MUTE (V4L2_CID_MPEG_BASE+210) +#define V4L2_CID_MPEG_VIDEO_MUTE_YUV (V4L2_CID_MPEG_BASE+211) +#define V4L2_CID_MPEG_VIDEO_DECODER_SLICE_INTERFACE (V4L2_CID_MPEG_BASE+212) +#define V4L2_CID_MPEG_VIDEO_DECODER_MPEG4_DEBLOCK_FILTER (V4L2_CID_MPEG_BASE+213) +#define V4L2_CID_MPEG_VIDEO_CYCLIC_INTRA_REFRESH_MB (V4L2_CID_MPEG_BASE+214) +#define V4L2_CID_MPEG_VIDEO_FRAME_RC_ENABLE (V4L2_CID_MPEG_BASE+215) +#define V4L2_CID_MPEG_VIDEO_HEADER_MODE (V4L2_CID_MPEG_BASE+216) +enum v4l2_mpeg_video_header_mode { + V4L2_MPEG_VIDEO_HEADER_MODE_SEPARATE = 0, + V4L2_MPEG_VIDEO_HEADER_MODE_JOINED_WITH_1ST_FRAME = 1, + V4L2_MPEG_VIDEO_HEADER_MODE_JOINED_WITH_I_FRAME = 2, +}; +#define V4L2_CID_MPEG_VIDEO_MAX_REF_PIC (V4L2_CID_MPEG_BASE+217) +#define V4L2_CID_MPEG_VIDEO_MB_RC_ENABLE (V4L2_CID_MPEG_BASE+218) +#define V4L2_CID_MPEG_VIDEO_MULTI_SLICE_MAX_BYTES (V4L2_CID_MPEG_BASE+219) +#define V4L2_CID_MPEG_VIDEO_MULTI_SLICE_MAX_MB (V4L2_CID_MPEG_BASE+220) +#define V4L2_CID_MPEG_VIDEO_MULTI_SLICE_MODE (V4L2_CID_MPEG_BASE+221) +enum v4l2_mpeg_video_multi_slice_mode { + V4L2_MPEG_VIDEO_MULTI_SLICE_MODE_SINGLE = 0, + V4L2_MPEG_VIDEO_MULTI_SICE_MODE_MAX_MB = 1, + V4L2_MPEG_VIDEO_MULTI_SICE_MODE_MAX_BYTES = 2, + V4L2_MPEG_VIDEO_MULTI_SLICE_GOB = 3, +}; +#define V4L2_CID_MPEG_VIDEO_VBV_SIZE (V4L2_CID_MPEG_BASE+222) +#define V4L2_CID_MPEG_VIDEO_DEC_PTS (V4L2_CID_MPEG_BASE+223) +#define V4L2_CID_MPEG_VIDEO_DEC_FRAME (V4L2_CID_MPEG_BASE+224) +#define V4L2_CID_MPEG_VIDEO_VBV_DELAY (V4L2_CID_MPEG_BASE+225) +#define V4L2_CID_MPEG_VIDEO_REPEAT_SEQ_HEADER (V4L2_CID_MPEG_BASE+226) +#define V4L2_CID_MPEG_VIDEO_MV_H_SEARCH_RANGE (V4L2_CID_MPEG_BASE+227) +#define V4L2_CID_MPEG_VIDEO_MV_V_SEARCH_RANGE (V4L2_CID_MPEG_BASE+228) +#define V4L2_CID_MPEG_VIDEO_FORCE_KEY_FRAME (V4L2_CID_MPEG_BASE+229) + +#define V4L2_CID_MPEG_VIDEO_H263_I_FRAME_QP (V4L2_CID_MPEG_BASE+300) +#define V4L2_CID_MPEG_VIDEO_H263_P_FRAME_QP (V4L2_CID_MPEG_BASE+301) +#define V4L2_CID_MPEG_VIDEO_H263_B_FRAME_QP (V4L2_CID_MPEG_BASE+302) +#define V4L2_CID_MPEG_VIDEO_H263_MIN_QP (V4L2_CID_MPEG_BASE+303) +#define V4L2_CID_MPEG_VIDEO_H263_MAX_QP (V4L2_CID_MPEG_BASE+304) +#define V4L2_CID_MPEG_VIDEO_H264_I_FRAME_QP (V4L2_CID_MPEG_BASE+350) +#define V4L2_CID_MPEG_VIDEO_H264_P_FRAME_QP (V4L2_CID_MPEG_BASE+351) +#define V4L2_CID_MPEG_VIDEO_H264_B_FRAME_QP (V4L2_CID_MPEG_BASE+352) +#define V4L2_CID_MPEG_VIDEO_H264_MIN_QP (V4L2_CID_MPEG_BASE+353) +#define V4L2_CID_MPEG_VIDEO_H264_MAX_QP (V4L2_CID_MPEG_BASE+354) +#define V4L2_CID_MPEG_VIDEO_H264_8X8_TRANSFORM (V4L2_CID_MPEG_BASE+355) +#define V4L2_CID_MPEG_VIDEO_H264_CPB_SIZE (V4L2_CID_MPEG_BASE+356) +#define V4L2_CID_MPEG_VIDEO_H264_ENTROPY_MODE (V4L2_CID_MPEG_BASE+357) +enum v4l2_mpeg_video_h264_entropy_mode { + V4L2_MPEG_VIDEO_H264_ENTROPY_MODE_CAVLC = 0, + V4L2_MPEG_VIDEO_H264_ENTROPY_MODE_CABAC = 1, +}; +#define V4L2_CID_MPEG_VIDEO_H264_I_PERIOD (V4L2_CID_MPEG_BASE+358) +#define V4L2_CID_MPEG_VIDEO_H264_LEVEL (V4L2_CID_MPEG_BASE+359) +enum v4l2_mpeg_video_h264_level { + V4L2_MPEG_VIDEO_H264_LEVEL_1_0 = 0, + V4L2_MPEG_VIDEO_H264_LEVEL_1B = 1, + V4L2_MPEG_VIDEO_H264_LEVEL_1_1 = 2, + V4L2_MPEG_VIDEO_H264_LEVEL_1_2 = 3, + V4L2_MPEG_VIDEO_H264_LEVEL_1_3 = 4, + V4L2_MPEG_VIDEO_H264_LEVEL_2_0 = 5, + V4L2_MPEG_VIDEO_H264_LEVEL_2_1 = 6, + V4L2_MPEG_VIDEO_H264_LEVEL_2_2 = 7, + V4L2_MPEG_VIDEO_H264_LEVEL_3_0 = 8, + V4L2_MPEG_VIDEO_H264_LEVEL_3_1 = 9, + V4L2_MPEG_VIDEO_H264_LEVEL_3_2 = 10, + V4L2_MPEG_VIDEO_H264_LEVEL_4_0 = 11, + V4L2_MPEG_VIDEO_H264_LEVEL_4_1 = 12, + V4L2_MPEG_VIDEO_H264_LEVEL_4_2 = 13, + V4L2_MPEG_VIDEO_H264_LEVEL_5_0 = 14, + V4L2_MPEG_VIDEO_H264_LEVEL_5_1 = 15, + V4L2_MPEG_VIDEO_H264_LEVEL_5_2 = 16, +#define V4L2_MPEG_VIDEO_H264_LEVEL_UNKNOWN \ + V4L2_MPEG_VIDEO_H264_LEVEL_UNKNOWN + V4L2_MPEG_VIDEO_H264_LEVEL_UNKNOWN = 17, +}; +#define V4L2_CID_MPEG_VIDEO_H264_LOOP_FILTER_ALPHA (V4L2_CID_MPEG_BASE+360) +#define V4L2_CID_MPEG_VIDEO_H264_LOOP_FILTER_BETA (V4L2_CID_MPEG_BASE+361) +#define V4L2_CID_MPEG_VIDEO_H264_LOOP_FILTER_MODE (V4L2_CID_MPEG_BASE+362) +enum v4l2_mpeg_video_h264_loop_filter_mode { + V4L2_MPEG_VIDEO_H264_LOOP_FILTER_MODE_ENABLED = 0, + V4L2_MPEG_VIDEO_H264_LOOP_FILTER_MODE_DISABLED = 1, + V4L2_MPEG_VIDEO_H264_LOOP_FILTER_MODE_DISABLED_AT_SLICE_BOUNDARY = 2, +}; +#define V4L2_CID_MPEG_VIDEO_H264_PROFILE (V4L2_CID_MPEG_BASE+363) +enum v4l2_mpeg_video_h264_profile { + V4L2_MPEG_VIDEO_H264_PROFILE_BASELINE = 0, + V4L2_MPEG_VIDEO_H264_PROFILE_CONSTRAINED_BASELINE = 1, + V4L2_MPEG_VIDEO_H264_PROFILE_MAIN = 2, + V4L2_MPEG_VIDEO_H264_PROFILE_EXTENDED = 3, + V4L2_MPEG_VIDEO_H264_PROFILE_HIGH = 4, + V4L2_MPEG_VIDEO_H264_PROFILE_HIGH_10 = 5, + V4L2_MPEG_VIDEO_H264_PROFILE_HIGH_422 = 6, + V4L2_MPEG_VIDEO_H264_PROFILE_HIGH_444_PREDICTIVE = 7, + V4L2_MPEG_VIDEO_H264_PROFILE_HIGH_10_INTRA = 8, + V4L2_MPEG_VIDEO_H264_PROFILE_HIGH_422_INTRA = 9, + V4L2_MPEG_VIDEO_H264_PROFILE_HIGH_444_INTRA = 10, + V4L2_MPEG_VIDEO_H264_PROFILE_CAVLC_444_INTRA = 11, + V4L2_MPEG_VIDEO_H264_PROFILE_SCALABLE_BASELINE = 12, + V4L2_MPEG_VIDEO_H264_PROFILE_SCALABLE_HIGH = 13, + V4L2_MPEG_VIDEO_H264_PROFILE_SCALABLE_HIGH_INTRA = 14, + V4L2_MPEG_VIDEO_H264_PROFILE_STEREO_HIGH = 15, + V4L2_MPEG_VIDEO_H264_PROFILE_MULTIVIEW_HIGH = 16, + V4L2_MPEG_VIDEO_H264_PROFILE_CONSTRAINED_HIGH = 17, +}; +#define V4L2_CID_MPEG_VIDEO_H264_VUI_EXT_SAR_HEIGHT (V4L2_CID_MPEG_BASE+364) +#define V4L2_CID_MPEG_VIDEO_H264_VUI_EXT_SAR_WIDTH (V4L2_CID_MPEG_BASE+365) +#define V4L2_CID_MPEG_VIDEO_H264_VUI_SAR_ENABLE (V4L2_CID_MPEG_BASE+366) +#define V4L2_CID_MPEG_VIDEO_H264_VUI_SAR_IDC (V4L2_CID_MPEG_BASE+367) +enum v4l2_mpeg_video_h264_vui_sar_idc { + V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_UNSPECIFIED = 0, + V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_1x1 = 1, + V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_12x11 = 2, + V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_10x11 = 3, + V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_16x11 = 4, + V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_40x33 = 5, + V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_24x11 = 6, + V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_20x11 = 7, + V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_32x11 = 8, + V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_80x33 = 9, + V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_18x11 = 10, + V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_15x11 = 11, + V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_64x33 = 12, + V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_160x99 = 13, + V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_4x3 = 14, + V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_3x2 = 15, + V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_2x1 = 16, + V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_EXTENDED = 17, +}; +#define V4L2_CID_MPEG_VIDEO_H264_SEI_FRAME_PACKING (V4L2_CID_MPEG_BASE+368) +#define V4L2_CID_MPEG_VIDEO_H264_SEI_FP_CURRENT_FRAME_0 (V4L2_CID_MPEG_BASE+369) +#define V4L2_CID_MPEG_VIDEO_H264_SEI_FP_ARRANGEMENT_TYPE (V4L2_CID_MPEG_BASE+370) +enum v4l2_mpeg_video_h264_sei_fp_arrangement_type { + V4L2_MPEG_VIDEO_H264_SEI_FP_ARRANGEMENT_TYPE_CHECKERBOARD = 0, + V4L2_MPEG_VIDEO_H264_SEI_FP_ARRANGEMENT_TYPE_COLUMN = 1, + V4L2_MPEG_VIDEO_H264_SEI_FP_ARRANGEMENT_TYPE_ROW = 2, + V4L2_MPEG_VIDEO_H264_SEI_FP_ARRANGEMENT_TYPE_SIDE_BY_SIDE = 3, + V4L2_MPEG_VIDEO_H264_SEI_FP_ARRANGEMENT_TYPE_TOP_BOTTOM = 4, + V4L2_MPEG_VIDEO_H264_SEI_FP_ARRANGEMENT_TYPE_TEMPORAL = 5, +}; +#define V4L2_CID_MPEG_VIDEO_H264_FMO (V4L2_CID_MPEG_BASE+371) +#define V4L2_CID_MPEG_VIDEO_H264_FMO_MAP_TYPE (V4L2_CID_MPEG_BASE+372) +enum v4l2_mpeg_video_h264_fmo_map_type { + V4L2_MPEG_VIDEO_H264_FMO_MAP_TYPE_INTERLEAVED_SLICES = 0, + V4L2_MPEG_VIDEO_H264_FMO_MAP_TYPE_SCATTERED_SLICES = 1, + V4L2_MPEG_VIDEO_H264_FMO_MAP_TYPE_FOREGROUND_WITH_LEFT_OVER = 2, + V4L2_MPEG_VIDEO_H264_FMO_MAP_TYPE_BOX_OUT = 3, + V4L2_MPEG_VIDEO_H264_FMO_MAP_TYPE_RASTER_SCAN = 4, + V4L2_MPEG_VIDEO_H264_FMO_MAP_TYPE_WIPE_SCAN = 5, + V4L2_MPEG_VIDEO_H264_FMO_MAP_TYPE_EXPLICIT = 6, +}; +#define V4L2_CID_MPEG_VIDEO_H264_FMO_SLICE_GROUP (V4L2_CID_MPEG_BASE+373) +#define V4L2_CID_MPEG_VIDEO_H264_FMO_CHANGE_DIRECTION (V4L2_CID_MPEG_BASE+374) +enum v4l2_mpeg_video_h264_fmo_change_dir { + V4L2_MPEG_VIDEO_H264_FMO_CHANGE_DIR_RIGHT = 0, + V4L2_MPEG_VIDEO_H264_FMO_CHANGE_DIR_LEFT = 1, +}; +#define V4L2_CID_MPEG_VIDEO_H264_FMO_CHANGE_RATE (V4L2_CID_MPEG_BASE+375) +#define V4L2_CID_MPEG_VIDEO_H264_FMO_RUN_LENGTH (V4L2_CID_MPEG_BASE+376) +#define V4L2_CID_MPEG_VIDEO_H264_ASO (V4L2_CID_MPEG_BASE+377) +#define V4L2_CID_MPEG_VIDEO_H264_ASO_SLICE_ORDER (V4L2_CID_MPEG_BASE+378) +#define V4L2_CID_MPEG_VIDEO_H264_HIERARCHICAL_CODING (V4L2_CID_MPEG_BASE+379) +#define V4L2_CID_MPEG_VIDEO_H264_HIERARCHICAL_CODING_TYPE (V4L2_CID_MPEG_BASE+380) +enum v4l2_mpeg_video_h264_hierarchical_coding_type { + V4L2_MPEG_VIDEO_H264_HIERARCHICAL_CODING_B = 0, + V4L2_MPEG_VIDEO_H264_HIERARCHICAL_CODING_P = 1, +}; +#define V4L2_CID_MPEG_VIDEO_H264_HIERARCHICAL_CODING_LAYER (V4L2_CID_MPEG_BASE+381) +#define V4L2_CID_MPEG_VIDEO_H264_HIERARCHICAL_CODING_LAYER_QP (V4L2_CID_MPEG_BASE+382) +#define V4L2_CID_MPEG_VIDEO_MPEG4_I_FRAME_QP (V4L2_CID_MPEG_BASE+400) +#define V4L2_CID_MPEG_VIDEO_MPEG4_P_FRAME_QP (V4L2_CID_MPEG_BASE+401) +#define V4L2_CID_MPEG_VIDEO_MPEG4_B_FRAME_QP (V4L2_CID_MPEG_BASE+402) +#define V4L2_CID_MPEG_VIDEO_MPEG4_MIN_QP (V4L2_CID_MPEG_BASE+403) +#define V4L2_CID_MPEG_VIDEO_MPEG4_MAX_QP (V4L2_CID_MPEG_BASE+404) +#define V4L2_CID_MPEG_VIDEO_MPEG4_LEVEL (V4L2_CID_MPEG_BASE+405) +enum v4l2_mpeg_video_mpeg4_level { + V4L2_MPEG_VIDEO_MPEG4_LEVEL_0 = 0, + V4L2_MPEG_VIDEO_MPEG4_LEVEL_0B = 1, + V4L2_MPEG_VIDEO_MPEG4_LEVEL_1 = 2, + V4L2_MPEG_VIDEO_MPEG4_LEVEL_2 = 3, + V4L2_MPEG_VIDEO_MPEG4_LEVEL_3 = 4, + V4L2_MPEG_VIDEO_MPEG4_LEVEL_3B = 5, + V4L2_MPEG_VIDEO_MPEG4_LEVEL_4 = 6, + V4L2_MPEG_VIDEO_MPEG4_LEVEL_5 = 7, +}; +#define V4L2_CID_MPEG_VIDEO_MPEG4_PROFILE (V4L2_CID_MPEG_BASE+406) +enum v4l2_mpeg_video_mpeg4_profile { + V4L2_MPEG_VIDEO_MPEG4_PROFILE_SIMPLE = 0, + V4L2_MPEG_VIDEO_MPEG4_PROFILE_ADVANCED_SIMPLE = 1, + V4L2_MPEG_VIDEO_MPEG4_PROFILE_CORE = 2, + V4L2_MPEG_VIDEO_MPEG4_PROFILE_SIMPLE_SCALABLE = 3, + V4L2_MPEG_VIDEO_MPEG4_PROFILE_ADVANCED_CODING_EFFICIENCY = 4, +}; +#define V4L2_CID_MPEG_VIDEO_MPEG4_QPEL (V4L2_CID_MPEG_BASE+407) + +/* Control IDs for VP8 streams + * Although VP8 is not part of MPEG we add these controls to the MPEG class + * as that class is already handling other video compression standards + */ +#define V4L2_CID_MPEG_VIDEO_VPX_NUM_PARTITIONS (V4L2_CID_MPEG_BASE+500) +enum v4l2_vp8_num_partitions { + V4L2_CID_MPEG_VIDEO_VPX_1_PARTITION = 0, + V4L2_CID_MPEG_VIDEO_VPX_2_PARTITIONS = 1, + V4L2_CID_MPEG_VIDEO_VPX_4_PARTITIONS = 2, + V4L2_CID_MPEG_VIDEO_VPX_8_PARTITIONS = 3, +}; +#define V4L2_CID_MPEG_VIDEO_VPX_IMD_DISABLE_4X4 (V4L2_CID_MPEG_BASE+501) +#define V4L2_CID_MPEG_VIDEO_VPX_NUM_REF_FRAMES (V4L2_CID_MPEG_BASE+502) +enum v4l2_vp8_num_ref_frames { + V4L2_CID_MPEG_VIDEO_VPX_1_REF_FRAME = 0, + V4L2_CID_MPEG_VIDEO_VPX_2_REF_FRAME = 1, + V4L2_CID_MPEG_VIDEO_VPX_3_REF_FRAME = 2, +}; +#define V4L2_CID_MPEG_VIDEO_VPX_FILTER_LEVEL (V4L2_CID_MPEG_BASE+503) +#define V4L2_CID_MPEG_VIDEO_VPX_FILTER_SHARPNESS (V4L2_CID_MPEG_BASE+504) +#define V4L2_CID_MPEG_VIDEO_VPX_GOLDEN_FRAME_REF_PERIOD (V4L2_CID_MPEG_BASE+505) +#define V4L2_CID_MPEG_VIDEO_VPX_GOLDEN_FRAME_SEL (V4L2_CID_MPEG_BASE+506) +enum v4l2_vp8_golden_frame_sel { + V4L2_CID_MPEG_VIDEO_VPX_GOLDEN_FRAME_USE_PREV = 0, + V4L2_CID_MPEG_VIDEO_VPX_GOLDEN_FRAME_USE_REF_PERIOD = 1, +}; +#define V4L2_CID_MPEG_VIDEO_VPX_MIN_QP (V4L2_CID_MPEG_BASE+507) +#define V4L2_CID_MPEG_VIDEO_VPX_MAX_QP (V4L2_CID_MPEG_BASE+508) +#define V4L2_CID_MPEG_VIDEO_VPX_I_FRAME_QP (V4L2_CID_MPEG_BASE+509) +#define V4L2_CID_MPEG_VIDEO_VPX_P_FRAME_QP (V4L2_CID_MPEG_BASE+510) +#define V4L2_CID_MPEG_VIDEO_VPX_PROFILE (V4L2_CID_MPEG_BASE+511) + +/* MPEG-class control IDs specific to the CX2341x driver as defined by V4L2 */ +#define V4L2_CID_MPEG_CX2341X_BASE (V4L2_CTRL_CLASS_MPEG | 0x1000) +#define V4L2_CID_MPEG_CX2341X_VIDEO_SPATIAL_FILTER_MODE (V4L2_CID_MPEG_CX2341X_BASE+0) +enum v4l2_mpeg_cx2341x_video_spatial_filter_mode { + V4L2_MPEG_CX2341X_VIDEO_SPATIAL_FILTER_MODE_MANUAL = 0, + V4L2_MPEG_CX2341X_VIDEO_SPATIAL_FILTER_MODE_AUTO = 1, +}; +#define V4L2_CID_MPEG_CX2341X_VIDEO_SPATIAL_FILTER (V4L2_CID_MPEG_CX2341X_BASE+1) +#define V4L2_CID_MPEG_CX2341X_VIDEO_LUMA_SPATIAL_FILTER_TYPE (V4L2_CID_MPEG_CX2341X_BASE+2) +enum v4l2_mpeg_cx2341x_video_luma_spatial_filter_type { + V4L2_MPEG_CX2341X_VIDEO_LUMA_SPATIAL_FILTER_TYPE_OFF = 0, + V4L2_MPEG_CX2341X_VIDEO_LUMA_SPATIAL_FILTER_TYPE_1D_HOR = 1, + V4L2_MPEG_CX2341X_VIDEO_LUMA_SPATIAL_FILTER_TYPE_1D_VERT = 2, + V4L2_MPEG_CX2341X_VIDEO_LUMA_SPATIAL_FILTER_TYPE_2D_HV_SEPARABLE = 3, + V4L2_MPEG_CX2341X_VIDEO_LUMA_SPATIAL_FILTER_TYPE_2D_SYM_NON_SEPARABLE = 4, +}; +#define V4L2_CID_MPEG_CX2341X_VIDEO_CHROMA_SPATIAL_FILTER_TYPE (V4L2_CID_MPEG_CX2341X_BASE+3) +enum v4l2_mpeg_cx2341x_video_chroma_spatial_filter_type { + V4L2_MPEG_CX2341X_VIDEO_CHROMA_SPATIAL_FILTER_TYPE_OFF = 0, + V4L2_MPEG_CX2341X_VIDEO_CHROMA_SPATIAL_FILTER_TYPE_1D_HOR = 1, +}; +#define V4L2_CID_MPEG_CX2341X_VIDEO_TEMPORAL_FILTER_MODE (V4L2_CID_MPEG_CX2341X_BASE+4) +enum v4l2_mpeg_cx2341x_video_temporal_filter_mode { + V4L2_MPEG_CX2341X_VIDEO_TEMPORAL_FILTER_MODE_MANUAL = 0, + V4L2_MPEG_CX2341X_VIDEO_TEMPORAL_FILTER_MODE_AUTO = 1, +}; +#define V4L2_CID_MPEG_CX2341X_VIDEO_TEMPORAL_FILTER (V4L2_CID_MPEG_CX2341X_BASE+5) +#define V4L2_CID_MPEG_CX2341X_VIDEO_MEDIAN_FILTER_TYPE (V4L2_CID_MPEG_CX2341X_BASE+6) +enum v4l2_mpeg_cx2341x_video_median_filter_type { + V4L2_MPEG_CX2341X_VIDEO_MEDIAN_FILTER_TYPE_OFF = 0, + V4L2_MPEG_CX2341X_VIDEO_MEDIAN_FILTER_TYPE_HOR = 1, + V4L2_MPEG_CX2341X_VIDEO_MEDIAN_FILTER_TYPE_VERT = 2, + V4L2_MPEG_CX2341X_VIDEO_MEDIAN_FILTER_TYPE_HOR_VERT = 3, + V4L2_MPEG_CX2341X_VIDEO_MEDIAN_FILTER_TYPE_DIAG = 4, +}; +#define V4L2_CID_MPEG_CX2341X_VIDEO_LUMA_MEDIAN_FILTER_BOTTOM (V4L2_CID_MPEG_CX2341X_BASE+7) +#define V4L2_CID_MPEG_CX2341X_VIDEO_LUMA_MEDIAN_FILTER_TOP (V4L2_CID_MPEG_CX2341X_BASE+8) +#define V4L2_CID_MPEG_CX2341X_VIDEO_CHROMA_MEDIAN_FILTER_BOTTOM (V4L2_CID_MPEG_CX2341X_BASE+9) +#define V4L2_CID_MPEG_CX2341X_VIDEO_CHROMA_MEDIAN_FILTER_TOP (V4L2_CID_MPEG_CX2341X_BASE+10) +#define V4L2_CID_MPEG_CX2341X_STREAM_INSERT_NAV_PACKETS (V4L2_CID_MPEG_CX2341X_BASE+11) + +/* MPEG-class control IDs specific to the Samsung MFC 5.1 driver as defined by V4L2 */ +#define V4L2_CID_MPEG_MFC51_BASE (V4L2_CTRL_CLASS_MPEG | 0x1100) + +#define V4L2_CID_MPEG_MFC51_VIDEO_DECODER_H264_DISPLAY_DELAY (V4L2_CID_MPEG_MFC51_BASE+0) +#define V4L2_CID_MPEG_MFC51_VIDEO_DECODER_H264_DISPLAY_DELAY_ENABLE (V4L2_CID_MPEG_MFC51_BASE+1) +#define V4L2_CID_MPEG_MFC51_VIDEO_FRAME_SKIP_MODE (V4L2_CID_MPEG_MFC51_BASE+2) +enum v4l2_mpeg_mfc51_video_frame_skip_mode { + V4L2_MPEG_MFC51_VIDEO_FRAME_SKIP_MODE_DISABLED = 0, + V4L2_MPEG_MFC51_VIDEO_FRAME_SKIP_MODE_LEVEL_LIMIT = 1, + V4L2_MPEG_MFC51_VIDEO_FRAME_SKIP_MODE_BUF_LIMIT = 2, +}; +#define V4L2_CID_MPEG_MFC51_VIDEO_FORCE_FRAME_TYPE (V4L2_CID_MPEG_MFC51_BASE+3) +enum v4l2_mpeg_mfc51_video_force_frame_type { + V4L2_MPEG_MFC51_VIDEO_FORCE_FRAME_TYPE_DISABLED = 0, + V4L2_MPEG_MFC51_VIDEO_FORCE_FRAME_TYPE_I_FRAME = 1, + V4L2_MPEG_MFC51_VIDEO_FORCE_FRAME_TYPE_NOT_CODED = 2, +}; +#define V4L2_CID_MPEG_MFC51_VIDEO_PADDING (V4L2_CID_MPEG_MFC51_BASE+4) +#define V4L2_CID_MPEG_MFC51_VIDEO_PADDING_YUV (V4L2_CID_MPEG_MFC51_BASE+5) +#define V4L2_CID_MPEG_MFC51_VIDEO_RC_FIXED_TARGET_BIT (V4L2_CID_MPEG_MFC51_BASE+6) +#define V4L2_CID_MPEG_MFC51_VIDEO_RC_REACTION_COEFF (V4L2_CID_MPEG_MFC51_BASE+7) +#define V4L2_CID_MPEG_MFC51_VIDEO_H264_ADAPTIVE_RC_ACTIVITY (V4L2_CID_MPEG_MFC51_BASE+50) +#define V4L2_CID_MPEG_MFC51_VIDEO_H264_ADAPTIVE_RC_DARK (V4L2_CID_MPEG_MFC51_BASE+51) +#define V4L2_CID_MPEG_MFC51_VIDEO_H264_ADAPTIVE_RC_SMOOTH (V4L2_CID_MPEG_MFC51_BASE+52) +#define V4L2_CID_MPEG_MFC51_VIDEO_H264_ADAPTIVE_RC_STATIC (V4L2_CID_MPEG_MFC51_BASE+53) +#define V4L2_CID_MPEG_MFC51_VIDEO_H264_NUM_REF_PIC_FOR_P (V4L2_CID_MPEG_MFC51_BASE+54) + +/* MPEG-class control IDs specific to the msm_vidc driver */ +#define V4L2_CID_MPEG_MSM_VIDC_BASE (V4L2_CTRL_CLASS_MPEG | 0x2000) + +#define V4L2_CID_MPEG_VIDC_VIDEO_PICTYPE_DEC_MODE \ + (V4L2_CID_MPEG_MSM_VIDC_BASE+0) +enum v4l2_mpeg_vidc_video_pictype_dec_mode { + V4L2_MPEG_VIDC_VIDEO_PICTYPE_DECODE_OFF = 0, + V4L2_MPEG_VIDC_VIDEO_PICTYPE_DECODE_ON = 1, +}; + +#define V4L2_CID_MPEG_VIDC_VIDEO_KEEP_ASPECT_RATIO \ + (V4L2_CID_MPEG_MSM_VIDC_BASE+1) + +#define V4L2_CID_MPEG_VIDC_VIDEO_STREAM_FORMAT (V4L2_CID_MPEG_MSM_VIDC_BASE+2) +enum v4l2_mpeg_vidc_video_stream_format { + V4L2_MPEG_VIDC_VIDEO_NAL_FORMAT_STARTCODES = 0, + V4L2_MPEG_VIDC_VIDEO_NAL_FORMAT_ONE_NAL_PER_BUFFER = 1, + V4L2_MPEG_VIDC_VIDEO_NAL_FORMAT_ONE_BYTE_LENGTH = 2, + V4L2_MPEG_VIDC_VIDEO_NAL_FORMAT_TWO_BYTE_LENGTH = 3, + V4L2_MPEG_VIDC_VIDEO_NAL_FORMAT_FOUR_BYTE_LENGTH = 4, +}; + +#define V4L2_CID_MPEG_VIDC_VIDEO_OUTPUT_ORDER (V4L2_CID_MPEG_MSM_VIDC_BASE+3) +enum v4l2_mpeg_vidc_video_output_order { + V4L2_MPEG_VIDC_VIDEO_OUTPUT_ORDER_DISPLAY = 0, + V4L2_MPEG_VIDC_VIDEO_OUTPUT_ORDER_DECODE = 1, +}; + +#define V4L2_CID_MPEG_VIDC_VIDEO_FRAME_RATE (V4L2_CID_MPEG_MSM_VIDC_BASE+4) +#define V4L2_CID_MPEG_VIDC_VIDEO_IDR_PERIOD (V4L2_CID_MPEG_MSM_VIDC_BASE+5) +#define V4L2_CID_MPEG_VIDC_VIDEO_NUM_P_FRAMES (V4L2_CID_MPEG_MSM_VIDC_BASE+6) +#define V4L2_CID_MPEG_VIDC_VIDEO_NUM_B_FRAMES (V4L2_CID_MPEG_MSM_VIDC_BASE+7) +#define V4L2_CID_MPEG_VIDC_VIDEO_REQUEST_IFRAME (V4L2_CID_MPEG_MSM_VIDC_BASE+8) + +#define V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL (V4L2_CID_MPEG_MSM_VIDC_BASE+9) +enum v4l2_mpeg_vidc_video_rate_control { + V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_OFF = 0, + V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_VBR_VFR = 1, + V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_VBR_CFR = 2, + V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_CBR_VFR = 3, + V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_CBR_CFR = 4, + V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_MBR_CFR = 5, + V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_MBR_VFR = 6, + V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_CQ = 7, +}; +#define V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_MBR_CFR \ + V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_MBR_CFR +#define V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_MBR_VFR \ + V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_MBR_VFR + +#define V4L2_CID_MPEG_VIDC_VIDEO_ROTATION (V4L2_CID_MPEG_MSM_VIDC_BASE+10) +enum v4l2_mpeg_vidc_video_rotation { + V4L2_CID_MPEG_VIDC_VIDEO_ROTATION_NONE = 0, + V4L2_CID_MPEG_VIDC_VIDEO_ROTATION_90 = 1, + V4L2_CID_MPEG_VIDC_VIDEO_ROTATION_180 = 2, + V4L2_CID_MPEG_VIDC_VIDEO_ROTATION_270 = 3, +}; +#define V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL \ + (V4L2_CID_MPEG_MSM_VIDC_BASE+11) +enum v4l2_mpeg_vidc_h264_cabac_model { + V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL_0 = 0, + V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL_1 = 1, + V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL_2 = 2, +}; + +#define V4L2_CID_MPEG_VIDC_VIDEO_INTRA_REFRESH_MODE \ + (V4L2_CID_MPEG_MSM_VIDC_BASE+12) +enum v4l2_mpeg_vidc_video_intra_refresh_mode { + V4L2_CID_MPEG_VIDC_VIDEO_INTRA_REFRESH_NONE = 0, + V4L2_CID_MPEG_VIDC_VIDEO_INTRA_REFRESH_CYCLIC = 1, + V4L2_CID_MPEG_VIDC_VIDEO_INTRA_REFRESH_RANDOM = 2, + V4L2_CID_MPEG_VIDC_VIDEO_INTRA_REFRESH_ADAPTIVE = 3, + V4L2_CID_MPEG_VIDC_VIDEO_INTRA_REFRESH_CYCLIC_ADAPTIVE = 4, +}; +#define V4L2_CID_MPEG_VIDC_VIDEO_IR_MBS (V4L2_CID_MPEG_MSM_VIDC_BASE+13) + +#define V4L2_CID_MPEG_VIDC_VIDEO_AU_DELIMITER \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 14) +enum v4l2_mpeg_vidc_video_au_delimiter { + V4L2_MPEG_VIDC_VIDEO_AU_DELIMITER_DISABLED = 0, + V4L2_MPEG_VIDC_VIDEO_AU_DELIMITER_ENABLED = 1 +}; +#define V4L2_CID_MPEG_VIDC_VIDEO_SYNC_FRAME_DECODE \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 15) +enum v4l2_mpeg_vidc_video_sync_frame_decode { + V4L2_MPEG_VIDC_VIDEO_SYNC_FRAME_DECODE_DISABLE = 0, + V4L2_MPEG_VIDC_VIDEO_SYNC_FRAME_DECODE_ENABLE = 1 +}; +#define V4L2_CID_MPEG_VIDC_VIDEO_SECURE (V4L2_CID_MPEG_MSM_VIDC_BASE+16) +#define V4L2_CID_MPEG_VIDC_VIDEO_EXTRADATA \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 17) +enum v4l2_mpeg_vidc_extradata { + V4L2_MPEG_VIDC_EXTRADATA_NONE = 0, + V4L2_MPEG_VIDC_EXTRADATA_MB_QUANTIZATION = 1, + V4L2_MPEG_VIDC_EXTRADATA_INTERLACE_VIDEO = 2, + V4L2_MPEG_VIDC_EXTRADATA_VC1_FRAMEDISP = 3, + V4L2_MPEG_VIDC_EXTRADATA_VC1_SEQDISP = 4, + V4L2_MPEG_VIDC_EXTRADATA_TIMESTAMP = 5, + V4L2_MPEG_VIDC_EXTRADATA_S3D_FRAME_PACKING = 6, + V4L2_MPEG_VIDC_EXTRADATA_FRAME_RATE = 7, + V4L2_MPEG_VIDC_EXTRADATA_PANSCAN_WINDOW = 8, + V4L2_MPEG_VIDC_EXTRADATA_RECOVERY_POINT_SEI = 9, + V4L2_MPEG_VIDC_EXTRADATA_MULTISLICE_INFO = 10, + V4L2_MPEG_VIDC_EXTRADATA_NUM_CONCEALED_MB = 11, + V4L2_MPEG_VIDC_EXTRADATA_METADATA_FILLER = 12, + V4L2_MPEG_VIDC_EXTRADATA_INPUT_CROP = 13, + V4L2_MPEG_VIDC_EXTRADATA_DIGITAL_ZOOM = 14, + V4L2_MPEG_VIDC_EXTRADATA_ASPECT_RATIO = 15, + V4L2_MPEG_VIDC_EXTRADATA_MPEG2_SEQDISP = 16, + V4L2_MPEG_VIDC_EXTRADATA_STREAM_USERDATA = 17, + V4L2_MPEG_VIDC_EXTRADATA_FRAME_QP = 18, + V4L2_MPEG_VIDC_EXTRADATA_FRAME_BITS_INFO = 19, + V4L2_MPEG_VIDC_EXTRADATA_LTR = 20, + V4L2_MPEG_VIDC_EXTRADATA_METADATA_MBI = 21, + V4L2_MPEG_VIDC_EXTRADATA_VQZIP_SEI = 22, + V4L2_MPEG_VIDC_EXTRADATA_YUV_STATS = 23, + V4L2_MPEG_VIDC_EXTRADATA_ROI_QP = 24, +#define V4L2_MPEG_VIDC_EXTRADATA_OUTPUT_CROP \ + V4L2_MPEG_VIDC_EXTRADATA_OUTPUT_CROP + V4L2_MPEG_VIDC_EXTRADATA_OUTPUT_CROP = 25, +#define V4L2_MPEG_VIDC_EXTRADATA_DISPLAY_COLOUR_SEI \ + V4L2_MPEG_VIDC_EXTRADATA_DISPLAY_COLOUR_SEI + V4L2_MPEG_VIDC_EXTRADATA_DISPLAY_COLOUR_SEI = 26, +#define V4L2_MPEG_VIDC_EXTRADATA_CONTENT_LIGHT_LEVEL_SEI \ + V4L2_MPEG_VIDC_EXTRADATA_CONTENT_LIGHT_LEVEL_SEI + V4L2_MPEG_VIDC_EXTRADATA_CONTENT_LIGHT_LEVEL_SEI = 27, +#define V4L2_MPEG_VIDC_EXTRADATA_PQ_INFO \ + V4L2_MPEG_VIDC_EXTRADATA_PQ_INFO + V4L2_MPEG_VIDC_EXTRADATA_PQ_INFO = 28, +#define V4L2_MPEG_VIDC_EXTRADATA_VUI_DISPLAY \ + V4L2_MPEG_VIDC_EXTRADATA_VUI_DISPLAY + V4L2_MPEG_VIDC_EXTRADATA_VUI_DISPLAY = 29, +#define V4L2_MPEG_VIDC_EXTRADATA_VPX_COLORSPACE \ + V4L2_MPEG_VIDC_EXTRADATA_VPX_COLORSPACE + V4L2_MPEG_VIDC_EXTRADATA_VPX_COLORSPACE = 30, +#define V4L2_MPEG_VIDC_EXTRADATA_UBWC_CR_STATS_INFO \ + V4L2_MPEG_VIDC_EXTRADATA_UBWC_CR_STATS_INFO + V4L2_MPEG_VIDC_EXTRADATA_UBWC_CR_STATS_INFO = 31, +#define V4L2_MPEG_VIDC_EXTRADATA_ENC_FRAME_QP \ + V4L2_MPEG_VIDC_EXTRADATA_ENC_FRAME_QP + V4L2_MPEG_VIDC_EXTRADATA_ENC_FRAME_QP = 32, +}; + +#define V4L2_CID_MPEG_VIDEO_MULTI_SLICE_DELIVERY_MODE \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 18) + +#define V4L2_CID_MPEG_VIDC_VIDEO_VUI_TIMING_INFO \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 19) +enum v4l2_mpeg_vidc_video_vui_timing_info { + V4L2_MPEG_VIDC_VIDEO_VUI_TIMING_INFO_DISABLED = 0, + V4L2_MPEG_VIDC_VIDEO_VUI_TIMING_INFO_ENABLED = 1 +}; + +#define V4L2_CID_MPEG_VIDC_VIDEO_VP8_PROFILE_LEVEL \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 20) +enum v4l2_mpeg_vidc_video_vp8_profile_level { + V4L2_MPEG_VIDC_VIDEO_VP8_UNUSED, + V4L2_MPEG_VIDC_VIDEO_VP8_VERSION_0, + V4L2_MPEG_VIDC_VIDEO_VP8_VERSION_1, + V4L2_MPEG_VIDC_VIDEO_VP8_VERSION_2, + V4L2_MPEG_VIDC_VIDEO_VP8_VERSION_3, +}; + +#define V4L2_CID_MPEG_VIDC_VIDEO_PRESERVE_TEXT_QUALITY \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 21) +enum v4l2_mpeg_vidc_video_preserve_text_quality { + V4L2_MPEG_VIDC_VIDEO_PRESERVE_TEXT_QUALITY_DISABLED = 0, + V4L2_MPEG_VIDC_VIDEO_PRESERVE_TEXT_QUALITY_ENABLED = 1 +}; + +#define V4L2_CID_MPEG_VIDC_VIDEO_STREAM_OUTPUT_MODE \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 22) +enum v4l2_mpeg_vidc_video_decoder_multi_stream { + V4L2_CID_MPEG_VIDC_VIDEO_STREAM_OUTPUT_PRIMARY = 0, + V4L2_CID_MPEG_VIDC_VIDEO_STREAM_OUTPUT_SECONDARY = 1, +}; + +#define V4L2_CID_MPEG_VIDC_VIDEO_MPEG2_LEVEL (V4L2_CID_MPEG_MSM_VIDC_BASE+23) +enum v4l2_mpeg_vidc_video_mpeg2_level { + V4L2_MPEG_VIDC_VIDEO_MPEG2_LEVEL_0 = 0, + V4L2_MPEG_VIDC_VIDEO_MPEG2_LEVEL_1 = 1, + V4L2_MPEG_VIDC_VIDEO_MPEG2_LEVEL_2 = 2, + V4L2_MPEG_VIDC_VIDEO_MPEG2_LEVEL_3 = 3, +}; +#define V4L2_CID_MPEG_VIDC_VIDEO_MPEG2_PROFILE (V4L2_CID_MPEG_MSM_VIDC_BASE+24) +enum v4l2_mpeg_vidc_video_mpeg2_profile { + V4L2_MPEG_VIDC_VIDEO_MPEG2_PROFILE_SIMPLE = 0, + V4L2_MPEG_VIDC_VIDEO_MPEG2_PROFILE_MAIN = 1, + V4L2_MPEG_VIDC_VIDEO_MPEG2_PROFILE_422 = 2, + V4L2_MPEG_VIDC_VIDEO_MPEG2_PROFILE_SNR_SCALABLE = 3, + V4L2_MPEG_VIDC_VIDEO_MPEG2_PROFILE_SPATIAL_SCALABLE = 4, + V4L2_MPEG_VIDC_VIDEO_MPEG2_PROFILE_HIGH = 5, +}; + +enum v4l2_mpeg_vidc_video_mvc_layout { + V4L2_MPEG_VIDC_VIDEO_MVC_SEQUENTIAL = 0, + V4L2_MPEG_VIDC_VIDEO_MVC_TOP_BOTTOM = 1 +}; + +#define V4L2_CID_MPEG_VIDC_VIDEO_CONCEAL_COLOR \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 25) + +#define V4L2_CID_MPEG_VIDC_VIDEO_LTRMODE \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 26) + +enum v4l2_mpeg_vidc_video_ltrmode { + V4L2_MPEG_VIDC_VIDEO_LTR_MODE_DISABLE = 0, + V4L2_MPEG_VIDC_VIDEO_LTR_MODE_MANUAL = 1, + V4L2_MPEG_VIDC_VIDEO_LTR_MODE_PERIODIC = 2 +}; + +#define V4L2_CID_MPEG_VIDC_VIDEO_LTRCOUNT \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 27) + +#define V4L2_CID_MPEG_VIDC_VIDEO_USELTRFRAME \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 28) + +#define V4L2_CID_MPEG_VIDC_VIDEO_MARKLTRFRAME \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 29) + +#define V4L2_CID_MPEG_VIDC_VIDEO_HIER_P_NUM_LAYERS \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 30) + +#define V4L2_CID_MPEG_VIDC_VIDEO_ALLOC_MODE_OUTPUT \ + (V4L2_CID_MPEG_MSM_VIDC_BASE+31) +enum v4l2_mpeg_vidc_video_alloc_mode_type { + V4L2_MPEG_VIDC_VIDEO_STATIC = 0, + V4L2_MPEG_VIDC_VIDEO_RING = 1, + V4L2_MPEG_VIDC_VIDEO_DYNAMIC = 2, +}; + +#define V4L2_CID_MPEG_VIDC_VIDEO_IFRAME_X_RANGE \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 32) + +#define V4L2_CID_MPEG_VIDC_VIDEO_PFRAME_X_RANGE \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 33) + +#define V4L2_CID_MPEG_VIDC_VIDEO_BFRAME_X_RANGE \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 34) + +#define V4L2_CID_MPEG_VIDC_VIDEO_IFRAME_Y_RANGE \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 35) + +#define V4L2_CID_MPEG_VIDC_VIDEO_PFRAME_Y_RANGE \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 36) + +#define V4L2_CID_MPEG_VIDC_VIDEO_BFRAME_Y_RANGE \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 37) + +#define V4L2_CID_MPEG_VIDC_VIDEO_VPX_ERROR_RESILIENCE \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 38) + +#define V4L2_CID_MPEG_VIDC_VIDEO_BUFFER_SIZE_LIMIT \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 39) + +enum vl42_mpeg_vidc_video_vpx_error_resilience { + V4L2_MPEG_VIDC_VIDEO_VPX_ERROR_RESILIENCE_DISABLED = 0, + V4L2_MPEG_VIDC_VIDEO_VPX_ERROR_RESILIENCE_ENABLED = 1, +}; + +#define V4L2_CID_MPEG_VIDC_VIDEO_HEVC_PROFILE \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 40) +enum v4l2_mpeg_video_hevc_profile { + V4L2_MPEG_VIDC_VIDEO_HEVC_PROFILE_MAIN = 0, + V4L2_MPEG_VIDC_VIDEO_HEVC_PROFILE_MAIN10 = 1, + V4L2_MPEG_VIDC_VIDEO_HEVC_PROFILE_MAIN_STILL_PIC = 2, +}; + +#define V4L2_CID_MPEG_VIDC_VIDEO_HEVC_TIER_LEVEL \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 41) +enum v4l2_mpeg_video_hevc_level { + V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_1 = 0, + V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_1 = 1, + V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_2 = 2, + V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_2 = 3, + V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_2_1 = 4, + V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_2_1 = 5, + V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_3 = 6, + V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_3 = 7, + V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_3_1 = 8, + V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_3_1 = 9, + V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_4 = 10, + V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_4 = 11, + V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_4_1 = 12, + V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_4_1 = 13, + V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_5 = 14, + V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_5 = 15, + V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_5_1 = 16, + V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_5_1 = 17, + V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_5_2 = 18, + V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_5_2 = 19, + V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_6 = 20, + V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_6 = 21, + V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_6_1 = 22, + V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_6_1 = 23, + V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_6_2 = 24, + V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_6_2 = 25, +#define V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_UNKNOWN \ + V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_UNKNOWN + V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_UNKNOWN = 26, +}; + +#define V4L2_CID_MPEG_VIDC_VIDEO_HIER_B_NUM_LAYERS \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 42) + +#define V4L2_CID_MPEG_VIDC_VIDEO_HYBRID_HIERP_MODE \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 43) + +#define V4L2_CID_MPEG_VIDC_VIDEO_DPB_COLOR_FORMAT \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 44) + +enum v4l2_mpeg_vidc_video_dpb_color_format { + V4L2_MPEG_VIDC_VIDEO_DPB_COLOR_FMT_NONE = 0, + V4L2_MPEG_VIDC_VIDEO_DPB_COLOR_FMT_UBWC = 1, + V4L2_MPEG_VIDC_VIDEO_DPB_COLOR_FMT_TP10_UBWC = 2 +}; + +#define V4L2_CID_VIDC_QBUF_MODE \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 45) +enum v4l2_vidc_qbuf_mode { + V4L2_VIDC_QBUF_STANDARD = 0, + V4L2_VIDC_QBUF_BATCHED = 1, +}; + +#define V4L2_CID_MPEG_VIDC_VIDEO_MAX_HIERP_LAYERS \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 46) + +#define V4L2_CID_MPEG_VIDC_VIDEO_BASELAYER_ID \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 47) + +#define V4L2_CID_MPEG_VIDC_VENC_PARAM_SAR_WIDTH \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 48) + +#define V4L2_CID_MPEG_VIDC_VENC_PARAM_SAR_HEIGHT \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 49) + +#define V4L2_CID_MPEG_VIDC_VIDEO_VQZIP_SEI \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 50) + +enum v4l2_mpeg_vidc_video_vqzip_sei_enable { + V4L2_CID_MPEG_VIDC_VIDEO_VQZIP_SEI_DISABLE = 0, + V4L2_CID_MPEG_VIDC_VIDEO_VQZIP_SEI_ENABLE = 1 +}; + +#define V4L2_CID_MPEG_VIDC_VENC_PARAM_LAYER_BITRATE \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 51) + +#define V4L2_CID_MPEG_VIDC_VIDEO_PRIORITY \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 52) + +enum v4l2_mpeg_vidc_video_priority { + V4L2_MPEG_VIDC_VIDEO_PRIORITY_REALTIME_ENABLE = 0, + V4L2_MPEG_VIDC_VIDEO_PRIORITY_REALTIME_DISABLE = 1, +}; + +#define V4L2_CID_MPEG_VIDC_VIDEO_OPERATING_RATE \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 53) + +#define V4L2_CID_MPEG_VIDC_VIDEO_VENC_BITRATE_TYPE \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 54) + +enum v4l2_mpeg_vidc_video_venc_bitrate_type_enable { + V4L2_CID_MPEG_VIDC_VIDEO_VENC_BITRATE_DISABLE = 0, + V4L2_CID_MPEG_VIDC_VIDEO_VENC_BITRATE_ENABLE = 1 +}; + +#define V4L2_CID_MPEG_VIDC_VIDEO_VPE_CSC \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 55) + +enum v4l2_cid_mpeg_vidc_video_vpe_csc_type_enable { + V4L2_CID_MPEG_VIDC_VIDEO_VPE_CSC_DISABLE = 0, + V4L2_CID_MPEG_VIDC_VIDEO_VPE_CSC_ENABLE = 1 +}; + +#define V4L2_CID_MPEG_VIDC_VIDEO_LOWLATENCY_MODE \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 56) + +enum v4l2_mpeg_vidc_video_lowlatency_mode { + V4L2_CID_MPEG_VIDC_VIDEO_LOWLATENCY_DISABLE = 0, + V4L2_CID_MPEG_VIDC_VIDEO_LOWLATENCY_ENABLE = 1, +}; + +#define V4L2_CID_MPEG_VIDC_VIDEO_BLUR_WIDTH \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 57) + +#define V4L2_CID_MPEG_VIDC_VIDEO_BLUR_HEIGHT \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 58) + +#define V4L2_CID_MPEG_VIDC_VIDEO_H264_TRANSFORM_8x8 \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 59) +enum v4l2_mpeg_vidc_video_h264_transform_8x8 { + V4L2_MPEG_VIDC_VIDEO_H264_TRANSFORM_8x8_DISABLE = 0, + V4L2_MPEG_VIDC_VIDEO_H264_TRANSFORM_8x8_ENABLE = 1, +}; + +#define V4L2_CID_MPEG_VIDC_VIDEO_COLOR_SPACE \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 60) + +#define V4L2_CID_MPEG_VIDC_VIDEO_FULL_RANGE \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 61) + +enum v4l2_cid_mpeg_vidc_video_full_range { + V4L2_CID_MPEG_VIDC_VIDEO_FULL_RANGE_DISABLE = 0, + V4L2_CID_MPEG_VIDC_VIDEO_FULL_RANGE_ENABLE = 1, +}; + +#define V4L2_CID_MPEG_VIDC_VIDEO_TRANSFER_CHARS \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 62) + +#define V4L2_CID_MPEG_VIDC_VIDEO_MATRIX_COEFFS \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 63) + +#define V4L2_CID_MPEG_VIDC_VIDEO_IFRAME_SIZE_TYPE \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 64) + +#define V4L2_CID_MPEG_VIDC_VIDEO_LAYER_ID \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 65) + +#define V4L2_CID_MPEG_VIDC_VIDEO_VP9_PROFILE \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 66) +enum v4l2_mpeg_vidc_video_vp9_profile { + V4L2_MPEG_VIDC_VIDEO_VP9_PROFILE_UNUSED = 0, + V4L2_MPEG_VIDC_VIDEO_VP9_PROFILE_P0 = 1, + V4L2_MPEG_VIDC_VIDEO_VP9_PROFILE_P2_10 = 2, +}; + +#define V4L2_CID_MPEG_VIDC_VIDEO_VP9_LEVEL \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 67) +enum v4l2_mpeg_vidc_video_vp9_level { + V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_UNUSED = 0, + V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_1 = 1, + V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_11 = 2, + V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_2 = 3, + V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_21 = 4, + V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_3 = 5, + V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_31 = 6, + V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_4 = 7, + V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_41 = 8, + V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_5 = 9, + V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_51 = 10, +}; + +#define V4L2_CID_MPEG_VIDC_VIDEO_MB_ERROR_MAP_REPORTING \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 68) +#define V4L2_CID_MPEG_VIDC_VIDEO_CONTINUE_DATA_TRANSFER \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 69) + +#define V4L2_CID_MPEG_VIDC_VIDEO_ALLOC_MODE_INPUT \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 70) + +#define V4L2_CID_MPEG_VIDC_VIDEO_FRAME_ASSEMBLY \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 71) +enum v4l2_mpeg_vidc_video_assembly { + V4L2_MPEG_VIDC_FRAME_ASSEMBLY_DISABLE = 0, + V4L2_MPEG_VIDC_FRAME_ASSEMBLY_ENABLE = 1, +}; + +#define V4L2_CID_MPEG_VIDC_VIDEO_H263_PROFILE\ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 72) +enum v4l2_mpeg_vidc_video_h263_profile { + V4L2_MPEG_VIDC_VIDEO_H263_PROFILE_BASELINE = 0, + V4L2_MPEG_VIDC_VIDEO_H263_PROFILE_H320CODING = 1, + V4L2_MPEG_VIDC_VIDEO_H263_PROFILE_BACKWARDCOMPATIBLE = 2, + V4L2_MPEG_VIDC_VIDEO_H263_PROFILE_ISWV2 = 3, + V4L2_MPEG_VIDC_VIDEO_H263_PROFILE_ISWV3 = 4, + V4L2_MPEG_VIDC_VIDEO_H263_PROFILE_HIGHCOMPRESSION = 5, + V4L2_MPEG_VIDC_VIDEO_H263_PROFILE_INTERNET = 6, + V4L2_MPEG_VIDC_VIDEO_H263_PROFILE_INTERLACE = 7, + V4L2_MPEG_VIDC_VIDEO_H263_PROFILE_HIGHLATENCY = 8, +}; + +#define V4L2_CID_MPEG_VIDEO_MIN_QP_PACKED \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 97) +#define V4L2_CID_MPEG_VIDEO_MAX_QP_PACKED \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 98) +#define V4L2_CID_MPEG_VIDC_VIDEO_I_FRAME_QP \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 99) +#define V4L2_CID_MPEG_VIDC_VIDEO_P_FRAME_QP \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 100) +#define V4L2_CID_MPEG_VIDC_VIDEO_B_FRAME_QP \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 101) +#define V4L2_CID_MPEG_VIDC_VIDEO_I_FRAME_QP_MIN \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 102) +#define V4L2_CID_MPEG_VIDC_VIDEO_P_FRAME_QP_MIN \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 103) +#define V4L2_CID_MPEG_VIDC_VIDEO_B_FRAME_QP_MIN \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 104) +#define V4L2_CID_MPEG_VIDC_VIDEO_I_FRAME_QP_MAX \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 105) +#define V4L2_CID_MPEG_VIDC_VIDEO_P_FRAME_QP_MAX \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 106) +#define V4L2_CID_MPEG_VIDC_VIDEO_B_FRAME_QP_MAX \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 107) +#define V4L2_CID_MPEG_VIDC_VIDEO_QP_MASK \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 108) + +enum v4l2_mpeg_vidc_video_venc_iframesize_type { + V4L2_CID_MPEG_VIDC_VIDEO_IFRAME_SIZE_DEFAULT, + V4L2_CID_MPEG_VIDC_VIDEO_IFRAME_SIZE_MEDIUM, + V4L2_CID_MPEG_VIDC_VIDEO_IFRAME_SIZE_HUGE, + V4L2_CID_MPEG_VIDC_VIDEO_IFRAME_SIZE_UNLIMITED, +}; + +#define V4L2_CID_MPEG_VIDC_VIDEO_CONCEAL_COLOR_8BIT \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 109) +#define V4L2_CID_MPEG_VIDC_VIDEO_CONCEAL_COLOR_10BIT \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 110) + +#define V4L2_CID_MPEG_VIDC_VIDEO_TME_PROFILE \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 111) + +enum v4l2_mpeg_vidc_video_tme_profile { + V4L2_MPEG_VIDC_VIDEO_TME_PROFILE_0 = 0, + V4L2_MPEG_VIDC_VIDEO_TME_PROFILE_1 = 1, + V4L2_MPEG_VIDC_VIDEO_TME_PROFILE_2 = 2, + V4L2_MPEG_VIDC_VIDEO_TME_PROFILE_3 = 3, +}; + +#define V4L2_CID_MPEG_VIDC_VIDEO_TME_LEVEL \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 112) + +enum v4l2_mpeg_vidc_video_tme_level { + V4L2_MPEG_VIDC_VIDEO_TME_LEVEL_INTEGER = 0, +}; + +#define V4L2_CID_MPEG_VIDC_VIDEO_TME_PAYLOAD_VERSION \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 113) + +#define V4L2_CID_MPEG_VIDC_VIDEO_VPE_CSC_CUSTOM_MATRIX \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 114) + +#define V4L2_CID_MPEG_VIDC_VIDEO_FLIP (V4L2_CID_MPEG_MSM_VIDC_BASE + 115) +enum v4l2_mpeg_vidc_video_flip { + V4L2_CID_MPEG_VIDC_VIDEO_FLIP_NONE = 0, + V4L2_CID_MPEG_VIDC_VIDEO_FLIP_HORI = 1, + V4L2_CID_MPEG_VIDC_VIDEO_FLIP_VERT = 2, + V4L2_CID_MPEG_VIDC_VIDEO_FLIP_BOTH = 3, +}; + +/* HDR SEI INFO related control IDs and definitions*/ +#define V4L2_MPEG_VIDC_VENC_HDR_INFO_ENABLED 1 +#define V4L2_MPEG_VIDC_VENC_HDR_INFO_DISABLED 0 + +#define V4L2_CID_MPEG_VIDC_VENC_HDR_INFO \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 116) +#define V4L2_CID_MPEG_VIDC_VENC_RGB_PRIMARY_00 \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 117) +#define V4L2_CID_MPEG_VIDC_VENC_RGB_PRIMARY_01 \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 118) +#define V4L2_CID_MPEG_VIDC_VENC_RGB_PRIMARY_10 \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 119) +#define V4L2_CID_MPEG_VIDC_VENC_RGB_PRIMARY_11 \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 120) +#define V4L2_CID_MPEG_VIDC_VENC_RGB_PRIMARY_20 \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 121) +#define V4L2_CID_MPEG_VIDC_VENC_RGB_PRIMARY_21 \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 122) +#define V4L2_CID_MPEG_VIDC_VENC_WHITEPOINT_X \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 123) +#define V4L2_CID_MPEG_VIDC_VENC_WHITEPOINT_Y \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 124) +#define V4L2_CID_MPEG_VIDC_VENC_MAX_DISP_LUM \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 125) +#define V4L2_CID_MPEG_VIDC_VENC_MIN_DISP_LUM \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 126) +#define V4L2_CID_MPEG_VIDC_VENC_MAX_CLL \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 127) +#define V4L2_CID_MPEG_VIDC_VENC_MAX_FLL \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 128) + +#define V4L2_CID_MPEG_VIDC_SET_PERF_LEVEL \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 129) +enum v4l2_mpeg_vidc_perf_level { + V4L2_CID_MPEG_VIDC_PERF_LEVEL_NOMINAL = 0, + V4L2_CID_MPEG_VIDC_PERF_LEVEL_PERFORMANCE = 1, + V4L2_CID_MPEG_VIDC_PERF_LEVEL_TURBO = 2, +}; + +#define V4L2_CID_MPEG_VIDC_VIDEO_AIR_MBS (V4L2_CID_MPEG_MSM_VIDC_BASE + 130) +#define V4L2_CID_MPEG_VIDC_VIDEO_AIR_REF (V4L2_CID_MPEG_MSM_VIDC_BASE + 131) +#define V4L2_CID_MPEG_VIDC_VIDEO_CIR_MBS (V4L2_CID_MPEG_MSM_VIDC_BASE + 132) + +#define V4L2_CID_MPEG_VIDC_VIDEO_H264_VUI_TIMING_INFO \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 135) + +#define V4L2_CID_MPEG_VIDEO_MULTI_SLICE_GOB \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 136) + +#define V4L2_CID_MPEG_VIDC_VIDEO_H264_VUI_BITSTREAM_RESTRICT \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 137) +enum v4l2_mpeg_vidc_video_h264_vui_bitstream_restrict { + V4L2_MPEG_VIDC_VIDEO_H264_VUI_BITSTREAM_RESTRICT_DISABLED = 0, + V4L2_MPEG_VIDC_VIDEO_H264_VUI_BITSTREAM_RESTRICT_ENABLED = 1 +}; + +#define V4L2_CID_MPEG_VIDC_VIDEO_DEINTERLACE \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 138) +enum v4l2_mpeg_vidc_video_deinterlace { + V4L2_CID_MPEG_VIDC_VIDEO_DEINTERLACE_DISABLED = 0, + V4L2_CID_MPEG_VIDC_VIDEO_DEINTERLACE_ENABLED = 1 +}; + +#define V4L2_CID_MPEG_VIDC_VIDEO_MPEG4_TIME_RESOLUTION \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 139) + +#define V4L2_CID_MPEG_VIDC_VIDEO_REQUEST_SEQ_HEADER \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 140) + +#define V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_TIMESTAMP_MODE \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 141) +enum v4l2_mpeg_vidc_video_rate_control_timestamp_mode { + V4L2_MPEG_VIDC_VIDEO_RATE_CONTROL_TIMESTAMP_MODE_HONOR = 0, + V4L2_MPEG_VIDC_VIDEO_RATE_CONTROL_TIMESTAMP_MODE_IGNORE = 1, +}; + +#define V4L2_CID_MPEG_VIDC_VIDEO_ENABLE_INITIAL_QP \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 142) +enum vl42_mpeg_vidc_video_enable_initial_qp { + V4L2_CID_MPEG_VIDC_VIDEO_ENABLE_INITIAL_QP_IFRAME = 0x1, + V4L2_CID_MPEG_VIDC_VIDEO_ENABLE_INITIAL_QP_PFRAME = 0x2, + V4L2_CID_MPEG_VIDC_VIDEO_ENABLE_INITIAL_QP_BFRAME = 0x4, +}; + +#define V4L2_CID_MPEG_VIDC_VIDEO_INITIAL_I_FRAME_QP \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 143) + +#define V4L2_CID_MPEG_VIDC_VIDEO_INITIAL_P_FRAME_QP \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 144) + +#define V4L2_CID_MPEG_VIDC_VIDEO_INITIAL_B_FRAME_QP \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 145) + +#define V4L2_CID_MPEG_VIDC_VIDEO_H264_NAL_SVC \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 146) + +#define V4L2_CID_MPEG_VIDC_VIDEO_PERF_MODE \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 147) +enum v4l2_mpeg_vidc_video_perf_mode { + V4L2_MPEG_VIDC_VIDEO_PERF_MAX_QUALITY = 1, + V4L2_MPEG_VIDC_VIDEO_PERF_POWER_SAVE = 2 +}; + +#define V4L2_CID_MPEG_VIDC_VIDEO_MBI_STATISTICS_MODE \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 148) + +#define V4L2_CID_MPEG_VIDC_VIDEO_CONFIG_QP \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 149) + +#define V4L2_CID_MPEG_VIDC_VIDEO_H264_PIC_ORDER_CNT \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 150) + +#define V4L2_CID_MPEG_VIDC_VIDEO_SCS_THRESHOLD \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 151) + +#define V4L2_CID_MPEG_VIDC_VIDEO_MVC_BUFFER_LAYOUT \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 152) + + +#define V4L2_CID_MPEG_VIDC_VIDEO_SECURE_SCALING_THRESHOLD \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 153) + +#define V4L2_CID_MPEG_VIDC_VIDEO_NON_SECURE_OUTPUT2 \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 154) + +#define V4L2_CID_MPEG_VIDC_VIDEO_VP8_MIN_QP (V4L2_CID_MPEG_MSM_VIDC_BASE + 155) +#define V4L2_CID_MPEG_VIDC_VIDEO_VP8_MAX_QP (V4L2_CID_MPEG_MSM_VIDC_BASE + 156) + +#define V4L2_CID_MPEG_VIDC_VIDEO_H263_LEVEL (V4L2_CID_MPEG_MSM_VIDC_BASE + 157) +enum v4l2_mpeg_vidc_video_h263_level { + V4L2_MPEG_VIDC_VIDEO_H263_LEVEL_1_0 = 0, + V4L2_MPEG_VIDC_VIDEO_H263_LEVEL_2_0 = 1, + V4L2_MPEG_VIDC_VIDEO_H263_LEVEL_3_0 = 2, + V4L2_MPEG_VIDC_VIDEO_H263_LEVEL_4_0 = 3, + V4L2_MPEG_VIDC_VIDEO_H263_LEVEL_4_5 = 4, + V4L2_MPEG_VIDC_VIDEO_H263_LEVEL_5_0 = 5, + V4L2_MPEG_VIDC_VIDEO_H263_LEVEL_6_0 = 6, + V4L2_MPEG_VIDC_VIDEO_H263_LEVEL_7_0 = 7, +}; + +#define V4L2_CID_MPEG_VIDC_VIDEO_POST_LOOP_DEBLOCKER_MODE \ + (V4L2_CID_MPEG_MSM_VIDC_BASE + 158) + + +#define V4L2_CID_MPEG_VIDC_VIDEO_DIVX_FORMAT (V4L2_CID_MPEG_MSM_VIDC_BASE+159) + +enum v4l2_mpeg_vidc_video_divx_format_type { + V4L2_MPEG_VIDC_VIDEO_DIVX_FORMAT_4 = 0, + V4L2_MPEG_VIDC_VIDEO_DIVX_FORMAT_5 = 1, + V4L2_MPEG_VIDC_VIDEO_DIVX_FORMAT_6 = 2, +}; + +#define V4L2_CID_MPEG_VIDC_VIDEO_FRAME_QUALITY \ + (V4L2_CID_MPEG_MSM_VIDC_BASE+160) + +#define V4L2_CID_MPEG_VIDC_IMG_GRID_DIMENSION \ + (V4L2_CID_MPEG_MSM_VIDC_BASE+161) + +enum v4l2_mpeg_vidc_video_mbi_statistics_mode { + V4L2_CID_MPEG_VIDC_VIDEO_MBI_MODE_DEFAULT = 0, + V4L2_CID_MPEG_VIDC_VIDEO_MBI_MODE_1 = 1, + V4L2_CID_MPEG_VIDC_VIDEO_MBI_MODE_2 = 2, + V4L2_CID_MPEG_VIDC_VIDEO_MBI_MODE_3 = 3, +}; + +enum vl42_mpeg_vidc_video_h264_svc_nal { + V4L2_CID_MPEG_VIDC_VIDEO_H264_NAL_SVC_DISABLED = 0, + V4L2_CID_MPEG_VIDC_VIDEO_H264_NAL_SVC_ENABLED = 1, +}; + +enum v4l2_mpeg_vidc_video_h264_vui_timing_info { + V4L2_MPEG_VIDC_VIDEO_H264_VUI_TIMING_INFO_DISABLED = 0, + V4L2_MPEG_VIDC_VIDEO_H264_VUI_TIMING_INFO_ENABLED = 1 +}; + +/* Camera class control IDs */ + +#define V4L2_CID_CAMERA_CLASS_BASE (V4L2_CTRL_CLASS_CAMERA | 0x900) +#define V4L2_CID_CAMERA_CLASS (V4L2_CTRL_CLASS_CAMERA | 1) + +#define V4L2_CID_EXPOSURE_AUTO (V4L2_CID_CAMERA_CLASS_BASE+1) +enum v4l2_exposure_auto_type { + V4L2_EXPOSURE_AUTO = 0, + V4L2_EXPOSURE_MANUAL = 1, + V4L2_EXPOSURE_SHUTTER_PRIORITY = 2, + V4L2_EXPOSURE_APERTURE_PRIORITY = 3 +}; +#define V4L2_CID_EXPOSURE_ABSOLUTE (V4L2_CID_CAMERA_CLASS_BASE+2) +#define V4L2_CID_EXPOSURE_AUTO_PRIORITY (V4L2_CID_CAMERA_CLASS_BASE+3) + +#define V4L2_CID_PAN_RELATIVE (V4L2_CID_CAMERA_CLASS_BASE+4) +#define V4L2_CID_TILT_RELATIVE (V4L2_CID_CAMERA_CLASS_BASE+5) +#define V4L2_CID_PAN_RESET (V4L2_CID_CAMERA_CLASS_BASE+6) +#define V4L2_CID_TILT_RESET (V4L2_CID_CAMERA_CLASS_BASE+7) + +#define V4L2_CID_PAN_ABSOLUTE (V4L2_CID_CAMERA_CLASS_BASE+8) +#define V4L2_CID_TILT_ABSOLUTE (V4L2_CID_CAMERA_CLASS_BASE+9) + +#define V4L2_CID_FOCUS_ABSOLUTE (V4L2_CID_CAMERA_CLASS_BASE+10) +#define V4L2_CID_FOCUS_RELATIVE (V4L2_CID_CAMERA_CLASS_BASE+11) +#define V4L2_CID_FOCUS_AUTO (V4L2_CID_CAMERA_CLASS_BASE+12) + +#define V4L2_CID_ZOOM_ABSOLUTE (V4L2_CID_CAMERA_CLASS_BASE+13) +#define V4L2_CID_ZOOM_RELATIVE (V4L2_CID_CAMERA_CLASS_BASE+14) +#define V4L2_CID_ZOOM_CONTINUOUS (V4L2_CID_CAMERA_CLASS_BASE+15) + +#define V4L2_CID_PRIVACY (V4L2_CID_CAMERA_CLASS_BASE+16) + +#define V4L2_CID_IRIS_ABSOLUTE (V4L2_CID_CAMERA_CLASS_BASE+17) +#define V4L2_CID_IRIS_RELATIVE (V4L2_CID_CAMERA_CLASS_BASE+18) + +#define V4L2_CID_AUTO_EXPOSURE_BIAS (V4L2_CID_CAMERA_CLASS_BASE+19) + +#define V4L2_CID_AUTO_N_PRESET_WHITE_BALANCE (V4L2_CID_CAMERA_CLASS_BASE+20) +enum v4l2_auto_n_preset_white_balance { + V4L2_WHITE_BALANCE_MANUAL = 0, + V4L2_WHITE_BALANCE_AUTO = 1, + V4L2_WHITE_BALANCE_INCANDESCENT = 2, + V4L2_WHITE_BALANCE_FLUORESCENT = 3, + V4L2_WHITE_BALANCE_FLUORESCENT_H = 4, + V4L2_WHITE_BALANCE_HORIZON = 5, + V4L2_WHITE_BALANCE_DAYLIGHT = 6, + V4L2_WHITE_BALANCE_FLASH = 7, + V4L2_WHITE_BALANCE_CLOUDY = 8, + V4L2_WHITE_BALANCE_SHADE = 9, +}; + +#define V4L2_CID_WIDE_DYNAMIC_RANGE (V4L2_CID_CAMERA_CLASS_BASE+21) +#define V4L2_CID_IMAGE_STABILIZATION (V4L2_CID_CAMERA_CLASS_BASE+22) + +#define V4L2_CID_ISO_SENSITIVITY (V4L2_CID_CAMERA_CLASS_BASE+23) +#define V4L2_CID_ISO_SENSITIVITY_AUTO (V4L2_CID_CAMERA_CLASS_BASE+24) +enum v4l2_iso_sensitivity_auto_type { + V4L2_ISO_SENSITIVITY_MANUAL = 0, + V4L2_ISO_SENSITIVITY_AUTO = 1, +}; + +#define V4L2_CID_EXPOSURE_METERING (V4L2_CID_CAMERA_CLASS_BASE+25) +enum v4l2_exposure_metering { + V4L2_EXPOSURE_METERING_AVERAGE = 0, + V4L2_EXPOSURE_METERING_CENTER_WEIGHTED = 1, + V4L2_EXPOSURE_METERING_SPOT = 2, + V4L2_EXPOSURE_METERING_MATRIX = 3, +}; + +#define V4L2_CID_SCENE_MODE (V4L2_CID_CAMERA_CLASS_BASE+26) +enum v4l2_scene_mode { + V4L2_SCENE_MODE_NONE = 0, + V4L2_SCENE_MODE_BACKLIGHT = 1, + V4L2_SCENE_MODE_BEACH_SNOW = 2, + V4L2_SCENE_MODE_CANDLE_LIGHT = 3, + V4L2_SCENE_MODE_DAWN_DUSK = 4, + V4L2_SCENE_MODE_FALL_COLORS = 5, + V4L2_SCENE_MODE_FIREWORKS = 6, + V4L2_SCENE_MODE_LANDSCAPE = 7, + V4L2_SCENE_MODE_NIGHT = 8, + V4L2_SCENE_MODE_PARTY_INDOOR = 9, + V4L2_SCENE_MODE_PORTRAIT = 10, + V4L2_SCENE_MODE_SPORTS = 11, + V4L2_SCENE_MODE_SUNSET = 12, + V4L2_SCENE_MODE_TEXT = 13, +}; + +#define V4L2_CID_3A_LOCK (V4L2_CID_CAMERA_CLASS_BASE+27) +#define V4L2_LOCK_EXPOSURE (1 << 0) +#define V4L2_LOCK_WHITE_BALANCE (1 << 1) +#define V4L2_LOCK_FOCUS (1 << 2) + +#define V4L2_CID_AUTO_FOCUS_START (V4L2_CID_CAMERA_CLASS_BASE+28) +#define V4L2_CID_AUTO_FOCUS_STOP (V4L2_CID_CAMERA_CLASS_BASE+29) +#define V4L2_CID_AUTO_FOCUS_STATUS (V4L2_CID_CAMERA_CLASS_BASE+30) +#define V4L2_AUTO_FOCUS_STATUS_IDLE (0 << 0) +#define V4L2_AUTO_FOCUS_STATUS_BUSY (1 << 0) +#define V4L2_AUTO_FOCUS_STATUS_REACHED (1 << 1) +#define V4L2_AUTO_FOCUS_STATUS_FAILED (1 << 2) + +#define V4L2_CID_AUTO_FOCUS_RANGE (V4L2_CID_CAMERA_CLASS_BASE+31) +enum v4l2_auto_focus_range { + V4L2_AUTO_FOCUS_RANGE_AUTO = 0, + V4L2_AUTO_FOCUS_RANGE_NORMAL = 1, + V4L2_AUTO_FOCUS_RANGE_MACRO = 2, + V4L2_AUTO_FOCUS_RANGE_INFINITY = 3, +}; + +#define V4L2_CID_PAN_SPEED (V4L2_CID_CAMERA_CLASS_BASE+32) +#define V4L2_CID_TILT_SPEED (V4L2_CID_CAMERA_CLASS_BASE+33) + +/* FM Modulator class control IDs */ + +#define V4L2_CID_FM_TX_CLASS_BASE (V4L2_CTRL_CLASS_FM_TX | 0x900) +#define V4L2_CID_FM_TX_CLASS (V4L2_CTRL_CLASS_FM_TX | 1) + +#define V4L2_CID_RDS_TX_DEVIATION (V4L2_CID_FM_TX_CLASS_BASE + 1) +#define V4L2_CID_RDS_TX_PI (V4L2_CID_FM_TX_CLASS_BASE + 2) +#define V4L2_CID_RDS_TX_PTY (V4L2_CID_FM_TX_CLASS_BASE + 3) +#define V4L2_CID_RDS_TX_PS_NAME (V4L2_CID_FM_TX_CLASS_BASE + 5) +#define V4L2_CID_RDS_TX_RADIO_TEXT (V4L2_CID_FM_TX_CLASS_BASE + 6) +#define V4L2_CID_RDS_TX_MONO_STEREO (V4L2_CID_FM_TX_CLASS_BASE + 7) +#define V4L2_CID_RDS_TX_ARTIFICIAL_HEAD (V4L2_CID_FM_TX_CLASS_BASE + 8) +#define V4L2_CID_RDS_TX_COMPRESSED (V4L2_CID_FM_TX_CLASS_BASE + 9) +#define V4L2_CID_RDS_TX_DYNAMIC_PTY (V4L2_CID_FM_TX_CLASS_BASE + 10) +#define V4L2_CID_RDS_TX_TRAFFIC_ANNOUNCEMENT (V4L2_CID_FM_TX_CLASS_BASE + 11) +#define V4L2_CID_RDS_TX_TRAFFIC_PROGRAM (V4L2_CID_FM_TX_CLASS_BASE + 12) +#define V4L2_CID_RDS_TX_MUSIC_SPEECH (V4L2_CID_FM_TX_CLASS_BASE + 13) +#define V4L2_CID_RDS_TX_ALT_FREQS_ENABLE (V4L2_CID_FM_TX_CLASS_BASE + 14) +#define V4L2_CID_RDS_TX_ALT_FREQS (V4L2_CID_FM_TX_CLASS_BASE + 15) + +#define V4L2_CID_AUDIO_LIMITER_ENABLED (V4L2_CID_FM_TX_CLASS_BASE + 64) +#define V4L2_CID_AUDIO_LIMITER_RELEASE_TIME (V4L2_CID_FM_TX_CLASS_BASE + 65) +#define V4L2_CID_AUDIO_LIMITER_DEVIATION (V4L2_CID_FM_TX_CLASS_BASE + 66) + +#define V4L2_CID_AUDIO_COMPRESSION_ENABLED (V4L2_CID_FM_TX_CLASS_BASE + 80) +#define V4L2_CID_AUDIO_COMPRESSION_GAIN (V4L2_CID_FM_TX_CLASS_BASE + 81) +#define V4L2_CID_AUDIO_COMPRESSION_THRESHOLD (V4L2_CID_FM_TX_CLASS_BASE + 82) +#define V4L2_CID_AUDIO_COMPRESSION_ATTACK_TIME (V4L2_CID_FM_TX_CLASS_BASE + 83) +#define V4L2_CID_AUDIO_COMPRESSION_RELEASE_TIME (V4L2_CID_FM_TX_CLASS_BASE + 84) + +#define V4L2_CID_PILOT_TONE_ENABLED (V4L2_CID_FM_TX_CLASS_BASE + 96) +#define V4L2_CID_PILOT_TONE_DEVIATION (V4L2_CID_FM_TX_CLASS_BASE + 97) +#define V4L2_CID_PILOT_TONE_FREQUENCY (V4L2_CID_FM_TX_CLASS_BASE + 98) + +#define V4L2_CID_TUNE_PREEMPHASIS (V4L2_CID_FM_TX_CLASS_BASE + 112) +enum v4l2_preemphasis { + V4L2_PREEMPHASIS_DISABLED = 0, + V4L2_PREEMPHASIS_50_uS = 1, + V4L2_PREEMPHASIS_75_uS = 2, +}; +#define V4L2_CID_TUNE_POWER_LEVEL (V4L2_CID_FM_TX_CLASS_BASE + 113) +#define V4L2_CID_TUNE_ANTENNA_CAPACITOR (V4L2_CID_FM_TX_CLASS_BASE + 114) + + +/* Flash and privacy (indicator) light controls */ + +#define V4L2_CID_FLASH_CLASS_BASE (V4L2_CTRL_CLASS_FLASH | 0x900) +#define V4L2_CID_FLASH_CLASS (V4L2_CTRL_CLASS_FLASH | 1) + +#define V4L2_CID_FLASH_LED_MODE (V4L2_CID_FLASH_CLASS_BASE + 1) +enum v4l2_flash_led_mode { + V4L2_FLASH_LED_MODE_NONE, + V4L2_FLASH_LED_MODE_FLASH, + V4L2_FLASH_LED_MODE_TORCH, +}; + +#define V4L2_CID_FLASH_STROBE_SOURCE (V4L2_CID_FLASH_CLASS_BASE + 2) +enum v4l2_flash_strobe_source { + V4L2_FLASH_STROBE_SOURCE_SOFTWARE, + V4L2_FLASH_STROBE_SOURCE_EXTERNAL, +}; + +#define V4L2_CID_FLASH_STROBE (V4L2_CID_FLASH_CLASS_BASE + 3) +#define V4L2_CID_FLASH_STROBE_STOP (V4L2_CID_FLASH_CLASS_BASE + 4) +#define V4L2_CID_FLASH_STROBE_STATUS (V4L2_CID_FLASH_CLASS_BASE + 5) + +#define V4L2_CID_FLASH_TIMEOUT (V4L2_CID_FLASH_CLASS_BASE + 6) +#define V4L2_CID_FLASH_INTENSITY (V4L2_CID_FLASH_CLASS_BASE + 7) +#define V4L2_CID_FLASH_TORCH_INTENSITY (V4L2_CID_FLASH_CLASS_BASE + 8) +#define V4L2_CID_FLASH_INDICATOR_INTENSITY (V4L2_CID_FLASH_CLASS_BASE + 9) + +#define V4L2_CID_FLASH_FAULT (V4L2_CID_FLASH_CLASS_BASE + 10) +#define V4L2_FLASH_FAULT_OVER_VOLTAGE (1 << 0) +#define V4L2_FLASH_FAULT_TIMEOUT (1 << 1) +#define V4L2_FLASH_FAULT_OVER_TEMPERATURE (1 << 2) +#define V4L2_FLASH_FAULT_SHORT_CIRCUIT (1 << 3) +#define V4L2_FLASH_FAULT_OVER_CURRENT (1 << 4) +#define V4L2_FLASH_FAULT_INDICATOR (1 << 5) +#define V4L2_FLASH_FAULT_UNDER_VOLTAGE (1 << 6) +#define V4L2_FLASH_FAULT_INPUT_VOLTAGE (1 << 7) +#define V4L2_FLASH_FAULT_LED_OVER_TEMPERATURE (1 << 8) + +#define V4L2_CID_FLASH_CHARGE (V4L2_CID_FLASH_CLASS_BASE + 11) +#define V4L2_CID_FLASH_READY (V4L2_CID_FLASH_CLASS_BASE + 12) + + +/* JPEG-class control IDs */ + +#define V4L2_CID_JPEG_CLASS_BASE (V4L2_CTRL_CLASS_JPEG | 0x900) +#define V4L2_CID_JPEG_CLASS (V4L2_CTRL_CLASS_JPEG | 1) + +#define V4L2_CID_JPEG_CHROMA_SUBSAMPLING (V4L2_CID_JPEG_CLASS_BASE + 1) +enum v4l2_jpeg_chroma_subsampling { + V4L2_JPEG_CHROMA_SUBSAMPLING_444 = 0, + V4L2_JPEG_CHROMA_SUBSAMPLING_422 = 1, + V4L2_JPEG_CHROMA_SUBSAMPLING_420 = 2, + V4L2_JPEG_CHROMA_SUBSAMPLING_411 = 3, + V4L2_JPEG_CHROMA_SUBSAMPLING_410 = 4, + V4L2_JPEG_CHROMA_SUBSAMPLING_GRAY = 5, +}; +#define V4L2_CID_JPEG_RESTART_INTERVAL (V4L2_CID_JPEG_CLASS_BASE + 2) +#define V4L2_CID_JPEG_COMPRESSION_QUALITY (V4L2_CID_JPEG_CLASS_BASE + 3) + +#define V4L2_CID_JPEG_ACTIVE_MARKER (V4L2_CID_JPEG_CLASS_BASE + 4) +#define V4L2_JPEG_ACTIVE_MARKER_APP0 (1 << 0) +#define V4L2_JPEG_ACTIVE_MARKER_APP1 (1 << 1) +#define V4L2_JPEG_ACTIVE_MARKER_COM (1 << 16) +#define V4L2_JPEG_ACTIVE_MARKER_DQT (1 << 17) +#define V4L2_JPEG_ACTIVE_MARKER_DHT (1 << 18) + + +/* Image source controls */ +#define V4L2_CID_IMAGE_SOURCE_CLASS_BASE (V4L2_CTRL_CLASS_IMAGE_SOURCE | 0x900) +#define V4L2_CID_IMAGE_SOURCE_CLASS (V4L2_CTRL_CLASS_IMAGE_SOURCE | 1) + +#define V4L2_CID_VBLANK (V4L2_CID_IMAGE_SOURCE_CLASS_BASE + 1) +#define V4L2_CID_HBLANK (V4L2_CID_IMAGE_SOURCE_CLASS_BASE + 2) +#define V4L2_CID_ANALOGUE_GAIN (V4L2_CID_IMAGE_SOURCE_CLASS_BASE + 3) +#define V4L2_CID_TEST_PATTERN_RED (V4L2_CID_IMAGE_SOURCE_CLASS_BASE + 4) +#define V4L2_CID_TEST_PATTERN_GREENR (V4L2_CID_IMAGE_SOURCE_CLASS_BASE + 5) +#define V4L2_CID_TEST_PATTERN_BLUE (V4L2_CID_IMAGE_SOURCE_CLASS_BASE + 6) +#define V4L2_CID_TEST_PATTERN_GREENB (V4L2_CID_IMAGE_SOURCE_CLASS_BASE + 7) + + +/* Image processing controls */ + +#define V4L2_CID_IMAGE_PROC_CLASS_BASE (V4L2_CTRL_CLASS_IMAGE_PROC | 0x900) +#define V4L2_CID_IMAGE_PROC_CLASS (V4L2_CTRL_CLASS_IMAGE_PROC | 1) + +#define V4L2_CID_LINK_FREQ (V4L2_CID_IMAGE_PROC_CLASS_BASE + 1) +#define V4L2_CID_PIXEL_RATE (V4L2_CID_IMAGE_PROC_CLASS_BASE + 2) +#define V4L2_CID_TEST_PATTERN (V4L2_CID_IMAGE_PROC_CLASS_BASE + 3) + + +/* DV-class control IDs defined by V4L2 */ +#define V4L2_CID_DV_CLASS_BASE (V4L2_CTRL_CLASS_DV | 0x900) +#define V4L2_CID_DV_CLASS (V4L2_CTRL_CLASS_DV | 1) + +#define V4L2_CID_DV_TX_HOTPLUG (V4L2_CID_DV_CLASS_BASE + 1) +#define V4L2_CID_DV_TX_RXSENSE (V4L2_CID_DV_CLASS_BASE + 2) +#define V4L2_CID_DV_TX_EDID_PRESENT (V4L2_CID_DV_CLASS_BASE + 3) +#define V4L2_CID_DV_TX_MODE (V4L2_CID_DV_CLASS_BASE + 4) +enum v4l2_dv_tx_mode { + V4L2_DV_TX_MODE_DVI_D = 0, + V4L2_DV_TX_MODE_HDMI = 1, +}; +#define V4L2_CID_DV_TX_RGB_RANGE (V4L2_CID_DV_CLASS_BASE + 5) +enum v4l2_dv_rgb_range { + V4L2_DV_RGB_RANGE_AUTO = 0, + V4L2_DV_RGB_RANGE_LIMITED = 1, + V4L2_DV_RGB_RANGE_FULL = 2, +}; + +#define V4L2_CID_DV_TX_IT_CONTENT_TYPE (V4L2_CID_DV_CLASS_BASE + 6) +enum v4l2_dv_it_content_type { + V4L2_DV_IT_CONTENT_TYPE_GRAPHICS = 0, + V4L2_DV_IT_CONTENT_TYPE_PHOTO = 1, + V4L2_DV_IT_CONTENT_TYPE_CINEMA = 2, + V4L2_DV_IT_CONTENT_TYPE_GAME = 3, + V4L2_DV_IT_CONTENT_TYPE_NO_ITC = 4, +}; + +#define V4L2_CID_DV_RX_POWER_PRESENT (V4L2_CID_DV_CLASS_BASE + 100) +#define V4L2_CID_DV_RX_RGB_RANGE (V4L2_CID_DV_CLASS_BASE + 101) +#define V4L2_CID_DV_RX_IT_CONTENT_TYPE (V4L2_CID_DV_CLASS_BASE + 102) + +#define V4L2_CID_FM_RX_CLASS_BASE (V4L2_CTRL_CLASS_FM_RX | 0x900) +#define V4L2_CID_FM_RX_CLASS (V4L2_CTRL_CLASS_FM_RX | 1) + +#define V4L2_CID_TUNE_DEEMPHASIS (V4L2_CID_FM_RX_CLASS_BASE + 1) +enum v4l2_deemphasis { + V4L2_DEEMPHASIS_DISABLED = V4L2_PREEMPHASIS_DISABLED, + V4L2_DEEMPHASIS_50_uS = V4L2_PREEMPHASIS_50_uS, + V4L2_DEEMPHASIS_75_uS = V4L2_PREEMPHASIS_75_uS, +}; + +#define V4L2_CID_RDS_RECEPTION (V4L2_CID_FM_RX_CLASS_BASE + 2) +#define V4L2_CID_RDS_RX_PTY (V4L2_CID_FM_RX_CLASS_BASE + 3) +#define V4L2_CID_RDS_RX_PS_NAME (V4L2_CID_FM_RX_CLASS_BASE + 4) +#define V4L2_CID_RDS_RX_RADIO_TEXT (V4L2_CID_FM_RX_CLASS_BASE + 5) +#define V4L2_CID_RDS_RX_TRAFFIC_ANNOUNCEMENT (V4L2_CID_FM_RX_CLASS_BASE + 6) +#define V4L2_CID_RDS_RX_TRAFFIC_PROGRAM (V4L2_CID_FM_RX_CLASS_BASE + 7) +#define V4L2_CID_RDS_RX_MUSIC_SPEECH (V4L2_CID_FM_RX_CLASS_BASE + 8) + +#define V4L2_CID_RF_TUNER_CLASS_BASE (V4L2_CTRL_CLASS_RF_TUNER | 0x900) +#define V4L2_CID_RF_TUNER_CLASS (V4L2_CTRL_CLASS_RF_TUNER | 1) + +#define V4L2_CID_RF_TUNER_BANDWIDTH_AUTO (V4L2_CID_RF_TUNER_CLASS_BASE + 11) +#define V4L2_CID_RF_TUNER_BANDWIDTH (V4L2_CID_RF_TUNER_CLASS_BASE + 12) +#define V4L2_CID_RF_TUNER_RF_GAIN (V4L2_CID_RF_TUNER_CLASS_BASE + 32) +#define V4L2_CID_RF_TUNER_LNA_GAIN_AUTO (V4L2_CID_RF_TUNER_CLASS_BASE + 41) +#define V4L2_CID_RF_TUNER_LNA_GAIN (V4L2_CID_RF_TUNER_CLASS_BASE + 42) +#define V4L2_CID_RF_TUNER_MIXER_GAIN_AUTO (V4L2_CID_RF_TUNER_CLASS_BASE + 51) +#define V4L2_CID_RF_TUNER_MIXER_GAIN (V4L2_CID_RF_TUNER_CLASS_BASE + 52) +#define V4L2_CID_RF_TUNER_IF_GAIN_AUTO (V4L2_CID_RF_TUNER_CLASS_BASE + 61) +#define V4L2_CID_RF_TUNER_IF_GAIN (V4L2_CID_RF_TUNER_CLASS_BASE + 62) +#define V4L2_CID_RF_TUNER_PLL_LOCK (V4L2_CID_RF_TUNER_CLASS_BASE + 91) + + +/* Detection-class control IDs defined by V4L2 */ +#define V4L2_CID_DETECT_CLASS_BASE (V4L2_CTRL_CLASS_DETECT | 0x900) +#define V4L2_CID_DETECT_CLASS (V4L2_CTRL_CLASS_DETECT | 1) + +#define V4L2_CID_DETECT_MD_MODE (V4L2_CID_DETECT_CLASS_BASE + 1) +enum v4l2_detect_md_mode { + V4L2_DETECT_MD_MODE_DISABLED = 0, + V4L2_DETECT_MD_MODE_GLOBAL = 1, + V4L2_DETECT_MD_MODE_THRESHOLD_GRID = 2, + V4L2_DETECT_MD_MODE_REGION_GRID = 3, +}; +#define V4L2_CID_DETECT_MD_GLOBAL_THRESHOLD (V4L2_CID_DETECT_CLASS_BASE + 2) +#define V4L2_CID_DETECT_MD_THRESHOLD_GRID (V4L2_CID_DETECT_CLASS_BASE + 3) +#define V4L2_CID_DETECT_MD_REGION_GRID (V4L2_CID_DETECT_CLASS_BASE + 4) + +#endif diff --git a/third_party/maplibre-native-qt/.gitignore b/third_party/maplibre-native-qt/.gitignore new file mode 100644 index 0000000000..9adc6681c0 --- /dev/null +++ b/third_party/maplibre-native-qt/.gitignore @@ -0,0 +1 @@ +/maplibre/ diff --git a/third_party/maplibre-native-qt/aarch64 b/third_party/maplibre-native-qt/aarch64 new file mode 120000 index 0000000000..062c65e8d9 --- /dev/null +++ b/third_party/maplibre-native-qt/aarch64 @@ -0,0 +1 @@ +larch64/ \ No newline at end of file diff --git a/third_party/maplibre-native-qt/build.sh b/third_party/maplibre-native-qt/build.sh new file mode 100755 index 0000000000..216ff4b626 --- /dev/null +++ b/third_party/maplibre-native-qt/build.sh @@ -0,0 +1,47 @@ +#!/usr/bin/env bash +set -e + +DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" + +ARCHNAME=$(uname -m) +MAPLIBRE_FLAGS="-DMLN_QT_WITH_LOCATION=OFF" +if [ -f /TICI ]; then + ARCHNAME="larch64" + #MAPLIBRE_FLAGS="$MAPLIBRE_FLAGS -DCMAKE_SYSTEM_NAME=Android -DANDROID_ABI=arm64-v8a" +fi + +if [[ "$(uname)" == "Darwin" ]]; then + # We are on macOS, set ARCHNAME to "darwin" + export ARCHNAME="darwin" + echo "Running on macOS, ARCHNAME set to $ARCHNAME" +fi + +cd $DIR +if [ ! -d maplibre ]; then + git clone --single-branch https://github.com/maplibre/maplibre-native-qt.git $DIR/maplibre +fi + +cd maplibre +git checkout 3726266e127c1f94ad64837c9dbe03d238255816 +git submodule update --depth=1 --recursive --init + +# build +mkdir -p build +cd build +cmake $MAPLIBRE_FLAGS $DIR/maplibre +make -j$(nproc) + +INSTALL_DIR="$DIR/$ARCHNAME" +rm -rf $INSTALL_DIR +mkdir -p $INSTALL_DIR + +rm -rf $DIR/include +mkdir -p $INSTALL_DIR/lib $INSTALL_DIR/include $DIR/include +cp -r $DIR/maplibre/build/src/core/include/* $INSTALL_DIR/include +cp -r $DIR/maplibre/src/**/*.hpp $DIR/include + +if [[ "${ARCHNAME}" == "darwin" ]]; then + cp -r $DIR/maplibre/build/src/core/QMapLibre.framework $INSTALL_DIR/lib/QMapLibre.framework +else + cp -r $DIR/maplibre/build/src/core/*.so* $INSTALL_DIR/lib/ +fi diff --git a/third_party/maplibre-native-qt/include/conversion_p.hpp b/third_party/maplibre-native-qt/include/conversion_p.hpp new file mode 100644 index 0000000000..38b03d498e --- /dev/null +++ b/third_party/maplibre-native-qt/include/conversion_p.hpp @@ -0,0 +1,241 @@ +// Copyright (C) 2023 MapLibre contributors +// Copyright (C) 2018 Mapbox, Inc. + +// SPDX-License-Identifier: BSD-2-Clause + +#pragma once + +#include "geojson_p.hpp" +#include "types.hpp" + +#include +#include + +#include +#include + +#include + +namespace mbgl::style::conversion { + +std::string convertColor(const QColor &color); + +template <> +class ConversionTraits { +public: + static bool isUndefined(const QVariant &value) { return value.isNull() || !value.isValid(); } + + static bool isArray(const QVariant &value) { +#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0) + return QMetaType::canConvert(value.metaType(), QMetaType(QMetaType::QVariantList)); +#else + return value.canConvert(QVariant::List); +#endif + } + + static std::size_t arrayLength(const QVariant &value) { return value.toList().size(); } + + static QVariant arrayMember(const QVariant &value, std::size_t i) { return value.toList()[static_cast(i)]; } + + static bool isObject(const QVariant &value) { +#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0) + return QMetaType::canConvert(value.metaType(), QMetaType(QMetaType::QVariantMap)) || + value.typeId() == QMetaType::QByteArray +#else + return value.canConvert(QVariant::Map) || value.type() == QVariant::ByteArray +#endif + || QString(value.typeName()) == QStringLiteral("QMapLibre::Feature") || + value.userType() == qMetaTypeId>() || + value.userType() == qMetaTypeId>() || + value.userType() == qMetaTypeId>(); + } + + static std::optional objectMember(const QVariant &value, const char *key) { + auto map = value.toMap(); + auto iter = map.constFind(key); + + if (iter != map.constEnd()) { + return iter.value(); + } + + return {}; + } + + template + static std::optional eachMember(const QVariant &value, Fn &&fn) { + auto map = value.toMap(); + auto iter = map.constBegin(); + + while (iter != map.constEnd()) { + std::optional result = fn(iter.key().toStdString(), QVariant(iter.value())); + if (result) { + return result; + } + + ++iter; + } + + return {}; + } + + static std::optional toBool(const QVariant &value) { +#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0) + if (value.typeId() == QMetaType::Bool) { +#else + if (value.type() == QVariant::Bool) { +#endif + return value.toBool(); + } + + return {}; + } + + static std::optional toNumber(const QVariant &value) { +#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0) + if (value.typeId() == QMetaType::Int || value.typeId() == QMetaType::Double || + value.typeId() == QMetaType::Long || value.typeId() == QMetaType::LongLong || + value.typeId() == QMetaType::ULong || value.typeId() == QMetaType::ULongLong) { +#else + if (value.type() == QVariant::Int || value.type() == QVariant::Double || value.type() == QVariant::LongLong || + value.type() == QVariant::ULongLong) { +#endif + return value.toFloat(); + } + + return {}; + } + + static std::optional toDouble(const QVariant &value) { +#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0) + if (value.typeId() == QMetaType::Int || value.typeId() == QMetaType::Double || + value.typeId() == QMetaType::Long || value.typeId() == QMetaType::LongLong || + value.typeId() == QMetaType::ULong || value.typeId() == QMetaType::ULongLong) { +#else + if (value.type() == QVariant::Int || value.type() == QVariant::Double || value.type() == QVariant::LongLong || + value.type() == QVariant::ULongLong) { +#endif + return value.toDouble(); + } + + return {}; + } + + static std::optional toString(const QVariant &value) { +#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0) + if (value.typeId() == QMetaType::QString) { + return value.toString().toStdString(); + } + + if (value.typeId() == QMetaType::QColor) { + return convertColor(value.value()); + } +#else + if (value.type() == QVariant::String) { + return value.toString().toStdString(); + } + + if (value.type() == QVariant::Color) { + return convertColor(value.value()); + } +#endif + return {}; + } + + static std::optional toValue(const QVariant &value) { +#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0) + if (value.typeId() == QMetaType::Bool) { + return {value.toBool()}; + } + + if (value.typeId() == QMetaType::QString) { + return {value.toString().toStdString()}; + } + + if (value.typeId() == QMetaType::QColor) { + return {convertColor(value.value())}; + } + + if (value.typeId() == QMetaType::Int) { + return {static_cast(value.toInt())}; + } + + if (QMetaType::canConvert(value.metaType(), QMetaType(QMetaType::Double))) { + return {value.toDouble()}; + } +#else + if (value.type() == QVariant::Bool) { + return {value.toBool()}; + } + + if (value.type() == QVariant::String) { + return {value.toString().toStdString()}; + } + + if (value.type() == QVariant::Color) { + return {convertColor(value.value())}; + } + + if (value.type() == QVariant::Int) { + return {static_cast(value.toInt())}; + } + + if (value.canConvert(QVariant::Double)) { + return {value.toDouble()}; + } +#endif + return {}; + } + + static std::optional toGeoJSON(const QVariant &value, Error &error) { + if (value.typeName() == QStringLiteral("QMapLibre::Feature")) { + return GeoJSON{QMapLibre::GeoJSON::asFeature(value.value())}; + } + + if (value.userType() == qMetaTypeId>()) { + return featureCollectionToGeoJSON(value.value>()); + } + + if (value.userType() == qMetaTypeId>()) { + return featureCollectionToGeoJSON(value.value>()); + } + + if (value.userType() == qMetaTypeId>()) { + return featureCollectionToGeoJSON(value.value>()); + } + +#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0) + if (value.typeId() != QMetaType::QByteArray) { +#else + if (value.type() != QVariant::ByteArray) { +#endif + error = {"JSON data must be in QByteArray"}; + return {}; + } + + const QByteArray data = value.toByteArray(); + return parseGeoJSON(std::string(data.constData(), data.size()), error); + } + +private: + template + static GeoJSON featureCollectionToGeoJSON(const T &features) { + mapbox::feature::feature_collection collection; + collection.reserve(static_cast(features.size())); + for (const auto &feature : features) { + collection.push_back(QMapLibre::GeoJSON::asFeature(feature)); + } + return GeoJSON{std::move(collection)}; + } +}; + +template +std::optional convert(const QVariant &value, Error &error, Args &&...args) { + return convert(Convertible(value), error, std::forward(args)...); +} + +inline std::string convertColor(const QColor &color) { + return QString::asprintf("rgba(%d,%d,%d,%lf)", color.red(), color.green(), color.blue(), color.alphaF()) + .toStdString(); +} + +} // namespace mbgl::style::conversion diff --git a/third_party/maplibre-native-qt/include/export_core.hpp b/third_party/maplibre-native-qt/include/export_core.hpp new file mode 100644 index 0000000000..bd5ad495db --- /dev/null +++ b/third_party/maplibre-native-qt/include/export_core.hpp @@ -0,0 +1,20 @@ +// Copyright (C) 2023 MapLibre contributors + +// SPDX-License-Identifier: BSD-2-Clause + +#ifndef QMAPLIBRE_CORE_EXPORT_H +#define QMAPLIBRE_CORE_EXPORT_H + +#include + +#if !defined(QT_MAPLIBRE_STATIC) +#if defined(QT_BUILD_MAPLIBRE_CORE_LIB) +#define Q_MAPLIBRE_CORE_EXPORT Q_DECL_EXPORT +#else +#define Q_MAPLIBRE_CORE_EXPORT Q_DECL_IMPORT +#endif +#else +#define Q_MAPLIBRE_CORE_EXPORT +#endif + +#endif // QMAPLIBRE_CORE_EXPORT_H diff --git a/third_party/maplibre-native-qt/include/export_location.hpp b/third_party/maplibre-native-qt/include/export_location.hpp new file mode 100644 index 0000000000..a986346884 --- /dev/null +++ b/third_party/maplibre-native-qt/include/export_location.hpp @@ -0,0 +1,20 @@ +// Copyright (C) 2023 MapLibre contributors + +// SPDX-License-Identifier: BSD-2-Clause + +#ifndef QMAPLIBRE_LOCATION_EXPORT_H +#define QMAPLIBRE_LOCATION_EXPORT_H + +#include + +#if !defined(QT_MAPLIBRE_STATIC) +#if defined(QT_BUILD_MAPLIBRE_LOCATION_LIB) +#define Q_MAPLIBRE_LOCATION_EXPORT Q_DECL_EXPORT +#else +#define Q_MAPLIBRE_LOCATION_EXPORT Q_DECL_IMPORT +#endif +#else +#define Q_MAPLIBRE_LOCATION_EXPORT +#endif + +#endif // QMAPLIBRE_LOCATION_EXPORT_H diff --git a/third_party/maplibre-native-qt/include/export_widgets.hpp b/third_party/maplibre-native-qt/include/export_widgets.hpp new file mode 100644 index 0000000000..11bc288190 --- /dev/null +++ b/third_party/maplibre-native-qt/include/export_widgets.hpp @@ -0,0 +1,20 @@ +// Copyright (C) 2023 MapLibre contributors + +// SPDX-License-Identifier: BSD-2-Clause + +#ifndef QMAPLIBRE_WIDGETS_EXPORT_H +#define QMAPLIBRE_WIDGETS_EXPORT_H + +#include + +#if !defined(QT_MAPLIBRE_STATIC) +#if defined(QT_BUILD_MAPLIBRE_WIDGETS_LIB) +#define Q_MAPLIBRE_WIDGETS_EXPORT Q_DECL_EXPORT +#else +#define Q_MAPLIBRE_WIDGETS_EXPORT Q_DECL_IMPORT +#endif +#else +#define Q_MAPLIBRE_WIDGETS_EXPORT +#endif + +#endif // QMAPLIBRE_WIDGETS_EXPORT_H diff --git a/third_party/maplibre-native-qt/include/geojson_p.hpp b/third_party/maplibre-native-qt/include/geojson_p.hpp new file mode 100644 index 0000000000..8387f70c4b --- /dev/null +++ b/third_party/maplibre-native-qt/include/geojson_p.hpp @@ -0,0 +1,30 @@ +// Copyright (C) 2023 MapLibre contributors +// Copyright (C) 2019 Mapbox, Inc. + +// SPDX-License-Identifier: BSD-2-Clause + +#pragma once + +#include "types.hpp" + +#include +#include +#include + +#include + +#include + +namespace QMapLibre::GeoJSON { + +mbgl::Point asPoint(const Coordinate &coordinate); +mbgl::MultiPoint asMultiPoint(const Coordinates &multiPoint); +mbgl::LineString asLineString(const Coordinates &lineString); +mbgl::MultiLineString asMultiLineString(const CoordinatesCollection &multiLineString); +mbgl::Polygon asPolygon(const CoordinatesCollection &polygon); +mbgl::MultiPolygon asMultiPolygon(const CoordinatesCollections &multiPolygon); +mbgl::Value asPropertyValue(const QVariant &value); +mbgl::FeatureIdentifier asFeatureIdentifier(const QVariant &id); +mbgl::GeoJSONFeature asFeature(const Feature &feature); + +} // namespace QMapLibre::GeoJSON diff --git a/third_party/maplibre-native-qt/include/gl_widget.hpp b/third_party/maplibre-native-qt/include/gl_widget.hpp new file mode 100644 index 0000000000..b2630daea7 --- /dev/null +++ b/third_party/maplibre-native-qt/include/gl_widget.hpp @@ -0,0 +1,56 @@ +// Copyright (C) 2023 MapLibre contributors + +// SPDX-License-Identifier: BSD-2-Clause + +#ifndef QMAPLIBRE_GL_WIDGET_H +#define QMAPLIBRE_GL_WIDGET_H + +#include + +#include +#include + +#include + +#include + +QT_BEGIN_NAMESPACE + +class QKeyEvent; +class QMouseEvent; +class QWheelEvent; + +QT_END_NAMESPACE + +namespace QMapLibre { + +class GLWidgetPrivate; + +class Q_MAPLIBRE_WIDGETS_EXPORT GLWidget : public QOpenGLWidget { + Q_OBJECT + +public: + explicit GLWidget(const Settings &); + ~GLWidget() override; + + Map *map(); + +protected: + // QWidget implementation. + void mousePressEvent(QMouseEvent *event) override; + void mouseMoveEvent(QMouseEvent *event) override; + void wheelEvent(QWheelEvent *event) override; + + // Q{,Open}GLWidget implementation. + void initializeGL() override; + void paintGL() override; + +private: + Q_DISABLE_COPY(GLWidget) + + std::unique_ptr d_ptr; +}; + +} // namespace QMapLibre + +#endif // QMAPLIBRE_GL_WIDGET_H diff --git a/third_party/maplibre-native-qt/include/gl_widget_p.hpp b/third_party/maplibre-native-qt/include/gl_widget_p.hpp new file mode 100644 index 0000000000..c97781fd29 --- /dev/null +++ b/third_party/maplibre-native-qt/include/gl_widget_p.hpp @@ -0,0 +1,42 @@ +// Copyright (C) 2023 MapLibre contributors + +// SPDX-License-Identifier: BSD-2-Clause + +#pragma once + +#include +#include + +#include + +QT_BEGIN_NAMESPACE + +class QKeyEvent; +class QMouseEvent; +class QWheelEvent; + +QT_END_NAMESPACE + +namespace QMapLibre { + +class GLWidgetPrivate : public QObject { + Q_OBJECT + +public: + explicit GLWidgetPrivate(QObject *parent, Settings settings); + ~GLWidgetPrivate() override; + + void handleMousePressEvent(QMouseEvent *event); + void handleMouseMoveEvent(QMouseEvent *event); + void handleWheelEvent(QWheelEvent *event) const; + + std::unique_ptr m_map{}; + Settings m_settings; + +private: + Q_DISABLE_COPY(GLWidgetPrivate); + + QPointF m_lastPos; +}; + +} // namespace QMapLibre diff --git a/third_party/maplibre-native-qt/include/map.hpp b/third_party/maplibre-native-qt/include/map.hpp new file mode 100644 index 0000000000..cd56996185 --- /dev/null +++ b/third_party/maplibre-native-qt/include/map.hpp @@ -0,0 +1,205 @@ +// Copyright (C) 2023 MapLibre contributors +// Copyright (C) 2019 Mapbox, Inc. + +// SPDX-License-Identifier: BSD-2-Clause + +#ifndef QMAPLIBRE_MAP_H +#define QMAPLIBRE_MAP_H + +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +namespace QMapLibre { + +class MapPrivate; + +class Q_MAPLIBRE_CORE_EXPORT Map : public QObject { + Q_OBJECT + Q_PROPERTY(double latitude READ latitude WRITE setLatitude) + Q_PROPERTY(double longitude READ longitude WRITE setLongitude) + Q_PROPERTY(double zoom READ zoom WRITE setZoom) + Q_PROPERTY(double bearing READ bearing WRITE setBearing) + Q_PROPERTY(double pitch READ pitch WRITE setPitch) + Q_PROPERTY(QString styleJson READ styleJson WRITE setStyleJson) + Q_PROPERTY(QString styleUrl READ styleUrl WRITE setStyleUrl) + Q_PROPERTY(double scale READ scale WRITE setScale) + Q_PROPERTY(QMapLibre::Coordinate coordinate READ coordinate WRITE setCoordinate) + Q_PROPERTY(QMargins margins READ margins WRITE setMargins) + +public: + enum MapChange { + MapChangeRegionWillChange = 0, + MapChangeRegionWillChangeAnimated, + MapChangeRegionIsChanging, + MapChangeRegionDidChange, + MapChangeRegionDidChangeAnimated, + MapChangeWillStartLoadingMap, + MapChangeDidFinishLoadingMap, + MapChangeDidFailLoadingMap, + MapChangeWillStartRenderingFrame, + MapChangeDidFinishRenderingFrame, + MapChangeDidFinishRenderingFrameFullyRendered, + MapChangeWillStartRenderingMap, + MapChangeDidFinishRenderingMap, + MapChangeDidFinishRenderingMapFullyRendered, + MapChangeDidFinishLoadingStyle, + MapChangeSourceDidChange + }; + + enum MapLoadingFailure { + StyleParseFailure, + StyleLoadFailure, + NotFoundFailure, + UnknownFailure + }; + + // Determines the orientation of the map. + enum NorthOrientation { + NorthUpwards, // Default + NorthRightwards, + NorthDownwards, + NorthLeftwards, + }; + + explicit Map(QObject *parent = nullptr, + const Settings &settings = Settings(), + const QSize &size = QSize(), + qreal pixelRatio = 1); + ~Map() override; + + [[nodiscard]] QString styleJson() const; + [[nodiscard]] QString styleUrl() const; + + void setStyleJson(const QString &); + void setStyleUrl(const QString &); + + [[nodiscard]] double latitude() const; + void setLatitude(double latitude); + + [[nodiscard]] double longitude() const; + void setLongitude(double longitude); + + [[nodiscard]] double scale() const; + void setScale(double scale, const QPointF ¢er = QPointF()); + + [[nodiscard]] double zoom() const; + void setZoom(double zoom); + + [[nodiscard]] double minimumZoom() const; + [[nodiscard]] double maximumZoom() const; + + [[nodiscard]] double bearing() const; + void setBearing(double degrees); + void setBearing(double degrees, const QPointF ¢er); + + [[nodiscard]] double pitch() const; + void setPitch(double pitch); + void pitchBy(double pitch); + + [[nodiscard]] NorthOrientation northOrientation() const; + void setNorthOrientation(NorthOrientation); + + [[nodiscard]] Coordinate coordinate() const; + void setCoordinate(const Coordinate &coordinate); + void setCoordinateZoom(const Coordinate &coordinate, double zoom); + + void jumpTo(const CameraOptions &); + + void setGestureInProgress(bool inProgress); + + void setTransitionOptions(qint64 duration, qint64 delay = 0); + + void addAnnotationIcon(const QString &name, const QImage &sprite); + + AnnotationID addAnnotation(const Annotation &annotation); + void updateAnnotation(AnnotationID id, const Annotation &annotation); + void removeAnnotation(AnnotationID id); + + bool setLayoutProperty(const QString &layerId, const QString &propertyName, const QVariant &value); + bool setPaintProperty(const QString &layerId, const QString &propertyName, const QVariant &value); + + [[nodiscard]] bool isFullyLoaded() const; + + void moveBy(const QPointF &offset); + void scaleBy(double scale, const QPointF ¢er = QPointF()); + void rotateBy(const QPointF &first, const QPointF &second); + + void resize(const QSize &size); + + [[nodiscard]] QPointF pixelForCoordinate(const Coordinate &coordinate) const; + [[nodiscard]] Coordinate coordinateForPixel(const QPointF &pixel) const; + + [[nodiscard]] CoordinateZoom coordinateZoomForBounds(const Coordinate &sw, const Coordinate &ne) const; + [[nodiscard]] CoordinateZoom coordinateZoomForBounds(const Coordinate &sw, + const Coordinate &ne, + double bearing, + double pitch); + + void setMargins(const QMargins &margins); + [[nodiscard]] QMargins margins() const; + + void addSource(const QString &id, const QVariantMap ¶ms); + bool sourceExists(const QString &id); + void updateSource(const QString &id, const QVariantMap ¶ms); + void removeSource(const QString &id); + + void addImage(const QString &id, const QImage &sprite); + void removeImage(const QString &id); + + void addCustomLayer(const QString &id, + std::unique_ptr host, + const QString &before = QString()); + void addLayer(const QString &id, const QVariantMap ¶ms, const QString &before = QString()); + bool layerExists(const QString &id); + void removeLayer(const QString &id); + + [[nodiscard]] QVector layerIds() const; + + void setFilter(const QString &layerId, const QVariant &filter); + [[nodiscard]] QVariant getFilter(const QString &layerId) const; + // When rendering on a different thread, + // should be called on the render thread. + void createRenderer(); + void destroyRenderer(); + void setFramebufferObject(quint32 fbo, const QSize &size); + +public slots: + void render(); + void setConnectionEstablished(); + + // Commit changes, load all the resources + // and renders the map when completed. + void startStaticRender(); + +signals: + void needsRendering(); + void mapChanged(Map::MapChange); + void mapLoadingFailed(Map::MapLoadingFailure, const QString &reason); + void copyrightsChanged(const QString ©rightsHtml); + + void staticRenderFinished(const QString &error); + +private: + Q_DISABLE_COPY(Map) + + std::unique_ptr d_ptr; +}; + +} // namespace QMapLibre + +Q_DECLARE_METATYPE(QMapLibre::Map::MapChange); +Q_DECLARE_METATYPE(QMapLibre::Map::MapLoadingFailure); + +#endif // QMAPLIBRE_MAP_H diff --git a/third_party/maplibre-native-qt/include/map_observer_p.hpp b/third_party/maplibre-native-qt/include/map_observer_p.hpp new file mode 100644 index 0000000000..e68c72b17b --- /dev/null +++ b/third_party/maplibre-native-qt/include/map_observer_p.hpp @@ -0,0 +1,54 @@ +// Copyright (C) 2023 MapLibre contributors +// Copyright (C) 2019 Mapbox, Inc. + +// SPDX-License-Identifier: BSD-2-Clause + +#pragma once + +#include "map.hpp" + +#include +#include + +#include + +#include +#include + +namespace QMapLibre { + +class MapPrivate; + +class MapObserver : public QObject, public mbgl::MapObserver { + Q_OBJECT + +public: + explicit MapObserver(MapPrivate *ptr); + ~MapObserver() override; + + // mbgl::MapObserver implementation. + void onCameraWillChange(mbgl::MapObserver::CameraChangeMode mode) final; + void onCameraIsChanging() final; + void onCameraDidChange(mbgl::MapObserver::CameraChangeMode mode) final; + void onWillStartLoadingMap() final; + void onDidFinishLoadingMap() final; + void onDidFailLoadingMap(mbgl::MapLoadError error, const std::string &what) final; + void onWillStartRenderingFrame() final; + void onDidFinishRenderingFrame(mbgl::MapObserver::RenderFrameStatus status) final; + void onWillStartRenderingMap() final; + void onDidFinishRenderingMap(mbgl::MapObserver::RenderMode mode) final; + void onDidFinishLoadingStyle() final; + void onSourceChanged(mbgl::style::Source &source) final; + +signals: + void mapChanged(Map::MapChange); + void mapLoadingFailed(Map::MapLoadingFailure, const QString &reason); + void copyrightsChanged(const QString ©rightsHtml); + +private: + Q_DISABLE_COPY(MapObserver) + + MapPrivate *d_ptrRef; +}; + +} // namespace QMapLibre diff --git a/third_party/maplibre-native-qt/include/map_p.hpp b/third_party/maplibre-native-qt/include/map_p.hpp new file mode 100644 index 0000000000..9ca0c7e6f5 --- /dev/null +++ b/third_party/maplibre-native-qt/include/map_p.hpp @@ -0,0 +1,79 @@ +// Copyright (C) 2023 MapLibre contributors +// Copyright (C) 2019 Mapbox, Inc. + +// SPDX-License-Identifier: BSD-2-Clause + +#pragma once + +#include "map.hpp" +#include "map_observer_p.hpp" +#include "map_renderer_p.hpp" + +#include +#include +#include +#include +#include + +#include +#include + +#include +#include + +namespace QMapLibre { + +class MapPrivate : public QObject, public mbgl::RendererFrontend { + Q_OBJECT + +public: + explicit MapPrivate(Map *map, const Settings &settings, const QSize &size, qreal pixelRatio); + ~MapPrivate() override; + + // mbgl::RendererFrontend implementation. + void reset() final {} + void setObserver(mbgl::RendererObserver &observer) final; + void update(std::shared_ptr parameters) final; + + // These need to be called on the same thread. + void createRenderer(); + void destroyRenderer(); + void render(); + void setFramebufferObject(quint32 fbo, const QSize &size); + + using PropertySetter = std::optional (mbgl::style::Layer::*)( + const std::string &, const mbgl::style::conversion::Convertible &); + [[nodiscard]] bool setProperty(const PropertySetter &setter, + const QString &layerId, + const QString &name, + const QVariant &value) const; + + mbgl::EdgeInsets margins; + std::unique_ptr mapObj{}; + +public slots: + void requestRendering(); + +signals: + void needsRendering(); + +private: + Q_DISABLE_COPY(MapPrivate) + + std::recursive_mutex m_mapRendererMutex; + std::shared_ptr m_rendererObserver{}; + std::shared_ptr m_updateParameters{}; + + std::unique_ptr m_mapObserver{}; + std::unique_ptr m_mapRenderer{}; + std::unique_ptr> m_resourceTransform{}; + + Settings::GLContextMode m_mode; + qreal m_pixelRatio; + + QString m_localFontFamily; + + std::atomic_flag m_renderQueued = ATOMIC_FLAG_INIT; +}; + +} // namespace QMapLibre diff --git a/third_party/maplibre-native-qt/include/map_renderer_p.hpp b/third_party/maplibre-native-qt/include/map_renderer_p.hpp new file mode 100644 index 0000000000..b9a087c392 --- /dev/null +++ b/third_party/maplibre-native-qt/include/map_renderer_p.hpp @@ -0,0 +1,63 @@ +// Copyright (C) 2023 MapLibre contributors +// Copyright (C) 2019 Mapbox, Inc. + +// SPDX-License-Identifier: BSD-2-Clause + +#pragma once + +#include "settings.hpp" + +#include "utils/renderer_backend.hpp" + +#include +#include +#include + +#include + +#include + +#include +#include + +namespace mbgl { +class Renderer; +class UpdateParameters; +} // namespace mbgl + +namespace QMapLibre { + +class RendererBackend; + +class MapRenderer : public QObject { + Q_OBJECT + +public: + MapRenderer(qreal pixelRatio, Settings::GLContextMode, const QString &localFontFamily); + ~MapRenderer() override; + + void render(); + void updateFramebuffer(quint32 fbo, const mbgl::Size &size); + void setObserver(mbgl::RendererObserver *observer); + + // Thread-safe, called by the Frontend + void updateParameters(std::shared_ptr parameters); + +signals: + void needsRendering(); + +private: + MBGL_STORE_THREAD(tid) + + Q_DISABLE_COPY(MapRenderer) + + std::mutex m_updateMutex; + std::shared_ptr m_updateParameters; + + RendererBackend m_backend; + std::unique_ptr m_renderer{}; + + bool m_forceScheduler{}; +}; + +} // namespace QMapLibre diff --git a/third_party/maplibre-native-qt/include/qgeomap.hpp b/third_party/maplibre-native-qt/include/qgeomap.hpp new file mode 100644 index 0000000000..5eb0180503 --- /dev/null +++ b/third_party/maplibre-native-qt/include/qgeomap.hpp @@ -0,0 +1,54 @@ +// Copyright (C) 2023 MapLibre contributors +// Copyright (C) 2017 The Qt Company Ltd. +// Copyright (C) 2017 Mapbox, Inc. + +// SPDX-License-Identifier: LGPL-3.0-only OR GPL-2.0-only OR GPL-3.0-only + +#pragma once + +#include "export_location.hpp" + +#include +#include + +#include + +namespace QMapLibre { + +class QGeoMapMapLibrePrivate; + +class Q_MAPLIBRE_LOCATION_EXPORT QGeoMapMapLibre : public QGeoMap { + Q_OBJECT + Q_DECLARE_PRIVATE(QGeoMapMapLibre) + +public: + explicit QGeoMapMapLibre(QGeoMappingManagerEngine *engine, QObject *parent = nullptr); + ~QGeoMapMapLibre() override; + + [[nodiscard]] Capabilities capabilities() const override; + + void setSettings(const Settings &settings); + void setMapItemsBefore(const QString &mapItemsBefore); + + void addStyleParameter(StyleParameter *parameter); + void removeStyleParameter(StyleParameter *parameter); + void clearStyleParameters(); + +private Q_SLOTS: + // QMapLibre + void onMapChanged(Map::MapChange); + + // QDeclarativeGeoMapItemBase + void onMapItemPropertyChanged(); + void onMapItemSubPropertyChanged(); + void onMapItemUnsupportedPropertyChanged(); + void onMapItemGeometryChanged(); + + // StyleParameter + void onStyleParameterUpdated(StyleParameter *parameter); + +private: + QSGNode *updateSceneGraph(QSGNode *oldNode, QQuickWindow *window) override; +}; + +} // namespace QMapLibre diff --git a/third_party/maplibre-native-qt/include/qgeomap_p.hpp b/third_party/maplibre-native-qt/include/qgeomap_p.hpp new file mode 100644 index 0000000000..ce415d9bcf --- /dev/null +++ b/third_party/maplibre-native-qt/include/qgeomap_p.hpp @@ -0,0 +1,93 @@ +// Copyright (C) 2023 MapLibre contributors +// Copyright (C) 2017 The Qt Company Ltd. +// Copyright (C) 2017 Mapbox, Inc. + +// SPDX-License-Identifier: LGPL-3.0-only OR GPL-2.0-only OR GPL-3.0-only + +#pragma once + +#include "qgeomap.hpp" + +#include +#include + +#include + +#include +#include +#include +#include +#include +#include + +namespace QMapLibre { + +class Map; +class StyleChange; + +class QGeoMapMapLibrePrivate : public QGeoMapPrivate { + Q_DECLARE_PUBLIC(QGeoMapMapLibre) + +public: + explicit QGeoMapMapLibrePrivate(QGeoMappingManagerEngine *engine); + ~QGeoMapMapLibrePrivate() override; + + QSGNode *updateSceneGraph(QSGNode *oldNode, QQuickWindow *window); + + QGeoMap::ItemTypes supportedMapItemTypes() const override; + void addMapItem(QDeclarativeGeoMapItemBase *item) override; + void removeMapItem(QDeclarativeGeoMapItemBase *item) override; + + void addStyleParameter(StyleParameter *parameter); + void removeStyleParameter(StyleParameter *parameter); + void clearStyleParameters(); + + /* Data members */ + enum SyncState : int { + NoSync = 0, + ViewportSync = 1 << 0, + CameraDataSync = 1 << 1, + MapTypeSync = 1 << 2, + VisibleAreaSync = 1 << 3 + }; + Q_DECLARE_FLAGS(SyncStates, SyncState); + + Settings m_settings; + QString m_mapItemsBefore; + + QList m_mapParameters; + + QTimer m_refresh; + bool m_shouldRefresh = true; + bool m_warned = false; + bool m_threadedRendering = false; + bool m_styleLoaded = false; + + SyncStates m_syncState = NoSync; + + std::vector> m_styleChanges; + +protected: + void changeViewportSize(const QSize &size) override; + void changeCameraData(const QGeoCameraData &data) override; +#if QT_VERSION >= QT_VERSION_CHECK(6, 5, 0) + void changeActiveMapType(const QGeoMapType &mapType) override; +#else + void changeActiveMapType(const QGeoMapType mapType) override; +#endif + + void setVisibleArea(const QRectF &visibleArea) override; + QRectF visibleArea() const override; + +private: + Q_DISABLE_COPY(QGeoMapMapLibrePrivate); + + void syncStyleChanges(Map *map); + void threadedRenderingHack(QQuickWindow *window, Map *map); + + QRectF m_visibleArea; +}; + +Q_DECLARE_OPERATORS_FOR_FLAGS(QGeoMapMapLibrePrivate::SyncStates) + +} // namespace QMapLibre diff --git a/third_party/maplibre-native-qt/include/qmaplibre.hpp b/third_party/maplibre-native-qt/include/qmaplibre.hpp new file mode 100644 index 0000000000..a8dc445e2b --- /dev/null +++ b/third_party/maplibre-native-qt/include/qmaplibre.hpp @@ -0,0 +1,9 @@ +// Copyright (C) 2023 MapLibre contributors + +// SPDX-License-Identifier: BSD-2-Clause + +#include "export_core.hpp" +#include "map.hpp" +#include "settings.hpp" +#include "types.hpp" +#include "utils.hpp" diff --git a/third_party/maplibre-native-qt/include/qmaplibrewidgets.hpp b/third_party/maplibre-native-qt/include/qmaplibrewidgets.hpp new file mode 100644 index 0000000000..ebe9a8eea4 --- /dev/null +++ b/third_party/maplibre-native-qt/include/qmaplibrewidgets.hpp @@ -0,0 +1,6 @@ +// Copyright (C) 2023 MapLibre contributors + +// SPDX-License-Identifier: BSD-2-Clause + +#include "export_widgets.hpp" +#include "gl_widget.hpp" diff --git a/third_party/maplibre-native-qt/include/qt_mapping_engine.hpp b/third_party/maplibre-native-qt/include/qt_mapping_engine.hpp new file mode 100644 index 0000000000..67cb4b56ce --- /dev/null +++ b/third_party/maplibre-native-qt/include/qt_mapping_engine.hpp @@ -0,0 +1,31 @@ +// Copyright (C) 2023 MapLibre contributors +// Copyright (C) 2017 The Qt Company Ltd. +// Copyright (C) 2017 Mapbox, Inc. + +// SPDX-License-Identifier: LGPL-3.0-only OR GPL-2.0-only OR GPL-3.0-only + +#pragma once + +#include "export_location.hpp" + +#include + +#include +#include + +namespace QMapLibre { + +class Q_MAPLIBRE_LOCATION_EXPORT QtMappingEngine : public QGeoMappingManagerEngine { + Q_OBJECT + +public: + QtMappingEngine(const QVariantMap ¶meters, QGeoServiceProvider::Error *error, QString *errorString); + + QGeoMap *createMap() override; + +private: + Settings m_settings; + QString m_mapItemsBefore; +}; + +} // namespace QMapLibre diff --git a/third_party/maplibre-native-qt/include/settings.hpp b/third_party/maplibre-native-qt/include/settings.hpp new file mode 100644 index 0000000000..d6f88b871b --- /dev/null +++ b/third_party/maplibre-native-qt/include/settings.hpp @@ -0,0 +1,125 @@ +// Copyright (C) 2023 MapLibre contributors +// Copyright (C) 2019 Mapbox, Inc. + +// SPDX-License-Identifier: BSD-2-Clause + +#ifndef QMAPLIBRE_SETTINGS_H +#define QMAPLIBRE_SETTINGS_H + +#include +#include + +#include +#include + +#include +#include + +// TODO: this will be wrapped at some point +namespace mbgl { +class TileServerOptions; +} // namespace mbgl + +namespace QMapLibre { + +class SettingsPrivate; + +class Q_MAPLIBRE_CORE_EXPORT Settings { +public: + enum GLContextMode : bool { + UniqueGLContext, + SharedGLContext + }; + + enum MapMode { + Continuous = 0, + Static + }; + + enum ConstrainMode { + NoConstrain = 0, + ConstrainHeightOnly, + ConstrainWidthAndHeight + }; + + enum ViewportMode { + DefaultViewport = 0, + FlippedYViewport + }; + + enum ProviderTemplate { + NoProvider = 0, + MapLibreProvider, + MapTilerProvider, + MapboxProvider + }; + + using ResourceTransformFunction = std::function; + + explicit Settings(ProviderTemplate provider = NoProvider); + ~Settings(); + Settings(const Settings &s); + Settings(Settings &&s) noexcept; + Settings &operator=(const Settings &s); + Settings &operator=(Settings &&s) noexcept; + + [[nodiscard]] GLContextMode contextMode() const; + void setContextMode(GLContextMode); + + [[nodiscard]] MapMode mapMode() const; + void setMapMode(MapMode); + + [[nodiscard]] ConstrainMode constrainMode() const; + void setConstrainMode(ConstrainMode); + + [[nodiscard]] ViewportMode viewportMode() const; + void setViewportMode(ViewportMode); + + [[nodiscard]] unsigned cacheDatabaseMaximumSize() const; + void setCacheDatabaseMaximumSize(unsigned); + + [[nodiscard]] QString cacheDatabasePath() const; + void setCacheDatabasePath(const QString &path); + + [[nodiscard]] QString assetPath() const; + void setAssetPath(const QString &path); + + [[nodiscard]] QString apiKey() const; + void setApiKey(const QString &key); + + [[nodiscard]] QString apiBaseUrl() const; + void setApiBaseUrl(const QString &url); + + [[nodiscard]] QString localFontFamily() const; + void setLocalFontFamily(const QString &family); + + [[nodiscard]] QString clientName() const; + void setClientName(const QString &name); + + [[nodiscard]] QString clientVersion() const; + void setClientVersion(const QString &version); + + [[nodiscard]] ResourceTransformFunction resourceTransform() const; + void setResourceTransform(const ResourceTransformFunction &transform); + + void setProviderTemplate(ProviderTemplate providerTemplate); + void setStyles(const Styles &styles); + + [[nodiscard]] const Styles &styles() const; + [[nodiscard]] Styles providerStyles() const; + + [[nodiscard]] Coordinate defaultCoordinate() const; + void setDefaultCoordinate(const Coordinate &coordinate); + [[nodiscard]] double defaultZoom() const; + void setDefaultZoom(double zoom); + + [[nodiscard]] bool customTileServerOptions() const; + [[nodiscard]] const mbgl::TileServerOptions &tileServerOptions() const; + +private: + std::unique_ptr d_ptr; +}; + +} // namespace QMapLibre + +#endif // QMAPLIBRE_SETTINGS_H diff --git a/third_party/maplibre-native-qt/include/settings_p.hpp b/third_party/maplibre-native-qt/include/settings_p.hpp new file mode 100644 index 0000000000..257bdfd5a9 --- /dev/null +++ b/third_party/maplibre-native-qt/include/settings_p.hpp @@ -0,0 +1,57 @@ +// Copyright (C) 2023 MapLibre contributors +// Copyright (C) 2019 Mapbox, Inc. + +// SPDX-License-Identifier: BSD-2-Clause + +#pragma once + +#include "settings.hpp" +#include "types.hpp" + +#include + +#include +#include + +#include +#include + +namespace mbgl { +class TileServerOptions; +} // namespace mbgl + +namespace QMapLibre { + +class SettingsPrivate { +public: + SettingsPrivate(); + + void setProviderTemplate(Settings::ProviderTemplate providerTemplate); + void setProviderApiBaseUrl(const QString &url); + + Settings::GLContextMode m_contextMode{Settings::SharedGLContext}; + Settings::MapMode m_mapMode{Settings::Continuous}; + Settings::ConstrainMode m_constrainMode{Settings::ConstrainHeightOnly}; + Settings::ViewportMode m_viewportMode{Settings::DefaultViewport}; + Settings::ProviderTemplate m_providerTemplate{Settings::NoProvider}; + + unsigned m_cacheMaximumSize; + QString m_cacheDatabasePath; + QString m_assetPath; + QString m_apiKey; + QString m_localFontFamily; + QString m_clientName; + QString m_clientVersion; + + Coordinate m_defaultCoordinate{}; + double m_defaultZoom{}; + + Styles m_styles; + + std::function m_resourceTransform; + + bool m_customTileServerOptions{}; + mbgl::TileServerOptions m_tileServerOptions{}; +}; + +} // namespace QMapLibre diff --git a/third_party/maplibre-native-qt/include/style_change_utils_p.hpp b/third_party/maplibre-native-qt/include/style_change_utils_p.hpp new file mode 100644 index 0000000000..991bb4077e --- /dev/null +++ b/third_party/maplibre-native-qt/include/style_change_utils_p.hpp @@ -0,0 +1,34 @@ +// Copyright (C) 2023 MapLibre contributors +// Copyright (C) 2017 Mapbox, Inc. + +// SPDX-License-Identifier: LGPL-3.0-only OR GPL-2.0-only OR GPL-3.0-only + +#pragma once + +#include + +#include +#include +#include +#include +#include + +namespace QMapLibre::StyleChangeUtils { + +Feature featureFromMapRectangle(QDeclarativeRectangleMapItem *item); +Feature featureFromMapCircle(QDeclarativeCircleMapItem *item); +Feature featureFromMapPolygon(QDeclarativePolygonMapItem *item); +Feature featureFromMapPolyline(QDeclarativePolylineMapItem *item); +Feature featureFromMapItem(QDeclarativeGeoMapItemBase *item); + +QString featureId(QDeclarativeGeoMapItemBase *item); +std::vector featureLayoutPropertiesFromMapPolyline(QDeclarativePolylineMapItem *item); +std::vector featureLayoutPropertiesFromMapItem(QDeclarativeGeoMapItemBase *item); +std::vector featurePaintPropertiesFromMapRectangle(QDeclarativeRectangleMapItem *item); +std::vector featurePaingPropertiesFromMapCircle(QDeclarativeCircleMapItem *item); +std::vector featurePaintPropertiesFromMapPolygon(QDeclarativePolygonMapItem *item); +std::vector featurePaintPropertiesFromMapPolyline(QDeclarativePolylineMapItem *item); +std::vector featurePaintPropertiesFromMapItem(QDeclarativeGeoMapItemBase *item); +std::vector featurePropertiesFromMapItem(QDeclarativeGeoMapItemBase *item); + +} // namespace QMapLibre::StyleChangeUtils diff --git a/third_party/maplibre-native-qt/include/texture_node.hpp b/third_party/maplibre-native-qt/include/texture_node.hpp new file mode 100644 index 0000000000..96f63b3534 --- /dev/null +++ b/third_party/maplibre-native-qt/include/texture_node.hpp @@ -0,0 +1,42 @@ +// Copyright (C) 2023 MapLibre contributors +// Copyright (C) 2017 The Qt Company Ltd. +// Copyright (C) 2017 Mapbox, Inc. + +// SPDX-License-Identifier: LGPL-3.0-only OR GPL-2.0-only OR GPL-3.0-only + +#pragma once + +#include +#include +#include +#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0) +#include +#else +#include +#endif + +#include + +namespace QMapLibre { + +class QGeoMapMapLibre; + +class TextureNode : public QSGSimpleTextureNode { +public: + TextureNode(const Settings &setting, const QSize &size, qreal pixelRatio, QGeoMapMapLibre *geoMap); + + [[nodiscard]] Map *map() const; + +#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0) + void resize(const QSize &size, qreal pixelRatio, QQuickWindow *window); +#else + void resize(const QSize &size, qreal pixelRatio); +#endif + void render(QQuickWindow *); + +private: + std::unique_ptr m_map{}; + std::unique_ptr m_fbo{}; +}; + +} // namespace QMapLibre diff --git a/third_party/maplibre-native-qt/include/types.hpp b/third_party/maplibre-native-qt/include/types.hpp new file mode 100644 index 0000000000..696fab1a88 --- /dev/null +++ b/third_party/maplibre-native-qt/include/types.hpp @@ -0,0 +1,206 @@ +// Copyright (C) 2023 MapLibre contributors +// Copyright (C) 2019 Mapbox, Inc. + +// SPDX-License-Identifier: BSD-2-Clause + +#ifndef QMAPLIBRE_TYPES_H +#define QMAPLIBRE_TYPES_H + +#include + +#include +#include +#include +#include +#include +#include + +namespace QMapLibre { + +using Coordinate = QPair; +using CoordinateZoom = QPair; +using ProjectedMeters = QPair; + +using Coordinates = QVector; +using CoordinatesCollection = QVector; + +using CoordinatesCollections = QVector; + +struct Q_MAPLIBRE_CORE_EXPORT Style { + enum Type { // Taken from Qt to be in sync with QtLocation + NoMap = 0, + StreetMap, + SatelliteMapDay, + SatelliteMapNight, + TerrainMap, + HybridMap, + TransitMap, + GrayStreetMap, + PedestrianMap, + CarNavigationMap, + CycleMap, + CustomMap = 100 + }; + +#if QT_VERSION >= QT_VERSION_CHECK(5, 15, 0) + explicit Style(QString url_, QString name_ = QString()) + : url(std::move(url_)), + name(std::move(name_)) {} +#else + explicit Style(QString url_ = QString(), QString name_ = QString()) + : url(std::move(url_)), + name(std::move(name_)) {} +#endif + + QString url; + QString name; + QString description; + bool night{}; + Type type{CustomMap}; +}; + +using Styles = QVector